+ python -m lidar_slam --no-model /working/19263b82-d54e-4276-9d33-1c75c134a9bd Lidar SLAM 0.0.15 ===================================================== The recording path: /working/19263b82-d54e-4276-9d33-1c75c134a9bd 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 0.019254154 Adjusted end_distance from 9.223372036854776e+18 to 1110.039254154 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.019254154 meters Centerline goodness : 0.999844 Centerline is valid? [0, True] SLAMing on 0.049254153999999994 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:0.03, Y:0.00, Z:-0.00 [[ 9.99999997e-01 -7.55337767e-05 0.00000000e+00 3.02357998e-02] [ 7.55337767e-05 9.99999997e-01 0.00000000e+00 7.61547130e-05] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.85448623e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.079254154 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:0.06, Y:-0.00, Z:-0.00 [[ 0.9999978 -0.00209619 0. 0.06135003] [ 0.00209619 0.9999978 0. -0.00182333] [ 0. 0. 1. -0.00120307] [ 0. 0. 0. 1. ]] SLAMing on 0.10925415399999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.09, Y:-0.00, Z:-0.00 [[ 9.99992287e-01 -3.92760047e-03 0.00000000e+00 9.19456156e-02] [ 3.92760047e-03 9.99992287e-01 0.00000000e+00 -1.58167376e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.01410152e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.139254154 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:0.12, Y:-0.00, Z:-0.00 [[ 9.99980360e-01 -6.26732901e-03 0.00000000e+00 1.24344482e-01] [ 6.26732901e-03 9.99980360e-01 0.00000000e+00 -1.00725670e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.36819432e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.16925415399999996 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:0.16, Y:-0.00, Z:-0.00 [[ 9.99958697e-01 -9.08872511e-03 0.00000000e+00 1.56592006e-01] [ 9.08872511e-03 9.99958697e-01 0.00000000e+00 -6.73581463e-04] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.05785545e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.19925415399999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.19, Y:-0.00, Z:-0.00 [[ 9.99867312e-01 -1.62898201e-02 0.00000000e+00 1.90165342e-01] [ 1.62898201e-02 9.99867312e-01 0.00000000e+00 -3.11081481e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.98737964e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.22925415399999996 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:0.22, Y:-0.00, Z:-0.00 [[ 0.99978832 -0.02057463 0. 0.22321807] [ 0.02057463 0.99978832 0. -0.00407059] [ 0. 0. 1. -0.00136197] [ 0. 0. 0. 1. ]] SLAMing on 0.25925415399999996 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:0.26, Y:-0.01, Z:-0.00 [[ 0.99958193 -0.02891297 0. 0.25701158] [ 0.02891297 0.99958193 0. -0.00812798] [ 0. 0. 1. -0.00380031] [ 0. 0. 0. 1. ]] SLAMing on 0.289254154 meters Centerline goodness : 0.999694 Centerline is valid? [True, True] Translation: X:0.29, Y:-0.01, Z:-0.00 [[ 0.99943741 -0.03353884 0. 0.28881696] [ 0.03353884 0.99943741 0. -0.00844518] [ 0. 0. 1. -0.00195865] [ 0. 0. 0. 1. ]] SLAMing on 0.31925415399999996 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:0.32, Y:-0.01, Z:-0.00 [[ 0.99929045 -0.03766423 0. 0.32144727] [ 0.03766423 0.99929045 0. -0.00885967] [ 0. 0. 1. -0.0019708 ] [ 0. 0. 0. 1. ]] SLAMing on 0.349254154 meters Centerline goodness : 0.999632 Centerline is valid? [True, True] Translation: X:0.36, Y:-0.01, Z:-0.00 [[ 0.9989807 -0.04513939 0. 0.35513478] [ 0.04513939 0.9989807 0. -0.01027002] [ 0. 0. 1. -0.00240223] [ 0. 0. 0. 1. ]] SLAMing on 0.37925415399999995 meters Centerline goodness : 0.999543 Centerline is valid? [True, True] Translation: X:0.39, Y:-0.01, Z:-0.00 [[ 0.9988257 -0.04844809 0. 0.38874836] [ 0.04844809 0.9988257 0. -0.00982754] [ 0. 0. 1. -0.00223198] [ 0. 0. 0. 1. ]] SLAMing on 0.409254154 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:0.42, Y:-0.01, Z:-0.00 [[ 0.99866737 -0.05160894 0. 0.42220259] [ 0.05160894 0.99866737 0. -0.00935019] [ 0. 0. 1. -0.00223778] [ 0. 0. 0. 1. ]] SLAMing on 0.43925415399999995 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:0.46, Y:-0.01, Z:-0.00 [[ 0.99837809 -0.05693142 0. 0.45523176] [ 0.05693142 0.99837809 0. -0.00993868] [ 0. 0. 1. -0.00238695] [ 0. 0. 0. 1. ]] SLAMing on 0.469254154 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:0.49, Y:-0.01, Z:-0.00 [[ 0.99824645 -0.05919478 0. 0.48806899] [ 0.05919478 0.99824645 0. -0.00896509] [ 0. 0. 1. -0.0022231 ] [ 0. 0. 0. 1. ]] SLAMing on 0.49925415399999995 meters Centerline goodness : 0.999545 Centerline is valid? [True, True] Translation: X:0.52, Y:-0.01, Z:-0.00 [[ 0.99817156 -0.06044447 0. 0.51986362] [ 0.06044447 0.99817156 0. -0.00786424] [ 0. 0. 1. -0.00282646] [ 0. 0. 0. 1. ]] SLAMing on 0.5292541539999999 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:0.55, Y:-0.01, Z:-0.00 [[ 0.99810286 -0.06156852 0. 0.55248202] [ 0.06156852 0.99810286 0. -0.00545764] [ 0. 0. 1. -0.00338929] [ 0. 0. 0. 1. ]] SLAMing on 0.5592541539999999 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:0.58, Y:-0.00, Z:-0.00 [[ 0.99814895 -0.06081675 0. 0.58465412] [ 0.06081675 0.99814895 0. -0.00281747] [ 0. 0. 1. -0.00273963] [ 0. 0. 0. 1. ]] SLAMing on 0.5892541539999999 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:0.62, Y:0.00, Z:-0.00 [[ 0.99834562 -0.05749804 0. 0.61774763] [ 0.05749804 0.99834562 0. 0.00128444] [ 0. 0. 1. -0.00248908] [ 0. 0. 0. 1. ]] SLAMing on 0.6192541539999998 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:0.65, Y:0.00, Z:-0.00 [[ 0.99848638 -0.05499951 0. 0.64935414] [ 0.05499951 0.99848638 0. 0.00441177] [ 0. 0. 1. -0.00195293] [ 0. 0. 0. 1. ]] SLAMing on 0.6492541539999999 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:0.68, Y:0.01, Z:-0.00 [[ 0.99859284 -0.05303151 0. 0.68248762] [ 0.05303151 0.99859284 0. 0.0080126 ] [ 0. 0. 1. -0.00197264] [ 0. 0. 0. 1. ]] SLAMing on 0.6792541539999999 meters Centerline goodness : 0.999174 Centerline is valid? [True, True] Translation: X:0.71, Y:0.01, Z:-0.00 [[ 0.99881308 -0.04870764 0. 0.71448292] [ 0.04870764 0.99881308 0. 0.01267082] [ 0. 0. 1. -0.00122219] [ 0. 0. 0. 1. ]] SLAMing on 0.7092541539999999 meters Centerline goodness : 0.999239 Centerline is valid? [True, True] Translation: X:0.75, Y:0.02, Z:-0.00 [[ 0.99888794 -0.04714744 0. 0.74738267] [ 0.04714744 0.99888794 0. 0.01582016] [ 0. 0. 1. -0.00130798] [ 0. 0. 0. 1. ]] SLAMing on 0.7392541539999998 meters Centerline goodness : 0.998890 Centerline is valid? [True, True] Translation: X:0.78, Y:0.02, Z:-0.00 [[ 0.99895935 -0.0456095 0. 0.77998037] [ 0.0456095 0.99895935 0. 0.01883863] [ 0. 0. 1. -0.00184476] [ 0. 0. 0. 1. ]] SLAMing on 0.7692541539999999 meters Centerline goodness : 0.998822 Centerline is valid? [True, True] Translation: X:0.81, Y:0.02, Z:-0.00 [[ 0.99901337 -0.04441035 0. 0.81326656] [ 0.04441035 0.99901337 0. 0.02187487] [ 0. 0. 1. -0.00241829] [ 0. 0. 0. 1. ]] SLAMing on 0.7992541539999999 meters Centerline goodness : 0.998822 Centerline is valid? [True, True] Translation: X:0.85, Y:0.02, Z:-0.00 [[ 0.99901822 -0.04430131 0. 0.84677245] [ 0.04430131 0.99901822 0. 0.0235378 ] [ 0. 0. 1. -0.00241829] [ 0. 0. 0. 1. ]] SLAMing on 0.8292541539999998 meters Centerline goodness : 0.998686 Centerline is valid? [True, True] Translation: X:0.88, Y:0.03, Z:-0.00 [[ 0.99912458 -0.04183394 0. 0.87843138] [ 0.04183394 0.99912458 0. 0.02828263] [ 0. 0. 1. -0.00334738] [ 0. 0. 0. 1. ]] SLAMing on 0.8592541539999998 meters Centerline goodness : 0.998512 Centerline is valid? [True, True] Translation: X:0.91, Y:0.03, Z:-0.00 [[ 0.99919098 -0.04021669 0. 0.91051745] [ 0.04021669 0.99919098 0. 0.03150078] [ 0. 0. 1. -0.0038804 ] [ 0. 0. 0. 1. ]] SLAMing on 0.8892541539999999 meters Centerline goodness : 0.998018 Centerline is valid? [True, True] Translation: X:0.94, Y:0.04, Z:-0.01 [[ 0.99929034 -0.03766705 0. 0.94354776] [ 0.03766705 0.99929034 0. 0.03624994] [ 0. 0. 1. -0.00529723] [ 0. 0. 0. 1. ]] SLAMing on 0.9192541539999999 meters Centerline goodness : 0.997475 Centerline is valid? [True, True] Translation: X:0.98, Y:0.04, Z:-0.01 [[ 0.99934253 -0.03625625 0. 0.97629033] [ 0.03625625 0.99934253 0. 0.03947143] [ 0. 0. 1. -0.00607453] [ 0. 0. 0. 1. ]] SLAMing on 0.9492541539999998 meters Centerline goodness : 0.997095 Centerline is valid? [True, True] Translation: X:1.01, Y:0.04, Z:-0.01 [[ 0.99937242 -0.03542262 0. 1.00891081] [ 0.03542262 0.99937242 0. 0.04292465] [ 0. 0. 1. -0.00708781] [ 0. 0. 0. 1. ]] SLAMing on 0.9792541539999998 meters Centerline goodness : 0.996331 Centerline is valid? [True, True] Translation: X:1.04, Y:0.05, Z:-0.01 [[ 0.99943066 -0.03373964 0. 1.04066694] [ 0.03373964 0.99943066 0. 0.04798787] [ 0. 0. 1. -0.00766638] [ 0. 0. 0. 1. ]] SLAMing on 1.009254154 meters Centerline goodness : 0.995469 Centerline is valid? [True, True] Translation: X:1.07, Y:0.05, Z:-0.01 [[ 0.99947846 -0.03229261 0. 1.07245852] [ 0.03229261 0.99947846 0. 0.05109069] [ 0. 0. 1. -0.00773251] [ 0. 0. 0. 1. ]] SLAMing on 1.0392541539999998 meters Centerline goodness : 0.994666 Centerline is valid? [True, True] Translation: X:1.11, Y:0.05, Z:-0.01 [[ 0.99953364 -0.03053704 0. 1.1053743 ] [ 0.03053704 0.99953364 0. 0.05435824] [ 0. 0. 1. -0.00864186] [ 0. 0. 0. 1. ]] SLAMing on 1.0692541539999998 meters Centerline goodness : 0.993908 Centerline is valid? [True, True] Translation: X:1.14, Y:0.06, Z:-0.01 [[ 0.99960005 -0.02827972 0. 1.13683669] [ 0.02827972 0.99960005 0. 0.05709322] [ 0. 0. 1. -0.00849596] [ 0. 0. 0. 1. ]] SLAMing on 1.0992541539999998 meters Centerline goodness : 0.992633 Centerline is valid? [True, True] Translation: X:1.17, Y:0.06, Z:-0.01 [[ 0.99970776 -0.02417427 0. 1.1684711 ] [ 0.02417427 0.99970776 0. 0.0611069 ] [ 0. 0. 1. -0.00860769] [ 0. 0. 0. 1. ]] SLAMing on 1.1292541539999998 meters Centerline goodness : 0.991467 Centerline is valid? [True, True] Translation: X:1.20, Y:0.06, Z:-0.01 [[ 0.99975223 -0.02225943 0. 1.20170389] [ 0.02225943 0.99975223 0. 0.06372789] [ 0. 0. 1. -0.00862557] [ 0. 0. 0. 1. ]] SLAMing on 1.1592541539999999 meters Centerline goodness : 0.989041 Centerline is valid? [True, True] Translation: X:1.23, Y:0.07, Z:-0.01 [[ 0.99980734 -0.01962883 0. 1.23408753] [ 0.01962883 0.99980734 0. 0.06707799] [ 0. 0. 1. -0.00879215] [ 0. 0. 0. 1. ]] SLAMing on 1.189254154 meters Centerline goodness : 0.987447 Centerline is valid? [True, True] Translation: X:1.27, Y:0.07, Z:-0.01 [[ 0.99982212 -0.01886099 0. 1.26741473] [ 0.01886099 0.99982212 0. 0.06953946] [ 0. 0. 1. -0.00857704] [ 0. 0. 0. 1. ]] SLAMing on 1.2192541539999997 meters Centerline goodness : 0.986188 Centerline is valid? [True, True] Translation: X:1.30, Y:0.07, Z:-0.01 [[ 0.99982646 -0.01862904 0. 1.29991974] [ 0.01862904 0.99982646 0. 0.07196403] [ 0. 0. 1. -0.00912917] [ 0. 0. 0. 1. ]] SLAMing on 1.2492541539999997 meters Centerline goodness : 0.983456 Centerline is valid? [True, True] Translation: X:1.33, Y:0.07, Z:-0.01 [[ 0.99979706 -0.02014554 0. 1.33213615] [ 0.02014554 0.99979706 0. 0.0743552 ] [ 0. 0. 1. -0.00876025] [ 0. 0. 0. 1. ]] SLAMing on 1.2792541539999998 meters Centerline goodness : 0.982055 Centerline is valid? [True, True] Translation: X:1.36, Y:0.08, Z:-0.01 [[ 0.99976714 -0.02157927 0. 1.36459561] [ 0.02157927 0.99976714 0. 0.0755284 ] [ 0. 0. 1. -0.00864332] [ 0. 0. 0. 1. ]] SLAMing on 1.3092541539999998 meters Centerline goodness : 0.979834 Centerline is valid? [True, True] Translation: X:1.40, Y:0.08, Z:-0.01 [[ 0.99962052 -0.02754652 0. 1.3971925 ] [ 0.02754652 0.99962052 0. 0.07570802] [ 0. 0. 1. -0.01176017] [ 0. 0. 0. 1. ]] SLAMing on 1.3392541539999998 meters Centerline goodness : 0.978547 Centerline is valid? [True, True] Translation: X:1.43, Y:0.08, Z:-0.01 [[ 0.99951761 -0.03105725 0. 1.42937208] [ 0.03105725 0.99951761 0. 0.07612299] [ 0. 0. 1. -0.01215048] [ 0. 0. 0. 1. ]] SLAMing on 1.3692541539999998 meters Centerline goodness : 0.962640 Centerline is valid? [True, True] Translation: X:1.50, Y:0.04, Z:-0.08 [[ 9.99999281e-01 -1.19921411e-03 0.00000000e+00 1.49636644e+00] [ 1.19921411e-03 9.99999281e-01 0.00000000e+00 3.73373737e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.26900639e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3992541539999999 meters Centerline goodness : 0.969098 Centerline is valid? [True, True] Translation: X:1.52, Y:0.03, Z:-0.00 [[ 9.99999827e-01 -5.87552690e-04 0.00000000e+00 1.52043338e+00] [ 5.87552690e-04 9.99999827e-01 0.00000000e+00 2.81403897e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.67717398e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4292541539999997 meters Centerline goodness : 0.966326 Centerline is valid? [True, True] Translation: X:1.55, Y:0.03, Z:-0.00 [[ 9.99979408e-01 -6.41739864e-03 0.00000000e+00 1.55071821e+00] [ 6.41739864e-03 9.99979408e-01 0.00000000e+00 2.57044001e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.23881984e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4592541539999997 meters Centerline goodness : 0.950855 Centerline is valid? [True, True] Translation: X:1.58, Y:0.04, Z:-0.09 [[ 0.99984575 -0.01756328 0. 1.58400961] [ 0.01756328 0.99984575 0. 0.04196234] [ 0. 0. 1. -0.08920354] [ 0. 0. 0. 1. ]] SLAMing on 1.4892541539999997 meters Centerline goodness : 0.217786 Centerline is valid? [True, False] Translation: X:1.59, Y:0.04, Z:-0.09 [[ 9.99847543e-01 -1.74605907e-02 -1.32709732e-04 1.58509753e+00] [ 1.74607458e-02 9.99846736e-01 1.27524592e-03 3.81257286e-02] [ 1.10422845e-04 -1.27736871e-03 9.99999178e-01 -9.02591072e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.5192541539999997 meters Centerline goodness : 0.957058 Centerline is valid? [False, True] Translation: X:1.59, Y:0.04, Z:-0.09 [[ 9.99855314e-01 -1.70081716e-02 -2.71223311e-04 1.58620949e+00] [ 1.70087791e-02 9.99852407e-01 2.42175440e-03 3.55430391e-02] [ 2.29993666e-04 -2.42601718e-03 9.99997031e-01 -9.14223556e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.5492541539999998 meters Centerline goodness : 0.181613 Centerline is valid? [True, False] Translation: X:1.59, Y:0.03, Z:-0.09 [[ 9.99865006e-01 -1.64194076e-02 -6.10742174e-04 1.58803051e+00] [ 1.64215866e-02 9.99858114e-01 3.75269407e-03 3.26709052e-02] [ 5.49038505e-04 -3.76221683e-03 9.99992772e-01 -9.29437318e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.5792541539999998 meters Centerline goodness : 0.182924 Centerline is valid? [False, False] Translation: X:1.59, Y:0.03, Z:-0.09 [[ 9.99815142e-01 -1.91716321e-02 -1.45954256e-03 1.59181925e+00] [ 1.91734553e-02 9.99815397e-01 1.24556856e-03 3.03924876e-02] [ 1.43539354e-03 -1.27332278e-03 9.99998159e-01 -9.49869907e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6092541539999998 meters Centerline goodness : 0.173382 Centerline is valid? [False, False] Translation: X:1.59, Y:0.03, Z:-0.10 [[ 0.99982813 -0.01845096 -0.00181036 1.59379252] [ 0.01845598 0.99982577 0.00279328 0.0267255 ] [ 0.0017585 -0.00282622 0.99999446 -0.09669017] [ 0. 0. 0. 1. ]] SLAMing on 1.6392541539999996 meters Centerline goodness : 0.168874 Centerline is valid? [False, False] Translation: X:1.60, Y:0.02, Z:-0.10 [[ 0.999837 -0.01789772 -0.00237788 1.59610249] [ 0.01790757 0.99983086 0.00419126 0.02320868] [ 0.00230246 -0.00423316 0.99998839 -0.09826868] [ 0. 0. 0. 1. ]] SLAMing on 1.6692541539999997 meters Centerline goodness : 0.170567 Centerline is valid? [False, False] Translation: X:1.60, Y:0.02, Z:-0.10 [[ 9.99767648e-01 -2.13064355e-02 -3.26877814e-03 1.59935396e+00] [ 2.13115506e-02 9.99771700e-01 1.53807811e-03 2.01946535e-02] [ 3.23526091e-03 -1.60738346e-03 9.99993475e-01 -9.97068924e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6992541539999997 meters Centerline goodness : 0.171281 Centerline is valid? [False, False] Translation: X:1.60, Y:0.02, Z:-0.10 [[ 0.9997774 -0.02075401 -0.00379759 1.60157392] [ 0.02076593 0.99977948 0.0031263 0.0159062 ] [ 0.00373187 -0.00320446 0.9999879 -0.10125892] [ 0. 0. 0. 1. ]] SLAMing on 1.7292541539999997 meters Centerline goodness : 0.170210 Centerline is valid? [False, False] Translation: X:1.61, Y:0.01, Z:-0.10 [[ 9.99678957e-01 -2.47406823e-02 -5.46637739e-03 1.60576690e+00] [ 2.47480293e-02 9.99692901e-01 1.28049888e-03 1.11707974e-02] [ 5.43301826e-03 -1.41536985e-03 9.99984239e-01 -1.01355770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.7592541539999997 meters Centerline goodness : 0.170064 Centerline is valid? [False, False] Translation: X:1.61, Y:0.01, Z:-0.10 [[ 0.99959553 -0.0278162 -0.00591844 1.60671781] [ 0.02780414 0.99961116 -0.00211147 0.0101605 ] [ 0.00597487 0.00194606 0.99998026 -0.10110549] [ 0. 0. 0. 1. ]] SLAMing on 1.7892541539999998 meters Centerline goodness : 0.171863 Centerline is valid? [False, False] Translation: X:1.61, Y:0.01, Z:-0.10 [[ 9.99580635e-01 -2.80435921e-02 -7.21885600e-03 1.61022105e+00] [ 2.80440713e-02 9.99606687e-01 -3.48481868e-05 6.13509756e-03] [ 7.21699400e-03 -1.67612540e-04 9.99973943e-01 -1.01537508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8192541539999998 meters Centerline goodness : 0.174426 Centerline is valid? [False, False] Translation: X:1.61, Y:0.00, Z:-0.10 [[ 0.99949297 -0.03079153 -0.00810459 1.61247265] [ 0.03077196 0.99952323 -0.0025285 0.00272418] [ 0.00817858 0.00227783 0.99996396 -0.10146909] [ 0. 0. 0. 1. ]] SLAMing on 1.8492541539999996 meters Centerline goodness : 0.175637 Centerline is valid? [False, False] Translation: X:1.62, Y:-0.00, Z:-0.10 [[ 9.99502790e-01 -3.01265232e-02 -9.30407791e-03 1.61589299e+00] [ 3.01264951e-02 9.99546084e-01 -1.43205577e-04 -3.57757808e-03] [ 9.30416893e-03 -1.37164885e-04 9.99956706e-01 -1.01898055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8792541539999996 meters Centerline goodness : 0.175873 Centerline is valid? [False, False] Translation: X:1.62, Y:-0.01, Z:-0.10 [[ 0.99952706 -0.02911654 -0.00989349 1.61757818] [ 0.02914077 0.99957264 0.00231351 -0.00787784] [ 0.0098219 -0.00260072 0.99994838 -0.10187907] [ 0. 0. 0. 1. ]] SLAMing on 1.9092541539999996 meters Centerline goodness : 0.174477 Centerline is valid? [False, False] Translation: X:1.62, Y:-0.01, Z:-0.10 [[ 0.99953496 -0.02874328 -0.01018233 1.61821773] [ 0.02878282 0.99957863 0.00375764 -0.01136011] [ 0.01007003 -0.00404896 0.9999411 -0.10117085] [ 0. 0. 0. 1. ]] SLAMing on 1.9392541539999997 meters Centerline goodness : 0.174223 Centerline is valid? [False, False] Translation: X:1.62, Y:-0.01, Z:-0.10 [[ 9.99489614e-01 -3.02064053e-02 -1.03963847e-02 1.61844764e+00] [ 3.02226006e-02 9.99542207e-01 1.40418446e-03 -1.28719633e-02] [ 1.03492099e-02 -1.71767356e-03 9.99944970e-01 -1.00552308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9692541539999997 meters Centerline goodness : 0.171369 Centerline is valid? [False, False] Translation: X:1.62, Y:-0.02, Z:-0.10 [[ 0.99950634 -0.02901704 -0.01204514 1.62211258] [ 0.02907846 0.99956485 0.00495536 -0.01986037] [ 0.01189611 -0.00530317 0.99991518 -0.09948874] [ 0. 0. 0. 1. ]] SLAMing on 1.9992541539999997 meters Centerline goodness : 0.171268 Centerline is valid? [False, False] Translation: X:1.62, Y:-0.02, Z:-0.10 [[ 0.99950332 -0.0287419 -0.01292372 1.62400052] [ 0.02882453 0.99956493 0.00625312 -0.02281899] [ 0.01273837 -0.00662253 0.99989693 -0.09892422] [ 0. 0. 0. 1. ]] SLAMing on 2.0292541539999998 meters Centerline goodness : 0.171795 Centerline is valid? [False, False] Translation: X:1.63, Y:-0.03, Z:-0.10 [[ 0.99951554 -0.0277636 -0.01406673 1.62697527] [ 0.02788841 0.9995727 0.00875543 -0.02690903] [ 0.01381764 -0.00914349 0.99986273 -0.09888704] [ 0. 0. 0. 1. ]] SLAMing on 2.0592541539999996 meters Centerline goodness : 0.168666 Centerline is valid? [False, False] Translation: X:1.63, Y:-0.03, Z:-0.10 [[ 0.9995315 -0.0259594 -0.01621408 1.63164683] [ 0.02614006 0.99959742 0.01103146 -0.03304122] [ 0.01592118 -0.01145013 0.99980769 -0.09789384] [ 0. 0. 0. 1. ]] SLAMing on 2.089254154 meters Centerline goodness : 0.168352 Centerline is valid? [False, False] Translation: X:1.63, Y:-0.03, Z:-0.10 [[ 0.99953566 -0.02528291 -0.01700731 1.63432794] [ 0.02548325 0.99960715 0.01166792 -0.03488662] [ 0.01670563 -0.0120959 0.99978728 -0.09814793] [ 0. 0. 0. 1. ]] SLAMing on 2.1192541539999996 meters Centerline goodness : 0.172170 Centerline is valid? [False, False] Translation: X:1.64, Y:-0.04, Z:-0.10 [[ 0.99962526 -0.01819263 -0.02045425 1.6422763 ] [ 0.01861799 0.99961027 0.02080088 -0.04326723] [ 0.02006786 -0.0211739 0.99957438 -0.09654621] [ 0. 0. 0. 1. ]] SLAMing on 2.149254154 meters Centerline goodness : 0.175910 Centerline is valid? [False, False] Translation: X:1.65, Y:-0.04, Z:-0.09 [[ 0.9996791 -0.01523178 -0.02024079 1.65354397] [ 0.01552888 0.99977278 0.0146029 -0.04125192] [ 0.02001376 -0.01491253 0.99968848 -0.09392062] [ 0. 0. 0. 1. ]] SLAMing on 2.1792541539999997 meters Centerline goodness : 0.181898 Centerline is valid? [False, False] Translation: X:1.66, Y:-0.04, Z:-0.09 [[ 0.99969888 -0.01201135 -0.02139784 1.6647036 ] [ 0.01221923 0.99987915 0.009611 -0.03971811] [ 0.02127982 -0.00986957 0.99972484 -0.09085499] [ 0. 0. 0. 1. ]] SLAMing on 2.2092541539999995 meters Centerline goodness : 0.187259 Centerline is valid? [False, False] Translation: X:1.68, Y:-0.04, Z:-0.09 [[ 0.99974622 -0.00843383 -0.02088952 1.67618164] [ 0.00851507 0.99995651 0.00380298 -0.03798478] [ 0.02085654 -0.00397989 0.99977456 -0.08829668] [ 0. 0. 0. 1. ]] SLAMing on 2.2392541539999997 meters Centerline goodness : 0.193773 Centerline is valid? [False, False] Translation: X:1.72, Y:-0.04, Z:-0.08 [[ 9.99781115e-01 -1.16550695e-03 -2.08892986e-02 1.71947982e+00] [ 1.17336082e-03 9.99999245e-01 3.63723222e-04 -3.80551307e-02] [ 2.08888589e-02 -3.88154293e-04 9.99781729e-01 -8.40646477e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2692541539999995 meters Centerline goodness : 0.118634 Centerline is valid? [False, False] Translation: X:1.72, Y:-0.04, Z:-0.08 [[ 9.99761801e-01 -3.31838131e-04 -2.18227224e-02 1.72299273e+00] [ 3.42868901e-04 9.99999815e-01 5.01732102e-04 -3.75935757e-02] [ 2.18225518e-02 -5.09094922e-04 9.99761730e-01 -8.41965693e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2992541539999998 meters Centerline goodness : 0.118949 Centerline is valid? [False, False] Translation: X:1.73, Y:-0.04, Z:-0.08 [[ 9.99749257e-01 2.56129259e-04 -2.23910011e-02 1.72597952e+00] [-2.44830761e-04 9.99999841e-01 5.07339850e-04 -3.71272637e-02] [ 2.23911275e-02 -5.01730632e-04 9.99749161e-01 -8.46103009e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.3292541539999996 meters Centerline goodness : 0.117630 Centerline is valid? [False, False] Translation: X:1.77, Y:-0.04, Z:-0.08 [[ 0.99971477 0.00619934 -0.02306408 1.77164747] [-0.00628246 0.99997402 -0.0035328 -0.03718284] [ 0.02304158 0.00367669 0.99972775 -0.08172933] [ 0. 0. 0. 1. ]] SLAMing on 2.359254154 meters Centerline goodness : 0.116914 Centerline is valid? [False, False] Translation: X:1.78, Y:-0.04, Z:-0.08 [[ 0.99969309 0.00641217 -0.0239291 1.77529057] [-0.00649529 0.99997313 -0.00339728 -0.03741735] [ 0.02390667 0.00355166 0.99970789 -0.08232327] [ 0. 0. 0. 1. ]] SLAMing on 2.3892541539999996 meters Centerline goodness : 0.116451 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.04, Z:-0.08 [[ 0.99967922 0.00867131 -0.02379645 1.81788891] [-0.00881611 0.99994322 -0.00598662 -0.03826808] [ 0.02374318 0.0061945 0.9996989 -0.08155665] [ 0. 0. 0. 1. ]] SLAMing on 2.4192541539999994 meters Centerline goodness : 0.114951 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.04, Z:-0.08 [[ 0.99966283 0.00825387 -0.02461896 1.82185792] [-0.00839666 0.99994849 -0.00570236 -0.03941662] [ 0.02457062 0.00590715 0.99968064 -0.08280022] [ 0. 0. 0. 1. ]] SLAMing on 2.4492541539999997 meters Centerline goodness : 0.107716 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.04, Z:-0.09 [[ 0.99976913 0.00516121 -0.02085799 1.84105249] [-0.00520893 0.99998394 -0.00223427 -0.04165584] [ 0.02084613 0.0023424 0.99977995 -0.08567856] [ 0. 0. 0. 1. ]] SLAMing on 2.4792541539999995 meters Centerline goodness : 0.118081 Centerline is valid? [False, False] Translation: X:1.85, Y:-0.04, Z:-0.09 [[ 9.99717603e-01 -1.53720223e-04 -2.37632306e-02 1.85153429e+00] [ 7.47866542e-06 9.99981063e-01 -6.15407731e-03 -4.22008753e-02] [ 2.37637266e-02 6.15216169e-03 9.99698673e-01 -8.66942182e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.5092541539999997 meters Centerline goodness : 0.117890 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.04, Z:-0.09 [[ 0.99968258 -0.00352644 -0.02494587 1.85650259] [ 0.0033105 0.99995674 -0.00869211 -0.04234169] [ 0.02497544 0.00860677 0.99965101 -0.08811738] [ 0. 0. 0. 1. ]] SLAMing on 2.5392541539999995 meters Centerline goodness : 0.118864 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.05, Z:-0.09 [[ 0.9997524 -0.00720574 -0.02105247 1.87513383] [ 0.00710789 0.9999636 -0.00471908 -0.04528999] [ 0.02108571 0.00456827 0.99976723 -0.09138335] [ 0. 0. 0. 1. ]] SLAMing on 2.569254154 meters Centerline goodness : 0.117301 Centerline is valid? [False, False] Translation: X:1.90, Y:-0.05, Z:-0.09 [[ 0.99970438 -0.01466625 -0.01939221 1.90077215] [ 0.01460477 0.99988787 -0.00330781 -0.0473653 ] [ 0.01943855 0.00302361 0.99980648 -0.09437406] [ 0. 0. 0. 1. ]] SLAMing on 2.5992541539999996 meters Centerline goodness : 0.106367 Centerline is valid? [False, False] Translation: X:1.91, Y:-0.05, Z:-0.10 [[ 0.99962642 -0.018115 -0.02046625 1.90562423] [ 0.01800093 0.99982147 -0.005744 -0.04688859] [ 0.02056665 0.00537344 0.99977404 -0.09608403] [ 0. 0. 0. 1. ]] SLAMing on 2.6292541539999994 meters Centerline goodness : 0.875752 Centerline is valid? [False, False] Translation: X:1.91, Y:-0.05, Z:-0.10 [[ 0.99953943 -0.02134953 -0.0215668 1.91042835] [ 0.0211795 0.99974302 -0.00808203 -0.04635527] [ 0.02173381 0.00762153 0.99973474 -0.09780538] [ 0. 0. 0. 1. ]] SLAMing on 2.6592541539999996 meters Centerline goodness : 0.863718 Centerline is valid? [False, False] Translation: X:1.92, Y:-0.05, Z:-0.10 [[ 0.99935107 -0.02676399 -0.0241065 1.92053427] [ 0.02649183 0.99958242 -0.01153961 -0.04527728] [ 0.02440528 0.0108935 0.99964279 -0.1005618 ] [ 0. 0. 0. 1. ]] SLAMing on 2.6892541539999995 meters Centerline goodness : 0.863718 Centerline is valid? [False, False] Translation: X:1.92, Y:-0.05, Z:-0.10 [[ 0.99935107 -0.02676399 -0.0241065 1.92053427] [ 0.02649183 0.99958242 -0.01153961 -0.04527728] [ 0.02440528 0.0108935 0.99964279 -0.1005618 ] [ 0. 0. 0. 1. ]] SLAMing on 2.7192541539999997 meters Centerline goodness : 0.884636 Centerline is valid? [False, False] Translation: X:1.93, Y:-0.04, Z:-0.10 [[ 0.9992801 -0.02826131 -0.02530953 1.92633737] [ 0.02795612 0.99953308 -0.01233199 -0.04465755] [ 0.02564623 0.01161556 0.9996036 -0.1031826 ] [ 0. 0. 0. 1. ]] SLAMing on 2.7492541539999995 meters Centerline goodness : 0.503770 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.04, Z:-0.10 [[ 0.99905412 -0.03219718 -0.02922684 1.95433825] [ 0.03178643 0.99939078 -0.01441144 -0.04088046] [ 0.02967304 0.01346879 0.99946891 -0.10409087] [ 0. 0. 0. 1. ]] SLAMing on 2.7792541539999998 meters Centerline goodness : 0.876998 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.04, Z:-0.11 [[ 0.99903245 -0.03178019 -0.03040049 1.9592219 ] [ 0.03138156 0.99941629 -0.01350111 -0.03996099] [ 0.03081181 0.01253404 0.99944661 -0.10618186] [ 0. 0. 0. 1. ]] SLAMing on 2.8092541539999996 meters Centerline goodness : 0.888328 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.04, Z:-0.11 [[ 0.99902056 -0.03110572 -0.03146991 1.96382505] [ 0.03072146 0.9994483 -0.01262108 -0.03867568] [ 0.03184514 0.01164192 0.99942501 -0.10818638] [ 0. 0. 0. 1. ]] SLAMing on 2.8392541539999994 meters Centerline goodness : 0.113614 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.04, Z:-0.11 [[ 0.99911148 -0.0306216 -0.02895792 1.98320762] [ 0.03047742 0.99952083 -0.00540761 -0.03965987] [ 0.02910964 0.00452024 0.999566 -0.11119191] [ 0. 0. 0. 1. ]] SLAMing on 2.8692541539999996 meters Centerline goodness : 0.651059 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.03, Z:-0.12 [[ 0.99925904 -0.02738537 -0.02704472 2.00173661] [ 0.02716209 0.99959414 -0.00858903 -0.03254583] [ 0.02726895 0.00784807 0.99959732 -0.11548516] [ 0. 0. 0. 1. ]] SLAMing on 2.8992541539999994 meters Centerline goodness : 0.893330 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.03, Z:-0.12 [[ 0.99940571 -0.02388169 -0.02485749 2.01990338] [ 0.02358465 0.9996477 -0.01217508 -0.02536971] [ 0.0251395 0.01158159 0.99961686 -0.11979371] [ 0. 0. 0. 1. ]] SLAMing on 2.9292541539999997 meters Centerline goodness : 0.112816 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.02, Z:-0.12 [[ 0.99940575 -0.02258645 -0.02603849 2.02457803] [ 0.0223061 0.99969059 -0.01100736 -0.02335105] [ 0.02627905 0.01042 0.99960034 -0.12188268] [ 0. 0. 0. 1. ]] SLAMing on 2.9592541539999995 meters Centerline goodness : 0.547387 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.02, Z:-0.12 [[ 0.99940239 -0.02133952 -0.0271934 2.02910587] [ 0.02107516 0.99972817 -0.00997119 -0.02138386] [ 0.02739879 0.00939212 0.99958046 -0.12397607] [ 0. 0. 0. 1. ]] SLAMing on 2.9892541539999997 meters Centerline goodness : 0.499150 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.02, Z:-0.13 [[ 0.99940098 -0.01971503 -0.02844294 2.03398831] [ 0.01947873 0.99977362 -0.00856122 -0.01951681] [ 0.02860528 0.00800206 0.99955876 -0.1263759 ] [ 0. 0. 0. 1. ]] SLAMing on 3.0192541539999995 meters Centerline goodness : 0.108714 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.02, Z:-0.13 [[ 0.9994188 -0.01624935 -0.029967 2.04098842] [ 0.01608767 0.99985474 -0.00562849 -0.01549034] [ 0.03005411 0.00514312 0.99953504 -0.12933686] [ 0. 0. 0. 1. ]] SLAMing on 3.0492541539999993 meters Centerline goodness : 0.111870 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.01, Z:-0.13 [[ 0.99953742 -0.0118166 -0.0280233 2.05380514] [ 0.01155685 0.99988891 -0.00941312 -0.01174097] [ 0.02813142 0.0090849 0.99956295 -0.13116917] [ 0. 0. 0. 1. ]] SLAMing on 3.0792541539999996 meters Centerline goodness : 0.918037 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.01, Z:-0.13 [[ 9.99657921e-01 -1.04321546e-02 -2.39835588e-02 2.07045681e+00] [ 1.04071962e-02 9.99945165e-01 -1.16523557e-03 -1.30566879e-02] [ 2.39943996e-02 9.15235365e-04 9.99711674e-01 -1.33774004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1092541539999994 meters Centerline goodness : 0.776522 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.01, Z:-0.14 [[ 0.99977123 -0.00468891 -0.02086888 2.08462299] [ 0.00459531 0.99997918 -0.00453067 -0.00710058] [ 0.02088969 0.00443373 0.99977196 -0.13584096] [ 0. 0. 0. 1. ]] SLAMing on 3.1392541539999996 meters Centerline goodness : 0.931357 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.01, Z:-0.14 [[ 9.99762577e-01 -1.20120329e-03 -2.17565268e-02 2.08687020e+00] [ 1.18132988e-03 9.99998873e-01 -9.26275389e-04 -6.78679115e-03] [ 2.17576149e-02 9.00353835e-04 9.99762870e-01 -1.36403731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1692541539999994 meters Centerline goodness : 0.551068 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.00, Z:-0.14 [[ 9.99743564e-01 1.08115644e-03 -2.26194230e-02 2.09112040e+00] [-1.07615746e-03 9.99999394e-01 2.33175172e-04 -2.60830554e-03] [ 2.26196614e-02 -2.08773316e-04 9.99744121e-01 -1.37508062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1992541539999997 meters Centerline goodness : 0.933123 Centerline is valid? [False, False] Translation: X:2.10, Y:0.00, Z:-0.14 [[ 9.99813396e-01 4.75558014e-03 -1.87231665e-02 2.10218779e+00] [-4.84886672e-03 9.99976041e-01 -4.94017362e-03 6.82569169e-04] [ 1.86992245e-02 5.03003791e-03 9.99812501e-01 -1.39212430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2292541539999995 meters Centerline goodness : 0.939021 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.00, Z:-0.14 [[ 9.99890172e-01 4.47832837e-03 -1.41275595e-02 2.11795938e+00] [-4.45917410e-03 9.99989096e-01 1.38701783e-03 -9.31305304e-04] [ 1.41336170e-02 -1.32386825e-03 9.99899239e-01 -1.41311405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2592541539999993 meters Centerline goodness : 0.935504 Centerline is valid? [False, False] Translation: X:2.12, Y:0.00, Z:-0.14 [[ 9.99874416e-01 4.58047344e-03 -1.51713964e-02 2.12125274e+00] [-4.56522212e-03 9.99989039e-01 1.03974839e-03 1.37486502e-03] [ 1.51759926e-02 -9.70357017e-04 9.99884367e-01 -1.41126699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2892541539999995 meters Centerline goodness : 0.935001 Centerline is valid? [False, False] Translation: X:2.12, Y:0.00, Z:-0.14 [[ 9.99861577e-01 4.35945858e-03 -1.60568450e-02 2.12308940e+00] [-4.35009254e-03 9.99990347e-01 6.18185906e-04 2.33674263e-03] [ 1.60593850e-02 -5.48251573e-04 9.99870889e-01 -1.40988476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3192541539999993 meters Centerline goodness : 0.947210 Centerline is valid? [False, False] Translation: X:2.14, Y:0.00, Z:-0.14 [[ 9.99914757e-01 4.30159385e-04 -1.30496425e-02 2.14174150e+00] [-4.00924683e-04 9.99997405e-01 2.24280178e-03 2.31613533e-03] [ 1.30505734e-02 -2.23737867e-03 9.99912334e-01 -1.42292446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3492541539999996 meters Centerline goodness : 0.949141 Centerline is valid? [False, False] Translation: X:2.14, Y:0.00, Z:-0.14 [[ 9.99902105e-01 -2.74571361e-05 -1.39921533e-02 2.14369543e+00] [ 5.85582785e-05 9.99997529e-01 2.22235113e-03 1.54031550e-03] [ 1.39920577e-02 -2.22295293e-03 9.99899635e-01 -1.42463155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3792541539999994 meters Centerline goodness : 0.949310 Centerline is valid? [False, False] Translation: X:2.15, Y:0.00, Z:-0.14 [[ 9.99885314e-01 -5.16760678e-04 -1.51358103e-02 2.14613767e+00] [ 5.49545237e-04 9.99997512e-01 2.16194698e-03 8.16838849e-04] [ 1.51346555e-02 -2.17001685e-03 9.99883110e-01 -1.42772691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4092541539999996 meters Centerline goodness : 0.953564 Centerline is valid? [False, True] Translation: X:2.15, Y:0.00, Z:-0.14 [[ 9.99865174e-01 -4.54141558e-03 -1.57800099e-02 2.14853603e+00] [ 4.51660010e-03 9.99988507e-01 -1.60787279e-03 1.18701884e-03] [ 1.57871305e-02 1.53638401e-03 9.99874195e-01 -1.42407232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4392541539999995 meters Centerline goodness : 0.954519 Centerline is valid? [True, True] Translation: X:2.18, Y:-0.00, Z:-0.14 [[ 9.99833607e-01 -9.08231307e-03 -1.58199172e-02 2.17735426e+00] [ 9.07267195e-03 9.99958611e-01 -6.81093471e-04 -1.80962866e-03] [ 1.58254483e-02 5.37451223e-04 9.99874625e-01 -1.35826735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4692541539999993 meters Centerline goodness : 0.957352 Centerline is valid? [True, True] Translation: X:2.19, Y:-0.00, Z:-0.14 [[ 9.99823603e-01 -1.01239635e-02 -1.58198709e-02 2.18899838e+00] [ 1.01144356e-02 9.99948615e-01 -6.82168237e-04 -4.01770457e-03] [ 1.58259642e-02 5.22038839e-04 9.99874625e-01 -1.42164788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4992541539999995 meters Centerline goodness : 0.959018 Centerline is valid? [True, True] Translation: X:2.24, Y:0.00, Z:-0.13 [[ 9.99755530e-01 -1.54835606e-02 -1.57841619e-02 2.23753374e+00] [ 1.54620463e-02 9.99879354e-01 -1.48416273e-03 1.55745948e-04] [ 1.58052378e-02 1.23974445e-03 9.99874321e-01 -1.32413114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5292541539999993 meters Centerline goodness : 0.961476 Centerline is valid? [True, True] Translation: X:2.27, Y:0.00, Z:-0.14 [[ 9.99449318e-01 -2.91689846e-02 -1.58186899e-02 2.26628900e+00] [ 2.91619630e-02 9.99574472e-01 -6.74411705e-04 5.74022071e-04] [ 1.58316305e-02 2.12736268e-04 9.99874649e-01 -1.43340395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5592541539999996 meters Centerline goodness : 0.961353 Centerline is valid? [True, True] Translation: X:2.30, Y:-0.00, Z:-0.13 [[ 9.99620960e-01 -2.25323690e-02 -1.58186436e-02 2.29584158e+00] [ 2.25244994e-02 9.99746063e-01 -6.75496675e-04 -3.26809407e-03] [ 1.58298472e-02 3.18933606e-04 9.99874649e-01 -1.28144743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5892541539999994 meters Centerline goodness : 0.962394 Centerline is valid? [True, True] Translation: X:2.33, Y:-0.00, Z:-0.13 [[ 9.99664213e-01 -2.05238999e-02 -1.58186749e-02 2.32521919e+00] [ 2.05157906e-02 9.99789301e-01 -6.74762708e-04 -3.33184052e-03] [ 1.58291907e-02 3.50003510e-04 9.99874649e-01 -1.28206976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6192541539999996 meters Centerline goodness : 0.961855 Centerline is valid? [True, True] Translation: X:2.32, Y:-0.01, Z:-0.11 [[ 9.99728756e-01 -1.70934184e-02 -1.58186525e-02 2.32194828e+00] [ 1.70848716e-02 9.99853815e-01 -6.75288845e-04 -6.45319090e-03] [ 1.58278830e-02 4.04846031e-04 9.99874649e-01 -1.07117325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6492541539999994 meters Centerline goodness : 0.965379 Centerline is valid? [True, True] Translation: X:2.36, Y:-0.01, Z:-0.12 [[ 9.99730672e-01 -1.70367216e-02 -1.57586013e-02 2.36111248e+00] [ 1.70069968e-02 9.99853333e-01 -2.01836191e-03 -1.18125597e-02] [ 1.57906763e-02 1.74981183e-03 9.99873788e-01 -1.18069844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.679254153999999 meters Centerline goodness : 0.967351 Centerline is valid? [True, True] Translation: X:2.40, Y:-0.01, Z:-0.12 [[ 9.99734735e-01 -1.67831592e-02 -1.57729469e-02 2.39754875e+00] [ 1.67584889e-02 9.99858130e-01 -1.69497223e-03 -1.44470777e-02] [ 1.57991562e-02 1.43019186e-03 9.99874163e-01 -1.15500328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7092541539999995 meters Centerline goodness : 0.968197 Centerline is valid? [True, True] Translation: X:2.42, Y:-0.02, Z:-0.12 [[ 9.99764738e-01 -1.48770214e-02 -1.57842292e-02 2.42489403e+00] [ 1.48561885e-02 9.99888609e-01 -1.43629577e-03 -1.56526367e-02] [ 1.58038388e-02 1.20146438e-03 9.99874390e-01 -1.15858911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7392541539999993 meters Centerline goodness : 0.969308 Centerline is valid? [True, True] Translation: X:2.45, Y:-0.01, Z:-0.11 [[ 9.99747314e-01 -1.60077080e-02 -1.57816538e-02 2.45439588e+00] [ 1.59860805e-02 9.99871096e-01 -1.49562798e-03 -1.32481544e-02] [ 1.58035610e-02 1.24296327e-03 9.99874343e-01 -1.09840077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7692541539999995 meters Centerline goodness : 0.971610 Centerline is valid? [True, True] Translation: X:2.49, Y:-0.02, Z:-0.12 [[ 9.99790066e-01 -1.30700115e-02 -1.57796642e-02 2.48807533e+00] [ 1.30472946e-02 9.99913692e-01 -1.54172285e-03 -2.11515712e-02] [ 1.57984526e-02 1.33551726e-03 9.99874305e-01 -1.15174557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7992541539999993 meters Centerline goodness : 0.973562 Centerline is valid? [True, True] Translation: X:2.52, Y:-0.02, Z:-0.12 [[ 9.99773770e-01 -1.42505713e-02 -1.57902108e-02 2.52441555e+00] [ 1.42319965e-02 9.99897890e-01 -1.28810257e-03 -2.17392507e-02] [ 1.58069547e-02 1.06308493e-03 9.99874497e-01 -1.19075262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8292541539999996 meters Centerline goodness : 0.974037 Centerline is valid? [True, True] Translation: X:2.56, Y:-0.02, Z:-0.12 [[ 9.99778413e-01 -1.39076230e-02 -1.58019952e-02 2.55676932e+00] [ 1.38935544e-02 9.99902980e-01 -9.99740956e-04 -2.11157022e-02] [ 1.58143661e-02 7.79973547e-04 9.99874641e-01 -1.17374219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8592541539999994 meters Centerline goodness : 0.975163 Centerline is valid? [True, True] Translation: X:2.58, Y:-0.02, Z:-0.11 [[ 9.99845955e-01 -7.62568014e-03 -1.58087112e-02 2.57506254e+00] [ 7.61344698e-03 9.99970670e-01 -8.33863903e-04 -2.08864365e-02] [ 1.58146063e-02 7.13376667e-04 9.99874687e-01 -1.09332043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.889254153999999 meters Centerline goodness : 0.976578 Centerline is valid? [True, True] Translation: X:2.62, Y:-0.02, Z:-0.11 [[ 9.99786240e-01 -1.33485932e-02 -1.57889087e-02 2.61957602e+00] [ 1.33294577e-02 9.99910292e-01 -1.31657586e-03 -2.25891782e-02] [ 1.58050667e-02 1.10583684e-03 9.99874481e-01 -1.09321764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9192541539999994 meters Centerline goodness : 0.977553 Centerline is valid? [True, True] Translation: X:2.65, Y:-0.03, Z:-0.11 [[ 9.99797175e-01 -1.24715032e-02 -1.58136377e-02 2.65029060e+00] [ 1.24621021e-02 9.99922105e-01 -6.92902292e-04 -2.91325753e-02] [ 1.58210475e-02 4.95690587e-04 9.99874717e-01 -1.07658830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9492541539999992 meters Centerline goodness : 0.978097 Centerline is valid? [True, True] Translation: X:2.68, Y:-0.04, Z:-0.11 [[ 9.99826539e-01 -9.83543986e-03 -1.58163050e-02 2.67510926e+00] [ 9.82677523e-03 9.99951520e-01 -6.25454203e-04 -3.51793667e-02] [ 1.58216899e-02 4.69922437e-04 9.99874719e-01 -1.08711914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9792541539999995 meters Centerline goodness : 0.980184 Centerline is valid? [True, True] Translation: X:2.71, Y:-0.04, Z:-0.11 [[ 9.99800909e-01 -1.21790861e-02 -1.58054411e-02 2.71051496e+00] [ 1.21664204e-02 9.99925584e-01 -8.97266780e-04 -3.75160663e-02] [ 1.58151928e-02 7.04792502e-04 9.99874684e-01 -1.08978936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.009254154 meters Centerline goodness : 0.980943 Centerline is valid? [True, True] Translation: X:2.74, Y:-0.04, Z:-0.11 [[ 9.99787124e-01 -1.32496808e-02 -1.58162257e-02 2.73989239e+00] [ 1.32414681e-02 9.99912133e-01 -6.23873603e-04 -3.99397278e-02] [ 1.58231022e-02 4.14310746e-04 9.99874721e-01 -1.08235023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.039254154 meters Centerline goodness : 0.981569 Centerline is valid? [True, True] Translation: X:2.76, Y:-0.04, Z:-0.11 [[ 9.99781621e-01 -1.36587792e-02 -1.58160842e-02 2.76082047e+00] [ 1.36505611e-02 9.99906630e-01 -6.27442819e-04 -4.40777388e-02] [ 1.58231775e-02 4.11407374e-04 9.99874721e-01 -1.09908490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.069254154 meters Centerline goodness : 0.982634 Centerline is valid? [True, True] Translation: X:2.79, Y:-0.05, Z:-0.11 [[ 9.99756619e-01 -1.53970563e-02 -1.57997803e-02 2.78985576e+00] [ 1.53827823e-02 9.99881153e-01 -1.02457071e-03 -4.67864755e-02] [ 1.58136779e-02 7.81276773e-04 9.99874651e-01 -1.09244009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.099254154 meters Centerline goodness : 0.983714 Centerline is valid? [True, True] Translation: X:2.83, Y:-0.05, Z:-0.11 [[ 9.99645980e-01 -2.14072563e-02 -1.58001064e-02 2.82939816e+00] [ 2.13938584e-02 9.99770608e-01 -1.01651840e-03 -5.44857549e-02] [ 1.58182428e-02 6.78133299e-04 9.99874654e-01 -1.08122131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.129254154 meters Centerline goodness : 0.984259 Centerline is valid? [True, True] Translation: X:2.86, Y:-0.06, Z:-0.11 [[ 9.99577281e-01 -2.43952323e-02 -1.58155351e-02 2.85756633e+00] [ 2.43883490e-02 9.99702363e-01 -6.27975935e-04 -5.71882517e-02] [ 1.58261475e-02 2.41995687e-04 9.99874729e-01 -1.07332263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.159254154 meters Centerline goodness : 0.985818 Centerline is valid? [True, True] Translation: X:2.89, Y:-0.06, Z:-0.11 [[ 9.99498883e-01 -2.74200027e-02 -1.58153636e-02 2.88533393e+00] [ 2.74134301e-02 9.99623981e-01 -6.32267129e-04 -5.97522167e-02] [ 1.58267535e-02 1.98396925e-04 9.99874729e-01 -1.06823924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.1892541539999995 meters Centerline goodness : 0.986227 Centerline is valid? [True, True] Translation: X:2.91, Y:-0.06, Z:-0.11 [[ 9.99430339e-01 -2.98139758e-02 -1.58153104e-02 2.91447935e+00] [ 2.98076818e-02 9.99555452e-01 -6.33595844e-04 -6.27843502e-02] [ 1.58271697e-02 1.61817172e-04 9.99874729e-01 -1.06715205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.219254154 meters Centerline goodness : 0.987175 Centerline is valid? [True, True] Translation: X:2.94, Y:-0.07, Z:-0.11 [[ 9.99280410e-01 -3.44752469e-02 -1.58151607e-02 2.94312219e+00] [ 3.44694777e-02 9.99405548e-01 -6.37309225e-04 -7.01802951e-02] [ 1.58277308e-02 9.17102934e-05 9.99874729e-01 -1.07119364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.249254154 meters Centerline goodness : 0.988451 Centerline is valid? [True, True] Translation: X:2.97, Y:-0.07, Z:-0.11 [[ 9.99200319e-01 -3.67233568e-02 -1.58151289e-02 2.97338004e+00] [ 3.67178567e-02 9.99325468e-01 -6.38098317e-04 -7.28184824e-02] [ 1.58278942e-02 5.68904059e-05 9.99874729e-01 -1.06736382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.279254154 meters Centerline goodness : 0.988590 Centerline is valid? [True, True] Translation: X:3.00, Y:-0.08, Z:-0.11 [[ 9.99136298e-01 -3.84257805e-02 -1.58151289e-02 3.00387528e+00] [ 3.84204936e-02 9.99261457e-01 -6.38098317e-04 -7.51899762e-02] [ 1.58279681e-02 2.99221313e-05 9.99874729e-01 -1.06719913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.309254154 meters Centerline goodness : 0.989620 Centerline is valid? [True, True] Translation: X:3.03, Y:-0.08, Z:-0.11 [[ 9.99020294e-01 -4.13320030e-02 -1.58151289e-02 3.03394977e+00] [ 4.13270802e-02 9.99145468e-01 -6.38098317e-04 -8.05439135e-02] [ 1.58279882e-02 -1.61199320e-05 9.99874729e-01 -1.07730816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.339254154 meters Centerline goodness : 0.990820 Centerline is valid? [True, True] Translation: X:3.06, Y:-0.08, Z:-0.11 [[ 9.98940552e-01 -4.32163754e-02 -1.58151185e-02 3.06457278e+00] [ 4.32116846e-02 9.99065735e-01 -6.38356775e-04 -8.22008970e-02] [ 1.58279304e-02 -4.57174413e-05 9.99874729e-01 -1.06919768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.369254154 meters Centerline goodness : 0.990982 Centerline is valid? [True, True] Translation: X:3.09, Y:-0.08, Z:-0.10 [[ 9.99044018e-01 -4.07545394e-02 -1.58151185e-02 3.08915714e+00] [ 4.07495402e-02 9.99169189e-01 -6.38356775e-04 -8.28847473e-02] [ 1.58279950e-02 -6.71228682e-06 9.99874729e-01 -1.02874279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.399254153999999 meters Centerline goodness : 0.992303 Centerline is valid? [True, True] Translation: X:3.13, Y:-0.09, Z:-0.11 [[ 9.98796722e-01 -4.64248360e-02 -1.58063943e-02 3.12521406e+00] [ 4.64171602e-02 9.98921779e-01 -8.52330937e-04 -8.87627194e-02] [ 1.58289209e-02 1.17617408e-04 9.99874708e-01 -1.05268586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.429254154 meters Centerline goodness : 0.991663 Centerline is valid? [True, True] Translation: X:3.16, Y:-0.09, Z:-0.10 [[ 9.98782187e-01 -4.67335667e-02 -1.58150538e-02 3.15617042e+00] [ 4.67293300e-02 9.98907385e-01 -6.37526023e-04 -9.07811274e-02] [ 1.58275679e-02 -1.02277230e-04 9.99874731e-01 -1.04616008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.459254154 meters Centerline goodness : 0.992785 Centerline is valid? [True, True] Translation: X:3.19, Y:-0.09, Z:-0.10 [[ 9.98738471e-01 -4.76586897e-02 -1.58150538e-02 3.18677635e+00] [ 4.76545689e-02 9.98863672e-01 -6.37526023e-04 -9.20970922e-02] [ 1.58274663e-02 -1.16937804e-04 9.99874731e-01 -1.03474014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.489254154 meters Centerline goodness : 0.993195 Centerline is valid? [True, True] Translation: X:3.22, Y:-0.09, Z:-0.10 [[ 9.98706203e-01 -4.83301482e-02 -1.58150538e-02 3.21631269e+00] [ 4.83261116e-02 9.98831407e-01 -6.37526023e-04 -9.47855721e-02] [ 1.58273841e-02 -1.27578859e-04 9.99874731e-01 -1.02912856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.5192541539999995 meters Centerline goodness : 0.993594 Centerline is valid? [True, True] Translation: X:3.25, Y:-0.10, Z:-0.10 [[ 9.98688423e-01 -4.86961880e-02 -1.58150437e-02 3.24644091e+00] [ 4.86921934e-02 9.98813628e-01 -6.37774437e-04 -9.51608491e-02] [ 1.58273384e-02 -1.33131221e-04 9.99874731e-01 -1.02612554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.549254154 meters Centerline goodness : 0.994156 Centerline is valid? [True, True] Translation: X:3.28, Y:-0.10, Z:-0.10 [[ 9.98684928e-01 -4.87678067e-02 -1.58150437e-02 3.27737333e+00] [ 4.87638211e-02 9.98810134e-01 -6.37774437e-04 -9.52535004e-02] [ 1.58273288e-02 -1.34266245e-04 9.99874731e-01 -1.02610807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.579254154 meters Centerline goodness : 0.994518 Centerline is valid? [True, True] Translation: X:3.31, Y:-0.10, Z:-0.10 [[ 9.98725752e-01 -4.79244933e-02 -1.58150437e-02 3.30716439e+00] [ 4.79204019e-02 9.98850954e-01 -6.37774437e-04 -9.59222550e-02] [ 1.58274365e-02 -1.20901498e-04 9.99874731e-01 -1.02625811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.609254153999999 meters Centerline goodness : 0.994518 Centerline is valid? [True, True] Translation: X:3.34, Y:-0.09, Z:-0.10 [[ 9.98724276e-01 -4.79552414e-02 -1.58150339e-02 3.33728615e+00] [ 4.79511500e-02 9.98849478e-01 -6.38018371e-04 -9.46705819e-02] [ 1.58274347e-02 -1.21144626e-04 9.99874731e-01 -1.02148529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.639254154 meters Centerline goodness : 0.994836 Centerline is valid? [True, True] Translation: X:3.37, Y:-0.09, Z:-0.10 [[ 9.98724884e-01 -4.79425921e-02 -1.58150142e-02 3.36680976e+00] [ 4.79384914e-02 9.98850086e-01 -6.38505273e-04 -9.41588338e-02] [ 1.58274399e-02 -1.20456820e-04 9.99874731e-01 -1.00933001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.669254154 meters Centerline goodness : 0.995001 Centerline is valid? [True, True] Translation: X:3.40, Y:-0.09, Z:-0.10 [[ 9.98732088e-01 -4.77922773e-02 -1.58149945e-02 3.39658947e+00] [ 4.77881500e-02 9.98857289e-01 -6.38992704e-04 -9.34965323e-02] [ 1.58274615e-02 -1.17586814e-04 9.99874731e-01 -9.81381865e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.699254154 meters Centerline goodness : 0.995371 Centerline is valid? [True, True] Translation: X:3.43, Y:-0.09, Z:-0.10 [[ 9.98676966e-01 -4.89306087e-02 -1.58149742e-02 3.42630470e+00] [ 4.89266161e-02 9.98802171e-01 -6.39496985e-04 -9.37103550e-02] [ 1.58273215e-02 -1.35122261e-04 9.99874731e-01 -9.57047851e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.7292541539999995 meters Centerline goodness : 0.995599 Centerline is valid? [True, True] Translation: X:3.46, Y:-0.09, Z:-0.09 [[ 9.98642568e-01 -4.96276872e-02 -1.58149640e-02 3.45627577e+00] [ 4.96237781e-02 9.98767776e-01 -6.39747315e-04 -9.34203750e-02] [ 1.58272256e-02 -1.45919363e-04 9.99874731e-01 -9.45775705e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.759254154 meters Centerline goodness : 0.996021 Centerline is valid? [True, True] Translation: X:3.49, Y:-0.09, Z:-0.09 [[ 9.98576964e-01 -5.09306766e-02 -1.58149439e-02 3.48602530e+00] [ 5.09269230e-02 9.98702177e-01 -6.40244287e-04 -9.31084397e-02] [ 1.58270270e-02 -1.66073234e-04 9.99874731e-01 -9.32821966e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.789254154 meters Centerline goodness : 0.996427 Centerline is valid? [True, True] Translation: X:3.52, Y:-0.09, Z:-0.09 [[ 9.98473291e-01 -5.29242363e-02 -1.58149238e-02 3.51560354e+00] [ 5.29207249e-02 9.98598511e-01 -6.40739474e-04 -9.28097130e-02] [ 1.58266701e-02 -1.97175982e-04 9.99874731e-01 -9.18797381e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.819254153999999 meters Centerline goodness : 0.996692 Centerline is valid? [True, True] Translation: X:3.55, Y:-0.09, Z:-0.09 [[ 9.98427965e-01 -5.37725543e-02 -1.58149139e-02 3.54645810e+00] [ 5.37691453e-02 9.98553187e-01 -6.40985525e-04 -9.13006625e-02] [ 1.58265001e-02 -2.10376529e-04 9.99874731e-01 -9.13899289e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.849254154 meters Centerline goodness : 0.996615 Centerline is valid? [True, True] Translation: X:3.58, Y:-0.09, Z:-0.09 [[ 9.98432256e-01 -5.36928154e-02 -1.58149139e-02 3.57676201e+00] [ 5.36893964e-02 9.98557478e-01 -6.40985525e-04 -8.90903248e-02] [ 1.58265168e-02 -2.09112557e-04 9.99874731e-01 -9.16873393e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.879254154 meters Centerline goodness : 0.996660 Centerline is valid? [True, True] Translation: X:3.61, Y:-0.09, Z:-0.09 [[ 9.98455829e-01 -5.32526671e-02 -1.58149237e-02 3.60673929e+00] [ 5.32491968e-02 9.98581050e-01 -6.40742971e-04 -8.69701474e-02] [ 1.58266044e-02 -2.02378430e-04 9.99874731e-01 -9.12646378e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.909254154 meters Centerline goodness : 0.996856 Centerline is valid? [True, True] Translation: X:3.64, Y:-0.08, Z:-0.09 [[ 9.98496764e-01 -5.24795163e-02 -1.58149237e-02 3.63707412e+00] [ 5.24759490e-02 9.98621983e-01 -6.40742971e-04 -8.45106853e-02] [ 1.58267563e-02 -1.90123347e-04 9.99874731e-01 -9.04077282e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.9392541539999995 meters Centerline goodness : 0.997195 Centerline is valid? [True, True] Translation: X:3.67, Y:-0.08, Z:-0.09 [[ 9.98559530e-01 -5.12713700e-02 -1.58149237e-02 3.66707409e+00] [ 5.12676512e-02 9.98684744e-01 -6.40742971e-04 -8.17599933e-02] [ 1.58269748e-02 -1.70973992e-04 9.99874731e-01 -8.94605268e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.969254154 meters Centerline goodness : 0.997558 Centerline is valid? [True, True] Translation: X:3.70, Y:-0.08, Z:-0.09 [[ 9.98675414e-01 -4.89622790e-02 -1.58149237e-02 3.69742091e+00] [ 4.89582707e-02 9.98800619e-01 -6.40742971e-04 -7.69868964e-02] [ 1.58273278e-02 -1.34377064e-04 9.99874731e-01 -8.71728587e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.999254154 meters Centerline goodness : 0.997439 Centerline is valid? [True, True] Translation: X:3.73, Y:-0.07, Z:-0.09 [[ 9.98723173e-01 -4.79782259e-02 -1.58149514e-02 3.72818575e+00] [ 4.79741051e-02 9.98848375e-01 -6.40058259e-04 -7.39068520e-02] [ 1.58274474e-02 -1.19467125e-04 9.99874731e-01 -8.63275843e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.029254153999999 meters Centerline goodness : 0.997603 Centerline is valid? [True, True] Translation: X:3.76, Y:-0.07, Z:-0.09 [[ 9.98751176e-01 -4.73917335e-02 -1.58149514e-02 3.75807940e+00] [ 4.73875392e-02 9.98876374e-01 -6.40058259e-04 -7.03799929e-02] [ 1.58275148e-02 -1.10172692e-04 9.99874731e-01 -8.50350363e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.059254154 meters Centerline goodness : 0.997957 Centerline is valid? [True, True] Translation: X:3.79, Y:-0.06, Z:-0.08 [[ 9.98760031e-01 -4.72047336e-02 -1.58149514e-02 3.78769566e+00] [ 4.72005158e-02 9.98885229e-01 -6.40058259e-04 -6.43196701e-02] [ 1.58275352e-02 -1.07209257e-04 9.99874731e-01 -8.31883797e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.089254154 meters Centerline goodness : 0.997891 Centerline is valid? [True, True] Translation: X:3.82, Y:-0.06, Z:-0.08 [[ 9.98749219e-01 -4.74329456e-02 -1.58149421e-02 3.81856662e+00] [ 4.74287528e-02 9.98874418e-01 -6.40289293e-04 -6.07991724e-02] [ 1.58275119e-02 -1.10594546e-04 9.99874731e-01 -8.27399184e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.119254154 meters Centerline goodness : 0.998258 Centerline is valid? [True, True] Translation: X:3.85, Y:-0.06, Z:-0.08 [[ 9.98724960e-01 -4.79410330e-02 -1.58149421e-02 3.84894642e+00] [ 4.79369039e-02 9.98850161e-01 -6.40289293e-04 -5.73375605e-02] [ 1.58274535e-02 -1.18646460e-04 9.99874731e-01 -8.20049508e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.149254153999999 meters Centerline goodness : 0.998285 Centerline is valid? [True, True] Translation: X:3.88, Y:-0.05, Z:-0.08 [[ 9.98645592e-01 -4.95668135e-02 -1.58149421e-02 3.87932405e+00] [ 4.95628882e-02 9.98770800e-01 -6.40289293e-04 -5.21581931e-02] [ 1.58272394e-02 -1.44412125e-04 9.99874731e-01 -8.30847747e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.179254154 meters Centerline goodness : 0.998064 Centerline is valid? [True, True] Translation: X:3.91, Y:-0.05, Z:-0.08 [[ 9.98597014e-01 -5.05360344e-02 -1.58149421e-02 3.91054045e+00] [ 5.05322306e-02 9.98722225e-01 -6.40289293e-04 -4.91937651e-02] [ 1.58270918e-02 -1.59773323e-04 9.99874731e-01 -8.09792737e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.209254154 meters Centerline goodness : 0.998454 Centerline is valid? [True, True] Translation: X:3.94, Y:-0.05, Z:-0.08 [[ 9.98543502e-01 -5.15825748e-02 -1.58149621e-02 3.94047116e+00] [ 5.15789101e-02 9.98668717e-01 -6.39793256e-04 -4.57979896e-02] [ 1.58269101e-02 -1.76857111e-04 9.99874731e-01 -8.31104318e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.239254153999999 meters Centerline goodness : 0.998662 Centerline is valid? [True, True] Translation: X:3.97, Y:-0.04, Z:-0.08 [[ 9.98477132e-01 -5.28517181e-02 -1.58149721e-02 3.97163859e+00] [ 5.28482165e-02 9.98602352e-01 -6.39546837e-04 -3.95445107e-02] [ 1.58266695e-02 -1.97220177e-04 9.99874731e-01 -7.90766651e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.2692541539999995 meters Centerline goodness : 0.998623 Centerline is valid? [True, True] Translation: X:4.00, Y:-0.04, Z:-0.08 [[ 9.98440938e-01 -5.35311118e-02 -1.58149919e-02 4.00243505e+00] [ 5.35277031e-02 9.98566160e-01 -6.39057651e-04 -3.57626889e-02] [ 1.58265252e-02 -2.08478868e-04 9.99874731e-01 -7.81353371e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.299254154 meters Centerline goodness : 0.998721 Centerline is valid? [True, True] Translation: X:4.03, Y:-0.03, Z:-0.08 [[ 9.98438733e-01 -5.35722068e-02 -1.58150115e-02 4.03351653e+00] [ 5.35688110e-02 9.98563956e-01 -6.38570149e-04 -3.21482959e-02] [ 1.58265101e-02 -2.09618193e-04 9.99874731e-01 -7.66877617e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.329254154 meters Centerline goodness : 0.998845 Centerline is valid? [True, True] Translation: X:4.06, Y:-0.03, Z:-0.07 [[ 9.98455469e-01 -5.32593772e-02 -1.58150311e-02 4.06411701e+00] [ 5.32559499e-02 9.98580691e-01 -6.38084405e-04 -2.57022865e-02] [ 1.58265687e-02 -2.05145642e-04 9.99874731e-01 -7.38886532e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.359254153999999 meters Centerline goodness : 0.999014 Centerline is valid? [True, True] Translation: X:4.10, Y:-0.02, Z:-0.07 [[ 9.98490598e-01 -5.25966701e-02 -1.58150604e-02 4.09595272e+00] [ 5.25931711e-02 9.98615818e-01 -6.37357582e-04 -2.13039016e-02] [ 1.58266924e-02 -1.95368627e-04 9.99874731e-01 -7.23294465e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.389254154 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:4.13, Y:-0.02, Z:-0.07 [[ 9.98560678e-01 -5.12489520e-02 -1.58150991e-02 4.12703357e+00] [ 5.12452992e-02 9.98685894e-01 -6.36395731e-04 -1.66731489e-02] [ 1.58269310e-02 -1.74969735e-04 9.99874731e-01 -7.12190741e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.419254154 meters Centerline goodness : 0.998742 Centerline is valid? [True, True] Translation: X:4.16, Y:-0.01, Z:-0.07 [[ 9.98785427e-01 -4.66642463e-02 -1.58151280e-02 4.15782930e+00] [ 4.66600302e-02 9.98910625e-01 -6.35678462e-04 -7.82241725e-03] [ 1.58275628e-02 -1.03027964e-04 9.99874731e-01 -7.05893493e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.449254153999999 meters Centerline goodness : 0.998906 Centerline is valid? [True, True] Translation: X:4.19, Y:-0.00, Z:-0.07 [[ 9.98939356e-01 -4.32439951e-02 -1.58151915e-02 4.18889511e+00] [ 4.32393753e-02 9.99064540e-01 -6.34093423e-04 -2.78804549e-03] [ 1.58278178e-02 -5.04181268e-05 9.99874731e-01 -6.98650951e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.4792541539999995 meters Centerline goodness : 0.998675 Centerline is valid? [True, True] Translation: X:4.22, Y:0.00, Z:-0.07 [[ 9.99065967e-01 -4.02128354e-02 -1.58152104e-02 4.22005063e+00] [ 4.02078432e-02 9.99191137e-01 -6.33622712e-04 2.34939731e-03] [ 1.58278978e-02 -2.86461201e-06 9.99874731e-01 -6.96399345e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.509254154 meters Centerline goodness : 0.998971 Centerline is valid? [True, True] Translation: X:4.25, Y:0.01, Z:-0.07 [[ 9.99310174e-01 -3.36014181e-02 -1.58152291e-02 4.24988765e+00] [ 3.35956053e-02 9.99435308e-01 -6.33154700e-04 1.10726848e-02] [ 1.58275733e-02 1.01395738e-04 9.99874731e-01 -6.94700397e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.539254154 meters Centerline goodness : 0.999220 Centerline is valid? [True, True] Translation: X:4.28, Y:0.02, Z:-0.07 [[ 9.99410922e-01 -3.04579456e-02 -1.58152598e-02 4.27995202e+00] [ 3.04517514e-02 9.99536038e-01 -6.32386238e-04 1.58930783e-02] [ 1.58271833e-02 1.50411353e-04 9.99874731e-01 -6.85488948e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.569254153999999 meters Centerline goodness : 0.998883 Centerline is valid? [True, True] Translation: X:4.31, Y:0.02, Z:-0.07 [[ 9.99533635e-01 -2.61226110e-02 -1.58152598e-02 4.30884647e+00] [ 2.61158741e-02 9.99658722e-01 -6.32386238e-04 2.40118474e-02] [ 1.58263820e-02 2.19061980e-04 9.99874731e-01 -6.74899090e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.599254154 meters Centerline goodness : 0.998879 Centerline is valid? [True, True] Translation: X:4.34, Y:0.03, Z:-0.06 [[ 9.99574758e-01 -2.44985890e-02 -1.58152507e-02 4.33863355e+00] [ 2.44916453e-02 9.99699835e-01 -6.32615486e-04 2.83915380e-02] [ 1.58260017e-02 2.45004962e-04 9.99874731e-01 -6.29141535e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.629254154 meters Centerline goodness : 0.999093 Centerline is valid? [True, True] Translation: X:4.37, Y:0.03, Z:-0.07 [[ 9.99603277e-01 -2.33059649e-02 -1.58152277e-02 4.36776134e+00] [ 2.32988629e-02 9.99728344e-01 -6.33188669e-04 3.24354595e-02] [ 1.58256885e-02 2.64460646e-04 9.99874731e-01 -6.53412073e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.659254153999999 meters Centerline goodness : 0.999133 Centerline is valid? [True, True] Translation: X:4.40, Y:0.04, Z:-0.06 [[ 9.99616950e-01 -2.27119251e-02 -1.58152163e-02 4.39751036e+00] [ 2.27047443e-02 9.99742013e-01 -6.33473045e-04 3.63794545e-02] [ 1.58255236e-02 2.74149951e-04 9.99874731e-01 -6.16675973e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.6892541539999995 meters Centerline goodness : 0.999176 Centerline is valid? [True, True] Translation: X:4.43, Y:0.04, Z:-0.06 [[ 9.99619362e-01 -2.26055661e-02 -1.58151935e-02 4.42659310e+00] [ 2.25983630e-02 9.99744423e-01 -6.34041688e-04 4.20031529e-02] [ 1.58254844e-02 2.76402863e-04 9.99874731e-01 -6.16628592e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.719254154 meters Centerline goodness : 0.999009 Centerline is valid? [True, True] Translation: X:4.45, Y:0.05, Z:-0.06 [[ 9.99610879e-01 -2.29776314e-02 -1.58151701e-02 4.45480737e+00] [ 2.29704656e-02 9.99735943e-01 -6.34624744e-04 4.53576300e-02] [ 1.58255762e-02 2.71095976e-04 9.99874731e-01 -6.25730273e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.749254154 meters Centerline goodness : 0.999091 Centerline is valid? [True, True] Translation: X:4.48, Y:0.05, Z:-0.07 [[ 9.99599229e-01 -2.34789759e-02 -1.58151353e-02 4.48337583e+00] [ 2.34718591e-02 9.99724296e-01 -6.35492074e-04 4.85433776e-02] [ 1.58256957e-02 2.64026761e-04 9.99874731e-01 -6.71971892e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.779254153999999 meters Centerline goodness : 0.999069 Centerline is valid? [True, True] Translation: X:4.51, Y:0.05, Z:-0.06 [[ 9.99577468e-01 -2.43878697e-02 -1.58151021e-02 4.51272105e+00] [ 2.43808535e-02 9.99702540e-01 -6.36315696e-04 5.38274663e-02] [ 1.58259162e-02 2.50461143e-04 9.99874731e-01 -6.22062830e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.809254154 meters Centerline goodness : 0.999131 Centerline is valid? [True, True] Translation: X:4.54, Y:0.06, Z:-0.06 [[ 9.99556410e-01 -2.52362054e-02 -1.58150793e-02 4.54237919e+00] [ 2.52292865e-02 9.99681488e-01 -6.36883075e-04 5.69980336e-02] [ 1.58261145e-02 2.37597394e-04 9.99874731e-01 -6.26390732e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.839254154 meters Centerline goodness : 0.998941 Centerline is valid? [True, True] Translation: X:4.57, Y:0.06, Z:-0.06 [[ 9.99522839e-01 -2.65325967e-02 -1.58150680e-02 4.57282969e+00] [ 2.65258355e-02 9.99647925e-01 -6.37164358e-04 6.02929900e-02] [ 1.58264055e-02 2.17352436e-04 9.99874731e-01 -6.04473141e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.869254153999999 meters Centerline goodness : 0.998877 Centerline is valid? [True, True] Translation: X:4.60, Y:0.07, Z:-0.06 [[ 9.99433760e-01 -2.96991932e-02 -1.58150680e-02 4.60332459e+00] [ 2.96928284e-02 9.99558868e-01 -6.37164358e-04 6.52059942e-02] [ 1.58270147e-02 1.67209471e-04 9.99874731e-01 -5.95197172e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.899254153999999 meters Centerline goodness : 0.998856 Centerline is valid? [True, True] Translation: X:4.63, Y:0.07, Z:-0.06 [[ 9.99378848e-01 -3.14928718e-02 -1.58150680e-02 4.63484156e+00] [ 3.14867316e-02 9.99503967e-01 -6.37164358e-04 6.79407733e-02] [ 1.58272893e-02 1.38803783e-04 9.99874731e-01 -5.85423439e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.929254154 meters Centerline goodness : 0.998896 Centerline is valid? [True, True] Translation: X:4.67, Y:0.07, Z:-0.06 [[ 9.99254747e-01 -3.52112799e-02 -1.58150914e-02 4.66669357e+00] [ 3.52056145e-02 9.99379887e-01 -6.36582844e-04 7.14135115e-02] [ 1.58276991e-02 7.93284187e-05 9.99874731e-01 -5.75358836e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.959254154 meters Centerline goodness : 0.998834 Centerline is valid? [True, True] Translation: X:4.70, Y:0.07, Z:-0.06 [[ 9.99202963e-01 -3.66513305e-02 -1.58151386e-02 4.69747978e+00] [ 3.66458639e-02 9.99328113e-01 -6.35407505e-04 7.38779308e-02] [ 1.58278011e-02 5.53416445e-05 9.99874731e-01 -5.75165098e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.989254153999999 meters Centerline goodness : 0.998918 Centerline is valid? [True, True] Translation: X:4.73, Y:0.08, Z:-0.06 [[ 9.99167991e-01 -3.75926166e-02 -1.58152126e-02 4.72927080e+00] [ 3.75872972e-02 9.99293147e-01 -6.33560075e-04 7.64590729e-02] [ 1.58278508e-02 3.85818507e-05 9.99874731e-01 -5.70478065e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.0192541539999995 meters Centerline goodness : 0.998897 Centerline is valid? [True, True] Translation: X:4.76, Y:0.08, Z:-0.06 [[ 9.99164855e-01 -3.76758599e-02 -1.58152588e-02 4.76184951e+00] [ 3.76705692e-02 9.99290012e-01 -6.32403786e-04 7.90909504e-02] [ 1.58278566e-02 3.61058342e-05 9.99874731e-01 -5.62870296e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.049254154 meters Centerline goodness : 0.999002 Centerline is valid? [True, True] Translation: X:4.79, Y:0.08, Z:-0.05 [[ 9.99229111e-01 -3.59313111e-02 -1.58153051e-02 4.79293610e+00] [ 3.59258203e-02 9.99354260e-01 -6.31245509e-04 8.34519791e-02] [ 1.58277740e-02 6.25810812e-05 9.99874731e-01 -5.48684314e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.079254153999999 meters Centerline goodness : 0.998873 Centerline is valid? [True, True] Translation: X:4.83, Y:0.09, Z:-0.05 [[ 9.99291810e-01 -3.41431410e-02 -1.58153394e-02 4.82515061e+00] [ 3.41374398e-02 9.99416949e-01 -6.30383967e-04 8.61266151e-02] [ 1.58276416e-02 9.00423376e-05 9.99874731e-01 -5.39311792e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.109254153999999 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:4.86, Y:0.09, Z:-0.05 [[ 9.99356453e-01 -3.21955571e-02 -1.58153851e-02 4.85731943e+00] [ 3.21896303e-02 9.99481582e-01 -6.29235686e-04 8.88338787e-02] [ 1.58274447e-02 1.19739343e-04 9.99874731e-01 -5.31233670e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.139254154 meters Centerline goodness : 0.998952 Centerline is valid? [True, True] Translation: X:4.89, Y:0.09, Z:-0.05 [[ 9.99476186e-01 -2.82352002e-02 -1.58154308e-02 4.88811814e+00] [ 2.82287958e-02 9.99601291e-01 -6.28085443e-04 9.22247282e-02] [ 1.58268591e-02 1.81305877e-04 9.99874731e-01 -5.32246613e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.169254154 meters Centerline goodness : 0.998953 Centerline is valid? [True, True] Translation: X:4.92, Y:0.09, Z:-0.05 [[ 9.99531257e-01 -2.62132869e-02 -1.58154648e-02 4.91792756e+00] [ 2.62066430e-02 9.99656350e-01 -6.27228552e-04 9.43547524e-02] [ 1.58264715e-02 2.12464305e-04 9.99874731e-01 -5.31826564e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.199254153999999 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:4.95, Y:0.10, Z:-0.05 [[ 9.99600192e-01 -2.34377321e-02 -1.58154758e-02 4.94924609e+00] [ 2.34307453e-02 9.99725266e-01 -6.26949237e-04 9.76543138e-02] [ 1.58258251e-02 2.56130192e-04 9.99874731e-01 -5.27665872e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.2292541539999995 meters Centerline goodness : 0.999146 Centerline is valid? [True, True] Translation: X:4.98, Y:0.10, Z:-0.05 [[ 9.99619407e-01 -2.26033215e-02 -1.58154989e-02 4.97843175e+00] [ 2.25962395e-02 9.99744476e-01 -6.26367203e-04 9.96650331e-02] [ 1.58256156e-02 2.68758012e-04 9.99874731e-01 -5.29716949e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.259254154 meters Centerline goodness : 0.998930 Centerline is valid? [True, True] Translation: X:5.01, Y:0.10, Z:-0.05 [[ 9.99631132e-01 -2.20787208e-02 -1.58154875e-02 5.00803532e+00] [ 2.20715686e-02 9.99756197e-01 -6.26655669e-04 1.01473059e-01] [ 1.58254673e-02 2.77351901e-04 9.99874731e-01 -5.40225936e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.289254153999999 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:5.04, Y:0.10, Z:-0.05 [[ 9.99638819e-01 -2.17279065e-02 -1.58154905e-02 5.03806534e+00] [ 2.17207115e-02 9.99763881e-01 -6.26579495e-04 1.03590668e-01] [ 1.58253704e-02 2.82829480e-04 9.99874731e-01 -5.44614791e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.319254153999999 meters Centerline goodness : 0.999034 Centerline is valid? [True, True] Translation: X:5.07, Y:0.11, Z:-0.06 [[ 9.99632118e-01 -2.20340511e-02 -1.58154677e-02 5.06738416e+00] [ 2.20268854e-02 9.99757182e-01 -6.27154278e-04 1.05190852e-01] [ 1.58254462e-02 2.78558065e-04 9.99874731e-01 -5.51076828e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.349254154 meters Centerline goodness : 0.998970 Centerline is valid? [True, True] Translation: X:5.10, Y:0.11, Z:-0.06 [[ 9.99624662e-01 -2.23697400e-02 -1.58154697e-02 5.09677107e+00] [ 2.23626171e-02 9.99749729e-01 -6.27104184e-04 1.06801255e-01] [ 1.58255397e-02 2.73193515e-04 9.99874731e-01 -5.57498739e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.379254154 meters Centerline goodness : 0.998993 Centerline is valid? [True, True] Translation: X:5.13, Y:0.11, Z:-0.06 [[ 9.99595255e-01 -2.36473483e-02 -1.58154585e-02 5.12665785e+00] [ 2.36403808e-02 9.99720330e-01 -6.27385856e-04 1.09151960e-01] [ 1.58258714e-02 2.53248464e-04 9.99874731e-01 -5.56731774e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.409254153999999 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:5.16, Y:0.11, Z:-0.05 [[ 9.99564401e-01 -2.49174638e-02 -1.58154364e-02 5.15749233e+00] [ 2.49106464e-02 9.99689484e-01 -6.27941821e-04 1.11159918e-01] [ 1.58261722e-02 2.33695545e-04 9.99874731e-01 -5.44948162e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.4392541539999995 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:5.19, Y:0.11, Z:-0.05 [[ 9.99526988e-01 -2.63755873e-02 -1.58154364e-02 5.18819886e+00] [ 2.63689524e-02 9.99652081e-01 -6.27941821e-04 1.13020361e-01] [ 1.58264963e-02 2.10608307e-04 9.99874731e-01 -5.40826077e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.469254154 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:5.22, Y:0.11, Z:-0.05 [[ 9.99422675e-01 -3.00697001e-02 -1.58154733e-02 5.21899401e+00] [ 3.00635423e-02 9.99547793e-01 -6.27011936e-04 1.14665059e-01] [ 1.58271755e-02 1.51180797e-04 9.99874731e-01 -5.28291383e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.499254153999999 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:5.25, Y:0.12, Z:-0.05 [[ 9.99423751e-01 -3.00339255e-02 -1.58154845e-02 5.25081237e+00] [ 3.00277677e-02 9.99548868e-01 -6.26729811e-04 1.15895843e-01] [ 1.58271728e-02 1.51464965e-04 9.99874731e-01 -5.23251739e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.529254153999999 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:5.28, Y:0.12, Z:-0.05 [[ 9.99346925e-01 -3.24899038e-02 -1.58155069e-02 5.28344675e+00] [ 3.24840624e-02 9.99472057e-01 -6.26163692e-04 1.17337381e-01] [ 1.58275012e-02 1.12002847e-04 9.99874731e-01 -5.10902274e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.559254154 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:5.32, Y:0.12, Z:-0.05 [[ 9.99159757e-01 -3.78106943e-02 -1.58155523e-02 5.31596950e+00] [ 3.78055375e-02 9.99284920e-01 -6.25015399e-04 1.18601386e-01] [ 1.58278751e-02 2.65747801e-05 9.99874731e-01 -4.91495705e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.589254154 meters Centerline goodness : 0.999272 Centerline is valid? [True, True] Translation: X:5.35, Y:0.12, Z:-0.05 [[ 9.99058650e-01 -4.03940744e-02 -1.58155987e-02 5.34842668e+00] [ 4.03892598e-02 9.99183826e-01 -6.23838355e-04 1.19830007e-01] [ 1.58278898e-02 -1.55292201e-05 9.99874731e-01 -4.80030475e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.619254153999999 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:5.38, Y:0.12, Z:-0.05 [[ 9.98956691e-01 -4.28415050e-02 -1.58156452e-02 5.38047990e+00] [ 4.28370159e-02 9.99081880e-01 -6.22656919e-04 1.21046135e-01] [ 1.58278001e-02 -5.54877490e-05 9.99874731e-01 -4.73758939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.649254153999999 meters Centerline goodness : 0.999105 Centerline is valid? [True, True] Translation: X:5.41, Y:0.12, Z:-0.05 [[ 9.98857749e-01 -4.50894800e-02 -1.58156913e-02 5.41118196e+00] [ 4.50852911e-02 9.98982948e-01 -6.21484225e-04 1.22258939e-01] [ 1.58276283e-02 -9.22807113e-05 9.99874731e-01 -4.67581140e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.679254154 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:5.44, Y:0.12, Z:-0.05 [[ 9.98648404e-01 -4.95098737e-02 -1.58157256e-02 5.44437865e+00] [ 4.95062528e-02 9.98773621e-01 -6.20610544e-04 1.23699059e-01] [ 1.58270558e-02 -1.63205579e-04 9.99874731e-01 -4.63108625e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.709254153999999 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:5.48, Y:0.12, Z:-0.05 [[ 9.98548478e-01 -5.14859036e-02 -1.58157947e-02 5.47685866e+00] [ 5.14825585e-02 9.98673702e-01 -6.18844843e-04 1.24976677e-01] [ 1.58266800e-02 -1.96290997e-04 9.99874731e-01 -4.64290563e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.739254153999999 meters Centerline goodness : 0.999168 Centerline is valid? [True, True] Translation: X:5.51, Y:0.13, Z:-0.05 [[ 9.98455898e-01 -5.32510827e-02 -1.58158517e-02 5.50988658e+00] [ 5.32479822e-02 9.98581129e-01 -6.17383183e-04 1.26351875e-01] [ 1.58262874e-02 -2.25732309e-04 9.99874731e-01 -4.62885724e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.7692541539999995 meters Centerline goodness : 0.999189 Centerline is valid? [True, True] Translation: X:5.54, Y:0.13, Z:-0.05 [[ 9.98326614e-01 -5.56222019e-02 -1.58159197e-02 5.54112383e+00] [ 5.56194264e-02 9.98451852e-01 -6.15637111e-04 1.28341215e-01] [ 1.58256774e-02 -2.65065468e-04 9.99874731e-01 -4.68029258e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.799254154 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:5.57, Y:0.13, Z:-0.05 [[ 9.98316600e-01 -5.58016214e-02 -1.58160073e-02 5.57239718e+00] [ 5.57989042e-02 9.98441839e-01 -6.13376771e-04 1.30711233e-01] [ 1.58255909e-02 -2.70171666e-04 9.99874731e-01 -4.78069734e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.829254153999999 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:5.61, Y:0.13, Z:-0.05 [[ 9.98293846e-01 -5.62075676e-02 -1.58147606e-02 5.60507743e+00] [ 5.62043910e-02 9.98419075e-01 -6.45602440e-04 1.34140551e-01] [ 1.58260464e-02 -2.44358047e-04 9.99874730e-01 -4.65789929e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.859254153999999 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:5.64, Y:0.14, Z:-0.05 [[ 9.98318854e-01 -5.57612286e-02 -1.58161380e-02 5.63772593e+00] [ 5.57585616e-02 9.98444095e-01 -6.09883338e-04 1.36628586e-01] [ 1.58255375e-02 -2.73027071e-04 9.99874731e-01 -4.63895122e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.889254154 meters Centerline goodness : 0.999271 Centerline is valid? [True, True] Translation: X:5.67, Y:0.14, Z:-0.05 [[ 9.98378124e-01 -5.46897606e-02 -1.58162045e-02 5.66945350e+00] [ 5.46869866e-02 9.98503362e-01 -6.08154980e-04 1.39208718e-01] [ 1.58257932e-02 -2.57771934e-04 9.99874731e-01 -4.62346304e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.919254153999999 meters Centerline goodness : 0.999442 Centerline is valid? [True, True] Translation: X:5.70, Y:0.14, Z:-0.04 [[ 9.98548529e-01 -5.14847601e-02 -1.58162594e-02 5.70243330e+00] [ 5.14816069e-02 9.98673759e-01 -6.06723767e-04 1.44170249e-01] [ 1.58265202e-02 -2.08403322e-04 9.99874731e-01 -4.45328535e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.949254153999999 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:5.73, Y:0.15, Z:-0.04 [[ 9.98654277e-01 -4.93910819e-02 -1.58163265e-02 5.73440722e+00] [ 4.93876939e-02 9.98779500e-01 -6.04967989e-04 1.47531514e-01] [ 1.58269027e-02 -1.76978023e-04 9.99874731e-01 -4.41074670e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.9792541539999995 meters Centerline goodness : 0.999483 Centerline is valid? [True, True] Translation: X:5.77, Y:0.15, Z:-0.04 [[ 9.98763300e-01 -4.71350527e-02 -1.58163819e-02 5.76688680e+00] [ 4.71314048e-02 9.98888516e-01 -6.03516526e-04 1.50899634e-01] [ 1.58272490e-02 -1.42678141e-04 9.99874731e-01 -4.30148974e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.009254154 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:5.80, Y:0.15, Z:-0.04 [[ 9.98853880e-01 -4.51748318e-02 -1.58164480e-02 5.79855047e+00] [ 4.51709657e-02 9.98979090e-01 -6.01778675e-04 1.54296215e-01] [ 1.58274861e-02 -1.13355266e-04 9.99874731e-01 -4.23464284e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.039254153999999 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:5.83, Y:0.16, Z:-0.04 [[ 9.98979505e-01 -4.23058791e-02 -1.58165026e-02 5.83080538e+00] [ 4.23016761e-02 9.99104703e-01 -6.00340700e-04 1.59879391e-01] [ 1.58277401e-02 -6.93365167e-05 9.99874731e-01 -4.07634836e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.069254153999999 meters Centerline goodness : 0.999221 Centerline is valid? [True, True] Translation: X:5.86, Y:0.16, Z:-0.04 [[ 9.99018407e-01 -4.13770334e-02 -1.58165464e-02 5.86382865e+00] [ 4.13727323e-02 9.99143602e-01 -5.99184317e-04 1.62988220e-01] [ 1.58277936e-02 -5.57775801e-05 9.99874731e-01 -4.02018364e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.099254154 meters Centerline goodness : 0.999567 Centerline is valid? [True, True] Translation: X:5.90, Y:0.17, Z:-0.04 [[ 9.99021690e-01 -4.12976641e-02 -1.58166119e-02 5.89534832e+00] [ 4.12933805e-02 9.99146886e-01 -5.97452034e-04 1.68101106e-01] [ 1.58277919e-02 -5.62538310e-05 9.99874731e-01 -3.95922553e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.129254153999999 meters Centerline goodness : 0.999565 Centerline is valid? [True, True] Translation: X:5.93, Y:0.17, Z:-0.04 [[ 9.99009847e-01 -4.15831614e-02 -1.58166660e-02 5.92683741e+00] [ 4.15789363e-02 9.99135044e-01 -5.96016037e-04 1.71202184e-01] [ 1.58277695e-02 -6.22142572e-05 9.99874731e-01 -3.91342930e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.159254153999999 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:5.96, Y:0.17, Z:-0.04 [[ 9.98999307e-01 -4.18355717e-02 -1.58167192e-02 5.96010417e+00] [ 4.18314008e-02 9.99124507e-01 -5.94599090e-04 1.74366498e-01] [ 1.58277472e-02 -6.76314416e-05 9.99874731e-01 -3.84886182e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.1892541539999995 meters Centerline goodness : 0.999456 Centerline is valid? [True, True] Translation: X:5.99, Y:0.18, Z:-0.04 [[ 9.99015885e-01 -4.14377944e-02 -1.58167822e-02 5.99244791e+00] [ 4.14336001e-02 9.99141084e-01 -5.92919734e-04 1.79900890e-01] [ 1.58277662e-02 -6.30099966e-05 9.99874731e-01 -3.76286032e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.219254154 meters Centerline goodness : 0.999388 Centerline is valid? [True, True] Translation: X:6.03, Y:0.18, Z:-0.04 [[ 9.99047753e-01 -4.06621997e-02 -1.58168358e-02 6.02574650e+00] [ 4.06579310e-02 9.99172949e-01 -5.91485711e-04 1.83221149e-01] [ 1.58278056e-02 -5.21573490e-05 9.99874731e-01 -3.71049256e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.249254153999999 meters Centerline goodness : 0.999433 Centerline is valid? [True, True] Translation: X:6.06, Y:0.19, Z:-0.04 [[ 9.99084844e-01 -3.97404172e-02 -1.58169010e-02 6.05705989e+00] [ 3.97360606e-02 9.99210037e-01 -5.89736321e-04 1.86269187e-01] [ 1.58278426e-02 -3.93047185e-05 9.99874731e-01 -3.69244010e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.279254153999999 meters Centerline goodness : 0.999429 Centerline is valid? [True, True] Translation: X:6.09, Y:0.19, Z:-0.04 [[ 9.99140180e-01 -3.83239383e-02 -1.58169733e-02 6.08977807e+00] [ 3.83194351e-02 9.99265368e-01 -5.87792402e-04 1.91636593e-01] [ 1.58278802e-02 -1.88104744e-05 9.99874731e-01 -3.59535876e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.309254154 meters Centerline goodness : 0.999495 Centerline is valid? [True, True] Translation: X:6.12, Y:0.19, Z:-0.03 [[ 9.99165741e-01 -3.76515935e-02 -1.58170381e-02 6.12217823e+00] [ 3.76470336e-02 9.99290927e-01 -5.86042998e-04 1.94844842e-01] [ 1.58278881e-02 -9.91047896e-06 9.99874731e-01 -3.49500757e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.339254153999999 meters Centerline goodness : 0.999495 Centerline is valid? [True, True] Translation: X:6.15, Y:0.20, Z:-0.03 [[ 9.99183987e-01 -3.71642419e-02 -1.58170811e-02 6.15474923e+00] [ 3.71596394e-02 9.99309171e-01 -5.84880711e-04 1.97922356e-01] [ 1.58278908e-02 -3.35358903e-06 9.99874731e-01 -3.46419050e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.369254153999999 meters Centerline goodness : 0.999493 Centerline is valid? [True, True] Translation: X:6.19, Y:0.20, Z:-0.03 [[ 9.99164424e-01 -3.76864983e-02 -1.58171240e-02 6.18677339e+00] [ 3.76819796e-02 9.99289612e-01 -5.83718422e-04 2.02111689e-01] [ 1.58278860e-02 -1.27898630e-05 9.99874731e-01 -3.49127524e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.399254153999999 meters Centerline goodness : 0.999713 Centerline is valid? [True, True] Translation: X:6.22, Y:0.20, Z:-0.03 [[ 9.99146729e-01 -3.81527363e-02 -1.58171773e-02 6.21851794e+00] [ 3.81482989e-02 9.99271919e-01 -5.82270944e-04 2.04511530e-01] [ 1.58278763e-02 -2.16242971e-05 9.99874731e-01 -3.46395583e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.429254154 meters Centerline goodness : 0.999691 Centerline is valid? [True, True] Translation: X:6.25, Y:0.21, Z:-0.04 [[ 9.99095789e-01 -3.94641538e-02 -1.58172191e-02 6.25033476e+00] [ 3.94598988e-02 9.99220986e-01 -5.81132005e-04 2.08498271e-01] [ 1.58278312e-02 -4.35393262e-05 9.99874731e-01 -3.50834245e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.459254153999999 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:6.28, Y:0.21, Z:-0.03 [[ 9.99071986e-01 -4.00622064e-02 -1.58172711e-02 6.28372129e+00] [ 4.00580488e-02 9.99197186e-01 -5.79712306e-04 2.11039565e-01] [ 1.58277974e-02 -5.44346949e-05 9.99874731e-01 -3.45109845e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.489254153999999 meters Centerline goodness : 0.999734 Centerline is valid? [True, True] Translation: X:6.32, Y:0.21, Z:-0.03 [[ 9.99048447e-01 -4.06449513e-02 -1.58173339e-02 6.31674954e+00] [ 4.06408940e-02 9.99173650e-01 -5.77995242e-04 2.13297135e-01] [ 1.58277558e-02 -6.53853402e-05 9.99874731e-01 -3.43737363e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.5192541539999995 meters Centerline goodness : 0.999668 Centerline is valid? [True, True] Translation: X:6.35, Y:0.21, Z:-0.03 [[ 9.98938248e-01 -4.32687788e-02 -1.58173961e-02 6.34888547e+00] [ 4.32650774e-02 9.99063462e-01 -5.76286696e-04 2.13793788e-01] [ 1.58275178e-02 -1.08666046e-04 9.99874731e-01 -3.39076916e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.549254153999999 meters Centerline goodness : 0.999690 Centerline is valid? [True, True] Translation: X:6.38, Y:0.22, Z:-0.03 [[ 9.98727711e-01 -4.78828542e-02 -1.58174475e-02 6.38176863e+00] [ 4.78797536e-02 9.98852941e-01 -5.74874139e-04 2.15155873e-01] [ 1.58268306e-02 -1.83192755e-04 9.99874731e-01 -3.26931572e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.579254153999999 meters Centerline goodness : 0.999646 Centerline is valid? [True, True] Translation: X:6.42, Y:0.22, Z:-0.03 [[ 9.98639909e-01 -4.96803715e-02 -1.58175089e-02 6.41521647e+00] [ 4.96775231e-02 9.98765145e-01 -5.73178662e-04 2.16732905e-01] [ 1.58264523e-02 -2.13375578e-04 9.99874731e-01 -3.24813129e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.609254153999999 meters Centerline goodness : 0.999735 Centerline is valid? [True, True] Translation: X:6.45, Y:0.22, Z:-0.03 [[ 9.98566264e-01 -5.11392207e-02 -1.58175700e-02 6.44785672e+00] [ 5.11365821e-02 9.98691506e-01 -5.71487794e-04 2.17885940e-01] [ 1.58260982e-02 -2.38188037e-04 9.99874731e-01 -3.25701421e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.639254154 meters Centerline goodness : 0.999646 Centerline is valid? [True, True] Translation: X:6.48, Y:0.22, Z:-0.03 [[ 9.98350054e-01 -5.51993927e-02 -1.58176309e-02 6.48095258e+00] [ 5.51972902e-02 9.98475305e-01 -5.69797814e-04 2.16517626e-01] [ 1.58249663e-02 -3.04232684e-04 9.99874731e-01 -3.40841318e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.669254153999999 meters Centerline goodness : 0.999713 Centerline is valid? [True, True] Translation: X:6.51, Y:0.22, Z:-0.03 [[ 9.98249716e-01 -5.69851316e-02 -1.58176924e-02 6.51357206e+00] [ 5.69832803e-02 9.98374971e-01 -5.68085444e-04 2.16713262e-01] [ 1.58243606e-02 -3.34252865e-04 9.99874731e-01 -3.44330629e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.699254153999999 meters Centerline goodness : 0.999713 Centerline is valid? [True, True] Translation: X:6.55, Y:0.22, Z:-0.04 [[ 9.98081921e-01 -5.98521310e-02 -1.58177533e-02 6.54583406e+00] [ 5.98506664e-02 9.98207181e-01 -5.66383168e-04 2.16924126e-01] [ 1.58232942e-02 -3.81406278e-04 9.99874731e-01 -3.54225248e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.7292541539999995 meters Centerline goodness : 0.999735 Centerline is valid? [True, True] Translation: X:6.58, Y:0.22, Z:-0.03 [[ 9.98055295e-01 -6.02944906e-02 -1.58177937e-02 6.57841536e+00] [ 6.02930994e-02 9.98180556e-01 -5.65254696e-04 2.17712328e-01] [ 1.58230958e-02 -3.89548363e-04 9.99874731e-01 -3.49209916e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.759254153999999 meters Centerline goodness : 0.999515 Centerline is valid? [True, True] Translation: X:6.61, Y:0.22, Z:-0.03 [[ 9.98062200e-01 -6.01800679e-02 -1.58178547e-02 6.61186414e+00] [ 6.01786895e-02 9.98187461e-01 -5.63541388e-04 2.19026429e-01] [ 1.58230982e-02 -3.89448409e-04 9.99874731e-01 -3.42216399e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.789254153999999 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:6.64, Y:0.22, Z:-0.03 [[ 9.98123923e-01 -5.91475047e-02 -1.58179150e-02 6.64360022e+00] [ 5.91460235e-02 9.98249183e-01 -5.61843038e-04 2.20679321e-01] [ 1.58234524e-02 -3.74777797e-04 9.99874731e-01 -3.37523552e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.819254153999999 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:6.68, Y:0.22, Z:-0.03 [[ 9.98139632e-01 -5.88817755e-02 -1.58180629e-02 6.67707644e+00] [ 5.88803275e-02 9.98264893e-01 -5.57647552e-04 2.21529485e-01] [ 1.58234522e-02 -3.74762604e-04 9.99874731e-01 -3.30571292e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.849254154 meters Centerline goodness : 0.999648 Centerline is valid? [True, True] Translation: X:6.71, Y:0.22, Z:-0.03 [[ 9.98150658e-01 -5.86945588e-02 -1.58181216e-02 6.71000769e+00] [ 5.86931137e-02 9.98275918e-01 -5.55979328e-04 2.22092565e-01] [ 1.58234828e-02 -3.73463676e-04 9.99874731e-01 -3.23935685e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.879254153999999 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:6.74, Y:0.22, Z:-0.03 [[ 9.98169211e-01 -5.83781761e-02 -1.58181802e-02 6.74296583e+00] [ 5.83767178e-02 9.98294471e-01 -5.54306795e-04 2.22323061e-01] [ 1.58235612e-02 -3.70121464e-04 9.99874731e-01 -3.12535595e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.909254153999999 meters Centerline goodness : 0.999648 Centerline is valid? [True, True] Translation: X:6.78, Y:0.22, Z:-0.03 [[ 9.98160506e-01 -5.85268071e-02 -1.58182404e-02 6.77639324e+00] [ 5.85253947e-02 9.98285767e-01 -5.52582484e-04 2.23398211e-01] [ 1.58234652e-02 -3.74202753e-04 9.99874731e-01 -3.06887737e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.9392541539999995 meters Centerline goodness : 0.999649 Centerline is valid? [True, True] Translation: X:6.81, Y:0.22, Z:-0.03 [[ 9.98145728e-01 -5.87782840e-02 -1.58183006e-02 6.80859510e+00] [ 5.87769306e-02 9.98270990e-01 -5.50854833e-04 2.24083248e-01] [ 1.58233289e-02 -3.79917756e-04 9.99874731e-01 -3.07438166e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.969254153999999 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:6.84, Y:0.23, Z:-0.03 [[ 9.98124455e-01 -5.91384158e-02 -1.58183502e-02 6.84138358e+00] [ 5.91371302e-02 9.98249717e-01 -5.49425236e-04 2.25267699e-01] [ 1.58231558e-02 -3.87057073e-04 9.99874731e-01 -3.04177899e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.999254153999999 meters Centerline goodness : 0.999649 Centerline is valid? [True, True] Translation: X:6.87, Y:0.23, Z:-0.03 [[ 9.98093937e-01 -5.96512466e-02 -1.58184092e-02 6.87394118e+00] [ 5.96500523e-02 9.98219200e-01 -5.47721980e-04 2.26398052e-01] [ 1.58229121e-02 -3.96890949e-04 9.99874731e-01 -3.05669110e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.029254153999998 meters Centerline goodness : 0.999671 Centerline is valid? [True, True] Translation: X:6.91, Y:0.23, Z:-0.03 [[ 9.98017687e-01 -6.09136443e-02 -1.58184679e-02 6.90645008e+00] [ 6.09126354e-02 9.98142952e-01 -5.46022666e-04 2.27507577e-01] [ 1.58223524e-02 -4.18604288e-04 9.99874731e-01 -3.12841251e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.059254154 meters Centerline goodness : 0.999626 Centerline is valid? [True, True] Translation: X:6.94, Y:0.23, Z:-0.03 [[ 9.97998231e-01 -6.12315792e-02 -1.58185066e-02 6.93822572e+00] [ 6.12306280e-02 9.98123496e-01 -5.44897210e-04 2.28694943e-01] [ 1.58221881e-02 -4.24770644e-04 9.99874731e-01 -3.11421315e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.089254153999999 meters Centerline goodness : 0.999671 Centerline is valid? [True, True] Translation: X:6.97, Y:0.23, Z:-0.03 [[ 9.98000772e-01 -6.11901284e-02 -1.58185464e-02 6.96983750e+00] [ 6.11891904e-02 9.98126038e-01 -5.43739064e-04 2.29879947e-01] [ 1.58221745e-02 -4.25272044e-04 9.99874731e-01 -3.12745710e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.119254154 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:7.00, Y:0.23, Z:-0.03 [[ 9.98019267e-01 -6.08877065e-02 -1.58186447e-02 7.00178741e+00] [ 6.08867760e-02 9.98144533e-01 -5.40865798e-04 2.31015119e-01] [ 1.58222258e-02 -4.23351788e-04 9.99874731e-01 -3.15402903e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.149254154 meters Centerline goodness : 0.999714 Centerline is valid? [True, True] Translation: X:7.04, Y:0.23, Z:-0.03 [[ 9.98064873e-01 -6.01354669e-02 -1.58187893e-02 7.03504137e+00] [ 6.01345095e-02 9.98190139e-01 -5.36602015e-04 2.32634500e-01] [ 1.58224283e-02 -4.15691515e-04 9.99874731e-01 -3.09696286e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.179254153999999 meters Centerline goodness : 0.999714 Centerline is valid? [True, True] Translation: X:7.07, Y:0.23, Z:-0.03 [[ 9.98172345e-01 -5.83243923e-02 -1.58188466e-02 7.06602155e+00] [ 5.83232345e-02 9.98297608e-01 -5.34908001e-04 2.34000443e-01] [ 1.58231149e-02 -3.88675927e-04 9.99874731e-01 -3.15316536e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.209254154 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:7.10, Y:0.23, Z:-0.03 [[ 9.98346011e-01 -5.52727209e-02 -1.58166999e-02 7.10347796e+00] [ 5.52701574e-02 9.98471257e-01 -5.99488038e-04 2.33237907e-01] [ 1.58256555e-02 -2.75695001e-04 9.99874728e-01 -3.19969900e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.239254154 meters Centerline goodness : 0.999691 Centerline is valid? [True, True] Translation: X:7.13, Y:0.24, Z:-0.03 [[ 9.98126186e-01 -5.91067275e-02 -1.58275672e-02 7.12866485e+00] [ 5.91095935e-02 9.98251458e-01 -2.87082979e-04 2.39225197e-01] [ 1.58168605e-02 -6.49016023e-04 9.99874695e-01 -2.78620732e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.269254153999999 meters Centerline goodness : 0.999692 Centerline is valid? [True, True] Translation: X:7.16, Y:0.24, Z:-0.03 [[ 9.98163056e-01 -5.84833533e-02 -1.58180416e-02 7.16154628e+00] [ 5.84818590e-02 9.98288316e-01 -5.57412997e-04 2.40490976e-01] [ 1.58235655e-02 -3.68679416e-04 9.99874732e-01 -2.67419252e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.299254154 meters Centerline goodness : 0.999604 Centerline is valid? [True, True] Translation: X:7.19, Y:0.24, Z:-0.03 [[ 9.98289460e-01 -5.62844727e-02 -1.58181008e-02 7.19429982e+00] [ 5.62827292e-02 9.98414716e-01 -5.55728250e-04 2.41403320e-01] [ 1.58243035e-02 -3.35508227e-04 9.99874732e-01 -2.57245927e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.329254154 meters Centerline goodness : 0.999669 Centerline is valid? [True, True] Translation: X:7.23, Y:0.24, Z:-0.03 [[ 9.98350762e-01 -5.51864267e-02 -1.58181604e-02 7.22722567e+00] [ 5.51845723e-02 9.98476017e-01 -5.54025218e-04 2.42594718e-01] [ 1.58246285e-02 -3.19806919e-04 9.99874732e-01 -2.51981556e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.359254153999998 meters Centerline goodness : 0.999713 Centerline is valid? [True, True] Translation: X:7.26, Y:0.24, Z:-0.02 [[ 9.98499898e-01 -5.24188576e-02 -1.58182199e-02 7.26055246e+00] [ 5.24166830e-02 9.98625148e-01 -5.52320359e-04 2.44089542e-01] [ 1.58254242e-02 -2.77646799e-04 9.99874732e-01 -2.46894574e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.389254154 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:7.29, Y:0.25, Z:-0.02 [[ 9.98595619e-01 -5.05625508e-02 -1.58182793e-02 7.29343347e+00] [ 5.05601704e-02 9.98720865e-01 -5.50615690e-04 2.45312096e-01] [ 1.58258861e-02 -2.49932479e-04 9.99874732e-01 -2.41912859e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.419254153999999 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:7.33, Y:0.25, Z:-0.02 [[ 9.98601102e-01 -5.04541208e-02 -1.58183388e-02 7.32696082e+00] [ 5.04517540e-02 9.98726349e-01 -5.48899964e-04 2.46384201e-01] [ 1.58258860e-02 -2.49930830e-04 9.99874732e-01 -2.36609473e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.449254153999998 meters Centerline goodness : 0.999757 Centerline is valid? [True, True] Translation: X:7.36, Y:0.25, Z:-0.02 [[ 9.98668288e-01 -4.91063068e-02 -1.58183982e-02 7.35854034e+00] [ 4.91037982e-02 9.98793531e-01 -5.47182584e-04 2.47883646e-01] [ 1.58261839e-02 -2.30289539e-04 9.99874732e-01 -2.30371379e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.479254154 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:7.39, Y:0.25, Z:-0.02 [[ 9.98801668e-01 -4.63141909e-02 -1.58184473e-02 7.39102837e+00] [ 4.63113547e-02 9.98926905e-01 -5.45760830e-04 2.49040211e-01] [ 1.58267490e-02 -1.87466895e-04 9.99874732e-01 -2.39164769e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.509254153999999 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:7.42, Y:0.25, Z:-0.02 [[ 9.98872089e-01 -4.47693452e-02 -1.58194958e-02 7.42288026e+00] [ 4.47667988e-02 9.98997331e-01 -5.15227994e-04 2.49561998e-01] [ 1.58267005e-02 -1.93541324e-04 9.99874731e-01 -2.28841374e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.539254154 meters Centerline goodness : 0.999713 Centerline is valid? [True, True] Translation: X:7.46, Y:0.25, Z:-0.02 [[ 9.98908474e-01 -4.39503659e-02 -1.58185557e-02 7.45611411e+00] [ 4.39472828e-02 9.99033704e-01 -5.42635209e-04 2.50207368e-01] [ 1.58271193e-02 -1.53139631e-04 9.99874732e-01 -2.24026277e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.569254154 meters Centerline goodness : 0.999691 Centerline is valid? [True, True] Translation: X:7.49, Y:0.25, Z:-0.02 [[ 9.98952480e-01 -4.29384958e-02 -1.58186126e-02 7.48932785e+00] [ 4.29353121e-02 9.99077708e-01 -5.40970907e-04 2.50425698e-01] [ 1.58272517e-02 -1.38772839e-04 9.99874732e-01 -2.16424956e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.599254153999999 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:7.52, Y:0.25, Z:-0.02 [[ 9.98963475e-01 -4.26819144e-02 -1.58186702e-02 7.52210274e+00] [ 4.26787254e-02 9.99088703e-01 -5.39280817e-04 2.50850225e-01] [ 1.58272722e-02 -1.36398842e-04 9.99874732e-01 -2.10664846e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.629254154 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:7.55, Y:0.25, Z:-0.02 [[ 9.98981401e-01 -4.22602552e-02 -1.58187279e-02 7.55470847e+00] [ 4.22570402e-02 9.99106628e-01 -5.37583088e-04 2.51266050e-01] [ 1.58273143e-02 -1.31417114e-04 9.99874732e-01 -2.09508752e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.659254154 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:7.59, Y:0.25, Z:-0.02 [[ 9.98992667e-01 -4.19930580e-02 -1.58187859e-02 7.58646699e+00] [ 4.19898365e-02 9.99117894e-01 -5.35871319e-04 2.52107309e-01] [ 1.58273349e-02 -1.28896715e-04 9.99874732e-01 -2.13746821e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.689254153999999 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:7.62, Y:0.25, Z:-0.02 [[ 9.99116602e-01 -3.89330304e-02 -1.58188241e-02 7.61738723e+00] [ 3.89294434e-02 9.99241819e-01 -5.34739691e-04 2.52729301e-01] [ 1.58276496e-02 -8.15507161e-05 9.99874732e-01 -2.17139877e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.719254154 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:7.65, Y:0.25, Z:-0.02 [[ 9.99127232e-01 -3.86602237e-02 -1.58165188e-02 7.65104043e+00] [ 3.86555160e-02 9.99252414e-01 -6.03368970e-04 2.54026072e-01] [ 1.58280210e-02 -8.55332929e-06 9.99874729e-01 -2.06823682e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.749254153999999 meters Centerline goodness : 0.999713 Centerline is valid? [True, True] Translation: X:7.69, Y:0.25, Z:-0.03 [[ 9.99408216e-01 -3.05446144e-02 -1.58190917e-02 7.69009421e+00] [ 3.05401148e-02 9.99533404e-01 -5.25991796e-04 2.46954636e-01] [ 1.58277768e-02 4.25636457e-05 9.99874732e-01 -2.61453346e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.779254153999998 meters Centerline goodness : 0.999669 Centerline is valid? [True, True] Translation: X:7.71, Y:0.26, Z:-0.02 [[ 9.99224482e-01 -3.60518944e-02 -1.58333770e-02 7.71062231e+00] [ 3.60549767e-02 9.99349804e-01 -9.08338204e-05 2.56840965e-01] [ 1.58263570e-02 -4.80108662e-04 9.99874640e-01 -1.85206308e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.809254154 meters Centerline goodness : 0.996978 Centerline is valid? [True, True] Translation: X:7.74, Y:0.26, Z:-0.02 [[ 9.99280104e-01 -3.44825948e-02 -1.58184710e-02 7.74191550e+00] [ 3.44784753e-02 9.99405298e-01 -5.33144573e-04 2.57539496e-01] [ 1.58274479e-02 -1.26359957e-05 9.99874738e-01 -1.80770065e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.839254153999999 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:7.78, Y:0.26, Z:-0.02 [[ 9.99248754e-01 -3.53803179e-02 -1.58164757e-02 7.77514874e+00] [ 3.53753730e-02 9.99373920e-01 -5.92399760e-04 2.58338503e-01] [ 1.58275326e-02 3.24409947e-05 9.99874736e-01 -1.66121515e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.869254153999998 meters Centerline goodness : 0.999713 Centerline is valid? [True, True] Translation: X:7.81, Y:0.26, Z:-0.02 [[ 9.99211393e-01 -3.64192965e-02 -1.58185913e-02 7.80713858e+00] [ 3.64154829e-02 9.99336596e-01 -5.29155478e-04 2.58026112e-01] [ 1.58273687e-02 -4.73034604e-05 9.99874738e-01 -1.55355588e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.899254154 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] Translation: X:7.84, Y:0.26, Z:-0.02 [[ 9.99182912e-01 -3.71924681e-02 -1.58186294e-02 7.83846293e+00] [ 3.71887694e-02 9.99308119e-01 -5.28014386e-04 2.58558528e-01] [ 1.58273230e-02 -6.06924105e-05 9.99874738e-01 -1.50066674e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.929254153999999 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:7.87, Y:0.26, Z:-0.01 [[ 9.99142713e-01 -3.82571401e-02 -1.58186578e-02 7.87056150e+00] [ 3.82535883e-02 9.99267925e-01 -5.27162121e-04 2.58813411e-01] [ 1.58272451e-02 -7.84102325e-05 9.99874738e-01 -1.43466175e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.959254154 meters Centerline goodness : 0.999626 Centerline is valid? [True, True] Translation: X:7.90, Y:0.26, Z:-0.01 [[ 9.99028742e-01 -4.11259175e-02 -1.58186960e-02 7.90257079e+00] [ 4.11227434e-02 9.99153964e-01 -5.26013599e-04 2.58190445e-01] [ 1.58269456e-02 -1.25005474e-04 9.99874738e-01 -1.42712536e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.989254154 meters Centerline goodness : 0.999671 Centerline is valid? [True, True] Translation: X:7.93, Y:0.26, Z:-0.02 [[ 9.99016362e-01 -4.14255414e-02 -1.58187347e-02 7.93113367e+00] [ 4.14224233e-02 9.99141585e-01 -5.24849055e-04 2.57787245e-01] [ 1.58268978e-02 -1.30917531e-04 9.99874738e-01 -1.56007087e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.019254153999999 meters Centerline goodness : 0.999583 Centerline is valid? [True, True] Translation: X:7.97, Y:0.26, Z:-0.01 [[ 9.98796918e-01 -4.64174240e-02 -1.58157758e-02 7.96517572e+00] [ 4.64135212e-02 9.98922123e-01 -6.13930888e-04 2.56547067e-01] [ 1.58272255e-02 -1.20873569e-04 9.99874734e-01 -1.41380349e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.049254154 meters Centerline goodness : 0.999715 Centerline is valid? [True, True] Translation: X:8.00, Y:0.26, Z:-0.01 [[ 9.98717709e-01 -4.80905666e-02 -1.58188212e-02 7.99722595e+00] [ 4.80883361e-02 9.98842951e-01 -5.21569480e-04 2.55989154e-01] [ 1.58256006e-02 -2.39800115e-04 9.99874739e-01 -1.39453376e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.079254154 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:8.03, Y:0.26, Z:-0.01 [[ 9.98628288e-01 -4.99129847e-02 -1.58188684e-02 8.03034764e+00] [ 4.99110055e-02 9.98753534e-01 -5.20133284e-04 2.55995715e-01] [ 1.58251121e-02 -2.70115819e-04 9.99874739e-01 -1.34810988e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.109254153999998 meters Centerline goodness : 0.999629 Centerline is valid? [True, True] Translation: X:8.06, Y:0.26, Z:-0.01 [[ 9.98549377e-01 -5.14675012e-02 -1.58189253e-02 8.06222639e+00] [ 5.14657444e-02 9.98674626e-01 -5.18397384e-04 2.55849939e-01] [ 1.58246399e-02 -2.96487383e-04 9.99874739e-01 -1.28769249e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.139254154 meters Centerline goodness : 0.999651 Centerline is valid? [True, True] Translation: X:8.09, Y:0.26, Z:-0.01 [[ 9.98401718e-01 -5.42565219e-02 -1.58189631e-02 8.09326652e+00] [ 5.42551333e-02 9.98526972e-01 -5.17242565e-04 2.55377525e-01] [ 1.58237251e-02 -3.41844085e-04 9.99874739e-01 -1.35231880e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.169254153999999 meters Centerline goodness : 0.999586 Centerline is valid? [True, True] Translation: X:8.14, Y:0.25, Z:-0.02 [[ 9.98806923e-01 -4.62005452e-02 -1.58189911e-02 8.13516217e+00] [ 4.61981598e-02 9.98932162e-01 -5.16382747e-04 2.46066913e-01] [ 1.58259562e-02 -2.15041618e-04 9.99874739e-01 -2.04539762e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.199254153999998 meters Centerline goodness : 0.999695 Centerline is valid? [True, True] Translation: X:8.15, Y:0.26, Z:-0.01 [[ 9.98201231e-01 -5.78235969e-02 -1.58346151e-02 8.15338965e+00] [ 5.78304203e-02 9.98326420e-01 -2.70146912e-05 2.55378789e-01] [ 1.58096766e-02 -8.88756346e-04 9.99874624e-01 -1.46605309e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.229254154 meters Centerline goodness : 0.999522 Centerline is valid? [True, True] Translation: X:8.20, Y:0.24, Z:-0.02 [[ 9.98822838e-01 -4.58554298e-02 -1.58182762e-02 8.20008709e+00] [ 4.58529105e-02 9.98948066e-01 -5.22099322e-04 2.42072194e-01] [ 1.58255775e-02 -2.03829276e-04 9.99874747e-01 -2.43659461e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.259254153999999 meters Centerline goodness : 0.999500 Centerline is valid? [True, True] Translation: X:8.22, Y:0.25, Z:-0.02 [[ 9.98156396e-01 -5.85908267e-02 -1.58405989e-02 8.22057634e+00] [ 5.86003620e-02 9.98281513e-01 1.38064957e-04 2.52353306e-01] [ 1.58052877e-02 -1.06607525e-03 9.99874520e-01 -1.50011733e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.289254153999998 meters Centerline goodness : 0.999522 Centerline is valid? [True, True] Translation: X:8.24, Y:0.26, Z:-0.01 [[ 9.97847280e-01 -6.36422734e-02 -1.58261410e-02 8.24353999e+00] [ 6.36458772e-02 9.97972508e-01 -2.76356252e-04 2.56793774e-01] [ 1.58116416e-02 -7.31507292e-04 9.99874721e-01 -1.40953396e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.319254154 meters Centerline goodness : 0.999521 Centerline is valid? [True, True] Translation: X:8.28, Y:0.26, Z:-0.01 [[ 9.97833313e-01 -6.38633853e-02 -1.58160270e-02 8.27568244e+00] [ 6.38625032e-02 9.97958549e-01 -5.61340437e-04 2.57832587e-01] [ 1.58195885e-02 -4.49926887e-04 9.99874761e-01 -1.24844669e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.349254153999999 meters Centerline goodness : 0.999674 Centerline is valid? [True, True] Translation: X:8.31, Y:0.26, Z:-0.01 [[ 9.97853066e-01 -6.35540001e-02 -1.58160669e-02 8.30785756e+00] [ 6.35530970e-02 9.97978301e-01 -5.60214094e-04 2.58890160e-01] [ 1.58196954e-02 -4.46148684e-04 9.99874761e-01 -1.17261490e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.379254154 meters Centerline goodness : 0.999587 Centerline is valid? [True, True] Translation: X:8.34, Y:0.26, Z:-0.01 [[ 9.97846762e-01 -6.36528671e-02 -1.58162140e-02 8.34106312e+00] [ 6.36520427e-02 9.97971998e-01 -5.56030401e-04 2.60134766e-01] [ 1.58195316e-02 -4.51901194e-04 9.99874761e-01 -8.40501476e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.409254154 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:8.37, Y:0.26, Z:-0.01 [[ 9.97841539e-01 -6.37346720e-02 -1.58162740e-02 8.37345924e+00] [ 6.37338850e-02 9.97966775e-01 -5.54317264e-04 2.61316569e-01] [ 1.58194452e-02 -4.54911798e-04 9.99874761e-01 -6.73346094e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.439254153999999 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:8.41, Y:0.26, Z:-0.00 [[ 9.97798358e-01 -6.44071470e-02 -1.58163138e-02 8.40606453e+00] [ 6.44064624e-02 9.97923595e-01 -5.53179474e-04 2.61892769e-01] [ 1.58191015e-02 -4.66711250e-04 9.99874761e-01 -4.75920175e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.469254154 meters Centerline goodness : 0.999479 Centerline is valid? [True, True] Translation: X:8.44, Y:0.26, Z:-0.00 [[ 9.97772388e-01 -6.48082151e-02 -1.58163746e-02 8.43834645e+00] [ 6.48076084e-02 9.97897625e-01 -5.51435803e-04 2.62321143e-01] [ 1.58188602e-02 -4.74813995e-04 9.99874761e-01 -4.79078153e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.499254153999999 meters Centerline goodness : 0.999480 Centerline is valid? [True, True] Translation: X:8.47, Y:0.26, Z:-0.00 [[ 9.97735344e-01 -6.53759980e-02 -1.58165235e-02 8.47120865e+00] [ 6.53755308e-02 9.97860582e-01 -5.47131271e-04 2.62405955e-01] [ 1.58184546e-02 -4.88121415e-04 9.99874761e-01 -4.35043339e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.529254153999998 meters Centerline goodness : 0.999545 Centerline is valid? [True, True] Translation: X:8.50, Y:0.26, Z:-0.01 [[ 9.97688669e-01 -6.60844510e-02 -1.58165838e-02 8.50216562e+00] [ 6.60841004e-02 9.97813908e-01 -5.45382668e-04 2.61925972e-01] [ 1.58180486e-02 -5.01102605e-04 9.99874761e-01 -7.22533079e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.559254154 meters Centerline goodness : 0.999544 Centerline is valid? [True, True] Translation: X:8.53, Y:0.26, Z:-0.00 [[ 9.97668391e-01 -6.63898647e-02 -1.58167118e-02 8.53416117e+00] [ 6.63896116e-02 9.97793629e-01 -5.41646287e-04 2.62756048e-01] [ 1.58177741e-02 -5.09681973e-04 9.99874761e-01 -4.83892082e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.589254153999999 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:8.57, Y:0.26, Z:-0.00 [[ 9.97676388e-01 -6.62695586e-02 -1.58167510e-02 8.56585847e+00] [ 6.62693086e-02 9.97801627e-01 -5.40498520e-04 2.63480702e-01] [ 1.58177985e-02 -5.08922540e-04 9.99874761e-01 -4.74555390e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.619254153999998 meters Centerline goodness : 0.999588 Centerline is valid? [True, True] Translation: X:8.60, Y:0.26, Z:-0.00 [[ 9.97659284e-01 -6.65265463e-02 -1.58167898e-02 8.59854741e+00] [ 6.65263465e-02 9.97784523e-01 -5.39360216e-04 2.64528035e-01] [ 1.58176298e-02 -5.14135513e-04 9.99874761e-01 -4.25367504e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.649254154 meters Centerline goodness : 0.999588 Centerline is valid? [True, True] Translation: X:8.63, Y:0.26, Z:-0.00 [[ 9.97666373e-01 -6.64201404e-02 -1.58168377e-02 8.63039480e+00] [ 6.64199496e-02 9.97791612e-01 -5.37953429e-04 2.64929050e-01] [ 1.58176389e-02 -5.13855513e-04 9.99874761e-01 -3.37830950e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.679254153999999 meters Centerline goodness : 0.999587 Centerline is valid? [True, True] Translation: X:8.66, Y:0.27, Z:-0.00 [[ 9.97673257e-01 -6.63166333e-02 -1.58169790e-02 8.66200239e+00] [ 6.63164958e-02 9.97798495e-01 -5.33763890e-04 2.65625714e-01] [ 1.58175553e-02 -5.16404666e-04 9.99874761e-01 -2.88249220e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.709254153999998 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:8.70, Y:0.27, Z:-0.00 [[ 9.97702077e-01 -6.58816074e-02 -1.58170721e-02 8.69518784e+00] [ 6.58814593e-02 9.97827315e-01 -5.30990944e-04 2.66200536e-01] [ 1.58176892e-02 -5.12281026e-04 9.99874761e-01 -1.71752453e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.739254154 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:8.73, Y:0.27, Z:-0.00 [[ 9.97798950e-01 -6.43977848e-02 -1.58171281e-02 8.72720485e+00] [ 6.43974769e-02 9.97924188e-01 -5.29318522e-04 2.66854243e-01] [ 1.58183817e-02 -4.90429676e-04 9.99874761e-01 -1.35232370e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.769254153999999 meters Centerline goodness : 0.999610 Centerline is valid? [True, True] Translation: X:8.76, Y:0.27, Z:-0.00 [[ 9.97910675e-01 -6.26426528e-02 -1.58171743e-02 8.75936497e+00] [ 6.26421465e-02 9.98035913e-01 -5.27935602e-04 2.67613058e-01] [ 1.58191792e-02 -4.63989174e-04 9.99874761e-01 -1.28747253e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.799254154 meters Centerline goodness : 0.999544 Centerline is valid? [True, True] Translation: X:8.79, Y:0.27, Z:-0.00 [[ 9.98085742e-01 -5.97885091e-02 -1.58172643e-02 8.79145359e+00] [ 5.97876876e-02 9.98210978e-01 -5.25224347e-04 2.68267788e-01] [ 1.58203692e-02 -4.21458723e-04 9.99874761e-01 -1.30178407e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.829254154 meters Centerline goodness : 0.999588 Centerline is valid? [True, True] Translation: X:8.82, Y:0.27, Z:-0.00 [[ 9.98174867e-01 -5.82816157e-02 -1.58173089e-02 8.82411264e+00] [ 5.82806264e-02 9.98300102e-01 -5.23877397e-04 2.69020556e-01] [ 1.58209535e-02 -3.98921420e-04 9.99874761e-01 -5.55134857e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.859254153999998 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:8.86, Y:0.27, Z:0.00 [[ 9.98357996e-01 -5.50556397e-02 -1.58173623e-02 8.85552594e+00] [ 5.50542714e-02 9.98483227e-01 -5.22258580e-04 2.69486480e-01] [ 1.58221243e-02 -3.49412331e-04 9.99874761e-01 7.32937966e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.889254154 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:8.89, Y:0.27, Z:0.00 [[ 9.98461309e-01 -5.31490790e-02 -1.58173888e-02 8.88898520e+00] [ 5.31474842e-02 9.98586538e-01 -5.21456885e-04 2.70185421e-01] [ 1.58227464e-02 -3.19999897e-04 9.99874761e-01 8.45398986e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.919254153999999 meters Centerline goodness : 0.999675 Centerline is valid? [True, True] Translation: X:8.92, Y:0.27, Z:0.00 [[ 9.98555514e-01 -5.13487459e-02 -1.58174410e-02 8.91964768e+00] [ 5.13469506e-02 9.98680740e-01 -5.19867060e-04 2.70997044e-01] [ 1.58232682e-02 -2.93061243e-04 9.99874761e-01 1.30693166e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.949254153999998 meters Centerline goodness : 0.999588 Centerline is valid? [True, True] Translation: X:8.95, Y:0.27, Z:0.00 [[ 9.98646824e-01 -4.95411908e-02 -1.58174583e-02 8.95224189e+00] [ 4.95391771e-02 9.98772046e-01 -5.19340864e-04 2.71692604e-01] [ 1.58237640e-02 -2.64945764e-04 9.99874761e-01 3.10528179e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.979254154 meters Centerline goodness : 0.999522 Centerline is valid? [True, True] Translation: X:8.99, Y:0.27, Z:0.01 [[ 9.98724770e-01 -4.79441356e-02 -1.58174943e-02 8.98546258e+00] [ 4.79419390e-02 9.98849990e-01 -5.18242679e-04 2.72464446e-01] [ 1.58241507e-02 -2.40739546e-04 9.99874761e-01 5.12527886e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.009254153999999 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:9.02, Y:0.27, Z:0.01 [[ 9.98895521e-01 -4.42441388e-02 -1.58175517e-02 9.01800771e+00] [ 4.42415062e-02 9.99020732e-01 -5.16484069e-04 2.72161648e-01] [ 1.58249135e-02 -1.83878690e-04 9.99874761e-01 5.31768951e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.039254153999998 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:9.06, Y:0.26, Z:-0.00 [[ 9.99380761e-01 -3.14308305e-02 -1.58175991e-02 9.06150146e+00] [ 3.14266155e-02 9.99505929e-01 -5.15028413e-04 2.59728370e-01] [ 1.58259719e-02 1.76158823e-05 9.99874761e-01 -3.00699688e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.069254154 meters Centerline goodness : 0.999479 Centerline is valid? [True, True] Translation: X:9.08, Y:0.27, Z:0.00 [[ 9.99052201e-01 -4.05449911e-02 -1.58367830e-02 9.07690371e+00] [ 4.05515824e-02 9.99177442e-01 9.51719530e-05 2.72053844e-01] [ 1.58198976e-02 -7.37288362e-04 9.99874586e-01 4.45543568e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.099254153999999 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:9.11, Y:0.27, Z:0.01 [[ 9.99248756e-01 -3.53801692e-02 -1.58166489e-02 9.10863759e+00] [ 3.53763895e-02 9.99373925e-01 -5.18776712e-04 2.72395033e-01] [ 1.58251009e-02 -4.11489479e-05 9.99874774e-01 5.36288107e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.129254153999998 meters Centerline goodness : 0.998763 Centerline is valid? [True, True] Translation: X:9.14, Y:0.27, Z:0.00 [[ 9.99364034e-01 -3.19587080e-02 -1.58166861e-02 9.13795357e+00] [ 3.19545178e-02 9.99489190e-01 -5.17638895e-04 2.74032582e-01] [ 1.58251499e-02 1.18951168e-05 9.99874774e-01 3.23519356e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.159254154 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:9.17, Y:0.27, Z:0.01 [[ 9.99454855e-01 -2.89823590e-02 -1.58118655e-02 9.16993688e+00] [ 2.89754865e-02 9.99579902e-01 -6.63608944e-04 2.73851400e-01] [ 1.58244559e-02 2.05090686e-04 9.99874764e-01 7.10337965e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.189254153999999 meters Centerline goodness : 0.997803 Centerline is valid? [True, True] Translation: X:9.20, Y:0.27, Z:0.00 [[ 9.99644916e-01 -2.14447064e-02 -1.58166774e-02 9.20044406e+00] [ 2.14392233e-02 9.99770020e-01 -5.16164479e-04 2.74327975e-01] [ 1.58241088e-02 1.76883919e-04 9.99874775e-01 3.75955898e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.219254154 meters Centerline goodness : 0.997696 Centerline is valid? [True, True] Translation: X:9.23, Y:0.27, Z:0.00 [[ 9.99710520e-01 -1.81337281e-02 -1.58127676e-02 9.23012180e+00] [ 1.81259489e-02 9.99835510e-01 -6.35146911e-04 2.74352420e-01] [ 1.58216842e-02 3.48341631e-04 9.99874769e-01 3.97936783e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.249254153999999 meters Centerline goodness : 0.997442 Centerline is valid? [True, True] Translation: X:9.26, Y:0.27, Z:0.00 [[ 9.99777084e-01 -1.39899610e-02 -1.58133983e-02 9.25854784e+00] [ 1.39819667e-02 9.99902058e-01 -6.15986423e-04 2.73639060e-01] [ 1.58204671e-02 3.94746701e-04 9.99874771e-01 4.41722088e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.279254153999998 meters Centerline goodness : 0.999525 Centerline is valid? [True, True] Translation: X:9.29, Y:0.27, Z:0.01 [[ 9.99805908e-01 -1.17511802e-02 -1.58131364e-02 9.28959858e+00] [ 1.17427809e-02 9.99930857e-01 -6.23909833e-04 2.72464498e-01] [ 1.58193747e-02 4.38098542e-04 9.99874770e-01 5.48732980e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.309254154 meters Centerline goodness : 0.999525 Centerline is valid? [True, True] Translation: X:9.32, Y:0.27, Z:0.01 [[ 9.99802005e-01 -1.20735224e-02 -1.58171364e-02 9.31795040e+00] [ 1.20670652e-02 9.99927063e-01 -5.03621817e-04 2.73439122e-01] [ 1.58220632e-02 3.12655686e-04 9.99874774e-01 5.89432058e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.339254153999999 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:9.34, Y:0.27, Z:0.01 [[ 9.99767017e-01 -1.46879109e-02 -1.58169725e-02 9.34427054e+00] [ 1.46817035e-02 9.99892089e-01 -5.08504646e-04 2.74826866e-01] [ 1.58227345e-02 2.76166073e-04 9.99874775e-01 9.92625511e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.369254153999998 meters Centerline goodness : 0.999308 Centerline is valid? [True, True] Translation: X:9.37, Y:0.27, Z:0.01 [[ 9.99749736e-01 -1.58213986e-02 -1.58161057e-02 9.37201058e+00] [ 1.58149271e-02 9.99874794e-01 -5.34169105e-04 2.72888221e-01] [ 1.58225767e-02 2.83904863e-04 9.99874775e-01 8.75880147e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.399254154 meters Centerline goodness : 0.999199 Centerline is valid? [True, True] Translation: X:9.40, Y:0.27, Z:0.00 [[ 9.99767615e-01 -1.46481528e-02 -1.58160578e-02 9.40209544e+00] [ 1.46415121e-02 9.99892664e-01 -5.35584530e-04 2.70480211e-01] [ 1.58222055e-02 3.03889065e-04 9.99874775e-01 3.94321141e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.429254153999999 meters Centerline goodness : 0.995166 Centerline is valid? [True, True] Translation: X:9.43, Y:0.27, Z:0.01 [[ 9.99733277e-01 -1.68284865e-02 -1.58169730e-02 9.42954149e+00] [ 1.68225467e-02 9.99858362e-01 -5.08516078e-04 2.71110740e-01] [ 1.58232903e-02 2.42298677e-04 9.99874775e-01 6.29886177e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.459254153999998 meters Centerline goodness : 0.999546 Centerline is valid? [True, True] Translation: X:9.46, Y:0.27, Z:0.01 [[ 9.99672710e-01 -2.01115775e-02 -1.58112862e-02 9.45947967e+00] [ 2.01034158e-02 9.99797678e-01 -6.74982760e-04 2.70823145e-01] [ 1.58216622e-02 3.56900984e-04 9.99874766e-01 1.10837131e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.489254154 meters Centerline goodness : 0.997260 Centerline is valid? [True, True] Translation: X:9.49, Y:0.27, Z:0.01 [[ 9.99581199e-01 -2.42339309e-02 -1.58159372e-02 9.48806702e+00] [ 2.42284459e-02 9.99706303e-01 -5.38350006e-04 2.68544602e-01] [ 1.58243384e-02 1.54928966e-04 9.99874775e-01 8.48882330e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.519254153999999 meters Centerline goodness : 0.999527 Centerline is valid? [True, True] Translation: X:9.52, Y:0.27, Z:0.01 [[ 9.99527743e-01 -2.63470196e-02 -1.58153631e-02 9.51842737e+00] [ 2.63415333e-02 9.99652847e-01 -5.55143925e-04 2.67512215e-01] [ 1.58244991e-02 1.38280841e-04 9.99874775e-01 1.18943741e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.549254153999998 meters Centerline goodness : 0.999570 Centerline is valid? [True, True] Translation: X:9.55, Y:0.27, Z:0.01 [[ 9.99464336e-01 -2.86513543e-02 -1.58158152e-02 9.54904633e+00] [ 2.86463653e-02 9.99589462e-01 -5.41949396e-04 2.66641546e-01] [ 1.58248498e-02 8.85934735e-05 9.99874775e-01 1.21824846e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.579254154 meters Centerline goodness : 0.999465 Centerline is valid? [True, True] Translation: X:9.58, Y:0.26, Z:0.01 [[ 9.99286194e-01 -3.43068658e-02 -1.58158479e-02 9.58006761e+00] [ 3.43026000e-02 9.99411346e-01 -5.40994332e-04 2.63870604e-01] [ 1.58250976e-02 -1.91653730e-06 9.99874775e-01 1.27799646e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.609254153999998 meters Centerline goodness : 0.999337 Centerline is valid? [True, True] Translation: X:9.61, Y:0.26, Z:0.01 [[ 9.99180209e-01 -3.72661682e-02 -1.58158772e-02 9.61199609e+00] [ 3.72622867e-02 9.99305374e-01 -5.40135872e-04 2.62958179e-01] [ 1.58250199e-02 -4.96426767e-05 9.99874775e-01 1.41165757e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.639254154 meters Centerline goodness : 0.999338 Centerline is valid? [True, True] Translation: X:9.64, Y:0.26, Z:0.01 [[ 9.99059627e-01 -4.03697635e-02 -1.58159170e-02 9.64467038e+00] [ 4.03662893e-02 9.99184804e-01 -5.38968122e-04 2.61884209e-01] [ 1.58247819e-02 -9.99685905e-05 9.99874775e-01 1.48932621e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.669254153999999 meters Centerline goodness : 0.999276 Centerline is valid? [True, True] Translation: X:9.68, Y:0.26, Z:0.02 [[ 9.98758581e-01 -4.72350736e-02 -1.58159567e-02 9.67593184e+00] [ 4.72324782e-02 9.98883779e-01 -5.37802013e-04 2.58967983e-01] [ 1.58237057e-02 -2.09892453e-04 9.99874775e-01 1.51466190e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.699254153999998 meters Centerline goodness : 0.999342 Centerline is valid? [True, True] Translation: X:9.71, Y:0.26, Z:0.02 [[ 9.98585287e-01 -5.07669033e-02 -1.58159862e-02 9.70938667e+00] [ 5.07647645e-02 9.98710494e-01 -5.36932734e-04 2.58350847e-01] [ 1.58228498e-02 -2.66721685e-04 9.99874775e-01 1.53231099e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.729254154 meters Centerline goodness : 0.999534 Centerline is valid? [True, True] Translation: X:9.74, Y:0.26, Z:0.02 [[ 9.98398348e-01 -5.43193385e-02 -1.58160445e-02 9.74223530e+00] [ 5.43176724e-02 9.98523562e-01 -5.35208662e-04 2.57943248e-01] [ 1.58217653e-02 -3.24739280e-04 9.99874775e-01 1.54122826e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.759254153999999 meters Centerline goodness : 0.999491 Centerline is valid? [True, True] Translation: X:9.78, Y:0.26, Z:0.02 [[ 9.98031444e-01 -6.06884558e-02 -1.58161026e-02 9.77553991e+00] [ 6.06876160e-02 9.98156665e-01 -5.33487500e-04 2.56606600e-01] [ 1.58193247e-02 -4.27404260e-04 9.99874775e-01 1.55948604e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.789254153999998 meters Centerline goodness : 0.999322 Centerline is valid? [True, True] Translation: X:9.81, Y:0.26, Z:0.02 [[ 9.97862255e-01 -6.34095294e-02 -1.58161613e-02 9.80718662e+00] [ 6.34090587e-02 9.97987479e-01 -5.31739694e-04 2.56695938e-01] [ 1.58180483e-02 -4.72284931e-04 9.99874775e-01 1.54845912e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.819254154 meters Centerline goodness : 0.999154 Centerline is valid? [True, True] Translation: X:9.84, Y:0.26, Z:0.02 [[ 9.97716985e-01 -6.56556626e-02 -1.58162099e-02 9.83904470e+00] [ 6.56554968e-02 9.97842209e-01 -5.30291073e-04 2.56952379e-01] [ 1.58168984e-02 -5.09340707e-04 9.99874775e-01 1.55416626e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.849254153999999 meters Centerline goodness : 0.999535 Centerline is valid? [True, True] Translation: X:9.87, Y:0.26, Z:0.02 [[ 9.97505755e-01 -6.87903665e-02 -1.58162579e-02 9.87139340e+00] [ 6.87906168e-02 9.97630980e-01 -5.28855720e-04 2.56883477e-01] [ 1.58151690e-02 -5.60473512e-04 9.99874775e-01 1.57018003e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.879254153999998 meters Centerline goodness : 0.998014 Centerline is valid? [True, True] Translation: X:9.90, Y:0.26, Z:0.01 [[ 9.97570298e-01 -6.78479583e-02 -1.58162959e-02 9.90072013e+00] [ 6.78481084e-02 9.97695523e-01 -5.27717451e-04 2.56935996e-01] [ 1.58156521e-02 -5.46670501e-04 9.99874775e-01 1.43439827e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.909254154 meters Centerline goodness : 0.999429 Centerline is valid? [True, True] Translation: X:9.94, Y:0.26, Z:0.02 [[ 9.97437497e-01 -6.97739858e-02 -1.58123367e-02 9.93641553e+00] [ 6.97724853e-02 9.97562721e-01 -6.47213191e-04 2.58105671e-01] [ 1.58189562e-02 -4.57711321e-04 9.99874768e-01 1.62423111e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.939254153999999 meters Centerline goodness : 0.999406 Centerline is valid? [True, True] Translation: X:9.97, Y:0.26, Z:0.02 [[ 9.97450948e-01 -6.95804763e-02 -1.58165648e-02 9.96897755e+00] [ 6.95809952e-02 9.97576171e-01 -5.18152680e-04 2.59369319e-01] [ 1.58142815e-02 -5.83700440e-04 9.99874776e-01 1.68692169e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.969254153999998 meters Centerline goodness : 0.999114 Centerline is valid? [True, True] Translation: X:10.01, Y:0.25, Z:0.01 [[ 9.97975568e-01 -6.16003235e-02 -1.58166221e-02 1.00088872e+01] [ 6.15998687e-02 9.98100791e-01 -5.16399347e-04 2.52586332e-01] [ 1.58183934e-02 -4.58947911e-04 9.99874776e-01 1.11794903e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.999254153999999 meters Centerline goodness : 0.999216 Centerline is valid? [True, True] Translation: X:10.03, Y:0.26, Z:0.02 [[ 9.97579311e-01 -6.77122377e-02 -1.58294135e-02 1.00299899e+01] [ 6.77189133e-02 9.97704433e-01 -1.14523830e-04 2.62892518e-01] [ 1.58008307e-02 -9.57704078e-04 9.99874700e-01 1.70501632e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.029254153999998 meters Centerline goodness : 0.999195 Centerline is valid? [True, True] Translation: X:10.06, Y:0.26, Z:0.02 [[ 9.97642389e-01 -6.67795605e-02 -1.58162564e-02 1.00629832e+01] [ 6.67797453e-02 9.97767607e-01 -5.17039981e-04 2.64764552e-01] [ 1.58154760e-02 -5.40384571e-04 9.99874782e-01 1.79065924e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.059254154 meters Centerline goodness : 0.999364 Centerline is valid? [True, True] Translation: X:10.10, Y:0.27, Z:0.02 [[ 9.97676527e-01 -6.62675705e-02 -1.58163131e-02 1.00962195e+01] [ 6.62677186e-02 9.97801746e-01 -5.15298016e-04 2.66905249e-01] [ 1.58156924e-02 -5.34010254e-04 9.99874782e-01 1.85002204e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.089254153999999 meters Centerline goodness : 0.999279 Centerline is valid? [True, True] Translation: X:10.13, Y:0.27, Z:0.02 [[ 9.97737968e-01 -6.53359815e-02 -1.58163695e-02 1.01295300e+01] [ 6.53360403e-02 9.97863186e-01 -5.13561861e-04 2.69834876e-01] [ 1.58161269e-02 -5.20978788e-04 9.99874782e-01 1.89075319e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.119254153999998 meters Centerline goodness : 0.999130 Centerline is valid? [True, True] Translation: X:10.16, Y:0.27, Z:0.02 [[ 9.97746330e-01 -6.52081400e-02 -1.58164252e-02 1.01614175e+01] [ 6.52082099e-02 9.97871549e-01 -5.11840664e-04 2.71732654e-01] [ 1.58161369e-02 -5.20673632e-04 9.99874782e-01 1.88427491e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.149254154 meters Centerline goodness : 0.999193 Centerline is valid? [True, True] Translation: X:10.19, Y:0.27, Z:0.02 [[ 9.97741885e-01 -6.52761005e-02 -1.58164712e-02 1.01942327e+01] [ 6.52762016e-02 9.97867104e-01 -5.10414575e-04 2.73933297e-01] [ 1.58160542e-02 -5.23177164e-04 9.99874782e-01 2.03881932e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.179254153999999 meters Centerline goodness : 0.999405 Centerline is valid? [True, True] Translation: X:10.23, Y:0.28, Z:0.02 [[ 9.97700051e-01 -6.59124062e-02 -1.58165275e-02 1.02266753e+01] [ 6.59126149e-02 9.97825270e-01 -5.08664267e-04 2.76920640e-01] [ 1.58156581e-02 -5.35014322e-04 9.99874782e-01 2.07383989e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.209254153999998 meters Centerline goodness : 0.999320 Centerline is valid? [True, True] Translation: X:10.26, Y:0.28, Z:0.02 [[ 9.97701101e-01 -6.58965066e-02 -1.58165740e-02 1.02596631e+01] [ 6.58967362e-02 9.97826319e-01 -5.07214200e-04 2.78687325e-01] [ 1.58156175e-02 -5.36212440e-04 9.99874782e-01 2.16258970e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.239254154 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:10.29, Y:0.28, Z:0.02 [[ 9.97672488e-01 -6.63282778e-02 -1.58166293e-02 1.02903139e+01] [ 6.63285890e-02 9.97797706e-01 -5.05483389e-04 2.81562724e-01] [ 1.58153243e-02 -5.44787836e-04 9.99874782e-01 2.27543583e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.269254153999999 meters Centerline goodness : 0.999340 Centerline is valid? [True, True] Translation: X:10.32, Y:0.28, Z:0.02 [[ 9.97666585e-01 -6.64169994e-02 -1.58166567e-02 1.03222432e+01] [ 6.64173353e-02 9.97791803e-01 -5.04626529e-04 2.83573373e-01] [ 1.58152462e-02 -5.47051163e-04 9.99874782e-01 2.36583533e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.299254153999998 meters Centerline goodness : 0.999256 Centerline is valid? [True, True] Translation: X:10.36, Y:0.29, Z:0.02 [[ 9.97662904e-01 -6.64722673e-02 -1.58167017e-02 1.03552122e+01] [ 6.64726325e-02 9.97788122e-01 -5.03212697e-04 2.85583927e-01] [ 1.58151667e-02 -5.49341155e-04 9.99874782e-01 2.42158317e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.329254154 meters Centerline goodness : 0.999363 Centerline is valid? [True, True] Translation: X:10.39, Y:0.29, Z:0.02 [[ 9.97682742e-01 -6.61738362e-02 -1.58167553e-02 1.03879449e+01] [ 6.61741907e-02 9.97807960e-01 -5.01522110e-04 2.87423749e-01] [ 1.58152719e-02 -5.46301027e-04 9.99874782e-01 2.49907339e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.359254153999998 meters Centerline goodness : 0.999298 Centerline is valid? [True, True] Translation: X:10.42, Y:0.29, Z:0.03 [[ 9.97712092e-01 -6.57298239e-02 -1.58168101e-02 1.04204606e+01] [ 6.57301502e-02 9.97837310e-01 -4.99785702e-04 2.90116501e-01] [ 1.58154541e-02 -5.40999068e-04 9.99874782e-01 2.54761358e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.389254153999998 meters Centerline goodness : 0.999298 Centerline is valid? [True, True] Translation: X:10.45, Y:0.29, Z:0.03 [[ 9.97754817e-01 -6.50780392e-02 -1.58168647e-02 1.04529807e+01] [ 6.50783111e-02 9.97880036e-01 -4.98054128e-04 2.92131076e-01] [ 1.58157459e-02 -5.32398934e-04 9.99874782e-01 2.63238567e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.419254153999999 meters Centerline goodness : 0.999278 Centerline is valid? [True, True] Translation: X:10.49, Y:0.29, Z:0.03 [[ 9.97780610e-01 -6.46813647e-02 -1.58169199e-02 1.04860045e+01] [ 6.46816147e-02 9.97905828e-01 -4.96294828e-04 2.94111735e-01] [ 1.58158975e-02 -5.27870560e-04 9.99874782e-01 2.73074414e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.449254153999998 meters Centerline goodness : 0.999447 Centerline is valid? [True, True] Translation: X:10.52, Y:0.30, Z:0.03 [[ 9.97781314e-01 -6.46704970e-02 -1.58169750e-02 1.05181162e+01] [ 6.46707736e-02 9.97906532e-01 -4.94530525e-04 2.96438320e-01] [ 1.58158442e-02 -5.29462693e-04 9.99874782e-01 2.83107574e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.479254154 meters Centerline goodness : 0.999297 Centerline is valid? [True, True] Translation: X:10.55, Y:0.30, Z:0.03 [[ 9.97807483e-01 -6.42654503e-02 -1.58170205e-02 1.05515753e+01] [ 6.42656992e-02 9.97932702e-01 -4.93070191e-04 2.99606680e-01] [ 1.58160094e-02 -5.24502758e-04 9.99874782e-01 2.90549383e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.509254153999999 meters Centerline goodness : 0.999402 Centerline is valid? [True, True] Translation: X:10.58, Y:0.30, Z:0.03 [[ 9.97797430e-01 -6.44213305e-02 -1.58170841e-02 1.05838752e+01] [ 6.44216313e-02 9.97922648e-01 -4.91023234e-04 3.01169063e-01] [ 1.58158588e-02 -5.29020639e-04 9.99874782e-01 2.91420050e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.539254153999998 meters Centerline goodness : 0.999297 Centerline is valid? [True, True] Translation: X:10.62, Y:0.30, Z:0.03 [[ 9.97700100e-01 -6.59115179e-02 -1.58171291e-02 1.06164248e+01] [ 6.59120287e-02 9.97825318e-01 -4.89570463e-04 3.03466180e-01] [ 1.58150002e-02 -5.54094565e-04 9.99874782e-01 2.97898827e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.569254154 meters Centerline goodness : 0.999466 Centerline is valid? [True, True] Translation: X:10.65, Y:0.30, Z:0.03 [[ 9.97631300e-01 -6.69447925e-02 -1.58171829e-02 1.06495229e+01] [ 6.69454607e-02 9.97756517e-01 -4.87823502e-04 3.04784037e-01] [ 1.58143546e-02 -5.72220603e-04 9.99874782e-01 3.08054182e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.599254153999999 meters Centerline goodness : 0.999638 Centerline is valid? [True, True] Translation: X:10.68, Y:0.31, Z:0.03 [[ 9.97550061e-01 -6.81446361e-02 -1.58172371e-02 1.06814049e+01] [ 6.81454828e-02 9.97675276e-01 -4.86059935e-04 3.06064381e-01] [ 1.58135888e-02 -5.93004144e-04 9.99874782e-01 3.14494593e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.629254153999998 meters Centerline goodness : 0.999297 Centerline is valid? [True, True] Translation: X:10.71, Y:0.31, Z:0.03 [[ 9.97328115e-01 -7.13193087e-02 -1.58172819e-02 1.07142398e+01] [ 7.13205770e-02 9.97453327e-01 -4.84600203e-04 3.07703044e-01] [ 1.58115618e-02 -6.44792261e-04 9.99874782e-01 3.22109874e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.659254154 meters Centerline goodness : 0.999595 Centerline is valid? [True, True] Translation: X:10.75, Y:0.31, Z:0.03 [[ 9.97229950e-01 -7.26790125e-02 -1.58173350e-02 1.07472598e+01] [ 7.26804791e-02 9.97355160e-01 -4.82858125e-04 3.09277465e-01] [ 1.58105944e-02 -6.68090905e-04 9.99874782e-01 3.32469072e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.689254153999999 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:10.78, Y:0.31, Z:0.03 [[ 9.97018334e-01 -7.55265006e-02 -1.58173883e-02 1.07788416e+01] [ 7.55283525e-02 9.97143539e-01 -4.81107178e-04 3.11798163e-01] [ 1.58085429e-02 -7.14988602e-04 9.99874782e-01 3.38324037e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.719254153999998 meters Centerline goodness : 0.999466 Centerline is valid? [True, True] Translation: X:10.81, Y:0.31, Z:0.03 [[ 9.96931755e-01 -7.66608261e-02 -1.58175186e-02 1.08116260e+01] [ 7.66628889e-02 9.97056956e-01 -4.76784401e-04 3.13527993e-01] [ 1.58075176e-02 -7.37295162e-04 9.99874782e-01 3.44822551e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.749254153999999 meters Centerline goodness : 0.999531 Centerline is valid? [True, True] Translation: X:10.84, Y:0.32, Z:0.04 [[ 9.96879495e-01 -7.73374245e-02 -1.58175715e-02 1.08437455e+01] [ 7.73396002e-02 9.97004694e-01 -4.75023295e-04 3.15172108e-01] [ 1.58069301e-02 -7.49783672e-04 9.99874782e-01 3.50715132e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.779254153999998 meters Centerline goodness : 0.999360 Centerline is valid? [True, True] Translation: X:10.88, Y:0.32, Z:0.04 [[ 9.96777350e-01 -7.86429618e-02 -1.58176582e-02 1.08758815e+01] [ 7.86453475e-02 9.96902546e-01 -4.72117959e-04 3.17595601e-01] [ 1.58057925e-02 -7.73388737e-04 9.99874782e-01 3.66590920e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.809254153999998 meters Centerline goodness : 0.999530 Centerline is valid? [True, True] Translation: X:10.91, Y:0.32, Z:0.04 [[ 9.96726268e-01 -7.92877453e-02 -1.58176919e-02 1.09086036e+01] [ 7.92902299e-02 9.96851462e-01 -4.70984741e-04 3.19238393e-01] [ 1.58052327e-02 -7.84745568e-04 9.99874782e-01 3.79040552e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.839254153999999 meters Centerline goodness : 0.999550 Centerline is valid? [True, True] Translation: X:10.94, Y:0.32, Z:0.04 [[ 9.96741049e-01 -7.91017088e-02 -1.58177432e-02 1.09403091e+01] [ 7.91041973e-02 9.96866243e-01 -4.69257885e-04 3.21667700e-01] [ 1.58052933e-02 -7.83521281e-04 9.99874782e-01 3.80823733e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.869254153999998 meters Centerline goodness : 0.999528 Centerline is valid? [True, True] Translation: X:10.97, Y:0.32, Z:0.04 [[ 9.96776296e-01 -7.86562768e-02 -1.58178687e-02 1.09735710e+01] [ 7.86587769e-02 9.96901490e-01 -4.64988490e-04 3.23527455e-01] [ 1.58054311e-02 -7.80724699e-04 9.99874782e-01 3.85060987e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.899254154 meters Centerline goodness : 0.999528 Centerline is valid? [True, True] Translation: X:11.01, Y:0.33, Z:0.04 [[ 9.96847442e-01 -7.77494046e-02 -1.58179180e-02 1.10055422e+01] [ 7.77518176e-02 9.96972638e-01 -4.63303762e-04 3.25722904e-01] [ 1.58060530e-02 -7.68028706e-04 9.99874782e-01 3.87270343e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.929254153999999 meters Centerline goodness : 0.999615 Centerline is valid? [True, True] Translation: X:11.04, Y:0.33, Z:0.04 [[ 9.96956403e-01 -7.63395050e-02 -1.58180387e-02 1.10372516e+01] [ 7.63418067e-02 9.97081600e-01 -4.59147580e-04 3.27673997e-01] [ 1.58069264e-02 -7.49827530e-04 9.99874782e-01 3.91392081e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.959254153999998 meters Centerline goodness : 0.999592 Centerline is valid? [True, True] Translation: X:11.07, Y:0.33, Z:0.04 [[ 9.97172295e-01 -7.34656618e-02 -1.58180786e-02 1.10699107e+01] [ 7.34676245e-02 9.97297498e-01 -4.57766425e-04 3.30874552e-01] [ 1.58089604e-02 -7.05644665e-04 9.99874782e-01 3.99125296e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.989254154 meters Centerline goodness : 0.999421 Centerline is valid? [True, True] Translation: X:11.10, Y:0.33, Z:0.04 [[ 9.97314115e-01 -7.15146382e-02 -1.58181292e-02 1.11024704e+01] [ 7.15163836e-02 9.97439321e-01 -4.56013470e-04 3.32704681e-01] [ 1.58102357e-02 -6.76466724e-04 9.99874782e-01 3.99695854e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.019254153999999 meters Centerline goodness : 0.999505 Centerline is valid? [True, True] Translation: X:11.13, Y:0.33, Z:0.04 [[ 9.97469269e-01 -6.93169530e-02 -1.58182528e-02 1.11348443e+01] [ 6.93184911e-02 9.97594478e-01 -4.51684468e-04 3.34560173e-01] [ 1.58115110e-02 -6.45956039e-04 9.99874782e-01 4.02952535e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.049254153999998 meters Centerline goodness : 0.999527 Centerline is valid? [True, True] Translation: X:11.17, Y:0.34, Z:0.04 [[ 9.97764401e-01 -6.49305951e-02 -1.58182933e-02 1.11671744e+01] [ 6.49316052e-02 9.97889615e-01 -4.50262728e-04 3.37979502e-01] [ 1.58141464e-02 -5.77851051e-04 9.99874782e-01 4.03579063e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.079254154 meters Centerline goodness : 0.999569 Centerline is valid? [True, True] Translation: X:11.20, Y:0.34, Z:0.04 [[ 9.97901355e-01 -6.27906556e-02 -1.58183252e-02 1.12000495e+01] [ 6.27914150e-02 9.98026571e-01 -4.49137285e-04 3.40320062e-01] [ 1.58153105e-02 -5.45060318e-04 9.99874782e-01 4.09622597e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.109254153999998 meters Centerline goodness : 0.999547 Centerline is valid? [True, True] Translation: X:11.23, Y:0.34, Z:0.04 [[ 9.98140448e-01 -5.88678663e-02 -1.58183747e-02 1.12316449e+01] [ 5.88681612e-02 9.98265666e-01 -4.47386019e-04 3.43901388e-01] [ 1.58172770e-02 -4.84644552e-04 9.99874782e-01 4.08177865e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.139254153999998 meters Centerline goodness : 0.999568 Centerline is valid? [True, True] Translation: X:11.26, Y:0.35, Z:0.04 [[ 9.98217928e-01 -5.75390814e-02 -1.58184073e-02 1.12634730e+01] [ 5.75392279e-02 9.98343146e-01 -4.46232228e-04 3.46153293e-01] [ 1.58178743e-02 -4.64741931e-04 9.99874782e-01 4.08431599e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.169254153999999 meters Centerline goodness : 0.999654 Centerline is valid? [True, True] Translation: X:11.30, Y:0.35, Z:0.04 [[ 9.98281640e-01 -5.64229139e-02 -1.58184394e-02 1.12952827e+01] [ 5.64229385e-02 9.98406858e-01 -4.45091275e-04 3.47904348e-01] [ 1.58183517e-02 -4.48196385e-04 9.99874782e-01 4.07141616e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.199254153999998 meters Centerline goodness : 0.999588 Centerline is valid? [True, True] Translation: X:11.33, Y:0.35, Z:0.04 [[ 9.98318639e-01 -5.57644185e-02 -1.58184713e-02 1.13274759e+01] [ 5.57643785e-02 9.98443858e-01 -4.43953933e-04 3.49501015e-01] [ 1.58186124e-02 -4.38899734e-04 9.99874782e-01 4.06711461e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.229254153999998 meters Centerline goodness : 0.999588 Centerline is valid? [True, True] Translation: X:11.36, Y:0.35, Z:0.04 [[ 9.98324632e-01 -5.56570215e-02 -1.58185030e-02 1.13610053e+01] [ 5.56569859e-02 9.98449850e-01 -4.42820657e-04 3.50347322e-01] [ 1.58186281e-02 -4.38331431e-04 9.99874782e-01 4.12015567e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.259254153999999 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:11.39, Y:0.35, Z:0.04 [[ 9.98347928e-01 -5.52375627e-02 -1.58185505e-02 1.13919626e+01] [ 5.52375015e-02 9.98473146e-01 -4.41119006e-04 3.52333030e-01] [ 1.58187642e-02 -4.33386960e-04 9.99874782e-01 4.06954880e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.289254153999998 meters Centerline goodness : 0.999675 Centerline is valid? [True, True] Translation: X:11.42, Y:0.35, Z:0.04 [[ 9.98325271e-01 -5.56455363e-02 -1.58185739e-02 1.14242449e+01] [ 5.56455396e-02 9.98450490e-01 -4.40276697e-04 3.54062446e-01] [ 1.58185623e-02 -4.40693729e-04 9.99874782e-01 4.13893236e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.319254154 meters Centerline goodness : 0.996598 Centerline is valid? [True, True] Translation: X:11.46, Y:0.36, Z:0.04 [[ 9.98307750e-01 -5.59589917e-02 -1.58186053e-02 1.14561477e+01] [ 5.59590522e-02 9.98432968e-01 -4.39148168e-04 3.55883676e-01] [ 1.58183913e-02 -4.46789138e-04 9.99874782e-01 3.85402806e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.349254153999999 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:11.49, Y:0.36, Z:0.04 [[ 9.98196885e-01 -5.79032271e-02 -1.58175339e-02 1.14879224e+01] [ 5.79029190e-02 9.98322104e-01 -4.77836176e-04 3.58244909e-01] [ 1.58186620e-02 -4.38906802e-04 9.99874781e-01 4.33426276e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.379254153999998 meters Centerline goodness : 0.999631 Centerline is valid? [True, True] Translation: X:11.52, Y:0.36, Z:0.04 [[ 9.98150352e-01 -5.86995982e-02 -1.58187165e-02 1.15208682e+01] [ 5.87000710e-02 9.98275569e-01 -4.34814113e-04 3.59564742e-01] [ 1.58169616e-02 -4.94549922e-04 9.99874782e-01 4.44377701e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.409254154 meters Centerline goodness : 0.999587 Centerline is valid? [True, True] Translation: X:11.55, Y:0.36, Z:0.05 [[ 9.98014203e-01 -6.09706192e-02 -1.58187628e-02 1.15535476e+01] [ 6.09714038e-02 9.98139419e-01 -4.33121711e-04 3.61193880e-01] [ 1.58157384e-02 -5.32230557e-04 9.99874782e-01 4.54530445e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.439254153999999 meters Centerline goodness : 0.999631 Centerline is valid? [True, True] Translation: X:11.59, Y:0.36, Z:0.05 [[ 9.97951416e-01 -6.19898173e-02 -1.58188092e-02 1.15863761e+01] [ 6.19907567e-02 9.98076630e-01 -4.31420744e-04 3.62398520e-01] [ 1.58151275e-02 -5.50083012e-04 9.99874782e-01 4.60617557e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.469254153999998 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:11.62, Y:0.36, Z:0.05 [[ 9.97901404e-01 -6.27897403e-02 -1.58188553e-02 1.16193249e+01] [ 6.27908070e-02 9.98026618e-01 -4.29725123e-04 3.63528709e-01] [ 1.58146210e-02 -5.64455385e-04 9.99874782e-01 4.69679735e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.499254153999999 meters Centerline goodness : 0.999674 Centerline is valid? [True, True] Translation: X:11.65, Y:0.37, Z:0.05 [[ 9.97776710e-01 -6.47410202e-02 -1.58189012e-02 1.16511219e+01] [ 6.47423585e-02 9.97901921e-01 -4.28028985e-04 3.65608727e-01] [ 1.58134229e-02 -5.97075619e-04 9.99874782e-01 4.90743951e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.529254153999998 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:11.68, Y:0.37, Z:0.05 [[ 9.97739180e-01 -6.53168480e-02 -1.58189322e-02 1.16833776e+01] [ 6.53182768e-02 9.97864390e-01 -4.26881061e-04 3.66981062e-01] [ 1.58130316e-02 -6.07349430e-04 9.99874782e-01 5.01015056e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.559254153999998 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:11.72, Y:0.37, Z:0.05 [[ 9.97700009e-01 -6.59124635e-02 -1.58189630e-02 1.17155331e+01] [ 6.59139852e-02 9.97825218e-01 -4.25734110e-04 3.68447283e-01] [ 1.58126214e-02 -6.17935969e-04 9.99874782e-01 5.15985266e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.589254153999999 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:11.75, Y:0.37, Z:0.05 [[ 9.97617373e-01 -6.71515937e-02 -1.58189942e-02 1.17481148e+01] [ 6.71532893e-02 9.97742580e-01 -4.24571683e-04 3.69944897e-01] [ 1.58117948e-02 -6.38737409e-04 9.99874782e-01 5.19457107e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.619254153999998 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:11.78, Y:0.37, Z:0.05 [[ 9.97612376e-01 -6.72257658e-02 -1.58191090e-02 1.17814820e+01] [ 6.72275391e-02 9.97737581e-01 -4.20251330e-04 3.70816363e-01] [ 1.58115713e-02 -6.44231841e-04 9.99874782e-01 5.24693362e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.649254153999998 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:11.81, Y:0.37, Z:0.05 [[ 9.97603859e-01 -6.73520228e-02 -1.58191544e-02 1.18140486e+01] [ 6.73538391e-02 9.97729064e-01 -4.18534068e-04 3.71980816e-01] [ 1.58114193e-02 -6.47949581e-04 9.99874782e-01 5.24217750e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.679254153999999 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:11.85, Y:0.37, Z:0.05 [[ 9.97602073e-01 -6.73784381e-02 -1.58192654e-02 1.18463139e+01] [ 6.73803248e-02 9.97727277e-01 -4.14297202e-04 3.73821326e-01] [ 1.58112273e-02 -6.52603492e-04 9.99874782e-01 5.25958994e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.709254153999998 meters Centerline goodness : 0.999695 Centerline is valid? [True, True] Translation: X:11.88, Y:0.38, Z:0.05 [[ 9.97623545e-01 -6.70597696e-02 -1.58192954e-02 1.18783769e+01] [ 6.70616345e-02 9.97748749e-01 -4.13148763e-04 3.75391333e-01] [ 1.58113878e-02 -6.48700871e-04 9.99874782e-01 5.27557825e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.739254154 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:11.91, Y:0.38, Z:0.05 [[ 9.97714532e-01 -6.56921688e-02 -1.58193254e-02 1.19108436e+01] [ 6.56938802e-02 9.97839739e-01 -4.11996637e-04 3.77793681e-01] [ 1.58122165e-02 -6.28177836e-04 9.99874782e-01 5.16001093e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.769254153999999 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:11.94, Y:0.38, Z:0.05 [[ 9.97762566e-01 -6.49585013e-02 -1.58194356e-02 1.19438009e+01] [ 6.49601884e-02 9.97887773e-01 -4.07719913e-04 3.79280212e-01] [ 1.58125063e-02 -6.20825852e-04 9.99874782e-01 5.27249354e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.799254153999998 meters Centerline goodness : 0.999716 Centerline is valid? [True, True] Translation: X:11.98, Y:0.38, Z:0.05 [[ 9.97815364e-01 -6.41423629e-02 -1.58194789e-02 1.19759800e+01] [ 6.41439743e-02 9.97940572e-01 -4.06032925e-04 3.80841050e-01] [ 1.58129438e-02 -6.09578358e-04 9.99874782e-01 5.37225072e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.829254154 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:12.01, Y:0.38, Z:0.05 [[ 9.97900305e-01 -6.28070376e-02 -1.58195082e-02 1.20085339e+01] [ 6.28084995e-02 9.98025515e-01 -4.04889227e-04 3.82317425e-01] [ 1.58137027e-02 -5.89560490e-04 9.99874782e-01 5.36225932e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.859254153999998 meters Centerline goodness : 0.997917 Centerline is valid? [True, True] Translation: X:12.04, Y:0.38, Z:0.05 [[ 9.98148446e-01 -5.87317620e-02 -1.58196157e-02 1.20397905e+01] [ 5.87327800e-02 9.98273660e-01 -4.00642709e-04 3.84708470e-01] [ 1.58158361e-02 -5.29229113e-04 9.99874782e-01 4.93882403e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.889254153999998 meters Centerline goodness : 0.999715 Centerline is valid? [True, True] Translation: X:12.07, Y:0.39, Z:0.05 [[ 9.98201849e-01 -5.78176145e-02 -1.58174758e-02 1.20725986e+01] [ 5.78171843e-02 9.98327070e-01 -4.84864587e-04 3.87050315e-01] [ 1.58190480e-02 -4.30529186e-04 9.99874778e-01 5.30764701e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.919254153999999 meters Centerline goodness : 0.999670 Centerline is valid? [True, True] Translation: X:12.11, Y:0.39, Z:0.05 [[ 9.98444524e-01 -5.34628004e-02 -1.58196772e-02 1.21052117e+01] [ 5.34632121e-02 9.98569741e-01 -3.97186933e-04 3.91336850e-01] [ 1.58182857e-02 -4.49201639e-04 9.99874782e-01 5.37596313e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.949254153999998 meters Centerline goodness : 0.999647 Centerline is valid? [True, True] Translation: X:12.14, Y:0.39, Z:0.06 [[ 9.98578844e-01 -5.08923370e-02 -1.58197116e-02 1.21383518e+01] [ 5.08924482e-02 9.98704061e-01 -3.95809268e-04 3.93774126e-01] [ 1.58193539e-02 -4.09857095e-04 9.99874782e-01 5.52657003e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.979254153999998 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:12.17, Y:0.40, Z:0.06 [[ 9.98804237e-01 -4.62583103e-02 -1.58197543e-02 1.21696054e+01] [ 4.62578676e-02 9.98929454e-01 -3.94095754e-04 3.97483248e-01] [ 1.58210488e-02 -3.38163593e-04 9.99874782e-01 5.65429799e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.009254153999999 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:12.20, Y:0.40, Z:0.06 [[ 9.98900839e-01 -4.41231153e-02 -1.58197754e-02 1.22014081e+01] [ 4.41224183e-02 9.99026054e-01 -3.93248434e-04 3.99733705e-01] [ 1.58217191e-02 -3.05190557e-04 9.99874782e-01 5.77877524e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.039254153999998 meters Centerline goodness : 0.996279 Centerline is valid? [True, True] Translation: X:12.23, Y:0.40, Z:0.06 [[ 9.98978420e-01 -4.23302444e-02 -1.58198031e-02 1.22332745e+01] [ 4.23293404e-02 9.99103635e-01 -3.92129898e-04 4.01798876e-01] [ 1.58222218e-02 -2.77912525e-04 9.99874782e-01 5.54967442e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.069254153999998 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:12.27, Y:0.40, Z:0.06 [[ 9.99093380e-01 -3.95240453e-02 -1.58198481e-02 1.22654567e+01] [ 3.95228185e-02 9.99218592e-01 -3.90307918e-04 4.03093180e-01] [ 1.58229129e-02 -2.35290927e-04 9.99874782e-01 6.00523118e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.099254153999999 meters Centerline goodness : 0.997824 Centerline is valid? [True, True] Translation: X:12.30, Y:0.41, Z:0.06 [[ 9.99271405e-01 -3.47331448e-02 -1.58198815e-02 1.22959070e+01] [ 3.47313391e-02 9.99396609e-01 -3.88947458e-04 4.05446915e-01] [ 1.58238453e-02 -1.60781597e-04 9.99874782e-01 5.84907883e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.129254153999998 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:12.33, Y:0.41, Z:0.06 [[ 9.99309657e-01 -3.36152520e-02 -1.58184779e-02 1.23287324e+01] [ 3.36123909e-02 9.99434844e-01 -4.46780024e-04 4.06844967e-01] [ 1.58245566e-02 -8.52252686e-05 9.99874780e-01 6.25836979e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.159254154 meters Centerline goodness : 0.999778 Centerline is valid? [True, True] Translation: X:12.36, Y:0.41, Z:0.06 [[ 9.99362404e-01 -3.20079864e-02 -1.58200679e-02 1.23604119e+01] [ 3.20059697e-02 9.99487605e-01 -3.80707041e-04 4.09095086e-01] [ 1.58241475e-02 -1.25872312e-04 9.99874782e-01 6.29204096e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.189254153999999 meters Centerline goodness : 0.999778 Centerline is valid? [True, True] Translation: X:12.39, Y:0.41, Z:0.06 [[ 9.99357004e-01 -3.21761163e-02 -1.58200955e-02 1.23924829e+01] [ 3.21741389e-02 9.99482206e-01 -3.79560008e-04 4.10251112e-01] [ 1.58241167e-02 -1.29681996e-04 9.99874782e-01 6.35282914e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.219254153999998 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:12.42, Y:0.41, Z:0.06 [[ 9.99315992e-01 -3.34256134e-02 -1.58201230e-02 1.24239369e+01] [ 3.34238107e-02 9.99441197e-01 -3.78409424e-04 4.10162367e-01] [ 1.58239312e-02 -1.50618207e-04 9.99874782e-01 6.31820150e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.249254153999999 meters Centerline goodness : 0.999778 Centerline is valid? [True, True] Translation: X:12.46, Y:0.41, Z:0.06 [[ 9.99248836e-01 -3.53763606e-02 -1.58201434e-02 1.24563988e+01] [ 3.53748159e-02 9.99374044e-01 -3.77553556e-04 4.09534539e-01] [ 1.58235972e-02 -1.82364709e-04 9.99874782e-01 6.39800726e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.279254153999998 meters Centerline goodness : 0.999757 Centerline is valid? [True, True] Translation: X:12.49, Y:0.40, Z:0.06 [[ 9.99313477e-01 -3.35006985e-02 -1.58201705e-02 1.24935444e+01] [ 3.34989368e-02 9.99438682e-01 -3.76415009e-04 4.00185444e-01] [ 1.58239005e-02 -1.53802300e-04 9.99874782e-01 5.77635867e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.309254153999998 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:12.52, Y:0.41, Z:0.06 [[ 9.99001740e-01 -4.17731176e-02 -1.58281499e-02 1.25154981e+01] [ 4.17777888e-02 9.99126926e-01 -3.55616702e-05 4.07721841e-01] [ 1.58158163e-02 -6.25738933e-04 9.99874726e-01 6.36361684e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.339254153999999 meters Centerline goodness : 0.999735 Centerline is valid? [True, True] Translation: X:12.56, Y:0.39, Z:0.06 [[ 9.99277051e-01 -3.45703403e-02 -1.58198158e-02 1.25589572e+01] [ 3.45686346e-02 9.99402253e-01 -3.81339255e-04 3.94816984e-01] [ 1.58235426e-02 -1.65805865e-04 9.99874786e-01 5.62977630e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.369254153999998 meters Centerline goodness : 0.999713 Centerline is valid? [True, True] Translation: X:12.59, Y:0.39, Z:0.06 [[ 9.99200951e-01 -3.66981185e-02 -1.58337278e-02 1.25917323e+01] [ 3.67059742e-02 9.99326087e-01 2.05710911e-04 3.94739397e-01] [ 1.58155080e-02 -7.86738942e-04 9.99874618e-01 5.72036963e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.399254153999998 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:12.61, Y:0.41, Z:0.07 [[ 9.98537760e-01 -5.16876081e-02 -1.58345528e-02 1.26061000e+01] [ 5.16978876e-02 9.98662741e-01 2.40264018e-04 4.06410356e-01] [ 1.58009593e-02 -1.05852563e-03 9.99874597e-01 6.57070886e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.429254153999999 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:12.64, Y:0.41, Z:0.07 [[ 9.98529601e-01 -5.18499598e-02 -1.58182612e-02 1.26355720e+01] [ 5.18500991e-02 9.98654798e-01 -4.01584524e-04 4.06245892e-01] [ 1.58178046e-02 -4.19184378e-04 9.99874803e-01 6.50553682e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.459254153999998 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:12.67, Y:0.41, Z:0.07 [[ 9.98438562e-01 -5.35750411e-02 -1.58161951e-02 1.26695222e+01] [ 5.35741037e-02 9.98563760e-01 -4.83265487e-04 4.06265070e-01] [ 1.58193702e-02 -3.64827575e-04 9.99874799e-01 6.76639848e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.489254153999997 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:12.70, Y:0.41, Z:0.07 [[ 9.98412076e-01 -5.40657427e-02 -1.58183980e-02 1.27016773e+01] [ 5.40662631e-02 9.98537272e-01 -3.95062126e-04 4.05944213e-01] [ 1.58166193e-02 -4.60806871e-04 9.99874803e-01 6.86518082e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.519254153999999 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:12.73, Y:0.41, Z:0.07 [[ 9.98427101e-01 -5.37875666e-02 -1.58184268e-02 1.27331909e+01] [ 5.37880704e-02 9.98552296e-01 -3.93903620e-04 4.06484836e-01] [ 1.58167136e-02 -4.57558608e-04 9.99874803e-01 6.96975978e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.549254153999998 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:12.77, Y:0.41, Z:0.07 [[ 9.98461349e-01 -5.31480177e-02 -1.58184483e-02 1.27657967e+01] [ 5.31484551e-02 9.98586545e-01 -3.93038677e-04 4.07416400e-01] [ 1.58169789e-02 -4.48292163e-04 9.99874803e-01 7.10942372e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.579254154 meters Centerline goodness : 0.999670 Centerline is valid? [True, True] Translation: X:12.80, Y:0.41, Z:0.07 [[ 9.98605284e-01 -5.03712519e-02 -1.58184916e-02 1.27987330e+01] [ 5.03713688e-02 9.98730480e-01 -3.91290072e-04 4.08526812e-01] [ 1.58181195e-02 -4.06054740e-04 9.99874803e-01 7.26280946e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.609254153999998 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:12.83, Y:0.41, Z:0.07 [[ 9.98710651e-01 -4.82370244e-02 -1.58185343e-02 1.28317277e+01] [ 4.82369011e-02 9.98835847e-01 -3.89556103e-04 4.09468877e-01] [ 1.58189101e-02 -3.73983245e-04 9.99874803e-01 7.31648644e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.639254153999998 meters Centerline goodness : 0.999648 Centerline is valid? [True, True] Translation: X:12.86, Y:0.41, Z:0.07 [[ 9.98988319e-01 -4.20964391e-02 -1.58185774e-02 1.28628541e+01] [ 4.20955740e-02 9.99113513e-01 -3.87796619e-04 4.10204555e-01] [ 1.58208793e-02 -2.78487805e-04 9.99874803e-01 7.31250527e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.669254153999999 meters Centerline goodness : 0.999692 Centerline is valid? [True, True] Translation: X:12.90, Y:0.41, Z:0.07 [[ 9.99140924e-01 -3.83038557e-02 -1.58185987e-02 1.28953423e+01] [ 3.83025291e-02 9.99266114e-01 -3.86926351e-04 4.11435845e-01] [ 1.58218104e-02 -2.19298386e-04 9.99874803e-01 7.33865355e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.699254153999998 meters Centerline goodness : 0.999713 Centerline is valid? [True, True] Translation: X:12.93, Y:0.41, Z:0.07 [[ 9.99292708e-01 -3.41153021e-02 -1.58186337e-02 1.29274011e+01] [ 3.41134736e-02 9.99417892e-01 -3.85490176e-04 4.12723254e-01] [ 1.58225767e-02 -1.54411021e-04 9.99874803e-01 7.43341339e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.729254153999998 meters Centerline goodness : 0.999757 Centerline is valid? [True, True] Translation: X:12.96, Y:0.41, Z:0.07 [[ 9.99443386e-01 -2.93715654e-02 -1.58186620e-02 1.29585548e+01] [ 2.93691611e-02 9.99568559e-01 -3.84326772e-04 4.14104465e-01] [ 1.58231254e-02 -8.04679818e-05 9.99874803e-01 7.47441479e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.759254153999999 meters Centerline goodness : 0.998849 Centerline is valid? [True, True] Translation: X:12.99, Y:0.42, Z:0.07 [[ 9.99669808e-01 -2.02495688e-02 -1.58186830e-02 1.29897609e+01] [ 2.02460359e-02 9.99794954e-01 -3.83459400e-04 4.16404568e-01] [ 1.58232043e-02 6.30671604e-05 9.99874803e-01 7.41991084e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.789254153999998 meters Centerline goodness : 0.999669 Centerline is valid? [True, True] Translation: X:13.02, Y:0.42, Z:0.08 [[ 9.99759400e-01 -1.51953156e-02 -1.58191366e-02 1.30203422e+01] [ 1.51914461e-02 9.99884537e-01 -3.64753938e-04 4.17448274e-01] [ 1.58228527e-02 1.24350616e-04 9.99874803e-01 7.69648317e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.819254153999998 meters Centerline goodness : 0.999536 Centerline is valid? [True, True] Translation: X:13.07, Y:0.40, Z:0.07 [[ 9.99871793e-01 2.48342316e-03 -1.58186390e-02 1.30679392e+01] [-2.48982764e-03 9.99996826e-01 -3.85188408e-04 4.03202532e-01] [ 1.58176323e-02 4.24524709e-04 9.99874803e-01 6.81616757e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.849254153999999 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:13.08, Y:0.42, Z:0.08 [[ 9.99863235e-01 -4.76299986e-03 -1.58374318e-02 1.30783024e+01] [ 4.77033531e-03 9.99988531e-01 4.25426377e-04 4.18867934e-01] [ 1.58352238e-02 -5.00918054e-04 9.99874490e-01 7.82472703e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.879254153999998 meters Centerline goodness : 0.999668 Centerline is valid? [True, True] Translation: X:13.11, Y:0.42, Z:0.08 [[ 9.99870110e-01 -3.09649145e-03 -1.58169460e-02 1.31062880e+01] [ 3.09062966e-03 9.99995146e-01 -3.95031722e-04 4.19457070e-01] [ 1.58180924e-02 3.46096089e-04 9.99874826e-01 7.89195112e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.909254153999997 meters Centerline goodness : 0.999647 Centerline is valid? [True, True] Translation: X:13.13, Y:0.42, Z:0.08 [[ 9.99872242e-01 -2.30816784e-03 -1.58168325e-02 1.31344024e+01] [ 2.30213646e-03 9.99997270e-01 -3.99523784e-04 4.18412243e-01] [ 1.58177115e-02 3.63060235e-04 9.99874826e-01 7.83933791e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.939254153999999 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:13.16, Y:0.42, Z:0.08 [[ 9.99870771e-01 -2.87635036e-03 -1.58167185e-02 1.31635205e+01] [ 2.87031945e-03 9.99995799e-01 -4.03987769e-04 4.17833684e-01] [ 1.58178140e-02 3.58536527e-04 9.99874826e-01 7.86181437e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.969254153999998 meters Centerline goodness : 0.996436 Centerline is valid? [True, True] Translation: X:13.19, Y:0.42, Z:0.08 [[ 9.99855804e-01 -6.18096250e-03 -1.58166898e-02 1.31913428e+01] [ 6.17532711e-03 9.99980850e-01 -4.05109332e-04 4.15677407e-01] [ 1.58188908e-02 3.07377684e-04 9.99874826e-01 7.55435398e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.999254153999999 meters Centerline goodness : 0.999714 Centerline is valid? [True, True] Translation: X:13.22, Y:0.42, Z:0.08 [[ 9.99819819e-01 -1.04975008e-02 -1.58155525e-02 1.32196328e+01] [ 1.04917129e-02 9.99944860e-01 -4.48895618e-04 4.15684026e-01] [ 1.58193927e-02 2.82882499e-04 9.99874826e-01 7.99942550e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.029254153999998 meters Centerline goodness : 0.999737 Centerline is valid? [True, True] Translation: X:13.26, Y:0.40, Z:0.07 [[ 9.99863181e-01 -4.84324991e-03 -1.58165123e-02 1.32615003e+01] [ 4.83733740e-03 9.99988215e-01 -4.12055295e-04 4.04794825e-01] [ 1.58183216e-02 3.35489111e-04 9.99874826e-01 7.34717751e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.059254153999998 meters Centerline goodness : 0.999714 Centerline is valid? [True, True] Translation: X:13.29, Y:0.41, Z:0.08 [[ 9.99795139e-01 -1.26141911e-02 -1.58291546e-02 1.32860882e+01] [ 1.26181764e-02 9.99920376e-01 1.51914878e-04 4.07863034e-01] [ 1.58259779e-02 -3.51618821e-04 9.99874700e-01 7.69266789e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.089254153999999 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:13.31, Y:0.41, Z:0.08 [[ 9.99585699e-01 -2.40439218e-02 -1.58215323e-02 1.33128678e+01] [ 2.40439778e-02 9.99710884e-01 -1.86706991e-04 4.08256877e-01] [ 1.58214472e-02 -1.93782933e-04 9.99874814e-01 8.16306404e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.119254153999998 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:13.34, Y:0.41, Z:0.08 [[ 9.99586554e-01 -2.40109472e-02 -1.58175985e-02 1.33447016e+01] [ 2.40082613e-02 9.99711695e-01 -3.59701439e-04 4.09033039e-01] [ 1.58216750e-02 -2.02003174e-05 9.99874829e-01 8.22002379e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.149254153999998 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:13.38, Y:0.41, Z:0.08 [[ 9.99465487e-01 -2.86101837e-02 -1.58176114e-02 1.33764037e+01] [ 2.86080826e-02 9.99590641e-01 -3.59136256e-04 4.07368368e-01] [ 1.58214112e-02 -9.35672395e-05 9.99874829e-01 8.28009834e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.179254153999999 meters Centerline goodness : 0.998497 Centerline is valid? [True, True] Translation: X:13.41, Y:0.41, Z:0.08 [[ 9.99349372e-01 -3.24135087e-02 -1.58176244e-02 1.34063488e+01] [ 3.24118929e-02 9.99474532e-01 -3.58562399e-04 4.05629408e-01] [ 1.58209350e-02 -1.54350039e-04 9.99874829e-01 8.30063125e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.209254153999998 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:13.44, Y:0.40, Z:0.08 [[ 9.98972134e-01 -4.24796861e-02 -1.58161897e-02 1.34400840e+01] [ 4.24783245e-02 9.99097299e-01 -4.22177452e-04 4.02722458e-01] [ 1.58198464e-02 -2.50101729e-04 9.99874827e-01 8.34798634e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.239254153999997 meters Centerline goodness : 0.999565 Centerline is valid? [True, True] Translation: X:13.47, Y:0.40, Z:0.08 [[ 9.98779154e-01 -4.67974542e-02 -1.58177199e-02 1.34729207e+01] [ 4.67977165e-02 9.98904324e-01 -3.53758248e-04 4.01626546e-01] [ 1.58169438e-02 -3.86906810e-04 9.99874829e-01 8.37897910e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.269254153999999 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:13.51, Y:0.40, Z:0.08 [[ 9.98554616e-01 -5.13661087e-02 -1.58177588e-02 1.35100513e+01] [ 5.13669713e-02 9.98679784e-01 -3.52010266e-04 3.96316588e-01] [ 1.58149574e-02 -4.61008888e-04 9.99874829e-01 8.26977576e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.299254153999998 meters Centerline goodness : 0.999589 Centerline is valid? [True, True] Translation: X:13.54, Y:0.40, Z:0.08 [[ 9.98277763e-01 -5.64903891e-02 -1.58222526e-02 1.35359253e+01] [ 5.64951291e-02 9.98402864e-01 -1.47581929e-04 3.99159772e-01] [ 1.58053193e-02 -7.46552445e-04 9.99874809e-01 8.42173492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.329254153999997 meters Centerline goodness : 0.999590 Centerline is valid? [True, True] Translation: X:13.57, Y:0.40, Z:0.08 [[ 9.98181019e-01 -5.81760524e-02 -1.58177047e-02 1.35680070e+01] [ 5.81777693e-02 9.98306177e-01 -3.51976121e-04 3.99337894e-01] [ 1.58113889e-02 -5.68902893e-04 9.99874830e-01 8.45273790e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.359254153999998 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:13.60, Y:0.40, Z:0.08 [[ 9.98119707e-01 -5.92186479e-02 -1.58177677e-02 1.36008644e+01] [ 5.92205407e-02 9.98244863e-01 -3.49122810e-04 3.99427552e-01] [ 1.58106799e-02 -5.88270399e-04 9.99874830e-01 8.48486641e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.389254153999998 meters Centerline goodness : 0.999611 Centerline is valid? [True, True] Translation: X:13.64, Y:0.40, Z:0.09 [[ 9.98186634e-01 -5.80795987e-02 -1.58178053e-02 1.36383597e+01] [ 5.80813757e-02 9.98311792e-01 -3.47413502e-04 3.97739017e-01] [ 1.58112791e-02 -5.71936374e-04 9.99874830e-01 8.55256219e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.419254153999999 meters Centerline goodness : 0.999632 Centerline is valid? [True, True] Translation: X:13.66, Y:0.40, Z:0.09 [[ 9.97849572e-01 -6.36073758e-02 -1.58219409e-02 1.36623100e+01] [ 6.36128673e-02 9.97974638e-01 -1.56455295e-04 4.04464156e-01] [ 1.57998475e-02 -8.50360179e-04 9.99874813e-01 8.70587780e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.449254153999998 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:13.70, Y:0.40, Z:0.09 [[ 9.98275555e-01 -5.65314886e-02 -1.58147845e-02 1.36969667e+01] [ 5.65309859e-02 9.98400730e-01 -4.79183331e-04 3.99968595e-01] [ 1.58165814e-02 -4.15668354e-04 9.99874824e-01 8.85960592e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.479254153999998 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:13.73, Y:0.40, Z:0.09 [[ 9.98146778e-01 -5.87601288e-02 -1.58194834e-02 1.37258722e+01] [ 5.87634059e-02 9.98271905e-01 -2.57995647e-04 4.02325943e-01] [ 1.58073057e-02 -6.72089203e-04 9.99874831e-01 8.59029809e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.509254153999999 meters Centerline goodness : 0.999654 Centerline is valid? [True, True] Translation: X:13.76, Y:0.40, Z:0.08 [[ 9.98217536e-01 -5.75460549e-02 -1.58177785e-02 1.37580342e+01] [ 5.75479166e-02 9.98342688e-01 -3.37824984e-04 4.03823975e-01] [ 1.58110040e-02 -5.73057378e-04 9.99874834e-01 8.48459241e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.539254153999998 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:13.79, Y:0.41, Z:0.08 [[ 9.98267206e-01 -5.66778922e-02 -1.58178029e-02 1.37906739e+01] [ 5.66796631e-02 9.98392359e-01 -3.36681894e-04 4.05136276e-01] [ 1.58114559e-02 -5.60449245e-04 9.99874834e-01 8.46313132e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.569254153999998 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:13.82, Y:0.41, Z:0.08 [[ 9.98325514e-01 -5.56413913e-02 -1.58178271e-02 1.38230761e+01] [ 5.56430504e-02 9.98450669e-01 -3.35537708e-04 4.06605347e-01] [ 1.58119899e-02 -5.45176298e-04 9.99874834e-01 8.42653208e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.599254153999999 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:13.85, Y:0.41, Z:0.08 [[ 9.98458099e-01 -5.32092161e-02 -1.58178514e-02 1.38546639e+01] [ 5.32105884e-02 9.98583257e-01 -3.34389247e-04 4.09397231e-01] [ 1.58132342e-02 -5.07803530e-04 9.99874834e-01 8.39423025e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.629254153999998 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:13.89, Y:0.41, Z:0.08 [[ 9.98516210e-01 -5.21073110e-02 -1.58178989e-02 1.38867318e+01] [ 5.21085810e-02 9.98641370e-01 -3.32126701e-04 4.11180144e-01] [ 1.58137145e-02 -4.92614374e-04 9.99874834e-01 8.45374300e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.659254153999997 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:13.92, Y:0.41, Z:0.08 [[ 9.98654154e-01 -4.93930495e-02 -1.58179226e-02 1.39175017e+01] [ 4.93939973e-02 9.98779317e-01 -3.30996558e-04 4.12825911e-01] [ 1.58149628e-02 -4.50759337e-04 9.99874834e-01 8.49980145e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.689254153999999 meters Centerline goodness : 0.999673 Centerline is valid? [True, True] Translation: X:13.95, Y:0.42, Z:0.09 [[ 9.98755810e-01 -4.72935581e-02 -1.58161863e-02 1.39542956e+01] [ 4.72928939e-02 9.98880978e-01 -4.16218424e-04 4.15304190e-01] [ 1.58181721e-02 -3.32292651e-04 9.99874830e-01 8.83088314e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.719254153999998 meters Centerline goodness : 0.999630 Centerline is valid? [True, True] Translation: X:13.98, Y:0.42, Z:0.09 [[ 9.98842986e-01 -4.54131924e-02 -1.58218393e-02 1.39835521e+01] [ 4.54165052e-02 9.98968127e-01 -1.50050617e-04 4.17618228e-01] [ 1.58123274e-02 -5.68695639e-04 9.99874816e-01 8.80290472e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.749254153999997 meters Centerline goodness : 0.999651 Centerline is valid? [True, True] Translation: X:14.01, Y:0.42, Z:0.09 [[ 9.98800318e-01 -4.63427906e-02 -1.58199224e-02 1.40139278e+01] [ 4.63447665e-02 9.98925475e-01 -2.41882128e-04 4.21158950e-01] [ 1.58141330e-02 -4.91578662e-04 9.99874828e-01 8.93498876e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.779254153999998 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:14.05, Y:0.42, Z:0.09 [[ 9.98914142e-01 -4.38215302e-02 -1.58180701e-02 1.40465933e+01] [ 4.38217872e-02 9.99039309e-01 -3.30529691e-04 4.23605580e-01] [ 1.58173581e-02 -3.63005318e-04 9.99874832e-01 9.08519131e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.809254153999998 meters Centerline goodness : 0.999716 Centerline is valid? [True, True] Translation: X:14.08, Y:0.42, Z:0.09 [[ 9.98965512e-01 -4.26344216e-02 -1.58181062e-02 1.40778260e+01] [ 4.26345574e-02 9.99090680e-01 -3.28792400e-04 4.24944949e-01] [ 1.58177403e-02 -3.45945688e-04 9.99874832e-01 9.08143903e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.839254153999999 meters Centerline goodness : 0.999694 Centerline is valid? [True, True] Translation: X:14.11, Y:0.43, Z:0.09 [[ 9.99091889e-01 -3.95624057e-02 -1.58181240e-02 1.41102816e+01] [ 3.95621702e-02 9.99217057e-01 -3.27932994e-04 4.26781137e-01] [ 1.58187131e-02 -2.98164120e-04 9.99874832e-01 9.16580655e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.869254153999998 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:14.14, Y:0.43, Z:0.09 [[ 9.99153478e-01 -3.79751733e-02 -1.58181478e-02 1.41428597e+01] [ 3.79747571e-02 9.99278645e-01 -3.26780954e-04 4.27997565e-01] [ 1.58191469e-02 -2.74185995e-04 9.99874832e-01 9.24353926e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.899254153999998 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:14.18, Y:0.43, Z:0.09 [[ 9.99209560e-01 -3.64697036e-02 -1.58181836e-02 1.41758739e+01] [ 3.64691264e-02 9.99334727e-01 -3.25039527e-04 4.29148947e-01] [ 1.58195143e-02 -2.52092734e-04 9.99874832e-01 9.29730487e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.929254153999999 meters Centerline goodness : 0.999627 Centerline is valid? [True, True] Translation: X:14.21, Y:0.43, Z:0.09 [[ 9.99303201e-01 -3.38067597e-02 -1.58182189e-02 1.42073877e+01] [ 3.38058763e-02 9.99428366e-01 -3.23310950e-04 4.30841747e-01] [ 1.58201068e-02 -2.11663086e-04 9.99874832e-01 9.35255113e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.959254153999998 meters Centerline goodness : 0.999737 Centerline is valid? [True, True] Translation: X:14.24, Y:0.43, Z:0.09 [[ 9.99341967e-01 -3.26407073e-02 -1.58182364e-02 1.42396028e+01] [ 3.26396914e-02 9.99467131e-01 -3.22454367e-04 4.31679343e-01] [ 1.58203325e-02 -1.94060173e-04 9.99874832e-01 9.45775530e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.989254153999997 meters Centerline goodness : 0.999693 Centerline is valid? [True, True] Translation: X:14.27, Y:0.43, Z:0.10 [[ 9.99398161e-01 -3.08723000e-02 -1.58182596e-02 1.42719352e+01] [ 3.08710807e-02 9.99523323e-01 -3.21312336e-04 4.32290029e-01] [ 1.58206390e-02 -1.67207810e-04 9.99874832e-01 9.53788668e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.019254153999999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:14.30, Y:0.43, Z:0.10 [[ 9.99416489e-01 -3.02731564e-02 -1.58182828e-02 1.43031894e+01] [ 3.02718802e-02 9.99541650e-01 -3.20165073e-04 4.32966125e-01] [ 1.58207249e-02 -1.58870909e-04 9.99874832e-01 9.57796253e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.049254153999998 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:14.33, Y:0.43, Z:0.10 [[ 9.99438662e-01 -2.95320575e-02 -1.58183001e-02 1.43340854e+01] [ 2.95307020e-02 9.99563823e-01 -3.19310482e-04 4.33239937e-01] [ 1.58208304e-02 -1.47994264e-04 9.99874832e-01 9.60769997e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.079254153999997 meters Centerline goodness : 0.999693 Centerline is valid? [True, True] Translation: X:14.37, Y:0.43, Z:0.10 [[ 9.99457769e-01 -2.88781845e-02 -1.58183171e-02 1.43666063e+01] [ 2.88767605e-02 9.99582929e-01 -3.18463240e-04 4.33131995e-01] [ 1.58209164e-02 -1.38491196e-04 9.99874832e-01 9.56790157e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.109254153999998 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:14.40, Y:0.43, Z:0.10 [[ 9.99466677e-01 -2.85681903e-02 -1.58183398e-02 1.43990292e+01] [ 2.85667454e-02 9.99591837e-01 -3.17334608e-04 4.33158203e-01] [ 1.58209490e-02 -1.34713118e-04 9.99874832e-01 9.55941399e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.139254153999998 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:14.43, Y:0.43, Z:0.10 [[ 9.99464813e-01 -2.86333186e-02 -1.58183623e-02 1.44301561e+01] [ 2.86318997e-02 9.99589973e-01 -3.16207510e-04 4.33315800e-01] [ 1.58209304e-02 -1.36871482e-04 9.99874832e-01 9.55324136e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.169254153999997 meters Centerline goodness : 0.997280 Centerline is valid? [True, True] Translation: X:14.45, Y:0.43, Z:0.10 [[ 9.99561369e-01 -2.50369345e-02 -1.58183790e-02 1.44548123e+01] [ 2.50350786e-02 9.99686524e-01 -3.15367141e-04 4.31446880e-01] [ 1.58213162e-02 -8.07855505e-05 9.99874832e-01 9.60900203e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.199254153999998 meters Centerline goodness : 0.999671 Centerline is valid? [True, True] Translation: X:14.49, Y:0.43, Z:0.10 [[ 9.99433193e-01 -2.97192821e-02 -1.58131946e-02 1.44894234e+01] [ 2.97138063e-02 9.99558278e-01 -5.81169611e-04 4.33054718e-01] [ 1.58234815e-02 1.10969999e-04 9.99874795e-01 9.53617139e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.229254153999998 meters Centerline goodness : 0.999715 Centerline is valid? [True, True] Translation: X:14.52, Y:0.43, Z:0.10 [[ 9.99404210e-01 -3.06757275e-02 -1.58185239e-02 1.45219656e+01] [ 3.06747772e-02 9.99529372e-01 -3.02757183e-04 4.33004302e-01] [ 1.58203665e-02 -1.82652893e-04 9.99874833e-01 9.56561001e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.259254153999999 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:14.55, Y:0.43, Z:0.10 [[ 9.99337803e-01 -3.27678137e-02 -1.58185459e-02 1.45532929e+01] [ 3.27671438e-02 9.99462967e-01 -3.01603382e-04 4.32074590e-01] [ 1.58199337e-02 -2.16924905e-04 9.99874833e-01 9.57425291e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.289254153999998 meters Centerline goodness : 0.999671 Centerline is valid? [True, True] Translation: X:14.59, Y:0.43, Z:0.10 [[ 9.99300618e-01 -3.38828602e-02 -1.58185816e-02 1.45857800e+01] [ 3.38823598e-02 9.99425783e-01 -2.99715528e-04 4.32057557e-01] [ 1.58196536e-02 -2.36464962e-04 9.99874833e-01 9.65656610e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.319254153999998 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:14.62, Y:0.43, Z:0.10 [[ 9.99229224e-01 -3.59267387e-02 -1.58186033e-02 1.46183582e+01] [ 3.59265125e-02 9.99354390e-01 -2.98568242e-04 4.30962990e-01] [ 1.58191172e-02 -2.69969135e-04 9.99874833e-01 9.73065449e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.349254153999999 meters Centerline goodness : 0.999586 Centerline is valid? [True, True] Translation: X:14.65, Y:0.43, Z:0.10 [[ 9.99201071e-01 -3.67013836e-02 -1.58186247e-02 1.46505987e+01] [ 3.67012724e-02 9.99326237e-01 -2.97429326e-04 4.30807362e-01] [ 1.58188828e-02 -2.83371953e-04 9.99874833e-01 9.77644349e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.379254153999998 meters Centerline goodness : 0.999651 Centerline is valid? [True, True] Translation: X:14.68, Y:0.43, Z:0.10 [[ 9.99187336e-01 -3.70734270e-02 -1.58186459e-02 1.46830821e+01] [ 3.70733803e-02 9.99312502e-01 -2.96298184e-04 4.30518405e-01] [ 1.58187554e-02 -2.90393282e-04 9.99874833e-01 9.84760072e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.409254153999997 meters Centerline goodness : 0.999564 Centerline is valid? [True, True] Translation: X:14.72, Y:0.43, Z:0.10 [[ 9.99169824e-01 -3.75424175e-02 -1.58186671e-02 1.47152600e+01] [ 3.75424475e-02 9.99294990e-01 -2.95163467e-04 4.29424351e-01] [ 1.58185959e-02 -2.98953049e-04 9.99874833e-01 9.96181875e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.439254153999999 meters Centerline goodness : 0.999564 Centerline is valid? [True, True] Translation: X:14.75, Y:0.43, Z:0.10 [[ 9.99172227e-01 -3.74783909e-02 -1.58186887e-02 1.47478170e+01] [ 3.74784313e-02 9.99297394e-01 -2.93997790e-04 4.28879380e-01] [ 1.58185930e-02 -2.99105212e-04 9.99874833e-01 9.99876940e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.469254153999998 meters Centerline goodness : 0.999565 Centerline is valid? [True, True] Translation: X:14.78, Y:0.43, Z:0.10 [[ 9.99198161e-01 -3.67804773e-02 -1.58187103e-02 1.47803377e+01] [ 3.67804487e-02 9.99323327e-01 -2.92834252e-04 4.27277866e-01] [ 1.58187768e-02 -2.89219815e-04 9.99874833e-01 1.00178131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.499254153999997 meters Centerline goodness : 0.999391 Centerline is valid? [True, True] Translation: X:14.81, Y:0.43, Z:0.10 [[ 9.99215379e-01 -3.63096990e-02 -1.58187316e-02 1.48126394e+01] [ 3.63096297e-02 9.99340545e-01 -2.91676221e-04 4.27085255e-01] [ 1.58188906e-02 -2.82924922e-04 9.99874833e-01 1.00935839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.529254153999998 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:14.84, Y:0.43, Z:0.10 [[ 9.99239828e-01 -3.56304964e-02 -1.58187530e-02 1.48445423e+01] [ 3.56303605e-02 9.99364995e-01 -2.90514942e-04 4.27026058e-01] [ 1.58190592e-02 -2.73333770e-04 9.99874833e-01 1.01695598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.559254153999998 meters Centerline goodness : 0.999566 Centerline is valid? [True, True] Translation: X:14.88, Y:0.43, Z:0.10 [[ 9.99269551e-01 -3.47869401e-02 -1.58187742e-02 1.48762358e+01] [ 3.47867169e-02 9.99394717e-01 -2.89352030e-04 4.26753150e-01] [ 1.58192651e-02 -2.61142548e-04 9.99874833e-01 1.01141284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.589254153999999 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:14.91, Y:0.43, Z:0.10 [[ 9.99272683e-01 -3.46968544e-02 -1.58187900e-02 1.49088916e+01] [ 3.46966337e-02 9.99397849e-01 -2.88486699e-04 4.26632915e-01] [ 1.58192743e-02 -2.60581884e-04 9.99874833e-01 1.00824978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.619254153999998 meters Centerline goodness : 0.999610 Centerline is valid? [True, True] Translation: X:14.94, Y:0.43, Z:0.10 [[ 9.99264447e-01 -3.49332345e-02 -1.58188107e-02 1.49400056e+01] [ 3.49330614e-02 9.99389613e-01 -2.87346683e-04 4.26514831e-01] [ 1.58191931e-02 -2.65464161e-04 9.99874833e-01 9.97957651e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.649254153999998 meters Centerline goodness : 0.999675 Centerline is valid? [True, True] Translation: X:14.97, Y:0.43, Z:0.10 [[ 9.99241078e-01 -3.55953991e-02 -1.58188261e-02 1.49725222e+01] [ 3.55953224e-02 9.99366245e-01 -2.86497452e-04 4.25349240e-01] [ 1.58189988e-02 -2.76796191e-04 9.99874833e-01 9.83360383e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.679254153999999 meters Centerline goodness : 0.999480 Centerline is valid? [True, True] Translation: X:15.00, Y:0.43, Z:0.10 [[ 9.99227380e-01 -3.59778826e-02 -1.58188464e-02 1.50048301e+01] [ 3.59778715e-02 9.99352546e-01 -2.85372321e-04 4.25419038e-01] [ 1.58188715e-02 -2.83976587e-04 9.99874833e-01 9.86225662e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.709254153999998 meters Centerline goodness : 0.999610 Centerline is valid? [True, True] Translation: X:15.04, Y:0.43, Z:0.10 [[ 9.99224443e-01 -3.60593319e-02 -1.58188673e-02 1.50363163e+01] [ 3.60593495e-02 9.99349610e-01 -2.84208771e-04 4.25402595e-01] [ 1.58188272e-02 -2.86429714e-04 9.99874833e-01 9.76331921e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.739254153999997 meters Centerline goodness : 0.999632 Centerline is valid? [True, True] Translation: X:15.07, Y:0.43, Z:0.10 [[ 9.99241703e-01 -3.55778143e-02 -1.58189023e-02 1.50689145e+01] [ 3.55778026e-02 9.99366870e-01 -2.82248675e-04 4.26012657e-01] [ 1.58189286e-02 -2.80767135e-04 9.99874834e-01 9.90444258e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.769254153999999 meters Centerline goodness : 0.999523 Centerline is valid? [True, True] Translation: X:15.10, Y:0.43, Z:0.10 [[ 9.99256631e-01 -3.51560336e-02 -1.58189227e-02 1.51007985e+01] [ 3.51559872e-02 9.99381798e-01 -2.81096579e-04 4.27169360e-01] [ 1.58190257e-02 -2.75242226e-04 9.99874834e-01 9.98447846e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.799254153999998 meters Centerline goodness : 0.999544 Centerline is valid? [True, True] Translation: X:15.13, Y:0.43, Z:0.10 [[ 9.99278030e-01 -3.45424334e-02 -1.58189430e-02 1.51331798e+01] [ 3.45423284e-02 9.99403197e-01 -2.79952797e-04 4.28347334e-01] [ 1.58191724e-02 -2.66672443e-04 9.99874834e-01 1.01230234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.829254153999997 meters Centerline goodness : 0.999631 Centerline is valid? [True, True] Translation: X:15.16, Y:0.43, Z:0.10 [[ 9.99320416e-01 -3.32936329e-02 -1.58189635e-02 1.51647515e+01] [ 3.32933898e-02 9.99445583e-01 -2.78790873e-04 4.30103965e-01] [ 1.58194751e-02 -2.48065506e-04 9.99874834e-01 1.02621941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.859254153999998 meters Centerline goodness : 0.999566 Centerline is valid? [True, True] Translation: X:15.20, Y:0.43, Z:0.10 [[ 9.99319581e-01 -3.33186715e-02 -1.58189965e-02 1.51963677e+01] [ 3.33184615e-02 9.99444748e-01 -2.76900570e-04 4.31354540e-01] [ 1.58194390e-02 -2.50352466e-04 9.99874834e-01 1.03920801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.889254153999998 meters Centerline goodness : 0.999674 Centerline is valid? [True, True] Translation: X:15.23, Y:0.43, Z:0.11 [[ 9.99286289e-01 -3.43026408e-02 -1.58190115e-02 1.52289184e+01] [ 3.43025676e-02 9.99411456e-01 -2.76044306e-04 4.32409655e-01] [ 1.58191703e-02 -2.66785420e-04 9.99874834e-01 1.05981408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.919254153999997 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:15.26, Y:0.43, Z:0.11 [[ 9.99245313e-01 -3.54762324e-02 -1.58190316e-02 1.52602552e+01] [ 3.54763245e-02 9.99370479e-01 -2.74885627e-04 4.32774685e-01] [ 1.58188251e-02 -2.86522924e-04 9.99874834e-01 1.06249286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.949254153999998 meters Centerline goodness : 0.999587 Centerline is valid? [True, True] Translation: X:15.29, Y:0.43, Z:0.11 [[ 9.99179540e-01 -3.72827555e-02 -1.58190466e-02 1.52925344e+01] [ 3.72830876e-02 9.99304706e-01 -2.74021020e-04 4.33200438e-01] [ 1.58182640e-02 -3.15986703e-04 9.99874834e-01 1.06444136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.979254153999998 meters Centerline goodness : 0.999565 Centerline is valid? [True, True] Translation: X:15.32, Y:0.43, Z:0.11 [[ 9.99026034e-01 -4.11915095e-02 -1.58190661e-02 1.53233888e+01] [ 4.11923491e-02 9.99151198e-01 -2.72890322e-04 4.33260702e-01] [ 1.58168796e-02 -3.78999957e-04 9.99874834e-01 1.05565499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.009254153999997 meters Centerline goodness : 0.999588 Centerline is valid? [True, True] Translation: X:15.36, Y:0.43, Z:0.11 [[ 9.98942153e-01 -4.31779131e-02 -1.58190806e-02 1.53566061e+01] [ 4.31790150e-02 9.99067314e-01 -2.72046843e-04 4.33642388e-01] [ 1.58160728e-02 -4.11293260e-04 9.99874834e-01 1.05446076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.039254153999995 meters Centerline goodness : 0.999588 Centerline is valid? [True, True] Translation: X:15.39, Y:0.43, Z:0.11 [[ 9.98946752e-01 -4.30713602e-02 -1.58191094e-02 1.53901443e+01] [ 4.30724754e-02 9.99071914e-01 -2.70360400e-04 4.34121764e-01] [ 1.58160727e-02 -4.11292559e-04 9.99874834e-01 1.05976198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.069254153999996 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:15.42, Y:0.43, Z:0.11 [[ 9.98774943e-01 -4.68867599e-02 -1.58191381e-02 1.54230095e+01] [ 4.68883799e-02 9.98900099e-01 -2.68673255e-04 4.34835892e-01] [ 1.58143358e-02 -4.73389641e-04 9.99874834e-01 1.05524657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.099254153999997 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:15.46, Y:0.44, Z:0.11 [[ 9.98699794e-01 -4.84610632e-02 -1.58191667e-02 1.54559343e+01] [ 4.84629073e-02 9.98824947e-01 -2.66980810e-04 4.35797914e-01] [ 1.58135165e-02 -5.00009126e-04 9.99874834e-01 1.06313493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.129254153999995 meters Centerline goodness : 0.999544 Centerline is valid? [True, True] Translation: X:15.49, Y:0.44, Z:0.11 [[ 9.98642829e-01 -4.96211033e-02 -1.58191955e-02 1.54886821e+01] [ 4.96231199e-02 9.98767979e-01 -2.65261167e-04 4.36814807e-01] [ 1.58128685e-02 -5.20096672e-04 9.99874834e-01 1.06717589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.159254153999996 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:15.52, Y:0.44, Z:0.11 [[ 9.98579561e-01 -5.08784070e-02 -1.58192242e-02 1.55213420e+01] [ 5.08806085e-02 9.98704708e-01 -2.63537479e-04 4.38435283e-01] [ 1.58121421e-02 -5.41728614e-04 9.99874834e-01 1.07572209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.189254153999997 meters Centerline goodness : 0.999479 Centerline is valid? [True, True] Translation: X:15.55, Y:0.44, Z:0.11 [[ 9.98564369e-01 -5.11757040e-02 -1.58192532e-02 1.55539887e+01] [ 5.11779705e-02 9.98689515e-01 -2.61786116e-04 4.39492416e-01] [ 1.58119194e-02 -5.48186985e-04 9.99874834e-01 1.08276584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.219254153999998 meters Centerline goodness : 0.999565 Centerline is valid? [True, True] Translation: X:15.59, Y:0.44, Z:0.11 [[ 9.98547576e-01 -5.15023161e-02 -1.58192818e-02 1.55868213e+01] [ 5.15046510e-02 9.98672721e-01 -2.60045313e-04 4.41417591e-01] [ 1.58116781e-02 -5.55098972e-04 9.99874834e-01 1.09292600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.249254153999996 meters Centerline goodness : 0.999630 Centerline is valid? [True, True] Translation: X:15.62, Y:0.44, Z:0.11 [[ 9.98543388e-01 -5.15834412e-02 -1.58193102e-02 1.56185992e+01] [ 5.15858138e-02 9.98668532e-01 -2.58307148e-04 4.42950341e-01] [ 1.58115717e-02 -5.58121095e-04 9.99874834e-01 1.09912139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.279254153999997 meters Centerline goodness : 0.999542 Centerline is valid? [True, True] Translation: X:15.66, Y:0.44, Z:0.11 [[ 9.98827982e-01 -4.57428789e-02 -1.58193336e-02 1.56577938e+01] [ 4.57445423e-02 9.98953137e-01 -2.56867524e-04 4.38355483e-01] [ 1.58145228e-02 -4.67081702e-04 9.99874834e-01 1.06733592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.309254153999998 meters Centerline goodness : 0.999630 Centerline is valid? [True, True] Translation: X:15.68, Y:0.45, Z:0.11 [[ 9.98576152e-01 -5.09434531e-02 -1.58250545e-02 1.56805362e+01] [ 5.09515093e-02 9.98701123e-01 1.06050112e-04 4.46728444e-01] [ 1.57990971e-02 -9.12209522e-04 9.99874770e-01 1.11762063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.339254153999995 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:15.71, Y:0.45, Z:0.11 [[ 9.98610275e-01 -5.02720560e-02 -1.58189687e-02 1.57134435e+01] [ 5.02742092e-02 9.98735418e-01 -2.61774897e-04 4.48197465e-01] [ 1.58121243e-02 -5.33875040e-04 9.99874838e-01 1.12823860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.369254153999997 meters Centerline goodness : 0.999673 Centerline is valid? [True, True] Translation: X:15.75, Y:0.45, Z:0.11 [[ 9.98668431e-01 -4.91031964e-02 -1.58189970e-02 1.57450917e+01] [ 4.91052303e-02 9.98793577e-01 -2.60055075e-04 4.50292833e-01] [ 1.58126821e-02 -5.17086697e-04 9.99874838e-01 1.13165283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.399254153999998 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:15.78, Y:0.45, Z:0.11 [[ 9.98693304e-01 -4.85946733e-02 -1.58190203e-02 1.57778087e+01] [ 4.85966660e-02 9.98818451e-01 -2.58630121e-04 4.51151044e-01] [ 1.58128974e-02 -5.10459475e-04 9.99874838e-01 1.14422181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.429254153999995 meters Centerline goodness : 0.999694 Centerline is valid? [True, True] Translation: X:15.81, Y:0.45, Z:0.12 [[ 9.98708033e-01 -4.82910195e-02 -1.58190474e-02 1.58107314e+01] [ 4.82930006e-02 9.98833179e-01 -2.56960431e-04 4.51992758e-01] [ 1.58129983e-02 -5.07320819e-04 9.99874838e-01 1.15521673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.459254153999996 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:15.84, Y:0.45, Z:0.12 [[ 9.98735894e-01 -4.77113206e-02 -1.58190749e-02 1.58438311e+01] [ 4.77132561e-02 9.98861041e-01 -2.55257300e-04 4.53507139e-01] [ 1.58132363e-02 -4.99844942e-04 9.99874838e-01 1.16442370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.489254153999997 meters Centerline goodness : 0.999650 Centerline is valid? [True, True] Translation: X:15.88, Y:0.45, Z:0.12 [[ 9.98762598e-01 -4.71490112e-02 -1.58191027e-02 1.58756172e+01] [ 4.71509037e-02 9.98887745e-01 -2.53519158e-04 4.54345175e-01] [ 1.58134610e-02 -4.92679536e-04 9.99874838e-01 1.16686333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.519254153999995 meters Centerline goodness : 0.999672 Centerline is valid? [True, True] Translation: X:15.91, Y:0.45, Z:0.12 [[ 9.98833070e-01 -4.56317146e-02 -1.58191256e-02 1.59089927e+01] [ 4.56334397e-02 9.98958220e-01 -2.52083545e-04 4.54521104e-01] [ 1.58141486e-02 -4.70091734e-04 9.99874838e-01 1.16308000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.549254153999996 meters Centerline goodness : 0.999694 Centerline is valid? [True, True] Translation: X:15.94, Y:0.45, Z:0.12 [[ 9.98891211e-01 -4.43407550e-02 -1.58191525e-02 1.59421073e+01] [ 4.43423453e-02 9.99016363e-01 -2.50381829e-04 4.54996239e-01] [ 1.58146944e-02 -4.51354116e-04 9.99874838e-01 1.16582145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.579254153999997 meters Centerline goodness : 0.999715 Centerline is valid? [True, True] Translation: X:15.97, Y:0.46, Z:0.12 [[ 9.98976792e-01 -4.23688778e-02 -1.58191792e-02 1.59749274e+01] [ 4.23702478e-02 9.99101947e-01 -2.48688485e-04 4.55605736e-01] [ 1.58155094e-02 -4.21828517e-04 9.99874838e-01 1.16961675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.609254153999995 meters Centerline goodness : 0.999627 Centerline is valid? [True, True] Translation: X:16.01, Y:0.46, Z:0.12 [[ 9.99074616e-01 -3.99958142e-02 -1.58192054e-02 1.60070762e+01] [ 3.99969135e-02 9.99199773e-01 -2.47008368e-04 4.56649240e-01] [ 1.58164257e-02 -3.85939600e-04 9.99874838e-01 1.17484585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.639254153999996 meters Centerline goodness : 0.999715 Centerline is valid? [True, True] Translation: X:16.04, Y:0.46, Z:0.12 [[ 9.99316869e-01 -3.33998047e-02 -1.58192227e-02 1.60391834e+01] [ 3.34000953e-02 9.99442031e-01 -2.45897949e-04 4.58718573e-01] [ 1.58186090e-02 -2.82633576e-04 9.99874838e-01 1.19001126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.669254153999997 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:16.07, Y:0.46, Z:0.12 [[ 9.99440395e-01 -2.94728524e-02 -1.58192406e-02 1.60701836e+01] [ 2.94726696e-02 9.99565557e-01 -2.44737133e-04 4.60229526e-01] [ 1.58195812e-02 -2.21635075e-04 9.99874838e-01 1.19144840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.699254153999995 meters Centerline goodness : 0.999692 Centerline is valid? [True, True] Translation: X:16.10, Y:0.46, Z:0.12 [[ 9.99653707e-01 -2.10289526e-02 -1.58192539e-02 1.61026862e+01] [ 2.10277262e-02 9.99778863e-01 -2.43872515e-04 4.62292307e-01] [ 1.58208841e-02 -8.88548767e-05 9.99874838e-01 1.20157445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.729254153999996 meters Centerline goodness : 0.999714 Centerline is valid? [True, True] Translation: X:16.13, Y:0.46, Z:0.12 [[ 9.99736481e-01 -1.66348901e-02 -1.58192719e-02 1.61332672e+01] [ 1.66331322e-02 9.99861630e-01 -2.42702361e-04 4.63030886e-01] [ 1.58211203e-02 -2.04856360e-05 9.99874838e-01 1.20766366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.759254153999997 meters Centerline goodness : 0.999670 Centerline is valid? [True, True] Translation: X:16.16, Y:0.46, Z:0.12 [[ 9.99791132e-01 -1.29399573e-02 -1.58192865e-02 1.61627934e+01] [ 1.29377519e-02 9.99916275e-01 -2.41746582e-04 4.63906878e-01] [ 1.58210902e-02 3.70300851e-05 9.99874838e-01 1.21086230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.789254153999995 meters Centerline goodness : 0.999648 Centerline is valid? [True, True] Translation: X:16.19, Y:0.46, Z:0.12 [[ 9.99853011e-01 -6.61106290e-03 -1.58192778e-02 1.61907775e+01] [ 6.60805645e-03 9.99978137e-01 -2.42313335e-04 4.64293774e-01] [ 1.58205339e-02 1.37743037e-04 9.99874838e-01 1.21822874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.819254153999996 meters Centerline goodness : 0.999649 Centerline is valid? [True, True] Translation: X:16.22, Y:0.46, Z:0.12 [[ 9.99862424e-01 -4.98847482e-03 -1.58192562e-02 1.62190179e+01] [ 4.98524308e-03 9.99987544e-01 -2.43719433e-04 4.64512472e-01] [ 1.58202749e-02 1.64823066e-04 9.99874838e-01 1.22125715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.849254153999997 meters Centerline goodness : 0.999693 Centerline is valid? [True, True] Translation: X:16.25, Y:0.46, Z:0.12 [[ 9.99868456e-01 -3.58096068e-03 -1.58191864e-02 1.62466392e+01] [ 3.57748250e-03 9.99993570e-01 -2.48163952e-04 4.64261588e-01] [ 1.58199734e-02 1.91538445e-04 9.99874838e-01 1.22951402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.879254153999995 meters Centerline goodness : 0.999671 Centerline is valid? [True, True] Translation: X:16.27, Y:0.46, Z:0.12 [[ 9.99868993e-01 -3.42810637e-03 -1.58191122e-02 1.62735789e+01] [ 3.42453560e-03 9.99994104e-01 -2.52807784e-04 4.63556504e-01] [ 1.58198856e-02 1.98601552e-04 9.99874838e-01 1.23880608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.909254153999996 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:16.30, Y:0.46, Z:0.12 [[ 9.99865226e-01 -4.39181705e-03 -1.58190605e-02 1.63010633e+01] [ 4.38831626e-03 9.99990339e-01 -2.56006902e-04 4.62957842e-01] [ 1.58200320e-02 1.86553358e-04 9.99874838e-01 1.23909374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.939254153999997 meters Centerline goodness : 0.999692 Centerline is valid? [True, True] Translation: X:16.33, Y:0.46, Z:0.12 [[ 9.99858572e-01 -5.70917957e-03 -1.58190325e-02 1.63280610e+01] [ 5.70581646e-03 9.99983688e-01 -2.57724459e-04 4.62006772e-01] [ 1.58202458e-02 1.67427513e-04 9.99874838e-01 1.24206660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.969254153999994 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:16.35, Y:0.46, Z:0.12 [[ 9.99823516e-01 -1.01339365e-02 -1.58189998e-02 1.63547965e+01] [ 1.01310956e-02 9.99948645e-01 -2.59716553e-04 4.59347482e-01] [ 1.58208193e-02 9.94069187e-05 9.99874838e-01 1.23949114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.999254153999996 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:16.38, Y:0.46, Z:0.12 [[ 9.99791185e-01 -1.29362848e-02 -1.58189600e-02 1.63827285e+01] [ 1.29337566e-02 9.99916321e-01 -2.62116645e-04 4.58278970e-01] [ 1.58210271e-02 5.74633326e-05 9.99874838e-01 1.23995580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.029254153999997 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:16.41, Y:0.45, Z:0.12 [[ 9.99706250e-01 -1.83623894e-02 -1.58188843e-02 1.64120576e+01] [ 1.83604694e-02 9.99831397e-01 -2.66605435e-04 4.54600796e-01] [ 1.58211127e-02 -2.39150228e-05 9.99874838e-01 1.22708845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.059254153999998 meters Centerline goodness : 0.999629 Centerline is valid? [True, True] Translation: X:16.44, Y:0.45, Z:0.12 [[ 9.99648330e-01 -2.12833270e-02 -1.58188654e-02 1.64413320e+01] [ 2.12817549e-02 9.99773482e-01 -2.67727265e-04 4.52834343e-01] [ 1.58209802e-02 -6.90201018e-05 9.99874838e-01 1.22581285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.089254153999995 meters Centerline goodness : 0.999586 Centerline is valid? [True, True] Translation: X:16.47, Y:0.45, Z:0.12 [[ 9.99586529e-01 -2.40111659e-02 -1.58188022e-02 1.64705681e+01] [ 2.40098771e-02 9.99711685e-01 -2.71406701e-04 4.51054177e-01] [ 1.58207582e-02 -1.08513015e-04 9.99874838e-01 1.22341218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.119254153999997 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:16.50, Y:0.45, Z:0.12 [[ 9.99448433e-01 -2.91992243e-02 -1.58187974e-02 1.65018769e+01] [ 2.91985807e-02 9.99573594e-01 -2.71687260e-04 4.47128939e-01] [ 1.58199852e-02 -1.90349028e-04 9.99874838e-01 1.21740305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.149254153999998 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:16.53, Y:0.45, Z:0.12 [[ 9.99382073e-01 -3.13884904e-02 -1.58188071e-02 1.65341617e+01] [ 3.13881299e-02 9.99507234e-01 -2.71124046e-04 4.45528757e-01] [ 1.58195223e-02 -2.25566260e-04 9.99874838e-01 1.22166498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.179254153999995 meters Centerline goodness : 0.999546 Centerline is valid? [True, True] Translation: X:16.57, Y:0.44, Z:0.12 [[ 9.99264159e-01 -3.49414489e-02 -1.58188267e-02 1.65656407e+01] [ 3.49415517e-02 9.99389321e-01 -2.69971829e-04 4.42040712e-01] [ 1.58185997e-02 -2.82961179e-04 9.99874838e-01 1.22442648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.209254153999996 meters Centerline goodness : 0.999481 Centerline is valid? [True, True] Translation: X:16.60, Y:0.44, Z:0.12 [[ 9.99215547e-01 -3.63050237e-02 -1.58188413e-02 1.65975475e+01] [ 3.63053109e-02 9.99340709e-01 -2.69113571e-04 4.40711395e-01] [ 1.58181823e-02 -3.05405488e-04 9.99874838e-01 1.23016202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.239254153999997 meters Centerline goodness : 0.999590 Centerline is valid? [True, True] Translation: X:16.63, Y:0.44, Z:0.12 [[ 9.99188886e-01 -3.70315238e-02 -1.58188605e-02 1.66294976e+01] [ 3.70319199e-02 9.99314047e-01 -2.67979193e-04 4.39388077e-01] [ 1.58179332e-02 -3.18040944e-04 9.99874838e-01 1.23903667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.269254153999995 meters Centerline goodness : 0.999399 Centerline is valid? [True, True] Translation: X:16.66, Y:0.44, Z:0.12 [[ 9.99160851e-01 -3.77803862e-02 -1.58188798e-02 1.66604247e+01] [ 3.77808942e-02 9.99286012e-01 -2.66838566e-04 4.38465129e-01] [ 1.58176666e-02 -3.31036774e-04 9.99874838e-01 1.24419209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.299254153999996 meters Centerline goodness : 0.999462 Centerline is valid? [True, True] Translation: X:16.69, Y:0.44, Z:0.13 [[ 9.99101509e-01 -3.93183970e-02 -1.58188941e-02 1.66913084e+01] [ 3.93191111e-02 9.99226669e-01 -2.65988526e-04 4.36169084e-01] [ 1.58171191e-02 -3.56235316e-04 9.99874838e-01 1.25198254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.329254153999997 meters Centerline goodness : 0.999591 Centerline is valid? [True, True] Translation: X:16.72, Y:0.44, Z:0.13 [[ 9.99074455e-01 -3.99999476e-02 -1.58189082e-02 1.67234739e+01] [ 4.00007604e-02 9.99199614e-01 -2.65145849e-04 4.35219543e-01] [ 1.58168528e-02 -3.67867912e-04 9.99874838e-01 1.25671374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.359254153999995 meters Centerline goodness : 0.999335 Centerline is valid? [True, True] Translation: X:16.76, Y:0.43, Z:0.13 [[ 9.98975806e-01 -4.23922201e-02 -1.58189269e-02 1.67555808e+01] [ 4.23933503e-02 9.99100963e-01 -2.64025278e-04 4.32613854e-01] [ 1.58158977e-02 -4.06862445e-04 9.99874838e-01 1.25013753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.389254153999996 meters Centerline goodness : 0.999400 Centerline is valid? [True, True] Translation: X:16.79, Y:0.43, Z:0.12 [[ 9.98934323e-01 -4.33587289e-02 -1.58189458e-02 1.67874413e+01] [ 4.33599982e-02 9.99059478e-01 -2.62888984e-04 4.31562134e-01] [ 1.58154663e-02 -4.23300632e-04 9.99874838e-01 1.24783122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.419254153999997 meters Centerline goodness : 0.999443 Centerline is valid? [True, True] Translation: X:16.82, Y:0.43, Z:0.12 [[ 9.98894716e-01 -4.42617964e-02 -1.58189645e-02 1.68195930e+01] [ 4.42631968e-02 9.99019870e-01 -2.61756748e-04 4.30843801e-01] [ 1.58150457e-02 -4.38730507e-04 9.99874838e-01 1.24761770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.449254153999995 meters Centerline goodness : 0.999358 Centerline is valid? [True, True] Translation: X:16.85, Y:0.43, Z:0.12 [[ 9.98818655e-01 -4.59462024e-02 -1.58189837e-02 1.68513222e+01] [ 4.59478322e-02 9.98943807e-01 -2.60594952e-04 4.29478307e-01] [ 1.58142491e-02 -4.66560908e-04 9.99874838e-01 1.23601297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.479254153999996 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:16.88, Y:0.43, Z:0.12 [[ 9.98788248e-01 -4.66025157e-02 -1.58190025e-02 1.68832641e+01] [ 4.66042459e-02 9.98913398e-01 -2.59444813e-04 4.29033795e-01] [ 1.58139044e-02 -4.78102254e-04 9.99874838e-01 1.24175375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.509254153999997 meters Centerline goodness : 0.999530 Centerline is valid? [True, True] Translation: X:16.92, Y:0.43, Z:0.12 [[ 9.98724054e-01 -4.79585413e-02 -1.58190214e-02 1.69151053e+01] [ 4.79604597e-02 9.98849202e-01 -2.58291104e-04 4.27800189e-01] [ 1.58132041e-02 -5.00725997e-04 9.99874838e-01 1.24528696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.539254153999995 meters Centerline goodness : 0.999423 Centerline is valid? [True, True] Translation: X:16.95, Y:0.43, Z:0.12 [[ 9.98701717e-01 -4.84214766e-02 -1.58190404e-02 1.69478938e+01] [ 4.84234716e-02 9.98826863e-01 -2.57119444e-04 4.27623202e-01] [ 1.58129326e-02 -5.09227224e-04 9.99874838e-01 1.24872408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.569254153999996 meters Centerline goodness : 0.999338 Centerline is valid? [True, True] Translation: X:16.98, Y:0.43, Z:0.13 [[ 9.98688885e-01 -4.86853996e-02 -1.58190691e-02 1.69797829e+01] [ 4.86874557e-02 9.98814030e-01 -2.55343280e-04 4.27704026e-01] [ 1.58127396e-02 -5.15181730e-04 9.99874838e-01 1.25266996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.599254153999997 meters Centerline goodness : 0.999446 Centerline is valid? [True, True] Translation: X:17.01, Y:0.43, Z:0.13 [[ 9.98690643e-01 -4.86493151e-02 -1.58190880e-02 1.70119634e+01] [ 4.86513853e-02 9.98815788e-01 -2.54164301e-04 4.27755207e-01] [ 1.58127198e-02 -5.15789038e-04 9.99874838e-01 1.25004534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.629254153999995 meters Centerline goodness : 0.999190 Centerline is valid? [True, True] Translation: X:17.04, Y:0.43, Z:0.13 [[ 9.98696628e-01 -4.85263005e-02 -1.58191116e-02 1.70436980e+01] [ 4.85283787e-02 9.98821772e-01 -2.52691309e-04 4.28366666e-01] [ 1.58127352e-02 -5.15313878e-04 9.99874838e-01 1.27180042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.659254153999996 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:17.07, Y:0.43, Z:0.13 [[ 9.98680671e-01 -4.88535752e-02 -1.58191303e-02 1.70748431e+01] [ 4.88557130e-02 9.98805815e-01 -2.51509996e-04 4.29420630e-01] [ 1.58125265e-02 -5.21676720e-04 9.99874838e-01 1.28388734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.689254153999997 meters Centerline goodness : 0.999233 Centerline is valid? [True, True] Translation: X:17.11, Y:0.43, Z:0.13 [[ 9.98670717e-01 -4.90566300e-02 -1.58191443e-02 1.71075085e+01] [ 4.90588072e-02 9.98795860e-01 -2.50631080e-04 4.29964264e-01] [ 1.58123909e-02 -5.25770427e-04 9.99874838e-01 1.29402623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.719254153999994 meters Centerline goodness : 0.999381 Centerline is valid? [True, True] Translation: X:17.14, Y:0.43, Z:0.13 [[ 9.98628590e-01 -4.99068343e-02 -1.58191717e-02 1.71399786e+01] [ 4.99091457e-02 9.98753731e-01 -2.48883900e-04 4.30453044e-01] [ 1.58118778e-02 -5.40978770e-04 9.99874838e-01 1.30476572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.749254153999996 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:17.17, Y:0.43, Z:0.13 [[ 9.98603396e-01 -5.04084381e-02 -1.58191898e-02 1.71730207e+01] [ 5.04108307e-02 9.98728535e-01 -2.47728442e-04 4.31159473e-01] [ 1.58115639e-02 -5.50076037e-04 9.99874838e-01 1.31240043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.779254153999997 meters Centerline goodness : 0.999381 Centerline is valid? [True, True] Translation: X:17.21, Y:0.43, Z:0.13 [[ 9.98579352e-01 -5.08825137e-02 -1.58192167e-02 1.72061916e+01] [ 5.08849930e-02 9.98704489e-01 -2.46000692e-04 4.31711184e-01] [ 1.58112399e-02 -5.59309519e-04 9.99874838e-01 1.32017919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.809254153999994 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:17.24, Y:0.43, Z:0.13 [[ 9.98514435e-01 -5.21409189e-02 -1.58192436e-02 1.72383176e+01] [ 5.21435834e-02 9.98639568e-01 -2.44260844e-04 4.31885689e-01] [ 1.58104586e-02 -5.80974068e-04 9.99874838e-01 1.32550879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.839254153999995 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:17.27, Y:0.43, Z:0.13 [[ 9.98485295e-01 -5.26959746e-02 -1.58192657e-02 1.72716185e+01] [ 5.26987315e-02 9.98610427e-01 -2.42821399e-04 4.32004057e-01] [ 1.58100794e-02 -5.91201637e-04 9.99874838e-01 1.32799343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.869254153999997 meters Centerline goodness : 0.999210 Centerline is valid? [True, True] Translation: X:17.30, Y:0.43, Z:0.13 [[ 9.98423239e-01 -5.38589405e-02 -1.58192921e-02 1.73029011e+01] [ 5.38618706e-02 9.98548367e-01 -2.41085664e-04 4.32294696e-01] [ 1.58093129e-02 -6.11351135e-04 9.99874838e-01 1.31587656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.899254153999998 meters Centerline goodness : 0.999531 Centerline is valid? [True, True] Translation: X:17.33, Y:0.43, Z:0.13 [[ 9.98419908e-01 -5.39206604e-02 -1.58193052e-02 1.73349469e+01] [ 5.39236118e-02 9.98545035e-01 -2.40227381e-04 4.32862006e-01] [ 1.58092418e-02 -6.13186270e-04 9.99874838e-01 1.31564000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.929254153999995 meters Centerline goodness : 0.999531 Centerline is valid? [True, True] Translation: X:17.37, Y:0.43, Z:0.13 [[ 9.98425673e-01 -5.38137933e-02 -1.58193221e-02 1.73684821e+01] [ 5.38167491e-02 9.98550800e-01 -2.39103274e-04 4.33274540e-01] [ 1.58092638e-02 -6.12617643e-04 9.99874838e-01 1.32094290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.959254153999996 meters Centerline goodness : 0.999296 Centerline is valid? [True, True] Translation: X:17.40, Y:0.43, Z:0.13 [[ 9.98425504e-01 -5.38169141e-02 -1.58193476e-02 1.74011152e+01] [ 5.38198970e-02 9.98550631e-01 -2.37410105e-04 4.33975476e-01] [ 1.58091962e-02 -6.14359352e-04 9.99874838e-01 1.32370604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.989254153999997 meters Centerline goodness : 0.999189 Centerline is valid? [True, True] Translation: X:17.43, Y:0.44, Z:0.13 [[ 9.98459326e-01 -5.31857319e-02 -1.58193727e-02 1.74330294e+01] [ 5.31886624e-02 9.98584453e-01 -2.35721536e-04 4.35167417e-01] [ 1.58095167e-02 -6.06052910e-04 9.99874838e-01 1.32959377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.019254153999995 meters Centerline goodness : 0.999424 Centerline is valid? [True, True] Translation: X:17.47, Y:0.44, Z:0.13 [[ 9.98502214e-01 -5.23743850e-02 -1.58193934e-02 1.74665340e+01] [ 5.23772360e-02 9.98627343e-01 -2.34324632e-04 4.35888604e-01] [ 1.58099514e-02 -5.94602438e-04 9.99874838e-01 1.34131937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.049254153999996 meters Centerline goodness : 0.999211 Centerline is valid? [True, True] Translation: X:17.50, Y:0.44, Z:0.13 [[ 9.98573229e-01 -5.10024670e-02 -1.58194183e-02 1.74984325e+01] [ 5.10051728e-02 9.98698362e-01 -2.32632863e-04 4.37262796e-01] [ 1.58106920e-02 -5.74571215e-04 9.99874838e-01 1.34844233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.079254153999997 meters Centerline goodness : 0.999486 Centerline is valid? [True, True] Translation: X:17.53, Y:0.44, Z:0.14 [[ 9.98597354e-01 -5.05279174e-02 -1.58194346e-02 1.75315713e+01] [ 5.05305815e-02 9.98722487e-01 -2.31515861e-04 4.38322785e-01] [ 1.58109231e-02 -5.68174104e-04 9.99874838e-01 1.35927509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.109254153999995 meters Centerline goodness : 0.999444 Centerline is valid? [True, True] Translation: X:17.56, Y:0.44, Z:0.14 [[ 9.98634050e-01 -4.97973728e-02 -1.58194595e-02 1.75642906e+01] [ 4.97999723e-02 9.98759185e-01 -2.29803300e-04 4.39098362e-01] [ 1.58112741e-02 -5.58319246e-04 9.99874838e-01 1.36326868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.139254153999996 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:17.60, Y:0.44, Z:0.14 [[ 9.98649583e-01 -4.94848896e-02 -1.58194845e-02 1.75965323e+01] [ 4.94874775e-02 9.98774718e-01 -2.28069965e-04 4.40617555e-01] [ 1.58113872e-02 -5.55104408e-04 9.99874838e-01 1.36525860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.169254153999997 meters Centerline goodness : 0.999529 Centerline is valid? [True, True] Translation: X:17.63, Y:0.44, Z:0.14 [[ 9.98643008e-01 -4.96174003e-02 -1.58195051e-02 1.76287325e+01] [ 4.96200274e-02 9.98768142e-01 -2.26635095e-04 4.41940082e-01] [ 1.58112627e-02 -5.58636722e-04 9.99874838e-01 1.36479924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.199254153999995 meters Centerline goodness : 0.999422 Centerline is valid? [True, True] Translation: X:17.66, Y:0.44, Z:0.14 [[ 9.98635025e-01 -4.97777990e-02 -1.58195251e-02 1.76608941e+01] [ 4.97804686e-02 9.98760159e-01 -2.25224863e-04 4.43216044e-01] [ 1.58111226e-02 -5.62585938e-04 9.99874838e-01 1.37225326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.229254153999996 meters Centerline goodness : 0.999549 Centerline is valid? [True, True] Translation: X:17.69, Y:0.45, Z:0.14 [[ 9.98586458e-01 -5.07427585e-02 -1.58195408e-02 1.76941516e+01] [ 5.07455665e-02 9.98711589e-01 -2.24118752e-04 4.45176996e-01] [ 1.58105311e-02 -5.78969609e-04 9.99874838e-01 1.38830449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.259254153999997 meters Centerline goodness : 0.999464 Centerline is valid? [True, True] Translation: X:17.73, Y:0.45, Z:0.14 [[ 9.98544100e-01 -5.15695732e-02 -1.58195652e-02 1.77267647e+01] [ 5.15725122e-02 9.98669228e-01 -2.22385409e-04 4.46375491e-01] [ 1.58099813e-02 -5.93793079e-04 9.99874838e-01 1.39885468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.289254153999995 meters Centerline goodness : 0.999613 Centerline is valid? [True, True] Translation: X:17.76, Y:0.45, Z:0.14 [[ 9.98425716e-01 -5.38129099e-02 -1.58195893e-02 1.77594131e+01] [ 5.38161574e-02 9.98550836e-01 -2.20656151e-04 4.48253248e-01] [ 1.58085383e-02 -6.31040732e-04 9.99874838e-01 1.41598399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.319254153999996 meters Centerline goodness : 0.999506 Centerline is valid? [True, True] Translation: X:17.79, Y:0.45, Z:0.14 [[ 9.98362923e-01 -5.49655709e-02 -1.58196134e-02 1.77924842e+01] [ 5.49689903e-02 9.98488038e-01 -2.18917004e-04 4.49199644e-01] [ 1.58077276e-02 -6.51029553e-04 9.99874838e-01 1.42258610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.349254153999997 meters Centerline goodness : 0.999592 Centerline is valid? [True, True] Translation: X:17.82, Y:0.45, Z:0.14 [[ 9.98303402e-01 -5.60362070e-02 -1.58196371e-02 1.78247583e+01] [ 5.60397880e-02 9.98428513e-01 -2.17185864e-04 4.50131006e-01] [ 1.58069470e-02 -6.69711724e-04 9.99874838e-01 1.43091026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.379254153999995 meters Centerline goodness : 0.999464 Centerline is valid? [True, True] Translation: X:17.86, Y:0.45, Z:0.14 [[ 9.98220453e-01 -5.74949253e-02 -1.58196567e-02 1.78578301e+01] [ 5.74987118e-02 9.98345557e-01 -2.15750980e-04 4.51990674e-01] [ 1.58058886e-02 -6.94242839e-04 9.99874838e-01 1.43504818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.409254153999996 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:17.89, Y:0.45, Z:0.14 [[ 9.98197473e-01 -5.78925079e-02 -1.58196797e-02 1.78904880e+01] [ 5.78963711e-02 9.98322575e-01 -2.14052245e-04 4.53212407e-01] [ 1.58055354e-02 -7.02235635e-04 9.99874838e-01 1.43816638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.439254153999997 meters Centerline goodness : 0.999613 Centerline is valid? [True, True] Translation: X:17.92, Y:0.45, Z:0.14 [[ 9.98176968e-01 -5.82449716e-02 -1.58197025e-02 1.79231506e+01] [ 5.82489058e-02 9.98302068e-01 -2.12352088e-04 4.54480506e-01] [ 1.58052102e-02 -7.09515397e-04 9.99874838e-01 1.44259095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.469254153999994 meters Centerline goodness : 0.999483 Centerline is valid? [True, True] Translation: X:17.96, Y:0.46, Z:0.14 [[ 9.98183665e-01 -5.81300955e-02 -1.58197256e-02 1.79563294e+01] [ 5.81340428e-02 9.98308764e-01 -2.10620938e-04 4.55474536e-01] [ 1.58052141e-02 -7.09426222e-04 9.99874838e-01 1.44682403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.499254153999996 meters Centerline goodness : 0.999613 Centerline is valid? [True, True] Translation: X:17.99, Y:0.46, Z:0.15 [[ 9.98199520e-01 -5.78571871e-02 -1.58197486e-02 1.79882364e+01] [ 5.78611278e-02 9.98324620e-01 -2.08876148e-04 4.57285713e-01] [ 1.58053295e-02 -7.06848424e-04 9.99874838e-01 1.45296801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.529254153999997 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:18.02, Y:0.46, Z:0.15 [[ 9.98218384e-01 -5.75307947e-02 -1.58197641e-02 1.80197889e+01] [ 5.75347131e-02 9.98343485e-01 -2.07696603e-04 4.58601971e-01] [ 1.58055073e-02 -7.02859020e-04 9.99874838e-01 1.45593121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.559254153999994 meters Centerline goodness : 0.999418 Centerline is valid? [True, True] Translation: X:18.05, Y:0.46, Z:0.15 [[ 9.98237817e-01 -5.71926187e-02 -1.58197832e-02 1.80529720e+01] [ 5.71965180e-02 9.98362918e-01 -2.06228542e-04 4.59266124e-01] [ 1.58056797e-02 -6.98971384e-04 9.99874838e-01 1.46022828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.589254153999995 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:18.09, Y:0.46, Z:0.15 [[ 9.98427079e-01 -5.37875696e-02 -1.58198057e-02 1.80910966e+01] [ 5.37910696e-02 9.98552191e-01 -2.04491806e-04 4.56776392e-01] [ 1.58079007e-02 -6.46794112e-04 9.99874838e-01 1.46583575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.619254153999997 meters Centerline goodness : 0.999462 Centerline is valid? [True, True] Translation: X:18.12, Y:0.46, Z:0.15 [[ 9.98285845e-01 -5.63472467e-02 -1.58227320e-02 1.81171337e+01] [ 5.63547063e-02 9.98410810e-01 2.56203559e-05 4.61700421e-01] [ 1.57961431e-02 -9.17261855e-04 9.99874812e-01 1.47314174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.649254153999994 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:18.15, Y:0.46, Z:0.15 [[ 9.98411474e-01 -5.40764912e-02 -1.58196617e-02 1.81478506e+01] [ 5.40799724e-02 9.98536586e-01 -2.07967264e-04 4.63976867e-01] [ 1.58077571e-02 -6.47889964e-04 9.99874840e-01 1.47549924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.679254153999995 meters Centerline goodness : 0.999611 Centerline is valid? [True, True] Translation: X:18.18, Y:0.47, Z:0.15 [[ 9.98474990e-01 -5.28907547e-02 -1.58196916e-02 1.81801799e+01] [ 5.28941236e-02 9.98600105e-01 -2.05670162e-04 4.65184601e-01] [ 1.58084237e-02 -6.31412207e-04 9.99874840e-01 1.47333329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.709254153999996 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:18.21, Y:0.47, Z:0.15 [[ 9.98668288e-01 -4.91058785e-02 -1.58197101e-02 1.82120748e+01] [ 4.91087958e-02 9.98793414e-01 -2.04236484e-04 4.66887484e-01] [ 1.58106514e-02 -5.72922412e-04 9.99874840e-01 1.47207430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.739254153999997 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:18.24, Y:0.47, Z:0.15 [[ 9.98768089e-01 -4.70323287e-02 -1.58197248e-02 1.82436119e+01] [ 4.70350045e-02 9.98893221e-01 -2.03084820e-04 4.68439929e-01] [ 1.58117675e-02 -5.41246191e-04 9.99874840e-01 1.48186848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.769254153999995 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:18.28, Y:0.47, Z:0.15 [[ 9.98871394e-01 -4.47847506e-02 -1.58197574e-02 1.82750145e+01] [ 4.47871854e-02 9.98996530e-01 -2.00517496e-04 4.70082174e-01] [ 1.58128629e-02 -5.08231216e-04 9.99874840e-01 1.48537546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.799254153999996 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:18.31, Y:0.47, Z:0.15 [[ 9.99057199e-01 -4.04283041e-02 -1.58197681e-02 1.83075791e+01] [ 4.04302066e-02 9.99182345e-01 -1.99670978e-04 4.73143750e-01] [ 1.58149053e-02 -4.40113763e-04 9.99874840e-01 1.49252033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.829254153999997 meters Centerline goodness : 0.999368 Centerline is valid? [True, True] Translation: X:18.34, Y:0.47, Z:0.15 [[ 9.99140171e-01 -3.83230122e-02 -1.58197825e-02 1.83387748e+01] [ 3.83246692e-02 9.99265320e-01 -1.98520292e-04 4.74983060e-01] [ 1.58157679e-02 -4.07938333e-04 9.99874840e-01 1.48764293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.859254153999995 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:18.37, Y:0.48, Z:0.15 [[ 9.99282260e-01 -3.44194605e-02 -1.58197932e-02 1.83707941e+01] [ 3.44206421e-02 9.99407415e-01 -1.97663624e-04 4.78121415e-01] [ 1.58172221e-02 -3.47005688e-04 9.99874840e-01 1.49301073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.889254153999996 meters Centerline goodness : 0.999716 Centerline is valid? [True, True] Translation: X:18.40, Y:0.48, Z:0.15 [[ 9.99349839e-01 -3.23980384e-02 -1.58198071e-02 1.84032218e+01] [ 3.23989845e-02 9.99474996e-01 -1.96549601e-04 4.79752610e-01] [ 1.58178694e-02 -3.16123872e-04 9.99874840e-01 1.50654836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.919254153999997 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:18.43, Y:0.48, Z:0.15 [[ 9.99400405e-01 -3.07987651e-02 -1.58198214e-02 1.84340878e+01] [ 3.07995292e-02 9.99525563e-01 -1.95387113e-04 4.81340367e-01] [ 1.58183336e-02 -2.91973093e-04 9.99874840e-01 1.51044770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.949254153999995 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:18.47, Y:0.48, Z:0.15 [[ 9.99470781e-01 -2.84234163e-02 -1.58198321e-02 1.84654025e+01] [ 2.84238967e-02 9.99595940e-01 -1.94521725e-04 4.83624253e-01] [ 1.58189689e-02 -2.55242492e-04 9.99874840e-01 1.50811114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.979254153999996 meters Centerline goodness : 0.999715 Centerline is valid? [True, True] Translation: X:18.50, Y:0.48, Z:0.15 [[ 9.99487466e-01 -2.78305212e-02 -1.58198425e-02 1.84980478e+01] [ 2.78309410e-02 9.99612626e-01 -1.93664693e-04 4.84787198e-01] [ 1.58191041e-02 -2.46715670e-04 9.99874840e-01 1.51560153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.009254153999997 meters Centerline goodness : 0.999605 Centerline is valid? [True, True] Translation: X:18.53, Y:0.49, Z:0.15 [[ 9.99490653e-01 -2.77158093e-02 -1.58198562e-02 1.85300955e+01] [ 2.77162325e-02 9.99615813e-01 -1.92539490e-04 4.86028698e-01] [ 1.58191148e-02 -2.46025393e-04 9.99874840e-01 1.52898847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.039254153999995 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:18.56, Y:0.49, Z:0.15 [[ 9.99494870e-01 -2.75633206e-02 -1.58198703e-02 1.85626727e+01] [ 2.75637431e-02 9.99620030e-01 -1.91377628e-04 4.87129740e-01] [ 1.58191342e-02 -2.44773883e-04 9.99874840e-01 1.53922608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.069254153999996 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:18.60, Y:0.48, Z:0.15 [[ 9.99691880e-01 -1.91278766e-02 -1.58198844e-02 1.86042577e+01] [ 1.91272614e-02 9.99817039e-01 -1.90206413e-04 4.77030368e-01] [ 1.58206282e-02 -1.12443257e-04 9.99874840e-01 1.45992115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.099254153999997 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:18.62, Y:0.49, Z:0.16 [[ 9.99421481e-01 -3.01036057e-02 -1.58264477e-02 1.86219330e+01] [ 3.01135907e-02 9.99546406e-01 3.92920028e-04 4.89629166e-01] [ 1.58074406e-02 -8.69283885e-04 9.99874677e-01 1.55255030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.129254153999995 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:18.65, Y:0.49, Z:0.16 [[ 9.99330095e-01 -3.30017883e-02 -1.58190808e-02 1.86526208e+01] [ 3.30027953e-02 9.99455240e-01 -1.97467250e-04 4.90789715e-01] [ 1.58169799e-02 -3.24738918e-04 9.99874851e-01 1.56176416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.159254153999996 meters Centerline goodness : 0.999693 Centerline is valid? [True, True] Translation: X:18.69, Y:0.49, Z:0.16 [[ 9.99271181e-01 -3.47399376e-02 -1.58190880e-02 1.86852356e+01] [ 3.47411713e-02 9.99396324e-01 -1.96889627e-04 4.91512505e-01] [ 1.58163783e-02 -3.52827515e-04 9.99874851e-01 1.57245326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.189254153999997 meters Centerline goodness : 0.999406 Centerline is valid? [True, True] Translation: X:18.72, Y:0.49, Z:0.16 [[ 9.99232524e-01 -3.58346141e-02 -1.58191023e-02 1.87154726e+01] [ 3.58360032e-02 9.99357665e-01 -1.95734670e-04 4.91848809e-01] [ 1.58159552e-02 -3.71308951e-04 9.99874851e-01 1.56311583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.219254153999994 meters Centerline goodness : 0.999692 Centerline is valid? [True, True] Translation: X:18.75, Y:0.49, Z:0.16 [[ 9.99027533e-01 -4.11553746e-02 -1.58184264e-02 1.87485074e+01] [ 4.11565684e-02 9.99152678e-01 -2.50193706e-04 4.93145788e-01] [ 1.58153199e-02 -4.01081748e-04 9.99874850e-01 1.58119861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.249254153999996 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:18.78, Y:0.49, Z:0.16 [[ 9.98928237e-01 -4.34986408e-02 -1.58191272e-02 1.87811581e+01] [ 4.35010385e-02 9.99053363e-01 -1.92655840e-04 4.93609442e-01] [ 1.58125325e-02 -4.95699102e-04 9.99874851e-01 1.58597709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.279254153999997 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:18.81, Y:0.49, Z:0.16 [[ 9.98731041e-01 -4.78127925e-02 -1.58191478e-02 1.88145926e+01] [ 4.78157577e-02 9.98856154e-01 -1.90946189e-04 4.93714267e-01] [ 1.58101828e-02 -5.65700651e-04 9.99874851e-01 1.58725848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.309254153999994 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:18.85, Y:0.49, Z:0.16 [[ 9.98664165e-01 -4.91898332e-02 -1.58191688e-02 1.88475060e+01] [ 4.91929986e-02 9.98789274e-01 -1.89192364e-04 4.93882248e-01] [ 1.58093224e-02 -5.89252713e-04 9.99874851e-01 1.58914570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.339254153999995 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:18.88, Y:0.49, Z:0.16 [[ 9.98715208e-01 -4.81423573e-02 -1.58191895e-02 1.88784559e+01] [ 4.81454192e-02 9.98840319e-01 -1.87444224e-04 4.93686024e-01] [ 1.58098683e-02 -5.74418111e-04 9.99874851e-01 1.57074004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.369254153999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.91, Y:0.49, Z:0.16 [[ 9.98793340e-01 -4.64931840e-02 -1.58191997e-02 1.89109884e+01] [ 4.64960530e-02 9.98918456e-01 -1.86580075e-04 4.94661698e-01] [ 1.58107652e-02 -5.49175410e-04 9.99874851e-01 1.57266634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.399254153999994 meters Centerline goodness : 0.999714 Centerline is valid? [True, True] Translation: X:18.94, Y:0.50, Z:0.16 [[ 9.98889805e-01 -4.43724001e-02 -1.58192324e-02 1.89438282e+01] [ 4.43750479e-02 9.99014925e-01 -1.83765285e-04 4.96089817e-01] [ 1.58118034e-02 -5.18417925e-04 9.99874851e-01 1.58936320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.429254153999995 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:18.98, Y:0.50, Z:0.16 [[ 9.99111180e-01 -3.90717433e-02 -1.58192520e-02 1.89763144e+01] [ 3.90737542e-02 9.99236313e-01 -1.82061225e-04 5.00214357e-01] [ 1.58142845e-02 -4.36218157e-04 9.99874851e-01 1.61553748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.459254153999996 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:19.01, Y:0.50, Z:0.16 [[ 9.99225831e-01 -3.60206705e-02 -1.58192651e-02 1.90070855e+01] [ 3.60223175e-02 9.99350969e-01 -1.80910704e-04 5.02048676e-01] [ 1.58155145e-02 -3.89075942e-04 9.99874851e-01 1.62216253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.489254153999994 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:19.04, Y:0.50, Z:0.16 [[ 9.99396284e-01 -3.09324695e-02 -1.58192749e-02 1.90394141e+01] [ 3.09334928e-02 9.99521429e-01 -1.80054788e-04 5.04462115e-01] [ 1.58172738e-02 -3.09399340e-04 9.99874851e-01 1.62844241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.519254153999995 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:19.07, Y:0.51, Z:0.16 [[ 9.99456745e-01 -2.89130608e-02 -1.58192875e-02 1.90707743e+01] [ 2.89138490e-02 9.99581891e-01 -1.78935705e-04 5.05303206e-01] [ 1.58178469e-02 -2.78557994e-04 9.99874851e-01 1.62724719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.549254153999996 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:19.10, Y:0.51, Z:0.16 [[ 9.99505624e-01 -2.71708876e-02 -1.58192969e-02 1.91029814e+01] [ 2.71714708e-02 9.99630772e-01 -1.78102829e-04 5.05940831e-01] [ 1.58182952e-02 -2.51818785e-04 9.99874851e-01 1.63686980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.579254153999997 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:19.13, Y:0.51, Z:0.16 [[ 9.99559869e-01 -2.50961784e-02 -1.58193098e-02 1.91349158e+01] [ 2.50965201e-02 9.99685017e-01 -1.76947985e-04 5.06752648e-01] [ 1.58187677e-02 -2.20139524e-04 9.99874851e-01 1.63432900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.609254153999995 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:19.17, Y:0.51, Z:0.16 [[ 9.99579832e-01 -2.42880292e-02 -1.58193227e-02 1.91650891e+01] [ 2.42882881e-02 9.99704981e-01 -1.75787661e-04 5.07096785e-01] [ 1.58189253e-02 -2.08510467e-04 9.99874851e-01 1.63314292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.639254153999996 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:19.20, Y:0.51, Z:0.16 [[ 9.99594917e-01 -2.36590434e-02 -1.58193259e-02 1.91960205e+01] [ 2.36592280e-02 9.99720066e-01 -1.75500899e-04 5.07445116e-01] [ 1.58190497e-02 -1.98843232e-04 9.99874851e-01 1.63517292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.669254153999997 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:19.23, Y:0.51, Z:0.16 [[ 9.99579759e-01 -2.42910451e-02 -1.58193323e-02 1.92274685e+01] [ 2.42913180e-02 9.99704907e-01 -1.74924337e-04 5.07911783e-01] [ 1.58189132e-02 -2.09421604e-04 9.99874851e-01 1.63601714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.699254153999995 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:19.26, Y:0.51, Z:0.16 [[ 9.99575333e-01 -2.44724772e-02 -1.58193536e-02 1.92589743e+01] [ 2.44728037e-02 9.99700481e-01 -1.72973147e-04 5.07735526e-01] [ 1.58188485e-02 -2.14244244e-04 9.99874851e-01 1.63251290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.729254153999996 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:19.29, Y:0.51, Z:0.16 [[ 9.99535966e-01 -2.60307426e-02 -1.58193735e-02 1.92907253e+01] [ 2.60312932e-02 9.99661114e-01 -1.71137970e-04 5.06684632e-01] [ 1.58184674e-02 -2.40740192e-04 9.99874851e-01 1.62499905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.759254153999997 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:19.32, Y:0.51, Z:0.16 [[ 9.99505128e-01 -2.71890845e-02 -1.58193856e-02 1.93227681e+01] [ 2.71897980e-02 9.99630275e-01 -1.70010328e-04 5.06179438e-01] [ 1.58181592e-02 -2.60199704e-04 9.99874851e-01 1.62593599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.789254153999995 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:19.35, Y:0.50, Z:0.16 [[ 9.99457333e-01 -2.88926771e-02 -1.58193975e-02 1.93545953e+01] [ 2.88936216e-02 9.99582478e-01 -1.68891238e-04 5.04858765e-01] [ 1.58176723e-02 -2.88280100e-04 9.99874851e-01 1.63297080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.819254153999996 meters Centerline goodness : 0.999646 Centerline is valid? [True, True] Translation: X:19.39, Y:0.51, Z:0.16 [[ 9.99431596e-01 -2.97696433e-02 -1.58194097e-02 1.93858015e+01] [ 2.97707157e-02 9.99556740e-01 -1.67749000e-04 5.05166125e-01] [ 1.58173914e-02 -3.03301497e-04 9.99874851e-01 1.64093640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.849254153999997 meters Centerline goodness : 0.999646 Centerline is valid? [True, True] Translation: X:19.42, Y:0.51, Z:0.16 [[ 9.99433726e-01 -2.96980448e-02 -1.58194186e-02 1.94184925e+01] [ 2.96991217e-02 9.99558870e-01 -1.66897766e-04 5.05450086e-01] [ 1.58173967e-02 -3.03019583e-04 9.99874851e-01 1.64610575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.879254153999995 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:19.45, Y:0.51, Z:0.17 [[ 9.99428753e-01 -2.98649219e-02 -1.58194305e-02 1.94510071e+01] [ 2.98660377e-02 9.99553897e-01 -1.65764547e-04 5.05605931e-01] [ 1.58173240e-02 -3.06793854e-04 9.99874851e-01 1.66111560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.909254153999996 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:19.48, Y:0.51, Z:0.17 [[ 9.99427889e-01 -2.98938075e-02 -1.58194423e-02 1.94819747e+01] [ 2.98949448e-02 9.99553033e-01 -1.64628093e-04 5.06015015e-01] [ 1.58172929e-02 -3.08387448e-04 9.99874851e-01 1.68365191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.939254153999997 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:19.51, Y:0.51, Z:0.17 [[ 9.99429255e-01 -2.98481085e-02 -1.58194511e-02 1.95141688e+01] [ 2.98492536e-02 9.99554398e-01 -1.63780436e-04 5.06079719e-01] [ 1.58172905e-02 -3.08511848e-04 9.99874851e-01 1.69630760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.969254153999994 meters Centerline goodness : 0.999735 Centerline is valid? [True, True] Translation: X:19.55, Y:0.51, Z:0.17 [[ 9.99422436e-01 -3.00755541e-02 -1.58194626e-02 1.95462969e+01] [ 3.00767453e-02 9.99547579e-01 -1.62661461e-04 5.06219541e-01] [ 1.58171977e-02 -3.13230434e-04 9.99874851e-01 1.70543447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.999254153999996 meters Centerline goodness : 0.999735 Centerline is valid? [True, True] Translation: X:19.58, Y:0.51, Z:0.17 [[ 9.99386947e-01 -3.12325732e-02 -1.58194740e-02 1.95778088e+01] [ 3.12339269e-02 9.99512089e-01 -1.61548380e-04 5.05279055e-01] [ 1.58168011e-02 -3.32654952e-04 9.99874851e-01 1.71703490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.029254153999997 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:19.61, Y:0.51, Z:0.17 [[ 9.99364277e-01 -3.19497477e-02 -1.58194824e-02 1.96099200e+01] [ 3.19512044e-02 9.99489417e-01 -1.60718741e-04 5.05042375e-01] [ 1.58165402e-02 -3.44834947e-04 9.99874851e-01 1.72603578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.059254153999994 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:19.64, Y:0.50, Z:0.17 [[ 9.99318802e-01 -3.33418029e-02 -1.58194937e-02 1.96412343e+01] [ 3.33434516e-02 9.99443940e-01 -1.59599644e-04 5.04947751e-01] [ 1.58160185e-02 -3.67985597e-04 9.99874851e-01 1.72839304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.089254153999995 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:19.67, Y:0.51, Z:0.17 [[ 9.99297811e-01 -3.39650928e-02 -1.58195021e-02 1.96730599e+01] [ 3.39668327e-02 9.99422948e-01 -1.58764083e-04 5.05135895e-01] [ 1.58157658e-02 -3.78685781e-04 9.99874851e-01 1.73966328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.119254153999997 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:19.70, Y:0.51, Z:0.17 [[ 9.99281013e-01 -3.44557739e-02 -1.58195135e-02 1.97049249e+01] [ 3.44575934e-02 9.99406148e-01 -1.57623534e-04 5.05091078e-01] [ 1.58155500e-02 -3.87592157e-04 9.99874851e-01 1.74238844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.149254153999994 meters Centerline goodness : 0.999735 Centerline is valid? [True, True] Translation: X:19.74, Y:0.50, Z:0.17 [[ 9.99219663e-01 -3.61912566e-02 -1.58195247e-02 1.97374577e+01] [ 3.61933113e-02 9.99344795e-01 -1.56489232e-04 5.04077959e-01] [ 1.58148232e-02 -4.16193863e-04 9.99874851e-01 1.74010310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.179254153999995 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:19.77, Y:0.50, Z:0.17 [[ 9.99195406e-01 -3.68548982e-02 -1.58195360e-02 1.97699548e+01] [ 3.68570542e-02 9.99320536e-01 -1.55335979e-04 5.03267633e-01] [ 1.58145121e-02 -4.27850500e-04 9.99874851e-01 1.73818147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.209254153999996 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:19.80, Y:0.50, Z:0.17 [[ 9.99158636e-01 -3.78386389e-02 -1.58195473e-02 1.98019035e+01] [ 3.78409364e-02 9.99283763e-01 -1.54181117e-04 5.02763073e-01] [ 1.58140507e-02 -4.44575087e-04 9.99874851e-01 1.73549891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.239254153999994 meters Centerline goodness : 0.999693 Centerline is valid? [True, True] Translation: X:19.83, Y:0.50, Z:0.17 [[ 9.99129909e-01 -3.85897128e-02 -1.58195584e-02 1.98327521e+01] [ 3.85921226e-02 9.99255035e-01 -1.53027735e-04 5.01793577e-01] [ 1.58136787e-02 -4.57615751e-04 9.99874851e-01 1.72429447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.269254153999995 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:19.86, Y:0.50, Z:0.17 [[ 9.99130091e-01 -3.85850046e-02 -1.58195667e-02 1.98647530e+01] [ 3.85874274e-02 9.99255216e-01 -1.52168711e-04 5.01971113e-01] [ 1.58136559e-02 -4.58400043e-04 9.99874851e-01 1.72510558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.299254153999996 meters Centerline goodness : 0.999737 Centerline is valid? [True, True] Translation: X:19.90, Y:0.50, Z:0.17 [[ 9.99188042e-01 -3.70539745e-02 -1.58195775e-02 1.98979292e+01] [ 3.70562234e-02 9.99313171e-01 -1.51038924e-04 5.02835024e-01] [ 1.58143087e-02 -4.35297511e-04 9.99874851e-01 1.73755019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.329254153999994 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:19.93, Y:0.50, Z:0.17 [[ 9.99235955e-01 -3.57386012e-02 -1.58195937e-02 1.99290191e+01] [ 3.57407126e-02 9.99361085e-01 -1.49320689e-04 5.03305842e-01] [ 1.58148228e-02 -4.16196950e-04 9.99874851e-01 1.74695238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.359254153999995 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:19.96, Y:0.50, Z:0.18 [[ 9.99359348e-01 -3.21034960e-02 -1.58196017e-02 1.99609153e+01] [ 3.21051658e-02 9.99484485e-01 -1.48468373e-04 5.03806818e-01] [ 1.58162128e-02 -3.59517678e-04 9.99874851e-01 1.76315633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.389254153999996 meters Centerline goodness : 0.999714 Centerline is valid? [True, True] Translation: X:19.99, Y:0.50, Z:0.18 [[ 9.99429332e-01 -2.98454413e-02 -1.58196123e-02 1.99927729e+01] [ 2.98468462e-02 9.99554473e-01 -1.47332987e-04 5.04179827e-01] [ 1.58169614e-02 -3.24916626e-04 9.99874851e-01 1.76944270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.419254153999997 meters Centerline goodness : 0.999692 Centerline is valid? [True, True] Translation: X:20.02, Y:0.50, Z:0.18 [[ 9.99571858e-01 -2.46138301e-02 -1.58196229e-02 2.00238870e+01] [ 2.46145982e-02 9.99697004e-01 -1.46182803e-04 5.04814139e-01] [ 1.58184277e-02 -2.43273444e-04 9.99874851e-01 1.76743554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.449254153999995 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:20.05, Y:0.51, Z:0.18 [[ 9.99640221e-01 -2.16603023e-02 -1.58196307e-02 2.00549121e+01] [ 2.16607141e-02 9.99765369e-01 -1.45327684e-04 5.05577497e-01] [ 1.58190668e-02 -1.97389101e-04 9.99874851e-01 1.77801741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.479254153999996 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:20.10, Y:0.49, Z:0.17 [[ 9.99848335e-01 -7.28330413e-03 -1.58196360e-02 2.01009185e+01] [ 7.28192537e-03 9.99973476e-01 -1.44756676e-04 4.94400448e-01] [ 1.58202707e-02 2.95373128e-05 9.99874851e-01 1.71071508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.509254153999997 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:20.11, Y:0.51, Z:0.18 [[ 9.99765738e-01 -1.47657570e-02 -1.58253303e-02 2.01138383e+01] [ 1.47766256e-02 9.99890657e-01 5.70071443e-04 5.08232398e-01] [ 1.58151824e-02 -8.03782878e-04 9.99874609e-01 1.79083841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.539254153999995 meters Centerline goodness : 0.999735 Centerline is valid? [True, True] Translation: X:20.14, Y:0.51, Z:0.18 [[ 9.99856026e-01 -6.14046194e-03 -1.58184127e-02 2.01418745e+01] [ 6.13883040e-03 9.99981146e-01 -1.51696459e-04 5.10864385e-01] [ 1.58190460e-02 5.45680658e-05 9.99874870e-01 1.80684436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.569254153999996 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:20.17, Y:0.51, Z:0.18 [[ 9.99872433e-01 -2.21259589e-03 -1.58183921e-02 2.01692835e+01] [ 2.21043922e-03 9.99997545e-01 -1.53822016e-04 5.12227620e-01] [ 1.58186936e-02 1.18836799e-04 9.99874870e-01 1.81783264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.599254153999997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:20.20, Y:0.51, Z:0.18 [[ 9.99872431e-01 2.21395328e-03 -1.58183466e-02 2.01971044e+01] [-2.21673567e-03 9.99997530e-01 -1.58364917e-04 5.13112615e-01] [ 1.58179569e-02 1.93409808e-04 9.99874870e-01 1.82461898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.629254153999995 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:20.22, Y:0.51, Z:0.18 [[ 9.99823782e-01 1.01087280e-02 -1.58183000e-02 2.02246364e+01] [-1.01125697e-02 9.99948853e-01 -1.62890326e-04 5.13838291e-01] [ 1.58158443e-02 3.22825283e-04 9.99874870e-01 1.83200217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.659254153999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.25, Y:0.51, Z:0.18 [[ 9.99783573e-01 1.35125947e-02 -1.58182525e-02 2.02516384e+01] [-1.35169331e-02 9.99908628e-01 -1.67378936e-04 5.14342191e-01] [ 1.58145454e-02 3.81156972e-04 9.99874870e-01 1.83618200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.689254153999997 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:20.28, Y:0.52, Z:0.18 [[ 9.99720811e-01 1.75522833e-02 -1.58182317e-02 2.02788237e+01] [-1.75571577e-02 9.99845847e-01 -1.69321851e-04 5.15036160e-01] [ 1.58128213e-02 4.46997767e-04 9.99874870e-01 1.84862334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.719254153999994 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:20.31, Y:0.51, Z:0.19 [[ 9.99707711e-01 1.82832259e-02 -1.58181989e-02 2.03070346e+01] [-1.82882394e-02 9.99832741e-01 -1.72336384e-04 5.14999675e-01] [ 1.58124023e-02 4.61573019e-04 9.99874870e-01 1.86155927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.749254153999996 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:20.34, Y:0.51, Z:0.19 [[ 9.99720251e-01 1.75842518e-02 -1.58181803e-02 2.03352081e+01] [-1.75892045e-02 9.99845283e-01 -1.74022116e-04 5.14713268e-01] [ 1.58126729e-02 4.52202642e-04 9.99874870e-01 1.87219052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.779254153999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.36, Y:0.51, Z:0.19 [[ 9.99747072e-01 1.59868087e-02 -1.58181614e-02 2.03618702e+01] [-1.59915886e-02 9.99872111e-01 -1.75727962e-04 5.14143767e-01] [ 1.58133291e-02 4.28641044e-04 9.99874870e-01 1.87631905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.809254153999994 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:20.39, Y:0.51, Z:0.19 [[ 9.99824853e-01 1.00025006e-02 -1.58181392e-02 2.03902976e+01] [-1.00065633e-02 9.99949917e-01 -1.77703657e-04 5.11201640e-01] [ 1.58155695e-02 3.35957743e-04 9.99874870e-01 1.88143899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.839254153999995 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:20.42, Y:0.51, Z:0.19 [[ 9.99874591e-01 7.67529026e-04 -1.58181201e-02 2.04188286e+01] [-7.70462903e-04 9.99999687e-01 -1.79382549e-04 5.07143419e-01] [ 1.58179775e-02 1.91547328e-04 9.99874870e-01 1.88462639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.869254153999997 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:20.45, Y:0.51, Z:0.19 [[ 9.99862265e-01 -5.02369836e-03 -1.58181074e-02 2.04476706e+01] [ 5.02147143e-03 9.99987376e-01 -1.80498635e-04 5.05216523e-01] [ 1.58188145e-02 1.01043599e-04 9.99874870e-01 1.88829630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.899254153999994 meters Centerline goodness : 0.999013 Centerline is valid? [True, True] Translation: X:20.47, Y:0.50, Z:0.19 [[ 9.99827339e-01 -9.75093332e-03 -1.58180946e-02 2.04747825e+01] [ 9.74928037e-03 9.99952458e-01 -1.81608277e-04 5.03279981e-01] [ 1.58191135e-02 2.73618801e-05 9.99874870e-01 1.86623491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.929254153999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.50, Y:0.50, Z:0.19 [[ 9.99733441e-01 -1.68184840e-02 -1.58172383e-02 2.05046159e+01] [ 1.68165332e-02 9.99858559e-01 -2.56338813e-04 5.01506736e-01] [ 1.58193123e-02 -9.72062899e-06 9.99874867e-01 1.90792138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.959254153999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.53, Y:0.50, Z:0.19 [[ 9.99472881e-01 -2.83504339e-02 -1.58181164e-02 2.05335025e+01] [ 2.83511574e-02 9.99598009e-01 -1.78548333e-04 4.96527762e-01] [ 1.58168196e-02 -2.70007690e-04 9.99874870e-01 1.90298518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.989254153999994 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:20.57, Y:0.49, Z:0.19 [[ 9.99307907e-01 -3.36673943e-02 -1.58181095e-02 2.05660145e+01] [ 3.36687739e-02 9.99433030e-01 -1.79157574e-04 4.94427016e-01] [ 1.58151729e-02 -3.53542772e-04 9.99874870e-01 1.91071474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.019254153999995 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:20.60, Y:0.49, Z:0.19 [[ 9.98978494e-01 -4.23291282e-02 -1.58181225e-02 2.05984353e+01] [ 4.23316107e-02 9.99103600e-01 -1.78005536e-04 4.89658230e-01] [ 1.58114779e-02 -4.91782899e-04 9.99874870e-01 1.92019421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.049254153999996 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:20.63, Y:0.49, Z:0.19 [[ 9.98839374e-01 -4.54938518e-02 -1.58181354e-02 2.06318661e+01] [ 4.54967488e-02 9.98964471e-01 -1.76852385e-04 4.87700480e-01] [ 1.58098009e-02 -5.43026606e-04 9.99874870e-01 1.92620145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.079254153999994 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:20.66, Y:0.49, Z:0.19 [[ 9.98713822e-01 -4.81714464e-02 -1.58181548e-02 2.06644343e+01] [ 4.81747065e-02 9.98838909e-01 -1.75099636e-04 4.86089956e-01] [ 1.58082232e-02 -5.87160536e-04 9.99874870e-01 1.91570218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.109254153999995 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:20.70, Y:0.48, Z:0.19 [[ 9.98497502e-01 -5.24644994e-02 -1.58181859e-02 2.06978225e+01] [ 5.24683424e-02 9.98622573e-01 -1.72238433e-04 4.83474196e-01] [ 1.58054339e-02 -6.57974350e-04 9.99874870e-01 1.94356635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.139254153999996 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:20.73, Y:0.48, Z:0.19 [[ 9.98417080e-01 -5.39733156e-02 -1.58182047e-02 2.07289118e+01] [ 5.39773752e-02 9.98542144e-01 -1.70494767e-04 4.82649632e-01] [ 1.58043462e-02 -6.83600283e-04 9.99874870e-01 1.94922234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.169254153999994 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:20.76, Y:0.48, Z:0.20 [[ 9.98359034e-01 -5.50365655e-02 -1.58182140e-02 2.07618881e+01] [ 5.50407720e-02 9.98484093e-01 -1.69632239e-04 4.81900122e-01] [ 1.58035710e-02 -7.01292829e-04 9.99874870e-01 1.95703723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.199254153999995 meters Centerline goodness : 0.999549 Centerline is valid? [True, True] Translation: X:20.80, Y:0.48, Z:0.20 [[ 9.98246577e-01 -5.70399357e-02 -1.58182319e-02 2.07952371e+01] [ 5.70444199e-02 9.98371627e-01 -1.67942897e-04 4.80646698e-01] [ 1.58020534e-02 -7.34693440e-04 9.99874870e-01 1.97717952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.229254153999996 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:20.83, Y:0.48, Z:0.20 [[ 9.98213096e-01 -5.76229027e-02 -1.58182505e-02 2.08273591e+01] [ 5.76274878e-02 9.98338142e-01 -1.66171673e-04 4.79864017e-01] [ 1.58015381e-02 -7.45691298e-04 9.99874870e-01 1.97483468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.259254153999997 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:20.86, Y:0.48, Z:0.20 [[ 9.98133864e-01 -5.89794248e-02 -1.58182657e-02 2.08593057e+01] [ 5.89842030e-02 9.98258903e-01 -1.64707135e-04 4.78257799e-01] [ 1.58004389e-02 -7.68628030e-04 9.99874870e-01 1.97523895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.289254153999995 meters Centerline goodness : 0.999357 Centerline is valid? [True, True] Translation: X:20.89, Y:0.48, Z:0.20 [[ 9.98087711e-01 -5.97553603e-02 -1.58182777e-02 2.08902483e+01] [ 5.97602540e-02 9.98212746e-01 -1.63553973e-04 4.78064610e-01] [ 1.57997796e-02 -7.82063081e-04 9.99874870e-01 1.96949994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.319254153999996 meters Centerline goodness : 0.999636 Centerline is valid? [True, True] Translation: X:20.92, Y:0.48, Z:0.20 [[ 9.98060760e-01 -6.02038330e-02 -1.58182865e-02 2.09226248e+01] [ 6.02087965e-02 9.98185792e-01 -1.62693464e-04 4.77763233e-01] [ 1.57993836e-02 -7.90022031e-04 9.99874870e-01 1.97270586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.349254153999997 meters Centerline goodness : 0.999465 Centerline is valid? [True, True] Translation: X:20.95, Y:0.48, Z:0.20 [[ 9.98015713e-01 -6.09460245e-02 -1.58182982e-02 2.09549744e+01] [ 6.09510990e-02 9.98140740e-01 -1.61554091e-04 4.77515302e-01] [ 1.57987339e-02 -8.02909136e-04 9.99874870e-01 1.96261183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.379254153999995 meters Centerline goodness : 0.999594 Centerline is valid? [True, True] Translation: X:20.99, Y:0.48, Z:0.20 [[ 9.97997856e-01 -6.12377348e-02 -1.58183096e-02 2.09868447e+01] [ 6.12428637e-02 9.98122881e-01 -1.60421902e-04 4.77652243e-01] [ 1.57984407e-02 -8.08657868e-04 9.99874870e-01 1.96514685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.409254153999996 meters Centerline goodness : 0.999486 Centerline is valid? [True, True] Translation: X:21.02, Y:0.48, Z:0.20 [[ 9.97998006e-01 -6.12352892e-02 -1.58183211e-02 2.10192691e+01] [ 6.12404359e-02 9.98123030e-01 -1.59281439e-04 4.77356725e-01] [ 1.57983843e-02 -8.09758321e-04 9.99874870e-01 1.96711914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.439254153999997 meters Centerline goodness : 0.999529 Centerline is valid? [True, True] Translation: X:21.05, Y:0.48, Z:0.20 [[ 9.97998427e-01 -6.12284283e-02 -1.58183327e-02 2.10525043e+01] [ 6.12335924e-02 9.98123450e-01 -1.58120190e-04 4.77628572e-01] [ 1.57983303e-02 -8.10809638e-04 9.99874870e-01 1.97354506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.469254153999994 meters Centerline goodness : 0.999636 Centerline is valid? [True, True] Translation: X:21.08, Y:0.48, Z:0.20 [[ 9.98030877e-01 -6.06971875e-02 -1.58183501e-02 2.10839890e+01] [ 6.07023128e-02 9.98155902e-01 -1.56362251e-04 4.78189577e-01] [ 1.57986703e-02 -8.04156083e-04 9.99874870e-01 1.96371241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.499254153999996 meters Centerline goodness : 0.999507 Centerline is valid? [True, True] Translation: X:21.12, Y:0.48, Z:0.20 [[ 9.98029928e-01 -6.07127795e-02 -1.58183586e-02 2.11166075e+01] [ 6.07179206e-02 9.98154953e-01 -1.55494428e-04 4.80063763e-01] [ 1.57986135e-02 -8.05269750e-04 9.99874870e-01 1.99799757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.529254153999997 meters Centerline goodness : 0.999594 Centerline is valid? [True, True] Translation: X:21.15, Y:0.48, Z:0.20 [[ 9.98049984e-01 -6.03821906e-02 -1.58183758e-02 2.11481194e+01] [ 6.03873182e-02 9.98175009e-01 -1.53728226e-04 4.80897325e-01] [ 1.57987899e-02 -8.01800839e-04 9.99874870e-01 2.00313153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.559254153999994 meters Centerline goodness : 0.999338 Centerline is valid? [True, True] Translation: X:21.18, Y:0.48, Z:0.20 [[ 9.98047514e-01 -6.04229988e-02 -1.58183972e-02 2.11802542e+01] [ 6.04281667e-02 9.98172537e-01 -1.51499325e-04 4.81325434e-01] [ 1.57986437e-02 -8.04673215e-04 9.99874870e-01 2.00475307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.589254153999995 meters Centerline goodness : 0.999444 Centerline is valid? [True, True] Translation: X:21.21, Y:0.48, Z:0.20 [[ 9.98049731e-01 -6.03863616e-02 -1.58184079e-02 2.12132739e+01] [ 6.03915427e-02 9.98174754e-01 -1.50373756e-04 4.81608535e-01] [ 1.57986159e-02 -8.05217567e-04 9.99874870e-01 2.00801550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.619254153999997 meters Centerline goodness : 0.999424 Centerline is valid? [True, True] Translation: X:21.25, Y:0.48, Z:0.20 [[ 9.98041156e-01 -6.05279095e-02 -1.58184238e-02 2.12456756e+01] [ 6.05331351e-02 9.98166177e-01 -1.48679982e-04 4.81912515e-01] [ 1.57984149e-02 -8.09150042e-04 9.99874870e-01 2.01754145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.649254153999994 meters Centerline goodness : 0.999446 Centerline is valid? [True, True] Translation: X:21.28, Y:0.48, Z:0.20 [[ 9.98040055e-01 -6.05460591e-02 -1.58184343e-02 2.12774132e+01] [ 6.05513049e-02 9.98165075e-01 -1.47549803e-04 4.82665733e-01] [ 1.57983422e-02 -8.10566225e-04 9.99874870e-01 2.03254499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.679254153999995 meters Centerline goodness : 0.999531 Centerline is valid? [True, True] Translation: X:21.31, Y:0.48, Z:0.20 [[ 9.98034990e-01 -6.06295016e-02 -1.58184448e-02 2.13090071e+01] [ 6.06347757e-02 9.98160008e-01 -1.46418202e-04 4.83039296e-01] [ 1.57982162e-02 -8.13017364e-04 9.99874870e-01 2.04491469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.709254153999996 meters Centerline goodness : 0.999615 Centerline is valid? [True, True] Translation: X:21.34, Y:0.48, Z:0.21 [[ 9.98012753e-01 -6.09944333e-02 -1.58184526e-02 2.13408689e+01] [ 6.09997665e-02 9.98137770e-01 -1.45572905e-04 4.83147296e-01] [ 1.57978741e-02 -8.19638297e-04 9.99874870e-01 2.05677105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.739254153999994 meters Centerline goodness : 0.999615 Centerline is valid? [True, True] Translation: X:21.37, Y:0.48, Z:0.21 [[ 9.98019253e-01 -6.08879884e-02 -1.58184628e-02 2.13744060e+01] [ 6.08933259e-02 9.98144269e-01 -1.44453416e-04 4.83357701e-01] [ 1.57979035e-02 -8.19071519e-04 9.99874870e-01 2.06207318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.769254153999995 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:21.41, Y:0.48, Z:0.21 [[ 9.98008878e-01 -6.10578087e-02 -1.58184780e-02 2.14070412e+01] [ 6.10631942e-02 9.98133892e-01 -1.42766342e-04 4.83019353e-01] [ 1.57976760e-02 -8.23444718e-04 9.99874870e-01 2.07242990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.799254153999996 meters Centerline goodness : 0.999425 Centerline is valid? [True, True] Translation: X:21.45, Y:0.47, Z:0.20 [[ 9.98360449e-01 -5.50108141e-02 -1.58184880e-02 2.14476940e+01] [ 5.50154598e-02 9.98485493e-01 -1.41651491e-04 4.73662691e-01] [ 1.58023231e-02 -7.28842144e-04 9.99874870e-01 1.99603146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.829254153999994 meters Centerline goodness : 0.999595 Centerline is valid? [True, True] Translation: X:21.47, Y:0.48, Z:0.21 [[ 9.97917600e-01 -6.25311018e-02 -1.58216487e-02 2.14695502e+01] [ 6.25426729e-02 9.98042263e-01 2.37129854e-04 4.82149292e-01] [ 1.57758461e-02 -1.22616426e-03 9.99874802e-01 2.07610397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.859254153999995 meters Centerline goodness : 0.999488 Centerline is valid? [True, True] Translation: X:21.50, Y:0.48, Z:0.21 [[ 9.97904277e-01 -6.27442199e-02 -1.58182236e-02 2.15021228e+01] [ 6.27498176e-02 9.98029278e-01 -1.42690826e-04 4.81808089e-01] [ 1.57960033e-02 -8.50198863e-04 9.99874874e-01 2.08025478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.889254153999996 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:21.53, Y:0.48, Z:0.21 [[ 9.97849775e-01 -6.36051163e-02 -1.58182383e-02 2.15346565e+01] [ 6.36108478e-02 9.97974769e-01 -1.41048561e-04 4.80144012e-01] [ 1.57951741e-02 -8.65466272e-04 9.99874874e-01 2.07591725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.919254153999994 meters Centerline goodness : 0.999318 Centerline is valid? [True, True] Translation: X:21.58, Y:0.47, Z:0.20 [[ 9.98371602e-01 -5.48080860e-02 -1.58182503e-02 2.15765103e+01] [ 5.48127371e-02 9.98496642e-01 -1.39687364e-04 4.69629246e-01] [ 1.58021258e-02 -7.27581698e-04 9.99874874e-01 2.01737387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.949254153999995 meters Centerline goodness : 0.996350 Centerline is valid? [True, True] Translation: X:21.60, Y:0.47, Z:0.21 [[ 9.98234898e-01 -5.72436889e-02 -1.58192752e-02 2.16018342e+01] [ 5.72572710e-02 9.98359374e-01 4.06630892e-04 4.72030440e-01] [ 1.57700446e-02 -1.31168167e-03 9.99874785e-01 2.05339609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.979254153999996 meters Centerline goodness : 0.999552 Centerline is valid? [True, True] Translation: X:21.63, Y:0.47, Z:0.21 [[ 9.98308179e-01 -5.59514640e-02 -1.58181230e-02 2.16343981e+01] [ 5.59578209e-02 9.98433133e-01 -4.07888559e-05 4.70687873e-01] [ 1.57956203e-02 -8.44427848e-04 9.99874885e-01 2.10383932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.009254153999994 meters Centerline goodness : 0.999423 Centerline is valid? [True, True] Translation: X:21.67, Y:0.47, Z:0.21 [[ 9.98451640e-01 -5.33301896e-02 -1.58181284e-02 2.16665520e+01] [ 5.33362528e-02 9.98576608e-01 -3.86147491e-05 4.70427383e-01] [ 1.57976723e-02 -8.05124733e-04 9.99874885e-01 2.10662249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.039254153999995 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:21.70, Y:0.47, Z:0.21 [[ 9.98532536e-01 -5.17934441e-02 -1.58181349e-02 2.16994738e+01] [ 5.17993608e-02 9.98657511e-01 -3.57052434e-05 4.70419684e-01] [ 1.57987485e-02 -7.83716431e-04 9.99874885e-01 2.11860040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.069254153999996 meters Centerline goodness : 0.999595 Centerline is valid? [True, True] Translation: X:21.73, Y:0.47, Z:0.21 [[ 9.98608319e-01 -5.03111470e-02 -1.58181387e-02 2.17326732e+01] [ 5.03169058e-02 9.98733302e-01 -3.39647726e-05 4.70173340e-01] [ 1.57998107e-02 -7.62002288e-04 9.99874885e-01 2.12405244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.099254153999997 meters Centerline goodness : 0.999531 Centerline is valid? [True, True] Translation: X:21.77, Y:0.47, Z:0.21 [[ 9.98679620e-01 -4.88753747e-02 -1.58181422e-02 2.17653629e+01] [ 4.88809811e-02 9.98804610e-01 -3.22362039e-05 4.69267407e-01] [ 1.58008089e-02 -7.41012669e-04 9.99874885e-01 2.12388224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.129254153999995 meters Centerline goodness : 0.999338 Centerline is valid? [True, True] Translation: X:21.80, Y:0.47, Z:0.21 [[ 9.98820670e-01 -4.59026782e-02 -1.58181455e-02 2.17980533e+01] [ 4.59079397e-02 9.98945674e-01 -3.05228649e-05 4.67844588e-01] [ 1.58028691e-02 -6.95691600e-04 9.99874885e-01 2.12574229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.159254153999996 meters Centerline goodness : 0.999487 Centerline is valid? [True, True] Translation: X:21.84, Y:0.45, Z:0.20 [[ 9.99352948e-01 -3.23028075e-02 -1.58181476e-02 2.18448554e+01] [ 3.23063850e-02 9.99478012e-01 -2.93808424e-05 4.53748746e-01] [ 1.58108398e-02 -4.81665334e-04 9.99874885e-01 2.04428954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.189254153999997 meters Centerline goodness : 0.999444 Centerline is valid? [True, True] Translation: X:21.86, Y:0.47, Z:0.21 [[ 9.99000917e-01 -4.17963797e-02 -1.58186735e-02 2.18555365e+01] [ 4.18139218e-02 9.99125111e-01 7.79692285e-04 4.66409660e-01] [ 1.57722456e-02 -1.44035408e-03 9.99874573e-01 2.11409152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.219254153999994 meters Centerline goodness : 0.999530 Centerline is valid? [True, True] Translation: X:21.89, Y:0.47, Z:0.21 [[ 9.99092532e-01 -3.95467812e-02 -1.58165901e-02 2.18877008e+01] [ 3.95510919e-02 9.99217549e-01 -4.02883545e-05 4.66833197e-01] [ 1.58058077e-02 -5.85311616e-04 9.99874909e-01 2.12991105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.249254153999996 meters Centerline goodness : 0.999295 Centerline is valid? [True, True] Translation: X:21.92, Y:0.47, Z:0.21 [[ 9.99175457e-01 -3.73930782e-02 -1.58165930e-02 2.19201713e+01] [ 3.73971379e-02 9.99300482e-01 -3.91185301e-05 4.66853073e-01] [ 1.58069918e-02 -5.52409036e-04 9.99874909e-01 2.13390165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.279254153999997 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:21.95, Y:0.47, Z:0.21 [[ 9.99339707e-01 -3.27106394e-02 -1.58165958e-02 2.19517557e+01] [ 3.27141316e-02 9.99464749e-01 -3.79492121e-05 4.67080772e-01] [ 1.58093713e-02 -4.79502044e-04 9.99874909e-01 2.14322348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.309254153999994 meters Centerline goodness : 0.999295 Centerline is valid? [True, True] Translation: X:21.98, Y:0.47, Z:0.21 [[ 9.99412018e-01 -3.04212729e-02 -1.58165979e-02 2.19830396e+01] [ 3.04244925e-02 9.99537067e-01 -3.70790549e-05 4.67104442e-01] [ 1.58104039e-02 -4.44154711e-04 9.99874909e-01 2.14770867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.339254153999995 meters Centerline goodness : 0.999295 Centerline is valid? [True, True] Translation: X:22.02, Y:0.46, Z:0.21 [[ 9.99697561e-01 -1.88313879e-02 -1.58165998e-02 2.20212532e+01] [ 1.88331709e-02 9.99822639e-01 -3.62221984e-05 4.56702292e-01] [ 1.58144767e-02 -2.61665485e-04 9.99874909e-01 2.07711028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.369254153999997 meters Centerline goodness : 0.999251 Centerline is valid? [True, True] Translation: X:22.04, Y:0.47, Z:0.21 [[ 9.99521187e-01 -2.65933320e-02 -1.58174462e-02 2.20413848e+01] [ 2.66026413e-02 9.99646015e-01 3.78396397e-04 4.66731319e-01] [ 1.58017842e-02 -7.99001063e-04 9.99874825e-01 2.14434396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.399254153999994 meters Centerline goodness : 0.999401 Centerline is valid? [True, True] Translation: X:22.07, Y:0.47, Z:0.21 [[ 9.99543398e-01 -2.57457740e-02 -1.58161684e-02 2.20729257e+01] [ 2.57482435e-02 9.99668458e-01 -4.75029083e-05 4.66756691e-01] [ 1.58121477e-02 -3.59757338e-04 9.99874915e-01 2.14403650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.429254153999995 meters Centerline goodness : 0.999422 Centerline is valid? [True, True] Translation: X:22.11, Y:0.46, Z:0.21 [[ 9.99731075e-01 -1.69595299e-02 -1.58161701e-02 2.21118289e+01] [ 1.69609091e-02 9.99856152e-01 -4.69451540e-05 4.57073836e-01] [ 1.58146911e-02 -2.21324093e-04 9.99874915e-01 2.08643184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.459254153999996 meters Centerline goodness : 0.999230 Centerline is valid? [True, True] Translation: X:22.14, Y:0.46, Z:0.21 [[ 9.99747424e-01 -1.59658446e-02 -1.58170613e-02 2.21409817e+01] [ 1.59743318e-02 9.99872318e-01 4.10384898e-04 4.55228524e-01] [ 1.58084896e-02 -6.62948230e-04 9.99874818e-01 2.08359131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.489254153999994 meters Centerline goodness : 0.999231 Centerline is valid? [True, True] Translation: X:22.16, Y:0.47, Z:0.21 [[ 9.99542448e-01 -2.57819675e-02 -1.58172071e-02 2.21590309e+01] [ 2.57926746e-02 9.99667202e-01 4.73274876e-04 4.65498685e-01] [ 1.57997412e-02 -8.81026406e-04 9.99874788e-01 2.13241605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.519254153999995 meters Centerline goodness : 0.999315 Centerline is valid? [True, True] Translation: X:22.19, Y:0.47, Z:0.21 [[ 9.99566052e-01 -2.48511820e-02 -1.58153637e-02 2.21888563e+01] [ 2.48534171e-02 9.99691105e-01 -5.52303365e-05 4.65908571e-01] [ 1.58118509e-02 -3.37859462e-04 9.99874928e-01 2.11908049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.549254153999996 meters Centerline goodness : 0.999487 Centerline is valid? [True, True] Translation: X:22.22, Y:0.47, Z:0.21 [[ 9.99525796e-01 -2.64209540e-02 -1.58150953e-02 2.22194609e+01] [ 2.64222395e-02 9.99650864e-01 -1.27692853e-04 4.65514795e-01] [ 1.58129474e-02 -2.90237935e-04 9.99874925e-01 2.13798351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.579254153999994 meters Centerline goodness : 0.999037 Centerline is valid? [True, True] Translation: X:22.26, Y:0.46, Z:0.21 [[ 9.99675300e-01 -1.99792165e-02 -1.58153507e-02 2.22587412e+01] [ 1.99808025e-02 9.99800362e-01 -5.77349791e-05 4.57496409e-01] [ 1.58133469e-02 -2.58287166e-04 9.99874928e-01 2.08844368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.609254153999995 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:22.29, Y:0.46, Z:0.21 [[ 9.99639693e-01 -2.16866934e-02 -1.58167796e-02 2.22883960e+01] [ 2.16953353e-02 9.99764558e-01 3.74971744e-04 4.57752716e-01] [ 1.58049238e-02 -7.17986977e-04 9.99874837e-01 2.08567677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.639254153999996 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:22.31, Y:0.47, Z:0.21 [[ 9.99431753e-01 -2.97657619e-02 -1.58168087e-02 2.23078227e+01] [ 2.97755324e-02 9.99556537e-01 3.82543243e-04 4.66513684e-01] [ 1.57984079e-02 -8.53279764e-04 9.99874833e-01 2.14396337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.669254153999994 meters Centerline goodness : 0.999382 Centerline is valid? [True, True] Translation: X:22.34, Y:0.47, Z:0.21 [[ 9.99396982e-01 -3.09123237e-02 -1.58145703e-02 2.23384842e+01] [ 3.09149714e-02 9.99522015e-01 -7.70765673e-05 4.67229684e-01] [ 1.58093938e-02 -4.11876901e-04 9.99874939e-01 2.14849500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.699254153999995 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:22.37, Y:0.47, Z:0.22 [[ 9.99370974e-01 -3.17420211e-02 -1.58145717e-02 2.23696092e+01] [ 3.17447771e-02 9.99496005e-01 -7.67913492e-05 4.67441294e-01] [ 1.58090387e-02 -4.25287008e-04 9.99874939e-01 2.15525820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.729254153999996 meters Centerline goodness : 0.999445 Centerline is valid? [True, True] Translation: X:22.40, Y:0.47, Z:0.22 [[ 9.99349935e-01 -3.23976444e-02 -1.58145745e-02 2.24012336e+01] [ 3.24004916e-02 9.99474963e-01 -7.62147131e-05 4.67312508e-01] [ 1.58087404e-02 -4.36234819e-04 9.99874939e-01 2.15838487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.759254153999994 meters Centerline goodness : 0.999189 Centerline is valid? [True, True] Translation: X:22.43, Y:0.47, Z:0.22 [[ 9.99282717e-01 -3.44085925e-02 -1.58145829e-02 2.24336729e+01] [ 3.44117196e-02 9.99407739e-01 -7.44199145e-05 4.68021755e-01] [ 1.58077772e-02 -4.69840459e-04 9.99874939e-01 2.16634354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.789254153999995 meters Centerline goodness : 0.999360 Centerline is valid? [True, True] Translation: X:22.47, Y:0.47, Z:0.22 [[ 9.99245116e-01 -3.54837601e-02 -1.58145883e-02 2.24650930e+01] [ 3.54870402e-02 9.99370134e-01 -7.32540371e-05 4.68497164e-01] [ 1.58072266e-02 -4.88014192e-04 9.99874939e-01 2.17341234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.819254153999996 meters Centerline goodness : 0.999297 Centerline is valid? [True, True] Translation: X:22.50, Y:0.47, Z:0.22 [[ 9.99169153e-01 -3.75619787e-02 -1.58145923e-02 2.24973664e+01] [ 3.75655326e-02 9.99294164e-01 -7.23848349e-05 4.69250204e-01] [ 1.58061487e-02 -5.21758888e-04 9.99874939e-01 2.17741921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.849254153999993 meters Centerline goodness : 0.999573 Centerline is valid? [True, True] Translation: X:22.53, Y:0.47, Z:0.22 [[ 9.99132215e-01 -3.85320158e-02 -1.58145975e-02 2.25290155e+01] [ 3.85357092e-02 9.99257221e-01 -7.12324342e-05 4.69330206e-01] [ 1.58055955e-02 -5.38256111e-04 9.99874939e-01 2.17862945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.879254153999995 meters Centerline goodness : 0.999230 Centerline is valid? [True, True] Translation: X:22.56, Y:0.47, Z:0.22 [[ 9.99020347e-01 -4.13309061e-02 -1.58146059e-02 2.25609573e+01] [ 4.13349803e-02 9.99145342e-01 -6.93019534e-05 4.70208176e-01] [ 1.58039542e-02 -5.84462363e-04 9.99874939e-01 2.17735835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.909254153999996 meters Centerline goodness : 0.999337 Centerline is valid? [True, True] Translation: X:22.59, Y:0.47, Z:0.22 [[ 9.98949949e-01 -4.29988008e-02 -1.58146109e-02 2.25931832e+01] [ 4.30031018e-02 9.99074936e-01 -6.81564175e-05 4.70738088e-01] [ 1.58029120e-02 -6.11992471e-04 9.99874939e-01 2.18025737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.939254153999997 meters Centerline goodness : 0.999422 Centerline is valid? [True, True] Translation: X:22.62, Y:0.47, Z:0.22 [[ 9.98791564e-01 -4.65328900e-02 -1.58146157e-02 2.26242781e+01] [ 4.65376513e-02 9.98916534e-01 -6.70114929e-05 4.71366558e-01] [ 1.58005994e-02 -6.69044558e-04 9.99874939e-01 2.17519232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.969254153999994 meters Centerline goodness : 0.999402 Centerline is valid? [True, True] Translation: X:22.66, Y:0.46, Z:0.21 [[ 9.98981272e-01 -4.22648423e-02 -1.58146193e-02 2.26615089e+01] [ 4.22690830e-02 9.99106261e-01 -6.61582747e-05 4.64998208e-01] [ 1.58032813e-02 -6.02378578e-04 9.99874939e-01 2.13425524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.999254153999996 meters Centerline goodness : 0.999358 Centerline is valid? [True, True] Translation: X:22.68, Y:0.47, Z:0.22 [[ 9.98665301e-01 -4.91678302e-02 -1.58158447e-02 2.26848062e+01] [ 4.91781926e-02 9.98789985e-01 2.66703364e-04 4.72823517e-01] [ 1.57835941e-02 -1.04414205e-03 9.99874886e-01 2.18125853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.029254153999997 meters Centerline goodness : 0.999572 Centerline is valid? [True, True] Translation: X:22.72, Y:0.48, Z:0.22 [[ 9.98601732e-01 -5.04428936e-02 -1.58144169e-02 2.27181410e+01] [ 5.04481348e-02 9.98726680e-01 -6.75907286e-05 4.75168422e-01] [ 1.57976895e-02 -7.30311614e-04 9.99874942e-01 2.19163032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.059254153999994 meters Centerline goodness : 0.999528 Centerline is valid? [True, True] Translation: X:22.75, Y:0.48, Z:0.22 [[ 9.98603816e-01 -5.04016141e-02 -1.58144239e-02 2.27503633e+01] [ 5.04068768e-02 9.98728763e-01 -6.59003903e-05 4.76342240e-01] [ 1.57976415e-02 -7.31347336e-04 9.99874942e-01 2.20219663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.089254153999995 meters Centerline goodness : 0.999572 Centerline is valid? [True, True] Translation: X:22.78, Y:0.48, Z:0.22 [[ 9.98612582e-01 -5.02276215e-02 -1.58144345e-02 2.27831716e+01] [ 5.02329041e-02 9.98737529e-01 -6.32618043e-05 4.77982218e-01] [ 1.57976467e-02 -7.31230936e-04 9.99874942e-01 2.21228047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.119254153999997 meters Centerline goodness : 0.999314 Centerline is valid? [True, True] Translation: X:22.82, Y:0.47, Z:0.22 [[ 9.98939224e-01 -4.32473033e-02 -1.58144410e-02 2.28212005e+01] [ 4.32517392e-02 9.99064204e-01 -6.15776399e-05 4.74075683e-01] [ 1.58023050e-02 -6.22489759e-04 9.99874942e-01 2.18433333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.149254153999994 meters Centerline goodness : 0.999420 Centerline is valid? [True, True] Translation: X:22.84, Y:0.48, Z:0.22 [[ 9.98663340e-01 -4.92077136e-02 -1.58156510e-02 2.28434688e+01] [ 4.92187217e-02 9.98787977e-01 3.07308273e-04 4.82674085e-01] [ 1.57813601e-02 -1.08532363e-03 9.99874878e-01 2.22953400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.179254153999995 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:22.88, Y:0.49, Z:0.22 [[ 9.98661033e-01 -4.92549911e-02 -1.58141681e-02 2.28768568e+01] [ 4.92601510e-02 9.98785980e-01 -6.33200233e-05 4.85756074e-01] [ 1.57980882e-02 -7.15773066e-04 9.99874946e-01 2.24080049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.209254153999996 meters Centerline goodness : 0.999377 Centerline is valid? [True, True] Translation: X:22.92, Y:0.48, Z:0.22 [[ 9.98925695e-01 -4.35587871e-02 -1.58141745e-02 2.29156654e+01] [ 4.35632603e-02 9.99050669e-01 -6.16721288e-05 4.79628277e-01] [ 1.58018480e-02 -6.27311126e-04 9.99874946e-01 2.20268268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.239254153999994 meters Centerline goodness : 0.999463 Centerline is valid? [True, True] Translation: X:22.94, Y:0.49, Z:0.23 [[ 9.98557477e-01 -5.13111457e-02 -1.58155579e-02 2.29364302e+01] [ 5.13231781e-02 9.98682034e-01 3.55588663e-04 4.88529063e-01] [ 1.57764679e-02 -1.16678041e-03 9.99874863e-01 2.25000666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.269254153999995 meters Centerline goodness : 0.999592 Centerline is valid? [True, True] Translation: X:22.97, Y:0.49, Z:0.23 [[ 9.98441511e-01 -5.35207860e-02 -1.58137725e-02 2.29688459e+01] [ 5.35264230e-02 9.98566431e-01 -6.68832932e-05 4.91131009e-01] [ 1.57946820e-02 -7.79675621e-04 9.99874952e-01 2.25263289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.299254153999996 meters Centerline goodness : 0.999613 Centerline is valid? [True, True] Translation: X:23.00, Y:0.49, Z:0.23 [[ 9.98383753e-01 -5.45875991e-02 -1.58137772e-02 2.30008842e+01] [ 5.45933874e-02 9.98508667e-01 -6.57525000e-05 4.92227504e-01] [ 1.57937829e-02 -7.97681439e-04 9.99874952e-01 2.25526213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.329254153999994 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:23.03, Y:0.49, Z:0.23 [[ 9.98271922e-01 -5.65958918e-02 -1.58137819e-02 2.30320969e+01] [ 5.66019494e-02 9.98396822e-01 -6.46153722e-05 4.94322585e-01] [ 1.57920865e-02 -8.30587169e-04 9.99874952e-01 2.25241317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.359254153999995 meters Centerline goodness : 0.999590 Centerline is valid? [True, True] Translation: X:23.06, Y:0.49, Z:0.22 [[ 9.98384867e-01 -5.45672210e-02 -1.58137853e-02 2.30597494e+01] [ 5.45730381e-02 9.98509779e-01 -6.37683730e-05 4.94737781e-01] [ 1.57936989e-02 -7.99340929e-04 9.99874952e-01 2.24030690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.389254153999996 meters Centerline goodness : 0.999376 Centerline is valid? [True, True] Translation: X:23.10, Y:0.50, Z:0.23 [[ 9.98191947e-01 -5.79895492e-02 -1.58129364e-02 2.30953755e+01] [ 5.79930039e-02 9.98316961e-01 -2.40371133e-04 4.96697405e-01] [ 1.58002616e-02 -6.77103154e-04 9.99874939e-01 2.25539584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.419254153999994 meters Centerline goodness : 0.999567 Centerline is valid? [True, True] Translation: X:23.13, Y:0.50, Z:0.23 [[ 9.98214210e-01 -5.76048510e-02 -1.58136918e-02 2.31274223e+01] [ 5.76109471e-02 9.98339108e-01 -7.01600472e-05 4.99201836e-01] [ 1.57914685e-02 -8.41007006e-04 9.99874953e-01 2.26806246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.449254153999995 meters Centerline goodness : 0.999589 Centerline is valid? [True, True] Translation: X:23.16, Y:0.50, Z:0.23 [[ 9.98247272e-01 -5.70290411e-02 -1.58136975e-02 2.31606250e+01] [ 5.70350859e-02 9.98372172e-01 -6.88525269e-05 5.00632977e-01] [ 1.57918821e-02 -8.33203747e-04 9.99874953e-01 2.29203715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.479254153999996 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:23.19, Y:0.50, Z:0.23 [[ 9.98297013e-01 -5.61515926e-02 -1.58137047e-02 2.31940333e+01] [ 5.61575544e-02 9.98421917e-01 -6.71528193e-05 5.02747501e-01] [ 1.57925201e-02 -8.21020523e-04 9.99874953e-01 2.30530424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.509254153999994 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:23.23, Y:0.50, Z:0.23 [[ 9.98563392e-01 -5.11964702e-02 -1.58137118e-02 2.32335735e+01] [ 5.12018392e-02 9.98688323e-01 -6.54366724e-05 4.97382279e-01] [ 1.57963195e-02 -7.44348463e-04 9.99874953e-01 2.27384773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.539254153999995 meters Centerline goodness : 0.999675 Centerline is valid? [True, True] Translation: X:23.26, Y:0.50, Z:0.23 [[ 9.98415655e-01 -5.40006059e-02 -1.58150215e-02 2.32603168e+01] [ 5.40120882e-02 9.98540237e-01 2.99500408e-04 5.01212606e-01] [ 1.57757621e-02 -1.15322823e-03 9.99874890e-01 2.31957538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.569254153999996 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:23.29, Y:0.50, Z:0.23 [[ 9.98343222e-01 -5.53238161e-02 -1.58141418e-02 2.32936411e+01] [ 5.53321858e-02 9.98467997e-01 9.18713142e-05 5.03082539e-01] [ 1.57848318e-02 -9.66750135e-04 9.99874944e-01 2.33429801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.599254153999993 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:23.33, Y:0.50, Z:0.23 [[ 9.98541367e-01 -5.16241141e-02 -1.58142261e-02 2.33294231e+01] [ 5.16323496e-02 9.98666154e-01 1.12652028e-04 4.99807881e-01] [ 1.57873168e-02 -9.29013360e-04 9.99874941e-01 2.29219389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.629254153999995 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:23.35, Y:0.51, Z:0.23 [[ 9.98257296e-01 -5.68529835e-02 -1.58148114e-02 2.33516770e+01] [ 5.68649667e-02 9.98381831e-01 3.08705042e-04 5.06994082e-01] [ 1.57716695e-02 -1.20747578e-03 9.99874890e-01 2.33736062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.659254153999996 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:23.39, Y:0.51, Z:0.23 [[ 9.98262996e-01 -5.67531854e-02 -1.58134811e-02 2.33852149e+01] [ 5.67593749e-02 9.98387886e-01 -5.74899322e-05 5.07195962e-01] [ 1.57912507e-02 -8.40173232e-04 9.99874957e-01 2.34401841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.689254153999997 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:23.42, Y:0.51, Z:0.23 [[ 9.98333714e-01 -5.54953150e-02 -1.58134870e-02 2.34165466e+01] [ 5.55013736e-02 9.98458609e-01 -5.58172087e-05 5.06834736e-01] [ 1.57922099e-02 -8.21946050e-04 9.99874957e-01 2.34141953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.719254153999994 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:23.45, Y:0.51, Z:0.23 [[ 9.98356927e-01 -5.50761275e-02 -1.58134899e-02 2.34492914e+01] [ 5.50821467e-02 9.98481825e-01 -5.49890792e-05 5.06801312e-01] [ 1.57925108e-02 -8.16142243e-04 9.99874957e-01 2.34366491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.749254153999996 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:23.48, Y:0.51, Z:0.23 [[ 9.98398901e-01 -5.43099293e-02 -1.58134955e-02 2.34811325e+01] [ 5.43158787e-02 9.98523802e-01 -5.33399192e-05 5.06938776e-01] [ 1.57930485e-02 -8.05669386e-04 9.99874957e-01 2.34281170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.779254153999997 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:23.51, Y:0.51, Z:0.23 [[ 9.98435272e-01 -5.36371204e-02 -1.58134991e-02 2.35138997e+01] [ 5.36430028e-02 9.98560176e-01 -5.22506772e-05 5.07226515e-01] [ 1.57935330e-02 -7.96114656e-04 9.99874957e-01 2.34847366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.809254153999994 meters Centerline goodness : 0.999501 Centerline is valid? [True, True] Translation: X:23.55, Y:0.51, Z:0.23 [[ 9.98493930e-01 -5.25338352e-02 -1.58135043e-02 2.35463981e+01] [ 5.25396055e-02 9.98618840e-01 -5.06167022e-05 5.07590479e-01] [ 1.57943224e-02 -7.80294807e-04 9.99874957e-01 2.34784599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.839254153999995 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:23.58, Y:0.50, Z:0.24 [[ 9.98633112e-01 -4.98180657e-02 -1.58135077e-02 2.35815621e+01] [ 4.98235133e-02 9.98758036e-01 -4.95389134e-05 5.04891932e-01] [ 1.57963358e-02 -7.38413310e-04 9.99874957e-01 2.35793532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.869254153999997 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:23.61, Y:0.51, Z:0.24 [[ 9.98620853e-01 -5.00630887e-02 -1.58138664e-02 2.36097506e+01] [ 5.00705648e-02 9.98745680e-01 7.69323323e-05 5.06692092e-01] [ 1.57901793e-02 -8.68635453e-04 9.99874950e-01 2.35289061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.899254153999994 meters Centerline goodness : 0.999545 Centerline is valid? [True, True] Translation: X:23.64, Y:0.51, Z:0.24 [[ 9.98718435e-01 -4.80772438e-02 -1.58135083e-02 2.36430436e+01] [ 4.80825285e-02 9.98843365e-01 -4.60573614e-05 5.06344417e-01] [ 1.57974321e-02 -7.14355128e-04 9.99874958e-01 2.35792038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.929254153999995 meters Centerline goodness : 0.999674 Centerline is valid? [True, True] Translation: X:23.68, Y:0.51, Z:0.24 [[ 9.98764395e-01 -4.71128021e-02 -1.58135130e-02 2.36763227e+01] [ 4.71179926e-02 9.98889330e-01 -4.43875700e-05 5.06579860e-01] [ 1.57980406e-02 -7.00768263e-04 9.99874958e-01 2.36299154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.959254153999996 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:23.71, Y:0.51, Z:0.24 [[ 9.98799669e-01 -4.63589771e-02 -1.58135175e-02 2.37097297e+01] [ 4.63640997e-02 9.98924606e-01 -4.27177782e-05 5.06785361e-01] [ 1.57984921e-02 -6.90512999e-04 9.99874958e-01 2.37010925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.989254153999994 meters Centerline goodness : 0.999522 Centerline is valid? [True, True] Translation: X:23.74, Y:0.51, Z:0.24 [[ 9.98835707e-01 -4.55759016e-02 -1.58135218e-02 2.37413555e+01] [ 4.55809527e-02 9.98960647e-01 -4.10477974e-05 5.06918649e-01] [ 1.57989568e-02 -6.79795384e-04 9.99874958e-01 2.37307198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.019254153999995 meters Centerline goodness : 0.999588 Centerline is valid? [True, True] Translation: X:23.77, Y:0.51, Z:0.24 [[ 9.98889253e-01 -4.43868536e-02 -1.58135253e-02 2.37729928e+01] [ 4.43917777e-02 9.99014198e-01 -3.96644742e-05 5.05993315e-01] [ 1.57996969e-02 -6.62370083e-04 9.99874958e-01 2.37293580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.049254153999996 meters Centerline goodness : 0.999675 Centerline is valid? [True, True] Translation: X:23.81, Y:0.50, Z:0.24 [[ 9.98985391e-01 -4.21677728e-02 -1.58135314e-02 2.38092594e+01] [ 4.21724606e-02 9.99110345e-01 -3.70575306e-05 5.02816931e-01] [ 1.58010255e-02 -6.29875598e-04 9.99874958e-01 2.38672290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.079254153999994 meters Centerline goodness : 0.999566 Centerline is valid? [True, True] Translation: X:23.84, Y:0.50, Z:0.24 [[ 9.98842498e-01 -4.54266794e-02 -1.58139195e-02 2.38366923e+01] [ 4.54347903e-02 9.98967295e-01 1.53814742e-04 5.03299786e-01] [ 1.57906011e-02 -8.72138817e-04 9.99874940e-01 2.38588448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.109254153999995 meters Centerline goodness : 0.999654 Centerline is valid? [True, True] Translation: X:23.87, Y:0.50, Z:0.24 [[ 9.98802692e-01 -4.62937985e-02 -1.58134709e-02 2.38676067e+01] [ 4.62990007e-02 9.98927626e-01 -3.71640990e-05 5.02712538e-01] [ 1.57982334e-02 -6.95028300e-04 9.99874959e-01 2.37902527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.139254153999996 meters Centerline goodness : 0.999524 Centerline is valid? [True, True] Translation: X:23.90, Y:0.50, Z:0.24 [[ 9.98745620e-01 -4.75091659e-02 -1.58134729e-02 2.38987105e+01] [ 4.75145335e-02 9.98870546e-01 -3.63104882e-05 5.02164388e-01] [ 1.57973374e-02 -7.15104847e-04 9.99874959e-01 2.37266356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.169254153999994 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:23.93, Y:0.50, Z:0.24 [[ 9.98730483e-01 -4.78263218e-02 -1.58134774e-02 2.39315182e+01] [ 4.78317620e-02 9.98855406e-01 -3.42303962e-05 5.01825899e-01] [ 1.57970145e-02 -7.22199548e-04 9.99874959e-01 2.39266752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.199254153999995 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:23.96, Y:0.51, Z:0.23 [[ 9.98522854e-01 -5.19811788e-02 -1.58134809e-02 2.39571972e+01] [ 5.19871656e-02 9.98647752e-01 -3.25300022e-05 5.06092776e-01] [ 1.57937881e-02 -7.89616099e-04 9.99874959e-01 2.33897558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.229254153999996 meters Centerline goodness : 0.999547 Centerline is valid? [True, True] Translation: X:23.99, Y:0.50, Z:0.24 [[ 9.98674613e-01 -4.89792064e-02 -1.58131166e-02 2.39907065e+01] [ 4.89822895e-02 9.98799629e-01 -1.92503660e-04 5.01032540e-01] [ 1.58035637e-02 -5.82314138e-04 9.99874946e-01 2.38217853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.259254153999994 meters Centerline goodness : 0.999675 Centerline is valid? [True, True] Translation: X:24.02, Y:0.50, Z:0.24 [[ 9.98688352e-01 -4.86981558e-02 -1.58134255e-02 2.40240168e+01] [ 4.87037712e-02 9.98813267e-01 -3.00426178e-05 5.00739315e-01] [ 1.57961222e-02 -7.40170244e-04 9.99874960e-01 2.40540430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.289254153999995 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:24.06, Y:0.50, Z:0.24 [[ 9.98716842e-01 -4.81103380e-02 -1.58134285e-02 2.40562313e+01] [ 4.81159064e-02 9.98841759e-01 -2.83667646e-05 5.00616718e-01] [ 1.57964774e-02 -7.32547079e-04 9.99874960e-01 2.41035243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.319254153999996 meters Centerline goodness : 0.999544 Centerline is valid? [True, True] Translation: X:24.09, Y:0.50, Z:0.24 [[ 9.98729018e-01 -4.78569048e-02 -1.58134308e-02 2.40896892e+01] [ 4.78624634e-02 9.98853935e-01 -2.69797425e-05 5.00960408e-01] [ 1.57965988e-02 -7.29924303e-04 9.99874960e-01 2.42157607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.349254153999993 meters Centerline goodness : 0.999676 Centerline is valid? [True, True] Translation: X:24.12, Y:0.50, Z:0.24 [[ 9.98773907e-01 -4.69107446e-02 -1.58134335e-02 2.41228501e+01] [ 4.69162111e-02 9.98898828e-01 -2.53180251e-05 5.01002798e-01] [ 1.57972079e-02 -7.16619401e-04 9.99874960e-01 2.43192566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.379254153999995 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:24.15, Y:0.50, Z:0.24 [[ 9.98834183e-01 -4.56093287e-02 -1.58134360e-02 2.41539466e+01] [ 4.56146588e-02 9.98959109e-01 -2.36482420e-05 5.00922367e-01] [ 1.57980545e-02 -6.97703815e-04 9.99874960e-01 2.43434496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.409254153999996 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:24.19, Y:0.50, Z:0.24 [[ 9.98862425e-01 -4.49865647e-02 -1.58134372e-02 2.41857637e+01] [ 4.49918299e-02 9.98987355e-01 -2.28200259e-05 5.01053513e-01] [ 1.57984504e-02 -6.88681411e-04 9.99874960e-01 2.44188370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.439254153999993 meters Centerline goodness : 0.999589 Centerline is valid? [True, True] Translation: X:24.22, Y:0.50, Z:0.25 [[ 9.98894100e-01 -4.42776782e-02 -1.58134387e-02 2.42174834e+01] [ 4.42828720e-02 9.99019032e-01 -2.17318930e-05 5.01352932e-01] [ 1.57988885e-02 -6.78556622e-04 9.99874960e-01 2.45020955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.469254153999994 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:24.24, Y:0.51, Z:0.24 [[ 9.98744778e-01 -4.75268723e-02 -1.58134401e-02 2.42430616e+01] [ 4.75324896e-02 9.98869692e-01 -2.06474849e-05 5.07019285e-01] [ 1.57965474e-02 -7.31030610e-04 9.99874960e-01 2.40850733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.499254153999996 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:24.28, Y:0.50, Z:0.25 [[ 9.98907453e-01 -4.39754940e-02 -1.58131781e-02 2.42774858e+01] [ 4.39781042e-02 9.99032478e-01 -1.82804404e-04 5.01564441e-01] [ 1.58059174e-02 -5.12828914e-04 9.99874947e-01 2.45997803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.529254153999997 meters Centerline goodness : 0.999567 Centerline is valid? [True, True] Translation: X:24.31, Y:0.50, Z:0.25 [[ 9.98811430e-01 -4.61049365e-02 -1.58133725e-02 2.43098002e+01] [ 4.61104065e-02 9.98936349e-01 -1.87115889e-05 5.01078781e-01] [ 1.57974153e-02 -7.10471686e-04 9.99874961e-01 2.46497431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.559254153999994 meters Centerline goodness : 0.999675 Centerline is valid? [True, True] Translation: X:24.34, Y:0.50, Z:0.25 [[ 9.98746203e-01 -4.74969494e-02 -1.58133737e-02 2.43418288e+01] [ 4.75026101e-02 9.98871114e-01 -1.76570355e-05 5.00595265e-01] [ 1.57963608e-02 -7.33541628e-04 9.99874961e-01 2.47028097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.589254153999995 meters Centerline goodness : 0.999654 Centerline is valid? [True, True] Translation: X:24.37, Y:0.50, Z:0.25 [[ 9.98672303e-01 -4.90261928e-02 -1.58133748e-02 2.43735578e+01] [ 4.90320615e-02 9.98797205e-01 -1.66052665e-05 4.99861502e-01] [ 1.57951686e-02 -7.58779145e-04 9.99874961e-01 2.46741339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.619254153999997 meters Centerline goodness : 0.999589 Centerline is valid? [True, True] Translation: X:24.41, Y:0.50, Z:0.25 [[ 9.98523745e-01 -5.19640975e-02 -1.58133758e-02 2.44059221e+01] [ 5.19703501e-02 9.98648628e-01 -1.55574899e-05 4.98986349e-01] [ 1.57928145e-02 -8.06292155e-04 9.99874961e-01 2.46011405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.649254153999994 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:24.44, Y:0.50, Z:0.25 [[ 9.98473264e-01 -5.29252188e-02 -1.58133768e-02 2.44386423e+01] [ 5.29316081e-02 9.98598140e-01 -1.45149899e-05 4.98362531e-01] [ 1.57919768e-02 -8.22534632e-04 9.99874961e-01 2.46157151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.679254153999995 meters Centerline goodness : 0.999481 Centerline is valid? [True, True] Translation: X:24.47, Y:0.50, Z:0.25 [[ 9.98398519e-01 -5.43169841e-02 -1.58133781e-02 2.44705063e+01] [ 5.43235731e-02 9.98523384e-01 -1.28899703e-05 4.97540393e-01] [ 1.57907280e-02 -8.46169874e-04 9.99874961e-01 2.47174192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.709254153999996 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] Translation: X:24.50, Y:0.50, Z:0.25 [[ 9.98406411e-01 -5.41717266e-02 -1.58133789e-02 2.45023633e+01] [ 5.41783144e-02 9.98531276e-01 -1.18168096e-05 4.96997779e-01] [ 1.57907936e-02 -8.44944235e-04 9.99874961e-01 2.49474368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.739254153999994 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:24.53, Y:0.50, Z:0.24 [[ 9.98214893e-01 -5.75931003e-02 -1.58133797e-02 2.45301954e+01] [ 5.76001338e-02 9.98339734e-01 -1.06920671e-05 5.01401679e-01] [ 1.57877410e-02 -9.00179803e-04 9.99874961e-01 2.44091447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.769254153999995 meters Centerline goodness : 0.999676 Centerline is valid? [True, True] Translation: X:24.56, Y:0.50, Z:0.25 [[ 9.98454485e-01 -5.32783337e-02 -1.58132776e-02 2.45646528e+01] [ 5.32832462e-02 9.98579433e-01 -1.10793080e-04 4.96803358e-01] [ 1.57967167e-02 -7.31960918e-04 9.99874956e-01 2.50531520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.799254153999996 meters Centerline goodness : 0.999589 Centerline is valid? [True, True] Translation: X:24.60, Y:0.50, Z:0.25 [[ 9.98527014e-01 -5.19012586e-02 -1.58133533e-02 2.45972984e+01] [ 5.19075578e-02 9.98651894e-01 -1.21107351e-05 4.96524754e-01] [ 1.57926638e-02 -8.08739654e-04 9.99874961e-01 2.54207528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.829254153999994 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:24.63, Y:0.50, Z:0.25 [[ 9.98712969e-01 -4.81906942e-02 -1.58133544e-02 2.46284771e+01] [ 4.81965573e-02 9.98837871e-01 -1.03410436e-05 4.96553529e-01] [ 1.57954756e-02 -7.51821509e-04 9.99874961e-01 2.52415431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.859254153999995 meters Centerline goodness : 0.999675 Centerline is valid? [True, True] Translation: X:24.66, Y:0.50, Z:0.26 [[ 9.98811906e-01 -4.60946131e-02 -1.58133550e-02 2.46601863e+01] [ 4.61002279e-02 9.98936819e-01 -9.46540692e-06 4.96643149e-01] [ 1.57969788e-02 -7.19545107e-04 9.99874961e-01 2.56773786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.889254153999996 meters Centerline goodness : 0.999633 Centerline is valid? [True, True] Translation: X:24.69, Y:0.50, Z:0.26 [[ 9.98911668e-01 -4.38795667e-02 -1.58133556e-02 2.46926649e+01] [ 4.38849220e-02 9.99036593e-01 -8.35779616e-06 4.96366245e-01] [ 1.57984876e-02 -6.85619176e-04 9.99874961e-01 2.58603420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.919254153999994 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:24.72, Y:0.50, Z:0.26 [[ 9.98993722e-01 -4.19700010e-02 -1.58133561e-02 2.47248503e+01] [ 4.19751356e-02 9.99118656e-01 -7.21283747e-06 4.95741934e-01] [ 1.57997218e-02 -6.56562186e-04 9.99874961e-01 2.59559725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.949254153999995 meters Centerline goodness : 0.999481 Centerline is valid? [True, True] Translation: X:24.76, Y:0.49, Z:0.26 [[ 9.99131130e-01 -3.85606478e-02 -1.58133565e-02 2.47574516e+01] [ 3.85653742e-02 9.99256079e-01 -6.05632072e-06 4.94123139e-01] [ 1.58018262e-02 -6.03796954e-04 9.99874961e-01 2.59452379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.979254153999996 meters Centerline goodness : 0.999589 Centerline is valid? [True, True] Translation: X:24.79, Y:0.49, Z:0.26 [[ 9.99255702e-01 -3.51849501e-02 -1.58133569e-02 2.47891921e+01] [ 3.51892727e-02 9.99380666e-01 -4.89917957e-06 4.92762699e-01] [ 1.58037355e-02 -5.51564995e-04 9.99874961e-01 2.59344243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.009254153999994 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:24.82, Y:0.49, Z:0.26 [[ 9.99318801e-01 -3.33447348e-02 -1.58133572e-02 2.48214003e+01] [ 3.33488456e-02 9.99443773e-01 -3.73929414e-06 4.92326826e-01] [ 1.58046860e-02 -5.23620459e-04 9.99874961e-01 2.59758182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.039254153999995 meters Centerline goodness : 0.999438 Centerline is valid? [True, True] Translation: X:24.85, Y:0.49, Z:0.26 [[ 9.99381868e-01 -3.13977620e-02 -1.58133573e-02 2.48522546e+01] [ 3.14016478e-02 9.99506847e-01 -2.57072188e-06 4.92110037e-01] [ 1.58056397e-02 -4.93996345e-04 9.99874961e-01 2.59691392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.069254153999996 meters Centerline goodness : 0.999632 Centerline is valid? [True, True] Translation: X:24.88, Y:0.49, Z:0.26 [[ 9.99493111e-01 -2.76307633e-02 -1.58133574e-02 2.48836969e+01] [ 2.76341918e-02 9.99618103e-01 -1.70074295e-06 4.91411649e-01] [ 1.58073654e-02 -4.35289471e-04 9.99874961e-01 2.60085660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.099254153999993 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:24.91, Y:0.49, Z:0.26 [[ 9.99538972e-01 -2.59187409e-02 -1.58133574e-02 2.49145889e+01] [ 2.59219852e-02 9.99663969e-01 1.92798102e-07 4.90953440e-01] [ 1.58080386e-02 -4.10106326e-04 9.99874961e-01 2.61163303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.129254153999995 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:24.95, Y:0.49, Z:0.26 [[ 9.99574830e-01 -2.44968888e-02 -1.58133574e-02 2.49455796e+01] [ 2.44999644e-02 9.99699831e-01 7.63822978e-07 4.90355854e-01] [ 1.58085920e-02 -3.88190191e-04 9.99874961e-01 2.61372975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.159254153999996 meters Centerline goodness : 0.999372 Centerline is valid? [True, True] Translation: X:24.98, Y:0.49, Z:0.26 [[ 9.99625577e-01 -2.23303269e-02 -1.58133573e-02 2.49767414e+01] [ 2.23331404e-02 9.99750584e-01 1.33045767e-06 4.89036810e-01] [ 1.58093835e-02 -3.54491890e-04 9.99874961e-01 2.61767335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.189254153999993 meters Centerline goodness : 0.999480 Centerline is valid? [True, True] Translation: X:25.01, Y:0.49, Z:0.26 [[ 9.99636119e-01 -2.18532949e-02 -1.58133573e-02 2.50070818e+01] [ 2.18560577e-02 9.99761128e-01 1.89554557e-06 4.88416687e-01] [ 1.58095385e-02 -3.47512505e-04 9.99874961e-01 2.63091618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.219254153999994 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:25.04, Y:0.49, Z:0.26 [[ 9.99636625e-01 -2.18301763e-02 -1.58133573e-02 2.50364640e+01] [ 2.18329363e-02 9.99761633e-01 1.89554557e-06 4.87411097e-01] [ 1.58095465e-02 -3.47146878e-04 9.99874961e-01 2.63379811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.249254153999996 meters Centerline goodness : 0.999568 Centerline is valid? [True, True] Translation: X:25.07, Y:0.49, Z:0.26 [[ 9.99629576e-01 -2.21505688e-02 -1.58133573e-02 2.50672837e+01] [ 2.21533643e-02 9.99754584e-01 1.61044843e-06 4.86538888e-01] [ 1.58094408e-02 -3.51928917e-04 9.99874961e-01 2.63770574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.279254153999993 meters Centerline goodness : 0.999524 Centerline is valid? [True, True] Translation: X:25.10, Y:0.48, Z:0.26 [[ 9.99593783e-01 -2.37109145e-02 -1.58133573e-02 2.50974457e+01] [ 2.37139052e-02 9.99718786e-01 1.61044843e-06 4.84585814e-01] [ 1.58088722e-02 -3.76606249e-04 9.99874961e-01 2.64185100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.309254153999994 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:25.13, Y:0.48, Z:0.26 [[ 9.99517126e-01 -2.67479370e-02 -1.58133573e-02 2.51278366e+01] [ 2.67513074e-02 9.99642120e-01 1.61044843e-06 4.82506512e-01] [ 1.58076549e-02 -4.24637654e-04 9.99874961e-01 2.64305168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.339254153999995 meters Centerline goodness : 0.999507 Centerline is valid? [True, True] Translation: X:25.16, Y:0.48, Z:0.26 [[ 9.99412967e-01 -3.03917453e-02 -1.58133573e-02 2.51587307e+01] [ 3.03955714e-02 9.99537948e-01 1.61044843e-06 4.80091100e-01] [ 1.58060018e-02 -4.82265534e-04 9.99874961e-01 2.64375647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.369254153999997 meters Centerline goodness : 0.999507 Centerline is valid? [True, True] Translation: X:25.19, Y:0.48, Z:0.26 [[ 9.99415169e-01 -3.03192689e-02 -1.58133569e-02 2.51914195e+01] [ 3.03231170e-02 9.99540149e-01 3.57555494e-06 4.80022624e-01] [ 1.58059767e-02 -4.83083734e-04 9.99874961e-01 2.64891956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.399254153999994 meters Centerline goodness : 0.999572 Centerline is valid? [True, True] Translation: X:25.22, Y:0.48, Z:0.26 [[ 9.99281781e-01 -3.44363058e-02 -1.58133565e-02 2.52224958e+01] [ 3.44406869e-02 9.99406744e-01 4.72197334e-06 4.78202063e-01] [ 1.58038125e-02 -5.49341442e-04 9.99874961e-01 2.64776254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.429254153999995 meters Centerline goodness : 0.999379 Centerline is valid? [True, True] Translation: X:25.26, Y:0.48, Z:0.27 [[ 9.99207065e-01 -3.65401042e-02 -1.58133562e-02 2.52551110e+01] [ 3.65447618e-02 9.99332017e-01 5.57593731e-06 4.77235079e-01] [ 1.58025894e-02 -5.83466853e-04 9.99874961e-01 2.66436540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.459254153999996 meters Centerline goodness : 0.999359 Centerline is valid? [True, True] Translation: X:25.29, Y:0.48, Z:0.27 [[ 9.99134660e-01 -3.84690777e-02 -1.58133557e-02 2.52867437e+01] [ 3.84739949e-02 9.99259602e-01 6.73895142e-06 4.76347745e-01] [ 1.58013883e-02 -6.15136088e-04 9.99874961e-01 2.66412100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.489254153999994 meters Centerline goodness : 0.999487 Centerline is valid? [True, True] Translation: X:25.32, Y:0.47, Z:0.27 [[ 9.99018301e-01 -4.13808144e-02 -1.58133547e-02 2.53189588e+01] [ 4.13861246e-02 9.99143227e-01 8.56690312e-06 4.74027816e-01] [ 1.57994518e-02 -6.63011963e-04 9.99874961e-01 2.67529226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.519254153999995 meters Centerline goodness : 0.999552 Centerline is valid? [True, True] Translation: X:25.35, Y:0.47, Z:0.27 [[ 9.98974586e-01 -4.24230352e-02 -1.58133540e-02 2.53512299e+01] [ 4.24284938e-02 9.99099506e-01 9.70809655e-06 4.72876407e-01] [ 1.57987023e-02 -6.80634935e-04 9.99874961e-01 2.67793606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.549254153999996 meters Centerline goodness : 0.999552 Centerline is valid? [True, True] Translation: X:25.38, Y:0.47, Z:0.27 [[ 9.98977655e-01 -4.23507037e-02 -1.58133532e-02 2.53839187e+01] [ 4.23561713e-02 9.99102575e-01 1.08524442e-05 4.72792694e-01] [ 1.57987023e-02 -6.80634448e-04 9.99874961e-01 2.68310205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.579254153999994 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:25.42, Y:0.47, Z:0.27 [[ 9.98922866e-01 -4.36239223e-02 -1.58133524e-02 2.54161113e+01] [ 4.36295673e-02 9.99047777e-01 1.19972773e-05 4.71956799e-01] [ 1.57977712e-02 -7.01914075e-04 9.99874961e-01 2.69110780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.609254153999995 meters Centerline goodness : 0.999382 Centerline is valid? [True, True] Translation: X:25.45, Y:0.47, Z:0.27 [[ 9.98904198e-01 -4.40493082e-02 -1.58133514e-02 2.54481215e+01] [ 4.40550245e-02 9.99029106e-01 1.31495872e-05 4.72083676e-01] [ 1.57974191e-02 -7.09792762e-04 9.99874961e-01 2.69383658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.639254153999996 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:25.48, Y:0.47, Z:0.27 [[ 9.98901081e-01 -4.41199211e-02 -1.58133504e-02 2.54807289e+01] [ 4.41256643e-02 9.99025988e-01 1.42939346e-05 4.72108740e-01] [ 1.57973173e-02 -7.12052817e-04 9.99874961e-01 2.70504206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.669254153999994 meters Centerline goodness : 0.999489 Centerline is valid? [True, True] Translation: X:25.51, Y:0.47, Z:0.27 [[ 9.98908132e-01 -4.39600061e-02 -1.58133492e-02 2.55119906e+01] [ 4.39657480e-02 9.99033039e-01 1.54763678e-05 4.72354446e-01] [ 1.57973780e-02 -7.10705197e-04 9.99874961e-01 2.70400390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.699254153999995 meters Centerline goodness : 0.999210 Centerline is valid? [True, True] Translation: X:25.54, Y:0.47, Z:0.27 [[ 9.98928628e-01 -4.34917632e-02 -1.58133483e-02 2.55434294e+01] [ 4.34974605e-02 9.99053537e-01 1.63562064e-05 4.72500401e-01] [ 1.57976702e-02 -7.04179177e-04 9.99874961e-01 2.70100563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.729254153999996 meters Centerline goodness : 0.999616 Centerline is valid? [True, True] Translation: X:25.57, Y:0.47, Z:0.27 [[ 9.98947101e-01 -4.30653816e-02 -1.58133474e-02 2.55748452e+01] [ 4.30710392e-02 9.99072012e-01 1.72217064e-05 4.72458352e-01] [ 1.57979311e-02 -6.98300878e-04 9.99874961e-01 2.69752531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.759254153999994 meters Centerline goodness : 0.999425 Centerline is valid? [True, True] Translation: X:25.61, Y:0.47, Z:0.27 [[ 9.98941794e-01 -4.31883123e-02 -1.58133464e-02 2.56066312e+01] [ 4.31939988e-02 9.99066704e-01 1.80784824e-05 4.72751876e-01] [ 1.57978071e-02 -7.01101017e-04 9.99874961e-01 2.70473134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.789254153999995 meters Centerline goodness : 0.999467 Centerline is valid? [True, True] Translation: X:25.64, Y:0.47, Z:0.27 [[ 9.98924105e-01 -4.35955300e-02 -1.58133450e-02 2.56392266e+01] [ 4.36012852e-02 9.99049012e-01 1.92021648e-05 4.72970292e-01] [ 1.57974696e-02 -7.08663671e-04 9.99874961e-01 2.71782142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.819254153999996 meters Centerline goodness : 0.999445 Centerline is valid? [True, True] Translation: X:25.67, Y:0.47, Z:0.27 [[ 9.98850494e-01 -4.52507220e-02 -1.58133436e-02 2.56710410e+01] [ 4.52567023e-02 9.98975390e-01 2.03480954e-05 4.72348464e-01] [ 1.57962203e-02 -7.35984486e-04 9.99874961e-01 2.71837968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.849254153999993 meters Centerline goodness : 0.999233 Centerline is valid? [True, True] Translation: X:25.70, Y:0.47, Z:0.27 [[ 9.98815591e-01 -4.60147004e-02 -1.58133396e-02 2.57028858e+01] [ 4.60208190e-02 9.98940481e-01 2.30610274e-05 4.72062074e-01] [ 1.57955239e-02 -7.50776554e-04 9.99874961e-01 2.71810044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.879254153999995 meters Centerline goodness : 0.999319 Centerline is valid? [True, True] Translation: X:25.74, Y:0.47, Z:0.27 [[ 9.98740656e-01 -4.76134445e-02 -1.58133379e-02 2.57354456e+01] [ 4.76197807e-02 9.98865534e-01 2.41781797e-05 4.71816731e-01] [ 1.57942470e-02 -7.77175413e-04 9.99874961e-01 2.71701656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.909254153999996 meters Centerline goodness : 0.999445 Centerline is valid? [True, True] Translation: X:25.77, Y:0.47, Z:0.27 [[ 9.98716989e-01 -4.81073193e-02 -1.58133361e-02 2.57675543e+01] [ 4.81137348e-02 9.98841863e-01 2.52878463e-05 4.71836206e-01] [ 1.57938056e-02 -7.86094062e-04 9.99874961e-01 2.72989305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.939254153999993 meters Centerline goodness : 0.999595 Centerline is valid? [True, True] Translation: X:25.80, Y:0.47, Z:0.28 [[ 9.98709280e-01 -4.82670896e-02 -1.58133342e-02 2.58012778e+01] [ 4.82735430e-02 9.98834153e-01 2.64243394e-05 4.71985129e-01] [ 1.57936229e-02 -7.89755902e-04 9.99874961e-01 2.75599983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.969254153999994 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:25.83, Y:0.47, Z:0.28 [[ 9.98715802e-01 -4.81319971e-02 -1.58132124e-02 2.58309677e+01] [ 4.81395153e-02 9.98840617e-01 9.49159918e-05 4.72683076e-01] [ 1.57903104e-02 -8.56034483e-04 9.99874959e-01 2.75216428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.999254153999996 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:25.86, Y:0.47, Z:0.28 [[ 9.98731747e-01 -4.77999496e-02 -1.58133309e-02 2.58628823e+01] [ 4.78063688e-02 9.98856622e-01 2.79582490e-05 4.72764475e-01] [ 1.57939138e-02 -7.83900718e-04 9.99874961e-01 2.77396374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.029254153999993 meters Centerline goodness : 0.999296 Centerline is valid? [True, True] Translation: X:25.89, Y:0.47, Z:0.27 [[ 9.98837499e-01 -4.55366903e-02 -1.58133287e-02 2.58910976e+01] [ 4.55428447e-02 9.98962386e-01 2.91041785e-05 4.72322208e-01] [ 1.57955953e-02 -7.49254320e-04 9.99874961e-01 2.74842621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.059254153999994 meters Centerline goodness : 0.999466 Centerline is valid? [True, True] Translation: X:25.93, Y:0.47, Z:0.28 [[ 9.98763140e-01 -4.71393824e-02 -1.58135717e-02 2.59264494e+01] [ 4.71435840e-02 9.98888117e-01 -1.07180934e-04 4.72708356e-01] [ 1.58010413e-02 -6.38460081e-04 9.99874952e-01 2.79805829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.089254153999995 meters Centerline goodness : 0.999530 Centerline is valid? [True, True] Translation: X:25.96, Y:0.47, Z:0.28 [[ 9.98791742e-01 -4.65295217e-02 -1.58132865e-02 2.59574099e+01] [ 4.65358514e-02 9.98916620e-01 3.23470363e-05 4.72925894e-01] [ 1.57946496e-02 -7.68192702e-04 9.99874962e-01 2.80539053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.119254153999993 meters Centerline goodness : 0.999210 Centerline is valid? [True, True] Translation: X:25.99, Y:0.47, Z:0.28 [[ 9.98799304e-01 -4.63668995e-02 -1.58132847e-02 2.59892471e+01] [ 4.63732223e-02 9.98924183e-01 3.31998238e-05 4.73095398e-01] [ 1.57947331e-02 -7.66472928e-04 9.99874962e-01 2.80979204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.149254153999994 meters Centerline goodness : 0.999295 Centerline is valid? [True, True] Translation: X:26.02, Y:0.47, Z:0.28 [[ 9.98799929e-01 -4.63534398e-02 -1.58132822e-02 2.60222943e+01] [ 4.63597787e-02 9.98924807e-01 3.43245594e-05 4.72804375e-01] [ 1.57946888e-02 -7.67383633e-04 9.99874962e-01 2.81468910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.179254153999995 meters Centerline goodness : 0.999273 Centerline is valid? [True, True] Translation: X:26.05, Y:0.47, Z:0.28 [[ 9.98793350e-01 -4.64949999e-02 -1.58132783e-02 2.60542862e+01] [ 4.65013839e-02 9.98918225e-01 3.60652391e-05 4.72473718e-01] [ 1.57944950e-02 -7.71361045e-04 9.99874962e-01 2.81452509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.209254153999996 meters Centerline goodness : 0.999188 Centerline is valid? [True, True] Translation: X:26.09, Y:0.47, Z:0.28 [[ 9.98789501e-01 -4.65775917e-02 -1.58132756e-02 2.60878350e+01] [ 4.65840043e-02 9.98914375e-01 3.72117773e-05 4.71934421e-01] [ 1.57943751e-02 -7.73812429e-04 9.99874962e-01 2.81236165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.239254153999994 meters Centerline goodness : 0.999530 Centerline is valid? [True, True] Translation: X:26.12, Y:0.47, Z:0.28 [[ 9.98753482e-01 -4.73436563e-02 -1.58132713e-02 2.61198058e+01] [ 4.73501919e-02 9.98878350e-01 3.89398136e-05 4.71328781e-01] [ 1.57936908e-02 -7.87652705e-04 9.99874962e-01 2.80121935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.269254153999995 meters Centerline goodness : 0.999338 Centerline is valid? [True, True] Translation: X:26.15, Y:0.47, Z:0.28 [[ 9.98726988e-01 -4.78993132e-02 -1.58132779e-02 2.61520054e+01] [ 4.79058771e-02 9.98851854e-01 3.63356041e-05 4.70888580e-01] [ 1.57933815e-02 -7.93838299e-04 9.99874962e-01 2.81076217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.299254153999996 meters Centerline goodness : 0.999531 Centerline is valid? [True, True] Translation: X:26.19, Y:0.47, Z:0.28 [[ 9.98704837e-01 -4.83589624e-02 -1.58132601e-02 2.61850702e+01] [ 4.83656877e-02 9.98829694e-01 4.29195128e-05 4.70847104e-01] [ 1.57926782e-02 -8.07683124e-04 9.99874962e-01 2.82393070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.329254153999994 meters Centerline goodness : 0.999360 Centerline is valid? [True, True] Translation: X:26.22, Y:0.47, Z:0.28 [[ 9.98680971e-01 -4.88493522e-02 -1.58132551e-02 2.62159048e+01] [ 4.88561669e-02 9.98805823e-01 4.46909471e-05 4.70806756e-01] [ 1.57921881e-02 -8.17207027e-04 9.99874962e-01 2.81759996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.359254153999995 meters Centerline goodness : 0.999487 Centerline is valid? [True, True] Translation: X:26.25, Y:0.47, Z:0.28 [[ 9.98662073e-01 -4.92341830e-02 -1.58132525e-02 2.62472899e+01] [ 4.92410596e-02 9.98786922e-01 4.55678144e-05 4.70633368e-01] [ 1.57918263e-02 -8.24168159e-04 9.99874962e-01 2.82533171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.389254153999996 meters Centerline goodness : 0.999595 Centerline is valid? [True, True] Translation: X:26.28, Y:0.47, Z:0.29 [[ 9.98603209e-01 -5.04140139e-02 -1.58132501e-02 2.62798701e+01] [ 5.04210511e-02 9.98728049e-01 4.63966980e-05 4.70255358e-01] [ 1.57907974e-02 -8.43652584e-04 9.99874962e-01 2.85186385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.419254153999994 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:26.31, Y:0.47, Z:0.29 [[ 9.98578111e-01 -5.09087263e-02 -1.58132466e-02 2.63131177e+01] [ 5.09158440e-02 9.98702946e-01 4.75792576e-05 4.69794974e-01] [ 1.57903137e-02 -8.52656401e-04 9.99874962e-01 2.85801052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.449254153999995 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:26.34, Y:0.47, Z:0.29 [[ 9.98527185e-01 -5.18979913e-02 -1.58132410e-02 2.63441166e+01] [ 5.19052606e-02 9.98652012e-01 4.93481676e-05 4.69440904e-01] [ 1.57893639e-02 -8.70065884e-04 9.99874962e-01 2.85247852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.479254153999996 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:26.38, Y:0.47, Z:0.29 [[ 9.98505818e-01 -5.23074926e-02 -1.58132383e-02 2.63770818e+01] [ 5.23148270e-02 9.98630641e-01 5.02242764e-05 4.69554492e-01] [ 1.57889571e-02 -8.77416056e-04 9.99874962e-01 2.87665885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.509254153999994 meters Centerline goodness : 0.999340 Centerline is valid? [True, True] Translation: X:26.41, Y:0.47, Z:0.29 [[ 9.98499534e-01 -5.24273095e-02 -1.58132325e-02 2.64101886e+01] [ 5.24346867e-02 9.98624354e-01 5.19841371e-05 4.69540123e-01] [ 1.57887537e-02 -8.81068026e-04 9.99874962e-01 2.88079786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.539254153999995 meters Centerline goodness : 0.999511 Centerline is valid? [True, True] Translation: X:26.44, Y:0.47, Z:0.29 [[ 9.98424408e-01 -5.38390551e-02 -1.58132265e-02 2.64423199e+01] [ 5.38466364e-02 9.98549216e-01 5.37388147e-05 4.69188708e-01] [ 1.57873917e-02 -9.05143202e-04 9.99874962e-01 2.87479501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.569254153999996 meters Centerline goodness : 0.999233 Centerline is valid? [True, True] Translation: X:26.48, Y:0.47, Z:0.29 [[ 9.98404842e-01 -5.42006716e-02 -1.58132214e-02 2.64756362e+01] [ 5.42083211e-02 9.98529646e-01 5.51932676e-05 4.68752321e-01] [ 1.57869789e-02 -9.12313410e-04 9.99874962e-01 2.89400210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.599254153999993 meters Centerline goodness : 0.999489 Centerline is valid? [True, True] Translation: X:26.51, Y:0.47, Z:0.29 [[ 9.98361955e-01 -5.49849914e-02 -1.58132151e-02 2.65082365e+01] [ 5.49927664e-02 9.98486751e-01 5.69405391e-05 4.68347148e-01] [ 1.57861549e-02 -9.26459714e-04 9.99874962e-01 2.90331581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.629254153999995 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:26.54, Y:0.47, Z:0.29 [[ 9.98363663e-01 -5.49539753e-02 -1.58132086e-02 2.65405484e+01] [ 5.49617742e-02 9.98488458e-01 5.86954243e-05 4.68002933e-01] [ 1.57860807e-02 -9.27721381e-04 9.99874962e-01 2.90405048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.659254153999996 meters Centerline goodness : 0.999341 Centerline is valid? [True, True] Translation: X:26.57, Y:0.47, Z:0.29 [[ 9.98374598e-01 -5.47549548e-02 -1.58132031e-02 2.65722100e+01] [ 5.47627517e-02 9.98499393e-01 6.01498755e-05 4.68005911e-01] [ 1.57861802e-02 -9.26026623e-04 9.99874962e-01 2.90722623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.689254153999993 meters Centerline goodness : 0.999235 Centerline is valid? [True, True] Translation: X:26.60, Y:0.47, Z:0.29 [[ 9.98404019e-01 -5.42158396e-02 -1.58131975e-02 2.66048069e+01] [ 5.42235918e-02 9.98528817e-01 6.15776356e-05 4.68311130e-01] [ 1.57865949e-02 -9.18927726e-04 9.99874962e-01 2.91460603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.719254153999994 meters Centerline goodness : 0.999232 Centerline is valid? [True, True] Translation: X:26.64, Y:0.47, Z:0.29 [[ 9.98511901e-01 -5.21912429e-02 -1.58131906e-02 2.66382349e+01] [ 5.21987692e-02 9.98636713e-01 6.32984809e-05 4.69261545e-01] [ 1.57883291e-02 -8.88633375e-04 9.99874962e-01 2.92698806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.749254153999996 meters Centerline goodness : 0.999425 Centerline is valid? [True, True] Translation: X:26.67, Y:0.47, Z:0.29 [[ 9.98658312e-01 -4.93104448e-02 -1.58131834e-02 2.66705132e+01] [ 4.93176389e-02 9.98783143e-01 6.50689226e-05 4.69960839e-01] [ 1.57907324e-02 -8.44850487e-04 9.99874962e-01 2.93389290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.779254153999993 meters Centerline goodness : 0.999445 Centerline is valid? [True, True] Translation: X:26.70, Y:0.47, Z:0.29 [[ 9.98724380e-01 -4.79536855e-02 -1.58131772e-02 2.67031458e+01] [ 4.79607331e-02 9.98849220e-01 6.65336619e-05 4.70540424e-01] [ 1.57917892e-02 -8.24860361e-04 9.99874962e-01 2.94272553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.809254153999994 meters Centerline goodness : 0.999465 Centerline is valid? [True, True] Translation: X:26.74, Y:0.47, Z:0.29 [[ 9.98796167e-01 -4.64344726e-02 -1.58131696e-02 2.67353282e+01] [ 4.64413580e-02 9.98921016e-01 6.82900574e-05 4.70928497e-01] [ 1.57929364e-02 -8.02592919e-04 9.99874962e-01 2.94729138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.839254153999995 meters Centerline goodness : 0.999466 Centerline is valid? [True, True] Translation: X:26.77, Y:0.47, Z:0.29 [[ 9.98868657e-01 -4.48480687e-02 -1.58131645e-02 2.67679803e+01] [ 4.48547744e-02 9.98993516e-01 6.94640943e-05 4.71146614e-01] [ 1.57941334e-02 -7.78681431e-04 9.99874962e-01 2.94964290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.869254153999993 meters Centerline goodness : 0.999337 Centerline is valid? [True, True] Translation: X:26.80, Y:0.47, Z:0.29 [[ 9.98973416e-01 -4.24506509e-02 -1.58131565e-02 2.68003837e+01] [ 4.24570848e-02 9.99098289e-01 7.12297132e-05 4.72023216e-01] [ 1.57958739e-02 -7.42537117e-04 9.99874962e-01 2.94654763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.899254153999994 meters Centerline goodness : 0.999488 Centerline is valid? [True, True] Translation: X:26.83, Y:0.47, Z:0.29 [[ 9.99017616e-01 -4.13974271e-02 -1.58131511e-02 2.68320940e+01] [ 4.14037478e-02 9.99142495e-01 7.24025963e-05 4.72509891e-01] [ 1.57965940e-02 -7.27055191e-04 9.99874962e-01 2.93956730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.929254153999995 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:26.86, Y:0.47, Z:0.29 [[ 9.99029143e-01 -4.11183227e-02 -1.58131457e-02 2.68642098e+01] [ 4.11246269e-02 9.99154022e-01 7.35645935e-05 4.72204783e-01] [ 1.57967433e-02 -7.23802891e-04 9.99874962e-01 2.94295012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.959254153999993 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:26.90, Y:0.47, Z:0.29 [[ 9.99147944e-01 -3.81225741e-02 -1.58131403e-02 2.69004054e+01] [ 3.81285220e-02 9.99272841e-01 7.47143058e-05 4.68302596e-01] [ 1.57987933e-02 -6.77582312e-04 9.99874962e-01 2.94857084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.989254153999994 meters Centerline goodness : 0.999615 Centerline is valid? [True, True] Translation: X:26.93, Y:0.47, Z:0.29 [[ 9.99127377e-01 -3.86583117e-02 -1.58120252e-02 2.69327299e+01] [ 3.86678597e-02 9.99252074e-01 2.98451525e-04 4.68194700e-01] [ 1.57886613e-02 -9.09608260e-04 9.99874938e-01 2.94846365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.019254153999995 meters Centerline goodness : 0.999529 Centerline is valid? [True, True] Translation: X:26.97, Y:0.47, Z:0.30 [[ 9.99109858e-01 -3.91083977e-02 -1.58121779e-02 2.69655105e+01] [ 3.91174750e-02 9.99234584e-01 2.65069882e-04 4.68379062e-01] [ 1.57897085e-02 -8.83366404e-04 9.99874945e-01 2.95731382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.049254153999996 meters Centerline goodness : 0.999572 Centerline is valid? [True, True] Translation: X:26.99, Y:0.47, Z:0.30 [[ 9.99005004e-01 -4.17010728e-02 -1.58121099e-02 2.69919206e+01] [ 4.17107165e-02 9.99129690e-01 2.80453016e-04 4.72377638e-01] [ 1.57866533e-02 -9.39708401e-04 9.99874941e-01 2.95750090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.079254153999994 meters Centerline goodness : 0.999573 Centerline is valid? [True, True] Translation: X:27.02, Y:0.47, Z:0.30 [[ 9.99032038e-01 -4.10479846e-02 -1.58129905e-02 2.70241950e+01] [ 4.10541356e-02 9.99156922e-01 6.44288027e-05 4.73513473e-01] [ 1.57970142e-02 -7.13555093e-04 9.99874965e-01 2.96078594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.109254153999995 meters Centerline goodness : 0.999466 Centerline is valid? [True, True] Translation: X:27.06, Y:0.47, Z:0.30 [[ 9.99049677e-01 -4.06164061e-02 -1.58129858e-02 2.70564820e+01] [ 4.06225210e-02 9.99174563e-01 6.55606105e-05 4.73702144e-01] [ 1.57972703e-02 -7.07861655e-04 9.99874965e-01 2.96997242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.139254153999996 meters Centerline goodness : 0.999487 Centerline is valid? [True, True] Translation: X:27.09, Y:0.47, Z:0.30 [[ 9.99080355e-01 -3.98546705e-02 -1.58129810e-02 2.70884423e+01] [ 3.98607082e-02 9.99205244e-01 6.67039611e-05 4.74675695e-01] [ 1.57977550e-02 -6.96959238e-04 9.99874965e-01 2.98714645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.169254153999994 meters Centerline goodness : 0.999423 Centerline is valid? [True, True] Translation: X:27.12, Y:0.47, Z:0.30 [[ 9.99086662e-01 -3.96962491e-02 -1.58129760e-02 2.71204791e+01] [ 3.97022852e-02 9.99211551e-01 6.78504776e-05 4.74922678e-01] [ 1.57978149e-02 -6.95599791e-04 9.99874965e-01 2.99871696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.199254153999995 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:27.15, Y:0.48, Z:0.30 [[ 9.99077355e-01 -3.99298006e-02 -1.58129710e-02 2.71527614e+01] [ 3.99358840e-02 9.99202242e-01 6.89973553e-05 4.75322003e-01] [ 1.57976011e-02 -7.00438672e-04 9.99874965e-01 3.00661293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.229254153999996 meters Centerline goodness : 0.999636 Centerline is valid? [True, True] Translation: X:27.19, Y:0.48, Z:0.30 [[ 9.99068040e-01 -4.01621966e-02 -1.58129660e-02 2.71850821e+01] [ 4.01683271e-02 9.99192925e-01 7.01400956e-05 4.75855493e-01] [ 1.57973867e-02 -7.05255117e-04 9.99874965e-01 3.02181886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.259254153999994 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:27.22, Y:0.48, Z:0.30 [[ 9.99070400e-01 -4.01034475e-02 -1.58129607e-02 2.72206638e+01] [ 4.01095891e-02 9.99195284e-01 7.13092757e-05 4.75731784e-01] [ 1.57973760e-02 -7.05494342e-04 9.99874965e-01 3.03309530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.289254153999995 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:27.25, Y:0.48, Z:0.30 [[ 9.98973586e-01 -4.24469989e-02 -1.58122492e-02 2.72492998e+01] [ 4.24558245e-02 9.99098320e-01 2.22736124e-04 4.78198514e-01] [ 1.57885371e-02 -8.93829582e-04 9.99874954e-01 3.04588467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.319254153999996 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:27.28, Y:0.48, Z:0.30 [[ 9.98839739e-01 -4.54876549e-02 -1.58129311e-02 2.72793884e+01] [ 4.54944659e-02 9.98964588e-01 7.10803800e-05 4.80876825e-01] [ 1.57933249e-02 -7.90398763e-04 9.99874965e-01 3.03233851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.349254153999993 meters Centerline goodness : 0.999572 Centerline is valid? [True, True] Translation: X:27.31, Y:0.48, Z:0.31 [[ 9.98911157e-01 -4.38912678e-02 -1.58131650e-02 2.73111960e+01] [ 4.38970480e-02 9.99036060e-01 1.84509475e-05 4.78894155e-01] [ 1.57971122e-02 -7.12582120e-04 9.99874964e-01 3.05248615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.379254153999995 meters Centerline goodness : 0.999615 Centerline is valid? [True, True] Translation: X:27.34, Y:0.48, Z:0.31 [[ 9.98857305e-01 -4.51002800e-02 -1.58129152e-02 2.73438329e+01] [ 4.51070688e-02 9.98982156e-01 7.27443413e-05 4.79306170e-01] [ 1.57935394e-02 -7.85935473e-04 9.99874965e-01 3.05175774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.409254153999996 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:27.38, Y:0.48, Z:0.31 [[ 9.98833711e-01 -4.56198406e-02 -1.58129099e-02 2.73764331e+01] [ 4.56267124e-02 9.98958557e-01 7.38845379e-05 4.79510927e-01] [ 1.57930711e-02 -7.95289461e-04 9.99874965e-01 3.05731650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.439254153999993 meters Centerline goodness : 0.999571 Centerline is valid? [True, True] Translation: X:27.41, Y:0.48, Z:0.31 [[ 9.98824041e-01 -4.58310825e-02 -1.58129015e-02 2.74078092e+01] [ 4.58380086e-02 9.98948883e-01 7.56518738e-05 4.80968032e-01] [ 1.57928131e-02 -8.00394824e-04 9.99874965e-01 3.05154950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.469254153999994 meters Centerline goodness : 0.999571 Centerline is valid? [True, True] Translation: X:27.44, Y:0.48, Z:0.31 [[ 9.98828995e-01 -4.57229855e-02 -1.58128972e-02 2.74413481e+01] [ 4.57299119e-02 9.98953837e-01 7.65274851e-05 4.80712692e-01] [ 1.57928553e-02 -7.99560269e-04 9.99874965e-01 3.05685071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.499254153999996 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:27.47, Y:0.48, Z:0.31 [[ 9.98844634e-01 -4.53800536e-02 -1.58128888e-02 2.74746982e+01] [ 4.53869642e-02 9.98969478e-01 7.82388138e-05 4.81475451e-01] [ 1.57930427e-02 -7.95847435e-04 9.99874965e-01 3.06642148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.529254153999993 meters Centerline goodness : 0.999420 Centerline is valid? [True, True] Translation: X:27.51, Y:0.48, Z:0.31 [[ 9.98864320e-01 -4.49446649e-02 -1.58128798e-02 2.75081399e+01] [ 4.49515489e-02 9.98989165e-01 8.00009206e-05 4.82242179e-01] [ 1.57933000e-02 -7.90723507e-04 9.99874965e-01 3.06768500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.559254153999994 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:27.54, Y:0.48, Z:0.31 [[ 9.98900323e-01 -4.41372678e-02 -1.58128707e-02 2.75397840e+01] [ 4.41440787e-02 9.99025172e-01 8.17612908e-05 4.83016341e-01] [ 1.57938472e-02 -7.79715991e-04 9.99874965e-01 3.06712294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.589254153999995 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:27.57, Y:0.48, Z:0.31 [[ 9.98981352e-01 -4.22635903e-02 -1.58128558e-02 2.75717587e+01] [ 4.22702111e-02 9.99106212e-01 8.45572116e-05 4.84708256e-01] [ 1.57951488e-02 -7.52883830e-04 9.99874965e-01 3.07310043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.619254153999993 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:27.60, Y:0.49, Z:0.31 [[ 9.99020676e-01 -4.13236321e-02 -1.58128496e-02 2.76044369e+01] [ 4.13301536e-02 9.99145540e-01 8.57042065e-05 4.85276141e-01] [ 1.57957965e-02 -7.39167776e-04 9.99874965e-01 3.07802814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.649254153999994 meters Centerline goodness : 0.999570 Centerline is valid? [True, True] Translation: X:27.64, Y:0.49, Z:0.31 [[ 9.99086484e-01 -3.97007679e-02 -1.58128432e-02 2.76356897e+01] [ 3.97071049e-02 9.99211358e-01 8.68673127e-05 4.86381283e-01] [ 1.57969238e-02 -7.14670181e-04 9.99874965e-01 3.07417136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.679254153999995 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:27.67, Y:0.49, Z:0.31 [[ 9.99114034e-01 -3.90012855e-02 -1.58128384e-02 2.76675446e+01] [ 3.90075487e-02 9.99238912e-01 8.77339927e-05 4.87139201e-01] [ 1.57973817e-02 -7.04476327e-04 9.99874965e-01 3.08062626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.709254153999993 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:27.70, Y:0.49, Z:0.31 [[ 9.99138421e-01 -3.83714867e-02 -1.58128319e-02 2.76998033e+01] [ 3.83776893e-02 9.99263301e-01 8.88819624e-05 4.87817923e-01] [ 1.57977721e-02 -6.95665335e-04 9.99874965e-01 3.08235806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.739254153999994 meters Centerline goodness : 0.999590 Centerline is valid? [True, True] Translation: X:27.73, Y:0.49, Z:0.31 [[ 9.99200752e-01 -3.67125550e-02 -1.58128254e-02 2.77316057e+01] [ 3.67185683e-02 9.99325642e-01 9.00210659e-05 4.89343844e-01] [ 1.57988570e-02 -6.70573427e-04 9.99874965e-01 3.08997705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.769254153999995 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:27.76, Y:0.49, Z:0.31 [[ 9.99223548e-01 -3.60867783e-02 -1.58128187e-02 2.77625180e+01] [ 3.60927318e-02 9.99348441e-01 9.11846719e-05 4.89941820e-01] [ 1.57992252e-02 -6.61841696e-04 9.99874965e-01 3.08790838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.799254153999993 meters Centerline goodness : 0.999611 Centerline is valid? [True, True] Translation: X:27.79, Y:0.49, Z:0.31 [[ 9.99223383e-01 -3.60913609e-02 -1.58128137e-02 2.77947458e+01] [ 3.60973286e-02 9.99348275e-01 9.20513506e-05 4.90783473e-01] [ 1.57991858e-02 -6.62780194e-04 9.99874965e-01 3.09139327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.829254153999994 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:27.83, Y:0.49, Z:0.31 [[ 9.99210877e-01 -3.64359486e-02 -1.58128071e-02 2.78273026e+01] [ 3.64419771e-02 9.99335766e-01 9.31704388e-05 4.91541402e-01] [ 1.57989089e-02 -6.69346870e-04 9.99874965e-01 3.10473870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.859254153999995 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:27.86, Y:0.49, Z:0.31 [[ 9.99183000e-01 -3.71925903e-02 -1.58128003e-02 2.78596190e+01] [ 3.71987312e-02 9.99307883e-01 9.43042588e-05 4.91390928e-01] [ 1.57983486e-02 -6.82443322e-04 9.99874965e-01 3.11322582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.889254153999996 meters Centerline goodness : 0.999675 Centerline is valid? [True, True] Translation: X:27.89, Y:0.49, Z:0.31 [[ 9.99131134e-01 -3.85607709e-02 -1.58127934e-02 2.78907133e+01] [ 3.85671010e-02 9.99256008e-01 9.54565280e-05 4.91267475e-01] [ 1.57973479e-02 -7.05227189e-04 9.99874965e-01 3.11704524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.919254153999994 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:27.92, Y:0.49, Z:0.31 [[ 9.99100365e-01 -3.93499267e-02 -1.58127881e-02 2.79229972e+01] [ 3.93563691e-02 9.99225233e-01 9.63144574e-05 4.91186483e-01] [ 1.57967470e-02 -7.18561736e-04 9.99874965e-01 3.12117814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.949254153999995 meters Centerline goodness : 0.999675 Centerline is valid? [True, True] Translation: X:27.96, Y:0.49, Z:0.31 [[ 9.99066203e-01 -4.02079275e-02 -1.58127795e-02 2.79557731e+01] [ 4.02144993e-02 9.99191065e-01 9.77183527e-05 4.91265274e-01] [ 1.57960589e-02 -7.33530113e-04 9.99874965e-01 3.13237339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.979254153999996 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:27.99, Y:0.49, Z:0.31 [[ 9.99002645e-01 -4.17572856e-02 -1.58127687e-02 2.79892494e+01] [ 4.17640781e-02 9.99127495e-01 9.94351213e-05 4.91587450e-01] [ 1.57948198e-02 -7.59741656e-04 9.99874965e-01 3.13709947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.009254153999994 meters Centerline goodness : 0.999675 Centerline is valid? [True, True] Translation: X:28.02, Y:0.49, Z:0.31 [[ 9.98980260e-01 -4.22894478e-02 -1.58127577e-02 2.80209709e+01] [ 4.22963338e-02 9.99105105e-01 1.01146436e-04 4.91272697e-01] [ 1.57943295e-02 -7.69864972e-04 9.99874965e-01 3.14057355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.039254153999995 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:28.05, Y:0.49, Z:0.32 [[ 9.98933982e-01 -4.33688513e-02 -1.58127486e-02 2.80530424e+01] [ 4.33758946e-02 9.99058818e-01 1.02559914e-04 4.91438177e-01] [ 1.57934180e-02 -7.88342698e-04 9.99874965e-01 3.15592578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.069254153999996 meters Centerline goodness : 0.999545 Centerline is valid? [True, True] Translation: X:28.09, Y:0.49, Z:0.32 [[ 9.98918914e-01 -4.37145299e-02 -1.58127412e-02 2.80852226e+01] [ 4.37216341e-02 9.99043747e-01 1.03684022e-04 4.91236856e-01] [ 1.57930877e-02 -7.94930815e-04 9.99874965e-01 3.16728258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.099254153999993 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:28.12, Y:0.49, Z:0.32 [[ 9.98916242e-01 -4.37755524e-02 -1.58127336e-02 2.81175119e+01] [ 4.37826822e-02 9.99041073e-01 1.04822994e-04 4.90924445e-01] [ 1.57929817e-02 -7.97033284e-04 9.99874965e-01 3.17986800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.129254153999995 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:28.15, Y:0.49, Z:0.32 [[ 9.98922434e-01 -4.36340323e-02 -1.58127259e-02 2.81498557e+01] [ 4.36411628e-02 9.99047265e-01 1.05985461e-04 4.91502364e-01] [ 1.57930359e-02 -7.95956998e-04 9.99874965e-01 3.19032589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.159254153999996 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:28.18, Y:0.49, Z:0.32 [[ 9.98928091e-01 -4.35043366e-02 -1.58127160e-02 2.81827078e+01] [ 4.35114737e-02 9.99052922e-01 1.07430335e-04 4.91754743e-01] [ 1.57930665e-02 -7.95349757e-04 9.99874965e-01 3.19864853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.189254153999993 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:28.21, Y:0.49, Z:0.32 [[ 9.98903348e-01 -4.40688175e-02 -1.58127041e-02 2.82149203e+01] [ 4.40760525e-02 9.99028173e-01 1.09159043e-04 4.91998950e-01] [ 1.57925264e-02 -8.06000909e-04 9.99874965e-01 3.19913387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.219254153999994 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:28.25, Y:0.49, Z:0.32 [[ 9.98881017e-01 -4.45720982e-02 -1.58126842e-02 2.82479955e+01] [ 4.45794405e-02 9.99005836e-01 1.11972401e-04 4.91547900e-01] [ 1.57919729e-02 -8.16767719e-04 9.99874965e-01 3.20161117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.249254153999996 meters Centerline goodness : 0.999589 Centerline is valid? [True, True] Translation: X:28.28, Y:0.49, Z:0.32 [[ 9.98853355e-01 -4.51877815e-02 -1.58126718e-02 2.82812160e+01] [ 4.51952279e-02 9.98978167e-01 1.13693716e-04 4.90864874e-01] [ 1.57913763e-02 -8.28220655e-04 9.99874965e-01 3.20533647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.279254153999993 meters Centerline goodness : 0.999633 Centerline is valid? [True, True] Translation: X:28.31, Y:0.49, Z:0.32 [[ 9.98801953e-01 -4.63100215e-02 -1.58126590e-02 2.83145604e+01] [ 4.63176356e-02 9.98926756e-01 1.15440926e-04 4.89701723e-01] [ 1.57903421e-02 -8.47707603e-04 9.99874965e-01 3.20747588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.309254153999994 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:28.35, Y:0.49, Z:0.32 [[ 9.98786506e-01 -4.66419901e-02 -1.58126462e-02 2.83471362e+01] [ 4.66496731e-02 9.98911305e-01 1.17175932e-04 4.88808227e-01] [ 1.57899657e-02 -8.54688515e-04 9.99874965e-01 3.21222856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.339254153999995 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:28.38, Y:0.49, Z:0.32 [[ 9.98770038e-01 -4.69933199e-02 -1.58126331e-02 2.83795458e+01] [ 4.70010742e-02 9.98894832e-01 1.18910197e-04 4.87919550e-01] [ 1.57895695e-02 -8.61974686e-04 9.99874965e-01 3.21149053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.369254153999993 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:28.41, Y:0.49, Z:0.32 [[ 9.98781609e-01 -4.67467456e-02 -1.58126222e-02 2.84125306e+01] [ 4.67544917e-02 9.98906404e-01 1.20342458e-04 4.87270296e-01] [ 1.57897040e-02 -8.59506950e-04 9.99874965e-01 3.22284528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.399254153999994 meters Centerline goodness : 0.999611 Centerline is valid? [True, True] Translation: X:28.45, Y:0.49, Z:0.32 [[ 9.98800962e-01 -4.63314188e-02 -1.58126090e-02 2.84459951e+01] [ 4.63391400e-02 9.98925758e-01 1.22054476e-04 4.86376417e-01] [ 1.57899675e-02 -8.54650832e-04 9.99874965e-01 3.23045640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.429254153999995 meters Centerline goodness : 0.999611 Centerline is valid? [True, True] Translation: X:28.48, Y:0.48, Z:0.32 [[ 9.98841803e-01 -4.54424191e-02 -1.58125951e-02 2.84780696e+01] [ 4.54500573e-02 9.98966605e-01 1.23834441e-04 4.84513772e-01] [ 1.57906271e-02 -8.42374370e-04 9.99874965e-01 3.22671911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.459254153999993 meters Centerline goodness : 0.999612 Centerline is valid? [True, True] Translation: X:28.51, Y:0.48, Z:0.32 [[ 9.98882632e-01 -4.45359446e-02 -1.58125834e-02 2.85107636e+01] [ 4.45434929e-02 9.99007438e-01 1.25308284e-04 4.83433009e-01] [ 1.57913077e-02 -8.29515965e-04 9.99874965e-01 3.22926470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.489254153999994 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] Translation: X:28.54, Y:0.48, Z:0.32 [[ 9.98986554e-01 -4.21405761e-02 -1.58125694e-02 2.85430957e+01] [ 4.21478527e-02 9.99111376e-01 1.27058153e-04 4.82364481e-01] [ 1.57931636e-02 -7.93395231e-04 9.99874965e-01 3.23686774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.519254153999995 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:28.57, Y:0.48, Z:0.32 [[ 9.99051407e-01 -4.05739903e-02 -1.58125599e-02 2.85747674e+01] [ 4.05810896e-02 9.99176240e-01 1.28229334e-04 4.82104596e-01] [ 1.57943313e-02 -7.69798605e-04 9.99874965e-01 3.24005363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.549254153999993 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:28.61, Y:0.48, Z:0.32 [[ 9.99118003e-01 -3.88996158e-02 -1.58125479e-02 2.86069474e+01] [ 3.89065289e-02 9.99242846e-01 1.29688449e-04 4.81660754e-01] [ 1.57955305e-02 -7.44785416e-04 9.99874965e-01 3.24845711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.579254153999994 meters Centerline goodness : 0.999612 Centerline is valid? [True, True] Translation: X:28.64, Y:0.48, Z:0.33 [[ 9.99261771e-01 -3.50125354e-02 -1.58125385e-02 2.86391777e+01] [ 3.50189808e-02 9.99386639e-01 1.30823928e-04 4.80536261e-01] [ 1.57982592e-02 -6.84466332e-04 9.99874965e-01 3.25242954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.609254153999995 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:28.67, Y:0.48, Z:0.33 [[ 9.99337979e-01 -3.27653471e-02 -1.58125290e-02 2.86718242e+01] [ 3.27715297e-02 9.99462860e-01 1.31966637e-04 4.79456802e-01] [ 1.57997115e-02 -6.50080035e-04 9.99874965e-01 3.25713250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.639254153999993 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:28.70, Y:0.48, Z:0.33 [[ 9.99403751e-01 -3.06937686e-02 -1.58125194e-02 2.87038754e+01] [ 3.06997103e-02 9.99528644e-01 1.33104633e-04 4.78654428e-01] [ 1.58009806e-02 -6.18465034e-04 9.99874965e-01 3.26480024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.669254153999994 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:28.73, Y:0.48, Z:0.33 [[ 9.99532348e-01 -2.61734437e-02 -1.58125096e-02 2.87347462e+01] [ 2.61788387e-02 9.99657266e-01 1.34258487e-04 4.78317043e-01] [ 1.58035761e-02 -5.48148839e-04 9.99874965e-01 3.27336459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.699254153999995 meters Centerline goodness : 0.999568 Centerline is valid? [True, True] Translation: X:28.77, Y:0.48, Z:0.33 [[ 9.99589373e-01 -2.38966470e-02 -1.58125022e-02 2.87662025e+01] [ 2.39017710e-02 9.99714303e-01 1.35117588e-04 4.78168629e-01] [ 1.58047558e-02 -5.13008913e-04 9.99874965e-01 3.27737180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.729254153999996 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:28.80, Y:0.48, Z:0.33 [[ 9.99681242e-01 -1.96819638e-02 -1.58124974e-02 2.87973423e+01] [ 1.96865700e-02 9.99806191e-01 1.35682826e-04 4.77975127e-01] [ 1.58067623e-02 -4.46933413e-04 9.99874965e-01 3.28820076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.759254153999994 meters Centerline goodness : 0.999632 Centerline is valid? [True, True] Translation: X:28.83, Y:0.48, Z:0.33 [[ 9.99713655e-01 -1.79602934e-02 -1.58124924e-02 2.88279835e+01] [ 1.79646936e-02 9.99838613e-01 1.36263933e-04 4.77391803e-01] [ 1.58074931e-02 -4.20291495e-04 9.99874965e-01 3.29123917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.789254153999995 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:28.86, Y:0.48, Z:0.33 [[ 9.99733460e-01 -1.68218509e-02 -1.58124924e-02 2.88575580e+01] [ 1.68261088e-02 9.99858422e-01 1.36263933e-04 4.76909589e-01] [ 1.58079615e-02 -4.02290330e-04 9.99874965e-01 3.29664410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.819254153999996 meters Centerline goodness : 0.999590 Centerline is valid? [True, True] Translation: X:28.89, Y:0.48, Z:0.33 [[ 9.99746508e-01 -1.60276202e-02 -1.58124973e-02 2.88874724e+01] [ 1.60317698e-02 9.99871474e-01 1.35690113e-04 4.75634874e-01] [ 1.58082902e-02 -3.89158034e-04 9.99874965e-01 3.30046267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.849254153999993 meters Centerline goodness : 0.999611 Centerline is valid? [True, True] Translation: X:28.92, Y:0.47, Z:0.33 [[ 9.99747515e-01 -1.59646965e-02 -1.58125022e-02 2.89160205e+01] [ 1.59688291e-02 9.99872481e-01 1.35113095e-04 4.74517101e-01] [ 1.58083288e-02 -3.87586126e-04 9.99874965e-01 3.29915927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.879254153999995 meters Centerline goodness : 0.999526 Centerline is valid? [True, True] Translation: X:28.94, Y:0.47, Z:0.33 [[ 9.99724515e-01 -1.73452690e-02 -1.58125119e-02 2.89443869e+01] [ 1.73495562e-02 9.99849476e-01 1.33977908e-04 4.72551165e-01] [ 1.58078078e-02 -4.08281062e-04 9.99874965e-01 3.30498253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.909254153999996 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:28.97, Y:0.47, Z:0.33 [[ 9.99697781e-01 -1.88231014e-02 -1.58125449e-02 2.89741630e+01] [ 1.88275098e-02 9.99822738e-01 1.29961552e-04 4.71285613e-01] [ 1.58072956e-02 -4.27633119e-04 9.99874965e-01 3.30762760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.939254153999993 meters Centerline goodness : 0.999591 Centerline is valid? [True, True] Translation: X:29.00, Y:0.47, Z:0.33 [[ 9.99673109e-01 -2.00907330e-02 -1.58125495e-02 2.90039057e+01] [ 2.00952908e-02 9.99798061e-01 1.29389317e-04 4.69802133e-01] [ 1.58067569e-02 -4.47104803e-04 9.99874965e-01 3.30747475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.969254153999994 meters Centerline goodness : 0.999484 Centerline is valid? [True, True] Translation: X:29.03, Y:0.47, Z:0.33 [[ 9.99604739e-01 -2.32449689e-02 -1.58125542e-02 2.90336093e+01] [ 2.32499119e-02 9.99729676e-01 1.28815437e-04 4.67187045e-01] [ 1.58052854e-02 -4.96405014e-04 9.99874965e-01 3.30288195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.999254153999996 meters Centerline goodness : 0.999571 Centerline is valid? [True, True] Translation: X:29.06, Y:0.47, Z:0.33 [[ 9.99573335e-01 -2.45583172e-02 -1.58125589e-02 2.90635824e+01] [ 2.45634152e-02 9.99698266e-01 1.28237611e-04 4.65868228e-01] [ 1.58046384e-02 -5.16593347e-04 9.99874965e-01 3.30129247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.029254153999993 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:29.10, Y:0.46, Z:0.33 [[ 9.99542196e-01 -2.57945897e-02 -1.58125512e-02 2.90950685e+01] [ 2.57998572e-02 9.99667120e-01 1.29184013e-04 4.64607572e-01] [ 1.58039552e-02 -5.37086434e-04 9.99874965e-01 3.30208524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.059254153999994 meters Centerline goodness : 0.999421 Centerline is valid? [True, True] Translation: X:29.13, Y:0.46, Z:0.33 [[ 9.99497769e-01 -2.74622131e-02 -1.58125466e-02 2.91262119e+01] [ 2.74676978e-02 9.99622683e-01 1.29741639e-04 4.62573529e-01] [ 1.58030173e-02 -5.64010731e-04 9.99874965e-01 3.30555311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.089254153999995 meters Centerline goodness : 0.999422 Centerline is valid? [True, True] Translation: X:29.16, Y:0.46, Z:0.33 [[ 9.99486295e-01 -2.78766771e-02 -1.58125418e-02 2.91567171e+01] [ 2.78822228e-02 9.99611207e-01 1.30322556e-04 4.61511835e-01] [ 1.58027610e-02 -5.71144423e-04 9.99874965e-01 3.30633867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.119254153999993 meters Centerline goodness : 0.999336 Centerline is valid? [True, True] Translation: X:29.19, Y:0.46, Z:0.33 [[ 9.99498244e-01 -2.74449242e-02 -1.58125394e-02 2.91884329e+01] [ 2.74504205e-02 9.99623158e-01 1.30610916e-04 4.60261339e-01] [ 1.58029960e-02 -5.64606237e-04 9.99874965e-01 3.31619898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.149254153999994 meters Centerline goodness : 0.999423 Centerline is valid? [True, True] Translation: X:29.22, Y:0.46, Z:0.33 [[ 9.99524573e-01 -2.64687094e-02 -1.58125348e-02 2.92199718e+01] [ 2.64740926e-02 9.99649491e-01 1.31175385e-04 4.59594789e-01] [ 1.58035203e-02 -5.49735530e-04 9.99874965e-01 3.32235778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.179254153999995 meters Centerline goodness : 0.999315 Centerline is valid? [True, True] Translation: X:29.25, Y:0.46, Z:0.33 [[ 9.99554795e-01 -2.53016852e-02 -1.58125300e-02 2.92503161e+01] [ 2.53069315e-02 9.99679720e-01 1.31740443e-04 4.58972173e-01] [ 1.58041323e-02 -5.31848406e-04 9.99874965e-01 3.32511171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.209254153999993 meters Centerline goodness : 0.999442 Centerline is valid? [True, True] Translation: X:29.28, Y:0.46, Z:0.33 [[ 9.99624816e-01 -2.23649591e-02 -1.58125277e-02 2.92817087e+01] [ 2.23698428e-02 9.99749755e-01 1.32020344e-04 4.58722263e-01] [ 1.58056181e-02 -4.85694571e-04 9.99874965e-01 3.34083778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.239254153999994 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:29.31, Y:0.46, Z:0.33 [[ 9.99662773e-01 -2.05986441e-02 -1.58125229e-02 2.93124738e+01] [ 2.06033161e-02 9.99787720e-01 1.32598765e-04 4.58267767e-01] [ 1.58064348e-02 -4.58344456e-04 9.99874965e-01 3.34736066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.269254153999995 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:29.34, Y:0.46, Z:0.34 [[ 9.99734190e-01 -1.67783596e-02 -1.58125229e-02 2.93431846e+01] [ 1.67825541e-02 9.99859154e-01 1.32598765e-04 4.57989048e-01] [ 1.58080709e-02 -3.97938040e-04 9.99874965e-01 3.35244007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.299254153999993 meters Centerline goodness : 0.999507 Centerline is valid? [True, True] Translation: X:29.37, Y:0.46, Z:0.34 [[ 9.99760072e-01 -1.51579173e-02 -1.58125229e-02 2.93723275e+01] [ 1.51619093e-02 9.99885043e-01 1.32598765e-04 4.57928112e-01] [ 1.58086952e-02 -3.72314988e-04 9.99874965e-01 3.35552985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.329254153999994 meters Centerline goodness : 0.999592 Centerline is valid? [True, True] Translation: X:29.40, Y:0.46, Z:0.34 [[ 9.99812444e-01 -1.11821150e-02 -1.58125558e-02 2.94009324e+01] [ 1.11855459e-02 9.99937432e-01 1.28543061e-04 4.57982513e-01] [ 1.58101291e-02 -3.05391021e-04 9.99874965e-01 3.35684104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.359254153999995 meters Centerline goodness : 0.999592 Centerline is valid? [True, True] Translation: X:29.43, Y:0.46, Z:0.34 [[ 9.99809127e-01 -1.14748248e-02 -1.58125877e-02 2.94293086e+01] [ 1.14782282e-02 9.99934115e-01 1.24493016e-04 4.57828810e-01] [ 1.58101174e-02 -3.05969744e-04 9.99874965e-01 3.36134297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.389254153999993 meters Centerline goodness : 0.999592 Centerline is valid? [True, True] Translation: X:29.46, Y:0.46, Z:0.34 [[ 9.99828187e-01 -9.67255391e-03 -1.58126228e-02 2.94566145e+01] [ 9.67565884e-03 9.99953183e-01 1.19864064e-04 4.58136805e-01] [ 1.58107231e-02 -2.72841014e-04 9.99874965e-01 3.36005340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.419254153999994 meters Centerline goodness : 0.999375 Centerline is valid? [True, True] Translation: X:29.48, Y:0.46, Z:0.34 [[ 9.99842178e-01 -8.09810326e-03 -1.58126463e-02 2.94848760e+01] [ 8.10096105e-03 9.99967180e-01 1.16682525e-04 4.58311650e-01] [ 1.58111824e-02 -2.44761741e-04 9.99874965e-01 3.36666643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.449254153999995 meters Centerline goodness : 0.999483 Centerline is valid? [True, True] Translation: X:29.51, Y:0.46, Z:0.34 [[ 9.99861835e-01 -5.12534213e-03 -1.58126790e-02 2.95123436e+01] [ 5.12775532e-03 9.99986847e-01 1.12070532e-04 4.58421612e-01] [ 1.58118966e-02 -1.93138597e-04 9.99874965e-01 3.36195071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.479254153999992 meters Centerline goodness : 0.999419 Centerline is valid? [True, True] Translation: X:29.54, Y:0.46, Z:0.34 [[ 9.99866033e-01 -4.22791316e-03 -1.58127100e-02 2.95400553e+01] [ 4.23014196e-03 9.99991047e-01 1.07505360e-04 4.58323863e-01] [ 1.58121139e-02 -1.74380965e-04 9.99874966e-01 3.36417221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.509254153999994 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:29.57, Y:0.46, Z:0.34 [[ 9.99871241e-01 -2.73107884e-03 -1.58127396e-02 2.95674605e+01] [ 2.73304868e-03 9.99996260e-01 1.02964070e-04 4.58773720e-01] [ 1.58123992e-02 -1.46167799e-04 9.99874966e-01 3.36573720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.539254153999995 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:29.60, Y:0.46, Z:0.34 [[ 9.99871945e-01 -2.45968270e-03 -1.58127593e-02 2.95951632e+01] [ 2.46156917e-03 9.99996965e-01 9.98381170e-05 4.58786722e-01] [ 1.58124658e-02 -1.38749533e-04 9.99874966e-01 3.37279725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.569254153999996 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:29.62, Y:0.46, Z:0.34 [[ 9.99871581e-01 -2.60345688e-03 -1.58127863e-02 2.96232566e+01] [ 2.60529062e-03 9.99996602e-01 9.53670099e-05 4.58645469e-01] [ 1.58124843e-02 -1.36551667e-04 9.99874966e-01 3.37660723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.599254153999993 meters Centerline goodness : 0.999611 Centerline is valid? [True, True] Translation: X:29.65, Y:0.46, Z:0.34 [[ 9.99868260e-01 -3.66300194e-03 -1.58127945e-02 2.96514252e+01] [ 3.66494630e-03 9.99993280e-01 9.39840236e-05 4.57962193e-01] [ 1.58123440e-02 -1.51924685e-04 9.99874966e-01 3.38423481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.629254153999995 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:29.68, Y:0.46, Z:0.34 [[ 9.99864276e-01 -4.62443686e-03 -1.58128025e-02 2.96797367e+01] [ 4.62647975e-03 9.99989293e-01 9.26132925e-05 4.57255173e-01] [ 1.58122049e-02 -1.65758333e-04 9.99874966e-01 3.39342882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.659254153999996 meters Centerline goodness : 0.999462 Centerline is valid? [True, True] Translation: X:29.71, Y:0.46, Z:0.34 [[ 9.99846523e-01 -7.54223601e-03 -1.58128092e-02 2.97084233e+01] [ 7.54462559e-03 9.99971535e-01 9.14670532e-05 4.55709033e-01] [ 1.58116692e-02 -2.10754740e-04 9.99874966e-01 3.39756324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.689254153999993 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:29.74, Y:0.45, Z:0.34 [[ 9.99830141e-01 -9.46808474e-03 -1.58128157e-02 2.97356957e+01] [ 9.47069701e-03 9.99955148e-01 9.03225149e-05 4.54916065e-01] [ 1.58112513e-02 -2.40065559e-04 9.99874966e-01 3.40101522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.719254153999994 meters Centerline goodness : 0.999399 Centerline is valid? [True, True] Translation: X:29.76, Y:0.45, Z:0.34 [[ 9.99781786e-01 -1.36504295e-02 -1.58128268e-02 2.97642990e+01] [ 1.36535333e-02 9.99906782e-01 8.83347729e-05 4.53597232e-01] [ 1.58101470e-02 -3.04216454e-04 9.99874966e-01 3.40171272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.749254153999996 meters Centerline goodness : 0.999592 Centerline is valid? [True, True] Translation: X:29.79, Y:0.45, Z:0.34 [[ 9.99742924e-01 -1.62493269e-02 -1.58128330e-02 2.97921425e+01] [ 1.62527379e-02 9.99867912e-01 8.72174429e-05 4.52893383e-01] [ 1.58093270e-02 -3.44196851e-04 9.99874966e-01 3.40205313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.779254153999993 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:29.82, Y:0.45, Z:0.34 [[ 9.99703998e-01 -1.84897037e-02 -1.58128563e-02 2.98201602e+01] [ 1.84933242e-02 9.99828980e-01 8.27567526e-05 4.51784683e-01] [ 1.58086218e-02 -3.75164535e-04 9.99874966e-01 3.39823072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.809254153999994 meters Centerline goodness : 0.999422 Centerline is valid? [True, True] Translation: X:29.85, Y:0.45, Z:0.34 [[ 9.99606693e-01 -2.31605766e-02 -1.58128669e-02 2.98494787e+01] [ 2.31647481e-02 9.99731658e-01 8.06700382e-05 4.50211022e-01] [ 1.58067553e-02 -4.46939389e-04 9.99874966e-01 3.40585843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.839254153999995 meters Centerline goodness : 0.999507 Centerline is valid? [True, True] Translation: X:29.88, Y:0.45, Z:0.34 [[ 9.99546912e-01 -2.56110007e-02 -1.58128698e-02 2.98802763e+01] [ 2.56154695e-02 9.99671867e-01 8.01029785e-05 4.49288646e-01] [ 1.58056296e-02 -4.85120770e-04 9.99874966e-01 3.41229819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.869254153999993 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:29.91, Y:0.45, Z:0.34 [[ 9.99478604e-01 -2.81508913e-02 -1.58128698e-02 2.99117510e+01] [ 2.81556777e-02 9.99603547e-01 8.01029785e-05 4.48179019e-01] [ 1.58043458e-02 -5.25283279e-04 9.99874966e-01 3.41710528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.899254153999994 meters Centerline goodness : 0.999465 Centerline is valid? [True, True] Translation: X:29.94, Y:0.45, Z:0.34 [[ 9.99400359e-01 -3.08038249e-02 -1.58128669e-02 2.99428576e+01] [ 3.08089521e-02 9.99525288e-01 8.06838468e-05 4.47175574e-01] [ 1.58028749e-02 -5.67813323e-04 9.99874966e-01 3.41525524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.929254153999995 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:29.98, Y:0.45, Z:0.34 [[ 9.99230365e-01 -3.58974964e-02 -1.58128624e-02 2.99752655e+01] [ 3.59032740e-02 9.99355266e-01 8.15533266e-05 4.46362247e-01] [ 1.57997397e-02 -6.49224091e-04 9.99874966e-01 3.43689044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.959254153999993 meters Centerline goodness : 0.999530 Centerline is valid? [True, True] Translation: X:30.01, Y:0.45, Z:0.34 [[ 9.99144740e-01 -3.82065709e-02 -1.58128563e-02 3.00074788e+01] [ 3.82126554e-02 9.99269626e-01 8.27060927e-05 4.45952467e-01] [ 1.57981471e-02 -6.86886588e-04 9.99874966e-01 3.44422798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.989254153999994 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:30.04, Y:0.45, Z:0.35 [[ 9.98979824e-01 -4.22996961e-02 -1.58128503e-02 3.00393357e+01] [ 4.23063103e-02 9.99104684e-01 8.38508894e-05 4.45351984e-01] [ 1.57951459e-02 -7.52748696e-04 9.99874966e-01 3.45192439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.019254153999995 meters Centerline goodness : 0.999488 Centerline is valid? [True, True] Translation: X:30.07, Y:0.44, Z:0.35 [[ 9.98916138e-01 -4.37778952e-02 -1.58128441e-02 3.00712180e+01] [ 4.37847122e-02 9.99040986e-01 8.49999642e-05 4.44945331e-01] [ 1.57939582e-02 -7.77268665e-04 9.99874966e-01 3.45698504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.049254153999993 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:30.10, Y:0.44, Z:0.35 [[ 9.98841347e-01 -4.54523645e-02 -1.58128379e-02 3.01040929e+01] [ 4.54594090e-02 9.98966183e-01 8.61453716e-05 4.44728065e-01] [ 1.57925748e-02 -8.04887822e-04 9.99874966e-01 3.45919233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.079254153999994 meters Centerline goodness : 0.999531 Centerline is valid? [True, True] Translation: X:30.14, Y:0.44, Z:0.35 [[ 9.98711764e-01 -4.82158438e-02 -1.58128282e-02 3.01367356e+01] [ 4.82232610e-02 9.98836578e-01 8.78757669e-05 4.44271154e-01] [ 1.57901942e-02 -8.50308705e-04 9.99874966e-01 3.45468079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.109254153999995 meters Centerline goodness : 0.999531 Centerline is valid? [True, True] Translation: X:30.17, Y:0.44, Z:0.35 [[ 9.98658622e-01 -4.93042775e-02 -1.58128217e-02 3.01694391e+01] [ 4.93118489e-02 9.98783427e-01 8.90312541e-05 4.43709564e-01] [ 1.57891947e-02 -8.68671306e-04 9.99874966e-01 3.45778930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.139254153999993 meters Centerline goodness : 0.999680 Centerline is valid? [True, True] Translation: X:30.20, Y:0.44, Z:0.35 [[ 9.98555575e-01 -5.13489957e-02 -1.58128116e-02 3.02011078e+01] [ 5.13568506e-02 9.98680362e-01 9.08008848e-05 4.43484857e-01] [ 1.57872819e-02 -9.02765931e-04 9.99874966e-01 3.45230201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.169254153999994 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:30.23, Y:0.44, Z:0.35 [[ 9.98521780e-01 -5.20020202e-02 -1.58128065e-02 3.02330621e+01] [ 5.20099705e-02 9.98646561e-01 9.16757356e-05 4.43280546e-01] [ 1.57866375e-02 -9.13963818e-04 9.99874966e-01 3.45285949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.199254153999995 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:30.26, Y:0.44, Z:0.34 [[ 9.98501704e-01 -5.23860996e-02 -1.58127996e-02 3.02647644e+01] [ 5.23941163e-02 9.98626481e-01 9.28454107e-05 4.43727959e-01] [ 1.57862166e-02 -9.21203964e-04 9.99874966e-01 3.44759743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.229254153999992 meters Centerline goodness : 0.999530 Centerline is valid? [True, True] Translation: X:30.30, Y:0.44, Z:0.35 [[ 9.98517513e-01 -5.20838885e-02 -1.58127927e-02 3.02976001e+01] [ 5.20918858e-02 9.98642292e-01 9.40078825e-05 4.44002074e-01] [ 1.57864273e-02 -9.17586710e-04 9.99874966e-01 3.46172447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.259254153999994 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:30.33, Y:0.44, Z:0.35 [[ 9.98572680e-01 -5.10152860e-02 -1.58127820e-02 3.03310334e+01] [ 5.10231777e-02 9.98697465e-01 9.57802488e-05 4.44354159e-01] [ 1.57872990e-02 -9.02461926e-04 9.99874966e-01 3.46905482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.289254153999995 meters Centerline goodness : 0.999445 Centerline is valid? [True, True] Translation: X:30.36, Y:0.44, Z:0.35 [[ 9.98647455e-01 -4.95299520e-02 -1.58127710e-02 3.03631743e+01] [ 4.95376863e-02 9.98772250e-01 9.75627883e-05 4.44963555e-01] [ 1.57885246e-02 -8.80758919e-04 9.99874966e-01 3.47560941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.319254153999992 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:30.40, Y:0.45, Z:0.35 [[ 9.98867555e-01 -4.48727637e-02 -1.58127617e-02 3.03955174e+01] [ 4.48799393e-02 9.98992383e-01 9.90406730e-05 4.47113744e-01] [ 1.57923843e-02 -8.08604301e-04 9.99874966e-01 3.49042723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.349254153999993 meters Centerline goodness : 0.999615 Centerline is valid? [True, True] Translation: X:30.43, Y:0.45, Z:0.35 [[ 9.99008532e-01 -4.16162156e-02 -1.58127544e-02 3.04275763e+01] [ 4.16230025e-02 9.99133382e-01 1.00197770e-04 4.48482815e-01] [ 1.57948809e-02 -7.58272744e-04 9.99874966e-01 3.49925436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.379254153999995 meters Centerline goodness : 0.999465 Centerline is valid? [True, True] Translation: X:30.46, Y:0.45, Z:0.35 [[ 9.99316498e-01 -3.34139656e-02 -1.58127470e-02 3.04585183e+01] [ 3.34197456e-02 9.99441399e-01 1.01348925e-04 4.52090302e-01] [ 1.58005275e-02 -6.29737636e-04 9.99874966e-01 3.51103378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.409254153999996 meters Centerline goodness : 0.999571 Centerline is valid? [True, True] Translation: X:30.49, Y:0.45, Z:0.35 [[ 9.99463300e-01 -2.86891673e-02 -1.58127415e-02 3.04905521e+01] [ 2.86943703e-02 9.99588227e-01 1.02208039e-04 4.53935315e-01] [ 1.58032979e-02 -5.55889843e-04 9.99874966e-01 3.52433157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.439254153999993 meters Centerline goodness : 0.999528 Centerline is valid? [True, True] Translation: X:30.52, Y:0.46, Z:0.35 [[ 9.99594883e-01 -2.36648830e-02 -1.58127338e-02 3.05213495e+01] [ 2.36694764e-02 9.99719833e-01 1.03373780e-04 4.55691260e-01] [ 1.58058573e-02 -4.77611032e-04 9.99874966e-01 3.53351948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.469254153999994 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:30.55, Y:0.46, Z:0.35 [[ 9.99789136e-01 -1.31011816e-02 -1.58127281e-02 3.05514628e+01] [ 1.31044682e-02 9.99914127e-01 1.04241195e-04 4.59294106e-01] [ 1.58100046e-02 -3.11436607e-04 9.99874966e-01 3.53848292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.499254153999996 meters Centerline goodness : 0.999612 Centerline is valid? [True, True] Translation: X:30.58, Y:0.46, Z:0.35 [[ 9.99841747e-01 -8.15104574e-03 -1.58127281e-02 3.05791812e+01] [ 8.15371342e-03 9.99966752e-01 1.04241195e-04 4.61015857e-01] [ 1.58113527e-02 -2.33157152e-04 9.99874966e-01 3.53769978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.529254153999993 meters Centerline goodness : 0.999545 Centerline is valid? [True, True] Translation: X:30.61, Y:0.46, Z:0.35 [[ 9.99873916e-01 1.45247533e-03 -1.58127570e-02 3.06064034e+01] [-1.45108098e-03 9.99998942e-01 9.96523972e-05 4.64652014e-01] [ 1.58128851e-02 -7.66942416e-05 9.99874966e-01 3.53574064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.559254153999994 meters Centerline goodness : 0.999610 Centerline is valid? [True, True] Translation: X:30.63, Y:0.47, Z:0.35 [[ 9.99859685e-01 5.52879893e-03 -1.58127693e-02 3.06342819e+01] [-5.52794565e-03 9.99984716e-01 9.76701010e-05 4.66223516e-01] [ 1.58130676e-02 -1.02442672e-05 9.99874966e-01 3.54317657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.589254153999995 meters Centerline goodness : 0.999566 Centerline is valid? [True, True] Translation: X:30.66, Y:0.47, Z:0.36 [[ 9.99792885e-01 1.28118180e-02 -1.58127958e-02 3.06621270e+01] [-1.28119467e-02 9.99917919e-01 9.31697281e-05 4.68429684e-01] [ 1.58126916e-02 1.09442265e-04 9.99874966e-01 3.55295553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.619254153999993 meters Centerline goodness : 0.999651 Centerline is valid? [True, True] Translation: X:30.69, Y:0.47, Z:0.36 [[ 9.99759607e-01 1.51882901e-02 -1.58128079e-02 3.06901595e+01] [-1.51887492e-02 9.99884640e-01 9.10680092e-05 4.68922105e-01] [ 1.58123669e-02 1.49130657e-04 9.99874966e-01 3.56089360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.649254153999994 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:30.72, Y:0.47, Z:0.36 [[ 9.99705860e-01 1.83887731e-02 -1.58128324e-02 3.07183452e+01] [-1.83897033e-02 9.99830891e-01 8.65952778e-05 4.69357617e-01] [ 1.58117507e-02 2.04223489e-04 9.99874966e-01 3.57105836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.679254153999995 meters Centerline goodness : 0.999674 Centerline is valid? [True, True] Translation: X:30.75, Y:0.47, Z:0.36 [[ 9.99703179e-01 1.85339758e-02 -1.58128555e-02 3.07450906e+01] [-1.85349944e-02 9.99828209e-01 8.21503527e-05 4.69639929e-01] [ 1.58116616e-02 2.10965220e-04 9.99874966e-01 3.57932960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.709254153999993 meters Centerline goodness : 0.999587 Centerline is valid? [True, True] Translation: X:30.77, Y:0.47, Z:0.36 [[ 9.99720298e-01 1.75863227e-02 -1.58128653e-02 3.07734165e+01] [-1.75872531e-02 9.99845329e-01 8.02277282e-05 4.69556005e-01] [ 1.58118304e-02 1.97899576e-04 9.99874966e-01 3.58759698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.739254153999994 meters Centerline goodness : 0.999564 Centerline is valid? [True, True] Translation: X:30.80, Y:0.47, Z:0.36 [[ 9.99789511e-01 1.30723727e-02 -1.58128734e-02 3.08013793e+01] [-1.30727645e-02 9.99914545e-01 7.85928946e-05 4.67750395e-01] [ 1.58125495e-02 1.28141618e-04 9.99874966e-01 3.59314421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.769254153999995 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:30.83, Y:0.47, Z:0.36 [[ 9.99831967e-01 9.27312304e-03 -1.58128818e-02 3.08285915e+01] [-9.27306706e-03 9.99957001e-01 7.68633132e-05 4.66260950e-01] [ 1.58129146e-02 6.97835157e-05 9.99874966e-01 3.59150066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.799254153999993 meters Centerline goodness : 0.999544 Centerline is valid? [True, True] Translation: X:30.86, Y:0.46, Z:0.36 [[ 9.99864954e-01 4.47497865e-03 -1.58128913e-02 3.08565130e+01] [-4.47435433e-03 9.99989987e-01 7.48601267e-05 4.64557452e-01] [ 1.58130679e-02 -4.09753861e-06 9.99874966e-01 3.59528762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.829254153999994 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:30.88, Y:0.46, Z:0.36 [[ 9.99852726e-01 -6.66924028e-03 -1.58128993e-02 3.08830150e+01] [ 6.67123077e-03 9.99977744e-01 7.31311086e-05 4.60561658e-01] [ 1.58120596e-02 -1.78611838e-04 9.99874966e-01 3.59014622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.859254153999995 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:30.91, Y:0.46, Z:0.36 [[ 9.99792939e-01 -1.28074699e-02 -1.58129083e-02 3.09120265e+01] [ 1.28101963e-02 9.99917944e-01 7.11323890e-05 4.58129562e-01] [ 1.58106997e-02 -2.73684119e-04 9.99874966e-01 3.58911202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.889254153999993 meters Centerline goodness : 0.999484 Centerline is valid? [True, True] Translation: X:30.94, Y:0.45, Z:0.36 [[ 9.99552243e-01 -2.54020578e-02 -1.58129133e-02 3.09396077e+01] [ 2.54063409e-02 9.99677204e-01 6.99972581e-05 4.53466842e-01] [ 1.58060309e-02 -4.71714182e-04 9.99874966e-01 3.58937446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.919254153999994 meters Centerline goodness : 0.999571 Centerline is valid? [True, True] Translation: X:30.97, Y:0.45, Z:0.36 [[ 9.99389950e-01 -3.11396720e-02 -1.58129194e-02 3.09706330e+01] [ 3.11446501e-02 9.99514885e-01 6.85884879e-05 4.51190317e-01] [ 1.58031125e-02 -5.61034487e-04 9.99874966e-01 3.59677646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.949254153999995 meters Centerline goodness : 0.999486 Centerline is valid? [True, True] Translation: X:31.00, Y:0.45, Z:0.36 [[ 9.99208280e-01 -3.65070543e-02 -1.58129169e-02 3.10031538e+01] [ 3.65127124e-02 9.99333186e-01 6.91597400e-05 4.49200242e-01] [ 1.57998478e-02 -6.46477471e-04 9.99874966e-01 3.60212362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.979254153999992 meters Centerline goodness : 0.999379 Centerline is valid? [True, True] Translation: X:31.04, Y:0.45, Z:0.36 [[ 9.98850553e-01 -4.52495857e-02 -1.58129117e-02 3.10360411e+01] [ 4.52563551e-02 9.98975404e-01 7.03349131e-05 4.45565629e-01] [ 1.57935272e-02 -7.85888813e-04 9.99874966e-01 3.61103197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.009254153999994 meters Centerline goodness : 0.999316 Centerline is valid? [True, True] Translation: X:31.07, Y:0.44, Z:0.36 [[ 9.98707949e-01 -4.82947711e-02 -1.58129035e-02 3.10685602e+01] [ 4.83019493e-02 9.98832777e-01 7.21223807e-05 4.43690438e-01] [ 1.57909632e-02 -8.35823259e-04 9.99874966e-01 3.61570662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.039254153999995 meters Centerline goodness : 0.999232 Centerline is valid? [True, True] Translation: X:31.10, Y:0.44, Z:0.36 [[ 9.98506148e-01 -5.23012901e-02 -1.58128966e-02 3.11014908e+01] [ 5.23089925e-02 9.98630945e-01 7.36046949e-05 4.40597354e-01] [ 1.57873983e-02 -9.00651431e-04 9.99874966e-01 3.62868598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.069254153999992 meters Centerline goodness : 0.999425 Centerline is valid? [True, True] Translation: X:31.13, Y:0.44, Z:0.36 [[ 9.98466112e-01 -5.30601175e-02 -1.58128882e-02 3.11331601e+01] [ 5.30679426e-02 9.98590901e-01 7.53627866e-05 4.39267878e-01] [ 1.57866076e-02 -9.14404633e-04 9.99874966e-01 3.63897471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.099254153999993 meters Centerline goodness : 0.999297 Centerline is valid? [True, True] Translation: X:31.17, Y:0.44, Z:0.36 [[ 9.98463723e-01 -5.31050479e-02 -1.58128739e-02 3.11661791e+01] [ 5.31129244e-02 9.98588509e-01 7.82631740e-05 4.37642084e-01] [ 1.57863980e-02 -9.18010914e-04 9.99874966e-01 3.64854524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.129254153999995 meters Centerline goodness : 0.999511 Centerline is valid? [True, True] Translation: X:31.20, Y:0.44, Z:0.37 [[ 9.98509650e-01 -5.22344037e-02 -1.58128649e-02 3.11977166e+01] [ 5.22421994e-02 9.98634441e-01 8.00439482e-05 4.36703285e-01] [ 1.57870904e-02 -9.06023494e-04 9.99874966e-01 3.65644769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.159254153999996 meters Centerline goodness : 0.999424 Centerline is valid? [True, True] Translation: X:31.23, Y:0.44, Z:0.37 [[ 9.98569848e-01 -5.10706544e-02 -1.58128573e-02 3.12306872e+01] [ 5.10783279e-02 9.98694647e-01 8.15178162e-05 4.35591058e-01] [ 1.57880527e-02 -8.89095543e-04 9.99874966e-01 3.65573575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.189254153999993 meters Centerline goodness : 0.999424 Centerline is valid? [True, True] Translation: X:31.26, Y:0.43, Z:0.36 [[ 9.98725319e-01 -4.79342404e-02 -1.58128480e-02 3.12642457e+01] [ 4.79415496e-02 9.98850139e-01 8.32707309e-05 4.34170256e-01] [ 1.57906739e-02 -8.41257026e-04 9.99874966e-01 3.64130543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.219254153999994 meters Centerline goodness : 0.999424 Centerline is valid? [True, True] Translation: X:31.30, Y:0.43, Z:0.36 [[ 9.98809906e-01 -4.61381090e-02 -1.58128385e-02 3.12974505e+01] [ 4.61452218e-02 9.98934738e-01 8.50431035e-05 4.33850104e-01] [ 1.57920700e-02 -8.14628834e-04 9.99874966e-01 3.63645328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.249254153999996 meters Centerline goodness : 0.999402 Centerline is valid? [True, True] Translation: X:31.33, Y:0.43, Z:0.36 [[ 9.99012738e-01 -4.15150963e-02 -1.58128287e-02 3.13283883e+01] [ 4.15216594e-02 9.99137600e-01 8.68264305e-05 4.34373862e-01] [ 1.57955871e-02 -7.43315599e-04 9.99874966e-01 3.62054799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.279254153999993 meters Centerline goodness : 0.999402 Centerline is valid? [True, True] Translation: X:31.36, Y:0.43, Z:0.36 [[ 9.99015808e-01 -4.14411623e-02 -1.58128238e-02 3.13610791e+01] [ 4.14477301e-02 9.99140670e-01 8.77086378e-05 4.34132703e-01] [ 1.57956006e-02 -7.43027970e-04 9.99874966e-01 3.62571520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.309254153999994 meters Centerline goodness : 0.999275 Centerline is valid? [True, True] Translation: X:31.39, Y:0.43, Z:0.36 [[ 9.99119217e-01 -3.88683074e-02 -1.58128172e-02 3.13929852e+01] [ 3.88745721e-02 9.99244094e-01 8.88788216e-05 4.34520238e-01] [ 1.57974097e-02 -7.03517043e-04 9.99874966e-01 3.62239934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.339254153999995 meters Centerline goodness : 0.999423 Centerline is valid? [True, True] Translation: X:31.43, Y:0.44, Z:0.36 [[ 9.99349937e-01 -3.23984254e-02 -1.58128106e-02 3.14250858e+01] [ 3.24038998e-02 9.99474852e-01 9.00435615e-05 4.36161960e-01] [ 1.58015893e-02 -6.02381758e-04 9.99874966e-01 3.61852333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.369254153999993 meters Centerline goodness : 0.999190 Centerline is valid? [True, True] Translation: X:31.46, Y:0.44, Z:0.36 [[ 9.99462860e-01 -2.87044655e-02 -1.58128040e-02 3.14575329e+01] [ 2.87094964e-02 9.99587793e-01 9.11984248e-05 4.37168363e-01] [ 1.58036680e-02 -5.45127077e-04 9.99874966e-01 3.62475709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.399254153999994 meters Centerline goodness : 0.999316 Centerline is valid? [True, True] Translation: X:31.49, Y:0.44, Z:0.36 [[ 9.99568231e-01 -2.47650178e-02 -1.58127972e-02 3.14886206e+01] [ 2.47695745e-02 9.99693183e-01 9.23474962e-05 4.38385011e-01] [ 1.58056586e-02 -4.83983883e-04 9.99874966e-01 3.63597044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.429254153999995 meters Centerline goodness : 0.999486 Centerline is valid? [True, True] Translation: X:31.52, Y:0.44, Z:0.36 [[ 9.99665198e-01 -2.04803990e-02 -1.58127938e-02 3.15190163e+01] [ 2.04844292e-02 9.99790168e-01 9.29302494e-05 4.39619254e-01] [ 1.58075725e-02 -4.16815192e-04 9.99874966e-01 3.64240186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.459254153999993 meters Centerline goodness : 0.999445 Centerline is valid? [True, True] Translation: X:31.55, Y:0.44, Z:0.37 [[ 9.99747921e-01 -1.59389579e-02 -1.58127921e-02 3.15482035e+01] [ 1.59424249e-02 9.99872907e-01 9.32192648e-05 4.41139175e-01] [ 1.58092966e-02 -3.45290018e-04 9.99874966e-01 3.65050968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.489254153999994 meters Centerline goodness : 0.999420 Centerline is valid? [True, True] Translation: X:31.58, Y:0.44, Z:0.37 [[ 9.99854940e-01 -6.32890388e-03 -1.58127954e-02 3.15770565e+01] [ 6.33116061e-03 9.99979954e-01 9.26593468e-05 4.44496816e-01] [ 1.58118920e-02 -1.92759253e-04 9.99874966e-01 3.67233227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.519254153999995 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:31.60, Y:0.45, Z:0.37 [[ 9.99868219e-01 3.67403172e-03 -1.58128183e-02 3.16046769e+01] [-3.67309031e-03 9.99993250e-01 8.85769005e-05 4.47771647e-01] [ 1.58130370e-02 -3.04833183e-05 9.99874966e-01 3.69076712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.549254153999993 meters Centerline goodness : 0.999288 Centerline is valid? [True, True] Translation: X:31.63, Y:0.45, Z:0.37 [[ 9.99840833e-01 8.26211964e-03 -1.58128429e-02 3.16321250e+01] [-8.26182553e-03 9.99965867e-01 8.39260013e-05 4.49016827e-01] [ 1.58129966e-02 4.67303066e-05 9.99874966e-01 3.70143424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.579254153999994 meters Centerline goodness : 0.999481 Centerline is valid? [True, True] Translation: X:31.66, Y:0.45, Z:0.37 [[ 9.99798211e-01 1.23891012e-02 -1.58128663e-02 3.16597813e+01] [-1.23893968e-02 9.99923245e-01 7.92727002e-05 4.50047250e-01] [ 1.58126347e-02 1.16655172e-04 9.99874966e-01 3.70727762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.609254153999995 meters Centerline goodness : 0.999632 Centerline is valid? [True, True] Translation: X:31.69, Y:0.45, Z:0.37 [[ 9.99716169e-01 1.78194943e-02 -1.58128881e-02 3.16880685e+01] [-1.78205420e-02 9.99841199e-01 7.46606464e-05 4.51708761e-01] [ 1.58117074e-02 2.07154780e-04 9.99874966e-01 3.71446967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.639254153999993 meters Centerline goodness : 0.999633 Centerline is valid? [True, True] Translation: X:31.72, Y:0.45, Z:0.37 [[ 9.99696718e-01 1.88791932e-02 -1.58129084e-02 3.17164208e+01] [-1.88804460e-02 9.99821746e-01 7.00677734e-05 4.51933614e-01] [ 1.58114125e-02 2.28508240e-04 9.99874966e-01 3.72004445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.669254153999994 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:31.74, Y:0.45, Z:0.37 [[ 9.99694580e-01 1.89920639e-02 -1.58129274e-02 3.17445761e+01] [-1.89934035e-02 9.99819607e-01 6.54789259e-05 4.51664053e-01] [ 1.58113184e-02 2.34882383e-04 9.99874966e-01 3.72113461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.699254153999995 meters Centerline goodness : 0.999481 Centerline is valid? [True, True] Translation: X:31.77, Y:0.45, Z:0.37 [[ 9.99735347e-01 1.67089093e-02 -1.58129343e-02 3.17714445e+01] [-1.67099903e-02 9.99860376e-01 6.37660360e-05 4.49837938e-01] [ 1.58117919e-02 2.00484819e-04 9.99874966e-01 3.71448492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.729254153999992 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:31.80, Y:0.45, Z:0.37 [[ 9.99774196e-01 1.41953359e-02 -1.58129421e-02 3.17979427e+01] [-1.41961339e-02 9.99899228e-01 6.17839190e-05 4.48571358e-01] [ 1.58122256e-02 1.62712675e-04 9.99874966e-01 3.71152613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.759254153999994 meters Centerline goodness : 0.999438 Centerline is valid? [True, True] Translation: X:31.83, Y:0.45, Z:0.37 [[ 9.99773624e-01 1.42355332e-02 -1.58129495e-02 3.18289168e+01] [-1.42363674e-02 9.99898656e-01 5.98206005e-05 4.45080718e-01] [ 1.58121985e-02 1.65311899e-04 9.99874966e-01 3.72150674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.789254153999995 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:31.85, Y:0.45, Z:0.37 [[ 9.99859264e-01 5.60485895e-03 -1.58125846e-02 3.18538026e+01] [-5.60308149e-03 9.99984290e-01 1.56708045e-04 4.45061421e-01] [ 1.58132145e-02 -6.80867907e-05 9.99874961e-01 3.71707780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.819254153999992 meters Centerline goodness : 0.999397 Centerline is valid? [True, True] Translation: X:31.88, Y:0.44, Z:0.37 [[ 9.99871984e-01 2.44288325e-03 -1.58129325e-02 3.18811461e+01] [-2.44234932e-03 9.99997016e-01 5.30766098e-05 4.44011821e-01] [ 1.58130150e-02 -1.44491102e-05 9.99874966e-01 3.71911329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.849254153999993 meters Centerline goodness : 0.999399 Centerline is valid? [True, True] Translation: X:31.91, Y:0.44, Z:0.37 [[ 9.99870684e-01 -2.92672629e-03 -1.58129410e-02 3.19086832e+01] [ 2.92788932e-03 9.99995712e-01 5.03994991e-05 4.40897849e-01] [ 1.58127257e-02 -9.66915229e-05 9.99874966e-01 3.72621981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.879254153999995 meters Centerline goodness : 0.999636 Centerline is valid? [True, True] Translation: X:31.94, Y:0.44, Z:0.37 [[ 9.99860686e-01 -5.34415549e-03 -1.58129463e-02 3.19364162e+01] [ 5.34559381e-03 9.99985711e-01 4.86920442e-05 4.39425012e-01] [ 1.58124601e-02 -1.33214848e-04 9.99874966e-01 3.73337177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.909254153999992 meters Centerline goodness : 0.999379 Centerline is valid? [True, True] Translation: X:31.96, Y:0.44, Z:0.37 [[ 9.99847269e-01 -7.44233091e-03 -1.58129514e-02 3.19637198e+01] [ 7.44400405e-03 9.99972292e-01 4.69503279e-05 4.37827067e-01] [ 1.58121639e-02 -1.64654832e-04 9.99874966e-01 3.73986858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.939254153999993 meters Centerline goodness : 0.999401 Centerline is valid? [True, True] Translation: X:31.99, Y:0.43, Z:0.38 [[ 9.99811666e-01 -1.12508885e-02 -1.58129572e-02 3.19913413e+01] [ 1.12530060e-02 9.99936682e-01 4.49351296e-05 4.34905999e-01] [ 1.58114504e-02 -2.22869969e-04 9.99874966e-01 3.75522527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.969254153999994 meters Centerline goodness : 0.999487 Centerline is valid? [True, True] Translation: X:32.02, Y:0.43, Z:0.38 [[ 9.99788565e-01 -1.31444031e-02 -1.58129619e-02 3.20193580e+01] [ 1.31467299e-02 9.99913577e-01 4.31997813e-05 4.33272838e-01] [ 1.58110275e-02 -2.51079386e-04 9.99874966e-01 3.76271081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.999254153999996 meters Centerline goodness : 0.999340 Centerline is valid? [True, True] Translation: X:32.05, Y:0.43, Z:0.38 [[ 9.99770564e-01 -1.44488506e-02 -1.58129732e-02 3.20458292e+01] [ 1.44512672e-02 9.99895574e-01 3.85659797e-05 4.29367629e-01] [ 1.58107647e-02 -2.67074633e-04 9.99874966e-01 3.77599352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.029254154 meters Centerline goodness : 0.999319 Centerline is valid? [True, True] Translation: X:32.08, Y:0.43, Z:0.38 [[ 9.99736880e-01 -1.66166828e-02 -1.58131628e-02 3.20770484e+01] [ 1.66179635e-02 9.99861911e-01 -5.04164371e-05 4.27268108e-01] [ 1.58118169e-02 -2.12379391e-04 9.99874963e-01 3.76520473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.059254153999994 meters Centerline goodness : 0.999152 Centerline is valid? [True, True] Translation: X:32.10, Y:0.43, Z:0.38 [[ 9.99726923e-01 -1.72054877e-02 -1.58129757e-02 3.21049409e+01] [ 1.72081887e-02 9.99851928e-01 3.47533789e-05 4.25247065e-01] [ 1.58100363e-02 -3.06856558e-04 9.99874966e-01 3.75874820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.089254153999995 meters Centerline goodness : 0.999385 Centerline is valid? [True, True] Translation: X:32.13, Y:0.42, Z:0.37 [[ 9.99731043e-01 -1.69643859e-02 -1.58129787e-02 3.21335835e+01] [ 1.69670343e-02 9.99856049e-01 3.33317994e-05 4.21954538e-01] [ 1.58101369e-02 -3.01622186e-04 9.99874966e-01 3.74938522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.119254154 meters Centerline goodness : 0.999301 Centerline is valid? [True, True] Translation: X:32.16, Y:0.42, Z:0.38 [[ 9.99733137e-01 -1.68405327e-02 -1.58129859e-02 3.21625335e+01] [ 1.68431044e-02 9.99858144e-01 2.94593493e-05 4.21039959e-01] [ 1.58102466e-02 -2.95791260e-04 9.99874966e-01 3.75281190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.149254154 meters Centerline goodness : 0.999237 Centerline is valid? [True, True] Translation: X:32.19, Y:0.42, Z:0.37 [[ 9.99757605e-01 -1.53192577e-02 -1.58129923e-02 3.21906960e+01] [ 1.53215759e-02 9.99882617e-01 2.54548989e-05 4.19853918e-01] [ 1.58107462e-02 -2.67728691e-04 9.99874966e-01 3.74778659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.179254154 meters Centerline goodness : 0.999258 Centerline is valid? [True, True] Translation: X:32.22, Y:0.42, Z:0.37 [[ 9.99771277e-01 -1.43993735e-02 -1.58129945e-02 3.22186914e+01] [ 1.44015542e-02 9.99896292e-01 2.40364688e-05 4.19546853e-01] [ 1.58110084e-02 -2.51762669e-04 9.99874966e-01 3.74953820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.209254154 meters Centerline goodness : 0.999321 Centerline is valid? [True, True] Translation: X:32.25, Y:0.42, Z:0.37 [[ 9.99791603e-01 -1.29112481e-02 -1.58130001e-02 3.22463276e+01] [ 1.29131712e-02 9.99916621e-01 1.95114433e-05 4.19499153e-01] [ 1.58114297e-02 -2.23703354e-04 9.99874967e-01 3.74743182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.239254153999994 meters Centerline goodness : 0.999364 Centerline is valid? [True, True] Translation: X:32.27, Y:0.42, Z:0.37 [[ 9.99793123e-01 -1.27929862e-02 -1.58130017e-02 3.22729411e+01] [ 1.27948724e-02 9.99918142e-01 1.81116045e-05 4.19582285e-01] [ 1.58114755e-02 -2.20433196e-04 9.99874967e-01 3.74974065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.269254153999995 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:32.30, Y:0.42, Z:0.38 [[ 9.99786195e-01 -1.33234208e-02 -1.58130037e-02 3.23003349e+01] [ 1.33253427e-02 9.99911214e-01 1.61745255e-05 4.19411491e-01] [ 1.58113842e-02 -2.26884759e-04 9.99874967e-01 3.76104064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.299254153999996 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:32.33, Y:0.42, Z:0.38 [[ 9.99747409e-01 -1.59708048e-02 -1.58130071e-02 3.23284491e+01] [ 1.59729833e-02 9.99872424e-01 1.14707360e-05 4.19065958e-01] [ 1.58108065e-02 -2.64048736e-04 9.99874967e-01 3.76298678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.329254154 meters Centerline goodness : 0.999469 Centerline is valid? [True, True] Translation: X:32.36, Y:0.42, Z:0.38 [[ 9.99714053e-01 -1.79377004e-02 -1.58130091e-02 3.23563138e+01] [ 1.79400509e-02 9.99839064e-01 6.79593569e-06 4.18697532e-01] [ 1.58103423e-02 -2.90480181e-04 9.99874967e-01 3.76447190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.359254154 meters Centerline goodness : 0.999257 Centerline is valid? [True, True] Translation: X:32.38, Y:0.42, Z:0.38 [[ 9.99674761e-01 -2.00080337e-02 -1.58130097e-02 3.23847680e+01] [ 2.00105698e-02 9.99799769e-01 2.15801298e-06 4.18612711e-01] [ 1.58098003e-02 -3.18584646e-04 9.99874967e-01 3.75986516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.389254154 meters Centerline goodness : 0.999024 Centerline is valid? [True, True] Translation: X:32.41, Y:0.42, Z:0.38 [[ 9.99593584e-01 -2.37195184e-02 -1.58130098e-02 3.24147693e+01] [ 2.37225050e-02 9.99718582e-01 1.29672416e-06 4.18708027e-01] [ 1.58085290e-02 -3.76420401e-04 9.99874967e-01 3.75546187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.419254154 meters Centerline goodness : 0.999300 Centerline is valid? [True, True] Translation: X:32.44, Y:0.42, Z:0.38 [[ 9.99551386e-01 -2.54357126e-02 -1.58130098e-02 3.24444032e+01] [ 2.54389047e-02 9.99676379e-01 7.17824345e-07 4.19271324e-01] [ 1.58078741e-02 -4.02983152e-04 9.99874967e-01 3.75597817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.449254153999995 meters Centerline goodness : 0.999216 Centerline is valid? [True, True] Translation: X:32.48, Y:0.42, Z:0.37 [[ 9.99480669e-01 -2.80774180e-02 -1.58130098e-02 3.24750135e+01] [ 2.80809358e-02 9.99605653e-01 4.30481148e-07 4.20608012e-01] [ 1.58067619e-02 -4.44474372e-04 9.99874967e-01 3.74769315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.479254153999996 meters Centerline goodness : 0.999512 Centerline is valid? [True, True] Translation: X:32.51, Y:0.42, Z:0.38 [[ 9.99439657e-01 -2.95012034e-02 -1.58130098e-02 3.25067998e+01] [ 2.95049038e-02 9.99564636e-01 7.14766832e-07 4.20995946e-01] [ 1.58061043e-02 -4.67275700e-04 9.99874967e-01 3.76761434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.509254154 meters Centerline goodness : 0.999385 Centerline is valid? [True, True] Translation: X:32.54, Y:0.42, Z:0.38 [[ 9.99400343e-01 -3.08042828e-02 -1.58130098e-02 3.25378699e+01] [ 3.08081549e-02 9.99525316e-01 1.27194643e-06 4.21205051e-01] [ 1.58054644e-02 -4.88440838e-04 9.99874967e-01 3.78421016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.539254154 meters Centerline goodness : 0.999449 Centerline is valid? [True, True] Translation: X:32.57, Y:0.42, Z:0.38 [[ 9.99305210e-01 -3.37497496e-02 -1.58130097e-02 3.25691345e+01] [ 3.37539992e-02 9.99430171e-01 1.84612647e-06 4.21630404e-01] [ 1.58039367e-02 -5.35597160e-04 9.99874967e-01 3.79862237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.569254154 meters Centerline goodness : 0.999278 Centerline is valid? [True, True] Translation: X:32.60, Y:0.42, Z:0.38 [[ 9.99259159e-01 -3.50867828e-02 -1.58130095e-02 3.26009167e+01] [ 3.50912131e-02 9.99384114e-01 2.70360895e-06 4.21886191e-01] [ 1.58031757e-02 -5.57599293e-04 9.99874967e-01 3.80878524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.599254154 meters Centerline goodness : 0.999406 Centerline is valid? [True, True] Translation: X:32.63, Y:0.42, Z:0.38 [[ 9.99227501e-01 -3.59770810e-02 -1.58130093e-02 3.26327353e+01] [ 3.59816409e-02 9.99352451e-01 3.86072466e-06 4.22241195e-01] [ 1.58026307e-02 -5.72835764e-04 9.99874967e-01 3.81483641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.629254153999995 meters Centerline goodness : 0.999448 Centerline is valid? [True, True] Translation: X:32.66, Y:0.42, Z:0.38 [[ 9.99194791e-01 -3.68743709e-02 -1.58130089e-02 3.26648218e+01] [ 3.68790612e-02 9.99319736e-01 5.01350187e-06 4.23447797e-01] [ 1.58020670e-02 -5.88178388e-04 9.99874967e-01 3.82289589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.659254153999996 meters Centerline goodness : 0.999512 Centerline is valid? [True, True] Translation: X:32.70, Y:0.42, Z:0.38 [[ 9.99196553e-01 -3.68265854e-02 -1.58130084e-02 3.26970876e+01] [ 3.68312882e-02 9.99321498e-01 6.18154244e-06 4.24000700e-01] [ 1.58020516e-02 -5.88590047e-04 9.99874967e-01 3.82626457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.689254154 meters Centerline goodness : 0.999595 Centerline is valid? [True, True] Translation: X:32.73, Y:0.43, Z:0.38 [[ 9.99245608e-01 -3.54706128e-02 -1.58130079e-02 3.27295014e+01] [ 3.54751644e-02 9.99370558e-01 7.34302921e-06 4.25988379e-01] [ 1.58027941e-02 -5.68306545e-04 9.99874967e-01 3.82923129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.719254154 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:32.76, Y:0.43, Z:0.38 [[ 9.99288796e-01 -3.42323064e-02 -1.58130073e-02 3.27612074e+01] [ 3.42367214e-02 9.99413752e-01 8.49915294e-06 4.27436457e-01] [ 1.58034460e-02 -5.49878634e-04 9.99874967e-01 3.83759360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.749254154 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:32.79, Y:0.43, Z:0.38 [[ 9.99337748e-01 -3.27721489e-02 -1.58130066e-02 3.27931116e+01] [ 3.27763995e-02 9.99462709e-01 9.64726138e-06 4.29084588e-01] [ 1.58041942e-02 -5.27934293e-04 9.99874967e-01 3.84422023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.779254154 meters Centerline goodness : 0.998397 Centerline is valid? [True, True] Translation: X:32.82, Y:0.43, Z:0.38 [[ 9.99500273e-01 -2.73706649e-02 -1.58130058e-02 3.28221441e+01] [ 2.73742582e-02 9.99625255e-01 1.07953698e-05 4.32316509e-01] [ 1.58067845e-02 -4.43659279e-04 9.99874967e-01 3.82468823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.809254153999994 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:32.85, Y:0.43, Z:0.38 [[ 9.99514232e-01 -2.68560388e-02 -1.58130622e-02 3.28539823e+01] [ 2.68580277e-02 9.99639254e-01 -8.66119293e-05 4.34853799e-01] [ 1.58096838e-02 -3.38137807e-04 9.99874962e-01 3.84543010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.839254153999995 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:32.88, Y:0.44, Z:0.38 [[ 9.99632054e-01 -2.20387534e-02 -1.58129935e-02 3.28849286e+01] [ 2.20416852e-02 9.99757052e-01 1.11241562e-05 4.38818544e-01] [ 1.58089066e-02 -3.59665088e-04 9.99874967e-01 3.84446096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.869254154 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:32.92, Y:0.44, Z:0.39 [[ 9.99684350e-01 -1.95230470e-02 -1.58129935e-02 3.29154509e+01] [ 1.95256643e-02 9.99809356e-01 1.11241562e-05 4.41052850e-01] [ 1.58097617e-02 -3.19879848e-04 9.99874967e-01 3.85558270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.899254154 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:32.95, Y:0.44, Z:0.39 [[ 9.99730731e-01 -1.69827885e-02 -1.58129935e-02 3.29451433e+01] [ 1.69850881e-02 9.99855743e-01 1.11241562e-05 4.43393887e-01] [ 1.58105235e-02 -2.79706249e-04 9.99874967e-01 3.85751535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.929254154 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:32.97, Y:0.45, Z:0.39 [[ 9.99769422e-01 -1.45276419e-02 -1.58129937e-02 3.29738336e+01] [ 1.45296299e-02 9.99894439e-01 1.08342749e-05 4.46033700e-01] [ 1.58111671e-02 -2.40588724e-04 9.99874967e-01 3.85811728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.959254154 meters Centerline goodness : 0.999567 Centerline is valid? [True, True] Translation: X:33.00, Y:0.45, Z:0.39 [[ 9.99822620e-01 -1.02312217e-02 -1.58129942e-02 3.30023578e+01] [ 1.02326592e-02 9.99947645e-01 9.99891887e-06 4.50823644e-01] [ 1.58120641e-02 -1.71806127e-04 9.99874967e-01 3.87765915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.989254153999994 meters Centerline goodness : 0.999568 Centerline is valid? [True, True] Translation: X:33.03, Y:0.45, Z:0.39 [[ 9.99838684e-01 -8.51789819e-03 -1.58129958e-02 3.30306510e+01] [ 8.51905767e-03 9.99963712e-01 5.96474932e-06 4.52834767e-01] [ 1.58123711e-02 -1.40675610e-04 9.99874967e-01 3.88029992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.019254153999995 meters Centerline goodness : 0.999588 Centerline is valid? [True, True] Translation: X:33.06, Y:0.45, Z:0.39 [[ 9.99849938e-01 -7.07465938e-03 -1.58129962e-02 3.30583125e+01] [ 7.07556602e-03 9.99974968e-01 1.38856244e-06 4.54794627e-01] [ 1.58125905e-02 -1.13274252e-04 9.99874967e-01 3.88974478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.049254153999996 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:33.09, Y:0.46, Z:0.39 [[ 9.99864399e-01 -4.59713716e-03 -1.58129953e-02 3.30861073e+01] [ 4.59766175e-03 9.99989431e-01 -3.17900004e-06 4.58361805e-01] [ 1.58128427e-02 -6.95242345e-05 9.99874967e-01 3.90789453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.079254154 meters Centerline goodness : 0.999477 Centerline is valid? [True, True] Translation: X:33.11, Y:0.46, Z:0.39 [[ 9.99866089e-01 -4.21342217e-03 -1.58129945e-02 3.31139115e+01] [ 4.21386493e-03 9.99991122e-01 -5.31930501e-06 4.59984013e-01] [ 1.58128766e-02 -6.13152304e-05 9.99874967e-01 3.92219759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.109254154 meters Centerline goodness : 0.999303 Centerline is valid? [True, True] Translation: X:33.14, Y:0.46, Z:0.39 [[ 9.99866707e-01 -4.06429721e-03 -1.58129917e-02 3.31418806e+01] [ 4.06465024e-03 9.99991739e-01 -9.81362682e-06 4.62655527e-01] [ 1.58129010e-02 -5.44619620e-05 9.99874967e-01 3.94307191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.139254154 meters Centerline goodness : 0.999587 Centerline is valid? [True, True] Translation: X:33.17, Y:0.46, Z:0.40 [[ 9.99863494e-01 -4.78989600e-03 -1.58129876e-02 3.31699099e+01] [ 4.79026782e-03 9.99988526e-01 -1.43635133e-05 4.64011205e-01] [ 1.58128750e-02 -6.13868931e-05 9.99874967e-01 3.95280352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.169254153999994 meters Centerline goodness : 0.999587 Centerline is valid? [True, True] Translation: X:33.20, Y:0.46, Z:0.40 [[ 9.99862085e-01 -5.07551780e-03 -1.58129822e-02 3.31982841e+01] [ 5.07585392e-03 9.99987118e-01 -1.88789725e-05 4.64121905e-01] [ 1.58128743e-02 -6.13880190e-05 9.99874967e-01 3.95730756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.199254153999995 meters Centerline goodness : 0.999542 Centerline is valid? [True, True] Translation: X:33.23, Y:0.47, Z:0.40 [[ 9.99850283e-01 -7.02580159e-03 -1.58129755e-02 3.32261116e+01] [ 7.02631017e-03 9.99975315e-01 -2.33955583e-05 4.65618683e-01] [ 1.58127496e-02 -8.77148152e-05 9.99874967e-01 3.95900026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.229254153999996 meters Centerline goodness : 0.999521 Centerline is valid? [True, True] Translation: X:33.25, Y:0.47, Z:0.40 [[ 9.99837251e-01 -8.68460456e-03 -1.58129729e-02 3.32530982e+01] [ 8.68529404e-03 9.99962282e-01 -2.50732038e-05 4.65894247e-01] [ 1.58125942e-02 -1.12271196e-04 9.99874967e-01 3.95756045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.259254154 meters Centerline goodness : 0.999498 Centerline is valid? [True, True] Translation: X:33.28, Y:0.47, Z:0.40 [[ 9.99804993e-01 -1.18290675e-02 -1.58129696e-02 3.32814539e+01] [ 1.18301194e-02 9.99930021e-01 -2.70180785e-05 4.65778832e-01] [ 1.58121826e-02 -1.60056509e-04 9.99874967e-01 3.95404552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.289254154 meters Centerline goodness : 0.999346 Centerline is valid? [True, True] Translation: X:33.31, Y:0.47, Z:0.40 [[ 9.99778270e-01 -1.39054026e-02 -1.58129665e-02 3.33092503e+01] [ 1.39066877e-02 9.99903297e-01 -2.86932935e-05 4.65724506e-01] [ 1.58118363e-02 -1.91219056e-04 9.99874967e-01 3.95585681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.319254154 meters Centerline goodness : 0.999391 Centerline is valid? [True, True] Translation: X:33.34, Y:0.47, Z:0.40 [[ 9.99752758e-01 -1.56324437e-02 -1.58129570e-02 3.33368064e+01] [ 1.56338733e-02 9.99877783e-01 -3.32110032e-05 4.65569298e-01] [ 1.58115436e-02 -2.14014975e-04 9.99874967e-01 3.95644863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.349254154 meters Centerline goodness : 0.999434 Centerline is valid? [True, True] Translation: X:33.37, Y:0.47, Z:0.40 [[ 9.99707173e-01 -1.83171933e-02 -1.58129540e-02 3.33660097e+01] [ 1.83189366e-02 9.99832194e-01 -3.46095300e-05 4.65005640e-01] [ 1.58109344e-02 -2.55077106e-04 9.99874967e-01 3.96536558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.379254153999995 meters Centerline goodness : 0.999565 Centerline is valid? [True, True] Translation: X:33.40, Y:0.46, Z:0.40 [[ 9.99695010e-01 -1.89693968e-02 -1.58129442e-02 3.33953855e+01] [ 1.89711581e-02 9.99820031e-01 -3.86250653e-05 4.64829308e-01] [ 1.58108310e-02 -2.61376579e-04 9.99874967e-01 3.97322352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.409254153999996 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:33.42, Y:0.46, Z:0.40 [[ 9.99687805e-01 -1.93453925e-02 -1.58129443e-02 3.34249116e+01] [ 1.93472018e-02 9.99812825e-01 -3.85654474e-05 4.64737484e-01] [ 1.58107306e-02 -2.67382817e-04 9.99874967e-01 3.97919945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.439254154 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:33.45, Y:0.46, Z:0.40 [[ 9.99704618e-01 -1.84560740e-02 -1.58129436e-02 3.34540972e+01] [ 1.84577676e-02 9.99829640e-01 -3.88465462e-05 4.64480586e-01] [ 1.58109667e-02 -2.53036566e-04 9.99874967e-01 3.99238255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.469254154 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:33.48, Y:0.46, Z:0.40 [[ 9.99723930e-01 -1.73785746e-02 -1.58129422e-02 3.34834131e+01] [ 1.73801243e-02 9.99848953e-01 -3.94276907e-05 4.64499191e-01] [ 1.58112389e-02 -2.35414095e-04 9.99874967e-01 3.99508167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.499254154 meters Centerline goodness : 0.999565 Centerline is valid? [True, True] Translation: X:33.51, Y:0.46, Z:0.40 [[ 9.99778789e-01 -1.38681025e-02 -1.58129414e-02 3.35133535e+01] [ 1.38692086e-02 9.99903817e-01 -3.97159564e-05 4.64262758e-01] [ 1.58119713e-02 -1.79605813e-04 9.99874967e-01 4.01478203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.529254154 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:33.54, Y:0.46, Z:0.40 [[ 9.99806379e-01 -1.17113316e-02 -1.58129400e-02 3.35424910e+01] [ 1.17121590e-02 9.99931410e-01 -4.02879614e-05 4.63672050e-01] [ 1.58123272e-02 -1.44923506e-04 9.99874967e-01 4.02446117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.559254153999994 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:33.57, Y:0.46, Z:0.40 [[ 9.99831562e-01 -9.31660517e-03 -1.58129287e-02 3.35692716e+01] [ 9.31706913e-03 9.99956594e-01 -4.43305723e-05 4.63068551e-01] [ 1.58126553e-02 -1.03007044e-04 9.99874967e-01 4.02886845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.589254153999995 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:33.60, Y:0.46, Z:0.40 [[ 9.99851476e-01 -6.85404877e-03 -1.58129228e-02 3.35974851e+01] [ 6.85417316e-03 9.99976509e-01 -4.63301452e-05 4.62493029e-01] [ 1.58128689e-02 -6.20612469e-05 9.99874967e-01 4.03924482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.619254154 meters Centerline goodness : 0.999326 Centerline is valid? [True, True] Translation: X:33.63, Y:0.46, Z:0.40 [[ 9.99870977e-01 -2.82503501e-03 -1.58129082e-02 3.36255236e+01] [ 2.82458377e-03 9.99996010e-01 -5.08703426e-05 4.61942194e-01] [ 1.58129888e-02 6.19889537e-06 9.99874967e-01 4.04799863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.649254154 meters Centerline goodness : 0.999347 Centerline is valid? [True, True] Translation: X:33.65, Y:0.46, Z:0.41 [[ 9.99874120e-01 -1.30231495e-03 -1.58128917e-02 3.36520033e+01] [ 1.30159918e-03 9.99999151e-01 -5.55565710e-05 4.61691946e-01] [ 1.58129507e-02 3.49675306e-05 9.99874967e-01 4.05161334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.679254154 meters Centerline goodness : 0.999500 Centerline is valid? [True, True] Translation: X:33.68, Y:0.46, Z:0.40 [[ 9.99874957e-01 1.51394768e-04 -1.58128843e-02 3.36801086e+01] [-1.52324370e-04 9.99999987e-01 -5.75832430e-05 4.60190395e-01] [ 1.58128754e-02 5.99847302e-05 9.99874967e-01 4.04762303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.709254154 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:33.71, Y:0.46, Z:0.40 [[ 9.99874871e-01 -4.41566757e-04 -1.58128659e-02 3.37071991e+01] [ 4.40637249e-04 9.99999901e-01 -6.22658213e-05 4.59537913e-01] [ 1.58128918e-02 5.52902923e-05 9.99874967e-01 4.04062989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.739254153999994 meters Centerline goodness : 0.999392 Centerline is valid? [True, True] Translation: X:33.74, Y:0.46, Z:0.40 [[ 9.99873765e-01 -1.55161831e-03 -1.58128577e-02 3.37352156e+01] [ 1.55079555e-03 9.99998795e-01 -6.42924898e-05 4.58571864e-01] [ 1.58129384e-02 3.97618645e-05 9.99874967e-01 4.03587638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.769254153999995 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:33.76, Y:0.46, Z:0.40 [[ 9.99859538e-01 -5.55491051e-03 -1.58128518e-02 3.37642512e+01] [ 5.55456618e-03 9.99984571e-01 -6.56955249e-05 4.56586381e-01] [ 1.58129728e-02 -2.21472347e-05 9.99874967e-01 4.03955239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.799254153999996 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:33.79, Y:0.46, Z:0.40 [[ 9.99840123e-01 -8.34756575e-03 -1.58128469e-02 3.37911948e+01] [ 8.34755226e-03 9.99965156e-01 -6.68578577e-05 4.55610786e-01] [ 1.58128540e-02 -6.51513973e-05 9.99874967e-01 4.04104835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.829254154 meters Centerline goodness : 0.999351 Centerline is valid? [True, True] Translation: X:33.82, Y:0.45, Z:0.41 [[ 9.99809768e-01 -1.14185236e-02 -1.58128381e-02 3.38193099e+01] [ 1.14188622e-02 9.99934800e-01 -6.88777923e-05 4.54745954e-01] [ 1.58125936e-02 -1.11699930e-04 9.99874967e-01 4.05060280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.859254154 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:33.85, Y:0.45, Z:0.41 [[ 9.99772348e-01 -1.43250183e-02 -1.58128304e-02 3.38485609e+01] [ 1.43256931e-02 9.99897380e-01 -7.05986993e-05 4.53482978e-01] [ 1.58122190e-02 -1.55947129e-04 9.99874967e-01 4.05876329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.889254154 meters Centerline goodness : 0.999398 Centerline is valid? [True, True] Translation: X:33.88, Y:0.45, Z:0.41 [[ 9.99654062e-01 -2.10169417e-02 -1.58128251e-02 3.38767074e+01] [ 2.10184349e-02 9.99779086e-01 -7.17714163e-05 4.51084838e-01] [ 1.58108403e-02 -2.60614247e-04 9.99874967e-01 4.06103296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.919254153999994 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:33.91, Y:0.45, Z:0.41 [[ 9.99577150e-01 -2.44023817e-02 -1.58128175e-02 3.39070179e+01] [ 2.44042724e-02 9.99702169e-01 -7.34104156e-05 4.49886267e-01] [ 1.58098993e-02 -3.12520932e-04 9.99874967e-01 4.06605190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.949254153999995 meters Centerline goodness : 0.999335 Centerline is valid? [True, True] Translation: X:33.94, Y:0.45, Z:0.41 [[ 9.99363878e-01 -3.19655084e-02 -1.58128175e-02 3.39374720e+01] [ 3.19683451e-02 9.99488879e-01 -7.34104156e-05 4.47177879e-01] [ 1.58070818e-02 -4.32145890e-04 9.99874967e-01 4.07387788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.979254153999996 meters Centerline goodness : 0.999358 Centerline is valid? [True, True] Translation: X:33.97, Y:0.45, Z:0.41 [[ 9.99225945e-01 -3.60203470e-02 -1.58128188e-02 3.39688809e+01] [ 3.60236954e-02 9.99350933e-01 -7.31231280e-05 4.45746413e-01] [ 1.58051892e-02 -4.96569642e-04 9.99874967e-01 4.08314558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.009254154 meters Centerline goodness : 0.999209 Centerline is valid? [True, True] Translation: X:34.00, Y:0.44, Z:0.41 [[ 9.98884539e-01 -4.44930613e-02 -1.58128275e-02 3.40004624e+01] [ 4.44974998e-02 9.99009493e-01 -7.12085360e-05 4.42652211e-01] [ 1.58003330e-02 -6.32502181e-04 9.99874967e-01 4.09137877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.039254154 meters Centerline goodness : 0.999275 Centerline is valid? [True, True] Translation: X:34.03, Y:0.44, Z:0.41 [[ 9.98700807e-01 -4.84422628e-02 -1.58128355e-02 3.40336638e+01] [ 4.84472243e-02 9.98825741e-01 -6.93798912e-05 4.41029028e-01] [ 1.57976280e-02 -6.96798234e-04 9.99874967e-01 4.09770770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.069254154 meters Centerline goodness : 0.999338 Centerline is valid? [True, True] Translation: X:34.07, Y:0.44, Z:0.41 [[ 9.98505664e-01 -5.23105383e-02 -1.58128427e-02 3.40656568e+01] [ 5.23160105e-02 9.98630578e-01 -6.76867148e-05 4.39967599e-01] [ 1.57947290e-02 -7.59679277e-04 9.99874967e-01 4.10121977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.099254154 meters Centerline goodness : 0.999467 Centerline is valid? [True, True] Translation: X:34.10, Y:0.44, Z:0.41 [[ 9.98334082e-01 -5.54888767e-02 -1.58128266e-02 3.40976896e+01] [ 5.54946851e-02 9.98458980e-01 -7.15697850e-05 4.38237876e-01] [ 1.57924301e-02 -8.06077278e-04 9.99874967e-01 4.11019694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.129254153999995 meters Centerline goodness : 0.999042 Centerline is valid? [True, True] Translation: X:34.13, Y:0.44, Z:0.41 [[ 9.97987376e-01 -6.14097014e-02 -1.58128654e-02 3.41297213e+01] [ 6.14164078e-02 9.98112229e-01 -6.16132218e-05 4.35370601e-01] [ 1.57867980e-02 -9.09680174e-04 9.99874967e-01 4.10667730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.159254153999996 meters Centerline goodness : 0.999193 Centerline is valid? [True, True] Translation: X:34.16, Y:0.43, Z:0.41 [[ 9.97874551e-01 -6.32165597e-02 -1.58128707e-02 3.41614433e+01] [ 6.32235142e-02 9.97999391e-01 -6.02187749e-05 4.33978501e-01] [ 1.57850422e-02 -9.39654473e-04 9.99874967e-01 4.10955281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.189254154 meters Centerline goodness : 0.999213 Centerline is valid? [True, True] Translation: X:34.19, Y:0.43, Z:0.41 [[ 9.97777266e-01 -6.47339113e-02 -1.58128807e-02 3.41934014e+01] [ 6.47410991e-02 9.97902093e-01 -5.74650035e-05 4.32789895e-01] [ 1.57834267e-02 -9.66406004e-04 9.99874967e-01 4.10749743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.219254154 meters Centerline goodness : 0.999256 Centerline is valid? [True, True] Translation: X:34.23, Y:0.43, Z:0.41 [[ 9.97700591e-01 -6.59051160e-02 -1.58128846e-02 3.42252561e+01] [ 6.59124675e-02 9.97825407e-01 -5.63720454e-05 4.31370380e-01] [ 1.57822132e-02 -9.86023821e-04 9.99874967e-01 4.09879657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.249254154 meters Centerline goodness : 0.999216 Centerline is valid? [True, True] Translation: X:34.26, Y:0.43, Z:0.41 [[ 9.97718532e-01 -6.56329524e-02 -1.58128886e-02 3.42569845e+01] [ 6.56402878e-02 9.97843349e-01 -5.52433302e-05 4.31348669e-01] [ 1.57824115e-02 -9.82845261e-04 9.99874967e-01 4.08852646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.279254154 meters Centerline goodness : 0.999235 Centerline is valid? [True, True] Translation: X:34.29, Y:0.43, Z:0.41 [[ 9.97873392e-01 -6.32348434e-02 -1.58128924e-02 3.42891573e+01] [ 6.32418964e-02 9.97998226e-01 -5.41237714e-05 4.32490311e-01] [ 1.57846611e-02 -9.46028631e-04 9.99874967e-01 4.09968307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.309254153999994 meters Centerline goodness : 0.999256 Centerline is valid? [True, True] Translation: X:34.32, Y:0.43, Z:0.41 [[ 9.98020303e-01 -6.08722173e-02 -1.58128963e-02 3.43207404e+01] [ 6.08789930e-02 9.98145152e-01 -5.29640488e-05 4.33429227e-01] [ 1.57867898e-02 -9.09814007e-04 9.99874967e-01 4.08951430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.339254153999995 meters Centerline goodness : 0.999276 Centerline is valid? [True, True] Translation: X:34.35, Y:0.43, Z:0.41 [[ 9.98180451e-01 -5.81871089e-02 -1.58129010e-02 3.43536548e+01] [ 5.81935715e-02 9.98305317e-01 -5.15223960e-05 4.34724553e-01] [ 1.57891011e-02 -8.68780536e-04 9.99874967e-01 4.11375113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.369254154 meters Centerline goodness : 0.999360 Centerline is valid? [True, True] Translation: X:34.38, Y:0.44, Z:0.41 [[ 9.98508434e-01 -5.22576290e-02 -1.58129064e-02 3.43843571e+01] [ 5.22633770e-02 9.98633335e-01 -4.98089036e-05 4.38701153e-01] [ 1.57938983e-02 -7.76701276e-04 9.99874967e-01 4.12057499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.399254154 meters Centerline goodness : 0.999424 Centerline is valid? [True, True] Translation: X:34.42, Y:0.44, Z:0.42 [[ 9.98666846e-01 -4.91373854e-02 -1.58129090e-02 3.44163532e+01] [ 4.91427565e-02 9.98791764e-01 -4.89603459e-05 4.40981578e-01] [ 1.57962091e-02 -7.28194862e-04 9.99874967e-01 4.15310290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.429254154 meters Centerline goodness : 0.999232 Centerline is valid? [True, True] Translation: X:34.45, Y:0.44, Z:0.42 [[ 9.98809734e-01 -4.61418233e-02 -1.58129124e-02 3.44484804e+01] [ 4.61468374e-02 9.98934666e-01 -4.78352885e-05 4.43024499e-01] [ 1.57982736e-02 -6.81937547e-04 9.99874967e-01 4.17046408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.459254154 meters Centerline goodness : 0.999338 Centerline is valid? [True, True] Translation: X:34.48, Y:0.45, Z:0.42 [[ 9.99017607e-01 -4.13977305e-02 -1.58129157e-02 3.44809217e+01] [ 4.14021690e-02 9.99142562e-01 -4.67161927e-05 4.45828992e-01] [ 1.58012911e-02 -6.08018710e-04 9.99874967e-01 4.19618517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.489254153999994 meters Centerline goodness : 0.999274 Centerline is valid? [True, True] Translation: X:34.51, Y:0.45, Z:0.42 [[ 9.99100145e-01 -3.93554669e-02 -1.58129191e-02 3.45134713e+01] [ 3.93596684e-02 9.99225107e-01 -4.55482896e-05 4.46692320e-01] [ 1.58024583e-02 -5.76883949e-04 9.99874967e-01 4.20139313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.519254153999995 meters Centerline goodness : 0.999252 Centerline is valid? [True, True] Translation: X:34.55, Y:0.45, Z:0.42 [[ 9.99241151e-01 -3.55959895e-02 -1.58129223e-02 3.45461081e+01] [ 3.55997392e-02 9.99366127e-01 -4.43874380e-05 4.47405177e-01] [ 1.58044790e-02 -5.18582156e-04 9.99874967e-01 4.19928149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.549254153999996 meters Centerline goodness : 0.999401 Centerline is valid? [True, True] Translation: X:34.58, Y:0.45, Z:0.42 [[ 9.99303294e-01 -3.38064667e-02 -1.58129255e-02 3.45779539e+01] [ 3.38100108e-02 9.99428277e-01 -4.32265862e-05 4.47742348e-01] [ 1.58053462e-02 -4.91438713e-04 9.99874967e-01 4.19956759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.579254154 meters Centerline goodness : 0.999358 Centerline is valid? [True, True] Translation: X:34.61, Y:0.45, Z:0.42 [[ 9.99360692e-01 -3.20649146e-02 -1.58129286e-02 3.46102666e+01] [ 3.20682595e-02 9.99485680e-01 -4.20547381e-05 4.48215798e-01] [ 1.58061442e-02 -4.65065246e-04 9.99874967e-01 4.19881496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.609254154 meters Centerline goodness : 0.999379 Centerline is valid? [True, True] Translation: X:34.64, Y:0.45, Z:0.42 [[ 9.99427972e-01 -2.98944968e-02 -1.58129316e-02 3.46414104e+01] [ 2.98975887e-02 9.99552966e-01 -4.08868342e-05 4.48576346e-01] [ 1.58070850e-02 -4.31905081e-04 9.99874967e-01 4.19724521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.639254154 meters Centerline goodness : 0.999420 Centerline is valid? [True, True] Translation: X:34.67, Y:0.45, Z:0.42 [[ 9.99583236e-01 -2.41517178e-02 -1.58129338e-02 3.46722238e+01] [ 2.41541052e-02 9.99708246e-01 -4.00169776e-05 4.49653796e-01] [ 1.58092868e-02 -3.41946968e-04 9.99874967e-01 4.19686693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.669254153999994 meters Centerline goodness : 0.999377 Centerline is valid? [True, True] Translation: X:34.70, Y:0.45, Z:0.42 [[ 9.99664440e-01 -2.05172700e-02 -1.58129360e-02 3.47037696e+01] [ 2.05192165e-02 9.99789458e-01 -3.91543702e-05 4.50286464e-01] [ 1.58104100e-02 -2.85327826e-04 9.99874967e-01 4.20367596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.699254153999995 meters Centerline goodness : 0.999505 Centerline is valid? [True, True] Translation: X:34.73, Y:0.45, Z:0.42 [[ 9.99796488e-01 -1.25273305e-02 -1.58129374e-02 3.47340818e+01] [ 1.25282868e-02 9.99921517e-01 -3.85872713e-05 4.50854403e-01] [ 1.58121797e-02 -1.59529597e-04 9.99874967e-01 4.21482337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.729254153999996 meters Centerline goodness : 0.999440 Centerline is valid? [True, True] Translation: X:34.76, Y:0.45, Z:0.42 [[ 9.99848469e-01 -7.27944711e-03 -1.58129374e-02 3.47612044e+01] [ 7.27974715e-03 9.99973502e-01 -3.85872713e-05 4.50831141e-01] [ 1.58127992e-02 -7.65327615e-05 9.99874967e-01 4.20835873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.759254154 meters Centerline goodness : 0.999397 Centerline is valid? [True, True] Translation: X:34.79, Y:0.45, Z:0.42 [[ 9.99874959e-01 1.53188009e-04 -1.58127755e-02 3.47908423e+01] [-1.54794235e-04 9.99999983e-01 -1.00353838e-04 4.51098902e-01] [ 1.58127599e-02 1.02789016e-04 9.99874965e-01 4.23577337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.789254154 meters Centerline goodness : 0.999439 Centerline is valid? [True, True] Translation: X:34.82, Y:0.45, Z:0.42 [[ 9.99868157e-01 3.69048842e-03 -1.58129325e-02 3.48187841e+01] [-3.69164808e-03 9.99993185e-01 -4.41467147e-05 4.51248504e-01] [ 1.58126618e-02 1.02516676e-04 9.99874967e-01 4.24245498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.819254154 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:34.85, Y:0.45, Z:0.42 [[ 9.99848566e-01 7.26611794e-03 -1.58129182e-02 3.48467107e+01] [-7.26779780e-03 9.99973588e-01 -4.87692920e-05 4.51306646e-01] [ 1.58121462e-02 1.63686999e-04 9.99874967e-01 4.24755132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.84925415399999 meters Centerline goodness : 0.999136 Centerline is valid? [True, True] Translation: X:34.87, Y:0.45, Z:0.43 [[ 9.99813847e-01 1.10555071e-02 -1.58129027e-02 3.48724191e+01] [-1.10577336e-02 9.99938860e-01 -5.33708833e-05 4.50951048e-01] [ 1.58113459e-02 2.28215814e-04 9.99874967e-01 4.25015327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.879254153999995 meters Centerline goodness : 0.999378 Centerline is valid? [True, True] Translation: X:34.90, Y:0.45, Z:0.43 [[ 9.99761748e-01 1.50468036e-02 -1.58126681e-02 3.49024753e+01] [-1.50505283e-02 9.99886728e-01 -1.16572037e-04 4.49601157e-01] [ 1.58091229e-02 3.54533272e-04 9.99874965e-01 4.25731076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.909254153999996 meters Centerline goodness : 0.999356 Centerline is valid? [True, True] Translation: X:34.93, Y:0.45, Z:0.43 [[ 9.99730828e-01 1.69771539e-02 -1.58128823e-02 3.49290217e+01] [-1.69802479e-02 9.99855823e-01 -6.14114920e-05 4.47425608e-01] [ 1.58095599e-02 3.29901624e-04 9.99874967e-01 4.25484601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.939254154 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:34.96, Y:0.45, Z:0.43 [[ 9.99733655e-01 1.68098623e-02 -1.58128743e-02 3.49570105e+01] [-1.68129669e-02 9.99858650e-01 -6.34036600e-05 4.45956482e-01] [ 1.58095734e-02 3.29248105e-04 9.99874967e-01 4.26424429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.969254154 meters Centerline goodness : 0.999506 Centerline is valid? [True, True] Translation: X:34.98, Y:0.44, Z:0.43 [[ 9.99750221e-01 1.57939736e-02 -1.58128671e-02 3.49841946e+01] [-1.57969788e-02 9.99875218e-01 -6.51487509e-05 4.44319598e-01] [ 1.58098650e-02 3.14928004e-04 9.99874967e-01 4.26645135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.999254154 meters Centerline goodness : 0.999293 Centerline is valid? [True, True] Translation: X:35.01, Y:0.44, Z:0.43 [[ 9.99773569e-01 1.42395314e-02 -1.58128535e-02 3.50130306e+01] [-1.42423923e-02 9.99898570e-01 -6.83146280e-05 4.42777362e-01] [ 1.58102768e-02 2.93512021e-04 9.99874967e-01 4.27063578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.029254154 meters Centerline goodness : 0.999294 Centerline is valid? [True, True] Translation: X:35.04, Y:0.44, Z:0.43 [[ 9.99825424e-01 9.95365613e-03 -1.58128484e-02 3.50407516e+01] [-9.95599932e-03 9.99950435e-01 -6.94666393e-05 4.38861733e-01] [ 1.58113732e-02 2.26887220e-04 9.99874967e-01 4.27475899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.059254153999994 meters Centerline goodness : 0.999209 Centerline is valid? [True, True] Translation: X:35.07, Y:0.44, Z:0.43 [[ 9.99849656e-01 7.11466517e-03 -1.58128420e-02 3.50682255e+01] [-7.11667596e-03 9.99974674e-01 -7.08942341e-05 4.36717833e-01] [ 1.58119371e-02 1.83418448e-04 9.99874967e-01 4.27837671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.089254153999995 meters Centerline goodness : 0.999209 Centerline is valid? [True, True] Translation: X:35.10, Y:0.44, Z:0.43 [[ 9.99850418e-01 7.00679215e-03 -1.58128342e-02 3.50966789e+01] [-7.00881639e-03 9.99975435e-01 -7.25971675e-05 4.36937392e-01] [ 1.58119371e-02 1.83415560e-04 9.99874967e-01 4.28288242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.119254154 meters Centerline goodness : 0.999042 Centerline is valid? [True, True] Translation: X:35.12, Y:0.43, Z:0.43 [[ 9.99874686e-01 7.53310711e-04 -1.58128262e-02 3.51246355e+01] [-7.54579994e-04 9.99999713e-01 -7.43029881e-05 4.31882541e-01] [ 1.58127657e-02 8.62257191e-05 9.99874967e-01 4.28360723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.149254154 meters Centerline goodness : 0.999064 Centerline is valid? [True, True] Translation: X:35.15, Y:0.43, Z:0.43 [[ 9.99871223e-01 -2.73733888e-03 -1.58128180e-02 3.51517263e+01] [ 2.73647930e-03 9.99996253e-01 -7.59964605e-05 4.29257769e-01] [ 1.58129668e-02 3.27152246e-05 9.99874967e-01 4.28167149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.179254154 meters Centerline goodness : 0.999130 Centerline is valid? [True, True] Translation: X:35.18, Y:0.43, Z:0.43 [[ 9.99855971e-01 -6.16372847e-03 -1.58128084e-02 3.51806910e+01] [ 6.16326633e-03 9.99981004e-01 -7.79581208e-05 4.26610880e-01] [ 1.58129885e-02 -1.95116568e-05 9.99874967e-01 4.28945810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.209254154 meters Centerline goodness : 0.999175 Centerline is valid? [True, True] Translation: X:35.21, Y:0.42, Z:0.43 [[ 9.99796468e-01 -1.25290518e-02 -1.58128027e-02 3.52084776e+01] [ 1.25293678e-02 9.99921501e-01 -7.90887084e-05 4.21601479e-01] [ 1.58125523e-02 -1.19051809e-04 9.99874967e-01 4.28520281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.239254153999994 meters Centerline goodness : 0.998964 Centerline is valid? [True, True] Translation: X:35.24, Y:0.42, Z:0.43 [[ 9.99749215e-01 -1.58575806e-02 -1.58127950e-02 3.52361177e+01] [ 1.58582890e-02 9.99874246e-01 -8.05948965e-05 4.19556789e-01] [ 1.58120846e-02 -1.70189190e-04 9.99874967e-01 4.28739499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.269254153999995 meters Centerline goodness : 0.999177 Centerline is valid? [True, True] Translation: X:35.26, Y:0.42, Z:0.43 [[ 9.99625327e-01 -2.23419418e-02 -1.58127713e-02 3.52640802e+01] [ 2.23433913e-02 9.99750352e-01 -8.50171462e-05 4.15722334e-01] [ 1.58107231e-02 -2.68325643e-04 9.99874967e-01 4.27800802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.299254153999996 meters Centerline goodness : 0.999095 Centerline is valid? [True, True] Translation: X:35.29, Y:0.41, Z:0.43 [[ 9.99528301e-01 -2.63274116e-02 -1.58127649e-02 3.52940492e+01] [ 2.63293410e-02 9.99653319e-01 -8.61903717e-05 4.13357720e-01] [ 1.58095520e-02 -3.30189962e-04 9.99874967e-01 4.28954677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.329254154 meters Centerline goodness : 0.999032 Centerline is valid? [True, True] Translation: X:35.32, Y:0.41, Z:0.43 [[ 9.99411932e-01 -3.04260914e-02 -1.58127615e-02 3.53244515e+01] [ 3.04285238e-02 9.99536941e-01 -8.67973327e-05 4.11223202e-01] [ 1.58080802e-02 -3.94412701e-04 9.99874967e-01 4.29166839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.359254154 meters Centerline goodness : 0.998905 Centerline is valid? [True, True] Translation: X:35.36, Y:0.41, Z:0.43 [[ 9.99101941e-01 -3.93098959e-02 -1.58127615e-02 3.53559814e+01] [ 3.93134396e-02 9.99226924e-01 -8.67973327e-05 4.06699767e-01] [ 1.58039491e-02 -5.34934662e-04 9.99874967e-01 4.27787071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.389254154 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:35.39, Y:0.40, Z:0.43 [[ 9.98924653e-01 -4.35831909e-02 -1.58127662e-02 3.53884310e+01] [ 4.35872828e-02 9.99049619e-01 -8.59366623e-05 4.04476887e-01] [ 1.58014834e-02 -6.03391263e-04 9.99874967e-01 4.28395448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.419254153999994 meters Centerline goodness : 0.999032 Centerline is valid? [True, True] Translation: X:35.42, Y:0.40, Z:0.43 [[ 9.98737186e-01 -4.76863731e-02 -1.58127723e-02 3.54201879e+01] [ 4.76909962e-02 9.98862133e-01 -8.48079553e-05 4.02866708e-01] [ 1.57988236e-02 -6.69426003e-04 9.99874967e-01 4.28294702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.449254153999995 meters Centerline goodness : 0.998930 Centerline is valid? [True, True] Translation: X:35.45, Y:0.40, Z:0.43 [[ 9.98558896e-01 -5.12843714e-02 -1.58127782e-02 3.54509488e+01] [ 5.12894625e-02 9.98683826e-01 -8.36787756e-05 4.01680353e-01] [ 1.57962573e-02 -7.27470711e-04 9.99874967e-01 4.28470649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.479254153999996 meters Centerline goodness : 0.998889 Centerline is valid? [True, True] Translation: X:35.48, Y:0.40, Z:0.43 [[ 9.98252926e-01 -5.69302349e-02 -1.58127826e-02 3.54837899e+01] [ 5.69360457e-02 9.98377824e-01 -8.28371248e-05 4.00496627e-01] [ 1.57918475e-02 -8.17624913e-04 9.99874967e-01 4.29243956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.509254154 meters Centerline goodness : 0.999014 Centerline is valid? [True, True] Translation: X:35.52, Y:0.40, Z:0.43 [[ 9.98153556e-01 -5.86466965e-02 -1.58127914e-02 3.55158540e+01] [ 5.86527491e-02 9.98278442e-01 -8.11243659e-05 4.00337771e-01] [ 1.57903265e-02 -8.46489114e-04 9.99874967e-01 4.29212826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.539254154 meters Centerline goodness : 0.998932 Centerline is valid? [True, True] Translation: X:35.55, Y:0.40, Z:0.43 [[ 9.98011621e-01 -6.10144183e-02 -1.58127986e-02 3.55479043e+01] [ 6.10207896e-02 9.98136492e-01 -7.97038824e-05 4.00368833e-01] [ 1.57881944e-02 -8.85364055e-04 9.99874967e-01 4.29776151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.569254154 meters Centerline goodness : 0.999140 Centerline is valid? [True, True] Translation: X:35.58, Y:0.40, Z:0.43 [[ 9.97977384e-01 -6.15718863e-02 -1.58128042e-02 3.55808039e+01] [ 6.15783449e-02 9.98102250e-01 -7.85838652e-05 4.00499967e-01] [ 1.57876340e-02 -8.95301389e-04 9.99874967e-01 4.30477769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.59925415399999 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:35.61, Y:0.40, Z:0.43 [[ 9.97973459e-01 -6.16354688e-02 -1.58128123e-02 3.56139818e+01] [ 6.16419620e-02 9.98098323e-01 -7.68996819e-05 4.00599083e-01] [ 1.57874812e-02 -8.97988937e-04 9.99874967e-01 4.31185544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.629254153999995 meters Centerline goodness : 0.998994 Centerline is valid? [True, True] Translation: X:35.65, Y:0.40, Z:0.43 [[ 9.97981021e-01 -6.15128983e-02 -1.58128203e-02 3.56460417e+01] [ 6.15194028e-02 9.98105885e-01 -7.52200527e-05 4.00814886e-01] [ 1.57874960e-02 -8.97727078e-04 9.99874967e-01 4.33020705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.659254153999996 meters Centerline goodness : 0.998866 Centerline is valid? [True, True] Translation: X:35.68, Y:0.40, Z:0.44 [[ 9.98035555e-01 -6.06216528e-02 -1.58128258e-02 3.56777162e+01] [ 6.06280642e-02 9.98160424e-01 -7.40505070e-05 4.02291440e-01] [ 1.57882260e-02 -8.84795980e-04 9.99874967e-01 4.35121802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.689254154 meters Centerline goodness : 0.998741 Centerline is valid? [True, True] Translation: X:35.71, Y:0.40, Z:0.44 [[ 9.98093334e-01 -5.96628060e-02 -1.58128299e-02 3.57092172e+01] [ 5.96691114e-02 9.98218209e-01 -7.31711800e-05 4.03310339e-01] [ 1.57890203e-02 -8.70505840e-04 9.99874967e-01 4.36217323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.719254154 meters Centerline goodness : 0.998907 Centerline is valid? [True, True] Translation: X:35.74, Y:0.41, Z:0.44 [[ 9.98254199e-01 -5.69078860e-02 -1.58128339e-02 3.57408256e+01] [ 5.69138605e-02 9.98379090e-01 -7.22959501e-05 4.06179805e-01] [ 1.57913169e-02 -8.27799686e-04 9.99874967e-01 4.37051665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.749254154 meters Centerline goodness : 0.999221 Centerline is valid? [True, True] Translation: X:35.77, Y:0.41, Z:0.44 [[ 9.98368735e-01 -5.48618510e-02 -1.58128464e-02 3.57743044e+01] [ 5.48676146e-02 9.98493635e-01 -6.94395907e-05 4.07627947e-01] [ 1.57928361e-02 -7.98286848e-04 9.99874967e-01 4.38314269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.779254154 meters Centerline goodness : 0.999006 Centerline is valid? [True, True] Translation: X:35.81, Y:0.41, Z:0.44 [[ 9.98475339e-01 -5.28862097e-02 -1.58128539e-02 3.58067659e+01] [ 5.28917537e-02 9.98600249e-01 -6.76963079e-05 4.09374804e-01] [ 1.57943000e-02 -7.68776480e-04 9.99874967e-01 4.38340893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.809254153999994 meters Centerline goodness : 0.999029 Centerline is valid? [True, True] Translation: X:35.84, Y:0.41, Z:0.44 [[ 9.98713917e-01 -4.81712011e-02 -1.58128588e-02 3.58387854e+01] [ 4.81761735e-02 9.98838852e-01 -6.65419346e-05 4.12859058e-01] [ 1.57977031e-02 -6.95346671e-04 9.99874967e-01 4.38322862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.839254153999995 meters Centerline goodness : 0.999028 Centerline is valid? [True, True] Translation: X:35.87, Y:0.42, Z:0.44 [[ 9.98845531e-01 -4.53603129e-02 -1.58128635e-02 3.58711509e+01] [ 4.53649519e-02 9.98970478e-01 -6.53853256e-05 4.15132801e-01] [ 1.57995497e-02 -6.52039954e-04 9.99874967e-01 4.39047167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.869254154 meters Centerline goodness : 0.998987 Centerline is valid? [True, True] Translation: X:35.90, Y:0.42, Z:0.44 [[ 9.98977837e-01 -4.23465894e-02 -1.58128682e-02 3.59025720e+01] [ 4.23508698e-02 9.99102797e-01 -6.42270984e-05 4.17476818e-01] [ 1.58014007e-02 -6.05527275e-04 9.99874967e-01 4.39420022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.899254154 meters Centerline goodness : 0.999069 Centerline is valid? [True, True] Translation: X:35.93, Y:0.42, Z:0.44 [[ 9.99229464e-01 -3.59225736e-02 -1.58128717e-02 3.59349475e+01] [ 3.59260641e-02 9.99354449e-01 -6.33648613e-05 4.22186241e-01] [ 1.58049399e-02 -5.04778205e-04 9.99874967e-01 4.41123555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.929254154 meters Centerline goodness : 0.998984 Centerline is valid? [True, True] Translation: X:35.97, Y:0.42, Z:0.44 [[ 9.99343261e-01 -3.26036862e-02 -1.58128763e-02 3.59659892e+01] [ 3.26067801e-02 9.99468256e-01 -6.21935258e-05 4.24350983e-01] [ 1.58064956e-02 -4.53454299e-04 9.99874967e-01 4.41146123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.959254154 meters Centerline goodness : 0.998938 Centerline is valid? [True, True] Translation: X:36.00, Y:0.43, Z:0.44 [[ 9.99518615e-01 -2.66925327e-02 -1.58128837e-02 3.59983453e+01] [ 2.66949179e-02 9.99643625e-01 -6.02533351e-05 4.28289172e-01] [ 1.58088567e-02 -3.61899301e-04 9.99874967e-01 4.41380774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.989254153999994 meters Centerline goodness : 0.999023 Centerline is valid? [True, True] Translation: X:36.03, Y:0.43, Z:0.44 [[ 9.99590492e-01 -2.38495531e-02 -1.58128880e-02 3.60298575e+01] [ 2.38516011e-02 9.99715508e-01 -5.90962283e-05 4.29961851e-01] [ 1.58097988e-02 -3.18090669e-04 9.99874967e-01 4.42223065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.019254153999995 meters Centerline goodness : 0.999066 Centerline is valid? [True, True] Translation: X:36.06, Y:0.43, Z:0.44 [[ 9.99657875e-01 -2.08347253e-02 -1.58128902e-02 3.60606582e+01] [ 2.08364055e-02 9.99782897e-01 -5.85070932e-05 4.31462100e-01] [ 1.58106761e-02 -2.70996716e-04 9.99874967e-01 4.41478159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.049254153999996 meters Centerline goodness : 0.999041 Centerline is valid? [True, True] Translation: X:36.09, Y:0.43, Z:0.44 [[ 9.99758842e-01 -1.52384743e-02 -1.58128913e-02 3.60907198e+01] [ 1.52394592e-02 9.99883871e-01 -5.82148114e-05 4.34557268e-01] [ 1.58119420e-02 -1.82779140e-04 9.99874967e-01 4.42993619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.079254154 meters Centerline goodness : 0.998978 Centerline is valid? [True, True] Translation: X:36.12, Y:0.44, Z:0.44 [[ 9.99794469e-01 -1.26874645e-02 -1.58128891e-02 3.61196674e+01] [ 1.26881212e-02 9.99919501e-01 -5.87940168e-05 4.35767951e-01] [ 1.58123621e-02 -1.41853921e-04 9.99874967e-01 4.43947100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.109254154 meters Centerline goodness : 0.998956 Centerline is valid? [True, True] Translation: X:36.15, Y:0.44, Z:0.45 [[ 9.99822443e-01 -1.02486435e-02 -1.58128731e-02 3.61477131e+01] [ 1.02489316e-02 9.99947476e-01 -6.28188403e-05 4.36864844e-01] [ 1.58126864e-02 -9.92573690e-05 9.99874967e-01 4.45197717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.139254154 meters Centerline goodness : 0.998805 Centerline is valid? [True, True] Translation: X:36.18, Y:0.44, Z:0.45 [[ 9.99863534e-01 -4.78203415e-03 -1.58128536e-02 3.61761421e+01] [ 4.78156623e-03 9.99988566e-01 -6.73989945e-05 4.38228719e-01] [ 1.58129951e-02 -8.22040993e-06 9.99874967e-01 4.46886047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.169254153999994 meters Centerline goodness : 0.999125 Centerline is valid? [True, True] Translation: X:36.20, Y:0.44, Z:0.45 [[ 9.99871861e-01 -2.49334610e-03 -1.58128355e-02 3.62040046e+01] [ 2.49252849e-03 9.99996891e-01 -7.14135808e-05 4.38881807e-01] [ 1.58129644e-02 3.19904870e-05 9.99874967e-01 4.48553064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.199254153999995 meters Centerline goodness : 0.998997 Centerline is valid? [True, True] Translation: X:36.23, Y:0.44, Z:0.45 [[ 9.99874498e-01 9.70941328e-04 -1.58128135e-02 3.62314807e+01] [-9.72264425e-04 9.99999524e-01 -7.59850844e-05 4.38857494e-01] [ 1.58127322e-02 9.13497842e-05 9.99874967e-01 4.49521432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.229254153999996 meters Centerline goodness : 0.999317 Centerline is valid? [True, True] Translation: X:36.26, Y:0.44, Z:0.45 [[ 9.99873736e-01 1.57067311e-03 -1.58128066e-02 3.62590097e+01] [-1.57209356e-03 9.99998761e-01 -7.73988810e-05 4.38448532e-01] [ 1.58126654e-02 1.02248320e-04 9.99874967e-01 4.49998143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.259254154 meters Centerline goodness : 0.999147 Centerline is valid? [True, True] Translation: X:36.29, Y:0.44, Z:0.45 [[ 9.99873756e-01 1.55850681e-03 -1.58127829e-02 3.62870988e+01] [-1.55999786e-03 9.99998780e-01 -8.19600920e-05 4.37779972e-01] [ 1.58126359e-02 1.06617653e-04 9.99874967e-01 4.50017733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.289254154 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:36.32, Y:0.44, Z:0.45 [[ 9.99874939e-01 -2.48131126e-04 -1.58127739e-02 3.63158598e+01] [ 2.46838969e-04 9.99999966e-01 -8.36677016e-05 4.35775873e-01] [ 1.58127941e-02 7.97540293e-05 9.99874967e-01 4.48742399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.319254154 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:36.34, Y:0.43, Z:0.45 [[ 9.99872830e-01 -2.06900526e-03 -1.58127678e-02 3.63446987e+01] [ 2.06792268e-03 9.99997858e-01 -8.48133313e-05 4.34978971e-01] [ 1.58129094e-02 5.21029645e-05 9.99874967e-01 4.48489023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.34925415399999 meters Centerline goodness : 0.998935 Centerline is valid? [True, True] Translation: X:36.37, Y:0.43, Z:0.45 [[ 9.99852199e-01 -6.74814576e-03 -1.58127615e-02 3.63737103e+01] [ 6.74763004e-03 9.99977231e-01 -8.59675564e-05 4.33641597e-01] [ 1.58129816e-02 -2.07438141e-05 9.99874967e-01 4.47567063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.379254153999995 meters Centerline goodness : 0.999126 Centerline is valid? [True, True] Translation: X:36.40, Y:0.43, Z:0.45 [[ 9.99828594e-01 -9.63010525e-03 -1.58127552e-02 3.64017393e+01] [ 9.62993181e-03 9.99953627e-01 -8.71126961e-05 4.32953824e-01] [ 1.58128608e-02 -6.51779898e-05 9.99874967e-01 4.47182192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.409254153999996 meters Centerline goodness : 0.998975 Centerline is valid? [True, True] Translation: X:36.43, Y:0.43, Z:0.45 [[ 9.99796323e-01 -1.25407399e-02 -1.58127472e-02 3.64299484e+01] [ 1.25409080e-02 9.99921356e-01 -8.85350025e-05 4.32039016e-01] [ 1.58126139e-02 -1.09789238e-04 9.99874967e-01 4.47373468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.439254154 meters Centerline goodness : 0.999107 Centerline is valid? [True, True] Translation: X:36.46, Y:0.43, Z:0.45 [[ 9.99709708e-01 -1.81784999e-02 -1.58127373e-02 3.64581069e+01] [ 1.81793456e-02 9.99834738e-01 -9.02654904e-05 4.30633576e-01] [ 1.58117650e-02 -1.97225931e-04 9.99874967e-01 4.47697203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.469254154 meters Centerline goodness : 0.998875 Centerline is valid? [True, True] Translation: X:36.49, Y:0.43, Z:0.45 [[ 9.99649704e-01 -2.12232763e-02 -1.58127291e-02 3.64864215e+01] [ 2.12244803e-02 9.99774731e-01 -9.16950468e-05 4.30129598e-01] [ 1.58111130e-02 -2.43954029e-04 9.99874967e-01 4.49866509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.499254154 meters Centerline goodness : 0.999087 Centerline is valid? [True, True] Translation: X:36.52, Y:0.43, Z:0.45 [[ 9.99590322e-01 -2.38567866e-02 -1.58127046e-02 3.65162530e+01] [ 2.38582560e-02 9.99715347e-01 -9.57385347e-05 4.29520052e-01] [ 1.58104874e-02 -2.81564241e-04 9.99874967e-01 4.50627997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.52925415399999 meters Centerline goodness : 0.999088 Centerline is valid? [True, True] Translation: X:36.55, Y:0.43, Z:0.45 [[ 9.99519802e-01 -2.66481310e-02 -1.58127028e-02 3.65468867e+01] [ 2.66499450e-02 9.99644823e-01 -9.60245586e-05 4.28871399e-01] [ 1.58096454e-02 -3.25429213e-04 9.99874967e-01 4.52151567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.559254153999994 meters Centerline goodness : 0.999173 Centerline is valid? [True, True] Translation: X:36.58, Y:0.43, Z:0.45 [[ 9.99348832e-01 -3.24325653e-02 -1.58127028e-02 3.65777049e+01] [ 3.24351029e-02 9.99473839e-01 -9.60245586e-05 4.27261542e-01] [ 1.58074971e-02 -4.16924613e-04 9.99874967e-01 4.52621956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.589254153999995 meters Centerline goodness : 0.999005 Centerline is valid? [True, True] Translation: X:36.61, Y:0.43, Z:0.45 [[ 9.99151068e-01 -3.80408024e-02 -1.58127046e-02 3.66091999e+01] [ 3.80440461e-02 9.99276059e-01 -9.57345802e-05 4.25567358e-01] [ 1.58048989e-02 -5.05925954e-04 9.99874967e-01 4.52884916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.619254154 meters Centerline goodness : 0.999172 Centerline is valid? [True, True] Translation: X:36.64, Y:0.42, Z:0.45 [[ 9.99040027e-01 -4.08531773e-02 -1.58127096e-02 3.66410226e+01] [ 4.08567861e-02 9.99165008e-01 -9.48963414e-05 4.24879975e-01] [ 1.58033830e-02 -5.51251251e-04 9.99874967e-01 4.53758864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.649254154 meters Centerline goodness : 0.999110 Centerline is valid? [True, True] Translation: X:36.67, Y:0.42, Z:0.45 [[ 9.98922267e-01 -4.36378527e-02 -1.58127165e-02 3.66732892e+01] [ 4.36418283e-02 9.99047237e-01 -9.37289585e-05 4.24395009e-01] [ 1.58017409e-02 -5.96467916e-04 9.99874967e-01 4.53836536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.679254154 meters Centerline goodness : 0.999196 Centerline is valid? [True, True] Translation: X:36.70, Y:0.42, Z:0.45 [[ 9.98643651e-01 -4.96066139e-02 -1.58127234e-02 3.67049337e+01] [ 4.96113547e-02 9.98768594e-01 -9.25597960e-05 4.24041105e-01] [ 1.57978431e-02 -6.92056376e-04 9.99874967e-01 4.53429792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.709254154 meters Centerline goodness : 0.999134 Centerline is valid? [True, True] Translation: X:36.74, Y:0.42, Z:0.45 [[ 9.98490202e-01 -5.26048950e-02 -1.58127284e-02 3.67366348e+01] [ 5.26100248e-02 9.98615130e-01 -9.16870320e-05 4.24030099e-01] [ 1.57956531e-02 -7.40359432e-04 9.99874967e-01 4.53306101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.739254153999994 meters Centerline goodness : 0.999197 Centerline is valid? [True, True] Translation: X:36.77, Y:0.42, Z:0.45 [[ 9.98328864e-01 -5.55826989e-02 -1.58127350e-02 3.67686317e+01] [ 5.55882194e-02 9.98453775e-01 -9.05411455e-05 4.23868905e-01] [ 1.57933175e-02 -7.88611943e-04 9.99874967e-01 4.53290569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.769254153999995 meters Centerline goodness : 0.998945 Centerline is valid? [True, True] Translation: X:36.80, Y:0.42, Z:0.45 [[ 9.98157790e-01 -5.85745975e-02 -1.58127416e-02 3.67998246e+01] [ 5.85805106e-02 9.98282683e-01 -8.93798077e-05 4.23695973e-01] [ 1.57908215e-02 -8.37103325e-04 9.99874967e-01 4.52097332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.799254153999996 meters Centerline goodness : 0.999050 Centerline is valid? [True, True] Translation: X:36.83, Y:0.42, Z:0.45 [[ 9.97798800e-01 -6.44011860e-02 -1.58127464e-02 3.68323137e+01] [ 6.44078419e-02 9.97923655e-01 -8.85139710e-05 4.23575883e-01] [ 1.57856141e-02 -9.30145737e-04 9.99874967e-01 4.52416521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.829254154 meters Centerline goodness : 0.999344 Centerline is valid? [True, True] Translation: X:36.86, Y:0.42, Z:0.45 [[ 9.97640912e-01 -6.68024456e-02 -1.58127528e-02 3.68639816e+01] [ 6.68094203e-02 9.97765751e-01 -8.73547570e-05 4.24112905e-01] [ 1.57832587e-02 -9.69292169e-04 9.99874967e-01 4.52089633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.859254154 meters Centerline goodness : 0.999219 Centerline is valid? [True, True] Translation: X:36.90, Y:0.43, Z:0.45 [[ 9.97458765e-01 -6.94691948e-02 -1.58127575e-02 3.68962801e+01] [ 6.94765168e-02 9.97583584e-01 -8.64920621e-05 4.26111446e-01] [ 1.57805559e-02 -1.01234305e-03 9.99874967e-01 4.52230056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.889254154 meters Centerline goodness : 0.999281 Centerline is valid? [True, True] Translation: X:36.93, Y:0.43, Z:0.45 [[ 9.97447503e-01 -6.96307027e-02 -1.58127636e-02 3.69291979e+01] [ 6.96380626e-02 9.97572320e-01 -8.53690095e-05 4.27388886e-01] [ 1.57803196e-02 -1.01601912e-03 9.99874967e-01 4.53158335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.919254153999994 meters Centerline goodness : 0.999450 Centerline is valid? [True, True] Translation: X:36.96, Y:0.43, Z:0.45 [[ 9.97475208e-01 -6.92326868e-02 -1.58127726e-02 3.69618868e+01] [ 6.92400238e-02 9.97600026e-01 -8.36623961e-05 4.29101043e-01] [ 1.57806146e-02 -1.01142559e-03 9.99874967e-01 4.54707981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.949254153999995 meters Centerline goodness : 0.999135 Centerline is valid? [True, True] Translation: X:37.00, Y:0.43, Z:0.46 [[ 9.97534288e-01 -6.83761666e-02 -1.58127817e-02 3.69953572e+01] [ 6.83834241e-02 9.97659110e-01 -8.19117502e-05 4.31304662e-01] [ 1.57813665e-02 -9.99622378e-04 9.99874967e-01 4.55879351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.979254153999996 meters Centerline goodness : 0.999135 Centerline is valid? [True, True] Translation: X:37.03, Y:0.43, Z:0.46 [[ 9.97541862e-01 -6.82655718e-02 -1.58127906e-02 3.70288932e+01] [ 6.82728432e-02 9.97666684e-01 -8.01561543e-05 4.31383711e-01] [ 1.57813663e-02 -9.99625053e-04 9.99874967e-01 4.56409159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.009254154 meters Centerline goodness : 0.999069 Centerline is valid? [True, True] Translation: X:37.06, Y:0.44, Z:0.46 [[ 9.97720175e-01 -6.56079912e-02 -1.58127993e-02 3.70619744e+01] [ 6.56149578e-02 9.97845014e-01 -7.84032450e-05 4.36288476e-01] [ 1.57838668e-02 -9.59331658e-04 9.99874967e-01 4.58308056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.039254154 meters Centerline goodness : 0.999195 Centerline is valid? [True, True] Translation: X:37.09, Y:0.44, Z:0.46 [[ 9.97836926e-01 -6.38077108e-02 -1.58128079e-02 3.70937740e+01] [ 6.38144802e-02 9.97961776e-01 -7.66277841e-05 4.38587431e-01] [ 1.57854673e-02 -9.32624083e-04 9.99874967e-01 4.58373819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.069254154 meters Centerline goodness : 0.999109 Centerline is valid? [True, True] Translation: X:37.13, Y:0.44, Z:0.46 [[ 9.98032795e-01 -6.06670829e-02 -1.58128149e-02 3.71270259e+01] [ 6.06734825e-02 9.98157664e-01 -7.51582869e-05 4.42608597e-01] [ 1.57882420e-02 -8.84408112e-04 9.99874967e-01 4.59288055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.09925415399999 meters Centerline goodness : 0.999340 Centerline is valid? [True, True] Translation: X:37.16, Y:0.44, Z:0.46 [[ 9.98118478e-01 -5.92406756e-02 -1.58128230e-02 3.71601454e+01] [ 5.92469242e-02 9.98243355e-01 -7.34184011e-05 4.44523513e-01] [ 1.57893948e-02 -8.63580860e-04 9.99874967e-01 4.59982800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.129254153999995 meters Centerline goodness : 0.999446 Centerline is valid? [True, True] Translation: X:37.19, Y:0.45, Z:0.46 [[ 9.98251395e-01 -5.69570617e-02 -1.58128309e-02 3.71921993e+01] [ 5.69630522e-02 9.98376285e-01 -7.16719217e-05 4.48669552e-01] [ 1.57912376e-02 -8.29200515e-04 9.99874967e-01 4.60921305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.159254153999996 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:37.22, Y:0.45, Z:0.46 [[ 9.98325210e-01 -5.56482601e-02 -1.58128373e-02 3.72241451e+01] [ 5.56541097e-02 9.98450106e-01 -7.02288768e-05 4.50964760e-01] [ 1.57922372e-02 -8.09938122e-04 9.99874967e-01 4.62665249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.189254154 meters Centerline goodness : 0.999339 Centerline is valid? [True, True] Translation: X:37.26, Y:0.45, Z:0.46 [[ 9.98438393e-01 -5.35791827e-02 -1.58128423e-02 3.72572673e+01] [ 5.35847916e-02 9.98563301e-01 -6.90756192e-05 4.52992616e-01] [ 1.57938250e-02 -7.78360110e-04 9.99874967e-01 4.63873887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.219254154 meters Centerline goodness : 0.999381 Centerline is valid? [True, True] Translation: X:37.29, Y:0.46, Z:0.47 [[ 9.98673379e-01 -4.90044533e-02 -1.58128497e-02 3.72895990e+01] [ 4.90095172e-02 9.98798309e-01 -6.73492974e-05 4.57308571e-01] [ 1.57971479e-02 -7.07720178e-04 9.99874967e-01 4.65269275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.249254154 meters Centerline goodness : 0.999272 Centerline is valid? [True, True] Translation: X:37.32, Y:0.46, Z:0.47 [[ 9.98815007e-01 -4.60275474e-02 -1.58128544e-02 3.73210565e+01] [ 4.60322569e-02 9.98939952e-01 -6.62091048e-05 4.59696172e-01] [ 1.57991395e-02 -6.61770731e-04 9.99874967e-01 4.65477771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.27925415399999 meters Centerline goodness : 0.999422 Centerline is valid? [True, True] Translation: X:37.35, Y:0.46, Z:0.47 [[ 9.98962468e-01 -4.27076271e-02 -1.58128580e-02 3.73521864e+01] [ 4.27119348e-02 9.99087427e-01 -6.53609987e-05 4.62123061e-01] [ 1.58012190e-02 -6.10104573e-04 9.99874967e-01 4.65781431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.309254153999994 meters Centerline goodness : 0.999334 Centerline is valid? [True, True] Translation: X:37.38, Y:0.47, Z:0.47 [[ 9.99237719e-01 -3.56922103e-02 -1.58128614e-02 3.73834476e+01] [ 3.56956537e-02 9.99362705e-01 -6.45197853e-05 4.67299306e-01] [ 1.58050868e-02 -4.99979821e-04 9.99874967e-01 4.66193533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.339254153999995 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:37.42, Y:0.47, Z:0.47 [[ 9.99365649e-01 -3.19100646e-02 -1.58128647e-02 3.74156294e+01] [ 3.19130481e-02 9.99490647e-01 -6.36875898e-05 4.69848530e-01] [ 1.58068427e-02 -4.40989524e-04 9.99874967e-01 4.67648210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.369254154 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:37.45, Y:0.47, Z:0.47 [[ 9.99568325e-01 -2.47611935e-02 -1.58128693e-02 3.74469835e+01] [ 2.47633010e-02 9.99693340e-01 -6.25407195e-05 4.74412517e-01] [ 1.58095687e-02 -3.29065119e-04 9.99874967e-01 4.69054817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.399254154 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:37.48, Y:0.48, Z:0.47 [[ 9.99639641e-01 -2.16919838e-02 -1.58128726e-02 3.74787190e+01] [ 2.16937209e-02 9.99764662e-01 -6.16886711e-05 4.76485110e-01] [ 1.58104894e-02 -2.81373604e-04 9.99874967e-01 4.70297185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.429254154 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:37.51, Y:0.48, Z:0.47 [[ 9.99699094e-01 -1.87529762e-02 -1.58128748e-02 3.75093556e+01] [ 1.87543550e-02 9.99824120e-01 -6.11064207e-05 4.78359023e-01] [ 1.58112396e-02 -2.35472235e-04 9.99874967e-01 4.70721094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.459254154 meters Centerline goodness : 0.999567 Centerline is valid? [True, True] Translation: X:37.54, Y:0.48, Z:0.47 [[ 9.99750883e-01 -1.57519968e-02 -1.58128760e-02 3.75385349e+01] [ 1.57530048e-02 9.99875912e-01 -6.08178069e-05 4.79998011e-01] [ 1.58118718e-02 -1.88297655e-04 9.99874967e-01 4.70885668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.489254153999994 meters Centerline goodness : 0.999586 Centerline is valid? [True, True] Translation: X:37.57, Y:0.48, Z:0.47 [[ 9.99832163e-01 -9.25193114e-03 -1.58128749e-02 3.75669319e+01] [ 9.25212183e-03 9.99957196e-01 -6.10980260e-05 4.83037286e-01] [ 1.58127633e-02 -8.52148734e-05 9.99874967e-01 4.71017508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.519254153999995 meters Centerline goodness : 0.999586 Centerline is valid? [True, True] Translation: X:37.59, Y:0.48, Z:0.47 [[ 9.99858859e-01 -5.67591032e-03 -1.58128583e-02 3.75947348e+01] [ 5.67559025e-03 9.99983892e-01 -6.51181872e-05 4.84680277e-01] [ 1.58129732e-02 -2.46383081e-05 9.99874967e-01 4.71838249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.549254153999996 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:37.62, Y:0.49, Z:0.47 [[ 9.99872024e-01 2.42703892e-03 -1.58128380e-02 3.76224191e+01] [-2.42844528e-03 9.99997049e-01 -6.97366577e-05 4.87096872e-01] [ 1.58126220e-02 1.08128345e-04 9.99874967e-01 4.72395785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.579254154 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:37.65, Y:0.49, Z:0.47 [[ 9.99854676e-01 6.37035830e-03 -1.58128315e-02 3.76490182e+01] [-6.37228032e-03 9.99979694e-01 -7.11654681e-05 4.88173850e-01] [ 1.58120571e-02 1.71918921e-04 9.99874967e-01 4.73172541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.609254154 meters Centerline goodness : 0.999650 Centerline is valid? [True, True] Translation: X:37.68, Y:0.49, Z:0.47 [[ 9.99785726e-01 1.33587652e-02 -1.58128225e-02 3.76781119e+01] [-1.33615918e-02 9.99910727e-01 -7.31147500e-05 4.89062753e-01] [ 1.58104341e-02 2.84383563e-04 9.99874967e-01 4.74922789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.639254154 meters Centerline goodness : 0.999475 Centerline is valid? [True, True] Translation: X:37.71, Y:0.49, Z:0.48 [[ 9.99756610e-01 1.53843090e-02 -1.58128034e-02 3.77060386e+01] [-1.53874508e-02 9.99881603e-01 -7.70307826e-05 4.89372020e-01] [ 1.58097462e-02 3.20330769e-04 9.99874967e-01 4.76171913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.669254153999994 meters Centerline goodness : 0.999497 Centerline is valid? [True, True] Translation: X:37.73, Y:0.49, Z:0.48 [[ 9.99732730e-01 1.68648942e-02 -1.58127795e-02 3.77326250e+01] [-1.68682943e-02 9.99857717e-01 -8.16597800e-05 4.89293727e-01] [ 1.58091525e-02 3.48372573e-04 9.99874967e-01 4.76331439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.699254153999995 meters Centerline goodness : 0.999432 Centerline is valid? [True, True] Translation: X:37.76, Y:0.49, Z:0.48 [[ 9.99728594e-01 1.71083196e-02 -1.58127689e-02 3.77593550e+01] [-1.71117817e-02 9.99853579e-01 -8.36638059e-05 4.88987767e-01] [ 1.58090223e-02 3.54225750e-04 9.99874967e-01 4.76551293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.729254153999996 meters Centerline goodness : 0.999520 Centerline is valid? [True, True] Translation: X:37.79, Y:0.49, Z:0.48 [[ 9.99765544e-01 1.47923769e-02 -1.58127582e-02 3.77863341e+01] [-1.47955808e-02 9.99890536e-01 -8.56415247e-05 4.86817847e-01] [ 1.58097604e-02 3.19580388e-04 9.99874967e-01 4.76165540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.759254154 meters Centerline goodness : 0.999651 Centerline is valid? [True, True] Translation: X:37.81, Y:0.49, Z:0.48 [[ 9.99799580e-01 1.22783314e-02 -1.58127410e-02 3.78148083e+01] [-1.22812694e-02 9.99924578e-01 -8.87066423e-05 4.85320305e-01] [ 1.58104592e-02 2.82889396e-04 9.99874967e-01 4.75856497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.789254154 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:37.84, Y:0.48, Z:0.48 [[ 9.99835696e-01 8.86221515e-03 -1.58127347e-02 3.78425388e+01] [-8.86474370e-03 9.99960703e-01 -8.98193496e-05 4.83843342e-01] [ 1.58113173e-02 2.29980432e-04 9.99874967e-01 4.75977496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.819254154 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:37.87, Y:0.48, Z:0.48 [[ 9.99874959e-01 1.55681393e-04 -1.58127250e-02 3.78718166e+01] [-1.57147796e-04 9.99999983e-01 -9.14931452e-05 4.79907441e-01] [ 1.58127105e-02 9.39666396e-05 9.99874967e-01 4.75419773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.84925415399999 meters Centerline goodness : 0.999522 Centerline is valid? [True, True] Translation: X:37.90, Y:0.48, Z:0.48 [[ 9.99863221e-01 -4.84745567e-03 -1.58127184e-02 3.78995358e+01] [ 4.84659704e-03 9.99988251e-01 -9.26210081e-05 4.77753955e-01] [ 1.58129816e-02 1.59704653e-05 9.99874967e-01 4.75742463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.879254153999995 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:37.93, Y:0.47, Z:0.48 [[ 9.99755183e-01 -1.54768527e-02 -1.58127081e-02 3.79283540e+01] [ 1.54772960e-02 9.99880215e-01 -9.43442897e-05 4.72872214e-01] [ 1.58122742e-02 -1.50416772e-04 9.99874967e-01 4.76528680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.909254153999996 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:37.96, Y:0.47, Z:0.48 [[ 9.99666920e-01 -2.03962387e-02 -1.58127012e-02 3.79565339e+01] [ 2.03972792e-02 9.99791949e-01 -9.54899145e-05 4.70600320e-01] [ 1.58113590e-02 -2.27077973e-04 9.99874967e-01 4.77453184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.939254154 meters Centerline goodness : 0.999528 Centerline is valid? [True, True] Translation: X:37.99, Y:0.47, Z:0.48 [[ 9.99559609e-01 -2.51106987e-02 -1.58127022e-02 3.79873930e+01] [ 2.51123314e-02 9.99684631e-01 -9.53266030e-05 4.68427001e-01] [ 1.58101091e-02 -3.01809196e-04 9.99874967e-01 4.78708101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.969254154 meters Centerline goodness : 0.999464 Centerline is valid? [True, True] Translation: X:38.02, Y:0.47, Z:0.48 [[ 9.99446901e-01 -2.92549225e-02 -1.58127022e-02 3.80186073e+01] [ 2.92570736e-02 9.99571916e-01 -9.53266030e-05 4.66236749e-01] [ 1.58087218e-02 -3.67359514e-04 9.99874967e-01 4.79518873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.999254154 meters Centerline goodness : 0.999488 Centerline is valid? [True, True] Translation: X:38.05, Y:0.46, Z:0.48 [[ 9.99217315e-01 -3.62590112e-02 -1.58127073e-02 3.80512064e+01] [ 3.62620521e-02 9.99342311e-01 -9.44675876e-05 4.61509285e-01] [ 1.58057328e-02 -4.79007567e-04 9.99874967e-01 4.80257199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.02925415399999 meters Centerline goodness : 0.999381 Centerline is valid? [True, True] Translation: X:38.08, Y:0.46, Z:0.48 [[ 9.99114322e-01 -3.89939710e-02 -1.58127142e-02 3.80837757e+01] [ 3.89973723e-02 9.99239309e-01 -9.33098688e-05 4.59188673e-01] [ 1.58043241e-02 -5.23427074e-04 9.99874967e-01 4.80469502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.059254153999994 meters Centerline goodness : 0.999189 Centerline is valid? [True, True] Translation: X:38.11, Y:0.46, Z:0.48 [[ 9.99041646e-01 -4.08135570e-02 -1.58127210e-02 3.81146584e+01] [ 4.08172044e-02 9.99166626e-01 -9.21390533e-05 4.56903839e-01] [ 1.58033036e-02 -5.53380313e-04 9.99874967e-01 4.78727241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.089254153999995 meters Centerline goodness : 0.999491 Centerline is valid? [True, True] Translation: X:38.15, Y:0.45, Z:0.48 [[ 9.98896106e-01 -4.42326578e-02 -1.58127260e-02 3.81457195e+01] [ 4.42367467e-02 9.99021072e-01 -9.12650611e-05 4.53177801e-01] [ 1.58012834e-02 -6.08339242e-04 9.99874967e-01 4.80698626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.119254154 meters Centerline goodness : 0.999277 Centerline is valid? [True, True] Translation: X:38.18, Y:0.45, Z:0.48 [[ 9.98854553e-01 -4.51612549e-02 -1.58127310e-02 3.81783388e+01] [ 4.51654737e-02 9.98979515e-01 -9.03992253e-05 4.51434741e-01] [ 1.58006769e-02 -6.23893807e-04 9.99874967e-01 4.80897688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.149254154 meters Centerline goodness : 0.999234 Centerline is valid? [True, True] Translation: X:38.21, Y:0.45, Z:0.48 [[ 9.98809848e-01 -4.61394154e-02 -1.58127409e-02 3.82095120e+01] [ 4.61437844e-02 9.98934804e-01 -8.86353950e-05 4.48786852e-01] [ 1.57999868e-02 -6.41129800e-04 9.99874967e-01 4.79609425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.179254154 meters Centerline goodness : 0.999278 Centerline is valid? [True, True] Translation: X:38.24, Y:0.45, Z:0.48 [[ 9.98807647e-01 -4.61870155e-02 -1.58127516e-02 3.82414813e+01] [ 4.61914217e-02 9.98932603e-01 -8.66687923e-05 4.48203567e-01] [ 1.57998761e-02 -6.43848026e-04 9.99874967e-01 4.79129803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.20925415399999 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:38.27, Y:0.45, Z:0.48 [[ 9.98811556e-01 -4.61024210e-02 -1.58127579e-02 3.82735328e+01] [ 4.61068348e-02 9.98936511e-01 -8.55084520e-05 4.47854362e-01] [ 1.57998834e-02 -6.43669388e-04 9.99874967e-01 4.79019238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.239254153999994 meters Centerline goodness : 0.999127 Centerline is valid? [True, True] Translation: X:38.30, Y:0.45, Z:0.48 [[ 9.98822196e-01 -4.58713158e-02 -1.58127642e-02 3.83045018e+01] [ 4.58757193e-02 9.98947151e-01 -8.43322655e-05 4.47319308e-01] [ 1.57999842e-02 -6.41188993e-04 9.99874967e-01 4.77586724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.269254153999995 meters Centerline goodness : 0.999087 Centerline is valid? [True, True] Translation: X:38.34, Y:0.45, Z:0.48 [[ 9.98821581e-01 -4.58847056e-02 -1.58127688e-02 3.83364444e+01] [ 4.58891247e-02 9.98946536e-01 -8.34554250e-05 4.47391836e-01] [ 1.57999400e-02 -6.42277040e-04 9.99874967e-01 4.77717573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.299254153999996 meters Centerline goodness : 0.999128 Centerline is valid? [True, True] Translation: X:38.37, Y:0.45, Z:0.48 [[ 9.98821953e-01 -4.58765996e-02 -1.58127747e-02 3.83687648e+01] [ 4.58810355e-02 9.98946907e-01 -8.23276618e-05 4.47670303e-01] [ 1.57998993e-02 -6.43275800e-04 9.99874967e-01 4.78417938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.329254154 meters Centerline goodness : 0.999277 Centerline is valid? [True, True] Translation: X:38.40, Y:0.45, Z:0.48 [[ 9.98823403e-01 -4.58450262e-02 -1.58127804e-02 3.84012232e+01] [ 4.58494759e-02 9.98948357e-01 -8.12065953e-05 4.48056706e-01] [ 1.57998740e-02 -6.43896647e-04 9.99874967e-01 4.79500411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.359254154 meters Centerline goodness : 0.999043 Centerline is valid? [True, True] Translation: X:38.43, Y:0.45, Z:0.48 [[ 9.98822543e-01 -4.58637486e-02 -1.58127862e-02 3.84334633e+01] [ 4.58682185e-02 9.98947496e-01 -8.00753989e-05 4.48681881e-01] [ 1.57998157e-02 -6.45323218e-04 9.99874967e-01 4.80577696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.389254154 meters Centerline goodness : 0.999192 Centerline is valid? [True, True] Translation: X:38.47, Y:0.45, Z:0.48 [[ 9.98836914e-01 -4.55497013e-02 -1.58127919e-02 3.84657483e+01] [ 4.55541501e-02 9.98961868e-01 -7.89253485e-05 4.49419801e-01] [ 1.57999712e-02 -6.41504744e-04 9.99874967e-01 4.81374466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.419254153999994 meters Centerline goodness : 0.999235 Centerline is valid? [True, True] Translation: X:38.50, Y:0.45, Z:0.48 [[ 9.98875279e-01 -4.47004838e-02 -1.58127989e-02 3.84975982e+01] [ 4.47048490e-02 9.99000235e-01 -7.74930718e-05 4.51410243e-01] [ 1.58004538e-02 -6.29502875e-04 9.99874967e-01 4.83002239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.449254153999995 meters Centerline goodness : 0.999212 Centerline is valid? [True, True] Translation: X:38.53, Y:0.45, Z:0.48 [[ 9.98913010e-01 -4.38492174e-02 -1.58128044e-02 3.85302380e+01] [ 4.38534940e-02 9.99037970e-01 -7.63566167e-05 4.52367212e-01] [ 1.58009402e-02 -6.17173106e-04 9.99874967e-01 4.83898068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.479254153999996 meters Centerline goodness : 0.999424 Centerline is valid? [True, True] Translation: X:38.56, Y:0.45, Z:0.49 [[ 9.98959972e-01 -4.27659775e-02 -1.58128098e-02 3.85617084e+01] [ 4.27701365e-02 9.99084936e-01 -7.52274347e-05 4.54539657e-01] [ 1.58015572e-02 -6.01166837e-04 9.99874967e-01 4.85335401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.509254154 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:38.59, Y:0.46, Z:0.49 [[ 9.98955674e-01 -4.28662701e-02 -1.58128137e-02 3.85939768e+01] [ 4.28704549e-02 9.99080637e-01 -7.43858747e-05 4.56005736e-01] [ 1.58014647e-02 -6.03594328e-04 9.99874967e-01 4.86333930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.539254154 meters Centerline goodness : 0.999146 Centerline is valid? [True, True] Translation: X:38.63, Y:0.46, Z:0.49 [[ 9.98942200e-01 -4.31791080e-02 -1.58128189e-02 3.86266369e+01] [ 4.31833495e-02 9.99067161e-01 -7.32753305e-05 4.56879158e-01] [ 1.58012320e-02 -6.09652665e-04 9.99874967e-01 4.87128516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.569254154 meters Centerline goodness : 0.999189 Centerline is valid? [True, True] Translation: X:38.66, Y:0.46, Z:0.49 [[ 9.98917731e-01 -4.37415237e-02 -1.58128240e-02 3.86592218e+01] [ 4.37458532e-02 9.99042689e-01 -7.21642108e-05 4.57440823e-01] [ 1.58008428e-02 -6.19659366e-04 9.99874967e-01 4.87867606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.59925415399999 meters Centerline goodness : 0.999381 Centerline is valid? [True, True] Translation: X:38.69, Y:0.46, Z:0.49 [[ 9.98810325e-01 -4.61290444e-02 -1.58128317e-02 3.86915369e+01] [ 4.61337000e-02 9.98935272e-01 -7.04209306e-05 4.58548179e-01] [ 1.57992438e-02 -6.59167283e-04 9.99874967e-01 4.87531463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.629254153999995 meters Centerline goodness : 0.999466 Centerline is valid? [True, True] Translation: X:38.72, Y:0.46, Z:0.49 [[ 9.98758784e-01 -4.72318307e-02 -1.58128438e-02 3.87241902e+01] [ 4.72366687e-02 9.98883723e-01 -6.76079675e-05 4.59220028e-01] [ 1.57983855e-02 -6.79422011e-04 9.99874967e-01 4.87990172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.659254153999996 meters Centerline goodness : 0.999253 Centerline is valid? [True, True] Translation: X:38.76, Y:0.46, Z:0.49 [[ 9.98670762e-01 -4.90577572e-02 -1.58128509e-02 3.87560290e+01] [ 4.90628509e-02 9.98795691e-01 -6.58818484e-05 4.61128124e-01] [ 1.57970394e-02 -7.10029273e-04 9.99874967e-01 4.88016324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.689254154 meters Centerline goodness : 0.999252 Centerline is valid? [True, True] Translation: X:38.79, Y:0.46, Z:0.49 [[ 9.98660138e-01 -4.92735387e-02 -1.58128556e-02 3.87887994e+01] [ 4.92786775e-02 9.98785066e-01 -6.47359532e-05 4.62465897e-01] [ 1.57968338e-02 -7.14587398e-04 9.99874967e-01 4.88294566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.719254154 meters Centerline goodness : 0.999358 Centerline is valid? [True, True] Translation: X:38.82, Y:0.46, Z:0.49 [[ 9.98670879e-01 -4.90553626e-02 -1.58128625e-02 3.88218558e+01] [ 4.90605014e-02 9.98795807e-01 -6.30112955e-05 4.63912215e-01] [ 1.57969118e-02 -7.12859417e-04 9.99874967e-01 4.89176330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.749254154 meters Centerline goodness : 0.999314 Centerline is valid? [True, True] Translation: X:38.85, Y:0.47, Z:0.49 [[ 9.98744086e-01 -4.75415975e-02 -1.58128693e-02 3.88540000e+01] [ 4.75465748e-02 9.98869020e-01 -6.12489784e-05 4.66606086e-01] [ 1.57978972e-02 -6.90675719e-04 9.99874967e-01 4.89513405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.77925415399999 meters Centerline goodness : 0.999507 Centerline is valid? [True, True] Translation: X:38.89, Y:0.47, Z:0.49 [[ 9.98817908e-01 -4.59645434e-02 -1.58128801e-02 3.88874568e+01] [ 4.59693693e-02 9.98942848e-01 -5.83445203e-05 4.68100646e-01] [ 1.57988452e-02 -6.68632572e-04 9.99874967e-01 4.90504631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.809254153999994 meters Centerline goodness : 0.999529 Centerline is valid? [True, True] Translation: X:38.92, Y:0.47, Z:0.49 [[ 9.98919118e-01 -4.37098101e-02 -1.58128863e-02 3.89196512e+01] [ 4.37143814e-02 9.99044068e-01 -5.66117046e-05 4.69655838e-01] [ 1.58002447e-02 -6.34700027e-04 9.99874967e-01 4.91129785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.839254153999995 meters Centerline goodness : 0.999506 Centerline is valid? [True, True] Translation: X:38.95, Y:0.47, Z:0.49 [[ 9.99149538e-01 -3.80808736e-02 -1.58128913e-02 3.89520531e+01] [ 3.80847635e-02 9.99274511e-01 -5.51774349e-05 4.73239581e-01] [ 1.58035204e-02 -5.47099715e-04 9.99874967e-01 4.92288676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.869254154 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:38.98, Y:0.48, Z:0.49 [[ 9.99274179e-01 -3.46564187e-02 -1.58128951e-02 3.89837575e+01] [ 3.46598981e-02 9.99399164e-01 -5.40511971e-05 4.75229001e-01] [ 1.58052674e-02 -4.94061367e-04 9.99874967e-01 4.92973855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.899254154 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:39.02, Y:0.48, Z:0.49 [[ 9.99276713e-01 -3.45832877e-02 -1.58128990e-02 3.90164500e+01] [ 3.45867761e-02 9.99401697e-01 -5.28947138e-05 4.75278107e-01] [ 1.58052673e-02 -4.94060742e-04 9.99874967e-01 4.93490472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.929254154 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:39.05, Y:0.48, Z:0.49 [[ 9.99489228e-01 -2.77711168e-02 -1.58129028e-02 3.90476568e+01] [ 2.77737716e-02 9.99614233e-01 -5.17376059e-05 4.78956780e-01] [ 1.58082395e-02 -3.87472770e-04 9.99874967e-01 4.94268413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.95925415399999 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:39.08, Y:0.48, Z:0.49 [[ 9.99583007e-01 -2.41612245e-02 -1.58129055e-02 3.90787591e+01] [ 2.41634414e-02 9.99708020e-01 -5.08757334e-05 4.80657604e-01] [ 1.58095177e-02 -3.31239698e-04 9.99874967e-01 4.94953933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.989254153999994 meters Centerline goodness : 0.999481 Centerline is valid? [True, True] Translation: X:39.11, Y:0.48, Z:0.50 [[ 9.99658435e-01 -2.08078233e-02 -1.58129114e-02 3.91097333e+01] [ 2.08096507e-02 9.99783455e-01 -4.89818913e-05 4.82390374e-01] [ 1.58105064e-02 -2.80096002e-04 9.99874967e-01 4.95563643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.019254153999995 meters Centerline goodness : 0.999456 Centerline is valid? [True, True] Translation: X:39.14, Y:0.48, Z:0.50 [[ 9.99760887e-01 -1.51036511e-02 -1.58129131e-02 3.91403142e+01] [ 1.51047741e-02 9.99885915e-01 -4.84198876e-05 4.84996678e-01] [ 1.58118404e-02 -1.90442171e-04 9.99874967e-01 4.96129493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.049254153999996 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:39.17, Y:0.49, Z:0.50 [[ 9.99808583e-01 -1.15216797e-02 -1.58129131e-02 3.91689535e+01] [ 1.15223547e-02 9.99933614e-01 -4.84198876e-05 4.87377174e-01] [ 1.58124213e-02 -1.33791375e-04 9.99874967e-01 4.95680211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.079254154 meters Centerline goodness : 0.999673 Centerline is valid? [True, True] Translation: X:39.20, Y:0.49, Z:0.50 [[ 9.99818497e-01 -1.06266107e-02 -1.58129002e-02 3.91972552e+01] [ 1.06271119e-02 9.99943529e-01 -5.23359442e-05 4.88297402e-01] [ 1.58125634e-02 -1.15719015e-04 9.99874967e-01 4.95401483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.109254154 meters Centerline goodness : 0.999477 Centerline is valid? [True, True] Translation: X:39.23, Y:0.49, Z:0.49 [[ 9.99824688e-01 -1.00272798e-02 -1.58128842e-02 3.92256328e+01] [ 1.00276357e-02 9.99949720e-01 -5.67846592e-05 4.89001357e-01] [ 1.58126585e-02 -1.01791138e-04 9.99874967e-01 4.94925089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.139254154 meters Centerline goodness : 0.999565 Centerline is valid? [True, True] Translation: X:39.25, Y:0.49, Z:0.50 [[ 9.99824162e-01 -1.00795770e-02 -1.58128669e-02 3.92528580e+01] [ 1.00798689e-02 9.99949195e-01 -6.12415503e-05 4.89861078e-01] [ 1.58126808e-02 -9.81608444e-05 9.99874967e-01 4.95201249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.169254153999994 meters Centerline goodness : 0.999542 Centerline is valid? [True, True] Translation: X:39.28, Y:0.49, Z:0.50 [[ 9.99819288e-01 -1.05520158e-02 -1.58128592e-02 3.92809387e+01] [ 1.05523363e-02 9.99944321e-01 -6.31718578e-05 4.90584599e-01] [ 1.58126454e-02 -1.03702167e-04 9.99874967e-01 4.95988278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.199254153999995 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:39.31, Y:0.49, Z:0.50 [[ 9.99806967e-01 -1.16612016e-02 -1.58128400e-02 3.93091723e+01] [ 1.16615897e-02 9.99931999e-01 -6.76688834e-05 4.91456247e-01] [ 1.58125538e-02 -1.16747030e-04 9.99874967e-01 4.97018509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.229254153999996 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:39.34, Y:0.49, Z:0.50 [[ 9.99773758e-01 -1.42263199e-02 -1.58128186e-02 3.93362733e+01] [ 1.42269549e-02 9.99898789e-01 -7.23382446e-05 4.92388499e-01] [ 1.58122473e-02 -1.52646378e-04 9.99874967e-01 4.97458912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.259254154 meters Centerline goodness : 0.999586 Centerline is valid? [True, True] Translation: X:39.37, Y:0.49, Z:0.50 [[ 9.99745767e-01 -1.60734548e-02 -1.58128033e-02 3.93654071e+01] [ 1.60742702e-02 9.99870798e-01 -7.55401922e-05 4.92613511e-01] [ 1.58119745e-02 -1.78658286e-04 9.99874967e-01 4.97874821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.289254154 meters Centerline goodness : 0.999476 Centerline is valid? [True, True] Translation: X:39.39, Y:0.49, Z:0.50 [[ 9.99706862e-01 -1.83343014e-02 -1.58127835e-02 3.93937454e+01] [ 1.83353372e-02 9.99831890e-01 -7.94828581e-05 4.93050665e-01] [ 1.58115825e-02 -2.10473158e-04 9.99874967e-01 4.98401759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.319254154 meters Centerline goodness : 0.999476 Centerline is valid? [True, True] Translation: X:39.42, Y:0.49, Z:0.50 [[ 9.99614027e-01 -2.28419382e-02 -1.58127621e-02 3.94237445e+01] [ 2.28434738e-02 9.99739050e-01 -8.35282306e-05 4.93237260e-01] [ 1.58105437e-02 -2.77722427e-04 9.99874967e-01 4.98287339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.34925415399999 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:39.45, Y:0.49, Z:0.50 [[ 9.99557637e-01 -2.51890437e-02 -1.58127591e-02 3.94541481e+01] [ 2.51908637e-02 9.99682656e-01 -8.41018140e-05 4.93103676e-01] [ 1.58098594e-02 -3.14272448e-04 9.99874967e-01 4.98406701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.379254153999995 meters Centerline goodness : 0.999543 Centerline is valid? [True, True] Translation: X:39.49, Y:0.49, Z:0.50 [[ 9.99428998e-01 -2.98602565e-02 -1.58127606e-02 3.94851925e+01] [ 2.98626653e-02 9.99554008e-01 -8.38159625e-05 4.92394223e-01] [ 1.58082110e-02 -3.88443074e-04 9.99874967e-01 4.98887429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.409254153999996 meters Centerline goodness : 0.999586 Centerline is valid? [True, True] Translation: X:39.52, Y:0.49, Z:0.50 [[ 9.99357808e-01 -3.21547365e-02 -1.58127650e-02 3.95170934e+01] [ 3.21574458e-02 9.99482812e-01 -8.29698186e-05 4.92329582e-01] [ 1.58072547e-02 -4.25581598e-04 9.99874967e-01 4.99866107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.439254154 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:39.55, Y:0.49, Z:0.50 [[ 9.99295783e-01 -3.40278434e-02 -1.58127710e-02 3.95488773e+01] [ 3.40308053e-02 9.99420781e-01 -8.18106033e-05 4.92128023e-01] [ 1.58063958e-02 -4.56368341e-04 9.99874967e-01 5.00108983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.469254154 meters Centerline goodness : 0.999543 Centerline is valid? [True, True] Translation: X:39.58, Y:0.49, Z:0.50 [[ 9.99239833e-01 -3.56330077e-02 -1.58127770e-02 3.95811849e+01] [ 3.56361887e-02 9.99364826e-01 -8.06486332e-05 4.91871414e-01] [ 1.58056068e-02 -4.82919776e-04 9.99874967e-01 5.00283491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.499254154 meters Centerline goodness : 0.999456 Centerline is valid? [True, True] Translation: X:39.61, Y:0.49, Z:0.50 [[ 9.99123243e-01 -3.87646941e-02 -1.58127828e-02 3.96129139e+01] [ 3.87682850e-02 9.99248224e-01 -7.94953799e-05 4.91388399e-01] [ 1.58039767e-02 -5.33608787e-04 9.99874967e-01 5.00437754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.52925415399999 meters Centerline goodness : 0.999543 Centerline is valid? [True, True] Translation: X:39.64, Y:0.49, Z:0.50 [[ 9.99070691e-01 -4.00962654e-02 -1.58127884e-02 3.96447379e+01] [ 4.01000411e-02 9.99195667e-01 -7.83490027e-05 4.91295199e-01] [ 1.58032112e-02 -5.55817274e-04 9.99874967e-01 5.01006021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.559254153999994 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:39.68, Y:0.49, Z:0.50 [[ 9.99025845e-01 -4.11984940e-02 -1.58127954e-02 3.96782720e+01] [ 4.12024301e-02 9.99150816e-01 -7.69206791e-05 4.91385140e-01] [ 1.58025364e-02 -5.74679851e-04 9.99874967e-01 5.01921009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.589254153999995 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:39.71, Y:0.49, Z:0.50 [[ 9.98917180e-01 -4.37541070e-02 -1.58128036e-02 3.97108494e+01] [ 4.37583901e-02 9.99042140e-01 -7.51984192e-05 4.91628280e-01] [ 1.58009474e-02 -6.16825834e-04 9.99874967e-01 5.02559268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.619254154 meters Centerline goodness : 0.999479 Centerline is valid? [True, True] Translation: X:39.74, Y:0.49, Z:0.50 [[ 9.98870970e-01 -4.47966654e-02 -1.58128115e-02 3.97432397e+01] [ 4.48011059e-02 9.98995924e-01 -7.34894535e-05 4.91520917e-01] [ 1.58002263e-02 -6.35024961e-04 9.99874967e-01 5.02543090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.649254154 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:39.78, Y:0.49, Z:0.50 [[ 9.98780876e-01 -4.67623418e-02 -1.58128180e-02 3.97751396e+01] [ 4.67670506e-02 9.98905820e-01 -7.20734465e-05 4.91962997e-01] [ 1.57988862e-02 -6.67533278e-04 9.99874967e-01 5.02902146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.679254154 meters Centerline goodness : 0.999674 Centerline is valid? [True, True] Translation: X:39.81, Y:0.49, Z:0.50 [[ 9.98736408e-01 -4.77026447e-02 -1.58128242e-02 3.98085231e+01] [ 4.77074932e-02 9.98861347e-01 -7.06727679e-05 4.92477140e-01] [ 1.57981902e-02 -6.83806738e-04 9.99874967e-01 5.03007785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.70925415399999 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:39.84, Y:0.49, Z:0.50 [[ 9.98683328e-01 -4.88012746e-02 -1.58128317e-02 3.98400673e+01] [ 4.88062876e-02 9.98808261e-01 -6.89609245e-05 4.93173951e-01] [ 1.57973523e-02 -7.02895485e-04 9.99874967e-01 5.02690686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.739254153999994 meters Centerline goodness : 0.999673 Centerline is valid? [True, True] Translation: X:39.87, Y:0.49, Z:0.50 [[ 9.98596918e-01 -5.05385976e-02 -1.58128353e-02 3.98724344e+01] [ 5.05438413e-02 9.98721841e-01 -6.81136224e-05 4.94372529e-01] [ 1.57960664e-02 -7.31223386e-04 9.99874967e-01 5.02305228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.769254153999995 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:39.90, Y:0.49, Z:0.50 [[ 9.98557016e-01 -5.13209443e-02 -1.58128401e-02 3.99045362e+01] [ 5.13263037e-02 9.98681934e-01 -6.69885701e-05 4.94913193e-01] [ 1.57954357e-02 -7.44722727e-04 9.99874967e-01 5.02976723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.799254153999996 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:39.94, Y:0.50, Z:0.50 [[ 9.98522823e-01 -5.19819737e-02 -1.58128449e-02 3.99367160e+01] [ 5.19874341e-02 9.98647737e-01 -6.58304733e-05 4.95218958e-01] [ 1.57948838e-02 -7.56336003e-04 9.99874967e-01 5.01941858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.829254154 meters Centerline goodness : 0.999673 Centerline is valid? [True, True] Translation: X:39.97, Y:0.50, Z:0.50 [[ 9.98489427e-01 -5.26195635e-02 -1.58128508e-02 3.99685552e+01] [ 5.26251264e-02 9.98614336e-01 -6.43862012e-05 4.96377400e-01] [ 1.57943275e-02 -7.67864332e-04 9.99874967e-01 5.02227565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.859254154 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:40.00, Y:0.50, Z:0.50 [[ 9.98497973e-01 -5.24571395e-02 -1.58128562e-02 4.00014257e+01] [ 5.24627032e-02 9.98622882e-01 -6.30466008e-05 4.97326926e-01] [ 1.57943872e-02 -7.66633277e-04 9.99874967e-01 5.02938329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.889254154 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:40.03, Y:0.50, Z:0.50 [[ 9.98558169e-01 -5.12984963e-02 -1.58128623e-02 4.00346618e+01] [ 5.13039403e-02 9.98683084e-01 -6.14545773e-05 4.99688506e-01] [ 1.57951907e-02 -7.49896175e-04 9.99874967e-01 5.04837329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.919254153999994 meters Centerline goodness : 0.999672 Centerline is valid? [True, True] Translation: X:40.07, Y:0.50, Z:0.51 [[ 9.98616605e-01 -5.01480739e-02 -1.58128688e-02 4.00677660e+01] [ 5.01534008e-02 9.98741525e-01 -5.97565736e-05 5.01064621e-01] [ 1.57959653e-02 -7.33395239e-04 9.99874967e-01 5.06243739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.949254153999995 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:40.10, Y:0.50, Z:0.51 [[ 9.98683613e-01 -4.87954210e-02 -1.58128752e-02 4.01000211e+01] [ 4.88006066e-02 9.98808539e-01 -5.79937044e-05 5.02179869e-01] [ 1.57968646e-02 -7.13760540e-04 9.99874967e-01 5.06600317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.979254153999996 meters Centerline goodness : 0.999671 Centerline is valid? [True, True] Translation: X:40.13, Y:0.50, Z:0.51 [[ 9.98877283e-01 -4.46556497e-02 -1.58128804e-02 4.01318274e+01] [ 4.46603405e-02 9.99002228e-01 -5.65358095e-05 5.04804044e-01] [ 1.57996274e-02 -6.49736289e-04 9.99874967e-01 5.09125216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.009254154 meters Centerline goodness : 0.999648 Centerline is valid? [True, True] Translation: X:40.16, Y:0.51, Z:0.51 [[ 9.98984531e-01 -4.21883771e-02 -1.58128845e-02 4.01626912e+01] [ 4.21927777e-02 9.99109487e-01 -5.53715668e-05 5.06408672e-01] [ 1.58011390e-02 -6.11874182e-04 9.99874967e-01 5.10387763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.039254154 meters Centerline goodness : 0.999714 Centerline is valid? [True, True] Translation: X:40.20, Y:0.51, Z:0.51 [[ 9.99100443e-01 -3.93479107e-02 -1.58128875e-02 4.01952346e+01] [ 3.93519697e-02 9.99225410e-01 -5.45036729e-05 5.07872559e-01] [ 1.58027836e-02 -5.67813627e-04 9.99874967e-01 5.12192923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.069254154 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:40.23, Y:0.51, Z:0.51 [[ 9.99293417e-01 -3.40971918e-02 -1.58128914e-02 4.02278243e+01] [ 3.41006122e-02 9.99418404e-01 -5.33583874e-05 5.10911881e-01] [ 1.58055140e-02 -4.85908591e-04 9.99874967e-01 5.14091681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.09925415399999 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:40.26, Y:0.51, Z:0.51 [[ 9.99366674e-01 -3.18779309e-02 -1.58128952e-02 4.02600387e+01] [ 3.18810919e-02 9.99491667e-01 -5.22056185e-05 5.12579463e-01] [ 1.58065212e-02 -4.51959809e-04 9.99874967e-01 5.14512727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.129254153999995 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:40.29, Y:0.51, Z:0.51 [[ 9.99515471e-01 -2.68100014e-02 -1.58128989e-02 4.02917190e+01] [ 2.68125468e-02 9.99640478e-01 -5.10496305e-05 5.14813466e-01] [ 1.58085825e-02 -3.72959197e-04 9.99874967e-01 5.13517668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.159254153999996 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:40.32, Y:0.52, Z:0.51 [[ 9.99574878e-01 -2.44952080e-02 -1.58129016e-02 4.03225261e+01] [ 2.44974776e-02 9.99699891e-01 -5.01894147e-05 5.15813607e-01] [ 1.58093854e-02 -3.37208125e-04 9.99874967e-01 5.12934422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.189254154 meters Centerline goodness : 0.999646 Centerline is valid? [True, True] Translation: X:40.35, Y:0.52, Z:0.51 [[ 9.99632859e-01 -2.20022748e-02 -1.58129074e-02 4.03534085e+01] [ 2.20042626e-02 9.99757876e-01 -4.82904108e-05 5.16645827e-01] [ 1.58101412e-02 -2.99678686e-04 9.99874967e-01 5.12887085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.219254154 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:40.38, Y:0.52, Z:0.51 [[ 9.99682811e-01 -1.96017657e-02 -1.58129091e-02 4.03832653e+01] [ 1.96034622e-02 9.99807833e-01 -4.77227754e-05 5.17463327e-01] [ 1.58108059e-02 -2.62280129e-04 9.99874967e-01 5.12983208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.249254154 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:40.41, Y:0.52, Z:0.51 [[ 9.99776280e-01 -1.40478070e-02 -1.58129100e-02 4.04133901e+01] [ 1.40488134e-02 9.99901309e-01 -4.74411984e-05 5.19281547e-01] [ 1.58120159e-02 -1.74722037e-04 9.99874967e-01 5.13477910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.27925415399999 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:40.44, Y:0.52, Z:0.51 [[ 9.99810146e-01 -1.13852897e-02 -1.58129100e-02 4.04423242e+01] [ 1.13859631e-02 9.99935177e-01 -4.74411984e-05 5.20179279e-01] [ 1.58124251e-02 -1.32613019e-04 9.99874967e-01 5.14929705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.309254153999994 meters Centerline goodness : 0.999711 Centerline is valid? [True, True] Translation: X:40.47, Y:0.52, Z:0.52 [[ 9.99835348e-01 -8.90107110e-03 -1.58128969e-02 4.04699080e+01] [ 8.90137029e-03 9.99960381e-01 -5.14632178e-05 5.20939371e-01] [ 1.58127285e-02 -8.93017065e-05 9.99874967e-01 5.15415835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.339254153999995 meters Centerline goodness : 0.999733 Centerline is valid? [True, True] Translation: X:40.50, Y:0.52, Z:0.52 [[ 9.99864135e-01 -4.65449869e-03 -1.58128896e-02 4.04981299e+01] [ 4.65423290e-03 9.99989168e-01 -5.36095658e-05 5.21282512e-01] [ 1.58129679e-02 -1.99945890e-05 9.99874967e-01 5.16596333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.369254154 meters Centerline goodness : 0.999734 Centerline is valid? [True, True] Translation: X:40.53, Y:0.52, Z:0.52 [[ 9.99869409e-01 -3.33443810e-03 -1.58128727e-02 4.05255966e+01] [ 3.33393459e-03 9.99994441e-01 -5.82024284e-05 5.21055836e-01] [ 1.58129789e-02 5.47574421e-06 9.99874967e-01 5.17114811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.399254154 meters Centerline goodness : 0.999667 Centerline is valid? [True, True] Translation: X:40.55, Y:0.52, Z:0.52 [[ 9.99874197e-01 -1.24218418e-03 -1.58128545e-02 4.05529565e+01] [ 1.24134639e-03 9.99999228e-01 -6.27964532e-05 5.20331560e-01] [ 1.58129203e-02 4.31593233e-05 9.99874967e-01 5.17435418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.429254154 meters Centerline goodness : 0.999711 Centerline is valid? [True, True] Translation: X:40.58, Y:0.52, Z:0.52 [[ 9.99874484e-01 -9.84611788e-04 -1.58128487e-02 4.05810245e+01] [ 9.83719331e-04 9.99999514e-01 -6.42168168e-05 5.20060313e-01] [ 1.58129043e-02 4.86533516e-05 9.99874967e-01 5.18020452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.45925415399999 meters Centerline goodness : 0.999579 Centerline is valid? [True, True] Translation: X:40.61, Y:0.52, Z:0.52 [[ 9.99874048e-01 -1.35747665e-03 -1.58128291e-02 4.06080063e+01] [ 1.35655930e-03 9.99999078e-01 -6.87395283e-05 5.19405170e-01] [ 1.58129078e-02 4.72798302e-05 9.99874967e-01 5.18341565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.489254153999994 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:40.64, Y:0.52, Z:0.52 [[ 9.99868795e-01 -3.51402518e-03 -1.58128203e-02 4.06372819e+01] [ 3.51334653e-03 9.99993826e-01 -7.06977207e-05 5.17184645e-01] [ 1.58129711e-02 1.51325275e-05 9.99874967e-01 5.18131489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.519254153999995 meters Centerline goodness : 0.999757 Centerline is valid? [True, True] Translation: X:40.67, Y:0.52, Z:0.52 [[ 9.99862807e-01 -4.93175479e-03 -1.58128153e-02 4.06652437e+01] [ 4.93123589e-03 9.99987839e-01 -7.18059657e-05 5.15837715e-01] [ 1.58129771e-02 -6.18060784e-06 9.99874967e-01 5.18333989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.549254153999996 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:40.69, Y:0.51, Z:0.52 [[ 9.99849657e-01 -7.11468863e-03 -1.58128076e-02 4.06936692e+01] [ 7.11441657e-03 9.99974690e-01 -7.34590320e-05 5.14344432e-01] [ 1.58129300e-02 -3.90509123e-05 9.99874967e-01 5.18011784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.579254154 meters Centerline goodness : 0.999692 Centerline is valid? [True, True] Translation: X:40.72, Y:0.51, Z:0.52 [[ 9.99802280e-01 -1.20563947e-02 -1.58127998e-02 4.07225230e+01] [ 1.20567147e-02 9.99927312e-01 -7.51016792e-05 5.10816100e-01] [ 1.58125558e-02 -1.15563585e-04 9.99874967e-01 5.18188788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.609254154 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:40.75, Y:0.51, Z:0.52 [[ 9.99716279e-01 -1.78133973e-02 -1.58127944e-02 4.07511654e+01] [ 1.78144194e-02 9.99841308e-01 -7.62270685e-05 5.07586709e-01] [ 1.58116429e-02 -2.05490310e-04 9.99874967e-01 5.18509489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.63925415399999 meters Centerline goodness : 0.999737 Centerline is valid? [True, True] Translation: X:40.78, Y:0.51, Z:0.52 [[ 9.99657235e-01 -2.08654882e-02 -1.58127889e-02 4.07810188e+01] [ 2.08668743e-02 9.99782260e-01 -7.73453269e-05 5.06107518e-01] [ 1.58109597e-02 -2.52644662e-04 9.99874967e-01 5.19052806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.669254153999994 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:40.81, Y:0.50, Z:0.52 [[ 9.99578744e-01 -2.43370220e-02 -1.58127861e-02 4.08118313e+01] [ 2.43388334e-02 9.99703764e-01 -7.79092938e-05 5.04810638e-01] [ 1.58099979e-02 -3.06988293e-04 9.99874967e-01 5.19983881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.699254153999995 meters Centerline goodness : 0.999651 Centerline is valid? [True, True] Translation: X:40.84, Y:0.50, Z:0.52 [[ 9.99505686e-01 -2.71724050e-02 -1.58127861e-02 4.08429762e+01] [ 2.71745710e-02 9.99630700e-01 -7.79092938e-05 5.02978249e-01] [ 1.58090634e-02 -3.51834897e-04 9.99874967e-01 5.20925293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.729254153999996 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:40.87, Y:0.50, Z:0.52 [[ 9.99329454e-01 -3.30242135e-02 -1.58127903e-02 4.08742981e+01] [ 3.30271252e-02 9.99454453e-01 -7.70454946e-05 4.99414887e-01] [ 1.58067081e-02 -4.45257173e-04 9.99874967e-01 5.21766430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.759254154 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:40.91, Y:0.50, Z:0.52 [[ 9.99231517e-01 -3.58654620e-02 -1.58127944e-02 4.09063208e+01] [ 3.58687424e-02 9.99356507e-01 -7.62015556e-05 4.98209761e-01] [ 1.58053520e-02 -4.91042053e-04 9.99874967e-01 5.23027501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.789254154 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:40.94, Y:0.50, Z:0.52 [[ 9.99234116e-01 -3.57929730e-02 -1.58127998e-02 4.09390145e+01] [ 3.57962625e-02 9.99359106e-01 -7.50572481e-05 4.98303782e-01] [ 1.58053520e-02 -4.91039369e-04 9.99874967e-01 5.23544124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.819254154 meters Centerline goodness : 0.999502 Centerline is valid? [True, True] Translation: X:40.97, Y:0.50, Z:0.52 [[ 9.99134878e-01 -3.84636167e-02 -1.58128052e-02 4.09713996e+01] [ 3.84672583e-02 9.99259858e-01 -7.39102564e-05 4.97159602e-01] [ 1.58039443e-02 -5.34428946e-04 9.99874967e-01 5.24582439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.84925415399999 meters Centerline goodness : 0.999589 Centerline is valid? [True, True] Translation: X:41.00, Y:0.49, Z:0.53 [[ 9.98925069e-01 -4.35736329e-02 -1.58128105e-02 4.10039837e+01] [ 4.35779318e-02 9.99050028e-01 -7.27616733e-05 4.94830253e-01] [ 1.58009592e-02 -6.16406117e-04 9.99874967e-01 5.25557862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.879254153999995 meters Centerline goodness : 0.999525 Centerline is valid? [True, True] Translation: X:41.04, Y:0.49, Z:0.52 [[ 9.98898612e-01 -4.41759786e-02 -1.58128182e-02 4.10389650e+01] [ 4.41803803e-02 9.99023568e-01 -7.10322176e-05 4.91743188e-01] [ 1.58005160e-02 -6.27662339e-04 9.99874967e-01 5.24599868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.909254153999996 meters Centerline goodness : 0.999547 Centerline is valid? [True, True] Translation: X:41.07, Y:0.49, Z:0.53 [[ 9.98599676e-01 -5.04838834e-02 -1.58134423e-02 4.10667107e+01] [ 5.04913897e-02 9.98724493e-01 7.55382878e-05 4.91300210e-01] [ 1.57894587e-02 -8.73875188e-04 9.99874957e-01 5.25698443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.939254154 meters Centerline goodness : 0.999525 Centerline is valid? [True, True] Translation: X:41.10, Y:0.49, Z:0.53 [[ 9.98505156e-01 -5.23202567e-02 -1.58128009e-02 4.11002735e+01] [ 5.23256966e-02 9.98630070e-01 -6.98063353e-05 4.90010347e-01] [ 1.57947907e-02 -7.57713834e-04 9.99874967e-01 5.25637661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.969254154 meters Centerline goodness : 0.999483 Centerline is valid? [True, True] Translation: X:41.13, Y:0.49, Z:0.53 [[ 9.98425237e-01 -5.38237991e-02 -1.58128094e-02 4.11327073e+01] [ 5.38294583e-02 9.98550141e-01 -6.78259670e-05 4.88771610e-01] [ 1.57935337e-02 -7.83475804e-04 9.99874967e-01 5.25791197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.999254154 meters Centerline goodness : 0.999612 Centerline is valid? [True, True] Translation: X:41.16, Y:0.49, Z:0.53 [[ 9.98316028e-01 -5.58127576e-02 -1.58128142e-02 4.11643678e+01] [ 5.58186839e-02 9.98440920e-01 -6.66720905e-05 4.86746827e-01] [ 1.57918819e-02 -8.16090662e-04 9.99874967e-01 5.25479642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.02925415399999 meters Centerline goodness : 0.999441 Centerline is valid? [True, True] Translation: X:41.20, Y:0.49, Z:0.53 [[ 9.98291697e-01 -5.62462653e-02 -1.58128178e-02 4.11964567e+01] [ 5.62522594e-02 9.98416586e-01 -6.58118792e-05 4.86120061e-01] [ 1.57914812e-02 -8.23807276e-04 9.99874967e-01 5.25550614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.059254153999994 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:41.23, Y:0.49, Z:0.53 [[ 9.98301918e-01 -5.60645642e-02 -1.58128290e-02 4.12297091e+01] [ 5.60705801e-02 9.98426806e-01 -6.29943998e-05 4.85598328e-01] [ 1.57914841e-02 -8.23747066e-04 9.99874967e-01 5.27215407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.089254153999995 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:41.26, Y:0.48, Z:0.53 [[ 9.98376706e-01 -5.47166089e-02 -1.58128359e-02 4.12618113e+01] [ 5.47224841e-02 9.98501600e-01 -6.12245530e-05 4.84834968e-01] [ 1.57924919e-02 -8.04192492e-04 9.99874967e-01 5.27573564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.119254154 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:41.29, Y:0.48, Z:0.53 [[ 9.98455523e-01 -5.32590126e-02 -1.58128414e-02 4.12940479e+01] [ 5.32647286e-02 9.98580425e-01 -5.97598447e-05 4.84823824e-01] [ 1.57935766e-02 -7.82599159e-04 9.99874967e-01 5.27508693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.149254154 meters Centerline goodness : 0.999506 Centerline is valid? [True, True] Translation: X:41.33, Y:0.48, Z:0.53 [[ 9.98565396e-01 -5.11576295e-02 -1.58128468e-02 4.13273613e+01] [ 5.11631056e-02 9.98690309e-01 -5.83095020e-05 4.84733640e-01] [ 1.57951198e-02 -7.50808497e-04 9.99874967e-01 5.27848859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.179254154 meters Centerline goodness : 0.999526 Centerline is valid? [True, True] Translation: X:41.36, Y:0.49, Z:0.53 [[ 9.98841562e-01 -4.54476295e-02 -1.58128529e-02 4.13593694e+01] [ 4.54524185e-02 9.98966503e-01 -5.65839121e-05 4.85703342e-01] [ 1.57990820e-02 -6.62214046e-04 9.99874967e-01 5.28372556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.20925415399999 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:41.39, Y:0.49, Z:0.53 [[ 9.99002062e-01 -4.17712136e-02 -1.58128579e-02 4.13912886e+01] [ 4.17755654e-02 9.99127018e-01 -5.51555828e-05 4.86850067e-01] [ 1.58013575e-02 -6.05490539e-04 9.99874967e-01 5.28356727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.239254153999994 meters Centerline goodness : 0.999568 Centerline is valid? [True, True] Translation: X:41.42, Y:0.49, Z:0.53 [[ 9.99146076e-01 -3.81716026e-02 -1.58128627e-02 4.14234338e+01] [ 3.81755265e-02 9.99271047e-01 -5.37459443e-05 4.88130815e-01] [ 1.58033874e-02 -5.49964309e-04 9.99874967e-01 5.30042851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.269254153999995 meters Centerline goodness : 0.999567 Centerline is valid? [True, True] Translation: X:41.46, Y:0.49, Z:0.53 [[ 9.99403999e-01 -3.06854887e-02 -1.58128665e-02 4.14556200e+01] [ 3.06884942e-02 9.99528996e-01 -5.26053932e-05 4.90029314e-01] [ 1.58070328e-02 -4.32699022e-04 9.99874967e-01 5.31423903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.299254153999996 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:41.49, Y:0.49, Z:0.53 [[ 9.99514724e-01 -2.68378529e-02 -1.58128703e-02 4.14872987e+01] [ 2.68403955e-02 9.99639730e-01 -5.14476630e-05 4.90720429e-01] [ 1.58085541e-02 -3.73000996e-04 9.99874967e-01 5.31735527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.329254154 meters Centerline goodness : 0.999545 Centerline is valid? [True, True] Translation: X:41.52, Y:0.49, Z:0.53 [[ 9.99703772e-01 -1.85019221e-02 -1.58128730e-02 4.15188571e+01] [ 1.85034358e-02 9.99828795e-01 -5.05885422e-05 4.91816429e-01] [ 1.58111018e-02 -2.42018924e-04 9.99874967e-01 5.32462819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.359254154 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:41.55, Y:0.49, Z:0.53 [[ 9.99770120e-01 -1.44796182e-02 -1.58128748e-02 4.15488242e+01] [ 1.44806378e-02 9.99895149e-01 -5.00248298e-05 4.92417785e-01] [ 1.58119411e-02 -1.78967182e-04 9.99874967e-01 5.33074863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.38925415399999 meters Centerline goodness : 0.999588 Centerline is valid? [True, True] Translation: X:41.58, Y:0.49, Z:0.53 [[ 9.99818406e-01 -1.06352541e-02 -1.58128730e-02 4.15776234e+01] [ 1.06357838e-02 9.99943437e-01 -5.05973206e-05 4.92872988e-01] [ 1.58125167e-02 -1.17594166e-04 9.99874967e-01 5.33259552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.419254153999994 meters Centerline goodness : 0.999500 Centerline is valid? [True, True] Translation: X:41.61, Y:0.49, Z:0.53 [[ 9.99852034e-01 -6.77228619e-03 -1.58128589e-02 4.16050242e+01] [ 6.77226859e-03 9.99977066e-01 -5.46616527e-05 4.93490068e-01] [ 1.58128665e-02 -5.24353631e-05 9.99874967e-01 5.33100950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.449254153999995 meters Centerline goodness : 0.999630 Centerline is valid? [True, True] Translation: X:41.63, Y:0.49, Z:0.53 [[ 9.99874672e-01 7.71467856e-04 -1.58128416e-02 4.16331905e+01] [-7.72501949e-04 9.99999700e-01 -5.92877574e-05 4.94362491e-01] [ 1.58127911e-02 7.14957778e-05 9.99874967e-01 5.33178829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.479254153999996 meters Centerline goodness : 0.999477 Centerline is valid? [True, True] Translation: X:41.66, Y:0.49, Z:0.53 [[ 9.99867149e-01 3.95462086e-03 -1.58128230e-02 4.16605091e+01] [-3.95612581e-03 9.99992172e-01 -6.38933788e-05 4.94735810e-01] [ 1.58124465e-02 1.26442408e-04 9.99874967e-01 5.33245890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.509254154 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:41.69, Y:0.49, Z:0.53 [[ 9.99839348e-01 8.43998639e-03 -1.58128147e-02 4.16885466e+01] [-8.44208366e-03 9.99964363e-01 -6.58838498e-05 4.94246090e-01] [ 1.58116951e-02 1.99366370e-04 9.99874967e-01 5.33868734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.539254154 meters Centerline goodness : 0.999524 Centerline is valid? [True, True] Translation: X:41.72, Y:0.49, Z:0.53 [[ 9.99826607e-01 9.83419149e-03 -1.58127945e-02 4.17167317e+01] [-9.83653465e-03 9.99951618e-01 -7.04099498e-05 4.93881174e-01] [ 1.58113370e-02 2.25940842e-04 9.99874967e-01 5.34522232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.569254154 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:41.75, Y:0.49, Z:0.54 [[ 9.99821230e-01 1.03664530e-02 -1.58127868e-02 4.17453486e+01] [-1.03688893e-02 9.99946239e-01 -7.20942327e-05 4.93511132e-01] [ 1.58111894e-02 2.36042381e-04 9.99874967e-01 5.35360399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.59925415399999 meters Centerline goodness : 0.999567 Centerline is valid? [True, True] Translation: X:41.77, Y:0.49, Z:0.54 [[ 9.99830091e-01 9.47336634e-03 -1.58127816e-02 4.17729946e+01] [-9.47570873e-03 9.99955102e-01 -7.32145828e-05 4.92134292e-01] [ 1.58113781e-02 2.23039456e-04 9.99874967e-01 5.35948931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.629254153999995 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:41.80, Y:0.49, Z:0.54 [[ 9.99841949e-01 8.12609388e-03 -1.58127751e-02 4.18008752e+01] [-8.12828981e-03 9.99966962e-01 -7.46049990e-05 4.91184926e-01] [ 1.58116464e-02 2.03124026e-04 9.99874967e-01 5.36573693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.659254153999996 meters Centerline goodness : 0.999393 Centerline is valid? [True, True] Translation: X:41.83, Y:0.49, Z:0.54 [[ 9.99858239e-01 5.78428669e-03 -1.58127669e-02 4.18295451e+01] [-5.78621652e-03 9.99983257e-01 -7.62940299e-05 4.87417627e-01] [ 1.58120609e-02 1.67779308e-04 9.99874967e-01 5.35418907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.689254154 meters Centerline goodness : 0.999589 Centerline is valid? [True, True] Translation: X:41.86, Y:0.49, Z:0.54 [[ 9.99871779e-01 2.52519939e-03 -1.58129279e-02 4.18556917e+01] [-2.52619357e-03 9.99996808e-01 -4.28970453e-05 4.86561202e-01] [ 1.58127691e-02 8.28380616e-05 9.99874967e-01 5.37681203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.719254154 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:41.89, Y:0.49, Z:0.54 [[ 9.99874735e-01 -6.96809292e-04 -1.58123077e-02 4.18851103e+01] [ 6.94402814e-04 9.99999746e-01 -1.57680120e-04 4.85065723e-01] [ 1.58124135e-02 1.46680257e-04 9.99874965e-01 5.37390401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.749254154 meters Centerline goodness : 0.999524 Centerline is valid? [True, True] Translation: X:41.91, Y:0.48, Z:0.54 [[ 9.99861788e-01 -5.13445836e-03 -1.58126973e-02 4.19126370e+01] [ 5.13373526e-03 9.99986819e-01 -8.63206805e-05 4.82085465e-01] [ 1.58129320e-02 5.13054851e-06 9.99874968e-01 5.38058317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.77925415399999 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:41.94, Y:0.48, Z:0.54 [[ 9.99846567e-01 -7.53667971e-03 -1.58126877e-02 4.19395992e+01] [ 7.53622984e-03 9.99971598e-01 -8.80384571e-05 4.80850776e-01] [ 1.58129021e-02 -3.11430998e-05 9.99874968e-01 5.37803935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.809254153999994 meters Centerline goodness : 0.999463 Centerline is valid? [True, True] Translation: X:41.97, Y:0.48, Z:0.54 [[ 9.99827499e-01 -9.74332888e-03 -1.58126764e-02 4.19673117e+01] [ 9.74312352e-03 9.99952531e-01 -9.00261802e-05 4.79341272e-01] [ 1.58128029e-02 -6.40542087e-05 9.99874968e-01 5.38656482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.839254153999995 meters Centerline goodness : 0.999377 Centerline is valid? [True, True] Translation: X:41.99, Y:0.48, Z:0.54 [[ 9.99802925e-01 -1.20029800e-02 -1.58126665e-02 4.19943205e+01] [ 1.20030302e-02 9.99927957e-01 -9.17352292e-05 4.77494322e-01] [ 1.58126284e-02 -9.80827620e-05 9.99874968e-01 5.38566058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.869254154 meters Centerline goodness : 0.999315 Centerline is valid? [True, True] Translation: X:42.02, Y:0.47, Z:0.54 [[ 9.99744772e-01 -1.61354170e-02 -1.58126476e-02 4.20228450e+01] [ 1.61359344e-02 9.99869803e-01 -9.48729318e-05 4.73522428e-01] [ 1.58121197e-02 -1.60303128e-04 9.99874968e-01 5.38100436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.899254154 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:42.05, Y:0.47, Z:0.54 [[ 9.99707534e-01 -1.82977419e-02 -1.58126408e-02 4.20511633e+01] [ 1.82985119e-02 9.99832564e-01 -9.60004287e-05 4.71553676e-01] [ 1.58117498e-02 -1.93375444e-04 9.99874968e-01 5.38003659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.929254154 meters Centerline goodness : 0.999359 Centerline is valid? [True, True] Translation: X:42.08, Y:0.47, Z:0.54 [[ 9.99686490e-01 -1.94134724e-02 -1.58126154e-02 4.20788328e+01] [ 1.94143184e-02 9.99811519e-01 -1.00014038e-04 4.67844801e-01] [ 1.58115767e-02 -2.07008468e-04 9.99874968e-01 5.37723701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.95925415399999 meters Centerline goodness : 0.999274 Centerline is valid? [True, True] Translation: X:42.11, Y:0.47, Z:0.54 [[ 9.99654579e-01 -2.09929769e-02 -1.58119715e-02 4.21097164e+01] [ 2.09923952e-02 9.99779615e-01 -2.02783286e-04 4.67091139e-01] [ 1.58127438e-02 -1.29217914e-04 9.99874962e-01 5.38486111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.989254153999994 meters Centerline goodness : 0.999275 Centerline is valid? [True, True] Translation: X:42.14, Y:0.47, Z:0.54 [[ 9.99664731e-01 -2.05033321e-02 -1.58126212e-02 4.21388174e+01] [ 2.05043383e-02 9.99789759e-01 -9.85036614e-05 4.66175762e-01] [ 1.58113164e-02 -2.25756698e-04 9.99874968e-01 5.38669355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.019254153999995 meters Centerline goodness : 0.999149 Centerline is valid? [True, True] Translation: X:42.17, Y:0.46, Z:0.54 [[ 9.99726648e-01 -1.72218122e-02 -1.58126193e-02 4.21682533e+01] [ 1.72224034e-02 9.99851679e-01 -9.87943501e-05 4.64453830e-01] [ 1.58119754e-02 -1.73563965e-04 9.99874968e-01 5.39320679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.049254153999996 meters Centerline goodness : 0.999128 Centerline is valid? [True, True] Translation: X:42.20, Y:0.46, Z:0.54 [[ 9.99761748e-01 -1.50468858e-02 -1.58126176e-02 4.21971318e+01] [ 1.50472005e-02 9.99886780e-01 -9.90751794e-05 4.64035244e-01] [ 1.58123181e-02 -1.38884053e-04 9.99874968e-01 5.40480191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.079254154 meters Centerline goodness : 0.999169 Centerline is valid? [True, True] Translation: X:42.22, Y:0.46, Z:0.54 [[ 9.99797050e-01 -1.24828506e-02 -1.58125915e-02 4.22247132e+01] [ 1.24827815e-02 9.99922082e-01 -1.03070316e-04 4.63751422e-01] [ 1.58126461e-02 -9.43357275e-05 9.99874968e-01 5.41321030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.109254154 meters Centerline goodness : 0.999382 Centerline is valid? [True, True] Translation: X:42.25, Y:0.46, Z:0.54 [[ 9.99849636e-01 -7.11822976e-03 -1.58125604e-02 4.22525937e+01] [ 7.11741741e-03 9.99974665e-01 -1.07649225e-04 4.62963256e-01] [ 1.58129260e-02 -4.91155394e-06 9.99874968e-01 5.41766621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.13925415399999 meters Centerline goodness : 0.998912 Centerline is valid? [True, True] Translation: X:42.28, Y:0.46, Z:0.54 [[ 9.99865851e-01 -4.27134923e-03 -1.58125282e-02 4.22804747e+01] [ 4.27010908e-03 9.99990877e-01 -1.12190454e-04 4.62549368e-01] [ 1.58128631e-02 4.46541841e-05 9.99874968e-01 5.40068485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.169254153999994 meters Centerline goodness : 0.998912 Centerline is valid? [True, True] Translation: X:42.31, Y:0.46, Z:0.54 [[ 9.99872219e-01 -2.34983050e-03 -1.58121260e-02 4.23087134e+01] [ 2.34747872e-03 9.99997231e-01 -1.67291680e-04 4.61992136e-01] [ 1.58124753e-02 1.30151674e-04 9.99874967e-01 5.39318062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.199254153999995 meters Centerline goodness : 0.999234 Centerline is valid? [True, True] Translation: X:42.34, Y:0.46, Z:0.54 [[ 9.99874812e-01 -5.81986982e-04 -1.58120658e-02 4.23386848e+01] [ 5.79288278e-04 9.99999817e-01 -1.75253339e-04 4.59874061e-01] [ 1.58121649e-02 1.66071655e-04 9.99874966e-01 5.41344174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.229254153999996 meters Centerline goodness : 0.999042 Centerline is valid? [True, True] Translation: X:42.37, Y:0.46, Z:0.54 [[ 9.99871951e-01 2.45894962e-03 -1.58124769e-02 4.23688312e+01] [-2.46118586e-03 9.99996964e-01 -1.21963965e-04 4.56829923e-01] [ 1.58121289e-02 1.60865793e-04 9.99874968e-01 5.39040367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.259254154 meters Centerline goodness : 0.999128 Centerline is valid? [True, True] Translation: X:42.40, Y:0.46, Z:0.54 [[ 9.99874836e-01 -5.17654128e-04 -1.58127894e-02 4.23955240e+01] [ 5.16426714e-04 9.99999863e-01 -8.17048152e-05 4.56353761e-01] [ 1.58128295e-02 7.35284418e-05 9.99874967e-01 5.40691244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.289254154 meters Centerline goodness : 0.999107 Centerline is valid? [True, True] Translation: X:42.42, Y:0.46, Z:0.54 [[ 9.99873991e-01 -1.40305006e-03 -1.58124199e-02 4.24238796e+01] [ 1.40120887e-03 9.99999010e-01 -1.27517400e-04 4.55604076e-01] [ 1.58125832e-02 1.05344828e-04 9.99874968e-01 5.41780225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.31925415399999 meters Centerline goodness : 0.999066 Centerline is valid? [True, True] Translation: X:42.45, Y:0.45, Z:0.54 [[ 9.99871539e-01 -2.62164837e-03 -1.58124064e-02 4.24528446e+01] [ 2.61993338e-03 9.99996560e-01 -1.29172627e-04 4.54610493e-01] [ 1.58126906e-02 8.77285820e-05 9.99874968e-01 5.42333321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.34925415399999 meters Centerline goodness : 0.999024 Centerline is valid? [True, True] Translation: X:42.49, Y:0.45, Z:0.54 [[ 9.99874672e-01 -7.80231116e-04 -1.58123974e-02 4.24861187e+01] [ 7.78268575e-04 9.99999689e-01 -1.30267205e-04 4.49251505e-01] [ 1.58124941e-02 1.17944587e-04 9.99874968e-01 5.42272003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.379254153999995 meters Centerline goodness : 0.999047 Centerline is valid? [True, True] Translation: X:42.51, Y:0.45, Z:0.55 [[ 9.99839040e-01 -8.47401357e-03 -1.58140691e-02 4.25098068e+01] [ 8.47627060e-03 9.99964073e-01 7.57003316e-05 4.50349744e-01] [ 1.58128595e-02 -2.09732476e-04 9.99874947e-01 5.45010757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.409254153999996 meters Centerline goodness : 0.999006 Centerline is valid? [True, True] Translation: X:42.54, Y:0.44, Z:0.54 [[ 9.99852742e-01 -6.66851047e-03 -1.58122175e-02 4.25441118e+01] [ 6.66717124e-03 9.99977765e-01 -1.37409575e-04 4.44303016e-01] [ 1.58127823e-02 3.19665780e-05 9.99874970e-01 5.42376701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.439254154 meters Centerline goodness : 0.999198 Centerline is valid? [True, True] Translation: X:42.57, Y:0.45, Z:0.55 [[ 9.99753965e-01 -1.55536636e-02 -1.58143603e-02 4.25680153e+01] [ 1.55574424e-02 9.99878969e-01 1.15940341e-04 4.46389610e-01] [ 1.58106429e-02 -3.61942814e-04 9.99874938e-01 5.46972184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.469254154 meters Centerline goodness : 0.999113 Centerline is valid? [True, True] Translation: X:42.60, Y:0.45, Z:0.55 [[ 9.99707992e-01 -1.82732079e-02 -1.58120538e-02 4.25962195e+01] [ 1.82732532e-02 9.99833020e-01 -1.41624662e-04 4.45259787e-01] [ 1.58120015e-02 -1.47354357e-04 9.99874972e-01 5.47887493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.499254154 meters Centerline goodness : 0.999241 Centerline is valid? [True, True] Translation: X:42.63, Y:0.44, Z:0.55 [[ 9.99651268e-01 -2.11500198e-02 -1.58120112e-02 4.26252888e+01] [ 2.11503519e-02 9.99776296e-01 -1.46238815e-04 4.44057309e-01] [ 1.58115669e-02 -1.88241784e-04 9.99874972e-01 5.48740314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.52925415399999 meters Centerline goodness : 0.999011 Centerline is valid? [True, True] Translation: X:42.65, Y:0.44, Z:0.55 [[ 9.99511779e-01 -2.69478058e-02 -1.58119730e-02 4.26542883e+01] [ 2.69487997e-02 9.99636804e-01 -1.50250387e-04 4.40876797e-01] [ 1.58102791e-02 -2.75936663e-04 9.99874972e-01 5.49221274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.559254153999994 meters Centerline goodness : 0.998846 Centerline is valid? [True, True] Translation: X:42.68, Y:0.44, Z:0.55 [[ 9.99420943e-01 -3.01290714e-02 -1.58119630e-02 4.26845840e+01] [ 3.01304466e-02 9.99545964e-01 -1.51300289e-04 4.39521572e-01] [ 1.58093423e-02 -3.25208830e-04 9.99874972e-01 5.49809445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.589254153999995 meters Centerline goodness : 0.999074 Centerline is valid? [True, True] Translation: X:42.72, Y:0.44, Z:0.55 [[ 9.99318323e-01 -3.33597178e-02 -1.58119630e-02 4.27160319e+01] [ 3.33614971e-02 9.99443339e-01 -1.51300289e-04 4.38128687e-01] [ 1.58082084e-02 -3.76313607e-04 9.99874972e-01 5.50738902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.619254154 meters Centerline goodness : 0.999327 Centerline is valid? [True, True] Translation: X:42.75, Y:0.43, Z:0.55 [[ 9.99048822e-01 -4.06378935e-02 -1.58117888e-02 4.27481285e+01] [ 4.06402954e-02 9.99173828e-01 -1.69514374e-04 4.34644735e-01] [ 1.58056142e-02 -4.73242632e-04 9.99874971e-01 5.50904618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.649254154 meters Centerline goodness : 0.998867 Centerline is valid? [True, True] Translation: X:42.78, Y:0.43, Z:0.55 [[ 9.98913364e-01 -4.38414660e-02 -1.58119599e-02 4.27794444e+01] [ 4.38445509e-02 9.99038354e-01 -1.51671032e-04 4.33616764e-01] [ 1.58034039e-02 -5.41762061e-04 9.99874972e-01 5.51013654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.679254154 meters Centerline goodness : 0.998908 Centerline is valid? [True, True] Translation: X:42.81, Y:0.43, Z:0.55 [[ 9.98694813e-01 -4.85661103e-02 -1.58114813e-02 4.28136235e+01] [ 4.85689881e-02 9.98819810e-01 -2.02162288e-04 4.27085055e-01] [ 1.58026390e-02 -5.66049218e-04 9.99874970e-01 5.47004441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.70925415399999 meters Centerline goodness : 0.998908 Centerline is valid? [True, True] Translation: X:42.85, Y:0.43, Z:0.55 [[ 9.98683737e-01 -4.87924054e-02 -1.58143894e-02 4.28452226e+01] [ 4.87998521e-02 9.98808574e-01 8.50965472e-05 4.27362442e-01] [ 1.57913957e-02 -8.56724403e-04 9.99874941e-01 5.47421325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.739254153999994 meters Centerline goodness : 0.999055 Centerline is valid? [True, True] Translation: X:42.87, Y:0.43, Z:0.55 [[ 9.98299473e-01 -5.61076493e-02 -1.58143496e-02 4.28701912e+01] [ 5.61159487e-02 9.98424255e-01 8.12011233e-05 4.31593844e-01] [ 1.57848742e-02 -9.68500268e-04 9.99874942e-01 5.50296135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.769254153999995 meters Centerline goodness : 0.998972 Centerline is valid? [True, True] Translation: X:42.91, Y:0.43, Z:0.55 [[ 9.98378434e-01 -5.46854150e-02 -1.58116683e-02 4.29075292e+01] [ 5.46895785e-02 9.98503391e-01 -1.69281940e-04 4.26664220e-01] [ 1.57972617e-02 -6.95726039e-04 9.99874973e-01 5.47764774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.799254153999996 meters Centerline goodness : 0.999222 Centerline is valid? [True, True] Translation: X:42.94, Y:0.43, Z:0.55 [[ 9.98151107e-01 -5.86879891e-02 -1.58141514e-02 4.29394783e+01] [ 5.86962404e-02 9.98275888e-01 5.77334974e-05 4.26260452e-01] [ 1.57834977e-02 -9.85857986e-04 9.99874947e-01 5.48445407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.829254154 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:42.97, Y:0.43, Z:0.55 [[ 9.97882715e-01 -6.30872742e-02 -1.58139811e-02 4.29651975e+01] [ 6.30958286e-02 9.98007472e-01 4.20975686e-05 4.30320245e-01] [ 1.57798154e-02 -1.03980467e-03 9.99874950e-01 5.51607032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.859254154 meters Centerline goodness : 0.999287 Centerline is valid? [True, True] Translation: X:43.00, Y:0.43, Z:0.55 [[ 9.97889015e-01 -6.29881753e-02 -1.58115014e-02 4.29983213e+01] [ 6.29932388e-02 9.98013938e-01 -1.78089595e-04 4.30206114e-01] [ 1.57913163e-02 -8.18304034e-04 9.99874975e-01 5.52068314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.88925415399999 meters Centerline goodness : 0.999308 Centerline is valid? [True, True] Translation: X:43.03, Y:0.43, Z:0.55 [[ 9.97946190e-01 -6.20757468e-02 -1.58115211e-02 4.30312319e+01] [ 6.20807240e-02 9.98071116e-01 -1.76321646e-04 4.30795053e-01] [ 1.57919678e-02 -8.05631165e-04 9.99874975e-01 5.52571543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.919254153999994 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:43.06, Y:0.43, Z:0.55 [[ 9.98126648e-01 -5.91032171e-02 -1.58115406e-02 4.30628427e+01] [ 5.91078500e-02 9.98251587e-01 -1.74558713e-04 4.32490718e-01] [ 1.57942125e-02 -7.60354466e-04 9.99874975e-01 5.52125489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.949254153999995 meters Centerline goodness : 0.999076 Centerline is valid? [True, True] Translation: X:43.10, Y:0.43, Z:0.55 [[ 9.98234446e-01 -5.72536940e-02 -1.58115502e-02 4.30963048e+01] [ 5.72581092e-02 9.98359394e-01 -1.73686014e-04 4.33525324e-01] [ 1.57955538e-02 -7.31960104e-04 9.99874975e-01 5.52811392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.979254153999996 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:43.13, Y:0.43, Z:0.55 [[ 9.98352790e-01 -5.51516175e-02 -1.58115690e-02 4.31281163e+01] [ 5.51557970e-02 9.98477746e-01 -1.71950922e-04 4.34718690e-01] [ 1.57969832e-02 -7.00432010e-04 9.99874975e-01 5.53964071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.009254154 meters Centerline goodness : 0.999013 Centerline is valid? [True, True] Translation: X:43.16, Y:0.44, Z:0.56 [[ 9.98583148e-01 -5.08103354e-02 -1.58115817e-02 4.31604063e+01] [ 5.08139902e-02 9.98708120e-01 -1.70775204e-04 4.37292507e-01] [ 1.57998322e-02 -6.32916319e-04 9.99874975e-01 5.55180992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.039254154 meters Centerline goodness : 0.999012 Centerline is valid? [True, True] Translation: X:43.19, Y:0.44, Z:0.56 [[ 9.98682923e-01 -4.88099627e-02 -1.58115943e-02 4.31911747e+01] [ 4.88133856e-02 9.98807902e-01 -1.69607773e-04 4.38888192e-01] [ 1.58010238e-02 -6.02433061e-04 9.99874975e-01 5.56275622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.06925415399999 meters Centerline goodness : 0.998989 Centerline is valid? [True, True] Translation: X:43.22, Y:0.44, Z:0.56 [[ 9.98794281e-01 -4.64755578e-02 -1.58116143e-02 4.32228866e+01] [ 4.64787184e-02 9.98919266e-01 -1.67718123e-04 4.40328641e-01] [ 1.58023209e-02 -5.67387667e-04 9.99874975e-01 5.57159848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.09925415399999 meters Centerline goodness : 0.999349 Centerline is valid? [True, True] Translation: X:43.25, Y:0.44, Z:0.56 [[ 9.99011191e-01 -4.15527696e-02 -1.58116264e-02 4.32547352e+01] [ 4.15553325e-02 9.99136190e-01 -1.66565447e-04 4.42978676e-01] [ 1.58048895e-02 -4.90656649e-04 9.99874975e-01 5.57815303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.129254153999995 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:43.29, Y:0.44, Z:0.56 [[ 9.99128012e-01 -3.86420530e-02 -1.58116386e-02 4.32873792e+01] [ 3.86442702e-02 9.99253018e-01 -1.65399657e-04 4.44963622e-01] [ 1.58062190e-02 -4.45773805e-04 9.99874975e-01 5.58083829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.159254153999996 meters Centerline goodness : 0.998869 Centerline is valid? [True, True] Translation: X:43.33, Y:0.44, Z:0.55 [[ 9.99520880e-01 -2.66082947e-02 -1.58116508e-02 4.33287667e+01] [ 2.66090250e-02 9.99645904e-01 -1.64226243e-04 4.36891944e-01] [ 1.58104218e-02 -2.56585053e-04 9.99874975e-01 5.53385641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.189254154 meters Centerline goodness : 0.999008 Centerline is valid? [True, True] Translation: X:43.35, Y:0.45, Z:0.56 [[ 9.99429968e-01 -2.98254442e-02 -1.58171108e-02 4.33460211e+01] [ 2.98355000e-02 9.99554742e-01 4.00111112e-04 4.51154807e-01] [ 1.57981346e-02 -8.71794444e-04 9.99874822e-01 5.57859057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.219254154 meters Centerline goodness : 0.998754 Centerline is valid? [True, True] Translation: X:43.38, Y:0.45, Z:0.56 [[ 9.99518371e-01 -2.67028665e-02 -1.58108376e-02 4.33776335e+01] [ 2.67034681e-02 9.99643384e-01 -1.73102072e-04 4.53195916e-01] [ 1.58098216e-02 -2.49185497e-04 9.99874986e-01 5.57776887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.249254154 meters Centerline goodness : 0.999112 Centerline is valid? [True, True] Translation: X:43.41, Y:0.46, Z:0.56 [[ 9.99644634e-01 -2.14621210e-02 -1.58108439e-02 4.34075080e+01] [ 2.14620762e-02 9.99769648e-01 -1.72531440e-04 4.56619023e-01] [ 1.58109047e-02 -1.66863408e-04 9.99874986e-01 5.57909149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.27925415399999 meters Centerline goodness : 0.999131 Centerline is valid? [True, True] Translation: X:43.44, Y:0.46, Z:0.56 [[ 9.99691919e-01 -1.91333284e-02 -1.58108408e-02 4.34366897e+01] [ 1.91329879e-02 9.99816933e-01 -1.72814184e-04 4.58505728e-01] [ 1.58112528e-02 -1.29747682e-04 9.99874986e-01 5.58218275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.309254153999994 meters Centerline goodness : 0.999219 Centerline is valid? [True, True] Translation: X:43.47, Y:0.46, Z:0.56 [[ 9.99726447e-01 -1.72350888e-02 -1.58108346e-02 4.34654785e+01] [ 1.72345021e-02 9.99851460e-01 -1.73373976e-04 4.60309349e-01] [ 1.58114742e-02 -9.91653133e-05 9.99874986e-01 5.58738451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.339254153999995 meters Centerline goodness : 0.999067 Centerline is valid? [True, True] Translation: X:43.49, Y:0.46, Z:0.56 [[ 9.99796990e-01 -1.24899275e-02 -1.58107909e-02 4.34933615e+01] [ 1.24886857e-02 9.99921998e-01 -1.77277182e-04 4.63655597e-01] [ 1.58117718e-02 -2.02148047e-05 9.99874986e-01 5.61134724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.369254154 meters Centerline goodness : 0.999003 Centerline is valid? [True, True] Translation: X:43.52, Y:0.47, Z:0.56 [[ 9.99803535e-01 -1.19554701e-02 -1.58100756e-02 4.35229960e+01] [ 1.19531575e-02 9.99928529e-01 -2.40768689e-04 4.65293821e-01] [ 1.58118241e-02 5.17410634e-05 9.99874984e-01 5.61447153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.399254154 meters Centerline goodness : 0.999194 Centerline is valid? [True, True] Translation: X:43.55, Y:0.47, Z:0.56 [[ 9.99819364e-01 -1.05479126e-02 -1.58107792e-02 4.35500577e+01] [ 1.05464099e-02 9.99944369e-01 -1.78419196e-04 4.66514219e-01] [ 1.58117816e-02 1.16400084e-05 9.99874986e-01 5.62109794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.429254154 meters Centerline goodness : 0.999213 Centerline is valid? [True, True] Translation: X:43.58, Y:0.47, Z:0.56 [[ 9.99830309e-01 -9.45377289e-03 -1.58107566e-02 4.35782278e+01] [ 9.45210211e-03 9.99955312e-01 -1.80399367e-04 4.67544526e-01] [ 1.58117555e-02 3.09238691e-05 9.99874986e-01 5.62555701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.45925415399999 meters Centerline goodness : 0.999320 Centerline is valid? [True, True] Translation: X:43.62, Y:0.46, Z:0.56 [[ 9.99874998e-01 9.72611605e-05 -1.58107038e-02 4.36187818e+01] [-1.00197360e-04 9.99999978e-01 -1.84917563e-04 4.59159432e-01] [ 1.58106855e-02 1.86478638e-04 9.99874986e-01 5.57194352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.489254153999994 meters Centerline goodness : 0.998916 Centerline is valid? [True, True] Translation: X:43.64, Y:0.47, Z:0.56 [[ 9.99839378e-01 -8.43037524e-03 -1.58160207e-02 4.36372230e+01] [ 8.43606480e-03 9.99964373e-01 2.93050653e-04 4.69638705e-01] [ 1.58129867e-02 -4.26428558e-04 9.99874876e-01 5.64474871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.519254153999995 meters Centerline goodness : 0.999364 Centerline is valid? [True, True] Translation: X:43.66, Y:0.47, Z:0.57 [[ 9.99831435e-01 -9.33507222e-03 -1.58100795e-02 4.36637024e+01] [ 9.33318380e-03 9.99956426e-01 -1.93225134e-04 4.70264019e-01] [ 1.58111943e-02 4.56341851e-05 9.99874994e-01 5.65606738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.549254153999996 meters Centerline goodness : 0.999108 Centerline is valid? [True, True] Translation: X:43.69, Y:0.47, Z:0.57 [[ 9.99781214e-01 -1.36954759e-02 -1.58100551e-02 4.36915621e+01] [ 1.36941014e-02 9.99906212e-01 -1.95198789e-04 4.69728185e-01] [ 1.58112456e-02 -2.13484148e-05 9.99874994e-01 5.66511869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.579254154 meters Centerline goodness : 0.999193 Centerline is valid? [True, True] Translation: X:43.72, Y:0.47, Z:0.57 [[ 9.99740123e-01 -1.64234130e-02 -1.58100377e-02 4.37190860e+01] [ 1.64223575e-02 9.99865125e-01 -1.96597198e-04 4.69360995e-01] [ 1.58111341e-02 -6.30919837e-05 9.99874994e-01 5.67691644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.609254154 meters Centerline goodness : 0.999172 Centerline is valid? [True, True] Translation: X:43.75, Y:0.47, Z:0.57 [[ 9.99553922e-01 -2.53380557e-02 -1.58094589e-02 4.37492059e+01] [ 2.53373861e-02 9.99678927e-01 -2.42685629e-04 4.67044333e-01] [ 1.58105321e-02 -1.57992992e-04 9.99874993e-01 5.66342852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.63925415399999 meters Centerline goodness : 0.999089 Centerline is valid? [True, True] Translation: X:43.78, Y:0.47, Z:0.57 [[ 9.99422257e-01 -3.00864609e-02 -1.58100253e-02 4.37799974e+01] [ 3.00871028e-02 9.99547261e-01 -1.97303943e-04 4.65427151e-01] [ 1.58088037e-02 -2.78487904e-04 9.99874994e-01 5.65761399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.669254153999994 meters Centerline goodness : 0.999177 Centerline is valid? [True, True] Translation: X:43.81, Y:0.46, Z:0.56 [[ 9.99268380e-01 -3.48245150e-02 -1.58100253e-02 4.38115905e+01] [ 3.48257495e-02 9.99393380e-01 -1.97303943e-04 4.63704808e-01] [ 1.58073056e-02 -3.53436390e-04 9.99874994e-01 5.64646603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.699254153999995 meters Centerline goodness : 0.999134 Centerline is valid? [True, True] Translation: X:43.84, Y:0.46, Z:0.56 [[ 9.98883394e-01 -4.45197418e-02 -1.58100359e-02 4.38438581e+01] [ 4.45222029e-02 9.99008376e-01 -1.96447442e-04 4.60545610e-01] [ 1.58031041e-02 -5.07669540e-04 9.99874994e-01 5.64195838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.729254153999996 meters Centerline goodness : 0.999346 Centerline is valid? [True, True] Translation: X:43.87, Y:0.46, Z:0.57 [[ 9.98730042e-01 -4.78366443e-02 -1.58100502e-02 4.38740486e+01] [ 4.78395387e-02 9.98855015e-01 -1.95293274e-04 4.59250646e-01] [ 1.58012901e-02 -5.61300248e-04 9.99874994e-01 5.65811906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.759254154 meters Centerline goodness : 0.999221 Centerline is valid? [True, True] Translation: X:43.91, Y:0.46, Z:0.57 [[ 9.98394108e-01 -5.43991363e-02 -1.58094644e-02 4.39077255e+01] [ 5.44021084e-02 9.98519079e-01 -2.42328783e-04 4.57318035e-01] [ 1.57992344e-02 -6.18128569e-04 9.99874993e-01 5.65559787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.789254154 meters Centerline goodness : 0.998969 Centerline is valid? [True, True] Translation: X:43.94, Y:0.46, Z:0.57 [[ 9.98279898e-01 -5.64560687e-02 -1.58100605e-02 4.39394441e+01] [ 5.64600673e-02 9.98404839e-01 -1.93671231e-04 4.56911235e-01] [ 1.57957748e-02 -6.99298984e-04 9.99874994e-01 5.66104841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.81925415399999 meters Centerline goodness : 0.998991 Centerline is valid? [True, True] Translation: X:43.97, Y:0.46, Z:0.57 [[ 9.98208184e-01 -5.77101626e-02 -1.58100776e-02 4.39726621e+01] [ 5.77143404e-02 9.98333120e-01 -1.92266995e-04 4.56458228e-01] [ 1.57948198e-02 -7.20545711e-04 9.99874994e-01 5.66908828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.84925415399999 meters Centerline goodness : 0.999159 Centerline is valid? [True, True] Translation: X:44.00, Y:0.46, Z:0.57 [[ 9.98182346e-01 -5.81553498e-02 -1.58100982e-02 4.40042627e+01] [ 5.81596104e-02 9.98307279e-01 -1.90552886e-04 4.56218507e-01] [ 1.57944178e-02 -7.29302628e-04 9.99874994e-01 5.67324561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.879254153999995 meters Centerline goodness : 0.999138 Centerline is valid? [True, True] Translation: X:44.04, Y:0.46, Z:0.57 [[ 9.98178565e-01 -5.82202024e-02 -1.58101318e-02 4.40370634e+01] [ 5.82245158e-02 9.98303496e-01 -1.87724338e-04 4.56609614e-01] [ 1.57942392e-02 -7.33154860e-04 9.99874994e-01 5.69061867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.909254153999996 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:44.07, Y:0.46, Z:0.57 [[ 9.98212771e-01 -5.76307512e-02 -1.58101528e-02 4.40704682e+01] [ 5.76350190e-02 9.98337703e-01 -1.85944863e-04 4.57321802e-01] [ 1.57945877e-02 -7.25605917e-04 9.99874994e-01 5.69728595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.939254154 meters Centerline goodness : 0.998904 Centerline is valid? [True, True] Translation: X:44.10, Y:0.46, Z:0.57 [[ 9.98270794e-01 -5.66167908e-02 -1.58101737e-02 4.41034998e+01] [ 5.66209601e-02 9.98395730e-01 -1.84146342e-04 4.58639796e-01] [ 1.57952357e-02 -7.11359299e-04 9.99874994e-01 5.70533831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.969254154 meters Centerline goodness : 0.998991 Centerline is valid? [True, True] Translation: X:44.14, Y:0.46, Z:0.57 [[ 9.98296991e-01 -5.61529584e-02 -1.58101944e-02 4.41364183e+01] [ 5.61570980e-02 9.98421928e-01 -1.82353013e-04 4.59231662e-01] [ 1.57954844e-02 -7.05812171e-04 9.99874994e-01 5.70673202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.99925415399999 meters Centerline goodness : 0.999055 Centerline is valid? [True, True] Translation: X:44.17, Y:0.46, Z:0.57 [[ 9.98298300e-01 -5.61296833e-02 -1.58102148e-02 4.41697323e+01] [ 5.61338482e-02 9.98423236e-01 -1.80568201e-04 4.60371229e-01] [ 1.57954210e-02 -7.07227268e-04 9.99874994e-01 5.70401702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.02925415399999 meters Centerline goodness : 0.998950 Centerline is valid? [True, True] Translation: X:44.22, Y:0.45, Z:0.56 [[ 9.98822982e-01 -4.58550657e-02 -1.58102349e-02 4.42151415e+01] [ 4.58579730e-02 9.98947954e-01 -1.78792039e-04 4.48269323e-01] [ 1.58018003e-02 -5.46443726e-04 9.99874994e-01 5.64736005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.059254153999994 meters Centerline goodness : 0.999011 Centerline is valid? [True, True] Translation: X:44.24, Y:0.45, Z:0.56 [[ 9.98596706e-01 -5.05413692e-02 -1.58173800e-02 4.42400304e+01] [ 5.05561023e-02 9.98721081e-01 5.32727934e-04 4.53440307e-01] [ 1.57702261e-02 -1.33164544e-03 9.99874756e-01 5.64758804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.089254153999995 meters Centerline goodness : 0.998907 Centerline is valid? [True, True] Translation: X:44.26, Y:0.46, Z:0.57 [[ 9.98156104e-01 -5.86029406e-02 -1.58141678e-02 4.42605590e+01] [ 5.86140995e-02 9.98280686e-01 2.42657504e-04 4.64969046e-01] [ 1.57727578e-02 -1.16914327e-03 9.99874919e-01 5.69234729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.119254154 meters Centerline goodness : 0.999286 Centerline is valid? [True, True] Translation: X:44.29, Y:0.47, Z:0.57 [[ 9.98159923e-01 -5.85392485e-02 -1.58089893e-02 4.42915300e+01] [ 5.85435730e-02 9.98284836e-01 -1.89494857e-04 4.66879784e-01] [ 1.57929671e-02 -7.36368546e-04 9.99875012e-01 5.69534525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.149254154 meters Centerline goodness : 0.998945 Centerline is valid? [True, True] Translation: X:44.32, Y:0.47, Z:0.57 [[ 9.98213572e-01 -5.76171803e-02 -1.58090161e-02 4.43235538e+01] [ 5.76214252e-02 9.98338488e-01 -1.87231556e-04 4.69336822e-01] [ 1.57935370e-02 -7.24040958e-04 9.99875012e-01 5.69088820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.179254154 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:44.36, Y:0.47, Z:0.57 [[ 9.98302716e-01 -5.60514187e-02 -1.58090295e-02 4.43563986e+01] [ 5.60554857e-02 9.98427638e-01 -1.86091763e-04 4.70846867e-01] [ 1.57946027e-02 -7.00406915e-04 9.99875012e-01 5.70269262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.20925415399999 meters Centerline goodness : 0.999176 Centerline is valid? [True, True] Translation: X:44.39, Y:0.47, Z:0.57 [[ 9.98406907e-01 -5.41638451e-02 -1.58090501e-02 4.43891272e+01] [ 5.41677038e-02 9.98531835e-01 -1.84327368e-04 4.72898885e-01] [ 1.57958236e-02 -6.72306223e-04 9.99875012e-01 5.71744889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.239254153999994 meters Centerline goodness : 0.999303 Centerline is valid? [True, True] Translation: X:44.42, Y:0.48, Z:0.57 [[ 9.98736284e-01 -4.77064904e-02 -1.58090706e-02 4.44203343e+01] [ 4.77095692e-02 9.98861233e-01 -1.82549570e-04 4.77215409e-01] [ 1.57997765e-02 -5.71925068e-04 9.99875012e-01 5.73827862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.269254153999995 meters Centerline goodness : 0.999005 Centerline is valid? [True, True] Translation: X:44.46, Y:0.47, Z:0.57 [[ 9.99301337e-01 -3.38660656e-02 -1.58090807e-02 4.44617891e+01] [ 3.38674271e-02 9.99426318e-01 -1.81667955e-04 4.68786737e-01] [ 1.58061637e-02 -3.53871859e-04 9.99875012e-01 5.68370159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.299254153999996 meters Centerline goodness : 0.999321 Centerline is valid? [True, True] Translation: X:44.48, Y:0.48, Z:0.58 [[ 9.99331602e-01 -3.29579856e-02 -1.58152068e-02 4.44784219e+01] [ 3.29683642e-02 9.99456317e-01 3.95905148e-04 4.84055563e-01] [ 1.57935601e-02 -9.17042024e-04 9.99874853e-01 5.76655108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.329254154 meters Centerline goodness : 0.999215 Centerline is valid? [True, True] Translation: X:44.51, Y:0.49, Z:0.58 [[ 9.99499948e-01 -2.73853020e-02 -1.58082099e-02 4.45102040e+01] [ 2.73857348e-02 9.99624923e-01 -1.89135765e-04 4.86734964e-01] [ 1.58074601e-02 -2.43878255e-04 9.99875025e-01 5.77797751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.359254154 meters Centerline goodness : 0.999342 Centerline is valid? [True, True] Translation: X:44.54, Y:0.49, Z:0.58 [[ 9.99635710e-01 -2.18757444e-02 -1.58082236e-02 4.45408678e+01] [ 2.18755066e-02 9.99760685e-01 -1.87979495e-04 4.88968927e-01] [ 1.58085526e-02 -1.57901884e-04 9.99875025e-01 5.78950441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.38925415399999 meters Centerline goodness : 0.999105 Centerline is valid? [True, True] Translation: X:44.57, Y:0.49, Z:0.58 [[ 9.99731032e-01 -1.69694799e-02 -1.58082270e-02 4.45713120e+01] [ 1.69686332e-02 9.99856005e-01 -1.87693755e-04 4.90799386e-01] [ 1.58091357e-02 -8.06007346e-05 9.99875025e-01 5.79749540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.419254153999994 meters Centerline goodness : 0.999362 Centerline is valid? [True, True] Translation: X:44.60, Y:0.49, Z:0.58 [[ 9.99837299e-01 -8.68767616e-03 -1.58082270e-02 4.45998548e+01] [ 8.68579437e-03 9.99962260e-01 -1.87693755e-04 4.93099316e-01] [ 1.58092610e-02 5.03562081e-05 9.99875025e-01 5.80249456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.449254153999995 meters Centerline goodness : 0.999253 Centerline is valid? [True, True] Translation: X:44.63, Y:0.49, Z:0.58 [[ 9.99857601e-01 -5.90582207e-03 -1.58081783e-02 4.46274711e+01] [ 5.90352908e-03 9.99982556e-01 -1.91711803e-04 4.93673042e-01] [ 1.58090347e-02 9.83604634e-05 9.99875025e-01 5.79925012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.479254153999996 meters Centerline goodness : 0.999209 Centerline is valid? [True, True] Translation: X:44.67, Y:0.48, Z:0.57 [[ 9.99856642e-01 6.06611606e-03 -1.58081215e-02 4.46673820e+01] [-6.06997722e-03 9.99981558e-01 -1.96281950e-04 4.84672551e-01] [ 1.58066393e-02 2.92208749e-04 9.99875025e-01 5.71778117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.509254154 meters Centerline goodness : 0.999146 Centerline is valid? [True, True] Translation: X:44.69, Y:0.49, Z:0.58 [[ 9.99871752e-01 -2.52878813e-03 -1.58140588e-02 4.46855658e+01] [ 2.53390645e-03 9.99996744e-01 3.03627500e-04 4.94985962e-01] [ 1.58132395e-02 -3.43659907e-04 9.99874904e-01 5.78423963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.539254154 meters Centerline goodness : 0.998801 Centerline is valid? [True, True] Translation: X:44.71, Y:0.49, Z:0.58 [[ 9.99875018e-01 -2.69626581e-04 -1.58074617e-02 4.47092229e+01] [ 2.66418287e-04 9.99999943e-01 -2.05066192e-04 4.94943742e-01] [ 1.58075161e-02 2.00829165e-04 9.99875033e-01 5.79035466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.56925415399999 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:44.74, Y:0.50, Z:0.58 [[ 9.99867346e-01 -3.93688332e-03 -1.58048044e-02 4.47421406e+01] [ 3.93108347e-03 9.99992194e-01 -3.98017736e-04 4.95549875e-01] [ 1.58062480e-02 3.35834932e-04 9.99875017e-01 5.78198860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.59925415399999 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:44.77, Y:0.50, Z:0.58 [[ 9.99866190e-01 -4.21077769e-03 -1.58072956e-02 4.47705257e+01] [ 4.20791811e-03 9.99991124e-01 -2.14158463e-04 4.95930417e-01] [ 1.58080571e-02 1.47614002e-04 9.99875034e-01 5.78586265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.629254153999995 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:44.80, Y:0.49, Z:0.58 [[ 9.99846472e-01 -7.56072255e-03 -1.58072351e-02 4.47984699e+01] [ 7.55821237e-03 9.99971412e-01 -2.18535045e-04 4.94267273e-01] [ 1.58084355e-02 9.90270542e-05 9.99875034e-01 5.78755740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.659254153999996 meters Centerline goodness : 0.997736 Centerline is valid? [True, True] Translation: X:44.82, Y:0.49, Z:0.58 [[ 9.99844675e-01 -7.79480072e-03 -1.58072122e-02 4.48243776e+01] [ 7.79229382e-03 9.99969615e-01 -2.20177944e-04 4.93233182e-01] [ 1.58084482e-02 9.69693025e-05 9.99875034e-01 5.80056380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.689254154 meters Centerline goodness : 0.999213 Centerline is valid? [True, True] Translation: X:44.86, Y:0.49, Z:0.58 [[ 9.99768229e-01 -1.46176969e-02 -1.58054396e-02 4.48558140e+01] [ 1.46140150e-02 9.99893149e-01 -3.48434567e-04 4.92386993e-01] [ 1.58088441e-02 1.17372879e-04 9.99875026e-01 5.81065828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.719254154 meters Centerline goodness : 0.999126 Centerline is valid? [True, True] Translation: X:44.88, Y:0.49, Z:0.58 [[ 9.99718811e-01 -1.76757023e-02 -1.58072491e-02 4.48836997e+01] [ 1.76744956e-02 9.99843771e-01 -2.16048029e-04 4.92104393e-01] [ 1.58085984e-02 -6.33978773e-05 9.99875034e-01 5.81909110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.74925415399999 meters Centerline goodness : 0.998938 Centerline is valid? [True, True] Translation: X:44.91, Y:0.49, Z:0.58 [[ 9.99662297e-01 -2.06258398e-02 -1.58071842e-02 4.49124874e+01] [ 2.06249284e-02 9.99787259e-01 -2.20696067e-04 4.91564082e-01] [ 1.58083734e-02 -1.05400505e-04 9.99875034e-01 5.82445887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.77925415399999 meters Centerline goodness : 0.999133 Centerline is valid? [True, True] Translation: X:44.94, Y:0.49, Z:0.58 [[ 9.99510521e-01 -2.69972535e-02 -1.58071722e-02 4.49422313e+01] [ 2.69971249e-02 9.99635487e-01 -2.21558145e-04 4.89251570e-01] [ 1.58073917e-02 -2.05298505e-04 9.99875034e-01 5.83496853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.809254153999994 meters Centerline goodness : 0.999323 Centerline is valid? [True, True] Translation: X:44.97, Y:0.49, Z:0.58 [[ 9.99420874e-01 -3.01338611e-02 -1.58071639e-02 4.49726373e+01] [ 3.01341155e-02 9.99545840e-01 -2.22142867e-04 4.87968651e-01] [ 1.58066790e-02 -2.54320686e-04 9.99875034e-01 5.83311401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.839254153999995 meters Centerline goodness : 0.999177 Centerline is valid? [True, True] Translation: X:45.00, Y:0.49, Z:0.58 [[ 9.99192632e-01 -3.69353062e-02 -1.58071680e-02 4.50047328e+01] [ 3.69364157e-02 9.99317593e-01 -2.21852583e-04 4.85528304e-01] [ 1.58045753e-02 -3.62186662e-04 9.99875034e-01 5.83694025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.869254154 meters Centerline goodness : 0.998986 Centerline is valid? [True, True] Translation: X:45.04, Y:0.48, Z:0.58 [[ 9.99065026e-01 -4.02393788e-02 -1.58071837e-02 4.50367957e+01] [ 4.02409193e-02 9.99189982e-01 -2.20726404e-04 4.84614608e-01] [ 1.58032615e-02 -4.15575575e-04 9.99875034e-01 5.83981127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.899254154 meters Centerline goodness : 0.999010 Centerline is valid? [True, True] Translation: X:45.07, Y:0.48, Z:0.58 [[ 9.98932629e-01 -4.34020091e-02 -1.58071999e-02 4.50678786e+01] [ 4.34039636e-02 9.99057580e-01 -2.19564343e-04 4.83870730e-01] [ 1.58018324e-02 -4.66765141e-04 9.99875034e-01 5.84042058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.929254154 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:45.10, Y:0.48, Z:0.58 [[ 9.98663146e-01 -4.92143594e-02 -1.58072119e-02 4.51001141e+01] [ 4.92170546e-02 9.98788082e-01 -2.18697230e-04 4.82452167e-01] [ 1.57988179e-02 -5.59579546e-04 9.99875034e-01 5.84546731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.95925415399999 meters Centerline goodness : 0.999137 Centerline is valid? [True, True] Translation: X:45.13, Y:0.48, Z:0.58 [[ 9.98554273e-01 -5.13760264e-02 -1.58072278e-02 4.51328076e+01] [ 5.13790104e-02 9.98679203e-01 -2.17538919e-04 4.81793708e-01] [ 1.57975260e-02 -5.94935305e-04 9.99875034e-01 5.84909126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.989254153999994 meters Centerline goodness : 0.999284 Centerline is valid? [True, True] Translation: X:45.17, Y:0.48, Z:0.59 [[ 9.98477196e-01 -5.28528184e-02 -1.58072516e-02 4.51652715e+01] [ 5.28560147e-02 9.98602121e-01 -2.15798903e-04 4.80773418e-01] [ 1.57965605e-02 -6.20038037e-04 9.99875034e-01 5.85009443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.019254153999995 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:45.20, Y:0.48, Z:0.58 [[ 9.98370708e-01 -5.48275467e-02 -1.58072902e-02 4.51966898e+01] [ 5.48310354e-02 9.98495625e-01 -2.12931678e-04 4.79355350e-01] [ 1.57951846e-02 -6.54145337e-04 9.99875034e-01 5.84288620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.049254153999996 meters Centerline goodness : 0.999032 Centerline is valid? [True, True] Translation: X:45.23, Y:0.48, Z:0.58 [[ 9.98358719e-01 -5.50454185e-02 -1.58073014e-02 4.52293906e+01] [ 5.50489477e-02 9.98483635e-01 -2.12092686e-04 4.79745601e-01] [ 1.57950065e-02 -6.58430729e-04 9.99875034e-01 5.84934034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.079254154 meters Centerline goodness : 0.999261 Centerline is valid? [True, True] Translation: X:45.26, Y:0.48, Z:0.59 [[ 9.98400705e-01 -5.42785478e-02 -1.58073243e-02 4.52610701e+01] [ 5.42820082e-02 9.98525623e-01 -2.10374334e-04 4.81252745e-01] [ 1.57954372e-02 -6.48015425e-04 9.99875034e-01 5.85322834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.109254154 meters Centerline goodness : 0.999072 Centerline is valid? [True, True] Translation: X:45.29, Y:0.48, Z:0.59 [[ 9.98449476e-01 -5.33738871e-02 -1.58073598e-02 4.52935051e+01] [ 5.33772771e-02 9.98574395e-01 -2.07673028e-04 4.82357490e-01] [ 1.57959091e-02 -6.36402798e-04 9.99875034e-01 5.85487198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.13925415399999 meters Centerline goodness : 0.999136 Centerline is valid? [True, True] Translation: X:45.33, Y:0.48, Z:0.59 [[ 9.98497359e-01 -5.24704736e-02 -1.58073782e-02 4.53261311e+01] [ 5.24737728e-02 9.98622281e-01 -2.06264044e-04 4.83607163e-01] [ 1.57964228e-02 -6.23518669e-04 9.99875034e-01 5.85572829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.169254153999994 meters Centerline goodness : 0.999176 Centerline is valid? [True, True] Translation: X:45.36, Y:0.49, Z:0.59 [[ 9.98578009e-01 -5.09125307e-02 -1.58073927e-02 4.53569067e+01] [ 5.09156526e-02 9.98702936e-01 -2.05149396e-04 4.85400384e-01] [ 1.57973341e-02 -5.99986037e-04 9.99875034e-01 5.85061926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.199254153999995 meters Centerline goodness : 0.999322 Centerline is valid? [True, True] Translation: X:45.39, Y:0.49, Z:0.59 [[ 9.98591925e-01 -5.06388501e-02 -1.58074034e-02 4.53888100e+01] [ 5.06419509e-02 9.98716852e-01 -2.04319372e-04 4.86539774e-01] [ 1.57974666e-02 -5.96486071e-04 9.99875034e-01 5.85155940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.229254153999996 meters Centerline goodness : 0.999258 Centerline is valid? [True, True] Translation: X:45.42, Y:0.49, Z:0.58 [[ 9.98581127e-01 -5.08513453e-02 -1.58074175e-02 4.54197203e+01] [ 5.08544900e-02 9.98706053e-01 -2.03220993e-04 4.88472048e-01] [ 1.57972976e-02 -6.00945508e-04 9.99875034e-01 5.84634084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.259254154 meters Centerline goodness : 0.999152 Centerline is valid? [True, True] Translation: X:45.45, Y:0.49, Z:0.58 [[ 9.98575611e-01 -5.09595444e-02 -1.58074280e-02 4.54505888e+01] [ 5.09627156e-02 9.98700536e-01 -2.02400836e-04 4.89887562e-01] [ 1.57972011e-02 -6.03476920e-04 9.99875034e-01 5.84856639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.289254154 meters Centerline goodness : 0.999068 Centerline is valid? [True, True] Translation: X:45.49, Y:0.48, Z:0.58 [[ 9.98917145e-01 -4.37568596e-02 -1.58074511e-02 4.54910486e+01] [ 4.37591586e-02 9.99042089e-01 -2.00580056e-04 4.82563954e-01] [ 1.58010857e-02 -4.91357903e-04 9.99875034e-01 5.79606470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.31925415399999 meters Centerline goodness : 0.999235 Centerline is valid? [True, True] Translation: X:45.51, Y:0.49, Z:0.59 [[ 9.98532181e-01 -5.18017324e-02 -1.58133998e-02 4.55102298e+01] [ 5.18127984e-02 9.98656773e-01 2.90622362e-04 4.94686427e-01] [ 1.57771041e-02 -1.10953228e-03 9.99874918e-01 5.85992569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.34925415399999 meters Centerline goodness : 0.999342 Centerline is valid? [True, True] Translation: X:45.54, Y:0.50, Z:0.59 [[ 9.98546903e-01 -5.15191836e-02 -1.58068466e-02 4.55425862e+01] [ 5.15223382e-02 9.98671821e-01 -2.07862663e-04 4.96619738e-01] [ 1.57965612e-02 -6.06845080e-04 9.99875042e-01 5.86615323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.379254153999995 meters Centerline goodness : 0.999171 Centerline is valid? [True, True] Translation: X:45.58, Y:0.50, Z:0.59 [[ 9.98554630e-01 -5.13691973e-02 -1.58068611e-02 4.55750582e+01] [ 5.13723506e-02 9.98679548e-01 -2.06752994e-04 4.98555921e-01] [ 1.57966097e-02 -6.05581453e-04 9.99875042e-01 5.87066560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.409254153999996 meters Centerline goodness : 0.999235 Centerline is valid? [True, True] Translation: X:45.61, Y:0.50, Z:0.59 [[ 9.98680351e-01 -4.88640894e-02 -1.58068949e-02 4.56116196e+01] [ 4.88669707e-02 9.98805275e-01 -2.04142216e-04 4.99171905e-01] [ 1.57979852e-02 -5.68562247e-04 9.99875042e-01 5.88808331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.439254154 meters Centerline goodness : 0.999446 Centerline is valid? [True, True] Translation: X:45.64, Y:0.50, Z:0.59 [[ 9.98530570e-01 -5.18338493e-02 -1.58099176e-02 4.56378460e+01] [ 5.18408899e-02 9.98655356e-01 3.55524897e-05 5.04675844e-01] [ 1.57868160e-02 -8.55100445e-04 9.99875015e-01 5.91215458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.469254154 meters Centerline goodness : 0.999383 Centerline is valid? [True, True] Translation: X:45.67, Y:0.51, Z:0.59 [[ 9.98524510e-01 -5.19513909e-02 -1.58068229e-02 4.56692096e+01] [ 5.19546586e-02 9.98649424e-01 -2.04125072e-04 5.06873804e-01] [ 1.57960792e-02 -6.17414200e-04 9.99875044e-01 5.92248216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.49925415399999 meters Centerline goodness : 0.999276 Centerline is valid? [True, True] Translation: X:45.70, Y:0.51, Z:0.59 [[ 9.98429055e-01 -5.37546758e-02 -1.58068342e-02 4.57006338e+01] [ 5.37581830e-02 9.98553963e-01 -2.03245214e-04 5.10126446e-01] [ 1.57949023e-02 -6.46820760e-04 9.99875044e-01 5.93229659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.52925415399999 meters Centerline goodness : 0.999212 Centerline is valid? [True, True] Translation: X:45.73, Y:0.51, Z:0.59 [[ 9.98353808e-01 -5.51345335e-02 -1.58068451e-02 4.57338535e+01] [ 5.51382268e-02 9.98478710e-01 -2.02393943e-04 5.11626955e-01] [ 1.57939572e-02 -6.69500647e-04 9.99875044e-01 5.94149590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.559254153999994 meters Centerline goodness : 0.999275 Centerline is valid? [True, True] Translation: X:45.78, Y:0.50, Z:0.59 [[ 9.98651488e-01 -4.94504745e-02 -1.58068675e-02 4.57791506e+01] [ 4.94534846e-02 9.98776408e-01 -2.00631743e-04 5.03036166e-01] [ 1.57974476e-02 -5.81343488e-04 9.99875044e-01 5.89633500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.589254153999995 meters Centerline goodness : 0.999424 Centerline is valid? [True, True] Translation: X:45.79, Y:0.52, Z:0.59 [[ 9.97931982e-01 -6.23029383e-02 -1.58146631e-02 4.57936547e+01] [ 6.23184227e-02 9.98056199e-01 4.87731252e-04 5.15648057e-01] [ 1.57535354e-02 -1.47226747e-03 9.99874821e-01 5.94442886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.619254154 meters Centerline goodness : 0.999595 Centerline is valid? [True, True] Translation: X:45.83, Y:0.52, Z:0.59 [[ 9.97756770e-01 -6.50507903e-02 -1.58057678e-02 4.58260423e+01] [ 6.50557061e-02 9.97881613e-01 -2.03490444e-04 5.17289007e-01] [ 1.57855223e-02 -8.25221415e-04 9.99875060e-01 5.94820006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.649254154 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:45.86, Y:0.52, Z:0.59 [[ 9.97577908e-01 -6.77384263e-02 -1.58057865e-02 4.58593571e+01] [ 6.77437015e-02 9.97702736e-01 -2.02026390e-04 5.18536195e-01] [ 1.57831614e-02 -8.69205419e-04 9.99875060e-01 5.94569726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.67925415399999 meters Centerline goodness : 0.999487 Centerline is valid? [True, True] Translation: X:45.89, Y:0.52, Z:0.59 [[ 9.97311836e-01 -7.15491321e-02 -1.58058087e-02 4.58918083e+01] [ 7.15549119e-02 9.97436642e-01 -2.00274046e-04 5.20706774e-01] [ 1.57796222e-02 -9.31247571e-04 9.99875060e-01 5.94393008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.70925415399999 meters Centerline goodness : 0.999595 Centerline is valid? [True, True] Translation: X:45.93, Y:0.52, Z:0.59 [[ 9.97224634e-01 -7.27544073e-02 -1.58058624e-02 4.59253077e+01] [ 7.27604064e-02 9.97349430e-01 -1.95940283e-04 5.21981786e-01] [ 1.57782234e-02 -9.54644496e-04 9.99875060e-01 5.94773999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.739254153999994 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:45.96, Y:0.52, Z:0.59 [[ 9.97478890e-01 -6.91812036e-02 -1.58058831e-02 4.59632239e+01] [ 6.91867821e-02 9.97603705e-01 -1.94257727e-04 5.18269932e-01] [ 1.57814465e-02 -8.99790208e-04 9.99875060e-01 5.91409998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.769254153999995 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:45.99, Y:0.53, Z:0.60 [[ 9.97146821e-01 -7.38125213e-02 -1.58091765e-02 4.59881877e+01] [ 7.38231148e-02 9.97271347e-01 8.67624339e-05 5.25318350e-01] [ 1.57596346e-02 -1.25359754e-03 9.99875023e-01 5.95389560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.799254153999996 meters Centerline goodness : 0.999572 Centerline is valid? [True, True] Translation: X:46.02, Y:0.53, Z:0.60 [[ 9.97242860e-01 -7.25041735e-02 -1.58057868e-02 4.60205537e+01] [ 7.25102012e-02 9.97367652e-01 -1.92138125e-04 5.28822750e-01] [ 1.57781113e-02 -9.54472407e-04 9.99875062e-01 5.95140659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.829254154 meters Centerline goodness : 0.999465 Centerline is valid? [True, True] Translation: X:46.05, Y:0.53, Z:0.60 [[ 9.97349212e-01 -7.10262360e-02 -1.58058205e-02 4.60538382e+01] [ 7.10321232e-02 9.97474011e-01 -1.89321895e-04 5.30826899e-01] [ 1.57793420e-02 -9.33900948e-04 9.99875062e-01 5.95418006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.859254154 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:46.09, Y:0.53, Z:0.59 [[ 9.97944144e-01 -6.21100778e-02 -1.58058411e-02 4.60919307e+01] [ 6.21148767e-02 9.98068989e-01 -1.87592264e-04 5.29250417e-01] [ 1.57869712e-02 -7.94571268e-04 9.99875062e-01 5.90793635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.88925415399999 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:46.12, Y:0.54, Z:0.60 [[ 9.97813187e-01 -6.41788113e-02 -1.58089864e-02 4.61176316e+01] [ 6.41882512e-02 9.97937804e-01 8.99177118e-05 5.36688892e-01] [ 1.57706143e-02 -1.10447227e-03 9.99875026e-01 5.96207951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.919254153999994 meters Centerline goodness : 0.999570 Centerline is valid? [True, True] Translation: X:46.15, Y:0.54, Z:0.60 [[ 9.97990168e-01 -6.13661263e-02 -1.58057675e-02 4.61505803e+01] [ 6.13708722e-02 9.98115014e-01 -1.85057023e-04 5.38956569e-01] [ 1.57873301e-02 -7.85328649e-04 9.99875064e-01 5.97259719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.949254153999995 meters Centerline goodness : 0.999633 Centerline is valid? [True, True] Translation: X:46.19, Y:0.53, Z:0.59 [[ 9.98699668e-01 -4.84680304e-02 -1.58057874e-02 4.61928260e+01] [ 4.84711901e-02 9.98824564e-01 -1.83339563e-04 5.33880308e-01] [ 1.57960948e-02 -5.83024167e-04 9.99875064e-01 5.93156572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.979254153999996 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:46.21, Y:0.55, Z:0.60 [[ 9.98340676e-01 -5.53703828e-02 -1.58118618e-02 4.62098398e+01] [ 5.53831806e-02 9.98465104e-01 3.72311671e-04 5.45529235e-01] [ 1.57669772e-02 -1.24740508e-03 9.99874915e-01 5.99369127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.009254154 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:46.25, Y:0.54, Z:0.60 [[ 9.98863478e-01 -4.49661657e-02 -1.58049740e-02 4.62503448e+01] [ 4.49687387e-02 9.98988376e-01 -1.92730193e-04 5.41114659e-01] [ 1.57976516e-02 -5.18218596e-04 9.99875075e-01 5.95270958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.039254154 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:46.27, Y:0.55, Z:0.60 [[ 9.98524028e-01 -5.19595422e-02 -1.58105084e-02 4.62694647e+01] [ 5.19705405e-02 9.98648578e-01 2.85283803e-04 5.51125620e-01] [ 1.57743185e-02 -1.10654340e-03 9.99874965e-01 6.00197815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.06925415399999 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:46.30, Y:0.55, Z:0.60 [[ 9.98563312e-01 -5.12009186e-02 -1.58043621e-02 4.63024527e+01] [ 5.12041536e-02 9.98688187e-01 -2.00161584e-04 5.52779159e-01] [ 1.57938782e-02 -6.09374972e-04 9.99875083e-01 6.00713290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.09925415399999 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:46.33, Y:0.55, Z:0.60 [[ 9.98671301e-01 -4.90495082e-02 -1.58043834e-02 4.63323003e+01] [ 4.90525008e-02 9.98796182e-01 -1.98469119e-04 5.54979732e-01] [ 1.57950926e-02 -5.77039116e-04 9.99875083e-01 6.01299076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.129254153999995 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:46.37, Y:0.56, Z:0.60 [[ 9.98573414e-01 -5.10039497e-02 -1.58029952e-02 4.63661653e+01] [ 5.10054613e-02 9.98698327e-01 -3.07639101e-04 5.56873751e-01] [ 1.57981157e-02 -4.98838834e-04 9.99875078e-01 6.00558909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.159254153999996 meters Centerline goodness : 0.999629 Centerline is valid? [True, True] Translation: X:46.40, Y:0.55, Z:0.59 [[ 9.98784595e-01 -4.66856961e-02 -1.58043846e-02 4.64039199e+01] [ 4.66884464e-02 9.98909481e-01 -1.95100513e-04 5.52709517e-01] [ 1.57962580e-02 -5.43018775e-04 9.99875084e-01 5.94619608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.189254154 meters Centerline goodness : 0.999586 Centerline is valid? [True, True] Translation: X:46.44, Y:0.55, Z:0.59 [[ 9.98758321e-01 -4.72433264e-02 -1.58077176e-02 4.64365027e+01] [ 4.72503979e-02 9.98883073e-01 7.39492960e-05 5.53530113e-01] [ 1.57865679e-02 -8.20778422e-04 9.99875047e-01 5.92860776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.219254154 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:46.46, Y:0.56, Z:0.60 [[ 9.98487276e-01 -5.26618236e-02 -1.58079538e-02 4.64613582e+01] [ 5.26698727e-02 9.98611975e-01 9.29984776e-05 5.60558974e-01] [ 1.57811145e-02 -9.25460711e-04 9.99875042e-01 5.97255249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.24925415399999 meters Centerline goodness : 0.999672 Centerline is valid? [True, True] Translation: X:46.49, Y:0.56, Z:0.60 [[ 9.98492519e-01 -5.25634617e-02 -1.58041555e-02 4.64934903e+01] [ 5.25668236e-02 9.98617388e-01 -2.02905452e-04 5.61691464e-01] [ 1.57929699e-02 -6.28174676e-04 9.99875086e-01 5.97152013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.27925415399999 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:46.53, Y:0.56, Z:0.60 [[ 9.98542158e-01 -5.16118918e-02 -1.58041700e-02 4.65251406e+01] [ 5.16151526e-02 9.98667029e-01 -2.01769618e-04 5.63586934e-01] [ 1.57935172e-02 -6.14259175e-04 9.99875086e-01 5.96956707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.309254153999994 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:46.56, Y:0.57, Z:0.60 [[ 9.98589488e-01 -5.06878833e-02 -1.58041879e-02 4.65577554e+01] [ 5.06910509e-02 9.98714362e-01 -2.00353036e-04 5.65076128e-01] [ 1.57940249e-02 -6.01060459e-04 9.99875086e-01 5.99246208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.339254153999995 meters Centerline goodness : 0.999671 Centerline is valid? [True, True] Translation: X:46.59, Y:0.57, Z:0.60 [[ 9.98677137e-01 -4.89305889e-02 -1.58042020e-02 4.65895404e+01] [ 4.89335544e-02 9.98802016e-01 -1.99236186e-04 5.67142940e-01] [ 1.57950176e-02 -5.74383155e-04 9.99875086e-01 6.01888599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.369254154 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:46.62, Y:0.57, Z:0.60 [[ 9.98729316e-01 -4.78537333e-02 -1.58042163e-02 4.66208203e+01] [ 4.78565822e-02 9.98854198e-01 -1.98097222e-04 5.67868380e-01] [ 1.57955875e-02 -5.58490273e-04 9.99875086e-01 6.02881284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.399254154 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:46.65, Y:0.57, Z:0.60 [[ 9.98789247e-01 -4.65861114e-02 -1.58042269e-02 4.66542601e+01] [ 4.65888152e-02 9.98914132e-01 -1.97246092e-04 5.68816319e-01] [ 1.57962545e-02 -5.39292932e-04 9.99875086e-01 6.04204188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.42925415399999 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:46.69, Y:0.57, Z:0.61 [[ 9.98871629e-01 -4.47849818e-02 -1.58042475e-02 4.66863978e+01] [ 4.47874868e-02 9.98996518e-01 -1.95581754e-04 5.70398997e-01] [ 1.57971473e-02 -5.12471461e-04 9.99875086e-01 6.05719873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.45925415399999 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:46.72, Y:0.57, Z:0.61 [[ 9.98893926e-01 -4.42848706e-02 -1.58042612e-02 4.67195948e+01] [ 4.42873306e-02 9.99018816e-01 -1.94469743e-04 5.71261794e-01] [ 1.57973664e-02 -5.05673895e-04 9.99875086e-01 6.06921014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.489254153999994 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:46.75, Y:0.57, Z:0.61 [[ 9.98910665e-01 -4.39056685e-02 -1.58042822e-02 4.67528920e+01] [ 4.39081083e-02 9.99035555e-01 -1.92743625e-04 5.71618278e-01] [ 1.57975024e-02 -5.01402474e-04 9.99875086e-01 6.07470986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.519254153999995 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:46.79, Y:0.57, Z:0.61 [[ 9.98915495e-01 -4.37956372e-02 -1.58043032e-02 4.67864353e+01] [ 4.37980908e-02 9.99040385e-01 -1.91006162e-04 5.71933192e-01] [ 1.57975024e-02 -5.01399293e-04 9.99875086e-01 6.08000570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.549254153999996 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:46.82, Y:0.57, Z:0.61 [[ 9.98918001e-01 -4.37384444e-02 -1.58043241e-02 4.68195808e+01] [ 4.37409184e-02 9.99042890e-01 -1.89265518e-04 5.72092268e-01] [ 1.57974758e-02 -5.02234917e-04 9.99875086e-01 6.08259144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.579254154 meters Centerline goodness : 0.999671 Centerline is valid? [True, True] Translation: X:46.86, Y:0.57, Z:0.61 [[ 9.99047334e-01 -4.06773647e-02 -1.58043447e-02 4.68580978e+01] [ 4.06794834e-02 9.99172230e-01 -1.87528256e-04 5.68157693e-01] [ 1.57988905e-02 -4.55562973e-04 9.99875086e-01 6.05658002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.609254154 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:46.88, Y:0.57, Z:0.61 [[ 9.98898445e-01 -4.41816360e-02 -1.58075514e-02 4.68829565e+01] [ 4.41885749e-02 9.99023204e-01 8.97802217e-05 5.71578279e-01] [ 1.57881440e-02 -7.88194493e-04 9.99875049e-01 6.08450404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.63925415399999 meters Centerline goodness : 0.999671 Centerline is valid? [True, True] Translation: X:46.92, Y:0.57, Z:0.61 [[ 9.98907769e-01 -4.39715251e-02 -1.58042254e-02 4.69154374e+01] [ 4.39740362e-02 9.99032656e-01 -1.88752851e-04 5.71520000e-01] [ 1.57972371e-02 -5.06428892e-04 9.99875088e-01 6.08608327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.669254153999994 meters Centerline goodness : 0.999737 Centerline is valid? [True, True] Translation: X:46.95, Y:0.57, Z:0.61 [[ 9.98941357e-01 -4.32017470e-02 -1.58042389e-02 4.69474779e+01] [ 4.32041799e-02 9.99066246e-01 -1.87615451e-04 5.71023238e-01] [ 1.57975870e-02 -4.95392349e-04 9.99875088e-01 6.09020451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.699254153999995 meters Centerline goodness : 0.999693 Centerline is valid? [True, True] Translation: X:46.98, Y:0.57, Z:0.61 [[ 9.98966794e-01 -4.26094989e-02 -1.58042527e-02 4.69791969e+01] [ 4.26118762e-02 9.99091684e-01 -1.86445262e-04 5.71311629e-01] [ 1.57978418e-02 -4.87196235e-04 9.99875088e-01 6.08974171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.729254153999996 meters Centerline goodness : 0.999671 Centerline is valid? [True, True] Translation: X:47.01, Y:0.57, Z:0.61 [[ 9.99015579e-01 -4.14499410e-02 -1.58042698e-02 4.70126960e+01] [ 4.14521965e-02 9.99140471e-01 -1.84984853e-04 5.71589415e-01] [ 1.57983532e-02 -4.70318949e-04 9.99875088e-01 6.09649553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.759254154 meters Centerline goodness : 0.999605 Centerline is valid? [True, True] Translation: X:47.05, Y:0.57, Z:0.61 [[ 9.99105152e-01 -3.92316039e-02 -1.58042897e-02 4.70453356e+01] [ 3.92336091e-02 9.99230049e-01 -1.83274455e-04 5.71996108e-01] [ 1.57993113e-02 -4.36948871e-04 9.99875088e-01 6.09828856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.789254154 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:47.08, Y:0.57, Z:0.61 [[ 9.99155910e-01 -3.79168912e-02 -1.58043028e-02 4.70770331e+01] [ 3.79187500e-02 9.99280809e-01 -1.82133432e-04 5.72243826e-01] [ 1.57998424e-02 -4.17299713e-04 9.99875088e-01 6.09733333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.81925415399999 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:47.11, Y:0.57, Z:0.61 [[ 9.99287204e-01 -3.42827708e-02 -1.58043191e-02 4.71093793e+01] [ 3.42841979e-02 9.99412108e-01 -1.80712948e-04 5.72708874e-01] [ 1.58012232e-02 -3.61254265e-04 9.99875088e-01 6.10661718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.84925415399999 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:47.14, Y:0.57, Z:0.61 [[ 9.99355332e-01 -3.22357337e-02 -1.58043319e-02 4.71420106e+01] [ 3.22369227e-02 9.99480239e-01 -1.79586850e-04 5.73477084e-01] [ 1.58019065e-02 -3.30011948e-04 9.99875088e-01 6.11287127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.879254153999995 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:47.17, Y:0.57, Z:0.61 [[ 9.99432260e-01 -2.97553567e-02 -1.58043445e-02 4.71744986e+01] [ 2.97562533e-02 9.99557169e-01 -1.78470333e-04 5.73761417e-01] [ 1.58026563e-02 -2.91909068e-04 9.99875088e-01 6.11828791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.909254153999996 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:47.21, Y:0.57, Z:0.61 [[ 9.99563164e-01 -2.49740706e-02 -1.58043569e-02 4.72066260e+01] [ 2.49743872e-02 9.99688076e-01 -1.77359469e-04 5.74469135e-01] [ 1.58038566e-02 -2.17422138e-04 9.99875088e-01 6.12938148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.939254154 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:47.24, Y:0.57, Z:0.61 [[ 9.99615782e-01 -2.27708299e-02 -1.58043692e-02 4.72377966e+01] [ 2.27708886e-02 9.99740694e-01 -1.76256345e-04 5.74972183e-01] [ 1.58042846e-02 -1.83690907e-04 9.99875088e-01 6.13505262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.969254154 meters Centerline goodness : 0.999649 Centerline is valid? [True, True] Translation: X:47.27, Y:0.58, Z:0.61 [[ 9.99653832e-01 -2.10341991e-02 -1.58043753e-02 4.72685158e+01] [ 2.10340495e-02 9.99778744e-01 -1.75709045e-04 5.75402820e-01] [ 1.58045744e-02 -1.56781792e-04 9.99875088e-01 6.13732142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.99925415399999 meters Centerline goodness : 0.999692 Centerline is valid? [True, True] Translation: X:47.30, Y:0.58, Z:0.61 [[ 9.99684153e-01 -1.95401325e-02 -1.58043783e-02 4.72990812e+01] [ 1.95398005e-02 9.99809064e-01 -1.75437480e-04 5.75526681e-01] [ 1.58047888e-02 -1.33432331e-04 9.99875088e-01 6.13747828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.02925415399999 meters Centerline goodness : 0.999626 Centerline is valid? [True, True] Translation: X:47.33, Y:0.58, Z:0.61 [[ 9.99679486e-01 -1.97774517e-02 -1.58043783e-02 4.73294332e+01] [ 1.97771494e-02 9.99804398e-01 -1.75437480e-04 5.75753946e-01] [ 1.58047567e-02 -1.37184302e-04 9.99875088e-01 6.13322304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.059254153999994 meters Centerline goodness : 0.999737 Centerline is valid? [True, True] Translation: X:47.36, Y:0.58, Z:0.61 [[ 9.99659795e-01 -2.07488649e-02 -1.58043783e-02 4.73602435e+01] [ 2.07486840e-02 9.99784707e-01 -1.75437480e-04 5.75299781e-01] [ 1.58046159e-02 -1.52542256e-04 9.99875088e-01 6.12634390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.089254153999995 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:47.39, Y:0.58, Z:0.61 [[ 9.99638282e-01 -2.17606586e-02 -1.58043783e-02 4.73908577e+01] [ 2.17606040e-02 9.99763195e-01 -1.75437480e-04 5.75024473e-01] [ 1.58044534e-02 -1.68538798e-04 9.99875088e-01 6.12006527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.119254154 meters Centerline goodness : 0.999671 Centerline is valid? [True, True] Translation: X:47.42, Y:0.58, Z:0.61 [[ 9.99613490e-01 -2.28711950e-02 -1.58043815e-02 4.74210517e+01] [ 2.28712838e-02 9.99738403e-01 -1.75150070e-04 5.75055460e-01] [ 1.58042530e-02 -1.86384122e-04 9.99875088e-01 6.10925139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.149254154 meters Centerline goodness : 0.999670 Centerline is valid? [True, True] Translation: X:47.45, Y:0.58, Z:0.61 [[ 9.99584307e-01 -2.41129419e-02 -1.58043847e-02 4.74519381e+01] [ 2.41131904e-02 9.99709219e-01 -1.74865698e-04 5.75161587e-01] [ 1.58040056e-02 -2.06301128e-04 9.99875088e-01 6.11947093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.17925415399999 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:47.48, Y:0.58, Z:0.61 [[ 9.99550526e-01 -2.54748416e-02 -1.58043909e-02 4.74837540e+01] [ 2.54752691e-02 9.99675437e-01 -1.74304054e-04 5.75464583e-01] [ 1.58037017e-02 -2.28395401e-04 9.99875088e-01 6.12974726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.20925415399999 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:47.51, Y:0.58, Z:0.61 [[ 9.99519756e-01 -2.66547840e-02 -1.58043971e-02 4.75149680e+01] [ 2.66553679e-02 9.99644667e-01 -1.73739105e-04 5.75904013e-01] [ 1.58034122e-02 -2.47616350e-04 9.99875088e-01 6.13855085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.239254153999994 meters Centerline goodness : 0.999649 Centerline is valid? [True, True] Translation: X:47.55, Y:0.58, Z:0.62 [[ 9.99449862e-01 -2.91580863e-02 -1.58044063e-02 4.75473907e+01] [ 2.91589964e-02 9.99574771e-01 -1.72893762e-04 5.75440655e-01] [ 1.58027271e-02 -2.88041981e-04 9.99875088e-01 6.16118112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.269254153999995 meters Centerline goodness : 0.999693 Centerline is valid? [True, True] Translation: X:47.58, Y:0.58, Z:0.62 [[ 9.99403391e-01 -3.07096350e-02 -1.58044185e-02 4.75791551e+01] [ 3.07107567e-02 9.99528299e-01 -1.71777240e-04 5.75465242e-01] [ 1.58022387e-02 -3.13690894e-04 9.99875088e-01 6.17556649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.299254153999996 meters Centerline goodness : 0.999605 Centerline is valid? [True, True] Translation: X:47.61, Y:0.58, Z:0.62 [[ 9.99306839e-01 -3.37055035e-02 -1.58044306e-02 4.76098811e+01] [ 3.37070175e-02 9.99431742e-01 -1.70651256e-04 5.75277908e-01] [ 1.58012015e-02 -3.62187252e-04 9.99875088e-01 6.19531231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.329254154 meters Centerline goodness : 0.999694 Centerline is valid? [True, True] Translation: X:47.64, Y:0.58, Z:0.62 [[ 9.99246837e-01 -3.54397879e-02 -1.58044396e-02 4.76425088e+01] [ 3.54415319e-02 9.99371737e-01 -1.69811188e-04 5.75240263e-01] [ 1.58005284e-02 -3.90450259e-04 9.99875088e-01 6.20845629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.359254154 meters Centerline goodness : 0.999716 Centerline is valid? [True, True] Translation: X:47.68, Y:0.57, Z:0.62 [[ 9.99101909e-01 -3.93140545e-02 -1.58044514e-02 4.76751015e+01] [ 3.93163001e-02 9.99226801e-01 -1.68713015e-04 5.74485572e-01] [ 1.57988642e-02 -4.52811058e-04 9.99875088e-01 6.22284307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.38925415399999 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:47.71, Y:0.57, Z:0.62 [[ 9.99012951e-01 -4.15131621e-02 -1.58044636e-02 4.77075991e+01] [ 4.15157009e-02 9.99137838e-01 -1.67558761e-04 5.74020310e-01] [ 1.57977935e-02 -4.88740012e-04 9.99875088e-01 6.22828274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.419254153999994 meters Centerline goodness : 0.999585 Centerline is valid? [True, True] Translation: X:47.74, Y:0.57, Z:0.62 [[ 9.98912732e-01 -4.38585373e-02 -1.58044934e-02 4.77407095e+01] [ 4.38614145e-02 9.99037612e-01 -1.64695961e-04 5.73343317e-01] [ 1.57965067e-02 -5.28690545e-04 9.99875088e-01 6.23109975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.449254153999995 meters Centerline goodness : 0.999695 Centerline is valid? [True, True] Translation: X:47.77, Y:0.57, Z:0.62 [[ 9.98800715e-01 -4.63394938e-02 -1.58045112e-02 4.77733049e+01] [ 4.63427084e-02 9.98925586e-01 -1.62973675e-04 5.72499478e-01] [ 1.57950827e-02 -5.69645630e-04 9.99875088e-01 6.22897951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.479254153999996 meters Centerline goodness : 0.999673 Centerline is valid? [True, True] Translation: X:47.81, Y:0.57, Z:0.62 [[ 9.98525602e-01 -5.19311081e-02 -1.58045290e-02 4.78051672e+01] [ 5.19350494e-02 9.98650452e-01 -1.61229069e-04 5.70716618e-01] [ 1.57915728e-02 -6.59817641e-04 9.99875088e-01 6.21494168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.509254154 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:47.84, Y:0.57, Z:0.62 [[ 9.98539197e-01 -5.16690249e-02 -1.58045578e-02 4.78402594e+01] [ 5.16729787e-02 9.98664047e-01 -1.58358362e-04 5.66759556e-01] [ 1.57916258e-02 -6.58541545e-04 9.99875088e-01 6.17595688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.539254154 meters Centerline goodness : 0.999695 Centerline is valid? [True, True] Translation: X:47.87, Y:0.57, Z:0.62 [[ 9.98238818e-01 -5.71790450e-02 -1.58056897e-02 4.78694744e+01] [ 5.71855177e-02 9.98363568e-01 -4.25023321e-05 5.69597458e-01] [ 1.57822550e-02 -8.61429072e-04 9.99875081e-01 6.20432495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.56925415399999 meters Centerline goodness : 0.999630 Centerline is valid? [True, True] Translation: X:47.90, Y:0.57, Z:0.62 [[ 9.98113212e-01 -5.93315437e-02 -1.58045582e-02 4.79016473e+01] [ 5.93364824e-02 9.98238026e-01 -1.56666302e-04 5.69179553e-01] [ 1.57860062e-02 -7.81416181e-04 9.99875088e-01 6.20053773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.59925415399999 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:47.93, Y:0.57, Z:0.62 [[ 9.97920036e-01 -6.24965343e-02 -1.58045693e-02 4.79341682e+01] [ 6.25018866e-02 9.98044834e-01 -1.55536168e-04 5.68269557e-01] [ 1.57833892e-02 -8.32602740e-04 9.99875088e-01 6.19234669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.629254153999995 meters Centerline goodness : 0.999673 Centerline is valid? [True, True] Translation: X:47.97, Y:0.57, Z:0.62 [[ 9.98073928e-01 -5.99887461e-02 -1.58045803e-02 4.79698588e+01] [ 5.99938027e-02 9.98198738e-01 -1.54405559e-04 5.65001058e-01] [ 1.57853747e-02 -7.94068711e-04 9.99875088e-01 6.17847720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.659254153999996 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:48.00, Y:0.57, Z:0.62 [[ 9.97999770e-01 -6.12096796e-02 -1.58061610e-02 4.79974737e+01] [ 6.12175197e-02 9.98124449e-01 1.22006959e-05 5.68579934e-01] [ 1.57757690e-02 -9.79790267e-04 9.99875075e-01 6.19213030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.689254154 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:48.03, Y:0.57, Z:0.62 [[ 9.98135819e-01 -5.89500116e-02 -1.58045342e-02 4.80285805e+01] [ 5.89549388e-02 9.98260633e-01 -1.54371921e-04 5.69582851e-01] [ 1.57861446e-02 -7.77671205e-04 9.99875089e-01 6.19691099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.719254154 meters Centerline goodness : 0.999651 Centerline is valid? [True, True] Translation: X:48.06, Y:0.57, Z:0.62 [[ 9.98312349e-01 -5.58808572e-02 -1.58045424e-02 4.80609439e+01] [ 5.58854138e-02 9.98437177e-01 -1.53534115e-04 5.71091500e-01] [ 1.57884223e-02 -7.29968389e-04 9.99875089e-01 6.20245883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.74925415399999 meters Centerline goodness : 0.998625 Centerline is valid? [True, True] Translation: X:48.09, Y:0.57, Z:0.62 [[ 9.98867125e-01 -4.48852141e-02 -1.58045556e-02 4.80901680e+01] [ 4.48884178e-02 9.98991995e-01 -1.52157255e-04 5.73950572e-01] [ 1.57954542e-02 -5.57456617e-04 9.99875089e-01 6.21004143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.77925415399999 meters Centerline goodness : 0.998313 Centerline is valid? [True, True] Translation: X:48.12, Y:0.58, Z:0.62 [[ 9.99028592e-01 -4.11354953e-02 -1.58032666e-02 4.81249055e+01] [ 4.11359767e-02 9.99153514e-01 -2.94738053e-04 5.76485029e-01] [ 1.58020135e-02 -3.55631062e-04 9.99875077e-01 6.22685993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.809254153999994 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:48.16, Y:0.58, Z:0.63 [[ 9.99185746e-01 -3.71224409e-02 -1.58040954e-02 4.81585773e+01] [ 3.71239662e-02 9.99310649e-01 -1.96954588e-04 5.78576942e-01] [ 1.58005122e-02 -3.89916486e-04 9.99875088e-01 6.25943296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.839254153999995 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:48.19, Y:0.58, Z:0.63 [[ 9.99493610e-01 -2.76176785e-02 -1.58046438e-02 4.81899200e+01] [ 2.76190650e-02 9.99618512e-01 -1.30571946e-04 5.81973883e-01] [ 1.58022207e-02 -3.06003660e-04 9.99875090e-01 6.28200657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.869254154 meters Centerline goodness : 0.999647 Centerline is valid? [True, True] Translation: X:48.22, Y:0.58, Z:0.63 [[ 9.99604087e-01 -2.32783671e-02 -1.58046510e-02 4.82220930e+01] [ 2.32792252e-02 9.99728994e-01 -1.29700478e-04 5.83435349e-01] [ 1.58033870e-02 -2.38270902e-04 9.99875090e-01 6.29239440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.899254154 meters Centerline goodness : 0.999734 Centerline is valid? [True, True] Translation: X:48.25, Y:0.59, Z:0.63 [[ 9.99747822e-01 -1.59532444e-02 -1.58046603e-02 4.82526596e+01] [ 1.59532054e-02 9.99872731e-01 -1.28554077e-04 5.85334916e-01] [ 1.58046997e-02 -1.23613334e-04 9.99875090e-01 6.29466138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.92925415399999 meters Centerline goodness : 0.999712 Centerline is valid? [True, True] Translation: X:48.28, Y:0.59, Z:0.63 [[ 9.99791255e-01 -1.29483412e-02 -1.58046674e-02 4.82817601e+01] [ 1.29479407e-02 9.99916164e-01 -1.27672363e-04 5.86213470e-01] [ 1.58049956e-02 -7.69921843e-05 9.99875090e-01 6.29626322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.95925415399999 meters Centerline goodness : 0.999668 Centerline is valid? [True, True] Translation: X:48.31, Y:0.59, Z:0.63 [[ 9.99816219e-01 -1.08508808e-02 -1.58046606e-02 4.83097090e+01] [ 1.08502049e-02 9.99941127e-01 -1.28513283e-04 5.87250299e-01] [ 1.58051246e-02 -4.29941410e-05 9.99875090e-01 6.29590075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.989254153999994 meters Centerline goodness : 0.999578 Centerline is valid? [True, True] Translation: X:48.34, Y:0.59, Z:0.63 [[ 9.99851009e-01 -6.94079064e-03 -1.58046224e-02 4.83362014e+01] [ 6.93955463e-03 9.99975912e-01 -1.33047164e-04 5.87989075e-01] [ 1.58051652e-02 2.33503007e-05 9.99875090e-01 6.27768676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.019254153999995 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:48.36, Y:0.59, Z:0.63 [[ 9.99860814e-01 -5.34483340e-03 -1.58046057e-02 4.83636133e+01] [ 5.34336699e-03 9.99985715e-01 -1.35010465e-04 5.88015987e-01] [ 1.58051015e-02 5.05418650e-05 9.99875090e-01 6.27388248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.049254153999996 meters Centerline goodness : 0.999645 Centerline is valid? [True, True] Translation: X:48.39, Y:0.59, Z:0.63 [[ 9.99866764e-01 -4.08292567e-03 -1.58045665e-02 4.83917547e+01] [ 4.08123148e-03 9.99991662e-01 -1.39448195e-04 5.88190491e-01] [ 1.58050041e-02 7.49275213e-05 9.99875090e-01 6.27168962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.079254154 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:48.42, Y:0.59, Z:0.63 [[ 9.99871093e-01 -2.83108773e-03 -1.58045259e-02 4.84197069e+01] [ 2.82916675e-03 9.99995988e-01 -1.43902735e-04 5.88358424e-01] [ 1.58048699e-02 9.91705453e-05 9.99875090e-01 6.27409311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.10925415399999 meters Centerline goodness : 0.999535 Centerline is valid? [True, True] Translation: X:48.45, Y:0.59, Z:0.63 [[ 9.99875032e-01 -3.72407002e-04 -1.58044831e-02 4.84467549e+01] [ 3.70106803e-04 9.99999920e-01 -1.48465532e-04 5.88171719e-01] [ 1.58045371e-02 1.42597631e-04 9.99875090e-01 6.27176777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.13925415399999 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:48.47, Y:0.59, Z:0.63 [[ 9.99875102e-01 1.46678388e-05 -1.58044643e-02 4.84745745e+01] [-1.70475676e-05 9.99999989e-01 -1.50438489e-04 5.88062332e-01] [ 1.58044619e-02 1.50689127e-04 9.99875090e-01 6.27947567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.169254153999994 meters Centerline goodness : 0.999713 Centerline is valid? [True, True] Translation: X:48.50, Y:0.59, Z:0.63 [[ 9.99875097e-01 1.03832244e-04 -1.58044213e-02 4.85019653e+01] [-1.06292486e-04 9.99999982e-01 -1.54828024e-04 5.87878566e-01] [ 1.58044049e-02 1.56488577e-04 9.99875090e-01 6.29236052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.199254153999995 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:48.53, Y:0.59, Z:0.63 [[ 9.99874733e-01 -8.59743686e-04 -1.58043745e-02 4.85293639e+01] [ 8.57330497e-04 9.99999620e-01 -1.59465794e-04 5.86410070e-01] [ 1.58045056e-02 1.45896246e-04 9.99875090e-01 6.29772967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.229254153999996 meters Centerline goodness : 0.999648 Centerline is valid? [True, True] Translation: X:48.56, Y:0.59, Z:0.63 [[ 9.99872869e-01 -2.11412392e-03 -1.58043436e-02 4.85577231e+01] [ 2.11181992e-03 9.99997757e-01 -1.62470576e-04 5.85705172e-01] [ 1.58046517e-02 1.29073993e-04 9.99875090e-01 6.29986095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.259254154 meters Centerline goodness : 0.999692 Centerline is valid? [True, True] Translation: X:48.59, Y:0.58, Z:0.63 [[ 9.99859617e-01 -5.56499002e-03 -1.58043257e-02 4.85855237e+01] [ 5.56308978e-03 9.99984512e-01 -1.64196077e-04 5.83276632e-01] [ 1.58049947e-02 7.62521434e-05 9.99875090e-01 6.30046080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.289254154 meters Centerline goodness : 0.999450 Centerline is valid? [True, True] Translation: X:48.61, Y:0.58, Z:0.63 [[ 9.99843905e-01 -7.89871595e-03 -1.58043075e-02 4.86124030e+01] [ 7.89707991e-03 9.99968804e-01 -1.65924720e-04 5.81895880e-01] [ 1.58051251e-02 4.10909403e-05 9.99875090e-01 6.30301933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.31925415399999 meters Centerline goodness : 0.999737 Centerline is valid? [True, True] Translation: X:48.64, Y:0.58, Z:0.63 [[ 9.99779289e-01 -1.38418889e-02 -1.58042863e-02 4.86414594e+01] [ 1.38409637e-02 9.99904195e-01 -1.67925962e-04 5.78417901e-01] [ 1.58050966e-02 -5.08576537e-05 9.99875090e-01 6.31137475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.34925415399999 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:48.67, Y:0.58, Z:0.63 [[ 9.99719576e-01 -1.76350560e-02 -1.58042741e-02 4.86688240e+01] [ 1.76345866e-02 9.99844484e-01 -1.69067214e-04 5.76864791e-01] [ 1.58047978e-02 -1.09682037e-04 9.99875090e-01 6.31687355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.379254153999995 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:48.70, Y:0.58, Z:0.63 [[ 9.99638270e-01 -2.17613003e-02 -1.58042588e-02 4.86989264e+01] [ 2.17613241e-02 9.99763180e-01 -1.70484860e-04 5.75119256e-01] [ 1.58042260e-02 -1.73498407e-04 9.99875090e-01 6.32248343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.409254153999996 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:48.73, Y:0.58, Z:0.63 [[ 9.99638270e-01 -2.17613092e-02 -1.58042527e-02 4.87299205e+01] [ 2.17613241e-02 9.99763180e-01 -1.71048760e-04 5.75454976e-01] [ 1.58042322e-02 -1.72934579e-04 9.99875090e-01 6.32738508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.439254154 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:48.76, Y:0.57, Z:0.63 [[ 9.99530088e-01 -2.62646070e-02 -1.58042527e-02 4.87603029e+01] [ 2.62651846e-02 9.99654996e-01 -1.71048760e-04 5.73552350e-01] [ 1.58032927e-02 -2.44133233e-04 9.99875090e-01 6.33322407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.469254154 meters Centerline goodness : 0.999673 Centerline is valid? [True, True] Translation: X:48.79, Y:0.57, Z:0.63 [[ 9.99397443e-01 -3.09026866e-02 -1.58042527e-02 4.87921409e+01] [ 3.09038439e-02 9.99522348e-01 -1.71048760e-04 5.71404935e-01] [ 1.58019896e-02 -3.17466464e-04 9.99875090e-01 6.33657799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.49925415399999 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:48.83, Y:0.57, Z:0.63 [[ 9.99079572e-01 -3.98777287e-02 -1.58042652e-02 4.88257873e+01] [ 3.98800261e-02 9.99204461e-01 -1.69888045e-04 5.66322571e-01] [ 1.57984670e-02 -4.60542832e-04 9.99875090e-01 6.32743372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.52925415399999 meters Centerline goodness : 0.999654 Centerline is valid? [True, True] Translation: X:48.87, Y:0.55, Z:0.63 [[ 9.99244249e-01 -3.55127299e-02 -1.58043135e-02 4.88679542e+01] [ 3.55145547e-02 9.99369146e-01 -1.65268906e-04 5.54146770e-01] [ 1.58002124e-02 -3.96139152e-04 9.99875090e-01 6.26755939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.559254153999994 meters Centerline goodness : 0.999569 Centerline is valid? [True, True] Translation: X:48.89, Y:0.56, Z:0.63 [[ 9.98539198e-01 -5.16674651e-02 -1.58095734e-02 4.88852861e+01] [ 5.16799705e-02 9.98663624e-01 3.83210335e-04 5.60165642e-01] [ 1.57686463e-02 -1.19968883e-03 9.99874947e-01 6.32603682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.589254153999995 meters Centerline goodness : 0.999419 Centerline is valid? [True, True] Translation: X:48.92, Y:0.56, Z:0.63 [[ 9.98405221e-01 -5.41964935e-02 -1.58036157e-02 4.89183311e+01] [ 5.42005757e-02 9.98530054e-01 -1.70201024e-04 5.59075486e-01] [ 1.57896095e-02 -6.86635476e-04 9.99875101e-01 6.33818261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.619254154 meters Centerline goodness : 0.999527 Centerline is valid? [True, True] Translation: X:48.95, Y:0.56, Z:0.63 [[ 9.98317618e-01 -5.57868993e-02 -1.58036340e-02 4.89501414e+01] [ 5.57912074e-02 9.98442443e-01 -1.68486171e-04 5.57939708e-01] [ 1.57884182e-02 -7.13501108e-04 9.99875101e-01 6.33943764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.649254154 meters Centerline goodness : 0.999548 Centerline is valid? [True, True] Translation: X:48.98, Y:0.56, Z:0.64 [[ 9.98259815e-01 -5.68118497e-02 -1.58036490e-02 4.89832925e+01] [ 5.68163085e-02 9.98384635e-01 -1.67065153e-04 5.56153024e-01] [ 1.57876116e-02 -7.31130567e-04 9.99875101e-01 6.35195093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.67925415399999 meters Centerline goodness : 0.999528 Centerline is valid? [True, True] Translation: X:49.02, Y:0.56, Z:0.64 [[ 9.98300485e-01 -5.60926548e-02 -1.58036667e-02 4.90162552e+01] [ 5.60970504e-02 9.98425307e-01 -1.65374367e-04 5.55535073e-01] [ 1.57880570e-02 -7.21445775e-04 9.99875101e-01 6.35946495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.70925415399999 meters Centerline goodness : 0.999463 Centerline is valid? [True, True] Translation: X:49.05, Y:0.56, Z:0.64 [[ 9.98364592e-01 -5.49398397e-02 -1.58036846e-02 4.90484557e+01] [ 5.49441185e-02 9.98489418e-01 -1.63640140e-04 5.55352767e-01] [ 1.57888022e-02 -7.04946999e-04 9.99875101e-01 6.36239464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.739254153999994 meters Centerline goodness : 0.999335 Centerline is valid? [True, True] Translation: X:49.08, Y:0.56, Z:0.64 [[ 9.98463426e-01 -5.31133626e-02 -1.58037138e-02 4.90802999e+01] [ 5.31174583e-02 9.98588258e-01 -1.60777531e-04 5.55584077e-01] [ 1.57899424e-02 -6.78922622e-04 9.99875101e-01 6.36744014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.769254153999995 meters Centerline goodness : 0.999462 Centerline is valid? [True, True] Translation: X:49.11, Y:0.56, Z:0.64 [[ 9.98694941e-01 -4.85660012e-02 -1.58037417e-02 4.91123154e+01] [ 4.85695725e-02 9.98819789e-01 -1.57984480e-04 5.56424002e-01] [ 1.57927626e-02 -6.09802676e-04 9.99875101e-01 6.37697420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.799254153999996 meters Centerline goodness : 0.999420 Centerline is valid? [True, True] Translation: X:49.14, Y:0.56, Z:0.64 [[ 9.98820757e-01 -4.59057445e-02 -1.58037531e-02 4.91433596e+01] [ 4.59090015e-02 9.98945614e-01 -1.56831758e-04 5.56952833e-01] [ 1.57942893e-02 -5.68887710e-04 9.99875101e-01 6.37829171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.829254154 meters Centerline goodness : 0.999505 Centerline is valid? [True, True] Translation: X:49.18, Y:0.56, Z:0.64 [[ 9.99060164e-01 -4.03612319e-02 -1.58037616e-02 4.91753391e+01] [ 4.03638094e-02 9.99185037e-01 -1.55973132e-04 5.57614910e-01] [ 1.57971774e-02 -4.82073478e-04 9.99875101e-01 6.38335530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.85925415399999 meters Centerline goodness : 0.999571 Centerline is valid? [True, True] Translation: X:49.21, Y:0.56, Z:0.64 [[ 9.99183265e-01 -3.71893079e-02 -1.58037730e-02 4.92064821e+01] [ 3.71915074e-02 9.99308145e-01 -1.54805774e-04 5.58156697e-01] [ 1.57985962e-02 -4.33086803e-04 9.99875101e-01 6.38280496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.88925415399999 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:49.24, Y:0.56, Z:0.64 [[ 9.99291985e-01 -3.41433584e-02 -1.58037919e-02 4.92385833e+01] [ 3.41452080e-02 9.99416871e-01 -1.52852828e-04 5.58658183e-01] [ 1.57997952e-02 -3.86879156e-04 9.99875101e-01 6.39290455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.919254153999994 meters Centerline goodness : 0.999397 Centerline is valid? [True, True] Translation: X:49.27, Y:0.56, Z:0.64 [[ 9.99387271e-01 -3.12301377e-02 -1.58038028e-02 4.92696273e+01] [ 3.12316412e-02 9.99512162e-01 -1.51721678e-04 5.59122745e-01] [ 1.58008314e-02 -3.41949985e-04 9.99875101e-01 6.39528010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.949254153999995 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:49.30, Y:0.56, Z:0.64 [[ 9.99576892e-01 -2.44187542e-02 -1.58038108e-02 4.93020765e+01] [ 2.44194198e-02 9.99701790e-01 -1.50880505e-04 5.59604740e-01] [ 1.58027823e-02 -2.35103225e-04 9.99875101e-01 6.41262905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.979254153999996 meters Centerline goodness : 0.999375 Centerline is valid? [True, True] Translation: X:49.33, Y:0.56, Z:0.64 [[ 9.99731342e-01 -1.69553472e-02 -1.58038215e-02 4.93325454e+01] [ 1.69550983e-02 9.99856241e-01 -1.49746729e-04 5.61102879e-01] [ 1.58040886e-02 -1.18248850e-04 9.99875101e-01 6.42755392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.009254154 meters Centerline goodness : 0.999351 Centerline is valid? [True, True] Translation: X:49.36, Y:0.56, Z:0.64 [[ 9.99790240e-01 -1.30275019e-02 -1.58038215e-02 4.93615971e+01] [ 1.30267623e-02 9.99915137e-01 -1.49746729e-04 5.61952918e-01] [ 1.58044312e-02 -5.61573079e-05 9.99875101e-01 6.43533179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.039254154 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] Translation: X:49.39, Y:0.56, Z:0.64 [[ 9.99833584e-01 -9.11286129e-03 -1.58037832e-02 4.93897264e+01] [ 9.11157035e-03 9.99958477e-01 -1.53688039e-04 5.62821195e-01] [ 1.58045275e-02 9.66517997e-06 9.99875101e-01 6.44602849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.06925415399999 meters Centerline goodness : 0.999372 Centerline is valid? [True, True] Translation: X:49.42, Y:0.56, Z:0.65 [[ 9.99861628e-01 -5.19289472e-03 -1.58037365e-02 4.94168252e+01] [ 5.19104040e-03 9.99986514e-01 -1.58353512e-04 5.63485204e-01] [ 1.58043457e-02 7.62937659e-05 9.99875101e-01 6.45445850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.09925415399999 meters Centerline goodness : 0.999610 Centerline is valid? [True, True] Translation: X:49.44, Y:0.56, Z:0.65 [[ 9.99873777e-01 -1.63500031e-03 -1.58037160e-02 4.94435453e+01] [ 1.63266970e-03 9.99998654e-01 -1.60373358e-04 5.63745642e-01] [ 1.58039569e-02 1.34550867e-04 9.99875101e-01 6.45707780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.129254153999995 meters Centerline goodness : 0.999220 Centerline is valid? [True, True] Translation: X:49.47, Y:0.56, Z:0.65 [[ 9.99865630e-01 4.35484022e-03 -1.58036954e-02 4.94713991e+01] [-4.35795047e-03 9.99990491e-01 -1.62372616e-04 5.63306003e-01] [ 1.58028380e-02 2.31222520e-04 9.99875101e-01 6.46638300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.159254153999996 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:49.50, Y:0.56, Z:0.65 [[ 9.99853234e-01 6.61474754e-03 -1.58036472e-02 4.94988034e+01] [-6.61821219e-03 9.99978085e-01 -1.66941469e-04 5.62749819e-01] [ 1.58021966e-02 2.71508858e-04 9.99875101e-01 6.46693484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.189254154 meters Centerline goodness : 0.999308 Centerline is valid? [True, True] Translation: X:49.53, Y:0.56, Z:0.65 [[ 9.99825300e-01 9.98074706e-03 -1.58036261e-02 4.95269015e+01] [-9.98466319e-03 9.99950138e-01 -1.68915351e-04 5.61087000e-01] [ 1.58011522e-02 3.26679725e-04 9.99875101e-01 6.46761169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.219254154 meters Centerline goodness : 0.999138 Centerline is valid? [True, True] Translation: X:49.55, Y:0.56, Z:0.65 [[ 9.99815671e-01 1.09028240e-02 -1.58035754e-02 4.95546312e+01] [-1.09069281e-02 9.99940503e-01 -1.73527042e-04 5.60603557e-01] [ 1.58007432e-02 3.45863517e-04 9.99875101e-01 6.47369658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.24925415399999 meters Centerline goodness : 0.999158 Centerline is valid? [True, True] Translation: X:49.58, Y:0.56, Z:0.65 [[ 9.99809752e-01 1.14327213e-02 -1.58035564e-02 4.95826342e+01] [-1.14369187e-02 9.99934581e-01 -1.75243826e-04 5.60059848e-01] [ 1.58005190e-02 3.55954477e-04 9.99875101e-01 6.47951356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.27925415399999 meters Centerline goodness : 0.999375 Centerline is valid? [True, True] Translation: X:49.61, Y:0.56, Z:0.65 [[ 9.99809167e-01 1.14837990e-02 -1.58035370e-02 4.96104095e+01] [-1.14880301e-02 9.99933995e-01 -1.76972385e-04 5.59300683e-01] [ 1.58004616e-02 3.58490122e-04 9.99875101e-01 6.48589780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.309254153999994 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:49.64, Y:0.56, Z:0.65 [[ 9.99815776e-01 1.08932281e-02 -1.58035175e-02 4.96375005e+01] [-1.08974128e-02 9.99940605e-01 -1.78701121e-04 5.55946480e-01] [ 1.58006322e-02 3.50885653e-04 9.99875101e-01 6.48551485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.339254153999995 meters Centerline goodness : 0.999293 Centerline is valid? [True, True] Translation: X:49.67, Y:0.55, Z:0.65 [[ 9.99838509e-01 8.55602151e-03 -1.58034946e-02 4.96666141e+01] [-8.55994598e-03 9.99963347e-01 -1.80701409e-04 5.51940947e-01] [ 1.58013693e-02 3.15949288e-04 9.99875101e-01 6.48930802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.369254154 meters Centerline goodness : 0.998927 Centerline is valid? [True, True] Translation: X:49.69, Y:0.55, Z:0.65 [[ 9.99853512e-01 6.57294928e-03 -1.58034818e-02 4.96946982e+01] [-6.57664369e-03 9.99978357e-01 -1.81812083e-04 5.50131344e-01] [ 1.58019448e-02 2.85719319e-04 9.99875101e-01 6.49502863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.399254154 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:49.72, Y:0.55, Z:0.65 [[ 9.99864707e-01 4.56269962e-03 -1.58034621e-02 4.97228334e+01] [-4.56616981e-03 9.99989558e-01 -1.83508465e-04 5.48062661e-01] [ 1.58024598e-02 2.55644930e-04 9.99875101e-01 6.50348943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.42925415399999 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:49.75, Y:0.55, Z:0.65 [[ 9.99872795e-01 2.15517130e-03 -1.58034416e-02 4.97496620e+01] [-2.15836851e-03 9.99997654e-01 -1.85257431e-04 5.45640892e-01] [ 1.58030053e-02 2.19343516e-04 9.99875101e-01 6.50420725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.45925415399999 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:49.78, Y:0.54, Z:0.65 [[ 9.99870610e-01 -3.00269990e-03 -1.58034176e-02 4.97778471e+01] [ 3.00011477e-03 9.99995482e-01 -1.87285516e-04 5.40421739e-01] [ 1.58039086e-02 1.39849216e-04 9.99875101e-01 6.51077769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.489254153999994 meters Centerline goodness : 0.998978 Centerline is valid? [True, True] Translation: X:49.81, Y:0.54, Z:0.65 [[ 9.99859932e-01 -5.51077516e-03 -1.58033976e-02 4.98060784e+01] [ 5.50847688e-03 9.99984810e-01 -1.88955378e-04 5.37871617e-01] [ 1.58041989e-02 1.01876261e-04 9.99875101e-01 6.51502026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.519254153999995 meters Centerline goodness : 0.998851 Centerline is valid? [True, True] Translation: X:49.83, Y:0.54, Z:0.65 [[ 9.99841718e-01 -8.17268726e-03 -1.58033772e-02 4.98344838e+01] [ 8.17069462e-03 9.99966601e-01 -1.90652639e-04 5.35219035e-01] [ 1.58044075e-02 6.14978932e-05 9.99875101e-01 6.51963086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.549254153999996 meters Centerline goodness : 0.999130 Centerline is valid? [True, True] Translation: X:49.86, Y:0.53, Z:0.65 [[ 9.99794576e-01 -1.26909616e-02 -1.58033560e-02 4.98621194e+01] [ 1.26895059e-02 9.99919466e-01 -1.92390861e-04 5.28849643e-01] [ 1.58045249e-02 -8.18544027e-06 9.99875101e-01 6.51805595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.579254154 meters Centerline goodness : 0.998964 Centerline is valid? [True, True] Translation: X:49.89, Y:0.53, Z:0.65 [[ 9.99761901e-01 -1.50464585e-02 -1.58033349e-02 4.98903215e+01] [ 1.50452698e-02 9.99886795e-01 -1.94113120e-04 5.25909794e-01] [ 1.58044665e-02 -4.36985339e-05 9.99875101e-01 6.52067913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.60925415399999 meters Centerline goodness : 0.998925 Centerline is valid? [True, True] Translation: X:49.92, Y:0.52, Z:0.65 [[ 9.99736073e-01 -1.66745641e-02 -1.58032766e-02 4.99175425e+01] [ 1.66735056e-02 9.99860968e-01 -1.98744080e-04 5.22982812e-01] [ 1.58043934e-02 -6.48043948e-05 9.99875101e-01 6.51892616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.63925415399999 meters Centerline goodness : 0.998947 Centerline is valid? [True, True] Translation: X:49.95, Y:0.52, Z:0.65 [[ 9.99691635e-01 -1.91544188e-02 -1.58032344e-02 4.99452129e+01] [ 1.91536180e-02 9.99816532e-01 -2.02043489e-04 5.16871065e-01] [ 1.58042051e-02 -1.00707929e-04 9.99875101e-01 6.52654603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.669254153999994 meters Centerline goodness : 0.999052 Centerline is valid? [True, True] Translation: X:49.97, Y:0.51, Z:0.65 [[ 9.99670952e-01 -2.02051431e-02 -1.58031750e-02 4.99735368e+01] [ 2.02044017e-02 9.99795849e-01 -2.06587120e-04 5.14622266e-01] [ 1.58041229e-02 -1.12774554e-04 9.99875101e-01 6.53351817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.699254153999995 meters Centerline goodness : 0.999328 Centerline is valid? [True, True] Translation: X:50.00, Y:0.51, Z:0.65 [[ 9.99669339e-01 -2.02848165e-02 -1.58031221e-02 5.00020872e+01] [ 2.02840223e-02 9.99794236e-01 -2.10561611e-04 5.12371456e-01] [ 1.58041416e-02 -1.10058893e-04 9.99875101e-01 6.53264498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.729254153999996 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:50.03, Y:0.51, Z:0.65 [[ 9.99675460e-01 -1.99808772e-02 -1.58031108e-02 5.00309369e+01] [ 1.99800316e-02 9.99800357e-01 -2.11405966e-04 5.10316810e-01] [ 1.58041799e-02 -1.04409296e-04 9.99875101e-01 6.52522307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.759254154 meters Centerline goodness : 0.999035 Centerline is valid? [True, True] Translation: X:50.06, Y:0.51, Z:0.65 [[ 9.99714263e-01 -1.79347857e-02 -1.58030578e-02 5.00594748e+01] [ 1.79336230e-02 9.99839156e-01 -2.15296780e-04 5.06732848e-01] [ 1.58043773e-02 -6.81708179e-05 9.99875101e-01 6.52262529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.78925415399999 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:50.09, Y:0.51, Z:0.65 [[ 9.99743096e-01 -1.62482643e-02 -1.58030041e-02 5.00877058e+01] [ 1.62468296e-02 9.99867988e-01 -2.19169388e-04 5.05073541e-01] [ 1.58044790e-02 -3.76356321e-05 9.99875101e-01 6.52586382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.81925415399999 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:50.12, Y:0.50, Z:0.65 [[ 9.99772854e-01 -1.43006302e-02 -1.58029417e-02 5.01159299e+01] [ 1.42988826e-02 9.99897741e-01 -2.23578194e-04 5.03725667e-01] [ 1.58045230e-02 -2.43699865e-06 9.99875101e-01 6.53275612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.84925415399999 meters Centerline goodness : 0.999287 Centerline is valid? [True, True] Translation: X:50.14, Y:0.50, Z:0.66 [[ 9.99829846e-01 -9.51570557e-03 -1.58028780e-02 5.01435190e+01] [ 9.51329045e-03 9.99954722e-01 -2.27995514e-04 5.01245233e-01] [ 1.58043320e-02 7.76193517e-05 9.99875101e-01 6.55042645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.879254153999995 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:50.17, Y:0.50, Z:0.66 [[ 9.99848329e-01 -7.32049435e-03 -1.58028115e-02 5.01711013e+01] [ 7.31773363e-03 9.99973198e-01 -2.32515360e-04 5.00462625e-01] [ 1.58040900e-02 1.16839329e-04 9.99875101e-01 6.55557072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.909254153999996 meters Centerline goodness : 0.998973 Centerline is valid? [True, True] Translation: X:50.20, Y:0.50, Z:0.66 [[ 9.99872011e-01 -2.49693096e-03 -1.58027441e-02 5.01993305e+01] [ 2.49349689e-03 9.99996863e-01 -2.37007886e-04 4.97946642e-01] [ 1.58032863e-02 1.97573458e-04 9.99875101e-01 6.55648644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.939254154 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:50.23, Y:0.50, Z:0.66 [[ 9.99874724e-01 -9.00643032e-04 -1.58027231e-02 5.02276559e+01] [ 8.96987687e-04 9.99999569e-01 -2.38397418e-04 4.96931682e-01] [ 1.58029310e-02 2.24192704e-04 9.99875101e-01 6.56213823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.969254154 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:50.25, Y:0.50, Z:0.66 [[ 9.99875044e-01 4.16496528e-04 -1.58026546e-02 5.02545156e+01] [-4.20386767e-04 9.99999882e-01 -2.42855230e-04 4.95649946e-01] [ 1.58025516e-02 2.49468110e-04 9.99875101e-01 6.56355854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.99925415399999 meters Centerline goodness : 0.999097 Centerline is valid? [True, True] Translation: X:50.28, Y:0.49, Z:0.66 [[ 9.99874568e-01 1.06074993e-03 -1.58026247e-02 5.02816963e+01] [-1.06475109e-03 9.99999403e-01 -2.44784288e-04 4.91886004e-01] [ 1.58023556e-02 2.61579446e-04 9.99875101e-01 6.56498705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.02925415399999 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:50.31, Y:0.49, Z:0.66 [[ 9.99875073e-01 3.41211734e-04 -1.58025952e-02 5.03101445e+01] [-3.45152909e-04 9.99999910e-01 -2.46673844e-04 4.90094616e-01] [ 1.58025096e-02 2.52097339e-04 9.99875101e-01 6.57113812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.059254153999994 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:50.34, Y:0.49, Z:0.66 [[ 9.99874685e-01 -9.44705748e-04 -1.58025699e-02 5.03355960e+01] [ 9.40899624e-04 9.99999527e-01 -2.48287836e-04 4.85963878e-01] [ 1.58027969e-02 2.33388090e-04 9.99875101e-01 6.55683898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.089254153999995 meters Centerline goodness : 0.999349 Centerline is valid? [True, True] Translation: X:50.37, Y:0.48, Z:0.66 [[ 9.99863720e-01 -4.78244797e-03 -1.58009590e-02 5.03670548e+01] [ 4.77747485e-03 9.99988526e-01 -3.52467248e-04 4.84301870e-01] [ 1.58024633e-02 2.76930530e-04 9.99875095e-01 6.59971493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.119254154 meters Centerline goodness : 0.999329 Centerline is valid? [True, True] Translation: X:50.39, Y:0.48, Z:0.66 [[ 9.99847463e-01 -7.43815120e-03 -1.58026539e-02 5.03945427e+01] [ 7.43526127e-03 9.99972329e-01 -2.41621021e-04 4.82292564e-01] [ 1.58040138e-02 1.24087304e-04 9.99875101e-01 6.60334075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.149254154 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:50.42, Y:0.48, Z:0.66 [[ 9.99792098e-01 -1.28855425e-02 -1.58026320e-02 5.04225422e+01] [ 1.28833104e-02 9.99916977e-01 -2.43047694e-04 4.78095181e-01] [ 1.58044518e-02 3.94069506e-05 9.99875101e-01 6.61395387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.17925415399999 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:50.45, Y:0.48, Z:0.66 [[ 9.99753525e-01 -1.55938116e-02 -1.58026054e-02 5.04503624e+01] [ 1.55918906e-02 9.99878409e-01 -2.44764375e-04 4.76091381e-01] [ 1.58045007e-02 -1.68844757e-06 9.99875101e-01 6.61669987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.20925415399999 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:50.48, Y:0.47, Z:0.66 [[ 9.99714100e-01 -1.79443356e-02 -1.58025331e-02 5.04782368e+01] [ 1.79426359e-02 9.99838987e-01 -2.49342699e-04 4.74207563e-01] [ 1.58044630e-02 -3.42676857e-05 9.99875101e-01 6.62056597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.239254153999994 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:50.51, Y:0.47, Z:0.66 [[ 9.99676521e-01 -1.99282567e-02 -1.58024597e-02 5.05061273e+01] [ 1.99267325e-02 9.99801411e-01 -2.53914679e-04 4.72593804e-01] [ 1.58043815e-02 -6.10588446e-05 9.99875101e-01 6.62517959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.269254153999995 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:50.53, Y:0.47, Z:0.66 [[ 9.99609989e-01 -2.30250368e-02 -1.58024368e-02 5.05348978e+01] [ 2.30238772e-02 9.99734883e-01 -2.55329624e-04 4.69679313e-01] [ 1.58041263e-02 -1.08603321e-04 9.99875101e-01 6.63987661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.299254153999996 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:50.56, Y:0.47, Z:0.67 [[ 9.99550573e-01 -2.54742346e-02 -1.58023715e-02 5.05640147e+01] [ 2.54733181e-02 9.99675469e-01 -2.59308482e-04 4.67702500e-01] [ 1.58038488e-02 -1.43346894e-04 9.99875101e-01 6.65089883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.329254154 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:50.59, Y:0.47, Z:0.67 [[ 9.99544096e-01 -2.57271558e-02 -1.58023049e-02 5.05932638e+01] [ 2.57262077e-02 9.99668992e-01 -2.63305617e-04 4.68232702e-01] [ 1.58038483e-02 -1.43347804e-04 9.99875101e-01 6.65553237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.35925415399999 meters Centerline goodness : 0.999126 Centerline is valid? [True, True] Translation: X:50.62, Y:0.47, Z:0.67 [[ 9.99520399e-01 -2.66319623e-02 -1.58022373e-02 5.06222479e+01] [ 2.66310641e-02 9.99645295e-01 -2.67303649e-04 4.67709168e-01] [ 1.58037510e-02 -1.53654944e-04 9.99875101e-01 6.65642469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.38925415399999 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:50.65, Y:0.47, Z:0.67 [[ 9.99486727e-01 -2.78670567e-02 -1.58022229e-02 5.06507809e+01] [ 2.78662994e-02 9.99611623e-01 -2.68152490e-04 4.67477481e-01] [ 1.58035583e-02 -1.72334620e-04 9.99875101e-01 6.65976128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.419254153999994 meters Centerline goodness : 0.999189 Centerline is valid? [True, True] Translation: X:50.68, Y:0.47, Z:0.67 [[ 9.99410254e-01 -3.04866126e-02 -1.58022048e-02 5.06804344e+01] [ 3.04861659e-02 9.99535153e-01 -2.69214775e-04 4.66385477e-01] [ 1.58030666e-02 -2.12692629e-04 9.99875101e-01 6.66425286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.449254153999995 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:50.71, Y:0.47, Z:0.67 [[ 9.99360184e-01 -3.20860383e-02 -1.58021950e-02 5.07097561e+01] [ 3.20857824e-02 9.99485082e-01 -2.69786938e-04 4.66094217e-01] [ 1.58027146e-02 -2.37411466e-04 9.99875101e-01 6.66600893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.479254153999996 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:50.74, Y:0.47, Z:0.67 [[ 9.99230128e-01 -3.59088168e-02 -1.58021851e-02 5.07394192e+01] [ 3.59090296e-02 9.99355026e-01 -2.70366252e-04 4.65621664e-01] [ 1.58017016e-02 -2.97283028e-04 9.99875101e-01 6.66714384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.509254154 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:50.77, Y:0.47, Z:0.67 [[ 9.99063053e-01 -4.02902835e-02 -1.58021861e-02 5.07694446e+01] [ 4.02910449e-02 9.99187950e-01 -2.70306436e-04 4.65504058e-01] [ 1.58002447e-02 -3.66633417e-04 9.99875101e-01 6.67362253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.53925415399999 meters Centerline goodness : 0.999438 Centerline is valid? [True, True] Translation: X:50.80, Y:0.47, Z:0.67 [[ 9.98882918e-01 -4.45332170e-02 -1.58021861e-02 5.08009399e+01] [ 4.45345088e-02 9.99007810e-01 -2.70306436e-04 4.65991604e-01] [ 1.57985450e-02 -4.33738115e-04 9.99875101e-01 6.67786293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.56925415399999 meters Centerline goodness : 0.999271 Centerline is valid? [True, True] Translation: X:50.83, Y:0.47, Z:0.67 [[ 9.98785085e-01 -4.66759569e-02 -1.58021960e-02 5.08320469e+01] [ 4.66775258e-02 9.98909974e-01 -2.69728891e-04 4.66351341e-01] [ 1.57975610e-02 -4.68206217e-04 9.99875101e-01 6.67646171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.59925415399999 meters Centerline goodness : 0.999272 Centerline is valid? [True, True] Translation: X:50.86, Y:0.47, Z:0.67 [[ 9.98704299e-01 -4.83736781e-02 -1.58022058e-02 5.08642542e+01] [ 4.83754684e-02 9.98829185e-01 -2.69152211e-04 4.66744852e-01] [ 1.57967242e-02 -4.95635638e-04 9.99875101e-01 6.67667236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.629254153999995 meters Centerline goodness : 0.999272 Centerline is valid? [True, True] Translation: X:50.90, Y:0.47, Z:0.67 [[ 9.98707820e-01 -4.83009249e-02 -1.58022253e-02 5.08969336e+01] [ 4.83027243e-02 9.98832706e-01 -2.68001695e-04 4.67238369e-01] [ 1.57967242e-02 -4.95635145e-04 9.99875101e-01 6.68183572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.659254153999996 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:50.93, Y:0.47, Z:0.67 [[ 9.98627814e-01 -4.99277256e-02 -1.58022448e-02 5.09284076e+01] [ 4.99297466e-02 9.98752697e-01 -2.66850686e-04 4.67804926e-01] [ 1.57958578e-02 -5.22517559e-04 9.99875101e-01 6.68184643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.689254154 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:50.96, Y:0.47, Z:0.67 [[ 9.98565436e-01 -5.11601355e-02 -1.58022592e-02 5.09609981e+01] [ 5.11623243e-02 9.98690315e-01 -2.65993328e-04 4.68961947e-01] [ 1.57951715e-02 -5.42868565e-04 9.99875101e-01 6.68647811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.719254154 meters Centerline goodness : 0.999189 Centerline is valid? [True, True] Translation: X:50.99, Y:0.47, Z:0.67 [[ 9.98490569e-01 -5.26010559e-02 -1.58022783e-02 5.09927429e+01] [ 5.26034428e-02 9.98615445e-01 -2.64853416e-04 4.71636026e-01] [ 1.57943307e-02 -5.66800604e-04 9.99875101e-01 6.69737437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.74925415399999 meters Centerline goodness : 0.999294 Centerline is valid? [True, True] Translation: X:51.02, Y:0.47, Z:0.67 [[ 9.98490850e-01 -5.25957209e-02 -1.58022973e-02 5.10244640e+01] [ 5.25981252e-02 9.98615726e-01 -2.63714590e-04 4.73097690e-01] [ 1.57942928e-02 -5.67854606e-04 9.99875101e-01 6.70504229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.77925415399999 meters Centerline goodness : 0.999230 Centerline is valid? [True, True] Translation: X:51.06, Y:0.47, Z:0.67 [[ 9.98501656e-01 -5.23901764e-02 -1.58023164e-02 5.10552167e+01] [ 5.23925732e-02 9.98626531e-01 -2.62561973e-04 4.74746289e-01] [ 1.57943681e-02 -5.65755457e-04 9.99875101e-01 6.70987276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.809254153999994 meters Centerline goodness : 0.999232 Centerline is valid? [True, True] Translation: X:51.09, Y:0.48, Z:0.67 [[ 9.98570520e-01 -5.10607845e-02 -1.58023307e-02 5.10873596e+01] [ 5.10630286e-02 9.98695398e-01 -2.61703885e-04 4.78391213e-01] [ 1.57950777e-02 -5.45585078e-04 9.99875101e-01 6.72559373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.839254153999995 meters Centerline goodness : 0.999063 Centerline is valid? [True, True] Translation: X:51.12, Y:0.48, Z:0.67 [[ 9.98620439e-01 -5.00749956e-02 -1.58023497e-02 5.11190392e+01] [ 5.00771347e-02 9.98745319e-01 -2.60546428e-04 4.80575255e-01] [ 1.57955697e-02 -5.31149407e-04 9.99875101e-01 6.73136811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.869254154 meters Centerline goodness : 0.999189 Centerline is valid? [True, True] Translation: X:51.15, Y:0.48, Z:0.67 [[ 9.98671428e-01 -4.90475754e-02 -1.58023688e-02 5.11513563e+01] [ 4.90496043e-02 9.98796310e-01 -2.59384222e-04 4.82793160e-01] [ 1.57960698e-02 -5.16060327e-04 9.99875101e-01 6.73978223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.899254154 meters Centerline goodness : 0.999188 Centerline is valid? [True, True] Translation: X:51.18, Y:0.49, Z:0.68 [[ 9.98799916e-01 -4.63574481e-02 -1.58023879e-02 5.11818531e+01] [ 4.63591591e-02 9.98924803e-01 -2.58219245e-04 4.86549157e-01] [ 1.57973676e-02 -4.74676053e-04 9.99875101e-01 6.75805948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.92925415399999 meters Centerline goodness : 0.998982 Centerline is valid? [True, True] Translation: X:51.21, Y:0.49, Z:0.68 [[ 9.98818930e-01 -4.59463136e-02 -1.58013258e-02 5.12141178e+01] [ 4.59469513e-02 9.98943829e-01 -3.22864218e-04 4.88502244e-01] [ 1.57994713e-02 -4.03539852e-04 9.99875099e-01 6.75207696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.95925415399999 meters Centerline goodness : 0.999230 Centerline is valid? [True, True] Translation: X:51.25, Y:0.49, Z:0.68 [[ 9.98935208e-01 -4.33443667e-02 -1.58023826e-02 5.12467037e+01] [ 4.33457015e-02 9.99060100e-01 -2.58183112e-04 4.92195039e-01] [ 1.57987207e-02 -4.27057158e-04 9.99875101e-01 6.75652974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.989254153999994 meters Centerline goodness : 0.999251 Centerline is valid? [True, True] Translation: X:51.28, Y:0.49, Z:0.68 [[ 9.99002126e-01 -4.17736227e-02 -1.58024015e-02 5.12779805e+01] [ 4.17747797e-02 9.99127020e-01 -2.57016360e-04 4.94261994e-01] [ 1.57993429e-02 -4.03381953e-04 9.99875101e-01 6.76040726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.019254153999995 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:51.31, Y:0.50, Z:0.68 [[ 9.99150663e-01 -3.80557114e-02 -1.58024156e-02 5.13098233e+01] [ 3.80564173e-02 9.99275559e-01 -2.56147082e-04 4.98116647e-01] [ 1.58007156e-02 -3.45453798e-04 9.99875101e-01 6.76286535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.049254153999996 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:51.34, Y:0.50, Z:0.68 [[ 9.99324158e-01 -3.31890010e-02 -1.58024346e-02 5.13400090e+01] [ 3.31891172e-02 9.99449057e-01 -2.54971531e-04 5.01465970e-01] [ 1.58021906e-02 -2.69669643e-04 9.99875101e-01 6.75977892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.079254154 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:51.37, Y:0.50, Z:0.68 [[ 9.99325372e-01 -3.31524458e-02 -1.58024393e-02 5.13718453e+01] [ 3.31525620e-02 9.99450270e-01 -2.54681209e-04 5.01949721e-01] [ 1.58021955e-02 -2.69381954e-04 9.99875101e-01 6.76481094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.10925415399999 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:51.40, Y:0.50, Z:0.68 [[ 9.99417516e-01 -3.02475133e-02 -1.58024486e-02 5.14029242e+01] [ 3.02472755e-02 9.99542414e-01 -2.54103156e-04 5.04234074e-01] [ 1.58029036e-02 -2.24025871e-04 9.99875101e-01 6.77302676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.13925415399999 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:51.43, Y:0.51, Z:0.68 [[ 9.99505801e-01 -2.71741978e-02 -1.58024579e-02 5.14332266e+01] [ 2.71735852e-02 9.99630698e-01 -2.53521855e-04 5.06538259e-01] [ 1.58035113e-02 -1.76012871e-04 9.99875101e-01 6.78011605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.169254153999994 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:51.46, Y:0.51, Z:0.68 [[ 9.99632309e-01 -2.20347208e-02 -1.58024625e-02 5.14626177e+01] [ 2.20334706e-02 9.99757202e-01 -2.53233555e-04 5.10204673e-01] [ 1.58042056e-02 -9.50426499e-05 9.99875101e-01 6.79269208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.199254153999995 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:51.49, Y:0.51, Z:0.68 [[ 9.99669531e-01 -2.02758664e-02 -1.58024579e-02 5.14908701e+01] [ 2.02743919e-02 9.99794421e-01 -2.53518878e-04 5.11662971e-01] [ 1.58043496e-02 -6.69501281e-05 9.99875101e-01 6.79881280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.229254153999996 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:51.52, Y:0.51, Z:0.68 [[ 9.99692234e-01 -1.91238002e-02 -1.58024406e-02 5.15200815e+01] [ 1.91221648e-02 9.99817122e-01 -2.54595975e-04 5.12421893e-01] [ 1.58044195e-02 -4.76592533e-05 9.99875101e-01 6.79963697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.259254154 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:51.55, Y:0.51, Z:0.68 [[ 9.99691530e-01 -1.91606177e-02 -1.58023766e-02 5.15479607e+01] [ 1.91589250e-02 9.99816418e-01 -2.58509425e-04 5.13993043e-01] [ 1.58044287e-02 -4.43268653e-05 9.99875101e-01 6.80617041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.28925415399999 meters Centerline goodness : 0.999309 Centerline is valid? [True, True] Translation: X:51.58, Y:0.52, Z:0.68 [[ 9.99676555e-01 -1.99266797e-02 -1.58022999e-02 5.15753705e+01] [ 1.99250099e-02 9.99801443e-01 -2.63116039e-04 5.15040063e-01] [ 1.58044052e-02 -5.18300459e-05 9.99875101e-01 6.80845850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.31925415399999 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:51.60, Y:0.52, Z:0.68 [[ 9.99646900e-01 -2.13626554e-02 -1.58022760e-02 5.16042146e+01] [ 2.13611425e-02 9.99771790e-01 -2.64540714e-04 5.15712026e-01] [ 1.58043211e-02 -7.31073649e-05 9.99875101e-01 6.81937051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.34925415399999 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:51.63, Y:0.52, Z:0.68 [[ 9.99542484e-01 -2.57897685e-02 -1.58022069e-02 5.16332410e+01] [ 2.57887445e-02 9.99667379e-01 -2.68605140e-04 5.16122792e-01] [ 1.58038780e-02 -1.39036828e-04 9.99875101e-01 6.82656579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.379254153999995 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:51.66, Y:0.52, Z:0.68 [[ 9.99464822e-01 -2.86419628e-02 -1.58021360e-02 5.16628839e+01] [ 2.86412302e-02 9.99589719e-01 -2.72714733e-04 5.16466968e-01] [ 1.58034638e-02 -1.80023833e-04 9.99875101e-01 6.82735776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.409254153999996 meters Centerline goodness : 0.999351 Centerline is valid? [True, True] Translation: X:51.69, Y:0.52, Z:0.68 [[ 9.99372565e-01 -3.16980824e-02 -1.58021259e-02 5.16923762e+01] [ 3.16977225e-02 9.99497464e-01 -2.73297308e-04 5.16345196e-01] [ 1.58028478e-02 -2.27765572e-04 9.99875101e-01 6.82771535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.439254154 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:51.72, Y:0.52, Z:0.68 [[ 9.99150171e-01 -3.80687429e-02 -1.58021209e-02 5.17226061e+01] [ 3.80691747e-02 9.99275069e-01 -2.73586585e-04 5.15252881e-01] [ 1.58010806e-02 -3.28219619e-04 9.99875101e-01 6.82966596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.46925415399999 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:51.75, Y:0.52, Z:0.68 [[ 9.99032796e-01 -4.10337114e-02 -1.58021209e-02 5.17535147e+01] [ 4.10345138e-02 9.99157692e-01 -2.73586585e-04 5.15390206e-01] [ 1.58000369e-02 -3.75110379e-04 9.99875101e-01 6.82765989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.49925415399999 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:51.79, Y:0.52, Z:0.68 [[ 9.98857629e-01 -4.50968876e-02 -1.58021361e-02 5.17854294e+01] [ 4.50982120e-02 9.98982521e-01 -2.72707471e-04 5.15388275e-01] [ 1.57983560e-02 -4.40252146e-04 9.99875101e-01 6.84552716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.52925415399999 meters Centerline goodness : 0.998935 Centerline is valid? [True, True] Translation: X:51.82, Y:0.52, Z:0.69 [[ 9.98793704e-01 -4.64911681e-02 -1.58021557e-02 5.18178301e+01] [ 4.64926849e-02 9.98918594e-01 -2.71563934e-04 5.15808124e-01] [ 1.57976925e-02 -4.63448300e-04 9.99875101e-01 6.85501882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.559254153999994 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:51.85, Y:0.52, Z:0.69 [[ 9.98749594e-01 -4.74293108e-02 -1.58021760e-02 5.18505014e+01] [ 4.74309637e-02 9.98874482e-01 -2.70378817e-04 5.16200009e-01] [ 1.57972143e-02 -4.79471703e-04 9.99875101e-01 6.86231259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.589254153999995 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:51.88, Y:0.52, Z:0.69 [[ 9.98745679e-01 -4.75116778e-02 -1.58021962e-02 5.18802976e+01] [ 4.75133597e-02 9.98870566e-01 -2.69193313e-04 5.16481139e-01] [ 1.57971385e-02 -4.81959775e-04 9.99875101e-01 6.87012605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.619254154 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:51.91, Y:0.52, Z:0.69 [[ 9.98732161e-01 -4.77953168e-02 -1.58012156e-02 5.19123345e+01] [ 4.77961243e-02 9.98857059e-01 -3.26749133e-04 5.16721048e-01] [ 1.57987728e-02 -4.28901997e-04 9.99875100e-01 6.87626693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.649254154 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:51.94, Y:0.52, Z:0.69 [[ 9.98759995e-01 -4.72099191e-02 -1.58017624e-02 5.19449517e+01] [ 4.72111637e-02 9.98884888e-01 -2.94463378e-04 5.17066399e-01] [ 1.57980432e-02 -4.51921349e-04 9.99875101e-01 6.87424682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.67925415399999 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:51.98, Y:0.52, Z:0.69 [[ 9.98813879e-01 -4.60556754e-02 -1.58022419e-02 5.19770654e+01] [ 4.60572261e-02 9.98938767e-01 -2.65973152e-04 5.18002329e-01] [ 1.57977216e-02 -4.62149752e-04 9.99875101e-01 6.88069388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.70925415399999 meters Centerline goodness : 0.998976 Centerline is valid? [True, True] Translation: X:52.01, Y:0.52, Z:0.69 [[ 9.98871596e-01 -4.47864103e-02 -1.58022614e-02 5.20097040e+01] [ 4.47878206e-02 9.98996487e-01 -2.64812584e-04 5.19385345e-01] [ 1.57982636e-02 -4.43235078e-04 9.99875101e-01 6.89008354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.739254153999994 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:52.04, Y:0.52, Z:0.69 [[ 9.98942483e-01 -4.31764338e-02 -1.58022809e-02 5.20406869e+01] [ 4.31776614e-02 9.99067375e-01 -2.63642673e-04 5.20791592e-01] [ 1.57989264e-02 -4.18941667e-04 9.99875101e-01 6.89475060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.769254153999995 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:52.07, Y:0.52, Z:0.69 [[ 9.99075321e-01 -3.99848900e-02 -1.58022954e-02 5.20727917e+01] [ 3.99857323e-02 9.99200216e-01 -2.62770485e-04 5.23160399e-01] [ 1.58001638e-02 -3.69338846e-04 9.99875101e-01 6.90032928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.799254153999996 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:52.10, Y:0.52, Z:0.69 [[ 9.99138874e-01 -3.83640088e-02 -1.58023144e-02 5.21044739e+01] [ 3.83646667e-02 9.99263771e-01 -2.61620580e-04 5.24019836e-01] [ 1.58007171e-02 -3.44855234e-04 9.99875101e-01 6.90308919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.829254154 meters Centerline goodness : 0.999225 Centerline is valid? [True, True] Translation: X:52.14, Y:0.53, Z:0.69 [[ 9.99177624e-01 -3.73411602e-02 -1.58023333e-02 5.21356890e+01] [ 3.73417084e-02 9.99302521e-01 -2.60476419e-04 5.25084941e-01] [ 1.58010380e-02 -3.29823911e-04 9.99875101e-01 6.90605113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.85925415399999 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:52.17, Y:0.53, Z:0.69 [[ 9.99218248e-01 -3.62378201e-02 -1.58023427e-02 5.21667153e+01] [ 3.62382394e-02 9.99343146e-01 -2.59902627e-04 5.26656300e-01] [ 1.58013812e-02 -3.12949630e-04 9.99875101e-01 6.90332024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.88925415399999 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:52.20, Y:0.53, Z:0.69 [[ 9.99225104e-01 -3.60482672e-02 -1.58023568e-02 5.21979351e+01] [ 3.60486764e-02 9.99350002e-01 -2.59044900e-04 5.27746850e-01] [ 1.58014234e-02 -3.10809878e-04 9.99875101e-01 6.90620070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.919254153999994 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:52.23, Y:0.53, Z:0.69 [[ 9.99198584e-01 -3.67760005e-02 -1.58023661e-02 5.22293280e+01] [ 3.67765097e-02 9.99323482e-01 -2.58475842e-04 5.29432940e-01] [ 1.58011812e-02 -3.22887173e-04 9.99875101e-01 6.89996552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.949254153999995 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:52.26, Y:0.53, Z:0.69 [[ 9.99170461e-01 -3.75323049e-02 -1.58023753e-02 5.22606576e+01] [ 3.75329175e-02 9.99295359e-01 -2.57908825e-04 5.30685241e-01] [ 1.58009202e-02 -3.35414370e-04 9.99875101e-01 6.89868352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.979254153999996 meters Centerline goodness : 0.999226 Centerline is valid? [True, True] Translation: X:52.29, Y:0.53, Z:0.69 [[ 9.99139573e-01 -3.83457780e-02 -1.58023845e-02 5.22920901e+01] [ 3.83465013e-02 9.99264469e-01 -2.57345193e-04 5.31788252e-01] [ 1.58006295e-02 -3.48842391e-04 9.99875101e-01 6.89747557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.009254154 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:52.32, Y:0.53, Z:0.69 [[ 9.99107099e-01 -3.91827675e-02 -1.58023982e-02 5.23233068e+01] [ 3.91836087e-02 9.99231995e-01 -2.56502253e-04 5.32666941e-01] [ 1.58003123e-02 -3.62921765e-04 9.99875101e-01 6.89629949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.03925415399999 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:52.36, Y:0.53, Z:0.69 [[ 9.99013734e-01 -4.14951026e-02 -1.58024284e-02 5.23556849e+01] [ 4.14962624e-02 9.99138627e-01 -2.54629258e-04 5.34028462e-01] [ 1.57993825e-02 -4.01363589e-04 9.99875101e-01 6.90045593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.06925415399999 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:52.39, Y:0.54, Z:0.69 [[ 9.98947930e-01 -4.30501478e-02 -1.58024459e-02 5.23868250e+01] [ 4.30515193e-02 9.99072821e-01 -2.53535020e-04 5.35103231e-01] [ 1.57987090e-02 -4.27051023e-04 9.99875101e-01 6.91046203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.09925415399999 meters Centerline goodness : 0.999225 Centerline is valid? [True, True] Translation: X:52.42, Y:0.54, Z:0.69 [[ 9.98878305e-01 -4.46364731e-02 -1.58024590e-02 5.24185508e+01] [ 4.46380559e-02 9.99003193e-01 -2.52719016e-04 5.36334623e-01] [ 1.57979875e-02 -4.52955505e-04 9.99875101e-01 6.94414229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.129254153999995 meters Centerline goodness : 0.999038 Centerline is valid? [True, True] Translation: X:52.45, Y:0.54, Z:0.70 [[ 9.98702994e-01 -4.84005391e-02 -1.58024777e-02 5.24497239e+01] [ 4.84026111e-02 9.98827875e-01 -2.51545129e-04 5.38303260e-01] [ 1.57961301e-02 -5.13662307e-04 9.99875101e-01 6.96365089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.159254153999996 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:52.48, Y:0.54, Z:0.70 [[ 9.98620570e-01 -5.00723374e-02 -1.58024915e-02 5.24820328e+01] [ 5.00746322e-02 9.98745447e-01 -2.50670472e-04 5.39001147e-01] [ 1.57952181e-02 -5.40979263e-04 9.99875101e-01 6.97743654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.189254154 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:52.51, Y:0.54, Z:0.70 [[ 9.98467699e-01 -5.30333360e-02 -1.58025098e-02 5.25130258e+01] [ 5.30360195e-02 9.98592569e-01 -2.49512506e-04 5.40123267e-01] [ 1.57935014e-02 -5.88972041e-04 9.99875101e-01 6.98698400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.21925415399999 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:52.55, Y:0.54, Z:0.70 [[ 9.98471491e-01 -5.29618963e-02 -1.58025234e-02 5.25457091e+01] [ 5.29645844e-02 9.98596360e-01 -2.48649268e-04 5.40575157e-01] [ 1.57935113e-02 -5.88704880e-04 9.99875101e-01 6.99214814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.24925415399999 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:52.58, Y:0.54, Z:0.70 [[ 9.98389870e-01 -5.44788629e-02 -1.58025411e-02 5.25774077e+01] [ 5.44817586e-02 9.98514735e-01 -2.47518682e-04 5.41607854e-01] [ 1.57925547e-02 -6.13830085e-04 9.99875101e-01 7.00134758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.27925415399999 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:52.61, Y:0.54, Z:0.70 [[ 9.98308404e-01 -5.59518536e-02 -1.58025592e-02 5.26082856e+01] [ 5.59549519e-02 9.98433264e-01 -2.46361211e-04 5.42877983e-01] [ 1.57915851e-02 -6.38286970e-04 9.99875101e-01 7.00423616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.309254153999994 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:52.64, Y:0.55, Z:0.70 [[ 9.98122686e-01 -5.91724854e-02 -1.58025726e-02 5.26409239e+01] [ 5.91760002e-02 9.98247535e-01 -2.45498337e-04 5.45787822e-01] [ 1.57894059e-02 -6.90095577e-04 9.99875101e-01 7.01457552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.339254153999995 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:52.67, Y:0.55, Z:0.70 [[ 9.98057656e-01 -6.02593821e-02 -1.58025995e-02 5.26732983e+01] [ 6.02630604e-02 9.98182500e-01 -2.43751489e-04 5.47475998e-01] [ 1.57885666e-02 -7.09034969e-04 9.99875101e-01 7.01665770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.369254154 meters Centerline goodness : 0.999055 Centerline is valid? [True, True] Translation: X:52.71, Y:0.55, Z:0.70 [[ 9.97995281e-01 -6.12837285e-02 -1.58026217e-02 5.27057606e+01] [ 6.12875577e-02 9.98120121e-01 -2.42304729e-04 5.49166150e-01] [ 1.57877640e-02 -7.26685114e-04 9.99875101e-01 7.01893243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.399254154 meters Centerline goodness : 0.998950 Centerline is valid? [True, True] Translation: X:52.74, Y:0.55, Z:0.70 [[ 9.97953021e-01 -6.19680914e-02 -1.58026394e-02 5.27377146e+01] [ 6.19720246e-02 9.98077858e-01 -2.41141872e-04 5.51862922e-01] [ 1.57872076e-02 -7.38673301e-04 9.99875101e-01 7.01485603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.42925415399999 meters Centerline goodness : 0.998950 Centerline is valid? [True, True] Translation: X:52.77, Y:0.55, Z:0.70 [[ 9.97970458e-01 -6.16866335e-02 -1.58026614e-02 5.27698723e+01] [ 6.16905544e-02 9.98095295e-01 -2.39693699e-04 5.53577926e-01] [ 1.57873479e-02 -7.35667712e-04 9.99875101e-01 7.01670643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.45925415399999 meters Centerline goodness : 0.998823 Centerline is valid? [True, True] Translation: X:52.80, Y:0.56, Z:0.70 [[ 9.98083634e-01 -5.98275433e-02 -1.58026827e-02 5.28030278e+01] [ 5.98312540e-02 9.98208477e-01 -2.38279189e-04 5.57268580e-01] [ 1.57886275e-02 -7.07671766e-04 9.99875101e-01 7.02882756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.489254153999994 meters Centerline goodness : 0.998969 Centerline is valid? [True, True] Translation: X:52.84, Y:0.56, Z:0.70 [[ 9.98174784e-01 -5.82870004e-02 -1.58027086e-02 5.28362709e+01] [ 5.82905457e-02 9.98299633e-01 -2.36554707e-04 5.59729637e-01] [ 1.57896262e-02 -6.85025561e-04 9.99875101e-01 7.03194007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.519254153999995 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:52.87, Y:0.56, Z:0.70 [[ 9.98291709e-01 -5.62488905e-02 -1.58027344e-02 5.28669493e+01] [ 5.62522083e-02 9.98416563e-01 -2.34814237e-04 5.62288925e-01] [ 1.57909198e-02 -6.54525603e-04 9.99875101e-01 7.03153651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.549254153999996 meters Centerline goodness : 0.999073 Centerline is valid? [True, True] Translation: X:52.90, Y:0.57, Z:0.70 [[ 9.98571736e-01 -5.10368541e-02 -1.58027472e-02 5.28979363e+01] [ 5.10395338e-02 9.98696606e-01 -2.33953284e-04 5.67321612e-01] [ 1.57940902e-02 -5.72945711e-04 9.99875101e-01 7.02283729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.579254154 meters Centerline goodness : 0.999071 Centerline is valid? [True, True] Translation: X:52.93, Y:0.57, Z:0.70 [[ 9.98711906e-01 -4.82161950e-02 -1.58027597e-02 5.29304158e+01] [ 4.82185354e-02 9.98836783e-01 -2.33100252e-04 5.69685968e-01] [ 1.57956169e-02 -5.29185934e-04 9.99875101e-01 7.01921423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.60925415399999 meters Centerline goodness : 0.999262 Centerline is valid? [True, True] Translation: X:52.96, Y:0.57, Z:0.70 [[ 9.98993630e-01 -4.19761891e-02 -1.58027761e-02 5.29619539e+01] [ 4.19777671e-02 9.99118518e-01 -2.31983383e-04 5.73942498e-01] [ 1.57985841e-02 -4.31615334e-04 9.99875101e-01 7.02534220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.63925415399999 meters Centerline goodness : 0.999322 Centerline is valid? [True, True] Translation: X:52.99, Y:0.58, Z:0.70 [[ 9.99113360e-01 -3.90226234e-02 -1.58027883e-02 5.29936563e+01] [ 3.90238453e-02 9.99238253e-01 -2.31150260e-04 5.76795016e-01] [ 1.57997707e-02 -3.85740254e-04 9.99875101e-01 7.04493077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.669254153999994 meters Centerline goodness : 0.998940 Centerline is valid? [True, True] Translation: X:53.03, Y:0.58, Z:0.71 [[ 9.99289002e-01 -3.42309989e-02 -1.58028050e-02 5.30257592e+01] [ 3.42316399e-02 9.99413899e-01 -2.30007645e-04 5.81188438e-01] [ 1.58014163e-02 -3.11111819e-04 9.99875101e-01 7.06580665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.699254153999995 meters Centerline goodness : 0.999301 Centerline is valid? [True, True] Translation: X:53.06, Y:0.58, Z:0.71 [[ 9.99349022e-01 -3.24315159e-02 -1.58028215e-02 5.30581588e+01] [ 3.24319500e-02 9.99473920e-01 -2.28867694e-04 5.83192596e-01] [ 1.58019304e-02 -2.83797610e-04 9.99875101e-01 7.07834114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.729254153999996 meters Centerline goodness : 0.999278 Centerline is valid? [True, True] Translation: X:53.09, Y:0.59, Z:0.71 [[ 9.99395343e-01 -3.09712569e-02 -1.58028381e-02 5.30889516e+01] [ 3.09715268e-02 9.99520241e-01 -2.27713925e-04 5.85027469e-01] [ 1.58023091e-02 -2.61861787e-04 9.99875101e-01 7.08251620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.759254154 meters Centerline goodness : 0.999257 Centerline is valid? [True, True] Translation: X:53.12, Y:0.59, Z:0.71 [[ 9.99453775e-01 -2.90244921e-02 -1.58028653e-02 5.31206543e+01] [ 2.90245488e-02 9.99578674e-01 -2.25810184e-04 5.88379606e-01] [ 1.58027612e-02 -2.32984195e-04 9.99875101e-01 7.08958886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.78925415399999 meters Centerline goodness : 0.999257 Centerline is valid? [True, True] Translation: X:53.15, Y:0.59, Z:0.71 [[ 9.99454795e-01 -2.89893514e-02 -1.58028732e-02 5.31524939e+01] [ 2.89894125e-02 9.99579693e-01 -2.25254340e-04 5.88802167e-01] [ 1.58027611e-02 -2.32984480e-04 9.99875101e-01 7.09462023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.81925415399999 meters Centerline goodness : 0.999341 Centerline is valid? [True, True] Translation: X:53.18, Y:0.59, Z:0.71 [[ 9.99502789e-01 -2.72845042e-02 -1.58028811e-02 5.31835761e+01] [ 2.72843610e-02 9.99627687e-01 -2.24698782e-04 5.91434698e-01] [ 1.58031283e-02 -2.06584454e-04 9.99875101e-01 7.09219706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.84925415399999 meters Centerline goodness : 0.999468 Centerline is valid? [True, True] Translation: X:53.21, Y:0.59, Z:0.71 [[ 9.99553723e-01 -2.53500061e-02 -1.58028894e-02 5.32145487e+01] [ 2.53496304e-02 9.99678621e-01 -2.24116080e-04 5.94455924e-01] [ 1.58034920e-02 -1.76581343e-04 9.99875101e-01 7.08918846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.879254153999995 meters Centerline goodness : 0.999383 Centerline is valid? [True, True] Translation: X:53.25, Y:0.60, Z:0.71 [[ 9.99570511e-01 -2.46791791e-02 -1.58028976e-02 5.32455216e+01] [ 2.46787287e-02 9.99695409e-01 -2.23537453e-04 5.96513264e-01] [ 1.58036009e-02 -1.66553976e-04 9.99875101e-01 7.08915964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.909254153999996 meters Centerline goodness : 0.999488 Centerline is valid? [True, True] Translation: X:53.28, Y:0.60, Z:0.71 [[ 9.99583167e-01 -2.41611280e-02 -1.58029057e-02 5.32755531e+01] [ 2.41606220e-02 9.99708065e-01 -2.22963335e-04 5.98273364e-01] [ 1.58036793e-02 -1.58937633e-04 9.99875101e-01 7.09059112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.939254154 meters Centerline goodness : 0.999680 Centerline is valid? [True, True] Translation: X:53.31, Y:0.60, Z:0.71 [[ 9.99589016e-01 -2.39179483e-02 -1.58029057e-02 5.33059631e+01] [ 2.39174119e-02 9.99713913e-01 -2.22963335e-04 6.01183497e-01] [ 1.58037175e-02 -1.55092904e-04 9.99875101e-01 7.08581290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.96925415399999 meters Centerline goodness : 0.999530 Centerline is valid? [True, True] Translation: X:53.34, Y:0.60, Z:0.71 [[ 9.99585384e-01 -2.40692295e-02 -1.58029057e-02 5.33365961e+01] [ 2.40687120e-02 9.99710282e-01 -2.22963335e-04 6.02809375e-01] [ 1.58036938e-02 -1.57484695e-04 9.99875101e-01 7.08582778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.99925415399999 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:53.37, Y:0.61, Z:0.71 [[ 9.99563054e-01 -2.49793928e-02 -1.58029096e-02 5.33670642e+01] [ 2.49789935e-02 9.99687951e-01 -2.22681197e-04 6.05068112e-01] [ 1.58035408e-02 -1.72156880e-04 9.99875101e-01 7.08600135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.02925415399999 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:53.40, Y:0.61, Z:0.71 [[ 9.99550205e-01 -2.54883531e-02 -1.58029096e-02 5.33983949e+01] [ 2.54880174e-02 9.99675103e-01 -2.22681197e-04 6.06112321e-01] [ 1.58034511e-02 -1.80203799e-04 9.99875101e-01 7.09340112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.059254153999994 meters Centerline goodness : 0.999615 Centerline is valid? [True, True] Translation: X:53.43, Y:0.61, Z:0.71 [[ 9.99539029e-01 -2.59228932e-02 -1.58029177e-02 5.34285694e+01] [ 2.59226209e-02 9.99663928e-01 -2.22105234e-04 6.06841878e-01] [ 1.58033644e-02 -1.87650196e-04 9.99875101e-01 7.09496321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.089254153999995 meters Centerline goodness : 0.999337 Centerline is valid? [True, True] Translation: X:53.46, Y:0.61, Z:0.71 [[ 9.99510185e-01 -2.70121711e-02 -1.58029217e-02 5.34595963e+01] [ 2.70120394e-02 9.99635084e-01 -2.21819560e-04 6.08970920e-01] [ 1.58031468e-02 -2.05158236e-04 9.99875101e-01 7.10638986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.119254154 meters Centerline goodness : 0.999380 Centerline is valid? [True, True] Translation: X:53.49, Y:0.61, Z:0.71 [[ 9.99461645e-01 -2.87521697e-02 -1.58029298e-02 5.34906368e+01] [ 2.87522645e-02 9.99586544e-01 -2.21244397e-04 6.10824611e-01] [ 1.58027572e-02 -2.33244729e-04 9.99875101e-01 7.11401536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.14925415399999 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:53.52, Y:0.61, Z:0.71 [[ 9.99423472e-01 -3.00497863e-02 -1.58029418e-02 5.35224074e+01] [ 3.00500569e-02 9.99548371e-01 -2.20383896e-04 6.11748947e-01] [ 1.58024272e-02 -2.54622462e-04 9.99875101e-01 7.11821641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.17925415399999 meters Centerline goodness : 0.999445 Centerline is valid? [True, True] Translation: X:53.55, Y:0.61, Z:0.71 [[ 9.99326799e-01 -3.31091524e-02 -1.58029495e-02 5.35549886e+01] [ 3.31098141e-02 9.99451696e-01 -2.19827533e-04 6.12824820e-01] [ 1.58015630e-02 -3.03553176e-04 9.99875101e-01 7.11971142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.20925415399999 meters Centerline goodness : 0.999315 Centerline is valid? [True, True] Translation: X:53.59, Y:0.61, Z:0.71 [[ 9.99248390e-01 -3.53966347e-02 -1.58029658e-02 5.35867769e+01] [ 3.53976010e-02 9.99373285e-01 -2.18649242e-04 6.13297214e-01] [ 1.58008013e-02 -3.40902176e-04 9.99875101e-01 7.12066773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.239254153999994 meters Centerline goodness : 0.999315 Centerline is valid? [True, True] Translation: X:53.62, Y:0.61, Z:0.71 [[ 9.99251020e-01 -3.53222991e-02 -1.58029820e-02 5.36194665e+01] [ 3.53232747e-02 9.99375915e-01 -2.17475829e-04 6.13688905e-01] [ 1.58008013e-02 -3.40900130e-04 9.99875101e-01 7.12583118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.269254153999995 meters Centerline goodness : 0.999188 Centerline is valid? [True, True] Translation: X:53.65, Y:0.61, Z:0.71 [[ 9.99159814e-01 -3.78144456e-02 -1.58029981e-02 5.36508536e+01] [ 3.78157513e-02 9.99284705e-01 -2.16300369e-04 6.14010057e-01] [ 1.57998736e-02 -3.81483608e-04 9.99875101e-01 7.12361026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.299254153999996 meters Centerline goodness : 0.999593 Centerline is valid? [True, True] Translation: X:53.68, Y:0.62, Z:0.71 [[ 9.98902544e-01 -4.40905054e-02 -1.58030100e-02 5.36833945e+01] [ 4.40926094e-02 9.99027425e-01 -2.15424928e-04 6.15012096e-01] [ 1.57971386e-02 -4.81607439e-04 9.99875101e-01 7.12765463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.329254154 meters Centerline goodness : 0.999550 Centerline is valid? [True, True] Translation: X:53.72, Y:0.62, Z:0.71 [[ 9.98749955e-01 -4.74214300e-02 -1.58030256e-02 5.37169151e+01] [ 4.74239686e-02 9.98874828e-01 -2.14272386e-04 6.15984211e-01] [ 1.57954056e-02 -5.35437656e-04 9.99875101e-01 7.13168008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.35925415399999 meters Centerline goodness : 0.999530 Centerline is valid? [True, True] Translation: X:53.75, Y:0.62, Z:0.71 [[ 9.98457816e-01 -5.32189131e-02 -1.58030490e-02 5.37495017e+01] [ 5.32222041e-02 9.98582672e-01 -2.12537694e-04 6.17175904e-01] [ 1.57919619e-02 -6.28863175e-04 9.99875101e-01 7.13001856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.38925415399999 meters Centerline goodness : 0.999615 Centerline is valid? [True, True] Translation: X:53.78, Y:0.62, Z:0.71 [[ 9.98333506e-01 -5.55020200e-02 -1.58030721e-02 5.37828970e+01] [ 5.55056239e-02 9.98458352e-01 -2.10806158e-04 6.18295110e-01] [ 1.57904095e-02 -6.66704523e-04 9.99875101e-01 7.13657289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.419254153999994 meters Centerline goodness : 0.999444 Centerline is valid? [True, True] Translation: X:53.82, Y:0.62, Z:0.71 [[ 9.98239999e-01 -5.71591422e-02 -1.58030950e-02 5.38151040e+01] [ 5.71629807e-02 9.98364838e-01 -2.09069775e-04 6.19663732e-01] [ 1.57892047e-02 -6.94650204e-04 9.99875101e-01 7.13986511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.449254153999995 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:53.85, Y:0.62, Z:0.72 [[ 9.98170330e-01 -5.83631231e-02 -1.58031139e-02 5.38472027e+01] [ 5.83671349e-02 9.98295164e-01 -2.07631019e-04 6.22298068e-01] [ 1.57882902e-02 -7.15131361e-04 9.99875101e-01 7.15022886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.479254153999996 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:53.88, Y:0.62, Z:0.72 [[ 9.98166023e-01 -5.84367245e-02 -1.58031324e-02 5.38800383e+01] [ 5.84407679e-02 9.98290856e-01 -2.06217225e-04 6.24223992e-01] [ 1.57881732e-02 -7.17708164e-04 9.99875101e-01 7.16343104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.509254154 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:53.91, Y:0.63, Z:0.72 [[ 9.98200048e-01 -5.78526084e-02 -1.58031543e-02 5.39117803e+01] [ 5.78566055e-02 9.98324883e-01 -2.04521167e-04 6.26136950e-01] [ 1.57885143e-02 -7.10163827e-04 9.99875101e-01 7.17567582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.53925415399999 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:53.94, Y:0.63, Z:0.72 [[ 9.98270262e-01 -5.66281195e-02 -1.58031899e-02 5.39447675e+01] [ 5.66320075e-02 9.98395100e-01 -2.01731980e-04 6.29615019e-01] [ 1.57892511e-02 -6.93583336e-04 9.99875101e-01 7.18804617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.56925415399999 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:53.98, Y:0.63, Z:0.72 [[ 9.98300472e-01 -5.60930202e-02 -1.58032113e-02 5.39781217e+01] [ 5.60968680e-02 9.98425311e-01 -2.00043541e-04 6.31531513e-01] [ 1.57895472e-02 -6.86807098e-04 9.99875101e-01 7.18809057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.59925415399999 meters Centerline goodness : 0.999591 Centerline is valid? [True, True] Translation: X:54.01, Y:0.63, Z:0.72 [[ 9.98334182e-01 -5.54898058e-02 -1.58032325e-02 5.40097920e+01] [ 5.54936049e-02 9.98459023e-01 -1.98353698e-04 6.34472206e-01] [ 1.57898867e-02 -6.78955065e-04 9.99875101e-01 7.18263984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.629254153999995 meters Centerline goodness : 0.999547 Centerline is valid? [True, True] Translation: X:54.04, Y:0.64, Z:0.72 [[ 9.98327464e-01 -5.56105368e-02 -1.58032499e-02 5.40428876e+01] [ 5.56143731e-02 9.98452304e-01 -1.96955759e-04 6.36010632e-01] [ 1.57897441e-02 -6.82261495e-04 9.99875101e-01 7.18526423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.659254153999996 meters Centerline goodness : 0.999654 Centerline is valid? [True, True] Translation: X:54.08, Y:0.64, Z:0.72 [[ 9.98313458e-01 -5.58614039e-02 -1.58032718e-02 5.40758663e+01] [ 5.58652995e-02 9.98438296e-01 -1.95186428e-04 6.37717003e-01] [ 1.57894952e-02 -6.87997275e-04 9.99875101e-01 7.18835060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.689254154 meters Centerline goodness : 0.999611 Centerline is valid? [True, True] Translation: X:54.11, Y:0.64, Z:0.72 [[ 9.98291052e-01 -5.62603867e-02 -1.58032933e-02 5.41076095e+01] [ 5.62643599e-02 9.98415887e-01 -1.93428644e-04 6.41287936e-01] [ 1.57891415e-02 -6.96064099e-04 9.99875101e-01 7.19024187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.71925415399999 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:54.14, Y:0.64, Z:0.72 [[ 9.98285154e-01 -5.63649339e-02 -1.58033110e-02 5.41407497e+01] [ 5.63689432e-02 9.98409989e-01 -1.91972256e-04 6.44931580e-01] [ 1.57890041e-02 -6.99172888e-04 9.99875101e-01 7.20137421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.74925415399999 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:54.17, Y:0.65, Z:0.72 [[ 9.98285181e-01 -5.63644617e-02 -1.58033315e-02 5.41727488e+01] [ 5.63684979e-02 9.98410014e-01 -1.90268485e-04 6.47016885e-01] [ 1.57889288e-02 -7.00867850e-04 9.99875101e-01 7.20424482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.77925415399999 meters Centerline goodness : 0.999565 Centerline is valid? [True, True] Translation: X:54.21, Y:0.65, Z:0.72 [[ 9.98302645e-01 -5.60542796e-02 -1.58033648e-02 5.42061974e+01] [ 5.60583214e-02 9.98427478e-01 -1.87460337e-04 6.49055029e-01] [ 1.57890217e-02 -6.98767955e-04 9.99875101e-01 7.21966975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.809254153999994 meters Centerline goodness : 0.999587 Centerline is valid? [True, True] Translation: X:54.24, Y:0.65, Z:0.72 [[ 9.98364483e-01 -5.49419048e-02 -1.58033848e-02 5.42389401e+01] [ 5.49458343e-02 9.98489319e-01 -1.85764962e-04 6.50935982e-01] [ 1.57897172e-02 -6.82869020e-04 9.99875101e-01 7.22668980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.839254153999995 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:54.27, Y:0.65, Z:0.72 [[ 9.98578228e-01 -5.09094713e-02 -1.58034044e-02 5.42717275e+01] [ 5.09129232e-02 9.98703079e-01 -1.84082669e-04 6.53470110e-01] [ 1.57922801e-02 -6.20776566e-04 9.99875101e-01 7.23423344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.869254154 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:54.30, Y:0.65, Z:0.72 [[ 9.98695009e-01 -4.85647064e-02 -1.58034244e-02 5.43047392e+01] [ 4.85678926e-02 9.98819867e-01 -1.82343818e-04 6.54864959e-01] [ 1.57936297e-02 -5.85433159e-04 9.99875101e-01 7.24536231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.89925415399999 meters Centerline goodness : 0.999649 Centerline is valid? [True, True] Translation: X:54.34, Y:0.66, Z:0.73 [[ 9.98767635e-01 -4.70474563e-02 -1.58034442e-02 5.43370518e+01] [ 4.70504803e-02 9.98892497e-01 -1.80609822e-04 6.56453447e-01] [ 1.57944391e-02 -5.63172396e-04 9.99875101e-01 7.25350593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.92925415399999 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:54.37, Y:0.66, Z:0.73 [[ 9.98885934e-01 -4.44650635e-02 -1.58034605e-02 5.43703735e+01] [ 4.44677872e-02 9.99010803e-01 -1.79175631e-04 6.58825044e-01] [ 1.57957948e-02 -5.23768901e-04 9.99875101e-01 7.26288455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.95925415399999 meters Centerline goodness : 0.999649 Centerline is valid? [True, True] Translation: X:54.40, Y:0.66, Z:0.73 [[ 9.98913519e-01 -4.38409801e-02 -1.58034797e-02 5.44038839e+01] [ 4.38436529e-02 9.99038389e-01 -1.77465321e-04 6.60124685e-01] [ 1.57960632e-02 -5.15609770e-04 9.99875101e-01 7.26155490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.989254153999994 meters Centerline goodness : 0.999518 Centerline is valid? [True, True] Translation: X:54.44, Y:0.66, Z:0.73 [[ 9.98929743e-01 -4.34697358e-02 -1.58034986e-02 5.44364804e+01] [ 4.34723890e-02 9.99054613e-01 -1.75766000e-04 6.61641623e-01] [ 1.57961987e-02 -5.11437953e-04 9.99875101e-01 7.25297797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.019254153999995 meters Centerline goodness : 0.999605 Centerline is valid? [True, True] Translation: X:54.47, Y:0.66, Z:0.73 [[ 9.98924001e-01 -4.36014721e-02 -1.58035112e-02 5.44687261e+01] [ 4.36041598e-02 9.99048871e-01 -1.74626606e-04 6.62329182e-01] [ 1.57960940e-02 -5.14660119e-04 9.99875101e-01 7.25183627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.049254153999996 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:54.50, Y:0.66, Z:0.73 [[ 9.98914071e-01 -4.38283782e-02 -1.58035236e-02 5.45008576e+01] [ 4.38311122e-02 9.99038940e-01 -1.73493328e-04 6.63746205e-01] [ 1.57959394e-02 -5.19381090e-04 9.99875101e-01 7.25285187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.079254154 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:54.53, Y:0.66, Z:0.73 [[ 9.98933779e-01 -4.33768876e-02 -1.58035361e-02 5.45326954e+01] [ 4.33795832e-02 9.99058648e-01 -1.72351270e-04 6.64507433e-01] [ 1.57961355e-02 -5.13383304e-04 9.99875101e-01 7.25578019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.10925415399999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:54.57, Y:0.67, Z:0.73 [[ 9.98982874e-01 -4.22310927e-02 -1.58035514e-02 5.45650969e+01] [ 4.22336674e-02 9.99107746e-01 -1.70931617e-04 6.65988072e-01] [ 1.57966693e-02 -4.96684178e-04 9.99875101e-01 7.27628050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.13925415399999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:54.60, Y:0.67, Z:0.73 [[ 9.98987474e-01 -4.21221321e-02 -1.58035637e-02 5.45986397e+01] [ 4.21247114e-02 9.99112346e-01 -1.69787007e-04 6.66257211e-01] [ 1.57966874e-02 -4.96105468e-04 9.99875101e-01 7.28157819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.169254153999994 meters Centerline goodness : 0.999583 Centerline is valid? [True, True] Translation: X:54.63, Y:0.67, Z:0.73 [[ 9.99028371e-01 -4.11407374e-02 -1.58035821e-02 5.46308645e+01] [ 4.11432212e-02 9.99153245e-01 -1.68063362e-04 6.66760973e-01] [ 1.57971146e-02 -4.82310206e-04 9.99875101e-01 7.28954560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.199254153999995 meters Centerline goodness : 0.999737 Centerline is valid? [True, True] Translation: X:54.66, Y:0.67, Z:0.73 [[ 9.99075262e-01 -3.99858443e-02 -1.58035971e-02 5.46635065e+01] [ 3.99882063e-02 9.99200138e-01 -1.66636469e-04 6.67291680e-01] [ 1.57976195e-02 -4.65475128e-04 9.99875101e-01 7.30118992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.229254153999996 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:54.70, Y:0.67, Z:0.73 [[ 9.99132848e-01 -3.85200976e-02 -1.58036148e-02 5.46963249e+01] [ 3.85223033e-02 9.99257727e-01 -1.64938042e-04 6.67882538e-01] [ 1.57982377e-02 -4.43996629e-04 9.99875101e-01 7.32143323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.259254154 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:54.73, Y:0.67, Z:0.73 [[ 9.99163401e-01 -3.77192622e-02 -1.58036327e-02 5.47298087e+01] [ 3.77213951e-02 9.99288282e-01 -1.63208121e-04 6.67918442e-01] [ 1.57985411e-02 -4.33063492e-04 9.99875101e-01 7.33120217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.28925415399999 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:54.76, Y:0.67, Z:0.73 [[ 9.99177311e-01 -3.73489745e-02 -1.58036502e-02 5.47615157e+01] [ 3.73510881e-02 9.99302192e-01 -1.61500146e-04 6.68056110e-01] [ 1.57986541e-02 -4.28916248e-04 9.99875101e-01 7.33473536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.31925415399999 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:54.79, Y:0.67, Z:0.73 [[ 9.99189631e-01 -3.70179178e-02 -1.58036645e-02 5.47934835e+01] [ 3.70200124e-02 9.99314512e-01 -1.60081076e-04 6.68016663e-01] [ 1.57987572e-02 -4.25100507e-04 9.99875101e-01 7.34283362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.34925415399999 meters Centerline goodness : 0.999737 Centerline is valid? [True, True] Translation: X:54.83, Y:0.67, Z:0.73 [[ 9.99193758e-01 -3.69063271e-02 -1.58036761e-02 5.48255813e+01] [ 3.69084260e-02 9.99318639e-01 -1.58928852e-04 6.66969421e-01] [ 1.57987736e-02 -4.24488094e-04 9.99875101e-01 7.33873688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.379254153999995 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:54.86, Y:0.67, Z:0.73 [[ 9.99184614e-01 -3.71530764e-02 -1.58036876e-02 5.48582337e+01] [ 3.71552243e-02 9.99309494e-01 -1.57779827e-04 6.66531923e-01] [ 1.57986371e-02 -4.29538382e-04 9.99875101e-01 7.33960167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.409254153999996 meters Centerline goodness : 0.999737 Centerline is valid? [True, True] Translation: X:54.89, Y:0.67, Z:0.73 [[ 9.99171316e-01 -3.75089882e-02 -1.58036991e-02 5.48898051e+01] [ 3.75111989e-02 9.99296195e-01 -1.56622897e-04 6.65584447e-01] [ 1.57984511e-02 -4.36322593e-04 9.99875101e-01 7.33597504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.439254154 meters Centerline goodness : 0.999628 Centerline is valid? [True, True] Translation: X:54.92, Y:0.67, Z:0.73 [[ 9.99166964e-01 -3.76247308e-02 -1.58037188e-02 5.49222799e+01] [ 3.76269879e-02 9.99291842e-01 -1.54604286e-04 6.65269710e-01] [ 1.57983442e-02 -4.40170841e-04 9.99875101e-01 7.32968763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.46925415399999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:54.95, Y:0.66, Z:0.73 [[ 9.99172530e-01 -3.74766133e-02 -1.58037325e-02 5.49542820e+01] [ 3.74788741e-02 9.99297408e-01 -1.53191780e-04 6.64549439e-01] [ 1.57983700e-02 -4.39241083e-04 9.99875101e-01 7.33968712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.49925415399999 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:54.99, Y:0.66, Z:0.73 [[ 9.99187946e-01 -3.70633264e-02 -1.58037435e-02 5.49864993e+01] [ 3.70655537e-02 9.99312825e-01 -1.52048738e-04 6.64524943e-01] [ 1.57985190e-02 -4.33849237e-04 9.99875101e-01 7.33951702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.52925415399999 meters Centerline goodness : 0.999387 Centerline is valid? [True, True] Translation: X:55.02, Y:0.66, Z:0.73 [[ 9.99212585e-01 -3.63930192e-02 -1.58037544e-02 5.50184600e+01] [ 3.63951807e-02 9.99337465e-01 -1.50908720e-04 6.64611483e-01] [ 1.57987759e-02 -4.24390604e-04 9.99875101e-01 7.34104165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.559254153999994 meters Centerline goodness : 0.999672 Centerline is valid? [True, True] Translation: X:55.05, Y:0.66, Z:0.73 [[ 9.99276567e-01 -3.45916707e-02 -1.58037653e-02 5.50495506e+01] [ 3.45936252e-02 9.99401450e-01 -1.49760305e-04 6.64776742e-01] [ 1.57994864e-02 -3.97057570e-04 9.99875101e-01 7.33848082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.589254153999995 meters Centerline goodness : 0.999672 Centerline is valid? [True, True] Translation: X:55.08, Y:0.67, Z:0.73 [[ 9.99322922e-01 -3.32255628e-02 -1.58037733e-02 5.50821528e+01] [ 3.32273601e-02 9.99447808e-01 -1.48905228e-04 6.65139981e-01] [ 1.57999941e-02 -3.76313260e-04 9.99875101e-01 7.34270035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.619254154 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:55.11, Y:0.67, Z:0.73 [[ 9.99358593e-01 -3.21347551e-02 -1.58037839e-02 5.51146105e+01] [ 3.21364341e-02 9.99483480e-01 -1.47770500e-04 6.65803754e-01] [ 1.58003695e-02 -3.60201541e-04 9.99875101e-01 7.34670374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.64925415399999 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:55.15, Y:0.67, Z:0.74 [[ 9.99387979e-01 -3.12074809e-02 -1.58037944e-02 5.51463109e+01] [ 3.12090619e-02 9.99512868e-01 -1.46641490e-04 6.66397395e-01] [ 1.58006722e-02 -3.46669855e-04 9.99875101e-01 7.35641157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.67925415399999 meters Centerline goodness : 0.999716 Centerline is valid? [True, True] Translation: X:55.18, Y:0.67, Z:0.74 [[ 9.99412420e-01 -3.04146928e-02 -1.58038050e-02 5.51772278e+01] [ 3.04161929e-02 9.99537310e-01 -1.45486662e-04 6.66997477e-01] [ 1.58009177e-02 -3.35290407e-04 9.99875101e-01 7.36744877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.70925415399999 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:55.21, Y:0.67, Z:0.74 [[ 9.99389330e-01 -3.11641871e-02 -1.58038129e-02 5.52085102e+01] [ 3.11657945e-02 9.99514218e-01 -1.44626940e-04 6.67145479e-01] [ 1.58006429e-02 -3.47999764e-04 9.99875101e-01 7.37632638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.739254153999994 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:55.24, Y:0.67, Z:0.74 [[ 9.99352392e-01 -3.23270158e-02 -1.58038282e-02 5.52406902e+01] [ 3.23287953e-02 9.99477278e-01 -1.42932144e-04 6.67082952e-01] [ 1.58001878e-02 -3.68079148e-04 9.99875101e-01 7.38547589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.769254153999995 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:55.27, Y:0.67, Z:0.74 [[ 9.99249858e-01 -3.53547796e-02 -1.58038384e-02 5.52726346e+01] [ 3.53569554e-02 9.99374737e-01 -1.41801588e-04 6.66318692e-01] [ 1.57989702e-02 -4.17080392e-04 9.99875101e-01 7.38451576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.799254153999996 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:55.30, Y:0.67, Z:0.74 [[ 9.99181261e-01 -3.72430628e-02 -1.58038484e-02 5.53044224e+01] [ 3.72454922e-02 9.99306136e-01 -1.40677175e-04 6.65951108e-01] [ 1.57981219e-02 -4.48060115e-04 9.99875101e-01 7.37983463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.829254154 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:55.34, Y:0.66, Z:0.74 [[ 9.99028130e-01 -4.11464863e-02 -1.58038583e-02 5.53362419e+01] [ 4.11494213e-02 9.99152994e-01 -1.39559767e-04 6.64854632e-01] [ 1.57962147e-02 -5.10895489e-04 9.99875101e-01 7.37918738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.85925415399999 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:55.37, Y:0.66, Z:0.74 [[ 9.98951200e-01 -4.29736893e-02 -1.58038685e-02 5.53678313e+01] [ 4.29768711e-02 9.99076058e-01 -1.38394680e-04 6.64313234e-01] [ 1.57952139e-02 -5.40951285e-04 9.99875101e-01 7.37111019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.88925415399999 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:55.40, Y:0.66, Z:0.74 [[ 9.98893101e-01 -4.43036165e-02 -1.58038810e-02 5.54010452e+01] [ 4.43069875e-02 9.99017954e-01 -1.36942329e-04 6.63708091e-01] [ 1.57944279e-02 -5.63431612e-04 9.99875101e-01 7.38203884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.919254153999994 meters Centerline goodness : 0.999651 Centerline is valid? [True, True] Translation: X:55.43, Y:0.66, Z:0.74 [[ 9.98855681e-01 -4.51393904e-02 -1.58038958e-02 5.54319016e+01] [ 4.51428930e-02 9.98980531e-01 -1.35221040e-04 6.63496563e-01] [ 1.57938880e-02 -5.78367273e-04 9.99875101e-01 7.38971289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.949254153999995 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:55.46, Y:0.66, Z:0.74 [[ 9.98850026e-01 -4.52643528e-02 -1.58039030e-02 5.54646984e+01] [ 4.52678846e-02 9.98974875e-01 -1.34368400e-04 6.63386724e-01] [ 1.57937841e-02 -5.81195378e-04 9.99875101e-01 7.40109507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.979254153999996 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:55.50, Y:0.66, Z:0.74 [[ 9.98911856e-01 -4.38787044e-02 -1.58039172e-02 5.54972165e+01] [ 4.38820895e-02 9.99036708e-01 -1.32683769e-04 6.63411219e-01] [ 1.57945154e-02 -5.60969517e-04 9.99875101e-01 7.41966037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.009254154 meters Centerline goodness : 0.999695 Centerline is valid? [True, True] Translation: X:55.53, Y:0.66, Z:0.74 [[ 9.98964529e-01 -4.26626966e-02 -1.58039265e-02 5.55294249e+01] [ 4.26659476e-02 9.99089385e-01 -1.31557230e-04 6.63819210e-01] [ 1.57951478e-02 -5.42868495e-04 9.99875101e-01 7.43028196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.03925415399999 meters Centerline goodness : 0.999564 Centerline is valid? [True, True] Translation: X:55.56, Y:0.66, Z:0.74 [[ 9.99060760e-01 -4.03464093e-02 -1.58039381e-02 5.55601807e+01] [ 4.03493930e-02 9.99185623e-01 -1.30151632e-04 6.64639919e-01] [ 1.57963189e-02 -5.07649921e-04 9.99875102e-01 7.44335086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.06925415399999 meters Centerline goodness : 0.999629 Centerline is valid? [True, True] Translation: X:55.59, Y:0.66, Z:0.75 [[ 9.99114484e-01 -3.89933641e-02 -1.58039520e-02 5.55926014e+01] [ 3.89962057e-02 9.99239350e-01 -1.28440047e-04 6.64916612e-01] [ 1.57969391e-02 -4.87967853e-04 9.99875102e-01 7.45270876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.09925415399999 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:55.62, Y:0.67, Z:0.75 [[ 9.99181911e-01 -3.72255707e-02 -1.58039610e-02 5.56248350e+01] [ 3.72282091e-02 9.99306782e-01 -1.27321704e-04 6.65103509e-01] [ 1.57977451e-02 -4.61135622e-04 9.99875102e-01 7.45693841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.129254153999995 meters Centerline goodness : 0.999630 Centerline is valid? [True, True] Translation: X:55.66, Y:0.67, Z:0.74 [[ 9.99304279e-01 -3.37815359e-02 -1.58039701e-02 5.56556228e+01] [ 3.37837618e-02 9.99429158e-01 -1.26186363e-04 6.65334176e-01] [ 1.57992113e-02 -4.07818990e-04 9.99875102e-01 7.44914300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.159254153999996 meters Centerline goodness : 0.999586 Centerline is valid? [True, True] Translation: X:55.69, Y:0.67, Z:0.74 [[ 9.99362652e-01 -3.20081864e-02 -1.58039850e-02 5.56879496e+01] [ 3.20102205e-02 9.99487534e-01 -1.24298112e-04 6.65546364e-01] [ 1.57998645e-02 -3.81670153e-04 9.99875102e-01 7.44859977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.189254154 meters Centerline goodness : 0.999585 Centerline is valid? [True, True] Translation: X:55.72, Y:0.67, Z:0.74 [[ 9.99471704e-01 -2.83997726e-02 -1.58039936e-02 5.57190599e+01] [ 2.84013734e-02 9.99596592e-01 -1.23186121e-04 6.66394446e-01] [ 1.58011166e-02 -3.25734082e-04 9.99875102e-01 7.44469092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.21925415399999 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:55.75, Y:0.67, Z:0.75 [[ 9.99514540e-01 -2.68501272e-02 -1.58036691e-02 5.57509618e+01] [ 2.68508917e-02 9.99639436e-01 -1.63846095e-04 6.66896031e-01] [ 1.58023702e-02 -2.60576054e-04 9.99875101e-01 7.45002858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.24925415399999 meters Centerline goodness : 0.999672 Centerline is valid? [True, True] Translation: X:55.78, Y:0.67, Z:0.74 [[ 9.99561941e-01 -2.50231950e-02 -1.58039755e-02 5.57826383e+01] [ 2.50243427e-02 9.99686834e-01 -1.25161129e-04 6.67296656e-01] [ 1.58021582e-02 -2.70377797e-04 9.99875102e-01 7.44915787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.27925415399999 meters Centerline goodness : 0.999694 Centerline is valid? [True, True] Translation: X:55.81, Y:0.67, Z:0.74 [[ 9.99592885e-01 -2.37549451e-02 -1.58039824e-02 5.58142347e+01] [ 2.37559481e-02 9.99717780e-01 -1.24289223e-04 6.67565684e-01] [ 1.58024746e-02 -2.51199962e-04 9.99875102e-01 7.44616744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.309254153999994 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:55.85, Y:0.67, Z:0.75 [[ 9.99623542e-01 -2.24278580e-02 -1.58039865e-02 5.58456680e+01] [ 2.24287036e-02 9.99748437e-01 -1.23755141e-04 6.67706637e-01] [ 1.58027864e-02 -2.30754378e-04 9.99875102e-01 7.45728590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.339254153999995 meters Centerline goodness : 0.999497 Centerline is valid? [True, True] Translation: X:55.88, Y:0.67, Z:0.74 [[ 9.99702293e-01 -1.85892218e-02 -1.58039909e-02 5.58760299e+01] [ 1.85895968e-02 9.99827191e-01 -1.23189912e-04 6.68118094e-01] [ 1.58035499e-02 -1.70636582e-04 9.99875102e-01 7.43455696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.369254154 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:55.91, Y:0.67, Z:0.75 [[ 9.99707096e-01 -1.83291255e-02 -1.58039955e-02 5.59054139e+01] [ 1.83294774e-02 9.99831994e-01 -1.22598844e-04 6.68451528e-01] [ 1.58035875e-02 -1.67116044e-04 9.99875102e-01 7.45347881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.39925415399999 meters Centerline goodness : 0.999628 Centerline is valid? [True, True] Translation: X:55.94, Y:0.67, Z:0.74 [[ 9.99730370e-01 -1.70123861e-02 -1.58039908e-02 5.59352679e+01] [ 1.70125638e-02 9.99855268e-01 -1.23205194e-04 6.68989782e-01] [ 1.58037995e-02 -1.45694428e-04 9.99875102e-01 7.44626766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.42925415399999 meters Centerline goodness : 0.999408 Centerline is valid? [True, True] Translation: X:55.96, Y:0.67, Z:0.75 [[ 9.99763042e-01 -1.49697468e-02 -1.58039914e-02 5.59644203e+01] [ 1.49696705e-02 9.99887941e-01 -1.23129958e-04 6.69121667e-01] [ 1.58040636e-02 -1.13479763e-04 9.99875102e-01 7.45571831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.45925415399999 meters Centerline goodness : 0.999562 Centerline is valid? [True, True] Translation: X:55.99, Y:0.67, Z:0.75 [[ 9.99771789e-01 -1.43736994e-02 -1.58039869e-02 5.59927127e+01] [ 1.43735395e-02 9.99896688e-01 -1.23708028e-04 6.69124919e-01] [ 1.58041323e-02 -1.03479433e-04 9.99875102e-01 7.46212072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.489254153999994 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:56.02, Y:0.67, Z:0.75 [[ 9.99785198e-01 -1.34086512e-02 -1.58039541e-02 5.60204527e+01] [ 1.34083068e-02 9.99910096e-01 -1.27755861e-04 6.68830868e-01] [ 1.58042463e-02 -8.41758464e-05 9.99875102e-01 7.47307232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.519254153999995 meters Centerline goodness : 0.999517 Centerline is valid? [True, True] Translation: X:56.05, Y:0.67, Z:0.75 [[ 9.99779139e-01 -1.38531385e-02 -1.58039424e-02 5.60487744e+01] [ 1.38528270e-02 9.99904037e-01 -1.29188434e-04 6.68979387e-01] [ 1.58042155e-02 -8.97693794e-05 9.99875102e-01 7.48326610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.549254153999996 meters Centerline goodness : 0.999605 Centerline is valid? [True, True] Translation: X:56.08, Y:0.67, Z:0.75 [[ 9.99767586e-01 -1.46632721e-02 -1.58039039e-02 5.60769767e+01] [ 1.46629899e-02 9.99892484e-01 -1.33736851e-04 6.69088051e-01] [ 1.58041658e-02 -9.80267148e-05 9.99875102e-01 7.47981113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.57925415399999 meters Centerline goodness : 0.999627 Centerline is valid? [True, True] Translation: X:56.11, Y:0.67, Z:0.75 [[ 9.99704596e-01 -1.84650547e-02 -1.58038919e-02 5.61059035e+01] [ 1.84652253e-02 9.99829494e-01 -1.35142903e-04 6.68237629e-01] [ 1.58036927e-02 -1.56719443e-04 9.99875102e-01 7.50688556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.60925415399999 meters Centerline goodness : 0.999650 Centerline is valid? [True, True] Translation: X:56.14, Y:0.67, Z:0.75 [[ 9.99646177e-01 -2.13953240e-02 -1.58038565e-02 5.61359898e+01] [ 2.13957971e-02 9.99771074e-01 -1.39162623e-04 6.67477066e-01] [ 1.58032160e-02 -1.99022724e-04 9.99875102e-01 7.51368164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.63925415399999 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:56.17, Y:0.66, Z:0.75 [[ 9.99476492e-01 -2.82308307e-02 -1.58038514e-02 5.61662820e+01] [ 2.82321486e-02 9.99601384e-01 -1.39744441e-04 6.64782984e-01] [ 1.58014968e-02 -3.06505397e-04 9.99875102e-01 7.51626746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.669254153999994 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:56.20, Y:0.66, Z:0.75 [[ 9.99367695e-01 -3.18504034e-02 -1.58038539e-02 5.61984862e+01] [ 3.18521782e-02 9.99492581e-01 -1.39455589e-04 6.63262458e-01] [ 1.58002765e-02 -3.64019761e-04 9.99875102e-01 7.51931445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.699254153999995 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:56.23, Y:0.66, Z:0.75 [[ 9.99243720e-01 -3.55278263e-02 -1.58038638e-02 5.62309875e+01] [ 3.55300786e-02 9.99368598e-01 -1.38325505e-04 6.62118233e-01] [ 1.57987996e-02 -4.23291631e-04 9.99875102e-01 7.52170277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.729254153999996 meters Centerline goodness : 0.999523 Centerline is valid? [True, True] Translation: X:56.26, Y:0.66, Z:0.75 [[ 9.99022889e-01 -4.12735382e-02 -1.58038739e-02 5.62622255e+01] [ 4.12765269e-02 9.99147752e-01 -1.37164689e-04 6.59971211e-01] [ 1.57960663e-02 -5.15298362e-04 9.99875102e-01 7.53125144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.759254154 meters Centerline goodness : 0.999438 Centerline is valid? [True, True] Translation: X:56.29, Y:0.66, Z:0.75 [[ 9.98968134e-01 -4.25782275e-02 -1.58038813e-02 5.62949985e+01] [ 4.25813929e-02 9.99092992e-01 -1.36300175e-04 6.58833307e-01] [ 1.57953505e-02 -5.36791751e-04 9.99875102e-01 7.52948007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.78925415399999 meters Centerline goodness : 0.999588 Centerline is valid? [True, True] Translation: X:56.33, Y:0.66, Z:0.75 [[ 9.98908630e-01 -4.39520879e-02 -1.58038961e-02 5.63269749e+01] [ 4.39554525e-02 9.99033483e-01 -1.34568344e-04 6.55848865e-01] [ 1.57945359e-02 -5.60245923e-04 9.99875102e-01 7.52772610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.81925415399999 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:56.36, Y:0.65, Z:0.75 [[ 9.98903263e-01 -4.40738908e-02 -1.58039082e-02 5.63591597e+01] [ 4.40772932e-02 9.99028115e-01 -1.33134112e-04 6.54858244e-01] [ 1.57944163e-02 -5.63605396e-04 9.99875102e-01 7.52906593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.84925415399999 meters Centerline goodness : 0.999546 Centerline is valid? [True, True] Translation: X:56.39, Y:0.65, Z:0.75 [[ 9.98840100e-01 -4.54829224e-02 -1.58037744e-02 5.63926063e+01] [ 4.54862490e-02 9.98964954e-01 -1.49076812e-04 6.53444294e-01] [ 1.57941972e-02 -5.69950520e-04 9.99875101e-01 7.53414142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.879254153999995 meters Centerline goodness : 0.999417 Centerline is valid? [True, True] Translation: X:56.43, Y:0.65, Z:0.75 [[ 9.98950431e-01 -4.29915491e-02 -1.58039154e-02 5.64281932e+01] [ 4.29948307e-02 9.99075286e-01 -1.32218805e-04 6.50158903e-01] [ 1.57949856e-02 -5.47406637e-04 9.99875102e-01 7.51221205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.909254153999996 meters Centerline goodness : 0.999396 Centerline is valid? [True, True] Translation: X:56.46, Y:0.65, Z:0.75 [[ 9.98809940e-01 -4.61399410e-02 -1.58053570e-02 5.64551280e+01] [ 4.61464301e-02 9.98934685e-01 4.59134461e-05 6.52631498e-01] [ 1.57864009e-02 -7.75219608e-04 9.99875086e-01 7.53096535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.939254154 meters Centerline goodness : 0.999481 Centerline is valid? [True, True] Translation: X:56.49, Y:0.65, Z:0.75 [[ 9.98802849e-01 -4.62937042e-02 -1.58038653e-02 5.64882179e+01] [ 4.62973971e-02 9.98927692e-01 -1.32305748e-04 6.51510552e-01] [ 1.57930436e-02 -5.99530467e-04 9.99875102e-01 7.52357589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.96925415399999 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:56.52, Y:0.65, Z:0.75 [[ 9.98831586e-01 -4.56694637e-02 -1.58038793e-02 5.65205842e+01] [ 4.56731055e-02 9.98956431e-01 -1.30604254e-04 6.50936626e-01] [ 1.57933515e-02 -5.91360593e-04 9.99875102e-01 7.53119645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.99925415399999 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:56.55, Y:0.65, Z:0.75 [[ 9.98863813e-01 -4.49591478e-02 -1.58037164e-02 5.65541349e+01] [ 4.49623873e-02 9.98988669e-01 -1.50449242e-04 6.50684937e-01] [ 1.57944976e-02 -5.60294511e-04 9.99875102e-01 7.53564943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.02925415399999 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:56.59, Y:0.65, Z:0.75 [[ 9.98868740e-01 -4.48494928e-02 -1.58039070e-02 5.65876759e+01] [ 4.48530945e-02 9.98993586e-01 -1.26657516e-04 6.50851518e-01] [ 1.57936823e-02 -5.82339902e-04 9.99875102e-01 7.54086705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.059254153999994 meters Centerline goodness : 0.999417 Centerline is valid? [True, True] Translation: X:56.62, Y:0.65, Z:0.75 [[ 9.98921378e-01 -4.36613758e-02 -1.58039207e-02 5.66209812e+01] [ 4.36648562e-02 9.99046228e-01 -1.24928299e-04 6.51296509e-01] [ 1.57943019e-02 -5.65282377e-04 9.99875102e-01 7.54143558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.089254153999995 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:56.65, Y:0.65, Z:0.75 [[ 9.98971435e-01 -4.25006750e-02 -1.58039342e-02 5.66530867e+01] [ 4.25040378e-02 9.99096287e-01 -1.23192565e-04 6.52026319e-01] [ 1.57948878e-02 -5.48665165e-04 9.99875102e-01 7.54223219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.119254154 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:56.69, Y:0.65, Z:0.75 [[ 9.99073386e-01 -4.00325517e-02 -1.58039453e-02 5.66853492e+01] [ 4.00356288e-02 9.99198245e-01 -1.21757117e-04 6.53026234e-01] [ 1.57961487e-02 -5.11076591e-04 9.99875102e-01 7.53753955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.14925415399999 meters Centerline goodness : 0.999524 Centerline is valid? [True, True] Translation: X:56.72, Y:0.65, Z:0.75 [[ 9.99108615e-01 -3.91434475e-02 -1.58039541e-02 5.67166032e+01] [ 3.91464317e-02 9.99233477e-01 -1.20606111e-04 6.53397757e-01] [ 1.57965609e-02 -4.98169803e-04 9.99875102e-01 7.53531337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.17925415399999 meters Centerline goodness : 0.999611 Centerline is valid? [True, True] Translation: X:56.75, Y:0.65, Z:0.75 [[ 9.99132199e-01 -3.85367831e-02 -1.58039685e-02 5.67488872e+01] [ 3.85397218e-02 9.99257062e-01 -1.18685165e-04 6.53687299e-01] [ 1.57968009e-02 -4.90498379e-04 9.99875102e-01 7.53470472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.20925415399999 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:56.78, Y:0.65, Z:0.75 [[ 9.99132688e-01 -3.85240928e-02 -1.58039770e-02 5.67811482e+01] [ 3.85270478e-02 9.99257551e-01 -1.17548264e-04 6.53927036e-01] [ 1.57967717e-02 -4.91434264e-04 9.99875102e-01 7.53195975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.239254153999994 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:56.81, Y:0.65, Z:0.75 [[ 9.99117138e-01 -3.89252907e-02 -1.58039855e-02 5.68126426e+01] [ 3.89283142e-02 9.99241999e-01 -1.16393422e-04 6.54121129e-01] [ 1.57965367e-02 -4.98931849e-04 9.99875102e-01 7.53449361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.269254153999995 meters Centerline goodness : 0.999372 Centerline is valid? [True, True] Translation: X:56.84, Y:0.65, Z:0.75 [[ 9.99094605e-01 -3.94994139e-02 -1.58039918e-02 5.68449897e+01] [ 3.95025227e-02 9.99219464e-01 -1.15533229e-04 6.54448565e-01] [ 1.57962197e-02 -5.08868917e-04 9.99875102e-01 7.53143574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.299254153999996 meters Centerline goodness : 0.999523 Centerline is valid? [True, True] Translation: X:56.88, Y:0.65, Z:0.75 [[ 9.99087141e-01 -3.96877646e-02 -1.58039999e-02 5.68762887e+01] [ 3.96909148e-02 9.99211999e-01 -1.14404082e-04 6.54937626e-01] [ 1.57960868e-02 -5.12975567e-04 9.99875102e-01 7.53739730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.32925415399999 meters Centerline goodness : 0.999480 Centerline is valid? [True, True] Translation: X:56.91, Y:0.66, Z:0.75 [[ 9.99081331e-01 -3.98337576e-02 -1.58040060e-02 5.69086662e+01] [ 3.98369393e-02 9.99206188e-01 -1.13561757e-04 6.55601918e-01] [ 1.57959842e-02 -5.16125796e-04 9.99875102e-01 7.54837479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.35925415399999 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:56.94, Y:0.66, Z:0.76 [[ 9.99096747e-01 -3.94451946e-02 -1.58040140e-02 5.69410177e+01] [ 3.94483455e-02 9.99221605e-01 -1.12434740e-04 6.57268472e-01] [ 1.57961472e-02 -5.11109022e-04 9.99875102e-01 7.56602833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.38925415399999 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:56.97, Y:0.66, Z:0.76 [[ 9.99101686e-01 -3.93198876e-02 -1.58040219e-02 5.69728607e+01] [ 3.93230406e-02 9.99226544e-01 -1.11316274e-04 6.58187680e-01] [ 1.57961751e-02 -5.10245917e-04 9.99875102e-01 7.57859723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.419254153999994 meters Centerline goodness : 0.999544 Centerline is valid? [True, True] Translation: X:57.00, Y:0.66, Z:0.76 [[ 9.99101113e-01 -3.93344409e-02 -1.58040299e-02 5.70049065e+01] [ 3.93376139e-02 9.99225970e-01 -1.10162051e-04 6.59024749e-01] [ 1.57961303e-02 -5.11629799e-04 9.99875102e-01 7.58623129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.449254153999995 meters Centerline goodness : 0.999523 Centerline is valid? [True, True] Translation: X:57.04, Y:0.66, Z:0.76 [[ 9.99075621e-01 -3.99766869e-02 -1.58040379e-02 5.70371942e+01] [ 3.99799585e-02 9.99200476e-01 -1.09000094e-04 6.60709191e-01] [ 1.57957597e-02 -5.22945444e-04 9.99875102e-01 7.59987223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.479254153999996 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:57.07, Y:0.66, Z:0.76 [[ 9.99043060e-01 -4.07822968e-02 -1.58040459e-02 5.70691292e+01] [ 4.07856875e-02 9.99167912e-01 -1.07836502e-04 6.61881238e-01] [ 1.57952933e-02 -5.36845567e-04 9.99875102e-01 7.60838756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.509254154 meters Centerline goodness : 0.999523 Centerline is valid? [True, True] Translation: X:57.10, Y:0.66, Z:0.76 [[ 9.98974004e-01 -4.24402001e-02 -1.58040537e-02 5.71020355e+01] [ 4.24438162e-02 9.99098850e-01 -1.06682645e-04 6.63597124e-01] [ 1.57943395e-02 -5.64211161e-04 9.99875102e-01 7.62401230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.53925415399999 meters Centerline goodness : 0.999544 Centerline is valid? [True, True] Translation: X:57.14, Y:0.66, Z:0.76 [[ 9.98957395e-01 -4.28293597e-02 -1.58040651e-02 5.71351059e+01] [ 4.28330518e-02 9.99082238e-01 -1.04956550e-04 6.64542110e-01] [ 1.57940560e-02 -5.72089218e-04 9.99875102e-01 7.63040347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.56925415399999 meters Centerline goodness : 0.999502 Centerline is valid? [True, True] Translation: X:57.17, Y:0.67, Z:0.76 [[ 9.99017963e-01 -4.13925294e-02 -1.58040764e-02 5.71672916e+01] [ 4.13960691e-02 9.99142810e-01 -1.03235969e-04 6.65838140e-01] [ 1.57948025e-02 -5.51092050e-04 9.99875102e-01 7.62548140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.59925415399999 meters Centerline goodness : 0.999480 Centerline is valid? [True, True] Translation: X:57.20, Y:0.67, Z:0.76 [[ 9.99093794e-01 -3.95198874e-02 -1.58040855e-02 5.71981485e+01] [ 3.95232156e-02 9.99218647e-01 -1.01813553e-04 6.66298105e-01] [ 1.57957606e-02 -5.22906990e-04 9.99875102e-01 7.62229850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.629254153999995 meters Centerline goodness : 0.999480 Centerline is valid? [True, True] Translation: X:57.23, Y:0.67, Z:0.76 [[ 9.99122496e-01 -3.87874686e-02 -1.58040909e-02 5.72296484e+01] [ 3.87907186e-02 9.99247352e-01 -1.00970523e-04 6.66370884e-01] [ 1.57961124e-02 -5.12170122e-04 9.99875102e-01 7.62425276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.659254153999996 meters Centerline goodness : 0.999521 Centerline is valid? [True, True] Translation: X:57.26, Y:0.67, Z:0.76 [[ 9.99150546e-01 -3.80580783e-02 -1.58040962e-02 5.72615491e+01] [ 3.80612502e-02 9.99275403e-01 -1.00137330e-04 6.66308339e-01] [ 1.57964556e-02 -5.01471392e-04 9.99875102e-01 7.62959984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.689254154 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:57.29, Y:0.67, Z:0.76 [[ 9.99133166e-01 -3.85116456e-02 -1.58041035e-02 5.72929829e+01] [ 3.85148925e-02 9.99258021e-01 -9.89766269e-05 6.65537797e-01] [ 1.57961889e-02 -5.09802516e-04 9.99875102e-01 7.62285174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.71925415399999 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:57.33, Y:0.66, Z:0.76 [[ 9.99072300e-01 -4.00595645e-02 -1.58041088e-02 5.73252023e+01] [ 4.00630186e-02 9.99197150e-01 -9.81100551e-05 6.64795333e-01] [ 1.57953508e-02 -5.35141268e-04 9.99875102e-01 7.61937947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.74925415399999 meters Centerline goodness : 0.999566 Centerline is valid? [True, True] Translation: X:57.36, Y:0.66, Z:0.76 [[ 9.99019152e-01 -4.13637922e-02 -1.58041159e-02 5.73577222e+01] [ 4.13674274e-02 9.99143997e-01 -9.69622301e-05 6.64163376e-01] [ 1.57945982e-02 -5.56908492e-04 9.99875102e-01 7.62238069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.77925415399999 meters Centerline goodness : 0.999566 Centerline is valid? [True, True] Translation: X:57.39, Y:0.66, Z:0.76 [[ 9.99023609e-01 -4.12560201e-02 -1.58041245e-02 5.73912637e+01] [ 4.12596644e-02 9.99148453e-01 -9.55313421e-05 6.64273357e-01] [ 1.57946078e-02 -5.56634809e-04 9.99875102e-01 7.62767721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.809254153999994 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:57.42, Y:0.66, Z:0.76 [[ 9.99007146e-01 -4.16527495e-02 -1.58041347e-02 5.74239210e+01] [ 4.16564704e-02 9.99131988e-01 -9.38265734e-05 6.63936784e-01] [ 1.57943246e-02 -5.64611050e-04 9.99875102e-01 7.63663656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.839254153999995 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:57.46, Y:0.66, Z:0.76 [[ 9.99041437e-01 -4.08220025e-02 -1.58041446e-02 5.74560426e+01] [ 4.08256465e-02 9.99166282e-01 -9.21234287e-05 6.63635103e-01] [ 1.57947290e-02 -5.53179297e-04 9.99875102e-01 7.63863046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.869254154 meters Centerline goodness : 0.999567 Centerline is valid? [True, True] Translation: X:57.49, Y:0.66, Z:0.76 [[ 9.99061704e-01 -4.03229426e-02 -1.58041511e-02 5.74884717e+01] [ 4.03265422e-02 9.99186550e-01 -9.09835065e-05 6.63494050e-01] [ 1.57949640e-02 -5.46428631e-04 9.99875102e-01 7.63678361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.89925415399999 meters Centerline goodness : 0.999567 Centerline is valid? [True, True] Translation: X:57.52, Y:0.66, Z:0.76 [[ 9.99064594e-01 -4.02512904e-02 -1.58041576e-02 5.75211642e+01] [ 4.02548989e-02 9.99189439e-01 -8.98487525e-05 6.63617897e-01] [ 1.57949639e-02 -5.46430060e-04 9.99875102e-01 7.64194704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.92925415399999 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:57.55, Y:0.66, Z:0.76 [[ 9.99097116e-01 -3.94357877e-02 -1.58041640e-02 5.75521951e+01] [ 3.94393123e-02 9.99221964e-01 -8.87154291e-05 6.63492928e-01] [ 1.57953663e-02 -5.34670028e-04 9.99875102e-01 7.63757342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.95925415399999 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:57.58, Y:0.66, Z:0.76 [[ 9.99125065e-01 -3.87212086e-02 -1.58041741e-02 5.75848109e+01] [ 3.87246730e-02 9.99249915e-01 -8.68688414e-05 6.63558315e-01] [ 1.57956833e-02 -5.25218638e-04 9.99875102e-01 7.64161947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.989254153999994 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:57.62, Y:0.66, Z:0.76 [[ 9.99151146e-01 -3.80422797e-02 -1.58041802e-02 5.76158471e+01] [ 3.80456771e-02 9.99275997e-01 -8.57448741e-05 6.63816968e-01] [ 1.57959999e-02 -5.15608647e-04 9.99875102e-01 7.63928678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.019254153999995 meters Centerline goodness : 0.999500 Centerline is valid? [True, True] Translation: X:57.65, Y:0.66, Z:0.76 [[ 9.99192323e-01 -3.69449534e-02 -1.58041847e-02 5.76482934e+01] [ 3.69482269e-02 9.99317178e-01 -8.49082167e-05 6.63954963e-01] [ 1.57965302e-02 -4.99096965e-04 9.99875102e-01 7.64183382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.049254153999996 meters Centerline goodness : 0.999543 Centerline is valid? [True, True] Translation: X:57.68, Y:0.66, Z:0.76 [[ 9.99248461e-01 -3.53940661e-02 -1.58041906e-02 5.76800360e+01] [ 3.53971634e-02 9.99373321e-01 -8.37963297e-05 6.64883513e-01] [ 1.57972523e-02 -4.75690163e-04 9.99875102e-01 7.64315147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.07925415399999 meters Centerline goodness : 0.999522 Centerline is valid? [True, True] Translation: X:57.71, Y:0.67, Z:0.76 [[ 9.99284498e-01 -3.43616075e-02 -1.58041966e-02 5.77120874e+01] [ 3.43645939e-02 9.99409360e-01 -8.26504499e-05 6.65568414e-01] [ 1.57977020e-02 -4.60513484e-04 9.99875102e-01 7.64528307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.10925415399999 meters Centerline goodness : 0.999521 Centerline is valid? [True, True] Translation: X:57.74, Y:0.67, Z:0.76 [[ 9.99366731e-01 -3.18804727e-02 -1.58042025e-02 5.77443745e+01] [ 3.18831673e-02 9.99491599e-01 -8.14988068e-05 6.67049718e-01] [ 1.57987659e-02 -4.22440836e-04 9.99875102e-01 7.64177978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.13925415399999 meters Centerline goodness : 0.999586 Centerline is valid? [True, True] Translation: X:57.78, Y:0.67, Z:0.76 [[ 9.99410254e-01 -3.04855962e-02 -1.58042084e-02 5.77756442e+01] [ 3.04881347e-02 9.99535126e-01 -8.03400908e-05 6.67729912e-01] [ 1.57993107e-02 -4.01548125e-04 9.99875102e-01 7.63901828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.169254153999994 meters Centerline goodness : 0.999477 Centerline is valid? [True, True] Translation: X:57.81, Y:0.67, Z:0.76 [[ 9.99450901e-01 -2.91225584e-02 -1.58042128e-02 5.78081582e+01] [ 2.91249403e-02 9.99575776e-01 -7.94767603e-05 6.68639477e-01] [ 1.57998228e-02 -3.80863633e-04 9.99875102e-01 7.64408587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.199254153999995 meters Centerline goodness : 0.999542 Centerline is valid? [True, True] Translation: X:57.84, Y:0.67, Z:0.77 [[ 9.99516580e-01 -2.67737529e-02 -1.58042184e-02 5.78400841e+01] [ 2.67758594e-02 9.99641459e-01 -7.83351359e-05 6.70286600e-01] [ 1.58006493e-02 -3.44874264e-04 9.99875102e-01 7.65691859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.229254153999996 meters Centerline goodness : 0.999694 Centerline is valid? [True, True] Translation: X:57.87, Y:0.67, Z:0.77 [[ 9.99541001e-01 -2.58459511e-02 -1.58042240e-02 5.78712860e+01] [ 2.58479596e-02 9.99665883e-01 -7.72003772e-05 6.70990020e-01] [ 1.58009388e-02 -3.31342001e-04 9.99875102e-01 7.67305669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.25925415399999 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:57.90, Y:0.67, Z:0.77 [[ 9.99541061e-01 -2.58436254e-02 -1.58042267e-02 5.79030625e+01] [ 2.58456426e-02 9.99665943e-01 -7.66322746e-05 6.70975440e-01] [ 1.58009277e-02 -3.31873291e-04 9.99875102e-01 7.67794673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.28925415399999 meters Centerline goodness : 0.999716 Centerline is valid? [True, True] Translation: X:57.93, Y:0.67, Z:0.77 [[ 9.99535220e-01 -2.60685762e-02 -1.58042294e-02 5.79344516e+01] [ 2.60706304e-02 9.99660100e-01 -7.60675130e-05 6.70685407e-01] [ 1.58008406e-02 -3.35994066e-04 9.99875102e-01 7.68971701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.31925415399999 meters Centerline goodness : 0.999520 Centerline is valid? [True, True] Translation: X:57.97, Y:0.67, Z:0.77 [[ 9.99505490e-01 -2.71845959e-02 -1.58042322e-02 5.79658777e+01] [ 2.71867987e-02 9.99630368e-01 -7.54947501e-05 6.70318996e-01] [ 1.58004427e-02 -3.54209061e-04 9.99875102e-01 7.69468147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.34925415399999 meters Centerline goodness : 0.999563 Centerline is valid? [True, True] Translation: X:58.00, Y:0.67, Z:0.77 [[ 9.99486205e-01 -2.78846156e-02 -1.58042408e-02 5.79977132e+01] [ 2.78869350e-02 9.99611081e-01 -7.36497138e-05 6.70297895e-01] [ 1.58001479e-02 -3.67119962e-04 9.99875102e-01 7.69931406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.379254153999995 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:58.03, Y:0.67, Z:0.77 [[ 9.99427729e-01 -2.99072063e-02 -1.58042433e-02 5.80298318e+01] [ 2.99097870e-02 9.99552600e-01 -7.30961086e-05 6.69856701e-01] [ 1.57993586e-02 -3.99647275e-04 9.99875102e-01 7.70973736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.409254153999996 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:58.06, Y:0.67, Z:0.77 [[ 9.99371455e-01 -3.17320227e-02 -1.58042485e-02 5.80621971e+01] [ 3.17348493e-02 9.99496320e-01 -7.19690751e-05 6.69699322e-01] [ 1.57985719e-02 -4.29621604e-04 9.99875102e-01 7.71343930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.439254154 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:58.09, Y:0.67, Z:0.77 [[ 9.99202951e-01 -3.66563642e-02 -1.58042536e-02 5.80939686e+01] [ 3.66598241e-02 9.99327800e-01 -7.08227038e-05 6.67760266e-01] [ 1.57962261e-02 -5.08614903e-04 9.99875102e-01 7.71529856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.46925415399999 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:58.12, Y:0.67, Z:0.77 [[ 9.99098452e-01 -3.94018857e-02 -1.58042587e-02 5.81249843e+01] [ 3.94057069e-02 9.99223291e-01 -6.96742531e-05 6.66105899e-01] [ 1.57947287e-02 -5.53166547e-04 9.99875102e-01 7.71815200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.49925415399999 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:58.16, Y:0.66, Z:0.77 [[ 9.98997005e-01 -4.18952136e-02 -1.58042624e-02 5.81570438e+01] [ 4.18993599e-02 9.99121834e-01 -6.88176073e-05 6.64390672e-01] [ 1.57932668e-02 -5.93439894e-04 9.99875102e-01 7.72403602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.52925415399999 meters Centerline goodness : 0.999544 Centerline is valid? [True, True] Translation: X:58.19, Y:0.66, Z:0.77 [[ 9.98845987e-01 -4.53532803e-02 -1.58042672e-02 5.81897012e+01] [ 4.53578765e-02 9.98970800e-01 -6.76915139e-05 6.61014162e-01] [ 1.57910715e-02 -6.49234604e-04 9.99875102e-01 7.72484261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.559254153999994 meters Centerline goodness : 0.999546 Centerline is valid? [True, True] Translation: X:58.22, Y:0.66, Z:0.77 [[ 9.98798692e-01 -4.63831566e-02 -1.58042746e-02 5.82219832e+01] [ 4.63879093e-02 9.98923499e-01 -6.59301548e-05 6.59458259e-01] [ 1.57903193e-02 -6.67276302e-04 9.99875102e-01 7.72900080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.589254153999995 meters Centerline goodness : 0.999396 Centerline is valid? [True, True] Translation: X:58.26, Y:0.66, Z:0.77 [[ 9.98723364e-01 -4.79777754e-02 -1.58042805e-02 5.82550259e+01] [ 4.79827504e-02 9.98848162e-01 -6.44676795e-05 6.56744966e-01] [ 1.57891696e-02 -6.93947471e-04 9.99875102e-01 7.72885315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.619254154 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:58.29, Y:0.66, Z:0.77 [[ 9.98690412e-01 -4.86588760e-02 -1.58042874e-02 5.82879907e+01] [ 4.86639637e-02 9.98815205e-01 -6.27245948e-05 6.55747972e-01] [ 1.57886147e-02 -7.06456819e-04 9.99875102e-01 7.73313744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.64925415399999 meters Centerline goodness : 0.999482 Centerline is valid? [True, True] Translation: X:58.32, Y:0.65, Z:0.77 [[ 9.98633225e-01 -4.98187321e-02 -1.58042942e-02 5.83208163e+01] [ 4.98239923e-02 9.98758012e-01 -6.09775596e-05 6.53314325e-01] [ 1.57877033e-02 -7.26538816e-04 9.99875102e-01 7.72792071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.67925415399999 meters Centerline goodness : 0.999591 Centerline is valid? [True, True] Translation: X:58.35, Y:0.65, Z:0.77 [[ 9.98613174e-01 -5.02190465e-02 -1.58043008e-02 5.83540035e+01] [ 5.02243846e-02 9.98737957e-01 -5.92106311e-05 6.51014437e-01] [ 1.57873286e-02 -7.34632766e-04 9.99875102e-01 7.72655306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.70925415399999 meters Centerline goodness : 0.999334 Centerline is valid? [True, True] Translation: X:58.39, Y:0.65, Z:0.77 [[ 9.98631818e-01 -4.98469210e-02 -1.58043072e-02 5.83872172e+01] [ 4.98522405e-02 9.98756602e-01 -5.74442560e-05 6.50062648e-01] [ 1.57875196e-02 -7.30514463e-04 9.99875102e-01 7.72793513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.739254153999994 meters Centerline goodness : 0.999505 Centerline is valid? [True, True] Translation: X:58.42, Y:0.65, Z:0.77 [[ 9.98685420e-01 -4.87612031e-02 -1.58043134e-02 5.84195602e+01] [ 4.87664147e-02 9.98810209e-01 -5.56878767e-05 6.48658781e-01] [ 1.57882250e-02 -7.15105032e-04 9.99875102e-01 7.71998240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.769254153999995 meters Centerline goodness : 0.999527 Centerline is valid? [True, True] Translation: X:58.45, Y:0.65, Z:0.77 [[ 9.98710961e-01 -4.82352473e-02 -1.58043175e-02 5.84511567e+01] [ 4.82404117e-02 9.98835752e-01 -5.45171754e-05 6.48438253e-01] [ 1.57885470e-02 -7.07959880e-04 9.99875102e-01 7.72013348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.799254153999996 meters Centerline goodness : 0.999376 Centerline is valid? [True, True] Translation: X:58.48, Y:0.65, Z:0.77 [[ 9.98747777e-01 -4.74668421e-02 -1.58043204e-02 5.84840325e+01] [ 4.74719242e-02 9.98872571e-01 -5.36460997e-05 6.48020956e-01] [ 1.57890486e-02 -6.96682577e-04 9.99875102e-01 7.72089860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.82925415399999 meters Centerline goodness : 0.999549 Centerline is valid? [True, True] Translation: X:58.52, Y:0.65, Z:0.77 [[ 9.98769129e-01 -4.70154176e-02 -1.58043262e-02 5.85159902e+01] [ 4.70204711e-02 9.98893925e-01 -5.18872305e-05 6.47485076e-01] [ 1.57892849e-02 -6.91303499e-04 9.99875102e-01 7.72166535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.85925415399999 meters Centerline goodness : 0.999441 Centerline is valid? [True, True] Translation: X:58.55, Y:0.65, Z:0.77 [[ 9.98782372e-01 -4.67332515e-02 -1.58043308e-02 5.85474581e+01] [ 4.67382928e-02 9.98907168e-01 -5.04286951e-05 6.46421930e-01] [ 1.57894161e-02 -6.88300150e-04 9.99875102e-01 7.71540933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.88925415399999 meters Centerline goodness : 0.999334 Centerline is valid? [True, True] Translation: X:58.58, Y:0.65, Z:0.77 [[ 9.98785915e-01 -4.66574637e-02 -1.58043335e-02 5.85788705e+01] [ 4.66625089e-02 9.98910711e-01 -4.95794373e-05 6.46105649e-01] [ 1.57894313e-02 -6.87950609e-04 9.99875102e-01 7.71194369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.919254153999994 meters Centerline goodness : 0.999442 Centerline is valid? [True, True] Translation: X:58.62, Y:0.64, Z:0.77 [[ 9.99082335e-01 -3.98084293e-02 -1.58043390e-02 5.86189056e+01] [ 3.98126476e-02 9.99207161e-01 -4.77559942e-05 6.37919429e-01] [ 1.57937098e-02 -5.81500410e-04 9.99875102e-01 7.66806022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.949254153999995 meters Centerline goodness : 0.999442 Centerline is valid? [True, True] Translation: X:58.65, Y:0.64, Z:0.77 [[ 9.99062376e-01 -4.03057101e-02 -1.58056723e-02 5.86504062e+01] [ 4.03177444e-02 9.99186811e-01 4.43353393e-04 6.38008641e-01] [ 1.57749497e-02 -1.08018675e-03 9.99874984e-01 7.67140601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.979254153999996 meters Centerline goodness : 0.999377 Centerline is valid? [True, True] Translation: X:58.67, Y:0.65, Z:0.77 [[ 9.98741946e-01 -4.75889490e-02 -1.58056290e-02 5.86688815e+01] [ 4.76016657e-02 9.98866306e-01 4.29115500e-04 6.46073626e-01] [ 1.57672891e-02 -1.18094992e-03 9.99874991e-01 7.71910756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.00925415399999 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:58.70, Y:0.65, Z:0.77 [[ 9.98737203e-01 -4.76890551e-02 -1.58036105e-02 5.87022847e+01] [ 4.76939905e-02 9.98861992e-01 -6.46637090e-05 6.46172591e-01] [ 1.57887097e-02 -6.89155200e-04 9.99875113e-01 7.71875658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.03925415399999 meters Centerline goodness : 0.999462 Centerline is valid? [True, True] Translation: X:58.73, Y:0.65, Z:0.77 [[ 9.98721534e-01 -4.80160727e-02 -1.58036174e-02 5.87340222e+01] [ 4.80210759e-02 9.98846321e-01 -6.29528634e-05 6.46387497e-01] [ 1.57884078e-02 -6.96034329e-04 9.99875113e-01 7.71992549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.06925415399999 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:58.77, Y:0.65, Z:0.77 [[ 9.98656516e-01 -4.93498651e-02 -1.58036218e-02 5.87650789e+01] [ 4.93550529e-02 9.98781295e-01 -6.18212512e-05 6.47008707e-01] [ 1.57874127e-02 -7.18250393e-04 9.99875113e-01 7.71298387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.09925415399999 meters Centerline goodness : 0.999397 Centerline is valid? [True, True] Translation: X:58.80, Y:0.65, Z:0.77 [[ 9.98620438e-01 -5.00746073e-02 -1.58036250e-02 5.87975919e+01] [ 5.00798990e-02 9.98745213e-01 -6.09782455e-05 6.47232504e-01] [ 1.57868483e-02 -7.30549823e-04 9.99875113e-01 7.71154951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.129254153999995 meters Centerline goodness : 0.999288 Centerline is valid? [True, True] Translation: X:58.83, Y:0.65, Z:0.77 [[ 9.98532721e-01 -5.17943180e-02 -1.58036293e-02 5.88293484e+01] [ 5.17998422e-02 9.98657485e-01 -5.98617792e-05 6.47564498e-01] [ 1.57855132e-02 -7.58851556e-04 9.99875113e-01 7.71323150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.159254153999996 meters Centerline goodness : 0.999462 Centerline is valid? [True, True] Translation: X:58.86, Y:0.65, Z:0.77 [[ 9.98517761e-01 -5.20819120e-02 -1.58036335e-02 5.88621914e+01] [ 5.20874899e-02 9.98642524e-01 -5.87343184e-05 6.47683397e-01] [ 1.57852394e-02 -7.64524338e-04 9.99875113e-01 7.72063903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.189254154 meters Centerline goodness : 0.999398 Centerline is valid? [True, True] Translation: X:58.89, Y:0.65, Z:0.77 [[ 9.98515942e-01 -5.21167729e-02 -1.58036396e-02 5.88947270e+01] [ 5.21223820e-02 9.98640703e-01 -5.70326533e-05 6.48079092e-01] [ 1.57851301e-02 -7.66775327e-04 9.99875113e-01 7.73121141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.21925415399999 meters Centerline goodness : 0.999547 Centerline is valid? [True, True] Translation: X:58.93, Y:0.65, Z:0.77 [[ 9.98560436e-01 -5.12572053e-02 -1.58036456e-02 5.89260587e+01] [ 5.12627342e-02 9.98685200e-01 -5.53145007e-05 6.49661580e-01] [ 1.57857022e-02 -7.54903213e-04 9.99875113e-01 7.74189467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.24925415399999 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:58.96, Y:0.65, Z:0.78 [[ 9.98617744e-01 -5.01282925e-02 -1.58036485e-02 5.89589164e+01] [ 5.01336938e-02 9.98742514e-01 -5.44634017e-05 6.50716039e-01] [ 1.57865058e-02 -7.37907157e-04 9.99875113e-01 7.76398603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.27925415399999 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:58.99, Y:0.65, Z:0.78 [[ 9.98723317e-01 -4.79789663e-02 -1.58036544e-02 5.89902735e+01] [ 4.79841269e-02 9.98848097e-01 -5.26965455e-05 6.52919595e-01] [ 1.57879785e-02 -7.05695291e-04 9.99875113e-01 7.77212460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.309254153999994 meters Centerline goodness : 0.999547 Centerline is valid? [True, True] Translation: X:59.02, Y:0.65, Z:0.78 [[ 9.98789409e-01 -4.65828394e-02 -1.58036573e-02 5.90222734e+01] [ 4.65878394e-02 9.98914196e-01 -5.18226781e-05 6.53559719e-01] [ 1.57889117e-02 -6.84498306e-04 9.99875113e-01 7.78154760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.339254153999995 meters Centerline goodness : 0.999439 Centerline is valid? [True, True] Translation: X:59.05, Y:0.65, Z:0.78 [[ 9.98834942e-01 -4.55960885e-02 -1.58036610e-02 5.90532781e+01] [ 4.56009835e-02 9.98959733e-01 -5.06646283e-05 6.54259774e-01] [ 1.57895311e-02 -6.70056884e-04 9.99875113e-01 7.78631023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.369254154 meters Centerline goodness : 0.999547 Centerline is valid? [True, True] Translation: X:59.08, Y:0.66, Z:0.78 [[ 9.98934861e-01 -4.33518945e-02 -1.58036637e-02 5.90846610e+01] [ 4.33565227e-02 9.99059663e-01 -4.98016953e-05 6.55825496e-01] [ 1.57909620e-02 -6.35443256e-04 9.99875113e-01 7.78825445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.39925415399999 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:59.12, Y:0.66, Z:0.78 [[ 9.98957725e-01 -4.28218215e-02 -1.58036692e-02 5.91169809e+01] [ 4.28264120e-02 9.99082527e-01 -4.79970698e-05 6.56856241e-01] [ 1.57912251e-02 -6.28867405e-04 9.99875113e-01 7.80392408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.42925415399999 meters Centerline goodness : 0.999438 Centerline is valid? [True, True] Translation: X:59.15, Y:0.66, Z:0.78 [[ 9.98967369e-01 -4.25962354e-02 -1.58036726e-02 5.91486990e+01] [ 4.26008157e-02 9.99092172e-01 -4.68565752e-05 6.57630243e-01] [ 1.57913215e-02 -6.26441155e-04 9.99875113e-01 7.81168310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.45925415399999 meters Centerline goodness : 0.999525 Centerline is valid? [True, True] Translation: X:59.18, Y:0.66, Z:0.78 [[ 9.98931488e-01 -4.34295500e-02 -1.58036767e-02 5.91811182e+01] [ 4.34342570e-02 9.99056286e-01 -4.54343655e-05 6.58330093e-01] [ 1.57907357e-02 -6.41035136e-04 9.99875113e-01 7.82009043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.489254153999994 meters Centerline goodness : 0.999396 Centerline is valid? [True, True] Translation: X:59.21, Y:0.66, Z:0.78 [[ 9.98905783e-01 -4.40168201e-02 -1.58036798e-02 5.92140600e+01] [ 4.40216182e-02 9.99030578e-01 -4.43093748e-05 6.58269442e-01] [ 1.57903098e-02 -6.51442669e-04 9.99875113e-01 7.82144911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.519254153999995 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:59.25, Y:0.66, Z:0.78 [[ 9.98825865e-01 -4.57944890e-02 -1.58036844e-02 5.92459989e+01] [ 4.57995357e-02 9.98950650e-01 -4.26277480e-05 6.58308204e-01] [ 1.57890529e-02 -6.81223709e-04 9.99875113e-01 7.81665683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.549254153999996 meters Centerline goodness : 0.999417 Centerline is valid? [True, True] Translation: X:59.28, Y:0.66, Z:0.78 [[ 9.98786600e-01 -4.66430228e-02 -1.58036874e-02 5.92771329e+01] [ 4.66481937e-02 9.98911380e-01 -4.14750307e-05 6.58155360e-01] [ 1.57884177e-02 -6.95788766e-04 9.99875113e-01 7.80921616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.57925415399999 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:59.31, Y:0.66, Z:0.78 [[ 9.98758492e-01 -4.72410664e-02 -1.58036921e-02 5.93096792e+01] [ 4.72463419e-02 9.98883267e-01 -3.95868955e-05 6.57760495e-01] [ 1.57879138e-02 -7.07128893e-04 9.99875113e-01 7.81032520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.60925415399999 meters Centerline goodness : 0.999546 Centerline is valid? [True, True] Translation: X:59.34, Y:0.66, Z:0.78 [[ 9.98697888e-01 -4.85053726e-02 -1.58036950e-02 5.93405082e+01] [ 4.85108246e-02 9.98822656e-01 -3.84118958e-05 6.57889464e-01] [ 1.57869518e-02 -7.28288396e-04 9.99875113e-01 7.79425906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.63925415399999 meters Centerline goodness : 0.999524 Centerline is valid? [True, True] Translation: X:59.37, Y:0.66, Z:0.78 [[ 9.98688809e-01 -4.86919415e-02 -1.58036971e-02 5.93722457e+01] [ 4.86974306e-02 9.98813576e-01 -3.75367941e-05 6.58220252e-01] [ 1.57867749e-02 -7.32111865e-04 9.99875113e-01 7.79617269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.669254153999994 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:59.40, Y:0.66, Z:0.78 [[ 9.98676018e-01 -4.89535860e-02 -1.58036997e-02 5.94041077e+01] [ 4.89591255e-02 9.98800782e-01 -3.64102706e-05 6.58403190e-01] [ 1.57865300e-02 -7.37373251e-04 9.99875113e-01 7.80780883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.699254153999995 meters Centerline goodness : 0.999545 Centerline is valid? [True, True] Translation: X:59.44, Y:0.66, Z:0.78 [[ 9.98697102e-01 -4.85215518e-02 -1.58037022e-02 5.94352577e+01] [ 4.85270552e-02 9.98821868e-01 -3.52831546e-05 6.58437547e-01] [ 1.57867953e-02 -7.31669944e-04 9.99875113e-01 7.81663102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.729254153999996 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:59.47, Y:0.66, Z:0.78 [[ 9.98716544e-01 -4.81197302e-02 -1.58037040e-02 5.94669299e+01] [ 4.81251966e-02 9.98841311e-01 -3.44427771e-05 6.58724820e-01] [ 1.57870498e-02 -7.26157792e-04 9.99875113e-01 7.82717158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.75925415399999 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:59.50, Y:0.66, Z:0.79 [[ 9.98748929e-01 -4.74427949e-02 -1.58037082e-02 5.94995140e+01] [ 4.74482093e-02 9.98873699e-01 -3.23833115e-05 6.59167000e-01] [ 1.57874449e-02 -7.17514858e-04 9.99875113e-01 7.85071201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.78925415399999 meters Centerline goodness : 0.999524 Centerline is valid? [True, True] Translation: X:59.53, Y:0.66, Z:0.79 [[ 9.98797925e-01 -4.63998717e-02 -1.58037104e-02 5.95302247e+01] [ 4.64051734e-02 9.98922699e-01 -3.12724927e-05 6.59272443e-01] [ 1.57881361e-02 -7.02139021e-04 9.99875113e-01 7.86290244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.81925415399999 meters Centerline goodness : 0.999481 Centerline is valid? [True, True] Translation: X:59.56, Y:0.66, Z:0.79 [[ 9.98834226e-01 -4.56117499e-02 -1.58037120e-02 5.95626206e+01] [ 4.56169662e-02 9.98959004e-01 -3.04447861e-05 6.59138881e-01] [ 1.57886491e-02 -6.90508103e-04 9.99875113e-01 7.87315951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.84925415399999 meters Centerline goodness : 0.999393 Centerline is valid? [True, True] Translation: X:59.60, Y:0.66, Z:0.79 [[ 9.98854092e-01 -4.51746098e-02 -1.58037141e-02 5.95961226e+01] [ 4.51797896e-02 9.98978872e-01 -2.92990669e-05 6.59155849e-01] [ 1.57889001e-02 -6.84742987e-04 9.99875113e-01 7.87948804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.879254153999995 meters Centerline goodness : 0.999372 Centerline is valid? [True, True] Translation: X:59.63, Y:0.66, Z:0.79 [[ 9.98872122e-01 -4.47741790e-02 -1.58037172e-02 5.96278945e+01] [ 4.47793366e-02 9.98996902e-01 -2.75322037e-05 6.58927984e-01] [ 1.57890973e-02 -6.80178823e-04 9.99875113e-01 7.87588741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.909254153999996 meters Centerline goodness : 0.999546 Centerline is valid? [True, True] Translation: X:59.66, Y:0.66, Z:0.79 [[ 9.98854061e-01 -4.51752981e-02 -1.58037196e-02 5.96606525e+01] [ 4.51805290e-02 9.98978838e-01 -2.60697803e-05 6.58346824e-01] [ 1.57887592e-02 -6.87980507e-04 9.99875113e-01 7.88622347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.93925415399999 meters Centerline goodness : 0.999589 Centerline is valid? [True, True] Translation: X:59.69, Y:0.66, Z:0.79 [[ 9.98824217e-01 -4.58304017e-02 -1.58037223e-02 5.96926330e+01] [ 4.58357423e-02 9.98948990e-01 -2.43061922e-05 6.57612606e-01] [ 1.57882264e-02 -7.00097731e-04 9.99875113e-01 7.88652705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.96925415399999 meters Centerline goodness : 0.999483 Centerline is valid? [True, True] Translation: X:59.73, Y:0.66, Z:0.79 [[ 9.98795389e-01 -4.64544179e-02 -1.58037245e-02 5.97250453e+01] [ 4.64598595e-02 9.98920157e-01 -2.28443972e-05 6.56748412e-01] [ 1.57877202e-02 -7.11421939e-04 9.99875113e-01 7.86905657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.99925415399999 meters Centerline goodness : 0.999568 Centerline is valid? [True, True] Translation: X:59.76, Y:0.66, Z:0.79 [[ 9.98730656e-01 -4.78259149e-02 -1.58037264e-02 5.97571614e+01] [ 4.78315507e-02 9.98855416e-01 -2.13963027e-05 6.55362681e-01] [ 1.57866610e-02 -7.34547598e-04 9.99875113e-01 7.87747553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.02925415399999 meters Centerline goodness : 0.999676 Centerline is valid? [True, True] Translation: X:59.79, Y:0.65, Z:0.79 [[ 9.98710050e-01 -4.82543156e-02 -1.58037279e-02 5.97887630e+01] [ 4.82600227e-02 9.98834806e-01 -2.02688351e-05 6.54913791e-01] [ 1.57862915e-02 -7.42445576e-04 9.99875113e-01 7.87613871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.059254153999994 meters Centerline goodness : 0.999308 Centerline is valid? [True, True] Translation: X:59.82, Y:0.65, Z:0.79 [[ 9.98749928e-01 -4.74217520e-02 -1.58037289e-02 5.98213165e+01] [ 4.74273684e-02 9.98874689e-01 -1.94292449e-05 6.54426779e-01] [ 1.57868662e-02 -7.30124315e-04 9.99875113e-01 7.87421957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.089254153999995 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:59.85, Y:0.65, Z:0.79 [[ 9.98879840e-01 -4.46016523e-02 -1.58037302e-02 5.98538324e+01] [ 4.46069342e-02 9.99004615e-01 -1.82991703e-05 6.54161347e-01] [ 1.57888156e-02 -6.86677281e-04 9.99875113e-01 7.88693425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.119254154 meters Centerline goodness : 0.999612 Centerline is valid? [True, True] Translation: X:59.88, Y:0.65, Z:0.79 [[ 9.98969594e-01 -4.25440005e-02 -1.58037314e-02 5.98849228e+01] [ 4.25490431e-02 9.99094379e-01 -1.71741759e-05 6.54387068e-01] [ 1.57901499e-02 -6.55277170e-04 9.99875113e-01 7.90046610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.14925415399999 meters Centerline goodness : 0.999375 Centerline is valid? [True, True] Translation: X:59.92, Y:0.65, Z:0.79 [[ 9.99090877e-01 -3.95937119e-02 -1.58037323e-02 5.99166727e+01] [ 3.95983993e-02 9.99215676e-01 -1.63353727e-05 6.54510029e-01] [ 1.57919838e-02 -6.09481980e-04 9.99875113e-01 7.91478501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.17925415399999 meters Centerline goodness : 0.999546 Centerline is valid? [True, True] Translation: X:59.95, Y:0.65, Z:0.79 [[ 9.99211431e-01 -3.64246984e-02 -1.58037334e-02 5.99488391e+01] [ 3.64290074e-02 9.99336243e-01 -1.52229408e-05 6.54560175e-01] [ 1.57937980e-02 -5.60503384e-04 9.99875113e-01 7.92902169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.20925415399999 meters Centerline goodness : 0.999417 Centerline is valid? [True, True] Translation: X:59.98, Y:0.65, Z:0.79 [[ 9.99451581e-01 -2.90994817e-02 -1.58037344e-02 5.99798298e+01] [ 2.91028937e-02 9.99576421e-01 -1.40886945e-05 6.54497288e-01] [ 1.57974502e-02 -4.45853433e-04 9.99875113e-01 7.93949302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.239254153999994 meters Centerline goodness : 0.999523 Centerline is valid? [True, True] Translation: X:60.01, Y:0.65, Z:0.79 [[ 9.99559454e-01 -2.51224919e-02 -1.58037358e-02 6.00105837e+01] [ 2.51254351e-02 9.99684306e-01 -1.23234870e-05 6.54898050e-01] [ 1.57990562e-02 -3.84757679e-04 9.99875113e-01 7.94547860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.269254153999995 meters Centerline goodness : 0.999524 Centerline is valid? [True, True] Translation: X:60.04, Y:0.66, Z:0.79 [[ 9.99727795e-01 -1.71632921e-02 -1.58037364e-02 6.00397924e+01] [ 1.71652543e-02 9.99852666e-01 -1.14872899e-05 6.55574115e-01] [ 1.58016051e-02 -2.59790991e-04 9.99875113e-01 7.94565370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.299254153999996 meters Centerline goodness : 0.999328 Centerline is valid? [True, True] Translation: X:60.07, Y:0.66, Z:0.79 [[ 9.99782407e-01 -1.36154583e-02 -1.58037364e-02 6.00672941e+01] [ 1.36169784e-02 9.99907285e-01 -1.14194680e-05 6.55836103e-01] [ 1.58024266e-02 -2.03782154e-04 9.99875113e-01 7.94443095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.32925415399999 meters Centerline goodness : 0.999349 Centerline is valid? [True, True] Translation: X:60.10, Y:0.66, Z:0.79 [[ 9.99820533e-01 -1.04472280e-02 -1.58037354e-02 6.00952948e+01] [ 1.04483316e-02 9.99945415e-01 -1.27370630e-05 6.55791869e-01] [ 1.58030058e-02 -1.52387890e-04 9.99875113e-01 7.94311989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.35925415399999 meters Centerline goodness : 0.999393 Centerline is valid? [True, True] Translation: X:60.12, Y:0.65, Z:0.80 [[ 9.99859517e-01 -5.58456903e-03 -1.58037308e-02 6.01232710e+01] [ 5.58499861e-03 9.99984404e-01 -1.69530970e-05 6.54586777e-01] [ 1.58035790e-02 -7.13130992e-05 9.99875113e-01 7.95132591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.38925415399999 meters Centerline goodness : 0.999327 Centerline is valid? [True, True] Translation: X:60.15, Y:0.65, Z:0.79 [[ 9.99868369e-01 -3.67257691e-03 -1.58037245e-02 6.01498635e+01] [ 3.67269458e-03 9.99993255e-01 -2.15777176e-05 6.54084707e-01] [ 1.58036972e-02 -3.64673760e-05 9.99875113e-01 7.94796681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.419254153999994 meters Centerline goodness : 0.999544 Centerline is valid? [True, True] Translation: X:60.18, Y:0.65, Z:0.79 [[ 9.99874805e-01 -7.84993371e-04 -1.58037215e-02 6.01790235e+01] [ 7.84718724e-04 9.99999692e-01 -2.35797422e-05 6.53469846e-01] [ 1.58037352e-02 1.11753139e-05 9.99875113e-01 7.94514876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.449254153999995 meters Centerline goodness : 0.999391 Centerline is valid? [True, True] Translation: X:60.21, Y:0.65, Z:0.79 [[ 9.99875087e-01 2.28238440e-04 -1.58037145e-02 6.02068253e+01] [-2.28702985e-04 9.99999973e-01 -2.75873801e-05 6.53517864e-01] [ 1.58037078e-02 3.11982908e-05 9.99875113e-01 7.93278890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.479254153999996 meters Centerline goodness : 0.999521 Centerline is valid? [True, True] Translation: X:60.24, Y:0.65, Z:0.79 [[ 9.99874535e-01 1.07540129e-03 -1.58037119e-02 6.02350687e+01] [-1.07599405e-03 9.99999421e-01 -2.90043780e-05 6.53584621e-01] [ 1.58036716e-02 4.60054389e-05 9.99875113e-01 7.94568216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.50925415399999 meters Centerline goodness : 0.999546 Centerline is valid? [True, True] Translation: X:60.26, Y:0.65, Z:0.79 [[ 9.99872204e-01 2.41201017e-03 -1.58037021e-02 6.02624648e+01] [-2.41284299e-03 9.99997089e-01 -3.36307173e-05 6.53532380e-01] [ 1.58035750e-02 7.17582713e-05 9.99875113e-01 7.94156692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.53925415399999 meters Centerline goodness : 0.999587 Centerline is valid? [True, True] Translation: X:60.29, Y:0.65, Z:0.80 [[ 9.99871760e-01 2.58969764e-03 -1.58036976e-02 6.02910497e+01] [-2.59058431e-03 9.99996644e-01 -3.56337984e-05 6.53362908e-01] [ 1.58035523e-02 7.65700398e-05 9.99875113e-01 7.95407586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.56925415399999 meters Centerline goodness : 0.999392 Centerline is valid? [True, True] Translation: X:60.32, Y:0.65, Z:0.80 [[ 9.99872396e-01 2.33137658e-03 -1.58036949e-02 6.03185029e+01] [-2.33224901e-03 9.99997280e-01 -3.67740377e-05 6.52808669e-01] [ 1.58035662e-02 7.36274970e-05 9.99875113e-01 7.95222091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.59925415399999 meters Centerline goodness : 0.999372 Centerline is valid? [True, True] Translation: X:60.35, Y:0.65, Z:0.80 [[ 9.99875014e-01 4.46113770e-04 -1.58036915e-02 6.03470401e+01] [-4.46773064e-04 9.99999899e-01 -3.81871621e-05 6.51559056e-01] [ 1.58036729e-02 4.52430529e-05 9.99875113e-01 7.97583391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.629254153999995 meters Centerline goodness : 0.999351 Centerline is valid? [True, True] Translation: X:60.38, Y:0.65, Z:0.80 [[ 9.99868408e-01 -3.66197451e-03 -1.58036887e-02 6.03753836e+01] [ 3.66181067e-03 9.99993295e-01 -3.93037342e-05 6.50697876e-01] [ 1.58037267e-02 -1.85715539e-05 9.99875113e-01 8.00867178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.659254153999996 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:60.40, Y:0.65, Z:0.80 [[ 9.99853797e-01 -6.52902046e-03 -1.58036858e-02 6.04036237e+01] [ 6.52919678e-03 9.99978684e-01 -4.04397599e-05 6.49828701e-01] [ 1.58036130e-02 -6.27515270e-05 9.99875113e-01 8.02555065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.68925415399999 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:60.43, Y:0.65, Z:0.80 [[ 9.99826937e-01 -9.81525698e-03 -1.58036821e-02 6.04328379e+01] [ 9.81582148e-03 9.99951823e-01 -4.18496260e-05 6.48651315e-01] [ 1.58033315e-02 -1.13283739e-04 9.99875113e-01 8.04240429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.71925415399999 meters Centerline goodness : 0.999335 Centerline is valid? [True, True] Translation: X:60.46, Y:0.65, Z:0.81 [[ 9.99719880e-01 -1.76183023e-02 -1.58036789e-02 6.04608060e+01] [ 1.76198231e-02 9.99844758e-01 -4.30155688e-05 6.45069154e-01] [ 1.58019834e-02 -2.35454507e-04 9.99875113e-01 8.05827621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.74925415399999 meters Centerline goodness : 0.999422 Centerline is valid? [True, True] Translation: X:60.49, Y:0.64, Z:0.81 [[ 9.99634224e-01 -2.19468002e-02 -1.58036748e-02 6.04887772e+01] [ 2.19488388e-02 9.99759094e-01 -4.44621408e-05 6.43222411e-01] [ 1.58008434e-02 -3.02426433e-04 9.99875113e-01 8.06388366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.77925415399999 meters Centerline goodness : 0.999147 Centerline is valid? [True, True] Translation: X:60.52, Y:0.64, Z:0.81 [[ 9.99424328e-01 -3.00209346e-02 -1.58036707e-02 6.05182397e+01] [ 3.00239592e-02 9.99549178e-01 -4.58948358e-05 6.39155714e-01] [ 1.57979239e-02 -4.28620348e-04 9.99875113e-01 8.06997509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.809254153999994 meters Centerline goodness : 0.999190 Centerline is valid? [True, True] Translation: X:60.55, Y:0.64, Z:0.81 [[ 9.99312729e-01 -3.35307996e-02 -1.58036690e-02 6.05497637e+01] [ 3.35342535e-02 9.99437568e-01 -4.64737034e-05 6.37165766e-01] [ 1.57963388e-02 -4.83522478e-04 9.99875113e-01 8.07280379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.839254153999995 meters Centerline goodness : 0.999190 Centerline is valid? [True, True] Translation: X:60.58, Y:0.64, Z:0.81 [[ 9.99315155e-01 -3.34584173e-02 -1.58036715e-02 6.05824541e+01] [ 3.34618758e-02 9.99439994e-01 -4.56079941e-05 6.37199271e-01] [ 1.57963473e-02 -4.83243733e-04 9.99875113e-01 8.07796788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.869254154 meters Centerline goodness : 0.999340 Centerline is valid? [True, True] Translation: X:60.61, Y:0.64, Z:0.81 [[ 9.99204551e-01 -3.66129707e-02 -1.58036747e-02 6.06149485e+01] [ 3.66168414e-02 9.99329378e-01 -4.44633763e-05 6.35221468e-01] [ 1.57947043e-02 -5.34252641e-04 9.99875113e-01 8.07855865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.89925415399999 meters Centerline goodness : 0.999277 Centerline is valid? [True, True] Translation: X:60.65, Y:0.63, Z:0.81 [[ 9.99095014e-01 -3.94891932e-02 -1.58036778e-02 6.06462637e+01] [ 3.94934413e-02 9.99219829e-01 -4.33170469e-05 6.33525907e-01] [ 1.57930588e-02 -5.80863778e-04 9.99875113e-01 8.07785979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.92925415399999 meters Centerline goodness : 0.999235 Centerline is valid? [True, True] Translation: X:60.68, Y:0.63, Z:0.81 [[ 9.98952322e-01 -4.29476733e-02 -1.58036801e-02 6.06774653e+01] [ 4.29523670e-02 9.99077120e-01 -4.24627907e-05 6.30127093e-01] [ 1.57909189e-02 -6.36387165e-04 9.99875113e-01 8.06875232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.95925415399999 meters Centerline goodness : 0.999406 Centerline is valid? [True, True] Translation: X:60.71, Y:0.63, Z:0.81 [[ 9.98915935e-01 -4.37858189e-02 -1.58036824e-02 6.07099014e+01] [ 4.37906307e-02 9.99040729e-01 -4.16158854e-05 6.28571191e-01] [ 1.57903445e-02 -6.50482447e-04 9.99875113e-01 8.07041977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.989254153999994 meters Centerline goodness : 0.999192 Centerline is valid? [True, True] Translation: X:60.74, Y:0.63, Z:0.81 [[ 9.98934145e-01 -4.33683921e-02 -1.58036853e-02 6.07412827e+01] [ 4.33731696e-02 9.99058940e-01 -4.04774405e-05 6.26685795e-01] [ 1.57905685e-02 -6.45021625e-04 9.99875113e-01 8.06525814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.019254153999995 meters Centerline goodness : 0.999149 Centerline is valid? [True, True] Translation: X:60.77, Y:0.63, Z:0.81 [[ 9.99001474e-01 -4.17887253e-02 -1.58036874e-02 6.07722465e+01] [ 4.17933189e-02 9.99126277e-01 -3.96286673e-05 6.26429883e-01] [ 1.57915354e-02 -6.20899451e-04 9.99875113e-01 8.06528538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.049254153999996 meters Centerline goodness : 0.999044 Centerline is valid? [True, True] Translation: X:60.80, Y:0.63, Z:0.81 [[ 9.99211436e-01 -3.64245777e-02 -1.58036894e-02 6.08041820e+01] [ 3.64285143e-02 9.99336261e-01 -3.87995173e-05 6.26577559e-01] [ 1.57946132e-02 -5.36936005e-04 9.99875113e-01 8.06976029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.07925415399999 meters Centerline goodness : 0.999022 Centerline is valid? [True, True] Translation: X:60.84, Y:0.63, Z:0.81 [[ 9.99336167e-01 -3.28248166e-02 -1.58036921e-02 6.08356923e+01] [ 3.28283213e-02 9.99461005e-01 -3.76765211e-05 6.26950601e-01] [ 1.57964107e-02 -4.81157173e-04 9.99875113e-01 8.07239837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.10925415399999 meters Centerline goodness : 0.999063 Centerline is valid? [True, True] Translation: X:60.87, Y:0.63, Z:0.81 [[ 9.99461124e-01 -2.87698460e-02 -1.58036963e-02 6.08665533e+01] [ 2.87728729e-02 9.99585975e-01 -3.58567252e-05 6.27566501e-01] [ 1.57981847e-02 -4.18880341e-04 9.99875113e-01 8.08330247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.13925415399999 meters Centerline goodness : 0.998848 Centerline is valid? [True, True] Translation: X:60.90, Y:0.63, Z:0.81 [[ 9.99660432e-01 -2.07186872e-02 -1.58036975e-02 6.08968317e+01] [ 2.07207172e-02 9.99785302e-01 -3.52981383e-05 6.29059002e-01] [ 1.58010358e-02 -2.92177794e-04 9.99875113e-01 8.09618189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.169254153999994 meters Centerline goodness : 0.998957 Centerline is valid? [True, True] Translation: X:60.93, Y:0.63, Z:0.81 [[ 9.99731168e-01 -1.69657151e-02 -1.58036981e-02 6.09262626e+01] [ 1.69672807e-02 9.99856045e-01 -3.50209016e-05 6.29688456e-01] [ 1.58020172e-02 -2.33134295e-04 9.99875113e-01 8.10513564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.199254153999995 meters Centerline goodness : 0.999168 Centerline is valid? [True, True] Translation: X:60.95, Y:0.63, Z:0.81 [[ 9.99775357e-01 -1.41237041e-02 -1.58036969e-02 6.09546244e+01] [ 1.41249060e-02 9.99900238e-01 -3.55715063e-05 6.30284866e-01] [ 1.58026227e-02 -1.87662217e-04 9.99875113e-01 8.11022165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.229254153999996 meters Centerline goodness : 0.998977 Centerline is valid? [True, True] Translation: X:60.98, Y:0.63, Z:0.81 [[ 9.99820224e-01 -1.04768316e-02 -1.58036858e-02 6.09821876e+01] [ 1.04775086e-02 9.99945109e-01 -3.99619039e-05 6.30801834e-01] [ 1.58032370e-02 -1.25628534e-04 9.99875113e-01 8.12391336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.25925415399999 meters Centerline goodness : 0.999127 Centerline is valid? [True, True] Translation: X:61.01, Y:0.63, Z:0.81 [[ 9.99825375e-01 -9.97311971e-03 -1.58036731e-02 6.10089154e+01] [ 9.97366263e-03 9.99950261e-01 -4.44624327e-05 6.30875667e-01] [ 1.58033305e-02 -1.13165836e-04 9.99875113e-01 8.12798415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.28925415399999 meters Centerline goodness : 0.998890 Centerline is valid? [True, True] Translation: X:61.04, Y:0.63, Z:0.81 [[ 9.99808281e-01 -1.15605002e-02 -1.58036674e-02 6.10362191e+01] [ 1.15612107e-02 9.99933166e-01 -4.64089690e-05 6.29679458e-01] [ 1.58031477e-02 -1.36309457e-04 9.99875113e-01 8.12909652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.31925415399999 meters Centerline goodness : 0.999192 Centerline is valid? [True, True] Translation: X:61.06, Y:0.63, Z:0.81 [[ 9.99781325e-01 -1.36947546e-02 -1.58036615e-02 6.10641898e+01] [ 1.36957013e-02 9.99906208e-01 -4.83228558e-05 6.28968487e-01] [ 1.58028411e-02 -1.68129940e-04 9.99875113e-01 8.13710504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.34925415399999 meters Centerline goodness : 0.998956 Centerline is valid? [True, True] Translation: X:61.09, Y:0.63, Z:0.81 [[ 9.99685999e-01 -1.94460173e-02 -1.58036466e-02 6.10924094e+01] [ 1.94476120e-02 9.99810876e-01 -5.27842514e-05 6.26943923e-01] [ 1.58016842e-02 -2.54575511e-04 9.99875113e-01 8.13158815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.379254153999995 meters Centerline goodness : 0.999002 Centerline is valid? [True, True] Translation: X:61.12, Y:0.63, Z:0.81 [[ 9.99606939e-01 -2.31562558e-02 -1.58036419e-02 6.11210084e+01] [ 2.31582922e-02 9.99731809e-01 -5.41640243e-05 6.25764284e-01] [ 1.58006578e-02 -3.11842622e-04 9.99875113e-01 8.14213890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.409254153999996 meters Centerline goodness : 0.999087 Centerline is valid? [True, True] Translation: X:61.15, Y:0.62, Z:0.81 [[ 9.99416825e-01 -3.02697070e-02 -1.58036272e-02 6.11510468e+01] [ 3.02725686e-02 9.99541679e-01 -5.81725588e-05 6.23407483e-01] [ 1.57981449e-02 -4.20277753e-04 9.99875113e-01 8.14752236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.43925415399999 meters Centerline goodness : 0.999050 Centerline is valid? [True, True] Translation: X:61.18, Y:0.62, Z:0.82 [[ 9.99190885e-01 -3.69840631e-02 -1.58036250e-02 6.11817719e+01] [ 3.69877546e-02 9.99315717e-01 -5.87421669e-05 6.21536961e-01] [ 1.57949834e-02 -5.25845967e-04 9.99875113e-01 8.15728972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.46925415399999 meters Centerline goodness : 0.999114 Centerline is valid? [True, True] Translation: X:61.21, Y:0.62, Z:0.82 [[ 9.99088841e-01 -3.96450961e-02 -1.58036282e-02 6.12140724e+01] [ 3.96491335e-02 9.99213662e-01 -5.78883688e-05 6.20664698e-01] [ 1.57934962e-02 -5.68764539e-04 9.99875113e-01 8.16663095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.49925415399999 meters Centerline goodness : 0.999048 Centerline is valid? [True, True] Translation: X:61.25, Y:0.62, Z:0.82 [[ 9.98995438e-01 -4.19328089e-02 -1.58036322e-02 6.12461983e+01] [ 4.19371499e-02 9.99120249e-01 -5.67598424e-05 6.20110148e-01] [ 1.57921091e-02 -6.06056470e-04 9.99875113e-01 8.17736085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.52925415399999 meters Centerline goodness : 0.998879 Centerline is valid? [True, True] Translation: X:61.28, Y:0.62, Z:0.82 [[ 9.98932751e-01 -4.34005054e-02 -1.58036363e-02 6.12780554e+01] [ 4.34050481e-02 9.99057555e-01 -5.55996726e-05 6.19792377e-01] [ 1.57911553e-02 -6.30417260e-04 9.99875113e-01 8.18769053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.559254153999994 meters Centerline goodness : 0.998941 Centerline is valid? [True, True] Translation: X:61.31, Y:0.62, Z:0.82 [[ 9.98897495e-01 -4.42045292e-02 -1.58036403e-02 6.13098122e+01] [ 4.42091907e-02 9.99022294e-01 -5.44372435e-05 6.19798797e-01] [ 1.57905954e-02 -6.44288922e-04 9.99875113e-01 8.19937895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.589254153999995 meters Centerline goodness : 0.998944 Centerline is valid? [True, True] Translation: X:61.34, Y:0.62, Z:0.82 [[ 9.98908200e-01 -4.39619431e-02 -1.58036442e-02 6.13413096e+01] [ 4.39665926e-02 9.99033000e-01 -5.32845294e-05 6.20172557e-01] [ 1.57907046e-02 -6.41606032e-04 9.99875113e-01 8.21161823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.61925415399999 meters Centerline goodness : 0.999239 Centerline is valid? [True, True] Translation: X:61.37, Y:0.62, Z:0.82 [[ 9.98964198e-01 -4.26705404e-02 -1.58036471e-02 6.13739804e+01] [ 4.26750421e-02 9.99089004e-01 -5.24235277e-05 6.20508296e-01] [ 1.57914869e-02 -6.22052076e-04 9.99875113e-01 8.22206982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.64925415399999 meters Centerline goodness : 0.999109 Centerline is valid? [True, True] Translation: X:61.41, Y:0.62, Z:0.82 [[ 9.99102206e-01 -3.93068216e-02 -1.58036507e-02 6.14051796e+01] [ 3.93109209e-02 9.99227026e-01 -5.12964154e-05 6.21258819e-01] [ 1.57934512e-02 -5.70005701e-04 9.99875113e-01 8.22931971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.67925415399999 meters Centerline goodness : 0.999005 Centerline is valid? [True, True] Translation: X:61.44, Y:0.62, Z:0.82 [[ 9.99188938e-01 -3.70366205e-02 -1.58036534e-02 6.14376237e+01] [ 3.70404494e-02 9.99313766e-01 -5.04571770e-05 6.21716598e-01] [ 1.57946771e-02 -5.34958171e-04 9.99875113e-01 8.24077171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.70925415399999 meters Centerline goodness : 0.998960 Centerline is valid? [True, True] Translation: X:61.47, Y:0.62, Z:0.82 [[ 9.99377492e-01 -3.15415999e-02 -1.58036571e-02 6.14692649e+01] [ 3.15447611e-02 9.99502339e-01 -4.92749508e-05 6.22806240e-01] [ 1.57973464e-02 -4.49278310e-04 9.99875113e-01 8.24409815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.739254153999994 meters Centerline goodness : 0.998919 Centerline is valid? [True, True] Translation: X:61.50, Y:0.62, Z:0.83 [[ 9.99459549e-01 -2.88245268e-02 -1.58036598e-02 6.15009882e+01] [ 2.88273624e-02 9.99584404e-01 -4.83956514e-05 6.23649475e-01] [ 1.57984868e-02 -4.07208331e-04 9.99875113e-01 8.25100177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.769254153999995 meters Centerline goodness : 0.999066 Centerline is valid? [True, True] Translation: X:61.53, Y:0.62, Z:0.83 [[ 9.99532419e-01 -2.61761065e-02 -1.58036615e-02 6.15322864e+01] [ 2.61786202e-02 9.99657280e-01 -4.78301382e-05 6.24540636e-01] [ 1.57994973e-02 -3.65910278e-04 9.99875113e-01 8.25513441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.799254153999996 meters Centerline goodness : 0.999127 Centerline is valid? [True, True] Translation: X:61.56, Y:0.63, Z:0.83 [[ 9.99638560e-01 -2.17484028e-02 -1.58036632e-02 6.15631236e+01] [ 2.17503723e-02 9.99763432e-01 -4.72659861e-05 6.25939224e-01] [ 1.58009525e-02 -2.96486654e-04 9.99875113e-01 8.25577746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.82925415399999 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:61.59, Y:0.63, Z:0.82 [[ 9.99722629e-01 -1.74616716e-02 -1.58036632e-02 6.15925642e+01] [ 1.74631057e-02 9.99847507e-01 -4.72659861e-05 6.27023328e-01] [ 1.58020786e-02 -2.28728164e-04 9.99875113e-01 8.23981443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.85925415399999 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:61.62, Y:0.63, Z:0.82 [[ 9.99718138e-01 -1.77169325e-02 -1.58036614e-02 6.16217970e+01] [ 1.77183893e-02 9.99843016e-01 -4.78421268e-05 6.27151358e-01] [ 1.58020281e-02 -2.32186783e-04 9.99875113e-01 8.24443674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.88925415399999 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:61.65, Y:0.63, Z:0.82 [[ 9.99713581e-01 -1.79722468e-02 -1.58036482e-02 6.16510297e+01] [ 1.79736717e-02 9.99838459e-01 -5.18776676e-05 6.27288567e-01] [ 1.58020276e-02 -2.32186775e-04 9.99875113e-01 8.24907000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.919254153999994 meters Centerline goodness : 0.999234 Centerline is valid? [True, True] Translation: X:61.68, Y:0.63, Z:0.82 [[ 9.99725443e-01 -1.72997927e-02 -1.58036339e-02 6.16798106e+01] [ 1.73010699e-02 9.99850324e-01 -5.59132047e-05 6.28338027e-01] [ 1.58022358e-02 -2.17521921e-04 9.99875113e-01 8.24352142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.949254153999995 meters Centerline goodness : 0.999086 Centerline is valid? [True, True] Translation: X:61.71, Y:0.63, Z:0.82 [[ 9.99722253e-01 -1.74832233e-02 -1.58036186e-02 6.17084865e+01] [ 1.74844595e-02 9.99847133e-01 -5.99506015e-05 6.28706130e-01] [ 1.58022509e-02 -2.16383778e-04 9.99875113e-01 8.24289327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.979254153999996 meters Centerline goodness : 0.999126 Centerline is valid? [True, True] Translation: X:61.74, Y:0.63, Z:0.82 [[ 9.99696285e-01 -1.89098793e-02 -1.58036023e-02 6.17370572e+01] [ 1.89112300e-02 9.99821165e-01 -6.39814445e-05 6.29407819e-01] [ 1.58019859e-02 -2.34903545e-04 9.99875113e-01 8.24363059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.00925415399999 meters Centerline goodness : 0.999488 Centerline is valid? [True, True] Translation: X:61.76, Y:0.63, Z:0.82 [[ 9.99667727e-01 -2.03637543e-02 -1.58035849e-02 6.17648528e+01] [ 2.03652231e-02 9.99792605e-01 -6.80057548e-05 6.30040706e-01] [ 1.58016922e-02 -2.53860375e-04 9.99875113e-01 8.24617691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.03925415399999 meters Centerline goodness : 0.999297 Centerline is valid? [True, True] Translation: X:61.79, Y:0.63, Z:0.82 [[ 9.99626920e-01 -2.22770480e-02 -1.58035787e-02 6.17931167e+01] [ 2.22787333e-02 9.99751796e-01 -6.94304025e-05 6.30529088e-01] [ 1.58012029e-02 -2.82679215e-04 9.99875113e-01 8.24717182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.06925415399999 meters Centerline goodness : 0.999105 Centerline is valid? [True, True] Translation: X:61.82, Y:0.63, Z:0.83 [[ 9.99511377e-01 -2.69676660e-02 -1.58035604e-02 6.18227701e+01] [ 2.69698749e-02 9.99636244e-01 -7.33743234e-05 6.31365169e-01] [ 1.57997905e-02 -3.52881575e-04 9.99875113e-01 8.25295569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.09925415399999 meters Centerline goodness : 0.999426 Centerline is valid? [True, True] Translation: X:61.85, Y:0.63, Z:0.83 [[ 9.99429126e-01 -2.98608442e-02 -1.58035577e-02 6.18533221e+01] [ 2.98634055e-02 9.99553986e-01 -7.39408096e-05 6.31933187e-01] [ 1.57987171e-02 -3.98049455e-04 9.99875113e-01 8.25485201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.129254153999995 meters Centerline goodness : 0.999213 Centerline is valid? [True, True] Translation: X:61.88, Y:0.63, Z:0.83 [[ 9.99217111e-01 -3.62686085e-02 -1.58035590e-02 6.18849847e+01] [ 3.62719749e-02 9.99341953e-01 -7.36594276e-05 6.32394618e-01] [ 1.57958311e-02 -4.99624537e-04 9.99875113e-01 8.27902344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.159254153999996 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:61.92, Y:0.63, Z:0.83 [[ 9.99079127e-01 -3.98891523e-02 -1.58035617e-02 6.19158353e+01] [ 3.98929803e-02 9.99203956e-01 -7.30745448e-05 6.32793876e-01] [ 1.57938963e-02 -5.57443924e-04 9.99875113e-01 8.27865754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.18925415399999 meters Centerline goodness : 0.999299 Centerline is valid? [True, True] Translation: X:61.95, Y:0.63, Z:0.83 [[ 9.98939326e-01 -4.32489383e-02 -1.58035657e-02 6.19476097e+01] [ 4.32531998e-02 9.99064140e-01 -7.22003056e-05 6.33192392e-01] [ 1.57918984e-02 -6.11431062e-04 9.99875113e-01 8.29787910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.21925415399999 meters Centerline goodness : 0.999215 Centerline is valid? [True, True] Translation: X:61.98, Y:0.63, Z:0.83 [[ 9.98781120e-01 -4.67602465e-02 -1.58035710e-02 6.19790248e+01] [ 4.67649652e-02 9.98905918e-01 -7.10335980e-05 6.33593755e-01] [ 1.57896021e-02 -6.68106430e-04 9.99875113e-01 8.30372908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.24925415399999 meters Centerline goodness : 0.999215 Centerline is valid? [True, True] Translation: X:62.01, Y:0.63, Z:0.83 [[ 9.98459549e-01 -5.31862381e-02 -1.58035748e-02 6.20108511e+01] [ 5.31917736e-02 9.98584313e-01 -7.01634107e-05 6.34082829e-01] [ 1.57849337e-02 -7.70564847e-04 9.99875113e-01 8.30890851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.27925415399999 meters Centerline goodness : 0.999279 Centerline is valid? [True, True] Translation: X:62.04, Y:0.63, Z:0.83 [[ 9.98312988e-01 -5.58697054e-02 -1.58035811e-02 6.20440561e+01] [ 5.58755988e-02 9.98437736e-01 -6.87279967e-05 6.34563454e-01] [ 1.57827315e-02 -8.14422505e-04 9.99875113e-01 8.31478359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.309254153999994 meters Centerline goodness : 0.999321 Centerline is valid? [True, True] Translation: X:62.08, Y:0.63, Z:0.83 [[ 9.98185871e-01 -5.80965853e-02 -1.58035883e-02 6.20768946e+01] [ 5.81027840e-02 9.98310604e-01 -6.70162349e-05 6.34775296e-01] [ 1.57807832e-02 -8.51337821e-04 9.99875113e-01 8.31959040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.339254153999995 meters Centerline goodness : 0.999256 Centerline is valid? [True, True] Translation: X:62.11, Y:0.64, Z:0.83 [[ 9.97963471e-01 -6.17993345e-02 -1.58035954e-02 6.21101631e+01] [ 6.18060226e-02 9.98088178e-01 -6.53185187e-05 6.35681683e-01] [ 1.57774183e-02 -9.11571877e-04 9.99875113e-01 8.33018371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.36925415399999 meters Centerline goodness : 0.999258 Centerline is valid? [True, True] Translation: X:62.14, Y:0.64, Z:0.83 [[ 9.97901376e-01 -6.27940205e-02 -1.58036022e-02 6.21421739e+01] [ 6.28008598e-02 9.98026076e-01 -6.36215102e-05 6.36089711e-01] [ 1.57764021e-02 -9.28991813e-04 9.99875113e-01 8.33624196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.39925415399999 meters Centerline goodness : 0.999235 Centerline is valid? [True, True] Translation: X:62.18, Y:0.64, Z:0.83 [[ 9.97852436e-01 -6.35669825e-02 -1.58036077e-02 6.21756429e+01] [ 6.35739406e-02 9.97977129e-01 -6.22147782e-05 6.36627703e-01] [ 1.57755939e-02 -9.42616451e-04 9.99875113e-01 8.34791619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.42925415399999 meters Centerline goodness : 0.999406 Centerline is valid? [True, True] Translation: X:62.21, Y:0.64, Z:0.83 [[ 9.97850796e-01 -6.35927304e-02 -1.58036145e-02 6.22072127e+01] [ 6.35997194e-02 9.97975487e-01 -6.04544660e-05 6.38443588e-01] [ 1.57754643e-02 -9.44780909e-04 9.99875113e-01 8.34774198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.45925415399999 meters Centerline goodness : 0.999320 Centerline is valid? [True, True] Translation: X:62.24, Y:0.64, Z:0.83 [[ 9.97906206e-01 -6.27172266e-02 -1.58036199e-02 6.22390390e+01] [ 6.27241292e-02 9.98030901e-01 -5.89980495e-05 6.39765133e-01] [ 1.57762012e-02 -9.32393777e-04 9.99875113e-01 8.34882971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.489254153999994 meters Centerline goodness : 0.999297 Centerline is valid? [True, True] Translation: X:62.27, Y:0.64, Z:0.83 [[ 9.98004866e-01 -6.11271790e-02 -1.58036241e-02 6.22714740e+01] [ 6.11339009e-02 9.98129572e-01 -5.78616524e-05 6.41243798e-01] [ 1.57776014e-02 -9.08390977e-04 9.99875113e-01 8.34833224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.519254153999995 meters Centerline goodness : 0.999381 Centerline is valid? [True, True] Translation: X:62.30, Y:0.64, Z:0.83 [[ 9.98320109e-01 -5.57423050e-02 -1.58036281e-02 6.23026216e+01] [ 5.57483719e-02 9.98444849e-01 -5.67320585e-05 6.44478552e-01] [ 1.57822135e-02 -8.24389783e-04 9.99875113e-01 8.33886470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.549254153999996 meters Centerline goodness : 0.999231 Centerline is valid? [True, True] Translation: X:62.33, Y:0.65, Z:0.83 [[ 9.98720601e-01 -4.80354657e-02 -1.58036311e-02 6.23348670e+01] [ 4.80405830e-02 9.98845383e-01 -5.58887016e-05 6.49350010e-01] [ 1.57880686e-02 -7.03398454e-04 9.99875113e-01 8.34059947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.57925415399999 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:62.37, Y:0.65, Z:0.84 [[ 9.98918479e-01 -4.37277544e-02 -1.58036350e-02 6.23665758e+01] [ 4.37323514e-02 9.99043282e-01 -5.47513447e-05 6.52379854e-01] [ 1.57909096e-02 -6.36437991e-04 9.99875113e-01 8.35058032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.60925415399999 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:62.40, Y:0.66, Z:0.84 [[ 9.99112091e-01 -3.90547713e-02 -1.58036389e-02 6.23988697e+01] [ 3.90588026e-02 9.99236912e-01 -5.36051440e-05 6.55456693e-01] [ 1.57936729e-02 -5.63713666e-04 9.99875113e-01 8.35881291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.63925415399999 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:62.43, Y:0.66, Z:0.84 [[ 9.99430147e-01 -2.98265924e-02 -1.58036428e-02 6.24302703e+01] [ 2.98294891e-02 9.99555000e-01 -5.24482178e-05 6.61734679e-01] [ 1.57981745e-02 -4.18996260e-04 9.99875113e-01 8.36280018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.669254153999994 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:62.46, Y:0.66, Z:0.84 [[ 9.99561297e-01 -2.50491035e-02 -1.58036484e-02 6.24613062e+01] [ 2.50514312e-02 9.99686162e-01 -5.06896594e-05 6.64919149e-01] [ 1.57999584e-02 -3.45236589e-04 9.99875113e-01 8.38701604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.699254153999995 meters Centerline goodness : 0.999329 Centerline is valid? [True, True] Translation: X:62.49, Y:0.67, Z:0.84 [[ 9.99667592e-01 -2.03703010e-02 -1.58036503e-02 6.24914972e+01] [ 2.03720535e-02 9.99792467e-01 -5.01074355e-05 6.67766096e-01] [ 1.58013912e-02 -2.71862029e-04 9.99875113e-01 8.39485212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.729254153999996 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:62.52, Y:0.67, Z:0.84 [[ 9.99815172e-01 -1.09483598e-02 -1.58036512e-02 6.25209537e+01] [ 1.09489399e-02 9.99940057e-01 -4.98191141e-05 6.73241354e-01] [ 1.58032493e-02 -1.23223320e-04 9.99875113e-01 8.40703732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.75925415399999 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:62.55, Y:0.67, Z:0.84 [[ 9.99811939e-01 -1.12396853e-02 -1.58036493e-02 6.25493273e+01] [ 1.12402927e-02 9.99936825e-01 -5.03945125e-05 6.73400109e-01] [ 1.58032173e-02 -1.27252609e-04 9.99875113e-01 8.41152410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.78925415399999 meters Centerline goodness : 0.999324 Centerline is valid? [True, True] Translation: X:62.58, Y:0.68, Z:0.84 [[ 9.99851016e-01 -6.94201578e-03 -1.58036333e-02 6.25764806e+01] [ 6.94201355e-03 9.99975902e-01 -5.49998040e-05 6.76263949e-01] [ 1.58036343e-02 -5.47174266e-05 9.99875113e-01 8.40985929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.81925415399999 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:62.60, Y:0.68, Z:0.84 [[ 9.99875115e-01 3.16911219e-06 -1.58036261e-02 6.26043212e+01] [-4.07033861e-06 9.99999998e-01 -5.69943951e-05 6.81154650e-01] [ 1.58036259e-02 5.70516035e-05 9.99875113e-01 8.42603280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.84925415399999 meters Centerline goodness : 0.999385 Centerline is valid? [True, True] Translation: X:62.63, Y:0.68, Z:0.84 [[ 9.99873335e-01 1.88656237e-03 -1.58036079e-02 6.26315585e+01] [-1.88777262e-03 9.99998216e-01 -6.16634484e-05 6.83622681e-01] [ 1.58034634e-02 9.14892562e-05 9.99875113e-01 8.42972251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.879254153999995 meters Centerline goodness : 0.999605 Centerline is valid? [True, True] Translation: X:62.66, Y:0.69, Z:0.84 [[ 9.99869313e-01 3.40648667e-03 -1.58035997e-02 6.26582027e+01] [-3.40791873e-03 9.99994191e-01 -6.36861011e-05 6.85120010e-01] [ 1.58032910e-02 1.17535162e-04 9.99875113e-01 8.43098585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.909254153999996 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] Translation: X:62.69, Y:0.68, Z:0.84 [[ 9.99872524e-01 2.27625844e-03 -1.58035915e-02 6.26864084e+01] [-2.27758073e-03 9.99997404e-01 -6.56724801e-05 6.84882434e-01] [ 1.58034010e-02 1.01658064e-04 9.99875113e-01 8.44203990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.93925415399999 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:62.71, Y:0.68, Z:0.84 [[ 9.99874891e-01 6.69406936e-04 -1.58035841e-02 6.27136537e+01] [-6.70555933e-04 9.99999773e-01 -6.74060512e-05 6.84391970e-01] [ 1.58035354e-02 7.79948052e-05 9.99875113e-01 8.42978047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.96925415399999 meters Centerline goodness : 0.999516 Centerline is valid? [True, True] Translation: X:62.74, Y:0.68, Z:0.84 [[ 9.99873231e-01 -1.94161120e-03 -1.58035753e-02 6.27423959e+01] [ 1.94075662e-03 9.99998114e-01 -6.94116856e-05 6.84122652e-01] [ 1.58036803e-02 3.87319930e-05 9.99875113e-01 8.43283231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.99925415399999 meters Centerline goodness : 0.999495 Centerline is valid? [True, True] Translation: X:62.77, Y:0.68, Z:0.84 [[ 9.99862650e-01 -4.99284875e-03 -1.58035702e-02 6.27697182e+01] [ 4.99235731e-03 9.99987536e-01 -7.05477030e-05 6.84074624e-01] [ 1.58037255e-02 -8.35905597e-06 9.99875113e-01 8.42945456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.02925415399999 meters Centerline goodness : 0.999539 Centerline is valid? [True, True] Translation: X:62.80, Y:0.68, Z:0.84 [[ 9.99808117e-01 -1.15748384e-02 -1.58035579e-02 6.27987810e+01] [ 1.15751271e-02 9.99933003e-01 -7.32016316e-05 6.83141606e-01] [ 1.58033464e-02 -1.09740606e-04 9.99875113e-01 8.44676738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.059254153999994 meters Centerline goodness : 0.999387 Centerline is valid? [True, True] Translation: X:62.83, Y:0.68, Z:0.85 [[ 9.99758260e-01 -1.52862145e-02 -1.58035525e-02 6.28276992e+01] [ 1.52869488e-02 9.99883145e-01 -7.43445240e-05 6.82717758e-01] [ 1.58028423e-02 -1.67261546e-04 9.99875113e-01 8.45911367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.089254153999995 meters Centerline goodness : 0.999389 Centerline is valid? [True, True] Translation: X:62.86, Y:0.68, Z:0.85 [[ 9.99694511e-01 -1.90035088e-02 -1.58035470e-02 6.28566975e+01] [ 1.90046890e-02 9.99819392e-01 -7.55094436e-05 6.81545980e-01] [ 1.58021277e-02 -2.24855119e-04 9.99875113e-01 8.46480058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.11925415399999 meters Centerline goodness : 0.999544 Centerline is valid? [True, True] Translation: X:62.89, Y:0.68, Z:0.85 [[ 9.99533967e-01 -2.61169822e-02 -1.58035266e-02 6.28852527e+01] [ 2.61189870e-02 9.99658838e-01 -7.95628319e-05 6.77905406e-01] [ 1.58002129e-02 -3.33246351e-04 9.99875113e-01 8.47309303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.14925415399999 meters Centerline goodness : 0.999544 Centerline is valid? [True, True] Translation: X:62.92, Y:0.68, Z:0.85 [[ 9.99433844e-01 -2.97025120e-02 -1.58035222e-02 6.29164662e+01] [ 2.97049511e-02 9.99558707e-01 -8.04247106e-05 6.76086287e-01] [ 1.57989370e-02 -3.89063676e-04 9.99875113e-01 8.47880014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.17925415399999 meters Centerline goodness : 0.999350 Centerline is valid? [True, True] Translation: X:62.95, Y:0.67, Z:0.85 [[ 9.99215923e-01 -3.63013498e-02 -1.58035251e-02 6.29480025e+01] [ 3.63046224e-02 9.99340767e-01 -7.98522179e-05 6.73275521e-01] [ 1.57960056e-02 -4.93951402e-04 9.99875113e-01 8.48555850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.20925415399999 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:62.98, Y:0.67, Z:0.85 [[ 9.99113181e-01 -3.90269106e-02 -1.58035294e-02 6.29801445e+01] [ 3.90305373e-02 9.99238015e-01 -7.89959739e-05 6.72264713e-01] [ 1.57945703e-02 -5.37894323e-04 9.99875113e-01 8.49676022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.239254153999994 meters Centerline goodness : 0.999371 Centerline is valid? [True, True] Translation: X:63.01, Y:0.67, Z:0.85 [[ 9.99001774e-01 -4.17816253e-02 -1.58035349e-02 6.30127898e+01] [ 4.17856141e-02 9.99126597e-01 -7.78637702e-05 6.71615866e-01] [ 1.57929853e-02 -5.82574367e-04 9.99875113e-01 8.50350012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.269254153999995 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:63.04, Y:0.67, Z:0.85 [[ 9.98817522e-01 -4.59761408e-02 -1.58035404e-02 6.30449036e+01] [ 4.59806714e-02 9.98942327e-01 -7.67372580e-05 6.69689589e-01] [ 1.57903535e-02 -6.50010881e-04 9.99875113e-01 8.51177894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.299254153999996 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:63.08, Y:0.67, Z:0.85 [[ 9.98743044e-01 -4.75665876e-02 -1.58035458e-02 6.30773154e+01] [ 4.75713347e-02 9.98867840e-01 -7.56147398e-05 6.68354616e-01] [ 1.57892504e-02 -6.76276070e-04 9.99875113e-01 8.51640047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.32925415399999 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] Translation: X:63.11, Y:0.67, Z:0.85 [[ 9.98683727e-01 -4.87961110e-02 -1.58035523e-02 6.31101278e+01] [ 4.88010338e-02 9.98808517e-01 -7.42148828e-05 6.66796892e-01] [ 1.57883441e-02 -6.97112497e-04 9.99875113e-01 8.51887405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.35925415399999 meters Centerline goodness : 0.999292 Centerline is valid? [True, True] Translation: X:63.14, Y:0.66, Z:0.85 [[ 9.98628682e-01 -4.99099463e-02 -1.58035601e-02 6.31429787e+01] [ 4.99150349e-02 9.98753465e-01 -7.25339644e-05 6.63603404e-01] [ 1.57874805e-02 -7.16400755e-04 9.99875113e-01 8.51996249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.38925415399999 meters Centerline goodness : 0.999335 Centerline is valid? [True, True] Translation: X:63.18, Y:0.66, Z:0.85 [[ 9.98627611e-01 -4.99313636e-02 -1.58035676e-02 6.31764912e+01] [ 4.99364813e-02 9.98752393e-01 -7.08605353e-05 6.62542061e-01] [ 1.57873891e-02 -7.18411269e-04 9.99875113e-01 8.52437009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.419254153999994 meters Centerline goodness : 0.999356 Centerline is valid? [True, True] Translation: X:63.21, Y:0.66, Z:0.85 [[ 9.98660597e-01 -4.92672248e-02 -1.58035749e-02 6.32091027e+01] [ 4.92722858e-02 9.98785381e-01 -6.91953989e-05 6.61650029e-01] [ 1.57877886e-02 -7.09575538e-04 9.99875113e-01 8.53114726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.449254153999995 meters Centerline goodness : 0.999421 Centerline is valid? [True, True] Translation: X:63.24, Y:0.66, Z:0.85 [[ 9.98800640e-01 -4.63414227e-02 -1.58035821e-02 6.32410500e+01] [ 4.63461450e-02 9.98925438e-01 -6.74906899e-05 6.61291783e-01] [ 1.57897278e-02 -6.65025366e-04 9.99875113e-01 8.53793167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.479254153999996 meters Centerline goodness : 0.999376 Centerline is valid? [True, True] Translation: X:63.27, Y:0.66, Z:0.85 [[ 9.98904592e-01 -4.40438704e-02 -1.58035880e-02 6.32732797e+01] [ 4.40483279e-02 9.99029399e-01 -6.60837943e-05 6.61407934e-01] [ 1.57911596e-02 -6.30110221e-04 9.99875113e-01 8.54142465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.50925415399999 meters Centerline goodness : 0.999398 Centerline is valid? [True, True] Translation: X:63.31, Y:0.66, Z:0.85 [[ 9.99139838e-01 -3.83383620e-02 -1.58035927e-02 6.33051913e+01] [ 3.83421246e-02 9.99264668e-01 -6.49490809e-05 6.61802108e-01] [ 1.57944618e-02 -5.41050105e-04 9.99875113e-01 8.53323573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.53925415399999 meters Centerline goodness : 0.999419 Centerline is valid? [True, True] Translation: X:63.34, Y:0.66, Z:0.85 [[ 9.99256064e-01 -3.51790438e-02 -1.58035973e-02 6.33373282e+01] [ 3.51824296e-02 9.99380905e-01 -6.38112468e-05 6.61965101e-01] [ 1.57960582e-02 -4.92245174e-04 9.99875113e-01 8.53442569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.56925415399999 meters Centerline goodness : 0.999418 Centerline is valid? [True, True] Translation: X:63.37, Y:0.66, Z:0.85 [[ 9.99463271e-01 -2.86952223e-02 -1.58036019e-02 6.33687043e+01] [ 2.86978167e-02 9.99588131e-01 -6.26329079e-05 6.62639946e-01] [ 1.57988902e-02 -3.90929581e-04 9.99875113e-01 8.51783629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.59925415399999 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:63.40, Y:0.66, Z:0.85 [[ 9.99630250e-01 -2.21271340e-02 -1.58036054e-02 6.34001225e+01] [ 2.21289219e-02 9.99755124e-01 -6.17540940e-05 6.64157865e-01] [ 1.58011019e-02 -2.87985488e-04 9.99875113e-01 8.51314791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.629254153999995 meters Centerline goodness : 0.999524 Centerline is valid? [True, True] Translation: X:63.43, Y:0.67, Z:0.85 [[ 9.99750746e-01 -1.57699650e-02 -1.58036076e-02 6.34292530e+01] [ 1.57709677e-02 9.99875629e-01 -6.11829350e-05 6.65462697e-01] [ 1.58026069e-02 -1.88070501e-04 9.99875113e-01 8.51331126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.659254153999996 meters Centerline goodness : 0.999309 Centerline is valid? [True, True] Translation: X:63.46, Y:0.67, Z:0.85 [[ 9.99787885e-01 -1.32072230e-02 -1.58036065e-02 6.34583418e+01] [ 1.32079012e-02 9.99912770e-01 -6.14659077e-05 6.66217921e-01] [ 1.58030397e-02 -1.47279603e-04 9.99875113e-01 8.52841434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.68925415399999 meters Centerline goodness : 0.999372 Centerline is valid? [True, True] Translation: X:63.49, Y:0.67, Z:0.85 [[ 9.99842089e-01 -8.12675124e-03 -1.58035898e-02 6.34864787e+01] [ 8.12673126e-03 9.99966975e-01 -6.54846354e-05 6.66989401e-01] [ 1.58036001e-02 -6.29572330e-05 9.99875113e-01 8.53974293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.71925415399999 meters Centerline goodness : 0.999308 Centerline is valid? [True, True] Translation: X:63.52, Y:0.67, Z:0.86 [[ 9.99869619e-01 -3.31559237e-03 -1.58035695e-02 6.35156379e+01] [ 3.31489893e-03 9.99994503e-01 -7.00736289e-05 6.66970370e-01] [ 1.58037150e-02 1.76772570e-05 9.99875113e-01 8.56351369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.74925415399999 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:63.54, Y:0.67, Z:0.86 [[ 9.99871577e-01 -2.66040038e-03 -1.58035505e-02 6.35431570e+01] [ 2.65956105e-03 9.99996461e-01 -7.41270233e-05 6.66894697e-01] [ 1.58036918e-02 3.20869964e-05 9.99875113e-01 8.57451727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.77925415399999 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:63.57, Y:0.67, Z:0.86 [[ 9.99870753e-01 -2.95410826e-03 -1.58035274e-02 6.35715324e+01] [ 2.95323235e-03 9.99995636e-01 -7.87621642e-05 6.67102192e-01] [ 1.58036911e-02 3.20804961e-05 9.99875113e-01 8.57901852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.809254153999994 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:63.60, Y:0.67, Z:0.86 [[ 9.99869842e-01 -3.24781599e-03 -1.58035029e-02 6.35999078e+01] [ 3.24690340e-03 9.99994725e-01 -8.34037976e-05 6.67318024e-01] [ 1.58036904e-02 3.20804947e-05 9.99875113e-01 8.58351979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.839254153999995 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:63.63, Y:0.67, Z:0.86 [[ 9.99868845e-01 -3.54152344e-03 -1.58034770e-02 6.36282831e+01] [ 3.54057417e-03 9.99993728e-01 -8.80454234e-05 6.67542191e-01] [ 1.58036897e-02 3.20804933e-05 9.99875113e-01 8.58802106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.86925415399999 meters Centerline goodness : 0.999481 Centerline is valid? [True, True] Translation: X:63.66, Y:0.67, Z:0.86 [[ 9.99870659e-01 -2.98592566e-03 -1.58034498e-02 6.36564640e+01] [ 2.98483363e-03 9.99995541e-01 -9.26870413e-05 6.67398457e-01] [ 1.58036561e-02 4.55043846e-05 9.99875113e-01 8.59508661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.89925415399999 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:63.68, Y:0.67, Z:0.86 [[ 9.99871896e-01 -2.53846735e-03 -1.58034413e-02 6.36839990e+01] [ 2.53729675e-03 9.99996777e-01 -9.41223171e-05 6.66573087e-01] [ 1.58036292e-02 5.40122395e-05 9.99875113e-01 8.61041403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.92925415399999 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:63.71, Y:0.67, Z:0.86 [[ 9.99871641e-01 -2.63710478e-03 -1.58034121e-02 6.37116947e+01] [ 2.63587272e-03 9.99996521e-01 -9.87901059e-05 6.66022125e-01] [ 1.58036176e-02 5.71216424e-05 9.99875113e-01 8.61590152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.95925415399999 meters Centerline goodness : 0.999288 Centerline is valid? [True, True] Translation: X:63.74, Y:0.66, Z:0.86 [[ 9.99870839e-01 -2.92556297e-03 -1.58033817e-02 6.37394599e+01] [ 2.92429371e-03 9.99995719e-01 -1.03424015e-04 6.64177893e-01] [ 1.58036167e-02 5.71969267e-05 9.99875113e-01 8.62442318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.989254153999994 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:63.77, Y:0.66, Z:0.86 [[ 9.99868686e-01 -3.58676011e-03 -1.58033722e-02 6.37670072e+01] [ 3.58555078e-03 9.99993566e-01 -1.04856536e-04 6.63081335e-01] [ 1.58036467e-02 4.81789730e-05 9.99875113e-01 8.63255567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.019254153999995 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:63.79, Y:0.66, Z:0.86 [[ 9.99856774e-01 -6.05675925e-03 -1.58033606e-02 6.37943414e+01] [ 6.05583122e-03 9.99981658e-01 -1.06577741e-04 6.60210124e-01] [ 1.58037163e-02 1.08599922e-05 9.99875113e-01 8.63021171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.04925415399999 meters Centerline goodness : 0.999225 Centerline is valid? [True, True] Translation: X:63.82, Y:0.66, Z:0.86 [[ 9.99844351e-01 -7.84399666e-03 -1.58033470e-02 6.38225990e+01] [ 7.84326037e-03 9.99969235e-01 -1.08569757e-04 6.58836275e-01] [ 1.58037124e-02 -1.53969068e-05 9.99875113e-01 8.63297730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.07925415399999 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:63.85, Y:0.66, Z:0.86 [[ 9.99826527e-01 -9.85753369e-03 -1.58033349e-02 6.38504591e+01] [ 9.85702160e-03 9.99951412e-01 -1.10297729e-04 6.57167837e-01] [ 1.58036543e-02 -4.54952182e-05 9.99875113e-01 8.63449765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.10925415399999 meters Centerline goodness : 0.999377 Centerline is valid? [True, True] Translation: X:63.88, Y:0.66, Z:0.86 [[ 9.99801981e-01 -1.20935682e-02 -1.58033013e-02 6.38779318e+01] [ 1.20932624e-02 9.99926867e-01 -1.14918676e-04 6.55352376e-01] [ 1.58035353e-02 -7.62175495e-05 9.99875113e-01 8.63433220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.13925415399999 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:63.91, Y:0.65, Z:0.86 [[ 9.99743117e-01 -1.62467627e-02 -1.58032660e-02 6.39072535e+01] [ 1.62469020e-02 9.99868003e-01 -1.19581052e-04 6.51639509e-01] [ 1.58031228e-02 -1.37203781e-04 9.99875113e-01 8.62926605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.169254153999994 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:63.94, Y:0.65, Z:0.86 [[ 9.99707435e-01 -1.83112360e-02 -1.58032571e-02 6.39354788e+01] [ 1.83116148e-02 9.99832321e-01 -1.20743062e-04 6.50018748e-01] [ 1.58028182e-02 -1.68675420e-04 9.99875113e-01 8.63298873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.199254153999995 meters Centerline goodness : 0.999335 Centerline is valid? [True, True] Translation: X:63.96, Y:0.65, Z:0.86 [[ 9.99676623e-01 -1.99225571e-02 -1.58032204e-02 6.39638746e+01] [ 1.99230640e-02 9.99801508e-01 -1.25370446e-04 6.48545961e-01] [ 1.58025813e-02 -1.89518669e-04 9.99875113e-01 8.63508274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.229254153999996 meters Centerline goodness : 0.999317 Centerline is valid? [True, True] Translation: X:63.99, Y:0.65, Z:0.86 [[ 9.99634873e-01 -2.19175721e-02 -1.58032136e-02 6.39921247e+01] [ 2.19183147e-02 9.99759757e-01 -1.26230009e-04 6.45202641e-01] [ 1.58021836e-02 -2.20195889e-04 9.99875113e-01 8.64023440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.25925415399999 meters Centerline goodness : 0.999190 Centerline is valid? [True, True] Translation: X:64.02, Y:0.64, Z:0.86 [[ 9.99617852e-01 -2.26805669e-02 -1.58032046e-02 6.40220899e+01] [ 2.26813872e-02 9.99742736e-01 -1.27341129e-04 6.43906820e-01] [ 1.58020272e-02 -2.31146138e-04 9.99875113e-01 8.64694264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.28925415399999 meters Centerline goodness : 0.999065 Centerline is valid? [True, True] Translation: X:64.05, Y:0.64, Z:0.87 [[ 9.99602141e-01 -2.33627500e-02 -1.58032001e-02 6.40520028e+01] [ 2.33636468e-02 9.99727025e-01 -1.27899142e-04 6.40559025e-01] [ 1.58018743e-02 -2.41372129e-04 9.99875113e-01 8.65904039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.31925415399999 meters Centerline goodness : 0.999043 Centerline is valid? [True, True] Translation: X:64.08, Y:0.64, Z:0.87 [[ 9.99593655e-01 -2.37230528e-02 -1.58031978e-02 6.40815912e+01] [ 2.37239902e-02 9.99718538e-01 -1.28175933e-04 6.39238010e-01] [ 1.58017906e-02 -2.46791062e-04 9.99875113e-01 8.67135203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.34925415399999 meters Centerline goodness : 0.999067 Centerline is valid? [True, True] Translation: X:64.11, Y:0.64, Z:0.87 [[ 9.99599454e-01 -2.34774534e-02 -1.58031933e-02 6.41114100e+01] [ 2.34783513e-02 9.99724337e-01 -1.28731006e-04 6.36367525e-01] [ 1.58018592e-02 -2.42353481e-04 9.99875113e-01 8.67934642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.379254153999995 meters Centerline goodness : 0.999193 Centerline is valid? [True, True] Translation: X:64.14, Y:0.63, Z:0.87 [[ 9.99607629e-01 -2.31267724e-02 -1.58031887e-02 6.41405811e+01] [ 2.31276175e-02 9.99732513e-01 -1.29297661e-04 6.34918549e-01] [ 1.58019518e-02 -2.36243175e-04 9.99875113e-01 8.67941756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.409254153999996 meters Centerline goodness : 0.998982 Centerline is valid? [True, True] Translation: X:64.17, Y:0.63, Z:0.87 [[ 9.99624889e-01 -2.23683079e-02 -1.58031841e-02 6.41701115e+01] [ 2.23690494e-02 9.99749773e-01 -1.29860519e-04 6.33484950e-01] [ 1.58021344e-02 -2.23690398e-04 9.99875113e-01 8.68605861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.43925415399999 meters Centerline goodness : 0.999151 Centerline is valid? [True, True] Translation: X:64.20, Y:0.63, Z:0.87 [[ 9.99684506e-01 -1.95229893e-02 -1.58031793e-02 6.41993896e+01] [ 1.95233663e-02 9.99809392e-01 -1.30438062e-04 6.30104165e-01] [ 1.58027136e-02 -1.78134348e-04 9.99875113e-01 8.69192269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.46925415399999 meters Centerline goodness : 0.999025 Centerline is valid? [True, True] Translation: X:64.23, Y:0.63, Z:0.87 [[ 9.99715295e-01 -1.78770543e-02 -1.58031745e-02 6.42278920e+01] [ 1.78772165e-02 9.99840181e-01 -1.31015545e-04 6.28719972e-01] [ 1.58029910e-02 -1.51538528e-04 9.99875113e-01 8.69315530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.49925415399999 meters Centerline goodness : 0.999091 Centerline is valid? [True, True] Translation: X:64.26, Y:0.63, Z:0.87 [[ 9.99751776e-01 -1.57049957e-02 -1.58031401e-02 6.42566663e+01] [ 1.57048229e-02 9.99876663e-01 -1.35043484e-04 6.27574333e-01] [ 1.58033118e-02 -1.13175554e-04 9.99875113e-01 8.69898543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.52925415399999 meters Centerline goodness : 0.999091 Centerline is valid? [True, True] Translation: X:64.28, Y:0.63, Z:0.87 [[ 9.99817962e-01 -1.06913233e-02 -1.58031042e-02 6.42837245e+01] [ 1.06904598e-02 9.99942846e-01 -1.39119582e-04 6.25775192e-01] [ 1.58036884e-02 -2.98481937e-05 9.99875113e-01 8.70033689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.559254153999994 meters Centerline goodness : 0.999026 Centerline is valid? [True, True] Translation: X:64.31, Y:0.63, Z:0.87 [[ 9.99838785e-01 -8.52446029e-03 -1.58030753e-02 6.43109152e+01] [ 8.52327549e-03 9.99963666e-01 -1.42323663e-04 6.25256771e-01] [ 1.58037144e-02 7.60675398e-06 9.99875113e-01 8.69964405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.589254153999995 meters Centerline goodness : 0.999067 Centerline is valid? [True, True] Translation: X:64.34, Y:0.62, Z:0.87 [[ 9.99859209e-01 -5.64146562e-03 -1.58030571e-02 6.43375005e+01] [ 5.63988914e-03 9.99984085e-01 -1.44322840e-04 6.23040189e-01] [ 1.58036198e-02 5.51750305e-05 9.99875113e-01 8.69391182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.61925415399999 meters Centerline goodness : 0.999048 Centerline is valid? [True, True] Translation: X:64.36, Y:0.62, Z:0.87 [[ 9.99860732e-01 -5.36483194e-03 -1.58030388e-02 6.43649944e+01] [ 5.36318969e-03 9.99985607e-01 -1.46298311e-04 6.21725085e-01] [ 1.58035962e-02 6.15232413e-05 9.99875113e-01 8.69931214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.64925415399999 meters Centerline goodness : 0.999048 Centerline is valid? [True, True] Translation: X:64.39, Y:0.62, Z:0.87 [[ 9.99859120e-01 -5.65738110e-03 -1.58029946e-02 6.43933847e+01] [ 5.65570232e-03 9.99983995e-01 -1.50921534e-04 6.22062587e-01] [ 1.58035955e-02 6.15232387e-05 9.99875113e-01 8.70381345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.67925415399999 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:64.42, Y:0.62, Z:0.87 [[ 9.99849186e-01 -7.20229488e-03 -1.58029491e-02 6.44217630e+01] [ 7.20073598e-03 9.99974062e-01 -1.55544744e-04 6.18027404e-01] [ 1.58036595e-02 4.17284211e-05 9.99875114e-01 8.69946872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.70925415399999 meters Centerline goodness : 0.999093 Centerline is valid? [True, True] Translation: X:64.45, Y:0.62, Z:0.87 [[ 9.99833897e-01 -9.07997959e-03 -1.58029027e-02 6.44494549e+01] [ 9.07858269e-03 9.99958776e-01 -1.60132378e-04 6.16094307e-01] [ 1.58037052e-02 1.66378212e-05 9.99875114e-01 8.70360722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.739254153999994 meters Centerline goodness : 0.999219 Centerline is valid? [True, True] Translation: X:64.48, Y:0.61, Z:0.87 [[ 9.99808226e-01 -1.15663315e-02 -1.58028545e-02 6.44774395e+01] [ 1.15651721e-02 9.99933108e-01 -1.64752013e-04 6.14560716e-01] [ 1.58037030e-02 -1.80423141e-05 9.99875114e-01 8.70944479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.769254153999995 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:64.51, Y:0.61, Z:0.87 [[ 9.99721658e-01 -1.75178989e-02 -1.58028364e-02 6.45051762e+01] [ 1.75174558e-02 9.99846544e-01 -1.66470920e-04 6.11464394e-01] [ 1.58033276e-02 -1.10400904e-04 9.99875114e-01 8.70494429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.79925415399999 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:64.53, Y:0.61, Z:0.87 [[ 9.99716593e-01 -1.78046036e-02 -1.58028213e-02 6.45335709e+01] [ 1.78041738e-02 9.99841479e-01 -1.67892334e-04 6.11839771e-01] [ 1.58033055e-02 -1.13511425e-04 9.99875114e-01 8.70943668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.82925415399999 meters Centerline goodness : 0.999094 Centerline is valid? [True, True] Translation: X:64.56, Y:0.61, Z:0.87 [[ 9.99555920e-01 -2.52633182e-02 -1.58027718e-02 6.45615240e+01] [ 2.52637486e-02 9.99680806e-01 -1.72424546e-04 6.08717909e-01] [ 1.58020837e-02 -2.26889279e-04 9.99875114e-01 8.71200407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.85925415399999 meters Centerline goodness : 0.999076 Centerline is valid? [True, True] Translation: X:64.59, Y:0.61, Z:0.87 [[ 9.99445661e-01 -2.93026374e-02 -1.58027564e-02 6.45910640e+01] [ 2.93035503e-02 9.99570544e-01 -1.73826099e-04 6.06927642e-01] [ 1.58010634e-02 -2.89347128e-04 9.99875114e-01 8.71426418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.88925415399999 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:64.62, Y:0.60, Z:0.87 [[ 9.99143562e-01 -3.82415483e-02 -1.58027502e-02 6.46203463e+01] [ 3.82435695e-02 9.99268432e-01 -1.74385082e-04 6.03251611e-01] [ 1.57978582e-02 -4.30117845e-04 9.99875114e-01 8.72350938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.919254153999994 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:64.65, Y:0.60, Z:0.87 [[ 9.98962250e-01 -4.27164539e-02 -1.58027472e-02 6.46512689e+01] [ 4.27190300e-02 9.99087110e-01 -1.74662608e-04 6.01681136e-01] [ 1.57957820e-02 -5.00596679e-04 9.99875114e-01 8.73327767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.949254153999995 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:64.68, Y:0.60, Z:0.87 [[ 9.98772608e-01 -4.69419920e-02 -1.58027532e-02 6.46832952e+01] [ 4.69451050e-02 9.98897456e-01 -1.74114191e-04 6.00352643e-01] [ 1.57935033e-02 -5.67961424e-04 9.99875114e-01 8.74360261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.979254153999996 meters Centerline goodness : 0.999396 Centerline is valid? [True, True] Translation: X:64.71, Y:0.60, Z:0.88 [[ 9.98377233e-01 -5.47098935e-02 -1.58027652e-02 6.47145988e+01] [ 5.47139948e-02 9.98502052e-01 -1.73019486e-04 5.98315488e-01] [ 1.57885594e-02 -6.91893697e-04 9.99875114e-01 8.75403865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.00925415399999 meters Centerline goodness : 0.999351 Centerline is valid? [True, True] Translation: X:64.75, Y:0.60, Z:0.88 [[ 9.98203637e-01 -5.77907469e-02 -1.58027741e-02 6.47463513e+01] [ 5.77952463e-02 9.98328443e-01 -1.72202808e-04 5.97843793e-01] [ 1.57863106e-02 -7.41431752e-04 9.99875114e-01 8.76946789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.03925415399999 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:64.78, Y:0.60, Z:0.88 [[ 9.98057675e-01 -6.02590173e-02 -1.58027865e-02 6.47786622e+01] [ 6.02638435e-02 9.98182468e-01 -1.71055442e-04 5.97851196e-01] [ 1.57843721e-02 -7.81613457e-04 9.99875114e-01 8.77530687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.06925415399999 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:64.81, Y:0.60, Z:0.88 [[ 9.97863723e-01 -6.33897617e-02 -1.58027989e-02 6.48100877e+01] [ 6.33949975e-02 9.97988500e-01 -1.69901803e-04 5.98043147e-01] [ 1.57817816e-02 -8.32279553e-04 9.99875114e-01 8.78407880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.09925415399998 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:64.84, Y:0.60, Z:0.88 [[ 9.97827627e-01 -6.39554418e-02 -1.58028081e-02 6.48424161e+01] [ 6.39607619e-02 9.97952400e-01 -1.69042040e-04 5.98349875e-01] [ 1.57812615e-02 -8.42084831e-04 9.99875114e-01 8.79482849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.12925415399998 meters Centerline goodness : 0.998916 Centerline is valid? [True, True] Translation: X:64.87, Y:0.60, Z:0.88 [[ 9.97864762e-01 -6.33733913e-02 -1.58028203e-02 6.48741637e+01] [ 6.33786568e-02 9.97989538e-01 -1.67894309e-04 5.99366943e-01] [ 1.57816894e-02 -8.34025710e-04 9.99875114e-01 8.80619061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.15925415399998 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:64.91, Y:0.60, Z:0.88 [[ 9.97905973e-01 -6.27211328e-02 -1.58028325e-02 6.49059792e+01] [ 6.27263350e-02 9.98030751e-01 -1.66737314e-04 6.00783014e-01] [ 1.57821708e-02 -8.24865606e-04 9.99875114e-01 8.81468800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.18925415399998 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:64.94, Y:0.60, Z:0.88 [[ 9.97966750e-01 -6.17465446e-02 -1.58028446e-02 6.49383397e+01] [ 6.17516431e-02 9.98091532e-01 -1.65586879e-04 6.02257263e-01] [ 1.57829098e-02 -8.10601418e-04 9.99875114e-01 8.81612122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.21925415399998 meters Centerline goodness : 0.999038 Centerline is valid? [True, True] Translation: X:64.97, Y:0.60, Z:0.88 [[ 9.98063813e-01 -6.01572431e-02 -1.58028595e-02 6.49701674e+01] [ 6.01621655e-02 9.98188603e-01 -1.64153520e-04 6.04506160e-01] [ 1.57841092e-02 -7.86898560e-04 9.99875114e-01 8.81074184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.24925415399998 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:65.00, Y:0.61, Z:0.88 [[ 9.98099228e-01 -5.95667726e-02 -1.58028716e-02 6.50021680e+01] [ 5.95716397e-02 9.98224020e-01 -1.62979737e-04 6.05888391e-01] [ 1.57845142e-02 -7.78733023e-04 9.99875114e-01 8.80799279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.27925415399999 meters Centerline goodness : 0.998972 Centerline is valid? [True, True] Translation: X:65.03, Y:0.61, Z:0.88 [[ 9.98148687e-01 -5.87321605e-02 -1.58028836e-02 6.50329480e+01] [ 5.87369418e-02 9.98273482e-01 -1.61807483e-04 6.08977002e-01] [ 1.57851029e-02 -7.66705126e-04 9.99875114e-01 8.79497401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.30925415399999 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:65.06, Y:0.61, Z:0.88 [[ 9.98180634e-01 -5.81866855e-02 -1.58028925e-02 6.50637501e+01] [ 5.81914124e-02 9.98305431e-01 -1.60934511e-04 6.10567377e-01] [ 1.57854776e-02 -7.58950921e-04 9.99875114e-01 8.78726126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.33925415399999 meters Centerline goodness : 0.998911 Centerline is valid? [True, True] Translation: X:65.10, Y:0.61, Z:0.88 [[ 9.98239471e-01 -5.71684039e-02 -1.58029012e-02 6.50964284e+01] [ 5.71730171e-02 9.98364272e-01 -1.60071620e-04 6.12374811e-01] [ 1.57862030e-02 -7.43709732e-04 9.99875114e-01 8.79188814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.36925415399999 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:65.13, Y:0.62, Z:0.88 [[ 9.98425119e-01 -5.38288946e-02 -1.58029158e-02 6.51290067e+01] [ 5.38331134e-02 9.98549934e-01 -1.58614754e-04 6.16806677e-01] [ 1.57885386e-02 -6.92355204e-04 9.99875114e-01 8.80773140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.39925415399999 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:65.16, Y:0.62, Z:0.88 [[ 9.98563534e-01 -5.11970257e-02 -1.58029274e-02 6.51614557e+01] [ 5.12009338e-02 9.98688360e-01 -1.57453508e-04 6.19332354e-01] [ 1.57902608e-02 -6.51897308e-04 9.99875114e-01 8.81917850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.42925415399999 meters Centerline goodness : 0.999096 Centerline is valid? [True, True] Translation: X:65.19, Y:0.62, Z:0.88 [[ 9.98710229e-01 -4.82508662e-02 -1.58029389e-02 6.51926375e+01] [ 4.82544243e-02 9.98835065e-01 -1.56291131e-04 6.21954584e-01] [ 1.57920707e-02 -6.06472169e-04 9.99875114e-01 8.82651079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.45925415399998 meters Centerline goodness : 0.999199 Centerline is valid? [True, True] Translation: X:65.22, Y:0.62, Z:0.88 [[ 9.98859176e-01 -4.50623270e-02 -1.58029474e-02 6.52248950e+01] [ 4.50655003e-02 9.98984022e-01 -1.55426569e-04 6.24614889e-01] [ 1.57938958e-02 -5.56918476e-04 9.99875114e-01 8.83815033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.48925415399998 meters Centerline goodness : 0.998926 Centerline is valid? [True, True] Translation: X:65.26, Y:0.63, Z:0.89 [[ 9.99151246e-01 -3.80401535e-02 -1.58029585e-02 6.52572511e+01] [ 3.80424671e-02 9.99276111e-01 -1.54291424e-04 6.29617519e-01] [ 1.57973882e-02 -4.47023060e-04 9.99875114e-01 8.85428772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.51925415399998 meters Centerline goodness : 0.999030 Centerline is valid? [True, True] Translation: X:65.29, Y:0.63, Z:0.89 [[ 9.99281709e-01 -3.44431704e-02 -1.58029696e-02 6.52888077e+01] [ 3.44450527e-02 9.99406581e-01 -1.53139378e-04 6.32241683e-01] [ 1.57988665e-02 -3.91304742e-04 9.99875114e-01 8.85776427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.54925415399998 meters Centerline goodness : 0.998944 Centerline is valid? [True, True] Translation: X:65.32, Y:0.63, Z:0.89 [[ 9.99401368e-01 -3.07761462e-02 -1.58029779e-02 6.53205895e+01] [ 3.07775838e-02 9.99526246e-01 -1.52282078e-04 6.34445270e-01] [ 1.58001778e-02 -3.34186561e-04 9.99875114e-01 8.86556096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.57925415399998 meters Centerline goodness : 0.999112 Centerline is valid? [True, True] Translation: X:65.35, Y:0.64, Z:0.89 [[ 9.99575695e-01 -2.44682415e-02 -1.58029832e-02 6.53513168e+01] [ 2.44688997e-02 9.99700580e-01 -1.51726516e-04 6.37851747e-01] [ 1.58019640e-02 -2.35019475e-04 9.99875114e-01 8.88242431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.60925415399998 meters Centerline goodness : 0.999007 Centerline is valid? [True, True] Translation: X:65.38, Y:0.64, Z:0.89 [[ 9.99642520e-01 -2.15661507e-02 -1.58029832e-02 6.53817784e+01] [ 2.15664464e-02 9.99767406e-01 -1.51726516e-04 6.39262126e-01] [ 1.58025797e-02 -1.89141915e-04 9.99875114e-01 8.88937171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.63925415399999 meters Centerline goodness : 0.999024 Centerline is valid? [True, True] Translation: X:65.41, Y:0.64, Z:0.89 [[ 9.99734943e-01 -1.67424208e-02 -1.58029832e-02 6.54105192e+01] [ 1.67421139e-02 9.99859829e-01 -1.51726516e-04 6.41588636e-01] [ 1.58033084e-02 -1.12889045e-04 9.99875114e-01 8.89507254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.66925415399999 meters Centerline goodness : 0.999066 Centerline is valid? [True, True] Translation: X:65.44, Y:0.64, Z:0.89 [[ 9.99760421e-01 -1.51448509e-02 -1.58029750e-02 6.54387849e+01] [ 1.51443309e-02 9.99885306e-01 -1.52581330e-04 6.42921065e-01] [ 1.58034733e-02 -8.67807077e-05 9.99875114e-01 8.90666442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.69925415399999 meters Centerline goodness : 0.999109 Centerline is valid? [True, True] Translation: X:65.47, Y:0.64, Z:0.89 [[ 9.99797128e-01 -1.24887999e-02 -1.58029284e-02 6.54653419e+01] [ 1.24878741e-02 9.99922011e-01 -1.57262178e-04 6.44410887e-01] [ 1.58036600e-02 -4.01147070e-05 9.99875114e-01 8.90577985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.72925415399999 meters Centerline goodness : 0.998980 Centerline is valid? [True, True] Translation: X:65.49, Y:0.65, Z:0.89 [[ 9.99807014e-01 -1.16705844e-02 -1.58029080e-02 6.54926940e+01] [ 1.16695245e-02 9.99931896e-01 -1.59287571e-04 6.45031057e-01] [ 1.58036907e-02 -2.51555910e-05 9.99875114e-01 8.90659908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.75925415399999 meters Centerline goodness : 0.999172 Centerline is valid? [True, True] Translation: X:65.52, Y:0.65, Z:0.89 [[ 9.99809395e-01 -1.14648025e-02 -1.58028876e-02 6.55207679e+01] [ 1.14636853e-02 9.99934277e-01 -1.61282272e-04 6.45447589e-01] [ 1.58036981e-02 -1.99077992e-05 9.99875114e-01 8.91105965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.78925415399999 meters Centerline goodness : 0.999193 Centerline is valid? [True, True] Translation: X:65.55, Y:0.65, Z:0.89 [[ 9.99805565e-01 -1.17941647e-02 -1.58028400e-02 6.55476658e+01] [ 1.17930168e-02 9.99930446e-01 -1.65823001e-04 6.45170126e-01] [ 1.58036966e-02 -2.05723993e-05 9.99875114e-01 8.91245025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.81925415399999 meters Centerline goodness : 0.999002 Centerline is valid? [True, True] Translation: X:65.58, Y:0.64, Z:0.89 [[ 9.99797224e-01 -1.24812464e-02 -1.58028191e-02 6.55753891e+01] [ 1.24801533e-02 9.99922106e-01 -1.67789568e-04 6.44914612e-01] [ 1.58036824e-02 -2.94660615e-05 9.99875114e-01 8.91831933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.84925415399998 meters Centerline goodness : 0.998961 Centerline is valid? [True, True] Translation: X:65.60, Y:0.64, Z:0.89 [[ 9.99785502e-01 -1.33873661e-02 -1.58027706e-02 6.56032679e+01] [ 1.33863159e-02 9.99910384e-01 -1.72237627e-04 6.44983747e-01] [ 1.58036603e-02 -3.93401973e-05 9.99875114e-01 8.93209822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.87925415399998 meters Centerline goodness : 0.999005 Centerline is valid? [True, True] Translation: X:65.63, Y:0.64, Z:0.89 [[ 9.99744298e-01 -1.61746146e-02 -1.58025503e-02 6.56318115e+01] [ 1.61735984e-02 9.99869180e-01 -1.92108117e-04 6.43952769e-01] [ 1.58035903e-02 -6.35251080e-05 9.99875113e-01 8.94045386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.90925415399998 meters Centerline goodness : 0.998897 Centerline is valid? [True, True] Translation: X:65.66, Y:0.64, Z:0.89 [[ 9.99714150e-01 -1.79413461e-02 -1.58027090e-02 6.56597774e+01] [ 1.79407734e-02 9.99839036e-01 -1.78020820e-04 6.43401420e-01] [ 1.58033592e-02 -1.05542887e-04 9.99875114e-01 8.94708239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.93925415399998 meters Centerline goodness : 0.998898 Centerline is valid? [True, True] Translation: X:65.69, Y:0.64, Z:0.89 [[ 9.99687414e-01 -1.93739720e-02 -1.58026561e-02 6.56885866e+01] [ 1.93735059e-02 9.99812299e-01 -1.82594014e-04 6.42261897e-01] [ 1.58032275e-02 -1.23615914e-04 9.99875114e-01 8.94977894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.96925415399998 meters Centerline goodness : 0.998940 Centerline is valid? [True, True] Translation: X:65.72, Y:0.64, Z:0.90 [[ 9.99653275e-01 -2.10620038e-02 -1.58026083e-02 6.57173960e+01] [ 2.10616847e-02 9.99778161e-01 -1.86639629e-04 6.41757252e-01] [ 1.58030337e-02 -1.46254638e-04 9.99875114e-01 8.95128906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.99925415399998 meters Centerline goodness : 0.998923 Centerline is valid? [True, True] Translation: X:65.75, Y:0.64, Z:0.89 [[ 9.99609617e-01 -2.30411042e-02 -1.58025599e-02 6.57456757e+01] [ 2.30409688e-02 9.99734503e-01 -1.90653448e-04 6.40312475e-01] [ 1.58027573e-02 -1.73527270e-04 9.99875114e-01 8.94086083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.02925415399999 meters Centerline goodness : 0.999028 Centerline is valid? [True, True] Translation: X:65.78, Y:0.64, Z:0.89 [[ 9.99596148e-01 -2.36182514e-02 -1.58025109e-02 6.57750806e+01] [ 2.36181252e-02 9.99721034e-01 -1.94636908e-04 6.39959907e-01] [ 1.58026995e-02 -1.78667377e-04 9.99875114e-01 8.93987987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.05925415399999 meters Centerline goodness : 0.998967 Centerline is valid? [True, True] Translation: X:65.80, Y:0.64, Z:0.89 [[ 9.99588224e-01 -2.39512731e-02 -1.58025039e-02 6.58046687e+01] [ 2.39511796e-02 9.99713110e-01 -1.95203538e-04 6.39914919e-01] [ 1.58026457e-02 -1.83365449e-04 9.99875114e-01 8.94473738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.08925415399999 meters Centerline goodness : 0.999027 Centerline is valid? [True, True] Translation: X:65.83, Y:0.64, Z:0.90 [[ 9.99588784e-01 -2.39279125e-02 -1.58024967e-02 6.58342834e+01] [ 2.39278069e-02 9.99713670e-01 -1.95781305e-04 6.38999060e-01] [ 1.58026566e-02 -1.82418293e-04 9.99875114e-01 8.95278830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.11925415399999 meters Centerline goodness : 0.999050 Centerline is valid? [True, True] Translation: X:65.86, Y:0.64, Z:0.90 [[ 9.99595514e-01 -2.36450643e-02 -1.58024895e-02 6.58633903e+01] [ 2.36449142e-02 9.99720401e-01 -1.96360690e-04 6.38389905e-01] [ 1.58027141e-02 -1.77367243e-04 9.99875114e-01 8.95836925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.14925415399999 meters Centerline goodness : 0.998842 Centerline is valid? [True, True] Translation: X:65.89, Y:0.64, Z:0.90 [[ 9.99608497e-01 -2.30896794e-02 -1.58024859e-02 6.58924629e+01] [ 2.30894553e-02 9.99733384e-01 -1.96648117e-04 6.37710848e-01] [ 1.58028133e-02 -1.68299664e-04 9.99875114e-01 8.95780248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.17925415399999 meters Centerline goodness : 0.998988 Centerline is valid? [True, True] Translation: X:65.92, Y:0.64, Z:0.90 [[ 9.99647341e-01 -2.13418576e-02 -1.58024824e-02 6.59220378e+01] [ 2.13414107e-02 9.99772227e-01 -1.96933018e-04 6.36818464e-01] [ 1.58030859e-02 -1.40383698e-04 9.99875114e-01 8.97294053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.20925415399998 meters Centerline goodness : 0.999070 Centerline is valid? [True, True] Translation: X:65.95, Y:0.64, Z:0.90 [[ 9.99677438e-01 -1.98822163e-02 -1.58024752e-02 6.59505329e+01] [ 1.98815780e-02 9.99802322e-01 -1.97504889e-04 6.37138436e-01] [ 1.58032783e-02 -1.16736963e-04 9.99875114e-01 8.97127297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.23925415399998 meters Centerline goodness : 0.999029 Centerline is valid? [True, True] Translation: X:65.98, Y:0.64, Z:0.90 [[ 9.99709648e-01 -1.81907260e-02 -1.58024645e-02 6.59795602e+01] [ 1.81898630e-02 9.99834531e-01 -1.98356158e-04 6.37678713e-01] [ 1.58034580e-02 -8.91461001e-05 9.99875114e-01 8.98746825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.26925415399998 meters Centerline goodness : 0.999094 Centerline is valid? [True, True] Translation: X:66.01, Y:0.64, Z:0.90 [[ 9.99780925e-01 -1.37253664e-02 -1.58024140e-02 6.60081028e+01] [ 1.37238831e-02 9.99905803e-01 -2.02306988e-04 6.38155746e-01] [ 1.58037021e-02 -1.46078141e-05 9.99875114e-01 8.99705129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.29925415399998 meters Centerline goodness : 0.998986 Centerline is valid? [True, True] Translation: X:66.04, Y:0.64, Z:0.90 [[ 9.99809354e-01 -1.14691232e-02 -1.58023609e-02 6.60352696e+01] [ 1.14672939e-02 9.99934227e-01 -2.06372399e-04 6.38285495e-01] [ 1.58036884e-02 2.51227388e-05 9.99875114e-01 8.99900949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.32925415399998 meters Centerline goodness : 0.999027 Centerline is valid? [True, True] Translation: X:66.06, Y:0.64, Z:0.90 [[ 9.99843184e-01 -7.99339124e-03 -1.58023344e-02 6.60633096e+01] [ 7.99109605e-03 9.99968049e-01 -2.08382584e-04 6.37612065e-01] [ 1.58034951e-02 8.20719349e-05 9.99875114e-01 9.00052878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.35925415399998 meters Centerline goodness : 0.999370 Centerline is valid? [True, True] Translation: X:66.09, Y:0.64, Z:0.90 [[ 9.99850419e-01 -7.03050646e-03 -1.58022715e-02 6.60905351e+01] [ 7.02801738e-03 9.99975280e-01 -2.13042261e-04 6.37170478e-01] [ 1.58033787e-02 1.01951755e-04 9.99875114e-01 9.00132813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.38925415399999 meters Centerline goodness : 0.999094 Centerline is valid? [True, True] Translation: X:66.12, Y:0.64, Z:0.90 [[ 9.99848664e-01 -7.27585683e-03 -1.58022278e-02 6.61188340e+01] [ 7.27334789e-03 9.99973525e-01 -2.16237973e-04 6.36841754e-01] [ 1.58033828e-02 1.01270149e-04 9.99875114e-01 9.00412355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.41925415399999 meters Centerline goodness : 0.999137 Centerline is valid? [True, True] Translation: X:66.15, Y:0.64, Z:0.90 [[ 9.99831248e-01 -9.36836612e-03 -1.58021637e-02 6.61481248e+01] [ 9.36604597e-03 9.99956113e-01 -2.20826559e-04 6.35222862e-01] [ 1.58035390e-02 7.27855025e-05 9.99875114e-01 9.00216837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.44925415399999 meters Centerline goodness : 0.998904 Centerline is valid? [True, True] Translation: X:66.18, Y:0.63, Z:0.90 [[ 9.99804557e-01 -1.18801984e-02 -1.58021476e-02 6.61771647e+01] [ 1.18781738e-02 9.99929427e-01 -2.21974596e-04 6.34753799e-01] [ 1.58036695e-02 3.42305571e-05 9.99875114e-01 9.00029788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.47925415399999 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:66.21, Y:0.63, Z:0.90 [[ 9.99765590e-01 -1.48006036e-02 -1.58021313e-02 6.62050405e+01] [ 1.47989256e-02 9.99890465e-01 -2.23128045e-04 6.33936666e-01] [ 1.58037028e-02 -1.07788232e-05 9.99875114e-01 8.99870777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.50925415399999 meters Centerline goodness : 0.999075 Centerline is valid? [True, True] Translation: X:66.23, Y:0.63, Z:0.90 [[ 9.99659383e-01 -2.07704577e-02 -1.58020648e-02 6.62326902e+01] [ 2.07694524e-02 9.99784266e-01 -2.27742189e-04 6.31592177e-01] [ 1.58033860e-02 -1.00535616e-04 9.99875114e-01 8.98810898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.53925415399999 meters Centerline goodness : 0.999240 Centerline is valid? [True, True] Translation: X:66.26, Y:0.63, Z:0.90 [[ 9.99586517e-01 -2.40227189e-02 -1.58020441e-02 6.62611965e+01] [ 2.40220973e-02 9.99711402e-01 -2.29170779e-04 6.30547988e-01] [ 1.58029889e-02 -1.50522220e-04 9.99875114e-01 8.99615066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.56925415399998 meters Centerline goodness : 0.999240 Centerline is valid? [True, True] Translation: X:66.29, Y:0.63, Z:0.90 [[ 9.99585645e-01 -2.40590169e-02 -1.58019849e-02 6.62913415e+01] [ 2.40583365e-02 9.99710529e-01 -2.33178897e-04 6.31024324e-01] [ 1.58030207e-02 -1.47087193e-04 9.99875114e-01 9.00092723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.59925415399998 meters Centerline goodness : 0.998972 Centerline is valid? [True, True] Translation: X:66.32, Y:0.63, Z:0.90 [[ 9.99462778e-01 -2.87132972e-02 -1.58019764e-02 6.63206756e+01] [ 2.87131893e-02 9.99587664e-01 -2.33751785e-04 6.28699614e-01] [ 1.58021725e-02 -2.20098932e-04 9.99875114e-01 9.01204035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.62925415399998 meters Centerline goodness : 0.998908 Centerline is valid? [True, True] Translation: X:66.35, Y:0.63, Z:0.90 [[ 9.99413248e-01 -3.03884385e-02 -1.58019679e-02 6.63515464e+01] [ 3.03885308e-02 9.99538134e-01 -2.34327676e-04 6.28363002e-01] [ 1.58017904e-02 -2.46008404e-04 9.99875114e-01 9.02388282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.65925415399998 meters Centerline goodness : 0.998908 Centerline is valid? [True, True] Translation: X:66.38, Y:0.63, Z:0.90 [[ 9.99372522e-01 -3.16995386e-02 -1.58019679e-02 6.63818238e+01] [ 3.16997948e-02 9.99497408e-01 -2.34327676e-04 6.28156061e-01] [ 1.58014540e-02 -2.66738499e-04 9.99875114e-01 9.03460256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.68925415399998 meters Centerline goodness : 0.998906 Centerline is valid? [True, True] Translation: X:66.41, Y:0.63, Z:0.90 [[ 9.99351516e-01 -3.23549765e-02 -1.58019821e-02 6.64121548e+01] [ 3.23553298e-02 9.99476402e-01 -2.33362350e-04 6.28050000e-01] [ 1.58012587e-02 -2.78067325e-04 9.99875114e-01 9.04036981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.71925415399998 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:66.44, Y:0.63, Z:0.91 [[ 9.99340162e-01 -3.27037769e-02 -1.58019863e-02 6.64430311e+01] [ 3.27041783e-02 9.99465048e-01 -2.33079429e-04 6.27619683e-01] [ 1.58011556e-02 -2.83865344e-04 9.99875114e-01 9.06569990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.74925415399998 meters Centerline goodness : 0.998822 Centerline is valid? [True, True] Translation: X:66.47, Y:0.63, Z:0.91 [[ 9.99344161e-01 -3.25813470e-02 -1.58019947e-02 6.64735259e+01] [ 3.25817421e-02 9.99469047e-01 -2.32509600e-04 6.27647635e-01] [ 1.58011801e-02 -2.82499404e-04 9.99875114e-01 9.06715352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.77925415399999 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:66.51, Y:0.63, Z:0.91 [[ 9.99367168e-01 -3.18678576e-02 -1.58020083e-02 6.65052387e+01] [ 3.18681782e-02 9.99492054e-01 -2.31581775e-04 6.27763742e-01] [ 1.58013617e-02 -2.72145993e-04 9.99875114e-01 9.07510178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.80925415399999 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:66.54, Y:0.63, Z:0.91 [[ 9.99445237e-01 -2.93174887e-02 -1.58020164e-02 6.65367698e+01] [ 2.93174993e-02 9.99570123e-01 -2.31027222e-04 6.27250571e-01] [ 1.58019966e-02 -2.32376549e-04 9.99875114e-01 9.08752052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.83925415399999 meters Centerline goodness : 0.999035 Centerline is valid? [True, True] Translation: X:66.57, Y:0.63, Z:0.91 [[ 9.99493911e-01 -2.76082998e-02 -1.58020247e-02 6.65672362e+01] [ 2.76081059e-02 9.99618797e-01 -2.30456907e-04 6.27419147e-01] [ 1.58023635e-02 -2.05923696e-04 9.99875114e-01 9.09311469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.86925415399999 meters Centerline goodness : 0.999012 Centerline is valid? [True, True] Translation: X:66.60, Y:0.63, Z:0.91 [[ 9.99555566e-01 -2.52777781e-02 -1.58020247e-02 6.65982046e+01] [ 2.52772930e-02 9.99680452e-01 -2.30456907e-04 6.27553095e-01] [ 1.58028007e-02 -1.69077925e-04 9.99875114e-01 9.09747817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.89925415399999 meters Centerline goodness : 0.998887 Centerline is valid? [True, True] Translation: X:66.63, Y:0.63, Z:0.91 [[ 9.99679016e-01 -1.98030712e-02 -1.58020247e-02 6.66272532e+01] [ 1.98019022e-02 9.99803897e-01 -2.30456907e-04 6.28191171e-01] [ 1.58034897e-02 -8.25272131e-05 9.99875114e-01 9.09847338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.92925415399999 meters Centerline goodness : 0.999077 Centerline is valid? [True, True] Translation: X:66.66, Y:0.63, Z:0.91 [[ 9.99722594e-01 -1.74651209e-02 -1.58020205e-02 6.66560314e+01] [ 1.74636552e-02 9.99847472e-01 -2.30745530e-04 6.28734913e-01] [ 1.58036403e-02 -4.52795185e-05 9.99875114e-01 9.10633351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.95925415399998 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:66.68, Y:0.63, Z:0.91 [[ 9.99759095e-01 -1.52331810e-02 -1.58019611e-02 6.66835628e+01] [ 1.52313734e-02 9.99883968e-01 -2.34743492e-04 6.28739090e-01] [ 1.58037035e-02 -5.99862897e-06 9.99875114e-01 9.11052146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.98925415399998 meters Centerline goodness : 0.999077 Centerline is valid? [True, True] Translation: X:66.71, Y:0.63, Z:0.91 [[ 9.99806267e-01 -1.17357975e-02 -1.58018900e-02 6.67113328e+01] [ 1.17334789e-02 9.99931132e-01 -2.39434869e-04 6.28349361e-01] [ 1.58036117e-02 5.39773396e-05 9.99875114e-01 9.11108468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.01925415399998 meters Centerline goodness : 0.999286 Centerline is valid? [True, True] Translation: X:66.74, Y:0.63, Z:0.91 [[ 9.99821115e-01 -1.03942085e-02 -1.58018177e-02 6.67387456e+01] [ 1.03916484e-02 9.99945976e-01 -2.44116601e-04 6.28140840e-01] [ 1.58035014e-02 7.98659991e-05 9.99875114e-01 9.11168949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.04925415399998 meters Centerline goodness : 0.999287 Centerline is valid? [True, True] Translation: X:66.77, Y:0.63, Z:0.91 [[ 9.99827131e-01 -9.79859877e-03 -1.58017862e-02 6.67667920e+01] [ 9.79593225e-03 9.99951988e-01 -2.46142725e-04 6.27815060e-01] [ 1.58034393e-02 9.13069483e-05 9.99875114e-01 9.11160140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.07925415399998 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:66.79, Y:0.63, Z:0.91 [[ 9.99826325e-01 -9.88059757e-03 -1.58017133e-02 6.67944972e+01] [ 9.87786874e-03 9.99951181e-01 -2.50733513e-04 6.26074258e-01] [ 1.58034193e-02 9.46027167e-05 9.99875114e-01 9.10930992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.10925415399998 meters Centerline goodness : 0.999055 Centerline is valid? [True, True] Translation: X:66.82, Y:0.63, Z:0.91 [[ 9.99816517e-01 -1.08277466e-02 -1.58016383e-02 6.68221715e+01] [ 1.08250626e-02 9.99941375e-01 -2.55376985e-04 6.25683821e-01] [ 1.58034770e-02 8.42764043e-05 9.99875114e-01 9.11234543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.13925415399999 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:66.85, Y:0.63, Z:0.91 [[ 9.99799073e-01 -1.23338392e-02 -1.58015619e-02 6.68498613e+01] [ 1.23312700e-02 9.99923933e-01 -2.60020435e-04 6.25213488e-01] [ 1.58035669e-02 6.51148648e-05 9.99875114e-01 9.11518537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.16925415399999 meters Centerline goodness : 0.999035 Centerline is valid? [True, True] Translation: X:66.88, Y:0.62, Z:0.91 [[ 9.99747943e-01 -1.59487833e-02 -1.58014843e-02 6.68780827e+01] [ 1.59465924e-02 9.99872810e-01 -2.64649682e-04 6.23024769e-01] [ 1.58036954e-02 1.26031456e-05 9.99875114e-01 9.12056585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.19925415399999 meters Centerline goodness : 0.999247 Centerline is valid? [True, True] Translation: X:66.91, Y:0.62, Z:0.91 [[ 9.99701912e-01 -1.86118463e-02 -1.58014550e-02 6.69058742e+01] [ 1.86099605e-02 9.99826784e-01 -2.66390448e-04 6.21948789e-01] [ 1.58036759e-02 -2.77534121e-05 9.99875114e-01 9.12771702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.22925415399999 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:66.93, Y:0.62, Z:0.91 [[ 9.99640601e-01 -2.16560695e-02 -1.58013755e-02 6.69339769e+01] [ 2.16544908e-02 9.99765477e-01 -2.71022581e-04 6.21091126e-01] [ 1.58035390e-02 -7.12455649e-05 9.99875114e-01 9.13398678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.25925415399999 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:66.96, Y:0.62, Z:0.91 [[ 9.99568670e-01 -2.47546544e-02 -1.58012952e-02 6.69627981e+01] [ 2.47533899e-02 9.99693550e-01 -2.75627191e-04 6.20221362e-01] [ 1.58032760e-02 -1.15627316e-04 9.99875114e-01 9.14134245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.28925415399999 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:66.99, Y:0.62, Z:0.92 [[ 9.99388389e-01 -3.11956716e-02 -1.58012242e-02 6.69920276e+01] [ 3.11951486e-02 9.99513274e-01 -2.79638829e-04 6.17313373e-01] [ 1.58022569e-02 -2.13453738e-04 9.99875114e-01 9.15164297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.31925415399998 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:67.02, Y:0.62, Z:0.92 [[ 9.99288964e-01 -3.42328766e-02 -1.58011519e-02 6.70224261e+01] [ 3.42326694e-02 9.99413850e-01 -2.83668118e-04 6.16303353e-01] [ 1.58016008e-02 -2.57449188e-04 9.99875114e-01 9.16171197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.34925415399998 meters Centerline goodness : 0.999209 Centerline is valid? [True, True] Translation: X:67.05, Y:0.62, Z:0.92 [[ 9.99205000e-01 -3.66017911e-02 -1.58011519e-02 6.70536874e+01] [ 3.66018799e-02 9.99329886e-01 -2.83668118e-04 6.15101208e-01] [ 1.58009461e-02 -2.94909262e-04 9.99875114e-01 9.17137663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.37925415399998 meters Centerline goodness : 0.998833 Centerline is valid? [True, True] Translation: X:67.08, Y:0.61, Z:0.92 [[ 9.99020207e-01 -4.13394357e-02 -1.58011622e-02 6.70838538e+01] [ 4.13401259e-02 9.99145091e-01 -2.83089554e-04 6.12495685e-01] [ 1.57993565e-02 -3.70409851e-04 9.99875114e-01 9.18080647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.40925415399998 meters Centerline goodness : 0.999126 Centerline is valid? [True, True] Translation: X:67.11, Y:0.61, Z:0.92 [[ 9.98946884e-01 -4.30748950e-02 -1.58011783e-02 6.71149307e+01] [ 4.30758163e-02 9.99071766e-01 -2.82191266e-04 6.11330071e-01] [ 1.57986665e-02 -3.98754568e-04 9.99875114e-01 9.18927207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.43925415399998 meters Centerline goodness : 0.999376 Centerline is valid? [True, True] Translation: X:67.15, Y:0.61, Z:0.92 [[ 9.98809426e-01 -4.61524891e-02 -1.58011887e-02 6.71459051e+01] [ 4.61538044e-02 9.98934306e-01 -2.81608880e-04 6.09277273e-01] [ 1.57973464e-02 -4.48011366e-04 9.99875114e-01 9.19115261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.46925415399998 meters Centerline goodness : 0.999252 Centerline is valid? [True, True] Translation: X:67.18, Y:0.61, Z:0.92 [[ 9.98781537e-01 -4.67521447e-02 -1.58012041e-02 6.71767583e+01] [ 4.67535487e-02 9.98906415e-01 -2.80737976e-04 6.08816172e-01] [ 1.57970493e-02 -4.58366460e-04 9.99875114e-01 9.18672863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.49925415399998 meters Centerline goodness : 0.999251 Centerline is valid? [True, True] Translation: X:67.21, Y:0.61, Z:0.92 [[ 9.98774523e-01 -4.69017397e-02 -1.58012194e-02 6.72087785e+01] [ 4.69031760e-02 9.98899401e-01 -2.79875544e-04 6.08642530e-01] [ 1.57969553e-02 -4.61594813e-04 9.99875114e-01 9.18949393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.52925415399999 meters Centerline goodness : 0.999168 Centerline is valid? [True, True] Translation: X:67.24, Y:0.61, Z:0.92 [[ 9.98795251e-01 -4.64582269e-02 -1.58012392e-02 6.72411319e+01] [ 4.64596255e-02 9.98920130e-01 -2.78755761e-04 6.08084069e-01] [ 1.57971264e-02 -4.55699724e-04 9.99875114e-01 9.19477082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.55925415399999 meters Centerline goodness : 0.999147 Centerline is valid? [True, True] Translation: X:67.27, Y:0.61, Z:0.92 [[ 9.98825404e-01 -4.58053828e-02 -1.58012596e-02 6.72722171e+01] [ 4.58067182e-02 9.98950283e-01 -2.77591369e-04 6.08363234e-01] [ 1.57973879e-02 -4.46538534e-04 9.99875114e-01 9.19903978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.58925415399999 meters Centerline goodness : 0.999210 Centerline is valid? [True, True] Translation: X:67.30, Y:0.61, Z:0.92 [[ 9.98891184e-01 -4.43477533e-02 -1.58012748e-02 6.73029990e+01] [ 4.43489202e-02 9.99016064e-01 -2.76723742e-04 6.08394937e-01] [ 1.57979995e-02 -4.24352569e-04 9.99875114e-01 9.20946347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.61925415399999 meters Centerline goodness : 0.999292 Centerline is valid? [True, True] Translation: X:67.33, Y:0.61, Z:0.92 [[ 9.98934486e-01 -4.33614119e-02 -1.58012896e-02 6.73346894e+01] [ 4.33624689e-02 9.99059368e-01 -2.75875453e-04 6.08955148e-01] [ 1.57983888e-02 -4.09601426e-04 9.99875114e-01 9.21820791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.64925415399999 meters Centerline goodness : 0.999293 Centerline is valid? [True, True] Translation: X:67.37, Y:0.61, Z:0.92 [[ 9.99039651e-01 -4.08668003e-02 -1.58012994e-02 6.73662868e+01] [ 4.08675543e-02 9.99164535e-01 -2.75316195e-04 6.10413720e-01] [ 1.57993492e-02 -3.70708664e-04 9.99875114e-01 9.22733708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.67925415399999 meters Centerline goodness : 0.999314 Centerline is valid? [True, True] Translation: X:67.40, Y:0.61, Z:0.92 [[ 9.99082974e-01 -3.97935906e-02 -1.58013301e-02 6.73963625e+01] [ 3.97942385e-02 9.99207858e-01 -2.73541170e-04 6.11397837e-01] [ 1.57996984e-02 -3.55511573e-04 9.99875114e-01 9.23024864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.70925415399998 meters Centerline goodness : 0.999334 Centerline is valid? [True, True] Translation: X:67.43, Y:0.61, Z:0.92 [[ 9.99113143e-01 -3.90287847e-02 -1.58013348e-02 6.74277475e+01] [ 3.90293413e-02 9.99238028e-01 -2.73267614e-04 6.12168974e-01] [ 1.57999600e-02 -3.43690426e-04 9.99875114e-01 9.23965337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.73925415399998 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:67.46, Y:0.61, Z:0.92 [[ 9.99129249e-01 -3.86142734e-02 -1.58013448e-02 6.74591765e+01] [ 3.86147873e-02 9.99254134e-01 -2.72690657e-04 6.13116144e-01] [ 1.58000888e-02 -3.37712357e-04 9.99875114e-01 9.24158410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.76925415399998 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:67.49, Y:0.61, Z:0.92 [[ 9.99142626e-01 -3.82665612e-02 -1.58013548e-02 6.74905530e+01] [ 3.82670408e-02 9.99267512e-01 -2.72111585e-04 6.14197869e-01] [ 1.58001932e-02 -3.32792803e-04 9.99875114e-01 9.23749935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.79925415399998 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:67.52, Y:0.61, Z:0.92 [[ 9.99131068e-01 -3.85671563e-02 -1.58013646e-02 6.75212683e+01] [ 3.85676826e-02 9.99255953e-01 -2.71537031e-04 6.14992109e-01] [ 1.58000801e-02 -3.38120931e-04 9.99875114e-01 9.23224792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.82925415399998 meters Centerline goodness : 0.999417 Centerline is valid? [True, True] Translation: X:67.55, Y:0.62, Z:0.92 [[ 9.99115266e-01 -3.89743767e-02 -1.58013695e-02 6.75529563e+01] [ 3.89749584e-02 9.99240151e-01 -2.71252052e-04 6.15841403e-01] [ 1.57999347e-02 -3.44845654e-04 9.99875114e-01 9.23657205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.85925415399998 meters Centerline goodness : 0.999417 Centerline is valid? [True, True] Translation: X:67.58, Y:0.62, Z:0.92 [[ 9.99083938e-01 -3.97693498e-02 -1.58013793e-02 6.75846128e+01] [ 3.97700399e-02 9.99208822e-01 -2.70681760e-04 6.16861231e-01] [ 1.57996424e-02 -3.57987685e-04 9.99875114e-01 9.23941357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.88925415399999 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:67.62, Y:0.62, Z:0.93 [[ 9.99024046e-01 -4.12464770e-02 -1.58013890e-02 6.76158560e+01] [ 4.12473607e-02 9.99148929e-01 -2.70113278e-04 6.17637583e-01] [ 1.57990821e-02 -3.81915932e-04 9.99875114e-01 9.25446912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.91925415399999 meters Centerline goodness : 0.999229 Centerline is valid? [True, True] Translation: X:67.65, Y:0.62, Z:0.93 [[ 9.98979688e-01 -4.23071844e-02 -1.58013989e-02 6.76468750e+01] [ 4.23082098e-02 9.99104570e-01 -2.69530631e-04 6.17931957e-01] [ 1.57986530e-02 -3.99273277e-04 9.99875114e-01 9.26403298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.94925415399999 meters Centerline goodness : 0.999397 Centerline is valid? [True, True] Translation: X:67.68, Y:0.62, Z:0.93 [[ 9.98944251e-01 -4.31358261e-02 -1.58014088e-02 6.76781927e+01] [ 4.31369644e-02 9.99069132e-01 -2.68951247e-04 6.18163817e-01] [ 1.57983012e-02 -4.12957507e-04 9.99875114e-01 9.26526283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.97925415399999 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:67.71, Y:0.62, Z:0.93 [[ 9.98848657e-01 -4.52954083e-02 -1.58014414e-02 6.77096181e+01] [ 4.52968470e-02 9.98973535e-01 -2.67022998e-04 6.19387547e-01] [ 1.57973167e-02 -4.49039910e-04 9.99875114e-01 9.27705749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.00925415399999 meters Centerline goodness : 0.999188 Centerline is valid? [True, True] Translation: X:67.74, Y:0.62, Z:0.93 [[ 9.98808329e-01 -4.61761369e-02 -1.58014508e-02 6.77419357e+01] [ 4.61776945e-02 9.98933206e-01 -2.66466457e-04 6.20360160e-01] [ 1.57968983e-02 -4.63525649e-04 9.99875114e-01 9.28769512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.03925415399999 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:67.77, Y:0.62, Z:0.93 [[ 9.98753244e-01 -4.73526182e-02 -1.58014698e-02 6.77740469e+01] [ 4.73543408e-02 9.98878119e-01 -2.65334524e-04 6.21986173e-01] [ 1.57963067e-02 -4.83264468e-04 9.99875114e-01 9.30041754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.06925415399998 meters Centerline goodness : 0.998832 Centerline is valid? [True, True] Translation: X:67.81, Y:0.62, Z:0.93 [[ 9.98769133e-01 -4.70162941e-02 -1.58014894e-02 6.78052817e+01] [ 4.70179932e-02 9.98894008e-01 -2.64163524e-04 6.23182825e-01] [ 1.57964330e-02 -4.79115945e-04 9.99875114e-01 9.30350555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.09925415399998 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:67.84, Y:0.62, Z:0.93 [[ 9.98795345e-01 -4.64561281e-02 -1.58015039e-02 6.78376896e+01] [ 4.64577709e-02 9.98920220e-01 -2.63291380e-04 6.24455811e-01] [ 1.57966732e-02 -4.71128443e-04 9.99875114e-01 9.31153829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.12925415399998 meters Centerline goodness : 0.999042 Centerline is valid? [True, True] Translation: X:67.87, Y:0.63, Z:0.93 [[ 9.98865124e-01 -4.49307829e-02 -1.58015232e-02 6.78684696e+01] [ 4.49322534e-02 9.98990002e-01 -2.62125328e-04 6.26527317e-01] [ 1.57973412e-02 -4.48170198e-04 9.99875114e-01 9.31355428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.15925415399998 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:67.90, Y:0.63, Z:0.93 [[ 9.98887197e-01 -4.44373476e-02 -1.58015547e-02 6.79004736e+01] [ 4.44387867e-02 9.99012075e-01 -2.60214913e-04 6.28203967e-01] [ 1.57975072e-02 -4.42276574e-04 9.99875114e-01 9.32295721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.18925415399998 meters Centerline goodness : 0.998956 Centerline is valid? [True, True] Translation: X:67.93, Y:0.63, Z:0.93 [[ 9.98885271e-01 -4.44806313e-02 -1.58015740e-02 6.79313425e+01] [ 4.44820944e-02 9.99010148e-01 -2.59040071e-04 6.29903381e-01] [ 1.57974550e-02 -4.44135793e-04 9.99875114e-01 9.32240721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.21925415399998 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:67.96, Y:0.63, Z:0.93 [[ 9.98875144e-01 -4.47074623e-02 -1.58015882e-02 6.79632368e+01] [ 4.47089675e-02 9.99000021e-01 -2.58165941e-04 6.31607828e-01] [ 1.57973289e-02 -4.48597154e-04 9.99875114e-01 9.33400775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.24925415399998 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:67.99, Y:0.63, Z:0.93 [[ 9.98802793e-01 -4.62956724e-02 -1.58016073e-02 6.79939614e+01] [ 4.62973947e-02 9.98927668e-01 -2.56992630e-04 6.34234651e-01] [ 1.57965604e-02 -4.74888294e-04 9.99875114e-01 9.32645840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.27925415399999 meters Centerline goodness : 0.998978 Centerline is valid? [True, True] Translation: X:68.03, Y:0.64, Z:0.93 [[ 9.98750414e-01 -4.74122316e-02 -1.58016215e-02 6.80262844e+01] [ 4.74141073e-02 9.98875286e-01 -2.56118021e-04 6.35517469e-01] [ 1.57959923e-02 -4.93421799e-04 9.99875114e-01 9.32666131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.30925415399999 meters Centerline goodness : 0.998933 Centerline is valid? [True, True] Translation: X:68.06, Y:0.64, Z:0.93 [[ 9.98708617e-01 -4.82846347e-02 -1.58016400e-02 6.80575412e+01] [ 4.82866377e-02 9.98833487e-01 -2.54969760e-04 6.36798375e-01] [ 1.57955183e-02 -5.08367570e-04 9.99875114e-01 9.31823595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.33925415399999 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:68.09, Y:0.64, Z:0.93 [[ 9.98549395e-01 -5.14726654e-02 -1.58009485e-02 6.80901950e+01] [ 5.14743933e-02 9.98674270e-01 -2.97599197e-04 6.39041016e-01] [ 1.57953189e-02 -5.16176739e-04 9.99875113e-01 9.31467529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.36925415399999 meters Centerline goodness : 0.999225 Centerline is valid? [True, True] Translation: X:68.12, Y:0.64, Z:0.93 [[ 9.98486717e-01 -5.26743089e-02 -1.58016693e-02 6.81224252e+01] [ 5.26768999e-02 9.98611576e-01 -2.52492539e-04 6.40807670e-01] [ 1.57930297e-02 -5.80272504e-04 9.99875114e-01 9.33266092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.39925415399999 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:68.15, Y:0.64, Z:0.93 [[ 9.98397090e-01 -5.43466459e-02 -1.58016879e-02 6.81535578e+01] [ 5.43494645e-02 9.98521944e-01 -2.51320375e-04 6.43663846e-01] [ 1.57919906e-02 -6.07895747e-04 9.99875114e-01 9.33650597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.42925415399999 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:68.18, Y:0.65, Z:0.93 [[ 9.98347836e-01 -5.52440422e-02 -1.58017018e-02 6.81849792e+01] [ 5.52469869e-02 9.98472688e-01 -2.50447368e-04 6.45258480e-01] [ 1.57914033e-02 -6.22962821e-04 9.99875114e-01 9.33467442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.45925415399998 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:68.22, Y:0.65, Z:0.93 [[ 9.98351784e-01 -5.51726409e-02 -1.58017154e-02 6.82176604e+01] [ 5.51755903e-02 9.98476636e-01 -2.49582972e-04 6.45712202e-01] [ 1.57914138e-02 -6.22697370e-04 9.99875114e-01 9.33983807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.48925415399998 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:68.25, Y:0.65, Z:0.93 [[ 9.98269730e-01 -5.66378961e-02 -1.58017332e-02 6.82502604e+01] [ 5.66410466e-02 9.98394576e-01 -2.48452918e-04 6.48762106e-01] [ 1.57904365e-02 -6.47003677e-04 9.99875114e-01 9.34965685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.51925415399998 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:68.28, Y:0.65, Z:0.94 [[ 9.98247904e-01 -5.70212836e-02 -1.58017511e-02 6.82820064e+01] [ 5.70245001e-02 9.98372749e-01 -2.47309410e-04 6.50504487e-01] [ 1.57901395e-02 -6.54210855e-04 9.99875114e-01 9.35871509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.54925415399998 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:68.31, Y:0.65, Z:0.94 [[ 9.98216271e-01 -5.75724014e-02 -1.58017689e-02 6.83142515e+01] [ 5.75757049e-02 9.98341113e-01 -2.46166870e-04 6.52368187e-01] [ 1.57897279e-02 -6.64070207e-04 9.99875114e-01 9.36627286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.57925415399998 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:68.35, Y:0.66, Z:0.94 [[ 9.98179310e-01 -5.82096879e-02 -1.58017865e-02 6.83451629e+01] [ 5.82130891e-02 9.98304150e-01 -2.45028562e-04 6.55497718e-01] [ 1.57892521e-02 -6.75288366e-04 9.99875114e-01 9.37639098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.60925415399998 meters Centerline goodness : 0.998914 Centerline is valid? [True, True] Translation: X:68.38, Y:0.66, Z:0.94 [[ 9.98214091e-01 -5.76101776e-02 -1.58017996e-02 6.83768477e+01] [ 5.76135172e-02 9.98338932e-01 -2.44179890e-04 6.60462359e-01] [ 1.57896190e-02 -6.66653448e-04 9.99875114e-01 9.39330277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.63925415399999 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:68.41, Y:0.66, Z:0.94 [[ 9.98284248e-01 -5.63814120e-02 -1.58018174e-02 6.84086288e+01] [ 5.63846161e-02 9.98409093e-01 -2.43027802e-04 6.63102628e-01] [ 1.57903804e-02 -6.48368579e-04 9.99875114e-01 9.40273052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.66925415399999 meters Centerline goodness : 0.998976 Centerline is valid? [True, True] Translation: X:68.44, Y:0.67, Z:0.94 [[ 9.98399439e-01 -5.43034323e-02 -1.58018351e-02 6.84412934e+01] [ 5.43063949e-02 9.98524290e-01 -2.41865635e-04 6.65577289e-01] [ 1.57916503e-02 -6.16662185e-04 9.99875114e-01 9.40635032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.69925415399999 meters Centerline goodness : 0.998976 Centerline is valid? [True, True] Translation: X:68.47, Y:0.67, Z:0.94 [[ 9.98403453e-01 -5.42295665e-02 -1.58018574e-02 6.84739775e+01] [ 5.42325430e-02 9.98528304e-01 -2.40404591e-04 6.66015149e-01] [ 1.57916389e-02 -6.16954136e-04 9.99875114e-01 9.41151255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.72925415399999 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:68.51, Y:0.67, Z:0.94 [[ 9.98532900e-01 -5.17913988e-02 -1.58018751e-02 6.85057581e+01] [ 5.17940889e-02 9.98657757e-01 -2.39235725e-04 6.68361725e-01] [ 1.57930555e-02 -5.79558981e-04 9.99875114e-01 9.41351747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.75925415399999 meters Centerline goodness : 0.998975 Centerline is valid? [True, True] Translation: X:68.54, Y:0.67, Z:0.94 [[ 9.98766226e-01 -4.70778768e-02 -1.58018926e-02 6.85380617e+01] [ 4.70799960e-02 9.98891094e-01 -2.38070149e-04 6.72871734e-01] [ 1.57955776e-02 -5.06176617e-04 9.99875114e-01 9.41590100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.78925415399999 meters Centerline goodness : 0.998971 Centerline is valid? [True, True] Translation: X:68.57, Y:0.68, Z:0.94 [[ 9.98855065e-01 -4.51537180e-02 -1.58019100e-02 6.85700845e+01] [ 4.51556149e-02 9.98979937e-01 -2.36913222e-04 6.75208781e-01] [ 1.57964885e-02 -4.76902990e-04 9.99875114e-01 9.42079278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.81925415399998 meters Centerline goodness : 0.998929 Centerline is valid? [True, True] Translation: X:68.60, Y:0.68, Z:0.94 [[ 9.98976054e-01 -4.23927233e-02 -1.58019274e-02 6.86011220e+01] [ 4.23942935e-02 9.99100930e-01 -2.35746636e-04 6.79165476e-01] [ 1.57977143e-02 -4.34406303e-04 9.99875114e-01 9.42033234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.84925415399998 meters Centerline goodness : 0.998885 Centerline is valid? [True, True] Translation: X:68.63, Y:0.68, Z:0.94 [[ 9.99014806e-01 -4.14694545e-02 -1.58019403e-02 6.86333746e+01] [ 4.14709230e-02 9.99139684e-01 -2.34879343e-04 6.81002991e-01] [ 1.57980859e-02 -4.20673107e-04 9.99875114e-01 9.42270755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.87925415399998 meters Centerline goodness : 0.998969 Centerline is valid? [True, True] Translation: X:68.66, Y:0.68, Z:0.94 [[ 9.99035890e-01 -4.09583745e-02 -1.58019571e-02 6.86643827e+01] [ 4.09597972e-02 9.99160768e-01 -2.33740541e-04 6.82675820e-01] [ 1.57982692e-02 -4.13729768e-04 9.99875114e-01 9.41659232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.90925415399998 meters Centerline goodness : 0.998925 Centerline is valid? [True, True] Translation: X:68.70, Y:0.68, Z:0.94 [[ 9.99043790e-01 -4.07652202e-02 -1.58019850e-02 6.86968944e+01] [ 4.07666487e-02 9.99168668e-01 -2.31842452e-04 6.83949648e-01] [ 1.57982994e-02 -4.12573207e-04 9.99875114e-01 9.41989286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.93925415399998 meters Centerline goodness : 0.998988 Centerline is valid? [True, True] Translation: X:68.73, Y:0.69, Z:0.94 [[ 9.99036534e-01 -4.09426477e-02 -1.58020016e-02 6.87293916e+01] [ 4.09441164e-02 9.99161411e-01 -2.30699896e-04 6.85298267e-01] [ 1.57981957e-02 -4.16521371e-04 9.99875114e-01 9.41736372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.96925415399998 meters Centerline goodness : 0.996562 Centerline is valid? [True, True] Translation: X:68.76, Y:0.69, Z:0.94 [[ 9.99053569e-01 -4.05248350e-02 -1.58020182e-02 6.87596338e+01] [ 4.05262695e-02 9.99178447e-01 -2.29558913e-04 6.87183825e-01] [ 1.57983389e-02 -4.11055197e-04 9.99875114e-01 9.39299470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.99925415399998 meters Centerline goodness : 0.998735 Centerline is valid? [True, True] Translation: X:68.79, Y:0.69, Z:0.94 [[ 9.98989778e-01 -4.20685001e-02 -1.58007760e-02 6.87919739e+01] [ 4.20687894e-02 9.99114667e-01 -3.14220402e-04 6.88667756e-01] [ 1.58000058e-02 -3.50816547e-04 9.99875111e-01 9.41579871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.02925415399999 meters Centerline goodness : 0.998903 Centerline is valid? [True, True] Translation: X:68.82, Y:0.69, Z:0.94 [[ 9.98971248e-01 -4.25057790e-02 -1.58020252e-02 6.88238521e+01] [ 4.25074949e-02 9.99096122e-01 -2.27426091e-04 6.89936691e-01] [ 1.57974090e-02 -4.44512379e-04 9.99875114e-01 9.41872364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.05925415399999 meters Centerline goodness : 0.999004 Centerline is valid? [True, True] Translation: X:68.86, Y:0.69, Z:0.94 [[ 9.98941890e-01 -4.31902368e-02 -1.58020413e-02 6.88556686e+01] [ 4.31920560e-02 9.99066762e-01 -2.26300626e-04 6.93025442e-01] [ 1.57970682e-02 -4.56461478e-04 9.99875114e-01 9.43255942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.08925415399999 meters Centerline goodness : 0.999238 Centerline is valid? [True, True] Translation: X:68.89, Y:0.69, Z:0.94 [[ 9.98935382e-01 -4.33404923e-02 -1.58020577e-02 6.88878861e+01] [ 4.33423485e-02 9.99060254e-01 -2.25148028e-04 6.94439621e-01] [ 1.57969658e-02 -4.59989962e-04 9.99875114e-01 9.44176409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.11925415399999 meters Centerline goodness : 0.999028 Centerline is valid? [True, True] Translation: X:68.92, Y:0.70, Z:0.95 [[ 9.98926897e-01 -4.35356032e-02 -1.58020740e-02 6.89199874e+01] [ 4.35375019e-02 9.99051768e-01 -2.24003526e-04 6.95801570e-01] [ 1.57968421e-02 -4.64219678e-04 9.99875114e-01 9.45224147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.14925415399999 meters Centerline goodness : 0.998942 Centerline is valid? [True, True] Translation: X:68.95, Y:0.70, Z:0.95 [[ 9.98931426e-01 -4.34315602e-02 -1.58020903e-02 6.89522817e+01] [ 4.34334641e-02 9.99056297e-01 -2.22846088e-04 6.96574038e-01] [ 1.57968564e-02 -4.63731561e-04 9.99875114e-01 9.46145659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.17925415399999 meters Centerline goodness : 0.999006 Centerline is valid? [True, True] Translation: X:68.98, Y:0.70, Z:0.95 [[ 9.98937551e-01 -4.32904497e-02 -1.58021066e-02 6.89845935e+01] [ 4.32923544e-02 9.99062422e-01 -2.21685902e-04 6.97513953e-01] [ 1.57968877e-02 -4.62660025e-04 9.99875114e-01 9.47424440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.20925415399998 meters Centerline goodness : 0.999067 Centerline is valid? [True, True] Translation: X:69.02, Y:0.70, Z:0.95 [[ 9.98970291e-01 -4.25282263e-02 -1.58021229e-02 6.90161668e+01] [ 4.25300542e-02 9.99095164e-01 -2.20512553e-04 6.98099464e-01] [ 1.57972026e-02 -4.51779655e-04 9.99875114e-01 9.47417477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.23925415399998 meters Centerline goodness : 0.998878 Centerline is valid? [True, True] Translation: X:69.05, Y:0.70, Z:0.95 [[ 9.99072579e-01 -4.00534044e-02 -1.58021351e-02 6.90480437e+01] [ 4.00549368e-02 9.99197455e-01 -2.19637538e-04 6.99212874e-01] [ 1.57982504e-02 -4.13519681e-04 9.99875114e-01 9.49861307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.26925415399998 meters Centerline goodness : 0.998985 Centerline is valid? [True, True] Translation: X:69.08, Y:0.70, Z:0.95 [[ 9.99163992e-01 -3.77042450e-02 -1.58021512e-02 6.90806096e+01] [ 3.77055022e-02 9.99288871e-01 -2.18472578e-04 7.00429947e-01] [ 1.57991512e-02 -3.77538114e-04 9.99875114e-01 9.50793818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.29925415399998 meters Centerline goodness : 0.999302 Centerline is valid? [True, True] Translation: X:69.11, Y:0.70, Z:0.95 [[ 9.99263432e-01 -3.49697774e-02 -1.58021672e-02 6.91115555e+01] [ 3.49707113e-02 9.99388314e-01 -2.17305843e-04 7.01769475e-01] [ 1.58001004e-02 -3.35467246e-04 9.99875114e-01 9.51572628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.32925415399998 meters Centerline goodness : 0.999109 Centerline is valid? [True, True] Translation: X:69.14, Y:0.70, Z:0.95 [[ 9.99460733e-01 -2.87842577e-02 -1.58021936e-02 6.91441539e+01] [ 2.87844492e-02 9.99585619e-01 -2.15369151e-04 7.03872425e-01] [ 1.58018448e-02 -2.39604430e-04 9.99875114e-01 9.51709466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.35925415399998 meters Centerline goodness : 0.999064 Centerline is valid? [True, True] Translation: X:69.18, Y:0.70, Z:0.95 [[ 9.99543125e-01 -2.57649294e-02 -1.58022092e-02 6.91757564e+01] [ 2.57647618e-02 9.99668010e-01 -2.14220360e-04 7.04735306e-01] [ 1.58024824e-02 -1.93017668e-04 9.99875114e-01 9.51963755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.38925415399999 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:69.20, Y:0.71, Z:0.95 [[ 9.99665810e-01 -2.04586913e-02 -1.58022169e-02 6.92043267e+01] [ 2.04578699e-02 9.99790693e-01 -2.13648647e-04 7.05452163e-01] [ 1.58032804e-02 -1.09702450e-04 9.99875114e-01 9.49861070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.41925415399999 meters Centerline goodness : 0.998998 Centerline is valid? [True, True] Translation: X:69.23, Y:0.71, Z:0.95 [[ 9.99681563e-01 -1.96746900e-02 -1.58012452e-02 6.92345099e+01] [ 1.96726627e-02 9.99806434e-01 -2.83738139e-04 7.06024383e-01] [ 1.58037691e-02 -2.72047810e-05 9.99875112e-01 9.51225781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.44925415399999 meters Centerline goodness : 0.999191 Centerline is valid? [True, True] Translation: X:69.26, Y:0.71, Z:0.95 [[ 9.99697004e-01 -1.88730748e-02 -1.58021405e-02 6.92630971e+01] [ 1.88719675e-02 9.99821885e-01 -2.19197393e-04 7.06432154e-01] [ 1.58034628e-02 -7.90865049e-05 9.99875114e-01 9.51971695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.47925415399999 meters Centerline goodness : 0.998958 Centerline is valid? [True, True] Translation: X:69.29, Y:0.71, Z:0.95 [[ 9.99726026e-01 -1.72675413e-02 -1.58020847e-02 6.92906699e+01] [ 1.72661711e-02 9.99850904e-01 -2.23145432e-04 7.06680585e-01] [ 1.58035819e-02 -4.97572030e-05 9.99875114e-01 9.51156894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.50925415399999 meters Centerline goodness : 0.999001 Centerline is valid? [True, True] Translation: X:69.32, Y:0.71, Z:0.95 [[ 9.99713473e-01 -1.79805282e-02 -1.58010470e-02 6.93200989e+01] [ 1.79780956e-02 9.99838337e-01 -2.95995132e-04 7.07025241e-01] [ 1.58038147e-02 1.18375866e-05 9.99875112e-01 9.53053725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.53925415399999 meters Centerline goodness : 0.999021 Centerline is valid? [True, True] Translation: X:69.35, Y:0.71, Z:0.95 [[ 9.99700132e-01 -1.87067415e-02 -1.58020524e-02 6.93492740e+01] [ 1.87055128e-02 9.99825011e-01 -2.25568455e-04 7.06967657e-01] [ 1.58035068e-02 -7.00846783e-05 9.99875114e-01 9.53588208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.56925415399998 meters Centerline goodness : 0.999150 Centerline is valid? [True, True] Translation: X:69.38, Y:0.71, Z:0.95 [[ 9.99682760e-01 -1.96131825e-02 -1.58019929e-02 6.93766210e+01] [ 1.96120023e-02 9.99807640e-01 -2.29658676e-04 7.06963705e-01] [ 1.58034576e-02 -8.03229038e-05 9.99875114e-01 9.53152857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.59925415399998 meters Centerline goodness : 0.996348 Centerline is valid? [True, True] Translation: X:69.41, Y:0.71, Z:0.95 [[ 9.99631378e-01 -2.20772879e-02 -1.58019620e-02 6.94051736e+01] [ 2.20763822e-02 9.99756260e-01 -2.31767019e-04 7.06324102e-01] [ 1.58032272e-02 -1.17168569e-04 9.99875114e-01 9.50518688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.62925415399998 meters Centerline goodness : 0.999130 Centerline is valid? [True, True] Translation: X:69.44, Y:0.71, Z:0.95 [[ 9.99585269e-01 -2.40750242e-02 -1.58013927e-02 6.94353377e+01] [ 2.40737646e-02 9.99710148e-01 -2.69951005e-04 7.05947706e-01] [ 1.58033117e-02 -1.10559960e-04 9.99875114e-01 9.52907248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.65925415399998 meters Centerline goodness : 0.999130 Centerline is valid? [True, True] Translation: X:69.46, Y:0.71, Z:0.95 [[ 9.99538412e-01 -2.59473082e-02 -1.58019004e-02 6.94646218e+01] [ 2.59468199e-02 9.99663297e-01 -2.35952416e-04 7.05579533e-01] [ 1.58027021e-02 -1.74165560e-04 9.99875114e-01 9.52639197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.68925415399998 meters Centerline goodness : 0.999174 Centerline is valid? [True, True] Translation: X:69.49, Y:0.70, Z:0.95 [[ 9.99406172e-01 -3.06202974e-02 -1.58018961e-02 6.94949774e+01] [ 3.06203885e-02 9.99531058e-01 -2.36238123e-04 7.04225656e-01] [ 1.58017196e-02 -2.47762359e-04 9.99875114e-01 9.52984653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.71925415399998 meters Centerline goodness : 0.999045 Centerline is valid? [True, True] Translation: X:69.53, Y:0.70, Z:0.95 [[ 9.99471435e-01 -2.84103858e-02 -1.58018961e-02 6.95320242e+01] [ 2.84102007e-02 9.99596321e-01 -2.36238123e-04 6.98064309e-01] [ 1.58022288e-02 -2.12821784e-04 9.99875114e-01 9.51719476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.74925415399998 meters Centerline goodness : 0.998986 Centerline is valid? [True, True] Translation: X:69.55, Y:0.70, Z:0.95 [[ 9.99209451e-01 -3.64774136e-02 -1.58073134e-02 6.95542347e+01] [ 3.64840688e-02 9.99334226e-01 1.32748315e-04 7.03338116e-01] [ 1.57919470e-02 -7.09358479e-04 9.99875048e-01 9.53312076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.77925415399999 meters Centerline goodness : 0.998984 Centerline is valid? [True, True] Translation: X:69.59, Y:0.70, Z:0.95 [[ 9.99099164e-01 -3.93849350e-02 -1.58015012e-02 6.95868689e+01] [ 3.93860004e-02 9.99224041e-01 -2.43890219e-04 7.03167632e-01] [ 1.57988455e-02 -3.78687419e-04 9.99875119e-01 9.54469846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.80925415399999 meters Centerline goodness : 0.999221 Centerline is valid? [True, True] Translation: X:69.62, Y:0.70, Z:0.96 [[ 9.98876777e-01 -4.46709697e-02 -1.58015186e-02 6.96194781e+01] [ 4.46727138e-02 9.99001647e-01 -2.42755531e-04 7.01301284e-01] [ 1.57965873e-02 -4.63413857e-04 9.99875119e-01 9.55761789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.83925415399999 meters Centerline goodness : 0.999073 Centerline is valid? [True, True] Translation: X:69.65, Y:0.70, Z:0.96 [[ 9.98746887e-01 -4.74864920e-02 -1.58015364e-02 6.96506480e+01] [ 4.74886064e-02 9.98871750e-01 -2.41595017e-04 7.00451849e-01] [ 1.57951808e-02 -5.09100672e-04 9.99875119e-01 9.55807800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.86925415399999 meters Centerline goodness : 0.999135 Centerline is valid? [True, True] Translation: X:69.68, Y:0.70, Z:0.96 [[ 9.98448759e-01 -5.33890041e-02 -1.58015496e-02 6.96827104e+01] [ 5.33918701e-02 9.98573608e-01 -2.40730162e-04 6.99152773e-01] [ 1.57918627e-02 -6.03317551e-04 9.99875119e-01 9.57651748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.89925415399999 meters Centerline goodness : 0.999093 Centerline is valid? [True, True] Translation: X:69.72, Y:0.70, Z:0.96 [[ 9.98295055e-01 -5.61898009e-02 -1.58015670e-02 6.97168640e+01] [ 5.61930354e-02 9.98419894e-01 -2.39577600e-04 6.98511009e-01] [ 1.57900607e-02 -6.48768883e-04 9.99875119e-01 9.59075612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.92925415399998 meters Centerline goodness : 0.998883 Centerline is valid? [True, True] Translation: X:69.75, Y:0.70, Z:0.96 [[ 9.98088625e-01 -5.97441880e-02 -1.58027749e-02 6.97458437e+01] [ 5.97491457e-02 9.98213411e-01 -1.58642269e-04 6.98752697e-01] [ 1.57840198e-02 -7.85863255e-04 9.99875116e-01 9.57984539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.95925415399998 meters Centerline goodness : 0.999285 Centerline is valid? [True, True] Translation: X:69.78, Y:0.70, Z:0.96 [[ 9.97737435e-01 -6.53476875e-02 -1.58015762e-02 6.97776008e+01] [ 6.53520895e-02 9.97862239e-01 -2.38173505e-04 6.98230632e-01] [ 1.57833602e-02 -7.95031398e-04 9.99875119e-01 9.58051124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.98925415399998 meters Centerline goodness : 0.999158 Centerline is valid? [True, True] Translation: X:69.81, Y:0.70, Z:0.96 [[ 9.97570530e-01 -6.78479681e-02 -1.58015932e-02 6.98095444e+01] [ 6.78527008e-02 9.97695322e-01 -2.37040488e-04 6.98509897e-01] [ 1.57812583e-02 -8.35716167e-04 9.99875119e-01 9.58895536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.01925415399998 meters Centerline goodness : 0.999177 Centerline is valid? [True, True] Translation: X:69.84, Y:0.70, Z:0.96 [[ 9.97423468e-01 -6.99766727e-02 -1.58016106e-02 6.98418823e+01] [ 6.99816902e-02 9.97548248e-01 -2.35873421e-04 6.98859527e-01] [ 1.57793746e-02 -8.70557730e-04 9.99875119e-01 9.59641340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.04925415399998 meters Centerline goodness : 0.998991 Centerline is valid? [True, True] Translation: X:69.87, Y:0.70, Z:0.96 [[ 9.97297593e-01 -7.17483033e-02 -1.58016280e-02 6.98736079e+01] [ 7.17535609e-02 9.97422364e-01 -2.34700109e-04 6.99413321e-01] [ 1.57777365e-02 -8.99757224e-04 9.99875119e-01 9.59724509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.07925415399998 meters Centerline goodness : 0.999242 Centerline is valid? [True, True] Translation: X:69.91, Y:0.70, Z:0.96 [[ 9.97102612e-01 -7.44089332e-02 -1.58016496e-02 6.99069346e+01] [ 7.44145468e-02 9.97227367e-01 -2.33237697e-04 7.00866947e-01] [ 1.57751924e-02 -9.43310676e-04 9.99875119e-01 9.60963027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.10925415399998 meters Centerline goodness : 0.999072 Centerline is valid? [True, True] Translation: X:69.94, Y:0.70, Z:0.96 [[ 9.97080940e-01 -7.46986284e-02 -1.58023715e-02 6.99377710e+01] [ 7.47050584e-02 9.97205656e-01 -1.83830294e-04 7.01979801e-01] [ 1.57719461e-02 -9.97223399e-04 9.99875118e-01 9.62159909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.13925415399999 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:69.97, Y:0.70, Z:0.96 [[ 9.97028888e-01 -7.53903300e-02 -1.58017139e-02 6.99700687e+01] [ 7.53961306e-02 9.97153635e-01 -2.29171076e-04 7.04279315e-01] [ 1.57740137e-02 -9.62897901e-04 9.99875119e-01 9.63049990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.16925415399999 meters Centerline goodness : 0.999074 Centerline is valid? [True, True] Translation: X:70.00, Y:0.70, Z:0.96 [[ 9.97117830e-01 -7.42045807e-02 -1.58023489e-02 7.00003073e+01] [ 7.42109327e-02 9.97242550e-01 -1.84854778e-04 7.04900381e-01] [ 1.57724918e-02 -9.88385054e-04 9.99875118e-01 9.62087940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.19925415399999 meters Centerline goodness : 0.999408 Centerline is valid? [True, True] Translation: X:70.03, Y:0.71, Z:0.96 [[ 9.97057863e-01 -7.50061510e-02 -1.58017733e-02 7.00311049e+01] [ 7.50119657e-02 9.97182608e-01 -2.25233394e-04 7.07684983e-01] [ 1.57741475e-02 -9.60751354e-04 9.99875119e-01 9.63447609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.22925415399999 meters Centerline goodness : 0.999031 Centerline is valid? [True, True] Translation: X:70.06, Y:0.71, Z:0.96 [[ 9.97236113e-01 -7.25977801e-02 -1.58018014e-02 7.00624960e+01] [ 7.26033247e-02 9.97360871e-01 -2.23259729e-04 7.09602781e-01] [ 1.57763066e-02 -9.24620656e-04 9.99875119e-01 9.62412519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.25925415399999 meters Centerline goodness : 0.999199 Centerline is valid? [True, True] Translation: X:70.09, Y:0.71, Z:0.96 [[ 9.97319147e-01 -7.14480447e-02 -1.58017941e-02 7.00941636e+01] [ 7.14534373e-02 9.97443911e-01 -2.23779662e-04 7.11652452e-01] [ 1.57773919e-02 -9.05912760e-04 9.99875119e-01 9.62046397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.28925415399999 meters Centerline goodness : 0.999281 Centerline is valid? [True, True] Translation: X:70.13, Y:0.72, Z:0.96 [[ 9.97505248e-01 -6.88010365e-02 -1.58018101e-02 7.01258595e+01] [ 6.88061159e-02 9.97630026e-01 -2.22644599e-04 7.15731334e-01] [ 1.57796784e-02 -8.65172018e-04 9.99875119e-01 9.63804286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.31925415399998 meters Centerline goodness : 0.999260 Centerline is valid? [True, True] Translation: X:70.16, Y:0.72, Z:0.96 [[ 9.97625924e-01 -6.70284840e-02 -1.58018262e-02 7.01567964e+01] [ 6.70333597e-02 9.97750710e-01 -2.21496814e-04 7.18170190e-01] [ 1.57811299e-02 -8.38278533e-04 9.99875119e-01 9.64309660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.34925415399998 meters Centerline goodness : 0.999556 Centerline is valid? [True, True] Translation: X:70.19, Y:0.72, Z:0.97 [[ 9.97762368e-01 -6.49658239e-02 -1.58018381e-02 7.01885334e+01] [ 6.49704551e-02 9.97887164e-01 -2.20643113e-04 7.20610587e-01] [ 1.57827856e-02 -8.06503217e-04 9.99875119e-01 9.65059621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.37925415399998 meters Centerline goodness : 0.999556 Centerline is valid? [True, True] Translation: X:70.22, Y:0.72, Z:0.97 [[ 9.97769239e-01 -6.48602177e-02 -1.58018575e-02 7.02220623e+01] [ 6.48648578e-02 9.97894034e-01 -2.19242829e-04 7.20979569e-01] [ 1.57827995e-02 -8.06231490e-04 9.99875119e-01 9.65589145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.40925415399998 meters Centerline goodness : 0.999363 Centerline is valid? [True, True] Translation: X:70.25, Y:0.73, Z:0.97 [[ 9.98050895e-01 -6.03714408e-02 -1.58018805e-02 7.02537309e+01] [ 6.03755460e-02 9.98175709e-01 -2.17570456e-04 7.25610021e-01] [ 1.57861883e-02 -7.36900777e-04 9.99875119e-01 9.67947693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.43925415399998 meters Centerline goodness : 0.999256 Centerline is valid? [True, True] Translation: X:70.29, Y:0.73, Z:0.97 [[ 9.98266746e-01 -5.66904140e-02 -1.58018960e-02 7.02872652e+01] [ 5.66940768e-02 9.98391574e-01 -2.16438492e-04 7.27371294e-01] [ 1.57887498e-02 -6.79810558e-04 9.99875119e-01 9.74666086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.46925415399998 meters Centerline goodness : 0.999234 Centerline is valid? [True, True] Translation: X:70.32, Y:0.73, Z:0.97 [[ 9.98566128e-01 -5.11465070e-02 -1.58026335e-02 7.03169737e+01] [ 5.11503398e-02 9.98690951e-01 -1.61812301e-04 7.33438245e-01] [ 1.57902232e-02 -6.46729788e-04 9.99875117e-01 9.71952354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.49925415399998 meters Centerline goodness : 0.999339 Centerline is valid? [True, True] Translation: X:70.35, Y:0.74, Z:0.97 [[ 9.98752463e-01 -4.73689381e-02 -1.58019122e-02 7.03502149e+01] [ 4.73714603e-02 9.98877319e-01 -2.14861096e-04 7.36239845e-01] [ 1.57943494e-02 -5.33966606e-04 9.99875119e-01 9.73579372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.52925415399999 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:70.39, Y:0.74, Z:0.97 [[ 9.99057760e-01 -4.04214063e-02 -1.58019359e-02 7.03856808e+01] [ 4.04230879e-02 9.99182630e-01 -2.13105191e-04 7.36104021e-01] [ 1.57976338e-02 -4.25858647e-04 9.99875119e-01 9.71118562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.55925415399999 meters Centerline goodness : 0.999232 Centerline is valid? [True, True] Translation: X:70.41, Y:0.74, Z:0.97 [[ 9.99112153e-01 -3.90531722e-02 -1.58036608e-02 7.04127201e+01] [ 3.90567631e-02 9.99236990e-01 -8.14721718e-05 7.42036066e-01] [ 1.57947842e-02 -5.35839998e-04 9.99875111e-01 9.72959415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.58925415399999 meters Centerline goodness : 0.999420 Centerline is valid? [True, True] Translation: X:70.44, Y:0.75, Z:0.98 [[ 9.99413938e-01 -3.03657416e-02 -1.58019397e-02 7.04443886e+01] [ 3.03662058e-02 9.99538818e-01 -2.10612681e-04 7.47054251e-01] [ 1.58010475e-02 -2.69355704e-04 9.99875119e-01 9.75487984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.61925415399999 meters Centerline goodness : 0.999336 Centerline is valid? [True, True] Translation: X:70.48, Y:0.75, Z:0.98 [[ 9.99532877e-01 -2.61596067e-02 -1.58019550e-02 7.04759781e+01] [ 2.61595637e-02 9.99657758e-01 -2.09455878e-04 7.49405688e-01] [ 1.58020262e-02 -2.04014212e-04 9.99875119e-01 9.75924050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.64925415399999 meters Centerline goodness : 0.999505 Centerline is valid? [True, True] Translation: X:70.51, Y:0.75, Z:0.98 [[ 9.99683054e-01 -1.95982089e-02 -1.58019626e-02 7.05060378e+01] [ 1.95973553e-02 9.99807932e-01 -2.08880256e-04 7.53202879e-01] [ 1.58030212e-02 -1.00862623e-04 9.99875119e-01 9.76744135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.67925415399998 meters Centerline goodness : 0.999397 Centerline is valid? [True, True] Translation: X:70.54, Y:0.75, Z:0.98 [[ 9.99729150e-01 -1.70857861e-02 -1.58019664e-02 7.05350392e+01] [ 1.70846232e-02 9.99854025e-01 -2.08594994e-04 7.54971472e-01] [ 1.58032237e-02 -6.14321455e-05 9.99875119e-01 9.77195817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.70925415399998 meters Centerline goodness : 0.999440 Centerline is valid? [True, True] Translation: X:70.56, Y:0.76, Z:0.98 [[ 9.99760380e-01 -1.51486062e-02 -1.58019552e-02 7.05636320e+01] [ 1.51471879e-02 9.99885253e-01 -2.09439997e-04 7.56335070e-01] [ 1.58033147e-02 -2.99653740e-05 9.99875119e-01 9.77886861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.73925415399998 meters Centerline goodness : 0.999420 Centerline is valid? [True, True] Translation: X:70.59, Y:0.76, Z:0.98 [[ 9.99794594e-01 -1.26912849e-02 -1.58019023e-02 7.05920543e+01] [ 1.26894978e-02 9.99919462e-01 -2.13359503e-04 7.58315074e-01] [ 1.58033374e-02 1.27974735e-05 9.99875119e-01 9.79470090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.76925415399998 meters Centerline goodness : 0.999418 Centerline is valid? [True, True] Translation: X:70.62, Y:0.76, Z:0.98 [[ 9.99779172e-01 -1.38531041e-02 -1.58018464e-02 7.06182928e+01] [ 1.38513980e-02 9.99904041e-01 -2.17417198e-04 7.63474539e-01] [ 1.58033420e-02 -1.50847749e-06 9.99875119e-01 9.76761724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.79925415399998 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:70.65, Y:0.76, Z:0.98 [[ 9.99795337e-01 -1.26379673e-02 -1.57976614e-02 7.06515106e+01] [ 1.26315271e-02 9.99920090e-01 -5.07387986e-04 7.60029824e-01] [ 1.58028114e-02 3.07735555e-04 9.99875080e-01 9.79572541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.82925415399998 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:70.68, Y:0.76, Z:0.98 [[ 9.99798100e-01 -1.24123853e-02 -1.58016661e-02 7.06782681e+01] [ 1.24104478e-02 9.99922963e-01 -2.20667331e-04 7.59816471e-01] [ 1.58031878e-02 2.45170257e-05 9.99875122e-01 9.75500383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.85925415399998 meters Centerline goodness : 0.999417 Centerline is valid? [True, True] Translation: X:70.71, Y:0.76, Z:0.98 [[ 9.99751526e-01 -1.57238640e-02 -1.58002278e-02 7.07086271e+01] [ 1.57207306e-02 9.99876370e-01 -3.22507641e-04 7.60110091e-01] [ 1.58033455e-02 7.40363816e-05 9.99875117e-01 9.79578564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.88925415399999 meters Centerline goodness : 0.999547 Centerline is valid? [True, True] Translation: X:70.74, Y:0.76, Z:0.98 [[ 9.99778326e-01 -1.39142670e-02 -1.58016359e-02 7.07416316e+01] [ 1.39124877e-02 9.99903192e-01 -2.22527903e-04 7.57694581e-01] [ 1.58032025e-02 2.63850905e-06 9.99875122e-01 9.81136324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.91925415399999 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:70.77, Y:0.76, Z:0.98 [[ 9.99584095e-01 -2.41222530e-02 -1.58036055e-02 7.07666413e+01] [ 2.41240290e-02 9.99708970e-01 -7.82716178e-05 7.60202828e-01] [ 1.58008942e-02 -3.03007573e-04 9.99875112e-01 9.77344898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.94925415399999 meters Centerline goodness : 0.996927 Centerline is valid? [True, True] Translation: X:70.80, Y:0.76, Z:0.98 [[ 9.99487008e-01 -2.78590852e-02 -1.57985161e-02 7.07961573e+01] [ 2.78559668e-02 9.99611860e-01 -4.17449812e-04 7.59794501e-01] [ 1.58040138e-02 -2.28472766e-05 9.99875109e-01 9.76959629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.97925415399999 meters Centerline goodness : 0.999485 Centerline is valid? [True, True] Translation: X:70.83, Y:0.76, Z:0.98 [[ 9.99367523e-01 -3.18587137e-02 -1.57980134e-02 7.08277480e+01] [ 3.18555736e-02 9.99492381e-01 -4.50433856e-04 7.57329034e-01] [ 1.58043443e-02 -5.31058120e-05 9.99875102e-01 9.79739607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.00925415399999 meters Centerline goodness : 0.999507 Centerline is valid? [True, True] Translation: X:70.86, Y:0.76, Z:0.98 [[ 9.99092790e-01 -3.95464162e-02 -1.58012173e-02 7.08594248e+01] [ 3.95476362e-02 9.99217659e-01 -2.35377036e-04 7.55364045e-01] [ 1.57981637e-02 -3.89737294e-04 9.99875125e-01 9.79051143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.03925415399999 meters Centerline goodness : 0.999422 Centerline is valid? [True, True] Translation: X:70.89, Y:0.75, Z:0.98 [[ 9.98953063e-01 -4.29313343e-02 -1.58012296e-02 7.08914653e+01] [ 4.29329905e-02 9.99077927e-01 -2.34549549e-04 7.54567399e-01] [ 1.57967292e-02 -4.44090049e-04 9.99875125e-01 9.82159814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.06925415399998 meters Centerline goodness : 0.999400 Centerline is valid? [True, True] Translation: X:70.92, Y:0.75, Z:0.98 [[ 9.98811989e-01 -4.60969868e-02 -1.58012467e-02 7.09237318e+01] [ 4.60990569e-02 9.98936846e-01 -2.33393918e-04 7.53740234e-01] [ 1.57952063e-02 -4.95305926e-04 9.99875125e-01 9.83301225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.09925415399998 meters Centerline goodness : 0.999189 Centerline is valid? [True, True] Translation: X:70.96, Y:0.75, Z:0.98 [[ 9.98582616e-01 -5.08240004e-02 -1.58012640e-02 7.09550921e+01] [ 5.08266801e-02 9.98707462e-01 -2.32211871e-04 7.51239817e-01] [ 1.57926422e-02 -5.71243055e-04 9.99875125e-01 9.83469303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.12925415399998 meters Centerline goodness : 0.999467 Centerline is valid? [True, True] Translation: X:70.99, Y:0.75, Z:0.98 [[ 9.98488549e-01 -5.26396845e-02 -1.58012769e-02 7.09875923e+01] [ 5.26426052e-02 9.98613390e-01 -2.31330308e-04 7.50617526e-01] [ 1.57915439e-02 -6.00839720e-04 9.99875125e-01 9.84126394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.15925415399998 meters Centerline goodness : 0.999189 Centerline is valid? [True, True] Translation: X:71.02, Y:0.75, Z:0.98 [[ 9.98342071e-01 -5.53482553e-02 -1.58012938e-02 7.10191717e+01] [ 5.53515329e-02 9.98466902e-01 -2.30173553e-04 7.49650024e-01] [ 1.57898086e-02 -6.44833891e-04 9.99875125e-01 9.84065384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.18925415399998 meters Centerline goodness : 0.999382 Centerline is valid? [True, True] Translation: X:71.05, Y:0.75, Z:0.98 [[ 9.98298115e-01 -5.61354894e-02 -1.58013063e-02 7.10514659e+01] [ 5.61388791e-02 9.98422943e-01 -2.29311483e-04 7.49302005e-01] [ 1.57892593e-02 -6.58146402e-04 9.99875125e-01 9.84243621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.21925415399998 meters Centerline goodness : 0.999254 Centerline is valid? [True, True] Translation: X:71.08, Y:0.75, Z:0.98 [[ 9.98252211e-01 -5.69459433e-02 -1.58013264e-02 7.10840196e+01] [ 5.69494564e-02 9.98377037e-01 -2.27915601e-04 7.49364801e-01] [ 1.57886603e-02 -6.72359698e-04 9.99875125e-01 9.84889817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.24925415399998 meters Centerline goodness : 0.999423 Centerline is valid? [True, True] Translation: X:71.12, Y:0.75, Z:0.99 [[ 9.98150784e-01 -5.86969368e-02 -1.58013508e-02 7.11168588e+01] [ 5.87006956e-02 9.98275602e-01 -2.26217222e-04 7.49161993e-01] [ 1.57873812e-02 -7.01751384e-04 9.99875125e-01 9.85400434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.27925415399999 meters Centerline goodness : 0.999489 Centerline is valid? [True, True] Translation: X:71.15, Y:0.75, Z:0.99 [[ 9.98090307e-01 -5.97164582e-02 -1.58013757e-02 7.11493640e+01] [ 5.97203723e-02 9.98215120e-01 -2.24458892e-04 7.49108614e-01] [ 1.57865761e-02 -7.19633797e-04 9.99875125e-01 9.85369415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.30925415399999 meters Centerline goodness : 0.999146 Centerline is valid? [True, True] Translation: X:71.18, Y:0.75, Z:0.99 [[ 9.98011486e-01 -6.10195905e-02 -1.58013963e-02 7.11821561e+01] [ 6.10236906e-02 9.98136293e-01 -2.23002680e-04 7.49186621e-01] [ 1.57855546e-02 -7.41700281e-04 9.99875125e-01 9.85312169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.33925415399999 meters Centerline goodness : 0.999337 Centerline is valid? [True, True] Translation: X:71.21, Y:0.75, Z:0.98 [[ 9.97793220e-01 -6.44903571e-02 -1.58014207e-02 7.12147129e+01] [ 6.44949189e-02 9.97918011e-01 -2.21255754e-04 7.49655865e-01] [ 1.57827912e-02 -7.98343857e-04 9.99875125e-01 9.84513435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.36925415399999 meters Centerline goodness : 0.999146 Centerline is valid? [True, True] Translation: X:71.26, Y:0.74, Z:0.98 [[ 9.98291032e-01 -5.62612612e-02 -1.58014369e-02 7.12593412e+01] [ 5.62648122e-02 9.98415856e-01 -2.20093988e-04 7.38086758e-01] [ 1.57887879e-02 -6.69347026e-04 9.99875125e-01 9.76524726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.39925415399999 meters Centerline goodness : 0.999318 Centerline is valid? [True, True] Translation: X:71.27, Y:0.75, Z:0.98 [[ 9.97505981e-01 -6.87884635e-02 -1.58103147e-02 7.12732775e+01] [ 6.88044476e-02 9.97630056e-01 4.68637196e-04 7.50547016e-01] [ 1.57406083e-02 -1.55528838e-03 9.99874899e-01 9.83565829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.42925415399998 meters Centerline goodness : 0.999382 Centerline is valid? [True, True] Translation: X:71.30, Y:0.75, Z:0.98 [[ 9.97388314e-01 -7.04762614e-02 -1.58002530e-02 7.13048879e+01] [ 7.04814609e-02 9.97513063e-01 -2.28221238e-04 7.51334789e-01] [ 1.57770430e-02 -8.85999720e-04 9.99875142e-01 9.83228457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.45925415399998 meters Centerline goodness : 0.999424 Centerline is valid? [True, True] Translation: X:71.34, Y:0.75, Z:0.98 [[ 9.97270873e-01 -7.21190482e-02 -1.58002736e-02 7.13374505e+01] [ 7.21244758e-02 9.97395613e-01 -2.26786124e-04 7.52448344e-01] [ 1.57754792e-02 -9.13419256e-04 9.99875142e-01 9.82650890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.48925415399998 meters Centerline goodness : 0.999487 Centerline is valid? [True, True] Translation: X:71.37, Y:0.75, Z:0.98 [[ 9.97304925e-01 -7.16466088e-02 -1.58002898e-02 7.13695978e+01] [ 7.16519952e-02 9.97429667e-01 -2.25653202e-04 7.54827140e-01] [ 1.57758451e-02 -9.07077240e-04 9.99875142e-01 9.83465211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.51925415399998 meters Centerline goodness : 0.999442 Centerline is valid? [True, True] Translation: X:71.40, Y:0.76, Z:0.98 [[ 9.97396236e-01 -7.03640388e-02 -1.58003098e-02 7.14029844e+01] [ 7.03692871e-02 9.97520984e-01 -2.24241002e-04 7.57071345e-01] [ 1.57769191e-02 -8.88199409e-04 9.99875142e-01 9.84603776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.54925415399998 meters Centerline goodness : 0.999530 Centerline is valid? [True, True] Translation: X:71.44, Y:0.76, Z:0.99 [[ 9.97521869e-01 -6.85599814e-02 -1.58003337e-02 7.14359559e+01] [ 6.85650309e-02 9.97646624e-01 -2.22548267e-04 7.59721729e-01] [ 1.57784075e-02 -8.61353604e-04 9.99875142e-01 9.86493578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.57925415399998 meters Centerline goodness : 0.999486 Centerline is valid? [True, True] Translation: X:71.47, Y:0.76, Z:0.99 [[ 9.97777980e-01 -6.47259681e-02 -1.58003580e-02 7.14680958e+01] [ 6.47305655e-02 9.97902753e-01 -2.20805615e-04 7.64304488e-01] [ 1.57815126e-02 -8.02451131e-04 9.99875142e-01 9.88545229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.60925415399998 meters Centerline goodness : 0.999334 Centerline is valid? [True, True] Translation: X:71.50, Y:0.77, Z:0.99 [[ 9.97888885e-01 -6.29930239e-02 -1.58003742e-02 7.15000665e+01] [ 6.29974230e-02 9.98013665e-01 -2.19640152e-04 7.66324931e-01] [ 1.57828252e-02 -7.76206394e-04 9.99875142e-01 9.88854878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.63925415399999 meters Centerline goodness : 0.999441 Centerline is valid? [True, True] Translation: X:71.53, Y:0.77, Z:0.99 [[ 9.98091605e-01 -5.96950156e-02 -1.58003943e-02 7.15317239e+01] [ 5.96990254e-02 9.98216399e-01 -2.18188298e-04 7.69391125e-01] [ 1.57852374e-02 -7.25496230e-04 9.99875142e-01 9.88865182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.66925415399999 meters Centerline goodness : 0.999396 Centerline is valid? [True, True] Translation: X:71.57, Y:0.77, Z:0.99 [[ 9.98171648e-01 -5.83413069e-02 -1.58004332e-02 7.15651142e+01] [ 5.83451925e-02 9.98296445e-01 -2.15334182e-04 7.70867858e-01] [ 1.57860792e-02 -7.06938840e-04 9.99875142e-01 9.89965808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.69925415399999 meters Centerline goodness : 0.999397 Centerline is valid? [True, True] Translation: X:71.60, Y:0.77, Z:0.99 [[ 9.98260131e-01 -5.68071862e-02 -1.58004567e-02 7.15985986e+01] [ 5.68109074e-02 9.98384933e-01 -2.13593218e-04 7.72245309e-01] [ 1.57870716e-02 -6.84416690e-04 9.99875142e-01 9.90682806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.72925415399999 meters Centerline goodness : 0.999612 Centerline is valid? [True, True] Translation: X:71.63, Y:0.78, Z:0.99 [[ 9.98456842e-01 -5.32379478e-02 -1.58004803e-02 7.16302528e+01] [ 5.32412507e-02 9.98581656e-01 -2.11836507e-04 7.75344574e-01] [ 1.57893475e-02 -6.29727721e-04 9.99875142e-01 9.91049967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.75925415399999 meters Centerline goodness : 0.999590 Centerline is valid? [True, True] Translation: X:71.66, Y:0.78, Z:0.99 [[ 9.98572121e-01 -5.10300254e-02 -1.58004997e-02 7.16630421e+01] [ 5.10330752e-02 9.98696942e-01 -2.10381179e-04 7.77224709e-01] [ 1.57906464e-02 -5.96267307e-04 9.99875142e-01 9.91800479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.78925415399999 meters Centerline goodness : 0.999439 Centerline is valid? [True, True] Translation: X:71.70, Y:0.78, Z:0.99 [[ 9.98697064e-01 -4.85233809e-02 -1.58005226e-02 7.16955016e+01] [ 4.85261448e-02 9.98821891e-01 -2.08644338e-04 7.79315240e-01] [ 1.57920320e-02 -5.58365960e-04 9.99875142e-01 9.92214975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.81925415399998 meters Centerline goodness : 0.999546 Centerline is valid? [True, True] Translation: X:71.73, Y:0.78, Z:0.99 [[ 9.98841841e-01 -4.54457801e-02 -1.58005415e-02 7.17282051e+01] [ 4.54481821e-02 9.98966676e-01 -2.07205816e-04 7.81536742e-01] [ 1.57936310e-02 -5.11140046e-04 9.99875142e-01 9.93210323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.84925415399998 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:71.76, Y:0.79, Z:0.99 [[ 9.99150552e-01 -3.80593759e-02 -1.58005644e-02 7.17597725e+01] [ 3.80608827e-02 9.99275401e-01 -2.05444319e-04 7.85511121e-01] [ 1.57969344e-02 -3.96113622e-04 9.99875142e-01 9.93786000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.87925415399998 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:71.79, Y:0.79, Z:0.99 [[ 9.99309089e-01 -3.36405467e-02 -1.58005831e-02 7.17923046e+01] [ 3.36415243e-02 9.99433943e-01 -2.03988984e-04 7.88020569e-01] [ 1.57985014e-02 -3.27707657e-04 9.99875142e-01 9.94890794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.90925415399998 meters Centerline goodness : 0.999630 Centerline is valid? [True, True] Translation: X:71.82, Y:0.79, Z:1.00 [[ 9.99456534e-01 -2.89305605e-02 -1.58005979e-02 7.18247444e+01] [ 2.89309679e-02 9.99581391e-01 -2.02839204e-04 7.90748193e-01] [ 1.57998519e-02 -2.54397623e-04 9.99875142e-01 9.95680281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.93925415399998 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:71.86, Y:0.80, Z:1.00 [[ 9.99701805e-01 -1.86183034e-02 -1.58006126e-02 7.18552523e+01] [ 1.86174409e-02 9.99826660e-01 -2.01690039e-04 7.95847655e-01] [ 1.58016288e-02 -9.25370750e-05 9.99875142e-01 9.96882243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.96925415399998 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:71.89, Y:0.80, Z:1.00 [[ 9.99784253e-01 -1.34828558e-02 -1.58006162e-02 7.18852867e+01] [ 1.34813564e-02 9.99909102e-01 -2.01405977e-04 7.98484301e-01] [ 1.58018955e-02 -1.16512147e-05 9.99875142e-01 9.97431802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.99925415399998 meters Centerline goodness : 0.999627 Centerline is valid? [True, True] Translation: X:71.91, Y:0.80, Z:1.00 [[ 9.99834639e-01 -9.00198262e-03 -1.58006090e-02 7.19131829e+01] [ 8.99991490e-03 9.99959480e-01 -2.01966455e-04 8.01041106e-01] [ 1.58017869e-02 5.97289210e-05 9.99875142e-01 9.98453494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.02925415399999 meters Centerline goodness : 0.999583 Centerline is valid? [True, True] Translation: X:71.94, Y:0.80, Z:1.00 [[ 9.99874051e-01 -1.49183932e-03 -1.58005483e-02 7.19396495e+01] [ 1.48876054e-03 9.99998870e-01 -2.06613737e-04 8.04362005e-01] [ 1.58008386e-02 1.83064482e-04 9.99875142e-01 9.97029821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.05925415399999 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:71.97, Y:0.81, Z:1.00 [[ 9.99875067e-01 4.40815924e-04 -1.58005217e-02 7.19680066e+01] [-4.44167755e-04 9.99999880e-01 -2.08625623e-04 8.06089131e-01] [ 1.58004278e-02 2.15617641e-04 9.99875142e-01 9.96641430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.08925415399999 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:72.00, Y:0.81, Z:1.00 [[ 9.99873814e-01 1.64379042e-03 -1.58004623e-02 7.19963450e+01] [-1.64736206e-03 9.99998620e-01 -2.13033737e-04 8.08107501e-01] [ 1.58000903e-02 2.39035937e-04 9.99875142e-01 9.96313800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.11925415399999 meters Centerline goodness : 0.999493 Centerline is valid? [True, True] Translation: X:72.02, Y:0.81, Z:1.00 [[ 9.99875118e-01 3.10003945e-04 -1.58004009e-02 7.20241140e+01] [-3.13479514e-04 9.99999927e-01 -2.17490913e-04 8.09072748e-01] [ 1.58003323e-02 2.22416854e-04 9.99875142e-01 9.96653558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.14925415399999 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:72.05, Y:0.81, Z:1.00 [[ 9.99872745e-01 -2.20022030e-03 -1.58003775e-02 7.20523073e+01] [ 2.19703145e-03 9.99997563e-01 -2.19176328e-04 8.09603084e-01] [ 1.58008213e-02 1.84434511e-04 9.99875142e-01 9.97046002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.17925415399998 meters Centerline goodness : 0.999692 Centerline is valid? [True, True] Translation: X:72.08, Y:0.81, Z:1.00 [[ 9.99824295e-01 -1.00860340e-02 -1.58003538e-02 7.20803457e+01] [ 1.00838029e-02 9.99949133e-01 -2.20870776e-04 8.09514119e-01] [ 1.58017778e-02 6.15043138e-05 9.99875142e-01 9.96985526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.20925415399998 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:72.11, Y:0.81, Z:1.00 [[ 9.99765845e-01 -1.47852668e-02 -1.58003341e-02 7.21086776e+01] [ 1.47836003e-02 9.99890692e-01 -2.22271973e-04 8.09015688e-01] [ 1.58018934e-02 -1.13658977e-05 9.99875142e-01 9.97587762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.23925415399998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:72.14, Y:0.81, Z:1.00 [[ 9.99562185e-01 -2.50157431e-02 -1.58003185e-02 7.21365008e+01] [ 2.50153369e-02 9.99687043e-01 -2.23374913e-04 8.07873863e-01] [ 1.58009616e-02 -1.71973175e-04 9.99875142e-01 9.99050763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.26925415399998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:72.17, Y:0.81, Z:1.00 [[ 9.99563053e-01 -2.49810627e-02 -1.58002991e-02 7.21683421e+01] [ 2.49806306e-02 9.99687910e-01 -2.24741633e-04 8.08295350e-01] [ 1.58009823e-02 -1.70058002e-04 9.99875142e-01 9.99554538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.29925415399998 meters Centerline goodness : 0.999737 Centerline is valid? [True, True] Translation: X:72.20, Y:0.81, Z:1.00 [[ 9.99444090e-01 -2.93574892e-02 -1.58003069e-02 7.21995253e+01] [ 2.93576124e-02 9.99568947e-01 -2.24193023e-04 8.07786893e-01] [ 1.58000779e-02 -2.39790894e-04 9.99875142e-01 1.00074023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.32925415399998 meters Centerline goodness : 0.999562 Centerline is valid? [True, True] Translation: X:72.23, Y:0.81, Z:1.00 [[ 9.99171992e-01 -3.74924068e-02 -1.58003146e-02 7.22314845e+01] [ 3.74935551e-02 9.99296844e-01 -2.23644691e-04 8.05950425e-01] [ 1.57975895e-02 -3.68950457e-04 9.99875142e-01 1.00242989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.35925415399998 meters Centerline goodness : 0.999695 Centerline is valid? [True, True] Translation: X:72.26, Y:0.80, Z:1.00 [[ 9.99049235e-01 -4.06322067e-02 -1.58003303e-02 7.22635122e+01] [ 4.06337649e-02 9.99174083e-01 -2.22534567e-04 8.04859692e-01] [ 1.57963226e-02 -4.19703918e-04 9.99875142e-01 1.00328494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.38925415399999 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:72.30, Y:0.80, Z:1.00 [[ 9.98846338e-01 -4.53469082e-02 -1.58003462e-02 7.22966088e+01] [ 4.53490736e-02 9.98971177e-01 -2.21395882e-04 8.02813913e-01] [ 1.57941301e-02 -4.95390599e-04 9.99875142e-01 1.00381721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.41925415399999 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:72.33, Y:0.80, Z:1.00 [[ 9.98797196e-01 -4.64166967e-02 -1.58003706e-02 7.23291309e+01] [ 4.64190235e-02 9.98922032e-01 -2.19644350e-04 8.02115209e-01] [ 1.57935335e-02 -5.14057612e-04 9.99875142e-01 1.00425229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.44925415399999 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:72.36, Y:0.80, Z:1.00 [[ 9.98763437e-01 -4.71375173e-02 -1.58003906e-02 7.23622073e+01] [ 4.71399571e-02 9.98888270e-01 -2.18192497e-04 8.01577066e-01] [ 1.57931099e-02 -5.26907049e-04 9.99875142e-01 1.00462632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.47925415399999 meters Centerline goodness : 0.999154 Centerline is valid? [True, True] Translation: X:72.40, Y:0.80, Z:1.00 [[ 9.98702505e-01 -4.84112917e-02 -1.58004144e-02 7.23952053e+01] [ 4.84139182e-02 9.98827335e-01 -2.16455462e-04 8.01195149e-01] [ 1.57923647e-02 -5.48785360e-04 9.99875142e-01 1.00378692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.50925415399999 meters Centerline goodness : 0.999587 Centerline is valid? [True, True] Translation: X:72.43, Y:0.80, Z:1.00 [[ 9.98775757e-01 -4.68754667e-02 -1.58012151e-02 7.24264920e+01] [ 4.68788446e-02 9.98900570e-01 -1.56756774e-04 7.98965271e-01] [ 1.57911908e-02 -5.84177842e-04 9.99875141e-01 1.00362118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.53925415399999 meters Centerline goodness : 0.999545 Centerline is valid? [True, True] Translation: X:72.46, Y:0.80, Z:1.00 [[ 9.98826167e-01 -4.57890137e-02 -1.58004599e-02 7.24596942e+01] [ 4.57913698e-02 9.98951002e-01 -2.12828898e-04 7.98717484e-01] [ 1.57936304e-02 -5.10945627e-04 9.99875142e-01 1.00377319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.56925415399998 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:72.49, Y:0.80, Z:1.00 [[ 9.98915663e-01 -4.37931909e-02 -1.58004827e-02 7.24911288e+01] [ 4.37953245e-02 9.99040502e-01 -2.11118193e-04 7.98512671e-01] [ 1.57945677e-02 -4.81097999e-04 9.99875142e-01 1.00395706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.59925415399998 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:72.52, Y:0.80, Z:1.00 [[ 9.99125440e-01 -3.87131663e-02 -1.58001692e-02 7.25238246e+01] [ 3.87142937e-02 9.99250293e-01 -2.34615361e-04 7.98585432e-01] [ 1.57974065e-02 -3.77282217e-04 9.99875142e-01 1.00391300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.62925415399998 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:72.55, Y:0.80, Z:1.00 [[ 9.99242378e-01 -3.55670384e-02 -1.58005218e-02 7.25546558e+01] [ 3.55681964e-02 9.99367230e-01 -2.07806476e-04 7.98981501e-01] [ 1.57979148e-02 -3.54347027e-04 9.99875142e-01 1.00350055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.65925415399998 meters Centerline goodness : 0.999586 Centerline is valid? [True, True] Translation: X:72.59, Y:0.80, Z:1.00 [[ 9.99442954e-01 -2.93959823e-02 -1.58005461e-02 7.25864038e+01] [ 2.93963988e-02 9.99567811e-01 -2.05946588e-04 7.99453440e-01] [ 1.57997713e-02 -2.58647287e-04 9.99875142e-01 1.00318712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.68925415399998 meters Centerline goodness : 0.999630 Centerline is valid? [True, True] Translation: X:72.62, Y:0.80, Z:1.00 [[ 9.99523070e-01 -2.65325178e-02 -1.58005610e-02 7.26179692e+01] [ 2.65325947e-02 9.99647928e-01 -2.04797428e-04 7.99958241e-01] [ 1.58004318e-02 -2.14530126e-04 9.99875142e-01 1.00308260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.71925415399998 meters Centerline goodness : 0.999564 Centerline is valid? [True, True] Translation: X:72.65, Y:0.80, Z:1.00 [[ 9.99582170e-01 -2.42038662e-02 -1.58005857e-02 7.26478318e+01] [ 2.42036827e-02 9.99707027e-01 -2.02871281e-04 8.00443876e-01] [ 1.58008668e-02 -1.79645848e-04 9.99875142e-01 1.00306889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.74925415399998 meters Centerline goodness : 0.999522 Centerline is valid? [True, True] Translation: X:72.68, Y:0.80, Z:1.00 [[ 9.99638276e-01 -2.17637195e-02 -1.58005893e-02 7.26791328e+01] [ 2.17632356e-02 9.99763132e-01 -2.02593354e-04 8.01093717e-01] [ 1.58012558e-02 -1.41351877e-04 9.99875142e-01 1.00293999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.77925415399999 meters Centerline goodness : 0.999564 Centerline is valid? [True, True] Translation: X:72.71, Y:0.80, Z:1.00 [[ 9.99642814e-01 -2.15542612e-02 -1.58005965e-02 7.27093022e+01] [ 2.15537600e-02 9.99767670e-01 -2.02030552e-04 8.01467685e-01] [ 1.58012801e-02 -1.38603875e-04 9.99875142e-01 1.00332053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.80925415399999 meters Centerline goodness : 0.999587 Centerline is valid? [True, True] Translation: X:72.74, Y:0.80, Z:1.00 [[ 9.99609784e-01 -2.30352286e-02 -1.58005965e-02 7.27385802e+01] [ 2.30349124e-02 9.99734641e-01 -2.02030552e-04 8.01501576e-01] [ 1.58010575e-02 -1.62013639e-04 9.99875142e-01 1.00325118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.83925415399999 meters Centerline goodness : 0.999434 Centerline is valid? [True, True] Translation: X:72.77, Y:0.80, Z:1.00 [[ 9.99548263e-01 -2.55658128e-02 -1.58005929e-02 7.27685886e+01] [ 2.55658082e-02 9.99673121e-01 -2.02312314e-04 8.01615427e-01] [ 1.58006003e-02 -2.01734004e-04 9.99875142e-01 1.00043977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.86925415399999 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:72.80, Y:0.80, Z:1.01 [[ 9.99506654e-01 -2.71436397e-02 -1.58010087e-02 7.27985893e+01] [ 2.71443399e-02 9.99631510e-01 -1.70189237e-04 8.00999289e-01] [ 1.57998057e-02 -2.58802676e-04 9.99875142e-01 1.00503397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.89925415399999 meters Centerline goodness : 0.999544 Centerline is valid? [True, True] Translation: X:72.83, Y:0.80, Z:1.01 [[ 9.99435535e-01 -2.96471687e-02 -1.58005611e-02 7.28309796e+01] [ 2.96476357e-02 9.99560391e-01 -2.04736282e-04 8.00407445e-01] [ 1.57996849e-02 -2.63828563e-04 9.99875142e-01 1.00606029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.92925415399998 meters Centerline goodness : 0.999632 Centerline is valid? [True, True] Translation: X:72.86, Y:0.80, Z:1.01 [[ 9.99236701e-01 -3.57261375e-02 -1.58005760e-02 7.28621680e+01] [ 3.57273822e-02 9.99361553e-01 -2.03580700e-04 7.98714118e-01] [ 1.57977613e-02 -3.61087909e-04 9.99875142e-01 1.00633569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.95925415399998 meters Centerline goodness : 0.999548 Centerline is valid? [True, True] Translation: X:72.89, Y:0.80, Z:1.01 [[ 9.99120024e-01 -3.88525214e-02 -1.58005870e-02 7.28945697e+01] [ 3.88541704e-02 9.99244871e-01 -2.02719133e-04 7.97938844e-01] [ 1.57965317e-02 -4.11377955e-04 9.99875142e-01 1.00733818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.98925415399998 meters Centerline goodness : 0.999612 Centerline is valid? [True, True] Translation: X:72.93, Y:0.80, Z:1.01 [[ 9.98853172e-01 -4.51960284e-02 -1.58006014e-02 7.29265234e+01] [ 4.51984879e-02 9.98978006e-01 -2.01590228e-04 7.96395984e-01] [ 1.57935644e-02 -5.12804253e-04 9.99875142e-01 1.00953176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.01925415399998 meters Centerline goodness : 0.999634 Centerline is valid? [True, True] Translation: X:72.96, Y:0.80, Z:1.01 [[ 9.98719247e-01 -4.80646093e-02 -1.58006160e-02 7.29579346e+01] [ 4.80674455e-02 9.98844072e-01 -2.00444247e-04 7.95828594e-01] [ 1.57919859e-02 -5.59307718e-04 9.99875142e-01 1.01055834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.04925415399998 meters Centerline goodness : 0.999506 Centerline is valid? [True, True] Translation: X:72.99, Y:0.79, Z:1.01 [[ 9.98450433e-01 -5.33579724e-02 -1.58006268e-02 7.29900640e+01] [ 5.33614837e-02 9.98575241e-01 -1.99588160e-04 7.94144405e-01] [ 1.57887643e-02 -6.43866002e-04 9.99875142e-01 1.01290975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.07925415399998 meters Centerline goodness : 0.999506 Centerline is valid? [True, True] Translation: X:73.02, Y:0.79, Z:1.01 [[ 9.98327898e-01 -5.56034859e-02 -1.58006409e-02 7.30233887e+01] [ 5.56072957e-02 9.98452698e-01 -1.98463976e-04 7.93453495e-01] [ 1.57872278e-02 -6.80498786e-04 9.99875142e-01 1.01398272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.10925415399998 meters Centerline goodness : 0.999506 Centerline is valid? [True, True] Translation: X:73.06, Y:0.79, Z:1.01 [[ 9.98228599e-01 -5.73585426e-02 -1.58006622e-02 7.30568280e+01] [ 5.73625989e-02 9.98353391e-01 -1.96749246e-04 7.92611271e-01] [ 1.57859300e-02 -7.09966325e-04 9.99875142e-01 1.01494817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.13925415399999 meters Centerline goodness : 0.999356 Centerline is valid? [True, True] Translation: X:73.09, Y:0.79, Z:1.02 [[ 9.98134069e-01 -5.89806641e-02 -1.58006834e-02 7.30892154e+01] [ 5.89849503e-02 9.98258853e-01 -1.95033790e-04 7.91994398e-01] [ 1.57846753e-02 -7.37332655e-04 9.99875142e-01 1.01587569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.16925415399999 meters Centerline goodness : 0.999356 Centerline is valid? [True, True] Translation: X:73.12, Y:0.79, Z:1.02 [[ 9.98036252e-01 -6.06133448e-02 -1.58007008e-02 7.31218934e+01] [ 6.06178575e-02 9.98161028e-01 -1.93611679e-04 7.90278743e-01] [ 1.57833792e-02 -7.64573158e-04 9.99875142e-01 1.01694374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.19925415399999 meters Centerline goodness : 0.999528 Centerline is valid? [True, True] Translation: X:73.15, Y:0.79, Z:1.02 [[ 9.98024671e-01 -6.08037323e-02 -1.58007214e-02 7.31539774e+01] [ 6.08082956e-02 9.98149445e-01 -1.91915688e-04 7.89168856e-01] [ 1.57831505e-02 -7.69278349e-04 9.99875142e-01 1.01741212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.22925415399999 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:73.19, Y:0.79, Z:1.02 [[ 9.98053481e-01 -6.03289847e-02 -1.58007353e-02 7.31874712e+01] [ 6.03335069e-02 9.98178256e-01 -1.90765280e-04 7.88668815e-01] [ 1.57834591e-02 -7.62919822e-04 9.99875142e-01 1.01707399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.25925415399999 meters Centerline goodness : 0.999335 Centerline is valid? [True, True] Translation: X:73.23, Y:0.78, Z:1.01 [[ 9.98362129e-01 -5.49854153e-02 -1.58007559e-02 7.32260033e+01] [ 5.49892967e-02 9.98486926e-01 -1.89043403e-04 7.83102619e-01] [ 1.57872428e-02 -6.80138681e-04 9.99875142e-01 1.01282240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.28925415399999 meters Centerline goodness : 0.999357 Centerline is valid? [True, True] Translation: X:73.25, Y:0.79, Z:1.02 [[ 9.98187770e-01 -5.80638219e-02 -1.58040648e-02 7.32499221e+01] [ 5.80725900e-02 9.98312358e-01 9.60632705e-05 7.88121175e-01] [ 1.57718154e-02 -1.01367216e-03 9.99875103e-01 1.01643440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.31925415399998 meters Centerline goodness : 0.999357 Centerline is valid? [True, True] Translation: X:73.28, Y:0.79, Z:1.02 [[ 9.98416684e-01 -5.39857947e-02 -1.58005966e-02 7.32818365e+01] [ 5.39895207e-02 9.98541484e-01 -1.90960410e-04 7.88729071e-01] [ 1.57878603e-02 -6.62408577e-04 9.99875145e-01 1.01617070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.34925415399998 meters Centerline goodness : 0.999442 Centerline is valid? [True, True] Translation: X:73.31, Y:0.79, Z:1.02 [[ 9.98567375e-01 -5.11227730e-02 -1.58006102e-02 7.33140206e+01] [ 5.11261592e-02 9.98692185e-01 -1.89822668e-04 7.89018277e-01] [ 1.57896502e-02 -6.18273792e-04 9.99875145e-01 1.01636019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.37925415399998 meters Centerline goodness : 0.999398 Centerline is valid? [True, True] Translation: X:73.35, Y:0.79, Z:1.02 [[ 9.98876673e-01 -4.46736119e-02 -1.58006241e-02 7.33456121e+01] [ 4.46762103e-02 9.99001502e-01 -1.88662590e-04 7.90198035e-01] [ 1.57932754e-02 -5.17461345e-04 9.99875145e-01 1.01556521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.40925415399998 meters Centerline goodness : 0.999334 Centerline is valid? [True, True] Translation: X:73.38, Y:0.79, Z:1.02 [[ 9.99031353e-01 -4.10693992e-02 -1.58006344e-02 7.33780918e+01] [ 4.10715610e-02 9.99156190e-01 -1.87796579e-04 7.91429059e-01] [ 1.57950143e-02 -4.61342048e-04 9.99875145e-01 1.01724557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.43925415399998 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:73.41, Y:0.79, Z:1.02 [[ 9.99172576e-01 -3.74767015e-02 -1.58006478e-02 7.34104469e+01] [ 3.74784323e-02 9.99297419e-01 -1.86658477e-04 7.92531676e-01] [ 1.57965419e-02 -4.05679479e-04 9.99875145e-01 1.01866272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.46925415399998 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:73.44, Y:0.79, Z:1.02 [[ 9.99402434e-01 -3.07426926e-02 -1.58006614e-02 7.34422060e+01] [ 3.07436004e-02 9.99527287e-01 -1.85502889e-04 7.93810599e-01] [ 1.57988951e-02 -3.00377181e-04 9.99875145e-01 1.01992203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.49925415399998 meters Centerline goodness : 0.999526 Centerline is valid? [True, True] Translation: X:73.47, Y:0.79, Z:1.02 [[ 9.99493786e-01 -2.76135823e-02 -1.58006748e-02 7.34746560e+01] [ 2.76141173e-02 9.99618641e-01 -1.84356904e-04 7.94410790e-01] [ 1.57997398e-02 -2.52058106e-04 9.99875145e-01 1.02122971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.52925415399999 meters Centerline goodness : 0.999483 Centerline is valid? [True, True] Translation: X:73.51, Y:0.79, Z:1.02 [[ 9.99566239e-01 -2.48529964e-02 -1.58006882e-02 7.35063905e+01] [ 2.48532048e-02 9.99691095e-01 -1.83202303e-04 7.94919327e-01] [ 1.58003604e-02 -2.09574902e-04 9.99875145e-01 1.02211327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.55925415399999 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:73.54, Y:0.79, Z:1.02 [[ 9.99672869e-01 -2.01120076e-02 -1.58006948e-02 7.35362933e+01] [ 2.01116330e-02 9.99797724e-01 -1.82625618e-04 7.94845978e-01] [ 1.58011717e-02 -1.35211900e-04 9.99875145e-01 1.02341861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.58925415399999 meters Centerline goodness : 0.999247 Centerline is valid? [True, True] Translation: X:73.57, Y:0.80, Z:1.02 [[ 9.99706130e-01 -1.83845444e-02 -1.58007055e-02 7.35662892e+01] [ 1.83839686e-02 9.99830984e-01 -1.81700147e-04 7.95153455e-01] [ 1.58013754e-02 -1.08832923e-04 9.99875145e-01 1.02385339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.61925415399999 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:73.60, Y:0.80, Z:1.02 [[ 9.99750764e-01 -1.57717556e-02 -1.58006990e-02 7.35953747e+01] [ 1.57708446e-02 9.99875616e-01 -1.82264394e-04 7.95046629e-01] [ 1.58016082e-02 -6.69713998e-05 9.99875145e-01 1.02458392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.64925415399999 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:73.62, Y:0.79, Z:1.03 [[ 9.99759846e-01 -1.51851406e-02 -1.58006892e-02 7.36240686e+01] [ 1.51841431e-02 9.99884697e-01 -1.83103966e-04 7.94986010e-01] [ 1.58016478e-02 -5.68599335e-05 9.99875145e-01 1.02511191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.67925415399998 meters Centerline goodness : 0.999505 Centerline is valid? [True, True] Translation: X:73.65, Y:0.79, Z:1.03 [[ 9.99762118e-01 -1.50348873e-02 -1.58006428e-02 7.36518584e+01] [ 1.50338091e-02 9.99886968e-01 -1.87022281e-04 7.94698919e-01] [ 1.58016687e-02 -5.05660570e-05 9.99875145e-01 1.02503989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.70925415399998 meters Centerline goodness : 0.999095 Centerline is valid? [True, True] Translation: X:73.68, Y:0.79, Z:1.03 [[ 9.99757451e-01 -1.53421004e-02 -1.58006178e-02 7.36794749e+01] [ 1.53410276e-02 9.99882302e-01 -1.89111143e-04 7.93587234e-01] [ 1.58016595e-02 -5.33324393e-05 9.99875145e-01 1.02581294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.73925415399998 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:73.71, Y:0.79, Z:1.03 [[ 9.99752817e-01 -1.56412306e-02 -1.58005607e-02 7.37077550e+01] [ 1.56401215e-02 9.99877667e-01 -1.93769114e-04 7.93201453e-01] [ 1.58016586e-02 -5.34014719e-05 9.99875145e-01 1.02599859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.76925415399998 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:73.74, Y:0.79, Z:1.03 [[ 9.99746727e-01 -1.60257538e-02 -1.58005102e-02 7.37356807e+01] [ 1.60246289e-02 9.99871578e-01 -1.97804785e-04 7.93066594e-01] [ 1.58016510e-02 -5.54426266e-05 9.99875145e-01 1.02590339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.79925415399998 meters Centerline goodness : 0.999073 Centerline is valid? [True, True] Translation: X:73.76, Y:0.79, Z:1.03 [[ 9.99743089e-01 -1.62511975e-02 -1.58004922e-02 7.37646708e+01] [ 1.62500782e-02 9.99867939e-01 -1.99233234e-04 7.92441550e-01] [ 1.58016433e-02 -5.75771851e-05 9.99875145e-01 1.02633369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.82925415399998 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:73.79, Y:0.79, Z:1.03 [[ 9.99745222e-01 -1.61194701e-02 -1.58004411e-02 7.37934255e+01] [ 1.61182716e-02 9.99870072e-01 -2.03203408e-04 7.92130943e-01] [ 1.58016637e-02 -5.15241659e-05 9.99875145e-01 1.02713885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.85925415399998 meters Centerline goodness : 0.999333 Centerline is valid? [True, True] Translation: X:73.82, Y:0.79, Z:1.03 [[ 9.99770173e-01 -1.44896385e-02 -1.58003885e-02 7.38207417e+01] [ 1.44881730e-02 9.99895019e-01 -2.07219475e-04 7.90413722e-01] [ 1.58017323e-02 -2.17469106e-05 9.99875145e-01 1.02630230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.88925415399999 meters Centerline goodness : 0.999376 Centerline is valid? [True, True] Translation: X:73.85, Y:0.79, Z:1.03 [[ 9.99761963e-01 -1.50461923e-02 -1.57996680e-02 7.38508973e+01] [ 1.50439402e-02 9.99886799e-01 -2.61387236e-04 7.89636828e-01] [ 1.58018123e-02 2.36357564e-05 9.99875143e-01 1.02811824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.91925415399999 meters Centerline goodness : 0.999140 Centerline is valid? [True, True] Translation: X:73.88, Y:0.79, Z:1.03 [[ 9.99765132e-01 -1.48334525e-02 -1.58003273e-02 7.38786310e+01] [ 1.48319492e-02 9.99889978e-01 -2.12325004e-04 7.88901832e-01] [ 1.58017384e-02 -2.20745167e-05 9.99875144e-01 1.02883524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.94925415399999 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:73.91, Y:0.79, Z:1.03 [[ 9.99777926e-01 -1.39445330e-02 -1.58002646e-02 7.39063958e+01] [ 1.39428465e-02 9.99902770e-01 -2.16892879e-04 7.87198345e-01] [ 1.58017528e-02 -3.45595148e-06 9.99875145e-01 1.03006766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.97925415399999 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:73.93, Y:0.79, Z:1.03 [[ 9.99780092e-01 -1.37884530e-02 -1.58002005e-02 7.39338969e+01] [ 1.37866748e-02 9.99904935e-01 -2.21465362e-04 7.85178717e-01] [ 1.58017521e-02 3.58443489e-06 9.99875145e-01 1.03038902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.00925415399999 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:73.96, Y:0.78, Z:1.03 [[ 9.99772951e-01 -1.42968588e-02 -1.58001806e-02 7.39614115e+01] [ 1.42951217e-02 9.99897795e-01 -2.22877434e-04 7.84276254e-01] [ 1.58017521e-02 -3.03867430e-06 9.99875145e-01 1.03163570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.03925415399998 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:73.99, Y:0.78, Z:1.03 [[ 9.99763324e-01 -1.49550268e-02 -1.58001170e-02 7.39889874e+01] [ 1.49533021e-02 9.99888167e-01 -2.27298801e-04 7.82984427e-01] [ 1.58017492e-02 -9.01891650e-06 9.99875145e-01 1.03209898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.06925415399998 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:74.02, Y:0.78, Z:1.03 [[ 9.99745589e-01 -1.60970759e-02 -1.58000521e-02 7.40173877e+01] [ 1.60954239e-02 9.99870433e-01 -2.31721234e-04 7.81475422e-01] [ 1.58017350e-02 -2.26462546e-05 9.99875145e-01 1.03275022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.09925415399998 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:74.05, Y:0.78, Z:1.03 [[ 9.99692706e-01 -1.91011370e-02 -1.57999838e-02 7.40450459e+01] [ 1.90997880e-02 9.99817554e-01 -2.36289027e-04 7.77859687e-01] [ 1.58016145e-02 -6.55599233e-05 9.99875145e-01 1.03301111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.12925415399998 meters Centerline goodness : 0.998913 Centerline is valid? [True, True] Translation: X:74.07, Y:0.78, Z:1.03 [[ 9.99651628e-01 -2.11420352e-02 -1.57999137e-02 7.40734558e+01] [ 2.11408684e-02 9.99776478e-01 -2.40886838e-04 7.76296839e-01] [ 1.58014749e-02 -9.32209758e-05 9.99875145e-01 1.03358885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.15925415399998 meters Centerline goodness : 0.998873 Centerline is valid? [True, True] Translation: X:74.10, Y:0.77, Z:1.03 [[ 9.99593355e-01 -2.37379429e-02 -1.57998509e-02 7.41023757e+01] [ 2.37370363e-02 9.99718207e-01 -2.44934557e-04 7.74972276e-01] [ 1.58012129e-02 -1.30206680e-04 9.99875145e-01 1.03327093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.18925415399998 meters Centerline goodness : 0.998873 Centerline is valid? [True, True] Translation: X:74.13, Y:0.78, Z:1.03 [[ 9.99593355e-01 -2.37379565e-02 -1.57998376e-02 7.41333670e+01] [ 2.37370363e-02 9.99718207e-01 -2.45794304e-04 7.75454816e-01] [ 1.58012199e-02 -1.29346965e-04 9.99875145e-01 1.03376104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.21925415399998 meters Centerline goodness : 0.999129 Centerline is valid? [True, True] Translation: X:74.16, Y:0.77, Z:1.03 [[ 9.99527578e-01 -2.63625734e-02 -1.57998376e-02 7.41640697e+01] [ 2.63619811e-02 9.99652432e-01 -2.45794304e-04 7.73664445e-01] [ 1.58008258e-02 -1.70836833e-04 9.99875145e-01 1.03408823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.24925415399998 meters Centerline goodness : 0.999133 Centerline is valid? [True, True] Translation: X:74.20, Y:0.77, Z:1.03 [[ 9.99324198e-01 -3.31890359e-02 -1.57998376e-02 7.41950389e+01] [ 3.31892963e-02 9.99449053e-01 -2.45794304e-04 7.69745015e-01] [ 1.57992904e-02 -2.78757296e-04 9.99875145e-01 1.03482620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.27925415399999 meters Centerline goodness : 0.999282 Centerline is valid? [True, True] Translation: X:74.23, Y:0.77, Z:1.03 [[ 9.99063686e-01 -4.02755114e-02 -1.57998376e-02 7.42259258e+01] [ 4.02766573e-02 9.99188536e-01 -2.45794304e-04 7.66375945e-01] [ 1.57969161e-02 -3.90800481e-04 9.99875145e-01 1.03382281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.30925415399999 meters Centerline goodness : 0.999114 Centerline is valid? [True, True] Translation: X:74.26, Y:0.77, Z:1.03 [[ 9.98908375e-01 -4.39593272e-02 -1.57998509e-02 7.42577174e+01] [ 4.39609472e-02 9.99033220e-01 -2.44933143e-04 7.65092624e-01] [ 1.57953430e-02 -4.49910643e-04 9.99875145e-01 1.03451018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.33925415399999 meters Centerline goodness : 0.999114 Centerline is valid? [True, True] Translation: X:74.29, Y:0.76, Z:1.03 [[ 9.98737451e-01 -4.76850889e-02 -1.57998687e-02 7.42896570e+01] [ 4.76871927e-02 9.98862289e-01 -2.43782925e-04 7.63886184e-01] [ 1.57935178e-02 -5.09976245e-04 9.99875145e-01 1.03481236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.36925415399999 meters Centerline goodness : 0.998907 Centerline is valid? [True, True] Translation: X:74.32, Y:0.76, Z:1.04 [[ 9.98323812e-01 -5.56770235e-02 -1.57998862e-02 7.43214025e+01] [ 5.56801445e-02 9.98448628e-01 -2.42640162e-04 7.61342590e-01] [ 1.57888842e-02 -6.37506495e-04 9.99875145e-01 1.03534883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.39925415399999 meters Centerline goodness : 0.998906 Centerline is valid? [True, True] Translation: X:74.35, Y:0.76, Z:1.04 [[ 9.98095313e-01 -5.96331176e-02 -1.57999036e-02 7.43539093e+01] [ 5.96367511e-02 9.98220116e-01 -2.41504156e-04 7.60349592e-01] [ 1.57861832e-02 -7.01210751e-04 9.99875145e-01 1.03689191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.42925415399998 meters Centerline goodness : 0.998743 Centerline is valid? [True, True] Translation: X:74.39, Y:0.76, Z:1.04 [[ 9.97646245e-01 -6.67257939e-02 -1.57999216e-02 7.43861869e+01] [ 6.67303331e-02 9.97771018e-01 -2.40320903e-04 7.57835399e-01] [ 1.57807394e-02 -8.14578783e-04 9.99875145e-01 1.03835386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.45925415399998 meters Centerline goodness : 0.998890 Centerline is valid? [True, True] Translation: X:74.42, Y:0.76, Z:1.04 [[ 9.97438069e-01 -6.97686271e-02 -1.57999395e-02 7.44171695e+01] [ 6.97735655e-02 9.97562826e-01 -2.39138955e-04 7.56733900e-01] [ 1.57781167e-02 -8.63891813e-04 9.99875145e-01 1.03828802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.48925415399998 meters Centerline goodness : 0.998908 Centerline is valid? [True, True] Translation: X:74.45, Y:0.76, Z:1.04 [[ 9.97263648e-01 -7.22189538e-02 -1.57999528e-02 7.44506302e+01] [ 7.22242127e-02 9.97388393e-01 -2.38257466e-04 7.55671249e-01] [ 1.57758962e-02 -9.03533638e-04 9.99875145e-01 1.03915027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.51925415399998 meters Centerline goodness : 0.998934 Centerline is valid? [True, True] Translation: X:74.48, Y:0.75, Z:1.04 [[ 9.97047484e-01 -7.51443588e-02 -1.57999779e-02 7.44838803e+01] [ 7.51500102e-02 9.97172212e-01 -2.36577815e-04 7.54047494e-01] [ 1.57730764e-02 -9.51489185e-04 9.99875145e-01 1.03985147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.54925415399998 meters Centerline goodness : 0.998845 Centerline is valid? [True, True] Translation: X:74.52, Y:0.75, Z:1.04 [[ 9.96992731e-01 -7.58673409e-02 -1.58000038e-02 7.45156410e+01] [ 7.58731102e-02 9.97117453e-01 -2.34834456e-04 7.54103662e-01] [ 1.57722758e-02 -9.64667185e-04 9.99875145e-01 1.04021362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.57925415399998 meters Centerline goodness : 0.999014 Centerline is valid? [True, True] Translation: X:74.55, Y:0.75, Z:1.04 [[ 9.97010742e-01 -7.56302780e-02 -1.58000251e-02 7.45487835e+01] [ 7.56360404e-02 9.97135465e-01 -2.33390742e-04 7.54310247e-01] [ 1.57724168e-02 -9.62358263e-04 9.99875145e-01 1.04100365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.60925415399998 meters Centerline goodness : 0.998952 Centerline is valid? [True, True] Translation: X:74.58, Y:0.75, Z:1.04 [[ 9.97109931e-01 -7.43111306e-02 -1.58000507e-02 7.45803041e+01] [ 7.43167556e-02 9.97234660e-01 -2.31644718e-04 7.54517013e-01] [ 1.57735720e-02 -9.43233260e-04 9.99875145e-01 1.04052902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.63925415399999 meters Centerline goodness : 0.999055 Centerline is valid? [True, True] Translation: X:74.61, Y:0.75, Z:1.04 [[ 9.97196040e-01 -7.31465430e-02 -1.58000634e-02 7.46136217e+01] [ 7.31520360e-02 9.97320774e-01 -2.30779945e-04 7.54867071e-01] [ 1.57746122e-02 -9.25673957e-04 9.99875145e-01 1.04082514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.66925415399999 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:74.65, Y:0.76, Z:1.04 [[ 9.97447748e-01 -6.96300694e-02 -1.58000884e-02 7.46452385e+01] [ 6.96351497e-02 9.97572500e-01 -2.29054285e-04 7.55350122e-01] [ 1.57776827e-02 -8.71771840e-04 9.99875145e-01 1.04005473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.69925415399999 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] Translation: X:74.68, Y:0.76, Z:1.04 [[ 9.97608952e-01 -6.72810261e-02 -1.58001007e-02 7.46769998e+01] [ 6.72858261e-02 9.97733715e-01 -2.28200582e-04 7.56174143e-01] [ 1.57796468e-02 -8.35467886e-04 9.99875145e-01 1.04052154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.72925415399999 meters Centerline goodness : 0.998888 Centerline is valid? [True, True] Translation: X:74.71, Y:0.76, Z:1.04 [[ 9.97770841e-01 -6.48359849e-02 -1.58001168e-02 7.47101207e+01] [ 6.48404968e-02 9.97895615e-01 -2.27082392e-04 7.57541034e-01] [ 1.57815904e-02 -7.97911233e-04 9.99875145e-01 1.04133982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.75925415399999 meters Centerline goodness : 0.999009 Centerline is valid? [True, True] Translation: X:74.74, Y:0.76, Z:1.04 [[ 9.97986032e-01 -6.14348082e-02 -1.58001415e-02 7.47431887e+01] [ 6.14389222e-02 9.98110820e-01 -2.25348759e-04 7.59313206e-01] [ 1.57841365e-02 -7.45848751e-04 9.99875145e-01 1.04230763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.78925415399998 meters Centerline goodness : 0.999074 Centerline is valid? [True, True] Translation: X:74.77, Y:0.76, Z:1.04 [[ 9.98448825e-01 -5.33881809e-02 -1.58001661e-02 7.47738657e+01] [ 5.33913163e-02 9.98573641e-01 -2.23612493e-04 7.63574055e-01] [ 1.57895676e-02 -6.20326034e-04 9.99875145e-01 1.04266281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.81925415399998 meters Centerline goodness : 0.999049 Centerline is valid? [True, True] Translation: X:74.81, Y:0.77, Z:1.04 [[ 9.98690759e-01 -4.86530761e-02 -1.58001934e-02 7.48057924e+01] [ 4.86556504e-02 9.98815588e-01 -2.21664198e-04 7.65971175e-01] [ 1.57922641e-02 -5.47394702e-04 9.99875145e-01 1.04477778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.84925415399998 meters Centerline goodness : 0.998714 Centerline is valid? [True, True] Translation: X:74.84, Y:0.77, Z:1.05 [[ 9.99124685e-01 -3.87326385e-02 -1.58002096e-02 7.48367797e+01] [ 3.87339913e-02 9.99249533e-01 -2.20507523e-04 7.69794487e-01] [ 1.57968929e-02 -3.91690670e-04 9.99875145e-01 1.04513366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.87925415399998 meters Centerline goodness : 0.998792 Centerline is valid? [True, True] Translation: X:74.87, Y:0.77, Z:1.05 [[ 9.99304356e-01 -3.37810022e-02 -1.58002215e-02 7.48693411e+01] [ 3.37817499e-02 9.99429210e-01 -2.19646342e-04 7.71789046e-01] [ 1.57986228e-02 -3.14265586e-04 9.99875145e-01 1.04654585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.90925415399998 meters Centerline goodness : 0.998685 Centerline is valid? [True, True] Translation: X:74.90, Y:0.77, Z:1.05 [[ 9.99458070e-01 -2.88776604e-02 -1.58002372e-02 7.49017191e+01] [ 2.88778134e-02 9.99582925e-01 -2.18512824e-04 7.74069057e-01] [ 1.57999575e-02 -2.37881897e-04 9.99875145e-01 1.04724538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.93925415399998 meters Centerline goodness : 0.998874 Centerline is valid? [True, True] Translation: X:74.93, Y:0.78, Z:1.05 [[ 9.99679730e-01 -1.97684136e-02 -1.58002527e-02 7.49319086e+01] [ 1.97674467e-02 9.99804581e-01 -2.17384066e-04 7.78355213e-01] [ 1.58014624e-02 -9.50162087e-05 9.99875145e-01 1.04853669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.96925415399998 meters Centerline goodness : 0.998726 Centerline is valid? [True, True] Translation: X:74.96, Y:0.78, Z:1.05 [[ 9.99750227e-01 -1.58062071e-02 -1.58002566e-02 7.49605704e+01] [ 1.58047497e-02 9.99875074e-01 -2.17105396e-04 7.80044931e-01] [ 1.58017143e-02 -3.26679316e-05 9.99875145e-01 1.04839659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.99925415399998 meters Centerline goodness : 0.999043 Centerline is valid? [True, True] Translation: X:74.99, Y:0.78, Z:1.05 [[ 9.99822890e-01 -1.02245589e-02 -1.58002024e-02 7.49881440e+01] [ 1.02223434e-02 9.99947726e-01 -2.20978176e-04 7.82794278e-01] [ 1.58016359e-02 5.94239441e-05 9.99875145e-01 1.04994752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.02925415399999 meters Centerline goodness : 0.998894 Centerline is valid? [True, True] Translation: X:75.02, Y:0.78, Z:1.05 [[ 9.99837384e-01 -8.69255882e-03 -1.58001831e-02 7.50155753e+01] [ 8.69013039e-03 9.99962215e-01 -2.22347813e-04 7.83429995e-01] [ 1.58015189e-02 8.50060035e-05 9.99875145e-01 1.05020393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.05925415399999 meters Centerline goodness : 0.999105 Centerline is valid? [True, True] Translation: X:75.04, Y:0.78, Z:1.05 [[ 9.99844005e-01 -7.89439636e-03 -1.58001207e-02 7.50436297e+01] [ 7.89179958e-03 9.99968834e-01 -2.26695794e-04 7.83690519e-01] [ 1.58014179e-02 1.01969044e-04 9.99875145e-01 1.05044550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.08925415399999 meters Centerline goodness : 0.999129 Centerline is valid? [True, True] Translation: X:75.07, Y:0.78, Z:1.05 [[ 9.99835320e-01 -8.92693421e-03 -1.58000575e-02 7.50714168e+01] [ 8.92439803e-03 9.99960150e-01 -2.31018955e-04 7.83076446e-01] [ 1.58014902e-02 8.99749090e-05 9.99875145e-01 1.04864973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.11925415399999 meters Centerline goodness : 0.998914 Centerline is valid? [True, True] Translation: X:75.10, Y:0.78, Z:1.05 [[ 9.99820618e-01 -1.04446147e-02 -1.58000379e-02 7.50988947e+01] [ 1.04422469e-02 9.99945451e-01 -2.32356156e-04 7.83359532e-01] [ 1.58016029e-02 6.73265790e-05 9.99875145e-01 1.04877530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.14925415399999 meters Centerline goodness : 0.999128 Centerline is valid? [True, True] Translation: X:75.13, Y:0.78, Z:1.05 [[ 9.99800392e-01 -1.22285189e-02 -1.57999747e-02 7.51266756e+01] [ 1.22263072e-02 9.99925228e-01 -2.36572172e-04 7.83204621e-01] [ 1.58016863e-02 4.33496057e-05 9.99875145e-01 1.04872922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.17925415399998 meters Centerline goodness : 0.999087 Centerline is valid? [True, True] Translation: X:75.16, Y:0.78, Z:1.05 [[ 9.99772774e-01 -1.43095644e-02 -1.57999107e-02 7.51550827e+01] [ 1.43075461e-02 9.99897613e-01 -2.40774520e-04 7.82841329e-01] [ 1.58017384e-02 1.46618579e-05 9.99875145e-01 1.04871576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.20925415399998 meters Centerline goodness : 0.999022 Centerline is valid? [True, True] Translation: X:75.18, Y:0.78, Z:1.05 [[ 9.99742527e-01 -1.62863315e-02 -1.57998460e-02 7.51828334e+01] [ 1.62844941e-02 9.99867369e-01 -2.44947966e-04 7.82386188e-01] [ 1.58017398e-02 -1.24076005e-05 9.99875145e-01 1.04891278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.23925415399998 meters Centerline goodness : 0.998874 Centerline is valid? [True, True] Translation: X:75.21, Y:0.78, Z:1.05 [[ 9.99706220e-01 -1.83804242e-02 -1.57997806e-02 7.52104490e+01] [ 1.83787828e-02 9.99831065e-01 -2.49094292e-04 7.82062349e-01] [ 1.58016900e-02 -4.13596227e-05 9.99875145e-01 1.04977421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.26925415399998 meters Centerline goodness : 0.998812 Centerline is valid? [True, True] Translation: X:75.24, Y:0.78, Z:1.05 [[ 9.99634108e-01 -2.19549355e-02 -1.57997144e-02 7.52383088e+01] [ 2.19536752e-02 9.99758957e-01 -2.53225074e-04 7.80718195e-01] [ 1.58014656e-02 -9.37293784e-05 9.99875145e-01 1.05083235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.29925415399998 meters Centerline goodness : 0.998899 Centerline is valid? [True, True] Translation: X:75.27, Y:0.78, Z:1.05 [[ 9.99594120e-01 -2.37057906e-02 -1.57996938e-02 7.52680929e+01] [ 2.37047287e-02 9.99718971e-01 -2.54504351e-04 7.80439938e-01] [ 1.58012869e-02 -1.20126404e-04 9.99875145e-01 1.05165306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.32925415399998 meters Centerline goodness : 0.998963 Centerline is valid? [True, True] Translation: X:75.30, Y:0.78, Z:1.05 [[ 9.99513974e-01 -2.68735232e-02 -1.57996856e-02 7.52972501e+01] [ 2.68728490e-02 9.99638827e-01 -2.55011659e-04 7.79097030e-01] [ 1.58008323e-02 -1.69694849e-04 9.99875145e-01 1.05253206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.35925415399998 meters Centerline goodness : 0.998963 Centerline is valid? [True, True] Translation: X:75.33, Y:0.78, Z:1.05 [[ 9.99466049e-01 -2.86004845e-02 -1.57996856e-02 7.53273461e+01] [ 2.86000260e-02 9.99590903e-01 -2.55015396e-04 7.78570420e-01] [ 1.58005155e-02 -1.96992188e-04 9.99875145e-01 1.05286150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.38925415399999 meters Centerline goodness : 0.999070 Centerline is valid? [True, True] Translation: X:75.36, Y:0.78, Z:1.05 [[ 9.99416474e-01 -3.02833604e-02 -1.57996856e-02 7.53582198e+01] [ 3.02831121e-02 9.99541329e-01 -2.55015396e-04 7.77549720e-01] [ 1.58001614e-02 -2.23597062e-04 9.99875145e-01 1.05304295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.41925415399999 meters Centerline goodness : 0.999072 Centerline is valid? [True, True] Translation: X:75.39, Y:0.77, Z:1.05 [[ 9.99298818e-01 -3.39446811e-02 -1.57996936e-02 7.53885643e+01] [ 3.39448982e-02 9.99423673e-01 -2.54518648e-04 7.74980643e-01] [ 1.57992273e-02 -2.81978805e-04 9.99875145e-01 1.05303187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.44925415399999 meters Centerline goodness : 0.998924 Centerline is valid? [True, True] Translation: X:75.42, Y:0.77, Z:1.05 [[ 9.99228253e-01 -3.59620340e-02 -1.57996975e-02 7.54197287e+01] [ 3.59625070e-02 9.99353107e-01 -2.54271880e-04 7.73957010e-01] [ 1.57986210e-02 -3.14121086e-04 9.99875145e-01 1.05316544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.47925415399999 meters Centerline goodness : 0.999074 Centerline is valid? [True, True] Translation: X:75.45, Y:0.77, Z:1.06 [[ 9.99102606e-01 -3.92982504e-02 -1.57997054e-02 7.54515429e+01] [ 3.92991480e-02 9.99227458e-01 -2.53781966e-04 7.71448163e-01] [ 1.57974727e-02 -3.67360738e-04 9.99875145e-01 1.05523965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.50925415399999 meters Centerline goodness : 0.999074 Centerline is valid? [True, True] Translation: X:75.48, Y:0.77, Z:1.06 [[ 9.99048972e-01 -4.06388905e-02 -1.57997236e-02 7.54834801e+01] [ 4.06399736e-02 9.99173823e-01 -2.52644287e-04 7.70726577e-01] [ 1.57969374e-02 -3.89696334e-04 9.99875145e-01 1.05597070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.53925415399998 meters Centerline goodness : 0.999033 Centerline is valid? [True, True] Translation: X:75.52, Y:0.77, Z:1.06 [[ 9.98989713e-01 -4.20704427e-02 -1.57997417e-02 7.55161457e+01] [ 4.20717227e-02 9.99114561e-01 -2.51505646e-04 7.70382834e-01] [ 1.57963330e-02 -4.13470801e-04 9.99875145e-01 1.05703548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.56925415399998 meters Centerline goodness : 0.998867 Centerline is valid? [True, True] Translation: X:75.55, Y:0.77, Z:1.06 [[ 9.98922633e-01 -4.36341776e-02 -1.57997604e-02 7.55484009e+01] [ 4.36356716e-02 9.99047479e-01 -2.50328108e-04 7.69260637e-01] [ 1.57956337e-02 -4.39374744e-04 9.99875145e-01 1.05733972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.59925415399998 meters Centerline goodness : 0.998927 Centerline is valid? [True, True] Translation: X:75.58, Y:0.77, Z:1.06 [[ 9.98912780e-01 -4.38591470e-02 -1.57997788e-02 7.55805444e+01] [ 4.38606876e-02 9.99037626e-01 -2.49160539e-04 7.68771264e-01] [ 1.57955015e-02 -4.44099515e-04 9.99875145e-01 1.05787649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.62925415399998 meters Centerline goodness : 0.998801 Centerline is valid? [True, True] Translation: X:75.61, Y:0.77, Z:1.06 [[ 9.98912397e-01 -4.38678542e-02 -1.57997971e-02 7.56129231e+01] [ 4.38694143e-02 9.99037243e-01 -2.47996255e-04 7.67659676e-01] [ 1.57954648e-02 -4.45401311e-04 9.99875145e-01 1.05835964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.65925415399998 meters Centerline goodness : 0.998824 Centerline is valid? [True, True] Translation: X:75.64, Y:0.77, Z:1.06 [[ 9.98917312e-01 -4.37558000e-02 -1.57998152e-02 7.56448531e+01] [ 4.37573644e-02 9.99042157e-01 -2.46835867e-04 7.67748239e-01] [ 1.57954820e-02 -4.44789651e-04 9.99875145e-01 1.05903773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.68925415399998 meters Centerline goodness : 0.998802 Centerline is valid? [True, True] Translation: X:75.68, Y:0.77, Z:1.06 [[ 9.98916790e-01 -4.37677124e-02 -1.57998332e-02 7.56758263e+01] [ 4.37692966e-02 9.99041635e-01 -2.45677600e-04 7.67856998e-01] [ 1.57954440e-02 -4.46136107e-04 9.99875145e-01 1.05915395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.71925415399998 meters Centerline goodness : 0.998785 Centerline is valid? [True, True] Translation: X:75.71, Y:0.77, Z:1.06 [[ 9.98901676e-01 -4.41113047e-02 -1.57998466e-02 7.57073614e+01] [ 4.41129455e-02 9.99026520e-01 -2.44814508e-04 7.67768409e-01] [ 1.57952648e-02 -4.52432150e-04 9.99875145e-01 1.05893968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.74925415399998 meters Centerline goodness : 0.998718 Centerline is valid? [True, True] Translation: X:75.74, Y:0.77, Z:1.06 [[ 9.98877862e-01 -4.46472938e-02 -1.57998596e-02 7.57398137e+01] [ 4.46490149e-02 9.99002706e-01 -2.43973546e-04 7.68083793e-01] [ 1.57949952e-02 -4.61748391e-04 9.99875145e-01 1.05925241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.77925415399999 meters Centerline goodness : 0.998888 Centerline is valid? [True, True] Translation: X:75.77, Y:0.77, Z:1.06 [[ 9.98760930e-01 -4.71907637e-02 -1.57998768e-02 7.57707052e+01] [ 4.71928205e-02 9.98885769e-01 -2.42849764e-04 7.68274894e-01] [ 1.57937324e-02 -5.03091896e-04 9.99875145e-01 1.05909494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.80925415399999 meters Centerline goodness : 0.998886 Centerline is valid? [True, True] Translation: X:75.80, Y:0.77, Z:1.06 [[ 9.98667726e-01 -4.91236840e-02 -1.57999057e-02 7.58029556e+01] [ 4.91260122e-02 9.98792559e-01 -2.40961128e-04 7.68520285e-01] [ 1.57926651e-02 -5.35546257e-04 9.99875145e-01 1.06031507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.83925415399999 meters Centerline goodness : 0.998825 Centerline is valid? [True, True] Translation: X:75.83, Y:0.77, Z:1.06 [[ 9.98558422e-01 -5.12975677e-02 -1.57999233e-02 7.58347791e+01] [ 5.13001861e-02 9.98683250e-01 -2.39795698e-04 7.68579366e-01] [ 1.57914197e-02 -5.71088993e-04 9.99875145e-01 1.06058650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.86925415399999 meters Centerline goodness : 0.998737 Centerline is valid? [True, True] Translation: X:75.87, Y:0.77, Z:1.06 [[ 9.98312850e-01 -5.58732044e-02 -1.57999410e-02 7.58669927e+01] [ 5.58764132e-02 9.98437664e-01 -2.38629128e-04 7.68517145e-01] [ 1.57885891e-02 -6.44617505e-04 9.99875145e-01 1.06109594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.89925415399999 meters Centerline goodness : 0.998826 Centerline is valid? [True, True] Translation: X:75.90, Y:0.77, Z:1.06 [[ 9.98047130e-01 -6.04341603e-02 -1.57999628e-02 7.58994346e+01] [ 6.04379624e-02 9.98171927e-01 -2.37172424e-04 7.68779210e-01] [ 1.57854127e-02 -7.18208302e-04 9.99875145e-01 1.06283749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.92925415399998 meters Centerline goodness : 0.998681 Centerline is valid? [True, True] Translation: X:75.93, Y:0.77, Z:1.06 [[ 9.97868261e-01 -6.33189909e-02 -1.57999804e-02 7.59315623e+01] [ 6.33231724e-02 9.97993046e-01 -2.35995898e-04 7.68643721e-01] [ 1.57832136e-02 -7.65012066e-04 9.99875145e-01 1.06426604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.95925415399998 meters Centerline goodness : 0.998681 Centerline is valid? [True, True] Translation: X:75.97, Y:0.77, Z:1.06 [[ 9.97875362e-01 -6.32069806e-02 -1.57999979e-02 7.59650943e+01] [ 6.32111667e-02 9.98000147e-01 -2.34818342e-04 7.69053668e-01] [ 1.57832424e-02 -7.64416863e-04 9.99875145e-01 1.06479566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.98925415399998 meters Centerline goodness : 0.998823 Centerline is valid? [True, True] Translation: X:76.00, Y:0.77, Z:1.07 [[ 9.97849024e-01 -6.36214163e-02 -1.58000241e-02 7.59983313e+01] [ 6.36256822e-02 9.97973806e-01 -2.33044875e-04 7.69098174e-01] [ 1.57828368e-02 -7.72743708e-04 9.99875145e-01 1.06587928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.01925415399998 meters Centerline goodness : 0.998572 Centerline is valid? [True, True] Translation: X:76.03, Y:0.77, Z:1.07 [[ 9.97876865e-01 -6.31832270e-02 -1.58000500e-02 7.60295716e+01] [ 6.31874661e-02 9.98001649e-01 -2.31274921e-04 7.70020355e-01] [ 1.57830886e-02 -7.67581229e-04 9.99875145e-01 1.06663885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.04925415399998 meters Centerline goodness : 0.998701 Centerline is valid? [True, True] Translation: X:76.06, Y:0.77, Z:1.07 [[ 9.97968095e-01 -6.17255194e-02 -1.58000627e-02 7.60618197e+01] [ 6.17295901e-02 9.98092884e-01 -2.30398406e-04 7.71110010e-01] [ 1.57841517e-02 -7.45401138e-04 9.99875145e-01 1.06725999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.07925415399998 meters Centerline goodness : 0.998701 Centerline is valid? [True, True] Translation: X:76.10, Y:0.77, Z:1.07 [[ 9.97974661e-01 -6.16192520e-02 -1.58001041e-02 7.60953503e+01] [ 6.16233548e-02 9.98099449e-01 -2.27524521e-04 7.71496230e-01] [ 1.57840951e-02 -7.46591715e-04 9.99875145e-01 1.06778910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.10925415399998 meters Centerline goodness : 0.998612 Centerline is valid? [True, True] Translation: X:76.13, Y:0.77, Z:1.07 [[ 9.98189540e-01 -5.80344594e-02 -1.58001282e-02 7.61284400e+01] [ 5.80381405e-02 9.98314341e-01 -2.25842577e-04 7.74373774e-01] [ 1.57866012e-02 -6.91576360e-04 9.99875145e-01 1.06934189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.13925415399999 meters Centerline goodness : 0.998927 Centerline is valid? [True, True] Translation: X:76.16, Y:0.78, Z:1.07 [[ 9.98328634e-01 -5.55904026e-02 -1.58001527e-02 7.61610696e+01] [ 5.55938054e-02 9.98453443e-01 -2.24115241e-04 7.75901100e-01] [ 1.57881755e-02 -6.54649950e-04 9.99875145e-01 1.07019067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.16925415399999 meters Centerline goodness : 0.998948 Centerline is valid? [True, True] Translation: X:76.19, Y:0.78, Z:1.07 [[ 9.98639814e-01 -4.96877961e-02 -1.58001688e-02 7.61926098e+01] [ 4.96904791e-02 9.98764640e-01 -2.22972817e-04 7.78265935e-01] [ 1.57917289e-02 -5.62448424e-04 9.99875145e-01 1.07070906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.19925415399999 meters Centerline goodness : 0.998655 Centerline is valid? [True, True] Translation: X:76.22, Y:0.78, Z:1.07 [[ 9.98788495e-01 -4.66036043e-02 -1.58001887e-02 7.62246483e+01] [ 4.66059242e-02 9.98913329e-01 -2.21550157e-04 7.79777179e-01] [ 1.57933442e-02 -5.15100652e-04 9.99875145e-01 1.07134899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.22925415399999 meters Centerline goodness : 0.998926 Centerline is valid? [True, True] Translation: X:76.26, Y:0.78, Z:1.07 [[ 9.99084872e-01 -3.97463457e-02 -1.58002051e-02 7.62560606e+01] [ 3.97478272e-02 9.99209719e-01 -2.20376439e-04 7.82395593e-01] [ 1.57964777e-02 -4.07849057e-04 9.99875145e-01 1.07188747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.25925415399999 meters Centerline goodness : 0.999033 Centerline is valid? [True, True] Translation: X:76.29, Y:0.78, Z:1.07 [[ 9.99221384e-01 -3.61521733e-02 -1.58002173e-02 7.62882305e+01] [ 3.61532196e-02 9.99346235e-01 -2.19502385e-04 7.83801030e-01] [ 1.57978231e-02 -3.51897246e-04 9.99875145e-01 1.07221151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.28925415399998 meters Centerline goodness : 0.998904 Centerline is valid? [True, True] Translation: X:76.32, Y:0.79, Z:1.07 [[ 9.99353272e-01 -3.23015523e-02 -1.58002332e-02 7.63204937e+01] [ 3.23021357e-02 9.99478126e-01 -2.18351523e-04 7.85063533e-01] [ 1.57990405e-02 -2.92170966e-04 9.99875145e-01 1.07270779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.31925415399998 meters Centerline goodness : 0.998905 Centerline is valid? [True, True] Translation: X:76.35, Y:0.79, Z:1.07 [[ 9.99468337e-01 -2.85200974e-02 -1.58002492e-02 7.63516181e+01] [ 2.85202268e-02 9.99593192e-01 -2.17187206e-04 7.86435736e-01] [ 1.58000157e-02 -2.33554953e-04 9.99875145e-01 1.07273267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.34925415399998 meters Centerline goodness : 0.998924 Centerline is valid? [True, True] Translation: X:76.38, Y:0.79, Z:1.07 [[ 9.99655864e-01 -2.09405286e-02 -1.58002571e-02 7.63812364e+01] [ 2.09397204e-02 9.99780717e-01 -2.16606801e-04 7.88629289e-01] [ 1.58013282e-02 -1.14320708e-04 9.99875145e-01 1.07178705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.37925415399998 meters Centerline goodness : 0.998835 Centerline is valid? [True, True] Translation: X:76.41, Y:0.79, Z:1.07 [[ 9.99719756e-01 -1.76284176e-02 -1.58002532e-02 7.64107798e+01] [ 1.76271912e-02 9.99844605e-01 -2.16894588e-04 7.90108723e-01] [ 1.58016214e-02 -6.16802789e-05 9.99875145e-01 1.07202272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.40925415399998 meters Centerline goodness : 0.998942 Centerline is valid? [True, True] Translation: X:76.44, Y:0.79, Z:1.07 [[ 9.99796530e-01 -1.25399543e-02 -1.58002453e-02 7.64393875e+01] [ 1.25380834e-02 9.99921371e-01 -2.17469557e-04 7.92102998e-01] [ 1.58017300e-02 1.93205158e-05 9.99875145e-01 1.07287698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.43925415399998 meters Centerline goodness : 0.999089 Centerline is valid? [True, True] Translation: X:76.47, Y:0.79, Z:1.07 [[ 9.99814081e-01 -1.10525061e-02 -1.58001889e-02 7.64673743e+01] [ 1.10503859e-02 9.99938918e-01 -2.21487419e-04 7.92784542e-01] [ 1.58016718e-02 4.68480556e-05 9.99875145e-01 1.07364036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.46925415399998 meters Centerline goodness : 0.999048 Centerline is valid? [True, True] Translation: X:76.49, Y:0.79, Z:1.07 [[ 9.99823643e-01 -1.01508605e-02 -1.58001236e-02 7.64948371e+01] [ 1.01485555e-02 9.99948477e-01 -2.26057565e-04 7.93078844e-01] [ 1.58016042e-02 6.56692674e-05 9.99875145e-01 1.07465305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.49925415399998 meters Centerline goodness : 0.998965 Centerline is valid? [True, True] Translation: X:76.52, Y:0.79, Z:1.08 [[ 9.99824223e-01 -1.00936163e-02 -1.58000572e-02 7.65235169e+01] [ 1.00912323e-02 9.99949056e-01 -2.30606544e-04 7.93157972e-01] [ 1.58015799e-02 7.11239613e-05 9.99875145e-01 1.07583842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.52925415399999 meters Centerline goodness : 0.999132 Centerline is valid? [True, True] Translation: X:76.55, Y:0.79, Z:1.08 [[ 9.99811502e-01 -1.12836506e-02 -1.57999982e-02 7.65511163e+01] [ 1.12813524e-02 9.99936336e-01 -2.34580249e-04 7.92659770e-01] [ 1.58016392e-02 5.62906834e-05 9.99875145e-01 1.07700623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.55925415399999 meters Centerline goodness : 0.998900 Centerline is valid? [True, True] Translation: X:76.58, Y:0.79, Z:1.08 [[ 9.99787995e-01 -1.32032500e-02 -1.57999771e-02 7.65789256e+01] [ 1.32011692e-02 9.99912833e-01 -2.35987133e-04 7.92274068e-01] [ 1.58017157e-02 2.73589306e-05 9.99875145e-01 1.07772546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.58925415399999 meters Centerline goodness : 0.999049 Centerline is valid? [True, True] Translation: X:76.61, Y:0.79, Z:1.08 [[ 9.99697539e-01 -1.88466024e-02 -1.57999083e-02 7.66073212e+01] [ 1.88451548e-02 9.99822385e-01 -2.40511194e-04 7.90542820e-01] [ 1.58016348e-02 -5.73132690e-05 9.99875145e-01 1.07796721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.61925415399999 meters Centerline goodness : 0.998965 Centerline is valid? [True, True] Translation: X:76.64, Y:0.79, Z:1.08 [[ 9.99613490e-01 -2.28743230e-02 -1.57998908e-02 7.66360765e+01] [ 2.28733604e-02 9.99738341e-01 -2.41653704e-04 7.89713953e-01] [ 1.58012843e-02 -1.19836294e-04 9.99875145e-01 1.07795115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.64925415399999 meters Centerline goodness : 0.999198 Centerline is valid? [True, True] Translation: X:76.67, Y:0.79, Z:1.08 [[ 9.99508575e-01 -2.70734852e-02 -1.57998285e-02 7.66659559e+01] [ 2.70729837e-02 9.99633429e-01 -2.45664068e-04 7.88642667e-01] [ 1.58006877e-02 -1.82205156e-04 9.99875145e-01 1.07819201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.67925415399998 meters Centerline goodness : 0.999053 Centerline is valid? [True, True] Translation: X:76.70, Y:0.79, Z:1.08 [[ 9.99222265e-01 -3.61279822e-02 -1.57998195e-02 7.66964453e+01] [ 3.61286029e-02 9.99347119e-01 -2.46241488e-04 7.85818004e-01] [ 1.57984003e-02 -3.24775425e-04 9.99875145e-01 1.07799052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.70925415399998 meters Centerline goodness : 0.999138 Centerline is valid? [True, True] Translation: X:76.73, Y:0.78, Z:1.08 [[ 9.99050728e-01 -4.05956763e-02 -1.57998195e-02 7.67275484e+01] [ 4.05968553e-02 9.99175578e-01 -2.46241488e-04 7.84822655e-01] [ 1.57967901e-02 -3.95415246e-04 9.99875145e-01 1.07773146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.73925415399998 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:76.76, Y:0.78, Z:1.08 [[ 9.98869537e-01 -4.48331576e-02 -1.57998496e-02 7.67594873e+01] [ 4.48348969e-02 9.98994381e-01 -2.44290415e-04 7.83806858e-01] [ 1.57949133e-02 -4.64370375e-04 9.99875145e-01 1.07830970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.76925415399998 meters Centerline goodness : 0.998822 Centerline is valid? [True, True] Translation: X:76.79, Y:0.78, Z:1.08 [[ 9.98505011e-01 -5.23269189e-02 -1.57998668e-02 7.67921495e+01] [ 5.23296126e-02 9.98629838e-01 -2.43173752e-04 7.81820685e-01] [ 1.57909430e-02 -5.83990699e-04 9.99875145e-01 1.07927465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.79925415399998 meters Centerline goodness : 0.998970 Centerline is valid? [True, True] Translation: X:76.82, Y:0.78, Z:1.08 [[ 9.98334657e-01 -5.54822203e-02 -1.57998843e-02 7.68246675e+01] [ 5.54853266e-02 9.98459473e-01 -2.42030379e-04 7.81500730e-01] [ 1.57889726e-02 -6.35034425e-04 9.99875145e-01 1.07938909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.82925415399998 meters Centerline goodness : 0.998887 Centerline is valid? [True, True] Translation: X:76.86, Y:0.78, Z:1.08 [[ 9.98045058e-01 -6.04683858e-02 -1.57999061e-02 7.68573877e+01] [ 6.04721381e-02 9.98169857e-01 -2.40602621e-04 7.80864359e-01] [ 1.57855388e-02 -7.15321844e-04 9.99875145e-01 1.08007250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.85925415399998 meters Centerline goodness : 0.999014 Centerline is valid? [True, True] Translation: X:76.89, Y:0.78, Z:1.08 [[ 9.97914765e-01 -6.25818234e-02 -1.57999324e-02 7.68908345e+01] [ 6.25858674e-02 9.98039554e-01 -2.38858315e-04 7.81080288e-01] [ 1.57839057e-02 -7.50492238e-04 9.99875145e-01 1.08058866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.88925415399999 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:76.92, Y:0.78, Z:1.08 [[ 9.97804844e-01 -6.43106065e-02 -1.57999585e-02 7.69224502e+01] [ 6.43148942e-02 9.97929626e-01 -2.37118895e-04 7.81347438e-01] [ 1.57824960e-02 -7.79574280e-04 9.99875145e-01 1.08113109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.91925415399999 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:76.95, Y:0.78, Z:1.08 [[ 9.97623192e-01 -6.70695674e-02 -1.57999800e-02 7.69548169e+01] [ 6.70742229e-02 9.97747961e-01 -2.35677809e-04 7.81902144e-01] [ 1.57802047e-02 -8.24653734e-04 9.99875145e-01 1.08306684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.94925415399999 meters Centerline goodness : 0.999079 Centerline is valid? [True, True] Translation: X:76.99, Y:0.78, Z:1.08 [[ 9.97525702e-01 -6.85042604e-02 -1.57999975e-02 7.69868122e+01] [ 6.85091139e-02 9.97650463e-01 -2.34503596e-04 7.82757576e-01] [ 1.57789393e-02 -8.48520461e-04 9.99875145e-01 1.08330904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.97925415399999 meters Centerline goodness : 0.998869 Centerline is valid? [True, True] Translation: X:77.02, Y:0.78, Z:1.08 [[ 9.97370738e-01 -7.07246123e-02 -1.58000191e-02 7.70197688e+01] [ 7.07297666e-02 9.97495487e-01 -2.33039446e-04 7.84241933e-01] [ 1.57769293e-02 -8.85104937e-04 9.99875145e-01 1.08364566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.00925415399999 meters Centerline goodness : 0.998762 Centerline is valid? [True, True] Translation: X:77.05, Y:0.79, Z:1.08 [[ 9.97308128e-01 -7.16020699e-02 -1.58000444e-02 7.70526056e+01] [ 7.16073614e-02 9.97432871e-01 -2.31305619e-04 7.85458770e-01] [ 1.57760456e-02 -9.00716519e-04 9.99875145e-01 1.08441633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.03925415399998 meters Centerline goodness : 0.998739 Centerline is valid? [True, True] Translation: X:77.09, Y:0.79, Z:1.08 [[ 9.97246906e-01 -7.24497559e-02 -1.58000700e-02 7.70857826e+01] [ 7.24551812e-02 9.97371643e-01 -2.29544728e-04 7.86809392e-01] [ 1.57751723e-02 -9.15884166e-04 9.99875145e-01 1.08466906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.06925415399998 meters Centerline goodness : 0.999012 Centerline is valid? [True, True] Translation: X:77.12, Y:0.79, Z:1.08 [[ 9.97169113e-01 -7.35127053e-02 -1.58000955e-02 7.71182870e+01] [ 7.35182915e-02 9.97293843e-01 -2.27776521e-04 7.89039605e-01] [ 1.57740824e-02 -9.34464316e-04 9.99875145e-01 1.08464244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.09925415399998 meters Centerline goodness : 0.999158 Centerline is valid? [True, True] Translation: X:77.15, Y:0.79, Z:1.09 [[ 9.97175824e-01 -7.34216029e-02 -1.58001370e-02 7.71515969e+01] [ 7.34272237e-02 9.97300553e-01 -2.24862137e-04 7.90181854e-01] [ 1.57739951e-02 -9.35933107e-04 9.99875145e-01 1.08515314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.12925415399998 meters Centerline goodness : 0.998842 Centerline is valid? [True, True] Translation: X:77.18, Y:0.79, Z:1.08 [[ 9.97218142e-01 -7.28445765e-02 -1.58001612e-02 7.71842658e+01] [ 7.28501521e-02 9.97342873e-01 -2.23149305e-04 7.92770561e-01] [ 1.57744334e-02 -9.28515611e-04 9.99875145e-01 1.08491530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.15925415399998 meters Centerline goodness : 0.998906 Centerline is valid? [True, True] Translation: X:77.22, Y:0.79, Z:1.09 [[ 9.97309221e-01 -7.15868149e-02 -1.58001810e-02 7.72162368e+01] [ 7.15922556e-02 9.97433958e-01 -2.21735132e-04 7.94663278e-01] [ 1.57755104e-02 -9.10032107e-04 9.99875145e-01 1.08539332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.18925415399998 meters Centerline goodness : 0.998948 Centerline is valid? [True, True] Translation: X:77.25, Y:0.80, Z:1.09 [[ 9.97429078e-01 -6.98969865e-02 -1.58002007e-02 7.72493674e+01] [ 6.99022382e-02 9.97553822e-01 -2.20322942e-04 7.96803530e-01] [ 1.57769505e-02 -8.84712885e-04 9.99875145e-01 1.08607461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.21925415399998 meters Centerline goodness : 0.998841 Centerline is valid? [True, True] Translation: X:77.28, Y:0.80, Z:1.09 [[ 9.97763716e-01 -6.49455164e-02 -1.58002239e-02 7.72810087e+01] [ 6.49501753e-02 9.97888484e-01 -2.18649867e-04 8.01506036e-01] [ 1.57810618e-02 -8.08066406e-04 9.99875145e-01 1.08767262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.24925415399998 meters Centerline goodness : 0.999053 Centerline is valid? [True, True] Translation: X:77.31, Y:0.80, Z:1.09 [[ 9.97963820e-01 -6.17945504e-02 -1.58002399e-02 7.73129281e+01] [ 6.17988337e-02 9.98088602e-01 -2.17483910e-04 8.04405585e-01] [ 1.57834787e-02 -7.59395325e-04 9.99875145e-01 1.08833557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.27925415399999 meters Centerline goodness : 0.999007 Centerline is valid? [True, True] Translation: X:77.35, Y:0.81, Z:1.09 [[ 9.98189126e-01 -5.80415354e-02 -1.58002558e-02 7.73461129e+01] [ 5.80453677e-02 9.98313923e-01 -2.16325612e-04 8.07057144e-01] [ 1.57861712e-02 -7.01197782e-04 9.99875145e-01 1.08910376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.30925415399999 meters Centerline goodness : 0.999004 Centerline is valid? [True, True] Translation: X:77.38, Y:0.81, Z:1.09 [[ 9.98616080e-01 -5.01625043e-02 -1.58002796e-02 7.73789607e+01] [ 5.01653794e-02 9.98740902e-01 -2.14568923e-04 8.12656802e-01] [ 1.57911488e-02 -5.78355046e-04 9.99875145e-01 1.09051714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.33925415399999 meters Centerline goodness : 0.999024 Centerline is valid? [True, True] Translation: X:77.41, Y:0.82, Z:1.09 [[ 9.98815247e-01 -4.60266562e-02 -1.58003032e-02 7.74111589e+01] [ 4.60290421e-02 9.98940079e-01 -2.12817399e-04 8.15474019e-01] [ 1.57933514e-02 -5.14707559e-04 9.99875145e-01 1.09153090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.36925415399999 meters Centerline goodness : 0.999025 Centerline is valid? [True, True] Translation: X:77.44, Y:0.82, Z:1.09 [[ 9.99150144e-01 -3.80701834e-02 -1.58003188e-02 7.74426225e+01] [ 3.80715933e-02 9.99274992e-01 -2.11654713e-04 8.20284451e-01] [ 1.57969212e-02 -3.90068475e-04 9.99875145e-01 1.09300578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.39925415399998 meters Centerline goodness : 0.998873 Centerline is valid? [True, True] Translation: X:77.47, Y:0.82, Z:1.09 [[ 9.99292104e-01 -3.41414883e-02 -1.58003304e-02 7.74747684e+01] [ 3.41424211e-02 9.99416955e-01 -2.10788719e-04 8.22618284e-01] [ 1.57983147e-02 -3.28822030e-04 9.99875145e-01 1.09436632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.42925415399998 meters Centerline goodness : 0.998978 Centerline is valid? [True, True] Translation: X:77.51, Y:0.82, Z:1.10 [[ 9.99426813e-01 -2.99398600e-02 -1.58003455e-02 7.75056495e+01] [ 2.99402859e-02 9.99551667e-01 -2.09645312e-04 8.24666536e-01] [ 1.57995385e-02 -2.63541715e-04 9.99875145e-01 1.09550849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.45925415399998 meters Centerline goodness : 0.998936 Centerline is valid? [True, True] Translation: X:77.54, Y:0.83, Z:1.10 [[ 9.99532794e-01 -2.61637731e-02 -1.58003699e-02 7.75366269e+01] [ 2.61637565e-02 9.99657649e-01 -2.07795004e-04 8.26963774e-01] [ 1.58003973e-02 -2.05699109e-04 9.99875145e-01 1.09625446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.48925415399998 meters Centerline goodness : 0.999296 Centerline is valid? [True, True] Translation: X:77.57, Y:0.83, Z:1.10 [[ 9.99689438e-01 -1.92711228e-02 -1.58003772e-02 7.75669639e+01] [ 1.92702541e-02 9.99814290e-01 -2.07236534e-04 8.30616858e-01] [ 1.58014366e-02 -9.73051094e-05 9.99875145e-01 1.09705634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.51925415399998 meters Centerline goodness : 0.999188 Centerline is valid? [True, True] Translation: X:77.60, Y:0.83, Z:1.10 [[ 9.99733303e-01 -1.68425534e-02 -1.58003772e-02 7.75957587e+01] [ 1.68413815e-02 9.99858152e-01 -2.07236534e-04 8.32305900e-01] [ 1.58016263e-02 -5.89189152e-05 9.99875145e-01 1.09646875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.54925415399998 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:77.62, Y:0.83, Z:1.10 [[ 9.99779732e-01 -1.38143096e-02 -1.58003659e-02 7.76248067e+01] [ 1.38127460e-02 9.99904578e-01 -2.08090394e-04 8.34113380e-01] [ 1.58017329e-02 -1.02018824e-05 9.99875145e-01 1.09647446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.57925415399998 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:77.65, Y:0.83, Z:1.10 [[ 9.99785800e-01 -1.33680203e-02 -1.58003130e-02 7.76525068e+01] [ 1.33663387e-02 9.99910644e-01 -2.12031727e-04 8.34703084e-01] [ 1.58017356e-02 7.93973429e-07 9.99875145e-01 1.09650911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.60925415399998 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:77.68, Y:0.84, Z:1.10 [[ 9.99769123e-01 -1.45620421e-02 -1.58002512e-02 7.76803186e+01] [ 1.45604384e-02 9.99893968e-01 -2.16541909e-04 8.35515207e-01] [ 1.58017292e-02 -1.35666702e-05 9.99875145e-01 1.09680013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.63925415399999 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:77.71, Y:0.84, Z:1.10 [[ 9.99749229e-01 -1.58692689e-02 -1.58001875e-02 7.77083041e+01] [ 1.58677564e-02 9.99874075e-01 -2.21093218e-04 8.35860312e-01] [ 1.58017065e-02 -2.96757535e-05 9.99875145e-01 1.09681662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.66925415399999 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:77.74, Y:0.84, Z:1.10 [[ 9.99712753e-01 -1.80212688e-02 -1.58001677e-02 7.77373963e+01] [ 1.80200028e-02 9.99837602e-01 -2.22500852e-04 8.36316035e-01] [ 1.58016116e-02 -6.22821279e-05 9.99875145e-01 1.09809800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.69925415399999 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:77.77, Y:0.84, Z:1.10 [[ 9.99629065e-01 -2.21830772e-02 -1.58001089e-02 7.77660787e+01] [ 2.21822661e-02 9.99753918e-01 -2.26603132e-04 8.35626853e-01] [ 1.58012475e-02 -1.23963144e-04 9.99875145e-01 1.09867957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.72925415399999 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:77.80, Y:0.84, Z:1.10 [[ 9.99584427e-01 -2.41108040e-02 -1.58000493e-02 7.77952747e+01] [ 2.41101692e-02 9.99709281e-01 -2.30683232e-04 8.35428740e-01] [ 1.58010179e-02 -1.50354496e-04 9.99875145e-01 1.09910234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.75925415399999 meters Centerline goodness : 0.999318 Centerline is valid? [True, True] Translation: X:77.83, Y:0.84, Z:1.10 [[ 9.99529410e-01 -2.62929105e-02 -1.58000451e-02 7.78253585e+01] [ 2.62925437e-02 9.99654265e-01 -2.30972222e-04 8.35599114e-01] [ 1.58006554e-02 -1.84559848e-04 9.99875145e-01 1.10048762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.78925415399998 meters Centerline goodness : 0.999276 Centerline is valid? [True, True] Translation: X:77.86, Y:0.83, Z:1.10 [[ 9.99408081e-01 -3.05588925e-02 -1.58000451e-02 7.78565592e+01] [ 3.05590587e-02 9.99532936e-01 -2.30972222e-04 8.34963477e-01] [ 1.57997237e-02 -2.51999000e-04 9.99875145e-01 1.10179964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.81925415399998 meters Centerline goodness : 0.999191 Centerline is valid? [True, True] Translation: X:77.89, Y:0.83, Z:1.10 [[ 9.99337360e-01 -3.27902242e-02 -1.58000535e-02 7.78888846e+01] [ 3.27906783e-02 9.99462215e-01 -2.30393449e-04 8.34793680e-01] [ 1.57991112e-02 -2.87853692e-04 9.99875145e-01 1.10271105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.84925415399998 meters Centerline goodness : 0.999126 Centerline is valid? [True, True] Translation: X:77.92, Y:0.83, Z:1.10 [[ 9.99192680e-01 -3.69370577e-02 -1.58000705e-02 7.79206280e+01] [ 3.69380484e-02 9.99317531e-01 -2.29224715e-04 8.33640571e-01] [ 1.57977543e-02 -3.54584111e-04 9.99875145e-01 1.10311590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.87925415399998 meters Centerline goodness : 0.999084 Centerline is valid? [True, True] Translation: X:77.95, Y:0.83, Z:1.10 [[ 9.99109438e-01 -3.91240164e-02 -1.58000874e-02 7.79516372e+01] [ 3.91252989e-02 9.99234286e-01 -2.28052669e-04 8.33201779e-01] [ 1.57969114e-02 -3.90333568e-04 9.99875145e-01 1.10326844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.90925415399998 meters Centerline goodness : 0.998915 Centerline is valid? [True, True] Translation: X:77.98, Y:0.83, Z:1.10 [[ 9.98985204e-01 -4.21772340e-02 -1.58001000e-02 7.79843146e+01] [ 4.21789118e-02 9.99110048e-01 -2.27177767e-04 8.31641441e-01] [ 1.57956204e-02 -4.39483796e-04 9.99875145e-01 1.10331780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.93925415399998 meters Centerline goodness : 0.999171 Centerline is valid? [True, True] Translation: X:78.02, Y:0.83, Z:1.10 [[ 9.98937487e-01 -4.32926501e-02 -1.58001163e-02 7.80168865e+01] [ 4.32944854e-02 9.99062329e-01 -2.26040183e-04 8.31368970e-01] [ 1.57950868e-02 -4.58257890e-04 9.99875145e-01 1.10401387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.96925415399998 meters Centerline goodness : 0.999149 Centerline is valid? [True, True] Translation: X:78.05, Y:0.83, Z:1.10 [[ 9.98904368e-01 -4.40501992e-02 -1.58001329e-02 7.80480126e+01] [ 4.40521476e-02 9.99029208e-01 -2.24868643e-04 8.31018346e-01] [ 1.57946998e-02 -4.71407518e-04 9.99875145e-01 1.10392080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.99925415399998 meters Centerline goodness : 0.999149 Centerline is valid? [True, True] Translation: X:78.08, Y:0.83, Z:1.10 [[ 9.98907550e-01 -4.39779690e-02 -1.58001453e-02 7.80807001e+01] [ 4.39799222e-02 9.99032390e-01 -2.23995723e-04 8.31420723e-01] [ 1.57947078e-02 -4.71138142e-04 9.99875145e-01 1.10443714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.02925415399999 meters Centerline goodness : 0.999108 Centerline is valid? [True, True] Translation: X:78.11, Y:0.83, Z:1.10 [[ 9.98922295e-01 -4.36417549e-02 -1.58001614e-02 7.81127442e+01] [ 4.36436841e-02 9.99047136e-01 -2.22853300e-04 8.30685720e-01] [ 1.57948317e-02 -4.66964124e-04 9.99875145e-01 1.10471629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.05925415399999 meters Centerline goodness : 0.999043 Centerline is valid? [True, True] Translation: X:78.14, Y:0.83, Z:1.10 [[ 9.98980116e-01 -4.22975550e-02 -1.58001778e-02 7.81436790e+01] [ 4.22993347e-02 9.99104958e-01 -2.21684558e-04 8.30924641e-01] [ 1.57954127e-02 -4.46878545e-04 9.99875145e-01 1.10422927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.08925415399999 meters Centerline goodness : 0.998916 Centerline is valid? [True, True] Translation: X:78.18, Y:0.83, Z:1.10 [[ 9.99169115e-01 -3.75690559e-02 -1.58002049e-02 7.81759262e+01] [ 3.75702755e-02 9.99293964e-01 -2.19737874e-04 8.31195626e-01] [ 1.57973047e-02 -3.74062753e-04 9.99875145e-01 1.10382013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.11925415399999 meters Centerline goodness : 0.999106 Centerline is valid? [True, True] Translation: X:78.21, Y:0.83, Z:1.10 [[ 9.99294312e-01 -3.40768359e-02 -1.58002205e-02 7.82083526e+01] [ 3.40776370e-02 9.99419165e-01 -2.18607454e-04 8.31516529e-01] [ 1.57984927e-02 -3.19980994e-04 9.99875145e-01 1.10472738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.14925415399998 meters Centerline goodness : 0.999042 Centerline is valid? [True, True] Translation: X:78.24, Y:0.83, Z:1.10 [[ 9.99419872e-01 -3.01707279e-02 -1.58002368e-02 7.82398361e+01] [ 3.01710596e-02 9.99544726e-01 -2.17425868e-04 8.32315318e-01] [ 1.57996033e-02 -2.59410154e-04 9.99875145e-01 1.10490132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.17925415399998 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:78.27, Y:0.83, Z:1.11 [[ 9.99640963e-01 -2.16401634e-02 -1.58002489e-02 7.82710806e+01] [ 2.16394435e-02 9.99765816e-01 -2.16545995e-04 8.34488049e-01] [ 1.58012348e-02 -1.25440346e-04 9.99875145e-01 1.10607832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.20925415399998 meters Centerline goodness : 0.998997 Centerline is valid? [True, True] Translation: X:78.30, Y:0.84, Z:1.11 [[ 9.99721270e-01 -1.75423302e-02 -1.58002568e-02 7.83008812e+01] [ 1.75411076e-02 9.99846120e-01 -2.15968272e-04 8.35434395e-01] [ 1.58016140e-02 -6.12459292e-05 9.99875145e-01 1.10667692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.23925415399998 meters Centerline goodness : 0.998869 Centerline is valid? [True, True] Translation: X:78.33, Y:0.84, Z:1.11 [[ 9.99811662e-01 -1.12691114e-02 -1.58002488e-02 7.83295821e+01] [ 1.12670964e-02 9.99936501e-01 -2.16547825e-04 8.36266396e-01] [ 1.58016858e-02 3.84841146e-05 9.99875145e-01 1.10715565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.26925415399998 meters Centerline goodness : 0.998846 Centerline is valid? [True, True] Translation: X:78.36, Y:0.84, Z:1.11 [[ 9.99829902e-01 -9.51422071e-03 -1.58001922e-02 7.83573992e+01] [ 9.51192245e-03 9.99954736e-01 -2.20603213e-04 8.36893073e-01] [ 1.58015759e-02 7.02754864e-05 9.99875145e-01 1.10740948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.29925415399998 meters Centerline goodness : 0.998867 Centerline is valid? [True, True] Translation: X:78.38, Y:0.84, Z:1.11 [[ 9.99841511e-01 -8.20415837e-03 -1.58001264e-02 7.83842249e+01] [ 8.20162359e-03 9.99966341e-01 -2.25219150e-04 8.37085945e-01] [ 1.58014423e-02 9.55967658e-05 9.99875145e-01 1.10770565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.32925415399998 meters Centerline goodness : 0.998805 Centerline is valid? [True, True] Translation: X:78.41, Y:0.84, Z:1.11 [[ 9.99847957e-01 -7.37701861e-03 -1.58000977e-02 7.84111544e+01] [ 7.37434900e-03 9.99972783e-01 -2.27217101e-04 8.36332640e-01] [ 1.58013438e-02 1.10667119e-04 9.99875145e-01 1.10824941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.35925415399998 meters Centerline goodness : 0.999146 Centerline is valid? [True, True] Translation: X:78.44, Y:0.84, Z:1.11 [[ 9.99839864e-01 -8.40265036e-03 -1.58000690e-02 7.84390948e+01] [ 8.40007756e-03 9.99964692e-01 -2.29194065e-04 8.36058431e-01] [ 1.58014370e-02 9.64355577e-05 9.99875145e-01 1.10915980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.38925415399999 meters Centerline goodness : 0.998893 Centerline is valid? [True, True] Translation: X:78.47, Y:0.84, Z:1.11 [[ 9.99825408e-01 -9.97569032e-03 -1.58000005e-02 7.84661807e+01] [ 9.97324080e-03 9.99950239e-01 -2.33820506e-04 8.35614432e-01] [ 1.58015468e-02 7.62024724e-05 9.99875145e-01 1.10909703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.41925415399999 meters Centerline goodness : 0.998872 Centerline is valid? [True, True] Translation: X:78.49, Y:0.83, Z:1.11 [[ 9.99770454e-01 -1.44707039e-02 -1.57999528e-02 7.84947160e+01] [ 1.44687654e-02 9.99895294e-01 -2.36999490e-04 8.34016781e-01] [ 1.58017280e-02 8.33927768e-06 9.99875145e-01 1.10907187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.44925415399999 meters Centerline goodness : 0.998772 Centerline is valid? [True, True] Translation: X:78.52, Y:0.83, Z:1.11 [[ 9.99717242e-01 -1.77707102e-02 -1.57999354e-02 7.85222522e+01] [ 1.77691655e-02 9.99842088e-01 -2.38154767e-04 8.33342387e-01] [ 1.58016726e-02 -4.26642404e-05 9.99875145e-01 1.10899841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.47925415399999 meters Centerline goodness : 0.998916 Centerline is valid? [True, True] Translation: X:78.55, Y:0.83, Z:1.11 [[ 9.99643691e-01 -2.15140718e-02 -1.57998643e-02 7.85509081e+01] [ 2.15129215e-02 9.99768541e-01 -2.42779983e-04 8.32321337e-01] [ 1.58014305e-02 -9.72077634e-05 9.99875145e-01 1.10926838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.50925415399999 meters Centerline goodness : 0.998856 Centerline is valid? [True, True] Translation: X:78.58, Y:0.83, Z:1.11 [[ 9.99453933e-01 -2.90207066e-02 -1.57998016e-02 7.85808878e+01] [ 2.90204305e-02 9.99578788e-01 -2.46797747e-04 8.29896945e-01] [ 1.58003088e-02 -2.11854064e-04 9.99875145e-01 1.10943876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.53925415399998 meters Centerline goodness : 0.998837 Centerline is valid? [True, True] Translation: X:78.61, Y:0.83, Z:1.11 [[ 9.99339816e-01 -3.27154232e-02 -1.57997926e-02 7.86117601e+01] [ 3.27155996e-02 9.99464671e-01 -2.47371164e-04 8.28968570e-01] [ 1.57994274e-02 -2.69691835e-04 9.99875145e-01 1.11047349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.56925415399998 meters Centerline goodness : 0.999069 Centerline is valid? [True, True] Translation: X:78.64, Y:0.83, Z:1.11 [[ 9.99078648e-01 -3.99026363e-02 -1.57998017e-02 7.86434792e+01] [ 3.99037199e-02 9.99203499e-01 -2.46789961e-04 8.27302093e-01] [ 1.57970647e-02 -3.83908281e-04 9.99875145e-01 1.11229401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.59925415399998 meters Centerline goodness : 0.998946 Centerline is valid? [True, True] Translation: X:78.68, Y:0.83, Z:1.11 [[ 9.98951253e-01 -4.29739439e-02 -1.57998318e-02 7.86755680e+01] [ 4.29754421e-02 9.99076099e-01 -2.44846649e-04 8.26669894e-01] [ 1.57957563e-02 -4.34414890e-04 9.99875145e-01 1.11323824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.62925415399998 meters Centerline goodness : 0.998944 Centerline is valid? [True, True] Translation: X:78.71, Y:0.83, Z:1.11 [[ 9.98806368e-01 -4.62190961e-02 -1.57998497e-02 7.87081543e+01] [ 4.62210182e-02 9.98931208e-01 -2.43688253e-04 8.26154702e-01] [ 1.57942260e-02 -4.86887760e-04 9.99875145e-01 1.11409165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.65925415399998 meters Centerline goodness : 0.999030 Centerline is valid? [True, True] Translation: X:78.74, Y:0.83, Z:1.11 [[ 9.98655985e-01 -4.93618093e-02 -1.57998675e-02 7.87403536e+01] [ 4.93641426e-02 9.98780818e-01 -2.42527861e-04 8.25653312e-01] [ 1.57925762e-02 -5.37745011e-04 9.99875145e-01 1.11475405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.68925415399998 meters Centerline goodness : 0.998947 Centerline is valid? [True, True] Translation: X:78.77, Y:0.82, Z:1.11 [[ 9.98313710e-01 -5.58578515e-02 -1.57998853e-02 7.87730726e+01] [ 5.58610152e-02 9.98438525e-01 -2.41364073e-04 8.23537319e-01] [ 1.57886962e-02 -6.41640568e-04 9.99875145e-01 1.11496302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.71925415399998 meters Centerline goodness : 0.999009 Centerline is valid? [True, True] Translation: X:78.81, Y:0.82, Z:1.12 [[ 9.98145714e-01 -5.87834733e-02 -1.57999118e-02 7.88053198e+01] [ 5.87870304e-02 9.98270518e-01 -2.39614702e-04 8.22624158e-01] [ 1.57866715e-02 -6.89659508e-04 9.99875145e-01 1.11523934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.74925415399998 meters Centerline goodness : 0.998883 Centerline is valid? [True, True] Translation: X:78.84, Y:0.82, Z:1.12 [[ 9.97811303e-01 -6.42103268e-02 -1.57999336e-02 7.88379152e+01] [ 6.42145854e-02 9.97936085e-01 -2.38164749e-04 8.21985990e-01] [ 1.57826166e-02 -7.76942710e-04 9.99875145e-01 1.11610272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.77925415399999 meters Centerline goodness : 0.999304 Centerline is valid? [True, True] Translation: X:78.87, Y:0.82, Z:1.12 [[ 9.97657345e-01 -6.65596239e-02 -1.57999599e-02 7.88694785e+01] [ 6.65642040e-02 9.97782116e-01 -2.36412299e-04 8.22549111e-01] [ 1.57806529e-02 -8.15853286e-04 9.99875145e-01 1.11695792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.80925415399999 meters Centerline goodness : 0.999114 Centerline is valid? [True, True] Translation: X:78.90, Y:0.82, Z:1.12 [[ 9.97540706e-01 -6.82854292e-02 -1.57999815e-02 7.89022722e+01] [ 6.82902482e-02 9.97665468e-01 -2.34958442e-04 8.23077893e-01] [ 1.57791402e-02 -8.44604047e-04 9.99875145e-01 1.11742716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.83925415399999 meters Centerline goodness : 0.998928 Centerline is valid? [True, True] Translation: X:78.93, Y:0.82, Z:1.12 [[ 9.97322064e-01 -7.14077013e-02 -1.58000073e-02 7.89337204e+01] [ 7.14129383e-02 9.97446810e-01 -2.33211673e-04 8.23478571e-01] [ 1.57763200e-02 -8.95737798e-04 9.99875145e-01 1.11699220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.86925415399999 meters Centerline goodness : 0.999179 Centerline is valid? [True, True] Translation: X:78.97, Y:0.82, Z:1.12 [[ 9.97232688e-01 -7.26451997e-02 -1.58000200e-02 7.89667605e+01] [ 7.26506052e-02 9.97357426e-01 -2.32346164e-04 8.23837122e-01] [ 1.57751461e-02 -9.16177825e-04 9.99875145e-01 1.11751799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.89925415399998 meters Centerline goodness : 0.998930 Centerline is valid? [True, True] Translation: X:79.00, Y:0.82, Z:1.12 [[ 9.97151025e-01 -7.37576567e-02 -1.58000450e-02 7.89988675e+01] [ 7.37632283e-02 9.97275756e-01 -2.30636424e-04 8.24321000e-01] [ 1.57740130e-02 -9.35482977e-04 9.99875145e-01 1.11752079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.92925415399998 meters Centerline goodness : 0.999052 Centerline is valid? [True, True] Translation: X:79.03, Y:0.83, Z:1.12 [[ 9.97027136e-01 -7.54138442e-02 -1.58000655e-02 7.90314766e+01] [ 7.54196453e-02 9.97151856e-01 -2.29221559e-04 8.25651401e-01] [ 1.57723511e-02 -9.63095220e-04 9.99875145e-01 1.11782619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.95925415399998 meters Centerline goodness : 0.998843 Centerline is valid? [True, True] Translation: X:79.06, Y:0.83, Z:1.12 [[ 9.97019157e-01 -7.55192572e-02 -1.58000823e-02 7.90625112e+01] [ 7.55250900e-02 9.97143876e-01 -2.28058389e-04 8.26479286e-01] [ 1.57721781e-02 -9.65924052e-04 9.99875145e-01 1.11747572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.98925415399998 meters Centerline goodness : 0.998860 Centerline is valid? [True, True] Translation: X:79.09, Y:0.83, Z:1.12 [[ 9.97094351e-01 -7.45198815e-02 -1.58000947e-02 7.90948444e+01] [ 7.45256029e-02 9.97219075e-01 -2.27192876e-04 8.28664442e-01] [ 1.57730862e-02 -9.50978852e-04 9.99875145e-01 1.11766162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.01925415399998 meters Centerline goodness : 0.999051 Centerline is valid? [True, True] Translation: X:79.13, Y:0.83, Z:1.12 [[ 9.97184306e-01 -7.33063251e-02 -1.58001109e-02 7.91281062e+01] [ 7.33119125e-02 9.97309036e-01 -2.26060917e-04 8.30187379e-01] [ 1.57741651e-02 -9.32911950e-04 9.99875145e-01 1.11840324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.04925415399998 meters Centerline goodness : 0.998969 Centerline is valid? [True, True] Translation: X:79.16, Y:0.83, Z:1.12 [[ 9.97300209e-01 -7.17122687e-02 -1.58001350e-02 7.91606736e+01] [ 7.17176836e-02 9.97424946e-01 -2.24361959e-04 8.31497092e-01] [ 1.57755383e-02 -9.09392857e-04 9.99875145e-01 1.11933833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.07925415399998 meters Centerline goodness : 0.998815 Centerline is valid? [True, True] Translation: X:79.19, Y:0.83, Z:1.12 [[ 9.97597425e-01 -6.74517001e-02 -1.58001593e-02 7.91929835e+01] [ 6.74566093e-02 9.97722184e-01 -2.22639417e-04 8.34402115e-01] [ 1.57791869e-02 -8.43720664e-04 9.99875145e-01 1.12162422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.10925415399998 meters Centerline goodness : 0.998921 Centerline is valid? [True, True] Translation: X:79.22, Y:0.84, Z:1.12 [[ 9.97802991e-01 -6.43392954e-02 -1.58001759e-02 7.92240441e+01] [ 6.43438341e-02 9.97927764e-01 -2.21457317e-04 8.36249335e-01] [ 1.57816826e-02 -7.95673122e-04 9.99875145e-01 1.12239834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.13925415399999 meters Centerline goodness : 0.998943 Centerline is valid? [True, True] Translation: X:79.26, Y:0.84, Z:1.12 [[ 9.98242802e-01 -5.71109614e-02 -1.58001881e-02 7.92557279e+01] [ 5.71146102e-02 9.98367604e-01 -2.20579454e-04 8.40001624e-01] [ 1.57869935e-02 -6.82229734e-04 9.99875145e-01 1.12457743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.16925415399999 meters Centerline goodness : 0.999068 Centerline is valid? [True, True] Translation: X:79.29, Y:0.84, Z:1.13 [[ 9.98469815e-01 -5.29941727e-02 -1.58002042e-02 7.92884817e+01] [ 5.29973251e-02 9.98594630e-01 -2.19422780e-04 8.41921924e-01] [ 1.57896272e-02 -6.18281536e-04 9.99875145e-01 1.12595470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.19925415399999 meters Centerline goodness : 0.998941 Centerline is valid? [True, True] Translation: X:79.32, Y:0.84, Z:1.13 [[ 9.98684550e-01 -4.87803533e-02 -1.58002282e-02 7.93219639e+01] [ 4.87830065e-02 9.98809377e-01 -2.17678441e-04 8.44084116e-01] [ 1.57920345e-02 -5.53390541e-04 9.99875145e-01 1.12672121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.22925415399999 meters Centerline goodness : 0.998919 Centerline is valid? [True, True] Translation: X:79.35, Y:0.85, Z:1.13 [[ 9.99068201e-01 -4.01631856e-02 -1.58002523e-02 7.93530947e+01] [ 4.01647897e-02 9.99193046e-01 -2.15915028e-04 8.47267524e-01] [ 1.57961741e-02 -4.18899974e-04 9.99875145e-01 1.12704947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.25925415399999 meters Centerline goodness : 0.999027 Centerline is valid? [True, True] Translation: X:79.39, Y:0.85, Z:1.13 [[ 9.99231421e-01 -3.58736495e-02 -1.58002642e-02 7.93856546e+01] [ 3.58747314e-02 9.99356272e-01 -2.15043328e-04 8.49044384e-01] [ 1.57978075e-02 -3.51952184e-04 9.99875145e-01 1.12746550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.28925415399998 meters Centerline goodness : 0.998707 Centerline is valid? [True, True] Translation: X:79.42, Y:0.85, Z:1.13 [[ 9.99362612e-01 -3.20112694e-02 -1.58002794e-02 7.94181543e+01] [ 3.20118865e-02 9.99487465e-01 -2.13917048e-04 8.50774216e-01] [ 1.57990290e-02 -2.92016053e-04 9.99875145e-01 1.12764153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.31925415399998 meters Centerline goodness : 0.998979 Centerline is valid? [True, True] Translation: X:79.45, Y:0.85, Z:1.13 [[ 9.99569866e-01 -2.47069474e-02 -1.58002951e-02 7.94489778e+01] [ 2.47066704e-02 9.99694721e-01 -2.12757622e-04 8.53334686e-01] [ 1.58007281e-02 -1.77706574e-04 9.99875145e-01 1.12755594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.34925415399998 meters Centerline goodness : 0.999084 Centerline is valid? [True, True] Translation: X:79.48, Y:0.85, Z:1.13 [[ 9.99643325e-01 -2.15307526e-02 -1.58003027e-02 7.94798700e+01] [ 2.15300880e-02 9.99768178e-01 -2.12185491e-04 8.54764483e-01] [ 1.58012084e-02 -1.28072099e-04 9.99875145e-01 1.12827196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.37925415399998 meters Centerline goodness : 0.999062 Centerline is valid? [True, True] Translation: X:79.51, Y:0.86, Z:1.13 [[ 9.99733948e-01 -1.68042947e-02 -1.58003027e-02 7.95091588e+01] [ 1.68030398e-02 9.99858796e-01 -2.12185491e-04 8.56297501e-01] [ 1.58016373e-02 -5.33640775e-05 9.99875145e-01 1.12826688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.40925415399998 meters Centerline goodness : 0.998933 Centerline is valid? [True, True] Translation: X:79.54, Y:0.86, Z:1.13 [[ 9.99761823e-01 -1.50548426e-02 -1.58002989e-02 7.95373438e+01] [ 1.50533647e-02 9.99886669e-01 -2.12467780e-04 8.56994914e-01] [ 1.58017069e-02 -2.54304883e-05 9.99875145e-01 1.12862309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.43925415399998 meters Centerline goodness : 0.998892 Centerline is valid? [True, True] Translation: X:79.57, Y:0.86, Z:1.13 [[ 9.99782077e-01 -1.36436825e-02 -1.58002802e-02 7.95656419e+01] [ 1.36420065e-02 9.99906921e-01 -2.13855946e-04 8.57436092e-01] [ 1.58017273e-02 -1.73818220e-06 9.99875145e-01 1.12917913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.46925415399998 meters Centerline goodness : 0.998870 Centerline is valid? [True, True] Translation: X:79.59, Y:0.86, Z:1.13 [[ 9.99809265e-01 -1.14797871e-02 -1.58002614e-02 7.95928577e+01] [ 1.14778190e-02 9.99934105e-01 -2.15235992e-04 8.57873839e-01] [ 1.58016910e-02 3.38423982e-05 9.99875145e-01 1.13006536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.49925415399998 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:79.62, Y:0.86, Z:1.13 [[ 9.99815731e-01 -1.09021386e-02 -1.58002350e-02 7.96206903e+01] [ 1.09000682e-02 9.99940569e-01 -2.17150244e-04 8.57993580e-01] [ 1.58016634e-02 4.48865912e-05 9.99875145e-01 1.13060532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.52925415399999 meters Centerline goodness : 0.999064 Centerline is valid? [True, True] Translation: X:79.65, Y:0.86, Z:1.13 [[ 9.99823102e-01 -1.02038770e-02 -1.58001741e-02 7.96473230e+01] [ 1.02016507e-02 9.99947937e-01 -2.21496147e-04 8.57754776e-01] [ 1.58016116e-02 6.02691075e-05 9.99875145e-01 1.13092313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.55925415399999 meters Centerline goodness : 0.999064 Centerline is valid? [True, True] Translation: X:79.68, Y:0.86, Z:1.13 [[ 9.99818953e-01 -1.06026713e-02 -1.58001475e-02 7.96755664e+01] [ 1.06004650e-02 9.99943789e-01 -2.23380493e-04 8.56471452e-01] [ 1.58016278e-02 5.58511397e-05 9.99875145e-01 1.13132664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.58925415399999 meters Centerline goodness : 0.998957 Centerline is valid? [True, True] Translation: X:79.70, Y:0.86, Z:1.13 [[ 9.99806014e-01 -1.17597876e-02 -1.58000858e-02 7.97038263e+01] [ 1.17576581e-02 9.99930850e-01 -2.27664487e-04 8.55852917e-01] [ 1.58016705e-02 4.18483167e-05 9.99875145e-01 1.13143198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.61925415399999 meters Centerline goodness : 0.998919 Centerline is valid? [True, True] Translation: X:79.73, Y:0.85, Z:1.13 [[ 9.99762011e-01 -1.50426395e-02 -1.58000231e-02 7.97305329e+01] [ 1.50408526e-02 9.99886853e-01 -2.31929417e-04 8.53119034e-01] [ 1.58017243e-02 -5.77159832e-06 9.99875145e-01 1.13068120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.64925415399998 meters Centerline goodness : 0.998875 Centerline is valid? [True, True] Translation: X:79.76, Y:0.85, Z:1.13 [[ 9.99717150e-01 -1.77758371e-02 -1.57999958e-02 7.97587335e+01] [ 1.77743623e-02 9.99841996e-01 -2.33777663e-04 8.51884141e-01] [ 1.58016549e-02 -4.71233104e-05 9.99875145e-01 1.13104199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.67925415399998 meters Centerline goodness : 0.998814 Centerline is valid? [True, True] Translation: X:79.79, Y:0.85, Z:1.13 [[ 9.99658022e-01 -2.08374448e-02 -1.57999764e-02 7.97878713e+01] [ 2.08363317e-02 9.99782872e-01 -2.35081656e-04 8.50365869e-01] [ 1.58014443e-02 -9.42122853e-05 9.99875145e-01 1.13207191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.70925415399998 meters Centerline goodness : 0.998856 Centerline is valid? [True, True] Translation: X:79.82, Y:0.85, Z:1.13 [[ 9.99498606e-01 -2.74390146e-02 -1.57999168e-02 7.98166463e+01] [ 2.74386637e-02 9.99623460e-01 -2.39022001e-04 8.46707690e-01] [ 1.58005260e-02 -1.94626447e-04 9.99875145e-01 1.13199973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.73925415399998 meters Centerline goodness : 0.998754 Centerline is valid? [True, True] Translation: X:79.85, Y:0.85, Z:1.13 [[ 9.99406456e-01 -3.06120720e-02 -1.57999041e-02 7.98478188e+01] [ 3.06121043e-02 9.99531311e-01 -2.39859350e-04 8.45214021e-01] [ 1.57998414e-02 -2.43951329e-04 9.99875145e-01 1.13230515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.76925415399998 meters Centerline goodness : 0.998838 Centerline is valid? [True, True] Translation: X:79.88, Y:0.84, Z:1.13 [[ 9.99198773e-01 -3.67719399e-02 -1.57999126e-02 7.98793060e+01] [ 3.67727507e-02 9.99323625e-01 -2.39298625e-04 8.42363725e-01] [ 1.57980254e-02 -3.41899353e-04 9.99875145e-01 1.13260728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.79925415399998 meters Centerline goodness : 0.998944 Centerline is valid? [True, True] Translation: X:79.91, Y:0.84, Z:1.13 [[ 9.99092707e-01 -3.95490234e-02 -1.57999210e-02 7.99117377e+01] [ 3.95501901e-02 9.99217557e-01 -2.38739939e-04 8.41327975e-01] [ 1.57970004e-02 -3.86366547e-04 9.99875145e-01 1.13317276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.82925415399998 meters Centerline goodness : 0.998924 Centerline is valid? [True, True] Translation: X:79.94, Y:0.84, Z:1.13 [[ 9.98986300e-01 -4.21513251e-02 -1.57999379e-02 7.99434847e+01] [ 4.21528346e-02 9.99111146e-01 -2.37619783e-04 8.40426696e-01] [ 1.57959100e-02 -4.28633260e-04 9.99875145e-01 1.13377531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.85925415399998 meters Centerline goodness : 0.998906 Centerline is valid? [True, True] Translation: X:79.97, Y:0.84, Z:1.13 [[ 9.98862657e-01 -4.49861527e-02 -1.57999545e-02 7.99743841e+01] [ 4.49880342e-02 9.98987498e-01 -2.36505199e-04 8.39621657e-01] [ 1.57945965e-02 -4.74572683e-04 9.99875145e-01 1.13405775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.88925415399999 meters Centerline goodness : 0.998906 Centerline is valid? [True, True] Translation: X:80.01, Y:0.84, Z:1.13 [[ 9.98865773e-01 -4.49168977e-02 -1.57999669e-02 8.00070688e+01] [ 4.49187836e-02 9.98990614e-01 -2.35674365e-04 8.40044445e-01] [ 1.57946044e-02 -4.74308239e-04 9.99875145e-01 1.13457408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.91925415399999 meters Centerline goodness : 0.998796 Centerline is valid? [True, True] Translation: X:80.04, Y:0.84, Z:1.13 [[ 9.98605925e-01 -5.03643523e-02 -1.57999832e-02 8.00381904e+01] [ 5.03669365e-02 9.98730753e-01 -2.34578963e-04 8.37822860e-01] [ 1.57917435e-02 -5.61544808e-04 9.99875145e-01 1.13494208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.94925415399999 meters Centerline goodness : 0.998860 Centerline is valid? [True, True] Translation: X:80.07, Y:0.84, Z:1.14 [[ 9.98470175e-01 -5.29874417e-02 -1.57999953e-02 8.00716948e+01] [ 5.29903667e-02 9.98594996e-01 -2.33762758e-04 8.37012469e-01] [ 1.57901827e-02 -6.03842401e-04 9.99875145e-01 1.13613200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.97925415399999 meters Centerline goodness : 0.998819 Centerline is valid? [True, True] Translation: X:80.10, Y:0.84, Z:1.14 [[ 9.98328655e-01 -5.55900686e-02 -1.58000210e-02 8.01045308e+01] [ 5.55933466e-02 9.98453467e-01 -2.32012457e-04 8.36492951e-01] [ 1.57884833e-02 -6.46751358e-04 9.99875145e-01 1.13648160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.00925415399999 meters Centerline goodness : 0.998863 Centerline is valid? [True, True] Translation: X:80.14, Y:0.84, Z:1.14 [[ 9.98019228e-01 -6.08931815e-02 -1.58000463e-02 8.01378446e+01] [ 6.08971501e-02 9.98144020e-01 -2.30273028e-04 8.35572024e-01] [ 1.57847438e-02 -7.32360882e-04 9.99875145e-01 1.13703373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.03925415399998 meters Centerline goodness : 0.998947 Centerline is valid? [True, True] Translation: X:80.17, Y:0.84, Z:1.14 [[ 9.97861304e-01 -6.34285026e-02 -1.58000716e-02 8.01696610e+01] [ 6.34328158e-02 9.97986085e-01 -2.28524750e-04 8.35578933e-01] [ 1.57827466e-02 -7.74207027e-04 9.99875145e-01 1.13747339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.06925415399998 meters Centerline goodness : 0.998967 Centerline is valid? [True, True] Translation: X:80.20, Y:0.84, Z:1.14 [[ 9.97565373e-01 -6.79241074e-02 -1.58000924e-02 8.02030469e+01] [ 6.79290056e-02 9.97690132e-01 -2.27076988e-04 8.35377887e-01] [ 1.57790203e-02 -8.46760426e-04 9.99875145e-01 1.13822921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.09925415399998 meters Centerline goodness : 0.998818 Centerline is valid? [True, True] Translation: X:80.24, Y:0.84, Z:1.14 [[ 9.97469670e-01 -6.93153252e-02 -1.58001170e-02 8.02356290e+01] [ 6.93204246e-02 9.97594421e-01 -2.25355382e-04 8.35721796e-01] [ 1.57777291e-02 -8.70485659e-04 9.99875145e-01 1.13925022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.12925415399998 meters Centerline goodness : 0.998927 Centerline is valid? [True, True] Translation: X:80.27, Y:0.84, Z:1.14 [[ 9.97396804e-01 -7.03560322e-02 -1.58001420e-02 8.02673773e+01] [ 7.03612896e-02 9.97521548e-01 -2.23587169e-04 8.36506206e-01] [ 1.57767128e-02 -8.88713239e-04 9.99875145e-01 1.13963180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.15925415399998 meters Centerline goodness : 0.998823 Centerline is valid? [True, True] Translation: X:80.30, Y:0.84, Z:1.14 [[ 9.97340221e-01 -7.11536241e-02 -1.58001626e-02 8.02996884e+01] [ 7.11590045e-02 9.97464960e-01 -2.22124266e-04 8.37858475e-01] [ 1.57759135e-02 -9.02790374e-04 9.99875145e-01 1.13994135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.18925415399998 meters Centerline goodness : 0.998844 Centerline is valid? [True, True] Translation: X:80.34, Y:0.83, Z:1.13 [[ 9.97840278e-01 -6.37584081e-02 -1.58001788e-02 8.03409284e+01] [ 6.37628820e-02 9.97965053e-01 -2.20960457e-04 8.30698373e-01] [ 1.57821144e-02 -7.86981696e-04 9.99875145e-01 1.13431948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.21925415399998 meters Centerline goodness : 0.998970 Centerline is valid? [True, True] Translation: X:80.36, Y:0.84, Z:1.14 [[ 9.97356563e-01 -7.09226685e-02 -1.58070071e-02 8.03591892e+01] [ 7.09361319e-02 9.97480817e-01 2.91986427e-04 8.40508460e-01] [ 1.57464779e-02 -1.41250252e-03 9.99875019e-01 1.14014830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.24925415399998 meters Centerline goodness : 0.998822 Centerline is valid? [True, True] Translation: X:80.39, Y:0.84, Z:1.14 [[ 9.97407792e-01 -7.02002202e-02 -1.57995592e-02 8.03910475e+01] [ 7.02054061e-02 9.97532531e-01 -2.26862763e-04 8.42523470e-01] [ 1.57765001e-02 -8.82939783e-04 9.99875153e-01 1.14097954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.27925415399999 meters Centerline goodness : 0.998859 Centerline is valid? [True, True] Translation: X:80.42, Y:0.85, Z:1.14 [[ 9.97538302e-01 -6.83206434e-02 -1.57995798e-02 8.04225029e+01] [ 6.83256169e-02 9.97663049e-01 -2.25419090e-04 8.46230871e-01] [ 1.57780577e-02 -8.54651862e-04 9.99875153e-01 1.14008636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.30925415399999 meters Centerline goodness : 0.999030 Centerline is valid? [True, True] Translation: X:80.46, Y:0.85, Z:1.14 [[ 9.97654042e-01 -6.66091973e-02 -1.57995919e-02 8.04557722e+01] [ 6.66139702e-02 9.97778797e-01 -2.24568924e-04 8.48268072e-01] [ 1.57794562e-02 -8.28431449e-04 9.99875153e-01 1.14168711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.33925415399999 meters Centerline goodness : 0.998946 Centerline is valid? [True, True] Translation: X:80.49, Y:0.85, Z:1.14 [[ 9.97898446e-01 -6.28415815e-02 -1.57996159e-02 8.04873804e+01] [ 6.28459102e-02 9.98023217e-01 -2.22863928e-04 8.52350897e-01] [ 1.57823887e-02 -7.70545678e-04 9.99875153e-01 1.14232072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.36925415399999 meters Centerline goodness : 0.998924 Centerline is valid? [True, True] Translation: X:80.52, Y:0.85, Z:1.14 [[ 9.98023075e-01 -6.08302038e-02 -1.57996357e-02 8.05198596e+01] [ 6.08343034e-02 9.98147854e-01 -2.21451789e-04 8.54937149e-01] [ 1.57838435e-02 -7.40145839e-04 9.99875153e-01 1.14383650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.39925415399998 meters Centerline goodness : 0.998921 Centerline is valid? [True, True] Translation: X:80.55, Y:0.86, Z:1.14 [[ 9.98157973e-01 -5.85750177e-02 -1.57996556e-02 8.05511321e+01] [ 5.85788579e-02 9.98282760e-01 -2.20022680e-04 8.57223757e-01] [ 1.57854117e-02 -7.05908390e-04 9.99875153e-01 1.14493262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.42925415399998 meters Centerline goodness : 0.998918 Centerline is valid? [True, True] Translation: X:80.58, Y:0.86, Z:1.15 [[ 9.98418380e-01 -5.39546985e-02 -1.57996674e-02 8.05838566e+01] [ 5.39579745e-02 9.98543183e-01 -2.19175282e-04 8.62226138e-01] [ 1.57884757e-02 -6.33689421e-04 9.99875153e-01 1.14665546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.45925415399998 meters Centerline goodness : 0.999002 Centerline is valid? [True, True] Translation: X:80.62, Y:0.87, Z:1.15 [[ 9.98545674e-01 -5.15451935e-02 -1.57996912e-02 8.06171619e+01] [ 5.15481957e-02 9.98670484e-01 -2.17444853e-04 8.65045758e-01] [ 1.57898935e-02 -5.97316957e-04 9.99875153e-01 1.14705222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.48925415399998 meters Centerline goodness : 0.999110 Centerline is valid? [True, True] Translation: X:80.65, Y:0.87, Z:1.15 [[ 9.98661563e-01 -4.92488777e-02 -1.57997147e-02 8.06490516e+01] [ 4.92516201e-02 9.98786379e-01 -2.15726402e-04 8.67950827e-01] [ 1.57911641e-02 -5.62723879e-04 9.99875153e-01 1.14748365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.51925415399998 meters Centerline goodness : 0.999021 Centerline is valid? [True, True] Translation: X:80.68, Y:0.87, Z:1.15 [[ 9.98882946e-01 -4.45334563e-02 -1.57997340e-02 8.06808153e+01] [ 4.45356318e-02 9.99007774e-01 -2.14303186e-04 8.72785961e-01] [ 1.57936007e-02 -4.89587337e-04 9.99875153e-01 1.14783259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.54925415399998 meters Centerline goodness : 0.999235 Centerline is valid? [True, True] Translation: X:80.71, Y:0.88, Z:1.15 [[ 9.98998800e-01 -4.18540990e-02 -1.57997499e-02 8.07116663e+01] [ 4.18559583e-02 9.99123633e-01 -2.13126677e-04 8.75414319e-01] [ 1.57948237e-02 -4.48400377e-04 9.99875153e-01 1.14750291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.57925415399998 meters Centerline goodness : 0.999146 Centerline is valid? [True, True] Translation: X:80.74, Y:0.88, Z:1.15 [[ 9.99220966e-01 -3.61639104e-02 -1.57997616e-02 8.07440562e+01] [ 3.61650725e-02 9.99345807e-01 -2.12253777e-04 8.80622956e-01] [ 1.57971014e-02 -3.59311098e-04 9.99875153e-01 1.14884116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.60925415399998 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:80.78, Y:0.88, Z:1.15 [[ 9.99331208e-01 -3.29773185e-02 -1.57997769e-02 8.07764523e+01] [ 3.29781006e-02 9.99456052e-01 -2.11108218e-04 8.83241242e-01] [ 1.57981444e-02 -3.10079600e-04 9.99875153e-01 1.14967548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.63925415399999 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:80.81, Y:0.89, Z:1.15 [[ 9.99518104e-01 -2.67194152e-02 -1.57997921e-02 8.08088516e+01] [ 2.67194337e-02 9.99642950e-01 -2.09962171e-04 8.87665275e-01] [ 1.57997609e-02 -2.12300507e-04 9.99875153e-01 1.15151646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.66925415399999 meters Centerline goodness : 0.999316 Centerline is valid? [True, True] Translation: X:80.84, Y:0.89, Z:1.15 [[ 9.99588018e-01 -2.39616399e-02 -1.57998074e-02 8.08398190e+01] [ 2.39613322e-02 9.99712864e-01 -2.08806021e-04 8.90037891e-01] [ 1.58002740e-02 -1.69864436e-04 9.99875153e-01 1.15249254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.69925415399999 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:80.87, Y:0.89, Z:1.15 [[ 9.99643108e-01 -2.15411960e-02 -1.57998150e-02 8.08713543e+01] [ 2.15405952e-02 9.99767953e-01 -2.08225381e-04 8.92041658e-01] [ 1.58006342e-02 -1.32186353e-04 9.99875153e-01 1.15328192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.72925415399999 meters Centerline goodness : 0.998991 Centerline is valid? [True, True] Translation: X:80.90, Y:0.89, Z:1.15 [[ 9.99682138e-01 -1.96465907e-02 -1.57998227e-02 8.09012118e+01] [ 1.96457624e-02 9.99806982e-01 -2.07646306e-04 8.93731867e-01] [ 1.58008525e-02 -1.02819259e-04 9.99875153e-01 1.15341056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.75925415399999 meters Centerline goodness : 0.999376 Centerline is valid? [True, True] Translation: X:80.93, Y:0.90, Z:1.15 [[ 9.99720499e-01 -1.75866185e-02 -1.57998189e-02 8.09309364e+01] [ 1.75855284e-02 9.99845341e-01 -2.07933808e-04 8.96117671e-01] [ 1.58010321e-02 -6.99724728e-05 9.99875153e-01 1.15422734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.78925415399998 meters Centerline goodness : 0.999096 Centerline is valid? [True, True] Translation: X:80.96, Y:0.90, Z:1.15 [[ 9.99713832e-01 -1.79616506e-02 -1.57998113e-02 8.09593747e+01] [ 1.79605983e-02 9.99838674e-01 -2.08506432e-04 8.97518179e-01] [ 1.58010075e-02 -7.53273001e-05 9.99875153e-01 1.15410842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.81925415399998 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:80.99, Y:0.90, Z:1.15 [[ 9.99693810e-01 -1.90434550e-02 -1.57998000e-02 8.09892518e+01] [ 1.90425243e-02 9.99818653e-01 -2.09360625e-04 8.97923109e-01] [ 1.58009217e-02 -9.15715543e-05 9.99875153e-01 1.15441717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.84925415399998 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:81.02, Y:0.90, Z:1.16 [[ 9.99655236e-01 -2.09708258e-02 -1.57997925e-02 8.10190464e+01] [ 2.09701269e-02 9.99780081e-01 -2.09925429e-04 8.98475597e-01] [ 1.58007201e-02 -1.21470599e-04 9.99875153e-01 1.15505129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.87925415399998 meters Centerline goodness : 0.999271 Centerline is valid? [True, True] Translation: X:81.05, Y:0.90, Z:1.16 [[ 9.99607659e-01 -2.31277792e-02 -1.57997888e-02 8.10492837e+01] [ 2.31273452e-02 9.99732505e-01 -2.10206031e-04 8.98740884e-01] [ 1.58004240e-02 -1.55283611e-04 9.99875153e-01 1.15580842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.90925415399998 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:81.08, Y:0.90, Z:1.16 [[ 9.99462628e-01 -2.87197049e-02 -1.57997888e-02 8.10795059e+01] [ 2.87199694e-02 9.99587475e-01 -2.10206031e-04 8.98568801e-01] [ 1.57993080e-02 -2.43676377e-04 9.99875153e-01 1.15647472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.93925415399998 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:81.11, Y:0.90, Z:1.16 [[ 9.99371540e-01 -3.17315539e-02 -1.57997924e-02 8.11112336e+01] [ 3.17321990e-02 9.99496385e-01 -2.09930313e-04 8.98305818e-01] [ 1.57984968e-02 -2.91563777e-04 9.99875153e-01 1.15742439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.96925415399998 meters Centerline goodness : 0.999336 Centerline is valid? [True, True] Translation: X:81.14, Y:0.90, Z:1.16 [[ 9.99271117e-01 -3.47505647e-02 -1.57998075e-02 8.11423135e+01] [ 3.47516049e-02 9.99395959e-01 -2.08788524e-04 8.97998234e-01] [ 1.57975193e-02 -3.40432327e-04 9.99875153e-01 1.15754623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.99925415399998 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:81.17, Y:0.90, Z:1.16 [[ 9.99173894e-01 -3.74419027e-02 -1.57998187e-02 8.11742929e+01] [ 3.74432927e-02 9.99298732e-01 -2.07937631e-04 8.97663903e-01] [ 1.57965244e-02 -3.83831384e-04 9.99875153e-01 1.15770704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.02925415399999 meters Centerline goodness : 0.999315 Centerline is valid? [True, True] Translation: X:81.21, Y:0.90, Z:1.16 [[ 9.99009929e-01 -4.15875926e-02 -1.57998335e-02 8.12054991e+01] [ 4.15895185e-02 9.99134760e-01 -2.06806168e-04 8.96823177e-01] [ 1.57947634e-02 -4.50506053e-04 9.99875153e-01 1.15748938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.05925415399999 meters Centerline goodness : 0.999379 Centerline is valid? [True, True] Translation: X:81.24, Y:0.90, Z:1.16 [[ 9.98945638e-01 -4.31042657e-02 -1.57998575e-02 8.12371034e+01] [ 4.31064102e-02 9.99070466e-01 -2.04958271e-04 8.95796310e-01] [ 1.57940056e-02 -4.76332968e-04 9.99875153e-01 1.15743327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.08925415399999 meters Centerline goodness : 0.999293 Centerline is valid? [True, True] Translation: X:81.27, Y:0.90, Z:1.16 [[ 9.98953901e-01 -4.29123307e-02 -1.57998754e-02 8.12681043e+01] [ 4.29144732e-02 9.99078729e-01 -2.03570011e-04 8.95621798e-01] [ 1.57940551e-02 -4.74686273e-04 9.99875153e-01 1.15766605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.11925415399999 meters Centerline goodness : 0.999356 Centerline is valid? [True, True] Translation: X:81.30, Y:0.90, Z:1.16 [[ 9.98986969e-01 -4.21354865e-02 -1.57998859e-02 8.13001271e+01] [ 4.21375450e-02 9.99111799e-01 -2.02746984e-04 8.95489286e-01] [ 1.57943953e-02 -4.63226809e-04 9.99875153e-01 1.15804277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.14925415399998 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:81.33, Y:0.90, Z:1.16 [[ 9.99121946e-01 -3.88033481e-02 -1.57998999e-02 8.13319913e+01] [ 3.88050075e-02 9.99246782e-01 -2.01653923e-04 8.95408488e-01] [ 1.57958240e-02 -4.11638373e-04 9.99875153e-01 1.15973209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.17925415399998 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:81.36, Y:0.90, Z:1.16 [[ 9.99210431e-01 -3.64537794e-02 -1.57999146e-02 8.13635965e+01] [ 3.64551635e-02 9.99335269e-01 -2.00495024e-04 8.95741831e-01] [ 1.57967207e-02 -3.75651751e-04 9.99875153e-01 1.16004642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.20925415399998 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:81.40, Y:0.90, Z:1.16 [[ 9.99418868e-01 -3.02041062e-02 -1.57999386e-02 8.13961007e+01] [ 3.02047398e-02 9.99543713e-01 -1.98583785e-04 8.95663612e-01] [ 1.57987274e-02 -2.78764654e-04 9.99875153e-01 1.16095293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.23925415399998 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:81.43, Y:0.90, Z:1.16 [[ 9.99530730e-01 -2.62427521e-02 -1.57999525e-02 8.14263273e+01] [ 2.62429084e-02 9.99655576e-01 -1.97473230e-04 8.95803659e-01] [ 1.57996929e-02 -2.17256145e-04 9.99875153e-01 1.16147895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.26925415399998 meters Centerline goodness : 0.999096 Centerline is valid? [True, True] Translation: X:81.46, Y:0.90, Z:1.16 [[ 9.99646781e-01 -2.13703673e-02 -1.57993840e-02 8.14576071e+01] [ 2.13691907e-02 9.99771623e-01 -2.43311175e-04 8.95317163e-01] [ 1.58009754e-02 -9.43948166e-05 9.99875152e-01 1.16245482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.29925415399998 meters Centerline goodness : 0.999333 Centerline is valid? [True, True] Translation: X:81.49, Y:0.89, Z:1.16 [[ 9.99697486e-01 -1.88493534e-02 -1.57999656e-02 8.14880997e+01] [ 1.88486008e-02 9.99822330e-01 -1.96561541e-04 8.94883513e-01] [ 1.58008635e-02 -1.01305166e-04 9.99875153e-01 1.16259690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.32925415399998 meters Centerline goodness : 0.999054 Centerline is valid? [True, True] Translation: X:81.52, Y:0.89, Z:1.16 [[ 9.99731086e-01 -1.69740236e-02 -1.57999656e-02 8.15177559e+01] [ 1.69730368e-02 9.99855928e-01 -1.96561541e-04 8.94520238e-01] [ 1.58010257e-02 -7.16647147e-05 9.99875153e-01 1.16276409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.35925415399998 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:81.55, Y:0.89, Z:1.16 [[ 9.99750508e-01 -1.57886866e-02 -1.57999586e-02 8.15466206e+01] [ 1.57875427e-02 9.99875350e-01 -1.97128080e-04 8.93881980e-01] [ 1.58011015e-02 -5.23636229e-05 9.99875153e-01 1.16277803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.38925415399999 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:81.58, Y:0.89, Z:1.16 [[ 9.99767657e-01 -1.46626917e-02 -1.57999080e-02 8.15755392e+01] [ 1.46613446e-02 9.99892496e-01 -2.01097218e-04 8.92023585e-01] [ 1.58011581e-02 -3.05974014e-05 9.99875153e-01 1.16260697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.41925415399999 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:81.60, Y:0.89, Z:1.16 [[ 9.99759824e-01 -1.51874807e-02 -1.57998569e-02 8.16030215e+01] [ 1.51861368e-02 9.99884663e-01 -2.05038436e-04 8.91098475e-01] [ 1.58011486e-02 -3.49495965e-05 9.99875153e-01 1.16314538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.44925415399999 meters Centerline goodness : 0.999247 Centerline is valid? [True, True] Translation: X:81.63, Y:0.89, Z:1.16 [[ 9.99745585e-01 -1.60975739e-02 -1.57997954e-02 8.16320484e+01] [ 1.60962704e-02 9.99870425e-01 -2.09673672e-04 8.89973042e-01] [ 1.58011233e-02 -4.46974510e-05 9.99875153e-01 1.16290998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.47925415399999 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:81.66, Y:0.89, Z:1.16 [[ 9.99587484e-01 -2.39839587e-02 -1.57997411e-02 8.16566292e+01] [ 2.39835766e-02 9.99712330e-01 -2.13686775e-04 8.93198101e-01] [ 1.58003210e-02 -1.65335676e-04 9.99875153e-01 1.15636032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.50925415399998 meters Centerline goodness : 0.998908 Centerline is valid? [True, True] Translation: X:81.69, Y:0.89, Z:1.16 [[ 9.99646529e-01 -2.13853740e-02 -1.57949999e-02 8.16918885e+01] [ 2.13794085e-02 9.99771285e-01 -5.46456677e-04 8.85613085e-01] [ 1.58030735e-02 2.08575765e-04 9.99875102e-01 1.16238523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.53925415399998 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:81.72, Y:0.88, Z:1.16 [[ 9.99543970e-01 -2.57337856e-02 -1.57995012e-02 8.17213514e+01] [ 2.57336227e-02 9.99668813e-01 -2.13651875e-04 8.82581768e-01] [ 1.57997667e-02 -1.93023958e-04 9.99875157e-01 1.16328307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.56925415399998 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:81.75, Y:0.88, Z:1.16 [[ 9.99498437e-01 -2.74454099e-02 -1.57994934e-02 8.17528454e+01] [ 2.74454515e-02 9.99623280e-01 -2.14229473e-04 8.81388648e-01] [ 1.57994210e-02 -2.19502206e-04 9.99875157e-01 1.16436088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.59925415399998 meters Centerline goodness : 0.999106 Centerline is valid? [True, True] Translation: X:81.78, Y:0.88, Z:1.17 [[ 9.99466585e-01 -2.85818432e-02 -1.57995012e-02 8.17836005e+01] [ 2.85820360e-02 9.99591427e-01 -2.13647967e-04 8.80111512e-01] [ 1.57991524e-02 -2.38047908e-04 9.99875157e-01 1.16517709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.62925415399998 meters Centerline goodness : 0.998341 Centerline is valid? [True, True] Translation: X:81.81, Y:0.89, Z:1.16 [[ 9.99281646e-01 -3.44465839e-02 -1.57995129e-02 8.18078691e+01] [ 3.44475231e-02 9.99406485e-01 -2.12779594e-04 8.85720492e-01] [ 1.57974652e-02 -3.31627343e-04 9.99875157e-01 1.16160730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.65925415399998 meters Centerline goodness : 0.998917 Centerline is valid? [True, True] Translation: X:81.84, Y:0.88, Z:1.17 [[ 9.99410093e-01 -3.04959765e-02 -1.57943576e-02 8.18438256e+01] [ 3.04907034e-02 9.99534885e-01 -5.74609874e-04 8.76535529e-01] [ 1.58045347e-02 9.26898355e-05 9.99875096e-01 1.16832980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.68925415399998 meters Centerline goodness : 0.998980 Centerline is valid? [True, True] Translation: X:81.87, Y:0.88, Z:1.17 [[ 9.99416326e-01 -3.02884697e-02 -1.57992304e-02 8.18737677e+01] [ 3.02888914e-02 9.99541164e-01 -2.12652773e-04 8.75201212e-01] [ 1.57984221e-02 -2.66012521e-04 9.99875162e-01 1.16838932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.71925415399998 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:81.90, Y:0.87, Z:1.17 [[ 9.99454968e-01 -2.89853776e-02 -1.57992343e-02 8.19046427e+01] [ 2.89856410e-02 9.99579805e-01 -2.12364532e-04 8.72584395e-01] [ 1.57987510e-02 -2.45702147e-04 9.99875162e-01 1.16950347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.74925415399998 meters Centerline goodness : 0.999257 Centerline is valid? [True, True] Translation: X:81.94, Y:0.87, Z:1.17 [[ 9.99474238e-01 -2.83131122e-02 -1.57992381e-02 8.19360362e+01] [ 2.83132962e-02 9.99599076e-01 -2.12078012e-04 8.71592730e-01] [ 1.57989084e-02 -2.35362001e-04 9.99875162e-01 1.16956568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.77925415399999 meters Centerline goodness : 0.999153 Centerline is valid? [True, True] Translation: X:81.97, Y:0.87, Z:1.17 [[ 9.99489928e-01 -2.77537000e-02 -1.57992458e-02 8.19673522e+01] [ 2.77538231e-02 9.99614766e-01 -2.11509307e-04 8.70465666e-01] [ 1.57990295e-02 -2.27088049e-04 9.99875162e-01 1.17042043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.80925415399999 meters Centerline goodness : 0.999153 Centerline is valid? [True, True] Translation: X:82.00, Y:0.87, Z:1.17 [[ 9.99490949e-01 -2.77168929e-02 -1.57992535e-02 8.19991911e+01] [ 2.77170206e-02 9.99615787e-01 -2.10927559e-04 8.70861620e-01] [ 1.57990295e-02 -2.27088049e-04 9.99875162e-01 1.17092343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.83925415399999 meters Centerline goodness : 0.999175 Centerline is valid? [True, True] Translation: X:82.03, Y:0.87, Z:1.17 [[ 9.99517070e-01 -2.67583832e-02 -1.57992613e-02 8.20291593e+01] [ 2.67584004e-02 9.99641908e-01 -2.10345810e-04 8.67891443e-01] [ 1.57992322e-02 -2.12518731e-04 9.99875162e-01 1.17041707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.86925415399999 meters Centerline goodness : 0.999091 Centerline is valid? [True, True] Translation: X:82.06, Y:0.87, Z:1.17 [[ 9.99543728e-01 -2.57433196e-02 -1.57992651e-02 8.20594061e+01] [ 2.57432146e-02 9.99668566e-01 -2.10057290e-04 8.66710476e-01] [ 1.57994363e-02 -1.96762425e-04 9.99875162e-01 1.17070568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.89925415399998 meters Centerline goodness : 0.999114 Centerline is valid? [True, True] Translation: X:82.09, Y:0.87, Z:1.17 [[ 9.99543743e-01 -2.57430735e-02 -1.57987080e-02 8.20897344e+01] [ 2.57423128e-02 9.99668580e-01 -2.51542367e-04 8.65570873e-01] [ 1.57999475e-02 -1.55267685e-04 9.99875161e-01 1.17096683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.92925415399998 meters Centerline goodness : 0.998902 Centerline is valid? [True, True] Translation: X:82.12, Y:0.86, Z:1.17 [[ 9.99592898e-01 -2.37575881e-02 -1.57992339e-02 8.21199151e+01] [ 2.37571976e-02 9.99717735e-01 -2.12427117e-04 8.63180877e-01] [ 1.57998211e-02 -1.63004884e-04 9.99875162e-01 1.17092763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.95925415399998 meters Centerline goodness : 0.999051 Centerline is valid? [True, True] Translation: X:82.15, Y:0.86, Z:1.17 [[ 9.99628988e-01 -2.21871841e-02 -1.57992377e-02 8.21498448e+01] [ 2.21866019e-02 9.99753825e-01 -2.12144778e-04 8.62260711e-01] [ 1.58000552e-02 -1.38465328e-04 9.99875162e-01 1.17146598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.98925415399998 meters Centerline goodness : 0.998905 Centerline is valid? [True, True] Translation: X:82.18, Y:0.86, Z:1.17 [[ 9.99700491e-01 -1.86899082e-02 -1.57992301e-02 8.21797294e+01] [ 1.86888804e-02 9.99825325e-01 -2.12713387e-04 8.60454671e-01] [ 1.58004459e-02 -8.26202429e-05 9.99875162e-01 1.17167351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.01925415399998 meters Centerline goodness : 0.998775 Centerline is valid? [True, True] Translation: X:82.21, Y:0.86, Z:1.17 [[ 9.99724883e-01 -1.73361653e-02 -1.57992224e-02 8.22080150e+01] [ 1.73349594e-02 9.99849716e-01 -2.13280975e-04 8.59937312e-01] [ 1.58005455e-02 -6.06565810e-05 9.99875162e-01 1.17263192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.04925415399998 meters Centerline goodness : 0.999030 Centerline is valid? [True, True] Translation: X:82.24, Y:0.86, Z:1.17 [[ 9.99752400e-01 -1.56692662e-02 -1.57991657e-02 8.22361455e+01] [ 1.56677871e-02 9.99877229e-01 -2.17400518e-04 8.59123667e-01] [ 1.58006325e-02 -3.01912746e-05 9.99875162e-01 1.17269048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.07925415399998 meters Centerline goodness : 0.998864 Centerline is valid? [True, True] Translation: X:82.26, Y:0.86, Z:1.17 [[ 9.99784310e-01 -1.34803764e-02 -1.57991455e-02 8.22642744e+01] [ 1.34786009e-02 9.99909136e-01 -2.18857644e-04 8.57098397e-01] [ 1.58006602e-02 5.86006104e-06 9.99875162e-01 1.17260257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.10925415399998 meters Centerline goodness : 0.999114 Centerline is valid? [True, True] Translation: X:82.29, Y:0.86, Z:1.17 [[ 9.99729270e-01 -1.70814100e-02 -1.57991254e-02 8.22873906e+01] [ 1.70800614e-02 9.99854101e-01 -2.20300536e-04 8.63191201e-01] [ 1.58005834e-02 -4.96091375e-05 9.99875162e-01 1.16782042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.13925415399999 meters Centerline goodness : 0.999071 Centerline is valid? [True, True] Translation: X:82.32, Y:0.86, Z:1.17 [[ 9.99802702e-01 -1.20459592e-02 -1.57940352e-02 8.23244455e+01] [ 1.20384791e-02 9.99927373e-01 -5.68593988e-04 8.55298322e-01] [ 1.57997374e-02 3.78345643e-04 9.99875105e-01 1.17354423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.16925415399999 meters Centerline goodness : 0.998945 Centerline is valid? [True, True] Translation: X:82.35, Y:0.85, Z:1.17 [[ 9.99805509e-01 -1.18042425e-02 -1.57988839e-02 8.23522197e+01] [ 1.18022522e-02 9.99930327e-01 -2.19215773e-04 8.52964482e-01] [ 1.58003708e-02 3.27107260e-05 9.99875166e-01 1.17409753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.19925415399999 meters Centerline goodness : 0.998800 Centerline is valid? [True, True] Translation: X:82.38, Y:0.85, Z:1.17 [[ 9.99801175e-01 -1.21657749e-02 -1.57988639e-02 8.23801187e+01] [ 1.21638070e-02 9.99925994e-01 -2.20648032e-04 8.52105382e-01] [ 1.58003790e-02 2.84298304e-05 9.99875166e-01 1.17478660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.22925415399999 meters Centerline goodness : 0.999009 Centerline is valid? [True, True] Translation: X:82.41, Y:0.85, Z:1.18 [[ 9.99785078e-01 -1.34236783e-02 -1.57987986e-02 8.24090016e+01] [ 1.34217952e-02 9.99909898e-01 -2.25226435e-04 8.49585330e-01] [ 1.58003985e-02 1.31297904e-05 9.99875166e-01 1.17628838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.25925415399998 meters Centerline goodness : 0.999222 Centerline is valid? [True, True] Translation: X:82.44, Y:0.85, Z:1.18 [[ 9.99767736e-01 -1.46585464e-02 -1.57987405e-02 8.24371489e+01] [ 1.46567541e-02 9.99892558e-01 -2.29231894e-04 8.48299238e-01] [ 1.58004033e-02 -2.37960383e-06 9.99875166e-01 1.17724781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.28925415399998 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:82.46, Y:0.85, Z:1.18 [[ 9.99756420e-01 -1.54111329e-02 -1.57986726e-02 8.24641235e+01] [ 1.54093621e-02 9.99881241e-01 -2.33820631e-04 8.46946500e-01] [ 1.58003998e-02 -9.68378903e-06 9.99875166e-01 1.17608844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.31925415399998 meters Centerline goodness : 0.999011 Centerline is valid? [True, True] Translation: X:82.49, Y:0.84, Z:1.18 [[ 9.99707199e-01 -1.83284696e-02 -1.57981953e-02 8.24928720e+01] [ 1.83265626e-02 9.99832019e-01 -2.65482639e-04 8.43579014e-01] [ 1.58004074e-02 -2.41217101e-05 9.99875165e-01 1.17905208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.34925415399998 meters Centerline goodness : 0.999079 Centerline is valid? [True, True] Translation: X:82.52, Y:0.84, Z:1.18 [[ 9.99676475e-01 -1.99336702e-02 -1.57985574e-02 8.25204232e+01] [ 1.99323376e-02 9.99801302e-01 -2.41824361e-04 8.42352364e-01] [ 1.58002387e-02 -7.31560555e-05 9.99875166e-01 1.17934740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.37925415399998 meters Centerline goodness : 0.999055 Centerline is valid? [True, True] Translation: X:82.55, Y:0.84, Z:1.18 [[ 9.99635112e-01 -2.19100740e-02 -1.57984853e-02 8.25489318e+01] [ 2.19089150e-02 9.99759941e-01 -2.46451543e-04 8.41106232e-01] [ 1.58000925e-02 -9.97660553e-05 9.99875166e-01 1.17957034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.40925415399998 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:82.58, Y:0.84, Z:1.18 [[ 9.99533073e-01 -2.61542697e-02 -1.57984214e-02 8.25776002e+01] [ 2.61535771e-02 9.99657905e-01 -2.50481994e-04 8.38117485e-01] [ 1.57995680e-02 -1.62820194e-04 9.99875166e-01 1.17954245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.43925415399998 meters Centerline goodness : 0.999034 Centerline is valid? [True, True] Translation: X:82.61, Y:0.84, Z:1.18 [[ 9.99475225e-01 -2.82787124e-02 -1.57983561e-02 8.26068473e+01] [ 2.82782211e-02 9.99600059e-01 -2.54532178e-04 8.36624937e-01] [ 1.57992355e-02 -1.92350801e-04 9.99875166e-01 1.17948313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.46925415399998 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:82.64, Y:0.84, Z:1.18 [[ 9.99413222e-01 -3.03911974e-02 -1.57983468e-02 8.26361544e+01] [ 3.03909608e-02 9.99538056e-01 -2.55108125e-04 8.35277748e-01] [ 1.57988019e-02 -2.25168506e-04 9.99875166e-01 1.17948594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.49925415399998 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:82.67, Y:0.83, Z:1.18 [[ 9.99293043e-01 -3.41149154e-02 -1.57983422e-02 8.26667833e+01] [ 3.41151394e-02 9.99417877e-01 -2.55393889e-04 8.32280346e-01] [ 1.57978583e-02 -2.83749310e-04 9.99875166e-01 1.17986861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.52925415399999 meters Centerline goodness : 0.998934 Centerline is valid? [True, True] Translation: X:82.71, Y:0.82, Z:1.18 [[ 9.99440997e-01 -2.94636414e-02 -1.57983422e-02 8.27057900e+01] [ 2.94632845e-02 9.99565831e-01 -2.55393889e-04 8.23823118e-01] [ 1.57990079e-02 -2.10219927e-04 9.99875166e-01 1.17667887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.55925415399999 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:82.73, Y:0.83, Z:1.18 [[ 9.99167562e-01 -3.76082099e-02 -1.58052151e-02 8.27258034e+01] [ 3.76158285e-02 9.99292257e-01 1.84918497e-04 8.30719112e-01] [ 1.57870746e-02 -7.79290823e-04 9.99875073e-01 1.18016828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.58925415399999 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:82.76, Y:0.83, Z:1.18 [[ 9.99083420e-01 -3.97837560e-02 -1.57978668e-02 8.27574899e+01] [ 3.97846057e-02 9.99208245e-01 -2.60613207e-04 8.29582208e-01] [ 1.57957270e-02 -3.68137568e-04 9.99875172e-01 1.18256796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.61925415399999 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:82.79, Y:0.83, Z:1.18 [[ 9.99054311e-01 -4.05081565e-02 -1.57978766e-02 8.27885719e+01] [ 4.05091060e-02 9.99179135e-01 -2.60021000e-04 8.28857764e-01] [ 1.57954416e-02 -3.80182756e-04 9.99875172e-01 1.18310870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.64925415399998 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:82.82, Y:0.83, Z:1.18 [[ 9.98998779e-01 -4.18553052e-02 -1.57978911e-02 8.28197059e+01] [ 4.18564371e-02 9.99123602e-01 -2.59134589e-04 8.26936350e-01] [ 1.57948920e-02 -4.02368298e-04 9.99875172e-01 1.18313009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.67925415399998 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:82.85, Y:0.83, Z:1.18 [[ 9.98903427e-01 -4.40723296e-02 -1.57979007e-02 8.28518729e+01] [ 4.40737477e-02 9.99028247e-01 -2.58551818e-04 8.25060789e-01] [ 1.57939440e-02 -4.38004391e-04 9.99875172e-01 1.18331751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.70925415399998 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:82.88, Y:0.82, Z:1.18 [[ 9.98867812e-01 -4.48722700e-02 -1.57979198e-02 8.28831577e+01] [ 4.48738066e-02 9.98992630e-01 -2.57374417e-04 8.24190701e-01] [ 1.57935545e-02 -4.51829780e-04 9.99875172e-01 1.18311562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.73925415399998 meters Centerline goodness : 0.999088 Centerline is valid? [True, True] Translation: X:82.91, Y:0.82, Z:1.18 [[ 9.98807411e-01 -4.61972078e-02 -1.57979341e-02 8.29140257e+01] [ 4.61989239e-02 9.98932227e-01 -2.56496680e-04 8.23659725e-01] [ 1.57929149e-02 -4.73656771e-04 9.99875172e-01 1.18241360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.76925415399998 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:82.95, Y:0.82, Z:1.18 [[ 9.98653761e-01 -4.94073990e-02 -1.57979479e-02 8.29464143e+01] [ 4.94095297e-02 9.98778571e-01 -2.55645888e-04 8.22057058e-01] [ 1.57912826e-02 -5.25267447e-04 9.99875172e-01 1.18449578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.79925415399998 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:82.98, Y:0.82, Z:1.18 [[ 9.98567040e-01 -5.11301411e-02 -1.57979667e-02 8.29772046e+01] [ 5.11325056e-02 9.98691845e-01 -2.54475789e-04 8.21183306e-01] [ 1.57903119e-02 -5.53678486e-04 9.99875172e-01 1.18450494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.82925415399998 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:83.01, Y:0.82, Z:1.19 [[ 9.98605762e-01 -5.03682074e-02 -1.57979975e-02 8.30120689e+01] [ 5.03705072e-02 9.98730568e-01 -2.52547341e-04 8.17090843e-01] [ 1.57906634e-02 -5.43557919e-04 9.99875172e-01 1.18564818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.85925415399998 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:83.04, Y:0.82, Z:1.19 [[ 9.98356368e-01 -5.50897837e-02 -1.58012042e-02 8.30385348e+01] [ 5.50958849e-02 9.98481067e-01 -4.92671052e-05 8.19473992e-01] [ 1.57799174e-02 -8.21395201e-04 9.99875152e-01 1.18543317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.88925415399999 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:83.07, Y:0.82, Z:1.19 [[ 9.98176517e-01 -5.82586249e-02 -1.57978839e-02 8.30703826e+01] [ 5.82618722e-02 9.98301302e-01 -2.54996540e-04 8.17878808e-01] [ 1.57859038e-02 -6.65882733e-04 9.99875173e-01 1.18597351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.91925415399999 meters Centerline goodness : 0.999147 Centerline is valid? [True, True] Translation: X:83.11, Y:0.81, Z:1.19 [[ 9.98290022e-01 -5.62801802e-02 -1.57979026e-02 8.31055790e+01] [ 5.62831986e-02 9.98414812e-01 -2.53831259e-04 8.13614260e-01] [ 1.57871456e-02 -6.35759276e-04 9.99875173e-01 1.18555674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.94925415399999 meters Centerline goodness : 0.999126 Centerline is valid? [True, True] Translation: X:83.13, Y:0.82, Z:1.19 [[ 9.98041158e-01 -6.05322533e-02 -1.58016909e-02 8.31306055e+01] [ 6.05395779e-02 9.98165797e-01 -1.48387104e-05 8.17215250e-01] [ 1.57736056e-02 -9.41818053e-04 9.99875145e-01 1.18596093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.97925415399999 meters Centerline goodness : 0.999189 Centerline is valid? [True, True] Translation: X:83.16, Y:0.82, Z:1.19 [[ 9.98066900e-01 -6.01073523e-02 -1.57977892e-02 8.31629431e+01] [ 6.01108177e-02 9.98191677e-01 -2.55815087e-04 8.17683480e-01] [ 1.57845981e-02 -6.94297457e-04 9.99875174e-01 1.18646609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.00925415399998 meters Centerline goodness : 0.999251 Centerline is valid? [True, True] Translation: X:83.20, Y:0.82, Z:1.19 [[ 9.98167712e-01 -5.84093221e-02 -1.57978077e-02 8.31952852e+01] [ 5.84125934e-02 9.98292494e-01 -2.54670282e-04 8.18265819e-01] [ 1.57857079e-02 -6.68587263e-04 9.99875174e-01 1.18736524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.03925415399998 meters Centerline goodness : 0.999188 Centerline is valid? [True, True] Translation: X:83.23, Y:0.82, Z:1.19 [[ 9.98252281e-01 -5.69457013e-02 -1.57978264e-02 8.32271048e+01] [ 5.69488080e-02 9.98377068e-01 -2.53505641e-04 8.18917676e-01] [ 1.57866236e-02 -6.46604796e-04 9.99875174e-01 1.18762679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.06925415399998 meters Centerline goodness : 0.999251 Centerline is valid? [True, True] Translation: X:83.26, Y:0.82, Z:1.19 [[ 9.98351107e-01 -5.51860088e-02 -1.57978449e-02 8.32589796e+01] [ 5.51889138e-02 9.98475899e-01 -2.52344768e-04 8.19836904e-01] [ 1.57876933e-02 -6.19937222e-04 9.99875174e-01 1.18820486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.09925415399998 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:83.29, Y:0.82, Z:1.19 [[ 9.98473292e-01 -5.29293159e-02 -1.57978635e-02 8.32911168e+01] [ 5.29319574e-02 9.98598090e-01 -2.51174545e-04 8.20862553e-01] [ 1.57890108e-02 -5.85420763e-04 9.99875174e-01 1.18904543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.12925415399998 meters Centerline goodness : 0.999063 Centerline is valid? [True, True] Translation: X:83.32, Y:0.82, Z:1.19 [[ 9.98739770e-01 -4.76371527e-02 -1.57978822e-02 8.33219675e+01] [ 4.76391514e-02 9.98864580e-01 -2.49992617e-04 8.22480443e-01] [ 1.57918539e-02 -5.02920135e-04 9.99875174e-01 1.18896203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.15925415399998 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:83.35, Y:0.82, Z:1.19 [[ 9.98873709e-01 -4.47408143e-02 -1.57978961e-02 8.33539232e+01] [ 4.47424650e-02 9.98998523e-01 -2.49112493e-04 8.23625050e-01] [ 1.57932204e-02 -4.58004894e-04 9.99875174e-01 1.19018801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.18925415399998 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:83.39, Y:0.83, Z:1.19 [[ 9.99094332e-01 -3.95087568e-02 -1.57979143e-02 8.33854469e+01] [ 3.95097721e-02 9.99219153e-01 -2.47952244e-04 8.25087123e-01] [ 1.57953748e-02 -3.76444312e-04 9.99875174e-01 1.19123644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.21925415399998 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:83.42, Y:0.83, Z:1.19 [[ 9.99183197e-01 -3.71936162e-02 -1.57979235e-02 8.34172118e+01] [ 3.71943516e-02 9.99308020e-01 -2.47362828e-04 8.25663282e-01] [ 1.57961920e-02 -3.40432742e-04 9.99875174e-01 1.19173477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.24925415399998 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:83.45, Y:0.83, Z:1.19 [[ 9.99256318e-01 -3.51743586e-02 -1.57979327e-02 8.34484185e+01] [ 3.51748510e-02 9.99381143e-01 -2.46775921e-04 8.26071927e-01] [ 1.57968362e-02 -3.09097531e-04 9.99875174e-01 1.19209252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.27925415399999 meters Centerline goodness : 0.999251 Centerline is valid? [True, True] Translation: X:83.48, Y:0.83, Z:1.19 [[ 9.99346029e-01 -3.25259738e-02 -1.57979419e-02 8.34783301e+01] [ 3.25261448e-02 9.99470855e-01 -2.46185663e-04 8.26370031e-01] [ 1.57975899e-02 -2.67821481e-04 9.99875174e-01 1.19148379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.30925415399999 meters Centerline goodness : 0.999125 Centerline is valid? [True, True] Translation: X:83.51, Y:0.83, Z:1.19 [[ 9.99363106e-01 -3.19969991e-02 -1.57979465e-02 8.35091141e+01] [ 3.19971086e-02 9.99487931e-01 -2.45893086e-04 8.26844844e-01] [ 1.57977247e-02 -2.59752130e-04 9.99875174e-01 1.19154800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.33925415399999 meters Centerline goodness : 0.999397 Centerline is valid? [True, True] Translation: X:83.54, Y:0.83, Z:1.19 [[ 9.99379214e-01 -3.14898486e-02 -1.57979465e-02 8.35391529e+01] [ 3.14898948e-02 9.99504040e-01 -2.45893086e-04 8.27065660e-01] [ 1.57978544e-02 -2.51735232e-04 9.99875174e-01 1.19190981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.36925415399999 meters Centerline goodness : 0.999229 Centerline is valid? [True, True] Translation: X:83.57, Y:0.83, Z:1.19 [[ 9.99375504e-01 -3.16073852e-02 -1.57979465e-02 8.35695556e+01] [ 3.16074461e-02 9.99500330e-01 -2.45893086e-04 8.27005460e-01] [ 1.57978247e-02 -2.53593214e-04 9.99875174e-01 1.19218325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.39925415399998 meters Centerline goodness : 0.999252 Centerline is valid? [True, True] Translation: X:83.60, Y:0.83, Z:1.19 [[ 9.99360012e-01 -3.20934862e-02 -1.57979465e-02 8.36004869e+01] [ 3.20936078e-02 9.99484837e-01 -2.45893086e-04 8.26730151e-01] [ 1.57976995e-02 -2.61277380e-04 9.99875174e-01 1.19258940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.42925415399998 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:83.63, Y:0.83, Z:1.19 [[ 9.99293041e-01 -3.41151490e-02 -1.57979465e-02 8.36313906e+01] [ 3.41155231e-02 9.99417866e-01 -2.45893086e-04 8.25688422e-01] [ 1.57971386e-02 -2.93235957e-04 9.99875174e-01 1.19376119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.45925415399998 meters Centerline goodness : 0.999210 Centerline is valid? [True, True] Translation: X:83.66, Y:0.83, Z:1.19 [[ 9.99250774e-01 -3.53315024e-02 -1.57979465e-02 8.36619809e+01] [ 3.53320284e-02 9.99375599e-01 -2.45893086e-04 8.25555448e-01] [ 1.57967700e-02 -3.12464637e-04 9.99875174e-01 1.19477173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.48925415399998 meters Centerline goodness : 0.999356 Centerline is valid? [True, True] Translation: X:83.69, Y:0.82, Z:1.20 [[ 9.99164370e-01 -3.76959838e-02 -1.57979465e-02 8.36920539e+01] [ 3.76968052e-02 9.99289193e-01 -2.45893086e-04 8.24262133e-01] [ 1.57959863e-02 -3.49844500e-04 9.99875174e-01 1.19612094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.51925415399998 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:83.72, Y:0.82, Z:1.20 [[ 9.99112887e-01 -3.90367083e-02 -1.57979509e-02 8.37238115e+01] [ 3.90377018e-02 9.99237708e-01 -2.45605517e-04 8.23836560e-01] [ 1.57954959e-02 -3.71328060e-04 9.99875174e-01 1.19671512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.54925415399998 meters Centerline goodness : 0.999189 Centerline is valid? [True, True] Translation: X:83.76, Y:0.82, Z:1.20 [[ 9.99070860e-01 -4.00979017e-02 -1.57979599e-02 8.37554761e+01] [ 4.00990369e-02 9.99195680e-01 -2.45028375e-04 8.23449752e-01] [ 1.57950784e-02 -3.88682266e-04 9.99875174e-01 1.19729470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.57925415399998 meters Centerline goodness : 0.999273 Centerline is valid? [True, True] Translation: X:83.79, Y:0.82, Z:1.20 [[ 9.99041205e-01 -4.08300758e-02 -1.57979689e-02 8.37860520e+01] [ 4.08313116e-02 9.99166024e-01 -2.44446987e-04 8.22953612e-01] [ 1.57947745e-02 -4.00839178e-04 9.99875174e-01 1.19756785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.60925415399998 meters Centerline goodness : 0.999292 Centerline is valid? [True, True] Translation: X:83.82, Y:0.82, Z:1.20 [[ 9.98973285e-01 -4.24594015e-02 -1.57979733e-02 8.38177576e+01] [ 4.24608454e-02 9.99098102e-01 -2.44158615e-04 8.21992124e-01] [ 1.57940920e-02 -4.26887370e-04 9.99875174e-01 1.19806427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.63925415399999 meters Centerline goodness : 0.999396 Centerline is valid? [True, True] Translation: X:83.85, Y:0.82, Z:1.20 [[ 9.98947457e-01 -4.30627610e-02 -1.57979822e-02 8.38494324e+01] [ 4.30642894e-02 9.99072273e-01 -2.43582891e-04 8.21568334e-01] [ 1.57938153e-02 -4.37002368e-04 9.99875174e-01 1.19822623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.66925415399999 meters Centerline goodness : 0.999375 Centerline is valid? [True, True] Translation: X:83.88, Y:0.82, Z:1.20 [[ 9.98885524e-01 -4.44762017e-02 -1.57979911e-02 8.38800509e+01] [ 4.44779159e-02 9.99010338e-01 -2.43005002e-04 8.20102573e-01] [ 1.57931644e-02 -4.59927540e-04 9.99875174e-01 1.19816383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.69925415399999 meters Centerline goodness : 0.999375 Centerline is valid? [True, True] Translation: X:83.91, Y:0.82, Z:1.20 [[ 9.98887112e-01 -4.44405252e-02 -1.57979955e-02 8.39118872e+01] [ 4.44422395e-02 9.99011926e-01 -2.42718778e-04 8.20560822e-01] [ 1.57931725e-02 -4.59649639e-04 9.99875174e-01 1.19866688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.72925415399999 meters Centerline goodness : 0.999438 Centerline is valid? [True, True] Translation: X:83.94, Y:0.82, Z:1.20 [[ 9.98874951e-01 -4.47130331e-02 -1.57980041e-02 8.39430678e+01] [ 4.47147903e-02 9.98999764e-01 -2.42154534e-04 8.20083569e-01] [ 1.57930299e-02 -4.64522344e-04 9.99875174e-01 1.19928491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.75925415399998 meters Centerline goodness : 0.999292 Centerline is valid? [True, True] Translation: X:83.97, Y:0.82, Z:1.20 [[ 9.98873789e-01 -4.47389846e-02 -1.57980130e-02 8.39742565e+01] [ 4.47407541e-02 9.98998602e-01 -2.41576643e-04 8.19943950e-01] [ 1.57930008e-02 -4.65510437e-04 9.99875174e-01 1.19957612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.78925415399998 meters Centerline goodness : 0.999292 Centerline is valid? [True, True] Translation: X:84.01, Y:0.82, Z:1.20 [[ 9.98898105e-01 -4.41927363e-02 -1.57980261e-02 8.40056202e+01] [ 4.41944513e-02 9.99022919e-01 -2.40712449e-04 8.19927269e-01] [ 1.57932279e-02 -4.57737887e-04 9.99875174e-01 1.20028948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.81925415399998 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:84.04, Y:0.82, Z:1.20 [[ 9.98987661e-01 -4.21197795e-02 -1.57980348e-02 8.40365897e+01] [ 4.21212445e-02 9.99112478e-01 -2.40139911e-04 8.20218360e-01] [ 1.57941284e-02 -4.25536081e-04 9.99875174e-01 1.20062215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.84925415399998 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:84.07, Y:0.82, Z:1.20 [[ 9.99050270e-01 -4.06076370e-02 -1.57980436e-02 8.40667099e+01] [ 4.06089223e-02 9.99175089e-01 -2.39559336e-04 8.20499061e-01] [ 1.57947396e-02 -4.02209708e-04 9.99875174e-01 1.20099012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.87925415399998 meters Centerline goodness : 0.999375 Centerline is valid? [True, True] Translation: X:84.10, Y:0.82, Z:1.20 [[ 9.99160017e-01 -3.78111439e-02 -1.57980480e-02 8.40973199e+01] [ 3.78120843e-02 9.99284839e-01 -2.39271394e-04 8.20793302e-01] [ 1.57957970e-02 -3.58286713e-04 9.99875174e-01 1.20106757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.90925415399998 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:84.13, Y:0.82, Z:1.20 [[ 9.99204775e-01 -3.66092707e-02 -1.57980480e-02 8.41272475e+01] [ 3.66100610e-02 9.99329598e-01 -2.39271394e-04 8.21071592e-01] [ 1.57962165e-02 -3.39286382e-04 9.99875174e-01 1.20138758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.93925415399998 meters Centerline goodness : 0.999334 Centerline is valid? [True, True] Translation: X:84.16, Y:0.82, Z:1.20 [[ 9.99247809e-01 -3.54152100e-02 -1.57980523e-02 8.41572455e+01] [ 3.54158556e-02 9.99372633e-01 -2.38987406e-04 8.21485192e-01] [ 1.57966049e-02 -3.20693898e-04 9.99875174e-01 1.20176762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.96925415399998 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:84.19, Y:0.82, Z:1.20 [[ 9.99282969e-01 -3.44088691e-02 -1.57980523e-02 8.41881665e+01] [ 3.44093890e-02 9.99407793e-01 -2.38987406e-04 8.21954404e-01] [ 1.57969199e-02 -3.04785282e-04 9.99875174e-01 1.20167982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.99925415399998 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:84.22, Y:0.82, Z:1.20 [[ 9.99292031e-01 -3.41446576e-02 -1.57980523e-02 8.42185629e+01] [ 3.41451445e-02 9.99416856e-01 -2.38987406e-04 8.22218548e-01] [ 1.57969999e-02 -3.00608568e-04 9.99875174e-01 1.20195853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.02925415399999 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:84.25, Y:0.82, Z:1.20 [[ 9.99291183e-01 -3.41694757e-02 -1.57980523e-02 8.42477732e+01] [ 3.41699657e-02 9.99416008e-01 -2.38987406e-04 8.22653443e-01] [ 1.57969924e-02 -3.01000898e-04 9.99875174e-01 1.20220438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.05925415399999 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:84.28, Y:0.82, Z:1.20 [[ 9.99265638e-01 -3.49085532e-02 -1.57980480e-02 8.42780116e+01] [ 3.49091310e-02 9.99390462e-01 -2.39273287e-04 8.23012623e-01] [ 1.57967711e-02 -3.12398552e-04 9.99875174e-01 1.20271959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.08925415399999 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:84.31, Y:0.82, Z:1.20 [[ 9.99247107e-01 -3.54350326e-02 -1.57980480e-02 8.43080189e+01] [ 3.54356761e-02 9.99371931e-01 -2.39273287e-04 8.23320020e-01] [ 1.57966044e-02 -3.20721372e-04 9.99875174e-01 1.20298416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.11925415399999 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:84.34, Y:0.82, Z:1.20 [[ 9.99213239e-01 -3.63775288e-02 -1.57980480e-02 8.43387313e+01] [ 3.63782901e-02 9.99338062e-01 -2.39273287e-04 8.23561832e-01] [ 1.57962948e-02 -3.35620936e-04 9.99875174e-01 1.20362334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.14925415399998 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:84.37, Y:0.82, Z:1.20 [[ 9.99189332e-01 -3.70283754e-02 -1.57980522e-02 8.43687875e+01] [ 3.70292224e-02 9.99314155e-01 -2.38992239e-04 8.23986485e-01] [ 1.57960667e-02 -3.46191095e-04 9.99875174e-01 1.20395483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.17925415399998 meters Centerline goodness : 0.999293 Centerline is valid? [True, True] Translation: X:84.40, Y:0.82, Z:1.20 [[ 9.99175953e-01 -3.73876529e-02 -1.57980522e-02 8.44004810e+01] [ 3.73885448e-02 9.99300775e-01 -2.38992239e-04 8.24196749e-01] [ 1.57959412e-02 -3.51870886e-04 9.99875174e-01 1.20452321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.20925415399998 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:84.43, Y:0.82, Z:1.21 [[ 9.99126660e-01 -3.86825452e-02 -1.57980611e-02 8.44315896e+01] [ 3.86836082e-02 9.99251481e-01 -2.38407560e-04 8.24174137e-01] [ 1.57954581e-02 -3.72926655e-04 9.99875174e-01 1.20514323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.23925415399998 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:84.46, Y:0.82, Z:1.21 [[ 9.99101072e-01 -3.93378703e-02 -1.57980698e-02 8.44628603e+01] [ 3.93390243e-02 9.99225893e-01 -2.37823390e-04 8.24217282e-01] [ 1.57951959e-02 -3.83871050e-04 9.99875174e-01 1.20541194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.26925415399998 meters Centerline goodness : 0.999146 Centerline is valid? [True, True] Translation: X:84.49, Y:0.82, Z:1.21 [[ 9.99002747e-01 -4.17604070e-02 -1.57980787e-02 8.44929710e+01] [ 4.17618731e-02 9.99127564e-01 -2.37231960e-04 8.24012517e-01] [ 1.57942028e-02 -4.22761979e-04 9.99875174e-01 1.20582252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.29925415399998 meters Centerline goodness : 0.999170 Centerline is valid? [True, True] Translation: X:84.52, Y:0.82, Z:1.21 [[ 9.98956638e-01 -4.28492243e-02 -1.57980831e-02 8.45238050e+01] [ 4.28508311e-02 9.99081453e-01 -2.36938710e-04 8.23866739e-01] [ 1.57937245e-02 -4.40269495e-04 9.99875174e-01 1.20624327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.32925415399998 meters Centerline goodness : 0.999357 Centerline is valid? [True, True] Translation: X:84.56, Y:0.82, Z:1.21 [[ 9.98890453e-01 -4.43653438e-02 -1.57980874e-02 8.45551366e+01] [ 4.43671445e-02 9.99015265e-01 -2.36653939e-04 8.24149625e-01] [ 1.57930297e-02 -4.64524665e-04 9.99875174e-01 1.20699224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.35925415399998 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:84.59, Y:0.82, Z:1.21 [[ 9.98756173e-01 -4.72919246e-02 -1.57980958e-02 8.45865958e+01] [ 4.72940999e-02 9.98880980e-01 -2.36088444e-04 8.24479108e-01] [ 1.57915825e-02 -5.11361932e-04 9.99875174e-01 1.20758484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.38925415399999 meters Centerline goodness : 0.999229 Centerline is valid? [True, True] Translation: X:84.62, Y:0.83, Z:1.21 [[ 9.98689465e-01 -4.86803165e-02 -1.57981042e-02 8.46176311e+01] [ 4.86826742e-02 9.98814268e-01 -2.35526731e-04 8.25030490e-01] [ 1.57908374e-02 -5.33875896e-04 9.99875174e-01 1.20771673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.41925415399999 meters Centerline goodness : 0.999230 Centerline is valid? [True, True] Translation: X:84.65, Y:0.83, Z:1.21 [[ 9.98617297e-01 -5.01391364e-02 -1.57974998e-02 8.46498678e+01] [ 5.01410389e-02 9.98742109e-01 -2.75872901e-04 8.25482180e-01] [ 1.57914603e-02 -5.16611602e-04 9.99875174e-01 1.20855717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.44925415399999 meters Centerline goodness : 0.999042 Centerline is valid? [True, True] Translation: X:84.69, Y:0.82, Z:1.21 [[ 9.98849382e-01 -4.52805980e-02 -1.57980935e-02 8.46871294e+01] [ 4.52825208e-02 9.98974193e-01 -2.36159797e-04 8.19430123e-01] [ 1.57925812e-02 -4.79489430e-04 9.99875174e-01 1.20781984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.47925415399999 meters Centerline goodness : 0.999168 Centerline is valid? [True, True] Translation: X:84.71, Y:0.83, Z:1.21 [[ 9.98486475e-01 -5.26783441e-02 -1.58034920e-02 8.47090901e+01] [ 5.26870761e-02 9.98611062e-01 1.36412564e-04 8.27198865e-01] [ 1.57743560e-02 -9.68845887e-04 9.99875108e-01 1.20941086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.50925415399998 meters Centerline goodness : 0.999294 Centerline is valid? [True, True] Translation: X:84.74, Y:0.83, Z:1.21 [[ 9.98449299e-01 -5.33800280e-02 -1.57977734e-02 8.47408955e+01] [ 5.33829016e-02 9.98574087e-01 -2.40033522e-04 8.28359315e-01] [ 1.57880601e-02 -6.03669680e-04 9.99875179e-01 1.20961918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.53925415399998 meters Centerline goodness : 0.999147 Centerline is valid? [True, True] Translation: X:84.77, Y:0.83, Z:1.21 [[ 9.98425429e-01 -5.38246398e-02 -1.57977903e-02 8.47725985e+01] [ 5.38275868e-02 9.98550216e-01 -2.38911066e-04 8.29288439e-01] [ 1.57877463e-02 -6.11822047e-04 9.99875179e-01 1.20977604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.56925415399998 meters Centerline goodness : 0.999232 Centerline is valid? [True, True] Translation: X:84.80, Y:0.83, Z:1.21 [[ 9.98395937e-01 -5.43689547e-02 -1.57978074e-02 8.48049655e+01] [ 5.43719876e-02 9.98520721e-01 -2.37780344e-04 8.30429282e-01] [ 1.57873659e-02 -6.21559256e-04 9.99875179e-01 1.21001823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.59925415399998 meters Centerline goodness : 0.999252 Centerline is valid? [True, True] Translation: X:84.84, Y:0.83, Z:1.21 [[ 9.98357822e-01 -5.50643914e-02 -1.57978242e-02 8.48361725e+01] [ 5.50675290e-02 9.98482604e-01 -2.36654710e-04 8.32143353e-01] [ 1.57868839e-02 -6.33681062e-04 9.99875179e-01 1.21014118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.62925415399998 meters Centerline goodness : 0.999377 Centerline is valid? [True, True] Translation: X:84.87, Y:0.83, Z:1.21 [[ 9.98341152e-01 -5.53658145e-02 -1.57978367e-02 8.48686205e+01] [ 5.53690030e-02 9.98465932e-01 -2.35815781e-04 8.33122700e-01] [ 1.57866579e-02 -6.39285872e-04 9.99875179e-01 1.21072409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.65925415399998 meters Centerline goodness : 0.999273 Centerline is valid? [True, True] Translation: X:84.90, Y:0.84, Z:1.21 [[ 9.98307243e-01 -5.59738885e-02 -1.57978533e-02 8.49010622e+01] [ 5.59771706e-02 9.98432021e-01 -2.34702844e-04 8.35281429e-01] [ 1.57862198e-02 -6.50013579e-04 9.99875179e-01 1.21174294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.68925415399998 meters Centerline goodness : 0.999378 Centerline is valid? [True, True] Translation: X:84.93, Y:0.84, Z:1.21 [[ 9.98277271e-01 -5.65059097e-02 -1.57978701e-02 8.49324499e+01] [ 5.65092762e-02 9.98402047e-01 -2.33565423e-04 8.37045447e-01] [ 1.57858237e-02 -6.59563153e-04 9.99875179e-01 1.21271281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.71925415399998 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:84.97, Y:0.83, Z:1.21 [[ 9.98481222e-01 -5.27795013e-02 -1.57978826e-02 8.49676449e+01] [ 5.27824155e-02 9.98606010e-01 -2.32718120e-04 8.33533960e-01] [ 1.57881432e-02 -6.01485730e-04 9.99875179e-01 1.21138005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.74925415399998 meters Centerline goodness : 0.999314 Centerline is valid? [True, True] Translation: X:84.99, Y:0.84, Z:1.21 [[ 9.98123706e-01 -5.91553606e-02 -1.58022313e-02 8.49919780e+01] [ 5.91637903e-02 9.98248287e-01 6.60816982e-05 8.41577889e-01] [ 1.57706412e-02 -1.00087761e-03 9.99875135e-01 1.21384036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.77925415399999 meters Centerline goodness : 0.999170 Centerline is valid? [True, True] Translation: X:85.02, Y:0.84, Z:1.21 [[ 9.98064164e-01 -6.01528028e-02 -1.57976021e-02 8.50232471e+01] [ 6.01565327e-02 9.98188927e-01 -2.39416165e-04 8.43023673e-01] [ 1.57833931e-02 -7.11376274e-04 9.99875181e-01 1.21438837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.80925415399999 meters Centerline goodness : 0.999295 Centerline is valid? [True, True] Translation: X:85.06, Y:0.84, Z:1.22 [[ 9.97990425e-01 -6.13640499e-02 -1.57976150e-02 8.50552443e+01] [ 6.13679446e-02 9.98115183e-01 -2.38565391e-04 8.44081551e-01] [ 1.57824787e-02 -7.31381184e-04 9.99875181e-01 1.21512805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.83925415399999 meters Centerline goodness : 0.999272 Centerline is valid? [True, True] Translation: X:85.09, Y:0.85, Z:1.22 [[ 9.97869309e-01 -6.33030617e-02 -1.57976320e-02 8.50866159e+01] [ 6.33072167e-02 9.97994058e-01 -2.37433135e-04 8.46209739e-01] [ 1.57809731e-02 -7.63176874e-04 9.99875181e-01 1.21617623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.86925415399998 meters Centerline goodness : 0.999253 Centerline is valid? [True, True] Translation: X:85.12, Y:0.85, Z:1.22 [[ 9.97819295e-01 -6.40865813e-02 -1.57976446e-02 8.51182828e+01] [ 6.40908476e-02 9.97944040e-01 -2.36588858e-04 8.48195428e-01] [ 1.57803275e-02 -7.76411508e-04 9.99875181e-01 1.21671537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.89925415399998 meters Centerline goodness : 0.999130 Centerline is valid? [True, True] Translation: X:85.16, Y:0.85, Z:1.21 [[ 9.98059212e-01 -6.02349078e-02 -1.57976618e-02 8.51555338e+01] [ 6.02387107e-02 9.98183972e-01 -2.35439908e-04 8.46004127e-01] [ 1.57831545e-02 -7.16647808e-04 9.99875181e-01 1.21496525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.92925415399998 meters Centerline goodness : 0.998961 Centerline is valid? [True, True] Translation: X:85.19, Y:0.85, Z:1.22 [[ 9.97995422e-01 -6.12814361e-02 -1.58026195e-02 8.51871253e+01] [ 6.12906040e-02 9.98119959e-01 9.60416858e-05 8.48346452e-01] [ 1.57670244e-02 -1.06440126e-03 9.99875126e-01 1.21504606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.95925415399998 meters Centerline goodness : 0.999232 Centerline is valid? [True, True] Translation: X:85.21, Y:0.86, Z:1.22 [[ 9.97607190e-01 -6.73065667e-02 -1.58025343e-02 8.52104228e+01] [ 6.73163975e-02 9.97731675e-01 9.04088060e-05 8.58632103e-01] [ 1.57606039e-02 -1.15396216e-03 9.99875128e-01 1.21715880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.98925415399998 meters Centerline goodness : 0.999253 Centerline is valid? [True, True] Translation: X:85.24, Y:0.86, Z:1.22 [[ 9.97644940e-01 -6.67459536e-02 -1.57971937e-02 8.52423601e+01] [ 6.67503597e-02 9.97769677e-01 -2.48775402e-04 8.60961734e-01] [ 1.57785656e-02 -8.06278843e-04 9.99875186e-01 1.21795631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.01925415399998 meters Centerline goodness : 0.999086 Centerline is valid? [True, True] Translation: X:85.27, Y:0.86, Z:1.22 [[ 9.97701316e-01 -6.58978984e-02 -1.57972119e-02 8.52744970e+01] [ 6.59022168e-02 9.97826055e-01 -2.47613576e-04 8.63457002e-01] [ 1.57791869e-02 -7.94026896e-04 9.99875186e-01 1.21834471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.04925415399998 meters Centerline goodness : 0.999025 Centerline is valid? [True, True] Translation: X:85.31, Y:0.87, Z:1.22 [[ 9.97916350e-01 -6.25572140e-02 -1.57972299e-02 8.53063222e+01] [ 6.25611330e-02 9.98041103e-01 -2.46459850e-04 8.69006389e-01] [ 1.57817026e-02 -7.42346290e-04 9.99875186e-01 1.21900856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.07925415399998 meters Centerline goodness : 0.999065 Centerline is valid? [True, True] Translation: X:85.34, Y:0.87, Z:1.22 [[ 9.98056414e-01 -6.02813524e-02 -1.57972735e-02 8.53380061e+01] [ 6.02850315e-02 9.98181174e-01 -2.43633727e-04 8.72307608e-01] [ 1.57832276e-02 -7.09178929e-04 9.99875186e-01 1.22000498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.10925415399998 meters Centerline goodness : 0.998997 Centerline is valid? [True, True] Translation: X:85.37, Y:0.88, Z:1.22 [[ 9.98349047e-01 -5.52234165e-02 -1.57972911e-02 8.53687935e+01] [ 5.52264815e-02 9.98473824e-01 -2.42487373e-04 8.78051924e-01] [ 1.57865727e-02 -6.30341768e-04 9.99875186e-01 1.22062708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.13925415399999 meters Centerline goodness : 0.999038 Centerline is valid? [True, True] Translation: X:85.40, Y:0.88, Z:1.22 [[ 9.98465367e-01 -5.30787715e-02 -1.57973042e-02 8.54007162e+01] [ 5.30815819e-02 9.98590150e-01 -2.41633917e-04 8.81163916e-01] [ 1.57878580e-02 -5.97282799e-04 9.99875186e-01 1.22152543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.16925415399999 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:85.43, Y:0.88, Z:1.22 [[ 9.98599468e-01 -5.04930310e-02 -1.57973220e-02 8.54329947e+01] [ 5.04955369e-02 9.98724258e-01 -2.40460924e-04 8.83800087e-01] [ 1.57893103e-02 -5.57570106e-04 9.99875186e-01 1.22202000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.19925415399999 meters Centerline goodness : 0.998994 Centerline is valid? [True, True] Translation: X:85.47, Y:0.89, Z:1.22 [[ 9.98713624e-01 -4.81823722e-02 -1.57973399e-02 8.54653462e+01] [ 4.81846079e-02 9.98838419e-01 -2.39284081e-04 8.86522422e-01] [ 1.57905192e-02 -5.22212356e-04 9.99875186e-01 1.22274782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.22925415399999 meters Centerline goodness : 0.999267 Centerline is valid? [True, True] Translation: X:85.50, Y:0.89, Z:1.22 [[ 9.98926209e-01 -4.35531043e-02 -1.57973578e-02 8.54963684e+01] [ 4.35547804e-02 9.99051012e-01 -2.38094349e-04 8.91447372e-01] [ 1.57927360e-02 -4.50211764e-04 9.99875186e-01 1.22369940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.25925415399998 meters Centerline goodness : 0.998995 Centerline is valid? [True, True] Translation: X:85.53, Y:0.89, Z:1.22 [[ 9.99030952e-01 -4.10804050e-02 -1.57973711e-02 8.55273515e+01] [ 4.10817862e-02 9.99155759e-01 -2.37208355e-04 8.94264809e-01] [ 1.57937789e-02 -4.12005734e-04 9.99875186e-01 1.22403569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.28925415399998 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:85.56, Y:0.90, Z:1.22 [[ 9.99215713e-01 -3.63097953e-02 -1.57974001e-02 8.55594873e+01] [ 3.63106113e-02 9.99340525e-01 -2.35261273e-04 8.99405377e-01] [ 1.57955244e-02 -3.38536494e-04 9.99875186e-01 1.22462069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.31925415399998 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:85.59, Y:0.90, Z:1.23 [[ 9.99287336e-01 -3.42820945e-02 -1.57974172e-02 8.55918930e+01] [ 3.42826755e-02 9.99412149e-01 -2.34106912e-04 9.02063824e-01] [ 1.57961563e-02 -3.07637655e-04 9.99875186e-01 1.22514802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.34925415399998 meters Centerline goodness : 0.998972 Centerline is valid? [True, True] Translation: X:85.62, Y:0.90, Z:1.22 [[ 9.99389274e-01 -3.11692011e-02 -1.57974343e-02 8.56232335e+01] [ 3.11694116e-02 9.99514089e-01 -2.32947198e-04 9.03994166e-01] [ 1.57970189e-02 -2.59591801e-04 9.99875186e-01 1.22429860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.37925415399998 meters Centerline goodness : 0.999075 Centerline is valid? [True, True] Translation: X:85.65, Y:0.91, Z:1.23 [[ 9.99457726e-01 -2.88914320e-02 -1.57968322e-02 8.56534250e+01] [ 2.88907178e-02 9.99582539e-01 -2.73461986e-04 9.07401834e-01] [ 1.57981384e-02 -1.83068127e-04 9.99875185e-01 1.22635465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.40925415399998 meters Centerline goodness : 0.998968 Centerline is valid? [True, True] Translation: X:85.68, Y:0.91, Z:1.23 [[ 9.99500635e-01 -2.73664502e-02 -1.57974082e-02 8.56840773e+01] [ 2.73661583e-02 9.99625449e-01 -2.34688987e-04 9.09054965e-01] [ 1.57979139e-02 -1.97742583e-04 9.99875186e-01 1.22679037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.43925415399998 meters Centerline goodness : 0.999096 Centerline is valid? [True, True] Translation: X:85.71, Y:0.91, Z:1.23 [[ 9.99555546e-01 -2.52814782e-02 -1.57974125e-02 8.57145050e+01] [ 2.52809305e-02 9.99680359e-01 -2.34405252e-04 9.12238390e-01] [ 1.57982891e-02 -1.65072216e-04 9.99875186e-01 1.22774519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.46925415399998 meters Centerline goodness : 0.998904 Centerline is valid? [True, True] Translation: X:85.74, Y:0.91, Z:1.23 [[ 9.99575296e-01 -2.44881655e-02 -1.57974125e-02 8.57448325e+01] [ 2.44875187e-02 9.99700108e-01 -2.34405252e-04 9.13417994e-01] [ 1.57984151e-02 -1.52533734e-04 9.99875186e-01 1.22758840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.49925415399998 meters Centerline goodness : 0.998905 Centerline is valid? [True, True] Translation: X:85.78, Y:0.91, Z:1.23 [[ 9.99594051e-01 -2.37102378e-02 -1.57974125e-02 8.57756009e+01] [ 2.37094938e-02 9.99718863e-01 -2.34405252e-04 9.14657288e-01] [ 1.57985290e-02 -1.40238558e-04 9.99875186e-01 1.22785880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.52925415399999 meters Centerline goodness : 0.998714 Centerline is valid? [True, True] Translation: X:85.81, Y:0.92, Z:1.23 [[ 9.99627435e-01 -2.22583052e-02 -1.57974125e-02 8.58051043e+01] [ 2.22573800e-02 9.99752246e-01 -2.34405252e-04 9.16814945e-01] [ 1.57987161e-02 -1.17291091e-04 9.99875186e-01 1.22761834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.55925415399999 meters Centerline goodness : 0.999093 Centerline is valid? [True, True] Translation: X:85.83, Y:0.92, Z:1.23 [[ 9.99640525e-01 -2.16624740e-02 -1.57974082e-02 8.58341710e+01] [ 2.16614699e-02 9.99765335e-01 -2.34688889e-04 9.18063142e-01] [ 1.57987851e-02 -1.07590558e-04 9.99875186e-01 1.22774804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.58925415399999 meters Centerline goodness : 0.999050 Centerline is valid? [True, True] Translation: X:85.86, Y:0.92, Z:1.23 [[ 9.99646654e-01 -2.13777715e-02 -1.57973957e-02 8.58639010e+01] [ 2.13767185e-02 9.99771464e-01 -2.35531354e-04 9.18913889e-01] [ 1.57988205e-02 -1.02248351e-04 9.99875186e-01 1.22782300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.61925415399998 meters Centerline goodness : 0.999050 Centerline is valid? [True, True] Translation: X:85.89, Y:0.92, Z:1.23 [[ 9.99645865e-01 -2.14146697e-02 -1.57973870e-02 8.58940467e+01] [ 2.14136121e-02 9.99770674e-01 -2.36114890e-04 9.19393369e-01] [ 1.57988205e-02 -1.02247843e-04 9.99875186e-01 1.22829957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.64925415399998 meters Centerline goodness : 0.999009 Centerline is valid? [True, True] Translation: X:85.92, Y:0.92, Z:1.23 [[ 9.99650067e-01 -2.12176198e-02 -1.57973782e-02 8.59236857e+01] [ 2.12165284e-02 9.99774876e-01 -2.36697917e-04 9.20067157e-01] [ 1.57988440e-02 -9.85504353e-05 9.99875186e-01 1.22873031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.67925415399998 meters Centerline goodness : 0.998968 Centerline is valid? [True, True] Translation: X:85.95, Y:0.92, Z:1.23 [[ 9.99656201e-01 -2.09266247e-02 -1.57973695e-02 8.59535178e+01] [ 2.09254878e-02 9.99781010e-01 -2.37276804e-04 9.20666350e-01] [ 1.57988755e-02 -9.33724342e-05 9.99875186e-01 1.22893598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.70925415399998 meters Centerline goodness : 0.998986 Centerline is valid? [True, True] Translation: X:85.98, Y:0.92, Z:1.23 [[ 9.99660068e-01 -2.07410635e-02 -1.57973609e-02 8.59836460e+01] [ 2.07398943e-02 9.99784877e-01 -2.37851973e-04 9.21224055e-01] [ 1.57988958e-02 -8.98644747e-05 9.99875186e-01 1.22976662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.73925415399998 meters Centerline goodness : 0.998986 Centerline is valid? [True, True] Translation: X:86.01, Y:0.92, Z:1.23 [[ 9.99674568e-01 -2.00300389e-02 -1.57973522e-02 8.60137750e+01] [ 2.00287719e-02 9.99799376e-01 -2.38423658e-04 9.21099210e-01] [ 1.57989585e-02 -7.80554976e-05 9.99875186e-01 1.23057665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.76925415399998 meters Centerline goodness : 0.998883 Centerline is valid? [True, True] Translation: X:86.04, Y:0.92, Z:1.23 [[ 9.99676263e-01 -1.99452504e-02 -1.57973435e-02 8.60419898e+01] [ 1.99439637e-02 9.99801071e-01 -2.39000431e-04 9.21099280e-01] [ 1.57989679e-02 -7.61385881e-05 9.99875186e-01 1.23081680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.79925415399998 meters Centerline goodness : 0.999007 Centerline is valid? [True, True] Translation: X:86.07, Y:0.92, Z:1.23 [[ 9.99666278e-01 -2.04395890e-02 -1.57973305e-02 8.60705817e+01] [ 2.04383505e-02 9.99791086e-01 -2.39858486e-04 9.21150010e-01] [ 1.57989328e-02 -8.30929384e-05 9.99875186e-01 1.23136502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.82925415399998 meters Centerline goodness : 0.999072 Centerline is valid? [True, True] Translation: X:86.10, Y:0.92, Z:1.23 [[ 9.99643574e-01 -2.15214097e-02 -1.57972665e-02 8.60994558e+01] [ 2.15202408e-02 9.99768383e-01 -2.44000127e-04 9.20187029e-01] [ 1.57988588e-02 -9.60478200e-05 9.99875186e-01 1.23142309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.85925415399998 meters Centerline goodness : 0.998968 Centerline is valid? [True, True] Translation: X:86.13, Y:0.92, Z:1.23 [[ 9.99617438e-01 -2.27029476e-02 -1.57972529e-02 8.61284830e+01] [ 2.27019124e-02 9.99742248e-01 -2.44878746e-04 9.19781716e-01] [ 1.57987406e-02 -1.13842786e-04 9.99875186e-01 1.23139511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.88925415399999 meters Centerline goodness : 0.999010 Centerline is valid? [True, True] Translation: X:86.16, Y:0.92, Z:1.23 [[ 9.99534301e-01 -2.61080120e-02 -1.57972395e-02 8.61578570e+01] [ 2.61073882e-02 9.99659114e-01 -2.45742311e-04 9.18110855e-01] [ 1.57982702e-02 -1.66796795e-04 9.99875186e-01 1.23056288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.91925415399999 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:86.19, Y:0.92, Z:1.23 [[ 9.99485951e-01 -2.78976824e-02 -1.57972306e-02 8.61888412e+01] [ 2.78972732e-02 9.99610765e-01 -2.46310067e-04 9.17419770e-01] [ 1.57979533e-02 -1.94516206e-04 9.99875186e-01 1.23088432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.94925415399999 meters Centerline goodness : 0.999033 Centerline is valid? [True, True] Translation: X:86.22, Y:0.92, Z:1.23 [[ 9.99426843e-01 -2.99404937e-02 -1.57972306e-02 8.62191066e+01] [ 2.99403396e-02 9.99551657e-01 -2.46310067e-04 9.16927956e-01] [ 1.57975227e-02 -2.26805556e-04 9.99875186e-01 1.23096703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.97925415399999 meters Centerline goodness : 0.999055 Centerline is valid? [True, True] Translation: X:86.25, Y:0.92, Z:1.23 [[ 9.99308438e-01 -3.36614610e-02 -1.57972350e-02 8.62496097e+01] [ 3.36617761e-02 9.99433252e-01 -2.46026723e-04 9.15955897e-01] [ 1.57965636e-02 -2.85906408e-04 9.99875186e-01 1.23145278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.00925415399998 meters Centerline goodness : 0.999222 Centerline is valid? [True, True] Translation: X:86.28, Y:0.92, Z:1.23 [[ 9.99256586e-01 -3.51670736e-02 -1.57972394e-02 8.62810512e+01] [ 3.51675812e-02 9.99381399e-01 -2.45747586e-04 9.15716386e-01] [ 1.57961094e-02 -3.09985803e-04 9.99875186e-01 1.23210258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.03925415399998 meters Centerline goodness : 0.998995 Centerline is valid? [True, True] Translation: X:86.31, Y:0.92, Z:1.23 [[ 9.99197406e-01 -3.68101896e-02 -1.57972477e-02 8.63125089e+01] [ 3.68109109e-02 9.99322219e-01 -2.45208647e-04 9.15865189e-01] [ 1.57955668e-02 -3.36499234e-04 9.99875186e-01 1.23233883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.06925415399998 meters Centerline goodness : 0.999097 Centerline is valid? [True, True] Translation: X:86.35, Y:0.92, Z:1.23 [[ 9.99075491e-01 -3.99826018e-02 -1.57972756e-02 8.63450432e+01] [ 3.99837479e-02 9.99200301e-01 -2.43401739e-04 9.15100583e-01] [ 1.57943743e-02 -3.88457573e-04 9.99875186e-01 1.23325853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.09925415399998 meters Centerline goodness : 0.999286 Centerline is valid? [True, True] Translation: X:86.38, Y:0.91, Z:1.23 [[ 9.98912555e-01 -4.38651676e-02 -1.57972926e-02 8.63771639e+01] [ 4.38668164e-02 9.99037359e-01 -2.42290337e-04 9.14277557e-01] [ 1.57927136e-02 -4.50950075e-04 9.99875186e-01 1.23423645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.12925415399998 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:86.41, Y:0.91, Z:1.23 [[ 9.98812781e-01 -4.60811679e-02 -1.57973104e-02 8.64081879e+01] [ 4.60831120e-02 9.98937580e-01 -2.41123961e-04 9.14240433e-01] [ 1.57916383e-02 -4.87151531e-04 9.99875186e-01 1.23382253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.15925415399998 meters Centerline goodness : 0.998888 Centerline is valid? [True, True] Translation: X:86.44, Y:0.91, Z:1.23 [[ 9.98700179e-01 -4.84602712e-02 -1.57973237e-02 8.64402193e+01] [ 4.84625264e-02 9.98824973e-01 -2.40253745e-04 9.14241743e-01] [ 1.57904041e-02 -5.25636756e-04 9.99875186e-01 1.23461665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.18925415399998 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:86.47, Y:0.91, Z:1.24 [[ 9.98573097e-01 -5.10119019e-02 -1.57973413e-02 8.64721312e+01] [ 5.10144942e-02 9.98697884e-01 -2.39090776e-04 9.14251243e-01] [ 1.57889678e-02 -5.67143757e-04 9.99875186e-01 1.23526673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.21925415399998 meters Centerline goodness : 0.998824 Centerline is valid? [True, True] Translation: X:86.50, Y:0.91, Z:1.24 [[ 9.98248885e-01 -5.70053179e-02 -1.57973591e-02 8.65042997e+01] [ 5.70086780e-02 9.98373655e-01 -2.37905500e-04 9.14714228e-01] [ 1.57852290e-02 -6.63097658e-04 9.99875186e-01 1.23622468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.24925415399998 meters Centerline goodness : 0.998888 Centerline is valid? [True, True] Translation: X:86.54, Y:0.91, Z:1.24 [[ 9.98068223e-01 -6.00854880e-02 -1.57973812e-02 8.65374536e+01] [ 6.00892565e-02 9.98192980e-01 -2.36426114e-04 9.14879946e-01] [ 1.57830408e-02 -7.13283502e-04 9.99875186e-01 1.23686934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.27925415399999 meters Centerline goodness : 0.998868 Centerline is valid? [True, True] Translation: X:86.57, Y:0.91, Z:1.24 [[ 9.97648122e-01 -6.66983228e-02 -1.57974074e-02 8.65704621e+01] [ 6.67029458e-02 9.97772851e-01 -2.34662467e-04 9.14743165e-01] [ 1.57778759e-02 -8.19623043e-04 9.99875186e-01 1.23668928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.30925415399999 meters Centerline goodness : 0.998764 Centerline is valid? [True, True] Translation: X:86.60, Y:0.92, Z:1.24 [[ 9.97447948e-01 -6.96278149e-02 -1.57974336e-02 8.66026915e+01] [ 6.96328322e-02 9.97572661e-01 -2.32888517e-04 9.15336302e-01] [ 1.57753034e-02 -8.67725868e-04 9.99875186e-01 1.23678149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.33925415399999 meters Centerline goodness : 0.998912 Centerline is valid? [True, True] Translation: X:86.63, Y:0.92, Z:1.24 [[ 9.97291024e-01 -7.18404750e-02 -1.57974551e-02 8.66342753e+01] [ 7.18457921e-02 9.97415725e-01 -2.31421082e-04 9.16186526e-01] [ 1.57732555e-02 -9.04186507e-04 9.99875186e-01 1.23689780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.36925415399998 meters Centerline goodness : 0.998972 Centerline is valid? [True, True] Translation: X:86.67, Y:0.92, Z:1.24 [[ 9.97038772e-01 -7.52603906e-02 -1.57974762e-02 8.66676785e+01] [ 7.52661583e-02 9.97163453e-01 -2.29968699e-04 9.18368273e-01] [ 1.57699735e-02 -9.59727638e-04 9.99875186e-01 1.23692567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.39925415399998 meters Centerline goodness : 0.998825 Centerline is valid? [True, True] Translation: X:86.70, Y:0.92, Z:1.24 [[ 9.96976748e-01 -7.60776098e-02 -1.57975016e-02 8.66995330e+01] [ 7.60835074e-02 9.97101423e-01 -2.28214044e-04 9.19561031e-01] [ 1.57690733e-02 -9.74405234e-04 9.99875186e-01 1.23688141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.42925415399998 meters Centerline goodness : 0.998992 Centerline is valid? [True, True] Translation: X:86.73, Y:0.92, Z:1.24 [[ 9.96952598e-01 -7.63934296e-02 -1.57975224e-02 8.67330372e+01] [ 7.63993896e-02 9.97077270e-01 -2.26761035e-04 9.21185876e-01] [ 1.57686736e-02 -9.80851068e-04 9.99875186e-01 1.23739633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.45925415399998 meters Centerline goodness : 0.999011 Centerline is valid? [True, True] Translation: X:86.76, Y:0.92, Z:1.24 [[ 9.97014922e-01 -7.55756775e-02 -1.57975473e-02 8.67647700e+01] [ 7.55815628e-02 9.97139597e-01 -2.25018694e-04 9.24652771e-01] [ 1.57693659e-02 -9.69656314e-04 9.99875186e-01 1.23787433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.48925415399998 meters Centerline goodness : 0.999140 Centerline is valid? [True, True] Translation: X:86.80, Y:0.93, Z:1.24 [[ 9.97130769e-01 -7.40315172e-02 -1.57975677e-02 8.67967024e+01] [ 7.40372322e-02 9.97255453e-01 -2.23575030e-04 9.26748772e-01] [ 1.57707621e-02 -9.46674645e-04 9.99875186e-01 1.23780527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.51925415399998 meters Centerline goodness : 0.998885 Centerline is valid? [True, True] Translation: X:86.83, Y:0.93, Z:1.24 [[ 9.97275534e-01 -7.20551575e-02 -1.57976075e-02 8.68301971e+01] [ 7.20606702e-02 9.97400226e-01 -2.20729278e-04 9.29043985e-01] [ 1.57724419e-02 -9.18258273e-04 9.99875186e-01 1.23829421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.54925415399998 meters Centerline goodness : 0.999072 Centerline is valid? [True, True] Translation: X:86.86, Y:0.93, Z:1.24 [[ 9.97638697e-01 -6.68391011e-02 -1.57976299e-02 8.68626438e+01] [ 6.68439872e-02 9.97763416e-01 -2.19111837e-04 9.34035120e-01] [ 1.57769424e-02 -8.37382123e-04 9.99875186e-01 1.24026295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.57925415399998 meters Centerline goodness : 0.999071 Centerline is valid? [True, True] Translation: X:86.89, Y:0.94, Z:1.24 [[ 9.97864773e-01 -6.33745109e-02 -1.57976495e-02 8.68943528e+01] [ 6.33789865e-02 9.97989507e-01 -2.17688213e-04 9.36848042e-01] [ 1.57796843e-02 -7.84015616e-04 9.99875186e-01 1.24131116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.60925415399998 meters Centerline goodness : 0.998942 Centerline is valid? [True, True] Translation: X:86.93, Y:0.94, Z:1.24 [[ 9.98352445e-01 -5.51618443e-02 -1.57976688e-02 8.69258133e+01] [ 5.51653157e-02 9.98477211e-01 -2.16276249e-04 9.42381285e-01] [ 1.57855425e-02 -6.55563466e-04 9.99875186e-01 1.24293893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.63925415399999 meters Centerline goodness : 0.998921 Centerline is valid? [True, True] Translation: X:86.96, Y:0.95, Z:1.24 [[ 9.98605351e-01 -5.03764510e-02 -1.57976802e-02 8.69584731e+01] [ 5.03793375e-02 9.98730132e-01 -2.15444512e-04 9.45312042e-01] [ 1.57884725e-02 -5.80732619e-04 9.99875186e-01 1.24399395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.66925415399999 meters Centerline goodness : 0.998836 Centerline is valid? [True, True] Translation: X:86.99, Y:0.95, Z:1.25 [[ 9.98846413e-01 -4.53461886e-02 -1.57977025e-02 8.69910387e+01] [ 4.53484727e-02 9.98971206e-01 -2.13794139e-04 9.48195147e-01] [ 1.57911447e-02 -5.02854172e-04 9.99875186e-01 1.24510256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.69925415399999 meters Centerline goodness : 0.998747 Centerline is valid? [True, True] Translation: X:87.02, Y:0.95, Z:1.25 [[ 9.99224002e-01 -3.60808133e-02 -1.57977178e-02 8.70231108e+01] [ 3.60819578e-02 9.99348812e-01 -2.12660925e-04 9.53646512e-01] [ 1.57951035e-02 -3.57516686e-04 9.99875186e-01 1.24593540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.72925415399999 meters Centerline goodness : 0.998827 Centerline is valid? [True, True] Translation: X:87.05, Y:0.96, Z:1.25 [[ 9.99362010e-01 -3.20313076e-02 -1.57977336e-02 8.70537993e+01] [ 3.20319651e-02 9.99486823e-01 -2.11478489e-04 9.56396842e-01] [ 1.57964005e-02 -2.94688883e-04 9.99875186e-01 1.24614710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.75925415399998 meters Centerline goodness : 0.998827 Centerline is valid? [True, True] Translation: X:87.09, Y:0.96, Z:1.25 [[ 9.99473206e-01 -2.83503445e-02 -1.57977453e-02 8.70860231e+01] [ 2.83505562e-02 9.99598020e-01 -2.10599518e-04 9.58978400e-01] [ 1.57973655e-02 -2.37386290e-04 9.99875186e-01 1.24622368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.78925415399998 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:87.12, Y:0.96, Z:1.25 [[ 9.99620492e-01 -2.25677256e-02 -1.57977606e-02 8.71176237e+01] [ 2.25672334e-02 9.99745306e-01 -2.09447853e-04 9.63519303e-01] [ 1.57984637e-02 -1.47143383e-04 9.99875186e-01 1.24595766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.81925415399998 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:87.15, Y:0.97, Z:1.25 [[ 9.99664265e-01 -2.05374808e-02 -1.57977682e-02 8.71479180e+01] [ 2.05367441e-02 9.99789077e-01 -2.08872325e-04 9.65448109e-01] [ 1.57987258e-02 -1.15632524e-04 9.99875186e-01 1.24599063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.84925415399998 meters Centerline goodness : 0.999209 Centerline is valid? [True, True] Translation: X:87.18, Y:0.97, Z:1.24 [[ 9.99709785e-01 -1.81872476e-02 -1.57977682e-02 8.71778459e+01] [ 1.81862175e-02 9.99834595e-01 -2.08872325e-04 9.68070808e-01] [ 1.57989540e-02 -7.84899414e-05 9.99875186e-01 1.24469128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.87925415399998 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:87.21, Y:0.97, Z:1.25 [[ 9.99708594e-01 -1.82526215e-02 -1.57977644e-02 8.72069515e+01] [ 1.82515951e-02 9.99833404e-01 -2.09158871e-04 9.69711343e-01] [ 1.57989502e-02 -7.92364782e-05 9.99875186e-01 1.24529072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.90925415399998 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:87.24, Y:0.97, Z:1.25 [[ 9.99706235e-01 -1.83814090e-02 -1.57977104e-02 8.72352351e+01] [ 1.83803354e-02 9.99831045e-01 -2.13159450e-04 9.71119699e-01] [ 1.57989595e-02 -7.72703846e-05 9.99875186e-01 1.24535650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.93925415399998 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:87.26, Y:0.97, Z:1.25 [[ 9.99679358e-01 -1.97892595e-02 -1.57976989e-02 8.72638251e+01] [ 1.97883483e-02 9.99804169e-01 -2.14008134e-04 9.73155098e-01] [ 1.57988403e-02 -9.86708543e-05 9.99875186e-01 1.24725078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.96925415399998 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:87.29, Y:0.97, Z:1.25 [[ 9.99663162e-01 -2.05911937e-02 -1.57976431e-02 8.72932527e+01] [ 2.05903187e-02 9.99787973e-01 -2.18055287e-04 9.74174103e-01] [ 1.57987835e-02 -1.07296667e-04 9.99875186e-01 1.24827496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.99925415399998 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:87.32, Y:0.98, Z:1.25 [[ 9.99615817e-01 -2.27739506e-02 -1.57976350e-02 8.73232055e+01] [ 2.27733389e-02 9.99740630e-01 -2.18635306e-04 9.75000599e-01] [ 1.57985168e-02 -1.41213586e-04 9.99875186e-01 1.24947413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.02925415399999 meters Centerline goodness : 0.999229 Centerline is valid? [True, True] Translation: X:87.35, Y:0.98, Z:1.25 [[ 9.99584869e-01 -2.40940606e-02 -1.57976269e-02 8.73526727e+01] [ 2.40936045e-02 9.99709683e-01 -2.19223833e-04 9.75412861e-01] [ 1.57983225e-02 -1.61488947e-04 9.99875186e-01 1.25027093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.05925415399999 meters Centerline goodness : 0.999314 Centerline is valid? [True, True] Translation: X:87.38, Y:0.98, Z:1.25 [[ 9.99553093e-01 -2.53781197e-02 -1.57976228e-02 8.73827486e+01] [ 2.53778193e-02 9.99677907e-01 -2.19515887e-04 9.75583515e-01] [ 1.57981054e-02 -1.81491433e-04 9.99875186e-01 1.25079824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.08925415399999 meters Centerline goodness : 0.998970 Centerline is valid? [True, True] Translation: X:87.41, Y:0.98, Z:1.25 [[ 9.99515368e-01 -2.68228211e-02 -1.57976358e-02 8.74145603e+01] [ 2.68227159e-02 9.99640182e-01 -2.18573676e-04 9.76095558e-01] [ 1.57978143e-02 -2.05267751e-04 9.99875186e-01 1.25131142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.11925415399998 meters Centerline goodness : 0.999271 Centerline is valid? [True, True] Translation: X:87.45, Y:0.98, Z:1.25 [[ 9.99445891e-01 -2.92975484e-02 -1.57976439e-02 8.74460649e+01] [ 2.92977616e-02 9.99570705e-01 -2.17991481e-04 9.76171478e-01] [ 1.57972486e-02 -2.44964914e-04 9.99875186e-01 1.25149954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.14925415399998 meters Centerline goodness : 0.999229 Centerline is valid? [True, True] Translation: X:87.48, Y:0.98, Z:1.25 [[ 9.99413237e-01 -3.03910453e-02 -1.57976558e-02 8.74769627e+01] [ 3.03914087e-02 9.99538051e-01 -2.17121620e-04 9.76262558e-01] [ 1.57969567e-02 -2.63118795e-04 9.99875186e-01 1.25138742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.17925415399998 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:87.51, Y:0.98, Z:1.25 [[ 9.99378401e-01 -3.15157830e-02 -1.57976636e-02 8.75086733e+01] [ 3.15162959e-02 9.99503215e-01 -2.16553271e-04 9.76430271e-01] [ 1.57966404e-02 -2.81465179e-04 9.99875186e-01 1.25150309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.20925415399998 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:87.54, Y:0.98, Z:1.25 [[ 9.99304320e-01 -3.37832768e-02 -1.57976715e-02 8.75399902e+01] [ 3.37840820e-02 9.99429132e-01 -2.15975394e-04 9.76118332e-01] [ 1.57959495e-02 -3.17884687e-04 9.99875186e-01 1.25136167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.23925415399998 meters Centerline goodness : 0.998971 Centerline is valid? [True, True] Translation: X:87.57, Y:0.98, Z:1.25 [[ 9.99283577e-01 -3.43913663e-02 -1.57976833e-02 8.75718382e+01] [ 3.43922611e-02 9.99408388e-01 -2.15112420e-04 9.75923854e-01] [ 1.57957352e-02 -3.28359739e-04 9.99875186e-01 1.25179934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.26925415399998 meters Centerline goodness : 0.999272 Centerline is valid? [True, True] Translation: X:87.60, Y:0.98, Z:1.25 [[ 9.99294555e-01 -3.40708977e-02 -1.57976985e-02 8.76044125e+01] [ 3.40717702e-02 9.99419366e-01 -2.13988445e-04 9.76107814e-01] [ 1.57958166e-02 -3.24418066e-04 9.99875186e-01 1.25270826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.29925415399998 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:87.64, Y:0.98, Z:1.25 [[ 9.99321664e-01 -3.32662662e-02 -1.57977143e-02 8.76366287e+01] [ 3.32670567e-02 9.99446476e-01 -2.12818233e-04 9.76464012e-01] [ 1.57960495e-02 -3.12869585e-04 9.99875186e-01 1.25306316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.32925415399998 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:87.67, Y:0.98, Z:1.25 [[ 9.99344355e-01 -3.25774717e-02 -1.57977299e-02 8.76691298e+01] [ 3.25781946e-02 9.99469167e-01 -2.11650310e-04 9.77033941e-01] [ 1.57962390e-02 -3.03149976e-04 9.99875186e-01 1.25303965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.35925415399998 meters Centerline goodness : 0.999294 Centerline is valid? [True, True] Translation: X:87.70, Y:0.98, Z:1.25 [[ 9.99434300e-01 -2.96902412e-02 -1.57977453e-02 8.77014001e+01] [ 2.96906219e-02 9.99559114e-01 -2.10492694e-04 9.77272225e-01] [ 1.57970299e-02 -2.58671265e-04 9.99875186e-01 1.25293777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.38925415399999 meters Centerline goodness : 0.998864 Centerline is valid? [True, True] Translation: X:87.73, Y:0.98, Z:1.25 [[ 9.99485877e-01 -2.79000553e-02 -1.57977609e-02 8.77323027e+01] [ 2.79002309e-02 9.99610691e-01 -2.09320311e-04 9.77706154e-01] [ 1.57974507e-02 -2.31548482e-04 9.99875186e-01 1.25249626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.41925415399999 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:87.76, Y:0.98, Z:1.25 [[ 9.99546953e-01 -2.56187413e-02 -1.57977685e-02 8.77632251e+01] [ 2.56186412e-02 9.99671767e-01 -2.08739182e-04 9.78188049e-01] [ 1.57979308e-02 -1.96072750e-04 9.99875186e-01 1.25325520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.44925415399999 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:87.79, Y:0.98, Z:1.25 [[ 9.99652130e-01 -2.11198996e-02 -1.57977763e-02 8.77945469e+01] [ 2.11192470e-02 9.99776942e-01 -2.08153686e-04 9.78867487e-01] [ 1.57986486e-02 -1.25555864e-04 9.99875186e-01 1.25410057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.47925415399999 meters Centerline goodness : 0.999251 Centerline is valid? [True, True] Translation: X:87.82, Y:0.98, Z:1.25 [[ 9.99691528e-01 -1.91645088e-02 -1.57977839e-02 8.78242243e+01] [ 1.91636213e-02 9.99816339e-01 -2.07571739e-04 9.79192642e-01] [ 1.57988605e-02 -9.52350397e-05 9.99875186e-01 1.25482057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.50925415399998 meters Centerline goodness : 0.999251 Centerline is valid? [True, True] Translation: X:87.85, Y:0.98, Z:1.26 [[ 9.99690838e-01 -1.92005008e-02 -1.57977847e-02 8.78543695e+01] [ 1.91996188e-02 9.99815649e-01 -2.07510804e-04 9.79618291e-01] [ 1.57988567e-02 -9.58647950e-05 9.99875186e-01 1.25529693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.53925415399998 meters Centerline goodness : 0.998970 Centerline is valid? [True, True] Translation: X:87.88, Y:0.98, Z:1.26 [[ 9.99732406e-01 -1.68981253e-02 -1.57977772e-02 8.78830536e+01] [ 1.68969469e-02 9.99857215e-01 -2.08079660e-04 9.79093878e-01] [ 1.57990377e-02 -5.89102235e-05 9.99875186e-01 1.25620157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.56925415399998 meters Centerline goodness : 0.999034 Centerline is valid? [True, True] Translation: X:87.91, Y:0.98, Z:1.26 [[ 9.99735303e-01 -1.67258823e-02 -1.57977660e-02 8.79119236e+01] [ 1.67246690e-02 9.99860111e-01 -2.08926032e-04 9.78670556e-01] [ 1.57990506e-02 -5.53416778e-05 9.99875186e-01 1.25677263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.59925415399998 meters Centerline goodness : 0.998969 Centerline is valid? [True, True] Translation: X:87.94, Y:0.98, Z:1.26 [[ 9.99734049e-01 -1.68007100e-02 -1.57977113e-02 8.79409157e+01] [ 1.67994419e-02 9.99858857e-01 -2.12982665e-04 9.77806174e-01] [ 1.57990598e-02 -5.24667111e-05 9.99875186e-01 1.25647085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.62925415399998 meters Centerline goodness : 0.999077 Centerline is valid? [True, True] Translation: X:87.97, Y:0.98, Z:1.26 [[ 9.99719502e-01 -1.76451777e-02 -1.57976557e-02 8.79687067e+01] [ 1.76439510e-02 9.99844310e-01 -2.17032670e-04 9.75584542e-01] [ 1.57990257e-02 -6.17612704e-05 9.99875186e-01 1.25512741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.65925415399998 meters Centerline goodness : 0.999013 Centerline is valid? [True, True] Translation: X:88.00, Y:0.97, Z:1.25 [[ 9.99700549e-01 -1.86881498e-02 -1.57976359e-02 8.79972941e+01] [ 1.86870307e-02 9.99825358e-01 -2.18466043e-04 9.74852433e-01] [ 1.57989597e-02 -7.68102830e-05 9.99875186e-01 1.25441751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.68925415399998 meters Centerline goodness : 0.998889 Centerline is valid? [True, True] Translation: X:88.03, Y:0.97, Z:1.25 [[ 9.99672870e-01 -2.01144184e-02 -1.57975797e-02 8.80261952e+01] [ 2.01134143e-02 9.99797680e-01 -2.22451891e-04 9.74355103e-01] [ 1.57988581e-02 -9.53641461e-05 9.99875186e-01 1.25446194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.71925415399998 meters Centerline goodness : 0.999015 Centerline is valid? [True, True] Translation: X:88.06, Y:0.97, Z:1.25 [[ 9.99599234e-01 -2.34906495e-02 -1.57975217e-02 8.80550304e+01] [ 2.34900031e-02 9.99724046e-01 -2.26498077e-04 9.72697356e-01] [ 1.57984829e-02 -1.44676530e-04 9.99875186e-01 1.25372214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.74925415399998 meters Centerline goodness : 0.998973 Centerline is valid? [True, True] Translation: X:88.09, Y:0.97, Z:1.25 [[ 9.99540097e-01 -2.58850165e-02 -1.57975094e-02 8.80859127e+01] [ 2.58846555e-02 9.99664910e-01 -2.27357241e-04 9.72125844e-01] [ 1.57981009e-02 -1.81660408e-04 9.99875186e-01 1.25404854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.77925415399999 meters Centerline goodness : 0.999211 Centerline is valid? [True, True] Translation: X:88.12, Y:0.97, Z:1.25 [[ 9.99395278e-01 -3.09760761e-02 -1.57975094e-02 8.81160339e+01] [ 3.09763508e-02 9.99520092e-01 -2.27357241e-04 9.70162073e-01] [ 1.57969706e-02 -2.62129439e-04 9.99875186e-01 1.25438070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.80925415399999 meters Centerline goodness : 0.998847 Centerline is valid? [True, True] Translation: X:88.15, Y:0.97, Z:1.26 [[ 9.99305660e-01 -3.37436743e-02 -1.57975232e-02 8.81477298e+01] [ 3.37443100e-02 9.99430473e-01 -2.26392051e-04 9.69612651e-01] [ 1.57961654e-02 -3.06841662e-04 9.99875186e-01 1.25596722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.83925415399999 meters Centerline goodness : 0.999127 Centerline is valid? [True, True] Translation: X:88.18, Y:0.97, Z:1.26 [[ 9.99229761e-01 -3.59210631e-02 -1.57975398e-02 8.81785042e+01] [ 3.59219891e-02 9.99354572e-01 -2.25224648e-04 9.68957528e-01] [ 1.57954340e-02 -3.42427883e-04 9.99875186e-01 1.25676241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.86925415399998 meters Centerline goodness : 0.999064 Centerline is valid? [True, True] Translation: X:88.21, Y:0.97, Z:1.26 [[ 9.99058276e-01 -4.04103763e-02 -1.57975522e-02 8.82094505e+01] [ 4.04118769e-02 9.99183081e-01 -2.24353097e-04 9.68304332e-01] [ 1.57937131e-02 -4.14266918e-04 9.99875186e-01 1.25791419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.89925415399998 meters Centerline goodness : 0.998833 Centerline is valid? [True, True] Translation: X:88.24, Y:0.97, Z:1.26 [[ 9.98978722e-01 -4.23314207e-02 -1.57975644e-02 8.82416899e+01] [ 4.23331749e-02 9.99103524e-01 -2.23492889e-04 9.68086291e-01] [ 1.57928630e-02 -4.45496416e-04 9.99875186e-01 1.25879337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.92925415399998 meters Centerline goodness : 0.998875 Centerline is valid? [True, True] Translation: X:88.27, Y:0.97, Z:1.26 [[ 9.98829516e-01 -4.57168954e-02 -1.57975805e-02 8.82737001e+01] [ 4.57190907e-02 9.98954311e-01 -2.22350168e-04 9.66653626e-01] [ 1.57912263e-02 -5.00161103e-04 9.99875186e-01 1.25920708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.95925415399998 meters Centerline goodness : 0.998853 Centerline is valid? [True, True] Translation: X:88.31, Y:0.97, Z:1.26 [[ 9.98753568e-01 -4.73470793e-02 -1.57975965e-02 8.83054787e+01] [ 4.73494963e-02 9.98878359e-01 -2.21203304e-04 9.66073571e-01] [ 1.57903506e-02 -5.27080649e-04 9.99875186e-01 1.25974689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.98925415399998 meters Centerline goodness : 0.998710 Centerline is valid? [True, True] Translation: X:88.34, Y:0.97, Z:1.26 [[ 9.98685609e-01 -4.87595111e-02 -1.57976126e-02 8.83379512e+01] [ 4.87621229e-02 9.98810396e-01 -2.20046195e-04 9.65651441e-01] [ 1.57895491e-02 -5.50568161e-04 9.99875186e-01 1.26011944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.01925415399998 meters Centerline goodness : 0.998958 Centerline is valid? [True, True] Translation: X:88.37, Y:0.97, Z:1.26 [[ 9.98526998e-01 -5.19063436e-02 -1.57976326e-02 8.83714121e+01] [ 5.19093714e-02 9.98651776e-01 -2.18602700e-04 9.65318174e-01] [ 1.57876807e-02 -6.01764482e-04 9.99875186e-01 1.26141825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.04925415399998 meters Centerline goodness : 0.998855 Centerline is valid? [True, True] Translation: X:88.40, Y:0.97, Z:1.26 [[ 9.98463607e-01 -5.31117563e-02 -1.57976567e-02 8.84043088e+01] [ 5.31149624e-02 9.98588381e-01 -2.16849750e-04 9.65166284e-01] [ 1.57868737e-02 -6.22575358e-04 9.99875186e-01 1.26168207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.07925415399998 meters Centerline goodness : 0.998769 Centerline is valid? [True, True] Translation: X:88.44, Y:0.97, Z:1.26 [[ 9.98384523e-01 -5.45781830e-02 -1.57976806e-02 8.84369651e+01] [ 5.45816001e-02 9.98509290e-01 -2.15091831e-04 9.65234235e-01] [ 1.57858702e-02 -6.47518331e-04 9.99875186e-01 1.26169459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.10925415399998 meters Centerline goodness : 0.998877 Centerline is valid? [True, True] Translation: X:88.47, Y:0.96, Z:1.26 [[ 9.98242999e-01 -5.71082034e-02 -1.57977043e-02 8.84696583e+01] [ 5.71119644e-02 9.98367757e-01 -2.13340596e-04 9.64947938e-01] [ 1.57841021e-02 -6.89272168e-04 9.99875186e-01 1.26106775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.13925415399999 meters Centerline goodness : 0.998813 Centerline is valid? [True, True] Translation: X:88.50, Y:0.97, Z:1.26 [[ 9.98194606e-01 -5.79479169e-02 -1.57977198e-02 8.85017815e+01] [ 5.79518011e-02 9.98319360e-01 -2.12182982e-04 9.65205021e-01] [ 1.57834651e-02 -7.03706409e-04 9.99875186e-01 1.26113979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.16925415399999 meters Centerline goodness : 0.998810 Centerline is valid? [True, True] Translation: X:88.53, Y:0.97, Z:1.26 [[ 9.98185003e-01 -5.81130955e-02 -1.57977355e-02 8.85346241e+01] [ 5.81170189e-02 9.98309755e-01 -2.11010090e-04 9.66189153e-01] [ 1.57832959e-02 -7.07490184e-04 9.99875186e-01 1.26151088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.19925415399999 meters Centerline goodness : 0.999002 Centerline is valid? [True, True] Translation: X:88.57, Y:0.97, Z:1.26 [[ 9.98232371e-01 -5.72936722e-02 -1.57977591e-02 8.85671143e+01] [ 5.72975214e-02 9.98357126e-01 -2.09223551e-04 9.67276992e-01] [ 1.57837926e-02 -6.96318721e-04 9.99875186e-01 1.26193418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.22925415399999 meters Centerline goodness : 0.999001 Centerline is valid? [True, True] Translation: X:88.60, Y:0.97, Z:1.26 [[ 9.98299830e-01 -5.61059544e-02 -1.57977976e-02 8.86005365e+01] [ 5.61097016e-02 9.98424588e-01 -2.06280572e-04 9.68729522e-01] [ 1.57844831e-02 -6.80479848e-04 9.99875186e-01 1.26292599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.25925415399998 meters Centerline goodness : 0.999086 Centerline is valid? [True, True] Translation: X:88.63, Y:0.97, Z:1.26 [[ 9.98476561e-01 -5.28676292e-02 -1.57978207e-02 8.86335032e+01] [ 5.28710000e-02 9.98601330e-01 -2.04494592e-04 9.71690481e-01] [ 1.57865359e-02 -6.31063521e-04 9.99875186e-01 1.26313430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.28925415399998 meters Centerline goodness : 0.998938 Centerline is valid? [True, True] Translation: X:88.67, Y:0.97, Z:1.26 [[ 9.98582548e-01 -5.08263968e-02 -1.57978435e-02 8.86652539e+01] [ 5.08295405e-02 9.98707323e-01 -2.02719822e-04 9.73188153e-01] [ 1.57877255e-02 -6.00564648e-04 9.99875186e-01 1.26281836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.31925415399998 meters Centerline goodness : 0.998850 Centerline is valid? [True, True] Translation: X:88.70, Y:0.98, Z:1.26 [[ 9.98752347e-01 -4.73727461e-02 -1.57978622e-02 8.86969284e+01] [ 4.73754816e-02 9.98877131e-01 -2.01250899e-04 9.76871711e-01] [ 1.57896571e-02 -5.47431521e-04 9.99875186e-01 1.26240911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.34925415399998 meters Centerline goodness : 0.999149 Centerline is valid? [True, True] Translation: X:88.73, Y:0.98, Z:1.26 [[ 9.98840960e-01 -4.54660677e-02 -1.57978768e-02 8.87291094e+01] [ 4.54685832e-02 9.98965749e-01 -2.00095386e-04 9.78781601e-01] [ 1.57906354e-02 -5.18443608e-04 9.99875186e-01 1.26301958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.37925415399998 meters Centerline goodness : 0.999147 Centerline is valid? [True, True] Translation: X:88.76, Y:0.98, Z:1.26 [[ 9.98919388e-01 -4.37090641e-02 -1.57978914e-02 8.87616924e+01] [ 4.37113783e-02 9.99044181e-01 -1.98939377e-04 9.80794913e-01] [ 1.57914869e-02 -4.91823206e-04 9.99875186e-01 1.26350193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.40925415399998 meters Centerline goodness : 0.999424 Centerline is valid? [True, True] Translation: X:88.79, Y:0.98, Z:1.26 [[ 9.98992574e-01 -4.20031241e-02 -1.57979058e-02 8.87924565e+01] [ 4.20052436e-02 9.99117371e-01 -1.97782743e-04 9.82771479e-01] [ 1.57922696e-02 -4.66011392e-04 9.99875186e-01 1.26396476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.43925415399998 meters Centerline goodness : 0.999251 Centerline is valid? [True, True] Translation: X:88.82, Y:0.99, Z:1.27 [[ 9.99133893e-01 -3.84953115e-02 -1.57979166e-02 8.88247191e+01] [ 3.84970063e-02 9.99258696e-01 -1.96920858e-04 9.86441504e-01] [ 1.57937861e-02 -4.11422192e-04 9.99875186e-01 1.26601735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.46925415399998 meters Centerline goodness : 0.999275 Centerline is valid? [True, True] Translation: X:88.86, Y:0.99, Z:1.27 [[ 9.99202609e-01 -3.66683987e-02 -1.57979310e-02 8.88558525e+01] [ 3.66698838e-02 9.99327414e-01 -1.95757344e-04 9.88439226e-01] [ 1.57944837e-02 -3.83707045e-04 9.99875186e-01 1.26680366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.49925415399998 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:88.89, Y:0.99, Z:1.27 [[ 9.99317188e-01 -3.34003538e-02 -1.57979417e-02 8.88878741e+01] [ 3.34014444e-02 9.99441997e-01 -1.94891481e-04 9.91481234e-01] [ 1.57956358e-02 -3.32915664e-04 9.99875186e-01 1.26813900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.52925415399999 meters Centerline goodness : 0.999125 Centerline is valid? [True, True] Translation: X:88.92, Y:0.99, Z:1.27 [[ 9.99363846e-01 -3.19738664e-02 -1.57979557e-02 8.89192064e+01] [ 3.19747968e-02 9.99488657e-01 -1.93750916e-04 9.93075355e-01] [ 1.57960725e-02 -3.11508762e-04 9.99875186e-01 1.26881978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.55925415399999 meters Centerline goodness : 0.999315 Centerline is valid? [True, True] Translation: X:88.95, Y:0.99, Z:1.27 [[ 9.99403677e-01 -3.07036699e-02 -1.57979661e-02 8.89518245e+01] [ 3.07044551e-02 9.99528488e-01 -1.92901288e-04 9.94862879e-01] [ 1.57964399e-02 -2.92281683e-04 9.99875186e-01 1.26978874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.58925415399999 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:88.98, Y:1.00, Z:1.27 [[ 9.99475615e-01 -2.82651691e-02 -1.57979801e-02 8.89842991e+01] [ 2.82656681e-02 9.99600428e-01 -1.91743655e-04 9.97998192e-01] [ 1.57970873e-02 -2.54897355e-04 9.99875186e-01 1.27039136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.61925415399998 meters Centerline goodness : 0.999356 Centerline is valid? [True, True] Translation: X:89.02, Y:1.00, Z:1.27 [[ 9.99509521e-01 -2.70396009e-02 -1.57979941e-02 8.90155176e+01] [ 2.70399651e-02 9.99634335e-01 -1.90587638e-04 9.99896730e-01] [ 1.57973707e-02 -2.36683048e-04 9.99875186e-01 1.27106842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.64925415399998 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:89.05, Y:1.00, Z:1.27 [[ 9.99546142e-01 -2.56502145e-02 -1.57980009e-02 8.90460922e+01] [ 2.56504142e-02 9.99670956e-01 -1.90016925e-04 1.00154357e+00] [ 1.57976767e-02 -2.15294583e-04 9.99875186e-01 1.27112014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.67925415399998 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:89.08, Y:1.00, Z:1.27 [[ 9.99612434e-01 -2.29216919e-02 -1.57980043e-02 8.90778754e+01] [ 2.29215554e-02 9.99737249e-01 -1.89734075e-04 1.00485327e+00] [ 1.57982024e-02 -1.72454291e-04 9.99875186e-01 1.27220357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.70925415399998 meters Centerline goodness : 0.999417 Centerline is valid? [True, True] Translation: X:89.11, Y:1.01, Z:1.27 [[ 9.99639697e-01 -2.17001913e-02 -1.57980110e-02 8.91083881e+01] [ 2.16999112e-02 9.99764511e-01 -1.89173418e-04 1.00667880e+00] [ 1.57983959e-02 -1.53710177e-04 9.99875186e-01 1.27297649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.73925415399998 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:89.14, Y:1.01, Z:1.27 [[ 9.99672549e-01 -2.01300400e-02 -1.57980110e-02 8.91384561e+01] [ 2.01295638e-02 9.99797362e-01 -1.89173418e-04 1.00937942e+00] [ 1.57986178e-02 -1.28895598e-04 9.99875186e-01 1.27394216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.76925415399998 meters Centerline goodness : 0.999439 Centerline is valid? [True, True] Translation: X:89.17, Y:1.01, Z:1.27 [[ 9.99680384e-01 -1.97370645e-02 -1.57980110e-02 8.91679553e+01] [ 1.97365392e-02 9.99805198e-01 -1.89173418e-04 1.01036042e+00] [ 1.57986673e-02 -1.22685109e-04 9.99875186e-01 1.27393338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.79925415399998 meters Centerline goodness : 0.999568 Centerline is valid? [True, True] Translation: X:89.20, Y:1.01, Z:1.27 [[ 9.99693809e-01 -1.90449848e-02 -1.57980077e-02 8.91976274e+01] [ 1.90443687e-02 9.99818622e-01 -1.89453870e-04 1.01142891e+00] [ 1.57987504e-02 -1.11467221e-04 9.99875186e-01 1.27485659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.82925415399998 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:89.23, Y:1.01, Z:1.27 [[ 9.99674120e-01 -2.00524993e-02 -1.57972002e-02 8.92262801e+01] [ 2.00509705e-02 9.99798927e-01 -2.55167134e-04 1.01338855e+00] [ 1.57991406e-02 -6.16652163e-05 9.99875184e-01 1.27183055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.85925415399998 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:89.26, Y:1.01, Z:1.27 [[ 9.99641766e-01 -2.16053355e-02 -1.57971527e-02 8.92561243e+01] [ 2.16039408e-02 9.99766574e-01 -2.58954738e-04 1.01383493e+00] [ 1.57990600e-02 -8.24187796e-05 9.99875184e-01 1.27453921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.88925415399999 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:89.29, Y:1.01, Z:1.27 [[ 9.99624205e-01 -2.24025550e-02 -1.57979194e-02 8.92862041e+01] [ 2.24022280e-02 9.99749019e-01 -1.97686614e-04 1.01447529e+00] [ 1.57983831e-02 -1.56296267e-04 9.99875186e-01 1.27483956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.91925415399999 meters Centerline goodness : 0.999611 Centerline is valid? [True, True] Translation: X:89.32, Y:1.01, Z:1.28 [[ 9.99573153e-01 -2.45751334e-02 -1.57979194e-02 8.93160952e+01] [ 2.45750777e-02 9.99697968e-01 -1.97686614e-04 1.01495560e+00] [ 1.57980061e-02 -1.90632863e-04 9.99875186e-01 1.27534836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.94925415399999 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:89.35, Y:1.02, Z:1.28 [[ 9.99544632e-01 -2.57090337e-02 -1.57979230e-02 8.93477327e+01] [ 2.57091241e-02 9.99669446e-01 -1.97398521e-04 1.01537329e+00] [ 1.57977758e-02 -2.08842130e-04 9.99875186e-01 1.27592869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.97925415399997 meters Centerline goodness : 0.999482 Centerline is valid? [True, True] Translation: X:89.38, Y:1.02, Z:1.28 [[ 9.99439459e-01 -2.95159686e-02 -1.57979302e-02 8.93787380e+01] [ 2.95165436e-02 9.99564273e-01 -1.96821381e-04 1.01580700e+00] [ 1.57968559e-02 -2.69589239e-04 9.99875186e-01 1.27626763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.00925415399998 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:89.41, Y:1.02, Z:1.28 [[ 9.99371694e-01 -3.17276137e-02 -1.57979409e-02 8.94111714e+01] [ 3.17284785e-02 9.99496506e-01 -1.95958760e-04 1.01576907e+00] [ 1.57962040e-02 -3.05408989e-04 9.99875186e-01 1.27660977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.03925415399998 meters Centerline goodness : 0.999438 Centerline is valid? [True, True] Translation: X:89.44, Y:1.02, Z:1.28 [[ 9.99287161e-01 -3.42869367e-02 -1.57979552e-02 8.94425145e+01] [ 3.42881395e-02 9.99411970e-01 -1.94796750e-04 1.01566424e+00] [ 1.57953445e-02 -3.47024601e-04 9.99875186e-01 1.27649190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.06925415399998 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:89.48, Y:1.01, Z:1.28 [[ 9.99096730e-01 -3.94480445e-02 -1.57979658e-02 8.94751640e+01] [ 3.94499057e-02 9.99221531e-01 -1.93929304e-04 1.01493022e+00] [ 1.57933177e-02 -4.29474129e-04 9.99875186e-01 1.27563021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.09925415399998 meters Centerline goodness : 0.999439 Centerline is valid? [True, True] Translation: X:89.51, Y:1.01, Z:1.28 [[ 9.99006683e-01 -4.16661854e-02 -1.57979800e-02 8.95062400e+01] [ 4.16683420e-02 9.99131479e-01 -1.92766288e-04 1.01486567e+00] [ 1.57922910e-02 -4.65700824e-04 9.99875186e-01 1.27511151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.12925415399998 meters Centerline goodness : 0.999375 Centerline is valid? [True, True] Translation: X:89.55, Y:1.00, Z:1.27 [[ 9.99375525e-01 -3.16067091e-02 -1.57979906e-02 8.95530277e+01] [ 3.16076229e-02 9.99500336e-01 -1.91900052e-04 1.00105097e+00] [ 1.57961622e-02 -3.07556713e-04 9.99875186e-01 1.26766524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.15925415399998 meters Centerline goodness : 0.999396 Centerline is valid? [True, True] Translation: X:89.56, Y:1.01, Z:1.27 [[ 9.98730225e-01 -4.78339740e-02 -1.58066005e-02 8.95647579e+01] [ 4.78495454e-02 9.98854369e-01 6.08181805e-04 1.01471117e+00] [ 1.57594002e-02 -1.36374820e-03 9.99874883e-01 1.27414906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.18925415399998 meters Centerline goodness : 0.999526 Centerline is valid? [True, True] Translation: X:89.60, Y:1.02, Z:1.28 [[ 9.98673295e-01 -4.90114623e-02 -1.57964148e-02 8.95977981e+01] [ 4.90144317e-02 9.98798051e-01 -1.99348308e-04 1.01598211e+00] [ 1.57871986e-02 -5.75168460e-04 9.99875209e-01 1.27540286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.21925415399998 meters Centerline goodness : 0.999439 Centerline is valid? [True, True] Translation: X:89.63, Y:1.02, Z:1.28 [[ 9.98560284e-01 -5.12623866e-02 -1.57964361e-02 8.96307148e+01] [ 5.12656642e-02 9.98685032e-01 -1.97639678e-04 1.01764125e+00] [ 1.57857958e-02 -6.12459658e-04 9.99875209e-01 1.27606573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.24925415399998 meters Centerline goodness : 0.999502 Centerline is valid? [True, True] Translation: X:89.66, Y:1.02, Z:1.28 [[ 9.98492690e-01 -5.25625270e-02 -1.57964572e-02 8.96624526e+01] [ 5.25659939e-02 9.98617433e-01 -1.95939498e-04 1.01855550e+00] [ 1.57849166e-02 -6.34712318e-04 9.99875209e-01 1.27731353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.27925415399999 meters Centerline goodness : 0.999545 Centerline is valid? [True, True] Translation: X:89.69, Y:1.02, Z:1.28 [[ 9.98433355e-01 -5.36778137e-02 -1.57964716e-02 8.96947605e+01] [ 5.36814383e-02 9.98558093e-01 -1.94773314e-04 1.01960814e+00] [ 1.57841496e-02 -6.53509143e-04 9.99875209e-01 1.27733621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.30925415399999 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:89.73, Y:1.02, Z:1.28 [[ 9.98297487e-01 -5.61480013e-02 -1.57964894e-02 8.97268423e+01] [ 5.61519575e-02 9.98422215e-01 -1.93319602e-04 1.02136610e+00] [ 1.57824204e-02 -6.94013328e-04 9.99875209e-01 1.27912722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.33925415399999 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:89.76, Y:1.02, Z:1.28 [[ 9.98222675e-01 -5.74626968e-02 -1.57965032e-02 8.97599577e+01] [ 5.74668352e-02 9.98347397e-01 -1.92184797e-04 1.02238455e+00] [ 1.57814413e-02 -7.15931824e-04 9.99875209e-01 1.28002048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.36925415399998 meters Centerline goodness : 0.999545 Centerline is valid? [True, True] Translation: X:89.79, Y:1.02, Z:1.28 [[ 9.98083976e-01 -5.98234668e-02 -1.57965241e-02 8.97919037e+01] [ 5.98279275e-02 9.98208687e-01 -1.90453037e-04 1.02426633e+00] [ 1.57796211e-02 -7.54985173e-04 9.99875209e-01 1.28076107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.39925415399998 meters Centerline goodness : 0.999567 Centerline is valid? [True, True] Translation: X:89.82, Y:1.03, Z:1.28 [[ 9.98041386e-01 -6.05298375e-02 -1.57965413e-02 8.98235931e+01] [ 6.05344091e-02 9.98166093e-01 -1.89017483e-04 1.02543898e+00] [ 1.57790131e-02 -7.67587020e-04 9.99875209e-01 1.28047672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.42925415399998 meters Centerline goodness : 0.999567 Centerline is valid? [True, True] Translation: X:89.86, Y:1.03, Z:1.28 [[ 9.98047799e-01 -6.04240033e-02 -1.57965582e-02 8.98571318e+01] [ 6.04285842e-02 9.98172506e-01 -1.87593788e-04 1.02574102e+00] [ 1.57790252e-02 -7.67336078e-04 9.99875209e-01 1.28100613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.45925415399998 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:89.89, Y:1.03, Z:1.28 [[ 9.98003282e-01 -6.11548708e-02 -1.57965779e-02 8.98899024e+01] [ 6.11595695e-02 9.98127984e-01 -1.85918841e-04 1.02697869e+00] [ 1.57783763e-02 -7.80564289e-04 9.99875209e-01 1.28162878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.48925415399998 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:89.92, Y:1.03, Z:1.28 [[ 9.97968719e-01 -6.17163188e-02 -1.57965979e-02 8.99223567e+01] [ 6.17211148e-02 9.98093418e-01 -1.84197618e-04 1.02871172e+00] [ 1.57778484e-02 -7.91160175e-04 9.99875209e-01 1.28082318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.51925415399998 meters Centerline goodness : 0.999523 Centerline is valid? [True, True] Translation: X:89.95, Y:1.03, Z:1.28 [[ 9.97966856e-01 -6.17464269e-02 -1.57966112e-02 8.99532528e+01] [ 6.17512446e-02 9.98091554e-01 -1.83057027e-04 1.02963210e+00] [ 1.57777673e-02 -7.92775555e-04 9.99875209e-01 1.28004120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.54925415399998 meters Centerline goodness : 0.999587 Centerline is valid? [True, True] Translation: X:89.99, Y:1.03, Z:1.28 [[ 9.97979235e-01 -6.15460140e-02 -1.57966367e-02 8.99851712e+01] [ 6.15508419e-02 9.98103933e-01 -1.80828998e-04 1.03068966e+00] [ 1.57778145e-02 -7.91832702e-04 9.99875209e-01 1.28082004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.57925415399998 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:90.02, Y:1.03, Z:1.28 [[ 9.98049311e-01 -6.03989919e-02 -1.57966499e-02 9.00167662e+01] [ 6.04036948e-02 9.98174014e-01 -1.79666582e-04 1.03352609e+00] [ 1.57786571e-02 -7.74859911e-04 9.99875209e-01 1.27967633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.60925415399998 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:90.05, Y:1.04, Z:1.28 [[ 9.98139367e-01 -5.88920190e-02 -1.57966597e-02 9.00486917e+01] [ 5.88965474e-02 9.98264076e-01 -1.78799208e-04 1.03538234e+00] [ 1.57797677e-02 -7.51902189e-04 9.99875209e-01 1.28023301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.63925415399999 meters Centerline goodness : 0.999629 Centerline is valid? [True, True] Translation: X:90.08, Y:1.04, Z:1.28 [[ 9.98398969e-01 -5.43135773e-02 -1.57966724e-02 9.00817536e+01] [ 5.43175514e-02 9.98523696e-01 -1.77670584e-04 1.03901037e+00] [ 1.57830016e-02 -6.80650438e-04 9.99875209e-01 1.28148448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.66925415399999 meters Centerline goodness : 0.999672 Centerline is valid? [True, True] Translation: X:90.11, Y:1.04, Z:1.28 [[ 9.98569048e-01 -5.10913040e-02 -1.57966916e-02 9.01136512e+01] [ 5.10949028e-02 9.98693787e-01 -1.75947690e-04 1.04130246e+00] [ 1.57850471e-02 -6.31434504e-04 9.99875209e-01 1.28268581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.69925415399999 meters Centerline goodness : 0.997574 Centerline is valid? [True, True] Translation: X:90.14, Y:1.04, Z:1.28 [[ 9.98857562e-01 -4.51002839e-02 -1.57967042e-02 9.01416070e+01] [ 4.51031524e-02 9.98982320e-01 -1.74808305e-04 1.04297713e+00] [ 1.57885121e-02 -5.37872560e-04 9.99875209e-01 1.28142662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.72925415399997 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:90.18, Y:1.05, Z:1.29 [[ 9.99160195e-01 -3.78076529e-02 -1.57951434e-02 9.01762132e+01] [ 3.78073715e-02 9.99284996e-01 -3.16523877e-04 1.04819067e+00] [ 1.57958168e-02 -2.80914795e-04 9.99875199e-01 1.28681119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.75925415399998 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:90.21, Y:1.05, Z:1.29 [[ 9.99322881e-01 -3.32301566e-02 -1.57967246e-02 9.02070238e+01] [ 3.32316710e-02 9.99447662e-01 -1.66690040e-04 1.05075847e+00] [ 1.57935386e-02 -3.58374384e-04 9.99875210e-01 1.28784104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.78925415399998 meters Centerline goodness : 0.999691 Centerline is valid? [True, True] Translation: X:90.24, Y:1.06, Z:1.29 [[ 9.99580078e-01 -2.42926194e-02 -1.57967336e-02 9.02387425e+01] [ 2.42930313e-02 9.99704867e-01 -1.65836160e-04 1.05558327e+00] [ 1.57961001e-02 -2.17984023e-04 9.99875210e-01 1.28994311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.81925415399998 meters Centerline goodness : 0.999691 Centerline is valid? [True, True] Translation: X:90.27, Y:1.06, Z:1.29 [[ 9.99668659e-01 -2.03232398e-02 -1.57967456e-02 9.02697940e+01] [ 2.03231744e-02 9.99793449e-01 -1.64685552e-04 1.05793903e+00] [ 1.57968297e-02 -1.56409032e-04 9.99875210e-01 1.29081093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.84925415399998 meters Centerline goodness : 0.999470 Centerline is valid? [True, True] Translation: X:90.30, Y:1.06, Z:1.29 [[ 9.99744857e-01 -1.61456691e-02 -1.57967515e-02 9.03004370e+01] [ 1.61450913e-02 9.99869646e-01 -1.64114825e-04 1.05986487e+00] [ 1.57973421e-02 -9.09670430e-05 9.99875210e-01 1.29048111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.87925415399998 meters Centerline goodness : 0.999756 Centerline is valid? [True, True] Translation: X:90.33, Y:1.06, Z:1.29 [[ 9.99778448e-01 -1.39114232e-02 -1.57964264e-02 9.03292382e+01] [ 1.39100744e-02 9.99903231e-01 -1.95256529e-04 1.06155978e+00] [ 1.57976141e-02 -2.45161982e-05 9.99875210e-01 1.29160716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.90925415399998 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:90.36, Y:1.06, Z:1.29 [[ 9.99828554e-01 -9.66057473e-03 -1.57967358e-02 9.03565580e+01] [ 9.65916112e-03 9.99953335e-01 -1.65783321e-04 1.06377333e+00] [ 1.57976002e-02 1.31716826e-05 9.99875210e-01 1.29120734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.93925415399998 meters Centerline goodness : 0.999734 Centerline is valid? [True, True] Translation: X:90.38, Y:1.06, Z:1.29 [[ 9.99840856e-01 -8.29016345e-03 -1.57967139e-02 9.03843208e+01] [ 8.28854636e-03 9.99965635e-01 -1.67836667e-04 1.06451917e+00] [ 1.57975625e-02 3.68781604e-05 9.99875210e-01 1.29077130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.96925415399998 meters Centerline goodness : 0.999778 Centerline is valid? [True, True] Translation: X:90.41, Y:1.06, Z:1.29 [[ 9.99853277e-01 -6.62487188e-03 -1.57966651e-02 9.04117859e+01] [ 6.62297626e-03 9.99978053e-01 -1.72313085e-04 1.06497237e+00] [ 1.57974600e-02 6.76668649e-05 9.99875210e-01 1.29027824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.99925415399998 meters Centerline goodness : 0.999712 Centerline is valid? [True, True] Translation: X:90.44, Y:1.07, Z:1.29 [[ 9.99853911e-01 -6.52853333e-03 -1.57966499e-02 9.04394501e+01] [ 6.52660381e-03 9.99978686e-01 -1.73697216e-04 1.06521015e+00] [ 1.57974472e-02 7.05733657e-05 9.99875210e-01 1.29096084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.02925415399999 meters Centerline goodness : 0.999667 Centerline is valid? [True, True] Translation: X:90.47, Y:1.07, Z:1.29 [[ 9.99854116e-01 -6.49727770e-03 -1.57966000e-02 9.04683149e+01] [ 6.49527442e-03 9.99978890e-01 -1.78118682e-04 1.06546404e+00] [ 1.57974239e-02 7.54894449e-05 9.99875210e-01 1.29120515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.05925415399999 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:90.50, Y:1.06, Z:1.29 [[ 9.99850551e-01 -7.02435403e-03 -1.57966303e-02 9.04952110e+01] [ 7.02245842e-03 9.99975327e-01 -1.75467355e-04 1.06391986e+00] [ 1.57974731e-02 6.45099524e-05 9.99875210e-01 1.29233323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.08925415399999 meters Centerline goodness : 0.999756 Centerline is valid? [True, True] Translation: X:90.52, Y:1.06, Z:1.29 [[ 9.99844145e-01 -7.88386096e-03 -1.57965409e-02 9.05226947e+01] [ 7.88195080e-03 9.99968920e-01 -1.83177448e-04 1.06298300e+00] [ 1.57974941e-02 5.86413403e-05 9.99875210e-01 1.29289503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.11925415399998 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:90.55, Y:1.06, Z:1.29 [[ 9.99833030e-01 -9.18602772e-03 -1.57964894e-02 9.05503624e+01] [ 9.18421160e-03 9.99957807e-01 -1.87510955e-04 1.06207724e+00] [ 1.57975454e-02 4.24013444e-05 9.99875210e-01 1.29375663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.14925415399998 meters Centerline goodness : 0.999646 Centerline is valid? [True, True] Translation: X:90.58, Y:1.06, Z:1.29 [[ 9.99804735e-01 -1.18728478e-02 -1.57964361e-02 9.05788299e+01] [ 1.18712977e-02 9.99929515e-01 -1.91898271e-04 1.05980892e+00] [ 1.57976011e-02 4.33660383e-06 9.99875210e-01 1.29494677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.17925415399998 meters Centerline goodness : 0.999625 Centerline is valid? [True, True] Translation: X:90.61, Y:1.06, Z:1.30 [[ 9.99780821e-01 -1.37398463e-02 -1.57964226e-02 9.06061496e+01] [ 1.37385117e-02 9.99905604e-01 -1.93009370e-04 1.05884043e+00] [ 1.57975834e-02 -2.40522698e-05 9.99875210e-01 1.29534002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.20925415399998 meters Centerline goodness : 0.999515 Centerline is valid? [True, True] Translation: X:90.64, Y:1.06, Z:1.30 [[ 9.99717641e-01 -1.77513704e-02 -1.57963988e-02 9.06351684e+01] [ 1.77505060e-02 9.99842428e-01 -1.94936875e-04 1.05612620e+00] [ 1.57973701e-02 -8.55122385e-05 9.99875210e-01 1.29694014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.23925415399998 meters Centerline goodness : 0.999670 Centerline is valid? [True, True] Translation: X:90.66, Y:1.05, Z:1.30 [[ 9.99677260e-01 -1.98960048e-02 -1.57963846e-02 9.06646848e+01] [ 1.98953900e-02 9.99802048e-01 -1.96082295e-04 1.05463371e+00] [ 1.57971589e-02 -1.18256220e-04 9.99875210e-01 1.29752865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.26925415399998 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:90.70, Y:1.05, Z:1.30 [[ 9.99630739e-01 -2.21101841e-02 -1.57963774e-02 9.06951092e+01] [ 2.21098366e-02 9.99755528e-01 -1.96657982e-04 1.05303171e+00] [ 1.57968638e-02 -1.52669959e-04 9.99875210e-01 1.29813471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.29925415399998 meters Centerline goodness : 0.999584 Centerline is valid? [True, True] Translation: X:90.73, Y:1.05, Z:1.30 [[ 9.99514495e-01 -2.68560622e-02 -1.57963774e-02 9.07250907e+01] [ 2.68563072e-02 9.99639285e-01 -1.96657982e-04 1.04864638e+00] [ 1.57959609e-02 -2.27669861e-04 9.99875210e-01 1.29751959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.32925415399998 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:90.76, Y:1.05, Z:1.30 [[ 9.99450406e-01 -2.91437736e-02 -1.57963809e-02 9.07572106e+01] [ 2.91443087e-02 9.99575195e-01 -1.96372971e-04 1.04672132e+00] [ 1.57953936e-02 -2.64109556e-04 9.99875210e-01 1.29757316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.35925415399998 meters Centerline goodness : 0.999500 Centerline is valid? [True, True] Translation: X:90.79, Y:1.04, Z:1.30 [[ 9.99312290e-01 -3.35472863e-02 -1.57963950e-02 9.07890073e+01] [ 3.35483893e-02 9.99437075e-01 -1.95233002e-04 1.04226598e+00] [ 1.57940524e-02 -3.34844872e-04 9.99875210e-01 1.29630621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.38925415399999 meters Centerline goodness : 0.999674 Centerline is valid? [True, True] Translation: X:90.82, Y:1.04, Z:1.30 [[ 9.99239268e-01 -3.56561117e-02 -1.57964090e-02 9.08211199e+01] [ 3.56574960e-02 9.99364050e-01 -1.94094119e-04 1.04045769e+00] [ 1.57932839e-02 -3.69313926e-04 9.99875210e-01 1.29782469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.41925415399999 meters Centerline goodness : 0.999545 Centerline is valid? [True, True] Translation: X:90.85, Y:1.04, Z:1.30 [[ 9.99143798e-01 -3.82379982e-02 -1.57964233e-02 9.08526785e+01] [ 3.82397234e-02 9.99268576e-01 -1.92925149e-04 1.03707679e+00] [ 1.57922465e-02 -4.11290892e-04 9.99875210e-01 1.29825789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.44925415399999 meters Centerline goodness : 0.999438 Centerline is valid? [True, True] Translation: X:90.88, Y:1.04, Z:1.30 [[ 9.99132670e-01 -3.85276526e-02 -1.57964339e-02 9.08845375e+01] [ 3.85294277e-02 9.99257447e-01 -1.92053285e-04 1.03512553e+00] [ 1.57921036e-02 -4.16740847e-04 9.99875210e-01 1.29736863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.47925415399997 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:90.92, Y:1.03, Z:1.30 [[ 9.99093252e-01 -3.95366513e-02 -1.57964476e-02 9.09163037e+01] [ 3.95385704e-02 9.99218027e-01 -1.90920515e-04 1.03424633e+00] [ 1.57916435e-02 -4.33821557e-04 9.99875210e-01 1.29995994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.50925415399998 meters Centerline goodness : 0.999570 Centerline is valid? [True, True] Translation: X:90.95, Y:1.03, Z:1.30 [[ 9.99035873e-01 -4.09609148e-02 -1.57964616e-02 9.09478097e+01] [ 4.09630301e-02 9.99160645e-01 -1.89755844e-04 1.03157452e+00] [ 1.57909753e-02 -4.57498037e-04 9.99875210e-01 1.30092415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.53925415399998 meters Centerline goodness : 0.999376 Centerline is valid? [True, True] Translation: X:90.98, Y:1.03, Z:1.30 [[ 9.99006197e-01 -4.16784107e-02 -1.57964720e-02 9.09795841e+01] [ 4.16806294e-02 9.99130967e-01 -1.88886893e-04 1.03002845e+00] [ 1.57906168e-02 -4.69707717e-04 9.99875210e-01 1.30126669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.56925415399998 meters Centerline goodness : 0.999613 Centerline is valid? [True, True] Translation: X:91.01, Y:1.03, Z:1.30 [[ 9.98887842e-01 -4.44246507e-02 -1.57964891e-02 9.10120147e+01] [ 4.44272351e-02 9.99012605e-01 -1.87447348e-04 1.02690487e+00] [ 1.57892190e-02 -5.14555457e-04 9.99875210e-01 1.30181429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.59925415399998 meters Centerline goodness : 0.999570 Centerline is valid? [True, True] Translation: X:91.04, Y:1.03, Z:1.30 [[ 9.98797502e-01 -4.64114278e-02 -1.57965026e-02 9.10446749e+01] [ 4.64142785e-02 9.98922259e-01 -1.86300438e-04 1.02557129e+00] [ 1.57881245e-02 -5.47106858e-04 9.99875210e-01 1.30176045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.62925415399998 meters Centerline goodness : 0.999357 Centerline is valid? [True, True] Translation: X:91.08, Y:1.02, Z:1.30 [[ 9.98693712e-01 -4.85936131e-02 -1.57965227e-02 9.10780302e+01] [ 4.85967635e-02 9.98818462e-01 -1.84580881e-04 1.02436504e+00] [ 1.57868279e-02 -5.83320112e-04 9.99875210e-01 1.30149659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.65925415399998 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:91.11, Y:1.02, Z:1.30 [[ 9.98510892e-01 -5.22155987e-02 -1.57965427e-02 9.11097861e+01] [ 5.22192290e-02 9.98635629e-01 -1.82849119e-04 1.02196053e+00] [ 1.57845379e-02 -6.42306444e-04 9.99875210e-01 1.30033610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.68925415399998 meters Centerline goodness : 0.999592 Centerline is valid? [True, True] Translation: X:91.14, Y:1.02, Z:1.30 [[ 9.98441091e-01 -5.35336958e-02 -1.57965558e-02 9.11431295e+01] [ 5.35375088e-02 9.98565823e-01 -1.81708531e-04 1.02127654e+00] [ 1.57836283e-02 -6.64282982e-04 9.99875210e-01 1.30014664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.71925415399998 meters Centerline goodness : 0.999572 Centerline is valid? [True, True] Translation: X:91.17, Y:1.02, Z:1.30 [[ 9.98343906e-01 -5.53164777e-02 -1.57965755e-02 9.11748547e+01] [ 5.53205406e-02 9.98468630e-01 -1.79984718e-04 1.02037830e+00] [ 1.57823412e-02 -6.94188448e-04 9.99875210e-01 1.30108599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.74925415399998 meters Centerline goodness : 0.999615 Centerline is valid? [True, True] Translation: X:91.21, Y:1.02, Z:1.30 [[ 9.98309560e-01 -5.59329010e-02 -1.57965886e-02 9.12077132e+01] [ 5.59370591e-02 9.98434281e-01 -1.78826561e-04 1.02017015e+00] [ 1.57818579e-02 -7.05090444e-04 9.99875210e-01 1.30183020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.77925415399999 meters Centerline goodness : 0.999359 Centerline is valid? [True, True] Translation: X:91.24, Y:1.02, Z:1.30 [[ 9.98276235e-01 -5.65245627e-02 -1.57966081e-02 9.12401164e+01] [ 5.65288222e-02 9.98400952e-01 -1.77085276e-04 1.02027690e+00] [ 1.57813582e-02 -7.16183629e-04 9.99875210e-01 1.30224183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.80925415399999 meters Centerline goodness : 0.999125 Centerline is valid? [True, True] Translation: X:91.27, Y:1.02, Z:1.30 [[ 9.98268228e-01 -5.66657856e-02 -1.57966242e-02 9.12731519e+01] [ 5.66700856e-02 9.98392944e-01 -1.75642487e-04 1.02006134e+00] [ 1.57811910e-02 -7.19857728e-04 9.99875210e-01 1.30299688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.83925415399999 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:91.31, Y:1.02, Z:1.30 [[ 9.98251616e-01 -5.69576778e-02 -1.57966432e-02 9.13058348e+01] [ 5.69620416e-02 9.98376330e-01 -1.73914066e-04 1.01977709e+00] [ 1.57809004e-02 -7.26199048e-04 9.99875210e-01 1.30313945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.86925415399998 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:91.34, Y:1.02, Z:1.30 [[ 9.98275624e-01 -5.65353375e-02 -1.57966560e-02 9.13376681e+01] [ 5.65396670e-02 9.98400339e-01 -1.72742784e-04 1.02043174e+00] [ 1.57811528e-02 -7.20692759e-04 9.99875210e-01 1.30334656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.89925415399998 meters Centerline goodness : 0.999487 Centerline is valid? [True, True] Translation: X:91.37, Y:1.02, Z:1.30 [[ 9.98322616e-01 -5.56993772e-02 -1.57966688e-02 9.13699619e+01] [ 5.57036210e-02 9.98447333e-01 -1.71560428e-04 1.02105351e+00] [ 1.57816977e-02 -7.08658998e-04 9.99875210e-01 1.30324881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.92925415399998 meters Centerline goodness : 0.999251 Centerline is valid? [True, True] Translation: X:91.40, Y:1.02, Z:1.30 [[ 9.98374573e-01 -5.47601781e-02 -1.57967001e-02 9.14018210e+01] [ 5.47643507e-02 9.98499293e-01 -1.68630163e-04 1.02169351e+00] [ 1.57822281e-02 -6.96739959e-04 9.99875210e-01 1.30395262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.95925415399998 meters Centerline goodness : 0.999358 Centerline is valid? [True, True] Translation: X:91.43, Y:1.02, Z:1.31 [[ 9.98446984e-01 -5.34236355e-02 -1.57967150e-02 9.14335959e+01] [ 5.34276634e-02 9.98571708e-01 -1.67222713e-04 1.02243862e+00] [ 1.57830863e-02 -6.77018559e-04 9.99875210e-01 1.30561858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.98925415399998 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:91.46, Y:1.02, Z:1.31 [[ 9.98655821e-01 -4.93661341e-02 -1.57967272e-02 9.14649547e+01] [ 4.93696736e-02 9.98780560e-01 -1.66062423e-04 1.02425275e+00] [ 1.57856619e-02 -6.14040061e-04 9.99875210e-01 1.30747571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.01925415399998 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:91.50, Y:1.03, Z:1.31 [[ 9.98795035e-01 -4.64644139e-02 -1.57967362e-02 9.14977722e+01] [ 4.64676046e-02 9.98919784e-01 -1.65197832e-04 1.02567853e+00] [ 1.57873482e-02 -5.69037720e-04 9.99875210e-01 1.30954677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.04925415399998 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:91.53, Y:1.03, Z:1.31 [[ 9.98950220e-01 -4.29990689e-02 -1.57967544e-02 9.15294532e+01] [ 4.30018544e-02 9.99074979e-01 -1.63444983e-04 1.02713573e+00] [ 1.57891700e-02 -5.16016331e-04 9.99875210e-01 1.31077208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.07925415399998 meters Centerline goodness : 0.999376 Centerline is valid? [True, True] Translation: X:91.56, Y:1.03, Z:1.31 [[ 9.99240128e-01 -3.56318400e-02 -1.57967735e-02 9.15605922e+01] [ 3.56337350e-02 9.99364904e-01 -1.61579489e-04 1.02993380e+00] [ 1.57924984e-02 -4.01441330e-04 9.99875210e-01 1.31215676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.10925415399998 meters Centerline goodness : 0.999267 Centerline is valid? [True, True] Translation: X:91.59, Y:1.03, Z:1.31 [[ 9.99378860e-01 -3.15016826e-02 -1.57967823e-02 9.15925071e+01] [ 3.15030756e-02 9.99503642e-01 -1.60709203e-04 1.03146863e+00] [ 1.57940041e-02 -3.37037848e-04 9.99875210e-01 1.31260647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.13925415399999 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:91.62, Y:1.03, Z:1.31 [[ 9.99620108e-01 -2.25854366e-02 -1.57967939e-02 9.16234501e+01] [ 2.25857346e-02 9.99744897e-01 -1.59561783e-04 1.03366320e+00] [ 1.57963679e-02 -1.97281028e-04 9.99875210e-01 1.31148603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.16925415399999 meters Centerline goodness : 0.999524 Centerline is valid? [True, True] Translation: X:91.65, Y:1.04, Z:1.31 [[ 9.99711491e-01 -1.80940914e-02 -1.57967997e-02 9.16537165e+01] [ 1.80938378e-02 9.99836280e-01 -1.58984744e-04 1.03510575e+00] [ 1.57970902e-02 -1.26885856e-04 9.99875210e-01 1.31255051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.19925415399999 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:91.68, Y:1.04, Z:1.31 [[ 9.99778696e-01 -1.38931842e-02 -1.57967997e-02 9.16830157e+01] [ 1.38924062e-02 9.99903483e-01 -1.58984744e-04 1.03628920e+00] [ 1.57974839e-02 -6.05059990e-05 9.99875210e-01 1.31213968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.22925415399997 meters Centerline goodness : 0.999328 Centerline is valid? [True, True] Translation: X:91.71, Y:1.04, Z:1.31 [[ 9.99857073e-01 -6.02445803e-03 -1.57967939e-02 9.17117368e+01] [ 6.02268895e-03 9.99981851e-01 -1.59560387e-04 1.03834099e+00] [ 1.57974685e-02 6.43984052e-05 9.99875210e-01 1.31225412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.25925415399998 meters Centerline goodness : 0.999197 Centerline is valid? [True, True] Translation: X:91.74, Y:1.04, Z:1.31 [[ 9.99871106e-01 -2.86949845e-03 -1.57967520e-02 9.17391466e+01] [ 2.86727173e-03 9.99995876e-01 -1.63607312e-04 1.03961008e+00] [ 1.57971563e-02 1.18292643e-04 9.99875210e-01 1.31252754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.28925415399998 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:91.77, Y:1.04, Z:1.31 [[ 9.99869303e-01 3.44108919e-03 -1.57967028e-02 9.17663813e+01] [-3.44417627e-03 9.99994055e-01 -1.68225147e-04 1.04075260e+00] [ 1.57960300e-02 2.22609790e-04 9.99875210e-01 1.31313860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.31925415399998 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:91.79, Y:1.04, Z:1.31 [[ 9.99869665e-01 3.33423641e-03 -1.57966813e-02 9.17948307e+01] [-3.33734175e-03 9.99994417e-01 -1.70224369e-04 1.04114941e+00] [ 1.57960255e-02 2.22921107e-04 9.99875210e-01 1.31358884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.34925415399998 meters Centerline goodness : 0.999133 Centerline is valid? [True, True] Translation: X:91.82, Y:1.04, Z:1.31 [[ 9.99859143e-01 5.67087807e-03 -1.57966629e-02 9.18224872e+01] [-5.67430159e-03 9.99983886e-01 -1.71912218e-04 1.04166101e+00] [ 1.57954335e-02 2.61523033e-04 9.99875210e-01 1.31433261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.37925415399998 meters Centerline goodness : 0.999523 Centerline is valid? [True, True] Translation: X:91.85, Y:1.04, Z:1.32 [[ 9.99848177e-01 7.35454441e-03 -1.57966119e-02 9.18499882e+01] [-7.35825003e-03 9.99972912e-01 -1.76473894e-04 1.04204228e+00] [ 1.57948862e-02 2.92682522e-04 9.99875210e-01 1.31538155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.40925415399998 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:91.88, Y:1.04, Z:1.32 [[ 9.99835626e-01 8.89889078e-03 -1.57965598e-02 9.18782698e+01] [-8.90286088e-03 9.99960352e-01 -1.81021866e-04 1.04130509e+00] [ 1.57943226e-02 3.21626685e-04 9.99875210e-01 1.31643917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.43925415399998 meters Centerline goodness : 0.999524 Centerline is valid? [True, True] Translation: X:91.91, Y:1.04, Z:1.32 [[ 9.99841294e-01 8.23749123e-03 -1.57965059e-02 9.19065487e+01] [-8.24145130e-03 9.99966021e-01 -1.85611140e-04 1.04103002e+00] [ 1.57944402e-02 3.15767816e-04 9.99875210e-01 1.31781782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.46925415399998 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:91.93, Y:1.04, Z:1.32 [[ 9.99865763e-01 4.35063226e-03 -1.57964853e-02 9.19344555e+01] [-4.35413492e-03 9.99990503e-01 -1.87351042e-04 1.03859112e+00] [ 1.57955201e-02 2.56105920e-04 9.99875210e-01 1.31662078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.49925415399998 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:91.96, Y:1.04, Z:1.32 [[ 9.99875186e-01 2.90342714e-04 -1.57964681e-02 9.19627315e+01] [-2.93361512e-04 9.99999939e-01 -1.88789059e-04 1.03767422e+00] [ 1.57964123e-02 1.93399571e-04 9.99875210e-01 1.31916549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.52925415399999 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:91.99, Y:1.04, Z:1.32 [[ 9.99866057e-01 -4.28256158e-03 -1.57964476e-02 9.19900396e+01] [ 4.28008650e-03 9.99990822e-01 -1.90490055e-04 1.03607519e+00] [ 1.57971184e-02 1.22854378e-04 9.99875210e-01 1.31914238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.55925415399999 meters Centerline goodness : 0.999225 Centerline is valid? [True, True] Translation: X:92.02, Y:1.03, Z:1.32 [[ 9.99756022e-01 -1.54392491e-02 -1.57964169e-02 9.20189765e+01] [ 1.54381267e-02 9.99880806e-01 -1.92997557e-04 1.03200945e+00] [ 1.57975138e-02 -5.09166167e-05 9.99875210e-01 1.31993638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.58925415399999 meters Centerline goodness : 0.999398 Centerline is valid? [True, True] Translation: X:92.05, Y:1.03, Z:1.32 [[ 9.99644269e-01 -2.14897446e-02 -1.57964029e-02 9.20477888e+01] [ 2.14893594e-02 9.99769058e-01 -1.94139815e-04 1.02996248e+00] [ 1.57969269e-02 -1.45383825e-04 9.99875210e-01 1.32024908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.61925415399998 meters Centerline goodness : 0.999378 Centerline is valid? [True, True] Translation: X:92.08, Y:1.03, Z:1.32 [[ 9.99497920e-01 -2.74660038e-02 -1.57963889e-02 9.20774772e+01] [ 2.74663468e-02 9.99622710e-01 -1.95274836e-04 1.02802736e+00] [ 1.57957925e-02 -2.38692302e-04 9.99875210e-01 1.32081487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.64925415399998 meters Centerline goodness : 0.999465 Centerline is valid? [True, True] Translation: X:92.11, Y:1.02, Z:1.32 [[ 9.99145152e-01 -3.82026178e-02 -1.57963818e-02 9.21086523e+01] [ 3.82042925e-02 9.99269930e-01 -1.95844967e-04 1.02395741e+00] [ 1.57923311e-02 -4.07812041e-04 9.99875210e-01 1.32131384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.67925415399998 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:92.14, Y:1.02, Z:1.32 [[ 9.98954270e-01 -4.29050140e-02 -1.57964266e-02 9.21411799e+01] [ 4.29073342e-02 9.99079038e-01 -1.92160206e-04 1.02225342e+00] [ 1.57901233e-02 -4.85823298e-04 9.99875210e-01 1.32239033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.70925415399998 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:92.17, Y:1.02, Z:1.32 [[ 9.98592118e-01 -5.06384623e-02 -1.57964405e-02 9.21738931e+01] [ 5.06417666e-02 9.98716864e-01 -1.91009620e-04 1.01917619e+00] [ 1.57858440e-02 -6.09218954e-04 9.99875210e-01 1.32285397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.73925415399998 meters Centerline goodness : 0.999298 Centerline is valid? [True, True] Translation: X:92.21, Y:1.02, Z:1.32 [[ 9.98425562e-01 -5.38225629e-02 -1.57964543e-02 9.22071058e+01] [ 5.38262830e-02 9.98550297e-01 -1.89866980e-04 1.01823043e+00] [ 1.57837732e-02 -6.60696372e-04 9.99875210e-01 1.32445674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.76925415399998 meters Centerline goodness : 0.999212 Centerline is valid? [True, True] Translation: X:92.24, Y:1.02, Z:1.32 [[ 9.98294668e-01 -5.61981104e-02 -1.57964747e-02 9.22395018e+01] [ 5.62021544e-02 9.98419392e-01 -1.88152904e-04 1.01691794e+00] [ 1.57820805e-02 -6.99963868e-04 9.99875210e-01 1.32497649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.79925415399998 meters Centerline goodness : 0.999660 Centerline is valid? [True, True] Translation: X:92.27, Y:1.01, Z:1.33 [[ 9.98052246e-01 -6.03505146e-02 -1.57965067e-02 9.22713055e+01] [ 6.03551204e-02 9.98176951e-01 -1.85426337e-04 1.01453780e+00] [ 1.57788994e-02 -7.68334891e-04 9.99875210e-01 1.32584065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.82925415399998 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:92.30, Y:1.01, Z:1.33 [[ 9.97973036e-01 -6.16464855e-02 -1.57965231e-02 9.23046730e+01] [ 6.16512756e-02 9.98097734e-01 -1.84018905e-04 1.01385991e+00] [ 1.57778180e-02 -7.90229892e-04 9.99875210e-01 1.32723100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.85925415399998 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:92.34, Y:1.01, Z:1.33 [[ 9.97834268e-01 -6.38532978e-02 -1.57965428e-02 9.23362268e+01] [ 6.38583906e-02 9.97958953e-01 -1.82311698e-04 1.01318265e+00] [ 1.57759425e-02 -8.26824939e-04 9.99875210e-01 1.32729992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.88925415399999 meters Centerline goodness : 0.999406 Centerline is valid? [True, True] Translation: X:92.37, Y:1.01, Z:1.33 [[ 9.97800578e-01 -6.43775982e-02 -1.57965525e-02 9.23680347e+01] [ 6.43827698e-02 9.97925261e-01 -1.81466422e-04 1.01327894e+00] [ 1.57754611e-02 -8.35958502e-04 9.99875210e-01 1.32771416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.91925415399999 meters Centerline goodness : 0.999322 Centerline is valid? [True, True] Translation: X:92.40, Y:1.01, Z:1.33 [[ 9.97805744e-01 -6.42974807e-02 -1.57965652e-02 9.24004295e+01] [ 6.43026599e-02 9.97930426e-01 -1.80353116e-04 1.01377644e+00] [ 1.57754693e-02 -8.35803784e-04 9.99875210e-01 1.32868522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.94925415399999 meters Centerline goodness : 0.999469 Centerline is valid? [True, True] Translation: X:92.43, Y:1.01, Z:1.33 [[ 9.97848640e-01 -6.36282926e-02 -1.57965784e-02 9.24312386e+01] [ 6.36334065e-02 9.97973325e-01 -1.79186421e-04 1.01418316e+00] [ 1.57759652e-02 -8.26389171e-04 9.99875210e-01 1.32734708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.97925415399997 meters Centerline goodness : 0.999215 Centerline is valid? [True, True] Translation: X:92.46, Y:1.01, Z:1.33 [[ 9.97927141e-01 -6.23850144e-02 -1.57965882e-02 9.24629791e+01] [ 6.23899867e-02 9.98051831e-01 -1.78317463e-04 1.01461619e+00] [ 1.57769382e-02 -8.07601094e-04 9.99875210e-01 1.32847723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.00925415399998 meters Centerline goodness : 0.999300 Centerline is valid? [True, True] Translation: X:92.49, Y:1.02, Z:1.33 [[ 9.98108868e-01 -5.94066928e-02 -1.57966013e-02 9.24945689e+01] [ 5.94113113e-02 9.98233572e-01 -1.77157681e-04 1.01622031e+00] [ 1.57792220e-02 -7.61674142e-04 9.99875210e-01 1.32820712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.03925415399998 meters Centerline goodness : 0.999575 Centerline is valid? [True, True] Translation: X:92.53, Y:1.02, Z:1.33 [[ 9.98243558e-01 -5.70987346e-02 -1.57966109e-02 9.25259076e+01] [ 5.71030785e-02 9.98368272e-01 -1.76293466e-04 1.01725878e+00] [ 1.57809013e-02 -7.26051294e-04 9.99875210e-01 1.32777570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.06925415399998 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:92.56, Y:1.02, Z:1.33 [[ 9.98535892e-01 -5.17352791e-02 -1.57966359e-02 9.25582245e+01] [ 5.17389887e-02 9.98660626e-01 -1.74022316e-04 1.02005071e+00] [ 1.57844814e-02 -6.43534439e-04 9.99875210e-01 1.33060918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.09925415399998 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:92.59, Y:1.02, Z:1.33 [[ 9.98700809e-01 -4.84474873e-02 -1.57966487e-02 9.25889881e+01] [ 4.84508047e-02 9.98825555e-01 -1.72855615e-04 1.02186907e+00] [ 1.57864708e-02 -5.92729297e-04 9.99875210e-01 1.33088259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.12925415399998 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:92.62, Y:1.02, Z:1.33 [[ 9.98865189e-01 -4.49310589e-02 -1.57966581e-02 9.26203207e+01] [ 4.49339508e-02 9.98989945e-01 -1.71986654e-04 1.02386564e+00] [ 1.57884302e-02 -5.38014778e-04 9.99875210e-01 1.33186005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.15925415399998 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:92.65, Y:1.03, Z:1.33 [[ 9.99173319e-01 -3.74585597e-02 -1.57966673e-02 9.26523605e+01] [ 3.74605318e-02 9.99298093e-01 -1.71140125e-04 1.02777163e+00] [ 1.57919902e-02 -4.20752911e-04 9.99875210e-01 1.33431096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.18925415399998 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:92.68, Y:1.03, Z:1.34 [[ 9.99306858e-01 -3.37085827e-02 -1.57966795e-02 9.26841136e+01] [ 3.37101043e-02 9.99431638e-01 -1.70010555e-04 1.03002197e+00] [ 1.57934321e-02 -3.62614999e-04 9.99875210e-01 1.33573014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.21925415399998 meters Centerline goodness : 0.999337 Centerline is valid? [True, True] Translation: X:92.71, Y:1.03, Z:1.34 [[ 9.99535149e-01 -2.60758534e-02 -1.57966917e-02 9.27148197e+01] [ 2.60764401e-02 9.99659938e-01 -1.68870082e-04 1.03413115e+00] [ 1.57957232e-02 -2.43129901e-04 9.99875210e-01 1.33711117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.24925415399998 meters Centerline goodness : 0.999614 Centerline is valid? [True, True] Translation: X:92.75, Y:1.04, Z:1.34 [[ 9.99619611e-01 -2.26074502e-02 -1.57967007e-02 9.27458216e+01] [ 2.26076173e-02 9.99744401e-01 -1.68019714e-04 1.03630022e+00] [ 1.57964616e-02 -1.89169963e-04 9.99875210e-01 1.33830783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.27925415399999 meters Centerline goodness : 0.999486 Centerline is valid? [True, True] Translation: X:92.78, Y:1.04, Z:1.34 [[ 9.99685687e-01 -1.94676927e-02 -1.57967066e-02 9.27765816e+01] [ 1.94674767e-02 9.99810477e-01 -1.67463627e-04 1.03828303e+00] [ 1.57969729e-02 -1.40111026e-04 9.99875210e-01 1.33841638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.30925415399999 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:92.81, Y:1.04, Z:1.34 [[ 9.99763168e-01 -1.49690565e-02 -1.57967095e-02 9.28063740e+01] [ 1.49682832e-02 9.99887955e-01 -1.67187849e-04 1.04193613e+00] [ 1.57974422e-02 -6.93013685e-05 9.99875210e-01 1.33916966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.33925415399997 meters Centerline goodness : 0.999570 Centerline is valid? [True, True] Translation: X:92.83, Y:1.04, Z:1.34 [[ 9.99786183e-01 -1.33436441e-02 -1.57967037e-02 9.28349128e+01] [ 1.33426593e-02 9.99910969e-01 -1.67735798e-04 1.04339312e+00] [ 1.57975355e-02 -4.30701030e-05 9.99875210e-01 1.33958443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.36925415399998 meters Centerline goodness : 0.999052 Centerline is valid? [True, True] Translation: X:92.86, Y:1.04, Z:1.34 [[ 9.99829196e-01 -9.59398154e-03 -1.57966621e-02 9.28647411e+01] [ 9.59246830e-03 9.99953977e-01 -1.71563334e-04 1.04315904e+00] [ 1.57975811e-02 2.00050492e-05 9.99875210e-01 1.33729615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.39925415399998 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:92.89, Y:1.05, Z:1.34 [[ 9.99797665e-01 -1.24537961e-02 -1.57965556e-02 9.28920733e+01] [ 1.24524872e-02 9.99922448e-01 -1.81219238e-04 1.04623637e+00] [ 1.57975874e-02 -1.55238358e-05 9.99875210e-01 1.34253374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.42925415399998 meters Centerline goodness : 0.999440 Centerline is valid? [True, True] Translation: X:92.92, Y:1.05, Z:1.34 [[ 9.99793218e-01 -1.28057841e-02 -1.57966078e-02 9.29210332e+01] [ 1.28045930e-02 9.99918002e-01 -1.76545231e-04 1.04705869e+00] [ 1.57975734e-02 -2.57604085e-05 9.99875210e-01 1.34369350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.45925415399998 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:92.95, Y:1.05, Z:1.35 [[ 9.99796886e-01 -1.25161752e-02 -1.57965624e-02 9.29492665e+01] [ 1.25148851e-02 9.99921669e-01 -1.80525344e-04 1.04795939e+00] [ 1.57975845e-02 -1.72034859e-05 9.99875210e-01 1.34508384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.48925415399998 meters Centerline goodness : 0.999375 Centerline is valid? [True, True] Translation: X:92.98, Y:1.05, Z:1.35 [[ 9.99777045e-01 -1.40123486e-02 -1.57960134e-02 9.29792218e+01] [ 1.40104980e-02 9.99901822e-01 -2.27814536e-04 1.04905839e+00] [ 1.57976548e-02 6.45372916e-06 9.99875209e-01 1.34643290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.51925415399998 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:93.01, Y:1.05, Z:1.34 [[ 9.99775836e-01 -1.40977739e-02 -1.57965143e-02 9.30071217e+01] [ 1.40966095e-02 9.99900621e-01 -1.85061046e-04 1.04949035e+00] [ 1.57975534e-02 -3.76577308e-05 9.99875210e-01 1.34421448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.54925415399998 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:93.04, Y:1.05, Z:1.35 [[ 9.99761951e-01 -1.50503032e-02 -1.57964975e-02 9.30352507e+01] [ 1.50492352e-02 9.99886736e-01 -1.86479940e-04 1.04941783e+00] [ 1.57975149e-02 -5.12896582e-05 9.99875210e-01 1.34855491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.57925415399998 meters Centerline goodness : 0.999398 Centerline is valid? [True, True] Translation: X:93.06, Y:1.05, Z:1.35 [[ 9.99753968e-01 -1.55716421e-02 -1.57964422e-02 9.30644186e+01] [ 1.55705669e-02 9.99878753e-01 -1.91057660e-04 1.04908889e+00] [ 1.57975020e-02 -5.49489059e-05 9.99875210e-01 1.34904503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.60925415399998 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:93.09, Y:1.05, Z:1.35 [[ 9.99737213e-01 -1.66125842e-02 -1.57963930e-02 9.30918762e+01] [ 1.66115760e-02 9.99861999e-01 -1.95040485e-04 1.04875971e+00] [ 1.57974532e-02 -6.74137524e-05 9.99875210e-01 1.34910041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.63925415399999 meters Centerline goodness : 0.999138 Centerline is valid? [True, True] Translation: X:93.12, Y:1.05, Z:1.35 [[ 9.99686881e-01 -1.94065697e-02 -1.57963754e-02 9.31208846e+01] [ 1.94058880e-02 9.99811669e-01 -1.96452955e-04 1.04724560e+00] [ 1.57972129e-02 -1.10151250e-04 9.99875210e-01 1.34946166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.66925415399999 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:93.15, Y:1.05, Z:1.35 [[ 9.99653930e-01 -2.10355892e-02 -1.57963249e-02 9.31503507e+01] [ 2.10350478e-02 9.99778719e-01 -2.00435762e-04 1.04660250e+00] [ 1.57970457e-02 -1.31910053e-04 9.99875210e-01 1.34949375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.69925415399999 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:93.18, Y:1.05, Z:1.35 [[ 9.99620385e-01 -2.25734681e-02 -1.57963177e-02 9.31804205e+01] [ 2.25731099e-02 9.99745175e-01 -2.01001214e-04 1.04591380e+00] [ 1.57968297e-02 -1.55647103e-04 9.99875210e-01 1.35072719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.72925415399997 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:93.21, Y:1.04, Z:1.35 [[ 9.99545510e-01 -2.56758581e-02 -1.57963177e-02 9.32104393e+01] [ 2.56758872e-02 9.99670300e-01 -2.01001214e-04 1.04393611e+00] [ 1.57962705e-02 -2.04674609e-04 9.99875210e-01 1.34615044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.75925415399998 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:93.24, Y:1.04, Z:1.35 [[ 9.99510314e-01 -2.70112567e-02 -1.57963141e-02 9.32419278e+01] [ 2.70114479e-02 9.99635104e-01 -2.01285491e-04 1.04281691e+00] [ 1.57959870e-02 -2.25494390e-04 9.99875210e-01 1.35205913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.78925415399998 meters Centerline goodness : 0.999015 Centerline is valid? [True, True] Translation: X:93.27, Y:1.04, Z:1.35 [[ 9.99427283e-01 -2.99262708e-02 -1.57963213e-02 9.32737384e+01] [ 2.99268349e-02 9.99552072e-01 -2.00718692e-04 1.04006525e+00] [ 1.57952524e-02 -2.72130162e-04 9.99875210e-01 1.35343077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.81925415399998 meters Centerline goodness : 0.999294 Centerline is valid? [True, True] Translation: X:93.31, Y:1.04, Z:1.35 [[ 9.99389577e-01 -3.11600696e-02 -1.57963285e-02 9.33058196e+01] [ 3.11607969e-02 9.99514364e-01 -2.00144075e-04 1.03866252e+00] [ 1.57948938e-02 -2.92204283e-04 9.99875210e-01 1.35434549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.84925415399998 meters Centerline goodness : 0.999295 Centerline is valid? [True, True] Translation: X:93.34, Y:1.04, Z:1.35 [[ 9.99375597e-01 -3.16052470e-02 -1.57963431e-02 9.33363083e+01] [ 3.16060481e-02 9.99500384e-01 -1.98986064e-04 1.03733113e+00] [ 1.57947400e-02 -3.00398165e-04 9.99875210e-01 1.35221248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.87925415399998 meters Centerline goodness : 0.999212 Centerline is valid? [True, True] Translation: X:93.37, Y:1.03, Z:1.35 [[ 9.99222557e-01 -3.61217617e-02 -1.57955429e-02 9.33683541e+01] [ 3.61221245e-02 9.99347349e-01 -2.62428302e-04 1.03446538e+00] [ 1.57947133e-02 -3.08344286e-04 9.99875208e-01 1.35461541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.90925415399998 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:93.40, Y:1.03, Z:1.35 [[ 9.99139341e-01 -3.83542942e-02 -1.57963564e-02 9.34001865e+01] [ 3.83559648e-02 9.99264120e-01 -1.97297382e-04 1.03325836e+00] [ 1.57922994e-02 -4.08756913e-04 9.99875210e-01 1.35491461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.93925415399998 meters Centerline goodness : 0.999127 Centerline is valid? [True, True] Translation: X:93.43, Y:1.03, Z:1.35 [[ 9.98934368e-01 -4.33659301e-02 -1.57963711e-02 9.34316383e+01] [ 4.33682453e-02 9.99059136e-01 -1.96116085e-04 1.03040735e+00] [ 1.57900136e-02 -4.89153798e-04 9.99875210e-01 1.35319902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.96925415399998 meters Centerline goodness : 0.999023 Centerline is valid? [True, True] Translation: X:93.46, Y:1.03, Z:1.35 [[ 9.98821599e-01 -4.58899439e-02 -1.57963819e-02 9.34638257e+01] [ 4.58925883e-02 9.98946361e-01 -1.95235944e-04 1.02903106e+00] [ 1.57886976e-02 -5.29930975e-04 9.99875210e-01 1.35257929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.99925415399998 meters Centerline goodness : 0.999085 Centerline is valid? [True, True] Translation: X:93.50, Y:1.03, Z:1.35 [[ 9.98686344e-01 -4.87448485e-02 -1.57963960e-02 9.34958122e+01] [ 4.87478677e-02 9.98811097e-01 -1.94088553e-04 1.02825543e+00] [ 1.57870765e-02 -5.76207036e-04 9.99875210e-01 1.35347836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.02925415399999 meters Centerline goodness : 0.998915 Centerline is valid? [True, True] Translation: X:93.53, Y:1.03, Z:1.35 [[ 9.98406754e-01 -5.41703492e-02 -1.57964102e-02 9.35269241e+01] [ 5.41740645e-02 9.98531488e-01 -1.92925524e-04 1.02652972e+00] [ 1.57836639e-02 -6.63137601e-04 9.99875210e-01 1.35319188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.05925415399999 meters Centerline goodness : 0.999149 Centerline is valid? [True, True] Translation: X:93.56, Y:1.03, Z:1.35 [[ 9.98279388e-01 -5.64689012e-02 -1.57964355e-02 9.35589267e+01] [ 5.64729367e-02 9.98404112e-01 -1.90835662e-04 1.02570315e+00] [ 1.57820024e-02 -7.01563793e-04 9.99875210e-01 1.35323263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.08925415399997 meters Centerline goodness : 0.999213 Centerline is valid? [True, True] Translation: X:93.59, Y:1.02, Z:1.35 [[ 9.98060214e-01 -6.02186064e-02 -1.57964527e-02 9.35918716e+01] [ 6.02231331e-02 9.98184922e-01 -1.89400289e-04 1.02460399e+00] [ 1.57791863e-02 -7.62278979e-04 9.99875210e-01 1.35416830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.11925415399998 meters Centerline goodness : 0.999065 Centerline is valid? [True, True] Translation: X:93.62, Y:1.02, Z:1.35 [[ 9.97999743e-01 -6.12126089e-02 -1.57964733e-02 9.36231528e+01] [ 6.12172872e-02 9.98124445e-01 -1.87662945e-04 1.02448898e+00] [ 1.57783335e-02 -7.79729673e-04 9.99875210e-01 1.35377276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.14925415399998 meters Centerline goodness : 0.999193 Centerline is valid? [True, True] Translation: X:93.66, Y:1.02, Z:1.36 [[ 9.97977722e-01 -6.15705781e-02 -1.57964993e-02 9.36564242e+01] [ 6.15753360e-02 9.98102421e-01 -1.85450894e-04 1.02472645e+00] [ 1.57779425e-02 -7.87598892e-04 9.99875210e-01 1.35505899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.17925415399998 meters Centerline goodness : 0.999149 Centerline is valid? [True, True] Translation: X:93.69, Y:1.03, Z:1.36 [[ 9.98003252e-01 -6.11553738e-02 -1.57965193e-02 9.36874030e+01] [ 6.11601070e-02 9.98127951e-01 -1.83728019e-04 1.02525583e+00] [ 1.57781834e-02 -7.82755653e-04 9.99875210e-01 1.35535007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.20925415399998 meters Centerline goodness : 0.999340 Centerline is valid? [True, True] Translation: X:93.72, Y:1.03, Z:1.36 [[ 9.98133685e-01 -5.89882798e-02 -1.57965292e-02 9.37206291e+01] [ 5.89927558e-02 9.98258394e-01 -1.82874604e-04 1.02633587e+00] [ 1.57798053e-02 -7.49347488e-04 9.99875210e-01 1.35634442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.23925415399998 meters Centerline goodness : 0.999340 Centerline is valid? [True, True] Translation: X:93.75, Y:1.03, Z:1.36 [[ 9.98140125e-01 -5.88792050e-02 -1.57965490e-02 9.37541630e+01] [ 5.88836946e-02 9.98264833e-01 -1.81149331e-04 1.02662828e+00] [ 1.57798053e-02 -7.49346752e-04 9.99875210e-01 1.35687371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.26925415399998 meters Centerline goodness : 0.998979 Centerline is valid? [True, True] Translation: X:93.79, Y:1.03, Z:1.36 [[ 9.98209236e-01 -5.76956713e-02 -1.57965686e-02 9.37857825e+01] [ 5.77000402e-02 9.98333949e-01 -1.79423323e-04 1.02762014e+00] [ 1.57806027e-02 -7.32360626e-04 9.99875210e-01 1.35710512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.29925415399998 meters Centerline goodness : 0.999065 Centerline is valid? [True, True] Translation: X:93.82, Y:1.03, Z:1.36 [[ 9.98263541e-01 -5.67483063e-02 -1.57965847e-02 9.38184617e+01] [ 5.67525795e-02 9.98388258e-01 -1.77994492e-04 1.02900420e+00] [ 1.57812256e-02 -7.18811517e-04 9.99875210e-01 1.35767160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.32925415399998 meters Centerline goodness : 0.999319 Centerline is valid? [True, True] Translation: X:93.85, Y:1.03, Z:1.36 [[ 9.98321347e-01 -5.57221282e-02 -1.57966039e-02 9.38518065e+01] [ 5.57263003e-02 9.98446067e-01 -1.76277105e-04 1.03008741e+00] [ 1.57818795e-02 -7.04305094e-04 9.99875210e-01 1.35839745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.35925415399998 meters Centerline goodness : 0.999147 Centerline is valid? [True, True] Translation: X:93.88, Y:1.03, Z:1.36 [[ 9.98387024e-01 -5.45327183e-02 -1.57966230e-02 9.38839552e+01] [ 5.45367691e-02 9.98511748e-01 -1.74548687e-04 1.03163708e+00] [ 1.57826322e-02 -6.87229636e-04 9.99875210e-01 1.35800439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.38925415399999 meters Centerline goodness : 0.999212 Centerline is valid? [True, True] Translation: X:93.92, Y:1.03, Z:1.36 [[ 9.98453794e-01 -5.32962256e-02 -1.57966355e-02 9.39157533e+01] [ 5.33001400e-02 9.98578522e-01 -1.73404453e-04 1.03339568e+00] [ 1.57834228e-02 -6.68826551e-04 9.99875210e-01 1.35775315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.41925415399999 meters Centerline goodness : 0.999531 Centerline is valid? [True, True] Translation: X:93.95, Y:1.04, Z:1.36 [[ 9.98503817e-01 -5.23506672e-02 -1.57966511e-02 9.39484959e+01] [ 5.23544860e-02 9.98628549e-01 -1.71974844e-04 1.03502523e+00] [ 1.57839898e-02 -6.55308011e-04 9.99875210e-01 1.35872049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.44925415399999 meters Centerline goodness : 0.999573 Centerline is valid? [True, True] Translation: X:93.98, Y:1.04, Z:1.36 [[ 9.98584921e-01 -5.07801131e-02 -1.57966695e-02 9.39816323e+01] [ 5.07837628e-02 9.98709658e-01 -1.70265470e-04 1.03652150e+00] [ 1.57849325e-02 -6.32189787e-04 9.99875210e-01 1.35888293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.47925415399997 meters Centerline goodness : 0.999358 Centerline is valid? [True, True] Translation: X:94.01, Y:1.04, Z:1.36 [[ 9.98811361e-01 -4.61121452e-02 -1.57966877e-02 9.40132966e+01] [ 4.61152387e-02 9.98936112e-01 -1.68563841e-04 1.04067622e+00] [ 1.57876546e-02 -5.60104543e-04 9.99875210e-01 1.36095708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.50925415399998 meters Centerline goodness : 0.999572 Centerline is valid? [True, True] Translation: X:94.05, Y:1.04, Z:1.36 [[ 9.98960171e-01 -4.27672835e-02 -1.57967098e-02 9.40457676e+01] [ 4.27699923e-02 9.99084931e-01 -1.66467485e-04 1.04290882e+00] [ 1.57893741e-02 -5.09330769e-04 9.99875210e-01 1.36221001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.53925415399998 meters Centerline goodness : 0.999444 Centerline is valid? [True, True] Translation: X:94.08, Y:1.05, Z:1.36 [[ 9.99107353e-01 -3.91785809e-02 -1.57967219e-02 9.40776726e+01] [ 3.91808599e-02 9.99232122e-01 -1.65305694e-04 1.04519613e+00] [ 1.57910684e-02 -4.53771014e-04 9.99875210e-01 1.36320169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.56925415399998 meters Centerline goodness : 0.999377 Centerline is valid? [True, True] Translation: X:94.11, Y:1.05, Z:1.36 [[ 9.99368654e-01 -3.18238335e-02 -1.57967341e-02 9.41087083e+01] [ 3.18252126e-02 9.99493436e-01 -1.64136063e-04 1.04906416e+00] [ 1.57939555e-02 -3.38701985e-04 9.99875210e-01 1.36417208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.59925415399998 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] Translation: X:94.14, Y:1.05, Z:1.36 [[ 9.99478795e-01 -2.81531598e-02 -1.57967528e-02 9.41410828e+01] [ 2.81541094e-02 9.99603581e-01 -1.62312680e-04 1.05091308e+00] [ 1.57950603e-02 -2.82515425e-04 9.99875210e-01 1.36497698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.62925415399998 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:94.17, Y:1.05, Z:1.37 [[ 9.99605062e-01 -2.32418324e-02 -1.57967646e-02 9.41728760e+01] [ 2.32421871e-02 9.99729851e-01 -1.61159354e-04 1.05457254e+00] [ 1.57962427e-02 -2.06055652e-04 9.99875210e-01 1.36566673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.65925415399998 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:94.20, Y:1.06, Z:1.37 [[ 9.99642546e-01 -2.15694644e-02 -1.57967705e-02 9.42038593e+01] [ 2.15696195e-02 9.99767336e-01 -1.60580141e-04 1.05593519e+00] [ 1.57965588e-02 -1.80207588e-04 9.99875210e-01 1.36562340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.68925415399998 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:94.23, Y:1.06, Z:1.37 [[ 9.99661012e-01 -2.06959554e-02 -1.57967705e-02 9.42347511e+01] [ 2.06960014e-02 9.99785802e-01 -1.60580141e-04 1.05721421e+00] [ 1.57967102e-02 -1.66404277e-04 9.99875210e-01 1.36513363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.71925415399998 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:94.26, Y:1.06, Z:1.36 [[ 9.99680245e-01 -1.97451009e-02 -1.57967705e-02 9.42647969e+01] [ 1.97450282e-02 9.99805035e-01 -1.60580141e-04 1.05785171e+00] [ 1.57968613e-02 -1.51378883e-04 9.99875210e-01 1.36367667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.74925415399998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:94.29, Y:1.06, Z:1.36 [[ 9.99649418e-01 -2.12486016e-02 -1.57967705e-02 9.42942176e+01] [ 2.12487166e-02 9.99774208e-01 -1.60580141e-04 1.05938599e+00] [ 1.57966158e-02 -1.75137254e-04 9.99875210e-01 1.36471694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.77925415399999 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:94.32, Y:1.06, Z:1.37 [[ 9.99617184e-01 -2.27144688e-02 -1.57967646e-02 9.43238928e+01] [ 2.27147578e-02 9.99741974e-01 -1.61153389e-04 1.05997438e+00] [ 1.57963492e-02 -1.97727985e-04 9.99875210e-01 1.36546368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.80925415399999 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:94.35, Y:1.06, Z:1.37 [[ 9.99592938e-01 -2.37575558e-02 -1.57967617e-02 9.43548337e+01] [ 2.37579705e-02 9.99717727e-01 -1.61437554e-04 1.06083893e+00] [ 1.57961381e-02 -2.13927160e-04 9.99875210e-01 1.36637197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.83925415399997 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:94.39, Y:1.06, Z:1.37 [[ 9.99580921e-01 -2.42578805e-02 -1.57967617e-02 9.43865622e+01] [ 2.42583576e-02 9.99705710e-01 -1.61437554e-04 1.06160935e+00] [ 1.57960290e-02 -2.21833596e-04 9.99875210e-01 1.36738342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.86925415399998 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:94.42, Y:1.06, Z:1.37 [[ 9.99567888e-01 -2.47890874e-02 -1.57967674e-02 9.44178211e+01] [ 2.47896397e-02 9.99692677e-01 -1.60876707e-04 1.06345327e+00] [ 1.57959007e-02 -2.30788982e-04 9.99875210e-01 1.36834611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.89925415399998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:94.45, Y:1.06, Z:1.37 [[ 9.99574858e-01 -2.45064255e-02 -1.57967733e-02 9.44484898e+01] [ 2.45069515e-02 9.99699647e-01 -1.60302625e-04 1.06425781e+00] [ 1.57959571e-02 -2.26896283e-04 9.99875210e-01 1.36823596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.92925415399998 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:94.48, Y:1.07, Z:1.37 [[ 9.99531791e-01 -2.62041959e-02 -1.57967761e-02 9.44792446e+01] [ 2.62049384e-02 9.99656579e-01 -1.60017728e-04 1.06656343e+00] [ 1.57955443e-02 -2.54010739e-04 9.99875210e-01 1.36877877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.95925415399998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:94.51, Y:1.07, Z:1.37 [[ 9.99513464e-01 -2.68941899e-02 -1.57967846e-02 9.45119232e+01] [ 2.68950319e-02 9.99638251e-01 -1.59175635e-04 1.06729862e+00] [ 1.57953510e-02 -2.65756836e-04 9.99875210e-01 1.36905972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.98925415399998 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:94.54, Y:1.07, Z:1.37 [[ 9.99471677e-01 -2.84047286e-02 -1.57967959e-02 9.45437861e+01] [ 2.84057771e-02 9.99596462e-01 -1.58044389e-04 1.06829215e+00] [ 1.57949105e-02 -2.90759373e-04 9.99875210e-01 1.36948179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.01925415399998 meters Centerline goodness : 0.999676 Centerline is valid? [True, True] Translation: X:94.58, Y:1.07, Z:1.37 [[ 9.99378087e-01 -3.15261824e-02 -1.57968074e-02 9.45756430e+01] [ 3.15276388e-02 9.99502868e-01 -1.56894885e-04 1.06993742e+00] [ 1.57939006e-02 -3.41238726e-04 9.99875210e-01 1.36999455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.04925415399998 meters Centerline goodness : 0.999611 Centerline is valid? [True, True] Translation: X:94.61, Y:1.07, Z:1.37 [[ 9.99335629e-01 -3.28445133e-02 -1.57968187e-02 9.46078217e+01] [ 3.28461524e-02 9.99460407e-01 -1.55746359e-04 1.07095706e+00] [ 1.57934103e-02 -3.63221828e-04 9.99875210e-01 1.37022016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.07925415399998 meters Centerline goodness : 0.999589 Centerline is valid? [True, True] Translation: X:94.64, Y:1.07, Z:1.37 [[ 9.99270862e-01 -3.47592485e-02 -1.57968300e-02 9.46386536e+01] [ 3.47611449e-02 9.99395637e-01 -1.54593029e-04 1.07217121e+00] [ 1.57926565e-02 -3.94635586e-04 9.99875210e-01 1.36966332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.10925415399998 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:94.67, Y:1.07, Z:1.37 [[ 9.99255784e-01 -3.51900238e-02 -1.57968383e-02 9.46710201e+01] [ 3.51919876e-02 9.99380558e-01 -1.53732861e-04 1.07306637e+00] [ 1.57924630e-02 -4.02303689e-04 9.99875210e-01 1.37021039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.13925415399999 meters Centerline goodness : 0.999481 Centerline is valid? [True, True] Translation: X:94.70, Y:1.08, Z:1.37 [[ 9.99245522e-01 -3.54802368e-02 -1.57968491e-02 9.47036588e+01] [ 3.54822545e-02 9.99370295e-01 -1.52615366e-04 1.07518760e+00] [ 1.57923166e-02 -4.08007601e-04 9.99875210e-01 1.37051994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.16925415399999 meters Centerline goodness : 0.999480 Centerline is valid? [True, True] Translation: X:94.73, Y:1.08, Z:1.37 [[ 9.99258861e-01 -3.51025261e-02 -1.57968600e-02 9.47346477e+01] [ 3.51045144e-02 9.99383635e-01 -1.51485783e-04 1.07636992e+00] [ 1.57924409e-02 -4.03167588e-04 9.99875210e-01 1.37094024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.19925415399999 meters Centerline goodness : 0.999502 Centerline is valid? [True, True] Translation: X:94.77, Y:1.08, Z:1.37 [[ 9.99323129e-01 -3.32226131e-02 -1.57968680e-02 9.47671846e+01] [ 3.32243800e-02 9.99447907e-01 -1.50644280e-04 1.07797581e+00] [ 1.57931514e-02 -3.74298832e-04 9.99875210e-01 1.37269648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.22925415399997 meters Centerline goodness : 0.999545 Centerline is valid? [True, True] Translation: X:94.80, Y:1.08, Z:1.37 [[ 9.99359232e-01 -3.21182954e-02 -1.57968788e-02 9.47990105e+01] [ 3.21199424e-02 9.99484010e-01 -1.49506326e-04 1.07893763e+00] [ 1.57935296e-02 -3.57984308e-04 9.99875210e-01 1.37359364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.25925415399998 meters Centerline goodness : 0.999587 Centerline is valid? [True, True] Translation: X:94.83, Y:1.08, Z:1.37 [[ 9.99387635e-01 -3.12220116e-02 -1.57968896e-02 9.48315853e+01] [ 3.12235650e-02 9.99512415e-01 -1.48349766e-04 1.08002926e+00] [ 1.57938191e-02 -3.44976288e-04 9.99875210e-01 1.37398275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.28925415399998 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:94.86, Y:1.08, Z:1.37 [[ 9.99447674e-01 -2.92370434e-02 -1.57969004e-02 9.48629283e+01] [ 2.92383672e-02 9.99572457e-01 -1.47196430e-04 1.08155874e+00] [ 1.57944501e-02 -3.14760443e-04 9.99875210e-01 1.37434753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.31925415399998 meters Centerline goodness : 0.999630 Centerline is valid? [True, True] Translation: X:94.90, Y:1.08, Z:1.37 [[ 9.99468558e-01 -2.85141938e-02 -1.57969083e-02 9.48950156e+01] [ 2.85154408e-02 9.99593341e-01 -1.46338177e-04 1.08267999e+00] [ 1.57946571e-02 -3.04195398e-04 9.99875210e-01 1.37429377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.34925415399998 meters Centerline goodness : 0.999543 Centerline is valid? [True, True] Translation: X:94.93, Y:1.08, Z:1.37 [[ 9.99495236e-01 -2.75632045e-02 -1.57969188e-02 9.49259375e+01] [ 2.75643508e-02 9.99620021e-01 -1.45200700e-04 1.08400529e+00] [ 1.57949185e-02 -2.90304403e-04 9.99875210e-01 1.37319291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.37925415399998 meters Centerline goodness : 0.999456 Centerline is valid? [True, True] Translation: X:94.96, Y:1.08, Z:1.37 [[ 9.99497577e-01 -2.74781944e-02 -1.57969363e-02 9.49573343e+01] [ 2.74793607e-02 9.99622361e-01 -1.43265029e-04 1.08461233e+00] [ 1.57949075e-02 -2.90896662e-04 9.99875210e-01 1.37272535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.40925415399998 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:94.99, Y:1.09, Z:1.37 [[ 9.99502899e-01 -2.72838932e-02 -1.57969414e-02 9.49882384e+01] [ 2.72850440e-02 9.99627684e-01 -1.42708647e-04 1.08544519e+00] [ 1.57949535e-02 -2.88382534e-04 9.99875210e-01 1.37203600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.43925415399998 meters Centerline goodness : 0.999587 Centerline is valid? [True, True] Translation: X:95.02, Y:1.09, Z:1.37 [[ 9.99505096e-01 -2.72032890e-02 -1.57969488e-02 9.50194872e+01] [ 2.72044430e-02 9.99629881e-01 -1.41875741e-04 1.08623255e+00] [ 1.57949616e-02 -2.87941667e-04 9.99875210e-01 1.37216078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.46925415399998 meters Centerline goodness : 0.999586 Centerline is valid? [True, True] Translation: X:95.05, Y:1.09, Z:1.37 [[ 9.99502005e-01 -2.73166245e-02 -1.57969538e-02 9.50512200e+01] [ 2.73178014e-02 9.99626789e-01 -1.41315881e-04 1.08779785e+00] [ 1.57949185e-02 -2.90292541e-04 9.99875210e-01 1.37129909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.49925415399998 meters Centerline goodness : 0.999651 Centerline is valid? [True, True] Translation: X:95.08, Y:1.09, Z:1.37 [[ 9.99510636e-01 -2.69989826e-02 -1.57969588e-02 9.50824472e+01] [ 2.70001287e-02 9.99635420e-01 -1.40759036e-04 1.08976217e+00] [ 1.57949999e-02 -2.85829767e-04 9.99875210e-01 1.37261696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.52925415399999 meters Centerline goodness : 0.999476 Centerline is valid? [True, True] Translation: X:95.11, Y:1.09, Z:1.37 [[ 9.99518319e-01 -2.67130341e-02 -1.57969638e-02 9.51141051e+01] [ 2.67141533e-02 9.99643103e-01 -1.40200920e-04 1.09090723e+00] [ 1.57950711e-02 -2.81869124e-04 9.99875210e-01 1.37403292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.55925415399999 meters Centerline goodness : 0.999497 Centerline is valid? [True, True] Translation: X:95.15, Y:1.09, Z:1.38 [[ 9.99524308e-01 -2.64879875e-02 -1.57969688e-02 9.51454096e+01] [ 2.64890875e-02 9.99649093e-01 -1.39634690e-04 1.09207643e+00] [ 1.57951241e-02 -2.78879021e-04 9.99875210e-01 1.37570001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.58925415399997 meters Centerline goodness : 0.999651 Centerline is valid? [True, True] Translation: X:95.18, Y:1.09, Z:1.38 [[ 9.99534987e-01 -2.60819106e-02 -1.57969739e-02 9.51766820e+01] [ 2.60829690e-02 9.99659772e-01 -1.39056779e-04 1.09317800e+00] [ 1.57952261e-02 -2.73039865e-04 9.99875210e-01 1.37618440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.61925415399998 meters Centerline goodness : 0.999650 Centerline is valid? [True, True] Translation: X:95.21, Y:1.10, Z:1.38 [[ 9.99572487e-01 -2.46028125e-02 -1.57969814e-02 9.52083094e+01] [ 2.46037000e-02 9.99697274e-01 -1.38192175e-04 1.09507805e+00] [ 1.57955992e-02 -2.50531096e-04 9.99875210e-01 1.37796564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.64925415399998 meters Centerline goodness : 0.999649 Centerline is valid? [True, True] Translation: X:95.24, Y:1.10, Z:1.38 [[ 9.99568995e-01 -2.47442925e-02 -1.57969863e-02 9.52394860e+01] [ 2.47452064e-02 9.99693781e-01 -1.37636824e-04 1.09696309e+00] [ 1.57955546e-02 -2.53322184e-04 9.99875210e-01 1.37979461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.67925415399998 meters Centerline goodness : 0.999693 Centerline is valid? [True, True] Translation: X:95.27, Y:1.10, Z:1.38 [[ 9.99556473e-01 -2.52450379e-02 -1.57969912e-02 9.52702592e+01] [ 2.52460233e-02 9.99681259e-01 -1.37069039e-04 1.09861724e+00] [ 1.57954163e-02 -2.61802961e-04 9.99875210e-01 1.38107046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.70925415399998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:95.30, Y:1.10, Z:1.38 [[ 9.99532038e-01 -2.61946707e-02 -1.57969985e-02 9.53028891e+01] [ 2.61957881e-02 9.99656822e-01 -1.36219820e-04 1.09898957e+00] [ 1.57951456e-02 -2.77658752e-04 9.99875210e-01 1.38200564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.73925415399998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:95.34, Y:1.10, Z:1.38 [[ 9.99493850e-01 -2.76133772e-02 -1.57970081e-02 9.53350095e+01] [ 2.76146894e-02 9.99618633e-01 -1.35102314e-04 1.09868519e+00] [ 1.57947142e-02 -3.01195539e-04 9.99875210e-01 1.38196744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.76925415399998 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:95.37, Y:1.10, Z:1.38 [[ 9.99346259e-01 -3.25193704e-02 -1.57970176e-02 9.53668591e+01] [ 3.25213128e-02 9.99471033e-01 -1.33977207e-04 1.09892794e+00] [ 1.57930184e-02 -3.79850130e-04 9.99875210e-01 1.38191437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.79925415399998 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:95.40, Y:1.10, Z:1.38 [[ 9.99256580e-01 -3.51673249e-02 -1.57970271e-02 9.53976580e+01] [ 3.51696157e-02 9.99381349e-01 -1.32847490e-04 1.09876093e+00] [ 1.57919262e-02 -4.22826645e-04 9.99875210e-01 1.38156698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.82925415399998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:95.43, Y:1.10, Z:1.38 [[ 9.99049854e-01 -4.06182608e-02 -1.57970341e-02 9.54300426e+01] [ 4.06212456e-02 9.99174608e-01 -1.32005186e-04 1.09796242e+00] [ 1.57893572e-02 -5.09815443e-04 9.99875210e-01 1.38065941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.85925415399998 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:95.46, Y:1.10, Z:1.38 [[ 9.98948928e-01 -4.30289854e-02 -1.57970435e-02 9.54621043e+01] [ 4.30322890e-02 9.99073673e-01 -1.30881726e-04 1.09785962e+00] [ 1.57880419e-02 -5.49038779e-04 9.99875210e-01 1.38024644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.88925415399999 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:95.49, Y:1.10, Z:1.38 [[ 9.98860658e-01 -4.50315239e-02 -1.57970529e-02 9.54936042e+01] [ 4.50350957e-02 9.98985397e-01 -1.29734414e-04 1.09801596e+00] [ 1.57868673e-02 -5.81835185e-04 9.99875210e-01 1.37940661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.91925415399999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:95.52, Y:1.10, Z:1.38 [[ 9.98782727e-01 -4.67281200e-02 -1.57970709e-02 9.55248542e+01] [ 4.67319390e-02 9.98907458e-01 -1.27502485e-04 1.09749680e+00] [ 1.57857699e-02 -6.10880474e-04 9.99875210e-01 1.37843266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.94925415399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.56, Y:1.10, Z:1.38 [[ 9.98770404e-01 -4.69907660e-02 -1.57970776e-02 9.55570913e+01] [ 4.69946309e-02 9.98895134e-01 -1.26670347e-04 1.09916963e+00] [ 1.57855762e-02 -6.15863236e-04 9.99875210e-01 1.38193129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.97925415399997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.59, Y:1.10, Z:1.38 [[ 9.98942995e-01 -4.31664909e-02 -1.57970462e-02 9.55887799e+01] [ 4.31698155e-02 9.99067740e-01 -1.30641785e-04 1.09883546e+00] [ 1.57879586e-02 -5.51451873e-04 9.99875210e-01 1.37976191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.00925415399998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:95.62, Y:1.10, Z:1.38 [[ 9.99025124e-01 -4.12219996e-02 -1.57970964e-02 9.56213014e+01] [ 4.12251824e-02 9.99149873e-01 -1.24250259e-04 1.10172077e+00] [ 1.57887888e-02 -5.27109051e-04 9.99875210e-01 1.38326200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.03925415399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.65, Y:1.10, Z:1.38 [[ 9.99253009e-01 -3.52686732e-02 -1.57969553e-02 9.56531092e+01] [ 3.52708290e-02 9.99377781e-01 -1.42200882e-04 1.10273491e+00] [ 1.57921414e-02 -4.15077050e-04 9.99875210e-01 1.38322405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.06925415399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.69, Y:1.10, Z:1.38 [[ 9.99348366e-01 -3.24545122e-02 -1.57971150e-02 9.56859631e+01] [ 3.24566447e-02 9.99473137e-01 -1.21432386e-04 1.10426230e+00] [ 1.57927331e-02 -3.91368092e-04 9.99875210e-01 1.38357299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.09925415399998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:95.72, Y:1.10, Z:1.39 [[ 9.99410896e-01 -3.04680817e-02 -1.57973545e-02 9.57160199e+01] [ 3.04704658e-02 9.99535664e-01 -8.98098912e-05 1.10471403e+00] [ 1.57927556e-02 -3.91595766e-04 9.99875210e-01 1.38570215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.12925415399998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:95.75, Y:1.10, Z:1.39 [[ 9.99413086e-01 -3.03962992e-02 -1.57971290e-02 9.57487130e+01] [ 3.03982037e-02 9.99537861e-01 -1.19600092e-04 1.10491571e+00] [ 1.57934639e-02 -3.60674447e-04 9.99875210e-01 1.38623003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.15925415399998 meters Centerline goodness : 0.999691 Centerline is valid? [True, True] Translation: X:95.78, Y:1.11, Z:1.39 [[ 9.99531548e-01 -2.62132617e-02 -1.57971375e-02 9.57798295e+01] [ 2.62146620e-02 9.99656330e-01 -1.18457888e-04 1.10576872e+00] [ 1.57948137e-02 -2.95714226e-04 9.99875210e-01 1.38719723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.18925415399998 meters Centerline goodness : 0.999625 Centerline is valid? [True, True] Translation: X:95.81, Y:1.11, Z:1.39 [[ 9.99585965e-01 -2.40488737e-02 -1.57971513e-02 9.58113945e+01] [ 2.40500333e-02 9.99710749e-01 -1.16592555e-04 1.10609551e+00] [ 1.57953859e-02 -2.63377734e-04 9.99875210e-01 1.38777259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.21925415399998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:95.84, Y:1.11, Z:1.39 [[ 9.99676317e-01 -1.99426867e-02 -1.57971554e-02 9.58424093e+01] [ 1.99433426e-02 9.99801105e-01 -1.16031112e-04 1.10655734e+00] [ 1.57963274e-02 -1.99054529e-04 9.99875210e-01 1.38725046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.24925415399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.87, Y:1.11, Z:1.39 [[ 9.99718639e-01 -1.76944220e-02 -1.57971596e-02 9.58723982e+01] [ 1.76948062e-02 9.99843428e-01 -1.15464282e-04 1.10685290e+00] [ 1.57967293e-02 -1.64095882e-04 9.99875210e-01 1.38702541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.27925415399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.90, Y:1.11, Z:1.39 [[ 9.99781540e-01 -1.36865490e-02 -1.57971575e-02 9.59020623e+01] [ 1.36864285e-02 9.99906330e-01 -1.15745246e-04 1.10715882e+00] [ 1.57972620e-02 -1.00486707e-04 9.99875210e-01 1.38651292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.30925415399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.93, Y:1.11, Z:1.39 [[ 9.99800190e-01 -1.22486482e-02 -1.57971533e-02 9.59309672e+01] [ 1.22483390e-02 9.99924980e-01 -1.16322509e-04 1.10731009e+00] [ 1.57973930e-02 -7.71896230e-05 9.99875210e-01 1.38673779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.33925415399997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.96, Y:1.11, Z:1.39 [[ 9.99823212e-01 -1.01977844e-02 -1.57971219e-02 9.59583715e+01] [ 1.01971544e-02 9.99948000e-01 -1.20431763e-04 1.10732791e+00] [ 1.57975286e-02 -4.06752188e-05 9.99875210e-01 1.38627346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.36925415399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.99, Y:1.11, Z:1.39 [[ 9.99851092e-01 -6.94585106e-03 -1.57971107e-02 9.59864376e+01] [ 6.94479220e-03 9.99975877e-01 -1.21885237e-04 1.10641781e+00] [ 1.57975763e-02 1.21594360e-05 9.99875210e-01 1.38563183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.39925415399998 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:96.01, Y:1.11, Z:1.39 [[ 9.99857821e-01 -5.89825171e-03 -1.57970745e-02 9.60146111e+01] [ 5.89699051e-03 9.99982605e-01 -1.26416952e-04 1.10611863e+00] [ 1.57975453e-02 3.32437801e-05 9.99875210e-01 1.38574336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.42925415399998 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:96.04, Y:1.11, Z:1.39 [[ 9.99862208e-01 -5.10075215e-03 -1.57970369e-02 9.60426737e+01] [ 5.09931985e-03 9.99986990e-01 -1.30947519e-04 1.10564951e+00] [ 1.57974993e-02 5.03753317e-05 9.99875210e-01 1.38602286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.45925415399998 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:96.07, Y:1.10, Z:1.39 [[ 9.99864014e-01 -4.73383347e-03 -1.57969977e-02 9.60701162e+01] [ 4.73228309e-03 9.99988794e-01 -1.35523080e-04 1.10435463e+00] [ 1.57974622e-02 6.07487854e-05 9.99875210e-01 1.38655741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.48925415399998 meters Centerline goodness : 0.999714 Centerline is valid? [True, True] Translation: X:96.10, Y:1.10, Z:1.39 [[ 9.99862097e-01 -5.12285448e-03 -1.57969569e-02 9.60982533e+01] [ 5.12128012e-03 9.99986876e-01 -1.40113652e-04 1.10374476e+00] [ 1.57974674e-02 5.91936879e-05 9.99875210e-01 1.38743318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.51925415399998 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:96.13, Y:1.10, Z:1.39 [[ 9.99853455e-01 -6.59738740e-03 -1.57969151e-02 9.61266143e+01] [ 6.59592480e-03 9.99978236e-01 -1.44686870e-04 1.10177208e+00] [ 1.57975258e-02 4.04704032e-05 9.99875210e-01 1.38856591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.54925415399998 meters Centerline goodness : 0.999671 Centerline is valid? [True, True] Translation: X:96.15, Y:1.10, Z:1.39 [[ 9.99844761e-01 -7.80468328e-03 -1.57968721e-02 9.61544310e+01] [ 7.80329953e-03 9.99969543e-01 -1.49233263e-04 1.10064601e+00] [ 1.57975557e-02 2.59423718e-05 9.99875210e-01 1.38934763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.57925415399998 meters Centerline goodness : 0.999342 Centerline is valid? [True, True] Translation: X:96.18, Y:1.10, Z:1.39 [[ 9.99832216e-01 -9.27362180e-03 -1.57968279e-02 9.61810720e+01] [ 9.27234967e-03 9.99956999e-01 -1.53772264e-04 1.09973601e+00] [ 1.57975747e-02 7.27275097e-06 9.99875211e-01 1.38977774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.60925415399998 meters Centerline goodness : 0.999584 Centerline is valid? [True, True] Translation: X:96.21, Y:1.10, Z:1.39 [[ 9.99796078e-01 -1.25802975e-02 -1.57968085e-02 9.62086861e+01] [ 1.25794070e-02 9.99920864e-01 -1.55739105e-04 1.09754946e+00] [ 1.57975177e-02 -4.30071374e-05 9.99875211e-01 1.39102164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.63925415399999 meters Centerline goodness : 0.999584 Centerline is valid? [True, True] Translation: X:96.24, Y:1.10, Z:1.39 [[ 9.99766161e-01 -1.47676725e-02 -1.57967918e-02 9.62364957e+01] [ 1.47670284e-02 9.99890949e-01 -1.57421852e-04 1.09665036e+00] [ 1.57973939e-02 -7.58866323e-05 9.99875211e-01 1.39186914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.66925415399999 meters Centerline goodness : 0.999389 Centerline is valid? [True, True] Translation: X:96.26, Y:1.09, Z:1.39 [[ 9.99680529e-01 -1.97307819e-02 -1.57967448e-02 9.62646719e+01] [ 1.97306850e-02 9.99805318e-01 -1.61999660e-04 1.09422409e+00] [ 1.57968659e-02 -1.49732690e-04 9.99875211e-01 1.39188699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.69925415399999 meters Centerline goodness : 0.999630 Centerline is valid? [True, True] Translation: X:96.29, Y:1.09, Z:1.39 [[ 9.99633875e-01 -2.19676811e-02 -1.57967302e-02 9.62940885e+01] [ 2.19678411e-02 9.99758665e-01 -1.63416631e-04 1.09283889e+00] [ 1.57965077e-02 -1.83663258e-04 9.99875211e-01 1.39177435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.72925415399997 meters Centerline goodness : 0.999391 Centerline is valid? [True, True] Translation: X:96.32, Y:1.09, Z:1.39 [[ 9.99573703e-01 -2.45535466e-02 -1.57967272e-02 9.63242207e+01] [ 2.45540249e-02 9.99698491e-01 -1.63697178e-04 1.09169735e+00] [ 1.57959837e-02 -2.24245840e-04 9.99875211e-01 1.39168102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.75925415399998 meters Centerline goodness : 0.999479 Centerline is valid? [True, True] Translation: X:96.35, Y:1.09, Z:1.39 [[ 9.99453912e-01 -2.90231106e-02 -1.57967272e-02 9.63548995e+01] [ 2.90241470e-02 9.99578697e-01 -1.63697178e-04 1.08905366e+00] [ 1.57948230e-02 -2.94878749e-04 9.99875211e-01 1.39096420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.78925415399998 meters Centerline goodness : 0.999348 Centerline is valid? [True, True] Translation: X:96.39, Y:1.09, Z:1.39 [[ 9.99395997e-01 -3.09532750e-02 -1.57967302e-02 9.63872869e+01] [ 3.09545568e-02 9.99520780e-01 -1.63416035e-04 1.08820974e+00] [ 1.57942183e-02 -3.25663449e-04 9.99875211e-01 1.39159679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.81925415399998 meters Centerline goodness : 0.999522 Centerline is valid? [True, True] Translation: X:96.42, Y:1.09, Z:1.39 [[ 9.99346818e-01 -3.25023262e-02 -1.57967417e-02 9.64198089e+01] [ 3.25038191e-02 9.99471598e-01 -1.62291539e-04 1.08637298e+00] [ 1.57936695e-02 -3.51268903e-04 9.99875211e-01 1.39237777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.84925415399998 meters Centerline goodness : 0.999523 Centerline is valid? [True, True] Translation: X:96.45, Y:1.09, Z:1.39 [[ 9.99350489e-01 -3.23892323e-02 -1.57967535e-02 9.64505689e+01] [ 3.23907294e-02 9.99475270e-01 -1.61133369e-04 1.08609544e+00] [ 1.57936835e-02 -3.50639657e-04 9.99875211e-01 1.39242731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.87925415399998 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:96.48, Y:1.09, Z:1.39 [[ 9.99356493e-01 -3.22034647e-02 -1.57967623e-02 9.64828808e+01] [ 3.22049523e-02 9.99481273e-01 -1.60269981e-04 1.08627877e+00] [ 1.57937293e-02 -3.48567130e-04 9.99875211e-01 1.39365468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.90925415399998 meters Centerline goodness : 0.999349 Centerline is valid? [True, True] Translation: X:96.51, Y:1.09, Z:1.39 [[ 9.99413462e-01 -3.03841141e-02 -1.57967739e-02 9.65142352e+01] [ 3.03853928e-02 9.99538245e-01 -1.59114677e-04 1.08608217e+00] [ 1.57943142e-02 -3.20969831e-04 9.99875211e-01 1.39463518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.93925415399998 meters Centerline goodness : 0.999349 Centerline is valid? [True, True] Translation: X:96.55, Y:1.09, Z:1.40 [[ 9.99454152e-01 -2.90148145e-02 -1.57967826e-02 9.65468815e+01] [ 2.90159358e-02 9.99578937e-01 -1.58252487e-04 1.08597256e+00] [ 1.57947228e-02 -3.00192323e-04 9.99875211e-01 1.39643874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.96925415399998 meters Centerline goodness : 0.999349 Centerline is valid? [True, True] Translation: X:96.58, Y:1.09, Z:1.40 [[ 9.99529776e-01 -2.62809318e-02 -1.57967942e-02 9.65782639e+01] [ 2.62817303e-02 9.99654563e-01 -1.57082474e-04 1.08517117e+00] [ 1.57954657e-02 -2.58158474e-04 9.99875211e-01 1.39734406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.99925415399998 meters Centerline goodness : 0.999501 Centerline is valid? [True, True] Translation: X:96.61, Y:1.09, Z:1.40 [[ 9.99561596e-01 -2.50414986e-02 -1.57968028e-02 9.66083436e+01] [ 2.50421561e-02 9.99686384e-01 -1.56209839e-04 1.08504682e+00] [ 1.57957604e-02 -2.39444647e-04 9.99875211e-01 1.39750817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.02925415399999 meters Centerline goodness : 0.999262 Centerline is valid? [True, True] Translation: X:96.64, Y:1.09, Z:1.40 [[ 9.99582730e-01 -2.41832061e-02 -1.57968056e-02 9.66397411e+01] [ 2.41837609e-02 9.99707518e-01 -1.55928165e-04 1.08520941e+00] [ 1.57959562e-02 -2.26163069e-04 9.99875211e-01 1.39764501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.05925415399999 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:96.67, Y:1.08, Z:1.40 [[ 9.99614036e-01 -2.28525509e-02 -1.57968111e-02 9.66708504e+01] [ 2.28529485e-02 9.99738825e-01 -1.55371094e-04 1.08489814e+00] [ 1.57962360e-02 -2.05692583e-04 9.99875211e-01 1.39725022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.08925415399997 meters Centerline goodness : 0.999370 Centerline is valid? [True, True] Translation: X:96.70, Y:1.08, Z:1.40 [[ 9.99645613e-01 -2.14268520e-02 -1.57968167e-02 9.67038639e+01] [ 2.14270806e-02 9.99770402e-01 -1.54795353e-04 1.08296366e+00] [ 1.57965066e-02 -1.83739170e-04 9.99875211e-01 1.40122914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.11925415399998 meters Centerline goodness : 0.999261 Centerline is valid? [True, True] Translation: X:96.73, Y:1.08, Z:1.40 [[ 9.99592827e-01 -2.37608309e-02 -1.57988203e-02 9.67304265e+01] [ 2.37646161e-02 9.99717580e-01 5.18661283e-05 1.08468911e+00] [ 1.57931260e-02 -4.27297910e-04 9.99875190e-01 1.39663013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.14925415399998 meters Centerline goodness : 0.999393 Centerline is valid? [True, True] Translation: X:96.77, Y:1.08, Z:1.40 [[ 9.99666825e-01 -2.04133230e-02 -1.57966829e-02 9.67672244e+01] [ 2.04133484e-02 9.99791613e-01 -1.59653110e-04 1.07943737e+00] [ 1.57966501e-02 -1.62863274e-04 9.99875212e-01 1.39618552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.17925415399998 meters Centerline goodness : 0.999285 Centerline is valid? [True, True] Translation: X:96.79, Y:1.08, Z:1.40 [[ 9.99544521e-01 -2.57118930e-02 -1.58003071e-02 9.67894588e+01] [ 2.57183943e-02 9.99669206e-01 2.08377089e-04 1.08478260e+00] [ 1.57897227e-02 -6.14640706e-04 9.99875146e-01 1.39647432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.20925415399998 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:96.82, Y:1.09, Z:1.40 [[ 9.99536324e-01 -2.60310117e-02 -1.57963281e-02 9.68197841e+01] [ 2.60316168e-02 9.99661106e-01 -1.67337462e-04 1.08594033e+00] [ 1.57953308e-02 -2.43944090e-04 9.99875216e-01 1.39747502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.23925415399998 meters Centerline goodness : 0.999327 Centerline is valid? [True, True] Translation: X:96.85, Y:1.09, Z:1.40 [[ 9.99529766e-01 -2.62816117e-02 -1.57963388e-02 9.68511529e+01] [ 2.62822642e-02 9.99654548e-01 -1.66319332e-04 1.08672815e+00] [ 1.57952531e-02 -2.48922429e-04 9.99875216e-01 1.39839925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.26925415399998 meters Centerline goodness : 0.999349 Centerline is valid? [True, True] Translation: X:96.89, Y:1.08, Z:1.40 [[ 9.99606837e-01 -2.31656571e-02 -1.57963448e-02 9.68867847e+01] [ 2.31659295e-02 9.99731620e-01 -1.65755147e-04 1.08309814e+00] [ 1.57959452e-02 -2.00247032e-04 9.99875216e-01 1.40350301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.29925415399998 meters Centerline goodness : 0.999372 Centerline is valid? [True, True] Translation: X:96.91, Y:1.09, Z:1.40 [[ 9.99457493e-01 -2.88981439e-02 -1.57992428e-02 9.69110239e+01] [ 2.89035816e-02 9.99582197e-01 1.15895378e-04 1.08755837e+00] [ 1.57892927e-02 -5.72487207e-04 9.99875177e-01 1.40217611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.32925415399998 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:96.94, Y:1.09, Z:1.40 [[ 9.99421985e-01 -3.01027832e-02 -1.57961231e-02 9.69426711e+01] [ 3.01038309e-02 9.99546762e-01 -1.71502242e-04 1.08757444e+00] [ 1.57941264e-02 -3.04120706e-04 9.99875219e-01 1.40228896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.35925415399998 meters Centerline goodness : 0.999568 Centerline is valid? [True, True] Translation: X:96.98, Y:1.08, Z:1.40 [[ 9.99466443e-01 -2.85886716e-02 -1.57961326e-02 9.69787020e+01] [ 2.85895441e-02 9.99591221e-01 -1.70622980e-04 1.08220928e+00] [ 1.57945533e-02 -2.81072286e-04 9.99875219e-01 1.40371738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.38925415399999 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:97.00, Y:1.09, Z:1.40 [[ 9.99262113e-01 -3.50085849e-02 -1.57996295e-02 9.70015137e+01] [ 3.50155310e-02 9.99386755e-01 1.63130158e-04 1.08762624e+00] [ 1.57842295e-02 -7.16242202e-04 9.99875165e-01 1.40482038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.41925415399999 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:97.03, Y:1.09, Z:1.41 [[ 9.99198404e-01 -3.67837032e-02 -1.57958204e-02 9.70332868e+01] [ 3.67854987e-02 9.99323169e-01 -1.76958463e-04 1.08815276e+00] [ 1.57916385e-02 -4.04240519e-04 9.99875223e-01 1.40654241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.44925415399997 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] Translation: X:97.06, Y:1.09, Z:1.41 [[ 9.99051164e-01 -4.05864924e-02 -1.57958335e-02 9.70648636e+01] [ 4.05887814e-02 9.99175920e-01 -1.75781217e-04 1.08819731e+00] [ 1.57899509e-02 -4.65519205e-04 9.99875223e-01 1.40695595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.47925415399997 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:97.10, Y:1.09, Z:1.41 [[ 9.98864279e-01 -4.49515601e-02 -1.57958550e-02 9.70965908e+01] [ 4.49544250e-02 9.98989024e-01 -1.73829903e-04 1.08732742e+00] [ 1.57876997e-02 -5.36461099e-04 9.99875223e-01 1.40850896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.50925415399998 meters Centerline goodness : 0.999506 Centerline is valid? [True, True] Translation: X:97.13, Y:1.09, Z:1.41 [[ 9.98772075e-01 -4.69556366e-02 -1.57958678e-02 9.71292643e+01] [ 4.69587703e-02 9.98896814e-01 -1.72659828e-04 1.08662331e+00] [ 1.57865494e-02 -5.69306714e-04 9.99875223e-01 1.40872174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.53925415399998 meters Centerline goodness : 0.999314 Centerline is valid? [True, True] Translation: X:97.16, Y:1.09, Z:1.41 [[ 9.98699524e-01 -4.84742356e-02 -1.57958870e-02 9.71610143e+01] [ 4.84775870e-02 9.98824256e-01 -1.70888799e-04 1.08590144e+00] [ 1.57855988e-02 -5.95079922e-04 9.99875223e-01 1.40797437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.56925415399998 meters Centerline goodness : 0.999357 Centerline is valid? [True, True] Translation: X:97.19, Y:1.09, Z:1.41 [[ 9.98627196e-01 -4.99421012e-02 -1.57959027e-02 9.71921731e+01] [ 4.99456590e-02 9.98751922e-01 -1.69422774e-04 1.08545342e+00] [ 1.57846495e-02 -6.19746581e-04 9.99875223e-01 1.40788841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.59925415399998 meters Centerline goodness : 0.999336 Centerline is valid? [True, True] Translation: X:97.22, Y:1.08, Z:1.41 [[ 9.98529294e-01 -5.18626928e-02 -1.57959118e-02 9.72245958e+01] [ 5.18665039e-02 9.98654013e-01 -1.68573256e-04 1.08485071e+00] [ 1.57833933e-02 -6.50953385e-04 9.99875223e-01 1.40784220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.62925415399998 meters Centerline goodness : 0.999529 Centerline is valid? [True, True] Translation: X:97.26, Y:1.08, Z:1.41 [[ 9.98542080e-01 -5.16159276e-02 -1.57959239e-02 9.72579368e+01] [ 5.16197260e-02 9.98666799e-01 -1.67427615e-04 1.08493568e+00] [ 1.57835067e-02 -6.48197745e-04 9.99875223e-01 1.40917525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.65925415399998 meters Centerline goodness : 0.999400 Centerline is valid? [True, True] Translation: X:97.29, Y:1.09, Z:1.41 [[ 9.98631014e-01 -4.98656846e-02 -1.57959425e-02 9.72903962e+01] [ 4.98692925e-02 9.98755739e-01 -1.65650518e-04 1.08576691e+00] [ 1.57845485e-02 -6.22308733e-04 9.99875223e-01 1.40948825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.68925415399998 meters Centerline goodness : 0.999356 Centerline is valid? [True, True] Translation: X:97.32, Y:1.09, Z:1.41 [[ 9.98733776e-01 -4.77632982e-02 -1.57959578e-02 9.73225904e+01] [ 4.77666667e-02 9.98858508e-01 -1.64179682e-04 1.08606708e+00] [ 1.57857686e-02 -5.90548459e-04 9.99875223e-01 1.40978636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.71925415399998 meters Centerline goodness : 0.999271 Centerline is valid? [True, True] Translation: X:97.35, Y:1.09, Z:1.41 [[ 9.98847501e-01 -4.53228190e-02 -1.57959728e-02 9.73549755e+01] [ 4.53259056e-02 9.98972240e-01 -1.62728235e-04 1.08701940e+00] [ 1.57871136e-02 -5.53426081e-04 9.99875223e-01 1.40996922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.74925415399998 meters Centerline goodness : 0.999356 Centerline is valid? [True, True] Translation: X:97.39, Y:1.09, Z:1.41 [[ 9.99085210e-01 -3.97395325e-02 -1.57959844e-02 9.73869399e+01] [ 3.97419399e-02 9.99209964e-01 -1.61588902e-04 1.08879344e+00] [ 1.57899265e-02 -4.66321983e-04 9.99875223e-01 1.41165197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.77925415399999 meters Centerline goodness : 0.999463 Centerline is valid? [True, True] Translation: X:97.42, Y:1.09, Z:1.41 [[ 9.99206335e-01 -3.65675705e-02 -1.57959963e-02 9.74180215e+01] [ 3.65696004e-02 9.99331096e-01 -1.60417291e-04 1.08986565e+00] [ 1.57912964e-02 -4.17363300e-04 9.99875223e-01 1.41193133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.80925415399999 meters Centerline goodness : 0.999398 Centerline is valid? [True, True] Translation: X:97.45, Y:1.09, Z:1.41 [[ 9.99406850e-01 -3.06012304e-02 -1.57960051e-02 9.74503149e+01] [ 3.06025291e-02 9.99531620e-01 -1.59545451e-04 1.09193844e+00] [ 1.57934889e-02 -3.23946891e-04 9.99875223e-01 1.41297003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.83925415399997 meters Centerline goodness : 0.999546 Centerline is valid? [True, True] Translation: X:97.48, Y:1.09, Z:1.41 [[ 9.99490424e-01 -2.77376592e-02 -1.57960167e-02 9.74825210e+01] [ 2.77386187e-02 9.99615198e-01 -1.58390202e-04 1.09306265e+00] [ 1.57943318e-02 -2.79850194e-04 9.99875223e-01 1.41380563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.86925415399998 meters Centerline goodness : 0.999482 Centerline is valid? [True, True] Translation: X:97.51, Y:1.09, Z:1.41 [[ 9.99560790e-01 -2.50741279e-02 -1.57960283e-02 9.75133451e+01] [ 2.50747732e-02 9.99685566e-01 -1.57228463e-04 1.09407901e+00] [ 1.57950038e-02 -2.38922420e-04 9.99875223e-01 1.41420800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.89925415399998 meters Centerline goodness : 0.999654 Centerline is valid? [True, True] Translation: X:97.54, Y:1.10, Z:1.41 [[ 9.99672099e-01 -2.01539210e-02 -1.57960368e-02 9.75446868e+01] [ 2.01539659e-02 9.99796876e-01 -1.56363541e-04 1.09548797e+00] [ 1.57959796e-02 -1.62040518e-04 9.99875223e-01 1.41482700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.92925415399998 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:97.57, Y:1.10, Z:1.42 [[ 9.99716674e-01 -1.78061120e-02 -1.57960424e-02 9.75738553e+01] [ 1.78058727e-02 9.99841451e-01 -1.55795791e-04 1.09627115e+00] [ 1.57963121e-02 -1.25510672e-04 9.99875223e-01 1.41511763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.95925415399998 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:97.60, Y:1.10, Z:1.42 [[ 9.99783806e-01 -1.35213614e-02 -1.57960422e-02 9.76039680e+01] [ 1.35205870e-02 9.99908581e-01 -1.55824897e-04 1.09799507e+00] [ 1.57967051e-02 -5.77805534e-05 9.99875223e-01 1.41599931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.98925415399998 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:97.63, Y:1.10, Z:1.42 [[ 9.99810195e-01 -1.14043534e-02 -1.57960364e-02 9.76319586e+01] [ 1.14033056e-02 9.99934968e-01 -1.56402986e-04 1.09920389e+00] [ 1.57967929e-02 -2.37537316e-05 9.99875223e-01 1.41613691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.01925415399998 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:97.66, Y:1.10, Z:1.42 [[ 9.99831582e-01 -9.34308489e-03 -1.57960221e-02 9.76601299e+01] [ 9.34175722e-03 9.99956352e-01 -1.57836213e-04 1.10007463e+00] [ 1.57968073e-02 1.02470266e-05 9.99875223e-01 1.41630141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.04925415399998 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:97.69, Y:1.10, Z:1.42 [[ 9.99828870e-01 -9.62901566e-03 -1.57959757e-02 9.76885044e+01] [ 9.62765236e-03 9.99953640e-01 -1.62350198e-04 1.10044272e+00] [ 1.57968067e-02 1.02442522e-05 9.99875223e-01 1.41675134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.07925415399998 meters Centerline goodness : 0.999501 Centerline is valid? [True, True] Translation: X:97.72, Y:1.10, Z:1.42 [[ 9.99861826e-01 -5.17856213e-03 -1.57959280e-02 9.77164404e+01] [ 5.17657212e-03 9.99986588e-01 -1.66866944e-04 1.10178907e+00] [ 1.57965803e-02 8.50751269e-05 9.99875223e-01 1.41745722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.10925415399998 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:97.74, Y:1.10, Z:1.42 [[ 9.99868318e-01 -3.72140335e-03 -1.57955312e-02 9.77447121e+01] [ 3.71864961e-03 9.99993065e-01 -2.03703813e-04 1.10138978e+00] [ 1.57961797e-02 1.44938943e-04 9.99875222e-01 1.41680919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.13925415399999 meters Centerline goodness : 0.999350 Centerline is valid? [True, True] Translation: X:97.77, Y:1.10, Z:1.42 [[ 9.99874968e-01 -7.34331665e-04 -1.57958771e-02 9.77730916e+01] [ 7.31707201e-04 9.99999718e-01 -1.71927338e-04 1.10098005e+00] [ 1.57959989e-02 1.60347885e-04 9.99875223e-01 1.41799057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.16925415399999 meters Centerline goodness : 0.999523 Centerline is valid? [True, True] Translation: X:97.80, Y:1.10, Z:1.42 [[ 9.99875234e-01 9.17223916e-05 -1.57958329e-02 9.78013599e+01] [-9.45126402e-05 9.99999980e-01 -1.75898190e-04 1.10069738e+00] [ 1.57958164e-02 1.77369150e-04 9.99875223e-01 1.41880864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.19925415399997 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:97.83, Y:1.10, Z:1.42 [[ 9.99875103e-01 5.21447831e-04 -1.57957794e-02 9.78287684e+01] [-5.24365557e-04 9.99999846e-01 -1.80574496e-04 1.10029292e+00] [ 1.57956828e-02 1.88834706e-04 9.99875223e-01 1.41910694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.22925415399997 meters Centerline goodness : 0.999329 Centerline is valid? [True, True] Translation: X:97.86, Y:1.10, Z:1.42 [[ 9.99875218e-01 -2.05265259e-04 -1.57957425e-02 9.78578025e+01] [ 2.02388054e-04 9.99999963e-01 -1.83748981e-04 1.09860800e+00] [ 1.57957796e-02 1.80529183e-04 9.99875223e-01 1.41999160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.25925415399998 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:97.89, Y:1.10, Z:1.42 [[ 9.99874190e-01 -1.44885054e-03 -1.57957288e-02 9.78850244e+01] [ 1.44611004e-03 9.99998937e-01 -1.84916999e-04 1.09748699e+00] [ 1.57959799e-02 1.62051373e-04 9.99875223e-01 1.42003508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.28925415399998 meters Centerline goodness : 0.999483 Centerline is valid? [True, True] Translation: X:97.91, Y:1.09, Z:1.42 [[ 9.99861704e-01 -5.20269438e-03 -1.57957048e-02 9.79129017e+01] [ 5.20039015e-03 9.99986460e-01 -1.86948027e-04 1.09393202e+00] [ 1.57964635e-02 1.04778345e-04 9.99875223e-01 1.41969933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.31925415399998 meters Centerline goodness : 0.999440 Centerline is valid? [True, True] Translation: X:97.94, Y:1.09, Z:1.42 [[ 9.99845093e-01 -7.76437530e-03 -1.57956840e-02 9.79404416e+01] [ 7.76236327e-03 9.99969855e-01 -1.88685405e-04 1.09252277e+00] [ 1.57966729e-02 6.60443386e-05 9.99875223e-01 1.41995245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.34925415399998 meters Centerline goodness : 0.999247 Centerline is valid? [True, True] Translation: X:97.97, Y:1.09, Z:1.42 [[ 9.99821179e-01 -1.03974790e-02 -1.57956630e-02 9.79683744e+01] [ 1.03957681e-02 9.99945944e-01 -1.90427085e-04 1.09109781e+00] [ 1.57967891e-02 2.61849837e-05 9.99875223e-01 1.42012552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.37925415399998 meters Centerline goodness : 0.999335 Centerline is valid? [True, True] Translation: X:98.00, Y:1.09, Z:1.42 [[ 9.99741484e-01 -1.63542982e-02 -1.57956420e-02 9.79975321e+01] [ 1.63533033e-02 9.99866257e-01 -1.92156624e-04 1.08729118e+00] [ 1.57966720e-02 -6.62039761e-05 9.99875223e-01 1.42010301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.40925415399998 meters Centerline goodness : 0.999400 Centerline is valid? [True, True] Translation: X:98.03, Y:1.09, Z:1.42 [[ 9.99680552e-01 -1.97304624e-02 -1.57956278e-02 9.80262198e+01] [ 1.97298705e-02 9.99805328e-01 -1.93316063e-04 1.08524346e+00] [ 1.57963671e-02 -1.18391383e-04 9.99875223e-01 1.42031868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.43925415399998 meters Centerline goodness : 0.999210 Centerline is valid? [True, True] Translation: X:98.06, Y:1.08, Z:1.42 [[ 9.99532508e-01 -2.61775572e-02 -1.57955772e-02 9.80553008e+01] [ 2.61777061e-02 9.99657286e-01 -1.97365535e-04 1.08099397e+00] [ 1.57953304e-02 -2.16218710e-04 9.99875223e-01 1.42053587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.46925415399998 meters Centerline goodness : 0.999168 Centerline is valid? [True, True] Translation: X:98.09, Y:1.07, Z:1.42 [[ 9.99584730e-01 -2.41011866e-02 -1.57955664e-02 9.80906282e+01] [ 2.41010628e-02 9.99709508e-01 -1.98225785e-04 1.07344076e+00] [ 1.57957554e-02 -1.82546470e-04 9.99875223e-01 1.41705425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.49925415399998 meters Centerline goodness : 0.999276 Centerline is valid? [True, True] Translation: X:98.12, Y:1.07, Z:1.42 [[ 9.99421649e-01 -3.01125560e-02 -1.57987607e-02 9.81170814e+01] [ 3.01182356e-02 9.99546336e-01 1.21638352e-04 1.07491613e+00] [ 1.57879305e-02 -5.97398799e-04 9.99875184e-01 1.42026796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.52925415399999 meters Centerline goodness : 0.999277 Centerline is valid? [True, True] Translation: X:98.15, Y:1.07, Z:1.42 [[ 9.99364572e-01 -3.19522199e-02 -1.57957921e-02 9.81475382e+01] [ 3.19536816e-02 9.99489338e-01 -1.59901097e-04 1.07327437e+00] [ 1.57928350e-02 -3.44934220e-04 9.99875226e-01 1.42080975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.55925415399999 meters Centerline goodness : 0.999108 Centerline is valid? [True, True] Translation: X:98.18, Y:1.07, Z:1.42 [[ 9.99236366e-01 -3.57376544e-02 -1.57957317e-02 9.81791354e+01] [ 3.57394977e-02 9.99361126e-01 -1.65661070e-04 1.07040832e+00] [ 1.57915606e-02 -3.98996950e-04 9.99875226e-01 1.42118843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.58925415399997 meters Centerline goodness : 0.999238 Centerline is valid? [True, True] Translation: X:98.21, Y:1.07, Z:1.42 [[ 9.99150824e-01 -3.80541960e-02 -1.57958272e-02 9.82109906e+01] [ 3.80564724e-02 9.99275578e-01 -1.56550364e-04 1.06797906e+00] [ 1.57903418e-02 -4.44716039e-04 9.99875226e-01 1.42169701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.61925415399998 meters Centerline goodness : 0.999301 Centerline is valid? [True, True] Translation: X:98.25, Y:1.07, Z:1.42 [[ 9.99167417e-01 -3.76160359e-02 -1.57957547e-02 9.82455784e+01] [ 3.76181471e-02 9.99292174e-01 -1.63554104e-04 1.06539493e+00] [ 1.57907263e-02 -4.30789092e-04 9.99875226e-01 1.42078803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.64925415399998 meters Centerline goodness : 0.999089 Centerline is valid? [True, True] Translation: X:98.28, Y:1.07, Z:1.42 [[ 9.99057205e-01 -4.04371034e-02 -1.57969021e-02 9.82750966e+01] [ 4.04413554e-02 9.99181912e-01 -5.03139292e-05 1.06616950e+00] [ 1.57860134e-02 -5.88581638e-04 9.99875220e-01 1.42281448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.67925415399998 meters Centerline goodness : 0.999025 Centerline is valid? [True, True] Translation: X:98.31, Y:1.06, Z:1.42 [[ 9.98950296e-01 -4.29976716e-02 -1.57957661e-02 9.83072614e+01] [ 4.30004878e-02 9.99075038e-01 -1.61459814e-04 1.06415298e+00] [ 1.57880980e-02 -5.17935317e-04 9.99875226e-01 1.42278716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.70925415399998 meters Centerline goodness : 0.998984 Centerline is valid? [True, True] Translation: X:98.34, Y:1.06, Z:1.42 [[ 9.98890430e-01 -4.43666692e-02 -1.57957776e-02 9.83385279e+01] [ 4.43696743e-02 9.99015168e-01 -1.60326616e-04 1.06375170e+00] [ 1.57873345e-02 -5.40704783e-04 9.99875226e-01 1.42307482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.73925415399998 meters Centerline goodness : 0.998771 Centerline is valid? [True, True] Translation: X:98.37, Y:1.06, Z:1.42 [[ 9.98773319e-01 -4.69292094e-02 -1.57957861e-02 9.83708616e+01] [ 4.69325478e-02 9.98898048e-01 -1.59481733e-04 1.06257154e+00] [ 1.57858643e-02 -5.82050386e-04 9.99875226e-01 1.42313995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.76925415399998 meters Centerline goodness : 0.999279 Centerline is valid? [True, True] Translation: X:98.40, Y:1.06, Z:1.42 [[ 9.98722824e-01 -4.79918131e-02 -1.57957604e-02 9.84033104e+01] [ 4.79952436e-02 9.98847551e-01 -1.62049423e-04 1.06229416e+00] [ 1.57853337e-02 -5.96278914e-04 9.99875226e-01 1.42339916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.79925415399998 meters Centerline goodness : 0.999154 Centerline is valid? [True, True] Translation: X:98.43, Y:1.06, Z:1.42 [[ 9.98668661e-01 -4.91059881e-02 -1.57958136e-02 9.84341492e+01] [ 4.91096425e-02 9.98793381e-01 -1.56686302e-04 1.06202579e+00] [ 1.57844484e-02 -6.19249062e-04 9.99875226e-01 1.42333878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.82925415399998 meters Centerline goodness : 0.998942 Centerline is valid? [True, True] Translation: X:98.47, Y:1.06, Z:1.42 [[ 9.98576773e-01 -5.09403619e-02 -1.57958220e-02 9.84666133e+01] [ 5.09442589e-02 9.98701486e-01 -1.55835172e-04 1.06197004e+00] [ 1.57832492e-02 -6.49093063e-04 9.99875226e-01 1.42294209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.85925415399998 meters Centerline goodness : 0.999027 Centerline is valid? [True, True] Translation: X:98.50, Y:1.06, Z:1.42 [[ 9.98541762e-01 -5.16220951e-02 -1.57958330e-02 9.84994063e+01] [ 5.16260948e-02 9.98666472e-01 -1.54714722e-04 1.06221523e+00] [ 1.57827555e-02 -6.60988062e-04 9.99875226e-01 1.42328649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.88925415399999 meters Centerline goodness : 0.999046 Centerline is valid? [True, True] Translation: X:98.53, Y:1.06, Z:1.42 [[ 9.98467128e-01 -5.30460781e-02 -1.57958499e-02 9.85312723e+01] [ 5.30502833e-02 9.98591831e-01 -1.52970118e-04 1.06296708e+00] [ 1.57817211e-02 -6.85238678e-04 9.99875226e-01 1.42313321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.91925415399999 meters Centerline goodness : 0.999089 Centerline is valid? [True, True] Translation: X:98.56, Y:1.06, Z:1.42 [[ 9.98445158e-01 -5.34579935e-02 -1.57958638e-02 9.85632191e+01] [ 5.34622730e-02 9.98569859e-01 -1.51523361e-04 1.06342212e+00] [ 1.57813736e-02 -6.93195016e-04 9.99875226e-01 1.42343050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.94925415399997 meters Centerline goodness : 0.999003 Centerline is valid? [True, True] Translation: X:98.59, Y:1.06, Z:1.42 [[ 9.98437965e-01 -5.35921730e-02 -1.57958747e-02 9.85948630e+01] [ 5.35964873e-02 9.98562664e-01 -1.50379182e-04 1.06393920e+00] [ 1.57812298e-02 -6.96459112e-04 9.99875226e-01 1.42347006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.97925415399997 meters Centerline goodness : 0.998981 Centerline is valid? [True, True] Translation: X:98.63, Y:1.07, Z:1.42 [[ 9.98474142e-01 -5.29138706e-02 -1.57958881e-02 9.86270464e+01] [ 5.29181227e-02 9.98598843e-01 -1.48952986e-04 1.06545457e+00] [ 1.57816373e-02 -6.87163041e-04 9.99875226e-01 1.42370980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.00925415399998 meters Centerline goodness : 0.998959 Centerline is valid? [True, True] Translation: X:98.66, Y:1.07, Z:1.42 [[ 9.98505752e-01 -5.23139802e-02 -1.57958987e-02 9.86595066e+01] [ 5.23181751e-02 9.98630456e-01 -1.47824539e-04 1.06636682e+00] [ 1.57819988e-02 -6.78808941e-04 9.99875226e-01 1.42447776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.03925415399998 meters Centerline goodness : 0.998917 Centerline is valid? [True, True] Translation: X:98.69, Y:1.07, Z:1.43 [[ 9.98566412e-01 -5.11430387e-02 -1.57959094e-02 9.86918063e+01] [ 5.11471057e-02 9.98691119e-01 -1.46669299e-04 1.06719713e+00] [ 1.57827356e-02 -6.61456013e-04 9.99875226e-01 1.42516067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.06925415399998 meters Centerline goodness : 0.999106 Centerline is valid? [True, True] Translation: X:98.72, Y:1.07, Z:1.43 [[ 9.98689141e-01 -4.86876578e-02 -1.57959226e-02 9.87230763e+01] [ 4.86914409e-02 9.98813858e-01 -1.45231806e-04 1.06893934e+00] [ 1.57842574e-02 -6.24084805e-04 9.99875226e-01 1.42603767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.09925415399998 meters Centerline goodness : 0.999001 Centerline is valid? [True, True] Translation: X:98.76, Y:1.07, Z:1.43 [[ 9.98768044e-01 -4.70412896e-02 -1.57959303e-02 9.87556894e+01] [ 4.70448803e-02 9.98892766e-01 -1.44388767e-04 1.07010873e+00] [ 1.57852328e-02 -5.98906766e-04 9.99875226e-01 1.42776518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.12925415399998 meters Centerline goodness : 0.999363 Centerline is valid? [True, True] Translation: X:98.79, Y:1.07, Z:1.43 [[ 9.98936738e-01 -4.33114578e-02 -1.57959409e-02 9.87867391e+01] [ 4.33146013e-02 9.99061472e-01 -1.43218818e-04 1.07217382e+00] [ 1.57873190e-02 -5.41128345e-04 9.99875226e-01 1.42914894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.15925415399998 meters Centerline goodness : 0.998980 Centerline is valid? [True, True] Translation: X:98.82, Y:1.07, Z:1.43 [[ 9.99033146e-01 -4.10275730e-02 -1.57959488e-02 9.88188605e+01] [ 4.10304451e-02 9.99157887e-01 -1.42345754e-04 1.07327779e+00] [ 1.57884869e-02 -5.05906685e-04 9.99875226e-01 1.42968631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.18925415399998 meters Centerline goodness : 0.998829 Centerline is valid? [True, True] Translation: X:98.85, Y:1.08, Z:1.43 [[ 9.99222055e-01 -3.61354722e-02 -1.57959588e-02 9.88512389e+01] [ 3.61377511e-02 9.99346808e-01 -1.41229486e-04 1.07551849e+00] [ 1.57907444e-02 -4.29710811e-04 9.99875226e-01 1.43072025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.21925415399998 meters Centerline goodness : 0.999126 Centerline is valid? [True, True] Translation: X:98.88, Y:1.08, Z:1.43 [[ 9.99319277e-01 -3.33387074e-02 -1.57959690e-02 9.88838939e+01] [ 3.33406554e-02 9.99444036e-01 -1.40076219e-04 1.07671801e+00] [ 1.57918570e-02 -3.86667094e-04 9.99875226e-01 1.43144801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.24925415399998 meters Centerline goodness : 0.999190 Centerline is valid? [True, True] Translation: X:98.92, Y:1.08, Z:1.43 [[ 9.99402932e-01 -3.07289230e-02 -1.57959792e-02 9.89165491e+01] [ 3.07305635e-02 9.99527695e-01 -1.38917110e-04 1.07803548e+00] [ 1.57927875e-02 -3.46585175e-04 9.99875226e-01 1.43186778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.27925415399999 meters Centerline goodness : 0.998955 Centerline is valid? [True, True] Translation: X:98.95, Y:1.08, Z:1.43 [[ 9.99553210e-01 -2.53745291e-02 -1.57959894e-02 9.89472636e+01] [ 2.53755196e-02 9.99677980e-01 -1.37752474e-04 1.07975236e+00] [ 1.57943982e-02 -2.63140510e-04 9.99875226e-01 1.43165909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.30925415399999 meters Centerline goodness : 0.999188 Centerline is valid? [True, True] Translation: X:98.98, Y:1.08, Z:1.43 [[ 9.99613153e-01 -2.28917342e-02 -1.57960060e-02 9.89787091e+01] [ 2.28924453e-02 9.99737924e-01 -1.35814720e-04 1.08056332e+00] [ 1.57949753e-02 -2.25847024e-04 9.99875226e-01 1.43162648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.33925415399997 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:99.01, Y:1.08, Z:1.43 [[ 9.99661185e-01 -2.06881985e-02 -1.57960109e-02 9.90089432e+01] [ 2.06886437e-02 9.99785958e-01 -1.35242256e-04 1.08132760e+00] [ 1.57954278e-02 -1.91601609e-04 9.99875226e-01 1.43186191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.36925415399998 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:99.04, Y:1.08, Z:1.43 [[ 9.99729607e-01 -1.70645734e-02 -1.57960109e-02 9.90384630e+01] [ 1.70645664e-02 9.99854381e-01 -1.35242256e-04 1.08217136e+00] [ 1.57960186e-02 -1.34346390e-04 9.99875226e-01 1.43228546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.39925415399998 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:99.07, Y:1.08, Z:1.43 [[ 9.99754623e-01 -1.55299998e-02 -1.57960060e-02 9.90672123e+01] [ 1.55297920e-02 9.99879396e-01 -1.35821403e-04 1.08258278e+00] [ 1.57962102e-02 -1.09520612e-04 9.99875226e-01 1.43272049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.42925415399998 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:99.09, Y:1.08, Z:1.43 [[ 9.99787761e-01 -1.32257566e-02 -1.57959691e-02 9.90948083e+01] [ 1.32251955e-02 9.99912533e-01 -1.39982534e-04 1.08334511e+00] [ 1.57964388e-02 -6.89519558e-05 9.99875226e-01 1.43286557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.45925415399998 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:99.12, Y:1.08, Z:1.43 [[ 9.99798773e-01 -1.23653535e-02 -1.57959559e-02 9.91217106e+01] [ 1.23646619e-02 9.99923545e-01 -1.41453077e-04 1.08358512e+00] [ 1.57964973e-02 -5.38870406e-05 9.99875226e-01 1.43358681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.48925415399998 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:99.15, Y:1.08, Z:1.43 [[ 9.99803049e-01 -1.20146294e-02 -1.57959376e-02 9.91489605e+01] [ 1.20138621e-02 9.99927821e-01 -1.43469984e-04 1.08382583e+00] [ 1.57965212e-02 -4.63284876e-05 9.99875226e-01 1.43391714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.51925415399998 meters Centerline goodness : 0.999125 Centerline is valid? [True, True] Translation: X:99.18, Y:1.08, Z:1.43 [[ 9.99815840e-01 -1.08983568e-02 -1.57959192e-02 9.91770309e+01] [ 1.08974187e-02 9.99940611e-01 -1.45463806e-04 1.08314591e+00] [ 1.57965664e-02 -2.66977274e-05 9.99875226e-01 1.43402747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.54925415399998 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:99.20, Y:1.08, Z:1.44 [[ 9.99806155e-01 -1.17534001e-02 -1.57958756e-02 9.92044081e+01] [ 1.17524962e-02 9.99930926e-01 -1.50054064e-04 1.08321216e+00] [ 1.57965482e-02 -3.56159914e-05 9.99875226e-01 1.43557481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.57925415399998 meters Centerline goodness : 0.998889 Centerline is valid? [True, True] Translation: X:99.23, Y:1.08, Z:1.44 [[ 9.99800190e-01 -1.22503995e-02 -1.57958304e-02 9.92315692e+01] [ 1.22494846e-02 9.99924960e-01 -1.54668745e-04 1.08276155e+00] [ 1.57965399e-02 -3.88529420e-05 9.99875226e-01 1.43642796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.60925415399998 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:99.26, Y:1.08, Z:1.44 [[ 9.99770826e-01 -1.44495212e-02 -1.57958106e-02 9.92595611e+01] [ 1.44488493e-02 9.99895598e-01 -1.56665303e-04 1.08103857e+00] [ 1.57964253e-02 -7.16018881e-05 9.99875226e-01 1.43704163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.63925415399999 meters Centerline goodness : 0.998849 Centerline is valid? [True, True] Translation: X:99.29, Y:1.08, Z:1.44 [[ 9.99741575e-01 -1.63486377e-02 -1.57957632e-02 9.92870282e+01] [ 1.63481294e-02 9.99866347e-01 -1.61309982e-04 1.07999689e+00] [ 1.57962893e-02 -9.69628854e-05 9.99875226e-01 1.43732917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.66925415399999 meters Centerline goodness : 0.999129 Centerline is valid? [True, True] Translation: X:99.31, Y:1.08, Z:1.44 [[ 9.99657222e-01 -2.08790201e-02 -1.57957138e-02 9.93144474e+01] [ 2.08790030e-02 9.99781996e-01 -1.66014083e-04 1.07708846e+00] [ 1.57957364e-02 -1.63841578e-04 9.99875226e-01 1.43689540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.69925415399997 meters Centerline goodness : 0.998958 Centerline is valid? [True, True] Translation: X:99.34, Y:1.08, Z:1.44 [[ 9.99597507e-01 -2.35652120e-02 -1.57956984e-02 9.93437501e+01] [ 2.35655072e-02 9.99722281e-01 -1.67466797e-04 1.07582851e+00] [ 1.57952580e-02 -2.04834251e-04 9.99875226e-01 1.43718958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.72925415399997 meters Centerline goodness : 0.999065 Centerline is valid? [True, True] Translation: X:99.37, Y:1.07, Z:1.44 [[ 9.99448348e-01 -2.92146592e-02 -1.57956922e-02 9.93728892e+01] [ 2.92156504e-02 9.99573118e-01 -1.68047498e-04 1.07337128e+00] [ 1.57938587e-02 -2.93526626e-04 9.99875226e-01 1.43660747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.75925415399998 meters Centerline goodness : 0.999028 Centerline is valid? [True, True] Translation: X:99.40, Y:1.07, Z:1.44 [[ 9.99366653e-01 -3.18871325e-02 -1.57956891e-02 9.94036476e+01] [ 3.18884528e-02 9.99491420e-01 -1.68335851e-04 1.07229649e+00] [ 1.57930235e-02 -3.35470850e-04 9.99875226e-01 1.43651718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.78925415399998 meters Centerline goodness : 0.998960 Centerline is valid? [True, True] Translation: X:99.44, Y:1.07, Z:1.44 [[ 9.99289957e-01 -3.42063994e-02 -1.57956982e-02 9.94363079e+01] [ 3.42080228e-02 9.99414720e-01 -1.67479308e-04 1.07124044e+00] [ 1.57921822e-02 -3.72979213e-04 9.99875226e-01 1.43670348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.81925415399998 meters Centerline goodness : 0.998791 Centerline is valid? [True, True] Translation: X:99.47, Y:1.07, Z:1.44 [[ 9.99140477e-01 -3.83249745e-02 -1.57957103e-02 9.94684214e+01] [ 3.83271302e-02 9.99265232e-01 -1.66331967e-04 1.06916610e+00] [ 1.57904788e-02 -4.39215244e-04 9.99875226e-01 1.43726789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.84925415399998 meters Centerline goodness : 0.999065 Centerline is valid? [True, True] Translation: X:99.50, Y:1.07, Z:1.44 [[ 9.99077447e-01 -3.99343310e-02 -1.57957222e-02 9.95004135e+01] [ 3.99367058e-02 9.99202198e-01 -1.65188410e-04 1.06866056e+00] [ 1.57897171e-02 -4.65793096e-04 9.99875226e-01 1.43810777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.87925415399998 meters Centerline goodness : 0.998962 Centerline is valid? [True, True] Translation: X:99.53, Y:1.07, Z:1.44 [[ 9.99024777e-01 -4.12309422e-02 -1.57957345e-02 9.95318646e+01] [ 4.12334976e-02 9.99149524e-01 -1.64006643e-04 1.06790052e+00] [ 1.57890628e-02 -4.87466681e-04 9.99875226e-01 1.43806132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.90925415399998 meters Centerline goodness : 0.998982 Centerline is valid? [True, True] Translation: X:99.56, Y:1.07, Z:1.44 [[ 9.98924981e-01 -4.35818295e-02 -1.57957436e-02 9.95637297e+01] [ 4.35846924e-02 9.99049722e-01 -1.63125388e-04 1.06716387e+00] [ 1.57878426e-02 -5.25502600e-04 9.99875226e-01 1.43883875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.93925415399998 meters Centerline goodness : 0.998982 Centerline is valid? [True, True] Translation: X:99.60, Y:1.07, Z:1.44 [[ 9.98928093e-01 -4.35104504e-02 -1.57957552e-02 9.95964173e+01] [ 4.35133221e-02 9.99052834e-01 -1.61997425e-04 1.06743658e+00] [ 1.57878425e-02 -5.25502005e-04 9.99875226e-01 1.43935484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.96925415399998 meters Centerline goodness : 0.999153 Centerline is valid? [True, True] Translation: X:99.63, Y:1.07, Z:1.44 [[ 9.98894476e-01 -4.42755035e-02 -1.57957667e-02 9.96286048e+01] [ 4.42784885e-02 9.99019214e-01 -1.60868866e-04 1.06750147e+00] [ 1.57873969e-02 -5.38721652e-04 9.99875226e-01 1.44002378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.99925415399998 meters Centerline goodness : 0.998770 Centerline is valid? [True, True] Translation: X:99.66, Y:1.07, Z:1.44 [[ 9.98841399e-01 -4.54571608e-02 -1.57957784e-02 9.96608159e+01] [ 4.54603117e-02 9.98966133e-01 -1.59711891e-04 1.06784317e+00] [ 1.57867077e-02 -5.58554160e-04 9.99875226e-01 1.44017994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.02925415399999 meters Centerline goodness : 0.998941 Centerline is valid? [True, True] Translation: X:99.69, Y:1.07, Z:1.44 [[ 9.98819874e-01 -4.59276854e-02 -1.57957899e-02 9.96916781e+01] [ 4.59309133e-02 9.98944606e-01 -1.58559257e-04 1.06796680e+00] [ 1.57864014e-02 -5.67142921e-04 9.99875226e-01 1.43979223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.05925415399999 meters Centerline goodness : 0.998812 Centerline is valid? [True, True] Translation: X:99.72, Y:1.07, Z:1.44 [[ 9.98781517e-01 -4.67543980e-02 -1.57957985e-02 9.97243295e+01] [ 4.67577427e-02 9.98906246e-01 -1.57701523e-04 1.06825321e+00] [ 1.57858950e-02 -5.81066515e-04 9.99875226e-01 1.44023234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.08925415399997 meters Centerline goodness : 0.998812 Centerline is valid? [True, True] Translation: X:99.76, Y:1.07, Z:1.44 [[ 9.98724183e-01 -4.79635155e-02 -1.57958098e-02 9.97569746e+01] [ 4.79670292e-02 9.98848907e-01 -1.56558930e-04 1.06847018e+00] [ 1.57851365e-02 -6.01318881e-04 9.99875226e-01 1.43951758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.11925415399998 meters Centerline goodness : 0.998939 Centerline is valid? [True, True] Translation: X:99.79, Y:1.07, Z:1.44 [[ 9.98655646e-01 -4.93699550e-02 -1.57958214e-02 9.97892514e+01] [ 4.93736629e-02 9.98780365e-01 -1.55385671e-04 1.06930523e+00] [ 1.57842276e-02 -6.24720781e-04 9.99875226e-01 1.44054285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.14925415399998 meters Centerline goodness : 0.998982 Centerline is valid? [True, True] Translation: X:99.82, Y:1.07, Z:1.44 [[ 9.98541331e-01 -5.16304275e-02 -1.57958327e-02 9.98205696e+01] [ 5.16344361e-02 9.98666041e-01 -1.54222182e-04 1.07092420e+00] [ 1.57827243e-02 -6.61611693e-04 9.99875226e-01 1.43997285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.17925415399998 meters Centerline goodness : 0.998769 Centerline is valid? [True, True] Translation: X:99.85, Y:1.07, Z:1.44 [[ 9.98485545e-01 -5.26982751e-02 -1.57958514e-02 9.98534128e+01] [ 5.27024477e-02 9.98610249e-01 -1.52284447e-04 1.07204814e+00] [ 1.57819242e-02 -6.80426213e-04 9.99875226e-01 1.44066233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.20925415399998 meters Centerline goodness : 0.998960 Centerline is valid? [True, True] Translation: X:99.88, Y:1.07, Z:1.44 [[ 9.98510144e-01 -5.22300939e-02 -1.57958681e-02 9.98823388e+01] [ 5.22342357e-02 9.98634849e-01 -1.50527490e-04 1.07322622e+00] [ 1.57821665e-02 -6.74781875e-04 9.99875226e-01 1.44006894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.23925415399998 meters Centerline goodness : 0.999151 Centerline is valid? [True, True] Translation: X:99.92, Y:1.08, Z:1.44 [[ 9.98384982e-01 -5.45705645e-02 -1.57950005e-02 9.99169424e+01] [ 5.45735391e-02 9.98509724e-01 -2.42956631e-04 1.07583229e+00] [ 1.57847199e-02 -6.19424829e-04 9.99875222e-01 1.44223038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.26925415399998 meters Centerline goodness : 0.999044 Centerline is valid? [True, True] Translation: X:99.95, Y:1.08, Z:1.44 [[ 9.98389408e-01 -5.44892531e-02 -1.57959011e-02 9.99494476e+01] [ 5.44937709e-02 9.98514100e-01 -1.44584957e-04 1.07753287e+00] [ 1.57803083e-02 -7.16426123e-04 9.99875227e-01 1.44225932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.29925415399998 meters Centerline goodness : 0.998916 Centerline is valid? [True, True] Translation: X:99.98, Y:1.08, Z:1.44 [[ 9.98408124e-01 -5.41452418e-02 -1.57959143e-02 9.99821252e+01] [ 5.41497398e-02 9.98532816e-01 -1.43117665e-04 1.08147825e+00] [ 1.57804880e-02 -7.12454812e-04 9.99875227e-01 1.44405430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.32925415399998 meters Centerline goodness : 0.999044 Centerline is valid? [True, True] Translation: X:100.01, Y:1.08, Z:1.44 [[ 9.98423682e-01 -5.38575801e-02 -1.57959302e-02 1.00014148e+02] [ 5.38620702e-02 9.98548375e-01 -1.41341345e-04 1.08322158e+00] [ 1.57806128e-02 -7.09682958e-04 9.99875227e-01 1.44487197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.35925415399998 meters Centerline goodness : 0.999042 Centerline is valid? [True, True] Translation: X:100.05, Y:1.09, Z:1.45 [[ 9.98463252e-01 -5.31189401e-02 -1.57959433e-02 1.00046538e+02] [ 5.31233612e-02 9.98587948e-01 -1.39869873e-04 1.08668035e+00] [ 1.57810683e-02 -6.99478672e-04 9.99875227e-01 1.44508780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.38925415399999 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:100.08, Y:1.09, Z:1.45 [[ 9.98482163e-01 -5.27622816e-02 -1.57959560e-02 1.00079764e+02] [ 5.27666810e-02 9.98606859e-01 -1.38423107e-04 1.08882786e+00] [ 1.57812535e-02 -6.95287164e-04 9.99875227e-01 1.44578080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.41925415399999 meters Centerline goodness : 0.998871 Centerline is valid? [True, True] Translation: X:100.11, Y:1.09, Z:1.45 [[ 9.98488990e-01 -5.26329266e-02 -1.57959711e-02 1.00111458e+02] [ 5.26373375e-02 9.98613685e-01 -1.36672064e-04 1.09106392e+00] [ 1.57812664e-02 -6.94992310e-04 9.99875227e-01 1.44606351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.44925415399997 meters Centerline goodness : 0.999190 Centerline is valid? [True, True] Translation: X:100.14, Y:1.09, Z:1.45 [[ 9.98453183e-01 -5.33078700e-02 -1.57959835e-02 1.00144452e+02] [ 5.33123880e-02 9.98577874e-01 -1.35223886e-04 1.09493032e+00] [ 1.57807281e-02 -7.07106882e-04 9.99875227e-01 1.44638290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.47925415399997 meters Centerline goodness : 0.999231 Centerline is valid? [True, True] Translation: X:100.18, Y:1.10, Z:1.45 [[ 9.98379626e-01 -5.46681664e-02 -1.57959980e-02 1.00178020e+02] [ 5.46728815e-02 9.98504311e-01 -1.33502478e-04 1.09711424e+00] [ 1.57796705e-02 -7.30326576e-04 9.99875227e-01 1.44665333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.50925415399998 meters Centerline goodness : 0.999251 Centerline is valid? [True, True] Translation: X:100.21, Y:1.10, Z:1.45 [[ 9.98287116e-01 -5.63321385e-02 -1.57963516e-02 1.00210524e+02] [ 5.63377285e-02 9.98411765e-01 -9.12440208e-05 1.10078340e+00] [ 1.57764032e-02 -7.98842835e-04 9.99875226e-01 1.44699458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.53925415399998 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:100.24, Y:1.10, Z:1.45 [[ 9.98242080e-01 -5.71247332e-02 -1.57960295e-02 1.00242925e+02] [ 5.71298058e-02 9.98366750e-01 -1.30291199e-04 1.10212962e+00] [ 1.57776735e-02 -7.72361940e-04 9.99875226e-01 1.44618232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.56925415399998 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:100.27, Y:1.10, Z:1.45 [[ 9.98149068e-01 -5.87275352e-02 -1.57960387e-02 1.00274503e+02] [ 5.87328258e-02 9.98273729e-01 -1.29164159e-04 1.10409358e+00] [ 1.57763560e-02 -7.98820905e-04 9.99875226e-01 1.44786748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.59925415399998 meters Centerline goodness : 0.999292 Centerline is valid? [True, True] Translation: X:100.31, Y:1.11, Z:1.45 [[ 9.98004025e-01 -6.11428676e-02 -1.57960611e-02 1.00307865e+02] [ 6.11485040e-02 9.98128671e-01 -1.26368692e-04 1.10748914e+00] [ 1.57742280e-02 -8.39789040e-04 9.99875226e-01 1.44898406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.62925415399998 meters Centerline goodness : 0.999400 Centerline is valid? [True, True] Translation: X:100.34, Y:1.11, Z:1.45 [[ 9.97975420e-01 -6.16079958e-02 -1.57960743e-02 1.00341141e+02] [ 6.16137166e-02 9.98100062e-01 -1.24698497e-04 1.10922482e+00] [ 1.57737451e-02 -8.48808807e-04 9.99875226e-01 1.44972767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.65925415399998 meters Centerline goodness : 0.999377 Centerline is valid? [True, True] Translation: X:100.37, Y:1.11, Z:1.45 [[ 9.97952625e-01 -6.19761377e-02 -1.57960872e-02 1.00374615e+02] [ 6.19819308e-02 9.98077264e-01 -1.23032598e-04 1.11326984e+00] [ 1.57733406e-02 -8.56291282e-04 9.99875226e-01 1.45069186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.68925415399998 meters Centerline goodness : 0.999398 Centerline is valid? [True, True] Translation: X:100.41, Y:1.12, Z:1.45 [[ 9.97978883e-01 -6.15518630e-02 -1.57961000e-02 1.00406331e+02] [ 6.15576293e-02 9.98103523e-01 -1.21368437e-04 1.11536615e+00] [ 1.57736135e-02 -8.51247332e-04 9.99875226e-01 1.45133899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.71925415399998 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:100.44, Y:1.12, Z:1.45 [[ 9.98122104e-01 -5.91840256e-02 -1.57961206e-02 1.00436800e+02] [ 5.91895395e-02 9.98246755e-01 -1.18624884e-04 1.11747446e+00] [ 1.57754469e-02 -8.16562986e-04 9.99875226e-01 1.45390189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.74925415399998 meters Centerline goodness : 0.999549 Centerline is valid? [True, True] Translation: X:100.47, Y:1.12, Z:1.45 [[ 9.98076700e-01 -5.99449961e-02 -1.57955247e-02 1.00470194e+02] [ 5.99493562e-02 9.98201400e-01 -1.97738864e-04 1.12025109e+00] [ 1.57789684e-02 -7.49572986e-04 9.99875223e-01 1.45342864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.77925415399999 meters Centerline goodness : 0.999483 Centerline is valid? [True, True] Translation: X:100.50, Y:1.12, Z:1.45 [[ 9.98181153e-01 -5.81796159e-02 -1.57961265e-02 1.00501206e+02] [ 5.81850566e-02 9.98305808e-01 -1.15317343e-04 1.12476849e+00] [ 1.57760739e-02 -8.03990916e-04 9.99875227e-01 1.45472274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.80925415399997 meters Centerline goodness : 0.999676 Centerline is valid? [True, True] Translation: X:100.53, Y:1.13, Z:1.46 [[ 9.98327989e-01 -5.56031330e-02 -1.57961324e-02 1.00533412e+02] [ 5.56082647e-02 9.98452657e-01 -1.14508374e-04 1.12910867e+00] [ 1.57780573e-02 -7.64078594e-04 9.99875227e-01 1.45682282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.83925415399997 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:100.56, Y:1.13, Z:1.46 [[ 9.98442606e-01 -5.35055553e-02 -1.57961406e-02 1.00564992e+02] [ 5.35104432e-02 9.98567283e-01 -1.13358918e-04 1.13127293e+00] [ 1.57795745e-02 -7.32076111e-04 9.99875227e-01 1.45697048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.86925415399998 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:100.60, Y:1.13, Z:1.46 [[ 9.98569026e-01 -5.10918877e-02 -1.57961606e-02 1.00596563e+02] [ 5.10965193e-02 9.98693714e-01 -1.10505573e-04 1.13344932e+00] [ 1.57811722e-02 -6.96781380e-04 9.99875227e-01 1.45712619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.89925415399998 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:100.63, Y:1.14, Z:1.46 [[ 9.98683165e-01 -4.88100066e-02 -1.57961696e-02 1.00629302e+02] [ 4.88143739e-02 9.98807862e-01 -1.09197851e-04 1.13566153e+00] [ 1.57826683e-02 -6.62026074e-04 9.99875227e-01 1.45835127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.92925415399998 meters Centerline goodness : 0.999349 Centerline is valid? [True, True] Translation: X:100.66, Y:1.14, Z:1.46 [[ 9.98900742e-01 -4.41337634e-02 -1.57961814e-02 1.00661991e+02] [ 4.41375741e-02 9.99025457e-01 -1.07470215e-04 1.13943155e+00] [ 1.57855304e-02 -5.89853048e-04 9.99875227e-01 1.45731125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.95925415399998 meters Centerline goodness : 0.999674 Centerline is valid? [True, True] Translation: X:100.69, Y:1.14, Z:1.46 [[ 9.98946890e-01 -4.30765807e-02 -1.57961929e-02 1.00694298e+02] [ 4.30802866e-02 9.99071608e-01 -1.05743312e-04 1.14182050e+00] [ 1.57860829e-02 -5.74872566e-04 9.99875227e-01 1.45985209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.98925415399998 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:100.73, Y:1.14, Z:1.46 [[ 9.99089083e-01 -3.96419348e-02 -1.57962108e-02 1.00726473e+02] [ 3.96452552e-02 9.99213813e-01 -1.03005746e-04 1.14434511e+00] [ 1.57878753e-02 -5.23332891e-04 9.99875227e-01 1.45997549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.01925415399998 meters Centerline goodness : 0.999716 Centerline is valid? [True, True] Translation: X:100.76, Y:1.15, Z:1.46 [[ 9.99131614e-01 -3.85551233e-02 -1.57962180e-02 1.00758460e+02] [ 3.85583258e-02 9.99256346e-01 -1.01880226e-04 1.14571717e+00] [ 1.57883991e-02 -5.07283966e-04 9.99875227e-01 1.46026019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.04925415399998 meters Centerline goodness : 0.999584 Centerline is valid? [True, True] Translation: X:100.79, Y:1.15, Z:1.46 [[ 9.99183649e-01 -3.71821893e-02 -1.57962252e-02 1.00791505e+02] [ 3.71852382e-02 9.99308385e-01 -1.00753643e-04 1.14669173e+00] [ 1.57890465e-02 -4.86715005e-04 9.99875227e-01 1.46035794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.07925415399998 meters Centerline goodness : 0.999628 Centerline is valid? [True, True] Translation: X:100.82, Y:1.15, Z:1.46 [[ 9.99271017e-01 -3.47550613e-02 -1.57962359e-02 1.00822742e+02] [ 3.47578342e-02 9.99395759e-01 -9.90482975e-05 1.14819343e+00] [ 1.57901336e-02 -4.50066856e-04 9.99875227e-01 1.45961687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.10925415399998 meters Centerline goodness : 0.999650 Centerline is valid? [True, True] Translation: X:100.86, Y:1.15, Z:1.46 [[ 9.99317110e-01 -3.34034872e-02 -1.57962476e-02 1.00855301e+02] [ 3.34061213e-02 9.99441855e-01 -9.71533960e-05 1.14909313e+00] [ 1.57906762e-02 -4.30604311e-04 9.99875227e-01 1.46023260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.13925415399999 meters Centerline goodness : 0.999604 Centerline is valid? [True, True] Translation: X:100.89, Y:1.15, Z:1.46 [[ 9.99405394e-01 -3.06486065e-02 -1.57962544e-02 1.00887045e+02] [ 3.06509145e-02 9.99530146e-01 -9.60227860e-05 1.15077317e+00] [ 1.57917755e-02 -3.88203955e-04 9.99875227e-01 1.46072014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.16925415399999 meters Centerline goodness : 0.999671 Centerline is valid? [True, True] Translation: X:100.92, Y:1.15, Z:1.46 [[ 9.99446432e-01 -2.92798251e-02 -1.57962613e-02 1.00918606e+02] [ 2.92819803e-02 9.99571186e-01 -9.48817365e-05 1.15154231e+00] [ 1.57922658e-02 -3.67716599e-04 9.99875227e-01 1.46116961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.19925415399997 meters Centerline goodness : 0.999714 Centerline is valid? [True, True] Translation: X:100.96, Y:1.14, Z:1.46 [[ 9.99670477e-01 -2.02339981e-02 -1.57962663e-02 1.00960201e+02] [ 2.02350376e-02 9.99795246e-01 -9.40325564e-05 1.14249714e+00] [ 1.57949347e-02 -2.25636473e-04 9.99875227e-01 1.45507251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.22925415399997 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:100.98, Y:1.15, Z:1.46 [[ 9.99517776e-01 -2.67320207e-02 -1.57991880e-02 1.00979404e+02] [ 2.67415027e-02 9.99642306e-01 3.89164883e-04 1.15335800e+00] [ 1.57831335e-02 -8.11471246e-04 9.99875109e-01 1.46222697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.25925415399998 meters Centerline goodness : 0.999515 Centerline is valid? [True, True] Translation: X:101.01, Y:1.15, Z:1.46 [[ 9.99542970e-01 -2.57749670e-02 -1.57956665e-02 1.01010825e+02] [ 2.57764264e-02 9.99667727e-01 -1.11224310e-04 1.15412377e+00] [ 1.57932848e-02 -2.95982358e-04 9.99875234e-01 1.46275282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.28925415399998 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:101.04, Y:1.15, Z:1.46 [[ 9.99588079e-01 -2.39618058e-02 -1.57956705e-02 1.01042088e+02] [ 2.39630479e-02 9.99712839e-01 -1.10655734e-04 1.15433259e+00] [ 1.57937861e-02 -2.67902256e-04 9.99875234e-01 1.46290567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.31925415399998 meters Centerline goodness : 0.999691 Centerline is valid? [True, True] Translation: X:101.07, Y:1.15, Z:1.46 [[ 9.99607198e-01 -2.31505031e-02 -1.57956744e-02 1.01072970e+02] [ 2.31516529e-02 9.99731959e-01 -1.10090268e-04 1.15441304e+00] [ 1.57939891e-02 -2.55648946e-04 9.99875234e-01 1.46291328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.34925415399998 meters Centerline goodness : 0.999535 Centerline is valid? [True, True] Translation: X:101.10, Y:1.15, Z:1.46 [[ 9.99643924e-01 -2.15063069e-02 -1.57956783e-02 1.01104310e+02] [ 2.15072604e-02 9.99768686e-01 -1.09525631e-04 1.15434348e+00] [ 1.57943800e-02 -2.30235134e-04 9.99875234e-01 1.46334095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.37925415399998 meters Centerline goodness : 0.999646 Centerline is valid? [True, True] Translation: X:101.14, Y:1.15, Z:1.46 [[ 9.99649685e-01 -2.12368714e-02 -1.57956823e-02 1.01136006e+02] [ 2.12378003e-02 9.99774447e-01 -1.08951038e-04 1.15440582e+00] [ 1.57944333e-02 -2.26552676e-04 9.99875234e-01 1.46361344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.40925415399998 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:101.16, Y:1.15, Z:1.46 [[ 9.99685369e-01 -1.94848300e-02 -1.57956862e-02 1.01164501e+02] [ 1.94855493e-02 9.99810133e-01 -1.08375891e-04 1.15393890e+00] [ 1.57947988e-02 -1.99445830e-04 9.99875234e-01 1.46342900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.43925415399998 meters Centerline goodness : 0.999646 Centerline is valid? [True, True] Translation: X:101.19, Y:1.15, Z:1.46 [[ 9.99655543e-01 -2.09597613e-02 -1.57950702e-02 1.01194705e+02] [ 2.09592819e-02 9.99780311e-01 -1.95909529e-04 1.15394016e+00] [ 1.57957064e-02 -1.35211282e-04 9.99875231e-01 1.46307401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.46925415399998 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:101.23, Y:1.15, Z:1.46 [[ 9.99653819e-01 -2.10413688e-02 -1.57956680e-02 1.01225129e+02] [ 2.10422515e-02 9.99778581e-01 -1.10332896e-04 1.15404496e+00] [ 1.57944921e-02 -2.22081718e-04 9.99875235e-01 1.46340286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.49925415399998 meters Centerline goodness : 0.999625 Centerline is valid? [True, True] Translation: X:101.26, Y:1.15, Z:1.46 [[ 9.99647235e-01 -2.13518673e-02 -1.57956680e-02 1.01255302e+02] [ 2.13527888e-02 9.99771997e-01 -1.10332896e-04 1.15436418e+00] [ 1.57944224e-02 -2.26987588e-04 9.99875235e-01 1.46322828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.52925415399999 meters Centerline goodness : 0.999691 Centerline is valid? [True, True] Translation: X:101.29, Y:1.15, Z:1.46 [[ 9.99699960e-01 -1.87213045e-02 -1.57956743e-02 1.01288015e+02] [ 1.87219119e-02 9.99824724e-01 -1.09432615e-04 1.15146805e+00] [ 1.57949544e-02 -1.86325442e-04 9.99875235e-01 1.45982770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.55925415399997 meters Centerline goodness : 0.999625 Centerline is valid? [True, True] Translation: X:101.32, Y:1.15, Z:1.46 [[ 9.99611695e-01 -2.29546379e-02 -1.57969750e-02 1.01315183e+02] [ 2.29587375e-02 9.99736410e-01 7.81958268e-05 1.15418233e+00] [ 1.57910162e-02 -4.40844067e-04 9.99875217e-01 1.46260062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.58925415399997 meters Centerline goodness : 0.999647 Centerline is valid? [True, True] Translation: X:101.35, Y:1.15, Z:1.46 [[ 9.99681844e-01 -1.96649443e-02 -1.57955753e-02 1.01349655e+02] [ 1.96655867e-02 9.99806607e-01 -1.14667827e-04 1.14960526e+00] [ 1.57947754e-02 -1.95997910e-04 9.99875236e-01 1.46049453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.61925415399998 meters Centerline goodness : 0.999626 Centerline is valid? [True, True] Translation: X:101.37, Y:1.15, Z:1.47 [[ 9.99516425e-01 -2.67834114e-02 -1.57976563e-02 1.01374054e+02] [ 2.67895790e-02 9.99641079e-01 1.78889034e-04 1.15282651e+00] [ 1.57871949e-02 -6.02015089e-04 9.99875193e-01 1.46547552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.64925415399998 meters Centerline goodness : 0.999627 Centerline is valid? [True, True] Translation: X:101.40, Y:1.15, Z:1.47 [[ 9.99511685e-01 -2.69610101e-02 -1.57954132e-02 1.01404643e+02] [ 2.69624949e-02 9.99636439e-01 -1.18983793e-04 1.15246614e+00] [ 1.57928785e-02 -3.06958055e-04 9.99875238e-01 1.46535209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.67925415399998 meters Centerline goodness : 0.999649 Centerline is valid? [True, True] Translation: X:101.44, Y:1.15, Z:1.47 [[ 9.99430750e-01 -2.98107381e-02 -1.57954178e-02 1.01436128e+02] [ 2.98125884e-02 9.99555499e-01 -1.18363821e-04 1.15188468e+00] [ 1.57919252e-02 -3.52605847e-04 9.99875238e-01 1.46687425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.70925415399998 meters Centerline goodness : 0.999605 Centerline is valid? [True, True] Translation: X:101.47, Y:1.15, Z:1.47 [[ 9.99384782e-01 -3.13139253e-02 -1.57954224e-02 1.01468114e+02] [ 3.13159731e-02 9.99509528e-01 -1.17743205e-04 1.15152988e+00] [ 1.57913622e-02 -3.76978256e-04 9.99875238e-01 1.46706037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.73925415399998 meters Centerline goodness : 0.999583 Centerline is valid? [True, True] Translation: X:101.50, Y:1.15, Z:1.47 [[ 9.99346283e-01 -3.25194069e-02 -1.57954306e-02 1.01497149e+02] [ 3.25216226e-02 9.99471025e-01 -1.16633883e-04 1.15020762e+00] [ 1.57908681e-02 -3.97135397e-04 9.99875238e-01 1.46749404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.76925415399998 meters Centerline goodness : 0.999671 Centerline is valid? [True, True] Translation: X:101.53, Y:1.15, Z:1.47 [[ 9.99253244e-01 -3.52630449e-02 -1.57946888e-02 1.01530490e+02] [ 3.52640652e-02 9.99378007e-01 -2.13998705e-04 1.14985406e+00] [ 1.57924109e-02 -3.43146036e-04 9.99875233e-01 1.46719727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.79925415399998 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:101.56, Y:1.15, Z:1.47 [[ 9.99242825e-01 -3.55567432e-02 -1.57954063e-02 1.01562186e+02] [ 3.55593194e-02 9.99367560e-01 -1.17817006e-04 1.14962178e+00] [ 1.57896059e-02 -4.43946099e-04 9.99875238e-01 1.46734260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.82925415399998 meters Centerline goodness : 0.999562 Centerline is valid? [True, True] Translation: X:101.59, Y:1.15, Z:1.47 [[ 9.99144337e-01 -3.82243161e-02 -1.57954196e-02 1.01594027e+02] [ 3.82272539e-02 9.99269065e-01 -1.16001980e-04 1.14811635e+00] [ 1.57883083e-02 -4.87912796e-04 9.99875238e-01 1.46700249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.85925415399998 meters Centerline goodness : 0.999562 Centerline is valid? [True, True] Translation: X:101.63, Y:1.15, Z:1.47 [[ 9.99147077e-01 -3.81526356e-02 -1.57954279e-02 1.01626720e+02] [ 3.81555824e-02 9.99271804e-01 -1.14865817e-04 1.14829231e+00] [ 1.57883082e-02 -4.87915905e-04 9.99875238e-01 1.46751855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.88925415399999 meters Centerline goodness : 0.999584 Centerline is valid? [True, True] Translation: X:101.66, Y:1.15, Z:1.47 [[ 9.99137432e-01 -3.84043772e-02 -1.57954361e-02 1.01659042e+02] [ 3.84073734e-02 9.99262158e-01 -1.13732767e-04 1.14739936e+00] [ 1.57881494e-02 -4.93026546e-04 9.99875238e-01 1.46745596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.91925415399999 meters Centerline goodness : 0.999497 Centerline is valid? [True, True] Translation: X:101.69, Y:1.15, Z:1.47 [[ 9.99158420e-01 -3.78544107e-02 -1.57954441e-02 1.01691556e+02] [ 3.78573561e-02 9.99283147e-01 -1.12599592e-04 1.14597960e+00] [ 1.57883835e-02 -4.85468923e-04 9.99875238e-01 1.46664464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.94925415399997 meters Centerline goodness : 0.999673 Centerline is valid? [True, True] Translation: X:101.72, Y:1.15, Z:1.47 [[ 9.99189224e-01 -3.70324076e-02 -1.57954541e-02 1.01724154e+02] [ 3.70352728e-02 9.99313953e-01 -1.11185730e-04 1.14603446e+00] [ 1.57887351e-02 -4.73893368e-04 9.99875238e-01 1.46738221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.97925415399997 meters Centerline goodness : 0.999563 Centerline is valid? [True, True] Translation: X:101.76, Y:1.15, Z:1.47 [[ 9.99237473e-01 -3.57067935e-02 -1.57954619e-02 1.01756663e+02] [ 3.57095109e-02 9.99362206e-01 -1.10058259e-04 1.14620446e+00] [ 1.57893175e-02 -4.54073885e-04 9.99875238e-01 1.46803079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.00925415399998 meters Centerline goodness : 0.999628 Centerline is valid? [True, True] Translation: X:101.79, Y:1.15, Z:1.47 [[ 9.99290227e-01 -3.41986075e-02 -1.57954697e-02 1.01788623e+02] [ 3.42011545e-02 9.99414963e-01 -1.08929843e-04 1.14677975e+00] [ 1.57899540e-02 -4.31370773e-04 9.99875238e-01 1.46884691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.03925415399998 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:101.82, Y:1.15, Z:1.47 [[ 9.99401204e-01 -3.07853208e-02 -1.57954775e-02 1.01821202e+02] [ 3.07874596e-02 9.99525948e-01 -1.07795589e-04 1.14840603e+00] [ 1.57913081e-02 -3.78571583e-04 9.99875238e-01 1.47006821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.06925415399998 meters Centerline goodness : 0.999539 Centerline is valid? [True, True] Translation: X:101.85, Y:1.15, Z:1.47 [[ 9.99489346e-01 -2.77767730e-02 -1.57954851e-02 1.01853419e+02] [ 2.77785542e-02 9.99614096e-01 -1.06667051e-04 1.14961406e+00] [ 1.57923524e-02 -3.32163158e-04 9.99875238e-01 1.47056461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.09925415399998 meters Centerline goodness : 0.999628 Centerline is valid? [True, True] Translation: X:101.89, Y:1.15, Z:1.47 [[ 9.99525517e-01 -2.64432101e-02 -1.57954928e-02 1.01885139e+02] [ 2.64448430e-02 9.99650268e-01 -1.05515551e-04 1.14972585e+00] [ 1.57927588e-02 -3.12243842e-04 9.99875238e-01 1.47070000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.12925415399998 meters Centerline goodness : 0.999562 Centerline is valid? [True, True] Translation: X:101.92, Y:1.15, Z:1.47 [[ 9.99611905e-01 -2.29464751e-02 -1.57955054e-02 1.01918233e+02] [ 2.29477020e-02 9.99736661e-01 -1.03597380e-04 1.14634438e+00] [ 1.57937230e-02 -2.58913375e-04 9.99875238e-01 1.46843827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.15925415399998 meters Centerline goodness : 0.999649 Centerline is valid? [True, True] Translation: X:101.95, Y:1.15, Z:1.47 [[ 9.99554354e-01 -2.53290711e-02 -1.57965973e-02 1.01945481e+02] [ 2.53332826e-02 9.99679059e-01 6.65249433e-05 1.14954228e+00] [ 1.57898425e-02 -4.66674960e-04 9.99875224e-01 1.47001974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.18925415399998 meters Centerline goodness : 0.999627 Centerline is valid? [True, True] Translation: X:101.98, Y:1.15, Z:1.47 [[ 9.99559594e-01 -2.51221283e-02 -1.57954463e-02 1.01977067e+02] [ 2.51235946e-02 9.99684347e-01 -1.05630042e-04 1.14947957e+00] [ 1.57931140e-02 -2.91254866e-04 9.99875239e-01 1.46951762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.21925415399998 meters Centerline goodness : 0.999693 Centerline is valid? [True, True] Translation: X:102.01, Y:1.15, Z:1.47 [[ 9.99534387e-01 -2.61057875e-02 -1.57954501e-02 1.02008034e+02] [ 2.61073856e-02 9.99659139e-01 -1.05058389e-04 1.15024899e+00] [ 1.57928086e-02 -3.07368433e-04 9.99875239e-01 1.46922664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.24925415399998 meters Centerline goodness : 0.999715 Centerline is valid? [True, True] Translation: X:102.04, Y:1.15, Z:1.47 [[ 9.99515856e-01 -2.68059214e-02 -1.57954538e-02 1.02039768e+02] [ 2.68076158e-02 9.99640606e-01 -1.04489579e-04 1.15084457e+00] [ 1.57925780e-02 -3.18999466e-04 9.99875239e-01 1.46927755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.27925415399999 meters Centerline goodness : 0.999648 Centerline is valid? [True, True] Translation: X:102.07, Y:1.15, Z:1.47 [[ 9.99500440e-01 -2.73746973e-02 -1.57954576e-02 1.02071986e+02] [ 2.73764716e-02 9.99625189e-01 -1.03923882e-04 1.15131623e+00] [ 1.57923821e-02 -3.28551929e-04 9.99875239e-01 1.46952918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.30925415399997 meters Centerline goodness : 0.999604 Centerline is valid? [True, True] Translation: X:102.10, Y:1.15, Z:1.47 [[ 9.99450554e-01 -2.91391985e-02 -1.57954651e-02 1.02103289e+02] [ 2.91412113e-02 9.99575299e-01 -1.02766930e-04 1.15141069e+00] [ 1.57917513e-02 -3.57588520e-04 9.99875239e-01 1.46923576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.33925415399997 meters Centerline goodness : 0.999715 Centerline is valid? [True, True] Translation: X:102.14, Y:1.15, Z:1.47 [[ 9.99431025e-01 -2.98015026e-02 -1.57954774e-02 1.02135871e+02] [ 2.98036285e-02 9.99555768e-01 -1.00844079e-04 1.15133004e+00] [ 1.57914658e-02 -3.69975838e-04 9.99875239e-01 1.46967933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.36925415399998 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:102.17, Y:1.15, Z:1.47 [[ 9.99385358e-01 -3.12955223e-02 -1.57954844e-02 1.02168013e+02] [ 3.12978522e-02 9.99510097e-01 -9.97338387e-05 1.15198785e+00] [ 1.57908673e-02 -3.94692197e-04 9.99875239e-01 1.47139829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.39925415399998 meters Centerline goodness : 0.999671 Centerline is valid? [True, True] Translation: X:102.20, Y:1.15, Z:1.47 [[ 9.99375629e-01 -3.16046478e-02 -1.57954915e-02 1.02199420e+02] [ 3.16070342e-02 9.99500368e-01 -9.85948984e-05 1.15236137e+00] [ 1.57907156e-02 -4.00715301e-04 9.99875239e-01 1.47221995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.42925415399998 meters Centerline goodness : 0.999604 Centerline is valid? [True, True] Translation: X:102.23, Y:1.15, Z:1.47 [[ 9.99370741e-01 -3.17588404e-02 -1.57955032e-02 1.02231537e+02] [ 3.17612763e-02 9.99495479e-01 -9.66823141e-05 1.15296816e+00] [ 1.57906045e-02 -4.05063866e-04 9.99875239e-01 1.47328579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.45925415399998 meters Centerline goodness : 0.999670 Centerline is valid? [True, True] Translation: X:102.26, Y:1.15, Z:1.48 [[ 9.99387713e-01 -3.12201907e-02 -1.57955100e-02 1.02263441e+02] [ 3.12225772e-02 9.99512452e-01 -9.55554329e-05 1.15446237e+00] [ 1.57907922e-02 -3.97679605e-04 9.99875239e-01 1.47530245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.48925415399998 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:102.30, Y:1.16, Z:1.48 [[ 9.99408496e-01 -3.05476788e-02 -1.57955168e-02 1.02295987e+02] [ 3.05499992e-02 9.99533235e-01 -9.44268918e-05 1.15517942e+00] [ 1.57910285e-02 -3.88181986e-04 9.99875239e-01 1.47641022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.51925415399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.33, Y:1.16, Z:1.48 [[ 9.99442624e-01 -2.94099058e-02 -1.57955235e-02 1.02327641e+02] [ 2.94121022e-02 9.99567366e-01 -9.32875920e-05 1.15626922e+00] [ 1.57914334e-02 -3.71343954e-04 9.99875239e-01 1.47798234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.54925415399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.36, Y:1.16, Z:1.48 [[ 9.99487095e-01 -2.78576597e-02 -1.57955284e-02 1.02357740e+02] [ 2.78596757e-02 9.99611840e-01 -9.24392570e-05 1.15668936e+00] [ 1.57919724e-02 -3.47666456e-04 9.99875239e-01 1.47837145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.57925415399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.39, Y:1.16, Z:1.48 [[ 9.99466586e-01 -2.85842457e-02 -1.57950669e-02 1.02389920e+02] [ 2.85851209e-02 9.99591347e-01 -1.70403881e-04 1.15717463e+00] [ 1.57934831e-02 -2.81190911e-04 9.99875236e-01 1.47977720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.60925415399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.42, Y:1.16, Z:1.48 [[ 9.99459009e-01 -2.88477028e-02 -1.57955251e-02 1.02422146e+02] [ 2.88498817e-02 9.99583751e-01 -8.99553469e-05 1.15803032e+00] [ 1.57915452e-02 -3.65792348e-04 9.99875239e-01 1.47997558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.63925415399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.45, Y:1.16, Z:1.48 [[ 9.99450226e-01 -2.91504072e-02 -1.57955316e-02 1.02453937e+02] [ 2.91526420e-02 9.99574967e-01 -8.87995104e-05 1.15797974e+00] [ 1.57914065e-02 -3.71730787e-04 9.99875239e-01 1.47996080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.66925415399999 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:102.49, Y:1.16, Z:1.48 [[ 9.99395139e-01 -3.09815601e-02 -1.57955380e-02 1.02486044e+02] [ 3.09840417e-02 9.99519875e-01 -8.76459084e-05 1.15720481e+00] [ 1.57906696e-02 -4.01816714e-04 9.99875239e-01 1.47899593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.69925415399997 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:102.52, Y:1.16, Z:1.48 [[ 9.99364940e-01 -3.19408351e-02 -1.57955443e-02 1.02517268e+02] [ 3.19434547e-02 9.99489674e-01 -8.64889504e-05 1.15648568e+00] [ 1.57902460e-02 -4.18130230e-04 9.99875239e-01 1.47874702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.72925415399997 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:102.55, Y:1.16, Z:1.48 [[ 9.99337721e-01 -3.27814010e-02 -1.57955490e-02 1.02549849e+02] [ 3.27841391e-02 9.99462452e-01 -8.56268277e-05 1.15599043e+00] [ 1.57898651e-02 -4.32273357e-04 9.99875239e-01 1.47844432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.75925415399998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:102.58, Y:1.16, Z:1.48 [[ 9.99304847e-01 -3.37686623e-02 -1.57955551e-02 1.02581925e+02] [ 3.37715416e-02 9.99429575e-01 -8.44906556e-05 1.15527598e+00] [ 1.57893980e-02 -4.49008324e-04 9.99875239e-01 1.47758245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.78925415399998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:102.61, Y:1.16, Z:1.48 [[ 9.99299605e-01 -3.39234470e-02 -1.57955611e-02 1.02613729e+02] [ 3.39263635e-02 9.99424332e-01 -8.33563960e-05 1.15544939e+00] [ 1.57892958e-02 -4.52587933e-04 9.99875239e-01 1.47780194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.81925415399998 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:102.64, Y:1.16, Z:1.48 [[ 9.99325195e-01 -3.31610551e-02 -1.57955669e-02 1.02644918e+02] [ 3.31638944e-02 9.99449923e-01 -8.22263094e-05 1.15605353e+00] [ 1.57896049e-02 -4.41671691e-04 9.99875239e-01 1.47812930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.84925415399998 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:102.68, Y:1.16, Z:1.48 [[ 9.99349320e-01 -3.24258704e-02 -1.57955713e-02 1.02676862e+02] [ 3.24286312e-02 9.99474050e-01 -8.13837333e-05 1.15651255e+00] [ 1.57899025e-02 -4.30897978e-04 9.99875239e-01 1.47911622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.87925415399998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:102.71, Y:1.16, Z:1.48 [[ 9.99381558e-01 -3.14165684e-02 -1.57955770e-02 1.02707857e+02] [ 3.14192210e-02 9.99506291e-01 -8.02547151e-05 1.15669140e+00] [ 1.57902999e-02 -4.16079643e-04 9.99875239e-01 1.47955583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.90925415399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.74, Y:1.16, Z:1.48 [[ 9.99438343e-01 -2.95550190e-02 -1.57955812e-02 1.02740491e+02] [ 2.95574526e-02 9.99563080e-01 -7.94147697e-05 1.15715240e+00] [ 1.57910269e-02 -3.87506978e-04 9.99875239e-01 1.48102869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.93925415399998 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:102.77, Y:1.16, Z:1.48 [[ 9.99469266e-01 -2.84901073e-02 -1.57955869e-02 1.02772971e+02] [ 2.84924261e-02 9.99594005e-01 -7.82717080e-05 1.15739514e+00] [ 1.57914040e-02 -3.71824425e-04 9.99875239e-01 1.48210183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.96925415399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.80, Y:1.16, Z:1.48 [[ 9.99522335e-01 -2.65631490e-02 -1.57955926e-02 1.02803742e+02] [ 2.65652456e-02 9.99647079e-01 -7.71136239e-05 1.15815310e+00] [ 1.57920663e-02 -3.42537006e-04 9.99875239e-01 1.48273505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.99925415399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.84, Y:1.16, Z:1.48 [[ 9.99544615e-01 -2.57111088e-02 -1.57955967e-02 1.02835550e+02] [ 2.57131126e-02 9.99669360e-01 -7.62514986e-05 1.15872509e+00] [ 1.57923346e-02 -3.29937183e-04 9.99875239e-01 1.48341068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.02925415399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.87, Y:1.16, Z:1.48 [[ 9.99552803e-01 -2.53907964e-02 -1.57955995e-02 1.02867348e+02] [ 2.53927694e-02 9.99677549e-01 -7.56720777e-05 1.16026110e+00] [ 1.57924276e-02 -3.25455778e-04 9.99875239e-01 1.48367994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.05925415399997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.90, Y:1.16, Z:1.48 [[ 9.99590067e-01 -2.38787055e-02 -1.57957096e-02 1.02898937e+02] [ 2.38808616e-02 9.99714810e-01 -5.21292352e-05 1.15979102e+00] [ 1.57924496e-02 -3.25107290e-04 9.99875239e-01 1.48448362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.08925415399997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:102.93, Y:1.16, Z:1.48 [[ 9.99590863e-01 -2.38454289e-02 -1.57956059e-02 1.02930016e+02] [ 2.38472322e-02 9.99715612e-01 -7.42031990e-05 1.15996203e+00] [ 1.57928832e-02 -3.02508643e-04 9.99875239e-01 1.48482458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.11925415399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.96, Y:1.16, Z:1.49 [[ 9.99581185e-01 -2.42477331e-02 -1.57956099e-02 1.02961490e+02] [ 2.42496002e-02 9.99705933e-01 -7.33427322e-05 1.15988481e+00] [ 1.57927433e-02 -3.09725210e-04 9.99875239e-01 1.48537583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.14925415399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.99, Y:1.16, Z:1.49 [[ 9.99569329e-01 -2.47316437e-02 -1.57956125e-02 1.02992519e+02] [ 2.47335801e-02 9.99694076e-01 -7.27798152e-05 1.15979888e+00] [ 1.57925802e-02 -3.17933576e-04 9.99875239e-01 1.48570998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.17925415399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.02, Y:1.16, Z:1.49 [[ 9.99554169e-01 -2.53369502e-02 -1.57956151e-02 1.03024019e+02] [ 2.53389712e-02 9.99678914e-01 -7.22065713e-05 1.15924743e+00] [ 1.57923729e-02 -3.28070257e-04 9.99875239e-01 1.48594644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.20925415399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.06, Y:1.16, Z:1.49 [[ 9.99515660e-01 -2.68131336e-02 -1.57956190e-02 1.03056610e+02] [ 2.68153524e-02 9.99640401e-01 -7.13496697e-05 1.15718894e+00] [ 1.57918520e-02 -3.52249977e-04 9.99875239e-01 1.48659480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.23925415399998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:103.09, Y:1.16, Z:1.49 [[ 9.99492108e-01 -2.76771313e-02 -1.57956240e-02 1.03087893e+02] [ 2.76794758e-02 9.99616847e-01 -7.02166055e-05 1.15653873e+00] [ 1.57915153e-02 -3.67033651e-04 9.99875239e-01 1.48686918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.26925415399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.12, Y:1.16, Z:1.49 [[ 9.99478831e-01 -2.81525160e-02 -1.57956277e-02 1.03118879e+02] [ 2.81549331e-02 9.99603569e-01 -6.93735830e-05 1.15582557e+00] [ 1.57913189e-02 -3.75387415e-04 9.99875239e-01 1.48781832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.29925415399998 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:103.15, Y:1.15, Z:1.49 [[ 9.99472987e-01 -2.83592505e-02 -1.57956301e-02 1.03150952e+02] [ 2.83617021e-02 9.99597724e-01 -6.88246320e-05 1.15460621e+00] [ 1.57912277e-02 -3.79202595e-04 9.99875239e-01 1.48864629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.32925415399998 meters Centerline goodness : 0.999737 Centerline is valid? [True, True] Translation: X:103.18, Y:1.15, Z:1.49 [[ 9.99494204e-01 -2.76013330e-02 -1.57956348e-02 1.03182859e+02] [ 2.76037073e-02 9.99618943e-01 -6.77308656e-05 1.15440853e+00] [ 1.57914852e-02 -3.68321473e-04 9.99875239e-01 1.48926466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.35925415399998 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:103.21, Y:1.15, Z:1.49 [[ 9.99510102e-01 -2.70194973e-02 -1.57956397e-02 1.03214015e+02] [ 2.70218172e-02 9.99634842e-01 -6.65776222e-05 1.15416113e+00] [ 1.57916707e-02 -3.60281883e-04 9.99875239e-01 1.49007428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.38925415399999 meters Centerline goodness : 0.999584 Centerline is valid? [True, True] Translation: X:103.25, Y:1.15, Z:1.49 [[ 9.99601174e-01 -2.34092157e-02 -1.57956432e-02 1.03247259e+02] [ 2.34110985e-02 9.99725921e-01 -6.57242557e-05 1.15063848e+00] [ 1.57928525e-02 -3.04095317e-04 9.99875239e-01 1.48541950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.41925415399999 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:103.27, Y:1.15, Z:1.49 [[ 9.99538978e-01 -2.59288190e-02 -1.57964600e-02 1.03273462e+02] [ 2.59341772e-02 9.99663644e-01 1.34412516e-04 1.15367104e+00] [ 1.57876616e-02 -5.44018742e-04 9.99875219e-01 1.49080018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.44925415399997 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:103.30, Y:1.15, Z:1.49 [[ 9.99549460e-01 -2.55221120e-02 -1.57955329e-02 1.03304264e+02] [ 2.55241714e-02 9.99674203e-01 -7.12392294e-05 1.15362747e+00] [ 1.57922049e-02 -3.31960755e-04 9.99875240e-01 1.49064350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.47925415399997 meters Centerline goodness : 0.999563 Centerline is valid? [True, True] Translation: X:103.34, Y:1.15, Z:1.49 [[ 9.99598146e-01 -2.35382326e-02 -1.57955341e-02 1.03335271e+02] [ 2.35400488e-02 9.99722892e-01 -7.09615065e-05 1.15268805e+00] [ 1.57928274e-02 -3.00894654e-04 9.99875240e-01 1.49110883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.50925415399998 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:103.37, Y:1.15, Z:1.49 [[ 9.99627928e-01 -2.22375055e-02 -1.57955366e-02 1.03366529e+02] [ 2.22391680e-02 9.99752677e-01 -7.04133403e-05 1.15258660e+00] [ 1.57931958e-02 -2.80892449e-04 9.99875240e-01 1.49150575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.53925415399998 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:103.40, Y:1.15, Z:1.49 [[ 9.99661630e-01 -2.06670570e-02 -1.57955390e-02 1.03396605e+02] [ 2.06685321e-02 9.99786381e-01 -6.98675142e-05 1.15282131e+00] [ 1.57936087e-02 -2.56626732e-04 9.99875240e-01 1.49190494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.56925415399998 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:103.43, Y:1.15, Z:1.49 [[ 9.99698191e-01 -1.88156412e-02 -1.57955390e-02 1.03425885e+02] [ 1.88168853e-02 9.99822944e-01 -6.98675142e-05 1.15311669e+00] [ 1.57940569e-02 -2.27376418e-04 9.99875240e-01 1.49175125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.59925415399998 meters Centerline goodness : 0.999518 Centerline is valid? [True, True] Translation: X:103.46, Y:1.15, Z:1.49 [[ 9.99764687e-01 -1.48685069e-02 -1.57955392e-02 1.03455642e+02] [ 1.48692594e-02 9.99889444e-01 -6.98072494e-05 1.15331385e+00] [ 1.57948309e-02 -1.65077147e-04 9.99875240e-01 1.49176914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.62925415399998 meters Centerline goodness : 0.999605 Centerline is valid? [True, True] Translation: X:103.48, Y:1.15, Z:1.49 [[ 9.99810205e-01 -1.14041866e-02 -1.57955369e-02 1.03484736e+02] [ 1.14044984e-02 9.99934964e-01 -7.03419167e-05 1.15315560e+00] [ 1.57953118e-02 -1.09811608e-04 9.99875240e-01 1.49335874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.65925415399998 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:103.51, Y:1.15, Z:1.49 [[ 9.99823563e-01 -1.01658338e-02 -1.57955177e-02 1.03511838e+02] [ 1.01659270e-02 9.99948323e-01 -7.43989281e-05 1.15323025e+00] [ 1.57954578e-02 -8.61902785e-05 9.99875240e-01 1.49203549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.68925415399998 meters Centerline goodness : 0.999673 Centerline is valid? [True, True] Translation: X:103.54, Y:1.15, Z:1.49 [[ 9.99833347e-01 -9.15320544e-03 -1.57955021e-02 1.03538481e+02] [ 9.15312182e-03 9.99958106e-01 -7.75891987e-05 1.15310288e+00] [ 1.57955505e-02 -6.70018865e-05 9.99875240e-01 1.49224372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.71925415399998 meters Centerline goodness : 0.999628 Centerline is valid? [True, True] Translation: X:103.57, Y:1.15, Z:1.49 [[ 9.99838274e-01 -8.59812520e-03 -1.57954929e-02 1.03565982e+02] [ 8.59794361e-03 9.99963034e-01 -7.94060501e-05 1.15243498e+00] [ 1.57955918e-02 -5.64155496e-05 9.99875240e-01 1.49470509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.74925415399998 meters Centerline goodness : 0.999628 Centerline is valid? [True, True] Translation: X:103.59, Y:1.15, Z:1.50 [[ 9.99835730e-01 -8.88911628e-03 -1.57954685e-02 1.03594352e+02] [ 8.88889841e-03 9.99960489e-01 -8.40013966e-05 1.15265515e+00] [ 1.57955911e-02 -5.64167172e-05 9.99875240e-01 1.49515499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.77925415399999 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:103.62, Y:1.15, Z:1.50 [[ 9.99830306e-01 -9.47964494e-03 -1.57954427e-02 1.03622395e+02] [ 9.47942814e-03 9.99955065e-01 -8.85979058e-05 1.15206924e+00] [ 1.57955728e-02 -6.11488929e-05 9.99875240e-01 1.49545333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.80925415399997 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:103.65, Y:1.15, Z:1.50 [[ 9.99811859e-01 -1.12584156e-02 -1.57954155e-02 1.03649749e+02] [ 1.12583479e-02 9.99936618e-01 -9.32112864e-05 1.15067660e+00] [ 1.57954638e-02 -8.46365328e-05 9.99875240e-01 1.49572794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.83925415399997 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:103.68, Y:1.15, Z:1.50 [[ 9.99791406e-01 -1.29479754e-02 -1.57954035e-02 1.03677425e+02] [ 1.29480869e-02 9.99916165e-01 -9.52103462e-05 1.15008705e+00] [ 1.57953120e-02 -1.09329771e-04 9.99875240e-01 1.49639133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.86925415399998 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:103.70, Y:1.15, Z:1.50 [[ 9.99765097e-01 -1.48410804e-02 -1.57953747e-02 1.03704572e+02] [ 1.48413563e-02 9.99889856e-01 -9.97579760e-05 1.14909647e+00] [ 1.57951155e-02 -1.34690242e-04 9.99875240e-01 1.49638079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.89925415399998 meters Centerline goodness : 0.999476 Centerline is valid? [True, True] Translation: X:103.73, Y:1.15, Z:1.50 [[ 9.99728860e-01 -1.71088487e-02 -1.57953621e-02 1.03733607e+02] [ 1.71093765e-02 9.99853619e-01 -1.01724439e-04 1.14794257e+00] [ 1.57947903e-02 -1.68551939e-04 9.99875240e-01 1.49675564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.92925415399998 meters Centerline goodness : 0.999391 Centerline is valid? [True, True] Translation: X:103.76, Y:1.15, Z:1.50 [[ 9.99640290e-01 -2.16748074e-02 -1.57953357e-02 1.03762375e+02] [ 2.16758427e-02 9.99765046e-01 -1.05666307e-04 1.14513775e+00] [ 1.57939148e-02 -2.36748915e-04 9.99875240e-01 1.49516093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.95925415399998 meters Centerline goodness : 0.999392 Centerline is valid? [True, True] Translation: X:103.79, Y:1.14, Z:1.50 [[ 9.99514174e-01 -2.68686626e-02 -1.57953083e-02 1.03791541e+02] [ 2.68702839e-02 9.99638923e-01 -1.09608168e-04 1.14260465e+00] [ 1.57925500e-02 -3.14869502e-04 9.99875240e-01 1.49608120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.98925415399998 meters Centerline goodness : 0.999371 Centerline is valid? [True, True] Translation: X:103.82, Y:1.14, Z:1.50 [[ 9.99455219e-01 -2.89788362e-02 -1.57953064e-02 1.03823370e+02] [ 2.89807165e-02 9.99579965e-01 -1.09887698e-04 1.14150902e+00] [ 1.57918562e-02 -3.47931463e-04 9.99875240e-01 1.49669103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.01925415399998 meters Centerline goodness : 0.999610 Centerline is valid? [True, True] Translation: X:103.86, Y:1.14, Z:1.50 [[ 9.99414485e-01 -3.03512134e-02 -1.57953141e-02 1.03855186e+02] [ 3.03532826e-02 9.99539227e-01 -1.08771819e-04 1.14042610e+00] [ 1.57913374e-02 -3.70731501e-04 9.99875240e-01 1.49781142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.04925415399998 meters Centerline goodness : 0.999524 Centerline is valid? [True, True] Translation: X:103.89, Y:1.14, Z:1.50 [[ 9.99385896e-01 -3.12784005e-02 -1.57953218e-02 1.03887708e+02] [ 3.12806034e-02 9.99510636e-01 -1.07637099e-04 1.13938740e+00] [ 1.57909589e-02 -3.86516198e-04 9.99875240e-01 1.49891365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.07925415399998 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:103.92, Y:1.14, Z:1.50 [[ 9.99361460e-01 -3.20496323e-02 -1.57953294e-02 1.03920026e+02] [ 3.20519493e-02 9.99486199e-01 -1.06506555e-04 1.13803945e+00] [ 1.57906273e-02 -3.99832552e-04 9.99875240e-01 1.50048377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.10925415399998 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:103.95, Y:1.14, Z:1.50 [[ 9.99380291e-01 -3.14569703e-02 -1.57953369e-02 1.03952627e+02] [ 3.14592311e-02 9.99505030e-01 -1.05382627e-04 1.13729867e+00] [ 1.57908337e-02 -3.91591834e-04 9.99875240e-01 1.50193984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.13925415399999 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:103.98, Y:1.14, Z:1.50 [[ 9.99449679e-01 -2.91692629e-02 -1.57953444e-02 1.03984065e+02] [ 2.91712560e-02 9.99574423e-01 -1.04246826e-04 1.13566543e+00] [ 1.57916631e-02 -3.56580580e-04 9.99875240e-01 1.50074526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.16925415399999 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:104.02, Y:1.14, Z:1.50 [[ 9.99457850e-01 -2.88880670e-02 -1.57951204e-02 1.04015780e+02] [ 2.88894816e-02 9.99582602e-01 -1.38647647e-04 1.13535031e+00] [ 1.57925328e-02 -3.17740362e-04 9.99875240e-01 1.50270420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.19925415399997 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:104.05, Y:1.13, Z:1.50 [[ 9.99524939e-01 -2.64651132e-02 -1.57953563e-02 1.04047067e+02] [ 2.64668016e-02 9.99649688e-01 -1.02177623e-04 1.13378168e+00] [ 1.57925272e-02 -3.15923479e-04 9.99875240e-01 1.50302587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.22925415399997 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:104.08, Y:1.13, Z:1.50 [[ 9.99548921e-01 -2.55433267e-02 -1.57953618e-02 1.04078593e+02] [ 2.55449135e-02 9.99673670e-01 -1.01323817e-04 1.13318079e+00] [ 1.57927955e-02 -3.02213039e-04 9.99875240e-01 1.50332413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.25925415399998 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:104.11, Y:1.13, Z:1.50 [[ 9.99568500e-01 -2.47653011e-02 -1.57953654e-02 1.04109721e+02] [ 2.47667996e-02 9.99693251e-01 -1.00764770e-04 1.13263365e+00] [ 1.57930156e-02 -2.90479360e-04 9.99875240e-01 1.50359011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.28925415399998 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:104.14, Y:1.13, Z:1.50 [[ 9.99592459e-01 -2.37785881e-02 -1.57953689e-02 1.04139732e+02] [ 2.37799722e-02 9.99717211e-01 -1.00208212e-04 1.13149687e+00] [ 1.57932850e-02 -2.75446061e-04 9.99875240e-01 1.50343920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.31925415399998 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:104.17, Y:1.13, Z:1.50 [[ 9.99599228e-01 -2.34923219e-02 -1.57953707e-02 1.04169650e+02] [ 2.34936747e-02 9.99723981e-01 -9.99318345e-05 1.13090213e+00] [ 1.57933585e-02 -2.71199515e-04 9.99875240e-01 1.50362465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.34925415399998 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:104.20, Y:1.13, Z:1.50 [[ 9.99593020e-01 -2.37550005e-02 -1.57953765e-02 1.04200273e+02] [ 2.37564008e-02 9.99717772e-01 -9.89999773e-05 1.12890673e+00] [ 1.57932703e-02 -2.76281609e-04 9.99875240e-01 1.50280911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.37925415399998 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:104.23, Y:1.13, Z:1.50 [[ 9.99599414e-01 -2.34844126e-02 -1.57953765e-02 1.04230482e+02] [ 2.34857791e-02 9.99724166e-01 -9.89999773e-05 1.12726818e+00] [ 1.57933446e-02 -2.72006405e-04 9.99875240e-01 1.50113758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.40925415399998 meters Centerline goodness : 0.999356 Centerline is valid? [True, True] Translation: X:104.26, Y:1.13, Z:1.50 [[ 9.99578890e-01 -2.43423087e-02 -1.57953765e-02 1.04261115e+02] [ 2.43437823e-02 9.99703641e-01 -9.89999773e-05 1.12637522e+00] [ 1.57931053e-02 -2.85560919e-04 9.99875240e-01 1.50213756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.43925415399998 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:104.29, Y:1.12, Z:1.50 [[ 9.99560877e-01 -2.50710734e-02 -1.57953783e-02 1.04291934e+02] [ 2.50726424e-02 9.99685627e-01 -9.87170544e-05 1.12449016e+00] [ 1.57928876e-02 -2.97358165e-04 9.99875240e-01 1.50293858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.46925415399998 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:104.32, Y:1.12, Z:1.50 [[ 9.99552828e-01 -2.53899755e-02 -1.57953783e-02 1.04322668e+02] [ 2.53915843e-02 9.99677577e-01 -9.87170544e-05 1.12389426e+00] [ 1.57927919e-02 -3.02396769e-04 9.99875240e-01 1.50369128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.49925415399998 meters Centerline goodness : 0.999378 Centerline is valid? [True, True] Translation: X:104.35, Y:1.12, Z:1.51 [[ 9.99551249e-01 -2.54520302e-02 -1.57953783e-02 1.04353742e+02] [ 2.54536468e-02 9.99675999e-01 -9.87170544e-05 1.12240597e+00] [ 1.57927731e-02 -3.03377224e-04 9.99875240e-01 1.50521456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.52925415399999 meters Centerline goodness : 0.999271 Centerline is valid? [True, True] Translation: X:104.38, Y:1.12, Z:1.51 [[ 9.99559636e-01 -2.51205032e-02 -1.57953818e-02 1.04384335e+02] [ 2.51220874e-02 9.99684386e-01 -9.81479483e-05 1.12184318e+00] [ 1.57928621e-02 -2.98708235e-04 9.99875240e-01 1.50587195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.55925415399997 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:104.41, Y:1.12, Z:1.51 [[ 9.99570490e-01 -2.46848246e-02 -1.57953875e-02 1.04414787e+02] [ 2.46863691e-02 9.99695240e-01 -9.72168811e-05 1.12141171e+00] [ 1.57929735e-02 -2.92755642e-04 9.99875240e-01 1.50765843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.58925415399997 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:104.45, Y:1.12, Z:1.51 [[ 9.99590170e-01 -2.38746328e-02 -1.57953875e-02 1.04445428e+02] [ 2.38760763e-02 9.99714921e-01 -9.72168811e-05 1.12035087e+00] [ 1.57932056e-02 -2.79954839e-04 9.99875240e-01 1.50916153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.61925415399998 meters Centerline goodness : 0.999037 Centerline is valid? [True, True] Translation: X:104.48, Y:1.12, Z:1.51 [[ 9.99590332e-01 -2.38678258e-02 -1.57953893e-02 1.04476320e+02] [ 2.38692728e-02 9.99715084e-01 -9.69321301e-05 1.11968818e+00] [ 1.57932025e-02 -2.80132036e-04 9.99875240e-01 1.50963610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.64925415399998 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:104.51, Y:1.12, Z:1.51 [[ 9.99570223e-01 -2.46956424e-02 -1.57953893e-02 1.04507066e+02] [ 2.46971927e-02 9.99694973e-01 -9.69321301e-05 1.11851410e+00] [ 1.57929651e-02 -2.93211303e-04 9.99875240e-01 1.51089147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.67925415399998 meters Centerline goodness : 0.999209 Centerline is valid? [True, True] Translation: X:104.54, Y:1.12, Z:1.51 [[ 9.99550966e-01 -2.54631702e-02 -1.57953893e-02 1.04537421e+02] [ 2.54648164e-02 9.99675714e-01 -9.69321301e-05 1.11770518e+00] [ 1.57927353e-02 -3.05338084e-04 9.99875240e-01 1.51080257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.70925415399998 meters Centerline goodness : 0.999168 Centerline is valid? [True, True] Translation: X:104.57, Y:1.12, Z:1.51 [[ 9.99525449e-01 -2.64458224e-02 -1.57953910e-02 1.04567678e+02] [ 2.64475958e-02 9.99650196e-01 -9.66451592e-05 1.11655990e+00] [ 1.57924216e-02 -3.21150821e-04 9.99875240e-01 1.51052181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.73925415399998 meters Centerline goodness : 0.999084 Centerline is valid? [True, True] Translation: X:104.60, Y:1.11, Z:1.51 [[ 9.99467428e-01 -2.85546147e-02 -1.57953928e-02 1.04598592e+02] [ 2.85566557e-02 9.99592171e-01 -9.63615798e-05 1.11367651e+00] [ 1.57917025e-02 -3.54753332e-04 9.99875240e-01 1.51093474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.76925415399998 meters Centerline goodness : 0.999126 Centerline is valid? [True, True] Translation: X:104.63, Y:1.11, Z:1.51 [[ 9.99433015e-01 -2.97347155e-02 -1.57953963e-02 1.04629974e+02] [ 2.97369130e-02 9.99557756e-01 -9.57802862e-05 1.11270722e+00] [ 1.57912589e-02 -3.73980345e-04 9.99875240e-01 1.51107522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.79925415399998 meters Centerline goodness : 0.999063 Centerline is valid? [True, True] Translation: X:104.66, Y:1.11, Z:1.51 [[ 9.99399933e-01 -3.08265979e-02 -1.57954015e-02 1.04661101e+02] [ 3.08289454e-02 9.99524671e-01 -9.49113942e-05 1.11191817e+00] [ 1.57908193e-02 -3.92101129e-04 9.99875240e-01 1.51171475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.82925415399998 meters Centerline goodness : 0.998980 Centerline is valid? [True, True] Translation: X:104.69, Y:1.11, Z:1.51 [[ 9.99347832e-01 -3.24717698e-02 -1.57954049e-02 1.04692335e+02] [ 3.24743317e-02 9.99472565e-01 -9.43383443e-05 1.11030055e+00] [ 1.57901372e-02 -4.18668399e-04 9.99875240e-01 1.51164668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.85925415399998 meters Centerline goodness : 0.999149 Centerline is valid? [True, True] Translation: X:104.72, Y:1.11, Z:1.51 [[ 9.99330047e-01 -3.30145884e-02 -1.57954083e-02 1.04723934e+02] [ 3.30172271e-02 9.99454778e-01 -9.37643122e-05 1.10964844e+00] [ 1.57898919e-02 -4.27819091e-04 9.99875240e-01 1.51190617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.88925415399999 meters Centerline goodness : 0.999149 Centerline is valid? [True, True] Translation: X:104.76, Y:1.11, Z:1.51 [[ 9.99332722e-01 -3.29335047e-02 -1.57954134e-02 1.04755716e+02] [ 3.29361468e-02 9.99457454e-01 -9.29077841e-05 1.10836767e+00] [ 1.57899034e-02 -4.27394266e-04 9.99875240e-01 1.51224054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.91925415399997 meters Centerline goodness : 0.999085 Centerline is valid? [True, True] Translation: X:104.79, Y:1.11, Z:1.51 [[ 9.99344136e-01 -3.25853064e-02 -1.57954201e-02 1.04787199e+02] [ 3.25879233e-02 9.99468868e-01 -9.17535687e-05 1.10797823e+00] [ 1.57900205e-02 -4.23046547e-04 9.99875240e-01 1.51272157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.94925415399997 meters Centerline goodness : 0.999128 Centerline is valid? [True, True] Translation: X:104.82, Y:1.11, Z:1.51 [[ 9.99360884e-01 -3.20675662e-02 -1.57954310e-02 1.04818523e+02] [ 3.20701489e-02 9.99485616e-01 -8.98271768e-05 1.10758287e+00] [ 1.57901867e-02 -4.16792058e-04 9.99875240e-01 1.51324164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.97925415399997 meters Centerline goodness : 0.999001 Centerline is valid? [True, True] Translation: X:104.85, Y:1.11, Z:1.51 [[ 9.99410927e-01 -3.04680842e-02 -1.57954343e-02 1.04849537e+02] [ 3.04704762e-02 9.99535663e-01 -8.92594482e-05 1.10722160e+00] [ 1.57908194e-02 -3.92087536e-04 9.99875240e-01 1.51374689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.00925415399998 meters Centerline goodness : 0.998958 Centerline is valid? [True, True] Translation: X:104.88, Y:1.11, Z:1.51 [[ 9.99464493e-01 -2.86571193e-02 -1.57954374e-02 1.04880486e+02] [ 2.86592942e-02 9.99589234e-01 -8.86965374e-05 1.10688030e+00] [ 1.57914910e-02 -3.64037048e-04 9.99875240e-01 1.51360950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.03925415399998 meters Centerline goodness : 0.999001 Centerline is valid? [True, True] Translation: X:104.91, Y:1.11, Z:1.52 [[ 9.99560962e-01 -2.50676697e-02 -1.57954406e-02 1.04912262e+02] [ 2.50694057e-02 9.99685709e-01 -8.81184324e-05 1.10736627e+00] [ 1.57926852e-02 -3.07902564e-04 9.99875240e-01 1.51543202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.06925415399998 meters Centerline goodness : 0.999107 Centerline is valid? [True, True] Translation: X:104.94, Y:1.11, Z:1.52 [[ 9.99624309e-01 -2.23996721e-02 -1.57954438e-02 1.04942370e+02] [ 2.24010843e-02 9.99749060e-01 -8.75435418e-05 1.10783649e+00] [ 1.57934411e-02 -2.66324416e-04 9.99875240e-01 1.51606652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.09925415399998 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:104.97, Y:1.11, Z:1.52 [[ 9.99690561e-01 -1.92168260e-02 -1.57954490e-02 1.04971679e+02] [ 1.92178560e-02 9.99815316e-01 -8.65910175e-05 1.10839065e+00] [ 1.57941959e-02 -2.16990442e-04 9.99875240e-01 1.51686150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.12925415399998 meters Centerline goodness : 0.998892 Centerline is valid? [True, True] Translation: X:105.00, Y:1.11, Z:1.52 [[ 9.99787788e-01 -1.32243127e-02 -1.57954459e-02 1.04999908e+02] [ 1.32245859e-02 9.99912548e-01 -8.71584694e-05 1.10942798e+00] [ 1.57952172e-02 -1.21748258e-04 9.99875240e-01 1.51802795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.15925415399998 meters Centerline goodness : 0.998957 Centerline is valid? [True, True] Translation: X:105.03, Y:1.11, Z:1.52 [[ 9.99822223e-01 -1.02969218e-02 -1.57954226e-02 1.05027036e+02] [ 1.02967659e-02 9.99946983e-01 -9.11994048e-05 1.10979845e+00] [ 1.57955242e-02 -7.14585774e-05 9.99875240e-01 1.51734000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.18925415399998 meters Centerline goodness : 0.999211 Centerline is valid? [True, True] Translation: X:105.05, Y:1.11, Z:1.52 [[ 9.99853202e-01 -6.63929586e-03 -1.57954108e-02 1.05054953e+02] [ 6.63865196e-03 9.99977960e-01 -9.31986700e-05 1.11013320e+00] [ 1.57956814e-02 -1.16752463e-05 9.99875240e-01 1.51949095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.21925415399998 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:105.08, Y:1.11, Z:1.52 [[ 9.99861071e-01 -5.32392869e-03 -1.57953827e-02 1.05082248e+02] [ 5.32304884e-03 9.99985828e-01 -9.77446343e-05 1.11012441e+00] [ 1.57956792e-02 1.36514613e-05 9.99875240e-01 1.51942433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.24925415399998 meters Centerline goodness : 0.999231 Centerline is valid? [True, True] Translation: X:105.11, Y:1.11, Z:1.52 [[ 9.99867512e-01 -3.93258745e-03 -1.57953702e-02 1.05110501e+02] [ 3.93150293e-03 9.99992267e-01 -9.97121215e-05 1.10964271e+00] [ 1.57956402e-02 3.75993665e-05 9.99875240e-01 1.52033870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.27925415399999 meters Centerline goodness : 0.999188 Centerline is valid? [True, True] Translation: X:105.14, Y:1.11, Z:1.52 [[ 9.99866996e-01 -4.06164013e-03 -1.57953407e-02 1.05138556e+02] [ 4.06050089e-03 9.99991751e-01 -1.04195342e-04 1.10917059e+00] [ 1.57956336e-02 4.00444887e-05 9.99875240e-01 1.52069111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.30925415399997 meters Centerline goodness : 0.999295 Centerline is valid? [True, True] Translation: X:105.17, Y:1.11, Z:1.52 [[ 9.99865457e-01 -4.42438828e-03 -1.57953098e-02 1.05166776e+02] [ 4.42322343e-03 9.99990212e-01 -1.08681290e-04 1.10862381e+00] [ 1.57956360e-02 3.88004832e-05 9.99875240e-01 1.52056484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.33925415399997 meters Centerline goodness : 0.998997 Centerline is valid? [True, True] Translation: X:105.19, Y:1.11, Z:1.52 [[ 9.99862160e-01 -5.11575157e-03 -1.57952775e-02 1.05193302e+02] [ 5.11460178e-03 9.99986914e-01 -1.13188926e-04 1.10854619e+00] [ 1.57956498e-02 3.23867694e-05 9.99875240e-01 1.52171205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.36925415399998 meters Centerline goodness : 0.998913 Centerline is valid? [True, True] Translation: X:105.22, Y:1.11, Z:1.52 [[ 9.99857317e-01 -5.98934102e-03 -1.57947136e-02 1.05222203e+02] [ 5.98711018e-03 9.99982059e-01 -1.88521311e-04 1.10740084e+00] [ 1.57955593e-02 9.39297216e-05 9.99875238e-01 1.51965199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.39925415399998 meters Centerline goodness : 0.998996 Centerline is valid? [True, True] Translation: X:105.25, Y:1.11, Z:1.52 [[ 9.99848630e-01 -7.29567453e-03 -1.57952360e-02 1.05250696e+02] [ 7.29469808e-03 9.99973386e-01 -1.19433756e-04 1.10710786e+00] [ 1.57956870e-02 4.19419909e-06 9.99875240e-01 1.51936064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.42925415399998 meters Centerline goodness : 0.999084 Centerline is valid? [True, True] Translation: X:105.28, Y:1.11, Z:1.52 [[ 9.99844976e-01 -7.78045513e-03 -1.57952055e-02 1.05278538e+02] [ 7.77947741e-03 9.99969732e-01 -1.23342772e-04 1.10702867e+00] [ 1.57956871e-02 4.45206300e-07 9.99875240e-01 1.51968850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.45925415399998 meters Centerline goodness : 0.998891 Centerline is valid? [True, True] Translation: X:105.31, Y:1.11, Z:1.52 [[ 9.99850073e-01 -7.09547659e-03 -1.57951092e-02 1.05307338e+02] [ 7.09422234e-03 9.99974827e-01 -1.35437045e-04 1.10621707e+00] [ 1.57956726e-02 2.33627228e-05 9.99875240e-01 1.51859708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.48925415399998 meters Centerline goodness : 0.998786 Centerline is valid? [True, True] Translation: X:105.34, Y:1.11, Z:1.52 [[ 9.99834861e-01 -8.98705327e-03 -1.57950641e-02 1.05335084e+02] [ 8.98594839e-03 9.99959616e-01 -1.40921825e-04 1.10553117e+00] [ 1.57956927e-02 -1.03507693e-06 9.99875240e-01 1.51895103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.51925415399998 meters Centerline goodness : 0.998913 Centerline is valid? [True, True] Translation: X:105.36, Y:1.11, Z:1.52 [[ 9.99806958e-01 -1.16861739e-02 -1.57949582e-02 1.05362576e+02] [ 1.16852084e-02 9.99931714e-01 -1.53419167e-04 1.10615344e+00] [ 1.57956725e-02 -3.11778282e-05 9.99875240e-01 1.52088081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.54925415399998 meters Centerline goodness : 0.998763 Centerline is valid? [True, True] Translation: X:105.39, Y:1.11, Z:1.52 [[ 9.99799953e-01 -1.22706217e-02 -1.57951225e-02 1.05390982e+02] [ 1.22700350e-02 9.99924711e-01 -1.34054631e-04 1.10579143e+00] [ 1.57955783e-02 -5.97788923e-05 9.99875240e-01 1.52311084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.57925415399998 meters Centerline goodness : 0.998851 Centerline is valid? [True, True] Translation: X:105.42, Y:1.11, Z:1.52 [[ 9.99800835e-01 -1.21985873e-02 -1.57950892e-02 1.05418937e+02] [ 1.21979312e-02 9.99925593e-01 -1.37878436e-04 1.10610581e+00] [ 1.57955958e-02 -5.48164358e-05 9.99875240e-01 1.52398770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.60925415399998 meters Centerline goodness : 0.998636 Centerline is valid? [True, True] Translation: X:105.45, Y:1.11, Z:1.52 [[ 9.99813547e-01 -1.11080284e-02 -1.57950497e-02 1.05446367e+02] [ 1.11071671e-02 9.99938303e-01 -1.42257432e-04 1.10626376e+00] [ 1.57956554e-02 -3.32073483e-05 9.99875240e-01 1.52412817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.63925415399999 meters Centerline goodness : 0.998723 Centerline is valid? [True, True] Translation: X:105.47, Y:1.11, Z:1.53 [[ 9.99848819e-01 -7.27020071e-03 -1.57950374e-02 1.05474298e+02] [ 7.26883911e-03 9.99973571e-01 -1.43612268e-04 1.10697783e+00] [ 1.57956641e-02 2.87789710e-05 9.99875240e-01 1.52611588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.66925415399997 meters Centerline goodness : 0.998723 Centerline is valid? [True, True] Translation: X:105.50, Y:1.11, Z:1.53 [[ 9.99846678e-01 -7.55896847e-03 -1.57949945e-02 1.05502685e+02] [ 7.55757074e-03 9.99971430e-01 -1.48180930e-04 1.10731551e+00] [ 1.57956634e-02 2.87864225e-05 9.99875240e-01 1.52656579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.69925415399997 meters Centerline goodness : 0.998827 Centerline is valid? [True, True] Translation: X:105.53, Y:1.11, Z:1.53 [[ 9.99861258e-01 -5.29002778e-03 -1.57949504e-02 1.05530919e+02] [ 5.28827489e-03 9.99986005e-01 -1.52742127e-04 1.10797276e+00] [ 1.57955374e-02 6.91928950e-05 9.99875240e-01 1.52751626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.72925415399997 meters Centerline goodness : 0.998809 Centerline is valid? [True, True] Translation: X:105.56, Y:1.11, Z:1.53 [[ 9.99875245e-01 1.21683173e-04 -1.57949042e-02 1.05557539e+02] [-1.24184569e-04 9.99999980e-01 -1.57386553e-04 1.10883412e+00] [ 1.57948847e-02 1.59328402e-04 9.99875240e-01 1.52876700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.75925415399998 meters Centerline goodness : 0.998893 Centerline is valid? [True, True] Translation: X:105.59, Y:1.11, Z:1.53 [[ 9.99872676e-01 2.27003113e-03 -1.57948839e-02 1.05585769e+02] [-2.27283228e-03 9.99997404e-01 -1.59396859e-04 1.10911121e+00] [ 1.57944810e-02 1.95275686e-04 9.99875240e-01 1.52956658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.78925415399998 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:105.61, Y:1.11, Z:1.53 [[ 9.99868242e-01 3.74464263e-03 -1.57948360e-02 1.05613439e+02] [-3.74770054e-03 9.99992964e-01 -1.64007713e-04 1.10926121e+00] [ 1.57941107e-02 2.23180420e-04 9.99875240e-01 1.53016849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.81925415399998 meters Centerline goodness : 0.998998 Centerline is valid? [True, True] Translation: X:105.64, Y:1.11, Z:1.53 [[ 9.99862955e-01 4.95941569e-03 -1.57947860e-02 1.05640744e+02] [-4.96269904e-03 9.99987672e-01 -1.68687362e-04 1.10903883e+00] [ 1.57937547e-02 2.47049013e-04 9.99875240e-01 1.52988929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.84925415399998 meters Centerline goodness : 0.999189 Centerline is valid? [True, True] Translation: X:105.67, Y:1.11, Z:1.53 [[ 9.99861666e-01 5.21295044e-03 -1.57947641e-02 1.05669127e+02] [-5.21629741e-03 9.99986380e-01 -1.70713460e-04 1.10835285e+00] [ 1.57936591e-02 2.53080032e-04 9.99875240e-01 1.53061203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.87925415399998 meters Centerline goodness : 0.999084 Centerline is valid? [True, True] Translation: X:105.70, Y:1.11, Z:1.53 [[ 9.99871484e-01 2.74621510e-03 -1.57947452e-02 1.05697342e+02] [-2.74928183e-03 9.99996206e-01 -1.72450734e-04 1.10663227e+00] [ 1.57942116e-02 2.15852777e-04 9.99875240e-01 1.52939162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.90925415399998 meters Centerline goodness : 0.999000 Centerline is valid? [True, True] Translation: X:105.73, Y:1.11, Z:1.53 [[ 9.99875157e-01 4.43149794e-04 -1.57947293e-02 1.05725827e+02] [-4.45951918e-04 9.99999885e-01 -1.73887212e-04 1.10562952e+00] [ 1.57946505e-02 1.80909193e-04 9.99875240e-01 1.52929502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.93925415399998 meters Centerline goodness : 0.998894 Centerline is valid? [True, True] Translation: X:105.75, Y:1.10, Z:1.53 [[ 9.99872908e-01 -2.16679046e-03 -1.57947165e-02 1.05754795e+02] [ 2.16429561e-03 9.99997643e-01 -1.75046584e-04 1.10475281e+00] [ 1.57950585e-02 1.40839902e-04 9.99875240e-01 1.52887711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.96925415399998 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:105.78, Y:1.10, Z:1.53 [[ 9.99862714e-01 -5.00811787e-03 -1.57947035e-02 1.05781645e+02] [ 5.00595911e-03 9.99987455e-01 -1.76209599e-04 1.10369701e+00] [ 1.57953878e-02 9.71177677e-05 9.99875240e-01 1.52822984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.99925415399998 meters Centerline goodness : 0.999108 Centerline is valid? [True, True] Translation: X:105.81, Y:1.10, Z:1.53 [[ 9.99815879e-01 -1.08966125e-02 -1.57946807e-02 1.05810836e+02] [ 1.08951565e-02 9.99940630e-01 -1.78230901e-04 1.10173809e+00] [ 1.57956851e-02 6.11256654e-06 9.99875240e-01 1.52818630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.02925415399999 meters Centerline goodness : 0.999237 Centerline is valid? [True, True] Translation: X:105.84, Y:1.10, Z:1.53 [[ 9.99782007e-01 -1.36552680e-02 -1.57946675e-02 1.05838963e+02] [ 1.36541379e-02 9.99906762e-01 -1.79393913e-04 1.10111510e+00] [ 1.57956445e-02 -3.63077612e-05 9.99875240e-01 1.52847467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.05925415399997 meters Centerline goodness : 0.999153 Centerline is valid? [True, True] Translation: X:105.87, Y:1.10, Z:1.53 [[ 9.99702178e-01 -1.86033764e-02 -1.57946133e-02 1.05867901e+02] [ 1.86027902e-02 9.99826936e-01 -1.84048381e-04 1.09990592e+00] [ 1.57953037e-02 -1.09830310e-04 9.99875240e-01 1.52916956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.08925415399997 meters Centerline goodness : 0.999112 Centerline is valid? [True, True] Translation: X:105.90, Y:1.10, Z:1.53 [[ 9.99650627e-01 -2.11932663e-02 -1.57945997e-02 1.05896748e+02] [ 2.11929851e-02 9.99775386e-01 -1.85204503e-04 1.09940073e+00] [ 1.57949771e-02 -1.49594918e-04 9.99875240e-01 1.53007974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.11925415399998 meters Centerline goodness : 0.999367 Centerline is valid? [True, True] Translation: X:105.93, Y:1.10, Z:1.53 [[ 9.99555233e-01 -2.52956239e-02 -1.57945512e-02 1.05925424e+02] [ 2.52957907e-02 9.99679992e-01 -1.89250864e-04 1.09789548e+00] [ 1.57942841e-02 -2.10368971e-04 9.99875240e-01 1.53156674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.14925415399998 meters Centerline goodness : 0.999430 Centerline is valid? [True, True] Translation: X:105.96, Y:1.10, Z:1.53 [[ 9.99506130e-01 -2.71666834e-02 -1.57945409e-02 1.05955931e+02] [ 2.71670702e-02 9.99630889e-01 -1.90111058e-04 1.09741875e+00] [ 1.57938756e-02 -2.39074233e-04 9.99875240e-01 1.53345216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.17925415399998 meters Centerline goodness : 0.998883 Centerline is valid? [True, True] Translation: X:105.99, Y:1.10, Z:1.53 [[ 9.99447454e-01 -2.92458485e-02 -1.57945409e-02 1.05986155e+02] [ 2.92464948e-02 9.99572212e-01 -1.90111058e-04 1.09707984e+00] [ 1.57933441e-02 -2.71928944e-04 9.99875240e-01 1.53397645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.20925415399998 meters Centerline goodness : 0.999029 Centerline is valid? [True, True] Translation: X:106.02, Y:1.10, Z:1.54 [[ 9.99355480e-01 -3.22359418e-02 -1.57945516e-02 1.06017965e+02] [ 3.22369755e-02 9.99480236e-01 -1.89217727e-04 1.09595645e+00] [ 1.57924417e-02 -3.20072800e-04 9.99875240e-01 1.53509261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.23925415399998 meters Centerline goodness : 0.998988 Centerline is valid? [True, True] Translation: X:106.05, Y:1.10, Z:1.54 [[ 9.99297039e-01 -3.39994003e-02 -1.57945585e-02 1.06049392e+02] [ 3.40006632e-02 9.99421792e-01 -1.88637280e-04 1.09598407e+00] [ 1.57918395e-02 -3.48520789e-04 9.99875240e-01 1.53581508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.26925415399998 meters Centerline goodness : 0.999073 Centerline is valid? [True, True] Translation: X:106.08, Y:1.10, Z:1.54 [[ 9.99142681e-01 -3.82679236e-02 -1.57945688e-02 1.06080406e+02] [ 3.82697332e-02 9.99267428e-01 -1.87768806e-04 1.09517530e+00] [ 1.57901837e-02 -4.16846106e-04 9.99875240e-01 1.53654606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.29925415399998 meters Centerline goodness : 0.998924 Centerline is valid? [True, True] Translation: X:106.11, Y:1.09, Z:1.54 [[ 9.99036607e-01 -4.09437420e-02 -1.57945786e-02 1.06112947e+02] [ 4.09458988e-02 9.99161348e-01 -1.86944203e-04 1.09479725e+00] [ 1.57889866e-02 -4.59959113e-04 9.99875240e-01 1.53678604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.32925415399998 meters Centerline goodness : 0.998884 Centerline is valid? [True, True] Translation: X:106.15, Y:1.09, Z:1.54 [[ 9.98770745e-01 -4.69843509e-02 -1.57945914e-02 1.06145205e+02] [ 4.69872791e-02 9.98895471e-01 -1.85857806e-04 1.09412954e+00] [ 1.57858782e-02 -5.56515533e-04 9.99875240e-01 1.53688959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.35925415399998 meters Centerline goodness : 0.999198 Centerline is valid? [True, True] Translation: X:106.18, Y:1.09, Z:1.54 [[ 9.98465687e-01 -5.30735487e-02 -1.57946043e-02 1.06177708e+02] [ 5.30772548e-02 9.98590392e-01 -1.84755028e-04 1.09304262e+00] [ 1.57821457e-02 -6.53862679e-04 9.99875240e-01 1.53675867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.38925415399999 meters Centerline goodness : 0.999198 Centerline is valid? [True, True] Translation: X:106.21, Y:1.09, Z:1.54 [[ 9.98469520e-01 -5.30013845e-02 -1.57946175e-02 1.06210394e+02] [ 5.30050995e-02 9.98594225e-01 -1.83616151e-04 1.09336034e+00] [ 1.57821457e-02 -6.53860143e-04 9.99875240e-01 1.53727472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.41925415399997 meters Centerline goodness : 0.999158 Centerline is valid? [True, True] Translation: X:106.24, Y:1.09, Z:1.54 [[ 9.98192426e-01 -5.79863027e-02 -1.57946307e-02 1.06242653e+02] [ 5.79906584e-02 9.98317109e-01 -1.82474736e-04 1.09279133e+00] [ 1.57786311e-02 -7.33796133e-04 9.99875240e-01 1.53668332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.44925415399997 meters Centerline goodness : 0.999222 Centerline is valid? [True, True] Translation: X:106.27, Y:1.09, Z:1.54 [[ 9.98083555e-01 -5.98309755e-02 -1.57946440e-02 1.06274408e+02] [ 5.98355799e-02 9.98208230e-01 -1.81316352e-04 1.09303689e+00] [ 1.57771920e-02 -7.64112813e-04 9.99875240e-01 1.53666687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.47925415399997 meters Centerline goodness : 0.999243 Centerline is valid? [True, True] Translation: X:106.32, Y:1.08, Z:1.53 [[ 9.98445302e-01 -5.34556588e-02 -1.57946604e-02 1.06316402e+02] [ 5.34594896e-02 9.98570003e-01 -1.79874355e-04 1.08342125e+00] [ 1.57816894e-02 -6.64779780e-04 9.99875240e-01 1.52966023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.50925415399998 meters Centerline goodness : 0.999136 Centerline is valid? [True, True] Translation: X:106.33, Y:1.09, Z:1.54 [[ 9.97903545e-01 -6.27603845e-02 -1.58002543e-02 1.06334287e+02] [ 6.27739258e-02 9.98027707e-01 3.62047508e-04 1.09419872e+00] [ 1.57463693e-02 -1.35313248e-03 9.99875103e-01 1.53544773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.53925415399998 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:106.37, Y:1.10, Z:1.53 [[ 9.97931342e-01 -6.23184279e-02 -1.57939737e-02 1.06365450e+02] [ 6.23233271e-02 9.98055995e-01 -1.82297018e-04 1.09551651e+00] [ 1.57746306e-02 -8.02413081e-04 9.99875251e-01 1.53467475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.56925415399998 meters Centerline goodness : 0.998968 Centerline is valid? [True, True] Translation: X:106.40, Y:1.10, Z:1.54 [[ 9.98070367e-01 -6.00507519e-02 -1.57939837e-02 1.06398689e+02] [ 6.00553815e-02 9.98195030e-01 -1.81425764e-04 1.09887338e+00] [ 1.57763708e-02 -7.67438039e-04 9.99875251e-01 1.53664729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.59925415399998 meters Centerline goodness : 0.998967 Centerline is valid? [True, True] Translation: X:106.43, Y:1.10, Z:1.54 [[ 9.98169863e-01 -5.83735694e-02 -1.57940037e-02 1.06431479e+02] [ 5.83780173e-02 9.98294533e-01 -1.79668254e-04 1.10099919e+00] [ 1.57775554e-02 -7.42683185e-04 9.99875251e-01 1.53796923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.62925415399998 meters Centerline goodness : 0.999031 Centerline is valid? [True, True] Translation: X:106.46, Y:1.10, Z:1.54 [[ 9.98282793e-01 -5.64093375e-02 -1.57940236e-02 1.06463471e+02] [ 5.64135679e-02 9.98407471e-01 -1.77904772e-04 1.10289613e+00] [ 1.57789066e-02 -7.13397948e-04 9.99875251e-01 1.53914451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.65925415399998 meters Centerline goodness : 0.999135 Centerline is valid? [True, True] Translation: X:106.49, Y:1.11, Z:1.54 [[ 9.98479760e-01 -5.28083043e-02 -1.57940366e-02 1.06494309e+02] [ 5.28121033e-02 9.98604451e-01 -1.76741545e-04 1.10664995e+00] [ 1.57813287e-02 -6.57643437e-04 9.99875251e-01 1.54156953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.68925415399998 meters Centerline goodness : 0.999260 Centerline is valid? [True, True] Translation: X:106.53, Y:1.11, Z:1.54 [[ 9.98563028e-01 -5.12096287e-02 -1.57940591e-02 1.06526625e+02] [ 5.12132602e-02 9.98687725e-01 -1.74710464e-04 1.10874879e+00] [ 1.57822798e-02 -6.34405846e-04 9.99875251e-01 1.54288974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.71925415399998 meters Centerline goodness : 0.999090 Centerline is valid? [True, True] Translation: X:106.56, Y:1.11, Z:1.54 [[ 9.98720879e-01 -4.80328408e-02 -1.57940718e-02 1.06557904e+02] [ 4.80360939e-02 9.98845585e-01 -1.73554734e-04 1.11212339e+00] [ 1.57841752e-02 -5.85352777e-04 9.99875251e-01 1.54401244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.74925415399998 meters Centerline goodness : 0.999219 Centerline is valid? [True, True] Translation: X:106.59, Y:1.11, Z:1.54 [[ 9.98808343e-01 -4.61783572e-02 -1.57940812e-02 1.06588797e+02] [ 4.61813923e-02 9.98933055e-01 -1.72693888e-04 1.11374494e+00] [ 1.57852045e-02 -5.56904562e-04 9.99875251e-01 1.54476553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.77925415399999 meters Centerline goodness : 0.999302 Centerline is valid? [True, True] Translation: X:106.62, Y:1.12, Z:1.55 [[ 9.98954782e-01 -4.28939350e-02 -1.57940904e-02 1.06620436e+02] [ 4.28965734e-02 9.99079504e-01 -1.71844018e-04 1.11760211e+00] [ 1.57869231e-02 -5.05847956e-04 9.99875251e-01 1.54574196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.80925415399997 meters Centerline goodness : 0.999321 Centerline is valid? [True, True] Translation: X:106.65, Y:1.12, Z:1.55 [[ 9.99022470e-01 -4.12874116e-02 -1.57940996e-02 1.06652133e+02] [ 4.12898628e-02 9.99147195e-01 -1.70998780e-04 1.11949024e+00] [ 1.57876904e-02 -4.81304581e-04 9.99875251e-01 1.54609351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.83925415399997 meters Centerline goodness : 0.999234 Centerline is valid? [True, True] Translation: X:106.68, Y:1.12, Z:1.55 [[ 9.99121621e-01 -3.88140703e-02 -1.57941116e-02 1.06682968e+02] [ 3.88162304e-02 9.99246352e-01 -1.69879502e-04 1.12232432e+00] [ 1.57888021e-02 -4.43337591e-04 9.99875251e-01 1.54589300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.86925415399998 meters Centerline goodness : 0.999234 Centerline is valid? [True, True] Translation: X:106.72, Y:1.12, Z:1.55 [[ 9.99159194e-01 -3.78345082e-02 -1.57941205e-02 1.06715141e+02] [ 3.78365592e-02 9.99283927e-01 -1.69044938e-04 1.12376523e+00] [ 1.57892065e-02 -4.28692372e-04 9.99875251e-01 1.54635410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.89925415399998 meters Centerline goodness : 0.998998 Centerline is valid? [True, True] Translation: X:106.75, Y:1.13, Z:1.55 [[ 9.99178738e-01 -3.73148024e-02 -1.57941329e-02 1.06746807e+02] [ 3.73168069e-02 9.99303471e-01 -1.67880569e-04 1.12518824e+00] [ 1.57893963e-02 -4.21643913e-04 9.99875251e-01 1.54576229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.92925415399998 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:106.78, Y:1.13, Z:1.55 [[ 9.99183870e-01 -3.71771335e-02 -1.57941421e-02 1.06779199e+02] [ 3.71791345e-02 9.99308603e-01 -1.67012863e-04 1.12635989e+00] [ 1.57894311e-02 -4.20335975e-04 9.99875251e-01 1.54565478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.95925415399998 meters Centerline goodness : 0.999253 Centerline is valid? [True, True] Translation: X:106.81, Y:1.13, Z:1.55 [[ 9.99171847e-01 -3.74988618e-02 -1.57941539e-02 1.06809980e+02] [ 3.75009208e-02 9.99296579e-01 -1.65884892e-04 1.12854023e+00] [ 1.57892645e-02 -4.26547802e-04 9.99875251e-01 1.54511450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.98925415399998 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:106.84, Y:1.13, Z:1.55 [[ 9.99163420e-01 -3.77227158e-02 -1.57941738e-02 1.06841915e+02] [ 3.77248330e-02 9.99288152e-01 -1.63966462e-04 1.13089938e+00] [ 1.57891161e-02 -4.32003280e-04 9.99875251e-01 1.54584288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.01925415399998 meters Centerline goodness : 0.999105 Centerline is valid? [True, True] Translation: X:106.87, Y:1.13, Z:1.55 [[ 9.99175777e-01 -3.73939775e-02 -1.57941852e-02 1.06873244e+02] [ 3.73960711e-02 9.99300509e-01 -1.62867096e-04 1.13175787e+00] [ 1.57892275e-02 -4.27907615e-04 9.99875251e-01 1.54616235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.04925415399998 meters Centerline goodness : 0.998997 Centerline is valid? [True, True] Translation: X:106.91, Y:1.13, Z:1.55 [[ 9.99189517e-01 -3.70250338e-02 -1.57941936e-02 1.06905789e+02] [ 3.70270943e-02 9.99314249e-01 -1.62047539e-04 1.13259608e+00] [ 1.57893625e-02 -4.22896894e-04 9.99875251e-01 1.54711510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.07925415399998 meters Centerline goodness : 0.999254 Centerline is valid? [True, True] Translation: X:106.94, Y:1.13, Z:1.55 [[ 9.99227363e-01 -3.59891594e-02 -1.57942046e-02 1.06937142e+02] [ 3.59911077e-02 9.99352097e-01 -1.60964885e-04 1.13382035e+00] [ 1.57897645e-02 -4.07610401e-04 9.99875251e-01 1.54871947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.10925415399998 meters Centerline goodness : 0.999125 Centerline is valid? [True, True] Translation: X:106.97, Y:1.13, Z:1.55 [[ 9.99236074e-01 -3.57464926e-02 -1.57942128e-02 1.06969193e+02] [ 3.57484233e-02 9.99360808e-01 -1.60158525e-04 1.13483199e+00] [ 1.57898424e-02 -4.04582030e-04 9.99875251e-01 1.55010446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.13925415399999 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:107.00, Y:1.14, Z:1.55 [[ 9.99245339e-01 -3.54865493e-02 -1.57942239e-02 1.07000387e+02] [ 3.54884649e-02 9.99370073e-01 -1.59057576e-04 1.13591508e+00] [ 1.57899191e-02 -4.01575219e-04 9.99875251e-01 1.55045009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.16925415399997 meters Centerline goodness : 0.999212 Centerline is valid? [True, True] Translation: X:107.03, Y:1.14, Z:1.55 [[ 9.99220923e-01 -3.61675173e-02 -1.57942420e-02 1.07032042e+02] [ 3.61695468e-02 9.99345656e-01 -1.57234680e-04 1.13738144e+00] [ 1.57895940e-02 -4.14158394e-04 9.99875251e-01 1.55219488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.19925415399997 meters Centerline goodness : 0.999297 Centerline is valid? [True, True] Translation: X:107.06, Y:1.14, Z:1.55 [[ 9.99180256e-01 -3.72740835e-02 -1.57942505e-02 1.07062929e+02] [ 3.72762645e-02 9.99304986e-01 -1.56381748e-04 1.13814401e+00] [ 1.57891023e-02 -4.32497104e-04 9.99875251e-01 1.55184845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.22925415399997 meters Centerline goodness : 0.998955 Centerline is valid? [True, True] Translation: X:107.11, Y:1.13, Z:1.55 [[ 9.99460559e-01 -2.87946662e-02 -1.57942588e-02 1.07106084e+02] [ 2.87958022e-02 9.99585303e-01 -1.55536148e-04 1.12661627e+00] [ 1.57921876e-02 -2.99356106e-04 9.99875251e-01 1.54599045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.25925415399998 meters Centerline goodness : 0.999275 Centerline is valid? [True, True] Translation: X:107.12, Y:1.14, Z:1.55 [[ 9.98908827e-01 -4.39493028e-02 -1.57991747e-02 1.07123490e+02] [ 4.39612361e-02 9.99033154e-01 4.08638767e-04 1.13944041e+00] [ 1.57659399e-02 -1.10274412e-03 9.99875102e-01 1.55281760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.28925415399998 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:107.15, Y:1.14, Z:1.55 [[ 9.98707270e-01 -4.83151298e-02 -1.57936057e-02 1.07154638e+02] [ 4.83186968e-02 9.98831957e-01 -1.55875592e-04 1.14058297e+00] [ 1.57826893e-02 -6.07452359e-04 9.99875261e-01 1.55274724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.31925415399998 meters Centerline goodness : 0.999210 Centerline is valid? [True, True] Translation: X:107.19, Y:1.14, Z:1.55 [[ 9.98564874e-01 -5.11739443e-02 -1.57930470e-02 1.07188047e+02] [ 5.11769898e-02 9.98689577e-01 -2.11515441e-04 1.14152509e+00] [ 1.57831755e-02 -5.97028716e-04 9.99875260e-01 1.55277888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.34925415399998 meters Centerline goodness : 0.999253 Centerline is valid? [True, True] Translation: X:107.22, Y:1.14, Z:1.55 [[ 9.98359047e-01 -5.50434539e-02 -1.57934016e-02 1.07220642e+02] [ 5.50475501e-02 9.98483719e-01 -1.75570831e-04 1.14329028e+00] [ 1.57791184e-02 -6.94105339e-04 9.99875261e-01 1.55314987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.37925415399998 meters Centerline goodness : 0.999253 Centerline is valid? [True, True] Translation: X:107.25, Y:1.14, Z:1.55 [[ 9.98365080e-01 -5.49338550e-02 -1.57936233e-02 1.07254180e+02] [ 5.49382997e-02 9.98489740e-01 -1.52634534e-04 1.14351245e+00] [ 1.57781556e-02 -7.15289820e-04 9.99875261e-01 1.55367205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.40925415399998 meters Centerline goodness : 0.999210 Centerline is valid? [True, True] Translation: X:107.29, Y:1.15, Z:1.55 [[ 9.98280841e-01 -5.64439780e-02 -1.57936398e-02 1.07287307e+02] [ 5.64486385e-02 9.98405493e-01 -1.50906239e-04 1.14564331e+00] [ 1.57769745e-02 -7.40882655e-04 9.99875261e-01 1.55405210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.43925415399998 meters Centerline goodness : 0.999251 Centerline is valid? [True, True] Translation: X:107.32, Y:1.15, Z:1.55 [[ 9.98285100e-01 -5.63686125e-02 -1.57936564e-02 1.07319855e+02] [ 5.63732913e-02 9.98409750e-01 -1.49147797e-04 1.14672614e+00] [ 1.57769478e-02 -7.41448369e-04 9.99875261e-01 1.55452403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.46925415399998 meters Centerline goodness : 0.999442 Centerline is valid? [True, True] Translation: X:107.35, Y:1.15, Z:1.55 [[ 9.98375508e-01 -5.47439963e-02 -1.57936727e-02 1.07351730e+02] [ 5.47485000e-02 9.98500165e-01 -1.47397553e-04 1.14895518e+00] [ 1.57780540e-02 -7.17521783e-04 9.99875261e-01 1.55494812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.49925415399998 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:107.38, Y:1.15, Z:1.56 [[ 9.98477262e-01 -5.28556168e-02 -1.57936861e-02 1.07383740e+02] [ 5.28599075e-02 9.98601927e-01 -1.45950379e-04 1.15037203e+00] [ 1.57793197e-02 -6.89124652e-04 9.99875261e-01 1.55549691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.52925415399999 meters Centerline goodness : 0.999336 Centerline is valid? [True, True] Translation: X:107.42, Y:1.15, Z:1.56 [[ 9.98590037e-01 -5.06803449e-02 -1.57936991e-02 1.07416940e+02] [ 5.06843866e-02 9.98714710e-01 -1.44523781e-04 1.15216705e+00] [ 1.57807242e-02 -6.56173945e-04 9.99875261e-01 1.55677183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.55925415399997 meters Centerline goodness : 0.999336 Centerline is valid? [True, True] Translation: X:107.45, Y:1.15, Z:1.56 [[ 9.98595427e-01 -5.05740302e-02 -1.57937144e-02 1.07450477e+02] [ 5.05780851e-02 9.98720099e-01 -1.42842520e-04 1.15237499e+00] [ 1.57807241e-02 -6.56173942e-04 9.99875261e-01 1.55730104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.58925415399997 meters Centerline goodness : 0.999356 Centerline is valid? [True, True] Translation: X:107.48, Y:1.16, Z:1.56 [[ 9.98860136e-01 -4.50442711e-02 -1.57937294e-02 1.07482815e+02] [ 4.50476622e-02 9.98984829e-01 -1.41161257e-04 1.15564925e+00] [ 1.57840545e-02 -5.70470233e-04 9.99875261e-01 1.55932021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.61925415399998 meters Centerline goodness : 0.999528 Centerline is valid? [True, True] Translation: X:107.51, Y:1.16, Z:1.56 [[ 9.99025166e-01 -4.12222694e-02 -1.57937393e-02 1.07514342e+02] [ 4.12252011e-02 9.99149870e-01 -1.40038033e-04 1.15751395e+00] [ 1.57860853e-02 -5.11198562e-04 9.99875261e-01 1.55990726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.64925415399998 meters Centerline goodness : 0.999398 Centerline is valid? [True, True] Translation: X:107.55, Y:1.16, Z:1.56 [[ 9.99112369e-01 -3.90518496e-02 -1.57932732e-02 1.07546659e+02] [ 3.90536805e-02 9.99237095e-01 -1.92587426e-04 1.15918541e+00] [ 1.57887453e-02 -4.24368965e-04 9.99875260e-01 1.56029591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.67925415399998 meters Centerline goodness : 0.999397 Centerline is valid? [True, True] Translation: X:107.58, Y:1.16, Z:1.56 [[ 9.99329612e-01 -3.30285293e-02 -1.57937574e-02 1.07579242e+02] [ 3.30304924e-02 9.99454335e-01 -1.36615306e-04 1.16188490e+00] [ 1.57896515e-02 -3.85151862e-04 9.99875262e-01 1.56032959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.70925415399998 meters Centerline goodness : 0.999287 Centerline is valid? [True, True] Translation: X:107.61, Y:1.16, Z:1.56 [[ 9.99425926e-01 -2.99729264e-02 -1.57937673e-02 1.07611387e+02] [ 2.99745263e-02 9.99550654e-01 -1.35461833e-04 1.16310475e+00] [ 1.57907306e-02 -3.38026625e-04 9.99875262e-01 1.56010801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.73925415399998 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:107.64, Y:1.17, Z:1.56 [[ 9.99596748e-01 -2.35986925e-02 -1.57937770e-02 1.07642622e+02] [ 2.35995151e-02 9.99721484e-01 -1.34313039e-04 1.16596120e+00] [ 1.57925478e-02 -2.38466603e-04 9.99875262e-01 1.55928318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.76925415399998 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:107.69, Y:1.15, Z:1.55 [[ 9.99866733e-01 -4.13202085e-03 -1.57937843e-02 1.07694458e+02] [ 4.13042822e-03 9.99991461e-01 -1.33456962e-04 1.15067523e+00] [ 1.57942008e-02 6.82040839e-05 9.99875262e-01 1.55040906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.79925415399998 meters Centerline goodness : 0.999391 Centerline is valid? [True, True] Translation: X:107.70, Y:1.17, Z:1.56 [[ 9.99788761e-01 -1.31439908e-02 -1.58009194e-02 1.07699840e+02] [ 1.31601396e-02 9.99912980e-01 9.18463953e-04 1.17085268e+00] [ 1.57874722e-02 -1.12621224e-03 9.99874736e-01 1.56048763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.82925415399998 meters Centerline goodness : 0.999304 Centerline is valid? [True, True] Translation: X:107.73, Y:1.17, Z:1.56 [[ 9.99827652e-01 -9.76271984e-03 -1.57910206e-02 1.07727222e+02] [ 9.76161791e-03 9.99952343e-01 -1.46860059e-04 1.17338755e+00] [ 1.57917019e-02 -7.31116256e-06 9.99875303e-01 1.56147699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.85925415399998 meters Centerline goodness : 0.999390 Centerline is valid? [True, True] Translation: X:107.75, Y:1.18, Z:1.56 [[ 9.99855100e-01 -6.35793892e-03 -1.57909776e-02 1.07754931e+02] [ 6.35634142e-03 9.99979787e-01 -1.51353101e-04 1.17513709e+00] [ 1.57916207e-02 5.09583255e-05 9.99875303e-01 1.56246141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.88925415399999 meters Centerline goodness : 0.999368 Centerline is valid? [True, True] Translation: X:107.78, Y:1.18, Z:1.56 [[ 9.99875307e-01 -1.28327627e-04 -1.57909315e-02 1.07781537e+02] [ 1.25879625e-04 9.99999980e-01 -1.56019615e-04 1.17721095e+00] [ 1.57909512e-02 1.54012404e-04 9.99875303e-01 1.56294743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.91925415399997 meters Centerline goodness : 0.997733 Centerline is valid? [True, True] Translation: X:107.81, Y:1.18, Z:1.56 [[ 9.99867235e-01 4.01997348e-03 -1.57909113e-02 1.07810188e+02] [-4.02297060e-03 9.99991895e-01 -1.58039564e-04 1.17665156e+00] [ 1.57901480e-02 2.21544953e-04 9.99875303e-01 1.56092237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.94925415399997 meters Centerline goodness : 0.999477 Centerline is valid? [True, True] Translation: X:107.84, Y:1.18, Z:1.56 [[ 9.99841390e-01 8.23630748e-03 -1.57910533e-02 1.07841614e+02] [-8.23960978e-03 9.99966043e-01 -1.44074905e-04 1.17552745e+00] [ 1.57893305e-02 2.74164171e-04 9.99875303e-01 1.55963962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.97925415399997 meters Centerline goodness : 0.999456 Centerline is valid? [True, True] Translation: X:107.87, Y:1.18, Z:1.56 [[ 9.99849565e-01 7.17204309e-03 -1.57926835e-02 1.07869709e+02] [-7.17298921e-03 9.99974274e-01 -3.26463552e-06 1.17697882e+00] [ 1.57922538e-02 1.16544893e-04 9.99875288e-01 1.56107014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.00925415399998 meters Centerline goodness : 0.999564 Centerline is valid? [True, True] Translation: X:107.89, Y:1.18, Z:1.56 [[ 9.99868806e-01 3.60255111e-03 -1.57921450e-02 1.07894600e+02] [-3.60376639e-03 9.99993505e-01 -4.84981377e-05 1.18049667e+00] [ 1.57918678e-02 1.05402977e-04 9.99875295e-01 1.56496452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.03925415399998 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:107.92, Y:1.18, Z:1.56 [[ 9.99874488e-01 1.29415743e-03 -1.57903043e-02 1.07923037e+02] [-1.29742135e-03 9.99999139e-01 -1.96461490e-04 1.17966134e+00] [ 1.57900364e-02 2.16923510e-04 9.99875306e-01 1.56482078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.06925415399998 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:107.95, Y:1.18, Z:1.57 [[ 9.99874782e-01 -1.04265196e-03 -1.57902900e-02 1.07951169e+02] [ 1.03966133e-03 9.99999440e-01 -1.97604398e-04 1.17904969e+00] [ 1.57904872e-02 1.81163100e-04 9.99875306e-01 1.56514736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.09925415399998 meters Centerline goodness : 0.999500 Centerline is valid? [True, True] Translation: X:107.98, Y:1.18, Z:1.56 [[ 9.99847542e-01 -7.45393749e-03 -1.57902684e-02 1.07979338e+02] [ 7.45171933e-03 9.99972216e-01 -1.99308680e-04 1.17706729e+00] [ 1.57913154e-02 8.16136451e-05 9.99875306e-01 1.56483307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.12925415399998 meters Centerline goodness : 0.999304 Centerline is valid? [True, True] Translation: X:108.01, Y:1.18, Z:1.56 [[ 9.99808178e-01 -1.15877041e-02 -1.57902469e-02 1.08006913e+02] [ 1.15859747e-02 9.99932860e-01 -2.00999735e-04 1.17611071e+00] [ 1.57915159e-02 1.80157764e-05 9.99875306e-01 1.56484564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.15925415399998 meters Centerline goodness : 0.999154 Centerline is valid? [True, True] Translation: X:108.03, Y:1.18, Z:1.56 [[ 9.99748508e-01 -1.59244919e-02 -1.57902253e-02 1.08034659e+02] [ 1.59232768e-02 9.99873196e-01 -2.02684067e-04 1.17502835e+00] [ 1.57914507e-02 -4.87990345e-05 9.99875306e-01 1.56482129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.18925415399998 meters Centerline goodness : 0.999306 Centerline is valid? [True, True] Translation: X:108.06, Y:1.17, Z:1.56 [[ 9.99662809e-01 -2.06140235e-02 -1.57902036e-02 1.08063228e+02] [ 2.06133668e-02 9.99787501e-01 -2.04360694e-04 1.17399347e+00] [ 1.57910609e-02 -1.21197473e-04 9.99875306e-01 1.56498107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.21925415399998 meters Centerline goodness : 0.999481 Centerline is valid? [True, True] Translation: X:108.09, Y:1.17, Z:1.56 [[ 9.99454831e-01 -2.89950317e-02 -1.57901523e-02 1.08092528e+02] [ 2.89953590e-02 9.99579524e-01 -2.08253560e-04 1.17127309e+00] [ 1.57895512e-02 -2.49701107e-04 9.99875306e-01 1.56440725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.24925415399998 meters Centerline goodness : 0.999569 Centerline is valid? [True, True] Translation: X:108.12, Y:1.17, Z:1.57 [[ 9.99203307e-01 -3.66527349e-02 -1.57901449e-02 1.08124290e+02] [ 3.66540089e-02 9.99327994e-01 -2.08807378e-04 1.16910651e+00] [ 1.57871872e-02 -3.70131092e-04 9.99875306e-01 1.56562890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.27925415399997 meters Centerline goodness : 0.999397 Centerline is valid? [True, True] Translation: X:108.16, Y:1.17, Z:1.57 [[ 9.99086983e-01 -3.96972401e-02 -1.57901601e-02 1.08155544e+02] [ 3.96989123e-02 9.99211666e-01 -2.07654041e-04 1.16816444e+00] [ 1.57859555e-02 -4.19387732e-04 9.99875306e-01 1.56547456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.30925415399997 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:108.19, Y:1.17, Z:1.57 [[ 9.98977400e-01 -4.23653736e-02 -1.57901845e-02 1.08187142e+02] [ 4.23674083e-02 9.99102077e-01 -2.05785128e-04 1.16741494e+00] [ 1.57847243e-02 -4.63414501e-04 9.99875306e-01 1.56573771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.33925415399997 meters Centerline goodness : 0.999422 Centerline is valid? [True, True] Translation: X:108.22, Y:1.17, Z:1.57 [[ 9.98893306e-01 -4.43038659e-02 -1.57901954e-02 1.08219447e+02] [ 4.43061558e-02 9.99017979e-01 -2.04943631e-04 1.16698527e+00] [ 1.57837689e-02 -4.94886035e-04 9.99875306e-01 1.56641654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.36925415399998 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:108.25, Y:1.17, Z:1.57 [[ 9.98791657e-01 -4.65391722e-02 -1.57902131e-02 1.08252858e+02] [ 4.65417628e-02 9.98916324e-01 -2.03571673e-04 1.16670892e+00] [ 1.57825757e-02 -5.31578663e-04 9.99875306e-01 1.56804945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.39925415399998 meters Centerline goodness : 0.999485 Centerline is valid? [True, True] Translation: X:108.29, Y:1.17, Z:1.57 [[ 9.98780090e-01 -4.67867584e-02 -1.57902353e-02 1.08285923e+02] [ 4.67894074e-02 9.98904756e-01 -2.01829392e-04 1.16718670e+00] [ 1.57823841e-02 -5.37232576e-04 9.99875306e-01 1.56921067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.42925415399998 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:108.32, Y:1.17, Z:1.57 [[ 9.98826386e-01 -4.57877546e-02 -1.57902578e-02 1.08319122e+02] [ 4.57903070e-02 9.98951054e-01 -2.00056249e-04 1.16819957e+00] [ 1.57828548e-02 -5.23219292e-04 9.99875306e-01 1.56969187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.45925415399998 meters Centerline goodness : 0.999247 Centerline is valid? [True, True] Translation: X:108.35, Y:1.17, Z:1.57 [[ 9.98871284e-01 -4.47976075e-02 -1.57902800e-02 1.08351239e+02] [ 4.48000641e-02 9.98995953e-01 -1.98291654e-04 1.16896790e+00] [ 1.57833088e-02 -5.09337715e-04 9.99875306e-01 1.57017337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.48925415399998 meters Centerline goodness : 0.999398 Centerline is valid? [True, True] Translation: X:108.38, Y:1.17, Z:1.57 [[ 9.98925388e-01 -4.35744748e-02 -1.57902982e-02 1.08383458e+02] [ 4.35768017e-02 9.99050061e-01 -1.96832357e-04 1.16964816e+00] [ 1.57838752e-02 -4.91469854e-04 9.99875306e-01 1.57030564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.51925415399998 meters Centerline goodness : 0.999333 Centerline is valid? [True, True] Translation: X:108.41, Y:1.17, Z:1.57 [[ 9.99006424e-01 -4.16752974e-02 -1.57903125e-02 1.08414966e+02] [ 4.16774057e-02 9.99131100e-01 -1.95671409e-04 1.17033643e+00] [ 1.57847470e-02 -4.62622268e-04 9.99875306e-01 1.56871993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.54925415399998 meters Centerline goodness : 0.999376 Centerline is valid? [True, True] Translation: X:108.45, Y:1.17, Z:1.57 [[ 9.99041066e-01 -4.08364363e-02 -1.57903232e-02 1.08447206e+02] [ 4.08384535e-02 9.99165743e-01 -1.94805963e-04 1.17086629e+00] [ 1.57851052e-02 -4.50233224e-04 9.99875306e-01 1.56978541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.57925415399998 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:108.48, Y:1.17, Z:1.57 [[ 9.99077970e-01 -3.99233620e-02 -1.57903365e-02 1.08479521e+02] [ 3.99252824e-02 9.99202649e-01 -1.93722592e-04 1.17174277e+00] [ 1.57854801e-02 -4.36889671e-04 9.99875306e-01 1.57100021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.60925415399998 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:108.51, Y:1.17, Z:1.57 [[ 9.99168038e-01 -3.76018097e-02 -1.57903505e-02 1.08510955e+02] [ 3.76034585e-02 9.99292721e-01 -1.92576129e-04 1.17346047e+00] [ 1.57864235e-02 -4.01355876e-04 9.99875306e-01 1.57082860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.63925415399999 meters Centerline goodness : 0.997889 Centerline is valid? [True, True] Translation: X:108.54, Y:1.17, Z:1.57 [[ 9.99312323e-01 -3.35491418e-02 -1.57903609e-02 1.08539601e+02] [ 3.35502984e-02 9.99437012e-01 -1.91721416e-04 1.17388300e+00] [ 1.57879032e-02 -3.38181745e-04 9.99875306e-01 1.56950540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.66925415399997 meters Centerline goodness : 0.999375 Centerline is valid? [True, True] Translation: X:108.57, Y:1.18, Z:1.57 [[ 9.99293455e-01 -3.41074483e-02 -1.57883924e-02 1.08573289e+02] [ 3.41061440e-02 9.99418154e-01 -3.51937880e-04 1.17582682e+00] [ 1.57912097e-02 -1.86791965e-04 9.99875294e-01 1.57032625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.69925415399997 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:108.61, Y:1.18, Z:1.57 [[ 9.99437523e-01 -2.95855166e-02 -1.57903411e-02 1.08605611e+02] [ 2.95862058e-02 9.99562214e-01 -1.90006091e-04 1.17855391e+00] [ 1.57890498e-02 -2.77277065e-04 9.99875307e-01 1.57037190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.72925415399997 meters Centerline goodness : 0.999372 Centerline is valid? [True, True] Translation: X:108.64, Y:1.18, Z:1.57 [[ 9.99497603e-01 -2.74810340e-02 -1.57903550e-02 1.08637245e+02] [ 2.74814790e-02 9.99622295e-01 -1.88845140e-04 1.18053154e+00] [ 1.57895806e-02 -2.45192045e-04 9.99875307e-01 1.57082395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.75925415399998 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:108.67, Y:1.18, Z:1.57 [[ 9.99609118e-01 -2.30711191e-02 -1.57903620e-02 1.08667666e+02] [ 2.30710231e-02 9.99733811e-01 -1.88262393e-04 1.18389149e+00] [ 1.57905022e-02 -1.76111001e-04 9.99875307e-01 1.57094873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.78925415399998 meters Centerline goodness : 0.999587 Centerline is valid? [True, True] Translation: X:108.70, Y:1.19, Z:1.57 [[ 9.99660489e-01 -2.07260900e-02 -1.57903654e-02 1.08698308e+02] [ 2.07257061e-02 9.99785182e-01 -1.87973509e-04 1.18578695e+00] [ 1.57908693e-02 -1.39356782e-04 9.99875307e-01 1.57205531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.81925415399998 meters Centerline goodness : 0.999500 Centerline is valid? [True, True] Translation: X:108.73, Y:1.19, Z:1.57 [[ 9.99708204e-01 -1.82803778e-02 -1.57903654e-02 1.08727637e+02] [ 1.82796889e-02 9.99832895e-01 -1.87973509e-04 1.18745634e+00] [ 1.57911630e-02 -1.00724308e-04 9.99875307e-01 1.57240234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.84925415399998 meters Centerline goodness : 0.994651 Centerline is valid? [True, True] Translation: X:108.76, Y:1.19, Z:1.57 [[ 9.99795889e-01 -1.26033501e-02 -1.57903620e-02 1.08756145e+02] [ 1.26019486e-02 9.99920575e-01 -1.88257049e-04 1.19087685e+00] [ 1.57914805e-02 -1.07707076e-05 9.99875307e-01 1.57174188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.87925415399998 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:108.79, Y:1.19, Z:1.58 [[ 9.99816085e-01 -1.08862290e-02 -1.57888160e-02 1.08786073e+02] [ 1.08826267e-02 9.99940733e-01 -3.14057808e-04 1.19255816e+00] [ 1.57912992e-02 1.42176257e-04 9.99875300e-01 1.57658306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.90925415399998 meters Centerline goodness : 0.995904 Centerline is valid? [True, True] Translation: X:108.81, Y:1.20, Z:1.58 [[ 9.99864633e-01 -4.62419047e-03 -1.57902923e-02 1.08813277e+02] [ 4.62170718e-03 9.99989301e-01 -1.93755082e-04 1.19634996e+00] [ 1.57910193e-02 1.20750746e-04 9.99875307e-01 1.57524282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.93925415399998 meters Centerline goodness : 0.999583 Centerline is valid? [True, True] Translation: X:108.84, Y:1.20, Z:1.58 [[ 9.99870096e-01 -3.24174130e-03 -1.57887048e-02 1.08842450e+02] [ 3.23710764e-03 9.99994710e-01 -3.19027213e-04 1.19784779e+00] [ 1.57896555e-02 2.67876033e-04 9.99875300e-01 1.58000041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.96925415399998 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:108.87, Y:1.20, Z:1.58 [[ 9.99874369e-01 -1.38388152e-03 -1.57902105e-02 1.08870769e+02] [ 1.38088932e-03 9.99999026e-01 -2.00398816e-04 1.19914933e+00] [ 1.57904724e-02 1.78569106e-04 9.99875307e-01 1.58073058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.99925415399998 meters Centerline goodness : 0.999543 Centerline is valid? [True, True] Translation: X:108.90, Y:1.20, Z:1.58 [[ 9.99875297e-01 2.49438699e-04 -1.57901527e-02 1.08898362e+02] [-2.52704818e-04 9.99999947e-01 -2.04850401e-04 1.20008265e+00] [ 1.57901008e-02 2.08815103e-04 9.99875307e-01 1.58183503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.02925415399997 meters Centerline goodness : 0.995574 Centerline is valid? [True, True] Translation: X:108.92, Y:1.20, Z:1.58 [[ 9.99874899e-01 9.26708793e-04 -1.57901347e-02 1.08924952e+02] [-9.30081073e-04 9.99999546e-01 -2.06226592e-04 1.20023858e+00] [ 1.57899364e-02 2.20886898e-04 9.99875307e-01 1.57929226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.05925415399997 meters Centerline goodness : 0.999651 Centerline is valid? [True, True] Translation: X:108.95, Y:1.20, Z:1.58 [[ 9.99863997e-01 -4.76446553e-03 -1.57888525e-02 1.08953985e+02] [ 4.76029246e-03 9.99988624e-01 -3.01876727e-04 1.19960694e+00] [ 1.57901111e-02 2.26676115e-04 9.99875303e-01 1.58118024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.08925415399997 meters Centerline goodness : 0.999629 Centerline is valid? [True, True] Translation: X:108.99, Y:1.19, Z:1.58 [[ 9.99865247e-01 -4.49014680e-03 -1.57900743e-02 1.08985543e+02] [ 4.48739002e-03 9.99989910e-01 -2.10015407e-04 1.19460032e+00] [ 1.57908580e-02 1.39130884e-04 9.99875307e-01 1.57639967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.11925415399998 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:109.01, Y:1.20, Z:1.58 [[ 9.99788977e-01 -1.31386277e-02 -1.57917160e-02 1.09011657e+02] [ 1.31388505e-02 9.99913678e-01 -8.96417199e-05 1.19762738e+00] [ 1.57915306e-02 -1.17862193e-04 9.99875299e-01 1.58161837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.14925415399998 meters Centerline goodness : 0.999565 Centerline is valid? [True, True] Translation: X:109.04, Y:1.20, Z:1.58 [[ 9.99626433e-01 -2.23085696e-02 -1.57899134e-02 1.09040266e+02] [ 2.23078869e-02 9.99751124e-01 -2.19388167e-04 1.19514886e+00] [ 1.57908779e-02 -1.32933393e-04 9.99875307e-01 1.58102089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.17925415399998 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:109.07, Y:1.19, Z:1.58 [[ 9.99515409e-01 -2.68258458e-02 -1.57898974e-02 1.09070650e+02] [ 2.68257085e-02 9.99640102e-01 -2.20539118e-04 1.19394600e+00] [ 1.57901307e-02 -2.03142936e-04 9.99875307e-01 1.58115276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.20925415399998 meters Centerline goodness : 0.999632 Centerline is valid? [True, True] Translation: X:109.10, Y:1.19, Z:1.58 [[ 9.99270868e-01 -3.47622017e-02 -1.57898974e-02 1.09102264e+02] [ 3.47630545e-02 9.99395558e-01 -2.20539118e-04 1.19121548e+00] [ 1.57880197e-02 -3.28526745e-04 9.99875307e-01 1.58101758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.23925415399998 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:109.13, Y:1.19, Z:1.58 [[ 9.99153402e-01 -3.79889074e-02 -1.57899485e-02 1.09134375e+02] [ 3.79902217e-02 9.99278087e-01 -2.16815031e-04 1.19007211e+00] [ 1.57867861e-02 -3.83232168e-04 9.99875307e-01 1.58156233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.26925415399998 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:109.17, Y:1.19, Z:1.58 [[ 9.99043342e-01 -4.07808524e-02 -1.57899643e-02 1.09166373e+02] [ 4.07825334e-02 9.99168023e-01 -2.15654238e-04 1.18937378e+00] [ 1.57856220e-02 -4.28506818e-04 9.99875307e-01 1.58241278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.29925415399998 meters Centerline goodness : 0.999483 Centerline is valid? [True, True] Translation: X:109.20, Y:1.19, Z:1.58 [[ 9.98872423e-01 -4.47723090e-02 -1.57899800e-02 1.09197897e+02] [ 4.47745064e-02 9.98997096e-01 -2.14500420e-04 1.18804252e+00] [ 1.57837479e-02 -4.92730007e-04 9.99875307e-01 1.58336897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.32925415399998 meters Centerline goodness : 0.999526 Centerline is valid? [True, True] Translation: X:109.23, Y:1.19, Z:1.58 [[ 9.98800150e-01 -4.63566255e-02 -1.57899917e-02 1.09230890e+02] [ 4.63590342e-02 9.98924819e-01 -2.13640163e-04 1.18783071e+00] [ 1.57829182e-02 -5.18624937e-04 9.99875307e-01 1.58397417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.35925415399998 meters Centerline goodness : 0.999419 Centerline is valid? [True, True] Translation: X:109.26, Y:1.19, Z:1.58 [[ 9.98678110e-01 -4.89153089e-02 -1.57900147e-02 1.09263744e+02] [ 4.89180642e-02 9.98802772e-01 -2.11924418e-04 1.18730184e+00] [ 1.57814768e-02 -5.60772675e-04 9.99875307e-01 1.58429645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.38925415399999 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:109.30, Y:1.19, Z:1.58 [[ 9.98606857e-01 -5.03489824e-02 -1.57900377e-02 1.09297286e+02] [ 5.03519438e-02 9.98731514e-01 -2.10196517e-04 1.18714154e+00] [ 1.57805914e-02 -5.85155408e-04 9.99875307e-01 1.58467319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.41925415399997 meters Centerline goodness : 0.999267 Centerline is valid? [True, True] Translation: X:109.33, Y:1.19, Z:1.58 [[ 9.98529057e-01 -5.18690215e-02 -1.57900604e-02 1.09329952e+02] [ 5.18721999e-02 9.98653709e-01 -2.08477462e-04 1.18687398e+00] [ 1.57796159e-02 -6.10894364e-04 9.99875307e-01 1.58493452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.44925415399997 meters Centerline goodness : 0.999483 Centerline is valid? [True, True] Translation: X:109.36, Y:1.19, Z:1.59 [[ 9.98371600e-01 -5.48162487e-02 -1.57900828e-02 1.09362989e+02] [ 5.48198220e-02 9.98496242e-01 -2.06765523e-04 1.18590343e+00] [ 1.57776724e-02 -6.59180702e-04 9.99875307e-01 1.58512744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.47925415399997 meters Centerline goodness : 0.999483 Centerline is valid? [True, True] Translation: X:109.40, Y:1.19, Z:1.59 [[ 9.98377524e-01 -5.47082454e-02 -1.57901050e-02 1.09396527e+02] [ 5.47118322e-02 9.98502165e-01 -2.05058493e-04 1.18624538e+00] [ 1.57776724e-02 -6.59179783e-04 9.99875307e-01 1.58565655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.50925415399998 meters Centerline goodness : 0.999484 Centerline is valid? [True, True] Translation: X:109.43, Y:1.19, Z:1.59 [[ 9.98300084e-01 -5.61036057e-02 -1.57901270e-02 1.09429277e+02] [ 5.61073937e-02 9.98424719e-01 -2.03350545e-04 1.18659103e+00] [ 1.57766618e-02 -6.82938003e-04 9.99875307e-01 1.58627209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.53925415399998 meters Centerline goodness : 0.999376 Centerline is valid? [True, True] Translation: X:109.46, Y:1.19, Z:1.59 [[ 9.98207396e-01 -5.77292540e-02 -1.57901487e-02 1.09461495e+02] [ 5.77332719e-02 9.98332023e-01 -2.01644943e-04 1.18703393e+00] [ 1.57754520e-02 -7.10333477e-04 9.99875307e-01 1.58654512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.56925415399998 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:109.49, Y:1.19, Z:1.59 [[ 9.98168719e-01 -5.83941698e-02 -1.57901841e-02 1.09494209e+02] [ 5.83983151e-02 9.98293342e-01 -1.98835324e-04 1.18766615e+00] [ 1.57748465e-02 -7.23648947e-04 9.99875308e-01 1.58668214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.59925415399998 meters Centerline goodness : 0.999378 Centerline is valid? [True, True] Translation: X:109.53, Y:1.19, Z:1.59 [[ 9.98166565e-01 -5.84309723e-02 -1.57902049e-02 1.09527091e+02] [ 5.84351485e-02 9.98291187e-01 -1.97168678e-04 1.18825281e+00] [ 1.57747432e-02 -7.25895788e-04 9.99875308e-01 1.58740540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.62925415399998 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:109.56, Y:1.19, Z:1.59 [[ 9.98178210e-01 -5.82316834e-02 -1.57902254e-02 1.09560237e+02] [ 5.82358607e-02 9.98302833e-01 -1.95516705e-04 1.18864737e+00] [ 1.57748120e-02 -7.24396852e-04 9.99875308e-01 1.58756825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.65925415399998 meters Centerline goodness : 0.999463 Centerline is valid? [True, True] Translation: X:109.59, Y:1.19, Z:1.59 [[ 9.98188380e-01 -5.80570932e-02 -1.57902461e-02 1.09592554e+02] [ 5.80612754e-02 9.98313002e-01 -1.93828251e-04 1.18927326e+00] [ 1.57748611e-02 -7.23324720e-04 9.99875308e-01 1.58770687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.68925415399998 meters Centerline goodness : 0.999333 Centerline is valid? [True, True] Translation: X:109.63, Y:1.19, Z:1.59 [[ 9.98221476e-01 -5.74852354e-02 -1.57902632e-02 1.09625926e+02] [ 5.74893683e-02 9.98346100e-01 -1.92430147e-04 1.18971410e+00] [ 1.57752095e-02 -7.15684348e-04 9.99875308e-01 1.58789900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.71925415399998 meters Centerline goodness : 0.999528 Centerline is valid? [True, True] Translation: X:109.66, Y:1.19, Z:1.59 [[ 9.98292828e-01 -5.62325283e-02 -1.57902840e-02 1.09657058e+02] [ 5.62365321e-02 9.98417456e-01 -1.90700013e-04 1.19091903e+00] [ 1.57760188e-02 -6.97616360e-04 9.99875308e-01 1.58715324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.74925415399998 meters Centerline goodness : 0.999462 Centerline is valid? [True, True] Translation: X:109.69, Y:1.19, Z:1.59 [[ 9.98347267e-01 -5.52575853e-02 -1.57902943e-02 1.09689302e+02] [ 5.52614809e-02 9.98471899e-01 -1.89844486e-04 1.19191414e+00] [ 1.57766555e-02 -6.83064325e-04 9.99875308e-01 1.58741160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.77925415399997 meters Centerline goodness : 0.999397 Centerline is valid? [True, True] Translation: X:109.72, Y:1.19, Z:1.59 [[ 9.98408364e-01 -5.41424509e-02 -1.57903078e-02 1.09721296e+02] [ 5.41462250e-02 9.98532999e-01 -1.88716911e-04 1.19318519e+00] [ 1.57773610e-02 -6.66569017e-04 9.99875308e-01 1.58757974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.80925415399997 meters Centerline goodness : 0.999505 Centerline is valid? [True, True] Translation: X:109.75, Y:1.20, Z:1.59 [[ 9.98604680e-01 -5.03920600e-02 -1.57903211e-02 1.09752980e+02] [ 5.03953837e-02 9.98729328e-01 -1.87598022e-04 1.19574508e+00] [ 1.57797102e-02 -6.08423027e-04 9.99875308e-01 1.58889641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.83925415399997 meters Centerline goodness : 0.999612 Centerline is valid? [True, True] Translation: X:109.78, Y:1.20, Z:1.59 [[ 9.98741185e-01 -4.76099811e-02 -1.57903347e-02 1.09784869e+02] [ 4.76129757e-02 9.98865842e-01 -1.86445294e-04 1.19735765e+00] [ 1.57813026e-02 -5.65614230e-04 9.99875308e-01 1.58929751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.86925415399998 meters Centerline goodness : 0.999567 Centerline is valid? [True, True] Translation: X:109.82, Y:1.20, Z:1.59 [[ 9.99020027e-01 -4.13479111e-02 -1.57903515e-02 1.09817448e+02] [ 4.13501469e-02 9.99144700e-01 -1.85010476e-04 1.20034163e+00] [ 1.57844958e-02 -4.68104184e-04 9.99875308e-01 1.59110641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.89925415399998 meters Centerline goodness : 0.999544 Centerline is valid? [True, True] Translation: X:109.85, Y:1.20, Z:1.59 [[ 9.99165417e-01 -3.76713815e-02 -1.57903713e-02 1.09849661e+02] [ 3.76731853e-02 9.99290097e-01 -1.83306280e-04 1.20217984e+00] [ 1.57860671e-02 -4.11720289e-04 9.99875308e-01 1.59248114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.92925415399998 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:109.88, Y:1.20, Z:1.59 [[ 9.99306472e-01 -3.37229713e-02 -1.57903845e-02 1.09880555e+02] [ 3.37243006e-02 9.99431157e-01 -1.82162625e-04 1.20423465e+00] [ 1.57875453e-02 -3.50483383e-04 9.99875308e-01 1.59357867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.95925415399998 meters Centerline goodness : 0.999522 Centerline is valid? [True, True] Translation: X:109.91, Y:1.21, Z:1.59 [[ 9.99432682e-01 -2.97485846e-02 -1.57903943e-02 1.09911550e+02] [ 2.97494314e-02 9.99557371e-01 -1.81310619e-04 1.20643616e+00] [ 1.57887987e-02 -2.88547493e-04 9.99875308e-01 1.59470857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.98925415399998 meters Centerline goodness : 0.999673 Centerline is valid? [True, True] Translation: X:109.94, Y:1.21, Z:1.60 [[ 9.99649636e-01 -2.12430732e-02 -1.57904038e-02 1.09943623e+02] [ 2.12428721e-02 9.99774328e-01 -1.80477030e-04 1.21020093e+00] [ 1.57906743e-02 -1.55019732e-04 9.99875308e-01 1.59717700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.01925415399998 meters Centerline goodness : 0.999584 Centerline is valid? [True, True] Translation: X:109.97, Y:1.21, Z:1.60 [[ 9.99794619e-01 -1.27036125e-02 -1.57904171e-02 1.09974092e+02] [ 1.27023649e-02 9.99919306e-01 -1.79302886e-04 1.21339914e+00] [ 1.57914207e-02 -2.13095803e-05 9.99875308e-01 1.59761417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.04925415399998 meters Centerline goodness : 0.999649 Centerline is valid? [True, True] Translation: X:110.00, Y:1.21, Z:1.60 [[ 9.99836224e-01 -8.84235161e-03 -1.57904171e-02 1.10000753e+02] [ 8.84062253e-03 9.99960905e-01 -1.79302886e-04 1.21496845e+00] [ 1.57913853e-02 3.96764025e-05 9.99875308e-01 1.59786196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.07925415399998 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] Translation: X:110.03, Y:1.22, Z:1.60 [[ 9.99862453e-01 -5.07341985e-03 -1.57903801e-02 1.10027609e+02] [ 5.07117018e-03 9.99987125e-01 -1.82508503e-04 1.21647582e+00] [ 1.57911027e-02 1.02407695e-04 9.99875308e-01 1.59809433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.10925415399998 meters Centerline goodness : 0.999715 Centerline is valid? [True, True] Translation: X:110.06, Y:1.22, Z:1.60 [[ 9.99873114e-01 2.10255188e-03 -1.57903568e-02 1.10055736e+02] [-2.10572776e-03 9.99997766e-01 -1.84504168e-04 1.21902394e+00] [ 1.57899336e-02 2.17730950e-04 9.99875308e-01 1.59857831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.13925415399999 meters Centerline goodness : 0.999737 Centerline is valid? [True, True] Translation: X:110.08, Y:1.22, Z:1.60 [[ 9.99862570e-01 5.05054808e-03 -1.57903026e-02 1.10082561e+02] [-5.05416294e-03 9.99987210e-01 -1.89031667e-04 1.22030777e+00] [ 1.57891459e-02 2.68812450e-04 9.99875308e-01 1.59901723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.16925415399997 meters Centerline goodness : 0.999693 Centerline is valid? [True, True] Translation: X:110.11, Y:1.22, Z:1.60 [[ 9.99848231e-01 7.36084161e-03 -1.57902789e-02 1.10110743e+02] [-7.36477537e-03 9.99972861e-01 -1.90989713e-04 1.22127450e+00] [ 1.57884445e-02 3.07252584e-04 9.99875308e-01 1.59941171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.19925415399997 meters Centerline goodness : 0.999692 Centerline is valid? [True, True] Translation: X:110.14, Y:1.22, Z:1.60 [[ 9.99834501e-01 9.03549141e-03 -1.57902233e-02 1.10138304e+02] [-9.03970480e-03 9.99959122e-01 -1.95480305e-04 1.22200906e+00] [ 1.57878116e-02 3.38186911e-04 9.99875308e-01 1.59994583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.22925415399997 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:110.17, Y:1.22, Z:1.60 [[ 9.99821535e-01 1.03715367e-02 -1.57901664e-02 1.10165916e+02] [-1.03759876e-02 9.99946148e-01 -1.99976987e-04 1.22167348e+00] [ 1.57872419e-02 3.63779869e-04 9.99875308e-01 1.60047016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.25925415399998 meters Centerline goodness : 0.999605 Centerline is valid? [True, True] Translation: X:110.19, Y:1.22, Z:1.60 [[ 9.99828256e-01 9.70208905e-03 -1.57901442e-02 1.10194904e+02] [-9.70648382e-03 9.99952871e-01 -2.01707413e-04 1.22114918e+00] [ 1.57874431e-02 3.54939550e-04 9.99875308e-01 1.60037738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.28925415399998 meters Centerline goodness : 0.999473 Centerline is valid? [True, True] Translation: X:110.22, Y:1.22, Z:1.60 [[ 9.99839567e-01 8.45651149e-03 -1.57901294e-02 1.10221942e+02] [-8.46076928e-03 9.99964186e-01 -2.02864826e-04 1.22016140e+00] [ 1.57878483e-02 3.36428921e-04 9.99875308e-01 1.59987650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.31925415399998 meters Centerline goodness : 0.999714 Centerline is valid? [True, True] Translation: X:110.25, Y:1.22, Z:1.60 [[ 9.99865241e-01 4.49150331e-03 -1.57900884e-02 1.10250866e+02] [-4.49531641e-03 9.99989875e-01 -2.06002250e-04 1.21813266e+00] [ 1.57890033e-02 2.76955933e-04 9.99875308e-01 1.59971494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.34925415399998 meters Centerline goodness : 0.999429 Centerline is valid? [True, True] Translation: X:110.28, Y:1.22, Z:1.60 [[ 9.99873712e-01 1.79844151e-03 -1.57900734e-02 1.10278953e+02] [-1.80193697e-03 9.99998355e-01 -2.07146724e-04 1.21721675e+00] [ 1.57896749e-02 2.35573281e-04 9.99875308e-01 1.60005297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.37925415399998 meters Centerline goodness : 0.999693 Centerline is valid? [True, True] Translation: X:110.31, Y:1.21, Z:1.60 [[ 9.99864087e-01 -4.74140817e-03 -1.57900508e-02 1.10306848e+02] [ 4.73870098e-03 9.99988750e-01 -2.08859615e-04 1.21469729e+00] [ 1.57908634e-02 1.34006900e-04 9.99875308e-01 1.60121085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.40925415399998 meters Centerline goodness : 0.999474 Centerline is valid? [True, True] Translation: X:110.33, Y:1.21, Z:1.60 [[ 9.99841425e-01 -8.23403495e-03 -1.57900275e-02 1.10334268e+02] [ 8.23173566e-03 9.99966097e-01 -2.10605577e-04 1.21344376e+00] [ 1.57912263e-02 8.05928477e-05 9.99875308e-01 1.60104955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.43925415399998 meters Centerline goodness : 0.999498 Centerline is valid? [True, True] Translation: X:110.36, Y:1.21, Z:1.60 [[ 9.99803431e-01 -1.19906127e-02 -1.57900002e-02 1.10362490e+02] [ 1.19887499e-02 9.99928110e-01 -2.12629315e-04 1.21207400e+00] [ 1.57914146e-02 2.32851549e-05 9.99875308e-01 1.60089372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.46925415399998 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:110.39, Y:1.21, Z:1.60 [[ 9.99750798e-01 -1.57803461e-02 -1.57899813e-02 1.10390089e+02] [ 1.57789339e-02 9.99875482e-01 -2.14025949e-04 1.21040962e+00] [ 1.57913926e-02 -3.51764570e-05 9.99875308e-01 1.60191937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.49925415399998 meters Centerline goodness : 0.999501 Centerline is valid? [True, True] Translation: X:110.42, Y:1.21, Z:1.60 [[ 9.99607020e-01 -2.31620942e-02 -1.57899574e-02 1.10418530e+02] [ 2.31615751e-02 9.99731711e-01 -2.15775126e-04 1.20715181e+00] [ 1.57907189e-02 -1.50029953e-04 9.99875308e-01 1.60257395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.52925415399997 meters Centerline goodness : 0.999328 Centerline is valid? [True, True] Translation: X:110.45, Y:1.21, Z:1.60 [[ 9.99518917e-01 -2.66947968e-02 -1.57899414e-02 1.10448752e+02] [ 2.66946999e-02 9.99643609e-01 -2.16939548e-04 1.20598369e+00] [ 1.57901052e-02 -2.04672565e-04 9.99875308e-01 1.60340305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.55925415399997 meters Centerline goodness : 0.999114 Centerline is valid? [True, True] Translation: X:110.48, Y:1.20, Z:1.60 [[ 9.99319293e-01 -3.33410990e-02 -1.57899414e-02 1.10479895e+02] [ 3.33418314e-02 9.99443983e-01 -2.16939548e-04 1.20282366e+00] [ 1.57883949e-02 -3.09673687e-04 9.99875308e-01 1.60409830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.58925415399997 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:110.51, Y:1.20, Z:1.60 [[ 9.99207791e-01 -3.65303730e-02 -1.57899533e-02 1.10511688e+02] [ 3.65315170e-02 9.99332478e-01 -2.16072073e-04 1.20159055e+00] [ 1.57873063e-02 -3.60930049e-04 9.99875308e-01 1.60488246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.61925415399998 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:110.54, Y:1.20, Z:1.61 [[ 9.99098124e-01 -3.94159324e-02 -1.57899692e-02 1.10543536e+02] [ 3.94174550e-02 9.99222807e-01 -2.14902942e-04 1.20014097e+00] [ 1.57861679e-02 -4.07691273e-04 9.99875308e-01 1.60505946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.64925415399998 meters Centerline goodness : 0.999485 Centerline is valid? [True, True] Translation: X:110.58, Y:1.20, Z:1.61 [[ 9.98855227e-01 -4.51543090e-02 -1.57899849e-02 1.10576083e+02] [ 4.51565662e-02 9.98979899e-01 -2.13738749e-04 1.19736126e+00] [ 1.57835288e-02 -4.99527433e-04 9.99875308e-01 1.60537948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.67925415399998 meters Centerline goodness : 0.999528 Centerline is valid? [True, True] Translation: X:110.61, Y:1.20, Z:1.61 [[ 9.98750006e-01 -4.74246904e-02 -1.57900006e-02 1.10607702e+02] [ 4.74272493e-02 9.98874672e-01 -2.12575187e-04 1.19688295e+00] [ 1.57823130e-02 -5.36566826e-04 9.99875308e-01 1.60585851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.70925415399998 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:110.64, Y:1.20, Z:1.61 [[ 9.98518470e-01 -5.20724530e-02 -1.57900275e-02 1.10640159e+02] [ 5.20756240e-02 9.98643122e-01 -2.10556591e-04 1.19686015e+00] [ 1.57795666e-02 -6.12030891e-04 9.99875308e-01 1.60629779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.73925415399998 meters Centerline goodness : 0.999377 Centerline is valid? [True, True] Translation: X:110.67, Y:1.20, Z:1.61 [[ 9.98425334e-01 -5.38286891e-02 -1.57900431e-02 1.10671345e+02] [ 5.38320978e-02 9.98549979e-01 -2.09383117e-04 1.19701149e+00] [ 1.57784180e-02 -6.40957734e-04 9.99875308e-01 1.60539499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.76925415399998 meters Centerline goodness : 0.999377 Centerline is valid? [True, True] Translation: X:110.70, Y:1.20, Z:1.61 [[ 9.98348546e-01 -5.52345388e-02 -1.57900546e-02 1.10703862e+02] [ 5.52381368e-02 9.98473187e-01 -2.08508771e-04 1.19703396e+00] [ 1.57774631e-02 -6.64048769e-04 9.99875308e-01 1.60613173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.79925415399998 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:110.74, Y:1.20, Z:1.61 [[ 9.98266727e-01 -5.66940438e-02 -1.57900699e-02 1.10735390e+02] [ 5.66978424e-02 9.98391362e-01 -2.07344702e-04 1.19708478e+00] [ 1.57764246e-02 -6.88277579e-04 9.99875308e-01 1.60550640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.82925415399998 meters Centerline goodness : 0.999379 Centerline is valid? [True, True] Translation: X:110.77, Y:1.20, Z:1.61 [[ 9.98160955e-01 -5.85267531e-02 -1.57900812e-02 1.10767518e+02] [ 5.85307942e-02 9.98285582e-01 -2.06478529e-04 1.19664743e+00] [ 1.57750950e-02 -7.18107190e-04 9.99875308e-01 1.60588110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.85925415399998 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:110.80, Y:1.20, Z:1.61 [[ 9.98119755e-01 -5.92252272e-02 -1.57900961e-02 1.10801006e+02] [ 5.92293736e-02 9.98244378e-01 -2.05333672e-04 1.19689151e+00] [ 1.57745356e-02 -7.30289909e-04 9.99875308e-01 1.60666281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.88925415399999 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:110.83, Y:1.20, Z:1.61 [[ 9.98100540e-01 -5.95481626e-02 -1.57901187e-02 1.10833064e+02] [ 5.95523770e-02 9.98225161e-01 -2.03579837e-04 1.19701764e+00] [ 1.57742166e-02 -7.37145959e-04 9.99875308e-01 1.60686793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.91925415399997 meters Centerline goodness : 0.999442 Centerline is valid? [True, True] Translation: X:110.86, Y:1.20, Z:1.60 [[ 9.98157780e-01 -5.85808592e-02 -1.57901338e-02 1.10864023e+02] [ 5.85849714e-02 9.98282405e-01 -2.02406357e-04 1.19764317e+00] [ 1.57748699e-02 -7.23031055e-04 9.99875308e-01 1.60469876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.94925415399997 meters Centerline goodness : 0.999441 Centerline is valid? [True, True] Translation: X:110.90, Y:1.20, Z:1.61 [[ 9.98223087e-01 -5.74572778e-02 -1.57901633e-02 1.10895986e+02] [ 5.74612865e-02 9.98347715e-01 -2.00073438e-04 1.19899207e+00] [ 1.57755692e-02 -7.07605175e-04 9.99875308e-01 1.60529651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.97925415399997 meters Centerline goodness : 0.999463 Centerline is valid? [True, True] Translation: X:110.93, Y:1.20, Z:1.61 [[ 9.98330372e-01 -5.55620255e-02 -1.57901776e-02 1.10928344e+02] [ 5.55658155e-02 9.98455007e-01 -1.98942666e-04 1.20050885e+00] [ 1.57768355e-02 -6.78783588e-04 9.99875308e-01 1.60636793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.00925415399998 meters Centerline goodness : 0.999483 Centerline is valid? [True, True] Translation: X:110.96, Y:1.20, Z:1.61 [[ 9.98614302e-01 -5.02010453e-02 -1.57901921e-02 1.10960385e+02] [ 5.02041843e-02 9.98738955e-01 -1.97784978e-04 1.20347519e+00] [ 1.57802090e-02 -5.95222806e-04 9.99875308e-01 1.60559660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.03925415399998 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:110.99, Y:1.21, Z:1.61 [[ 9.98793255e-01 -4.65048642e-02 -1.57902101e-02 1.10993634e+02] [ 4.65075647e-02 9.98917918e-01 -1.96340759e-04 1.20527664e+00] [ 1.57822546e-02 -5.38260389e-04 9.99875308e-01 1.60886547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.06925415399998 meters Centerline goodness : 0.999396 Centerline is valid? [True, True] Translation: X:111.03, Y:1.21, Z:1.61 [[ 9.98957175e-01 -4.28396085e-02 -1.57902315e-02 1.11026217e+02] [ 4.28418790e-02 9.99081846e-01 -1.94597732e-04 1.20750910e+00] [ 1.57840702e-02 -4.82088388e-04 9.99875308e-01 1.60984254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.09925415399998 meters Centerline goodness : 0.999481 Centerline is valid? [True, True] Translation: X:111.06, Y:1.21, Z:1.61 [[ 9.99276919e-01 -3.45876900e-02 -1.57902456e-02 1.11057503e+02] [ 3.45889489e-02 9.99401605e-01 -1.93449684e-04 1.21132648e+00] [ 1.57874878e-02 -3.52858194e-04 9.99875308e-01 1.61179471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.12925415399998 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:111.09, Y:1.21, Z:1.61 [[ 9.99412479e-01 -3.04197992e-02 -1.57902560e-02 1.11089733e+02] [ 3.04205516e-02 9.99537169e-01 -1.92594255e-04 1.21329511e+00] [ 1.57888065e-02 -2.87867195e-04 9.99875308e-01 1.61267307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.15925415399998 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:111.13, Y:1.21, Z:1.61 [[ 9.99777848e-01 -1.39614475e-02 -1.57902696e-02 1.11130330e+02] [ 1.39601646e-02 9.99902534e-01 -1.91474785e-04 1.20874592e+00] [ 1.57914039e-02 -2.90025144e-05 9.99875308e-01 1.60870294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.18925415399998 meters Centerline goodness : 0.999434 Centerline is valid? [True, True] Translation: X:111.15, Y:1.22, Z:1.61 [[ 9.99721620e-01 -1.75257744e-02 -1.57965099e-02 1.11148221e+02] [ 1.75334688e-02 9.99846216e-01 3.48718369e-04 1.21847389e+00] [ 1.57879691e-02 -6.25588906e-04 9.99875167e-01 1.61494282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.21925415399998 meters Centerline goodness : 0.999303 Centerline is valid? [True, True] Translation: X:111.19, Y:1.21, Z:1.61 [[ 9.99865215e-01 -4.49920264e-03 -1.57895304e-02 1.11190699e+02] [ 4.49659477e-03 9.99989870e-01 -2.00662885e-04 1.21156835e+00] [ 1.57902733e-02 1.29636719e-04 9.99875317e-01 1.60946309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.24925415399998 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:111.21, Y:1.22, Z:1.62 [[ 9.99829769e-01 -9.53407171e-03 -1.57966641e-02 1.11207375e+02] [ 9.54150280e-03 9.99954401e-01 3.95120186e-04 1.22247369e+00] [ 1.57921767e-02 -5.45776839e-04 9.99875147e-01 1.61625486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.27925415399997 meters Centerline goodness : 0.999586 Centerline is valid? [True, True] Translation: X:111.23, Y:1.23, Z:1.62 [[ 9.99874268e-01 -1.47200894e-03 -1.57886411e-02 1.11234731e+02] [ 1.46888329e-03 9.99998899e-01 -2.09563102e-04 1.22506842e+00] [ 1.57889322e-02 1.86345082e-04 9.99875330e-01 1.61782046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.30925415399997 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:111.26, Y:1.23, Z:1.62 [[ 9.99873952e-01 1.67342008e-03 -1.57885798e-02 1.11262944e+02] [-1.67700913e-03 9.99998571e-01 -2.14082269e-04 1.22623455e+00] [ 1.57881990e-02 2.40532877e-04 9.99875330e-01 1.61814448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.33925415399997 meters Centerline goodness : 0.999497 Centerline is valid? [True, True] Translation: X:111.29, Y:1.23, Z:1.62 [[ 9.99851921e-01 6.84535420e-03 -1.57885174e-02 1.11290753e+02] [-6.84965897e-03 9.99976517e-01 -2.18590741e-04 1.22804654e+00] [ 1.57866503e-02 3.26704331e-04 9.99875330e-01 1.61849493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.36925415399998 meters Centerline goodness : 0.999497 Centerline is valid? [True, True] Translation: X:111.32, Y:1.23, Z:1.62 [[ 9.99852630e-01 6.74108695e-03 -1.57884877e-02 1.11319198e+02] [-6.74541224e-03 9.99977225e-01 -2.20713753e-04 1.22853811e+00] [ 1.57866403e-02 3.27181084e-04 9.99875330e-01 1.61894499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.39925415399998 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:111.35, Y:1.23, Z:1.62 [[ 9.99841109e-01 8.27535487e-03 -1.57884645e-02 1.11348095e+02] [-8.27989732e-03 9.99965696e-01 -2.22359892e-04 1.22942206e+00] [ 1.57860828e-02 3.53051426e-04 9.99875330e-01 1.61994902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.42925415399998 meters Centerline goodness : 0.999563 Centerline is valid? [True, True] Translation: X:111.38, Y:1.23, Z:1.62 [[ 9.99838454e-01 8.59019575e-03 -1.57884488e-02 1.11375698e+02] [-8.59479489e-03 9.99963039e-01 -2.23466538e-04 1.22998086e+00] [ 1.57859457e-02 3.59128918e-04 9.99875330e-01 1.62035927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.45925415399998 meters Centerline goodness : 0.999432 Centerline is valid? [True, True] Translation: X:111.40, Y:1.23, Z:1.62 [[ 9.99852085e-01 6.82149780e-03 -1.57884253e-02 1.11404975e+02] [-6.82590260e-03 9.99976678e-01 -2.25117055e-04 1.22890663e+00] [ 1.57865214e-02 3.32854011e-04 9.99875330e-01 1.62135263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.48925415399998 meters Centerline goodness : 0.999498 Centerline is valid? [True, True] Translation: X:111.43, Y:1.23, Z:1.62 [[ 9.99865105e-01 4.52752022e-03 -1.57884092e-02 1.11433906e+02] [-4.53165690e-03 9.99989706e-01 -2.26241180e-04 1.22805441e+00] [ 1.57872224e-02 2.97758315e-04 9.99875330e-01 1.62218106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.51925415399998 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:111.46, Y:1.23, Z:1.62 [[ 9.99874312e-01 1.44432333e-03 -1.57883927e-02 1.11463124e+02] [-1.44809379e-03 9.99998926e-01 -2.27382976e-04 1.22675065e+00] [ 1.57880474e-02 2.50217470e-04 9.99875330e-01 1.62222735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.54925415399998 meters Centerline goodness : 0.998497 Centerline is valid? [True, True] Translation: X:111.49, Y:1.22, Z:1.62 [[ 9.99860665e-01 -5.42019325e-03 -1.57883762e-02 1.11489939e+02] [ 5.41726034e-03 9.99985300e-01 -2.28525745e-04 1.22282159e+00] [ 1.57893828e-02 1.42964159e-04 9.99875330e-01 1.61704725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.57925415399998 meters Centerline goodness : 0.996565 Centerline is valid? [True, True] Translation: X:111.52, Y:1.22, Z:1.62 [[ 9.99820641e-01 -1.04620987e-02 -1.57870340e-02 1.11518268e+02] [ 1.04583419e-02 9.99945259e-01 -3.20509028e-04 1.22118740e+00] [ 1.57895230e-02 1.55345344e-04 9.99875326e-01 1.61781540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.60925415399998 meters Centerline goodness : 0.999566 Centerline is valid? [True, True] Translation: X:111.55, Y:1.22, Z:1.62 [[ 9.99732821e-01 -1.68840999e-02 -1.57864906e-02 1.11548044e+02] [ 1.68805627e-02 9.99857449e-01 -3.57295122e-04 1.21903866e+00] [ 1.57902728e-02 9.07148155e-05 9.99875322e-01 1.62161895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.63925415399999 meters Centerline goodness : 0.999417 Centerline is valid? [True, True] Translation: X:111.58, Y:1.21, Z:1.62 [[ 9.99508360e-01 -2.70881191e-02 -1.57883455e-02 1.11576775e+02] [ 2.70878658e-02 9.99633030e-01 -2.29933315e-04 1.21431612e+00] [ 1.57887802e-02 -1.97852315e-04 9.99875330e-01 1.62130748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.66925415399997 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:111.61, Y:1.21, Z:1.62 [[ 9.99361719e-01 -3.20450147e-02 -1.57883330e-02 1.11608055e+02] [ 3.20453661e-02 9.99486389e-01 -2.30792436e-04 1.21235737e+00] [ 1.57876197e-02 -2.75297785e-04 9.99875330e-01 1.62141913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.69925415399997 meters Centerline goodness : 0.999505 Centerline is valid? [True, True] Translation: X:111.64, Y:1.21, Z:1.62 [[ 9.99204714e-01 -3.66151360e-02 -1.57883413e-02 1.11640437e+02] [ 3.66160666e-02 9.99329380e-01 -2.30224664e-04 1.21037273e+00] [ 1.57861830e-02 -3.48065385e-04 9.99875330e-01 1.62217592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.72925415399997 meters Centerline goodness : 0.999442 Centerline is valid? [True, True] Translation: X:111.67, Y:1.21, Z:1.62 [[ 9.98852909e-01 -4.52061330e-02 -1.57883580e-02 1.11672966e+02] [ 4.52081538e-02 9.98977562e-01 -2.29070965e-04 1.20637109e+00] [ 1.57825708e-02 -4.84954317e-04 9.99875330e-01 1.62185570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.75925415399998 meters Centerline goodness : 0.999337 Centerline is valid? [True, True] Translation: X:111.71, Y:1.20, Z:1.62 [[ 9.98679002e-01 -4.88976264e-02 -1.57883787e-02 1.11705806e+02] [ 4.89001306e-02 9.98803647e-01 -2.27632332e-04 1.20462033e+00] [ 1.57806210e-02 -5.44722153e-04 9.99875330e-01 1.62240139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.78925415399998 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:111.74, Y:1.20, Z:1.62 [[ 9.98320423e-01 -5.57410016e-02 -1.57884033e-02 1.11737107e+02] [ 5.57443871e-02 9.98445047e-01 -2.25914185e-04 1.20096554e+00] [ 1.57764458e-02 -6.54580123e-04 9.99875330e-01 1.62196944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.81925415399998 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:111.77, Y:1.20, Z:1.62 [[ 9.98156864e-01 -5.85969297e-02 -1.57884155e-02 1.11768803e+02] [ 5.86006852e-02 9.98281478e-01 -2.25062739e-04 1.19956130e+00] [ 1.57744707e-02 -7.00564047e-04 9.99875330e-01 1.62267071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.84925415399998 meters Centerline goodness : 0.999276 Centerline is valid? [True, True] Translation: X:111.80, Y:1.20, Z:1.62 [[ 9.98037650e-01 -6.05935217e-02 -1.57884276e-02 1.11802246e+02] [ 6.05975399e-02 9.98162255e-01 -2.24211292e-04 1.19808599e+00] [ 1.57729982e-02 -7.32968559e-04 9.99875330e-01 1.62380258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.87925415399998 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:111.83, Y:1.20, Z:1.62 [[ 9.97856030e-01 -6.35143182e-02 -1.57884524e-02 1.11833005e+02] [ 6.35187290e-02 9.97980622e-01 -2.22448645e-04 1.19613897e+00] [ 1.57706982e-02 -7.80890707e-04 9.99875330e-01 1.62399833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.90925415399998 meters Centerline goodness : 0.999256 Centerline is valid? [True, True] Translation: X:111.87, Y:1.20, Z:1.62 [[ 9.97819852e-01 -6.40801557e-02 -1.57884647e-02 1.11865473e+02] [ 6.40846509e-02 9.97944442e-01 -2.21574764e-04 1.19605288e+00] [ 1.57702091e-02 -7.90706548e-04 9.99875330e-01 1.62394416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.93925415399998 meters Centerline goodness : 0.999278 Centerline is valid? [True, True] Translation: X:111.90, Y:1.20, Z:1.62 [[ 9.97808028e-01 -6.42640137e-02 -1.57884848e-02 1.11898345e+02] [ 6.42685546e-02 9.97932615e-01 -2.20128066e-04 1.19621570e+00] [ 1.57699903e-02 -7.95057548e-04 9.99875330e-01 1.62451953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.96925415399998 meters Centerline goodness : 0.999256 Centerline is valid? [True, True] Translation: X:111.93, Y:1.20, Z:1.62 [[ 9.97806926e-01 -6.42811155e-02 -1.57885089e-02 1.11929385e+02] [ 6.42856861e-02 9.97931512e-01 -2.18385769e-04 1.19648598e+00] [ 1.57698887e-02 -7.97068295e-04 9.99875330e-01 1.62365887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.99925415399998 meters Centerline goodness : 0.999298 Centerline is valid? [True, True] Translation: X:111.96, Y:1.20, Z:1.62 [[ 9.97821215e-01 -6.40589108e-02 -1.57885397e-02 1.11961740e+02] [ 6.40634891e-02 9.97945801e-01 -2.16134631e-04 1.19702828e+00] [ 1.57699523e-02 -7.95805224e-04 9.99875330e-01 1.62309835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.02925415399997 meters Centerline goodness : 0.999381 Centerline is valid? [True, True] Translation: X:111.99, Y:1.20, Z:1.62 [[ 9.97835969e-01 -6.38286806e-02 -1.57885589e-02 1.11994970e+02] [ 6.38332525e-02 9.97960555e-01 -2.14727160e-04 1.19762014e+00] [ 1.57700647e-02 -7.93572582e-04 9.99875330e-01 1.62459050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.05925415399997 meters Centerline goodness : 0.999295 Centerline is valid? [True, True] Translation: X:112.03, Y:1.20, Z:1.62 [[ 9.97843476e-01 -6.37112147e-02 -1.57885823e-02 1.12026244e+02] [ 6.37157993e-02 9.97968061e-01 -2.12988993e-04 1.19818406e+00] [ 1.57700707e-02 -7.93452465e-04 9.99875330e-01 1.62387273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.08925415399997 meters Centerline goodness : 0.999444 Centerline is valid? [True, True] Translation: X:112.06, Y:1.20, Z:1.62 [[ 9.97853068e-01 -6.35607944e-02 -1.57885939e-02 1.12058369e+02] [ 6.35653738e-02 9.97977654e-01 -2.12128812e-04 1.19864293e+00] [ 1.57701470e-02 -7.91934487e-04 9.99875330e-01 1.62404169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.11925415399998 meters Centerline goodness : 0.999338 Centerline is valid? [True, True] Translation: X:112.09, Y:1.20, Z:1.62 [[ 9.97881171e-01 -6.31180521e-02 -1.57886092e-02 1.12091415e+02] [ 6.31225943e-02 9.98005758e-01 -2.10985645e-04 1.19926550e+00] [ 1.57704399e-02 -7.86079368e-04 9.99875330e-01 1.62425713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.14925415399998 meters Centerline goodness : 0.999380 Centerline is valid? [True, True] Translation: X:112.12, Y:1.20, Z:1.62 [[ 9.97965282e-01 -6.17738945e-02 -1.57886323e-02 1.12123124e+02] [ 6.17782964e-02 9.98089875e-01 -2.09242794e-04 1.20082241e+00] [ 1.57713997e-02 -7.66577759e-04 9.99875330e-01 1.62380116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.17925415399998 meters Centerline goodness : 0.999058 Centerline is valid? [True, True] Translation: X:112.15, Y:1.20, Z:1.62 [[ 9.98044737e-01 -6.04766227e-02 -1.57886475e-02 1.12154200e+02] [ 6.04808809e-02 9.98169334e-01 -2.08084851e-04 1.20188543e+00] [ 1.57723281e-02 -7.47233321e-04 9.99875330e-01 1.62322760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.20925415399998 meters Centerline goodness : 0.999188 Centerline is valid? [True, True] Translation: X:112.19, Y:1.20, Z:1.62 [[ 9.98287419e-01 -5.63289184e-02 -1.57886588e-02 1.12186666e+02] [ 5.63326724e-02 9.98412033e-01 -2.07222370e-04 1.20464537e+00] [ 1.57752596e-02 -6.82549862e-04 9.99875330e-01 1.62334651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.23925415399998 meters Centerline goodness : 0.999443 Centerline is valid? [True, True] Translation: X:112.22, Y:1.21, Z:1.62 [[ 9.98433924e-01 -5.36695254e-02 -1.57886736e-02 1.12219696e+02] [ 5.36729654e-02 9.98558546e-01 -2.06089804e-04 1.20648122e+00] [ 1.57769757e-02 -6.41657881e-04 9.99875330e-01 1.62392262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.26925415399998 meters Centerline goodness : 0.999378 Centerline is valid? [True, True] Translation: X:112.25, Y:1.21, Z:1.62 [[ 9.98585350e-01 -5.07741660e-02 -1.57886957e-02 1.12252074e+02] [ 5.07772715e-02 9.98709981e-01 -2.04384360e-04 1.20828922e+00] [ 1.57787054e-02 -5.97611661e-04 9.99875330e-01 1.62430632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.29925415399998 meters Centerline goodness : 0.999398 Centerline is valid? [True, True] Translation: X:112.28, Y:1.21, Z:1.63 [[ 9.98751664e-01 -4.73901927e-02 -1.57887139e-02 1.12284737e+02] [ 4.73928982e-02 9.98876305e-01 -2.02973030e-04 1.21017613e+00] [ 1.57805911e-02 -5.45553256e-04 9.99875330e-01 1.62563798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.32925415399998 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:112.32, Y:1.21, Z:1.63 [[ 9.99050530e-01 -4.06048578e-02 -1.57887356e-02 1.12315469e+02] [ 4.06067434e-02 9.99175186e-01 -2.01268494e-04 1.21444996e+00] [ 1.57838853e-02 -4.40051738e-04 9.99875330e-01 1.62790361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.35925415399998 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:112.35, Y:1.22, Z:1.63 [[ 9.99202656e-01 -3.66710811e-02 -1.57887463e-02 1.12347986e+02] [ 3.66724892e-02 9.99327318e-01 -2.00424693e-04 1.21643342e+00] [ 1.57854753e-02 -3.78747744e-04 9.99875330e-01 1.62976987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.38925415399997 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:112.38, Y:1.22, Z:1.63 [[ 9.99470028e-01 -2.84671562e-02 -1.57887604e-02 1.12380402e+02] [ 2.84675586e-02 9.99594697e-01 -1.99307889e-04 1.22056444e+00] [ 1.57880349e-02 -2.50265200e-04 9.99875330e-01 1.63347604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.41925415399997 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:112.41, Y:1.22, Z:1.63 [[ 9.99589674e-01 -2.38997465e-02 -1.57887750e-02 1.12411140e+02] [ 2.38995975e-02 9.99714344e-01 -1.98144418e-04 1.22261287e+00] [ 1.57890004e-02 -1.79282254e-04 9.99875330e-01 1.63421517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.44925415399997 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:112.44, Y:1.22, Z:1.64 [[ 9.99683420e-01 -1.95901284e-02 -1.57887864e-02 1.12441777e+02] [ 1.95894565e-02 9.99808089e-01 -1.97230879e-04 1.22453399e+00] [ 1.57896201e-02 -1.12125304e-04 9.99875330e-01 1.63538505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.47925415399997 meters Centerline goodness : 0.999523 Centerline is valid? [True, True] Translation: X:112.47, Y:1.23, Z:1.64 [[ 9.99810886e-01 -1.13536631e-02 -1.57887864e-02 1.12470845e+02] [ 1.13519640e-02 9.99935545e-01 -1.97230879e-04 1.22680246e+00] [ 1.57900080e-02 1.79598446e-05 9.99875330e-01 1.63507983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.50925415399998 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:112.50, Y:1.23, Z:1.64 [[ 9.99844035e-01 -7.91332454e-03 -1.57887827e-02 1.12498564e+02] [ 7.91119198e-03 9.99968687e-01 -1.97522800e-04 1.22813672e+00] [ 1.57898514e-02 7.25839015e-05 9.99875330e-01 1.63545135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.53925415399998 meters Centerline goodness : 0.999326 Centerline is valid? [True, True] Translation: X:112.53, Y:1.23, Z:1.64 [[ 9.99862684e-01 -5.03278628e-03 -1.57887247e-02 1.12526041e+02] [ 5.03022297e-03 9.99987328e-01 -2.02059471e-04 1.22973691e+00] [ 1.57895415e-02 1.22610920e-04 9.99875330e-01 1.63568808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.56925415399998 meters Centerline goodness : 0.999434 Centerline is valid? [True, True] Translation: X:112.55, Y:1.23, Z:1.64 [[ 9.99875050e-01 -7.75920667e-04 -1.57886640e-02 1.12553925e+02] [ 7.72753547e-04 9.99999680e-01 -2.06694363e-04 1.23221896e+00] [ 1.57888193e-02 1.94467791e-04 9.99875330e-01 1.63604173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.59925415399998 meters Centerline goodness : 0.999347 Centerline is valid? [True, True] Translation: X:112.58, Y:1.23, Z:1.64 [[ 9.99875294e-01 3.41938564e-04 -1.57886025e-02 1.12581194e+02] [-3.45317601e-04 9.99999918e-01 -2.11291757e-04 1.23300425e+00] [ 1.57885289e-02 2.16717490e-04 9.99875330e-01 1.63641322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.62925415399998 meters Centerline goodness : 0.999367 Centerline is valid? [True, True] Translation: X:112.61, Y:1.23, Z:1.64 [[ 9.99875240e-01 4.74176112e-04 -1.57885756e-02 1.12608692e+02] [-4.77603007e-04 9.99999863e-01 -2.13279176e-04 1.23337129e+00] [ 1.57884724e-02 2.20793238e-04 9.99875330e-01 1.63699709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.65925415399998 meters Centerline goodness : 0.999498 Centerline is valid? [True, True] Translation: X:112.64, Y:1.23, Z:1.64 [[ 9.99875344e-01 -1.31992948e-04 -1.57885524e-02 1.12636366e+02] [ 1.28614642e-04 9.99999969e-01 -2.14987069e-04 1.23340112e+00] [ 1.57885803e-02 2.12929630e-04 9.99875330e-01 1.63743489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.68925415399998 meters Centerline goodness : 0.999521 Centerline is valid? [True, True] Translation: X:112.66, Y:1.23, Z:1.64 [[ 9.99874674e-01 -1.16523956e-03 -1.57885291e-02 1.12663628e+02] [ 1.16196327e-03 9.99999301e-01 -2.16682734e-04 1.23311670e+00] [ 1.57887706e-02 1.98309887e-04 9.99875330e-01 1.63735831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.71925415399998 meters Centerline goodness : 0.999325 Centerline is valid? [True, True] Translation: X:112.69, Y:1.23, Z:1.64 [[ 9.99872213e-01 -2.50613536e-03 -1.57885019e-02 1.12692068e+02] [ 2.50299520e-03 9.99996844e-01 -2.18646696e-04 1.23269322e+00] [ 1.57890000e-02 1.79100211e-04 9.99875330e-01 1.63739005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.74925415399998 meters Centerline goodness : 0.999218 Centerline is valid? [True, True] Translation: X:112.72, Y:1.23, Z:1.64 [[ 9.99861010e-01 -5.35578012e-03 -1.57884786e-02 1.12720322e+02] [ 5.35296877e-03 9.99985648e-01 -2.20318620e-04 1.23120278e+00] [ 1.57894320e-02 1.35772765e-04 9.99875330e-01 1.63766473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.77925415399997 meters Centerline goodness : 0.999434 Centerline is valid? [True, True] Translation: X:112.75, Y:1.23, Z:1.64 [[ 9.99852840e-01 -6.70993329e-03 -1.57884547e-02 1.12748247e+02] [ 6.70726397e-03 9.99977481e-01 -2.22014822e-04 1.23075653e+00] [ 1.57895889e-02 1.16084817e-04 9.99875330e-01 1.63851701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.80925415399997 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:112.78, Y:1.23, Z:1.64 [[ 9.99822041e-01 -1.03252580e-02 -1.57884306e-02 1.12776636e+02] [ 1.03230125e-02 9.99946691e-01 -2.23718183e-04 1.22910610e+00] [ 1.57898989e-02 6.06942046e-05 9.99875330e-01 1.63948416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.83925415399997 meters Centerline goodness : 0.999220 Centerline is valid? [True, True] Translation: X:112.80, Y:1.23, Z:1.64 [[ 9.99798644e-01 -1.23854195e-02 -1.57884061e-02 1.12803376e+02] [ 1.23834037e-02 9.99923297e-01 -2.25435521e-04 1.22794290e+00] [ 1.57899872e-02 2.98759214e-05 9.99875330e-01 1.63955329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.86925415399998 meters Centerline goodness : 0.999567 Centerline is valid? [True, True] Translation: X:112.83, Y:1.23, Z:1.64 [[ 9.99770089e-01 -1.45084780e-02 -1.57883774e-02 1.12831079e+02] [ 1.45066955e-02 9.99894746e-01 -2.27423758e-04 1.22656418e+00] [ 1.57900152e-02 -1.66571254e-06 9.99875330e-01 1.64057443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.89925415399998 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:112.86, Y:1.22, Z:1.64 [[ 9.99706813e-01 -1.83580586e-02 -1.57883089e-02 1.12858782e+02] [ 1.83566825e-02 9.99831475e-01 -2.32084676e-04 1.22350549e+00] [ 1.57899088e-02 -5.78043425e-05 9.99875330e-01 1.64147745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.92925415399998 meters Centerline goodness : 0.999526 Centerline is valid? [True, True] Translation: X:112.89, Y:1.22, Z:1.64 [[ 9.99670578e-01 -2.02352356e-02 -1.57882833e-02 1.12887991e+02] [ 2.02340663e-02 9.99795243e-01 -2.33813975e-04 1.22189468e+00] [ 1.57897818e-02 -8.57242201e-05 9.99875330e-01 1.64206454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.95925415399998 meters Centerline goodness : 0.999484 Centerline is valid? [True, True] Translation: X:112.92, Y:1.22, Z:1.64 [[ 9.99624011e-01 -2.24180613e-02 -1.57882227e-02 1.12917240e+02] [ 2.24171007e-02 9.99748677e-01 -2.37838111e-04 1.21861670e+00] [ 1.57895866e-02 -1.16177492e-04 9.99875330e-01 1.64273820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.98925415399998 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:112.95, Y:1.22, Z:1.64 [[ 9.99619659e-01 -2.26112787e-02 -1.57882140e-02 1.12947519e+02] [ 2.26103331e-02 9.99744325e-01 -2.38415356e-04 1.21733391e+00] [ 1.57895682e-02 -1.18652100e-04 9.99875330e-01 1.64324160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.01925415399998 meters Centerline goodness : 0.999549 Centerline is valid? [True, True] Translation: X:112.98, Y:1.22, Z:1.64 [[ 9.99631628e-01 -2.20757998e-02 -1.57882140e-02 1.12977198e+02] [ 2.20747874e-02 9.99756294e-01 -2.38415356e-04 1.21590223e+00] [ 1.57896295e-02 -1.10193936e-04 9.99875330e-01 1.64360730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.04925415399998 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:113.01, Y:1.21, Z:1.64 [[ 9.99678309e-01 -1.98498601e-02 -1.57880325e-02 1.13006573e+02] [ 1.98483823e-02 9.99802970e-01 -2.50303798e-04 1.21312896e+00] [ 1.57898903e-02 -6.31436284e-05 9.99875330e-01 1.64336352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.07925415399998 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:113.03, Y:1.21, Z:1.64 [[ 9.99714777e-01 -1.79192076e-02 -1.57881533e-02 1.13034824e+02] [ 1.79176133e-02 9.99839437e-01 -2.42441392e-04 1.21213762e+00] [ 1.57899626e-02 -4.05137829e-05 9.99875330e-01 1.64316028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.10925415399998 meters Centerline goodness : 0.999271 Centerline is valid? [True, True] Translation: X:113.06, Y:1.21, Z:1.64 [[ 9.99750009e-01 -1.58320551e-02 -1.57881400e-02 1.13063422e+02] [ 1.58301869e-02 9.99874665e-01 -2.43300502e-04 1.21113589e+00] [ 1.57900132e-02 -6.68952876e-06 9.99875330e-01 1.64372840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.13925415399997 meters Centerline goodness : 0.998950 Centerline is valid? [True, True] Translation: X:113.09, Y:1.21, Z:1.64 [[ 9.99811840e-01 -1.12703280e-02 -1.57880766e-02 1.13091626e+02] [ 1.12678271e-02 9.99936485e-01 -2.47347113e-04 1.20900493e+00] [ 1.57898616e-02 6.94032533e-05 9.99875330e-01 1.64334197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.16925415399997 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:113.12, Y:1.21, Z:1.64 [[ 9.99830559e-01 -9.46518607e-03 -1.57880541e-02 1.13119500e+02] [ 9.46243762e-03 9.99955199e-01 -2.48777633e-04 1.20824557e+00] [ 1.57897015e-02 9.93420032e-05 9.99875330e-01 1.64388255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.19925415399997 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:113.15, Y:1.21, Z:1.64 [[ 9.99844078e-01 -7.90940480e-03 -1.57879802e-02 1.13147084e+02] [ 7.90638973e-03 9.99968712e-01 -2.53381246e-04 1.20757219e+00] [ 1.57894903e-02 1.28515814e-04 9.99875330e-01 1.64414856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.22925415399997 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:113.17, Y:1.21, Z:1.64 [[ 9.99856455e-01 -6.14903628e-03 -1.57879050e-02 1.13174738e+02] [ 6.14572906e-03 9.99981082e-01 -2.57987187e-04 1.20510158e+00] [ 1.57891926e-02 1.60921968e-04 9.99875330e-01 1.64423302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.25925415399998 meters Centerline goodness : 0.999188 Centerline is valid? [True, True] Translation: X:113.20, Y:1.20, Z:1.64 [[ 9.99855083e-01 -6.36853014e-03 -1.57878286e-02 1.13202689e+02] [ 6.36517784e-03 9.99979708e-01 -2.62575106e-04 1.20380044e+00] [ 1.57891805e-02 1.62044717e-04 9.99875330e-01 1.64424624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.28925415399998 meters Centerline goodness : 0.999188 Centerline is valid? [True, True] Translation: X:113.23, Y:1.20, Z:1.64 [[ 9.99853191e-01 -6.65904852e-03 -1.57877511e-02 1.13231072e+02] [ 6.65566005e-03 9.99977815e-01 -2.67159505e-04 1.20434876e+00] [ 1.57891799e-02 1.62042380e-04 9.99875330e-01 1.64469599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.31925415399998 meters Centerline goodness : 0.999210 Centerline is valid? [True, True] Translation: X:113.26, Y:1.20, Z:1.64 [[ 9.99849541e-01 -7.18644439e-03 -1.57876721e-02 1.13258521e+02] [ 7.18304924e-03 9.99974165e-01 -2.71746212e-04 1.20297603e+00] [ 1.57892171e-02 1.58301699e-04 9.99875330e-01 1.64467583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.34925415399998 meters Centerline goodness : 0.999275 Centerline is valid? [True, True] Translation: X:113.29, Y:1.20, Z:1.65 [[ 9.99835118e-01 -8.97143492e-03 -1.57876377e-02 1.13286017e+02] [ 8.96823090e-03 9.99959747e-01 -2.73732469e-04 1.20026168e+00] [ 1.57894580e-02 1.32100155e-04 9.99875330e-01 1.64527360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.37925415399998 meters Centerline goodness : 0.999085 Centerline is valid? [True, True] Translation: X:113.31, Y:1.20, Z:1.65 [[ 9.99820634e-01 -1.04619749e-02 -1.57875562e-02 1.13313872e+02] [ 1.04588837e-02 9.99945266e-01 -2.78354081e-04 1.19921459e+00] [ 1.57896042e-02 1.13183939e-04 9.99875330e-01 1.64555024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.40925415399998 meters Centerline goodness : 0.998874 Centerline is valid? [True, True] Translation: X:113.34, Y:1.20, Z:1.65 [[ 9.99783602e-01 -1.35464097e-02 -1.57874731e-02 1.13343068e+02] [ 1.35436299e-02 9.99908241e-01 -2.82988623e-04 1.19633197e+00] [ 1.57898580e-02 6.91076925e-05 9.99875330e-01 1.64564321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.43925415399998 meters Centerline goodness : 0.999320 Centerline is valid? [True, True] Translation: X:113.37, Y:1.19, Z:1.65 [[ 9.99754892e-01 -1.55213428e-02 -1.57874524e-02 1.13370833e+02] [ 1.55187910e-02 9.99879536e-01 -2.84138784e-04 1.19499201e+00] [ 1.57899608e-02 3.90669646e-05 9.99875330e-01 1.64632213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.46925415399998 meters Centerline goodness : 0.998960 Centerline is valid? [True, True] Translation: X:113.40, Y:1.19, Z:1.65 [[ 9.99718903e-01 -1.76882592e-02 -1.57873681e-02 1.13398865e+02] [ 1.76859048e-02 9.99843550e-01 -2.88748636e-04 1.19381324e+00] [ 1.57900056e-02 9.45358037e-06 9.99875330e-01 1.64675273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.49925415399998 meters Centerline goodness : 0.999154 Centerline is valid? [True, True] Translation: X:113.43, Y:1.19, Z:1.65 [[ 9.99640994e-01 -2.16482141e-02 -1.57872823e-02 1.13426299e+02] [ 2.16462804e-02 9.99765649e-01 -2.93367261e-04 1.19043787e+00] [ 1.57899334e-02 -4.84739992e-05 9.99875330e-01 1.64768385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.52925415399997 meters Centerline goodness : 0.999113 Centerline is valid? [True, True] Translation: X:113.45, Y:1.19, Z:1.65 [[ 9.99595729e-01 -2.36461587e-02 -1.57872556e-02 1.13454876e+02] [ 2.36444517e-02 9.99720387e-01 -2.94798321e-04 1.18901059e+00] [ 1.57898121e-02 -7.86018587e-05 9.99875330e-01 1.64946788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.55925415399997 meters Centerline goodness : 0.998989 Centerline is valid? [True, True] Translation: X:113.48, Y:1.19, Z:1.65 [[ 9.99530644e-01 -2.62537054e-02 -1.57871782e-02 1.13483843e+02] [ 2.62522591e-02 9.99655305e-01 -2.98882759e-04 1.18612138e+00] [ 1.57895833e-02 -1.15706616e-04 9.99875330e-01 1.65103435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.58925415399997 meters Centerline goodness : 0.999221 Centerline is valid? [True, True] Translation: X:113.51, Y:1.19, Z:1.65 [[ 9.99516167e-01 -2.67991979e-02 -1.57871618e-02 1.13513407e+02] [ 2.67978059e-02 9.99640829e-01 -2.99750230e-04 1.18519712e+00] [ 1.57895245e-02 -1.23456096e-04 9.99875330e-01 1.65182412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.61925415399998 meters Centerline goodness : 0.999179 Centerline is valid? [True, True] Translation: X:113.54, Y:1.18, Z:1.65 [[ 9.99521709e-01 -2.65917024e-02 -1.57871563e-02 1.13544408e+02] [ 2.65902800e-02 9.99646371e-01 -3.00036035e-04 1.18407814e+00] [ 1.57895520e-02 -1.19892376e-04 9.99875330e-01 1.65329209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.64925415399998 meters Centerline goodness : 0.999138 Centerline is valid? [True, True] Translation: X:113.57, Y:1.18, Z:1.65 [[ 9.99574849e-01 -2.45130046e-02 -1.57871563e-02 1.13574310e+02] [ 2.45113229e-02 9.99699507e-01 -3.00036035e-04 1.18175012e+00] [ 1.57897672e-02 -8.70556128e-05 9.99875330e-01 1.65420093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.67925415399998 meters Centerline goodness : 0.999179 Centerline is valid? [True, True] Translation: X:113.60, Y:1.18, Z:1.65 [[ 9.99604162e-01 -2.32870073e-02 -1.57871509e-02 1.13603532e+02] [ 2.32851682e-02 9.99728819e-01 -3.00323061e-04 1.18115054e+00] [ 1.57898633e-02 -6.74022814e-05 9.99875330e-01 1.65492825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.70925415399998 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:113.63, Y:1.18, Z:1.65 [[ 9.99649129e-01 -2.12693681e-02 -1.57871399e-02 1.13632975e+02] [ 2.12672684e-02 9.99773781e-01 -3.00897060e-04 1.18012651e+00] [ 1.57899685e-02 -3.49578582e-05 9.99875330e-01 1.65367018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.73925415399998 meters Centerline goodness : 0.999390 Centerline is valid? [True, True] Translation: X:113.66, Y:1.18, Z:1.66 [[ 9.99669318e-01 -2.02983264e-02 -1.57871290e-02 1.13661246e+02] [ 2.02960965e-02 9.99793968e-01 -3.01468618e-04 1.17979329e+00] [ 1.57899957e-02 -1.90481657e-05 9.99875330e-01 1.65575085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.76925415399998 meters Centerline goodness : 0.999054 Centerline is valid? [True, True] Translation: X:113.69, Y:1.18, Z:1.66 [[ 9.99714346e-01 -1.79442430e-02 -1.57870509e-02 1.13689828e+02] [ 1.79416559e-02 9.99838989e-01 -3.05504612e-04 1.17819992e+00] [ 1.57899911e-02 2.21715086e-05 9.99875330e-01 1.65533314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.79925415399998 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:113.72, Y:1.18, Z:1.66 [[ 9.99733596e-01 -1.68377373e-02 -1.57869720e-02 1.13717997e+02] [ 1.68349487e-02 9.99858234e-01 -3.09530285e-04 1.17626352e+00] [ 1.57899457e-02 4.36749612e-05 9.99875330e-01 1.65514933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.82925415399998 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:113.75, Y:1.18, Z:1.65 [[ 9.99733187e-01 -1.68620650e-02 -1.57868809e-02 1.13746099e+02] [ 1.68592071e-02 9.99857824e-01 -3.14109246e-04 1.17534425e+00] [ 1.57899329e-02 4.78711440e-05 9.99875330e-01 1.65490384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.85925415399998 meters Centerline goodness : 0.999243 Centerline is valid? [True, True] Translation: X:113.77, Y:1.17, Z:1.65 [[ 9.99725097e-01 -1.73351872e-02 -1.57867887e-02 1.13773978e+02] [ 1.73323161e-02 9.99849733e-01 -3.18677847e-04 1.17459793e+00] [ 1.57899408e-02 4.49686298e-05 9.99875330e-01 1.65480735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.88925415399997 meters Centerline goodness : 0.999222 Centerline is valid? [True, True] Translation: X:113.80, Y:1.17, Z:1.65 [[ 9.99720227e-01 -1.76138602e-02 -1.57866955e-02 1.13801248e+02] [ 1.76109521e-02 9.99844863e-01 -3.23227563e-04 1.17365546e+00] [ 1.57899397e-02 4.51183947e-05 9.99875330e-01 1.65447851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.91925415399997 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:113.83, Y:1.17, Z:1.65 [[ 9.99697308e-01 -1.88699180e-02 -1.57866549e-02 1.13829533e+02] [ 1.88671353e-02 9.99821947e-01 -3.25197468e-04 1.17084665e+00] [ 1.57899805e-02 2.72500797e-05 9.99875330e-01 1.65310085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.94925415399997 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:113.86, Y:1.17, Z:1.66 [[ 9.99664927e-01 -2.05138812e-02 -1.57865576e-02 1.13857753e+02] [ 2.05112299e-02 9.99789568e-01 -3.29856116e-04 1.17049632e+00] [ 1.57900022e-02 5.94387796e-06 9.99875330e-01 1.65519056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.97925415399997 meters Centerline goodness : 0.999287 Centerline is valid? [True, True] Translation: X:113.89, Y:1.17, Z:1.66 [[ 9.99622420e-01 -2.24900743e-02 -1.57865274e-02 1.13886664e+02] [ 2.24876467e-02 9.99747066e-01 -3.31295230e-04 1.16980345e+00] [ 1.57899853e-02 -2.38317110e-05 9.99875330e-01 1.65706814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.00925415399998 meters Centerline goodness : 0.999038 Centerline is valid? [True, True] Translation: X:113.92, Y:1.17, Z:1.66 [[ 9.99508890e-01 -2.70696850e-02 -1.57864411e-02 1.13915900e+02] [ 2.70677643e-02 9.99633545e-01 -3.35356544e-04 1.16700549e+00] [ 1.57897341e-02 -9.21118202e-05 9.99875330e-01 1.65776199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.03925415399998 meters Centerline goodness : 0.999247 Centerline is valid? [True, True] Translation: X:113.95, Y:1.17, Z:1.66 [[ 9.99452907e-01 -2.90633252e-02 -1.57863533e-02 1.13945560e+02] [ 2.90615887e-02 9.99577565e-01 -3.39439814e-04 1.16507268e+00] [ 1.57895499e-02 -1.19522398e-04 9.99875330e-01 1.65519525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.06925415399998 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:113.98, Y:1.16, Z:1.66 [[ 9.99241533e-01 -3.55970424e-02 -1.57863471e-02 1.13975001e+02] [ 3.55961164e-02 9.99366200e-01 -3.39728957e-04 1.16208687e+00] [ 1.57884350e-02 -2.22461364e-04 9.99875330e-01 1.65854844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.09925415399998 meters Centerline goodness : 0.999500 Centerline is valid? [True, True] Translation: X:114.01, Y:1.16, Z:1.66 [[ 9.99129047e-01 -3.86256302e-02 -1.57863413e-02 1.14006772e+02] [ 3.86250777e-02 9.99253715e-01 -3.39999658e-04 1.16082812e+00] [ 1.57876929e-02 -2.70045124e-04 9.99875330e-01 1.65979505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.12925415399998 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:114.04, Y:1.16, Z:1.66 [[ 9.99020495e-01 -4.13381450e-02 -1.57863528e-02 1.14037671e+02] [ 4.13379395e-02 9.99145164e-01 -3.39464046e-04 1.15968575e+00] [ 1.57868909e-02 -3.13443757e-04 9.99875330e-01 1.66160613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.15925415399998 meters Centerline goodness : 0.998979 Centerline is valid? [True, True] Translation: X:114.07, Y:1.16, Z:1.66 [[ 9.98816585e-01 -4.60024011e-02 -1.57863651e-02 1.14069295e+02] [ 4.60027868e-02 9.98941254e-01 -3.38888933e-04 1.15719564e+00] [ 1.57852411e-02 -3.87728902e-04 9.99875330e-01 1.66228792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.18925415399998 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:114.10, Y:1.16, Z:1.66 [[ 9.98745791e-01 -4.75145841e-02 -1.57863836e-02 1.14101839e+02] [ 4.75151722e-02 9.98870459e-01 -3.38027311e-04 1.15629636e+00] [ 1.57846134e-02 -4.12489380e-04 9.99875330e-01 1.66308060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.21925415399998 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:114.13, Y:1.15, Z:1.66 [[ 9.98666407e-01 -4.91548227e-02 -1.57864082e-02 1.14133761e+02] [ 4.91556337e-02 9.98791074e-01 -3.36874742e-04 1.15356908e+00] [ 1.57838826e-02 -4.39565409e-04 9.99875330e-01 1.66331979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.24925415399998 meters Centerline goodness : 0.998935 Centerline is valid? [True, True] Translation: X:114.17, Y:1.15, Z:1.66 [[ 9.98654177e-01 -4.94026719e-02 -1.57864328e-02 1.14165197e+02] [ 4.94035322e-02 9.98778844e-01 -3.35715706e-04 1.15268152e+00] [ 1.57837404e-02 -4.44641649e-04 9.99875330e-01 1.66196694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.27925415399997 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:114.20, Y:1.15, Z:1.67 [[ 9.98612107e-01 -5.02458815e-02 -1.57864511e-02 1.14196909e+02] [ 5.02468607e-02 9.98736773e-01 -3.34852145e-04 1.15279391e+00] [ 1.57833342e-02 -4.58832204e-04 9.99875330e-01 1.66501340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.30925415399997 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:114.23, Y:1.15, Z:1.67 [[ 9.98615492e-01 -5.01785523e-02 -1.57864755e-02 1.14228689e+02] [ 5.01795413e-02 9.98740158e-01 -3.33698584e-04 1.15251039e+00] [ 1.57833316e-02 -4.58921525e-04 9.99875330e-01 1.66530725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.33925415399997 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:114.26, Y:1.15, Z:1.66 [[ 9.98620765e-01 -5.00734856e-02 -1.57865000e-02 1.14260156e+02] [ 5.00744798e-02 9.98745431e-01 -3.32537415e-04 1.15214666e+00] [ 1.57833460e-02 -4.58422006e-04 9.99875330e-01 1.66427591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.36925415399998 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:114.29, Y:1.15, Z:1.66 [[ 9.98648542e-01 -4.95164183e-02 -1.57865409e-02 1.14292503e+02] [ 4.95173739e-02 9.98773208e-01 -3.30585307e-04 1.15213803e+00] [ 1.57835434e-02 -4.51569510e-04 9.99875330e-01 1.66317747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.39925415399998 meters Centerline goodness : 0.999288 Centerline is valid? [True, True] Translation: X:114.32, Y:1.15, Z:1.66 [[ 9.98628082e-01 -4.99273335e-02 -1.57865650e-02 1.14324146e+02] [ 4.99283586e-02 9.98752747e-01 -3.29427885e-04 1.15288037e+00] [ 1.57833226e-02 -4.59221341e-04 9.99875330e-01 1.66436132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.42925415399998 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:114.36, Y:1.15, Z:1.67 [[ 9.98617606e-01 -5.01364141e-02 -1.57865830e-02 1.14356161e+02] [ 5.01374789e-02 9.98742272e-01 -3.28565053e-04 1.15332586e+00] [ 1.57832008e-02 -4.63388624e-04 9.99875330e-01 1.66515270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.45925415399998 meters Centerline goodness : 0.999142 Centerline is valid? [True, True] Translation: X:114.39, Y:1.15, Z:1.67 [[ 9.98599455e-01 -5.04966577e-02 -1.57866070e-02 1.14388126e+02] [ 5.04977858e-02 9.98724119e-01 -3.27407756e-04 1.15356256e+00] [ 1.57829981e-02 -4.70239491e-04 9.99875330e-01 1.66587400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.48925415399998 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:114.42, Y:1.15, Z:1.67 [[ 9.98577816e-01 -5.09227628e-02 -1.57866311e-02 1.14419616e+02] [ 5.09239625e-02 9.98702480e-01 -3.26241159e-04 1.15390050e+00] [ 1.57827607e-02 -4.78140625e-04 9.99875330e-01 1.66639432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.51925415399998 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:114.45, Y:1.15, Z:1.67 [[ 9.98502422e-01 -5.23802759e-02 -1.57866706e-02 1.14450928e+02] [ 5.23816879e-02 9.98627084e-01 -3.24316249e-04 1.15452878e+00] [ 1.57819846e-02 -5.03101893e-04 9.99875330e-01 1.66558487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.54925415399998 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:114.48, Y:1.16, Z:1.67 [[ 9.98452062e-01 -5.33316145e-02 -1.57866882e-02 1.14482619e+02] [ 5.33331590e-02 9.98576722e-01 -3.23455806e-04 1.15537944e+00] [ 1.57814698e-02 -5.18998838e-04 9.99875330e-01 1.66785087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.57925415399998 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:114.51, Y:1.16, Z:1.67 [[ 9.98311997e-01 -5.58921801e-02 -1.57867122e-02 1.14514197e+02] [ 5.58940628e-02 9.98436653e-01 -3.22281558e-04 1.15619797e+00] [ 1.57800451e-02 -5.60645938e-04 9.99875330e-01 1.66713080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.60925415399998 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:114.55, Y:1.15, Z:1.66 [[ 9.98591972e-01 -5.06443642e-02 -1.57867300e-02 1.14551557e+02] [ 5.06456055e-02 9.98716636e-01 -3.21406162e-04 1.14863608e+00] [ 1.57827473e-02 -4.78574889e-04 9.99875330e-01 1.66317951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.63925415399997 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:114.57, Y:1.16, Z:1.67 [[ 9.98146819e-01 -5.87661424e-02 -1.57945670e-02 1.14572380e+02] [ 5.87746635e-02 9.98271272e-01 7.54462607e-05 1.15726558e+00] [ 1.57628289e-02 -1.00362681e-03 9.99875255e-01 1.66770820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.66925415399997 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:114.60, Y:1.16, Z:1.67 [[ 9.98044482e-01 -6.04814421e-02 -1.57863140e-02 1.14604268e+02] [ 6.04838513e-02 9.98169123e-01 -3.25220358e-04 1.15866766e+00] [ 1.57770810e-02 -6.30232685e-04 9.99875335e-01 1.66891288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.69925415399997 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:114.64, Y:1.16, Z:1.67 [[ 9.98023578e-01 -6.08254000e-02 -1.57863374e-02 1.14636176e+02] [ 6.08278701e-02 9.98148218e-01 -3.24082078e-04 1.16014523e+00] [ 1.57768170e-02 -6.36807724e-04 9.99875335e-01 1.66983490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.72925415399997 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:114.67, Y:1.16, Z:1.67 [[ 9.98033560e-01 -6.06613842e-02 -1.57863607e-02 1.14668240e+02] [ 6.06638518e-02 9.98158200e-01 -3.22943920e-04 1.16175431e+00] [ 1.57768756e-02 -6.35352574e-04 9.99875335e-01 1.67079562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.75925415399998 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:114.70, Y:1.16, Z:1.67 [[ 9.98124281e-01 -5.91498866e-02 -1.57863838e-02 1.14699312e+02] [ 5.91521834e-02 9.98248925e-01 -3.21807805e-04 1.16399858e+00] [ 1.57777756e-02 -6.12594887e-04 9.99875335e-01 1.67001644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.78925415399998 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:114.73, Y:1.17, Z:1.67 [[ 9.98159906e-01 -5.85456439e-02 -1.57864010e-02 1.14731339e+02] [ 5.85478786e-02 9.98284550e-01 -3.20960764e-04 1.16599234e+00] [ 1.57781111e-02 -6.03890126e-04 9.99875335e-01 1.67270930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.81925415399998 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:114.76, Y:1.17, Z:1.67 [[ 9.98227763e-01 -5.73770183e-02 -1.57864237e-02 1.14762255e+02] [ 5.73791247e-02 9.98352410e-01 -3.19843080e-04 1.16778571e+00] [ 1.57787658e-02 -5.86534933e-04 9.99875335e-01 1.67340966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.84925415399998 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:114.79, Y:1.17, Z:1.67 [[ 9.98396734e-01 -5.43576113e-02 -1.57864583e-02 1.14794679e+02] [ 5.43593678e-02 9.98521386e-01 -3.18126930e-04 1.17044586e+00] [ 1.57804088e-02 -5.40525003e-04 9.99875335e-01 1.67201114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.87925415399998 meters Centerline goodness : 0.998997 Centerline is valid? [True, True] Translation: X:114.83, Y:1.17, Z:1.67 [[ 9.98450798e-01 -5.33553342e-02 -1.57864813e-02 1.14826718e+02] [ 5.33569836e-02 9.98575451e-01 -3.16980874e-04 1.17247766e+00] [ 1.57809053e-02 -5.25829217e-04 9.99875335e-01 1.67306828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.90925415399998 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:114.86, Y:1.18, Z:1.67 [[ 9.98501721e-01 -5.23937033e-02 -1.57865046e-02 1.14857349e+02] [ 5.23952511e-02 9.98626376e-01 -3.15817570e-04 1.17549238e+00] [ 1.57813667e-02 -5.11793484e-04 9.99875335e-01 1.67477078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.93925415399998 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:114.89, Y:1.18, Z:1.67 [[ 9.98529822e-01 -5.18557776e-02 -1.57852175e-02 1.14889636e+02] [ 5.18562400e-02 9.98654488e-01 -3.80284946e-04 1.17942480e+00] [ 1.57836983e-02 -4.38836169e-04 9.99875333e-01 1.67476045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.96925415399998 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:114.92, Y:1.18, Z:1.67 [[ 9.98599768e-01 -5.04904725e-02 -1.57865478e-02 1.14918860e+02] [ 5.04918234e-02 9.98724425e-01 -3.13242144e-04 1.18126003e+00] [ 1.57822267e-02 -4.84288054e-04 9.99875336e-01 1.67374637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.99925415399998 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:114.95, Y:1.18, Z:1.67 [[ 9.98539861e-01 -5.16621931e-02 -1.57849197e-02 1.14952023e+02] [ 5.16624039e-02 9.98664528e-01 -3.94688670e-04 1.18275443e+00] [ 1.57842299e-02 -4.21374527e-04 9.99875332e-01 1.67481340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.02925415399997 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:114.98, Y:1.19, Z:1.68 [[ 9.98525371e-01 -5.19410110e-02 -1.57865473e-02 1.14982970e+02] [ 5.19425553e-02 9.98650025e-01 -3.12459225e-04 1.18522926e+00] [ 1.57814653e-02 -5.07995142e-04 9.99875336e-01 1.67502554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.05925415399997 meters Centerline goodness : 0.999267 Centerline is valid? [True, True] Translation: X:115.02, Y:1.19, Z:1.68 [[ 9.98515729e-01 -5.21260247e-02 -1.57865637e-02 1.15015148e+02] [ 5.21276052e-02 9.98640384e-01 -3.11629096e-04 1.18708409e+00] [ 1.57813440e-02 -5.11749205e-04 9.99875336e-01 1.67674306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.08925415399997 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:115.05, Y:1.19, Z:1.68 [[ 9.98521193e-01 -5.20212493e-02 -1.57865864e-02 1.15047068e+02] [ 5.20228350e-02 9.98645847e-01 -3.10472794e-04 1.18893580e+00] [ 1.57813602e-02 -5.11249316e-04 9.99875336e-01 1.67766383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.11925415399998 meters Centerline goodness : 0.998993 Centerline is valid? [True, True] Translation: X:115.08, Y:1.19, Z:1.68 [[ 9.98559555e-01 -5.12796059e-02 -1.57866092e-02 1.15079251e+02] [ 5.12811174e-02 9.98684210e-01 -3.09310115e-04 1.19231416e+00] [ 1.57816986e-02 -5.00690389e-04 9.99875336e-01 1.67951700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.14925415399998 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:115.11, Y:1.19, Z:1.68 [[ 9.98604098e-01 -5.04047296e-02 -1.57866322e-02 1.15110014e+02] [ 5.04061505e-02 9.98728754e-01 -3.08134069e-04 1.19439245e+00] [ 1.57820949e-02 -4.88039412e-04 9.99875336e-01 1.68042906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.17925415399998 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:115.14, Y:1.19, Z:1.68 [[ 9.98607771e-01 -5.03319179e-02 -1.57866492e-02 1.15142694e+02] [ 5.03333435e-02 9.98732427e-01 -3.07258299e-04 1.19496848e+00] [ 1.57821034e-02 -4.87764313e-04 9.99875336e-01 1.68094498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.20925415399998 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:115.17, Y:1.20, Z:1.68 [[ 9.98654473e-01 -4.93966092e-02 -1.57866715e-02 1.15174437e+02] [ 4.93979362e-02 9.98779130e-01 -3.06107315e-04 1.19700831e+00] [ 1.57825187e-02 -4.74133553e-04 9.99875336e-01 1.68225754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.23925415399998 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:115.21, Y:1.20, Z:1.68 [[ 9.98753459e-01 -4.73530148e-02 -1.57866937e-02 1.15205197e+02] [ 4.73541048e-02 9.98878119e-01 -3.04961117e-04 1.19967865e+00] [ 1.57834237e-02 -4.42983776e-04 9.99875336e-01 1.68353840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.26925415399998 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:115.24, Y:1.20, Z:1.68 [[ 9.98800566e-01 -4.63487800e-02 -1.57867101e-02 1.15236957e+02] [ 4.63497582e-02 9.98925226e-01 -3.04106603e-04 1.20125370e+00] [ 1.57838380e-02 -4.27968351e-04 9.99875336e-01 1.68411236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.29925415399998 meters Centerline goodness : 0.999350 Centerline is valid? [True, True] Translation: X:115.27, Y:1.20, Z:1.68 [[ 9.98906611e-01 -4.40041064e-02 -1.57867318e-02 1.15268334e+02] [ 4.40048098e-02 9.99031273e-01 -3.02979283e-04 1.20444608e+00] [ 1.57847711e-02 -3.92044119e-04 9.99875336e-01 1.68316909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.32925415399998 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:115.30, Y:1.21, Z:1.69 [[ 9.98938489e-01 -4.32746514e-02 -1.57860563e-02 1.15299229e+02] [ 4.32747059e-02 9.99063154e-01 -3.38298947e-04 1.20640060e+00] [ 1.57859070e-02 -3.45197106e-04 9.99875335e-01 1.68500449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.35925415399998 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:115.33, Y:1.21, Z:1.68 [[ 9.99155457e-01 -3.79361459e-02 -1.57867667e-02 1.15332818e+02] [ 3.79361226e-02 9.99280121e-01 -3.01049481e-04 1.20520434e+00] [ 1.57868228e-02 -2.98093484e-04 9.99875336e-01 1.68209811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.38925415399997 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:115.36, Y:1.21, Z:1.69 [[ 9.99070142e-01 -4.01192359e-02 -1.57891930e-02 1.15360869e+02] [ 4.01215200e-02 9.99194793e-01 -1.72203002e-04 1.21034755e+00] [ 1.57833881e-02 -4.61443544e-04 9.99875328e-01 1.68636836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.41925415399997 meters Centerline goodness : 0.999076 Centerline is valid? [True, True] Translation: X:115.39, Y:1.21, Z:1.69 [[ 9.99190708e-01 -3.69960464e-02 -1.57867712e-02 1.15393432e+02] [ 3.69959262e-02 9.99315371e-01 -2.99755407e-04 1.21273244e+00] [ 1.57870529e-02 -2.84533404e-04 9.99875336e-01 1.68717978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.44925415399997 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:115.43, Y:1.21, Z:1.69 [[ 9.99249012e-01 -3.53862957e-02 -1.57867934e-02 1.15425083e+02] [ 3.53859932e-02 9.99373675e-01 -2.98581152e-04 1.21395260e+00] [ 1.57874714e-02 -2.60274442e-04 9.99875336e-01 1.68783290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.47925415399997 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:115.46, Y:1.22, Z:1.69 [[ 9.99331583e-01 -3.29721612e-02 -1.57868044e-02 1.15456508e+02] [ 3.29715667e-02 9.99456246e-01 -2.97999610e-04 1.21584330e+00] [ 1.57880459e-02 -2.22715251e-04 9.99875336e-01 1.68883834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.50925415399998 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:115.49, Y:1.22, Z:1.69 [[ 9.99356608e-01 -3.22047629e-02 -1.57868153e-02 1.15486912e+02] [ 3.22040819e-02 9.99481270e-01 -2.97418319e-04 1.21687129e+00] [ 1.57882045e-02 -2.11172931e-04 9.99875336e-01 1.68902070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.53925415399998 meters Centerline goodness : 0.999012 Centerline is valid? [True, True] Translation: X:115.52, Y:1.22, Z:1.69 [[ 9.99366453e-01 -3.18978041e-02 -1.57868207e-02 1.15518089e+02] [ 3.18970893e-02 9.99491114e-01 -2.97130027e-04 1.21758277e+00] [ 1.57882649e-02 -2.06611850e-04 9.99875336e-01 1.68945824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.56925415399998 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:115.55, Y:1.22, Z:1.69 [[ 9.99351780e-01 -3.23542134e-02 -1.57868315e-02 1.15548308e+02] [ 3.23535646e-02 9.99476442e-01 -2.96554957e-04 1.21829231e+00] [ 1.57881610e-02 -2.14397551e-04 9.99875336e-01 1.68944554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.59925415399998 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:115.58, Y:1.21, Z:1.69 [[ 9.99444372e-01 -2.93551178e-02 -1.57868369e-02 1.15580436e+02] [ 2.93540995e-02 9.99569032e-01 -2.96269603e-04 1.21482869e+00] [ 1.57887303e-02 -1.67303394e-04 9.99875336e-01 1.68664010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.62925415399998 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:115.61, Y:1.22, Z:1.69 [[ 9.99272266e-01 -3.47220400e-02 -1.57898347e-02 1.15607069e+02] [ 3.47242450e-02 9.99396923e-01 -1.34576153e-04 1.21843363e+00] [ 1.57849850e-02 -4.13811871e-04 9.99875324e-01 1.69021861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.65925415399998 meters Centerline goodness : 0.999369 Centerline is valid? [True, True] Translation: X:115.64, Y:1.22, Z:1.69 [[ 9.99090423e-01 -3.96123415e-02 -1.57857266e-02 1.15639668e+02] [ 3.96117467e-02 9.99215085e-01 -3.50469990e-04 1.21735276e+00] [ 1.57872191e-02 -2.75148992e-04 9.99875336e-01 1.69019426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.68925415399998 meters Centerline goodness : 0.999096 Centerline is valid? [True, True] Translation: X:115.67, Y:1.22, Z:1.69 [[ 9.99011960e-01 -4.15437550e-02 -1.57867195e-02 1.15671487e+02] [ 4.15442324e-02 9.99136621e-01 -2.97840103e-04 1.21690807e+00] [ 1.57854630e-02 -3.58301321e-04 9.99875338e-01 1.68963794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.71925415399998 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:115.70, Y:1.22, Z:1.69 [[ 9.98907234e-01 -4.39899503e-02 -1.57867416e-02 1.15702827e+02] [ 4.39907516e-02 9.99031894e-01 -2.96665720e-04 1.21718763e+00] [ 1.57845087e-02 -3.98129095e-04 9.99875338e-01 1.69109569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.74925415399997 meters Centerline goodness : 0.998867 Centerline is valid? [True, True] Translation: X:115.73, Y:1.22, Z:1.69 [[ 9.98682154e-01 -4.88337267e-02 -1.57867580e-02 1.15734192e+02] [ 4.88351464e-02 9.98806809e-01 -2.95790700e-04 1.21685955e+00] [ 1.57823659e-02 -4.75547744e-04 9.99875338e-01 1.69199693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.77925415399997 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:115.77, Y:1.22, Z:1.69 [[ 9.98580874e-01 -5.08627225e-02 -1.57867741e-02 1.15765909e+02] [ 5.08644090e-02 9.98705525e-01 -2.94930715e-04 1.21672975e+00] [ 1.57813395e-02 -5.08472762e-04 9.99875338e-01 1.69278935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.80925415399997 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:115.80, Y:1.22, Z:1.69 [[ 9.98388427e-01 -5.45098738e-02 -1.57867954e-02 1.15797549e+02] [ 5.45120336e-02 9.98513070e-01 -2.93784636e-04 1.21568094e+00] [ 1.57793357e-02 -5.67259141e-04 9.99875338e-01 1.69351395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.83925415399997 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:115.83, Y:1.22, Z:1.69 [[ 9.98320124e-01 -5.57468158e-02 -1.57868112e-02 1.15829350e+02] [ 5.57491436e-02 9.98444764e-01 -2.92930571e-04 1.21553873e+00] [ 1.57785890e-02 -5.87662723e-04 9.99875338e-01 1.69402213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.86925415399998 meters Centerline goodness : 0.999079 Centerline is valid? [True, True] Translation: X:115.86, Y:1.22, Z:1.69 [[ 9.98293609e-01 -5.62196181e-02 -1.57868326e-02 1.15860095e+02] [ 5.62220232e-02 9.98418249e-01 -2.91773258e-04 1.21547772e+00] [ 1.57782652e-02 -5.96292291e-04 9.99875338e-01 1.69445310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.89925415399998 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:115.89, Y:1.22, Z:1.70 [[ 9.98321516e-01 -5.57218641e-02 -1.57868676e-02 1.15892257e+02] [ 5.57242372e-02 9.98446155e-01 -2.89866966e-04 1.21611956e+00] [ 1.57784892e-02 -5.90330728e-04 9.99875338e-01 1.69509064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.92925415399998 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:115.92, Y:1.22, Z:1.70 [[ 9.98389493e-01 -5.44903147e-02 -1.57868890e-02 1.15924561e+02] [ 5.44925524e-02 9.98514135e-01 -2.88699714e-04 1.21669133e+00] [ 1.57791631e-02 -5.72033114e-04 9.99875338e-01 1.69555173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.95925415399998 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:115.96, Y:1.22, Z:1.70 [[ 9.98458639e-01 -5.32082600e-02 -1.57869101e-02 1.15955970e+02] [ 5.32103560e-02 9.98583284e-01 -2.87538015e-04 1.21761479e+00] [ 1.57798440e-02 -5.52932294e-04 9.99875338e-01 1.69559007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.98925415399998 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:115.99, Y:1.22, Z:1.70 [[ 9.98555938e-01 -5.13498933e-02 -1.57869259e-02 1.15986764e+02] [ 5.13517710e-02 9.98680586e-01 -2.86671917e-04 1.21852603e+00] [ 1.57808170e-02 -5.24428657e-04 9.99875338e-01 1.69580255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.01925415399998 meters Centerline goodness : 0.999159 Centerline is valid? [True, True] Translation: X:116.02, Y:1.22, Z:1.70 [[ 9.98777017e-01 -4.68534183e-02 -1.57869411e-02 1.16018575e+02] [ 4.68547480e-02 9.98901672e-01 -2.85831642e-04 1.22033980e+00] [ 1.57829940e-02 -4.54211072e-04 9.99875338e-01 1.69730781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.04925415399998 meters Centerline goodness : 0.999432 Centerline is valid? [True, True] Translation: X:116.05, Y:1.22, Z:1.70 [[ 9.98892170e-01 -4.43306208e-02 -1.57869625e-02 1.16050530e+02] [ 4.43316544e-02 9.99016828e-01 -2.84643878e-04 1.22163023e+00] [ 1.57840596e-02 -4.15533625e-04 9.99875338e-01 1.69796390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.07925415399998 meters Centerline goodness : 0.999222 Centerline is valid? [True, True] Translation: X:116.08, Y:1.22, Z:1.70 [[ 9.99076547e-01 -3.99602750e-02 -1.57869837e-02 1.16081380e+02] [ 3.99607820e-02 9.99201209e-01 -2.83461594e-04 1.22420965e+00] [ 1.57857004e-02 -3.47660384e-04 9.99875338e-01 1.69835984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.10925415399998 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:116.11, Y:1.23, Z:1.70 [[ 9.99153891e-01 -3.79772762e-02 -1.57869995e-02 1.16113181e+02] [ 3.79775496e-02 9.99278553e-01 -2.82580828e-04 1.22553342e+00] [ 1.57863417e-02 -3.17209823e-04 9.99875338e-01 1.69909407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.13925415399997 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:116.15, Y:1.23, Z:1.70 [[ 9.99213082e-01 -3.63866152e-02 -1.57870202e-02 1.16145628e+02] [ 3.63867086e-02 9.99337745e-01 -2.81416853e-04 1.22686745e+00] [ 1.57868050e-02 -2.93242304e-04 9.99875338e-01 1.69941725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.16925415399997 meters Centerline goodness : 0.999368 Centerline is valid? [True, True] Translation: X:116.18, Y:1.23, Z:1.70 [[ 9.99279373e-01 -3.45181695e-02 -1.57870408e-02 1.16177096e+02] [ 3.45180481e-02 9.99404035e-01 -2.80256146e-04 1.22920544e+00] [ 1.57873063e-02 -2.64883650e-04 9.99875338e-01 1.69894216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.19925415399997 meters Centerline goodness : 0.999179 Centerline is valid? [True, True] Translation: X:116.21, Y:1.23, Z:1.70 [[ 9.99281249e-01 -3.44638212e-02 -1.57870510e-02 1.16208334e+02] [ 3.44637021e-02 9.99405911e-01 -2.79681008e-04 1.23095972e+00] [ 1.57873110e-02 -2.64600237e-04 9.99875338e-01 1.69920913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.22925415399997 meters Centerline goodness : 0.999179 Centerline is valid? [True, True] Translation: X:116.24, Y:1.23, Z:1.70 [[ 9.99251008e-01 -3.53297520e-02 -1.57870613e-02 1.16238850e+02] [ 3.53297501e-02 9.99375671e-01 -2.79101028e-04 1.23311541e+00] [ 1.57870655e-02 -2.78860947e-04 9.99875338e-01 1.69799853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.25925415399998 meters Centerline goodness : 0.999199 Centerline is valid? [True, True] Translation: X:116.27, Y:1.23, Z:1.70 [[ 9.99297186e-01 -3.39985575e-02 -1.57870788e-02 1.16271142e+02] [ 3.39984053e-02 9.99421848e-01 -2.78107451e-04 1.23199501e+00] [ 1.57874067e-02 -2.58823509e-04 9.99875338e-01 1.69934605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.28925415399998 meters Centerline goodness : 0.999345 Centerline is valid? [True, True] Translation: X:116.30, Y:1.24, Z:1.70 [[ 9.99144890e-01 -3.82126019e-02 -1.57887624e-02 1.16300050e+02] [ 3.82144881e-02 9.99269543e-01 -1.82326764e-04 1.23544470e+00] [ 1.57841965e-02 -4.21188616e-04 9.99875333e-01 1.69929046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.31925415399998 meters Centerline goodness : 0.998926 Centerline is valid? [True, True] Translation: X:116.35, Y:1.22, Z:1.69 [[ 9.99401283e-01 -3.07870609e-02 -1.57870746e-02 1.16347952e+02] [ 3.07865077e-02 9.99525944e-01 -2.78131426e-04 1.22393290e+00] [ 1.57881535e-02 -2.08063989e-04 9.99875338e-01 1.69193012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.34925415399998 meters Centerline goodness : 0.999114 Centerline is valid? [True, True] Translation: X:116.36, Y:1.24, Z:1.70 [[ 9.98828444e-01 -4.57393249e-02 -1.58004565e-02 1.16358510e+02] [ 4.57534877e-02 9.98952617e-01 5.35846398e-04 1.23867326e+00] [ 1.57593982e-02 -1.25814462e-03 9.99875021e-01 1.70022287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.37925415399998 meters Centerline goodness : 0.998967 Centerline is valid? [True, True] Translation: X:116.39, Y:1.24, Z:1.70 [[ 9.98541218e-01 -5.16358226e-02 -1.57853702e-02 1.16390573e+02] [ 5.16377006e-02 9.98665842e-01 -2.88863547e-04 1.24095816e+00] [ 1.57792257e-02 -5.26678061e-04 9.99875362e-01 1.70181715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.40925415399998 meters Centerline goodness : 0.998946 Centerline is valid? [True, True] Translation: X:116.42, Y:1.24, Z:1.70 [[ 9.98367341e-01 -5.48951240e-02 -1.57853910e-02 1.16422890e+02] [ 5.48974268e-02 9.98491958e-01 -2.87722192e-04 1.24214060e+00] [ 1.57773805e-02 -5.79324906e-04 9.99875362e-01 1.70327088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.43925415399998 meters Centerline goodness : 0.999113 Centerline is valid? [True, True] Translation: X:116.46, Y:1.23, Z:1.70 [[ 9.98579082e-01 -5.08983174e-02 -1.57854124e-02 1.16462245e+02] [ 5.09001400e-02 9.98703707e-01 -2.86541331e-04 1.23479630e+00] [ 1.57795344e-02 -5.17345523e-04 9.99875362e-01 1.69885230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.46925415399998 meters Centerline goodness : 0.999137 Centerline is valid? [True, True] Translation: X:116.48, Y:1.25, Z:1.70 [[ 9.97741071e-01 -6.52938842e-02 -1.57943968e-02 1.16481168e+02] [ 6.53055848e-02 9.97865286e-01 2.25629800e-04 1.24511794e+00] [ 1.57459480e-02 -1.25658244e-03 9.99875235e-01 1.70450724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.49925415399997 meters Centerline goodness : 0.999241 Centerline is valid? [True, True] Translation: X:116.51, Y:1.25, Z:1.70 [[ 9.97570478e-01 -6.78526658e-02 -1.57847082e-02 1.16513456e+02] [ 6.78564831e-02 9.97695049e-01 -2.94238243e-04 1.24704052e+00] [ 1.57682901e-02 -7.77571400e-04 9.99875370e-01 1.70474308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.52925415399997 meters Centerline goodness : 0.999007 Centerline is valid? [True, True] Translation: X:116.55, Y:1.25, Z:1.71 [[ 9.97379764e-01 -7.06006263e-02 -1.57847616e-02 1.16546089e+02] [ 7.06048324e-02 9.97504322e-01 -2.91347064e-04 1.24901793e+00] [ 1.57659372e-02 -8.23896779e-04 9.99875370e-01 1.70603293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.55925415399997 meters Centerline goodness : 0.999050 Centerline is valid? [True, True] Translation: X:116.58, Y:1.25, Z:1.71 [[ 9.97126376e-01 -7.40933852e-02 -1.57847941e-02 1.16578372e+02] [ 7.40980554e-02 9.97250918e-01 -2.89574749e-04 1.25237582e+00] [ 1.57628560e-02 -8.80879927e-04 9.99875370e-01 1.70600766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.58925415399997 meters Centerline goodness : 0.998925 Centerline is valid? [True, True] Translation: X:116.61, Y:1.25, Z:1.71 [[ 9.97037399e-01 -7.52812356e-02 -1.57848472e-02 1.16611500e+02] [ 7.52861004e-02 9.97161933e-01 -2.86650826e-04 1.25440074e+00] [ 1.57616282e-02 -9.02577996e-04 9.99875370e-01 1.70665417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.61925415399998 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:116.64, Y:1.26, Z:1.71 [[ 9.96978475e-01 -7.60576005e-02 -1.57848787e-02 1.16644895e+02] [ 7.60625898e-02 9.97103004e-01 -2.84902518e-04 1.25652087e+00] [ 1.57608190e-02 -9.16597079e-04 9.99875370e-01 1.70773803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.64925415399998 meters Centerline goodness : 0.999113 Centerline is valid? [True, True] Translation: X:116.68, Y:1.26, Z:1.71 [[ 9.96907877e-01 -7.69774111e-02 -1.57849103e-02 1.16676465e+02] [ 7.69825432e-02 9.97032401e-01 -2.83140054e-04 1.26006914e+00] [ 1.57598624e-02 -9.32897993e-04 9.99875370e-01 1.70787029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.67925415399998 meters Centerline goodness : 0.998943 Centerline is valid? [True, True] Translation: X:116.71, Y:1.26, Z:1.71 [[ 9.96906142e-01 -7.69998579e-02 -1.57849871e-02 1.16709044e+02] [ 7.70050613e-02 9.97030663e-01 -2.78794875e-04 1.26194969e+00] [ 1.57595833e-02 -9.37591575e-04 9.99875370e-01 1.70814077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.70925415399998 meters Centerline goodness : 0.998944 Centerline is valid? [True, True] Translation: X:116.74, Y:1.26, Z:1.71 [[ 9.96890711e-01 -7.71993766e-02 -1.57850176e-02 1.16742531e+02] [ 7.72046323e-02 9.97015230e-01 -2.77057307e-04 1.26439525e+00] [ 1.57592916e-02 -9.42480623e-04 9.99875370e-01 1.70869808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.73925415399998 meters Centerline goodness : 0.999217 Centerline is valid? [True, True] Translation: X:116.77, Y:1.27, Z:1.71 [[ 9.96947081e-01 -7.64679643e-02 -1.57850477e-02 1.16774576e+02] [ 7.64731559e-02 9.97071603e-01 -2.75331826e-04 1.26863138e+00] [ 1.57598769e-02 -9.32641153e-04 9.99875370e-01 1.70787665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.76925415399998 meters Centerline goodness : 0.999091 Centerline is valid? [True, True] Translation: X:116.81, Y:1.27, Z:1.71 [[ 9.96997144e-01 -7.58124484e-02 -1.57850676e-02 1.16807264e+02] [ 7.58175763e-02 9.97121668e-01 -2.74184281e-04 1.27083933e+00] [ 1.57604195e-02 -9.23424623e-04 9.99875370e-01 1.70775591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.79925415399998 meters Centerline goodness : 0.999067 Centerline is valid? [True, True] Translation: X:116.84, Y:1.28, Z:1.71 [[ 9.97176754e-01 -7.34122039e-02 -1.57850979e-02 1.16837961e+02] [ 7.34170596e-02 9.97301289e-01 -2.72431971e-04 1.27548205e+00] [ 1.57624983e-02 -8.87232643e-04 9.99875370e-01 1.70634456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.82925415399998 meters Centerline goodness : 0.999342 Centerline is valid? [True, True] Translation: X:116.87, Y:1.28, Z:1.71 [[ 9.97289741e-01 -7.18609873e-02 -1.57851370e-02 1.16870337e+02] [ 7.18656853e-02 9.97414282e-01 -2.70147669e-04 1.27869250e+00] [ 1.57637341e-02 -8.64994186e-04 9.99875370e-01 1.70687020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.85925415399998 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:116.90, Y:1.28, Z:1.71 [[ 9.97396427e-01 -7.03647332e-02 -1.57851607e-02 1.16903569e+02] [ 7.03692663e-02 9.97520974e-01 -2.68755667e-04 1.28214346e+00] [ 1.57649398e-02 -8.42734233e-04 9.99875370e-01 1.70898110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.88925415399997 meters Centerline goodness : 0.999127 Centerline is valid? [True, True] Translation: X:116.93, Y:1.29, Z:1.71 [[ 9.97619261e-01 -6.71314998e-02 -1.57851905e-02 1.16934865e+02] [ 6.71356571e-02 9.97743821e-01 -2.66994147e-04 1.28831572e+00] [ 1.57675000e-02 -7.93390629e-04 9.99875370e-01 1.71022068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.91925415399997 meters Centerline goodness : 0.999424 Centerline is valid? [True, True] Translation: X:116.97, Y:1.29, Z:1.71 [[ 9.97736894e-01 -6.53599088e-02 -1.57852051e-02 1.16967276e+02] [ 6.53638586e-02 9.97861461e-01 -2.66122902e-04 1.29148846e+00] [ 1.57688416e-02 -7.66261279e-04 9.99875370e-01 1.71155309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.94925415399997 meters Centerline goodness : 0.999232 Centerline is valid? [True, True] Translation: X:117.00, Y:1.30, Z:1.71 [[ 9.97942501e-01 -6.21417038e-02 -1.57852243e-02 1.16999059e+02] [ 6.21452699e-02 9.98067080e-01 -2.64980106e-04 1.29744703e+00] [ 1.57711791e-02 -7.16542116e-04 9.99875370e-01 1.71380887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.97925415399997 meters Centerline goodness : 0.999636 Centerline is valid? [True, True] Translation: X:117.03, Y:1.30, Z:1.72 [[ 9.98025914e-01 -6.07873394e-02 -1.57852433e-02 1.17030847e+02] [ 6.07907543e-02 9.98150497e-01 -2.63842510e-04 1.30020601e+00] [ 1.57720868e-02 -6.96275188e-04 9.99875370e-01 1.71500049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.00925415399998 meters Centerline goodness : 0.999529 Centerline is valid? [True, True] Translation: X:117.06, Y:1.30, Z:1.72 [[ 9.98106903e-01 -5.94427094e-02 -1.57852622e-02 1.17062555e+02] [ 5.94459744e-02 9.98231490e-01 -2.62710542e-04 1.30257295e+00] [ 1.57729620e-02 -6.76157086e-04 9.99875370e-01 1.71641303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.03925415399998 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:117.09, Y:1.31, Z:1.72 [[ 9.98233654e-01 -5.72747491e-02 -1.57852814e-02 1.17094890e+02] [ 5.72777618e-02 9.98358247e-01 -2.61549964e-04 1.30667665e+00] [ 1.57743461e-02 -6.43057612e-04 9.99875370e-01 1.71718415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.06925415399998 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:117.13, Y:1.31, Z:1.72 [[ 9.98274395e-01 -5.65602028e-02 -1.57853286e-02 1.17127302e+02] [ 5.65631718e-02 9.98398989e-01 -2.58670767e-04 1.30861663e+00] [ 1.57746866e-02 -6.34643851e-04 9.99875370e-01 1.71684095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.09925415399998 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:117.16, Y:1.31, Z:1.72 [[ 9.98280454e-01 -5.64531439e-02 -1.57853519e-02 1.17160838e+02] [ 5.64561221e-02 9.98405048e-01 -2.57240976e-04 1.30906942e+00] [ 1.57746971e-02 -6.34381114e-04 9.99875370e-01 1.71737002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.12925415399998 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:117.19, Y:1.31, Z:1.72 [[ 9.98305764e-01 -5.60037736e-02 -1.57853793e-02 1.17192830e+02] [ 5.60067224e-02 9.98430359e-01 -2.55548239e-04 1.31082277e+00] [ 1.57749136e-02 -6.28972076e-04 9.99875370e-01 1.71745881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.15925415399998 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:117.22, Y:1.31, Z:1.72 [[ 9.98317551e-01 -5.57932591e-02 -1.57853976e-02 1.17224112e+02] [ 5.57961996e-02 9.98442146e-01 -2.54412674e-04 1.31407687e+00] [ 1.57750008e-02 -6.26780557e-04 9.99875370e-01 1.71661292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.18925415399998 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:117.26, Y:1.32, Z:1.72 [[ 9.98319508e-01 -5.57582355e-02 -1.57854112e-02 1.17255234e+02] [ 5.57611850e-02 9.98444103e-01 -2.53566395e-04 1.31609547e+00] [ 1.57749891e-02 -6.27072955e-04 9.99875370e-01 1.71608254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.21925415399998 meters Centerline goodness : 0.999611 Centerline is valid? [True, True] Translation: X:117.29, Y:1.32, Z:1.72 [[ 9.98292171e-01 -5.62455367e-02 -1.57854464e-02 1.17287125e+02] [ 5.62485819e-02 9.98416764e-01 -2.51355371e-04 1.31959772e+00] [ 1.57745919e-02 -6.36982875e-04 9.99875370e-01 1.71650980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.24925415399997 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:117.32, Y:1.32, Z:1.72 [[ 9.98283963e-01 -5.63910294e-02 -1.57854650e-02 1.17319147e+02] [ 5.63941113e-02 9.98408554e-01 -2.50182238e-04 1.32125424e+00] [ 1.57744513e-02 -6.40454352e-04 9.99875370e-01 1.71651444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.27925415399997 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:117.35, Y:1.32, Z:1.72 [[ 9.98295910e-01 -5.61791226e-02 -1.57855105e-02 1.17351751e+02] [ 5.61822238e-02 9.98420501e-01 -2.47278735e-04 1.32299283e+00] [ 1.57744692e-02 -6.40007733e-04 9.99875370e-01 1.71686251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.30925415399997 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:117.38, Y:1.32, Z:1.72 [[ 9.98327960e-01 -5.56066554e-02 -1.57855374e-02 1.17384314e+02] [ 5.56097126e-02 9.98452552e-01 -2.45548917e-04 1.32481345e+00] [ 1.57747642e-02 -6.32690847e-04 9.99875370e-01 1.71833731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.33925415399997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.42, Y:1.33, Z:1.72 [[ 9.98403430e-01 -5.42347339e-02 -1.57855556e-02 1.17415103e+02] [ 5.42376384e-02 9.98528026e-01 -2.44371924e-04 1.32838153e+00] [ 1.57755731e-02 -6.12189489e-04 9.99875370e-01 1.71965634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.36925415399998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:117.45, Y:1.33, Z:1.72 [[ 9.98448284e-01 -5.34026142e-02 -1.57855691e-02 1.17447720e+02] [ 5.34054287e-02 9.98572882e-01 -2.43495354e-04 1.33056127e+00] [ 1.57760445e-02 -5.99917568e-04 9.99875370e-01 1.72123307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.39925415399998 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:117.48, Y:1.33, Z:1.72 [[ 9.98499477e-01 -5.24367253e-02 -1.57855866e-02 1.17480166e+02] [ 5.24394372e-02 9.98624077e-01 -2.42357252e-04 1.33262986e+00] [ 1.57765753e-02 -5.85793688e-04 9.99875370e-01 1.72254088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.42925415399998 meters Centerline goodness : 0.999651 Centerline is valid? [True, True] Translation: X:117.51, Y:1.34, Z:1.72 [[ 9.98562684e-01 -5.12189528e-02 -1.57856042e-02 1.17512168e+02] [ 5.12215311e-02 9.98687287e-01 -2.41202142e-04 1.33618143e+00] [ 1.57772364e-02 -5.67707359e-04 9.99875370e-01 1.72432886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.45925415399998 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:117.55, Y:1.34, Z:1.72 [[ 9.98610515e-01 -5.02777647e-02 -1.57856217e-02 1.17545520e+02] [ 5.02802436e-02 9.98735120e-01 -2.40054069e-04 1.33763123e+00] [ 1.57777242e-02 -5.53984387e-04 9.99875370e-01 1.72480278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.48925415399998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:117.58, Y:1.34, Z:1.72 [[ 9.98724295e-01 -4.79645188e-02 -1.57856475e-02 1.17577810e+02] [ 4.79667361e-02 9.98848905e-01 -2.38342611e-04 1.33947318e+00] [ 1.57789088e-02 -5.19147434e-04 9.99875370e-01 1.72399858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.51925415399998 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:117.61, Y:1.34, Z:1.72 [[ 9.98756654e-01 -4.72859144e-02 -1.57856897e-02 1.17610970e+02] [ 4.72880916e-02 9.98881265e-01 -2.35518436e-04 1.34041559e+00] [ 1.57791664e-02 -5.11249535e-04 9.99875370e-01 1.72369535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.54925415399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.64, Y:1.34, Z:1.72 [[ 9.98756989e-01 -4.72788364e-02 -1.57857146e-02 1.17644300e+02] [ 4.72810393e-02 9.98881599e-01 -2.33835050e-04 1.34158051e+00] [ 1.57791153e-02 -5.12820603e-04 9.99875371e-01 1.72458635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.57925415399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.68, Y:1.34, Z:1.72 [[ 9.98762918e-01 -4.71534156e-02 -1.57857400e-02 1.17677807e+02] [ 4.71556301e-02 9.98887528e-01 -2.32110225e-04 1.34216442e+00] [ 1.57791236e-02 -5.12563429e-04 9.99875371e-01 1.72463562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.60925415399998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:117.71, Y:1.34, Z:1.72 [[ 9.98765835e-01 -4.70915845e-02 -1.57857650e-02 1.17710485e+02] [ 4.70938183e-02 9.98890444e-01 -2.30397311e-04 1.34238343e+00] [ 1.57790996e-02 -5.13298984e-04 9.99875371e-01 1.72493629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.63925415399997 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:117.74, Y:1.34, Z:1.73 [[ 9.98760186e-01 -4.72112313e-02 -1.57857897e-02 1.17743854e+02] [ 4.72135070e-02 9.98884794e-01 -2.28688197e-04 1.34268168e+00] [ 1.57789820e-02 -5.16897828e-04 9.99875371e-01 1.72548213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.66925415399997 meters Centerline goodness : 0.999563 Centerline is valid? [True, True] Translation: X:117.78, Y:1.34, Z:1.73 [[ 9.98758582e-01 -4.72451444e-02 -1.57858146e-02 1.17775653e+02] [ 4.72474517e-02 9.98883190e-01 -2.26960024e-04 1.34283867e+00] [ 1.57789076e-02 -5.19161240e-04 9.99875371e-01 1.72502826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.69925415399997 meters Centerline goodness : 0.999672 Centerline is valid? [True, True] Translation: X:117.82, Y:1.33, Z:1.72 [[ 9.99149580e-01 -3.80910027e-02 -1.57858350e-02 1.17816870e+02] [ 3.80921906e-02 9.99274204e-01 -2.25528209e-04 1.33402423e+00] [ 1.57829683e-02 -3.75980622e-04 9.99875371e-01 1.71877351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.72925415399997 meters Centerline goodness : 0.999650 Centerline is valid? [True, True] Translation: X:117.83, Y:1.34, Z:1.73 [[ 9.98772778e-01 -4.69417334e-02 -1.57927523e-02 1.17834720e+02] [ 4.69521825e-02 9.98897096e-01 2.91315516e-04 1.34312536e+00] [ 1.57616595e-02 -1.03246219e-03 9.99875244e-01 1.72501446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.75925415399998 meters Centerline goodness : 0.999737 Centerline is valid? [True, True] Translation: X:117.87, Y:1.34, Z:1.72 [[ 9.99069054e-01 -4.01478985e-02 -1.57851524e-02 1.17873842e+02] [ 4.01492701e-02 9.99193666e-01 -2.30126977e-04 1.33739960e+00] [ 1.57816635e-02 -4.03849607e-04 9.99875380e-01 1.72043925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.78925415399998 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:117.90, Y:1.34, Z:1.73 [[ 9.98782415e-01 -4.67369883e-02 -1.57905537e-02 1.17895924e+02] [ 4.67452897e-02 9.98906829e-01 1.56838741e-04 1.34440758e+00] [ 1.57659618e-02 -8.94781784e-04 9.99875309e-01 1.72624981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.81925415399998 meters Centerline goodness : 0.999671 Centerline is valid? [True, True] Translation: X:117.93, Y:1.34, Z:1.73 [[ 9.98794272e-01 -4.64848508e-02 -1.57848481e-02 1.17928796e+02] [ 4.64869865e-02 9.98918869e-01 -2.31791357e-04 1.34456003e+00] [ 1.57785574e-02 -5.02278139e-04 9.99875385e-01 1.72699272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.84925415399998 meters Centerline goodness : 0.999672 Centerline is valid? [True, True] Translation: X:117.96, Y:1.34, Z:1.73 [[ 9.98796085e-01 -4.64458718e-02 -1.57848724e-02 1.17961618e+02] [ 4.64480289e-02 9.98920681e-01 -2.30123718e-04 1.34456447e+00] [ 1.57785238e-02 -5.03329540e-04 9.99875385e-01 1.72759279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.87925415399998 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:117.99, Y:1.34, Z:1.73 [[ 9.98781020e-01 -4.67687066e-02 -1.57848971e-02 1.17994410e+02] [ 4.67709310e-02 9.98905615e-01 -2.28413062e-04 1.34476819e+00] [ 1.57783050e-02 -5.10139705e-04 9.99875385e-01 1.72816025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.90925415399998 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:118.03, Y:1.34, Z:1.73 [[ 9.98760783e-01 -4.71988766e-02 -1.57849221e-02 1.18027717e+02] [ 4.72011820e-02 9.98885377e-01 -2.26677731e-04 1.34464673e+00] [ 1.57780268e-02 -5.18670152e-04 9.99875385e-01 1.72833484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.93925415399998 meters Centerline goodness : 0.999629 Centerline is valid? [True, True] Translation: X:118.06, Y:1.34, Z:1.73 [[ 9.98649079e-01 -4.95060833e-02 -1.57849466e-02 1.18059996e+02] [ 4.95087038e-02 9.98773667e-01 -2.24955187e-04 1.34371678e+00] [ 1.57767257e-02 -5.56840956e-04 9.99875385e-01 1.72786240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.96925415399998 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:118.09, Y:1.34, Z:1.73 [[ 9.98587549e-01 -5.07320541e-02 -1.57849668e-02 1.18093397e+02] [ 5.07348501e-02 9.98712133e-01 -2.23527407e-04 1.34330743e+00] [ 1.57759779e-02 -5.77636240e-04 9.99875385e-01 1.72793419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.99925415399997 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:118.13, Y:1.34, Z:1.73 [[ 9.98477618e-01 -5.28514910e-02 -1.57849914e-02 1.18125196e+02] [ 5.28545790e-02 9.98602195e-01 -2.21781549e-04 1.34166132e+00] [ 1.57746485e-02 -6.12865160e-04 9.99875385e-01 1.72725469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.02925415399997 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:118.16, Y:1.34, Z:1.73 [[ 9.98426254e-01 -5.38130896e-02 -1.57850078e-02 1.18158251e+02] [ 5.38163161e-02 9.98550828e-01 -2.20606270e-04 1.34122019e+00] [ 1.57740041e-02 -6.29231876e-04 9.99875385e-01 1.72732948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.05925415399997 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:118.19, Y:1.34, Z:1.72 [[ 9.98472887e-01 -5.29407832e-02 -1.57850322e-02 1.18193283e+02] [ 5.29439287e-02 9.98597463e-01 -2.18847267e-04 1.33901536e+00] [ 1.57744790e-02 -6.17208555e-04 9.99875385e-01 1.72416255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.08925415399997 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:118.22, Y:1.34, Z:1.73 [[ 9.98292291e-01 -5.62430379e-02 -1.57867572e-02 1.18222460e+02] [ 5.62485906e-02 9.98416790e-01 -9.24198312e-05 1.34111970e+00] [ 1.57669615e-02 -7.95720840e-04 9.99875377e-01 1.72978491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.11925415399998 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:118.26, Y:1.34, Z:1.73 [[ 9.98298398e-01 -5.61350202e-02 -1.57850446e-02 1.18255998e+02] [ 5.61385933e-02 9.98422962e-01 -2.17004315e-04 1.34155117e+00] [ 1.57723326e-02 -6.69515140e-04 9.99875385e-01 1.73036020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.14925415399998 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:118.29, Y:1.34, Z:1.73 [[ 9.98313886e-01 -5.58588931e-02 -1.57850684e-02 1.18287660e+02] [ 5.58624592e-02 9.98438450e-01 -2.15265048e-04 1.34079273e+00] [ 1.57724437e-02 -6.66890650e-04 9.99875385e-01 1.73218066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.17925415399998 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:118.32, Y:1.34, Z:1.73 [[ 9.98355112e-01 -5.51171577e-02 -1.57850800e-02 1.18321774e+02] [ 5.51206448e-02 9.98479679e-01 -2.14404326e-04 1.34010947e+00] [ 1.57728990e-02 -6.56032135e-04 9.99875385e-01 1.73063134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.20925415399998 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:118.35, Y:1.34, Z:1.73 [[ 9.98259431e-01 -5.68235485e-02 -1.57858205e-02 1.18351647e+02] [ 5.68281211e-02 9.98383964e-01 -1.59110166e-04 1.33993415e+00] [ 1.57693512e-02 -7.38245294e-04 9.99875384e-01 1.73461902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.23925415399998 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:118.38, Y:1.34, Z:1.74 [[ 9.98227267e-01 -5.73860010e-02 -1.57851057e-02 1.18383558e+02] [ 5.73898049e-02 9.98351824e-01 -2.12263006e-04 1.33979074e+00] [ 1.57712700e-02 -6.94017419e-04 9.99875385e-01 1.73508422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.26925415399998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:118.42, Y:1.34, Z:1.74 [[ 9.98207588e-01 -5.77272990e-02 -1.57851244e-02 1.18416971e+02] [ 5.77311677e-02 9.98332143e-01 -2.10864205e-04 1.33958792e+00] [ 1.57709697e-02 -7.00807416e-04 9.99875385e-01 1.73588397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.29925415399998 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:118.45, Y:1.34, Z:1.74 [[ 9.98107020e-01 -5.94407731e-02 -1.57851467e-02 1.18450467e+02] [ 5.94448821e-02 9.98231567e-01 -2.09186130e-04 1.33833213e+00] [ 1.57696659e-02 -7.29556036e-04 9.99875385e-01 1.73540955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.32925415399998 meters Centerline goodness : 0.999588 Centerline is valid? [True, True] Translation: X:118.48, Y:1.34, Z:1.73 [[ 9.98049096e-01 -6.04055445e-02 -1.57851690e-02 1.18482495e+02] [ 6.04098006e-02 9.98173639e-01 -2.07484319e-04 1.33758399e+00] [ 1.57688728e-02 -7.46499378e-04 9.99875385e-01 1.73477145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.35925415399998 meters Centerline goodness : 0.999546 Centerline is valid? [True, True] Translation: X:118.51, Y:1.34, Z:1.73 [[ 9.97921338e-01 -6.24806468e-02 -1.57851874e-02 1.18514462e+02] [ 6.24851842e-02 9.98045870e-01 -2.06075229e-04 1.33555163e+00] [ 1.57672168e-02 -7.80693476e-04 9.99875385e-01 1.73350272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.38925415399997 meters Centerline goodness : 0.999545 Centerline is valid? [True, True] Translation: X:118.55, Y:1.33, Z:1.73 [[ 9.97867813e-01 -6.33297276e-02 -1.57852018e-02 1.18545670e+02] [ 6.33343884e-02 9.97992341e-01 -2.04967081e-04 1.33490795e+00] [ 1.57664910e-02 -7.95216051e-04 9.99875385e-01 1.73342688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.41925415399997 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:118.58, Y:1.33, Z:1.73 [[ 9.97837944e-01 -6.37986263e-02 -1.57852125e-02 1.18578934e+02] [ 6.38033586e-02 9.97962469e-01 -2.04141108e-04 1.33462081e+00] [ 1.57660736e-02 -8.03449831e-04 9.99875385e-01 1.73426618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.44925415399997 meters Centerline goodness : 0.999633 Centerline is valid? [True, True] Translation: X:118.61, Y:1.33, Z:1.73 [[ 9.97819354e-01 -6.40887148e-02 -1.57852342e-02 1.18611281e+02] [ 6.40935101e-02 9.97943877e-01 -2.02446974e-04 1.33459788e+00] [ 1.57657524e-02 -8.09725561e-04 9.99875385e-01 1.73496201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.47925415399997 meters Centerline goodness : 0.999546 Centerline is valid? [True, True] Translation: X:118.64, Y:1.33, Z:1.74 [[ 9.97807347e-01 -6.42753784e-02 -1.57852489e-02 1.18643661e+02] [ 6.42802151e-02 9.97931868e-01 -2.01297331e-04 1.33430153e+00] [ 1.57655414e-02 -8.13823239e-04 9.99875385e-01 1.73526411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.50925415399998 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:118.68, Y:1.33, Z:1.73 [[ 9.97898724e-01 -6.28407596e-02 -1.57852670e-02 1.18677791e+02] [ 6.28454398e-02 9.98023252e-01 -1.99866946e-04 1.33303365e+00] [ 1.57666233e-02 -7.92585077e-04 9.99875385e-01 1.73440319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.53925415399998 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:118.71, Y:1.33, Z:1.74 [[ 9.97873724e-01 -6.32363583e-02 -1.57859092e-02 1.18708478e+02] [ 6.32419028e-02 9.97998216e-01 -1.48215830e-04 1.33346360e+00] [ 1.57636819e-02 -8.50430256e-04 9.99875384e-01 1.73526848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.56925415399998 meters Centerline goodness : 0.999548 Centerline is valid? [True, True] Translation: X:118.74, Y:1.33, Z:1.74 [[ 9.97914667e-01 -6.25870620e-02 -1.57853410e-02 1.18740874e+02] [ 6.25917974e-02 9.98039192e-01 -1.94363590e-04 1.33356862e+00] [ 1.57665537e-02 -7.94074592e-04 9.99875385e-01 1.73588718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.59925415399998 meters Centerline goodness : 0.999397 Centerline is valid? [True, True] Translation: X:118.77, Y:1.33, Z:1.74 [[ 9.98000855e-01 -6.11973553e-02 -1.57853584e-02 1.18774045e+02] [ 6.12019397e-02 9.98125386e-01 -1.92945572e-04 1.33324755e+00] [ 1.57675747e-02 -7.73534706e-04 9.99875385e-01 1.73605454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.62925415399998 meters Centerline goodness : 0.999397 Centerline is valid? [True, True] Translation: X:118.81, Y:1.33, Z:1.74 [[ 9.98140692e-01 -5.88725810e-02 -1.57853796e-02 1.18806049e+02] [ 5.88769030e-02 9.98265232e-01 -1.91192264e-04 1.33401372e+00] [ 1.57692516e-02 -7.38557485e-04 9.99875385e-01 1.73757623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.65925415399998 meters Centerline goodness : 0.999548 Centerline is valid? [True, True] Translation: X:118.84, Y:1.33, Z:1.74 [[ 9.98231291e-01 -5.73158923e-02 -1.57853971e-02 1.18838601e+02] [ 5.73200429e-02 9.98355837e-01 -1.89740992e-04 1.33445615e+00] [ 1.57703185e-02 -7.15414242e-04 9.99875385e-01 1.73904903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.68925415399998 meters Centerline goodness : 0.999440 Centerline is valid? [True, True] Translation: X:118.87, Y:1.34, Z:1.74 [[ 9.98300854e-01 -5.60912285e-02 -1.57854177e-02 1.18872074e+02] [ 5.60952537e-02 9.98425404e-01 -1.88008236e-04 1.33518387e+00] [ 1.57711076e-02 -6.97798228e-04 9.99875385e-01 1.74055364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.71925415399998 meters Centerline goodness : 0.999547 Centerline is valid? [True, True] Translation: X:118.90, Y:1.34, Z:1.74 [[ 9.98413976e-01 -5.40402890e-02 -1.57854380e-02 1.18904047e+02] [ 5.40440856e-02 9.98538533e-01 -1.86284176e-04 1.33575942e+00] [ 1.57724350e-02 -6.67120839e-04 9.99875385e-01 1.74219260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.74925415399997 meters Centerline goodness : 0.999309 Centerline is valid? [True, True] Translation: X:118.94, Y:1.34, Z:1.74 [[ 9.98481642e-01 -5.27752713e-02 -1.57854514e-02 1.18935658e+02] [ 5.27789281e-02 9.98606204e-01 -1.85142941e-04 1.33531796e+00] [ 1.57732207e-02 -6.48277377e-04 9.99875385e-01 1.74059004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.77925415399997 meters Centerline goodness : 0.999526 Centerline is valid? [True, True] Translation: X:118.97, Y:1.33, Z:1.74 [[ 9.98493019e-01 -5.25595734e-02 -1.57854833e-02 1.18968193e+02] [ 5.25632467e-02 9.98617580e-01 -1.82387755e-04 1.33495371e+00] [ 1.57732473e-02 -6.47623351e-04 9.99875385e-01 1.74171728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.80925415399997 meters Centerline goodness : 0.999439 Centerline is valid? [True, True] Translation: X:119.00, Y:1.33, Z:1.74 [[ 9.98490784e-01 -5.26020133e-02 -1.57855153e-02 1.19000698e+02] [ 5.26057363e-02 9.98615343e-01 -1.79575144e-04 1.33466323e+00] [ 1.57731038e-02 -6.51104527e-04 9.99875385e-01 1.74187754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.83925415399997 meters Centerline goodness : 0.999439 Centerline is valid? [True, True] Translation: X:119.03, Y:1.33, Z:1.74 [[ 9.98483080e-01 -5.27480361e-02 -1.57855285e-02 1.19031830e+02] [ 5.27517958e-02 9.98607639e-01 -1.78404818e-04 1.33439154e+00] [ 1.57729598e-02 -6.54580782e-04 9.99875385e-01 1.74113184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.86925415399998 meters Centerline goodness : 0.999417 Centerline is valid? [True, True] Translation: X:119.06, Y:1.33, Z:1.74 [[ 9.98448677e-01 -5.33952813e-02 -1.57855383e-02 1.19063344e+02] [ 5.33991355e-02 9.98573233e-01 -1.77532329e-04 1.33400978e+00] [ 1.57724954e-02 -6.65677179e-04 9.99875385e-01 1.73926433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.89925415399998 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:119.10, Y:1.33, Z:1.74 [[ 9.98460969e-01 -5.31649321e-02 -1.57855478e-02 1.19095345e+02] [ 5.31687710e-02 9.98585525e-01 -1.76681396e-04 1.33404930e+00] [ 1.57726128e-02 -6.62888699e-04 9.99875385e-01 1.73965360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.92925415399998 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:119.13, Y:1.33, Z:1.74 [[ 9.98478899e-01 -5.28271244e-02 -1.57855604e-02 1.19127128e+02] [ 5.28309390e-02 9.98603455e-01 -1.75552499e-04 1.33419619e+00] [ 1.57727891e-02 -6.58680511e-04 9.99875385e-01 1.74068540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.95925415399998 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:119.16, Y:1.33, Z:1.74 [[ 9.98545716e-01 -5.15487015e-02 -1.57855733e-02 1.19159725e+02] [ 5.15523750e-02 9.98670277e-01 -1.74383825e-04 1.33370551e+00] [ 1.57735721e-02 -6.39653573e-04 9.99875385e-01 1.74150124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.98925415399998 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:119.19, Y:1.33, Z:1.74 [[ 9.98551406e-01 -5.14383538e-02 -1.57855924e-02 1.19193263e+02] [ 5.14420411e-02 9.98675967e-01 -1.72640355e-04 1.33398243e+00] [ 1.57735720e-02 -6.39652821e-04 9.99875385e-01 1.74203017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.01925415399998 meters Centerline goodness : 0.999439 Centerline is valid? [True, True] Translation: X:119.22, Y:1.33, Z:1.74 [[ 9.98617972e-01 -5.01294390e-02 -1.57856112e-02 1.19224727e+02] [ 5.01329906e-02 9.98742536e-01 -1.70896134e-04 1.33390695e+00] [ 1.57743283e-02 -6.20719948e-04 9.99875385e-01 1.74258007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.04925415399998 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:119.26, Y:1.33, Z:1.74 [[ 9.98776480e-01 -4.68653152e-02 -1.57856205e-02 1.19255877e+02] [ 4.68684732e-02 9.98901055e-01 -1.70032986e-04 1.33472317e+00] [ 1.57762416e-02 -5.70022985e-04 9.99875385e-01 1.74385736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.07925415399998 meters Centerline goodness : 0.999396 Centerline is valid? [True, True] Translation: X:119.29, Y:1.34, Z:1.75 [[ 9.98867839e-01 -4.48759930e-02 -1.57856297e-02 1.19287693e+02] [ 4.48789164e-02 9.98992420e-01 -1.69179706e-04 1.33560662e+00] [ 1.57773165e-02 -5.39453787e-04 9.99875385e-01 1.74570207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.10925415399998 meters Centerline goodness : 0.999483 Centerline is valid? [True, True] Translation: X:119.32, Y:1.34, Z:1.75 [[ 9.98957265e-01 -4.28392010e-02 -1.57856417e-02 1.19320738e+02] [ 4.28418882e-02 9.99081851e-01 -1.68047358e-04 1.33638067e+00] [ 1.57783472e-02 -5.08414569e-04 9.99875385e-01 1.74730060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.13925415399997 meters Centerline goodness : 0.999611 Centerline is valid? [True, True] Translation: X:119.35, Y:1.34, Z:1.75 [[ 9.99102546e-01 -3.93054252e-02 -1.57856603e-02 1.19351480e+02] [ 3.93076996e-02 9.99227140e-01 -1.66279999e-04 1.33692513e+00] [ 1.57799959e-02 -4.54367225e-04 9.99875385e-01 1.74790372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.16925415399997 meters Centerline goodness : 0.999417 Centerline is valid? [True, True] Translation: X:119.38, Y:1.34, Z:1.75 [[ 9.99147917e-01 -3.81346525e-02 -1.57856804e-02 1.19383795e+02] [ 3.81368114e-02 9.99272514e-01 -1.64350627e-04 1.33705620e+00] [ 1.57804640e-02 -4.37804930e-04 9.99875385e-01 1.74830333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.19925415399997 meters Centerline goodness : 0.999525 Centerline is valid? [True, True] Translation: X:119.42, Y:1.34, Z:1.75 [[ 9.99210897e-01 -3.64471521e-02 -1.57856925e-02 1.19415573e+02] [ 3.64491189e-02 9.99335497e-01 -1.63186751e-04 1.33647456e+00] [ 1.57811505e-02 -4.12316603e-04 9.99875385e-01 1.74801721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.22925415399997 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:119.45, Y:1.34, Z:1.75 [[ 9.99273531e-01 -3.46874939e-02 -1.57857044e-02 1.19445755e+02] [ 3.46892597e-02 9.99398133e-01 -1.62024138e-04 1.33650721e+00] [ 1.57818237e-02 -3.85687967e-04 9.99875385e-01 1.74680892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.25925415399998 meters Centerline goodness : 0.999396 Centerline is valid? [True, True] Translation: X:119.48, Y:1.34, Z:1.75 [[ 9.99237684e-01 -3.57055981e-02 -1.57848288e-02 1.19479293e+02] [ 3.57061511e-02 9.99362302e-01 -2.46879040e-04 1.33679436e+00] [ 1.57835778e-02 -3.16924644e-04 9.99875381e-01 1.74880643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.28925415399998 meters Centerline goodness : 0.999419 Centerline is valid? [True, True] Translation: X:119.51, Y:1.34, Z:1.75 [[ 9.99237764e-01 -3.57029750e-02 -1.57857122e-02 1.19510347e+02] [ 3.57049088e-02 9.99362364e-01 -1.59398639e-04 1.33674699e+00] [ 1.57813377e-02 -4.04350276e-04 9.99875385e-01 1.74815356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.31925415399998 meters Centerline goodness : 0.999335 Centerline is valid? [True, True] Translation: X:119.54, Y:1.34, Z:1.75 [[ 9.99227844e-01 -3.59795262e-02 -1.57857208e-02 1.19541222e+02] [ 3.59815080e-02 9.99352443e-01 -1.58546886e-04 1.33679176e+00] [ 1.57812031e-02 -4.09569577e-04 9.99875385e-01 1.74776708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.34925415399998 meters Centerline goodness : 0.999462 Centerline is valid? [True, True] Translation: X:119.57, Y:1.34, Z:1.75 [[ 9.99188720e-01 -3.70501379e-02 -1.57857292e-02 1.19573821e+02] [ 3.70522664e-02 9.99313317e-01 -1.57704835e-04 1.33632224e+00] [ 1.57807324e-02 -4.27320153e-04 9.99875385e-01 1.74750708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.37925415399998 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:119.61, Y:1.34, Z:1.75 [[ 9.99165516e-01 -3.76707111e-02 -1.57857403e-02 1.19606228e+02] [ 3.76729347e-02 9.99290111e-01 -1.56587662e-04 1.33600855e+00] [ 1.57804329e-02 -4.38238170e-04 9.99875385e-01 1.74828337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.40925415399998 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:119.64, Y:1.34, Z:1.75 [[ 9.99142833e-01 -3.82676023e-02 -1.57857519e-02 1.19636969e+02] [ 3.82699189e-02 9.99267426e-01 -1.55412196e-04 1.33563002e+00] [ 1.57801349e-02 -4.48840462e-04 9.99875385e-01 1.74869220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.43925415399998 meters Centerline goodness : 0.999398 Centerline is valid? [True, True] Translation: X:119.67, Y:1.33, Z:1.75 [[ 9.99118506e-01 -3.88975711e-02 -1.57857711e-02 1.19669266e+02] [ 3.88999974e-02 9.99243097e-01 -1.53435796e-04 1.33444666e+00] [ 1.57797911e-02 -4.60765912e-04 9.99875385e-01 1.74985101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.46925415399998 meters Centerline goodness : 0.999356 Centerline is valid? [True, True] Translation: X:119.70, Y:1.33, Z:1.75 [[ 9.99136670e-01 -3.84281655e-02 -1.57857823e-02 1.19701923e+02] [ 3.84305517e-02 9.99261262e-01 -1.52269261e-04 1.33418641e+00] [ 1.57799722e-02 -4.54518522e-04 9.99875385e-01 1.75090721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.49925415399997 meters Centerline goodness : 0.999398 Centerline is valid? [True, True] Translation: X:119.73, Y:1.33, Z:1.75 [[ 9.99149935e-01 -3.80816955e-02 -1.57857936e-02 1.19732684e+02] [ 3.80840571e-02 9.99274528e-01 -1.51092765e-04 1.33421964e+00] [ 1.57800953e-02 -4.50222738e-04 9.99875385e-01 1.75174064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.52925415399997 meters Centerline goodness : 0.999441 Centerline is valid? [True, True] Translation: X:119.77, Y:1.33, Z:1.75 [[ 9.99224733e-01 -3.60658010e-02 -1.57858019e-02 1.19765065e+02] [ 3.60679250e-02 9.99349329e-01 -1.50217420e-04 1.33463451e+00] [ 1.57809483e-02 -4.19260159e-04 9.99875385e-01 1.75301133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.55925415399997 meters Centerline goodness : 0.999333 Centerline is valid? [True, True] Translation: X:119.80, Y:1.33, Z:1.75 [[ 9.99274488e-01 -3.46598451e-02 -1.57858128e-02 1.19797608e+02] [ 3.46618120e-02 9.99399088e-01 -1.49069821e-04 1.33476195e+00] [ 1.57814936e-02 -3.98203205e-04 9.99875385e-01 1.75361759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.58925415399997 meters Centerline goodness : 0.999420 Centerline is valid? [True, True] Translation: X:119.83, Y:1.33, Z:1.75 [[ 9.99351519e-01 -3.23627896e-02 -1.57858237e-02 1.19829396e+02] [ 3.23644885e-02 9.99476122e-01 -1.47904294e-04 1.33448827e+00] [ 1.57823404e-02 -3.63091728e-04 9.99875385e-01 1.75411994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.61925415399998 meters Centerline goodness : 0.999356 Centerline is valid? [True, True] Translation: X:119.86, Y:1.33, Z:1.75 [[ 9.99377833e-01 -3.15397271e-02 -1.57858345e-02 1.19861065e+02] [ 3.15413416e-02 9.99502437e-01 -1.46744304e-04 1.33405885e+00] [ 1.57826083e-02 -3.51253392e-04 9.99875385e-01 1.75435942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.64925415399998 meters Centerline goodness : 0.999399 Centerline is valid? [True, True] Translation: X:119.89, Y:1.33, Z:1.75 [[ 9.99389476e-01 -3.11686249e-02 -1.57858424e-02 1.19892227e+02] [ 3.11702068e-02 9.99514080e-01 -1.45880310e-04 1.33334700e+00] [ 1.57827187e-02 -3.46256727e-04 9.99875385e-01 1.75455144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.67925415399998 meters Centerline goodness : 0.999419 Centerline is valid? [True, True] Translation: X:119.92, Y:1.33, Z:1.75 [[ 9.99376069e-01 -3.15955779e-02 -1.57858503e-02 1.19923002e+02] [ 3.15972265e-02 9.99500672e-01 -1.45023480e-04 1.33140966e+00] [ 1.57825501e-02 -3.53856094e-04 9.99875385e-01 1.75400188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.70925415399998 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:119.96, Y:1.33, Z:1.75 [[ 9.99358177e-01 -3.21565061e-02 -1.57858580e-02 1.19955599e+02] [ 3.21582380e-02 9.99482780e-01 -1.44179480e-04 1.33065615e+00] [ 1.57823296e-02 -3.63558438e-04 9.99875385e-01 1.75425770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.73925415399998 meters Centerline goodness : 0.999420 Centerline is valid? [True, True] Translation: X:119.99, Y:1.33, Z:1.75 [[ 9.99291826e-01 -3.41562902e-02 -1.57858683e-02 1.19986427e+02] [ 3.41582893e-02 9.99416425e-01 -1.43043402e-04 1.32949862e+00] [ 1.57815419e-02 -3.96276155e-04 9.99875385e-01 1.75417955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.76925415399998 meters Centerline goodness : 0.999314 Centerline is valid? [True, True] Translation: X:120.02, Y:1.33, Z:1.75 [[ 9.99259670e-01 -3.50844476e-02 -1.57858759e-02 1.20018384e+02] [ 3.50865759e-02 9.99384266e-01 -1.42197452e-04 1.32869265e+00] [ 1.57811450e-02 -4.11780155e-04 9.99875385e-01 1.75413539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.79925415399998 meters Centerline goodness : 0.999271 Centerline is valid? [True, True] Translation: X:120.05, Y:1.33, Z:1.75 [[ 9.99224041e-01 -3.60849290e-02 -1.57858859e-02 1.20050480e+02] [ 3.60871997e-02 9.99348635e-01 -1.41081315e-04 1.32777658e+00] [ 1.57806945e-02 -4.28696576e-04 9.99875385e-01 1.75483164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.82925415399998 meters Centerline goodness : 0.999486 Centerline is valid? [True, True] Translation: X:120.08, Y:1.33, Z:1.75 [[ 9.99141922e-01 -3.82913103e-02 -1.57858960e-02 1.20082579e+02] [ 3.82938740e-02 9.99266511e-01 -1.39939923e-04 1.32604177e+00] [ 1.57796757e-02 -4.64683271e-04 9.99875385e-01 1.75486499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.85925415399997 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:120.11, Y:1.33, Z:1.75 [[ 9.99095181e-01 -3.94920893e-02 -1.57859060e-02 1.20113433e+02] [ 3.94948207e-02 9.99219766e-01 -1.38804800e-04 1.32552196e+00] [ 1.57790710e-02 -4.84782322e-04 9.99875385e-01 1.75491435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.88925415399997 meters Centerline goodness : 0.999273 Centerline is valid? [True, True] Translation: X:120.15, Y:1.33, Z:1.76 [[ 9.99034593e-01 -4.09961840e-02 -1.57859134e-02 1.20145396e+02] [ 4.09991164e-02 9.99159173e-01 -1.37957785e-04 1.32512436e+00] [ 1.57782959e-02 -5.09383901e-04 9.99875385e-01 1.75573507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.91925415399997 meters Centerline goodness : 0.999231 Centerline is valid? [True, True] Translation: X:120.18, Y:1.32, Z:1.76 [[ 9.98970254e-01 -4.25351227e-02 -1.57859231e-02 1.20177037e+02] [ 4.25382646e-02 9.99094829e-01 -1.36841183e-04 1.32456456e+00] [ 1.57774547e-02 -5.34805503e-04 9.99875385e-01 1.75568773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.94925415399997 meters Centerline goodness : 0.999274 Centerline is valid? [True, True] Translation: X:120.21, Y:1.32, Z:1.76 [[ 9.98805194e-01 -4.62491948e-02 -1.57859303e-02 1.20209033e+02] [ 4.62528130e-02 9.98929757e-01 -1.36008515e-04 1.32385599e+00] [ 1.57753258e-02 -5.94297669e-04 9.99875385e-01 1.75860341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.97925415399997 meters Centerline goodness : 0.999146 Centerline is valid? [True, True] Translation: X:120.24, Y:1.32, Z:1.76 [[ 9.98738678e-01 -4.76639991e-02 -1.57859399e-02 1.20242003e+02] [ 4.76678115e-02 9.98863235e-01 -1.34884788e-04 1.32324738e+00] [ 1.57744241e-02 -6.17766552e-04 9.99875385e-01 1.75929979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.00925415399998 meters Centerline goodness : 0.999126 Centerline is valid? [True, True] Translation: X:120.27, Y:1.32, Z:1.76 [[ 9.98603344e-01 -5.04198816e-02 -1.57859546e-02 1.20273635e+02] [ 5.04240651e-02 9.98727889e-01 -1.33144471e-04 1.32166485e+00] [ 1.57725862e-02 -6.63033487e-04 9.99875385e-01 1.76036348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.03925415399998 meters Centerline goodness : 0.999360 Centerline is valid? [True, True] Translation: X:120.31, Y:1.32, Z:1.76 [[ 9.98549900e-01 -5.14674634e-02 -1.57859666e-02 1.20306054e+02] [ 5.14718004e-02 9.98674440e-01 -1.31703267e-04 1.32111875e+00] [ 1.57718198e-02 -6.81019836e-04 9.99875385e-01 1.76134426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.06925415399998 meters Centerline goodness : 0.999168 Centerline is valid? [True, True] Translation: X:120.34, Y:1.32, Z:1.76 [[ 9.98514412e-01 -5.21514303e-02 -1.57859759e-02 1.20339327e+02] [ 5.21558704e-02 9.98638948e-01 -1.30572444e-04 1.32060622e+00] [ 1.57712999e-02 -6.92952847e-04 9.99875385e-01 1.76209475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.09925415399998 meters Centerline goodness : 0.999211 Centerline is valid? [True, True] Translation: X:120.37, Y:1.32, Z:1.76 [[ 9.98433103e-01 -5.36855704e-02 -1.57859902e-02 1.20371217e+02] [ 5.36902294e-02 9.98557631e-01 -1.28824765e-04 1.31963055e+00] [ 1.57701370e-02 -7.18930524e-04 9.99875385e-01 1.76198906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.12925415399998 meters Centerline goodness : 0.999232 Centerline is valid? [True, True] Translation: X:120.40, Y:1.32, Z:1.76 [[ 9.98392641e-01 -5.44328547e-02 -1.57860125e-02 1.20404358e+02] [ 5.44376509e-02 9.98517164e-01 -1.26032917e-04 1.31924826e+00] [ 1.57694647e-02 -7.33523100e-04 9.99875385e-01 1.76303704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.15925415399998 meters Centerline goodness : 0.999381 Centerline is valid? [True, True] Translation: X:120.44, Y:1.32, Z:1.76 [[ 9.98379608e-01 -5.46713709e-02 -1.57860263e-02 1.20436602e+02] [ 5.46762247e-02 9.98504129e-01 -1.24273592e-04 1.31899052e+00] [ 1.57692067e-02 -7.39048103e-04 9.99875385e-01 1.76332379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.18925415399998 meters Centerline goodness : 0.999595 Centerline is valid? [True, True] Translation: X:120.47, Y:1.32, Z:1.76 [[ 9.98363935e-01 -5.49568370e-02 -1.57860377e-02 1.20468888e+02] [ 5.49617494e-02 9.98488453e-01 -1.22814868e-04 1.31912252e+00] [ 1.57689259e-02 -7.45014313e-04 9.99875385e-01 1.76464748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.21925415399998 meters Centerline goodness : 0.999595 Centerline is valid? [True, True] Translation: X:120.50, Y:1.32, Z:1.76 [[ 9.98375194e-01 -5.47519271e-02 -1.57860468e-02 1.20501316e+02] [ 5.47568327e-02 9.98499712e-01 -1.21630440e-04 1.31929690e+00] [ 1.57690227e-02 -7.42961109e-04 9.99875385e-01 1.76498053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.24925415399997 meters Centerline goodness : 0.999382 Centerline is valid? [True, True] Translation: X:120.53, Y:1.32, Z:1.77 [[ 9.98422714e-01 -5.38784281e-02 -1.57860581e-02 1.20534240e+02] [ 5.38832480e-02 9.98547235e-01 -1.20152115e-04 1.32037034e+00] [ 1.57695982e-02 -7.30641481e-04 9.99875385e-01 1.76575852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.27925415399997 meters Centerline goodness : 0.999360 Centerline is valid? [True, True] Translation: X:120.57, Y:1.32, Z:1.77 [[ 9.98482449e-01 -5.27598327e-02 -1.57860712e-02 1.20567060e+02] [ 5.27645407e-02 9.98606974e-01 -1.18397974e-04 1.32102299e+00] [ 1.57703275e-02 -7.14726500e-04 9.99875385e-01 1.76633394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.30925415399997 meters Centerline goodness : 0.999382 Centerline is valid? [True, True] Translation: X:120.60, Y:1.32, Z:1.77 [[ 9.98562705e-01 -5.12183846e-02 -1.57860842e-02 1.20599320e+02] [ 5.12229282e-02 9.98687237e-01 -1.16640375e-04 1.32165650e+00] [ 1.57713350e-02 -6.92136730e-04 9.99875385e-01 1.76676513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.33925415399997 meters Centerline goodness : 0.999360 Centerline is valid? [True, True] Translation: X:120.63, Y:1.32, Z:1.77 [[ 9.98752683e-01 -4.73695854e-02 -1.57860948e-02 1.20632297e+02] [ 4.73736719e-02 9.98877231e-01 -1.15188418e-04 1.32264109e+00] [ 1.57738271e-02 -6.32800534e-04 9.99875385e-01 1.76759392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.36925415399998 meters Centerline goodness : 0.999317 Centerline is valid? [True, True] Translation: X:120.66, Y:1.32, Z:1.77 [[ 9.98858775e-01 -4.50771267e-02 -1.57861073e-02 1.20663957e+02] [ 4.50809549e-02 9.98983331e-01 -1.13443185e-04 1.32388858e+00] [ 1.57751718e-02 -5.98339071e-04 9.99875385e-01 1.76817148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.39925415399998 meters Centerline goodness : 0.999210 Centerline is valid? [True, True] Translation: X:120.70, Y:1.32, Z:1.77 [[ 9.98993705e-01 -4.19806681e-02 -1.57861205e-02 1.20695449e+02] [ 4.19841397e-02 9.99118271e-01 -1.11574639e-04 1.32479097e+00] [ 1.57768854e-02 -5.51304328e-04 9.99875385e-01 1.76714401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.42925415399998 meters Centerline goodness : 0.999189 Centerline is valid? [True, True] Translation: X:120.73, Y:1.33, Z:1.77 [[ 9.99215299e-01 -3.63260824e-02 -1.57861265e-02 1.20727704e+02] [ 3.63288623e-02 9.99339883e-01 -1.10722864e-04 1.32703741e+00] [ 1.57797280e-02 -4.62856038e-04 9.99875385e-01 1.76815626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.45925415399998 meters Centerline goodness : 0.999423 Centerline is valid? [True, True] Translation: X:120.76, Y:1.33, Z:1.77 [[ 9.99281990e-01 -3.44427353e-02 -1.57861346e-02 1.20758933e+02] [ 3.44452989e-02 9.99406579e-01 -1.09553510e-04 1.32879270e+00] [ 1.57805401e-02 -4.34283277e-04 9.99875385e-01 1.77143010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.48925415399998 meters Centerline goodness : 0.999422 Centerline is valid? [True, True] Translation: X:120.79, Y:1.33, Z:1.77 [[ 9.99409382e-01 -3.05235186e-02 -1.57861406e-02 1.20790947e+02] [ 3.05256073e-02 9.99533979e-01 -1.08685500e-04 1.33014261e+00] [ 1.57821014e-02 -3.73260221e-04 9.99875385e-01 1.77250045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.51925415399998 meters Centerline goodness : 0.999272 Centerline is valid? [True, True] Translation: X:120.82, Y:1.33, Z:1.77 [[ 9.99456205e-01 -2.89498055e-02 -1.57861486e-02 1.20822009e+02] [ 2.89517164e-02 9.99580805e-01 -1.07515637e-04 1.33036812e+00] [ 1.57826437e-02 -3.49578927e-04 9.99875385e-01 1.77281347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.54925415399998 meters Centerline goodness : 0.999466 Centerline is valid? [True, True] Translation: X:120.85, Y:1.33, Z:1.77 [[ 9.99482812e-01 -2.80161882e-02 -1.57861545e-02 1.20853511e+02] [ 2.80179965e-02 9.99607413e-01 -1.06644715e-04 1.33044588e+00] [ 1.57829448e-02 -3.35706861e-04 9.99875385e-01 1.77384105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.57925415399998 meters Centerline goodness : 0.999273 Centerline is valid? [True, True] Translation: X:120.88, Y:1.33, Z:1.77 [[ 9.99499684e-01 -2.74076612e-02 -1.57861584e-02 1.20884183e+02] [ 2.74094028e-02 9.99624286e-01 -1.06064767e-04 1.32980590e+00] [ 1.57831343e-02 -3.26677471e-04 9.99875385e-01 1.77394856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.60925415399997 meters Centerline goodness : 0.999273 Centerline is valid? [True, True] Translation: X:120.92, Y:1.33, Z:1.77 [[ 9.99491770e-01 -2.76947406e-02 -1.57861603e-02 1.20915949e+02] [ 2.76965225e-02 9.99616372e-01 -1.05776487e-04 1.32937740e+00] [ 1.57830337e-02 -3.31499016e-04 9.99875385e-01 1.77420973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.63925415399997 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:120.95, Y:1.33, Z:1.77 [[ 9.99482005e-01 -2.80449405e-02 -1.57861641e-02 1.20947197e+02] [ 2.80467751e-02 9.99606606e-01 -1.05201994e-04 1.32861412e+00] [ 1.57829043e-02 -3.37603496e-04 9.99875385e-01 1.77346622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.66925415399997 meters Centerline goodness : 0.999273 Centerline is valid? [True, True] Translation: X:120.98, Y:1.33, Z:1.77 [[ 9.99429864e-01 -2.98453450e-02 -1.57861679e-02 1.20977966e+02] [ 2.98474132e-02 9.99554461e-01 -1.04629827e-04 1.32736690e+00] [ 1.57822573e-02 -3.66606102e-04 9.99875385e-01 1.77395392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.69925415399997 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:121.01, Y:1.33, Z:1.77 [[ 9.99405557e-01 -3.06484883e-02 -1.57861735e-02 1.21009043e+02] [ 3.06506701e-02 9.99530152e-01 -1.03774524e-04 1.32654281e+00] [ 1.57819370e-02 -3.80143961e-04 9.99875385e-01 1.77439610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.72925415399997 meters Centerline goodness : 0.999169 Centerline is valid? [True, True] Translation: X:121.04, Y:1.32, Z:1.77 [[ 9.99351871e-01 -3.23517286e-02 -1.57861773e-02 1.21040174e+02] [ 3.23541320e-02 9.99476463e-01 -1.03191109e-04 1.32480932e+00] [ 1.57812511e-02 -4.07623837e-04 9.99875385e-01 1.77403627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.75925415399998 meters Centerline goodness : 0.998998 Centerline is valid? [True, True] Translation: X:121.07, Y:1.32, Z:1.77 [[ 9.99321162e-01 -3.32867963e-02 -1.57861895e-02 1.21072612e+02] [ 3.32893462e-02 9.99445751e-01 -1.01290249e-04 1.32409381e+00] [ 1.57808117e-02 -4.24290439e-04 9.99875385e-01 1.77496841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.78925415399998 meters Centerline goodness : 0.998999 Centerline is valid? [True, True] Translation: X:121.10, Y:1.32, Z:1.78 [[ 9.99293256e-01 -3.41142826e-02 -1.57861970e-02 1.21103597e+02] [ 3.41169542e-02 9.99417842e-01 -1.00120382e-04 1.32361228e+00] [ 1.57804224e-02 -4.38527336e-04 9.99875385e-01 1.77527316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.81925415399998 meters Centerline goodness : 0.999192 Centerline is valid? [True, True] Translation: X:121.14, Y:1.32, Z:1.78 [[ 9.99275042e-01 -3.46437066e-02 -1.57862024e-02 1.21136069e+02] [ 3.46464579e-02 9.99399626e-01 -9.92487075e-05 1.32279605e+00] [ 1.57801632e-02 -4.47759241e-04 9.99875385e-01 1.77690476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.84925415399998 meters Centerline goodness : 0.999277 Centerline is valid? [True, True] Translation: X:121.17, Y:1.32, Z:1.78 [[ 9.99240381e-01 -3.56294302e-02 -1.57862097e-02 1.21168201e+02] [ 3.56323227e-02 9.99364962e-01 -9.80849227e-05 1.32137026e+00] [ 1.57796795e-02 -4.64488903e-04 9.99875385e-01 1.77839837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.87925415399998 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:121.20, Y:1.32, Z:1.78 [[ 9.99221837e-01 -3.61457478e-02 -1.57862169e-02 1.21199174e+02] [ 3.61487233e-02 9.99346417e-01 -9.69067175e-05 1.32043453e+00] [ 1.57794021e-02 -4.73820279e-04 9.99875385e-01 1.77903219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.90925415399998 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:121.23, Y:1.32, Z:1.78 [[ 9.99224503e-01 -3.60719749e-02 -1.57862223e-02 1.21231863e+02] [ 3.60749551e-02 9.99349082e-01 -9.60288705e-05 1.32057452e+00] [ 1.57794107e-02 -4.73532858e-04 9.99875385e-01 1.77954803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.93925415399998 meters Centerline goodness : 0.999087 Centerline is valid? [True, True] Translation: X:121.26, Y:1.32, Z:1.78 [[ 9.99208024e-01 -3.65255951e-02 -1.57862293e-02 1.21263094e+02] [ 3.65286502e-02 9.99332602e-01 -9.48634434e-05 1.31962476e+00] [ 1.57791585e-02 -4.81861333e-04 9.99875385e-01 1.77909874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.96925415399998 meters Centerline goodness : 0.999108 Centerline is valid? [True, True] Translation: X:121.29, Y:1.32, Z:1.78 [[ 9.99197185e-01 -3.68209229e-02 -1.57862344e-02 1.21294885e+02] [ 3.68240286e-02 9.99321761e-01 -9.39954282e-05 1.31783154e+00] [ 1.57789886e-02 -4.87392780e-04 9.99875385e-01 1.77992152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.99925415399997 meters Centerline goodness : 0.999193 Centerline is valid? [True, True] Translation: X:121.33, Y:1.32, Z:1.78 [[ 9.99200125e-01 -3.67410374e-02 -1.57862412e-02 1.21327080e+02] [ 3.67441513e-02 9.99324701e-01 -9.28428711e-05 1.31604441e+00] [ 1.57789919e-02 -4.87283427e-04 9.99875385e-01 1.77963557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.02925415399997 meters Centerline goodness : 0.999257 Centerline is valid? [True, True] Translation: X:121.36, Y:1.32, Z:1.78 [[ 9.99210849e-01 -3.64482315e-02 -1.57862479e-02 1.21359390e+02] [ 3.64513270e-02 9.99335425e-01 -9.16951145e-05 1.31517006e+00] [ 1.57790989e-02 -4.83806930e-04 9.99875385e-01 1.78048308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.05925415399997 meters Centerline goodness : 0.999194 Centerline is valid? [True, True] Translation: X:121.39, Y:1.31, Z:1.78 [[ 9.99237848e-01 -3.57003805e-02 -1.57862545e-02 1.21391573e+02] [ 3.57034011e-02 9.99362426e-01 -9.05329626e-05 1.31442160e+00] [ 1.57794217e-02 -4.73159015e-04 9.99875385e-01 1.78080820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.08925415399997 meters Centerline goodness : 0.998814 Centerline is valid? [True, True] Translation: X:121.42, Y:1.31, Z:1.78 [[ 9.99262778e-01 -3.49956372e-02 -1.57862611e-02 1.21422840e+02] [ 3.49985883e-02 9.99387358e-01 -8.93713113e-05 1.31404474e+00] [ 1.57797174e-02 -4.63191428e-04 9.99875385e-01 1.78149701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.11925415399998 meters Centerline goodness : 0.999028 Centerline is valid? [True, True] Translation: X:121.45, Y:1.31, Z:1.78 [[ 9.99312822e-01 -3.35362209e-02 -1.57862718e-02 1.21454665e+02] [ 3.35390206e-02 9.99437405e-01 -8.74325611e-05 1.31319317e+00] [ 1.57803227e-02 -4.42083617e-04 9.99875385e-01 1.78214989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.14925415399998 meters Centerline goodness : 0.999131 Centerline is valid? [True, True] Translation: X:121.49, Y:1.31, Z:1.78 [[ 9.99331050e-01 -3.29885666e-02 -1.57862781e-02 1.21485803e+02] [ 3.29913162e-02 9.99455635e-01 -8.62822245e-05 1.31249098e+00] [ 1.57805310e-02 -4.34585588e-04 9.99875385e-01 1.78169498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.17925415399998 meters Centerline goodness : 0.999046 Centerline is valid? [True, True] Translation: X:121.52, Y:1.31, Z:1.78 [[ 9.99325080e-01 -3.31689215e-02 -1.57862828e-02 1.21517149e+02] [ 3.31717071e-02 9.99449664e-01 -8.54253710e-05 1.31120598e+00] [ 1.57804285e-02 -4.38290233e-04 9.99875385e-01 1.78232044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.20925415399998 meters Centerline goodness : 0.999046 Centerline is valid? [True, True] Translation: X:121.55, Y:1.31, Z:1.78 [[ 9.99308204e-01 -3.36735328e-02 -1.57862859e-02 1.21549015e+02] [ 3.36763905e-02 9.99432786e-01 -8.48449163e-05 1.31056695e+00] [ 1.57801887e-02 -4.46838908e-04 9.99875385e-01 1.78216955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.23925415399998 meters Centerline goodness : 0.999194 Centerline is valid? [True, True] Translation: X:121.58, Y:1.31, Z:1.78 [[ 9.99288474e-01 -3.42540240e-02 -1.57862905e-02 1.21580599e+02] [ 3.42569678e-02 9.99413054e-01 -8.39769108e-05 1.30988675e+00] [ 1.57799014e-02 -4.56873286e-04 9.99875385e-01 1.78197988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.26925415399998 meters Centerline goodness : 0.998919 Centerline is valid? [True, True] Translation: X:121.61, Y:1.31, Z:1.78 [[ 9.99255755e-01 -3.51955795e-02 -1.57862936e-02 1.21612914e+02] [ 3.51986498e-02 9.99380332e-01 -8.33985817e-05 1.30818270e+00] [ 1.57794466e-02 -4.72319705e-04 9.99875385e-01 1.78117888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.29925415399998 meters Centerline goodness : 0.999003 Centerline is valid? [True, True] Translation: X:121.64, Y:1.31, Z:1.78 [[ 9.99248052e-01 -3.54135998e-02 -1.57862997e-02 1.21644630e+02] [ 3.54167157e-02 9.99372628e-01 -8.22298540e-05 1.30796459e+00] [ 1.57793078e-02 -4.76930865e-04 9.99875385e-01 1.78131398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.32925415399998 meters Centerline goodness : 0.999045 Centerline is valid? [True, True] Translation: X:121.68, Y:1.31, Z:1.78 [[ 9.99256580e-01 -3.51721402e-02 -1.57863056e-02 1.21677151e+02] [ 3.51752443e-02 9.99381156e-01 -8.10693299e-05 1.30780270e+00] [ 1.57793877e-02 -4.74278095e-04 9.99875385e-01 1.78186649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.35925415399997 meters Centerline goodness : 0.998939 Centerline is valid? [True, True] Translation: X:121.71, Y:1.31, Z:1.78 [[ 9.99307120e-01 -3.37056861e-02 -1.57863115e-02 1.21709499e+02] [ 3.37086257e-02 9.99431700e-01 -7.99081757e-05 1.30813350e+00] [ 1.57800335e-02 -4.52282057e-04 9.99875385e-01 1.78259369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.38925415399997 meters Centerline goodness : 0.998961 Centerline is valid? [True, True] Translation: X:121.74, Y:1.31, Z:1.78 [[ 9.99340066e-01 -3.27142851e-02 -1.57863172e-02 1.21741044e+02] [ 3.27171194e-02 9.99464649e-01 -7.87535089e-05 1.30841837e+00] [ 1.57804424e-02 -4.37781289e-04 9.99875385e-01 1.78396100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.41925415399997 meters Centerline goodness : 0.999130 Centerline is valid? [True, True] Translation: X:121.77, Y:1.31, Z:1.78 [[ 9.99362345e-01 -3.20264687e-02 -1.57863201e-02 1.21772598e+02] [ 3.20292265e-02 9.99486930e-01 -7.81711042e-05 1.30854788e+00] [ 1.57807242e-02 -4.27502364e-04 9.99875385e-01 1.78375398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.44925415399997 meters Centerline goodness : 0.998875 Centerline is valid? [True, True] Translation: X:121.80, Y:1.31, Z:1.79 [[ 9.99404559e-01 -3.06809331e-02 -1.57863244e-02 1.21804327e+02] [ 3.06835368e-02 9.99529146e-01 -7.73006466e-05 1.30857906e+00] [ 1.57812630e-02 -4.07125647e-04 9.99875385e-01 1.78604130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.47925415399997 meters Centerline goodness : 0.999002 Centerline is valid? [True, True] Translation: X:121.84, Y:1.31, Z:1.79 [[ 9.99429990e-01 -2.98410274e-02 -1.57863272e-02 1.21835640e+02] [ 2.98435356e-02 9.99554580e-01 -7.67218162e-05 1.30862567e+00] [ 1.57815851e-02 -3.94441734e-04 9.99875385e-01 1.78685957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.50925415399998 meters Centerline goodness : 0.998790 Centerline is valid? [True, True] Translation: X:121.87, Y:1.31, Z:1.79 [[ 9.99451837e-01 -2.91001223e-02 -1.57863300e-02 1.21866668e+02] [ 2.91025473e-02 9.99576428e-01 -7.61400385e-05 1.30867237e+00] [ 1.57818591e-02 -3.83324114e-04 9.99875385e-01 1.78759477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.53925415399998 meters Centerline goodness : 0.998896 Centerline is valid? [True, True] Translation: X:121.90, Y:1.31, Z:1.79 [[ 9.99520636e-01 -2.66324819e-02 -1.57863328e-02 1.21897454e+02] [ 2.66346085e-02 9.99645233e-01 -7.55576333e-05 1.30869489e+00] [ 1.57827446e-02 -3.44941380e-04 9.99875385e-01 1.78855600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.56925415399998 meters Centerline goodness : 0.998878 Centerline is valid? [True, True] Translation: X:121.93, Y:1.31, Z:1.79 [[ 9.99565504e-01 -2.48916750e-02 -1.57863342e-02 1.21928217e+02] [ 2.48935891e-02 9.99690104e-01 -7.52686683e-05 1.30896853e+00] [ 1.57833156e-02 -3.17742553e-04 9.99875385e-01 1.78924515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.59925415399998 meters Centerline goodness : 0.998874 Centerline is valid? [True, True] Translation: X:121.96, Y:1.31, Z:1.79 [[ 9.99648733e-01 -2.12885322e-02 -1.57863342e-02 1.21959071e+02] [ 2.12899972e-02 9.99773339e-01 -7.52686683e-05 1.30893280e+00] [ 1.57843584e-02 -2.60848782e-04 9.99875385e-01 1.79084204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.62925415399998 meters Centerline goodness : 0.998900 Centerline is valid? [True, True] Translation: X:121.99, Y:1.31, Z:1.79 [[ 9.99688140e-01 -1.93498040e-02 -1.57863342e-02 1.21987827e+02] [ 1.93510273e-02 9.99812749e-01 -7.52686683e-05 1.30878432e+00] [ 1.57848346e-02 -2.30236589e-04 9.99875385e-01 1.79039633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.65925415399998 meters Centerline goodness : 0.999150 Centerline is valid? [True, True] Translation: X:122.02, Y:1.31, Z:1.79 [[ 9.99715263e-01 -1.78937262e-02 -1.57863300e-02 1.22016257e+02] [ 1.78947543e-02 9.99839873e-01 -7.61393719e-05 1.30868223e+00] [ 1.57851646e-02 -2.06374804e-04 9.99875385e-01 1.79118133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.68925415399998 meters Centerline goodness : 0.999088 Centerline is valid? [True, True] Translation: X:122.05, Y:1.31, Z:1.79 [[ 9.99734642e-01 -1.67761015e-02 -1.57863098e-02 1.22045267e+02] [ 1.67769275e-02 9.99859254e-01 -8.01159946e-05 1.30858749e+00] [ 1.57854320e-02 -1.84751039e-04 9.99875385e-01 1.79190416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.71925415399998 meters Centerline goodness : 0.999066 Centerline is valid? [True, True] Translation: X:122.07, Y:1.31, Z:1.79 [[ 9.99753756e-01 -1.55954995e-02 -1.57862882e-02 1.22073434e+02] [ 1.55961144e-02 9.99878370e-01 -8.41630841e-05 1.30774950e+00] [ 1.57856807e-02 -1.62062398e-04 9.99875385e-01 1.79184882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.74925415399997 meters Centerline goodness : 0.999109 Centerline is valid? [True, True] Translation: X:122.10, Y:1.31, Z:1.79 [[ 9.99751963e-01 -1.57100803e-02 -1.57862620e-02 1.22101785e+02] [ 1.57106359e-02 9.99876576e-01 -8.88299751e-05 1.30725278e+00] [ 1.57857091e-02 -1.59204272e-04 9.99875385e-01 1.79174377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.77925415399997 meters Centerline goodness : 0.999067 Centerline is valid? [True, True] Translation: X:122.13, Y:1.31, Z:1.79 [[ 9.99744308e-01 -1.61898896e-02 -1.57862345e-02 1.22129985e+02] [ 1.61904319e-02 9.99868922e-01 -9.34612313e-05 1.30666460e+00] [ 1.57856784e-02 -1.62148621e-04 9.99875385e-01 1.79182365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.80925415399997 meters Centerline goodness : 0.999067 Centerline is valid? [True, True] Translation: X:122.16, Y:1.31, Z:1.79 [[ 9.99731387e-01 -1.69690617e-02 -1.57862057e-02 1.22158011e+02] [ 1.69696278e-02 9.99856001e-01 -9.80989750e-05 1.30606560e+00] [ 1.57855972e-02 -1.69813411e-04 9.99875385e-01 1.79217088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.83925415399997 meters Centerline goodness : 0.999111 Centerline is valid? [True, True] Translation: X:122.19, Y:1.30, Z:1.79 [[ 9.99703820e-01 -1.85221058e-02 -1.57861758e-02 1.22185851e+02] [ 1.85227928e-02 9.99828433e-01 -1.02705587e-04 1.30415337e+00] [ 1.57853697e-02 -1.89728895e-04 9.99875385e-01 1.79162641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.86925415399998 meters Centerline goodness : 0.998795 Centerline is valid? [True, True] Translation: X:122.21, Y:1.30, Z:1.79 [[ 9.99679932e-01 -1.97694492e-02 -1.57861664e-02 1.22214363e+02] [ 1.97702692e-02 9.99804544e-01 -1.04130021e-04 1.30331927e+00] [ 1.57851394e-02 -2.08000065e-04 9.99875385e-01 1.79194768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.89925415399998 meters Centerline goodness : 0.998903 Centerline is valid? [True, True] Translation: X:122.24, Y:1.30, Z:1.79 [[ 9.99644808e-01 -2.14721986e-02 -1.57861387e-02 1.22243473e+02] [ 2.14731671e-02 9.99769419e-01 -1.08166714e-04 1.30156120e+00] [ 1.57848213e-02 -2.30850099e-04 9.99875385e-01 1.79208279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.92925415399998 meters Centerline goodness : 0.999028 Centerline is valid? [True, True] Translation: X:122.27, Y:1.30, Z:1.79 [[ 9.99630830e-01 -2.21133984e-02 -1.57861098e-02 1.22271695e+02] [ 2.21143827e-02 9.99755441e-01 -1.12229868e-04 1.30107891e+00] [ 1.57847310e-02 -2.36911637e-04 9.99875385e-01 1.79191395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.95925415399998 meters Centerline goodness : 0.999092 Centerline is valid? [True, True] Translation: X:122.30, Y:1.30, Z:1.79 [[ 9.99621962e-01 -2.25106872e-02 -1.57861036e-02 1.22300345e+02] [ 2.25117074e-02 9.99746573e-01 -1.13090885e-04 1.30094570e+00] [ 1.57846488e-02 -2.42324014e-04 9.99875385e-01 1.79203595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.98925415399998 meters Centerline goodness : 0.998922 Centerline is valid? [True, True] Translation: X:122.33, Y:1.30, Z:1.79 [[ 9.99623246e-01 -2.24536326e-02 -1.57860960e-02 1.22329594e+02] [ 2.24546290e-02 9.99747857e-01 -1.14145489e-04 1.30046925e+00] [ 1.57846786e-02 -2.40368446e-04 9.99875385e-01 1.79391884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.01925415399998 meters Centerline goodness : 0.998881 Centerline is valid? [True, True] Translation: X:122.36, Y:1.30, Z:1.79 [[ 9.99630699e-01 -2.21193144e-02 -1.57860918e-02 1.22359292e+02] [ 2.21202601e-02 9.99755311e-01 -1.14720495e-04 1.30020274e+00] [ 1.57847667e-02 -2.34514329e-04 9.99875385e-01 1.79487740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.04925415399998 meters Centerline goodness : 0.999030 Centerline is valid? [True, True] Translation: X:122.39, Y:1.30, Z:1.80 [[ 9.99643459e-01 -2.15349512e-02 -1.57860876e-02 1.22389152e+02] [ 2.15358148e-02 9.99768071e-01 -1.15306348e-04 1.29979470e+00] [ 1.57849094e-02 -2.24701022e-04 9.99875385e-01 1.79569591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.07925415399998 meters Centerline goodness : 0.998964 Centerline is valid? [True, True] Translation: X:122.42, Y:1.30, Z:1.80 [[ 9.99667995e-01 -2.03641735e-02 -1.57860833e-02 1.22417488e+02] [ 2.03648819e-02 9.99792608e-01 -1.15891116e-04 1.29871919e+00] [ 1.57851694e-02 -2.05629082e-04 9.99875385e-01 1.79695736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.10925415399997 meters Centerline goodness : 0.999134 Centerline is valid? [True, True] Translation: X:122.45, Y:1.30, Z:1.80 [[ 9.99681841e-01 -1.96727288e-02 -1.57860768e-02 1.22446279e+02] [ 1.96733373e-02 9.99806454e-01 -1.16759277e-04 1.29818408e+00] [ 1.57853185e-02 -1.93842685e-04 9.99875385e-01 1.79818857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.13925415399997 meters Centerline goodness : 0.999282 Centerline is valid? [True, True] Translation: X:122.47, Y:1.30, Z:1.80 [[ 9.99690734e-01 -1.92155691e-02 -1.57860458e-02 1.22474979e+02] [ 1.92160566e-02 9.99815347e-01 -1.20819545e-04 1.29763069e+00] [ 1.57854524e-02 -1.82563368e-04 9.99875385e-01 1.79929746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.16925415399997 meters Centerline goodness : 0.999050 Centerline is valid? [True, True] Translation: X:122.50, Y:1.30, Z:1.80 [[ 9.99702498e-01 -1.85934905e-02 -1.57860136e-02 1.22503760e+02] [ 1.85938361e-02 9.99827112e-01 -1.24889336e-04 1.29691901e+00] [ 1.57856065e-02 -1.68670368e-04 9.99875385e-01 1.80012273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.19925415399997 meters Centerline goodness : 0.999093 Centerline is valid? [True, True] Translation: X:122.53, Y:1.30, Z:1.80 [[ 9.99735463e-01 -1.67274197e-02 -1.57859801e-02 1.22532523e+02] [ 1.67274681e-02 9.99860078e-01 -1.28982149e-04 1.29556104e+00] [ 1.57859289e-02 -1.35111450e-04 9.99875385e-01 1.80093392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.22925415399997 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:122.56, Y:1.29, Z:1.80 [[ 9.99752135e-01 -1.56994546e-02 -1.57859459e-02 1.22560303e+02] [ 1.56993107e-02 9.99876749e-01 -1.33049044e-04 1.29488697e+00] [ 1.57860890e-02 -1.14812402e-04 9.99875385e-01 1.80104947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.25925415399998 meters Centerline goodness : 0.999388 Centerline is valid? [True, True] Translation: X:122.59, Y:1.29, Z:1.80 [[ 9.99766801e-01 -1.47359495e-02 -1.57859055e-02 1.22586838e+02] [ 1.47356124e-02 9.99891415e-01 -1.37673726e-04 1.29412312e+00] [ 1.57862202e-02 -9.49733641e-05 9.99875385e-01 1.80120708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.28925415399998 meters Centerline goodness : 0.999197 Centerline is valid? [True, True] Translation: X:122.61, Y:1.29, Z:1.80 [[ 9.99775505e-01 -1.41331128e-02 -1.57858878e-02 1.22614732e+02] [ 1.41326690e-02 9.99900119e-01 -1.39676260e-04 1.29330146e+00] [ 1.57862852e-02 -8.34518241e-05 9.99875385e-01 1.80130627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.31925415399998 meters Centerline goodness : 0.999093 Centerline is valid? [True, True] Translation: X:122.64, Y:1.29, Z:1.80 [[ 9.99783446e-01 -1.35598315e-02 -1.57858450e-02 1.22642464e+02] [ 1.35592424e-02 9.99908059e-01 -1.44352046e-04 1.29104421e+00] [ 1.57863511e-02 -6.97233131e-05 9.99875385e-01 1.80120296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.34925415399998 meters Centerline goodness : 0.999179 Centerline is valid? [True, True] Translation: X:122.67, Y:1.29, Z:1.80 [[ 9.99777704e-01 -1.39768055e-02 -1.57858007e-02 1.22669898e+02] [ 1.39761941e-02 9.99902317e-01 -1.49053194e-04 1.28992378e+00] [ 1.57863419e-02 -7.16053548e-05 9.99875385e-01 1.80123914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.37925415399998 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:122.70, Y:1.29, Z:1.80 [[ 9.99761599e-01 -1.50849206e-02 -1.57857552e-02 1.22697949e+02] [ 1.50843736e-02 9.99886213e-01 -1.53723559e-04 1.28881629e+00] [ 1.57862779e-02 -8.44313171e-05 9.99875385e-01 1.80133471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.40925415399998 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:122.73, Y:1.29, Z:1.80 [[ 9.99708326e-01 -1.82777173e-02 -1.57857087e-02 1.22726085e+02] [ 1.82774952e-02 9.99832940e-01 -1.58353472e-04 1.28582662e+00] [ 1.57859659e-02 -1.30215931e-04 9.99875385e-01 1.80128152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.43925415399998 meters Centerline goodness : 0.999327 Centerline is valid? [True, True] Translation: X:122.75, Y:1.28, Z:1.80 [[ 9.99670387e-01 -2.02467252e-02 -1.57856610e-02 1.22754153e+02] [ 2.02466756e-02 9.99795002e-01 -1.62972806e-04 1.28438402e+00] [ 1.57857247e-02 -1.56688070e-04 9.99875385e-01 1.80151337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.46925415399998 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:122.78, Y:1.28, Z:1.80 [[ 9.99627018e-01 -2.22854202e-02 -1.57856121e-02 1.22782831e+02] [ 2.22855519e-02 9.99751632e-01 -1.67584501e-04 1.28292947e+00] [ 1.57854261e-02 -1.84269082e-04 9.99875385e-01 1.80164296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.49925415399997 meters Centerline goodness : 0.999037 Centerline is valid? [True, True] Translation: X:122.81, Y:1.28, Z:1.80 [[ 9.99535211e-01 -2.60802228e-02 -1.57855685e-02 1.22811461e+02] [ 2.60807643e-02 9.99659824e-01 -1.71592163e-04 1.27986729e+00] [ 1.57846738e-02 -2.40187283e-04 9.99875385e-01 1.80122383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.52925415399997 meters Centerline goodness : 0.999079 Centerline is valid? [True, True] Translation: X:122.84, Y:1.28, Z:1.80 [[ 9.99481339e-01 -2.80690116e-02 -1.57855592e-02 1.22840761e+02] [ 2.80697876e-02 9.99605951e-01 -1.72442882e-04 1.27855902e+00] [ 1.57841792e-02 -2.70743852e-04 9.99875385e-01 1.80231180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.55925415399997 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:122.87, Y:1.28, Z:1.80 [[ 9.99429844e-01 -2.98463122e-02 -1.57855529e-02 1.22870120e+02] [ 2.98473007e-02 9.99554455e-01 -1.73020278e-04 1.27709547e+00] [ 1.57836837e-02 -2.98234515e-04 9.99875385e-01 1.80285322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.58925415399997 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:122.90, Y:1.27, Z:1.80 [[ 9.99312274e-01 -3.35528610e-02 -1.57855497e-02 1.22899632e+02] [ 3.35543072e-02 9.99436881e-01 -1.73306999e-04 1.27349595e+00] [ 1.57824755e-02 -3.56485374e-04 9.99875385e-01 1.80349600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.61925415399998 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:122.93, Y:1.27, Z:1.80 [[ 9.99245341e-01 -3.54903501e-02 -1.57855466e-02 1.22929574e+02] [ 3.54920333e-02 9.99369944e-01 -1.73590813e-04 1.27193362e+00] [ 1.57817617e-02 -3.86801336e-04 9.99875385e-01 1.80413234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.64925415399998 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:122.96, Y:1.27, Z:1.80 [[ 9.99172017e-01 -3.74979521e-02 -1.57855497e-02 1.22960603e+02] [ 3.74998901e-02 9.99296617e-01 -1.73310105e-04 1.27056728e+00] [ 1.57809452e-02 -4.18789773e-04 9.99875385e-01 1.80495858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.67925415399998 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:122.99, Y:1.27, Z:1.81 [[ 9.99016110e-01 -4.14442837e-02 -1.57855557e-02 1.22992438e+02] [ 4.14467225e-02 9.99140700e-01 -1.72761279e-04 1.26786496e+00] [ 1.57791512e-02 -4.81668246e-04 9.99875385e-01 1.80677095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.70925415399998 meters Centerline goodness : 0.999333 Centerline is valid? [True, True] Translation: X:123.02, Y:1.27, Z:1.81 [[ 9.98940338e-01 -4.32321301e-02 -1.57855685e-02 1.23023184e+02] [ 4.32348105e-02 9.99064924e-01 -1.71583637e-04 1.26637688e+00] [ 1.57782257e-02 -5.11084247e-04 9.99875385e-01 1.80617320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.73925415399998 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:123.05, Y:1.27, Z:1.81 [[ 9.98859735e-01 -4.50560311e-02 -1.57855780e-02 1.23054994e+02] [ 4.50589529e-02 9.98984315e-01 -1.70705344e-04 1.26527101e+00] [ 1.57772361e-02 -5.40770921e-04 9.99875385e-01 1.80593717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.76925415399998 meters Centerline goodness : 0.999041 Centerline is valid? [True, True] Translation: X:123.09, Y:1.26, Z:1.81 [[ 9.98642427e-01 -4.96398872e-02 -1.57855907e-02 1.23085737e+02] [ 4.96433993e-02 9.98766992e-01 -1.69526670e-04 1.26349612e+00] [ 1.57745422e-02 -6.14353855e-04 9.99875385e-01 1.80549715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.79925415399998 meters Centerline goodness : 0.999041 Centerline is valid? [True, True] Translation: X:123.12, Y:1.26, Z:1.81 [[ 9.98646038e-01 -4.95671819e-02 -1.57856000e-02 1.23118421e+02] [ 4.95706988e-02 9.98770603e-01 -1.68648858e-04 1.26378428e+00] [ 1.57745527e-02 -6.14082712e-04 9.99875385e-01 1.80601298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.82925415399998 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:123.15, Y:1.26, Z:1.81 [[ 9.98506954e-01 -5.22941420e-02 -1.57856122e-02 1.23149934e+02] [ 5.22980172e-02 9.98631508e-01 -1.67499678e-04 1.26353636e+00] [ 1.57727690e-02 -6.58306627e-04 9.99875385e-01 1.80804761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.85925415399997 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:123.18, Y:1.26, Z:1.81 [[ 9.98383208e-01 -5.46057205e-02 -1.57856213e-02 1.23182176e+02] [ 5.46098975e-02 9.98507752e-01 -1.66643681e-04 1.26282263e+00] [ 1.57711649e-02 -6.95676907e-04 9.99875385e-01 1.80835292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.88925415399997 meters Centerline goodness : 0.998937 Centerline is valid? [True, True] Translation: X:123.21, Y:1.26, Z:1.81 [[ 9.98264978e-01 -5.67260758e-02 -1.57856333e-02 1.23212930e+02] [ 5.67305354e-02 9.98389513e-01 -1.65496584e-04 1.26239264e+00] [ 1.57695987e-02 -7.30317985e-04 9.99875385e-01 1.80805777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.91925415399997 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:123.25, Y:1.26, Z:1.81 [[ 9.98061118e-01 -6.02064642e-02 -1.57856531e-02 1.23245103e+02] [ 6.02113882e-02 9.98185635e-01 -1.63581755e-04 1.26148980e+00] [ 1.57668609e-02 -7.87211501e-04 9.99875385e-01 1.80593006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.94925415399997 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:123.28, Y:1.26, Z:1.81 [[ 9.97959170e-01 -6.18733218e-02 -1.57856647e-02 1.23277543e+02] [ 6.18784715e-02 9.98083678e-01 -1.62458984e-04 1.26210488e+00] [ 1.57654662e-02 -8.14665370e-04 9.99875385e-01 1.80805170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.97925415399997 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:123.31, Y:1.26, Z:1.81 [[ 9.97920644e-01 -6.24915993e-02 -1.57856762e-02 1.23309775e+02] [ 6.24968438e-02 9.98045149e-01 -1.61337736e-04 1.26193067e+00] [ 1.57648998e-02 -8.25552681e-04 9.99875385e-01 1.80830339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.00925415399998 meters Centerline goodness : 0.998998 Centerline is valid? [True, True] Translation: X:123.34, Y:1.26, Z:1.81 [[ 9.97885433e-01 -6.30513594e-02 -1.57856875e-02 1.23341808e+02] [ 6.30566914e-02 9.98009934e-01 -1.60222194e-04 1.26281072e+00] [ 1.57643752e-02 -8.35509830e-04 9.99875385e-01 1.80935933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.03925415399998 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:123.37, Y:1.26, Z:1.81 [[ 9.97912997e-01 -6.26135892e-02 -1.57856987e-02 1.23373829e+02] [ 6.26188840e-02 9.98037499e-01 -1.59114585e-04 1.26348497e+00] [ 1.57646819e-02 -8.29700320e-04 9.99875385e-01 1.81001523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.06925415399998 meters Centerline goodness : 0.999247 Centerline is valid? [True, True] Translation: X:123.41, Y:1.26, Z:1.81 [[ 9.97957324e-01 -6.19030818e-02 -1.57857097e-02 1.23405689e+02] [ 6.19083053e-02 9.98081829e-01 -1.58014346e-04 1.26408778e+00] [ 1.57652115e-02 -8.19574960e-04 9.99875385e-01 1.81044213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.09925415399998 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:123.44, Y:1.27, Z:1.81 [[ 9.98086160e-01 -5.97898738e-02 -1.57857205e-02 1.23436805e+02] [ 5.97948510e-02 9.98210675e-01 -1.56920378e-04 1.26530206e+00] [ 1.57668570e-02 -7.87284750e-04 9.99875385e-01 1.81048273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.12925415399998 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:123.47, Y:1.27, Z:1.81 [[ 9.98158095e-01 -5.85766790e-02 -1.57857286e-02 1.23468714e+02] [ 5.85815177e-02 9.98282616e-01 -1.56105981e-04 1.26632405e+00] [ 1.57677626e-02 -7.68933490e-04 9.99875385e-01 1.81105485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.15925415399998 meters Centerline goodness : 0.998978 Centerline is valid? [True, True] Translation: X:123.50, Y:1.27, Z:1.81 [[ 9.98258956e-01 -5.68319170e-02 -1.57857392e-02 1.23501292e+02] [ 5.68365551e-02 9.98383484e-01 -1.55027709e-04 1.26737690e+00] [ 1.57690318e-02 -7.42449235e-04 9.99875385e-01 1.81125813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.18925415399998 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:123.53, Y:1.27, Z:1.81 [[ 9.98377413e-01 -5.47115365e-02 -1.57857497e-02 1.23533773e+02] [ 5.47159269e-02 9.98501950e-01 -1.53954068e-04 1.26871393e+00] [ 1.57705249e-02 -7.10027660e-04 9.99875385e-01 1.81303050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.21925415399997 meters Centerline goodness : 0.999079 Centerline is valid? [True, True] Translation: X:123.57, Y:1.27, Z:1.81 [[ 9.98624902e-01 -4.99911412e-02 -1.57857610e-02 1.23565219e+02] [ 4.99949614e-02 9.98749458e-01 -1.52776927e-04 1.27155592e+00] [ 1.57736578e-02 -6.36641671e-04 9.99875385e-01 1.81291789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.24925415399997 meters Centerline goodness : 0.998872 Centerline is valid? [True, True] Translation: X:123.60, Y:1.27, Z:1.81 [[ 9.98747730e-01 -4.74739975e-02 -1.57857695e-02 1.23596075e+02] [ 4.74775176e-02 9.98872295e-01 -1.51899485e-04 1.27299561e+00] [ 1.57751791e-02 -5.97759883e-04 9.99875385e-01 1.81322014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.27925415399997 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:123.63, Y:1.28, Z:1.81 [[ 9.98995734e-01 -4.19324892e-02 -1.57857770e-02 1.23627807e+02] [ 4.19353306e-02 9.99120316e-01 -1.51115660e-04 1.27534243e+00] [ 1.57782271e-02 -5.11017877e-04 9.99875385e-01 1.81346052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.30925415399997 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:123.66, Y:1.28, Z:1.81 [[ 9.99119955e-01 -3.88603316e-02 -1.57857868e-02 1.23658971e+02] [ 3.88628063e-02 9.99244545e-01 -1.50082284e-04 1.27651870e+00] [ 1.57796936e-02 -4.63529770e-04 9.99875385e-01 1.81406102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.33925415399997 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:123.69, Y:1.28, Z:1.81 [[ 9.99231546e-01 -3.58765530e-02 -1.57857917e-02 1.23690759e+02] [ 3.58786636e-02 9.99356142e-01 -1.49569781e-04 1.27789603e+00] [ 1.57809939e-02 -4.16918266e-04 9.99875385e-01 1.81463648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.36925415399998 meters Centerline goodness : 0.998915 Centerline is valid? [True, True] Translation: X:123.72, Y:1.28, Z:1.82 [[ 9.99334811e-01 -3.28746629e-02 -1.57857965e-02 1.23722309e+02] [ 3.28764073e-02 9.99459414e-01 -1.49060390e-04 1.27922582e+00] [ 1.57821632e-02 -3.70019038e-04 9.99875385e-01 1.81660778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.39925415399998 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:123.75, Y:1.28, Z:1.82 [[ 9.99526220e-01 -2.64224221e-02 -1.57858019e-02 1.23751836e+02] [ 2.64233712e-02 9.99650831e-01 -1.48480516e-04 1.28183318e+00] [ 1.57842132e-02 -2.68703935e-04 9.99875385e-01 1.81807641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.42925415399998 meters Centerline goodness : 0.999142 Centerline is valid? [True, True] Translation: X:123.78, Y:1.28, Z:1.82 [[ 9.99602829e-01 -2.33450674e-02 -1.57857992e-02 1.23781570e+02] [ 2.33456283e-02 9.99727443e-01 -1.48768040e-04 1.28361152e+00] [ 1.57849697e-02 -2.19820448e-04 9.99875385e-01 1.81894804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.45925415399998 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:123.81, Y:1.29, Z:1.82 [[ 9.99707306e-01 -1.83333551e-02 -1.57857966e-02 1.23811537e+02] [ 1.83332868e-02 9.99831920e-01 -1.49046129e-04 1.28588422e+00] [ 1.57858758e-02 -1.40403033e-04 9.99875385e-01 1.82041395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.48925415399998 meters Centerline goodness : 0.999014 Centerline is valid? [True, True] Translation: X:123.84, Y:1.29, Z:1.82 [[ 9.99733108e-01 -1.68677728e-02 -1.57857911e-02 1.23839569e+02] [ 1.68675127e-02 9.99857722e-01 -1.49627848e-04 1.28641268e+00] [ 1.57860690e-02 -1.16679119e-04 9.99875385e-01 1.82041504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.51925415399998 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:123.87, Y:1.29, Z:1.82 [[ 9.99743149e-01 -1.62617903e-02 -1.57857456e-02 1.23867618e+02] [ 1.62613812e-02 9.99867763e-01 -1.54281450e-04 1.28679700e+00] [ 1.57861670e-02 -1.02456204e-04 9.99875385e-01 1.82064856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.54925415399998 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:123.90, Y:1.29, Z:1.82 [[ 9.99737811e-01 -1.65867839e-02 -1.57856987e-02 1.23895239e+02] [ 1.65863417e-02 9.99862425e-01 -1.58942801e-04 1.28692533e+00] [ 1.57861633e-02 -1.02925865e-04 9.99875385e-01 1.82117338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.57925415399998 meters Centerline goodness : 0.999329 Centerline is valid? [True, True] Translation: X:123.92, Y:1.29, Z:1.82 [[ 9.99708992e-01 -1.82413024e-02 -1.57856504e-02 1.23922596e+02] [ 1.82409929e-02 9.99833606e-01 -1.63601181e-04 1.28655092e+00] [ 1.57860081e-02 -1.24392365e-04 9.99875385e-01 1.82157169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.60925415399997 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:123.95, Y:1.29, Z:1.82 [[ 9.99676817e-01 -1.99267642e-02 -1.57856151e-02 1.23950252e+02] [ 1.99266122e-02 9.99801431e-01 -1.66934157e-04 1.28644141e+00] [ 1.57858071e-02 -1.47673624e-04 9.99875385e-01 1.82200873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.63925415399997 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:123.98, Y:1.29, Z:1.82 [[ 9.99630518e-01 -2.21278818e-02 -1.57855660e-02 1.23978857e+02] [ 2.21279327e-02 9.99755133e-01 -1.71462570e-04 1.28625217e+00] [ 1.57854947e-02 -1.77902723e-04 9.99875385e-01 1.82304425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.66925415399997 meters Centerline goodness : 0.999037 Centerline is valid? [True, True] Translation: X:124.01, Y:1.29, Z:1.82 [[ 9.99577683e-01 -2.43982137e-02 -1.57855219e-02 1.24007158e+02] [ 2.43984850e-02 9.99702297e-01 -1.75427193e-04 1.28555083e+00] [ 1.57851026e-02 -2.09789712e-04 9.99875385e-01 1.82343311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.69925415399997 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:124.04, Y:1.28, Z:1.82 [[ 9.99458270e-01 -2.88788157e-02 -1.57854772e-02 1.24037233e+02] [ 2.88795834e-02 9.99582882e-01 -1.79363936e-04 1.28359644e+00] [ 1.57840726e-02 -2.76611235e-04 9.99875386e-01 1.82362268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.72925415399997 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:124.07, Y:1.28, Z:1.82 [[ 9.99384486e-01 -3.13283810e-02 -1.57854706e-02 1.24067733e+02] [ 3.13294450e-02 9.99509096e-01 -1.79941887e-04 1.28298841e+00] [ 1.57833587e-02 -3.14718902e-04 9.99875386e-01 1.82395225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.75925415399998 meters Centerline goodness : 0.999456 Centerline is valid? [True, True] Translation: X:124.10, Y:1.28, Z:1.82 [[ 9.99321789e-01 -3.32683121e-02 -1.57854706e-02 1.24098575e+02] [ 3.32696180e-02 9.99446397e-01 -1.79941887e-04 1.28223952e+00] [ 1.57827181e-02 -3.45356727e-04 9.99875386e-01 1.82442525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.78925415399998 meters Centerline goodness : 0.999041 Centerline is valid? [True, True] Translation: X:124.13, Y:1.28, Z:1.82 [[ 9.99218677e-01 -3.62333324e-02 -1.57854706e-02 1.24128676e+02] [ 3.62350080e-02 9.99343280e-01 -1.79941887e-04 1.28072411e+00] [ 1.57816238e-02 -3.92185359e-04 9.99875386e-01 1.82369731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.81925415399998 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:124.16, Y:1.28, Z:1.82 [[ 9.99181388e-01 -3.72474623e-02 -1.57854739e-02 1.24158601e+02] [ 3.72492690e-02 9.99305989e-01 -1.79650777e-04 1.28048708e+00] [ 1.57812101e-02 -4.08493650e-04 9.99875386e-01 1.82395907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.84925415399998 meters Centerline goodness : 0.998998 Centerline is valid? [True, True] Translation: X:124.19, Y:1.28, Z:1.82 [[ 9.99151747e-01 -3.80342619e-02 -1.57854772e-02 1.24189612e+02] [ 3.80361712e-02 9.99276347e-01 -1.79363863e-04 1.28050954e+00] [ 1.57808759e-02 -4.21207394e-04 9.99875386e-01 1.82493522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.87925415399998 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:124.22, Y:1.28, Z:1.83 [[ 9.99136477e-01 -3.84332974e-02 -1.57854836e-02 1.24220645e+02] [ 3.84352655e-02 9.99261076e-01 -1.78790928e-04 1.28022237e+00] [ 1.57806909e-02 -4.28082717e-04 9.99875386e-01 1.82606193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.90925415399998 meters Centerline goodness : 0.998850 Centerline is valid? [True, True] Translation: X:124.25, Y:1.28, Z:1.83 [[ 9.99090231e-01 -3.96172821e-02 -1.57854903e-02 1.24251715e+02] [ 3.96194072e-02 9.99214827e-01 -1.78204740e-04 1.27858289e+00] [ 1.57801559e-02 -4.47369151e-04 9.99875386e-01 1.82592753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.93925415399998 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:124.28, Y:1.28, Z:1.83 [[ 9.99076833e-01 -3.99537157e-02 -1.57854968e-02 1.24282835e+02] [ 3.99558919e-02 9.99201429e-01 -1.77622173e-04 1.27783065e+00] [ 1.57799876e-02 -4.53265405e-04 9.99875386e-01 1.82635661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.96925415399997 meters Centerline goodness : 0.999125 Centerline is valid? [True, True] Translation: X:124.31, Y:1.28, Z:1.83 [[ 9.99042870e-01 -4.07941341e-02 -1.57855184e-02 1.24313665e+02] [ 4.07964458e-02 9.99167463e-01 -1.75679120e-04 1.27767994e+00] [ 1.57795431e-02 -4.68482075e-04 9.99875386e-01 1.82665402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.99925415399997 meters Centerline goodness : 0.998978 Centerline is valid? [True, True] Translation: X:124.35, Y:1.28, Z:1.83 [[ 9.98921773e-01 -4.36590098e-02 -1.57855280e-02 1.24345335e+02] [ 4.36616924e-02 9.99046358e-01 -1.74815609e-04 1.27733119e+00] [ 1.57781065e-02 -5.14595750e-04 9.99875386e-01 1.82679414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.02925415399997 meters Centerline goodness : 0.999086 Centerline is valid? [True, True] Translation: X:124.38, Y:1.28, Z:1.83 [[ 9.98847143e-01 -4.53343298e-02 -1.57855343e-02 1.24376737e+02] [ 4.53372304e-02 9.98971724e-01 -1.74245288e-04 1.27724476e+00] [ 1.57772017e-02 -5.41627997e-04 9.99875386e-01 1.82668316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.05925415399997 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:124.41, Y:1.28, Z:1.83 [[ 9.98756934e-01 -4.72800499e-02 -1.57855437e-02 1.24409017e+02] [ 4.72832066e-02 9.98881509e-01 -1.73391653e-04 1.27695255e+00] [ 1.57760856e-02 -5.73215008e-04 9.99875386e-01 1.82728999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.08925415399997 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:124.44, Y:1.28, Z:1.83 [[ 9.98655893e-01 -4.93682456e-02 -1.57855564e-02 1.24441416e+02] [ 4.93716813e-02 9.98780460e-01 -1.72224124e-04 1.27681474e+00] [ 1.57748077e-02 -6.07366823e-04 9.99875386e-01 1.82769028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.11925415399998 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:124.47, Y:1.28, Z:1.83 [[ 9.98441336e-01 -5.35323725e-02 -1.57855692e-02 1.24473918e+02] [ 5.35363463e-02 9.98565887e-01 -1.71040388e-04 1.27590236e+00] [ 1.57720871e-02 -6.74327907e-04 9.99875386e-01 1.82817427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.14925415399998 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:124.51, Y:1.28, Z:1.83 [[ 9.98326865e-01 -5.56263012e-02 -1.57855819e-02 1.24505661e+02] [ 5.56305547e-02 9.98451407e-01 -1.69863260e-04 1.27570238e+00] [ 1.57705853e-02 -7.08581622e-04 9.99875386e-01 1.82870079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.17925415399998 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:124.54, Y:1.28, Z:1.83 [[ 9.98222227e-01 -5.74734789e-02 -1.57855944e-02 1.24537679e+02] [ 5.74779814e-02 9.98346760e-01 -1.68691270e-04 1.27609883e+00] [ 1.57691923e-02 -7.38932727e-04 9.99875386e-01 1.82950407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.20925415399998 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:124.57, Y:1.28, Z:1.83 [[ 9.98023125e-01 -6.08330192e-02 -1.57856068e-02 1.24570006e+02] [ 6.08379592e-02 9.98147642e-01 -1.67527400e-04 1.27730676e+00] [ 1.57665574e-02 -7.93167882e-04 9.99875386e-01 1.83081367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.23925415399998 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:124.60, Y:1.28, Z:1.83 [[ 9.97922024e-01 -6.24695792e-02 -1.57856190e-02 1.24602152e+02] [ 6.24747417e-02 9.98046531e-01 -1.66363529e-04 1.27786696e+00] [ 1.57651750e-02 -8.20184643e-04 9.99875386e-01 1.83084478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.26925415399998 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:124.63, Y:1.28, Z:1.83 [[ 9.97816479e-01 -6.41333658e-02 -1.57856314e-02 1.24633916e+02] [ 6.41387546e-02 9.97940977e-01 -1.65179268e-04 1.27871923e+00] [ 1.57637220e-02 -8.47652145e-04 9.99875386e-01 1.83160692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.29925415399998 meters Centerline goodness : 0.999251 Centerline is valid? [True, True] Translation: X:124.67, Y:1.28, Z:1.83 [[ 9.97733148e-01 -6.54169674e-02 -1.57856436e-02 1.24666230e+02] [ 6.54225349e-02 9.97857638e-01 -1.64004454e-04 1.27930991e+00] [ 1.57625538e-02 -8.69104141e-04 9.99875386e-01 1.83197068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.32925415399998 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:124.70, Y:1.28, Z:1.83 [[ 9.97556754e-01 -6.80539122e-02 -1.57856558e-02 1.24698038e+02] [ 6.80598272e-02 9.97681228e-01 -1.62829127e-04 1.28045629e+00] [ 1.57601336e-02 -9.11937708e-04 9.99875386e-01 1.83165336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.35925415399997 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:124.73, Y:1.28, Z:1.83 [[ 9.97468410e-01 -6.93367473e-02 -1.57856677e-02 1.24729815e+02] [ 6.93428407e-02 9.97592875e-01 -1.61663107e-04 1.28134074e+00] [ 1.57588788e-02 -9.33369200e-04 9.99875386e-01 1.83172041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.38925415399997 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:124.76, Y:1.28, Z:1.83 [[ 9.97385296e-01 -7.05222214e-02 -1.57856796e-02 1.24761137e+02] [ 7.05284813e-02 9.97509753e-01 -1.60489447e-04 1.28272591e+00] [ 1.57576875e-02 -9.53270197e-04 9.99875386e-01 1.83128456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.41925415399997 meters Centerline goodness : 0.999267 Centerline is valid? [True, True] Translation: X:124.79, Y:1.28, Z:1.83 [[ 9.97340954e-01 -7.11465660e-02 -1.57856885e-02 1.24793451e+02] [ 7.11529176e-02 9.97465406e-01 -1.59616097e-04 1.28409978e+00] [ 1.57570343e-02 -9.64006121e-04 9.99875386e-01 1.82961825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.44925415399997 meters Centerline goodness : 0.998955 Centerline is valid? [True, True] Translation: X:124.83, Y:1.29, Z:1.83 [[ 9.97180812e-01 -7.33569280e-02 -1.57857000e-02 1.24826468e+02] [ 7.33635735e-02 9.97305250e-01 -1.58470585e-04 1.28835276e+00] [ 1.57547864e-02 -1.00007153e-03 9.99875386e-01 1.83244314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.47925415399997 meters Centerline goodness : 0.999247 Centerline is valid? [True, True] Translation: X:124.86, Y:1.29, Z:1.83 [[ 9.97131886e-01 -7.40190034e-02 -1.57857175e-02 1.24859450e+02] [ 7.40257593e-02 9.97256317e-01 -1.56708030e-04 1.29016881e+00] [ 1.57540058e-02 -1.01229115e-03 9.99875386e-01 1.83323343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.50925415399998 meters Centerline goodness : 0.998974 Centerline is valid? [True, True] Translation: X:124.89, Y:1.29, Z:1.83 [[ 9.97100207e-01 -7.44445319e-02 -1.57857349e-02 1.24892664e+02] [ 7.44513689e-02 9.97224634e-01 -1.54930528e-04 1.29190614e+00] [ 1.57534574e-02 -1.02078831e-03 9.99875386e-01 1.83358414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.53925415399998 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:124.92, Y:1.30, Z:1.83 [[ 9.97099548e-01 -7.44533477e-02 -1.57857520e-02 1.24923641e+02] [ 7.44602136e-02 9.97223973e-01 -1.53165461e-04 1.29545113e+00] [ 1.57533341e-02 -1.02268926e-03 9.99875386e-01 1.83476078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.56925415399998 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:124.96, Y:1.30, Z:1.84 [[ 9.97137837e-01 -7.39387844e-02 -1.57857605e-02 1.24955918e+02] [ 7.39455999e-02 9.97262265e-01 -1.52289740e-04 1.29765872e+00] [ 1.57538034e-02 -1.01543367e-03 9.99875386e-01 1.83601622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.59925415399998 meters Centerline goodness : 0.998891 Centerline is valid? [True, True] Translation: X:124.99, Y:1.30, Z:1.84 [[ 9.97211804e-01 -7.29343986e-02 -1.57857715e-02 1.24988245e+02] [ 7.29411070e-02 9.97336238e-01 -1.51135241e-04 1.30009499e+00] [ 1.57547450e-02 -1.00071781e-03 9.99875386e-01 1.83716633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.62925415399998 meters Centerline goodness : 0.998996 Centerline is valid? [True, True] Translation: X:125.02, Y:1.31, Z:1.84 [[ 9.97431516e-01 -6.98654437e-02 -1.57857852e-02 1.25020483e+02] [ 6.98717919e-02 9.97555969e-01 -1.49697454e-04 1.30541966e+00] [ 1.57576629e-02 -9.53668138e-04 9.99875386e-01 1.83836702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.65925415399998 meters Centerline goodness : 0.998908 Centerline is valid? [True, True] Translation: X:125.05, Y:1.31, Z:1.84 [[ 9.97575209e-01 -6.77828167e-02 -1.57857958e-02 1.25053936e+02] [ 6.77889228e-02 9.97699674e-01 -1.48566644e-04 1.30780019e+00] [ 1.57595536e-02 -9.21895693e-04 9.99875386e-01 1.83962580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.68925415399998 meters Centerline goodness : 0.998909 Centerline is valid? [True, True] Translation: X:125.09, Y:1.31, Z:1.84 [[ 9.97729965e-01 -6.54654571e-02 -1.57858122e-02 1.25086848e+02] [ 6.54713019e-02 9.97854442e-01 -1.46804292e-04 1.31021632e+00] [ 1.57615534e-02 -8.87046637e-04 9.99875386e-01 1.84023578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.71925415399997 meters Centerline goodness : 0.998909 Centerline is valid? [True, True] Translation: X:125.12, Y:1.31, Z:1.84 [[ 9.97737268e-01 -6.53540413e-02 -1.57858284e-02 1.25120382e+02] [ 6.53599000e-02 9.97861745e-01 -1.45042489e-04 1.31043427e+00] [ 1.57615534e-02 -8.87045868e-04 9.99875386e-01 1.84076472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.74925415399997 meters Centerline goodness : 0.999125 Centerline is valid? [True, True] Translation: X:125.15, Y:1.31, Z:1.84 [[ 9.97892679e-01 -6.29365479e-02 -1.57858444e-02 1.25152185e+02] [ 6.29421328e-02 9.98017168e-01 -1.43279921e-04 1.31251386e+00] [ 1.57635613e-02 -8.50616730e-04 9.99875386e-01 1.84065218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.77925415399997 meters Centerline goodness : 0.998969 Centerline is valid? [True, True] Translation: X:125.19, Y:1.31, Z:1.84 [[ 9.98026022e-01 -6.07854147e-02 -1.57858575e-02 1.25185545e+02] [ 6.07907543e-02 9.98150522e-01 -1.41821034e-04 1.31482446e+00] [ 1.57652826e-02 -8.18093103e-04 9.99875386e-01 1.84116726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.80925415399997 meters Centerline goodness : 0.998822 Centerline is valid? [True, True] Translation: X:125.22, Y:1.32, Z:1.84 [[ 9.98168768e-01 -5.83944998e-02 -1.57858729e-02 1.25218715e+02] [ 5.83995686e-02 9.98293279e-01 -1.40081471e-04 1.31733917e+00] [ 1.57671108e-02 -7.82063220e-04 9.99875386e-01 1.84131044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.83925415399997 meters Centerline goodness : 0.999010 Centerline is valid? [True, True] Translation: X:125.25, Y:1.32, Z:1.84 [[ 9.98424889e-01 -5.38381606e-02 -1.57858883e-02 1.25249958e+02] [ 5.38426886e-02 9.98549421e-01 -1.38333803e-04 1.32185634e+00] [ 1.57704372e-02 -7.11838753e-04 9.99875386e-01 1.84129215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.86925415399998 meters Centerline goodness : 0.999051 Centerline is valid? [True, True] Translation: X:125.28, Y:1.32, Z:1.84 [[ 9.98537055e-01 -5.17161033e-02 -1.57858958e-02 1.25282575e+02] [ 5.17203803e-02 9.98661596e-01 -1.37469806e-04 1.32418274e+00] [ 1.57718773e-02 -6.79183837e-04 9.99875386e-01 1.84217221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.89925415399998 meters Centerline goodness : 0.998818 Centerline is valid? [True, True] Translation: X:125.32, Y:1.33, Z:1.84 [[ 9.98629208e-01 -4.99050157e-02 -1.57859060e-02 1.25315100e+02] [ 4.99090855e-02 9.98753756e-01 -1.36281986e-04 1.32660031e+00] [ 1.57730341e-02 -6.51764963e-04 9.99875386e-01 1.84228056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.92925415399998 meters Centerline goodness : 0.999112 Centerline is valid? [True, True] Translation: X:125.35, Y:1.33, Z:1.84 [[ 9.98721739e-01 -4.80176238e-02 -1.57859162e-02 1.25346420e+02] [ 4.80214769e-02 9.98846294e-01 -1.35097047e-04 1.32882296e+00] [ 1.57741909e-02 -6.23138651e-04 9.99875386e-01 1.84218792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.95925415399998 meters Centerline goodness : 0.999070 Centerline is valid? [True, True] Translation: X:125.38, Y:1.33, Z:1.84 [[ 9.98890953e-01 -4.43584205e-02 -1.57859237e-02 1.25378832e+02] [ 4.43618312e-02 9.99015520e-01 -1.34214601e-04 1.33287085e+00] [ 1.57763363e-02 -5.66226731e-04 9.99875386e-01 1.84151876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.98925415399998 meters Centerline goodness : 0.998922 Centerline is valid? [True, True] Translation: X:125.41, Y:1.34, Z:1.84 [[ 9.98961639e-01 -4.27369528e-02 -1.57859334e-02 1.25411125e+02] [ 4.27401796e-02 9.99086212e-01 -1.33055104e-04 1.33512909e+00] [ 1.57771948e-02 -5.41776686e-04 9.99875386e-01 1.84173226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.01925415399998 meters Centerline goodness : 0.998921 Centerline is valid? [True, True] Translation: X:125.44, Y:1.34, Z:1.84 [[ 9.99033600e-01 -4.10203654e-02 -1.57859431e-02 1.25443163e+02] [ 4.10233963e-02 9.99158177e-01 -1.31904791e-04 1.33734533e+00] [ 1.57780649e-02 -5.15815680e-04 9.99875386e-01 1.84278477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.04925415399998 meters Centerline goodness : 0.998960 Centerline is valid? [True, True] Translation: X:125.47, Y:1.34, Z:1.84 [[ 9.99148820e-01 -3.81108857e-02 -1.57859527e-02 1.25474625e+02] [ 3.81135722e-02 9.99273405e-01 -1.30740523e-04 1.34156763e+00] [ 1.57794654e-02 -4.71029809e-04 9.99875386e-01 1.84422091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.07925415399998 meters Centerline goodness : 0.999129 Centerline is valid? [True, True] Translation: X:125.51, Y:1.34, Z:1.85 [[ 9.99190252e-01 -3.70086948e-02 -1.57859598e-02 1.25506709e+02] [ 3.70112575e-02 9.99314840e-01 -1.29874107e-04 1.34374380e+00] [ 1.57799504e-02 -4.54489282e-04 9.99875386e-01 1.84578781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.10925415399997 meters Centerline goodness : 0.999129 Centerline is valid? [True, True] Translation: X:125.54, Y:1.35, Z:1.85 [[ 9.99215662e-01 -3.63161618e-02 -1.57859695e-02 1.25538149e+02] [ 3.63186568e-02 9.99340252e-01 -1.28692552e-04 1.34564148e+00] [ 1.57802283e-02 -4.44733594e-04 9.99875386e-01 1.84640158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.13925415399997 meters Centerline goodness : 0.998938 Centerline is valid? [True, True] Translation: X:125.57, Y:1.35, Z:1.85 [[ 9.99223798e-01 -3.60915960e-02 -1.57859852e-02 1.25570701e+02] [ 3.60940940e-02 9.99348388e-01 -1.26731667e-04 1.34724229e+00] [ 1.57802728e-02 -4.43147537e-04 9.99875386e-01 1.84741428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.16925415399997 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:125.60, Y:1.35, Z:1.85 [[ 9.99178745e-01 -3.73180544e-02 -1.57859945e-02 1.25602865e+02] [ 3.73207238e-02 9.99303331e-01 -1.25561307e-04 1.34966405e+00] [ 1.57796826e-02 -4.63686551e-04 9.99875386e-01 1.84849646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.19925415399997 meters Centerline goodness : 0.999086 Centerline is valid? [True, True] Translation: X:125.64, Y:1.35, Z:1.85 [[ 9.99153051e-01 -3.79997630e-02 -1.57860037e-02 1.25636770e+02] [ 3.80025358e-02 9.99277635e-01 -1.24395766e-04 1.34973121e+00] [ 1.57793275e-02 -4.75617761e-04 9.99875386e-01 1.84863502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.22925415399997 meters Centerline goodness : 0.999150 Centerline is valid? [True, True] Translation: X:125.66, Y:1.35, Z:1.85 [[ 9.99041023e-01 -4.08386006e-02 -1.57874470e-02 1.25664328e+02] [ 4.08446589e-02 9.99165507e-01 6.13635017e-05 1.35147289e+00] [ 1.57717665e-02 -7.06137545e-04 9.99875369e-01 1.84864853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.25925415399998 meters Centerline goodness : 0.998916 Centerline is valid? [True, True] Translation: X:125.70, Y:1.35, Z:1.85 [[ 9.99033859e-01 -4.10140745e-02 -1.57859007e-02 1.25699530e+02] [ 4.10171575e-02 9.99158434e-01 -1.28553081e-04 1.35001003e+00] [ 1.57778883e-02 -5.19063896e-04 9.99875387e-01 1.85172793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.28925415399998 meters Centerline goodness : 0.999234 Centerline is valid? [True, True] Translation: X:125.73, Y:1.35, Z:1.85 [[ 9.98718235e-01 -4.80897506e-02 -1.57880391e-02 1.25728659e+02] [ 4.80975884e-02 9.98842634e-01 1.16890586e-04 1.35293183e+00] [ 1.57641453e-02 -8.76107365e-04 9.99875354e-01 1.84959010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.31925415399998 meters Centerline goodness : 0.999000 Centerline is valid? [True, True] Translation: X:125.76, Y:1.35, Z:1.85 [[ 9.98611929e-01 -5.02492013e-02 -1.57870875e-02 1.25760886e+02] [ 5.02556363e-02 9.98736387e-01 1.09090585e-05 1.35353079e+00] [ 1.57665906e-02 -8.04284046e-04 9.99875376e-01 1.84983918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.34925415399998 meters Centerline goodness : 0.999256 Centerline is valid? [True, True] Translation: X:125.79, Y:1.35, Z:1.85 [[ 9.98554737e-01 -5.13731869e-02 -1.57871121e-02 1.25789184e+02] [ 5.13798086e-02 9.98679185e-01 1.38637758e-05 1.35423278e+00] [ 1.57655481e-02 -8.24982539e-04 9.99875376e-01 1.84977760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.37925415399998 meters Centerline goodness : 0.999128 Centerline is valid? [True, True] Translation: X:125.82, Y:1.35, Z:1.85 [[ 9.98525447e-01 -5.19398127e-02 -1.57856935e-02 1.25820857e+02] [ 5.19438722e-02 9.98649994e-01 -1.53016637e-04 1.35495354e+00] [ 1.57723304e-02 -6.67179040e-04 9.99875386e-01 1.85019034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.40925415399998 meters Centerline goodness : 0.999193 Centerline is valid? [True, True] Translation: X:125.85, Y:1.36, Z:1.85 [[ 9.98537750e-01 -5.17026843e-02 -1.57858744e-02 1.25851771e+02] [ 5.17070575e-02 9.98662287e-01 -1.31257847e-04 1.35708512e+00] [ 1.57715438e-02 -6.85175202e-04 9.99875387e-01 1.85031236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.43925415399998 meters Centerline goodness : 0.999148 Centerline is valid? [True, True] Translation: X:125.88, Y:1.36, Z:1.85 [[ 9.98592985e-01 -5.06246532e-02 -1.57858815e-02 1.25883104e+02] [ 5.06289055e-02 9.98717526e-01 -1.30402559e-04 1.35863507e+00] [ 1.57722381e-02 -6.69002821e-04 9.99875387e-01 1.85055974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.46925415399997 meters Centerline goodness : 0.999211 Centerline is valid? [True, True] Translation: X:125.92, Y:1.36, Z:1.85 [[ 9.98667227e-01 -4.91383175e-02 -1.57858989e-02 1.25915247e+02] [ 4.91424183e-02 9.98791773e-01 -1.28258351e-04 1.36011731e+00] [ 1.57731284e-02 -6.47669835e-04 9.99875387e-01 1.85156301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.49925415399997 meters Centerline goodness : 0.999085 Centerline is valid? [True, True] Translation: X:125.95, Y:1.36, Z:1.85 [[ 9.98749912e-01 -4.74280278e-02 -1.57859080e-02 1.25947048e+02] [ 4.74319331e-02 9.98874464e-01 -1.27126935e-04 1.36191789e+00] [ 1.57741698e-02 -6.21788118e-04 9.99875387e-01 1.85233996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.52925415399997 meters Centerline goodness : 0.999232 Centerline is valid? [True, True] Translation: X:125.98, Y:1.36, Z:1.85 [[ 9.98837417e-01 -4.55479957e-02 -1.57859170e-02 1.25979434e+02] [ 4.55516844e-02 9.98961975e-01 -1.26002270e-04 1.36369600e+00] [ 1.57752700e-02 -5.93219326e-04 9.99875387e-01 1.85235523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.55925415399997 meters Centerline goodness : 0.999423 Centerline is valid? [True, True] Translation: X:126.01, Y:1.37, Z:1.85 [[ 9.98995789e-01 -4.19311233e-02 -1.57858887e-02 1.26011192e+02] [ 4.19343039e-02 9.99120362e-01 -1.29615336e-04 1.36660721e+00] [ 1.57774377e-02 -5.32485079e-04 9.99875387e-01 1.85465580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.58925415399997 meters Centerline goodness : 0.999337 Centerline is valid? [True, True] Translation: X:126.04, Y:1.37, Z:1.85 [[ 9.99076006e-01 -3.99742087e-02 -1.57859411e-02 1.26042900e+02] [ 3.99772514e-02 9.99200583e-01 -1.22888016e-04 1.36776975e+00] [ 1.57782339e-02 -5.08304066e-04 9.99875387e-01 1.85449182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.61925415399998 meters Centerline goodness : 0.999231 Centerline is valid? [True, True] Translation: X:126.07, Y:1.37, Z:1.86 [[ 9.99144095e-01 -3.82345460e-02 -1.57859560e-02 1.26074295e+02] [ 3.82374027e-02 9.99268676e-01 -1.20932384e-04 1.37020227e+00] [ 1.57790352e-02 -4.82785081e-04 9.99875387e-01 1.85505434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.64925415399998 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:126.12, Y:1.36, Z:1.85 [[ 9.99437194e-01 -2.95992764e-02 -1.57853950e-02 1.26117468e+02] [ 2.95999209e-02 9.99561808e-01 -1.92858922e-04 1.36143190e+00] [ 1.57841865e-02 -2.74496065e-04 9.99875384e-01 1.84790169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.67925415399998 meters Centerline goodness : 0.999421 Centerline is valid? [True, True] Translation: X:126.13, Y:1.38, Z:1.85 [[ 9.99102941e-01 -3.92923461e-02 -1.57931860e-02 1.26129792e+02] [ 3.93061947e-02 9.99227052e-01 5.67307890e-04 1.37745254e+00] [ 1.57586878e-02 -1.18756902e-03 9.99875119e-01 1.85383014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.70925415399998 meters Centerline goodness : 0.999377 Centerline is valid? [True, True] Translation: X:126.16, Y:1.38, Z:1.85 [[ 9.99129559e-01 -3.86132815e-02 -1.57841275e-02 1.26161166e+02] [ 3.86151086e-02 9.99254141e-01 -1.89115376e-04 1.37939977e+00] [ 1.57796571e-02 -4.20555036e-04 9.99875405e-01 1.85386139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.73925415399998 meters Centerline goodness : 0.999378 Centerline is valid? [True, True] Translation: X:126.19, Y:1.38, Z:1.85 [[ 9.99214924e-01 -3.63372514e-02 -1.57841377e-02 1.26191839e+02] [ 3.63388081e-02 9.99339510e-01 -1.88262990e-04 1.38080960e+00] [ 1.57805534e-02 -3.85461561e-04 9.99875405e-01 1.85268893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.76925415399998 meters Centerline goodness : 0.999441 Centerline is valid? [True, True] Translation: X:126.23, Y:1.38, Z:1.85 [[ 9.99194813e-01 -3.68865976e-02 -1.57830754e-02 1.26225316e+02] [ 3.68868211e-02 9.99319411e-01 -2.77050963e-04 1.38301458e+00] [ 1.57825531e-02 -3.05359592e-04 9.99875401e-01 1.85459358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.79925415399998 meters Centerline goodness : 0.999548 Centerline is valid? [True, True] Translation: X:126.26, Y:1.38, Z:1.86 [[ 9.99198990e-01 -3.67728131e-02 -1.57841482e-02 1.26257302e+02] [ 3.67744594e-02 9.99323573e-01 -1.86029666e-04 1.38421670e+00] [ 1.57803122e-02 -3.94572863e-04 9.99875405e-01 1.85603175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.82925415399998 meters Centerline goodness : 0.999441 Centerline is valid? [True, True] Translation: X:126.29, Y:1.39, Z:1.86 [[ 9.99191936e-01 -3.69639759e-02 -1.57841618e-02 1.26289757e+02] [ 3.69656644e-02 9.99316519e-01 -1.84866535e-04 1.38542194e+00] [ 1.57802071e-02 -3.98754879e-04 9.99875405e-01 1.85702017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.85925415399997 meters Centerline goodness : 0.999505 Centerline is valid? [True, True] Translation: X:126.32, Y:1.39, Z:1.86 [[ 9.99186889e-01 -3.71001495e-02 -1.57841754e-02 1.26321603e+02] [ 3.71018733e-02 9.99311472e-01 -1.83705538e-04 1.38703795e+00] [ 1.57801230e-02 -4.02066309e-04 9.99875405e-01 1.85777177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.88925415399997 meters Centerline goodness : 0.999377 Centerline is valid? [True, True] Translation: X:126.35, Y:1.39, Z:1.86 [[ 9.99170256e-01 -3.75454184e-02 -1.57841888e-02 1.26352290e+02] [ 3.75472160e-02 9.99294838e-01 -1.82544669e-04 1.38811593e+00] [ 1.57799121e-02 -4.10259142e-04 9.99875405e-01 1.85820606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.91925415399997 meters Centerline goodness : 0.999441 Centerline is valid? [True, True] Translation: X:126.38, Y:1.39, Z:1.86 [[ 9.99142880e-01 -3.82670198e-02 -1.57841987e-02 1.26384266e+02] [ 3.82689211e-02 9.99267460e-01 -1.81678350e-04 1.38911716e+00] [ 1.57795885e-02 -4.22521627e-04 9.99875405e-01 1.85919491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.94925415399997 meters Centerline goodness : 0.999419 Centerline is valid? [True, True] Translation: X:126.42, Y:1.39, Z:1.86 [[ 9.99150445e-01 -3.80689831e-02 -1.57842121e-02 1.26415799e+02] [ 3.80708781e-02 9.99275025e-01 -1.80512437e-04 1.39000832e+00] [ 1.57796408e-02 -4.20559732e-04 9.99875405e-01 1.85619819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.97925415399997 meters Centerline goodness : 0.999419 Centerline is valid? [True, True] Translation: X:126.45, Y:1.39, Z:1.86 [[ 9.99036016e-01 -4.09625058e-02 -1.57832508e-02 1.26448358e+02] [ 4.09634343e-02 9.99160611e-01 -2.64592188e-04 1.39061530e+00] [ 1.57808409e-02 -3.82199032e-04 9.99875402e-01 1.85979705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.00925415399998 meters Centerline goodness : 0.999592 Centerline is valid? [True, True] Translation: X:126.48, Y:1.39, Z:1.86 [[ 9.98815202e-01 -4.60331356e-02 -1.57842355e-02 1.26479173e+02] [ 4.60360857e-02 9.98939762e-01 -1.76584948e-04 1.39092447e+00] [ 1.57756292e-02 -5.50268686e-04 9.99875406e-01 1.85964060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.03925415399998 meters Centerline goodness : 0.999484 Centerline is valid? [True, True] Translation: X:126.51, Y:1.39, Z:1.86 [[ 9.98656043e-01 -4.93656234e-02 -1.57842450e-02 1.26511964e+02] [ 4.93690026e-02 9.98780592e-01 -1.75731382e-04 1.39109745e+00] [ 1.57736726e-02 -6.03757223e-04 9.99875406e-01 1.85959671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.06925415399998 meters Centerline goodness : 0.999506 Centerline is valid? [True, True] Translation: X:126.55, Y:1.39, Z:1.86 [[ 9.98473841e-01 -5.29230263e-02 -1.57842638e-02 1.26545011e+02] [ 5.29268761e-02 9.98598375e-01 -1.74025503e-04 1.39130775e+00] [ 1.57713501e-02 -6.61651860e-04 9.99875406e-01 1.85980923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.09925415399998 meters Centerline goodness : 0.999613 Centerline is valid? [True, True] Translation: X:126.58, Y:1.39, Z:1.86 [[ 9.98277330e-01 -5.65086703e-02 -1.57842823e-02 1.26577440e+02] [ 5.65129941e-02 9.98401849e-01 -1.72326119e-04 1.39169013e+00] [ 1.57687946e-02 -7.19987796e-04 9.99875406e-01 1.86025533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.12925415399998 meters Centerline goodness : 0.999506 Centerline is valid? [True, True] Translation: X:126.61, Y:1.39, Z:1.86 [[ 9.97871504e-01 -6.32717747e-02 -1.57843124e-02 1.26610007e+02] [ 6.32769864e-02 9.97995989e-01 -1.69521357e-04 1.39220969e+00] [ 1.57634064e-02 -8.29623192e-04 9.99875406e-01 1.86052815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.15925415399998 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:126.64, Y:1.39, Z:1.86 [[ 9.97706776e-01 -6.58182663e-02 -1.57843303e-02 1.26641596e+02] [ 6.58238222e-02 9.97831246e-01 -1.67844062e-04 1.39251011e+00] [ 1.57611452e-02 -8.71525792e-04 9.99875406e-01 1.86120812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.18925415399998 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:126.67, Y:1.39, Z:1.86 [[ 9.97574466e-01 -6.77940931e-02 -1.57843449e-02 1.26674522e+02] [ 6.77999174e-02 9.97698924e-01 -1.66454004e-04 1.39290247e+00] [ 1.57593086e-02 -9.04127019e-04 9.99875406e-01 1.86226597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.21925415399997 meters Centerline goodness : 0.999506 Centerline is valid? [True, True] Translation: X:126.71, Y:1.39, Z:1.86 [[ 9.97467926e-01 -6.93439963e-02 -1.57843628e-02 1.26706838e+02] [ 6.93500409e-02 9.97592374e-01 -1.64745763e-04 1.39331209e+00] [ 1.57577841e-02 -9.30317589e-04 9.99875406e-01 1.86270715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.24925415399997 meters Centerline goodness : 0.999592 Centerline is valid? [True, True] Translation: X:126.74, Y:1.39, Z:1.86 [[ 9.97359219e-01 -7.08903488e-02 -1.57843917e-02 1.26739198e+02] [ 7.08966308e-02 9.97483655e-01 -1.61929519e-04 1.39384276e+00] [ 1.57561519e-02 -9.57558289e-04 9.99875406e-01 1.86313043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.27925415399997 meters Centerline goodness : 0.999571 Centerline is valid? [True, True] Translation: X:126.77, Y:1.39, Z:1.86 [[ 9.97361759e-01 -7.08546029e-02 -1.57844194e-02 1.26772015e+02] [ 7.08609238e-02 9.97486192e-01 -1.59180705e-04 1.39449931e+00] [ 1.57560191e-02 -9.59737790e-04 9.99875406e-01 1.86348578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.30925415399997 meters Centerline goodness : 0.999506 Centerline is valid? [True, True] Translation: X:126.80, Y:1.40, Z:1.86 [[ 9.97410212e-01 -7.01692274e-02 -1.57844357e-02 1.26803746e+02] [ 7.01754885e-02 9.97534649e-01 -1.57548899e-04 1.39530006e+00] [ 1.57565766e-02 -9.50539602e-04 9.99875406e-01 1.86384015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.33925415399997 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:126.84, Y:1.40, Z:1.86 [[ 9.97481458e-01 -6.91490598e-02 -1.57844490e-02 1.26836513e+02] [ 6.91552148e-02 9.97605900e-01 -1.56197026e-04 1.39644612e+00] [ 1.57574604e-02 -9.35773328e-04 9.99875406e-01 1.86403961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.36925415399998 meters Centerline goodness : 0.999528 Centerline is valid? [True, True] Translation: X:126.87, Y:1.40, Z:1.86 [[ 9.97698270e-01 -6.59470427e-02 -1.57844649e-02 1.26868862e+02] [ 6.59528238e-02 9.97822730e-01 -1.54581577e-04 1.39831534e+00] [ 1.57602920e-02 -8.86804259e-04 9.99875406e-01 1.86387938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.39925415399998 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:126.90, Y:1.40, Z:1.87 [[ 9.97830104e-01 -6.39213069e-02 -1.57844779e-02 1.26900563e+02] [ 6.39268564e-02 9.97954575e-01 -1.53242648e-04 1.39943851e+00] [ 1.57619874e-02 -8.56141923e-04 9.99875406e-01 1.86561479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.42925415399998 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:126.93, Y:1.40, Z:1.86 [[ 9.98119480e-01 -5.92313583e-02 -1.57844888e-02 1.26932601e+02] [ 5.92363408e-02 9.98243975e-01 -1.52103539e-04 1.40212664e+00] [ 1.57657802e-02 -7.83197855e-04 9.99875406e-01 1.86498984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.45925415399998 meters Centerline goodness : 0.999482 Centerline is valid? [True, True] Translation: X:126.97, Y:1.40, Z:1.87 [[ 9.98282784e-01 -5.64121659e-02 -1.57845155e-02 1.26965356e+02] [ 5.64168413e-02 9.98407291e-01 -1.49283429e-04 1.40362688e+00] [ 1.57677968e-02 -7.41485430e-04 9.99875406e-01 1.86693506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.48925415399998 meters Centerline goodness : 0.999676 Centerline is valid? [True, True] Translation: X:127.00, Y:1.40, Z:1.87 [[ 9.98474992e-01 -5.29012118e-02 -1.57845315e-02 1.26998783e+02] [ 5.29054763e-02 9.98599514e-01 -1.47570449e-04 1.40482367e+00] [ 1.57702322e-02 -6.87742756e-04 9.99875406e-01 1.86813488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.51925415399998 meters Centerline goodness : 0.999589 Centerline is valid? [True, True] Translation: X:127.03, Y:1.41, Z:1.87 [[ 9.98649387e-01 -4.94999921e-02 -1.57845476e-02 1.27031942e+02] [ 4.95038599e-02 9.98773922e-01 -1.45834417e-04 1.40640538e+00] [ 1.57724133e-02 -6.35758579e-04 9.99875406e-01 1.86901961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.54925415399998 meters Centerline goodness : 0.999654 Centerline is valid? [True, True] Translation: X:127.06, Y:1.41, Z:1.87 [[ 9.98827190e-01 -4.57721853e-02 -1.57845634e-02 1.27064941e+02] [ 4.57756156e-02 9.98951737e-01 -1.44099331e-04 1.40807075e+00] [ 1.57746128e-02 -5.78617777e-04 9.99875406e-01 1.86983741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.57925415399998 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:127.10, Y:1.41, Z:1.87 [[ 9.99198171e-01 -3.67948525e-02 -1.57845791e-02 1.27097762e+02] [ 3.67971909e-02 9.99322744e-01 -1.42358420e-04 1.41094210e+00] [ 1.57791270e-02 -4.38583898e-04 9.99875406e-01 1.87052799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.60925415399997 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:127.13, Y:1.41, Z:1.87 [[ 9.99200833e-01 -3.67224878e-02 -1.57845945e-02 1.27130454e+02] [ 3.67248444e-02 9.99325405e-01 -1.40636117e-04 1.41117217e+00] [ 1.57791108e-02 -4.39163050e-04 9.99875406e-01 1.87104349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.63925415399997 meters Centerline goodness : 0.999588 Centerline is valid? [True, True] Translation: X:127.16, Y:1.41, Z:1.87 [[ 9.99366583e-01 -3.18947996e-02 -1.57846046e-02 1.27162392e+02] [ 3.18965724e-02 9.99491165e-01 -1.39493240e-04 1.41262142e+00] [ 1.57810219e-02 -3.64069899e-04 9.99875406e-01 1.87170141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.66925415399997 meters Centerline goodness : 0.999565 Centerline is valid? [True, True] Translation: X:127.19, Y:1.41, Z:1.87 [[ 9.99505531e-01 -2.71944753e-02 -1.57846146e-02 1.27194772e+02] [ 2.71956802e-02 9.99630120e-01 -1.38351941e-04 1.41413781e+00] [ 1.57825385e-02 -2.90989799e-04 9.99875406e-01 1.87286718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.69925415399997 meters Centerline goodness : 0.999500 Centerline is valid? [True, True] Translation: X:127.23, Y:1.42, Z:1.87 [[ 9.99627359e-01 -2.22708240e-02 -1.57846247e-02 1.27226567e+02] [ 2.22714336e-02 9.99751951e-01 -1.37186633e-04 1.41527641e+00] [ 1.57837646e-02 -2.14410709e-04 9.99875406e-01 1.87328233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.72925415399997 meters Centerline goodness : 0.999520 Centerline is valid? [True, True] Translation: X:127.26, Y:1.42, Z:1.87 [[ 9.99780462e-01 -1.37794560e-02 -1.57846297e-02 1.27257525e+02] [ 1.37790165e-02 9.99905056e-01 -1.36605423e-04 1.41732049e+00] [ 1.57850134e-02 -8.09212403e-05 9.99875406e-01 1.87403896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.75925415399998 meters Centerline goodness : 0.999563 Centerline is valid? [True, True] Translation: X:127.29, Y:1.42, Z:1.87 [[ 9.99822723e-01 -1.02648534e-02 -1.57846297e-02 1.27285814e+02] [ 1.02639759e-02 9.99947315e-01 -1.36605423e-04 1.41816672e+00] [ 1.57852003e-02 -2.54318538e-05 9.99875406e-01 1.87414493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.78925415399998 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:127.31, Y:1.42, Z:1.87 [[ 9.99848354e-01 -7.35627879e-03 -1.57846170e-02 1.27314068e+02] [ 7.35501587e-03 9.99972942e-01 -1.38060575e-04 1.41870576e+00] [ 1.57852055e-02 2.19435308e-05 9.99875406e-01 1.87472648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.81925415399998 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:127.34, Y:1.42, Z:1.88 [[ 9.99863808e-01 -4.81792002e-03 -1.57845745e-02 1.27341507e+02] [ 4.81626671e-03 9.99988392e-01 -1.42754684e-04 1.41912532e+00] [ 1.57850791e-02 6.67125208e-05 9.99875406e-01 1.87509551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.84925415399998 meters Centerline goodness : 0.999629 Centerline is valid? [True, True] Translation: X:127.37, Y:1.42, Z:1.88 [[ 9.99873440e-01 -1.98803218e-03 -1.57845559e-02 1.27368659e+02] [ 1.98599420e-03 9.99998017e-01 -1.44786248e-04 1.41864984e+00] [ 1.57848124e-02 1.13419888e-04 9.99875406e-01 1.87550888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.87925415399998 meters Centerline goodness : 0.999542 Centerline is valid? [True, True] Translation: X:127.40, Y:1.42, Z:1.88 [[ 9.99873557e-01 -1.92864596e-03 -1.57845261e-02 1.27396148e+02] [ 1.92655038e-03 9.99998133e-01 -1.47966176e-04 1.41795921e+00] [ 1.57847820e-02 1.17537782e-04 9.99875406e-01 1.87602470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.90925415399998 meters Centerline goodness : 0.999585 Centerline is valid? [True, True] Translation: X:127.42, Y:1.42, Z:1.88 [[ 9.99872206e-01 -2.53404501e-03 -1.57844828e-02 1.27424257e+02] [ 2.53195414e-03 9.99996783e-01 -1.52446314e-04 1.41706259e+00] [ 1.57848183e-02 1.12461245e-04 9.99875406e-01 1.87664577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.93925415399998 meters Centerline goodness : 0.999564 Centerline is valid? [True, True] Translation: X:127.45, Y:1.42, Z:1.87 [[ 9.99870544e-01 -3.12170828e-03 -1.57844665e-02 1.27452649e+02] [ 3.11966418e-03 9.99995122e-01 -1.54121633e-04 1.41560417e+00] [ 1.57848706e-02 1.04859446e-04 9.99875406e-01 1.87494160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.96925415399997 meters Centerline goodness : 0.999520 Centerline is valid? [True, True] Translation: X:127.48, Y:1.41, Z:1.88 [[ 9.99854275e-01 -6.50286797e-03 -1.57842023e-02 1.27480067e+02] [ 6.50082616e-03 9.99978853e-01 -1.80663276e-04 1.41439343e+00] [ 1.57850433e-02 7.80265939e-05 9.99875405e-01 1.87772540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.99925415399997 meters Centerline goodness : 0.999566 Centerline is valid? [True, True] Translation: X:127.51, Y:1.41, Z:1.88 [[ 9.99785842e-01 -1.33836572e-02 -1.57844332e-02 1.27509161e+02] [ 1.33828381e-02 9.99910433e-01 -1.57522329e-04 1.41033066e+00] [ 1.57851277e-02 -5.37519209e-05 9.99875406e-01 1.87791798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.02925415399997 meters Centerline goodness : 0.999610 Centerline is valid? [True, True] Translation: X:127.54, Y:1.41, Z:1.88 [[ 9.99727313e-01 -1.72090556e-02 -1.57844218e-02 1.27535712e+02] [ 1.72086953e-02 9.99851907e-01 -1.58656970e-04 1.40859948e+00] [ 1.57848146e-02 -1.13015600e-04 9.99875406e-01 1.87857272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.05925415399997 meters Centerline goodness : 0.999545 Centerline is valid? [True, True] Translation: X:127.56, Y:1.41, Z:1.88 [[ 9.99613655e-01 -2.28783270e-02 -1.57836173e-02 1.27564926e+02] [ 2.28774503e-02 9.99738249e-01 -2.36125401e-04 1.40670859e+00] [ 1.57848880e-02 -1.25054744e-04 9.99875403e-01 1.87849489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.08925415399997 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:127.60, Y:1.40, Z:1.88 [[ 9.99487731e-01 -2.78411275e-02 -1.57843683e-02 1.27595032e+02] [ 2.78420125e-02 9.99612323e-01 -1.63720016e-04 1.40453623e+00] [ 1.57828072e-02 -2.75832432e-04 9.99875406e-01 1.87889016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.11925415399998 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:127.63, Y:1.40, Z:1.88 [[ 9.99200075e-01 -3.67432145e-02 -1.57843683e-02 1.27627693e+02] [ 3.67452093e-02 9.99324653e-01 -1.63720016e-04 1.39973418e+00] [ 1.57797240e-02 -4.16410864e-04 9.99875406e-01 1.87904763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.14925415399998 meters Centerline goodness : 0.999570 Centerline is valid? [True, True] Translation: X:127.66, Y:1.40, Z:1.88 [[ 9.99033324e-01 -4.10276831e-02 -1.57844096e-02 1.27658710e+02] [ 4.10302764e-02 9.99157891e-01 -1.59642446e-04 1.39739698e+00] [ 1.57776671e-02 -4.88150563e-04 9.99875406e-01 1.87922419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.17925415399998 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:127.69, Y:1.39, Z:1.88 [[ 9.98871287e-01 -4.47995985e-02 -1.57844183e-02 1.27691391e+02] [ 4.48026759e-02 9.98995843e-01 -1.58772468e-04 1.39483093e+00] [ 1.57756812e-02 -5.48590918e-04 9.99875406e-01 1.87946789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.20925415399998 meters Centerline goodness : 0.999487 Centerline is valid? [True, True] Translation: X:127.72, Y:1.39, Z:1.88 [[ 9.98574042e-01 -5.09973871e-02 -1.57844296e-02 1.27724518e+02] [ 5.10012554e-02 9.98698577e-01 -1.57637451e-04 1.38984402e+00] [ 1.57719265e-02 -6.47613060e-04 9.99875406e-01 1.88024922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.23925415399998 meters Centerline goodness : 0.999359 Centerline is valid? [True, True] Translation: X:127.76, Y:1.39, Z:1.88 [[ 9.98444141e-01 -5.34803485e-02 -1.57844468e-02 1.27756531e+02] [ 5.34845538e-02 9.98568665e-01 -1.55902172e-04 1.38753782e+00] [ 1.57701916e-02 -6.88564483e-04 9.99875406e-01 1.88062533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.26925415399998 meters Centerline goodness : 0.999359 Centerline is valid? [True, True] Translation: X:127.79, Y:1.39, Z:1.88 [[ 9.98338232e-01 -5.54222442e-02 -1.57844609e-02 1.27789604e+02] [ 5.54267143e-02 9.98462746e-01 -1.54463723e-04 1.38514366e+00] [ 1.57687569e-02 -7.20673762e-04 9.99875406e-01 1.88086923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.29925415399998 meters Centerline goodness : 0.999316 Centerline is valid? [True, True] Translation: X:127.82, Y:1.38, Z:1.88 [[ 9.98245327e-01 -5.70711662e-02 -1.57844777e-02 1.27822417e+02] [ 5.70758695e-02 9.98369832e-01 -1.52721871e-04 1.38304565e+00] [ 1.57674624e-02 -7.48458896e-04 9.99875406e-01 1.88122925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.32925415399997 meters Centerline goodness : 0.999233 Centerline is valid? [True, True] Translation: X:127.86, Y:1.38, Z:1.88 [[ 9.98185812e-01 -5.81027906e-02 -1.57844943e-02 1.27855955e+02] [ 5.81076499e-02 9.98310312e-01 -1.50989216e-04 1.38075775e+00] [ 1.57665963e-02 -7.66484574e-04 9.99875406e-01 1.88125324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.35925415399997 meters Centerline goodness : 0.999299 Centerline is valid? [True, True] Translation: X:127.89, Y:1.38, Z:1.88 [[ 9.98148227e-01 -5.87449220e-02 -1.57845112e-02 1.27889096e+02] [ 5.87498896e-02 9.98272722e-01 -1.49202169e-04 1.37662456e+00] [ 1.57660118e-02 -7.78412408e-04 9.99875406e-01 1.88092675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.38925415399997 meters Centerline goodness : 0.999213 Centerline is valid? [True, True] Translation: X:127.92, Y:1.37, Z:1.88 [[ 9.98159013e-01 -5.85613633e-02 -1.57845279e-02 1.27920849e+02] [ 5.85663362e-02 9.98283508e-01 -1.47414334e-04 1.37486366e+00] [ 1.57660666e-02 -7.77299019e-04 9.99875406e-01 1.88050629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.41925415399997 meters Centerline goodness : 0.999087 Centerline is valid? [True, True] Translation: X:127.95, Y:1.37, Z:1.88 [[ 9.98186239e-01 -5.80954420e-02 -1.57845415e-02 1.27953816e+02] [ 5.81003800e-02 9.98310735e-01 -1.45936795e-04 1.37367263e+00] [ 1.57663555e-02 -7.71415762e-04 9.99875406e-01 1.88053066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.44925415399997 meters Centerline goodness : 0.999363 Centerline is valid? [True, True] Translation: X:127.99, Y:1.37, Z:1.88 [[ 9.98248799e-01 -5.70103800e-02 -1.57845576e-02 1.27985514e+02] [ 5.70152105e-02 9.98373299e-01 -1.44177845e-04 1.37226575e+00] [ 1.57671005e-02 -7.56034514e-04 9.99875406e-01 1.88033349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.47925415399997 meters Centerline goodness : 0.999172 Centerline is valid? [True, True] Translation: X:128.02, Y:1.37, Z:1.88 [[ 9.98335270e-01 -5.54755328e-02 -1.57845835e-02 1.28017664e+02] [ 5.54802176e-02 9.98459777e-01 -1.41282647e-04 1.37058435e+00] [ 1.57681095e-02 -7.34684678e-04 9.99875406e-01 1.87975086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.50925415399998 meters Centerline goodness : 0.999086 Centerline is valid? [True, True] Translation: X:128.05, Y:1.37, Z:1.88 [[ 9.98387170e-01 -5.45335316e-02 -1.57845939e-02 1.28050784e+02] [ 5.45381172e-02 9.98511680e-01 -1.40117211e-04 1.36986274e+00] [ 1.57687424e-02 -7.20970805e-04 9.99875406e-01 1.87924112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.53925415399998 meters Centerline goodness : 0.999001 Centerline is valid? [True, True] Translation: X:128.08, Y:1.37, Z:1.88 [[ 9.98426787e-01 -5.38033235e-02 -1.57846095e-02 1.28081890e+02] [ 5.38078462e-02 9.98551299e-01 -1.38338063e-04 1.36921907e+00] [ 1.57691853e-02 -7.11215409e-04 9.99875406e-01 1.87885460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.56925415399998 meters Centerline goodness : 0.998959 Centerline is valid? [True, True] Translation: X:128.11, Y:1.37, Z:1.88 [[ 9.98477147e-01 -5.28605078e-02 -1.57846171e-02 1.28113664e+02] [ 5.28649267e-02 9.98601663e-01 -1.37457813e-04 1.36849314e+00] [ 1.57698110e-02 -6.97204143e-04 9.99875406e-01 1.87833203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.59925415399998 meters Centerline goodness : 0.998981 Centerline is valid? [True, True] Translation: X:128.16, Y:1.36, Z:1.87 [[ 9.98946153e-01 -4.30979077e-02 -1.57846273e-02 1.28155431e+02] [ 4.31011280e-02 9.99070705e-01 -1.36279211e-04 1.35790839e+00] [ 1.57758321e-02 -5.44199648e-04 9.99875406e-01 1.87084647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.62925415399998 meters Centerline goodness : 0.999192 Centerline is valid? [True, True] Translation: X:128.17, Y:1.37, Z:1.88 [[ 9.98510688e-01 -5.22217363e-02 -1.57890940e-02 1.28172804e+02] [ 5.22351554e-02 9.98634716e-01 4.38411834e-04 1.36851388e+00] [ 1.57446428e-02 -1.26250468e-03 9.99875248e-01 1.87799188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.65925415399998 meters Centerline goodness : 0.999298 Centerline is valid? [True, True] Translation: X:128.20, Y:1.37, Z:1.88 [[ 9.98545986e-01 -5.15439813e-02 -1.57839088e-02 1.28202681e+02] [ 5.15481757e-02 9.98670499e-01 -1.41260161e-04 1.36906443e+00] [ 1.57702052e-02 -6.72576938e-04 9.99875416e-01 1.87746726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.68925415399998 meters Centerline goodness : 0.999172 Centerline is valid? [True, True] Translation: X:128.24, Y:1.37, Z:1.88 [[ 9.98494809e-01 -5.25261932e-02 -1.57834014e-02 1.28236330e+02] [ 5.25296266e-02 9.98619347e-01 -1.97252528e-04 1.36932533e+00] [ 1.57719709e-02 -6.32140556e-04 9.99875415e-01 1.87817228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.71925415399997 meters Centerline goodness : 0.999129 Centerline is valid? [True, True] Translation: X:128.27, Y:1.37, Z:1.88 [[ 9.98473624e-01 -5.29272119e-02 -1.57839088e-02 1.28269464e+02] [ 5.29315973e-02 9.98598131e-01 -1.40082755e-04 1.36963648e+00] [ 1.57691960e-02 -6.95598568e-04 9.99875417e-01 1.87953215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.74925415399997 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:128.30, Y:1.37, Z:1.88 [[ 9.98437252e-01 -5.36089649e-02 -1.57839243e-02 1.28301119e+02] [ 5.36134632e-02 9.98561754e-01 -1.38313838e-04 1.37040891e+00] [ 1.57686380e-02 -7.08133157e-04 9.99875417e-01 1.87915127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.77925415399997 meters Centerline goodness : 0.999044 Centerline is valid? [True, True] Translation: X:128.33, Y:1.37, Z:1.88 [[ 9.98352132e-01 -5.51714433e-02 -1.57839370e-02 1.28334594e+02] [ 5.51761596e-02 9.98476626e-01 -1.36847658e-04 1.37140846e+00] [ 1.57674423e-02 -7.34274877e-04 9.99875417e-01 1.88149720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.80925415399997 meters Centerline goodness : 0.999173 Centerline is valid? [True, True] Translation: X:128.37, Y:1.37, Z:1.88 [[ 9.98294016e-01 -5.62131977e-02 -1.57839520e-02 1.28366548e+02] [ 5.62180715e-02 9.98418505e-01 -1.35101915e-04 1.37207992e+00] [ 1.57665842e-02 -7.52471906e-04 9.99875417e-01 1.88303536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.83925415399997 meters Centerline goodness : 0.999278 Centerline is valid? [True, True] Translation: X:128.40, Y:1.37, Z:1.89 [[ 9.98148206e-01 -5.87454271e-02 -1.57839620e-02 1.28397418e+02] [ 5.87506352e-02 9.98272681e-01 -1.33923229e-04 1.37280943e+00] [ 1.57645654e-02 -7.93642560e-04 9.99875417e-01 1.88511752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.86925415399998 meters Centerline goodness : 0.999238 Centerline is valid? [True, True] Translation: X:128.43, Y:1.37, Z:1.89 [[ 9.98062387e-01 -6.01858663e-02 -1.57839694e-02 1.28430060e+02] [ 6.01912679e-02 9.98186853e-01 -1.33045127e-04 1.37300812e+00] [ 1.57633581e-02 -8.17269792e-04 9.99875417e-01 1.88584005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.89925415399998 meters Centerline goodness : 0.999090 Centerline is valid? [True, True] Translation: X:128.46, Y:1.37, Z:1.89 [[ 9.97968699e-01 -6.17198593e-02 -1.57839792e-02 1.28461795e+02] [ 6.17254708e-02 9.98093156e-01 -1.31866057e-04 1.37313460e+00] [ 1.57620204e-02 -8.42675350e-04 9.99875417e-01 1.88641492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.92925415399998 meters Centerline goodness : 0.999046 Centerline is valid? [True, True] Translation: X:128.50, Y:1.36, Z:1.88 [[ 9.98331747e-01 -5.55390792e-02 -1.57839913e-02 1.28501483e+02] [ 5.55439431e-02 9.98456235e-01 -1.30396972e-04 1.36436031e+00] [ 1.57668667e-02 -7.46525680e-04 9.99875417e-01 1.88152314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.95925415399998 meters Centerline goodness : 0.999366 Centerline is valid? [True, True] Translation: X:128.52, Y:1.37, Z:1.89 [[ 9.97733581e-01 -6.54099508e-02 -1.57873340e-02 1.28521571e+02] [ 6.54230807e-02 9.97857565e-01 3.16095258e-04 1.37366254e+00] [ 1.57328349e-02 -1.34823488e-03 9.99875322e-01 1.88711156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.98925415399998 meters Centerline goodness : 0.999068 Centerline is valid? [True, True] Translation: X:128.55, Y:1.37, Z:1.89 [[ 9.97470269e-01 -6.93104740e-02 -1.57835799e-02 1.28554623e+02] [ 6.93170262e-02 9.97594673e-01 -1.32222620e-04 1.37359386e+00] [ 1.57547797e-02 -9.62182692e-04 9.99875423e-01 1.88816910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.01925415399998 meters Centerline goodness : 0.999049 Centerline is valid? [True, True] Translation: X:128.59, Y:1.37, Z:1.89 [[ 9.97332664e-01 -7.12631366e-02 -1.57835943e-02 1.28587400e+02] [ 7.12699598e-02 9.97457055e-01 -1.30483309e-04 1.37347143e+00] [ 1.57527562e-02 -9.94760866e-04 9.99875423e-01 1.88810813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.04925415399998 meters Centerline goodness : 0.998964 Centerline is valid? [True, True] Translation: X:128.63, Y:1.37, Z:1.88 [[ 9.97595249e-01 -6.74877604e-02 -1.57836084e-02 1.28625649e+02] [ 6.74941399e-02 9.97719662e-01 -1.28756112e-04 1.36708442e+00] [ 1.57563059e-02 -9.36854588e-04 9.99875423e-01 1.88377637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.07925415399997 meters Centerline goodness : 0.999091 Centerline is valid? [True, True] Translation: X:128.65, Y:1.37, Z:1.89 [[ 9.97093337e-01 -7.45364638e-02 -1.57858332e-02 1.28650301e+02] [ 7.45483173e-02 9.97217389e-01 1.62966344e-04 1.37421507e+00] [ 1.57297604e-02 -1.33929995e-03 9.99875383e-01 1.88884545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.10925415399997 meters Centerline goodness : 0.999027 Centerline is valid? [True, True] Translation: X:128.69, Y:1.37, Z:1.88 [[ 9.97500362e-01 -6.88760425e-02 -1.57834662e-02 1.28690206e+02] [ 6.88826023e-02 9.97624764e-01 -1.28299133e-04 1.36682360e+00] [ 1.57548135e-02 -9.59227794e-04 9.99875425e-01 1.88380612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.13925415399997 meters Centerline goodness : 0.999345 Centerline is valid? [True, True] Translation: X:128.71, Y:1.38, Z:1.89 [[ 9.96915105e-01 -7.68834450e-02 -1.57863773e-02 1.28711973e+02] [ 7.68972453e-02 9.97038987e-01 2.68162487e-04 1.37552783e+00] [ 1.57190164e-02 -1.48126416e-03 9.99875351e-01 1.88910335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.16925415399997 meters Centerline goodness : 0.999175 Centerline is valid? [True, True] Translation: X:128.75, Y:1.37, Z:1.88 [[ 9.97267981e-01 -7.21627798e-02 -1.57831352e-02 1.28750247e+02] [ 7.21697393e-02 9.97392356e-01 -1.28917236e-04 1.37075329e+00] [ 1.57512814e-02 -1.01049972e-03 9.99875430e-01 1.88431542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.19925415399997 meters Centerline goodness : 0.999089 Centerline is valid? [True, True] Translation: X:128.78, Y:1.37, Z:1.88 [[ 9.97427260e-01 -6.99262748e-02 -1.57853492e-02 1.28783217e+02] [ 6.99375844e-02 9.97551356e-01 1.64896438e-04 1.36985185e+00] [ 1.57351659e-02 -1.26846140e-03 9.99875390e-01 1.88331833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.22925415399997 meters Centerline goodness : 0.999153 Centerline is valid? [True, True] Translation: X:128.81, Y:1.37, Z:1.88 [[ 9.97325761e-01 -7.13591353e-02 -1.57860716e-02 1.28813643e+02] [ 7.13721677e-02 9.97449720e-01 2.63012369e-04 1.37212960e+00] [ 1.57270444e-02 -1.38899516e-03 9.99875358e-01 1.88422782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.25925415399998 meters Centerline goodness : 0.999301 Centerline is valid? [True, True] Translation: X:128.84, Y:1.38, Z:1.89 [[ 9.96993369e-01 -7.58619691e-02 -1.57855447e-02 1.28837331e+02] [ 7.58744638e-02 9.97117359e-01 1.93278557e-04 1.38152756e+00] [ 1.57253782e-02 -1.39041718e-03 9.99875382e-01 1.89078716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.28925415399998 meters Centerline goodness : 0.999364 Centerline is valid? [True, True] Translation: X:128.87, Y:1.38, Z:1.89 [[ 9.97085289e-01 -7.46446647e-02 -1.57829429e-02 1.28869320e+02] [ 7.46519497e-02 9.97209642e-01 -1.27898171e-04 1.38354288e+00] [ 1.57484497e-02 -1.05070207e-03 9.99875433e-01 1.89162094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.31925415399998 meters Centerline goodness : 0.999341 Centerline is valid? [True, True] Translation: X:128.91, Y:1.38, Z:1.89 [[ 9.97653566e-01 -6.66202609e-02 -1.57829770e-02 1.28909081e+02] [ 6.66266138e-02 9.97777971e-01 -1.23542401e-04 1.37752417e+00] [ 1.57561371e-02 -9.28313794e-04 9.99875433e-01 1.88627585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.34925415399998 meters Centerline goodness : 0.999173 Centerline is valid? [True, True] Translation: X:128.93, Y:1.39, Z:1.89 [[ 9.97286862e-01 -7.19007804e-02 -1.57858474e-02 1.28930348e+02] [ 7.19141318e-02 9.97410788e-01 2.79034573e-04 1.38901829e+00] [ 1.57249116e-02 -1.41350302e-03 9.99875357e-01 1.89300277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.37925415399998 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:128.97, Y:1.38, Z:1.89 [[ 9.97825663e-01 -6.39910548e-02 -1.57826421e-02 1.28971204e+02] [ 6.39970535e-02 9.97950080e-01 -1.25194142e-04 1.38190652e+00] [ 1.57583003e-02 -8.85120666e-04 9.99875439e-01 1.88748226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.40925415399998 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:129.00, Y:1.38, Z:1.89 [[ 9.97805038e-01 -6.43110592e-02 -1.57858593e-02 1.29002904e+02] [ 6.43240844e-02 9.97929011e-01 3.18242890e-04 1.38325140e+00] [ 1.57327004e-02 -1.33295530e-03 9.99875345e-01 1.88788816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.43925415399998 meters Centerline goodness : 0.999382 Centerline is valid? [True, True] Translation: X:129.02, Y:1.39, Z:1.89 [[ 9.97277781e-01 -7.20266387e-02 -1.57858011e-02 1.29022908e+02] [ 7.20405029e-02 9.97401659e-01 3.10653684e-04 1.39318894e+00] [ 1.57224089e-02 -1.44702507e-03 9.99875348e-01 1.89476747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.46925415399997 meters Centerline goodness : 0.999296 Centerline is valid? [True, True] Translation: X:129.06, Y:1.39, Z:1.90 [[ 9.97269573e-01 -7.21410303e-02 -1.57819420e-02 1.29056325e+02] [ 7.21478694e-02 9.97393937e-01 -1.36316244e-04 1.39408158e+00] [ 1.57506473e-02 -1.00268945e-03 9.99875448e-01 1.89545208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.49925415399997 meters Centerline goodness : 0.999299 Centerline is valid? [True, True] Translation: X:129.09, Y:1.39, Z:1.90 [[ 9.97240052e-01 -7.25479736e-02 -1.57819568e-02 1.29088479e+02] [ 7.25548907e-02 9.97364412e-01 -1.34585344e-04 1.39497441e+00] [ 1.57501259e-02 -1.01084425e-03 9.99875448e-01 1.89585200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.52925415399997 meters Centerline goodness : 0.999299 Centerline is valid? [True, True] Translation: X:129.12, Y:1.40, Z:1.90 [[ 9.97247856e-01 -7.24406206e-02 -1.57819806e-02 1.29122016e+02] [ 7.24475693e-02 9.97372214e-01 -1.31734561e-04 1.39515830e+00] [ 1.57500518e-02 -1.01199412e-03 9.99875448e-01 1.89638044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.55925415399997 meters Centerline goodness : 0.999233 Centerline is valid? [True, True] Translation: X:129.16, Y:1.40, Z:1.90 [[ 9.97139040e-01 -7.39233643e-02 -1.57819946e-02 1.29155054e+02] [ 7.39305246e-02 9.97263386e-01 -1.30036135e-04 1.39683525e+00] [ 1.57484180e-02 -1.03710703e-03 9.99875448e-01 1.89693597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.58925415399997 meters Centerline goodness : 0.999274 Centerline is valid? [True, True] Translation: X:129.19, Y:1.40, Z:1.90 [[ 9.97082244e-01 -7.46855253e-02 -1.57820084e-02 1.29188216e+02] [ 7.46928074e-02 9.97206582e-01 -1.28337510e-04 1.39747962e+00] [ 1.57475076e-02 -1.05083946e-03 9.99875448e-01 1.89690533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.61925415399998 meters Centerline goodness : 0.999359 Centerline is valid? [True, True] Translation: X:129.22, Y:1.40, Z:1.90 [[ 9.97028212e-01 -7.54034001e-02 -1.57820219e-02 1.29221375e+02] [ 7.54107983e-02 9.97152544e-01 -1.26652736e-04 1.39816172e+00] [ 1.57466333e-02 -1.06385852e-03 9.99875448e-01 1.89676730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.64925415399998 meters Centerline goodness : 0.999254 Centerline is valid? [True, True] Translation: X:129.25, Y:1.40, Z:1.90 [[ 9.96984003e-01 -7.59856957e-02 -1.57820352e-02 1.29254165e+02] [ 7.59931930e-02 9.97108329e-01 -1.24973413e-04 1.39861611e+00] [ 1.57458949e-02 -1.07473075e-03 9.99875448e-01 1.89698437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.67925415399998 meters Centerline goodness : 0.999191 Centerline is valid? [True, True] Translation: X:129.30, Y:1.39, Z:1.89 [[ 9.97492839e-01 -6.89852414e-02 -1.57820486e-02 1.29295045e+02] [ 6.89918928e-02 9.97617213e-01 -1.23260903e-04 1.39005023e+00] [ 1.57529465e-02 -9.65881535e-04 9.99875448e-01 1.89050198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.70925415399998 meters Centerline goodness : 0.999274 Centerline is valid? [True, True] Translation: X:129.32, Y:1.40, Z:1.90 [[ 9.96873945e-01 -7.74155164e-02 -1.57853038e-02 1.29315316e+02] [ 7.74305329e-02 9.96997691e-01 3.41439658e-04 1.39910554e+00] [ 1.57114787e-02 -1.56263678e-03 9.99875346e-01 1.89602755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.73925415399998 meters Centerline goodness : 0.999359 Centerline is valid? [True, True] Translation: X:129.34, Y:1.40, Z:1.90 [[ 9.96957525e-01 -7.63324026e-02 -1.57815780e-02 1.29344599e+02] [ 7.63399283e-02 9.97081842e-01 -1.25879020e-04 1.39994790e+00] [ 1.57451335e-02 -1.07926850e-03 9.99875455e-01 1.89619446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.76925415399998 meters Centerline goodness : 0.999274 Centerline is valid? [True, True] Translation: X:129.38, Y:1.40, Z:1.90 [[ 9.96901149e-01 -7.70653110e-02 -1.57808747e-02 1.29378668e+02] [ 7.70715433e-02 9.97025542e-01 -2.13760692e-04 1.40097652e+00] [ 1.57504086e-02 -1.00315808e-03 9.99875451e-01 1.89684840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.79925415399998 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:129.41, Y:1.40, Z:1.90 [[ 9.96972873e-01 -7.61316802e-02 -1.57815841e-02 1.29410684e+02] [ 7.61392422e-02 9.97097187e-01 -1.21990104e-04 1.40229252e+00] [ 1.57450604e-02 -1.07997703e-03 9.99875456e-01 1.89752317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.82925415399997 meters Centerline goodness : 0.999467 Centerline is valid? [True, True] Translation: X:129.44, Y:1.41, Z:1.90 [[ 9.97279811e-01 -7.19994408e-02 -1.57815950e-02 1.29442365e+02] [ 7.20065101e-02 9.97404155e-01 -1.20560654e-04 1.40525433e+00] [ 1.57493087e-02 -1.01614487e-03 9.99875456e-01 1.89974328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.85925415399997 meters Centerline goodness : 0.999550 Centerline is valid? [True, True] Translation: X:129.48, Y:1.41, Z:1.90 [[ 9.97500063e-01 -6.88807964e-02 -1.57816118e-02 1.29475460e+02] [ 6.88875121e-02 9.97624427e-01 -1.18324837e-04 1.40682381e+00] [ 1.57522717e-02 -9.69126940e-04 9.99875456e-01 1.90100186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.88925415399997 meters Centerline goodness : 0.999529 Centerline is valid? [True, True] Translation: X:129.51, Y:1.41, Z:1.90 [[ 9.97725806e-01 -6.55298173e-02 -1.57816246e-02 1.29508263e+02] [ 6.55361424e-02 9.97850189e-01 -1.16595448e-04 1.40874715e+00] [ 1.57553375e-02 -9.17936508e-04 9.99875456e-01 1.90211424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.91925415399997 meters Centerline goodness : 0.999463 Centerline is valid? [True, True] Translation: X:129.54, Y:1.41, Z:1.90 [[ 9.97991439e-01 -6.13516727e-02 -1.57816371e-02 1.29541485e+02] [ 6.13575042e-02 9.98115847e-01 -1.14871071e-04 1.41059724e+00] [ 1.57589496e-02 -8.53681519e-04 9.99875456e-01 1.90309308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.94925415399997 meters Centerline goodness : 0.999335 Centerline is valid? [True, True] Translation: X:129.57, Y:1.41, Z:1.90 [[ 9.98246219e-01 -5.70563408e-02 -1.57816496e-02 1.29573307e+02] [ 5.70616644e-02 9.98370649e-01 -1.13122160e-04 1.41229218e+00] [ 1.57623901e-02 -7.87603427e-04 9.99875456e-01 1.90352445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.97925415399997 meters Centerline goodness : 0.999442 Centerline is valid? [True, True] Translation: X:129.61, Y:1.42, Z:1.90 [[ 9.98698685e-01 -4.84961485e-02 -1.57816599e-02 1.29605153e+02] [ 4.85004280e-02 9.98823156e-01 -1.11676088e-04 1.41589923e+00] [ 1.57685032e-02 -6.53886496e-04 9.99875456e-01 1.90370114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.00925415399998 meters Centerline goodness : 0.999591 Centerline is valid? [True, True] Translation: X:129.64, Y:1.42, Z:1.90 [[ 9.98892814e-01 -4.43180061e-02 -1.57816698e-02 1.29637897e+02] [ 4.43217874e-02 9.99017301e-01 -1.10248607e-04 1.41797302e+00] [ 1.57710472e-02 -5.89345274e-04 9.99875456e-01 1.90495878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.03925415399998 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:129.68, Y:1.41, Z:1.90 [[ 9.99434891e-01 -2.96789140e-02 -1.57816817e-02 1.29681926e+02] [ 2.96808983e-02 9.99559419e-01 -1.08520886e-04 1.40679221e+00] [ 1.57779494e-02 -3.59954931e-04 9.99875456e-01 1.89793710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.06925415399998 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:129.70, Y:1.42, Z:1.90 [[ 9.99270203e-01 -3.47833279e-02 -1.57854699e-02 1.29696537e+02] [ 3.47962813e-02 9.99394277e-01 5.46599161e-04 1.42226925e+00] [ 1.57568957e-02 -1.09547591e-03 9.99875252e-01 1.90370815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.09925415399998 meters Centerline goodness : 0.999372 Centerline is valid? [True, True] Translation: X:129.73, Y:1.42, Z:1.90 [[ 9.99345991e-01 -3.25355274e-02 -1.57806791e-02 1.29728814e+02] [ 3.25377738e-02 9.99470500e-01 -1.14449277e-04 1.42370946e+00] [ 1.57760469e-02 -3.99093740e-04 9.99875471e-01 1.90436171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.12925415399998 meters Centerline goodness : 0.999372 Centerline is valid? [True, True] Translation: X:129.77, Y:1.41, Z:1.90 [[ 9.99661277e-01 -2.06954169e-02 -1.57806873e-02 1.29770850e+02] [ 2.06962064e-02 9.99785804e-01 -1.13297252e-04 1.41259920e+00] [ 1.57796519e-02 -2.13341486e-04 9.99875471e-01 1.89693689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.15925415399998 meters Centerline goodness : 0.999632 Centerline is valid? [True, True] Translation: X:129.79, Y:1.43, Z:1.90 [[ 9.99433224e-01 -2.97335620e-02 -1.57843414e-02 1.29787592e+02] [ 2.97446213e-02 9.99557422e-01 4.66295301e-04 1.42551600e+00] [ 1.57634910e-02 -9.35530274e-04 9.99875311e-01 1.90472903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.18925415399998 meters Centerline goodness : 0.999544 Centerline is valid? [True, True] Translation: X:129.82, Y:1.43, Z:1.91 [[ 9.99468962e-01 -2.85094678e-02 -1.57798963e-02 1.29820241e+02] [ 2.85111285e-02 9.99593468e-01 -1.19759281e-04 1.42649030e+00] [ 1.57768956e-02 -3.30206968e-04 9.99875483e-01 1.90565053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.21925415399997 meters Centerline goodness : 0.999566 Centerline is valid? [True, True] Translation: X:129.85, Y:1.43, Z:1.91 [[ 9.99508472e-01 -2.70889141e-02 -1.57799051e-02 1.29851722e+02] [ 2.70904162e-02 9.99632980e-01 -1.18592545e-04 1.42718947e+00] [ 1.57773261e-02 -3.08949944e-04 9.99875483e-01 1.90616990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.24925415399997 meters Centerline goodness : 0.999545 Centerline is valid? [True, True] Translation: X:129.88, Y:1.43, Z:1.91 [[ 9.99516625e-01 -2.67864031e-02 -1.57799094e-02 1.29882758e+02] [ 2.67878767e-02 9.99641133e-01 -1.18014260e-04 1.42750188e+00] [ 1.57774077e-02 -3.04753053e-04 9.99875483e-01 1.90667861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.27925415399997 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:129.92, Y:1.43, Z:1.91 [[ 9.99525845e-01 -2.64401056e-02 -1.57799137e-02 1.29915177e+02] [ 2.64415451e-02 9.99650354e-01 -1.17440978e-04 1.42773977e+00] [ 1.57775015e-02 -2.99860006e-04 9.99875483e-01 1.90706866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.30925415399997 meters Centerline goodness : 0.999610 Centerline is valid? [True, True] Translation: X:129.94, Y:1.43, Z:1.91 [[ 9.99532920e-01 -2.61712619e-02 -1.57799223e-02 1.29944318e+02] [ 2.61726865e-02 9.99657430e-01 -1.16267103e-04 1.42799990e+00] [ 1.57775595e-02 -2.96790163e-04 9.99875483e-01 1.90643671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.33925415399997 meters Centerline goodness : 0.999500 Centerline is valid? [True, True] Translation: X:129.98, Y:1.43, Z:1.91 [[ 9.99496586e-01 -2.75240458e-02 -1.57797624e-02 1.29975752e+02] [ 2.75253005e-02 9.99621098e-01 -1.37705936e-04 1.42825584e+00] [ 1.57775736e-02 -2.96706089e-04 9.99875482e-01 1.90703434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.36925415399998 meters Centerline goodness : 0.999523 Centerline is valid? [True, True] Translation: X:130.01, Y:1.43, Z:1.91 [[ 9.99476630e-01 -2.82393492e-02 -1.57799039e-02 1.30008207e+02] [ 2.82409894e-02 9.99601137e-01 -1.18922854e-04 1.42854575e+00] [ 1.57769682e-02 -3.26779487e-04 9.99875482e-01 1.90768398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.39925415399998 meters Centerline goodness : 0.999306 Centerline is valid? [True, True] Translation: X:130.04, Y:1.43, Z:1.91 [[ 9.99455480e-01 -2.89782259e-02 -1.57799126e-02 1.30040735e+02] [ 2.89799766e-02 9.99579985e-01 -1.17757763e-04 1.42882111e+00] [ 1.57766972e-02 -3.39607856e-04 9.99875482e-01 1.90806296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.42925415399998 meters Centerline goodness : 0.999545 Centerline is valid? [True, True] Translation: X:130.07, Y:1.43, Z:1.91 [[ 9.99375022e-01 -3.16316355e-02 -1.57799212e-02 1.30072436e+02] [ 3.16337351e-02 9.99499521e-01 -1.16594944e-04 1.42946561e+00] [ 1.57757118e-02 -3.82655772e-04 9.99875482e-01 1.90902525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.45925415399998 meters Centerline goodness : 0.999502 Centerline is valid? [True, True] Translation: X:130.10, Y:1.43, Z:1.91 [[ 9.99305952e-01 -3.37432569e-02 -1.57799297e-02 1.30104976e+02] [ 3.37456378e-02 9.99430447e-01 -1.15434760e-04 1.42946210e+00] [ 1.57748373e-02 -4.17149150e-04 9.99875482e-01 1.90921106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.48925415399998 meters Centerline goodness : 0.999545 Centerline is valid? [True, True] Translation: X:130.14, Y:1.43, Z:1.91 [[ 9.99237331e-01 -3.57176542e-02 -1.57799380e-02 1.30137008e+02] [ 3.57202994e-02 9.99361820e-01 -1.14282297e-04 1.42877950e+00] [ 1.57739495e-02 -4.49468973e-04 9.99875482e-01 1.90972602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.51925415399998 meters Centerline goodness : 0.999590 Centerline is valid? [True, True] Translation: X:130.17, Y:1.43, Z:1.91 [[ 9.99143586e-01 -3.82503431e-02 -1.57799464e-02 1.30169397e+02] [ 3.82533221e-02 9.99268067e-01 -1.13118472e-04 1.42824820e+00] [ 1.57727233e-02 -4.90613776e-04 9.99875482e-01 1.90992893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.54925415399998 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:130.20, Y:1.43, Z:1.91 [[ 9.99037197e-01 -4.09349738e-02 -1.57799546e-02 1.30201797e+02] [ 4.09383056e-02 9.99161670e-01 -1.11957785e-04 1.42760421e+00] [ 1.57713088e-02 -5.34154612e-04 9.99875482e-01 1.91004183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.57925415399997 meters Centerline goodness : 0.999568 Centerline is valid? [True, True] Translation: X:130.23, Y:1.43, Z:1.91 [[ 9.98800541e-01 -4.63516068e-02 -1.57799628e-02 1.30234042e+02] [ 4.63556318e-02 9.98924994e-01 -1.10797598e-04 1.42622578e+00] [ 1.57681349e-02 -6.20825443e-04 9.99875482e-01 1.90985400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.60925415399997 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:130.27, Y:1.43, Z:1.91 [[ 9.98707531e-01 -4.83141783e-02 -1.57799819e-02 1.30266843e+02] [ 4.83184919e-02 9.98831974e-01 -1.08002842e-04 1.42526725e+00] [ 1.57667685e-02 -6.54601676e-04 9.99875483e-01 1.90904233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.63925415399997 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:130.30, Y:1.43, Z:1.91 [[ 9.98579745e-01 -5.08869866e-02 -1.57799933e-02 1.30300278e+02] [ 5.08916476e-02 9.98704175e-01 -1.06306050e-04 1.42561451e+00] [ 1.57649548e-02 -6.96914791e-04 9.99875483e-01 1.91128841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.66925415399997 meters Centerline goodness : 0.999569 Centerline is valid? [True, True] Translation: X:130.33, Y:1.42, Z:1.91 [[ 9.98429309e-01 -5.37578529e-02 -1.57800047e-02 1.30333216e+02] [ 5.37628987e-02 9.98553724e-01 -1.04590669e-04 1.42454655e+00] [ 1.57628050e-02 -7.43952405e-04 9.99875483e-01 1.91242265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.69925415399997 meters Centerline goodness : 0.999483 Centerline is valid? [True, True] Translation: X:130.38, Y:1.41, Z:1.91 [[ 9.99007122e-01 -4.16624682e-02 -1.57800161e-02 1.30380046e+02] [ 4.16660344e-02 9.99131588e-01 -1.02846318e-04 1.40989977e+00] [ 1.57705973e-02 -5.54746488e-04 9.99875483e-01 1.90701981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.72925415399997 meters Centerline goodness : 0.999440 Centerline is valid? [True, True] Translation: X:130.41, Y:1.41, Z:1.91 [[ 9.99030279e-01 -4.11020813e-02 -1.57835252e-02 1.30410904e+02] [ 4.11182859e-02 9.99154038e-01 7.03397693e-04 1.40849619e+00] [ 1.57412618e-02 -1.35170709e-03 9.99875185e-01 1.90660857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.75925415399998 meters Centerline goodness : 0.999397 Centerline is valid? [True, True] Translation: X:130.44, Y:1.41, Z:1.91 [[ 9.98938540e-01 -4.32743704e-02 -1.57835734e-02 1.30436565e+02] [ 4.32910223e-02 9.99062249e-01 7.14717250e-04 1.41102591e+00] [ 1.57378433e-02 -1.39724563e-03 9.99875176e-01 1.90729186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.78925415399998 meters Centerline goodness : 0.999247 Centerline is valid? [True, True] Translation: X:130.47, Y:1.41, Z:1.91 [[ 9.98914556e-01 -4.38248745e-02 -1.57825799e-02 1.30467845e+02] [ 4.38386249e-02 9.99038487e-01 5.26164745e-04 1.41214681e+00] [ 1.57443456e-02 -1.21748022e-03 9.99875309e-01 1.90787580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.81925415399998 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:130.48, Y:1.43, Z:1.91 [[ 9.98496228e-01 -5.24995463e-02 -1.57823083e-02 1.30483436e+02] [ 5.25136428e-02 9.98620091e-01 4.79812696e-04 1.42527847e+00] [ 1.57353402e-02 -1.30787767e-03 9.99875336e-01 1.91441753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.84925415399998 meters Centerline goodness : 0.999527 Centerline is valid? [True, True] Translation: X:130.53, Y:1.41, Z:1.91 [[ 9.99089105e-01 -3.96486489e-02 -1.57779695e-02 1.30527908e+02] [ 3.96517693e-02 9.99213553e-01 -1.15138086e-04 1.41324298e+00] [ 1.57701260e-02 -5.10591197e-04 9.99875513e-01 1.90891421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.87925415399998 meters Centerline goodness : 0.999398 Centerline is valid? [True, True] Translation: X:130.54, Y:1.43, Z:1.91 [[ 9.98643504e-01 -4.96193688e-02 -1.57819872e-02 1.30542765e+02] [ 4.96344839e-02 9.98767288e-01 5.67262994e-04 1.42610459e+00] [ 1.57343854e-02 -1.34982430e-03 9.99875296e-01 1.91491651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.90925415399998 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:130.58, Y:1.43, Z:1.92 [[ 9.98734015e-01 -4.77645976e-02 -1.57769090e-02 1.30576244e+02] [ 4.77686966e-02 9.98858417e-01 -1.17146687e-04 1.42672758e+00] [ 1.57644939e-02 -6.36644001e-04 9.99875530e-01 1.91526635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.93925415399998 meters Centerline goodness : 0.999547 Centerline is valid? [True, True] Translation: X:130.61, Y:1.43, Z:1.91 [[ 9.98917236e-01 -4.37657963e-02 -1.57769218e-02 1.30608046e+02] [ 4.37694248e-02 9.99041653e-01 -1.15402471e-04 1.42756435e+00] [ 1.57668527e-02 -5.75269275e-04 9.99875530e-01 1.91477553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.96925415399997 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:130.64, Y:1.43, Z:1.92 [[ 9.99119459e-01 -3.88766730e-02 -1.57769302e-02 1.30640261e+02] [ 3.88797107e-02 9.99243892e-01 -1.14249607e-04 1.42873819e+00] [ 1.57694427e-02 -4.99253476e-04 9.99875530e-01 1.91502290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.99925415399997 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:130.67, Y:1.43, Z:1.92 [[ 9.99122314e-01 -3.88032139e-02 -1.57769385e-02 1.30672952e+02] [ 3.88062608e-02 9.99246747e-01 -1.13089771e-04 1.42891300e+00] [ 1.57694427e-02 -4.99253474e-04 9.99875530e-01 1.91553834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.029254154 meters Centerline goodness : 0.999633 Centerline is valid? [True, True] Translation: X:130.70, Y:1.43, Z:1.92 [[ 9.99221355e-01 -3.61631316e-02 -1.57769467e-02 1.30704801e+02] [ 3.61658680e-02 9.99345795e-01 -1.11929935e-04 1.43001612e+00] [ 1.57706731e-02 -4.58744190e-04 9.99875530e-01 1.91620709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.059254154 meters Centerline goodness : 0.999567 Centerline is valid? [True, True] Translation: X:130.74, Y:1.43, Z:1.92 [[ 9.99401192e-01 -3.07952224e-02 -1.57769548e-02 1.30735532e+02] [ 3.07973086e-02 9.99525644e-01 -1.10769970e-04 1.43214134e+00] [ 1.57728821e-02 -3.75184107e-04 9.99875530e-01 1.91658940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.089254154 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:130.78, Y:1.42, Z:1.91 [[ 9.99731157e-01 -1.69912152e-02 -1.57769609e-02 1.30778965e+02] [ 1.69915962e-02 9.99855626e-01 -1.09906462e-04 1.42057446e+00] [ 1.57765505e-02 -1.58198834e-04 9.99875530e-01 1.90938698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.119254154 meters Centerline goodness : 0.999589 Centerline is valid? [True, True] Translation: X:130.79, Y:1.43, Z:1.92 [[ 9.99556288e-01 -2.52625078e-02 -1.57807781e-02 1.30793512e+02] [ 2.52743581e-02 9.99680400e-01 5.51919754e-04 1.43373177e+00] [ 1.57617917e-02 -9.50523898e-04 9.99875323e-01 1.91729386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.14925415399998 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:130.84, Y:1.42, Z:1.91 [[ 9.99852041e-01 -6.85683915e-03 -1.57759518e-02 1.30837604e+02] [ 6.85588825e-03 9.99976492e-01 -1.14357756e-04 1.42146831e+00] [ 1.57763651e-02 6.18267305e-06 9.99875545e-01 1.91108653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.17925415399998 meters Centerline goodness : 0.999544 Centerline is valid? [True, True] Translation: X:130.85, Y:1.43, Z:1.92 [[ 9.99812745e-01 -1.12058630e-02 -1.57766749e-02 1.30854781e+02] [ 1.12167299e-02 9.99936910e-01 6.00474881e-04 1.43100135e+00] [ 1.57689508e-02 -7.77325141e-04 9.99875360e-01 1.91778773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.20925415399998 meters Centerline goodness : 0.999565 Centerline is valid? [True, True] Translation: X:130.88, Y:1.43, Z:1.92 [[ 9.99838519e-01 -8.60784188e-03 -1.57746902e-02 1.30884825e+02] [ 8.60670372e-03 9.99962952e-01 -1.40038869e-04 1.43081931e+00] [ 1.57753113e-02 4.24816988e-06 9.99875562e-01 1.92120736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.23925415399998 meters Centerline goodness : 0.999522 Centerline is valid? [True, True] Translation: X:130.91, Y:1.43, Z:1.92 [[ 9.99856098e-01 -6.23968127e-03 -1.57749500e-02 1.30912615e+02] [ 6.23980115e-03 9.99980531e-01 -4.16205502e-05 1.43134580e+00] [ 1.57749026e-02 -5.68179902e-05 9.99875567e-01 1.92252726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.26925415399998 meters Centerline goodness : 0.994872 Centerline is valid? [True, True] Translation: X:130.94, Y:1.43, Z:1.92 [[ 9.99868144e-01 -3.85292656e-03 -1.57749365e-02 1.30938106e+02] [ 3.85267698e-03 9.99992577e-01 -4.62110905e-05 1.43285663e+00] [ 1.57749975e-02 -1.45707376e-05 9.99875567e-01 1.92216516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.29925415399998 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:130.97, Y:1.43, Z:1.92 [[ 9.99872560e-01 -2.45635670e-03 -1.57743780e-02 1.30968084e+02] [ 2.45344715e-03 9.99996970e-01 -2.03797154e-04 1.43204738e+00] [ 1.57748308e-02 1.65069579e-04 9.99875556e-01 1.92440547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.32925415399998 meters Centerline goodness : 0.999674 Centerline is valid? [True, True] Translation: X:131.00, Y:1.43, Z:1.92 [[ 9.99875387e-01 -6.03310748e-04 -1.57748924e-02 1.30995010e+02] [ 6.02530168e-04 9.99999817e-01 -5.42351131e-05 1.43076147e+00] [ 1.57749222e-02 4.47235061e-05 9.99875567e-01 1.92487008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.35925415399998 meters Centerline goodness : 0.999565 Centerline is valid? [True, True] Translation: X:131.02, Y:1.43, Z:1.92 [[ 9.99875566e-01 -7.67016730e-05 -1.57748853e-02 1.31022103e+02] [ 7.58240746e-05 9.99999996e-01 -5.62307249e-05 1.43051993e+00] [ 1.57748895e-02 5.50276118e-05 9.99875567e-01 1.92307597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.38925415399999 meters Centerline goodness : 0.999587 Centerline is valid? [True, True] Translation: X:131.05, Y:1.43, Z:1.93 [[ 9.99874279e-01 -1.60932120e-03 -1.57745708e-02 1.31051389e+02] [ 1.60738463e-03 9.99998699e-01 -1.35443510e-04 1.42914533e+00] [ 1.57747682e-02 1.10070680e-04 9.99875565e-01 1.92543232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.419254154 meters Centerline goodness : 0.999587 Centerline is valid? [True, True] Translation: X:131.08, Y:1.43, Z:1.93 [[ 9.99873757e-01 -1.90339279e-03 -1.57748601e-02 1.31079763e+02] [ 1.90263684e-03 9.99998188e-01 -6.29285185e-05 1.42928354e+00] [ 1.57749513e-02 3.29067442e-05 9.99875567e-01 1.92585416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.449254154 meters Centerline goodness : 0.999522 Centerline is valid? [True, True] Translation: X:131.11, Y:1.43, Z:1.93 [[ 9.99870317e-01 -3.24103598e-03 -1.57748401e-02 1.31107130e+02] [ 3.24037302e-03 9.99994748e-01 -6.75866622e-05 1.42814198e+00] [ 1.57749763e-02 1.64615310e-05 9.99875567e-01 1.92552878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.479254154 meters Centerline goodness : 0.999523 Centerline is valid? [True, True] Translation: X:131.14, Y:1.43, Z:1.92 [[ 9.99847892e-01 -7.43954225e-03 -1.57748312e-02 1.31135790e+02] [ 7.43936997e-03 9.99972325e-01 -6.96028159e-05 1.42508304e+00] [ 1.57749125e-02 -4.77625770e-05 9.99875567e-01 1.92486190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.509254154 meters Centerline goodness : 0.999633 Centerline is valid? [True, True] Translation: X:131.16, Y:1.42, Z:1.93 [[ 9.99825409e-01 -1.00152607e-02 -1.57748261e-02 1.31163454e+02] [ 1.00153910e-02 9.99949842e-01 -7.07389231e-05 1.42333481e+00] [ 1.57747434e-02 -8.72644795e-05 9.99875567e-01 1.92540462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.539254154 meters Centerline goodness : 0.999417 Centerline is valid? [True, True] Translation: X:131.19, Y:1.42, Z:1.93 [[ 9.99788556e-01 -1.31908253e-02 -1.57748181e-02 1.31190468e+02] [ 1.31913234e-02 9.99912988e-01 -7.24798139e-05 1.42168761e+00] [ 1.57744016e-02 -1.35626239e-04 9.99875567e-01 1.92517872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.569254154 meters Centerline goodness : 0.999482 Centerline is valid? [True, True] Translation: X:131.22, Y:1.42, Z:1.93 [[ 9.99744657e-01 -1.61794922e-02 -1.57748060e-02 1.31218531e+02] [ 1.61803220e-02 9.99869087e-01 -7.50307646e-05 1.41974692e+00] [ 1.57739548e-02 -1.80229835e-04 9.99875567e-01 1.92562658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.599254154 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:131.25, Y:1.42, Z:1.93 [[ 9.99642066e-01 -2.16077810e-02 -1.57747826e-02 1.31247784e+02] [ 2.16092135e-02 9.99766491e-01 -7.96598486e-05 1.41553126e+00] [ 1.57728203e-02 -2.61249309e-04 9.99875567e-01 1.92593595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.629254154 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:131.28, Y:1.41, Z:1.93 [[ 9.99582939e-01 -2.41889143e-02 -1.57747768e-02 1.31277186e+02] [ 2.41906500e-02 9.99707360e-01 -8.08058965e-05 1.41357634e+00] [ 1.57721150e-02 -3.00829907e-04 9.99875567e-01 1.92616182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.659254154 meters Centerline goodness : 0.999334 Centerline is valid? [True, True] Translation: X:131.31, Y:1.41, Z:1.93 [[ 9.99523620e-01 -2.65271638e-02 -1.57747753e-02 1.31307411e+02] [ 2.65291860e-02 9.99648036e-01 -8.10901771e-05 1.41180871e+00] [ 1.57713742e-02 -3.37440401e-04 9.99875567e-01 1.92698644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.689254154 meters Centerline goodness : 0.999337 Centerline is valid? [True, True] Translation: X:131.34, Y:1.41, Z:1.93 [[ 9.99405788e-01 -3.06468310e-02 -1.57747753e-02 1.31338937e+02] [ 3.06493660e-02 9.99530195e-01 -8.10901771e-05 1.40859860e+00] [ 1.57698494e-02 -4.02444870e-04 9.99875567e-01 1.92752182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.719254154 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:131.38, Y:1.40, Z:1.92 [[ 9.99614427e-01 -2.28506923e-02 -1.57747783e-02 1.31382485e+02] [ 2.28522660e-02 9.99738850e-01 -8.05082588e-05 1.39592620e+00] [ 1.57724983e-02 -2.80012213e-04 9.99875567e-01 1.92203526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.749254154 meters Centerline goodness : 0.999273 Centerline is valid? [True, True] Translation: X:131.40, Y:1.41, Z:1.93 [[ 9.99262797e-01 -3.49991705e-02 -1.57771975e-02 1.31398781e+02] [ 3.50118289e-02 9.99386759e-01 5.26735643e-04 1.40528842e+00] [ 1.57490870e-02 -1.07873587e-03 9.99875394e-01 1.92831291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.779254154 meters Centerline goodness : 0.999038 Centerline is valid? [True, True] Translation: X:131.44, Y:1.39, Z:1.92 [[ 9.99373360e-01 -3.16870356e-02 -1.57739774e-02 1.31437005e+02] [ 3.16896643e-02 9.99497753e-01 -8.33352531e-05 1.39359713e+00] [ 1.57686956e-02 -4.16589016e-04 9.99875580e-01 1.92460325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.809254154 meters Centerline goodness : 0.999231 Centerline is valid? [True, True] Translation: X:131.46, Y:1.40, Z:1.93 [[ 9.99013199e-01 -4.15179782e-02 -1.57761007e-02 1.31458005e+02] [ 4.15289250e-02 9.99137235e-01 3.66779467e-04 1.40021634e+00] [ 1.57472617e-02 -1.02158203e-03 9.99875482e-01 1.92954897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.839254154 meters Centerline goodness : 0.999125 Centerline is valid? [True, True] Translation: X:131.49, Y:1.40, Z:1.93 [[ 9.98910404e-01 -4.39226621e-02 -1.57735535e-02 1.31490654e+02] [ 4.39267347e-02 9.99034751e-01 -8.83397525e-05 1.39878877e+00] [ 1.57622082e-02 -6.04637201e-04 9.99875586e-01 1.92980828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.869254154 meters Centerline goodness : 0.999148 Centerline is valid? [True, True] Translation: X:131.52, Y:1.40, Z:1.93 [[ 9.98806778e-01 -4.62192050e-02 -1.57735599e-02 1.31522581e+02] [ 4.62235819e-02 9.98931115e-01 -8.71746266e-05 1.39736892e+00] [ 1.57607289e-02 -6.42039830e-04 9.99875586e-01 1.93022949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.89925415399998 meters Centerline goodness : 0.999190 Centerline is valid? [True, True] Translation: X:131.55, Y:1.40, Z:1.93 [[ 9.98649278e-01 -4.95056923e-02 -1.57735663e-02 1.31554223e+02] [ 4.95104968e-02 9.98773600e-01 -8.60063351e-05 1.39514896e+00] [ 1.57584794e-02 -6.95066938e-04 9.99875586e-01 1.92953561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.92925415399998 meters Centerline goodness : 0.999106 Centerline is valid? [True, True] Translation: X:131.59, Y:1.39, Z:1.93 [[ 9.98596573e-01 -5.05576835e-02 -1.57735710e-02 1.31587688e+02] [ 5.05626327e-02 9.98720888e-01 -8.51361074e-05 1.39403311e+00] [ 1.57576991e-02 -7.12536650e-04 9.99875586e-01 1.92995932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.95925415399998 meters Centerline goodness : 0.999276 Centerline is valid? [True, True] Translation: X:131.63, Y:1.39, Z:1.93 [[ 9.98858225e-01 -4.50936942e-02 -1.57735802e-02 1.31625234e+02] [ 4.50979908e-02 9.98982565e-01 -8.33823872e-05 1.38574361e+00] [ 1.57612917e-02 -6.28069593e-04 9.99875586e-01 1.92538416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.98925415399998 meters Centerline goodness : 0.999170 Centerline is valid? [True, True] Translation: X:131.65, Y:1.39, Z:1.93 [[ 9.98490205e-01 -5.26159879e-02 -1.57755658e-02 1.31647163e+02] [ 5.26275202e-02 9.98614162e-01 3.16487854e-04 1.39235213e+00] [ 1.57370511e-02 -1.14623893e-03 9.99875508e-01 1.93011267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.01925415399998 meters Centerline goodness : 0.999363 Centerline is valid? [True, True] Translation: X:131.68, Y:1.39, Z:1.93 [[ 9.98444500e-01 -5.34769659e-02 -1.57732270e-02 1.31680632e+02] [ 5.34821912e-02 9.98568799e-01 -9.06591169e-05 1.39127763e+00] [ 1.57555005e-02 -7.53068644e-04 9.99875591e-01 1.93104796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.04925415399998 meters Centerline goodness : 0.999193 Centerline is valid? [True, True] Translation: X:131.71, Y:1.39, Z:1.93 [[ 9.98458969e-01 -5.32061217e-02 -1.57732368e-02 1.31712398e+02] [ 5.32113407e-02 9.98583269e-01 -8.89211535e-05 1.39080841e+00] [ 1.57556215e-02 -7.50530952e-04 9.99875591e-01 1.93137503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.07925415399998 meters Centerline goodness : 0.999320 Centerline is valid? [True, True] Translation: X:131.75, Y:1.39, Z:1.93 [[ 9.98481342e-01 -5.27845986e-02 -1.57732432e-02 1.31745064e+02] [ 5.27897832e-02 9.98605643e-01 -8.77690525e-05 1.39061636e+00] [ 1.57558825e-02 -7.45030327e-04 9.99875591e-01 1.93177470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.10925415399998 meters Centerline goodness : 0.999215 Centerline is valid? [True, True] Translation: X:131.78, Y:1.39, Z:1.93 [[ 9.98521897e-01 -5.20117904e-02 -1.57732497e-02 1.31776297e+02] [ 5.20168974e-02 9.98646201e-01 -8.65884498e-05 1.39061285e+00] [ 1.57563995e-02 -7.34015047e-04 9.99875591e-01 1.93156542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.13925415399999 meters Centerline goodness : 0.999108 Centerline is valid? [True, True] Translation: X:131.81, Y:1.39, Z:1.93 [[ 9.98592210e-01 -5.06438758e-02 -1.57732544e-02 1.31808339e+02] [ 5.06488264e-02 9.98716521e-01 -8.57104616e-05 1.39090854e+00] [ 1.57573505e-02 -7.13307026e-04 9.99875591e-01 1.93154085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.169254154 meters Centerline goodness : 0.999278 Centerline is valid? [True, True] Translation: X:131.84, Y:1.39, Z:1.93 [[ 9.98695118e-01 -4.85722751e-02 -1.57732607e-02 1.31840440e+02] [ 4.85769862e-02 9.98819438e-01 -8.45437119e-05 1.39141564e+00] [ 1.57587458e-02 -6.81784074e-04 9.99875591e-01 1.93188951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.199254154 meters Centerline goodness : 0.999193 Centerline is valid? [True, True] Translation: X:131.88, Y:1.39, Z:1.93 [[ 9.99152147e-01 -3.80288238e-02 -1.57732669e-02 1.31877424e+02] [ 3.80322411e-02 9.99276509e-01 -8.33708430e-05 1.38642984e+00] [ 1.57650256e-02 -5.16592532e-04 9.99875591e-01 1.92674510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.229254154 meters Centerline goodness : 0.999532 Centerline is valid? [True, True] Translation: X:131.90, Y:1.39, Z:1.93 [[ 9.99032007e-01 -4.10633355e-02 -1.57750533e-02 1.31899235e+02] [ 4.10728234e-02 9.99156117e-01 2.77799682e-04 1.39375553e+00] [ 1.57503337e-02 -9.25456753e-04 9.99875528e-01 1.93140074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.259254154 meters Centerline goodness : 0.999127 Centerline is valid? [True, True] Translation: X:131.93, Y:1.40, Z:1.93 [[ 9.99271997e-01 -3.47374597e-02 -1.57729414e-02 1.31930736e+02] [ 3.47403548e-02 9.99396368e-01 -9.04935630e-05 1.39559027e+00] [ 1.57665639e-02 -4.57529897e-04 9.99875595e-01 1.93166305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.289254154 meters Centerline goodness : 0.999488 Centerline is valid? [True, True] Translation: X:131.96, Y:1.40, Z:1.93 [[ 9.99391339e-01 -3.11153503e-02 -1.57729464e-02 1.31963046e+02] [ 3.11178084e-02 9.99515720e-01 -8.96193092e-05 1.39682808e+00] [ 1.57680964e-02 -4.01254761e-04 9.99875595e-01 1.93361791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.319254154 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:131.99, Y:1.40, Z:1.93 [[ 9.99498936e-01 -2.74424893e-02 -1.57729529e-02 1.31994056e+02] [ 2.74445088e-02 9.99623325e-01 -8.84492767e-05 1.39824503e+00] [ 1.57694389e-02 -3.44475987e-04 9.99875595e-01 1.93473767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.349254154 meters Centerline goodness : 0.999146 Centerline is valid? [True, True] Translation: X:132.02, Y:1.40, Z:1.94 [[ 9.99604692e-01 -2.32738977e-02 -1.57729562e-02 1.32024690e+02] [ 2.32754076e-02 9.99729087e-01 -8.78655269e-05 1.39954114e+00] [ 1.57707281e-02 -2.79291192e-04 9.99875595e-01 1.93565086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.379254154 meters Centerline goodness : 0.999252 Centerline is valid? [True, True] Translation: X:132.06, Y:1.40, Z:1.94 [[ 9.99733964e-01 -1.68289923e-02 -1.57729578e-02 1.32055518e+02] [ 1.68297048e-02 9.99858367e-01 -8.75760272e-05 1.39976486e+00] [ 1.57721976e-02 -1.77901494e-04 9.99875595e-01 1.93840679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.409254154 meters Centerline goodness : 0.999251 Centerline is valid? [True, True] Translation: X:132.08, Y:1.40, Z:1.94 [[ 9.99828389e-01 -9.71625729e-03 -1.57729578e-02 1.32083186e+02] [ 9.71608467e-03 9.99952794e-01 -8.75760272e-05 1.40359374e+00] [ 1.57730641e-02 -6.56903952e-05 9.99875595e-01 1.93789195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.439254154 meters Centerline goodness : 0.999336 Centerline is valid? [True, True] Translation: X:132.11, Y:1.41, Z:1.94 [[ 9.99865743e-01 -4.43951614e-03 -1.57729494e-02 1.32112087e+02] [ 4.43866354e-03 9.99990145e-01 -8.90621472e-05 1.40508938e+00] [ 1.57731894e-02 1.90393746e-05 9.99875595e-01 1.93822276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.469254154 meters Centerline goodness : 0.999314 Centerline is valid? [True, True] Translation: X:132.14, Y:1.41, Z:1.94 [[ 9.99874586e-01 -1.42447730e-03 -1.57728808e-02 1.32141280e+02] [ 1.42306180e-03 9.99998982e-01 -1.00965431e-04 1.40586952e+00] [ 1.57730086e-02 7.85069842e-05 9.99875595e-01 1.93922997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.499254154 meters Centerline goodness : 0.999271 Centerline is valid? [True, True] Translation: X:132.17, Y:1.41, Z:1.94 [[ 9.99873715e-01 1.94128217e-03 -1.57729371e-02 1.32169616e+02] [-1.94296295e-03 9.99998108e-01 -9.12375429e-05 1.40593940e+00] [ 1.57727302e-02 1.21872253e-04 9.99875595e-01 1.93938652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.529254154 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:132.20, Y:1.41, Z:1.94 [[ 9.99867942e-01 3.91318545e-03 -1.57729094e-02 1.32197271e+02] [-3.91518358e-03 9.99992331e-01 -9.58038100e-05 1.40667231e+00] [ 1.57724135e-02 1.57544994e-04 9.99875595e-01 1.94047799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.559254154 meters Centerline goodness : 0.999271 Centerline is valid? [True, True] Translation: X:132.22, Y:1.41, Z:1.94 [[ 9.99854356e-01 6.51790958e-03 -1.57728805e-02 1.32224221e+02] [-6.52030322e-03 9.99978738e-01 -1.00335928e-04 1.40649425e+00] [ 1.57718912e-02 2.03165278e-04 9.99875595e-01 1.94136477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.589254154 meters Centerline goodness : 0.999443 Centerline is valid? [True, True] Translation: X:132.25, Y:1.41, Z:1.94 [[ 9.99853696e-01 6.61833819e-03 -1.57728678e-02 1.32251103e+02] [-6.62077529e-03 9.99978077e-01 -1.02298767e-04 1.40623812e+00] [ 1.57718450e-02 2.06712413e-04 9.99875595e-01 1.94170386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.619254154 meters Centerline goodness : 0.999592 Centerline is valid? [True, True] Translation: X:132.28, Y:1.41, Z:1.94 [[ 9.99858933e-01 5.77326358e-03 -1.57728550e-02 1.32278826e+02] [-5.77562606e-03 9.99983316e-01 -1.04233513e-04 1.40576406e+00] [ 1.57719901e-02 1.95316921e-04 9.99875595e-01 1.94288512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.64925415399998 meters Centerline goodness : 0.999507 Centerline is valid? [True, True] Translation: X:132.31, Y:1.41, Z:1.94 [[ 9.99867111e-01 4.12043549e-03 -1.57728435e-02 1.32305781e+02] [-4.12261954e-03 9.99991496e-01 -1.05956492e-04 1.40522836e+00] [ 1.57722727e-02 1.70967844e-04 9.99875595e-01 1.94243430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.67925415399998 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:132.33, Y:1.40, Z:1.94 [[ 9.99875203e-01 -8.93014464e-04 -1.57728230e-02 1.32333534e+02] [ 8.91407475e-04 9.99999597e-01 -1.08913609e-04 1.40344667e+00] [ 1.57729139e-02 9.48400044e-05 9.99875595e-01 1.94291842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.70925415399998 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:132.36, Y:1.40, Z:1.94 [[ 9.99868545e-01 -3.75639729e-03 -1.57728111e-02 1.32361240e+02] [ 3.75511960e-03 9.99992943e-01 -1.10621425e-04 1.40207760e+00] [ 1.57731153e-02 5.13780910e-05 9.99875595e-01 1.94308127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.73925415399998 meters Centerline goodness : 0.999573 Centerline is valid? [True, True] Translation: X:132.39, Y:1.40, Z:1.94 [[ 9.99849082e-01 -7.28226721e-03 -1.57727988e-02 1.32388753e+02] [ 7.28140115e-03 9.99973484e-01 -1.12336507e-04 1.40057327e+00] [ 1.57731987e-02 -2.52852262e-06 9.99875595e-01 1.94287150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.76925415399998 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:132.42, Y:1.40, Z:1.94 [[ 9.99789299e-01 -1.31368474e-02 -1.57727864e-02 1.32416594e+02] [ 1.31366827e-02 9.99913704e-01 -1.14054700e-04 1.39727372e+00] [ 1.57729236e-02 -9.31714217e-05 9.99875595e-01 1.94365782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.79925415399998 meters Centerline goodness : 0.999466 Centerline is valid? [True, True] Translation: X:132.44, Y:1.40, Z:1.94 [[ 9.99720159e-01 -1.76303907e-02 -1.57725153e-02 1.32444680e+02] [ 1.76302008e-02 9.99844565e-01 -1.51098632e-04 1.39585475e+00] [ 1.57727276e-02 -1.27016263e-04 9.99875595e-01 1.94407760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.82925415399998 meters Centerline goodness : 0.999234 Centerline is valid? [True, True] Translation: X:132.47, Y:1.39, Z:1.94 [[ 9.99656063e-01 -2.09517259e-02 -1.57727675e-02 1.32472345e+02] [ 2.09524850e-02 9.99780466e-01 -1.17136127e-04 1.39437329e+00] [ 1.57717591e-02 -2.13382835e-04 9.99875595e-01 1.94438875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.85925415399998 meters Centerline goodness : 0.999171 Centerline is valid? [True, True] Translation: X:132.50, Y:1.39, Z:1.94 [[ 9.99589314e-01 -2.39253852e-02 -1.57727566e-02 1.32500649e+02] [ 2.39264915e-02 9.99713713e-01 -1.18584696e-04 1.39288804e+00] [ 1.57710783e-02 -2.58850734e-04 9.99875595e-01 1.94486253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.88925415399999 meters Centerline goodness : 0.999257 Centerline is valid? [True, True] Translation: X:132.53, Y:1.39, Z:1.95 [[ 9.99437428e-01 -2.95981083e-02 -1.57727501e-02 1.32530670e+02] [ 2.95999071e-02 9.99561820e-01 -1.19447380e-04 1.39059720e+00] [ 1.57693742e-02 -3.47491755e-04 9.99875595e-01 1.94528040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.919254154 meters Centerline goodness : 0.998876 Centerline is valid? [True, True] Translation: X:132.56, Y:1.39, Z:1.95 [[ 9.99363010e-01 -3.20124116e-02 -1.57727457e-02 1.32560632e+02] [ 3.20145018e-02 9.99487397e-01 -1.20021102e-04 1.38982037e+00] [ 1.57685028e-02 -3.85011948e-04 9.99875595e-01 1.94537445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.949254154 meters Centerline goodness : 0.998898 Centerline is valid? [True, True] Translation: X:132.59, Y:1.39, Z:1.95 [[ 9.99291992e-01 -3.41574978e-02 -1.57727479e-02 1.32593197e+02] [ 3.41598595e-02 9.99416375e-01 -1.19736124e-04 1.38903649e+00] [ 1.57676324e-02 -4.19143502e-04 9.99875595e-01 1.94604462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.979254154 meters Centerline goodness : 0.999026 Centerline is valid? [True, True] Translation: X:132.62, Y:1.39, Z:1.95 [[ 9.99227264e-01 -3.60013279e-02 -1.57727565e-02 1.32624672e+02] [ 3.60039372e-02 9.99351641e-01 -1.18588986e-04 1.38791362e+00] [ 1.57667995e-02 -4.49383987e-04 9.99875595e-01 1.94656392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.009254154 meters Centerline goodness : 0.999239 Centerline is valid? [True, True] Translation: X:132.66, Y:1.39, Z:1.95 [[ 9.99100360e-01 -3.93660996e-02 -1.57727609e-02 1.32655908e+02] [ 3.93691369e-02 9.99224728e-01 -1.18007961e-04 1.38522920e+00] [ 1.57651782e-02 -5.03058185e-04 9.99875595e-01 1.94698902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.039254154 meters Centerline goodness : 0.999324 Centerline is valid? [True, True] Translation: X:132.69, Y:1.38, Z:1.95 [[ 9.99051810e-01 -4.05795530e-02 -1.57727673e-02 1.32687756e+02] [ 4.05827551e-02 9.99176174e-01 -1.17138625e-04 1.38432676e+00] [ 1.57645267e-02 -5.23074798e-04 9.99875595e-01 1.94809039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.069254154 meters Centerline goodness : 0.999282 Centerline is valid? [True, True] Translation: X:132.72, Y:1.38, Z:1.95 [[ 9.98997528e-01 -4.18946044e-02 -1.57727759e-02 1.32719288e+02] [ 4.18979885e-02 9.99121887e-01 -1.15973557e-04 1.38377024e+00] [ 1.57637843e-02 -5.44990287e-04 9.99875595e-01 1.94831462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.099254154 meters Centerline goodness : 0.999451 Centerline is valid? [True, True] Translation: X:132.75, Y:1.38, Z:1.95 [[ 9.98902262e-01 -4.41077103e-02 -1.57727822e-02 1.32751159e+02] [ 4.41113836e-02 9.99026613e-01 -1.15104693e-04 1.38265328e+00] [ 1.57625062e-02 -5.80780910e-04 9.99875595e-01 1.94939621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.129254154 meters Centerline goodness : 0.999388 Centerline is valid? [True, True] Translation: X:132.78, Y:1.38, Z:1.95 [[ 9.98844029e-01 -4.54073272e-02 -1.57727907e-02 1.32783224e+02] [ 4.54111808e-02 9.98968374e-01 -1.13935181e-04 1.38236163e+00] [ 1.57616926e-02 -6.02457575e-04 9.99875595e-01 1.95011059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.159254154 meters Centerline goodness : 0.999007 Centerline is valid? [True, True] Translation: X:132.82, Y:1.38, Z:1.94 [[ 9.99025152e-01 -4.12306240e-02 -1.57727991e-02 1.32820535e+02] [ 4.12339762e-02 9.99149512e-01 -1.12758625e-04 1.37533558e+00] [ 1.57640336e-02 -5.37726519e-04 9.99875595e-01 1.94496022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.189254154 meters Centerline goodness : 0.998902 Centerline is valid? [True, True] Translation: X:132.84, Y:1.38, Z:1.95 [[ 9.98645588e-01 -4.95794512e-02 -1.57755499e-02 1.32842009e+02] [ 4.95902633e-02 9.98769603e-01 2.94686793e-04 1.38223956e+00] [ 1.57415293e-02 -1.07660134e-03 9.99875515e-01 1.95037937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.219254154 meters Centerline goodness : 0.999051 Centerline is valid? [True, True] Translation: X:132.87, Y:1.38, Z:1.95 [[ 9.98419977e-01 -5.39331191e-02 -1.57723867e-02 1.32874448e+02] [ 5.39379337e-02 9.98544283e-01 -1.20282311e-04 1.38113591e+00] [ 1.57559138e-02 -7.30637685e-04 9.99875601e-01 1.95064082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.249254154 meters Centerline goodness : 0.999178 Centerline is valid? [True, True] Translation: X:132.91, Y:1.38, Z:1.95 [[ 9.98307949e-01 -5.59684707e-02 -1.57723954e-02 1.32906973e+02] [ 5.59735569e-02 9.98432244e-01 -1.19127545e-04 1.38079790e+00] [ 1.57543355e-02 -7.63911097e-04 9.99875601e-01 1.95070039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.279254154 meters Centerline goodness : 0.999177 Centerline is valid? [True, True] Translation: X:132.94, Y:1.38, Z:1.95 [[ 9.98207611e-01 -5.77303844e-02 -1.57724040e-02 1.32938248e+02] [ 5.77357081e-02 9.98331896e-01 -1.17979328e-04 1.38062988e+00] [ 1.57529050e-02 -7.92863051e-04 9.99875601e-01 1.94974258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.309254154 meters Centerline goodness : 0.999536 Centerline is valid? [True, True] Translation: X:132.97, Y:1.38, Z:1.95 [[ 9.98116259e-01 -5.92888264e-02 -1.57724104e-02 1.32970052e+02] [ 5.92943576e-02 9.98240535e-01 -1.17122865e-04 1.38054135e+00] [ 1.57516034e-02 -8.18312705e-04 9.99875601e-01 1.95110931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.339254154 meters Centerline goodness : 0.999536 Centerline is valid? [True, True] Translation: X:133.00, Y:1.38, Z:1.95 [[ 9.98122765e-01 -5.91791992e-02 -1.57724188e-02 1.33003585e+02] [ 5.91847350e-02 9.98247040e-01 -1.15972429e-04 1.38069615e+00] [ 1.57516336e-02 -8.17731707e-04 9.99875601e-01 1.95163795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.36925415399998 meters Centerline goodness : 0.999284 Centerline is valid? [True, True] Translation: X:133.04, Y:1.38, Z:1.95 [[ 9.98051561e-01 -6.03681359e-02 -1.57724314e-02 1.33035389e+02] [ 6.03738470e-02 9.98175829e-01 -1.14240155e-04 1.38058437e+00] [ 1.57505562e-02 -8.38224793e-04 9.99875601e-01 1.95172303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.39925415399998 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:133.07, Y:1.38, Z:1.95 [[ 9.97953086e-01 -6.19747383e-02 -1.57724416e-02 1.33067229e+02] [ 6.19806720e-02 9.98077343e-01 -1.12806186e-04 1.38025306e+00] [ 1.57491078e-02 -8.65011250e-04 9.99875601e-01 1.95255112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.42925415399998 meters Centerline goodness : 0.999431 Centerline is valid? [True, True] Translation: X:133.10, Y:1.38, Z:1.95 [[ 9.97950380e-01 -6.20182895e-02 -1.57724517e-02 1.33099245e+02] [ 6.20242511e-02 9.98074636e-01 -1.11382874e-04 1.38053988e+00] [ 1.57489917e-02 -8.67119922e-04 9.99875601e-01 1.95294681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.45925415399998 meters Centerline goodness : 0.999515 Centerline is valid? [True, True] Translation: X:133.13, Y:1.38, Z:1.95 [[ 9.97962645e-01 -6.18206219e-02 -1.57724708e-02 1.33132496e+02] [ 6.18266027e-02 9.98086900e-01 -1.08599109e-04 1.38089536e+00] [ 1.57490102e-02 -8.66780435e-04 9.99875601e-01 1.95449688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.48925415399998 meters Centerline goodness : 0.999452 Centerline is valid? [True, True] Translation: X:133.17, Y:1.38, Z:1.96 [[ 9.98152781e-01 -5.86707235e-02 -1.57724826e-02 1.33168129e+02] [ 5.86763395e-02 9.98277054e-01 -1.06858581e-04 1.37858904e+00] [ 1.57515770e-02 -8.18810356e-04 9.99875601e-01 1.95524169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.51925415399998 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:133.20, Y:1.38, Z:1.96 [[ 9.98194131e-01 -5.79627000e-02 -1.57734725e-02 1.33195678e+02] [ 5.79706717e-02 9.98318285e-01 4.82432208e-05 1.38332017e+00] [ 1.57441497e-02 -9.62554896e-04 9.99875590e-01 1.95567442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.54925415399998 meters Centerline goodness : 0.998799 Centerline is valid? [True, True] Translation: X:133.23, Y:1.38, Z:1.96 [[ 9.98314586e-01 -5.58499520e-02 -1.57724533e-02 1.33227379e+02] [ 5.58552469e-02 9.98438872e-01 -1.04956285e-04 1.38495088e+00] [ 1.57536922e-02 -7.76194880e-04 9.99875602e-01 1.95661471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.57925415399998 meters Centerline goodness : 0.999346 Centerline is valid? [True, True] Translation: X:133.26, Y:1.39, Z:1.96 [[ 9.98457451e-01 -5.32348342e-02 -1.57724606e-02 1.33259944e+02] [ 5.32398211e-02 9.98581750e-01 -1.03840172e-04 1.38645798e+00] [ 1.57556192e-02 -7.36042987e-04 9.99875602e-01 1.95923793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.60925415399998 meters Centerline goodness : 0.999071 Centerline is valid? [True, True] Translation: X:133.29, Y:1.39, Z:1.96 [[ 9.98603274e-01 -5.04254866e-02 -1.57724683e-02 1.33291061e+02] [ 5.04301423e-02 9.98727586e-01 -1.02661829e-04 1.38780467e+00] [ 1.57575759e-02 -6.92889381e-04 9.99875602e-01 1.95952688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.63925415399999 meters Centerline goodness : 0.999282 Centerline is valid? [True, True] Translation: X:133.32, Y:1.39, Z:1.96 [[ 9.98911115e-01 -4.39068638e-02 -1.57724739e-02 1.33323536e+02] [ 4.39107219e-02 9.99035454e-01 -1.01784366e-04 1.39011247e+00] [ 1.57617297e-02 -5.90907181e-04 9.99875602e-01 1.96167056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.669254154 meters Centerline goodness : 0.999242 Centerline is valid? [True, True] Translation: X:133.36, Y:1.39, Z:1.96 [[ 9.99061076e-01 -4.03508907e-02 -1.57724813e-02 1.33355959e+02] [ 4.03543244e-02 9.99185427e-01 -1.00630217e-04 1.39153427e+00] [ 1.57636940e-02 -5.35952094e-04 9.99875602e-01 1.96254810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.699254154 meters Centerline goodness : 0.999175 Centerline is valid? [True, True] Translation: X:133.39, Y:1.39, Z:1.96 [[ 9.99197445e-01 -3.68197606e-02 -1.57724885e-02 1.33387019e+02] [ 3.68227729e-02 9.99321807e-01 -9.94815031e-05 1.39316683e+00] [ 1.57654546e-02 -4.81385100e-04 9.99875602e-01 1.96312759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.729254154 meters Centerline goodness : 0.999320 Centerline is valid? [True, True] Translation: X:133.42, Y:1.40, Z:1.96 [[ 9.99452688e-01 -2.90784028e-02 -1.57725000e-02 1.33418291e+02] [ 2.90804808e-02 9.99577069e-01 -9.76323789e-05 1.39618824e+00] [ 1.57686683e-02 -3.61092940e-04 9.99875602e-01 1.96394432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.759254154 meters Centerline goodness : 0.999065 Centerline is valid? [True, True] Translation: X:133.45, Y:1.40, Z:1.96 [[ 9.99553416e-01 -2.53810379e-02 -1.57725035e-02 1.33449409e+02] [ 2.53826649e-02 9.99677804e-01 -9.70604632e-05 1.39766138e+00] [ 1.57698852e-02 -3.03331053e-04 9.99875602e-01 1.96496669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.789254154 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:133.49, Y:1.39, Z:1.96 [[ 9.99741146e-01 -1.63972241e-02 -1.57725071e-02 1.33485852e+02] [ 1.63977423e-02 9.99865543e-01 -9.64750751e-05 1.39276517e+00] [ 1.57719683e-02 -1.62183405e-04 9.99875602e-01 1.96054349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.819254154 meters Centerline goodness : 0.999488 Centerline is valid? [True, True] Translation: X:133.51, Y:1.40, Z:1.97 [[ 9.99684051e-01 -1.95694149e-02 -1.57745127e-02 1.33509127e+02] [ 1.95758337e-02 9.99808343e-01 2.52588604e-04 1.40085663e+00] [ 1.57665464e-02 -5.61308036e-04 9.99875543e-01 1.96544664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.849254154 meters Centerline goodness : 0.999275 Centerline is valid? [True, True] Translation: X:133.54, Y:1.40, Z:1.97 [[ 9.99747889e-01 -1.59810700e-02 -1.57722410e-02 1.33537662e+02] [ 1.59814604e-02 9.99872283e-01 -1.01290515e-04 1.40293627e+00] [ 1.57718454e-02 -1.50798467e-04 9.99875605e-01 1.96510709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.879254154 meters Centerline goodness : 0.999168 Centerline is valid? [True, True] Translation: X:133.57, Y:1.40, Z:1.96 [[ 9.99758599e-01 -1.52964142e-02 -1.57722138e-02 1.33565354e+02] [ 1.52966552e-02 9.99882994e-01 -1.05365329e-04 1.40384929e+00] [ 1.57719801e-02 -1.35922223e-04 9.99875605e-01 1.96446661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.909254154 meters Centerline goodness : 0.999148 Centerline is valid? [True, True] Translation: X:133.59, Y:1.41, Z:1.96 [[ 9.99751107e-01 -1.57785396e-02 -1.57722041e-02 1.33592907e+02] [ 1.57788179e-02 9.99875501e-01 -1.06806382e-04 1.40503082e+00] [ 1.57719257e-02 -1.42086936e-04 9.99875605e-01 1.96449755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.939254154 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:133.62, Y:1.41, Z:1.96 [[ 9.99740139e-01 -1.64588406e-02 -1.57721716e-02 1.33620345e+02] [ 1.64591310e-02 9.99864533e-01 -1.11401331e-04 1.40576625e+00] [ 1.57718685e-02 -1.48223856e-04 9.99875605e-01 1.96379893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.969254154 meters Centerline goodness : 0.999296 Centerline is valid? [True, True] Translation: X:133.65, Y:1.41, Z:1.96 [[ 9.99711772e-01 -1.81000666e-02 -1.57721614e-02 1.33648530e+02] [ 1.81005388e-02 9.99836165e-01 -1.12823146e-04 1.40615140e+00] [ 1.57716195e-02 -1.72693993e-04 9.99875605e-01 1.96446279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.999254154 meters Centerline goodness : 0.999169 Centerline is valid? [True, True] Translation: X:133.68, Y:1.41, Z:1.96 [[ 9.99629229e-01 -2.21956091e-02 -1.57721272e-02 1.33676813e+02] [ 2.21965184e-02 9.99753620e-01 -1.17425658e-04 1.40610559e+00] [ 1.57708476e-02 -2.32704191e-04 9.99875605e-01 1.96475127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.029254154 meters Centerline goodness : 0.999189 Centerline is valid? [True, True] Translation: X:133.71, Y:1.41, Z:1.97 [[ 9.99577202e-01 -2.44265612e-02 -1.57721164e-02 1.33706648e+02] [ 2.44277256e-02 9.99701592e-01 -1.18850182e-04 1.40627251e+00] [ 1.57703130e-02 -2.66477001e-04 9.99875605e-01 1.96596777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.059254154 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:133.74, Y:1.41, Z:1.97 [[ 9.99517736e-01 -2.67495110e-02 -1.57721121e-02 1.33736765e+02] [ 2.67509556e-02 9.99642122e-01 -1.19415540e-04 1.40622055e+00] [ 1.57696620e-02 -3.02561121e-04 9.99875605e-01 1.96716876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.089254154 meters Centerline goodness : 0.998807 Centerline is valid? [True, True] Translation: X:133.77, Y:1.41, Z:1.97 [[ 9.99459588e-01 -2.88404559e-02 -1.57721121e-02 1.33766747e+02] [ 2.88421607e-02 9.99583971e-01 -1.19415540e-04 1.40570747e+00] [ 1.57689945e-02 -3.35550786e-04 9.99875605e-01 1.96621376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.11925415399998 meters Centerline goodness : 0.999062 Centerline is valid? [True, True] Translation: X:133.80, Y:1.41, Z:1.97 [[ 9.99385013e-01 -3.13182957e-02 -1.57721143e-02 1.33797745e+02] [ 3.13203133e-02 9.99509392e-01 -1.19130453e-04 1.40572164e+00] [ 1.57681073e-02 -3.74930372e-04 9.99875605e-01 1.96927399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.14925415399998 meters Centerline goodness : 0.999383 Centerline is valid? [True, True] Translation: X:133.83, Y:1.40, Z:1.97 [[ 9.99270366e-01 -3.47847180e-02 -1.57721187e-02 1.33829903e+02] [ 3.47871762e-02 9.99394736e-01 -1.18549138e-04 1.40496453e+00] [ 1.57666961e-02 -4.30204830e-04 9.99875605e-01 1.97061969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.17925415399998 meters Centerline goodness : 0.999126 Centerline is valid? [True, True] Translation: X:133.86, Y:1.40, Z:1.97 [[ 9.99218987e-01 -3.62305834e-02 -1.57721273e-02 1.33861230e+02] [ 3.62332398e-02 9.99343354e-01 -1.17389157e-04 1.40460738e+00] [ 1.57660237e-02 -4.54177797e-04 9.99875605e-01 1.97108122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.20925415399998 meters Centerline goodness : 0.998918 Centerline is valid? [True, True] Translation: X:133.89, Y:1.40, Z:1.97 [[ 9.99151283e-01 -3.80519815e-02 -1.57721337e-02 1.33892178e+02] [ 3.80548783e-02 9.99275644e-01 -1.16523871e-04 1.40383200e+00] [ 1.57651430e-02 -4.83781654e-04 9.99875605e-01 1.97151159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.23925415399998 meters Centerline goodness : 0.999148 Centerline is valid? [True, True] Translation: X:133.92, Y:1.40, Z:1.97 [[ 9.99146712e-01 -3.81718071e-02 -1.57721465e-02 1.33924802e+02] [ 3.81747465e-02 9.99271072e-01 -1.14764421e-04 1.40300818e+00] [ 1.57650305e-02 -4.87431201e-04 9.99875605e-01 1.97170641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.26925415399998 meters Centerline goodness : 0.999086 Centerline is valid? [True, True] Translation: X:133.96, Y:1.40, Z:1.97 [[ 9.99123572e-01 -3.87727565e-02 -1.57721549e-02 1.33956152e+02] [ 3.87757891e-02 9.99247930e-01 -1.13599529e-04 1.40305927e+00] [ 1.57646977e-02 -4.98077785e-04 9.99875605e-01 1.97329034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.29925415399998 meters Centerline goodness : 0.999236 Centerline is valid? [True, True] Translation: X:133.99, Y:1.40, Z:1.97 [[ 9.99131089e-01 -3.85785623e-02 -1.57721611e-02 1.33987187e+02] [ 3.85815845e-02 9.99255447e-01 -1.12731916e-04 1.40252677e+00] [ 1.57647669e-02 -4.95881003e-04 9.99875605e-01 1.97326701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.32925415399998 meters Centerline goodness : 0.999196 Centerline is valid? [True, True] Translation: X:134.02, Y:1.40, Z:1.97 [[ 9.99211324e-01 -3.64413138e-02 -1.57721672e-02 1.34018527e+02] [ 3.64440835e-02 9.99335687e-01 -1.11872630e-04 1.40145508e+00] [ 1.57657663e-02 -4.63017778e-04 9.99875605e-01 1.97314403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.35925415399998 meters Centerline goodness : 0.998898 Centerline is valid? [True, True] Translation: X:134.05, Y:1.40, Z:1.97 [[ 9.99294820e-01 -3.40749378e-02 -1.57721731e-02 1.34050276e+02] [ 3.40774262e-02 9.99419190e-01 -1.11030860e-04 1.40109185e+00] [ 1.57667958e-02 -4.26522503e-04 9.99875605e-01 1.97373161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.38925415399999 meters Centerline goodness : 0.999174 Centerline is valid? [True, True] Translation: X:134.08, Y:1.40, Z:1.97 [[ 9.99398916e-01 -3.08714311e-02 -1.57721811e-02 1.34081233e+02] [ 3.08735389e-02 9.99523293e-01 -1.09885355e-04 1.40100892e+00] [ 1.57680547e-02 -3.77123742e-04 9.99875605e-01 1.97451329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.419254154 meters Centerline goodness : 0.999046 Centerline is valid? [True, True] Translation: X:134.11, Y:1.40, Z:1.97 [[ 9.99554920e-01 -2.53219164e-02 -1.57721851e-02 1.34113404e+02] [ 2.53233428e-02 9.99679307e-01 -1.09305107e-04 1.39915646e+00] [ 1.57698949e-02 -2.90147992e-04 9.99875605e-01 1.97439084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.449254154 meters Centerline goodness : 0.999215 Centerline is valid? [True, True] Translation: X:134.14, Y:1.40, Z:1.98 [[ 9.99725455e-01 -1.73270928e-02 -1.57729356e-02 1.34141392e+02] [ 1.73292235e-02 9.99849838e-01 -1.59166497e-06 1.40111066e+00] [ 1.57705946e-02 -2.71741497e-04 9.99875600e-01 1.97502781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.479254154 meters Centerline goodness : 0.999003 Centerline is valid? [True, True] Translation: X:134.17, Y:1.40, Z:1.97 [[ 9.99804596e-01 -1.19167738e-02 -1.57721355e-02 1.34169422e+02] [ 1.19164717e-02 9.99928990e-01 -1.13137769e-04 1.40092403e+00] [ 1.57723638e-02 -7.48325447e-05 9.99875606e-01 1.97429042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.509254154 meters Centerline goodness : 0.999170 Centerline is valid? [True, True] Translation: X:134.20, Y:1.40, Z:1.98 [[ 9.99847187e-01 -7.53945884e-03 -1.57721250e-02 1.34197552e+02] [ 7.53858926e-03 9.99971578e-01 -1.14587534e-04 1.40141856e+00] [ 1.57725406e-02 -4.32954799e-06 9.99875606e-01 1.97646212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.539254154 meters Centerline goodness : 0.999383 Centerline is valid? [True, True] Translation: X:134.22, Y:1.40, Z:1.98 [[ 9.99875513e-01 4.46772862e-04 -1.57720897e-02 1.34224826e+02] [-4.48709621e-04 9.99999892e-01 -1.19258035e-04 1.40094566e+00] [ 1.57720347e-02 1.26320277e-04 9.99875606e-01 1.97691664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.569254154 meters Centerline goodness : 0.999127 Centerline is valid? [True, True] Translation: X:134.25, Y:1.40, Z:1.98 [[ 9.99870654e-01 3.14904836e-03 -1.57720741e-02 1.34252379e+02] [-3.15135314e-03 9.99995027e-01 -1.21279266e-04 1.40041624e+00] [ 1.57716138e-02 1.70966954e-04 9.99875606e-01 1.97761358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.599254154 meters Centerline goodness : 0.999383 Centerline is valid? [True, True] Translation: X:134.28, Y:1.40, Z:1.98 [[ 9.99864119e-01 4.79450199e-03 -1.57720374e-02 1.34280373e+02] [-4.79708396e-03 9.99988486e-01 -1.25877055e-04 1.39957311e+00] [ 1.57712523e-02 2.01519739e-04 9.99875606e-01 1.97818404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.629254154 meters Centerline goodness : 0.999298 Centerline is valid? [True, True] Translation: X:134.31, Y:1.40, Z:1.98 [[ 9.99859639e-01 5.65202636e-03 -1.57719996e-02 1.34307888e+02] [-5.65478710e-03 9.99984003e-01 -1.30449379e-04 1.39842543e+00] [ 1.57710100e-02 2.19618369e-04 9.99875606e-01 1.97843268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.659254154 meters Centerline goodness : 0.999002 Centerline is valid? [True, True] Translation: X:134.34, Y:1.40, Z:1.98 [[ 9.99866815e-01 4.19479715e-03 -1.57719852e-02 1.34335913e+02] [-4.19740381e-03 9.99991182e-01 -1.32172264e-04 1.39522066e+00] [ 1.57712917e-02 1.98356051e-04 9.99875606e-01 1.97850249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.689254154 meters Centerline goodness : 0.999044 Centerline is valid? [True, True] Translation: X:134.36, Y:1.39, Z:1.98 [[ 9.99873805e-01 1.90213559e-03 -1.57719706e-02 1.34362637e+02] [-1.90448415e-03 9.99998178e-01 -1.33888723e-04 1.39356623e+00] [ 1.57716872e-02 1.63909295e-04 9.99875606e-01 1.97891722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.719254154 meters Centerline goodness : 0.999045 Centerline is valid? [True, True] Translation: X:134.39, Y:1.39, Z:1.98 [[ 9.99875164e-01 -9.49567308e-04 -1.57719534e-02 1.34391043e+02] [ 9.47542078e-04 9.99999542e-01 -1.35879316e-04 1.39173769e+00] [ 1.57720752e-02 1.20917764e-04 9.99875606e-01 1.97962127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.749254154 meters Centerline goodness : 0.999131 Centerline is valid? [True, True] Translation: X:134.42, Y:1.39, Z:1.98 [[ 9.99864476e-01 -4.71979056e-03 -1.57719435e-02 1.34417661e+02] [ 4.71821629e-03 9.99988860e-01 -1.37023081e-04 1.38983643e+00] [ 1.57724145e-02 6.25890706e-05 9.99875606e-01 1.97974849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.779254154 meters Centerline goodness : 0.999197 Centerline is valid? [True, True] Translation: X:134.45, Y:1.39, Z:1.98 [[ 9.99783672e-01 -1.35593448e-02 -1.57719260e-02 1.34446952e+02] [ 1.35588389e-02 9.99908065e-01 -1.39009467e-04 1.38544169e+00] [ 1.57723609e-02 -7.48696084e-05 9.99875606e-01 1.98022049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.809254154 meters Centerline goodness : 0.998986 Centerline is valid? [True, True] Translation: X:134.48, Y:1.38, Z:1.98 [[ 9.99705219e-01 -1.84586426e-02 -1.57719158e-02 1.34475633e+02] [ 1.84587283e-02 9.99829613e-01 -1.40157392e-04 1.38310816e+00] [ 1.57718156e-02 -1.51013432e-04 9.99875606e-01 1.98025878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.839254154 meters Centerline goodness : 0.998776 Centerline is valid? [True, True] Translation: X:134.50, Y:1.38, Z:1.98 [[ 9.99596663e-01 -2.36169208e-02 -1.57719055e-02 1.34503764e+02] [ 2.36176302e-02 9.99721055e-01 -1.41304823e-04 1.38085589e+00] [ 1.57708432e-02 -2.31247203e-04 9.99875606e-01 1.98087624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.86925415399998 meters Centerline goodness : 0.998821 Centerline is valid? [True, True] Translation: X:134.53, Y:1.38, Z:1.98 [[ 9.99341511e-01 -3.26771106e-02 -1.57718629e-02 1.34532708e+02] [ 3.26788748e-02 9.99465892e-01 -1.45916575e-04 1.37721182e+00] [ 1.57682071e-02 -3.69586241e-04 9.99875606e-01 1.98128371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.89925415399998 meters Centerline goodness : 0.998656 Centerline is valid? [True, True] Translation: X:134.56, Y:1.38, Z:1.98 [[ 9.99205364e-01 -3.66044908e-02 -1.57718549e-02 1.34564188e+02] [ 3.66067303e-02 9.99329738e-01 -1.46773611e-04 1.37638625e+00] [ 1.57666562e-02 -4.30699058e-04 9.99875606e-01 1.98292073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.92925415399998 meters Centerline goodness : 0.998971 Centerline is valid? [True, True] Translation: X:134.60, Y:1.38, Z:1.98 [[ 9.99069446e-01 -4.01433857e-02 -1.57718602e-02 1.34596579e+02] [ 4.01460748e-02 9.99193811e-01 -1.46194501e-04 1.37564141e+00] [ 1.57650139e-02 -4.87119823e-04 9.99875606e-01 1.98412243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.95925415399998 meters Centerline goodness : 0.998993 Centerline is valid? [True, True] Translation: X:134.63, Y:1.37, Z:1.98 [[ 9.98947459e-01 -4.30722963e-02 -1.57718711e-02 1.34627421e+02] [ 4.30753687e-02 9.99071815e-01 -1.45012965e-04 1.37456754e+00] [ 1.57634779e-02 -5.34518831e-04 9.99875606e-01 1.98326992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.98925415399998 meters Centerline goodness : 0.998913 Centerline is valid? [True, True] Translation: X:134.66, Y:1.37, Z:1.98 [[ 9.98672352e-01 -4.90385693e-02 -1.57718792e-02 1.34659937e+02] [ 4.90423984e-02 9.98796687e-01 -1.44133042e-04 1.37277022e+00] [ 1.57599687e-02 -6.29549096e-04 9.99875606e-01 1.98495722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.01925415399998 meters Centerline goodness : 0.998996 Centerline is valid? [True, True] Translation: X:134.69, Y:1.37, Z:1.99 [[ 9.98540301e-01 -5.16576766e-02 -1.57718894e-02 1.34691007e+02] [ 5.16618495e-02 9.98664625e-01 -1.43005123e-04 1.37175995e+00] [ 1.57582153e-02 -6.72008597e-04 9.99875606e-01 1.98507234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.04925415399998 meters Centerline goodness : 0.998953 Centerline is valid? [True, True] Translation: X:134.72, Y:1.37, Z:1.99 [[ 9.98420109e-01 -5.39308100e-02 -1.57718970e-02 1.34723197e+02] [ 5.39352792e-02 9.98544423e-01 -1.42164510e-04 1.37097522e+00] [ 1.57566068e-02 -7.08721761e-04 9.99875606e-01 1.98612068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.07925415399998 meters Centerline goodness : 0.998848 Centerline is valid? [True, True] Translation: X:134.75, Y:1.37, Z:1.99 [[ 9.98140231e-01 -5.88840000e-02 -1.57719072e-02 1.34754435e+02] [ 5.88891041e-02 9.98264521e-01 -1.41015221e-04 1.37052965e+00] [ 1.57528390e-02 -7.88040522e-04 9.99875606e-01 1.98832452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.10925415399998 meters Centerline goodness : 0.998997 Centerline is valid? [True, True] Translation: X:134.79, Y:1.37, Z:1.99 [[ 9.98012512e-01 -6.10104325e-02 -1.57719148e-02 1.34786947e+02] [ 6.10158148e-02 9.98136790e-01 -1.40158785e-04 1.37056536e+00] [ 1.57510796e-02 -8.22456015e-04 9.99875606e-01 1.98899265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.13925415399999 meters Centerline goodness : 0.998913 Centerline is valid? [True, True] Translation: X:134.82, Y:1.37, Z:1.99 [[ 9.97872781e-01 -6.32547200e-02 -1.57719248e-02 1.34818804e+02] [ 6.32603996e-02 9.97997045e-01 -1.39030512e-04 1.37059115e+00] [ 1.57491287e-02 -8.59003501e-04 9.99875606e-01 1.99005183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.169254154 meters Centerline goodness : 0.998937 Centerline is valid? [True, True] Translation: X:134.85, Y:1.37, Z:1.99 [[ 9.97751233e-01 -6.51438572e-02 -1.57719350e-02 1.34850722e+02] [ 6.51497904e-02 9.97875486e-01 -1.37867780e-04 1.37061193e+00] [ 1.57474085e-02 -8.89980508e-04 9.99875606e-01 1.98994860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.199254154 meters Centerline goodness : 0.998934 Centerline is valid? [True, True] Translation: X:134.88, Y:1.37, Z:1.99 [[ 9.97629367e-01 -6.69842563e-02 -1.57719586e-02 1.34882761e+02] [ 6.69904622e-02 9.97753607e-01 -1.35106818e-04 1.37068038e+00] [ 1.57455786e-02 -9.21784267e-04 9.99875606e-01 1.99054008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.229254154 meters Centerline goodness : 0.998934 Centerline is valid? [True, True] Translation: X:134.92, Y:1.37, Z:1.99 [[ 9.97636621e-01 -6.68761354e-02 -1.57719683e-02 1.34916291e+02] [ 6.68823458e-02 9.97760860e-01 -1.33969698e-04 1.37087154e+00] [ 1.57456120e-02 -9.21213158e-04 9.99875606e-01 1.99106869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.259254154 meters Centerline goodness : 0.998807 Centerline is valid? [True, True] Translation: X:134.95, Y:1.37, Z:1.99 [[ 9.97463569e-01 -6.94094533e-02 -1.57719826e-02 1.34949719e+02] [ 6.94160060e-02 9.97587791e-01 -1.32260443e-04 1.37101263e+00] [ 1.57431174e-02 -9.62903065e-04 9.99875606e-01 1.99217906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.289254154 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:134.98, Y:1.37, Z:1.99 [[ 9.97391802e-01 -7.04332126e-02 -1.57719974e-02 1.34981353e+02] [ 7.04399210e-02 9.97516015e-01 -1.30474246e-04 1.37207506e+00] [ 1.57420097e-02 -9.80844305e-04 9.99875606e-01 1.99285776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.319254154 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:135.01, Y:1.37, Z:1.99 [[ 9.97438686e-01 -6.97660698e-02 -1.57722105e-02 1.35012686e+02] [ 6.97731079e-02 9.97562882e-01 -1.04270443e-04 1.37189695e+00] [ 1.57410463e-02 -9.96472769e-04 9.99875606e-01 1.99142066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.349254154 meters Centerline goodness : 0.999037 Centerline is valid? [True, True] Translation: X:135.04, Y:1.37, Z:1.99 [[ 9.97475141e-01 -6.92429519e-02 -1.57720167e-02 1.35043920e+02] [ 6.92495491e-02 9.97599360e-01 -1.28121437e-04 1.37260985e+00] [ 1.57430253e-02 -9.64407098e-04 9.99875606e-01 1.99029039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.379254154 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:135.08, Y:1.38, Z:1.99 [[ 9.97581373e-01 -6.76952596e-02 -1.57720236e-02 1.35075688e+02] [ 6.77016776e-02 9.97705601e-01 -1.27264172e-04 1.37517899e+00] [ 1.57444515e-02 -9.40836091e-04 9.99875606e-01 1.99076486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.409254154 meters Centerline goodness : 0.999077 Centerline is valid? [True, True] Translation: X:135.11, Y:1.38, Z:1.99 [[ 9.97557382e-01 -6.80478750e-02 -1.57720327e-02 1.35107724e+02] [ 6.80543548e-02 9.97681607e-01 -1.26130171e-04 1.37812701e+00] [ 1.57440498e-02 -9.47533427e-04 9.99875606e-01 1.99216382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.439254154 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:135.14, Y:1.38, Z:1.99 [[ 9.97749024e-01 -6.51777021e-02 -1.57718923e-02 1.35140102e+02] [ 6.51835479e-02 9.97873281e-01 -1.43683518e-04 1.37802394e+00] [ 1.57477149e-02 -8.84707806e-04 9.99875606e-01 1.99106329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.469254154 meters Centerline goodness : 0.998993 Centerline is valid? [True, True] Translation: X:135.17, Y:1.38, Z:1.99 [[ 9.97883875e-01 -6.30794240e-02 -1.57720514e-02 1.35172629e+02] [ 6.30853290e-02 9.98008129e-01 -1.23342784e-04 1.37973961e+00] [ 1.57484159e-02 -8.71903274e-04 9.99875606e-01 1.99152428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.499254154 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:135.20, Y:1.38, Z:1.99 [[ 9.98210093e-01 -5.76875455e-02 -1.57720601e-02 1.35204061e+02] [ 5.76927970e-02 9.98334376e-01 -1.22209258e-04 1.38294762e+00] [ 1.57528398e-02 -7.87943750e-04 9.99875606e-01 1.99228729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.529254154 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:135.24, Y:1.38, Z:1.99 [[ 9.98418298e-01 -5.39642792e-02 -1.57720666e-02 1.35235944e+02] [ 5.39690804e-02 9.98542600e-01 -1.21366791e-04 1.38486889e+00] [ 1.57556299e-02 -7.30029107e-04 9.99875606e-01 1.99335832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.559254154 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:135.26, Y:1.39, Z:1.99 [[ 9.98566099e-01 -5.11565015e-02 -1.57720751e-02 1.35264879e+02] [ 5.11609707e-02 9.98690413e-01 -1.20258653e-04 1.39000479e+00] [ 1.57575722e-02 -6.86828456e-04 9.99875606e-01 1.99382451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.589254154 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:135.30, Y:1.39, Z:2.00 [[ 9.99056464e-01 -4.04655335e-02 -1.57709384e-02 1.35297769e+02] [ 4.04663861e-02 9.99180865e-01 -2.65179853e-04 1.39171523e+00] [ 1.57687505e-02 -3.73263237e-04 9.99875596e-01 1.99648729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.61925415399998 meters Centerline goodness : 0.998861 Centerline is valid? [True, True] Translation: X:135.33, Y:1.39, Z:2.00 [[ 9.99247938e-01 -3.54231780e-02 -1.57720408e-02 1.35330025e+02] [ 3.54257150e-02 9.99372305e-01 -1.18588840e-04 1.39399728e+00] [ 1.57663415e-02 -4.40236169e-04 9.99875607e-01 1.99746445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.64925415399998 meters Centerline goodness : 0.999031 Centerline is valid? [True, True] Translation: X:135.36, Y:1.40, Z:2.00 [[ 9.99406371e-01 -3.06292041e-02 -1.57720489e-02 1.35361119e+02] [ 3.06311615e-02 9.99530749e-01 -1.17504867e-04 1.39619248e+00] [ 1.57682469e-02 -3.65681063e-04 9.99875607e-01 1.99818072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.67925415399998 meters Centerline goodness : 0.999009 Centerline is valid? [True, True] Translation: X:135.39, Y:1.40, Z:2.00 [[ 9.99533232e-01 -2.61640906e-02 -1.57720528e-02 1.35391193e+02] [ 2.61655009e-02 9.99657618e-01 -1.16968402e-04 1.39810801e+00] [ 1.57697131e-02 -2.95769857e-04 9.99875607e-01 1.99907240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.70925415399998 meters Centerline goodness : 0.999134 Centerline is valid? [True, True] Translation: X:135.42, Y:1.40, Z:2.00 [[ 9.99696575e-01 -1.89208705e-02 -1.57720528e-02 1.35420327e+02] [ 1.89213794e-02 9.99820968e-01 -1.16968402e-04 1.40096645e+00] [ 1.57714423e-02 -1.81496084e-04 9.99875607e-01 2.00003605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.73925415399998 meters Centerline goodness : 0.999240 Centerline is valid? [True, True] Translation: X:135.45, Y:1.40, Z:2.00 [[ 9.99735009e-01 -1.67676577e-02 -1.57720509e-02 1.35448781e+02] [ 1.67678946e-02 9.99859402e-01 -1.17232862e-04 1.40241476e+00] [ 1.57717991e-02 -1.47262290e-04 9.99875607e-01 2.00283623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.76925415399998 meters Centerline goodness : 0.998838 Centerline is valid? [True, True] Translation: X:135.48, Y:1.40, Z:2.00 [[ 9.99758591e-01 -1.52971523e-02 -1.57720207e-02 1.35477100e+02] [ 1.52971441e-02 9.99882985e-01 -1.21163557e-04 1.40370015e+00] [ 1.57720286e-02 -1.20132566e-04 9.99875607e-01 2.00315133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.79925415399998 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:135.50, Y:1.41, Z:2.00 [[ 9.99778498e-01 -1.39355250e-02 -1.57719847e-02 1.35504092e+02] [ 1.39352763e-02 9.99902891e-01 -1.25673455e-04 1.40517530e+00] [ 1.57722045e-02 -9.41413468e-05 9.99875607e-01 2.00288039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.82925415399998 meters Centerline goodness : 0.998962 Centerline is valid? [True, True] Translation: X:135.53, Y:1.41, Z:2.00 [[ 9.99773483e-01 -1.42908703e-02 -1.57719584e-02 1.35532423e+02] [ 1.42906150e-02 9.99897876e-01 -1.28892521e-04 1.40565266e+00] [ 1.57721897e-02 -9.65276615e-05 9.99875607e-01 2.00247439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.85925415399998 meters Centerline goodness : 0.998965 Centerline is valid? [True, True] Translation: X:135.56, Y:1.41, Z:2.00 [[ 9.99759249e-01 -1.52541987e-02 -1.57719211e-02 1.35559840e+02] [ 1.52539935e-02 9.99883642e-01 -1.33312985e-04 1.40650031e+00] [ 1.57721195e-02 -1.07303893e-04 9.99875607e-01 2.00257472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.88925415399999 meters Centerline goodness : 0.998856 Centerline is valid? [True, True] Translation: X:135.59, Y:1.41, Z:2.00 [[ 9.99739762e-01 -1.64819809e-02 -1.57718827e-02 1.35587953e+02] [ 1.64818591e-02 9.99864155e-01 -1.37712049e-04 1.40682622e+00] [ 1.57720099e-02 -1.22273737e-04 9.99875607e-01 2.00405898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.919254154 meters Centerline goodness : 0.998943 Centerline is valid? [True, True] Translation: X:135.62, Y:1.41, Z:2.00 [[ 9.99697439e-01 -1.88753487e-02 -1.57718409e-02 1.35616095e+02] [ 1.88754517e-02 9.99821833e-01 -1.42343191e-04 1.40687140e+00] [ 1.57717176e-02 -1.55400497e-04 9.99875607e-01 2.00320235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.949254154 meters Centerline goodness : 0.998668 Centerline is valid? [True, True] Translation: X:135.64, Y:1.41, Z:2.00 [[ 9.99671088e-01 -2.02228988e-02 -1.57718278e-02 1.35644286e+02] [ 2.02231468e-02 9.99795481e-01 -1.43775595e-04 1.40688224e+00] [ 1.57715097e-02 -1.75227684e-04 9.99875607e-01 2.00236716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.979254154 meters Centerline goodness : 0.999111 Centerline is valid? [True, True] Translation: X:135.67, Y:1.41, Z:2.00 [[ 9.99637667e-01 -2.18125105e-02 -1.57718088e-02 1.35673336e+02] [ 2.18129239e-02 9.99762059e-01 -1.45829218e-04 1.40680621e+00] [ 1.57712370e-02 -1.98252887e-04 9.99875607e-01 2.00289210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.009254154 meters Centerline goodness : 0.998944 Centerline is valid? [True, True] Translation: X:135.70, Y:1.41, Z:2.01 [[ 9.99603580e-01 -2.33224025e-02 -1.57717737e-02 1.35702518e+02] [ 2.33229453e-02 9.99727972e-01 -1.49537946e-04 1.40652905e+00] [ 1.57709709e-02 -2.18365548e-04 9.99875607e-01 2.00548461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.039254154 meters Centerline goodness : 0.998821 Centerline is valid? [True, True] Translation: X:135.73, Y:1.40, Z:2.00 [[ 9.99524824e-01 -2.64835451e-02 -1.57717683e-02 1.35731845e+02] [ 2.64844724e-02 9.99649214e-01 -1.50101749e-04 1.40488972e+00] [ 1.57702110e-02 -2.67676538e-04 9.99875607e-01 2.00443765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.069254154 meters Centerline goodness : 0.999009 Centerline is valid? [True, True] Translation: X:135.76, Y:1.40, Z:2.01 [[ 9.99482886e-01 -2.80216188e-02 -1.57717656e-02 1.35762163e+02] [ 2.80227332e-02 9.99607275e-01 -1.50381123e-04 1.40415340e+00] [ 1.57697856e-02 -2.91664621e-04 9.99875607e-01 2.00650181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.099254154 meters Centerline goodness : 0.998820 Centerline is valid? [True, True] Translation: X:135.79, Y:1.40, Z:2.01 [[ 9.99433344e-01 -2.97362284e-02 -1.57717656e-02 1.35792751e+02] [ 2.97375561e-02 9.99557730e-01 -1.50381123e-04 1.40347853e+00] [ 1.57692620e-02 -3.18717857e-04 9.99875607e-01 2.00732198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.129254154 meters Centerline goodness : 0.999010 Centerline is valid? [True, True] Translation: X:135.82, Y:1.40, Z:2.01 [[ 9.99331467e-01 -3.29828716e-02 -1.57717656e-02 1.35823961e+02] [ 3.29846034e-02 9.99455849e-01 -1.50381123e-04 1.40154703e+00] [ 1.57681434e-02 -3.69944846e-04 9.99875607e-01 2.00788680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.159254154 meters Centerline goodness : 0.998967 Centerline is valid? [True, True] Translation: X:135.86, Y:1.40, Z:2.01 [[ 9.99269580e-01 -3.48074259e-02 -1.57717708e-02 1.35855512e+02] [ 3.48093934e-02 9.99393958e-01 -1.49834452e-04 1.40036772e+00] [ 1.57674278e-02 -3.99280765e-04 9.99875607e-01 2.00818349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.189254154 meters Centerline goodness : 0.999012 Centerline is valid? [True, True] Translation: X:135.89, Y:1.40, Z:2.01 [[ 9.99199870e-01 -3.67541894e-02 -1.57717760e-02 1.35886153e+02] [ 3.67564079e-02 9.99324244e-01 -1.49287782e-04 1.39890273e+00] [ 1.57666051e-02 -4.30545500e-04 9.99875607e-01 2.00814256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.219254154 meters Centerline goodness : 0.998989 Centerline is valid? [True, True] Translation: X:135.92, Y:1.40, Z:2.01 [[ 9.99126904e-01 -3.86869691e-02 -1.57717786e-02 1.35917252e+02] [ 3.86894324e-02 9.99251273e-01 -1.49016421e-04 1.39765667e+00] [ 1.57657348e-02 -4.61314846e-04 9.99875607e-01 2.00876929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.249254154 meters Centerline goodness : 0.998925 Centerline is valid? [True, True] Translation: X:135.95, Y:1.40, Z:2.01 [[ 9.98995255e-01 -4.19491518e-02 -1.57717837e-02 1.35948796e+02] [ 4.19520298e-02 9.99119615e-01 -1.48469973e-04 1.39501097e+00] [ 1.57641266e-02 -5.13337541e-04 9.99875607e-01 2.00783469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.279254154 meters Centerline goodness : 0.998905 Centerline is valid? [True, True] Translation: X:135.98, Y:1.39, Z:2.01 [[ 9.98925693e-01 -4.35741928e-02 -1.57717914e-02 1.35981458e+02] [ 4.35772861e-02 9.99050048e-01 -1.47651666e-04 1.39426167e+00] [ 1.57632427e-02 -5.39798821e-04 9.99875607e-01 2.00835007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.309254154 meters Centerline goodness : 0.998800 Centerline is valid? [True, True] Translation: X:136.01, Y:1.39, Z:2.01 [[ 9.98865745e-01 -4.49274321e-02 -1.57718013e-02 1.36013224e+02] [ 4.49307108e-02 9.98990095e-01 -1.46579402e-04 1.39354924e+00] [ 1.57624587e-02 -5.62225100e-04 9.99875607e-01 2.00782421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.339254154 meters Centerline goodness : 0.998820 Centerline is valid? [True, True] Translation: X:136.04, Y:1.39, Z:2.01 [[ 9.98754701e-01 -4.73317853e-02 -1.57718112e-02 1.36044173e+02] [ 4.73353801e-02 9.98879042e-01 -1.45511406e-04 1.39191216e+00] [ 1.57610190e-02 -6.01234476e-04 9.99875607e-01 2.00619262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.36925415399998 meters Centerline goodness : 0.998798 Centerline is valid? [True, True] Translation: X:136.08, Y:1.39, Z:2.01 [[ 9.98722641e-01 -4.80035082e-02 -1.57718185e-02 1.36076376e+02] [ 4.80071992e-02 9.98846979e-01 -1.44714791e-04 1.39142572e+00] [ 1.57605801e-02 -6.12630894e-04 9.99875607e-01 2.00767660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.39925415399998 meters Centerline goodness : 0.999009 Centerline is valid? [True, True] Translation: X:136.11, Y:1.39, Z:2.01 [[ 9.98697585e-01 -4.85219770e-02 -1.57718288e-02 1.36108390e+02] [ 4.85257505e-02 9.98821922e-01 -1.43577557e-04 1.39109286e+00] [ 1.57602151e-02 -6.21949271e-04 9.99875607e-01 2.00736007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.42925415399998 meters Centerline goodness : 0.998966 Centerline is valid? [True, True] Translation: X:136.14, Y:1.39, Z:2.01 [[ 9.98682205e-01 -4.88375123e-02 -1.57718390e-02 1.36139952e+02] [ 4.88413429e-02 9.98806539e-01 -1.42448099e-04 1.39112690e+00] [ 1.57599728e-02 -6.28057416e-04 9.99875607e-01 2.00716931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.45925415399998 meters Centerline goodness : 0.998927 Centerline is valid? [True, True] Translation: X:136.17, Y:1.39, Z:2.01 [[ 9.98701829e-01 -4.84345576e-02 -1.57718466e-02 1.36170676e+02] [ 4.84383513e-02 9.98826164e-01 -1.41605201e-04 1.39149019e+00] [ 1.57601916e-02 -6.22540874e-04 9.99875607e-01 2.00754034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.48925415399998 meters Centerline goodness : 0.998989 Centerline is valid? [True, True] Translation: X:136.20, Y:1.39, Z:2.01 [[ 9.98723675e-01 -4.79819779e-02 -1.57718628e-02 1.36202380e+02] [ 4.79857441e-02 9.98848011e-01 -1.39774266e-04 1.39202237e+00] [ 1.57604005e-02 -6.17228705e-04 9.99875607e-01 2.00822652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.51925415399998 meters Centerline goodness : 0.999010 Centerline is valid? [True, True] Translation: X:136.23, Y:1.39, Z:2.01 [[ 9.98740295e-01 -4.76347734e-02 -1.57718726e-02 1.36234679e+02] [ 4.76385138e-02 9.98864632e-01 -1.38668991e-04 1.39249848e+00] [ 1.57605711e-02 -6.12854259e-04 9.99875607e-01 2.00867880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.54925415399998 meters Centerline goodness : 0.998966 Centerline is valid? [True, True] Translation: X:136.27, Y:1.39, Z:2.01 [[ 9.98748294e-01 -4.74667587e-02 -1.57718822e-02 1.36266184e+02] [ 4.74704956e-02 9.98872631e-01 -1.37567234e-04 1.39320336e+00] [ 1.57606313e-02 -6.11304023e-04 9.99875607e-01 2.00902461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.57925415399998 meters Centerline goodness : 0.998948 Centerline is valid? [True, True] Translation: X:136.30, Y:1.39, Z:2.01 [[ 9.98743886e-01 -4.75594136e-02 -1.57718970e-02 1.36298415e+02] [ 4.75631891e-02 9.98868222e-01 -1.35847292e-04 1.39368897e+00] [ 1.57605075e-02 -6.14485066e-04 9.99875607e-01 2.00949262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.60925415399998 meters Centerline goodness : 0.999072 Centerline is valid? [True, True] Translation: X:136.33, Y:1.39, Z:2.01 [[ 9.98727236e-01 -4.79077751e-02 -1.57719062e-02 1.36330983e+02] [ 4.79116111e-02 9.98851570e-01 -1.34765733e-04 1.39410083e+00] [ 1.57602496e-02 -6.21063229e-04 9.99875607e-01 2.01166469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.63925415399999 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:136.36, Y:1.39, Z:2.01 [[ 9.98703183e-01 -4.84066068e-02 -1.57719162e-02 1.36362393e+02] [ 4.84105234e-02 9.98827514e-01 -1.33590916e-04 1.39460512e+00] [ 1.57598905e-02 -6.30109044e-04 9.99875607e-01 2.01050074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.669254154 meters Centerline goodness : 0.998989 Centerline is valid? [True, True] Translation: X:136.39, Y:1.40, Z:2.01 [[ 9.98649034e-01 -4.95111480e-02 -1.57719236e-02 1.36393789e+02] [ 4.95152160e-02 9.98773361e-01 -1.32713484e-04 1.39507102e+00] [ 1.57591479e-02 -6.48416008e-04 9.99875607e-01 2.01114756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.699254154 meters Centerline goodness : 0.998841 Centerline is valid? [True, True] Translation: X:136.43, Y:1.40, Z:2.01 [[ 9.98613563e-01 -5.02214847e-02 -1.57719303e-02 1.36425774e+02] [ 5.02256538e-02 9.98737887e-01 -1.31909627e-04 1.39549467e+00] [ 1.57586490e-02 -6.60428767e-04 9.99875607e-01 2.01290653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.729254154 meters Centerline goodness : 0.998905 Centerline is valid? [True, True] Translation: X:136.46, Y:1.40, Z:2.01 [[ 9.98586177e-01 -5.07631073e-02 -1.57719398e-02 1.36457307e+02] [ 5.07673618e-02 9.98710498e-01 -1.30762548e-04 1.39581138e+00] [ 1.57582397e-02 -6.70122101e-04 9.99875607e-01 2.01256729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.759254154 meters Centerline goodness : 0.998986 Centerline is valid? [True, True] Translation: X:136.49, Y:1.40, Z:2.01 [[ 9.98535416e-01 -5.17519967e-02 -1.57719468e-02 1.36488250e+02] [ 5.17563879e-02 9.98659732e-01 -1.29908016e-04 1.39642882e+00] [ 1.57575312e-02 -6.86581243e-04 9.99875607e-01 2.01223906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.789254154 meters Centerline goodness : 0.999009 Centerline is valid? [True, True] Translation: X:136.52, Y:1.40, Z:2.01 [[ 9.98549834e-01 -5.14730460e-02 -1.57719536e-02 1.36520428e+02] [ 5.14774155e-02 9.98674151e-01 -1.29074280e-04 1.39704670e+00] [ 1.57576863e-02 -6.83012311e-04 9.99875607e-01 2.01255223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.819254154 meters Centerline goodness : 0.998923 Centerline is valid? [True, True] Translation: X:136.55, Y:1.40, Z:2.01 [[ 9.98571552e-01 -5.10499757e-02 -1.57719626e-02 1.36552507e+02] [ 5.10543098e-02 9.98695870e-01 -1.27976461e-04 1.39814232e+00] [ 1.57579271e-02 -6.77433010e-04 9.99875607e-01 2.01311588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.849254154 meters Centerline goodness : 0.999070 Centerline is valid? [True, True] Translation: X:136.59, Y:1.40, Z:2.01 [[ 9.98619750e-01 -5.00983099e-02 -1.57719714e-02 1.36585071e+02] [ 5.01025428e-02 9.98744071e-01 -1.26881106e-04 1.39931043e+00] [ 1.57585194e-02 -6.63509892e-04 9.99875607e-01 2.01448059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.879254154 meters Centerline goodness : 0.998986 Centerline is valid? [True, True] Translation: X:136.62, Y:1.40, Z:2.02 [[ 9.98772765e-01 -4.69490064e-02 -1.57719803e-02 1.36617052e+02] [ 4.69528649e-02 9.98897098e-01 -1.25762468e-04 1.40156464e+00] [ 1.57604898e-02 -6.14931533e-04 9.99875607e-01 2.01649011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.909254154 meters Centerline goodness : 0.999198 Centerline is valid? [True, True] Translation: X:136.65, Y:1.40, Z:2.02 [[ 9.98883648e-01 -4.45275529e-02 -1.57719894e-02 1.36649110e+02] [ 4.45311282e-02 9.99007990e-01 -1.24606115e-04 1.40286953e+00] [ 1.57618918e-02 -5.77877473e-04 9.99875607e-01 2.01750325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.939254154 meters Centerline goodness : 0.998900 Centerline is valid? [True, True] Translation: X:136.68, Y:1.40, Z:2.02 [[ 9.98997147e-01 -4.19039797e-02 -1.57719986e-02 1.36681542e+02] [ 4.19072469e-02 9.99121498e-01 -1.23439458e-04 1.40446135e+00] [ 1.57633154e-02 -5.37645371e-04 9.99875607e-01 2.01859546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.969254154 meters Centerline goodness : 0.998944 Centerline is valid? [True, True] Translation: X:136.71, Y:1.41, Z:2.02 [[ 9.99231510e-01 -3.58836180e-02 -1.57720075e-02 1.36713380e+02] [ 3.58861541e-02 9.99355877e-01 -1.22279486e-04 1.40754852e+00] [ 1.57662363e-02 -4.43811178e-04 9.99875607e-01 2.01947473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.999254154 meters Centerline goodness : 0.999027 Centerline is valid? [True, True] Translation: X:136.75, Y:1.41, Z:2.02 [[ 9.99332159e-01 -3.29617774e-02 -1.57720164e-02 1.36745585e+02] [ 3.29639680e-02 9.99456533e-01 -1.21125865e-04 1.40904907e+00] [ 1.57674374e-02 -3.98863272e-04 9.99875607e-01 2.01989046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.029254154 meters Centerline goodness : 0.999092 Centerline is valid? [True, True] Translation: X:136.78, Y:1.41, Z:2.02 [[ 9.99417182e-01 -3.02743881e-02 -1.57720252e-02 1.36777239e+02] [ 3.02762627e-02 9.99541562e-01 -1.19964632e-04 1.41058997e+00] [ 1.57684266e-02 -3.57623264e-04 9.99875607e-01 2.02048092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.059254154 meters Centerline goodness : 0.998921 Centerline is valid? [True, True] Translation: X:136.81, Y:1.41, Z:2.02 [[ 9.99483452e-01 -2.80013053e-02 -1.57720296e-02 1.36808927e+02] [ 2.80029061e-02 9.99607835e-01 -1.19385765e-04 1.41213101e+00] [ 1.57691873e-02 -3.22338567e-04 9.99875607e-01 2.02078494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.089254154 meters Centerline goodness : 0.999089 Centerline is valid? [True, True] Translation: X:136.84, Y:1.41, Z:2.02 [[ 9.99554047e-01 -2.53564457e-02 -1.57720340e-02 1.36839537e+02] [ 2.53577265e-02 9.99678434e-01 -1.18807149e-04 1.41468037e+00] [ 1.57699748e-02 -2.81188757e-04 9.99875607e-01 2.02089776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.11925415399998 meters Centerline goodness : 0.998984 Centerline is valid? [True, True] Translation: X:136.87, Y:1.42, Z:2.02 [[ 9.99565105e-01 -2.49167530e-02 -1.57720340e-02 1.36869957e+02] [ 2.49179790e-02 9.99689492e-01 -1.18807149e-04 1.41544924e+00] [ 1.57700969e-02 -2.74251731e-04 9.99875607e-01 2.02079768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.14925415399998 meters Centerline goodness : 0.998984 Centerline is valid? [True, True] Translation: X:136.90, Y:1.42, Z:2.02 [[ 9.99565105e-01 -2.49167530e-02 -1.57720340e-02 1.36900951e+02] [ 2.49179790e-02 9.99689492e-01 -1.18807149e-04 1.41568272e+00] [ 1.57700969e-02 -2.74251731e-04 9.99875607e-01 2.02128662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.17925415399998 meters Centerline goodness : 0.999004 Centerline is valid? [True, True] Translation: X:136.93, Y:1.42, Z:2.02 [[ 9.99552922e-01 -2.54007538e-02 -1.57720340e-02 1.36931207e+02] [ 2.54020401e-02 9.99677309e-01 -1.18807149e-04 1.41632409e+00] [ 1.57699623e-02 -2.81887806e-04 9.99875607e-01 2.02157232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.20925415399998 meters Centerline goodness : 0.999025 Centerline is valid? [True, True] Translation: X:136.96, Y:1.42, Z:2.02 [[ 9.99517692e-01 -2.67511886e-02 -1.57720340e-02 1.36961448e+02] [ 2.67526429e-02 9.99642077e-01 -1.18807149e-04 1.41659576e+00] [ 1.57695670e-02 -3.03193746e-04 9.99875607e-01 2.02170538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.23925415399998 meters Centerline goodness : 0.998856 Centerline is valid? [True, True] Translation: X:136.99, Y:1.42, Z:2.02 [[ 9.99404972e-01 -3.06748188e-02 -1.57720340e-02 1.36991585e+02] [ 3.06767614e-02 9.99529350e-01 -1.18807149e-04 1.41620122e+00] [ 1.57682553e-02 -3.65098468e-04 9.99875607e-01 2.02151139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.26925415399998 meters Centerline goodness : 0.998983 Centerline is valid? [True, True] Translation: X:137.02, Y:1.42, Z:2.02 [[ 9.99324667e-01 -3.31881490e-02 -1.57720340e-02 1.37022550e+02] [ 3.31904044e-02 9.99449040e-01 -1.18807149e-04 1.41593399e+00] [ 1.57672872e-02 -4.04753271e-04 9.99875607e-01 2.02159697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.29925415399998 meters Centerline goodness : 0.998879 Centerline is valid? [True, True] Translation: X:137.05, Y:1.42, Z:2.02 [[ 9.99227957e-01 -3.59824054e-02 -1.57720383e-02 1.37053076e+02] [ 3.59850175e-02 9.99352323e-01 -1.18236344e-04 1.41563885e+00] [ 1.57660775e-02 -4.49412013e-04 9.99875607e-01 2.02170961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.32925415399998 meters Centerline goodness : 0.999026 Centerline is valid? [True, True] Translation: X:137.08, Y:1.42, Z:2.02 [[ 9.99117513e-01 -3.89286346e-02 -1.57720404e-02 1.37084352e+02] [ 3.89316180e-02 9.99241870e-01 -1.17953600e-04 1.41556995e+00] [ 1.57646749e-02 -4.96181543e-04 9.99875607e-01 2.02193991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.35925415399998 meters Centerline goodness : 0.999217 Centerline is valid? [True, True] Translation: X:137.12, Y:1.42, Z:2.02 [[ 9.98999227e-01 -4.18543413e-02 -1.57720533e-02 1.37116827e+02] [ 4.18577165e-02 9.99123575e-01 -1.16195704e-04 1.41567054e+00] [ 1.57630936e-02 -5.44102719e-04 9.99875607e-01 2.02263870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.38925415399999 meters Centerline goodness : 0.999175 Centerline is valid? [True, True] Translation: X:137.15, Y:1.42, Z:2.02 [[ 9.98713664e-01 -4.81898218e-02 -1.57720614e-02 1.37148395e+02] [ 4.81940031e-02 9.98837987e-01 -1.15082970e-04 1.41596070e+00] [ 1.57592799e-02 -6.45183844e-04 9.99875607e-01 2.02373869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.419254154 meters Centerline goodness : 0.998985 Centerline is valid? [True, True] Translation: X:137.18, Y:1.42, Z:2.02 [[ 9.98497528e-01 -5.24778831e-02 -1.57720675e-02 1.37179025e+02] [ 5.24826114e-02 9.98621832e-01 -1.14252581e-04 1.41776648e+00] [ 1.57563266e-02 -7.13678368e-04 9.99875607e-01 2.02246131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.449254154 meters Centerline goodness : 0.998944 Centerline is valid? [True, True] Translation: X:137.21, Y:1.42, Z:2.03 [[ 9.98434326e-01 -5.36669763e-02 -1.57718722e-02 1.37209887e+02] [ 5.36714269e-02 9.98558640e-01 -1.41259636e-04 1.41605730e+00] [ 1.57567202e-02 -7.05460414e-04 9.99875606e-01 2.02530017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.479254154 meters Centerline goodness : 0.999112 Centerline is valid? [True, True] Translation: X:137.24, Y:1.42, Z:2.03 [[ 9.98146628e-01 -5.87754248e-02 -1.57720755e-02 1.37241644e+02] [ 5.87809593e-02 9.98270898e-01 -1.12842253e-04 1.41662395e+00] [ 1.57514363e-02 -8.14464614e-04 9.99875607e-01 2.02642621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.509254154 meters Centerline goodness : 0.999112 Centerline is valid? [True, True] Translation: X:137.27, Y:1.42, Z:2.03 [[ 9.98029703e-01 -6.07285155e-02 -1.57720851e-02 1.37274729e+02] [ 6.07343147e-02 9.98153961e-01 -1.11483243e-04 1.41732395e+00] [ 1.57497394e-02 -8.46643191e-04 9.99875607e-01 2.02809992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.539254154 meters Centerline goodness : 0.999260 Centerline is valid? [True, True] Translation: X:137.31, Y:1.42, Z:2.03 [[ 9.97807356e-01 -6.42784622e-02 -1.57720967e-02 1.37306150e+02] [ 6.42847295e-02 9.97931592e-01 -1.09822291e-04 1.42083837e+00] [ 1.57465327e-02 -9.04323477e-04 9.99875607e-01 2.02817863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.569254154 meters Centerline goodness : 0.999220 Centerline is valid? [True, True] Translation: X:137.34, Y:1.42, Z:2.03 [[ 9.97853437e-01 -6.35590904e-02 -1.57721061e-02 1.37336344e+02] [ 6.35652897e-02 9.97977676e-01 -1.08452989e-04 1.41938403e+00] [ 1.57471030e-02 -8.94338309e-04 9.99875607e-01 2.02901462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.599254154 meters Centerline goodness : 0.998987 Centerline is valid? [True, True] Translation: X:137.37, Y:1.42, Z:2.03 [[ 9.97803541e-01 -6.43376622e-02 -1.57721045e-02 1.37369112e+02] [ 6.43439546e-02 9.97927775e-01 -1.08696465e-04 1.42002649e+00] [ 1.57464144e-02 -9.06381857e-04 9.99875607e-01 2.02953470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.629254154 meters Centerline goodness : 0.998944 Centerline is valid? [True, True] Translation: X:137.40, Y:1.42, Z:2.03 [[ 9.97759921e-01 -6.50106200e-02 -1.57721155e-02 1.37402571e+02] [ 6.50170218e-02 9.97884149e-01 -1.07067422e-04 1.42115682e+00] [ 1.57457046e-02 -9.18628396e-04 9.99875607e-01 2.03034483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.659254154 meters Centerline goodness : 0.999134 Centerline is valid? [True, True] Translation: X:137.44, Y:1.42, Z:2.03 [[ 9.97782671e-01 -6.46605159e-02 -1.57721269e-02 1.37435037e+02] [ 6.46669010e-02 9.97906900e-01 -1.05357630e-04 1.42183279e+00] [ 1.57459268e-02 -9.14810555e-04 9.99875607e-01 2.03035439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.689254154 meters Centerline goodness : 0.999090 Centerline is valid? [True, True] Translation: X:137.47, Y:1.42, Z:2.03 [[ 9.97792752e-01 -6.45047584e-02 -1.57721363e-02 1.37467153e+02] [ 6.45111465e-02 9.97916981e-01 -1.03944678e-04 1.42279016e+00] [ 1.57459875e-02 -9.13763346e-04 9.99875607e-01 2.03091298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.719254154 meters Centerline goodness : 0.999281 Centerline is valid? [True, True] Translation: X:137.50, Y:1.42, Z:2.03 [[ 9.97868463e-01 -6.33227478e-02 -1.57721439e-02 1.37498573e+02] [ 6.33290070e-02 9.97992699e-01 -1.02778142e-04 1.42445419e+00] [ 1.57469926e-02 -8.96275143e-04 9.99875607e-01 2.03042996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.749254154 meters Centerline goodness : 0.999175 Centerline is valid? [True, True] Translation: X:137.53, Y:1.43, Z:2.03 [[ 9.97919837e-01 -6.25079064e-02 -1.57721495e-02 1.37531480e+02] [ 6.25140779e-02 9.98044077e-01 -1.01910058e-04 1.42580195e+00] [ 1.57476705e-02 -8.84283312e-04 9.99875607e-01 2.03061978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.779254154 meters Centerline goodness : 0.998919 Centerline is valid? [True, True] Translation: X:137.56, Y:1.43, Z:2.03 [[ 9.97989546e-01 -6.13848886e-02 -1.57721604e-02 1.37564313e+02] [ 6.13909474e-02 9.98113792e-01 -1.00189111e-04 1.42722003e+00] [ 1.57485609e-02 -8.68280183e-04 9.99875607e-01 2.03095123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.809254154 meters Centerline goodness : 0.999110 Centerline is valid? [True, True] Translation: X:137.60, Y:1.43, Z:2.03 [[ 9.98059158e-01 -6.02424809e-02 -1.57721713e-02 1.37595042e+02] [ 6.02484250e-02 9.98183409e-01 -9.84387815e-05 1.42891912e+00] [ 1.57494499e-02 -8.52000754e-04 9.99875607e-01 2.03134666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.839254154 meters Centerline goodness : 0.999217 Centerline is valid? [True, True] Translation: X:137.63, Y:1.43, Z:2.03 [[ 9.98163478e-01 -5.84885393e-02 -1.57721767e-02 1.37628302e+02] [ 5.84942787e-02 9.98287739e-01 -9.75731226e-05 1.43027940e+00] [ 1.57508775e-02 -8.25188172e-04 9.99875607e-01 2.03243644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.86925415399998 meters Centerline goodness : 0.998984 Centerline is valid? [True, True] Translation: X:137.66, Y:1.43, Z:2.03 [[ 9.98417578e-01 -5.39775717e-02 -1.57721873e-02 1.37660167e+02] [ 5.39827772e-02 9.98541862e-01 -9.58178310e-05 1.43330434e+00] [ 1.57543613e-02 -7.55760269e-04 9.99875607e-01 2.03344800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.89925415399998 meters Centerline goodness : 0.999065 Centerline is valid? [True, True] Translation: X:137.69, Y:1.44, Z:2.03 [[ 9.98569403e-01 -5.10919289e-02 -1.57722044e-02 1.37693501e+02] [ 5.10968208e-02 9.98693700e-01 -9.29289526e-05 1.43509067e+00] [ 1.57563491e-02 -7.13113492e-04 9.99875607e-01 2.03493948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.92925415399998 meters Centerline goodness : 0.998958 Centerline is valid? [True, True] Translation: X:137.72, Y:1.44, Z:2.04 [[ 9.98730533e-01 -4.78388955e-02 -1.57722144e-02 1.37724509e+02] [ 4.78434099e-02 9.98854844e-01 -9.11862126e-05 1.43700807e+00] [ 1.57585150e-02 -6.63526066e-04 9.99875607e-01 2.03572609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.95925415399998 meters Centerline goodness : 0.999169 Centerline is valid? [True, True] Translation: X:137.76, Y:1.44, Z:2.04 [[ 9.99035600e-01 -4.09769063e-02 -1.57722194e-02 1.37756353e+02] [ 4.09805803e-02 9.99159939e-01 -9.03257299e-05 1.44058050e+00] [ 1.57626710e-02 -5.56116082e-04 9.99875607e-01 2.03714080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.98925415399998 meters Centerline goodness : 0.999296 Centerline is valid? [True, True] Translation: X:137.79, Y:1.44, Z:2.04 [[ 9.99175220e-01 -3.74181423e-02 -1.57722259e-02 1.37787820e+02] [ 3.74213916e-02 9.99299570e-01 -8.91672394e-05 1.44212172e+00] [ 1.57645151e-02 -5.01124947e-04 9.99875607e-01 2.03765202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.01925415399998 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:137.82, Y:1.44, Z:2.04 [[ 9.99299636e-01 -3.39333724e-02 -1.57722307e-02 1.37820461e+02] [ 3.39362016e-02 9.99423997e-01 -8.83051916e-05 1.44363690e+00] [ 1.57661424e-02 -4.47006256e-04 9.99875607e-01 2.03828381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.04925415399998 meters Centerline goodness : 0.999190 Centerline is valid? [True, True] Translation: X:137.85, Y:1.44, Z:2.04 [[ 9.99409512e-01 -3.05264526e-02 -1.57722372e-02 1.37852356e+02] [ 3.05288761e-02 9.99533881e-01 -8.71435709e-05 1.44497924e+00] [ 1.57675456e-02 -3.94416561e-04 9.99875607e-01 2.03879073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.07925415399998 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:137.88, Y:1.45, Z:2.04 [[ 9.99562251e-01 -2.50308540e-02 -1.57722434e-02 1.37883744e+02] [ 2.50326119e-02 9.99686631e-01 -8.59915429e-05 1.44663571e+00] [ 1.57694534e-02 -3.08866548e-04 9.99875607e-01 2.03838778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.10925415399998 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:137.91, Y:1.45, Z:2.04 [[ 9.99610420e-01 -2.30270399e-02 -1.57722481e-02 1.37914349e+02] [ 2.30285620e-02 9.99734804e-01 -8.51339030e-05 1.44763681e+00] [ 1.57700257e-02 -2.78111456e-04 9.99875607e-01 2.03839800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.13925415399999 meters Centerline goodness : 0.999251 Centerline is valid? [True, True] Translation: X:137.94, Y:1.45, Z:2.04 [[ 9.99647598e-01 -2.13521992e-02 -1.57722531e-02 1.37944663e+02] [ 2.13535278e-02 9.99771984e-01 -8.41867094e-05 1.44870249e+00] [ 1.57704544e-02 -2.52636204e-04 9.99875607e-01 2.03872997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.169254154 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:137.97, Y:1.45, Z:2.04 [[ 9.99690293e-01 -1.92497576e-02 -1.57722531e-02 1.37974679e+02] [ 1.92508245e-02 9.99814682e-01 -8.41867094e-05 1.44963808e+00] [ 1.57709508e-02 -2.19468241e-04 9.99875607e-01 2.03832864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.199254154 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:138.00, Y:1.45, Z:2.04 [[ 9.99698548e-01 -1.88162035e-02 -1.57722500e-02 1.38004232e+02] [ 1.88172073e-02 9.99822937e-01 -8.47674249e-05 1.44983874e+00] [ 1.57710523e-02 -2.12047827e-04 9.99875607e-01 2.03839329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.229254154 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:138.03, Y:1.45, Z:2.04 [[ 9.99698916e-01 -1.87966411e-02 -1.57722469e-02 1.38032637e+02] [ 1.87976333e-02 9.99823305e-01 -8.53478279e-05 1.44999267e+00] [ 1.57710642e-02 -2.11158782e-04 9.99875607e-01 2.03775154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.259254154 meters Centerline goodness : 0.999293 Centerline is valid? [True, True] Translation: X:138.06, Y:1.46, Z:2.04 [[ 9.99610098e-01 -2.30409957e-02 -1.57722411e-02 1.38057805e+02] [ 2.30424995e-02 9.99734483e-01 -8.63997046e-05 1.45612534e+00] [ 1.57700440e-02 -2.77065840e-04 9.99875607e-01 2.03512837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.289254154 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:138.09, Y:1.45, Z:2.04 [[ 9.99694231e-01 -1.90457240e-02 -1.57704081e-02 1.38092226e+02] [ 1.90420201e-02 9.99818610e-01 -3.85004447e-04 1.45043935e+00] [ 1.57748802e-02 8.45862958e-05 9.99875565e-01 2.04029650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.319254154 meters Centerline goodness : 0.999058 Centerline is valid? [True, True] Translation: X:138.12, Y:1.45, Z:2.04 [[ 9.99665537e-01 -2.04952829e-02 -1.57720454e-02 1.38120485e+02] [ 2.04964689e-02 9.99789922e-01 -8.64629146e-05 1.45017791e+00] [ 1.57705042e-02 -2.36837243e-04 9.99875610e-01 2.04149095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.349254154 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:138.15, Y:1.45, Z:2.04 [[ 9.99644008e-01 -2.15197845e-02 -1.57720221e-02 1.38150093e+02] [ 2.15210339e-02 9.99768392e-01 -9.05262221e-05 1.44984065e+00] [ 1.57703173e-02 -2.48936227e-04 9.99875610e-01 2.04222823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.379254154 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:138.18, Y:1.45, Z:2.04 [[ 9.99624758e-01 -2.23961189e-02 -1.57720188e-02 1.38180043e+02] [ 2.23974682e-02 9.99749141e-01 -9.11066771e-05 1.44917152e+00] [ 1.57701026e-02 -2.62180799e-04 9.99875610e-01 2.04219182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.409254154 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:138.21, Y:1.45, Z:2.04 [[ 9.99542516e-01 -2.58070112e-02 -1.57720171e-02 1.38209905e+02] [ 2.58087803e-02 9.99666894e-01 -9.13948754e-05 1.44820222e+00] [ 1.57691220e-02 -3.15703461e-04 9.99875610e-01 2.04332263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.439254154 meters Centerline goodness : 0.999189 Centerline is valid? [True, True] Translation: X:138.24, Y:1.45, Z:2.04 [[ 9.99485079e-01 -2.79431778e-02 -1.57720138e-02 1.38240482e+02] [ 2.79452038e-02 9.99609452e-01 -9.19658865e-05 1.44777236e+00] [ 1.57684239e-02 -3.48833607e-04 9.99875610e-01 2.04392416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.469254154 meters Centerline goodness : 0.999084 Centerline is valid? [True, True] Translation: X:138.27, Y:1.45, Z:2.04 [[ 9.99421327e-01 -3.01372788e-02 -1.57720138e-02 1.38271523e+02] [ 3.01395778e-02 9.99545696e-01 -9.19658865e-05 1.44733171e+00] [ 1.57676201e-02 -3.83449167e-04 9.99875610e-01 2.04449262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.499254154 meters Centerline goodness : 0.999168 Centerline is valid? [True, True] Translation: X:138.30, Y:1.45, Z:2.04 [[ 9.99342929e-01 -3.26336346e-02 -1.57720171e-02 1.38302517e+02] [ 3.26362534e-02 9.99467291e-01 -9.13846364e-05 1.44705001e+00] [ 1.57665975e-02 -4.23414957e-04 9.99875610e-01 2.04403873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.529254154 meters Centerline goodness : 0.999105 Centerline is valid? [True, True] Translation: X:138.33, Y:1.45, Z:2.04 [[ 9.99155551e-01 -3.79397938e-02 -1.57720282e-02 1.38334461e+02] [ 3.79431036e-02 9.99279897e-01 -8.94414247e-05 1.44511056e+00] [ 1.57640641e-02 -5.09073803e-04 9.99875610e-01 2.04489093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.559254154 meters Centerline goodness : 0.999213 Centerline is valid? [True, True] Translation: X:138.37, Y:1.44, Z:2.05 [[ 9.99039874e-01 -4.08726444e-02 -1.57720345e-02 1.38366579e+02] [ 4.08763369e-02 9.99164209e-01 -8.83145617e-05 1.44408646e+00] [ 1.57624620e-02 -5.56473226e-04 9.99875610e-01 2.04538239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.589254154 meters Centerline goodness : 0.998999 Centerline is valid? [True, True] Translation: X:138.40, Y:1.44, Z:2.05 [[ 9.98943778e-01 -4.31575267e-02 -1.57720407e-02 1.38398979e+02] [ 4.31615214e-02 9.99068104e-01 -8.71830668e-05 1.44268542e+00] [ 1.57611054e-02 -5.93654292e-04 9.99875610e-01 2.04511202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.61925415399998 meters Centerline goodness : 0.999148 Centerline is valid? [True, True] Translation: X:138.43, Y:1.44, Z:2.05 [[ 9.98813671e-01 -4.60705219e-02 -1.57720471e-02 1.38429915e+02] [ 4.60748976e-02 9.98937984e-01 -8.60170431e-05 1.44216698e+00] [ 1.57592598e-02 -6.40780455e-04 9.99875610e-01 2.04517674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.64925415399998 meters Centerline goodness : 0.999042 Centerline is valid? [True, True] Translation: X:138.46, Y:1.44, Z:2.04 [[ 9.98619586e-01 -5.01015434e-02 -1.57720518e-02 1.38461824e+02] [ 5.01064345e-02 9.98743880e-01 -8.51485920e-05 1.44174406e+00] [ 1.57565063e-02 -7.05250228e-04 9.99875610e-01 2.04475739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.67925415399998 meters Centerline goodness : 0.999171 Centerline is valid? [True, True] Translation: X:138.49, Y:1.44, Z:2.05 [[ 9.98548246e-01 -5.15038107e-02 -1.57720577e-02 1.38494290e+02] [ 5.15088939e-02 9.98672532e-01 -8.40323884e-05 1.44196522e+00] [ 1.57554488e-02 -7.28490853e-04 9.99875610e-01 2.04569296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.70925415399998 meters Centerline goodness : 0.998935 Centerline is valid? [True, True] Translation: X:138.53, Y:1.44, Z:2.05 [[ 9.98500672e-01 -5.24180395e-02 -1.57720638e-02 1.38526906e+02] [ 5.24232549e-02 9.98624952e-01 -8.28657272e-05 1.44214926e+00] [ 1.57547202e-02 -7.44081438e-04 9.99875610e-01 2.04586891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.73925415399998 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:138.56, Y:1.44, Z:2.05 [[ 9.98462148e-01 -5.31467783e-02 -1.57720699e-02 1.38558798e+02] [ 5.31521028e-02 9.98586425e-01 -8.16957602e-05 1.44264327e+00] [ 1.57541168e-02 -7.56748557e-04 9.99875610e-01 2.04613569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.76925415399998 meters Centerline goodness : 0.999084 Centerline is valid? [True, True] Translation: X:138.59, Y:1.44, Z:2.05 [[ 9.98473938e-01 -5.29248238e-02 -1.57720773e-02 1.38592038e+02] [ 5.29301437e-02 9.98598214e-01 -8.02368931e-05 1.44294246e+00] [ 1.57542148e-02 -7.54703873e-04 9.99875610e-01 2.04734362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.79925415399998 meters Centerline goodness : 0.999299 Centerline is valid? [True, True] Translation: X:138.62, Y:1.44, Z:2.05 [[ 9.98510697e-01 -5.22267017e-02 -1.57720861e-02 1.38624222e+02] [ 5.22319627e-02 9.98634976e-01 -7.84634707e-05 1.44309035e+00] [ 1.57546548e-02 -7.45460400e-04 9.99875610e-01 2.04711301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.82925415399998 meters Centerline goodness : 0.998978 Centerline is valid? [True, True] Translation: X:138.66, Y:1.44, Z:2.05 [[ 9.98554772e-01 -5.13771200e-02 -1.57720933e-02 1.38656430e+02] [ 5.13822984e-02 9.98679054e-01 -7.69954934e-05 1.44358595e+00] [ 1.57552150e-02 -7.33522187e-04 9.99875610e-01 2.04813645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.85925415399998 meters Centerline goodness : 0.999277 Centerline is valid? [True, True] Translation: X:138.69, Y:1.45, Z:2.05 [[ 9.98702675e-01 -4.84170295e-02 -1.57720988e-02 1.38688176e+02] [ 4.84218573e-02 9.98826971e-01 -7.58641172e-05 1.44563262e+00] [ 1.57572707e-02 -6.87948619e-04 9.99875610e-01 2.04977407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.88925415399999 meters Centerline goodness : 0.999066 Centerline is valid? [True, True] Translation: X:138.72, Y:1.45, Z:2.05 [[ 9.98790918e-01 -4.65611796e-02 -1.57721041e-02 1.38719872e+02] [ 4.65657942e-02 9.98915222e-01 -7.47330934e-05 1.44696567e+00] [ 1.57584745e-02 -6.59797819e-04 9.99875610e-01 2.05000852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.919254154 meters Centerline goodness : 0.999169 Centerline is valid? [True, True] Translation: X:138.75, Y:1.45, Z:2.05 [[ 9.98879767e-01 -4.46144889e-02 -1.57721094e-02 1.38751775e+02] [ 4.46188790e-02 9.99004079e-01 -7.36072897e-05 1.44815905e+00] [ 1.57596855e-02 -6.30209007e-04 9.99875610e-01 2.05093498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.949254154 meters Centerline goodness : 0.999339 Centerline is valid? [True, True] Translation: X:138.78, Y:1.45, Z:2.05 [[ 9.98977426e-01 -4.23714844e-02 -1.57721146e-02 1.38783401e+02] [ 4.23756134e-02 9.99101748e-01 -7.24616633e-05 1.44923294e+00] [ 1.57610176e-02 -5.95965466e-04 9.99875610e-01 2.05105339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.979254154 meters Centerline goodness : 0.999126 Centerline is valid? [True, True] Translation: X:138.82, Y:1.45, Z:2.05 [[ 9.99074860e-01 -4.00082961e-02 -1.57721185e-02 1.38815359e+02] [ 4.00121445e-02 9.99199191e-01 -7.16072172e-05 1.45042325e+00] [ 1.57623529e-02 -5.59535315e-04 9.99875610e-01 2.05164864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.009254154 meters Centerline goodness : 0.999359 Centerline is valid? [True, True] Translation: X:138.85, Y:1.45, Z:2.05 [[ 9.99179893e-01 -3.72931891e-02 -1.57721237e-02 1.38846289e+02] [ 3.72967178e-02 9.99304233e-01 -7.04514790e-05 1.45161268e+00] [ 1.57637773e-02 -5.17854745e-04 9.99875610e-01 2.05122452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.039254154 meters Centerline goodness : 0.999359 Centerline is valid? [True, True] Translation: X:138.88, Y:1.45, Z:2.05 [[ 9.99182560e-01 -3.72216684e-02 -1.57721275e-02 1.38878976e+02] [ 3.72252019e-02 9.99306900e-01 -6.95899016e-05 1.45169499e+00] [ 1.57637861e-02 -5.17587613e-04 9.99875610e-01 2.05173985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.069254154 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:138.91, Y:1.45, Z:2.05 [[ 9.99386176e-01 -3.12811563e-02 -1.57721324e-02 1.38909889e+02] [ 3.12839683e-02 9.99510535e-01 -6.84610185e-05 1.45417171e+00] [ 1.57665540e-02 -4.24995894e-04 9.99875610e-01 2.05195145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.099254154 meters Centerline goodness : 0.999465 Centerline is valid? [True, True] Translation: X:138.94, Y:1.46, Z:2.05 [[ 9.99477006e-01 -2.82303688e-02 -1.57721360e-02 1.38941274e+02] [ 2.82328144e-02 9.99601372e-01 -6.76200428e-05 1.45580468e+00] [ 1.57677577e-02 -3.77707110e-04 9.99875610e-01 2.05399590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.129254154 meters Centerline goodness : 0.999335 Centerline is valid? [True, True] Translation: X:138.97, Y:1.46, Z:2.05 [[ 9.99564377e-01 -2.49458585e-02 -1.57721384e-02 1.38971952e+02] [ 2.49479045e-02 9.99688750e-01 -6.70449544e-05 1.45743612e+00] [ 1.57689018e-02 -3.26466055e-04 9.99875610e-01 2.05392024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.159254154 meters Centerline goodness : 0.999333 Centerline is valid? [True, True] Translation: X:139.00, Y:1.46, Z:2.06 [[ 9.99685869e-01 -1.94782486e-02 -1.57721396e-02 1.39003626e+02] [ 1.94796189e-02 9.99810252e-01 -6.67597159e-05 1.46071253e+00] [ 1.57704473e-02 -2.40496524e-04 9.99875610e-01 2.05581964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.189254154 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:139.03, Y:1.46, Z:2.06 [[ 9.99729918e-01 -1.70683853e-02 -1.57721420e-02 1.39033183e+02] [ 1.70694646e-02 9.99854304e-01 -6.61946156e-05 1.46196681e+00] [ 1.57709739e-02 -2.03045282e-04 9.99875610e-01 2.05650616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.219254154 meters Centerline goodness : 0.999272 Centerline is valid? [True, True] Translation: X:139.06, Y:1.46, Z:2.06 [[ 9.99760668e-01 -1.51607000e-02 -1.57721396e-02 1.39061996e+02] [ 1.51615330e-02 9.99885055e-01 -6.67632722e-05 1.46297771e+00] [ 1.57713388e-02 -1.72382521e-04 9.99875610e-01 2.05771500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.249254154 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:139.09, Y:1.46, Z:2.06 [[ 9.99801041e-01 -1.22113998e-02 -1.57721214e-02 1.39089799e+02] [ 1.22118019e-02 9.99925431e-01 -7.08152135e-05 1.46443042e+00] [ 1.57718100e-02 -1.21804898e-04 9.99875610e-01 2.05822319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.279254154 meters Centerline goodness : 0.999397 Centerline is valid? [True, True] Translation: X:139.12, Y:1.46, Z:2.06 [[ 9.99814894e-01 -1.10189950e-02 -1.57721148e-02 1.39118635e+02] [ 1.10192262e-02 9.99939284e-01 -7.22468831e-05 1.46485398e+00] [ 1.57719533e-02 -1.01562992e-04 9.99875610e-01 2.05915825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.309254154 meters Centerline goodness : 0.999396 Centerline is valid? [True, True] Translation: X:139.15, Y:1.47, Z:2.06 [[ 9.99826110e-01 -9.94941820e-03 -1.57720954e-02 1.39146233e+02] [ 9.94945300e-03 9.99950500e-01 -7.62622485e-05 1.46512850e+00] [ 1.57720735e-02 -8.06747348e-05 9.99875610e-01 2.05905065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.339254154 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:139.18, Y:1.47, Z:2.06 [[ 9.99833572e-01 -9.16896804e-03 -1.57720884e-02 1.39175151e+02] [ 9.16888327e-03 9.99957962e-01 -7.76867697e-05 1.46550184e+00] [ 1.57721377e-02 -6.69385972e-05 9.99875610e-01 2.06071360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.36925415399998 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:139.20, Y:1.47, Z:2.06 [[ 9.99840778e-01 -8.34624306e-03 -1.57720682e-02 1.39203104e+02] [ 8.34599420e-03 9.99965168e-01 -8.16006286e-05 1.46590458e+00] [ 1.57721999e-02 -5.00459533e-05 9.99875610e-01 2.06224079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.39925415399998 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:139.23, Y:1.47, Z:2.06 [[ 9.99834118e-01 -9.10924334e-03 -1.57720609e-02 1.39230592e+02] [ 9.10906755e-03 9.99958508e-01 -8.29863148e-05 1.46571166e+00] [ 1.57721624e-02 -6.06962190e-05 9.99875610e-01 2.06369703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.42925415399998 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:139.26, Y:1.46, Z:2.06 [[ 9.99824195e-01 -1.01401310e-02 -1.57720353e-02 1.39258610e+02] [ 1.01400108e-02 9.99948585e-01 -8.75928650e-05 1.46477564e+00] [ 1.57721126e-02 -7.23511426e-05 9.99875610e-01 2.06323611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.45925415399998 meters Centerline goodness : 0.999075 Centerline is valid? [True, True] Translation: X:139.29, Y:1.46, Z:2.06 [[ 9.99804928e-01 -1.18890232e-02 -1.57720230e-02 1.39286026e+02] [ 1.18890864e-02 9.99929318e-01 -8.97573971e-05 1.46357692e+00] [ 1.57719753e-02 -9.77750558e-05 9.99875610e-01 2.06420598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.48925415399998 meters Centerline goodness : 0.999334 Centerline is valid? [True, True] Translation: X:139.31, Y:1.46, Z:2.06 [[ 9.99777968e-01 -1.39735103e-02 -1.57719954e-02 1.39313933e+02] [ 1.39737603e-02 9.99902358e-01 -9.43575210e-05 1.46217087e+00] [ 1.57717739e-02 -1.26057513e-04 9.99875610e-01 2.06360843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.51925415399998 meters Centerline goodness : 0.999334 Centerline is valid? [True, True] Translation: X:139.34, Y:1.46, Z:2.06 [[ 9.99705150e-01 -1.84623273e-02 -1.57719668e-02 1.39343035e+02] [ 1.84630637e-02 9.99829538e-01 -9.89309950e-05 1.45954349e+00] [ 1.57711047e-02 -1.92297002e-04 9.99875610e-01 2.06295215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.54925415399998 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] Translation: X:139.37, Y:1.46, Z:2.06 [[ 9.99656850e-01 -2.09147879e-02 -1.57719595e-02 1.39372188e+02] [ 2.09158113e-02 9.99781235e-01 -1.00076230e-04 1.45836542e+00] [ 1.57706022e-02 -2.29841441e-04 9.99875610e-01 2.06280709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.57925415399998 meters Centerline goodness : 0.999292 Centerline is valid? [True, True] Translation: X:139.40, Y:1.46, Z:2.06 [[ 9.99611847e-01 -2.29652322e-02 -1.57719330e-02 1.39401686e+02] [ 2.29664475e-02 9.99736231e-01 -1.04093403e-04 1.45711964e+00] [ 1.57701634e-02 -2.58172271e-04 9.99875610e-01 2.06196864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.60925415399998 meters Centerline goodness : 0.999379 Centerline is valid? [True, True] Translation: X:139.43, Y:1.46, Z:2.06 [[ 9.99554014e-01 -2.53578244e-02 -1.57719311e-02 1.39432642e+02] [ 2.53593328e-02 9.99678395e-01 -1.04377903e-04 1.45624325e+00] [ 1.57695056e-02 -2.95634299e-04 9.99875610e-01 2.06292641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.63925415399999 meters Centerline goodness : 0.999316 Centerline is valid? [True, True] Translation: X:139.46, Y:1.46, Z:2.06 [[ 9.99495825e-01 -2.75561618e-02 -1.57719311e-02 1.39463115e+02] [ 2.75579438e-02 9.99620202e-01 -1.04377903e-04 1.45558794e+00] [ 1.57688172e-02 -3.30316713e-04 9.99875610e-01 2.06360055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.669254154 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:139.49, Y:1.45, Z:2.06 [[ 9.99370781e-01 -3.17692878e-02 -1.57719311e-02 1.39494918e+02] [ 3.17715941e-02 9.99495150e-01 -1.04377903e-04 1.45368044e+00] [ 1.57672847e-02 -3.96787167e-04 9.99875610e-01 2.06472222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.699254154 meters Centerline goodness : 0.999211 Centerline is valid? [True, True] Translation: X:139.53, Y:1.45, Z:2.06 [[ 9.99304387e-01 -3.37933084e-02 -1.57719350e-02 1.39526462e+02] [ 3.37958758e-02 9.99428751e-01 -1.03792731e-04 1.45252222e+00] [ 1.57664327e-02 -4.29305824e-04 9.99875610e-01 2.06482523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.729254154 meters Centerline goodness : 0.999168 Centerline is valid? [True, True] Translation: X:139.56, Y:1.45, Z:2.07 [[ 9.99232174e-01 -3.58651312e-02 -1.57719407e-02 1.39558685e+02] [ 3.58679703e-02 9.99356532e-01 -1.02917676e-04 1.45184272e+00] [ 1.57654831e-02 -4.62868846e-04 9.99875610e-01 2.06610034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.759254154 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:139.59, Y:1.45, Z:2.07 [[ 9.99083480e-01 -3.97925345e-02 -1.57719482e-02 1.39590850e+02] [ 3.97958809e-02 9.99207825e-01 -1.01745548e-04 1.45104824e+00] [ 1.57635028e-02 -5.26006277e-04 9.99875610e-01 2.06707150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.789254154 meters Centerline goodness : 0.999211 Centerline is valid? [True, True] Translation: X:139.62, Y:1.45, Z:2.07 [[ 9.99012348e-01 -4.15400263e-02 -1.57719557e-02 1.39623523e+02] [ 4.15436087e-02 9.99136687e-01 -1.00567377e-04 1.45079339e+00] [ 1.57625172e-02 -5.54755907e-04 9.99875610e-01 2.06765927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.819254154 meters Centerline goodness : 0.999170 Centerline is valid? [True, True] Translation: X:139.66, Y:1.45, Z:2.07 [[ 9.98936600e-01 -4.33233738e-02 -1.57719631e-02 1.39655442e+02] [ 4.33271966e-02 9.99060931e-01 -9.93969089e-05 1.45050992e+00] [ 1.57614584e-02 -5.84063737e-04 9.99875610e-01 2.06814058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.849254154 meters Centerline goodness : 0.999384 Centerline is valid? [True, True] Translation: X:139.69, Y:1.45, Z:2.07 [[ 9.98755434e-01 -4.73162489e-02 -1.57719704e-02 1.39687913e+02] [ 4.73205872e-02 9.98879749e-01 -9.82247791e-05 1.44944580e+00] [ 1.57589495e-02 -6.48236369e-04 9.99875610e-01 2.06900474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.879254154 meters Centerline goodness : 0.999107 Centerline is valid? [True, True] Translation: X:139.72, Y:1.45, Z:2.07 [[ 9.98647708e-01 -4.95378635e-02 -1.57719776e-02 1.39719614e+02] [ 4.95424967e-02 9.98772012e-01 -9.70576183e-05 1.44874337e+00] [ 1.57574178e-02 -6.84456780e-04 9.99875610e-01 2.06808074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.909254154 meters Centerline goodness : 0.999192 Centerline is valid? [True, True] Translation: X:139.75, Y:1.45, Z:2.07 [[ 9.98537344e-01 -5.17147639e-02 -1.57719864e-02 1.39751789e+02] [ 5.17196910e-02 9.98661637e-01 -9.56034946e-05 1.44815963e+00] [ 1.57558219e-02 -7.20258604e-04 9.99875610e-01 2.06807556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.939254154 meters Centerline goodness : 0.999299 Centerline is valid? [True, True] Translation: X:139.78, Y:1.45, Z:2.07 [[ 9.98435120e-01 -5.36521782e-02 -1.57719928e-02 1.39784759e+02] [ 5.36573632e-02 9.98559402e-01 -9.45409827e-05 1.44764014e+00] [ 1.57543440e-02 -7.51890508e-04 9.99875610e-01 2.06931935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.969254154 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:139.82, Y:1.45, Z:2.07 [[ 9.98241374e-01 -5.71437031e-02 -1.57720030e-02 1.39816466e+02] [ 5.71493501e-02 9.98365636e-01 -9.28022047e-05 1.44763115e+00] [ 1.57515289e-02 -8.08720721e-04 9.99875610e-01 2.06906630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.999254154 meters Centerline goodness : 0.999342 Centerline is valid? [True, True] Translation: X:139.85, Y:1.45, Z:2.07 [[ 9.98181590e-01 -5.81786613e-02 -1.57720193e-02 1.39849979e+02] [ 5.81844821e-02 9.98305844e-01 -8.99492321e-05 1.44789147e+00] [ 1.57505321e-02 -8.27901106e-04 9.99875610e-01 2.06964261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.029254154 meters Centerline goodness : 0.999171 Centerline is valid? [True, True] Translation: X:139.88, Y:1.45, Z:2.07 [[ 9.98119821e-01 -5.92289343e-02 -1.57720289e-02 1.39881855e+02] [ 5.92349129e-02 9.98244067e-01 -8.82323421e-05 1.44840251e+00] [ 1.57495602e-02 -8.46188307e-04 9.99875610e-01 2.06966811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.059254154 meters Centerline goodness : 0.998875 Centerline is valid? [True, True] Translation: X:139.91, Y:1.45, Z:2.07 [[ 9.98092990e-01 -5.96793555e-02 -1.57720367e-02 1.39914497e+02] [ 5.96854125e-02 9.98217233e-01 -8.68128116e-05 1.44892616e+00] [ 1.57490998e-02 -8.54713258e-04 9.99875610e-01 2.07002940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.089254154 meters Centerline goodness : 0.999276 Centerline is valid? [True, True] Translation: X:139.95, Y:1.45, Z:2.07 [[ 9.98085187e-01 -5.98097215e-02 -1.57720429e-02 1.39946075e+02] [ 5.98158128e-02 9.98209428e-01 -8.56689031e-05 1.44949100e+00] [ 1.57489258e-02 -8.57912703e-04 9.99875610e-01 2.06956542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.11925415399998 meters Centerline goodness : 0.999321 Centerline is valid? [True, True] Translation: X:139.98, Y:1.45, Z:2.07 [[ 9.98157228e-01 -5.85951378e-02 -1.57720505e-02 1.39978670e+02] [ 5.86011004e-02 9.98281475e-01 -8.42422922e-05 1.45108167e+00] [ 1.57498821e-02 -8.40172464e-04 9.99875610e-01 2.07075416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.14925415399998 meters Centerline goodness : 0.999127 Centerline is valid? [True, True] Translation: X:140.01, Y:1.45, Z:2.07 [[ 9.98233353e-01 -5.72836415e-02 -1.57720564e-02 1.40011786e+02] [ 5.72894584e-02 9.98357607e-01 -8.31256254e-05 1.45236360e+00] [ 1.57509142e-02 -8.20593798e-04 9.99875610e-01 2.07139738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.17925415399998 meters Centerline goodness : 0.999233 Centerline is valid? [True, True] Translation: X:140.04, Y:1.45, Z:2.07 [[ 9.98334078e-01 -5.55005532e-02 -1.57720651e-02 1.40044081e+02] [ 5.55061747e-02 9.98458341e-01 -8.14435022e-05 1.45385312e+00] [ 1.57522701e-02 -7.94139177e-04 9.99875610e-01 2.07169164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.20925415399998 meters Centerline goodness : 0.999382 Centerline is valid? [True, True] Translation: X:140.08, Y:1.46, Z:2.07 [[ 9.98448669e-01 -5.33994048e-02 -1.57720789e-02 1.40076705e+02] [ 5.34048085e-02 9.98572942e-01 -7.86710207e-05 1.45544063e+00] [ 1.57537722e-02 -7.63755879e-04 9.99875610e-01 2.07239387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.23925415399998 meters Centerline goodness : 0.999253 Centerline is valid? [True, True] Translation: X:140.11, Y:1.46, Z:2.07 [[ 9.98695098e-01 -4.85730667e-02 -1.57720870e-02 1.40108185e+02] [ 4.85778956e-02 9.98819394e-01 -7.70224710e-05 1.45881357e+00] [ 1.57572076e-02 -6.89252831e-04 9.99875610e-01 2.07253080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.26925415399998 meters Centerline goodness : 0.999232 Centerline is valid? [True, True] Translation: X:140.14, Y:1.46, Z:2.07 [[ 9.98831334e-01 -4.56859656e-02 -1.57720909e-02 1.40140796e+02] [ 4.56904481e-02 9.98955643e-01 -7.62063049e-05 1.46071895e+00] [ 1.57591008e-02 -6.44516656e-04 9.99875610e-01 2.07313414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.29925415399998 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:140.17, Y:1.46, Z:2.08 [[ 9.98955676e-01 -4.28812028e-02 -1.57720961e-02 1.40173077e+02] [ 4.28853533e-02 9.99079997e-01 -7.51275581e-05 1.46286621e+00] [ 1.57608073e-02 -6.01342811e-04 9.99875610e-01 2.07501360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.32925415399998 meters Centerline goodness : 0.999359 Centerline is valid? [True, True] Translation: X:140.20, Y:1.47, Z:2.08 [[ 9.99192126e-01 -3.69639749e-02 -1.57721014e-02 1.40204115e+02] [ 3.69674070e-02 9.99316469e-01 -7.39872886e-05 1.46635502e+00] [ 1.57640556e-02 -5.09126175e-04 9.99875610e-01 2.07623461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.35925415399998 meters Centerline goodness : 0.999358 Centerline is valid? [True, True] Translation: X:140.24, Y:1.47, Z:2.08 [[ 9.99292565e-01 -3.41410269e-02 -1.57721097e-02 1.40235815e+02] [ 3.41441361e-02 9.99416916e-01 -7.21825750e-05 1.46802722e+00] [ 1.57653776e-02 -4.66393548e-04 9.99875610e-01 2.07741001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.38925415399999 meters Centerline goodness : 0.999359 Centerline is valid? [True, True] Translation: X:140.27, Y:1.47, Z:2.08 [[ 9.99379373e-01 -3.14977601e-02 -1.57721147e-02 1.40268466e+02] [ 3.15005580e-02 9.99503732e-01 -7.10678740e-05 1.46980476e+00] [ 1.57665260e-02 -4.25806647e-04 9.99875610e-01 2.07871905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.419254154 meters Centerline goodness : 0.999442 Centerline is valid? [True, True] Translation: X:140.30, Y:1.47, Z:2.08 [[ 9.99449382e-01 -2.91919892e-02 -1.57721196e-02 1.40300313e+02] [ 2.91945176e-02 9.99573747e-01 -6.99597327e-05 1.47142735e+00] [ 1.57674390e-02 -3.90538212e-04 9.99875610e-01 2.08095769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.449254154 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:140.33, Y:1.47, Z:2.08 [[ 9.99514492e-01 -2.68704465e-02 -1.57721247e-02 1.40331598e+02] [ 2.68727044e-02 9.99638861e-01 -6.87920546e-05 1.47294663e+00] [ 1.57682773e-02 -3.55080990e-04 9.99875610e-01 2.08233147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.479254154 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:140.36, Y:1.48, Z:2.08 [[ 9.99609348e-01 -2.30736296e-02 -1.57721272e-02 1.40361723e+02] [ 2.30754244e-02 9.99733725e-01 -6.82063628e-05 1.47523020e+00] [ 1.57695013e-02 -2.95768812e-04 9.99875610e-01 2.08312453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.509254154 meters Centerline goodness : 0.999420 Centerline is valid? [True, True] Translation: X:140.39, Y:1.48, Z:2.08 [[ 9.99662587e-01 -2.06386046e-02 -1.57721285e-02 1.40390586e+02] [ 2.06401010e-02 9.99786968e-01 -6.79159079e-05 1.47626277e+00] [ 1.57701702e-02 -2.57645332e-04 9.99875610e-01 2.08367555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.539254154 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:140.43, Y:1.47, Z:2.08 [[ 9.99804110e-01 -1.19578651e-02 -1.57718472e-02 1.40433349e+02] [ 1.19571843e-02 9.99928501e-01 -1.37467696e-04 1.46771387e+00] [ 1.57723634e-02 -5.11461165e-05 9.99875607e-01 2.07891838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.569254154 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:140.45, Y:1.48, Z:2.08 [[ 9.99692881e-01 -1.91134835e-02 -1.57740034e-02 1.40450689e+02] [ 1.91239812e-02 9.99816987e-01 5.14921612e-04 1.47749283e+00] [ 1.57612746e-02 -8.16425214e-04 9.99875450e-01 2.08391855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.599254154 meters Centerline goodness : 0.999138 Centerline is valid? [True, True] Translation: X:140.48, Y:1.48, Z:2.08 [[ 9.99759094e-01 -1.52649109e-02 -1.57713736e-02 1.40479136e+02] [ 1.52656919e-02 9.99883470e-01 -7.08737747e-05 1.47894432e+00] [ 1.57706177e-02 -1.69904230e-04 9.99875622e-01 2.08373146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.629254154 meters Centerline goodness : 0.999396 Centerline is valid? [True, True] Translation: X:140.51, Y:1.48, Z:2.08 [[ 9.99784282e-01 -1.35149180e-02 -1.57713697e-02 1.40508245e+02] [ 1.35154677e-02 9.99908659e-01 -7.17339879e-05 1.47983285e+00] [ 1.57708986e-02 -1.41438925e-04 9.99875622e-01 2.08472163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.659254154 meters Centerline goodness : 0.999222 Centerline is valid? [True, True] Translation: X:140.54, Y:1.48, Z:2.08 [[ 9.99807738e-01 -1.16512721e-02 -1.57713499e-02 1.40536268e+02] [ 1.16515251e-02 9.99932116e-01 -7.58482156e-05 1.48071274e+00] [ 1.57711630e-02 -1.07926647e-04 9.99875622e-01 2.08497741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.689254154 meters Centerline goodness : 0.999502 Centerline is valid? [True, True] Translation: X:140.56, Y:1.48, Z:2.09 [[ 9.99842866e-01 -8.09372075e-03 -1.57713261e-02 1.40562756e+02] [ 8.09345751e-03 9.99967244e-01 -8.05184899e-05 1.48243146e+00] [ 1.57714612e-02 -4.71387199e-05 9.99875622e-01 2.08578920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.719254154 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] Translation: X:140.59, Y:1.48, Z:2.09 [[ 9.99853462e-01 -6.65734706e-03 -1.57713083e-02 1.40589377e+02] [ 6.65685246e-03 9.99977839e-01 -8.38578650e-05 1.48281034e+00] [ 1.57715171e-02 -2.11416962e-05 9.99875622e-01 2.08564436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.749254154 meters Centerline goodness : 0.999393 Centerline is valid? [True, True] Translation: X:140.62, Y:1.48, Z:2.09 [[ 9.99859541e-01 -5.67132972e-03 -1.57712975e-02 1.40616754e+02] [ 5.67068092e-03 9.99983918e-01 -8.58576924e-05 1.48294252e+00] [ 1.57715307e-02 -3.58836264e-06 9.99875622e-01 2.08630363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.779254154 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:140.64, Y:1.48, Z:2.09 [[ 9.99861912e-01 -5.23680152e-03 -1.57712710e-02 1.40644801e+02] [ 5.23602603e-03 9.99986288e-01 -9.04628425e-05 1.48305064e+00] [ 1.57715285e-02 7.87156489e-06 9.99875622e-01 2.08692188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.809254154 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:140.67, Y:1.48, Z:2.09 [[ 9.99861397e-01 -5.33428866e-03 -1.57712428e-02 1.40671667e+02] [ 5.33345140e-03 9.99985773e-01 -9.51475524e-05 1.48277111e+00] [ 1.57715259e-02 1.10192077e-05 9.99875622e-01 2.08669839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.83925415399997 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:140.70, Y:1.48, Z:2.09 [[ 9.99857153e-01 -6.07797823e-03 -1.57712227e-02 1.40698221e+02] [ 6.07718272e-03 9.99981529e-01 -9.83657160e-05 1.48278490e+00] [ 1.57715293e-02 2.50706258e-06 9.99875622e-01 2.08726527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.86925415399998 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:140.73, Y:1.48, Z:2.09 [[ 9.99847747e-01 -7.46669041e-03 -1.57712102e-02 1.40726543e+02] [ 7.46603660e-03 9.99972124e-01 -1.00334720e-04 1.48252540e+00] [ 1.57715197e-02 -1.74289887e-05 9.99875622e-01 2.08830012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.89925415399998 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:140.76, Y:1.48, Z:2.09 [[ 9.99829767e-01 -9.57637004e-03 -1.57711798e-02 1.40755081e+02] [ 9.57590655e-03 9.99954144e-01 -1.04906806e-04 1.48212574e+00] [ 1.57714612e-02 -4.61343966e-05 9.99875622e-01 2.08901408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.92925415399998 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:140.78, Y:1.48, Z:2.09 [[ 9.99796749e-01 -1.25590976e-02 -1.57711721e-02 1.40782181e+02] [ 1.25589872e-02 9.99921127e-01 -1.06045298e-04 1.48155271e+00] [ 1.57712600e-02 -9.20462041e-05 9.99875622e-01 2.08919726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.95925415399998 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:140.81, Y:1.48, Z:2.09 [[ 9.99793187e-01 -1.28395248e-02 -1.57711551e-02 1.40810561e+02] [ 1.28394103e-02 9.99917565e-01 -1.08515292e-04 1.48183073e+00] [ 1.57712483e-02 -9.39994820e-05 9.99875622e-01 2.08964579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.98925415399998 meters Centerline goodness : 0.999419 Centerline is valid? [True, True] Translation: X:140.84, Y:1.48, Z:2.09 [[ 9.99680085e-01 -1.97736909e-02 -1.57711234e-02 1.40839435e+02] [ 1.97743693e-02 9.99804462e-01 -1.12938786e-04 1.47899734e+00] [ 1.57702728e-02 -1.98961364e-04 9.99875622e-01 2.09081745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.01925415399998 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:140.87, Y:1.48, Z:2.09 [[ 9.99584623e-01 -2.41216477e-02 -1.57711152e-02 1.40868841e+02] [ 2.41228492e-02 9.99708995e-01 -1.14074144e-04 1.47761925e+00] [ 1.57692774e-02 -2.66417474e-04 9.99875622e-01 2.09143746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.04925415399998 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:140.90, Y:1.48, Z:2.09 [[ 9.99472760e-01 -2.83808657e-02 -1.57711110e-02 1.40898835e+02] [ 2.83825880e-02 9.99597127e-01 -1.14650763e-04 1.47592703e+00] [ 1.57680112e-02 -3.33034633e-04 9.99875622e-01 2.09094762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.07925415399998 meters Centerline goodness : 0.999359 Centerline is valid? [True, True] Translation: X:140.93, Y:1.47, Z:2.09 [[ 9.99342182e-01 -3.26569169e-02 -1.57711177e-02 1.40931335e+02] [ 3.26591858e-02 9.99466540e-01 -1.13730616e-04 1.47414409e+00] [ 1.57664185e-02 -4.01416060e-04 9.99875622e-01 2.09183053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.10925415399998 meters Centerline goodness : 0.999296 Centerline is valid? [True, True] Translation: X:140.96, Y:1.47, Z:2.09 [[ 9.99036725e-01 -4.09498964e-02 -1.57711260e-02 1.40963530e+02] [ 4.09532158e-02 9.99161059e-01 -1.12567441e-04 1.47063393e+00] [ 1.57625045e-02 -5.33419317e-04 9.99875622e-01 2.09177374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.13925415399999 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:141.00, Y:1.47, Z:2.09 [[ 9.98883412e-01 -4.45331500e-02 -1.57711342e-02 1.40995140e+02] [ 4.45369336e-02 9.99007732e-01 -1.11409031e-04 1.46869838e+00] [ 1.57604464e-02 -5.91113321e-04 9.99875622e-01 2.09180723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.169254154 meters Centerline goodness : 0.999232 Centerline is valid? [True, True] Translation: X:141.03, Y:1.47, Z:2.09 [[ 9.98740977e-01 -4.76207132e-02 -1.57711402e-02 1.41028344e+02] [ 4.76248947e-02 9.98865285e-01 -1.10544267e-04 1.46689789e+00] [ 1.57585087e-02 -6.40693802e-04 9.99875622e-01 2.09220827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.199254154 meters Centerline goodness : 0.999213 Centerline is valid? [True, True] Translation: X:141.06, Y:1.46, Z:2.09 [[ 9.98534226e-01 -5.17751877e-02 -1.57711522e-02 1.41060203e+02] [ 5.17799136e-02 9.98658515e-01 -1.08810450e-04 1.46405737e+00] [ 1.57556291e-02 -7.07977938e-04 9.99875622e-01 2.09268975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.229254154 meters Centerline goodness : 0.999171 Centerline is valid? [True, True] Translation: X:141.09, Y:1.46, Z:2.09 [[ 9.98492164e-01 -5.25801245e-02 -1.57711620e-02 1.41093270e+02] [ 5.25849733e-02 9.98616447e-01 -1.07371994e-04 1.46322741e+00] [ 1.57549874e-02 -7.22116037e-04 9.99875622e-01 2.09302813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.259254154 meters Centerline goodness : 0.999235 Centerline is valid? [True, True] Translation: X:141.13, Y:1.46, Z:2.09 [[ 9.98476367e-01 -5.28792387e-02 -1.57711735e-02 1.41126552e+02] [ 5.28841518e-02 9.98600649e-01 -1.05655722e-04 1.46263876e+00] [ 1.57546910e-02 -7.28550390e-04 9.99875622e-01 2.09386092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.289254154 meters Centerline goodness : 0.999191 Centerline is valid? [True, True] Translation: X:141.16, Y:1.46, Z:2.09 [[ 9.98487660e-01 -5.26655763e-02 -1.57711850e-02 1.41158702e+02] [ 5.26704905e-02 9.98611941e-01 -1.03899023e-04 1.46188729e+00] [ 1.57547656e-02 -7.26934160e-04 9.99875622e-01 2.09338670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.319254154 meters Centerline goodness : 0.999276 Centerline is valid? [True, True] Translation: X:141.19, Y:1.46, Z:2.09 [[ 9.98509717e-01 -5.22457192e-02 -1.57711945e-02 1.41190398e+02] [ 5.22506040e-02 9.98633999e-01 -1.02443724e-04 1.46186523e+00] [ 1.57550033e-02 -7.21763384e-04 9.99875622e-01 2.09353180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.349254154 meters Centerline goodness : 0.999405 Centerline is valid? [True, True] Translation: X:141.22, Y:1.46, Z:2.09 [[ 9.98551590e-01 -5.14391914e-02 -1.57712017e-02 1.41223082e+02] [ 5.14439935e-02 9.98675876e-01 -1.01327118e-04 1.46177202e+00] [ 1.57555308e-02 -7.10153240e-04 9.99875622e-01 2.09424467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.379254154 meters Centerline goodness : 0.999127 Centerline is valid? [True, True] Translation: X:141.25, Y:1.46, Z:2.09 [[ 9.98584361e-01 -5.07990439e-02 -1.57712124e-02 1.41254884e+02] [ 5.08037932e-02 9.98708649e-01 -9.96204992e-05 1.46152215e+00] [ 1.57559069e-02 -7.01757944e-04 9.99875622e-01 2.09476115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.409254154 meters Centerline goodness : 0.999234 Centerline is valid? [True, True] Translation: X:141.29, Y:1.46, Z:2.09 [[ 9.98620819e-01 -5.00772241e-02 -1.57712197e-02 1.41287372e+02] [ 5.00819017e-02 9.98745109e-01 -9.84659471e-05 1.46114515e+00] [ 1.57563594e-02 -6.91522528e-04 9.99875622e-01 2.09493139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.439254154 meters Centerline goodness : 0.999235 Centerline is valid? [True, True] Translation: X:141.32, Y:1.46, Z:2.10 [[ 9.98655558e-01 -4.93795928e-02 -1.57712285e-02 1.41318504e+02] [ 4.93842063e-02 9.98779851e-01 -9.70248654e-05 1.46083144e+00] [ 1.57567763e-02 -6.81955182e-04 9.99875622e-01 2.09502311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.469254154 meters Centerline goodness : 0.999021 Centerline is valid? [True, True] Translation: X:141.35, Y:1.46, Z:2.10 [[ 9.98675192e-01 -4.89809045e-02 -1.57712337e-02 1.41350246e+02] [ 4.89854817e-02 9.98799486e-01 -9.61797930e-05 1.46089285e+00] [ 1.57570111e-02 -6.76509105e-04 9.99875622e-01 2.09584508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.499254154 meters Centerline goodness : 0.999236 Centerline is valid? [True, True] Translation: X:141.38, Y:1.46, Z:2.10 [[ 9.98686568e-01 -4.87484134e-02 -1.57712405e-02 1.41382781e+02] [ 4.87529795e-02 9.98810862e-01 -9.50488312e-05 1.46098599e+00] [ 1.57571198e-02 -6.73970974e-04 9.99875622e-01 2.09656769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.529254154 meters Centerline goodness : 0.999297 Centerline is valid? [True, True] Translation: X:141.41, Y:1.46, Z:2.10 [[ 9.98679971e-01 -4.88833553e-02 -1.57712473e-02 1.41414537e+02] [ 4.88879563e-02 9.98804265e-01 -9.38995901e-05 1.46123484e+00] [ 1.57569792e-02 -6.77248411e-04 9.99875622e-01 2.09650920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.559254154 meters Centerline goodness : 0.999254 Centerline is valid? [True, True] Translation: X:141.45, Y:1.46, Z:2.10 [[ 9.98663532e-01 -4.92180515e-02 -1.57712541e-02 1.41446904e+02] [ 4.92227124e-02 9.98787823e-01 -9.27461533e-05 1.46144491e+00] [ 1.57567014e-02 -6.83681705e-04 9.99875622e-01 2.09650327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.58925415399997 meters Centerline goodness : 0.999170 Centerline is valid? [True, True] Translation: X:141.48, Y:1.46, Z:2.10 [[ 9.98635390e-01 -4.97857994e-02 -1.57712608e-02 1.41478443e+02] [ 4.97905491e-02 9.98759677e-01 -9.15932101e-05 1.46144334e+00] [ 1.57562594e-02 -6.93791515e-04 9.99875622e-01 2.09583506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.61925415399998 meters Centerline goodness : 0.999446 Centerline is valid? [True, True] Translation: X:141.51, Y:1.46, Z:2.10 [[ 9.98609401e-01 -5.03043884e-02 -1.57712658e-02 1.41511930e+02] [ 5.03092161e-02 9.98733685e-01 -9.07347990e-05 1.46143833e+00] [ 1.57558587e-02 -7.02831394e-04 9.99875622e-01 2.09664267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.64925415399998 meters Centerline goodness : 0.999151 Centerline is valid? [True, True] Translation: X:141.54, Y:1.46, Z:2.10 [[ 9.98571023e-01 -5.10605391e-02 -1.57712754e-02 1.41543852e+02] [ 5.10654880e-02 9.98695303e-01 -8.90201665e-05 1.46176436e+00] [ 1.57552441e-02 -7.16474917e-04 9.99875622e-01 2.09719190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.67925415399998 meters Centerline goodness : 0.999448 Centerline is valid? [True, True] Translation: X:141.58, Y:1.46, Z:2.10 [[ 9.98552840e-01 -5.14148979e-02 -1.57712818e-02 1.41576492e+02] [ 5.14199089e-02 9.98677118e-01 -8.78820101e-05 1.46224912e+00] [ 1.57549367e-02 -7.23203041e-04 9.99875622e-01 2.09839143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.70925415399998 meters Centerline goodness : 0.999320 Centerline is valid? [True, True] Translation: X:141.61, Y:1.46, Z:2.10 [[ 9.98649412e-01 -4.95037305e-02 -1.57712880e-02 1.41605216e+02] [ 4.95085215e-02 9.98773697e-01 -8.67433715e-05 1.46313583e+00] [ 1.57562418e-02 -6.94186936e-04 9.99875622e-01 2.09801715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.73925415399998 meters Centerline goodness : 0.999341 Centerline is valid? [True, True] Translation: X:141.64, Y:1.46, Z:2.10 [[ 9.98619491e-01 -5.01038688e-02 -1.57706845e-02 1.41639965e+02] [ 5.01069697e-02 9.98743837e-01 -1.98699061e-04 1.46373937e+00] [ 1.57608296e-02 -5.91796456e-04 9.99875615e-01 2.10155996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.76925415399998 meters Centerline goodness : 0.999511 Centerline is valid? [True, True] Translation: X:141.67, Y:1.46, Z:2.10 [[ 9.98702342e-01 -4.84241582e-02 -1.57712865e-02 1.41670774e+02] [ 4.84289225e-02 9.98826628e-01 -7.99153030e-05 1.46431354e+00] [ 1.57566508e-02 -6.83974813e-04 9.99875622e-01 2.10259465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.79925415399998 meters Centerline goodness : 0.999107 Centerline is valid? [True, True] Translation: X:141.70, Y:1.47, Z:2.10 [[ 9.98930796e-01 -4.34572356e-02 -1.57712970e-02 1.41703175e+02] [ 4.34614150e-02 9.99055103e-01 -7.78028228e-05 1.46629583e+00] [ 1.57597758e-02 -6.07723247e-04 9.99875622e-01 2.10491981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.82925415399998 meters Centerline goodness : 0.999130 Centerline is valid? [True, True] Translation: X:141.73, Y:1.47, Z:2.10 [[ 9.99050860e-01 -4.06035050e-02 -1.57713026e-02 1.41734377e+02] [ 4.06073478e-02 9.99175179e-01 -7.66301000e-05 1.46745919e+00] [ 1.57614056e-02 -5.63873405e-04 9.99875622e-01 2.10493046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.85925415399998 meters Centerline goodness : 0.999340 Centerline is valid? [True, True] Translation: X:141.77, Y:1.47, Z:2.11 [[ 9.99164529e-01 -3.77029241e-02 -1.57713068e-02 1.41766429e+02] [ 3.77064198e-02 9.99288857e-01 -7.57555592e-05 1.46869517e+00] [ 1.57629474e-02 -5.18987249e-04 9.99875622e-01 2.10702770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.88925415399999 meters Centerline goodness : 0.999339 Centerline is valid? [True, True] Translation: X:141.80, Y:1.47, Z:2.11 [[ 9.99254263e-01 -3.52446293e-02 -1.57713124e-02 1.41797194e+02] [ 3.52478377e-02 9.99378599e-01 -7.45767865e-05 1.46981504e+00] [ 1.57641405e-02 -4.81383488e-04 9.99875622e-01 2.10659247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.919254154 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:141.83, Y:1.47, Z:2.11 [[ 9.99368747e-01 -3.18335185e-02 -1.57713165e-02 1.41829456e+02] [ 3.18363163e-02 9.99493093e-01 -7.36981436e-05 1.47150949e+00] [ 1.57656680e-02 -4.28449001e-04 9.99875622e-01 2.10781995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.949254154 meters Centerline goodness : 0.999424 Centerline is valid? [True, True] Translation: X:141.86, Y:1.47, Z:2.11 [[ 9.99403935e-01 -3.07089538e-02 -1.57713219e-02 1.41860298e+02] [ 3.07116300e-02 9.99528284e-01 -7.25385922e-05 1.47197857e+00] [ 1.57661099e-02 -4.11867647e-04 9.99875622e-01 2.10753317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.979254154 meters Centerline goodness : 0.999445 Centerline is valid? [True, True] Translation: X:141.89, Y:1.47, Z:2.11 [[ 9.99418005e-01 -3.02475808e-02 -1.57713258e-02 1.41891675e+02] [ 3.02502132e-02 9.99542355e-01 -7.16745574e-05 1.47219400e+00] [ 1.57662761e-02 -4.05453125e-04 9.99875622e-01 2.10734105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.009254154 meters Centerline goodness : 0.999445 Centerline is valid? [True, True] Translation: X:141.92, Y:1.47, Z:2.11 [[ 9.99421606e-01 -3.01283640e-02 -1.57713284e-02 1.41922856e+02] [ 3.01309905e-02 9.99545956e-01 -7.11047499e-05 1.47205377e+00] [ 1.57663098e-02 -4.04142122e-04 9.99875622e-01 2.10733538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.039254154 meters Centerline goodness : 0.999297 Centerline is valid? [True, True] Translation: X:141.95, Y:1.47, Z:2.11 [[ 9.99380203e-01 -3.14718247e-02 -1.57713309e-02 1.41954296e+02] [ 3.14746275e-02 9.99504549e-01 -7.05275275e-05 1.47212379e+00] [ 1.57657366e-02 -4.25912952e-04 9.99875622e-01 2.10621554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.069254154 meters Centerline goodness : 0.999445 Centerline is valid? [True, True] Translation: X:141.99, Y:1.47, Z:2.11 [[ 9.99353171e-01 -3.23187998e-02 -1.57713392e-02 1.41986439e+02] [ 3.23217380e-02 9.99477514e-01 -6.86233758e-05 1.47239758e+00] [ 1.57653167e-02 -4.41178106e-04 9.99875622e-01 2.10659038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.099254154 meters Centerline goodness : 0.999340 Centerline is valid? [True, True] Translation: X:142.02, Y:1.47, Z:2.11 [[ 9.99284999e-01 -3.43621293e-02 -1.57713441e-02 1.42017771e+02] [ 3.43653398e-02 9.99409335e-01 -6.74841267e-05 1.47251116e+00] [ 1.57643474e-02 -4.74551723e-04 9.99875622e-01 2.10589284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.129254154 meters Centerline goodness : 0.999232 Centerline is valid? [True, True] Translation: X:142.05, Y:1.47, Z:2.11 [[ 9.99245405e-01 -3.54948749e-02 -1.57713477e-02 1.42050282e+02] [ 3.54982397e-02 9.99369737e-01 -6.66351243e-05 1.47262310e+00] [ 1.57637728e-02 -4.93270239e-04 9.99875622e-01 2.10647544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.159254154 meters Centerline goodness : 0.999381 Centerline is valid? [True, True] Translation: X:142.08, Y:1.47, Z:2.11 [[ 9.99206556e-01 -3.65721615e-02 -1.57713523e-02 1.42081407e+02] [ 3.65756778e-02 9.99330884e-01 -6.55265804e-05 1.47279713e+00] [ 1.57631959e-02 -5.11373311e-04 9.99875622e-01 2.10681751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.189254154 meters Centerline goodness : 0.999296 Centerline is valid? [True, True] Translation: X:142.11, Y:1.47, Z:2.11 [[ 9.99139583e-01 -3.83582878e-02 -1.57713557e-02 1.42113351e+02] [ 3.83620394e-02 9.99263904e-01 -6.46995552e-05 1.47369236e+00] [ 1.57622282e-02 -5.40377482e-04 9.99875622e-01 2.10805771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.219254154 meters Centerline goodness : 0.999359 Centerline is valid? [True, True] Translation: X:142.15, Y:1.47, Z:2.11 [[ 9.99112190e-01 -3.90652829e-02 -1.57713601e-02 1.42145487e+02] [ 3.90691399e-02 9.99236508e-01 -6.35928350e-05 1.47429995e+00] [ 1.57618031e-02 -5.52637100e-04 9.99875622e-01 2.10921505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.249254154 meters Centerline goodness : 0.999488 Centerline is valid? [True, True] Translation: X:142.18, Y:1.48, Z:2.11 [[ 9.99076425e-01 -3.99695076e-02 -1.57713646e-02 1.42177800e+02] [ 3.99734947e-02 9.99200739e-01 -6.24757536e-05 1.47513735e+00] [ 1.57612563e-02 -5.68018506e-04 9.99875622e-01 2.11000112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.279254154 meters Centerline goodness : 0.999274 Centerline is valid? [True, True] Translation: X:142.21, Y:1.48, Z:2.11 [[ 9.99024212e-01 -4.12539476e-02 -1.57713689e-02 1.42210234e+02] [ 4.12581121e-02 9.99148520e-01 -6.13612244e-05 1.47591052e+00] [ 1.57604713e-02 -5.89395558e-04 9.99875622e-01 2.11044340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.309254154 meters Centerline goodness : 0.999530 Centerline is valid? [True, True] Translation: X:142.24, Y:1.48, Z:2.11 [[ 9.98953011e-01 -4.29435197e-02 -1.57713731e-02 1.42242260e+02] [ 4.29479119e-02 9.99077311e-01 -6.02535917e-05 1.47666038e+00] [ 1.57594086e-02 -6.17157038e-04 9.99875622e-01 2.11115954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.33925415399997 meters Centerline goodness : 0.999423 Centerline is valid? [True, True] Translation: X:142.27, Y:1.48, Z:2.11 [[ 9.98868142e-01 -4.48742418e-02 -1.57713773e-02 1.42274684e+02] [ 4.48788916e-02 9.98992433e-01 -5.91514180e-05 1.47713613e+00] [ 1.57581409e-02 -6.48717464e-04 9.99875622e-01 2.11176308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.36925415399998 meters Centerline goodness : 0.999359 Centerline is valid? [True, True] Translation: X:142.31, Y:1.48, Z:2.11 [[ 9.98634058e-01 -4.98124690e-02 -1.57713814e-02 1.42308208e+02] [ 4.98177507e-02 9.98758323e-01 -5.80412640e-05 1.47804867e+00] [ 1.57546896e-02 -7.27732763e-04 9.99875622e-01 2.11294157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.39925415399998 meters Centerline goodness : 0.999530 Centerline is valid? [True, True] Translation: X:142.34, Y:1.48, Z:2.11 [[ 9.98513650e-01 -5.21704239e-02 -1.57713876e-02 1.42341341e+02] [ 5.21760265e-02 9.98637902e-01 -5.63057332e-05 1.47876206e+00] [ 1.57528429e-02 -7.66666291e-04 9.99875622e-01 2.11343862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.42925415399998 meters Centerline goodness : 0.999466 Centerline is valid? [True, True] Translation: X:142.37, Y:1.48, Z:2.11 [[ 9.98241071e-01 -5.71491631e-02 -1.57713935e-02 1.42373776e+02] [ 5.71554124e-02 9.98365292e-01 -5.45817449e-05 1.48008297e+00] [ 1.57487312e-02 -8.46934761e-04 9.99875622e-01 2.11353507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.45925415399998 meters Centerline goodness : 0.999487 Centerline is valid? [True, True] Translation: X:142.41, Y:1.48, Z:2.11 [[ 9.98133636e-01 -5.89958244e-02 -1.57713983e-02 1.42406699e+02] [ 5.90023260e-02 9.98257844e-01 -5.31518429e-05 1.48068779e+00] [ 1.57470578e-02 -8.77496544e-04 9.99875622e-01 2.11427972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.48925415399998 meters Centerline goodness : 0.999337 Centerline is valid? [True, True] Translation: X:142.44, Y:1.48, Z:2.12 [[ 9.98043589e-01 -6.05000521e-02 -1.57714039e-02 1.42440180e+02] [ 6.05067675e-02 9.98167786e-01 -5.14598997e-05 1.48126988e+00] [ 1.57456206e-02 -9.02917444e-04 9.99875622e-01 2.11524168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.51925415399998 meters Centerline goodness : 0.999424 Centerline is valid? [True, True] Translation: X:142.47, Y:1.48, Z:2.11 [[ 9.97971948e-01 -6.16705265e-02 -1.57714093e-02 1.42472144e+02] [ 6.16774146e-02 9.98096135e-01 -4.97412212e-05 1.48175535e+00] [ 1.57444502e-02 -9.23099406e-04 9.99875622e-01 2.11447675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.54925415399998 meters Centerline goodness : 0.999529 Centerline is valid? [True, True] Translation: X:142.51, Y:1.48, Z:2.12 [[ 9.97922215e-01 -6.24701082e-02 -1.57714136e-02 1.42505512e+02] [ 6.24771183e-02 9.98046395e-01 -4.83178326e-05 1.48245555e+00] [ 1.57436210e-02 -9.37135037e-04 9.99875622e-01 2.11644188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.57925415399998 meters Centerline goodness : 0.999465 Centerline is valid? [True, True] Translation: X:142.54, Y:1.48, Z:2.12 [[ 9.97923060e-01 -6.24566217e-02 -1.57714187e-02 1.42537573e+02] [ 6.24636568e-02 9.98047238e-01 -4.66219626e-05 1.48326665e+00] [ 1.57435327e-02 -9.38615350e-04 9.99875622e-01 2.11692380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.60925415399998 meters Centerline goodness : 0.999485 Centerline is valid? [True, True] Translation: X:142.57, Y:1.48, Z:2.12 [[ 9.97999873e-01 -6.12169598e-02 -1.57714227e-02 1.42569136e+02] [ 6.12238628e-02 9.98124059e-01 -4.52179312e-05 1.48399628e+00] [ 1.57446045e-02 -9.20459928e-04 9.99875622e-01 2.11654389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.63925415399999 meters Centerline goodness : 0.999463 Centerline is valid? [True, True] Translation: X:142.60, Y:1.48, Z:2.12 [[ 9.97961778e-01 -6.18349354e-02 -1.57711986e-02 1.42602181e+02] [ 6.18407150e-02 9.98086024e-01 -1.21419301e-04 1.48450828e+00] [ 1.57485208e-02 -8.54130375e-04 9.99875620e-01 2.11711468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.669254154 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:142.63, Y:1.48, Z:2.12 [[ 9.98053984e-01 -6.03283327e-02 -1.57714104e-02 1.42633947e+02] [ 6.03351739e-02 9.98178173e-01 -4.21153165e-05 1.48477626e+00] [ 1.57452184e-02 -9.09537429e-04 9.99875623e-01 2.11684860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.699254154 meters Centerline goodness : 0.999420 Centerline is valid? [True, True] Translation: X:142.67, Y:1.49, Z:2.12 [[ 9.98098499e-01 -5.95873584e-02 -1.57712430e-02 1.42666076e+02] [ 5.95931348e-02 9.98222744e-01 -1.03864905e-04 1.48587161e+00] [ 1.57494025e-02 -8.36190403e-04 9.99875621e-01 2.11659037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.729254154 meters Centerline goodness : 0.999421 Centerline is valid? [True, True] Translation: X:142.70, Y:1.49, Z:2.12 [[ 9.98197911e-01 -5.78981306e-02 -1.57714039e-02 1.42698694e+02] [ 5.79047139e-02 9.98322114e-01 -3.92891755e-05 1.48660250e+00] [ 1.57472160e-02 -8.74020258e-04 9.99875623e-01 2.11694103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.759254154 meters Centerline goodness : 0.999569 Centerline is valid? [True, True] Translation: X:142.74, Y:1.48, Z:2.11 [[ 9.98554033e-01 -5.13916919e-02 -1.57714078e-02 1.42738104e+02] [ 5.13974917e-02 9.98678275e-01 -3.76362978e-05 1.48244057e+00] [ 1.57524966e-02 -7.73028926e-04 9.99875623e-01 2.11491809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.789254154 meters Centerline goodness : 0.999634 Centerline is valid? [True, True] Translation: X:142.76, Y:1.49, Z:2.12 [[ 9.98428314e-01 -5.37786501e-02 -1.57720668e-02 1.42760605e+02] [ 5.37902656e-02 9.98552207e-01 3.12858959e-04 1.48936583e+00] [ 1.57324069e-02 -1.16075090e-03 9.99875564e-01 2.11797070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.819254154 meters Centerline goodness : 0.999654 Centerline is valid? [True, True] Translation: X:142.80, Y:1.49, Z:2.12 [[ 9.98919641e-01 -4.37129273e-02 -1.57711768e-02 1.42798933e+02] [ 4.37177368e-02 9.99043922e-01 -3.98373009e-05 1.48873953e+00] [ 1.57578398e-02 -6.49685897e-04 9.99875626e-01 2.11734832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.849254154 meters Centerline goodness : 0.999654 Centerline is valid? [True, True] Translation: X:142.83, Y:1.49, Z:2.12 [[ 9.98910078e-01 -4.39306765e-02 -1.57718594e-02 1.42830529e+02] [ 4.39403855e-02 9.99034119e-01 2.69423292e-04 1.48880643e+00] [ 1.57447897e-02 -9.62151223e-04 9.99875580e-01 2.11773874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.879254154 meters Centerline goodness : 0.999589 Centerline is valid? [True, True] Translation: X:142.85, Y:1.50, Z:2.12 [[ 9.98885509e-01 -4.44858297e-02 -1.57718497e-02 1.42854309e+02] [ 4.44955417e-02 9.99009548e-01 2.65229184e-04 1.49536791e+00] [ 1.57444295e-02 -9.66710586e-04 9.99875581e-01 2.12142769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.909254154 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:142.89, Y:1.50, Z:2.12 [[ 9.99052269e-01 -4.05689540e-02 -1.57709659e-02 1.42886192e+02] [ 4.05732913e-02 9.99176564e-01 -4.49730410e-05 1.49722806e+00] [ 1.57598040e-02 -5.94949576e-04 9.99875630e-01 2.12273758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.939254154 meters Centerline goodness : 0.999588 Centerline is valid? [True, True] Translation: X:142.92, Y:1.50, Z:2.12 [[ 9.99207486e-01 -3.65469063e-02 -1.57709690e-02 1.42918543e+02] [ 3.65507609e-02 9.99331797e-01 -4.38534236e-05 1.49848700e+00] [ 1.57620335e-02 -5.32622249e-04 9.99875630e-01 2.12450724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.969254154 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:142.95, Y:1.50, Z:2.12 [[ 9.99456460e-01 -2.89492772e-02 -1.57709722e-02 1.42949406e+02] [ 2.89522052e-02 9.99580796e-01 -4.26753261e-05 1.50063590e+00] [ 1.57655964e-02 -4.13952293e-04 9.99875630e-01 2.12445527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.999254154 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:142.98, Y:1.50, Z:2.13 [[ 9.99563354e-01 -2.49875511e-02 -1.57709745e-02 1.42981860e+02] [ 2.49900001e-02 9.99687700e-01 -4.17983272e-05 1.50123588e+00] [ 1.57670937e-02 -3.52336579e-04 9.99875630e-01 2.12532360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.029254154 meters Centerline goodness : 0.999500 Centerline is valid? [True, True] Translation: X:143.01, Y:1.50, Z:2.13 [[ 9.99642806e-01 -2.15762959e-02 -1.57709776e-02 1.43012324e+02] [ 2.15783392e-02 9.99767160e-01 -4.06168584e-05 1.50198028e+00] [ 1.57681818e-02 -2.99709153e-04 9.99875630e-01 2.12521684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.059254154 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:143.04, Y:1.50, Z:2.13 [[ 9.99768674e-01 -1.46244618e-02 -1.57709783e-02 1.43043074e+02] [ 1.46256449e-02 9.99893039e-01 -4.03258890e-05 1.50287135e+00] [ 1.57698812e-02 -1.90344168e-04 9.99875630e-01 2.12620206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.08925415399997 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:143.07, Y:1.50, Z:2.13 [[ 9.99809800e-01 -1.14734253e-02 -1.57709783e-02 1.43071381e+02] [ 1.14742164e-02 9.99934168e-01 -4.03258890e-05 1.50322891e+00] [ 1.57704028e-02 -1.40641400e-04 9.99875630e-01 2.12705886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.11925415399998 meters Centerline goodness : 0.999542 Centerline is valid? [True, True] Translation: X:143.10, Y:1.50, Z:2.13 [[ 9.99839197e-01 -8.53560262e-03 -1.57709669e-02 1.43098652e+02] [ 8.53596438e-03 9.99963567e-01 -4.43775336e-05 1.50318229e+00] [ 1.57707711e-02 -9.02500143e-05 9.99875630e-01 2.12729040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.14925415399998 meters Centerline goodness : 0.999565 Centerline is valid? [True, True] Translation: X:143.13, Y:1.50, Z:2.13 [[ 9.99859233e-01 -5.72637348e-03 -1.57709596e-02 1.43126724e+02] [ 5.72634677e-03 9.99983603e-01 -4.68517109e-05 1.50291601e+00] [ 1.57709693e-02 -4.34648677e-05 9.99875630e-01 2.12802052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.17925415399998 meters Centerline goodness : 0.999520 Centerline is valid? [True, True] Translation: X:143.15, Y:1.50, Z:2.13 [[ 9.99875460e-01 -5.84989786e-04 -1.57709449e-02 1.43154120e+02] [ 5.84252528e-04 9.99999828e-01 -5.13551632e-05 1.50137666e+00] [ 1.57709722e-02 4.21345530e-05 9.99875630e-01 2.12896714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.20925415399998 meters Centerline goodness : 0.999543 Centerline is valid? [True, True] Translation: X:143.18, Y:1.50, Z:2.13 [[ 9.99875077e-01 1.05229074e-03 -1.57709285e-02 1.43182061e+02] [-1.05330439e-03 9.99999444e-01 -5.59666421e-05 1.50034854e+00] [ 1.57708609e-02 7.25712389e-05 9.99875630e-01 2.12933184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.23925415399998 meters Centerline goodness : 0.999565 Centerline is valid? [True, True] Translation: X:143.21, Y:1.50, Z:2.13 [[ 9.99872338e-01 2.56617221e-03 -1.57709108e-02 1.43209080e+02] [-2.56744692e-03 9.99996702e-01 -6.05804767e-05 1.49914779e+00] [ 1.57707034e-02 1.01063719e-04 9.99875630e-01 2.12954923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.26925415399998 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:143.24, Y:1.50, Z:2.13 [[ 9.99869940e-01 3.37357490e-03 -1.57708982e-02 1.43237294e+02] [-3.37499946e-03 9.99994303e-01 -6.37141816e-05 1.49795934e+00] [ 1.57705934e-02 1.16932668e-04 9.99875630e-01 2.12986310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.29925415399998 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:143.26, Y:1.49, Z:2.13 [[ 9.99867779e-01 3.96267984e-03 -1.57708911e-02 1.43264415e+02] [-3.96420438e-03 9.99992140e-01 -6.54077812e-05 1.49463757e+00] [ 1.57705080e-02 1.27918169e-04 9.99875630e-01 2.12923225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.32925415399998 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:143.29, Y:1.49, Z:2.13 [[ 9.99868554e-01 3.76211966e-03 -1.57708828e-02 1.43292404e+02] [-3.76365018e-03 9.99992915e-01 -6.73687290e-05 1.49292600e+00] [ 1.57705176e-02 1.26715959e-04 9.99875630e-01 2.12891512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.35925415399998 meters Centerline goodness : 0.999329 Centerline is valid? [True, True] Translation: X:143.32, Y:1.49, Z:2.13 [[ 9.99869402e-01 3.52956905e-03 -1.57708755e-02 1.43321391e+02] [-3.53109680e-03 9.99993763e-01 -6.90267560e-05 1.49108948e+00] [ 1.57705335e-02 1.24706229e-04 9.99875630e-01 2.12878579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.38925415399999 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:143.35, Y:1.49, Z:2.13 [[ 9.99871505e-01 2.87283591e-03 -1.57708706e-02 1.43349939e+02] [-2.87429933e-03 9.99995867e-01 -7.01267349e-05 1.48712979e+00] [ 1.57706040e-02 1.15447927e-04 9.99875630e-01 2.12852562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.419254154 meters Centerline goodness : 0.999439 Centerline is valid? [True, True] Translation: X:143.38, Y:1.49, Z:2.13 [[ 9.99874208e-01 1.68736758e-03 -1.57708654e-02 1.43378092e+02] [-1.68870159e-03 9.99998572e-01 -7.12703047e-05 1.48527637e+00] [ 1.57707227e-02 9.78936250e-05 9.99875630e-01 2.12906936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.449254154 meters Centerline goodness : 0.999375 Centerline is valid? [True, True] Translation: X:143.41, Y:1.48, Z:2.13 [[ 9.99875362e-01 7.35883523e-04 -1.57708576e-02 1.43405999e+02] [-7.37126057e-04 9.99999726e-01 -7.29739365e-05 1.48306622e+00] [ 1.57707995e-02 8.45899512e-05 9.99875630e-01 2.12948166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.479254154 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:143.43, Y:1.48, Z:2.13 [[ 9.99872257e-01 -2.59808685e-03 -1.57708494e-02 1.43432106e+02] [ 2.59723183e-03 9.99996624e-01 -7.46965206e-05 1.48020994e+00] [ 1.57709902e-02 3.37264266e-05 9.99875630e-01 2.13099941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.509254154 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:143.46, Y:1.48, Z:2.13 [[ 9.99867925e-01 -3.92952990e-03 -1.57699697e-02 1.43462676e+02] [ 3.92617839e-03 9.99992263e-01 -2.43478763e-04 1.47544067e+00] [ 1.57708044e-02 1.81530891e-04 9.99875617e-01 2.13077203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.539254154 meters Centerline goodness : 0.999294 Centerline is valid? [True, True] Translation: X:143.49, Y:1.47, Z:2.13 [[ 9.99856636e-01 -6.16356223e-03 -1.57707900e-02 1.43490937e+02] [ 6.16309389e-03 9.99981005e-01 -7.82987483e-05 1.47241235e+00] [ 1.57709730e-02 -1.89093363e-05 9.99875630e-01 2.13155676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.569254154 meters Centerline goodness : 0.999230 Centerline is valid? [True, True] Translation: X:143.52, Y:1.47, Z:2.13 [[ 9.99840611e-01 -8.36865089e-03 -1.57707814e-02 1.43520130e+02] [ 8.36842994e-03 9.99964981e-01 -8.00032692e-05 1.46959901e+00] [ 1.57708986e-02 -5.19861613e-05 9.99875630e-01 2.13283727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.599254154 meters Centerline goodness : 0.999233 Centerline is valid? [True, True] Translation: X:143.55, Y:1.47, Z:2.13 [[ 9.99820986e-01 -1.04536802e-02 -1.57707753e-02 1.43547224e+02] [ 1.04537002e-02 9.99945355e-01 -8.11700719e-05 1.46695590e+00] [ 1.57707621e-02 -8.37074163e-05 9.99875630e-01 2.13180718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.629254154 meters Centerline goodness : 0.999319 Centerline is valid? [True, True] Translation: X:143.57, Y:1.46, Z:2.13 [[ 9.99781733e-01 -1.37030079e-02 -1.57706738e-02 1.43574953e+02] [ 1.37031404e-02 9.99906103e-01 -9.96673371e-05 1.46144490e+00] [ 1.57705587e-02 -1.16462174e-04 9.99875630e-01 2.13279244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.659254154 meters Centerline goodness : 0.999363 Centerline is valid? [True, True] Translation: X:143.60, Y:1.46, Z:2.13 [[ 9.99764944e-01 -1.48775311e-02 -1.57707333e-02 1.43602743e+02] [ 1.48779755e-02 9.99889313e-01 -8.91533413e-05 1.45886705e+00] [ 1.57703140e-02 -1.45504198e-04 9.99875630e-01 2.13445321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.689254154 meters Centerline goodness : 0.998854 Centerline is valid? [True, True] Translation: X:143.63, Y:1.46, Z:2.13 [[ 9.99754939e-01 -1.55353412e-02 -1.57707055e-02 1.43630545e+02] [ 1.55357939e-02 9.99879308e-01 -9.38126714e-05 1.45630093e+00] [ 1.57702595e-02 -1.51220750e-04 9.99875630e-01 2.13447316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.719254154 meters Centerline goodness : 0.999068 Centerline is valid? [True, True] Translation: X:143.66, Y:1.45, Z:2.13 [[ 9.99761319e-01 -1.51192080e-02 -1.57706766e-02 1.43658765e+02] [ 1.51195357e-02 9.99885688e-01 -9.84552954e-05 1.45121399e+00] [ 1.57703623e-02 -1.40013511e-04 9.99875630e-01 2.13281495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.749254154 meters Centerline goodness : 0.998813 Centerline is valid? [True, True] Translation: X:143.69, Y:1.45, Z:2.13 [[ 9.99767269e-01 -1.47205448e-02 -1.57706675e-02 1.43686254e+02] [ 1.47208003e-02 9.99891638e-01 -9.98901994e-05 1.44910771e+00] [ 1.57704290e-02 -1.32289894e-04 9.99875630e-01 2.13324347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.779254154 meters Centerline goodness : 0.999111 Centerline is valid? [True, True] Translation: X:143.71, Y:1.45, Z:2.13 [[ 9.99775794e-01 -1.41297285e-02 -1.57706367e-02 1.43714505e+02] [ 1.41298374e-02 9.99900163e-01 -1.04526296e-04 1.44719878e+00] [ 1.57705392e-02 -1.18333672e-04 9.99875630e-01 2.13342455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.809254154 meters Centerline goodness : 0.999173 Centerline is valid? [True, True] Translation: X:143.74, Y:1.45, Z:2.13 [[ 9.99786184e-01 -1.33744272e-02 -1.57706042e-02 1.43741847e+02] [ 1.33743681e-02 9.99910553e-01 -1.09222917e-04 1.44552610e+00] [ 1.57706544e-02 -1.01722302e-04 9.99875630e-01 2.13342753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.83925415399997 meters Centerline goodness : 0.999133 Centerline is valid? [True, True] Translation: X:143.77, Y:1.44, Z:2.13 [[ 9.99804701e-01 -1.19100438e-02 -1.57705940e-02 1.43769401e+02] [ 1.19097796e-02 9.99929070e-01 -1.10672692e-04 1.44207053e+00] [ 1.57707935e-02 -7.71732214e-05 9.99875630e-01 2.13395447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.86925415399998 meters Centerline goodness : 0.999154 Centerline is valid? [True, True] Translation: X:143.80, Y:1.44, Z:2.13 [[ 9.99806865e-01 -1.17269643e-02 -1.57705604e-02 1.43797429e+02] [ 1.17266047e-02 9.99931234e-01 -1.15278812e-04 1.44044844e+00] [ 1.57708278e-02 -6.96785798e-05 9.99875630e-01 2.13464472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.89925415399998 meters Centerline goodness : 0.999239 Centerline is valid? [True, True] Translation: X:143.83, Y:1.44, Z:2.14 [[ 9.99805136e-01 -1.18735513e-02 -1.57705253e-02 1.43825777e+02] [ 1.18731371e-02 9.99929505e-01 -1.19896619e-04 1.43852328e+00] [ 1.57708371e-02 -6.73723521e-05 9.99875630e-01 2.13504568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.92925415399998 meters Centerline goodness : 0.999050 Centerline is valid? [True, True] Translation: X:143.85, Y:1.44, Z:2.14 [[ 9.99798315e-01 -1.24347102e-02 -1.57704888e-02 1.43853577e+02] [ 1.24342928e-02 9.99922683e-01 -1.24519695e-04 1.43674770e+00] [ 1.57708178e-02 -7.16002940e-05 9.99875630e-01 2.13512351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.95925415399998 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:143.88, Y:1.43, Z:2.14 [[ 9.99784116e-01 -1.35282737e-02 -1.57704512e-02 1.43881785e+02] [ 1.35279201e-02 9.99908485e-01 -1.29106594e-04 1.43306050e+00] [ 1.57707546e-02 -8.42626815e-05 9.99875630e-01 2.13532635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.98925415399998 meters Centerline goodness : 0.999136 Centerline is valid? [True, True] Translation: X:143.91, Y:1.43, Z:2.14 [[ 9.99770848e-01 -1.44757186e-02 -1.57704126e-02 1.43909697e+02] [ 1.44754110e-02 9.99895217e-01 -1.33664157e-04 1.43184431e+00] [ 1.57706950e-02 -9.46496754e-05 9.99875630e-01 2.13562119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.01925415399998 meters Centerline goodness : 0.999179 Centerline is valid? [True, True] Translation: X:143.94, Y:1.43, Z:2.14 [[ 9.99756633e-01 -1.54262676e-02 -1.57703727e-02 1.43937316e+02] [ 1.54260064e-02 9.99881003e-01 -1.38211984e-04 1.43037066e+00] [ 1.57706282e-02 -1.05095523e-04 9.99875630e-01 2.13658353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.04925415399998 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:143.97, Y:1.43, Z:2.14 [[ 9.99721631e-01 -1.75486909e-02 -1.57703305e-02 1.43965067e+02] [ 1.75486202e-02 9.99846001e-01 -1.42874164e-04 1.42676354e+00] [ 1.57704091e-02 -1.33913148e-04 9.99875630e-01 2.13685931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.07925415399998 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:143.99, Y:1.43, Z:2.14 [[ 9.99688492e-01 -1.93446467e-02 -1.57703173e-02 1.43993361e+02] [ 1.93447767e-02 9.99812862e-01 -1.44315815e-04 1.42517741e+00] [ 1.57701578e-02 -1.60802407e-04 9.99875630e-01 2.13793252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.10925415399998 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:144.02, Y:1.42, Z:2.14 [[ 9.99648270e-01 -2.13221861e-02 -1.57702739e-02 1.44022088e+02] [ 2.13224897e-02 9.99772639e-01 -1.48907871e-04 1.42345218e+00] [ 1.57698634e-02 -1.87406009e-04 9.99875630e-01 2.13906259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.13925415399999 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:144.05, Y:1.42, Z:2.14 [[ 9.99595323e-01 -2.36746699e-02 -1.57702350e-02 1.44050962e+02] [ 2.36752029e-02 9.99719691e-01 -1.52922762e-04 1.42173179e+00] [ 1.57694349e-02 -2.20502635e-04 9.99875630e-01 2.13984716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.169254154 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:144.08, Y:1.42, Z:2.14 [[ 9.99527677e-01 -2.63765841e-02 -1.57701949e-02 1.44081098e+02] [ 2.63773897e-02 9.99652044e-01 -1.56953514e-04 1.41980764e+00] [ 1.57688474e-02 -2.59097194e-04 9.99875630e-01 2.14080003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.199254154 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:144.11, Y:1.42, Z:2.14 [[ 9.99344142e-01 -3.25973413e-02 -1.57701891e-02 1.44110647e+02] [ 3.25989119e-02 9.99468502e-01 -1.57531155e-04 1.41557844e+00] [ 1.57669424e-02 -3.56663168e-04 9.99875630e-01 2.14106778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.229254154 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:144.14, Y:1.41, Z:2.14 [[ 9.99233775e-01 -3.58212865e-02 -1.57701862e-02 1.44141931e+02] [ 3.58232538e-02 9.99358129e-01 -1.57817843e-04 1.41371729e+00] [ 1.57657171e-02 -4.07242465e-04 9.99875630e-01 2.14151851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.259254154 meters Centerline goodness : 0.998998 Centerline is valid? [True, True] Translation: X:144.17, Y:1.41, Z:2.14 [[ 9.99111501e-01 -3.90833692e-02 -1.57701918e-02 1.44173595e+02] [ 3.90857511e-02 9.99235848e-01 -1.57261192e-04 1.41197698e+00] [ 1.57642873e-02 -4.59268326e-04 9.99875630e-01 2.14210143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.289254154 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:144.20, Y:1.41, Z:2.14 [[ 9.98981724e-01 -4.22707374e-02 -1.57701975e-02 1.44204778e+02] [ 4.22735250e-02 9.99106063e-01 -1.56690696e-04 1.40998773e+00] [ 1.57627233e-02 -5.10130695e-04 9.99875630e-01 2.14271859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.319254154 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:144.24, Y:1.41, Z:2.14 [[ 9.98680811e-01 -4.88665454e-02 -1.57702032e-02 1.44237014e+02] [ 4.88701632e-02 9.98805128e-01 -1.56111145e-04 1.40645330e+00] [ 1.57589884e-02 -6.14787200e-04 9.99875630e-01 2.14298324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.349254154 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:144.27, Y:1.41, Z:2.14 [[ 9.98525754e-01 -5.19386089e-02 -1.57702146e-02 1.44269314e+02] [ 5.19426274e-02 9.98650059e-01 -1.54950674e-04 1.40538349e+00] [ 1.57569737e-02 -6.64424142e-04 9.99875630e-01 2.14357223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.379254154 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:144.30, Y:1.40, Z:2.14 [[ 9.98367204e-01 -5.49019647e-02 -1.57702259e-02 1.44301963e+02] [ 5.49063705e-02 9.98491496e-01 -1.53790704e-04 1.40430297e+00] [ 1.57548799e-02 -7.12346271e-04 9.99875630e-01 2.14400330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.409254154 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:144.33, Y:1.40, Z:2.14 [[ 9.98208728e-01 -5.77116541e-02 -1.57702372e-02 1.44333966e+02] [ 5.77164280e-02 9.98333006e-01 -1.52621381e-04 1.40317055e+00] [ 1.57527564e-02 -7.57853767e-04 9.99875630e-01 2.14425467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.439254154 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:144.37, Y:1.40, Z:2.14 [[ 9.97908556e-01 -6.26882236e-02 -1.57702485e-02 1.44365889e+02] [ 6.26936356e-02 9.98032808e-01 -1.51449890e-04 1.40147621e+00] [ 1.57487195e-02 -8.37561071e-04 9.99875630e-01 2.14450702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.469254154 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:144.40, Y:1.40, Z:2.14 [[ 9.97768096e-01 -6.48854835e-02 -1.57702596e-02 1.44397437e+02] [ 6.48911874e-02 9.97892334e-01 -1.50286648e-04 1.40115314e+00] [ 1.57467726e-02 -8.73399646e-04 9.99875630e-01 2.14440541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.499254154 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:144.43, Y:1.40, Z:2.14 [[ 9.97641140e-01 -6.68090946e-02 -1.57702678e-02 1.44429150e+02] [ 6.68150518e-02 9.97765366e-01 -1.49419883e-04 1.40091848e+00] [ 1.57450096e-02 -9.04623836e-04 9.99875630e-01 2.14474106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.529254154 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:144.46, Y:1.40, Z:2.14 [[ 9.97475042e-01 -6.92447811e-02 -1.57702785e-02 1.44460048e+02] [ 6.92510595e-02 9.97599253e-01 -1.48281317e-04 1.40042246e+00] [ 1.57426857e-02 -9.44201580e-04 9.99875630e-01 2.14469378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.559254154 meters Centerline goodness : 0.999021 Centerline is valid? [True, True] Translation: X:144.49, Y:1.40, Z:2.14 [[ 9.97439784e-01 -6.97508141e-02 -1.57702864e-02 1.44492480e+02] [ 6.97571689e-02 9.97563991e-01 -1.47432728e-04 1.40049864e+00] [ 1.57421534e-02 -9.53035264e-04 9.99875630e-01 2.14499959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.58925415399997 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:144.52, Y:1.40, Z:2.15 [[ 9.97438829e-01 -6.97644619e-02 -1.57702968e-02 1.44523736e+02] [ 6.97708360e-02 9.97563035e-01 -1.46311051e-04 1.40078568e+00] [ 1.57420725e-02 -9.54370470e-04 9.99875630e-01 2.14526036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.61925415399998 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:144.56, Y:1.40, Z:2.15 [[ 9.97444421e-01 -6.96844592e-02 -1.57703157e-02 1.44556209e+02] [ 6.96908560e-02 9.97568626e-01 -1.44241992e-04 1.40132419e+00] [ 1.57420236e-02 -9.55173433e-04 9.99875630e-01 2.14652043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.64925415399998 meters Centerline goodness : 0.999147 Centerline is valid? [True, True] Translation: X:144.59, Y:1.40, Z:2.15 [[ 9.97552590e-01 -6.81184749e-02 -1.57703264e-02 1.44588189e+02] [ 6.81246951e-02 9.97676804e-01 -1.43071137e-04 1.40284131e+00] [ 1.57434346e-02 -9.31627692e-04 9.99875630e-01 2.14721074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.67925415399998 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:144.62, Y:1.40, Z:2.15 [[ 9.97634238e-01 -6.69120571e-02 -1.57703395e-02 1.44620515e+02] [ 6.69181501e-02 9.97758458e-01 -1.41610366e-04 1.40429277e+00] [ 1.57444651e-02 -9.14046595e-04 9.99875630e-01 2.14805522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.70925415399998 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:144.65, Y:1.41, Z:2.15 [[ 9.97741897e-01 -6.52870751e-02 -1.57703494e-02 1.44653047e+02] [ 6.52929832e-02 9.97866127e-01 -1.40502232e-04 1.40595315e+00] [ 1.57458704e-02 -8.89508192e-04 9.99875630e-01 2.14932099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.73925415399998 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:144.68, Y:1.41, Z:2.15 [[ 9.97861916e-01 -6.34262676e-02 -1.57703598e-02 1.44684197e+02] [ 6.34319626e-02 9.97986156e-01 -1.39324562e-04 1.40758131e+00] [ 1.57474375e-02 -8.61318196e-04 9.99875630e-01 2.14970899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.76925415399998 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:144.72, Y:1.41, Z:2.15 [[ 9.97866581e-01 -6.33528339e-02 -1.57703675e-02 1.44716881e+02] [ 6.33585335e-02 9.97990820e-01 -1.38447217e-04 1.40780741e+00] [ 1.57474530e-02 -8.61035505e-04 9.99875630e-01 2.15022430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.79925415399998 meters Centerline goodness : 0.998873 Centerline is valid? [True, True] Translation: X:144.75, Y:1.41, Z:2.15 [[ 9.98124297e-01 -5.91538908e-02 -1.57703776e-02 1.44748630e+02] [ 5.91590860e-02 9.98248558e-01 -1.37286734e-04 1.41130660e+00] [ 1.57508777e-02 -7.95931897e-04 9.99875630e-01 2.15098972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.82925415399998 meters Centerline goodness : 0.998956 Centerline is valid? [True, True] Translation: X:144.78, Y:1.41, Z:2.15 [[ 9.98266943e-01 -5.66957298e-02 -1.57703876e-02 1.44781013e+02] [ 5.67006373e-02 9.98391216e-01 -1.36125120e-04 1.41311157e+00] [ 1.57527342e-02 -7.58301819e-04 9.99875630e-01 2.15170362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.85925415399998 meters Centerline goodness : 0.998976 Centerline is valid? [True, True] Translation: X:144.81, Y:1.41, Z:2.15 [[ 9.98401651e-01 -5.42718795e-02 -1.57703975e-02 1.44812428e+02] [ 5.42765035e-02 9.98525935e-01 -1.34966893e-04 1.41490508e+00] [ 1.57544758e-02 -7.21210866e-04 9.99875630e-01 2.15150405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.88925415399999 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:144.85, Y:1.41, Z:2.15 [[ 9.98642375e-01 -4.96457585e-02 -1.57704130e-02 1.44847712e+02] [ 4.96498356e-02 9.98766678e-01 -1.33129937e-04 1.41361801e+00] [ 1.57575723e-02 -6.50049216e-04 9.99875630e-01 2.15263561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.919254154 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:144.87, Y:1.42, Z:2.15 [[ 9.98665746e-01 -4.91728973e-02 -1.57719327e-02 1.44874880e+02] [ 4.91798003e-02 9.98789940e-01 4.98883012e-05 1.41825991e+00] [ 1.57503946e-02 -8.25482238e-04 9.99875614e-01 2.15307618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.949254154 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:144.91, Y:1.42, Z:2.15 [[ 9.98966452e-01 -4.26301047e-02 -1.57703126e-02 1.44905663e+02] [ 4.26332500e-02 9.99090780e-01 -1.36844556e-04 1.42269954e+00] [ 1.57618077e-02 -5.35636561e-04 9.99875632e-01 2.15375876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.979254154 meters Centerline goodness : 0.998996 Centerline is valid? [True, True] Translation: X:144.94, Y:1.43, Z:2.15 [[ 9.99119167e-01 -3.88868559e-02 -1.57703199e-02 1.44937229e+02] [ 3.88895487e-02 9.99243506e-01 -1.35998732e-04 1.42523178e+00] [ 1.57636783e-02 -4.77421685e-04 9.99875632e-01 2.15391434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.009254154 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:144.97, Y:1.43, Z:2.15 [[ 9.99261428e-01 -3.50413413e-02 -1.57703247e-02 1.44967156e+02] [ 3.50435643e-02 9.99385776e-01 -1.35442076e-04 1.42780123e+00] [ 1.57653843e-02 -4.17306346e-04 9.99875632e-01 2.15445380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.039254154 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:145.00, Y:1.43, Z:2.15 [[ 9.99520564e-01 -2.66446892e-02 -1.57703271e-02 1.44997606e+02] [ 2.66458718e-02 9.99644927e-01 -1.35166023e-04 1.43246865e+00] [ 1.57683289e-02 -2.85112893e-04 9.99875632e-01 2.15445051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.069254154 meters Centerline goodness : 0.999035 Centerline is valid? [True, True] Translation: X:145.03, Y:1.43, Z:2.15 [[ 9.99619046e-01 -2.26508340e-02 -1.57703294e-02 1.45028479e+02] [ 2.26515240e-02 9.99743412e-01 -1.34892642e-04 1.43455035e+00] [ 1.57693384e-02 -2.22380741e-04 9.99875632e-01 2.15454727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.099254154 meters Centerline goodness : 0.998934 Centerline is valid? [True, True] Translation: X:145.06, Y:1.44, Z:2.16 [[ 9.99701489e-01 -1.86608892e-02 -1.57703294e-02 1.45057918e+02] [ 1.86610828e-02 9.99825858e-01 -1.34892642e-04 1.43647229e+00] [ 1.57701003e-02 -1.59439048e-04 9.99875632e-01 2.15570875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.129254154 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:145.09, Y:1.44, Z:2.16 [[ 9.99764020e-01 -1.49399213e-02 -1.57703245e-02 1.45086556e+02] [ 1.49396429e-02 9.99888388e-01 -1.35468180e-04 1.43801913e+00] [ 1.57705882e-02 -1.00166803e-04 9.99875632e-01 2.15623430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.159254154 meters Centerline goodness : 0.999073 Centerline is valid? [True, True] Translation: X:145.11, Y:1.44, Z:2.16 [[ 9.99843473e-01 -8.02048543e-03 -1.57702890e-02 1.45113337e+02] [ 8.01928300e-03 9.99967835e-01 -1.39483086e-04 1.44127831e+00] [ 1.57709004e-02 1.29948427e-05 9.99875632e-01 2.15630287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.189254154 meters Centerline goodness : 0.999094 Centerline is valid? [True, True] Translation: X:145.14, Y:1.44, Z:2.16 [[ 9.99858688e-01 -5.82347196e-03 -1.57699708e-02 1.45142140e+02] [ 5.82145006e-03 9.99983040e-01 -1.74114035e-04 1.44306793e+00] [ 1.57707173e-02 8.22853335e-05 9.99875631e-01 2.15792101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.219254154 meters Centerline goodness : 0.999220 Centerline is valid? [True, True] Translation: X:145.17, Y:1.44, Z:2.16 [[ 9.99867184e-01 -4.11267752e-03 -1.57702097e-02 1.45170180e+02] [ 4.11084224e-03 9.99991539e-01 -1.48791469e-04 1.44457069e+00] [ 1.57706882e-02 8.39428630e-05 9.99875631e-01 2.15925781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.249254154 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:145.20, Y:1.45, Z:2.16 [[ 9.99873551e-01 -2.04537342e-03 -1.57701640e-02 1.45197715e+02] [ 2.04320689e-03 9.99997901e-01 -1.53491633e-04 1.44616193e+00] [ 1.57704448e-02 1.21250516e-04 9.99875631e-01 2.15994994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.279254154 meters Centerline goodness : 0.999093 Centerline is valid? [True, True] Translation: X:145.23, Y:1.45, Z:2.16 [[ 9.99872526e-01 -2.49682955e-03 -1.57701497e-02 1.45225748e+02] [ 2.49469626e-03 9.99996876e-01 -1.54944668e-04 1.44657834e+00] [ 1.57704873e-02 1.15583184e-04 9.99875631e-01 2.16029964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.309254154 meters Centerline goodness : 0.999303 Centerline is valid? [True, True] Translation: X:145.25, Y:1.45, Z:2.16 [[ 9.99870292e-01 -3.27151472e-03 -1.57701031e-02 1.45254147e+02] [ 3.26940520e-03 9.99994643e-01 -1.59546589e-04 1.44681303e+00] [ 1.57705406e-02 1.07967038e-04 9.99875631e-01 2.16063117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.33925415399997 meters Centerline goodness : 0.999114 Centerline is valid? [True, True] Translation: X:145.28, Y:1.45, Z:2.16 [[ 9.99863426e-01 -4.94305500e-03 -1.57700856e-02 1.45282535e+02] [ 4.94112623e-03 9.99987780e-01 -1.61266698e-04 1.44715841e+00] [ 1.57706900e-02 8.33226897e-05 9.99875631e-01 2.16069532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.36925415399998 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:145.31, Y:1.45, Z:2.16 [[ 9.99830525e-01 -9.49873222e-03 -1.57700679e-02 1.45310463e+02] [ 9.49734315e-03 9.99954886e-01 -1.62973490e-04 1.44665972e+00] [ 1.57709045e-02 1.31721239e-05 9.99875631e-01 2.16027268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.39925415399998 meters Centerline goodness : 0.998969 Centerline is valid? [True, True] Translation: X:145.34, Y:1.45, Z:2.16 [[ 9.99796857e-01 -1.25518949e-02 -1.57700532e-02 1.45338123e+02] [ 1.25508633e-02 9.99921221e-01 -1.64384201e-04 1.44632631e+00] [ 1.57708742e-02 -3.35769750e-05 9.99875631e-01 2.16069481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.42925415399998 meters Centerline goodness : 0.999220 Centerline is valid? [True, True] Translation: X:145.37, Y:1.45, Z:2.16 [[ 9.99748814e-01 -1.59252917e-02 -1.57700356e-02 1.45365861e+02] [ 1.59246533e-02 9.99873181e-01 -1.66057123e-04 1.44577881e+00] [ 1.57706802e-02 -8.51169380e-05 9.99875631e-01 2.16176625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.45925415399998 meters Centerline goodness : 0.999075 Centerline is valid? [True, True] Translation: X:145.39, Y:1.44, Z:2.16 [[ 9.99612086e-01 -2.29561182e-02 -1.57700173e-02 1.45394126e+02] [ 2.29563274e-02 9.99736455e-01 -1.67776488e-04 1.44336829e+00] [ 1.57697127e-02 -1.94310276e-04 9.99875631e-01 2.16179975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.48925415399998 meters Centerline goodness : 0.999158 Centerline is valid? [True, True] Translation: X:145.42, Y:1.44, Z:2.16 [[ 9.99525894e-01 -2.64441666e-02 -1.57700020e-02 1.45423722e+02] [ 2.64447874e-02 9.99650261e-01 -1.69198253e-04 1.44217716e+00] [ 1.57689610e-02 -2.47916317e-04 9.99875631e-01 2.16223128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.51925415399998 meters Centerline goodness : 0.999139 Centerline is valid? [True, True] Translation: X:145.45, Y:1.44, Z:2.16 [[ 9.99428858e-01 -2.98875270e-02 -1.57699961e-02 1.45454074e+02] [ 2.98885676e-02 9.99553223e-01 -1.69750623e-04 1.44121791e+00] [ 1.57680238e-02 -3.01688922e-04 9.99875631e-01 2.16353361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.54925415399998 meters Centerline goodness : 0.999075 Centerline is valid? [True, True] Translation: X:145.48, Y:1.44, Z:2.16 [[ 9.99324540e-01 -3.31929366e-02 -1.57699961e-02 1.45484668e+02] [ 3.31943885e-02 9.99448900e-01 -1.69750623e-04 1.44034480e+00] [ 1.57669398e-02 -3.53839414e-04 9.99875631e-01 2.16366996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.57925415399998 meters Centerline goodness : 0.999306 Centerline is valid? [True, True] Translation: X:145.52, Y:1.44, Z:2.16 [[ 9.99109326e-01 -3.91390163e-02 -1.57699992e-02 1.45516418e+02] [ 3.91412127e-02 9.99233675e-01 -1.69465151e-04 1.43878554e+00] [ 1.57645469e-02 -4.47942680e-04 9.99875631e-01 2.16455632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.60925415399998 meters Centerline goodness : 0.999014 Centerline is valid? [True, True] Translation: X:145.55, Y:1.44, Z:2.16 [[ 9.99011781e-01 -4.15543939e-02 -1.57700054e-02 1.45547463e+02] [ 4.15569001e-02 9.99136125e-01 -1.68881194e-04 1.43809380e+00] [ 1.57633999e-02 -4.86638237e-04 9.99875631e-01 2.16383433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.63925415399999 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:145.58, Y:1.44, Z:2.16 [[ 9.98912296e-01 -4.38808648e-02 -1.57700248e-02 1.45579332e+02] [ 4.38836895e-02 9.99036633e-01 -1.67049345e-04 1.43754821e+00] [ 1.57621628e-02 -5.25179228e-04 9.99875631e-01 2.16431360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.669254154 meters Centerline goodness : 0.999349 Centerline is valid? [True, True] Translation: X:145.61, Y:1.44, Z:2.17 [[ 9.98813833e-01 -4.60677019e-02 -1.57700367e-02 1.45611453e+02] [ 4.60708167e-02 9.98938162e-01 -1.65916442e-04 1.43714631e+00] [ 1.57609349e-02 -5.60818834e-04 9.99875631e-01 2.16512948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.699254154 meters Centerline goodness : 0.998996 Centerline is valid? [True, True] Translation: X:145.64, Y:1.44, Z:2.16 [[ 9.98607618e-01 -5.03401576e-02 -1.57700490e-02 1.45642227e+02] [ 5.03438227e-02 9.98731932e-01 -1.64743944e-04 1.43575248e+00] [ 1.57583447e-02 -6.29409993e-04 9.99875631e-01 2.16455570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.729254154 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:145.67, Y:1.44, Z:2.17 [[ 9.98502088e-01 -5.23916527e-02 -1.57700581e-02 1.45673925e+02] [ 5.23955870e-02 9.98626394e-01 -1.63869473e-04 1.43549405e+00] [ 1.57569816e-02 -6.62657439e-04 9.99875631e-01 2.16579222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.759254154 meters Centerline goodness : 0.998954 Centerline is valid? [True, True] Translation: X:145.71, Y:1.44, Z:2.17 [[ 9.98377872e-01 -5.47076764e-02 -1.57700702e-02 1.45706204e+02] [ 5.47119175e-02 9.98502168e-01 -1.62694148e-04 1.43573975e+00] [ 1.57553499e-02 -7.00380543e-04 9.99875631e-01 2.16646241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.789254154 meters Centerline goodness : 0.998932 Centerline is valid? [True, True] Translation: X:145.74, Y:1.44, Z:2.17 [[ 9.98089748e-01 -5.97340674e-02 -1.57700822e-02 1.45737035e+02] [ 5.97389528e-02 9.98214021e-01 -1.61522669e-04 1.43554059e+00] [ 1.57515656e-02 -7.80874076e-04 9.99875631e-01 2.16566579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.819254154 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:145.77, Y:1.44, Z:2.17 [[ 9.97925048e-01 -6.24251801e-02 -1.57701026e-02 1.45769262e+02] [ 6.24304323e-02 9.98049305e-01 -1.59509893e-04 1.43570316e+00] [ 1.57492973e-02 -8.25355402e-04 9.99875631e-01 2.16699949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.849254154 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:145.81, Y:1.43, Z:2.16 [[ 9.98082635e-01 -5.98528000e-02 -1.57701135e-02 1.45806452e+02] [ 5.98577490e-02 9.98206905e-01 -1.58424192e-04 1.42994451e+00] [ 1.57513183e-02 -7.85843059e-04 9.99875631e-01 2.16328242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.879254154 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:145.83, Y:1.44, Z:2.17 [[ 9.97604312e-01 -6.73560846e-02 -1.57732195e-02 1.45829574e+02] [ 6.73670272e-02 9.97728248e-01 1.62845718e-04 1.43668760e+00] [ 1.57264180e-02 -1.22505050e-03 9.99875582e-01 2.16866081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.909254154 meters Centerline goodness : 0.998999 Centerline is valid? [True, True] Translation: X:145.86, Y:1.44, Z:2.17 [[ 9.97414395e-01 -7.01130068e-02 -1.57699075e-02 1.45860758e+02] [ 7.01191893e-02 9.97538607e-01 -1.61213548e-04 1.43814422e+00] [ 1.57423948e-02 -9.44976419e-04 9.99875634e-01 2.16841595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.939254154 meters Centerline goodness : 0.998871 Centerline is valid? [True, True] Translation: X:145.89, Y:1.44, Z:2.17 [[ 9.97370471e-01 -7.07350964e-02 -1.57699165e-02 1.45892957e+02] [ 7.07413702e-02 9.97494678e-01 -1.60336126e-04 1.43946370e+00] [ 1.57417491e-02 -9.55670981e-04 9.99875634e-01 2.16830252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.969254154 meters Centerline goodness : 0.998893 Centerline is valid? [True, True] Translation: X:145.92, Y:1.44, Z:2.17 [[ 9.97388767e-01 -7.04766417e-02 -1.57699450e-02 1.45924872e+02] [ 7.04829284e-02 9.97512973e-01 -1.57475677e-04 1.44256520e+00] [ 1.57418231e-02 -9.54447434e-04 9.99875634e-01 2.17005227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.999254154 meters Centerline goodness : 0.998995 Centerline is valid? [True, True] Translation: X:145.96, Y:1.44, Z:2.17 [[ 9.97458824e-01 -6.94780734e-02 -1.57699566e-02 1.45958232e+02] [ 6.94842542e-02 9.97583036e-01 -1.56302676e-04 1.44446107e+00] [ 1.57427008e-02 -9.39858194e-04 9.99875634e-01 2.17105231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.029254154 meters Centerline goodness : 0.998954 Centerline is valid? [True, True] Translation: X:145.99, Y:1.45, Z:2.17 [[ 9.97577415e-01 -6.77540400e-02 -1.57699740e-02 1.45990874e+02] [ 6.77600340e-02 9.97701636e-01 -1.54532797e-04 1.44655592e+00] [ 1.57441991e-02 -9.14415546e-04 9.99875634e-01 2.17168103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.059254154 meters Centerline goodness : 0.998828 Centerline is valid? [True, True] Translation: X:146.02, Y:1.45, Z:2.17 [[ 9.97722033e-01 -6.55900278e-02 -1.57699910e-02 1.46023141e+02] [ 6.55957800e-02 9.97846266e-01 -1.52776991e-04 1.44883217e+00] [ 1.57460473e-02 -8.82015891e-04 9.99875634e-01 2.17251945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.08925415399997 meters Centerline goodness : 0.998847 Centerline is valid? [True, True] Translation: X:146.06, Y:1.45, Z:2.17 [[ 9.98091931e-01 -5.96976069e-02 -1.57700049e-02 1.46055399e+02] [ 5.97026484e-02 9.98216194e-01 -1.51323673e-04 1.45331111e+00] [ 1.57509080e-02 -7.90476123e-04 9.99875634e-01 2.17483241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.11925415399998 meters Centerline goodness : 0.999033 Centerline is valid? [True, True] Translation: X:146.09, Y:1.46, Z:2.18 [[ 9.98295703e-01 -5.61871425e-02 -1.57700161e-02 1.46087066e+02] [ 5.61917655e-02 9.98419983e-01 -1.50148865e-04 1.45587718e+00] [ 1.57535357e-02 -7.36252081e-04 9.99875634e-01 2.17540813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.14925415399998 meters Centerline goodness : 0.998931 Centerline is valid? [True, True] Translation: X:146.12, Y:1.46, Z:2.18 [[ 9.98511060e-01 -5.22203901e-02 -1.57700299e-02 1.46118956e+02] [ 5.22245423e-02 9.98635356e-01 -1.48686054e-04 1.45849008e+00] [ 1.57562739e-02 -6.75117926e-04 9.99875634e-01 2.17704318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.17925415399998 meters Centerline goodness : 0.998970 Centerline is valid? [True, True] Translation: X:146.15, Y:1.46, Z:2.18 [[ 9.98698732e-01 -4.84989572e-02 -1.57700407e-02 1.46151423e+02] [ 4.85026643e-02 9.98823042e-01 -1.47533200e-04 1.46119687e+00] [ 1.57586352e-02 -6.17547771e-04 9.99875634e-01 2.17816692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.20925415399998 meters Centerline goodness : 0.998908 Centerline is valid? [True, True] Translation: X:146.18, Y:1.46, Z:2.18 [[ 9.98882778e-01 -4.45477358e-02 -1.57700514e-02 1.46183160e+02] [ 4.45509693e-02 9.99007102e-01 -1.46386132e-04 1.46371691e+00] [ 1.57609145e-02 -5.56348487e-04 9.99875634e-01 2.17920686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.23925415399998 meters Centerline goodness : 0.999094 Centerline is valid? [True, True] Translation: X:146.22, Y:1.47, Z:2.18 [[ 9.99188793e-01 -3.70548450e-02 -1.57700619e-02 1.46215533e+02] [ 3.70571640e-02 9.99313137e-01 -1.45239190e-04 1.46841317e+00] [ 1.57646119e-02 -4.39272400e-04 9.99875634e-01 2.18068483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.26925415399998 meters Centerline goodness : 0.999071 Centerline is valid? [True, True] Translation: X:146.25, Y:1.47, Z:2.18 [[ 9.99308075e-01 -3.36849496e-02 -1.57700726e-02 1.46246243e+02] [ 3.36868676e-02 9.99432426e-01 -1.44073182e-04 1.47062802e+00] [ 1.57659750e-02 -3.87270853e-04 9.99875634e-01 2.18068803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.29925415399998 meters Centerline goodness : 0.999200 Centerline is valid? [True, True] Translation: X:146.28, Y:1.47, Z:2.18 [[ 9.99408844e-01 -3.05494124e-02 -1.57700804e-02 1.46277465e+02] [ 3.05509539e-02 9.99533200e-01 -1.43206055e-04 1.47274190e+00] [ 1.57670938e-02 -3.38669603e-04 9.99875634e-01 2.18124247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.32925415399998 meters Centerline goodness : 0.999197 Centerline is valid? [True, True] Translation: X:146.31, Y:1.47, Z:2.18 [[ 9.99489394e-01 -2.77894987e-02 -1.57700855e-02 1.46308397e+02] [ 2.77907057e-02 9.99613754e-01 -1.42646858e-04 1.47455188e+00] [ 1.57679584e-02 -2.95687783e-04 9.99875634e-01 2.18143482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.35925415399998 meters Centerline goodness : 0.998900 Centerline is valid? [True, True] Translation: X:146.34, Y:1.48, Z:2.18 [[ 9.99556444e-01 -2.52630110e-02 -1.57700906e-02 1.46339539e+02] [ 2.52639125e-02 9.99680806e-01 -1.42084614e-04 1.47617544e+00] [ 1.57686463e-02 -2.56392596e-04 9.99875634e-01 2.18194710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.38925415399999 meters Centerline goodness : 0.999111 Centerline is valid? [True, True] Translation: X:146.37, Y:1.48, Z:2.18 [[ 9.99647757e-01 -2.13463491e-02 -1.57700957e-02 1.46370157e+02] [ 2.13467723e-02 9.99772122e-01 -1.41509907e-04 1.47839919e+00] [ 1.57695228e-02 -1.95180583e-04 9.99875634e-01 2.18159863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.419254154 meters Centerline goodness : 0.999152 Centerline is valid? [True, True] Translation: X:146.40, Y:1.48, Z:2.18 [[ 9.99682955e-01 -1.96288748e-02 -1.57700983e-02 1.46400283e+02] [ 1.96290889e-02 9.99807321e-01 -1.41224977e-04 1.47926663e+00] [ 1.57698318e-02 -1.68372459e-04 9.99875634e-01 2.18069752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.449254154 meters Centerline goodness : 0.999152 Centerline is valid? [True, True] Translation: X:146.43, Y:1.48, Z:2.18 [[ 9.99690750e-01 -1.92277906e-02 -1.57700932e-02 1.46429408e+02] [ 1.92279458e-02 9.99815116e-01 -1.41789196e-04 1.48032105e+00] [ 1.57699039e-02 -1.61481151e-04 9.99875634e-01 2.18275800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.479254154 meters Centerline goodness : 0.999300 Centerline is valid? [True, True] Translation: X:146.46, Y:1.48, Z:2.18 [[ 9.99699519e-01 -1.87663641e-02 -1.57700554e-02 1.46457724e+02] [ 1.87663974e-02 9.99823885e-01 -1.45878836e-04 1.48082784e+00] [ 1.57700156e-02 -1.50112124e-04 9.99875634e-01 2.18283645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.509254154 meters Centerline goodness : 0.999385 Centerline is valid? [True, True] Translation: X:146.49, Y:1.48, Z:2.18 [[ 9.99693494e-01 -1.90846336e-02 -1.57700473e-02 1.46486069e+02] [ 1.90846929e-02 9.99817860e-01 -1.46747332e-04 1.48066502e+00] [ 1.57699756e-02 -1.54264157e-04 9.99875634e-01 2.18281811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.539254154 meters Centerline goodness : 0.999257 Centerline is valid? [True, True] Translation: X:146.51, Y:1.48, Z:2.18 [[ 9.99671578e-01 -2.02000534e-02 -1.57700393e-02 1.46514961e+02] [ 2.02002379e-02 9.99795943e-01 -1.47603903e-04 1.48061147e+00] [ 1.57698029e-02 -1.71003119e-04 9.99875634e-01 2.18277816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.569254154 meters Centerline goodness : 0.999279 Centerline is valid? [True, True] Translation: X:146.54, Y:1.48, Z:2.18 [[ 9.99651012e-01 -2.11934460e-02 -1.57700010e-02 1.46544185e+02] [ 2.11936914e-02 9.99775377e-01 -1.51582792e-04 1.48033378e+00] [ 1.57696713e-02 -1.82694643e-04 9.99875634e-01 2.18356613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.599254154 meters Centerline goodness : 0.999023 Centerline is valid? [True, True] Translation: X:146.57, Y:1.48, Z:2.18 [[ 9.99586732e-01 -2.40348124e-02 -1.57699954e-02 1.46573136e+02] [ 2.40354020e-02 9.99711096e-01 -1.52165569e-04 1.47963988e+00] [ 1.57690967e-02 -2.26935496e-04 9.99875634e-01 2.18334400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.629254154 meters Centerline goodness : 0.998939 Centerline is valid? [True, True] Translation: X:146.60, Y:1.48, Z:2.19 [[ 9.99549086e-01 -2.55525307e-02 -1.57699870e-02 1.46603896e+02] [ 2.55532956e-02 9.99673450e-01 -1.53032845e-04 1.47934189e+00] [ 1.57687477e-02 -2.50011298e-04 9.99875634e-01 2.18512931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.659254154 meters Centerline goodness : 0.998939 Centerline is valid? [True, True] Translation: X:146.63, Y:1.48, Z:2.19 [[ 9.99549086e-01 -2.55525307e-02 -1.57699870e-02 1.46634889e+02] [ 2.55532956e-02 9.99673450e-01 -1.53032845e-04 1.47964265e+00] [ 1.57687477e-02 -2.50011298e-04 9.99875634e-01 2.18561818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.689254154 meters Centerline goodness : 0.999216 Centerline is valid? [True, True] Translation: X:146.67, Y:1.48, Z:2.19 [[ 9.99519718e-01 -2.66766033e-02 -1.57699870e-02 1.46665257e+02] [ 2.66775080e-02 9.99644080e-01 -1.53032845e-04 1.47927833e+00] [ 1.57684565e-02 -2.67744608e-04 9.99875634e-01 2.18646162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.719254154 meters Centerline goodness : 0.999005 Centerline is valid? [True, True] Translation: X:146.70, Y:1.48, Z:2.19 [[ 9.99489343e-01 -2.77913850e-02 -1.57699898e-02 1.46695925e+02] [ 2.77924330e-02 9.99613704e-01 -1.52741198e-04 1.47897860e+00] [ 1.57681428e-02 -2.85623185e-04 9.99875634e-01 2.18770973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.749254154 meters Centerline goodness : 0.999196 Centerline is valid? [True, True] Translation: X:146.73, Y:1.48, Z:2.19 [[ 9.99437830e-01 -2.95859975e-02 -1.57699898e-02 1.46726709e+02] [ 2.95872688e-02 9.99562189e-01 -1.52741198e-04 1.47767802e+00] [ 1.57676045e-02 -3.13935596e-04 9.99875634e-01 2.18794878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.779254154 meters Centerline goodness : 0.999282 Centerline is valid? [True, True] Translation: X:146.76, Y:1.48, Z:2.19 [[ 9.99430792e-01 -2.98228138e-02 -1.57699926e-02 1.46757701e+02] [ 2.98241191e-02 9.99555150e-01 -1.52452563e-04 1.47718752e+00] [ 1.57675239e-02 -3.17960352e-04 9.99875634e-01 2.18856605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.809254154 meters Centerline goodness : 0.999050 Centerline is valid? [True, True] Translation: X:146.79, Y:1.48, Z:2.19 [[ 9.99448019e-01 -2.92397723e-02 -1.57699980e-02 1.46788608e+02] [ 2.92410139e-02 9.99572379e-01 -1.51892900e-04 1.47657654e+00] [ 1.57676957e-02 -3.09321672e-04 9.99875634e-01 2.18982631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.83925415399997 meters Centerline goodness : 0.998986 Centerline is valid? [True, True] Translation: X:146.82, Y:1.48, Z:2.19 [[ 9.99469700e-01 -2.84890521e-02 -1.57700035e-02 1.46819708e+02] [ 2.84902093e-02 9.99594060e-01 -1.51316781e-04 1.47614495e+00] [ 1.57679127e-02 -2.98054164e-04 9.99875634e-01 2.18993352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.86925415399998 meters Centerline goodness : 0.999029 Centerline is valid? [True, True] Translation: X:146.85, Y:1.48, Z:2.19 [[ 9.99498555e-01 -2.74580731e-02 -1.57700091e-02 1.46851389e+02] [ 2.74591113e-02 9.99622916e-01 -1.50735291e-04 1.47556646e+00] [ 1.57682014e-02 -2.82370728e-04 9.99875634e-01 2.19006635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.89925415399998 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:146.88, Y:1.48, Z:2.19 [[ 9.99529357e-01 -2.63129401e-02 -1.57700146e-02 1.46882243e+02] [ 2.63138450e-02 9.99653720e-01 -1.50152159e-04 1.47517607e+00] [ 1.57685047e-02 -2.64888229e-04 9.99875634e-01 2.19038400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.92925415399998 meters Centerline goodness : 0.999092 Centerline is valid? [True, True] Translation: X:146.91, Y:1.47, Z:2.19 [[ 9.99592439e-01 -2.37962863e-02 -1.57700202e-02 1.46912154e+02] [ 2.37968873e-02 9.99716803e-01 -1.49566032e-04 1.47395975e+00] [ 1.57691133e-02 -2.25772318e-04 9.99875634e-01 2.18948904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.95925415399998 meters Centerline goodness : 0.999074 Centerline is valid? [True, True] Translation: X:146.94, Y:1.47, Z:2.19 [[ 9.99627865e-01 -2.22584295e-02 -1.57700229e-02 1.46941474e+02] [ 2.22588437e-02 9.99752230e-01 -1.49275490e-04 1.47316074e+00] [ 1.57694382e-02 -2.01802537e-04 9.99875634e-01 2.18827411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.98925415399998 meters Centerline goodness : 0.999092 Centerline is valid? [True, True] Translation: X:146.97, Y:1.47, Z:2.19 [[ 9.99675262e-01 -2.00169250e-02 -1.57700175e-02 1.46970720e+02] [ 2.00170513e-02 9.99799628e-01 -1.49852318e-04 1.47258887e+00] [ 1.57698572e-02 -1.65865593e-04 9.99875634e-01 2.18856859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.01925415399998 meters Centerline goodness : 0.998966 Centerline is valid? [True, True] Translation: X:147.00, Y:1.47, Z:2.19 [[ 9.99709806e-01 -1.82101721e-02 -1.57700119e-02 1.46997875e+02] [ 1.82100645e-02 9.99834172e-01 -1.50432639e-04 1.47271967e+00] [ 1.57701362e-02 -1.36783950e-04 9.99875634e-01 2.18989152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.04925415399998 meters Centerline goodness : 0.999030 Centerline is valid? [True, True] Translation: X:147.03, Y:1.47, Z:2.19 [[ 9.99719851e-01 -1.76507027e-02 -1.57693696e-02 1.47026872e+02] [ 1.76494963e-02 9.99844212e-01 -2.15680146e-04 1.47260574e+00] [ 1.57707199e-02 -6.27017073e-05 9.99875632e-01 2.18934250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.07925415399998 meters Centerline goodness : 0.998944 Centerline is valid? [True, True] Translation: X:147.06, Y:1.47, Z:2.19 [[ 9.99743848e-01 -1.62341058e-02 -1.57699615e-02 1.47055930e+02] [ 1.62336684e-02 9.99868213e-01 -1.55752350e-04 1.47237939e+00] [ 1.57704118e-02 -1.00291872e-04 9.99875634e-01 2.19056901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.10925415399998 meters Centerline goodness : 0.999008 Centerline is valid? [True, True] Translation: X:147.08, Y:1.47, Z:2.19 [[ 9.99767729e-01 -1.46900510e-02 -1.57699198e-02 1.47084119e+02] [ 1.46893566e-02 9.99892093e-01 -1.59866205e-04 1.47199395e+00] [ 1.57705666e-02 -7.18209043e-05 9.99875634e-01 2.19124370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.13925415399999 meters Centerline goodness : 0.999050 Centerline is valid? [True, True] Translation: X:147.11, Y:1.47, Z:2.19 [[ 9.99803319e-01 -1.20264224e-02 -1.57698708e-02 1.47112162e+02] [ 1.20253226e-02 9.99927680e-01 -1.64568067e-04 1.47077070e+00] [ 1.57707094e-02 -2.51020832e-05 9.99875634e-01 2.19196271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.169254154 meters Centerline goodness : 0.998922 Centerline is valid? [True, True] Translation: X:147.14, Y:1.47, Z:2.19 [[ 9.99809599e-01 -1.14924988e-02 -1.57698204e-02 1.47140379e+02] [ 1.14912586e-02 9.99933959e-01 -1.69263232e-04 1.47006616e+00] [ 1.57707242e-02 -1.19840796e-05 9.99875634e-01 2.19219581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.199254154 meters Centerline goodness : 0.999324 Centerline is valid? [True, True] Translation: X:147.17, Y:1.47, Z:2.19 [[ 9.99816053e-01 -1.09167125e-02 -1.57697689e-02 1.47167503e+02] [ 1.09153270e-02 9.99940411e-01 -1.73930074e-04 1.46907548e+00] [ 1.57707279e-02 1.76589621e-06 9.99875634e-01 2.19240581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.229254154 meters Centerline goodness : 0.999093 Centerline is valid? [True, True] Translation: X:147.20, Y:1.47, Z:2.19 [[ 9.99813710e-01 -1.11292771e-02 -1.57697464e-02 1.47195290e+02] [ 1.11278862e-02 9.99938068e-01 -1.75949264e-04 1.46809108e+00] [ 1.57707279e-02 4.32543553e-07 9.99875634e-01 2.19228607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.259254154 meters Centerline goodness : 0.999198 Centerline is valid? [True, True] Translation: X:147.22, Y:1.47, Z:2.19 [[ 9.99807650e-01 -1.16610513e-02 -1.57696939e-02 1.47222584e+02] [ 1.16596542e-02 9.99932008e-01 -1.80535942e-04 1.46711165e+00] [ 1.57707269e-02 -3.36796056e-06 9.99875634e-01 2.19217979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.289254154 meters Centerline goodness : 0.998881 Centerline is valid? [True, True] Translation: X:147.25, Y:1.46, Z:2.19 [[ 9.99784407e-01 -1.35076815e-02 -1.57696709e-02 1.47250099e+02] [ 1.35064827e-02 9.99908767e-01 -1.82521823e-04 1.46426844e+00] [ 1.57706976e-02 -3.05103144e-05 9.99875634e-01 2.19068475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.319254154 meters Centerline goodness : 0.999388 Centerline is valid? [True, True] Translation: X:147.28, Y:1.46, Z:2.19 [[ 9.99748834e-01 -1.59244803e-02 -1.57696166e-02 1.47277208e+02] [ 1.59235100e-02 9.99873195e-01 -1.87094616e-04 1.46370513e+00] [ 1.57705963e-02 -6.40600243e-05 9.99875634e-01 2.19277718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.349254154 meters Centerline goodness : 0.999073 Centerline is valid? [True, True] Translation: X:147.31, Y:1.46, Z:2.19 [[ 9.99710009e-01 -1.81993725e-02 -1.57695929e-02 1.47305370e+02] [ 1.81986539e-02 9.99834373e-01 -1.89075043e-04 1.46262503e+00] [ 1.57704221e-02 -9.79651502e-05 9.99875634e-01 2.19334723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.379254154 meters Centerline goodness : 0.999053 Centerline is valid? [True, True] Translation: X:147.33, Y:1.46, Z:2.19 [[ 9.99608470e-01 -2.31133975e-02 -1.57695375e-02 1.47332922e+02] [ 2.31132191e-02 9.99732835e-01 -1.93588759e-04 1.46056280e+00] [ 1.57697989e-02 -1.70971812e-04 9.99875634e-01 2.19403222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.409254154 meters Centerline goodness : 0.999347 Centerline is valid? [True, True] Translation: X:147.36, Y:1.46, Z:2.19 [[ 9.99547020e-01 -2.56335267e-02 -1.57695159e-02 1.47362857e+02] [ 2.56336345e-02 9.99671385e-01 -1.95330756e-04 1.45959315e+00] [ 1.57693408e-02 -2.08987730e-04 9.99875634e-01 2.19484609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.439254154 meters Centerline goodness : 0.999159 Centerline is valid? [True, True] Translation: X:147.39, Y:1.46, Z:2.20 [[ 9.99476749e-01 -2.82409354e-02 -1.57695087e-02 1.47391958e+02] [ 2.82413583e-02 9.99601114e-01 -1.95912189e-04 1.45866319e+00] [ 1.57687512e-02 -2.49542668e-04 9.99875634e-01 2.19508493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.469254154 meters Centerline goodness : 0.999475 Centerline is valid? [True, True] Translation: X:147.42, Y:1.46, Z:2.20 [[ 9.99331456e-01 -3.29842886e-02 -1.57695051e-02 1.47422919e+02] [ 3.29852973e-02 9.99455818e-01 -1.96200619e-04 1.45628008e+00] [ 1.57673951e-02 -3.24092363e-04 9.99875634e-01 2.19626505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.499254154 meters Centerline goodness : 0.999076 Centerline is valid? [True, True] Translation: X:147.45, Y:1.46, Z:2.20 [[ 9.99277823e-01 -3.45710054e-02 -1.57695051e-02 1.47454209e+02] [ 3.45722116e-02 9.99402183e-01 -1.96200619e-04 1.45527115e+00] [ 1.57668607e-02 -3.49127738e-04 9.99875634e-01 2.19549706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.529254154 meters Centerline goodness : 0.999579 Centerline is valid? [True, True] Translation: X:147.49, Y:1.45, Z:2.20 [[ 9.99212237e-01 -3.64174074e-02 -1.57695124e-02 1.47486129e+02] [ 3.64188526e-02 9.99336594e-01 -1.95613359e-04 1.45489280e+00] [ 1.57661745e-02 -3.78848284e-04 9.99875634e-01 2.19844681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.559254154 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:147.52, Y:1.45, Z:2.20 [[ 9.99162959e-01 -3.77452378e-02 -1.57695269e-02 1.47517865e+02] [ 3.77468669e-02 9.99287314e-01 -1.94431864e-04 1.45427366e+00] [ 1.57656271e-02 -4.00981118e-04 9.99875634e-01 2.19924471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.58925415399997 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:147.55, Y:1.45, Z:2.20 [[ 9.99103669e-01 -3.92833370e-02 -1.57695342e-02 1.47548748e+02] [ 3.92851667e-02 9.99228021e-01 -1.93844283e-04 1.45298760e+00] [ 1.57649753e-02 -4.25838244e-04 9.99875634e-01 2.20012929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.61925415399998 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:147.58, Y:1.45, Z:2.20 [[ 9.99098992e-01 -3.94021034e-02 -1.57695449e-02 1.47580861e+02] [ 3.94039618e-02 9.99223344e-01 -1.92964873e-04 1.45287739e+00] [ 1.57649006e-02 -4.28591536e-04 9.99875634e-01 2.20104398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.64925415399998 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:147.61, Y:1.45, Z:2.20 [[ 9.99127547e-01 -3.86712602e-02 -1.57695593e-02 1.47612513e+02] [ 3.86730463e-02 9.99251900e-01 -1.91785715e-04 1.45274581e+00] [ 1.57651786e-02 -4.18238504e-04 9.99875634e-01 2.20174988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.67925415399998 meters Centerline goodness : 0.999456 Centerline is valid? [True, True] Translation: X:147.64, Y:1.45, Z:2.20 [[ 9.99158180e-01 -3.78715183e-02 -1.57695699e-02 1.47643836e+02] [ 3.78732187e-02 9.99282534e-01 -1.90908794e-04 1.45288436e+00] [ 1.57654857e-02 -4.06496285e-04 9.99875634e-01 2.20169796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.70925415399998 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:147.68, Y:1.45, Z:2.20 [[ 9.99267411e-01 -3.48706462e-02 -1.57695769e-02 1.47675608e+02] [ 3.48719822e-02 9.99391769e-01 -1.90329767e-04 1.45276074e+00] [ 1.57666222e-02 -3.59726070e-04 9.99875634e-01 2.20187068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.73925415399998 meters Centerline goodness : 0.999267 Centerline is valid? [True, True] Translation: X:147.71, Y:1.45, Z:2.20 [[ 9.99324701e-01 -3.31882760e-02 -1.57695838e-02 1.47707014e+02] [ 3.31894117e-02 9.99449062e-01 -1.89755019e-04 1.45292812e+00] [ 1.57671933e-02 -3.33756330e-04 9.99875634e-01 2.20205167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.76925415399998 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:147.74, Y:1.45, Z:2.20 [[ 9.99388960e-01 -3.11933664e-02 -1.57695908e-02 1.47738111e+02] [ 3.11942631e-02 9.99513323e-01 -1.89171333e-04 1.45257859e+00] [ 1.57678170e-02 -3.02865021e-04 9.99875634e-01 2.20240695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.79925415399998 meters Centerline goodness : 0.999140 Centerline is valid? [True, True] Translation: X:147.77, Y:1.45, Z:2.20 [[ 9.99503823e-01 -2.72658626e-02 -1.57695978e-02 1.47768714e+02] [ 2.72662798e-02 9.99628188e-01 -1.88585735e-04 1.45202490e+00] [ 1.57688764e-02 -2.41486103e-04 9.99875634e-01 2.20185765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.82925415399998 meters Centerline goodness : 0.999498 Centerline is valid? [True, True] Translation: X:147.80, Y:1.45, Z:2.20 [[ 9.99557048e-01 -2.52393956e-02 -1.57696091e-02 1.47798656e+02] [ 2.52395758e-02 9.99681414e-01 -1.87631260e-04 1.45190968e+00] [ 1.57693209e-02 -2.10470096e-04 9.99875634e-01 2.20201805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.85925415399998 meters Centerline goodness : 0.999392 Centerline is valid? [True, True] Translation: X:147.83, Y:1.45, Z:2.20 [[ 9.99600489e-01 -2.34559675e-02 -1.57696058e-02 1.47827277e+02] [ 2.34559213e-02 9.99724854e-01 -1.87913891e-04 1.45215148e+00] [ 1.57696745e-02 -1.82051814e-04 9.99875634e-01 2.20175552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.88925415399999 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:147.86, Y:1.45, Z:2.20 [[ 9.99665957e-01 -2.04766678e-02 -1.57695958e-02 1.47856008e+02] [ 2.04762377e-02 9.99790322e-01 -1.88748507e-04 1.45209207e+00] [ 1.57701542e-02 -1.34216536e-04 9.99875634e-01 2.20063175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.919254154 meters Centerline goodness : 0.998909 Centerline is valid? [True, True] Translation: X:147.89, Y:1.45, Z:2.20 [[ 9.99681721e-01 -1.96920781e-02 -1.57695480e-02 1.47885074e+02] [ 1.96914887e-02 9.99806085e-01 -1.92661740e-04 1.45203276e+00] [ 1.57702839e-02 -1.17925456e-04 9.99875634e-01 2.20007693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.949254154 meters Centerline goodness : 0.999077 Centerline is valid? [True, True] Translation: X:147.91, Y:1.45, Z:2.20 [[ 9.99688832e-01 -1.93277738e-02 -1.57694981e-02 1.47913143e+02] [ 1.93270761e-02 9.99813195e-01 -1.96657002e-04 1.45175091e+00] [ 1.57703533e-02 -1.08182481e-04 9.99875634e-01 2.20000230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.979254154 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:147.94, Y:1.45, Z:2.20 [[ 9.99696394e-01 -1.89326441e-02 -1.57694384e-02 1.47940532e+02] [ 1.89318234e-02 9.99820757e-01 -2.01336972e-04 1.45143387e+00] [ 1.57704237e-02 -9.72683785e-05 9.99875634e-01 2.19987467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.009254154 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:147.97, Y:1.45, Z:2.20 [[ 9.99682516e-01 -1.96518034e-02 -1.57694198e-02 1.47968282e+02] [ 1.96510494e-02 9.99806879e-01 -2.02783830e-04 1.45148704e+00] [ 1.57703595e-02 -1.07166198e-04 9.99875634e-01 2.20069280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.039254154 meters Centerline goodness : 0.998891 Centerline is valid? [True, True] Translation: X:148.00, Y:1.45, Z:2.20 [[ 9.99665184e-01 -2.05145734e-02 -1.57693592e-02 1.47995796e+02] [ 2.05138539e-02 9.99789547e-01 -2.07393670e-04 1.45186323e+00] [ 1.57702951e-02 -1.16166099e-04 9.99875634e-01 2.20147918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.069254154 meters Centerline goodness : 0.998995 Centerline is valid? [True, True] Translation: X:148.02, Y:1.45, Z:2.20 [[ 9.99645557e-01 -2.14497208e-02 -1.57692969e-02 1.48023156e+02] [ 2.14490447e-02 9.99769920e-01 -2.12021144e-04 1.45201188e+00] [ 1.57702165e-02 -1.26290361e-04 9.99875634e-01 2.20242830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.099254154 meters Centerline goodness : 0.998827 Centerline is valid? [True, True] Translation: X:148.05, Y:1.45, Z:2.20 [[ 9.99606639e-01 -2.31926177e-02 -1.57692676e-02 1.48052187e+02] [ 2.31921243e-02 9.99731004e-01 -2.14181455e-04 1.45201824e+00] [ 1.57699932e-02 -1.51625611e-04 9.99875634e-01 2.20361030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.129254154 meters Centerline goodness : 0.998977 Centerline is valid? [True, True] Translation: X:148.08, Y:1.45, Z:2.20 [[ 9.99506199e-01 -2.71788585e-02 -1.57692111e-02 1.48080860e+02] [ 2.71787968e-02 9.99630564e-01 -2.18264143e-04 1.45103898e+00] [ 1.57693176e-02 -2.10431820e-04 9.99875634e-01 2.20485186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.159254154 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:148.11, Y:1.45, Z:2.21 [[ 9.99439163e-01 -2.95413520e-02 -1.57691990e-02 1.48110483e+02] [ 2.95415706e-02 9.99563529e-01 -2.19131375e-04 1.45054472e+00] [ 1.57687897e-02 -2.46838428e-04 9.99875634e-01 2.20572005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.189254154 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:148.14, Y:1.45, Z:2.21 [[ 9.99354922e-01 -3.22656669e-02 -1.57691910e-02 1.48141306e+02] [ 3.22662153e-02 9.99479286e-01 -2.19711917e-04 1.45024338e+00] [ 1.57680689e-02 -2.89241925e-04 9.99875634e-01 2.20661365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.219254154 meters Centerline goodness : 0.998957 Centerline is valid? [True, True] Translation: X:148.17, Y:1.45, Z:2.21 [[ 9.99143354e-01 -3.82608157e-02 -1.57691910e-02 1.48171242e+02] [ 3.82621102e-02 9.99267713e-01 -2.19711917e-04 1.44892953e+00] [ 1.57660497e-02 -3.83838821e-04 9.99875634e-01 2.20742559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.249254154 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:148.20, Y:1.45, Z:2.21 [[ 9.99015849e-01 -4.14567998e-02 -1.57691949e-02 1.48202983e+02] [ 4.14584966e-02 9.99140203e-01 -2.19426459e-04 1.44857331e+00] [ 1.57647333e-02 -4.34556604e-04 9.99875634e-01 2.20789569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.279254154 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:148.23, Y:1.45, Z:2.21 [[ 9.98868907e-01 -4.48579892e-02 -1.57692029e-02 1.48234364e+02] [ 4.48601185e-02 9.98993254e-01 -2.18853321e-04 1.44798477e+00] [ 1.57631446e-02 -4.88802532e-04 9.99875634e-01 2.20839856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.30925415399997 meters Centerline goodness : 0.998915 Centerline is valid? [True, True] Translation: X:148.27, Y:1.45, Z:2.21 [[ 9.98680487e-01 -4.88734787e-02 -1.57692296e-02 1.48266120e+02] [ 4.88761384e-02 9.98804824e-01 -2.16914454e-04 1.44756943e+00] [ 1.57609839e-02 -5.54110814e-04 9.99875634e-01 2.20835432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.33925415399997 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:148.30, Y:1.45, Z:2.21 [[ 9.98470699e-01 -5.29867308e-02 -1.57692456e-02 1.48296865e+02] [ 5.29899211e-02 9.98595024e-01 -2.15744696e-04 1.44684100e+00] [ 1.57585217e-02 -6.20196321e-04 9.99875634e-01 2.20825334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.36925415399998 meters Centerline goodness : 0.999125 Centerline is valid? [True, True] Translation: X:148.33, Y:1.45, Z:2.21 [[ 9.97959823e-01 -6.18669726e-02 -1.57692574e-02 1.48329414e+02] [ 6.18712825e-02 9.98084114e-01 -2.14872255e-04 1.44528150e+00] [ 1.57523388e-02 -7.61230304e-04 9.99875634e-01 2.20698488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.39925415399998 meters Centerline goodness : 0.998897 Centerline is valid? [True, True] Translation: X:148.36, Y:1.44, Z:2.21 [[ 9.97699050e-01 -6.59388735e-02 -1.57692732e-02 1.48360510e+02] [ 6.59437090e-02 9.97823322e-01 -2.13706437e-04 1.44499451e+00] [ 1.57490402e-02 -8.26669656e-04 9.99875634e-01 2.20657537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.42925415399998 meters Centerline goodness : 0.999021 Centerline is valid? [True, True] Translation: X:148.39, Y:1.45, Z:2.21 [[ 9.97458722e-01 -6.94796843e-02 -1.57692994e-02 1.48393010e+02] [ 6.94849915e-02 9.97582975e-01 -2.11761352e-04 1.44522926e+00] [ 1.57458977e-02 -8.84506425e-04 9.99875634e-01 2.20693998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.45925415399998 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:148.43, Y:1.45, Z:2.21 [[ 9.97242148e-01 -7.25219130e-02 -1.57693148e-02 1.48425008e+02] [ 7.25276174e-02 9.97366382e-01 -2.10603204e-04 1.44604118e+00] [ 1.57430578e-02 -9.33688441e-04 9.99875634e-01 2.20697413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.48925415399998 meters Centerline goodness : 0.999044 Centerline is valid? [True, True] Translation: X:148.46, Y:1.45, Z:2.21 [[ 9.97088444e-01 -7.46053786e-02 -1.57693340e-02 1.48457810e+02] [ 7.46113653e-02 9.97212666e-01 -2.09160282e-04 1.44718514e+00] [ 1.57409840e-02 -9.68020237e-04 9.99875634e-01 2.20728291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.51925415399998 meters Centerline goodness : 0.999041 Centerline is valid? [True, True] Translation: X:148.49, Y:1.45, Z:2.21 [[ 9.96983587e-01 -7.59937819e-02 -1.57693567e-02 1.48490797e+02] [ 7.59999687e-02 9.97107798e-01 -2.07434645e-04 1.44973375e+00] [ 1.57395123e-02 -9.91661678e-04 9.99875634e-01 2.20712770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.54925415399998 meters Centerline goodness : 0.999062 Centerline is valid? [True, True] Translation: X:148.52, Y:1.45, Z:2.21 [[ 9.97027851e-01 -7.54108145e-02 -1.57693793e-02 1.48524201e+02] [ 7.54169560e-02 9.97152065e-01 -2.05701022e-04 1.45171465e+00] [ 1.57399812e-02 -9.84188936e-04 9.99875634e-01 2.20762586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.57925415399998 meters Centerline goodness : 0.999062 Centerline is valid? [True, True] Translation: X:148.56, Y:1.45, Z:2.21 [[ 9.97036285e-01 -7.52992216e-02 -1.57694021e-02 1.48557730e+02] [ 7.53053770e-02 9.97160498e-01 -2.03938549e-04 1.45205757e+00] [ 1.57399812e-02 -9.84186636e-04 9.99875634e-01 2.20815428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.60925415399998 meters Centerline goodness : 0.998936 Centerline is valid? [True, True] Translation: X:148.59, Y:1.45, Z:2.21 [[ 9.97145696e-01 -7.38362064e-02 -1.57694247e-02 1.48590750e+02] [ 7.38422073e-02 9.97269917e-01 -2.02173775e-04 1.45432978e+00] [ 1.57413006e-02 -9.62852418e-04 9.99875634e-01 2.20861774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.63925415399999 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:148.62, Y:1.46, Z:2.21 [[ 9.97293143e-01 -7.18172127e-02 -1.57694474e-02 1.48622870e+02] [ 7.18229903e-02 9.97417374e-01 -2.00388652e-04 1.45670186e+00] [ 1.57431122e-02 -9.32762638e-04 9.99875634e-01 2.20903557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.669254154 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:148.66, Y:1.46, Z:2.21 [[ 9.97603282e-01 -6.73722122e-02 -1.57694660e-02 1.48655664e+02] [ 6.73774593e-02 9.97727537e-01 -1.98912524e-04 1.46202201e+00] [ 1.57470317e-02 -8.64070767e-04 9.99875634e-01 2.20988650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.699254154 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:148.69, Y:1.46, Z:2.21 [[ 9.97757952e-01 -6.50414718e-02 -1.57694879e-02 1.48688460e+02] [ 6.50464562e-02 9.97882217e-01 -1.97162701e-04 1.46490366e+00] [ 1.57489153e-02 -8.29028651e-04 9.99875634e-01 2.21057491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.729254154 meters Centerline goodness : 0.998910 Centerline is valid? [True, True] Translation: X:148.72, Y:1.47, Z:2.21 [[ 9.97993583e-01 -6.13199016e-02 -1.57695095e-02 1.48721284e+02] [ 6.13244501e-02 9.98117866e-01 -1.95419512e-04 1.47015266e+00] [ 1.57518123e-02 -7.72029078e-04 9.99875634e-01 2.21083969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.759254154 meters Centerline goodness : 0.998930 Centerline is valid? [True, True] Translation: X:148.75, Y:1.47, Z:2.21 [[ 9.98078334e-01 -5.99246350e-02 -1.57695310e-02 1.48753053e+02] [ 5.99290373e-02 9.98202621e-01 -1.93669684e-04 1.47274171e+00] [ 1.57527927e-02 -7.51755295e-04 9.99875634e-01 2.21105234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.789254154 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:148.79, Y:1.48, Z:2.21 [[ 9.98131887e-01 -5.90259121e-02 -1.57695451e-02 1.48785348e+02] [ 5.90302206e-02 9.98256178e-01 -1.92513638e-04 1.47513746e+00] [ 1.57534091e-02 -7.38725725e-04 9.99875634e-01 2.21174361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.819254154 meters Centerline goodness : 0.998929 Centerline is valid? [True, True] Translation: X:148.82, Y:1.48, Z:2.21 [[ 9.98177091e-01 -5.82564647e-02 -1.57695593e-02 1.48816452e+02] [ 5.82606959e-02 9.98301385e-01 -1.91343989e-04 1.47752486e+00] [ 1.57539199e-02 -7.27750311e-04 9.99875634e-01 2.21189093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.849254154 meters Centerline goodness : 0.998886 Centerline is valid? [True, True] Translation: X:148.85, Y:1.48, Z:2.21 [[ 9.98225185e-01 -5.74264770e-02 -1.57695813e-02 1.48847610e+02] [ 5.74306337e-02 9.98349481e-01 -1.89513800e-04 1.47980461e+00] [ 1.57544364e-02 -7.16479599e-04 9.99875634e-01 2.21186132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.879254154 meters Centerline goodness : 0.998947 Centerline is valid? [True, True] Translation: X:148.88, Y:1.48, Z:2.21 [[ 9.98369570e-01 -5.48591145e-02 -1.57695915e-02 1.48879683e+02] [ 5.48629650e-02 9.98493876e-01 -1.88657852e-04 1.48420923e+00] [ 1.57561901e-02 -6.76816288e-04 9.99875634e-01 2.21143348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.909254154 meters Centerline goodness : 0.998905 Centerline is valid? [True, True] Translation: X:148.91, Y:1.49, Z:2.21 [[ 9.98446507e-01 -5.34405515e-02 -1.57696052e-02 1.48912222e+02] [ 5.34442436e-02 9.98570818e-01 -1.87507130e-04 1.48738681e+00] [ 1.57570880e-02 -6.55578783e-04 9.99875634e-01 2.21342248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.939254154 meters Centerline goodness : 0.999072 Centerline is valid? [True, True] Translation: X:148.94, Y:1.49, Z:2.21 [[ 9.98586119e-01 -5.07649671e-02 -1.57696187e-02 1.48944125e+02] [ 5.07683441e-02 9.98710439e-01 -1.86364979e-04 1.49013437e+00] [ 1.57587436e-02 -6.14495947e-04 9.99875634e-01 2.21432976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.969254154 meters Centerline goodness : 0.999199 Centerline is valid? [True, True] Translation: X:148.98, Y:1.50, Z:2.22 [[ 9.98920112e-01 -4.37027295e-02 -1.57696320e-02 1.48975354e+02] [ 4.37052452e-02 9.99044452e-01 -1.85228988e-04 1.49563421e+00] [ 1.57626584e-02 -5.04186674e-04 9.99875634e-01 2.21563496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.999254154 meters Centerline goodness : 0.999409 Centerline is valid? [True, True] Translation: X:149.01, Y:1.50, Z:2.22 [[ 9.99108159e-01 -3.91689174e-02 -1.57696419e-02 1.49007538e+02] [ 3.91708822e-02 9.99232509e-01 -1.84382846e-04 1.49846136e+00] [ 1.57647610e-02 -4.33492380e-04 9.99875634e-01 2.21667458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.029254154 meters Centerline goodness : 0.999577 Centerline is valid? [True, True] Translation: X:149.04, Y:1.50, Z:2.22 [[ 9.99294938e-01 -3.40726517e-02 -1.57696548e-02 1.49038761e+02] [ 3.40739997e-02 9.99419296e-01 -1.83273272e-04 1.50103696e+00] [ 1.57667419e-02 -3.54191162e-04 9.99875634e-01 2.21771752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.05925415399997 meters Centerline goodness : 0.999256 Centerline is valid? [True, True] Translation: X:149.07, Y:1.51, Z:2.22 [[ 9.99587131e-01 -2.40184155e-02 -1.57696644e-02 1.49070253e+02] [ 2.40185255e-02 9.99711497e-01 -1.82447349e-04 1.50604295e+00] [ 1.57694969e-02 -1.96392064e-04 9.99875634e-01 2.21871892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.08925415399997 meters Centerline goodness : 0.999468 Centerline is valid? [True, True] Translation: X:149.10, Y:1.51, Z:2.22 [[ 9.99688288e-01 -1.93557425e-02 -1.57696710e-02 1.49100959e+02] [ 1.93552814e-02 9.99812652e-01 -1.81872044e-04 1.50879738e+00] [ 1.57702369e-02 -1.23411069e-04 9.99875634e-01 2.21963076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.11925415399998 meters Centerline goodness : 0.999617 Centerline is valid? [True, True] Translation: X:149.13, Y:1.51, Z:2.22 [[ 9.99758056e-01 -1.53344872e-02 -1.57696710e-02 1.49129303e+02] [ 1.53335260e-02 9.99882418e-01 -1.81872044e-04 1.51140277e+00] [ 1.57706057e-02 -5.99766192e-05 9.99875634e-01 2.22009083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.14925415399998 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:149.16, Y:1.51, Z:2.22 [[ 9.99799535e-01 -1.23372320e-02 -1.57696611e-02 1.49157375e+02] [ 1.23358843e-02 9.99923893e-01 -1.82731707e-04 1.51370583e+00] [ 1.57707153e-02 -1.18376390e-05 9.99875634e-01 2.22055457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.17925415399998 meters Centerline goodness : 0.999446 Centerline is valid? [True, True] Translation: X:149.18, Y:1.52, Z:2.22 [[ 9.99822895e-01 -1.02712768e-02 -1.57696061e-02 1.49184162e+02] [ 1.02695993e-02 9.99947249e-01 -1.87355710e-04 1.51558989e+00] [ 1.57706986e-02 2.53749925e-05 9.99875634e-01 2.22055960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.20925415399998 meters Centerline goodness : 0.999189 Centerline is valid? [True, True] Translation: X:149.21, Y:1.52, Z:2.22 [[ 9.99836383e-01 -8.86154167e-03 -1.57695821e-02 1.49211684e+02] [ 8.85965722e-03 9.99960735e-01 -1.89357029e-04 1.51770005e+00] [ 1.57706409e-02 4.96129552e-05 9.99875634e-01 2.22001691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.23925415399998 meters Centerline goodness : 0.999168 Centerline is valid? [True, True] Translation: X:149.24, Y:1.52, Z:2.22 [[ 9.99828497e-01 -9.71071000e-03 -1.57695255e-02 1.49239620e+02] [ 9.70885859e-03 9.99952849e-01 -1.93958781e-04 1.51861664e+00] [ 1.57706654e-02 4.08214239e-05 9.99875634e-01 2.21994180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.26925415399998 meters Centerline goodness : 0.998998 Centerline is valid? [True, True] Translation: X:149.27, Y:1.52, Z:2.22 [[ 9.99810246e-01 -1.14365862e-02 -1.57694672e-02 1.49267346e+02] [ 1.14348763e-02 9.99934600e-01 -1.98590416e-04 1.51947682e+00] [ 1.57707070e-02 1.82308254e-05 9.99875635e-01 2.22006548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.29925415399998 meters Centerline goodness : 0.999105 Centerline is valid? [True, True] Translation: X:149.30, Y:1.52, Z:2.22 [[ 9.99782716e-01 -1.36325693e-02 -1.57694077e-02 1.49295305e+02] [ 1.36310599e-02 9.99907072e-01 -2.03201450e-04 1.52011194e+00] [ 1.57707125e-02 -1.17964438e-05 9.99875635e-01 2.22024968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.32925415399998 meters Centerline goodness : 0.999148 Centerline is valid? [True, True] Translation: X:149.32, Y:1.52, Z:2.22 [[ 9.99691168e-01 -1.92067003e-02 -1.57693465e-02 1.49322723e+02] [ 1.92058110e-02 9.99815530e-01 -2.07844878e-04 1.52092372e+00] [ 1.57704296e-02 -9.50824001e-05 9.99875635e-01 2.22046038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.35925415399998 meters Centerline goodness : 0.999297 Centerline is valid? [True, True] Translation: X:149.35, Y:1.52, Z:2.22 [[ 9.99618150e-01 -2.26910083e-02 -1.57693275e-02 1.49351792e+02] [ 2.26905299e-02 9.99742515e-01 -2.09280424e-04 1.52116880e+00] [ 1.57700159e-02 -1.48613886e-04 9.99875635e-01 2.22096164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.38925415399999 meters Centerline goodness : 0.999084 Centerline is valid? [True, True] Translation: X:149.38, Y:1.52, Z:2.22 [[ 9.99532088e-01 -2.62094410e-02 -1.57692728e-02 1.49381315e+02] [ 2.62093365e-02 9.99656454e-01 -2.13324087e-04 1.52142775e+00] [ 1.57694464e-02 -2.00077907e-04 9.99875635e-01 2.22111737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.419254154 meters Centerline goodness : 0.998894 Centerline is valid? [True, True] Translation: X:149.41, Y:1.52, Z:2.22 [[ 9.99437854e-01 -2.95855818e-02 -1.57692650e-02 1.49411766e+02] [ 2.95858883e-02 9.99562219e-01 -2.13899528e-04 1.52149362e+00] [ 1.57686898e-02 -2.52768428e-04 9.99875635e-01 2.22138205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.449254154 meters Centerline goodness : 0.999108 Centerline is valid? [True, True] Translation: X:149.44, Y:1.52, Z:2.22 [[ 9.99279150e-01 -3.45327406e-02 -1.57692650e-02 1.49439395e+02] [ 3.45336628e-02 9.99403512e-01 -2.13899528e-04 1.52149874e+00] [ 1.57672453e-02 -3.30825141e-04 9.99875635e-01 2.22224551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.479254154 meters Centerline goodness : 0.999171 Centerline is valid? [True, True] Translation: X:149.47, Y:1.52, Z:2.22 [[ 9.99102599e-01 -3.93113243e-02 -1.57675955e-02 1.49473295e+02] [ 3.93109196e-02 9.99226971e-01 -3.35726998e-04 1.52158563e+00] [ 1.57686046e-02 -2.84412963e-04 9.99875627e-01 2.22250273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.509254154 meters Centerline goodness : 0.998982 Centerline is valid? [True, True] Translation: X:149.51, Y:1.52, Z:2.22 [[ 9.98993248e-01 -4.19978759e-02 -1.57692508e-02 1.49505136e+02] [ 4.19997345e-02 9.99117599e-01 -2.13437008e-04 1.52181469e+00] [ 1.57642999e-02 -4.49082220e-04 9.99875635e-01 2.22292545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.539254154 meters Centerline goodness : 0.998961 Centerline is valid? [True, True] Translation: X:149.54, Y:1.52, Z:2.22 [[ 9.98874868e-01 -4.47250294e-02 -1.57692665e-02 1.49536346e+02] [ 4.47272458e-02 9.98999213e-01 -2.12274974e-04 1.52229020e+00] [ 1.57629788e-02 -4.93279721e-04 9.99875635e-01 2.22359246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.569254154 meters Centerline goodness : 0.999152 Centerline is valid? [True, True] Translation: X:149.57, Y:1.52, Z:2.22 [[ 9.98615843e-01 -5.01769684e-02 -1.57692781e-02 1.49568698e+02] [ 5.01798772e-02 9.98740174e-01 -2.11407891e-04 1.52235255e+00] [ 1.57600194e-02 -5.80185169e-04 9.99875635e-01 2.22405098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.599254154 meters Centerline goodness : 0.999023 Centerline is valid? [True, True] Translation: X:149.60, Y:1.52, Z:2.22 [[ 9.98466875e-01 -5.30587266e-02 -1.57692936e-02 1.49602028e+02] [ 5.30620126e-02 9.98591197e-01 -2.10244852e-04 1.52261137e+00] [ 1.57582331e-02 -6.26827936e-04 9.99875635e-01 2.22434405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.629254154 meters Centerline goodness : 0.999087 Centerline is valid? [True, True] Translation: X:149.63, Y:1.52, Z:2.22 [[ 9.98310566e-01 -5.59226440e-02 -1.57693168e-02 1.49633816e+02] [ 5.59263142e-02 9.98434877e-01 -2.08489880e-04 1.52276420e+00] [ 1.57562952e-02 -6.73782118e-04 9.99875635e-01 2.22424960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.659254154 meters Centerline goodness : 0.999045 Centerline is valid? [True, True] Translation: X:149.67, Y:1.52, Z:2.22 [[ 9.97959354e-01 -6.18745049e-02 -1.57693542e-02 1.49666461e+02] [ 6.18789615e-02 9.98083640e-01 -2.05625591e-04 1.52316499e+00] [ 1.57518574e-02 -7.70585277e-04 9.99875635e-01 2.22398843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.689254154 meters Centerline goodness : 0.999066 Centerline is valid? [True, True] Translation: X:149.70, Y:1.52, Z:2.22 [[ 9.97835263e-01 -6.38444614e-02 -1.57693764e-02 1.49699384e+02] [ 6.38491905e-02 9.97959538e-01 -2.03903286e-04 1.52333950e+00] [ 1.57502177e-02 -8.03400031e-04 9.99875635e-01 2.22268907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.719254154 meters Centerline goodness : 0.999151 Centerline is valid? [True, True] Translation: X:149.73, Y:1.52, Z:2.22 [[ 9.97673704e-01 -6.63212396e-02 -1.57693984e-02 1.49732454e+02] [ 6.63263042e-02 9.97797966e-01 -2.02188857e-04 1.52473471e+00] [ 1.57480831e-02 -8.44207409e-04 9.99875635e-01 2.22486007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.749254154 meters Centerline goodness : 0.999343 Centerline is valid? [True, True] Translation: X:149.77, Y:1.53, Z:2.23 [[ 9.97565416e-01 -6.79306001e-02 -1.57694203e-02 1.49765900e+02] [ 6.79358923e-02 9.97689668e-01 -2.00465816e-04 1.52585185e+00] [ 1.57466055e-02 -8.71331874e-04 9.99875635e-01 2.22543680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.779254154 meters Centerline goodness : 0.999405 Centerline is valid? [True, True] Translation: X:149.80, Y:1.53, Z:2.23 [[ 9.97441154e-01 -6.97314014e-02 -1.57694424e-02 1.49797912e+02] [ 6.97369454e-02 9.97565396e-01 -1.98715244e-04 1.52789709e+00] [ 1.57449067e-02 -9.01505980e-04 9.99875635e-01 2.22555370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.80925415399997 meters Centerline goodness : 0.999511 Centerline is valid? [True, True] Translation: X:149.83, Y:1.53, Z:2.23 [[ 9.97427503e-01 -6.99263866e-02 -1.57694605e-02 1.49830385e+02] [ 6.99319778e-02 9.97551743e-01 -1.97266852e-04 1.52933570e+00] [ 1.57446470e-02 -9.06030177e-04 9.99875635e-01 2.22587675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.83925415399997 meters Centerline goodness : 0.999278 Centerline is valid? [True, True] Translation: X:149.86, Y:1.53, Z:2.23 [[ 9.97429358e-01 -6.98999223e-02 -1.57694744e-02 1.49863213e+02] [ 6.99055279e-02 9.97553597e-01 -1.96144886e-04 1.53099086e+00] [ 1.57446065e-02 -9.06732768e-04 9.99875635e-01 2.22595689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.86925415399998 meters Centerline goodness : 0.999300 Centerline is valid? [True, True] Translation: X:149.90, Y:1.53, Z:2.23 [[ 9.97463364e-01 -6.94129725e-02 -1.57694952e-02 1.49896184e+02] [ 6.94185439e-02 9.97587604e-01 -1.94463926e-04 1.53229884e+00] [ 1.57449512e-02 -9.00724751e-04 9.99875635e-01 2.22648325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.89925415399998 meters Centerline goodness : 0.999383 Centerline is valid? [True, True] Translation: X:149.93, Y:1.54, Z:2.23 [[ 9.97545814e-01 -6.82178192e-02 -1.57695162e-02 1.49927252e+02] [ 6.82232689e-02 9.97670060e-01 -1.92740875e-04 1.53521020e+00] [ 1.57459226e-02 -8.83580094e-04 9.99875635e-01 2.22556078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.92925415399998 meters Centerline goodness : 0.999277 Centerline is valid? [True, True] Translation: X:149.96, Y:1.54, Z:2.23 [[ 9.97620221e-01 -6.71209067e-02 -1.57695433e-02 1.49959478e+02] [ 6.71262551e-02 9.97744471e-01 -1.90500747e-04 1.53681621e+00] [ 1.57467612e-02 -8.68502989e-04 9.99875635e-01 2.22514045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.95925415399998 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:149.99, Y:1.54, Z:2.23 [[ 9.97699121e-01 -6.59377435e-02 -1.57695564e-02 1.49991746e+02] [ 6.59429618e-02 9.97823376e-01 -1.89407341e-04 1.53847369e+00] [ 1.57477211e-02 -8.50919719e-04 9.99875635e-01 2.22598081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.98925415399998 meters Centerline goodness : 0.999230 Centerline is valid? [True, True] Translation: X:150.02, Y:1.54, Z:2.22 [[ 9.97930814e-01 -6.23330674e-02 -1.57695701e-02 1.50022665e+02] [ 6.23378549e-02 9.98055087e-01 -1.88260309e-04 1.54161068e+00] [ 1.57506345e-02 -7.95170411e-04 9.99875635e-01 2.22464492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.01925415399998 meters Centerline goodness : 0.999337 Centerline is valid? [True, True] Translation: X:150.05, Y:1.54, Z:2.22 [[ 9.98084090e-01 -5.98286713e-02 -1.57695803e-02 1.50053865e+02] [ 5.98331604e-02 9.98208374e-01 -1.87404820e-04 1.54409919e+00] [ 1.57525393e-02 -7.56498058e-04 9.99875635e-01 2.22475913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.04925415399998 meters Centerline goodness : 0.999464 Centerline is valid? [True, True] Translation: X:150.09, Y:1.55, Z:2.23 [[ 9.98267023e-01 -5.66945397e-02 -1.57696063e-02 1.50086792e+02] [ 5.66986734e-02 9.98391319e-01 -1.85193356e-04 1.54666261e+00] [ 1.57547375e-02 -7.09243335e-04 9.99875635e-01 2.22583468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.07925415399998 meters Centerline goodness : 0.999484 Centerline is valid? [True, True] Translation: X:150.12, Y:1.55, Z:2.23 [[ 9.98457771e-01 -5.32296771e-02 -1.57696260e-02 1.50119075e+02] [ 5.32334061e-02 9.98582080e-01 -1.83498582e-04 1.54949109e+00] [ 1.57570335e-02 -6.56255319e-04 9.99875635e-01 2.22688381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.10925415399998 meters Centerline goodness : 0.999527 Centerline is valid? [True, True] Translation: X:150.15, Y:1.55, Z:2.23 [[ 9.98858797e-01 -4.50824008e-02 -1.57696421e-02 1.50151620e+02] [ 4.50851376e-02 9.98983132e-01 -1.82100414e-04 1.55498596e+00] [ 1.57618160e-02 -5.29083884e-04 9.99875635e-01 2.22969561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.13925415399999 meters Centerline goodness : 0.999440 Centerline is valid? [True, True] Translation: X:150.18, Y:1.56, Z:2.23 [[ 9.99056209e-01 -4.04723270e-02 -1.57696551e-02 1.50182439e+02] [ 4.04745078e-02 9.99180555e-01 -1.80967662e-04 1.55778629e+00] [ 1.57640569e-02 -4.57472164e-04 9.99875635e-01 2.23078052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.169254154 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:150.21, Y:1.56, Z:2.23 [[ 9.99230883e-01 -3.59020941e-02 -1.57696647e-02 1.50214935e+02] [ 3.59037194e-02 9.99355237e-01 -1.80125324e-04 1.56048086e+00] [ 1.57659639e-02 -3.86202832e-04 9.99875635e-01 2.23247197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.199254154 meters Centerline goodness : 0.999439 Centerline is valid? [True, True] Translation: X:150.25, Y:1.56, Z:2.23 [[ 9.99394873e-01 -3.10033119e-02 -1.57696771e-02 1.50246600e+02] [ 3.10043447e-02 9.99519234e-01 -1.79035908e-04 1.56293532e+00] [ 1.57676463e-02 -3.10000937e-04 9.99875635e-01 2.23471236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.229254154 meters Centerline goodness : 0.999328 Centerline is valid? [True, True] Translation: X:150.28, Y:1.57, Z:2.24 [[ 9.99636194e-01 -2.18814170e-02 -1.57696979e-02 1.50277695e+02] [ 2.18813441e-02 9.99760559e-01 -1.77183179e-04 1.56813914e+00] [ 1.57697990e-02 -1.67943468e-04 9.99875635e-01 2.23747942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.259254154 meters Centerline goodness : 0.999523 Centerline is valid? [True, True] Translation: X:150.31, Y:1.57, Z:2.24 [[ 9.99721545e-01 -1.75541672e-02 -1.57697044e-02 1.50307947e+02] [ 1.75535651e-02 9.99845909e-01 -1.76604648e-04 1.57041176e+00] [ 1.57703746e-02 -1.00259061e-04 9.99875635e-01 2.23819149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.289254154 meters Centerline goodness : 0.999370 Centerline is valid? [True, True] Translation: X:150.34, Y:1.57, Z:2.24 [[ 9.99779389e-01 -1.38740773e-02 -1.57697076e-02 1.50337528e+02] [ 1.38730220e-02 9.99903749e-01 -1.76317746e-04 1.57235108e+00] [ 1.57706360e-02 -4.24946516e-05 9.99875635e-01 2.23890790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.319254154 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:150.36, Y:1.57, Z:2.24 [[ 9.99842208e-01 -8.17770737e-03 -1.57697011e-02 1.50364978e+02] [ 8.17593435e-03 9.99966561e-01 -1.76899752e-04 1.57486165e+00] [ 1.57706204e-02 4.79397978e-05 9.99875635e-01 2.23933268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.349254154 meters Centerline goodness : 0.999434 Centerline is valid? [True, True] Translation: X:150.39, Y:1.58, Z:2.24 [[ 9.99853977e-01 -6.58341711e-03 -1.57696848e-02 1.50393135e+02] [ 6.58142305e-03 9.99978326e-01 -1.78343212e-04 1.57592836e+00] [ 1.57705171e-02 7.45302029e-05 9.99875635e-01 2.23960419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.379254154 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:150.42, Y:1.58, Z:2.24 [[ 9.99856896e-01 -6.12418858e-03 -1.57696316e-02 1.50421349e+02] [ 6.12206514e-03 9.99981243e-01 -1.82924676e-04 1.57661145e+00] [ 1.57704561e-02 8.63557870e-05 9.99875635e-01 2.23932983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.409254154 meters Centerline goodness : 0.999368 Centerline is valid? [True, True] Translation: X:150.45, Y:1.58, Z:2.24 [[ 9.99854694e-01 -6.47385297e-03 -1.57695770e-02 1.50448820e+02] [ 6.47170056e-03 9.99979041e-01 -1.87518870e-04 1.57720102e+00] [ 1.57704604e-02 8.54356419e-05 9.99875635e-01 2.23884527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.439254154 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:150.48, Y:1.58, Z:2.24 [[ 9.99835037e-01 -9.01232032e-03 -1.57695213e-02 1.50477390e+02] [ 9.01041146e-03 9.99959387e-01 -1.92093956e-04 1.57736281e+00] [ 1.57706120e-02 4.99723926e-05 9.99875635e-01 2.23831506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.469254154 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:150.51, Y:1.58, Z:2.24 [[ 9.99832332e-01 -9.30754224e-03 -1.57695070e-02 1.50505759e+02] [ 9.30565176e-03 9.99956683e-01 -1.93256750e-04 1.57777138e+00] [ 1.57706227e-02 4.64788066e-05 9.99875635e-01 2.23876299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.499254154 meters Centerline goodness : 0.999456 Centerline is valid? [True, True] Translation: X:150.53, Y:1.58, Z:2.24 [[ 9.99808355e-01 -1.16007751e-02 -1.57694486e-02 1.50534503e+02] [ 1.15990964e-02 9.99932709e-01 -1.97913302e-04 1.57767558e+00] [ 1.57706834e-02 1.49640191e-05 9.99875635e-01 2.23839948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.529254154 meters Centerline goodness : 0.999521 Centerline is valid? [True, True] Translation: X:150.56, Y:1.58, Z:2.24 [[ 9.99769845e-01 -1.45458348e-02 -1.57694339e-02 1.50561607e+02] [ 1.45445041e-02 9.99894203e-01 -1.99074455e-04 1.57730556e+00] [ 1.57706613e-02 -3.03299584e-05 9.99875635e-01 2.23830425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.55925415399997 meters Centerline goodness : 0.999588 Centerline is valid? [True, True] Translation: X:150.59, Y:1.58, Z:2.24 [[ 9.99722159e-01 -1.75194215e-02 -1.57693928e-02 1.50589899e+02] [ 1.75184102e-02 9.99846520e-01 -2.02275811e-04 1.57669286e+00] [ 1.57705163e-02 -7.40350821e-05 9.99875635e-01 2.23822084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.58925415399997 meters Centerline goodness : 0.999371 Centerline is valid? [True, True] Translation: X:150.62, Y:1.58, Z:2.24 [[ 9.99600672e-01 -2.34483574e-02 -1.57693325e-02 1.50618375e+02] [ 2.34480112e-02 9.99725036e-01 -2.06872812e-04 1.57523168e+00] [ 1.57698474e-02 -1.62969283e-04 9.99875635e-01 2.23912874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.61925415399998 meters Centerline goodness : 0.999545 Centerline is valid? [True, True] Translation: X:150.65, Y:1.57, Z:2.24 [[ 9.99529674e-01 -2.63013238e-02 -1.57693172e-02 1.50648319e+02] [ 2.63013141e-02 9.99654039e-01 -2.08038876e-04 1.57479387e+00] [ 1.57693333e-02 -2.06812734e-04 9.99875635e-01 2.24006151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.64925415399998 meters Centerline goodness : 0.999524 Centerline is valid? [True, True] Translation: X:150.68, Y:1.57, Z:2.24 [[ 9.99455115e-01 -2.89965626e-02 -1.57693297e-02 1.50679102e+02] [ 2.89969034e-02 9.99579480e-01 -2.07081080e-04 1.57404074e+00] [ 1.57687031e-02 -2.50293486e-04 9.99875635e-01 2.24133855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.67925415399998 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:150.71, Y:1.57, Z:2.24 [[ 9.99279448e-01 -3.45240857e-02 -1.57693540e-02 1.50710295e+02] [ 3.45251438e-02 9.99403808e-01 -2.05217896e-04 1.57218380e+00] [ 1.57670374e-02 -3.39369188e-04 9.99875635e-01 2.24351676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.70925415399998 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:150.74, Y:1.57, Z:2.24 [[ 9.99210801e-01 -3.64568442e-02 -1.57693763e-02 1.50742695e+02] [ 3.64581700e-02 9.99335159e-01 -2.03489204e-04 1.57093839e+00] [ 1.57663107e-02 -3.71593991e-04 9.99875635e-01 2.24413648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.73925415399998 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:150.77, Y:1.57, Z:2.25 [[ 9.99101784e-01 -3.93313035e-02 -1.57693909e-02 1.50774659e+02] [ 3.93330052e-02 9.99226137e-01 -2.02347554e-04 1.57102346e+00] [ 1.57651462e-02 -4.18091733e-04 9.99875635e-01 2.24710240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.76925415399998 meters Centerline goodness : 0.999422 Centerline is valid? [True, True] Translation: X:150.81, Y:1.57, Z:2.25 [[ 9.99032196e-01 -4.10609061e-02 -1.57694056e-02 1.50806811e+02] [ 4.10628411e-02 9.99156546e-01 -2.01198448e-04 1.57015740e+00] [ 1.57643662e-02 -4.46532869e-04 9.99875635e-01 2.24831622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.79925415399998 meters Centerline goodness : 0.999465 Centerline is valid? [True, True] Translation: X:150.84, Y:1.57, Z:2.25 [[ 9.98925060e-01 -4.35895516e-02 -1.57694205e-02 1.50836963e+02] [ 4.35918199e-02 9.99049405e-01 -2.00025486e-04 1.56828142e+00] [ 1.57631492e-02 -4.87607267e-04 9.99875635e-01 2.24981525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.82925415399998 meters Centerline goodness : 0.999378 Centerline is valid? [True, True] Translation: X:150.87, Y:1.57, Z:2.25 [[ 9.98864501e-01 -4.49561422e-02 -1.57687933e-02 1.50870076e+02] [ 4.49578029e-02 9.98988856e-01 -2.49332887e-04 1.56751529e+00] [ 1.57640578e-02 -4.59880532e-04 9.99875634e-01 2.24999783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.85925415399998 meters Centerline goodness : 0.999487 Centerline is valid? [True, True] Translation: X:150.90, Y:1.57, Z:2.25 [[ 9.98841407e-01 -4.54661286e-02 -1.57694485e-02 1.50902599e+02] [ 4.54686806e-02 9.98965745e-01 -1.96843176e-04 1.56729983e+00] [ 1.57620886e-02 -5.20400904e-04 9.99875635e-01 2.25014452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.88925415399999 meters Centerline goodness : 0.999295 Centerline is valid? [True, True] Translation: X:150.93, Y:1.57, Z:2.25 [[ 9.98870584e-01 -4.48205331e-02 -1.57694629e-02 1.50933916e+02] [ 4.48230230e-02 9.98994924e-01 -1.95687008e-04 1.56634896e+00] [ 1.57623842e-02 -5.11369002e-04 9.99875635e-01 2.24875805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.919254154 meters Centerline goodness : 0.999422 Centerline is valid? [True, True] Translation: X:150.97, Y:1.56, Z:2.25 [[ 9.99102219e-01 -3.93202191e-02 -1.57694735e-02 1.50971170e+02] [ 3.93220380e-02 9.99226571e-01 -1.94825478e-04 1.56061554e+00] [ 1.57649375e-02 -4.25437269e-04 9.99875635e-01 2.24566564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.949254154 meters Centerline goodness : 0.999294 Centerline is valid? [True, True] Translation: X:150.99, Y:1.57, Z:2.25 [[ 9.98941713e-01 -4.32045585e-02 -1.57740521e-02 1.50993036e+02] [ 4.32128667e-02 9.99065870e-01 1.86078609e-04 1.56648730e+00] [ 1.57512776e-02 -8.67523694e-04 9.99875565e-01 2.24787342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.979254154 meters Centerline goodness : 0.999379 Centerline is valid? [True, True] Translation: X:151.03, Y:1.57, Z:2.25 [[ 9.99017872e-01 -4.14080234e-02 -1.57691552e-02 1.51025003e+02] [ 4.14100198e-02 9.99142217e-01 -2.00037430e-04 1.56682030e+00] [ 1.57639119e-02 -4.53160063e-04 9.99875639e-01 2.24784236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.009254154 meters Centerline goodness : 0.999442 Centerline is valid? [True, True] Translation: X:151.06, Y:1.57, Z:2.25 [[ 9.99251197e-01 -3.53323969e-02 -1.57691694e-02 1.51058479e+02] [ 3.53336549e-02 9.99375552e-01 -1.98911243e-04 1.56618374e+00] [ 1.57663504e-02 -3.58420093e-04 9.99875639e-01 2.24603094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.039254154 meters Centerline goodness : 0.999335 Centerline is valid? [True, True] Translation: X:151.09, Y:1.57, Z:2.25 [[ 9.99294949e-01 -3.40721295e-02 -1.57700823e-02 1.51088095e+02] [ 3.40743874e-02 9.99419292e-01 -1.25577716e-04 1.56889102e+00] [ 1.57652032e-02 -4.11866716e-04 9.99875637e-01 2.24738639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.069254154 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:151.12, Y:1.57, Z:2.25 [[ 9.99397559e-01 -3.09168586e-02 -1.57691915e-02 1.51119480e+02] [ 3.09175987e-02 9.99521917e-01 -1.96913363e-04 1.57004162e+00] [ 1.57677405e-02 -2.90750801e-04 9.99875639e-01 2.24749127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.099254154 meters Centerline goodness : 0.999356 Centerline is valid? [True, True] Translation: X:151.15, Y:1.57, Z:2.25 [[ 9.99504389e-01 -2.72453361e-02 -1.57692019e-02 1.51150643e+02] [ 2.72456325e-02 9.99628750e-01 -1.96081236e-04 1.57120358e+00] [ 1.57686899e-02 -2.33657822e-04 9.99875639e-01 2.24742517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.129254154 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:151.18, Y:1.57, Z:2.25 [[ 9.99664374e-01 -2.05541118e-02 -1.57692121e-02 1.51182144e+02] [ 2.05535886e-02 9.99788734e-01 -1.95256862e-04 1.57319319e+00] [ 1.57698939e-02 -1.28922570e-04 9.99875639e-01 2.25051959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.159254154 meters Centerline goodness : 0.999439 Centerline is valid? [True, True] Translation: X:151.21, Y:1.57, Z:2.25 [[ 9.99725744e-01 -1.73138447e-02 -1.57692192e-02 1.51211917e+02] [ 1.73129276e-02 9.99850101e-01 -1.94680830e-04 1.57410746e+00] [ 1.57702261e-02 -7.83839130e-05 9.99875639e-01 2.25070593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.189254154 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:151.24, Y:1.58, Z:2.25 [[ 9.99769228e-01 -1.45884406e-02 -1.57692157e-02 1.51240853e+02] [ 1.45871800e-02 9.99893582e-01 -1.94966311e-04 1.57506139e+00] [ 1.57703818e-02 -3.51070697e-05 9.99875639e-01 2.25187514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.219254154 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:151.27, Y:1.58, Z:2.25 [[ 9.99801938e-01 -1.21415493e-02 -1.57691657e-02 1.51268981e+02] [ 1.21399219e-02 9.99926289e-01 -1.98928624e-04 1.57590008e+00] [ 1.57704186e-02 7.45278438e-06 9.99875639e-01 2.25303343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.249254154 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:151.30, Y:1.58, Z:2.25 [[ 9.99836783e-01 -8.81719481e-03 -1.57691063e-02 1.51296663e+02] [ 8.81508133e-03 9.99961126e-01 -2.03530253e-04 1.57692653e+00] [ 1.57702878e-02 6.44910795e-05 9.99875639e-01 2.25293841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.279254154 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:151.32, Y:1.58, Z:2.25 [[ 9.99840691e-01 -8.36231838e-03 -1.57690878e-02 1.51324441e+02] [ 8.36012588e-03 9.99965033e-01 -2.04953897e-04 1.57746242e+00] [ 1.57702503e-02 7.30896872e-05 9.99875639e-01 2.25374004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.30925415399997 meters Centerline goodness : 0.999351 Centerline is valid? [True, True] Translation: X:151.35, Y:1.58, Z:2.25 [[ 9.99837116e-01 -8.77949157e-03 -1.57690269e-02 1.51352301e+02] [ 8.77727870e-03 9.99961457e-01 -2.09535186e-04 1.57774404e+00] [ 1.57702587e-02 7.10919119e-05 9.99875639e-01 2.25420392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.33925415399997 meters Centerline goodness : 0.999329 Centerline is valid? [True, True] Translation: X:151.38, Y:1.58, Z:2.25 [[ 9.99830017e-01 -9.55388547e-03 -1.57689645e-02 1.51380539e+02] [ 9.55169637e-03 9.99954359e-01 -2.14134426e-04 1.57759999e+00] [ 1.57702906e-02 6.34776660e-05 9.99875639e-01 2.25398249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.36925415399998 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:151.41, Y:1.58, Z:2.25 [[ 9.99785732e-01 -1.34100696e-02 -1.57689450e-02 1.51409780e+02] [ 1.34083377e-02 9.99910081e-01 -2.15557911e-04 1.57704429e+00] [ 1.57704177e-02 4.07638494e-06 9.99875639e-01 2.25420536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.39925415399998 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:151.45, Y:1.57, Z:2.25 [[ 9.99824211e-01 -1.01433831e-02 -1.57689295e-02 1.51448625e+02] [ 1.01412270e-02 9.99948553e-01 -2.16686312e-04 1.57004722e+00] [ 1.57703162e-02 5.67319274e-05 9.99875639e-01 2.25416759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.42925415399998 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:151.47, Y:1.58, Z:2.26 [[ 9.99687440e-01 -1.93956626e-02 -1.57743701e-02 1.51469473e+02] [ 1.94011490e-02 9.99811761e-01 1.94835591e-04 1.57669306e+00] [ 1.57676218e-02 -5.00815598e-04 9.99875558e-01 2.25528039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.45925415399998 meters Centerline goodness : 0.998558 Centerline is valid? [True, True] Translation: X:151.50, Y:1.58, Z:2.25 [[ 9.99626350e-01 -2.23274139e-02 -1.57685430e-02 1.51498058e+02] [ 2.23267052e-02 9.99750704e-01 -2.21009628e-04 1.57675561e+00] [ 1.57695465e-02 -1.31132563e-04 9.99875644e-01 2.25226489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.48925415399998 meters Centerline goodness : 0.999418 Centerline is valid? [True, True] Translation: X:151.53, Y:1.58, Z:2.26 [[ 9.99482602e-01 -2.80337592e-02 -1.57682094e-02 1.51527874e+02] [ 2.80333887e-02 9.99606957e-01 -2.44569567e-04 1.57638767e+00] [ 1.57688680e-02 -1.97593317e-04 9.99875644e-01 2.25740578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.51925415399998 meters Centerline goodness : 0.999376 Centerline is valid? [True, True] Translation: X:151.56, Y:1.58, Z:2.26 [[ 9.99413113e-01 -3.04102404e-02 -1.57685160e-02 1.51560403e+02] [ 3.04105078e-02 9.99537469e-01 -2.22876003e-04 1.57616201e+00] [ 1.57680003e-02 -2.56783381e-04 9.99875644e-01 2.25880991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.54925415399998 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:151.59, Y:1.58, Z:2.26 [[ 9.99334467e-01 -3.28934057e-02 -1.57685316e-02 1.51592337e+02] [ 3.28939995e-02 9.99458821e-01 -2.21771986e-04 1.57599426e+00] [ 1.57672928e-02 -2.97065680e-04 9.99875644e-01 2.26064435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.57925415399998 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:151.63, Y:1.57, Z:2.26 [[ 9.99344515e-01 -3.25866898e-02 -1.57685475e-02 1.51628662e+02] [ 3.25872634e-02 9.99468870e-01 -2.20633063e-04 1.56943710e+00] [ 1.57673621e-02 -2.93365370e-04 9.99875644e-01 2.25868545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.60925415399998 meters Centerline goodness : 0.999356 Centerline is valid? [True, True] Translation: X:151.65, Y:1.58, Z:2.26 [[ 9.99090509e-01 -3.96153934e-02 -1.57726381e-02 1.51651691e+02] [ 3.96216285e-02 9.99214752e-01 8.28966801e-05 1.57538268e+00] [ 1.57569687e-02 -7.07758894e-04 9.99875601e-01 2.26230229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.63925415399999 meters Centerline goodness : 0.999465 Centerline is valid? [True, True] Translation: X:151.68, Y:1.58, Z:2.26 [[ 9.98994856e-01 -4.19599532e-02 -1.57683399e-02 1.51683805e+02] [ 4.19616687e-02 9.99119197e-01 -2.22188523e-04 1.57569308e+00] [ 1.57637742e-02 -4.39700666e-04 9.99875647e-01 2.26371313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.669254154 meters Centerline goodness : 0.999294 Centerline is valid? [True, True] Translation: X:151.72, Y:1.58, Z:2.26 [[ 9.98882400e-01 -4.45568179e-02 -1.57683558e-02 1.51715746e+02] [ 4.45588745e-02 9.99006736e-01 -2.21055263e-04 1.57553848e+00] [ 1.57625432e-02 -4.81811977e-04 9.99875647e-01 2.26411296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.699254154 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:151.75, Y:1.57, Z:2.27 [[ 9.98575624e-01 -5.09713690e-02 -1.57683942e-02 1.51748876e+02] [ 5.09742678e-02 9.98699943e-01 -2.18287402e-04 1.57429011e+00] [ 1.57590208e-02 -5.85805868e-04 9.99875647e-01 2.26505995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.729254154 meters Centerline goodness : 0.999295 Centerline is valid? [True, True] Translation: X:151.78, Y:1.57, Z:2.27 [[ 9.98399495e-01 -5.43121081e-02 -1.57684178e-02 1.51782344e+02] [ 5.43154500e-02 9.98523803e-01 -2.16563739e-04 1.57358016e+00] [ 1.57569026e-02 -6.40251583e-04 9.99875647e-01 2.26539510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.759254154 meters Centerline goodness : 0.999339 Centerline is valid? [True, True] Translation: X:151.82, Y:1.57, Z:2.26 [[ 9.98422897e-01 -5.38801941e-02 -1.57684416e-02 1.51819743e+02] [ 5.38835097e-02 9.98547205e-01 -2.14820460e-04 1.56861309e+00] [ 1.57571078e-02 -6.35177309e-04 9.99875647e-01 2.26202409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.789254154 meters Centerline goodness : 0.999211 Centerline is valid? [True, True] Translation: X:151.85, Y:1.57, Z:2.26 [[ 9.97997137e-01 -6.12614950e-02 -1.57716443e-02 1.51845016e+02] [ 6.12695165e-02 9.98121258e-01 2.54625515e-05 1.57286864e+00] [ 1.57404536e-02 -9.91732574e-04 9.99875620e-01 2.26473002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.819254154 meters Centerline goodness : 0.999233 Centerline is valid? [True, True] Translation: X:151.88, Y:1.57, Z:2.26 [[ 9.97678389e-01 -6.62509851e-02 -1.57683070e-02 1.51877080e+02] [ 6.62558061e-02 9.97802646e-01 -2.17035430e-04 1.57251323e+00] [ 1.57480373e-02 -8.28210334e-04 9.99875649e-01 2.26427797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.849254154 meters Centerline goodness : 0.999531 Centerline is valid? [True, True] Translation: X:151.91, Y:1.57, Z:2.26 [[ 9.97545357e-01 -6.82247753e-02 -1.57683227e-02 1.51908980e+02] [ 6.82298603e-02 9.97669604e-01 -2.15892152e-04 1.57289525e+00] [ 1.57463054e-02 -8.60508237e-04 9.99875649e-01 2.26003792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.879254154 meters Centerline goodness : 0.999445 Centerline is valid? [True, True] Translation: X:151.94, Y:1.57, Z:2.26 [[ 9.97549648e-01 -6.81620109e-02 -1.57683484e-02 1.51941449e+02] [ 6.81671179e-02 9.97673894e-01 -2.13995946e-04 1.57265455e+00] [ 1.57462559e-02 -8.61411284e-04 9.99875649e-01 2.26403395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.909254154 meters Centerline goodness : 0.999424 Centerline is valid? [True, True] Translation: X:151.97, Y:1.57, Z:2.26 [[ 9.97590638e-01 -6.75594332e-02 -1.57683658e-02 1.51974279e+02] [ 6.75644855e-02 9.97714887e-01 -2.12707007e-04 1.57326435e+00] [ 1.57467036e-02 -8.53187002e-04 9.99875649e-01 2.26443163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.939254154 meters Centerline goodness : 0.999328 Centerline is valid? [True, True] Translation: X:152.00, Y:1.57, Z:2.26 [[ 9.97737975e-01 -6.53474626e-02 -1.57683891e-02 1.52004110e+02] [ 6.53522669e-02 9.97862233e-01 -2.10961485e-04 1.57394885e+00] [ 1.57484658e-02 -8.20015690e-04 9.99875649e-01 2.26057472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.969254154 meters Centerline goodness : 0.999424 Centerline is valid? [True, True] Translation: X:152.04, Y:1.58, Z:2.27 [[ 9.97842132e-01 -6.37374190e-02 -1.57676929e-02 1.52037391e+02] [ 6.37412068e-02 9.97966427e-01 -2.62729122e-04 1.57528283e+00] [ 1.57523738e-02 -7.42889583e-04 9.99875648e-01 2.26521079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.999254154 meters Centerline goodness : 0.999466 Centerline is valid? [True, True] Translation: X:152.07, Y:1.58, Z:2.27 [[ 9.98195784e-01 -5.79356063e-02 -1.57684127e-02 1.52069987e+02] [ 5.79395308e-02 9.98320073e-01 -2.08216020e-04 1.57886677e+00] [ 1.57539860e-02 -7.05774081e-04 9.99875649e-01 2.26593948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.029254154 meters Centerline goodness : 0.999316 Centerline is valid? [True, True] Translation: X:152.11, Y:1.58, Z:2.27 [[ 9.98576149e-01 -5.09610830e-02 -1.57684276e-02 1.52105997e+02] [ 5.09641571e-02 9.98700462e-01 -2.07078551e-04 1.57785459e+00] [ 1.57584889e-02 -5.96840922e-04 9.99875649e-01 2.26555921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.05925415399997 meters Centerline goodness : 0.999507 Centerline is valid? [True, True] Translation: X:152.13, Y:1.58, Z:2.27 [[ 9.98627643e-01 -4.99411156e-02 -1.57707094e-02 1.52132695e+02] [ 4.99468735e-02 9.98751876e-01 -2.88023357e-05 1.58349255e+00] [ 1.57524641e-02 -7.58934822e-04 9.99875634e-01 2.26842070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.08925415399997 meters Centerline goodness : 0.999378 Centerline is valid? [True, True] Translation: X:152.16, Y:1.59, Z:2.27 [[ 9.99044454e-01 -4.07619572e-02 -1.57683820e-02 1.52163527e+02] [ 4.07637705e-02 9.99168791e-01 -2.06524387e-04 1.58701871e+00] [ 1.57636935e-02 -4.36451662e-04 9.99875650e-01 2.26952555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.11925415399998 meters Centerline goodness : 0.999267 Centerline is valid? [True, True] Translation: X:152.20, Y:1.59, Z:2.27 [[ 9.99223255e-01 -3.61143313e-02 -1.57683932e-02 1.52196010e+02] [ 3.61155798e-02 9.99347598e-01 -2.05667320e-04 1.58861723e+00] [ 1.57655334e-02 -3.63977093e-04 9.99875650e-01 2.27116443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.14925415399998 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:152.23, Y:1.59, Z:2.27 [[ 9.99381179e-01 -3.14422651e-02 -1.57684082e-02 1.52227222e+02] [ 3.14429505e-02 9.99505527e-01 -2.04507483e-04 1.59012757e+00] [ 1.57670414e-02 -2.91424350e-04 9.99875650e-01 2.27145658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.17925415399998 meters Centerline goodness : 0.999525 Centerline is valid? [True, True] Translation: X:152.26, Y:1.59, Z:2.27 [[ 9.99510007e-01 -2.70389123e-02 -1.57684194e-02 1.52259164e+02] [ 2.70390635e-02 9.99634357e-01 -2.03644909e-04 1.59183366e+00] [ 1.57681601e-02 -2.22818169e-04 9.99875650e-01 2.27220736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.20925415399998 meters Centerline goodness : 0.999523 Centerline is valid? [True, True] Translation: X:152.29, Y:1.59, Z:2.27 [[ 9.99681351e-01 -1.97117623e-02 -1.57684337e-02 1.52289509e+02] [ 1.97110196e-02 9.99805698e-01 -2.02530468e-04 1.59482107e+00] [ 1.57693621e-02 -1.08345974e-04 9.99875650e-01 2.27313199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.23925415399998 meters Centerline goodness : 0.999350 Centerline is valid? [True, True] Translation: X:152.32, Y:1.60, Z:2.27 [[ 9.99741971e-01 -1.63507128e-02 -1.57685241e-02 1.52319292e+02] [ 1.63496632e-02 9.99866316e-01 -1.95485686e-04 1.59631640e+00] [ 1.57696124e-02 -6.23748121e-05 9.99875650e-01 2.27249904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.26925415399998 meters Centerline goodness : 0.996937 Centerline is valid? [True, True] Translation: X:152.35, Y:1.60, Z:2.27 [[ 9.99767705e-01 -1.46932994e-02 -1.57683924e-02 1.52345609e+02] [ 1.46918842e-02 9.99892047e-01 -2.05587603e-04 1.60063759e+00] [ 1.57697109e-02 -2.61275486e-05 9.99875650e-01 2.27116734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.29925415399998 meters Centerline goodness : 0.999500 Centerline is valid? [True, True] Translation: X:152.37, Y:1.60, Z:2.27 [[ 9.99847493e-01 -7.51174612e-03 -1.57659263e-02 1.52373440e+02] [ 7.50664982e-03 9.99971752e-01 -3.82401833e-04 1.60181088e+00] [ 1.57683534e-02 2.63994226e-04 9.99875637e-01 2.27143472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.32925415399998 meters Centerline goodness : 0.999586 Centerline is valid? [True, True] Translation: X:152.40, Y:1.60, Z:2.27 [[ 9.99867372e-01 -4.08312969e-03 -1.57659772e-02 1.52400972e+02] [ 4.07768198e-03 9.99991615e-01 -3.77667393e-04 1.60259485e+00] [ 1.57673871e-02 3.13328662e-04 9.99875638e-01 2.27052839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.35925415399998 meters Centerline goodness : 0.999456 Centerline is valid? [True, True] Translation: X:152.43, Y:1.60, Z:2.27 [[ 9.99875127e-01 1.09602705e-03 -1.57647938e-02 1.52434601e+02] [-1.10386214e-03 9.99999272e-01 -4.88305955e-04 1.59811393e+00] [ 1.57642471e-02 5.05647138e-04 9.99875609e-01 2.27242545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.38925415399999 meters Centerline goodness : 0.999456 Centerline is valid? [True, True] Translation: X:152.46, Y:1.60, Z:2.27 [[ 9.99875184e-01 9.90903836e-04 -1.57681366e-02 1.52463053e+02] [-9.93566123e-04 9.99999493e-01 -1.61006738e-04 1.59833176e+00] [ 1.57679691e-02 1.76653329e-04 9.99875662e-01 2.27275658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.419254154 meters Centerline goodness : 0.999673 Centerline is valid? [True, True] Translation: X:152.49, Y:1.60, Z:2.27 [[ 9.99870785e-01 3.12726229e-03 -1.57681187e-02 1.52489611e+02] [-3.13021760e-03 9.99995088e-01 -1.62746135e-04 1.59900522e+00] [ 1.57675323e-02 2.12082749e-04 9.99875662e-01 2.27286802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.449254154 meters Centerline goodness : 0.999586 Centerline is valid? [True, True] Translation: X:152.52, Y:1.60, Z:2.27 [[ 9.99856784e-01 6.14643281e-03 -1.57680976e-02 1.52517292e+02] [-6.14979518e-03 9.99981076e-01 -1.64758621e-04 1.59975378e+00] [ 1.57667866e-02 2.61705596e-04 9.99875662e-01 2.27311771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.479254154 meters Centerline goodness : 0.999128 Centerline is valid? [True, True] Translation: X:152.54, Y:1.61, Z:2.27 [[ 9.99870492e-01 3.21997816e-03 -1.57680491e-02 1.52538935e+02] [-3.22304804e-03 9.99994792e-01 -1.69282008e-04 1.60653642e+00] [ 1.57674219e-02 2.20081264e-04 9.99875662e-01 2.27068753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.509254154 meters Centerline goodness : 0.999433 Centerline is valid? [True, True] Translation: X:152.57, Y:1.61, Z:2.27 [[ 9.99864657e-01 4.70840528e-03 -1.57638341e-02 1.52568357e+02] [-4.71758209e-03 9.99988724e-01 -5.45007672e-04 1.60629893e+00] [ 1.57610903e-02 6.19301090e-04 9.99875595e-01 2.27145503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.539254154 meters Centerline goodness : 0.999673 Centerline is valid? [True, True] Translation: X:152.60, Y:1.60, Z:2.27 [[ 9.99837718e-01 8.72005853e-03 -1.57638146e-02 1.52603674e+02] [-8.72976063e-03 9.99961745e-01 -5.46758706e-04 1.60008434e+00] [ 1.57584438e-02 6.84284305e-04 9.99875594e-01 2.27445209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.569254154 meters Centerline goodness : 0.999498 Centerline is valid? [True, True] Translation: X:152.63, Y:1.60, Z:2.27 [[ 9.99849022e-01 7.30137723e-03 -1.57678005e-02 1.52632146e+02] [-7.30487526e-03 9.99973306e-01 -1.64262289e-04 1.59816700e+00] [ 1.57661802e-02 2.79419305e-04 9.99875667e-01 2.27482045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.599254154 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:152.66, Y:1.60, Z:2.27 [[ 9.99860712e-01 5.47123612e-03 -1.57677886e-02 1.52660014e+02] [-5.47452445e-03 9.99985001e-01 -1.65391199e-04 1.59720871e+00] [ 1.57666472e-02 2.51689306e-04 9.99875667e-01 2.27495366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.629254154 meters Centerline goodness : 0.998608 Centerline is valid? [True, True] Translation: X:152.68, Y:1.60, Z:2.28 [[ 9.99872884e-01 2.36495999e-03 -1.57677738e-02 1.52684117e+02] [-2.36788426e-03 9.99997183e-01 -1.66791546e-04 1.59850184e+00] [ 1.57673349e-02 2.04106607e-04 9.99875667e-01 2.27550450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.659254154 meters Centerline goodness : 0.997485 Centerline is valid? [True, True] Translation: X:152.71, Y:1.60, Z:2.28 [[ 9.99863975e-01 -4.84584747e-03 -1.57654428e-02 1.52712445e+02] [ 4.84055384e-03 9.99988215e-01 -3.73916449e-04 1.59505676e+00] [ 1.57670690e-02 2.97552112e-04 9.99875648e-01 2.27601122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.689254154 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:152.74, Y:1.59, Z:2.28 [[ 9.99848466e-01 -7.38258941e-03 -1.57652439e-02 1.52744608e+02] [ 7.37734007e-03 9.99972711e-01 -3.91100656e-04 1.59049471e+00] [ 1.57677010e-02 2.74735826e-04 9.99875644e-01 2.27807504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.719254154 meters Centerline goodness : 0.999375 Centerline is valid? [True, True] Translation: X:152.77, Y:1.59, Z:2.28 [[ 9.99813174e-01 -1.11802352e-02 -1.57676518e-02 1.52771395e+02] [ 1.11788049e-02 9.99937499e-01 -1.78843873e-04 1.58833705e+00] [ 1.57686658e-02 2.54695722e-06 9.99875667e-01 2.27851864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.749254154 meters Centerline goodness : 0.999570 Centerline is valid? [True, True] Translation: X:152.80, Y:1.59, Z:2.28 [[ 9.99749414e-01 -1.58899503e-02 -1.57676223e-02 1.52797509e+02] [ 1.58890654e-02 9.99873744e-01 -1.81401702e-04 1.58944248e+00] [ 1.57685141e-02 -6.91765377e-05 9.99875667e-01 2.27865056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.779254154 meters Centerline goodness : 0.999294 Centerline is valid? [True, True] Translation: X:152.83, Y:1.58, Z:2.28 [[ 9.99675324e-01 -2.00177916e-02 -1.57649942e-02 1.52829778e+02] [ 2.00139561e-02 9.99799620e-01 -4.01039263e-04 1.58098475e+00] [ 1.57698632e-02 8.53891525e-05 9.99875644e-01 2.27886566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.80925415399997 meters Centerline goodness : 0.999273 Centerline is valid? [True, True] Translation: X:152.86, Y:1.58, Z:2.28 [[ 9.99634797e-01 -2.19467027e-02 -1.57675258e-02 1.52859662e+02] [ 2.19465414e-02 9.99759129e-01 -1.83282723e-04 1.57852643e+00] [ 1.57677503e-02 -1.62826871e-04 9.99875668e-01 2.27902408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.83925415399997 meters Centerline goodness : 0.999487 Centerline is valid? [True, True] Translation: X:152.89, Y:1.58, Z:2.28 [[ 9.99611127e-01 -2.29995681e-02 -1.57675191e-02 1.52889041e+02] [ 2.29995287e-02 9.99735459e-01 -1.83863013e-04 1.57620742e+00] [ 1.57675767e-02 -1.78853993e-04 9.99875668e-01 2.27907094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.86925415399998 meters Centerline goodness : 0.999401 Centerline is valid? [True, True] Translation: X:152.92, Y:1.57, Z:2.28 [[ 9.99595090e-01 -2.36863199e-02 -1.57675198e-02 1.52919720e+02] [ 2.36863668e-02 9.99719422e-01 -1.83803632e-04 1.57369871e+00] [ 1.57674494e-02 -1.89746049e-04 9.99875668e-01 2.27926426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.89925415399998 meters Centerline goodness : 0.999189 Centerline is valid? [True, True] Translation: X:152.95, Y:1.57, Z:2.28 [[ 9.99615693e-01 -2.28002516e-02 -1.57675198e-02 1.52950511e+02] [ 2.28001883e-02 9.99740025e-01 -1.83803632e-04 1.56909747e+00] [ 1.57676114e-02 -1.75769424e-04 9.99875668e-01 2.27955265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.92925415399998 meters Centerline goodness : 0.999446 Centerline is valid? [True, True] Translation: X:152.98, Y:1.57, Z:2.28 [[ 9.99646658e-01 -2.13996326e-02 -1.57675198e-02 1.52979788e+02] [ 2.13993950e-02 9.99770990e-01 -1.83803632e-04 1.56700005e+00] [ 1.57678422e-02 -1.53676698e-04 9.99875668e-01 2.27996758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.95925415399998 meters Centerline goodness : 0.999042 Centerline is valid? [True, True] Translation: X:153.01, Y:1.57, Z:2.28 [[ 9.99679298e-01 -1.98163065e-02 -1.57675164e-02 1.53009688e+02] [ 1.98158676e-02 9.99803629e-01 -1.84088717e-04 1.56543596e+00] [ 1.57680681e-02 -1.28417338e-04 9.99875668e-01 2.28058695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.98925415399998 meters Centerline goodness : 0.999148 Centerline is valid? [True, True] Translation: X:153.04, Y:1.56, Z:2.28 [[ 9.99755453e-01 -1.55054590e-02 -1.57675097e-02 1.53039060e+02] [ 1.55044748e-02 9.99879781e-01 -1.84664648e-04 1.56282710e+00] [ 1.57684774e-02 -5.98474681e-05 9.99875668e-01 2.28113407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.01925415399998 meters Centerline goodness : 0.999129 Centerline is valid? [True, True] Translation: X:153.07, Y:1.56, Z:2.28 [[ 9.99789777e-01 -1.31068071e-02 -1.57675029e-02 1.53067055e+02] [ 1.31055155e-02 9.99914102e-01 -1.85242440e-04 1.56197356e+00] [ 1.57685764e-02 -2.14377561e-05 9.99875668e-01 2.28123876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.04925415399998 meters Centerline goodness : 0.999129 Centerline is valid? [True, True] Translation: X:153.09, Y:1.56, Z:2.28 [[ 9.99818071e-01 -1.07336380e-02 -1.57674859e-02 1.53094867e+02] [ 1.07320287e-02 9.99942393e-01 -1.86674450e-04 1.56101366e+00] [ 1.57685813e-02 1.74233758e-05 9.99875668e-01 2.28155195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.07925415399998 meters Centerline goodness : 0.999129 Centerline is valid? [True, True] Translation: X:153.12, Y:1.56, Z:2.28 [[ 9.99823444e-01 -1.02209616e-02 -1.57674295e-02 1.53119686e+02] [ 1.02192152e-02 9.99947764e-01 -1.91327451e-04 1.56400293e+00] [ 1.57685614e-02 3.01629159e-05 9.99875668e-01 2.28067833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.10925415399998 meters Centerline goodness : 0.999173 Centerline is valid? [True, True] Translation: X:153.15, Y:1.56, Z:2.28 [[ 9.99867647e-01 -4.02215321e-03 -1.57642512e-02 1.53153254e+02] [ 4.01569651e-03 9.99991840e-01 -4.41211765e-04 1.55696253e+00] [ 1.57658972e-02 3.77848920e-04 9.99875639e-01 2.28185915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.13925415399999 meters Centerline goodness : 0.999171 Centerline is valid? [True, True] Translation: X:153.18, Y:1.56, Z:2.28 [[ 9.99870737e-01 -3.14681300e-03 -1.57672881e-02 1.53181638e+02] [ 3.14416923e-03 9.99995039e-01 -1.92460785e-04 1.55522479e+00] [ 1.57678155e-02 1.42860885e-04 9.99875670e-01 2.28210058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.169254154 meters Centerline goodness : 0.999066 Centerline is valid? [True, True] Translation: X:153.21, Y:1.55, Z:2.28 [[ 9.99871031e-01 -3.05202985e-03 -1.57672298e-02 1.53209486e+02] [ 3.04930080e-03 9.99995331e-01 -1.97122049e-04 1.55368004e+00] [ 1.57677578e-02 1.49017600e-04 9.99875670e-01 2.28270624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.199254154 meters Centerline goodness : 0.999088 Centerline is valid? [True, True] Translation: X:153.24, Y:1.55, Z:2.28 [[ 9.99869799e-01 -3.43241820e-03 -1.57671702e-02 1.53237126e+02] [ 3.42966297e-03 9.99994098e-01 -2.01781539e-04 1.55176752e+00] [ 1.57677697e-02 1.47679187e-04 9.99875670e-01 2.28313321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.229254154 meters Centerline goodness : 0.999174 Centerline is valid? [True, True] Translation: X:153.26, Y:1.55, Z:2.28 [[ 9.99858821e-01 -5.80826090e-03 -1.57671095e-02 1.53264009e+02] [ 5.80572801e-03 9.99983125e-01 -2.06412480e-04 1.54773225e+00] [ 1.57680424e-02 1.14843790e-04 9.99875670e-01 2.28305049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.259254154 meters Centerline goodness : 0.999217 Centerline is valid? [True, True] Translation: X:153.29, Y:1.55, Z:2.28 [[ 9.99849272e-01 -7.26854640e-03 -1.57670830e-02 1.53292409e+02] [ 7.26616342e-03 9.99973579e-01 -2.08418181e-04 1.54568112e+00] [ 1.57681813e-02 9.38205645e-05 9.99875670e-01 2.28276784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.289254154 meters Centerline goodness : 0.999218 Centerline is valid? [True, True] Translation: X:153.32, Y:1.54, Z:2.28 [[ 9.99833625e-01 -9.17184904e-03 -1.57670679e-02 1.53320653e+02] [ 9.16968470e-03 9.99957936e-01 -2.09559894e-04 1.54337265e+00] [ 1.57683267e-02 6.49459877e-05 9.99875670e-01 2.28244973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.319254154 meters Centerline goodness : 0.999198 Centerline is valid? [True, True] Translation: X:153.35, Y:1.54, Z:2.28 [[ 9.99791606e-01 -1.29671414e-02 -1.57670053e-02 1.53349059e+02] [ 1.29653763e-02 9.99915923e-01 -2.14167330e-04 1.53791244e+00] [ 1.57684568e-02 9.69754207e-06 9.99875670e-01 2.28132128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.349254154 meters Centerline goodness : 0.999304 Centerline is valid? [True, True] Translation: X:153.37, Y:1.54, Z:2.28 [[ 9.99724276e-01 -1.74004254e-02 -1.57669897e-02 1.53374815e+02] [ 1.73991936e-02 9.99848599e-01 -2.15307461e-04 1.53933605e+00] [ 1.57683490e-02 -5.90848112e-05 9.99875670e-01 2.27733403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.379254154 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:153.40, Y:1.53, Z:2.28 [[ 9.99656114e-01 -2.09554794e-02 -1.57645556e-02 1.53402691e+02] [ 2.09518774e-02 9.99780408e-01 -3.93624664e-04 1.53488200e+00] [ 1.57693425e-02 6.31922642e-05 9.99875654e-01 2.27968729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.409254154 meters Centerline goodness : 0.999074 Centerline is valid? [True, True] Translation: X:153.44, Y:1.53, Z:2.28 [[ 9.99693944e-01 -1.90663669e-02 -1.57636090e-02 1.53436185e+02] [ 1.90614633e-02 9.99818207e-01 -4.61277731e-04 1.52807489e+00] [ 1.57695381e-02 1.60659101e-04 9.99875640e-01 2.28370186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.439254154 meters Centerline goodness : 0.999096 Centerline is valid? [True, True] Translation: X:153.46, Y:1.53, Z:2.28 [[ 9.99670922e-01 -2.02348657e-02 -1.57669616e-02 1.53463852e+02] [ 2.02340362e-02 9.99795248e-01 -2.12151379e-04 1.52582525e+00] [ 1.57680261e-02 -1.06947706e-04 9.99875671e-01 2.28434267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.469254154 meters Centerline goodness : 0.999035 Centerline is valid? [True, True] Translation: X:153.49, Y:1.52, Z:2.29 [[ 9.99650351e-01 -2.12269046e-02 -1.57668991e-02 1.53491439e+02] [ 2.12261268e-02 9.99774677e-01 -2.16698204e-04 1.52402962e+00] [ 1.57679462e-02 -1.18047762e-04 9.99875671e-01 2.28521479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.499254154 meters Centerline goodness : 0.999098 Centerline is valid? [True, True] Translation: X:153.52, Y:1.52, Z:2.29 [[ 9.99630474e-01 -2.21431784e-02 -1.57668796e-02 1.53520437e+02] [ 2.21424923e-02 9.99754801e-01 -2.18105378e-04 1.52232852e+00] [ 1.57678431e-02 -1.31093227e-04 9.99875671e-01 2.28632664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.529254154 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:153.55, Y:1.52, Z:2.29 [[ 9.99627464e-01 -2.22787144e-02 -1.57668242e-02 1.53549562e+02] [ 2.22779832e-02 9.99751790e-01 -2.22037468e-04 1.52110172e+00] [ 1.57678575e-02 -1.29298294e-04 9.99875671e-01 2.28669904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.55925415399997 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:153.58, Y:1.52, Z:2.29 [[ 9.99585908e-01 -2.40711651e-02 -1.57667682e-02 1.53577452e+02] [ 2.40705952e-02 9.99710236e-01 -2.25945140e-04 1.51743670e+00] [ 1.57676383e-02 -1.53663917e-04 9.99875671e-01 2.28742919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.58925415399997 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:153.61, Y:1.52, Z:2.29 [[ 9.99555007e-01 -2.53218947e-02 -1.57667466e-02 1.53606722e+02] [ 2.53214566e-02 9.99679335e-01 -2.27447145e-04 1.51610421e+00] [ 1.57674501e-02 -1.71891056e-04 9.99875671e-01 2.28766499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.61925415399998 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:153.64, Y:1.51, Z:2.29 [[ 9.99507238e-01 -2.71420690e-02 -1.57666901e-02 1.53636084e+02] [ 2.71417967e-02 9.99631567e-01 -2.31294567e-04 1.51271627e+00] [ 1.57671590e-02 -1.96755704e-04 9.99875671e-01 2.28771025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.64925415399998 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:153.66, Y:1.51, Z:2.29 [[ 9.99472178e-01 -2.84038066e-02 -1.57666820e-02 1.53664575e+02] [ 2.84036825e-02 9.99596507e-01 -2.31845856e-04 1.51122079e+00] [ 1.57669056e-02 -2.16108348e-04 9.99875671e-01 2.28802358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.67925415399998 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:153.69, Y:1.51, Z:2.29 [[ 9.99440037e-01 -2.95131376e-02 -1.57666699e-02 1.53694192e+02] [ 2.95131386e-02 9.99564365e-01 -2.32667036e-04 1.50948427e+00] [ 1.57666681e-02 -2.32787163e-04 9.99875671e-01 2.28795789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.70925415399998 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:153.72, Y:1.51, Z:2.29 [[ 9.99398457e-01 -3.08891012e-02 -1.57666659e-02 1.53723670e+02] [ 3.08892691e-02 9.99522786e-01 -2.32937045e-04 1.50841661e+00] [ 1.57663370e-02 -2.54223861e-04 9.99875671e-01 2.28970243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.73925415399998 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:153.75, Y:1.51, Z:2.29 [[ 9.99305550e-01 -3.37613851e-02 -1.57666574e-02 1.53753717e+02] [ 3.37619013e-02 9.99429877e-01 -2.33508165e-04 1.50623369e+00] [ 1.57655521e-02 -2.98966328e-04 9.99875671e-01 2.29013522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.76925415399998 meters Centerline goodness : 0.999333 Centerline is valid? [True, True] Translation: X:153.78, Y:1.51, Z:2.29 [[ 9.99250124e-01 -3.53638471e-02 -1.57666574e-02 1.53784312e+02] [ 3.53645626e-02 9.99374451e-01 -2.33508165e-04 1.50539874e+00] [ 1.57650524e-02 -3.24247882e-04 9.99875671e-01 2.28998162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.79925415399998 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:153.81, Y:1.51, Z:2.29 [[ 9.99074630e-01 -4.00161919e-02 -1.57666617e-02 1.53812515e+02] [ 4.00174909e-02 9.99198952e-01 -2.33219963e-04 1.50827427e+00] [ 1.57633644e-02 -3.97938093e-04 9.99875671e-01 2.28924100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.82925415399998 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:153.84, Y:1.50, Z:2.29 [[ 9.99122704e-01 -3.87980982e-02 -1.57648068e-02 1.53844918e+02] [ 3.87973018e-02 9.99247038e-01 -3.56464064e-04 1.50402485e+00] [ 1.57667666e-02 -2.55480628e-04 9.99875664e-01 2.29065641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.85925415399998 meters Centerline goodness : 0.999334 Centerline is valid? [True, True] Translation: X:153.87, Y:1.50, Z:2.29 [[ 9.99012407e-01 -4.15406249e-02 -1.57666163e-02 1.53874907e+02] [ 4.15420831e-02 9.99136727e-01 -2.35151215e-04 1.50221353e+00] [ 1.57627737e-02 -4.20059101e-04 9.99875672e-01 2.29010382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.88925415399999 meters Centerline goodness : 0.999229 Centerline is valid? [True, True] Translation: X:153.91, Y:1.50, Z:2.29 [[ 9.98966322e-01 -4.26344989e-02 -1.57666205e-02 1.53905216e+02] [ 4.26360978e-02 9.99090641e-01 -2.34864767e-04 1.50178374e+00] [ 1.57622963e-02 -4.37605182e-04 9.99875672e-01 2.29018271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.919254154 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:153.94, Y:1.50, Z:2.29 [[ 9.98919504e-01 -4.37177188e-02 -1.57666247e-02 1.53936268e+02] [ 4.37194569e-02 9.99043820e-01 -2.34580564e-04 1.50176461e+00] [ 1.57618043e-02 -4.54981171e-04 9.99875672e-01 2.29022138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.949254154 meters Centerline goodness : 0.999251 Centerline is valid? [True, True] Translation: X:153.97, Y:1.50, Z:2.29 [[ 9.98844192e-01 -4.54058662e-02 -1.57666373e-02 1.53967816e+02] [ 4.54078278e-02 9.98968505e-01 -2.33732977e-04 1.50179300e+00] [ 1.57609870e-02 -4.82465925e-04 9.99875672e-01 2.29066390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.979254154 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:154.00, Y:1.50, Z:2.29 [[ 9.98818186e-01 -4.59743765e-02 -1.57666456e-02 1.53999731e+02] [ 4.59764177e-02 9.98942498e-01 -2.33170856e-04 1.50247321e+00] [ 1.57606923e-02 -4.91998593e-04 9.99875672e-01 2.29158029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.009254154 meters Centerline goodness : 0.999188 Centerline is valid? [True, True] Translation: X:154.03, Y:1.50, Z:2.29 [[ 9.98782578e-01 -4.67415630e-02 -1.57666623e-02 1.54031007e+02] [ 4.67437176e-02 9.98906888e-01 -2.32037718e-04 1.50339220e+00] [ 1.57602734e-02 -5.05237179e-04 9.99875672e-01 2.29215890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.039254154 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:154.06, Y:1.50, Z:2.29 [[ 9.98759041e-01 -4.72418267e-02 -1.57666747e-02 1.54063012e+02] [ 4.72440569e-02 9.98883349e-01 -2.31192797e-04 1.50433685e+00] [ 1.57599908e-02 -5.13975780e-04 9.99875672e-01 2.29402496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.069254154 meters Centerline goodness : 0.999041 Centerline is valid? [True, True] Translation: X:154.09, Y:1.51, Z:2.29 [[ 9.98738136e-01 -4.76817303e-02 -1.57666916e-02 1.54094536e+02] [ 4.76840335e-02 9.98862443e-01 -2.30035340e-04 1.50543047e+00] [ 1.57597246e-02 -5.22074383e-04 9.99875672e-01 2.29417135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.099254154 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:154.13, Y:1.51, Z:2.30 [[ 9.98688399e-01 -4.87123404e-02 -1.57667188e-02 1.54126489e+02] [ 4.87148015e-02 9.98812703e-01 -2.28151285e-04 1.50701159e+00] [ 1.57591128e-02 -5.40220537e-04 9.99875672e-01 2.29640722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.129254154 meters Centerline goodness : 0.999336 Centerline is valid? [True, True] Translation: X:154.16, Y:1.51, Z:2.30 [[ 9.98677360e-01 -4.89381243e-02 -1.57667353e-02 1.54157594e+02] [ 4.89406316e-02 9.98801664e-01 -2.27007636e-04 1.50811330e+00] [ 1.57589508e-02 -5.44926598e-04 9.99875672e-01 2.29727397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.159254154 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:154.19, Y:1.51, Z:2.30 [[ 9.98664247e-01 -4.92049879e-02 -1.57667475e-02 1.54188322e+02] [ 4.92075418e-02 9.98788550e-01 -2.26155831e-04 1.50921780e+00] [ 1.57587749e-02 -5.49989145e-04 9.99875672e-01 2.29751795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.189254154 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:154.22, Y:1.51, Z:2.30 [[ 9.98650336e-01 -4.94865174e-02 -1.57667595e-02 1.54220558e+02] [ 4.94891197e-02 9.98774637e-01 -2.25315933e-04 1.51070269e+00] [ 1.57585896e-02 -5.55271217e-04 9.99875672e-01 2.29869194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.219254154 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:154.25, Y:1.51, Z:2.30 [[ 9.98688456e-01 -4.87111492e-02 -1.57667755e-02 1.54252040e+02] [ 4.87136727e-02 9.98812759e-01 -2.24191102e-04 1.51324939e+00] [ 1.57589772e-02 -5.44160476e-04 9.99875672e-01 2.29920814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.249254154 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:154.28, Y:1.51, Z:2.30 [[ 9.98745473e-01 -4.75277609e-02 -1.57667874e-02 1.54284095e+02] [ 4.75301502e-02 9.98869779e-01 -2.23353822e-04 1.51491798e+00] [ 1.57595829e-02 -5.26324154e-04 9.99875672e-01 2.29979953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.279254154 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:154.32, Y:1.52, Z:2.30 [[ 9.98748957e-01 -4.74544952e-02 -1.57668037e-02 1.54316777e+02] [ 4.74568937e-02 9.98873262e-01 -2.22197978e-04 1.51531834e+00] [ 1.57595829e-02 -5.26323528e-04 9.99875672e-01 2.30031470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.30925415399997 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:154.35, Y:1.52, Z:2.30 [[ 9.98816804e-01 -4.60043445e-02 -1.57668199e-02 1.54348824e+02] [ 4.60065808e-02 9.98941112e-01 -2.21041506e-04 1.51725091e+00] [ 1.57602935e-02 -5.04597502e-04 9.99875672e-01 2.30054868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.33925415399997 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:154.38, Y:1.52, Z:2.30 [[ 9.98958707e-01 -4.28124910e-02 -1.57668362e-02 1.54380205e+02] [ 4.28143484e-02 9.99083021e-01 -2.19872436e-04 1.52074638e+00] [ 1.57617916e-02 -4.55403334e-04 9.99875672e-01 2.30031974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.36925415399998 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:154.41, Y:1.52, Z:2.30 [[ 9.99035640e-01 -4.09780117e-02 -1.57668483e-02 1.54411490e+02] [ 4.09796546e-02 9.99159957e-01 -2.19001455e-04 1.52264890e+00] [ 1.57625777e-02 -4.27329738e-04 9.99875672e-01 2.30028534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.39925415399998 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:154.44, Y:1.52, Z:2.30 [[ 9.99111216e-01 -3.90920086e-02 -1.57668600e-02 1.54442786e+02] [ 3.90934303e-02 9.99235536e-01 -2.18151529e-04 1.52451175e+00] [ 1.57633348e-02 -3.98423004e-04 9.99875672e-01 2.30004632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.42925415399998 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:154.47, Y:1.53, Z:2.30 [[ 9.99177215e-01 -3.73670752e-02 -1.57668851e-02 1.54474287e+02] [ 3.73683111e-02 9.99301537e-01 -2.16324597e-04 1.52630094e+00] [ 1.57639559e-02 -3.73035259e-04 9.99875672e-01 2.30071035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.45925415399998 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:154.51, Y:1.53, Z:2.30 [[ 9.99290323e-01 -3.42089890e-02 -1.57668929e-02 1.54505665e+02] [ 3.42098408e-02 9.99414649e-01 -2.15757895e-04 1.52956295e+00] [ 1.57650446e-02 -3.23778119e-04 9.99875672e-01 2.30069473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.48925415399998 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:154.54, Y:1.53, Z:2.30 [[ 9.99343962e-01 -3.26044456e-02 -1.57669007e-02 1.54537363e+02] [ 3.26051069e-02 9.99468289e-01 -2.15184348e-04 1.53140279e+00] [ 1.57655332e-02 -2.99038303e-04 9.99875672e-01 2.30132445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.51925415399998 meters Centerline goodness : 0.999226 Centerline is valid? [True, True] Translation: X:154.57, Y:1.53, Z:2.30 [[ 9.99388884e-01 -3.11971652e-02 -1.57669086e-02 1.54568143e+02] [ 3.11976605e-02 9.99513211e-01 -2.14601016e-04 1.53324125e+00] [ 1.57659284e-02 -2.77420793e-04 9.99875672e-01 2.30146721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.54925415399998 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:154.60, Y:1.54, Z:2.30 [[ 9.99446735e-01 -2.92852850e-02 -1.57669126e-02 1.54598656e+02] [ 2.92855471e-02 9.99571063e-01 -2.14311627e-04 1.53638781e+00] [ 1.57664257e-02 -2.47549604e-04 9.99875672e-01 2.30209734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.57925415399998 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:154.63, Y:1.54, Z:2.30 [[ 9.99460331e-01 -2.88175400e-02 -1.57669126e-02 1.54628572e+02] [ 2.88177439e-02 9.99584660e-01 -2.14311627e-04 1.53805881e+00] [ 1.57665399e-02 -2.40170879e-04 9.99875672e-01 2.30262709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.60925415399998 meters Centerline goodness : 0.999351 Centerline is valid? [True, True] Translation: X:154.66, Y:1.54, Z:2.30 [[ 9.99524512e-01 -2.64981943e-02 -1.57669087e-02 1.54658046e+02] [ 2.64981052e-02 9.99648841e-01 -2.14598132e-04 1.53864769e+00] [ 1.57670584e-02 -2.03297111e-04 9.99875672e-01 2.30344017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.63925415399999 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:154.69, Y:1.54, Z:2.30 [[ 9.99467732e-01 -2.85596988e-02 -1.57669522e-02 1.54687764e+02] [ 2.85599164e-02 9.99592060e-01 -2.11411452e-04 1.54125459e+00] [ 1.57665580e-02 -2.39003912e-04 9.99875672e-01 2.30369050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.669254154 meters Centerline goodness : 0.999159 Centerline is valid? [True, True] Translation: X:154.72, Y:1.54, Z:2.30 [[ 9.99407350e-01 -3.05998971e-02 -1.57669006e-02 1.54718030e+02] [ 3.06003089e-02 9.99531678e-01 -2.15188795e-04 1.54362141e+00] [ 1.57661014e-02 -2.67410766e-04 9.99875672e-01 2.30414358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.699254154 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:154.75, Y:1.54, Z:2.30 [[ 9.99355968e-01 -3.22343760e-02 -1.57669006e-02 1.54748812e+02] [ 3.22349912e-02 9.99480294e-01 -2.15188795e-04 1.54453075e+00] [ 1.57656429e-02 -2.93195696e-04 9.99875672e-01 2.30481158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.729254154 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:154.78, Y:1.55, Z:2.31 [[ 9.99295227e-01 -3.40654355e-02 -1.57669006e-02 1.54779228e+02] [ 3.40662785e-02 9.99419553e-01 -2.15188795e-04 1.54512537e+00] [ 1.57650793e-02 -3.22082491e-04 9.99875672e-01 2.30585817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.759254154 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:154.81, Y:1.55, Z:2.31 [[ 9.99177781e-01 -3.73521977e-02 -1.57662835e-02 1.54811051e+02] [ 3.73527402e-02 9.99302109e-01 -2.60164774e-04 1.54533735e+00] [ 1.57649981e-02 -3.28963029e-04 9.99875671e-01 2.30634611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.789254154 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:154.84, Y:1.55, Z:2.31 [[ 9.98957140e-01 -4.28490085e-02 -1.57668800e-02 1.54843445e+02] [ 4.28509193e-02 9.99081454e-01 -2.16776218e-04 1.54553017e+00] [ 1.57616861e-02 -4.59075154e-04 9.99875672e-01 2.30740888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.819254154 meters Centerline goodness : 0.999287 Centerline is valid? [True, True] Translation: X:154.88, Y:1.55, Z:2.31 [[ 9.98845251e-01 -4.53824853e-02 -1.57668960e-02 1.54875608e+02] [ 4.53847298e-02 9.98969559e-01 -2.15612088e-04 1.54608966e+00] [ 1.57604341e-02 -5.00213202e-04 9.99875672e-01 2.30798743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.849254154 meters Centerline goodness : 0.999287 Centerline is valid? [True, True] Translation: X:154.91, Y:1.55, Z:2.31 [[ 9.98761673e-01 -4.71860785e-02 -1.57669117e-02 1.54907031e+02] [ 4.71885657e-02 9.98885976e-01 -2.14453490e-04 1.54648189e+00] [ 1.57594662e-02 -5.29830023e-04 9.99875672e-01 2.30788148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.879254154 meters Centerline goodness : 0.999159 Centerline is valid? [True, True] Translation: X:154.94, Y:1.55, Z:2.31 [[ 9.98710836e-01 -4.82500763e-02 -1.57669234e-02 1.54938429e+02] [ 4.82527096e-02 9.98835137e-01 -2.13588957e-04 1.54727381e+00] [ 1.57588628e-02 -5.47483171e-04 9.99875672e-01 2.30801609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.909254154 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:154.97, Y:1.55, Z:2.31 [[ 9.98719309e-01 -4.80743776e-02 -1.57669348e-02 1.54969874e+02] [ 4.80770023e-02 9.98843610e-01 -2.12746321e-04 1.54917796e+00] [ 1.57589297e-02 -5.45553102e-04 9.99875672e-01 2.30796905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.939254154 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:155.00, Y:1.55, Z:2.31 [[ 9.98770444e-01 -4.70000355e-02 -1.57669592e-02 1.55001832e+02] [ 4.70025553e-02 9.98894747e-01 -2.10919506e-04 1.55035323e+00] [ 1.57594460e-02 -5.30427204e-04 9.99875672e-01 2.30866059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.969254154 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:155.03, Y:1.55, Z:2.31 [[ 9.98861768e-01 -4.50174514e-02 -1.57669744e-02 1.55034264e+02] [ 4.50197425e-02 9.98986075e-01 -2.09777422e-04 1.55101233e+00] [ 1.57604315e-02 -5.00286482e-04 9.99875672e-01 2.30963930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.999254154 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:155.07, Y:1.55, Z:2.31 [[ 9.99067843e-01 -4.01851553e-02 -1.57669899e-02 1.55065842e+02] [ 4.01868634e-02 9.99192160e-01 -2.08607963e-04 1.55323302e+00] [ 1.57626356e-02 -4.25212362e-04 9.99875672e-01 2.31070687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.029254154 meters Centerline goodness : 0.999369 Centerline is valid? [True, True] Translation: X:155.10, Y:1.55, Z:2.31 [[ 9.99184408e-01 -3.71742009e-02 -1.57670014e-02 1.55097605e+02] [ 3.71755482e-02 9.99308729e-01 -2.07737724e-04 1.55455445e+00] [ 1.57638246e-02 -3.78578625e-04 9.99875672e-01 2.31177704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.05925415399997 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:155.13, Y:1.56, Z:2.31 [[ 9.99270062e-01 -3.47957426e-02 -1.57670161e-02 1.55128925e+02] [ 3.47968116e-02 9.99394386e-01 -2.06616400e-04 1.55594320e+00] [ 1.57646567e-02 -3.42176305e-04 9.99875672e-01 2.31252630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.08925415399997 meters Centerline goodness : 0.999073 Centerline is valid? [True, True] Translation: X:155.16, Y:1.56, Z:2.31 [[ 9.99351526e-01 -3.23717331e-02 -1.57670234e-02 1.55160593e+02] [ 3.23725094e-02 9.99475852e-01 -2.06056318e-04 1.55696127e+00] [ 1.57654295e-02 -3.04495416e-04 9.99875672e-01 2.31328937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.11925415399998 meters Centerline goodness : 0.999074 Centerline is valid? [True, True] Translation: X:155.19, Y:1.56, Z:2.31 [[ 9.99460738e-01 -2.88033714e-02 -1.57670309e-02 1.55191306e+02] [ 2.88037129e-02 9.99585066e-01 -2.05479313e-04 1.55849656e+00] [ 1.57664071e-02 -2.48780525e-04 9.99875672e-01 2.31294889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.14925415399998 meters Centerline goodness : 0.998991 Centerline is valid? [True, True] Translation: X:155.22, Y:1.56, Z:2.31 [[ 9.99489341e-01 -2.77931235e-02 -1.57670346e-02 1.55222038e+02] [ 2.77933438e-02 9.99613669e-01 -2.05193255e-04 1.55891941e+00] [ 1.57666463e-02 -2.33130143e-04 9.99875672e-01 2.31287543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.17925415399998 meters Centerline goodness : 0.999178 Centerline is valid? [True, True] Translation: X:155.25, Y:1.56, Z:2.31 [[ 9.99493921e-01 -2.76279341e-02 -1.57670346e-02 1.55252701e+02] [ 2.76281338e-02 9.99618249e-01 -2.05193255e-04 1.55902418e+00] [ 1.57666846e-02 -2.30524332e-04 9.99875672e-01 2.31270832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.20925415399998 meters Centerline goodness : 0.999241 Centerline is valid? [True, True] Translation: X:155.28, Y:1.56, Z:2.31 [[ 9.99449494e-01 -2.91909033e-02 -1.57670346e-02 1.55282380e+02] [ 2.91912974e-02 9.99573822e-01 -2.05193255e-04 1.55897183e+00] [ 1.57663048e-02 -2.55179903e-04 9.99875672e-01 2.31169081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.23925415399998 meters Centerline goodness : 0.999201 Centerline is valid? [True, True] Translation: X:155.31, Y:1.56, Z:2.31 [[ 9.99404596e-01 -3.06896589e-02 -1.57670310e-02 1.55312710e+02] [ 3.06902352e-02 9.99528923e-01 -2.05468675e-04 1.55957314e+00] [ 1.57659093e-02 -2.78547552e-04 9.99875672e-01 2.31218484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.26925415399998 meters Centerline goodness : 0.999012 Centerline is valid? [True, True] Translation: X:155.34, Y:1.56, Z:2.31 [[ 9.99345571e-01 -3.25550432e-02 -1.57670310e-02 1.55342864e+02] [ 3.25558515e-02 9.99469897e-01 -2.05468675e-04 1.56012278e+00] [ 1.57653619e-02 -3.07974911e-04 9.99875672e-01 2.31220896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.29925415399998 meters Centerline goodness : 0.999075 Centerline is valid? [True, True] Translation: X:155.37, Y:1.56, Z:2.31 [[ 9.99276854e-01 -3.46001345e-02 -1.57670346e-02 1.55374160e+02] [ 3.46012016e-02 9.99401178e-01 -2.05192821e-04 1.56032199e+00] [ 1.57646927e-02 -3.40513907e-04 9.99875672e-01 2.31329939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.32925415399998 meters Centerline goodness : 0.999200 Centerline is valid? [True, True] Translation: X:155.41, Y:1.56, Z:2.31 [[ 9.99132506e-01 -3.85439396e-02 -1.57670421e-02 1.55406020e+02] [ 3.85455065e-02 9.99256825e-01 -2.04616313e-04 1.55966397e+00] [ 1.57632111e-02 -4.03309815e-04 9.99875672e-01 2.31216113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.35925415399998 meters Centerline goodness : 0.999139 Centerline is valid? [True, True] Translation: X:155.44, Y:1.56, Z:2.31 [[ 9.99016804e-01 -4.14344368e-02 -1.57674671e-02 1.55436300e+02] [ 4.14368820e-02 9.99141109e-01 -1.71726729e-04 1.56021543e+00] [ 1.57610400e-02 -4.81796788e-04 9.99875671e-01 2.31372411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.38925415399999 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:155.47, Y:1.56, Z:2.31 [[ 9.98942246e-01 -4.31947779e-02 -1.57670565e-02 1.55467786e+02] [ 4.31969406e-02 9.99066556e-01 -2.03537555e-04 1.56034112e+00] [ 1.57611306e-02 -4.77766340e-04 9.99875672e-01 2.31429234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.419254154 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:155.50, Y:1.56, Z:2.32 [[ 9.98868345e-01 -4.48712532e-02 -1.57670799e-02 1.55500363e+02] [ 4.48736533e-02 9.98992650e-01 -2.01709027e-04 1.56047466e+00] [ 1.57602479e-02 -5.06045715e-04 9.99875672e-01 2.31588972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.449254154 meters Centerline goodness : 0.999077 Centerline is valid? [True, True] Translation: X:155.53, Y:1.56, Z:2.32 [[ 9.98754878e-01 -4.73296230e-02 -1.57670943e-02 1.55531959e+02] [ 4.73323469e-02 9.98879176e-01 -2.00573218e-04 1.56105553e+00] [ 1.57589153e-02 -5.45970099e-04 9.99875672e-01 2.31696308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.479254154 meters Centerline goodness : 0.999287 Centerline is valid? [True, True] Translation: X:155.56, Y:1.56, Z:2.32 [[ 9.98734291e-01 -4.77620556e-02 -1.57671051e-02 1.55564512e+02] [ 4.77648467e-02 9.98858588e-01 -1.99726410e-04 1.56171605e+00] [ 1.57586477e-02 -5.53639742e-04 9.99875672e-01 2.31823162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.509254154 meters Centerline goodness : 0.999014 Centerline is valid? [True, True] Translation: X:155.60, Y:1.56, Z:2.32 [[ 9.98755672e-01 -4.73128578e-02 -1.57671191e-02 1.55595889e+02] [ 4.73156105e-02 9.98879970e-01 -1.98615522e-04 1.56231854e+00] [ 1.57588565e-02 -5.47662486e-04 9.99875672e-01 2.31799164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.539254154 meters Centerline goodness : 0.999077 Centerline is valid? [True, True] Translation: X:155.63, Y:1.56, Z:2.32 [[ 9.98820429e-01 -4.59254608e-02 -1.57671295e-02 1.55628188e+02] [ 4.59280539e-02 9.98944731e-01 -1.97786504e-04 1.56448946e+00] [ 1.57595743e-02 -5.26600371e-04 9.99875672e-01 2.32077927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.569254154 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:155.66, Y:1.57, Z:2.32 [[ 9.98885675e-01 -4.44836656e-02 -1.57674149e-02 1.55658073e+02] [ 4.44864416e-02 9.99009973e-01 -1.74806922e-04 1.56533009e+00] [ 1.57595808e-02 -5.26824051e-04 9.99875671e-01 2.32029820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.599254154 meters Centerline goodness : 0.999201 Centerline is valid? [True, True] Translation: X:155.69, Y:1.57, Z:2.32 [[ 9.98958807e-01 -4.28100348e-02 -1.57671615e-02 1.55688887e+02] [ 4.28122800e-02 9.99083115e-01 -1.95266430e-04 1.56624611e+00] [ 1.57610642e-02 -4.79965014e-04 9.99875672e-01 2.32098602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.629254154 meters Centerline goodness : 0.999033 Centerline is valid? [True, True] Translation: X:155.72, Y:1.57, Z:2.32 [[ 9.99027151e-01 -4.11843062e-02 -1.57671718e-02 1.55720777e+02] [ 4.11863622e-02 9.99151463e-01 -1.94432947e-04 1.56735338e+00] [ 1.57618004e-02 -4.55148656e-04 9.99875672e-01 2.32171338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.659254154 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:155.75, Y:1.57, Z:2.32 [[ 9.99163959e-01 -3.77197321e-02 -1.57671853e-02 1.55752097e+02] [ 3.77213744e-02 9.99288277e-01 -1.93330498e-04 1.56952920e+00] [ 1.57632558e-02 -4.01591035e-04 9.99875672e-01 2.32223447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.689254154 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:155.78, Y:1.57, Z:2.32 [[ 9.99204251e-01 -3.66368783e-02 -1.57672065e-02 1.55782870e+02] [ 3.66384134e-02 9.99328570e-01 -1.91587786e-04 1.57177859e+00] [ 1.57636391e-02 -3.86250099e-04 9.99875672e-01 2.32254042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.719254154 meters Centerline goodness : 0.999178 Centerline is valid? [True, True] Translation: X:155.81, Y:1.57, Z:2.32 [[ 9.99275143e-01 -3.46496370e-02 -1.57667696e-02 1.55814364e+02] [ 3.46503548e-02 9.99399470e-01 -2.27737607e-04 1.57186173e+00] [ 1.57651922e-02 -3.18751629e-04 9.99875671e-01 2.32276136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.749254154 meters Centerline goodness : 0.999241 Centerline is valid? [True, True] Translation: X:155.85, Y:1.57, Z:2.32 [[ 9.99378539e-01 -3.15266731e-02 -1.57672286e-02 1.55846064e+02] [ 3.15276044e-02 9.99502864e-01 -1.89559961e-04 1.57341482e+00] [ 1.57653663e-02 -3.07660788e-04 9.99875672e-01 2.32217598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.77925415399997 meters Centerline goodness : 0.998883 Centerline is valid? [True, True] Translation: X:155.87, Y:1.57, Z:2.32 [[ 9.99407011e-01 -3.06106302e-02 -1.57675804e-02 1.55874751e+02] [ 3.06119186e-02 9.99531333e-01 -1.59688625e-04 1.57479979e+00] [ 1.57650788e-02 -3.23081957e-04 9.99875671e-01 2.31810897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.80925415399997 meters Centerline goodness : 0.999241 Centerline is valid? [True, True] Translation: X:155.91, Y:1.58, Z:2.32 [[ 9.99419764e-01 -3.01920745e-02 -1.57662451e-02 1.55906390e+02] [ 3.01915604e-02 9.99544094e-01 -2.70676100e-04 1.57616895e+00] [ 1.57672295e-02 -2.05488498e-04 9.99875668e-01 2.32206445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.83925415399997 meters Centerline goodness : 0.999009 Centerline is valid? [True, True] Translation: X:155.94, Y:1.58, Z:2.32 [[ 9.99444249e-01 -2.93698632e-02 -1.57672195e-02 1.55937745e+02] [ 2.93705243e-02 9.99568575e-01 -1.89681129e-04 1.57735116e+00] [ 1.57659881e-02 -2.73515790e-04 9.99875672e-01 2.32179314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.86925415399998 meters Centerline goodness : 0.998986 Centerline is valid? [True, True] Translation: X:155.97, Y:1.58, Z:2.32 [[ 9.99490400e-01 -2.77549229e-02 -1.57672264e-02 1.55969319e+02] [ 2.77553922e-02 9.99614727e-01 -1.89105171e-04 1.57953907e+00] [ 1.57664004e-02 -2.48616752e-04 9.99875672e-01 2.32158055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.89925415399998 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:156.00, Y:1.58, Z:2.32 [[ 9.99515539e-01 -2.68343310e-02 -1.57672335e-02 1.55999808e+02] [ 2.68346950e-02 9.99639867e-01 -1.88514374e-04 1.58082506e+00] [ 1.57666139e-02 -2.34685857e-04 9.99875672e-01 2.32089027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.92925415399998 meters Centerline goodness : 0.999071 Centerline is valid? [True, True] Translation: X:156.03, Y:1.58, Z:2.32 [[ 9.99529547e-01 -2.63073742e-02 -1.57672454e-02 1.56030073e+02] [ 2.63076885e-02 9.99653875e-01 -1.87513329e-04 1.58229161e+00] [ 1.57667210e-02 -2.27374668e-04 9.99875672e-01 2.32205049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.95925415399998 meters Centerline goodness : 0.998965 Centerline is valid? [True, True] Translation: X:156.06, Y:1.58, Z:2.32 [[ 9.99541841e-01 -2.58360678e-02 -1.57672454e-02 1.56060754e+02] [ 2.58363235e-02 9.99666169e-01 -1.87513329e-04 1.58372524e+00] [ 1.57668264e-02 -2.19940236e-04 9.99875672e-01 2.32292893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.98925415399998 meters Centerline goodness : 0.998906 Centerline is valid? [True, True] Translation: X:156.09, Y:1.59, Z:2.32 [[ 9.99551082e-01 -2.54760559e-02 -1.57672454e-02 1.56090148e+02] [ 2.54762669e-02 9.99675410e-01 -1.87513329e-04 1.58525451e+00] [ 1.57669046e-02 -2.14261402e-04 9.99875672e-01 2.32373982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.01925415399998 meters Centerline goodness : 0.999092 Centerline is valid? [True, True] Translation: X:156.12, Y:1.59, Z:2.33 [[ 9.99560048e-01 -2.51217874e-02 -1.57672420e-02 1.56120867e+02] [ 2.51219498e-02 9.99684376e-01 -1.87800361e-04 1.58718490e+00] [ 1.57669834e-02 -2.08386123e-04 9.99875672e-01 2.32612916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.04925415399998 meters Centerline goodness : 0.999092 Centerline is valid? [True, True] Translation: X:156.15, Y:1.59, Z:2.33 [[ 9.99554135e-01 -2.53559795e-02 -1.57672420e-02 1.56151016e+02] [ 2.53561710e-02 9.99678463e-01 -1.87800361e-04 1.58807191e+00] [ 1.57669341e-02 -2.12080256e-04 9.99875672e-01 2.32733512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.07925415399998 meters Centerline goodness : 0.999071 Centerline is valid? [True, True] Translation: X:156.18, Y:1.59, Z:2.33 [[ 9.99537714e-01 -2.59952531e-02 -1.57672420e-02 1.56180758e+02] [ 2.59955241e-02 9.99662042e-01 -1.87800361e-04 1.58884190e+00] [ 1.57667952e-02 -2.22164175e-04 9.99875672e-01 2.32790169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.10925415399998 meters Centerline goodness : 0.998945 Centerline is valid? [True, True] Translation: X:156.21, Y:1.59, Z:2.33 [[ 9.99474648e-01 -2.83164675e-02 -1.57672386e-02 1.56209555e+02] [ 2.83170228e-02 9.99598975e-01 -1.88082683e-04 1.59218515e+00] [ 1.57662414e-02 -2.58497382e-04 9.99875672e-01 2.32726914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.13925415399999 meters Centerline goodness : 0.999154 Centerline is valid? [True, True] Translation: X:156.24, Y:1.59, Z:2.33 [[ 9.99433483e-01 -2.97347285e-02 -1.57657239e-02 1.56240734e+02] [ 2.97334994e-02 9.99557813e-01 -3.12402921e-04 1.59040770e+00] [ 1.57680417e-02 -1.56544204e-04 9.99875664e-01 2.32878029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.169254154 meters Centerline goodness : 0.999092 Centerline is valid? [True, True] Translation: X:156.27, Y:1.59, Z:2.33 [[ 9.99371826e-01 -3.17387703e-02 -1.57672070e-02 1.56271267e+02] [ 3.17397510e-02 9.99496149e-01 -1.88099651e-04 1.59073081e+00] [ 1.57652327e-02 -3.12465732e-04 9.99875672e-01 2.32820948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.199254154 meters Centerline goodness : 0.999092 Centerline is valid? [True, True] Translation: X:156.30, Y:1.59, Z:2.33 [[ 9.99372936e-01 -3.17037922e-02 -1.57672103e-02 1.56303106e+02] [ 3.17047730e-02 9.99497260e-01 -1.87815949e-04 1.59107846e+00] [ 1.57652380e-02 -3.12197649e-04 9.99875672e-01 2.32871154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.229254154 meters Centerline goodness : 0.998966 Centerline is valid? [True, True] Translation: X:156.33, Y:1.59, Z:2.33 [[ 9.99311323e-01 -3.35898106e-02 -1.57672169e-02 1.56334691e+02] [ 3.35910347e-02 9.99435644e-01 -1.87264097e-04 1.59133620e+00] [ 1.57646087e-02 -3.42501998e-04 9.99875672e-01 2.32905052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.259254154 meters Centerline goodness : 0.999008 Centerline is valid? [True, True] Translation: X:156.37, Y:1.59, Z:2.33 [[ 9.99183265e-01 -3.72048107e-02 -1.57672234e-02 1.56366347e+02] [ 3.72064933e-02 9.99307581e-01 -1.86714223e-04 1.59177273e+00] [ 1.57632526e-02 -4.00081366e-04 9.99875672e-01 2.32908190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.289254154 meters Centerline goodness : 0.998923 Centerline is valid? [True, True] Translation: X:156.40, Y:1.59, Z:2.33 [[ 9.99128390e-01 -3.86504148e-02 -1.57672331e-02 1.56398146e+02] [ 3.86522902e-02 9.99252704e-01 -1.85892475e-04 1.59237054e+00] [ 1.57626351e-02 -4.23709219e-04 9.99875672e-01 2.33004635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.319254154 meters Centerline goodness : 0.999134 Centerline is valid? [True, True] Translation: X:156.43, Y:1.59, Z:2.33 [[ 9.99080827e-01 -3.98609351e-02 -1.57672461e-02 1.56429253e+02] [ 3.98629787e-02 9.99205138e-01 -1.84781236e-04 1.59312054e+00] [ 1.57620789e-02 -4.43918005e-04 9.99875672e-01 2.32888274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.349254154 meters Centerline goodness : 0.999007 Centerline is valid? [True, True] Translation: X:156.46, Y:1.59, Z:2.33 [[ 9.99059697e-01 -4.03870772e-02 -1.57672599e-02 1.56459964e+02] [ 4.03892049e-02 9.99184006e-01 -1.83597043e-04 1.59373603e+00] [ 1.57618089e-02 -4.53402684e-04 9.99875672e-01 2.33042347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.379254154 meters Centerline goodness : 0.999136 Centerline is valid? [True, True] Translation: X:156.49, Y:1.60, Z:2.33 [[ 9.99031172e-01 -4.10866324e-02 -1.57672701e-02 1.56492038e+02] [ 4.10888610e-02 9.99155479e-01 -1.82714871e-04 1.59507454e+00] [ 1.57614615e-02 -4.65321319e-04 9.99875672e-01 2.33177562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.409254154 meters Centerline goodness : 0.999091 Centerline is valid? [True, True] Translation: X:156.52, Y:1.60, Z:2.33 [[ 9.99043024e-01 -4.07974081e-02 -1.57672833e-02 1.56523616e+02] [ 4.07996188e-02 9.99167332e-01 -1.81571794e-04 1.59606345e+00] [ 1.57615620e-02 -4.61901113e-04 9.99875672e-01 2.33064647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.439254154 meters Centerline goodness : 0.998834 Centerline is valid? [True, True] Translation: X:156.55, Y:1.60, Z:2.33 [[ 9.98979138e-01 -4.23329042e-02 -1.57672931e-02 1.56551811e+02] [ 4.23353193e-02 9.99103442e-01 -1.80720318e-04 1.60052354e+00] [ 1.57608072e-02 -4.86977559e-04 9.99875672e-01 2.32804139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.469254154 meters Centerline goodness : 0.999004 Centerline is valid? [True, True] Translation: X:156.59, Y:1.60, Z:2.33 [[ 9.99082089e-01 -3.98301520e-02 -1.57651067e-02 1.56585623e+02] [ 3.98293311e-02 9.99206430e-01 -3.66172491e-04 1.59817653e+00] [ 1.57671807e-02 -2.62077276e-04 9.99875656e-01 2.33204539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.499254154 meters Centerline goodness : 0.999066 Centerline is valid? [True, True] Translation: X:156.62, Y:1.60, Z:2.33 [[ 9.99169064e-01 -3.75842467e-02 -1.57672320e-02 1.56617375e+02] [ 3.75860931e-02 9.99293377e-01 -1.79318396e-04 1.60014057e+00] [ 1.57628301e-02 -4.13459257e-04 9.99875673e-01 2.33183000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.52925415399997 meters Centerline goodness : 0.998981 Centerline is valid? [True, True] Translation: X:156.65, Y:1.60, Z:2.33 [[ 9.99227913e-01 -3.59857179e-02 -1.57672448e-02 1.56648725e+02] [ 3.59873833e-02 9.99352228e-01 -1.78189267e-04 1.60138579e+00] [ 1.57634435e-02 -3.89370192e-04 9.99875673e-01 2.33209462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.55925415399997 meters Centerline goodness : 0.998961 Centerline is valid? [True, True] Translation: X:156.68, Y:1.60, Z:2.33 [[ 9.99285254e-01 -3.43565930e-02 -1.57672542e-02 1.56679631e+02] [ 3.43580688e-02 9.99409572e-01 -1.77348901e-04 1.60285338e+00] [ 1.57640379e-02 -3.64510265e-04 9.99875673e-01 2.33247836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.58925415399997 meters Centerline goodness : 0.999128 Centerline is valid? [True, True] Translation: X:156.71, Y:1.60, Z:2.33 [[ 9.99330520e-01 -3.30136974e-02 -1.57672636e-02 1.56711553e+02] [ 3.30150194e-02 9.99454840e-01 -1.76516533e-04 1.60435297e+00] [ 1.57644953e-02 -3.44158152e-04 9.99875673e-01 2.33334299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.61925415399998 meters Centerline goodness : 0.999193 Centerline is valid? [True, True] Translation: X:156.74, Y:1.61, Z:2.33 [[ 9.99400128e-01 -3.08346872e-02 -1.57672757e-02 1.56742659e+02] [ 3.08357553e-02 9.99524450e-01 -1.75422841e-04 1.60654855e+00] [ 1.57651867e-02 -3.10878247e-04 9.99875673e-01 2.33467312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.64925415399998 meters Centerline goodness : 0.999023 Centerline is valid? [True, True] Translation: X:156.77, Y:1.61, Z:2.34 [[ 9.99427798e-01 -2.99244036e-02 -1.57672817e-02 1.56773751e+02] [ 2.99253671e-02 9.99552121e-01 -1.74879258e-04 1.60737482e+00] [ 1.57654531e-02 -2.97062502e-04 9.99875673e-01 2.33672819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.67925415399998 meters Centerline goodness : 0.999256 Centerline is valid? [True, True] Translation: X:156.80, Y:1.61, Z:2.34 [[ 9.99438629e-01 -2.95604471e-02 -1.57672881e-02 1.56803647e+02] [ 2.95613743e-02 9.99562952e-01 -1.74305146e-04 1.60803773e+00] [ 1.57655496e-02 -2.91895410e-04 9.99875673e-01 2.33525830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.70925415399998 meters Centerline goodness : 0.999044 Centerline is valid? [True, True] Translation: X:156.83, Y:1.61, Z:2.33 [[ 9.99421027e-01 -3.01496858e-02 -1.57672912e-02 1.56834948e+02] [ 3.01506908e-02 9.99545349e-01 -1.74020146e-04 1.60891698e+00] [ 1.57653693e-02 -3.01475330e-04 9.99875673e-01 2.33256119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.73925415399998 meters Centerline goodness : 0.999171 Centerline is valid? [True, True] Translation: X:156.87, Y:1.61, Z:2.34 [[ 9.99397641e-01 -3.09150761e-02 -1.57674529e-02 1.56865172e+02] [ 3.09164047e-02 9.99521961e-01 -1.59542489e-04 1.60949149e+00] [ 1.57648477e-02 -3.28026566e-04 9.99875673e-01 2.33868492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.76925415399998 meters Centerline goodness : 0.999065 Centerline is valid? [True, True] Translation: X:156.90, Y:1.61, Z:2.34 [[ 9.99358653e-01 -3.21508389e-02 -1.57672479e-02 1.56895221e+02] [ 3.21520345e-02 9.99482974e-01 -1.77724112e-04 1.61019989e+00] [ 1.57648098e-02 -3.29338969e-04 9.99875673e-01 2.33707931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.79925415399998 meters Centerline goodness : 0.999086 Centerline is valid? [True, True] Translation: X:156.93, Y:1.61, Z:2.34 [[ 9.99323078e-01 -3.32382339e-02 -1.57672511e-02 1.56927006e+02] [ 3.32395692e-02 9.99447397e-01 -1.77440798e-04 1.61081750e+00] [ 1.57644359e-02 -3.46775950e-04 9.99875673e-01 2.34016744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.82925415399998 meters Centerline goodness : 0.998958 Centerline is valid? [True, True] Translation: X:156.96, Y:1.61, Z:2.34 [[ 9.99284231e-01 -3.43863349e-02 -1.57672575e-02 1.56958191e+02] [ 3.43878220e-02 9.99408548e-01 -1.76872764e-04 1.61132162e+00] [ 1.57640139e-02 -3.65455480e-04 9.99875673e-01 2.33967436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.85925415399998 meters Centerline goodness : 0.999235 Centerline is valid? [True, True] Translation: X:156.99, Y:1.61, Z:2.34 [[ 9.99251653e-01 -3.53203435e-02 -1.57672670e-02 1.56990056e+02] [ 3.53219601e-02 9.99375969e-01 -1.76023173e-04 1.61189647e+00] [ 1.57636449e-02 -3.81039329e-04 9.99875673e-01 2.34119040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.88925415399999 meters Centerline goodness : 0.999173 Centerline is valid? [True, True] Translation: X:157.02, Y:1.61, Z:2.34 [[ 9.99205460e-01 -3.66038444e-02 -1.57672796e-02 1.57021531e+02] [ 3.66056387e-02 9.99329774e-01 -1.74885787e-04 1.61313194e+00] [ 1.57631134e-02 -4.02424506e-04 9.99875673e-01 2.34133015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.919254154 meters Centerline goodness : 0.999320 Centerline is valid? [True, True] Translation: X:157.05, Y:1.62, Z:2.34 [[ 9.99152971e-01 -3.80096326e-02 -1.57672890e-02 1.57053480e+02] [ 3.80116152e-02 9.99277282e-01 -1.74037003e-04 1.61527282e+00] [ 1.57625087e-02 -4.25450532e-04 9.99875673e-01 2.34370361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.949254154 meters Centerline goodness : 0.999170 Centerline is valid? [True, True] Translation: X:157.08, Y:1.62, Z:2.34 [[ 9.99177681e-01 -3.73541480e-02 -1.57679663e-02 1.57082440e+02] [ 3.73570205e-02 9.99301977e-01 -1.12431832e-04 1.61503868e+00] [ 1.57611597e-02 -4.76704863e-04 9.99875672e-01 2.34329530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.979254154 meters Centerline goodness : 0.999086 Centerline is valid? [True, True] Translation: X:157.11, Y:1.62, Z:2.34 [[ 9.99205327e-01 -3.66074641e-02 -1.57672843e-02 1.57114460e+02] [ 3.66092700e-02 9.99329641e-01 -1.74177438e-04 1.61674588e+00] [ 1.57630907e-02 -4.03189744e-04 9.99875673e-01 2.34438250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.009254154 meters Centerline goodness : 0.999170 Centerline is valid? [True, True] Translation: X:157.15, Y:1.62, Z:2.34 [[ 9.99218815e-01 -3.62374281e-02 -1.57672970e-02 1.57146003e+02] [ 3.62392062e-02 9.99343129e-01 -1.73019309e-04 1.61773669e+00] [ 1.57632097e-02 -3.98510177e-04 9.99875673e-01 2.34453044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.039254154 meters Centerline goodness : 0.998848 Centerline is valid? [True, True] Translation: X:157.18, Y:1.62, Z:2.35 [[ 9.99234391e-01 -3.58053495e-02 -1.57673064e-02 1.57178454e+02] [ 3.58070875e-02 9.99358706e-01 -1.72156698e-04 1.61846278e+00] [ 1.57633590e-02 -3.92556427e-04 9.99875673e-01 2.34526489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.069254154 meters Centerline goodness : 0.999234 Centerline is valid? [True, True] Translation: X:157.21, Y:1.62, Z:2.35 [[ 9.99265630e-01 -3.49226633e-02 -1.57673187e-02 1.57210632e+02] [ 3.49243094e-02 9.99389946e-01 -1.71024590e-04 1.61925503e+00] [ 1.57636724e-02 -3.79763721e-04 9.99875673e-01 2.34585505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.099254154 meters Centerline goodness : 0.999254 Centerline is valid? [True, True] Translation: X:157.24, Y:1.62, Z:2.35 [[ 9.99281121e-01 -3.44765507e-02 -1.57673309e-02 1.57243110e+02] [ 3.44781591e-02 9.99405437e-01 -1.69887681e-04 1.61986636e+00] [ 1.57638134e-02 -3.73862993e-04 9.99875673e-01 2.34627303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.129254154 meters Centerline goodness : 0.999234 Centerline is valid? [True, True] Translation: X:157.28, Y:1.62, Z:2.35 [[ 9.99297784e-01 -3.39901468e-02 -1.57673432e-02 1.57276666e+02] [ 3.39917128e-02 9.99422101e-01 -1.68738724e-04 1.62024809e+00] [ 1.57639667e-02 -3.67338770e-04 9.99875673e-01 2.34726632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.159254154 meters Centerline goodness : 0.998997 Centerline is valid? [True, True] Translation: X:157.31, Y:1.62, Z:2.35 [[ 9.99296748e-01 -3.40201907e-02 -1.57682156e-02 1.57308498e+02] [ 3.40230406e-02 9.99421045e-01 -8.75663812e-05 1.62095152e+00] [ 1.57620656e-02 -4.48977840e-04 9.99875670e-01 2.34771917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.189254154 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:157.34, Y:1.62, Z:2.35 [[ 9.99315232e-01 -3.34728546e-02 -1.57681643e-02 1.57339719e+02] [ 3.34755607e-02 9.99439532e-01 -9.23686691e-05 1.62140990e+00] [ 1.57624186e-02 -4.35542724e-04 9.99875671e-01 2.34775933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.219254154 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:157.37, Y:1.62, Z:2.35 [[ 9.99288237e-01 -3.42692828e-02 -1.57681961e-02 1.57369037e+02] [ 3.42721352e-02 9.99412534e-01 -8.93753473e-05 1.62231204e+00] [ 1.57619956e-02 -4.51098013e-04 9.99875670e-01 2.34758357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.249254154 meters Centerline goodness : 0.999209 Centerline is valid? [True, True] Translation: X:157.40, Y:1.62, Z:2.35 [[ 9.99268421e-01 -3.48427082e-02 -1.57673386e-02 1.57399937e+02] [ 3.48443722e-02 9.99392736e-01 -1.69258871e-04 1.62255677e+00] [ 1.57636611e-02 -3.80267969e-04 9.99875673e-01 2.34739415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.27925415399997 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:157.43, Y:1.62, Z:2.35 [[ 9.99246387e-01 -3.54689929e-02 -1.57673478e-02 1.57432494e+02] [ 3.54707484e-02 9.99370701e-01 -1.68395889e-04 1.62262850e+00] [ 1.57633983e-02 -3.91010643e-04 9.99875673e-01 2.34840598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.30925415399997 meters Centerline goodness : 0.998952 Centerline is valid? [True, True] Translation: X:157.46, Y:1.62, Z:2.35 [[ 9.99212695e-01 -3.64057832e-02 -1.57673601e-02 1.57464708e+02] [ 3.64076735e-02 9.99337007e-01 -1.67238881e-04 1.62282767e+00] [ 1.57629949e-02 -4.06945684e-04 9.99875673e-01 2.34917320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.33925415399997 meters Centerline goodness : 0.999084 Centerline is valid? [True, True] Translation: X:157.50, Y:1.62, Z:2.35 [[ 9.99168990e-01 -3.75861668e-02 -1.57673723e-02 1.57496763e+02] [ 3.75882223e-02 9.99293299e-01 -1.66074212e-04 1.62292577e+00] [ 1.57624716e-02 -4.26731294e-04 9.99875673e-01 2.34939398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.36925415399998 meters Centerline goodness : 0.999126 Centerline is valid? [True, True] Translation: X:157.53, Y:1.62, Z:2.35 [[ 9.99059828e-01 -4.03837715e-02 -1.57673845e-02 1.57528180e+02] [ 4.03861933e-02 9.99184131e-01 -1.64915079e-04 1.62297667e+00] [ 1.57611802e-02 -4.72024606e-04 9.99875673e-01 2.34896043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.39925415399998 meters Centerline goodness : 0.999340 Centerline is valid? [True, True] Translation: X:157.56, Y:1.62, Z:2.35 [[ 9.99018512e-01 -4.13932695e-02 -1.57673935e-02 1.57560671e+02] [ 4.13958306e-02 9.99142812e-01 -1.64050521e-04 1.62287796e+00] [ 1.57606684e-02 -4.88814841e-04 9.99875673e-01 2.34990928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.42925415399998 meters Centerline goodness : 0.999254 Centerline is valid? [True, True] Translation: X:157.59, Y:1.62, Z:2.35 [[ 9.98961887e-01 -4.27379989e-02 -1.57674055e-02 1.57592703e+02] [ 4.27407456e-02 9.99086184e-01 -1.62889256e-04 1.62316195e+00] [ 1.57599585e-02 -5.11190507e-04 9.99875673e-01 2.35030578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.45925415399998 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:157.62, Y:1.62, Z:2.35 [[ 9.98872811e-01 -4.47716029e-02 -1.57674174e-02 1.57623697e+02] [ 4.47746209e-02 9.98997101e-01 -1.61727861e-04 1.62356938e+00] [ 1.57588450e-02 -5.44434572e-04 9.99875673e-01 2.35073466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.48925415399998 meters Centerline goodness : 0.999233 Centerline is valid? [True, True] Translation: X:157.65, Y:1.62, Z:2.35 [[ 9.98850865e-01 -4.52585588e-02 -1.57674262e-02 1.57654593e+02] [ 4.52616510e-02 9.98975153e-01 -1.60861721e-04 1.62405722e+00] [ 1.57585474e-02 -5.52982873e-04 9.99875673e-01 2.35120267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.51925415399998 meters Centerline goodness : 0.999276 Centerline is valid? [True, True] Translation: X:157.69, Y:1.62, Z:2.35 [[ 9.98850990e-01 -4.52557959e-02 -1.57674449e-02 1.57687057e+02] [ 4.52589171e-02 9.98975278e-01 -1.59007468e-04 1.62461505e+00] [ 1.57584837e-02 -5.54792714e-04 9.99875673e-01 2.35240988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.54925415399998 meters Centerline goodness : 0.999234 Centerline is valid? [True, True] Translation: X:157.72, Y:1.63, Z:2.35 [[ 9.98884490e-01 -4.45102630e-02 -1.57674563e-02 1.57719552e+02] [ 4.45133094e-02 9.99008779e-01 -1.57869106e-04 1.62521219e+00] [ 1.57588541e-02 -5.44168658e-04 9.99875673e-01 2.35376537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.57925415399998 meters Centerline goodness : 0.998999 Centerline is valid? [True, True] Translation: X:157.75, Y:1.63, Z:2.36 [[ 9.99002314e-01 -4.17823445e-02 -1.57674678e-02 1.57751835e+02] [ 4.17850697e-02 9.99126610e-01 -1.56711094e-04 1.62703912e+00] [ 1.57602444e-02 -5.02289995e-04 9.99875673e-01 2.35552043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.60925415399998 meters Centerline goodness : 0.998997 Centerline is valid? [True, True] Translation: X:157.78, Y:1.63, Z:2.36 [[ 9.99079606e-01 -3.98914420e-02 -1.57674791e-02 1.57784129e+02] [ 3.98939500e-02 9.99203907e-01 -1.55562619e-04 1.62806935e+00] [ 1.57611324e-02 -4.73607585e-04 9.99875673e-01 2.35675896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.63925415399999 meters Centerline goodness : 0.999254 Centerline is valid? [True, True] Translation: X:157.82, Y:1.63, Z:2.36 [[ 9.99158206e-01 -3.78717025e-02 -1.57674904e-02 1.57816109e+02] [ 3.78739774e-02 9.99282512e-01 -1.54408834e-04 1.62885162e+00] [ 1.57620252e-02 -4.42898723e-04 9.99875673e-01 2.35778365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.669254154 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:157.85, Y:1.63, Z:2.36 [[ 9.99225790e-01 -3.60444965e-02 -1.57675017e-02 1.57848397e+02] [ 3.60465623e-02 9.99350100e-01 -1.53254555e-04 1.62948379e+00] [ 1.57627783e-02 -4.15228328e-04 9.99875673e-01 2.35850053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.699254154 meters Centerline goodness : 0.999274 Centerline is valid? [True, True] Translation: X:157.88, Y:1.63, Z:2.36 [[ 9.99284154e-01 -3.43884442e-02 -1.57675128e-02 1.57880364e+02] [ 3.43903223e-02 9.99408466e-01 -1.52094283e-04 1.62977909e+00] [ 1.57634161e-02 -3.90264441e-04 9.99875673e-01 2.35876535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.729254154 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:157.91, Y:1.63, Z:2.36 [[ 9.99320599e-01 -3.33125402e-02 -1.57675239e-02 1.57912432e+02] [ 3.33143026e-02 9.99444913e-01 -1.50944823e-04 1.63016805e+00] [ 1.57637999e-02 -3.74441790e-04 9.99875673e-01 2.35891092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.759254154 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:157.94, Y:1.63, Z:2.36 [[ 9.99376952e-01 -3.15767783e-02 -1.57675347e-02 1.57943634e+02] [ 3.15783428e-02 9.99501269e-01 -1.49799041e-04 1.63012927e+00] [ 1.57644011e-02 -3.48206908e-04 9.99875673e-01 2.35794730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.789254154 meters Centerline goodness : 0.999252 Centerline is valid? [True, True] Translation: X:157.98, Y:1.63, Z:2.36 [[ 9.99394695e-01 -3.10101386e-02 -1.57675530e-02 1.57975327e+02] [ 3.10116634e-02 9.99519012e-01 -1.47849799e-04 1.62997577e+00] [ 1.57645539e-02 -3.41217742e-04 9.99875673e-01 2.35764898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.819254154 meters Centerline goodness : 0.999063 Centerline is valid? [True, True] Translation: X:158.01, Y:1.63, Z:2.36 [[ 9.99404000e-01 -3.07087667e-02 -1.57675582e-02 1.58006778e+02] [ 3.07102628e-02 9.99528318e-01 -1.47291504e-04 1.62998342e+00] [ 1.57646441e-02 -3.37022139e-04 9.99875673e-01 2.35753269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.849254154 meters Centerline goodness : 0.999125 Centerline is valid? [True, True] Translation: X:158.04, Y:1.63, Z:2.36 [[ 9.99425934e-01 -2.99864276e-02 -1.57675634e-02 1.58038489e+02] [ 2.99878426e-02 9.99550253e-01 -1.46733962e-04 1.62994623e+00] [ 1.57648720e-02 -3.26185483e-04 9.99875673e-01 2.35841028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.879254154 meters Centerline goodness : 0.999189 Centerline is valid? [True, True] Translation: X:158.07, Y:1.63, Z:2.36 [[ 9.99425416e-01 -3.00036859e-02 -1.57675688e-02 1.58069721e+02] [ 3.00051121e-02 9.99549735e-01 -1.46158793e-04 1.63006249e+00] [ 1.57648545e-02 -3.27032856e-04 9.99875673e-01 2.35876328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.909254154 meters Centerline goodness : 0.998956 Centerline is valid? [True, True] Translation: X:158.10, Y:1.63, Z:2.36 [[ 9.99423358e-01 -3.00721613e-02 -1.57675740e-02 1.58100380e+02] [ 3.00736051e-02 9.99547676e-01 -1.45585959e-04 1.62990302e+00] [ 1.57648201e-02 -3.28685786e-04 9.99875673e-01 2.35851491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.939254154 meters Centerline goodness : 0.998999 Centerline is valid? [True, True] Translation: X:158.13, Y:1.63, Z:2.36 [[ 9.99438993e-01 -2.95479910e-02 -1.57675767e-02 1.58130727e+02] [ 2.95493741e-02 9.99563311e-01 -1.45301468e-04 1.63020564e+00] [ 1.57649845e-02 -3.20702069e-04 9.99875673e-01 2.35842958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.969254154 meters Centerline goodness : 0.999146 Centerline is valid? [True, True] Translation: X:158.16, Y:1.63, Z:2.36 [[ 9.99445783e-01 -2.93176695e-02 -1.57671147e-02 1.58162725e+02] [ 2.93182321e-02 9.99570109e-01 -1.95513328e-04 1.63053594e+00] [ 1.57660685e-02 -2.66858956e-04 9.99875672e-01 2.35859607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.999254154 meters Centerline goodness : 0.999210 Centerline is valid? [True, True] Translation: X:158.19, Y:1.63, Z:2.36 [[ 9.99438297e-01 -2.95714887e-02 -1.57675935e-02 1.58192667e+02] [ 2.95729181e-02 9.99562615e-01 -1.42550714e-04 1.63082883e+00] [ 1.57649125e-02 -3.23823109e-04 9.99875674e-01 2.35992805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.02925415399997 meters Centerline goodness : 0.998996 Centerline is valid? [True, True] Translation: X:158.22, Y:1.63, Z:2.36 [[ 9.99447863e-01 -2.92463875e-02 -1.57675962e-02 1.58223745e+02] [ 2.92477810e-02 9.99572182e-01 -1.42257583e-04 1.63135548e+00] [ 1.57650110e-02 -3.18988162e-04 9.99875674e-01 2.36036994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.05925415399997 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:158.25, Y:1.63, Z:2.36 [[ 9.99467917e-01 -2.85528452e-02 -1.57676011e-02 1.58254919e+02] [ 2.85541611e-02 9.99592237e-01 -1.41712776e-04 1.63182615e+00] [ 1.57652179e-02 -3.08593248e-04 9.99875674e-01 2.36110657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.08925415399997 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:158.29, Y:1.63, Z:2.36 [[ 9.99468914e-01 -2.85179350e-02 -1.57676060e-02 1.58286758e+02] [ 2.85192552e-02 9.99593233e-01 -1.41161874e-04 1.63207962e+00] [ 1.57652179e-02 -3.08593475e-04 9.99875674e-01 2.36160851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.11925415399998 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:158.32, Y:1.63, Z:2.36 [[ 9.99502000e-01 -2.73337556e-02 -1.57676109e-02 1.58317841e+02] [ 2.73349373e-02 9.99626321e-01 -1.40611199e-04 1.63268780e+00] [ 1.57655623e-02 -2.90465480e-04 9.99875674e-01 2.36327088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.14925415399998 meters Centerline goodness : 0.998910 Centerline is valid? [True, True] Translation: X:158.35, Y:1.63, Z:2.36 [[ 9.99513416e-01 -2.69130807e-02 -1.57676159e-02 1.58349119e+02] [ 2.69142190e-02 9.99637737e-01 -1.40046022e-04 1.63316924e+00] [ 1.57656730e-02 -2.84395189e-04 9.99875674e-01 2.36418891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.17925415399998 meters Centerline goodness : 0.999380 Centerline is valid? [True, True] Translation: X:158.38, Y:1.63, Z:2.37 [[ 9.99523536e-01 -2.65345667e-02 -1.57676209e-02 1.58380053e+02] [ 2.65356668e-02 9.99647857e-01 -1.39480013e-04 1.63351865e+00] [ 1.57657695e-02 -2.78990779e-04 9.99875674e-01 2.36594342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.20925415399998 meters Centerline goodness : 0.999188 Centerline is valid? [True, True] Translation: X:158.41, Y:1.63, Z:2.37 [[ 9.99529115e-01 -2.63235565e-02 -1.57676261e-02 1.58410345e+02] [ 2.63246395e-02 9.99653437e-01 -1.38895889e-04 1.63390597e+00] [ 1.57658178e-02 -2.76246587e-04 9.99875674e-01 2.36504063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.23925415399998 meters Centerline goodness : 0.999015 Centerline is valid? [True, True] Translation: X:158.44, Y:1.63, Z:2.36 [[ 9.99571879e-01 -2.46463041e-02 -1.57676348e-02 1.58440280e+02] [ 2.46471942e-02 9.99696202e-01 -1.37897323e-04 1.63402467e+00] [ 1.57662433e-02 -2.50789672e-04 9.99875674e-01 2.36468826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.26925415399998 meters Centerline goodness : 0.999357 Centerline is valid? [True, True] Translation: X:158.47, Y:1.63, Z:2.37 [[ 9.99551111e-01 -2.54750210e-02 -1.57670647e-02 1.58471335e+02] [ 2.54749840e-02 9.99675439e-01 -2.03220955e-04 1.63475694e+00] [ 1.57671244e-02 -1.98535991e-04 9.99875671e-01 2.36744466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.29925415399998 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:158.50, Y:1.64, Z:2.37 [[ 9.99559255e-01 -2.51530600e-02 -1.57676392e-02 1.58503007e+02] [ 2.51540240e-02 9.99683578e-01 -1.37209139e-04 1.63522101e+00] [ 1.57661012e-02 -2.59470910e-04 9.99875674e-01 2.36827770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.32925415399998 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:158.53, Y:1.64, Z:2.37 [[ 9.99576222e-01 -2.44695088e-02 -1.57676443e-02 1.58533779e+02] [ 2.44703971e-02 9.99700546e-01 -1.36624443e-04 1.63579667e+00] [ 1.57662657e-02 -2.49273971e-04 9.99875674e-01 2.36861955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.35925415399998 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:158.56, Y:1.64, Z:2.37 [[ 9.99627595e-01 -2.22722272e-02 -1.57676468e-02 1.58564560e+02] [ 2.22728468e-02 9.99751920e-01 -1.36334197e-04 1.63589600e+00] [ 1.57667716e-02 -2.14906955e-04 9.99875674e-01 2.36951822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.38925415399999 meters Centerline goodness : 0.999379 Centerline is valid? [True, True] Translation: X:158.59, Y:1.64, Z:2.37 [[ 9.99656568e-01 -2.09314720e-02 -1.57676468e-02 1.58594977e+02] [ 2.09319248e-02 9.99780894e-01 -1.36334197e-04 1.63596345e+00] [ 1.57670457e-02 -1.93759821e-04 9.99875674e-01 2.37027678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.419254154 meters Centerline goodness : 0.999231 Centerline is valid? [True, True] Translation: X:158.62, Y:1.64, Z:2.37 [[ 9.99688777e-01 -1.93320970e-02 -1.57676468e-02 1.58624578e+02] [ 1.93323509e-02 9.99813103e-01 -1.36334197e-04 1.63604649e+00] [ 1.57673355e-02 -1.68533914e-04 9.99875674e-01 2.37138354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.449254154 meters Centerline goodness : 0.998995 Centerline is valid? [True, True] Translation: X:158.65, Y:1.64, Z:2.37 [[ 9.99720166e-01 -1.76343513e-02 -1.57676418e-02 1.58654600e+02] [ 1.76343850e-02 9.99844493e-01 -1.36909331e-04 1.63633142e+00] [ 1.57676041e-02 -1.41181647e-04 9.99875674e-01 2.37238747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.479254154 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:158.68, Y:1.64, Z:2.37 [[ 9.99744571e-01 -1.61918265e-02 -1.57676367e-02 1.58683110e+02] [ 1.61916717e-02 9.99868897e-01 -1.37486629e-04 1.63669659e+00] [ 1.57677957e-02 -1.17852887e-04 9.99875674e-01 2.37245151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.509254154 meters Centerline goodness : 0.999443 Centerline is valid? [True, True] Translation: X:158.71, Y:1.64, Z:2.37 [[ 9.99778568e-01 -1.39354659e-02 -1.57676292e-02 1.58712000e+02] [ 1.39350170e-02 9.99902893e-01 -1.38345445e-04 1.63703163e+00] [ 1.57680260e-02 -8.14073693e-05 9.99875674e-01 2.37293127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.539254154 meters Centerline goodness : 0.999443 Centerline is valid? [True, True] Translation: X:158.74, Y:1.64, Z:2.37 [[ 9.99782725e-01 -1.36340132e-02 -1.57675931e-02 1.58740259e+02] [ 1.36334638e-02 9.99907050e-01 -1.42340225e-04 1.63742032e+00] [ 1.57680682e-02 -7.26576120e-05 9.99875674e-01 2.37235900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.569254154 meters Centerline goodness : 0.999356 Centerline is valid? [True, True] Translation: X:158.77, Y:1.64, Z:2.37 [[ 9.99782253e-01 -1.36685800e-02 -1.57675803e-02 1.58768265e+02] [ 1.36680126e-02 9.99906578e-01 -1.43752645e-04 1.63721969e+00] [ 1.57680721e-02 -7.17901421e-05 9.99875674e-01 2.37263404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.599254154 meters Centerline goodness : 0.998842 Centerline is valid? [True, True] Translation: X:158.80, Y:1.64, Z:2.37 [[ 9.99774389e-01 -1.42322093e-02 -1.57675377e-02 1.58796388e+02] [ 1.42316406e-02 9.99898714e-01 -1.48278156e-04 1.63662694e+00] [ 1.57680510e-02 -7.61532264e-05 9.99875674e-01 2.37268536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.629254154 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:158.82, Y:1.63, Z:2.37 [[ 9.99748877e-01 -1.59238492e-02 -1.57674941e-02 1.58823993e+02] [ 1.59234199e-02 9.99873203e-01 -1.52776738e-04 1.63449060e+00] [ 1.57679276e-02 -9.83340577e-05 9.99875674e-01 2.37197695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.659254154 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:158.85, Y:1.63, Z:2.37 [[ 9.99711891e-01 -1.80975791e-02 -1.57674805e-02 1.58852491e+02] [ 1.80973982e-02 9.99836217e-01 -1.54168781e-04 1.63378127e+00] [ 1.57676881e-02 -1.31226010e-04 9.99875674e-01 2.37256031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.689254154 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:158.88, Y:1.63, Z:2.37 [[ 9.99676926e-01 -1.99356863e-02 -1.57674417e-02 1.58881040e+02] [ 1.99356729e-02 9.99801252e-01 -1.58039563e-04 1.63287135e+00] [ 1.57674586e-02 -1.56346057e-04 9.99875674e-01 2.37301243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.719254154 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:158.91, Y:1.63, Z:2.37 [[ 9.99641762e-01 -2.16272003e-02 -1.57674021e-02 1.58910448e+02] [ 2.16273365e-02 9.99766089e-01 -1.61898284e-04 1.63208627e+00] [ 1.57672153e-02 -1.79166624e-04 9.99875674e-01 2.37400641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.749254154 meters Centerline goodness : 0.999147 Centerline is valid? [True, True] Translation: X:158.94, Y:1.63, Z:2.38 [[ 9.99599809e-01 -2.34863819e-02 -1.57673964e-02 1.58940313e+02] [ 2.34867406e-02 9.99724135e-01 -1.62452045e-04 1.63157464e+00] [ 1.57668621e-02 -2.07937715e-04 9.99875674e-01 2.37553112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.77925415399997 meters Centerline goodness : 0.998529 Centerline is valid? [True, True] Translation: X:158.98, Y:1.63, Z:2.37 [[ 9.99588809e-01 -2.39499804e-02 -1.57673904e-02 1.58975836e+02] [ 2.39503877e-02 9.99713135e-01 -1.63025572e-04 1.62679694e+00] [ 1.57667718e-02 -2.14676577e-04 9.99875674e-01 2.37486875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.80925415399997 meters Centerline goodness : 0.998638 Centerline is valid? [True, True] Translation: X:159.00, Y:1.63, Z:2.38 [[ 9.99461656e-01 -2.87697343e-02 -1.57702614e-02 1.59000293e+02] [ 2.87752423e-02 9.99585899e-01 1.22417063e-04 1.62898654e+00] [ 1.57602091e-02 -5.76144255e-04 9.99875634e-01 2.37607549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.83925415399997 meters Centerline goodness : 0.999108 Centerline is valid? [True, True] Translation: X:159.03, Y:1.63, Z:2.38 [[ 9.99420473e-01 -3.01680740e-02 -1.57672165e-02 1.59031368e+02] [ 3.01692028e-02 9.99544792e-01 -1.66315596e-04 1.62803811e+00] [ 1.57650566e-02 -3.09465140e-04 9.99875676e-01 2.37647919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.86925415399998 meters Centerline goodness : 0.999152 Centerline is valid? [True, True] Translation: X:159.06, Y:1.63, Z:2.38 [[ 9.99337015e-01 -3.28165450e-02 -1.57672226e-02 1.59063042e+02] [ 3.28180124e-02 9.99461330e-01 -1.65739577e-04 1.62616294e+00] [ 1.57641682e-02 -3.51819210e-04 9.99875676e-01 2.37652186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.89925415399998 meters Centerline goodness : 0.999299 Centerline is valid? [True, True] Translation: X:159.09, Y:1.63, Z:2.38 [[ 9.99285152e-01 -3.43595643e-02 -1.57672421e-02 1.59094087e+02] [ 3.43612533e-02 9.99409464e-01 -1.63855616e-04 1.62547476e+00] [ 1.57635610e-02 -3.78043717e-04 9.99875676e-01 2.37739740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.92925415399998 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:159.13, Y:1.63, Z:2.38 [[ 9.99234884e-01 -3.57916289e-02 -1.57672480e-02 1.59126082e+02] [ 3.57935050e-02 9.99359194e-01 -1.63284379e-04 1.62507835e+00] [ 1.57629885e-02 -4.01205624e-04 9.99875676e-01 2.37805554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.95925415399998 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:159.16, Y:1.63, Z:2.38 [[ 9.99104139e-01 -3.92722961e-02 -1.57672597e-02 1.59155170e+02] [ 3.92746232e-02 9.99228441e-01 -1.62146513e-04 1.62656242e+00] [ 1.57614622e-02 -4.57251933e-04 9.99875676e-01 2.37894915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.98925415399998 meters Centerline goodness : 0.998920 Centerline is valid? [True, True] Translation: X:159.19, Y:1.62, Z:2.38 [[ 9.99057573e-01 -4.04398917e-02 -1.57664695e-02 1.59189604e+02] [ 4.04411603e-02 9.99181893e-01 -2.38483008e-04 1.62116766e+00] [ 1.57632151e-02 -3.99356068e-04 9.99875673e-01 2.38233677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.01925415399998 meters Centerline goodness : 0.999110 Centerline is valid? [True, True] Translation: X:159.22, Y:1.62, Z:2.38 [[ 9.98919371e-01 -4.37199554e-02 -1.57688478e-02 1.59217913e+02] [ 4.37253119e-02 9.99043591e-01 -5.08860766e-06 1.62179189e+00] [ 1.57539888e-02 -6.84414681e-04 9.99875664e-01 2.37931778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.04925415399998 meters Centerline goodness : 0.999260 Centerline is valid? [True, True] Translation: X:159.25, Y:1.62, Z:2.38 [[ 9.98801607e-01 -4.63329967e-02 -1.57671785e-02 1.59249079e+02] [ 4.63361602e-02 9.98925890e-01 -1.64810818e-04 1.62100944e+00] [ 1.57578790e-02 -5.65977199e-04 9.99875677e-01 2.37963385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.07925415399998 meters Centerline goodness : 0.999259 Centerline is valid? [True, True] Translation: X:159.28, Y:1.62, Z:2.38 [[ 9.98686870e-01 -4.87435256e-02 -1.57671872e-02 1.59281963e+02] [ 4.87470023e-02 9.98811145e-01 -1.63975085e-04 1.62128410e+00] [ 1.57564350e-02 -6.04843346e-04 9.99875677e-01 2.38053503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.10925415399998 meters Centerline goodness : 0.998772 Centerline is valid? [True, True] Translation: X:159.31, Y:1.62, Z:2.38 [[ 9.98666800e-01 -4.91528568e-02 -1.57676513e-02 1.59313140e+02] [ 4.91571001e-02 9.98791052e-01 -1.18572819e-04 1.61956448e+00] [ 1.57544172e-02 -6.56677278e-04 9.99875676e-01 2.38142765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.13925415399999 meters Centerline goodness : 0.998984 Centerline is valid? [True, True] Translation: X:159.34, Y:1.62, Z:2.38 [[ 9.98533497e-01 -5.17904493e-02 -1.57672017e-02 1.59344201e+02] [ 5.17943322e-02 9.98657760e-01 -1.62261119e-04 1.62005493e+00] [ 1.57544419e-02 -6.54628522e-04 9.99875677e-01 2.38205300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.169254154 meters Centerline goodness : 0.998836 Centerline is valid? [True, True] Translation: X:159.38, Y:1.62, Z:2.38 [[ 9.98554626e-01 -5.13814600e-02 -1.57672204e-02 1.59379605e+02] [ 5.13853209e-02 9.98678889e-01 -1.60425835e-04 1.61952155e+00] [ 1.57546331e-02 -6.50009721e-04 9.99875677e-01 2.38478874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.199254154 meters Centerline goodness : 0.998941 Centerline is valid? [True, True] Translation: X:159.41, Y:1.62, Z:2.38 [[ 9.98512136e-01 -5.22001565e-02 -1.57689135e-02 1.59407194e+02] [ 5.22068215e-02 9.98636294e-01 1.10354973e-05 1.62023577e+00] [ 1.57468333e-02 -8.34263932e-04 9.99875663e-01 2.38096110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.229254154 meters Centerline goodness : 0.998942 Centerline is valid? [True, True] Translation: X:159.44, Y:1.62, Z:2.38 [[ 9.98460345e-01 -5.31820913e-02 -1.57671888e-02 1.59438535e+02] [ 5.31861910e-02 9.98584600e-01 -1.59494667e-04 1.62228716e+00] [ 1.57533541e-02 -6.79347612e-04 9.99875677e-01 2.38069022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.259254154 meters Centerline goodness : 0.999089 Centerline is valid? [True, True] Translation: X:159.47, Y:1.62, Z:2.38 [[ 9.98492310e-01 -5.25785369e-02 -1.57671968e-02 1.59470205e+02] [ 5.25825740e-02 9.98616567e-01 -1.58699621e-04 1.62367954e+00] [ 1.57537281e-02 -6.70619438e-04 9.99875677e-01 2.38034107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.289254154 meters Centerline goodness : 0.999004 Centerline is valid? [True, True] Translation: X:159.50, Y:1.62, Z:2.38 [[ 9.98503746e-01 -5.23609031e-02 -1.57672047e-02 1.59501268e+02] [ 5.23649256e-02 9.98628004e-01 -1.57907626e-04 1.62471675e+00] [ 1.57538403e-02 -6.67977144e-04 9.99875677e-01 2.38048421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.319254154 meters Centerline goodness : 0.999003 Centerline is valid? [True, True] Translation: X:159.53, Y:1.63, Z:2.38 [[ 9.98476245e-01 -5.28827316e-02 -1.57672125e-02 1.59533779e+02] [ 5.28868314e-02 9.98600500e-01 -1.57121742e-04 1.62742331e+00] [ 1.57534553e-02 -6.76995583e-04 9.99875677e-01 2.38015043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.349254154 meters Centerline goodness : 0.998857 Centerline is valid? [True, True] Translation: X:159.57, Y:1.63, Z:2.38 [[ 9.98560286e-01 -5.12713559e-02 -1.57671585e-02 1.59566235e+02] [ 5.12751687e-02 9.98684550e-01 -1.62613521e-04 1.62743433e+00] [ 1.57547550e-02 -6.46084306e-04 9.99875677e-01 2.38102724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.379254154 meters Centerline goodness : 0.998832 Centerline is valid? [True, True] Translation: X:159.60, Y:1.63, Z:2.38 [[ 9.98670763e-01 -4.90724186e-02 -1.57672356e-02 1.59596642e+02] [ 4.90760816e-02 9.98795031e-01 -1.54751348e-04 1.63190998e+00] [ 1.57558306e-02 -6.19248496e-04 9.99875677e-01 2.38353380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.409254154 meters Centerline goodness : 0.998959 Centerline is valid? [True, True] Translation: X:159.62, Y:1.64, Z:2.38 [[ 9.98585559e-01 -5.07769541e-02 -1.57665010e-02 1.59623376e+02] [ 5.07796409e-02 9.98709855e-01 -2.30134446e-04 1.63637281e+00] [ 1.57578455e-02 -5.70808327e-04 9.99875675e-01 2.38161583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.439254154 meters Centerline goodness : 0.998981 Centerline is valid? [True, True] Translation: X:159.66, Y:1.63, Z:2.38 [[ 9.98821760e-01 -4.58973218e-02 -1.57647324e-02 1.59658893e+02] [ 4.58966446e-02 9.98946112e-01 -4.04937813e-04 1.63234048e+00] [ 1.57667037e-02 -3.19087623e-04 9.99875647e-01 2.38451863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.469254154 meters Centerline goodness : 0.998873 Centerline is valid? [True, True] Translation: X:159.69, Y:1.64, Z:2.39 [[ 9.98959770e-01 -4.27875553e-02 -1.57671605e-02 1.59691176e+02] [ 4.27905058e-02 9.99084056e-01 -1.50338571e-04 1.63569550e+00] [ 1.57591513e-02 -5.24502589e-04 9.99875679e-01 2.38575012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.499254154 meters Centerline goodness : 0.998957 Centerline is valid? [True, True] Translation: X:159.72, Y:1.64, Z:2.39 [[ 9.99033610e-01 -4.10273262e-02 -1.57671713e-02 1.59723805e+02] [ 4.10300756e-02 9.99157901e-01 -1.49203237e-04 1.63734222e+00] [ 1.57600152e-02 -4.97869181e-04 9.99875679e-01 2.38635692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.52925415399997 meters Centerline goodness : 0.999064 Centerline is valid? [True, True] Translation: X:159.75, Y:1.64, Z:2.39 [[ 9.99166648e-01 -3.76484357e-02 -1.57671819e-02 1.59752560e+02] [ 3.76507827e-02 9.99290947e-01 -1.48068025e-04 1.63858847e+00] [ 1.57615767e-02 -4.45702108e-04 9.99875679e-01 2.38578862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.55925415399997 meters Centerline goodness : 0.999126 Centerline is valid? [True, True] Translation: X:159.79, Y:1.64, Z:2.39 [[ 9.99159094e-01 -3.78488364e-02 -1.57661350e-02 1.59785982e+02] [ 3.78494424e-02 9.99283419e-01 -2.60054594e-04 1.64024600e+00] [ 1.57646800e-02 -3.36903505e-04 9.99875673e-01 2.38747913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.58925415399997 meters Centerline goodness : 0.999296 Centerline is valid? [True, True] Translation: X:159.82, Y:1.64, Z:2.39 [[ 9.99221126e-01 -3.61737055e-02 -1.57671964e-02 1.59818053e+02] [ 3.61759464e-02 9.99345426e-01 -1.43161520e-04 1.64158152e+00] [ 1.57620543e-02 -4.27343237e-04 9.99875680e-01 2.38810848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.61925415399998 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:159.85, Y:1.64, Z:2.39 [[ 9.99326377e-01 -3.31389159e-02 -1.57672068e-02 1.59849815e+02] [ 3.31407976e-02 9.99450683e-01 -1.42005149e-04 1.64468809e+00] [ 1.57632515e-02 -3.80628319e-04 9.99875680e-01 2.38822222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.64925415399998 meters Centerline goodness : 0.998997 Centerline is valid? [True, True] Translation: X:159.88, Y:1.65, Z:2.39 [[ 9.99389891e-01 -3.11647477e-02 -1.57672171e-02 1.59881629e+02] [ 3.11664019e-02 9.99514200e-01 -1.40853981e-04 1.64595432e+00] [ 1.57639471e-02 -3.50639381e-04 9.99875680e-01 2.38871304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.67925415399998 meters Centerline goodness : 0.999229 Centerline is valid? [True, True] Translation: X:159.91, Y:1.65, Z:2.39 [[ 9.99451879e-01 -2.91090522e-02 -1.57672273e-02 1.59912696e+02] [ 2.91104689e-02 9.99576191e-01 -1.39700216e-04 1.64727328e+00] [ 1.57646116e-02 -3.19367737e-04 9.99875680e-01 2.38918050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.70925415399998 meters Centerline goodness : 0.999271 Centerline is valid? [True, True] Translation: X:159.94, Y:1.65, Z:2.39 [[ 9.99508927e-01 -2.70795012e-02 -1.57672324e-02 1.59943890e+02] [ 2.70806746e-02 9.99633242e-01 -1.39120965e-04 1.64887831e+00] [ 1.57652170e-02 -2.87934646e-04 9.99875680e-01 2.38977173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.73925415399998 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:159.97, Y:1.65, Z:2.39 [[ 9.99617011e-01 -2.27426102e-02 -1.57672375e-02 1.59974131e+02] [ 2.27432533e-02 9.99741329e-01 -1.38542834e-04 1.65117633e+00] [ 1.57663098e-02 -2.20108503e-04 9.99875680e-01 2.39005179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.76925415399998 meters Centerline goodness : 0.997417 Centerline is valid? [True, True] Translation: X:160.00, Y:1.65, Z:2.39 [[ 9.99662478e-01 -2.06476128e-02 -1.57672400e-02 1.60002824e+02] [ 2.06479999e-02 9.99786798e-01 -1.38255824e-04 1.65400886e+00] [ 1.57667331e-02 -1.87352812e-04 9.99875680e-01 2.38826282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.79925415399998 meters Centerline goodness : 0.999225 Centerline is valid? [True, True] Translation: X:160.03, Y:1.65, Z:2.39 [[ 9.99712671e-01 -1.80558442e-02 -1.57658720e-02 1.60034171e+02] [ 1.80534692e-02 9.99836980e-01 -2.92963459e-04 1.65322357e+00] [ 1.57685915e-02 8.25059682e-06 9.99875668e-01 2.39121509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.82925415399998 meters Centerline goodness : 0.997415 Centerline is valid? [True, True] Translation: X:160.06, Y:1.66, Z:2.39 [[ 9.99743796e-01 -1.62399721e-02 -1.57672251e-02 1.60062315e+02] [ 1.62398574e-02 9.99868116e-01 -1.35320163e-04 1.65604258e+00] [ 1.57673433e-02 -1.20771995e-04 9.99875680e-01 2.38999378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.85925415399998 meters Centerline goodness : 0.995367 Centerline is valid? [True, True] Translation: X:160.09, Y:1.66, Z:2.39 [[ 9.99772263e-01 -1.43828063e-02 -1.57657079e-02 1.60090270e+02] [ 1.43798657e-02 9.99896559e-01 -2.99872409e-04 1.65702238e+00] [ 1.57683901e-02 7.30953558e-05 9.99875669e-01 2.39022205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.88925415399999 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:160.12, Y:1.66, Z:2.39 [[ 9.99814353e-01 -1.10771514e-02 -1.57656657e-02 1.60120864e+02] [ 1.10737300e-02 9.99938638e-01 -3.04297490e-04 1.65740821e+00] [ 1.57680691e-02 1.29656272e-04 9.99875668e-01 2.39084098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.919254154 meters Centerline goodness : 0.999335 Centerline is valid? [True, True] Translation: X:160.15, Y:1.66, Z:2.39 [[ 9.99817420e-01 -1.07962702e-02 -1.57660416e-02 1.60147274e+02] [ 1.07935164e-02 9.99941715e-01 -2.59745914e-04 1.65791640e+00] [ 1.57679269e-02 8.95274611e-05 9.99875675e-01 2.39067139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.949254154 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:160.18, Y:1.65, Z:2.39 [[ 9.99829759e-01 -9.58606209e-03 -1.57658288e-02 1.60178481e+02] [ 9.58277453e-03 9.99954044e-01 -2.84057839e-04 1.65462967e+00] [ 1.57678273e-02 1.32929097e-04 9.99875671e-01 2.39439804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.979254154 meters Centerline goodness : 0.999055 Centerline is valid? [True, True] Translation: X:160.21, Y:1.65, Z:2.39 [[ 9.99819694e-01 -1.05819750e-02 -1.57671046e-02 1.60206352e+02] [ 1.05811718e-02 9.99944009e-01 -1.34365225e-04 1.65423478e+00] [ 1.57676437e-02 -3.24934460e-05 9.99875682e-01 2.39499541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.009254154 meters Centerline goodness : 0.999055 Centerline is valid? [True, True] Translation: X:160.23, Y:1.65, Z:2.40 [[ 9.99816603e-01 -1.08701577e-02 -1.57670646e-02 1.60234735e+02] [ 1.08693187e-02 9.99940918e-01 -1.38912097e-04 1.65455798e+00] [ 1.57676430e-02 -3.24906285e-05 9.99875682e-01 2.39544453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.039254154 meters Centerline goodness : 0.999097 Centerline is valid? [True, True] Translation: X:160.26, Y:1.65, Z:2.40 [[ 9.99803214e-01 -1.20388514e-02 -1.57670232e-02 1.60262171e+02] [ 1.20380860e-02 9.99927529e-01 -1.43456141e-04 1.65383763e+00] [ 1.57676076e-02 -4.63768708e-05 9.99875682e-01 2.39600849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.069254154 meters Centerline goodness : 0.999142 Centerline is valid? [True, True] Translation: X:160.29, Y:1.65, Z:2.40 [[ 9.99782334e-01 -1.36633188e-02 -1.57669800e-02 1.60290141e+02] [ 1.36626827e-02 9.99906650e-01 -1.48065286e-04 1.65313091e+00] [ 1.57675312e-02 -6.73861861e-05 9.99875682e-01 2.39616559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.099254154 meters Centerline goodness : 0.998991 Centerline is valid? [True, True] Translation: X:160.32, Y:1.65, Z:2.40 [[ 9.99733246e-01 -1.68772507e-02 -1.57669355e-02 1.60318369e+02] [ 1.68769417e-02 9.99857563e-01 -1.52661588e-04 1.65065421e+00] [ 1.57672662e-02 -1.13476785e-04 9.99875682e-01 2.39547808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.129254154 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:160.35, Y:1.65, Z:2.40 [[ 9.99703911e-01 -1.85336248e-02 -1.57668892e-02 1.60346771e+02] [ 1.85334487e-02 9.99828229e-01 -1.57296582e-04 1.64933618e+00] [ 1.57670962e-02 -1.34964823e-04 9.99875683e-01 2.39515725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.159254154 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:160.38, Y:1.65, Z:2.40 [[ 9.99660026e-01 -2.07662972e-02 -1.57668478e-02 1.60375456e+02] [ 2.07663349e-02 9.99784343e-01 -1.61345288e-04 1.64845719e+00] [ 1.57667981e-02 -1.66129207e-04 9.99875683e-01 2.39509142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.189254154 meters Centerline goodness : 0.999084 Centerline is valid? [True, True] Translation: X:160.41, Y:1.65, Z:2.40 [[ 9.99626258e-01 -2.23327499e-02 -1.57668057e-02 1.60405237e+02] [ 2.23329191e-02 9.99750576e-01 -1.65362080e-04 1.64737072e+00] [ 1.57665660e-02 -1.86818517e-04 9.99875683e-01 2.39529856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.219254154 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:160.44, Y:1.65, Z:2.40 [[ 9.99598398e-01 -2.35467837e-02 -1.57667996e-02 1.60435078e+02] [ 2.35470949e-02 9.99722715e-01 -1.65932659e-04 1.64654461e+00] [ 1.57663349e-02 -2.05396308e-04 9.99875683e-01 2.39518536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.249254154 meters Centerline goodness : 0.998998 Centerline is valid? [True, True] Translation: X:160.47, Y:1.65, Z:2.40 [[ 9.99578566e-01 -2.43741335e-02 -1.57667967e-02 1.60465398e+02] [ 2.43745431e-02 9.99702883e-01 -1.66215775e-04 1.64572520e+00] [ 1.57661634e-02 -2.18162738e-04 9.99875683e-01 2.39571719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.27925415399997 meters Centerline goodness : 0.999127 Centerline is valid? [True, True] Translation: X:160.50, Y:1.64, Z:2.40 [[ 9.99573499e-01 -2.45810705e-02 -1.57667967e-02 1.60495223e+02] [ 2.45815058e-02 9.99697815e-01 -1.66215775e-04 1.64404307e+00] [ 1.57661179e-02 -2.21426719e-04 9.99875683e-01 2.39543797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.30925415399997 meters Centerline goodness : 0.998999 Centerline is valid? [True, True] Translation: X:160.53, Y:1.64, Z:2.40 [[ 9.99584386e-01 -2.41342841e-02 -1.57667937e-02 1.60525394e+02] [ 2.41346594e-02 9.99708703e-01 -1.66495411e-04 1.64347404e+00] [ 1.57662191e-02 -2.14099983e-04 9.99875683e-01 2.39632443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.33925415399997 meters Centerline goodness : 0.999191 Centerline is valid? [True, True] Translation: X:160.56, Y:1.64, Z:2.40 [[ 9.99602624e-01 -2.33666865e-02 -1.57667937e-02 1.60555804e+02] [ 2.33669664e-02 9.99726941e-01 -1.66495411e-04 1.64294500e+00] [ 1.57663789e-02 -2.01992888e-04 9.99875683e-01 2.39679653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.36925415399998 meters Centerline goodness : 0.999000 Centerline is valid? [True, True] Translation: X:160.59, Y:1.64, Z:2.40 [[ 9.99628038e-01 -2.22529705e-02 -1.57667937e-02 1.60585813e+02] [ 2.22531119e-02 9.99752355e-01 -1.66495411e-04 1.64225260e+00] [ 1.57665942e-02 -1.84426743e-04 9.99875683e-01 2.39764474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.39925415399998 meters Centerline goodness : 0.999106 Centerline is valid? [True, True] Translation: X:160.62, Y:1.64, Z:2.40 [[ 9.99757307e-01 -1.53862198e-02 -1.57667937e-02 1.60619194e+02] [ 1.53855073e-02 9.99881622e-01 -1.66495411e-04 1.63562523e+00] [ 1.57674890e-02 -7.61251158e-05 9.99875683e-01 2.39705532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.42925415399998 meters Centerline goodness : 0.998874 Centerline is valid? [True, True] Translation: X:160.64, Y:1.64, Z:2.40 [[ 9.99723786e-01 -1.74263789e-02 -1.57693870e-02 1.60644161e+02] [ 1.74298614e-02 9.99848085e-01 8.34216116e-05 1.63934954e+00] [ 1.57655376e-02 -3.58256799e-04 9.99875652e-01 2.39986824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.45925415399998 meters Centerline goodness : 0.999107 Centerline is valid? [True, True] Translation: X:160.67, Y:1.64, Z:2.40 [[ 9.99756510e-01 -1.54380418e-02 -1.57666444e-02 1.60672326e+02] [ 1.54372742e-02 9.99880824e-01 -1.70394310e-04 1.63887270e+00] [ 1.57673960e-02 -7.30411921e-05 9.99875684e-01 2.40054924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.48925415399998 meters Centerline goodness : 0.999043 Centerline is valid? [True, True] Translation: X:160.70, Y:1.64, Z:2.40 [[ 9.99771345e-01 -1.44454420e-02 -1.57666286e-02 1.60698918e+02] [ 1.44445282e-02 9.99895658e-01 -1.71841688e-04 1.64113977e+00] [ 1.57674658e-02 -5.59391163e-05 9.99875684e-01 2.40056951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.51925415399998 meters Centerline goodness : 0.998854 Centerline is valid? [True, True] Translation: X:160.73, Y:1.64, Z:2.40 [[ 9.99824172e-01 -1.01547629e-02 -1.57640851e-02 1.60730873e+02] [ 1.01498321e-02 9.99948412e-01 -3.92768204e-04 1.63603347e+00] [ 1.57672603e-02 2.32696328e-04 9.99875662e-01 2.40221849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.54925415399998 meters Centerline goodness : 0.998917 Centerline is valid? [True, True] Translation: X:160.76, Y:1.63, Z:2.40 [[ 9.99838099e-01 -8.67141005e-03 -1.57665067e-02 1.60757451e+02] [ 8.66970357e-03 9.99962402e-01 -1.76582200e-04 1.63452332e+00] [ 1.57674451e-02 3.98626716e-05 9.99875685e-01 2.40176502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.57925415399998 meters Centerline goodness : 0.998876 Centerline is valid? [True, True] Translation: X:160.79, Y:1.63, Z:2.40 [[ 9.99843792e-01 -7.98806130e-03 -1.57664838e-02 1.60785064e+02] [ 7.98623796e-03 9.99968094e-01 -1.78605544e-04 1.63311160e+00] [ 1.57674074e-02 5.26627531e-05 9.99875685e-01 2.40220823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.60925415399998 meters Centerline goodness : 0.998902 Centerline is valid? [True, True] Translation: X:160.81, Y:1.63, Z:2.40 [[ 9.99850581e-01 -7.08768007e-03 -1.57664298e-02 1.60812055e+02] [ 7.08567160e-03 9.99974880e-01 -1.83246917e-04 1.62949618e+00] [ 1.57673326e-02 7.15037927e-05 9.99875685e-01 2.40164625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.63925415399999 meters Centerline goodness : 0.998856 Centerline is valid? [True, True] Translation: X:160.84, Y:1.63, Z:2.40 [[ 9.99846031e-01 -7.70290010e-03 -1.57664062e-02 1.60840351e+02] [ 7.70093648e-03 9.99970330e-01 -1.85253391e-04 1.62777950e+00] [ 1.57673654e-02 6.38087749e-05 9.99875685e-01 2.40134326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.669254154 meters Centerline goodness : 0.998816 Centerline is valid? [True, True] Translation: X:160.87, Y:1.63, Z:2.40 [[ 9.99836986e-01 -8.79904250e-03 -1.57663516e-02 1.60868270e+02] [ 8.79714357e-03 9.99961286e-01 -1.89792663e-04 1.62606157e+00] [ 1.57674112e-02 5.10628656e-05 9.99875685e-01 2.40146736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.699254154 meters Centerline goodness : 0.999005 Centerline is valid? [True, True] Translation: X:160.89, Y:1.62, Z:2.40 [[ 9.99824913e-01 -1.00781037e-02 -1.57662947e-02 1.60894844e+02] [ 1.00762910e-02 9.99949214e-01 -1.94410415e-04 1.62413203e+00] [ 1.57674532e-02 3.55106026e-05 9.99875685e-01 2.40076522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.729254154 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:160.92, Y:1.62, Z:2.40 [[ 9.99803463e-01 -1.20191973e-02 -1.57662698e-02 1.60922378e+02] [ 1.20175943e-02 9.99927767e-01 -1.96409604e-04 1.62254333e+00] [ 1.57674916e-02 6.89836862e-06 9.99875685e-01 2.40106270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.759254154 meters Centerline goodness : 0.999158 Centerline is valid? [True, True] Translation: X:160.95, Y:1.62, Z:2.40 [[ 9.99759358e-01 -1.52529469e-02 -1.57662126e-02 1.60950024e+02] [ 1.52516754e-02 9.99883666e-01 -2.00891742e-04 1.61844153e+00] [ 1.57674427e-02 -3.96177577e-05 9.99875685e-01 2.40178599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.789254154 meters Centerline goodness : 0.999178 Centerline is valid? [True, True] Translation: X:160.98, Y:1.62, Z:2.40 [[ 9.99736029e-01 -1.67122860e-02 -1.57661523e-02 1.60977772e+02] [ 1.67111229e-02 9.99860338e-01 -2.05521213e-04 1.61662104e+00] [ 1.57673851e-02 -5.80031477e-05 9.99875685e-01 2.40211858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.819254154 meters Centerline goodness : 0.999242 Centerline is valid? [True, True] Translation: X:161.01, Y:1.61, Z:2.40 [[ 9.99712583e-01 -1.80604802e-02 -1.57661335e-02 1.61005398e+02] [ 1.80594621e-02 9.99836893e-01 -2.06954327e-04 1.61474727e+00] [ 1.57672996e-02 -7.78330453e-05 9.99875685e-01 2.40223431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.849254154 meters Centerline goodness : 0.998736 Centerline is valid? [True, True] Translation: X:161.03, Y:1.61, Z:2.40 [[ 9.99689265e-01 -1.93080918e-02 -1.57661147e-02 1.61033411e+02] [ 1.93072065e-02 9.99813577e-01 -2.08373787e-04 1.61282809e+00] [ 1.57671989e-02 -9.60905948e-05 9.99875685e-01 2.40375000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.879254154 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:161.06, Y:1.61, Z:2.41 [[ 9.99655241e-01 -2.09959923e-02 -1.57660532e-02 1.61062333e+02] [ 2.09952451e-02 9.99779553e-01 -2.12926636e-04 1.61137764e+00] [ 1.57670483e-02 -1.18158924e-04 9.99875685e-01 2.40512791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.909254154 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:161.09, Y:1.61, Z:2.41 [[ 9.99592961e-01 -2.37770059e-02 -1.57659982e-02 1.61091067e+02] [ 2.37765415e-02 9.99717275e-01 -2.16928410e-04 1.60775705e+00] [ 1.57666986e-02 -1.58020797e-04 9.99875685e-01 2.40615140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.939254154 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:161.12, Y:1.61, Z:2.41 [[ 9.99572483e-01 -2.46228922e-02 -1.57659423e-02 1.61120657e+02] [ 2.46224701e-02 9.99696797e-01 -2.20916345e-04 1.60634900e+00] [ 1.57666016e-02 -1.67374543e-04 9.99875685e-01 2.40663667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.969254154 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:161.15, Y:1.60, Z:2.41 [[ 9.99491765e-01 -2.77070045e-02 -1.57649658e-02 1.61150699e+02] [ 2.77058796e-02 9.99616076e-01 -2.89795953e-04 1.60476763e+00] [ 1.57669426e-02 -1.47133576e-04 9.99875683e-01 2.40717226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.999254154 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:161.18, Y:1.60, Z:2.41 [[ 9.99342226e-01 -3.26581188e-02 -1.57658970e-02 1.61180622e+02] [ 3.26586417e-02 9.99466539e-01 -2.24364143e-04 1.60073965e+00] [ 1.57648138e-02 -2.90676220e-04 9.99875685e-01 2.40728223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.02925415399997 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:161.21, Y:1.60, Z:2.41 [[ 9.99241588e-01 -3.56045757e-02 -1.57658890e-02 1.61211290e+02] [ 3.56054562e-02 9.99365899e-01 -2.24928449e-04 1.59895109e+00] [ 1.57639003e-02 -3.36593808e-04 9.99875685e-01 2.40747750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.05925415399997 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:161.24, Y:1.60, Z:2.41 [[ 9.99135636e-01 -3.84631961e-02 -1.57658929e-02 1.61241626e+02] [ 3.84644367e-02 9.99259944e-01 -2.24648499e-04 1.59693331e+00] [ 1.57628660e-02 -3.81971871e-04 9.99875685e-01 2.40745897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.08925415399997 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:161.27, Y:1.59, Z:2.41 [[ 9.98858773e-01 -4.50842365e-02 -1.57658969e-02 1.61274008e+02] [ 4.50863053e-02 9.98983070e-01 -2.24371669e-04 1.59351508e+00] [ 1.57599797e-02 -4.86710431e-04 9.99875685e-01 2.40814723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.11925415399998 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:161.31, Y:1.59, Z:2.41 [[ 9.98700576e-01 -4.84623074e-02 -1.57659134e-02 1.61306269e+02] [ 4.84648150e-02 9.98824865e-01 -2.23207742e-04 1.59227082e+00] [ 1.57582035e-02 -5.41174373e-04 9.99875685e-01 2.40811708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.14925415399998 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:161.34, Y:1.59, Z:2.41 [[ 9.98524526e-01 -5.19635183e-02 -1.57659297e-02 1.61338863e+02] [ 5.19664799e-02 9.98648805e-01 -2.22044951e-04 1.59111874e+00] [ 1.57561651e-02 -5.97582542e-04 9.99875685e-01 2.40838708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.17925415399998 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:161.37, Y:1.59, Z:2.41 [[ 9.98360881e-01 -5.50180452e-02 -1.57659461e-02 1.61370077e+02] [ 5.50214055e-02 9.98485151e-01 -2.20873269e-04 1.58995992e+00] [ 1.57542151e-02 -6.46953285e-04 9.99875685e-01 2.40830510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.20925415399998 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:161.40, Y:1.59, Z:2.41 [[ 9.97980491e-01 -6.15335284e-02 -1.57659583e-02 1.61402380e+02] [ 6.15377135e-02 9.98104735e-01 -2.20001010e-04 1.58778183e+00] [ 1.57496151e-02 -7.50644310e-04 9.99875685e-01 2.40748454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.23925415399998 meters Centerline goodness : 0.998979 Centerline is valid? [True, True] Translation: X:161.43, Y:1.59, Z:2.41 [[ 9.97791077e-01 -6.45321624e-02 -1.57659743e-02 1.61433249e+02] [ 6.45367391e-02 9.97915308e-01 -2.18846347e-04 1.58708643e+00] [ 1.57472298e-02 -7.99121640e-04 9.99875685e-01 2.40708110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.26925415399998 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:161.47, Y:1.59, Z:2.41 [[ 9.97626260e-01 -6.70319320e-02 -1.57659863e-02 1.61465879e+02] [ 6.70368334e-02 9.97750478e-01 -2.17984273e-04 1.58688348e+00] [ 1.57451322e-02 -8.39434960e-04 9.99875685e-01 2.40745747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.29925415399998 meters Centerline goodness : 0.999062 Centerline is valid? [True, True] Translation: X:161.50, Y:1.59, Z:2.41 [[ 9.97465548e-01 -6.93823718e-02 -1.57660021e-02 1.61497132e+02] [ 6.93875840e-02 9.97589753e-01 -2.16836522e-04 1.58735264e+00] [ 1.57430467e-02 -8.77677832e-04 9.99875685e-01 2.40777945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.32925415399998 meters Centerline goodness : 0.999292 Centerline is valid? [True, True] Translation: X:161.53, Y:1.59, Z:2.41 [[ 9.97332789e-01 -7.12652840e-02 -1.57660138e-02 1.61529170e+02] [ 7.12707442e-02 9.97456984e-01 -2.15981227e-04 1.58808338e+00] [ 1.57413125e-02 -9.08250376e-04 9.99875685e-01 2.40809154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.35925415399998 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:161.56, Y:1.59, Z:2.41 [[ 9.97129960e-01 -7.40491375e-02 -1.57660291e-02 1.61561395e+02] [ 7.40549621e-02 9.97254138e-01 -2.14855264e-04 1.59000300e+00] [ 1.57386476e-02 -9.53314068e-04 9.99875685e-01 2.40862418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.38925415399999 meters Centerline goodness : 0.998958 Centerline is valid? [True, True] Translation: X:161.59, Y:1.59, Z:2.41 [[ 9.97077473e-01 -7.47525567e-02 -1.57660443e-02 1.61594875e+02] [ 7.47584865e-02 9.97201646e-01 -2.13734944e-04 1.59152208e+00] [ 1.57379026e-02 -9.65535313e-04 9.99875685e-01 2.40926899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.419254154 meters Centerline goodness : 0.998976 Centerline is valid? [True, True] Translation: X:161.63, Y:1.59, Z:2.41 [[ 9.97056975e-01 -7.50254663e-02 -1.57660669e-02 1.61625596e+02] [ 7.50314566e-02 9.97181145e-01 -2.12054158e-04 1.59305733e+00] [ 1.57375341e-02 -9.71520888e-04 9.99875685e-01 2.40983317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.449254154 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:161.66, Y:1.59, Z:2.41 [[ 9.97084656e-01 -7.46566745e-02 -1.57660927e-02 1.61658886e+02] [ 7.46626493e-02 9.97208827e-01 -2.10122511e-04 1.59465867e+00] [ 1.57377738e-02 -9.67628315e-04 9.99875685e-01 2.41057647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.479254154 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:161.69, Y:1.60, Z:2.41 [[ 9.97133692e-01 -7.39988469e-02 -1.57661145e-02 1.61691459e+02] [ 7.40047658e-02 9.97257866e-01 -2.08466630e-04 1.59622364e+00] [ 1.57383080e-02 -9.58898514e-04 9.99875685e-01 2.41148038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.509254154 meters Centerline goodness : 0.998955 Centerline is valid? [True, True] Translation: X:161.72, Y:1.60, Z:2.41 [[ 9.97256125e-01 -7.23301399e-02 -1.57661361e-02 1.61722524e+02] [ 7.23358770e-02 9.97380308e-01 -2.06820893e-04 1.59900839e+00] [ 1.57397931e-02 -9.34203882e-04 9.99875685e-01 2.41253914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.539254154 meters Centerline goodness : 0.998935 Centerline is valid? [True, True] Translation: X:161.76, Y:1.60, Z:2.41 [[ 9.97334085e-01 -7.12471195e-02 -1.57661593e-02 1.61755791e+02] [ 7.12527498e-02 9.97458272e-01 -2.05037223e-04 1.60087425e+00] [ 1.57406943e-02 -9.18891595e-04 9.99875685e-01 2.41330936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.569254154 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:161.79, Y:1.60, Z:2.41 [[ 9.97526530e-01 -6.84999932e-02 -1.57661803e-02 1.61787483e+02] [ 6.85053071e-02 9.97650731e-01 -2.03411584e-04 1.60432648e+00] [ 1.57430750e-02 -8.77158572e-04 9.99875685e-01 2.41370415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.599254154 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:161.82, Y:1.61, Z:2.41 [[ 9.97629920e-01 -6.69773781e-02 -1.57661976e-02 1.61819463e+02] [ 6.69825237e-02 9.97754128e-01 -2.02066020e-04 1.60628307e+00] [ 1.57443225e-02 -8.54472593e-04 9.99875685e-01 2.41424465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.629254154 meters Centerline goodness : 0.998870 Centerline is valid? [True, True] Translation: X:161.85, Y:1.61, Z:2.41 [[ 9.97756516e-01 -6.50642899e-02 -1.57662115e-02 1.61851614e+02] [ 6.50692145e-02 9.97880733e-01 -2.00971956e-04 1.60794162e+00] [ 1.57458748e-02 -8.25373919e-04 9.99875685e-01 2.41446501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.659254154 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:161.88, Y:1.61, Z:2.41 [[ 9.97860790e-01 -6.34450183e-02 -1.57662259e-02 1.61883965e+02] [ 6.34497592e-02 9.97985014e-01 -1.99839327e-04 1.61006905e+00] [ 1.57471359e-02 -8.00951405e-04 9.99875685e-01 2.41473651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.689254154 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:161.92, Y:1.61, Z:2.42 [[ 9.98142736e-01 -5.88430545e-02 -1.57662436e-02 1.61916291e+02] [ 5.88472447e-02 9.98266980e-01 -1.98428246e-04 1.61405432e+00] [ 1.57505965e-02 -7.29740284e-04 9.99875685e-01 2.41691308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.719254154 meters Centerline goodness : 0.999077 Centerline is valid? [True, True] Translation: X:161.95, Y:1.62, Z:2.42 [[ 9.98331795e-01 -5.55432531e-02 -1.57662581e-02 1.61948567e+02] [ 5.55470509e-02 9.98456051e-01 -1.97269196e-04 1.61614302e+00] [ 1.57528728e-02 -6.78829031e-04 9.99875685e-01 2.41684137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.749254154 meters Centerline goodness : 0.999012 Centerline is valid? [True, True] Translation: X:161.98, Y:1.62, Z:2.42 [[ 9.98478294e-01 -5.28443190e-02 -1.57662728e-02 1.61980883e+02] [ 5.28477994e-02 9.98602559e-01 -1.96091832e-04 1.61958747e+00] [ 1.57546027e-02 -6.37419382e-04 9.99875685e-01 2.41906358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.77925415399997 meters Centerline goodness : 0.999098 Centerline is valid? [True, True] Translation: X:162.01, Y:1.62, Z:2.42 [[ 9.98667162e-01 -4.91459423e-02 -1.57662873e-02 1.62013528e+02] [ 4.91489810e-02 9.98791440e-01 -1.94917435e-04 1.62263054e+00] [ 1.57568122e-02 -5.80239312e-04 9.99875685e-01 2.41952488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.80925415399997 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:162.04, Y:1.63, Z:2.42 [[ 9.98858495e-01 -4.50902586e-02 -1.57663016e-02 1.62044926e+02] [ 4.50928110e-02 9.98982783e-01 -1.93748404e-04 1.62579565e+00] [ 1.57590001e-02 -5.17419621e-04 9.99875685e-01 2.41737612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.83925415399997 meters Centerline goodness : 0.999368 Centerline is valid? [True, True] Translation: X:162.08, Y:1.63, Z:2.42 [[ 9.99199596e-01 -3.67639719e-02 -1.57663243e-02 1.62077294e+02] [ 3.67655178e-02 9.99323901e-01 -1.91884233e-04 1.63119845e+00] [ 1.57627192e-02 -3.87926429e-04 9.99875685e-01 2.42026294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.86925415399998 meters Centerline goodness : 0.999348 Centerline is valid? [True, True] Translation: X:162.11, Y:1.63, Z:2.42 [[ 9.99344681e-01 -3.25826702e-02 -1.57663381e-02 1.62109426e+02] [ 3.25837139e-02 9.99468992e-01 -1.90749082e-04 1.63376882e+00] [ 1.57641811e-02 -3.23101767e-04 9.99875685e-01 2.42099894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.89925415399998 meters Centerline goodness : 0.999348 Centerline is valid? [True, True] Translation: X:162.14, Y:1.63, Z:2.42 [[ 9.99345870e-01 -3.25461868e-02 -1.57663520e-02 1.62141264e+02] [ 3.25472441e-02 9.99470180e-01 -1.89593767e-04 1.63412167e+00] [ 1.57641692e-02 -3.23681557e-04 9.99875685e-01 2.42150071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.92925415399998 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:162.17, Y:1.64, Z:2.42 [[ 9.99469993e-01 -2.84807766e-02 -1.57663589e-02 1.62172077e+02] [ 2.84813373e-02 9.99594307e-01 -1.89018395e-04 1.63664005e+00] [ 1.57653459e-02 -2.60128770e-04 9.99875685e-01 2.42223348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.95925415399998 meters Centerline goodness : 0.999515 Centerline is valid? [True, True] Translation: X:162.20, Y:1.64, Z:2.42 [[ 9.99577613e-01 -2.44134802e-02 -1.57663623e-02 1.62202243e+02] [ 2.44135395e-02 9.99701927e-01 -1.88732988e-04 1.63913263e+00] [ 1.57662704e-02 -1.96259439e-04 9.99875685e-01 2.42320907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.98925415399998 meters Centerline goodness : 0.999366 Centerline is valid? [True, True] Translation: X:162.23, Y:1.64, Z:2.42 [[ 9.99712477e-01 -1.80661478e-02 -1.57663623e-02 1.62231713e+02] [ 1.80654178e-02 9.99836789e-01 -1.88732988e-04 1.64363967e+00] [ 1.57671987e-02 -9.61471982e-05 9.99875685e-01 2.42464389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.01925415399998 meters Centerline goodness : 0.999240 Centerline is valid? [True, True] Translation: X:162.26, Y:1.65, Z:2.42 [[ 9.99750958e-01 -1.57937772e-02 -1.57663553e-02 1.62259713e+02] [ 1.57927555e-02 9.99875269e-01 -1.89313235e-04 1.64591812e+00] [ 1.57673787e-02 -5.97281060e-05 9.99875685e-01 2.42482608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.04925415399998 meters Centerline goodness : 0.999259 Centerline is valid? [True, True] Translation: X:162.29, Y:1.65, Z:2.43 [[ 9.99770698e-01 -1.44904854e-02 -1.57663379e-02 1.62287134e+02] [ 1.44892790e-02 9.99895007e-01 -1.90751744e-04 1.64818806e+00] [ 1.57674466e-02 -3.77348639e-05 9.99875685e-01 2.42539189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.07925415399998 meters Centerline goodness : 0.998961 Centerline is valid? [True, True] Translation: X:162.31, Y:1.65, Z:2.43 [[ 9.99768614e-01 -1.46336086e-02 -1.57663210e-02 1.62314855e+02] [ 1.46323981e-02 9.99892922e-01 -1.92138075e-04 1.65012632e+00] [ 1.57674445e-02 -3.86054689e-05 9.99875685e-01 2.42646733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.10925415399998 meters Centerline goodness : 0.998833 Centerline is valid? [True, True] Translation: X:162.34, Y:1.65, Z:2.43 [[ 9.99735496e-01 -1.67440394e-02 -1.57662630e-02 1.62342790e+02] [ 1.67430180e-02 9.99859806e-01 -1.96784186e-04 1.65182851e+00] [ 1.57673477e-02 -6.72426904e-05 9.99875685e-01 2.42707205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.13925415399999 meters Centerline goodness : 0.999089 Centerline is valid? [True, True] Translation: X:162.37, Y:1.65, Z:2.43 [[ 9.99694189e-01 -1.90513710e-02 -1.57662450e-02 1.62370556e+02] [ 1.90506139e-02 9.99818501e-01 -1.98220684e-04 1.65222728e+00] [ 1.57671598e-02 -1.02196579e-04 9.99875685e-01 2.42750083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.169254154 meters Centerline goodness : 0.999215 Centerline is valid? [True, True] Translation: X:162.40, Y:1.65, Z:2.43 [[ 9.99629305e-01 -2.21964168e-02 -1.57661849e-02 1.62397932e+02] [ 2.21959771e-02 9.99753618e-01 -2.02890646e-04 1.65289451e+00] [ 1.57668038e-02 -1.47130443e-04 9.99875685e-01 2.42808374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.199254154 meters Centerline goodness : 0.999300 Centerline is valid? [True, True] Translation: X:162.43, Y:1.65, Z:2.43 [[ 9.99552943e-01 -2.54036003e-02 -1.57661661e-02 1.62426123e+02] [ 2.54035367e-02 9.99677257e-01 -2.04335955e-04 1.65335025e+00] [ 1.57662686e-02 -1.96271776e-04 9.99875685e-01 2.42844744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.229254154 meters Centerline goodness : 0.999512 Centerline is valid? [True, True] Translation: X:162.46, Y:1.65, Z:2.43 [[ 9.99358511e-01 -3.21557831e-02 -1.57661551e-02 1.62456452e+02] [ 3.21565459e-02 9.99482823e-01 -2.05185627e-04 1.65347483e+00] [ 1.57645991e-02 -3.01931087e-04 9.99875685e-01 2.42836931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.259254154 meters Centerline goodness : 0.999407 Centerline is valid? [True, True] Translation: X:162.49, Y:1.65, Z:2.43 [[ 9.99234476e-01 -3.58034907e-02 -1.57661551e-02 1.62488846e+02] [ 3.58047073e-02 9.99358785e-01 -2.05185627e-04 1.65359040e+00] [ 1.57633919e-02 -3.59474016e-04 9.99875685e-01 2.42875042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.289254154 meters Centerline goodness : 0.999661 Centerline is valid? [True, True] Translation: X:162.52, Y:1.65, Z:2.43 [[ 9.99123199e-01 -3.87848013e-02 -1.57661700e-02 1.62521503e+02] [ 3.87864071e-02 9.99247503e-01 -2.04032434e-04 1.65365856e+00] [ 1.57622194e-02 -4.07659549e-04 9.99875685e-01 2.42948244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.319254154 meters Centerline goodness : 0.999470 Centerline is valid? [True, True] Translation: X:162.55, Y:1.65, Z:2.43 [[ 9.99026891e-01 -4.11909948e-02 -1.57661848e-02 1.62554103e+02] [ 4.11929180e-02 9.99151191e-01 -2.02882580e-04 1.65368336e+00] [ 1.57611592e-02 -4.46770004e-04 9.99875685e-01 2.42986146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.349254154 meters Centerline goodness : 0.999110 Centerline is valid? [True, True] Translation: X:162.59, Y:1.65, Z:2.43 [[ 9.98888882e-01 -4.44120312e-02 -1.57661995e-02 1.62585952e+02] [ 4.44143733e-02 9.99013174e-01 -2.01734198e-04 1.65473924e+00] [ 1.57596004e-02 -4.98735823e-04 9.99875685e-01 2.42987200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.379254154 meters Centerline goodness : 0.999110 Centerline is valid? [True, True] Translation: X:162.62, Y:1.66, Z:2.43 [[ 9.98884388e-01 -4.45129964e-02 -1.57662140e-02 1.62617264e+02] [ 4.45153690e-02 9.99008679e-01 -2.00592778e-04 1.65585610e+00] [ 1.57595136e-02 -5.01469840e-04 9.99875685e-01 2.42992185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.409254154 meters Centerline goodness : 0.998792 Centerline is valid? [True, True] Translation: X:162.65, Y:1.66, Z:2.43 [[ 9.98910797e-01 -4.39163366e-02 -1.57662381e-02 1.62648372e+02] [ 4.39186652e-02 9.99035090e-01 -1.98680711e-04 1.65710279e+00] [ 1.57597504e-02 -4.93967825e-04 9.99875685e-01 2.43022851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.439254154 meters Centerline goodness : 0.999321 Centerline is valid? [True, True] Translation: X:162.68, Y:1.66, Z:2.43 [[ 9.99038146e-01 -4.09170734e-02 -1.57662614e-02 1.62680166e+02] [ 4.09190582e-02 9.99162445e-01 -1.96815466e-04 1.65893216e+00] [ 1.57611094e-02 -4.48514409e-04 9.99875685e-01 2.43141134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.469254154 meters Centerline goodness : 0.999364 Centerline is valid? [True, True] Translation: X:162.71, Y:1.66, Z:2.43 [[ 9.99127406e-01 -3.86762332e-02 -1.57662756e-02 1.62711283e+02] [ 3.86779573e-02 9.99251709e-01 -1.95672461e-04 1.65977563e+00] [ 1.57620457e-02 -4.14305614e-04 9.99875685e-01 2.43212104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.499254154 meters Centerline goodness : 0.999342 Centerline is valid? [True, True] Translation: X:162.74, Y:1.66, Z:2.43 [[ 9.99221027e-01 -3.61768233e-02 -1.57662861e-02 1.62742026e+02] [ 3.61782498e-02 9.99345334e-01 -1.94821851e-04 1.66061002e+00] [ 1.57630125e-02 -3.75726546e-04 9.99875685e-01 2.43266799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.52925415399997 meters Centerline goodness : 0.999427 Centerline is valid? [True, True] Translation: X:162.77, Y:1.66, Z:2.43 [[ 9.99404363e-01 -3.06975945e-02 -1.57662965e-02 1.62774618e+02] [ 3.06983528e-02 9.99528676e-01 -1.93979250e-04 1.66195669e+00] [ 1.57648201e-02 -2.90135621e-04 9.99875685e-01 2.43362846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.55925415399997 meters Centerline goodness : 0.999446 Centerline is valid? [True, True] Translation: X:162.81, Y:1.66, Z:2.43 [[ 9.99479996e-01 -2.81275801e-02 -1.57663107e-02 1.62805940e+02] [ 2.81280371e-02 9.99604310e-01 -1.92810350e-04 1.66314517e+00] [ 1.57654955e-02 -2.50765285e-04 9.99875685e-01 2.43395492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.58925415399997 meters Centerline goodness : 0.999447 Centerline is valid? [True, True] Translation: X:162.84, Y:1.66, Z:2.43 [[ 9.99549381e-01 -2.55432588e-02 -1.57663178e-02 1.62836509e+02] [ 2.55434035e-02 9.99673696e-01 -1.92231753e-04 1.66425487e+00] [ 1.57660834e-02 -2.10580288e-04 9.99875685e-01 2.43423883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.61925415399998 meters Centerline goodness : 0.999213 Centerline is valid? [True, True] Translation: X:162.87, Y:1.67, Z:2.43 [[ 9.99601299e-01 -2.34236372e-02 -1.57663213e-02 1.62867391e+02] [ 2.34235228e-02 9.99725613e-01 -1.91944390e-04 1.66531033e+00] [ 1.57664913e-02 -1.77434925e-04 9.99875685e-01 2.43429092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.64925415399998 meters Centerline goodness : 0.999317 Centerline is valid? [True, True] Translation: X:162.90, Y:1.67, Z:2.43 [[ 9.99682050e-01 -1.96779814e-02 -1.57663213e-02 1.62897347e+02] [ 1.96774012e-02 9.99806363e-01 -1.91944390e-04 1.66641751e+00] [ 1.57670454e-02 -1.18356868e-04 9.99875685e-01 2.43450525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.67925415399998 meters Centerline goodness : 0.999254 Centerline is valid? [True, True] Translation: X:162.93, Y:1.67, Z:2.43 [[ 9.99714960e-01 -1.79282271e-02 -1.57663143e-02 1.62925769e+02] [ 1.79274203e-02 9.99839272e-01 -1.92518123e-04 1.66669376e+00] [ 1.57672317e-02 -9.01860948e-05 9.99875685e-01 2.43488065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.70925415399998 meters Centerline goodness : 0.999233 Centerline is valid? [True, True] Translation: X:162.95, Y:1.67, Z:2.43 [[ 9.99736717e-01 -1.66709398e-02 -1.57663011e-02 1.62954833e+02] [ 1.66699597e-02 9.99861028e-01 -1.93591400e-04 1.66710669e+00] [ 1.57673374e-02 -6.92831733e-05 9.99875685e-01 2.43496329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.73925415399998 meters Centerline goodness : 0.999276 Centerline is valid? [True, True] Translation: X:162.98, Y:1.67, Z:2.44 [[ 9.99751502e-01 -1.57594387e-02 -1.57662512e-02 1.62982271e+02] [ 1.57582824e-02 9.99875811e-01 -1.97574826e-04 1.66752630e+00] [ 1.57674069e-02 -5.09233095e-05 9.99875685e-01 2.43534944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.76925415399998 meters Centerline goodness : 0.999445 Centerline is valid? [True, True] Translation: X:163.01, Y:1.67, Z:2.44 [[ 9.99773329e-01 -1.43079357e-02 -1.57661928e-02 1.63009775e+02] [ 1.43065272e-02 9.99897636e-01 -2.02126566e-04 1.66757592e+00] [ 1.57674710e-02 -2.34787176e-05 9.99875685e-01 2.43636332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.79925415399998 meters Centerline goodness : 0.999211 Centerline is valid? [True, True] Translation: X:163.04, Y:1.67, Z:2.44 [[ 9.99775208e-01 -1.41761209e-02 -1.57661323e-02 1.63037443e+02] [ 1.41746232e-02 9.99899514e-01 -2.06745453e-04 1.66775915e+00] [ 1.57674788e-02 -1.67800050e-05 9.99875685e-01 2.43674352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.82925415399998 meters Centerline goodness : 0.998805 Centerline is valid? [True, True] Translation: X:163.07, Y:1.67, Z:2.44 [[ 9.99788797e-01 -1.31830694e-02 -1.57660698e-02 1.63065669e+02] [ 1.31813747e-02 9.99913100e-01 -2.11402210e-04 1.66700623e+00] [ 1.57674867e-02 3.53908650e-06 9.99875685e-01 2.43520782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.85925415399998 meters Centerline goodness : 0.999274 Centerline is valid? [True, True] Translation: X:163.09, Y:1.67, Z:2.44 [[ 9.99778258e-01 -1.39595423e-02 -1.57660057e-02 1.63093600e+02] [ 1.39578704e-02 9.99902561e-01 -2.16082931e-04 1.66736333e+00] [ 1.57674859e-02 -4.02484792e-06 9.99875685e-01 2.43714265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.88925415399999 meters Centerline goodness : 0.999382 Centerline is valid? [True, True] Translation: X:163.12, Y:1.67, Z:2.44 [[ 9.99773146e-01 -1.43210504e-02 -1.57659406e-02 1.63121075e+02] [ 1.43193502e-02 9.99897448e-01 -2.20728947e-04 1.66607091e+00] [ 1.57674849e-02 -5.07915116e-06 9.99875685e-01 2.43787760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.919254154 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:163.15, Y:1.67, Z:2.44 [[ 9.99768387e-01 -1.46495705e-02 -1.57658740e-02 1.63148243e+02] [ 1.46478376e-02 9.99892689e-01 -2.25392222e-04 1.66526444e+00] [ 1.57674840e-02 -5.59594293e-06 9.99875685e-01 2.43732891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.949254154 meters Centerline goodness : 0.999190 Centerline is valid? [True, True] Translation: X:163.18, Y:1.67, Z:2.44 [[ 9.99744124e-01 -1.62210952e-02 -1.57658449e-02 1.63175812e+02] [ 1.62195259e-02 9.99868429e-01 -2.27408964e-04 1.66509876e+00] [ 1.57674594e-02 -2.83637538e-05 9.99875685e-01 2.43861563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.979254154 meters Centerline goodness : 0.999064 Centerline is valid? [True, True] Translation: X:163.20, Y:1.66, Z:2.44 [[ 9.99692664e-01 -1.91315841e-02 -1.57657785e-02 1.63203857e+02] [ 1.91303055e-02 9.99816972e-01 -2.31918215e-04 1.66389276e+00] [ 1.57673299e-02 -6.97572226e-05 9.99875685e-01 2.43977985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.009254154 meters Centerline goodness : 0.999149 Centerline is valid? [True, True] Translation: X:163.23, Y:1.66, Z:2.44 [[ 9.99649861e-01 -2.12508514e-02 -1.57657097e-02 1.63232597e+02] [ 2.12497641e-02 9.99774170e-01 -2.36506069e-04 1.66309191e+00] [ 1.57671753e-02 -9.85943526e-05 9.99875686e-01 2.44056921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.039254154 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:163.26, Y:1.66, Z:2.44 [[ 9.99593747e-01 -2.37441808e-02 -1.57656479e-02 1.63261631e+02] [ 2.37433395e-02 9.99718058e-01 -2.40559206e-04 1.66198176e+00] [ 1.57669148e-02 -1.33867653e-04 9.99875686e-01 2.44092678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.069254154 meters Centerline goodness : 0.999279 Centerline is valid? [True, True] Translation: X:163.29, Y:1.66, Z:2.44 [[ 9.99407206e-01 -3.06052399e-02 -1.57656312e-02 1.63291080e+02] [ 3.06052348e-02 9.99531521e-01 -2.41647041e-04 1.65866105e+00] [ 1.57656410e-02 -2.41007052e-04 9.99875686e-01 2.44131525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.099254154 meters Centerline goodness : 0.999152 Centerline is valid? [True, True] Translation: X:163.32, Y:1.66, Z:2.44 [[ 9.99281336e-01 -3.44710979e-02 -1.57656223e-02 1.63322223e+02] [ 3.44715645e-02 9.99405650e-01 -2.42229088e-04 1.65735125e+00] [ 1.57646019e-02 -3.01410658e-04 9.99875686e-01 2.44156302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.129254154 meters Centerline goodness : 0.999301 Centerline is valid? [True, True] Translation: X:163.35, Y:1.66, Z:2.44 [[ 9.99146708e-01 -3.81746173e-02 -1.57656311e-02 1.63353177e+02] [ 3.81755538e-02 9.99271019e-01 -2.41651017e-04 1.65582375e+00] [ 1.57633632e-02 -3.60416881e-04 9.99875686e-01 2.44186804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.159254154 meters Centerline goodness : 0.999197 Centerline is valid? [True, True] Translation: X:163.39, Y:1.65, Z:2.44 [[ 9.98997096e-01 -4.19076030e-02 -1.57656443e-02 1.63385266e+02] [ 4.19090176e-02 9.99121402e-01 -2.40785346e-04 1.65418414e+00] [ 1.57618834e-02 -4.20178805e-04 9.99875686e-01 2.44123486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.189254154 meters Centerline goodness : 0.999324 Centerline is valid? [True, True] Translation: X:163.42, Y:1.65, Z:2.44 [[ 9.98812566e-01 -4.60966511e-02 -1.57656619e-02 1.63416754e+02] [ 4.60986052e-02 9.98936865e-01 -2.39631073e-04 1.65285598e+00] [ 1.57599471e-02 -4.87428496e-04 9.99875686e-01 2.44279625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.219254154 meters Centerline goodness : 0.999240 Centerline is valid? [True, True] Translation: X:163.45, Y:1.65, Z:2.44 [[ 9.98616320e-01 -5.01686143e-02 -1.57656749e-02 1.63449308e+02] [ 5.01710889e-02 9.98740609e-01 -2.38769751e-04 1.65162368e+00] [ 1.57577985e-02 -5.52541708e-04 9.99875686e-01 2.44302069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.24925415399997 meters Centerline goodness : 0.998903 Centerline is valid? [True, True] Translation: X:163.48, Y:1.65, Z:2.44 [[ 9.98392127e-01 -5.44481657e-02 -1.57656921e-02 1.63481161e+02] [ 5.44511908e-02 9.98516405e-01 -2.37632960e-04 1.65063332e+00] [ 1.57552408e-02 -6.21209830e-04 9.99875686e-01 2.44336488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.27925415399997 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:163.51, Y:1.65, Z:2.44 [[ 9.97955108e-01 -6.19438846e-02 -1.57657093e-02 1.63513965e+02] [ 6.19478610e-02 9.98079359e-01 -2.36485103e-04 1.64784272e+00] [ 1.57500778e-02 -7.40650450e-04 9.99875686e-01 2.44385419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.30925415399997 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:163.55, Y:1.64, Z:2.44 [[ 9.97863145e-01 -6.34080843e-02 -1.57657350e-02 1.63549445e+02] [ 6.34122701e-02 9.97987389e-01 -2.34761531e-04 1.64474944e+00] [ 1.57488904e-02 -7.65481164e-04 9.99875686e-01 2.44349576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.33925415399997 meters Centerline goodness : 0.999226 Centerline is valid? [True, True] Translation: X:163.58, Y:1.65, Z:2.44 [[ 9.97324986e-01 -7.13740653e-02 -1.57675291e-02 1.63578179e+02] [ 7.13811709e-02 9.97449104e-01 -1.12396310e-04 1.64610888e+00] [ 1.57353300e-02 -1.01340904e-03 9.99875678e-01 2.44493978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.36925415399998 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:163.61, Y:1.65, Z:2.45 [[ 9.97180256e-01 -7.33687850e-02 -1.57657457e-02 1.63609905e+02] [ 7.33742382e-02 9.97304450e-01 -2.33051450e-04 1.64623070e+00] [ 1.57403470e-02 -9.24405274e-04 9.99875686e-01 2.44533895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.39925415399998 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:163.64, Y:1.65, Z:2.45 [[ 9.97075584e-01 -7.47778075e-02 -1.57657874e-02 1.63642237e+02] [ 7.47834811e-02 9.97199768e-01 -2.30195712e-04 1.64648656e+00] [ 1.57388531e-02 -9.49497939e-04 9.99875686e-01 2.44573109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.42925415399998 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:163.68, Y:1.65, Z:2.45 [[ 9.97017933e-01 -7.55425811e-02 -1.57658080e-02 1.63675460e+02] [ 7.55483723e-02 9.97142112e-01 -2.28778098e-04 1.64678883e+00] [ 1.57380335e-02 -9.62985263e-04 9.99875686e-01 2.44670947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.45925415399998 meters Centerline goodness : 0.998972 Centerline is valid? [True, True] Translation: X:163.71, Y:1.65, Z:2.45 [[ 9.96974611e-01 -7.61121839e-02 -1.57658324e-02 1.63707333e+02] [ 7.61180728e-02 9.97098785e-01 -2.27082120e-04 1.64755115e+00] [ 1.57373760e-02 -9.73669668e-04 9.99875686e-01 2.44731457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.48925415399998 meters Centerline goodness : 0.999328 Centerline is valid? [True, True] Translation: X:163.74, Y:1.65, Z:2.45 [[ 9.97016844e-01 -7.55569345e-02 -1.57658525e-02 1.63739047e+02] [ 7.55627764e-02 9.97141021e-01 -2.25675506e-04 1.64811762e+00] [ 1.57378296e-02 -9.66309308e-04 9.99875686e-01 2.44784033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.51925415399998 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:163.77, Y:1.65, Z:2.45 [[ 9.97058301e-01 -7.50078774e-02 -1.57658723e-02 1.63772066e+02] [ 7.50136728e-02 9.97182480e-01 -2.24287805e-04 1.64889253e+00] [ 1.57382749e-02 -9.59027966e-04 9.99875686e-01 2.44837830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.54925415399998 meters Centerline goodness : 0.999329 Centerline is valid? [True, True] Translation: X:163.81, Y:1.65, Z:2.45 [[ 9.97114165e-01 -7.42615492e-02 -1.57658956e-02 1.63805212e+02] [ 7.42672777e-02 9.97238348e-01 -2.22635690e-04 1.64978151e+00] [ 1.57388889e-02 -9.48896945e-04 9.99875686e-01 2.44845646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.57925415399998 meters Centerline goodness : 0.998848 Centerline is valid? [True, True] Translation: X:163.84, Y:1.65, Z:2.45 [[ 9.97250647e-01 -7.24056846e-02 -1.57659186e-02 1.63837359e+02] [ 7.24112078e-02 9.97374838e-01 -2.20991592e-04 1.65095645e+00] [ 1.57405316e-02 -9.21245202e-04 9.99875686e-01 2.44769092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.60925415399998 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:163.87, Y:1.65, Z:2.45 [[ 9.97316511e-01 -7.14927420e-02 -1.57659338e-02 1.63868336e+02] [ 7.14981687e-02 9.97440707e-01 -2.19906616e-04 1.65206138e+00] [ 1.57413058e-02 -9.07918893e-04 9.99875686e-01 2.44810820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.63925415399999 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:163.90, Y:1.65, Z:2.45 [[ 9.97394608e-01 -7.03948162e-02 -1.57659450e-02 1.63901196e+02] [ 7.04001189e-02 9.97518809e-01 -2.19098224e-04 1.65315080e+00] [ 1.57422501e-02 -8.91397015e-04 9.99875686e-01 2.44812253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.669254154 meters Centerline goodness : 0.999075 Centerline is valid? [True, True] Translation: X:163.93, Y:1.66, Z:2.45 [[ 9.97587336e-01 -6.76087359e-02 -1.57659671e-02 1.63934534e+02] [ 6.76137168e-02 9.97711551e-01 -2.17497185e-04 1.65530459e+00] [ 1.57445922e-02 -8.49023197e-04 9.99875686e-01 2.45009388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.699254154 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:163.97, Y:1.66, Z:2.45 [[ 9.97721139e-01 -6.56045833e-02 -1.57659909e-02 1.63966854e+02] [ 6.56093421e-02 9.97845363e-01 -2.15759070e-04 1.65670771e+00] [ 1.57461757e-02 -8.19128904e-04 9.99875686e-01 2.44932511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.729254154 meters Centerline goodness : 0.999349 Centerline is valid? [True, True] Translation: X:164.00, Y:1.66, Z:2.45 [[ 9.97883091e-01 -6.30933444e-02 -1.57660104e-02 1.63999604e+02] [ 6.30978131e-02 9.98007325e-01 -2.14321693e-04 1.65839645e+00] [ 1.57481161e-02 -7.80932786e-04 9.99875686e-01 2.45193069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.759254154 meters Centerline goodness : 0.998989 Centerline is valid? [True, True] Translation: X:164.03, Y:1.66, Z:2.45 [[ 9.98049613e-01 -6.04020128e-02 -1.57660338e-02 1.64031440e+02] [ 6.04061738e-02 9.98173857e-01 -2.12588438e-04 1.66017943e+00] [ 1.57500835e-02 -7.40191969e-04 9.99875686e-01 2.45128607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.789254154 meters Centerline goodness : 0.999282 Centerline is valid? [True, True] Translation: X:164.06, Y:1.66, Z:2.46 [[ 9.98416519e-01 -5.39989377e-02 -1.57660530e-02 1.64063219e+02] [ 5.40023243e-02 9.98540788e-01 -2.11155656e-04 1.66353141e+00] [ 1.57544491e-02 -6.40582210e-04 9.99875686e-01 2.45504960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.819254154 meters Centerline goodness : 0.999282 Centerline is valid? [True, True] Translation: X:164.10, Y:1.66, Z:2.46 [[ 9.98420568e-01 -5.39240170e-02 -1.57660687e-02 1.64095905e+02] [ 5.39274130e-02 9.98544836e-01 -2.09971687e-04 1.66390842e+00] [ 1.57544490e-02 -6.40583249e-04 9.99875686e-01 2.45556473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.849254154 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:164.13, Y:1.67, Z:2.46 [[ 9.98609739e-01 -5.02993085e-02 -1.57660844e-02 1.64126756e+02] [ 5.03022720e-02 9.98734018e-01 -2.08788758e-04 1.66589557e+00] [ 1.57566268e-02 -5.84571379e-04 9.99875686e-01 2.45640029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.879254154 meters Centerline goodness : 0.999198 Centerline is valid? [True, True] Translation: X:164.16, Y:1.67, Z:2.46 [[ 9.98791479e-01 -4.65511755e-02 -1.57660960e-02 1.64157783e+02] [ 4.65536864e-02 9.98915768e-01 -2.07907805e-04 1.66782475e+00] [ 1.57586803e-02 -5.26313346e-04 9.99875686e-01 2.45683098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.909254154 meters Centerline goodness : 0.999408 Centerline is valid? [True, True] Translation: X:164.19, Y:1.67, Z:2.46 [[ 9.99140568e-01 -3.83347895e-02 -1.57661074e-02 1.64190075e+02] [ 3.83362918e-02 9.99264873e-01 -2.07037989e-04 1.67115707e+00] [ 1.57624541e-02 -3.97554041e-04 9.99875686e-01 2.45794452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.939254154 meters Centerline goodness : 0.999639 Centerline is valid? [True, True] Translation: X:164.22, Y:1.67, Z:2.46 [[ 9.99293805e-01 -3.41074810e-02 -1.57661227e-02 1.64222274e+02] [ 3.41084759e-02 9.99418115e-01 -2.05867446e-04 1.67270526e+00] [ 1.57639703e-02 -3.32036353e-04 9.99875686e-01 2.45849298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.969254154 meters Centerline goodness : 0.999364 Centerline is valid? [True, True] Translation: X:164.25, Y:1.67, Z:2.46 [[ 9.99421759e-01 -3.01260019e-02 -1.57661380e-02 1.64252972e+02] [ 3.01265201e-02 9.99546072e-01 -2.04689709e-04 1.67421054e+00] [ 1.57651478e-02 -2.70407524e-04 9.99875686e-01 2.45820124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.99925415399997 meters Centerline goodness : 0.999406 Centerline is valid? [True, True] Translation: X:164.28, Y:1.68, Z:2.46 [[ 9.99538294e-01 -2.59735853e-02 -1.57661493e-02 1.64284784e+02] [ 2.59736009e-02 9.99662608e-01 -2.03813839e-04 1.67573789e+00] [ 1.57661238e-02 -2.05783933e-04 9.99875686e-01 2.45877332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.02925415399997 meters Centerline goodness : 0.999385 Centerline is valid? [True, True] Translation: X:164.32, Y:1.68, Z:2.46 [[ 9.99632396e-01 -2.20567686e-02 -1.57661568e-02 1.64315714e+02] [ 2.20563061e-02 9.99756709e-01 -2.03236248e-04 1.67741482e+00] [ 1.57668038e-02 -1.44581643e-04 9.99875686e-01 2.45948842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.05925415399997 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:164.34, Y:1.68, Z:2.46 [[ 9.99780551e-01 -1.37941372e-02 -1.57661568e-02 1.64344713e+02] [ 1.37926474e-02 9.99904856e-01 -2.03236248e-04 1.67961367e+00] [ 1.57674602e-02 -1.42653924e-05 9.99875686e-01 2.46042979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.08925415399997 meters Centerline goodness : 0.999340 Centerline is valid? [True, True] Translation: X:164.37, Y:1.68, Z:2.46 [[ 9.99823552e-01 -1.02123871e-02 -1.57661531e-02 1.64372286e+02] [ 1.02104473e-02 9.99947851e-01 -2.03525832e-04 1.68079579e+00] [ 1.57674094e-02 4.25104452e-05 9.99875686e-01 2.46106116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.11925415399998 meters Centerline goodness : 0.999362 Centerline is valid? [True, True] Translation: X:164.40, Y:1.68, Z:2.46 [[ 9.99854002e-01 -6.58828049e-03 -1.57660917e-02 1.64399793e+02] [ 6.58581689e-03 9.99978292e-01 -2.08174837e-04 1.68167562e+00] [ 1.57671209e-02 1.04311851e-04 9.99875686e-01 2.46130392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.14925415399998 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:164.43, Y:1.68, Z:2.46 [[ 9.99870353e-01 -3.27230605e-03 -1.57660725e-02 1.64428539e+02] [ 3.26940759e-03 9.99994634e-01 -2.09612704e-04 1.68225561e+00] [ 1.57666739e-02 1.58039811e-04 9.99875686e-01 2.46320383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.17925415399998 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:164.46, Y:1.68, Z:2.46 [[ 9.99874687e-01 1.42925265e-03 -1.57659967e-02 1.64456221e+02] [-1.43282382e-03 9.99998950e-01 -2.15217301e-04 1.68250052e+00] [ 1.57656726e-02 2.37780228e-04 9.99875686e-01 2.46294065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.20925415399998 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:164.48, Y:1.68, Z:2.46 [[ 9.99872102e-01 2.68569584e-03 -1.57660000e-02 1.64484054e+02] [-2.68941933e-03 9.99996360e-01 -2.14974509e-04 1.68191374e+00] [ 1.57653653e-02 2.57348399e-04 9.99875686e-01 2.46329356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.23925415399998 meters Centerline goodness : 0.999130 Centerline is valid? [True, True] Translation: X:164.51, Y:1.68, Z:2.46 [[ 9.99871685e-01 2.83697771e-03 -1.57659364e-02 1.64511884e+02] [-2.84079200e-03 9.99995941e-01 -2.19542228e-04 1.68144661e+00] [ 1.57652496e-02 2.64301804e-04 9.99875686e-01 2.46306785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.26925415399998 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:164.54, Y:1.68, Z:2.46 [[ 9.99872069e-01 2.69854883e-03 -1.57659125e-02 1.64539661e+02] [-2.70237284e-03 9.99996324e-01 -2.21250198e-04 1.68042673e+00] [ 1.57652575e-02 2.63827267e-04 9.99875686e-01 2.46350168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.29925415399998 meters Centerline goodness : 0.999619 Centerline is valid? [True, True] Translation: X:164.57, Y:1.68, Z:2.46 [[ 9.99875711e-01 1.40506509e-05 -1.57658880e-02 1.64568028e+02] [-1.75682797e-05 9.99999975e-01 -2.22977965e-04 1.67808077e+00] [ 1.57658845e-02 2.23227231e-04 9.99875686e-01 2.46382838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.32925415399998 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:164.60, Y:1.68, Z:2.46 [[ 9.99873310e-01 -2.19144446e-03 -1.57658630e-02 1.64595247e+02] [ 2.18817325e-03 9.99997581e-01 -2.24734196e-04 1.67698550e+00] [ 1.57663173e-02 1.90207285e-04 9.99875686e-01 2.46410817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.35925415399998 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:164.62, Y:1.68, Z:2.46 [[ 9.99863599e-01 -4.92157009e-03 -1.57658338e-02 1.64622454e+02] [ 4.91860621e-03 9.99987878e-01 -2.26764231e-04 1.67576745e+00] [ 1.57667587e-02 1.49187372e-04 9.99875686e-01 2.46444753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.38925415399999 meters Centerline goodness : 0.999071 Centerline is valid? [True, True] Translation: X:164.65, Y:1.67, Z:2.46 [[ 9.99808032e-01 -1.16335038e-02 -1.57658046e-02 1.64650739e+02] [ 1.16313425e-02 9.99932327e-01 -2.28776217e-04 1.67215141e+00] [ 1.57673992e-02 4.53548258e-05 9.99875686e-01 2.46383625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.419254154 meters Centerline goodness : 0.999451 Centerline is valid? [True, True] Translation: X:164.68, Y:1.67, Z:2.46 [[ 9.99753369e-01 -1.56409932e-02 -1.57657793e-02 1.64677385e+02] [ 1.56393029e-02 9.99877672e-01 -2.30505640e-04 1.67022870e+00] [ 1.57674561e-02 -1.61170081e-05 9.99875686e-01 2.46380384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.449254154 meters Centerline goodness : 0.999178 Centerline is valid? [True, True] Translation: X:164.71, Y:1.67, Z:2.46 [[ 9.99678754e-01 -1.98451718e-02 -1.57657498e-02 1.64705804e+02] [ 1.98439727e-02 9.99803062e-01 -2.32509453e-04 1.66811119e+00] [ 1.57672591e-02 -8.04203474e-05 9.99875686e-01 2.46385347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.479254154 meters Centerline goodness : 0.999031 Centerline is valid? [True, True] Translation: X:164.73, Y:1.67, Z:2.46 [[ 9.99585724e-01 -2.40795202e-02 -1.57656815e-02 1.64733621e+02] [ 2.40787760e-02 9.99710036e-01 -2.37046867e-04 1.66610480e+00] [ 1.57668180e-02 -1.42669650e-04 9.99875686e-01 2.46348554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.509254154 meters Centerline goodness : 0.999328 Centerline is valid? [True, True] Translation: X:164.76, Y:1.66, Z:2.46 [[ 9.99367408e-01 -3.18783188e-02 -1.57656603e-02 1.64763459e+02] [ 3.18785225e-02 9.99491722e-01 -2.38451426e-04 1.66199915e+00] [ 1.57652484e-02 -2.64285373e-04 9.99875686e-01 2.46394356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.539254154 meters Centerline goodness : 0.999054 Centerline is valid? [True, True] Translation: X:164.80, Y:1.66, Z:2.46 [[ 9.99244146e-01 -3.55328075e-02 -1.57656518e-02 1.64795200e+02] [ 3.55334570e-02 9.99368459e-01 -2.39011658e-04 1.66066664e+00] [ 1.57641879e-02 -3.21377111e-04 9.99875686e-01 2.46432208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.569254154 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:164.83, Y:1.66, Z:2.46 [[ 9.99140994e-01 -3.83238451e-02 -1.57656602e-02 1.64826795e+02] [ 3.83248506e-02 9.99265305e-01 -2.38454880e-04 1.65916315e+00] [ 1.57632158e-02 -3.65966527e-04 9.99875686e-01 2.46487468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.599254154 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:164.86, Y:1.66, Z:2.47 [[ 9.99038461e-01 -4.09096271e-02 -1.57656686e-02 1.64858187e+02] [ 4.09109631e-02 9.99162768e-01 -2.37899599e-04 1.65782882e+00] [ 1.57622015e-02 -4.07317837e-04 9.99875686e-01 2.46516573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.629254154 meters Centerline goodness : 0.998804 Centerline is valid? [True, True] Translation: X:164.89, Y:1.65, Z:2.46 [[ 9.98873796e-01 -4.47502194e-02 -1.57656769e-02 1.64889036e+02] [ 4.47520420e-02 9.98998097e-01 -2.37348256e-04 1.65463369e+00] [ 1.57605026e-02 -4.68465280e-04 9.99875686e-01 2.46354668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.659254154 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:164.92, Y:1.65, Z:2.47 [[ 9.98787513e-01 -4.66363156e-02 -1.57657045e-02 1.64920974e+02] [ 4.66384020e-02 9.98911810e-01 -2.35500848e-04 1.65387028e+00] [ 1.57595313e-02 -5.00071958e-04 9.99875686e-01 2.46552986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.689254154 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:164.95, Y:1.65, Z:2.46 [[ 9.98724280e-01 -4.79713990e-02 -1.57657207e-02 1.64953453e+02] [ 4.79736688e-02 9.98848573e-01 -2.34408710e-04 1.65286934e+00] [ 1.57588126e-02 -5.22229795e-04 9.99875686e-01 2.46442080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.719254154 meters Centerline goodness : 0.999434 Centerline is valid? [True, True] Translation: X:164.98, Y:1.65, Z:2.47 [[ 9.98514946e-01 -5.21473246e-02 -1.57657368e-02 1.64984336e+02] [ 5.21501312e-02 9.98639229e-01 -2.33323860e-04 1.65250519e+00] [ 1.57564504e-02 -5.89207881e-04 9.99875686e-01 2.46653002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.74925415399997 meters Centerline goodness : 0.999350 Centerline is valid? [True, True] Translation: X:165.02, Y:1.65, Z:2.47 [[ 9.98416952e-01 -5.39910273e-02 -1.57657487e-02 1.65016400e+02] [ 5.39940762e-02 9.98541229e-01 -2.32515393e-04 1.65238242e+00] [ 1.57553038e-02 -6.19109727e-04 9.99875686e-01 2.46682313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.77925415399997 meters Centerline goodness : 0.999288 Centerline is valid? [True, True] Translation: X:165.05, Y:1.65, Z:2.47 [[ 9.98294912e-01 -5.62023904e-02 -1.57657644e-02 1.65047803e+02] [ 5.62057314e-02 9.98419182e-01 -2.31444929e-04 1.65241368e+00] [ 1.57538494e-02 -6.55076026e-04 9.99875686e-01 2.46674945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.80925415399997 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:165.08, Y:1.65, Z:2.47 [[ 9.98255113e-01 -5.69049170e-02 -1.57657761e-02 1.65081703e+02] [ 5.69083580e-02 9.98379380e-01 -2.30646964e-04 1.65078607e+00] [ 1.57533507e-02 -6.66959920e-04 9.99875686e-01 2.46549876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.83925415399997 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:165.11, Y:1.65, Z:2.46 [[ 9.97930920e-01 -6.23319040e-02 -1.57674338e-02 1.65111027e+02] [ 6.23378315e-02 9.98055099e-01 -1.15752356e-04 1.65166958e+00] [ 1.57439828e-02 -8.67394775e-04 9.99875680e-01 2.46443406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.86925415399998 meters Centerline goodness : 0.999098 Centerline is valid? [True, True] Translation: X:165.14, Y:1.65, Z:2.47 [[ 9.97794123e-01 -6.44851039e-02 -1.57657779e-02 1.65142521e+02] [ 6.44895066e-02 9.97918359e-01 -2.29506155e-04 1.65285772e+00] [ 1.57477590e-02 -7.87727349e-04 9.99875686e-01 2.46696707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.89925415399998 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:165.18, Y:1.65, Z:2.47 [[ 9.97703354e-01 -6.58745582e-02 -1.57658034e-02 1.65175141e+02] [ 6.58791617e-02 9.97827582e-01 -2.27741691e-04 1.65375769e+00] [ 1.57465559e-02 -8.11419265e-04 9.99875686e-01 2.46770311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.92925415399998 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:165.21, Y:1.66, Z:2.47 [[ 9.97630006e-01 -6.69761922e-02 -1.57658205e-02 1.65206336e+02] [ 6.69809516e-02 9.97754229e-01 -2.26556562e-04 1.65503959e+00] [ 1.57455879e-02 -8.29990032e-04 9.99875686e-01 2.46756180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.95925415399998 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:165.24, Y:1.66, Z:2.47 [[ 9.97584670e-01 -6.76480951e-02 -1.57658331e-02 1.65238307e+02] [ 6.76529521e-02 9.97708889e-01 -2.25673213e-04 1.65830451e+00] [ 1.57449782e-02 -8.41477014e-04 9.99875686e-01 2.46808603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.98925415399998 meters Centerline goodness : 0.998952 Centerline is valid? [True, True] Translation: X:165.27, Y:1.66, Z:2.47 [[ 9.97602806e-01 -6.73801109e-02 -1.57658497e-02 1.65271503e+02] [ 6.73849528e-02 9.97727026e-01 -2.24510800e-04 1.66038889e+00] [ 1.57451419e-02 -8.38408432e-04 9.99875686e-01 2.46835445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.01925415399998 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:165.30, Y:1.66, Z:2.47 [[ 9.97668014e-01 -6.64076080e-02 -1.57658742e-02 1.65304305e+02] [ 6.64123562e-02 9.97792238e-01 -2.22775133e-04 1.66183987e+00] [ 1.57458608e-02 -8.24793227e-04 9.99875686e-01 2.46777457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.04925415399998 meters Centerline goodness : 0.999201 Centerline is valid? [True, True] Translation: X:165.34, Y:1.66, Z:2.47 [[ 9.97733642e-01 -6.54141811e-02 -1.57658983e-02 1.65337134e+02] [ 6.54188328e-02 9.97857869e-01 -2.21052275e-04 1.66402735e+00] [ 1.57465857e-02 -8.10835376e-04 9.99875686e-01 2.46958307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.07925415399998 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:165.37, Y:1.67, Z:2.47 [[ 9.97839505e-01 -6.37789713e-02 -1.57659223e-02 1.65370137e+02] [ 6.37834465e-02 9.97963739e-01 -2.19331808e-04 1.66602068e+00] [ 1.57478075e-02 -7.86746918e-04 9.99875686e-01 2.47016974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.10925415399998 meters Centerline goodness : 0.999034 Centerline is valid? [True, True] Translation: X:165.40, Y:1.67, Z:2.47 [[ 9.98093153e-01 -5.96782481e-02 -1.57659459e-02 1.65401442e+02] [ 5.96822397e-02 9.98217403e-01 -2.17620846e-04 1.67065268e+00] [ 1.57508288e-02 -7.23741086e-04 9.99875686e-01 2.47116503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.13925415399999 meters Centerline goodness : 0.998737 Centerline is valid? [True, True] Translation: X:165.43, Y:1.67, Z:2.47 [[ 9.98257850e-01 -5.68568283e-02 -1.57659575e-02 1.65433161e+02] [ 5.68604820e-02 9.98382111e-01 -2.16773745e-04 1.67328421e+00] [ 1.57527750e-02 -6.80063853e-04 9.99875686e-01 2.47004329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.169254154 meters Centerline goodness : 0.998991 Centerline is valid? [True, True] Translation: X:165.46, Y:1.68, Z:2.47 [[ 9.98403296e-01 -5.42429009e-02 -1.57659728e-02 1.65464383e+02] [ 5.42462469e-02 9.98527565e-01 -2.15656582e-04 1.67699041e+00] [ 1.57544563e-02 -6.39932612e-04 9.99875686e-01 2.47402252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.199254154 meters Centerline goodness : 0.998903 Centerline is valid? [True, True] Translation: X:165.50, Y:1.68, Z:2.47 [[ 9.98573594e-01 -5.10118783e-02 -1.57659842e-02 1.65496252e+02] [ 5.10148353e-02 9.98697872e-01 -2.14823848e-04 1.68016032e+00] [ 1.57564134e-02 -5.89781663e-04 9.99875686e-01 2.47494357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.229254154 meters Centerline goodness : 0.999008 Centerline is valid? [True, True] Translation: X:165.53, Y:1.69, Z:2.48 [[ 9.98903459e-01 -4.40830143e-02 -1.57659991e-02 1.65527232e+02] [ 4.40851264e-02 9.99027755e-01 -2.13721934e-04 1.68500083e+00] [ 1.57600922e-02 -4.81558484e-04 9.99875686e-01 2.47572065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.259254154 meters Centerline goodness : 0.998964 Centerline is valid? [True, True] Translation: X:165.56, Y:1.69, Z:2.48 [[ 9.99049418e-01 -4.06410151e-02 -1.57660236e-02 1.65559791e+02] [ 4.06427277e-02 9.99173721e-01 -2.11896780e-04 1.68746786e+00] [ 1.57616082e-02 -4.29078851e-04 9.99875686e-01 2.47644134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.289254154 meters Centerline goodness : 0.998905 Centerline is valid? [True, True] Translation: X:165.59, Y:1.69, Z:2.48 [[ 9.99182287e-01 -3.72315573e-02 -1.57660381e-02 1.65592154e+02] [ 3.72328628e-02 9.99306594e-01 -2.10817582e-04 1.68981458e+00] [ 1.57629549e-02 -3.76369538e-04 9.99875686e-01 2.47715641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.319254154 meters Centerline goodness : 0.999111 Centerline is valid? [True, True] Translation: X:165.62, Y:1.69, Z:2.48 [[ 9.99365501e-01 -3.19378486e-02 -1.57660523e-02 1.65623623e+02] [ 3.19385124e-02 9.99489814e-01 -2.09746672e-04 1.69363944e+00] [ 1.57647075e-02 -2.93930669e-04 9.99875686e-01 2.47804848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.349254154 meters Centerline goodness : 0.998941 Centerline is valid? [True, True] Translation: X:165.65, Y:1.70, Z:2.48 [[ 9.99431081e-01 -2.98151762e-02 -1.57660629e-02 1.65653756e+02] [ 2.98155885e-02 9.99555395e-01 -2.08947978e-04 1.69558351e+00] [ 1.57652830e-02 -2.61245340e-04 9.99875686e-01 2.47847355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.379254154 meters Centerline goodness : 0.998984 Centerline is valid? [True, True] Translation: X:165.69, Y:1.70, Z:2.48 [[ 9.99481869e-01 -2.80611010e-02 -1.57660664e-02 1.65685210e+02] [ 2.80612993e-02 9.99606182e-01 -2.08685139e-04 1.69748350e+00] [ 1.57657134e-02 -2.33839295e-04 9.99875686e-01 2.47887937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.409254154 meters Centerline goodness : 0.999110 Centerline is valid? [True, True] Translation: X:165.72, Y:1.70, Z:2.48 [[ 9.99520492e-01 -2.66499131e-02 -1.57660733e-02 1.65716050e+02] [ 2.66499442e-02 9.99644805e-01 -2.08163070e-04 1.69926648e+00] [ 1.57660208e-02 -2.12101718e-04 9.99875686e-01 2.47894469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.439254154 meters Centerline goodness : 0.999363 Centerline is valid? [True, True] Translation: X:165.75, Y:1.70, Z:2.48 [[ 9.99580153e-01 -2.43094192e-02 -1.57660801e-02 1.65745219e+02] [ 2.43091674e-02 9.99704467e-01 -2.07644981e-04 1.70158271e+00] [ 1.57664684e-02 -1.75702477e-04 9.99875686e-01 2.47823344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.469254154 meters Centerline goodness : 0.999321 Centerline is valid? [True, True] Translation: X:165.78, Y:1.70, Z:2.48 [[ 9.99604162e-01 -2.33013045e-02 -1.57660806e-02 1.65775770e+02] [ 2.33009279e-02 9.99728475e-01 -2.07605973e-04 1.70260038e+00] [ 1.57666372e-02 -1.59840512e-04 9.99875686e-01 2.47799741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.49925415399997 meters Centerline goodness : 0.999256 Centerline is valid? [True, True] Translation: X:165.81, Y:1.70, Z:2.48 [[ 9.99629698e-01 -2.21787438e-02 -1.57660806e-02 1.65805673e+02] [ 2.21782276e-02 9.99754011e-01 -2.07605973e-04 1.70373960e+00] [ 1.57668068e-02 -1.42134627e-04 9.99875686e-01 2.47794222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.52925415399997 meters Centerline goodness : 0.999234 Centerline is valid? [True, True] Translation: X:165.84, Y:1.70, Z:2.47 [[ 9.99779887e-01 -1.38422682e-02 -1.57660739e-02 1.65844365e+02] [ 1.38407074e-02 9.99904191e-01 -2.08112203e-04 1.69649138e+00] [ 1.57674441e-02 -1.01472214e-05 9.99875686e-01 2.47405870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.55925415399997 meters Centerline goodness : 0.999041 Centerline is valid? [True, True] Translation: X:165.86, Y:1.71, Z:2.48 [[ 9.99666738e-01 -2.04369849e-02 -1.57716070e-02 1.65864174e+02] [ 2.04431686e-02 9.99790990e-01 2.30937540e-04 1.70751618e+00] [ 1.57635909e-02 -5.53282198e-04 9.99875594e-01 2.47923343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.58925415399997 meters Centerline goodness : 0.998914 Centerline is valid? [True, True] Translation: X:165.89, Y:1.71, Z:2.48 [[ 9.99675265e-01 -2.00202655e-02 -1.57655689e-02 1.65893164e+02] [ 2.00193800e-02 9.99799569e-01 -2.14003395e-04 1.70886595e+00] [ 1.57666934e-02 -1.01683013e-04 9.99875693e-01 2.48017013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.61925415399998 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:165.92, Y:1.71, Z:2.48 [[ 9.99676392e-01 -1.99639519e-02 -1.57655211e-02 1.65922137e+02] [ 1.99630047e-02 9.99800696e-01 -2.17469056e-04 1.70972957e+00] [ 1.57667205e-02 -9.73284895e-05 9.99875693e-01 2.48137492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.64925415399998 meters Centerline goodness : 0.999085 Centerline is valid? [True, True] Translation: X:165.95, Y:1.71, Z:2.48 [[ 9.99666074e-01 -2.04741272e-02 -1.57654726e-02 1.65950524e+02] [ 2.04731888e-02 9.99790378e-01 -2.20929868e-04 1.71044947e+00] [ 1.57666911e-02 -1.01913402e-04 9.99875693e-01 2.48293254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.67925415399998 meters Centerline goodness : 0.999000 Centerline is valid? [True, True] Translation: X:165.98, Y:1.71, Z:2.48 [[ 9.99655225e-01 -2.09972308e-02 -1.57654154e-02 1.65978987e+02] [ 2.09962943e-02 9.99779528e-01 -2.24938886e-04 1.71035990e+00] [ 1.57666626e-02 -1.06153968e-04 9.99875693e-01 2.48467665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.70925415399998 meters Centerline goodness : 0.999000 Centerline is valid? [True, True] Translation: X:166.01, Y:1.71, Z:2.49 [[ 9.99651585e-01 -2.11704860e-02 -1.57644666e-02 1.66008245e+02] [ 2.11685448e-02 9.99775879e-01 -2.90009306e-04 1.71084550e+00] [ 1.57670731e-02 -4.38025548e-05 9.99875691e-01 2.48515848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.73925415399998 meters Centerline goodness : 0.999193 Centerline is valid? [True, True] Translation: X:166.04, Y:1.71, Z:2.48 [[ 9.99602858e-01 -2.33582487e-02 -1.57644398e-02 1.66038013e+02] [ 2.33565509e-02 9.99727156e-01 -2.91830223e-04 1.71091268e+00] [ 1.57669552e-02 -7.64886152e-05 9.99875691e-01 2.48484860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.76925415399998 meters Centerline goodness : 0.999022 Centerline is valid? [True, True] Translation: X:166.07, Y:1.71, Z:2.49 [[ 9.99563565e-01 -2.49826736e-02 -1.57653186e-02 1.66067751e+02] [ 2.49821189e-02 9.99687871e-01 -2.32150656e-04 1.71093093e+00] [ 1.57661975e-02 -1.61801727e-04 9.99875693e-01 2.48533170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.79925415399998 meters Centerline goodness : 0.998980 Centerline is valid? [True, True] Translation: X:166.11, Y:1.70, Z:2.48 [[ 9.99723951e-01 -1.74205932e-02 -1.57653104e-02 1.66110087e+02] [ 1.74190894e-02 9.99848249e-01 -2.32708315e-04 1.70118885e+00] [ 1.57669719e-02 -4.19732750e-05 9.99875693e-01 2.48178395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.82925415399998 meters Centerline goodness : 0.999300 Centerline is valid? [True, True] Translation: X:166.13, Y:1.71, Z:2.49 [[ 9.99402402e-01 -3.07577454e-02 -1.57733758e-02 1.66127682e+02] [ 3.07671666e-02 9.99526516e-01 3.54904690e-04 1.71087335e+00] [ 1.57549913e-02 -8.39994679e-04 9.99875530e-01 2.48663672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.85925415399998 meters Centerline goodness : 0.999002 Centerline is valid? [True, True] Translation: X:166.16, Y:1.71, Z:2.49 [[ 9.99348259e-01 -3.24736193e-02 -1.57645435e-02 1.66159094e+02] [ 3.24739387e-02 9.99472555e-01 -2.35789953e-04 1.71086445e+00] [ 1.57638855e-02 -2.76300541e-04 9.99875704e-01 2.48660220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.88925415399999 meters Centerline goodness : 0.999448 Centerline is valid? [True, True] Translation: X:166.19, Y:1.71, Z:2.49 [[ 9.99294637e-01 -3.40838154e-02 -1.57645564e-02 1.66190195e+02] [ 3.40843487e-02 9.99418932e-01 -2.34924712e-04 1.71051814e+00] [ 1.57634033e-02 -3.02565633e-04 9.99875704e-01 2.48678849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.919254154 meters Centerline goodness : 0.998960 Centerline is valid? [True, True] Translation: X:166.22, Y:1.71, Z:2.49 [[ 9.99262118e-01 -3.50242503e-02 -1.57645648e-02 1.66221357e+02] [ 3.50249095e-02 9.99386412e-01 -2.34358276e-04 1.70989912e+00] [ 1.57631001e-02 -3.17967110e-04 9.99875704e-01 2.48511156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.949254154 meters Centerline goodness : 0.998981 Centerline is valid? [True, True] Translation: X:166.25, Y:1.71, Z:2.48 [[ 9.99211476e-01 -3.64404351e-02 -1.57645732e-02 1.66253962e+02] [ 3.64412794e-02 9.99335769e-01 -2.33794931e-04 1.70918427e+00] [ 1.57626215e-02 -3.40870638e-04 9.99875704e-01 2.48375701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.979254154 meters Centerline goodness : 0.998941 Centerline is valid? [True, True] Translation: X:166.29, Y:1.71, Z:2.49 [[ 9.99202721e-01 -3.66796956e-02 -1.57645901e-02 1.66286414e+02] [ 3.66805877e-02 9.99327014e-01 -2.32650339e-04 1.70962420e+00] [ 1.57625143e-02 -3.45789576e-04 9.99875704e-01 2.48515970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.009254154 meters Centerline goodness : 0.999150 Centerline is valid? [True, True] Translation: X:166.32, Y:1.71, Z:2.49 [[ 9.99215124e-01 -3.63402344e-02 -1.57646070e-02 1.66318193e+02] [ 3.63411025e-02 9.99339417e-01 -2.31495648e-04 1.70995962e+00] [ 1.57626058e-02 -3.41589247e-04 9.99875704e-01 2.48543529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.039254154 meters Centerline goodness : 0.998918 Centerline is valid? [True, True] Translation: X:166.35, Y:1.71, Z:2.49 [[ 9.99249443e-01 -3.53839897e-02 -1.57646239e-02 1.66350814e+02] [ 3.53847570e-02 9.99373737e-01 -2.30343190e-04 1.71057912e+00] [ 1.57629015e-02 -3.27657081e-04 9.99875704e-01 2.48575709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.069254154 meters Centerline goodness : 0.998960 Centerline is valid? [True, True] Translation: X:166.38, Y:1.71, Z:2.49 [[ 9.99370369e-01 -3.17858569e-02 -1.57646407e-02 1.66383247e+02] [ 3.17861949e-02 9.99494665e-01 -2.29187007e-04 1.71102568e+00] [ 1.57639592e-02 -2.72055238e-04 9.99875704e-01 2.48590209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.099254154 meters Centerline goodness : 0.999023 Centerline is valid? [True, True] Translation: X:166.41, Y:1.71, Z:2.49 [[ 9.99458602e-01 -2.88787026e-02 -1.57646574e-02 1.66414326e+02] [ 2.88786973e-02 9.99582897e-01 -2.28030823e-04 1.71145860e+00] [ 1.57646672e-02 -2.27355401e-04 9.99875704e-01 2.48657545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.129254154 meters Centerline goodness : 0.999042 Centerline is valid? [True, True] Translation: X:166.44, Y:1.71, Z:2.49 [[ 9.99633719e-01 -2.19978161e-02 -1.57646658e-02 1.66444750e+02] [ 2.19969643e-02 9.99758012e-01 -2.27447380e-04 1.71273297e+00] [ 1.57658543e-02 -1.19410721e-04 9.99875704e-01 2.48775162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.159254154 meters Centerline goodness : 0.998849 Centerline is valid? [True, True] Translation: X:166.47, Y:1.71, Z:2.49 [[ 9.99706399e-01 -1.84008598e-02 -1.57646787e-02 1.66474787e+02] [ 1.83995749e-02 9.99830688e-01 -2.26554669e-04 1.71399334e+00] [ 1.57661783e-02 -6.35752336e-05 9.99875704e-01 2.48827808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.189254154 meters Centerline goodness : 0.998764 Centerline is valid? [True, True] Translation: X:166.50, Y:1.72, Z:2.49 [[ 9.99759095e-01 -1.52717843e-02 -1.57646703e-02 1.66503819e+02] [ 1.52701013e-02 9.99883379e-01 -2.27132607e-04 1.71525627e+00] [ 1.57663006e-02 -1.36502234e-05 9.99875704e-01 2.48890520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.219254154 meters Centerline goodness : 0.998936 Centerline is valid? [True, True] Translation: X:166.53, Y:1.72, Z:2.49 [[ 9.99799924e-01 -1.23121638e-02 -1.57646112e-02 1.66530746e+02] [ 1.23100492e-02 9.99924202e-01 -2.31164726e-04 1.71615802e+00] [ 1.57662624e-02 3.70553351e-05 9.99875704e-01 2.48962265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.24925415399997 meters Centerline goodness : 0.998975 Centerline is valid? [True, True] Translation: X:166.56, Y:1.72, Z:2.49 [[ 9.99823370e-01 -1.02326847e-02 -1.57645641e-02 1.66557329e+02] [ 1.02302617e-02 9.99947642e-01 -2.34332556e-04 1.71683329e+00] [ 1.57661366e-02 7.30155490e-05 9.99875704e-01 2.48983543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.27925415399997 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:166.59, Y:1.72, Z:2.49 [[ 9.99841733e-01 -8.24548524e-03 -1.57645345e-02 1.66585472e+02] [ 8.24278415e-03 9.99966000e-01 -2.36308604e-04 1.71611885e+00] [ 1.57659470e-02 1.06327549e-04 9.99875704e-01 2.48973772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.30925415399997 meters Centerline goodness : 0.999339 Centerline is valid? [True, True] Translation: X:166.61, Y:1.72, Z:2.49 [[ 9.99836423e-01 -8.86613895e-03 -1.57644658e-02 1.66613312e+02] [ 8.86344407e-03 9.99960690e-01 -2.40807445e-04 1.71537891e+00] [ 1.57659811e-02 1.01040594e-04 9.99875704e-01 2.49024469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.33925415399997 meters Centerline goodness : 0.998977 Centerline is valid? [True, True] Translation: X:166.64, Y:1.71, Z:2.49 [[ 9.99822496e-01 -1.03179688e-02 -1.57643946e-02 1.66640915e+02] [ 1.03153822e-02 9.99946765e-01 -2.45382205e-04 1.71462711e+00] [ 1.57660872e-02 8.27228935e-05 9.99875704e-01 2.49006923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.36925415399998 meters Centerline goodness : 0.998935 Centerline is valid? [True, True] Translation: X:166.67, Y:1.71, Z:2.49 [[ 9.99798136e-01 -1.24568957e-02 -1.57643222e-02 1.66668137e+02] [ 1.24545030e-02 9.99922408e-01 -2.49945985e-04 1.71386848e+00] [ 1.57662126e-02 5.35587315e-05 9.99875704e-01 2.48995407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.39925415399998 meters Centerline goodness : 0.998981 Centerline is valid? [True, True] Translation: X:166.70, Y:1.71, Z:2.49 [[ 9.99717632e-01 -1.77804215e-02 -1.57642906e-02 1.66696716e+02] [ 1.77786595e-02 9.99841915e-01 -2.51923038e-04 1.71238812e+00] [ 1.57662778e-02 -2.84160515e-05 9.99875704e-01 2.49093443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.42925415399998 meters Centerline goodness : 0.999001 Centerline is valid? [True, True] Translation: X:166.72, Y:1.71, Z:2.49 [[ 9.99660028e-01 -2.07681621e-02 -1.57642726e-02 1.66724996e+02] [ 2.07667538e-02 9.99784316e-01 -2.53047444e-04 1.71188720e+00] [ 1.57661278e-02 -7.44113512e-05 9.99875704e-01 2.49086592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.45925415399998 meters Centerline goodness : 0.998918 Centerline is valid? [True, True] Translation: X:166.75, Y:1.71, Z:2.49 [[ 9.99564704e-01 -2.49377451e-02 -1.57642500e-02 1.66753010e+02] [ 2.49368332e-02 9.99688996e-01 -2.54442967e-04 1.70957209e+00] [ 1.57656925e-02 -1.38778265e-04 9.99875704e-01 2.48936984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.48925415399998 meters Centerline goodness : 0.998877 Centerline is valid? [True, True] Translation: X:166.78, Y:1.71, Z:2.49 [[ 9.99467247e-01 -2.85787031e-02 -1.57632465e-02 1.66783164e+02] [ 2.85772460e-02 9.99591537e-01 -3.17722131e-04 1.70876682e+00] [ 1.57658879e-02 -1.32917311e-04 9.99875702e-01 2.49295322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.51925415399998 meters Centerline goodness : 0.998964 Centerline is valid? [True, True] Translation: X:166.81, Y:1.71, Z:2.49 [[ 9.99397025e-01 -3.09365868e-02 -1.57643183e-02 1.66813380e+02] [ 3.09364879e-02 9.99521321e-01 -2.50194025e-04 1.70778199e+00] [ 1.57645124e-02 -2.37649478e-04 9.99875704e-01 2.49334096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.54925415399998 meters Centerline goodness : 0.998709 Centerline is valid? [True, True] Translation: X:166.84, Y:1.71, Z:2.49 [[ 9.99327972e-01 -3.30921609e-02 -1.57643229e-02 1.66844350e+02] [ 3.30923347e-02 9.99452267e-01 -2.49903840e-04 1.70712849e+00] [ 1.57639581e-02 -2.71942351e-04 9.99875704e-01 2.49406481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.57925415399998 meters Centerline goodness : 0.998986 Centerline is valid? [True, True] Translation: X:166.88, Y:1.71, Z:2.50 [[ 9.99263550e-01 -3.49834803e-02 -1.57643321e-02 1.66875875e+02] [ 3.49838985e-02 9.99387845e-01 -2.49321994e-04 1.70655830e+00] [ 1.57634040e-02 -3.02359413e-04 9.99875704e-01 2.49506643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.60925415399998 meters Centerline goodness : 0.998924 Centerline is valid? [True, True] Translation: X:166.91, Y:1.70, Z:2.49 [[ 9.99150291e-01 -3.80812369e-02 -1.57643458e-02 1.66906348e+02] [ 3.80820542e-02 9.99274585e-01 -2.48452275e-04 1.70472805e+00] [ 1.57623715e-02 -3.52097507e-04 9.99875704e-01 2.49455636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.63925415399999 meters Centerline goodness : 0.998882 Centerline is valid? [True, True] Translation: X:166.94, Y:1.70, Z:2.50 [[ 9.99048973e-01 -4.06528359e-02 -1.57637402e-02 1.66938306e+02] [ 4.06533704e-02 9.99173269e-01 -2.86669075e-04 1.70446485e+00] [ 1.57623617e-02 -3.54452723e-04 9.99875703e-01 2.49667734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.669254154 meters Centerline goodness : 0.998757 Centerline is valid? [True, True] Translation: X:166.97, Y:1.70, Z:2.50 [[ 9.98977806e-01 -4.23654181e-02 -1.57643411e-02 1.66969098e+02] [ 4.23667666e-02 9.99102095e-01 -2.48560391e-04 1.70370462e+00] [ 1.57607165e-02 -4.19577844e-04 9.99875704e-01 2.49686809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.699254154 meters Centerline goodness : 0.998862 Centerline is valid? [True, True] Translation: X:167.00, Y:1.70, Z:2.50 [[ 9.98890683e-01 -4.43721527e-02 -1.57643710e-02 1.67001102e+02] [ 4.43737812e-02 9.99014968e-01 -2.46643477e-04 1.70295175e+00] [ 1.57597867e-02 -4.53154880e-04 9.99875704e-01 2.49716115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.729254154 meters Centerline goodness : 0.998819 Centerline is valid? [True, True] Translation: X:167.03, Y:1.70, Z:2.50 [[ 9.98666238e-01 -4.91653246e-02 -1.57643888e-02 1.67032389e+02] [ 4.91675675e-02 9.98790514e-01 -2.45501095e-04 1.70131237e+00] [ 1.57573922e-02 -5.29922998e-04 9.99875704e-01 2.49652100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.759254154 meters Centerline goodness : 0.998799 Centerline is valid? [True, True] Translation: X:167.06, Y:1.70, Z:2.50 [[ 9.98526530e-01 -5.19254450e-02 -1.57644169e-02 1.67064605e+02] [ 5.19280600e-02 9.98650798e-01 -2.43685830e-04 1.70058444e+00] [ 1.57558010e-02 -5.75288820e-04 9.99875704e-01 2.49668464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.789254154 meters Centerline goodness : 0.998967 Centerline is valid? [True, True] Translation: X:167.10, Y:1.70, Z:2.50 [[ 9.98399660e-01 -5.43102366e-02 -1.57644341e-02 1.67095701e+02] [ 5.43131660e-02 9.98523921e-01 -2.42568776e-04 1.69975369e+00] [ 1.57543385e-02 -6.14035741e-04 9.99875704e-01 2.49733886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.819254154 meters Centerline goodness : 0.998882 Centerline is valid? [True, True] Translation: X:167.13, Y:1.70, Z:2.50 [[ 9.98178247e-01 -5.82381800e-02 -1.57639613e-02 1.67128392e+02] [ 5.82411123e-02 9.98302508e-01 -2.73399192e-04 1.69941706e+00] [ 1.57531244e-02 -6.45209517e-04 9.99875704e-01 2.49792117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.849254154 meters Centerline goodness : 0.998822 Centerline is valid? [True, True] Translation: X:167.16, Y:1.70, Z:2.50 [[ 9.97811090e-01 -6.42223499e-02 -1.57644762e-02 1.67161731e+02] [ 6.42265613e-02 9.97935314e-01 -2.39512126e-04 1.69897599e+00] [ 1.57473095e-02 -7.73510242e-04 9.99875704e-01 2.49845621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.879254154 meters Centerline goodness : 0.998969 Centerline is valid? [True, True] Translation: X:167.20, Y:1.70, Z:2.50 [[ 9.97665436e-01 -6.64466614e-02 -1.57645021e-02 1.67195045e+02] [ 6.64511769e-02 9.97789649e-01 -2.37792744e-04 1.69913119e+00] [ 1.57454576e-02 -8.10332118e-04 9.99875704e-01 2.49874093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.909254154 meters Centerline goodness : 0.998716 Centerline is valid? [True, True] Translation: X:167.23, Y:1.70, Z:2.50 [[ 9.97537768e-01 -6.83365282e-02 -1.57645280e-02 1.67225898e+02] [ 6.83413061e-02 9.97661972e-01 -2.36066901e-04 1.69939748e+00] [ 1.57438021e-02 -8.41882782e-04 9.99875704e-01 2.49849463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.939254154 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:167.26, Y:1.70, Z:2.50 [[ 9.97442310e-01 -6.97159738e-02 -1.57645407e-02 1.67258451e+02] [ 6.97209369e-02 9.97566507e-01 -2.35212409e-04 1.69985541e+00] [ 1.57425759e-02 -8.64507741e-04 9.99875704e-01 2.49889383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.969254154 meters Centerline goodness : 0.998904 Centerline is valid? [True, True] Translation: X:167.29, Y:1.70, Z:2.50 [[ 9.97349210e-01 -7.10354235e-02 -1.57645576e-02 1.67290364e+02] [ 7.10405689e-02 9.97473400e-01 -2.34076783e-04 1.70111432e+00] [ 1.57413546e-02 -8.86466844e-04 9.99875704e-01 2.49812195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.99925415399997 meters Centerline goodness : 0.998906 Centerline is valid? [True, True] Translation: X:167.32, Y:1.70, Z:2.50 [[ 9.97333096e-01 -7.12613012e-02 -1.57645743e-02 1.67322990e+02] [ 7.12664925e-02 9.97457284e-01 -2.32947846e-04 1.70204032e+00] [ 1.57410896e-02 -8.91159318e-04 9.99875704e-01 2.49826986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.02925415399997 meters Centerline goodness : 0.999178 Centerline is valid? [True, True] Translation: X:167.36, Y:1.70, Z:2.50 [[ 9.97339901e-01 -7.11660024e-02 -1.57645991e-02 1.67355280e+02] [ 7.11712084e-02 9.97464087e-01 -2.31255733e-04 1.70317830e+00] [ 1.57410790e-02 -8.91344998e-04 9.99875704e-01 2.49861379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.05925415399997 meters Centerline goodness : 0.998778 Centerline is valid? [True, True] Translation: X:167.39, Y:1.70, Z:2.50 [[ 9.97356744e-01 -7.09295574e-02 -1.57646195e-02 1.67387101e+02] [ 7.09347561e-02 9.97480931e-01 -2.29854957e-04 1.70445162e+00] [ 1.57412109e-02 -8.89012049e-04 9.99875704e-01 2.49811570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.08925415399997 meters Centerline goodness : 0.998902 Centerline is valid? [True, True] Translation: X:167.42, Y:1.71, Z:2.50 [[ 9.97481447e-01 -6.91537379e-02 -1.57646358e-02 1.67422074e+02] [ 6.91587332e-02 9.97605642e-01 -2.28731688e-04 1.70599192e+00] [ 1.57427073e-02 -8.62106627e-04 9.99875704e-01 2.49996920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.11925415399998 meters Centerline goodness : 0.998798 Centerline is valid? [True, True] Translation: X:167.46, Y:1.71, Z:2.50 [[ 9.97620949e-01 -6.71107741e-02 -1.57666111e-02 1.67457106e+02] [ 6.71176874e-02 9.97745062e-01 -9.08557268e-05 1.70568729e+00] [ 1.57371557e-02 -9.67578897e-04 9.99875695e-01 2.49742175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.14925415399998 meters Centerline goodness : 0.998926 Centerline is valid? [True, True] Translation: X:167.48, Y:1.71, Z:2.50 [[ 9.97375601e-01 -7.06629978e-02 -1.57686492e-02 1.67481456e+02] [ 7.06726180e-02 9.97499563e-01 5.29814820e-05 1.71168466e+00] [ 1.57254769e-02 -1.16725416e-03 9.99875666e-01 2.50093529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.17925415399998 meters Centerline goodness : 0.998965 Centerline is valid? [True, True] Translation: X:167.52, Y:1.71, Z:2.50 [[ 9.97545112e-01 -6.82292517e-02 -1.57644760e-02 1.67517801e+02] [ 6.82340899e-02 9.97669312e-01 -2.31387052e-04 1.71126895e+00] [ 1.57435213e-02 -8.44855650e-04 9.99875706e-01 2.50069960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.20925415399998 meters Centerline goodness : 0.999260 Centerline is valid? [True, True] Translation: X:167.54, Y:1.72, Z:2.50 [[ 9.97451266e-01 -6.95871395e-02 -1.57670908e-02 1.67544553e+02] [ 6.95950016e-02 9.97575327e-01 -5.01655161e-05 1.71684727e+00] [ 1.57323517e-02 -1.04727306e-03 9.99875690e-01 2.50385016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.23925415399998 meters Centerline goodness : 0.999133 Centerline is valid? [True, True] Translation: X:167.58, Y:1.72, Z:2.51 [[ 9.97489538e-01 -6.90369769e-02 -1.57644464e-02 1.67577649e+02] [ 6.90419248e-02 9.97613733e-01 -2.30803908e-04 1.71885433e+00] [ 1.57427622e-02 -8.58183241e-04 9.99875707e-01 2.50563112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.26925415399998 meters Centerline goodness : 0.998900 Centerline is valid? [True, True] Translation: X:167.61, Y:1.72, Z:2.51 [[ 9.97524209e-01 -6.85341862e-02 -1.57644711e-02 1.67609093e+02] [ 6.85390983e-02 9.97648405e-01 -2.29107368e-04 1.72060918e+00] [ 1.57431011e-02 -8.51942487e-04 9.99875707e-01 2.50655109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.29925415399998 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:167.64, Y:1.72, Z:2.51 [[ 9.97628234e-01 -6.70029004e-02 -1.57644832e-02 1.67641035e+02] [ 6.70076350e-02 9.97752437e-01 -2.28267242e-04 1.72350416e+00] [ 1.57443461e-02 -8.28614894e-04 9.99875707e-01 2.50876424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.32925415399998 meters Centerline goodness : 0.999407 Centerline is valid? [True, True] Translation: X:167.67, Y:1.73, Z:2.51 [[ 9.97677192e-01 -6.62699178e-02 -1.57644998e-02 1.67672843e+02] [ 6.62745793e-02 9.97801397e-01 -2.27119110e-04 1.72522566e+00] [ 1.57448911e-02 -8.18194035e-04 9.99875707e-01 2.50893172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.35925415399998 meters Centerline goodness : 0.999301 Centerline is valid? [True, True] Translation: X:167.71, Y:1.73, Z:2.51 [[ 9.97716430e-01 -6.56765214e-02 -1.57645203e-02 1.67706242e+02] [ 6.56811316e-02 9.97840638e-01 -2.25686467e-04 1.72687428e+00] [ 1.57453013e-02 -8.10260436e-04 9.99875707e-01 2.50946783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.38925415399999 meters Centerline goodness : 0.999007 Centerline is valid? [True, True] Translation: X:167.74, Y:1.73, Z:2.51 [[ 9.97757316e-01 -6.50524234e-02 -1.57645444e-02 1.67737640e+02] [ 6.50569827e-02 9.97881525e-01 -2.23987395e-04 1.72915351e+00] [ 1.57457186e-02 -8.02108632e-04 9.99875707e-01 2.50796508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.419254154 meters Centerline goodness : 0.998704 Centerline is valid? [True, True] Translation: X:167.77, Y:1.73, Z:2.51 [[ 9.97747432e-01 -6.52038429e-02 -1.57645563e-02 1.67769461e+02] [ 6.52084343e-02 9.97871640e-01 -2.23146031e-04 1.73049015e+00] [ 1.57455537e-02 -8.05338657e-04 9.99875707e-01 2.50785112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.449254154 meters Centerline goodness : 0.999066 Centerline is valid? [True, True] Translation: X:167.81, Y:1.73, Z:2.50 [[ 9.98120645e-01 -5.92170292e-02 -1.57645724e-02 1.67808943e+02] [ 5.92208934e-02 9.98244878e-01 -2.22006306e-04 1.72524689e+00] [ 1.57500502e-02 -7.12002983e-04 9.99875707e-01 2.50275183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.479254154 meters Centerline goodness : 0.999192 Centerline is valid? [True, True] Translation: X:167.84, Y:1.73, Z:2.50 [[ 9.98170202e-01 -5.83744524e-02 -1.57693415e-02 1.67843781e+02] [ 5.83834901e-02 9.98294223e-01 1.12971734e-04 1.72516765e+00] [ 1.57358478e-02 -1.03343421e-03 9.99875650e-01 2.50159194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.509254154 meters Centerline goodness : 0.998979 Centerline is valid? [True, True] Translation: X:167.86, Y:1.73, Z:2.50 [[ 9.97833030e-01 -6.38788954e-02 -1.57711782e-02 1.67861731e+02] [ 6.38909888e-02 9.97956849e-01 2.63633079e-04 1.73445157e+00] [ 1.57221147e-02 -1.27069796e-03 9.99875592e-01 2.50403371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.539254154 meters Centerline goodness : 0.999021 Centerline is valid? [True, True] Translation: X:167.90, Y:1.74, Z:2.51 [[ 9.97761378e-01 -6.49904215e-02 -1.57631721e-02 1.67896485e+02] [ 6.49933608e-02 9.97885643e-01 -3.26288048e-04 1.73596256e+00] [ 1.57510487e-02 -6.98943920e-04 9.99875700e-01 2.50688369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.569254154 meters Centerline goodness : 0.999128 Centerline is valid? [True, True] Translation: X:167.93, Y:1.74, Z:2.51 [[ 9.97786918e-01 -6.45967405e-02 -1.57647297e-02 1.67928609e+02] [ 6.46014861e-02 9.97911121e-01 -2.08569546e-04 1.73728413e+00] [ 1.57452720e-02 -8.10316999e-04 9.99875707e-01 2.50676135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.599254154 meters Centerline goodness : 0.999299 Centerline is valid? [True, True] Translation: X:167.96, Y:1.74, Z:2.51 [[ 9.97818113e-01 -6.41130614e-02 -1.57647677e-02 1.67960565e+02] [ 6.41177926e-02 9.97942316e-01 -2.05653470e-04 1.73900761e+00] [ 1.57455139e-02 -8.05597349e-04 9.99875707e-01 2.50663565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.629254154 meters Centerline goodness : 0.999299 Centerline is valid? [True, True] Translation: X:167.99, Y:1.74, Z:2.51 [[ 9.97824891e-01 -6.40074922e-02 -1.57647863e-02 1.67994097e+02] [ 6.40122329e-02 9.97949093e-01 -2.04218812e-04 1.73934535e+00] [ 1.57455257e-02 -8.05364558e-04 9.99875707e-01 2.50716397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.659254154 meters Centerline goodness : 0.999236 Centerline is valid? [True, True] Translation: X:168.03, Y:1.74, Z:2.51 [[ 9.97895854e-01 -6.28914606e-02 -1.57648077e-02 1.68027549e+02] [ 6.28960887e-02 9.98020060e-01 -2.02551049e-04 1.74104918e+00] [ 1.57463331e-02 -7.89419893e-04 9.99875707e-01 2.50858236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.689254154 meters Centerline goodness : 0.999084 Centerline is valid? [True, True] Translation: X:168.06, Y:1.74, Z:2.51 [[ 9.97968748e-01 -6.17239613e-02 -1.57648296e-02 1.68060150e+02] [ 6.17284711e-02 9.98092959e-01 -2.00837118e-04 1.74289235e+00] [ 1.57471618e-02 -7.72709659e-04 9.99875707e-01 2.50919992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.719254154 meters Centerline goodness : 0.999296 Centerline is valid? [True, True] Translation: X:168.09, Y:1.75, Z:2.51 [[ 9.98196398e-01 -5.79259853e-02 -1.57648513e-02 1.68091792e+02] [ 5.79300496e-02 9.98320625e-01 -1.99116037e-04 1.74624017e+00] [ 1.57499102e-02 -7.14501705e-04 9.99875707e-01 2.51086611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.74925415399997 meters Centerline goodness : 0.999381 Centerline is valid? [True, True] Translation: X:168.12, Y:1.75, Z:2.51 [[ 9.98318893e-01 -5.57750520e-02 -1.57648624e-02 1.68124120e+02] [ 5.57788625e-02 9.98443128e-01 -1.98234769e-04 1.74820380e+00] [ 1.57513750e-02 -6.81444575e-04 9.99875707e-01 2.51166449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.77925415399997 meters Centerline goodness : 0.999147 Centerline is valid? [True, True] Translation: X:168.16, Y:1.75, Z:2.51 [[ 9.98436250e-01 -5.36332280e-02 -1.57648770e-02 1.68155418e+02] [ 5.36367903e-02 9.98560492e-01 -1.97067628e-04 1.75016205e+00] [ 1.57527527e-02 -6.48817936e-04 9.99875707e-01 2.51219902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.80925415399997 meters Centerline goodness : 0.999338 Centerline is valid? [True, True] Translation: X:168.19, Y:1.75, Z:2.51 [[ 9.98539724e-01 -5.16709576e-02 -1.57648878e-02 1.68188455e+02] [ 5.16742894e-02 9.98663972e-01 -1.96199944e-04 1.75208922e+00] [ 1.57539633e-02 -6.18725935e-04 9.99875707e-01 2.51350734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.83925415399997 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:168.22, Y:1.75, Z:2.51 [[ 9.98711468e-01 -4.82376475e-02 -1.57649090e-02 1.68221005e+02] [ 4.82405793e-02 9.98835727e-01 -1.94478127e-04 1.75474753e+00] [ 1.57559355e-02 -5.66280807e-04 9.99875707e-01 2.51470440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.86925415399998 meters Centerline goodness : 0.999272 Centerline is valid? [True, True] Translation: X:168.25, Y:1.76, Z:2.52 [[ 9.98765633e-01 -4.71028383e-02 -1.57649303e-02 1.68251721e+02] [ 4.71056563e-02 9.98889894e-01 -1.92736729e-04 1.75614106e+00] [ 1.57565080e-02 -5.50118567e-04 9.99875707e-01 2.51505774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.89925415399998 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:168.28, Y:1.76, Z:2.52 [[ 9.98801930e-01 -4.63267743e-02 -1.57649530e-02 1.68283638e+02] [ 4.63295253e-02 9.98926193e-01 -1.90864766e-04 1.75759143e+00] [ 1.57568666e-02 -5.39746690e-04 9.99875707e-01 2.51523621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.92925415399998 meters Centerline goodness : 0.999098 Centerline is valid? [True, True] Translation: X:168.31, Y:1.76, Z:2.51 [[ 9.98832354e-01 -4.56661162e-02 -1.57649665e-02 1.68314607e+02] [ 4.56688028e-02 9.98956618e-01 -1.89738880e-04 1.75892838e+00] [ 1.57571823e-02 -5.30449814e-04 9.99875707e-01 2.51495556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.95925415399998 meters Centerline goodness : 0.999377 Centerline is valid? [True, True] Translation: X:168.35, Y:1.76, Z:2.51 [[ 9.98915382e-01 -4.38123838e-02 -1.57649880e-02 1.68346223e+02] [ 4.38148682e-02 9.99039650e-01 -1.87932738e-04 1.76126569e+00] [ 1.57580819e-02 -5.03011971e-04 9.99875707e-01 2.51443663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.98925415399998 meters Centerline goodness : 0.999140 Centerline is valid? [True, True] Translation: X:168.38, Y:1.76, Z:2.52 [[ 9.98973388e-01 -4.24692204e-02 -1.57649979e-02 1.68378402e+02] [ 4.24715508e-02 9.99097659e-01 -1.87103402e-04 1.76280319e+00] [ 1.57587186e-02 -4.82652588e-04 9.99875707e-01 2.51549627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.01925415399998 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:168.41, Y:1.76, Z:2.52 [[ 9.99062667e-01 -4.03144221e-02 -1.57650115e-02 1.68410937e+02] [ 4.03165026e-02 9.99186942e-01 -1.85950422e-04 1.76408575e+00] [ 1.57596901e-02 -4.49814002e-04 9.99875707e-01 2.51610929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.04925415399998 meters Centerline goodness : 0.999397 Centerline is valid? [True, True] Translation: X:168.44, Y:1.77, Z:2.52 [[ 9.99156555e-01 -3.79162598e-02 -1.57650250e-02 1.68443254e+02] [ 3.79180602e-02 9.99280835e-01 -1.84797808e-04 1.76563080e+00] [ 1.57606942e-02 -4.13137226e-04 9.99875707e-01 2.51686306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.07925415399998 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:168.47, Y:1.77, Z:2.52 [[ 9.99377304e-01 -3.15668807e-02 -1.57650384e-02 1.68474183e+02] [ 3.15679096e-02 9.99501592e-01 -1.83644203e-04 1.76815723e+00] [ 1.57629781e-02 -3.14139459e-04 9.99875707e-01 2.51713573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.10925415399998 meters Centerline goodness : 0.999351 Centerline is valid? [True, True] Translation: X:168.51, Y:1.77, Z:2.52 [[ 9.99483559e-01 -2.80014100e-02 -1.57650484e-02 1.68506123e+02] [ 2.80020091e-02 9.99607850e-01 -1.82785305e-04 1.76958252e+00] [ 1.57639844e-02 -2.58762121e-04 9.99875707e-01 2.51776950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.13925415399999 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:168.54, Y:1.77, Z:2.52 [[ 9.99578245e-01 -2.43884064e-02 -1.57650614e-02 1.68537389e+02] [ 2.43885739e-02 9.99702538e-01 -1.81659533e-04 1.77086247e+00] [ 1.57648022e-02 -2.02904446e-04 9.99875707e-01 2.51719583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.169254154 meters Centerline goodness : 0.999350 Centerline is valid? [True, True] Translation: X:168.57, Y:1.77, Z:2.52 [[ 9.99638118e-01 -2.17966979e-02 -1.57650678e-02 1.68568208e+02] [ 2.17965519e-02 9.99762411e-01 -1.81098995e-04 1.77236449e+00] [ 1.57652695e-02 -1.62590660e-04 9.99875707e-01 2.51962904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.199254154 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:168.60, Y:1.77, Z:2.52 [[ 9.99739281e-01 -1.65176759e-02 -1.57650678e-02 1.68596784e+02] [ 1.65168736e-02 9.99863571e-01 -1.81098995e-04 1.77392343e+00] [ 1.57659083e-02 -7.93378534e-05 9.99875707e-01 2.51853719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.229254154 meters Centerline goodness : 0.999393 Centerline is valid? [True, True] Translation: X:168.63, Y:1.77, Z:2.52 [[ 9.99742281e-01 -1.63360297e-02 -1.57640539e-02 1.68626670e+02] [ 1.63338486e-02 9.99866558e-01 -2.67109722e-04 1.77486519e+00] [ 1.57663138e-02 9.55321293e-06 9.99875704e-01 2.51916474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.259254154 meters Centerline goodness : 0.999349 Centerline is valid? [True, True] Translation: X:168.66, Y:1.78, Z:2.52 [[ 9.99742289e-01 -1.63346610e-02 -1.57650011e-02 1.68655786e+02] [ 1.63337358e-02 9.99866578e-01 -1.87453023e-04 1.77535030e+00] [ 1.57659597e-02 -7.00966484e-05 9.99875707e-01 2.52054663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.289254154 meters Centerline goodness : 0.999481 Centerline is valid? [True, True] Translation: X:168.68, Y:1.78, Z:2.52 [[ 9.99733264e-01 -1.68779835e-02 -1.57649530e-02 1.68684441e+02] [ 1.68770634e-02 9.99857554e-01 -1.91410682e-04 1.77555419e+00] [ 1.57659380e-02 -7.47064864e-05 9.99875707e-01 2.52077964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.319254154 meters Centerline goodness : 0.999524 Centerline is valid? [True, True] Translation: X:168.71, Y:1.78, Z:2.52 [[ 9.99674769e-01 -2.00455639e-02 -1.57649029e-02 1.68712357e+02] [ 2.00449740e-02 9.99799060e-01 -1.95452287e-04 1.77504050e+00] [ 1.57656531e-02 -1.20618348e-04 9.99875707e-01 2.52030083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.349254154 meters Centerline goodness : 0.999546 Centerline is valid? [True, True] Translation: X:168.74, Y:1.77, Z:2.52 [[ 9.99616399e-01 -2.27710905e-02 -1.57648769e-02 1.68740717e+02] [ 2.27708067e-02 9.99740692e-01 -1.97528776e-04 1.77452089e+00] [ 1.57652869e-02 -1.61525960e-04 9.99875707e-01 2.51954850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.379254154 meters Centerline goodness : 0.999481 Centerline is valid? [True, True] Translation: X:168.77, Y:1.77, Z:2.52 [[ 9.99543401e-01 -2.57770858e-02 -1.57648662e-02 1.68770877e+02] [ 2.57771624e-02 9.99667694e-01 -1.98379099e-04 1.77404681e+00] [ 1.57647411e-02 -2.08084996e-04 9.99875707e-01 2.52009629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.409254154 meters Centerline goodness : 0.999546 Centerline is valid? [True, True] Translation: X:168.80, Y:1.77, Z:2.52 [[ 9.99349803e-01 -3.24259300e-02 -1.57648626e-02 1.68802215e+02] [ 3.24268288e-02 9.99474092e-01 -1.98666690e-04 1.77274752e+00] [ 1.57630137e-02 -3.12666983e-04 9.99875707e-01 2.52011259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.439254154 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:168.83, Y:1.77, Z:2.52 [[ 9.99242956e-01 -3.55666224e-02 -1.57648698e-02 1.68834659e+02] [ 3.55679209e-02 9.99367242e-01 -1.98093768e-04 1.77238552e+00] [ 1.57619400e-02 -3.62779839e-04 9.99875707e-01 2.52056862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.469254154 meters Centerline goodness : 0.999397 Centerline is valid? [True, True] Translation: X:168.87, Y:1.77, Z:2.52 [[ 9.99127252e-01 -3.86807908e-02 -1.57648841e-02 1.68865656e+02] [ 3.86824948e-02 9.99251533e-01 -1.96945971e-04 1.77213858e+00] [ 1.57607026e-02 -4.13050960e-04 9.99875707e-01 2.51901374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.49925415399997 meters Centerline goodness : 0.999483 Centerline is valid? [True, True] Translation: X:168.90, Y:1.77, Z:2.52 [[ 9.99016304e-01 -4.14474620e-02 -1.57648948e-02 1.68898008e+02] [ 4.14495236e-02 9.99140580e-01 -1.96090641e-04 1.77182839e+00] [ 1.57594736e-02 -4.57549630e-04 9.99875707e-01 2.52154773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.52925415399997 meters Centerline goodness : 0.999376 Centerline is valid? [True, True] Translation: X:168.93, Y:1.77, Z:2.52 [[ 9.98814475e-01 -4.60555354e-02 -1.57649088e-02 1.68930523e+02] [ 4.60581882e-02 9.98938740e-01 -1.94953906e-04 1.77142263e+00] [ 1.57571568e-02 -5.31380354e-04 9.99875707e-01 2.52206919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.55925415399997 meters Centerline goodness : 0.999376 Centerline is valid? [True, True] Translation: X:168.96, Y:1.77, Z:2.52 [[ 9.98699968e-01 -4.84751674e-02 -1.57649233e-02 1.68961615e+02] [ 4.84781397e-02 9.98824225e-01 -1.93777938e-04 1.77178655e+00] [ 1.57557807e-02 -5.70728132e-04 9.99875707e-01 2.52454431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.58925415399997 meters Centerline goodness : 0.999484 Centerline is valid? [True, True] Translation: X:168.99, Y:1.77, Z:2.53 [[ 9.98624379e-01 -5.00081741e-02 -1.57649340e-02 1.68993767e+02] [ 5.00113510e-02 9.98748631e-01 -1.92902136e-04 1.77191183e+00] [ 1.57548529e-02 -5.95788872e-04 9.99875707e-01 2.52604175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.61925415399998 meters Centerline goodness : 0.999528 Centerline is valid? [True, True] Translation: X:169.02, Y:1.77, Z:2.53 [[ 9.98557138e-01 -5.13332993e-02 -1.57649481e-02 1.69024931e+02] [ 5.13366594e-02 9.98681386e-01 -1.91744678e-04 1.77230847e+00] [ 1.57540031e-02 -6.17851751e-04 9.99875707e-01 2.52730109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.64925415399998 meters Centerline goodness : 0.999226 Centerline is valid? [True, True] Translation: X:169.06, Y:1.77, Z:2.53 [[ 9.98487173e-01 -5.26766682e-02 -1.57649585e-02 1.69057095e+02] [ 5.26802090e-02 9.98611415e-01 -1.90881459e-04 1.77319428e+00] [ 1.57531225e-02 -6.39908621e-04 9.99875707e-01 2.52918895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.67925415399998 meters Centerline goodness : 0.999420 Centerline is valid? [True, True] Translation: X:169.09, Y:1.77, Z:2.53 [[ 9.98468692e-01 -5.30258132e-02 -1.57649722e-02 1.69089417e+02] [ 5.30294153e-02 9.98592933e-01 -1.89745324e-04 1.77388406e+00] [ 1.57528512e-02 -6.46552493e-04 9.99875707e-01 2.53019870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.70925415399998 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:169.12, Y:1.77, Z:2.53 [[ 9.98501028e-01 -5.24133865e-02 -1.57649891e-02 1.69121423e+02] [ 5.24169348e-02 9.98625270e-01 -1.88328376e-04 1.77461201e+00] [ 1.57531874e-02 -6.38306330e-04 9.99875707e-01 2.53011224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.73925415399998 meters Centerline goodness : 0.999442 Centerline is valid? [True, True] Translation: X:169.15, Y:1.78, Z:2.53 [[ 9.98449185e-01 -5.33918499e-02 -1.57650108e-02 1.69154749e+02] [ 5.33955487e-02 9.98573423e-01 -1.86498111e-04 1.77551366e+00] [ 1.57524782e-02 -6.55572514e-04 9.99875707e-01 2.53137964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.76925415399998 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:169.19, Y:1.78, Z:2.53 [[ 9.98394904e-01 -5.43974236e-02 -1.57650323e-02 1.69188285e+02] [ 5.44012766e-02 9.98519137e-01 -1.84662417e-04 1.77616632e+00] [ 1.57517316e-02 -6.73271865e-04 9.99875707e-01 2.53005329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.79925415399998 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:169.23, Y:1.77, Z:2.53 [[ 9.98700508e-01 -4.84639833e-02 -1.57650517e-02 1.69227604e+02] [ 4.84671243e-02 9.98824762e-01 -1.82991691e-04 1.76892718e+00] [ 1.57553925e-02 -5.81332823e-04 9.99875707e-01 2.52577036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.82925415399998 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:169.25, Y:1.78, Z:2.53 [[ 9.98282145e-01 -5.64275974e-02 -1.57697475e-02 1.69248520e+02] [ 5.64384473e-02 9.98406051e-01 2.43472245e-04 1.77668255e+00] [ 1.57308727e-02 -1.13307406e-03 9.99875620e-01 2.53063479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.85925415399998 meters Centerline goodness : 0.999442 Centerline is valid? [True, True] Translation: X:169.28, Y:1.78, Z:2.53 [[ 9.98254664e-01 -5.69131109e-02 -1.57646529e-02 1.69280632e+02] [ 5.69172439e-02 9.98378882e-01 -1.86739387e-04 1.77710347e+00] [ 1.57497244e-02 -7.10867127e-04 9.99875713e-01 2.53065339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.88925415399999 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:169.31, Y:1.78, Z:2.53 [[ 9.98215058e-01 -5.76035793e-02 -1.57646845e-02 1.69312826e+02] [ 5.76078409e-02 9.98339272e-01 -1.84030053e-04 1.77743439e+00] [ 1.57491044e-02 -7.24467866e-04 9.99875713e-01 2.53042971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.919254154 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:169.35, Y:1.78, Z:2.53 [[ 9.98164698e-01 -5.84697304e-02 -1.57646969e-02 1.69345455e+02] [ 5.84741166e-02 9.98288908e-01 -1.82961157e-04 1.77874303e+00] [ 1.57484197e-02 -7.39201356e-04 9.99875713e-01 2.53055843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.949254154 meters Centerline goodness : 0.999420 Centerline is valid? [True, True] Translation: X:169.38, Y:1.78, Z:2.53 [[ 9.98188837e-01 -5.80561796e-02 -1.57647099e-02 1.69376936e+02] [ 5.80605322e-02 9.98313048e-01 -1.81830786e-04 1.77956416e+00] [ 1.57486720e-02 -7.33805987e-04 9.99875713e-01 2.52925370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.979254154 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:169.41, Y:1.78, Z:2.53 [[ 9.98224396e-01 -5.74415300e-02 -1.57647351e-02 1.69408207e+02] [ 5.74458409e-02 9.98348608e-01 -1.79625079e-04 1.78055449e+00] [ 1.57490192e-02 -7.26312325e-04 9.99875713e-01 2.52852954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.009254154 meters Centerline goodness : 0.999077 Centerline is valid? [True, True] Translation: X:169.44, Y:1.78, Z:2.53 [[ 9.98402336e-01 -5.42609245e-02 -1.57647441e-02 1.69440154e+02] [ 5.42648522e-02 9.98526561e-01 -1.78828111e-04 1.78231961e+00] [ 1.57512191e-02 -6.76929105e-04 9.99875713e-01 2.52953427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.039254154 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:169.47, Y:1.78, Z:2.53 [[ 9.98539517e-01 -5.16750063e-02 -1.57647567e-02 1.69472613e+02] [ 5.16786298e-02 9.98663751e-01 -1.77713006e-04 1.78346850e+00] [ 1.57528744e-02 -6.37247565e-04 9.99875713e-01 2.53067677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.069254154 meters Centerline goodness : 0.999440 Centerline is valid? [True, True] Translation: X:169.50, Y:1.78, Z:2.53 [[ 9.98710459e-01 -4.82585834e-02 -1.57647692e-02 1.69503811e+02] [ 4.82617995e-02 9.98834705e-01 -1.76593829e-04 1.78484474e+00] [ 1.57549208e-02 -5.84470027e-04 9.99875713e-01 2.53184032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.099254154 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:169.54, Y:1.79, Z:2.53 [[ 9.98879725e-01 -4.46180133e-02 -1.57647785e-02 1.69536207e+02] [ 4.46207897e-02 9.99003981e-01 -1.75760472e-04 1.78669281e+00] [ 1.57569186e-02 -5.27873293e-04 9.99875713e-01 2.53482242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.129254154 meters Centerline goodness : 0.999439 Centerline is valid? [True, True] Translation: X:169.57, Y:1.79, Z:2.54 [[ 9.99054137e-01 -4.05253376e-02 -1.57647913e-02 1.69568129e+02] [ 4.05276232e-02 9.99178403e-01 -1.74601530e-04 1.78861198e+00] [ 1.57589148e-02 -4.64473142e-04 9.99875713e-01 2.53678916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.159254154 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:169.60, Y:1.79, Z:2.54 [[ 9.99366492e-01 -3.19074505e-02 -1.57648040e-02 1.69599911e+02] [ 3.19086823e-02 9.99490773e-01 -1.73453249e-04 1.79262051e+00] [ 1.57623106e-02 -3.29690756e-04 9.99875713e-01 2.54046699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.189254154 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:169.63, Y:1.79, Z:2.54 [[ 9.99497066e-01 -2.75151785e-02 -1.57648168e-02 1.69630756e+02] [ 2.75158826e-02 9.99621352e-01 -1.72275993e-04 1.79435446e+00] [ 1.57635877e-02 -2.61593500e-04 9.99875713e-01 2.54137422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.219254154 meters Centerline goodness : 0.999523 Centerline is valid? [True, True] Translation: X:169.66, Y:1.80, Z:2.54 [[ 9.99603570e-01 -2.33275382e-02 -1.57648264e-02 1.69661793e+02] [ 2.33277355e-02 9.99727857e-01 -1.71400955e-04 1.79599323e+00] [ 1.57645344e-02 -1.96424692e-04 9.99875713e-01 2.54272275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.24925415399997 meters Centerline goodness : 0.999327 Centerline is valid? [True, True] Translation: X:169.69, Y:1.80, Z:2.54 [[ 9.99689517e-01 -1.92960977e-02 -1.57648326e-02 1.69693046e+02] [ 1.92958028e-02 9.99813804e-01 -1.70824279e-04 1.79721545e+00] [ 1.57651935e-02 -1.33423861e-04 9.99875713e-01 2.54355424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.27925415399997 meters Centerline goodness : 0.999566 Centerline is valid? [True, True] Translation: X:169.72, Y:1.80, Z:2.54 [[ 9.99753582e-01 -1.56283626e-02 -1.57648388e-02 1.69722174e+02] [ 1.56276208e-02 9.99877867e-01 -1.70247045e-04 1.79819637e+00] [ 1.57655741e-02 -7.61618309e-05 9.99875713e-01 2.54391300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.30925415399997 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:169.75, Y:1.80, Z:2.54 [[ 9.99831835e-01 -9.36868027e-03 -1.57648395e-02 1.69749893e+02] [ 9.36716138e-03 9.99956113e-01 -1.70185948e-04 1.79967459e+00] [ 1.57657420e-02 2.24855328e-05 9.99875713e-01 2.54323941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.33925415399997 meters Centerline goodness : 0.999522 Centerline is valid? [True, True] Translation: X:169.78, Y:1.80, Z:2.54 [[ 9.99841383e-01 -8.28800648e-03 -1.57644386e-02 1.69778261e+02] [ 8.28578251e-03 9.99965651e-01 -2.06385871e-04 1.80065000e+00] [ 1.57656076e-02 7.57324257e-05 9.99875712e-01 2.54403848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.36925415399998 meters Centerline goodness : 0.999456 Centerline is valid? [True, True] Translation: X:169.81, Y:1.80, Z:2.54 [[ 9.99851564e-01 -6.95137740e-03 -1.57647520e-02 1.69806272e+02] [ 6.94942316e-03 9.99975836e-01 -1.78741400e-04 1.80073114e+00] [ 1.57656136e-02 6.91589355e-05 9.99875713e-01 2.54213622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.39925415399998 meters Centerline goodness : 0.999369 Centerline is valid? [True, True] Translation: X:169.83, Y:1.80, Z:2.54 [[ 9.99848435e-01 -7.38796296e-03 -1.57646995e-02 1.69834314e+02] [ 7.38599174e-03 9.99972706e-01 -1.83259905e-04 1.80134259e+00] [ 1.57656231e-02 6.67941889e-05 9.99875713e-01 2.54406930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.42925415399998 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:169.86, Y:1.80, Z:2.54 [[ 9.99832946e-01 -9.24963343e-03 -1.57646446e-02 1.69863549e+02] [ 9.24782102e-03 9.99957220e-01 -1.87863120e-04 1.80021361e+00] [ 1.57657079e-02 4.20431245e-05 9.99875713e-01 2.54341267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.45925415399998 meters Centerline goodness : 0.999479 Centerline is valid? [True, True] Translation: X:169.89, Y:1.80, Z:2.54 [[ 9.99811437e-01 -1.13386961e-02 -1.57646308e-02 1.69891779e+02] [ 1.13371251e-02 9.99935715e-01 -1.89017427e-04 1.79922305e+00] [ 1.57657606e-02 1.02561930e-05 9.99875713e-01 2.54312094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.48925415399998 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:169.92, Y:1.80, Z:2.54 [[ 9.99738487e-01 -1.65661040e-02 -1.57645739e-02 1.69919600e+02] [ 1.65651099e-02 9.99862770e-01 -1.93646434e-04 1.79701737e+00] [ 1.57656185e-02 -6.75461061e-05 9.99875713e-01 2.54142078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.51925415399998 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:169.95, Y:1.80, Z:2.54 [[ 9.99734457e-01 -1.68075373e-02 -1.57645550e-02 1.69948825e+02] [ 1.68065491e-02 9.99858741e-01 -1.95172053e-04 1.79743584e+00] [ 1.57656085e-02 -6.98275420e-05 9.99875713e-01 2.54188218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.54925415399998 meters Centerline goodness : 0.999241 Centerline is valid? [True, True] Translation: X:169.98, Y:1.80, Z:2.54 [[ 9.99676683e-01 -1.99502003e-02 -1.57645070e-02 1.69977965e+02] [ 1.99495428e-02 9.99800968e-01 -1.98979228e-04 1.79684127e+00] [ 1.57653390e-02 -1.15579813e-04 9.99875713e-01 2.54302644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.57925415399998 meters Centerline goodness : 0.999501 Centerline is valid? [True, True] Translation: X:170.01, Y:1.80, Z:2.54 [[ 9.99627624e-01 -2.22731758e-02 -1.57644555e-02 1.70007821e+02] [ 2.22727441e-02 9.99751911e-01 -2.02975991e-04 1.79610318e+00] [ 1.57650654e-02 -1.48217276e-04 9.99875713e-01 2.54298775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.60925415399998 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:170.04, Y:1.80, Z:2.54 [[ 9.99569246e-01 -2.47548889e-02 -1.57644482e-02 1.70038348e+02] [ 2.47547569e-02 9.99693533e-01 -2.03543589e-04 1.79577552e+00] [ 1.57646556e-02 -1.86789170e-04 9.99875713e-01 2.54481493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.63925415399999 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:170.07, Y:1.79, Z:2.54 [[ 9.99522623e-01 -2.65708135e-02 -1.57644482e-02 1.70068307e+02] [ 2.65709072e-02 9.99646910e-01 -2.03543589e-04 1.79474666e+00] [ 1.57642902e-02 -2.15429268e-04 9.99875713e-01 2.54433522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.669254154 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:170.10, Y:1.79, Z:2.55 [[ 9.99477928e-01 -2.82020117e-02 -1.57644518e-02 1.70099636e+02] [ 2.82023127e-02 9.99602215e-01 -2.03259816e-04 1.79402405e+00] [ 1.57639133e-02 -2.41440301e-04 9.99875713e-01 2.54609273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.699254154 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:170.13, Y:1.79, Z:2.55 [[ 9.99420387e-01 -3.01723536e-02 -1.57644590e-02 1.70132304e+02] [ 3.01729085e-02 9.99544674e-01 -2.02701052e-04 1.79236342e+00] [ 1.57633970e-02 -2.73076016e-04 9.99875713e-01 2.54759034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.729254154 meters Centerline goodness : 0.999096 Centerline is valid? [True, True] Translation: X:170.17, Y:1.79, Z:2.54 [[ 9.99525897e-01 -2.64473380e-02 -1.57644736e-02 1.70166798e+02] [ 2.64474476e-02 9.99650185e-01 -2.01564472e-04 1.78704559e+00] [ 1.57642898e-02 -2.15461178e-04 9.99875713e-01 2.54379057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.759254154 meters Centerline goodness : 0.999397 Centerline is valid? [True, True] Translation: X:170.19, Y:1.79, Z:2.55 [[ 9.99366578e-01 -3.19031043e-02 -1.57681490e-02 1.70190801e+02] [ 3.19085055e-02 9.99490790e-01 9.10083033e-05 1.79206106e+00] [ 1.57572163e-02 -5.94088727e-04 9.99875671e-01 2.54986361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.789254154 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:170.22, Y:1.79, Z:2.55 [[ 9.99344116e-01 -3.26010104e-02 -1.57642482e-02 1.70223277e+02] [ 3.26018052e-02 9.99468399e-01 -2.06638203e-04 1.79198120e+00] [ 1.57626045e-02 -3.07440277e-04 9.99875715e-01 2.55057514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.819254154 meters Centerline goodness : 0.999334 Centerline is valid? [True, True] Translation: X:170.25, Y:1.79, Z:2.55 [[ 9.99313679e-01 -3.35210241e-02 -1.57642633e-02 1.70254158e+02] [ 3.35219515e-02 9.99437960e-01 -2.05482048e-04 1.79024246e+00] [ 1.57622911e-02 -3.23107847e-04 9.99875715e-01 2.55076678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.849254154 meters Centerline goodness : 0.999334 Centerline is valid? [True, True] Translation: X:170.29, Y:1.79, Z:2.55 [[ 9.99304147e-01 -3.38039775e-02 -1.57642744e-02 1.70286074e+02] [ 3.38049537e-02 9.99428428e-01 -2.04621266e-04 1.78923849e+00] [ 1.57621810e-02 -3.28431687e-04 9.99875715e-01 2.55111475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.879254154 meters Centerline goodness : 0.999334 Centerline is valid? [True, True] Translation: X:170.32, Y:1.79, Z:2.55 [[ 9.99297715e-01 -3.39935852e-02 -1.57642891e-02 1.70318238e+02] [ 3.39946028e-02 9.99421996e-01 -2.03486263e-04 1.78846331e+00] [ 1.57620945e-02 -3.32557389e-04 9.99875715e-01 2.55164599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.909254154 meters Centerline goodness : 0.999400 Centerline is valid? [True, True] Translation: X:170.35, Y:1.79, Z:2.55 [[ 9.99299090e-01 -3.39531227e-02 -1.57643036e-02 1.70350671e+02] [ 3.39541531e-02 9.99423371e-01 -2.02353894e-04 1.78811148e+00] [ 1.57620840e-02 -3.33051516e-04 9.99875715e-01 2.55240472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.939254154 meters Centerline goodness : 0.998949 Centerline is valid? [True, True] Translation: X:170.38, Y:1.79, Z:2.55 [[ 9.99368163e-01 -3.18553009e-02 -1.57643183e-02 1.70382575e+02] [ 3.18560886e-02 9.99492446e-01 -2.01200837e-04 1.78733250e+00] [ 1.57627264e-02 -3.01115811e-04 9.99875715e-01 2.55097966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.969254154 meters Centerline goodness : 0.999335 Centerline is valid? [True, True] Translation: X:170.41, Y:1.79, Z:2.55 [[ 9.99408374e-01 -3.05677485e-02 -1.57643330e-02 1.70414251e+02] [ 3.05683944e-02 9.99532657e-01 -2.00043055e-04 1.78804060e+00] [ 1.57630805e-02 -2.81965644e-04 9.99875715e-01 2.55372393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.99925415399997 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:170.45, Y:1.79, Z:2.55 [[ 9.99458616e-01 -2.88783548e-02 -1.57643477e-02 1.70445339e+02] [ 2.88788090e-02 9.99582900e-01 -1.98878106e-04 1.78849282e+00] [ 1.57635157e-02 -2.56485150e-04 9.99875715e-01 2.55399925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.02925415399997 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:170.48, Y:1.79, Z:2.55 [[ 9.99563475e-01 -2.49868990e-02 -1.57643550e-02 1.70476904e+02] [ 2.49868784e-02 9.99687760e-01 -1.98298146e-04 1.78836461e+00] [ 1.57643876e-02 -1.95690438e-04 9.99875715e-01 2.55422648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.05925415399997 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:170.51, Y:1.79, Z:2.55 [[ 9.99601891e-01 -2.33996517e-02 -1.57643622e-02 1.70508003e+02] [ 2.33994428e-02 9.99726176e-01 -1.97722540e-04 1.78813455e+00] [ 1.57646722e-02 -1.71233468e-04 9.99875715e-01 2.55450003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.08925415399997 meters Centerline goodness : 0.999377 Centerline is valid? [True, True] Translation: X:170.54, Y:1.79, Z:2.55 [[ 9.99627734e-01 -2.22683072e-02 -1.57643694e-02 1.70538812e+02] [ 2.22679668e-02 9.99752019e-01 -1.97148041e-04 1.78815624e+00] [ 1.57648503e-02 -1.53965805e-04 9.99875715e-01 2.55466006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.11925415399998 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:170.57, Y:1.79, Z:2.55 [[ 9.99646461e-01 -2.14111676e-02 -1.57643730e-02 1.70568348e+02] [ 2.14107250e-02 9.99770745e-01 -1.96863093e-04 1.78830092e+00] [ 1.57649740e-02 -1.40733161e-04 9.99875715e-01 2.55459648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.14925415399998 meters Centerline goodness : 0.999334 Centerline is valid? [True, True] Translation: X:170.60, Y:1.79, Z:2.55 [[ 9.99656729e-01 -2.09262492e-02 -1.57643695e-02 1.70598227e+02] [ 2.09257419e-02 9.99781013e-01 -1.97144475e-04 1.78855526e+00] [ 1.57650428e-02 -1.32804326e-04 9.99875715e-01 2.55428624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.17925415399998 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:170.63, Y:1.79, Z:2.55 [[ 9.99651431e-01 -2.11778355e-02 -1.57643625e-02 1.70627678e+02] [ 2.11773508e-02 9.99775715e-01 -1.97700885e-04 1.78855798e+00] [ 1.57650137e-02 -1.36215462e-04 9.99875715e-01 2.55418225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.20925415399998 meters Centerline goodness : 0.998973 Centerline is valid? [True, True] Translation: X:170.66, Y:1.79, Z:2.55 [[ 9.99645847e-01 -2.14398033e-02 -1.57643555e-02 1.70657575e+02] [ 2.14393424e-02 9.99770131e-01 -1.98254081e-04 1.78788919e+00] [ 1.57649823e-02 -1.39793547e-04 9.99875715e-01 2.55290877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.23925415399998 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:170.69, Y:1.79, Z:2.55 [[ 9.99611796e-01 -2.29726597e-02 -1.57643486e-02 1.70686788e+02] [ 2.29723807e-02 9.99736080e-01 -1.98805288e-04 1.78778206e+00] [ 1.57647551e-02 -1.63416506e-04 9.99875715e-01 2.55448609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.26925415399998 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:170.72, Y:1.79, Z:2.56 [[ 9.99550542e-01 -2.54990145e-02 -1.57643451e-02 1.70717214e+02] [ 2.54990453e-02 9.99674827e-01 -1.99078725e-04 1.78601850e+00] [ 1.57642953e-02 -2.02986504e-04 9.99875715e-01 2.55594867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.29925415399998 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:170.75, Y:1.79, Z:2.56 [[ 9.99520554e-01 -2.66486019e-02 -1.57643451e-02 1.70747267e+02] [ 2.66487756e-02 9.99644838e-01 -1.99078725e-04 1.78555232e+00] [ 1.57640514e-02 -2.21117219e-04 9.99875715e-01 2.55535475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.32925415399998 meters Centerline goodness : 0.999058 Centerline is valid? [True, True] Translation: X:170.78, Y:1.79, Z:2.56 [[ 9.99482231e-01 -2.80491750e-02 -1.57643451e-02 1.70778680e+02] [ 2.80495229e-02 9.99606515e-01 -1.99078725e-04 1.78605821e+00] [ 1.57637261e-02 -2.43206712e-04 9.99875715e-01 2.55741109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.35925415399998 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:170.81, Y:1.79, Z:2.56 [[ 9.99453973e-01 -2.90385972e-02 -1.57643523e-02 1.70810058e+02] [ 2.90390771e-02 9.99578257e-01 -1.98506067e-04 1.78632115e+00] [ 1.57634682e-02 -2.59384566e-04 9.99875715e-01 2.55836240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.38925415399999 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:170.84, Y:1.79, Z:2.56 [[ 9.99421426e-01 -3.01379971e-02 -1.57643631e-02 1.70841901e+02] [ 3.01386273e-02 9.99545709e-01 -1.97650765e-04 1.78655512e+00] [ 1.57631582e-02 -2.77579853e-04 9.99875715e-01 2.55968456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.419254154 meters Centerline goodness : 0.999015 Centerline is valid? [True, True] Translation: X:170.87, Y:1.79, Z:2.56 [[ 9.99392394e-01 -3.10857935e-02 -1.57643776e-02 1.70872222e+02] [ 3.10865600e-02 9.99516677e-01 -1.96484804e-04 1.78643348e+00] [ 1.57628662e-02 -2.93694851e-04 9.99875715e-01 2.55838864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.449254154 meters Centerline goodness : 0.999230 Centerline is valid? [True, True] Translation: X:170.90, Y:1.79, Z:2.56 [[ 9.99299902e-01 -3.39291956e-02 -1.57643812e-02 1.70904151e+02] [ 3.39303202e-02 9.99424182e-01 -1.96196395e-04 1.78563936e+00] [ 1.57619605e-02 -3.38831463e-04 9.99875715e-01 2.56106557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.479254154 meters Centerline goodness : 0.999275 Centerline is valid? [True, True] Translation: X:170.94, Y:1.79, Z:2.56 [[ 9.99254766e-01 -3.52334527e-02 -1.57643955e-02 1.70935598e+02] [ 3.52347578e-02 9.99379044e-01 -1.95036983e-04 1.78524542e+00] [ 1.57614784e-02 -3.60563023e-04 9.99875715e-01 2.56090783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.509254154 meters Centerline goodness : 0.999188 Centerline is valid? [True, True] Translation: X:170.97, Y:1.79, Z:2.56 [[ 9.99200388e-01 -3.67432675e-02 -1.57644062e-02 1.70968145e+02] [ 3.67447739e-02 9.99324664e-01 -1.94172588e-04 1.78507709e+00] [ 1.57608944e-02 -3.85242215e-04 9.99875715e-01 2.56207199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.539254154 meters Centerline goodness : 0.999232 Centerline is valid? [True, True] Translation: X:171.00, Y:1.78, Z:2.56 [[ 9.99101402e-01 -3.93430072e-02 -1.57644202e-02 1.71000018e+02] [ 3.93448551e-02 9.99225673e-01 -1.93025441e-04 1.78418392e+00] [ 1.57598076e-02 -4.27396840e-04 9.99875715e-01 2.56273923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.569254154 meters Centerline goodness : 0.999169 Centerline is valid? [True, True] Translation: X:171.03, Y:1.78, Z:2.56 [[ 9.99055969e-01 -4.04802786e-02 -1.57644341e-02 1.71031860e+02] [ 4.04822859e-02 9.99180238e-01 -1.91887298e-04 1.78425485e+00] [ 1.57592786e-02 -4.46474177e-04 9.99875715e-01 2.56343958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.599254154 meters Centerline goodness : 0.999190 Centerline is valid? [True, True] Translation: X:171.06, Y:1.78, Z:2.56 [[ 9.99011201e-01 -4.15704415e-02 -1.57644478e-02 1.71063070e+02] [ 4.15726023e-02 9.99135467e-01 -1.90751804e-04 1.78443180e+00] [ 1.57587486e-02 -4.64805931e-04 9.99875715e-01 2.56410543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.629254154 meters Centerline goodness : 0.999063 Centerline is valid? [True, True] Translation: X:171.10, Y:1.78, Z:2.56 [[ 9.98936107e-01 -4.33374663e-02 -1.57644580e-02 1.71095650e+02] [ 4.33398603e-02 9.99060369e-01 -1.89905493e-04 1.78449997e+00] [ 1.57578752e-02 -4.93525954e-04 9.99875715e-01 2.56489467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.659254154 meters Centerline goodness : 0.999276 Centerline is valid? [True, True] Translation: X:171.13, Y:1.78, Z:2.57 [[ 9.98909531e-01 -4.39457558e-02 -1.57644716e-02 1.71127367e+02] [ 4.39482434e-02 9.99033791e-01 -1.88768433e-04 1.78429048e+00] [ 1.57575354e-02 -5.04258248e-04 9.99875715e-01 2.56545068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.689254154 meters Centerline goodness : 0.999169 Centerline is valid? [True, True] Translation: X:171.16, Y:1.78, Z:2.57 [[ 9.98895878e-01 -4.42550147e-02 -1.57644853e-02 1.71159571e+02] [ 4.42575588e-02 9.99020137e-01 -1.87621770e-04 1.78381031e+00] [ 1.57573414e-02 -5.10283021e-04 9.99875715e-01 2.56550494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.71925415399997 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:171.19, Y:1.78, Z:2.57 [[ 9.98875872e-01 -4.47042890e-02 -1.57645021e-02 1.71192062e+02] [ 4.47069115e-02 9.99000129e-01 -1.86193096e-04 1.78369354e+00] [ 1.57570633e-02 -5.18798411e-04 9.99875715e-01 2.56605399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.74925415399997 meters Centerline goodness : 0.999318 Centerline is valid? [True, True] Translation: X:171.22, Y:1.78, Z:2.57 [[ 9.98844425e-01 -4.54014762e-02 -1.57645154e-02 1.71224583e+02] [ 4.54042032e-02 9.98968680e-01 -1.85063214e-04 1.78323534e+00] [ 1.57566593e-02 -5.30925902e-04 9.99875715e-01 2.56612010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.77925415399997 meters Centerline goodness : 0.999233 Centerline is valid? [True, True] Translation: X:171.26, Y:1.78, Z:2.57 [[ 9.98833768e-01 -4.56353311e-02 -1.57645291e-02 1.71255337e+02] [ 4.56381057e-02 9.98958022e-01 -1.83891637e-04 1.78308267e+00] [ 1.57564947e-02 -5.35786067e-04 9.99875715e-01 2.56578824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.80925415399997 meters Centerline goodness : 0.998958 Centerline is valid? [True, True] Translation: X:171.29, Y:1.78, Z:2.57 [[ 9.98814031e-01 -4.60652894e-02 -1.57645392e-02 1.71286693e+02] [ 4.60681312e-02 9.98938283e-01 -1.83019558e-04 1.78291708e+00] [ 1.57562326e-02 -5.43440358e-04 9.99875715e-01 2.56544094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.83925415399997 meters Centerline goodness : 0.999256 Centerline is valid? [True, True] Translation: X:171.32, Y:1.78, Z:2.57 [[ 9.98819779e-01 -4.59404882e-02 -1.57645491e-02 1.71319171e+02] [ 4.59433281e-02 9.98944031e-01 -1.82159127e-04 1.78244848e+00] [ 1.57562707e-02 -5.42331713e-04 9.99875715e-01 2.56551311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.86925415399998 meters Centerline goodness : 0.999084 Centerline is valid? [True, True] Translation: X:171.35, Y:1.78, Z:2.57 [[ 9.98811778e-01 -4.61140965e-02 -1.57645622e-02 1.71351009e+02] [ 4.61169760e-02 9.98936030e-01 -1.81019886e-04 1.78223540e+00] [ 1.57561368e-02 -5.46209143e-04 9.99875715e-01 2.56554671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.89925415399998 meters Centerline goodness : 0.999233 Centerline is valid? [True, True] Translation: X:171.38, Y:1.78, Z:2.56 [[ 9.98830745e-01 -4.57014327e-02 -1.57645754e-02 1.71382257e+02] [ 4.57042791e-02 9.98954997e-01 -1.79866315e-04 1.78227033e+00] [ 1.57563215e-02 -5.40852547e-04 9.99875715e-01 2.56474032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.92925415399998 meters Centerline goodness : 0.999126 Centerline is valid? [True, True] Translation: X:171.41, Y:1.78, Z:2.57 [[ 9.98853504e-01 -4.52012838e-02 -1.57645851e-02 1.71414733e+02] [ 4.52040814e-02 9.98977757e-01 -1.79005883e-04 1.78281885e+00] [ 1.57565612e-02 -5.33822938e-04 9.99875715e-01 2.56699120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.95925415399998 meters Centerline goodness : 0.999233 Centerline is valid? [True, True] Translation: X:171.45, Y:1.78, Z:2.57 [[ 9.98889742e-01 -4.43932430e-02 -1.57645983e-02 1.71446287e+02] [ 4.43959585e-02 9.99013998e-01 -1.77844194e-04 1.78351793e+00] [ 1.57569494e-02 -5.22237709e-04 9.99875715e-01 2.56752496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.98925415399998 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:171.48, Y:1.78, Z:2.57 [[ 9.98987840e-01 -4.21280591e-02 -1.57646080e-02 1.71478490e+02] [ 4.21305064e-02 9.99112100e-01 -1.76979418e-04 1.78473119e+00] [ 1.57580664e-02 -4.87370630e-04 9.99875715e-01 2.56892767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.01925415399998 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:171.51, Y:1.79, Z:2.57 [[ 9.99032814e-01 -4.10477059e-02 -1.57646208e-02 1.71510695e+02] [ 4.10500369e-02 9.99157077e-01 -1.75831767e-04 1.78565299e+00] [ 1.57585499e-02 -4.71476559e-04 9.99875715e-01 2.56976044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.04925415399998 meters Centerline goodness : 0.999254 Centerline is valid? [True, True] Translation: X:171.54, Y:1.79, Z:2.57 [[ 9.99070634e-01 -4.01166389e-02 -1.57646336e-02 1.71542749e+02] [ 4.01188724e-02 9.99194899e-01 -1.74673336e-04 1.78606443e+00] [ 1.57589488e-02 -4.57948324e-04 9.99875715e-01 2.57022635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.07925415399998 meters Centerline goodness : 0.999211 Centerline is valid? [True, True] Translation: X:171.57, Y:1.79, Z:2.57 [[ 9.99098086e-01 -3.94270321e-02 -1.57646462e-02 1.71574947e+02] [ 3.94291979e-02 9.99222352e-01 -1.73523958e-04 1.78647424e+00] [ 1.57592284e-02 -4.48219903e-04 9.99875715e-01 2.57077504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.10925415399998 meters Centerline goodness : 0.999063 Centerline is valid? [True, True] Translation: X:171.61, Y:1.79, Z:2.57 [[ 9.99121655e-01 -3.88251615e-02 -1.57646589e-02 1.71606564e+02] [ 3.88272708e-02 9.99245922e-01 -1.72363267e-04 1.78678056e+00] [ 1.57594632e-02 -4.39886809e-04 9.99875715e-01 2.57059868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.13925415399999 meters Centerline goodness : 0.999297 Centerline is valid? [True, True] Translation: X:171.64, Y:1.79, Z:2.57 [[ 9.99161279e-01 -3.77917153e-02 -1.57646683e-02 1.71639097e+02] [ 3.77937097e-02 9.99285548e-01 -1.71499597e-04 1.78714063e+00] [ 1.57598865e-02 -4.24449541e-04 9.99875715e-01 2.57122766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.169254154 meters Centerline goodness : 0.999041 Centerline is valid? [True, True] Translation: X:171.67, Y:1.79, Z:2.57 [[ 9.99188309e-01 -3.70701680e-02 -1.57646807e-02 1.71670300e+02] [ 3.70720908e-02 9.99312579e-01 -1.70351816e-04 1.78767377e+00] [ 1.57601587e-02 -4.14216133e-04 9.99875715e-01 2.57170052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.199254154 meters Centerline goodness : 0.999147 Centerline is valid? [True, True] Translation: X:171.70, Y:1.79, Z:2.57 [[ 9.99225300e-01 -3.60593083e-02 -1.57647010e-02 1.71702925e+02] [ 3.60611352e-02 9.99349572e-01 -1.68456863e-04 1.78859386e+00] [ 1.57605216e-02 -4.00166655e-04 9.99875715e-01 2.57268502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.229254154 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:171.74, Y:1.79, Z:2.57 [[ 9.99322874e-01 -3.32455658e-02 -1.57647131e-02 1.71735207e+02] [ 3.32470607e-02 9.99447150e-01 -1.67319662e-04 1.79052536e+00] [ 1.57615602e-02 -3.56924006e-04 9.99875715e-01 2.57415721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.259254154 meters Centerline goodness : 0.999210 Centerline is valid? [True, True] Translation: X:171.77, Y:1.79, Z:2.58 [[ 9.99373298e-01 -3.16936120e-02 -1.57647251e-02 1.71766933e+02] [ 3.16949318e-02 9.99497576e-01 -1.66180408e-04 1.79155645e+00] [ 1.57620713e-02 -3.33585624e-04 9.99875715e-01 2.57509978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.289254154 meters Centerline goodness : 0.999380 Centerline is valid? [True, True] Translation: X:171.80, Y:1.79, Z:2.58 [[ 9.99420710e-01 -3.01615328e-02 -1.57647371e-02 1.71798535e+02] [ 3.01626804e-02 9.99544989e-01 -1.65027448e-04 1.79235623e+00] [ 1.57625415e-02 -3.10574878e-04 9.99875715e-01 2.57587019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.319254154 meters Centerline goodness : 0.999295 Centerline is valid? [True, True] Translation: X:171.83, Y:1.79, Z:2.58 [[ 9.99459696e-01 -2.88407633e-02 -1.57647432e-02 1.71829705e+02] [ 2.88417557e-02 9.99583977e-01 -1.64450775e-04 1.79316572e+00] [ 1.57629275e-02 -2.90320949e-04 9.99875715e-01 2.57650325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.349254154 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:171.86, Y:1.79, Z:2.58 [[ 9.99489643e-01 -2.77835713e-02 -1.57647491e-02 1.71859917e+02] [ 2.77844413e-02 9.99613924e-01 -1.63874659e-04 1.79341324e+00] [ 1.57632158e-02 -2.74223723e-04 9.99875715e-01 2.57621422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.379254154 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:171.89, Y:1.79, Z:2.58 [[ 9.99532874e-01 -2.61821864e-02 -1.57647521e-02 1.71891071e+02] [ 2.61828617e-02 9.99657157e-01 -1.63589160e-04 1.79318646e+00] [ 1.57636304e-02 -2.49253582e-04 9.99875715e-01 2.57670551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.409254154 meters Centerline goodness : 0.999295 Centerline is valid? [True, True] Translation: X:171.92, Y:1.79, Z:2.58 [[ 9.99555769e-01 -2.52930361e-02 -1.57647580e-02 1.71921192e+02] [ 2.52936098e-02 9.99680052e-01 -1.63020374e-04 1.79326131e+00] [ 1.57638374e-02 -2.35799682e-04 9.99875715e-01 2.57695810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.439254154 meters Centerline goodness : 0.999295 Centerline is valid? [True, True] Translation: X:171.95, Y:1.79, Z:2.58 [[ 9.99555769e-01 -2.52930316e-02 -1.57647609e-02 1.71952186e+02] [ 2.52936098e-02 9.99680052e-01 -1.62737613e-04 1.79358112e+00] [ 1.57638331e-02 -2.36082391e-04 9.99875715e-01 2.57744673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.46925415399997 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:171.98, Y:1.79, Z:2.58 [[ 9.99600127e-01 -2.34746233e-02 -1.57647609e-02 1.71982874e+02] [ 2.34749754e-02 9.99724412e-01 -1.62737613e-04 1.79393284e+00] [ 1.57642365e-02 -2.07404836e-04 9.99875715e-01 2.57777508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.49925415399997 meters Centerline goodness : 0.998951 Centerline is valid? [True, True] Translation: X:172.01, Y:1.79, Z:2.58 [[ 9.99617715e-01 -2.27133293e-02 -1.57647609e-02 1.72012594e+02] [ 2.27135868e-02 9.99742000e-01 -1.62737613e-04 1.79422353e+00] [ 1.57643899e-02 -1.95398864e-04 9.99875715e-01 2.57786011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.52925415399997 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:172.04, Y:1.79, Z:2.58 [[ 9.99644366e-01 -2.15084449e-02 -1.57647580e-02 1.72043311e+02] [ 2.15085481e-02 9.99768651e-01 -1.63020545e-04 1.79414642e+00] [ 1.57646171e-02 -1.76114486e-04 9.99875715e-01 2.57795640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.55925415399997 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:172.07, Y:1.79, Z:2.58 [[ 9.99665007e-01 -2.05266957e-02 -1.57647580e-02 1.72073264e+02] [ 2.05266769e-02 9.99789292e-01 -1.63020545e-04 1.79413787e+00] [ 1.57647825e-02 -1.60632160e-04 9.99875715e-01 2.57811950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.58925415399997 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:172.10, Y:1.79, Z:2.58 [[ 9.99697100e-01 -1.88992272e-02 -1.57647521e-02 1.72101866e+02] [ 1.88989971e-02 9.99821385e-01 -1.63582798e-04 1.79400789e+00] [ 1.57650279e-02 -1.34404757e-04 9.99875715e-01 2.57771734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.61925415399998 meters Centerline goodness : 0.998952 Centerline is valid? [True, True] Translation: X:172.13, Y:1.79, Z:2.58 [[ 9.99705608e-01 -1.84436978e-02 -1.57647434e-02 1.72130726e+02] [ 1.84433979e-02 9.99829893e-01 -1.64419411e-04 1.79431566e+00] [ 1.57650942e-02 -1.26384428e-04 9.99875715e-01 2.57815187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.64925415399998 meters Centerline goodness : 0.999188 Centerline is valid? [True, True] Translation: X:172.16, Y:1.79, Z:2.58 [[ 9.99724949e-01 -1.73637723e-02 -1.57647005e-02 1.72159677e+02] [ 1.73632749e-02 9.99849233e-01 -1.68433817e-04 1.79451106e+00] [ 1.57652484e-02 -1.05339339e-04 9.99875715e-01 2.57835643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.67925415399998 meters Centerline goodness : 0.999229 Centerline is valid? [True, True] Translation: X:172.19, Y:1.80, Z:2.58 [[ 9.99734480e-01 -1.68060597e-02 -1.57646914e-02 1.72188574e+02] [ 1.68054795e-02 9.99858764e-01 -1.69286473e-04 1.79501566e+00] [ 1.57653099e-02 -9.56916738e-05 9.99875715e-01 2.57928925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.70925415399998 meters Centerline goodness : 0.998886 Centerline is valid? [True, True] Translation: X:172.22, Y:1.79, Z:2.58 [[ 9.99754300e-01 -1.55825228e-02 -1.57646473e-02 1.72217761e+02] [ 1.55817272e-02 9.99878583e-01 -1.73299019e-04 1.79464825e+00] [ 1.57654336e-02 -7.23839945e-05 9.99875715e-01 2.57976829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.73925415399998 meters Centerline goodness : 0.998890 Centerline is valid? [True, True] Translation: X:172.25, Y:1.79, Z:2.58 [[ 9.99761545e-01 -1.51106327e-02 -1.57646023e-02 1.72245601e+02] [ 1.51097154e-02 9.99885826e-01 -1.77300438e-04 1.79426906e+00] [ 1.57654815e-02 -6.09404927e-05 9.99875715e-01 2.58001291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.76925415399998 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:172.27, Y:1.79, Z:2.58 [[ 9.99764113e-01 -1.49397825e-02 -1.57645862e-02 1.72273724e+02] [ 1.49388217e-02 9.99888394e-01 -1.78715124e-04 1.79389923e+00] [ 1.57654968e-02 -5.68313753e-05 9.99875715e-01 2.58069414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.79925415399998 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:172.30, Y:1.79, Z:2.58 [[ 9.99769981e-01 -1.45418540e-02 -1.57645339e-02 1.72302000e+02] [ 1.45407727e-02 9.99894261e-01 -1.83220122e-04 1.79263294e+00] [ 1.57655313e-02 -4.60505253e-05 9.99875715e-01 2.58211493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.82925415399998 meters Centerline goodness : 0.998931 Centerline is valid? [True, True] Translation: X:172.33, Y:1.79, Z:2.58 [[ 9.99772881e-01 -1.43411176e-02 -1.57644859e-02 1.72329411e+02] [ 1.43399476e-02 9.99897160e-01 -1.87258779e-04 1.79226792e+00] [ 1.57655502e-02 -3.88456531e-05 9.99875715e-01 2.58241913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.85925415399998 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:172.36, Y:1.79, Z:2.58 [[ 9.99767017e-01 -1.47442615e-02 -1.57644619e-02 1.72357584e+02] [ 1.47431101e-02 9.99891297e-01 -1.89259653e-04 1.79197006e+00] [ 1.57655387e-02 -4.32016379e-05 9.99875715e-01 2.58306445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.88925415399999 meters Centerline goodness : 0.998931 Centerline is valid? [True, True] Translation: X:172.39, Y:1.79, Z:2.58 [[ 9.99767100e-01 -1.47387135e-02 -1.57644056e-02 1.72385867e+02] [ 1.47374892e-02 9.99891379e-01 -1.93832094e-04 1.79136466e+00] [ 1.57655501e-02 -3.85408081e-05 9.99875715e-01 2.58371901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.919254154 meters Centerline goodness : 0.998697 Centerline is valid? [True, True] Translation: X:172.41, Y:1.79, Z:2.58 [[ 9.99777698e-01 -1.40014061e-02 -1.57643478e-02 1.72413399e+02] [ 1.40000177e-02 9.99901975e-01 -1.98431161e-04 1.78916537e+00] [ 1.57655808e-02 -2.23140987e-05 9.99875715e-01 2.58157658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.949254154 meters Centerline goodness : 0.998996 Centerline is valid? [True, True] Translation: X:172.44, Y:1.79, Z:2.58 [[ 9.99767683e-01 -1.46992086e-02 -1.57642890e-02 1.72441281e+02] [ 1.46978350e-02 9.99891960e-01 -2.02993249e-04 1.78879538e+00] [ 1.57655697e-02 -2.87548284e-05 9.99875715e-01 2.58446231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.979254154 meters Centerline goodness : 0.999125 Centerline is valid? [True, True] Translation: X:172.47, Y:1.79, Z:2.58 [[ 9.99772497e-01 -1.43681535e-02 -1.57642279e-02 1.72469354e+02] [ 1.43666656e-02 9.99896773e-01 -2.07631039e-04 1.78794752e+00] [ 1.57655839e-02 -1.88955888e-05 9.99875715e-01 2.58452673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.009254154 meters Centerline goodness : 0.999191 Centerline is valid? [True, True] Translation: X:172.50, Y:1.79, Z:2.59 [[ 9.99766758e-01 -1.47624168e-02 -1.57638782e-02 1.72498303e+02] [ 1.47605640e-02 9.99891030e-01 -2.33880770e-04 1.78667846e+00] [ 1.57656130e-02 1.14248707e-06 9.99875715e-01 2.58563389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.039254154 meters Centerline goodness : 0.999085 Centerline is valid? [True, True] Translation: X:172.53, Y:1.78, Z:2.59 [[ 9.99750349e-01 -1.58344828e-02 -1.57641546e-02 1.72525848e+02] [ 1.58330852e-02 9.99874626e-01 -2.13467147e-04 1.78326589e+00] [ 1.57655583e-02 -3.61813477e-05 9.99875715e-01 2.58585776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.069254154 meters Centerline goodness : 0.999000 Centerline is valid? [True, True] Translation: X:172.55, Y:1.78, Z:2.59 [[ 9.99740287e-01 -1.64576019e-02 -1.57640913e-02 1.72553472e+02] [ 1.64562096e-02 9.99864564e-01 -2.18041819e-04 1.78191245e+00] [ 1.57655447e-02 -4.14320000e-05 9.99875715e-01 2.58642636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.099254154 meters Centerline goodness : 0.998875 Centerline is valid? [True, True] Translation: X:172.58, Y:1.78, Z:2.59 [[ 9.99720632e-01 -1.76111832e-02 -1.57640272e-02 1.72581220e+02] [ 1.76098627e-02 9.99844910e-01 -2.22581565e-04 1.77846035e+00] [ 1.57655023e-02 -5.50829728e-05 9.99875715e-01 2.58623430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.129254154 meters Centerline goodness : 0.999107 Centerline is valid? [True, True] Translation: X:172.61, Y:1.78, Z:2.59 [[ 9.99709405e-01 -1.82374117e-02 -1.57639621e-02 1.72610303e+02] [ 1.82360978e-02 9.99833683e-01 -2.27099859e-04 1.77665854e+00] [ 1.57654820e-02 -6.04392906e-05 9.99875715e-01 2.58651083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.159254154 meters Centerline goodness : 0.999364 Centerline is valid? [True, True] Translation: X:172.64, Y:1.77, Z:2.59 [[ 9.99700693e-01 -1.87089273e-02 -1.57639034e-02 1.72638586e+02] [ 1.87076089e-02 9.99824971e-01 -2.31104776e-04 1.77477677e+00] [ 1.57654680e-02 -6.38693353e-05 9.99875715e-01 2.58576753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.189254154 meters Centerline goodness : 0.999067 Centerline is valid? [True, True] Translation: X:172.67, Y:1.77, Z:2.59 [[ 9.99688094e-01 -1.93704504e-02 -1.57638825e-02 1.72666902e+02] [ 1.93691919e-02 9.99812373e-01 -2.32521941e-04 1.77325189e+00] [ 1.57654288e-02 -7.28842495e-05 9.99875715e-01 2.58574532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.21925415399997 meters Centerline goodness : 0.999344 Centerline is valid? [True, True] Translation: X:172.70, Y:1.77, Z:2.59 [[ 9.99678034e-01 -1.98828877e-02 -1.57638241e-02 1.72695588e+02] [ 1.98816314e-02 9.99802313e-01 -2.36418799e-04 1.77001283e+00] [ 1.57654085e-02 -7.70678600e-05 9.99875715e-01 2.58697848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.24925415399997 meters Centerline goodness : 0.999092 Centerline is valid? [True, True] Translation: X:172.72, Y:1.77, Z:2.59 [[ 9.99668666e-01 -2.03485196e-02 -1.57637615e-02 1.72723656e+02] [ 2.03472565e-02 9.99792944e-01 -2.40518409e-04 1.76885065e+00] [ 1.57653917e-02 -8.03105827e-05 9.99875715e-01 2.58726333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.27925415399997 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:172.75, Y:1.77, Z:2.59 [[ 9.99658761e-01 -2.08294703e-02 -1.57637393e-02 1.72752779e+02] [ 2.08282442e-02 9.99783039e-01 -2.41968183e-04 1.76723247e+00] [ 1.57653592e-02 -8.64453969e-05 9.99875715e-01 2.58794957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.30925415399997 meters Centerline goodness : 0.999136 Centerline is valid? [True, True] Translation: X:172.78, Y:1.77, Z:2.59 [[ 9.99644070e-01 -2.15230047e-02 -1.57636766e-02 1.72781239e+02] [ 2.15218014e-02 9.99768349e-01 -2.45986987e-04 1.76557678e+00] [ 1.57653193e-02 -9.33632835e-05 9.99875715e-01 2.58849879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.33925415399997 meters Centerline goodness : 0.999199 Centerline is valid? [True, True] Translation: X:172.81, Y:1.76, Z:2.59 [[ 9.99583382e-01 -2.41778677e-02 -1.57636632e-02 1.72809490e+02] [ 2.41769810e-02 9.99707664e-01 -2.46840037e-04 1.76113436e+00] [ 1.57650230e-02 -1.34380587e-04 9.99875715e-01 2.58882476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.36925415399998 meters Centerline goodness : 0.999222 Centerline is valid? [True, True] Translation: X:172.84, Y:1.76, Z:2.59 [[ 9.99535185e-01 -2.60944781e-02 -1.57636459e-02 1.72838913e+02] [ 2.60938125e-02 9.99659468e-01 -2.47937546e-04 1.75893622e+00] [ 1.57647477e-02 -1.63511320e-04 9.99875715e-01 2.59014665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.39925415399998 meters Centerline goodness : 0.998991 Centerline is valid? [True, True] Translation: X:172.87, Y:1.76, Z:2.59 [[ 9.99470916e-01 -2.84498930e-02 -1.57636371e-02 1.72868593e+02] [ 2.84495114e-02 9.99595200e-01 -2.48497997e-04 1.75678643e+00] [ 1.57643257e-02 -2.00101253e-04 9.99875715e-01 2.59109172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.42925415399998 meters Centerline goodness : 0.999015 Centerline is valid? [True, True] Translation: X:172.90, Y:1.75, Z:2.59 [[ 9.99320749e-01 -3.33098924e-02 -1.57636280e-02 1.72899155e+02] [ 3.33101062e-02 9.99445033e-01 -2.49072984e-04 1.75183199e+00] [ 1.57631763e-02 -2.76184322e-04 9.99875715e-01 2.59132855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.45925415399998 meters Centerline goodness : 0.999098 Centerline is valid? [True, True] Translation: X:172.93, Y:1.75, Z:2.59 [[ 9.99227726e-01 -3.59924877e-02 -1.57636280e-02 1.72930563e+02] [ 3.59930351e-02 9.99352010e-01 -2.49072984e-04 1.74976687e+00] [ 1.57623781e-02 -3.18500184e-04 9.99875715e-01 2.59142845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.48925415399998 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:172.96, Y:1.75, Z:2.59 [[ 9.99128047e-01 -3.86607399e-02 -1.57636371e-02 1.72961744e+02] [ 3.86616282e-02 9.99252329e-01 -2.48499251e-04 1.74771817e+00] [ 1.57614582e-02 -3.61165304e-04 9.99875715e-01 2.59147357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.51925415399998 meters Centerline goodness : 0.998932 Centerline is valid? [True, True] Translation: X:172.99, Y:1.75, Z:2.59 [[ 9.99036308e-01 -4.09629549e-02 -1.57636461e-02 1.72993000e+02] [ 4.09641386e-02 9.99160587e-01 -2.47927354e-04 1.74570454e+00] [ 1.57605697e-02 -3.98055754e-04 9.99875715e-01 2.59127100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.54925415399998 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:173.02, Y:1.74, Z:2.59 [[ 9.98784337e-01 -4.67049740e-02 -1.57636550e-02 1.73024502e+02] [ 4.67068811e-02 9.98908607e-01 -2.47354721e-04 1.74187946e+00] [ 1.57580034e-02 -4.89217141e-04 9.99875715e-01 2.59081223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.57925415399998 meters Centerline goodness : 0.999037 Centerline is valid? [True, True] Translation: X:173.06, Y:1.73, Z:2.59 [[ 9.98950081e-01 -4.30144353e-02 -1.57636684e-02 1.73063024e+02] [ 4.30158968e-02 9.99074358e-01 -2.46498274e-04 1.73198971e+00] [ 1.57596799e-02 -4.31848863e-04 9.99875715e-01 2.58615862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.60925415399998 meters Centerline goodness : 0.998912 Centerline is valid? [True, True] Translation: X:173.08, Y:1.74, Z:2.59 [[ 9.98437641e-01 -5.36058486e-02 -1.57699037e-02 1.73084253e+02] [ 5.36151351e-02 9.98561660e-01 1.66380602e-04 1.73865329e+00] [ 1.57383022e-02 -1.01162617e-03 9.99875633e-01 2.59092118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.63925415399999 meters Centerline goodness : 0.999247 Centerline is valid? [True, True] Translation: X:173.12, Y:1.74, Z:2.59 [[ 9.98059899e-01 -6.02325223e-02 -1.57632828e-02 1.73115982e+02] [ 6.02360641e-02 9.98184128e-01 -2.50440010e-04 1.73591052e+00] [ 1.57497433e-02 -6.99563980e-04 9.99875720e-01 2.59233856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.669254154 meters Centerline goodness : 0.998976 Centerline is valid? [True, True] Translation: X:173.15, Y:1.73, Z:2.59 [[ 9.98108953e-01 -5.94142918e-02 -1.57625810e-02 1.73152428e+02] [ 5.94170333e-02 9.98233204e-01 -2.94746375e-04 1.72890899e+00] [ 1.57522439e-02 -6.42376804e-04 9.99875719e-01 2.58836979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.699254154 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:173.18, Y:1.74, Z:2.59 [[ 9.97541731e-01 -6.82778073e-02 -1.57681973e-02 1.73176825e+02] [ 6.82871824e-02 9.97665704e-01 5.62841257e-05 1.73523218e+00] [ 1.57275467e-02 -1.13291153e-03 9.99875673e-01 2.59345349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.729254154 meters Centerline goodness : 0.998997 Centerline is valid? [True, True] Translation: X:173.21, Y:1.73, Z:2.59 [[ 9.97361176e-01 -7.08675848e-02 -1.57629527e-02 1.73209081e+02] [ 7.08722875e-02 9.97485364e-01 -2.60779390e-04 1.73499260e+00] [ 1.57417954e-02 -8.57065276e-04 9.99875723e-01 2.59400752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.759254154 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:173.24, Y:1.73, Z:2.59 [[ 9.97144587e-01 -7.38525700e-02 -1.57629718e-02 1.73241281e+02] [ 7.38576627e-02 9.97268759e-01 -2.59618452e-04 1.73484951e+00] [ 1.57390928e-02 -9.05339121e-04 9.99875723e-01 2.59403755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.789254154 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:173.27, Y:1.74, Z:2.60 [[ 9.97129648e-01 -7.40539886e-02 -1.57629955e-02 1.73274498e+02] [ 7.40591292e-02 9.97253819e-01 -2.58172066e-04 1.73552854e+00] [ 1.57388261e-02 -9.09962699e-04 9.99875723e-01 2.59502655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.819254154 meters Centerline goodness : 0.998872 Centerline is valid? [True, True] Translation: X:173.31, Y:1.74, Z:2.59 [[ 9.97201602e-01 -7.30786643e-02 -1.57630240e-02 1.73306297e+02] [ 7.30837110e-02 9.97325777e-01 -2.56421997e-04 1.73564795e+00] [ 1.57396091e-02 -8.96315862e-04 9.99875723e-01 2.59301557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.849254154 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:173.34, Y:1.74, Z:2.60 [[ 9.97188248e-01 -7.32606624e-02 -1.57630427e-02 1.73338485e+02] [ 7.32657499e-02 9.97312421e-01 -2.55265305e-04 1.73748738e+00] [ 1.57393792e-02 -9.00343582e-04 9.99875723e-01 2.59615511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.879254154 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:173.37, Y:1.74, Z:2.60 [[ 9.97358371e-01 -7.09070184e-02 -1.57630615e-02 1.73370757e+02] [ 7.09118313e-02 9.97482555e-01 -2.54099441e-04 1.74009019e+00] [ 1.57413963e-02 -8.64359352e-04 9.99875723e-01 2.59641835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.909254154 meters Centerline goodness : 0.998996 Centerline is valid? [True, True] Translation: X:173.40, Y:1.74, Z:2.60 [[ 9.97496286e-01 -6.89397123e-02 -1.57630802e-02 1.73403033e+02] [ 6.89442986e-02 9.97620479e-01 -2.52932433e-04 1.74140490e+00] [ 1.57430087e-02 -8.34475347e-04 9.99875723e-01 2.59553357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.939254154 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:173.44, Y:1.74, Z:2.60 [[ 9.97563165e-01 -6.79651097e-02 -1.57630992e-02 1.73435155e+02] [ 6.79695933e-02 9.97687361e-01 -2.51745805e-04 1.74360270e+00] [ 1.57437548e-02 -8.20279098e-04 9.99875723e-01 2.59731986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.96925415399997 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:173.47, Y:1.75, Z:2.60 [[ 9.97745964e-01 -6.52266446e-02 -1.57631456e-02 1.73468286e+02] [ 6.52308337e-02 9.97870170e-01 -2.48805098e-04 1.74604193e+00] [ 1.57458015e-02 -7.79998846e-04 9.99875723e-01 2.59833346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.99925415399997 meters Centerline goodness : 0.998958 Centerline is valid? [True, True] Translation: X:173.50, Y:1.75, Z:2.60 [[ 9.97853028e-01 -6.35677325e-02 -1.57631732e-02 1.73500016e+02] [ 6.35717428e-02 9.97977240e-01 -2.47046036e-04 1.74781404e+00] [ 1.57469922e-02 -7.55576754e-04 9.99875723e-01 2.59911927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.02925415399997 meters Centerline goodness : 0.998934 Centerline is valid? [True, True] Translation: X:173.53, Y:1.75, Z:2.60 [[ 9.97949455e-01 -6.20355326e-02 -1.57631913e-02 1.73531709e+02] [ 6.20393705e-02 9.98073673e-01 -2.45885082e-04 1.74969850e+00] [ 1.57480798e-02 -7.32557580e-04 9.99875723e-01 2.60015778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.05925415399997 meters Centerline goodness : 0.998976 Centerline is valid? [True, True] Translation: X:173.56, Y:1.75, Z:2.60 [[ 9.98178420e-01 -5.82354086e-02 -1.57632093e-02 1.73563343e+02] [ 5.82387918e-02 9.98302651e-01 -2.44721858e-04 1.75324067e+00] [ 1.57507051e-02 -6.73754189e-04 9.99875723e-01 2.60159905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.08925415399997 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:173.59, Y:1.76, Z:2.60 [[ 9.98321254e-01 -5.57332411e-02 -1.57632389e-02 1.73594713e+02] [ 5.57363432e-02 9.98445492e-01 -2.42798886e-04 1.75541663e+00] [ 1.57522668e-02 -6.36194008e-04 9.99875723e-01 2.60102154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.11925415399998 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:173.63, Y:1.76, Z:2.60 [[ 9.98445302e-01 -5.34651586e-02 -1.57624546e-02 1.73626948e+02] [ 5.34671786e-02 9.98569564e-01 -2.93538137e-04 1.75733853e+00] [ 1.57556014e-02 -5.49692198e-04 9.99875722e-01 2.60253651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.14925415399998 meters Centerline goodness : 0.999328 Centerline is valid? [True, True] Translation: X:173.66, Y:1.76, Z:2.60 [[ 9.98707937e-01 -4.83112319e-02 -1.57632679e-02 1.73658464e+02] [ 4.83134522e-02 9.98832194e-01 -2.40152053e-04 1.76060506e+00] [ 1.57564615e-02 -5.21736129e-04 9.99875723e-01 2.60212030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.17925415399998 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:173.69, Y:1.76, Z:2.60 [[ 9.98829330e-01 -4.57328023e-02 -1.57632810e-02 1.73690375e+02] [ 4.57347154e-02 9.98953592e-01 -2.39290861e-04 1.76252020e+00] [ 1.57577296e-02 -4.81918439e-04 9.99875723e-01 2.60300608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.20925415399998 meters Centerline goodness : 0.999140 Centerline is valid? [True, True] Translation: X:173.72, Y:1.76, Z:2.60 [[ 9.98951805e-01 -4.29745217e-02 -1.57632984e-02 1.73721894e+02] [ 4.29761098e-02 9.99076072e-01 -2.38136394e-04 1.76437222e+00] [ 1.57589681e-02 -4.39558464e-04 9.99875723e-01 2.60273168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.23925415399998 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:173.75, Y:1.77, Z:2.61 [[ 9.99177339e-01 -3.73652562e-02 -1.57633114e-02 1.73753830e+02] [ 3.73661602e-02 9.99301613e-01 -2.37277225e-04 1.76782591e+00] [ 1.57611684e-02 -3.51932390e-04 9.99875723e-01 2.60502337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.26925415399998 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:173.79, Y:1.77, Z:2.61 [[ 9.99283344e-01 -3.44138764e-02 -1.57633286e-02 1.73785388e+02] [ 3.44144315e-02 9.99407620e-01 -2.36126961e-04 1.76991571e+00] [ 1.57621167e-02 -3.06528252e-04 9.99875723e-01 2.60640813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.29925415399998 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:173.82, Y:1.77, Z:2.61 [[ 9.99386326e-01 -3.12808162e-02 -1.57633373e-02 1.73815905e+02] [ 3.12809907e-02 9.99510602e-01 -2.35546847e-04 1.77179108e+00] [ 1.57629908e-02 -2.57690508e-04 9.99875723e-01 2.60697068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.32925415399998 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:173.85, Y:1.77, Z:2.61 [[ 9.99387454e-01 -3.12447470e-02 -1.57633415e-02 1.73847742e+02] [ 3.12449217e-02 9.99511731e-01 -2.35259385e-04 1.77223618e+00] [ 1.57629954e-02 -2.57409094e-04 9.99875723e-01 2.60747262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.35925415399998 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:173.88, Y:1.77, Z:2.61 [[ 9.99477593e-01 -2.82144902e-02 -1.57633500e-02 1.73879235e+02] [ 2.82142970e-02 9.99601870e-01 -2.34690467e-04 1.77417800e+00] [ 1.57636958e-02 -2.10183977e-04 9.99875723e-01 2.60891145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.38925415399999 meters Centerline goodness : 0.999306 Centerline is valid? [True, True] Translation: X:173.91, Y:1.78, Z:2.61 [[ 9.99625346e-01 -2.23759841e-02 -1.57633586e-02 1.73909795e+02] [ 2.23750741e-02 9.99749619e-01 -2.34111979e-04 1.77673112e+00] [ 1.57646502e-02 -1.18682050e-04 9.99875723e-01 2.61052272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.419254154 meters Centerline goodness : 0.999137 Centerline is valid? [True, True] Translation: X:173.94, Y:1.78, Z:2.61 [[ 9.99679866e-01 -1.97909344e-02 -1.57633586e-02 1.73937991e+02] [ 1.97897030e-02 9.99804137e-01 -2.34111979e-04 1.77756480e+00] [ 1.57649044e-02 -7.79151535e-05 9.99875723e-01 2.60927256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.449254154 meters Centerline goodness : 0.999201 Centerline is valid? [True, True] Translation: X:173.97, Y:1.78, Z:2.61 [[ 9.99708575e-01 -1.82834035e-02 -1.57633456e-02 1.73966297e+02] [ 1.82819710e-02 9.99832843e-01 -2.34982169e-04 1.77875663e+00] [ 1.57650070e-02 -5.32713390e-05 9.99875723e-01 2.61145185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.479254154 meters Centerline goodness : 0.999137 Centerline is valid? [True, True] Translation: X:173.99, Y:1.78, Z:2.61 [[ 9.99744112e-01 -1.62243302e-02 -1.57632840e-02 1.73994519e+02] [ 1.62225777e-02 9.99868377e-01 -2.39048941e-04 1.77977407e+00] [ 1.57650876e-02 -1.67333270e-05 9.99875723e-01 2.61150622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.509254154 meters Centerline goodness : 0.999052 Centerline is valid? [True, True] Translation: X:174.02, Y:1.78, Z:2.61 [[ 9.99736303e-01 -1.66986290e-02 -1.57632620e-02 1.74022763e+02] [ 1.66969127e-02 9.99860568e-01 -2.40487789e-04 1.78031379e+00] [ 1.57650799e-02 -2.27734370e-05 9.99875723e-01 2.61176554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.539254154 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:174.05, Y:1.78, Z:2.61 [[ 9.99712142e-01 -1.80873984e-02 -1.57631913e-02 1.74049738e+02] [ 1.80857830e-02 9.99836409e-01 -2.45038662e-04 1.78052114e+00] [ 1.57650447e-02 -4.01215318e-05 9.99875723e-01 2.61198531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.569254154 meters Centerline goodness : 0.999179 Centerline is valid? [True, True] Translation: X:174.08, Y:1.78, Z:2.61 [[ 9.99612743e-01 -2.29322041e-02 -1.57631604e-02 1.74078011e+02] [ 2.29311599e-02 9.99737016e-01 -2.47009345e-04 1.77971044e+00] [ 1.57646794e-02 -1.14553862e-04 9.99875723e-01 2.61233536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.599254154 meters Centerline goodness : 0.999053 Centerline is valid? [True, True] Translation: X:174.11, Y:1.78, Z:2.61 [[ 9.99533595e-01 -2.61556584e-02 -1.57630881e-02 1.74107348e+02] [ 2.61549435e-02 9.99657869e-01 -2.51541448e-04 1.77929828e+00] [ 1.57642743e-02 -1.60858550e-04 9.99875723e-01 2.61301268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.629254154 meters Centerline goodness : 0.998970 Centerline is valid? [True, True] Translation: X:174.14, Y:1.78, Z:2.61 [[ 9.99434479e-01 -2.97026421e-02 -1.57630790e-02 1.74136993e+02] [ 2.97023593e-02 9.99558756e-01 -2.52107497e-04 1.77878374e+00] [ 1.57636119e-02 -2.16235712e-04 9.99875723e-01 2.61292822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.659254154 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:174.17, Y:1.78, Z:2.61 [[ 9.99195164e-01 -3.68856335e-02 -1.57630745e-02 1.74167787e+02] [ 3.68862395e-02 9.99319439e-01 -2.52388208e-04 1.77682559e+00] [ 1.57616563e-02 -3.29255465e-04 9.99875723e-01 2.61363062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.689254154 meters Centerline goodness : 0.998949 Centerline is valid? [True, True] Translation: X:174.20, Y:1.78, Z:2.61 [[ 9.99071133e-01 -4.01048279e-02 -1.57630745e-02 1.74199658e+02] [ 4.01058344e-02 9.99195405e-01 -2.52388208e-04 1.77559363e+00] [ 1.57605136e-02 -3.80037483e-04 9.99875723e-01 2.61245793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.71925415399997 meters Centerline goodness : 0.998909 Centerline is valid? [True, True] Translation: X:174.23, Y:1.78, Z:2.61 [[ 9.98914031e-01 -4.38438533e-02 -1.57630836e-02 1.74231938e+02] [ 4.38453338e-02 9.99038299e-01 -2.51822419e-04 1.77530597e+00] [ 1.57589650e-02 -4.39588713e-04 9.99875723e-01 2.61497870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.74925415399997 meters Centerline goodness : 0.998972 Centerline is valid? [True, True] Translation: X:174.26, Y:1.77, Z:2.61 [[ 9.98661181e-01 -4.92683544e-02 -1.57631023e-02 1.74263516e+02] [ 4.92705284e-02 9.98785439e-01 -2.50644260e-04 1.77363164e+00] [ 1.57563059e-02 -5.26347686e-04 9.99875723e-01 2.61482237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.77925415399997 meters Centerline goodness : 0.998954 Centerline is valid? [True, True] Translation: X:174.29, Y:1.77, Z:2.61 [[ 9.98554784e-01 -5.13796412e-02 -1.57631162e-02 1.74294679e+02] [ 5.13820917e-02 9.98679037e-01 -2.49764826e-04 1.77344610e+00] [ 1.57551265e-02 -5.60538021e-04 9.99875723e-01 2.61495977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.80925415399997 meters Centerline goodness : 0.998993 Centerline is valid? [True, True] Translation: X:174.33, Y:1.77, Z:2.62 [[ 9.98393348e-01 -5.44265201e-02 -1.57631299e-02 1.74326928e+02] [ 5.44293634e-02 9.98517592e-01 -2.48898923e-04 1.77289251e+00] [ 1.57533092e-02 -6.09478097e-04 9.99875723e-01 2.61554053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.83925415399997 meters Centerline goodness : 0.998993 Centerline is valid? [True, True] Translation: X:174.36, Y:1.77, Z:2.62 [[ 9.98397379e-01 -5.43525229e-02 -1.57631482e-02 1.74359611e+02] [ 5.43553754e-02 9.98521623e-01 -2.47732921e-04 1.77334670e+00] [ 1.57533093e-02 -6.09475940e-04 9.99875723e-01 2.61605558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.86925415399998 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:174.39, Y:1.77, Z:2.62 [[ 9.98344527e-01 -5.53148147e-02 -1.57631665e-02 1.74391065e+02] [ 5.53178053e-02 9.98468767e-01 -2.46564762e-04 1.77355601e+00] [ 1.57526681e-02 -6.25827195e-04 9.99875723e-01 2.61662112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.89925415399998 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:174.42, Y:1.77, Z:2.62 [[ 9.98230742e-01 -5.73315530e-02 -1.57631801e-02 1.74423080e+02] [ 5.73348083e-02 9.98354977e-01 -2.45694733e-04 1.77354842e+00] [ 1.57513353e-02 -6.58518871e-04 9.99875723e-01 2.61782493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.92925415399998 meters Centerline goodness : 0.999058 Centerline is valid? [True, True] Translation: X:174.45, Y:1.77, Z:2.62 [[ 9.98174109e-01 -5.83092522e-02 -1.57631981e-02 1.74454721e+02] [ 5.83126476e-02 9.98298340e-01 -2.44533147e-04 1.77367911e+00] [ 1.57506330e-02 -6.75107158e-04 9.99875723e-01 2.61751566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.95925415399998 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:174.49, Y:1.77, Z:2.62 [[ 9.98122767e-01 -5.91816137e-02 -1.57632115e-02 1.74486825e+02] [ 5.91851312e-02 9.98246994e-01 -2.43667239e-04 1.77384395e+00] [ 1.57499991e-02 -6.89737920e-04 9.99875723e-01 2.61844193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.98925415399998 meters Centerline goodness : 0.998932 Centerline is valid? [True, True] Translation: X:174.52, Y:1.77, Z:2.62 [[ 9.98068551e-01 -6.00890071e-02 -1.57632296e-02 1.74519330e+02] [ 6.00926562e-02 9.98192774e-01 -2.42489071e-04 1.77418676e+00] [ 1.57493128e-02 -7.05233621e-04 9.99875723e-01 2.61826093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.01925415399998 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:174.55, Y:1.77, Z:2.62 [[ 9.98063935e-01 -6.01656139e-02 -1.57632475e-02 1.74550831e+02] [ 6.01692910e-02 9.98188158e-01 -2.41318099e-04 1.77483928e+00] [ 1.57492060e-02 -7.07612535e-04 9.99875723e-01 2.61762841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.04925415399998 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:174.58, Y:1.78, Z:2.62 [[ 9.98083236e-01 -5.98445852e-02 -1.57632608e-02 1.74582581e+02] [ 5.98482361e-02 9.98207459e-01 -2.40444860e-04 1.77556547e+00] [ 1.57493939e-02 -7.03419372e-04 9.99875723e-01 2.61771252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.07925415399998 meters Centerline goodness : 0.998994 Centerline is valid? [True, True] Translation: X:174.61, Y:1.78, Z:2.62 [[ 9.98140514e-01 -5.88815153e-02 -1.57632785e-02 1.74614858e+02] [ 5.88850647e-02 9.98264740e-01 -2.39282264e-04 1.77801501e+00] [ 1.57500144e-02 -6.89384350e-04 9.99875723e-01 2.61889188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.10925415399998 meters Centerline goodness : 0.999287 Centerline is valid? [True, True] Translation: X:174.65, Y:1.78, Z:2.62 [[ 9.98200892e-01 -5.78489258e-02 -1.57632962e-02 1.74646858e+02] [ 5.78523652e-02 9.98325121e-01 -2.38106799e-04 1.77968531e+00] [ 1.57506688e-02 -6.74265552e-04 9.99875723e-01 2.61962288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.13925415399999 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:174.68, Y:1.78, Z:2.62 [[ 9.98272166e-01 -5.66056635e-02 -1.57633138e-02 1.74679041e+02] [ 5.66089666e-02 9.98396399e-01 -2.36936332e-04 1.78138524e+00] [ 1.57514477e-02 -6.55817960e-04 9.99875723e-01 2.61973267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.169254154 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:174.71, Y:1.78, Z:2.62 [[ 9.98444260e-01 -5.34843551e-02 -1.57633312e-02 1.74709893e+02] [ 5.34872881e-02 9.98568503e-01 -2.35772466e-04 1.78430441e+00] [ 1.57533762e-02 -6.07732174e-04 9.99875723e-01 2.61995978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.199254154 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:174.74, Y:1.79, Z:2.62 [[ 9.98553298e-01 -5.14084462e-02 -1.57633442e-02 1.74742156e+02] [ 5.14111346e-02 9.98677546e-01 -2.34905239e-04 1.78602646e+00] [ 1.57545740e-02 -5.75846007e-04 9.99875723e-01 2.62108283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.229254154 meters Centerline goodness : 0.998949 Centerline is valid? [True, True] Translation: X:174.77, Y:1.79, Z:2.62 [[ 9.98658945e-01 -4.93135690e-02 -1.57633613e-02 1.74774693e+02] [ 4.93160149e-02 9.98783198e-01 -2.33751757e-04 1.78803067e+00] [ 1.57557075e-02 -5.43947875e-04 9.99875723e-01 2.62188965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.259254154 meters Centerline goodness : 0.999138 Centerline is valid? [True, True] Translation: X:174.81, Y:1.79, Z:2.62 [[ 9.98770784e-01 -4.69940042e-02 -1.57633783e-02 1.74807131e+02] [ 4.69961797e-02 9.98895042e-01 -2.32599263e-04 1.78994595e+00] [ 1.57568912e-02 -5.08505210e-04 9.99875723e-01 2.62364297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.289254154 meters Centerline goodness : 0.998907 Centerline is valid? [True, True] Translation: X:174.84, Y:1.79, Z:2.62 [[ 9.98968891e-01 -4.25754704e-02 -1.57633953e-02 1.74838153e+02] [ 4.25771145e-02 9.99093157e-01 -2.31438665e-04 1.79319625e+00] [ 1.57589540e-02 -4.39959861e-04 9.99875723e-01 2.62464397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.319254154 meters Centerline goodness : 0.999200 Centerline is valid? [True, True] Translation: X:174.87, Y:1.79, Z:2.63 [[ 9.99070699e-01 -4.01154965e-02 -1.57634080e-02 1.74870789e+02] [ 4.01168482e-02 9.99194969e-01 -2.30573955e-04 1.79472509e+00] [ 1.57599675e-02 -4.02018561e-04 9.99875723e-01 2.62529384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.349254154 meters Centerline goodness : 0.999137 Centerline is valid? [True, True] Translation: X:174.90, Y:1.80, Z:2.63 [[ 9.99122527e-01 -3.88032337e-02 -1.57634248e-02 1.74902441e+02] [ 3.88044405e-02 9.99246798e-01 -2.29414614e-04 1.79684750e+00] [ 1.57604538e-02 -3.82477572e-04 9.99875723e-01 2.62662086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.379254154 meters Centerline goodness : 0.999284 Centerline is valid? [True, True] Translation: X:174.93, Y:1.80, Z:2.63 [[ 9.99183832e-01 -3.71911768e-02 -1.57634415e-02 1.74933735e+02] [ 3.71922012e-02 9.99308105e-01 -2.28262243e-04 1.79845201e+00] [ 1.57610242e-02 -3.58201146e-04 9.99875723e-01 2.62652442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.409254154 meters Centerline goodness : 0.999031 Centerline is valid? [True, True] Translation: X:174.97, Y:1.80, Z:2.63 [[ 9.99251007e-01 -3.53403346e-02 -1.57634539e-02 1.74965903e+02] [ 3.53411424e-02 9.99375281e-01 -2.27403893e-04 1.80077291e+00] [ 1.57616427e-02 -3.29864900e-04 9.99875723e-01 2.62721659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.439254154 meters Centerline goodness : 0.999137 Centerline is valid? [True, True] Translation: X:175.00, Y:1.80, Z:2.63 [[ 9.99275437e-01 -3.46426515e-02 -1.57634703e-02 1.74996830e+02] [ 3.46433907e-02 9.99399712e-01 -2.26257793e-04 1.80178390e+00] [ 1.57618459e-02 -3.20006206e-04 9.99875723e-01 2.62716498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.46925415399997 meters Centerline goodness : 0.998905 Centerline is valid? [True, True] Translation: X:175.03, Y:1.80, Z:2.63 [[ 9.99274270e-01 -3.46763088e-02 -1.57634975e-02 1.75028314e+02] [ 3.46770822e-02 9.99398544e-01 -2.24349536e-04 1.80289473e+00] [ 1.57617961e-02 -3.22445380e-04 9.99875723e-01 2.62747512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.49925415399997 meters Centerline goodness : 0.999093 Centerline is valid? [True, True] Translation: X:175.06, Y:1.80, Z:2.63 [[ 9.99299924e-01 -3.39289623e-02 -1.57635051e-02 1.75056606e+02] [ 3.39296513e-02 9.99424199e-01 -2.23811480e-04 1.80463140e+00] [ 1.57620222e-02 -3.11195437e-04 9.99875723e-01 2.63096342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.52925415399997 meters Centerline goodness : 0.999051 Centerline is valid? [True, True] Translation: X:175.09, Y:1.81, Z:2.63 [[ 9.99231391e-01 -3.58914343e-02 -1.57617134e-02 1.75089225e+02] [ 3.58902799e-02 9.99355673e-01 -3.56192407e-04 1.80501502e+00] [ 1.57643419e-02 -2.09773669e-04 9.99875713e-01 2.62843834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.55925415399997 meters Centerline goodness : 0.999051 Centerline is valid? [True, True] Translation: X:175.12, Y:1.81, Z:2.63 [[ 9.99135874e-01 -3.84579340e-02 -1.57636636e-02 1.75121207e+02] [ 3.84594139e-02 9.99260141e-01 -2.09371669e-04 1.80639579e+00] [ 1.57600527e-02 -3.97070518e-04 9.99875724e-01 2.63106634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.58925415399997 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:175.15, Y:1.81, Z:2.63 [[ 9.98987153e-01 -4.21446793e-02 -1.57636790e-02 1.75152457e+02] [ 4.21466361e-02 9.99111414e-01 -2.08208913e-04 1.80699080e+00] [ 1.57584465e-02 -4.56388011e-04 9.99875724e-01 2.63113020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.61925415399998 meters Centerline goodness : 0.999135 Centerline is valid? [True, True] Translation: X:175.18, Y:1.81, Z:2.63 [[ 9.98926852e-01 -4.35505382e-02 -1.57637031e-02 1.75183490e+02] [ 4.35526990e-02 9.99051110e-01 -2.06361029e-04 1.80709521e+00] [ 1.57577323e-02 -4.80412244e-04 9.99875724e-01 2.62913682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.64925415399998 meters Centerline goodness : 0.998925 Centerline is valid? [True, True] Translation: X:175.22, Y:1.81, Z:2.63 [[ 9.98861922e-01 -4.50151726e-02 -1.57637143e-02 1.75215691e+02] [ 4.50175291e-02 9.98986176e-01 -2.05502300e-04 1.80750339e+00] [ 1.57569834e-02 -5.04375047e-04 9.99875724e-01 2.62886928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.67925415399998 meters Centerline goodness : 0.999114 Centerline is valid? [True, True] Translation: X:175.25, Y:1.81, Z:2.63 [[ 9.98673232e-01 -4.90232567e-02 -1.57637291e-02 1.75247769e+02] [ 4.90261298e-02 9.98797475e-01 -2.04363601e-04 1.80935212e+00] [ 1.57547914e-02 -5.68742170e-04 9.99875724e-01 2.63124392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.70925415399998 meters Centerline goodness : 0.999008 Centerline is valid? [True, True] Translation: X:175.28, Y:1.81, Z:2.63 [[ 9.98563361e-01 -5.12124878e-02 -1.57637444e-02 1.75279769e+02] [ 5.12156519e-02 9.98687597e-01 -2.03180328e-04 1.81070264e+00] [ 1.57534613e-02 -6.04462013e-04 9.99875724e-01 2.63315456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.73925415399998 meters Centerline goodness : 0.999028 Centerline is valid? [True, True] Translation: X:175.31, Y:1.81, Z:2.63 [[ 9.98515011e-01 -5.21466883e-02 -1.57637632e-02 1.75313272e+02] [ 5.21499919e-02 9.98639243e-01 -2.01704733e-04 1.81062751e+00] [ 1.57528308e-02 -6.20674921e-04 9.99875724e-01 2.63128958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.76925415399998 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:175.35, Y:1.81, Z:2.63 [[ 9.98394874e-01 -5.43983294e-02 -1.57637859e-02 1.75345196e+02] [ 5.44019412e-02 9.98519098e-01 -1.99921036e-04 1.81217311e+00] [ 1.57513166e-02 -6.57980414e-04 9.99875724e-01 2.63475542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.79925415399998 meters Centerline goodness : 0.999009 Centerline is valid? [True, True] Translation: X:175.38, Y:1.81, Z:2.64 [[ 9.98280867e-01 -5.64518681e-02 -1.57638044e-02 1.75378241e+02] [ 5.64557587e-02 9.98405082e-01 -1.98446263e-04 1.81374085e+00] [ 1.57498651e-02 -6.91852432e-04 9.99875724e-01 2.63584421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.82925415399998 meters Centerline goodness : 0.998986 Centerline is valid? [True, True] Translation: X:175.41, Y:1.81, Z:2.64 [[ 9.98234313e-01 -5.72691643e-02 -1.57638265e-02 1.75410138e+02] [ 5.72731844e-02 9.98358525e-01 -1.96676303e-04 1.81476238e+00] [ 1.57492141e-02 -7.06515509e-04 9.99875724e-01 2.63678657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.85925415399998 meters Centerline goodness : 0.999029 Centerline is valid? [True, True] Translation: X:175.44, Y:1.82, Z:2.64 [[ 9.98208082e-01 -5.77245802e-02 -1.57638410e-02 1.75443010e+02] [ 5.77286755e-02 9.98332290e-01 -1.95506946e-04 1.81552844e+00] [ 1.57488371e-02 -7.14869049e-04 9.99875724e-01 2.63745312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.88925415399999 meters Centerline goodness : 0.999030 Centerline is valid? [True, True] Translation: X:175.48, Y:1.82, Z:2.64 [[ 9.98172650e-01 -5.83340556e-02 -1.57638627e-02 1.75475566e+02] [ 5.83382546e-02 9.98296855e-01 -1.93739509e-04 1.81651547e+00] [ 1.57483162e-02 -7.26250759e-04 9.99875724e-01 2.63807906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.919254154 meters Centerline goodness : 0.999052 Centerline is valid? [True, True] Translation: X:175.51, Y:1.82, Z:2.64 [[ 9.98175080e-01 -5.82924497e-02 -1.57638842e-02 1.75507768e+02] [ 5.82966712e-02 9.98299284e-01 -1.91980367e-04 1.81727422e+00] [ 1.57482653e-02 -7.27351953e-04 9.99875724e-01 2.63827623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.949254154 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:175.54, Y:1.82, Z:2.64 [[ 9.98178140e-01 -5.82400231e-02 -1.57639189e-02 1.75540703e+02] [ 5.82442838e-02 9.98302343e-01 -1.89080836e-04 1.81815395e+00] [ 1.57481693e-02 -7.29421810e-04 9.99875724e-01 2.63893768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.979254154 meters Centerline goodness : 0.998904 Centerline is valid? [True, True] Translation: X:175.57, Y:1.82, Z:2.64 [[ 9.98214936e-01 -5.76059049e-02 -1.57639402e-02 1.75572302e+02] [ 5.76101149e-02 9.98339141e-01 -1.87291179e-04 1.81866879e+00] [ 1.57485476e-02 -7.21205555e-04 9.99875724e-01 2.63807535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.009254154 meters Centerline goodness : 0.998861 Centerline is valid? [True, True] Translation: X:175.60, Y:1.82, Z:2.64 [[ 9.98259981e-01 -5.68199597e-02 -1.57639577e-02 1.75603261e+02] [ 5.68240952e-02 9.98384188e-01 -1.85809394e-04 1.82042662e+00] [ 1.57490438e-02 -7.10286549e-04 9.99875724e-01 2.63797921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.039254154 meters Centerline goodness : 0.999010 Centerline is valid? [True, True] Translation: X:175.64, Y:1.82, Z:2.64 [[ 9.98277134e-01 -5.65177859e-02 -1.57639679e-02 1.75635076e+02] [ 5.65218976e-02 9.98401343e-01 -1.84937346e-04 1.82224331e+00] [ 1.57492190e-02 -7.06390656e-04 9.99875724e-01 2.63957007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.069254154 meters Centerline goodness : 0.999050 Centerline is valid? [True, True] Translation: X:175.67, Y:1.82, Z:2.64 [[ 9.98313611e-01 -5.58697637e-02 -1.57639994e-02 1.75667021e+02] [ 5.58738378e-02 9.98437820e-01 -1.82207245e-04 1.82364685e+00] [ 1.57495531e-02 -6.98895176e-04 9.99875724e-01 2.63989499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.099254154 meters Centerline goodness : 0.998966 Centerline is valid? [True, True] Translation: X:175.70, Y:1.83, Z:2.64 [[ 9.98373503e-01 -5.47890787e-02 -1.57640302e-02 1.75700523e+02] [ 5.47930610e-02 9.98497716e-01 -1.79502148e-04 1.82574499e+00] [ 1.57501830e-02 -6.84549283e-04 9.99875724e-01 2.64081859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.129254154 meters Centerline goodness : 0.998947 Centerline is valid? [True, True] Translation: X:175.73, Y:1.83, Z:2.64 [[ 9.98416623e-01 -5.39976004e-02 -1.57640503e-02 1.75732988e+02] [ 5.40015123e-02 9.98540838e-01 -1.77719421e-04 1.82706753e+00] [ 1.57506445e-02 -6.73844535e-04 9.99875724e-01 2.64045622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.159254154 meters Centerline goodness : 0.999030 Centerline is valid? [True, True] Translation: X:175.77, Y:1.83, Z:2.64 [[ 9.98472920e-01 -5.29464115e-02 -1.57640669e-02 1.75765596e+02] [ 5.29502159e-02 9.98597138e-01 -1.76241870e-04 1.82855724e+00] [ 1.57512834e-02 -6.58738010e-04 9.99875724e-01 2.64213842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.189254154 meters Centerline goodness : 0.999092 Centerline is valid? [True, True] Translation: X:175.80, Y:1.83, Z:2.64 [[ 9.98568944e-01 -5.11034115e-02 -1.57640799e-02 1.75797582e+02] [ 5.11070052e-02 9.98693168e-01 -1.75064802e-04 1.83009679e+00] [ 1.57524253e-02 -6.30840641e-04 9.99875724e-01 2.64231839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.21925415399997 meters Centerline goodness : 0.998943 Centerline is valid? [True, True] Translation: X:175.83, Y:1.83, Z:2.64 [[ 9.98818277e-01 -4.59732876e-02 -1.57641102e-02 1.75830038e+02] [ 4.59762869e-02 9.98942517e-01 -1.72292126e-04 1.83277307e+00] [ 1.57553608e-02 -5.52686730e-04 9.99875724e-01 2.64201613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.24925415399997 meters Centerline goodness : 0.998943 Centerline is valid? [True, True] Translation: X:175.86, Y:1.83, Z:2.64 [[ 9.98821630e-01 -4.59003626e-02 -1.57641227e-02 1.75862725e+02] [ 4.59033709e-02 9.98945870e-01 -1.71140198e-04 1.83306745e+00] [ 1.57553607e-02 -5.52687841e-04 9.99875724e-01 2.64253117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.27925415399997 meters Centerline goodness : 0.999175 Centerline is valid? [True, True] Translation: X:175.89, Y:1.84, Z:2.64 [[ 9.98937738e-01 -4.32999680e-02 -1.57641352e-02 1.75894510e+02] [ 4.33026710e-02 9.99061985e-01 -1.69989383e-04 1.83556810e+00] [ 1.57567087e-02 -5.12820350e-04 9.99875724e-01 2.64433195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.30925415399997 meters Centerline goodness : 0.999025 Centerline is valid? [True, True] Translation: X:175.93, Y:1.84, Z:2.65 [[ 9.99065549e-01 -4.02432952e-02 -1.57640724e-02 1.75926590e+02] [ 4.02455249e-02 9.99189805e-01 -1.75896465e-04 1.83775484e+00] [ 1.57583791e-02 -4.58701272e-04 9.99875724e-01 2.64627102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.33925415399997 meters Centerline goodness : 0.999279 Centerline is valid? [True, True] Translation: X:175.96, Y:1.84, Z:2.65 [[ 9.99176910e-01 -3.73763655e-02 -1.57641678e-02 1.75957861e+02] [ 3.73783806e-02 9.99301170e-01 -1.66893217e-04 1.83984227e+00] [ 1.57593892e-02 -4.22483214e-04 9.99875724e-01 2.64684286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.36925415399998 meters Centerline goodness : 0.998832 Centerline is valid? [True, True] Translation: X:175.99, Y:1.84, Z:2.65 [[ 9.99338825e-01 -3.27628234e-02 -1.57641770e-02 1.75989369e+02] [ 3.27642785e-02 9.99463093e-01 -1.66017835e-04 1.84301165e+00] [ 1.57611523e-02 -3.50593817e-04 9.99875724e-01 2.64676577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.39925415399998 meters Centerline goodness : 0.999000 Centerline is valid? [True, True] Translation: X:176.02, Y:1.84, Z:2.65 [[ 9.99393362e-01 -3.10547794e-02 -1.57641858e-02 1.76021861e+02] [ 3.10560355e-02 9.99517631e-01 -1.65174643e-04 1.84413268e+00] [ 1.57617111e-02 -3.24498672e-04 9.99875724e-01 2.64659315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.42925415399998 meters Centerline goodness : 0.999279 Centerline is valid? [True, True] Translation: X:176.05, Y:1.85, Z:2.65 [[ 9.99408210e-01 -3.05731833e-02 -1.57641977e-02 1.76052733e+02] [ 3.05743975e-02 9.99532480e-01 -1.64031304e-04 1.84598673e+00] [ 1.57618426e-02 -3.18046615e-04 9.99875724e-01 2.64885489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.45925415399998 meters Centerline goodness : 0.999212 Centerline is valid? [True, True] Translation: X:176.08, Y:1.85, Z:2.65 [[ 9.99394015e-01 -3.10337427e-02 -1.57642037e-02 1.76083681e+02] [ 3.10350233e-02 9.99518284e-01 -1.63456505e-04 1.84651813e+00] [ 1.57616825e-02 -3.25884975e-04 9.99875724e-01 2.64886272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.48925415399998 meters Centerline goodness : 0.999128 Centerline is valid? [True, True] Translation: X:176.12, Y:1.85, Z:2.65 [[ 9.99367062e-01 -3.18898813e-02 -1.57642096e-02 1.76115049e+02] [ 3.18912773e-02 9.99491331e-01 -1.62883607e-04 1.84708004e+00] [ 1.57613852e-02 -3.39960268e-04 9.99875724e-01 2.64909559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.51925415399998 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:176.15, Y:1.85, Z:2.65 [[ 9.99320120e-01 -3.33284644e-02 -1.57642184e-02 1.76146706e+02] [ 3.33300529e-02 9.99444386e-01 -1.62026767e-04 1.84780861e+00] [ 1.57608597e-02 -3.63505624e-04 9.99875724e-01 2.64932181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.54925415399998 meters Centerline goodness : 0.999340 Centerline is valid? [True, True] Translation: X:176.18, Y:1.85, Z:2.65 [[ 9.99217424e-01 -3.62771073e-02 -1.57642270e-02 1.76179072e+02] [ 3.62790757e-02 9.99341685e-01 -1.61182423e-04 1.84901969e+00] [ 1.57596964e-02 -4.10855301e-04 9.99875724e-01 2.65035789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.57925415399998 meters Centerline goodness : 0.999149 Centerline is valid? [True, True] Translation: X:176.21, Y:1.85, Z:2.65 [[ 9.99171354e-01 -3.75245858e-02 -1.57642386e-02 1.76211295e+02] [ 3.75267273e-02 9.99295611e-01 -1.60046944e-04 1.84925907e+00] [ 1.57591401e-02 -4.31665959e-04 9.99875724e-01 2.65038101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.60925415399998 meters Centerline goodness : 0.999106 Centerline is valid? [True, True] Translation: X:176.24, Y:1.85, Z:2.65 [[ 9.99123264e-01 -3.87839131e-02 -1.57642500e-02 1.76243721e+02] [ 3.87862290e-02 9.99247518e-01 -1.58915533e-04 1.84950934e+00] [ 1.57585510e-02 -4.52659603e-04 9.99875724e-01 2.65058007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.63925415399999 meters Centerline goodness : 0.999041 Centerline is valid? [True, True] Translation: X:176.27, Y:1.85, Z:2.65 [[ 9.99079762e-01 -3.98888194e-02 -1.57642614e-02 1.76274820e+02] [ 3.98912907e-02 9.99204013e-01 -1.57776795e-04 1.84977911e+00] [ 1.57580067e-02 -4.71225129e-04 9.99875724e-01 2.65004431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.669254154 meters Centerline goodness : 0.999276 Centerline is valid? [True, True] Translation: X:176.31, Y:1.85, Z:2.65 [[ 9.99008266e-01 -4.16410045e-02 -1.57642698e-02 1.76306702e+02] [ 4.16437071e-02 9.99132512e-01 -1.56928530e-04 1.85052627e+00] [ 1.57571292e-02 -4.99709735e-04 9.99875724e-01 2.65064564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.699254154 meters Centerline goodness : 0.999063 Centerline is valid? [True, True] Translation: X:176.34, Y:1.85, Z:2.65 [[ 9.98987073e-01 -4.21463570e-02 -1.57642809e-02 1.76338925e+02] [ 4.21491401e-02 9.99111318e-01 -1.55810438e-04 1.85114797e+00] [ 1.57568383e-02 -5.08798269e-04 9.99875724e-01 2.65206750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.729254154 meters Centerline goodness : 0.999169 Centerline is valid? [True, True] Translation: X:176.37, Y:1.85, Z:2.65 [[ 9.98985022e-01 -4.21949294e-02 -1.57642923e-02 1.76369656e+02] [ 4.21977369e-02 9.99109267e-01 -1.54644483e-04 1.85151201e+00] [ 1.57567757e-02 -5.10729936e-04 9.99875724e-01 2.65189159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.759254154 meters Centerline goodness : 0.999190 Centerline is valid? [True, True] Translation: X:176.40, Y:1.85, Z:2.65 [[ 9.98987834e-01 -4.21283063e-02 -1.57643111e-02 1.76402050e+02] [ 4.21311362e-02 9.99112078e-01 -1.52698207e-04 1.85287290e+00] [ 1.57567466e-02 -5.11624689e-04 9.99875724e-01 2.65440964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.789254154 meters Centerline goodness : 0.999319 Centerline is valid? [True, True] Translation: X:176.43, Y:1.85, Z:2.65 [[ 9.99030859e-01 -4.10953690e-02 -1.57643224e-02 1.76434253e+02] [ 4.10980888e-02 9.99155105e-01 -1.51527155e-04 1.85334245e+00] [ 1.57572303e-02 -4.96503218e-04 9.99875724e-01 2.65459932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.819254154 meters Centerline goodness : 0.999106 Centerline is valid? [True, True] Translation: X:176.47, Y:1.85, Z:2.65 [[ 9.99144470e-01 -3.82336667e-02 -1.57643335e-02 1.76469998e+02] [ 3.82360490e-02 9.99268724e-01 -1.50365987e-04 1.85185779e+00] [ 1.57585544e-02 -4.52528483e-04 9.99875724e-01 2.65475700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.849254154 meters Centerline goodness : 0.999211 Centerline is valid? [True, True] Translation: X:176.50, Y:1.85, Z:2.66 [[ 9.99143851e-01 -3.82491147e-02 -1.57661036e-02 1.76497924e+02] [ 3.82544824e-02 9.99268029e-01 3.89084362e-05 1.85471846e+00] [ 1.57530751e-02 -6.41999259e-04 9.99875707e-01 2.65608297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.879254154 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:176.53, Y:1.86, Z:2.66 [[ 9.99287236e-01 -3.43002698e-02 -1.57642648e-02 1.76529868e+02] [ 3.43021383e-02 9.99411497e-01 -1.51927137e-04 1.85671479e+00] [ 1.57601986e-02 -3.88929140e-04 9.99875725e-01 2.65730315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.909254154 meters Centerline goodness : 0.999339 Centerline is valid? [True, True] Translation: X:176.56, Y:1.86, Z:2.66 [[ 9.99356090e-01 -3.22318752e-02 -1.57642759e-02 1.76562292e+02] [ 3.22335048e-02 9.99480354e-01 -1.50766604e-04 1.85756558e+00] [ 1.57609435e-02 -3.57468338e-04 9.99875725e-01 2.65846949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.939254154 meters Centerline goodness : 0.999274 Centerline is valid? [True, True] Translation: X:176.59, Y:1.86, Z:2.66 [[ 9.99420777e-01 -3.01595267e-02 -1.57642870e-02 1.76593785e+02] [ 3.01609171e-02 9.99545045e-01 -1.49597214e-04 1.85842206e+00] [ 1.57616267e-02 -3.25954787e-04 9.99875725e-01 2.65888401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.96925415399997 meters Centerline goodness : 0.999358 Centerline is valid? [True, True] Translation: X:176.63, Y:1.86, Z:2.66 [[ 9.99473913e-01 -2.83440262e-02 -1.57642951e-02 1.76625583e+02] [ 2.83452045e-02 9.99598183e-01 -1.48728818e-04 1.85913992e+00] [ 1.57621764e-02 -2.98191596e-04 9.99875725e-01 2.65996174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.99925415399997 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:176.66, Y:1.86, Z:2.66 [[ 9.99564170e-01 -2.49591179e-02 -1.57643006e-02 1.76656977e+02] [ 2.49598845e-02 9.99688443e-01 -1.48145897e-04 1.85895193e+00] [ 1.57630867e-02 -2.45393793e-04 9.99875725e-01 2.65822370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.02925415399997 meters Centerline goodness : 0.999636 Centerline is valid? [True, True] Translation: X:176.69, Y:1.86, Z:2.66 [[ 9.99587362e-01 -2.40123332e-02 -1.57643060e-02 1.76686999e+02] [ 2.40129913e-02 9.99711636e-01 -1.47567374e-04 1.85956783e+00] [ 1.57633036e-02 -2.31041661e-04 9.99875725e-01 2.65912998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.05925415399997 meters Centerline goodness : 0.999251 Centerline is valid? [True, True] Translation: X:176.72, Y:1.86, Z:2.66 [[ 9.99610147e-01 -2.30443157e-02 -1.57643087e-02 1.76717379e+02] [ 2.30448579e-02 9.99734421e-01 -1.47280294e-04 1.86022585e+00] [ 1.57635160e-02 -2.16063379e-04 9.99875725e-01 2.65995553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.08925415399997 meters Centerline goodness : 0.999529 Centerline is valid? [True, True] Translation: X:176.75, Y:1.86, Z:2.66 [[ 9.99613764e-01 -2.28868992e-02 -1.57643087e-02 1.76746636e+02] [ 2.28874219e-02 9.99738038e-01 -1.47280294e-04 1.86036256e+00] [ 1.57635499e-02 -2.13580975e-04 9.99875725e-01 2.66010443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.11925415399998 meters Centerline goodness : 0.999272 Centerline is valid? [True, True] Translation: X:176.78, Y:1.86, Z:2.66 [[ 9.99607434e-01 -2.31616877e-02 -1.57643087e-02 1.76776889e+02] [ 2.31622445e-02 9.99731708e-01 -1.47280374e-04 1.86045631e+00] [ 1.57634906e-02 -2.17914217e-04 9.99875725e-01 2.66105895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.14925415399998 meters Centerline goodness : 0.999316 Centerline is valid? [True, True] Translation: X:176.81, Y:1.86, Z:2.66 [[ 9.99591253e-01 -2.38497961e-02 -1.57643087e-02 1.76806562e+02] [ 2.38504385e-02 9.99715527e-01 -1.47280374e-04 1.86002448e+00] [ 1.57633368e-02 -2.28765502e-04 9.99875725e-01 2.66030407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.17925415399998 meters Centerline goodness : 0.999209 Centerline is valid? [True, True] Translation: X:176.84, Y:1.86, Z:2.66 [[ 9.99584659e-01 -2.41246167e-02 -1.57643060e-02 1.76836586e+02] [ 2.41252887e-02 9.99708932e-01 -1.47571021e-04 1.85917017e+00] [ 1.57632776e-02 -2.32808705e-04 9.99875725e-01 2.65878330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.20925415399998 meters Centerline goodness : 0.999188 Centerline is valid? [True, True] Translation: X:176.87, Y:1.86, Z:2.66 [[ 9.99558659e-01 -2.51788528e-02 -1.57643060e-02 1.76867366e+02] [ 2.51796559e-02 9.99682931e-01 -1.47571021e-04 1.85952726e+00] [ 1.57630233e-02 -2.49433909e-04 9.99875725e-01 2.66090531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.23925415399998 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:176.90, Y:1.86, Z:2.66 [[ 9.99549568e-01 -2.55371697e-02 -1.57643060e-02 1.76898065e+02] [ 2.55380173e-02 9.99673841e-01 -1.47571021e-04 1.85867238e+00] [ 1.57629329e-02 -2.55084569e-04 9.99875725e-01 2.65936593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.26925415399998 meters Centerline goodness : 0.999317 Centerline is valid? [True, True] Translation: X:176.93, Y:1.86, Z:2.66 [[ 9.99517953e-01 -2.67459833e-02 -1.57643087e-02 1.76928144e+02] [ 2.67469858e-02 9.99642225e-01 -1.47282055e-04 1.85924022e+00] [ 1.57626078e-02 -2.74436683e-04 9.99875725e-01 2.66144668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.29925415399998 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:176.96, Y:1.86, Z:2.66 [[ 9.99483298e-01 -2.80111229e-02 -1.57643114e-02 1.76959589e+02] [ 2.80122871e-02 9.99607568e-01 -1.46997351e-04 1.85890965e+00] [ 1.57622425e-02 -2.94673018e-04 9.99875725e-01 2.66334089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.32925415399998 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:176.99, Y:1.86, Z:2.66 [[ 9.99481645e-01 -2.80700470e-02 -1.57643168e-02 1.76990265e+02] [ 2.80712278e-02 9.99605915e-01 -1.46410861e-04 1.85794231e+00] [ 1.57622141e-02 -2.96188760e-04 9.99875725e-01 2.66193302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.35925415399998 meters Centerline goodness : 0.999233 Centerline is valid? [True, True] Translation: X:177.02, Y:1.86, Z:2.66 [[ 9.99457950e-01 -2.89014377e-02 -1.57643195e-02 1.77021260e+02] [ 2.89027265e-02 9.99582218e-01 -1.46120267e-04 1.85815026e+00] [ 1.57619565e-02 -3.09590751e-04 9.99875725e-01 2.66419893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.38925415399999 meters Centerline goodness : 0.999191 Centerline is valid? [True, True] Translation: X:177.05, Y:1.86, Z:2.67 [[ 9.99428640e-01 -2.98978258e-02 -1.57643248e-02 1.77053909e+02] [ 2.98992475e-02 9.99552907e-01 -1.45546017e-04 1.85712290e+00] [ 1.57616282e-02 -3.25878592e-04 9.99875725e-01 2.66574680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.419254154 meters Centerline goodness : 0.999319 Centerline is valid? [True, True] Translation: X:177.08, Y:1.86, Z:2.67 [[ 9.99418057e-01 -3.02495286e-02 -1.57643355e-02 1.77084630e+02] [ 3.02510125e-02 9.99542323e-01 -1.44374965e-04 1.85651775e+00] [ 1.57614878e-02 -3.32596165e-04 9.99875725e-01 2.66621060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.449254154 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:177.12, Y:1.86, Z:2.67 [[ 9.99421035e-01 -3.01509554e-02 -1.57643382e-02 1.77116060e+02] [ 3.01524316e-02 9.99545302e-01 -1.44085342e-04 1.85539184e+00] [ 1.57615145e-02 -3.31331207e-04 9.99875725e-01 2.66585742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.479254154 meters Centerline goodness : 0.999298 Centerline is valid? [True, True] Translation: X:177.15, Y:1.85, Z:2.67 [[ 9.99399114e-01 -3.08690189e-02 -1.57643435e-02 1.77147649e+02] [ 3.08705936e-02 9.99523379e-01 -1.43499683e-04 1.85413447e+00] [ 1.57612596e-02 -3.43241186e-04 9.99875725e-01 2.66627272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.509254154 meters Centerline goodness : 0.999192 Centerline is valid? [True, True] Translation: X:177.18, Y:1.85, Z:2.67 [[ 9.99374320e-01 -3.16615643e-02 -1.57643488e-02 1.77179484e+02] [ 3.16632467e-02 9.99498583e-01 -1.42918655e-04 1.85387103e+00] [ 1.57609693e-02 -3.56321230e-04 9.99875725e-01 2.66802043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.539254154 meters Centerline goodness : 0.999448 Centerline is valid? [True, True] Translation: X:177.21, Y:1.85, Z:2.67 [[ 9.99344279e-01 -3.25959605e-02 -1.57643593e-02 1.77212090e+02] [ 3.25977776e-02 9.99468541e-01 -1.41745938e-04 1.85183301e+00] [ 1.57606016e-02 -3.72230087e-04 9.99875725e-01 2.66792087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.569254154 meters Centerline goodness : 0.999448 Centerline is valid? [True, True] Translation: X:177.24, Y:1.85, Z:2.67 [[ 9.99346713e-01 -3.25212586e-02 -1.57643698e-02 1.77244779e+02] [ 3.25230850e-02 9.99470975e-01 -1.40568333e-04 1.85206677e+00] [ 1.57606015e-02 -3.72229437e-04 9.99875725e-01 2.66843592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.599254154 meters Centerline goodness : 0.999107 Centerline is valid? [True, True] Translation: X:177.28, Y:1.85, Z:2.67 [[ 9.99329471e-01 -3.30468153e-02 -1.57643802e-02 1.77276010e+02] [ 3.30487256e-02 9.99453732e-01 -1.39390079e-04 1.85041607e+00] [ 1.57603751e-02 -3.81696062e-04 9.99875725e-01 2.66864320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.629254154 meters Centerline goodness : 0.999067 Centerline is valid? [True, True] Translation: X:177.31, Y:1.85, Z:2.67 [[ 9.99319360e-01 -3.33511692e-02 -1.57643879e-02 1.77308698e+02] [ 3.33531312e-02 9.99443620e-01 -1.38512584e-04 1.85003741e+00] [ 1.57602365e-02 -3.87373392e-04 9.99875725e-01 2.66912193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.659254154 meters Centerline goodness : 0.999278 Centerline is valid? [True, True] Translation: X:177.34, Y:1.85, Z:2.67 [[ 9.99307592e-01 -3.37019376e-02 -1.57643981e-02 1.77340973e+02] [ 3.37039615e-02 9.99431851e-01 -1.37346621e-04 1.84905265e+00] [ 1.57600704e-02 -3.94071146e-04 9.99875725e-01 2.66956908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.689254154 meters Centerline goodness : 0.999470 Centerline is valid? [True, True] Translation: X:177.37, Y:1.85, Z:2.67 [[ 9.99314154e-01 -3.35067853e-02 -1.57644082e-02 1.77371843e+02] [ 3.35088035e-02 9.99438413e-01 -1.36176205e-04 1.84844995e+00] [ 1.57601180e-02 -3.92163647e-04 9.99875725e-01 2.66958540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.71925415399997 meters Centerline goodness : 0.999069 Centerline is valid? [True, True] Translation: X:177.40, Y:1.85, Z:2.67 [[ 9.99326883e-01 -3.31249809e-02 -1.57644248e-02 1.77403595e+02] [ 3.31269823e-02 9.99451142e-01 -1.34225470e-04 1.84715714e+00] [ 1.57602186e-02 -3.88092701e-04 9.99875725e-01 2.66694443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.74925415399997 meters Centerline goodness : 0.999174 Centerline is valid? [True, True] Translation: X:177.44, Y:1.85, Z:2.67 [[ 9.99310666e-01 -3.36106484e-02 -1.57644343e-02 1.77436213e+02] [ 3.36127279e-02 9.99434924e-01 -1.33104210e-04 1.84719576e+00] [ 1.57599999e-02 -3.96873184e-04 9.99875725e-01 2.66964708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.77925415399997 meters Centerline goodness : 0.999068 Centerline is valid? [True, True] Translation: X:177.47, Y:1.85, Z:2.67 [[ 9.99327946e-01 -3.30928797e-02 -1.57644439e-02 1.77468613e+02] [ 3.30949129e-02 9.99452205e-01 -1.31958653e-04 1.84612218e+00] [ 1.57601751e-02 -3.89852927e-04 9.99875725e-01 2.66991877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.80925415399997 meters Centerline goodness : 0.998982 Centerline is valid? [True, True] Translation: X:177.50, Y:1.85, Z:2.67 [[ 9.99339753e-01 -3.27343775e-02 -1.57644536e-02 1.77500156e+02] [ 3.27363845e-02 9.99464012e-01 -1.30792686e-04 1.84603601e+00] [ 1.57602854e-02 -3.85364883e-04 9.99875725e-01 2.67091953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.83925415399997 meters Centerline goodness : 0.998938 Centerline is valid? [True, True] Translation: X:177.53, Y:1.85, Z:2.67 [[ 9.99353668e-01 -3.23067841e-02 -1.57644584e-02 1.77531044e+02] [ 3.23087471e-02 9.99477928e-01 -1.30206129e-04 1.84605638e+00] [ 1.57604348e-02 -3.79207928e-04 9.99875725e-01 2.67178971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.86925415399998 meters Centerline goodness : 0.999003 Centerline is valid? [True, True] Translation: X:177.56, Y:1.85, Z:2.67 [[ 9.99383032e-01 -3.13853055e-02 -1.57644632e-02 1.77562099e+02] [ 3.13871632e-02 9.99507293e-01 -1.29622061e-04 1.84552913e+00] [ 1.57607642e-02 -3.65259691e-04 9.99875725e-01 2.67335753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.89925415399998 meters Centerline goodness : 0.999153 Centerline is valid? [True, True] Translation: X:177.59, Y:1.85, Z:2.67 [[ 9.99397179e-01 -3.09315405e-02 -1.57644703e-02 1.77592949e+02] [ 3.09333556e-02 9.99521441e-01 -1.28747522e-04 1.84547396e+00] [ 1.57609085e-02 -3.58978056e-04 9.99875725e-01 2.67433443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.92925415399998 meters Centerline goodness : 0.998878 Centerline is valid? [True, True] Translation: X:177.62, Y:1.84, Z:2.67 [[ 9.99413173e-01 -3.04103712e-02 -1.57644750e-02 1.77624221e+02] [ 3.04121306e-02 9.99537436e-01 -1.28170610e-04 1.84452665e+00] [ 1.57610807e-02 -3.51335878e-04 9.99875725e-01 2.67350398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.95925415399998 meters Centerline goodness : 0.999110 Centerline is valid? [True, True] Translation: X:177.65, Y:1.84, Z:2.68 [[ 9.99397634e-01 -3.09168305e-02 -1.57644797e-02 1.77654602e+02] [ 3.09186620e-02 9.99521896e-01 -1.27589011e-04 1.84347499e+00] [ 1.57608873e-02 -3.59904464e-04 9.99875725e-01 2.67569003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.98925415399998 meters Centerline goodness : 0.998815 Centerline is valid? [True, True] Translation: X:177.69, Y:1.84, Z:2.68 [[ 9.99354935e-01 -3.22675540e-02 -1.57644821e-02 1.77685759e+02] [ 3.22695580e-02 9.99479194e-01 -1.27300725e-04 1.84171251e+00] [ 1.57603795e-02 -3.81494261e-04 9.99875725e-01 2.67556730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.01925415399998 meters Centerline goodness : 0.998771 Centerline is valid? [True, True] Translation: X:177.72, Y:1.84, Z:2.68 [[ 9.99319300e-01 -3.33529190e-02 -1.57644867e-02 1.77715838e+02] [ 3.33550670e-02 9.99443557e-01 -1.26728307e-04 1.84099563e+00] [ 1.57599414e-02 -3.99183465e-04 9.99875725e-01 2.67568472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.04925415399998 meters Centerline goodness : 0.998942 Centerline is valid? [True, True] Translation: X:177.75, Y:1.84, Z:2.68 [[ 9.99247179e-01 -3.54479421e-02 -1.57644889e-02 1.77747552e+02] [ 3.54503550e-02 9.99371431e-01 -1.26444114e-04 1.83880155e+00] [ 1.57590621e-02 -4.32507807e-04 9.99875725e-01 2.67543724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.07925415399998 meters Centerline goodness : 0.998921 Centerline is valid? [True, True] Translation: X:177.78, Y:1.84, Z:2.68 [[ 9.99207049e-01 -3.65616581e-02 -1.57644935e-02 1.77778409e+02] [ 3.65642186e-02 9.99331297e-01 -1.25869857e-04 1.83810030e+00] [ 1.57585538e-02 -4.50646340e-04 9.99875725e-01 2.67534634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.10925415399998 meters Centerline goodness : 0.998921 Centerline is valid? [True, True] Translation: X:177.81, Y:1.84, Z:2.68 [[ 9.99209598e-01 -3.64919172e-02 -1.57645003e-02 1.77811096e+02] [ 3.64944826e-02 9.99333847e-01 -1.25012178e-04 1.83829526e+00] [ 1.57585607e-02 -4.50403915e-04 9.99875725e-01 2.67586147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.13925415399999 meters Centerline goodness : 0.998921 Centerline is valid? [True, True] Translation: X:177.84, Y:1.84, Z:2.68 [[ 9.99212142e-01 -3.64221724e-02 -1.57645090e-02 1.77843784e+02] [ 3.64247464e-02 9.99336391e-01 -1.23911953e-04 1.83848782e+00] [ 1.57585607e-02 -4.50403914e-04 9.99875725e-01 2.67637652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.169254154 meters Centerline goodness : 0.999006 Centerline is valid? [True, True] Translation: X:177.88, Y:1.84, Z:2.68 [[ 9.99173768e-01 -3.74601219e-02 -1.57645176e-02 1.77876353e+02] [ 3.74628423e-02 9.99298014e-01 -1.22811727e-04 1.83754886e+00] [ 1.57580516e-02 -4.67873379e-04 9.99875725e-01 2.67628306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.199254154 meters Centerline goodness : 0.998944 Centerline is valid? [True, True] Translation: X:177.91, Y:1.84, Z:2.68 [[ 9.99089135e-01 -3.96532480e-02 -1.57645261e-02 1.77908233e+02] [ 3.96562585e-02 9.99213374e-01 -1.21707991e-04 1.83570230e+00] [ 1.57569514e-02 -5.03564990e-04 9.99875725e-01 2.67617541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.229254154 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:177.94, Y:1.84, Z:2.68 [[ 9.99063184e-01 -4.03017761e-02 -1.57645349e-02 1.77939856e+02] [ 4.03048855e-02 9.99187421e-01 -1.20551190e-04 1.83508287e+00] [ 1.57565834e-02 -5.14949520e-04 9.99875725e-01 2.67629323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.259254154 meters Centerline goodness : 0.998965 Centerline is valid? [True, True] Translation: X:177.97, Y:1.83, Z:2.68 [[ 9.99027821e-01 -4.11690659e-02 -1.57645415e-02 1.77972200e+02] [ 4.11722968e-02 9.99152054e-01 -1.19689195e-04 1.83477181e+00] [ 1.57561015e-02 -5.29489544e-04 9.99875725e-01 2.67633455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.289254154 meters Centerline goodness : 0.999158 Centerline is valid? [True, True] Translation: X:178.00, Y:1.83, Z:2.68 [[ 9.98999389e-01 -4.18533088e-02 -1.57645501e-02 1.78004494e+02] [ 4.18566427e-02 9.99123620e-01 -1.18546316e-04 1.83467875e+00] [ 1.57556959e-02 -5.41423442e-04 9.99875725e-01 2.67715821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.319254154 meters Centerline goodness : 0.999093 Centerline is valid? [True, True] Translation: X:178.04, Y:1.83, Z:2.68 [[ 9.98943872e-01 -4.31580803e-02 -1.57645588e-02 1.78035811e+02] [ 4.31615949e-02 9.99068097e-01 -1.17376398e-04 1.83415897e+00] [ 1.57549335e-02 -5.63171067e-04 9.99875725e-01 2.67702983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.349254154 meters Centerline goodness : 0.998988 Centerline is valid? [True, True] Translation: X:178.07, Y:1.83, Z:2.68 [[ 9.98933026e-01 -4.34083833e-02 -1.57645652e-02 1.78067392e+02] [ 4.34119429e-02 9.99057250e-01 -1.16505068e-04 1.83355675e+00] [ 1.57547605e-02 -5.67989644e-04 9.99875725e-01 2.67595940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.379254154 meters Centerline goodness : 0.998841 Centerline is valid? [True, True] Translation: X:178.10, Y:1.83, Z:2.68 [[ 9.98903584e-01 -4.40806909e-02 -1.57645714e-02 1.78099279e+02] [ 4.40843474e-02 9.99027806e-01 -1.15656787e-04 1.83368518e+00] [ 1.57543434e-02 -5.79440865e-04 9.99875725e-01 2.67759274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.409254154 meters Centerline goodness : 0.998821 Centerline is valid? [True, True] Translation: X:178.13, Y:1.83, Z:2.68 [[ 9.98887633e-01 -4.44406798e-02 -1.57645798e-02 1.78131597e+02] [ 4.44443992e-02 9.99011853e-01 -1.14501601e-04 1.83365153e+00] [ 1.57540906e-02 -5.86273046e-04 9.99875725e-01 2.67806360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.439254154 meters Centerline goodness : 0.999283 Centerline is valid? [True, True] Translation: X:178.16, Y:1.83, Z:2.68 [[ 9.98872120e-01 -4.47880013e-02 -1.57645882e-02 1.78163052e+02] [ 4.47917824e-02 9.98996338e-01 -1.13332321e-04 1.83362157e+00] [ 1.57538418e-02 -5.92919510e-04 9.99875725e-01 2.67863309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.46925415399997 meters Centerline goodness : 0.998736 Centerline is valid? [True, True] Translation: X:178.20, Y:1.83, Z:2.68 [[ 9.98867532e-01 -4.48902076e-02 -1.57646020e-02 1.78195440e+02] [ 4.48940320e-02 9.98991748e-01 -1.11389641e-04 1.83394668e+00] [ 1.57537076e-02 -5.96473049e-04 9.99875725e-01 2.67898441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.49925415399997 meters Centerline goodness : 0.998886 Centerline is valid? [True, True] Translation: X:178.23, Y:1.83, Z:2.68 [[ 9.98865509e-01 -4.49352029e-02 -1.57646102e-02 1.78227268e+02] [ 4.49390515e-02 9.98989724e-01 -1.10211369e-04 1.83435973e+00] [ 1.57536360e-02 -5.98360294e-04 9.99875725e-01 2.67919592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.52925415399997 meters Centerline goodness : 0.998967 Centerline is valid? [True, True] Translation: X:178.26, Y:1.84, Z:2.68 [[ 9.98867085e-01 -4.49001559e-02 -1.57646183e-02 1.78259421e+02] [ 4.49040185e-02 9.98991300e-01 -1.09042594e-04 1.83572061e+00] [ 1.57536125e-02 -5.98975653e-04 9.99875725e-01 2.67925394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.55925415399997 meters Centerline goodness : 0.999010 Centerline is valid? [True, True] Translation: X:178.29, Y:1.84, Z:2.68 [[ 9.98861818e-01 -4.50171602e-02 -1.57646262e-02 1.78290457e+02] [ 4.50210557e-02 9.98986032e-01 -1.07880903e-04 1.83662146e+00] [ 1.57534979e-02 -6.01982000e-04 9.99875725e-01 2.67912219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.58925415399997 meters Centerline goodness : 0.998777 Centerline is valid? [True, True] Translation: X:178.32, Y:1.84, Z:2.68 [[ 9.98857639e-01 -4.51097982e-02 -1.57646321e-02 1.78322377e+02] [ 4.51137189e-02 9.98981852e-01 -1.07016028e-04 1.83744961e+00] [ 1.57534088e-02 -6.04307403e-04 9.99875725e-01 2.67999144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.61925415399998 meters Centerline goodness : 0.998966 Centerline is valid? [True, True] Translation: X:178.35, Y:1.84, Z:2.68 [[ 9.98856262e-01 -4.51402789e-02 -1.57646399e-02 1.78353945e+02] [ 4.51442218e-02 9.98980474e-01 -1.05849917e-04 1.83905303e+00] [ 1.57533456e-02 -6.05953549e-04 9.99875725e-01 2.68060751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.64925415399998 meters Centerline goodness : 0.998735 Centerline is valid? [True, True] Translation: X:178.39, Y:1.84, Z:2.68 [[ 9.98863835e-01 -4.49723848e-02 -1.57646526e-02 1.78386319e+02] [ 4.49763371e-02 9.98988047e-01 -1.03923677e-04 1.83988176e+00] [ 1.57533732e-02 -6.05230728e-04 9.99875725e-01 2.68151500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.67925415399998 meters Centerline goodness : 0.998690 Centerline is valid? [True, True] Translation: X:178.42, Y:1.84, Z:2.68 [[ 9.98895734e-01 -4.42581922e-02 -1.57646602e-02 1.78418908e+02] [ 4.42620739e-02 9.99019949e-01 -1.02764744e-04 1.84085521e+00] [ 1.57537582e-02 -5.95125290e-04 9.99875725e-01 2.68238242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.70925415399998 meters Centerline goodness : 0.998839 Centerline is valid? [True, True] Translation: X:178.45, Y:1.84, Z:2.68 [[ 9.98948194e-01 -4.30578825e-02 -1.57646677e-02 1.78450190e+02] [ 4.30616334e-02 9.99072413e-01 -1.01597618e-04 1.84224172e+00] [ 1.57544192e-02 -5.77361584e-04 9.99875725e-01 2.68296158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.73925415399998 meters Centerline goodness : 0.998880 Centerline is valid? [True, True] Translation: X:178.48, Y:1.85, Z:2.68 [[ 9.99111123e-01 -3.90952482e-02 -1.57646733e-02 1.78482654e+02] [ 3.90985200e-02 9.99235355e-01 -1.00728728e-04 1.84563417e+00] [ 1.57565569e-02 -5.15736200e-04 9.99875725e-01 2.68335718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.76925415399998 meters Centerline goodness : 0.999111 Centerline is valid? [True, True] Translation: X:178.51, Y:1.85, Z:2.68 [[ 9.99205206e-01 -3.66119115e-02 -1.57646805e-02 1.78514234e+02] [ 3.66148927e-02 9.99329445e-01 -9.95821779e-05 1.84728552e+00] [ 1.57577553e-02 -4.77719054e-04 9.99875725e-01 2.68357638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.79925415399998 meters Centerline goodness : 0.998898 Centerline is valid? [True, True] Translation: X:178.55, Y:1.85, Z:2.68 [[ 9.99370154e-01 -3.17926190e-02 -1.57646858e-02 1.78546765e+02] [ 3.17950144e-02 9.99494406e-01 -9.87288556e-05 1.85026908e+00] [ 1.57598542e-02 -4.02571741e-04 9.99875725e-01 2.68407257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.82925415399998 meters Centerline goodness : 0.998982 Centerline is valid? [True, True] Translation: X:178.58, Y:1.85, Z:2.68 [[ 9.99431885e-01 -2.97889665e-02 -1.57646931e-02 1.78577702e+02] [ 2.97911312e-02 9.99556141e-01 -9.75562457e-05 1.85160236e+00] [ 1.57606019e-02 -3.72147218e-04 9.99875725e-01 2.68425580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.85925415399998 meters Centerline goodness : 0.999107 Centerline is valid? [True, True] Translation: X:178.61, Y:1.85, Z:2.68 [[ 9.99474146e-01 -2.83356061e-02 -1.57646984e-02 1.78609503e+02] [ 2.83376039e-02 9.99598405e-01 -9.66836807e-05 1.85263417e+00] [ 1.57611070e-02 -3.50100941e-04 9.99875725e-01 2.68399485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.88925415399999 meters Centerline goodness : 0.999277 Centerline is valid? [True, True] Translation: X:178.64, Y:1.85, Z:2.68 [[ 9.99501733e-01 -2.73451919e-02 -1.57647020e-02 1.78640709e+02] [ 2.73470756e-02 9.99625994e-01 -9.61093574e-05 1.85382505e+00] [ 1.57614340e-02 -3.35057027e-04 9.99875725e-01 2.68472597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.919254154 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:178.67, Y:1.86, Z:2.68 [[ 9.99519914e-01 -2.66723798e-02 -1.57647054e-02 1.78671968e+02] [ 2.66741890e-02 9.99644176e-01 -9.55323775e-05 1.85554488e+00] [ 1.57616441e-02 -3.25024219e-04 9.99875725e-01 2.68482876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.949254154 meters Centerline goodness : 0.998831 Centerline is valid? [True, True] Translation: X:178.70, Y:1.86, Z:2.68 [[ 9.99517954e-01 -2.67457096e-02 -1.57647090e-02 1.78702001e+02] [ 2.67475372e-02 9.99642216e-01 -9.49480458e-05 1.85641516e+00] [ 1.57616081e-02 -3.26764862e-04 9.99875725e-01 2.68459044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.979254154 meters Centerline goodness : 0.999191 Centerline is valid? [True, True] Translation: X:178.73, Y:1.86, Z:2.69 [[ 9.99514763e-01 -2.68647103e-02 -1.57647107e-02 1.78733553e+02] [ 2.68665572e-02 9.99639024e-01 -9.46580097e-05 1.85708176e+00] [ 1.57615630e-02 -3.28931424e-04 9.99875725e-01 2.68575291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.009254154 meters Centerline goodness : 0.998916 Centerline is valid? [True, True] Translation: X:178.76, Y:1.86, Z:2.69 [[ 9.99514095e-01 -2.68895417e-02 -1.57647142e-02 1.78763848e+02] [ 2.68914009e-02 9.99638356e-01 -9.40753277e-05 1.85761176e+00] [ 1.57615426e-02 -3.29905633e-04 9.99875725e-01 2.68572887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.039254154 meters Centerline goodness : 0.999064 Centerline is valid? [True, True] Translation: X:178.80, Y:1.86, Z:2.69 [[ 9.99510433e-01 -2.70253110e-02 -1.57647159e-02 1.78795285e+02] [ 2.70271916e-02 9.99634694e-01 -9.37862294e-05 1.85859206e+00] [ 1.57614916e-02 -3.32335682e-04 9.99875725e-01 2.68677373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.069254154 meters Centerline goodness : 0.999001 Centerline is valid? [True, True] Translation: X:178.83, Y:1.86, Z:2.69 [[ 9.99511731e-01 -2.69772824e-02 -1.57647192e-02 1.78826144e+02] [ 2.69791659e-02 9.99635992e-01 -9.32228800e-05 1.85931194e+00] [ 1.57614956e-02 -3.32141614e-04 9.99875725e-01 2.68772836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.099254154 meters Centerline goodness : 0.999298 Centerline is valid? [True, True] Translation: X:178.86, Y:1.86, Z:2.69 [[ 9.99513267e-01 -2.69203004e-02 -1.57647226e-02 1.78857062e+02] [ 2.69221857e-02 9.99637528e-01 -9.26549367e-05 1.85983217e+00] [ 1.57615026e-02 -3.31810951e-04 9.99875725e-01 2.68856450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.129254154 meters Centerline goodness : 0.999062 Centerline is valid? [True, True] Translation: X:178.89, Y:1.86, Z:2.69 [[ 9.99514691e-01 -2.68673875e-02 -1.57647259e-02 1.78886980e+02] [ 2.68692754e-02 9.99638952e-01 -9.20790098e-05 1.86072581e+00] [ 1.57615080e-02 -3.31552439e-04 9.99875725e-01 2.68914416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.159254154 meters Centerline goodness : 0.998999 Centerline is valid? [True, True] Translation: X:178.92, Y:1.86, Z:2.69 [[ 9.99512701e-01 -2.69412933e-02 -1.57647276e-02 1.78917765e+02] [ 2.69431949e-02 9.99636962e-01 -9.17933889e-05 1.86093349e+00] [ 1.57614774e-02 -3.33003469e-04 9.99875725e-01 2.68896892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.18925415399997 meters Centerline goodness : 0.999063 Centerline is valid? [True, True] Translation: X:178.95, Y:1.86, Z:2.69 [[ 9.99507895e-01 -2.71190220e-02 -1.57647292e-02 1.78949478e+02] [ 2.71209501e-02 9.99632155e-01 -9.15107765e-05 1.86116601e+00] [ 1.57614120e-02 -3.36088692e-04 9.99875725e-01 2.68987874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.21925415399997 meters Centerline goodness : 0.999085 Centerline is valid? [True, True] Translation: X:178.98, Y:1.86, Z:2.69 [[ 9.99508772e-01 -2.70866779e-02 -1.57647326e-02 1.78979624e+02] [ 2.70886113e-02 9.99633032e-01 -9.09211779e-05 1.86094191e+00] [ 1.57614102e-02 -3.36168200e-04 9.99875725e-01 2.68970609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.24925415399997 meters Centerline goodness : 0.999276 Centerline is valid? [True, True] Translation: X:179.01, Y:1.86, Z:2.69 [[ 9.99504652e-01 -2.72382831e-02 -1.57647343e-02 1.79011030e+02] [ 2.72402399e-02 9.99628912e-01 -9.06295016e-05 1.86088370e+00] [ 1.57613528e-02 -3.38850537e-04 9.99875725e-01 2.68979486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.27925415399997 meters Centerline goodness : 0.999213 Centerline is valid? [True, True] Translation: X:179.04, Y:1.86, Z:2.69 [[ 9.99508232e-01 -2.71065731e-02 -1.57647376e-02 1.79040873e+02] [ 2.71085227e-02 9.99632492e-01 -9.00495279e-05 1.86100523e+00] [ 1.57613849e-02 -3.37353504e-04 9.99875725e-01 2.69001687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.30925415399997 meters Centerline goodness : 0.998960 Centerline is valid? [True, True] Translation: X:179.07, Y:1.86, Z:2.69 [[ 9.99515749e-01 -2.68279846e-02 -1.57647393e-02 1.79071836e+02] [ 2.68299042e-02 9.99640009e-01 -8.97612369e-05 1.86127243e+00] [ 1.57614722e-02 -3.33248674e-04 9.99875725e-01 2.69033613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.33925415399997 meters Centerline goodness : 0.999149 Centerline is valid? [True, True] Translation: X:179.10, Y:1.86, Z:2.69 [[ 9.99539173e-01 -2.59405772e-02 -1.57647425e-02 1.79103612e+02] [ 2.59423954e-02 9.99663435e-01 -8.91940733e-05 1.86142946e+00] [ 1.57617504e-02 -3.19822212e-04 9.99875725e-01 2.69119361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.36925415399998 meters Centerline goodness : 0.999064 Centerline is valid? [True, True] Translation: X:179.13, Y:1.86, Z:2.69 [[ 9.99595289e-01 -2.36797472e-02 -1.57647457e-02 1.79133667e+02] [ 2.36812933e-02 9.99719555e-01 -8.86210968e-05 1.86173786e+00] [ 1.57624231e-02 -2.84744337e-04 9.99875725e-01 2.69202812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.39925415399998 meters Centerline goodness : 0.999148 Centerline is valid? [True, True] Translation: X:179.16, Y:1.86, Z:2.69 [[ 9.99634043e-01 -2.19830033e-02 -1.57647457e-02 1.79164417e+02] [ 2.19843385e-02 9.99758311e-01 -8.86210968e-05 1.86192712e+00] [ 1.57628837e-02 -2.57988840e-04 9.99875725e-01 2.69271233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.42925415399998 meters Centerline goodness : 0.998999 Centerline is valid? [True, True] Translation: X:179.19, Y:1.86, Z:2.69 [[ 9.99676236e-01 -1.99723878e-02 -1.57647457e-02 1.79193919e+02] [ 1.99734730e-02 9.99800506e-01 -8.86210968e-05 1.86213499e+00] [ 1.57633707e-02 -2.26284318e-04 9.99875725e-01 2.69299764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.45925415399998 meters Centerline goodness : 0.999042 Centerline is valid? [True, True] Translation: X:179.22, Y:1.86, Z:2.69 [[ 9.99762516e-01 -1.50461031e-02 -1.57647425e-02 1.79223422e+02] [ 1.50465670e-02 9.99886790e-01 -8.91926936e-05 1.86188618e+00] [ 1.57642997e-02 -1.48033741e-04 9.99875725e-01 2.69270364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.48925415399998 meters Centerline goodness : 0.999064 Centerline is valid? [True, True] Translation: X:179.25, Y:1.86, Z:2.69 [[ 9.99791004e-01 -1.30161828e-02 -1.57647392e-02 1.79250957e+02] [ 1.30163853e-02 9.99915279e-01 -8.97666158e-05 1.86227726e+00] [ 1.57645720e-02 -1.15452065e-04 9.99875725e-01 2.69445441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.51925415399998 meters Centerline goodness : 0.999042 Centerline is valid? [True, True] Translation: X:179.28, Y:1.86, Z:2.69 [[ 9.99815601e-01 -1.09653035e-02 -1.57647310e-02 1.79277699e+02] [ 1.09652286e-02 9.99939876e-01 -9.11877606e-05 1.86211930e+00] [ 1.57647830e-02 -8.16929342e-05 9.99875725e-01 2.69453287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.54925415399998 meters Centerline goodness : 0.999232 Centerline is valid? [True, True] Translation: X:179.31, Y:1.86, Z:2.70 [[ 9.99844766e-01 -7.86871193e-03 -1.57647193e-02 1.79305433e+02] [ 7.86822113e-03 9.99969041e-01 -9.31576108e-05 1.86136754e+00] [ 1.57649643e-02 -3.08971482e-05 9.99875725e-01 2.69511838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.57925415399998 meters Centerline goodness : 0.998916 Centerline is valid? [True, True] Translation: X:179.33, Y:1.86, Z:2.69 [[ 9.99851052e-01 -7.02490590e-03 -1.57646911e-02 1.79333309e+02] [ 7.02423844e-03 9.99975325e-01 -9.77100667e-05 1.86098336e+00] [ 1.57649885e-02 -1.30394366e-05 9.99875725e-01 2.69468051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.60925415399998 meters Centerline goodness : 0.999320 Centerline is valid? [True, True] Translation: X:179.36, Y:1.86, Z:2.69 [[ 9.99856730e-01 -6.16392884e-03 -1.57646615e-02 1.79361119e+02] [ 6.16308234e-03 9.99981003e-01 -1.02278574e-04 1.85962845e+00] [ 1.57649924e-02 5.10501429e-06 9.99875725e-01 2.69402358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.63925415399999 meters Centerline goodness : 0.998935 Centerline is valid? [True, True] Translation: X:179.39, Y:1.86, Z:2.69 [[ 9.99857259e-01 -6.07767843e-03 -1.57646299e-02 1.79387799e+02] [ 6.07674775e-03 9.99981531e-01 -1.06937313e-04 1.85886122e+00] [ 1.57649887e-02 1.11243699e-05 9.99875725e-01 2.69321886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.669254154 meters Centerline goodness : 0.998936 Centerline is valid? [True, True] Translation: X:179.42, Y:1.86, Z:2.69 [[ 9.99856035e-01 -6.27582056e-03 -1.57646075e-02 1.79415362e+02] [ 6.27486406e-03 9.99980307e-01 -1.10137698e-04 1.85817734e+00] [ 1.57649883e-02 1.12010727e-05 9.99875725e-01 2.69271402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.699254154 meters Centerline goodness : 0.998957 Centerline is valid? [True, True] Translation: X:179.44, Y:1.86, Z:2.69 [[ 9.99851078e-01 -7.02142840e-03 -1.57645740e-02 1.79443266e+02] [ 7.02049193e-03 9.99975349e-01 -1.14744423e-04 1.85779727e+00] [ 1.57649911e-02 4.05227038e-06 9.99875725e-01 2.69332880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.729254154 meters Centerline goodness : 0.999128 Centerline is valid? [True, True] Translation: X:179.47, Y:1.86, Z:2.69 [[ 9.99846603e-01 -7.63209404e-03 -1.57645390e-02 1.79469737e+02] [ 7.63116053e-03 9.99970875e-01 -1.19370500e-04 1.85731392e+00] [ 1.57649909e-02 -9.49538522e-07 9.99875725e-01 2.69348501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.759254154 meters Centerline goodness : 0.999130 Centerline is valid? [True, True] Translation: X:179.50, Y:1.86, Z:2.69 [[ 9.99838994e-01 -8.57128203e-03 -1.57645235e-02 1.79497310e+02] [ 8.57043367e-03 9.99963266e-01 -1.21373095e-04 1.85655979e+00] [ 1.57649848e-02 -1.37552505e-05 9.99875725e-01 2.69374607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.789254154 meters Centerline goodness : 0.999171 Centerline is valid? [True, True] Translation: X:179.52, Y:1.86, Z:2.69 [[ 9.99827821e-01 -9.78819189e-03 -1.57644869e-02 1.79524933e+02] [ 9.78742242e-03 9.99952094e-01 -1.25963465e-04 1.85556441e+00] [ 1.57649646e-02 -2.83519157e-05 9.99875725e-01 2.69433550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.819254154 meters Centerline goodness : 0.999215 Centerline is valid? [True, True] Translation: X:179.55, Y:1.85, Z:2.69 [[ 9.99796598e-01 -1.25795705e-02 -1.57644485e-02 1.79552187e+02] [ 1.25790750e-02 9.99920872e-01 -1.30591246e-04 1.85411331e+00] [ 1.57648439e-02 -6.77374968e-05 9.99875725e-01 2.69482457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.849254154 meters Centerline goodness : 0.999406 Centerline is valid? [True, True] Translation: X:179.58, Y:1.85, Z:2.70 [[ 9.99777385e-01 -1.40236899e-02 -1.57644317e-02 1.79578988e+02] [ 1.40233422e-02 9.99901659e-01 -1.32597469e-04 1.85357921e+00] [ 1.57647409e-02 -8.85020700e-05 9.99875725e-01 2.69546043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.879254154 meters Centerline goodness : 0.998919 Centerline is valid? [True, True] Translation: X:179.61, Y:1.85, Z:2.70 [[ 9.99752196e-01 -1.57171517e-02 -1.57644148e-02 1.79606825e+02] [ 1.57169834e-02 9.99876472e-01 -1.34577246e-04 1.85260614e+00] [ 1.57645826e-02 -1.13225148e-04 9.99875725e-01 2.69609566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.909254154 meters Centerline goodness : 0.999067 Centerline is valid? [True, True] Translation: X:179.64, Y:1.85, Z:2.70 [[ 9.99691148e-01 -1.92117958e-02 -1.57643742e-02 1.79635897e+02] [ 1.92119894e-02 9.99815423e-01 -1.39175147e-04 1.85052673e+00] [ 1.57641382e-02 -1.63732827e-04 9.99875725e-01 2.69748256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.93925415399997 meters Centerline goodness : 0.999195 Centerline is valid? [True, True] Translation: X:179.66, Y:1.85, Z:2.70 [[ 9.99653171e-01 -2.10955742e-02 -1.57643379e-02 1.79663644e+02] [ 2.10959390e-02 9.99777446e-01 -1.43168187e-04 1.85011973e+00] [ 1.57638497e-02 -1.89444979e-04 9.99875725e-01 2.69849627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.96925415399997 meters Centerline goodness : 0.999006 Centerline is valid? [True, True] Translation: X:179.69, Y:1.85, Z:2.70 [[ 9.99609551e-01 -2.30701403e-02 -1.57643249e-02 1.79692888e+02] [ 2.30707283e-02 9.99733825e-01 -1.44582849e-04 1.84957356e+00] [ 1.57634644e-02 -2.19168061e-04 9.99875725e-01 2.69909518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.99925415399997 meters Centerline goodness : 0.999048 Centerline is valid? [True, True] Translation: X:179.72, Y:1.85, Z:2.70 [[ 9.99560906e-01 -2.50894860e-02 -1.57643198e-02 1.79723003e+02] [ 2.50903163e-02 9.99685178e-01 -1.45142273e-04 1.84870852e+00] [ 1.57629984e-02 -2.50453227e-04 9.99875725e-01 2.69995744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.02925415399997 meters Centerline goodness : 0.999072 Centerline is valid? [True, True] Translation: X:179.75, Y:1.85, Z:2.70 [[ 9.99401052e-01 -3.08062207e-02 -1.57643145e-02 1.79752598e+02] [ 3.08077528e-02 9.99525318e-01 -1.45708127e-04 1.84650202e+00] [ 1.57613202e-02 -3.40042250e-04 9.99875725e-01 2.69987179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.05925415399997 meters Centerline goodness : 0.999072 Centerline is valid? [True, True] Translation: X:179.78, Y:1.85, Z:2.70 [[ 9.99402109e-01 -3.07719208e-02 -1.57643119e-02 1.79784438e+02] [ 3.07734442e-02 9.99526375e-01 -1.45989243e-04 1.84676477e+00] [ 1.57613379e-02 -3.39220217e-04 9.99875725e-01 2.70037392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.08925415399997 meters Centerline goodness : 0.998796 Centerline is valid? [True, True] Translation: X:179.82, Y:1.85, Z:2.70 [[ 9.99295619e-01 -3.40551308e-02 -1.57643169e-02 1.79815784e+02] [ 3.40570710e-02 9.99419879e-01 -1.45448067e-04 1.84545582e+00] [ 1.57601250e-02 -3.91540845e-04 9.99875725e-01 2.70082643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.11925415399998 meters Centerline goodness : 0.999094 Centerline is valid? [True, True] Translation: X:179.85, Y:1.84, Z:2.70 [[ 9.99012459e-01 -4.15402545e-02 -1.57643221e-02 1.79847273e+02] [ 4.15431343e-02 9.99136701e-01 -1.44889597e-04 1.84245867e+00] [ 1.57567315e-02 -5.10152836e-04 9.99875725e-01 2.70077180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.14925415399998 meters Centerline goodness : 0.998775 Centerline is valid? [True, True] Translation: X:179.88, Y:1.84, Z:2.70 [[ 9.98837716e-01 -4.55489083e-02 -1.57643382e-02 1.79879513e+02] [ 4.55523147e-02 9.98961944e-01 -1.43111438e-04 1.84128179e+00] [ 1.57544925e-02 -5.75156994e-04 9.99875725e-01 2.70107600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.17925415399998 meters Centerline goodness : 0.998967 Centerline is valid? [True, True] Translation: X:179.91, Y:1.84, Z:2.70 [[ 9.98683976e-01 -4.88037046e-02 -1.57643483e-02 1.79910340e+02] [ 4.88075334e-02 9.98808192e-01 -1.41995317e-04 1.84006921e+00] [ 1.57524901e-02 -6.27610507e-04 9.99875725e-01 2.69988805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.20925415399998 meters Centerline goodness : 0.998779 Centerline is valid? [True, True] Translation: X:179.94, Y:1.84, Z:2.70 [[ 9.98499604e-01 -5.24406982e-02 -1.57643557e-02 1.79942257e+02] [ 5.24449925e-02 9.98623804e-01 -1.41162669e-04 1.83983221e+00] [ 1.57500636e-02 -6.85810648e-04 9.99875725e-01 2.70251923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.23925415399998 meters Centerline goodness : 0.998697 Centerline is valid? [True, True] Translation: X:179.97, Y:1.84, Z:2.70 [[ 9.98350801e-01 -5.52011050e-02 -1.57643660e-02 1.79974384e+02] [ 5.52057609e-02 9.98474989e-01 -1.40000997e-04 1.83913699e+00] [ 1.57480534e-02 -7.30513715e-04 9.99875725e-01 2.70262288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.26925415399998 meters Centerline goodness : 0.998738 Centerline is valid? [True, True] Translation: X:180.01, Y:1.84, Z:2.70 [[ 9.98139352e-01 -5.89009165e-02 -1.57643788e-02 1.80007551e+02] [ 5.89060556e-02 9.98263521e-01 -1.38551038e-04 1.83838549e+00] [ 1.57451651e-02 -7.90324129e-04 9.99875725e-01 2.70327121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.29925415399998 meters Centerline goodness : 0.998824 Centerline is valid? [True, True] Translation: X:180.04, Y:1.84, Z:2.70 [[ 9.98096762e-01 -5.96182596e-02 -1.57643939e-02 1.80039156e+02] [ 5.96235153e-02 9.98220926e-01 -1.36806708e-04 1.83864992e+00] [ 1.57445041e-02 -8.03382250e-04 9.99875725e-01 2.70405355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.32925415399998 meters Centerline goodness : 0.999075 Centerline is valid? [True, True] Translation: X:180.07, Y:1.84, Z:2.70 [[ 9.98075279e-01 -5.99768448e-02 -1.57644063e-02 1.80071654e+02] [ 5.99821679e-02 9.98199440e-01 -1.35362833e-04 1.83941260e+00] [ 1.57441402e-02 -8.10480969e-04 9.99875725e-01 2.70331859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.35925415399998 meters Centerline goodness : 0.998718 Centerline is valid? [True, True] Translation: X:180.10, Y:1.84, Z:2.71 [[ 9.98118229e-01 -5.92577840e-02 -1.57644185e-02 1.80104365e+02] [ 5.92630402e-02 9.98242392e-01 -1.33934166e-04 1.84123469e+00] [ 1.57446474e-02 -8.00565231e-04 9.99875725e-01 2.70547891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.38925415399999 meters Centerline goodness : 0.998695 Centerline is valid? [True, True] Translation: X:180.14, Y:1.84, Z:2.71 [[ 9.98176189e-01 -5.82732991e-02 -1.57644332e-02 1.80137177e+02] [ 5.82784605e-02 9.98300357e-01 -1.32181463e-04 1.84227635e+00] [ 1.57453419e-02 -7.86786505e-04 9.99875725e-01 2.70623483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.419254154 meters Centerline goodness : 0.998780 Centerline is valid? [True, True] Translation: X:180.17, Y:1.84, Z:2.71 [[ 9.98251928e-01 -5.69611247e-02 -1.57644477e-02 1.80169057e+02] [ 5.69661505e-02 9.98376102e-01 -1.30422047e-04 1.84342988e+00] [ 1.57462768e-02 -7.67845841e-04 9.99875725e-01 2.70719187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.449254154 meters Centerline goodness : 0.998968 Centerline is valid? [True, True] Translation: X:180.20, Y:1.84, Z:2.71 [[ 9.98345696e-01 -5.52933403e-02 -1.57644596e-02 1.80201531e+02] [ 5.52981817e-02 9.98469877e-01 -1.28963258e-04 1.84478037e+00] [ 1.57474689e-02 -7.42996040e-04 9.99875725e-01 2.70880058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.479254154 meters Centerline goodness : 0.998925 Centerline is valid? [True, True] Translation: X:180.23, Y:1.85, Z:2.71 [[ 9.98564090e-01 -5.11980368e-02 -1.57644692e-02 1.80232788e+02] [ 5.12023873e-02 9.98688289e-01 -1.27786161e-04 1.84745337e+00] [ 1.57503332e-02 -6.79575784e-04 9.99875725e-01 2.71018156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.509254154 meters Centerline goodness : 0.999009 Centerline is valid? [True, True] Translation: X:180.27, Y:1.85, Z:2.71 [[ 9.98702488e-01 -4.84233673e-02 -1.57644762e-02 1.80265304e+02] [ 4.84273865e-02 9.98826698e-01 -1.26909524e-04 1.84912424e+00] [ 1.57521251e-02 -6.36687526e-04 9.99875725e-01 2.71152544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.539254154 meters Centerline goodness : 0.998902 Centerline is valid? [True, True] Translation: X:180.30, Y:1.85, Z:2.71 [[ 9.98837506e-01 -4.55534601e-02 -1.57644855e-02 1.80297789e+02] [ 4.55571407e-02 9.98961727e-01 -1.25751103e-04 1.85115428e+00] [ 1.57538460e-02 -5.92579964e-04 9.99875725e-01 2.71253116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.569254154 meters Centerline goodness : 0.999007 Centerline is valid? [True, True] Translation: X:180.33, Y:1.86, Z:2.71 [[ 9.99113458e-01 -3.90356009e-02 -1.57644946e-02 1.80330070e+02] [ 3.90384890e-02 9.99237700e-01 -1.24603335e-04 1.85509853e+00] [ 1.57573412e-02 -4.90929178e-04 9.99875725e-01 2.71357334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.599254154 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:180.36, Y:1.86, Z:2.71 [[ 9.99235757e-01 -3.57684481e-02 -1.57645036e-02 1.80362429e+02] [ 3.57709482e-02 9.99360007e-01 -1.23442785e-04 1.85700479e+00] [ 1.57588298e-02 -4.40562799e-04 9.99875725e-01 2.71392072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.629254154 meters Centerline goodness : 0.998944 Centerline is valid? [True, True] Translation: X:180.39, Y:1.86, Z:2.71 [[ 9.99351040e-01 -3.23879335e-02 -1.57645126e-02 1.80394312e+02] [ 3.23900315e-02 9.99475298e-01 -1.22286483e-04 1.85876486e+00] [ 1.57602015e-02 -3.88405936e-04 9.99875725e-01 2.71400327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.659254154 meters Centerline goodness : 0.998795 Centerline is valid? [True, True] Translation: X:180.43, Y:1.86, Z:2.71 [[ 9.99439187e-01 -2.95430434e-02 -1.57645215e-02 1.80426014e+02] [ 2.95448059e-02 9.99563450e-01 -1.21130309e-04 1.86059817e+00] [ 1.57612180e-02 -3.44697350e-04 9.99875725e-01 2.71426209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.68925415399997 meters Centerline goodness : 0.998939 Centerline is valid? [True, True] Translation: X:180.46, Y:1.86, Z:2.71 [[ 9.99551101e-01 -2.54769856e-02 -1.57645259e-02 1.80456503e+02] [ 2.54782517e-02 9.99675369e-01 -1.20549839e-04 1.86361370e+00] [ 1.57624795e-02 -2.81156836e-04 9.99875725e-01 2.71450823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.71925415399997 meters Centerline goodness : 0.998898 Centerline is valid? [True, True] Translation: X:180.49, Y:1.86, Z:2.72 [[ 9.99577222e-01 -2.44306666e-02 -1.57645281e-02 1.80487461e+02] [ 2.44318072e-02 9.99701492e-01 -1.20262108e-04 1.86490436e+00] [ 1.57627604e-02 -2.64944648e-04 9.99875725e-01 2.71554139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.74925415399997 meters Centerline goodness : 0.998940 Centerline is valid? [True, True] Translation: X:180.52, Y:1.87, Z:2.72 [[ 9.99585493e-01 -2.40898874e-02 -1.57645281e-02 1.80518420e+02] [ 2.40909856e-02 9.99709763e-01 -1.20262108e-04 1.86629701e+00] [ 1.57628498e-02 -2.59570762e-04 9.99875725e-01 2.71535092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.77925415399997 meters Centerline goodness : 0.998898 Centerline is valid? [True, True] Translation: X:180.55, Y:1.87, Z:2.71 [[ 9.99572916e-01 -2.46061880e-02 -1.57645281e-02 1.80548485e+02] [ 2.46073504e-02 9.99697186e-01 -1.20262108e-04 1.86686925e+00] [ 1.57627136e-02 -2.67712521e-04 9.99875725e-01 2.71482767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.80925415399997 meters Centerline goodness : 0.999045 Centerline is valid? [True, True] Translation: X:180.58, Y:1.87, Z:2.72 [[ 9.99555625e-01 -2.52988629e-02 -1.57645281e-02 1.80579339e+02] [ 2.53001114e-02 9.99679894e-01 -1.20262108e-04 1.86730367e+00] [ 1.57625243e-02 -2.78635652e-04 9.99875725e-01 2.71500689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.83925415399997 meters Centerline goodness : 0.999005 Centerline is valid? [True, True] Translation: X:180.61, Y:1.87, Z:2.71 [[ 9.99530882e-01 -2.62582314e-02 -1.57645281e-02 1.80609576e+02] [ 2.62595992e-02 9.99655150e-01 -1.20262108e-04 1.86780874e+00] [ 1.57622496e-02 -2.93764499e-04 9.99875725e-01 2.71471002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.86925415399998 meters Centerline goodness : 0.998898 Centerline is valid? [True, True] Translation: X:180.64, Y:1.87, Z:2.71 [[ 9.99516491e-01 -2.68004541e-02 -1.57645303e-02 1.80639650e+02] [ 2.68018939e-02 9.99640758e-01 -1.19971793e-04 1.86788909e+00] [ 1.57620823e-02 -3.02605483e-04 9.99875725e-01 2.71292399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.89925415399998 meters Centerline goodness : 0.998769 Centerline is valid? [True, True] Translation: X:180.67, Y:1.87, Z:2.71 [[ 9.99463078e-01 -2.87234241e-02 -1.57645325e-02 1.80670106e+02] [ 2.87251074e-02 9.99587342e-01 -1.19686692e-04 1.86852450e+00] [ 1.57614649e-02 -3.33215460e-04 9.99875725e-01 2.71302816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.92925415399998 meters Centerline goodness : 0.999152 Centerline is valid? [True, True] Translation: X:180.70, Y:1.87, Z:2.72 [[ 9.99416070e-01 -3.03150023e-02 -1.57645346e-02 1.80701437e+02] [ 3.03168881e-02 9.99540330e-01 -1.19403935e-04 1.86970002e+00] [ 1.57609079e-02 -3.58597421e-04 9.99875725e-01 2.71661797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.95925415399998 meters Centerline goodness : 0.998961 Centerline is valid? [True, True] Translation: X:180.73, Y:1.87, Z:2.72 [[ 9.99388117e-01 -3.12229185e-02 -1.57645390e-02 1.80733705e+02] [ 3.12249262e-02 9.99512376e-01 -1.18827021e-04 1.87027837e+00] [ 1.57605619e-02 -3.73492254e-04 9.99875725e-01 2.71763291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.98925415399998 meters Centerline goodness : 0.998983 Centerline is valid? [True, True] Translation: X:180.76, Y:1.87, Z:2.72 [[ 9.99356266e-01 -3.22262841e-02 -1.57645477e-02 1.80764793e+02] [ 3.22284348e-02 9.99480522e-01 -1.17665335e-04 1.87091161e+00] [ 1.57601502e-02 -3.90477107e-04 9.99875725e-01 2.71873223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.01925415399998 meters Centerline goodness : 0.999237 Centerline is valid? [True, True] Translation: X:180.80, Y:1.87, Z:2.72 [[ 9.99267346e-01 -3.48747846e-02 -1.57645519e-02 1.80797159e+02] [ 3.48772738e-02 9.99391596e-01 -1.17091018e-04 1.87108829e+00] [ 1.57590442e-02 -4.32819363e-04 9.99875725e-01 2.72036610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.04925415399998 meters Centerline goodness : 0.999153 Centerline is valid? [True, True] Translation: X:180.83, Y:1.87, Z:2.72 [[ 9.99202678e-01 -3.66808840e-02 -1.57645605e-02 1.80828732e+02] [ 3.66836160e-02 9.99326923e-01 -1.15930964e-04 1.87089210e+00] [ 1.57582021e-02 -4.62462553e-04 9.99875725e-01 2.72103452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.07925415399998 meters Centerline goodness : 0.998960 Centerline is valid? [True, True] Translation: X:180.86, Y:1.87, Z:2.72 [[ 9.99137931e-01 -3.84040672e-02 -1.57645736e-02 1.80860971e+02] [ 3.84070420e-02 9.99262171e-01 -1.14118718e-04 1.87001531e+00] [ 1.57573246e-02 -4.91450300e-04 9.99875725e-01 2.71990543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.10925415399998 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:180.89, Y:1.87, Z:2.72 [[ 9.98916117e-01 -4.37957720e-02 -1.57645820e-02 1.80893513e+02] [ 4.37994357e-02 9.99040338e-01 -1.12949946e-04 1.86923617e+00] [ 1.57544000e-02 -5.77652272e-04 9.99875725e-01 2.72032750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.13925415399999 meters Centerline goodness : 0.998983 Centerline is valid? [True, True] Translation: X:180.92, Y:1.87, Z:2.72 [[ 9.98774275e-01 -4.69193410e-02 -1.57645902e-02 1.80924247e+02] [ 4.69234116e-02 9.98898484e-01 -1.11781681e-04 1.86913237e+00] [ 1.57524700e-02 -6.28083688e-04 9.99875725e-01 2.72036098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.169254154 meters Centerline goodness : 0.999131 Centerline is valid? [True, True] Translation: X:180.96, Y:1.87, Z:2.72 [[ 9.98633437e-01 -4.98270666e-02 -1.57645964e-02 1.80956096e+02] [ 4.98315125e-02 9.98757632e-01 -1.10909974e-04 1.86894136e+00] [ 1.57505373e-02 -6.74815273e-04 9.99875725e-01 2.72056823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.199254154 meters Centerline goodness : 0.999216 Centerline is valid? [True, True] Translation: X:180.99, Y:1.87, Z:2.72 [[ 9.98496374e-01 -5.25020841e-02 -1.57646042e-02 1.80988149e+02] [ 5.25068804e-02 9.98620556e-01 -1.09784236e-04 1.86883037e+00] [ 1.57486217e-02 -7.18131027e-04 9.99875725e-01 2.72067869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.229254154 meters Centerline goodness : 0.998855 Centerline is valid? [True, True] Translation: X:181.02, Y:1.87, Z:2.72 [[ 9.98245088e-01 -5.70808270e-02 -1.57646123e-02 1.81020176e+02] [ 5.70862112e-02 9.98369247e-01 -1.08615330e-04 1.86801003e+00] [ 1.57451039e-02 -7.91517265e-04 9.99875725e-01 2.71715234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.259254154 meters Centerline goodness : 0.999300 Centerline is valid? [True, True] Translation: X:181.05, Y:1.87, Z:2.72 [[ 9.98093970e-01 -5.96649217e-02 -1.57646202e-02 1.81052711e+02] [ 5.96706456e-02 9.98218114e-01 -1.07451499e-04 1.86894511e+00] [ 1.57429405e-02 -8.33438372e-04 9.99875725e-01 2.72025639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.289254154 meters Centerline goodness : 0.999259 Centerline is valid? [True, True] Translation: X:181.09, Y:1.87, Z:2.72 [[ 9.97995893e-01 -6.12835551e-02 -1.57646280e-02 1.81085036e+02] [ 6.12894987e-02 9.98120026e-01 -1.06292569e-04 1.86938693e+00] [ 1.57415049e-02 -8.60126600e-04 9.99875725e-01 2.72026486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.319254154 meters Centerline goodness : 0.999025 Centerline is valid? [True, True] Translation: X:181.12, Y:1.87, Z:2.72 [[ 9.97926032e-01 -6.24108239e-02 -1.57646357e-02 1.81116887e+02] [ 6.24169258e-02 9.98050157e-01 -1.05141589e-04 1.87004456e+00] [ 1.57404591e-02 -8.79056567e-04 9.99875725e-01 2.72013249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.349254154 meters Centerline goodness : 0.998983 Centerline is valid? [True, True] Translation: X:181.15, Y:1.87, Z:2.72 [[ 9.97882337e-01 -6.31056001e-02 -1.57646451e-02 1.81149497e+02] [ 6.31118110e-02 9.98006457e-01 -1.03705728e-04 1.87165819e+00] [ 1.57397620e-02 -8.91449190e-04 9.99875725e-01 2.72130246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.379254154 meters Centerline goodness : 0.999173 Centerline is valid? [True, True] Translation: X:181.18, Y:1.87, Z:2.72 [[ 9.97938689e-01 -6.22081024e-02 -1.57646561e-02 1.81182253e+02] [ 6.22142285e-02 9.98062813e-01 -1.02003793e-04 1.87214971e+00] [ 1.57404625e-02 -8.78992389e-04 9.99875725e-01 2.72096554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.409254154 meters Centerline goodness : 0.999363 Centerline is valid? [True, True] Translation: X:181.21, Y:1.87, Z:2.72 [[ 9.97963024e-01 -6.18164873e-02 -1.57646672e-02 1.81214645e+02] [ 6.18225921e-02 9.98087149e-01 -1.00261139e-04 1.87400893e+00] [ 1.57407096e-02 -8.74555682e-04 9.99875725e-01 2.72349766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.43925415399997 meters Centerline goodness : 0.999172 Centerline is valid? [True, True] Translation: X:181.25, Y:1.88, Z:2.72 [[ 9.98076229e-01 -5.99609549e-02 -1.57646745e-02 1.81247243e+02] [ 5.99668470e-02 9.98200364e-01 -9.91097915e-05 1.87602653e+00] [ 1.57422465e-02 -8.46438695e-04 9.99875725e-01 2.72457835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.46925415399997 meters Centerline goodness : 0.999341 Centerline is valid? [True, True] Translation: X:181.28, Y:1.88, Z:2.72 [[ 9.98153305e-01 -5.86639080e-02 -1.57646855e-02 1.81278856e+02] [ 5.86696670e-02 9.98277447e-01 -9.73275585e-05 1.87680325e+00] [ 1.57432396e-02 -8.27761022e-04 9.99875725e-01 2.72462612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.49925415399997 meters Centerline goodness : 0.999363 Centerline is valid? [True, True] Translation: X:181.31, Y:1.88, Z:2.73 [[ 9.98216410e-01 -5.75801412e-02 -1.57646944e-02 1.81310587e+02] [ 5.75857886e-02 9.98340557e-01 -9.58539843e-05 1.87813904e+00] [ 1.57440531e-02 -8.12139340e-04 9.99875725e-01 2.72529639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.52925415399997 meters Centerline goodness : 0.999234 Centerline is valid? [True, True] Translation: X:181.34, Y:1.88, Z:2.73 [[ 9.98303934e-01 -5.60422066e-02 -1.57647031e-02 1.81343523e+02] [ 5.60476856e-02 9.98428089e-01 -9.43972315e-05 1.87920698e+00] [ 1.57452127e-02 -7.89337999e-04 9.99875725e-01 2.72592325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.55925415399997 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:181.38, Y:1.88, Z:2.73 [[ 9.98489739e-01 -5.26280825e-02 -1.57647135e-02 1.81376272e+02] [ 5.26331647e-02 9.98613910e-01 -9.26345173e-05 1.88206733e+00] [ 1.57477374e-02 -7.37252147e-04 9.99875725e-01 2.72607286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.58925415399997 meters Centerline goodness : 0.999446 Centerline is valid? [True, True] Translation: X:181.41, Y:1.88, Z:2.73 [[ 9.98599603e-01 -5.05005583e-02 -1.57647236e-02 1.81407235e+02] [ 5.05054034e-02 9.98723784e-01 -9.08892094e-05 1.88382992e+00] [ 1.57491943e-02 -7.05441795e-04 9.99875725e-01 2.72626622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.61925415399998 meters Centerline goodness : 0.999489 Centerline is valid? [True, True] Translation: X:181.44, Y:1.89, Z:2.73 [[ 9.98705675e-01 -4.83575080e-02 -1.57647285e-02 1.81439151e+02] [ 4.83621003e-02 9.98829865e-01 -9.00235889e-05 1.88570423e+00] [ 1.57506350e-02 -6.72508312e-04 9.99875725e-01 2.72668455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.64925415399998 meters Centerline goodness : 0.999339 Centerline is valid? [True, True] Translation: X:181.47, Y:1.89, Z:2.73 [[ 9.98913452e-01 -4.38564432e-02 -1.57647350e-02 1.81471526e+02] [ 4.38604939e-02 9.99037662e-01 -8.88764190e-05 1.88920172e+00] [ 1.57534618e-02 -6.02669212e-04 9.99875725e-01 2.72718900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.67925415399998 meters Centerline goodness : 0.999295 Centerline is valid? [True, True] Translation: X:181.50, Y:1.89, Z:2.73 [[ 9.99121746e-01 -3.88227935e-02 -1.57647415e-02 1.81502411e+02] [ 3.88262368e-02 9.99245974e-01 -8.77048266e-05 1.89258916e+00] [ 1.57562594e-02 -5.24457787e-04 9.99875725e-01 2.72666181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.70925415399998 meters Centerline goodness : 0.999486 Centerline is valid? [True, True] Translation: X:181.53, Y:1.89, Z:2.73 [[ 9.99236955e-01 -3.57348551e-02 -1.57647520e-02 1.81534605e+02] [ 3.57379447e-02 9.99361192e-01 -8.57820747e-05 1.89423955e+00] [ 1.57577467e-02 -4.77683215e-04 9.99875725e-01 2.72748084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.73925415399998 meters Centerline goodness : 0.999486 Centerline is valid? [True, True] Translation: X:181.57, Y:1.89, Z:2.73 [[ 9.99239548e-01 -3.56622732e-02 -1.57647581e-02 1.81567294e+02] [ 3.56653719e-02 9.99363785e-01 -8.46358810e-05 1.89435451e+00] [ 1.57577466e-02 -4.77684441e-04 9.99875725e-01 2.72799587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.76925415399998 meters Centerline goodness : 0.999594 Centerline is valid? [True, True] Translation: X:181.60, Y:1.90, Z:2.73 [[ 9.99359633e-01 -3.21215938e-02 -1.57647642e-02 1.81598627e+02] [ 3.21242703e-02 9.99483879e-01 -8.34909147e-05 1.89612380e+00] [ 1.57593095e-02 -4.22994096e-04 9.99875725e-01 2.72847026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.79925415399998 meters Centerline goodness : 0.999333 Centerline is valid? [True, True] Translation: X:181.63, Y:1.90, Z:2.73 [[ 9.99572210e-01 -2.46347061e-02 -1.57647686e-02 1.81630949e+02] [ 2.46364653e-02 9.99696473e-01 -8.26380433e-05 1.89973861e+00] [ 1.57620194e-02 -3.05785484e-04 9.99875725e-01 2.73042736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.82925415399998 meters Centerline goodness : 0.999548 Centerline is valid? [True, True] Translation: X:181.66, Y:1.90, Z:2.73 [[ 9.99663718e-01 -2.05893622e-02 -1.57647747e-02 1.81662233e+02] [ 2.05906369e-02 9.99787987e-01 -8.14725574e-05 1.90173125e+00] [ 1.57631098e-02 -2.43161591e-04 9.99875725e-01 2.73159649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.85925415399998 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:181.69, Y:1.90, Z:2.73 [[ 9.99743361e-01 -1.62691020e-02 -1.57647777e-02 1.81691834e+02] [ 1.62698488e-02 9.99867634e-01 -8.08906945e-05 1.90314077e+00] [ 1.57640070e-02 -1.75620614e-04 9.99875725e-01 2.73069698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.88925415399999 meters Centerline goodness : 0.999288 Centerline is valid? [True, True] Translation: X:181.72, Y:1.91, Z:2.73 [[ 9.99793914e-01 -1.27906678e-02 -1.57647762e-02 1.81720245e+02] [ 1.27909776e-02 9.99918189e-01 -8.11791631e-05 1.90506374e+00] [ 1.57645248e-02 -1.20484466e-04 9.99875725e-01 2.73190924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.919254154 meters Centerline goodness : 0.999632 Centerline is valid? [True, True] Translation: X:181.75, Y:1.91, Z:2.73 [[ 9.99854985e-01 -6.44062773e-03 -1.57647547e-02 1.81748274e+02] [ 6.44008549e-03 9.99979259e-01 -8.51622109e-05 1.90773581e+00] [ 1.57649762e-02 -1.63765066e-05 9.99875725e-01 2.73309115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.949254154 meters Centerline goodness : 0.999632 Centerline is valid? [True, True] Translation: X:181.78, Y:1.91, Z:2.73 [[ 9.99853076e-01 -6.73052281e-03 -1.57647286e-02 1.81776651e+02] [ 6.72994445e-03 9.99977350e-01 -8.97387603e-05 1.90796799e+00] [ 1.57649755e-02 -1.63701723e-05 9.99875725e-01 2.73354017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.979254154 meters Centerline goodness : 0.999567 Centerline is valid? [True, True] Translation: X:181.80, Y:1.91, Z:2.73 [[ 9.99865723e-01 -4.47338260e-03 -1.57647013e-02 1.81804509e+02] [ 4.47245164e-03 9.99989994e-01 -9.43089674e-05 1.90899452e+00] [ 1.57649654e-02 2.37894398e-05 9.99875725e-01 2.73373044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.009254154 meters Centerline goodness : 0.999610 Centerline is valid? [True, True] Translation: X:181.83, Y:1.91, Z:2.73 [[ 9.99872131e-01 -2.68250713e-03 -1.57646727e-02 1.81831112e+02] [ 2.68128169e-03 9.99996400e-01 -9.88688569e-05 1.90951676e+00] [ 1.57648811e-02 5.65866865e-05 9.99875725e-01 2.73387169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.039254154 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:181.86, Y:1.91, Z:2.73 [[ 9.99875562e-01 -5.80111433e-04 -1.57646524e-02 1.81857984e+02] [ 5.78575320e-04 9.99999827e-01 -1.02000965e-04 1.90984294e+00] [ 1.57647089e-02 9.28672334e-05 9.99875725e-01 2.73413704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.069254154 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:181.89, Y:1.91, Z:2.73 [[ 9.99875653e-01 -3.94311255e-04 -1.57646395e-02 1.81885977e+02] [ 3.92721230e-04 9.99999917e-01 -1.03955831e-04 1.90982467e+00] [ 1.57646792e-02 9.77517959e-05 9.99875725e-01 2.73494753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.099254154 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:181.91, Y:1.91, Z:2.74 [[ 9.99875670e-01 -3.49856097e-04 -1.57646084e-02 1.81912915e+02] [ 3.48189345e-04 9.99999934e-01 -1.08472045e-04 1.90981663e+00] [ 1.57646453e-02 1.02969490e-04 9.99875725e-01 2.73523261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.129254154 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:181.94, Y:1.91, Z:2.74 [[ 9.99875711e-01 -2.01401871e-04 -1.57645947e-02 1.81940545e+02] [ 1.99685811e-04 9.99999974e-01 -1.10429358e-04 1.90846729e+00] [ 1.57646166e-02 1.07267667e-04 9.99875725e-01 2.73532326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.159254154 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:181.97, Y:1.91, Z:2.74 [[ 9.99875679e-01 -3.24346514e-04 -1.57645850e-02 1.81968888e+02] [ 3.22624168e-04 9.99999942e-01 -1.11797161e-04 1.90774239e+00] [ 1.57646204e-02 1.06697226e-04 9.99875725e-01 2.73562478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.18925415399997 meters Centerline goodness : 0.999525 Centerline is valid? [True, True] Translation: X:182.00, Y:1.91, Z:2.74 [[ 9.99875346e-01 -8.77503747e-04 -1.57645734e-02 1.81998021e+02] [ 8.75824653e-04 9.99999610e-01 -1.13414228e-04 1.90693278e+00] [ 1.57646668e-02 9.95930890e-05 9.99875725e-01 2.73722036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.21925415399997 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:182.02, Y:1.91, Z:2.74 [[ 9.99874707e-01 -1.43134950e-03 -1.57645649e-02 1.82024669e+02] [ 1.42972081e-03 9.99998971e-01 -1.14582854e-04 1.90599001e+00] [ 1.57647127e-02 9.20295715e-05 9.99875725e-01 2.73717976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.24925415399997 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:182.05, Y:1.90, Z:2.74 [[ 9.99872329e-01 -2.60856043e-03 -1.57645499e-02 1.82052570e+02] [ 2.60704609e-03 9.99996595e-01 -1.16609875e-04 1.90328261e+00] [ 1.57648004e-02 7.54960796e-05 9.99875725e-01 2.73813488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.27925415399997 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:182.08, Y:1.90, Z:2.74 [[ 9.99869258e-01 -3.59818182e-03 -1.57645370e-02 1.82080805e+02] [ 3.59676334e-03 9.99993525e-01 -1.18330293e-04 1.90221370e+00] [ 1.57648607e-02 6.16135135e-05 9.99875725e-01 2.73834683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.30925415399997 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:182.11, Y:1.90, Z:2.74 [[ 9.99865713e-01 -4.47607322e-03 -1.57645262e-02 1.82108502e+02] [ 4.47474143e-03 9.99989981e-01 -1.19752774e-04 1.90129674e+00] [ 1.57649043e-02 4.91945144e-05 9.99875725e-01 2.73892072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.33925415399997 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:182.14, Y:1.90, Z:2.74 [[ 9.99863514e-01 -4.94307285e-03 -1.57644901e-02 1.82136759e+02] [ 4.94172688e-03 9.99987782e-01 -1.24332744e-04 1.90004549e+00] [ 1.57649120e-02 4.64119703e-05 9.99875725e-01 2.73960461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.36925415399998 meters Centerline goodness : 0.999314 Centerline is valid? [True, True] Translation: X:182.16, Y:1.90, Z:2.74 [[ 9.99864301e-01 -4.78142946e-03 -1.57644523e-02 1.82163382e+02] [ 4.77999063e-03 9.99988567e-01 -1.28948773e-04 1.89629085e+00] [ 1.57648886e-02 5.35773406e-05 9.99875725e-01 2.73900750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.39925415399998 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:182.19, Y:1.89, Z:2.74 [[ 9.99864309e-01 -4.77983492e-03 -1.57644357e-02 1.82191701e+02] [ 4.77836438e-03 9.99988575e-01 -1.30947730e-04 1.89461180e+00] [ 1.57648815e-02 5.56017439e-05 9.99875725e-01 2.73965400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.42925415399998 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:182.22, Y:1.89, Z:2.74 [[ 9.99866673e-01 -4.25666767e-03 -1.57643962e-02 1.82219810e+02] [ 4.25505959e-03 9.99990938e-01 -1.35546811e-04 1.89299174e+00] [ 1.57648303e-02 6.84502940e-05 9.99875725e-01 2.74036833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.45925415399998 meters Centerline goodness : 0.999229 Centerline is valid? [True, True] Translation: X:182.25, Y:1.89, Z:2.74 [[ 9.99869188e-01 -3.61832003e-03 -1.57643551e-02 1.82247616e+02] [ 3.61655987e-03 9.99993450e-01 -1.40161629e-04 1.89150996e+00] [ 1.57647590e-02 8.31305604e-05 9.99875725e-01 2.74109007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.48925415399998 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:182.28, Y:1.89, Z:2.74 [[ 9.99872074e-01 -2.70603141e-03 -1.57643119e-02 1.82275568e+02] [ 2.70408376e-03 9.99996333e-01 -1.44861834e-04 1.89015679e+00] [ 1.57646461e-02 1.02215283e-04 9.99875725e-01 2.74113873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.51925415399998 meters Centerline goodness : 0.999358 Centerline is valid? [True, True] Translation: X:182.30, Y:1.89, Z:2.74 [[ 9.99875529e-01 6.44480668e-04 -1.57642675e-02 1.82302906e+02] [-6.46918593e-04 9.99999780e-01 -1.49549902e-04 1.88705378e+00] [ 1.57641676e-02 1.59729485e-04 9.99875725e-01 2.74122325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.54925415399998 meters Centerline goodness : 0.999464 Centerline is valid? [True, True] Translation: X:182.33, Y:1.89, Z:2.74 [[ 9.99873137e-01 2.28021731e-03 -1.57642480e-02 1.82330519e+02] [-2.28289047e-03 9.99997383e-01 -1.51577762e-04 1.88579192e+00] [ 1.57638611e-02 1.87546584e-04 9.99875725e-01 2.74185927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.57925415399998 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:182.36, Y:1.88, Z:2.74 [[ 9.99858705e-01 5.83611994e-03 -1.57642022e-02 1.82357424e+02] [-5.83930775e-03 9.99982939e-01 -1.56196084e-04 1.88266194e+00] [ 1.57630217e-02 2.48226043e-04 9.99875725e-01 2.74136459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.60925415399998 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:182.39, Y:1.88, Z:2.74 [[ 9.99849850e-01 7.19498214e-03 -1.57641702e-02 1.82385659e+02] [-7.19838865e-03 9.99974079e-01 -1.59360053e-04 1.88085244e+00] [ 1.57626150e-02 2.72812749e-04 9.99875725e-01 2.74159452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.63925415399999 meters Centerline goodness : 0.999316 Centerline is valid? [True, True] Translation: X:182.41, Y:1.88, Z:2.74 [[ 9.99839083e-01 8.56158932e-03 -1.57641232e-02 1.82413624e+02] [-8.56523687e-03 9.99963304e-01 -1.63880043e-04 1.87886344e+00] [ 1.57621417e-02 2.98877122e-04 9.99875725e-01 2.74199602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.669254154 meters Centerline goodness : 0.999341 Centerline is valid? [True, True] Translation: X:182.44, Y:1.88, Z:2.74 [[ 9.99826085e-01 9.96454969e-03 -1.57641055e-02 1.82439114e+02] [-9.96839817e-03 9.99950301e-01 -1.65569891e-04 1.87803148e+00] [ 1.57616722e-02 3.22683976e-04 9.99875725e-01 2.74341835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.699254154 meters Centerline goodness : 0.999043 Centerline is valid? [True, True] Translation: X:182.47, Y:1.87, Z:2.74 [[ 9.99825669e-01 1.00083898e-02 -1.57627199e-02 1.82468866e+02] [-1.00142486e-02 9.99949813e-01 -2.92800435e-04 1.87476281e+00] [ 1.57589984e-02 4.50601186e-04 9.99875718e-01 2.74241657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.729254154 meters Centerline goodness : 0.999170 Centerline is valid? [True, True] Translation: X:182.50, Y:1.87, Z:2.74 [[ 9.99828064e-01 9.76405276e-03 -1.57640467e-02 1.82497496e+02] [-9.76793372e-03 9.99952278e-01 -1.69211439e-04 1.86917261e+00] [ 1.57616422e-02 3.23164508e-04 9.99875725e-01 2.74420325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.759254154 meters Centerline goodness : 0.998916 Centerline is valid? [True, True] Translation: X:182.53, Y:1.87, Z:2.74 [[ 9.99836828e-01 8.82117662e-03 -1.57640342e-02 1.82526538e+02] [-8.82495858e-03 9.99961045e-01 -1.70363098e-04 1.86616155e+00] [ 1.57619173e-02 3.09452248e-04 9.99875725e-01 2.74484255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.789254154 meters Centerline goodness : 0.998643 Centerline is valid? [True, True] Translation: X:182.55, Y:1.86, Z:2.74 [[ 9.99851423e-01 6.97334356e-03 -1.57640216e-02 1.82554460e+02] [-6.97691423e-03 9.99975646e-01 -1.71522846e-04 1.86322578e+00] [ 1.57624416e-02 2.81481588e-04 9.99875725e-01 2.74474846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.819254154 meters Centerline goodness : 0.998856 Centerline is valid? [True, True] Translation: X:182.58, Y:1.86, Z:2.75 [[ 9.99870406e-01 3.26599984e-03 -1.57640058e-02 1.82582007e+02] [-3.26913256e-03 9.99994641e-01 -1.72961143e-04 1.85588691e+00] [ 1.57633564e-02 2.24473353e-04 9.99875725e-01 2.74611683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.849254154 meters Centerline goodness : 0.998983 Centerline is valid? [True, True] Translation: X:182.61, Y:1.85, Z:2.75 [[ 9.99874871e-01 1.31843093e-03 -1.57639867e-02 1.82611029e+02] [-1.32134890e-03 9.99999112e-01 -1.74689624e-04 1.85154029e+00] [ 1.57637423e-02 1.95497492e-04 9.99875725e-01 2.74559733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.879254154 meters Centerline goodness : 0.999282 Centerline is valid? [True, True] Translation: X:182.64, Y:1.85, Z:2.75 [[ 9.99874396e-01 -1.63991960e-03 -1.57639737e-02 1.82639451e+02] [ 1.63735089e-03 9.99998644e-01 -1.75853143e-04 1.84810605e+00] [ 1.57642407e-02 1.50019898e-04 9.99875725e-01 2.74681093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.909254154 meters Centerline goodness : 0.999093 Centerline is valid? [True, True] Translation: X:182.67, Y:1.84, Z:2.75 [[ 9.99847566e-01 -7.50615396e-03 -1.57639607e-02 1.82666102e+02] [ 7.50429603e-03 9.99971827e-01 -1.77009137e-04 1.83980829e+00] [ 1.57648452e-02 5.86847267e-05 9.99875725e-01 2.74612334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.93925415399997 meters Centerline goodness : 0.999241 Centerline is valid? [True, True] Translation: X:182.69, Y:1.84, Z:2.75 [[ 9.99819283e-01 -1.06254041e-02 -1.57639379e-02 1.82694390e+02] [ 1.06239022e-02 9.99943549e-01 -1.79015503e-04 1.83585620e+00] [ 1.57649501e-02 1.15086171e-05 9.99875725e-01 2.74790517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.96925415399997 meters Centerline goodness : 0.999158 Centerline is valid? [True, True] Translation: X:182.72, Y:1.83, Z:2.75 [[ 9.99781019e-01 -1.37627624e-02 -1.57639179e-02 1.82722874e+02] [ 1.37616229e-02 9.99905288e-01 -1.80764260e-04 1.83194890e+00] [ 1.57649126e-02 -3.62124162e-05 9.99875725e-01 2.74832514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.99925415399997 meters Centerline goodness : 0.999138 Centerline is valid? [True, True] Translation: X:182.75, Y:1.83, Z:2.75 [[ 9.99730263e-01 -1.70557846e-02 -1.57639044e-02 1.82751003e+02] [ 1.70550360e-02 9.99854536e-01 -1.81931572e-04 1.82806719e+00] [ 1.57647143e-02 -8.69714575e-05 9.99875725e-01 2.74921268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.02925415399997 meters Centerline goodness : 0.999098 Centerline is valid? [True, True] Translation: X:182.78, Y:1.82, Z:2.75 [[ 9.99623687e-01 -2.24496067e-02 -1.57638494e-02 1.82780145e+02] [ 2.24494553e-02 9.99747962e-01 -1.86578718e-04 1.81959334e+00] [ 1.57640649e-02 -1.67381327e-04 9.99875725e-01 2.75043890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.05925415399997 meters Centerline goodness : 0.999107 Centerline is valid? [True, True] Translation: X:182.81, Y:1.82, Z:2.75 [[ 9.99573880e-01 -2.45674657e-02 -1.57638355e-02 1.82808186e+02] [ 2.45675593e-02 9.99698154e-01 -1.87741093e-04 1.81528679e+00] [ 1.57636896e-02 -1.99617871e-04 9.99875725e-01 2.75078501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.08925415399997 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:182.84, Y:1.81, Z:2.75 [[ 9.99514121e-01 -2.68890970e-02 -1.57638182e-02 1.82836913e+02] [ 2.68894565e-02 9.99638395e-01 -1.89183394e-04 1.81150082e+00] [ 1.57632049e-02 -2.34789031e-04 9.99875725e-01 2.75124612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.11925415399998 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:182.87, Y:1.80, Z:2.75 [[ 9.99433675e-01 -2.97293186e-02 -1.57637687e-02 1.82865631e+02] [ 2.97299675e-02 9.99557948e-01 -1.93227520e-04 1.80455082e+00] [ 1.57625448e-02 -2.75538240e-04 9.99875725e-01 2.75090946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.14925415399998 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:182.90, Y:1.80, Z:2.75 [[ 9.99411046e-01 -3.04805849e-02 -1.57637183e-02 1.82895748e+02] [ 3.04812638e-02 9.99535319e-01 -1.97254721e-04 1.80149565e+00] [ 1.57624056e-02 -2.83359508e-04 9.99875725e-01 2.75091740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.17925415399998 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:182.93, Y:1.80, Z:2.75 [[ 9.99402605e-01 -3.07561137e-02 -1.57637109e-02 1.82925804e+02] [ 3.07568176e-02 9.99526878e-01 -1.97839232e-04 1.79821662e+00] [ 1.57623375e-02 -2.87120538e-04 9.99875725e-01 2.75072140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.20925415399998 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:182.95, Y:1.80, Z:2.75 [[ 9.99396812e-01 -3.09437804e-02 -1.57637036e-02 1.82954887e+02] [ 3.09444984e-02 9.99521085e-01 -1.98420450e-04 1.79526170e+00] [ 1.57622940e-02 -2.89499137e-04 9.99875725e-01 2.75091590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.23925415399998 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:182.98, Y:1.79, Z:2.75 [[ 9.99396422e-01 -3.09563871e-02 -1.57636927e-02 1.82984197e+02] [ 3.09570931e-02 9.99520694e-01 -1.99285420e-04 1.78923079e+00] [ 1.57623062e-02 -2.88832965e-04 9.99875725e-01 2.75097735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.26925415399998 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:183.01, Y:1.79, Z:2.75 [[ 9.99397007e-01 -3.09374853e-02 -1.57636854e-02 1.83014358e+02] [ 3.09381800e-02 9.99521280e-01 -1.99856920e-04 1.78659254e+00] [ 1.57623221e-02 -2.87963329e-04 9.99875725e-01 2.75135536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.29925415399998 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:183.04, Y:1.78, Z:2.75 [[ 9.99394944e-01 -3.10040705e-02 -1.57636782e-02 1.83044500e+02] [ 3.10047644e-02 9.99519217e-01 -2.00428234e-04 1.78397598e+00] [ 1.57623133e-02 -2.88442163e-04 9.99875725e-01 2.75179354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.32925415399998 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:183.07, Y:1.78, Z:2.75 [[ 9.99380321e-01 -3.14718893e-02 -1.57636706e-02 1.83072814e+02] [ 3.14726320e-02 9.99504594e-01 -2.01018013e-04 1.78170792e+00] [ 1.57621876e-02 -2.95230759e-04 9.99875725e-01 2.75213004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.35925415399998 meters Centerline goodness : 0.999126 Centerline is valid? [True, True] Translation: X:183.10, Y:1.78, Z:2.75 [[ 9.99351578e-01 -3.23717714e-02 -1.57636165e-02 1.83101774e+02] [ 3.23725605e-02 9.99475850e-01 -2.05176597e-04 1.77632473e+00] [ 1.57619960e-02 -3.05265074e-04 9.99875725e-01 2.75008220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.38925415399999 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:183.13, Y:1.77, Z:2.75 [[ 9.99312209e-01 -3.35651401e-02 -1.57635617e-02 1.83130217e+02] [ 3.35660125e-02 9.99436481e-01 -2.09307406e-04 1.77486768e+00] [ 1.57617040e-02 -3.19956462e-04 9.99875725e-01 2.75190975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.419254154 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:183.16, Y:1.77, Z:2.75 [[ 9.99274211e-01 -3.46779921e-02 -1.57635060e-02 1.83159663e+02] [ 3.46789380e-02 9.99398482e-01 -2.13417649e-04 1.77275942e+00] [ 1.57614249e-02 -3.33398895e-04 9.99875725e-01 2.75043582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.449254154 meters Centerline goodness : 0.999477 Centerline is valid? [True, True] Translation: X:183.19, Y:1.77, Z:2.75 [[ 9.99178244e-01 -3.73409716e-02 -1.57634981e-02 1.83188006e+02] [ 3.73422395e-02 9.99302512e-01 -2.14003237e-04 1.76901285e+00] [ 1.57604943e-02 -3.74816941e-04 9.99875725e-01 2.74969798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.479254154 meters Centerline goodness : 0.999351 Centerline is valid? [True, True] Translation: X:183.22, Y:1.77, Z:2.75 [[ 9.99102213e-01 -3.93227828e-02 -1.57634862e-02 1.83216853e+02] [ 3.93242834e-02 9.99226478e-01 -2.14875039e-04 1.76831478e+00] [ 1.57597423e-02 -4.05205672e-04 9.99875725e-01 2.75107846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.509254154 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:183.25, Y:1.77, Z:2.75 [[ 9.99034212e-01 -4.10141044e-02 -1.57634744e-02 1.83246989e+02] [ 4.10158019e-02 9.99158475e-01 -2.15736387e-04 1.76708132e+00] [ 1.57590573e-02 -4.31023511e-04 9.99875725e-01 2.75155072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.539254154 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:183.28, Y:1.77, Z:2.75 [[ 9.98971847e-01 -4.25060119e-02 -1.57634665e-02 1.83277806e+02] [ 4.25078858e-02 9.99096108e-01 -2.16311121e-04 1.76589605e+00] [ 1.57584126e-02 -4.53982914e-04 9.99875725e-01 2.75247140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.569254154 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:183.31, Y:1.76, Z:2.75 [[ 9.98794434e-01 -4.64886148e-02 -1.57634665e-02 1.83307638e+02] [ 4.64909841e-02 9.98918686e-01 -2.16311121e-04 1.76371949e+00] [ 1.57564773e-02 -5.16808728e-04 9.99875725e-01 2.75327363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.599254154 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:183.34, Y:1.76, Z:2.75 [[ 9.98794434e-01 -4.64886193e-02 -1.57634626e-02 1.83338631e+02] [ 4.64909841e-02 9.98918686e-01 -2.16599317e-04 1.76414549e+00] [ 1.57564867e-02 -5.16520695e-04 9.99875725e-01 2.75376239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.629254154 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:183.37, Y:1.76, Z:2.76 [[ 9.98645610e-01 -4.95828395e-02 -1.57634626e-02 1.83368799e+02] [ 4.95855892e-02 9.98769855e-01 -2.16599317e-04 1.76247049e+00] [ 1.57548108e-02 -5.65334622e-04 9.99875725e-01 2.75570985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.659254154 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:183.40, Y:1.76, Z:2.76 [[ 9.98582612e-01 -5.08358110e-02 -1.57634626e-02 1.83398729e+02] [ 5.08387166e-02 9.98706853e-01 -2.16599317e-04 1.76172586e+00] [ 1.57540891e-02 -5.85101893e-04 9.99875725e-01 2.75531402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.68925415399997 meters Centerline goodness : 0.999687 Centerline is valid? [True, True] Translation: X:183.43, Y:1.76, Z:2.76 [[ 9.98523818e-01 -5.19778697e-02 -1.57634586e-02 1.83429608e+02] [ 5.19809128e-02 9.98648055e-01 -2.16887886e-04 1.76207725e+00] [ 1.57534206e-02 -6.02831247e-04 9.99875725e-01 2.75769779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.71925415399997 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:183.46, Y:1.76, Z:2.76 [[ 9.98501997e-01 -5.23953747e-02 -1.57634586e-02 1.83459838e+02] [ 5.23984698e-02 9.98626233e-01 -2.16887886e-04 1.76202601e+00] [ 1.57531672e-02 -6.09418121e-04 9.99875725e-01 2.75862943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.74925415399997 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:183.49, Y:1.76, Z:2.76 [[ 9.98452297e-01 -5.33340853e-02 -1.57634586e-02 1.83490037e+02] [ 5.33372973e-02 9.98576530e-01 -2.16887886e-04 1.76187349e+00] [ 1.57525873e-02 -6.24228068e-04 9.99875725e-01 2.75898534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.77925415399997 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:183.52, Y:1.76, Z:2.76 [[ 9.98430246e-01 -5.37452988e-02 -1.57634586e-02 1.83520329e+02] [ 5.37485619e-02 9.98554478e-01 -2.16887886e-04 1.76224905e+00] [ 1.57523289e-02 -6.30715804e-04 9.99875725e-01 2.75930557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.80925415399997 meters Centerline goodness : 0.999498 Centerline is valid? [True, True] Translation: X:183.55, Y:1.76, Z:2.76 [[ 9.98414822e-01 -5.40310720e-02 -1.57634625e-02 1.83550584e+02] [ 5.40343751e-02 9.98539053e-01 -2.16602561e-04 1.76321288e+00] [ 1.57521362e-02 -6.35509639e-04 9.99875725e-01 2.75792078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.83925415399997 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:183.58, Y:1.77, Z:2.76 [[ 9.98396271e-01 -5.43727887e-02 -1.57634625e-02 1.83581396e+02] [ 5.43761343e-02 9.98520500e-01 -2.16602561e-04 1.76511085e+00] [ 1.57519177e-02 -6.40900965e-04 9.99875725e-01 2.75996081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.86925415399998 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:183.61, Y:1.77, Z:2.76 [[ 9.98398288e-01 -5.43357383e-02 -1.57634625e-02 1.83613232e+02] [ 5.43390793e-02 9.98522517e-01 -2.16602561e-04 1.76551885e+00] [ 1.57519415e-02 -6.40316413e-04 9.99875725e-01 2.76046280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.89925415399998 meters Centerline goodness : 0.999520 Centerline is valid? [True, True] Translation: X:183.64, Y:1.77, Z:2.76 [[ 9.98396997e-01 -5.43594464e-02 -1.57634705e-02 1.83643366e+02] [ 5.43627996e-02 9.98521226e-01 -2.16017509e-04 1.76687924e+00] [ 1.57519025e-02 -6.41275157e-04 9.99875725e-01 2.76087433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.92925415399998 meters Centerline goodness : 0.999709 Centerline is valid? [True, True] Translation: X:183.67, Y:1.77, Z:2.76 [[ 9.98387026e-01 -5.45422790e-02 -1.57634745e-02 1.83673222e+02] [ 5.45456595e-02 9.98511254e-01 -2.15727369e-04 1.76854603e+00] [ 1.57517729e-02 -6.44449706e-04 9.99875725e-01 2.76119733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.95925415399998 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:183.70, Y:1.77, Z:2.76 [[ 9.98368387e-01 -5.48823950e-02 -1.57634784e-02 1.83704073e+02] [ 5.48858224e-02 9.98492614e-01 -2.15440428e-04 1.77003718e+00] [ 1.57515407e-02 -6.50102564e-04 9.99875725e-01 2.76142211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.98925415399998 meters Centerline goodness : 0.999397 Centerline is valid? [True, True] Translation: X:183.73, Y:1.77, Z:2.76 [[ 9.98328861e-01 -5.55967069e-02 -1.57636028e-02 1.83734658e+02] [ 5.56003663e-02 9.98453082e-01 -2.06360180e-04 1.77199217e+00] [ 1.57506908e-02 -6.70446768e-04 9.99875725e-01 2.75984057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.01925415399998 meters Centerline goodness : 0.999417 Centerline is valid? [True, True] Translation: X:183.76, Y:1.77, Z:2.76 [[ 9.98298106e-01 -5.61462726e-02 -1.57634874e-02 1.83764699e+02] [ 5.61498669e-02 9.98422329e-01 -2.14830115e-04 1.77360469e+00] [ 1.57506797e-02 -6.70653223e-04 9.99875725e-01 2.75978087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.04925415399998 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:183.80, Y:1.78, Z:2.76 [[ 9.98256183e-01 -5.68867853e-02 -1.57634912e-02 1.83795898e+02] [ 5.68904762e-02 9.98380402e-01 -2.14548533e-04 1.77545234e+00] [ 1.57501657e-02 -6.82618122e-04 9.99875725e-01 2.75988501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.07925415399998 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:183.83, Y:1.78, Z:2.76 [[ 9.98144982e-01 -5.88056650e-02 -1.57634988e-02 1.83827606e+02] [ 5.88096034e-02 9.98269195e-01 -2.13990382e-04 1.77955979e+00] [ 1.57487991e-02 -7.13451688e-04 9.99875725e-01 2.76210655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.10925415399998 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:183.86, Y:1.78, Z:2.76 [[ 9.98084942e-01 -5.98160507e-02 -1.57635064e-02 1.83858971e+02] [ 5.98201237e-02 9.98209150e-01 -2.13430191e-04 1.78135381e+00] [ 1.57480429e-02 -7.29953443e-04 9.99875725e-01 2.76233920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.13925415399999 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:183.89, Y:1.78, Z:2.76 [[ 9.98025144e-01 -6.08056224e-02 -1.57635139e-02 1.83891559e+02] [ 6.08098274e-02 9.98149347e-01 -2.12873256e-04 1.78309196e+00] [ 1.57472850e-02 -7.46123698e-04 9.99875725e-01 2.76293591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.169254154 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:183.92, Y:1.78, Z:2.76 [[ 9.97957383e-01 -6.19077736e-02 -1.57635296e-02 1.83923923e+02] [ 6.19121341e-02 9.98081581e-01 -2.11709002e-04 1.78485366e+00] [ 1.57463949e-02 -7.64677194e-04 9.99875725e-01 2.76311735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.199254154 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:183.96, Y:1.79, Z:2.76 [[ 9.97859400e-01 -6.34675373e-02 -1.57635451e-02 1.83955122e+02] [ 6.34721102e-02 9.97983590e-01 -2.10541959e-04 1.78869745e+00] [ 1.57451220e-02 -7.90454202e-04 9.99875725e-01 2.76473331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.229254154 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:183.99, Y:1.79, Z:2.77 [[ 9.97825682e-01 -6.39954587e-02 -1.57635567e-02 1.83985834e+02] [ 6.40001111e-02 9.97949869e-01 -2.09672384e-04 1.79083575e+00] [ 1.57446574e-02 -7.99652891e-04 9.99875725e-01 2.76557235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.259254154 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:184.02, Y:1.79, Z:2.77 [[ 9.97809277e-01 -6.42507262e-02 -1.57635681e-02 1.84017614e+02] [ 6.42554239e-02 9.97933463e-01 -2.08809240e-04 1.79484765e+00] [ 1.57444083e-02 -8.04542956e-04 9.99875725e-01 2.76584127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.289254154 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:184.05, Y:1.80, Z:2.77 [[ 9.97834043e-01 -6.38649467e-02 -1.57635832e-02 1.84048877e+02] [ 6.38696143e-02 9.97958230e-01 -2.07669104e-04 1.79756677e+00] [ 1.57446603e-02 -7.99594676e-04 9.99875725e-01 2.76763626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.319254154 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:184.08, Y:1.80, Z:2.77 [[ 9.97989335e-01 -6.13905193e-02 -1.57635943e-02 1.84082602e+02] [ 6.13948925e-02 9.98113533e-01 -2.06819806e-04 1.79881249e+00] [ 1.57465536e-02 -7.61400217e-04 9.99875725e-01 2.76790668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.349254154 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:184.11, Y:1.80, Z:2.77 [[ 9.98036278e-01 -6.06222144e-02 -1.57649960e-02 1.84112107e+02] [ 6.06282036e-02 9.98160414e-01 -9.81863475e-05 1.80214057e+00] [ 1.57419472e-02 -8.57809854e-04 9.99875720e-01 2.76647659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.379254154 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:184.14, Y:1.81, Z:2.77 [[ 9.98169271e-01 -5.83919227e-02 -1.57635873e-02 1.84144589e+02] [ 5.83959357e-02 9.98293480e-01 -2.05993375e-04 1.80545907e+00] [ 1.57487148e-02 -7.14913177e-04 9.99875726e-01 2.76925566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.409254154 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:184.18, Y:1.81, Z:2.77 [[ 9.98616685e-01 -5.01619943e-02 -1.57636024e-02 1.84178264e+02] [ 5.01650016e-02 9.98740923e-01 -2.04834020e-04 1.80889496e+00] [ 1.57540297e-02 -5.86230470e-04 9.99875726e-01 2.76893701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.43925415399997 meters Centerline goodness : 0.999625 Centerline is valid? [True, True] Translation: X:184.21, Y:1.81, Z:2.77 [[ 9.98919736e-01 -4.37129034e-02 -1.57652758e-02 1.84211593e+02] [ 4.37171620e-02 9.99043945e-01 -7.45672440e-05 1.80866848e+00] [ 1.57534629e-02 -6.14726426e-04 9.99875718e-01 2.76829274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.46925415399997 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:184.24, Y:1.82, Z:2.77 [[ 9.98898939e-01 -4.41848164e-02 -1.57674428e-02 1.84235937e+02] [ 4.41918017e-02 9.99023061e-01 9.47075226e-05 1.81750683e+00] [ 1.57478543e-02 -7.91394949e-04 9.99875682e-01 2.77056432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.49925415399997 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:184.27, Y:1.82, Z:2.77 [[ 9.99239112e-01 -3.56751052e-02 -1.57633926e-02 1.84266850e+02] [ 3.56762330e-02 9.99363379e-01 -2.09743801e-04 1.82303853e+00] [ 1.57608399e-02 -3.52794256e-04 9.99875728e-01 2.76939468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.52925415399997 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:184.30, Y:1.83, Z:2.77 [[ 9.99354684e-01 -3.22758490e-02 -1.57634001e-02 1.84295988e+02] [ 3.22765631e-02 9.99478954e-01 -2.09176926e-04 1.82637643e+00] [ 1.57619380e-02 -2.99746436e-04 9.99875728e-01 2.77115436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.55925415399997 meters Centerline goodness : 0.999750 Centerline is valid? [True, True] Translation: X:184.33, Y:1.83, Z:2.77 [[ 9.99450040e-01 -2.91741871e-02 -1.57633964e-02 1.84326738e+02] [ 2.91745110e-02 9.99574311e-01 -2.09457671e-04 1.82919709e+00] [ 1.57627968e-02 -2.50546903e-04 9.99875728e-01 2.77154353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.58925415399997 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:184.36, Y:1.83, Z:2.77 [[ 9.99521434e-01 -2.66161129e-02 -1.57633964e-02 1.84355871e+02] [ 2.66161188e-02 9.99645706e-01 -2.09457671e-04 1.83164837e+00] [ 1.57633864e-02 -2.10202998e-04 9.99875728e-01 2.77128525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.61925415399998 meters Centerline goodness : 0.999271 Centerline is valid? [True, True] Translation: X:184.39, Y:1.84, Z:2.77 [[ 9.99593030e-01 -2.37758208e-02 -1.57633927e-02 1.84385744e+02] [ 2.37754692e-02 9.99717302e-01 -2.09734249e-04 1.83573610e+00] [ 1.57639230e-02 -1.65133163e-04 9.99875728e-01 2.77231727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.64925415399998 meters Centerline goodness : 0.999542 Centerline is valid? [True, True] Translation: X:184.41, Y:1.84, Z:2.77 [[ 9.99603188e-01 -2.33448596e-02 -1.57633850e-02 1.84413375e+02] [ 2.33444454e-02 9.99727459e-01 -2.10309723e-04 1.83695311e+00] [ 1.57639985e-02 -1.57761211e-04 9.99875728e-01 2.77209996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.67925415399998 meters Centerline goodness : 0.999375 Centerline is valid? [True, True] Translation: X:184.44, Y:1.84, Z:2.77 [[ 9.99585373e-01 -2.40956221e-02 -1.57633659e-02 1.84440968e+02] [ 2.40952787e-02 9.99709644e-01 -2.11735423e-04 1.83822257e+00] [ 1.57638908e-02 -1.68175062e-04 9.99875728e-01 2.77273564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.70925415399998 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:184.47, Y:1.84, Z:2.77 [[ 9.99511316e-01 -2.69934348e-02 -1.57633468e-02 1.84469494e+02] [ 2.69934294e-02 9.99635588e-01 -2.13144797e-04 1.83943027e+00] [ 1.57633560e-02 -2.12466153e-04 9.99875728e-01 2.77296134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.73925415399998 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:184.50, Y:1.84, Z:2.77 [[ 9.99446692e-01 -2.92887051e-02 -1.57632928e-02 1.84499136e+02] [ 2.92889233e-02 9.99570964e-01 -2.17067099e-04 1.84040893e+00] [ 1.57628874e-02 -2.44742880e-04 9.99875728e-01 2.77338838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.76925415399998 meters Centerline goodness : 0.999375 Centerline is valid? [True, True] Translation: X:184.53, Y:1.84, Z:2.77 [[ 9.99371627e-01 -3.17469840e-02 -1.57632850e-02 1.84528821e+02] [ 3.17474990e-02 9.99495897e-01 -2.17627481e-04 1.84108543e+00] [ 1.57622478e-02 -2.82954146e-04 9.99875728e-01 2.77375111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.79925415399998 meters Centerline goodness : 0.999273 Centerline is valid? [True, True] Translation: X:184.56, Y:1.84, Z:2.77 [[ 9.99279087e-01 -3.45373178e-02 -1.57632773e-02 1.84558677e+02] [ 3.45381710e-02 9.99403356e-01 -2.18186869e-04 1.84177167e+00] [ 1.57614078e-02 -3.26405191e-04 9.99875728e-01 2.77428280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.82925415399998 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:184.59, Y:1.84, Z:2.77 [[ 9.99032389e-01 -4.10585629e-02 -1.57632735e-02 1.84589055e+02] [ 4.10602228e-02 9.99156650e-01 -2.18464561e-04 1.84222629e+00] [ 1.57589493e-02 -4.28990347e-04 9.99875728e-01 2.77355746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.85925415399998 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:184.62, Y:1.84, Z:2.78 [[ 9.98930250e-01 -4.34726928e-02 -1.57632735e-02 1.84620728e+02] [ 4.34746530e-02 9.99054506e-01 -2.18464561e-04 1.84203955e+00] [ 1.57578666e-02 -4.67071984e-04 9.99875728e-01 2.77529437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.88925415399999 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:184.65, Y:1.84, Z:2.77 [[ 9.98752215e-01 -4.73870360e-02 -1.57632858e-02 1.84651980e+02] [ 4.73894972e-02 9.98876463e-01 -2.17570275e-04 1.84218336e+00] [ 1.57558852e-02 -5.29715393e-04 9.99875728e-01 2.77365629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.919254154 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:184.68, Y:1.84, Z:2.77 [[ 9.98605795e-01 -5.03784213e-02 -1.57632982e-02 1.84683691e+02] [ 5.03812688e-02 9.98730034e-01 -2.16670778e-04 1.84259432e+00] [ 1.57541948e-02 -5.77806268e-04 9.99875728e-01 2.77480645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.949254154 meters Centerline goodness : 0.999125 Centerline is valid? [True, True] Translation: X:184.72, Y:1.84, Z:2.77 [[ 9.98711374e-01 -4.82401165e-02 -1.57633139e-02 1.84721838e+02] [ 4.82427161e-02 9.98835619e-01 -2.15519530e-04 1.83533341e+00] [ 1.57553561e-02 -5.45223272e-04 9.99875728e-01 2.77120097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.979254154 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:184.74, Y:1.84, Z:2.78 [[ 9.98249448e-01 -5.70033107e-02 -1.57690024e-02 1.84741813e+02] [ 5.70138258e-02 9.98373365e-01 2.17706241e-04 1.84427721e+00] [ 1.57309420e-02 -1.11637629e-03 9.99875638e-01 2.77610355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.009254154 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:184.77, Y:1.85, Z:2.78 [[ 9.98164671e-01 -5.84706987e-02 -1.57628598e-02 1.84774142e+02] [ 5.84744871e-02 9.98288879e-01 -2.20839904e-04 1.84513501e+00] [ 1.57488003e-02 -7.01290553e-04 9.99875734e-01 2.77675263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.039254154 meters Centerline goodness : 0.999146 Centerline is valid? [True, True] Translation: X:184.81, Y:1.85, Z:2.78 [[ 9.97994820e-01 -6.13014766e-02 -1.57628755e-02 1.84806521e+02] [ 6.13056350e-02 9.98119016e-01 -2.19715351e-04 1.84599388e+00] [ 1.57466946e-02 -7.47078308e-04 9.99875734e-01 2.77691037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.069254154 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:184.84, Y:1.85, Z:2.78 [[ 9.97919140e-01 -6.25213610e-02 -1.57628910e-02 1.84838254e+02] [ 6.25256889e-02 9.98043331e-01 -2.18597823e-04 1.84666881e+00] [ 1.57457153e-02 -7.67442666e-04 9.99875734e-01 2.77715598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.099254154 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:184.87, Y:1.85, Z:2.78 [[ 9.97823712e-01 -6.40263232e-02 -1.57629073e-02 1.84869410e+02] [ 6.40308570e-02 9.97947895e-01 -2.17417994e-04 1.84773851e+00] [ 1.57444806e-02 -7.92367629e-04 9.99875734e-01 2.77793288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.129254154 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:184.90, Y:1.85, Z:2.78 [[ 9.97738761e-01 -6.53367732e-02 -1.57629337e-02 1.84901705e+02] [ 6.53415006e-02 9.97862937e-01 -2.15480563e-04 1.84879458e+00] [ 1.57433262e-02 -8.14980434e-04 9.99875734e-01 2.77846843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.159254154 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:184.93, Y:1.85, Z:2.78 [[ 9.97549623e-01 -6.81636182e-02 -1.57629487e-02 1.84934223e+02] [ 6.81687148e-02 9.97673785e-01 -2.14379430e-04 1.85118452e+00] [ 1.57408936e-02 -8.60685835e-04 9.99875734e-01 2.77977237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.18925415399997 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:184.97, Y:1.85, Z:2.78 [[ 9.97471489e-01 -6.92975968e-02 -1.57629644e-02 1.84965939e+02] [ 6.93028528e-02 9.97595644e-01 -2.13217359e-04 1.85268857e+00] [ 1.57398401e-02 -8.79740168e-04 9.99875734e-01 2.78027074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.21925415399997 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:185.00, Y:1.86, Z:2.78 [[ 9.97218368e-01 -7.28495363e-02 -1.57629800e-02 1.84995459e+02] [ 7.28552526e-02 9.97342502e-01 -2.12058550e-04 1.85691184e+00] [ 1.57365383e-02 -9.36947211e-04 9.99875734e-01 2.78060908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.24925415399997 meters Centerline goodness : 0.999079 Centerline is valid? [True, True] Translation: X:185.03, Y:1.86, Z:2.78 [[ 9.97341861e-01 -7.11391960e-02 -1.57615455e-02 1.85028400e+02] [ 7.11430369e-02 9.97466073e-01 -3.17588970e-04 1.85583508e+00] [ 1.57441999e-02 -8.04579435e-04 9.99875729e-01 2.78035553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.27925415399997 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:185.06, Y:1.86, Z:2.78 [[ 9.97297632e-01 -7.17562567e-02 -1.57629906e-02 1.85060758e+02] [ 7.17618983e-02 9.97421770e-01 -2.08161359e-04 1.85852737e+00] [ 1.57372869e-02 -9.23583299e-04 9.99875735e-01 2.77834366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.30925415399997 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:185.09, Y:1.86, Z:2.78 [[ 9.97261523e-01 -7.22563644e-02 -1.57630059e-02 1.85093746e+02] [ 7.22620866e-02 9.97385657e-01 -2.06995873e-04 1.86096441e+00] [ 1.57367528e-02 -9.32638679e-04 9.99875735e-01 2.78093906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.33925415399997 meters Centerline goodness : 0.998973 Centerline is valid? [True, True] Translation: X:185.13, Y:1.86, Z:2.78 [[ 9.97315696e-01 -7.15047532e-02 -1.57630289e-02 1.85126380e+02] [ 7.15104097e-02 9.97439832e-01 -2.05234325e-04 1.86445567e+00] [ 1.57373481e-02 -9.22537237e-04 9.99875735e-01 2.77894316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.36925415399998 meters Centerline goodness : 0.999142 Centerline is valid? [True, True] Translation: X:185.16, Y:1.87, Z:2.78 [[ 9.97366276e-01 -7.07957535e-02 -1.57630439e-02 1.85158661e+02] [ 7.08013400e-02 9.97490415e-01 -2.04072118e-04 1.86666834e+00] [ 1.57379326e-02 -9.12509981e-04 9.99875735e-01 2.77894950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.39925415399998 meters Centerline goodness : 0.999079 Centerline is valid? [True, True] Translation: X:185.19, Y:1.87, Z:2.78 [[ 9.97483112e-01 -6.91300691e-02 -1.57630588e-02 1.85190480e+02] [ 6.91354665e-02 9.97607260e-01 -2.02916420e-04 1.86859988e+00] [ 1.57393695e-02 -8.87380719e-04 9.99875735e-01 2.78079536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.42925415399998 meters Centerline goodness : 0.999035 Centerline is valid? [True, True] Translation: X:185.22, Y:1.87, Z:2.78 [[ 9.97531733e-01 -6.84249044e-02 -1.57630739e-02 1.85222050e+02] [ 6.84302326e-02 9.97655884e-01 -2.01732676e-04 1.87241904e+00] [ 1.57399270e-02 -8.77436070e-04 9.99875735e-01 2.78097763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.45925415399998 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:185.25, Y:1.88, Z:2.78 [[ 9.97670811e-01 -6.63662395e-02 -1.57630851e-02 1.85253777e+02] [ 6.63713254e-02 9.97794972e-01 -2.00853143e-04 1.87572974e+00] [ 1.57416570e-02 -8.45831535e-04 9.99875735e-01 2.78182675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.48925415399998 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:185.29, Y:1.88, Z:2.78 [[ 9.98111386e-01 -5.93732812e-02 -1.57630995e-02 1.85285064e+02] [ 5.93775148e-02 9.98235579e-01 -1.99717746e-04 1.88100809e+00] [ 1.57471447e-02 -7.36633118e-04 9.99875735e-01 2.78107351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.51925415399998 meters Centerline goodness : 0.999201 Centerline is valid? [True, True] Translation: X:185.32, Y:1.88, Z:2.78 [[ 9.98242496e-01 -5.71267345e-02 -1.57624661e-02 1.85316788e+02] [ 5.71299027e-02 9.98366722e-01 -2.49582337e-04 1.88445408e+00] [ 1.57509794e-02 -6.51364458e-04 9.99875733e-01 2.78391109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.54925415399998 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:185.35, Y:1.89, Z:2.79 [[ 9.98460225e-01 -5.31855626e-02 -1.57631171e-02 1.85349144e+02] [ 5.31890586e-02 9.98584441e-01 -1.97669749e-04 1.88764815e+00] [ 1.57513166e-02 -6.41059976e-04 9.99875735e-01 2.78524045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.57925415399998 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:185.38, Y:1.89, Z:2.79 [[ 9.98862168e-01 -4.50099180e-02 -1.57631309e-02 1.85381140e+02] [ 4.50124144e-02 9.98986408e-01 -1.96562695e-04 1.89408978e+00] [ 1.57560008e-02 -5.13197539e-04 9.99875735e-01 2.78811297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.60925415399998 meters Centerline goodness : 0.998864 Centerline is valid? [True, True] Translation: X:185.41, Y:1.90, Z:2.79 [[ 9.99030199e-01 -4.11118635e-02 -1.57631453e-02 1.85412377e+02] [ 4.11138935e-02 9.99154447e-01 -1.95395044e-04 1.89732742e+00] [ 1.57578498e-02 -4.52878729e-04 9.99875735e-01 2.78817220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.63925415399999 meters Centerline goodness : 0.998967 Centerline is valid? [True, True] Translation: X:185.44, Y:1.90, Z:2.79 [[ 9.99174292e-01 -3.74467112e-02 -1.57631561e-02 1.85444228e+02] [ 3.74482991e-02 9.99298548e-01 -1.94526238e-04 1.90019453e+00] [ 1.57593833e-02 -3.95937767e-04 9.99875735e-01 2.78914161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.669254154 meters Centerline goodness : 0.998903 Centerline is valid? [True, True] Translation: X:185.48, Y:1.90, Z:2.79 [[ 9.99297463e-01 -3.40014993e-02 -1.57631693e-02 1.85476332e+02] [ 3.40026758e-02 9.99421723e-01 -1.93444732e-04 1.90292986e+00] [ 1.57606313e-02 -3.42681107e-04 9.99875735e-01 2.79050369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.699254154 meters Centerline goodness : 0.999132 Centerline is valid? [True, True] Translation: X:185.51, Y:1.91, Z:2.79 [[ 9.99477194e-01 -2.82287077e-02 -1.57631838e-02 1.85507231e+02] [ 2.82291851e-02 9.99601459e-01 -1.92260979e-04 1.90697022e+00] [ 1.57623288e-02 -2.52821369e-04 9.99875735e-01 2.79032173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.729254154 meters Centerline goodness : 0.999152 Centerline is valid? [True, True] Translation: X:185.54, Y:1.91, Z:2.79 [[ 9.99533312e-01 -2.61663901e-02 -1.57632071e-02 1.85538339e+02] [ 2.61666416e-02 9.99657577e-01 -1.90333722e-04 1.90876689e+00] [ 1.57627897e-02 -2.22225293e-04 9.99875735e-01 2.79081437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.759254154 meters Centerline goodness : 0.999152 Centerline is valid? [True, True] Translation: X:185.57, Y:1.91, Z:2.79 [[ 9.99533312e-01 -2.61663810e-02 -1.57632141e-02 1.85569332e+02] [ 2.61666416e-02 9.99657577e-01 -1.89750841e-04 1.90913970e+00] [ 1.57627815e-02 -2.22808086e-04 9.99875735e-01 2.79130289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.789254154 meters Centerline goodness : 0.999110 Centerline is valid? [True, True] Translation: X:185.60, Y:1.91, Z:2.79 [[ 9.99571713e-01 -2.46558475e-02 -1.57632141e-02 1.85599648e+02] [ 2.46559203e-02 9.99695979e-01 -1.89750841e-04 1.91093714e+00] [ 1.57631002e-02 -1.98986977e-04 9.99875735e-01 2.79139491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.819254154 meters Centerline goodness : 0.999044 Centerline is valid? [True, True] Translation: X:185.63, Y:1.91, Z:2.79 [[ 9.99603473e-01 -2.33327787e-02 -1.57632141e-02 1.85628655e+02] [ 2.33326870e-02 9.99727738e-01 -1.89750841e-04 1.91360748e+00] [ 1.57633498e-02 -1.78122540e-04 9.99875735e-01 2.79111953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.849254154 meters Centerline goodness : 0.998916 Centerline is valid? [True, True] Translation: X:185.66, Y:1.91, Z:2.79 [[ 9.99618746e-01 -2.26689887e-02 -1.57632151e-02 1.85657979e+02] [ 2.26688158e-02 9.99743011e-01 -1.89667377e-04 1.91406561e+00] [ 1.57634637e-02 -1.67738354e-04 9.99875735e-01 2.78964006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.879254154 meters Centerline goodness : 0.999171 Centerline is valid? [True, True] Translation: X:185.69, Y:1.92, Z:2.79 [[ 9.99596659e-01 -2.36228671e-02 -1.57632081e-02 1.85687564e+02] [ 2.36228037e-02 9.99720925e-01 -1.90247508e-04 1.91537882e+00] [ 1.57633031e-02 -1.82200396e-04 9.99875735e-01 2.79182738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.909254154 meters Centerline goodness : 0.999192 Centerline is valid? [True, True] Translation: X:185.72, Y:1.92, Z:2.79 [[ 9.99557709e-01 -2.52172240e-02 -1.57632083e-02 1.85717236e+02] [ 2.52173591e-02 9.99681974e-01 -1.90226760e-04 1.91642475e+00] [ 1.57629922e-02 -2.07363861e-04 9.99875735e-01 2.79209467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.93925415399997 meters Centerline goodness : 0.999171 Centerline is valid? [True, True] Translation: X:185.75, Y:1.92, Z:2.79 [[ 9.99528003e-01 -2.63684026e-02 -1.57632014e-02 1.85747732e+02] [ 2.63686719e-02 9.99652268e-01 -1.90795394e-04 1.91680961e+00] [ 1.57627510e-02 -2.24949348e-04 9.99875735e-01 2.79225421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.96925415399997 meters Centerline goodness : 0.998915 Centerline is valid? [True, True] Translation: X:185.78, Y:1.92, Z:2.79 [[ 9.99490614e-01 -2.77494813e-02 -1.57632014e-02 1.85778354e+02] [ 2.77499223e-02 9.99614879e-01 -1.90795394e-04 1.91717509e+00] [ 1.57624252e-02 -2.46729409e-04 9.99875735e-01 2.79284088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.99925415399997 meters Centerline goodness : 0.999108 Centerline is valid? [True, True] Translation: X:185.81, Y:1.92, Z:2.79 [[ 9.99455695e-01 -2.89799260e-02 -1.57632014e-02 1.85810144e+02] [ 2.89805199e-02 9.99579958e-01 -1.90795394e-04 1.91733989e+00] [ 1.57621095e-02 -2.66134231e-04 9.99875735e-01 2.79329312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.02925415399997 meters Centerline goodness : 0.999108 Centerline is valid? [True, True] Translation: X:185.84, Y:1.92, Z:2.79 [[ 9.99376489e-01 -3.15935900e-02 -1.57632083e-02 1.85840790e+02] [ 3.15945179e-02 9.99500751e-01 -1.90227505e-04 1.91785407e+00] [ 1.57613485e-02 -3.07922070e-04 9.99875735e-01 2.79302313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.05925415399997 meters Centerline goodness : 0.999043 Centerline is valid? [True, True] Translation: X:185.87, Y:1.92, Z:2.79 [[ 9.99323856e-01 -3.32167343e-02 -1.57632117e-02 1.85871587e+02] [ 3.32178684e-02 9.99448116e-01 -1.89945544e-04 1.91793853e+00] [ 1.57608216e-02 -3.33803178e-04 9.99875735e-01 2.79334707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.08925415399997 meters Centerline goodness : 0.999047 Centerline is valid? [True, True] Translation: X:185.90, Y:1.92, Z:2.79 [[ 9.99255635e-01 -3.52093173e-02 -1.57632150e-02 1.85902725e+02] [ 3.52107036e-02 9.99379893e-01 -1.89671924e-04 1.91836706e+00] [ 1.57601183e-02 -3.65503151e-04 9.99875735e-01 2.79353102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.11925415399998 meters Centerline goodness : 0.998875 Centerline is valid? [True, True] Translation: X:185.94, Y:1.92, Z:2.79 [[ 9.99115936e-01 -3.89726418e-02 -1.57632248e-02 1.85935241e+02] [ 3.89745089e-02 9.99240187e-01 -1.88855801e-04 1.91755776e+00] [ 1.57586079e-02 -4.25675103e-04 9.99875735e-01 2.79462323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.14925415399998 meters Centerline goodness : 0.998897 Centerline is valid? [True, True] Translation: X:185.97, Y:1.92, Z:2.80 [[ 9.99037265e-01 -4.09397458e-02 -1.57632383e-02 1.85967541e+02] [ 4.09418755e-02 9.99161512e-01 -1.87715080e-04 1.91748637e+00] [ 1.57577061e-02 -4.57842181e-04 9.99875735e-01 2.79538703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.17925415399998 meters Centerline goodness : 0.998898 Centerline is valid? [True, True] Translation: X:186.00, Y:1.92, Z:2.80 [[ 9.98962253e-01 -4.27309919e-02 -1.57632520e-02 1.85998304e+02] [ 4.27333626e-02 9.99086495e-01 -1.86563216e-04 1.91737387e+00] [ 1.57568242e-02 -4.87247151e-04 9.99875735e-01 2.79563021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.20925415399998 meters Centerline goodness : 0.999067 Centerline is valid? [True, True] Translation: X:186.03, Y:1.92, Z:2.80 [[ 9.98865157e-01 -4.49434859e-02 -1.57632621e-02 1.86030887e+02] [ 4.49461453e-02 9.98989394e-01 -1.85703319e-04 1.91768310e+00] [ 1.57556778e-02 -5.23005294e-04 9.99875735e-01 2.79615813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.23925415399998 meters Centerline goodness : 0.998982 Centerline is valid? [True, True] Translation: X:186.06, Y:1.92, Z:2.80 [[ 9.98770327e-01 -4.70037463e-02 -1.57632757e-02 1.86063026e+02] [ 4.70066803e-02 9.98894558e-01 -1.84540593e-04 1.91794938e+00] [ 1.57545244e-02 -5.56665593e-04 9.99875735e-01 2.79616366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.26925415399998 meters Centerline goodness : 0.998832 Centerline is valid? [True, True] Translation: X:186.10, Y:1.92, Z:2.80 [[ 9.98692580e-01 -4.86276560e-02 -1.57632891e-02 1.86095603e+02] [ 4.86308102e-02 9.98816805e-01 -1.83386494e-04 1.91811812e+00] [ 1.57535558e-02 -5.83434791e-04 9.99875735e-01 2.79638704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.29925415399998 meters Centerline goodness : 0.999045 Centerline is valid? [True, True] Translation: X:186.13, Y:1.92, Z:2.80 [[ 9.98539250e-01 -5.16806010e-02 -1.57633027e-02 1.86127483e+02] [ 5.16841533e-02 9.98663464e-01 -1.82216669e-04 1.91863085e+00] [ 1.57516515e-02 -6.32762456e-04 9.99875735e-01 2.79602616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.32925415399998 meters Centerline goodness : 0.998727 Centerline is valid? [True, True] Translation: X:186.16, Y:1.92, Z:2.80 [[ 9.98471100e-01 -5.29809382e-02 -1.57633160e-02 1.86159035e+02] [ 5.29846706e-02 9.98595309e-01 -1.81053940e-04 1.91908224e+00] [ 1.57507658e-02 -6.54436981e-04 9.99875735e-01 2.79567860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.35925415399998 meters Centerline goodness : 0.998792 Centerline is valid? [True, True] Translation: X:186.19, Y:1.92, Z:2.80 [[ 9.98446810e-01 -5.34367461e-02 -1.57633326e-02 1.86190064e+02] [ 5.34405580e-02 9.98571016e-01 -1.79602658e-04 1.91923518e+00] [ 1.57504044e-02 -6.63077587e-04 9.99875735e-01 2.79595686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.38925415399999 meters Centerline goodness : 0.998896 Centerline is valid? [True, True] Translation: X:186.22, Y:1.92, Z:2.80 [[ 9.98509321e-01 -5.22556433e-02 -1.57633423e-02 1.86221753e+02] [ 5.22593219e-02 9.98633532e-01 -1.78746325e-04 1.92058243e+00] [ 1.57511427e-02 -6.45301706e-04 9.99875735e-01 2.79624185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.419254154 meters Centerline goodness : 0.998895 Centerline is valid? [True, True] Translation: X:186.26, Y:1.92, Z:2.80 [[ 9.98554026e-01 -5.13944099e-02 -1.57629575e-02 1.86255348e+02] [ 5.13974403e-02 9.98678255e-01 -2.13074911e-04 1.92216043e+00] [ 1.57530738e-02 -5.97408858e-04 9.99875734e-01 2.79649269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.449254154 meters Centerline goodness : 0.999044 Centerline is valid? [True, True] Translation: X:186.29, Y:1.93, Z:2.80 [[ 9.98779337e-01 -4.68118794e-02 -1.57633785e-02 1.86287851e+02] [ 4.68149366e-02 9.98903564e-01 -1.75205509e-04 1.92610112e+00] [ 1.57542966e-02 -5.62969920e-04 9.99875735e-01 2.79729685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.479254154 meters Centerline goodness : 0.998979 Centerline is valid? [True, True] Translation: X:186.32, Y:1.93, Z:2.80 [[ 9.98892494e-01 -4.43317133e-02 -1.57633911e-02 1.86319294e+02] [ 4.43344801e-02 9.99016728e-01 -1.74060517e-04 1.92838931e+00] [ 1.57556078e-02 -5.24994006e-04 9.99875735e-01 2.79759685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.509254154 meters Centerline goodness : 0.999191 Centerline is valid? [True, True] Translation: X:186.35, Y:1.93, Z:2.80 [[ 9.99001907e-01 -4.17936029e-02 -1.57634005e-02 1.86350539e+02] [ 4.17960674e-02 9.99126148e-01 -1.73208798e-04 1.93041707e+00] [ 1.57568646e-02 -4.85812229e-04 9.99875735e-01 2.79771270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.539254154 meters Centerline goodness : 0.999126 Centerline is valid? [True, True] Translation: X:186.38, Y:1.93, Z:2.80 [[ 9.99083204e-01 -3.98028362e-02 -1.57634097e-02 1.86382834e+02] [ 3.98050665e-02 9.99207449e-01 -1.72366350e-04 1.93253817e+00] [ 1.57577770e-02 -4.55255244e-04 9.99875735e-01 2.79845394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.569254154 meters Centerline goodness : 0.999253 Centerline is valid? [True, True] Translation: X:186.42, Y:1.93, Z:2.80 [[ 9.99148880e-01 -3.81186410e-02 -1.57634215e-02 1.86415052e+02] [ 3.81206790e-02 9.99273128e-01 -1.71275372e-04 1.93438609e+00] [ 1.57584923e-02 -4.29782736e-04 9.99875735e-01 2.80000885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.599254154 meters Centerline goodness : 0.999232 Centerline is valid? [True, True] Translation: X:186.45, Y:1.94, Z:2.80 [[ 9.99213973e-01 -3.63723977e-02 -1.57634341e-02 1.86446715e+02] [ 3.63742370e-02 9.99338224e-01 -1.70110994e-04 1.93756520e+00] [ 1.57591896e-02 -4.03405605e-04 9.99875735e-01 2.79977736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.629254154 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:186.48, Y:1.94, Z:2.80 [[ 9.99224419e-01 -3.60842669e-02 -1.57634550e-02 1.86478460e+02] [ 3.60861012e-02 9.99348670e-01 -1.68151021e-04 1.93908539e+00] [ 1.57592554e-02 -4.00821027e-04 9.99875735e-01 2.79969945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.65925415399997 meters Centerline goodness : 0.999359 Centerline is valid? [True, True] Translation: X:186.51, Y:1.94, Z:2.80 [[ 9.99210853e-01 -3.64579780e-02 -1.57634672e-02 1.86510566e+02] [ 3.64598770e-02 9.99335104e-01 -1.66994925e-04 1.94084898e+00] [ 1.57590745e-02 -4.07870936e-04 9.99875735e-01 2.79981625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.68925415399997 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:186.54, Y:1.94, Z:2.80 [[ 9.99191779e-01 -3.69770395e-02 -1.57634794e-02 1.86542527e+02] [ 3.69790212e-02 9.99316028e-01 -1.65844030e-04 1.94245390e+00] [ 1.57588300e-02 -4.17208046e-04 9.99875735e-01 2.79959941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.71925415399997 meters Centerline goodness : 0.999252 Centerline is valid? [True, True] Translation: X:186.57, Y:1.94, Z:2.80 [[ 9.99175580e-01 -3.74122026e-02 -1.57634913e-02 1.86574967e+02] [ 3.74142565e-02 9.99299828e-01 -1.64700616e-04 1.94419887e+00] [ 1.57586160e-02 -4.25214473e-04 9.99875735e-01 2.80016763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.74925415399997 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:186.61, Y:1.95, Z:2.80 [[ 9.99157022e-01 -3.79045842e-02 -1.57635033e-02 1.86605969e+02] [ 3.79067174e-02 9.99281269e-01 -1.63546134e-04 1.94736302e+00] [ 1.57583727e-02 -4.34134396e-04 9.99875735e-01 2.79999204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.77925415399997 meters Centerline goodness : 0.999422 Centerline is valid? [True, True] Translation: X:186.64, Y:1.95, Z:2.80 [[ 9.99167744e-01 -3.76208731e-02 -1.57635121e-02 1.86638187e+02] [ 3.76229846e-02 9.99291992e-01 -1.62686954e-04 1.94905237e+00] [ 1.57584719e-02 -4.30518818e-04 9.99875735e-01 2.80107130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.80925415399997 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:186.67, Y:1.95, Z:2.80 [[ 9.99189177e-01 -3.70472714e-02 -1.57635237e-02 1.86669972e+02] [ 3.70493294e-02 9.99313425e-01 -1.61555118e-04 1.95257577e+00] [ 1.57586861e-02 -4.22603859e-04 9.99875735e-01 2.80239475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.83925415399997 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:186.70, Y:1.95, Z:2.80 [[ 9.99208364e-01 -3.65261059e-02 -1.57635353e-02 1.86702444e+02] [ 3.65281171e-02 9.99332613e-01 -1.60416915e-04 1.95442466e+00] [ 1.57588743e-02 -4.15522341e-04 9.99875735e-01 2.80355111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.86925415399998 meters Centerline goodness : 0.999356 Centerline is valid? [True, True] Translation: X:186.73, Y:1.96, Z:2.80 [[ 9.99231125e-01 -3.58980537e-02 -1.57635467e-02 1.86734951e+02] [ 3.59000046e-02 9.99355374e-01 -1.59286628e-04 1.95602892e+00] [ 1.57591032e-02 -4.06747245e-04 9.99875735e-01 2.80404471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.89925415399998 meters Centerline goodness : 0.999485 Centerline is valid? [True, True] Translation: X:186.77, Y:1.96, Z:2.81 [[ 9.99249787e-01 -3.53747524e-02 -1.57635582e-02 1.86766414e+02] [ 3.53766562e-02 9.99374038e-01 -1.58146493e-04 1.95935401e+00] [ 1.57592852e-02 -3.99634129e-04 9.99875735e-01 2.80655674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.92925415399998 meters Centerline goodness : 0.999440 Centerline is valid? [True, True] Translation: X:186.80, Y:1.96, Z:2.81 [[ 9.99275492e-01 -3.46410323e-02 -1.57635667e-02 1.86798147e+02] [ 3.46428582e-02 9.99399744e-01 -1.57297102e-04 1.96077633e+00] [ 1.57595534e-02 -3.88911866e-04 9.99875735e-01 2.80750533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.95925415399998 meters Centerline goodness : 0.999356 Centerline is valid? [True, True] Translation: X:186.83, Y:1.96, Z:2.81 [[ 9.99305828e-01 -3.37545909e-02 -1.57635778e-02 1.86829521e+02] [ 3.37563244e-02 9.99430081e-01 -1.56172849e-04 1.96228549e+00] [ 1.57598654e-02 -3.76056008e-04 9.99875735e-01 2.80817801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.98925415399998 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:186.86, Y:1.96, Z:2.81 [[ 9.99347302e-01 -3.25035148e-02 -1.57635860e-02 1.86862117e+02] [ 3.25051059e-02 9.99471557e-01 -1.55335738e-04 1.96354528e+00] [ 1.57603049e-02 -3.57162683e-04 9.99875735e-01 2.80884436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.01925415399998 meters Centerline goodness : 0.999418 Centerline is valid? [True, True] Translation: X:186.89, Y:1.96, Z:2.81 [[ 9.99398516e-01 -3.08887500e-02 -1.57635970e-02 1.86893502e+02] [ 3.08901580e-02 9.99522773e-01 -1.54218160e-04 1.96478325e+00] [ 1.57608378e-02 -3.32814601e-04 9.99875735e-01 2.80823199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.04925415399998 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:186.92, Y:1.97, Z:2.81 [[ 9.99459145e-01 -2.88604653e-02 -1.57636150e-02 1.86924552e+02] [ 2.88616505e-02 9.99583404e-01 -1.52351190e-04 1.96809757e+00] [ 1.57614449e-02 -3.02695158e-04 9.99875735e-01 2.81018771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.07925415399998 meters Centerline goodness : 0.999547 Centerline is valid? [True, True] Translation: X:186.96, Y:1.97, Z:2.81 [[ 9.99477981e-01 -2.82006072e-02 -1.57636230e-02 1.86955976e+02] [ 2.82017234e-02 9.99602241e-01 -1.51526683e-04 1.96951596e+00] [ 1.57616260e-02 -2.93113751e-04 9.99875735e-01 2.81118105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.10925415399998 meters Centerline goodness : 0.999287 Centerline is valid? [True, True] Translation: X:186.99, Y:1.97, Z:2.81 [[ 9.99485192e-01 -2.79438400e-02 -1.57636283e-02 1.86986229e+02] [ 2.79449331e-02 9.99609453e-01 -1.50965726e-04 1.97046167e+00] [ 1.57616904e-02 -2.89625531e-04 9.99875735e-01 2.81106879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.13925415399999 meters Centerline goodness : 0.999201 Centerline is valid? [True, True] Translation: X:187.02, Y:1.97, Z:2.81 [[ 9.99473101e-01 -2.83730050e-02 -1.57636310e-02 1.87017423e+02] [ 2.83741559e-02 9.99597361e-01 -1.50687559e-04 1.97126673e+00] [ 1.57615594e-02 -2.96671561e-04 9.99875735e-01 2.81069910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.169254154 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:187.05, Y:1.97, Z:2.81 [[ 9.99459419e-01 -2.88509676e-02 -1.57636365e-02 1.87047693e+02] [ 2.88521869e-02 9.99583678e-01 -1.50113333e-04 1.97152674e+00] [ 1.57614046e-02 -3.04783200e-04 9.99875735e-01 2.81000795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.199254154 meters Centerline goodness : 0.999417 Centerline is valid? [True, True] Translation: X:187.08, Y:1.97, Z:2.81 [[ 9.99442585e-01 -2.94283352e-02 -1.57636392e-02 1.87078701e+02] [ 2.94296308e-02 9.99566843e-01 -1.49828642e-04 1.97189005e+00] [ 1.57612202e-02 -3.14172956e-04 9.99875735e-01 2.81062973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.229254154 meters Centerline goodness : 0.999372 Centerline is valid? [True, True] Translation: X:187.11, Y:1.97, Z:2.81 [[ 9.99445653e-01 -2.93239626e-02 -1.57636447e-02 1.87109093e+02] [ 2.93252544e-02 9.99569911e-01 -1.49244921e-04 1.97235685e+00] [ 1.57612414e-02 -3.13110703e-04 9.99875735e-01 2.81094075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.259254154 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:187.14, Y:1.97, Z:2.81 [[ 9.99418102e-01 -3.02486174e-02 -1.57632335e-02 1.87139954e+02] [ 3.02493572e-02 9.99542365e-01 -1.91545855e-04 1.97304563e+00] [ 1.57618137e-02 -2.85393286e-04 9.99875734e-01 2.80897045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.289254154 meters Centerline goodness : 0.999350 Centerline is valid? [True, True] Translation: X:187.17, Y:1.97, Z:2.81 [[ 9.99435500e-01 -2.96679952e-02 -1.57636072e-02 1.87171708e+02] [ 2.96692696e-02 9.99559759e-01 -1.53059462e-04 1.97336701e+00] [ 1.57612084e-02 -3.14721652e-04 9.99875735e-01 2.81095937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.319254154 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:187.20, Y:1.97, Z:2.81 [[ 9.99462102e-01 -2.87578583e-02 -1.57636184e-02 1.87202728e+02] [ 2.87590378e-02 9.99586362e-01 -1.51901105e-04 1.97415681e+00] [ 1.57614663e-02 -3.01527098e-04 9.99875735e-01 2.81177264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.349254154 meters Centerline goodness : 0.999544 Centerline is valid? [True, True] Translation: X:187.23, Y:1.98, Z:2.81 [[ 9.99533405e-01 -2.61625779e-02 -1.57636239e-02 1.87234190e+02] [ 2.61634438e-02 9.99657667e-01 -1.51326634e-04 1.97535179e+00] [ 1.57621866e-02 -2.61174662e-04 9.99875735e-01 2.81285675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.379254154 meters Centerline goodness : 0.998938 Centerline is valid? [True, True] Translation: X:187.26, Y:1.98, Z:2.81 [[ 9.99571039e-01 -2.46829009e-02 -1.57636293e-02 1.87264463e+02] [ 2.46835919e-02 9.99695302e-01 -1.50754492e-04 1.97609220e+00] [ 1.57625473e-02 -2.38413169e-04 9.99875735e-01 2.81096934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.40925415399997 meters Centerline goodness : 0.999565 Centerline is valid? [True, True] Translation: X:187.30, Y:1.98, Z:2.81 [[ 9.99593705e-01 -2.37472482e-02 -1.57636887e-02 1.87295818e+02] [ 2.37479207e-02 9.99717968e-01 -1.44549035e-04 1.97684311e+00] [ 1.57626754e-02 -2.29864523e-04 9.99875735e-01 2.81392994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.43925415399997 meters Centerline goodness : 0.999500 Centerline is valid? [True, True] Translation: X:187.33, Y:1.98, Z:2.81 [[ 9.99616673e-01 -2.27599464e-02 -1.57636420e-02 1.87325890e+02] [ 2.27604187e-02 9.99740937e-01 -1.49467245e-04 1.97710645e+00] [ 1.57629601e-02 -2.09377143e-04 9.99875735e-01 2.81401335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.46925415399997 meters Centerline goodness : 0.999630 Centerline is valid? [True, True] Translation: X:187.36, Y:1.98, Z:2.81 [[ 9.99630362e-01 -2.21505320e-02 -1.57636447e-02 1.87356870e+02] [ 2.21509329e-02 9.99754627e-01 -1.49187072e-04 1.97745372e+00] [ 1.57630813e-02 -2.00047508e-04 9.99875735e-01 2.81446632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.49925415399997 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:187.39, Y:1.98, Z:2.81 [[ 9.99666663e-01 -2.04467585e-02 -1.57636447e-02 1.87387616e+02] [ 2.04469477e-02 9.99790928e-01 -1.49187072e-04 1.97711427e+00] [ 1.57633993e-02 -1.73181075e-04 9.99875735e-01 2.81498731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.52925415399997 meters Centerline goodness : 0.999544 Centerline is valid? [True, True] Translation: X:187.42, Y:1.98, Z:2.81 [[ 9.99687778e-01 -1.93869782e-02 -1.57636447e-02 1.87417476e+02] [ 1.93870356e-02 9.99812043e-01 -1.49187072e-04 1.97722363e+00] [ 1.57635741e-02 -1.56469848e-04 9.99875735e-01 2.81484962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.55925415399997 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:187.45, Y:1.98, Z:2.82 [[ 9.99717307e-01 -1.77992693e-02 -1.57636420e-02 1.87446756e+02] [ 1.77991248e-02 9.99841572e-01 -1.49471544e-04 1.97706773e+00] [ 1.57638051e-02 -1.31149742e-04 9.99875735e-01 2.81593287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.58925415399997 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:187.48, Y:1.98, Z:2.81 [[ 9.99753815e-01 -1.56146295e-02 -1.57636366e-02 1.87475460e+02] [ 1.56142046e-02 9.99878080e-01 -1.50038150e-04 1.97865843e+00] [ 1.57640575e-02 -9.61354334e-05 9.99875735e-01 2.81485991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.61925415399998 meters Centerline goodness : 0.999479 Centerline is valid? [True, True] Translation: X:187.51, Y:1.98, Z:2.82 [[ 9.99789032e-01 -1.31693906e-02 -1.57625654e-02 1.87506314e+02] [ 1.31669071e-02 9.99913278e-01 -2.61331634e-04 1.97613568e+00] [ 1.57646400e-02 5.37322677e-05 9.99875729e-01 2.81724889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.64925415399998 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:187.53, Y:1.98, Z:2.82 [[ 9.99801671e-01 -1.21707652e-02 -1.57636207e-02 1.87534691e+02] [ 1.21698871e-02 9.99925933e-01 -1.51635043e-04 1.97549458e+00] [ 1.57642987e-02 -4.02365150e-05 9.99875735e-01 2.81720434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.67925415399998 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:187.56, Y:1.98, Z:2.82 [[ 9.99798053e-01 -1.24644519e-02 -1.57635748e-02 1.87563066e+02] [ 1.24635373e-02 9.99922315e-01 -1.56266136e-04 1.97584261e+00] [ 1.57642980e-02 -4.02353232e-05 9.99875735e-01 2.81765336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.70925415399998 meters Centerline goodness : 0.999177 Centerline is valid? [True, True] Translation: X:187.59, Y:1.97, Z:2.82 [[ 9.99806736e-01 -1.17473796e-02 -1.57635275e-02 1.87590468e+02] [ 1.17463028e-02 9.99930997e-01 -1.60896026e-04 1.97493011e+00] [ 1.57643299e-02 -2.42982378e-05 9.99875735e-01 2.81736714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.73925415399998 meters Centerline goodness : 0.999393 Centerline is valid? [True, True] Translation: X:187.62, Y:1.97, Z:2.82 [[ 9.99809951e-01 -1.14705304e-02 -1.57635068e-02 1.87618273e+02] [ 1.14693876e-02 9.99934211e-01 -1.62900412e-04 1.97379165e+00] [ 1.57643383e-02 -1.79283167e-05 9.99875735e-01 2.81734485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.76925415399998 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:187.65, Y:1.97, Z:2.82 [[ 9.99803645e-01 -1.20077129e-02 -1.57634580e-02 1.87646051e+02] [ 1.20065644e-02 9.99927905e-01 -1.67499219e-04 1.97090442e+00] [ 1.57643328e-02 -2.17986437e-05 9.99875735e-01 2.81633884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.79925415399998 meters Centerline goodness : 0.999199 Centerline is valid? [True, True] Translation: X:187.67, Y:1.97, Z:2.82 [[ 9.99791320e-01 -1.29934773e-02 -1.57634427e-02 1.87674344e+02] [ 1.29924288e-02 9.99915581e-01 -1.68922959e-04 1.96939031e+00] [ 1.57643069e-02 -3.59176987e-05 9.99875735e-01 2.81625608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.82925415399998 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:187.70, Y:1.97, Z:2.82 [[ 9.99771236e-01 -1.44565057e-02 -1.57633936e-02 1.87702704e+02] [ 1.44555686e-02 9.99895498e-01 -1.73391055e-04 1.96780569e+00] [ 1.57642529e-02 -5.45174279e-05 9.99875735e-01 2.81616477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.85925415399998 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:187.73, Y:1.97, Z:2.82 [[ 9.99744945e-01 -1.61728683e-02 -1.57633435e-02 1.87729337e+02] [ 1.61720746e-02 9.99869208e-01 -1.77829107e-04 1.96595922e+00] [ 1.57641578e-02 -7.71422158e-05 9.99875735e-01 2.81576067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.88925415399999 meters Centerline goodness : 0.999226 Centerline is valid? [True, True] Translation: X:187.76, Y:1.97, Z:2.81 [[ 9.99618985e-01 -2.26583924e-02 -1.57633215e-02 1.87756215e+02] [ 2.26583745e-02 9.99743250e-01 -1.79755933e-04 1.96591088e+00] [ 1.57633473e-02 -1.77483799e-04 9.99875735e-01 2.81388054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.919254154 meters Centerline goodness : 0.999034 Centerline is valid? [True, True] Translation: X:187.79, Y:1.96, Z:2.81 [[ 9.99613683e-01 -2.28930401e-02 -1.57605266e-02 1.87787986e+02] [ 2.28894325e-02 9.99737919e-01 -4.09270083e-04 1.96017526e+00] [ 1.57657655e-02 4.83624640e-05 9.99875711e-01 2.81146766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.949254154 meters Centerline goodness : 0.999420 Centerline is valid? [True, True] Translation: X:187.82, Y:1.96, Z:2.81 [[ 9.99492570e-01 -2.76789912e-02 -1.57631103e-02 1.87816788e+02] [ 2.76793707e-02 9.99616834e-01 -1.94134966e-04 1.96184712e+00] [ 1.57624439e-02 -2.42276518e-04 9.99875736e-01 2.81253372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.979254154 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:187.85, Y:1.96, Z:2.81 [[ 9.99492994e-01 -2.76647809e-02 -1.57611789e-02 1.87848399e+02] [ 2.76625934e-02 9.99617254e-01 -3.56825252e-04 1.95601016e+00] [ 1.57650179e-02 -7.93507439e-05 9.99875721e-01 2.81494535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.009254154 meters Centerline goodness : 0.999147 Centerline is valid? [True, True] Translation: X:187.88, Y:1.95, Z:2.82 [[ 9.99316677e-01 -3.34321940e-02 -1.57628476e-02 1.87878384e+02] [ 3.34329594e-02 9.99440939e-01 -2.15029643e-04 1.95228801e+00] [ 1.57612242e-02 -3.12115937e-04 9.99875735e-01 2.81579935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.039254154 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:187.92, Y:1.94, Z:2.81 [[ 9.99411530e-01 -3.04649980e-02 -1.57632026e-02 1.87916021e+02] [ 3.04658720e-02 9.99535791e-01 -1.84742756e-04 1.94488822e+00] [ 1.57615134e-02 -2.95605672e-04 9.99875736e-01 2.81301396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.069254154 meters Centerline goodness : 0.999063 Centerline is valid? [True, True] Translation: X:187.94, Y:1.95, Z:2.82 [[ 9.99121847e-01 -3.88188486e-02 -1.57680516e-02 1.87936939e+02] [ 3.88274845e-02 9.99245900e-01 2.41802973e-04 1.94924307e+00] [ 1.57467744e-02 -8.53824411e-04 9.99875647e-01 2.81674184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.099254154 meters Centerline goodness : 0.999127 Centerline is valid? [True, True] Translation: X:187.97, Y:1.95, Z:2.82 [[ 9.99030841e-01 -4.10964137e-02 -1.57627182e-02 1.87969477e+02] [ 4.10984749e-02 9.99155082e-01 -1.93278082e-04 1.94807608e+00] [ 1.57573431e-02 -4.54732915e-04 9.99875742e-01 2.81795212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.129254154 meters Centerline goodness : 0.999065 Centerline is valid? [True, True] Translation: X:188.00, Y:1.95, Z:2.82 [[ 9.98823927e-01 -4.58508348e-02 -1.57627322e-02 1.88002102e+02] [ 4.58535055e-02 9.98948156e-01 -1.92128971e-04 1.94581635e+00] [ 1.57549616e-02 -5.30873515e-04 9.99875742e-01 2.81920625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.15925415399997 meters Centerline goodness : 0.999087 Centerline is valid? [True, True] Translation: X:188.03, Y:1.95, Z:2.82 [[ 9.98718610e-01 -4.80902730e-02 -1.57627462e-02 1.88034728e+02] [ 4.80932404e-02 9.98842832e-01 -1.90973424e-04 1.94510212e+00] [ 1.57536900e-02 -5.67352831e-04 9.99875742e-01 2.82009949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.18925415399997 meters Centerline goodness : 0.998981 Centerline is valid? [True, True] Translation: X:188.07, Y:1.94, Z:2.82 [[ 9.98615633e-01 -5.01832021e-02 -1.57627601e-02 1.88067573e+02] [ 5.01864480e-02 9.98739848e-01 -1.89824184e-04 1.94454570e+00] [ 1.57524226e-02 -6.01515541e-04 9.99875742e-01 2.82063545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.21925415399997 meters Centerline goodness : 0.998962 Centerline is valid? [True, True] Translation: X:188.10, Y:1.94, Z:2.82 [[ 9.98542164e-01 -5.16244289e-02 -1.57627809e-02 1.88098585e+02] [ 5.16278816e-02 9.98666374e-01 -1.88079826e-04 1.94360954e+00] [ 1.57514687e-02 -6.25993349e-04 9.99875742e-01 2.82012446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.24925415399997 meters Centerline goodness : 0.999004 Centerline is valid? [True, True] Translation: X:188.13, Y:1.94, Z:2.82 [[ 9.98351362e-01 -5.51914240e-02 -1.57627911e-02 1.88130350e+02] [ 5.51953340e-02 9.98475558e-01 -1.87216725e-04 1.94200352e+00] [ 1.57490944e-02 -6.83124449e-04 9.99875742e-01 2.82088160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.27925415399997 meters Centerline goodness : 0.999089 Centerline is valid? [True, True] Translation: X:188.16, Y:1.94, Z:2.82 [[ 9.98291201e-01 -5.62691031e-02 -1.57628079e-02 1.88162494e+02] [ 5.62731696e-02 9.98415392e-01 -1.85793396e-04 1.94149573e+00] [ 1.57482845e-02 -7.01547250e-04 9.99875742e-01 2.82134172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.30925415399997 meters Centerline goodness : 0.998981 Centerline is valid? [True, True] Translation: X:188.20, Y:1.94, Z:2.82 [[ 9.98245061e-01 -5.70818052e-02 -1.57628211e-02 1.88196463e+02] [ 5.70859905e-02 9.98369248e-01 -1.84666126e-04 1.94114992e+00] [ 1.57476569e-02 -7.15494209e-04 9.99875742e-01 2.82274795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.33925415399997 meters Centerline goodness : 0.999109 Centerline is valid? [True, True] Translation: X:188.23, Y:1.94, Z:2.82 [[ 9.98196022e-01 -5.79328480e-02 -1.57634800e-02 1.88226943e+02] [ 5.79380393e-02 9.98320173e-01 -1.27538116e-04 1.94159323e+00] [ 1.57443887e-02 -7.85997086e-04 9.99875740e-01 2.82302970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.36925415399998 meters Centerline goodness : 0.998982 Centerline is valid? [True, True] Translation: X:188.26, Y:1.94, Z:2.82 [[ 9.98072515e-01 -6.00232225e-02 -1.57628440e-02 1.88257490e+02] [ 6.00278082e-02 9.98196689e-01 -1.82481974e-04 1.94341424e+00] [ 1.57453718e-02 -7.64078733e-04 9.99875742e-01 2.82140130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.39925415399998 meters Centerline goodness : 0.998876 Centerline is valid? [True, True] Translation: X:188.29, Y:1.94, Z:2.82 [[ 9.98144367e-01 -5.88164514e-02 -1.57622342e-02 1.88289243e+02] [ 5.88200593e-02 9.98268574e-01 -2.35002659e-04 1.94171810e+00] [ 1.57487651e-02 -6.92568974e-04 9.99875741e-01 2.82357926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.42925415399998 meters Centerline goodness : 0.999130 Centerline is valid? [True, True] Translation: X:188.32, Y:1.94, Z:2.82 [[ 9.98151403e-01 -5.86967499e-02 -1.57628581e-02 1.88320901e+02] [ 5.87012011e-02 9.98275581e-01 -1.80540310e-04 1.94167789e+00] [ 1.57462734e-02 -7.45092137e-04 9.99875742e-01 2.82310180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.45925415399998 meters Centerline goodness : 0.999001 Centerline is valid? [True, True] Translation: X:188.35, Y:1.94, Z:2.82 [[ 9.98158121e-01 -5.85824025e-02 -1.57628679e-02 1.88352988e+02] [ 5.85868531e-02 9.98282299e-01 -1.79677206e-04 1.94213277e+00] [ 1.57463179e-02 -7.44150564e-04 9.99875742e-01 2.82410962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.48925415399998 meters Centerline goodness : 0.999109 Centerline is valid? [True, True] Translation: X:188.38, Y:1.94, Z:2.82 [[ 9.98258766e-01 -5.68415941e-02 -1.57628809e-02 1.88383488e+02] [ 5.68458462e-02 9.98382952e-01 -1.78530660e-04 1.94245794e+00] [ 1.57475395e-02 -7.17834506e-04 9.99875742e-01 2.82240394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.51925415399998 meters Centerline goodness : 0.999044 Centerline is valid? [True, True] Translation: X:188.42, Y:1.94, Z:2.82 [[ 9.98298451e-01 -5.61405580e-02 -1.57619830e-02 1.88417525e+02] [ 5.61434844e-02 9.98422678e-01 -2.57118351e-04 1.94370937e+00] [ 1.57515560e-02 -6.28251794e-04 9.99875739e-01 2.82368856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.54925415399998 meters Centerline goodness : 0.999130 Centerline is valid? [True, True] Translation: X:188.45, Y:1.94, Z:2.82 [[ 9.98382456e-01 -5.46260195e-02 -1.57628895e-02 1.88449763e+02] [ 5.46300377e-02 9.98506649e-01 -1.75883447e-04 1.94478676e+00] [ 1.57489577e-02 -6.85528298e-04 9.99875742e-01 2.82372345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.57925415399998 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:188.48, Y:1.95, Z:2.82 [[ 9.98478318e-01 -5.28448651e-02 -1.57629019e-02 1.88482162e+02] [ 5.28486794e-02 9.98602517e-01 -1.74760891e-04 1.94618248e+00] [ 1.57501087e-02 -6.58553589e-04 9.99875742e-01 2.82454354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.60925415399998 meters Centerline goodness : 0.999234 Centerline is valid? [True, True] Translation: X:188.51, Y:1.95, Z:2.82 [[ 9.98589700e-01 -5.06965602e-02 -1.57629146e-02 1.88513522e+02] [ 5.07001255e-02 9.98713907e-01 -1.73611149e-04 1.94782532e+00] [ 1.57514435e-02 -6.25815442e-04 9.99875742e-01 2.82426778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.63925415399999 meters Centerline goodness : 0.999128 Centerline is valid? [True, True] Translation: X:188.55, Y:1.95, Z:2.83 [[ 9.98707803e-01 -4.83141162e-02 -1.57629239e-02 1.88545663e+02] [ 4.83173986e-02 9.98832017e-01 -1.72755201e-04 1.94968050e+00] [ 1.57528596e-02 -5.89091512e-04 9.99875742e-01 2.82512391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.669254154 meters Centerline goodness : 0.999086 Centerline is valid? [True, True] Translation: X:188.58, Y:1.95, Z:2.83 [[ 9.98971440e-01 -4.25157765e-02 -1.57629361e-02 1.88577436e+02] [ 4.25183553e-02 9.99095671e-01 -1.71642650e-04 1.95327315e+00] [ 1.57559787e-02 -4.98748011e-04 9.99875742e-01 2.82791211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.699254154 meters Centerline goodness : 0.999296 Centerline is valid? [True, True] Translation: X:188.61, Y:1.96, Z:2.83 [[ 9.99114603e-01 -3.90069252e-02 -1.57629485e-02 1.88608257e+02] [ 3.90090857e-02 9.99238841e-01 -1.70496588e-04 1.95535882e+00] [ 1.57576009e-02 -4.44552577e-04 9.99875742e-01 2.82901166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.729254154 meters Centerline goodness : 0.999574 Centerline is valid? [True, True] Translation: X:188.64, Y:1.96, Z:2.83 [[ 9.99254124e-01 -3.52523104e-02 -1.57629684e-02 1.88639919e+02] [ 3.52540334e-02 9.99378369e-01 -1.68633131e-04 1.95732887e+00] [ 1.57591144e-02 -3.87200864e-04 9.99875742e-01 2.83072428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.759254154 meters Centerline goodness : 0.999637 Centerline is valid? [True, True] Translation: X:188.67, Y:1.96, Z:2.83 [[ 9.99379308e-01 -3.15043914e-02 -1.57629877e-02 1.88672077e+02] [ 3.15056773e-02 9.99503559e-01 -1.66806442e-04 1.95929795e+00] [ 1.57604175e-02 -3.29920698e-04 9.99875742e-01 2.83160069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.789254154 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:188.70, Y:1.96, Z:2.83 [[ 9.99598842e-01 -2.35304718e-02 -1.57629996e-02 1.88703222e+02] [ 2.35307841e-02 9.99723099e-01 -1.65679753e-04 1.96277442e+00] [ 1.57625333e-02 -2.05302450e-04 9.99875742e-01 2.83332129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.819254154 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:188.73, Y:1.96, Z:2.83 [[ 9.99691823e-01 -1.91777739e-02 -1.57630056e-02 1.88732793e+02] [ 1.91775543e-02 9.99816080e-01 -1.65102586e-04 1.96488264e+00] [ 1.57632728e-02 -1.37244190e-04 9.99875742e-01 2.83219458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.849254154 meters Centerline goodness : 0.999442 Centerline is valid? [True, True] Translation: X:188.76, Y:1.97, Z:2.83 [[ 9.99739223e-01 -1.65235647e-02 -1.57625363e-02 1.88762354e+02] [ 1.65223176e-02 9.99863475e-01 -2.09350255e-04 1.96648932e+00] [ 1.57638435e-02 -5.11379687e-05 9.99875742e-01 2.83436251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.879254154 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:188.79, Y:1.97, Z:2.83 [[ 9.99784357e-01 -1.35191851e-02 -1.57629715e-02 1.88790360e+02] [ 1.35182059e-02 9.99908611e-01 -1.68676075e-04 1.96787246e+00] [ 1.57638113e-02 -4.44473933e-05 9.99875742e-01 2.83403619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.90925415399997 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:188.82, Y:1.97, Z:2.84 [[ 9.99811299e-01 -1.13532667e-02 -1.57629477e-02 1.88817921e+02] [ 1.13519836e-02 9.99935550e-01 -1.70876635e-04 1.96892888e+00] [ 1.57638717e-02 -8.09633396e-06 9.99875742e-01 2.83552006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.93925415399997 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:188.84, Y:1.97, Z:2.84 [[ 9.99829778e-01 -9.58884433e-03 -1.57628970e-02 1.88844658e+02] [ 9.58727019e-03 9.99954026e-01 -1.75428572e-04 1.96954971e+00] [ 1.57638545e-02 2.42755581e-05 9.99875742e-01 2.83555490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.96925415399997 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:188.87, Y:1.97, Z:2.83 [[ 9.99844800e-01 -7.86812275e-03 -1.57628616e-02 1.88871141e+02] [ 7.86628547e-03 9.99969044e-01 -1.78556393e-04 1.97013270e+00] [ 1.57637785e-02 5.45335127e-05 9.99875742e-01 2.83481891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.99925415399997 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:188.90, Y:1.97, Z:2.84 [[ 9.99842925e-01 -8.10292154e-03 -1.57628396e-02 1.88898863e+02] [ 8.10108312e-03 9.99967169e-01 -1.80479613e-04 1.97037517e+00] [ 1.57637845e-02 5.27551908e-05 9.99875742e-01 2.83683627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.02925415399997 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:188.93, Y:1.97, Z:2.84 [[ 9.99835839e-01 -8.93477700e-03 -1.57627867e-02 1.88926800e+02] [ 8.93297095e-03 9.99960083e-01 -1.84982986e-04 1.97054127e+00] [ 1.57638103e-02 4.41441028e-05 9.99875742e-01 2.83794975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.05925415399997 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:188.95, Y:1.97, Z:2.84 [[ 9.99815765e-01 -1.09531594e-02 -1.57627315e-02 1.88953419e+02] [ 1.09515317e-02 9.99940012e-01 -1.89574014e-04 1.97025271e+00] [ 1.57638624e-02 1.69130335e-05 9.99875742e-01 2.83756697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.08925415399997 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:188.98, Y:1.97, Z:2.84 [[ 9.99795176e-01 -1.26942475e-02 -1.57627073e-02 1.88981260e+02] [ 1.26928049e-02 9.99919425e-01 -1.91560905e-04 1.97018216e+00] [ 1.57638690e-02 -8.55130064e-06 9.99875742e-01 2.83855663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.11925415399998 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:189.01, Y:1.97, Z:2.84 [[ 9.99774501e-01 -1.42297865e-02 -1.57626503e-02 1.89007819e+02] [ 1.42284625e-02 9.99898751e-01 -1.96141506e-04 1.96989630e+00] [ 1.57638454e-02 -2.81810042e-05 9.99875742e-01 2.83868541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.14925415399998 meters Centerline goodness : 0.999527 Centerline is valid? [True, True] Translation: X:189.04, Y:1.97, Z:2.84 [[ 9.99712619e-01 -1.80615211e-02 -1.57626254e-02 1.89035448e+02] [ 1.80606421e-02 9.99836874e-01 -1.98128184e-04 1.96874614e+00] [ 1.57636326e-02 -8.66118888e-05 9.99875742e-01 2.83937916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.17925415399998 meters Centerline goodness : 0.999528 Centerline is valid? [True, True] Translation: X:189.06, Y:1.97, Z:2.84 [[ 9.99654437e-01 -2.10367823e-02 -1.57626033e-02 1.89064229e+02] [ 2.10362456e-02 9.99778694e-01 -1.99871689e-04 1.96857026e+00] [ 1.57633196e-02 -1.31783373e-04 9.99875742e-01 2.84019736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.20925415399998 meters Centerline goodness : 0.999507 Centerline is valid? [True, True] Translation: X:189.09, Y:1.97, Z:2.84 [[ 9.99594465e-01 -2.37159849e-02 -1.57625510e-02 1.89092676e+02] [ 2.37157175e-02 9.99718722e-01 -2.03915502e-04 1.96836606e+00] [ 1.57629534e-02 -1.69987398e-04 9.99875742e-01 2.84061419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.23925415399998 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:189.12, Y:1.97, Z:2.84 [[ 9.99528111e-01 -2.63647045e-02 -1.57625398e-02 1.89122548e+02] [ 2.63647528e-02 9.99652369e-01 -2.04774409e-04 1.96821402e+00] [ 1.57624591e-02 -2.10897686e-04 9.99875742e-01 2.84003483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.26925415399998 meters Centerline goodness : 0.999572 Centerline is valid? [True, True] Translation: X:189.15, Y:1.97, Z:2.84 [[ 9.99464008e-01 -2.86921477e-02 -1.57625404e-02 1.89153928e+02] [ 2.86924860e-02 9.99588265e-01 -2.04727603e-04 1.96804573e+00] [ 1.57619245e-02 -2.47648600e-04 9.99875742e-01 2.84200042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.29925415399998 meters Centerline goodness : 0.999380 Centerline is valid? [True, True] Translation: X:189.19, Y:1.97, Z:2.84 [[ 9.99370289e-01 -3.17894152e-02 -1.57625476e-02 1.89185702e+02] [ 3.17901474e-02 9.99494545e-01 -2.04171971e-04 1.96748664e+00] [ 1.57610708e-02 -2.97050311e-04 9.99875742e-01 2.84248389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.32925415399998 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:189.22, Y:1.97, Z:2.84 [[ 9.99345570e-01 -3.25572420e-02 -1.57625548e-02 1.89217004e+02] [ 3.25580784e-02 9.99469824e-01 -2.03615589e-04 1.96754559e+00] [ 1.57608270e-02 -3.09716158e-04 9.99875742e-01 2.84365357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.35925415399998 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:189.25, Y:1.97, Z:2.84 [[ 9.99322440e-01 -3.32596234e-02 -1.57625622e-02 1.89248002e+02] [ 3.32605563e-02 9.99446694e-01 -2.03038996e-04 1.96772689e+00] [ 1.57605937e-02 -3.21370162e-04 9.99875742e-01 2.84427127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.38925415399999 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:189.28, Y:1.97, Z:2.84 [[ 9.99316579e-01 -3.34352437e-02 -1.57625697e-02 1.89279643e+02] [ 3.34362076e-02 9.99440833e-01 -2.02454805e-04 1.96752684e+00] [ 1.57605249e-02 -3.24724110e-04 9.99875742e-01 2.84393457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.419254154 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:189.31, Y:1.97, Z:2.84 [[ 9.99316334e-01 -3.34425723e-02 -1.57625809e-02 1.89311699e+02] [ 3.34435508e-02 9.99440588e-01 -2.01581981e-04 1.96750339e+00] [ 1.57605045e-02 -3.25712509e-04 9.99875742e-01 2.84427165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.449254154 meters Centerline goodness : 0.999594 Centerline is valid? [True, True] Translation: X:189.34, Y:1.97, Z:2.84 [[ 9.99327998e-01 -3.30921811e-02 -1.57625957e-02 1.89344369e+02] [ 3.30931344e-02 9.99452252e-01 -2.00419808e-04 1.96724780e+00] [ 1.57605941e-02 -3.21348571e-04 9.99875742e-01 2.84389387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.479254154 meters Centerline goodness : 0.999531 Centerline is valid? [True, True] Translation: X:189.38, Y:1.97, Z:2.84 [[ 9.99336687e-01 -3.28287533e-02 -1.57626103e-02 1.89376967e+02] [ 3.28296921e-02 9.99460941e-01 -1.99262650e-04 1.96756003e+00] [ 1.57606548e-02 -3.18351166e-04 9.99875742e-01 2.84388561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.509254154 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:189.41, Y:1.97, Z:2.84 [[ 9.99355736e-01 -3.22436379e-02 -1.57626247e-02 1.89408548e+02] [ 3.22445220e-02 9.99479991e-01 -1.98116123e-04 1.96770691e+00] [ 1.57608160e-02 -3.10269815e-04 9.99875742e-01 2.84397348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.539254154 meters Centerline goodness : 0.999424 Centerline is valid? [True, True] Translation: X:189.44, Y:1.97, Z:2.84 [[ 9.99367621e-01 -3.18731534e-02 -1.57626319e-02 1.89439836e+02] [ 3.18740005e-02 9.99491875e-01 -1.97544018e-04 1.96815357e+00] [ 1.57609188e-02 -3.04999041e-04 9.99875742e-01 2.84371291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.569254154 meters Centerline goodness : 0.999424 Centerline is valid? [True, True] Translation: X:189.47, Y:1.97, Z:2.84 [[ 9.99368765e-01 -3.18372549e-02 -1.57626425e-02 1.89471675e+02] [ 3.18381110e-02 9.99493019e-01 -1.96689267e-04 1.96852030e+00] [ 1.57609132e-02 -3.05287653e-04 9.99875742e-01 2.84421464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.599254154 meters Centerline goodness : 0.999211 Centerline is valid? [True, True] Translation: X:189.50, Y:1.97, Z:2.84 [[ 9.99385650e-01 -3.13027266e-02 -1.57626496e-02 1.89502707e+02] [ 3.13035252e-02 9.99509905e-01 -1.96123197e-04 1.96878467e+00] [ 1.57610636e-02 -2.97423789e-04 9.99875742e-01 2.84388042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.629254154 meters Centerline goodness : 0.999295 Centerline is valid? [True, True] Translation: X:189.53, Y:1.97, Z:2.84 [[ 9.99379458e-01 -3.14998007e-02 -1.57626567e-02 1.89533633e+02] [ 3.15006329e-02 9.99503713e-01 -1.95546849e-04 1.96945263e+00] [ 1.57609936e-02 -3.01108160e-04 9.99875742e-01 2.84484102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.65925415399997 meters Centerline goodness : 0.999446 Centerline is valid? [True, True] Translation: X:189.57, Y:1.97, Z:2.84 [[ 9.99361747e-01 -3.20567679e-02 -1.57626639e-02 1.89565092e+02] [ 3.20576785e-02 9.99486002e-01 -1.94964811e-04 1.96991821e+00] [ 1.57608119e-02 -3.10474038e-04 9.99875742e-01 2.84476267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.68925415399997 meters Centerline goodness : 0.999637 Centerline is valid? [True, True] Translation: X:189.60, Y:1.97, Z:2.85 [[ 9.99274019e-01 -3.46839097e-02 -1.57626746e-02 1.89597705e+02] [ 3.46851606e-02 9.99398270e-01 -1.94095184e-04 1.96995786e+00] [ 1.57599217e-02 -3.52776627e-04 9.99875742e-01 2.84586892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.71925415399997 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:189.63, Y:1.97, Z:2.85 [[ 9.99206038e-01 -3.65900334e-02 -1.57626889e-02 1.89629248e+02] [ 3.65915398e-02 9.99330287e-01 -1.92926045e-04 1.96976797e+00] [ 1.57591916e-02 -3.84008191e-04 9.99875742e-01 2.84551392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.74925415399997 meters Centerline goodness : 0.999445 Centerline is valid? [True, True] Translation: X:189.66, Y:1.97, Z:2.85 [[ 9.99108115e-01 -3.91728543e-02 -1.57626996e-02 1.89661762e+02] [ 3.91746956e-02 9.99232359e-01 -1.92054067e-04 1.96958001e+00] [ 1.57581228e-02 -4.25616181e-04 9.99875742e-01 2.84611829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.77925415399997 meters Centerline goodness : 0.999212 Centerline is valid? [True, True] Translation: X:189.69, Y:1.97, Z:2.85 [[ 9.98876003e-01 -4.47019883e-02 -1.57627134e-02 1.89694197e+02] [ 4.47045352e-02 9.99000234e-01 -1.90911321e-04 1.96870114e+00] [ 1.57554885e-02 -5.13968040e-04 9.99875742e-01 2.84615729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.80925415399997 meters Centerline goodness : 0.999488 Centerline is valid? [True, True] Translation: X:189.73, Y:1.97, Z:2.85 [[ 9.98753231e-01 -4.73658198e-02 -1.57627274e-02 1.89726891e+02] [ 4.73687164e-02 9.98877454e-01 -1.89752031e-04 1.96867306e+00] [ 1.57540207e-02 -5.57144708e-04 9.99875742e-01 2.84625137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.83925415399997 meters Centerline goodness : 0.999340 Centerline is valid? [True, True] Translation: X:189.76, Y:1.97, Z:2.85 [[ 9.98638496e-01 -4.97261498e-02 -1.57627412e-02 1.89759786e+02] [ 4.97293582e-02 9.98762712e-01 -1.88596356e-04 1.96885196e+00] [ 1.57526163e-02 -5.95531421e-04 9.99875742e-01 2.84617759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.86925415399998 meters Centerline goodness : 0.999296 Centerline is valid? [True, True] Translation: X:189.79, Y:1.97, Z:2.85 [[ 9.98547628e-01 -5.15186323e-02 -1.57627617e-02 1.89792610e+02] [ 5.15220909e-02 9.98671838e-01 -1.86869035e-04 1.96926461e+00] [ 1.57514534e-02 -6.25532808e-04 9.99875742e-01 2.84642632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.89925415399998 meters Centerline goodness : 0.998893 Centerline is valid? [True, True] Translation: X:189.82, Y:1.97, Z:2.85 [[ 9.98453266e-01 -5.33161345e-02 -1.57627822e-02 1.89824763e+02] [ 5.33198442e-02 9.98577468e-01 -1.85121671e-04 1.97009679e+00] [ 1.57502291e-02 -6.55633753e-04 9.99875742e-01 2.84610801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.92925415399998 meters Centerline goodness : 0.999360 Centerline is valid? [True, True] Translation: X:189.86, Y:1.97, Z:2.85 [[ 9.98376537e-01 -5.47341351e-02 -1.57627990e-02 1.89857163e+02] [ 5.47380439e-02 9.98500733e-01 -1.83675127e-04 1.97142675e+00] [ 1.57492197e-02 -6.79447849e-04 9.99875742e-01 2.84725545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.95925415399998 meters Centerline goodness : 0.999212 Centerline is valid? [True, True] Translation: X:189.89, Y:1.97, Z:2.85 [[ 9.98364511e-01 -5.49530466e-02 -1.57628123e-02 1.89889023e+02] [ 5.49570007e-02 9.98488705e-01 -1.82531276e-04 1.97264987e+00] [ 1.57490207e-02 -6.84044138e-04 9.99875742e-01 2.84801504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.98925415399998 meters Centerline goodness : 0.999338 Centerline is valid? [True, True] Translation: X:189.92, Y:1.97, Z:2.85 [[ 9.98391795e-01 -5.44550914e-02 -1.57628255e-02 1.89921167e+02] [ 5.44590017e-02 9.98515991e-01 -1.81385349e-04 1.97395505e+00] [ 1.57493107e-02 -6.77334094e-04 9.99875742e-01 2.84948718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.01925415399998 meters Centerline goodness : 0.999125 Centerline is valid? [True, True] Translation: X:189.95, Y:1.98, Z:2.85 [[ 9.98486047e-01 -5.26986331e-02 -1.57628387e-02 1.89953677e+02] [ 5.27023431e-02 9.98610250e-01 -1.80226051e-04 1.97694946e+00] [ 1.57504300e-02 -6.50785338e-04 9.99875742e-01 2.85155543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.04925415399998 meters Centerline goodness : 0.999125 Centerline is valid? [True, True] Translation: X:189.99, Y:1.98, Z:2.85 [[ 9.98491947e-01 -5.25867271e-02 -1.57628521e-02 1.89987214e+02] [ 5.25904417e-02 9.98616149e-01 -1.79052423e-04 1.97724250e+00] [ 1.57504544e-02 -6.50192950e-04 9.99875742e-01 2.85208381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.07925415399998 meters Centerline goodness : 0.999127 Centerline is valid? [True, True] Translation: X:190.02, Y:1.98, Z:2.85 [[ 9.98624299e-01 -5.00104209e-02 -1.57628719e-02 1.90018240e+02] [ 5.00138429e-02 9.98748509e-01 -1.77285865e-04 1.98067409e+00] [ 1.57520110e-02 -6.11319827e-04 9.99875742e-01 2.85358531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.10925415399998 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:190.05, Y:1.98, Z:2.85 [[ 9.98683689e-01 -4.88100461e-02 -1.57628817e-02 1.90050568e+02] [ 4.88133325e-02 9.98807903e-01 -1.76411792e-04 1.98257777e+00] [ 1.57527015e-02 -5.93259208e-04 9.99875742e-01 2.85446980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.13925415399999 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:190.08, Y:1.98, Z:2.86 [[ 9.98750664e-01 -4.74198442e-02 -1.57628976e-02 1.90082924e+02] [ 4.74229804e-02 9.98874882e-01 -1.74977478e-04 1.98424542e+00] [ 1.57534599e-02 -5.72764714e-04 9.99875743e-01 2.85564663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.169254154 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:190.12, Y:1.99, Z:2.86 [[ 9.98885376e-01 -4.44919828e-02 -1.57629100e-02 1.90115539e+02] [ 4.44947725e-02 9.99009602e-01 -1.73858433e-04 1.98746414e+00] [ 1.57550337e-02 -5.27702448e-04 9.99875743e-01 2.85690484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.199254154 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:190.15, Y:1.99, Z:2.86 [[ 9.98964883e-01 -4.26695703e-02 -1.57629226e-02 1.90147630e+02] [ 4.26721514e-02 9.99089114e-01 -1.72707706e-04 1.98919706e+00] [ 1.57559337e-02 -5.00108887e-04 9.99875743e-01 2.85727598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.229254154 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:190.18, Y:1.99, Z:2.86 [[ 9.99046355e-01 -4.07174480e-02 -1.57629351e-02 1.90178785e+02] [ 4.07198046e-02 9.99170590e-01 -1.71553632e-04 1.99092467e+00] [ 1.57568464e-02 -4.70473608e-04 9.99875743e-01 2.85746002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.259254154 meters Centerline goodness : 0.999140 Centerline is valid? [True, True] Translation: X:190.21, Y:1.99, Z:2.86 [[ 9.99137153e-01 -3.84249814e-02 -1.57629558e-02 1.90210799e+02] [ 3.84270832e-02 9.99261392e-01 -1.69634741e-04 1.99250773e+00] [ 1.57578314e-02 -4.36236042e-04 9.99875743e-01 2.85777050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.289254154 meters Centerline goodness : 0.999201 Centerline is valid? [True, True] Translation: X:190.24, Y:2.00, Z:2.86 [[ 9.99299573e-01 -3.39395301e-02 -1.57629679e-02 1.90243437e+02] [ 3.39410921e-02 9.99423821e-01 -1.68501391e-04 1.99567250e+00] [ 1.57596045e-02 -3.66628977e-04 9.99875743e-01 2.85827254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.319254154 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:190.28, Y:2.00, Z:2.86 [[ 9.99364539e-01 -3.19694629e-02 -1.57629801e-02 1.90275249e+02] [ 3.19707981e-02 9.99488789e-01 -1.67348926e-04 1.99769871e+00] [ 1.57602720e-02 -3.36712473e-04 9.99875743e-01 2.85872616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.349254154 meters Centerline goodness : 0.999308 Centerline is valid? [True, True] Translation: X:190.31, Y:2.00, Z:2.86 [[ 9.99426023e-01 -2.99858817e-02 -1.57629922e-02 1.90306016e+02] [ 2.99869883e-02 9.99550275e-01 -1.66204575e-04 1.99937734e+00] [ 1.57608870e-02 -3.06575485e-04 9.99875743e-01 2.85906903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.379254154 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:190.34, Y:2.00, Z:2.86 [[ 9.99473725e-01 -2.83513775e-02 -1.57630012e-02 1.90337133e+02] [ 2.83522943e-02 9.99597979e-01 -1.65351704e-04 2.00094094e+00] [ 1.57613521e-02 -2.81652565e-04 9.99875743e-01 2.85920426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.40925415399997 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:190.37, Y:2.00, Z:2.86 [[ 9.99515051e-01 -2.68550043e-02 -1.57630070e-02 1.90368479e+02] [ 2.68557439e-02 9.99639306e-01 -1.64789770e-04 2.00213371e+00] [ 1.57617468e-02 -2.58617425e-04 9.99875743e-01 2.85931873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.43925415399997 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:190.40, Y:2.00, Z:2.86 [[ 9.99535760e-01 -2.60728114e-02 -1.57630129e-02 1.90398958e+02] [ 2.60734627e-02 9.99660016e-01 -1.64230590e-04 2.00343318e+00] [ 1.57619356e-02 -2.46841980e-04 9.99875743e-01 2.85927139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.46925415399997 meters Centerline goodness : 0.999328 Centerline is valid? [True, True] Translation: X:190.43, Y:2.00, Z:2.86 [[ 9.99561746e-01 -2.50568000e-02 -1.57630157e-02 1.90430750e+02] [ 2.50573293e-02 9.99686002e-01 -1.63953668e-04 2.00478250e+00] [ 1.57621743e-02 -2.31097260e-04 9.99875743e-01 2.85870965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.49925415399997 meters Centerline goodness : 0.999198 Centerline is valid? [True, True] Translation: X:190.46, Y:2.01, Z:2.86 [[ 9.99561421e-01 -2.50697475e-02 -1.57630216e-02 1.90460769e+02] [ 2.50702873e-02 9.99685678e-01 -1.63388064e-04 2.00559659e+00] [ 1.57621630e-02 -2.31867076e-04 9.99875743e-01 2.85866903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.52925415399997 meters Centerline goodness : 0.999350 Centerline is valid? [True, True] Translation: X:190.49, Y:2.01, Z:2.86 [[ 9.99570142e-01 -2.47196068e-02 -1.57630315e-02 1.90492031e+02] [ 2.47201183e-02 9.99694398e-01 -1.62429116e-04 2.00602307e+00] [ 1.57622295e-02 -2.27304708e-04 9.99875743e-01 2.85852607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.55925415399997 meters Centerline goodness : 0.999176 Centerline is valid? [True, True] Translation: X:190.52, Y:2.01, Z:2.86 [[ 9.99554051e-01 -2.53618901e-02 -1.57630372e-02 1.90523155e+02] [ 2.53624901e-02 9.99678307e-01 -1.61871678e-04 2.00704070e+00] [ 1.57620717e-02 -2.37990383e-04 9.99875743e-01 2.85997846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.58925415399997 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:190.55, Y:2.01, Z:2.86 [[ 9.99547600e-01 -2.56148816e-02 -1.57630429e-02 1.90554732e+02] [ 2.56155219e-02 9.99671856e-01 -1.61314761e-04 2.00753814e+00] [ 1.57620024e-02 -2.42536788e-04 9.99875743e-01 2.86151167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.61925415399998 meters Centerline goodness : 0.999350 Centerline is valid? [True, True] Translation: X:190.59, Y:2.01, Z:2.86 [[ 9.99546274e-01 -2.56665456e-02 -1.57630487e-02 1.90585993e+02] [ 2.56672012e-02 9.99670530e-01 -1.60746337e-04 2.00819492e+00] [ 1.57619811e-02 -2.43919941e-04 9.99875743e-01 2.86229048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.64925415399998 meters Centerline goodness : 0.999286 Centerline is valid? [True, True] Translation: X:190.62, Y:2.01, Z:2.86 [[ 9.99535046e-01 -2.61001532e-02 -1.57630546e-02 1.90617268e+02] [ 2.61008718e-02 9.99659301e-01 -1.60170283e-04 2.00880853e+00] [ 1.57618646e-02 -2.51333655e-04 9.99875743e-01 2.86280538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.67925415399998 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:190.65, Y:2.01, Z:2.86 [[ 9.99486988e-01 -2.78798754e-02 -1.57630604e-02 1.90648268e+02] [ 2.78808244e-02 9.99611242e-01 -1.59594724e-04 2.00884885e+00] [ 1.57613818e-02 -2.79974268e-04 9.99875743e-01 2.86283985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.70925415399998 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:190.68, Y:2.01, Z:2.86 [[ 9.99448020e-01 -2.92434897e-02 -1.57630662e-02 1.90679793e+02] [ 2.92446173e-02 9.99572272e-01 -1.59018857e-04 2.00877559e+00] [ 1.57609742e-02 -3.02053756e-04 9.99875743e-01 2.86347413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.73925415399998 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:190.71, Y:2.01, Z:2.86 [[ 9.99398275e-01 -3.08968090e-02 -1.57630748e-02 1.90712103e+02] [ 3.08981557e-02 9.99522525e-01 -1.58158141e-04 2.00875809e+00] [ 1.57604349e-02 -3.28986966e-04 9.99875743e-01 2.86379142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.76925415399998 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] Translation: X:190.74, Y:2.01, Z:2.86 [[ 9.99294746e-01 -3.40813068e-02 -1.57630864e-02 1.90742944e+02] [ 3.40830677e-02 9.99418991e-01 -1.56999196e-04 2.00803981e+00] [ 1.57592786e-02 -3.80365868e-04 9.99875743e-01 2.86362587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.79925415399998 meters Centerline goodness : 0.999396 Centerline is valid? [True, True] Translation: X:190.77, Y:2.01, Z:2.86 [[ 9.99249210e-01 -3.53912593e-02 -1.57630949e-02 1.90774933e+02] [ 3.53931967e-02 9.99373452e-01 -1.56134873e-04 2.00779406e+00] [ 1.57587444e-02 -4.01888671e-04 9.99875743e-01 2.86387058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.82925415399998 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:190.81, Y:2.01, Z:2.86 [[ 9.99222787e-01 -3.61295723e-02 -1.57631065e-02 1.90806481e+02] [ 3.61316200e-02 9.99347028e-01 -1.54963402e-04 2.00767642e+00] [ 1.57584123e-02 -4.14703609e-04 9.99875743e-01 2.86423524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.85925415399998 meters Centerline goodness : 0.999072 Centerline is valid? [True, True] Translation: X:190.84, Y:2.00, Z:2.86 [[ 9.99357125e-01 -3.22003203e-02 -1.57631150e-02 1.90841290e+02] [ 3.22018932e-02 9.99481373e-01 -1.54090071e-04 2.00290052e+00] [ 1.57599016e-02 -3.53611135e-04 9.99875743e-01 2.86201758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.88925415399999 meters Centerline goodness : 0.999093 Centerline is valid? [True, True] Translation: X:190.87, Y:2.01, Z:2.87 [[ 9.99217162e-01 -3.62837468e-02 -1.57655429e-02 1.90866153e+02] [ 3.62898853e-02 9.99341300e-01 1.03358273e-04 2.00800487e+00] [ 1.57514079e-02 -6.75407105e-04 9.99875711e-01 2.86545234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.919254154 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:190.90, Y:2.01, Z:2.87 [[ 9.99248166e-01 -3.54207903e-02 -1.57629634e-02 1.90898066e+02] [ 3.54227255e-02 9.99372406e-01 -1.56502231e-04 2.00827684e+00] [ 1.57586141e-02 -4.01982560e-04 9.99875745e-01 2.86648217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.949254154 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:190.93, Y:2.01, Z:2.87 [[ 9.99283516e-01 -3.44090726e-02 -1.57629748e-02 1.90930403e+02] [ 3.44109003e-02 9.99407758e-01 -1.55346539e-04 2.00842154e+00] [ 1.57589847e-02 -3.87182919e-04 9.99875745e-01 2.86715287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.979254154 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:190.96, Y:2.01, Z:2.87 [[ 9.99319969e-01 -3.33335781e-02 -1.57629861e-02 1.90962085e+02] [ 3.33352901e-02 9.99444213e-01 -1.54198391e-04 2.00851614e+00] [ 1.57593652e-02 -3.71370182e-04 9.99875745e-01 2.86759312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.009254154 meters Centerline goodness : 0.999267 Centerline is valid? [True, True] Translation: X:190.99, Y:2.01, Z:2.87 [[ 9.99363794e-01 -3.19927479e-02 -1.57629944e-02 1.90994592e+02] [ 3.19943067e-02 9.99488039e-01 -1.53343621e-04 2.00812751e+00] [ 1.57598302e-02 -3.51080014e-04 9.99875745e-01 2.86762051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.039254154 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:191.03, Y:2.01, Z:2.87 [[ 9.99397114e-01 -3.09343919e-02 -1.57630053e-02 1.91026064e+02] [ 3.09358370e-02 9.99521361e-01 -1.52207147e-04 2.00782682e+00] [ 1.57601690e-02 -3.35526381e-04 9.99875745e-01 2.86732104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.069254154 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:191.06, Y:2.01, Z:2.87 [[ 9.99449558e-01 -2.91908874e-02 -1.57630135e-02 1.91058654e+02] [ 2.91921292e-02 9.99573808e-01 -1.51359755e-04 2.00696137e+00] [ 1.57607137e-02 -3.08879485e-04 9.99875745e-01 2.86688352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.099254154 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:191.09, Y:2.01, Z:2.87 [[ 9.99469133e-01 -2.85127870e-02 -1.57630243e-02 1.91088927e+02] [ 2.85139623e-02 9.99593383e-01 -1.50223157e-04 2.00678703e+00] [ 1.57608981e-02 -2.99322874e-04 9.99875745e-01 2.86710357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.129254154 meters Centerline goodness : 0.999309 Centerline is valid? [True, True] Translation: X:191.12, Y:2.01, Z:2.87 [[ 9.99484201e-01 -2.79796064e-02 -1.57630270e-02 1.91119050e+02] [ 2.79807199e-02 9.99608452e-01 -1.49942114e-04 2.00656629e+00] [ 1.57610503e-02 -2.91196069e-04 9.99875745e-01 2.86754377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.15925415399997 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:191.15, Y:2.01, Z:2.87 [[ 9.99495037e-01 -2.75898120e-02 -1.57630296e-02 1.91150780e+02] [ 2.75908814e-02 9.99619288e-01 -1.49665220e-04 2.00546171e+00] [ 1.57611577e-02 -2.85326236e-04 9.99875745e-01 2.86745821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.18925415399997 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:191.18, Y:2.01, Z:2.87 [[ 9.99476176e-01 -2.82648262e-02 -1.57630349e-02 1.91182410e+02] [ 2.82659883e-02 9.99600426e-01 -1.49106039e-04 2.00540245e+00] [ 1.57609509e-02 -2.96529827e-04 9.99875745e-01 2.86787279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.21925415399997 meters Centerline goodness : 0.999137 Centerline is valid? [True, True] Translation: X:191.21, Y:2.00, Z:2.87 [[ 9.99421409e-01 -3.01392393e-02 -1.57630404e-02 1.91214088e+02] [ 3.01406436e-02 9.99545657e-01 -1.48526128e-04 2.00452787e+00] [ 1.57603550e-02 -3.26667991e-04 9.99875745e-01 2.86717245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.24925415399997 meters Centerline goodness : 0.999267 Centerline is valid? [True, True] Translation: X:191.25, Y:2.00, Z:2.87 [[ 9.99374351e-01 -3.16612249e-02 -1.57630485e-02 1.91245278e+02] [ 3.16628320e-02 9.99498596e-01 -1.47659759e-04 2.00426434e+00] [ 1.57598199e-02 -3.51535381e-04 9.99875745e-01 2.86766408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.27925415399997 meters Centerline goodness : 0.999333 Centerline is valid? [True, True] Translation: X:191.28, Y:2.00, Z:2.87 [[ 9.99318604e-01 -3.33744404e-02 -1.57630538e-02 1.91277370e+02] [ 3.33762695e-02 9.99442846e-01 -1.47093434e-04 2.00397227e+00] [ 1.57591805e-02 -3.79118726e-04 9.99875745e-01 2.86774387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.30925415399997 meters Centerline goodness : 0.999334 Centerline is valid? [True, True] Translation: X:191.31, Y:2.00, Z:2.87 [[ 9.99253787e-01 -3.52618144e-02 -1.57630643e-02 1.91308965e+02] [ 3.52638962e-02 9.99378025e-01 -1.45953211e-04 2.00360778e+00] [ 1.57584067e-02 -4.10022766e-04 9.99875745e-01 2.86783043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.33925415399997 meters Centerline goodness : 0.999335 Centerline is valid? [True, True] Translation: X:191.34, Y:2.00, Z:2.87 [[ 9.99079979e-01 -3.98838407e-02 -1.57630721e-02 1.91341097e+02] [ 3.98865105e-02 9.99204206e-01 -1.45104297e-04 2.00246901e+00] [ 1.57563153e-02 -4.83763144e-04 9.99875745e-01 2.86848695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.36925415399998 meters Centerline goodness : 0.999293 Centerline is valid? [True, True] Translation: X:191.37, Y:2.00, Z:2.87 [[ 9.98981105e-01 -4.22880339e-02 -1.57630827e-02 1.91373154e+02] [ 4.22910209e-02 9.99105324e-01 -1.43950836e-04 2.00197341e+00] [ 1.57550672e-02 -5.22832693e-04 9.99875745e-01 2.86887279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.39925415399998 meters Centerline goodness : 0.999272 Centerline is valid? [True, True] Translation: X:191.41, Y:2.00, Z:2.87 [[ 9.98869398e-01 -4.48492056e-02 -1.57630931e-02 1.91405037e+02] [ 4.48525292e-02 9.98993609e-01 -1.42798983e-04 2.00177275e+00] [ 1.57536337e-02 -5.64377059e-04 9.99875745e-01 2.86984786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.42925415399998 meters Centerline goodness : 0.999230 Centerline is valid? [True, True] Translation: X:191.44, Y:2.00, Z:2.87 [[ 9.98640624e-01 -4.96832773e-02 -1.57631035e-02 1.91438272e+02] [ 4.96872202e-02 9.98764817e-01 -1.41645026e-04 2.00161552e+00] [ 1.57506706e-02 -6.41772317e-04 9.99875745e-01 2.87120619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.45925415399998 meters Centerline goodness : 0.999338 Centerline is valid? [True, True] Translation: X:191.47, Y:2.00, Z:2.87 [[ 9.98541874e-01 -5.16299268e-02 -1.57631189e-02 1.91471623e+02] [ 5.16341392e-02 9.98666058e-01 -1.39910610e-04 2.00175546e+00] [ 1.57493154e-02 -6.74208471e-04 9.99875745e-01 2.87197060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.48925415399998 meters Centerline goodness : 0.999338 Centerline is valid? [True, True] Translation: X:191.51, Y:2.00, Z:2.87 [[ 9.98547510e-01 -5.15208076e-02 -1.57631340e-02 1.91505162e+02] [ 5.15250335e-02 9.98671694e-01 -1.38188256e-04 2.00195724e+00] [ 1.57493153e-02 -6.74208467e-04 9.99875745e-01 2.87249878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.51925415399998 meters Centerline goodness : 0.999209 Centerline is valid? [True, True] Translation: X:191.54, Y:2.00, Z:2.87 [[ 9.98395757e-01 -5.43823137e-02 -1.57631489e-02 1.91537007e+02] [ 5.43869226e-02 9.98519927e-01 -1.36465901e-04 2.00196242e+00] [ 1.57472396e-02 -7.21062182e-04 9.99875745e-01 2.87374421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.54925415399998 meters Centerline goodness : 0.999127 Centerline is valid? [True, True] Translation: X:191.57, Y:2.00, Z:2.88 [[ 9.98328775e-01 -5.55983840e-02 -1.57631611e-02 1.91570129e+02] [ 5.56031666e-02 9.98452938e-01 -1.35040094e-04 2.00158415e+00] [ 1.57462825e-02 -7.41667262e-04 9.99875745e-01 2.87533850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.57925415399998 meters Centerline goodness : 0.999275 Centerline is valid? [True, True] Translation: X:191.60, Y:2.00, Z:2.88 [[ 9.98319768e-01 -5.57598651e-02 -1.57631758e-02 1.91602285e+02] [ 5.57646953e-02 9.98443930e-01 -1.33297605e-04 2.00147383e+00] [ 1.57460799e-02 -7.45955062e-04 9.99875745e-01 2.87625414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.60925415399998 meters Centerline goodness : 0.999275 Centerline is valid? [True, True] Translation: X:191.64, Y:2.00, Z:2.88 [[ 9.98325800e-01 -5.56517584e-02 -1.57631996e-02 1.91635823e+02] [ 5.56566203e-02 9.98449960e-01 -1.30426445e-04 2.00165716e+00] [ 1.57460245e-02 -7.47118329e-04 9.99875745e-01 2.87678194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.63925415399999 meters Centerline goodness : 0.999148 Centerline is valid? [True, True] Translation: X:191.67, Y:2.00, Z:2.87 [[ 9.98445183e-01 -5.34671686e-02 -1.57632135e-02 1.91666519e+02] [ 5.34717857e-02 9.98569352e-01 -1.28719975e-04 2.00043133e+00] [ 1.57475442e-02 -7.14367337e-04 9.99875745e-01 2.87418954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.669254154 meters Centerline goodness : 0.999210 Centerline is valid? [True, True] Translation: X:191.70, Y:2.00, Z:2.88 [[ 9.98338929e-01 -5.54159270e-02 -1.57625215e-02 1.91701022e+02] [ 5.54194528e-02 9.98463138e-01 -2.13365359e-04 2.00147243e+00] [ 1.57501205e-02 -6.60539372e-04 9.99875741e-01 2.87762763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.699254154 meters Centerline goodness : 0.999126 Centerline is valid? [True, True] Translation: X:191.73, Y:2.00, Z:2.88 [[ 9.98405979e-01 -5.41943040e-02 -1.57632238e-02 1.91734566e+02] [ 5.41990806e-02 9.98530142e-01 -1.24334659e-04 2.00117110e+00] [ 1.57467923e-02 -7.30215771e-04 9.99875745e-01 2.87665194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.729254154 meters Centerline goodness : 0.999231 Centerline is valid? [True, True] Translation: X:191.77, Y:2.00, Z:2.88 [[ 9.98451429e-01 -5.33503939e-02 -1.57632373e-02 1.91768017e+02] [ 5.33550929e-02 9.98575595e-01 -1.22603395e-04 2.00131097e+00] [ 1.57473250e-02 -7.18635453e-04 9.99875745e-01 2.87668777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.759254154 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:191.80, Y:2.00, Z:2.88 [[ 9.98529038e-01 -5.18775519e-02 -1.57632506e-02 1.91800079e+02] [ 5.18820951e-02 9.98653210e-01 -1.20865582e-04 2.00163170e+00] [ 1.57482910e-02 -6.97142672e-04 9.99875745e-01 2.87659059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.789254154 meters Centerline goodness : 0.999317 Centerline is valid? [True, True] Translation: X:191.83, Y:2.00, Z:2.88 [[ 9.98618240e-01 -5.01311397e-02 -1.57632615e-02 1.91833338e+02] [ 5.01354884e-02 9.98742419e-01 -1.19426452e-04 2.00211477e+00] [ 1.57494249e-02 -6.71037380e-04 9.99875745e-01 2.87687343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.819254154 meters Centerline goodness : 0.999357 Centerline is valid? [True, True] Translation: X:191.87, Y:2.00, Z:2.88 [[ 9.98827409e-01 -4.57747369e-02 -1.57632742e-02 1.91865783e+02] [ 4.57785707e-02 9.98951605e-01 -1.17720494e-04 2.00368898e+00] [ 1.57521367e-02 -6.04037708e-04 9.99875745e-01 2.87696639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.849254154 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:191.90, Y:2.00, Z:2.88 [[ 9.98949681e-01 -4.30238691e-02 -1.57632847e-02 1.91898183e+02] [ 4.30273832e-02 9.99073887e-01 -1.16307579e-04 2.00492932e+00] [ 1.57536901e-02 -5.62067469e-04 9.99875745e-01 2.87779729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.879254154 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:191.93, Y:2.01, Z:2.88 [[ 9.99086818e-01 -3.97120697e-02 -1.57632930e-02 1.91930464e+02] [ 3.97151900e-02 9.99211034e-01 -1.15170481e-04 2.00618964e+00] [ 1.57554299e-02 -5.10976865e-04 9.99875745e-01 2.87831536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.90925415399997 meters Centerline goodness : 0.999252 Centerline is valid? [True, True] Translation: X:191.96, Y:2.01, Z:2.88 [[ 9.99224466e-01 -3.60830162e-02 -1.57633012e-02 1.91961680e+02] [ 3.60857032e-02 9.99348692e-01 -1.14030240e-04 2.00753556e+00] [ 1.57571490e-02 -4.54888004e-04 9.99875745e-01 2.87834812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.93925415399997 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:191.99, Y:2.01, Z:2.88 [[ 9.99486508e-01 -2.78969121e-02 -1.57633147e-02 1.91993508e+02] [ 2.78986114e-02 9.99610752e-01 -1.12134326e-04 2.00978767e+00] [ 1.57603071e-02 -3.27697845e-04 9.99875745e-01 2.87925246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.96925415399997 meters Centerline goodness : 0.999375 Centerline is valid? [True, True] Translation: X:192.02, Y:2.01, Z:2.88 [[ 9.99600096e-01 -2.34769094e-02 -1.57633226e-02 1.92024790e+02] [ 2.34780768e-02 9.99724346e-01 -1.11016767e-04 2.01110397e+00] [ 1.57615837e-02 -2.59120128e-04 9.99875745e-01 2.88024624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.99925415399997 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:192.06, Y:2.01, Z:2.88 [[ 9.99697358e-01 -1.88867525e-02 -1.57633265e-02 1.92055148e+02] [ 1.88873583e-02 9.99821612e-01 -1.10455821e-04 2.01191480e+00] [ 1.57626007e-02 -1.87305204e-04 9.99875745e-01 2.88094981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.02925415399997 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:192.08, Y:2.01, Z:2.88 [[ 9.99822554e-01 -1.03139482e-02 -1.57633284e-02 1.92083949e+02] [ 1.03134929e-02 9.99946808e-01 -1.10177399e-04 2.01294910e+00] [ 1.57636263e-02 -5.24171268e-05 9.99875745e-01 2.88193404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.05925415399997 meters Centerline goodness : 0.999502 Centerline is valid? [True, True] Translation: X:192.11, Y:2.01, Z:2.88 [[ 9.99853976e-01 -6.59888301e-03 -1.57633210e-02 1.92111376e+02] [ 6.59794943e-03 9.99978227e-01 -1.11231039e-04 2.01350753e+00] [ 1.57637118e-02 7.20920160e-06 9.99875745e-01 2.88299143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.08925415399997 meters Centerline goodness : 0.999286 Centerline is valid? [True, True] Translation: X:192.14, Y:2.01, Z:2.88 [[ 9.99870595e-01 -3.21118121e-03 -1.57632889e-02 1.92138708e+02] [ 3.20975766e-03 9.99994842e-01 -1.15607020e-04 2.01402095e+00] [ 1.57635788e-02 6.49957221e-05 9.99875745e-01 2.88338165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.11925415399998 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:192.17, Y:2.01, Z:2.88 [[ 9.99875696e-01 -3.34560923e-04 -1.57632748e-02 1.92166395e+02] [ 3.32750040e-04 9.99999938e-01 -1.17502530e-04 2.01406067e+00] [ 1.57633131e-02 1.12242694e-04 9.99875745e-01 2.88332126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.14925415399998 meters Centerline goodness : 0.999350 Centerline is valid? [True, True] Translation: X:192.19, Y:2.01, Z:2.88 [[ 9.99873081e-01 2.31117951e-03 -1.57632413e-02 1.92194367e+02] [-2.31338740e-03 9.99997317e-01 -1.21832585e-04 2.01378234e+00] [ 1.57629174e-02 1.58283606e-04 9.99875745e-01 2.88310252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.17925415399998 meters Centerline goodness : 0.999309 Centerline is valid? [True, True] Translation: X:192.22, Y:2.01, Z:2.89 [[ 9.99865716e-01 4.48001955e-03 -1.57632069e-02 1.92221395e+02] [-4.48256476e-03 9.99989945e-01 -1.26136478e-04 2.01300629e+00] [ 1.57624833e-02 1.96779135e-04 9.99875745e-01 2.88511188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.20925415399998 meters Centerline goodness : 0.999267 Centerline is valid? [True, True] Translation: X:192.25, Y:2.01, Z:2.89 [[ 9.99865676e-01 4.48918042e-03 -1.57631917e-02 1.92249462e+02] [-4.49175614e-03 9.99989904e-01 -1.28000362e-04 2.01177039e+00] [ 1.57624580e-02 1.98787582e-04 9.99875745e-01 2.88559041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.23925415399998 meters Centerline goodness : 0.998985 Centerline is valid? [True, True] Translation: X:192.28, Y:2.01, Z:2.89 [[ 9.99869192e-01 3.62220905e-03 -1.57631787e-02 1.92276495e+02] [-3.62470198e-03 9.99993422e-01 -1.29581544e-04 2.01019321e+00] [ 1.57626057e-02 1.86701419e-04 9.99875745e-01 2.88581294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.26925415399998 meters Centerline goodness : 0.999074 Centerline is valid? [True, True] Translation: X:192.30, Y:2.01, Z:2.89 [[ 9.99875530e-01 -6.69382441e-04 -1.57631635e-02 1.92304538e+02] [ 6.67393871e-04 9.99999769e-01 -1.31413068e-04 2.00661238e+00] [ 1.57632478e-02 1.20876473e-04 9.99875745e-01 2.88609045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.29925415399998 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:192.33, Y:2.00, Z:2.89 [[ 9.99867330e-01 -4.10420813e-03 -1.57631504e-02 1.92331609e+02] [ 4.10262191e-03 9.99991575e-01 -1.32963784e-04 2.00456146e+00] [ 1.57635633e-02 6.82758972e-05 9.99875745e-01 2.88663496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.32925415399998 meters Centerline goodness : 0.999271 Centerline is valid? [True, True] Translation: X:192.36, Y:2.00, Z:2.89 [[ 9.99843373e-01 -8.04696489e-03 -1.57631350e-02 1.92359675e+02] [ 8.04584029e-03 9.99967623e-01 -1.34761120e-04 2.00242108e+00] [ 1.57637091e-02 7.91234539e-06 9.99875745e-01 2.88675213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.35925415399998 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:192.39, Y:2.00, Z:2.89 [[ 9.99799733e-01 -1.23295578e-02 -1.57631218e-02 1.92387192e+02] [ 1.23289412e-02 9.99923986e-01 -1.36294687e-04 2.00008223e+00] [ 1.57636040e-02 -5.80752104e-05 9.99875745e-01 2.88719464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.38925415399999 meters Centerline goodness : 0.999337 Centerline is valid? [True, True] Translation: X:192.41, Y:1.99, Z:2.89 [[ 9.99657121e-01 -2.09085066e-02 -1.57631068e-02 1.92414806e+02] [ 2.09089295e-02 9.99781375e-01 -1.37999826e-04 1.99461884e+00] [ 1.57625460e-02 -1.91637180e-04 9.99875745e-01 2.88722123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.419254154 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:192.44, Y:1.99, Z:2.89 [[ 9.99554739e-01 -2.53347402e-02 -1.57630944e-02 1.92444888e+02] [ 2.53356910e-02 9.99678990e-01 -1.39409177e-04 1.99222741e+00] [ 1.57615662e-02 -2.60021785e-04 9.99875745e-01 2.88727538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.449254154 meters Centerline goodness : 0.999276 Centerline is valid? [True, True] Translation: X:192.47, Y:1.99, Z:2.89 [[ 9.99443027e-01 -2.94136302e-02 -1.57630893e-02 1.92474222e+02] [ 2.94150790e-02 9.99567273e-01 -1.39977807e-04 1.98994590e+00] [ 1.57603855e-02 -3.23772675e-04 9.99875745e-01 2.88643702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.479254154 meters Centerline goodness : 0.998960 Centerline is valid? [True, True] Translation: X:192.51, Y:1.99, Z:2.89 [[ 9.99184732e-01 -3.71671357e-02 -1.57630899e-02 1.92505509e+02] [ 3.71695496e-02 9.99308964e-01 -1.39909291e-04 1.98599646e+00] [ 1.57573971e-02 -4.46111725e-04 9.99875745e-01 2.88755638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.509254154 meters Centerline goodness : 0.998812 Centerline is valid? [True, True] Translation: X:192.54, Y:1.98, Z:2.88 [[ 9.99336894e-01 -3.28222157e-02 -1.57630949e-02 1.92544337e+02] [ 3.28240983e-02 9.99461134e-01 -1.39346588e-04 1.97565119e+00] [ 1.57591744e-02 -3.78155190e-04 9.99875745e-01 2.88208657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.539254154 meters Centerline goodness : 0.999343 Centerline is valid? [True, True] Translation: X:192.57, Y:1.98, Z:2.89 [[ 9.98922925e-01 -4.36394814e-02 -1.57666091e-02 1.92565342e+02] [ 4.36495209e-02 9.99046862e-01 2.93032702e-04 1.98259362e+00] [ 1.57387935e-02 -9.80922016e-04 9.99875656e-01 2.88811476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.569254154 meters Centerline goodness : 0.998983 Centerline is valid? [True, True] Translation: X:192.60, Y:1.98, Z:2.89 [[ 9.98636026e-01 -4.97757397e-02 -1.57627001e-02 1.92597980e+02] [ 4.97796919e-02 9.98760213e-01 -1.41764488e-04 1.97955733e+00] [ 1.57502142e-02 -6.43091231e-04 9.99875751e-01 2.88950652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.599254154 meters Centerline goodness : 0.998961 Centerline is valid? [True, True] Translation: X:192.63, Y:1.98, Z:2.89 [[ 9.98497729e-01 -5.24768744e-02 -1.57627104e-02 1.92631308e+02] [ 5.24811807e-02 9.98621903e-01 -1.40613777e-04 1.97811403e+00] [ 1.57483668e-02 -6.86843116e-04 9.99875751e-01 2.89071677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.629254154 meters Centerline goodness : 0.998943 Centerline is valid? [True, True] Translation: X:192.66, Y:1.98, Z:2.89 [[ 9.98367759e-01 -5.48940245e-02 -1.57627259e-02 1.92664210e+02] [ 5.48986591e-02 9.98491922e-01 -1.38858020e-04 1.97659869e+00] [ 1.57465769e-02 -7.26721143e-04 9.99875751e-01 2.89154839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.65925415399997 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:192.70, Y:1.98, Z:2.89 [[ 9.98250261e-01 -5.69908032e-02 -1.57627412e-02 1.92696630e+02] [ 5.69957264e-02 9.98374413e-01 -1.37090494e-04 1.97547872e+00] [ 1.57449304e-02 -7.61558265e-04 9.99875751e-01 2.89263901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.68925415399997 meters Centerline goodness : 0.999215 Centerline is valid? [True, True] Translation: X:192.73, Y:1.97, Z:2.89 [[ 9.98064856e-01 -6.01504731e-02 -1.57627538e-02 1.92730058e+02] [ 6.01558123e-02 9.98188990e-01 -1.35628358e-04 1.97343306e+00] [ 1.57423654e-02 -8.12855363e-04 9.99875751e-01 2.89383142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.71925415399997 meters Centerline goodness : 0.999025 Centerline is valid? [True, True] Translation: X:192.77, Y:1.96, Z:2.89 [[ 9.98451612e-01 -5.33471031e-02 -1.57627686e-02 1.92770975e+02] [ 5.33516235e-02 9.98575779e-01 -1.33890804e-04 1.96472545e+00] [ 1.57474616e-02 -7.07285805e-04 9.99875751e-01 2.88965828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.74925415399997 meters Centerline goodness : 0.998773 Centerline is valid? [True, True] Translation: X:192.79, Y:1.97, Z:2.89 [[ 9.97950338e-01 -6.20203376e-02 -1.57670436e-02 1.92788528e+02] [ 6.20344203e-02 9.98073928e-01 4.05196255e-04 1.97216869e+00] [ 1.57115447e-02 -1.38246515e-03 9.99875610e-01 2.89384054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.77925415399997 meters Centerline goodness : 0.998922 Centerline is valid? [True, True] Translation: X:192.82, Y:1.97, Z:2.89 [[ 9.98089977e-01 -5.97323820e-02 -1.57620071e-02 1.92824219e+02] [ 5.97375291e-02 9.98214109e-01 -1.44488109e-04 1.96971764e+00] [ 1.57424885e-02 -7.97371224e-04 9.99875761e-01 2.89200651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.80925415399997 meters Centerline goodness : 0.999050 Centerline is valid? [True, True] Translation: X:192.85, Y:1.97, Z:2.89 [[ 9.97940748e-01 -6.21753449e-02 -1.57635856e-02 1.92851326e+02] [ 6.21835755e-02 9.98064728e-01 3.20461619e-05 1.97139578e+00] [ 1.57310863e-02 -1.01221629e-03 9.99875746e-01 2.89428816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.83925415399997 meters Centerline goodness : 0.999026 Centerline is valid? [True, True] Translation: X:192.88, Y:1.97, Z:2.89 [[ 9.97918599e-01 -6.25302418e-02 -1.57619665e-02 1.92884158e+02] [ 6.25357360e-02 9.98042715e-01 -1.44539572e-04 1.97126217e+00] [ 1.57401539e-02 -8.41447450e-04 9.99875762e-01 2.89454431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.86925415399998 meters Centerline goodness : 0.999093 Centerline is valid? [True, True] Translation: X:192.92, Y:1.97, Z:2.89 [[ 9.97902566e-01 -6.27855793e-02 -1.57619825e-02 1.92915456e+02] [ 6.27911330e-02 9.98026680e-01 -1.42775631e-04 1.97115485e+00] [ 1.57398433e-02 -8.47236570e-04 9.99875762e-01 2.89393491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.89925415399998 meters Centerline goodness : 0.999176 Centerline is valid? [True, True] Translation: X:192.95, Y:1.97, Z:2.89 [[ 9.97856365e-01 -6.35156294e-02 -1.57619904e-02 1.92947658e+02] [ 6.35212878e-02 9.97980474e-01 -1.41901607e-04 1.97144482e+00] [ 1.57391716e-02 -8.59624503e-04 9.99875762e-01 2.89258583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.92925415399998 meters Centerline goodness : 0.998923 Centerline is valid? [True, True] Translation: X:192.98, Y:1.97, Z:2.89 [[ 9.97919757e-01 -6.25117436e-02 -1.57620007e-02 1.92984170e+02] [ 6.25172953e-02 9.98043871e-01 -1.40743370e-04 1.97103917e+00] [ 1.57399663e-02 -8.44947063e-04 9.99875762e-01 2.89200924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.95925415399998 meters Centerline goodness : 0.999092 Centerline is valid? [True, True] Translation: X:193.01, Y:1.97, Z:2.89 [[ 9.97842887e-01 -6.37266238e-02 -1.57635840e-02 1.93011320e+02] [ 6.37351764e-02 9.97966846e-01 4.02624676e-05 1.97353228e+00] [ 1.57289684e-02 -1.04487042e-03 9.99875746e-01 2.89231527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.98925415399998 meters Centerline goodness : 0.999174 Centerline is valid? [True, True] Translation: X:193.04, Y:1.97, Z:2.89 [[ 9.97874178e-01 -6.32351533e-02 -1.57619698e-02 1.93043311e+02] [ 6.32407963e-02 9.97998288e-01 -1.40657539e-04 1.97478457e+00] [ 1.57393133e-02 -8.56440993e-04 9.99875763e-01 2.89296557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.01925415399998 meters Centerline goodness : 0.999026 Centerline is valid? [True, True] Translation: X:193.07, Y:1.98, Z:2.89 [[ 9.97997678e-01 -6.12551603e-02 -1.57619799e-02 1.93074183e+02] [ 6.12605752e-02 9.98121797e-01 -1.39506881e-04 1.97748562e+00] [ 1.57409213e-02 -8.26360415e-04 9.99875763e-01 2.89291296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.04925415399998 meters Centerline goodness : 0.999259 Centerline is valid? [True, True] Translation: X:193.11, Y:1.98, Z:2.89 [[ 9.98123757e-01 -5.91652315e-02 -1.57619875e-02 1.93107342e+02] [ 5.91704000e-02 9.98247887e-01 -1.38650162e-04 1.97953070e+00] [ 1.57425740e-02 -7.94253083e-04 9.99875763e-01 2.89372669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.07925415399998 meters Centerline goodness : 0.999109 Centerline is valid? [True, True] Translation: X:193.14, Y:1.98, Z:2.89 [[ 9.98276248e-01 -5.65339820e-02 -1.57620022e-02 1.93139311e+02] [ 5.65388500e-02 9.98400390e-01 -1.36951364e-04 1.98178248e+00] [ 1.57445316e-02 -7.54450187e-04 9.99875763e-01 2.89448096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.10925415399998 meters Centerline goodness : 0.999257 Centerline is valid? [True, True] Translation: X:193.17, Y:1.99, Z:2.90 [[ 9.98620099e-01 -5.00944736e-02 -1.57620260e-02 1.93170467e+02] [ 5.00985849e-02 9.98744268e-01 -1.34154359e-04 1.98636307e+00] [ 1.57489536e-02 -6.55685961e-04 9.99875763e-01 2.89615297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.13925415399999 meters Centerline goodness : 0.999258 Centerline is valid? [True, True] Translation: X:193.20, Y:1.99, Z:2.90 [[ 9.98808558e-01 -4.61846648e-02 -1.57620331e-02 1.93202778e+02] [ 4.61883031e-02 9.98932742e-01 -1.33324409e-04 1.98874107e+00] [ 1.57513685e-02 -5.94856000e-04 9.99875763e-01 2.89786810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.169254154 meters Centerline goodness : 0.999089 Centerline is valid? [True, True] Translation: X:193.24, Y:1.99, Z:2.90 [[ 9.98994652e-01 -4.19671680e-02 -1.57620423e-02 1.93235003e+02] [ 4.19702992e-02 9.99118850e-01 -1.32229183e-04 1.99096848e+00] [ 1.57537028e-02 -5.29441382e-04 9.99875763e-01 2.89916483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.199254154 meters Centerline goodness : 0.999236 Centerline is valid? [True, True] Translation: X:193.27, Y:1.99, Z:2.90 [[ 9.99164997e-01 -3.76943710e-02 -1.57620513e-02 1.93267435e+02] [ 3.76969882e-02 9.99289207e-01 -1.31136856e-04 1.99322106e+00] [ 1.57557909e-02 -4.63154507e-04 9.99875763e-01 2.90089555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.229254154 meters Centerline goodness : 0.998915 Centerline is valid? [True, True] Translation: X:193.30, Y:2.00, Z:2.90 [[ 9.99481613e-01 -2.80724410e-02 -1.57620603e-02 1.93297219e+02] [ 2.80738793e-02 9.99605843e-01 -1.30049841e-04 1.99695835e+00] [ 1.57594984e-02 -3.12519754e-04 9.99875763e-01 2.90223591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.259254154 meters Centerline goodness : 0.999107 Centerline is valid? [True, True] Translation: X:193.33, Y:2.00, Z:2.90 [[ 9.99541038e-01 -2.58707274e-02 -1.57613213e-02 1.93327423e+02] [ 2.58704995e-02 9.99665279e-01 -2.18379389e-04 1.99907718e+00] [ 1.57616952e-02 -1.89474093e-04 9.99875759e-01 2.90451691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.289254154 meters Centerline goodness : 0.998870 Centerline is valid? [True, True] Translation: X:193.35, Y:2.00, Z:2.90 [[ 9.99672347e-01 -2.01682222e-02 -1.57620502e-02 1.93354593e+02] [ 2.01686789e-02 9.99796583e-01 -1.30000471e-04 2.00003968e+00] [ 1.57614658e-02 -1.87941854e-04 9.99875763e-01 2.90389923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.319254154 meters Centerline goodness : 0.999212 Centerline is valid? [True, True] Translation: X:193.39, Y:2.00, Z:2.91 [[ 9.99730028e-01 -1.70723641e-02 -1.57608598e-02 1.93386209e+02] [ 1.70701382e-02 9.99854257e-01 -2.75756575e-04 2.00265682e+00] [ 1.57632705e-02 6.64207332e-06 9.99875752e-01 2.90503375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.349254154 meters Centerline goodness : 0.999189 Centerline is valid? [True, True] Translation: X:193.41, Y:2.00, Z:2.90 [[ 9.99758566e-01 -1.53090834e-02 -1.57620596e-02 1.93413880e+02] [ 1.53089702e-02 9.99882803e-01 -1.27845561e-04 2.00331544e+00] [ 1.57621696e-02 -1.13486207e-04 9.99875763e-01 2.90418519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.379254154 meters Centerline goodness : 0.999189 Centerline is valid? [True, True] Translation: X:193.44, Y:2.00, Z:2.90 [[ 9.99754151e-01 -1.55946976e-02 -1.57620478e-02 1.93442264e+02] [ 1.55945971e-02 9.99878389e-01 -1.29292519e-04 2.00362382e+00] [ 1.57621472e-02 -1.16542052e-04 9.99875763e-01 2.90463315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.40925415399997 meters Centerline goodness : 0.998997 Centerline is valid? [True, True] Translation: X:193.47, Y:2.00, Z:2.91 [[ 9.99761993e-01 -1.50836564e-02 -1.57620096e-02 1.93470174e+02] [ 1.50834214e-02 9.99886230e-01 -1.33795669e-04 2.00441840e+00] [ 1.57622344e-02 -1.03981208e-04 9.99875763e-01 2.90514544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.43925415399997 meters Centerline goodness : 0.998826 Centerline is valid? [True, True] Translation: X:193.50, Y:2.01, Z:2.90 [[ 9.99735936e-01 -1.67218277e-02 -1.57619687e-02 1.93496558e+02] [ 1.67217230e-02 9.99860173e-01 -1.38443459e-04 2.00831813e+00] [ 1.57620798e-02 -1.25160375e-04 9.99875763e-01 2.90262740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.46925415399997 meters Centerline goodness : 0.999062 Centerline is valid? [True, True] Translation: X:193.53, Y:2.01, Z:2.91 [[ 9.99754397e-01 -1.55809895e-02 -1.57600546e-02 1.93527953e+02] [ 1.55775290e-02 9.99878604e-01 -3.42313600e-04 2.00531692e+00] [ 1.57634750e-02 9.67268188e-05 9.99875744e-01 2.90576798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.49925415399997 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:193.56, Y:2.01, Z:2.91 [[ 9.99738195e-01 -1.65862684e-02 -1.57618663e-02 1.93555463e+02] [ 1.65860613e-02 9.99862431e-01 -1.43872451e-04 2.00571715e+00] [ 1.57620842e-02 -1.17592495e-04 9.99875764e-01 2.90627725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.52925415399997 meters Centerline goodness : 0.999146 Centerline is valid? [True, True] Translation: X:193.58, Y:2.01, Z:2.91 [[ 9.99722298e-01 -1.75183251e-02 -1.57618226e-02 1.93583142e+02] [ 1.75181608e-02 9.99846534e-01 -1.48501840e-04 2.00535381e+00] [ 1.57620052e-02 -1.27657543e-04 9.99875764e-01 2.90524387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.55925415399997 meters Centerline goodness : 0.999381 Centerline is valid? [True, True] Translation: X:193.61, Y:2.01, Z:2.91 [[ 9.99694476e-01 -1.90399795e-02 -1.57618090e-02 1.93612312e+02] [ 1.90399818e-02 9.99818712e-01 -1.49932574e-04 2.00607173e+00] [ 1.57618063e-02 -1.50217791e-04 9.99875764e-01 2.90769849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.58925415399997 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:193.64, Y:2.01, Z:2.91 [[ 9.99635420e-01 -2.19224318e-02 -1.57617695e-02 1.93641205e+02] [ 2.19227285e-02 9.99759656e-01 -1.53975249e-04 2.00554389e+00] [ 1.57613568e-02 -1.91621882e-04 9.99875764e-01 2.90828331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.61925415399998 meters Centerline goodness : 0.998911 Centerline is valid? [True, True] Translation: X:193.67, Y:2.00, Z:2.91 [[ 9.99601798e-01 -2.34054017e-02 -1.57617590e-02 1.93671106e+02] [ 2.34058658e-02 9.99726033e-01 -1.55051252e-04 2.00471695e+00] [ 1.57610698e-02 -2.13928105e-04 9.99875764e-01 2.90820223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.64925415399998 meters Centerline goodness : 0.999359 Centerline is valid? [True, True] Translation: X:193.70, Y:2.00, Z:2.91 [[ 9.99550154e-01 -2.55158249e-02 -1.57617533e-02 1.93700957e+02] [ 2.55165422e-02 9.99674388e-01 -1.55627280e-04 2.00448633e+00] [ 1.57605920e-02 -2.46628170e-04 9.99875764e-01 2.90924397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.67925415399998 meters Centerline goodness : 0.999298 Centerline is valid? [True, True] Translation: X:193.73, Y:2.00, Z:2.91 [[ 9.99406157e-01 -3.06414811e-02 -1.57617504e-02 1.93730867e+02] [ 3.06428310e-02 9.99530386e-01 -1.55913021e-04 2.00371917e+00] [ 1.57591259e-02 -3.27164222e-04 9.99875764e-01 2.91135809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.70925415399998 meters Centerline goodness : 0.999021 Centerline is valid? [True, True] Translation: X:193.76, Y:2.00, Z:2.91 [[ 9.99321186e-01 -3.32976773e-02 -1.57617532e-02 1.93762867e+02] [ 3.32993619e-02 9.99445410e-01 -1.55630433e-04 2.00305288e+00] [ 1.57581941e-02 -3.69331536e-04 9.99875764e-01 2.91211048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.73925415399998 meters Centerline goodness : 0.999128 Centerline is valid? [True, True] Translation: X:193.79, Y:2.00, Z:2.91 [[ 9.99214655e-01 -3.63543692e-02 -1.57617643e-02 1.93794838e+02] [ 3.63564515e-02 9.99338874e-01 -1.54505838e-04 2.00210048e+00] [ 1.57569607e-02 -4.18657319e-04 9.99875764e-01 2.91295980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.76925415399998 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:193.83, Y:2.00, Z:2.91 [[ 9.98916766e-01 -4.37819710e-02 -1.57617752e-02 1.93826184e+02] [ 4.37849944e-02 9.99040966e-01 -1.53380772e-04 1.99888310e+00] [ 1.57533744e-02 -5.36914614e-04 9.99875764e-01 2.91322893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.79925415399998 meters Centerline goodness : 0.999003 Centerline is valid? [True, True] Translation: X:193.86, Y:2.00, Z:2.91 [[ 9.98711779e-01 -4.82322404e-02 -1.57617833e-02 1.93858856e+02] [ 4.82358303e-02 9.98835963e-01 -1.52541929e-04 1.99740775e+00] [ 1.57507935e-02 -6.07937285e-04 9.99875764e-01 2.91376711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.82925415399998 meters Centerline goodness : 0.999277 Centerline is valid? [True, True] Translation: X:193.89, Y:1.99, Z:2.91 [[ 9.98262154e-01 -5.67823738e-02 -1.57617939e-02 1.93891452e+02] [ 5.67870445e-02 9.98386302e-01 -1.51437360e-04 1.99432192e+00] [ 1.57449581e-02 -7.43891507e-04 9.99875764e-01 2.91394474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.85925415399998 meters Centerline goodness : 0.999277 Centerline is valid? [True, True] Translation: X:193.92, Y:1.99, Z:2.91 [[ 9.98268524e-01 -5.66702612e-02 -1.57618107e-02 1.93924988e+02] [ 5.66749458e-02 9.98392672e-01 -1.49669169e-04 1.99455206e+00] [ 1.57449581e-02 -7.43889748e-04 9.99875764e-01 2.91447288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.88925415399999 meters Centerline goodness : 0.999112 Centerline is valid? [True, True] Translation: X:193.96, Y:1.99, Z:2.91 [[ 9.97807477e-01 -6.42791109e-02 -1.57618273e-02 1.93958188e+02] [ 6.42847696e-02 9.97931584e-01 -1.47899219e-04 1.99315565e+00] [ 1.57387321e-02 -8.65670493e-04 9.99875764e-01 2.91441886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.919254154 meters Centerline goodness : 0.999280 Centerline is valid? [True, True] Translation: X:193.99, Y:1.99, Z:2.91 [[ 9.97632122e-01 -6.69456045e-02 -1.57618437e-02 1.93991534e+02] [ 6.69516227e-02 9.97756212e-01 -1.46135293e-04 1.99260463e+00] [ 1.57362606e-02 -9.09491748e-04 9.99875764e-01 2.91441922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.949254154 meters Centerline goodness : 0.999025 Centerline is valid? [True, True] Translation: X:194.03, Y:1.99, Z:2.91 [[ 9.97496891e-01 -6.89312468e-02 -1.57618599e-02 1.94025065e+02] [ 6.89375399e-02 9.97620967e-01 -1.44366111e-04 1.99213102e+00] [ 1.57343132e-02 -9.42579097e-04 9.99875764e-01 2.91439145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.979254154 meters Centerline goodness : 0.998943 Centerline is valid? [True, True] Translation: X:194.06, Y:1.99, Z:2.91 [[ 9.97373318e-01 -7.06967336e-02 -1.57618760e-02 1.94056996e+02] [ 7.07032743e-02 9.97497382e-01 -1.42584196e-04 1.99176515e+00] [ 1.57325103e-02 -9.72206570e-04 9.99875764e-01 2.91376542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.009254154 meters Centerline goodness : 0.999066 Centerline is valid? [True, True] Translation: X:194.09, Y:1.99, Z:2.91 [[ 9.97387100e-01 -7.05020231e-02 -1.57618892e-02 1.94090069e+02] [ 7.05085628e-02 9.97511164e-01 -1.41108961e-04 1.99214993e+00] [ 1.57326089e-02 -9.70607899e-04 9.99875764e-01 2.91454406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.039254154 meters Centerline goodness : 0.999024 Centerline is valid? [True, True] Translation: X:194.12, Y:1.99, Z:2.91 [[ 9.97433216e-01 -6.98465582e-02 -1.57619049e-02 1.94122373e+02] [ 6.98530442e-02 9.97557283e-01 -1.39338230e-04 1.99310580e+00] [ 1.57331353e-02 -9.62036459e-04 9.99875764e-01 2.91479093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.069254154 meters Centerline goodness : 0.999322 Centerline is valid? [True, True] Translation: X:194.16, Y:1.99, Z:2.92 [[ 9.97511923e-01 -6.87133548e-02 -1.57619177e-02 1.94155903e+02] [ 6.87197230e-02 9.97635996e-01 -1.37871381e-04 1.99429676e+00] [ 1.57341301e-02 -9.45626272e-04 9.99875764e-01 2.91517758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.099254154 meters Centerline goodness : 0.999088 Centerline is valid? [True, True] Translation: X:194.19, Y:2.00, Z:2.92 [[ 9.97674837e-01 -6.63059680e-02 -1.57619327e-02 1.94187860e+02] [ 6.63120640e-02 9.97798923e-01 -1.36137837e-04 1.99660384e+00] [ 1.57362662e-02 -9.09384994e-04 9.99875764e-01 2.91518824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.12925415399997 meters Centerline goodness : 0.999069 Centerline is valid? [True, True] Translation: X:194.22, Y:2.00, Z:2.91 [[ 9.97787124e-01 -6.45942378e-02 -1.57619428e-02 1.94219489e+02] [ 6.46001395e-02 9.97911220e-01 -1.34958081e-04 1.99775609e+00] [ 1.57377371e-02 -8.83564267e-04 9.99875764e-01 2.91356231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.15925415399997 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:194.25, Y:2.00, Z:2.91 [[ 9.97907048e-01 -6.27143056e-02 -1.57619502e-02 1.94251401e+02] [ 6.27199873e-02 9.98031154e-01 -1.34080341e-04 1.99889880e+00] [ 1.57393261e-02 -8.54789602e-04 9.99875764e-01 2.91237020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.18925415399997 meters Centerline goodness : 0.999169 Centerline is valid? [True, True] Translation: X:194.28, Y:2.00, Z:2.91 [[ 9.98183703e-01 -5.81451263e-02 -1.57619598e-02 1.94283743e+02] [ 5.81502576e-02 9.98307833e-01 -1.32948618e-04 2.00130403e+00] [ 1.57430182e-02 -7.83854878e-04 9.99875764e-01 2.91153640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.21925415399997 meters Centerline goodness : 0.999299 Centerline is valid? [True, True] Translation: X:194.32, Y:2.00, Z:2.91 [[ 9.98332917e-01 -5.55242898e-02 -1.57619695e-02 1.94315704e+02] [ 5.55291136e-02 9.98457060e-01 -1.31784479e-04 2.00293512e+00] [ 1.57449670e-02 -7.43683412e-04 9.99875764e-01 2.91152875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.24925415399997 meters Centerline goodness : 0.999192 Centerline is valid? [True, True] Translation: X:194.35, Y:2.01, Z:2.91 [[ 9.98664771e-01 -4.91958834e-02 -1.57619792e-02 1.94348443e+02] [ 4.91999386e-02 9.98788941e-01 -1.30621979e-04 2.00609468e+00] [ 1.57493165e-02 -6.45040838e-04 9.99875764e-01 2.91227752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.27925415399997 meters Centerline goodness : 0.999105 Centerline is valid? [True, True] Translation: X:194.38, Y:2.01, Z:2.91 [[ 9.98832362e-01 -4.56669708e-02 -1.57619933e-02 1.94380369e+02] [ 4.56706146e-02 9.98956545e-01 -1.28886946e-04 2.00776775e+00] [ 1.57514323e-02 -5.91123470e-04 9.99875764e-01 2.91375412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.30925415399997 meters Centerline goodness : 0.999041 Centerline is valid? [True, True] Translation: X:194.41, Y:2.01, Z:2.91 [[ 9.98999138e-01 -4.18602619e-02 -1.57620027e-02 1.94411295e+02] [ 4.18634506e-02 9.99123333e-01 -1.27734679e-04 2.00927705e+00] [ 1.57535317e-02 -5.32244986e-04 9.99875764e-01 2.91485609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.33925415399997 meters Centerline goodness : 0.999338 Centerline is valid? [True, True] Translation: X:194.44, Y:2.01, Z:2.92 [[ 9.99313233e-01 -3.35353851e-02 -1.57620096e-02 1.94443841e+02] [ 3.35375524e-02 9.99437450e-01 -1.26877960e-04 2.01256900e+00] [ 1.57573976e-02 -4.01828398e-04 9.99875764e-01 2.91791978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.36925415399998 meters Centerline goodness : 0.999359 Centerline is valid? [True, True] Translation: X:194.48, Y:2.01, Z:2.92 [[ 9.99460435e-01 -2.88166076e-02 -1.57620189e-02 1.94475941e+02] [ 2.88182068e-02 9.99584661e-01 -1.25711030e-04 2.01433160e+00] [ 1.57590949e-02 -3.28589919e-04 9.99875764e-01 2.91906291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.39925415399998 meters Centerline goodness : 0.999294 Centerline is valid? [True, True] Translation: X:194.51, Y:2.02, Z:2.92 [[ 9.99679025e-01 -1.98344708e-02 -1.57620281e-02 1.94506496e+02] [ 1.98349721e-02 9.99803260e-01 -1.24540281e-04 2.01763863e+00] [ 1.57613973e-02 -1.88139081e-04 9.99875764e-01 2.92014130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.42925415399998 meters Centerline goodness : 0.999294 Centerline is valid? [True, True] Translation: X:194.54, Y:2.02, Z:2.92 [[ 9.99678301e-01 -1.98709099e-02 -1.57620304e-02 1.94536643e+02] [ 1.98714203e-02 9.99802536e-01 -1.24251357e-04 2.01790534e+00] [ 1.57613870e-02 -1.89002545e-04 9.99875764e-01 2.92061647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.45925415399998 meters Centerline goodness : 0.999421 Centerline is valid? [True, True] Translation: X:194.57, Y:2.02, Z:2.92 [[ 9.99796247e-01 -1.26104169e-02 -1.57620259e-02 1.94566077e+02] [ 1.26100159e-02 9.99920483e-01 -1.24826039e-04 2.01999128e+00] [ 1.57623466e-02 -7.39587917e-05 9.99875764e-01 2.92190694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.48925415399998 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:194.59, Y:2.02, Z:2.92 [[ 9.99824358e-01 -1.01396266e-02 -1.57620212e-02 1.94592855e+02] [ 1.01389095e-02 9.99948592e-01 -1.25408015e-04 2.02074635e+00] [ 1.57624825e-02 -3.44237191e-05 9.99875764e-01 2.92181432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.51925415399998 meters Centerline goodness : 0.999399 Centerline is valid? [True, True] Translation: X:194.62, Y:2.02, Z:2.92 [[ 9.99836925e-01 -8.81378558e-03 -1.57620049e-02 1.94620445e+02] [ 8.81287187e-03 9.99961158e-01 -1.27427955e-04 2.02127988e+00] [ 1.57625158e-02 -1.15013552e-05 9.99875764e-01 2.92230282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.54925415399998 meters Centerline goodness : 0.999399 Centerline is valid? [True, True] Translation: X:194.65, Y:2.02, Z:2.92 [[ 9.99841062e-01 -8.33127716e-03 -1.57619662e-02 1.94647833e+02] [ 8.33023071e-03 9.99965294e-01 -1.32045622e-04 2.02176670e+00] [ 1.57625193e-02 7.23819673e-07 9.99875764e-01 2.92204324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.57925415399998 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:194.68, Y:2.02, Z:2.92 [[ 9.99828881e-01 -9.68344716e-03 -1.57619492e-02 1.94676098e+02] [ 9.68253720e-03 9.99953114e-01 -1.34045117e-04 2.02222398e+00] [ 1.57625082e-02 -1.85934797e-05 9.99875764e-01 2.92255960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.60925415399998 meters Centerline goodness : 0.999335 Centerline is valid? [True, True] Translation: X:194.70, Y:2.02, Z:2.92 [[ 9.99817011e-01 -1.08400600e-02 -1.57619096e-02 1.94703513e+02] [ 1.08392227e-02 9.99941244e-01 -1.38552134e-04 2.02263797e+00] [ 1.57624854e-02 -3.23200682e-05 9.99875764e-01 2.92070291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.63925415399999 meters Centerline goodness : 0.999315 Centerline is valid? [True, True] Translation: X:194.73, Y:2.02, Z:2.92 [[ 9.99741502e-01 -1.63860840e-02 -1.57615005e-02 1.94731191e+02] [ 1.63852259e-02 9.99865736e-01 -1.83580499e-04 2.02097880e+00] [ 1.57623925e-02 -7.47227039e-05 9.99875763e-01 2.92408687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.669254154 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:194.76, Y:2.02, Z:2.92 [[ 9.99689626e-01 -1.92928770e-02 -1.57618543e-02 1.94758655e+02] [ 1.92929856e-02 9.99813862e-01 -1.45178337e-04 2.02013468e+00] [ 1.57617213e-02 -1.58959950e-04 9.99875764e-01 2.92469802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.699254154 meters Centerline goodness : 0.999273 Centerline is valid? [True, True] Translation: X:194.80, Y:2.01, Z:2.92 [[ 9.99795981e-01 -1.26317455e-02 -1.57618413e-02 1.94800945e+02] [ 1.26310043e-02 9.99920215e-01 -1.46574229e-04 2.00843548e+00] [ 1.57624352e-02 -5.25435612e-05 9.99875764e-01 2.91941325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.729254154 meters Centerline goodness : 0.999401 Centerline is valid? [True, True] Translation: X:194.82, Y:2.02, Z:2.93 [[ 9.99559161e-01 -2.51573626e-02 -1.57667622e-02 1.94818108e+02] [ 2.51672446e-02 9.99683163e-01 4.28630670e-04 2.01834578e+00] [ 1.57509835e-02 -8.25247675e-04 9.99875605e-01 2.92639457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.759254154 meters Centerline goodness : 0.999147 Centerline is valid? [True, True] Translation: X:194.85, Y:2.02, Z:2.93 [[ 9.99490171e-01 -2.77666404e-02 -1.57610706e-02 1.94848760e+02] [ 2.77676625e-02 9.99614392e-01 -1.54032152e-04 2.01744295e+00] [ 1.57592699e-02 -2.83694466e-04 9.99875775e-01 2.92634923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.789254154 meters Centerline goodness : 0.999148 Centerline is valid? [True, True] Translation: X:194.89, Y:2.00, Z:2.92 [[ 9.99615499e-01 -2.28132072e-02 -1.57610706e-02 1.94893913e+02] [ 2.28136136e-02 9.99739724e-01 -1.54032152e-04 2.00217884e+00] [ 1.57604823e-02 -2.05594047e-04 9.99875775e-01 2.92011274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.819254154 meters Centerline goodness : 0.999171 Centerline is valid? [True, True] Translation: X:194.91, Y:2.01, Z:2.93 [[ 9.99182860e-01 -3.72158005e-02 -1.57669238e-02 1.94907445e+02] [ 3.72285991e-02 9.99306641e-01 5.18906882e-04 2.01368191e+00] [ 1.57366801e-02 -1.10546335e-03 9.99875560e-01 2.92651154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.849254154 meters Centerline goodness : 0.999342 Centerline is valid? [True, True] Translation: X:194.94, Y:2.01, Z:2.93 [[ 9.98977207e-01 -4.23811677e-02 -1.57599417e-02 1.94939247e+02] [ 4.23838842e-02 9.99101386e-01 -1.61747770e-04 2.00999594e+00] [ 1.57526347e-02 -5.06385208e-04 9.99875791e-01 2.92756455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.87925415399997 meters Centerline goodness : 0.998959 Centerline is valid? [True, True] Translation: X:194.97, Y:2.01, Z:2.93 [[ 9.98821669e-01 -4.59009597e-02 -1.57599536e-02 1.94970701e+02] [ 4.59041322e-02 9.98945837e-01 -1.60577176e-04 2.00728037e+00] [ 1.57507107e-02 -5.63059031e-04 9.99875791e-01 2.92853362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.90925415399997 meters Centerline goodness : 0.999258 Centerline is valid? [True, True] Translation: X:195.00, Y:2.01, Z:2.93 [[ 9.98789427e-01 -4.65972578e-02 -1.57599723e-02 1.95002750e+02] [ 4.66005460e-02 9.98913592e-01 -1.58724022e-04 2.00642686e+00] [ 1.57502466e-02 -5.75891439e-04 9.99875791e-01 2.92934189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.93925415399997 meters Centerline goodness : 0.999192 Centerline is valid? [True, True] Translation: X:195.04, Y:2.00, Z:2.93 [[ 9.98789655e-01 -4.65923572e-02 -1.57599839e-02 1.95035143e+02] [ 4.65956630e-02 9.98913820e-01 -1.57567057e-04 2.00416982e+00] [ 1.57502071e-02 -5.76970550e-04 9.99875791e-01 2.92891530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.96925415399997 meters Centerline goodness : 0.999024 Centerline is valid? [True, True] Translation: X:195.07, Y:2.00, Z:2.93 [[ 9.98978572e-01 -4.23489681e-02 -1.57599955e-02 1.95065899e+02] [ 4.23517649e-02 9.99102749e-01 -1.56396328e-04 2.00235719e+00] [ 1.57524780e-02 -5.11227043e-04 9.99875791e-01 2.92858091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.99925415399997 meters Centerline goodness : 0.999024 Centerline is valid? [True, True] Translation: X:195.10, Y:2.00, Z:2.93 [[ 9.98981591e-01 -4.22776864e-02 -1.57600041e-02 1.95098587e+02] [ 4.22804881e-02 9.99105768e-01 -1.55524399e-04 2.00261734e+00] [ 1.57524862e-02 -5.10974654e-04 9.99875791e-01 2.92909591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.02925415399997 meters Centerline goodness : 0.999024 Centerline is valid? [True, True] Translation: X:195.13, Y:2.00, Z:2.93 [[ 9.98984605e-01 -4.22064006e-02 -1.57600151e-02 1.95131274e+02] [ 4.22092112e-02 9.99108782e-01 -1.54399929e-04 2.00287503e+00] [ 1.57524862e-02 -5.10974653e-04 9.99875791e-01 2.92961083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.05925415399997 meters Centerline goodness : 0.999362 Centerline is valid? [True, True] Translation: X:195.16, Y:2.00, Z:2.93 [[ 9.99076923e-01 -3.99615138e-02 -1.57600260e-02 1.95163903e+02] [ 3.99640630e-02 9.99201106e-01 -1.53275459e-04 2.00276434e+00] [ 1.57535606e-02 -4.76700699e-04 9.99875791e-01 2.93004993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.08925415399997 meters Centerline goodness : 0.999173 Centerline is valid? [True, True] Translation: X:195.20, Y:2.00, Z:2.93 [[ 9.99169763e-01 -3.75686754e-02 -1.57600371e-02 1.95196568e+02] [ 3.75709454e-02 9.99293951e-01 -1.52127652e-04 2.00232083e+00] [ 1.57546250e-02 -4.40118143e-04 9.99875791e-01 2.93032262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.11925415399998 meters Centerline goodness : 0.999319 Centerline is valid? [True, True] Translation: X:195.23, Y:2.00, Z:2.93 [[ 9.99327286e-01 -3.31149022e-02 -1.57600482e-02 1.95229009e+02] [ 3.31166368e-02 9.99451482e-01 -1.50972174e-04 2.00223204e+00] [ 1.57564029e-02 -3.71049179e-04 9.99875791e-01 2.93020307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.14925415399998 meters Centerline goodness : 0.999107 Centerline is valid? [True, True] Translation: X:195.26, Y:2.00, Z:2.93 [[ 9.99393621e-01 -3.10485143e-02 -1.57600593e-02 1.95259453e+02] [ 3.10500106e-02 9.99517821e-01 -1.49798621e-04 2.00250107e+00] [ 1.57571112e-02 -3.39642222e-04 9.99875791e-01 2.93014435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.17925415399998 meters Centerline goodness : 0.999045 Centerline is valid? [True, True] Translation: X:195.29, Y:2.00, Z:2.93 [[ 9.99441688e-01 -2.94607029e-02 -1.57600621e-02 1.95290998e+02] [ 2.94620065e-02 9.99565890e-01 -1.49508952e-04 2.00256244e+00] [ 1.57576251e-02 -3.14897571e-04 9.99875791e-01 2.92997390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.20925415399998 meters Centerline goodness : 0.999171 Centerline is valid? [True, True] Translation: X:195.32, Y:2.00, Z:2.93 [[ 9.99468437e-01 -2.85388044e-02 -1.57600675e-02 1.95322385e+02] [ 2.85400024e-02 9.99592640e-01 -1.48933503e-04 2.00249220e+00] [ 1.57578979e-02 -3.00938030e-04 9.99875791e-01 2.92983071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.23925415399998 meters Centerline goodness : 0.999066 Centerline is valid? [True, True] Translation: X:195.35, Y:2.00, Z:2.93 [[ 9.99495573e-01 -2.75720953e-02 -1.57600730e-02 1.95353343e+02] [ 2.75731824e-02 9.99619777e-01 -1.48349598e-04 2.00164514e+00] [ 1.57581710e-02 -2.86280602e-04 9.99875791e-01 2.92942736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.26925415399998 meters Centerline goodness : 0.999237 Centerline is valid? [True, True] Translation: X:195.38, Y:2.00, Z:2.93 [[ 9.99490326e-01 -2.77616327e-02 -1.57600785e-02 1.95383543e+02] [ 2.77627526e-02 9.99614530e-01 -1.47767402e-04 2.00121595e+00] [ 1.57581057e-02 -2.89851071e-04 9.99875791e-01 2.92952146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.29925415399998 meters Centerline goodness : 0.999237 Centerline is valid? [True, True] Translation: X:195.41, Y:2.00, Z:2.93 [[ 9.99490326e-01 -2.77616327e-02 -1.57600785e-02 1.95414537e+02] [ 2.77627526e-02 9.99614530e-01 -1.47767402e-04 2.00150655e+00] [ 1.57581057e-02 -2.89851071e-04 9.99875791e-01 2.93001003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.32925415399998 meters Centerline goodness : 0.999193 Centerline is valid? [True, True] Translation: X:195.45, Y:2.00, Z:2.93 [[ 9.99468865e-01 -2.85238263e-02 -1.57600785e-02 1.95445083e+02] [ 2.85250408e-02 9.99593067e-01 -1.47767402e-04 2.00087340e+00] [ 1.57578801e-02 -3.01867964e-04 9.99875791e-01 2.93061196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.35925415399998 meters Centerline goodness : 0.999088 Centerline is valid? [True, True] Translation: X:195.48, Y:2.00, Z:2.93 [[ 9.99445867e-01 -2.93185762e-02 -1.57600785e-02 1.95475135e+02] [ 2.93198895e-02 9.99570069e-01 -1.47767402e-04 1.99974563e+00] [ 1.57576351e-02 -3.14398241e-04 9.99875791e-01 2.93048714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.38925415399999 meters Centerline goodness : 0.999301 Centerline is valid? [True, True] Translation: X:195.51, Y:2.00, Z:2.93 [[ 9.99410534e-01 -3.04992438e-02 -1.57600877e-02 1.95506502e+02] [ 3.05007195e-02 9.99534734e-01 -1.46774441e-04 1.99870158e+00] [ 1.57572316e-02 -3.34006093e-04 9.99875791e-01 2.93147405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.419254154 meters Centerline goodness : 0.998962 Centerline is valid? [True, True] Translation: X:195.54, Y:2.00, Z:2.93 [[ 9.99356268e-01 -3.22283939e-02 -1.57600931e-02 1.95537817e+02] [ 3.22300936e-02 9.99480465e-01 -1.46199544e-04 1.99777696e+00] [ 1.57566169e-02 -3.61843843e-04 9.99875791e-01 2.93243016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.449254154 meters Centerline goodness : 0.998922 Centerline is valid? [True, True] Translation: X:195.58, Y:1.99, Z:2.93 [[ 9.99423967e-01 -3.00558436e-02 -1.57600984e-02 1.95575714e+02] [ 3.00572824e-02 9.99548167e-01 -1.45617287e-04 1.98884627e+00] [ 1.57573542e-02 -3.28172323e-04 9.99875791e-01 2.92879234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.479254154 meters Centerline goodness : 0.998986 Centerline is valid? [True, True] Translation: X:195.60, Y:2.00, Z:2.93 [[ 9.99136008e-01 -3.84544927e-02 -1.57635374e-02 1.95597362e+02] [ 3.84632018e-02 9.99259986e-01 2.49572181e-04 1.99504818e+00] [ 1.57422750e-02 -8.55672673e-04 9.99875717e-01 2.93339175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.509254154 meters Centerline goodness : 0.999092 Centerline is valid? [True, True] Translation: X:195.63, Y:1.99, Z:2.93 [[ 9.99048922e-01 -4.06556512e-02 -1.57597186e-02 1.95628184e+02] [ 4.06583306e-02 9.99173097e-01 -1.50486005e-04 1.99394386e+00] [ 1.57528049e-02 -4.90420967e-04 9.99875797e-01 2.93374374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.539254154 meters Centerline goodness : 0.998988 Centerline is valid? [True, True] Translation: X:195.66, Y:1.99, Z:2.93 [[ 9.98819010e-01 -4.59588548e-02 -1.57597268e-02 1.95660007e+02] [ 4.59622069e-02 9.98943168e-01 -1.49622606e-04 1.99149215e+00] [ 1.57499479e-02 -5.74905920e-04 9.99875797e-01 2.93472863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.569254154 meters Centerline goodness : 0.999009 Centerline is valid? [True, True] Translation: X:195.69, Y:1.99, Z:2.93 [[ 9.98692455e-01 -4.86313888e-02 -1.57597378e-02 1.95691472e+02] [ 4.86350915e-02 9.98816603e-01 -1.48455339e-04 1.99052967e+00] [ 1.57483073e-02 -6.18215062e-04 9.99875797e-01 2.93496130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.599254154 meters Centerline goodness : 0.999135 Centerline is valid? [True, True] Translation: X:195.72, Y:1.99, Z:2.94 [[ 9.98550253e-01 -5.14686555e-02 -1.57597459e-02 1.95723539e+02] [ 5.14727246e-02 9.98674390e-01 -1.47585500e-04 1.98968098e+00] [ 1.57464507e-02 -6.63825524e-04 9.99875797e-01 2.93610945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.62925415399997 meters Centerline goodness : 0.998970 Centerline is valid? [True, True] Translation: X:195.76, Y:1.99, Z:2.94 [[ 9.98267560e-01 -5.66878200e-02 -1.57597567e-02 1.95755864e+02] [ 5.66925562e-02 9.98391673e-01 -1.46429050e-04 1.98827025e+00] [ 1.57427106e-02 -7.47285520e-04 9.99875797e-01 2.93725264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.65925415399997 meters Centerline goodness : 0.998779 Centerline is valid? [True, True] Translation: X:195.79, Y:1.99, Z:2.94 [[ 9.98161443e-01 -5.85266010e-02 -1.57597673e-02 1.95788152e+02] [ 5.85315840e-02 9.98285547e-01 -1.45272102e-04 1.98807017e+00] [ 1.57412502e-02 -7.77439136e-04 9.99875797e-01 2.93805397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.68925415399997 meters Centerline goodness : 0.999012 Centerline is valid? [True, True] Translation: X:195.82, Y:1.99, Z:2.94 [[ 9.98018984e-01 -6.09076064e-02 -1.57597780e-02 1.95820360e+02] [ 6.09129038e-02 9.98143075e-01 -1.44109131e-04 1.98831961e+00] [ 1.57392906e-02 -8.16150192e-04 9.99875797e-01 2.93980724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.71925415399997 meters Centerline goodness : 0.998933 Centerline is valid? [True, True] Translation: X:195.85, Y:1.99, Z:2.94 [[ 9.97991253e-01 -6.13603116e-02 -1.57597885e-02 1.95852757e+02] [ 6.13656836e-02 9.98115340e-01 -1.42947796e-04 1.98881443e+00] [ 1.57388580e-02 -8.24449544e-04 9.99875797e-01 2.94012485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.74925415399997 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:195.89, Y:1.99, Z:2.94 [[ 9.97969745e-01 -6.17091297e-02 -1.57598015e-02 1.95885740e+02] [ 6.17145679e-02 9.98093829e-01 -1.41501703e-04 1.98940339e+00] [ 1.57384926e-02 -8.31394920e-04 9.99875797e-01 2.94126438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.77925415399997 meters Centerline goodness : 0.999159 Centerline is valid? [True, True] Translation: X:195.92, Y:1.99, Z:2.94 [[ 9.97954887e-01 -6.19489365e-02 -1.57598170e-02 1.95918230e+02] [ 6.19544320e-02 9.98078969e-01 -1.39750480e-04 1.98987652e+00] [ 1.57381993e-02 -8.36925838e-04 9.99875797e-01 2.94127771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.80925415399997 meters Centerline goodness : 0.999284 Centerline is valid? [True, True] Translation: X:195.95, Y:1.99, Z:2.94 [[ 9.97942695e-01 -6.21450295e-02 -1.57598409e-02 1.95951328e+02] [ 6.21505927e-02 9.98066774e-01 -1.37003962e-04 1.99034312e+00] [ 1.57378877e-02 -8.42761349e-04 9.99875797e-01 2.94120660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.83925415399997 meters Centerline goodness : 0.999159 Centerline is valid? [True, True] Translation: X:195.98, Y:1.99, Z:2.94 [[ 9.97947375e-01 -6.20698293e-02 -1.57598556e-02 1.95983774e+02] [ 6.20754101e-02 9.98071453e-01 -1.35291495e-04 1.99133683e+00] [ 1.57378595e-02 -8.43285707e-04 9.99875797e-01 2.94099680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.86925415399998 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:196.02, Y:1.99, Z:2.94 [[ 9.97955446e-01 -6.19399341e-02 -1.57598655e-02 1.96015445e+02] [ 6.19455170e-02 9.98079523e-01 -1.34127381e-04 1.99223525e+00] [ 1.57379069e-02 -8.42399867e-04 9.99875797e-01 2.94090170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.89925415399998 meters Centerline goodness : 0.999097 Centerline is valid? [True, True] Translation: X:196.05, Y:1.99, Z:2.94 [[ 9.97988619e-01 -6.14031167e-02 -1.57598777e-02 1.96048757e+02] [ 6.14086558e-02 9.98112699e-01 -1.32675796e-04 1.99297362e+00] [ 1.57382808e-02 -8.35383972e-04 9.99875797e-01 2.94103762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.92925415399998 meters Centerline goodness : 0.999033 Centerline is valid? [True, True] Translation: X:196.08, Y:1.99, Z:2.94 [[ 9.98025884e-01 -6.07944190e-02 -1.57598920e-02 1.96081456e+02] [ 6.07999093e-02 9.98149966e-01 -1.30963325e-04 1.99399874e+00] [ 1.57386975e-02 -8.27495214e-04 9.99875797e-01 2.94153886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.95925415399998 meters Centerline goodness : 0.998928 Centerline is valid? [True, True] Translation: X:196.11, Y:2.00, Z:2.94 [[ 9.98153894e-01 -5.86551676e-02 -1.57599062e-02 1.96113086e+02] [ 5.86604192e-02 9.98277987e-01 -1.29230949e-04 1.99665852e+00] [ 1.57403475e-02 -7.95490327e-04 9.99875797e-01 2.94176118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.98925415399998 meters Centerline goodness : 0.999011 Centerline is valid? [True, True] Translation: X:196.15, Y:2.00, Z:2.94 [[ 9.98255925e-01 -5.68922940e-02 -1.57599131e-02 1.96145528e+02] [ 5.68973400e-02 9.98380026e-01 -1.28373617e-04 1.99797191e+00] [ 1.57416860e-02 -7.68547413e-04 9.99875797e-01 2.94178360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.01925415399998 meters Centerline goodness : 0.999051 Centerline is valid? [True, True] Translation: X:196.18, Y:2.00, Z:2.94 [[ 9.98518067e-01 -5.20893031e-02 -1.57599244e-02 1.96177296e+02] [ 5.20937741e-02 9.98642189e-01 -1.26973258e-04 2.00074625e+00] [ 1.57451394e-02 -6.94208851e-04 9.99875797e-01 2.94221439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.04925415399998 meters Centerline goodness : 0.998817 Centerline is valid? [True, True] Translation: X:196.21, Y:2.00, Z:2.94 [[ 9.98680869e-01 -4.88686591e-02 -1.57599335e-02 1.96208590e+02] [ 4.88727476e-02 9.98805005e-01 -1.25840003e-04 2.00249057e+00] [ 1.57472501e-02 -6.44557247e-04 9.99875797e-01 2.94251101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.07925415399998 meters Centerline goodness : 0.998943 Centerline is valid? [True, True] Translation: X:196.24, Y:2.00, Z:2.94 [[ 9.98859734e-01 -4.50650146e-02 -1.57599402e-02 1.96240937e+02] [ 4.50686436e-02 9.98983885e-01 -1.24995536e-04 2.00450741e+00] [ 1.57495592e-02 -5.85426119e-04 9.99875797e-01 2.94316497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.10925415399998 meters Centerline goodness : 0.999110 Centerline is valid? [True, True] Translation: X:196.27, Y:2.01, Z:2.94 [[ 9.99040585e-01 -4.08599203e-02 -1.57599489e-02 1.96271667e+02] [ 4.08630442e-02 9.99164749e-01 -1.23883775e-04 2.00641543e+00] [ 1.57518473e-02 -5.20234570e-04 9.99875797e-01 2.94371095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.13925415399999 meters Centerline goodness : 0.999238 Centerline is valid? [True, True] Translation: X:196.30, Y:2.01, Z:2.94 [[ 9.99208528e-01 -3.65231688e-02 -1.57599554e-02 1.96304277e+02] [ 3.65257669e-02 9.99332704e-01 -1.23054705e-04 2.00839198e+00] [ 1.57539332e-02 -4.52687146e-04 9.99875797e-01 2.94481379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.169254154 meters Centerline goodness : 0.999109 Centerline is valid? [True, True] Translation: X:196.34, Y:2.01, Z:2.95 [[ 9.99350956e-01 -3.23927389e-02 -1.57599638e-02 1.96335943e+02] [ 3.23948408e-02 9.99475142e-01 -1.21965406e-04 2.01036696e+00] [ 1.57556429e-02 -3.88655274e-04 9.99875797e-01 2.94636248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.199254154 meters Centerline goodness : 0.999108 Centerline is valid? [True, True] Translation: X:196.37, Y:2.01, Z:2.95 [[ 9.99567716e-01 -2.48194485e-02 -1.57599726e-02 1.96366526e+02] [ 2.48206275e-02 9.99691913e-01 -1.20819071e-04 2.01299319e+00] [ 1.57581158e-02 -2.70405566e-04 9.99875797e-01 2.94746419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.229254154 meters Centerline goodness : 0.999108 Centerline is valid? [True, True] Translation: X:196.40, Y:2.01, Z:2.95 [[ 9.99639860e-01 -2.17203702e-02 -1.57599748e-02 1.96396881e+02] [ 2.17211685e-02 9.99764060e-01 -1.20535888e-04 2.01403774e+00] [ 1.57588745e-02 -2.21832589e-04 9.99875797e-01 2.94788638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.259254154 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:196.43, Y:2.02, Z:2.95 [[ 9.99693305e-01 -1.91028758e-02 -1.57599748e-02 1.96426539e+02] [ 1.91033489e-02 9.99817507e-01 -1.20535888e-04 2.01512683e+00] [ 1.57594013e-02 -1.80569376e-04 9.99875797e-01 2.94854193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.289254154 meters Centerline goodness : 0.999299 Centerline is valid? [True, True] Translation: X:196.45, Y:2.02, Z:2.95 [[ 9.99727039e-01 -1.72473382e-02 -1.57599704e-02 1.96453958e+02] [ 1.72475719e-02 9.99851242e-01 -1.21099982e-04 2.01595305e+00] [ 1.57597147e-02 -1.50754297e-04 9.99875797e-01 2.94852852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.319254154 meters Centerline goodness : 0.999254 Centerline is valid? [True, True] Translation: X:196.48, Y:2.02, Z:2.95 [[ 9.99751689e-01 -1.57538703e-02 -1.57599596e-02 1.96481964e+02] [ 1.57538964e-02 9.99875892e-01 -1.22499635e-04 2.01740085e+00] [ 1.57599335e-02 -1.25811554e-04 9.99875797e-01 2.94817339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.349254154 meters Centerline goodness : 0.999043 Centerline is valid? [True, True] Translation: X:196.51, Y:2.02, Z:2.95 [[ 9.99741144e-01 -1.64094516e-02 -1.57599239e-02 1.96509991e+02] [ 1.64094894e-02 9.99865347e-01 -1.26924827e-04 2.01822139e+00] [ 1.57598846e-02 -1.31720333e-04 9.99875797e-01 2.94793556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.37925415399997 meters Centerline goodness : 0.999065 Centerline is valid? [True, True] Translation: X:196.54, Y:2.02, Z:2.95 [[ 9.99686258e-01 -1.94682249e-02 -1.57598871e-02 1.96537439e+02] [ 1.94685730e-02 9.99810461e-01 -1.31346749e-04 2.01830979e+00] [ 1.57594570e-02 -1.75516971e-04 9.99875797e-01 2.94777066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.40925415399997 meters Centerline goodness : 0.999064 Centerline is valid? [True, True] Translation: X:196.57, Y:2.02, Z:2.95 [[ 9.99631043e-01 -2.21224640e-02 -1.57598756e-02 1.96565850e+02] [ 2.21231203e-02 9.99755245e-01 -1.32711218e-04 2.01795844e+00] [ 1.57589542e-02 -2.15995370e-04 9.99875797e-01 2.94825921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.43925415399997 meters Centerline goodness : 0.999148 Centerline is valid? [True, True] Translation: X:196.60, Y:2.02, Z:2.95 [[ 9.99553001e-01 -2.54052369e-02 -1.57598427e-02 1.96595795e+02] [ 2.54062414e-02 9.99677200e-01 -1.36503103e-04 2.01750913e+00] [ 1.57582233e-02 -2.63956282e-04 9.99875797e-01 2.94860376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.46925415399997 meters Centerline goodness : 0.998999 Centerline is valid? [True, True] Translation: X:196.63, Y:2.02, Z:2.95 [[ 9.99441693e-01 -2.94606454e-02 -1.57598381e-02 1.96626623e+02] [ 2.94621453e-02 9.99565887e-01 -1.37040084e-04 2.01699772e+00] [ 1.57570338e-02 -3.27355065e-04 9.99875797e-01 2.94939529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.49925415399997 meters Centerline goodness : 0.999042 Centerline is valid? [True, True] Translation: X:196.66, Y:2.02, Z:2.95 [[ 9.99293614e-01 -3.41159892e-02 -1.57598381e-02 1.96657873e+02] [ 3.41180677e-02 9.99417800e-01 -1.37040084e-04 2.01611479e+00] [ 1.57553379e-02 -4.00751941e-04 9.99875797e-01 2.94989396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.52925415399997 meters Centerline goodness : 0.998936 Centerline is valid? [True, True] Translation: X:196.69, Y:2.01, Z:2.95 [[ 9.98894477e-01 -4.42882657e-02 -1.57598431e-02 1.96689291e+02] [ 4.42916176e-02 9.99018635e-01 -1.36458404e-04 2.01427220e+00] [ 1.57504205e-02 -5.61721398e-04 9.99875797e-01 2.95047310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.55925415399997 meters Centerline goodness : 0.998894 Centerline is valid? [True, True] Translation: X:196.72, Y:2.01, Z:2.95 [[ 9.98657269e-01 -4.93486188e-02 -1.57598628e-02 1.96721317e+02] [ 4.93526361e-02 9.98781407e-01 -1.34144900e-04 2.01371891e+00] [ 1.57472778e-02 -6.43825995e-04 9.99875797e-01 2.95132391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.58925415399997 meters Centerline goodness : 0.999171 Centerline is valid? [True, True] Translation: X:196.75, Y:2.01, Z:2.95 [[ 9.98406764e-01 -5.41808127e-02 -1.57598726e-02 1.96753570e+02] [ 5.41854491e-02 9.98530881e-01 -1.32984561e-04 2.01307762e+00] [ 1.57439247e-02 -7.21183087e-04 9.99875797e-01 2.95101126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.61925415399998 meters Centerline goodness : 0.998959 Centerline is valid? [True, True] Translation: X:196.79, Y:2.01, Z:2.95 [[ 9.98167846e-01 -5.84172735e-02 -1.57598847e-02 1.96786681e+02] [ 5.84224593e-02 9.98291941e-01 -1.31536254e-04 2.01236422e+00] [ 1.57406498e-02 -7.89435960e-04 9.99875797e-01 2.95205391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.64925415399998 meters Centerline goodness : 0.999087 Centerline is valid? [True, True] Translation: X:196.82, Y:2.01, Z:2.95 [[ 9.97972389e-01 -6.16663342e-02 -1.57598988e-02 1.96818736e+02] [ 6.16719509e-02 9.98096465e-01 -1.29825227e-04 2.01170351e+00] [ 1.57379051e-02 -8.42381710e-04 9.99875797e-01 2.95253410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.67925415399998 meters Centerline goodness : 0.999045 Centerline is valid? [True, True] Translation: X:196.85, Y:2.01, Z:2.95 [[ 9.97678498e-01 -6.62513397e-02 -1.57599103e-02 1.96851803e+02] [ 6.62575488e-02 9.97802546e-01 -1.28406194e-04 2.01141924e+00] [ 1.57337857e-02 -9.16104929e-04 9.99875797e-01 2.95321424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.70925415399998 meters Centerline goodness : 0.998918 Centerline is valid? [True, True] Translation: X:196.88, Y:2.01, Z:2.95 [[ 9.97610734e-01 -6.72640114e-02 -1.57599244e-02 1.96884885e+02] [ 6.72703740e-02 9.97734775e-01 -1.26658186e-04 2.01178928e+00] [ 1.57327441e-02 -9.33820440e-04 9.99875797e-01 2.95358498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.73925415399998 meters Centerline goodness : 0.999236 Centerline is valid? [True, True] Translation: X:196.92, Y:2.01, Z:2.95 [[ 9.97547791e-01 -6.81910653e-02 -1.57601603e-02 1.96915749e+02] [ 6.81980125e-02 9.97671801e-01 -9.68352660e-05 2.01191068e+00] [ 1.57300708e-02 -9.78213801e-04 9.99875796e-01 2.95423067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.76925415399998 meters Centerline goodness : 0.999151 Centerline is valid? [True, True] Translation: X:196.95, Y:2.01, Z:2.95 [[ 9.97539238e-01 -6.83161187e-02 -1.57599444e-02 1.96947458e+02] [ 6.83226504e-02 9.97663270e-01 -1.24218473e-04 2.01202310e+00] [ 1.57316038e-02 -9.52848374e-04 9.99875797e-01 2.95429703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.79925415399998 meters Centerline goodness : 0.999215 Centerline is valid? [True, True] Translation: X:196.98, Y:2.01, Z:2.95 [[ 9.97540126e-01 -6.83031519e-02 -1.57599667e-02 1.96980063e+02] [ 6.83097275e-02 9.97664155e-01 -1.21331836e-04 2.01251291e+00] [ 1.57314412e-02 -9.55525653e-04 9.99875797e-01 2.95400180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.82925415399998 meters Centerline goodness : 0.999067 Centerline is valid? [True, True] Translation: X:197.01, Y:2.01, Z:2.95 [[ 9.97589715e-01 -6.75750255e-02 -1.57599754e-02 1.97012489e+02] [ 6.75815286e-02 9.97713748e-01 -1.20182435e-04 2.01290725e+00] [ 1.57320655e-02 -9.45190469e-04 9.99875797e-01 2.95335793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.85925415399998 meters Centerline goodness : 0.999088 Centerline is valid? [True, True] Translation: X:197.05, Y:2.01, Z:2.95 [[ 9.97677708e-01 -6.62632208e-02 -1.57599862e-02 1.97045909e+02] [ 6.62695834e-02 9.97801748e-01 -1.18751586e-04 2.01339636e+00] [ 1.57332107e-02 -9.25931910e-04 9.99875797e-01 2.95337489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.88925415399999 meters Centerline goodness : 0.999344 Centerline is valid? [True, True] Translation: X:197.08, Y:2.02, Z:2.95 [[ 9.97942995e-01 -6.21401806e-02 -1.57599992e-02 1.97077268e+02] [ 6.21460582e-02 9.98067059e-01 -1.16996134e-04 2.01513489e+00] [ 1.57368063e-02 -8.62666359e-04 9.99875797e-01 2.95231266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.919254154 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:197.11, Y:2.02, Z:2.95 [[ 9.98113810e-01 -5.93333318e-02 -1.57600056e-02 1.97110404e+02] [ 5.93388742e-02 9.98237890e-01 -1.16127874e-04 2.01681881e+00] [ 1.57391250e-02 -8.19272157e-04 9.99875797e-01 2.95255293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.949254154 meters Centerline goodness : 0.999192 Centerline is valid? [True, True] Translation: X:197.14, Y:2.02, Z:2.95 [[ 9.98330720e-01 -5.55643395e-02 -1.57600181e-02 1.97142536e+02] [ 5.55694404e-02 9.98454818e-01 -1.14408051e-04 2.01857323e+00] [ 1.57420230e-02 -7.61558316e-04 9.99875797e-01 2.95300242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.979254154 meters Centerline goodness : 0.999021 Centerline is valid? [True, True] Translation: X:197.17, Y:2.02, Z:2.95 [[ 9.98549673e-01 -5.14798267e-02 -1.57600283e-02 1.97174891e+02] [ 5.14844423e-02 9.98673790e-01 -1.12985093e-04 2.02045744e+00] [ 1.57449437e-02 -6.98575041e-04 9.99875797e-01 2.95369189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.009254154 meters Centerline goodness : 0.998956 Centerline is valid? [True, True] Translation: X:197.21, Y:2.02, Z:2.95 [[ 9.98780283e-01 -4.67928250e-02 -1.57600364e-02 1.97206023e+02] [ 4.67968758e-02 9.98904420e-01 -1.11852431e-04 2.02262079e+00] [ 1.57480039e-02 -6.25804462e-04 9.99875797e-01 2.95405777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.039254154 meters Centerline goodness : 0.999319 Centerline is valid? [True, True] Translation: X:197.24, Y:2.03, Z:2.95 [[ 9.99198180e-01 -3.68051307e-02 -1.57600492e-02 1.97238159e+02] [ 3.68079693e-02 9.99322351e-01 -1.10012827e-04 2.02669369e+00] [ 1.57534185e-02 -4.70170792e-04 9.99875797e-01 2.95440294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.069254154 meters Centerline goodness : 0.999274 Centerline is valid? [True, True] Translation: X:197.27, Y:2.03, Z:2.95 [[ 9.99366026e-01 -3.19243985e-02 -1.57600570e-02 1.97270597e+02] [ 3.19266484e-02 9.99490209e-01 -1.08884335e-04 2.02914145e+00] [ 1.57554987e-02 -3.94350494e-04 9.99875797e-01 2.95489637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.099254154 meters Centerline goodness : 0.999359 Centerline is valid? [True, True] Translation: X:197.30, Y:2.03, Z:2.95 [[ 9.99511615e-01 -2.69842800e-02 -1.57600648e-02 1.97301792e+02] [ 2.69859341e-02 9.99635808e-01 -1.07739710e-04 2.03147134e+00] [ 1.57572324e-02 -3.17612979e-04 9.99875797e-01 2.95492753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.12925415399997 meters Centerline goodness : 0.999507 Centerline is valid? [True, True] Translation: X:197.33, Y:2.04, Z:2.96 [[ 9.99718710e-01 -1.77234711e-02 -1.57600706e-02 1.97331930e+02] [ 1.77239880e-02 9.99842912e-01 -1.06888171e-04 2.03566203e+00] [ 1.57594893e-02 -1.72473199e-04 9.99875797e-01 2.95598029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.15925415399997 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:197.36, Y:2.04, Z:2.96 [[ 9.99778324e-01 -1.39614714e-02 -1.57600706e-02 1.97360749e+02] [ 1.39615209e-02 9.99902528e-01 -1.06888171e-04 2.03742319e+00] [ 1.57600268e-02 -1.13170079e-04 9.99875797e-01 2.95638833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.18925415399997 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:197.39, Y:2.04, Z:2.96 [[ 9.99774157e-01 -1.42567985e-02 -1.57600419e-02 1.97389131e+02] [ 1.42568205e-02 9.99898360e-01 -1.10959838e-04 2.03768734e+00] [ 1.57600220e-02 -1.13753310e-04 9.99875797e-01 2.95683704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.21925415399997 meters Centerline goodness : 0.999356 Centerline is valid? [True, True] Translation: X:197.42, Y:2.04, Z:2.96 [[ 9.99817807e-01 -1.07691548e-02 -1.57600078e-02 1.97416249e+02] [ 1.07686702e-02 9.99942010e-01 -1.15614804e-04 2.03915479e+00] [ 1.57603389e-02 -5.41205869e-05 9.99875797e-01 2.95672727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.24925415399997 meters Centerline goodness : 0.999547 Centerline is valid? [True, True] Translation: X:197.44, Y:2.04, Z:2.96 [[ 9.99843991e-01 -7.97601600e-03 -1.57599928e-02 1.97444256e+02] [ 7.97515265e-03 9.99968191e-01 -1.17629928e-04 2.04052668e+00] [ 1.57604297e-02 -8.07677104e-06 9.99875797e-01 2.95698616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.27925415399997 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:197.47, Y:2.04, Z:2.96 [[ 9.99858146e-01 -5.94231175e-03 -1.57599570e-02 1.97471846e+02] [ 5.94112303e-03 9.99982344e-01 -1.22244641e-04 2.04171787e+00] [ 1.57604051e-02 2.85954565e-05 9.99875797e-01 2.95686222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.30925415399997 meters Centerline goodness : 0.999438 Centerline is valid? [True, True] Translation: X:197.50, Y:2.04, Z:2.96 [[ 9.99870375e-01 -3.29514992e-03 -1.57599200e-02 1.97499515e+02] [ 3.29355994e-03 9.99994568e-01 -1.26841242e-04 2.04303191e+00] [ 1.57602523e-02 7.49185589e-05 9.99875797e-01 2.95741132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.33925415399997 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:197.53, Y:2.04, Z:2.96 [[ 9.99871432e-01 -2.95743574e-03 -1.57598816e-02 1.97527639e+02] [ 2.95573135e-03 9.99995623e-01 -1.31439005e-04 2.04353308e+00] [ 1.57602014e-02 8.48401300e-05 9.99875797e-01 2.95803407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.36925415399998 meters Centerline goodness : 0.999482 Centerline is valid? [True, True] Translation: X:197.55, Y:2.05, Z:2.96 [[ 9.99870398e-01 -3.28863631e-03 -1.57598421e-02 1.97553203e+02] [ 3.28690091e-03 9.99994589e-01 -1.36016461e-04 2.04584838e+00] [ 1.57602041e-02 8.41977935e-05 9.99875797e-01 2.95824138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.39925415399998 meters Centerline goodness : 0.999417 Centerline is valid? [True, True] Translation: X:197.58, Y:2.04, Z:2.96 [[ 9.99869230e-01 -3.63226070e-03 -1.57584473e-02 1.97583814e+02] [ 3.62818026e-03 9.99993377e-01 -2.87518083e-04 2.04423146e+00] [ 1.57593873e-02 2.30305997e-04 9.99875787e-01 2.95998682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.42925415399998 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:197.61, Y:2.04, Z:2.96 [[ 9.99858231e-01 -5.92857943e-03 -1.57597586e-02 1.97613073e+02] [ 5.92707944e-03 9.99982425e-01 -1.41884805e-04 2.04372588e+00] [ 1.57603228e-02 4.84553492e-05 9.99875797e-01 2.96136429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.45925415399998 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:197.64, Y:2.04, Z:2.96 [[ 9.99846901e-01 -7.60297227e-03 -1.57597485e-02 1.97642192e+02] [ 7.60166267e-03 9.99971097e-01 -1.43000819e-04 2.04308469e+00] [ 1.57603802e-02 2.31786341e-05 9.99875797e-01 2.96233803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.48925415399998 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:197.67, Y:2.04, Z:2.96 [[ 9.99824696e-01 -1.01098106e-02 -1.57597380e-02 1.97670352e+02] [ 1.01087943e-02 9.99948894e-01 -1.44149572e-04 2.04266844e+00] [ 1.57603899e-02 -1.51876483e-05 9.99875797e-01 2.96302298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.51925415399998 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:197.70, Y:2.04, Z:2.96 [[ 9.99747723e-01 -1.60037675e-02 -1.57597221e-02 1.97698726e+02] [ 1.60034563e-02 9.99871926e-01 -1.45868726e-04 2.04051692e+00] [ 1.57600381e-02 -1.06378097e-04 9.99875797e-01 2.96402035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.54925415399998 meters Centerline goodness : 0.999292 Centerline is valid? [True, True] Translation: X:197.73, Y:2.04, Z:2.96 [[ 9.99679932e-01 -1.97905227e-02 -1.57597112e-02 1.97726167e+02] [ 1.97906636e-02 9.99804135e-01 -1.47029164e-04 2.03937047e+00] [ 1.57595342e-02 -1.64913040e-04 9.99875797e-01 2.96424026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.57925415399998 meters Centerline goodness : 0.999272 Centerline is valid? [True, True] Translation: X:197.75, Y:2.04, Z:2.96 [[ 9.99588671e-01 -2.39608067e-02 -1.57596898e-02 1.97754428e+02] [ 2.39614300e-02 9.99712873e-01 -1.49294717e-04 2.03799016e+00] [ 1.57587420e-02 -2.28391396e-04 9.99875797e-01 2.96451957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.60925415399998 meters Centerline goodness : 0.999252 Centerline is valid? [True, True] Translation: X:197.78, Y:2.03, Z:2.96 [[ 9.99333926e-01 -3.29141049e-02 -1.57596510e-02 1.97784180e+02] [ 3.29157780e-02 9.99458117e-01 -1.53281972e-04 2.03454801e+00] [ 1.57561562e-02 -3.65561298e-04 9.99875797e-01 2.96385209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.63925415399999 meters Centerline goodness : 0.999062 Centerline is valid? [True, True] Translation: X:197.82, Y:2.03, Z:2.96 [[ 9.99169916e-01 -3.75647874e-02 -1.57596454e-02 1.97815697e+02] [ 3.75670295e-02 9.99294098e-01 -1.53855709e-04 2.03288617e+00] [ 1.57543002e-02 -4.38315067e-04 9.99875797e-01 2.96361700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.669254154 meters Centerline goodness : 0.999256 Centerline is valid? [True, True] Translation: X:197.85, Y:2.03, Z:2.96 [[ 9.98800467e-01 -4.63601232e-02 -1.57596639e-02 1.97847771e+02] [ 4.63634888e-02 9.98924624e-01 -1.51933281e-04 2.02925170e+00] [ 1.57497600e-02 -5.78921970e-04 9.99875797e-01 2.96350723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.699254154 meters Centerline goodness : 0.999256 Centerline is valid? [True, True] Translation: X:197.88, Y:2.03, Z:2.96 [[ 9.98803802e-01 -4.62881943e-02 -1.57596748e-02 1.97880459e+02] [ 4.62915688e-02 9.98927959e-01 -1.50799567e-04 2.02950239e+00] [ 1.57497600e-02 -5.78920889e-04 9.99875797e-01 2.96402213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.729254154 meters Centerline goodness : 0.999235 Centerline is valid? [True, True] Translation: X:197.91, Y:2.03, Z:2.96 [[ 9.98621397e-01 -5.00693277e-02 -1.57596856e-02 1.97911839e+02] [ 5.00731901e-02 9.98745540e-01 -1.49664772e-04 2.02791277e+00] [ 1.57474093e-02 -6.39679287e-04 9.99875797e-01 2.96446103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.759254154 meters Centerline goodness : 0.998958 Centerline is valid? [True, True] Translation: X:197.94, Y:2.03, Z:2.97 [[ 9.98278648e-01 -5.64922296e-02 -1.57597034e-02 1.97944189e+02] [ 5.64969205e-02 9.98402762e-01 -1.47760333e-04 2.02537608e+00] [ 1.57428787e-02 -7.42868724e-04 9.99875797e-01 2.96502922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.789254154 meters Centerline goodness : 0.999192 Centerline is valid? [True, True] Translation: X:197.98, Y:2.02, Z:2.97 [[ 9.98165754e-01 -5.84530557e-02 -1.57597139e-02 1.97976318e+02] [ 5.84580081e-02 9.98289858e-01 -1.46634822e-04 2.02415332e+00] [ 1.57413338e-02 -7.74915624e-04 9.99875797e-01 2.96536381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.819254154 meters Centerline goodness : 0.999003 Centerline is valid? [True, True] Translation: X:198.01, Y:2.02, Z:2.97 [[ 9.98141010e-01 -5.88740706e-02 -1.57597243e-02 1.98006559e+02] [ 5.88790931e-02 9.98265111e-01 -1.45505758e-04 2.02318258e+00] [ 1.57409494e-02 -7.82683011e-04 9.99875797e-01 2.96538722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.849254154 meters Centerline goodness : 0.998918 Centerline is valid? [True, True] Translation: X:198.04, Y:2.02, Z:2.97 [[ 9.98091028e-01 -5.97155313e-02 -1.57592911e-02 1.98040843e+02] [ 5.97199173e-02 9.98215154e-01 -1.92561400e-04 2.02243761e+00] [ 1.57426621e-02 -7.48949754e-04 9.99875796e-01 2.96623640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.87925415399997 meters Centerline goodness : 0.999108 Centerline is valid? [True, True] Translation: X:198.07, Y:2.02, Z:2.97 [[ 9.98109384e-01 -5.94078060e-02 -1.57597526e-02 1.98073138e+02] [ 5.94129663e-02 9.98233479e-01 -1.40971681e-04 2.02203145e+00] [ 1.57402875e-02 -7.95628491e-04 9.99875797e-01 2.96616843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.90925415399997 meters Centerline goodness : 0.998959 Centerline is valid? [True, True] Translation: X:198.11, Y:2.02, Z:2.97 [[ 9.98170458e-01 -5.83726498e-02 -1.57597651e-02 1.98105928e+02] [ 5.83777037e-02 9.98294558e-01 -1.39555963e-04 2.02190046e+00] [ 1.57410340e-02 -7.80718258e-04 9.99875797e-01 2.96716866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.93925415399997 meters Centerline goodness : 0.999067 Centerline is valid? [True, True] Translation: X:198.14, Y:2.02, Z:2.97 [[ 9.98396314e-01 -5.43730666e-02 -1.57597805e-02 1.98138475e+02] [ 5.43776509e-02 9.98520431e-01 -1.37798803e-04 2.02209318e+00] [ 1.57439554e-02 -7.19402024e-04 9.99875797e-01 2.96742921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.96925415399997 meters Centerline goodness : 0.999087 Centerline is valid? [True, True] Translation: X:198.17, Y:2.02, Z:2.97 [[ 9.98541292e-01 -5.16421997e-02 -1.57597956e-02 1.98169594e+02] [ 5.16464721e-02 9.98665421e-01 -1.36052315e-04 2.02274934e+00] [ 1.57457889e-02 -6.78083987e-04 9.99875797e-01 2.96775335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.99925415399997 meters Centerline goodness : 0.999149 Centerline is valid? [True, True] Translation: X:198.20, Y:2.02, Z:2.97 [[ 9.98839940e-01 -4.55016848e-02 -1.57598030e-02 1.98202297e+02] [ 4.55052075e-02 9.98964092e-01 -1.35186594e-04 2.02421952e+00] [ 1.57496285e-02 -5.82123335e-04 9.99875797e-01 2.96799143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.02925415399997 meters Centerline goodness : 0.999106 Centerline is valid? [True, True] Translation: X:198.23, Y:2.02, Z:2.97 [[ 9.98976125e-01 -4.24067269e-02 -1.57598153e-02 1.98234507e+02] [ 4.24098878e-02 9.99100287e-01 -1.33737625e-04 2.02492533e+00] [ 1.57513073e-02 -5.34771303e-04 9.99875797e-01 2.96720669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.05925415399997 meters Centerline goodness : 0.998998 Centerline is valid? [True, True] Translation: X:198.27, Y:2.03, Z:2.97 [[ 9.99079334e-01 -3.99012800e-02 -1.57598251e-02 1.98266161e+02] [ 3.99041478e-02 9.99203504e-01 -1.32570858e-04 2.02585975e+00] [ 1.57525622e-02 -4.96433586e-04 9.99875797e-01 2.96771445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.08925415399997 meters Centerline goodness : 0.999041 Centerline is valid? [True, True] Translation: X:198.30, Y:2.03, Z:2.97 [[ 9.99172773e-01 -3.74886406e-02 -1.57598347e-02 1.98298217e+02] [ 3.74912268e-02 9.99296948e-01 -1.31417635e-04 2.02675423e+00] [ 1.57536814e-02 -4.59546616e-04 9.99875797e-01 2.96760239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.11925415399998 meters Centerline goodness : 0.999210 Centerline is valid? [True, True] Translation: X:198.33, Y:2.03, Z:2.97 [[ 9.99291915e-01 -3.41657265e-02 -1.57598442e-02 1.98329330e+02] [ 3.41679178e-02 9.99416098e-01 -1.30273026e-04 2.02819938e+00] [ 1.57550928e-02 -4.08300278e-04 9.99875797e-01 2.96737691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.14925415399998 meters Centerline goodness : 0.998977 Centerline is valid? [True, True] Translation: X:198.36, Y:2.03, Z:2.97 [[ 9.99339385e-01 -3.27478400e-02 -1.57598512e-02 1.98360137e+02] [ 3.27498685e-02 9.99463571e-01 -1.29420780e-04 2.02896909e+00] [ 1.57556354e-02 -3.86797770e-04 9.99875797e-01 2.96713510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.17925415399998 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:198.39, Y:2.03, Z:2.97 [[ 9.99368828e-01 -3.18366456e-02 -1.57598581e-02 1.98391289e+02] [ 3.18385742e-02 9.99493016e-01 -1.28577820e-04 2.02989434e+00] [ 1.57559615e-02 -3.73274745e-04 9.99875797e-01 2.96870693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.20925415399998 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:198.42, Y:2.03, Z:2.97 [[ 9.99386829e-01 -3.12664705e-02 -1.57598626e-02 1.98422863e+02] [ 3.12683371e-02 9.99511018e-01 -1.28012146e-04 2.03073729e+00] [ 1.57561588e-02 -3.64851045e-04 9.99875797e-01 2.96876201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.23925415399998 meters Centerline goodness : 0.999190 Centerline is valid? [True, True] Translation: X:198.45, Y:2.03, Z:2.97 [[ 9.99393620e-01 -3.10486514e-02 -1.57598672e-02 1.98452936e+02] [ 3.10504998e-02 9.99517809e-01 -1.27450324e-04 2.03157133e+00] [ 1.57562251e-02 -3.61978713e-04 9.99875797e-01 2.96934907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.26925415399998 meters Centerline goodness : 0.999253 Centerline is valid? [True, True] Translation: X:198.48, Y:2.03, Z:2.97 [[ 9.99381115e-01 -3.14485745e-02 -1.57598746e-02 1.98484420e+02] [ 3.14504871e-02 9.99505303e-01 -1.26530780e-04 2.03202951e+00] [ 1.57560574e-02 -3.69203259e-04 9.99875797e-01 2.97102143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.29925415399998 meters Centerline goodness : 0.999211 Centerline is valid? [True, True] Translation: X:198.52, Y:2.03, Z:2.97 [[ 9.99370608e-01 -3.17807276e-02 -1.57598791e-02 1.98515592e+02] [ 3.17826904e-02 9.99494795e-01 -1.25962471e-04 2.03243495e+00] [ 1.57559203e-02 -3.75008168e-04 9.99875797e-01 2.97224859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.32925415399998 meters Centerline goodness : 0.999339 Centerline is valid? [True, True] Translation: X:198.55, Y:2.03, Z:2.97 [[ 9.99325738e-01 -3.31616593e-02 -1.57598837e-02 1.98546970e+02] [ 3.31638027e-02 9.99449922e-01 -1.25391013e-04 2.03355783e+00] [ 1.57553727e-02 -3.97351206e-04 9.99875797e-01 2.97406685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.35925415399998 meters Centerline goodness : 0.999041 Centerline is valid? [True, True] Translation: X:198.58, Y:2.03, Z:2.97 [[ 9.99297546e-01 -3.40005992e-02 -1.57598882e-02 1.98577452e+02] [ 3.40028559e-02 9.99421728e-01 -1.24819310e-04 2.03401391e+00] [ 1.57550186e-02 -4.11149577e-04 9.99875797e-01 2.97394769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.38925415399999 meters Centerline goodness : 0.999127 Centerline is valid? [True, True] Translation: X:198.61, Y:2.03, Z:2.98 [[ 9.99273781e-01 -3.46920090e-02 -1.57598904e-02 1.98609034e+02] [ 3.46943561e-02 9.99397962e-01 -1.24535740e-04 2.03416124e+00] [ 1.57547228e-02 -4.22333952e-04 9.99875797e-01 2.97582538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.419254154 meters Centerline goodness : 0.998892 Centerline is valid? [True, True] Translation: X:198.64, Y:2.03, Z:2.97 [[ 9.99353009e-01 -3.23293985e-02 -1.57598949e-02 1.98644067e+02] [ 3.23314610e-02 9.99477194e-01 -1.23962389e-04 2.03002651e+00] [ 1.57556632e-02 -3.85658242e-04 9.99875797e-01 2.97463207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.449254154 meters Centerline goodness : 0.999297 Centerline is valid? [True, True] Translation: X:198.67, Y:2.03, Z:2.98 [[ 9.99183946e-01 -3.71888497e-02 -1.57617364e-02 1.98670599e+02] [ 3.71952797e-02 9.99308010e-01 1.14895588e-04 2.03479649e+00] [ 1.57465566e-02 -7.01064020e-04 9.99875770e-01 2.97748973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.479254154 meters Centerline goodness : 0.999001 Centerline is valid? [True, True] Translation: X:198.70, Y:2.03, Z:2.98 [[ 9.99140794e-01 -3.83314997e-02 -1.57597460e-02 1.98702562e+02] [ 3.83342324e-02 9.99264965e-01 -1.28765427e-04 2.03472870e+00] [ 1.57530978e-02 -4.75482975e-04 9.99875799e-01 2.97855772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.509254154 meters Centerline goodness : 0.999150 Centerline is valid? [True, True] Translation: X:198.73, Y:2.03, Z:2.98 [[ 9.99025719e-01 -4.12218673e-02 -1.57597555e-02 1.98734755e+02] [ 4.12249776e-02 9.99149881e-01 -1.27598027e-04 2.03392344e+00] [ 1.57516176e-02 -5.22221855e-04 9.99875799e-01 2.98036403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.539254154 meters Centerline goodness : 0.999109 Centerline is valid? [True, True] Translation: X:198.77, Y:2.03, Z:2.98 [[ 9.98951648e-01 -4.29794780e-02 -1.57597648e-02 1.98766300e+02] [ 4.29828252e-02 9.99075803e-01 -1.26427956e-04 2.03385158e+00] [ 1.57506335e-02 -5.51103803e-04 9.99875799e-01 2.98144786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.569254154 meters Centerline goodness : 0.999173 Centerline is valid? [True, True] Translation: X:198.80, Y:2.03, Z:2.98 [[ 9.98884200e-01 -4.45194757e-02 -1.57597718e-02 1.98798202e+02] [ 4.45230280e-02 9.99008350e-01 -1.25556140e-04 2.03349678e+00] [ 1.57497333e-02 -5.76256716e-04 9.99875799e-01 2.98248327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.599254154 meters Centerline goodness : 0.999046 Centerline is valid? [True, True] Translation: X:198.83, Y:2.03, Z:2.98 [[ 9.98815304e-01 -4.60393097e-02 -1.57597809e-02 1.98830591e+02] [ 4.60430692e-02 9.98939448e-01 -1.24399190e-04 2.03299222e+00] [ 1.57487941e-02 -6.01376868e-04 9.99875799e-01 2.98344013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.62925415399997 meters Centerline goodness : 0.999002 Centerline is valid? [True, True] Translation: X:198.86, Y:2.03, Z:2.98 [[ 9.98691714e-01 -4.86465703e-02 -1.57597900e-02 1.98862097e+02] [ 4.86506721e-02 9.98815847e-01 -1.23238858e-04 2.03184276e+00] [ 1.57471231e-02 -6.43646750e-04 9.99875799e-01 2.98364328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.65925415399997 meters Centerline goodness : 0.998878 Centerline is valid? [True, True] Translation: X:198.89, Y:2.03, Z:2.98 [[ 9.98669293e-01 -4.91047053e-02 -1.57597967e-02 1.98894808e+02] [ 4.91088776e-02 9.98793424e-01 -1.22373878e-04 2.03118147e+00] [ 1.57467904e-02 -6.51734893e-04 9.99875799e-01 2.98223850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.68925415399997 meters Centerline goodness : 0.999195 Centerline is valid? [True, True] Translation: X:198.93, Y:2.03, Z:2.98 [[ 9.98605649e-01 -5.03823993e-02 -1.57598056e-02 1.98926580e+02] [ 5.03867486e-02 9.98729774e-01 -1.21224490e-04 2.03133111e+00] [ 1.57458946e-02 -6.73029899e-04 9.99875799e-01 2.98407335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.71925415399997 meters Centerline goodness : 0.999026 Centerline is valid? [True, True] Translation: X:198.96, Y:2.03, Z:2.98 [[ 9.98580428e-01 -5.08798245e-02 -1.57598164e-02 1.98958293e+02] [ 5.08842582e-02 9.98704550e-01 -1.19794260e-04 2.03072160e+00] [ 1.57454955e-02 -6.82302363e-04 9.99875799e-01 2.98402161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.74925415399997 meters Centerline goodness : 0.998875 Centerline is valid? [True, True] Translation: X:198.99, Y:2.03, Z:2.98 [[ 9.98567648e-01 -5.11300293e-02 -1.57598249e-02 1.98990116e+02] [ 5.11345118e-02 9.98691768e-01 -1.18669804e-04 2.02982489e+00] [ 1.57452750e-02 -6.87371124e-04 9.99875799e-01 2.98367588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.77925415399997 meters Centerline goodness : 0.998811 Centerline is valid? [True, True] Translation: X:199.02, Y:2.03, Z:2.98 [[ 9.98570095e-01 -5.10822276e-02 -1.57598335e-02 1.99022258e+02] [ 5.10867224e-02 9.98694214e-01 -1.17514343e-04 2.02992536e+00] [ 1.57452574e-02 -6.87771931e-04 9.99875799e-01 2.98330851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.80925415399997 meters Centerline goodness : 0.998938 Centerline is valid? [True, True] Translation: X:199.05, Y:2.03, Z:2.98 [[ 9.98589964e-01 -5.06923241e-02 -1.57598420e-02 1.99054178e+02] [ 5.06967885e-02 9.98714084e-01 -1.16363221e-04 2.02998263e+00] [ 1.57454749e-02 -6.82774232e-04 9.99875799e-01 2.98299100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.83925415399997 meters Centerline goodness : 0.998832 Centerline is valid? [True, True] Translation: X:199.09, Y:2.03, Z:2.98 [[ 9.98618089e-01 -5.01352206e-02 -1.57598504e-02 1.99085780e+02] [ 5.01396339e-02 9.98742211e-01 -1.15208382e-04 2.02998339e+00] [ 1.57458039e-02 -6.75143958e-04 9.99875799e-01 2.98150346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.86925415399998 meters Centerline goodness : 0.999000 Centerline is valid? [True, True] Translation: X:199.12, Y:2.03, Z:2.98 [[ 9.98707949e-01 -4.83121138e-02 -1.57598567e-02 1.99118276e+02] [ 4.83163141e-02 9.98832078e-01 -1.14347475e-04 2.03055858e+00] [ 1.57469748e-02 -6.47258453e-04 9.99875799e-01 2.98287056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.89925415399998 meters Centerline goodness : 0.999064 Centerline is valid? [True, True] Translation: X:199.15, Y:2.03, Z:2.98 [[ 9.98767069e-01 -4.70740821e-02 -1.57598651e-02 1.99150475e+02] [ 4.70781469e-02 9.98891203e-01 -1.13178545e-04 2.03105189e+00] [ 1.57477184e-02 -6.28906240e-04 9.99875799e-01 2.98353407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.92925415399998 meters Centerline goodness : 0.999106 Centerline is valid? [True, True] Translation: X:199.18, Y:2.03, Z:2.98 [[ 9.98836168e-01 -4.55843903e-02 -1.57598734e-02 1.99181452e+02] [ 4.55882883e-02 9.98960307e-01 -1.12014934e-04 2.03146413e+00] [ 1.57485941e-02 -6.06581083e-04 9.99875799e-01 2.98409118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.95925415399998 meters Centerline goodness : 0.998919 Centerline is valid? [True, True] Translation: X:199.21, Y:2.03, Z:2.98 [[ 9.98910285e-01 -4.39302724e-02 -1.57598795e-02 1.99213069e+02] [ 4.39339785e-02 9.99034430e-01 -1.11147526e-04 2.03201156e+00] [ 1.57495450e-02 -5.81367799e-04 9.99875799e-01 2.98461220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.98925415399998 meters Centerline goodness : 0.998745 Centerline is valid? [True, True] Translation: X:199.24, Y:2.03, Z:2.99 [[ 9.98998643e-01 -4.18728724e-02 -1.57598855e-02 1.99243971e+02] [ 4.18763364e-02 9.99122795e-01 -1.10288544e-04 2.03285330e+00] [ 1.57506789e-02 -5.49788160e-04 9.99875799e-01 2.98522581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.01925415399998 meters Centerline goodness : 0.999063 Centerline is valid? [True, True] Translation: X:199.28, Y:2.03, Z:2.99 [[ 9.99206211e-01 -3.65865351e-02 -1.57598913e-02 1.99276043e+02] [ 3.65893553e-02 9.99330379e-01 -1.09448221e-04 2.03464466e+00] [ 1.57533425e-02 -4.67282921e-04 9.99875799e-01 2.98846994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.04925415399998 meters Centerline goodness : 0.998978 Centerline is valid? [True, True] Translation: X:199.31, Y:2.04, Z:2.99 [[ 9.99308383e-01 -3.36805913e-02 -1.57598991e-02 1.99308254e+02] [ 3.36830683e-02 9.99432559e-01 -1.08314013e-04 2.03541674e+00] [ 1.57546044e-02 -4.22602657e-04 9.99875799e-01 2.98984237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.07925415399998 meters Centerline goodness : 0.998916 Centerline is valid? [True, True] Translation: X:199.34, Y:2.04, Z:2.99 [[ 9.99405136e-01 -3.06757067e-02 -1.57599068e-02 1.99339753e+02] [ 3.06778281e-02 9.99529319e-01 -1.07183511e-04 2.03616420e+00] [ 1.57557768e-02 -3.76359961e-04 9.99875799e-01 2.99097287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.10925415399998 meters Centerline goodness : 0.998916 Centerline is valid? [True, True] Translation: X:199.37, Y:2.04, Z:2.99 [[ 9.99406224e-01 -3.06402343e-02 -1.57599106e-02 1.99371594e+02] [ 3.06423602e-02 9.99530407e-01 -1.06623448e-04 2.03634846e+00] [ 1.57557768e-02 -3.76360719e-04 9.99875799e-01 2.99147458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.13925415399999 meters Centerline goodness : 0.999021 Centerline is valid? [True, True] Translation: X:199.40, Y:2.04, Z:2.99 [[ 9.99569113e-01 -2.47631413e-02 -1.57599144e-02 1.99402371e+02] [ 2.47645457e-02 9.99693306e-01 -1.06064144e-04 2.03741562e+00] [ 1.57577074e-02 -2.84268677e-04 9.99875799e-01 2.99223468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.169254154 meters Centerline goodness : 0.998872 Centerline is valid? [True, True] Translation: X:199.43, Y:2.04, Z:2.99 [[ 9.99632218e-01 -2.20693146e-02 -1.57599162e-02 1.99433222e+02] [ 2.20703888e-02 9.99756414e-01 -1.05786675e-04 2.03768727e+00] [ 1.57584120e-02 -2.42079710e-04 9.99875799e-01 2.99225222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.199254154 meters Centerline goodness : 0.999191 Centerline is valid? [True, True] Translation: X:199.46, Y:2.04, Z:2.99 [[ 9.99678722e-01 -1.98513812e-02 -1.57599162e-02 1.99462224e+02] [ 1.98521797e-02 9.99802920e-01 -1.05786675e-04 2.03787443e+00] [ 1.57589103e-02 -2.07116002e-04 9.99875799e-01 2.99247432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.229254154 meters Centerline goodness : 0.999062 Centerline is valid? [True, True] Translation: X:199.49, Y:2.04, Z:2.99 [[ 9.99709574e-01 -1.82316437e-02 -1.57599107e-02 1.99490676e+02] [ 1.82322282e-02 9.99833773e-01 -1.06606416e-04 2.03814586e+00] [ 1.57592346e-02 -1.80762833e-04 9.99875799e-01 2.99270969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.259254154 meters Centerline goodness : 0.999063 Centerline is valid? [True, True] Translation: X:199.52, Y:2.04, Z:2.99 [[ 9.99730129e-01 -1.70673957e-02 -1.57598836e-02 1.99519137e+02] [ 1.70677746e-02 9.99854329e-01 -1.10470166e-04 2.03852687e+00] [ 1.57594733e-02 -1.58545788e-04 9.99875799e-01 2.99381477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.289254154 meters Centerline goodness : 0.999042 Centerline is valid? [True, True] Translation: X:199.55, Y:2.04, Z:2.99 [[ 9.99754607e-01 -1.55676752e-02 -1.57598543e-02 1.99546961e+02] [ 1.55678041e-02 9.99878808e-01 -1.14506701e-04 2.03835965e+00] [ 1.57597269e-02 -1.30867723e-04 9.99875799e-01 2.99230118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.319254154 meters Centerline goodness : 0.999277 Centerline is valid? [True, True] Translation: X:199.57, Y:2.04, Z:2.99 [[ 9.99753607e-01 -1.56317954e-02 -1.57598438e-02 1.99574363e+02] [ 1.56319098e-02 9.99877808e-01 -1.15935275e-04 2.03786661e+00] [ 1.57597303e-02 -1.30449747e-04 9.99875799e-01 2.99436030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.349254154 meters Centerline goodness : 0.998852 Centerline is valid? [True, True] Translation: X:199.60, Y:2.04, Z:2.99 [[ 9.99744284e-01 -1.62171512e-02 -1.57598084e-02 1.99601833e+02] [ 1.62172654e-02 9.99868484e-01 -1.20559964e-04 2.03715978e+00] [ 1.57596909e-02 -1.35051860e-04 9.99875799e-01 2.99434330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.37925415399997 meters Centerline goodness : 0.999086 Centerline is valid? [True, True] Translation: X:199.63, Y:2.04, Z:2.99 [[ 9.99721079e-01 -1.75895792e-02 -1.57597716e-02 1.99629583e+02] [ 1.75897909e-02 9.99845280e-01 -1.25187560e-04 2.03603383e+00] [ 1.57595353e-02 -1.52058445e-04 9.99875799e-01 2.99350715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.40925415399997 meters Centerline goodness : 0.999086 Centerline is valid? [True, True] Translation: X:199.66, Y:2.04, Z:2.99 [[ 9.99715966e-01 -1.78778626e-02 -1.57597601e-02 1.99657971e+02] [ 1.78780876e-02 9.99840166e-01 -1.26620095e-04 2.03633376e+00] [ 1.57595049e-02 -1.55170241e-04 9.99875799e-01 2.99395507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.43925415399997 meters Centerline goodness : 0.999191 Centerline is valid? [True, True] Translation: X:199.69, Y:2.03, Z:2.99 [[ 9.99673188e-01 -2.01283002e-02 -1.57597223e-02 1.99686031e+02] [ 2.01287332e-02 9.99797388e-01 -1.31164850e-04 2.03496191e+00] [ 1.57591693e-02 -1.86101262e-04 9.99875799e-01 2.99386211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.46925415399997 meters Centerline goodness : 0.998916 Centerline is valid? [True, True] Translation: X:199.71, Y:2.03, Z:2.99 [[ 9.99640552e-01 -2.16886849e-02 -1.57596835e-02 1.99714534e+02] [ 2.16892406e-02 9.99764752e-01 -1.35673485e-04 2.03443685e+00] [ 1.57589186e-02 -2.06190849e-04 9.99875799e-01 2.99452848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.49925415399997 meters Centerline goodness : 0.999129 Centerline is valid? [True, True] Translation: X:199.74, Y:2.03, Z:3.00 [[ 9.99603238e-01 -2.33452396e-02 -1.57596485e-02 1.99743558e+02] [ 2.33459390e-02 9.99727437e-01 -1.39615402e-04 2.03411895e+00] [ 1.57586124e-02 -2.28363785e-04 9.99875799e-01 2.99529962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.52925415399997 meters Centerline goodness : 0.999044 Centerline is valid? [True, True] Translation: X:199.77, Y:2.03, Z:3.00 [[ 9.99564424e-01 -2.49518842e-02 -1.57596411e-02 1.99772700e+02] [ 2.49527700e-02 9.99688621e-01 -1.40451661e-04 2.03357637e+00] [ 1.57582384e-02 -2.52856217e-04 9.99875799e-01 2.99615573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.55925415399997 meters Centerline goodness : 0.998897 Centerline is valid? [True, True] Translation: X:199.80, Y:2.03, Z:3.00 [[ 9.99467409e-01 -2.85750252e-02 -1.57596317e-02 1.99802474e+02] [ 2.85763447e-02 9.99591603e-01 -1.41502970e-04 2.03147256e+00] [ 1.57572389e-02 -3.08925059e-04 9.99875799e-01 2.99593021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.58925415399997 meters Centerline goodness : 0.998918 Centerline is valid? [True, True] Translation: X:199.83, Y:2.03, Z:3.00 [[ 9.99397081e-01 -3.09371844e-02 -1.57596292e-02 1.99833302e+02] [ 3.09387930e-02 9.99521271e-01 -1.41781375e-04 2.03045941e+00] [ 1.57564709e-02 -3.45888012e-04 9.99875799e-01 2.99765672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.61925415399998 meters Centerline goodness : 0.999069 Centerline is valid? [True, True] Translation: X:199.86, Y:2.03, Z:3.00 [[ 9.99325728e-01 -3.31620819e-02 -1.57596317e-02 1.99863690e+02] [ 3.31639715e-02 9.99449914e-01 -1.41496363e-04 2.02947833e+00] [ 1.57556549e-02 -3.81251021e-04 9.99875799e-01 2.99714894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.64925415399998 meters Centerline goodness : 0.998939 Centerline is valid? [True, True] Translation: X:199.90, Y:2.03, Z:3.00 [[ 9.99240784e-01 -3.56298993e-02 -1.57596342e-02 1.99895428e+02] [ 3.56321001e-02 9.99364965e-01 -1.41213426e-04 2.02882887e+00] [ 1.57546577e-02 -4.20442650e-04 9.99875799e-01 2.99873421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.67925415399998 meters Centerline goodness : 0.999131 Centerline is valid? [True, True] Translation: X:199.93, Y:2.03, Z:3.00 [[ 9.99160590e-01 -3.78120152e-02 -1.57596394e-02 1.99927167e+02] [ 3.78144962e-02 9.99284766e-01 -1.40640880e-04 2.02803877e+00] [ 1.57536854e-02 -4.55419997e-04 9.99875799e-01 2.99915214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.70925415399998 meters Centerline goodness : 0.999153 Centerline is valid? [True, True] Translation: X:199.96, Y:2.03, Z:3.00 [[ 9.99019004e-01 -4.13843363e-02 -1.57596445e-02 1.99959804e+02] [ 4.13872703e-02 9.99143170e-01 -1.40065198e-04 2.02559942e+00] [ 1.57519376e-02 -5.12320871e-04 9.99875799e-01 2.99967307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.73925415399998 meters Centerline goodness : 0.999046 Centerline is valid? [True, True] Translation: X:199.99, Y:2.02, Z:3.00 [[ 9.98973198e-01 -4.24756753e-02 -1.57596547e-02 1.99991609e+02] [ 4.24787632e-02 9.99097360e-01 -1.38902870e-04 2.02450859e+00] [ 1.57513294e-02 -5.30690398e-04 9.99875799e-01 3.00013136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.76925415399998 meters Centerline goodness : 0.999089 Centerline is valid? [True, True] Translation: X:200.02, Y:2.02, Z:3.00 [[ 9.98922452e-01 -4.36528006e-02 -1.57596648e-02 2.00023174e+02] [ 4.36560532e-02 9.99046611e-01 -1.37743805e-04 2.02392057e+00] [ 1.57506527e-02 -5.50409386e-04 9.99875799e-01 2.99920244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.79925415399998 meters Centerline goodness : 0.998985 Centerline is valid? [True, True] Translation: X:200.06, Y:2.02, Z:3.00 [[ 9.98876089e-01 -4.47011276e-02 -1.57596723e-02 2.00055367e+02] [ 4.47045240e-02 9.99000244e-01 -1.36880875e-04 2.02267225e+00] [ 1.57500352e-02 -5.67801617e-04 9.99875799e-01 3.00099427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.82925415399998 meters Centerline goodness : 0.999069 Centerline is valid? [True, True] Translation: X:200.09, Y:2.02, Z:3.00 [[ 9.98872685e-01 -4.47771417e-02 -1.57596820e-02 2.00087490e+02] [ 4.47805654e-02 9.98996838e-01 -1.35754424e-04 2.02235731e+00] [ 1.57499512e-02 -5.70126087e-04 9.99875799e-01 3.00196724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.85925415399998 meters Centerline goodness : 0.998962 Centerline is valid? [True, True] Translation: X:200.12, Y:2.02, Z:3.00 [[ 9.98877924e-01 -4.46600953e-02 -1.57596919e-02 2.00119664e+02] [ 4.46635226e-02 9.99002078e-01 -1.34596983e-04 2.02231775e+00] [ 1.57499761e-02 -5.69437402e-04 9.99875799e-01 3.00284654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.88925415399999 meters Centerline goodness : 0.999089 Centerline is valid? [True, True] Translation: X:200.15, Y:2.02, Z:3.00 [[ 9.98890719e-01 -4.43730073e-02 -1.57597019e-02 2.00151750e+02] [ 4.43764175e-02 9.99014873e-01 -1.33424100e-04 2.02256690e+00] [ 1.57500970e-02 -5.66083014e-04 9.99875799e-01 3.00323857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.919254154 meters Centerline goodness : 0.998922 Centerline is valid? [True, True] Translation: X:200.18, Y:2.02, Z:3.00 [[ 9.98911993e-01 -4.38914794e-02 -1.57597117e-02 2.00183077e+02] [ 4.38948481e-02 9.99036148e-01 -1.32250706e-04 2.02257990e+00] [ 1.57503264e-02 -5.59663336e-04 9.99875799e-01 3.00315589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.949254154 meters Centerline goodness : 0.999051 Centerline is valid? [True, True] Translation: X:200.21, Y:2.02, Z:3.00 [[ 9.98915183e-01 -4.38188118e-02 -1.57597190e-02 2.00214005e+02] [ 4.38221854e-02 9.99039338e-01 -1.31376430e-04 2.02276422e+00] [ 1.57503360e-02 -5.59391417e-04 9.99875799e-01 3.00332693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.979254154 meters Centerline goodness : 0.999240 Centerline is valid? [True, True] Translation: X:200.25, Y:2.02, Z:3.00 [[ 9.98912228e-01 -4.38861190e-02 -1.57597262e-02 2.00246362e+02] [ 4.38895145e-02 9.99036382e-01 -1.30510615e-04 2.02325646e+00] [ 1.57502674e-02 -5.61318082e-04 9.99875799e-01 3.00408482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.009254154 meters Centerline goodness : 0.998945 Centerline is valid? [True, True] Translation: X:200.28, Y:2.02, Z:3.00 [[ 9.98905286e-01 -4.40438434e-02 -1.57597355e-02 2.00278859e+02] [ 4.40472764e-02 9.99029439e-01 -1.29371115e-04 2.02364316e+00] [ 1.57501377e-02 -5.64943936e-04 9.99875799e-01 3.00430955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.039254154 meters Centerline goodness : 0.998945 Centerline is valid? [True, True] Translation: X:200.31, Y:2.02, Z:3.00 [[ 9.98881568e-01 -4.45785143e-02 -1.57597449e-02 2.00311286e+02] [ 4.45820319e-02 9.99005719e-01 -1.28223693e-04 2.02372744e+00] [ 1.57497913e-02 -5.74521165e-04 9.99875799e-01 3.00463123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.069254154 meters Centerline goodness : 0.998881 Centerline is valid? [True, True] Translation: X:200.34, Y:2.02, Z:3.00 [[ 9.98776240e-01 -4.68791321e-02 -1.57597543e-02 2.00342890e+02] [ 4.68829541e-02 9.98900382e-01 -1.27054131e-04 2.02359105e+00] [ 1.57483808e-02 -6.11965189e-04 9.99875799e-01 3.00343035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.099254154 meters Centerline goodness : 0.999049 Centerline is valid? [True, True] Translation: X:200.37, Y:2.02, Z:3.00 [[ 9.98712763e-01 -4.82125152e-02 -1.57597613e-02 2.00374784e+02] [ 4.82165166e-02 9.98836899e-01 -1.26182316e-04 2.02360572e+00] [ 1.57475146e-02 -6.33860902e-04 9.99875799e-01 3.00363511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.12925415399997 meters Centerline goodness : 0.998945 Centerline is valid? [True, True] Translation: X:200.41, Y:2.02, Z:3.00 [[ 9.98642880e-01 -4.96389701e-02 -1.57597704e-02 2.00407011e+02] [ 4.96431670e-02 9.98767010e-01 -1.25031692e-04 2.02372535e+00] [ 1.57465452e-02 -6.57502904e-04 9.99875799e-01 3.00385729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.15925415399997 meters Centerline goodness : 0.998921 Centerline is valid? [True, True] Translation: X:200.44, Y:2.02, Z:3.00 [[ 9.98562270e-01 -5.12349621e-02 -1.57597794e-02 2.00439688e+02] [ 5.12393754e-02 9.98686393e-01 -1.23887087e-04 2.02381018e+00] [ 1.57454246e-02 -6.83812281e-04 9.99875799e-01 3.00475948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.18925415399997 meters Centerline goodness : 0.998862 Centerline is valid? [True, True] Translation: X:200.47, Y:2.02, Z:3.00 [[ 9.98503680e-01 -5.23644000e-02 -1.57597885e-02 2.00470812e+02] [ 5.23689721e-02 9.98627796e-01 -1.22720829e-04 2.02388683e+00] [ 1.57445890e-02 -7.02786724e-04 9.99875799e-01 3.00455571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.21925415399997 meters Centerline goodness : 0.998967 Centerline is valid? [True, True] Translation: X:200.50, Y:2.02, Z:3.01 [[ 9.98384157e-01 -5.45958266e-02 -1.57597952e-02 2.00501914e+02] [ 5.46006898e-02 9.98508262e-01 -1.21852581e-04 2.02431273e+00] [ 1.57429383e-02 -7.38840001e-04 9.99875799e-01 3.00576946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.24925415399997 meters Centerline goodness : 0.998880 Centerline is valid? [True, True] Translation: X:200.53, Y:2.02, Z:3.01 [[ 9.98344671e-01 -5.53131736e-02 -1.57598016e-02 2.00533774e+02] [ 5.53181392e-02 9.98468772e-01 -1.21011564e-04 2.02446890e+00] [ 1.57423633e-02 -7.50991651e-04 9.99875799e-01 3.00689111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.27925415399997 meters Centerline goodness : 0.999071 Centerline is valid? [True, True] Translation: X:200.57, Y:2.02, Z:3.01 [[ 9.98310480e-01 -5.59268607e-02 -1.57598103e-02 2.00565811e+02] [ 5.59319206e-02 9.98434578e-01 -1.19866957e-04 2.02464564e+00] [ 1.57418434e-02 -7.61812021e-04 9.99875799e-01 3.00893346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.30925415399997 meters Centerline goodness : 0.999071 Centerline is valid? [True, True] Translation: X:200.60, Y:2.02, Z:3.01 [[ 9.98343293e-01 -5.53380354e-02 -1.57598191e-02 2.00597833e+02] [ 5.53430405e-02 9.98467392e-01 -1.18700191e-04 2.02485509e+00] [ 1.57422342e-02 -7.53692769e-04 9.99875799e-01 3.00976316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.33925415399997 meters Centerline goodness : 0.998882 Centerline is valid? [True, True] Translation: X:200.63, Y:2.02, Z:3.01 [[ 9.98379400e-01 -5.46827405e-02 -1.57598278e-02 2.00629228e+02] [ 5.46876824e-02 9.98503502e-01 -1.17537216e-04 2.02483008e+00] [ 1.57426705e-02 -7.44521722e-04 9.99875799e-01 3.00996499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.36925415399998 meters Centerline goodness : 0.998795 Centerline is valid? [True, True] Translation: X:200.66, Y:2.02, Z:3.01 [[ 9.98430284e-01 -5.37456504e-02 -1.57598342e-02 2.00661028e+02] [ 5.37504894e-02 9.98554391e-01 -1.16671396e-04 2.02475736e+00] [ 1.57433222e-02 -7.30610548e-04 9.99875799e-01 3.01077979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.39925415399998 meters Centerline goodness : 0.999134 Centerline is valid? [True, True] Translation: X:200.69, Y:2.02, Z:3.01 [[ 9.98497450e-01 -5.24830475e-02 -1.57598429e-02 2.00692552e+02] [ 5.24877482e-02 9.98621561e-01 -1.15490627e-04 2.02487523e+00] [ 1.57441802e-02 -7.11881568e-04 9.99875799e-01 3.01052663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.42925415399998 meters Centerline goodness : 0.999007 Centerline is valid? [True, True] Translation: X:200.72, Y:2.03, Z:3.01 [[ 9.98586184e-01 -5.07667230e-02 -1.57598493e-02 2.00724516e+02] [ 5.07712242e-02 9.98710303e-01 -1.14610508e-04 2.02533216e+00] [ 1.57453422e-02 -6.85698372e-04 9.99875799e-01 3.01118296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.45925415399998 meters Centerline goodness : 0.998796 Centerline is valid? [True, True] Translation: X:200.76, Y:2.03, Z:3.01 [[ 9.98764250e-01 -4.71338608e-02 -1.57598573e-02 2.00756925e+02] [ 4.71379280e-02 9.98888384e-01 -1.13498635e-04 2.02699276e+00] [ 1.57476880e-02 -6.29528639e-04 9.99875799e-01 3.01243426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.48925415399998 meters Centerline goodness : 0.998964 Centerline is valid? [True, True] Translation: X:200.79, Y:2.03, Z:3.01 [[ 9.98878174e-01 -4.46544604e-02 -1.57598654e-02 2.00789456e+02] [ 4.46582374e-02 9.99002317e-01 -1.12365986e-04 2.02777417e+00] [ 1.57491596e-02 -5.91567877e-04 9.99875799e-01 3.01296016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.51925415399998 meters Centerline goodness : 0.998860 Centerline is valid? [True, True] Translation: X:200.82, Y:2.03, Z:3.01 [[ 9.98985093e-01 -4.21949000e-02 -1.57598734e-02 2.00821810e+02] [ 4.21983892e-02 9.99109245e-01 -1.11230218e-04 2.02868027e+00] [ 1.57505285e-02 -5.53923940e-04 9.99875799e-01 3.01410480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.54925415399998 meters Centerline goodness : 0.998879 Centerline is valid? [True, True] Translation: X:200.85, Y:2.03, Z:3.01 [[ 9.99101786e-01 -3.93350712e-02 -1.57598815e-02 2.00854356e+02] [ 3.93382233e-02 9.99225946e-01 -1.10066606e-04 2.02937720e+00] [ 1.57520120e-02 -5.09997994e-04 9.99875799e-01 3.01454336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.57925415399998 meters Centerline goodness : 0.999068 Centerline is valid? [True, True] Translation: X:200.89, Y:2.03, Z:3.01 [[ 9.99310197e-01 -3.36267058e-02 -1.57598896e-02 2.00885940e+02] [ 3.36291669e-02 9.99434374e-01 -1.08899197e-04 2.03148483e+00] [ 1.57546373e-02 -4.21167878e-04 9.99875799e-01 3.01477120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.60925415399998 meters Centerline goodness : 0.999025 Centerline is valid? [True, True] Translation: X:200.92, Y:2.03, Z:3.02 [[ 9.99408789e-01 -3.05564862e-02 -1.57598955e-02 2.00916367e+02] [ 3.05585794e-02 9.99532972e-01 -1.08030197e-04 2.03288153e+00] [ 1.57558362e-02 -3.73633691e-04 9.99875799e-01 3.01507824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.63925415399999 meters Centerline goodness : 0.998939 Centerline is valid? [True, True] Translation: X:200.95, Y:2.03, Z:3.02 [[ 9.99497069e-01 -2.75178843e-02 -1.57598975e-02 2.00947847e+02] [ 2.75196046e-02 9.99621258e-01 -1.07746356e-04 2.03419411e+00] [ 1.57568935e-02 -3.26013979e-04 9.99875799e-01 3.01557673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.669254154 meters Centerline goodness : 0.998875 Centerline is valid? [True, True] Translation: X:200.98, Y:2.04, Z:3.02 [[ 9.99569586e-01 -2.47440598e-02 -1.57599013e-02 2.00977734e+02] [ 2.47454443e-02 9.99693779e-01 -1.07183767e-04 2.03541519e+00] [ 1.57577274e-02 -2.82848126e-04 9.99875799e-01 3.01592024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.699254154 meters Centerline goodness : 0.999085 Centerline is valid? [True, True] Translation: X:201.01, Y:2.04, Z:3.02 [[ 9.99629592e-01 -2.21879479e-02 -1.57599032e-02 2.01006872e+02] [ 2.21890191e-02 9.99753788e-01 -1.06905030e-04 2.03671208e+00] [ 1.57583949e-02 -2.42831362e-04 9.99875799e-01 3.01696621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.729254154 meters Centerline goodness : 0.998786 Centerline is valid? [True, True] Translation: X:201.04, Y:2.04, Z:3.02 [[ 9.99714566e-01 -1.79558601e-02 -1.57598992e-02 2.01035870e+02] [ 1.79563963e-02 9.99838765e-01 -1.07491316e-04 2.03871572e+00] [ 1.57592882e-02 -1.75530361e-04 9.99875799e-01 3.01595767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.759254154 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:201.06, Y:2.04, Z:3.02 [[ 9.99736748e-01 -1.66751228e-02 -1.57598932e-02 2.01064000e+02] [ 1.66754862e-02 9.99860949e-01 -1.08363389e-04 2.03980906e+00] [ 1.57595087e-02 -1.54469018e-04 9.99875799e-01 3.01617832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.789254154 meters Centerline goodness : 0.998849 Centerline is valid? [True, True] Translation: X:201.09, Y:2.04, Z:3.02 [[ 9.99750271e-01 -1.58436634e-02 -1.57598836e-02 2.01091402e+02] [ 1.58439017e-02 9.99874471e-01 -1.09744869e-04 2.04049960e+00] [ 1.57596440e-02 -1.39980583e-04 9.99875799e-01 3.01751634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.819254154 meters Centerline goodness : 0.998828 Centerline is valid? [True, True] Translation: X:201.12, Y:2.04, Z:3.02 [[ 9.99764012e-01 -1.49514864e-02 -1.57598499e-02 2.01119523e+02] [ 1.49515408e-02 9.99888213e-01 -1.14377793e-04 2.04127827e+00] [ 1.57597983e-02 -1.21283238e-04 9.99875799e-01 3.01855039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.849254154 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:201.15, Y:2.04, Z:3.02 [[ 9.99764160e-01 -1.49416117e-02 -1.57598148e-02 2.01146306e+02] [ 1.49415915e-02 9.99888361e-01 -1.19032702e-04 2.04151015e+00] [ 1.57598339e-02 -1.16472086e-04 9.99875799e-01 3.01912307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.87925415399997 meters Centerline goodness : 0.999211 Centerline is valid? [True, True] Translation: X:201.17, Y:2.04, Z:3.02 [[ 9.99755568e-01 -1.55058944e-02 -1.57597900e-02 2.01174311e+02] [ 1.55058939e-02 9.99879769e-01 -1.22228005e-04 2.04189994e+00] [ 1.57597904e-02 -1.22171503e-04 9.99875799e-01 3.01996157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.90925415399997 meters Centerline goodness : 0.999171 Centerline is valid? [True, True] Translation: X:201.20, Y:2.04, Z:3.02 [[ 9.99742134e-01 -1.63491755e-02 -1.57597526e-02 2.01201469e+02] [ 1.63492067e-02 9.99866335e-01 -1.26869803e-04 2.04112370e+00] [ 1.57597203e-02 -1.30822365e-04 9.99875799e-01 3.01986657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.93925415399997 meters Centerline goodness : 0.999021 Centerline is valid? [True, True] Translation: X:201.23, Y:2.04, Z:3.02 [[ 9.99712721e-01 -1.80584091e-02 -1.57597362e-02 2.01228979e+02] [ 1.80586209e-02 9.99836922e-01 -1.28881014e-04 2.03944621e+00] [ 1.57594935e-02 -1.55755111e-04 9.99875799e-01 3.01981612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.96925415399997 meters Centerline goodness : 0.999021 Centerline is valid? [True, True] Translation: X:201.26, Y:2.04, Z:3.02 [[ 9.99707453e-01 -1.83477549e-02 -1.57596976e-02 2.01257370e+02] [ 1.83479308e-02 9.99831654e-01 -1.33439465e-04 2.03975951e+00] [ 1.57594928e-02 -1.55757413e-04 9.99875799e-01 3.02026502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.99925415399997 meters Centerline goodness : 0.999192 Centerline is valid? [True, True] Translation: X:201.29, Y:2.04, Z:3.02 [[ 9.99686132e-01 -1.94748652e-02 -1.57596577e-02 2.01285253e+02] [ 1.94751093e-02 9.99810333e-01 -1.38000212e-04 2.03875350e+00] [ 1.57593561e-02 -1.68964157e-04 9.99875799e-01 3.02050774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.02925415399997 meters Centerline goodness : 0.999192 Centerline is valid? [True, True] Translation: X:201.31, Y:2.04, Z:3.02 [[ 9.99681202e-01 -1.97263260e-02 -1.57596167e-02 2.01314490e+02] [ 1.97265299e-02 9.99805403e-01 -1.42531316e-04 2.03906345e+00] [ 1.57593615e-02 -1.68396672e-04 9.99875799e-01 3.02096996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.05925415399997 meters Centerline goodness : 0.999193 Centerline is valid? [True, True] Translation: X:201.34, Y:2.04, Z:3.02 [[ 9.99660086e-01 -2.07689204e-02 -1.57595798e-02 2.01343515e+02] [ 2.07691913e-02 9.99784286e-01 -1.46494853e-04 2.03799142e+00] [ 1.57592228e-02 -1.80868671e-04 9.99875799e-01 3.02129257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.08925415399997 meters Centerline goodness : 0.999215 Centerline is valid? [True, True] Translation: X:201.37, Y:2.04, Z:3.02 [[ 9.99639148e-01 -2.17534191e-02 -1.57595420e-02 2.01371814e+02] [ 2.17537498e-02 9.99763348e-01 -1.50457480e-04 2.03713980e+00] [ 1.57590854e-02 -1.92425947e-04 9.99875799e-01 3.02164935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.11925415399998 meters Centerline goodness : 0.999215 Centerline is valid? [True, True] Translation: X:201.40, Y:2.04, Z:3.02 [[ 9.99632812e-01 -2.20426781e-02 -1.57595034e-02 2.01400108e+02] [ 2.20429826e-02 9.99757012e-01 -1.54397579e-04 2.03651763e+00] [ 1.57590774e-02 -1.93045574e-04 9.99875799e-01 3.02191188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.14925415399998 meters Centerline goodness : 0.999216 Centerline is valid? [True, True] Translation: X:201.43, Y:2.04, Z:3.02 [[ 9.99631295e-01 -2.21113737e-02 -1.57594929e-02 2.01429188e+02] [ 2.21116701e-02 9.99755495e-01 -1.55457146e-04 2.03610749e+00] [ 1.57590770e-02 -1.93068881e-04 9.99875799e-01 3.02294816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.17925415399998 meters Centerline goodness : 0.999196 Centerline is valid? [True, True] Translation: X:201.46, Y:2.04, Z:3.02 [[ 9.99646301e-01 -2.14222450e-02 -1.57594522e-02 2.01458053e+02] [ 2.14223924e-02 9.99770502e-01 -1.59480470e-04 2.03583578e+00] [ 1.57592519e-02 -1.78181108e-04 9.99875799e-01 3.02206902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.20925415399998 meters Centerline goodness : 0.999067 Centerline is valid? [True, True] Translation: X:201.49, Y:2.04, Z:3.02 [[ 9.99662398e-01 -2.06574593e-02 -1.57594435e-02 2.01486494e+02] [ 2.06574982e-02 9.99786598e-01 -1.60334468e-04 2.03576371e+00] [ 1.57593926e-02 -1.65270338e-04 9.99875799e-01 3.02201727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.23925415399998 meters Centerline goodness : 0.999173 Centerline is valid? [True, True] Translation: X:201.51, Y:2.04, Z:3.02 [[ 9.99670952e-01 -2.02392700e-02 -1.57594352e-02 2.01514097e+02] [ 2.02392440e-02 9.99795153e-01 -1.61151273e-04 2.03590682e+00] [ 1.57594685e-02 -1.57860808e-04 9.99875799e-01 3.02179558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.26925415399998 meters Centerline goodness : 0.999171 Centerline is valid? [True, True] Translation: X:201.54, Y:2.04, Z:3.02 [[ 9.99678090e-01 -1.98835800e-02 -1.57594213e-02 2.01543232e+02] [ 1.98834886e-02 9.99802291e-01 -1.62502507e-04 2.03579461e+00] [ 1.57595366e-02 -1.50902078e-04 9.99875799e-01 3.02273062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.29925415399998 meters Centerline goodness : 0.999003 Centerline is valid? [True, True] Translation: X:201.57, Y:2.04, Z:3.02 [[ 9.99675215e-01 -2.00276659e-02 -1.57593796e-02 2.01571509e+02] [ 2.00275302e-02 9.99799415e-01 -1.66449743e-04 2.03502024e+00] [ 1.57595521e-02 -1.49225767e-04 9.99875799e-01 3.02210694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.32925415399998 meters Centerline goodness : 0.999064 Centerline is valid? [True, True] Translation: X:201.60, Y:2.03, Z:3.02 [[ 9.99651926e-01 -2.11582028e-02 -1.57593647e-02 2.01600169e+02] [ 2.11581855e-02 9.99776126e-01 -1.67846139e-04 2.03476597e+00] [ 1.57593879e-02 -1.65651845e-04 9.99875799e-01 3.02241037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.35925415399998 meters Centerline goodness : 0.999384 Centerline is valid? [True, True] Translation: X:201.63, Y:2.03, Z:3.02 [[ 9.99614133e-01 -2.28741942e-02 -1.57593223e-02 2.01628767e+02] [ 2.28743288e-02 9.99738334e-01 -1.71734900e-04 2.03461544e+00] [ 1.57591269e-02 -1.88815287e-04 9.99875799e-01 3.02363938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.38925415399999 meters Centerline goodness : 0.999173 Centerline is valid? [True, True] Translation: X:201.66, Y:2.03, Z:3.02 [[ 9.99492773e-01 -2.76738523e-02 -1.57592774e-02 2.01657508e+02] [ 2.76745198e-02 9.99616972e-01 -1.75766586e-04 2.03388671e+00] [ 1.57581052e-02 -2.60453000e-04 9.99875799e-01 3.02300900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.419254154 meters Centerline goodness : 0.999217 Centerline is valid? [True, True] Translation: X:201.69, Y:2.03, Z:3.02 [[ 9.99398060e-01 -3.09057079e-02 -1.57592678e-02 2.01686965e+02] [ 3.09067634e-02 9.99522256e-01 -1.76622572e-04 2.03344198e+00] [ 1.57571975e-02 -3.10551704e-04 9.99875799e-01 3.02332097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.449254154 meters Centerline goodness : 0.999111 Centerline is valid? [True, True] Translation: X:201.72, Y:2.03, Z:3.02 [[ 9.99290991e-01 -3.41929924e-02 -1.57592682e-02 2.01717681e+02] [ 3.41944571e-02 9.99415183e-01 -1.76581470e-04 2.03269087e+00] [ 1.57560898e-02 -3.62423349e-04 9.99875799e-01 3.02357716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.479254154 meters Centerline goodness : 0.998709 Centerline is valid? [True, True] Translation: X:201.75, Y:2.03, Z:3.02 [[ 9.99159479e-01 -3.78415274e-02 -1.57592682e-02 2.01749232e+02] [ 3.78434456e-02 9.99283665e-01 -1.76581470e-04 2.03197814e+00] [ 1.57546614e-02 -4.19951960e-04 9.99875799e-01 3.02332471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.509254154 meters Centerline goodness : 0.998710 Centerline is valid? [True, True] Translation: X:201.78, Y:2.03, Z:3.02 [[ 9.99013239e-01 -4.15234020e-02 -1.57592742e-02 2.01780035e+02] [ 4.15257863e-02 9.99137417e-01 -1.76043074e-04 2.03102139e+00] [ 1.57529905e-02 -4.78546893e-04 9.99875799e-01 3.02335630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.539254154 meters Centerline goodness : 0.998817 Centerline is valid? [True, True] Translation: X:201.81, Y:2.03, Z:3.02 [[ 9.98839432e-01 -4.55130188e-02 -1.57592832e-02 2.01810813e+02] [ 4.55159117e-02 9.98963598e-01 -1.75237449e-04 2.03022532e+00] [ 1.57509258e-02 -5.42264069e-04 9.99875799e-01 3.02306970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.569254154 meters Centerline goodness : 0.998860 Centerline is valid? [True, True] Translation: X:201.84, Y:2.03, Z:3.03 [[ 9.98442051e-01 -5.35267753e-02 -1.57592920e-02 2.01842851e+02] [ 5.35306771e-02 9.98566190e-01 -1.74437351e-04 2.02840113e+00] [ 1.57460333e-02 -6.69439988e-04 9.99875799e-01 3.02508071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.59925415399996 meters Centerline goodness : 0.998649 Centerline is valid? [True, True] Translation: X:201.88, Y:2.03, Z:3.03 [[ 9.98244102e-01 -5.70995424e-02 -1.57593043e-02 2.01875521e+02] [ 5.71039061e-02 9.98368226e-01 -1.73319492e-04 2.02776478e+00] [ 1.57434852e-02 -7.26902675e-04 9.99875799e-01 3.02621488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.62925415399997 meters Centerline goodness : 0.998929 Centerline is valid? [True, True] Translation: X:201.91, Y:2.03, Z:3.03 [[ 9.98052176e-01 -6.03613998e-02 -1.57593168e-02 2.01906177e+02] [ 6.03661870e-02 9.98176284e-01 -1.72180147e-04 2.02750016e+00] [ 1.57409693e-02 -7.79485094e-04 9.99875799e-01 3.02785401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.65925415399997 meters Centerline goodness : 0.998844 Centerline is valid? [True, True] Translation: X:201.94, Y:2.03, Z:3.03 [[ 9.97886098e-01 -6.30474401e-02 -1.57593230e-02 2.01938610e+02] [ 6.30525703e-02 9.98010192e-01 -1.71612860e-04 2.02730555e+00] [ 1.57387847e-02 -8.22415733e-04 9.99875799e-01 3.02945753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.68925415399997 meters Centerline goodness : 0.999072 Centerline is valid? [True, True] Translation: X:201.97, Y:2.03, Z:3.03 [[ 9.97644721e-01 -6.67581818e-02 -1.57593353e-02 2.01971014e+02] [ 6.67637914e-02 9.97768794e-01 -1.70471329e-04 2.02698640e+00] [ 1.57355534e-02 -8.82083155e-04 9.99875799e-01 3.02982749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.71925415399997 meters Centerline goodness : 0.998820 Centerline is valid? [True, True] Translation: X:202.00, Y:2.03, Z:3.03 [[ 9.97554694e-01 -6.80902000e-02 -1.57593475e-02 2.02003784e+02] [ 6.80959932e-02 9.97678759e-01 -1.69335599e-04 2.02748575e+00] [ 1.57342964e-02 -9.04226900e-04 9.99875799e-01 3.03155067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.74925415399997 meters Centerline goodness : 0.999010 Centerline is valid? [True, True] Translation: X:202.04, Y:2.03, Z:3.03 [[ 9.97515727e-01 -6.86587029e-02 -1.57593661e-02 2.02035961e+02] [ 6.86645943e-02 9.97639787e-01 -1.67591826e-04 2.02820021e+00] [ 1.57336772e-02 -9.14934995e-04 9.99875799e-01 3.03183884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.77925415399997 meters Centerline goodness : 0.999050 Centerline is valid? [True, True] Translation: X:202.07, Y:2.03, Z:3.03 [[ 9.97520971e-01 -6.85824630e-02 -1.57593782e-02 2.02066924e+02] [ 6.85883630e-02 9.97645031e-01 -1.66441850e-04 2.02983930e+00] [ 1.57336804e-02 -9.14880718e-04 9.99875799e-01 3.03079658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.80925415399997 meters Centerline goodness : 0.999049 Centerline is valid? [True, True] Translation: X:202.10, Y:2.03, Z:3.03 [[ 9.97552776e-01 -6.81182893e-02 -1.57593872e-02 2.02098558e+02] [ 6.81241451e-02 9.97676838e-01 -1.65585731e-04 2.03122678e+00] [ 1.57340550e-02 -9.08414274e-04 9.99875799e-01 3.03029879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.83925415399997 meters Centerline goodness : 0.999091 Centerline is valid? [True, True] Translation: X:202.13, Y:2.03, Z:3.03 [[ 9.97598827e-01 -6.74405014e-02 -1.57593960e-02 2.02130321e+02] [ 6.74462861e-02 9.97722893e-01 -1.64743499e-04 2.03272139e+00] [ 1.57346206e-02 -8.98564811e-04 9.99875799e-01 3.03169223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.86925415399998 meters Centerline goodness : 0.999029 Centerline is valid? [True, True] Translation: X:202.16, Y:2.03, Z:3.03 [[ 9.97658936e-01 -6.65453821e-02 -1.57594081e-02 2.02161057e+02] [ 6.65510738e-02 9.97783006e-01 -1.63578279e-04 2.03418577e+00] [ 1.57353550e-02 -8.85610199e-04 9.99875799e-01 3.03047006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.89925415399998 meters Centerline goodness : 0.999197 Centerline is valid? [True, True] Translation: X:202.19, Y:2.04, Z:3.03 [[ 9.97717050e-01 -6.56683249e-02 -1.57594171e-02 2.02193569e+02] [ 6.56739212e-02 9.97841124e-01 -1.62710896e-04 2.03570032e+00] [ 1.57360794e-02 -8.72643279e-04 9.99875799e-01 3.03336290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.92925415399998 meters Centerline goodness : 0.999134 Centerline is valid? [True, True] Translation: X:202.23, Y:2.04, Z:3.03 [[ 9.97883453e-01 -6.30892604e-02 -1.57594350e-02 2.02225153e+02] [ 6.30945637e-02 9.98007540e-01 -1.60951489e-04 2.03878071e+00] [ 1.57381893e-02 -8.33723849e-04 9.99875799e-01 3.03420871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.95925415399998 meters Centerline goodness : 0.998964 Centerline is valid? [True, True] Translation: X:202.26, Y:2.04, Z:3.04 [[ 9.98009452e-01 -6.10636829e-02 -1.57594439e-02 2.02256926e+02] [ 6.10687481e-02 9.98133549e-01 -1.60080918e-04 2.04086217e+00] [ 1.57398048e-02 -8.02647239e-04 9.99875799e-01 3.03663238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.98925415399998 meters Centerline goodness : 0.999049 Centerline is valid? [True, True] Translation: X:202.29, Y:2.04, Z:3.04 [[ 9.98163461e-01 -5.84922573e-02 -1.57594557e-02 2.02287995e+02] [ 5.84970212e-02 9.98287570e-01 -1.58910228e-04 2.04329423e+00] [ 1.57417637e-02 -7.63262829e-04 9.99875799e-01 3.03732987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.01925415399998 meters Centerline goodness : 0.999029 Centerline is valid? [True, True] Translation: X:202.32, Y:2.05, Z:3.04 [[ 9.98548673e-01 -5.14993879e-02 -1.57594766e-02 2.02319162e+02] [ 5.15033155e-02 9.98672811e-01 -1.56804044e-04 2.04837961e+00] [ 1.57466361e-02 -6.55088826e-04 9.99875799e-01 3.03976567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.04925415399998 meters Centerline goodness : 0.998962 Centerline is valid? [True, True] Translation: X:202.35, Y:2.05, Z:3.04 [[ 9.98745343e-01 -4.75329099e-02 -1.57594850e-02 2.02351043e+02] [ 4.75363578e-02 9.98869496e-01 -1.55956037e-04 2.05114170e+00] [ 1.57490819e-02 -5.93388153e-04 9.99875799e-01 3.04184139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.07925415399998 meters Centerline goodness : 0.998854 Centerline is valid? [True, True] Translation: X:202.38, Y:2.05, Z:3.04 [[ 9.98932707e-01 -4.34175646e-02 -1.57594963e-02 2.02383522e+02] [ 4.34205191e-02 9.99056873e-01 -1.54804447e-04 2.05369072e+00] [ 1.57513544e-02 -5.29646287e-04 9.99875799e-01 3.04355097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.10925415399998 meters Centerline goodness : 0.998833 Centerline is valid? [True, True] Translation: X:202.42, Y:2.06, Z:3.04 [[ 9.99111173e-01 -3.90960473e-02 -1.57595077e-02 2.02415215e+02] [ 3.90984831e-02 9.99235350e-01 -1.53634263e-04 2.05569401e+00] [ 1.57534637e-02 -4.62675139e-04 9.99875799e-01 3.04497415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.13925415399999 meters Centerline goodness : 0.999045 Centerline is valid? [True, True] Translation: X:202.45, Y:2.06, Z:3.05 [[ 9.99263762e-01 -3.49795822e-02 -1.57595191e-02 2.02447624e+02] [ 3.49815249e-02 9.99387948e-01 -1.52459212e-04 2.05765048e+00] [ 1.57552064e-02 -3.98945045e-04 9.99875799e-01 3.04601172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.169254154 meters Centerline goodness : 0.999043 Centerline is valid? [True, True] Translation: X:202.48, Y:2.06, Z:3.05 [[ 9.99479246e-01 -2.81580365e-02 -1.57595303e-02 2.02479396e+02] [ 2.81591498e-02 9.99603441e-01 -1.51294618e-04 2.06137417e+00] [ 1.57575409e-02 -2.92559144e-04 9.99875799e-01 3.04739425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.199254154 meters Centerline goodness : 0.999190 Centerline is valid? [True, True] Translation: X:202.51, Y:2.06, Z:3.05 [[ 9.99542530e-01 -2.58140849e-02 -1.57595414e-02 2.02509720e+02] [ 2.58149254e-02 9.99666728e-01 -1.50128884e-04 2.06271004e+00] [ 1.57581646e-02 -2.56771181e-04 9.99875799e-01 3.04749450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.229254154 meters Centerline goodness : 0.999234 Centerline is valid? [True, True] Translation: X:202.54, Y:2.06, Z:3.05 [[ 9.99577152e-01 -2.44367470e-02 -1.57595441e-02 2.02540578e+02] [ 2.44374209e-02 9.99701350e-01 -1.49840842e-04 2.06370728e+00] [ 1.57584992e-02 -2.35345131e-04 9.99875799e-01 3.04736887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.259254154 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:202.57, Y:2.06, Z:3.05 [[ 9.99599779e-01 -2.34929278e-02 -1.57595441e-02 2.02570696e+02] [ 2.34934844e-02 9.99723979e-01 -1.49840842e-04 2.06459537e+00] [ 1.57587144e-02 -2.20465731e-04 9.99875799e-01 3.04681180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.289254154 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:202.60, Y:2.06, Z:3.05 [[ 9.99593032e-01 -2.37782871e-02 -1.57595321e-02 2.02600810e+02] [ 2.37788595e-02 9.99717232e-01 -1.51091353e-04 2.06488945e+00] [ 1.57586685e-02 -2.23713837e-04 9.99875799e-01 3.04712485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.319254154 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:202.63, Y:2.07, Z:3.05 [[ 9.99580308e-01 -2.43073068e-02 -1.57595266e-02 2.02630499e+02] [ 2.43079357e-02 9.99704507e-01 -1.51670724e-04 2.06513111e+00] [ 1.57585564e-02 -2.31474490e-04 9.99875799e-01 3.04721917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.34925415399996 meters Centerline goodness : 0.999146 Centerline is valid? [True, True] Translation: X:202.66, Y:2.06, Z:3.05 [[ 9.99561485e-01 -2.50694254e-02 -1.57595210e-02 2.02659753e+02] [ 2.50701400e-02 9.99685683e-01 -1.52246919e-04 2.06464602e+00] [ 1.57583843e-02 -2.42913241e-04 9.99875799e-01 3.04703397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.37925415399997 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:202.69, Y:2.06, Z:3.05 [[ 9.99511414e-01 -2.69920516e-02 -1.57595182e-02 2.02690448e+02] [ 2.69930005e-02 9.99635611e-01 -1.52533290e-04 2.06420892e+00] [ 1.57578928e-02 -2.72937919e-04 9.99875799e-01 3.04896299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.40925415399997 meters Centerline goodness : 0.999297 Centerline is valid? [True, True] Translation: X:202.72, Y:2.06, Z:3.05 [[ 9.99481380e-01 -2.80821919e-02 -1.57595182e-02 2.02721185e+02] [ 2.80832763e-02 9.99605575e-01 -1.52533290e-04 2.06431369e+00] [ 1.57575858e-02 -2.90124722e-04 9.99875799e-01 3.04941639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.43925415399997 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:202.75, Y:2.06, Z:3.05 [[ 9.99435018e-01 -2.96863865e-02 -1.57595210e-02 2.02752809e+02] [ 2.96876747e-02 9.99559212e-01 -1.52245497e-04 2.06443493e+00] [ 1.57570940e-02 -3.15704053e-04 9.99875799e-01 3.05001057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.46925415399997 meters Centerline goodness : 0.999212 Centerline is valid? [True, True] Translation: X:202.78, Y:2.06, Z:3.05 [[ 9.99393148e-01 -3.10640271e-02 -1.57595265e-02 2.02784339e+02] [ 3.10654956e-02 9.99517340e-01 -1.51671175e-04 2.06406793e+00] [ 1.57566316e-02 -3.37998370e-04 9.99875799e-01 3.05061809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.49925415399997 meters Centerline goodness : 0.999170 Centerline is valid? [True, True] Translation: X:202.82, Y:2.06, Z:3.05 [[ 9.99283541e-01 -3.44099136e-02 -1.57595321e-02 2.02815972e+02] [ 3.44118070e-02 9.99407727e-01 -1.51095745e-04 2.06303586e+00] [ 1.57553973e-02 -3.91326484e-04 9.99875799e-01 3.05125447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.52925415399997 meters Centerline goodness : 0.998851 Centerline is valid? [True, True] Translation: X:202.85, Y:2.06, Z:3.05 [[ 9.99225445e-01 -3.60575393e-02 -1.57595403e-02 2.02846940e+02] [ 3.60596511e-02 9.99349628e-01 -1.50235588e-04 2.06281465e+00] [ 1.57547078e-02 -4.18164300e-04 9.99875799e-01 3.05230761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.55925415399997 meters Centerline goodness : 0.999129 Centerline is valid? [True, True] Translation: X:202.88, Y:2.06, Z:3.05 [[ 9.99160695e-01 -3.78092798e-02 -1.57595457e-02 2.02879455e+02] [ 3.78116183e-02 9.99284874e-01 -1.49660652e-04 2.06279531e+00] [ 1.57539342e-02 -4.46358886e-04 9.99875799e-01 3.05316429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.58925415399997 meters Centerline goodness : 0.999088 Centerline is valid? [True, True] Translation: X:202.91, Y:2.06, Z:3.05 [[ 9.99089449e-01 -3.96473140e-02 -1.57595565e-02 2.02911818e+02] [ 3.96498990e-02 9.99213623e-01 -1.48513370e-04 2.06251254e+00] [ 1.57530517e-02 -4.76486684e-04 9.99875799e-01 3.05386818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.61925415399998 meters Centerline goodness : 0.998920 Centerline is valid? [True, True] Translation: X:202.94, Y:2.06, Z:3.05 [[ 9.99007954e-01 -4.16502613e-02 -1.57595673e-02 2.02943706e+02] [ 4.16531133e-02 9.99132122e-01 -1.47366087e-04 2.06201905e+00] [ 1.57520277e-02 -5.09215148e-04 9.99875799e-01 3.05432151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.64925415399998 meters Centerline goodness : 0.999087 Centerline is valid? [True, True] Translation: X:202.98, Y:2.06, Z:3.06 [[ 9.98820838e-01 -4.59191628e-02 -1.57595779e-02 2.02975732e+02] [ 4.59225634e-02 9.98944992e-01 -1.46222471e-04 2.06045920e+00] [ 1.57496658e-02 -5.77670163e-04 9.99875799e-01 3.05562464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.67925415399998 meters Centerline goodness : 0.999110 Centerline is valid? [True, True] Translation: X:203.01, Y:2.06, Z:3.06 [[ 9.98712010e-01 -4.82281780e-02 -1.57595885e-02 2.03007943e+02] [ 4.82318838e-02 9.98836155e-01 -1.45068147e-04 2.06017149e+00] [ 1.57482431e-02 -6.15233340e-04 9.99875799e-01 3.05635968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.70925415399998 meters Centerline goodness : 0.998983 Centerline is valid? [True, True] Translation: X:203.04, Y:2.06, Z:3.06 [[ 9.98599519e-01 -5.05038135e-02 -1.57595990e-02 2.03040065e+02] [ 5.05078204e-02 9.98723655e-01 -1.43914446e-04 2.05968142e+00] [ 1.57467526e-02 -6.52270100e-04 9.99875799e-01 3.05714577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.73925415399998 meters Centerline goodness : 0.999174 Centerline is valid? [True, True] Translation: X:203.07, Y:2.06, Z:3.06 [[ 9.98489183e-01 -5.26401637e-02 -1.57596097e-02 2.03071238e+02] [ 5.26444547e-02 9.98613309e-01 -1.42739901e-04 2.05891369e+00] [ 1.57452698e-02 -6.87131809e-04 9.99875799e-01 3.05641623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.76925415399998 meters Centerline goodness : 0.999112 Centerline is valid? [True, True] Translation: X:203.10, Y:2.06, Z:3.06 [[ 9.98213059e-01 -5.76395939e-02 -1.57596273e-02 2.03102598e+02] [ 5.76445375e-02 9.98337161e-01 -1.40766775e-04 2.05754766e+00] [ 1.57415353e-02 -7.67941193e-04 9.99875799e-01 3.05583078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.79925415399998 meters Centerline goodness : 0.998754 Centerline is valid? [True, True] Translation: X:203.13, Y:2.06, Z:3.06 [[ 9.98066270e-01 -6.01278096e-02 -1.57596443e-02 2.03134918e+02] [ 6.01330929e-02 9.98190359e-01 -1.38840575e-04 2.05712280e+00] [ 1.57394731e-02 -8.09104058e-04 9.99875799e-01 3.05672277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.82925415399998 meters Centerline goodness : 0.999091 Centerline is valid? [True, True] Translation: X:203.17, Y:2.06, Z:3.06 [[ 9.97910832e-01 -6.26546455e-02 -1.57596544e-02 2.03168082e+02] [ 6.26602612e-02 9.98034906e-01 -1.37683634e-04 2.05664642e+00] [ 1.57373117e-02 -8.50108069e-04 9.99875799e-01 3.05717685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.85925415399998 meters Centerline goodness : 0.999048 Centerline is valid? [True, True] Translation: X:203.20, Y:2.06, Z:3.06 [[ 9.97758655e-01 -6.50330601e-02 -1.57596694e-02 2.03198939e+02] [ 6.50389989e-02 9.97882714e-01 -1.35943981e-04 2.05645514e+00] [ 1.57351425e-02 -8.89353835e-04 9.99875799e-01 3.05722512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.88925415399999 meters Centerline goodness : 0.999113 Centerline is valid? [True, True] Translation: X:203.23, Y:2.06, Z:3.06 [[ 9.97497502e-01 -6.89229015e-02 -1.57596767e-02 2.03230525e+02] [ 6.89293375e-02 9.97621536e-01 -1.35083817e-04 2.05658509e+00] [ 1.57315033e-02 -9.51558307e-04 9.99875799e-01 3.05725005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.919254154 meters Centerline goodness : 0.999113 Centerline is valid? [True, True] Translation: X:203.26, Y:2.06, Z:3.06 [[ 9.97504968e-01 -6.88147665e-02 -1.57596840e-02 2.03264055e+02] [ 6.88212025e-02 9.97629001e-01 -1.34231126e-04 2.05677670e+00] [ 1.57315549e-02 -9.50704189e-04 9.99875799e-01 3.05777832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.949254154 meters Centerline goodness : 0.998921 Centerline is valid? [True, True] Translation: X:203.30, Y:2.06, Z:3.06 [[ 9.97396828e-01 -7.03647570e-02 -1.57596984e-02 2.03296596e+02] [ 7.03714126e-02 9.97520850e-01 -1.32522681e-04 2.05733911e+00] [ 1.57299526e-02 -9.76854534e-04 9.99875799e-01 3.05809153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.979254154 meters Centerline goodness : 0.998920 Centerline is valid? [True, True] Translation: X:203.33, Y:2.06, Z:3.06 [[ 9.97321902e-01 -7.14188679e-02 -1.57597079e-02 2.03329258e+02] [ 7.14256725e-02 9.97445916e-01 -1.31383791e-04 2.05806483e+00] [ 1.57288395e-02 -9.94615801e-04 9.99875799e-01 3.05932075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.009254154 meters Centerline goodness : 0.999238 Centerline is valid? [True, True] Translation: X:203.36, Y:2.06, Z:3.06 [[ 9.97261922e-01 -7.22515730e-02 -1.57597247e-02 2.03361452e+02] [ 7.22585135e-02 9.97385929e-01 -1.29332881e-04 2.05861275e+00] [ 1.57278722e-02 -1.00979552e-03 9.99875799e-01 3.05917296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.039254154 meters Centerline goodness : 0.999090 Centerline is valid? [True, True] Translation: X:203.39, Y:2.06, Z:3.06 [[ 9.97166000e-01 -7.35635713e-02 -1.57597365e-02 2.03394097e+02] [ 7.35706978e-02 9.97289996e-01 -1.27875783e-04 2.05950866e+00] [ 1.57264346e-02 -1.03194143e-03 9.99875799e-01 3.05961011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.069254154 meters Centerline goodness : 0.999153 Centerline is valid? [True, True] Translation: X:203.43, Y:2.06, Z:3.06 [[ 9.97133620e-01 -7.40011761e-02 -1.57597504e-02 2.03425301e+02] [ 7.40083843e-02 9.97257611e-01 -1.26142479e-04 2.05990218e+00] [ 1.57258657e-02 -1.04057276e-03 9.99875799e-01 3.05920752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.09925415399996 meters Centerline goodness : 0.999217 Centerline is valid? [True, True] Translation: X:203.46, Y:2.06, Z:3.06 [[ 9.97131476e-01 -7.40300578e-02 -1.57597572e-02 2.03457549e+02] [ 7.40372830e-02 9.97255466e-01 -1.25283966e-04 2.06014454e+00] [ 1.57257788e-02 -1.04188502e-03 9.99875799e-01 3.05939393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.12925415399997 meters Centerline goodness : 0.999003 Centerline is valid? [True, True] Translation: X:203.49, Y:2.06, Z:3.06 [[ 9.97140350e-01 -7.39104354e-02 -1.57597662e-02 2.03490946e+02] [ 7.39176637e-02 9.97264340e-01 -1.24146640e-04 2.06190353e+00] [ 1.57258285e-02 -1.04113347e-03 9.99875799e-01 3.06118359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.15925415399997 meters Centerline goodness : 0.999067 Centerline is valid? [True, True] Translation: X:203.52, Y:2.06, Z:3.06 [[ 9.97268417e-01 -7.21618555e-02 -1.57597795e-02 2.03523449e+02] [ 7.21688934e-02 9.97392418e-01 -1.22429431e-04 2.06416244e+00] [ 1.57275193e-02 -1.01527084e-03 9.99875799e-01 3.06187322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.18925415399997 meters Centerline goodness : 0.999067 Centerline is valid? [True, True] Translation: X:203.56, Y:2.06, Z:3.06 [[ 9.97276171e-01 -7.20546117e-02 -1.57597904e-02 2.03556979e+02] [ 7.20616587e-02 9.97400172e-01 -1.21007261e-04 2.06432513e+00] [ 1.57275368e-02 -1.01499898e-03 9.99875799e-01 3.06240131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.21925415399997 meters Centerline goodness : 0.998940 Centerline is valid? [True, True] Translation: X:203.59, Y:2.07, Z:3.06 [[ 9.97391299e-01 -7.04430679e-02 -1.57598033e-02 2.03589548e+02] [ 7.04499411e-02 9.97515309e-01 -1.19312640e-04 2.06558497e+00] [ 1.57290498e-02 -9.91275823e-04 9.99875799e-01 3.06422102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.24925415399997 meters Centerline goodness : 0.999151 Centerline is valid? [True, True] Translation: X:203.62, Y:2.07, Z:3.06 [[ 9.97559004e-01 -6.80269120e-02 -1.57598163e-02 2.03621172e+02] [ 6.80335124e-02 9.97683030e-01 -1.17567109e-04 2.06715389e+00] [ 1.57312990e-02 -9.54915529e-04 9.99875799e-01 3.06332166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.27925415399997 meters Centerline goodness : 0.999216 Centerline is valid? [True, True] Translation: X:203.65, Y:2.07, Z:3.06 [[ 9.97752248e-01 -6.51312533e-02 -1.57598227e-02 2.03653595e+02] [ 6.51375072e-02 9.97876291e-01 -1.16703704e-04 2.06897070e+00] [ 1.57339545e-02 -9.10114181e-04 9.99875799e-01 3.06477314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.30925415399997 meters Centerline goodness : 0.999087 Centerline is valid? [True, True] Translation: X:203.69, Y:2.07, Z:3.07 [[ 9.98180056e-01 -5.82082747e-02 -1.57598307e-02 2.03685935e+02] [ 5.82136851e-02 9.98304139e-01 -1.15617834e-04 2.07272013e+00] [ 1.57398341e-02 -8.02030403e-04 9.99875799e-01 3.06859607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.33925415399997 meters Centerline goodness : 0.999065 Centerline is valid? [True, True] Translation: X:203.72, Y:2.07, Z:3.07 [[ 9.98406484e-01 -5.41859727e-02 -1.57598391e-02 2.03717932e+02] [ 5.41909013e-02 9.98530587e-01 -1.14458128e-04 2.07443964e+00] [ 1.57428834e-02 -7.39764147e-04 9.99875799e-01 3.07012577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.36925415399998 meters Centerline goodness : 0.999128 Centerline is valid? [True, True] Translation: X:203.75, Y:2.08, Z:3.07 [[ 9.98620225e-01 -5.00926451e-02 -1.57598474e-02 2.03749342e+02] [ 5.00970833e-02 9.98744346e-01 -1.13293511e-04 2.07640089e+00] [ 1.57457337e-02 -6.76385199e-04 9.99875799e-01 3.07145955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.39925415399998 meters Centerline goodness : 0.999212 Centerline is valid? [True, True] Translation: X:203.78, Y:2.08, Z:3.07 [[ 9.99007263e-01 -4.16667166e-02 -1.57598536e-02 2.03781763e+02] [ 4.16701213e-02 9.99131417e-01 -1.12426476e-04 2.08035457e+00] [ 1.57508493e-02 -5.44400146e-04 9.99875799e-01 3.07387332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.42925415399998 meters Centerline goodness : 0.999106 Centerline is valid? [True, True] Translation: X:203.81, Y:2.08, Z:3.07 [[ 9.99172323e-01 -3.75006133e-02 -1.57598618e-02 2.03813630e+02] [ 3.75035183e-02 9.99296489e-01 -1.11273872e-04 2.08194012e+00] [ 1.57529474e-02 -4.79868491e-04 9.99875799e-01 3.07480994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.45925415399998 meters Centerline goodness : 0.999125 Centerline is valid? [True, True] Translation: X:203.85, Y:2.08, Z:3.08 [[ 9.99310437e-01 -3.36195983e-02 -1.57598699e-02 2.03845449e+02] [ 3.36220394e-02 9.99434613e-01 -1.10115163e-04 2.08327301e+00] [ 1.57546615e-02 -4.19839733e-04 9.99875799e-01 3.07518607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.48925415399998 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:203.88, Y:2.08, Z:3.08 [[ 9.99422955e-01 -3.00895735e-02 -1.57598780e-02 2.03877559e+02] [ 3.00915944e-02 9.99547140e-01 -1.08941756e-04 2.08463515e+00] [ 1.57560190e-02 -3.65360964e-04 9.99875799e-01 3.07519375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.51925415399998 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:203.91, Y:2.09, Z:3.07 [[ 9.99524217e-01 -2.65135084e-02 -1.57598860e-02 2.03909365e+02] [ 2.65151033e-02 9.99648407e-01 -1.07774854e-04 2.08624051e+00] [ 1.57572024e-02 -3.10151428e-04 9.99875799e-01 3.07494558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.54925415399998 meters Centerline goodness : 0.999055 Centerline is valid? [True, True] Translation: X:203.94, Y:2.09, Z:3.07 [[ 9.99674735e-01 -2.00511641e-02 -1.57598899e-02 2.03940360e+02] [ 2.00519652e-02 9.99798933e-01 -1.07196743e-04 2.08894117e+00] [ 1.57588705e-02 -2.08854889e-04 9.99875799e-01 3.07388393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.57925415399998 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:203.97, Y:2.09, Z:3.07 [[ 9.99728406e-01 -1.71679978e-02 -1.57598918e-02 2.03970340e+02] [ 1.71684453e-02 9.99852606e-01 -1.06908492e-04 2.09002568e+00] [ 1.57594043e-02 -1.63693385e-04 9.99875799e-01 3.07421638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.60925415399998 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:204.00, Y:2.09, Z:3.07 [[ 9.99772211e-01 -1.43927757e-02 -1.57598879e-02 2.03998074e+02] [ 1.43928693e-02 9.99896412e-01 -1.07489569e-04 2.09121122e+00] [ 1.57598024e-02 -1.19364922e-04 9.99875799e-01 3.07433799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.63925415399999 meters Centerline goodness : 0.999073 Centerline is valid? [True, True] Translation: X:204.03, Y:2.09, Z:3.08 [[ 9.99806396e-01 -1.17812039e-02 -1.57598779e-02 2.04026129e+02] [ 1.17809504e-02 9.99930596e-01 -1.08929496e-04 2.09216077e+00] [ 1.57600675e-02 -7.67579326e-05 9.99875799e-01 3.07500078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.669254154 meters Centerline goodness : 0.999158 Centerline is valid? [True, True] Translation: X:204.06, Y:2.09, Z:3.08 [[ 9.99853109e-01 -6.73701085e-03 -1.57598448e-02 2.04055308e+02] [ 6.73605829e-03 9.99977306e-01 -1.13524903e-04 2.09391043e+00] [ 1.57602520e-02 7.34899357e-06 9.99875799e-01 3.07650999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.699254154 meters Centerline goodness : 0.999029 Centerline is valid? [True, True] Translation: X:204.08, Y:2.09, Z:3.08 [[ 9.99865161e-01 -4.61390986e-03 -1.57598149e-02 2.04083207e+02] [ 4.61263034e-03 9.99989355e-01 -1.17537141e-04 2.09462464e+00] [ 1.57601894e-02 4.48270919e-05 9.99875799e-01 3.07761311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.729254154 meters Centerline goodness : 0.999051 Centerline is valid? [True, True] Translation: X:204.11, Y:2.10, Z:3.08 [[ 9.99872283e-01 -2.65448333e-03 -1.57597795e-02 2.04110564e+02] [ 2.65288847e-03 9.99996474e-01 -1.22103076e-04 2.09514958e+00] [ 1.57600481e-02 8.02785439e-05 9.99875800e-01 3.07829178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.759254154 meters Centerline goodness : 0.999007 Centerline is valid? [True, True] Translation: X:204.14, Y:2.10, Z:3.08 [[ 9.99874671e-01 -1.50699093e-03 -1.57597685e-02 2.04138078e+02] [ 1.50523128e-03 9.99998860e-01 -1.23515989e-04 2.09527954e+00] [ 1.57599366e-02 9.97784128e-05 9.99875800e-01 3.07963118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.789254154 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:204.17, Y:2.09, Z:3.08 [[ 9.99875766e-01 -2.87686714e-04 -1.57597315e-02 2.04166310e+02] [ 2.85703910e-04 9.99999951e-01 -1.28065863e-04 2.09398568e+00] [ 1.57597676e-02 1.23547336e-04 9.99875800e-01 3.08059634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.819254154 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:204.20, Y:2.09, Z:3.08 [[ 9.99875662e-01 -5.40911934e-04 -1.57596921e-02 2.04195292e+02] [ 5.38886839e-04 9.99999846e-01 -1.32744709e-04 2.09301542e+00] [ 1.57597614e-02 1.24235513e-04 9.99875800e-01 3.08062211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.84925415399996 meters Centerline goodness : 0.998902 Centerline is valid? [True, True] Translation: X:204.22, Y:2.09, Z:3.08 [[ 9.99874591e-01 -1.56055870e-03 -1.57596822e-02 2.04223000e+02] [ 1.55864193e-03 9.99998776e-01 -1.33906900e-04 2.09208104e+00] [ 1.57598719e-02 1.09326405e-04 9.99875800e-01 3.08031691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.87925415399997 meters Centerline goodness : 0.999138 Centerline is valid? [True, True] Translation: X:204.25, Y:2.09, Z:3.08 [[ 9.99871112e-01 -3.06469468e-03 -1.57596698e-02 2.04252085e+02] [ 3.06294202e-03 9.99995300e-01 -1.35347428e-04 2.09099197e+00] [ 1.57600106e-02 8.70590285e-05 9.99875800e-01 3.08102787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.90925415399997 meters Centerline goodness : 0.998989 Centerline is valid? [True, True] Translation: X:204.28, Y:2.09, Z:3.08 [[ 9.99861879e-01 -5.27783356e-03 -1.57596598e-02 2.04278815e+02] [ 5.27633752e-03 9.99986071e-01 -1.36506353e-04 2.09003943e+00] [ 1.57601607e-02 5.33342142e-05 9.99875800e-01 3.08111446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.93925415399997 meters Centerline goodness : 0.999033 Centerline is valid? [True, True] Translation: X:204.31, Y:2.09, Z:3.08 [[ 9.99813877e-01 -1.11285567e-02 -1.57596421e-02 2.04307896e+02] [ 1.11277557e-02 9.99938075e-01 -1.38519490e-04 2.08724190e+00] [ 1.57602077e-02 -3.68757377e-05 9.99875800e-01 3.08217419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.96925415399997 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:204.34, Y:2.09, Z:3.08 [[ 9.99764173e-01 -1.49409567e-02 -1.57596320e-02 2.04337199e+02] [ 1.49406113e-02 9.99888373e-01 -1.39662363e-04 2.08543590e+00] [ 1.57599595e-02 -9.58291087e-05 9.99875800e-01 3.08284516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.99925415399997 meters Centerline goodness : 0.998995 Centerline is valid? [True, True] Translation: X:204.36, Y:2.08, Z:3.08 [[ 9.99691538e-01 -1.91954077e-02 -1.57596217e-02 2.04363880e+02] [ 1.91955728e-02 9.99815738e-01 -1.40806701e-04 2.08331704e+00] [ 1.57594207e-02 -1.61751698e-04 9.99875800e-01 3.08262722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.02925415399997 meters Centerline goodness : 0.999188 Centerline is valid? [True, True] Translation: X:204.39, Y:2.08, Z:3.08 [[ 9.99603995e-01 -2.33128339e-02 -1.57596037e-02 2.04392783e+02] [ 2.33134792e-02 9.99728194e-01 -1.42793202e-04 2.08069979e+00] [ 1.57586491e-02 -2.24674539e-04 9.99875800e-01 3.08157488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.05925415399997 meters Centerline goodness : 0.998806 Centerline is valid? [True, True] Translation: X:204.42, Y:2.08, Z:3.08 [[ 9.99372719e-01 -3.17144204e-02 -1.57595669e-02 2.04422006e+02] [ 3.17160474e-02 9.99496909e-01 -1.46744991e-04 2.07640803e+00] [ 1.57562924e-02 -3.53178231e-04 9.99875800e-01 3.08357707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.08925415399997 meters Centerline goodness : 0.999128 Centerline is valid? [True, True] Translation: X:204.45, Y:2.07, Z:3.08 [[ 9.99259644e-01 -3.50969973e-02 -1.57595616e-02 2.04454114e+02] [ 3.50990358e-02 9.99383828e-01 -1.47311451e-04 2.07456678e+00] [ 1.57550212e-02 -4.05943030e-04 9.99875800e-01 3.08431826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.11925415399998 meters Centerline goodness : 0.999065 Centerline is valid? [True, True] Translation: X:204.49, Y:2.07, Z:3.09 [[ 9.99144059e-01 -3.82463703e-02 -1.57595721e-02 2.04486283e+02] [ 3.82488178e-02 9.99268236e-01 -1.46184413e-04 2.07287207e+00] [ 1.57536308e-02 -4.56725715e-04 9.99875800e-01 3.08554508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.14925415399998 meters Centerline goodness : 0.998919 Centerline is valid? [True, True] Translation: X:204.52, Y:2.07, Z:3.09 [[ 9.99044784e-01 -4.07572637e-02 -1.57595826e-02 2.04517632e+02] [ 4.07600414e-02 9.99168954e-01 -1.45039823e-04 2.07133813e+00] [ 1.57523971e-02 -4.97459962e-04 9.99875800e-01 3.08607109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.17925415399998 meters Centerline goodness : 0.998921 Centerline is valid? [True, True] Translation: X:204.55, Y:2.07, Z:3.09 [[ 9.98882606e-01 -4.45552925e-02 -1.57595985e-02 2.04548822e+02] [ 4.45585698e-02 9.99006763e-01 -1.43292944e-04 2.06830401e+00] [ 1.57503300e-02 -5.59092342e-04 9.99875800e-01 3.08701915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.20925415399998 meters Centerline goodness : 0.999028 Centerline is valid? [True, True] Translation: X:204.58, Y:2.07, Z:3.09 [[ 9.98824351e-01 -4.58426650e-02 -1.57596061e-02 2.04580813e+02] [ 4.58461155e-02 9.98948504e-01 -1.42458738e-04 2.06691847e+00] [ 1.57495656e-02 -5.80225463e-04 9.99875800e-01 3.08771347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.23925415399998 meters Centerline goodness : 0.999113 Centerline is valid? [True, True] Translation: X:204.61, Y:2.07, Z:3.09 [[ 9.98770239e-01 -4.70068582e-02 -1.57596159e-02 2.04612483e+02] [ 4.70104707e-02 9.98894387e-01 -1.41356819e-04 2.06565111e+00] [ 1.57488366e-02 -5.99683979e-04 9.99875800e-01 3.08737347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.26925415399998 meters Centerline goodness : 0.999221 Centerline is valid? [True, True] Translation: X:204.65, Y:2.06, Z:3.08 [[ 9.98968925e-01 -4.25760742e-02 -1.57596233e-02 2.04652177e+02] [ 4.25791489e-02 9.99093087e-01 -1.40534041e-04 2.05540896e+00] [ 1.57513141e-02 -5.30642207e-04 9.99875800e-01 3.08253383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.29925415399998 meters Centerline goodness : 0.999072 Centerline is valid? [True, True] Translation: X:204.67, Y:2.06, Z:3.08 [[ 9.98553172e-01 -5.14107728e-02 -1.57637578e-02 2.04671165e+02] [ 5.14227667e-02 9.98676911e-01 3.56195129e-04 2.06222656e+00] [ 1.57245887e-02 -1.16629582e-03 9.99875681e-01 3.08481094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.32925415399998 meters Centerline goodness : 0.999052 Centerline is valid? [True, True] Translation: X:204.70, Y:2.06, Z:3.09 [[ 9.98441271e-01 -5.35413787e-02 -1.57590658e-02 2.04703184e+02] [ 5.35457142e-02 9.98565388e-01 -1.47003998e-04 2.06175014e+00] [ 1.57443285e-02 -6.97055578e-04 9.99875807e-01 3.08771451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.35925415399998 meters Centerline goodness : 0.998947 Centerline is valid? [True, True] Translation: X:204.74, Y:2.06, Z:3.09 [[ 9.98333148e-01 -5.55209700e-02 -1.57590764e-02 2.04735119e+02] [ 5.55255696e-02 9.98457255e-01 -1.45861390e-04 2.06063475e+00] [ 1.57428625e-02 -7.29413434e-04 9.99875807e-01 3.08814778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.38925415399999 meters Centerline goodness : 0.998906 Centerline is valid? [True, True] Translation: X:204.77, Y:2.06, Z:3.09 [[ 9.98103909e-01 -5.94998927e-02 -1.57590870e-02 2.04767486e+02] [ 5.95050052e-02 9.98227997e-01 -1.44703994e-04 2.05826542e+00] [ 1.57397718e-02 -7.93314935e-04 9.99875807e-01 3.08563683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.419254154 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:204.80, Y:2.06, Z:3.09 [[ 9.97940084e-01 -6.21871392e-02 -1.57590975e-02 2.04798447e+02] [ 6.21926039e-02 9.98064156e-01 -1.43553054e-04 2.05821608e+00] [ 1.57375175e-02 -8.36841965e-04 9.99875807e-01 3.08843093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.449254154 meters Centerline goodness : 0.999137 Centerline is valid? [True, True] Translation: X:204.83, Y:2.06, Z:3.09 [[ 9.97824199e-01 -6.40196712e-02 -1.57591053e-02 2.04830070e+02] [ 6.40253773e-02 9.97948261e-01 -1.42694576e-04 2.05810063e+00] [ 1.57359070e-02 -8.66598562e-04 9.99875807e-01 3.08901208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.479254154 meters Centerline goodness : 0.998780 Centerline is valid? [True, True] Translation: X:204.86, Y:2.06, Z:3.09 [[ 9.97737112e-01 -6.53628829e-02 -1.57591181e-02 2.04861949e+02] [ 6.53687784e-02 9.97861164e-01 -1.41271700e-04 2.05827570e+00] [ 1.57346458e-02 -8.89202278e-04 9.99875807e-01 3.08900577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.509254154 meters Centerline goodness : 0.999009 Centerline is valid? [True, True] Translation: X:204.89, Y:2.06, Z:3.09 [[ 9.97627085e-01 -6.70212594e-02 -1.57591425e-02 2.04894681e+02] [ 6.70274049e-02 9.97751125e-01 -1.38486534e-04 2.05932193e+00] [ 1.57329837e-02 -9.18136510e-04 9.99875807e-01 3.09205083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.539254154 meters Centerline goodness : 0.998801 Centerline is valid? [True, True] Translation: X:204.93, Y:2.06, Z:3.09 [[ 9.97630693e-01 -6.69675210e-02 -1.57591576e-02 2.04926812e+02] [ 6.69736872e-02 9.97754733e-01 -1.36751607e-04 2.06022844e+00] [ 1.57329320e-02 -9.19021290e-04 9.99875807e-01 3.09294780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.569254154 meters Centerline goodness : 0.998802 Centerline is valid? [True, True] Translation: X:204.96, Y:2.06, Z:3.09 [[ 9.97661063e-01 -6.65135423e-02 -1.57591699e-02 2.04959550e+02] [ 6.65196746e-02 9.97785104e-01 -1.35316245e-04 2.06126449e+00] [ 1.57332654e-02 -9.13295106e-04 9.99875807e-01 3.09410291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.59925415399996 meters Centerline goodness : 0.998822 Centerline is valid? [True, True] Translation: X:204.99, Y:2.06, Z:3.09 [[ 9.97691328e-01 -6.60580159e-02 -1.57591846e-02 2.04991868e+02] [ 6.60641188e-02 9.97815371e-01 -1.33587843e-04 2.06218151e+00] [ 1.57335811e-02 -9.07837209e-04 9.99875807e-01 3.09461161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.62925415399997 meters Centerline goodness : 0.998862 Centerline is valid? [True, True] Translation: X:205.02, Y:2.06, Z:3.10 [[ 9.97749701e-01 -6.51704120e-02 -1.57591966e-02 2.05024479e+02] [ 6.51764271e-02 9.97873747e-01 -1.32155684e-04 2.06385678e+00] [ 1.57343012e-02 -8.95269832e-04 9.99875807e-01 3.09705051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.65925415399997 meters Centerline goodness : 0.998988 Centerline is valid? [True, True] Translation: X:205.06, Y:2.07, Z:3.10 [[ 9.97775579e-01 -6.47729944e-02 -1.57592108e-02 2.05057325e+02] [ 6.47789872e-02 9.97899627e-01 -1.30433134e-04 2.06502775e+00] [ 1.57345592e-02 -8.90722721e-04 9.99875807e-01 3.09846247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.68925415399997 meters Centerline goodness : 0.998841 Centerline is valid? [True, True] Translation: X:205.09, Y:2.07, Z:3.10 [[ 9.97808168e-01 -6.42690200e-02 -1.57592250e-02 2.05090480e+02] [ 6.42749775e-02 9.97932217e-01 -1.28693323e-04 2.06599504e+00] [ 1.57349094e-02 -8.84512586e-04 9.99875807e-01 3.09922037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.71925415399997 meters Centerline goodness : 0.998904 Centerline is valid? [True, True] Translation: X:205.12, Y:2.07, Z:3.10 [[ 9.97853477e-01 -6.35616545e-02 -1.57592390e-02 2.05123713e+02] [ 6.35675515e-02 9.97977530e-01 -1.26955208e-04 2.06712694e+00] [ 1.57354359e-02 -8.75093543e-04 9.99875807e-01 3.10009049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.74925415399997 meters Centerline goodness : 0.999094 Centerline is valid? [True, True] Translation: X:205.16, Y:2.07, Z:3.10 [[ 9.98009159e-01 -6.10685256e-02 -1.57592528e-02 2.05156097e+02] [ 6.10741399e-02 9.98133224e-01 -1.25221218e-04 2.06948900e+00] [ 1.57374809e-02 -8.37510890e-04 9.99875807e-01 3.10081345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.77925415399997 meters Centerline goodness : 0.998944 Centerline is valid? [True, True] Translation: X:205.19, Y:2.07, Z:3.10 [[ 9.98107062e-01 -5.94469403e-02 -1.57592641e-02 2.05188724e+02] [ 5.94523757e-02 9.98231135e-01 -1.23785847e-04 2.07096609e+00] [ 1.57387468e-02 -8.13374161e-04 9.99875807e-01 3.10236506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.80925415399997 meters Centerline goodness : 0.998944 Centerline is valid? [True, True] Translation: X:205.22, Y:2.07, Z:3.10 [[ 9.98113678e-01 -5.93357504e-02 -1.57592777e-02 2.05222257e+02] [ 5.93411995e-02 9.98237751e-01 -1.22031234e-04 2.07113621e+00] [ 1.57387467e-02 -8.13373398e-04 9.99875807e-01 3.10289308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.83925415399997 meters Centerline goodness : 0.998964 Centerline is valid? [True, True] Translation: X:205.25, Y:2.07, Z:3.10 [[ 9.98233332e-01 -5.72875101e-02 -1.57592911e-02 2.05254563e+02] [ 5.72927323e-02 9.98357415e-01 -1.20275860e-04 2.07235281e+00] [ 1.57402954e-02 -7.82829472e-04 9.99875807e-01 3.10307819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.86925415399998 meters Centerline goodness : 0.998858 Centerline is valid? [True, True] Translation: X:205.29, Y:2.07, Z:3.10 [[ 9.98359167e-01 -5.50510472e-02 -1.57593020e-02 2.05287036e+02] [ 5.50560142e-02 9.98483260e-01 -1.18822906e-04 2.07395394e+00] [ 1.57419406e-02 -7.49016420e-04 9.99875807e-01 3.10451427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.89925415399998 meters Centerline goodness : 0.998926 Centerline is valid? [True, True] Translation: X:205.32, Y:2.08, Z:3.10 [[ 9.98514624e-01 -5.21554358e-02 -1.57593107e-02 2.05319509e+02] [ 5.21600612e-02 9.98638731e-01 -1.17662237e-04 2.07557956e+00] [ 1.57439948e-02 -7.04519147e-04 9.99875807e-01 3.10367107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.92925415399998 meters Centerline goodness : 0.998836 Centerline is valid? [True, True] Translation: X:205.35, Y:2.08, Z:3.10 [[ 9.98844066e-01 -4.54111739e-02 -1.57593316e-02 2.05350396e+02] [ 4.54150064e-02 9.98968200e-01 -1.14787783e-04 2.07865040e+00] [ 1.57482838e-02 -6.01055052e-04 9.99875807e-01 3.10446228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.95925415399998 meters Centerline goodness : 0.998964 Centerline is valid? [True, True] Translation: X:205.38, Y:2.08, Z:3.11 [[ 9.99016655e-01 -4.14411240e-02 -1.57593375e-02 2.05382365e+02] [ 4.14444759e-02 9.99140802e-01 -1.13976552e-04 2.08057747e+00] [ 1.57505204e-02 -5.39273009e-04 9.99875807e-01 3.10619140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.98925415399998 meters Centerline goodness : 0.999194 Centerline is valid? [True, True] Translation: X:205.42, Y:2.08, Z:3.11 [[ 9.99191349e-01 -3.69904120e-02 -1.57593454e-02 2.05415004e+02] [ 3.69932281e-02 9.99315510e-01 -1.12876121e-04 2.08222009e+00] [ 1.57527336e-02 -4.70204215e-04 9.99875807e-01 3.10753275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.01925415399998 meters Centerline goodness : 0.999173 Centerline is valid? [True, True] Translation: X:205.45, Y:2.09, Z:3.11 [[ 9.99501721e-01 -2.73487061e-02 -1.57593533e-02 2.05447474e+02] [ 2.73503420e-02 9.99625903e-01 -1.11753698e-04 2.08522336e+00] [ 1.57565141e-02 -3.19325690e-04 9.99875807e-01 3.10955549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.04925415399998 meters Centerline goodness : 0.999150 Centerline is valid? [True, True] Translation: X:205.48, Y:2.09, Z:3.11 [[ 9.99617677e-01 -2.27187521e-02 -1.57593614e-02 2.05478134e+02] [ 2.27198309e-02 9.99741865e-01 -1.10601003e-04 2.08657966e+00] [ 1.57578061e-02 -2.47491310e-04 9.99875807e-01 3.11030214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.07925415399998 meters Centerline goodness : 0.999236 Centerline is valid? [True, True] Translation: X:205.51, Y:2.09, Z:3.11 [[ 9.99708190e-01 -1.83078521e-02 -1.57593634e-02 2.05508183e+02] [ 1.83083875e-02 9.99832381e-01 -1.10316268e-04 2.08750494e+00] [ 1.57587415e-02 -1.78244456e-04 9.99875807e-01 3.11086057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.10925415399998 meters Centerline goodness : 0.999021 Centerline is valid? [True, True] Translation: X:205.54, Y:2.09, Z:3.11 [[ 9.99811027e-01 -1.13821640e-02 -1.57593595e-02 2.05537348e+02] [ 1.13818302e-02 9.99935219e-01 -1.10878092e-04 2.08824406e+00] [ 1.57596006e-02 -6.85132141e-05 9.99875807e-01 3.11098152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.13925415399999 meters Centerline goodness : 0.999064 Centerline is valid? [True, True] Translation: X:205.57, Y:2.09, Z:3.11 [[ 9.99840077e-01 -8.45363239e-03 -1.57593303e-02 2.05565079e+02] [ 8.45287159e-03 9.99964267e-01 -1.14886483e-04 2.08774786e+00] [ 1.57597383e-02 -1.83434846e-05 9.99875807e-01 3.10989901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.169254154 meters Centerline goodness : 0.999003 Centerline is valid? [True, True] Translation: X:205.59, Y:2.09, Z:3.11 [[ 9.99849094e-01 -7.30973809e-03 -1.57593198e-02 2.05593023e+02] [ 7.30881290e-03 9.99973284e-01 -1.16302038e-04 2.08757025e+00] [ 1.57597489e-02 1.10256729e-06 9.99875807e-01 3.11124859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.199254154 meters Centerline goodness : 0.998873 Centerline is valid? [True, True] Translation: X:205.62, Y:2.09, Z:3.11 [[ 9.99853143e-01 -6.73327873e-03 -1.57592846e-02 2.05620107e+02] [ 6.73220953e-03 9.99977331e-01 -1.20896109e-04 2.08726435e+00] [ 1.57597413e-02 1.47835486e-05 9.99875807e-01 3.11086499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.229254154 meters Centerline goodness : 0.999110 Centerline is valid? [True, True] Translation: X:205.65, Y:2.09, Z:3.11 [[ 9.99852613e-01 -6.81160555e-03 -1.57592691e-02 2.05648222e+02] [ 6.81051474e-03 9.99976801e-01 -1.22884255e-04 2.08676886e+00] [ 1.57597405e-02 1.55374093e-05 9.99875807e-01 3.11108110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.259254154 meters Centerline goodness : 0.999258 Centerline is valid? [True, True] Translation: X:205.67, Y:2.09, Z:3.11 [[ 9.99822803e-01 -1.02960311e-02 -1.57592582e-02 2.05673756e+02] [ 1.02953514e-02 9.99946994e-01 -1.24260719e-04 2.08553626e+00] [ 1.57597023e-02 -3.80084016e-05 9.99875807e-01 3.11144654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.289254154 meters Centerline goodness : 0.998941 Centerline is valid? [True, True] Translation: X:205.70, Y:2.08, Z:3.11 [[ 9.99804304e-01 -1.19594741e-02 -1.57583091e-02 2.05703770e+02] [ 1.19572123e-02 9.99928482e-01 -2.37742185e-04 2.08184144e+00] [ 1.57600254e-02 4.92702121e-05 9.99875802e-01 3.11234682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.319254154 meters Centerline goodness : 0.998941 Centerline is valid? [True, True] Translation: X:205.73, Y:2.08, Z:3.11 [[ 9.99759005e-01 -1.52833324e-02 -1.57591960e-02 2.05731710e+02] [ 1.52831607e-02 9.99883197e-01 -1.31338269e-04 2.07994198e+00] [ 1.57593626e-02 -1.09543707e-04 9.99875808e-01 3.11216971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.34925415399996 meters Centerline goodness : 0.998860 Centerline is valid? [True, True] Translation: X:205.76, Y:2.08, Z:3.11 [[ 9.99694515e-01 -1.90400638e-02 -1.57591779e-02 2.05759805e+02] [ 1.90403251e-02 9.99818708e-01 -1.33477379e-04 2.07795472e+00] [ 1.57588623e-02 -1.66623266e-04 9.99875808e-01 3.11296206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.37925415399997 meters Centerline goodness : 0.998969 Centerline is valid? [True, True] Translation: X:205.79, Y:2.07, Z:3.12 [[ 9.99508858e-01 -2.70867594e-02 -1.57591402e-02 2.05788471e+02] [ 2.70879524e-02 9.99633045e-01 -1.37783716e-04 2.07341846e+00] [ 1.57570895e-02 -2.89166796e-04 9.99875808e-01 3.11546331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.40925415399997 meters Centerline goodness : 0.999033 Centerline is valid? [True, True] Translation: X:205.82, Y:2.07, Z:3.11 [[ 9.99383163e-01 -3.13838181e-02 -1.57591301e-02 2.05818520e+02] [ 3.13855269e-02 9.99507343e-01 -1.38932918e-04 2.07112993e+00] [ 1.57557265e-02 -3.55761383e-04 9.99875808e-01 3.11465451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.43925415399997 meters Centerline goodness : 0.999034 Centerline is valid? [True, True] Translation: X:205.85, Y:2.07, Z:3.12 [[ 9.99089368e-01 -3.96495291e-02 -1.57591326e-02 2.05849540e+02] [ 3.96522696e-02 9.99213530e-01 -1.38647399e-04 2.06683858e+00] [ 1.57522358e-02 -4.86364234e-04 9.99875808e-01 3.11673171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.46925415399997 meters Centerline goodness : 0.998948 Centerline is valid? [True, True] Translation: X:205.88, Y:2.06, Z:3.12 [[ 9.98950206e-01 -4.30131974e-02 -1.57591376e-02 2.05881215e+02] [ 4.30163649e-02 9.99074358e-01 -1.38080917e-04 2.06440939e+00] [ 1.57504896e-02 -5.39964851e-04 9.99875808e-01 3.11559730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.49925415399997 meters Centerline goodness : 0.998822 Centerline is valid? [True, True] Translation: X:205.92, Y:2.05, Z:3.11 [[ 9.99197052e-01 -3.68361230e-02 -1.57591450e-02 2.05923022e+02] [ 3.68385362e-02 9.99321221e-01 -1.37233733e-04 2.05146181e+00] [ 1.57535031e-02 -4.43420290e-04 9.99875808e-01 3.11075719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.52925415399997 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:205.94, Y:2.06, Z:3.12 [[ 9.98514998e-01 -5.21469493e-02 -1.57636865e-02 2.05940186e+02] [ 5.21605157e-02 9.98638612e-01 4.50408929e-04 2.05905274e+00] [ 1.57187386e-02 -1.27198209e-03 9.99875644e-01 3.11654016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.55925415399997 meters Centerline goodness : 0.998909 Centerline is valid? [True, True] Translation: X:205.97, Y:2.06, Z:3.12 [[ 9.98414171e-01 -5.40445891e-02 -1.57583531e-02 2.05972624e+02] [ 5.40490662e-02 9.98538271e-01 -1.41956990e-04 2.05845704e+00] [ 1.57429906e-02 -7.09992397e-04 9.99875819e-01 3.11761939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.58925415399997 meters Centerline goodness : 0.998911 Centerline is valid? [True, True] Translation: X:206.01, Y:2.06, Z:3.12 [[ 9.98334948e-01 -5.54887940e-02 -1.57583633e-02 2.06006023e+02] [ 5.54934686e-02 9.98459040e-01 -1.40809668e-04 2.05720104e+00] [ 1.57418937e-02 -7.33911028e-04 9.99875819e-01 3.11853114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.61925415399998 meters Centerline goodness : 0.998808 Centerline is valid? [True, True] Translation: X:206.04, Y:2.06, Z:3.12 [[ 9.98264455e-01 -5.67428496e-02 -1.57583790e-02 2.06037214e+02] [ 5.67477081e-02 9.98388541e-01 -1.39031704e-04 2.05599824e+00] [ 1.57408741e-02 -7.55461483e-04 9.99875819e-01 3.11873412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.64925415399998 meters Centerline goodness : 0.998933 Centerline is valid? [True, True] Translation: X:206.07, Y:2.05, Z:3.12 [[ 9.98179656e-01 -5.82155211e-02 -1.57583867e-02 2.06067960e+02] [ 5.82205765e-02 9.98303734e-01 -1.38151668e-04 2.05372975e+00] [ 1.57396989e-02 -7.79562175e-04 9.99875819e-01 3.11853226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.67925415399998 meters Centerline goodness : 0.998952 Centerline is valid? [True, True] Translation: X:206.10, Y:2.05, Z:3.12 [[ 9.98205428e-01 -5.77719351e-02 -1.57584026e-02 2.06099212e+02] [ 5.77769644e-02 9.98329507e-01 -1.36312068e-04 2.05290349e+00] [ 1.57399533e-02 -7.74405221e-04 9.99875819e-01 3.11699024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.70925415399998 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:206.13, Y:2.05, Z:3.12 [[ 9.98174880e-01 -5.82974775e-02 -1.57579480e-02 2.06131266e+02] [ 5.83017492e-02 9.98298989e-01 -1.88554339e-04 2.05236604e+00] [ 1.57421358e-02 -7.30505730e-04 9.99875818e-01 3.11932261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.73925415399998 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:206.16, Y:2.05, Z:3.12 [[ 9.98228061e-01 -5.73795268e-02 -1.57584137e-02 2.06162962e+02] [ 5.73845491e-02 9.98352140e-01 -1.33656355e-04 2.05213877e+00] [ 1.57401152e-02 -7.70869939e-04 9.99875820e-01 3.11934940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.76925415399998 meters Centerline goodness : 0.998911 Centerline is valid? [True, True] Translation: X:206.20, Y:2.05, Z:3.12 [[ 9.98258448e-01 -5.68485218e-02 -1.57580328e-02 2.06195627e+02] [ 5.68527699e-02 9.98382557e-01 -1.78619379e-04 2.05204588e+00] [ 1.57426994e-02 -7.17579510e-04 9.99875819e-01 3.11989263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.79925415399998 meters Centerline goodness : 0.998929 Centerline is valid? [True, True] Translation: X:206.23, Y:2.05, Z:3.12 [[ 9.98341867e-01 -5.53641437e-02 -1.57584209e-02 2.06226890e+02] [ 5.53689346e-02 9.98465955e-01 -1.32443213e-04 2.05217699e+00] [ 1.57415794e-02 -7.40303374e-04 9.99875820e-01 3.11964199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.82925415399998 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:206.26, Y:2.05, Z:3.12 [[ 9.98559378e-01 -5.12917139e-02 -1.57584283e-02 2.06259130e+02] [ 5.12960124e-02 9.98683484e-01 -1.31566050e-04 2.05284435e+00] [ 1.57444303e-02 -6.76968019e-04 9.99875820e-01 3.11963632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.85925415399998 meters Centerline goodness : 0.999074 Centerline is valid? [True, True] Translation: X:206.29, Y:2.05, Z:3.12 [[ 9.98648219e-01 -4.95318694e-02 -1.57584379e-02 2.06291006e+02] [ 4.95359674e-02 9.98772332e-01 -1.30407575e-04 2.05396759e+00] [ 1.57455511e-02 -6.50378172e-04 9.99875820e-01 3.12070278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.88925415399999 meters Centerline goodness : 0.999140 Centerline is valid? [True, True] Translation: X:206.32, Y:2.05, Z:3.12 [[ 9.98741179e-01 -4.76206841e-02 -1.57584474e-02 2.06322195e+02] [ 4.76245630e-02 9.98865298e-01 -1.29240404e-04 2.05473608e+00] [ 1.57467208e-02 -6.21411459e-04 9.99875820e-01 3.12103151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.919254154 meters Centerline goodness : 0.998973 Centerline is valid? [True, True] Translation: X:206.35, Y:2.06, Z:3.12 [[ 9.98815878e-01 -4.60272974e-02 -1.57584545e-02 2.06354293e+02] [ 4.60309920e-02 9.98940004e-01 -1.28371110e-04 2.05547793e+00] [ 1.57476592e-02 -5.97158191e-04 9.99875820e-01 3.12145244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.949254154 meters Centerline goodness : 0.997764 Centerline is valid? [True, True] Translation: X:206.38, Y:2.06, Z:3.12 [[ 9.98979404e-01 -4.23299010e-02 -1.57584638e-02 2.06383546e+02] [ 4.23331543e-02 9.99103542e-01 -1.27221692e-04 2.05735277e+00] [ 1.57497223e-02 -5.40013629e-04 9.99875820e-01 3.11962803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.979254154 meters Centerline goodness : 0.999220 Centerline is valid? [True, True] Translation: X:206.42, Y:2.06, Z:3.12 [[ 9.98957180e-01 -4.28516311e-02 -1.57572122e-02 2.06416541e+02] [ 4.28525287e-02 9.99081369e-01 -2.80823076e-04 2.05739622e+00] [ 1.57547709e-02 -3.94706162e-04 9.99875808e-01 3.12269259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.009254154 meters Centerline goodness : 0.999242 Centerline is valid? [True, True] Translation: X:206.45, Y:2.06, Z:3.12 [[ 9.98975819e-01 -4.24144476e-02 -1.57584458e-02 2.06447984e+02] [ 4.24177665e-02 9.99099954e-01 -1.23721489e-04 2.05826301e+00] [ 1.57495101e-02 -5.44843300e-04 9.99875820e-01 3.12267486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.039254154 meters Centerline goodness : 0.999136 Centerline is valid? [True, True] Translation: X:206.48, Y:2.06, Z:3.12 [[ 9.99045934e-01 -4.07295016e-02 -1.57584606e-02 2.06479614e+02] [ 4.07326412e-02 9.99170074e-01 -1.21813842e-04 2.05987526e+00] [ 1.57503437e-02 -5.20186097e-04 9.99875820e-01 3.12172202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.069254154 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:206.51, Y:2.06, Z:3.12 [[ 9.99023743e-01 -4.12703992e-02 -1.57580261e-02 2.06510926e+02] [ 4.12727207e-02 9.99147902e-01 -1.77992846e-04 2.06076756e+00] [ 1.57519446e-02 -4.72557532e-04 9.99875819e-01 3.12405525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.09925415399996 meters Centerline goodness : 0.998991 Centerline is valid? [True, True] Translation: X:206.54, Y:2.06, Z:3.12 [[ 9.99076232e-01 -3.99793987e-02 -1.57584715e-02 2.06542032e+02] [ 3.99824886e-02 9.99200374e-01 -1.19046056e-04 2.06366522e+00] [ 1.57506300e-02 -5.11126821e-04 9.99875820e-01 3.12489345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.12925415399997 meters Centerline goodness : 0.998801 Centerline is valid? [True, True] Translation: X:206.57, Y:2.07, Z:3.13 [[ 9.99110230e-01 -3.91205619e-02 -1.57584855e-02 2.06574613e+02] [ 3.91235749e-02 9.99234373e-01 -1.17160481e-04 2.06510138e+00] [ 1.57510038e-02 -4.99472052e-04 9.99875820e-01 3.12577128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.15925415399997 meters Centerline goodness : 0.999139 Centerline is valid? [True, True] Translation: X:206.61, Y:2.07, Z:3.13 [[ 9.99155183e-01 -3.79550960e-02 -1.57584937e-02 2.06607034e+02] [ 3.79579818e-02 9.99279329e-01 -1.16045238e-04 2.06628219e+00] [ 1.57515415e-02 -4.82213416e-04 9.99875820e-01 3.12737189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.18925415399997 meters Centerline goodness : 0.998822 Centerline is valid? [True, True] Translation: X:206.64, Y:2.07, Z:3.13 [[ 9.99197673e-01 -3.68195676e-02 -1.57585018e-02 2.06638950e+02] [ 3.68223297e-02 9.99321821e-01 -1.14932540e-04 2.06750834e+00] [ 1.57520465e-02 -4.65424424e-04 9.99875820e-01 3.12831563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.21925415399997 meters Centerline goodness : 0.998950 Centerline is valid? [True, True] Translation: X:206.68, Y:2.06, Z:3.12 [[ 9.99592110e-01 -2.38177207e-02 -1.57585099e-02 2.06683971e+02] [ 2.38188852e-02 9.99716284e-01 -1.13809238e-04 2.05855561e+00] [ 1.57567497e-02 -2.61587323e-04 9.99875820e-01 3.12209184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.24925415399997 meters Centerline goodness : 0.999033 Centerline is valid? [True, True] Translation: X:206.70, Y:2.07, Z:3.13 [[ 9.99320082e-01 -3.33302716e-02 -1.57628250e-02 2.06697725e+02] [ 3.33432136e-02 9.99443804e-01 5.58878513e-04 2.07278278e+00] [ 1.57354302e-02 -1.08408176e-03 9.99875603e-01 3.13060974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.27925415399997 meters Centerline goodness : 0.999012 Centerline is valid? [True, True] Translation: X:206.73, Y:2.07, Z:3.13 [[ 9.99377991e-01 -3.15489424e-02 -1.57573673e-02 2.06728834e+02] [ 3.15508795e-02 9.99502139e-01 -1.25706191e-04 2.07479264e+00] [ 1.57534882e-02 -3.71530797e-04 9.99875837e-01 3.13198654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.30925415399997 meters Centerline goodness : 0.998780 Centerline is valid? [True, True] Translation: X:206.76, Y:2.08, Z:3.13 [[ 9.99453757e-01 -2.90498231e-02 -1.57573717e-02 2.06760442e+02] [ 2.90514585e-02 9.99577909e-01 -1.25150686e-04 2.07578273e+00] [ 1.57543563e-02 -3.32692308e-04 9.99875837e-01 3.13141993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.33925415399997 meters Centerline goodness : 0.998885 Centerline is valid? [True, True] Translation: X:206.79, Y:2.08, Z:3.13 [[ 9.99566312e-01 -2.48775759e-02 -1.57573763e-02 2.06791614e+02] [ 2.48787021e-02 9.99690469e-01 -1.24577427e-04 2.07934836e+00] [ 1.57555981e-02 -2.67499671e-04 9.99875837e-01 3.13296527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.36925415399998 meters Centerline goodness : 0.999073 Centerline is valid? [True, True] Translation: X:206.82, Y:2.08, Z:3.13 [[ 9.99619488e-01 -2.26403143e-02 -1.57573807e-02 2.06821475e+02] [ 2.26411716e-02 9.99743648e-01 -1.24007152e-04 2.08147557e+00] [ 1.57561489e-02 -2.32805596e-04 9.99875837e-01 3.13452561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.39925415399998 meters Centerline goodness : 0.999094 Centerline is valid? [True, True] Translation: X:206.85, Y:2.08, Z:3.14 [[ 9.99676901e-01 -1.99449140e-02 -1.57573785e-02 2.06851088e+02] [ 1.99454321e-02 9.99801062e-01 -1.24289683e-04 2.08319464e+00] [ 1.57567227e-02 -1.90038198e-04 9.99875837e-01 3.13529006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.42925415399998 meters Centerline goodness : 0.998987 Centerline is valid? [True, True] Translation: X:206.88, Y:2.08, Z:3.14 [[ 9.99728733e-01 -1.71512497e-02 -1.57573741e-02 2.06879704e+02] [ 1.71514120e-02 9.99852896e-01 -1.24852971e-04 2.08483214e+00] [ 1.57571975e-02 -1.45442111e-04 9.99875837e-01 3.13585373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.45925415399998 meters Centerline goodness : 0.999113 Centerline is valid? [True, True] Translation: X:206.91, Y:2.09, Z:3.14 [[ 9.99800881e-01 -1.22434788e-02 -1.57573674e-02 2.06908779e+02] [ 1.22430183e-02 9.99925044e-01 -1.25691810e-04 2.08746772e+00] [ 1.57577252e-02 -6.72509554e-05 9.99875837e-01 3.13711862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.48925415399998 meters Centerline goodness : 0.999028 Centerline is valid? [True, True] Translation: X:206.94, Y:2.09, Z:3.13 [[ 9.99853305e-01 -6.71377955e-03 -1.57573341e-02 2.06939261e+02] [ 6.71256872e-03 9.99977462e-01 -1.29730539e-04 2.08603345e+00] [ 1.57578500e-02 2.39393199e-05 9.99875837e-01 3.13439571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.51925415399998 meters Centerline goodness : 0.998921 Centerline is valid? [True, True] Translation: X:206.97, Y:2.09, Z:3.14 [[ 9.99838207e-01 -8.67423890e-03 -1.57580607e-02 2.06965244e+02] [ 8.67468090e-03 9.99962373e-01 -4.03045593e-05 2.08966556e+00] [ 1.57578174e-02 -9.63981099e-05 9.99875833e-01 3.13740446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.54925415399998 meters Centerline goodness : 0.998963 Centerline is valid? [True, True] Translation: X:206.99, Y:2.09, Z:3.14 [[ 9.99844920e-01 -7.86408741e-03 -1.57572921e-02 2.06992919e+02] [ 7.86298302e-03 9.99969078e-01 -1.32040860e-04 2.09052147e+00] [ 1.57578432e-02 8.12106361e-06 9.99875837e-01 3.13759166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.57925415399998 meters Centerline goodness : 0.999070 Centerline is valid? [True, True] Translation: X:207.02, Y:2.09, Z:3.14 [[ 9.99850658e-01 -7.09721221e-03 -1.57572529e-02 2.07021192e+02] [ 7.09594139e-03 9.99974814e-01 -1.36558881e-04 2.09030841e+00] [ 1.57578252e-02 2.47259437e-05 9.99875837e-01 3.13701153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.60925415399998 meters Centerline goodness : 0.999133 Centerline is valid? [True, True] Translation: X:207.05, Y:2.09, Z:3.14 [[ 9.99847864e-01 -7.48051762e-03 -1.57572180e-02 2.07049425e+02] [ 7.47923276e-03 9.99972020e-01 -1.40469931e-04 2.09007192e+00] [ 1.57578279e-02 2.25966591e-05 9.99875837e-01 3.13717826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.63925415399999 meters Centerline goodness : 0.999260 Centerline is valid? [True, True] Translation: X:207.08, Y:2.09, Z:3.14 [[ 9.99844097e-01 -7.96823483e-03 -1.57571774e-02 2.07077629e+02] [ 7.96694088e-03 9.99968253e-01 -1.44889513e-04 2.08951992e+00] [ 1.57578317e-02 1.93304237e-05 9.99875837e-01 3.13720415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.669254154 meters Centerline goodness : 0.998986 Centerline is valid? [True, True] Translation: X:207.11, Y:2.09, Z:3.14 [[ 9.99827695e-01 -9.81290412e-03 -1.57571356e-02 2.07105575e+02] [ 9.81176977e-03 9.99951852e-01 -1.49297279e-04 2.08872714e+00] [ 1.57578420e-02 -5.33383325e-06 9.99875837e-01 3.13729484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.699254154 meters Centerline goodness : 0.999007 Centerline is valid? [True, True] Translation: X:207.13, Y:2.09, Z:3.14 [[ 9.99813536e-01 -1.11627098e-02 -1.57571226e-02 2.07133954e+02] [ 1.11617216e-02 9.99937695e-01 -1.50660263e-04 2.08810376e+00] [ 1.57578226e-02 -2.52444458e-05 9.99875837e-01 3.13784859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.729254154 meters Centerline goodness : 0.999007 Centerline is valid? [True, True] Translation: X:207.16, Y:2.09, Z:3.14 [[ 9.99810432e-01 -1.14374515e-02 -1.57570800e-02 2.07162348e+02] [ 1.14364291e-02 9.99934590e-01 -1.54992791e-04 2.08847314e+00] [ 1.57578220e-02 -2.52413197e-05 9.99875837e-01 3.13829739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.759254154 meters Centerline goodness : 0.999176 Centerline is valid? [True, True] Translation: X:207.19, Y:2.09, Z:3.14 [[ 9.99788011e-01 -1.32532950e-02 -1.57570362e-02 2.07190239e+02] [ 1.32524299e-02 9.99912170e-01 -1.59322182e-04 2.08767324e+00] [ 1.57577638e-02 -4.95306106e-05 9.99875838e-01 3.13893596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.789254154 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:207.22, Y:2.09, Z:3.14 [[ 9.99760208e-01 -1.52067320e-02 -1.57569915e-02 2.07217378e+02] [ 1.52060416e-02 9.99884368e-01 -1.63631024e-04 2.08660164e+00] [ 1.57576578e-02 -7.60096818e-05 9.99875838e-01 3.13923803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.819254154 meters Centerline goodness : 0.998884 Centerline is valid? [True, True] Translation: X:207.24, Y:2.08, Z:3.14 [[ 9.99676107e-01 -1.99849768e-02 -1.57569719e-02 2.07244138e+02] [ 1.99848504e-02 9.99800269e-01 -1.65498993e-04 2.08364391e+00] [ 1.57571322e-02 -1.49455336e-04 9.99875838e-01 3.13959772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.84925415399996 meters Centerline goodness : 0.998948 Centerline is valid? [True, True] Translation: X:207.27, Y:2.08, Z:3.14 [[ 9.99607985e-01 -2.31429243e-02 -1.57569522e-02 2.07272940e+02] [ 2.31431609e-02 9.99732147e-01 -1.67350929e-04 2.08223127e+00] [ 1.57566046e-02 -1.97380355e-04 9.99875838e-01 3.14032542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.87925415399997 meters Centerline goodness : 0.999137 Centerline is valid? [True, True] Translation: X:207.30, Y:2.08, Z:3.14 [[ 9.99532257e-01 -2.62104275e-02 -1.57569121e-02 2.07302420e+02] [ 2.62109870e-02 9.99656418e-01 -1.71041954e-04 2.08082701e+00] [ 1.57559814e-02 -2.42042267e-04 9.99875838e-01 3.14126297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.90925415399997 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:207.33, Y:2.08, Z:3.14 [[ 9.99446135e-01 -2.93111320e-02 -1.57569064e-02 2.07332214e+02] [ 2.93120684e-02 9.99570294e-01 -1.71566959e-04 2.07922939e+00] [ 1.57551644e-02 -2.90395584e-04 9.99875838e-01 3.14209021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.93925415399997 meters Centerline goodness : 0.998951 Centerline is valid? [True, True] Translation: X:207.37, Y:2.06, Z:3.14 [[ 9.99493943e-01 -2.76329116e-02 -1.57569036e-02 2.07373511e+02] [ 2.76336354e-02 9.99618103e-01 -1.71827925e-04 2.06496530e+00] [ 1.57556342e-02 -2.63679558e-04 9.99875838e-01 3.13837911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.96925415399997 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:207.39, Y:2.07, Z:3.15 [[ 9.99079751e-01 -3.98896731e-02 -1.57627535e-02 2.07391061e+02] [ 3.99008446e-02 9.99203566e-01 3.94744744e-04 2.07308515e+00] [ 1.57344532e-02 -1.02332866e-03 9.99875682e-01 3.14509294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.99925415399997 meters Centerline goodness : 0.998994 Centerline is valid? [True, True] Translation: X:207.43, Y:2.06, Z:3.14 [[ 9.99351248e-01 -3.23855867e-02 -1.57561403e-02 2.07427085e+02] [ 3.23867555e-02 9.99475395e-01 -1.81038243e-04 2.06109674e+00] [ 1.57537376e-02 -3.29369470e-04 9.99875848e-01 3.13560488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.02925415399997 meters Centerline goodness : 0.999079 Centerline is valid? [True, True] Translation: X:207.45, Y:2.07, Z:3.14 [[ 9.98689100e-01 -4.87002334e-02 -1.57597134e-02 2.07450056e+02] [ 4.87089171e-02 9.98813002e-01 1.67405071e-04 2.06858722e+00] [ 1.57328540e-02 -9.34824193e-04 9.99875794e-01 3.14478817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.05925415399997 meters Centerline goodness : 0.998911 Centerline is valid? [True, True] Translation: X:207.49, Y:2.06, Z:3.14 [[ 9.98952838e-01 -4.29531675e-02 -1.57560165e-02 2.07490534e+02] [ 4.29557951e-02 9.99076959e-01 -1.71774725e-04 2.05716574e+00] [ 1.57488513e-02 -5.05217368e-04 9.99875852e-01 3.13891888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.08925415399997 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:207.51, Y:2.07, Z:3.15 [[ 9.98428223e-01 -5.37834303e-02 -1.57615364e-02 2.07508031e+02] [ 5.37959269e-02 9.98551882e-01 3.69641270e-04 2.06593259e+00] [ 1.57188312e-02 -1.21696674e-03 9.99875711e-01 3.14608365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.11925415399998 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:207.54, Y:2.06, Z:3.14 [[ 9.98237363e-01 -5.72183298e-02 -1.57552989e-02 2.07539300e+02] [ 5.72226137e-02 9.98361428e-01 -1.79143134e-04 2.06264877e+00] [ 1.57397330e-02 -7.22732012e-04 9.99875862e-01 3.14372099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.14925415399998 meters Centerline goodness : 0.998808 Centerline is valid? [True, True] Translation: X:207.57, Y:2.06, Z:3.14 [[ 9.98120089e-01 -5.92288646e-02 -1.57553088e-02 2.07570194e+02] [ 5.92334121e-02 9.98244144e-01 -1.78270336e-04 2.06253713e+00] [ 1.57382035e-02 -7.55305493e-04 9.99875862e-01 3.14494028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.17925415399998 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:207.60, Y:2.06, Z:3.15 [[ 9.98057607e-01 -6.02725698e-02 -1.57553185e-02 2.07602321e+02] [ 6.02772606e-02 9.98181657e-01 -1.77404862e-04 2.06182922e+00] [ 1.57373626e-02 -7.72627168e-04 9.99875862e-01 3.14547948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.20925415399998 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:207.63, Y:2.06, Z:3.15 [[ 9.98004502e-01 -6.11455849e-02 -1.57553310e-02 2.07634739e+02] [ 6.11504019e-02 9.98128547e-01 -1.76287285e-04 2.06150485e+00] [ 1.57366248e-02 -7.87509319e-04 9.99875862e-01 3.14682418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.23925415399998 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:207.67, Y:2.06, Z:3.15 [[ 9.98010916e-01 -6.10408161e-02 -1.57553436e-02 2.07666224e+02] [ 6.10456380e-02 9.98134961e-01 -1.75150884e-04 2.06070758e+00] [ 1.57366507e-02 -7.86992510e-04 9.99875862e-01 3.14614439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.26925415399998 meters Centerline goodness : 0.998936 Centerline is valid? [True, True] Translation: X:207.71, Y:2.05, Z:3.14 [[ 9.98446090e-01 -5.34525387e-02 -1.57553530e-02 2.07707014e+02] [ 5.34564307e-02 9.98570168e-01 -1.74303548e-04 2.05195340e+00] [ 1.57421425e-02 -6.68192241e-04 9.99875862e-01 3.14372270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.29925415399998 meters Centerline goodness : 0.999062 Centerline is valid? [True, True] Translation: X:207.73, Y:2.06, Z:3.15 [[ 9.98016585e-01 -6.09467179e-02 -1.57605290e-02 2.07725844e+02] [ 6.09594906e-02 9.98140186e-01 3.30841470e-04 2.06193733e+00] [ 1.57110536e-02 -1.29093909e-03 9.99875740e-01 3.14788026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.32925415399998 meters Centerline goodness : 0.998976 Centerline is valid? [True, True] Translation: X:207.76, Y:2.06, Z:3.15 [[ 9.98048608e-01 -6.04215537e-02 -1.57547685e-02 2.07757714e+02] [ 6.04262484e-02 9.98172649e-01 -1.78311341e-04 2.06213251e+00] [ 1.57367528e-02 -7.74038167e-04 9.99875870e-01 3.14752504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.35925415399998 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:207.79, Y:2.06, Z:3.15 [[ 9.98103721e-01 -5.95041877e-02 -1.57547810e-02 2.07790409e+02] [ 5.95087860e-02 9.98227766e-01 -1.77193459e-04 2.06278142e+00] [ 1.57374036e-02 -7.60690443e-04 9.99875870e-01 3.14759235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.38925415399999 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:207.82, Y:2.06, Z:3.15 [[ 9.98157265e-01 -5.85991533e-02 -1.57547965e-02 2.07821258e+02] [ 5.86036610e-02 9.98281313e-01 -1.75806114e-04 2.06337602e+00] [ 1.57380211e-02 -7.47806605e-04 9.99875870e-01 3.14742047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.419254154 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:207.85, Y:2.06, Z:3.15 [[ 9.98205773e-01 -5.77669469e-02 -1.57548057e-02 2.07853214e+02] [ 5.77713641e-02 9.98329825e-01 -1.74977655e-04 2.06424952e+00] [ 1.57386004e-02 -7.35512913e-04 9.99875870e-01 3.14777182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.449254154 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:207.89, Y:2.07, Z:3.15 [[ 9.98295064e-01 -5.62027678e-02 -1.57548178e-02 2.07885412e+02] [ 5.62070078e-02 9.98419121e-01 -1.73887715e-04 2.06528532e+00] [ 1.57396843e-02 -7.11939918e-04 9.99875870e-01 3.14786545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.479254154 meters Centerline goodness : 0.998848 Centerline is valid? [True, True] Translation: X:207.92, Y:2.07, Z:3.15 [[ 9.98472172e-01 -5.29633406e-02 -1.57545398e-02 2.07917216e+02] [ 5.29667797e-02 9.98596255e-01 -1.99180339e-04 2.06614644e+00] [ 1.57429737e-02 -6.35591214e-04 9.99875870e-01 3.14653414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.509254154 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] Translation: X:207.95, Y:2.07, Z:3.15 [[ 9.98527755e-01 -5.19047921e-02 -1.57548497e-02 2.07949191e+02] [ 5.19085505e-02 9.98651828e-01 -1.70558175e-04 2.06786957e+00] [ 1.57424622e-02 -6.47504340e-04 9.99875870e-01 3.14914290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.539254154 meters Centerline goodness : 0.999058 Centerline is valid? [True, True] Translation: X:207.98, Y:2.07, Z:3.15 [[ 9.98618580e-01 -5.01269913e-02 -1.57548619e-02 2.07980408e+02] [ 5.01305466e-02 9.98742659e-01 -1.69426362e-04 2.06881489e+00] [ 1.57435455e-02 -6.20607524e-04 9.99875870e-01 3.14920328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.569254154 meters Centerline goodness : 0.998995 Centerline is valid? [True, True] Translation: X:208.01, Y:2.07, Z:3.15 [[ 9.98716357e-01 -4.81396122e-02 -1.57548709e-02 2.08012504e+02] [ 4.81429339e-02 9.98840442e-01 -1.68583224e-04 2.06979499e+00] [ 1.57447177e-02 -5.90118884e-04 9.99875870e-01 3.15015836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.59925415399996 meters Centerline goodness : 0.998909 Centerline is valid? [True, True] Translation: X:208.04, Y:2.07, Z:3.15 [[ 9.98885832e-01 -4.44845874e-02 -1.57548827e-02 2.08043192e+02] [ 4.44874725e-02 9.99009928e-01 -1.67469860e-04 2.07155701e+00] [ 1.57467341e-02 -5.33611642e-04 9.99875870e-01 3.15090039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.62925415399997 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] Translation: X:208.07, Y:2.07, Z:3.15 [[ 9.98969026e-01 -4.25754340e-02 -1.57548915e-02 2.08074534e+02] [ 4.25780950e-02 9.99093128e-01 -1.66641056e-04 2.07226859e+00] [ 1.57476986e-02 -5.04344012e-04 9.99875870e-01 3.15123356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.65925415399997 meters Centerline goodness : 0.999098 Centerline is valid? [True, True] Translation: X:208.11, Y:2.07, Z:3.15 [[ 9.99036590e-01 -4.09594396e-02 -1.57549001e-02 2.08106967e+02] [ 4.09619128e-02 9.99160695e-01 -1.65820285e-04 2.07328478e+00] [ 1.57484689e-02 -4.79690313e-04 9.99875870e-01 3.15215638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.68925415399997 meters Centerline goodness : 0.998994 Centerline is valid? [True, True] Translation: X:208.14, Y:2.07, Z:3.15 [[ 9.99107392e-01 -3.91944118e-02 -1.57549117e-02 2.08139555e+02] [ 3.91966833e-02 9.99231501e-01 -1.64707841e-04 2.07420975e+00] [ 1.57492597e-02 -4.52979465e-04 9.99875870e-01 3.15249016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.71925415399997 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:208.17, Y:2.07, Z:3.15 [[ 9.99186456e-01 -3.71242270e-02 -1.57549233e-02 2.08172200e+02] [ 3.71262588e-02 9.99310569e-01 -1.63595856e-04 2.07492343e+00] [ 1.57501347e-02 -4.21458597e-04 9.99875870e-01 3.15231207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.74925415399997 meters Centerline goodness : 0.999139 Centerline is valid? [True, True] Translation: X:208.20, Y:2.08, Z:3.15 [[ 9.99288229e-01 -3.42756217e-02 -1.57549349e-02 2.08202924e+02] [ 3.42773174e-02 9.99412347e-01 -1.62468799e-04 2.07676708e+00] [ 1.57512452e-02 -3.77683747e-04 9.99875870e-01 3.15335603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.77925415399997 meters Centerline goodness : 0.998951 Centerline is valid? [True, True] Translation: X:208.23, Y:2.08, Z:3.15 [[ 9.99333844e-01 -3.29188470e-02 -1.57549435e-02 2.08234733e+02] [ 3.29203875e-02 9.99457964e-01 -1.61630227e-04 2.07729652e+00] [ 1.57517245e-02 -3.57136289e-04 9.99875870e-01 3.15391752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.80925415399997 meters Centerline goodness : 0.999097 Centerline is valid? [True, True] Translation: X:208.27, Y:2.08, Z:3.15 [[ 9.99379048e-01 -3.15166652e-02 -1.57549494e-02 2.08265794e+02] [ 3.15180406e-02 9.99503170e-01 -1.61053853e-04 2.07773224e+00] [ 1.57521978e-02 -3.35611288e-04 9.99875870e-01 3.15363016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.83925415399997 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:208.30, Y:2.08, Z:3.15 [[ 9.99410600e-01 -3.04997469e-02 -1.57549553e-02 2.08295835e+02] [ 3.05010051e-02 9.99534723e-01 -1.60471532e-04 2.07842491e+00] [ 1.57525193e-02 -3.20165023e-04 9.99875870e-01 3.15450860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.86925415399998 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:208.33, Y:2.08, Z:3.16 [[ 9.99474550e-01 -2.83267439e-02 -1.57549583e-02 2.08327038e+02] [ 2.83277368e-02 9.99598676e-01 -1.60182333e-04 2.07938220e+00] [ 1.57531729e-02 -2.86204147e-04 9.99875870e-01 3.15504514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.89925415399998 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:208.36, Y:2.08, Z:3.16 [[ 9.99505611e-01 -2.72087371e-02 -1.57549642e-02 2.08357958e+02] [ 2.72096004e-02 9.99629738e-01 -1.59601963e-04 2.08000135e+00] [ 1.57534733e-02 -2.69163220e-04 9.99875870e-01 3.15538615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.92925415399998 meters Centerline goodness : 0.999497 Centerline is valid? [True, True] Translation: X:208.39, Y:2.08, Z:3.16 [[ 9.99571336e-01 -2.46764272e-02 -1.57549642e-02 2.08387988e+02] [ 2.46769759e-02 9.99695464e-01 -1.59601963e-04 2.08072348e+00] [ 1.57541046e-02 -2.29251324e-04 9.99875870e-01 3.15588771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.95925415399998 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:208.42, Y:2.08, Z:3.16 [[ 9.99607667e-01 -2.31580002e-02 -1.57549642e-02 2.08417221e+02] [ 2.31583604e-02 9.99731796e-01 -1.59601963e-04 2.08099316e+00] [ 1.57544347e-02 -2.05319792e-04 9.99875870e-01 3.15595242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.98925415399998 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:208.45, Y:2.08, Z:3.16 [[ 9.99632298e-01 -2.20692046e-02 -1.57549583e-02 2.08446945e+02] [ 2.20694205e-02 9.99756428e-01 -1.60178489e-04 2.08145019e+00] [ 1.57546558e-02 -1.87583209e-04 9.99875870e-01 3.15624763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.01925415399998 meters Centerline goodness : 0.999034 Centerline is valid? [True, True] Translation: X:208.48, Y:2.08, Z:3.16 [[ 9.99658566e-01 -2.08454543e-02 -1.57549524e-02 2.08475716e+02] [ 2.08455092e-02 9.99782696e-01 -1.60752360e-04 2.08100423e+00] [ 1.57548798e-02 -1.67722533e-04 9.99875870e-01 3.15529049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.04925415399998 meters Centerline goodness : 0.999012 Centerline is valid? [True, True] Translation: X:208.50, Y:2.08, Z:3.16 [[ 9.99675301e-01 -2.00268490e-02 -1.57549103e-02 2.08504411e+02] [ 2.00267388e-02 9.99799431e-01 -1.64780135e-04 2.08107073e+00] [ 1.57550504e-02 -1.50792844e-04 9.99875870e-01 3.15713367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.07925415399998 meters Centerline goodness : 0.999306 Centerline is valid? [True, True] Translation: X:208.53, Y:2.08, Z:3.16 [[ 9.99685383e-01 -1.95171755e-02 -1.57548674e-02 2.08532334e+02] [ 1.95169390e-02 9.99809512e-01 -1.68781837e-04 2.08079882e+00] [ 1.57551605e-02 -1.38758051e-04 9.99875870e-01 3.15793956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.10925415399998 meters Centerline goodness : 0.999348 Centerline is valid? [True, True] Translation: X:208.56, Y:2.08, Z:3.16 [[ 9.99676744e-01 -1.99547618e-02 -1.57548521e-02 2.08561148e+02] [ 1.99545572e-02 9.99800874e-01 -1.70199536e-04 2.08042608e+00] [ 1.57551112e-02 -1.44236581e-04 9.99875870e-01 3.15835994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.13925415399999 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:208.59, Y:2.08, Z:3.16 [[ 9.99664506e-01 -2.05587445e-02 -1.57548089e-02 2.08589469e+02] [ 2.05585534e-02 9.99788635e-01 -1.74107358e-04 2.07968375e+00] [ 1.57550584e-02 -1.49847135e-04 9.99875870e-01 3.15846501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.169254154 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:208.62, Y:2.08, Z:3.16 [[ 9.99637083e-01 -2.18515238e-02 -1.57547651e-02 2.08618354e+02] [ 2.18514320e-02 9.99761213e-01 -1.77991497e-04 2.07879835e+00] [ 1.57548924e-02 -1.66337277e-04 9.99875870e-01 3.15798621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.199254154 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:208.65, Y:2.08, Z:3.16 [[ 9.99536997e-01 -2.60303746e-02 -1.57547204e-02 2.08647086e+02] [ 2.60307408e-02 9.99661126e-01 -1.81858297e-04 2.07713764e+00] [ 1.57541154e-02 -2.28332947e-04 9.99875870e-01 3.15900224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.229254154 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:208.68, Y:2.08, Z:3.16 [[ 9.99439105e-01 -2.95510432e-02 -1.57547109e-02 2.08676645e+02] [ 2.95518337e-02 9.99563233e-01 -1.82679863e-04 2.07627227e+00] [ 1.57532281e-02 -2.83003198e-04 9.99875870e-01 3.15997011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.259254154 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:208.71, Y:2.08, Z:3.16 [[ 9.99372933e-01 -3.17098486e-02 -1.57552032e-02 2.08705582e+02] [ 3.17115695e-02 9.99497052e-01 -1.40654687e-04 2.07502889e+00] [ 1.57517393e-02 -3.59055734e-04 9.99875869e-01 3.15930618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.289254154 meters Centerline goodness : 0.999372 Centerline is valid? [True, True] Translation: X:208.74, Y:2.07, Z:3.16 [[ 9.99169452e-01 -3.75792058e-02 -1.57546619e-02 2.08735463e+02] [ 3.75809347e-02 9.99293570e-01 -1.86406323e-04 2.07273196e+00] [ 1.57505374e-02 -4.05823417e-04 9.99875870e-01 3.15994083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.319254154 meters Centerline goodness : 0.999372 Centerline is valid? [True, True] Translation: X:208.77, Y:2.07, Z:3.16 [[ 9.99054415e-01 -4.05224106e-02 -1.57546651e-02 2.08767005e+02] [ 4.05245093e-02 9.99178527e-01 -1.86138318e-04 2.07174298e+00] [ 1.57492658e-02 -4.52487764e-04 9.99875870e-01 3.16089964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.34925415399996 meters Centerline goodness : 0.999309 Centerline is valid? [True, True] Translation: X:208.80, Y:2.07, Z:3.16 [[ 9.98943836e-01 -4.31625085e-02 -1.57546718e-02 2.08798968e+02] [ 4.31649442e-02 9.99067942e-01 -1.85572295e-04 2.07074462e+00] [ 1.57479973e-02 -4.94673227e-04 9.99875870e-01 3.16135129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.37925415399997 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:208.83, Y:2.07, Z:3.16 [[ 9.98695529e-01 -4.85698454e-02 -1.57546855e-02 2.08830500e+02] [ 4.85729713e-02 9.98819620e-01 -1.84401960e-04 2.06890132e+00] [ 1.57450453e-02 -5.81090472e-04 9.99875870e-01 3.16130113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.40925415399997 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:208.86, Y:2.07, Z:3.16 [[ 9.98567662e-01 -5.11313319e-02 -1.57546956e-02 2.08862720e+02] [ 5.11347898e-02 9.98691744e-01 -1.83529949e-04 2.06803173e+00] [ 1.57434686e-02 -6.22345977e-04 9.99875870e-01 3.16213147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.43925415399997 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:208.89, Y:2.07, Z:3.16 [[ 9.98399538e-01 -5.43152989e-02 -1.57547090e-02 2.08894991e+02] [ 5.43191707e-02 9.98523607e-01 -1.82375487e-04 2.06741184e+00] [ 1.57413546e-02 -6.73699124e-04 9.99875870e-01 3.16188986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.46925415399997 meters Centerline goodness : 0.998996 Centerline is valid? [True, True] Translation: X:208.93, Y:2.07, Z:3.16 [[ 9.98310404e-01 -5.59295269e-02 -1.57551468e-02 2.08926433e+02] [ 5.59341970e-02 9.98434447e-01 -1.44428920e-04 2.06645883e+00] [ 1.57385591e-02 -7.37066590e-04 9.99875870e-01 3.16374051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.49925415399997 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:208.96, Y:2.07, Z:3.16 [[ 9.98089397e-01 -5.97439869e-02 -1.57547256e-02 2.08957254e+02] [ 5.97485539e-02 9.98213443e-01 -1.81074028e-04 2.06525510e+00] [ 1.57373970e-02 -7.60594006e-04 9.99875870e-01 3.16499163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.52925415399997 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:208.99, Y:2.07, Z:3.17 [[ 9.97980980e-01 -6.15284571e-02 -1.57547355e-02 2.08989116e+02] [ 6.15332594e-02 9.98105017e-01 -1.80207275e-04 2.06516056e+00] [ 1.57359685e-02 -7.89596797e-04 9.99875870e-01 3.16542817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.55925415399997 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:209.02, Y:2.07, Z:3.17 [[ 9.97884064e-01 -6.30807641e-02 -1.57547486e-02 2.09020791e+02] [ 6.30857776e-02 9.98008092e-01 -1.79056032e-04 2.06522495e+00] [ 1.57346616e-02 -8.15223407e-04 9.99875870e-01 3.16580932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.58925415399997 meters Centerline goodness : 0.998913 Centerline is valid? [True, True] Translation: X:209.06, Y:2.06, Z:3.17 [[ 9.97964061e-01 -6.18022609e-02 -1.57547692e-02 2.09058151e+02] [ 6.18071442e-02 9.98088095e-01 -1.77230563e-04 2.06210600e+00] [ 1.57356008e-02 -7.96887558e-04 9.99875870e-01 3.16557143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.61925415399998 meters Centerline goodness : 0.998913 Centerline is valid? [True, True] Translation: X:209.09, Y:2.06, Z:3.17 [[ 9.97951143e-01 -6.20098082e-02 -1.57575313e-02 2.09090763e+02] [ 6.20185977e-02 9.98074992e-01 6.92757987e-05 2.06244917e+00] [ 1.57229022e-02 -1.04639386e-03 9.99875840e-01 3.16602297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.64925415399998 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:209.12, Y:2.07, Z:3.17 [[ 9.97646969e-01 -6.67250016e-02 -1.57575015e-02 2.09116379e+02] [ 6.67343346e-02 9.97770777e-01 6.66281104e-05 2.06577218e+00] [ 1.57179288e-02 -1.11803771e-03 9.99875841e-01 3.16626038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.67925415399998 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:209.15, Y:2.07, Z:3.17 [[ 9.97429219e-01 -6.99052814e-02 -1.57545430e-02 2.09148707e+02] [ 6.99110471e-02 9.97553212e-01 -1.85153947e-04 2.06568519e+00] [ 1.57289382e-02 -9.16738639e-04 9.99875872e-01 3.16550831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.70925415399998 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:209.18, Y:2.07, Z:3.17 [[ 9.97326500e-01 -7.13557773e-02 -1.57545564e-02 2.09180837e+02] [ 7.13617413e-02 9.97450484e-01 -1.84003831e-04 2.06624415e+00] [ 1.57275197e-02 -9.40760683e-04 9.99875872e-01 3.16578339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.73925415399998 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:209.21, Y:2.07, Z:3.17 [[ 9.97237497e-01 -7.25890350e-02 -1.57545700e-02 2.09214075e+02] [ 7.25951708e-02 9.97361473e-01 -1.82832353e-04 2.06700636e+00] [ 1.57262728e-02 -9.61378422e-04 9.99875872e-01 3.16586767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.76925415399998 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:209.25, Y:2.07, Z:3.16 [[ 9.97057256e-01 -7.50241381e-02 -1.57545903e-02 2.09245123e+02] [ 7.50306045e-02 9.97181215e-01 -1.81063430e-04 2.06859419e+00] [ 1.57237657e-02 -1.00154583e-03 9.99875872e-01 3.16481722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.79925415399998 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:209.28, Y:2.07, Z:3.17 [[ 9.97022222e-01 -7.54882829e-02 -1.57546004e-02 2.09277990e+02] [ 7.54948208e-02 9.97146178e-01 -1.80187342e-04 2.06958217e+00] [ 1.57232416e-02 -1.00973995e-03 9.99875872e-01 3.16628129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.82925415399998 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:209.31, Y:2.07, Z:3.17 [[ 9.97008526e-01 -7.56689607e-02 -1.57546205e-02 2.09311112e+02] [ 7.56755490e-02 9.97132478e-01 -1.78409023e-04 2.07085752e+00] [ 1.57229438e-02 -1.01436424e-03 9.99875872e-01 3.16676267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.85925415399998 meters Centerline goodness : 0.998996 Centerline is valid? [True, True] Translation: X:209.34, Y:2.07, Z:3.17 [[ 9.97031052e-01 -7.53715672e-02 -1.57546404e-02 2.09344534e+02] [ 7.53781464e-02 9.97155005e-01 -1.76638121e-04 2.07239886e+00] [ 1.57231320e-02 -1.01144189e-03 9.99875872e-01 3.16762168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.88925415399999 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:209.38, Y:2.07, Z:3.17 [[ 9.97105062e-01 -7.43860648e-02 -1.57546599e-02 2.09377910e+02] [ 7.43925492e-02 9.97229020e-01 -1.74876532e-04 2.07429648e+00] [ 1.57240124e-02 -9.97659038e-04 9.99875872e-01 3.16901064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.919254154 meters Centerline goodness : 0.998995 Centerline is valid? [True, True] Translation: X:209.41, Y:2.08, Z:3.17 [[ 9.97340122e-01 -7.11650931e-02 -1.57546792e-02 2.09409641e+02] [ 7.11712048e-02 9.97464099e-01 -1.73119179e-04 2.07803803e+00] [ 1.57270470e-02 -9.48620797e-04 9.99875872e-01 3.17023678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.949254154 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:209.44, Y:2.08, Z:3.17 [[ 9.97509509e-01 -6.87500461e-02 -1.57546951e-02 2.09442548e+02] [ 6.87558805e-02 9.97633500e-01 -1.71661115e-04 2.08015285e+00] [ 1.57292133e-02 -9.11994339e-04 9.99875872e-01 3.17082056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.979254154 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:209.47, Y:2.09, Z:3.17 [[ 9.97877141e-01 -6.31901919e-02 -1.57547141e-02 2.09474253e+02] [ 6.31953630e-02 9.98001161e-01 -1.69900496e-04 2.08501846e+00] [ 1.57339590e-02 -8.26085054e-04 9.99875872e-01 3.17149486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.009254154 meters Centerline goodness : 0.998995 Centerline is valid? [True, True] Translation: X:209.51, Y:2.09, Z:3.17 [[ 9.98063114e-01 -6.01814618e-02 -1.57547297e-02 2.09506943e+02] [ 6.01862819e-02 9.98187148e-01 -1.68441800e-04 2.08733456e+00] [ 1.57363058e-02 -7.80103055e-04 9.99875872e-01 3.17231218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.039254154 meters Centerline goodness : 0.999058 Centerline is valid? [True, True] Translation: X:209.54, Y:2.09, Z:3.17 [[ 9.98237460e-01 -5.72167878e-02 -1.57547479e-02 2.09539023e+02] [ 5.72212665e-02 9.98361507e-01 -1.66725138e-04 2.08958563e+00] [ 1.57384733e-02 -7.35075347e-04 9.99875872e-01 3.17295349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.06925415399996 meters Centerline goodness : 0.999097 Centerline is valid? [True, True] Translation: X:209.57, Y:2.09, Z:3.17 [[ 9.98397205e-01 -5.43581487e-02 -1.57547599e-02 2.09571088e+02] [ 5.43622903e-02 9.98521264e-01 -1.65574515e-04 2.09180855e+00] [ 1.57404631e-02 -6.91155701e-04 9.99875872e-01 3.17312224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.09925415399996 meters Centerline goodness : 0.998993 Centerline is valid? [True, True] Translation: X:209.60, Y:2.09, Z:3.17 [[ 9.98542173e-01 -5.16266902e-02 -1.57547719e-02 2.09603246e+02] [ 5.16305104e-02 9.98666242e-01 -1.64432830e-04 2.09403755e+00] [ 1.57422479e-02 -6.49233797e-04 9.99875872e-01 3.17385368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.12925415399997 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:209.63, Y:2.10, Z:3.17 [[ 9.98789590e-01 -4.65955151e-02 -1.57547840e-02 2.09634673e+02] [ 4.65987287e-02 9.98913676e-01 -1.63259290e-04 2.09826594e+00] [ 1.57452764e-02 -5.71091227e-04 9.99875872e-01 3.17436371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.15925415399997 meters Centerline goodness : 0.999139 Centerline is valid? [True, True] Translation: X:209.67, Y:2.10, Z:3.18 [[ 9.98894412e-01 -4.42915421e-02 -1.57547930e-02 2.09666983e+02] [ 4.42944832e-02 9.99018505e-01 -1.62385187e-04 2.10045868e+00] [ 1.57465221e-02 -5.35644760e-04 9.99875872e-01 3.17573079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.18925415399997 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:209.70, Y:2.10, Z:3.18 [[ 9.98988071e-01 -4.21262366e-02 -1.57548050e-02 2.09697863e+02] [ 4.21289272e-02 9.99112170e-01 -1.61215993e-04 2.10280852e+00] [ 1.57476088e-02 -5.02680178e-04 9.99875872e-01 3.17552700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.21925415399997 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:209.73, Y:2.10, Z:3.18 [[ 9.99074109e-01 -4.00338636e-02 -1.57548138e-02 2.09728736e+02] [ 4.00363080e-02 9.99198213e-01 -1.60346800e-04 2.10495232e+00] [ 1.57486011e-02 -4.70566242e-04 9.99875872e-01 3.17632188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.24925415399997 meters Centerline goodness : 0.999032 Centerline is valid? [True, True] Translation: X:209.76, Y:2.11, Z:3.18 [[ 9.99240430e-01 -3.56419533e-02 -1.57548221e-02 2.09760414e+02] [ 3.56438651e-02 9.99364543e-01 -1.59528205e-04 2.10797041e+00] [ 1.57504965e-02 -4.02155722e-04 9.99875872e-01 3.17800173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.27925415399997 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:209.79, Y:2.11, Z:3.18 [[ 9.99323290e-01 -3.32377316e-02 -1.57548337e-02 2.09792946e+02] [ 3.32393628e-02 9.99447407e-01 -1.58380777e-04 2.10948478e+00] [ 1.57513919e-02 -3.65407032e-04 9.99875872e-01 3.17873788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.30925415399997 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:209.82, Y:2.11, Z:3.18 [[ 9.99403764e-01 -3.07229755e-02 -1.57548451e-02 2.09824153e+02] [ 3.07243125e-02 9.99527885e-01 -1.57231132e-04 2.11113466e+00] [ 1.57522376e-02 -3.26919401e-04 9.99875872e-01 3.17956626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.33925415399997 meters Centerline goodness : 0.999030 Centerline is valid? [True, True] Translation: X:209.85, Y:2.11, Z:3.18 [[ 9.99562058e-01 -2.50495074e-02 -1.57548509e-02 2.09854554e+02] [ 2.50501490e-02 9.99686184e-01 -1.56649696e-04 2.11419166e+00] [ 1.57538308e-02 -2.38080270e-04 9.99875872e-01 3.18105777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.36925415399998 meters Centerline goodness : 0.998902 Centerline is valid? [True, True] Translation: X:209.88, Y:2.12, Z:3.18 [[ 9.99631385e-01 -2.21106244e-02 -1.57548509e-02 2.09883918e+02] [ 2.21109011e-02 9.99755512e-01 -1.56649696e-04 2.11556888e+00] [ 1.57544627e-02 -1.91761997e-04 9.99875872e-01 3.18133769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.39925415399998 meters Centerline goodness : 0.999283 Centerline is valid? [True, True] Translation: X:209.91, Y:2.12, Z:3.18 [[ 9.99696516e-01 -1.89383619e-02 -1.57548480e-02 2.09913578e+02] [ 1.89382400e-02 9.99820643e-01 -1.56940578e-04 2.11680652e+00] [ 1.57549945e-02 -1.41476144e-04 9.99875872e-01 3.18237800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.42925415399998 meters Centerline goodness : 0.999324 Centerline is valid? [True, True] Translation: X:209.94, Y:2.12, Z:3.18 [[ 9.99741834e-01 -1.63722678e-02 -1.57548423e-02 2.09942019e+02] [ 1.63718183e-02 9.99865960e-01 -1.57517159e-04 2.11776937e+00] [ 1.57553094e-02 -1.00458921e-04 9.99875872e-01 3.18280616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.45925415399998 meters Centerline goodness : 0.998945 Centerline is valid? [True, True] Translation: X:209.97, Y:2.12, Z:3.18 [[ 9.99793781e-01 -1.28133598e-02 -1.57548010e-02 2.09969892e+02] [ 1.28124050e-02 9.99917905e-01 -1.61542081e-04 2.11863150e+00] [ 1.57555775e-02 -4.03481227e-05 9.99875872e-01 3.18313903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.48925415399998 meters Centerline goodness : 0.998921 Centerline is valid? [True, True] Translation: X:210.00, Y:2.12, Z:3.18 [[ 9.99805060e-01 -1.19008369e-02 -1.57547518e-02 2.09996386e+02] [ 1.18996954e-02 9.99929182e-01 -1.66202065e-04 2.11864407e+00] [ 1.57556141e-02 -2.13070820e-05 9.99875872e-01 3.18290292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.51925415399998 meters Centerline goodness : 0.999069 Centerline is valid? [True, True] Translation: X:210.02, Y:2.12, Z:3.18 [[ 9.99808053e-01 -1.16467266e-02 -1.57547303e-02 2.10024264e+02] [ 1.16455218e-02 9.99932174e-01 -1.68218253e-04 2.11823605e+00] [ 1.57556209e-02 -1.52860907e-05 9.99875872e-01 3.18332741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.54925415399998 meters Centerline goodness : 0.999133 Centerline is valid? [True, True] Translation: X:210.05, Y:2.12, Z:3.18 [[ 9.99800409e-01 -1.22854340e-02 -1.57546798e-02 2.10051774e+02] [ 1.22842359e-02 9.99924531e-01 -1.72822086e-04 2.11789996e+00] [ 1.57556140e-02 -2.07466103e-05 9.99875872e-01 3.18370397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.57925415399998 meters Centerline goodness : 0.999196 Centerline is valid? [True, True] Translation: X:210.08, Y:2.12, Z:3.18 [[ 9.99784267e-01 -1.35355615e-02 -1.57546283e-02 2.10079816e+02] [ 1.35344464e-02 9.99908389e-01 -1.77399191e-04 2.11755124e+00] [ 1.57555862e-02 -3.58692522e-05 9.99875872e-01 3.18456429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.60925415399998 meters Centerline goodness : 0.998986 Centerline is valid? [True, True] Translation: X:210.11, Y:2.12, Z:3.18 [[ 9.99765391e-01 -1.48645691e-02 -1.57545747e-02 2.10106760e+02] [ 1.48635460e-02 9.99889515e-01 -1.82034141e-04 2.11694805e+00] [ 1.57555399e-02 -5.21774127e-05 9.99875872e-01 3.18465535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.63925415399999 meters Centerline goodness : 0.999154 Centerline is valid? [True, True] Translation: X:210.13, Y:2.11, Z:3.19 [[ 9.99704751e-01 -1.84988014e-02 -1.57545372e-02 2.10134674e+02] [ 1.84981793e-02 9.99828877e-01 -1.85224287e-04 2.11469879e+00] [ 1.57552677e-02 -1.06260654e-04 9.99875872e-01 3.18531838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.669254154 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:210.16, Y:2.11, Z:3.18 [[ 9.99665779e-01 -2.04969838e-02 -1.57544809e-02 2.10162156e+02] [ 2.04965362e-02 9.99789906e-01 -1.89891991e-04 2.11329754e+00] [ 1.57550632e-02 -1.33083765e-04 9.99875872e-01 3.18466946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.699254154 meters Centerline goodness : 0.999222 Centerline is valid? [True, True] Translation: X:210.19, Y:2.11, Z:3.19 [[ 9.99608542e-01 -2.31205531e-02 -1.57544634e-02 2.10190824e+02] [ 2.31204085e-02 9.99732669e-01 -1.91336851e-04 2.11217747e+00] [ 1.57546756e-02 -1.72987679e-04 9.99875872e-01 3.18597717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.729254154 meters Centerline goodness : 0.998988 Centerline is valid? [True, True] Translation: X:210.22, Y:2.11, Z:3.19 [[ 9.99547331e-01 -2.56306936e-02 -1.57544147e-02 2.10220168e+02] [ 2.56307989e-02 9.99671458e-01 -1.95264960e-04 2.11079882e+00] [ 1.57542435e-02 -2.08621665e-04 9.99875872e-01 3.18732347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.759254154 meters Centerline goodness : 0.999032 Centerline is valid? [True, True] Translation: X:210.25, Y:2.11, Z:3.19 [[ 9.99475101e-01 -2.83076128e-02 -1.57544075e-02 2.10249192e+02] [ 2.83080413e-02 9.99599228e-01 -1.95848239e-04 2.10961719e+00] [ 1.57536375e-02 -2.50230979e-04 9.99875872e-01 3.18787442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.789254154 meters Centerline goodness : 0.999139 Centerline is valid? [True, True] Translation: X:210.28, Y:2.11, Z:3.19 [[ 9.99304832e-01 -3.37883377e-02 -1.57544039e-02 2.10279937e+02] [ 3.37894424e-02 9.99428955e-01 -1.96137481e-04 2.10706756e+00] [ 1.57520345e-02 -3.36331389e-04 9.99875872e-01 3.18858370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.81925415399996 meters Centerline goodness : 0.999222 Centerline is valid? [True, True] Translation: X:210.31, Y:2.11, Z:3.19 [[ 9.99195292e-01 -3.68858608e-02 -1.57544039e-02 2.10312051e+02] [ 3.68873502e-02 9.99319411e-01 -1.96137481e-04 2.10622451e+00] [ 1.57509163e-02 -3.85158565e-04 9.99875872e-01 3.18986102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.84925415399996 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:210.34, Y:2.10, Z:3.19 [[ 9.99093033e-01 -3.95589399e-02 -1.57544184e-02 2.10343996e+02] [ 3.95607799e-02 9.99217147e-01 -1.94962297e-04 2.10471868e+00] [ 1.57497975e-02 -4.28471607e-04 9.99875872e-01 3.19033968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.87925415399997 meters Centerline goodness : 0.999350 Centerline is valid? [True, True] Translation: X:210.38, Y:2.10, Z:3.19 [[ 9.98912970e-01 -4.38711274e-02 -1.57544329e-02 2.10376127e+02] [ 4.38735217e-02 9.99037075e-01 -1.93782068e-04 2.09935717e+00] [ 1.57477640e-02 -4.97631033e-04 9.99875872e-01 3.18801332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.90925415399997 meters Centerline goodness : 0.999076 Centerline is valid? [True, True] Translation: X:210.41, Y:2.09, Z:3.19 [[ 9.98863509e-01 -4.49830649e-02 -1.57548078e-02 2.10410293e+02] [ 4.49860797e-02 9.98987601e-01 -1.63163688e-04 2.09473831e+00] [ 1.57461972e-02 -5.45768784e-04 9.99875872e-01 3.18605623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.93925415399997 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:210.43, Y:2.10, Z:3.19 [[ 9.98480640e-01 -5.28024126e-02 -1.57580896e-02 2.10434750e+02] [ 5.28104110e-02 9.98604552e-01 9.15954247e-05 2.09880378e+00] [ 1.57312636e-02 -9.23647447e-04 9.99875829e-01 3.19061059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.96925415399997 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:210.47, Y:2.10, Z:3.19 [[ 9.98199004e-01 -5.78840039e-02 -1.57540623e-02 2.10467096e+02] [ 5.78878801e-02 9.98323069e-01 -2.10238824e-04 2.09599427e+00] [ 1.57398133e-02 -7.02109087e-04 9.99875875e-01 3.19098694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.99925415399997 meters Centerline goodness : 0.998933 Centerline is valid? [True, True] Translation: X:210.50, Y:2.10, Z:3.19 [[ 9.98080237e-01 -5.98969927e-02 -1.57540781e-02 2.10499027e+02] [ 5.99011378e-02 9.98204293e-01 -2.09053535e-04 2.09512740e+00] [ 1.57383100e-02 -7.35034999e-04 9.99875875e-01 3.19061445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.02925415399997 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:210.53, Y:2.09, Z:3.19 [[ 9.97978644e-01 -6.15664984e-02 -1.57540975e-02 2.10530921e+02] [ 6.15708743e-02 9.98102692e-01 -2.07576918e-04 2.09452435e+00] [ 1.57369869e-02 -7.62836226e-04 9.99875875e-01 3.19077272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.05925415399997 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:210.56, Y:2.09, Z:3.19 [[ 9.97898829e-01 -6.28469122e-02 -1.57541127e-02 2.10563203e+02] [ 6.28514655e-02 9.98022871e-01 -2.06414868e-04 2.09380165e+00] [ 1.57359374e-02 -7.84187919e-04 9.99875875e-01 3.19121367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.08925415399997 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:210.59, Y:2.09, Z:3.19 [[ 9.97763191e-01 -6.49647818e-02 -1.57541281e-02 2.10594194e+02] [ 6.49696169e-02 9.97887221e-01 -2.05238544e-04 2.09201640e+00] [ 1.57341764e-02 -8.18760201e-04 9.99875875e-01 3.19071878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.11925415399998 meters Centerline goodness : 0.999393 Centerline is valid? [True, True] Translation: X:210.63, Y:2.09, Z:3.19 [[ 9.97704642e-01 -6.58578276e-02 -1.57541524e-02 2.10626896e+02] [ 6.58628035e-02 9.97828668e-01 -2.03349517e-04 2.09176869e+00] [ 1.57333371e-02 -8.34729890e-04 9.99875875e-01 3.19119788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.14925415399998 meters Centerline goodness : 0.998998 Centerline is valid? [True, True] Translation: X:210.66, Y:2.09, Z:3.19 [[ 9.97968367e-01 -6.17328546e-02 -1.57541751e-02 2.10664342e+02] [ 6.17373455e-02 9.98092410e-01 -2.01581198e-04 2.08627856e+00] [ 1.57365668e-02 -7.71449291e-04 9.99875875e-01 3.18702651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.17925415399998 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:210.70, Y:2.09, Z:3.19 [[ 9.98025023e-01 -6.08091490e-02 -1.57575699e-02 2.10697075e+02] [ 6.08178784e-02 9.98148877e-01 7.49289166e-05 2.08523678e+00] [ 1.57238444e-02 -1.03312291e-03 9.99875839e-01 3.18652805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.20925415399998 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:210.72, Y:2.09, Z:3.19 [[ 9.97667498e-01 -6.64170684e-02 -1.57586784e-02 2.10719278e+02] [ 6.64279346e-02 9.97791212e-01 1.66523705e-04 2.09264082e+00] [ 1.57128108e-02 -1.21295175e-03 9.99875810e-01 3.19340993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.23925415399998 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:210.75, Y:2.09, Z:3.19 [[ 9.97714343e-01 -6.57107476e-02 -1.57539872e-02 2.10751850e+02] [ 6.57157406e-02 9.97838364e-01 -2.01088204e-04 2.09337054e+00] [ 1.57331465e-02 -8.34656352e-04 9.99875878e-01 3.19420336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.26925415399998 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:210.78, Y:2.09, Z:3.20 [[ 9.97774961e-01 -6.47837826e-02 -1.57540089e-02 2.10784475e+02] [ 6.47886873e-02 9.97898986e-01 -1.99376372e-04 2.09394992e+00] [ 1.57338258e-02 -8.21748803e-04 9.99875878e-01 3.19546114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.29925415399998 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:210.82, Y:2.09, Z:3.20 [[ 9.97825639e-01 -6.39984766e-02 -1.57540309e-02 2.10816946e+02] [ 6.40033113e-02 9.97949667e-01 -1.97619854e-04 2.09453605e+00] [ 1.57343773e-02 -8.11119988e-04 9.99875878e-01 3.19561802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.32925415399998 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:210.85, Y:2.10, Z:3.20 [[ 9.97957621e-01 -6.19063461e-02 -1.57540490e-02 2.10849286e+02] [ 6.19109438e-02 9.98081658e-01 -1.96166138e-04 2.09561977e+00] [ 1.57359713e-02 -7.79582550e-04 9.99875878e-01 3.19602629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.35925415399998 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:210.88, Y:2.10, Z:3.20 [[ 9.98043769e-01 -6.05016075e-02 -1.57540632e-02 2.10881507e+02] [ 6.05060486e-02 9.98167812e-01 -1.95019744e-04 2.09681099e+00] [ 1.57369978e-02 -7.58577872e-04 9.99875878e-01 3.19654562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.38925415399999 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:210.91, Y:2.10, Z:3.20 [[ 9.98141238e-01 -5.88717012e-02 -1.57540774e-02 2.10913627e+02] [ 5.88759580e-02 9.98265287e-01 -1.93863214e-04 2.09832545e+00] [ 1.57381617e-02 -7.34033532e-04 9.99875878e-01 3.19750606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.419254154 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:210.95, Y:2.10, Z:3.20 [[ 9.98574996e-01 -5.09880963e-02 -1.57540918e-02 2.10949413e+02] [ 5.09913918e-02 9.98699074e-01 -1.92691903e-04 2.09685888e+00] [ 1.57434218e-02 -6.10905749e-04 9.99875878e-01 3.19551388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.449254154 meters Centerline goodness : 0.999226 Centerline is valid? [True, True] Translation: X:210.97, Y:2.10, Z:3.20 [[ 9.98472461e-01 -5.29571600e-02 -1.57570008e-02 2.10974989e+02] [ 5.29645246e-02 9.98596393e-01 5.01558106e-05 2.10360485e+00] [ 1.57322280e-02 -8.84641251e-04 9.99875849e-01 3.20051481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.479254154 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:211.01, Y:2.11, Z:3.20 [[ 9.98610669e-01 -5.02846432e-02 -1.57539189e-02 2.11006133e+02] [ 5.02877880e-02 9.98734749e-01 -1.96704826e-04 2.10577702e+00] [ 1.57438775e-02 -5.95798198e-04 9.99875880e-01 3.20153305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.509254154 meters Centerline goodness : 0.999037 Centerline is valid? [True, True] Translation: X:211.04, Y:2.11, Z:3.20 [[ 9.98744114e-01 -4.75605710e-02 -1.57539420e-02 2.11038510e+02] [ 4.75634068e-02 9.98868202e-01 -1.94838095e-04 2.10795038e+00] [ 1.57453784e-02 -5.54717753e-04 9.99875880e-01 3.20307048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.539254154 meters Centerline goodness : 0.999037 Centerline is valid? [True, True] Translation: X:211.07, Y:2.11, Z:3.20 [[ 9.98747639e-01 -4.74864836e-02 -1.57539564e-02 2.11071195e+02] [ 4.74893285e-02 9.98871727e-01 -1.93670618e-04 2.10829279e+00] [ 1.57453783e-02 -5.54716737e-04 9.99875880e-01 3.20358520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.56925415399996 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:211.10, Y:2.11, Z:3.20 [[ 9.98871744e-01 -4.48001196e-02 -1.57539707e-02 2.11102345e+02] [ 4.48026492e-02 9.98995839e-01 -1.92502126e-04 2.11008595e+00] [ 1.57467752e-02 -5.13534687e-04 9.99875880e-01 3.20418353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.59925415399996 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:211.13, Y:2.11, Z:3.21 [[ 9.99085819e-01 -3.97408933e-02 -1.57539812e-02 2.11134545e+02] [ 3.97428081e-02 9.99209924e-01 -1.91631856e-04 2.11296801e+00] [ 1.57491500e-02 -4.34650783e-04 9.99875880e-01 3.20516322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.62925415399997 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:211.17, Y:2.11, Z:3.21 [[ 9.99176320e-01 -3.73964372e-02 -1.57539950e-02 2.11166303e+02] [ 3.73980788e-02 9.99300429e-01 -1.90494466e-04 2.11436387e+00] [ 1.57500978e-02 -3.98831586e-04 9.99875880e-01 3.20562019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.65925415399997 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:211.20, Y:2.12, Z:3.21 [[ 9.99248014e-01 -3.54290390e-02 -1.57540086e-02 2.11197596e+02] [ 3.54304540e-02 9.99372126e-01 -1.89360080e-04 2.11594273e+00] [ 1.57508260e-02 -3.68953994e-04 9.99875880e-01 3.20578445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.68925415399997 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:211.23, Y:2.12, Z:3.21 [[ 9.99321197e-01 -3.33009938e-02 -1.57540187e-02 2.11229118e+02] [ 3.33021579e-02 9.99445312e-01 -1.88514777e-04 2.11737741e+00] [ 1.57515579e-02 -3.36256007e-04 9.99875880e-01 3.20603739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.71925415399997 meters Centerline goodness : 0.999013 Centerline is valid? [True, True] Translation: X:211.26, Y:2.12, Z:3.21 [[ 9.99415704e-01 -3.03325152e-02 -1.57540255e-02 2.11259845e+02] [ 3.03333195e-02 9.99539821e-01 -1.87945109e-04 2.11974732e+00] [ 1.57524767e-02 -2.90036597e-04 9.99875880e-01 3.20588538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.74925415399997 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:211.29, Y:2.12, Z:3.21 [[ 9.99451769e-01 -2.91199478e-02 -1.57540289e-02 2.11291650e+02] [ 2.91206060e-02 9.99575888e-01 -1.87662541e-04 2.12072242e+00] [ 1.57528122e-02 -2.71207211e-04 9.99875880e-01 3.20642258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.77925415399997 meters Centerline goodness : 0.999308 Centerline is valid? [True, True] Translation: X:211.32, Y:2.12, Z:3.21 [[ 9.99469311e-01 -2.85115322e-02 -1.57540356e-02 2.11322675e+02] [ 2.85121237e-02 9.99593429e-01 -1.87102686e-04 2.12170170e+00] [ 1.57529650e-02 -2.62177618e-04 9.99875880e-01 3.20664259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.80925415399997 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:211.35, Y:2.12, Z:3.21 [[ 9.99489606e-01 -2.77909799e-02 -1.57540421e-02 2.11352676e+02] [ 2.77914906e-02 9.99613725e-01 -1.86548101e-04 2.12225881e+00] [ 1.57531411e-02 -2.51375426e-04 9.99875880e-01 3.20713587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.83925415399997 meters Centerline goodness : 0.999011 Centerline is valid? [True, True] Translation: X:211.38, Y:2.12, Z:3.21 [[ 9.99519135e-01 -2.67078497e-02 -1.57540421e-02 2.11383195e+02] [ 2.67082260e-02 9.99643254e-01 -1.86548101e-04 2.12312658e+00] [ 1.57534042e-02 -2.34304121e-04 9.99875880e-01 3.20869806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.86925415399998 meters Centerline goodness : 0.999201 Centerline is valid? [True, True] Translation: X:211.41, Y:2.12, Z:3.21 [[ 9.99541805e-01 -2.58455149e-02 -1.57540421e-02 2.11413042e+02] [ 2.58457841e-02 9.99665925e-01 -1.86548101e-04 2.12371358e+00] [ 1.57536005e-02 -2.20712946e-04 9.99875880e-01 3.20848847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.89925415399998 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:211.44, Y:2.12, Z:3.21 [[ 9.99571771e-01 -2.46593688e-02 -1.57540387e-02 2.11443342e+02] [ 2.46594862e-02 9.99695891e-01 -1.86836497e-04 2.12415559e+00] [ 1.57538550e-02 -2.01730011e-04 9.99875880e-01 3.20958849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.92925415399998 meters Centerline goodness : 0.999221 Centerline is valid? [True, True] Translation: X:211.47, Y:2.12, Z:3.21 [[ 9.99627449e-01 -2.22884278e-02 -1.57540387e-02 2.11473076e+02] [ 2.22882507e-02 9.99751569e-01 -1.86836497e-04 2.12452352e+00] [ 1.57542892e-02 -1.64363073e-04 9.99875880e-01 3.20895252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.95925415399998 meters Centerline goodness : 0.999053 Centerline is valid? [True, True] Translation: X:211.50, Y:2.12, Z:3.21 [[ 9.99646288e-01 -2.14268390e-02 -1.57540395e-02 2.11502962e+02] [ 2.14265560e-02 9.99770408e-01 -1.86772884e-04 2.12458529e+00] [ 1.57544244e-02 -1.50847989e-04 9.99875880e-01 3.20986288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.98925415399998 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:211.53, Y:2.12, Z:3.21 [[ 9.99736017e-01 -1.67244578e-02 -1.57540327e-02 2.11533578e+02] [ 1.67235820e-02 9.99860134e-01 -1.87337537e-04 2.12102614e+00] [ 1.57549624e-02 -7.61757754e-05 9.99875880e-01 3.20704929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.01925415399998 meters Centerline goodness : 0.999243 Centerline is valid? [True, True] Translation: X:211.56, Y:2.12, Z:3.21 [[ 9.99663897e-01 -2.05877885e-02 -1.57554940e-02 2.11561099e+02] [ 2.05893475e-02 9.99788015e-01 -6.32694229e-05 2.12394826e+00] [ 1.57534567e-02 -2.61147184e-04 9.99875872e-01 3.20994351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.04925415399998 meters Centerline goodness : 0.999284 Centerline is valid? [True, True] Translation: X:211.59, Y:2.12, Z:3.21 [[ 9.99650753e-01 -2.12175270e-02 -1.57539956e-02 2.11590217e+02] [ 2.12171906e-02 9.99774872e-01 -1.88507090e-04 2.12210007e+00] [ 1.57544486e-02 -1.45814273e-04 9.99875880e-01 3.21157966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.07925415399998 meters Centerline goodness : 0.999137 Centerline is valid? [True, True] Translation: X:211.62, Y:2.12, Z:3.21 [[ 9.99629891e-01 -2.21787089e-02 -1.57539474e-02 2.11618795e+02] [ 2.21784297e-02 9.99754010e-01 -1.92449363e-04 2.12144099e+00] [ 1.57543404e-02 -1.57019681e-04 9.99875880e-01 3.21194789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.10925415399998 meters Centerline goodness : 0.999033 Centerline is valid? [True, True] Translation: X:211.65, Y:2.12, Z:3.21 [[ 9.99607969e-01 -2.31457092e-02 -1.57538971e-02 2.11648848e+02] [ 2.31454866e-02 9.99732088e-01 -1.96485306e-04 2.12064263e+00] [ 1.57542242e-02 -1.68223336e-04 9.99875880e-01 3.21222538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.13925415399999 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:211.68, Y:2.12, Z:3.21 [[ 9.99570573e-01 -2.47079768e-02 -1.57538899e-02 2.11677876e+02] [ 2.47079390e-02 9.99694693e-01 -1.97060740e-04 2.11996464e+00] [ 1.57539491e-02 -1.92270035e-04 9.99875880e-01 3.21222293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.169254154 meters Centerline goodness : 0.999139 Centerline is valid? [True, True] Translation: X:211.71, Y:2.12, Z:3.21 [[ 9.99534823e-01 -2.61142236e-02 -1.57538769e-02 2.11707058e+02] [ 2.61143442e-02 9.99658943e-01 -1.98097193e-04 2.11911573e+00] [ 1.57536771e-02 -2.13397120e-04 9.99875880e-01 3.21319153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.199254154 meters Centerline goodness : 0.999140 Centerline is valid? [True, True] Translation: X:211.74, Y:2.12, Z:3.21 [[ 9.99376898e-01 -3.15855195e-02 -1.57534148e-02 2.11736523e+02] [ 3.15857446e-02 9.99501018e-01 -2.34582828e-04 2.11617335e+00] [ 1.57529635e-02 -2.63146676e-04 9.99875880e-01 3.21225949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.229254154 meters Centerline goodness : 0.999329 Centerline is valid? [True, True] Translation: X:211.77, Y:2.11, Z:3.21 [[ 9.99284311e-01 -3.43901374e-02 -1.57538506e-02 2.11766907e+02] [ 3.43912509e-02 9.99408426e-01 -2.00305819e-04 2.11482195e+00] [ 1.57514196e-02 -3.41632166e-04 9.99875880e-01 3.21235918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.259254154 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:211.80, Y:2.11, Z:3.21 [[ 9.99170449e-01 -3.75530259e-02 -1.57538625e-02 2.11798657e+02] [ 3.75545472e-02 9.99294559e-01 -1.99364345e-04 2.11380607e+00] [ 1.57502358e-02 -3.92430211e-04 9.99875880e-01 3.21253574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.289254154 meters Centerline goodness : 0.998933 Centerline is valid? [True, True] Translation: X:211.83, Y:2.11, Z:3.21 [[ 9.99079078e-01 -3.99100475e-02 -1.57538698e-02 2.11830480e+02] [ 3.99118707e-02 9.99203184e-01 -1.98783198e-04 2.11196763e+00] [ 1.57492504e-02 -4.30166282e-04 9.99875880e-01 3.21116745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.31925415399996 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:211.86, Y:2.11, Z:3.21 [[ 9.98844060e-01 -4.54132148e-02 -1.57538772e-02 2.11861604e+02] [ 4.54157308e-02 9.98968154e-01 -1.98200154e-04 2.11072578e+00] [ 1.57466225e-02 -5.17502798e-04 9.99875880e-01 3.21353753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.34925415399996 meters Centerline goodness : 0.998976 Centerline is valid? [True, True] Translation: X:211.89, Y:2.11, Z:3.21 [[ 9.98757859e-01 -4.72710677e-02 -1.57539012e-02 2.11893542e+02] [ 4.72738450e-02 9.98881948e-01 -1.96268728e-04 2.11035203e+00] [ 1.57455654e-02 -5.48722551e-04 9.99875880e-01 3.21413257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.37925415399997 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:211.93, Y:2.11, Z:3.21 [[ 9.98687632e-01 -4.87322140e-02 -1.57539158e-02 2.11925034e+02] [ 4.87351914e-02 9.98811716e-01 -1.95091905e-04 2.11012010e+00] [ 1.57447029e-02 -5.72934230e-04 9.99875880e-01 3.21467823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.40925415399997 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:211.96, Y:2.11, Z:3.21 [[ 9.98608092e-01 -5.03357885e-02 -1.57539266e-02 2.11955934e+02] [ 5.03389788e-02 9.98732171e-01 -1.94215854e-04 2.10977005e+00] [ 1.57437293e-02 -5.99091055e-04 9.99875880e-01 3.21474549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.43925415399997 meters Centerline goodness : 0.998935 Centerline is valid? [True, True] Translation: X:211.99, Y:2.11, Z:3.21 [[ 9.98596806e-01 -5.05591911e-02 -1.57539503e-02 2.11986733e+02] [ 5.05624398e-02 9.98720883e-01 -1.92273071e-04 2.10975026e+00] [ 1.57435204e-02 -6.04554891e-04 9.99875880e-01 3.21471200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.46925415399997 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:212.02, Y:2.11, Z:3.22 [[ 9.98600046e-01 -5.04951559e-02 -1.57539607e-02 2.12019344e+02] [ 5.04984101e-02 9.98724123e-01 -1.91419609e-04 2.10984670e+00] [ 1.57435263e-02 -6.04398338e-04 9.99875880e-01 3.21556920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.49925415399997 meters Centerline goodness : 0.999044 Centerline is valid? [True, True] Translation: X:212.05, Y:2.11, Z:3.22 [[ 9.98618809e-01 -5.01227215e-02 -1.57539749e-02 2.12050497e+02] [ 5.01259479e-02 9.98742886e-01 -1.90244838e-04 2.11020477e+00] [ 1.57437059e-02 -5.99700851e-04 9.99875880e-01 3.21515625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.52925415399997 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:212.08, Y:2.11, Z:3.22 [[ 9.98687795e-01 -4.87288429e-02 -1.57539854e-02 2.12082493e+02] [ 4.87319100e-02 9.98811877e-01 -1.89368784e-04 2.11134297e+00] [ 1.57444955e-02 -5.78601506e-04 9.99875880e-01 3.21625359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.55925415399997 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:212.11, Y:2.11, Z:3.22 [[ 9.98769614e-01 -4.70220130e-02 -1.57539986e-02 2.12114280e+02] [ 4.70248854e-02 9.98893700e-01 -1.88264879e-04 2.11157617e+00] [ 1.57454226e-02 -5.52796739e-04 9.99875880e-01 3.21636545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.58925415399997 meters Centerline goodness : 0.999038 Centerline is valid? [True, True] Translation: X:212.15, Y:2.11, Z:3.22 [[ 9.98815357e-01 -4.60401354e-02 -1.57540127e-02 2.12145832e+02] [ 4.60429045e-02 9.98939446e-01 -1.87074853e-04 2.11297441e+00] [ 1.57459177e-02 -5.38507268e-04 9.99875880e-01 3.21821540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.61925415399998 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:212.18, Y:2.11, Z:3.22 [[ 9.98880607e-01 -4.46020485e-02 -1.57540232e-02 2.12177580e+02] [ 4.46046529e-02 9.99004700e-01 -1.86188760e-04 2.11368860e+00] [ 1.57466476e-02 -5.16722396e-04 9.99875880e-01 3.21921834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.64925415399998 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:212.21, Y:2.11, Z:3.22 [[ 9.99050736e-01 -4.06132594e-02 -1.57540370e-02 2.12209111e+02] [ 4.06153868e-02 9.99174838e-01 -1.85013604e-04 2.11497572e+00] [ 1.57485514e-02 -4.55018330e-04 9.99875880e-01 3.21969674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.67925415399998 meters Centerline goodness : 0.999037 Centerline is valid? [True, True] Translation: X:212.24, Y:2.12, Z:3.22 [[ 9.99140828e-01 -3.83329500e-02 -1.57540472e-02 2.12239817e+02] [ 3.83348080e-02 9.99264934e-01 -1.84139542e-04 2.11611567e+00] [ 1.57495256e-02 -4.19947041e-04 9.99875880e-01 3.22007017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.70925415399998 meters Centerline goodness : 0.999079 Centerline is valid? [True, True] Translation: X:212.27, Y:2.12, Z:3.22 [[ 9.99219268e-01 -3.62307104e-02 -1.57540695e-02 2.12272344e+02] [ 3.62323376e-02 9.99343377e-01 -1.82211294e-04 2.11730902e+00] [ 1.57503267e-02 -3.88737731e-04 9.99875880e-01 3.22058902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.73925415399998 meters Centerline goodness : 0.999077 Centerline is valid? [True, True] Translation: X:212.30, Y:2.12, Z:3.22 [[ 9.99350255e-01 -3.24172421e-02 -1.57540827e-02 2.12303591e+02] [ 3.24184139e-02 9.99474369e-01 -1.81061085e-04 2.11853153e+00] [ 1.57516714e-02 -3.29778933e-04 9.99875880e-01 3.22035183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.76925415399998 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:212.33, Y:2.12, Z:3.22 [[ 9.99404430e-01 -3.07016988e-02 -1.57540926e-02 2.12334573e+02] [ 3.07026711e-02 9.99528546e-01 -1.80203609e-04 2.11898713e+00] [ 1.57521978e-02 -3.03596436e-04 9.99875880e-01 3.22045201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.79925415399998 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:212.37, Y:2.12, Z:3.22 [[ 9.99436770e-01 -2.96302409e-02 -1.57540991e-02 2.12366382e+02] [ 2.96310890e-02 9.99560887e-01 -1.79633696e-04 2.11972750e+00] [ 1.57525038e-02 -2.87278591e-04 9.99875880e-01 3.22086204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.82925415399998 meters Centerline goodness : 0.999142 Centerline is valid? [True, True] Translation: X:212.40, Y:2.12, Z:3.22 [[ 9.99464526e-01 -2.86787304e-02 -1.57541056e-02 2.12396892e+02] [ 2.86794693e-02 9.99588643e-01 -1.79062203e-04 2.12001781e+00] [ 1.57527603e-02 -2.72853067e-04 9.99875880e-01 3.22122249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.85925415399998 meters Centerline goodness : 0.999079 Centerline is valid? [True, True] Translation: X:212.43, Y:2.12, Z:3.22 [[ 9.99476471e-01 -2.82593722e-02 -1.57541056e-02 2.12427080e+02] [ 2.82600591e-02 9.99600589e-01 -1.79062203e-04 2.11996102e+00] [ 1.57528734e-02 -2.66243495e-04 9.99875880e-01 3.22143651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.88925415399999 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:212.46, Y:2.12, Z:3.22 [[ 9.99468840e-01 -2.85279901e-02 -1.57541088e-02 2.12457285e+02] [ 2.85287149e-02 9.99592957e-01 -1.78776105e-04 2.12011115e+00] [ 1.57527963e-02 -2.70763332e-04 9.99875880e-01 3.22212689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.919254154 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:212.49, Y:2.12, Z:3.22 [[ 9.99454165e-01 -2.90375512e-02 -1.57541088e-02 2.12486876e+02] [ 2.90383393e-02 9.99578283e-01 -1.78776105e-04 2.12027613e+00] [ 1.57526562e-02 -2.78794633e-04 9.99875880e-01 3.22259403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.949254154 meters Centerline goodness : 0.999037 Centerline is valid? [True, True] Translation: X:212.52, Y:2.12, Z:3.22 [[ 9.99439831e-01 -2.95268139e-02 -1.57541056e-02 2.12517545e+02] [ 2.95276583e-02 9.99563948e-01 -1.79056275e-04 2.12009670e+00] [ 1.57525230e-02 -2.86225874e-04 9.99875880e-01 3.22359274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.979254154 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:212.55, Y:2.12, Z:3.22 [[ 9.99385635e-01 -3.13075094e-02 -1.57541056e-02 2.12548386e+02] [ 3.13085750e-02 9.99509750e-01 -1.79056275e-04 2.11940797e+00] [ 1.57519880e-02 -3.14292327e-04 9.99875880e-01 3.22497879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.009254154 meters Centerline goodness : 0.998997 Centerline is valid? [True, True] Translation: X:212.58, Y:2.12, Z:3.23 [[ 9.99352125e-01 -3.23595194e-02 -1.57541056e-02 2.12579806e+02] [ 3.23607156e-02 9.99476239e-01 -1.79056275e-04 2.11889050e+00] [ 1.57516484e-02 -3.30873862e-04 9.99875880e-01 3.22558027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.039254154 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:212.61, Y:2.12, Z:3.23 [[ 9.99321709e-01 -3.32855901e-02 -1.57541121e-02 2.12610310e+02] [ 3.32869102e-02 9.99445821e-01 -1.78486361e-04 2.11802365e+00] [ 1.57513225e-02 -3.46040419e-04 9.99875880e-01 3.22617418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.06925415399996 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:212.64, Y:2.12, Z:3.23 [[ 9.99223931e-01 -3.61018456e-02 -1.57541227e-02 2.12642117e+02] [ 3.61035304e-02 9.99348039e-01 -1.77545431e-04 2.11566512e+00] [ 1.57502613e-02 -3.91371804e-04 9.99875880e-01 3.22703667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.09925415399996 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:212.67, Y:2.11, Z:3.23 [[ 9.99166302e-01 -3.76631034e-02 -1.57541291e-02 2.12673312e+02] [ 3.76649911e-02 9.99290407e-01 -1.76971305e-04 2.11470631e+00] [ 1.57496154e-02 -4.16555369e-04 9.99875880e-01 3.22815158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.12925415399997 meters Centerline goodness : 0.999272 Centerline is valid? [True, True] Translation: X:212.70, Y:2.11, Z:3.23 [[ 9.99096126e-01 -3.94808469e-02 -1.57541356e-02 2.12703290e+02] [ 3.94829696e-02 9.99220228e-01 -1.76389075e-04 2.11359341e+00] [ 1.57488150e-02 -4.45790417e-04 9.99875880e-01 3.22855180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.15925415399997 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:212.73, Y:2.11, Z:3.23 [[ 9.99000727e-01 -4.18252944e-02 -1.57541463e-02 2.12734310e+02] [ 4.18277234e-02 9.99124822e-01 -1.75432456e-04 2.11247702e+00] [ 1.57476961e-02 -4.83702922e-04 9.99875880e-01 3.22906971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.18925415399997 meters Centerline goodness : 0.999062 Centerline is valid? [True, True] Translation: X:212.77, Y:2.11, Z:3.23 [[ 9.98729270e-01 -4.78711969e-02 -1.57541528e-02 2.12765575e+02] [ 4.78743861e-02 9.98853349e-01 -1.74850164e-04 2.10955504e+00] [ 1.57444585e-02 -5.79592415e-04 9.99875880e-01 3.22784889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.21925415399997 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:212.80, Y:2.11, Z:3.23 [[ 9.98563786e-01 -5.12071457e-02 -1.57541624e-02 2.12797741e+02] [ 5.12107632e-02 9.98687853e-01 -1.73977806e-04 2.10818898e+00] [ 1.57423995e-02 -6.33054742e-04 9.99875880e-01 3.22734473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.24925415399997 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:212.83, Y:2.11, Z:3.23 [[ 9.98371530e-01 -5.48278637e-02 -1.57541744e-02 2.12830260e+02] [ 5.48319483e-02 9.98495582e-01 -1.72882235e-04 2.10672943e+00] [ 1.57399523e-02 -6.91231376e-04 9.99875880e-01 3.22690757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.27925415399997 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:212.86, Y:2.11, Z:3.23 [[ 9.98157901e-01 -5.85884851e-02 -1.57541863e-02 2.12862641e+02] [ 5.85930542e-02 9.98281936e-01 -1.71789894e-04 2.10569248e+00] [ 1.57371845e-02 -7.51612453e-04 9.99875880e-01 3.22682689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.30925415399997 meters Centerline goodness : 0.999085 Centerline is valid? [True, True] Translation: X:212.89, Y:2.10, Z:3.23 [[ 9.97734143e-01 -6.54093666e-02 -1.57541987e-02 2.12894775e+02] [ 6.54148013e-02 9.97858144e-01 -1.70647155e-04 2.10452828e+00] [ 1.57316174e-02 -8.60297285e-04 9.99875880e-01 3.22659485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.33925415399997 meters Centerline goodness : 0.998978 Centerline is valid? [True, True] Translation: X:212.93, Y:2.10, Z:3.23 [[ 9.97563814e-01 -6.79576416e-02 -1.57542109e-02 2.12926940e+02] [ 6.79634109e-02 9.97687800e-01 -1.69509750e-04 2.10450049e+00] [ 1.57293035e-02 -9.01613120e-04 9.99875880e-01 3.22698960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.36925415399998 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:212.96, Y:2.10, Z:3.23 [[ 9.97434808e-01 -6.98255555e-02 -1.57542231e-02 2.12958608e+02] [ 6.98315749e-02 9.97558782e-01 -1.68371255e-04 2.10471202e+00] [ 1.57275202e-02 -9.32202860e-04 9.99875880e-01 3.22750730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.39925415399998 meters Centerline goodness : 0.999188 Centerline is valid? [True, True] Translation: X:212.99, Y:2.11, Z:3.23 [[ 9.97303407e-01 -7.16778803e-02 -1.57542382e-02 2.12991279e+02] [ 7.16841523e-02 9.97427368e-01 -1.66951375e-04 2.10609269e+00] [ 1.57256750e-02 -9.62828033e-04 9.99875880e-01 3.22852057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.42925415399998 meters Centerline goodness : 0.999188 Centerline is valid? [True, True] Translation: X:213.02, Y:2.11, Z:3.23 [[ 9.97311366e-01 -7.15670509e-02 -1.57542534e-02 2.13024808e+02] [ 7.15733320e-02 9.97435327e-01 -1.65498997e-04 2.10635401e+00] [ 1.57256932e-02 -9.62530379e-04 9.99875880e-01 3.22904854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.45925415399998 meters Centerline goodness : 0.998999 Centerline is valid? [True, True] Translation: X:213.06, Y:2.10, Z:3.23 [[ 9.97504689e-01 -6.88200504e-02 -1.57542716e-02 2.13061244e+02] [ 6.88260176e-02 9.97628665e-01 -1.63748390e-04 2.10387149e+00] [ 1.57281821e-02 -9.20963989e-04 9.99875880e-01 3.22688164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.48925415399998 meters Centerline goodness : 0.998998 Centerline is valid? [True, True] Translation: X:213.09, Y:2.11, Z:3.23 [[ 9.97322248e-01 -7.14148614e-02 -1.57559993e-02 2.13088361e+02] [ 7.14238524e-02 9.97446055e-01 7.94526031e-06 2.10823558e+00] [ 1.57151919e-02 -1.13327815e-03 9.99875867e-01 3.22934953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.51925415399998 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:213.12, Y:2.11, Z:3.23 [[ 9.97441940e-01 -6.97236034e-02 -1.57542324e-02 2.13121434e+02] [ 6.97296958e-02 9.97565909e-01 -1.62925359e-04 2.10961098e+00] [ 1.57272449e-02 -9.36029249e-04 9.99875881e-01 3.22972130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.54925415399998 meters Centerline goodness : 0.999230 Centerline is valid? [True, True] Translation: X:213.15, Y:2.11, Z:3.23 [[ 9.97482063e-01 -6.91472224e-02 -1.57542504e-02 2.13154751e+02] [ 6.91532709e-02 9.97606034e-01 -1.61166531e-04 2.11116436e+00] [ 1.57276795e-02 -9.28697224e-04 9.99875881e-01 3.23085776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.57925415399998 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:213.19, Y:2.11, Z:3.23 [[ 9.97539204e-01 -6.83179295e-02 -1.57542681e-02 2.13188236e+02] [ 6.83239024e-02 9.97663179e-01 -1.59418397e-04 2.11253583e+00] [ 1.57283443e-02 -9.17366977e-04 9.99875881e-01 3.23144572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.60925415399998 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:213.22, Y:2.11, Z:3.23 [[ 9.97612310e-01 -6.72419545e-02 -1.57542856e-02 2.13220406e+02] [ 6.72478212e-02 9.97736291e-01 -1.57667032e-04 2.11400077e+00] [ 1.57292244e-02 -9.02150812e-04 9.99875881e-01 3.23167671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.63925415399999 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:213.25, Y:2.12, Z:3.23 [[ 9.97749160e-01 -6.51798734e-02 -1.57543140e-02 2.13253565e+02] [ 6.51855293e-02 9.97873150e-01 -1.54781432e-04 2.11738973e+00] [ 1.57308956e-02 -8.72520253e-04 9.99875881e-01 3.23293936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.669254154 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:213.29, Y:2.12, Z:3.23 [[ 9.97838056e-01 -6.38045065e-02 -1.57543312e-02 2.13285331e+02] [ 6.38100194e-02 9.97962052e-01 -1.53005482e-04 2.11927240e+00] [ 1.57319872e-02 -8.52609490e-04 9.99875881e-01 3.23365058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.699254154 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:213.32, Y:2.12, Z:3.23 [[ 9.97937165e-01 -6.22351632e-02 -1.57543454e-02 2.13317323e+02] [ 6.22405042e-02 9.98061169e-01 -1.51537251e-04 2.12134023e+00] [ 1.57332313e-02 -8.29333745e-04 9.99875881e-01 3.23456697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.729254154 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:213.35, Y:2.12, Z:3.23 [[ 9.98048489e-01 -6.04236209e-02 -1.57543564e-02 2.13349261e+02] [ 6.04287551e-02 9.98172502e-01 -1.50378947e-04 2.12320984e+00] [ 1.57346518e-02 -8.01930665e-04 9.99875881e-01 3.23489990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.759254154 meters Centerline goodness : 0.998912 Centerline is valid? [True, True] Translation: X:213.38, Y:2.13, Z:3.24 [[ 9.98302228e-01 -5.60754966e-02 -1.57543701e-02 2.13380025e+02] [ 5.60801133e-02 9.98426261e-01 -1.48933177e-04 2.12658362e+00] [ 1.57379283e-02 -7.34826537e-04 9.99875881e-01 3.23511632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.789254154 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:213.41, Y:2.13, Z:3.24 [[ 9.98454765e-01 -5.32905363e-02 -1.57543779e-02 2.13412111e+02] [ 5.32948202e-02 9.98578810e-01 -1.48100370e-04 2.12851993e+00] [ 1.57398803e-02 -6.91755217e-04 9.99875881e-01 3.23590927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.81925415399996 meters Centerline goodness : 0.998954 Centerline is valid? [True, True] Translation: X:213.44, Y:2.13, Z:3.24 [[ 9.98595435e-01 -5.05861269e-02 -1.57543886e-02 2.13443107e+02] [ 5.05900927e-02 9.98719491e-01 -1.46958713e-04 2.13078352e+00] [ 1.57416490e-02 -6.50263678e-04 9.99875881e-01 3.23630409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.84925415399996 meters Centerline goodness : 0.999225 Centerline is valid? [True, True] Translation: X:213.48, Y:2.13, Z:3.24 [[ 9.98880814e-01 -4.45972890e-02 -1.57544052e-02 2.13475590e+02] [ 4.46005393e-02 9.99004890e-01 -1.45150326e-04 2.13481245e+00] [ 1.57452012e-02 -5.57667094e-04 9.99875881e-01 3.23627992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.87925415399997 meters Centerline goodness : 0.998996 Centerline is valid? [True, True] Translation: X:213.51, Y:2.14, Z:3.24 [[ 9.99025212e-01 -4.12361947e-02 -1.57544156e-02 2.13506731e+02] [ 4.12390454e-02 9.99149298e-01 -1.44013387e-04 2.13669959e+00] [ 1.57469519e-02 -5.05824057e-04 9.99875881e-01 3.23606695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.90925415399997 meters Centerline goodness : 0.999243 Centerline is valid? [True, True] Translation: X:213.54, Y:2.14, Z:3.24 [[ 9.99169842e-01 -3.75689276e-02 -1.57544233e-02 2.13538629e+02] [ 3.75713363e-02 9.99293938e-01 -1.43166812e-04 2.13856018e+00] [ 1.57486783e-02 -4.48866775e-04 9.99875881e-01 3.23635024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.93925415399997 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:213.57, Y:2.14, Z:3.24 [[ 9.99425561e-01 -3.00057661e-02 -1.57544334e-02 2.13569012e+02] [ 3.00072531e-02 9.99549671e-01 -1.42045916e-04 2.14226577e+00] [ 1.57516009e-02 -3.30782952e-04 9.99875881e-01 3.23660008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.96925415399997 meters Centerline goodness : 0.999200 Centerline is valid? [True, True] Translation: X:213.60, Y:2.14, Z:3.24 [[ 9.99533991e-01 -2.61457003e-02 -1.57544359e-02 2.13600428e+02] [ 2.61467124e-02 9.99658106e-01 -1.41768916e-04 2.14397729e+00] [ 1.57527562e-02 -2.70223854e-04 9.99875881e-01 3.23761742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.99925415399997 meters Centerline goodness : 0.999200 Centerline is valid? [True, True] Translation: X:213.63, Y:2.15, Z:3.24 [[ 9.99629699e-01 -2.21869673e-02 -1.57544410e-02 2.13629546e+02] [ 2.21874968e-02 9.99753817e-01 -1.41197167e-04 2.14583117e+00] [ 1.57536953e-02 -2.08406730e-04 9.99875881e-01 3.23839324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.02925415399997 meters Centerline goodness : 0.999303 Centerline is valid? [True, True] Translation: X:213.66, Y:2.15, Z:3.24 [[ 9.99707239e-01 -1.83639398e-02 -1.57544385e-02 2.13658848e+02] [ 1.83639902e-02 9.99831358e-01 -1.41480810e-04 2.14787488e+00] [ 1.57543798e-02 -1.47874964e-04 9.99875881e-01 3.23979792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.05925415399997 meters Centerline goodness : 0.999240 Centerline is valid? [True, True] Translation: X:213.69, Y:2.15, Z:3.24 [[ 9.99767072e-01 -1.47512537e-02 -1.57544333e-02 2.13687176e+02] [ 1.47508465e-02 9.99891190e-01 -1.42061374e-04 2.14971616e+00] [ 1.57548146e-02 -9.03629421e-05 9.99875881e-01 3.24066829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.08925415399997 meters Centerline goodness : 0.999240 Centerline is valid? [True, True] Translation: X:213.72, Y:2.15, Z:3.24 [[ 9.99807492e-01 -1.16951757e-02 -1.57543958e-02 2.13715470e+02] [ 1.16943254e-02 9.99931608e-01 -1.46096510e-04 2.15127025e+00] [ 1.57550270e-02 -3.81686461e-05 9.99875881e-01 3.24148970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.11925415399998 meters Centerline goodness : 0.999302 Centerline is valid? [True, True] Translation: X:213.74, Y:2.15, Z:3.24 [[ 9.99854016e-01 -6.61411934e-03 -1.57543521e-02 2.13743656e+02] [ 6.61256622e-03 9.99978125e-01 -1.50673535e-04 2.15297230e+00] [ 1.57550040e-02 4.64748426e-05 9.99875881e-01 3.24231890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.14925415399998 meters Centerline goodness : 0.999196 Centerline is valid? [True, True] Translation: X:213.77, Y:2.15, Z:3.24 [[ 9.99861282e-01 -5.40545717e-03 -1.57543073e-02 2.13771348e+02] [ 5.40368249e-03 9.99985388e-01 -1.55213913e-04 2.15364487e+00] [ 1.57549161e-02 7.00611077e-05 9.99875881e-01 3.24274368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.17925415399998 meters Centerline goodness : 0.999092 Centerline is valid? [True, True] Translation: X:213.80, Y:2.15, Z:3.24 [[ 9.99864014e-01 -4.87413723e-03 -1.57542617e-02 2.13798699e+02] [ 4.87222562e-03 9.99988118e-01 -1.59718742e-04 2.15380918e+00] [ 1.57548530e-02 8.29387053e-05 9.99875881e-01 3.24307236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.20925415399998 meters Centerline goodness : 0.999027 Centerline is valid? [True, True] Translation: X:213.83, Y:2.15, Z:3.24 [[ 9.99859648e-01 -5.69994012e-03 -1.57542299e-02 2.13826967e+02] [ 5.69808266e-03 9.99983753e-01 -1.62787536e-04 2.15303344e+00] [ 1.57549019e-02 7.29957843e-05 9.99875881e-01 3.24322381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.23925415399998 meters Centerline goodness : 0.999324 Centerline is valid? [True, True] Translation: X:213.85, Y:2.15, Z:3.24 [[ 9.99854056e-01 -6.60845530e-03 -1.57541827e-02 2.13853500e+02] [ 6.60664051e-03 9.99978162e-01 -1.67236064e-04 2.15287702e+00] [ 1.57549439e-02 6.31294350e-05 9.99875881e-01 3.24377248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.26925415399998 meters Centerline goodness : 0.999111 Centerline is valid? [True, True] Translation: X:213.88, Y:2.15, Z:3.24 [[ 9.99842249e-01 -8.20264264e-03 -1.57541621e-02 2.13880367e+02] [ 8.20099541e-03 9.99966357e-01 -1.69160787e-04 2.15285044e+00] [ 1.57550196e-02 3.99342911e-05 9.99875881e-01 3.24336808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.29925415399998 meters Centerline goodness : 0.999281 Centerline is valid? [True, True] Translation: X:213.91, Y:2.15, Z:3.24 [[ 9.99824133e-01 -1.01739749e-02 -1.57541413e-02 2.13907957e+02] [ 1.01725423e-02 9.99948244e-01 -1.71069454e-04 2.15271859e+00] [ 1.57550664e-02 1.07796990e-05 9.99875881e-01 3.24415459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.32925415399998 meters Centerline goodness : 0.999052 Centerline is valid? [True, True] Translation: X:213.94, Y:2.15, Z:3.24 [[ 9.99773902e-01 -1.42812546e-02 -1.57540931e-02 2.13935886e+02] [ 1.42802636e-02 9.99898016e-01 -1.75402679e-04 2.15102711e+00] [ 1.57549914e-02 -4.96095819e-05 9.99875881e-01 3.24392175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.35925415399998 meters Centerline goodness : 0.999051 Centerline is valid? [True, True] Translation: X:213.96, Y:2.15, Z:3.24 [[ 9.99743107e-01 -1.62950917e-02 -1.57540746e-02 2.13963696e+02] [ 1.62943248e-02 9.99867223e-01 -1.77049442e-04 2.15009947e+00] [ 1.57548678e-02 -7.96980492e-05 9.99875881e-01 3.24477340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.38925415399999 meters Centerline goodness : 0.998946 Centerline is valid? [True, True] Translation: X:213.99, Y:2.15, Z:3.25 [[ 9.99705937e-01 -1.84350292e-02 -1.57540214e-02 2.13991744e+02] [ 1.84344553e-02 9.99830054e-01 -1.81662416e-04 2.14926143e+00] [ 1.57546930e-02 -1.08807807e-04 9.99875881e-01 3.24529175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.419254154 meters Centerline goodness : 0.998503 Centerline is valid? [True, True] Translation: X:214.02, Y:2.15, Z:3.25 [[ 9.99673050e-01 -2.01396670e-02 -1.57539661e-02 2.14019340e+02] [ 2.01392310e-02 9.99797168e-01 -1.86339561e-04 2.14830006e+00] [ 1.57545235e-02 -1.30994124e-04 9.99875881e-01 3.24538786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.449254154 meters Centerline goodness : 0.998927 Centerline is valid? [True, True] Translation: X:214.05, Y:2.15, Z:3.25 [[ 9.99607252e-01 -2.31766192e-02 -1.57539488e-02 2.14047688e+02] [ 2.31765375e-02 9.99731370e-01 -1.87786402e-04 2.14615839e+00] [ 1.57540691e-02 -1.77409337e-04 9.99875881e-01 3.24604167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.479254154 meters Centerline goodness : 0.999052 Centerline is valid? [True, True] Translation: X:214.08, Y:2.15, Z:3.25 [[ 9.99573556e-01 -2.45870181e-02 -1.57538994e-02 2.14077744e+02] [ 2.45870475e-02 9.99697674e-01 -1.91845039e-04 2.14525238e+00] [ 1.57538535e-02 -1.95578644e-04 9.99875881e-01 3.24591803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.509254154 meters Centerline goodness : 0.999012 Centerline is valid? [True, True] Translation: X:214.11, Y:2.14, Z:3.25 [[ 9.99527046e-01 -2.64101932e-02 -1.57538924e-02 2.14107440e+02] [ 2.64104399e-02 9.99651165e-01 -1.92420969e-04 2.14457718e+00] [ 1.57534787e-02 -2.23737265e-04 9.99875881e-01 3.24703829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.539254154 meters Centerline goodness : 0.998863 Centerline is valid? [True, True] Translation: X:214.14, Y:2.14, Z:3.24 [[ 9.99560977e-01 -2.50932053e-02 -1.57538853e-02 2.14141633e+02] [ 2.50932794e-02 9.99685095e-01 -1.92998013e-04 2.13917452e+00] [ 1.57537673e-02 -2.02403364e-04 9.99875881e-01 3.24488437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.56925415399996 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:214.17, Y:2.14, Z:3.25 [[ 9.99419942e-01 -3.01911969e-02 -1.57566486e-02 2.14171404e+02] [ 3.01954918e-02 9.99544012e-01 3.46899855e-05 2.13628125e+00] [ 1.57484164e-02 -5.10449618e-04 9.99875856e-01 3.24529005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.59925415399996 meters Centerline goodness : 0.999349 Centerline is valid? [True, True] Translation: X:214.20, Y:2.14, Z:3.25 [[ 9.99226723e-01 -3.60236113e-02 -1.57561300e-02 2.14198358e+02] [ 3.60279745e-02 9.99350782e-01 -6.93254855e-06 2.13946724e+00] [ 1.57461505e-02 -5.60734260e-04 9.99875864e-01 3.24829033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.62925415399997 meters Centerline goodness : 0.999286 Centerline is valid? [True, True] Translation: X:214.23, Y:2.14, Z:3.25 [[ 9.99124366e-01 -3.87598217e-02 -1.57536463e-02 2.14228708e+02] [ 3.87614620e-02 9.99248472e-01 -2.01313966e-04 2.13836495e+00] [ 1.57496099e-02 -4.09496673e-04 9.99875883e-01 3.24846193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.65925415399997 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:214.26, Y:2.14, Z:3.25 [[ 9.98868546e-01 -4.48714955e-02 -1.57536498e-02 2.14261163e+02] [ 4.48738995e-02 9.98992639e-01 -2.01033854e-04 2.13568051e+00] [ 1.57468009e-02 -5.06121307e-04 9.99875883e-01 3.24893811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.68925415399997 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:214.29, Y:2.13, Z:3.25 [[ 9.98722843e-01 -4.80052599e-02 -1.57536644e-02 2.14292051e+02] [ 4.80080712e-02 9.98846928e-01 -1.99885404e-04 2.13414835e+00] [ 1.57450949e-02 -5.56672925e-04 9.99875883e-01 3.24676456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.71925415399997 meters Centerline goodness : 0.999685 Centerline is valid? [True, True] Translation: X:214.32, Y:2.13, Z:3.25 [[ 9.98301714e-01 -5.60848475e-02 -1.57536752e-02 2.14323227e+02] [ 5.60886763e-02 9.98425771e-01 -1.99029137e-04 2.13268427e+00] [ 1.57400379e-02 -6.84911662e-04 9.99875883e-01 3.24580346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.74925415399997 meters Centerline goodness : 0.999685 Centerline is valid? [True, True] Translation: X:214.36, Y:2.13, Z:3.25 [[ 9.98306148e-01 -5.60058611e-02 -1.57536908e-02 2.14355913e+02] [ 5.60096997e-02 9.98430205e-01 -1.97786754e-04 2.13300689e+00] [ 1.57400380e-02 -6.84907760e-04 9.99875883e-01 3.24631818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.77925415399997 meters Centerline goodness : 0.999433 Centerline is valid? [True, True] Translation: X:214.39, Y:2.13, Z:3.25 [[ 9.97839097e-01 -6.37883717e-02 -1.57537064e-02 2.14387359e+02] [ 6.37931971e-02 9.97963120e-01 -1.96540467e-04 2.13104245e+00] [ 1.57341550e-02 -8.08863534e-04 9.99875883e-01 3.24830532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.80925415399997 meters Centerline goodness : 0.999077 Centerline is valid? [True, True] Translation: X:214.42, Y:2.13, Z:3.25 [[ 9.97614059e-01 -6.72161361e-02 -1.57537179e-02 2.14420009e+02] [ 6.72214021e-02 9.97738064e-01 -1.95612685e-04 2.13049395e+00] [ 1.57312323e-02 -8.63841041e-04 9.99875883e-01 3.24938356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.83925415399997 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:214.45, Y:2.13, Z:3.25 [[ 9.97409146e-01 -7.01912732e-02 -1.57537321e-02 2.14451619e+02] [ 7.01969273e-02 9.97533134e-01 -1.94460402e-04 2.13026605e+00] [ 1.57285192e-02 -9.11907005e-04 9.99875883e-01 3.25001261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.86925415399998 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:214.48, Y:2.13, Z:3.25 [[ 9.97082109e-01 -7.46932930e-02 -1.57537497e-02 2.14482547e+02] [ 7.46995294e-02 9.97206069e-01 -1.93023534e-04 2.13043078e+00] [ 1.57241524e-02 -9.84337378e-04 9.99875883e-01 3.24981599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.89925415399998 meters Centerline goodness : 0.999475 Centerline is valid? [True, True] Translation: X:214.52, Y:2.13, Z:3.25 [[ 9.96984363e-01 -7.59868326e-02 -1.57537601e-02 2.14515985e+02] [ 7.59932431e-02 9.97108314e-01 -1.92173957e-04 2.13104238e+00] [ 1.57228079e-02 -1.00558489e-03 9.99875883e-01 3.24972005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.92925415399998 meters Centerline goodness : 0.999329 Centerline is valid? [True, True] Translation: X:214.55, Y:2.13, Z:3.25 [[ 9.96757378e-01 -7.89084724e-02 -1.57537805e-02 2.14546505e+02] [ 7.89152727e-02 9.96881309e-01 -1.90489910e-04 2.13473235e+00] [ 1.57196805e-02 -1.05334166e-03 9.99875883e-01 3.25098329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.95925415399998 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:214.58, Y:2.14, Z:3.25 [[ 9.96750539e-01 -7.89949561e-02 -1.57530798e-02 2.14578432e+02] [ 7.90008520e-02 9.96874517e-01 -2.48647401e-04 2.13631832e+00] [ 1.57234857e-02 -9.96667293e-04 9.99875882e-01 3.25269135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.98925415399998 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:214.61, Y:2.14, Z:3.25 [[ 9.96739485e-01 -7.91342936e-02 -1.57531960e-02 2.14610982e+02] [ 7.91403596e-02 9.96863454e-01 -2.38933189e-04 2.13859930e+00] [ 1.57226932e-02 -1.00855946e-03 9.99875882e-01 3.25351521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.01925415399998 meters Centerline goodness : 0.999433 Centerline is valid? [True, True] Translation: X:214.64, Y:2.14, Z:3.25 [[ 9.96766301e-01 -7.87958776e-02 -1.57528340e-02 2.14641854e+02] [ 7.88014170e-02 9.96890297e-01 -2.69726842e-04 2.14047282e+00] [ 1.57251007e-02 -9.72491016e-04 9.99875880e-01 3.25250126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.04925415399998 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:214.68, Y:2.14, Z:3.26 [[ 9.97002506e-01 -7.57486820e-02 -1.57524590e-02 2.14675546e+02] [ 7.57533360e-02 9.97126542e-01 -3.01885466e-04 2.14216365e+00] [ 1.57300624e-02 -8.92320755e-04 9.99875877e-01 3.25664494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.07925415399998 meters Centerline goodness : 0.999140 Centerline is valid? [True, True] Translation: X:214.70, Y:2.15, Z:3.26 [[ 9.96968928e-01 -7.61891044e-02 -1.57536142e-02 2.14704620e+02] [ 7.61954248e-02 9.97092883e-01 -1.99489945e-04 2.14536075e+00] [ 1.57230156e-02 -1.00146805e-03 9.99875884e-01 3.25630565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.10925415399998 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:214.74, Y:2.14, Z:3.26 [[ 9.97242018e-01 -7.25273403e-02 -1.57525651e-02 2.14738416e+02] [ 7.25317441e-02 9.97366062e-01 -2.92327982e-04 2.14405780e+00] [ 1.57322756e-02 -8.51039278e-04 9.99875878e-01 3.25761685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.13925415399999 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:214.77, Y:2.15, Z:3.26 [[ 9.97390994e-01 -7.04487086e-02 -1.57538711e-02 2.14771180e+02] [ 7.04547120e-02 9.97514964e-01 -1.74292053e-04 2.14764998e+00] [ 1.57270009e-02 -9.36097131e-04 9.99875885e-01 3.25919917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.169254154 meters Centerline goodness : 0.999327 Centerline is valid? [True, True] Translation: X:214.80, Y:2.15, Z:3.26 [[ 9.97486165e-01 -6.90880968e-02 -1.57538906e-02 2.14804868e+02] [ 6.90939591e-02 9.97610142e-01 -1.72513817e-04 2.14945041e+00] [ 1.57281597e-02 -9.16418528e-04 9.99875885e-01 3.26184892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.199254154 meters Centerline goodness : 0.999243 Centerline is valid? [True, True] Translation: X:214.83, Y:2.15, Z:3.26 [[ 9.97537350e-01 -6.83448643e-02 -1.57548636e-02 2.14834319e+02] [ 6.83520545e-02 9.97661260e-01 -8.22685336e-05 2.15186821e+00] [ 1.57236397e-02 -9.94811362e-04 9.99875881e-01 3.25974488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.229254154 meters Centerline goodness : 0.998927 Centerline is valid? [True, True] Translation: X:214.87, Y:2.16, Z:3.26 [[ 9.97747830e-01 -6.52003289e-02 -1.57538969e-02 2.14866656e+02] [ 6.52057284e-02 9.97871827e-01 -1.71219747e-04 2.15588556e+00] [ 1.57315335e-02 -8.56410193e-04 9.99875885e-01 3.25978730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.259254154 meters Centerline goodness : 0.998885 Centerline is valid? [True, True] Translation: X:214.90, Y:2.16, Z:3.26 [[ 9.97871086e-01 -6.32859335e-02 -1.57539095e-02 2.14899004e+02] [ 6.32911134e-02 9.97995093e-01 -1.70051259e-04 2.15809649e+00] [ 1.57330863e-02 -8.27393241e-04 9.99875885e-01 3.25998587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.289254154 meters Centerline goodness : 0.998695 Centerline is valid? [True, True] Translation: X:214.93, Y:2.16, Z:3.26 [[ 9.98030501e-01 -6.07201252e-02 -1.57539251e-02 2.14931699e+02] [ 6.07250092e-02 9.98154520e-01 -1.68595502e-04 2.16028787e+00] [ 1.57350887e-02 -7.88393794e-04 9.99875885e-01 3.25892828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.31925415399996 meters Centerline goodness : 0.999136 Centerline is valid? [True, True] Translation: X:214.96, Y:2.16, Z:3.26 [[ 9.98152700e-01 -5.86770880e-02 -1.57539404e-02 2.14964672e+02] [ 5.86817407e-02 9.98276728e-01 -1.67159950e-04 2.16314498e+00] [ 1.57366005e-02 -7.57617488e-04 9.99875885e-01 3.26146724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.34925415399996 meters Centerline goodness : 0.999136 Centerline is valid? [True, True] Translation: X:215.00, Y:2.16, Z:3.26 [[ 9.98159118e-01 -5.85678129e-02 -1.57539585e-02 2.14998204e+02] [ 5.85724792e-02 9.98283145e-01 -1.65435418e-04 2.16340516e+00] [ 1.57366004e-02 -7.57617533e-04 9.99875885e-01 3.26199511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.37925415399997 meters Centerline goodness : 0.998943 Centerline is valid? [True, True] Translation: X:215.03, Y:2.17, Z:3.26 [[ 9.98480522e-01 -5.28058643e-02 -1.57539764e-02 2.15029949e+02] [ 5.28098419e-02 9.98604573e-01 -1.63710934e-04 2.16762452e+00] [ 1.57406378e-02 -6.68502822e-04 9.99875885e-01 3.26178047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.40925415399997 meters Centerline goodness : 0.999007 Centerline is valid? [True, True] Translation: X:215.06, Y:2.17, Z:3.26 [[ 9.98613441e-01 -5.02295502e-02 -1.57539882e-02 2.15062591e+02] [ 5.02332257e-02 9.98737501e-01 -1.62569306e-04 2.16980938e+00] [ 1.57422646e-02 -6.29029748e-04 9.99875885e-01 3.26280021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.43925415399997 meters Centerline goodness : 0.998885 Centerline is valid? [True, True] Translation: X:215.09, Y:2.17, Z:3.26 [[ 9.98778446e-01 -4.68340391e-02 -1.57539998e-02 2.15093726e+02] [ 4.68373106e-02 9.98902518e-01 -1.61437078e-04 2.17155361e+00] [ 1.57442708e-02 -5.76635105e-04 9.99875885e-01 3.26266576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.46925415399997 meters Centerline goodness : 0.999110 Centerline is valid? [True, True] Translation: X:215.12, Y:2.18, Z:3.26 [[ 9.99077486e-01 -3.99498153e-02 -1.57540084e-02 2.15124834e+02] [ 3.99522449e-02 9.99201577e-01 -1.60593634e-04 2.17529406e+00] [ 1.57478457e-02 -4.68962516e-04 9.99875885e-01 3.26237526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.49925415399997 meters Centerline goodness : 0.998813 Centerline is valid? [True, True] Translation: X:215.16, Y:2.18, Z:3.26 [[ 9.99230273e-01 -3.59259441e-02 -1.57540168e-02 2.15157360e+02] [ 3.59278872e-02 9.99354372e-01 -1.59757470e-04 2.17727636e+00] [ 1.57495850e-02 -4.06374040e-04 9.99875885e-01 3.26280627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.52925415399997 meters Centerline goodness : 0.998771 Centerline is valid? [True, True] Translation: X:215.19, Y:2.18, Z:3.26 [[ 9.99374194e-01 -3.16706591e-02 -1.57540279e-02 2.15188089e+02] [ 3.16720911e-02 9.99498301e-01 -1.58654586e-04 2.17919607e+00] [ 1.57511489e-02 -3.40407709e-04 9.99875885e-01 3.26314474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.55925415399997 meters Centerline goodness : 0.998896 Centerline is valid? [True, True] Translation: X:215.22, Y:2.18, Z:3.26 [[ 9.99498771e-01 -2.74593674e-02 -1.57540455e-02 2.15219214e+02] [ 2.74603041e-02 9.99622882e-01 -1.56897095e-04 2.18106797e+00] [ 1.57524126e-02 -2.75792426e-04 9.99875885e-01 3.26429870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.58925415399997 meters Centerline goodness : 0.998851 Centerline is valid? [True, True] Translation: X:215.25, Y:2.18, Z:3.27 [[ 9.99689968e-01 -1.92815141e-02 -1.57540508e-02 2.15248555e+02] [ 1.92814440e-02 9.99814083e-01 -1.56355395e-04 2.18380187e+00] [ 1.57541367e-02 -1.47453929e-04 9.99875885e-01 3.26632805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.61925415399998 meters Centerline goodness : 0.999022 Centerline is valid? [True, True] Translation: X:215.28, Y:2.18, Z:3.27 [[ 9.99752041e-01 -1.57374102e-02 -1.57540503e-02 2.15277215e+02] [ 1.57368993e-02 9.99876155e-01 -1.56403746e-04 2.18469324e+00] [ 1.57545607e-02 -9.15549390e-05 9.99875885e-01 3.26808143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.64925415399998 meters Centerline goodness : 0.998787 Centerline is valid? [True, True] Translation: X:215.30, Y:2.19, Z:3.27 [[ 9.99792296e-01 -1.29296471e-02 -1.57540124e-02 2.15304750e+02] [ 1.29287288e-02 9.99916408e-01 -1.60137038e-04 2.18531630e+00] [ 1.57547660e-02 -4.35755776e-05 9.99875885e-01 3.26982917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.67925415399998 meters Centerline goodness : 0.998746 Centerline is valid? [True, True] Translation: X:215.33, Y:2.19, Z:3.27 [[ 9.99837268e-01 -8.78924589e-03 -1.57539650e-02 2.15332356e+02] [ 8.78774223e-03 9.99961373e-01 -1.64669937e-04 2.18549459e+00] [ 1.57548038e-02 2.62013563e-05 9.99875885e-01 3.27111837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.70925415399998 meters Centerline goodness : 0.998915 Centerline is valid? [True, True] Translation: X:215.36, Y:2.19, Z:3.27 [[ 9.99845039e-01 -7.85568691e-03 -1.57539163e-02 2.15360249e+02] [ 7.85399592e-03 9.99969143e-01 -1.69205628e-04 2.18532855e+00] [ 1.57547594e-02 4.54482133e-05 9.99875885e-01 3.27136328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.73925415399998 meters Centerline goodness : 0.998789 Centerline is valid? [True, True] Translation: X:215.39, Y:2.19, Z:3.27 [[ 9.99845750e-01 -7.76473455e-03 -1.57538665e-02 2.15388291e+02] [ 7.76296109e-03 9.99969853e-01 -1.73722677e-04 2.18503503e+00] [ 1.57547405e-02 5.13992277e-05 9.99875885e-01 3.27133090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.76925415399998 meters Centerline goodness : 0.998874 Centerline is valid? [True, True] Translation: X:215.42, Y:2.18, Z:3.27 [[ 9.99841873e-01 -8.24901244e-03 -1.57538155e-02 2.15415699e+02] [ 8.24722814e-03 9.99965975e-01 -1.78225738e-04 2.18430867e+00] [ 1.57547497e-02 4.82722443e-05 9.99875885e-01 3.27108420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.79925415399998 meters Centerline goodness : 0.999004 Centerline is valid? [True, True] Translation: X:215.44, Y:2.18, Z:3.27 [[ 9.99810995e-01 -1.13926144e-02 -1.57537933e-02 2.15444072e+02] [ 1.13911896e-02 9.99935102e-01 -1.80174798e-04 2.18155436e+00] [ 1.57548235e-02 6.86298109e-07 9.99875885e-01 3.26943868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.82925415399998 meters Centerline goodness : 0.998812 Centerline is valid? [True, True] Translation: X:215.47, Y:2.18, Z:3.27 [[ 9.99778042e-01 -1.39887711e-02 -1.57537806e-02 2.15471708e+02] [ 1.39876512e-02 9.99902152e-01 -1.81277082e-04 2.18006862e+00] [ 1.57547749e-02 -3.91215418e-05 9.99875885e-01 3.26885382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.85925415399998 meters Centerline goodness : 0.998793 Centerline is valid? [True, True] Translation: X:215.50, Y:2.18, Z:3.27 [[ 9.99733415e-01 -1.68795684e-02 -1.57537291e-02 2.15500029e+02] [ 1.68787386e-02 9.99857527e-01 -1.85645680e-04 2.17861720e+00] [ 1.57546182e-02 -8.03068852e-05 9.99875885e-01 3.26947342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.88925415399999 meters Centerline goodness : 0.998901 Centerline is valid? [True, True] Translation: X:215.53, Y:2.18, Z:3.27 [[ 9.99619804e-01 -2.26289448e-02 -1.57536737e-02 2.15529176e+02] [ 2.26287564e-02 9.99743919e-01 -1.90232900e-04 2.17516613e+00] [ 1.57539443e-02 -1.66325470e-04 9.99875885e-01 3.26966609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.919254154 meters Centerline goodness : 0.998905 Centerline is valid? [True, True] Translation: X:215.56, Y:2.17, Z:3.27 [[ 9.99554841e-01 -2.53365840e-02 -1.57536597e-02 2.15557495e+02] [ 2.53367138e-02 9.99678956e-01 -1.91381703e-04 2.17370400e+00] [ 1.57534511e-02 -2.07849460e-04 9.99875885e-01 3.27009336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.949254154 meters Centerline goodness : 0.998823 Centerline is valid? [True, True] Translation: X:215.59, Y:2.17, Z:3.27 [[ 9.99486627e-01 -2.78981172e-02 -1.57536493e-02 2.15588150e+02] [ 2.78985515e-02 9.99610741e-01 -1.92238482e-04 2.17237055e+00] [ 1.57528801e-02 -2.47364204e-04 9.99875885e-01 3.27054786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.979254154 meters Centerline goodness : 0.998969 Centerline is valid? [True, True] Translation: X:215.62, Y:2.17, Z:3.27 [[ 9.99416997e-01 -3.02900726e-02 -1.57536493e-02 2.15618513e+02] [ 3.02908040e-02 9.99541110e-01 -1.92238482e-04 2.17102751e+00] [ 1.57522430e-02 -2.85064296e-04 9.99875885e-01 3.27175893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.009254154 meters Centerline goodness : 0.998969 Centerline is valid? [True, True] Translation: X:215.65, Y:2.17, Z:3.27 [[ 9.99259322e-01 -3.51088192e-02 -1.57536493e-02 2.15649710e+02] [ 3.51101490e-02 9.99383430e-01 -1.92238482e-04 2.16742621e+00] [ 1.57506853e-02 -3.61016878e-04 9.99875885e-01 3.27289762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.039254154 meters Centerline goodness : 0.999013 Centerline is valid? [True, True] Translation: X:215.68, Y:2.17, Z:3.27 [[ 9.99169450e-01 -3.75796752e-02 -1.57536562e-02 2.15682134e+02] [ 3.75813209e-02 9.99293554e-01 -1.91667796e-04 2.16568492e+00] [ 1.57497299e-02 -4.00534603e-04 9.99875885e-01 3.27365771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.06925415399996 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:215.71, Y:2.16, Z:3.27 [[ 9.99082504e-01 -3.98242772e-02 -1.57536703e-02 2.15714285e+02] [ 3.98262200e-02 9.99206603e-01 -1.90505909e-04 2.16381061e+00] [ 1.57487581e-02 -4.37078019e-04 9.99875885e-01 3.27418934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.09925415399996 meters Centerline goodness : 0.998824 Centerline is valid? [True, True] Translation: X:215.75, Y:2.16, Z:3.27 [[ 9.98861272e-01 -4.50331041e-02 -1.57536844e-02 2.15746605e+02] [ 4.50357124e-02 9.98985360e-01 -1.89334628e-04 2.16026717e+00] [ 1.57462264e-02 -5.20359371e-04 9.99875885e-01 3.27329078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.12925415399997 meters Centerline goodness : 0.998949 Centerline is valid? [True, True] Translation: X:215.78, Y:2.16, Z:3.27 [[ 9.98716567e-01 -4.81356354e-02 -1.57536983e-02 2.15778732e+02] [ 4.81386475e-02 9.98840646e-01 -1.88167809e-04 2.15904077e+00] [ 1.57444918e-02 -5.70435421e-04 9.99875885e-01 3.27353992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.15925415399997 meters Centerline goodness : 0.998864 Centerline is valid? [True, True] Translation: X:215.81, Y:2.16, Z:3.27 [[ 9.98527996e-01 -5.19005073e-02 -1.57537121e-02 2.15810395e+02] [ 5.19040055e-02 9.98652061e-01 -1.87006922e-04 2.15833450e+00] [ 1.57421828e-02 -6.30949111e-04 9.99875885e-01 3.27432669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.18925415399997 meters Centerline goodness : 0.998970 Centerline is valid? [True, True] Translation: X:215.84, Y:2.16, Z:3.27 [[ 9.98336275e-01 -5.54662320e-02 -1.57537223e-02 2.15842329e+02] [ 5.54701868e-02 9.98460327e-01 -1.86141437e-04 2.15749819e+00] [ 1.57397913e-02 -6.88030171e-04 9.99875885e-01 3.27435241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.21925415399997 meters Centerline goodness : 0.998951 Centerline is valid? [True, True] Translation: X:215.87, Y:2.16, Z:3.27 [[ 9.97905176e-01 -6.27461533e-02 -1.57537358e-02 2.15874874e+02] [ 6.27510309e-02 9.98029195e-01 -1.84991254e-04 2.15538210e+00] [ 1.57342958e-02 -8.03959433e-04 9.99875885e-01 3.27431093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.24925415399997 meters Centerline goodness : 0.998848 Centerline is valid? [True, True] Translation: X:215.91, Y:2.15, Z:3.27 [[ 9.97698717e-01 -6.59476337e-02 -1.57537493e-02 2.15906190e+02] [ 6.59529274e-02 9.97822719e-01 -1.83837853e-04 2.15424572e+00] [ 1.57315726e-02 -8.55591092e-04 9.99875885e-01 3.27261894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.27925415399997 meters Centerline goodness : 0.998824 Centerline is valid? [True, True] Translation: X:215.94, Y:2.15, Z:3.27 [[ 9.97468359e-01 -6.93447262e-02 -1.57537593e-02 2.15938117e+02] [ 6.93504557e-02 9.97592342e-01 -1.82977646e-04 2.15370063e+00] [ 1.57285181e-02 -9.10015971e-04 9.99875885e-01 3.27375403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.30925415399997 meters Centerline goodness : 0.998866 Centerline is valid? [True, True] Translation: X:215.97, Y:2.15, Z:3.27 [[ 9.97309338e-01 -7.15954144e-02 -1.57537723e-02 2.15969594e+02] [ 7.16014415e-02 9.97433306e-01 -1.81844957e-04 2.15328196e+00] [ 1.57263565e-02 -9.46637134e-04 9.99875885e-01 3.27294713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.33925415399997 meters Centerline goodness : 0.999075 Centerline is valid? [True, True] Translation: X:216.00, Y:2.15, Z:3.27 [[ 9.97054219e-01 -7.50646541e-02 -1.57537961e-02 2.16002591e+02] [ 7.50711452e-02 9.97178164e-01 -1.79764848e-04 2.15416372e+00] [ 1.57228354e-02 -1.00342021e-03 9.99875885e-01 3.27411259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.36925415399998 meters Centerline goodness : 0.998761 Centerline is valid? [True, True] Translation: X:216.04, Y:2.15, Z:3.28 [[ 9.97103454e-01 -7.44077895e-02 -1.57538151e-02 2.16036750e+02] [ 7.44142254e-02 9.97227402e-01 -1.78080796e-04 2.15424764e+00] [ 1.57233867e-02 -9.94742972e-04 9.99875885e-01 3.27767047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.39925415399998 meters Centerline goodness : 0.998760 Centerline is valid? [True, True] Translation: X:216.07, Y:2.16, Z:3.28 [[ 9.97067040e-01 -7.48939650e-02 -1.57547456e-02 2.16065784e+02] [ 7.49017816e-02 9.97190912e-01 -9.41652339e-05 2.15713705e+00] [ 1.57175416e-02 -1.08616946e-03 9.99875882e-01 3.27577486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.42925415399998 meters Centerline goodness : 0.998675 Centerline is valid? [True, True] Translation: X:216.10, Y:2.16, Z:3.28 [[ 9.97304165e-01 -7.16674254e-02 -1.57538223e-02 2.16098280e+02] [ 7.16735446e-02 9.97428129e-01 -1.76555638e-04 2.16019656e+00] [ 1.57259588e-02 -9.53052613e-04 9.99875885e-01 3.27674331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.45925415399998 meters Centerline goodness : 0.998780 Centerline is valid? [True, True] Translation: X:216.13, Y:2.16, Z:3.28 [[ 9.97487018e-01 -6.90757939e-02 -1.57538407e-02 2.16131067e+02] [ 6.90816171e-02 9.97610996e-01 -1.74901722e-04 2.16180552e+00] [ 1.57282862e-02 -9.13838592e-04 9.99875885e-01 3.27811469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.48925415399998 meters Centerline goodness : 0.998781 Centerline is valid? [True, True] Translation: X:216.16, Y:2.16, Z:3.28 [[ 9.97673052e-01 -6.63347349e-02 -1.57538597e-02 2.16163425e+02] [ 6.63402447e-02 9.97797044e-01 -1.73167584e-04 2.16357345e+00] [ 1.57306417e-02 -8.72350277e-04 9.99875885e-01 3.27855693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.51925415399998 meters Centerline goodness : 0.998592 Centerline is valid? [True, True] Translation: X:216.20, Y:2.17, Z:3.28 [[ 9.97984520e-01 -6.14712287e-02 -1.57538897e-02 2.16195350e+02] [ 6.14761778e-02 9.98108536e-01 -1.70392657e-04 2.16751786e+00] [ 1.57345661e-02 -7.98439692e-04 9.99875885e-01 3.28011322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.54925415399998 meters Centerline goodness : 0.998761 Centerline is valid? [True, True] Translation: X:216.23, Y:2.17, Z:3.28 [[ 9.98147669e-01 -5.87626269e-02 -1.57539021e-02 2.16227522e+02] [ 5.87672574e-02 9.98271697e-01 -1.69242462e-04 2.16953366e+00] [ 1.57366197e-02 -7.56884652e-04 9.99875885e-01 3.28020912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.57925415399998 meters Centerline goodness : 0.998863 Centerline is valid? [True, True] Translation: X:216.26, Y:2.17, Z:3.28 [[ 9.98287421e-01 -5.63386085e-02 -1.57539174e-02 2.16259553e+02] [ 5.63429605e-02 9.98411460e-01 -1.67809572e-04 2.17175362e+00] [ 1.57383458e-02 -7.20100159e-04 9.99875885e-01 3.28154861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.60925415399998 meters Centerline goodness : 0.998758 Centerline is valid? [True, True] Translation: X:216.29, Y:2.17, Z:3.28 [[ 9.98421200e-01 -5.39158771e-02 -1.57539294e-02 2.16291839e+02] [ 5.39199459e-02 9.98545248e-01 -1.66673273e-04 2.17396137e+00] [ 1.57399977e-02 -6.83040892e-04 9.99875885e-01 3.28273107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.63925415399999 meters Centerline goodness : 0.998864 Centerline is valid? [True, True] Translation: X:216.32, Y:2.18, Z:3.28 [[ 9.98667527e-01 -4.91424873e-02 -1.57539417e-02 2.16322964e+02] [ 4.91459815e-02 9.98791592e-01 -1.65503125e-04 2.17813003e+00] [ 1.57430377e-02 -6.08960330e-04 9.99875885e-01 3.28303755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.669254154 meters Centerline goodness : 0.998759 Centerline is valid? [True, True] Translation: X:216.36, Y:2.18, Z:3.28 [[ 9.98907626e-01 -4.39928162e-02 -1.57539508e-02 2.16359113e+02] [ 4.39956844e-02 9.99031708e-01 -1.64631631e-04 2.17752228e+00] [ 1.57459390e-02 -5.28654056e-04 9.99875885e-01 3.28217857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.699254154 meters Centerline goodness : 0.998716 Centerline is valid? [True, True] Translation: X:216.38, Y:2.18, Z:3.28 [[ 9.98899253e-01 -4.41815589e-02 -1.57566577e-02 2.16383721e+02] [ 4.41886266e-02 9.99023201e-01 1.00513289e-04 2.18261778e+00] [ 1.57368257e-02 -7.96667710e-04 9.99875851e-01 3.28169307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.729254154 meters Centerline goodness : 0.998905 Centerline is valid? [True, True] Translation: X:216.42, Y:2.19, Z:3.29 [[ 9.99155453e-01 -3.79499436e-02 -1.57538064e-02 2.16415959e+02] [ 3.79520147e-02 9.99279549e-01 -1.67581663e-04 2.18762100e+00] [ 1.57488162e-02 -4.30448558e-04 9.99875887e-01 3.28595656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.759254154 meters Centerline goodness : 0.998650 Centerline is valid? [True, True] Translation: X:216.45, Y:2.19, Z:3.29 [[ 9.99276141e-01 -3.46267554e-02 -1.57538189e-02 2.16447182e+02] [ 3.46284325e-02 9.99400242e-01 -1.66398479e-04 2.19041766e+00] [ 1.57501322e-02 -3.79252022e-04 9.99875887e-01 3.28581756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.789254154 meters Centerline goodness : 0.998816 Centerline is valid? [True, True] Translation: X:216.48, Y:2.20, Z:3.29 [[ 9.99488664e-01 -2.78249338e-02 -1.57538281e-02 2.16478705e+02] [ 2.78257801e-02 9.99612774e-01 -1.65518212e-04 2.19527092e+00] [ 1.57523333e-02 -2.72928980e-04 9.99875887e-01 3.28675231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.81925415399996 meters Centerline goodness : 0.998983 Centerline is valid? [True, True] Translation: X:216.51, Y:2.20, Z:3.29 [[ 9.99634074e-01 -2.19894163e-02 -1.57538341e-02 2.16509081e+02] [ 2.19895471e-02 9.99758187e-01 -1.64941690e-04 2.19921907e+00] [ 1.57536516e-02 -1.81538344e-04 9.99875887e-01 3.28742953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.84925415399996 meters Centerline goodness : 0.998983 Centerline is valid? [True, True] Translation: X:216.54, Y:2.20, Z:3.29 [[ 9.99633275e-01 -2.20257030e-02 -1.57538341e-02 2.16539227e+02] [ 2.20258382e-02 9.99757388e-01 -1.64941690e-04 2.19956413e+00] [ 1.57536450e-02 -1.82110201e-04 9.99875887e-01 3.28790456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.87925415399997 meters Centerline goodness : 0.999088 Centerline is valid? [True, True] Translation: X:216.57, Y:2.20, Z:3.29 [[ 9.99679392e-01 -1.98224818e-02 -1.57538281e-02 2.16568258e+02] [ 1.98223345e-02 9.99803505e-01 -1.65513624e-04 2.20153831e+00] [ 1.57540135e-02 -1.46817092e-04 9.99875887e-01 3.28848025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.90925415399997 meters Centerline goodness : 0.999129 Centerline is valid? [True, True] Translation: X:216.60, Y:2.20, Z:3.29 [[ 9.99714272e-01 -1.79775443e-02 -1.57538251e-02 2.16597952e+02] [ 1.79771635e-02 9.99838384e-01 -1.65797257e-04 2.20317871e+00] [ 1.57542597e-02 -1.17459206e-04 9.99875887e-01 3.28912587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.93925415399997 meters Centerline goodness : 0.998830 Centerline is valid? [True, True] Translation: X:216.63, Y:2.20, Z:3.29 [[ 9.99738012e-01 -1.66049283e-02 -1.57538191e-02 2.16626460e+02] [ 1.66043681e-02 9.99862124e-01 -1.66366822e-04 2.20465406e+00] [ 1.57544096e-02 -9.52589769e-05 9.99875887e-01 3.28977268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.96925415399997 meters Centerline goodness : 0.998807 Centerline is valid? [True, True] Translation: X:216.65, Y:2.21, Z:3.29 [[ 9.99766316e-01 -1.48030991e-02 -1.57537755e-02 2.16653748e+02] [ 1.48022516e-02 9.99890426e-01 -1.70399932e-04 2.20812274e+00] [ 1.57545717e-02 -6.28312370e-05 9.99875887e-01 3.29044526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.99925415399997 meters Centerline goodness : 0.998764 Centerline is valid? [True, True] Translation: X:216.68, Y:2.21, Z:3.29 [[ 9.99772542e-01 -1.43764677e-02 -1.57537599e-02 2.16682064e+02] [ 1.43755448e-02 9.99896652e-01 -1.71827345e-04 2.20967578e+00] [ 1.57546021e-02 -5.46806208e-05 9.99875887e-01 3.29098028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.02925415399997 meters Centerline goodness : 0.998934 Centerline is valid? [True, True] Translation: X:216.71, Y:2.21, Z:3.29 [[ 9.99769538e-01 -1.45839521e-02 -1.57537095e-02 2.16709421e+02] [ 1.45829840e-02 9.99893647e-01 -1.76329249e-04 2.21083089e+00] [ 1.57546057e-02 -5.34474827e-05 9.99875887e-01 3.29153672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.05925415399997 meters Centerline goodness : 0.998975 Centerline is valid? [True, True] Translation: X:216.74, Y:2.21, Z:3.29 [[ 9.99757830e-01 -1.53656345e-02 -1.57536938e-02 2.16737137e+02] [ 1.53647415e-02 9.99881940e-01 -1.77722533e-04 2.21088334e+00] [ 1.57545648e-02 -6.43719397e-05 9.99875887e-01 3.29217444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.08925415399997 meters Centerline goodness : 0.998913 Centerline is valid? [True, True] Translation: X:216.77, Y:2.21, Z:3.29 [[ 9.99738898e-01 -1.65516912e-02 -1.57536412e-02 2.16765292e+02] [ 1.65508738e-02 9.99863008e-01 -1.82272947e-04 2.21104449e+00] [ 1.57545000e-02 -7.85111708e-05 9.99875887e-01 3.29277550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.11925415399998 meters Centerline goodness : 0.998910 Centerline is valid? [True, True] Translation: X:216.79, Y:2.21, Z:3.29 [[ 9.99711661e-01 -1.81223562e-02 -1.57535876e-02 2.16793771e+02] [ 1.81216625e-02 9.99835772e-01 -1.86793319e-04 2.21150220e+00] [ 1.57543855e-02 -9.87417382e-05 9.99875887e-01 3.29334746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.14925415399998 meters Centerline goodness : 0.998975 Centerline is valid? [True, True] Translation: X:216.82, Y:2.21, Z:3.29 [[ 9.99681118e-01 -1.97354821e-02 -1.57535402e-02 2.16822827e+02] [ 1.97349270e-02 9.99805229e-01 -1.90710551e-04 2.21184235e+00] [ 1.57542356e-02 -1.20245228e-04 9.99875887e-01 3.29423534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.17925415399998 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:216.85, Y:2.21, Z:3.30 [[ 9.99608112e-01 -2.31398004e-02 -1.57534920e-02 2.16851570e+02] [ 2.31396064e-02 9.99732225e-01 -1.94611892e-04 2.21191450e+00] [ 1.57537768e-02 -1.69993979e-04 9.99875887e-01 3.29543400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.20925415399998 meters Centerline goodness : 0.998869 Centerline is valid? [True, True] Translation: X:216.88, Y:2.21, Z:3.30 [[ 9.99558268e-01 -2.52011328e-02 -1.57534817e-02 2.16880850e+02] [ 2.52011818e-02 9.99682381e-01 -1.95440416e-04 2.21162096e+00] [ 1.57534034e-02 -2.01652272e-04 9.99875887e-01 3.29585449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.23925415399998 meters Centerline goodness : 0.998869 Centerline is valid? [True, True] Translation: X:216.91, Y:2.21, Z:3.30 [[ 9.99558268e-01 -2.52011371e-02 -1.57534783e-02 2.16911843e+02] [ 2.52011818e-02 9.99682381e-01 -1.95713914e-04 2.21200613e+00] [ 1.57534069e-02 -2.01378809e-04 9.99875887e-01 3.29634296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.26925415399998 meters Centerline goodness : 0.998805 Centerline is valid? [True, True] Translation: X:216.94, Y:2.21, Z:3.30 [[ 9.99503010e-01 -2.73049523e-02 -1.57534783e-02 2.16942409e+02] [ 2.73052582e-02 9.99627123e-01 -1.95713914e-04 2.21123528e+00] [ 1.57529481e-02 -2.34536145e-04 9.99875887e-01 3.29633320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.29925415399998 meters Centerline goodness : 0.998769 Centerline is valid? [True, True] Translation: X:216.97, Y:2.21, Z:3.30 [[ 9.99389412e-01 -3.11870189e-02 -1.57534783e-02 2.16972783e+02] [ 3.11878069e-02 9.99513523e-01 -1.95713914e-04 2.20863347e+00] [ 1.57519183e-02 -2.95722025e-04 9.99875887e-01 3.29558384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.32925415399998 meters Centerline goodness : 0.998682 Centerline is valid? [True, True] Translation: X:217.00, Y:2.21, Z:3.30 [[ 9.99341018e-01 -3.27010391e-02 -1.57534816e-02 2.17004045e+02] [ 3.27020193e-02 9.99465127e-01 -1.95444638e-04 2.20769711e+00] [ 1.57514468e-02 -3.19854817e-04 9.99875887e-01 3.29561068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.35925415399998 meters Centerline goodness : 0.998595 Centerline is valid? [True, True] Translation: X:217.04, Y:2.21, Z:3.30 [[ 9.99293851e-01 -3.41119800e-02 -1.57534882e-02 2.17035028e+02] [ 3.41131438e-02 9.99417958e-01 -1.94910884e-04 2.20738792e+00] [ 1.57509678e-02 -3.42627761e-04 9.99875887e-01 3.29602467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.38925415399999 meters Centerline goodness : 0.998808 Centerline is valid? [True, True] Translation: X:217.07, Y:2.21, Z:3.30 [[ 9.99263304e-01 -3.49953834e-02 -1.57534948e-02 2.17067111e+02] [ 3.49966654e-02 9.99387410e-01 -1.94375531e-04 2.20685180e+00] [ 1.57506467e-02 -3.57087452e-04 9.99875887e-01 3.29642134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.419254154 meters Centerline goodness : 0.998833 Centerline is valid? [True, True] Translation: X:217.10, Y:2.21, Z:3.30 [[ 9.99215443e-01 -3.63362741e-02 -1.57535081e-02 2.17099361e+02] [ 3.63377396e-02 9.99339548e-01 -1.93297191e-04 2.20559691e+00] [ 1.57501273e-02 -3.79301335e-04 9.99875887e-01 3.29645755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.449254154 meters Centerline goodness : 0.998641 Centerline is valid? [True, True] Translation: X:217.13, Y:2.21, Z:3.30 [[ 9.99187146e-01 -3.71062401e-02 -1.57535211e-02 2.17131819e+02] [ 3.71078182e-02 9.99311249e-01 -1.92225853e-04 2.20547475e+00] [ 1.57498037e-02 -3.92509197e-04 9.99875887e-01 3.29789224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.479254154 meters Centerline goodness : 0.998919 Centerline is valid? [True, True] Translation: X:217.16, Y:2.20, Z:3.30 [[ 9.99172668e-01 -3.74940860e-02 -1.57535353e-02 2.17162915e+02] [ 3.74957306e-02 9.99296770e-01 -1.91057769e-04 2.20481249e+00] [ 1.57496205e-02 -3.99790615e-04 9.99875887e-01 3.29650986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.509254154 meters Centerline goodness : 0.998796 Centerline is valid? [True, True] Translation: X:217.19, Y:2.20, Z:3.30 [[ 9.99108790e-01 -3.91593130e-02 -1.57535458e-02 2.17193893e+02] [ 3.91611782e-02 9.99232889e-01 -1.90187523e-04 2.20303646e+00] [ 1.57489087e-02 -4.26909388e-04 9.99875887e-01 3.29549124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.53925415399996 meters Centerline goodness : 0.998795 Centerline is valid? [True, True] Translation: X:217.23, Y:2.20, Z:3.30 [[ 9.99070863e-01 -4.01152885e-02 -1.57535553e-02 2.17225702e+02] [ 4.01172848e-02 9.99194960e-01 -1.89396295e-04 2.20254356e+00] [ 1.57484708e-02 -4.42769546e-04 9.99875887e-01 3.29764456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.56925415399996 meters Centerline goodness : 0.998815 Centerline is valid? [True, True] Translation: X:217.26, Y:2.20, Z:3.30 [[ 9.99029037e-01 -4.11437400e-02 -1.57535692e-02 2.17257715e+02] [ 4.11458824e-02 9.99153132e-01 -1.88238178e-04 2.20238370e+00] [ 1.57479728e-02 -4.60139098e-04 9.99875887e-01 3.29800997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.59925415399996 meters Centerline goodness : 0.998751 Centerline is valid? [True, True] Translation: X:217.29, Y:2.20, Z:3.30 [[ 9.98953174e-01 -4.29462484e-02 -1.57535829e-02 2.17290347e+02] [ 4.29486328e-02 9.99077264e-01 -1.87085412e-04 2.20203799e+00] [ 1.57470811e-02 -4.89705280e-04 9.99875887e-01 3.29890834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.62925415399997 meters Centerline goodness : 0.998837 Centerline is valid? [True, True] Translation: X:217.32, Y:2.20, Z:3.30 [[ 9.98914225e-01 -4.38428589e-02 -1.57535965e-02 2.17322985e+02] [ 4.38453729e-02 9.99038312e-01 -1.85929911e-04 2.20210720e+00] [ 1.57465981e-02 -5.04994280e-04 9.99875887e-01 3.29959821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.65925415399997 meters Centerline goodness : 0.998836 Centerline is valid? [True, True] Translation: X:217.35, Y:2.20, Z:3.30 [[ 9.98888859e-01 -4.44170064e-02 -1.57536101e-02 2.17354900e+02] [ 4.44196100e-02 9.99012945e-01 -1.84772917e-04 2.20215015e+00] [ 1.57462674e-02 -5.15201606e-04 9.99875887e-01 3.30036807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.68925415399997 meters Centerline goodness : 0.998773 Centerline is valid? [True, True] Translation: X:217.39, Y:2.20, Z:3.30 [[ 9.98851414e-01 -4.52512481e-02 -1.57536236e-02 2.17386654e+02] [ 4.52539735e-02 9.98975497e-01 -1.83614297e-04 2.20246182e+00] [ 1.57457927e-02 -5.29510663e-04 9.99875887e-01 3.30068536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.71925415399997 meters Centerline goodness : 0.998945 Centerline is valid? [True, True] Translation: X:217.42, Y:2.20, Z:3.30 [[ 9.98729704e-01 -4.78623155e-02 -1.57536371e-02 2.17417721e+02] [ 4.78653838e-02 9.98853779e-01 -1.82441355e-04 2.20245559e+00] [ 1.57443121e-02 -5.71844288e-04 9.99875887e-01 3.30177180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.74925415399997 meters Centerline goodness : 0.998730 Centerline is valid? [True, True] Translation: X:217.45, Y:2.20, Z:3.30 [[ 9.98659723e-01 -4.93009187e-02 -1.57536472e-02 2.17450158e+02] [ 4.93041795e-02 9.98783793e-01 -1.81567315e-04 2.20262935e+00] [ 1.57434390e-02 -5.95396686e-04 9.99875887e-01 3.30271302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.77925415399997 meters Centerline goodness : 0.998772 Centerline is valid? [True, True] Translation: X:217.48, Y:2.20, Z:3.30 [[ 9.98585123e-01 -5.07895076e-02 -1.57536608e-02 2.17481964e+02] [ 5.07929720e-02 9.98709188e-01 -1.80382579e-04 2.20263223e+00] [ 1.57424873e-02 -6.20047891e-04 9.99875887e-01 3.30256710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.80925415399997 meters Centerline goodness : 0.998814 Centerline is valid? [True, True] Translation: X:217.51, Y:2.20, Z:3.30 [[ 9.98511189e-01 -5.22228518e-02 -1.57536775e-02 2.17513685e+02] [ 5.22265175e-02 9.98635248e-01 -1.78906644e-04 2.20282298e+00] [ 1.57415207e-02 -6.44119430e-04 9.99875887e-01 3.30295476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.83925415399997 meters Centerline goodness : 0.998774 Centerline is valid? [True, True] Translation: X:217.55, Y:2.20, Z:3.30 [[ 9.98379708e-01 -5.46788721e-02 -1.57536902e-02 2.17546576e+02] [ 5.46828606e-02 9.98503757e-01 -1.77784277e-04 2.20356361e+00] [ 1.57398399e-02 -6.83960632e-04 9.99875887e-01 3.30465979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.86925415399998 meters Centerline goodness : 0.998901 Centerline is valid? [True, True] Translation: X:217.58, Y:2.20, Z:3.30 [[ 9.98340463e-01 -5.53907961e-02 -1.57537099e-02 2.17578573e+02] [ 5.53949009e-02 9.98464508e-01 -1.76018533e-04 2.20435130e+00] [ 1.57392701e-02 -6.96948777e-04 9.99875887e-01 3.30464111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.89925415399998 meters Centerline goodness : 0.998816 Centerline is valid? [True, True] Translation: X:217.61, Y:2.21, Z:3.31 [[ 9.98325838e-01 -5.56537709e-02 -1.57537261e-02 2.17611827e+02] [ 5.56579314e-02 9.98449881e-01 -1.74560558e-04 2.20527881e+00] [ 1.57390209e-02 -7.02551491e-04 9.99875887e-01 3.30568717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.92925415399998 meters Centerline goodness : 0.998773 Centerline is valid? [True, True] Translation: X:217.64, Y:2.21, Z:3.31 [[ 9.98351254e-01 -5.51959553e-02 -1.57537453e-02 2.17644587e+02] [ 5.52000864e-02 9.98475298e-01 -1.72814740e-04 2.20613911e+00] [ 1.57392642e-02 -6.97078286e-04 9.99875887e-01 3.30632088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.95925415399998 meters Centerline goodness : 0.999134 Centerline is valid? [True, True] Translation: X:217.68, Y:2.21, Z:3.31 [[ 9.98445474e-01 -5.34645060e-02 -1.57537646e-02 2.17675436e+02] [ 5.34684500e-02 9.98569525e-01 -1.71033742e-04 2.20818121e+00] [ 1.57403734e-02 -6.71561508e-04 9.99875887e-01 3.30615291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.98925415399998 meters Centerline goodness : 0.998940 Centerline is valid? [True, True] Translation: X:217.71, Y:2.21, Z:3.31 [[ 9.98531041e-01 -5.18418600e-02 -1.57537741e-02 2.17707355e+02] [ 5.18456163e-02 9.98655097e-01 -1.70150579e-04 2.20928422e+00] [ 1.57414078e-02 -6.46863494e-04 9.99875887e-01 3.30611378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.01925415399998 meters Centerline goodness : 0.998919 Centerline is valid? [True, True] Translation: X:217.74, Y:2.21, Z:3.30 [[ 9.98617679e-01 -5.01452868e-02 -1.57537865e-02 2.17739514e+02] [ 5.01488505e-02 9.98741741e-01 -1.68996185e-04 2.21070840e+00] [ 1.57424385e-02 -6.21271707e-04 9.99875887e-01 3.30426461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.04925415399998 meters Centerline goodness : 0.999069 Centerline is valid? [True, True] Translation: X:217.77, Y:2.21, Z:3.31 [[ 9.98726876e-01 -4.79212658e-02 -1.57537060e-02 2.17771955e+02] [ 4.79244342e-02 9.98850949e-01 -1.76548302e-04 2.21206756e+00] [ 1.57440646e-02 -5.78663915e-04 9.99875887e-01 3.30731937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.07925415399998 meters Centerline goodness : 0.999004 Centerline is valid? [True, True] Translation: X:217.80, Y:2.22, Z:3.31 [[ 9.98956410e-01 -4.28708253e-02 -1.57538037e-02 2.17802746e+02] [ 4.28735113e-02 9.99080494e-01 -1.67351097e-04 2.21530273e+00] [ 1.57464925e-02 -5.08244431e-04 9.99875887e-01 3.30844542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.10925415399998 meters Centerline goodness : 0.999088 Centerline is valid? [True, True] Translation: X:217.84, Y:2.22, Z:3.31 [[ 9.99058262e-01 -4.04277959e-02 -1.57538225e-02 2.17835103e+02] [ 4.04302066e-02 9.99182351e-01 -1.65562552e-04 2.21708436e+00] [ 1.57476348e-02 -4.71523665e-04 9.99875887e-01 3.30963804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.13925415399999 meters Centerline goodness : 0.998958 Centerline is valid? [True, True] Translation: X:217.87, Y:2.22, Z:3.31 [[ 9.99248999e-01 -3.54013323e-02 -1.57538345e-02 2.17867347e+02] [ 3.54031368e-02 9.99373099e-01 -1.64411869e-04 2.21905251e+00] [ 1.57497788e-02 -3.93446764e-04 9.99875887e-01 3.31016009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.169254154 meters Centerline goodness : 0.998895 Centerline is valid? [True, True] Translation: X:217.90, Y:2.22, Z:3.31 [[ 9.99325809e-01 -3.31623787e-02 -1.57538464e-02 2.17899882e+02] [ 3.31639232e-02 9.99449912e-01 -1.63267570e-04 2.22020322e+00] [ 1.57505947e-02 -3.59301856e-04 9.99875887e-01 3.31081452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.199254154 meters Centerline goodness : 0.999108 Centerline is valid? [True, True] Translation: X:217.93, Y:2.22, Z:3.31 [[ 9.99392853e-01 -3.10763797e-02 -1.57538582e-02 2.17930694e+02] [ 3.10776833e-02 9.99516959e-01 -1.62122294e-04 2.22104693e+00] [ 1.57512866e-02 -3.27569552e-04 9.99875887e-01 3.31122548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.229254154 meters Centerline goodness : 0.998957 Centerline is valid? [True, True] Translation: X:217.96, Y:2.22, Z:3.31 [[ 9.99439969e-01 -2.95222757e-02 -1.57538669e-02 2.17962252e+02] [ 2.95233996e-02 9.99564076e-01 -1.61269558e-04 2.22205525e+00] [ 1.57517605e-02 -3.03928467e-04 9.99875887e-01 3.31150620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.259254154 meters Centerline goodness : 0.998894 Centerline is valid? [True, True] Translation: X:217.99, Y:2.22, Z:3.31 [[ 9.99508727e-01 -2.70946574e-02 -1.57538726e-02 2.17994042e+02] [ 2.70954887e-02 9.99632837e-01 -1.60709944e-04 2.22342374e+00] [ 1.57524428e-02 -2.66227886e-04 9.99875887e-01 3.31245679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.28925415399996 meters Centerline goodness : 0.998958 Centerline is valid? [True, True] Translation: X:218.03, Y:2.22, Z:3.31 [[ 9.99526411e-01 -2.64342492e-02 -1.57538785e-02 2.18025675e+02] [ 2.64350077e-02 9.99650521e-01 -1.60132553e-04 2.22407479e+00] [ 1.57526058e-02 -2.56397183e-04 9.99875887e-01 3.31286225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.31925415399996 meters Centerline goodness : 0.999022 Centerline is valid? [True, True] Translation: X:218.06, Y:2.22, Z:3.31 [[ 9.99537247e-01 -2.60212855e-02 -1.57538844e-02 2.18055971e+02] [ 2.60220019e-02 9.99661358e-01 -1.59549448e-04 2.22431959e+00] [ 1.57527011e-02 -2.50471993e-04 9.99875887e-01 3.31277464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.34925415399996 meters Centerline goodness : 0.998829 Centerline is valid? [True, True] Translation: X:218.09, Y:2.22, Z:3.31 [[ 9.99541462e-01 -2.58588644e-02 -1.57538873e-02 2.18087467e+02] [ 2.58595651e-02 9.99665573e-01 -1.59260549e-04 2.22438266e+00] [ 1.57527371e-02 -2.48201153e-04 9.99875887e-01 3.31252616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.37925415399997 meters Centerline goodness : 0.998891 Centerline is valid? [True, True] Translation: X:218.12, Y:2.22, Z:3.31 [[ 9.99535659e-01 -2.60821876e-02 -1.57538931e-02 2.18118249e+02] [ 2.60829251e-02 9.99659770e-01 -1.58684024e-04 2.22443778e+00] [ 1.57526720e-02 -2.52297274e-04 9.99875887e-01 3.31165611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.40925415399997 meters Centerline goodness : 0.998998 Centerline is valid? [True, True] Translation: X:218.15, Y:2.22, Z:3.31 [[ 9.99534109e-01 -2.61415214e-02 -1.57538931e-02 2.18149739e+02] [ 2.61422663e-02 9.99658220e-01 -1.58684024e-04 2.22463097e+00] [ 1.57526570e-02 -2.53232374e-04 9.99875887e-01 3.31184962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.43925415399997 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:218.18, Y:2.22, Z:3.31 [[ 9.99529793e-01 -2.63060353e-02 -1.57538990e-02 2.18180812e+02] [ 2.63068098e-02 9.99653903e-01 -1.58103381e-04 2.22496799e+00] [ 1.57526057e-02 -2.56405783e-04 9.99875887e-01 3.31191021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.46925415399997 meters Centerline goodness : 0.998893 Centerline is valid? [True, True] Translation: X:218.21, Y:2.23, Z:3.31 [[ 9.99536874e-01 -2.60356089e-02 -1.57539047e-02 2.18210054e+02] [ 2.60363589e-02 9.99660984e-01 -1.57526548e-04 2.22521735e+00] [ 1.57526652e-02 -2.52720725e-04 9.99875887e-01 3.31102457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.49925415399997 meters Centerline goodness : 0.999127 Centerline is valid? [True, True] Translation: X:218.24, Y:2.23, Z:3.31 [[ 9.99523066e-01 -2.65606868e-02 -1.57534519e-02 2.18240335e+02] [ 2.65607997e-02 9.99647179e-01 -2.02093250e-04 2.22541379e+00] [ 1.57532615e-02 -2.16427416e-04 9.99875886e-01 3.31291805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.52925415399997 meters Centerline goodness : 0.998912 Centerline is valid? [True, True] Translation: X:218.27, Y:2.23, Z:3.31 [[ 9.99538379e-01 -2.59777550e-02 -1.57538763e-02 2.18271354e+02] [ 2.59784523e-02 9.99662490e-01 -1.60415799e-04 2.22557759e+00] [ 1.57527264e-02 -2.48919576e-04 9.99875887e-01 3.31405857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.55925415399997 meters Centerline goodness : 0.999253 Centerline is valid? [True, True] Translation: X:218.30, Y:2.23, Z:3.32 [[ 9.99601001e-01 -2.34446830e-02 -1.57538821e-02 2.18301995e+02] [ 2.34450748e-02 9.99725114e-01 -1.59843463e-04 2.22557363e+00] [ 1.57532990e-02 -2.09571258e-04 9.99875887e-01 3.31515237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.58925415399997 meters Centerline goodness : 0.999360 Centerline is valid? [True, True] Translation: X:218.33, Y:2.23, Z:3.32 [[ 9.99646023e-01 -2.14393270e-02 -1.57538850e-02 2.18332141e+02] [ 2.14394743e-02 9.99770135e-01 -1.59559218e-04 2.22584876e+00] [ 1.57536845e-02 -1.78252274e-04 9.99875887e-01 3.31615055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.61925415399998 meters Centerline goodness : 0.999210 Centerline is valid? [True, True] Translation: X:218.36, Y:2.23, Z:3.32 [[ 9.99693154e-01 -1.91157731e-02 -1.57538850e-02 2.18361578e+02] [ 1.91156319e-02 9.99817267e-01 -1.59559218e-04 2.22608927e+00] [ 1.57540563e-02 -1.41635207e-04 9.99875887e-01 3.31689324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.64925415399998 meters Centerline goodness : 0.999125 Centerline is valid? [True, True] Translation: X:218.39, Y:2.23, Z:3.32 [[ 9.99759603e-01 -1.52496184e-02 -1.57538821e-02 2.18389891e+02] [ 1.52489929e-02 9.99883715e-01 -1.59837004e-04 2.22612804e+00] [ 1.57544876e-02 -8.04322570e-05 9.99875887e-01 3.31849042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.67925415399998 meters Centerline goodness : 0.999338 Centerline is valid? [True, True] Translation: X:218.42, Y:2.23, Z:3.32 [[ 9.99776348e-01 -1.41092087e-02 -1.57538401e-02 2.18418100e+02] [ 1.41083778e-02 9.99900458e-01 -1.63881430e-04 2.22602192e+00] [ 1.57545841e-02 -5.84163503e-05 9.99875887e-01 3.31863777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.70925415399998 meters Centerline goodness : 0.999127 Centerline is valid? [True, True] Translation: X:218.45, Y:2.23, Z:3.32 [[ 9.99783182e-01 -1.36164066e-02 -1.57538173e-02 2.18445700e+02] [ 1.36154805e-02 9.99907291e-01 -1.66041646e-04 2.22549510e+00] [ 1.57546177e-02 -4.84901478e-05 9.99875887e-01 3.31900589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.73925415399998 meters Centerline goodness : 0.999041 Centerline is valid? [True, True] Translation: X:218.47, Y:2.22, Z:3.32 [[ 9.99779553e-01 -1.38803706e-02 -1.57537674e-02 2.18474142e+02] [ 1.38794047e-02 9.99903662e-01 -1.70646928e-04 2.22345874e+00] [ 1.57546184e-02 -4.80436049e-05 9.99875887e-01 3.31818159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.76925415399998 meters Centerline goodness : 0.998956 Centerline is valid? [True, True] Translation: X:218.50, Y:2.22, Z:3.32 [[ 9.99773626e-01 -1.43009699e-02 -1.57537190e-02 2.18502305e+02] [ 1.42999876e-02 9.99897735e-01 -1.75003849e-04 2.22282641e+00] [ 1.57546107e-02 -5.03137543e-05 9.99875887e-01 3.31718031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.79925415399998 meters Centerline goodness : 0.999384 Centerline is valid? [True, True] Translation: X:218.53, Y:2.22, Z:3.32 [[ 9.99745880e-01 -1.61248562e-02 -1.57532419e-02 2.18530523e+02] [ 1.61234405e-02 9.99869985e-01 -2.16879350e-04 2.22224489e+00] [ 1.57546909e-02 -3.71722234e-05 9.99875886e-01 3.31727553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.82925415399998 meters Centerline goodness : 0.999062 Centerline is valid? [True, True] Translation: X:218.56, Y:2.22, Z:3.32 [[ 9.99715400e-01 -1.79148374e-02 -1.57536516e-02 2.18558196e+02] [ 1.79142048e-02 9.99839511e-01 -1.81282711e-04 2.22158598e+00] [ 1.57543709e-02 -1.00983023e-04 9.99875887e-01 3.31731878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.85925415399998 meters Centerline goodness : 0.999276 Centerline is valid? [True, True] Translation: X:218.59, Y:2.22, Z:3.32 [[ 9.99639450e-01 -2.17438393e-02 -1.57535969e-02 2.18586356e+02] [ 2.17436090e-02 9.99763563e-01 -1.85918566e-04 2.21974914e+00] [ 1.57539147e-02 -1.56688517e-04 9.99875887e-01 3.31683004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.88925415399999 meters Centerline goodness : 0.999362 Centerline is valid? [True, True] Translation: X:218.62, Y:2.22, Z:3.32 [[ 9.99590998e-01 -2.38675728e-02 -1.57535712e-02 2.18615696e+02] [ 2.38675722e-02 9.99715111e-01 -1.88070806e-04 2.21891318e+00] [ 1.57535720e-02 -1.88005613e-04 9.99875887e-01 3.31691269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.919254154 meters Centerline goodness : 0.999112 Centerline is valid? [True, True] Translation: X:218.65, Y:2.22, Z:3.32 [[ 9.99477183e-01 -2.82344913e-02 -1.57535645e-02 2.18645570e+02] [ 2.82350242e-02 9.99601294e-01 -1.88631369e-04 2.21711726e+00] [ 1.57526093e-02 -2.56269524e-04 9.99875887e-01 3.31671447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.949254154 meters Centerline goodness : 0.998983 Centerline is valid? [True, True] Translation: X:218.68, Y:2.22, Z:3.32 [[ 9.99408889e-01 -3.05564607e-02 -1.57535611e-02 2.18676497e+02] [ 3.05572776e-02 9.99533000e-01 -1.88909667e-04 2.21680855e+00] [ 1.57519766e-02 -2.92587939e-04 9.99875887e-01 3.31761909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.979254154 meters Centerline goodness : 0.999026 Centerline is valid? [True, True] Translation: X:218.71, Y:2.22, Z:3.32 [[ 9.99336587e-01 -3.28361273e-02 -1.57535677e-02 2.18707373e+02] [ 3.28372359e-02 9.99460695e-01 -1.88359537e-04 2.21651862e+00] [ 1.57512567e-02 -3.29069043e-04 9.99875887e-01 3.31866208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.009254154 meters Centerline goodness : 0.998838 Centerline is valid? [True, True] Translation: X:218.74, Y:2.22, Z:3.32 [[ 9.99252216e-01 -3.53105450e-02 -1.57535742e-02 2.18739199e+02] [ 3.53119696e-02 9.99376320e-01 -1.87812827e-04 2.21637169e+00] [ 1.57503808e-02 -3.68617350e-04 9.99875887e-01 3.32051276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.03925415399996 meters Centerline goodness : 0.998858 Centerline is valid? [True, True] Translation: X:218.77, Y:2.22, Z:3.32 [[ 9.99009860e-01 -4.16067784e-02 -1.57535880e-02 2.18769961e+02] [ 4.16090033e-02 9.99133953e-01 -1.86648673e-04 2.21523464e+00] [ 1.57477105e-02 -4.69027232e-04 9.99875887e-01 3.32054880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.06925415399996 meters Centerline goodness : 0.998796 Centerline is valid? [True, True] Translation: X:218.80, Y:2.21, Z:3.32 [[ 9.98842883e-01 -4.54391739e-02 -1.57535983e-02 2.18802275e+02] [ 4.54418886e-02 9.98966967e-01 -1.85780393e-04 2.21487006e+00] [ 1.57457660e-02 -5.30307833e-04 9.99875887e-01 3.32138377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.09925415399996 meters Centerline goodness : 0.998922 Centerline is valid? [True, True] Translation: X:218.83, Y:2.21, Z:3.32 [[ 9.98658558e-01 -4.93245219e-02 -1.57536110e-02 2.18834589e+02] [ 4.93277364e-02 9.98782629e-01 -1.84693522e-04 2.21456936e+00] [ 1.57435429e-02 -5.92644204e-04 9.99875887e-01 3.32199864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.12925415399997 meters Centerline goodness : 0.998817 Centerline is valid? [True, True] Translation: X:218.87, Y:2.21, Z:3.32 [[ 9.98436987e-01 -5.36228175e-02 -1.57536236e-02 2.18866514e+02] [ 5.36265831e-02 9.98561043e-01 -1.83609830e-04 2.21437110e+00] [ 1.57408005e-02 -6.61490160e-04 9.99875887e-01 3.32319191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.15925415399997 meters Centerline goodness : 0.998817 Centerline is valid? [True, True] Translation: X:218.90, Y:2.21, Z:3.32 [[ 9.98440846e-01 -5.35509148e-02 -1.57536368e-02 2.18899200e+02] [ 5.35546893e-02 9.98564901e-01 -1.82475594e-04 2.21468786e+00] [ 1.57408005e-02 -6.61490035e-04 9.99875887e-01 3.32370662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.18925415399997 meters Centerline goodness : 0.998755 Centerline is valid? [True, True] Translation: X:218.93, Y:2.21, Z:3.32 [[ 9.97987845e-01 -6.14172947e-02 -1.57536498e-02 2.18932482e+02] [ 6.14220646e-02 9.98111866e-01 -1.81341234e-04 2.21388208e+00] [ 1.57350423e-02 -7.86645350e-04 9.99875887e-01 3.32427069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.21925415399997 meters Centerline goodness : 0.998651 Centerline is valid? [True, True] Translation: X:218.96, Y:2.21, Z:3.32 [[ 9.97768066e-01 -6.48899643e-02 -1.57536700e-02 2.18964304e+02] [ 6.48951936e-02 9.97892069e-01 -1.79567343e-04 2.21345975e+00] [ 1.57321145e-02 -8.43170907e-04 9.99875887e-01 3.32392975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.24925415399997 meters Centerline goodness : 0.998925 Centerline is valid? [True, True] Translation: X:219.00, Y:2.21, Z:3.33 [[ 9.97491437e-01 -6.90119895e-02 -1.57536867e-02 2.18996382e+02] [ 6.90177543e-02 9.97615416e-01 -1.78096259e-04 2.21383389e+00] [ 1.57284115e-02 -9.09634583e-04 9.99875887e-01 3.32608885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.27925415399997 meters Centerline goodness : 0.998692 Centerline is valid? [True, True] Translation: X:219.03, Y:2.21, Z:3.32 [[ 9.97173825e-01 -7.34587171e-02 -1.57536997e-02 2.19028572e+02] [ 7.34650529e-02 9.97297776e-01 -1.76933234e-04 2.21368493e+00] [ 1.57241270e-02 -9.80913195e-04 9.99875887e-01 3.32495050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.30925415399997 meters Centerline goodness : 0.998838 Centerline is valid? [True, True] Translation: X:219.06, Y:2.21, Z:3.33 [[ 9.97030682e-01 -7.53766563e-02 -1.57537127e-02 2.19061937e+02] [ 7.53832488e-02 9.97154619e-01 -1.75772849e-04 2.21447212e+00] [ 1.57221365e-02 -1.01231512e-03 9.99875887e-01 3.32657312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.33925415399997 meters Centerline goodness : 0.998838 Centerline is valid? [True, True] Translation: X:219.09, Y:2.22, Z:3.33 [[ 9.96966737e-01 -7.62177459e-02 -1.57537323e-02 2.19093647e+02] [ 7.62244708e-02 9.97090668e-01 -1.73998735e-04 2.21543926e+00] [ 1.57211612e-02 -1.02734895e-03 9.99875887e-01 3.32693504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.36925415399998 meters Centerline goodness : 0.998986 Centerline is valid? [True, True] Translation: X:219.13, Y:2.22, Z:3.33 [[ 9.96966493e-01 -7.62209357e-02 -1.57537484e-02 2.19126820e+02] [ 7.62276841e-02 9.97090422e-01 -1.72530560e-04 2.21655603e+00] [ 1.57210620e-02 -1.02886457e-03 9.99875887e-01 3.32709454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.39925415399998 meters Centerline goodness : 0.998923 Centerline is valid? [True, True] Translation: X:219.16, Y:2.22, Z:3.32 [[ 9.97112529e-01 -7.42860853e-02 -1.57537672e-02 2.19157626e+02] [ 7.42926206e-02 9.97236470e-01 -1.70793999e-04 2.21837308e+00] [ 1.57229188e-02 -1.00008781e-03 9.99875887e-01 3.32475482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.42925415399998 meters Centerline goodness : 0.998856 Centerline is valid? [True, True] Translation: X:219.19, Y:2.22, Z:3.33 [[ 9.97177801e-01 -7.34047034e-02 -1.57537914e-02 2.19190619e+02] [ 7.34111648e-02 9.97301746e-01 -1.68529877e-04 2.22003974e+00] [ 1.57236546e-02 -9.88449924e-04 9.99875887e-01 3.32634186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.45925415399998 meters Centerline goodness : 0.998815 Centerline is valid? [True, True] Translation: X:219.22, Y:2.22, Z:3.33 [[ 9.97338122e-01 -7.11933107e-02 -1.57538099e-02 2.19223446e+02] [ 7.11995247e-02 9.97462079e-01 -1.66783300e-04 2.22206370e+00] [ 1.57257018e-02 -9.55324434e-04 9.99875887e-01 3.32648305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.48925415399998 meters Centerline goodness : 0.998772 Centerline is valid? [True, True] Translation: X:219.26, Y:2.22, Z:3.33 [[ 9.97518716e-01 -6.86165257e-02 -1.57538281e-02 2.19255655e+02] [ 6.86224468e-02 9.97642688e-01 -1.65048218e-04 2.22467321e+00] [ 1.57280164e-02 -9.16427541e-04 9.99875887e-01 3.32685468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.51925415399998 meters Centerline goodness : 0.998684 Centerline is valid? [True, True] Translation: X:219.29, Y:2.23, Z:3.33 [[ 9.97892288e-01 -6.29507502e-02 -1.57538575e-02 2.19287455e+02] [ 6.29560122e-02 9.98016290e-01 -1.62186723e-04 2.23035234e+00] [ 1.57328162e-02 -8.29955166e-04 9.99875887e-01 3.32864771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.54925415399998 meters Centerline goodness : 0.999063 Centerline is valid? [True, True] Translation: X:219.33, Y:2.22, Z:3.32 [[ 9.98500154e-01 -5.24333664e-02 -1.57538691e-02 2.19327252e+02] [ 5.24373395e-02 9.98624203e-01 -1.61052470e-04 2.22452722e+00] [ 1.57406395e-02 -6.65280067e-04 9.99875887e-01 3.32446257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.57925415399998 meters Centerline goodness : 0.998981 Centerline is valid? [True, True] Translation: X:219.35, Y:2.24, Z:3.33 [[ 9.98241595e-01 -5.71436512e-02 -1.57581915e-02 2.19347217e+02] [ 5.71553908e-02 9.98365251e-01 2.95265062e-04 2.23602853e+00] [ 1.57155583e-02 -1.19541146e-03 9.99875788e-01 3.33075983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.60925415399998 meters Centerline goodness : 0.999126 Centerline is valid? [True, True] Translation: X:219.38, Y:2.24, Z:3.33 [[ 9.98557534e-01 -5.13291399e-02 -1.57534275e-02 2.19379518e+02] [ 5.13329353e-02 9.98681582e-01 -1.63606441e-04 2.24088430e+00] [ 1.57410557e-02 -6.45299232e-04 9.99875894e-01 3.33115228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.63925415399999 meters Centerline goodness : 0.999189 Centerline is valid? [True, True] Translation: X:219.41, Y:2.24, Z:3.33 [[ 9.98695599e-01 -4.85688153e-02 -1.57534423e-02 2.19411981e+02] [ 4.85722903e-02 9.98819657e-01 -1.62174977e-04 2.24333047e+00] [ 1.57427244e-02 -6.03217335e-04 9.99875894e-01 3.33198574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.669254154 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:219.44, Y:2.25, Z:3.33 [[ 9.98821138e-01 -4.59147440e-02 -1.57534539e-02 2.19444156e+02] [ 4.59179072e-02 9.98945204e-01 -1.61041711e-04 2.24588338e+00] [ 1.57442314e-02 -5.62513767e-04 9.99875894e-01 3.33250259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.699254154 meters Centerline goodness : 0.999079 Centerline is valid? [True, True] Translation: X:219.48, Y:2.25, Z:3.33 [[ 9.99052425e-01 -4.05719193e-02 -1.57534656e-02 2.19475164e+02] [ 4.05744372e-02 9.99176506e-01 -1.59882973e-04 2.25052446e+00] [ 1.57469795e-02 -4.79456529e-04 9.99875894e-01 3.33146295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.729254154 meters Centerline goodness : 0.998992 Centerline is valid? [True, True] Translation: X:219.51, Y:2.25, Z:3.33 [[ 9.99160729e-01 -3.78109110e-02 -1.57534851e-02 2.19506114e+02] [ 3.78131166e-02 9.99284816e-01 -1.57942891e-04 2.25289292e+00] [ 1.57481904e-02 -4.37878033e-04 9.99875894e-01 3.33191163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.759254154 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:219.54, Y:2.26, Z:3.33 [[ 9.99223027e-01 -3.61273435e-02 -1.57529982e-02 2.19538849e+02] [ 3.61285707e-02 9.99347129e-01 -2.06767462e-04 2.25517355e+00] [ 1.57501835e-02 -3.62526502e-04 9.99875892e-01 3.33349405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.78925415399996 meters Centerline goodness : 0.999292 Centerline is valid? [True, True] Translation: X:219.57, Y:2.26, Z:3.33 [[ 9.99305034e-01 -3.37827631e-02 -1.57535187e-02 2.19569806e+02] [ 3.37845418e-02 9.99429128e-01 -1.53281134e-04 2.25729242e+00] [ 1.57497037e-02 -3.79050801e-04 9.99875894e-01 3.33331461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.81925415399996 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:219.60, Y:2.26, Z:3.33 [[ 9.99517394e-01 -2.67732186e-02 -1.57535270e-02 2.19598842e+02] [ 2.67741405e-02 9.99641497e-01 -1.52417706e-04 2.26107803e+00] [ 1.57519601e-02 -2.69442998e-04 9.99875894e-01 3.33199548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.84925415399996 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:219.63, Y:2.26, Z:3.33 [[ 9.99534327e-01 -2.61341634e-02 -1.57522639e-02 2.19630183e+02] [ 2.61329984e-02 9.99658436e-01 -2.79825502e-04 2.26351605e+00] [ 1.57541965e-02 -1.31958694e-04 9.99875886e-01 3.33368232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.87925415399997 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:219.66, Y:2.27, Z:3.33 [[ 9.99603992e-01 -2.33171074e-02 -1.57534977e-02 2.19661310e+02] [ 2.33176097e-02 9.99728096e-01 -1.51819576e-04 2.26573124e+00] [ 1.57527542e-02 -2.15574455e-04 9.99875894e-01 3.33473879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.90925415399997 meters Centerline goodness : 0.999093 Centerline is valid? [True, True] Translation: X:219.69, Y:2.27, Z:3.33 [[ 9.99670645e-01 -2.02590527e-02 -1.57535030e-02 2.19692090e+02] [ 2.02591841e-02 9.99794750e-01 -1.51262476e-04 2.26785135e+00] [ 1.57533341e-02 -1.67940461e-04 9.99875894e-01 3.33446923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.93925415399997 meters Centerline goodness : 0.999329 Centerline is valid? [True, True] Translation: X:219.72, Y:2.27, Z:3.34 [[ 9.99767245e-01 -1.47405410e-02 -1.57535057e-02 2.19721866e+02] [ 1.47399916e-02 9.99891349e-01 -1.50985978e-04 2.27160710e+00] [ 1.57540197e-02 -8.12557066e-05 9.99875894e-01 3.33584634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.96925415399997 meters Centerline goodness : 0.999221 Centerline is valid? [True, True] Translation: X:219.75, Y:2.27, Z:3.34 [[ 9.99779257e-01 -1.39024971e-02 -1.57530415e-02 2.19752101e+02] [ 1.39010680e-02 9.99903355e-01 -2.00223107e-04 2.27338569e+00] [ 1.57543026e-02 -1.88051916e-05 9.99875893e-01 3.33852885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.99925415399997 meters Centerline goodness : 0.999177 Centerline is valid? [True, True] Translation: X:219.78, Y:2.27, Z:3.34 [[ 9.99801721e-01 -1.21796988e-02 -1.57535160e-02 2.19780020e+02] [ 1.21788378e-02 9.99925824e-01 -1.50589926e-04 2.27453824e+00] [ 1.57541816e-02 -4.12994484e-05 9.99875894e-01 3.33703414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.02925415399997 meters Centerline goodness : 0.999219 Centerline is valid? [True, True] Translation: X:219.81, Y:2.28, Z:3.34 [[ 9.99801821e-01 -1.21715009e-02 -1.57535020e-02 2.19807462e+02] [ 1.21706160e-02 9.99925924e-01 -1.52038759e-04 2.27721988e+00] [ 1.57541856e-02 -3.97211961e-05 9.99875894e-01 3.33897825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.05925415399997 meters Centerline goodness : 0.999327 Centerline is valid? [True, True] Translation: X:219.83, Y:2.28, Z:3.34 [[ 9.99789058e-01 -1.31782934e-02 -1.57534561e-02 2.19834847e+02] [ 1.31774609e-02 9.99913161e-01 -1.56648666e-04 2.27843929e+00] [ 1.57541525e-02 -5.09749300e-05 9.99875894e-01 3.33932534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.08925415399997 meters Centerline goodness : 0.999327 Centerline is valid? [True, True] Translation: X:219.86, Y:2.28, Z:3.34 [[ 9.99766758e-01 -1.47736022e-02 -1.57534087e-02 2.19862601e+02] [ 1.47728948e-02 9.99890862e-01 -1.61280888e-04 2.27949755e+00] [ 1.57540721e-02 -7.14801789e-05 9.99875894e-01 3.34004745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.11925415399998 meters Centerline goodness : 0.999371 Centerline is valid? [True, True] Translation: X:219.89, Y:2.28, Z:3.34 [[ 9.99734468e-01 -1.68174352e-02 -1.57533598e-02 2.19891131e+02] [ 1.68169084e-02 9.99858572e-01 -1.65923196e-04 2.28013321e+00] [ 1.57539223e-02 -9.90436707e-05 9.99875894e-01 3.34014039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.14925415399998 meters Centerline goodness : 0.999286 Centerline is valid? [True, True] Translation: X:219.92, Y:2.28, Z:3.34 [[ 9.99628960e-01 -2.22210432e-02 -1.57533164e-02 2.19920175e+02] [ 2.22211238e-02 9.99753066e-01 -1.69947738e-04 2.28027643e+00] [ 1.57532028e-02 -1.80171712e-04 9.99875894e-01 3.33990558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.17925415399998 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:219.95, Y:2.28, Z:3.34 [[ 9.99546225e-01 -2.56744390e-02 -1.57533038e-02 2.19950329e+02] [ 2.56749300e-02 9.99670330e-01 -1.71106075e-04 2.28030362e+00] [ 1.57525035e-02 -2.33436542e-04 9.99875894e-01 3.34033191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.20925415399998 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:219.98, Y:2.28, Z:3.34 [[ 9.99451507e-01 -2.91293552e-02 -1.57533038e-02 2.19981670e+02] [ 2.91302752e-02 9.99575609e-01 -1.71106075e-04 2.27995113e+00] [ 1.57516025e-02 -2.87885851e-04 9.99875894e-01 3.34041525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.23925415399998 meters Centerline goodness : 0.999287 Centerline is valid? [True, True] Translation: X:220.01, Y:2.28, Z:3.34 [[ 9.99213901e-01 -3.63787407e-02 -1.57533100e-02 2.20013280e+02] [ 3.63805701e-02 9.99337993e-01 -1.70530625e-04 2.27865357e+00] [ 1.57490849e-02 -4.02717829e-04 9.99875894e-01 3.34061523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.26925415399998 meters Centerline goodness : 0.999397 Centerline is valid? [True, True] Translation: X:220.05, Y:2.28, Z:3.34 [[ 9.99102343e-01 -3.93235382e-02 -1.57533193e-02 2.20045533e+02] [ 3.93257468e-02 9.99226429e-01 -1.69670441e-04 2.27810357e+00] [ 1.57478050e-02 -4.49992911e-04 9.99875894e-01 3.34109995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.29925415399998 meters Centerline goodness : 0.999139 Centerline is valid? [True, True] Translation: X:220.08, Y:2.28, Z:3.34 [[ 9.99023434e-01 -4.12796636e-02 -1.57533315e-02 2.20077937e+02] [ 4.12821332e-02 9.99147515e-01 -1.68528861e-04 2.27728523e+00] [ 1.57468589e-02 -4.81966849e-04 9.99875894e-01 3.33941832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.32925415399998 meters Centerline goodness : 0.999441 Centerline is valid? [True, True] Translation: X:220.11, Y:2.28, Z:3.34 [[ 9.98829162e-01 -4.57398923e-02 -1.57533438e-02 2.20108125e+02] [ 4.57429342e-02 9.98953230e-01 -1.67369132e-04 2.27657116e+00] [ 1.57445092e-02 -5.53431001e-04 9.99875894e-01 3.34222257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.35925415399998 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:220.14, Y:2.28, Z:3.34 [[ 9.98713313e-01 -4.82034899e-02 -1.57525316e-02 2.20141246e+02] [ 4.82056573e-02 9.98837402e-01 -2.42308310e-04 2.27637825e+00] [ 1.57458978e-02 -5.17364603e-04 9.99875892e-01 3.34184654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.38925415399999 meters Centerline goodness : 0.999376 Centerline is valid? [True, True] Translation: X:220.17, Y:2.28, Z:3.34 [[ 9.98665039e-01 -4.91932183e-02 -1.57533360e-02 2.20174323e+02] [ 4.91967115e-02 9.98789095e-01 -1.65942952e-04 2.27606831e+00] [ 1.57424235e-02 -6.09290904e-04 9.99875895e-01 3.34216514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.419254154 meters Centerline goodness : 0.999420 Centerline is valid? [True, True] Translation: X:220.21, Y:2.28, Z:3.34 [[ 9.98520185e-01 -5.20506645e-02 -1.57533534e-02 2.20206280e+02] [ 5.20545390e-02 9.98644230e-01 -1.64274344e-04 2.27634293e+00] [ 1.57405461e-02 -6.56002303e-04 9.99875895e-01 3.34270728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.449254154 meters Centerline goodness : 0.999442 Centerline is valid? [True, True] Translation: X:220.24, Y:2.28, Z:3.34 [[ 9.98435581e-01 -5.36490551e-02 -1.57533677e-02 2.20238592e+02] [ 5.36531499e-02 9.98559619e-01 -1.62892591e-04 2.27656439e+00] [ 1.57394159e-02 -6.82580040e-04 9.99875895e-01 3.34336059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.479254154 meters Centerline goodness : 0.999335 Centerline is valid? [True, True] Translation: X:220.27, Y:2.28, Z:3.34 [[ 9.98220975e-01 -5.75040602e-02 -1.57533817e-02 2.20271245e+02] [ 5.75086554e-02 9.98344995e-01 -1.61530360e-04 2.27667042e+00] [ 1.57365984e-02 -7.44712806e-04 9.99875895e-01 3.34291732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.509254154 meters Centerline goodness : 0.999443 Centerline is valid? [True, True] Translation: X:220.30, Y:2.28, Z:3.34 [[ 9.98130266e-01 -5.90576192e-02 -1.57534029e-02 2.20303690e+02] [ 5.90624403e-02 9.98254278e-01 -1.59435435e-04 2.27601448e+00] [ 1.57353177e-02 -7.71297086e-04 9.99875895e-01 3.34372206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.53925415399996 meters Centerline goodness : 0.999421 Centerline is valid? [True, True] Translation: X:220.34, Y:2.28, Z:3.34 [[ 9.98015448e-01 -6.09671691e-02 -1.57534179e-02 2.20336948e+02] [ 6.09722512e-02 9.98139449e-01 -1.57933733e-04 2.27589450e+00] [ 1.57337367e-02 -8.02901051e-04 9.99875895e-01 3.34386277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.56925415399996 meters Centerline goodness : 0.999399 Centerline is valid? [True, True] Translation: X:220.37, Y:2.28, Z:3.34 [[ 9.97913089e-01 -6.26202539e-02 -1.57534351e-02 2.20369849e+02] [ 6.26255685e-02 9.98037080e-01 -1.56209106e-04 2.27581970e+00] [ 1.57322942e-02 -8.30684715e-04 9.99875895e-01 3.34378899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.59925415399996 meters Centerline goodness : 0.999421 Centerline is valid? [True, True] Translation: X:220.40, Y:2.28, Z:3.34 [[ 9.97823132e-01 -6.40376898e-02 -1.57534520e-02 2.20402500e+02] [ 6.40432077e-02 9.97947115e-01 -1.54483008e-04 2.27583170e+00] [ 1.57310047e-02 -8.54754879e-04 9.99875895e-01 3.34368963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.62925415399997 meters Centerline goodness : 0.999356 Centerline is valid? [True, True] Translation: X:220.44, Y:2.28, Z:3.34 [[ 9.97750257e-01 -6.51632804e-02 -1.57534687e-02 2.20435193e+02] [ 6.51689654e-02 9.97874232e-01 -1.52758376e-04 2.27600918e+00] [ 1.57299347e-02 -8.74222547e-04 9.99875895e-01 3.34364035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.65925415399997 meters Centerline goodness : 0.999571 Centerline is valid? [True, True] Translation: X:220.47, Y:2.28, Z:3.34 [[ 9.97685336e-01 -6.61498081e-02 -1.57534852e-02 2.20467288e+02] [ 6.61556426e-02 9.97809305e-01 -1.51041651e-04 2.27679348e+00] [ 1.57289654e-02 -8.91489894e-04 9.99875895e-01 3.34342088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.68925415399997 meters Centerline goodness : 0.999377 Centerline is valid? [True, True] Translation: X:220.50, Y:2.28, Z:3.34 [[ 9.97671391e-01 -6.63598020e-02 -1.57534986e-02 2.20499935e+02] [ 6.63656850e-02 9.97795357e-01 -1.49623196e-04 2.27792348e+00] [ 1.57286968e-02 -8.96216946e-04 9.99875895e-01 3.34376269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.71925415399997 meters Centerline goodness : 0.999378 Centerline is valid? [True, True] Translation: X:220.53, Y:2.28, Z:3.34 [[ 9.97695776e-01 -6.59921651e-02 -1.57535146e-02 2.20533103e+02] [ 6.59980292e-02 9.97819742e-01 -1.47919209e-04 2.27879713e+00] [ 1.57289294e-02 -8.92122549e-04 9.99875895e-01 3.34430936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.74925415399997 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:220.57, Y:2.28, Z:3.34 [[ 9.97727258e-01 -6.55144589e-02 -1.57535305e-02 2.20565779e+02] [ 6.55202906e-02 9.97851226e-01 -1.46206706e-04 2.28041471e+00] [ 1.57292584e-02 -8.86301482e-04 9.99875895e-01 3.34423717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.77925415399997 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:220.60, Y:2.28, Z:3.34 [[ 9.97775321e-01 -6.47783512e-02 -1.57535462e-02 2.20597717e+02] [ 6.47841183e-02 9.97899292e-01 -1.44501801e-04 2.28102574e+00] [ 1.57298132e-02 -8.76399267e-04 9.99875895e-01 3.34313522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.80925415399997 meters Centerline goodness : 0.999333 Centerline is valid? [True, True] Translation: X:220.63, Y:2.28, Z:3.34 [[ 9.97765731e-01 -6.49258969e-02 -1.57535590e-02 2.20630491e+02] [ 6.49317045e-02 9.97889700e-01 -1.43088580e-04 2.28211920e+00] [ 1.57296044e-02 -8.80136556e-04 9.99875895e-01 3.34473012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.83925415399997 meters Centerline goodness : 0.999462 Centerline is valid? [True, True] Translation: X:220.66, Y:2.28, Z:3.35 [[ 9.97772042e-01 -6.48288258e-02 -1.57535741e-02 2.20663953e+02] [ 6.48346478e-02 9.97896011e-01 -1.41408430e-04 2.28304594e+00] [ 1.57295961e-02 -8.80284050e-04 9.99875895e-01 3.34528649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.86925415399998 meters Centerline goodness : 0.999398 Centerline is valid? [True, True] Translation: X:220.70, Y:2.28, Z:3.35 [[ 9.97811244e-01 -6.42226212e-02 -1.57535889e-02 2.20697085e+02] [ 6.42283943e-02 9.97935215e-01 -1.39733019e-04 2.28456138e+00] [ 1.57300352e-02 -8.72400545e-04 9.99875895e-01 3.34571524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.89925415399998 meters Centerline goodness : 0.999417 Centerline is valid? [True, True] Translation: X:220.73, Y:2.29, Z:3.35 [[ 9.97859684e-01 -6.34655446e-02 -1.57536035e-02 2.20729236e+02] [ 6.34712497e-02 9.97983658e-01 -1.38071788e-04 2.28587912e+00] [ 1.57306017e-02 -8.62124631e-04 9.99875895e-01 3.34783881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.92925415399998 meters Centerline goodness : 0.999482 Centerline is valid? [True, True] Translation: X:220.76, Y:2.29, Z:3.35 [[ 9.97885952e-01 -6.30512099e-02 -1.57534390e-02 2.20762447e+02] [ 6.30565675e-02 9.98009942e-01 -1.56882617e-04 2.28751893e+00] [ 1.57319804e-02 -8.36806829e-04 9.99875895e-01 3.34791359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.95925415399998 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:220.80, Y:2.29, Z:3.35 [[ 9.97945626e-01 -6.20995160e-02 -1.57536253e-02 2.20795153e+02] [ 6.21050973e-02 9.98069606e-01 -1.35161780e-04 2.28900683e+00] [ 1.57316081e-02 -8.43496327e-04 9.99875895e-01 3.34953086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.98925415399998 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:220.83, Y:2.29, Z:3.35 [[ 9.98126744e-01 -5.91170475e-02 -1.57536395e-02 2.20828051e+02] [ 5.91222845e-02 9.98250739e-01 -1.33491387e-04 2.29129433e+00] [ 1.57339739e-02 -7.98149834e-04 9.99875895e-01 3.35158752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.01925415399998 meters Centerline goodness : 0.999589 Centerline is valid? [True, True] Translation: X:220.86, Y:2.29, Z:3.35 [[ 9.98244633e-01 -5.70918149e-02 -1.57536538e-02 2.20860169e+02] [ 5.70968272e-02 9.98368637e-01 -1.31783399e-04 2.29279919e+00] [ 1.57354776e-02 -7.67931578e-04 9.99875895e-01 3.35344448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.04925415399998 meters Centerline goodness : 0.999589 Centerline is valid? [True, True] Translation: X:220.89, Y:2.29, Z:3.35 [[ 9.98253981e-01 -5.69281878e-02 -1.57534163e-02 2.20893731e+02] [ 5.69327270e-02 9.98378004e-01 -1.60543411e-04 2.29296893e+00] [ 1.57370038e-02 -7.36621851e-04 9.99875894e-01 3.35398374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.07925415399998 meters Centerline goodness : 0.999567 Centerline is valid? [True, True] Translation: X:220.93, Y:2.29, Z:3.35 [[ 9.98327897e-01 -5.56169074e-02 -1.57534324e-02 2.20925611e+02] [ 5.56213149e-02 9.98451924e-01 -1.58563529e-04 2.29399741e+00] [ 1.57378637e-02 -7.17928228e-04 9.99875894e-01 3.35351111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.10925415399998 meters Centerline goodness : 0.999544 Centerline is valid? [True, True] Translation: X:220.96, Y:2.30, Z:3.35 [[ 9.98480234e-01 -5.28114004e-02 -1.57537073e-02 2.20958131e+02] [ 5.28160115e-02 9.98604253e-01 -1.23497301e-04 2.29539185e+00] [ 1.57382412e-02 -7.08738371e-04 9.99875895e-01 3.35294616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.13925415399999 meters Centerline goodness : 0.999543 Centerline is valid? [True, True] Translation: X:220.99, Y:2.30, Z:3.35 [[ 9.98528682e-01 -5.18873044e-02 -1.57537181e-02 2.20990414e+02] [ 5.18918227e-02 9.98652704e-01 -1.22106359e-04 2.29640132e+00] [ 1.57388289e-02 -6.95562442e-04 9.99875895e-01 3.35254857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.169254154 meters Centerline goodness : 0.999543 Centerline is valid? [True, True] Translation: X:221.02, Y:2.30, Z:3.35 [[ 9.98560170e-01 -5.12777416e-02 -1.57537286e-02 2.21023682e+02] [ 5.12822058e-02 9.98684195e-01 -1.20730825e-04 2.29723365e+00] [ 1.57391906e-02 -6.87328959e-04 9.99875895e-01 3.35292186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.199254154 meters Centerline goodness : 0.999456 Centerline is valid? [True, True] Translation: X:221.06, Y:2.30, Z:3.35 [[ 9.98588021e-01 -5.07324721e-02 -1.57537410e-02 2.21056875e+02] [ 5.07368944e-02 9.98712047e-01 -1.19087232e-04 2.29792864e+00] [ 1.57394925e-02 -6.80376812e-04 9.99875895e-01 3.35297173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.229254154 meters Centerline goodness : 0.999434 Centerline is valid? [True, True] Translation: X:221.09, Y:2.30, Z:3.35 [[ 9.98621363e-01 -5.00718655e-02 -1.57537533e-02 2.21087973e+02] [ 5.00762316e-02 9.98745392e-01 -1.17446482e-04 2.29826718e+00] [ 1.57398692e-02 -6.71604031e-04 9.99875895e-01 3.34992139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.259254154 meters Centerline goodness : 0.999500 Centerline is valid? [True, True] Translation: X:221.12, Y:2.30, Z:3.35 [[ 9.98620903e-01 -5.00810426e-02 -1.57537593e-02 2.21120215e+02] [ 5.00854226e-02 9.98744931e-01 -1.16634474e-04 2.29932426e+00] [ 1.57398284e-02 -6.72560067e-04 9.99875895e-01 3.35256300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.28925415399996 meters Centerline goodness : 0.999695 Centerline is valid? [True, True] Translation: X:221.15, Y:2.30, Z:3.35 [[ 9.98657482e-01 -4.93462469e-02 -1.57537676e-02 2.21153588e+02] [ 4.93505537e-02 9.98781512e-01 -1.15493831e-04 2.29990671e+00] [ 1.57402710e-02 -6.62118376e-04 9.99875895e-01 3.35308197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.31925415399996 meters Centerline goodness : 0.999477 Centerline is valid? [True, True] Translation: X:221.19, Y:2.30, Z:3.35 [[ 9.98720606e-01 -4.80517469e-02 -1.57537800e-02 2.21185926e+02] [ 4.80559198e-02 9.98844640e-01 -1.13781101e-04 2.30043903e+00] [ 1.57410461e-02 -6.43426858e-04 9.99875895e-01 3.35262116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.34925415399996 meters Centerline goodness : 0.999586 Centerline is valid? [True, True] Translation: X:221.22, Y:2.30, Z:3.35 [[ 9.98875815e-01 -4.47093213e-02 -1.57537901e-02 2.21219287e+02] [ 4.47131014e-02 9.98999863e-01 -1.12365328e-04 2.30191927e+00] [ 1.57430579e-02 -5.92161805e-04 9.99875895e-01 3.35407093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.37925415399997 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:221.25, Y:2.30, Z:3.35 [[ 9.98956074e-01 -4.28786659e-02 -1.57538019e-02 2.21251528e+02] [ 4.28822452e-02 9.99080127e-01 -1.10681471e-04 2.30280633e+00] [ 1.57440563e-02 -5.64992469e-04 9.99875895e-01 3.35477982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.40925415399997 meters Centerline goodness : 0.999585 Centerline is valid? [True, True] Translation: X:221.28, Y:2.30, Z:3.36 [[ 9.99028457e-01 -4.11577384e-02 -1.57538096e-02 2.21282221e+02] [ 4.11611215e-02 9.99152516e-01 -1.09572555e-04 2.30385150e+00] [ 1.57449683e-02 -5.38978373e-04 9.99875895e-01 3.35538322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.43925415399997 meters Centerline goodness : 0.999563 Centerline is valid? [True, True] Translation: X:221.31, Y:2.31, Z:3.36 [[ 9.99161033e-01 -3.78027525e-02 -1.57538153e-02 2.21314204e+02] [ 3.78057320e-02 9.99285102e-01 -1.08746449e-04 2.30555377e+00] [ 1.57466639e-02 -4.86929307e-04 9.99875895e-01 3.35716493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.46925415399997 meters Centerline goodness : 0.999650 Centerline is valid? [True, True] Translation: X:221.35, Y:2.31, Z:3.36 [[ 9.99211800e-01 -3.64361818e-02 -1.57538230e-02 2.21345939e+02] [ 3.64390092e-02 9.99335873e-01 -1.07625597e-04 2.30637493e+00] [ 1.57472819e-02 -4.66512935e-04 9.99875895e-01 3.35837808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.49925415399997 meters Centerline goodness : 0.999563 Centerline is valid? [True, True] Translation: X:221.38, Y:2.31, Z:3.36 [[ 9.99254399e-01 -3.52485762e-02 -1.57538307e-02 2.21378568e+02] [ 3.52512742e-02 9.99378475e-01 -1.06483495e-04 2.30687458e+00] [ 1.57477927e-02 -4.48938505e-04 9.99875895e-01 3.35936203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.52925415399997 meters Centerline goodness : 0.999628 Centerline is valid? [True, True] Translation: X:221.41, Y:2.31, Z:3.36 [[ 9.99285893e-01 -3.43441462e-02 -1.57538385e-02 2.21409928e+02] [ 3.43467500e-02 9.99409971e-01 -1.05326854e-04 2.30740910e+00] [ 1.57481606e-02 -4.35841513e-04 9.99875895e-01 3.35963045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.55925415399997 meters Centerline goodness : 0.999518 Centerline is valid? [True, True] Translation: X:221.44, Y:2.31, Z:3.36 [[ 9.99322511e-01 -3.32616347e-02 -1.57538442e-02 2.21441449e+02] [ 3.32641177e-02 9.99446591e-01 -1.04466178e-04 2.30814212e+00] [ 1.57486006e-02 -4.19642323e-04 9.99875895e-01 3.35959003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.58925415399997 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:221.47, Y:2.31, Z:3.36 [[ 9.99296581e-01 -3.40318518e-02 -1.57536414e-02 2.21474821e+02] [ 3.40339426e-02 9.99420668e-01 -1.35432178e-04 2.30871777e+00] [ 1.57491238e-02 -4.00821614e-04 9.99875895e-01 3.35991311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.61925415399998 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:221.51, Y:2.31, Z:3.36 [[ 9.99272809e-01 -3.47227504e-02 -1.57538613e-02 2.21506132e+02] [ 3.47254663e-02 9.99396884e-01 -1.01198483e-04 2.30908908e+00] [ 1.57478738e-02 -4.45935288e-04 9.99875895e-01 3.35964065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.64925415399998 meters Centerline goodness : 0.999562 Centerline is valid? [True, True] Translation: X:221.54, Y:2.31, Z:3.36 [[ 9.99232752e-01 -3.58569834e-02 -1.57538734e-02 2.21537813e+02] [ 3.58598705e-02 9.99356823e-01 -9.92762677e-05 2.30940934e+00] [ 1.57473006e-02 -4.65731762e-04 9.99875895e-01 3.35946284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.67925415399998 meters Centerline goodness : 0.999671 Centerline is valid? [True, True] Translation: X:221.57, Y:2.31, Z:3.36 [[ 9.99074621e-01 -4.00214980e-02 -1.57537718e-02 2.21569818e+02] [ 4.00246450e-02 9.99198686e-01 -1.15600613e-04 2.30942892e+00] [ 1.57457746e-02 -5.15045484e-04 9.99875895e-01 3.35881598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.70925415399998 meters Centerline goodness : 0.999585 Centerline is valid? [True, True] Translation: X:221.60, Y:2.31, Z:3.36 [[ 9.98983102e-01 -4.22442666e-02 -1.57538789e-02 2.21602613e+02] [ 4.22479598e-02 9.99107152e-01 -9.84502718e-05 2.30921646e+00] [ 1.57439721e-02 -5.67219087e-04 9.99875895e-01 3.35858425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.73925415399998 meters Centerline goodness : 0.999518 Centerline is valid? [True, True] Translation: X:221.64, Y:2.31, Z:3.36 [[ 9.98875200e-01 -4.47230274e-02 -1.57538895e-02 2.21635097e+02] [ 4.47270554e-02 9.98999240e-01 -9.67335030e-05 2.30881850e+00] [ 1.57424498e-02 -6.08000391e-04 9.99875895e-01 3.35879595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.76925415399998 meters Centerline goodness : 0.999651 Centerline is valid? [True, True] Translation: X:221.67, Y:2.31, Z:3.36 [[ 9.98667711e-01 -4.91387703e-02 -1.57538965e-02 2.21667348e+02] [ 4.91433648e-02 9.98791730e-01 -9.55828155e-05 2.30779011e+00] [ 1.57395583e-02 -6.78744009e-04 9.99875895e-01 3.35831419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.79925415399998 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:221.70, Y:2.31, Z:3.36 [[ 9.98614839e-01 -5.02017706e-02 -1.57539050e-02 2.21699984e+02] [ 5.02065197e-02 9.98738853e-01 -9.41491474e-05 2.30752942e+00] [ 1.57387635e-02 -6.96930007e-04 9.99875895e-01 3.35923025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.82925415399998 meters Centerline goodness : 0.999650 Centerline is valid? [True, True] Translation: X:221.73, Y:2.31, Z:3.36 [[ 9.98615530e-01 -5.01880156e-02 -1.57539147e-02 2.21732488e+02] [ 5.01927890e-02 9.98739543e-01 -9.24974306e-05 2.30711220e+00] [ 1.57386999e-02 -6.98363547e-04 9.99875895e-01 3.35999576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.85925415399998 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:221.77, Y:2.31, Z:3.36 [[ 9.98682347e-01 -4.88403848e-02 -1.57539212e-02 2.21765456e+02] [ 4.88450083e-02 9.98806366e-01 -9.13820481e-05 2.30715621e+00] [ 1.57395799e-02 -6.78238774e-04 9.99875895e-01 3.35996372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.88925415399999 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:221.80, Y:2.31, Z:3.36 [[ 9.98708328e-01 -4.83062115e-02 -1.57539309e-02 2.21798609e+02] [ 4.83107955e-02 9.98832348e-01 -8.96803593e-05 2.30760240e+00] [ 1.57398679e-02 -6.71520412e-04 9.99875895e-01 3.36219843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.919254154 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:221.83, Y:2.31, Z:3.36 [[ 9.98736935e-01 -4.77110915e-02 -1.57539406e-02 2.21830478e+02] [ 4.77156290e-02 9.98860957e-01 -8.79460073e-05 2.30785334e+00] [ 1.57401921e-02 -6.63874257e-04 9.99875895e-01 3.36220152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.949254154 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:221.86, Y:2.31, Z:3.36 [[ 9.98765258e-01 -4.71144524e-02 -1.57539560e-02 2.21862743e+02] [ 4.71189607e-02 9.98889281e-01 -8.50924132e-05 2.30833440e+00] [ 1.57404668e-02 -6.57322686e-04 9.99875895e-01 3.36442940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.979254154 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:221.90, Y:2.31, Z:3.36 [[ 9.98762514e-01 -4.71726235e-02 -1.57538885e-02 2.21895344e+02] [ 4.71769393e-02 9.98886544e-01 -9.77754071e-05 2.30861510e+00] [ 1.57409596e-02 -6.45565832e-04 9.99875895e-01 3.36439480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.009254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.93, Y:2.31, Z:3.37 [[ 9.98761479e-01 -4.71944878e-02 -1.57539743e-02 2.21928493e+02] [ 4.71990686e-02 9.98885500e-01 -8.11177481e-05 2.30795299e+00] [ 1.57402448e-02 -6.62555632e-04 9.99875895e-01 3.36556524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.03925415399996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.96, Y:2.31, Z:3.37 [[ 9.98769712e-01 -4.70199402e-02 -1.57539829e-02 2.21960307e+02] [ 4.70245262e-02 9.98893732e-01 -7.94127960e-05 2.30774193e+00] [ 1.57402888e-02 -6.61508487e-04 9.99875895e-01 3.36519162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.06925415399996 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:221.99, Y:2.31, Z:3.37 [[ 9.98775426e-01 -4.68983965e-02 -1.57539966e-02 2.21991496e+02] [ 4.69030117e-02 9.98899445e-01 -7.66019761e-05 2.30834674e+00] [ 1.57402510e-02 -6.62401714e-04 9.99875895e-01 3.36517801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.09925415399996 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:222.02, Y:2.31, Z:3.37 [[ 9.98785045e-01 -4.66931011e-02 -1.57540005e-02 2.22023689e+02] [ 4.66977036e-02 9.98909064e-01 -7.57870753e-05 2.30910277e+00] [ 1.57403526e-02 -6.59980649e-04 9.99875895e-01 3.36564859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.12925415399997 meters Centerline goodness : 0.999650 Centerline is valid? [True, True] Translation: X:222.06, Y:2.31, Z:3.37 [[ 9.98810358e-01 -4.61484496e-02 -1.57540056e-02 2.22055662e+02] [ 4.61530016e-02 9.98934380e-01 -7.47010549e-05 2.30978112e+00] [ 1.57406652e-02 -6.52482460e-04 9.99875895e-01 3.36684041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.15925415399997 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:222.09, Y:2.31, Z:3.37 [[ 9.98840321e-01 -4.54953244e-02 -1.57540109e-02 2.22089035e+02] [ 4.54998129e-02 9.98964345e-01 -7.35850836e-05 2.31055641e+00] [ 1.57410429e-02 -6.43304798e-04 9.99875895e-01 3.36851564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.18925415399997 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:222.12, Y:2.31, Z:3.37 [[ 9.98925727e-01 -4.35798519e-02 -1.57540188e-02 2.22120326e+02] [ 4.35841299e-02 9.99049758e-01 -7.18475445e-05 2.31207189e+00] [ 1.57421798e-02 -6.14854841e-04 9.99875895e-01 3.36966243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.21925415399997 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:222.15, Y:2.31, Z:3.37 [[ 9.98984850e-01 -4.22028384e-02 -1.57540227e-02 2.22151993e+02] [ 4.22069590e-02 9.99108887e-01 -7.09864922e-05 2.31269713e+00] [ 1.57429799e-02 -5.94014958e-04 9.99875895e-01 3.36868632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.24925415399997 meters Centerline goodness : 0.999694 Centerline is valid? [True, True] Translation: X:222.18, Y:2.31, Z:3.37 [[ 9.99042860e-01 -4.08065577e-02 -1.57540346e-02 2.22183828e+02] [ 4.08105481e-02 9.99166900e-01 -6.82376188e-05 2.31343802e+00] [ 1.57436944e-02 -5.74758481e-04 9.99875895e-01 3.37004742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.27925415399997 meters Centerline goodness : 0.999518 Centerline is valid? [True, True] Translation: X:222.22, Y:2.31, Z:3.37 [[ 9.99097817e-01 -3.94380731e-02 -1.57540393e-02 2.22216467e+02] [ 3.94419113e-02 9.99221863e-01 -6.71207177e-05 2.31412307e+00] [ 1.57444276e-02 -5.54309259e-04 9.99875895e-01 3.37098495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.30925415399997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:222.25, Y:2.32, Z:3.37 [[ 9.99200337e-01 -3.67491067e-02 -1.57540440e-02 2.22248578e+02] [ 3.67526287e-02 9.99324392e-01 -6.60017166e-05 2.31553618e+00] [ 1.57458260e-02 -5.13053592e-04 9.99875895e-01 3.37297379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.33925415399997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:222.28, Y:2.32, Z:3.37 [[ 9.99247718e-01 -3.54373857e-02 -1.57540487e-02 2.22281240e+02] [ 3.54407626e-02 9.99371777e-01 -6.48705614e-05 2.31609590e+00] [ 1.57464505e-02 -4.93513739e-04 9.99875895e-01 3.37351431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.36925415399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.31, Y:2.32, Z:3.37 [[ 9.99185548e-01 -3.71490330e-02 -1.57540533e-02 2.22310418e+02] [ 3.71526402e-02 9.99309600e-01 -6.37352132e-05 2.32097378e+00] [ 1.57455444e-02 -5.21621370e-04 9.99875895e-01 3.37359594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.39925415399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.34, Y:2.32, Z:3.38 [[ 9.99362123e-01 -3.20495049e-02 -1.57536221e-02 2.22343977e+02] [ 3.20508529e-02 9.99486226e-01 -1.66964464e-04 2.31750928e+00] [ 1.57508794e-02 -3.38059062e-04 9.99875890e-01 3.37600732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.42925415399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.37, Y:2.32, Z:3.38 [[ 9.99339600e-01 -3.27440643e-02 -1.57540323e-02 2.22374967e+02] [ 3.27471687e-02 9.99463666e-01 -6.09424221e-05 2.31966715e+00] [ 1.57475784e-02 -4.54997777e-04 9.99875896e-01 3.37850749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.45925415399998 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:222.41, Y:2.32, Z:3.38 [[ 9.99362416e-01 -3.20402094e-02 -1.57539382e-02 2.22406497e+02] [ 3.20428426e-02 9.99486493e-01 -8.53094939e-05 2.31941731e+00] [ 1.57485817e-02 -4.19545859e-04 9.99875895e-01 3.37896920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.48925415399998 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:222.44, Y:2.32, Z:3.38 [[ 9.99379863e-01 -3.14912934e-02 -1.57539487e-02 2.22438387e+02] [ 3.14939022e-02 9.99503941e-01 -8.25317960e-05 2.31903668e+00] [ 1.57487328e-02 -4.13672703e-04 9.99875895e-01 3.38024078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.51925415399998 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:222.47, Y:2.32, Z:3.38 [[ 9.99417397e-01 -3.02767134e-02 -1.57539771e-02 2.22470190e+02] [ 3.02792916e-02 9.99541474e-01 -7.49032025e-05 2.31626727e+00] [ 1.57490213e-02 -4.02159703e-04 9.99875896e-01 3.38105458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.54925415399998 meters Centerline goodness : 0.999650 Centerline is valid? [True, True] Translation: X:222.50, Y:2.32, Z:3.38 [[ 9.99408620e-01 -3.05650142e-02 -1.57540449e-02 2.22501736e+02] [ 3.05679299e-02 9.99532690e-01 -5.57481746e-05 2.31573993e+00] [ 1.57483868e-02 -4.25853334e-04 9.99875896e-01 3.38153404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.57925415399998 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:222.53, Y:2.32, Z:3.38 [[ 9.99392332e-01 -3.10930446e-02 -1.57540478e-02 2.22533845e+02] [ 3.10960391e-02 9.99516400e-01 -5.49050803e-05 2.31522981e+00] [ 1.57481363e-02 -4.35016770e-04 9.99875896e-01 3.38271772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.60925415399998 meters Centerline goodness : 0.999605 Centerline is valid? [True, True] Translation: X:222.57, Y:2.31, Z:3.38 [[ 9.99370783e-01 -3.17781205e-02 -1.57540517e-02 2.22566305e+02] [ 3.17812178e-02 9.99494848e-01 -5.37780867e-05 2.31474680e+00] [ 1.57478025e-02 -4.46938699e-04 9.99875896e-01 3.38391066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.63925415399999 meters Centerline goodness : 0.999694 Centerline is valid? [True, True] Translation: X:222.60, Y:2.31, Z:3.38 [[ 9.99328639e-01 -3.30768898e-02 -1.57540555e-02 2.22597953e+02] [ 3.30801663e-02 9.99452700e-01 -5.26323092e-05 2.31285864e+00] [ 1.57471742e-02 -4.68549803e-04 9.99875896e-01 3.38369799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.669254154 meters Centerline goodness : 0.999563 Centerline is valid? [True, True] Translation: X:222.63, Y:2.31, Z:3.39 [[ 9.99307017e-01 -3.37238228e-02 -1.57540615e-02 2.22630183e+02] [ 3.37272090e-02 9.99431075e-01 -5.07719090e-05 2.31167539e+00] [ 1.57468108e-02 -4.80603801e-04 9.99875896e-01 3.38516527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.699254154 meters Centerline goodness : 0.999629 Centerline is valid? [True, True] Translation: X:222.66, Y:2.31, Z:3.39 [[ 9.99292678e-01 -3.41460573e-02 -1.57540652e-02 2.22661407e+02] [ 3.41495142e-02 9.99416734e-01 -4.96116269e-05 2.31075034e+00] [ 1.57465704e-02 -4.88417136e-04 9.99875896e-01 3.38538304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.729254154 meters Centerline goodness : 0.999498 Centerline is valid? [True, True] Translation: X:222.69, Y:2.31, Z:3.39 [[ 9.99300834e-01 -3.39065388e-02 -1.57540678e-02 2.22693893e+02] [ 3.39099796e-02 9.99424890e-01 -4.87493722e-05 2.30922534e+00] [ 1.57466604e-02 -4.85504830e-04 9.99875896e-01 3.38729446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.759254154 meters Centerline goodness : 0.999432 Centerline is valid? [True, True] Translation: X:222.73, Y:2.31, Z:3.39 [[ 9.99319534e-01 -3.33508381e-02 -1.57540713e-02 2.22726566e+02] [ 3.33542276e-02 9.99443592e-01 -4.76166622e-05 2.30865707e+00] [ 1.57468936e-02 -4.77880618e-04 9.99875896e-01 3.38886601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.78925415399996 meters Centerline goodness : 0.999630 Centerline is valid? [True, True] Translation: X:222.76, Y:2.31, Z:3.39 [[ 9.99364140e-01 -3.19863076e-02 -1.57540746e-02 2.22758419e+02] [ 3.19895459e-02 9.99488202e-01 -4.64686728e-05 2.30807370e+00] [ 1.57474981e-02 -4.57526569e-04 9.99875896e-01 3.39007683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.81925415399996 meters Centerline goodness : 0.999586 Centerline is valid? [True, True] Translation: X:222.79, Y:2.31, Z:3.39 [[ 9.99475283e-01 -2.83013712e-02 -1.57540779e-02 2.22789194e+02] [ 2.83041701e-02 9.99599356e-01 -4.53227673e-05 2.30723973e+00] [ 1.57490488e-02 -4.00607116e-04 9.99875896e-01 3.39163837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.84925415399996 meters Centerline goodness : 0.999673 Centerline is valid? [True, True] Translation: X:222.82, Y:2.31, Z:3.39 [[ 9.99539749e-01 -2.59248842e-02 -1.57540803e-02 2.22821409e+02] [ 2.59274015e-02 9.99663827e-01 -4.44688423e-05 2.30666163e+00] [ 1.57499371e-02 -3.64013992e-04 9.99875896e-01 3.39331922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.87925415399997 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:222.85, Y:2.31, Z:3.39 [[ 9.99604020e-01 -2.33154689e-02 -1.57540835e-02 2.22852337e+02] [ 2.33176803e-02 9.99728105e-01 -4.33267221e-05 2.30598258e+00] [ 1.57508102e-02 -3.24039117e-04 9.99875896e-01 3.39426786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.90925415399997 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:222.88, Y:2.30, Z:3.40 [[ 9.99716529e-01 -1.78513690e-02 -1.57540850e-02 2.22883705e+02] [ 1.78529112e-02 9.99840623e-01 -4.27541332e-05 2.30435222e+00] [ 1.57523374e-02 -2.38514267e-04 9.99875896e-01 3.39515290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.93925415399997 meters Centerline goodness : 0.999498 Centerline is valid? [True, True] Translation: X:222.91, Y:2.30, Z:3.40 [[ 9.99755595e-01 -1.55099679e-02 -1.57540866e-02 2.22913780e+02] [ 1.55112285e-02 9.99879693e-01 -4.21807482e-05 2.30356384e+00] [ 1.57528455e-02 -2.02194797e-04 9.99875896e-01 3.39526952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.96925415399997 meters Centerline goodness : 0.999498 Centerline is valid? [True, True] Translation: X:222.94, Y:2.30, Z:3.40 [[ 9.99751635e-01 -1.57631788e-02 -1.57540850e-02 2.22943000e+02] [ 1.57644618e-02 9.99875732e-01 -4.27511101e-05 2.30368499e+00] [ 1.57528012e-02 -2.05614179e-04 9.99875896e-01 3.39573012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.99925415399997 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:222.97, Y:2.30, Z:3.40 [[ 9.99782109e-01 -1.36946956e-02 -1.57540732e-02 2.22971454e+02] [ 1.36956590e-02 9.99906209e-01 -4.67415495e-05 2.30272991e+00] [ 1.57532357e-02 -1.69031049e-04 9.99875896e-01 3.39588048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.02925415399997 meters Centerline goodness : 0.999346 Centerline is valid? [True, True] Translation: X:223.00, Y:2.30, Z:3.39 [[ 9.99821268e-01 -1.04518830e-02 -1.57540603e-02 2.22999037e+02] [ 1.04523808e-02 9.99945371e-01 -5.07458385e-05 2.29986338e+00] [ 1.57537301e-02 -1.13930668e-04 9.99875896e-01 3.39456043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.05925415399997 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:223.03, Y:2.30, Z:3.39 [[ 9.99832005e-01 -9.36861192e-03 -1.57540441e-02 2.23027205e+02] [ 9.36890257e-03 9.99956109e-01 -5.53559175e-05 2.29829952e+00] [ 1.57538712e-02 -9.22514861e-05 9.99875896e-01 3.39413678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.08925415399997 meters Centerline goodness : 0.999347 Centerline is valid? [True, True] Translation: X:223.06, Y:2.30, Z:3.39 [[ 9.99838016e-01 -8.70363885e-03 -1.57540266e-02 2.23055284e+02] [ 8.70377452e-03 9.99962120e-01 -5.99531458e-05 2.29650640e+00] [ 1.57539516e-02 -7.71760610e-05 9.99875896e-01 3.39400434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.11925415399998 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:223.08, Y:2.29, Z:3.39 [[ 9.99843352e-01 -8.06738777e-03 -1.57540077e-02 2.23082770e+02] [ 8.06737194e-03 9.99967456e-01 -6.45567824e-05 2.29253088e+00] [ 1.57540158e-02 -6.25467701e-05 9.99875896e-01 3.39268776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.14925415399998 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:223.11, Y:2.29, Z:3.39 [[ 9.99841479e-01 -8.29629262e-03 -1.57540018e-02 2.23110478e+02] [ 8.29628277e-03 9.99965583e-01 -6.59802759e-05 2.29047200e+00] [ 1.57540070e-02 -6.47298369e-05 9.99875896e-01 3.39288806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.17925415399998 meters Centerline goodness : 0.999198 Centerline is valid? [True, True] Translation: X:223.14, Y:2.29, Z:3.39 [[ 9.99835896e-01 -8.94384726e-03 -1.57539814e-02 2.23137070e+02] [ 8.94384597e-03 9.99960001e-01 -7.05382258e-05 2.28868472e+00] [ 1.57539821e-02 -7.03745325e-05 9.99875896e-01 3.39271124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.20925415399998 meters Centerline goodness : 0.999285 Centerline is valid? [True, True] Translation: X:223.17, Y:2.29, Z:3.39 [[ 9.99827125e-01 -9.87584441e-03 -1.57539667e-02 2.23165477e+02] [ 9.87590943e-03 9.99951229e-01 -7.36721490e-05 2.28658395e+00] [ 1.57539259e-02 -8.19253353e-05 9.99875896e-01 3.39303554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.23925415399998 meters Centerline goodness : 0.999137 Centerline is valid? [True, True] Translation: X:223.19, Y:2.28, Z:3.39 [[ 9.99822298e-01 -1.03530630e-02 -1.57539472e-02 2.23191088e+02] [ 1.03531247e-02 9.99946402e-01 -7.76379087e-05 2.28157105e+00] [ 1.57539066e-02 -8.54784679e-05 9.99875896e-01 3.39264935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.26925415399998 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:223.22, Y:2.28, Z:3.39 [[ 9.99787129e-01 -1.33239194e-02 -1.57533933e-02 2.23221747e+02] [ 1.33226082e-02 9.99911232e-01 -1.88178747e-04 2.27928558e+00] [ 1.57545022e-02 -2.17375980e-05 9.99875890e-01 3.39437026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.29925415399998 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:223.25, Y:2.28, Z:3.39 [[ 9.99758981e-01 -1.52902893e-02 -1.57539410e-02 2.23249504e+02] [ 1.52909420e-02 9.99883084e-01 -7.90305903e-05 2.27675356e+00] [ 1.57533075e-02 -1.61881055e-04 9.99875896e-01 3.39425248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.32925415399998 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:223.28, Y:2.27, Z:3.39 [[ 9.99684042e-01 -1.95864707e-02 -1.57539292e-02 2.23278711e+02] [ 1.95876208e-02 9.99808141e-01 -8.13086279e-05 2.27185496e+00] [ 1.57524992e-02 -2.27299053e-04 9.99875896e-01 3.39463451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.35925415399998 meters Centerline goodness : 0.999271 Centerline is valid? [True, True] Translation: X:223.31, Y:2.27, Z:3.39 [[ 9.99627179e-01 -2.23005915e-02 -1.57539231e-02 2.23307827e+02] [ 2.23020601e-02 9.99751275e-01 -8.24791451e-05 2.26986098e+00] [ 1.57518440e-02 -2.68896544e-04 9.99875896e-01 3.39484512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.38925415399999 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:223.34, Y:2.27, Z:3.39 [[ 9.99548991e-01 -2.55661515e-02 -1.57539185e-02 2.23336694e+02] [ 2.55680118e-02 9.99673081e-01 -8.33508872e-05 2.26937318e+00] [ 1.57508992e-02 -3.19483078e-04 9.99875896e-01 3.39105188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.419254154 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:223.37, Y:2.26, Z:3.39 [[ 9.99335291e-01 -3.28758403e-02 -1.57529731e-02 2.23367193e+02] [ 3.28759470e-02 9.99459408e-01 -2.52260302e-04 2.26282412e+00] [ 1.57527505e-02 -2.65801288e-04 9.99875882e-01 3.39403358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.449254154 meters Centerline goodness : 0.999169 Centerline is valid? [True, True] Translation: X:223.40, Y:2.26, Z:3.40 [[ 9.99189061e-01 -3.70544991e-02 -1.57538721e-02 2.23399553e+02] [ 3.70577708e-02 9.99313121e-01 -8.42948231e-05 2.26090388e+00] [ 1.57461746e-02 -4.99576916e-04 9.99875897e-01 3.39575471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.479254154 meters Centerline goodness : 0.998980 Centerline is valid? [True, True] Translation: X:223.43, Y:2.26, Z:3.40 [[ 9.99030191e-01 -4.11156019e-02 -1.57538783e-02 2.23430753e+02] [ 4.11193963e-02 9.99154237e-01 -8.31185175e-05 2.25852589e+00] [ 1.57439717e-02 -5.64752057e-04 9.99875897e-01 3.39575030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.509254154 meters Centerline goodness : 0.999043 Centerline is valid? [True, True] Translation: X:223.46, Y:2.26, Z:3.40 [[ 9.98850786e-01 -4.52650289e-02 -1.57538829e-02 2.23462964e+02] [ 4.52693524e-02 9.98974814e-01 -8.22420894e-05 2.25651228e+00] [ 1.57414549e-02 -6.31020499e-04 9.99875897e-01 3.39678599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.53925415399996 meters Centerline goodness : 0.998980 Centerline is valid? [True, True] Translation: X:223.49, Y:2.25, Z:3.40 [[ 9.98679678e-01 -4.88949466e-02 -1.57538889e-02 2.23494773e+02] [ 4.88997392e-02 9.98803689e-01 -8.10769038e-05 2.25447901e+00] [ 1.57390066e-02 -6.89391201e-04 9.99875897e-01 3.39728154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.56925415399996 meters Centerline goodness : 0.998896 Centerline is valid? [True, True] Translation: X:223.53, Y:2.25, Z:3.40 [[ 9.98365845e-01 -5.49313644e-02 -1.57538948e-02 2.23526721e+02] [ 5.49369249e-02 9.98489824e-01 -7.99127268e-05 2.25073055e+00] [ 1.57344933e-02 -7.85688397e-04 9.99875897e-01 3.39694686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.59925415399996 meters Centerline goodness : 0.999005 Centerline is valid? [True, True] Translation: X:223.56, Y:2.25, Z:3.40 [[ 9.98274615e-01 -5.65650699e-02 -1.57539089e-02 2.23560115e+02] [ 5.65708787e-02 9.98398583e-01 -7.70231574e-05 2.24881641e+00] [ 1.57330371e-02 -8.14322207e-04 9.99875897e-01 3.39619573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.62925415399997 meters Centerline goodness : 0.998898 Centerline is valid? [True, True] Translation: X:223.59, Y:2.25, Z:3.40 [[ 9.98084543e-01 -5.98252315e-02 -1.57539172e-02 2.23591733e+02] [ 5.98314726e-02 9.98208490e-01 -7.52790300e-05 2.24696125e+00] [ 1.57301975e-02 -8.67445232e-04 9.99875897e-01 3.39682214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.65925415399997 meters Centerline goodness : 0.999004 Centerline is valid? [True, True] Translation: X:223.62, Y:2.25, Z:3.40 [[ 9.98057670e-01 -6.02718884e-02 -1.57539240e-02 2.23624457e+02] [ 6.02782078e-02 9.98181613e-01 -7.38354999e-05 2.24602335e+00] [ 1.57297275e-02 -8.75926217e-04 9.99875897e-01 3.39681695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.68925415399997 meters Centerline goodness : 0.999237 Centerline is valid? [True, True] Translation: X:223.66, Y:2.25, Z:3.40 [[ 9.98048872e-01 -6.04174021e-02 -1.57539318e-02 2.23657470e+02] [ 6.04237663e-02 9.98172812e-01 -7.21305534e-05 2.24546581e+00] [ 1.57295044e-02 -8.79922077e-04 9.99875897e-01 3.39679098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.71925415399997 meters Centerline goodness : 0.998897 Centerline is valid? [True, True] Translation: X:223.69, Y:2.25, Z:3.40 [[ 9.98055468e-01 -6.03083394e-02 -1.57539395e-02 2.23690623e+02] [ 6.03147171e-02 9.98179408e-01 -7.04075390e-05 2.24536513e+00] [ 1.57295042e-02 -8.79923776e-04 9.99875897e-01 3.39700176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.74925415399997 meters Centerline goodness : 0.998877 Centerline is valid? [True, True] Translation: X:223.73, Y:2.24, Z:3.39 [[ 9.98546307e-01 -5.15469354e-02 -1.57539470e-02 2.23730026e+02] [ 5.15522521e-02 9.98670296e-01 -6.86955143e-05 2.23753558e+00] [ 1.57365399e-02 -7.43555795e-04 9.99875897e-01 3.39277694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.77925415399997 meters Centerline goodness : 0.999132 Centerline is valid? [True, True] Translation: X:223.75, Y:2.25, Z:3.40 [[ 9.98256468e-01 -5.68839804e-02 -1.57555447e-02 2.23751093e+02] [ 5.68964307e-02 9.98380027e-01 3.42743688e-04 2.24619462e+00] [ 1.57105246e-02 -1.23858036e-03 9.99875815e-01 3.39721181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.80925415399997 meters Centerline goodness : 0.999153 Centerline is valid? [True, True] Translation: X:223.78, Y:2.25, Z:3.40 [[ 9.98364422e-01 -5.49573024e-02 -1.57536020e-02 2.23784199e+02] [ 5.49629658e-02 9.98488391e-01 -7.35662659e-05 2.24716512e+00] [ 1.57338317e-02 -7.92418746e-04 9.99875902e-01 3.39795328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.83925415399997 meters Centerline goodness : 0.999195 Centerline is valid? [True, True] Translation: X:223.82, Y:2.25, Z:3.40 [[ 9.98634400e-01 -4.98112345e-02 -1.57536097e-02 2.23816669e+02] [ 4.98162852e-02 9.98758395e-01 -7.18913543e-05 2.24891502e+00] [ 1.57376309e-02 -7.12993133e-04 9.99875902e-01 3.39886865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.86925415399998 meters Centerline goodness : 0.999194 Centerline is valid? [True, True] Translation: X:223.85, Y:2.25, Z:3.40 [[ 9.98780079e-01 -4.67993230e-02 -1.57536159e-02 2.23848523e+02] [ 4.68040216e-02 9.98904089e-01 -7.05052997e-05 2.25010863e+00] [ 1.57396509e-02 -6.66913288e-04 9.99875902e-01 3.39944100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.89925415399998 meters Centerline goodness : 0.999109 Centerline is valid? [True, True] Translation: X:223.88, Y:2.25, Z:3.40 [[ 9.98930243e-01 -4.34763483e-02 -1.57536210e-02 2.23880507e+02] [ 4.34806526e-02 9.99054267e-01 -6.93439180e-05 2.25143850e+00] [ 1.57417371e-02 -6.15707984e-04 9.99875902e-01 3.40032509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.92925415399998 meters Centerline goodness : 0.998959 Centerline is valid? [True, True] Translation: X:223.91, Y:2.25, Z:3.40 [[ 9.99214981e-01 -3.63489306e-02 -1.57536260e-02 2.23912900e+02] [ 3.63523682e-02 9.99339032e-01 -6.81879178e-05 2.25438218e+00] [ 1.57456919e-02 -5.04547223e-04 9.99875902e-01 3.40080246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.95925415399998 meters Centerline goodness : 0.998918 Centerline is valid? [True, True] Translation: X:223.94, Y:2.26, Z:3.40 [[ 9.99348658e-01 -3.24666321e-02 -1.57536309e-02 2.23944694e+02] [ 3.24696060e-02 9.99472721e-01 -6.70280389e-05 2.25613713e+00] [ 1.57475005e-02 -4.44529808e-04 9.99875902e-01 3.40137652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.98925415399998 meters Centerline goodness : 0.998914 Centerline is valid? [True, True] Translation: X:223.98, Y:2.26, Z:3.40 [[ 9.99476620e-01 -2.82543688e-02 -1.57536358e-02 2.23976258e+02] [ 2.82568382e-02 9.99600694e-01 -6.58549642e-05 2.25748132e+00] [ 1.57492060e-02 -3.79327442e-04 9.99875902e-01 3.40155196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.01925415399998 meters Centerline goodness : 0.998935 Centerline is valid? [True, True] Translation: X:224.01, Y:2.26, Z:3.40 [[ 9.99690246e-01 -1.92674613e-02 -1.57536394e-02 2.24007010e+02] [ 1.92688290e-02 9.99814337e-01 -6.49801682e-05 2.26034349e+00] [ 1.57519666e-02 -2.38594143e-04 9.99875902e-01 3.40189522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.04925415399998 meters Centerline goodness : 0.999146 Centerline is valid? [True, True] Translation: X:224.04, Y:2.26, Z:3.40 [[ 9.99764903e-01 -1.48983558e-02 -1.57536394e-02 2.24035700e+02] [ 1.48991811e-02 9.99888999e-01 -6.49801682e-05 2.26203371e+00] [ 1.57528589e-02 -1.69751436e-04 9.99875902e-01 3.40265804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.07925415399998 meters Centerline goodness : 0.998911 Centerline is valid? [True, True] Translation: X:224.06, Y:2.26, Z:3.40 [[ 9.99822394e-01 -1.03442055e-02 -1.57536358e-02 2.24063532e+02] [ 1.03444518e-02 9.99946493e-01 -6.58506681e-05 2.26352568e+00] [ 1.57534740e-02 -9.71237541e-05 9.99875902e-01 3.40306097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.10925415399998 meters Centerline goodness : 0.998869 Centerline is valid? [True, True] Translation: X:224.09, Y:2.27, Z:3.40 [[ 9.99874483e-01 -1.68601464e-03 -1.57536151e-02 2.24091252e+02] [ 1.68511368e-03 9.99998578e-01 -7.04647052e-05 2.26577370e+00] [ 1.57537115e-02 4.39092282e-05 9.99875902e-01 3.40419986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.13925415399999 meters Centerline goodness : 0.998997 Centerline is valid? [True, True] Translation: X:224.12, Y:2.27, Z:3.41 [[ 9.99873937e-01 1.98368444e-03 -1.57535933e-02 2.24118989e+02] [-1.98511323e-03 9.99998027e-01 -7.50594605e-05 2.26676956e+00] [ 1.57534133e-02 1.06322665e-04 9.99875902e-01 3.40500537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.169254154 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:224.15, Y:2.27, Z:3.41 [[ 9.99862676e-01 5.14334806e-03 -1.57535699e-02 2.24146307e+02] [-5.14524163e-03 9.99986760e-01 -7.96711207e-05 2.26736995e+00] [ 1.57529516e-02 1.60716104e-04 9.99875902e-01 3.40576596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.199254154 meters Centerline goodness : 0.998954 Centerline is valid? [True, True] Translation: X:224.17, Y:2.27, Z:3.41 [[ 9.99846949e-01 7.60941211e-03 -1.57535596e-02 2.24173730e+02] [-7.61164318e-03 9.99971028e-01 -8.16678453e-05 2.26751159e+00] [ 1.57524817e-02 2.01565820e-04 9.99875902e-01 3.40638318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.229254154 meters Centerline goodness : 0.998995 Centerline is valid? [True, True] Translation: X:224.20, Y:2.27, Z:3.41 [[ 9.99822947e-01 1.02908158e-02 -1.57535346e-02 2.24201239e+02] [-1.02934516e-02 9.99947017e-01 -8.62348144e-05 2.26664190e+00] [ 1.57518125e-02 2.48377791e-04 9.99875902e-01 3.40683160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.259254154 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:224.23, Y:2.27, Z:3.41 [[ 9.99819164e-01 1.06520457e-02 -1.57535084e-02 2.24229041e+02] [-1.06547978e-02 9.99943232e-01 -9.07715304e-05 2.26608838e+00] [ 1.57516472e-02 2.58605562e-04 9.99875902e-01 3.40739266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.28925415399996 meters Centerline goodness : 0.999189 Centerline is valid? [True, True] Translation: X:224.26, Y:2.27, Z:3.41 [[ 9.99824766e-01 1.01125662e-02 -1.57534983e-02 2.24255520e+02] [-1.01152785e-02 9.99948835e-01 -9.24955339e-05 2.26526690e+00] [ 1.57517569e-02 2.51830348e-04 9.99875902e-01 3.40752503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.31925415399996 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:224.28, Y:2.26, Z:3.41 [[ 9.99854103e-01 6.60303435e-03 -1.57534863e-02 2.24283738e+02] [-6.60534255e-03 9.99978180e-01 -9.44920448e-05 2.26273225e+00] [ 1.57525187e-02 1.98535432e-04 9.99875902e-01 3.40687911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.34925415399996 meters Centerline goodness : 0.999126 Centerline is valid? [True, True] Translation: X:224.31, Y:2.26, Z:3.41 [[ 9.99869038e-01 3.70617744e-03 -1.57534758e-02 2.24310435e+02] [-3.70815326e-03 9.99993120e-01 -9.62129078e-05 2.26157736e+00] [ 1.57530109e-02 1.54616610e-04 9.99875902e-01 3.40706877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.37925415399997 meters Centerline goodness : 0.998892 Centerline is valid? [True, True] Translation: X:224.34, Y:2.26, Z:3.41 [[ 9.99875906e-01 3.77814630e-05 -1.57534634e-02 2.24338136e+02] [-3.93334823e-05 9.99999994e-01 -9.82094158e-05 2.26021483e+00] [ 1.57534596e-02 9.88168672e-05 9.99875902e-01 3.40706601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.40925415399997 meters Centerline goodness : 0.998812 Centerline is valid? [True, True] Translation: X:224.37, Y:2.26, Z:3.41 [[ 9.99839686e-01 -8.51068706e-03 -1.57534524e-02 2.24365333e+02] [ 8.51016881e-03 9.99963783e-01 -9.99348982e-05 2.25631742e+00] [ 1.57537324e-02 -3.41456623e-05 9.99875902e-01 3.40756530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.43925415399997 meters Centerline goodness : 0.998834 Centerline is valid? [True, True] Translation: X:224.39, Y:2.25, Z:3.41 [[ 9.99786788e-01 -1.33494310e-02 -1.57534395e-02 2.24393111e+02] [ 1.33494819e-02 9.99910887e-01 -1.01932461e-04 2.25439900e+00] [ 1.57533964e-02 -1.08389528e-04 9.99875902e-01 3.40816744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.46925415399997 meters Centerline goodness : 0.998942 Centerline is valid? [True, True] Translation: X:224.42, Y:2.25, Z:3.41 [[ 9.99712091e-01 -1.80987195e-02 -1.57534282e-02 2.24422143e+02] [ 1.80993328e-02 9.99836188e-01 -1.03653141e-04 2.25254869e+00] [ 1.57527236e-02 -1.81503241e-04 9.99875902e-01 3.40887951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.49925415399997 meters Centerline goodness : 0.998734 Centerline is valid? [True, True] Translation: X:224.45, Y:2.25, Z:3.41 [[ 9.99617849e-01 -2.27153197e-02 -1.57534205e-02 2.24449675e+02] [ 2.27164878e-02 9.99741942e-01 -1.04813115e-04 2.25080470e+00] [ 1.57517360e-02 -2.53089322e-04 9.99875902e-01 3.40976215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.52925415399997 meters Centerline goodness : 0.998862 Centerline is valid? [True, True] Translation: X:224.48, Y:2.25, Z:3.41 [[ 9.99382182e-01 -3.14179057e-02 -1.57534108e-02 2.24479295e+02] [ 3.14201315e-02 9.99506260e-01 -1.06255235e-04 2.24718356e+00] [ 1.57489710e-02 -3.88784649e-04 9.99875902e-01 3.41059852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.55925415399997 meters Centerline goodness : 0.998737 Centerline is valid? [True, True] Translation: X:224.52, Y:2.24, Z:3.41 [[ 9.99423823e-01 -3.00641303e-02 -1.57534089e-02 2.24515429e+02] [ 3.00661836e-02 9.99547904e-01 -1.06535392e-04 2.23914708e+00] [ 1.57494897e-02 -3.67170874e-04 9.99875902e-01 3.41111703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.58925415399997 meters Centerline goodness : 0.999034 Centerline is valid? [True, True] Translation: X:224.54, Y:2.24, Z:3.41 [[ 9.98965224e-01 -4.26642751e-02 -1.57556665e-02 2.24537581e+02] [ 4.26734141e-02 9.99089045e-01 2.44152826e-04 2.24177919e+00] [ 1.57308972e-02 -9.16248265e-04 9.99875842e-01 3.41016601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.61925415399998 meters Centerline goodness : 0.999076 Centerline is valid? [True, True] Translation: X:224.57, Y:2.24, Z:3.41 [[ 9.98833723e-01 -4.56402634e-02 -1.57530903e-02 2.24569993e+02] [ 4.56441406e-02 9.98957757e-01 -1.13513233e-04 2.24029156e+00] [ 1.57418525e-02 -6.05655422e-04 9.99875906e-01 3.40998568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.64925415399998 meters Centerline goodness : 0.999139 Centerline is valid? [True, True] Translation: X:224.60, Y:2.24, Z:3.41 [[ 9.98697755e-01 -4.85245766e-02 -1.57530985e-02 2.24600945e+02] [ 4.85288302e-02 9.98821776e-01 -1.12355022e-04 2.23887061e+00] [ 1.57399898e-02 -6.52270736e-04 9.99875906e-01 3.41014214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.67925415399998 meters Centerline goodness : 0.998804 Centerline is valid? [True, True] Translation: X:224.63, Y:2.24, Z:3.41 [[ 9.98548577e-01 -5.15031873e-02 -1.57531046e-02 2.24632754e+02] [ 5.15078244e-02 9.98672585e-01 -1.11491617e-04 2.23774949e+00] [ 1.57379359e-02 -7.00078353e-04 9.99875906e-01 3.40971759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.70925415399998 meters Centerline goodness : 0.998954 Centerline is valid? [True, True] Translation: X:224.66, Y:2.24, Z:3.41 [[ 9.98256200e-01 -5.68893476e-02 -1.57531125e-02 2.24664502e+02] [ 5.68946713e-02 9.98380180e-01 -1.10376754e-04 2.23583413e+00] [ 1.57338745e-02 -7.86083875e-04 9.99875906e-01 3.40922215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.73925415399998 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:224.70, Y:2.24, Z:3.41 [[ 9.98113077e-01 -5.93474924e-02 -1.57531204e-02 2.24696781e+02] [ 5.93531394e-02 9.98237042e-01 -1.09228344e-04 2.23519046e+00] [ 1.57318308e-02 -8.25974914e-04 9.99875906e-01 3.40921224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.76925415399998 meters Centerline goodness : 0.998805 Centerline is valid? [True, True] Translation: X:224.73, Y:2.23, Z:3.41 [[ 9.97964643e-01 -6.17932796e-02 -1.57531397e-02 2.24729088e+02] [ 6.17992752e-02 9.98088592e-01 -1.06378841e-04 2.23433818e+00] [ 1.57296025e-02 -8.67370292e-04 9.99875906e-01 3.40766706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.79925415399998 meters Centerline goodness : 0.998785 Centerline is valid? [True, True] Translation: X:224.76, Y:2.23, Z:3.41 [[ 9.97682893e-01 -6.61867375e-02 -1.57531473e-02 2.24761166e+02] [ 6.61932969e-02 9.97806813e-01 -1.05231536e-04 2.23337122e+00] [ 1.57255627e-02 -9.37765055e-04 9.99875906e-01 3.40850237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.82925415399998 meters Centerline goodness : 0.998847 Centerline is valid? [True, True] Translation: X:224.79, Y:2.23, Z:3.41 [[ 9.97595106e-01 -6.74969813e-02 -1.57531567e-02 2.24793979e+02] [ 6.75037259e-02 9.97719017e-01 -1.03802082e-04 2.23298176e+00] [ 1.57242304e-02 -9.59844325e-04 9.99875906e-01 3.40861663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.85925415399998 meters Centerline goodness : 0.998847 Centerline is valid? [True, True] Translation: X:224.83, Y:2.23, Z:3.41 [[ 9.97602388e-01 -6.73892683e-02 -1.57531677e-02 2.24827512e+02] [ 6.73960262e-02 9.97726298e-01 -1.02104237e-04 2.23310357e+00] [ 1.57242305e-02 -9.59841476e-04 9.99875906e-01 3.40914447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.88925415399999 meters Centerline goodness : 0.998911 Centerline is valid? [True, True] Translation: X:224.86, Y:2.23, Z:3.41 [[ 9.97561266e-01 -6.79952776e-02 -1.57531786e-02 2.24860311e+02] [ 6.80021375e-02 9.97685170e-01 -1.00403540e-04 2.23321573e+00] [ 1.57235396e-02 -9.71091134e-04 9.99875906e-01 3.40946672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.919254154 meters Centerline goodness : 0.998574 Centerline is valid? [True, True] Translation: X:224.89, Y:2.23, Z:3.41 [[ 9.97569720e-01 -6.78711334e-02 -1.57531892e-02 2.24892217e+02] [ 6.78780045e-02 9.97693624e-01 -9.87165591e-05 2.23486668e+00] [ 1.57235564e-02 -9.70818394e-04 9.99875906e-01 3.40958175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.949254154 meters Centerline goodness : 0.998890 Centerline is valid? [True, True] Translation: X:224.93, Y:2.24, Z:3.41 [[ 9.97631265e-01 -6.69604082e-02 -1.57531978e-02 2.24925028e+02] [ 6.69671882e-02 9.97755174e-01 -9.73200125e-05 2.23624943e+00] [ 1.57243512e-02 -9.57857873e-04 9.99875906e-01 3.41019067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.979254154 meters Centerline goodness : 0.998934 Centerline is valid? [True, True] Translation: X:224.96, Y:2.24, Z:3.41 [[ 9.97720736e-01 -6.56137946e-02 -1.57532079e-02 2.24956870e+02] [ 6.56204335e-02 9.97844652e-01 -9.56550356e-05 2.23756303e+00] [ 1.57255305e-02 -9.38295318e-04 9.99875906e-01 3.41044652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.00925415399996 meters Centerline goodness : 0.998889 Centerline is valid? [True, True] Translation: X:224.99, Y:2.24, Z:3.41 [[ 9.97816503e-01 -6.41409631e-02 -1.57532145e-02 2.24989590e+02] [ 6.41474364e-02 9.97940428e-01 -9.45566135e-05 2.23907121e+00] [ 1.57268346e-02 -9.16178175e-04 9.99875906e-01 3.41063955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.03925415399996 meters Centerline goodness : 0.998888 Centerline is valid? [True, True] Translation: X:225.02, Y:2.24, Z:3.41 [[ 9.97985266e-01 -6.14592886e-02 -1.57532242e-02 2.25021420e+02] [ 6.14654546e-02 9.98109207e-01 -9.29137406e-05 2.24172662e+00] [ 1.57291485e-02 -8.75552542e-04 9.99875906e-01 3.41101190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.06925415399996 meters Centerline goodness : 0.998929 Centerline is valid? [True, True] Translation: X:225.05, Y:2.24, Z:3.41 [[ 9.98062341e-01 -6.01946795e-02 -1.57532305e-02 2.25054518e+02] [ 6.02007055e-02 9.98186289e-01 -9.18314982e-05 2.24297022e+00] [ 1.57301864e-02 -8.56702030e-04 9.99875906e-01 3.41166921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.09925415399996 meters Centerline goodness : 0.998761 Centerline is valid? [True, True] Translation: X:225.09, Y:2.24, Z:3.41 [[ 9.98151138e-01 -5.87038483e-02 -1.57532398e-02 2.25086390e+02] [ 5.87097147e-02 9.98275093e-01 -9.02080230e-05 2.24402939e+00] [ 1.57313625e-02 -8.34826973e-04 9.99875906e-01 3.41218967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.12925415399997 meters Centerline goodness : 0.999097 Centerline is valid? [True, True] Translation: X:225.12, Y:2.25, Z:3.41 [[ 9.98269003e-01 -5.66642173e-02 -1.57532544e-02 2.25117945e+02] [ 5.66698719e-02 9.98392968e-01 -8.75701420e-05 2.24636827e+00] [ 1.57329006e-02 -8.05316354e-04 9.99875906e-01 3.41286406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.15925415399997 meters Centerline goodness : 0.999075 Centerline is valid? [True, True] Translation: X:225.15, Y:2.25, Z:3.41 [[ 9.98319349e-01 -5.57701712e-02 -1.57532617e-02 2.25149991e+02] [ 5.57757358e-02 9.98443318e-01 -8.62367912e-05 2.24757868e+00] [ 1.57335484e-02 -7.92557909e-04 9.99875906e-01 3.41369274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.18925415399997 meters Centerline goodness : 0.998802 Centerline is valid? [True, True] Translation: X:225.18, Y:2.25, Z:3.41 [[ 9.98392506e-01 -5.44448141e-02 -1.57532675e-02 2.25182167e+02] [ 5.44502308e-02 9.98516482e-01 -8.51786816e-05 2.24888695e+00] [ 1.57345348e-02 -7.72727293e-04 9.99875906e-01 3.41410447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.21925415399997 meters Centerline goodness : 0.999012 Centerline is valid? [True, True] Translation: X:225.21, Y:2.25, Z:3.41 [[ 9.98486547e-01 -5.26920265e-02 -1.57532731e-02 2.25214819e+02] [ 5.26972421e-02 9.98610531e-01 -8.41290633e-05 2.25022115e+00] [ 1.57358173e-02 -7.46152307e-04 9.99875906e-01 3.41469439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.24925415399997 meters Centerline goodness : 0.998839 Centerline is valid? [True, True] Translation: X:225.25, Y:2.25, Z:3.42 [[ 9.98708516e-01 -4.83025379e-02 -1.57532786e-02 2.25245599e+02] [ 4.83072249e-02 9.98832521e-01 -8.30826215e-05 2.25251844e+00] [ 1.57389001e-02 -6.78021851e-04 9.99875906e-01 3.41528387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.27925415399997 meters Centerline goodness : 0.999051 Centerline is valid? [True, True] Translation: X:225.28, Y:2.25, Z:3.42 [[ 9.98854445e-01 -4.51844211e-02 -1.57532827e-02 2.25277623e+02] [ 4.51887332e-02 9.98978464e-01 -8.23023830e-05 2.25391429e+00] [ 1.57409089e-02 -6.29662786e-04 9.99875906e-01 3.41622992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.30925415399997 meters Centerline goodness : 0.998966 Centerline is valid? [True, True] Translation: X:225.31, Y:2.26, Z:3.42 [[ 9.99000237e-01 -4.18373066e-02 -1.57532880e-02 2.25309992e+02] [ 4.18412194e-02 9.99124269e-01 -8.12725234e-05 2.25535336e+00] [ 1.57428926e-02 -5.77945509e-04 9.99875906e-01 3.41676585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.33925415399997 meters Centerline goodness : 0.999092 Centerline is valid? [True, True] Translation: X:225.34, Y:2.26, Z:3.42 [[ 9.99308767e-01 -3.36722685e-02 -1.57532932e-02 2.25341039e+02] [ 3.36751837e-02 9.99432827e-01 -8.02490523e-05 2.25850794e+00] [ 1.57470605e-02 -4.50301462e-04 9.99875906e-01 3.41776363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.36925415399998 meters Centerline goodness : 0.998857 Centerline is valid? [True, True] Translation: X:225.37, Y:2.26, Z:3.42 [[ 9.99454086e-01 -2.90407377e-02 -1.57532971e-02 2.25372828e+02] [ 2.90430900e-02 9.99578157e-01 -7.94848246e-05 2.26011081e+00] [ 1.57489599e-02 -3.78082991e-04 9.99875906e-01 3.41879108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.39925415399998 meters Centerline goodness : 0.998983 Centerline is valid? [True, True] Translation: X:225.40, Y:2.26, Z:3.42 [[ 9.99571510e-01 -2.46704073e-02 -1.57532996e-02 2.25403460e+02] [ 2.46722250e-02 9.99695591e-01 -7.89837033e-05 2.26217493e+00] [ 1.57504527e-02 -3.09719092e-04 9.99875906e-01 3.41971934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.42925415399998 meters Centerline goodness : 0.998834 Centerline is valid? [True, True] Translation: X:225.43, Y:2.26, Z:3.42 [[ 9.99675047e-01 -2.00407868e-02 -1.57532996e-02 2.25433999e+02] [ 2.00420298e-02 9.99799135e-01 -7.89837033e-05 2.26376909e+00] [ 1.57517182e-02 -2.36770062e-04 9.99875906e-01 3.42081879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.45925415399998 meters Centerline goodness : 0.998789 Centerline is valid? [True, True] Translation: X:225.46, Y:2.27, Z:3.42 [[ 9.99803408e-01 -1.20407290e-02 -1.57532996e-02 2.25462480e+02] [ 1.20409790e-02 9.99927502e-01 -7.89837033e-05 2.26584822e+00] [ 1.57531085e-02 -1.10716974e-04 9.99875906e-01 3.42178107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.48925415399998 meters Centerline goodness : 0.998766 Centerline is valid? [True, True] Translation: X:225.49, Y:2.27, Z:3.42 [[ 9.99833503e-01 -9.20873967e-03 -1.57532958e-02 2.25490308e+02] [ 9.20862657e-03 9.99957597e-01 -7.97183730e-05 2.26645207e+00] [ 1.57533620e-02 -6.53611186e-05 9.99875906e-01 3.42472876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.51925415399998 meters Centerline goodness : 0.998915 Centerline is valid? [True, True] Translation: X:225.52, Y:2.27, Z:3.43 [[ 9.99851499e-01 -6.98672095e-03 -1.57532725e-02 2.25518059e+02] [ 6.98626302e-03 9.99975592e-01 -8.41005743e-05 2.26695456e+00] [ 1.57534755e-02 -2.59684196e-05 9.99875906e-01 3.42559327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.54925415399998 meters Centerline goodness : 0.999107 Centerline is valid? [True, True] Translation: X:225.55, Y:2.27, Z:3.43 [[ 9.99867160e-01 -4.18292610e-03 -1.57532472e-02 2.25546375e+02] [ 4.18204951e-03 9.99991251e-01 -8.85867393e-05 2.26708943e+00] [ 1.57534800e-02 2.26941116e-05 9.99875906e-01 3.42651883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.57925415399998 meters Centerline goodness : 0.999107 Centerline is valid? [True, True] Translation: X:225.57, Y:2.27, Z:3.43 [[ 9.99866789e-01 -4.27087083e-03 -1.57532207e-02 2.25574556e+02] [ 4.26993437e-03 9.99990879e-01 -9.30801259e-05 2.26669624e+00] [ 1.57534745e-02 2.58025082e-05 9.99875906e-01 3.42741054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.60925415399998 meters Centerline goodness : 0.999044 Centerline is valid? [True, True] Translation: X:225.60, Y:2.27, Z:3.43 [[ 9.99856832e-01 -6.17681475e-03 -1.57531921e-02 2.25603471e+02] [ 6.17604230e-03 9.99980923e-01 -9.76835241e-05 2.26506016e+00] [ 1.57534950e-02 3.77158001e-07 9.99875906e-01 3.42768182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.63925415399999 meters Centerline goodness : 0.999045 Centerline is valid? [True, True] Translation: X:225.63, Y:2.26, Z:3.43 [[ 9.99841550e-01 -8.28928091e-03 -1.57531850e-02 2.25631723e+02] [ 8.28875264e-03 9.99965643e-01 -9.88258115e-05 2.26386891e+00] [ 1.57534629e-02 -3.17641009e-05 9.99875906e-01 3.42790200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.669254154 meters Centerline goodness : 0.998938 Centerline is valid? [True, True] Translation: X:225.66, Y:2.26, Z:3.43 [[ 9.99813771e-01 -1.11472729e-02 -1.57531741e-02 2.25659167e+02] [ 1.11470725e-02 9.99937864e-01 -1.00526983e-04 2.26252739e+00] [ 1.57533159e-02 -7.50935121e-05 9.99875906e-01 3.42772488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.699254154 meters Centerline goodness : 0.999068 Centerline is valid? [True, True] Translation: X:225.69, Y:2.26, Z:3.43 [[ 9.99772234e-01 -1.43985318e-02 -1.57531568e-02 2.25687941e+02] [ 1.43986932e-02 9.99896328e-01 -1.03173861e-04 2.26088167e+00] [ 1.57530092e-02 -1.23674510e-04 9.99875906e-01 3.42816460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.729254154 meters Centerline goodness : 0.998878 Centerline is valid? [True, True] Translation: X:225.72, Y:2.26, Z:3.43 [[ 9.99627588e-01 -2.22827952e-02 -1.57531493e-02 2.25716928e+02] [ 2.22839176e-02 9.99751677e-01 -1.04295475e-04 2.25704603e+00] [ 1.57515615e-02 -2.46785248e-04 9.99875906e-01 3.42925419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.75925415399996 meters Centerline goodness : 0.999028 Centerline is valid? [True, True] Translation: X:225.75, Y:2.25, Z:3.43 [[ 9.99574939e-01 -2.45311973e-02 -1.57531417e-02 2.25749635e+02] [ 2.45325809e-02 9.99699025e-01 -1.05432550e-04 2.25198356e+00] [ 1.57509868e-02 -2.81077490e-04 9.99875906e-01 3.43308177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.78925415399996 meters Centerline goodness : 0.999092 Centerline is valid? [True, True] Translation: X:225.78, Y:2.25, Z:3.43 [[ 9.99396576e-01 -3.09561570e-02 -1.57544018e-02 2.25776084e+02] [ 3.09613220e-02 9.99520580e-01 8.39880828e-05 2.25303902e+00] [ 1.57442489e-02 -5.71714509e-04 9.99875888e-01 3.43030128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.81925415399996 meters Centerline goodness : 0.998970 Centerline is valid? [True, True] Translation: X:225.81, Y:2.25, Z:3.43 [[ 9.99156427e-01 -3.79246160e-02 -1.57530550e-02 2.25806839e+02] [ 3.79275966e-02 9.99280484e-01 -1.09611467e-04 2.24879649e+00] [ 1.57458774e-02 -4.87956513e-04 9.99875907e-01 3.43085574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.84925415399996 meters Centerline goodness : 0.998968 Centerline is valid? [True, True] Translation: X:225.84, Y:2.24, Z:3.44 [[ 9.99155218e-01 -3.79564384e-02 -1.57530608e-02 2.25841678e+02] [ 3.79594362e-02 9.99279275e-01 -1.08771950e-04 2.24369767e+00] [ 1.57458358e-02 -4.89297245e-04 9.99875907e-01 3.43564673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.87925415399997 meters Centerline goodness : 0.998926 Centerline is valid? [True, True] Translation: X:225.87, Y:2.25, Z:3.43 [[ 9.98931339e-01 -4.34506589e-02 -1.57550141e-02 2.25865997e+02] [ 4.34589055e-02 9.99055199e-01 1.81274198e-04 2.24593960e+00] [ 1.57322523e-02 -8.65776148e-04 9.99875866e-01 3.43259458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.90925415399997 meters Centerline goodness : 0.999032 Centerline is valid? [True, True] Translation: X:225.90, Y:2.24, Z:3.43 [[ 9.98856275e-01 -4.51440913e-02 -1.57528578e-02 2.25896931e+02] [ 4.51478869e-02 9.98980308e-01 -1.14774041e-04 2.24453039e+00] [ 1.57419762e-02 -5.96565474e-04 9.99875909e-01 3.43096059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.93925415399997 meters Centerline goodness : 0.999054 Centerline is valid? [True, True] Translation: X:225.93, Y:2.24, Z:3.43 [[ 9.98757809e-01 -4.72724583e-02 -1.57528642e-02 2.25929329e+02] [ 4.72765320e-02 9.98881833e-01 -1.13899667e-04 2.24216341e+00] [ 1.57406342e-02 -6.30982605e-04 9.99875909e-01 3.43152288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.96925415399997 meters Centerline goodness : 0.999096 Centerline is valid? [True, True] Translation: X:225.96, Y:2.24, Z:3.43 [[ 9.98738120e-01 -4.76866222e-02 -1.57528719e-02 2.25961718e+02] [ 4.76907643e-02 9.98862142e-01 -1.12826869e-04 2.24138876e+00] [ 1.57403277e-02 -6.38582002e-04 9.99875909e-01 3.43354472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.99925415399997 meters Centerline goodness : 0.999034 Centerline is valid? [True, True] Translation: X:225.99, Y:2.24, Z:3.43 [[ 9.98734760e-01 -4.77569396e-02 -1.57528800e-02 2.25994233e+02] [ 4.77611086e-02 9.98858781e-01 -1.11674777e-04 2.23974954e+00] [ 1.57402358e-02 -6.40841531e-04 9.99875909e-01 3.43383444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.02925415399997 meters Centerline goodness : 0.999033 Centerline is valid? [True, True] Translation: X:226.03, Y:2.24, Z:3.43 [[ 9.98745678e-01 -4.75280708e-02 -1.57528882e-02 2.26025055e+02] [ 4.75322296e-02 9.98869699e-01 -1.10511682e-04 2.23940250e+00] [ 1.57403351e-02 -6.38396834e-04 9.99875909e-01 3.43413817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.05925415399997 meters Centerline goodness : 0.998823 Centerline is valid? [True, True] Translation: X:226.06, Y:2.24, Z:3.43 [[ 9.98775195e-01 -4.69036807e-02 -1.57528942e-02 2.26057185e+02] [ 4.69077756e-02 9.98899218e-01 -1.09645500e-04 2.23931687e+00] [ 1.57406965e-02 -6.29422021e-04 9.99875909e-01 3.43437804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.08925415399997 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:226.09, Y:2.24, Z:3.43 [[ 9.98818631e-01 -4.59694256e-02 -1.57529022e-02 2.26089467e+02] [ 4.59734228e-02 9.98942657e-01 -1.08481901e-04 2.23961376e+00] [ 1.57412329e-02 -6.15861091e-04 9.99875909e-01 3.43478211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.11925415399998 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:226.12, Y:2.24, Z:3.43 [[ 9.98937615e-01 -4.33068972e-02 -1.57529102e-02 2.26121586e+02] [ 4.33105823e-02 9.99061651e-01 -1.07309524e-04 2.24031086e+00] [ 1.57427757e-02 -5.75072194e-04 9.99875909e-01 3.43464169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.14925415399998 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:226.15, Y:2.24, Z:3.43 [[ 9.98995474e-01 -4.19510221e-02 -1.57529180e-02 2.26152984e+02] [ 4.19545571e-02 9.99119514e-01 -1.06146557e-04 2.24079332e+00] [ 1.57435008e-02 -5.54866771e-04 9.99875909e-01 3.43409383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.17925415399998 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:226.18, Y:2.24, Z:3.43 [[ 9.99063139e-01 -4.03074297e-02 -1.57529238e-02 2.26184960e+02] [ 4.03107743e-02 9.99187185e-01 -1.05281214e-04 2.24133052e+00] [ 1.57443632e-02 -5.29829978e-04 9.99875909e-01 3.43419689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.20925415399998 meters Centerline goodness : 0.999032 Centerline is valid? [True, True] Translation: X:226.22, Y:2.24, Z:3.44 [[ 9.99114749e-01 -3.90072260e-02 -1.57529313e-02 2.26216664e+02] [ 3.90104270e-02 9.99238798e-01 -1.04150615e-04 2.24211009e+00] [ 1.57450028e-02 -5.10470162e-04 9.99875909e-01 3.43517420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.23925415399998 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:226.25, Y:2.24, Z:3.43 [[ 9.99199393e-01 -3.67752319e-02 -1.57529389e-02 2.26248326e+02] [ 3.67781742e-02 9.99323449e-01 -1.02985369e-04 2.24341022e+00] [ 1.57460686e-02 -4.76461413e-04 9.99875909e-01 3.43396647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.26925415399998 meters Centerline goodness : 0.999200 Centerline is valid? [True, True] Translation: X:226.28, Y:2.24, Z:3.43 [[ 9.99258458e-01 -3.51337404e-02 -1.57529446e-02 2.26278662e+02] [ 3.51364925e-02 9.99382518e-01 -1.02117125e-04 2.24391543e+00] [ 1.57468051e-02 -4.51461816e-04 9.99875909e-01 3.43235970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.29925415399998 meters Centerline goodness : 0.999243 Centerline is valid? [True, True] Translation: X:226.31, Y:2.24, Z:3.43 [[ 9.99278537e-01 -3.45580898e-02 -1.57525738e-02 2.26309729e+02] [ 3.45598754e-02 9.99402616e-01 -1.58935310e-04 2.24463391e+00] [ 1.57486560e-02 -3.85586342e-04 9.99875908e-01 3.43172249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.32925415399998 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:226.34, Y:2.25, Z:3.43 [[ 9.99200305e-01 -3.67506723e-02 -1.57524263e-02 2.26340932e+02] [ 3.67523726e-02 9.99324387e-01 -1.81631838e-04 2.24599266e+00] [ 1.57484589e-02 -3.97452454e-04 9.99875906e-01 3.43358409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.35925415399998 meters Centerline goodness : 0.999096 Centerline is valid? [True, True] Translation: X:226.37, Y:2.25, Z:3.43 [[ 9.99165309e-01 -3.76899253e-02 -1.57529458e-02 2.26372726e+02] [ 3.76930459e-02 9.99289360e-01 -9.88689665e-05 2.24637696e+00] [ 1.57454775e-02 -4.94990069e-04 9.99875910e-01 3.43446819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.38925415399999 meters Centerline goodness : 0.999136 Centerline is valid? [True, True] Translation: X:226.41, Y:2.24, Z:3.43 [[ 9.99287517e-01 -3.42972594e-02 -1.57529528e-02 2.26406090e+02] [ 3.42999765e-02 9.99411578e-01 -9.77455918e-05 2.24193308e+00] [ 1.57470358e-02 -4.42649961e-04 9.99875910e-01 3.42767632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.419254154 meters Centerline goodness : 0.999284 Centerline is valid? [True, True] Translation: X:226.43, Y:2.25, Z:3.44 [[ 9.99054967e-01 -4.05090568e-02 -1.57540309e-02 2.26432862e+02] [ 4.05154087e-02 9.99178910e-01 8.41142444e-05 2.24726698e+00] [ 1.57376880e-02 -7.22315754e-04 9.99875894e-01 3.43542047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.449254154 meters Centerline goodness : 0.999242 Centerline is valid? [True, True] Translation: X:226.46, Y:2.25, Z:3.44 [[ 9.98901829e-01 -4.41246161e-02 -1.57529037e-02 2.26464122e+02] [ 4.41285541e-02 9.99025856e-01 -9.76921931e-05 2.24837599e+00] [ 1.57418687e-02 -5.97567951e-04 9.99875911e-01 3.43609136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.479254154 meters Centerline goodness : 0.998943 Centerline is valid? [True, True] Translation: X:226.50, Y:2.25, Z:3.43 [[ 9.98924226e-01 -4.36146458e-02 -1.57529088e-02 2.26495944e+02] [ 4.36185336e-02 9.99048254e-01 -9.68605836e-05 2.24681966e+00] [ 1.57421406e-02 -5.90362397e-04 9.99875911e-01 3.43063908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.50925415399996 meters Centerline goodness : 0.998943 Centerline is valid? [True, True] Translation: X:226.53, Y:2.25, Z:3.44 [[ 9.98612484e-01 -5.02488842e-02 -1.57529789e-02 2.26526597e+02] [ 5.02537759e-02 9.98736477e-01 -8.54159137e-05 2.25001495e+00] [ 1.57373667e-02 -7.06349273e-04 9.99875910e-01 3.43702281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.53925415399996 meters Centerline goodness : 0.999070 Centerline is valid? [True, True] Translation: X:226.56, Y:2.25, Z:3.44 [[ 9.98554509e-01 -5.13881220e-02 -1.57528990e-02 2.26558902e+02] [ 5.13929535e-02 9.98678504e-01 -9.82271211e-05 2.25024978e+00] [ 1.57371293e-02 -7.11502871e-04 9.99875911e-01 3.43766298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.56925415399996 meters Centerline goodness : 0.999028 Centerline is valid? [True, True] Translation: X:226.59, Y:2.25, Z:3.44 [[ 9.98474823e-01 -5.29138272e-02 -1.57529056e-02 2.26589925e+02] [ 5.29188651e-02 9.98598810e-01 -9.71510926e-05 2.25160022e+00] [ 1.57359735e-02 -7.36622968e-04 9.99875911e-01 3.43884114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.59925415399996 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:226.62, Y:2.25, Z:3.44 [[ 9.98367962e-01 -5.48931559e-02 -1.57529105e-02 2.26621107e+02] [ 5.48984522e-02 9.98491938e-01 -9.63489265e-05 2.25379127e+00] [ 1.57344431e-02 -7.68618724e-04 9.99875911e-01 3.44001180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.62925415399997 meters Centerline goodness : 0.999073 Centerline is valid? [True, True] Translation: X:226.65, Y:2.25, Z:3.44 [[ 9.98418668e-01 -5.39630405e-02 -1.57529153e-02 2.26651170e+02] [ 5.39682338e-02 9.98542648e-01 -9.55566356e-05 2.25476296e+00] [ 1.57351143e-02 -7.54751489e-04 9.99875911e-01 3.44084986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.65925415399997 meters Centerline goodness : 0.999007 Centerline is valid? [True, True] Translation: X:226.69, Y:2.26, Z:3.44 [[ 9.98340501e-01 -5.53904561e-02 -1.57525004e-02 2.26685465e+02] [ 5.53945924e-02 9.98464526e-01 -1.73962241e-04 2.25610393e+00] [ 1.57379487e-02 -6.98929788e-04 9.99875907e-01 3.44356863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.68925415399997 meters Centerline goodness : 0.999302 Centerline is valid? [True, True] Translation: X:226.72, Y:2.26, Z:3.44 [[ 9.98318927e-01 -5.57778050e-02 -1.57529767e-02 2.26717471e+02] [ 5.57834846e-02 9.98442886e-01 -7.89759973e-05 2.25709116e+00] [ 1.57328526e-02 -7.99912700e-04 9.99875911e-01 3.44414436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.71925415399997 meters Centerline goodness : 0.999091 Centerline is valid? [True, True] Translation: X:226.75, Y:2.26, Z:3.44 [[ 9.98312501e-01 -5.58926929e-02 -1.57529825e-02 2.26748868e+02] [ 5.58984054e-02 9.98436459e-01 -7.77945710e-05 2.25910384e+00] [ 1.57327002e-02 -8.02903310e-04 9.99875911e-01 3.44440506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.74925415399997 meters Centerline goodness : 0.999069 Centerline is valid? [True, True] Translation: X:226.78, Y:2.26, Z:3.45 [[ 9.98347134e-01 -5.52706419e-02 -1.57529868e-02 2.26782102e+02] [ 5.52762910e-02 9.98471094e-01 -7.69148357e-05 2.26022450e+00] [ 1.57331531e-02 -7.93978977e-04 9.99875911e-01 3.44521467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.77925415399997 meters Centerline goodness : 0.999069 Centerline is valid? [True, True] Translation: X:226.81, Y:2.26, Z:3.45 [[ 9.98351222e-01 -5.51967434e-02 -1.57529952e-02 2.26814791e+02] [ 5.52024110e-02 9.98475182e-01 -7.51586438e-05 2.26032025e+00] [ 1.57331233e-02 -7.94568591e-04 9.99875911e-01 3.44572915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.80925415399997 meters Centerline goodness : 0.998815 Centerline is valid? [True, True] Translation: X:226.85, Y:2.26, Z:3.45 [[ 9.98388008e-01 -5.45273183e-02 -1.57530007e-02 2.26846702e+02] [ 5.45329211e-02 9.98511970e-01 -7.39928877e-05 2.26186857e+00] [ 1.57335944e-02 -7.85183531e-04 9.99875911e-01 3.44575938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.83925415399997 meters Centerline goodness : 0.999046 Centerline is valid? [True, True] Translation: X:226.88, Y:2.27, Z:3.45 [[ 9.98523271e-01 -5.19915359e-02 -1.57530074e-02 2.26880131e+02] [ 5.19968466e-02 9.98647246e-01 -7.25405142e-05 2.26563941e+00] [ 1.57354689e-02 -7.46673316e-04 9.99875911e-01 3.44667485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.86925415399998 meters Centerline goodness : 0.998879 Centerline is valid? [True, True] Translation: X:226.91, Y:2.27, Z:3.45 [[ 9.98604314e-01 -5.04109813e-02 -1.57530153e-02 2.26910891e+02] [ 5.04161238e-02 9.98728296e-01 -7.07649285e-05 2.26784092e+00] [ 1.57365495e-02 -7.23539809e-04 9.99875911e-01 3.44703137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.89925415399998 meters Centerline goodness : 0.999342 Centerline is valid? [True, True] Translation: X:226.94, Y:2.27, Z:3.45 [[ 9.98710185e-01 -4.82680961e-02 -1.57530192e-02 2.26942369e+02] [ 4.82729863e-02 9.98834177e-01 -6.98872039e-05 2.26916783e+00] [ 1.57380273e-02 -6.90648220e-04 9.99875911e-01 3.44710088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.92925415399998 meters Centerline goodness : 0.999150 Centerline is valid? [True, True] Translation: X:226.97, Y:2.27, Z:3.45 [[ 9.98785068e-01 -4.66929434e-02 -1.57530230e-02 2.26974857e+02] [ 4.66976518e-02 9.98909067e-01 -6.90206437e-05 2.27141952e+00] [ 1.57390603e-02 -6.66692396e-04 9.99875911e-01 3.44790845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.95925415399998 meters Centerline goodness : 0.999086 Centerline is valid? [True, True] Translation: X:227.01, Y:2.27, Z:3.45 [[ 9.98977844e-01 -4.23687315e-02 -1.57530280e-02 2.27006628e+02] [ 4.23729210e-02 9.99101862e-01 -6.78748146e-05 2.27475470e+00] [ 1.57417553e-02 -5.99696374e-04 9.99875911e-01 3.44857275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.98925415399998 meters Centerline goodness : 0.998872 Centerline is valid? [True, True] Translation: X:227.04, Y:2.27, Z:3.44 [[ 9.99301093e-01 -3.38993623e-02 -1.57530330e-02 2.27044342e+02] [ 3.39025192e-02 9.99425142e-01 -6.66878982e-05 2.26973258e+00] [ 1.57462379e-02 -4.67426214e-04 9.99875911e-01 3.44345920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.01925415399998 meters Centerline goodness : 0.998850 Centerline is valid? [True, True] Translation: X:227.08, Y:2.27, Z:3.44 [[ 9.99450908e-01 -2.91492612e-02 -1.57544462e-02 2.27076561e+02] [ 2.91578191e-02 9.99574771e-01 3.13728182e-04 2.26876333e+00] [ 1.57386020e-02 -7.72921208e-04 9.99875842e-01 3.44299871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.04925415399998 meters Centerline goodness : 0.999146 Centerline is valid? [True, True] Translation: X:227.10, Y:2.28, Z:3.45 [[ 9.99470961e-01 -2.84533360e-02 -1.57545273e-02 2.27101478e+02] [ 2.84623707e-02 9.99594804e-01 3.49502618e-04 2.27746470e+00] [ 1.57381991e-02 -7.97728915e-04 9.99875829e-01 3.44576429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.07925415399998 meters Centerline goodness : 0.999318 Centerline is valid? [True, True] Translation: X:227.13, Y:2.28, Z:3.45 [[ 9.99480748e-01 -2.81080536e-02 -1.57534555e-02 2.27132171e+02] [ 2.81114971e-02 9.99604794e-01 -2.85619001e-06 2.28094047e+00] [ 1.57473099e-02 -4.39998512e-04 9.99875907e-01 3.44930737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.10925415399998 meters Centerline goodness : 0.999168 Centerline is valid? [True, True] Translation: X:227.17, Y:2.27, Z:3.44 [[ 9.99735744e-01 -1.67414207e-02 -1.57533243e-02 2.27172800e+02] [ 1.67427592e-02 9.99859829e-01 -4.69195306e-05 2.27321102e+00] [ 1.57519016e-02 -2.16846984e-04 9.99875908e-01 3.44368096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.13925415399999 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:227.20, Y:2.28, Z:3.44 [[ 9.99775123e-01 -1.41950593e-02 -1.57544837e-02 2.27201235e+02] [ 1.42045156e-02 9.99898991e-01 4.88485604e-04 2.27627383e+00] [ 1.57459582e-02 -7.12160564e-04 9.99875771e-01 3.44354185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.169254154 meters Centerline goodness : 0.999380 Centerline is valid? [True, True] Translation: X:227.22, Y:2.29, Z:3.45 [[ 9.99682064e-01 -1.96869503e-02 -1.57542026e-02 2.27221012e+02] [ 1.96955117e-02 9.99805949e-01 3.88448398e-04 2.28831544e+00] [ 1.57434981e-02 -6.98611978e-04 9.99875819e-01 3.45019233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.199254154 meters Centerline goodness : 0.999229 Centerline is valid? [True, True] Translation: X:227.25, Y:2.29, Z:3.45 [[ 9.99707632e-01 -1.83441557e-02 -1.57525380e-02 2.27250289e+02] [ 1.83455075e-02 9.99831705e-01 -5.86956086e-05 2.29020024e+00] [ 1.57509637e-02 -2.30309858e-04 9.99875919e-01 3.45100195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.229254154 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:227.28, Y:2.29, Z:3.45 [[ 9.99737284e-01 -1.66499322e-02 -1.57525359e-02 2.27278881e+02] [ 1.66510647e-02 9.99861360e-01 -5.92664601e-05 2.29280757e+00] [ 1.57513387e-02 -2.03045605e-04 9.99875919e-01 3.44942467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.25925415399996 meters Centerline goodness : 0.999398 Centerline is valid? [True, True] Translation: X:227.31, Y:2.29, Z:3.45 [[ 9.99764875e-01 -1.49020172e-02 -1.57519807e-02 2.27308843e+02] [ 1.49008385e-02 9.99888958e-01 -1.92196554e-04 2.29415611e+00] [ 1.57530957e-02 -4.25663578e-05 9.99875911e-01 3.45145553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.28925415399996 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:227.34, Y:2.30, Z:3.45 [[ 9.99773492e-01 -1.43116397e-02 -1.57525016e-02 2.27336891e+02] [ 1.43124081e-02 9.99897570e-01 -6.39648370e-05 2.29553128e+00] [ 1.57518035e-02 -1.61505882e-04 9.99875920e-01 3.45195551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.31925415399996 meters Centerline goodness : 0.999139 Centerline is valid? [True, True] Translation: X:227.36, Y:2.30, Z:3.45 [[ 9.99785741e-01 -1.34287443e-02 -1.57524814e-02 2.27364358e+02] [ 1.34293300e-02 9.99909820e-01 -6.86021032e-05 2.29657736e+00] [ 1.57519820e-02 -1.42957865e-04 9.99875920e-01 3.45233944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.34925415399996 meters Centerline goodness : 0.996814 Centerline is valid? [True, True] Translation: X:227.39, Y:2.30, Z:3.45 [[ 9.99806740e-01 -1.17618827e-02 -1.57524596e-02 2.27390967e+02] [ 1.17621878e-02 9.99930820e-01 -7.32812323e-05 2.29873717e+00] [ 1.57522318e-02 -1.12016319e-04 9.99875920e-01 3.45165082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.37925415399997 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:227.42, Y:2.30, Z:3.45 [[ 9.99835845e-01 -8.95349776e-03 -1.57517731e-02 2.27419770e+02] [ 8.95128063e-03 9.99959914e-01 -2.11253553e-04 2.30017502e+00] [ 1.57530331e-02 7.02203330e-05 9.99875911e-01 3.45266126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.40925415399997 meters Centerline goodness : 0.999225 Centerline is valid? [True, True] Translation: X:227.45, Y:2.30, Z:3.45 [[ 9.99835253e-01 -9.01905987e-03 -1.57519300e-02 2.27449575e+02] [ 9.01739074e-03 9.99959327e-01 -1.76986701e-04 2.30014176e+00] [ 1.57528856e-02 3.49162347e-05 9.99875915e-01 3.45402750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.43925415399997 meters Centerline goodness : 0.999309 Centerline is valid? [True, True] Translation: X:227.48, Y:2.30, Z:3.45 [[ 9.99839571e-01 -8.52606588e-03 -1.57524095e-02 2.27477925e+02] [ 8.52599297e-03 9.99963650e-01 -7.17867404e-05 2.30057390e+00] [ 1.57524490e-02 -6.25297090e-05 9.99875921e-01 3.45439981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.46925415399997 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:227.50, Y:2.30, Z:3.45 [[ 9.99839441e-01 -8.54139442e-03 -1.57523870e-02 2.27504106e+02] [ 8.54125022e-03 9.99963520e-01 -7.64317038e-05 2.30211889e+00] [ 1.57524652e-02 -5.81256469e-05 9.99875921e-01 3.45423965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.49925415399997 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:227.53, Y:2.30, Z:3.45 [[ 9.99830597e-01 -9.52162375e-03 -1.57517031e-02 2.27533724e+02] [ 9.51962193e-03 9.99954667e-01 -2.02062460e-04 2.30098920e+00] [ 1.57529129e-02 5.20779723e-05 9.99875914e-01 3.45495650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.52925415399997 meters Centerline goodness : 0.999417 Centerline is valid? [True, True] Translation: X:227.56, Y:2.30, Z:3.45 [[ 9.99821957e-01 -1.03883401e-02 -1.57523311e-02 2.27560787e+02] [ 1.03883173e-02 9.99946037e-01 -8.32712266e-05 2.30092920e+00] [ 1.57523461e-02 -8.03838135e-05 9.99875921e-01 3.45491915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.55925415399997 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:227.59, Y:2.30, Z:3.45 [[ 9.99798386e-01 -1.24519965e-02 -1.57523203e-02 2.27588451e+02] [ 1.24521983e-02 9.99922465e-01 -8.52786954e-05 2.30051073e+00] [ 1.57521608e-02 -1.10889513e-04 9.99875921e-01 3.45453291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.58925415399997 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:227.62, Y:2.30, Z:3.45 [[ 9.99780202e-01 -1.38351971e-02 -1.57522942e-02 2.27615761e+02] [ 1.38354985e-02 9.99904281e-01 -8.98516342e-05 2.30051145e+00] [ 1.57520295e-02 -1.28108957e-04 9.99875921e-01 3.45414738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.61925415399998 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:227.64, Y:2.30, Z:3.45 [[ 9.99781294e-01 -1.37561098e-02 -1.57522826e-02 2.27643239e+02] [ 1.37563701e-02 9.99905372e-01 -9.18326025e-05 2.30030655e+00] [ 1.57520553e-02 -1.24881712e-04 9.99875921e-01 3.45272064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.64925415399998 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:227.67, Y:2.30, Z:3.45 [[ 9.99708080e-01 -1.83201696e-02 -1.57520148e-02 2.27670697e+02] [ 1.83203073e-02 9.99832160e-01 -1.35570095e-04 2.30037992e+00] [ 1.57518547e-02 -1.53051233e-04 9.99875920e-01 3.45359580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.67925415399998 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:227.70, Y:2.30, Z:3.45 [[ 9.99678953e-01 -1.98458541e-02 -1.57522473e-02 2.27699391e+02] [ 1.98467679e-02 9.99803029e-01 -9.83311651e-05 2.30054648e+00] [ 1.57510960e-02 -2.14331599e-04 9.99875921e-01 3.45386566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.70925415399998 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:227.73, Y:2.30, Z:3.45 [[ 9.99651631e-01 -2.11774251e-02 -1.57522216e-02 2.27728694e+02] [ 2.11784418e-02 9.99775706e-01 -1.02286524e-04 2.30080264e+00] [ 1.57508546e-02 -2.31356618e-04 9.99875921e-01 3.45423776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.73925415399998 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:227.76, Y:2.30, Z:3.45 [[ 9.99595314e-01 -2.36870572e-02 -1.57522179e-02 2.27758442e+02] [ 2.36883766e-02 9.99719386e-01 -1.02848274e-04 2.30130099e+00] [ 1.57502338e-02 -2.70337818e-04 9.99875921e-01 3.45439919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.76925415399998 meters Centerline goodness : 0.998536 Centerline is valid? [True, True] Translation: X:227.79, Y:2.30, Z:3.45 [[ 9.99562336e-01 -2.50400634e-02 -1.57522161e-02 2.27787926e+02] [ 2.50415463e-02 9.99686406e-01 -1.03127301e-04 2.30330428e+00] [ 1.57498586e-02 -2.91377684e-04 9.99875921e-01 3.45304348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.79925415399998 meters Centerline goodness : 0.999225 Centerline is valid? [True, True] Translation: X:227.82, Y:2.30, Z:3.46 [[ 9.99537219e-01 -2.60239094e-02 -1.57513433e-02 2.27819074e+02] [ 2.60234662e-02 9.99661305e-01 -2.33138324e-04 2.30222303e+00] [ 1.57520756e-02 -1.76874118e-04 9.99875913e-01 3.45541671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.82925415399998 meters Centerline goodness : 0.999375 Centerline is valid? [True, True] Translation: X:227.85, Y:2.30, Z:3.46 [[ 9.99479950e-01 -2.81371168e-02 -1.57521947e-02 2.27850130e+02] [ 2.81389834e-02 9.99604015e-01 -1.03172172e-04 2.30258193e+00] [ 1.57488600e-02 -3.40132227e-04 9.99875921e-01 3.45640515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.85925415399998 meters Centerline goodness : 0.999398 Centerline is valid? [True, True] Translation: X:227.88, Y:2.30, Z:3.46 [[ 9.99445148e-01 -2.93473143e-02 -1.57521984e-02 2.27882474e+02] [ 2.93493401e-02 9.99569210e-01 -1.02603898e-04 2.30293232e+00] [ 1.57484236e-02 -3.59769660e-04 9.99875921e-01 3.45691118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.88925415399999 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:227.91, Y:2.30, Z:3.46 [[ 9.99413699e-01 -3.03994426e-02 -1.57522057e-02 2.27914170e+02] [ 3.04016169e-02 9.99537759e-01 -1.01464460e-04 2.30304454e+00] [ 1.57480089e-02 -3.77487553e-04 9.99875921e-01 3.45751770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.919254154 meters Centerline goodness : 0.999527 Centerline is valid? [True, True] Translation: X:227.95, Y:2.30, Z:3.46 [[ 9.99370175e-01 -3.17981172e-02 -1.57522131e-02 2.27945560e+02] [ 3.18004833e-02 9.99494232e-01 -1.00312416e-04 2.30315691e+00] [ 1.57474358e-02 -4.00678751e-04 9.99875921e-01 3.45802628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.949254154 meters Centerline goodness : 0.999334 Centerline is valid? [True, True] Translation: X:227.98, Y:2.30, Z:3.46 [[ 9.99242614e-01 -3.55818138e-02 -1.57522185e-02 2.27977415e+02] [ 3.55846631e-02 9.99366660e-01 -9.94538522e-05 2.30304050e+00] [ 1.57457807e-02 -4.61158860e-04 9.99875921e-01 3.45850379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.979254154 meters Centerline goodness : 0.999335 Centerline is valid? [True, True] Translation: X:228.01, Y:2.30, Z:3.46 [[ 9.99146538e-01 -3.81845886e-02 -1.57522257e-02 2.28009893e+02] [ 3.81877792e-02 9.99270576e-01 -9.83048895e-05 2.30317858e+00] [ 1.57444893e-02 -5.03321525e-04 9.99875921e-01 3.45871332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.00925415399996 meters Centerline goodness : 0.999293 Centerline is valid? [True, True] Translation: X:228.04, Y:2.30, Z:3.46 [[ 9.99033113e-01 -4.10451762e-02 -1.57522327e-02 2.28040684e+02] [ 4.10487400e-02 9.99157141e-01 -9.71544509e-05 2.30313692e+00] [ 1.57429436e-02 -5.49548792e-04 9.99875921e-01 3.45870566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.03925415399996 meters Centerline goodness : 0.999486 Centerline is valid? [True, True] Translation: X:228.07, Y:2.30, Z:3.46 [[ 9.98733783e-01 -4.77775754e-02 -1.57522380e-02 2.28073015e+02] [ 4.77819885e-02 9.98857784e-01 -9.62967117e-05 2.30231499e+00] [ 1.57388464e-02 -6.56498476e-04 9.99875921e-01 3.45888372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.06925415399996 meters Centerline goodness : 0.999251 Centerline is valid? [True, True] Translation: X:228.11, Y:2.30, Z:3.46 [[ 9.98557948e-01 -5.13214567e-02 -1.57522448e-02 2.28106556e+02] [ 5.13263276e-02 9.98681931e-01 -9.51723263e-05 2.30196601e+00] [ 1.57363666e-02 -7.13469793e-04 9.99875921e-01 3.45981016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.09925415399996 meters Centerline goodness : 0.999507 Centerline is valid? [True, True] Translation: X:228.14, Y:2.30, Z:3.46 [[ 9.98373478e-01 -5.47929293e-02 -1.57522570e-02 2.28139980e+02] [ 5.47982637e-02 9.98497442e-01 -9.31063687e-05 2.30167377e+00] [ 1.57336899e-02 -7.70241404e-04 9.99875921e-01 3.46005089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.12925415399997 meters Centerline goodness : 0.999444 Centerline is valid? [True, True] Translation: X:228.17, Y:2.30, Z:3.46 [[ 9.98014053e-01 -6.09903028e-02 -1.57522673e-02 2.28171199e+02] [ 6.09964346e-02 9.98137980e-01 -9.13367206e-05 2.30138856e+00] [ 1.57285069e-02 -8.69676809e-04 9.99875921e-01 3.45981844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.15925415399997 meters Centerline goodness : 0.999401 Centerline is valid? [True, True] Translation: X:228.20, Y:2.30, Z:3.46 [[ 9.97865433e-01 -6.33754241e-02 -1.57522723e-02 2.28203429e+02] [ 6.33818658e-02 9.97989344e-01 -9.04603820e-05 2.30151004e+00] [ 1.57263329e-02 -9.08141120e-04 9.99875921e-01 3.46010647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.18925415399997 meters Centerline goodness : 0.999443 Centerline is valid? [True, True] Translation: X:228.24, Y:2.30, Z:3.46 [[ 9.97636200e-01 -6.68870564e-02 -1.57522788e-02 2.28235092e+02] [ 6.68939523e-02 9.97760087e-01 -8.93114154e-05 2.30227325e+00] [ 1.57229688e-02 -9.64631885e-04 9.99875921e-01 3.45988994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.21925415399997 meters Centerline goodness : 0.999357 Centerline is valid? [True, True] Translation: X:228.27, Y:2.30, Z:3.46 [[ 9.97595670e-01 -6.74888477e-02 -1.57522836e-02 2.28268260e+02] [ 6.74958317e-02 9.97719552e-01 -8.84544980e-05 2.30314955e+00] [ 1.57223310e-02 -9.74971660e-04 9.99875921e-01 3.46093716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.24925415399997 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:228.30, Y:2.30, Z:3.46 [[ 9.97594215e-01 -6.75103524e-02 -1.57522932e-02 2.28301733e+02] [ 6.75173664e-02 9.97718095e-01 -8.67203274e-05 2.30401979e+00] [ 1.57222025e-02 -9.77041652e-04 9.99875921e-01 3.46171837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.27925415399997 meters Centerline goodness : 0.999293 Centerline is valid? [True, True] Translation: X:228.33, Y:2.30, Z:3.46 [[ 9.97649037e-01 -6.66953075e-02 -1.57523027e-02 2.28334273e+02] [ 6.67022480e-02 9.97772922e-01 -8.49599780e-05 2.30458470e+00] [ 1.57228875e-02 -9.65953758e-04 9.99875921e-01 3.46178102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.30925415399997 meters Centerline goodness : 0.999463 Centerline is valid? [True, True] Translation: X:228.37, Y:2.31, Z:3.46 [[ 9.97845114e-01 -6.36945343e-02 -1.57523177e-02 2.28366680e+02] [ 6.37011477e-02 9.97969016e-01 -8.20693663e-05 2.30719256e+00] [ 1.57255524e-02 -9.21548201e-04 9.99875921e-01 3.46248122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.33925415399997 meters Centerline goodness : 0.999398 Centerline is valid? [True, True] Translation: X:228.40, Y:2.31, Z:3.46 [[ 9.98000786e-01 -6.12069956e-02 -1.57523236e-02 2.28400215e+02] [ 6.12133181e-02 9.98124703e-01 -8.09246904e-05 2.30882037e+00] [ 1.57277365e-02 -8.83489091e-04 9.99875921e-01 3.46341488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.36925415399998 meters Centerline goodness : 0.999420 Centerline is valid? [True, True] Translation: X:228.43, Y:2.31, Z:3.46 [[ 9.98178659e-01 -5.82342588e-02 -1.57523336e-02 2.28432422e+02] [ 5.82402437e-02 9.98302593e-01 -7.89217875e-05 2.31067886e+00] [ 1.57301915e-02 -8.38641706e-04 9.99875921e-01 3.46399200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.39925415399998 meters Centerline goodness : 0.999419 Centerline is valid? [True, True] Translation: X:228.47, Y:2.31, Z:3.46 [[ 9.98385478e-01 -5.45738099e-02 -1.57523406e-02 2.28465483e+02] [ 5.45793628e-02 9.98509433e-01 -7.74963602e-05 2.31257881e+00] [ 1.57330900e-02 -7.82381474e-04 9.99875921e-01 3.46493972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.42925415399998 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:228.50, Y:2.32, Z:3.47 [[ 9.98802809e-01 -4.63121254e-02 -1.57523488e-02 2.28496416e+02] [ 4.63166793e-02 9.98926804e-01 -7.57980877e-05 2.31597265e+00] [ 1.57389538e-02 -6.53889146e-04 9.99875921e-01 3.46546995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.45925415399998 meters Centerline goodness : 0.999525 Centerline is valid? [True, True] Translation: X:228.53, Y:2.32, Z:3.47 [[ 9.98987175e-01 -4.21484071e-02 -1.57523528e-02 2.28528734e+02] [ 4.21524574e-02 9.99111187e-01 -7.49593059e-05 2.31838628e+00] [ 1.57415113e-02 -5.89116995e-04 9.99875921e-01 3.46794092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.48925415399998 meters Centerline goodness : 0.999545 Centerline is valid? [True, True] Translation: X:228.56, Y:2.32, Z:3.47 [[ 9.99319900e-01 -3.33406709e-02 -1.57523580e-02 2.28561077e+02] [ 3.33436452e-02 9.99443943e-01 -7.38568742e-05 2.32249860e+00] [ 1.57460612e-02 -4.51434391e-04 9.99875921e-01 3.47016803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.51925415399998 meters Centerline goodness : 0.999523 Centerline is valid? [True, True] Translation: X:228.59, Y:2.32, Z:3.47 [[ 9.99447608e-01 -2.92633332e-02 -1.57523632e-02 2.28591748e+02] [ 2.92658192e-02 9.99571662e-01 -7.27269140e-05 2.32418239e+00] [ 1.57477441e-02 -3.88319073e-04 9.99875921e-01 3.47071133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.54925415399998 meters Centerline goodness : 0.999674 Centerline is valid? [True, True] Translation: X:228.62, Y:2.33, Z:3.47 [[ 9.99546804e-01 -2.56524646e-02 -1.57523658e-02 2.28624229e+02] [ 2.56545112e-02 9.99670866e-01 -7.21655150e-05 2.32578587e+00] [ 1.57490324e-02 -3.31986434e-04 9.99875921e-01 3.47208250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.57925415399998 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:228.66, Y:2.33, Z:3.47 [[ 9.99623100e-01 -2.24837979e-02 -1.57523710e-02 2.28655011e+02] [ 2.24854696e-02 9.99747167e-01 -7.09975175e-05 2.32707429e+00] [ 1.57499846e-02 -2.83228702e-04 9.99875921e-01 3.47186036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.60925415399998 meters Centerline goodness : 0.999521 Centerline is valid? [True, True] Translation: X:228.69, Y:2.33, Z:3.47 [[ 9.99731024e-01 -1.70218235e-02 -1.57523723e-02 2.28685908e+02] [ 1.70228219e-02 9.99855099e-01 -7.07087705e-05 2.32899371e+00] [ 1.57512934e-02 -1.97460077e-04 9.99875921e-01 3.47066116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.63925415399999 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:228.71, Y:2.33, Z:3.47 [[ 9.99803298e-01 -1.20510226e-02 -1.57523723e-02 2.28714367e+02] [ 1.20514041e-02 9.99927377e-01 -7.07087705e-05 2.33059686e+00] [ 1.57520805e-02 -1.19143342e-04 9.99875921e-01 3.46807073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.669254154 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:228.74, Y:2.33, Z:3.47 [[ 9.99799840e-01 -1.23346353e-02 -1.57523684e-02 2.28742740e+02] [ 1.23350385e-02 9.99923918e-01 -7.15654793e-05 2.33080362e+00] [ 1.57520527e-02 -1.22754916e-04 9.99875921e-01 3.46851805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.699254154 meters Centerline goodness : 0.999715 Centerline is valid? [True, True] Translation: X:228.77, Y:2.33, Z:3.47 [[ 9.99819862e-01 -1.05880648e-02 -1.57523469e-02 2.28770805e+02] [ 1.05881809e-02 9.99943941e-01 -7.60342737e-05 2.33232449e+00] [ 1.57522689e-02 -9.07681205e-05 9.99875921e-01 3.46994541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.729254154 meters Centerline goodness : 0.999584 Centerline is valid? [True, True] Translation: X:228.80, Y:2.33, Z:3.47 [[ 9.99839187e-01 -8.57108693e-03 -1.57523239e-02 2.28798523e+02] [ 8.57088200e-03 9.99963266e-01 -8.05201758e-05 2.33344324e+00] [ 1.57524354e-02 -5.45040826e-05 9.99875921e-01 3.47032128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.75925415399996 meters Centerline goodness : 0.999475 Centerline is valid? [True, True] Translation: X:228.83, Y:2.33, Z:3.47 [[ 9.99854382e-01 -6.56356544e-03 -1.57522998e-02 2.28826589e+02] [ 6.56304085e-03 9.99978459e-01 -8.49972436e-05 2.33450443e+00] [ 1.57525183e-02 -1.83981204e-05 9.99875921e-01 3.47078584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.78925415399996 meters Centerline goodness : 0.999583 Centerline is valid? [True, True] Translation: X:228.86, Y:2.34, Z:3.47 [[ 9.99873393e-01 -2.25035631e-03 -1.57522744e-02 2.28855549e+02] [ 2.24922609e-03 9.99997466e-01 -8.94660175e-05 2.33584826e+00] [ 1.57524358e-02 5.40242640e-05 9.99875921e-01 3.47254270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.81925415399996 meters Centerline goodness : 0.999628 Centerline is valid? [True, True] Translation: X:228.88, Y:2.34, Z:3.47 [[ 9.99875867e-01 -3.41185336e-04 -1.57522513e-02 2.28883396e+02] [ 3.39756748e-04 9.99999938e-01 -9.33670507e-05 2.33636894e+00] [ 1.57522822e-02 8.80035271e-05 9.99875921e-01 3.47432219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.84925415399996 meters Centerline goodness : 0.999364 Centerline is valid? [True, True] Translation: X:228.91, Y:2.34, Z:3.47 [[ 9.99874740e-01 1.53990336e-03 -1.57522231e-02 2.28911517e+02] [-1.54163677e-03 9.99998807e-01 -9.78994490e-05 2.33701052e+00] [ 1.57520536e-02 1.22171392e-04 9.99875921e-01 3.47448162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.87925415399997 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:228.94, Y:2.34, Z:3.48 [[ 9.99873985e-01 1.97041267e-03 -1.57521962e-02 2.28939985e+02] [-1.97226480e-03 9.99998050e-01 -1.02045061e-04 2.33687155e+00] [ 1.57519645e-02 1.33099704e-04 9.99875921e-01 3.47627981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.90925415399997 meters Centerline goodness : 0.999694 Centerline is valid? [True, True] Translation: X:228.97, Y:2.34, Z:3.48 [[ 9.99873999e-01 1.96342863e-03 -1.57521884e-02 2.28967982e+02] [-1.96529885e-03 9.99998063e-01 -1.03248549e-04 2.33602619e+00] [ 1.57519551e-02 1.34193297e-04 9.99875921e-01 3.47726355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.93925415399997 meters Centerline goodness : 0.999585 Centerline is valid? [True, True] Translation: X:229.00, Y:2.34, Z:3.48 [[ 9.99875318e-01 1.10360636e-03 -1.57521742e-02 2.28997091e+02] [-1.10540315e-03 9.99999383e-01 -1.05359456e-04 2.33534522e+00] [ 1.57520483e-02 1.22758822e-04 9.99875921e-01 3.47796180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.96925415399997 meters Centerline goodness : 0.999542 Centerline is valid? [True, True] Translation: X:229.02, Y:2.33, Z:3.48 [[ 9.99875907e-01 -1.97483346e-04 -1.57521666e-02 2.29024943e+02] [ 1.95830191e-04 9.99999975e-01 -1.06490225e-04 2.33435810e+00] [ 1.57521872e-02 1.03392260e-04 9.99875921e-01 3.47859991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.99925415399997 meters Centerline goodness : 0.999520 Centerline is valid? [True, True] Translation: X:229.05, Y:2.33, Z:3.48 [[ 9.99869678e-01 -3.53503015e-03 -1.57521549e-02 2.29053004e+02] [ 3.53376439e-03 9.99993750e-01 -1.08188059e-04 2.33100136e+00] [ 1.57524389e-02 5.25095558e-05 9.99875921e-01 3.47761957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.02925415399997 meters Centerline goodness : 0.999586 Centerline is valid? [True, True] Translation: X:229.08, Y:2.33, Z:3.48 [[ 9.99855564e-01 -6.38133564e-03 -1.57521432e-02 2.29080546e+02] [ 6.38039650e-03 9.99979639e-01 -1.09875202e-04 2.32970821e+00] [ 1.57525236e-02 9.35441280e-06 9.99875921e-01 3.47831424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.05925415399997 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:229.11, Y:2.33, Z:3.48 [[ 9.99833303e-01 -9.23237754e-03 -1.57521312e-02 2.29108813e+02] [ 9.23176552e-03 9.99957380e-01 -1.11569102e-04 2.32806924e+00] [ 1.57524899e-02 -3.38694772e-05 9.99875921e-01 3.47761428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.08925415399997 meters Centerline goodness : 0.999479 Centerline is valid? [True, True] Translation: X:229.14, Y:2.32, Z:3.48 [[ 9.99760193e-01 -1.52127179e-02 -1.57521211e-02 2.29136930e+02] [ 1.52128260e-02 9.99884272e-01 -1.12971724e-04 2.32344844e+00] [ 1.57520168e-02 -1.26689645e-04 9.99875921e-01 3.47574331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.11925415399998 meters Centerline goodness : 0.999502 Centerline is valid? [True, True] Translation: X:229.17, Y:2.32, Z:3.48 [[ 9.99699125e-01 -1.88023903e-02 -1.57521111e-02 2.29165783e+02] [ 1.88029221e-02 9.99823203e-01 -1.14351952e-04 2.32149493e+00] [ 1.57514763e-02 -1.81868172e-04 9.99875921e-01 3.47651057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.14925415399998 meters Centerline goodness : 0.999545 Centerline is valid? [True, True] Translation: X:229.19, Y:2.32, Z:3.48 [[ 9.99664872e-01 -2.05430277e-02 -1.57520823e-02 2.29194810e+02] [ 2.05437150e-02 9.99788949e-01 -1.18193235e-04 2.31957295e+00] [ 1.57511858e-02 -2.05452665e-04 9.99875921e-01 3.47567169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.17925415399998 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:229.22, Y:2.32, Z:3.48 [[ 9.99588606e-01 -2.39687819e-02 -1.57516844e-02 2.29224295e+02] [ 2.39690765e-02 9.99712686e-01 -1.70111504e-04 2.31774466e+00] [ 1.57512361e-02 -2.07511808e-04 9.99875920e-01 3.47689691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.20925415399998 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:229.26, Y:2.31, Z:3.48 [[ 9.99534391e-01 -2.61318458e-02 -1.57520698e-02 2.29255135e+02] [ 2.61332115e-02 9.99658462e-01 -1.19166898e-04 2.31322216e+00] [ 1.57498040e-02 -2.92540760e-04 9.99875921e-01 3.47728535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.23925415399998 meters Centerline goodness : 0.999247 Centerline is valid? [True, True] Translation: X:229.29, Y:2.31, Z:3.48 [[ 9.99528901e-01 -2.63410074e-02 -1.57520719e-02 2.29285283e+02] [ 2.63424034e-02 9.99652972e-01 -1.18896722e-04 2.31123759e+00] [ 1.57497373e-02 -2.96106722e-04 9.99875921e-01 3.47740612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.26925415399998 meters Centerline goodness : 0.999226 Centerline is valid? [True, True] Translation: X:229.32, Y:2.31, Z:3.48 [[ 9.99565623e-01 -2.49086002e-02 -1.57520739e-02 2.29315997e+02] [ 2.49098225e-02 9.99689695e-01 -1.18629909e-04 2.30962376e+00] [ 1.57501409e-02 -2.73802987e-04 9.99875921e-01 3.47779129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.29925415399998 meters Centerline goodness : 0.999440 Centerline is valid? [True, True] Translation: X:229.35, Y:2.31, Z:3.48 [[ 9.99573843e-01 -2.45768382e-02 -1.57515506e-02 2.29346703e+02] [ 2.45769467e-02 9.99697924e-01 -1.86715582e-04 2.30699898e+00] [ 1.57513813e-02 -2.00489008e-04 9.99875919e-01 3.47899036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.32925415399998 meters Centerline goodness : 0.999334 Centerline is valid? [True, True] Translation: X:229.38, Y:2.31, Z:3.48 [[ 9.99605488e-01 -2.32538273e-02 -1.57520557e-02 2.29377350e+02] [ 2.32548081e-02 9.99729563e-01 -1.20919719e-04 2.30585581e+00] [ 1.57506076e-02 -2.45439019e-04 9.99875921e-01 3.47962216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.35925415399998 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:229.41, Y:2.30, Z:3.48 [[ 9.99669495e-01 -2.03168295e-02 -1.57520557e-02 2.29407093e+02] [ 2.03174459e-02 9.99793572e-01 -1.20919719e-04 2.30357646e+00] [ 1.57512608e-02 -1.99161785e-04 9.99875921e-01 3.48039909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.38925415399999 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:229.44, Y:2.30, Z:3.48 [[ 9.99706673e-01 -1.83967436e-02 -1.57520537e-02 2.29435260e+02] [ 1.83971174e-02 9.99830751e-01 -1.21187725e-04 2.30230686e+00] [ 1.57516171e-02 -1.68640204e-04 9.99875921e-01 3.48078391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.419254154 meters Centerline goodness : 0.999271 Centerline is valid? [True, True] Translation: X:229.46, Y:2.30, Z:3.48 [[ 9.99736527e-01 -1.66957662e-02 -1.57520475e-02 2.29464500e+02] [ 1.66959164e-02 9.99860606e-01 -1.21980095e-04 2.30100261e+00] [ 1.57518883e-02 -1.41046913e-04 9.99875921e-01 3.48128926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.449254154 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:229.49, Y:2.30, Z:3.48 [[ 9.99767047e-01 -1.47555318e-02 -1.57520181e-02 2.29493587e+02] [ 1.47553832e-02 9.99891126e-01 -1.25664483e-04 2.29989279e+00] [ 1.57521574e-02 -1.06791854e-04 9.99875921e-01 3.48166343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.479254154 meters Centerline goodness : 0.999058 Centerline is valid? [True, True] Translation: X:229.52, Y:2.30, Z:3.48 [[ 9.99827662e-01 -9.82453917e-03 -1.57519881e-02 2.29521590e+02] [ 9.82372083e-03 9.99951738e-01 -1.29328610e-04 2.29786031e+00] [ 1.57524984e-02 -2.54368111e-05 9.99875921e-01 3.48320134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.50925415399996 meters Centerline goodness : 0.998951 Centerline is valid? [True, True] Translation: X:229.55, Y:2.30, Z:3.48 [[ 9.99849238e-01 -7.30595247e-03 -1.57519512e-02 2.29549262e+02] [ 7.30475313e-03 9.99973311e-01 -1.33673704e-04 2.29677042e+00] [ 1.57525074e-02 1.85894360e-05 9.99875921e-01 3.48330098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.53925415399996 meters Centerline goodness : 0.999188 Centerline is valid? [True, True] Translation: X:229.58, Y:2.30, Z:3.49 [[ 9.99865720e-01 -4.51875370e-03 -1.57519134e-02 2.29576953e+02] [ 4.51714047e-03 9.99989788e-01 -1.37992433e-04 2.29557682e+00] [ 1.57523760e-02 6.68202982e-05 9.99875921e-01 3.48506202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.56925415399996 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:229.60, Y:2.29, Z:3.49 [[ 9.99875394e-01 1.03677712e-03 -1.57518719e-02 2.29604249e+02] [-1.03915182e-03 9.99999450e-01 -1.42572761e-04 2.29334511e+00] [ 1.57517154e-02 1.58923582e-04 9.99875921e-01 3.48536678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.59925415399996 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:229.63, Y:2.29, Z:3.49 [[ 9.99869581e-01 3.56385075e-03 -1.57518537e-02 2.29631704e+02] [-3.56657023e-03 9.99993629e-01 -1.44556398e-04 2.29233489e+00] [ 1.57512382e-02 2.00717637e-04 9.99875921e-01 3.48501299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.62925415399997 meters Centerline goodness : 0.998846 Centerline is valid? [True, True] Translation: X:229.66, Y:2.29, Z:3.49 [[ 9.99860149e-01 5.61806883e-03 -1.57518357e-02 2.29659534e+02] [-5.62107358e-03 9.99984191e-01 -1.46487767e-04 2.29097916e+00] [ 1.57507637e-02 2.35009508e-04 9.99875921e-01 3.48686062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.65925415399997 meters Centerline goodness : 0.998954 Centerline is valid? [True, True] Translation: X:229.69, Y:2.29, Z:3.49 [[ 9.99844220e-01 7.96342432e-03 -1.57517925e-02 2.29687876e+02] [-7.96679101e-03 9.99968253e-01 -1.50995273e-04 2.28756265e+00] [ 1.57500900e-02 2.76462990e-04 9.99875921e-01 3.48760910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.68925415399997 meters Centerline goodness : 0.998999 Centerline is valid? [True, True] Translation: X:229.72, Y:2.28, Z:3.49 [[ 9.99848690e-01 7.38104539e-03 -1.57517477e-02 2.29716323e+02] [-7.38441126e-03 9.99972723e-01 -1.55530339e-04 2.28316194e+00] [ 1.57501701e-02 2.71824189e-04 9.99875921e-01 3.48852966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.71925415399997 meters Centerline goodness : 0.998870 Centerline is valid? [True, True] Translation: X:229.74, Y:2.28, Z:3.49 [[ 9.99860803e-01 5.50071334e-03 -1.57517362e-02 2.29743495e+02] [-5.50386427e-03 9.99984841e-01 -1.56693582e-04 2.28080848e+00] [ 1.57506355e-02 2.43367189e-04 9.99875921e-01 3.48860451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.74925415399997 meters Centerline goodness : 0.999109 Centerline is valid? [True, True] Translation: X:229.77, Y:2.27, Z:3.49 [[ 9.99875932e-01 7.05846182e-05 -1.57517158e-02 2.29771260e+02] [-7.30936786e-05 9.99999985e-01 -1.58712412e-04 2.27478956e+00] [ 1.57517044e-02 1.59844072e-04 9.99875921e-01 3.48984702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.77925415399997 meters Centerline goodness : 0.999090 Centerline is valid? [True, True] Translation: X:229.80, Y:2.27, Z:3.49 [[ 9.99848833e-01 -7.36179949e-03 -1.57516982e-02 2.29800467e+02] [ 7.36018535e-03 9.99972901e-01 -1.60444202e-04 2.26801559e+00] [ 1.57524525e-02 4.44845302e-05 9.99875921e-01 3.49073184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.80925415399997 meters Centerline goodness : 0.999328 Centerline is valid? [True, True] Translation: X:229.83, Y:2.26, Z:3.49 [[ 9.99598254e-01 -2.35629985e-02 -1.57516864e-02 2.29828407e+02] [ 2.35633769e-02 9.99722332e-01 -1.61594345e-04 2.25530758e+00] [ 1.57511203e-02 -2.09633498e-04 9.99875921e-01 3.49185739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.83925415399997 meters Centerline goodness : 0.999328 Centerline is valid? [True, True] Translation: X:229.86, Y:2.26, Z:3.49 [[ 9.99597408e-01 -2.35988590e-02 -1.57516716e-02 2.29858555e+02] [ 2.35992194e-02 9.99721486e-01 -1.63021568e-04 2.25565049e+00] [ 1.57511317e-02 -2.08771218e-04 9.99875921e-01 3.49233279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.86925415399998 meters Centerline goodness : 0.999328 Centerline is valid? [True, True] Translation: X:229.89, Y:2.26, Z:3.49 [[ 9.99596561e-01 -2.36347060e-02 -1.57516658e-02 2.29888703e+02] [ 2.36350619e-02 9.99720640e-01 -1.63586375e-04 2.25599406e+00] [ 1.57511317e-02 -2.08771218e-04 9.99875921e-01 3.49280795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.89925415399998 meters Centerline goodness : 0.999328 Centerline is valid? [True, True] Translation: X:229.92, Y:2.26, Z:3.49 [[ 9.99595713e-01 -2.36705530e-02 -1.57516599e-02 2.29918851e+02] [ 2.36709044e-02 9.99719791e-01 -1.64151182e-04 2.25633872e+00] [ 1.57511317e-02 -2.08771218e-04 9.99875921e-01 3.49328311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.92925415399998 meters Centerline goodness : 0.998930 Centerline is valid? [True, True] Translation: X:229.95, Y:2.25, Z:3.49 [[ 9.99493525e-01 -2.76510377e-02 -1.57516540e-02 2.29947107e+02] [ 2.76518744e-02 9.99617600e-01 -1.64715989e-04 2.25378895e+00] [ 1.57501851e-02 -2.70930193e-04 9.99875921e-01 3.49358743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.95925415399998 meters Centerline goodness : 0.998972 Centerline is valid? [True, True] Translation: X:229.98, Y:2.25, Z:3.49 [[ 9.99384607e-01 -3.13415501e-02 -1.57516451e-02 2.29977416e+02] [ 3.13428317e-02 9.99508679e-01 -1.65556365e-04 2.25109105e+00] [ 1.57490948e-02 -3.28246680e-04 9.99875921e-01 3.49396406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.98925415399998 meters Centerline goodness : 0.999079 Centerline is valid? [True, True] Translation: X:230.01, Y:2.25, Z:3.50 [[ 9.99262928e-01 -3.50069560e-02 -1.57516451e-02 2.30008557e+02] [ 3.50086927e-02 9.99386994e-01 -1.65556365e-04 2.24855736e+00] [ 1.57477849e-02 -3.86010166e-04 9.99875921e-01 3.49526841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.01925415399998 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:230.04, Y:2.24, Z:3.50 [[ 9.98988085e-01 -4.21270869e-02 -1.57516512e-02 2.30040100e+02] [ 4.21297167e-02 9.99112136e-01 -1.64979863e-04 2.24360216e+00] [ 1.57446160e-02 -4.98799684e-04 9.99875921e-01 3.49608901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.04925415399998 meters Centerline goodness : 0.998912 Centerline is valid? [True, True] Translation: X:230.07, Y:2.24, Z:3.50 [[ 9.98832163e-01 -4.56748976e-02 -1.57516573e-02 2.30071689e+02] [ 4.56779773e-02 9.98956203e-01 -1.64391915e-04 2.24144951e+00] [ 1.57427244e-02 -5.55303912e-04 9.99875921e-01 3.49633664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.07925415399998 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:230.10, Y:2.24, Z:3.50 [[ 9.98674525e-01 -4.90008034e-02 -1.57516664e-02 2.30103437e+02] [ 4.90043100e-02 9.98798554e-01 -1.63512253e-04 2.23937801e+00] [ 1.57407539e-02 -6.08604023e-04 9.99875921e-01 3.49693968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.10925415399998 meters Centerline goodness : 0.998914 Centerline is valid? [True, True] Translation: X:230.14, Y:2.24, Z:3.50 [[ 9.98340884e-01 -5.53837963e-02 -1.57516786e-02 2.30135082e+02] [ 5.53881143e-02 9.98464887e-01 -1.62329885e-04 2.23570924e+00] [ 1.57364885e-02 -7.10395215e-04 9.99875921e-01 3.49685847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.13925415399999 meters Centerline goodness : 0.999209 Centerline is valid? [True, True] Translation: X:230.17, Y:2.23, Z:3.50 [[ 9.98193412e-01 -5.79810101e-02 -1.57516876e-02 2.30166880e+02] [ 5.79856645e-02 9.98317403e-01 -1.61449354e-04 2.23428228e+00] [ 1.57345449e-02 -7.52214394e-04 9.99875921e-01 3.49724540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.169254154 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:230.20, Y:2.23, Z:3.50 [[ 9.98038591e-01 -6.05875881e-02 -1.57516992e-02 2.30197910e+02] [ 6.05925842e-02 9.98162568e-01 -1.60311649e-04 2.23335270e+00] [ 1.57324694e-02 -7.94438950e-04 9.99875921e-01 3.49733415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.199254154 meters Centerline goodness : 0.998936 Centerline is valid? [True, True] Translation: X:230.23, Y:2.23, Z:3.50 [[ 9.97812064e-01 -6.42103504e-02 -1.57517182e-02 2.30230334e+02] [ 6.42158263e-02 9.97936021e-01 -1.58423055e-04 2.23140911e+00] [ 1.57293794e-02 -8.53433166e-04 9.99875921e-01 3.49752403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.229254154 meters Centerline goodness : 0.999064 Centerline is valid? [True, True] Translation: X:230.26, Y:2.23, Z:3.50 [[ 9.97743722e-01 -6.52636819e-02 -1.57517300e-02 2.30261665e+02] [ 6.52693073e-02 9.97867673e-01 -1.57238464e-04 2.23120004e+00] [ 1.57284042e-02 -8.71220818e-04 9.99875921e-01 3.49698221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.25925415399996 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:230.29, Y:2.23, Z:3.50 [[ 9.97705682e-01 -6.58426471e-02 -1.57517388e-02 2.30293564e+02] [ 6.58483583e-02 9.97829629e-01 -1.56355905e-04 2.23155999e+00] [ 1.57278466e-02 -8.81228966e-04 9.99875921e-01 3.49837392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.28925415399996 meters Centerline goodness : 0.999188 Centerline is valid? [True, True] Translation: X:230.32, Y:2.23, Z:3.50 [[ 9.97731780e-01 -6.54459823e-02 -1.57517504e-02 2.30324934e+02] [ 6.54516627e-02 9.97855729e-01 -1.55178079e-04 2.23257210e+00] [ 1.57281302e-02 -8.76152155e-04 9.99875921e-01 3.49858345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.31925415399996 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:230.36, Y:2.23, Z:3.50 [[ 9.97766093e-01 -6.49207693e-02 -1.57517590e-02 2.30357599e+02] [ 6.49263984e-02 9.97890044e-01 -1.54300906e-04 2.23340564e+00] [ 1.57285408e-02 -8.68748767e-04 9.99875921e-01 3.49921034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.34925415399996 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:230.39, Y:2.23, Z:3.50 [[ 9.97828775e-01 -6.39501140e-02 -1.57517703e-02 2.30390200e+02] [ 6.39556407e-02 9.97952731e-01 -1.53139532e-04 2.23412068e+00] [ 1.57293155e-02 -8.54607530e-04 9.99875921e-01 3.50005371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.37925415399997 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:230.42, Y:2.23, Z:3.50 [[ 9.97886033e-01 -6.30503508e-02 -1.57517816e-02 2.30422715e+02] [ 6.30557843e-02 9.98009992e-01 -1.51963250e-04 2.23494101e+00] [ 1.57300168e-02 -8.41598941e-04 9.99875921e-01 3.50061279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.40925415399997 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:230.45, Y:2.24, Z:3.50 [[ 9.98035452e-01 -6.06392388e-02 -1.57517929e-02 2.30454117e+02] [ 6.06443913e-02 9.98159424e-01 -1.50787100e-04 2.23649529e+00] [ 1.57319441e-02 -8.04767021e-04 9.99875921e-01 3.50096217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.43925415399997 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:230.49, Y:2.24, Z:3.50 [[ 9.98117527e-01 -5.92729575e-02 -1.57518012e-02 2.30485975e+02] [ 5.92779541e-02 9.98241505e-01 -1.49911167e-04 2.23748477e+00] [ 1.57329874e-02 -7.84105587e-04 9.99875921e-01 3.50194334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.46925415399997 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:230.52, Y:2.24, Z:3.50 [[ 9.98204114e-01 -5.77964272e-02 -1.57518123e-02 2.30517674e+02] [ 5.78012588e-02 9.98328099e-01 -1.48740536e-04 2.23846239e+00] [ 1.57340735e-02 -7.62001164e-04 9.99875921e-01 3.50267538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.49925415399997 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:230.55, Y:2.24, Z:3.50 [[ 9.98381088e-01 -5.46542140e-02 -1.57518232e-02 2.30549842e+02] [ 5.46586736e-02 9.98505086e-01 -1.47577147e-04 2.24035132e+00] [ 1.57363413e-02 -7.13635531e-04 9.99875921e-01 3.50336993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.52925415399997 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:230.58, Y:2.24, Z:3.50 [[ 9.98476992e-01 -5.28732073e-02 -1.57518340e-02 2.30581091e+02] [ 5.28774640e-02 9.98600998e-01 -1.46419157e-04 2.24168540e+00] [ 1.57375387e-02 -6.86720872e-04 9.99875921e-01 3.50344261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.55925415399997 meters Centerline goodness : 0.999142 Centerline is valid? [True, True] Translation: X:230.61, Y:2.24, Z:3.50 [[ 9.98574598e-01 -5.09965761e-02 -1.57518419e-02 2.30612894e+02] [ 5.10006133e-02 9.98698611e-01 -1.45556288e-04 2.24305670e+00] [ 1.57387655e-02 -6.58004787e-04 9.99875921e-01 3.50378320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.58925415399997 meters Centerline goodness : 0.999142 Centerline is valid? [True, True] Translation: X:230.65, Y:2.24, Z:3.50 [[ 9.98578303e-01 -5.09239725e-02 -1.57518524e-02 2.30645579e+02] [ 5.09280187e-02 9.98702316e-01 -1.44411646e-04 2.24329524e+00] [ 1.57387655e-02 -6.58004298e-04 9.99875921e-01 3.50429784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.61925415399998 meters Centerline goodness : 0.999079 Centerline is valid? [True, True] Translation: X:230.68, Y:2.25, Z:3.50 [[ 9.98789786e-01 -4.65923041e-02 -1.57518628e-02 2.30676533e+02] [ 4.65958305e-02 9.98913814e-01 -1.43266516e-04 2.24625175e+00] [ 1.57414285e-02 -5.90877997e-04 9.99875921e-01 3.50400010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.64925415399998 meters Centerline goodness : 0.999014 Centerline is valid? [True, True] Translation: X:230.71, Y:2.25, Z:3.50 [[ 9.98899476e-01 -4.41782175e-02 -1.57518705e-02 2.30708917e+02] [ 4.41814574e-02 9.99023513e-01 -1.42413528e-04 2.24785872e+00] [ 1.57427806e-02 -5.53683800e-04 9.99875921e-01 3.50418846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.67925415399998 meters Centerline goodness : 0.998993 Centerline is valid? [True, True] Translation: X:230.74, Y:2.25, Z:3.50 [[ 9.98999405e-01 -4.18577086e-02 -1.57518806e-02 2.30740982e+02] [ 4.18606781e-02 9.99123448e-01 -1.41294214e-04 2.24970919e+00] [ 1.57439875e-02 -5.18231567e-04 9.99875921e-01 3.50453943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.70925415399998 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:230.77, Y:2.25, Z:3.51 [[ 9.99112246e-01 -3.90717109e-02 -1.57518905e-02 2.30773271e+02] [ 3.90743520e-02 9.99236296e-01 -1.40179438e-04 2.25098331e+00] [ 1.57453378e-02 -4.75439921e-04 9.99875921e-01 3.50507895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.73925415399998 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:230.80, Y:2.25, Z:3.51 [[ 9.99328548e-01 -3.30806565e-02 -1.57519004e-02 2.30803719e+02] [ 3.30825715e-02 9.99452612e-01 -1.39060123e-04 2.25323101e+00] [ 1.57478782e-02 -3.82146620e-04 9.99875921e-01 3.50578428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.76925415399998 meters Centerline goodness : 0.999159 Centerline is valid? [True, True] Translation: X:230.83, Y:2.25, Z:3.51 [[ 9.99431711e-01 -2.98015386e-02 -1.57519028e-02 2.30834666e+02] [ 2.98030508e-02 9.99555781e-01 -1.38783282e-04 2.25465125e+00] [ 1.57490415e-02 -3.30750347e-04 9.99875921e-01 3.50626957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.79925415399998 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:230.86, Y:2.26, Z:3.51 [[ 9.99532100e-01 -2.62194305e-02 -1.57519028e-02 2.30864976e+02] [ 2.62204980e-02 9.99656174e-01 -1.38783282e-04 2.25595570e+00] [ 1.57501257e-02 -2.74304391e-04 9.99875921e-01 3.50756686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.82925415399998 meters Centerline goodness : 0.999098 Centerline is valid? [True, True] Translation: X:230.89, Y:2.26, Z:3.51 [[ 9.99618642e-01 -2.26814343e-02 -1.57519028e-02 2.30894385e+02] [ 2.26820627e-02 9.99742719e-01 -1.38783282e-04 2.25705883e+00] [ 1.57509980e-02 -2.18555292e-04 9.99875921e-01 3.50771141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.85925415399998 meters Centerline goodness : 0.999094 Centerline is valid? [True, True] Translation: X:230.92, Y:2.26, Z:3.51 [[ 9.99746223e-01 -1.61048774e-02 -1.57519003e-02 2.30924158e+02] [ 1.61046849e-02 9.99870301e-01 -1.39074521e-04 2.25920843e+00] [ 1.57520970e-02 -1.14640163e-04 9.99875921e-01 3.50798864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.88925415399999 meters Centerline goodness : 0.999137 Centerline is valid? [True, True] Translation: X:230.95, Y:2.26, Z:3.51 [[ 9.99749395e-01 -1.59067497e-02 -1.57518951e-02 2.30950725e+02] [ 1.59065235e-02 9.99873474e-01 -1.39651990e-04 2.26402715e+00] [ 1.57521235e-02 -1.10940898e-04 9.99875921e-01 3.51024842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.919254154 meters Centerline goodness : 0.999242 Centerline is valid? [True, True] Translation: X:230.98, Y:2.26, Z:3.51 [[ 9.99823358e-01 -1.02554716e-02 -1.57504732e-02 2.30982637e+02] [ 1.02521283e-02 9.99947403e-01 -2.93001298e-04 2.26054630e+00] [ 1.57526496e-02 1.31473670e-04 9.99875911e-01 3.50973044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.949254154 meters Centerline goodness : 0.999054 Centerline is valid? [True, True] Translation: X:231.01, Y:2.26, Z:3.51 [[ 9.99857339e-01 -6.09769270e-03 -1.57518344e-02 2.31009953e+02] [ 6.09621863e-03 9.99981408e-01 -1.41595324e-04 2.26063851e+00] [ 1.57524049e-02 4.55484980e-05 9.99875922e-01 3.51026179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.979254154 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:231.04, Y:2.26, Z:3.51 [[ 9.99854795e-01 -6.50154816e-03 -1.57518151e-02 2.31036675e+02] [ 6.50009098e-03 9.99978864e-01 -1.43705028e-04 2.26351935e+00] [ 1.57524165e-02 4.12959297e-05 9.99875922e-01 3.51352147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.00925415399996 meters Centerline goodness : 0.999158 Centerline is valid? [True, True] Translation: X:231.07, Y:2.26, Z:3.51 [[ 9.99867423e-01 -4.12858653e-03 -1.57508979e-02 2.31068049e+02] [ 4.12530545e-03 9.99991462e-01 -2.40795677e-04 2.26059021e+00] [ 1.57517575e-02 1.75786488e-04 9.99875918e-01 3.51149289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.03925415399996 meters Centerline goodness : 0.999284 Centerline is valid? [True, True] Translation: X:231.10, Y:2.26, Z:3.51 [[ 9.99868115e-01 -3.95399905e-03 -1.57517703e-02 2.31095078e+02] [ 3.95216033e-03 9.99992179e-01 -1.47858214e-04 2.26022567e+00] [ 1.57522317e-02 8.55851918e-05 9.99875922e-01 3.51093194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.06925415399996 meters Centerline goodness : 0.999159 Centerline is valid? [True, True] Translation: X:231.12, Y:2.26, Z:3.51 [[ 9.99841752e-01 -8.26766434e-03 -1.57517519e-02 2.31120851e+02] [ 8.26633035e-03 9.99965822e-01 -1.49796553e-04 2.26284270e+00] [ 1.57524520e-02 1.95636634e-05 9.99875922e-01 3.51355335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.09925415399996 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:231.15, Y:2.26, Z:3.51 [[ 9.99856174e-01 -6.29063283e-03 -1.57499201e-02 2.31153904e+02] [ 6.28618066e-03 9.99980187e-01 -3.32169650e-04 2.25754809e+00] [ 1.57516976e-02 2.33115032e-04 9.99875907e-01 3.51204331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.12925415399997 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:231.18, Y:2.26, Z:3.51 [[ 9.99847153e-01 -7.58658711e-03 -1.57516619e-02 2.31181867e+02] [ 7.58510593e-03 9.99971221e-01 -1.53775250e-04 2.25576530e+00] [ 1.57523753e-02 3.42737214e-05 9.99875923e-01 3.51168915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.15925415399997 meters Centerline goodness : 0.999075 Centerline is valid? [True, True] Translation: X:231.21, Y:2.25, Z:3.51 [[ 9.99831422e-01 -9.43478641e-03 -1.57516151e-02 2.31210267e+02] [ 9.43346112e-03 9.99955491e-01 -1.58436719e-04 2.25429425e+00] [ 1.57524088e-02 9.81776138e-06 9.99875923e-01 3.51168559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.18925415399997 meters Centerline goodness : 0.999079 Centerline is valid? [True, True] Translation: X:231.24, Y:2.25, Z:3.51 [[ 9.99803803e-01 -1.20101120e-02 -1.57515667e-02 2.31237684e+02] [ 1.20090327e-02 9.99927876e-01 -1.63103559e-04 2.25156990e+00] [ 1.57523896e-02 -2.60895222e-05 9.99875923e-01 3.51098947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.21925415399997 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:231.27, Y:2.25, Z:3.51 [[ 9.99787144e-01 -1.33250110e-02 -1.57515337e-02 2.31265975e+02] [ 1.33240457e-02 9.99911217e-01 -1.66228757e-04 2.25039724e+00] [ 1.57523503e-02 -4.36807823e-05 9.99875923e-01 3.51218291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.24925415399997 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:231.29, Y:2.25, Z:3.51 [[ 9.99756238e-01 -1.54710846e-02 -1.57514833e-02 2.31293558e+02] [ 1.54703124e-02 9.99880313e-01 -1.70878800e-04 2.24727482e+00] [ 1.57522417e-02 -7.28432213e-05 9.99875923e-01 3.51230097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.27925415399997 meters Centerline goodness : 0.999287 Centerline is valid? [True, True] Translation: X:231.32, Y:2.25, Z:3.51 [[ 9.99738329e-01 -1.65881496e-02 -1.57514312e-02 2.31320997e+02] [ 1.65874423e-02 9.99862404e-01 -1.75557624e-04 2.24600999e+00] [ 1.57521760e-02 -8.57642692e-05 9.99875923e-01 3.51252209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.30925415399997 meters Centerline goodness : 0.999287 Centerline is valid? [True, True] Translation: X:231.35, Y:2.24, Z:3.51 [[ 9.99716963e-01 -1.78293887e-02 -1.57514083e-02 2.31349213e+02] [ 1.78288035e-02 9.99841038e-01 -1.77584711e-04 2.24477309e+00] [ 1.57520707e-02 -1.03294317e-04 9.99875923e-01 3.51282400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.33925415399997 meters Centerline goodness : 0.999267 Centerline is valid? [True, True] Translation: X:231.38, Y:2.24, Z:3.51 [[ 9.99694728e-01 -1.90354005e-02 -1.57513550e-02 2.31376296e+02] [ 1.90348923e-02 9.99818803e-01 -1.82195722e-04 2.24346067e+00] [ 1.57519690e-02 -1.17685243e-04 9.99875923e-01 3.51277886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.36925415399998 meters Centerline goodness : 0.999329 Centerline is valid? [True, True] Translation: X:231.40, Y:2.24, Z:3.51 [[ 9.99652634e-01 -2.11307120e-02 -1.57513316e-02 2.31402938e+02] [ 2.11304325e-02 9.99776711e-01 -1.84192165e-04 2.24042420e+00] [ 1.57517066e-02 -1.48704267e-04 9.99875923e-01 3.51248233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.39925415399998 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:231.43, Y:2.24, Z:3.51 [[ 9.99627238e-01 -2.22998132e-02 -1.57513083e-02 2.31430643e+02] [ 2.22996477e-02 9.99751315e-01 -1.86164056e-04 2.23908389e+00] [ 1.57515426e-02 -1.65153965e-04 9.99875923e-01 3.51291638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.42925415399998 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:231.46, Y:2.24, Z:3.51 [[ 9.99605656e-01 -2.32471612e-02 -1.57512537e-02 2.31458848e+02] [ 2.32470422e-02 9.99729733e-01 -1.90672537e-04 2.23783587e+00] [ 1.57514293e-02 -1.75572714e-04 9.99875923e-01 3.51303776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.45925415399998 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:231.49, Y:2.24, Z:3.51 [[ 9.99560605e-01 -2.51096790e-02 -1.57512367e-02 2.31487666e+02] [ 2.51097692e-02 9.99684682e-01 -1.92068212e-04 2.23524946e+00] [ 1.57510928e-02 -2.03526101e-04 9.99875923e-01 3.51274541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.48925415399998 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:231.52, Y:2.23, Z:3.51 [[ 9.99544921e-01 -2.57264597e-02 -1.57511883e-02 2.31516178e+02] [ 2.57265652e-02 9.99668998e-01 -1.95960206e-04 2.23437538e+00] [ 1.57510160e-02 -2.09352944e-04 9.99875923e-01 3.51288502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.51925415399998 meters Centerline goodness : 0.999375 Centerline is valid? [True, True] Translation: X:231.54, Y:2.23, Z:3.51 [[ 9.99530508e-01 -2.62805064e-02 -1.57511388e-02 2.31544588e+02] [ 2.62806192e-02 9.99654585e-01 -1.99858314e-04 2.23416773e+00] [ 1.57509505e-02 -2.14185201e-04 9.99875923e-01 3.51301927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.54925415399998 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:231.57, Y:2.23, Z:3.51 [[ 9.99525476e-01 -2.64712319e-02 -1.57510888e-02 2.31573826e+02] [ 2.64713074e-02 9.99649553e-01 -2.03728547e-04 2.23410077e+00] [ 1.57509618e-02 -2.13320041e-04 9.99875923e-01 3.51359553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.57925415399998 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:231.60, Y:2.23, Z:3.51 [[ 9.99552692e-01 -2.54228288e-02 -1.57510367e-02 2.31602762e+02] [ 2.54227120e-02 9.99676769e-01 -2.07677302e-04 2.23368628e+00] [ 1.57512252e-02 -1.92849664e-04 9.99875923e-01 3.51330470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.60925415399998 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:231.63, Y:2.23, Z:3.51 [[ 9.99571281e-01 -2.46811674e-02 -1.57510256e-02 2.31631588e+02] [ 2.46809453e-02 9.99695357e-01 -2.08515452e-04 2.23362847e+00] [ 1.57513736e-02 -1.80324145e-04 9.99875923e-01 3.51411414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.63925415399999 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:231.66, Y:2.23, Z:3.51 [[ 9.99592694e-01 -2.37981533e-02 -1.57509717e-02 2.31660487e+02] [ 2.37977586e-02 9.99716771e-01 -2.12511544e-04 2.23381480e+00] [ 1.57515680e-02 -1.62412836e-04 9.99875923e-01 3.51439790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.669254154 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:231.69, Y:2.23, Z:3.51 [[ 9.99626641e-01 -2.23268285e-02 -1.57509167e-02 2.31688567e+02] [ 2.23261882e-02 9.99750716e-01 -2.16515954e-04 2.23399562e+00] [ 1.57518243e-02 -1.35222814e-04 9.99875923e-01 3.51427216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.699254154 meters Centerline goodness : 0.999372 Centerline is valid? [True, True] Translation: X:231.72, Y:2.23, Z:3.52 [[ 9.99703068e-01 -1.85926190e-02 -1.57508971e-02 2.31716415e+02] [ 1.85914928e-02 9.99827140e-01 -2.17932095e-04 2.23426427e+00] [ 1.57522263e-02 -7.49653062e-05 9.99875923e-01 3.51554475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.729254154 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:231.74, Y:2.24, Z:3.51 [[ 9.99646703e-01 -2.14098040e-02 -1.57508348e-02 2.31740219e+02] [ 2.14089580e-02 9.99770777e-01 -2.22343045e-04 2.24108112e+00] [ 1.57519847e-02 -1.14944469e-04 9.99875923e-01 3.51281353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.75925415399996 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:231.77, Y:2.24, Z:3.51 [[ 9.99675716e-01 -2.00130107e-02 -1.57461993e-02 2.31769288e+02] [ 2.00069677e-02 9.99799694e-01 -5.41220309e-04 2.24217480e+00] [ 1.57538767e-02 2.26011098e-04 9.99875874e-01 3.51382340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.78925415399996 meters Centerline goodness : 0.999393 Centerline is valid? [True, True] Translation: X:231.81, Y:2.23, Z:3.52 [[ 9.99794144e-01 -1.27964333e-02 -1.57454815e-02 2.31806708e+02] [ 1.27887200e-02 9.99918047e-01 -5.90467944e-04 2.23451034e+00] [ 1.57517470e-02 3.88981838e-04 9.99875858e-01 3.51702990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.81925415399996 meters Centerline goodness : 0.999372 Centerline is valid? [True, True] Translation: X:231.83, Y:2.23, Z:3.52 [[ 9.99817784e-01 -1.07850174e-02 -1.57506347e-02 2.31834631e+02] [ 1.07829264e-02 9.99941839e-01 -2.17679510e-04 2.23440918e+00] [ 1.57520663e-02 4.78019108e-05 9.99875927e-01 3.51869418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.84925415399996 meters Centerline goodness : 0.999058 Centerline is valid? [True, True] Translation: X:231.86, Y:2.23, Z:3.52 [[ 9.99819277e-01 -1.06458102e-02 -1.57505691e-02 2.31861221e+02] [ 1.06436287e-02 9.99943330e-01 -2.22329283e-04 2.23470346e+00] [ 1.57520434e-02 5.46458947e-05 9.99875927e-01 3.51810009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.87925415399997 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:231.89, Y:2.23, Z:3.52 [[ 9.99813906e-01 -1.11388199e-02 -1.57505404e-02 2.31888708e+02] [ 1.11366678e-02 9.99937960e-01 -2.24341258e-04 2.23466999e+00] [ 1.57520621e-02 4.88909730e-05 9.99875927e-01 3.51925817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.90925415399997 meters Centerline goodness : 0.998721 Centerline is valid? [True, True] Translation: X:231.91, Y:2.25, Z:3.52 [[ 9.99623295e-01 -2.24764673e-02 -1.57504734e-02 2.31906819e+02] [ 2.24756495e-02 9.99747364e-01 -2.28954375e-04 2.24551958e+00] [ 1.57516403e-02 -1.25133993e-04 9.99875927e-01 3.51640375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.93925415399997 meters Centerline goodness : 0.998669 Centerline is valid? [True, True] Translation: X:231.95, Y:2.23, Z:3.52 [[ 9.99747206e-01 -1.60542016e-02 -1.57412286e-02 2.31948392e+02] [ 1.60433988e-02 9.99870966e-01 -8.12322222e-04 2.23382494e+00] [ 1.57522386e-02 5.59574063e-04 9.99875769e-01 3.52032395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.96925415399997 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:231.98, Y:2.23, Z:3.52 [[ 9.99694223e-01 -1.90632227e-02 -1.57497016e-02 2.31975453e+02] [ 1.90619884e-02 9.99818278e-01 -2.28502733e-04 2.23338212e+00] [ 1.57511955e-02 -7.17877659e-05 9.99875940e-01 3.52092661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.99925415399997 meters Centerline goodness : 0.998558 Centerline is valid? [True, True] Translation: X:232.00, Y:2.23, Z:3.52 [[ 9.99619878e-01 -2.26284547e-02 -1.57496729e-02 2.32003580e+02] [ 2.26276319e-02 9.99743936e-01 -2.30461864e-04 2.23323070e+00] [ 1.57508550e-02 -1.26003542e-04 9.99875940e-01 3.52176403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.02925415399997 meters Centerline goodness : 0.998643 Centerline is valid? [True, True] Translation: X:232.03, Y:2.23, Z:3.52 [[ 9.99412474e-01 -3.04410465e-02 -1.57496044e-02 2.32031934e+02] [ 3.04411211e-02 9.99536534e-01 -2.35053112e-04 2.23255638e+00] [ 1.57494602e-02 -2.44520601e-04 9.99875940e-01 3.52257415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.05925415399997 meters Centerline goodness : 0.998914 Centerline is valid? [True, True] Translation: X:232.06, Y:2.23, Z:3.52 [[ 9.99271366e-01 -3.47661768e-02 -1.57495873e-02 2.32061352e+02] [ 3.47667703e-02 9.99395425e-01 -2.36191984e-04 2.23244632e+00] [ 1.57482770e-02 -3.11542398e-04 9.99875940e-01 3.52287690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.08925415399997 meters Centerline goodness : 0.998767 Centerline is valid? [True, True] Translation: X:232.09, Y:2.23, Z:3.52 [[ 9.99099612e-01 -3.93943646e-02 -1.57495788e-02 2.32091611e+02] [ 3.93955238e-02 9.99223667e-01 -2.36758566e-04 2.23242785e+00] [ 1.57466788e-02 -3.83917516e-04 9.99875940e-01 3.52352260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.11925415399998 meters Centerline goodness : 0.998725 Centerline is valid? [True, True] Translation: X:232.12, Y:2.23, Z:3.52 [[ 9.98904943e-01 -4.40552620e-02 -1.57495788e-02 2.32121778e+02] [ 4.40570000e-02 9.99028991e-01 -2.36758566e-04 2.23200806e+00] [ 1.57447163e-02 -4.57379891e-04 9.99875940e-01 3.52362897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.14925415399998 meters Centerline goodness : 0.999021 Centerline is valid? [True, True] Translation: X:232.15, Y:2.23, Z:3.52 [[ 9.98439388e-01 -5.35792702e-02 -1.57495831e-02 2.32154049e+02] [ 5.35821957e-02 9.98563414e-01 -2.36472029e-04 2.23155380e+00] [ 1.57396275e-02 -6.07794255e-04 9.99875940e-01 3.52464819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.17925415399998 meters Centerline goodness : 0.999393 Centerline is valid? [True, True] Translation: X:232.19, Y:2.23, Z:3.53 [[ 9.98192957e-01 -5.79894096e-02 -1.57496002e-02 2.32187128e+02] [ 5.79929009e-02 9.98316968e-01 -2.35324856e-04 2.23082613e+00] [ 1.57367395e-02 -6.78465392e-04 9.99875940e-01 3.52553156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.20925415399998 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:232.22, Y:2.23, Z:3.53 [[ 9.97544999e-01 -6.82341013e-02 -1.57506131e-02 2.32216894e+02] [ 6.82399374e-02 9.97668925e-01 -1.67244254e-04 2.23215894e+00] [ 1.57253090e-02 -9.07987180e-04 9.99875937e-01 3.52507599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.23925415399998 meters Centerline goodness : 0.999329 Centerline is valid? [True, True] Translation: X:232.25, Y:2.23, Z:3.53 [[ 9.97216233e-01 -7.28816447e-02 -1.57496250e-02 2.32249301e+02] [ 7.28870105e-02 9.97340177e-01 -2.33804824e-04 2.23286563e+00] [ 1.57247739e-02 -9.14789118e-04 9.99875940e-01 3.52628794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.26925415399998 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:232.28, Y:2.23, Z:3.53 [[ 9.96912439e-01 -7.69255360e-02 -1.57496421e-02 2.32281663e+02] [ 7.69314228e-02 9.97036359e-01 -2.32645238e-04 2.23377423e+00] [ 1.57208622e-02 -9.79715445e-04 9.99875940e-01 3.52698435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.29925415399998 meters Centerline goodness : 0.999539 Centerline is valid? [True, True] Translation: X:232.32, Y:2.23, Z:3.53 [[ 9.96645042e-01 -8.03156803e-02 -1.57496592e-02 2.32319395e+02] [ 8.03220067e-02 9.96768941e-01 -2.31485652e-04 2.23109827e+00] [ 1.57173630e-02 -1.03433520e-03 9.99875940e-01 3.52855598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.32925415399998 meters Centerline goodness : 0.999077 Centerline is valid? [True, True] Translation: X:232.34, Y:2.24, Z:3.53 [[ 9.96202513e-01 -8.56292714e-02 -1.57537376e-02 2.32344299e+02] [ 8.56405351e-02 9.96326100e-01 4.05173903e-05 2.23529650e+00] [ 1.56923905e-02 -1.38952205e-03 9.99875901e-01 3.52729886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.35925415399998 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:232.38, Y:2.24, Z:3.53 [[ 9.96028586e-01 -8.76299822e-02 -1.57493392e-02 2.32375663e+02] [ 8.76370252e-02 9.96152444e-01 -2.43733998e-04 2.23742862e+00] [ 1.57101012e-02 -1.13745921e-03 9.99875942e-01 3.52947461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.38925415399999 meters Centerline goodness : 0.999392 Centerline is valid? [True, True] Translation: X:232.41, Y:2.24, Z:3.53 [[ 9.96108326e-01 -8.67188554e-02 -1.57493528e-02 2.32411373e+02] [ 8.67257989e-02 9.96232190e-01 -2.42856097e-04 2.23853162e+00] [ 1.57110724e-02 -1.12396422e-03 9.99875942e-01 3.53063427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.419254154 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:232.44, Y:2.24, Z:3.53 [[ 9.96001200e-01 -8.79402529e-02 -1.57518969e-02 2.32438828e+02] [ 8.79499952e-02 9.96124888e-01 -7.45205878e-05 2.24261425e+00] [ 1.56974099e-02 -1.31115666e-03 9.99875928e-01 3.53026551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.449254154 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:232.47, Y:2.24, Z:3.53 [[ 9.96092410e-01 -8.69014917e-02 -1.57493082e-02 2.32471301e+02] [ 8.69084620e-02 9.96216272e-01 -2.42592031e-04 2.24473595e+00] [ 1.57107987e-02 -1.12710408e-03 9.99875943e-01 3.53031719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.47925415399996 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:232.50, Y:2.25, Z:3.53 [[ 9.96101798e-01 -8.67938081e-02 -1.57493510e-02 2.32504826e+02] [ 8.68008092e-02 9.96225658e-01 -2.39785851e-04 2.24515002e+00] [ 1.57107195e-02 -1.12820529e-03 9.99875943e-01 3.53084466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.50925415399996 meters Centerline goodness : 0.999393 Centerline is valid? [True, True] Translation: X:232.54, Y:2.25, Z:3.53 [[ 9.96372596e-01 -8.36277946e-02 -1.57493767e-02 2.32536804e+02] [ 8.36344288e-02 9.96496475e-01 -2.38083743e-04 2.24921674e+00] [ 1.57141088e-02 -1.07997001e-03 9.99875943e-01 3.53189074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.53925415399996 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:232.57, Y:2.25, Z:3.53 [[ 9.96651327e-01 -8.02377091e-02 -1.57493943e-02 2.32571471e+02] [ 8.02439403e-02 9.96775227e-01 -2.36910472e-04 2.25028966e+00] [ 1.57176153e-02 -1.02767632e-03 9.99875943e-01 3.53223452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.56925415399996 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:232.60, Y:2.25, Z:3.53 [[ 9.96763113e-01 -7.88364666e-02 -1.57514368e-02 2.32599447e+02] [ 7.88446974e-02 9.96886906e-01 -9.87368064e-05 2.25426844e+00] [ 1.57101851e-02 -1.14350006e-03 9.99875934e-01 3.53249074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.59925415399996 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:232.63, Y:2.26, Z:3.53 [[ 9.96992785e-01 -7.58771677e-02 -1.57493715e-02 2.32631593e+02] [ 7.58828654e-02 9.97116711e-01 -2.36362138e-04 2.25692272e+00] [ 1.57218960e-02 -9.59456090e-04 9.99875943e-01 3.53241814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.62925415399997 meters Centerline goodness : 0.998891 Centerline is valid? [True, True] Translation: X:232.66, Y:2.26, Z:3.53 [[ 9.97497410e-01 -6.89265867e-02 -1.57493888e-02 2.32663580e+02] [ 6.89314389e-02 9.97621372e-01 -2.35198294e-04 2.26261820e+00] [ 1.57281383e-02 -8.51018347e-04 9.99875943e-01 3.53232456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.65925415399997 meters Centerline goodness : 0.999226 Centerline is valid? [True, True] Translation: X:232.70, Y:2.27, Z:3.53 [[ 9.97712924e-01 -6.57333884e-02 -1.57494061e-02 2.32695088e+02] [ 6.57378621e-02 9.97836900e-01 -2.34036721e-04 2.26633615e+00] [ 1.57307226e-02 -8.01830825e-04 9.99875943e-01 3.53401551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.68925415399997 meters Centerline goodness : 0.999372 Centerline is valid? [True, True] Translation: X:232.73, Y:2.27, Z:3.53 [[ 9.97968377e-01 -6.17339001e-02 -1.57494189e-02 2.32727521e+02] [ 6.17378905e-02 9.98092370e-01 -2.33173985e-04 2.26914118e+00] [ 1.57337696e-02 -7.39635635e-04 9.99875943e-01 3.53445417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.71925415399997 meters Centerline goodness : 0.999140 Centerline is valid? [True, True] Translation: X:232.76, Y:2.27, Z:3.54 [[ 9.98194022e-01 -5.79711062e-02 -1.57494398e-02 2.32760099e+02] [ 5.79746514e-02 9.98318029e-01 -2.31751385e-04 2.27249888e+00] [ 1.57363846e-02 -6.81735436e-04 9.99875943e-01 3.53579791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.74925415399997 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:232.79, Y:2.28, Z:3.54 [[ 9.98647768e-01 -4.95438160e-02 -1.57494566e-02 2.32791014e+02] [ 4.95463325e-02 9.98771800e-01 -2.30603115e-04 2.27792236e+00] [ 1.57415381e-02 -5.50036528e-04 9.99875943e-01 3.53653569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.77925415399997 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:232.82, Y:2.28, Z:3.54 [[ 9.98856574e-01 -4.51386591e-02 -1.57494691e-02 2.32823105e+02] [ 4.51406420e-02 9.98980615e-01 -2.29748261e-04 2.28080502e+00] [ 1.57437849e-02 -4.81455586e-04 9.99875943e-01 3.53723390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.80925415399997 meters Centerline goodness : 0.999200 Centerline is valid? [True, True] Translation: X:232.85, Y:2.28, Z:3.54 [[ 9.99035089e-01 -4.09981006e-02 -1.57494855e-02 2.32853891e+02] [ 4.09995871e-02 9.99159137e-01 -2.28617310e-04 2.28399406e+00] [ 1.57456152e-02 -4.17325689e-04 9.99875943e-01 3.53814034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.83925415399997 meters Centerline goodness : 0.999050 Centerline is valid? [True, True] Translation: X:232.89, Y:2.29, Z:3.54 [[ 9.99352203e-01 -3.23593509e-02 -1.57495109e-02 2.32885506e+02] [ 3.23597927e-02 9.99476259e-01 -2.26858161e-04 2.28939635e+00] [ 1.57486032e-02 -2.82939703e-04 9.99875943e-01 3.53921233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.86925415399998 meters Centerline goodness : 0.999135 Centerline is valid? [True, True] Translation: X:232.92, Y:2.29, Z:3.54 [[ 9.99470489e-01 -2.84727056e-02 -1.57495228e-02 2.32915711e+02] [ 2.84726780e-02 9.99594546e-01 -2.26024398e-04 2.29204407e+00] [ 1.57495726e-02 -2.22526377e-04 9.99875943e-01 3.54055171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.89925415399998 meters Centerline goodness : 0.998921 Centerline is valid? [True, True] Translation: X:232.95, Y:2.29, Z:3.54 [[ 9.99564989e-01 -2.49356207e-02 -1.57495228e-02 2.32946573e+02] [ 2.49351542e-02 9.99689045e-01 -2.26024398e-04 2.29424260e+00] [ 1.57502615e-02 -1.66790705e-04 9.99875943e-01 3.54134364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.92925415399998 meters Centerline goodness : 0.998984 Centerline is valid? [True, True] Translation: X:232.98, Y:2.30, Z:3.54 [[ 9.99713610e-01 -1.80180847e-02 -1.57495228e-02 2.32975929e+02] [ 1.80167597e-02 9.99837659e-01 -2.26024398e-04 2.29771747e+00] [ 1.57510386e-02 -5.77957018e-05 9.99875943e-01 3.54195454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.95925415399998 meters Centerline goodness : 0.999090 Centerline is valid? [True, True] Translation: X:233.00, Y:2.30, Z:3.54 [[ 9.99773435e-01 -1.43189312e-02 -1.57495150e-02 2.33004167e+02] [ 1.43171386e-02 9.99897479e-01 -2.26567829e-04 2.29909330e+00] [ 1.57511446e-02 1.02850770e-06 9.99875943e-01 3.54158427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.98925415399998 meters Centerline goodness : 0.998941 Centerline is valid? [True, True] Translation: X:233.03, Y:2.30, Z:3.54 [[ 9.99807096e-01 -1.17356297e-02 -1.57494862e-02 2.33032161e+02] [ 1.17334853e-02 9.99931134e-01 -2.28553236e-04 2.30109529e+00] [ 1.57510838e-02 4.37127817e-05 9.99875943e-01 3.54320775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.01925415399998 meters Centerline goodness : 0.999092 Centerline is valid? [True, True] Translation: X:233.06, Y:2.30, Z:3.54 [[ 9.99830939e-01 -9.48935200e-03 -1.57494667e-02 2.33059914e+02] [ 9.48690797e-03 9.99954972e-01 -2.29887348e-04 2.30273707e+00] [ 1.57509390e-02 8.04347414e-05 9.99875943e-01 3.54341453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.04925415399998 meters Centerline goodness : 0.999236 Centerline is valid? [True, True] Translation: X:233.09, Y:2.30, Z:3.54 [[ 9.99846727e-01 -7.64718423e-03 -1.57494037e-02 2.33088122e+02] [ 7.64444488e-03 9.99970753e-01 -2.34128681e-04 2.30395265e+00] [ 1.57507335e-02 1.13697347e-04 9.99875943e-01 3.54378590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.07925415399998 meters Centerline goodness : 0.999026 Centerline is valid? [True, True] Translation: X:233.12, Y:2.31, Z:3.55 [[ 9.99862362e-01 -5.21687844e-03 -1.57493400e-02 2.33115931e+02] [ 5.21377132e-03 9.99986380e-01 -2.38338960e-04 2.30511349e+00] [ 1.57503688e-02 1.56192698e-04 9.99875943e-01 3.54511338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.10925415399998 meters Centerline goodness : 0.999046 Centerline is valid? [True, True] Translation: X:233.14, Y:2.31, Z:3.55 [[ 9.99864017e-01 -4.88956861e-03 -1.57492702e-02 2.33143331e+02] [ 4.88634960e-03 9.99988032e-01 -2.42865430e-04 2.30551722e+00] [ 1.57502692e-02 1.65875965e-04 9.99875943e-01 3.54584072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.13925415399999 meters Centerline goodness : 0.999152 Centerline is valid? [True, True] Translation: X:233.17, Y:2.31, Z:3.55 [[ 9.99856821e-01 -6.18871084e-03 -1.57491981e-02 2.33170989e+02] [ 6.18558079e-03 9.99980839e-01 -2.47448479e-04 2.30514818e+00] [ 1.57504278e-02 1.49995112e-04 9.99875943e-01 3.54590195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.169254154 meters Centerline goodness : 0.999026 Centerline is valid? [True, True] Translation: X:233.20, Y:2.30, Z:3.55 [[ 9.99847735e-01 -7.51480017e-03 -1.57491250e-02 2.33198954e+02] [ 7.51176264e-03 9.99971755e-01 -2.52017646e-04 2.30461582e+00] [ 1.57505740e-02 1.33675584e-04 9.99875943e-01 3.54629211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.199254154 meters Centerline goodness : 0.999302 Centerline is valid? [True, True] Translation: X:233.23, Y:2.30, Z:3.55 [[ 9.99834682e-01 -9.08718964e-03 -1.57490504e-02 2.33226192e+02] [ 9.08427501e-03 9.99958704e-01 -2.56597154e-04 2.30415727e+00] [ 1.57507318e-02 1.13486028e-04 9.99875943e-01 3.54673952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.22925415399996 meters Centerline goodness : 0.999092 Centerline is valid? [True, True] Translation: X:233.25, Y:2.30, Z:3.55 [[ 9.99814099e-01 -1.11236623e-02 -1.57490179e-02 2.33254417e+02] [ 1.11209691e-02 9.99938127e-01 -2.58579592e-04 2.30367153e+00] [ 1.57509198e-02 8.33871810e-05 9.99875943e-01 3.54715129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.25925415399996 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:233.28, Y:2.30, Z:3.55 [[ 9.99755925e-01 -1.54939334e-02 -1.57489425e-02 2.33283650e+02] [ 1.54917113e-02 9.99879962e-01 -2.63090186e-04 2.30178350e+00] [ 1.57511283e-02 1.90479023e-05 9.99875943e-01 3.54819796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.28925415399996 meters Centerline goodness : 0.999031 Centerline is valid? [True, True] Translation: X:233.31, Y:2.30, Z:3.55 [[ 9.99708072e-01 -1.83232605e-02 -1.57489234e-02 2.33310464e+02] [ 1.83213715e-02 9.99832115e-01 -2.64231189e-04 2.30079454e+00] [ 1.57511209e-02 -2.43878223e-05 9.99875943e-01 3.54839557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.31925415399996 meters Centerline goodness : 0.999096 Centerline is valid? [True, True] Translation: X:233.34, Y:2.30, Z:3.55 [[ 9.99641794e-01 -2.16392500e-02 -1.57488898e-02 2.33338198e+02] [ 2.16377412e-02 9.99765841e-01 -2.66215294e-04 2.29974727e+00] [ 1.57509628e-02 -7.46504676e-05 9.99875943e-01 3.54875582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.34925415399996 meters Centerline goodness : 0.999096 Centerline is valid? [True, True] Translation: X:233.37, Y:2.30, Z:3.55 [[ 9.99557792e-01 -2.52229068e-02 -1.57488125e-02 2.33367083e+02] [ 2.52217718e-02 9.99681844e-01 -2.70715799e-04 2.29844286e+00] [ 1.57506301e-02 -1.26616868e-04 9.99875943e-01 3.54940492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.37925415399997 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:233.40, Y:2.30, Z:3.55 [[ 9.99331132e-01 -3.30040117e-02 -1.57487442e-02 2.33396480e+02] [ 3.30037809e-02 9.99455189e-01 -2.74629167e-04 2.29521338e+00] [ 1.57492280e-02 -2.45322627e-04 9.99875943e-01 3.55130720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.40925415399997 meters Centerline goodness : 0.998952 Centerline is valid? [True, True] Translation: X:233.43, Y:2.29, Z:3.55 [[ 9.99200776e-01 -3.67394407e-02 -1.57487340e-02 2.33427993e+02] [ 3.67396644e-02 9.99324833e-01 -2.75214782e-04 2.29345762e+00] [ 1.57482122e-02 -3.03608377e-04 9.99875943e-01 3.54990871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.43925415399997 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:233.46, Y:2.29, Z:3.55 [[ 9.99017159e-01 -4.14329793e-02 -1.57487680e-02 2.33460497e+02] [ 4.14338166e-02 9.99141213e-01 -2.73256651e-04 2.29225412e+00] [ 1.57465650e-02 -3.79543481e-04 9.99875943e-01 3.55206219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.46925415399997 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:233.49, Y:2.29, Z:3.55 [[ 9.98830289e-01 -4.57168419e-02 -1.57487880e-02 2.33491238e+02] [ 4.57182295e-02 9.98954338e-01 -2.72096628e-04 2.29063312e+00] [ 1.57447595e-02 -4.48228351e-04 9.99875943e-01 3.55252543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.49925415399997 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:233.52, Y:2.29, Z:3.55 [[ 9.98380418e-01 -5.46673256e-02 -1.57488197e-02 2.33523533e+02] [ 5.46698541e-02 9.98504449e-01 -2.70248441e-04 2.28700878e+00] [ 1.57400403e-02 -5.91174925e-04 9.99875943e-01 3.55266514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.52925415399997 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:233.55, Y:2.29, Z:3.55 [[ 9.98136652e-01 -5.89508143e-02 -1.57488395e-02 2.33554575e+02] [ 5.89538932e-02 9.98260670e-01 -2.69092792e-04 2.28562004e+00] [ 1.57373103e-02 -6.59864021e-04 9.99875943e-01 3.55209159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.55925415399997 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:233.59, Y:2.28, Z:3.55 [[ 9.97877225e-01 -6.31903196e-02 -1.57488723e-02 2.33586478e+02] [ 6.31939557e-02 9.98001229e-01 -2.67155047e-04 2.28462129e+00] [ 1.57342756e-02 -7.28645605e-04 9.99875943e-01 3.55280597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.58925415399997 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:233.62, Y:2.28, Z:3.55 [[ 9.97365393e-01 -7.08113365e-02 -1.57488912e-02 2.33619146e+02] [ 7.08159374e-02 9.97489364e-01 -2.66036412e-04 2.28263910e+00] [ 1.57281899e-02 -8.49936986e-04 9.99875943e-01 3.55334941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.61925415399998 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:233.65, Y:2.28, Z:3.55 [[ 9.97156958e-01 -7.36883470e-02 -1.57489207e-02 2.33651872e+02] [ 7.36933332e-02 9.97280915e-01 -2.64280674e-04 2.28247576e+00] [ 1.57255725e-02 -8.97061148e-04 9.99875943e-01 3.55367355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.64925415399998 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:233.68, Y:2.28, Z:3.55 [[ 9.96986064e-01 -7.59655147e-02 -1.57489498e-02 2.33684351e+02] [ 7.59708115e-02 9.97110007e-01 -2.62534636e-04 2.28250248e+00] [ 1.57233790e-02 -9.34717124e-04 9.99875943e-01 3.55276121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.67925415399998 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:233.72, Y:2.28, Z:3.55 [[ 9.96795499e-01 -7.84264227e-02 -1.57489738e-02 2.33717112e+02] [ 7.84320482e-02 9.96919428e-01 -2.61087508e-04 2.28272897e+00] [ 1.57209341e-02 -9.74973420e-04 9.99875943e-01 3.55437903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.70925415399998 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:233.75, Y:2.28, Z:3.56 [[ 9.96759426e-01 -7.88835574e-02 -1.57490019e-02 2.33749671e+02] [ 7.88892666e-02 9.96883351e-01 -2.59379304e-04 2.28378272e+00] [ 1.57203786e-02 -9.83888446e-04 9.99875943e-01 3.55523483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.73925415399998 meters Centerline goodness : 0.999351 Centerline is valid? [True, True] Translation: X:233.78, Y:2.28, Z:3.56 [[ 9.96808450e-01 -7.82616293e-02 -1.57490303e-02 2.33782391e+02] [ 7.82672885e-02 9.96932377e-01 -2.57643266e-04 2.28497598e+00] [ 1.57208818e-02 -9.75812916e-04 9.99875943e-01 3.55587363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.76925415399998 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:233.81, Y:2.29, Z:3.56 [[ 9.96896309e-01 -7.71343990e-02 -1.57490588e-02 2.33814321e+02] [ 7.71399457e-02 9.97020242e-01 -2.55889032e-04 2.28694096e+00] [ 1.57218683e-02 -9.59786712e-04 9.99875943e-01 3.55606652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.79925415399998 meters Centerline goodness : 0.998974 Centerline is valid? [True, True] Translation: X:233.85, Y:2.29, Z:3.56 [[ 9.97192507e-01 -7.32056638e-02 -1.57491036e-02 2.33847257e+02] [ 7.32107659e-02 9.97316459e-01 -2.53104896e-04 2.29045726e+00] [ 1.57253689e-02 -9.00609631e-04 9.99875943e-01 3.55754723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.82925415399998 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:233.88, Y:2.29, Z:3.56 [[ 9.97391634e-01 -7.04407068e-02 -1.57491317e-02 2.33880735e+02] [ 7.04454930e-02 9.97515599e-01 -2.51342393e-04 2.29234472e+00] [ 1.57277093e-02 -8.58768548e-04 9.99875943e-01 3.55833910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.85925415399998 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] Translation: X:233.91, Y:2.29, Z:3.56 [[ 9.97573144e-01 -6.78217233e-02 -1.57491597e-02 2.33913212e+02] [ 6.78262119e-02 9.97697120e-01 -2.49577160e-04 2.29416353e+00] [ 1.57298180e-02 -8.19234369e-04 9.99875943e-01 3.55916759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.88925415399999 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:233.94, Y:2.30, Z:3.56 [[ 9.97753947e-01 -6.51077879e-02 -1.57491827e-02 2.33944327e+02] [ 6.51119622e-02 9.97877934e-01 -2.48113577e-04 2.29634111e+00] [ 1.57319161e-02 -7.77903890e-04 9.99875943e-01 3.55974013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.919254154 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:233.98, Y:2.30, Z:3.56 [[ 9.98092678e-01 -5.96905976e-02 -1.57492139e-02 2.33977487e+02] [ 5.96941302e-02 9.98216685e-01 -2.46117792e-04 2.29958914e+00] [ 1.57358190e-02 -6.94487260e-04 9.99875943e-01 3.56173139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.949254154 meters Centerline goodness : 0.999013 Centerline is valid? [True, True] Translation: X:234.01, Y:2.30, Z:3.56 [[ 9.98248125e-01 -5.70319353e-02 -1.57492410e-02 2.34009006e+02] [ 5.70351651e-02 9.98372140e-01 -2.44374182e-04 2.30139994e+00] [ 1.57375406e-02 -6.54314490e-04 9.99875943e-01 3.56141802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.97925415399996 meters Centerline goodness : 0.998909 Centerline is valid? [True, True] Translation: X:234.04, Y:2.30, Z:3.56 [[ 9.98386703e-01 -5.45522905e-02 -1.57492543e-02 2.34041083e+02] [ 5.45552258e-02 9.98510725e-01 -2.43511357e-04 2.30325475e+00] [ 1.57390835e-02 -6.16085625e-04 9.99875943e-01 3.56261752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.00925415399996 meters Centerline goodness : 0.999075 Centerline is valid? [True, True] Translation: X:234.07, Y:2.31, Z:3.56 [[ 9.98644379e-01 -4.96121481e-02 -1.57492724e-02 2.34073413e+02] [ 4.96144883e-02 9.98768414e-01 -2.42334747e-04 2.30674268e+00] [ 1.57418986e-02 -5.39385860e-04 9.99875943e-01 3.56253413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.03925415399996 meters Centerline goodness : 0.998992 Centerline is valid? [True, True] Translation: X:234.10, Y:2.31, Z:3.56 [[ 9.98758751e-01 -4.72537586e-02 -1.57492903e-02 2.34104452e+02] [ 4.72558243e-02 9.98882790e-01 -2.41165962e-04 2.30853215e+00] [ 1.57430911e-02 -5.03379082e-04 9.99875943e-01 3.56262027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.06925415399996 meters Centerline goodness : 0.999159 Centerline is valid? [True, True] Translation: X:234.14, Y:2.31, Z:3.56 [[ 9.98854902e-01 -4.51757100e-02 -1.57493036e-02 2.34136123e+02] [ 4.51775313e-02 9.98978945e-01 -2.40295951e-04 2.31048254e+00] [ 1.57440782e-02 -4.71493869e-04 9.99875943e-01 3.56351226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.09925415399996 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:234.17, Y:2.31, Z:3.56 [[ 9.99029066e-01 -4.11446830e-02 -1.57493213e-02 2.34167727e+02] [ 4.11460222e-02 9.99153115e-01 -2.39129831e-04 2.31369962e+00] [ 1.57458224e-02 -4.09124272e-04 9.99875943e-01 3.56376785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.12925415399997 meters Centerline goodness : 0.999076 Centerline is valid? [True, True] Translation: X:234.20, Y:2.32, Z:3.56 [[ 9.99100109e-01 -3.93818583e-02 -1.57493494e-02 2.34199387e+02] [ 3.93830079e-02 9.99224160e-01 -2.37267668e-04 2.31543126e+00] [ 1.57464744e-02 -3.83202597e-04 9.99875943e-01 3.56484336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.15925415399997 meters Centerline goodness : 0.998971 Centerline is valid? [True, True] Translation: X:234.23, Y:2.32, Z:3.56 [[ 9.99176865e-01 -3.73838267e-02 -1.57493670e-02 2.34230423e+02] [ 3.73847468e-02 9.99300918e-01 -2.36089504e-04 2.31669665e+00] [ 1.57471829e-02 -3.52890929e-04 9.99875943e-01 3.56326521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.18925415399997 meters Centerline goodness : 0.998927 Centerline is valid? [True, True] Translation: X:234.26, Y:2.32, Z:3.57 [[ 9.99223891e-01 -3.61050228e-02 -1.57493801e-02 2.34262198e+02] [ 3.61057979e-02 9.99347945e-01 -2.35212083e-04 2.31903769e+00] [ 1.57476030e-02 -3.33614403e-04 9.99875943e-01 3.56597736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.21925415399997 meters Centerline goodness : 0.999139 Centerline is valid? [True, True] Translation: X:234.29, Y:2.32, Z:3.57 [[ 9.99352426e-01 -3.23525051e-02 -1.57493976e-02 2.34293454e+02] [ 3.23528329e-02 9.99476483e-01 -2.34038299e-04 2.32234623e+00] [ 1.57487242e-02 -2.75650885e-04 9.99875943e-01 3.56672424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.24925415399997 meters Centerline goodness : 0.998991 Centerline is valid? [True, True] Translation: X:234.32, Y:2.32, Z:3.57 [[ 9.99421385e-01 -3.01471441e-02 -1.57494105e-02 2.34324613e+02] [ 3.01472119e-02 9.99545442e-01 -2.33164595e-04 2.32398374e+00] [ 1.57492807e-02 -2.41771132e-04 9.99875943e-01 3.56762391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.27925415399997 meters Centerline goodness : 0.998989 Centerline is valid? [True, True] Translation: X:234.36, Y:2.33, Z:3.57 [[ 9.99488921e-01 -2.78181921e-02 -1.57494189e-02 2.34355299e+02] [ 2.78179798e-02 9.99612978e-01 -2.32593214e-04 2.32545716e+00] [ 1.57497939e-02 -2.05642677e-04 9.99875943e-01 3.56791785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.30925415399997 meters Centerline goodness : 0.998904 Centerline is valid? [True, True] Translation: X:234.38, Y:2.33, Z:3.57 [[ 9.99609402e-01 -2.30867764e-02 -1.57494231e-02 2.34384542e+02] [ 2.30859813e-02 9.99733456e-01 -2.32309832e-04 2.32801218e+00] [ 1.57505885e-02 -1.31371796e-04 9.99875943e-01 3.57078639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.33925415399997 meters Centerline goodness : 0.999072 Centerline is valid? [True, True] Translation: X:234.41, Y:2.33, Z:3.57 [[ 9.99659421e-01 -2.08090808e-02 -1.57487860e-02 2.34414248e+02] [ 2.08073242e-02 9.99783466e-01 -2.75402829e-04 2.32818649e+00] [ 1.57511068e-02 -5.23810643e-05 9.99875942e-01 3.57179746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.36925415399998 meters Centerline goodness : 0.999178 Centerline is valid? [True, True] Translation: X:234.44, Y:2.33, Z:3.57 [[ 9.99654399e-01 -2.10480567e-02 -1.57499593e-02 2.34442829e+02] [ 2.10475755e-02 9.99778456e-01 -1.96332020e-04 2.33067949e+00] [ 1.57506024e-02 -1.35234291e-04 9.99875942e-01 3.57160591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.39925415399998 meters Centerline goodness : 0.999178 Centerline is valid? [True, True] Translation: X:234.47, Y:2.33, Z:3.57 [[ 9.99653649e-01 -2.10841121e-02 -1.57493883e-02 2.34472975e+02] [ 2.10830315e-02 9.99777701e-01 -2.34658231e-04 2.33117732e+00] [ 1.57508348e-02 -9.74678937e-05 9.99875943e-01 3.57209231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.42925415399998 meters Centerline goodness : 0.999029 Centerline is valid? [True, True] Translation: X:234.50, Y:2.33, Z:3.57 [[ 9.99670749e-01 -2.02571302e-02 -1.57493800e-02 2.34502250e+02] [ 2.02559382e-02 9.99794800e-01 -2.35216836e-04 2.33233517e+00] [ 1.57509130e-02 -8.38790774e-05 9.99875943e-01 3.57289940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.45925415399998 meters Centerline goodness : 0.999071 Centerline is valid? [True, True] Translation: X:234.53, Y:2.33, Z:3.57 [[ 9.99731139e-01 -1.70178711e-02 -1.57493715e-02 2.34533419e+02] [ 1.70162683e-02 9.99855185e-01 -2.35780313e-04 2.33044871e+00] [ 1.57511033e-02 -3.22786112e-05 9.99875943e-01 3.57231611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.48925415399998 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:234.56, Y:2.33, Z:3.57 [[ 9.99680822e-01 -1.97526263e-02 -1.57508126e-02 2.34560469e+02] [ 1.97528844e-02 9.99804883e-01 -1.39199545e-04 2.33352476e+00] [ 1.57504889e-02 -1.71968864e-04 9.99875939e-01 3.57346180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.51925415399998 meters Centerline goodness : 0.999050 Centerline is valid? [True, True] Translation: X:234.59, Y:2.33, Z:3.57 [[ 9.99673317e-01 -2.01300764e-02 -1.57492788e-02 2.34589101e+02] [ 2.01287949e-02 9.99797367e-01 -2.39896134e-04 2.33339532e+00] [ 1.57509166e-02 -7.71962383e-05 9.99875944e-01 3.57175784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.54925415399998 meters Centerline goodness : 0.999243 Centerline is valid? [True, True] Translation: X:234.62, Y:2.33, Z:3.57 [[ 9.99679616e-01 -1.98148156e-02 -1.57492181e-02 2.34619327e+02] [ 1.98134332e-02 9.99803665e-01 -2.43820262e-04 2.33244207e+00] [ 1.57509572e-02 -6.83039335e-05 9.99875944e-01 3.57235207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.57925415399998 meters Centerline goodness : 0.999031 Centerline is valid? [True, True] Translation: X:234.65, Y:2.33, Z:3.58 [[ 9.99576268e-01 -2.44791140e-02 -1.57498144e-02 2.34648129e+02] [ 2.44789159e-02 9.99700325e-01 -2.05383458e-04 2.33309590e+00] [ 1.57501222e-02 -1.80241953e-04 9.99875943e-01 3.57510886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.60925415399998 meters Centerline goodness : 0.999304 Centerline is valid? [True, True] Translation: X:234.68, Y:2.33, Z:3.58 [[ 9.99525345e-01 -2.64772904e-02 -1.57491967e-02 2.34677480e+02] [ 2.64767150e-02 9.99649400e-01 -2.45080886e-04 2.33279668e+00] [ 1.57501641e-02 -1.72022435e-04 9.99875944e-01 3.57566910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.63925415399999 meters Centerline goodness : 0.999304 Centerline is valid? [True, True] Translation: X:234.71, Y:2.33, Z:3.58 [[ 9.99468969e-01 -2.85261852e-02 -1.57491922e-02 2.34707751e+02] [ 2.85258595e-02 9.99593025e-01 -2.45367192e-04 2.33231321e+00] [ 1.57497821e-02 -2.04022351e-04 9.99875944e-01 3.57630214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.669254154 meters Centerline goodness : 0.999137 Centerline is valid? [True, True] Translation: X:234.74, Y:2.33, Z:3.58 [[ 9.99325394e-01 -3.31771045e-02 -1.57491922e-02 2.34738824e+02] [ 3.31773561e-02 9.99449450e-01 -2.45367192e-04 2.33078744e+00] [ 1.57486621e-02 -2.77314894e-04 9.99875944e-01 3.57686581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.699254154 meters Centerline goodness : 0.998968 Centerline is valid? [True, True] Translation: X:234.77, Y:2.33, Z:3.58 [[ 9.99237538e-01 -3.57254176e-02 -1.57492010e-02 2.34770010e+02] [ 3.57259946e-02 9.99361593e-01 -2.44802618e-04 2.33037605e+00] [ 1.57478923e-02 -3.18039905e-04 9.99875944e-01 3.57682666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.72925415399996 meters Centerline goodness : 0.999095 Centerline is valid? [True, True] Translation: X:234.80, Y:2.33, Z:3.58 [[ 9.99158451e-01 -3.78728366e-02 -1.57492098e-02 2.34801030e+02] [ 3.78736891e-02 9.99282505e-01 -2.44234452e-04 2.32967274e+00] [ 1.57471597e-02 -3.52451759e-04 9.99875944e-01 3.57656704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.75925415399996 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:234.84, Y:2.32, Z:3.57 [[ 9.99284082e-01 -3.43989184e-02 -1.57492230e-02 2.34838626e+02] [ 3.43993530e-02 9.99408137e-01 -2.43384668e-04 2.32188197e+00] [ 1.57482738e-02 -2.98552656e-04 9.99875944e-01 3.57122304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.78925415399996 meters Centerline goodness : 0.998740 Centerline is valid? [True, True] Translation: X:234.86, Y:2.33, Z:3.58 [[ 9.98893687e-01 -4.43078814e-02 -1.57548306e-02 2.34860682e+02] [ 4.43153862e-02 9.99017583e-01 1.27381305e-04 2.32814798e+00] [ 1.57337088e-02 -8.25421785e-04 9.99875877e-01 3.57636056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.81925415399996 meters Centerline goodness : 0.998678 Centerline is valid? [True, True] Translation: X:234.89, Y:2.33, Z:3.58 [[ 9.98842549e-01 -4.54481687e-02 -1.57488541e-02 2.34892747e+02] [ 4.54498760e-02 9.98966589e-01 -2.49674196e-04 2.32812063e+00] [ 1.57439263e-02 -4.66398255e-04 9.99875948e-01 3.57671173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.84925415399996 meters Centerline goodness : 0.999201 Centerline is valid? [True, True] Translation: X:234.92, Y:2.33, Z:3.58 [[ 9.98813973e-01 -4.60719019e-02 -1.57488717e-02 2.34924216e+02] [ 4.60737042e-02 9.98938012e-01 -2.48557662e-04 2.32816158e+00] [ 1.57435981e-02 -4.77345992e-04 9.99875948e-01 3.57745162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.87925415399997 meters Centerline goodness : 0.998803 Centerline is valid? [True, True] Translation: X:234.96, Y:2.33, Z:3.58 [[ 9.98821640e-01 -4.59053746e-02 -1.57488848e-02 2.34955077e+02] [ 4.59071693e-02 9.98945679e-01 -2.47725832e-04 2.32810646e+00] [ 1.57436524e-02 -4.75552800e-04 9.99875948e-01 3.57775550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.90925415399997 meters Centerline goodness : 0.998951 Centerline is valid? [True, True] Translation: X:234.99, Y:2.33, Z:3.58 [[ 9.98834739e-01 -4.56194739e-02 -1.57489131e-02 2.34986266e+02] [ 4.56212617e-02 9.98958778e-01 -2.45916763e-04 2.32786364e+00] [ 1.57437335e-02 -4.72855077e-04 9.99875948e-01 3.57836749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.93925415399997 meters Centerline goodness : 0.997902 Centerline is valid? [True, True] Translation: X:235.02, Y:2.33, Z:3.58 [[ 9.98845959e-01 -4.53731377e-02 -1.57489257e-02 2.35016971e+02] [ 4.53749077e-02 9.98969998e-01 -2.45104265e-04 2.32777746e+00] [ 1.57438254e-02 -4.69784645e-04 9.99875948e-01 3.57831524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.96925415399997 meters Centerline goodness : 0.997691 Centerline is valid? [True, True] Translation: X:235.05, Y:2.33, Z:3.58 [[ 9.98850525e-01 -4.52725152e-02 -1.57489382e-02 2.35048272e+02] [ 4.52742854e-02 9.98974564e-01 -2.44299896e-04 2.32788923e+00] [ 1.57438487e-02 -4.69002843e-04 9.99875948e-01 3.57871082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.99925415399997 meters Centerline goodness : 0.998195 Centerline is valid? [True, True] Translation: X:235.08, Y:2.33, Z:3.58 [[ 9.98847632e-01 -4.53362841e-02 -1.57489505e-02 2.35080396e+02] [ 4.53380747e-02 9.98971671e-01 -2.43504749e-04 2.32742663e+00] [ 1.57437950e-02 -4.70802951e-04 9.99875948e-01 3.57989942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.02925415399997 meters Centerline goodness : 0.998528 Centerline is valid? [True, True] Translation: X:235.11, Y:2.33, Z:3.58 [[ 9.98840767e-01 -4.54872826e-02 -1.57489667e-02 2.35112739e+02] [ 4.54891085e-02 9.98964805e-01 -2.42450050e-04 2.32751700e+00] [ 1.57436919e-02 -4.74237462e-04 9.99875948e-01 3.58047041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.05925415399997 meters Centerline goodness : 0.998886 Centerline is valid? [True, True] Translation: X:235.14, Y:2.33, Z:3.58 [[ 9.98824402e-01 -4.58452110e-02 -1.57489828e-02 2.35144997e+02] [ 4.58470980e-02 9.98948440e-01 -2.41402565e-04 2.32772258e+00] [ 1.57434889e-02 -4.80926383e-04 9.99875948e-01 3.58264271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.08925415399997 meters Centerline goodness : 0.999034 Centerline is valid? [True, True] Translation: X:235.18, Y:2.33, Z:3.58 [[ 9.98784262e-01 -4.67115237e-02 -1.57490001e-02 2.35177340e+02] [ 4.67135360e-02 9.98908298e-01 -2.40267101e-04 2.32769153e+00] [ 1.57430301e-02 -4.95716484e-04 9.99875948e-01 3.58320695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.11925415399998 meters Centerline goodness : 0.998929 Centerline is valid? [True, True] Translation: X:235.21, Y:2.33, Z:3.58 [[ 9.98740684e-01 -4.76341814e-02 -1.57490176e-02 2.35208834e+02] [ 4.76363266e-02 9.98864717e-01 -2.39112561e-04 2.32819453e+00] [ 1.57425280e-02 -5.11413904e-04 9.99875948e-01 3.58255271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.14925415399998 meters Centerline goodness : 0.999013 Centerline is valid? [True, True] Translation: X:235.24, Y:2.33, Z:3.58 [[ 9.98683508e-01 -4.88182113e-02 -1.57490468e-02 2.35241090e+02] [ 4.88205340e-02 9.98807539e-01 -2.37175691e-04 2.32852374e+00] [ 1.57418451e-02 -5.32013424e-04 9.99875948e-01 3.58395064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.17925415399998 meters Centerline goodness : 0.998909 Centerline is valid? [True, True] Translation: X:235.27, Y:2.33, Z:3.58 [[ 9.98614275e-01 -5.02145109e-02 -1.57490639e-02 2.35273319e+02] [ 5.02170250e-02 9.98738301e-01 -2.36035388e-04 2.32886820e+00] [ 1.57410457e-02 -5.55162826e-04 9.99875948e-01 3.58439834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.20925415399998 meters Centerline goodness : 0.998534 Centerline is valid? [True, True] Translation: X:235.30, Y:2.33, Z:3.58 [[ 9.98418787e-01 -5.39619565e-02 -1.57490808e-02 2.35304035e+02] [ 5.39649539e-02 9.98542803e-01 -2.34898229e-04 2.32950380e+00] [ 1.57388069e-02 -6.15371617e-04 9.99875948e-01 3.58429884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.23925415399998 meters Centerline goodness : 0.998509 Centerline is valid? [True, True] Translation: X:235.34, Y:2.33, Z:3.58 [[ 9.98313831e-01 -5.58700443e-02 -1.57490934e-02 2.35335861e+02] [ 5.58732921e-02 9.98437840e-01 -2.34050069e-04 2.33042103e+00] [ 1.57375672e-02 -6.46298278e-04 9.99875948e-01 3.58497866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.26925415399998 meters Centerline goodness : 0.998552 Centerline is valid? [True, True] Translation: X:235.37, Y:2.33, Z:3.59 [[ 9.98213172e-01 -5.76405078e-02 -1.57491101e-02 2.35367389e+02] [ 5.76439933e-02 9.98337175e-01 -2.32924373e-04 2.33115307e+00] [ 1.57363480e-02 -6.75333419e-04 9.99875948e-01 3.58523906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.29925415399998 meters Centerline goodness : 0.998950 Centerline is valid? [True, True] Translation: X:235.40, Y:2.33, Z:3.59 [[ 9.98133072e-01 -5.90113250e-02 -1.57491225e-02 2.35399545e+02] [ 5.90149940e-02 9.98257069e-01 -2.32085414e-04 2.33183074e+00] [ 1.57353685e-02 -6.97782239e-04 9.99875948e-01 3.58651409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.32925415399998 meters Centerline goodness : 0.998698 Centerline is valid? [True, True] Translation: X:235.43, Y:2.33, Z:3.59 [[ 9.98003616e-01 -6.11616393e-02 -1.57491387e-02 2.35431881e+02] [ 6.11655929e-02 9.98127606e-01 -2.30974298e-04 2.33285243e+00] [ 1.57337769e-02 -7.32792224e-04 9.99875948e-01 3.58804092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.35925415399998 meters Centerline goodness : 0.998995 Centerline is valid? [True, True] Translation: X:235.46, Y:2.33, Z:3.59 [[ 9.97984414e-01 -6.14741715e-02 -1.57491549e-02 2.35464041e+02] [ 6.14781814e-02 9.98108401e-01 -2.29867653e-04 2.33370036e+00] [ 1.57334947e-02 -7.38825067e-04 9.99875948e-01 3.58905396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.38925415399999 meters Centerline goodness : 0.999014 Centerline is valid? [True, True] Translation: X:235.50, Y:2.34, Z:3.59 [[ 9.97973873e-01 -6.16450467e-02 -1.57491749e-02 2.35495704e+02] [ 6.16490995e-02 9.98097859e-01 -2.28488117e-04 2.33559534e+00] [ 1.57333029e-02 -7.42897280e-04 9.99875948e-01 3.59156882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.419254154 meters Centerline goodness : 0.999014 Centerline is valid? [True, True] Translation: X:235.53, Y:2.34, Z:3.59 [[ 9.98008831e-01 -6.10764694e-02 -1.57492066e-02 2.35527348e+02] [ 6.10804862e-02 9.98132818e-01 -2.26284664e-04 2.33658977e+00] [ 1.57336206e-02 -7.36135103e-04 9.99875948e-01 3.59178006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.449254154 meters Centerline goodness : 0.998931 Centerline is valid? [True, True] Translation: X:235.56, Y:2.34, Z:3.59 [[ 9.98067450e-01 -6.01109544e-02 -1.57492269e-02 2.35560381e+02] [ 6.01148738e-02 9.98191440e-01 -2.24863278e-04 2.33775684e+00] [ 1.57342602e-02 -7.22334067e-04 9.99875948e-01 3.59332528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.47925415399996 meters Centerline goodness : 0.999098 Centerline is valid? [True, True] Translation: X:235.59, Y:2.34, Z:3.59 [[ 9.98124289e-01 -5.91596614e-02 -1.57492511e-02 2.35593158e+02] [ 5.91634894e-02 9.98248282e-01 -2.23153407e-04 2.33904696e+00] [ 1.57348645e-02 -7.09045815e-04 9.99875948e-01 3.59452542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.50925415399996 meters Centerline goodness : 0.999055 Centerline is valid? [True, True] Translation: X:235.63, Y:2.34, Z:3.59 [[ 9.98255201e-01 -5.69079502e-02 -1.57492759e-02 2.35625281e+02] [ 5.69115263e-02 9.98379201e-01 -2.21390888e-04 2.34088774e+00] [ 1.57363484e-02 -6.75310723e-04 9.99875948e-01 3.59477939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.53925415399996 meters Centerline goodness : 0.999012 Centerline is valid? [True, True] Translation: X:235.66, Y:2.34, Z:3.59 [[ 9.98325801e-01 -5.56556852e-02 -1.57492963e-02 2.35656504e+02] [ 5.56591288e-02 9.98449805e-01 -2.19930630e-04 2.34171101e+00] [ 1.57371222e-02 -6.57029687e-04 9.99875948e-01 3.59416977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.56925415399996 meters Centerline goodness : 0.998967 Centerline is valid? [True, True] Translation: X:235.69, Y:2.34, Z:3.59 [[ 9.98531299e-01 -5.18382552e-02 -1.57493082e-02 2.35687198e+02] [ 5.18412381e-02 9.98655315e-01 -2.19073875e-04 2.34319775e+00] [ 1.57394867e-02 -5.97711514e-04 9.99875948e-01 3.59281438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.59925415399996 meters Centerline goodness : 0.999009 Centerline is valid? [True, True] Translation: X:235.72, Y:2.34, Z:3.60 [[ 9.98563398e-01 -5.12164708e-02 -1.57484693e-02 2.35720051e+02] [ 5.12184236e-02 9.98687436e-01 -2.79570182e-04 2.34442438e+00] [ 1.57421170e-02 -5.27443222e-04 9.99875946e-01 3.59536733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.62925415399997 meters Centerline goodness : 0.998718 Centerline is valid? [True, True] Translation: X:235.75, Y:2.35, Z:3.60 [[ 9.98665863e-01 -4.91777582e-02 -1.57493434e-02 2.35750782e+02] [ 4.91804626e-02 9.98789886e-01 -2.15777160e-04 2.34540184e+00] [ 1.57408963e-02 -5.59070709e-04 9.99875948e-01 3.59538005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.65925415399997 meters Centerline goodness : 0.998737 Centerline is valid? [True, True] Translation: X:235.79, Y:2.34, Z:3.59 [[ 9.98957322e-01 -4.28512006e-02 -1.57493685e-02 2.35787503e+02] [ 4.28531485e-02 9.99081359e-01 -2.13928893e-04 2.34239840e+00] [ 1.57440676e-02 -4.61204192e-04 9.99875948e-01 3.59142828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.68925415399997 meters Centerline goodness : 0.998419 Centerline is valid? [True, True] Translation: X:235.81, Y:2.35, Z:3.60 [[ 9.98895206e-01 -4.42742639e-02 -1.57530248e-02 2.35812121e+02] [ 4.42806961e-02 9.99019127e-01 5.95792472e-05 2.34823979e+00] [ 1.57349352e-02 -7.57068327e-04 9.99875912e-01 3.59653907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.71925415399997 meters Centerline goodness : 0.998565 Centerline is valid? [True, True] Translation: X:235.84, Y:2.35, Z:3.60 [[ 9.99190033e-01 -3.70302881e-02 -1.57491509e-02 2.35844436e+02] [ 3.70314330e-02 9.99314077e-01 -2.19023098e-04 2.35100785e+00] [ 1.57464587e-02 -3.64367929e-04 9.99875950e-01 3.59763480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.74925415399997 meters Centerline goodness : 0.998841 Centerline is valid? [True, True] Translation: X:235.88, Y:2.35, Z:3.60 [[ 9.99339021e-01 -3.27640756e-02 -1.57491670e-02 2.35875697e+02] [ 3.27647092e-02 9.99463069e-01 -2.17859270e-04 2.35254193e+00] [ 1.57478487e-02 -2.98301606e-04 9.99875950e-01 3.59783233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.77925415399997 meters Centerline goodness : 0.998839 Centerline is valid? [True, True] Translation: X:235.91, Y:2.35, Z:3.60 [[ 9.99464826e-01 -2.86709626e-02 -1.57491789e-02 2.35906863e+02] [ 2.86711018e-02 9.99588876e-01 -2.16994504e-04 2.35424465e+00] [ 1.57489255e-02 -2.34667938e-04 9.99875950e-01 3.59790889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.80925415399997 meters Centerline goodness : 0.998943 Centerline is valid? [True, True] Translation: X:235.94, Y:2.36, Z:3.60 [[ 9.99571192e-01 -2.46859498e-02 -1.57491867e-02 2.35938621e+02] [ 2.46856034e-02 9.99695241e-01 -2.16427602e-04 2.35580747e+00] [ 1.57497297e-02 -1.72443380e-04 9.99875950e-01 3.59902225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.83925415399997 meters Centerline goodness : 0.998815 Centerline is valid? [True, True] Translation: X:235.97, Y:2.36, Z:3.60 [[ 9.99716272e-01 -1.78700466e-02 -1.57491945e-02 2.35969081e+02] [ 1.78688634e-02 9.99840316e-01 -2.15855250e-04 2.35754418e+00] [ 1.57505370e-02 -6.56262006e-05 9.99875950e-01 3.59962719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.86925415399998 meters Centerline goodness : 0.999003 Centerline is valid? [True, True] Translation: X:236.00, Y:2.36, Z:3.60 [[ 9.99759593e-01 -1.52551035e-02 -1.57491945e-02 2.35996829e+02] [ 1.52535959e-02 9.99883634e-01 -2.15855250e-04 2.35828573e+00] [ 1.57506548e-02 -2.44284922e-05 9.99875950e-01 3.59997993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.89925415399998 meters Centerline goodness : 0.998302 Centerline is valid? [True, True] Translation: X:236.02, Y:2.36, Z:3.60 [[ 9.99787254e-01 -1.33195790e-02 -1.57491747e-02 2.36024762e+02] [ 1.33178085e-02 9.99911290e-01 -2.17293579e-04 2.35836742e+00] [ 1.57506718e-02 7.50285790e-06 9.99875950e-01 3.59940560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.92925415399998 meters Centerline goodness : 0.998430 Centerline is valid? [True, True] Translation: X:236.05, Y:2.36, Z:3.60 [[ 9.99797111e-01 -1.25579463e-02 -1.57491106e-02 2.36052398e+02] [ 1.25560097e-02 9.99921146e-01 -2.21841534e-04 2.35908248e+00] [ 1.57506546e-02 2.40505391e-05 9.99875950e-01 3.60062925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.95925415399998 meters Centerline goodness : 0.998793 Centerline is valid? [True, True] Translation: X:236.08, Y:2.36, Z:3.60 [[ 9.99795166e-01 -1.27118685e-02 -1.57490801e-02 2.36080744e+02] [ 1.27099172e-02 9.99919201e-01 -2.23986531e-04 2.35883612e+00] [ 1.57506549e-02 2.37711476e-05 9.99875950e-01 3.60211311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.98925415399998 meters Centerline goodness : 0.998708 Centerline is valid? [True, True] Translation: X:236.11, Y:2.36, Z:3.60 [[ 9.99777195e-01 -1.40544814e-02 -1.57490128e-02 2.36108028e+02] [ 1.40526236e-02 9.99901231e-01 -2.28622777e-04 2.35851378e+00] [ 1.57506705e-02 7.25688846e-06 9.99875950e-01 3.60194786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.01925415399998 meters Centerline goodness : 0.999153 Centerline is valid? [True, True] Translation: X:236.14, Y:2.36, Z:3.60 [[ 9.99698994e-01 -1.88120269e-02 -1.57489659e-02 2.36136459e+02] [ 1.88107092e-02 9.99823036e-01 -2.31807715e-04 2.35671766e+00] [ 1.57505397e-02 -6.45112797e-05 9.99875950e-01 3.60228369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.04925415399998 meters Centerline goodness : 0.999219 Centerline is valid? [True, True] Translation: X:236.17, Y:2.36, Z:3.60 [[ 9.99619710e-01 -2.26363686e-02 -1.57489492e-02 2.36165541e+02] [ 2.26355077e-02 9.99743757e-01 -2.32939326e-04 2.35590870e+00] [ 1.57501865e-02 -1.23634719e-04 9.99875950e-01 3.60262158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.07925415399998 meters Centerline goodness : 0.999050 Centerline is valid? [True, True] Translation: X:236.19, Y:2.35, Z:3.60 [[ 9.99512971e-01 -2.69405472e-02 -1.57488886e-02 2.36194747e+02] [ 2.69401570e-02 9.99637020e-01 -2.36965561e-04 2.35482986e+00] [ 1.57495561e-02 -1.87427381e-04 9.99875950e-01 3.60273290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.10925415399998 meters Centerline goodness : 0.997197 Centerline is valid? [True, True] Translation: X:236.22, Y:2.35, Z:3.60 [[ 9.99427952e-01 -2.99289323e-02 -1.57488843e-02 2.36223370e+02] [ 2.99289085e-02 9.99552002e-01 -2.37250551e-04 2.35320890e+00] [ 1.57489295e-02 -2.34232085e-04 9.99875950e-01 3.60084792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.13925415399999 meters Centerline goodness : 0.998714 Centerline is valid? [True, True] Translation: X:236.26, Y:2.35, Z:3.60 [[ 9.98994252e-01 -4.19822685e-02 -1.57471663e-02 2.36255308e+02] [ 4.19819490e-02 9.99118308e-01 -3.51003206e-04 2.35054738e+00] [ 1.57480180e-02 -3.10446547e-04 9.99875944e-01 3.60308302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.169254154 meters Centerline goodness : 0.998339 Centerline is valid? [True, True] Translation: X:236.29, Y:2.35, Z:3.60 [[ 9.98777304e-01 -4.68601190e-02 -1.57488797e-02 2.36287758e+02] [ 4.68621967e-02 9.98901336e-01 -2.37285579e-04 2.34928828e+00] [ 1.57426962e-02 -5.01031650e-04 9.99875951e-01 3.60337355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.199254154 meters Centerline goodness : 0.998107 Centerline is valid? [True, True] Translation: X:236.32, Y:2.35, Z:3.60 [[ 9.98554829e-01 -5.13831322e-02 -1.57488973e-02 2.36319800e+02] [ 5.13857900e-02 9.98678850e-01 -2.36117462e-04 2.34810786e+00] [ 1.57402230e-02 -5.73493295e-04 9.99875951e-01 3.60348225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.22925415399996 meters Centerline goodness : 0.998491 Centerline is valid? [True, True] Translation: X:236.35, Y:2.35, Z:3.60 [[ 9.98143122e-01 -5.88411397e-02 -1.57489146e-02 2.36352428e+02] [ 5.88447422e-02 9.98267119e-01 -2.34957560e-04 2.34621327e+00] [ 1.57354487e-02 -6.92219545e-04 9.99875951e-01 3.60407244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.25925415399996 meters Centerline goodness : 0.998867 Centerline is valid? [True, True] Translation: X:236.38, Y:2.35, Z:3.60 [[ 9.97965397e-01 -6.17821730e-02 -1.57489319e-02 2.36384815e+02] [ 6.17861593e-02 9.98089383e-01 -2.33786122e-04 2.34586832e+00] [ 1.57332856e-02 -7.39755558e-04 9.99875951e-01 3.60376308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.28925415399996 meters Centerline goodness : 0.998867 Centerline is valid? [True, True] Translation: X:236.42, Y:2.35, Z:3.60 [[ 9.97971943e-01 -6.16763464e-02 -1.57489535e-02 2.36418346e+02] [ 6.16803425e-02 9.98095928e-01 -2.32326525e-04 2.34626658e+00] [ 1.57332954e-02 -7.39545491e-04 9.99875951e-01 3.60429088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.31925415399996 meters Centerline goodness : 0.998805 Centerline is valid? [True, True] Translation: X:236.45, Y:2.35, Z:3.60 [[ 9.97851434e-01 -6.35962675e-02 -1.57489779e-02 2.36451644e+02] [ 6.36005285e-02 9.97975410e-01 -2.30656627e-04 2.34562460e+00] [ 1.57317616e-02 -7.71482274e-04 9.99875951e-01 3.60392115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.34925415399996 meters Centerline goodness : 0.998763 Centerline is valid? [True, True] Translation: X:236.48, Y:2.35, Z:3.60 [[ 9.97596333e-01 -6.74798183e-02 -1.57490037e-02 2.36483761e+02] [ 6.74845897e-02 9.97720290e-01 -2.28885585e-04 2.34557139e+00] [ 1.57285457e-02 -8.34479630e-04 9.99875951e-01 3.60456187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.37925415399997 meters Centerline goodness : 0.998782 Centerline is valid? [True, True] Translation: X:236.52, Y:2.35, Z:3.61 [[ 9.97491640e-01 -6.90101074e-02 -1.57490456e-02 2.36516805e+02] [ 6.90151150e-02 9.97615589e-01 -2.25964162e-04 2.34577977e+00] [ 1.57270872e-02 -8.61524829e-04 9.99875951e-01 3.60546931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.40925415399997 meters Centerline goodness : 0.998383 Centerline is valid? [True, True] Translation: X:236.55, Y:2.35, Z:3.61 [[ 9.97432848e-01 -6.98547159e-02 -1.57490709e-02 2.36549184e+02] [ 6.98598563e-02 9.97556790e-01 -2.24186254e-04 2.34579367e+00] [ 1.57262531e-02 -8.76617097e-04 9.99875951e-01 3.60518658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.43925415399997 meters Centerline goodness : 0.998258 Centerline is valid? [True, True] Translation: X:236.58, Y:2.35, Z:3.61 [[ 9.97293215e-01 -7.18206704e-02 -1.57490917e-02 2.36582627e+02] [ 7.18260783e-02 9.97417147e-01 -2.22714960e-04 2.34640735e+00] [ 1.57244097e-02 -9.09083375e-04 9.99875951e-01 3.60677011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.46925415399997 meters Centerline goodness : 0.998468 Centerline is valid? [True, True] Translation: X:236.62, Y:2.35, Z:3.61 [[ 9.97259883e-01 -7.22820255e-02 -1.57491161e-02 2.36615686e+02] [ 7.22875182e-02 9.97383811e-01 -2.20973071e-04 2.34689891e+00] [ 1.57238859e-02 -9.18096941e-04 9.99875951e-01 3.60748413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.49925415399997 meters Centerline goodness : 0.998322 Centerline is valid? [True, True] Translation: X:236.65, Y:2.35, Z:3.61 [[ 9.97230410e-01 -7.26875061e-02 -1.57491405e-02 2.36647909e+02] [ 7.26930767e-02 9.97354335e-01 -2.19226259e-04 2.34762605e+00] [ 1.57234085e-02 -9.26234383e-04 9.99875951e-01 3.60828875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.52925415399997 meters Centerline goodness : 0.998680 Centerline is valid? [True, True] Translation: X:236.68, Y:2.35, Z:3.61 [[ 9.97232280e-01 -7.26618402e-02 -1.57491798e-02 2.36681128e+02] [ 7.26674526e-02 9.97356202e-01 -2.16365560e-04 2.34838912e+00] [ 1.57232636e-02 -9.28686054e-04 9.99875951e-01 3.60885626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.55925415399997 meters Centerline goodness : 0.998848 Centerline is valid? [True, True] Translation: X:236.71, Y:2.35, Z:3.61 [[ 9.97256999e-01 -7.23217909e-02 -1.57492031e-02 2.36712317e+02] [ 7.23273880e-02 9.97380922e-01 -2.14651880e-04 2.34953170e+00] [ 1.57234787e-02 -9.25035635e-04 9.99875951e-01 3.60854401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.58925415399997 meters Centerline goodness : 0.998803 Centerline is valid? [True, True] Translation: X:236.74, Y:2.35, Z:3.61 [[ 9.97313293e-01 -7.15413064e-02 -1.57492146e-02 2.36744533e+02] [ 7.15468199e-02 9.97437220e-01 -2.13803713e-04 2.35040264e+00] [ 1.57241487e-02 -9.13576938e-04 9.99875951e-01 3.60843385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.61925415399998 meters Centerline goodness : 0.998760 Centerline is valid? [True, True] Translation: X:236.78, Y:2.35, Z:3.61 [[ 9.97415582e-01 -7.01007781e-02 -1.57492335e-02 2.36777747e+02] [ 7.01061347e-02 9.97539515e-01 -2.12401822e-04 2.35111640e+00] [ 1.57253723e-02 -8.92265001e-04 9.99875951e-01 3.60808442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.64925415399998 meters Centerline goodness : 0.998445 Centerline is valid? [True, True] Translation: X:236.81, Y:2.35, Z:3.61 [[ 9.97599227e-01 -6.74369577e-02 -1.57492574e-02 2.36810166e+02] [ 6.74420113e-02 9.97723173e-01 -2.10620551e-04 2.35416294e+00] [ 1.57276026e-02 -8.52046693e-04 9.99875951e-01 3.60898924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.67925415399998 meters Centerline goodness : 0.998317 Centerline is valid? [True, True] Translation: X:236.84, Y:2.36, Z:3.61 [[ 9.97736463e-01 -6.53751605e-02 -1.57492769e-02 2.36843345e+02] [ 6.53799811e-02 9.97860418e-01 -2.09150518e-04 2.35578761e+00] [ 1.57292533e-02 -8.21010327e-04 9.99875951e-01 3.60996001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.70925415399998 meters Centerline goodness : 0.998567 Centerline is valid? [True, True] Translation: X:236.87, Y:2.36, Z:3.61 [[ 9.97882882e-01 -6.31008117e-02 -1.57493002e-02 2.36874962e+02] [ 6.31053776e-02 9.98006848e-01 -2.07380431e-04 2.35778250e+00] [ 1.57309953e-02 -7.86924154e-04 9.99875951e-01 3.60998869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.73925415399998 meters Centerline goodness : 0.998610 Centerline is valid? [True, True] Translation: X:236.91, Y:2.36, Z:3.61 [[ 9.98043884e-01 -6.05009508e-02 -1.57493193e-02 2.36906986e+02] [ 6.05052168e-02 9.98167860e-01 -2.05916836e-04 2.35997924e+00] [ 1.57329225e-02 -7.47401942e-04 9.99875951e-01 3.61049649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.76925415399998 meters Centerline goodness : 0.998817 Centerline is valid? [True, True] Translation: X:236.94, Y:2.36, Z:3.61 [[ 9.98380705e-01 -5.46619332e-02 -1.57493372e-02 2.36940408e+02] [ 5.46654957e-02 9.98504703e-01 -2.04537444e-04 2.36405954e+00] [ 1.57369677e-02 -6.56739089e-04 9.99875951e-01 3.61244647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.79925415399998 meters Centerline goodness : 0.998945 Centerline is valid? [True, True] Translation: X:236.97, Y:2.37, Z:3.61 [[ 9.98551961e-01 -5.14386924e-02 -1.57493601e-02 2.36972002e+02] [ 5.14418825e-02 9.98675969e-01 -2.02758940e-04 2.36605704e+00] [ 1.57389372e-02 -6.07711397e-04 9.99875951e-01 3.61192187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.82925415399998 meters Centerline goodness : 0.998901 Centerline is valid? [True, True] Translation: X:237.00, Y:2.37, Z:3.61 [[ 9.98715496e-01 -4.81592599e-02 -1.57493789e-02 2.37003692e+02] [ 4.81620659e-02 9.98839514e-01 -2.01290354e-04 2.36819336e+00] [ 1.57407960e-02 -5.57490829e-04 9.99875951e-01 3.61402268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.85925415399998 meters Centerline goodness : 0.998777 Centerline is valid? [True, True] Translation: X:237.04, Y:2.37, Z:3.61 [[ 9.98866548e-01 -4.49174354e-02 -1.57493937e-02 2.37035043e+02] [ 4.49198572e-02 9.98990574e-01 -2.00128150e-04 2.37038608e+00] [ 1.57424851e-02 -5.07559201e-04 9.99875951e-01 3.61483303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.88925415399999 meters Centerline goodness : 0.998668 Centerline is valid? [True, True] Translation: X:237.07, Y:2.37, Z:3.62 [[ 9.99145184e-01 -3.82211565e-02 -1.57494172e-02 2.37067060e+02] [ 3.82227764e-02 9.99269223e-01 -1.98255955e-04 2.37424666e+00] [ 1.57454855e-02 -4.03899970e-04 9.99875951e-01 3.61723587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.919254154 meters Centerline goodness : 0.998098 Centerline is valid? [True, True] Translation: X:237.10, Y:2.38, Z:3.62 [[ 9.99262909e-01 -3.50084948e-02 -1.57494320e-02 2.37098566e+02] [ 3.50097345e-02 9.99386952e-01 -1.97075967e-04 2.37627567e+00] [ 1.57466762e-02 -3.54452729e-04 9.99875951e-01 3.61754261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.949254154 meters Centerline goodness : 0.998265 Centerline is valid? [True, True] Translation: X:237.13, Y:2.38, Z:3.62 [[ 9.99377301e-01 -3.15747626e-02 -1.57494430e-02 2.37129998e+02] [ 3.15755898e-02 9.99501347e-01 -1.96197296e-04 2.37779709e+00] [ 1.57477843e-02 -3.01222827e-04 9.99875951e-01 3.61654146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.97925415399996 meters Centerline goodness : 0.998472 Centerline is valid? [True, True] Translation: X:237.16, Y:2.38, Z:3.62 [[ 9.99536801e-01 -2.60410947e-02 -1.57494535e-02 2.37161491e+02] [ 2.60412486e-02 9.99660850e-01 -1.95348309e-04 2.38118605e+00] [ 1.57491991e-02 -2.14877609e-04 9.99875951e-01 3.61878871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.00925415399996 meters Centerline goodness : 0.998769 Centerline is valid? [True, True] Translation: X:237.19, Y:2.38, Z:3.62 [[ 9.99602064e-01 -2.34023207e-02 -1.57494606e-02 2.37191509e+02] [ 2.34021561e-02 9.99726113e-01 -1.94772195e-04 2.38228416e+00] [ 1.57497052e-02 -1.73876648e-04 9.99875951e-01 3.61935731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.03925415399996 meters Centerline goodness : 0.998749 Centerline is valid? [True, True] Translation: X:237.22, Y:2.38, Z:3.62 [[ 9.99652951e-01 -2.11171051e-02 -1.57494641e-02 2.37221778e+02] [ 2.11166614e-02 9.99777000e-01 -1.94486729e-04 2.38320391e+00] [ 1.57500590e-02 -1.38156869e-04 9.99875951e-01 3.61989339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.06925415399996 meters Centerline goodness : 0.998641 Centerline is valid? [True, True] Translation: X:237.25, Y:2.38, Z:3.62 [[ 9.99724238e-01 -1.74184502e-02 -1.57494641e-02 2.37251304e+02] [ 1.74175476e-02 9.99848284e-01 -1.94486729e-04 2.38421187e+00] [ 1.57504623e-02 -7.98839436e-05 9.99875951e-01 3.62059947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.09925415399996 meters Centerline goodness : 0.998831 Centerline is valid? [True, True] Translation: X:237.28, Y:2.38, Z:3.62 [[ 9.99742220e-01 -1.63538220e-02 -1.57494606e-02 2.37279664e+02] [ 1.63527828e-02 9.99866265e-01 -1.94770945e-04 2.38472234e+00] [ 1.57505396e-02 -6.28267722e-05 9.99875951e-01 3.62106517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.12925415399997 meters Centerline goodness : 0.998748 Centerline is valid? [True, True] Translation: X:237.31, Y:2.39, Z:3.62 [[ 9.99757121e-01 -1.54160451e-02 -1.57494104e-02 2.37308824e+02] [ 1.54148269e-02 9.99881165e-01 -1.98751967e-04 2.38510013e+00] [ 1.57506028e-02 -4.40707399e-05 9.99875951e-01 3.62093770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.15925415399997 meters Centerline goodness : 0.998765 Centerline is valid? [True, True] Translation: X:237.34, Y:2.39, Z:3.62 [[ 9.99763242e-01 -1.50139349e-02 -1.57493594e-02 2.37336647e+02] [ 1.50126043e-02 9.99887284e-01 -2.02712033e-04 2.38530331e+00] [ 1.57506277e-02 -3.37748620e-05 9.99875951e-01 3.62105326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.18925415399997 meters Centerline goodness : 0.998382 Centerline is valid? [True, True] Translation: X:237.36, Y:2.39, Z:3.62 [[ 9.99768031e-01 -1.46916159e-02 -1.57492981e-02 2.37364717e+02] [ 1.46901720e-02 9.99892072e-01 -2.07366240e-04 2.38513915e+00] [ 1.57506449e-02 -2.40417614e-05 9.99875951e-01 3.61954421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.21925415399997 meters Centerline goodness : 0.998702 Centerline is valid? [True, True] Translation: X:237.39, Y:2.38, Z:3.62 [[ 9.99751744e-01 -1.57610627e-02 -1.57492791e-02 2.37392717e+02] [ 1.57597289e-02 9.99875786e-01 -2.08805198e-04 2.38448654e+00] [ 1.57506138e-02 -3.94510064e-05 9.99875951e-01 3.61997557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.24925415399997 meters Centerline goodness : 0.998638 Centerline is valid? [True, True] Translation: X:237.42, Y:2.38, Z:3.62 [[ 9.99732516e-01 -1.69369113e-02 -1.57492165e-02 2.37420233e+02] [ 1.69356507e-02 9.99856559e-01 -2.13423221e-04 2.38404349e+00] [ 1.57505721e-02 -5.33570948e-05 9.99875951e-01 3.61980714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.27925415399997 meters Centerline goodness : 0.998811 Centerline is valid? [True, True] Translation: X:237.45, Y:2.38, Z:3.62 [[ 9.99710074e-01 -1.82135316e-02 -1.57491522e-02 2.37448026e+02] [ 1.82123562e-02 9.99834118e-01 -2.18064289e-04 2.38334357e+00] [ 1.57505114e-02 -6.88281038e-05 9.99875951e-01 3.61981028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.30925415399997 meters Centerline goodness : 0.999022 Centerline is valid? [True, True] Translation: X:237.48, Y:2.38, Z:3.62 [[ 9.99681025e-01 -1.97436890e-02 -1.57491209e-02 2.37476192e+02] [ 1.97426682e-02 9.99805070e-01 -2.20303762e-04 2.38269815e+00] [ 1.57504005e-02 -9.06961765e-05 9.99875951e-01 3.62006764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.33925415399997 meters Centerline goodness : 0.998705 Centerline is valid? [True, True] Translation: X:237.51, Y:2.38, Z:3.62 [[ 9.99572954e-01 -2.46145413e-02 -1.57491011e-02 2.37505183e+02] [ 2.46141029e-02 9.99697002e-01 -2.21706256e-04 2.38107499e+00] [ 1.57497864e-02 -1.66038418e-04 9.99875951e-01 3.62109390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.36925415399998 meters Centerline goodness : 0.998644 Centerline is valid? [True, True] Translation: X:237.53, Y:2.38, Z:3.62 [[ 9.99509374e-01 -2.70735812e-02 -1.57490431e-02 2.37534421e+02] [ 2.70733841e-02 9.99633423e-01 -2.25756063e-04 2.38003522e+00] [ 1.57493819e-02 -2.00734592e-04 9.99875951e-01 3.62134251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.39925415399998 meters Centerline goodness : 0.998816 Centerline is valid? [True, True] Translation: X:237.57, Y:2.38, Z:3.62 [[ 9.99342405e-01 -3.26607541e-02 -1.57490390e-02 2.37565057e+02] [ 3.26612460e-02 9.99466454e-01 -2.26042917e-04 2.37722035e+00] [ 1.57480189e-02 -2.88488963e-04 9.99875951e-01 3.62199520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.42925415399998 meters Centerline goodness : 0.998774 Centerline is valid? [True, True] Translation: X:237.60, Y:2.38, Z:3.62 [[ 9.99240904e-01 -3.56312066e-02 -1.57490390e-02 2.37597660e+02] [ 3.56320672e-02 9.99364951e-01 -2.26042917e-04 2.37586221e+00] [ 1.57470917e-02 -3.35299486e-04 9.99875951e-01 3.62207590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.45925415399998 meters Centerline goodness : 0.998607 Centerline is valid? [True, True] Translation: X:237.63, Y:2.37, Z:3.62 [[ 9.99141710e-01 -3.83120153e-02 -1.57490552e-02 2.37629983e+02] [ 3.83132267e-02 9.99265753e-01 -2.24907450e-04 2.37426219e+00] [ 1.57461082e-02 -3.78682707e-04 9.99875951e-01 3.62249632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.48925415399998 meters Centerline goodness : 0.999052 Centerline is valid? [True, True] Translation: X:237.66, Y:2.37, Z:3.62 [[ 9.99043416e-01 -4.07948385e-02 -1.57490713e-02 2.37662055e+02] [ 4.07963759e-02 9.99167456e-01 -2.23774021e-04 2.37290875e+00] [ 1.57450883e-02 -4.18945071e-04 9.99875951e-01 3.62281496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.51925415399998 meters Centerline goodness : 0.998864 Centerline is valid? [True, True] Translation: X:237.69, Y:2.37, Z:3.62 [[ 9.98897663e-01 -4.42201820e-02 -1.57490872e-02 2.37694135e+02] [ 4.42221625e-02 9.99021697e-01 -2.22647260e-04 2.36947637e+00] [ 1.57435253e-02 -4.74056867e-04 9.99875951e-01 3.62159757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.54925415399998 meters Centerline goodness : 0.998864 Centerline is valid? [True, True] Translation: X:237.73, Y:2.37, Z:3.62 [[ 9.98848351e-01 -4.53203890e-02 -1.57491031e-02 2.37726378e+02] [ 4.53225238e-02 9.98972382e-01 -2.21520971e-04 2.36867849e+00] [ 1.57429584e-02 -4.92523242e-04 9.99875951e-01 3.62237339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.57925415399998 meters Centerline goodness : 0.998740 Centerline is valid? [True, True] Translation: X:237.76, Y:2.37, Z:3.62 [[ 9.98837611e-01 -4.55564717e-02 -1.57491187e-02 2.37758169e+02] [ 4.55586535e-02 9.98961641e-01 -2.20401974e-04 2.36780096e+00] [ 1.57428062e-02 -4.97362861e-04 9.99875951e-01 3.62231154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.60925415399998 meters Centerline goodness : 0.998821 Centerline is valid? [True, True] Translation: X:237.79, Y:2.37, Z:3.62 [[ 9.98896636e-01 -4.42433759e-02 -1.57491342e-02 2.37789412e+02] [ 4.42454121e-02 9.99020668e-01 -2.19289938e-04 2.36619231e+00] [ 1.57434127e-02 -4.77778953e-04 9.99875951e-01 3.62192994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.63925415399999 meters Centerline goodness : 0.998929 Centerline is valid? [True, True] Translation: X:237.82, Y:2.37, Z:3.62 [[ 9.98977010e-01 -4.23898377e-02 -1.57491457e-02 2.37821422e+02] [ 4.23916569e-02 9.99101046e-01 -2.18461096e-04 2.36587580e+00] [ 1.57442485e-02 -4.49394768e-04 9.99875951e-01 3.62206088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.669254154 meters Centerline goodness : 0.998760 Centerline is valid? [True, True] Translation: X:237.85, Y:2.37, Z:3.62 [[ 9.99066385e-01 -4.02283718e-02 -1.57491608e-02 2.37853218e+02] [ 4.02299398e-02 9.99190425e-01 -2.17366320e-04 2.36575315e+00] [ 1.57451550e-02 -4.16424409e-04 9.99875951e-01 3.62253898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.699254154 meters Centerline goodness : 0.999139 Centerline is valid? [True, True] Translation: X:237.89, Y:2.37, Z:3.62 [[ 9.99175085e-01 -3.74314528e-02 -1.57491767e-02 2.37885207e+02] [ 3.74326918e-02 9.99299128e-01 -2.16206898e-04 2.36560456e+00] [ 1.57462315e-02 -3.73505533e-04 9.99875951e-01 3.62296080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.72925415399996 meters Centerline goodness : 0.998803 Centerline is valid? [True, True] Translation: X:237.92, Y:2.37, Z:3.62 [[ 9.99388830e-01 -3.12078301e-02 -1.57491926e-02 2.37915694e+02] [ 3.12083148e-02 9.99512879e-01 -2.15047476e-04 2.36580253e+00] [ 1.57482320e-02 -2.76589714e-04 9.99875951e-01 3.62241475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.75925415399996 meters Centerline goodness : 0.998907 Centerline is valid? [True, True] Translation: X:237.95, Y:2.37, Z:3.62 [[ 9.99486927e-01 -2.78898754e-02 -1.57491965e-02 2.37946038e+02] [ 2.78899528e-02 9.99610977e-01 -2.14760671e-04 2.36635841e+00] [ 1.57490593e-02 -2.24593864e-04 9.99875951e-01 3.62251735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.78925415399996 meters Centerline goodness : 0.998739 Centerline is valid? [True, True] Translation: X:237.98, Y:2.37, Z:3.62 [[ 9.99571829e-01 -2.46601284e-02 -1.57492001e-02 2.37976819e+02] [ 2.46598092e-02 9.99695878e-01 -2.14497313e-04 2.36673728e+00] [ 1.57496999e-02 -1.73966796e-04 9.99875951e-01 3.62302315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.81925415399996 meters Centerline goodness : 0.999012 Centerline is valid? [True, True] Translation: X:238.01, Y:2.37, Z:3.62 [[ 9.99646254e-01 -2.14319791e-02 -1.57492001e-02 2.38006885e+02] [ 2.14312593e-02 9.99770301e-01 -2.14497313e-04 2.36708153e+00] [ 1.57501796e-02 -1.23103754e-04 9.99875951e-01 3.62351254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.84925415399996 meters Centerline goodness : 0.999033 Centerline is valid? [True, True] Translation: X:238.04, Y:2.37, Z:3.62 [[ 9.99756220e-01 -1.54746009e-02 -1.57491930e-02 2.38035589e+02] [ 1.54731337e-02 9.99880261e-01 -2.15017428e-04 2.36690168e+00] [ 1.57506345e-02 -2.87243579e-05 9.99875951e-01 3.62311017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.87925415399997 meters Centerline goodness : 0.998843 Centerline is valid? [True, True] Translation: X:238.06, Y:2.37, Z:3.62 [[ 9.99792292e-01 -1.29358400e-02 -1.57491796e-02 2.38063206e+02] [ 1.29340424e-02 9.99916328e-01 -2.15994294e-04 2.36705237e+00] [ 1.57506559e-02 1.22488746e-05 9.99875951e-01 3.62355220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.90925415399997 meters Centerline goodness : 0.998905 Centerline is valid? [True, True] Translation: X:238.09, Y:2.37, Z:3.63 [[ 9.99834011e-01 -9.16049263e-03 -1.57491620e-02 2.38091561e+02] [ 9.15820661e-03 9.99958039e-01 -2.17268505e-04 2.36683129e+00] [ 1.57504914e-02 7.29983613e-05 9.99875951e-01 3.62517595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.93925415399997 meters Centerline goodness : 0.999031 Centerline is valid? [True, True] Translation: X:238.12, Y:2.37, Z:3.63 [[ 9.99844240e-01 -7.96625559e-03 -1.57490979e-02 2.38119657e+02] [ 7.96374980e-03 9.99968264e-01 -2.21816457e-04 2.36694517e+00] [ 1.57503652e-02 9.63600312e-05 9.99875951e-01 3.62635104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.96925415399997 meters Centerline goodness : 0.998948 Centerline is valid? [True, True] Translation: X:238.15, Y:2.37, Z:3.63 [[ 9.99847669e-01 -7.52402044e-03 -1.57489131e-02 2.38147526e+02] [ 7.52125631e-03 9.99971687e-01 -2.34735501e-04 2.36623966e+00] [ 1.57502334e-02 1.16248131e-04 9.99875951e-01 3.62616517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.99925415399997 meters Centerline goodness : 0.999348 Centerline is valid? [True, True] Translation: X:238.18, Y:2.37, Z:3.63 [[ 9.99845628e-01 -7.79028984e-03 -1.57490158e-02 2.38175611e+02] [ 7.78767066e-03 9.99969650e-01 -2.27629726e-04 2.36535136e+00] [ 1.57503111e-02 1.04946438e-04 9.99875951e-01 3.62726117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.02925415399997 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:238.20, Y:2.36, Z:3.63 [[ 9.99829600e-01 -9.63026620e-03 -1.57489486e-02 2.38203252e+02] [ 9.62780344e-03 9.99953625e-01 -2.32189055e-04 2.36227453e+00] [ 1.57504543e-02 8.05217082e-05 9.99875951e-01 3.62796699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.05925415399997 meters Centerline goodness : 0.999012 Centerline is valid? [True, True] Translation: X:238.23, Y:2.36, Z:3.63 [[ 9.99814361e-01 -1.11002500e-02 -1.57488795e-02 2.38230412e+02] [ 1.10978973e-02 9.99938388e-01 -2.36783607e-04 2.36057533e+00] [ 1.57505375e-02 6.19602046e-05 9.99875951e-01 3.62734415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.08925415399997 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:238.26, Y:2.36, Z:3.63 [[ 9.99795390e-01 -1.26946202e-02 -1.57488320e-02 2.38257481e+02] [ 1.26924160e-02 9.99919419e-01 -2.39905097e-04 2.35927547e+00] [ 1.57506084e-02 3.99652830e-05 9.99875951e-01 3.62874548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.11925415399998 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:238.29, Y:2.36, Z:3.63 [[ 9.99769577e-01 -1.45865424e-02 -1.57488017e-02 2.38285405e+02] [ 1.45845420e-02 9.99893611e-01 -2.41872130e-04 2.35804733e+00] [ 1.57506543e-02 1.21273370e-05 9.99875951e-01 3.62979048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.14925415399998 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:238.31, Y:2.36, Z:3.63 [[ 9.99716917e-01 -1.78343430e-02 -1.57487324e-02 2.38312895e+02] [ 1.78326757e-02 9.99840955e-01 -2.46306068e-04 2.35501617e+00] [ 1.57506203e-02 -3.46056947e-05 9.99875951e-01 3.63116220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.17925415399998 meters Centerline goodness : 0.998868 Centerline is valid? [True, True] Translation: X:238.34, Y:2.35, Z:3.63 [[ 9.99668692e-01 -2.03589057e-02 -1.57486603e-02 2.38340923e+02] [ 2.03574803e-02 9.99792734e-01 -2.50831224e-04 2.35118920e+00] [ 1.57505028e-02 -6.98549207e-05 9.99875951e-01 3.63139286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.20925415399998 meters Centerline goodness : 0.998868 Centerline is valid? [True, True] Translation: X:238.37, Y:2.35, Z:3.63 [[ 9.99663680e-01 -2.06035976e-02 -1.57486379e-02 2.38370167e+02] [ 2.06021805e-02 9.99787721e-01 -2.52233536e-04 2.35170936e+00] [ 1.57504917e-02 -7.23075757e-05 9.99875951e-01 3.63185399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.23925415399998 meters Centerline goodness : 0.998868 Centerline is valid? [True, True] Translation: X:238.40, Y:2.35, Z:3.63 [[ 9.99658607e-01 -2.08483269e-02 -1.57485752e-02 2.38399412e+02] [ 2.08468795e-02 9.99782647e-01 -2.56088502e-04 2.35223786e+00] [ 1.57504912e-02 -7.23075735e-05 9.99875951e-01 3.63231577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.26925415399998 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:238.43, Y:2.35, Z:3.63 [[ 9.99636487e-01 -2.18833039e-02 -1.57485115e-02 2.38427925e+02] [ 2.18819241e-02 9.99760528e-01 -2.59943452e-04 2.34845966e+00] [ 1.57504286e-02 -8.47587749e-05 9.99875951e-01 3.63280964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.29925415399998 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:238.46, Y:2.35, Z:3.63 [[ 9.99631099e-01 -2.21280905e-02 -1.57484459e-02 2.38455640e+02] [ 2.21266793e-02 9.99755140e-01 -2.63862060e-04 2.34707279e+00] [ 1.57504285e-02 -8.46960917e-05 9.99875951e-01 3.63313785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.32925415399998 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:238.48, Y:2.35, Z:3.63 [[ 9.99620850e-01 -2.25863461e-02 -1.57484225e-02 2.38484256e+02] [ 2.25849700e-02 9.99744892e-01 -2.65249393e-04 2.34596228e+00] [ 1.57503960e-02 -9.05288261e-05 9.99875951e-01 3.63386324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.35925415399998 meters Centerline goodness : 0.999226 Centerline is valid? [True, True] Translation: X:238.51, Y:2.35, Z:3.63 [[ 9.99618535e-01 -2.26886068e-02 -1.57483563e-02 2.38513072e+02] [ 2.26871823e-02 9.99742577e-01 -2.69126736e-04 2.34503618e+00] [ 1.57504084e-02 -8.82617558e-05 9.99875951e-01 3.63407861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.38925415399999 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:238.54, Y:2.34, Z:3.63 [[ 9.99619733e-01 -2.26358156e-02 -1.57483385e-02 2.38541983e+02] [ 2.26343682e-02 9.99743773e-01 -2.70165152e-04 2.34263038e+00] [ 1.57504187e-02 -8.63912744e-05 9.99875951e-01 3.63451626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.419254154 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:238.57, Y:2.34, Z:3.64 [[ 9.99623627e-01 -2.24632012e-02 -1.57482725e-02 2.38570875e+02] [ 2.24616726e-02 9.99747667e-01 -2.73959233e-04 2.34113224e+00] [ 1.57504526e-02 -7.98764168e-05 9.99875951e-01 3.63507118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.449254154 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:238.60, Y:2.34, Z:3.64 [[ 9.99633022e-01 -2.20412021e-02 -1.57482014e-02 2.38598475e+02] [ 2.20395577e-02 9.99757061e-01 -2.77981541e-04 2.33948778e+00] [ 1.57505026e-02 -6.92038669e-05 9.99875951e-01 3.63579545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.47925415399996 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:238.63, Y:2.34, Z:3.64 [[ 9.99664131e-01 -2.05820369e-02 -1.57481762e-02 2.38627273e+02] [ 2.05801891e-02 9.99788166e-01 -2.79404508e-04 2.33651663e+00] [ 1.57505909e-02 -4.47897798e-05 9.99875951e-01 3.63597914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.50925415399996 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:238.65, Y:2.34, Z:3.64 [[ 9.99684901e-01 -1.95472986e-02 -1.57481054e-02 2.38654748e+02] [ 1.95452604e-02 9.99808933e-01 -2.83337280e-04 2.33583801e+00] [ 1.57506350e-02 -2.45528211e-05 9.99875951e-01 3.63630205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.53925415399996 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:238.68, Y:2.34, Z:3.64 [[ 9.99709864e-01 -1.82259764e-02 -1.57480803e-02 2.38682424e+02] [ 1.82237523e-02 9.99833893e-01 -2.84728188e-04 2.33529060e+00] [ 1.57506539e-02 -2.34353674e-06 9.99875951e-01 3.63706852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.56925415399996 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:238.71, Y:2.33, Z:3.64 [[ 9.99727182e-01 -1.72500085e-02 -1.57479952e-02 2.38710527e+02] [ 1.72475905e-02 9.99851207e-01 -2.89361202e-04 2.33490060e+00] [ 1.57506435e-02 1.76672881e-05 9.99875951e-01 3.63743161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.59925415399996 meters Centerline goodness : 0.999127 Centerline is valid? [True, True] Translation: X:238.74, Y:2.33, Z:3.63 [[ 9.99768684e-01 -1.46486273e-02 -1.57479093e-02 2.38737372e+02] [ 1.46458141e-02 9.99892701e-01 -2.93960704e-04 2.33267517e+00] [ 1.57505257e-02 6.32517544e-05 9.99875951e-01 3.63499604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.62925415399997 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:238.77, Y:2.33, Z:3.64 [[ 9.99781085e-01 -1.37763406e-02 -1.57478497e-02 2.38765105e+02] [ 1.37733694e-02 9.99905099e-01 -2.97121158e-04 2.33138084e+00] [ 1.57504484e-02 8.01551627e-05 9.99875951e-01 3.63738440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.65925415399997 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:238.79, Y:2.33, Z:3.64 [[ 9.99799350e-01 -1.23801001e-02 -1.57477640e-02 2.38792887e+02] [ 1.23768852e-02 9.99923358e-01 -3.01593599e-04 2.32751108e+00] [ 1.57502908e-02 1.06624817e-04 9.99875951e-01 3.63840816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.68925415399997 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:238.82, Y:2.33, Z:3.64 [[ 9.99795520e-01 -1.26857970e-02 -1.57476757e-02 2.38820399e+02] [ 1.26825485e-02 9.99919526e-01 -3.06138320e-04 2.32632104e+00] [ 1.57502920e-02 1.06355060e-04 9.99875951e-01 3.63908396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.71925415399997 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:238.85, Y:2.33, Z:3.64 [[ 9.99790378e-01 -1.30848953e-02 -1.57475855e-02 2.38848681e+02] [ 1.30816243e-02 9.99914384e-01 -3.10709891e-04 2.32512782e+00] [ 1.57503028e-02 1.04640763e-04 9.99875951e-01 3.63974469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.74925415399997 meters Centerline goodness : 0.999351 Centerline is valid? [True, True] Translation: X:238.88, Y:2.32, Z:3.64 [[ 9.99765335e-01 -1.48758403e-02 -1.57474947e-02 2.38876785e+02] [ 1.48727200e-02 9.99889345e-01 -3.15246018e-04 2.32239561e+00] [ 1.57504417e-02 8.09639623e-05 9.99875951e-01 3.64115868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.77925415399997 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:238.90, Y:2.32, Z:3.64 [[ 9.99742140e-01 -1.63606912e-02 -1.57474000e-02 2.38903633e+02] [ 1.63576817e-02 9.99866153e-01 -3.19907998e-04 2.32075878e+00] [ 1.57505261e-02 6.22345510e-05 9.99875951e-01 3.64092232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.80925415399997 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:238.93, Y:2.32, Z:3.64 [[ 9.99711597e-01 -1.81313049e-02 -1.57473587e-02 2.38931436e+02] [ 1.81284832e-02 9.99835614e-01 -3.21928014e-04 2.31880293e+00] [ 1.57506070e-02 3.63594428e-05 9.99875951e-01 3.64144228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.83925415399997 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:238.96, Y:2.32, Z:3.64 [[ 9.99665864e-01 -2.04984112e-02 -1.57472629e-02 2.38959012e+02] [ 2.04958104e-02 9.99789885e-01 -3.26545464e-04 2.31709912e+00] [ 1.57506479e-02 3.68343889e-06 9.99875951e-01 3.64189026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.86925415399998 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:238.99, Y:2.31, Z:3.64 [[ 9.99574073e-01 -2.45702926e-02 -1.57471644e-02 2.38985825e+02] [ 2.45681232e-02 9.99698103e-01 -3.31228444e-04 2.31344807e+00] [ 1.57505488e-02 -5.57909099e-05 9.99875951e-01 3.64136724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.89925415399998 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:239.01, Y:2.31, Z:3.64 [[ 9.99518962e-01 -2.67183961e-02 -1.57471215e-02 2.39013240e+02] [ 2.67164613e-02 9.99642996e-01 -3.33256069e-04 2.31203648e+00] [ 1.57504038e-02 -8.76116023e-05 9.99875951e-01 3.64074935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.92925415399998 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:239.04, Y:2.31, Z:3.64 [[ 9.99453844e-01 -2.90524305e-02 -1.57470915e-02 2.39040570e+02] [ 2.90507631e-02 9.99577881e-01 -3.34666653e-04 2.31097875e+00] [ 1.57501673e-02 -1.22981153e-04 9.99875951e-01 3.64095775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.95925415399998 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:239.07, Y:2.31, Z:3.64 [[ 9.99394962e-01 -3.10119548e-02 -1.57470484e-02 2.39069216e+02] [ 3.10104989e-02 9.99519002e-01 -3.36685028e-04 2.30960252e+00] [ 1.57499153e-02 -1.51842506e-04 9.99875951e-01 3.64190427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.98925415399998 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:239.10, Y:2.31, Z:3.64 [[ 9.99267520e-01 -3.48777510e-02 -1.57469618e-02 2.39099091e+02] [ 3.48767119e-02 9.99391564e-01 -3.40685640e-04 2.30671427e+00] [ 1.57492632e-02 -2.08766156e-04 9.99875951e-01 3.64347125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.01925415399998 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:239.13, Y:2.31, Z:3.64 [[ 9.99206572e-01 -3.65822336e-02 -1.57469492e-02 2.39129001e+02] [ 3.65813969e-02 9.99330618e-01 -3.41267819e-04 2.30540191e+00] [ 1.57488928e-02 -2.35048350e-04 9.99875951e-01 3.64309425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.04925415399998 meters Centerline goodness : 0.999645 Centerline is valid? [True, True] Translation: X:239.16, Y:2.30, Z:3.64 [[ 9.99145694e-01 -3.82088408e-02 -1.57469429e-02 2.39158288e+02] [ 3.82082015e-02 9.99269742e-01 -3.41556925e-04 2.30425309e+00] [ 1.57484941e-02 -2.60397238e-04 9.99875951e-01 3.64443376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.07925415399998 meters Centerline goodness : 0.999562 Centerline is valid? [True, True] Translation: X:239.19, Y:2.30, Z:3.64 [[ 9.99002060e-01 -4.17961440e-02 -1.57469301e-02 2.39187589e+02] [ 4.17959408e-02 9.99126109e-01 -3.42145755e-04 2.30281414e+00] [ 1.57474694e-02 -3.16353445e-04 9.99875951e-01 3.64488166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.10925415399998 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:239.22, Y:2.30, Z:3.65 [[ 9.98932009e-01 -4.34381798e-02 -1.57469238e-02 2.39218201e+02] [ 4.34381759e-02 9.99056058e-01 -3.42437854e-04 2.30266671e+00] [ 1.57469345e-02 -3.41945512e-04 9.99875951e-01 3.64523875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.13925415399999 meters Centerline goodness : 0.999498 Centerline is valid? [True, True] Translation: X:239.25, Y:2.30, Z:3.65 [[ 9.98851760e-01 -4.52459512e-02 -1.57469238e-02 2.39249541e+02] [ 4.52461718e-02 9.98975809e-01 -3.42437854e-04 2.30294442e+00] [ 1.57462899e-02 -3.70443366e-04 9.99875951e-01 3.64601440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.169254154 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:239.28, Y:2.30, Z:3.65 [[ 9.98680363e-01 -4.88831847e-02 -1.57469364e-02 2.39280074e+02] [ 4.88838663e-02 9.98804411e-01 -3.41855829e-04 2.30260715e+00] [ 1.57448206e-02 -4.28366430e-04 9.99875951e-01 3.64613021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.199254154 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:239.31, Y:2.30, Z:3.65 [[ 9.98600386e-01 -5.04906161e-02 -1.57469427e-02 2.39310707e+02] [ 5.04915019e-02 9.98724432e-01 -3.41567057e-04 2.30267558e+00] [ 1.57441023e-02 -4.53997791e-04 9.99875951e-01 3.64658257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.22925415399996 meters Centerline goodness : 0.999686 Centerline is valid? [True, True] Translation: X:239.34, Y:2.30, Z:3.65 [[ 9.98468357e-01 -5.30374709e-02 -1.57469489e-02 2.39341622e+02] [ 5.30386776e-02 9.98592400e-01 -3.41280844e-04 2.30383903e+00] [ 1.57428842e-02 -4.94439221e-04 9.99875951e-01 3.64761536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.25925415399996 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:239.37, Y:2.30, Z:3.65 [[ 9.98436502e-01 -5.36337611e-02 -1.57470737e-02 2.39372213e+02] [ 5.36351326e-02 9.98560544e-01 -3.35521531e-04 2.30353838e+00] [ 1.57424018e-02 -5.09599444e-04 9.99875951e-01 3.64788816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.28925415399996 meters Centerline goodness : 0.999687 Centerline is valid? [True, True] Translation: X:239.40, Y:2.31, Z:3.65 [[ 9.98282293e-01 -5.64313426e-02 -1.57469670e-02 2.39403110e+02] [ 5.64329839e-02 9.98406331e-01 -3.40460359e-04 2.30516954e+00] [ 1.57410842e-02 -5.48772785e-04 9.99875951e-01 3.64869326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.31925415399996 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:239.43, Y:2.31, Z:3.65 [[ 9.98218493e-01 -5.75488720e-02 -1.57469855e-02 2.39434713e+02] [ 5.75506656e-02 9.98342529e-01 -3.39600521e-04 2.30671135e+00] [ 1.57404290e-02 -5.67253977e-04 9.99875951e-01 3.64890202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.34925415399996 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:239.47, Y:2.31, Z:3.65 [[ 9.98149136e-01 -5.87395467e-02 -1.57470039e-02 2.39466746e+02] [ 5.87415018e-02 9.98273170e-01 -3.38747436e-04 2.30840185e+00] [ 1.57397093e-02 -5.86882195e-04 9.99875951e-01 3.64988069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.37925415399997 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:239.50, Y:2.31, Z:3.65 [[ 9.98091533e-01 -5.97103302e-02 -1.57470284e-02 2.39498062e+02] [ 5.97124239e-02 9.98215564e-01 -3.37604731e-04 2.30996534e+00] [ 1.57390873e-02 -6.03332810e-04 9.99875951e-01 3.65018469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.40925415399997 meters Centerline goodness : 0.999563 Centerline is valid? [True, True] Translation: X:239.53, Y:2.31, Z:3.65 [[ 9.98017558e-01 -6.09342634e-02 -1.57470466e-02 2.39529763e+02] [ 6.09365226e-02 9.98141587e-01 -3.36753178e-04 2.31227580e+00] [ 1.57383019e-02 -6.23484675e-04 9.99875951e-01 3.65113584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.43925415399997 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:239.56, Y:2.31, Z:3.65 [[ 9.97981232e-01 -6.15263381e-02 -1.57470712e-02 2.39561182e+02] [ 6.15286891e-02 9.98105259e-01 -3.35595410e-04 2.31394008e+00] [ 1.57378826e-02 -6.33978730e-04 9.99875951e-01 3.65141246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.46925415399997 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:239.59, Y:2.32, Z:3.65 [[ 9.97954419e-01 -6.19597214e-02 -1.57470896e-02 2.39593254e+02] [ 6.19621398e-02 9.98078444e-01 -3.34731965e-04 2.31692347e+00] [ 1.57375706e-02 -6.41676124e-04 9.99875951e-01 3.65205364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.49925415399997 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:239.62, Y:2.32, Z:3.65 [[ 9.97964362e-01 -6.17993608e-02 -1.57471144e-02 2.39624744e+02] [ 6.18017778e-02 9.98088387e-01 -3.33560531e-04 2.31898383e+00] [ 1.57376259e-02 -6.40318144e-04 9.99875951e-01 3.65157881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.52925415399997 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:239.66, Y:2.32, Z:3.65 [[ 9.97992376e-01 -6.13453003e-02 -1.57471328e-02 2.39656440e+02] [ 6.13476746e-02 9.98116402e-01 -3.32688562e-04 2.32113887e+00] [ 1.57378804e-02 -6.34029332e-04 9.99875951e-01 3.65287258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.55925415399997 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:239.69, Y:2.32, Z:3.65 [[ 9.98026612e-01 -6.07857649e-02 -1.57471569e-02 2.39688838e+02] [ 6.07880877e-02 9.98150639e-01 -3.31546459e-04 2.32351988e+00] [ 1.57381880e-02 -6.26347365e-04 9.99875951e-01 3.65352219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.58925415399997 meters Centerline goodness : 0.999229 Centerline is valid? [True, True] Translation: X:239.72, Y:2.33, Z:3.65 [[ 9.98137132e-01 -5.89431280e-02 -1.57471806e-02 2.39720400e+02] [ 5.89452396e-02 9.98261163e-01 -3.30413767e-04 2.32759076e+00] [ 1.57392745e-02 -5.98423087e-04 9.99875951e-01 3.65286357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.61925415399998 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:239.75, Y:2.33, Z:3.65 [[ 9.98214224e-01 -5.76228180e-02 -1.57471983e-02 2.39752592e+02] [ 5.76247789e-02 9.98338257e-01 -3.29569536e-04 2.32975753e+00] [ 1.57400213e-02 -5.78447822e-04 9.99875951e-01 3.65440301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.64925415399998 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:239.78, Y:2.33, Z:3.65 [[ 9.98300522e-01 -5.61078600e-02 -1.57472223e-02 2.39784048e+02] [ 5.61096508e-02 9.98424559e-01 -3.28417858e-04 2.33214225e+00] [ 1.57408403e-02 -5.55711427e-04 9.99875951e-01 3.65462346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.67925415399998 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:239.82, Y:2.33, Z:3.65 [[ 9.98378308e-01 -5.47063024e-02 -1.57472402e-02 2.39815779e+02] [ 5.47079325e-02 9.98502346e-01 -3.27560026e-04 2.33490637e+00] [ 1.57415759e-02 -5.34470128e-04 9.99875951e-01 3.65426107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.70925415399998 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:239.85, Y:2.34, Z:3.66 [[ 9.98557375e-01 -5.13341178e-02 -1.57472636e-02 2.39847721e+02] [ 5.13353468e-02 9.98681418e-01 -3.26429834e-04 2.34013489e+00] [ 1.57432565e-02 -4.82432321e-04 9.99875951e-01 3.65624301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.73925415399998 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:239.88, Y:2.34, Z:3.66 [[ 9.98637694e-01 -4.97471534e-02 -1.57472879e-02 2.39879378e+02] [ 4.97482039e-02 9.98761739e-01 -3.25253373e-04 2.34271711e+00] [ 1.57439691e-02 -4.58589011e-04 9.99875951e-01 3.65689942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.76925415399998 meters Centerline goodness : 0.999063 Centerline is valid? [True, True] Translation: X:239.91, Y:2.35, Z:3.66 [[ 9.98704515e-01 -4.83871318e-02 -1.57473119e-02 2.39911400e+02] [ 4.83880317e-02 9.98828561e-01 -3.24085242e-04 2.34560494e+00] [ 1.57445465e-02 -4.38316034e-04 9.99875951e-01 3.65749750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.79925415399998 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:239.94, Y:2.35, Z:3.66 [[ 9.98852400e-01 -4.52316785e-02 -1.57473357e-02 2.39943198e+02] [ 4.52322047e-02 9.98976448e-01 -3.22929078e-04 2.35098187e+00] [ 1.57458241e-02 -3.89728225e-04 9.99875951e-01 3.65880255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.82925415399998 meters Centerline goodness : 0.999041 Centerline is valid? [True, True] Translation: X:239.98, Y:2.35, Z:3.66 [[ 9.98936959e-01 -4.33240457e-02 -1.57473594e-02 2.39975150e+02] [ 4.33243534e-02 9.99061008e-01 -3.21765384e-04 2.35403822e+00] [ 1.57465130e-02 -3.60820831e-04 9.99875951e-01 3.65963345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.85925415399998 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:240.01, Y:2.36, Z:3.66 [[ 9.99025574e-01 -4.12301206e-02 -1.57473831e-02 2.40006385e+02] [ 4.12301866e-02 9.99149623e-01 -3.20601184e-04 2.35668519e+00] [ 1.57472103e-02 -3.28978762e-04 9.99875951e-01 3.66017507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.88925415399999 meters Centerline goodness : 0.999062 Centerline is valid? [True, True] Translation: X:240.04, Y:2.36, Z:3.66 [[ 9.99185340e-01 -3.71574557e-02 -1.57474008e-02 2.40038030e+02] [ 3.71570298e-02 9.99309388e-01 -3.19733247e-04 2.36200513e+00] [ 1.57484059e-02 -2.65653866e-04 9.99875951e-01 3.66080058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.919254154 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:240.07, Y:2.36, Z:3.66 [[ 9.99263579e-01 -3.49902532e-02 -1.57474123e-02 2.40068829e+02] [ 3.49895672e-02 9.99387627e-01 -3.19161694e-04 2.36477182e+00] [ 1.57489366e-02 -2.32068486e-04 9.99875951e-01 3.66149874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.94925415399996 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:240.10, Y:2.37, Z:3.66 [[ 9.99319238e-01 -3.33628555e-02 -1.57474123e-02 2.40098798e+02] [ 3.33619674e-02 9.99443284e-01 -3.19161694e-04 2.36779877e+00] [ 1.57492936e-02 -2.06420237e-04 9.99875951e-01 3.66208128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.97925415399996 meters Centerline goodness : 0.998958 Centerline is valid? [True, True] Translation: X:240.13, Y:2.37, Z:3.66 [[ 9.99362524e-01 -3.20400528e-02 -1.57474180e-02 2.40128837e+02] [ 3.20390050e-02 9.99486568e-01 -3.18880016e-04 2.36980998e+00] [ 1.57495498e-02 -1.85854869e-04 9.99875951e-01 3.66287248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.00925415399996 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:240.16, Y:2.37, Z:3.66 [[ 9.99391644e-01 -3.11184826e-02 -1.57474180e-02 2.40159038e+02] [ 3.11173204e-02 9.99515688e-01 -3.18880016e-04 2.37325542e+00] [ 1.57497144e-02 -1.71331430e-04 9.99875951e-01 3.66398673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.03925415399996 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:240.19, Y:2.37, Z:3.66 [[ 9.99391620e-01 -3.11192682e-02 -1.57474237e-02 2.40189156e+02] [ 3.11181105e-02 9.99515664e-01 -3.18601759e-04 2.37480419e+00] [ 1.57497113e-02 -1.71622141e-04 9.99875951e-01 3.66450195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.06925415399996 meters Centerline goodness : 0.997349 Centerline is valid? [True, True] Translation: X:240.22, Y:2.38, Z:3.66 [[ 9.99342549e-01 -3.26571416e-02 -1.57474293e-02 2.40219103e+02] [ 3.26561792e-02 9.99466594e-01 -3.18325880e-04 2.37718734e+00] [ 1.57494251e-02 -1.96134275e-04 9.99875951e-01 3.66374029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.09925415399996 meters Centerline goodness : 0.997349 Centerline is valid? [True, True] Translation: X:240.25, Y:2.38, Z:3.66 [[ 9.99342112e-01 -3.26704078e-02 -1.57476101e-02 2.40250088e+02] [ 3.26695874e-02 9.99466159e-01 -3.09417803e-04 2.37782426e+00] [ 1.57493122e-02 -2.05253682e-04 9.99875951e-01 3.66422622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.12925415399997 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:240.28, Y:2.38, Z:3.67 [[ 9.99300656e-01 -3.39147927e-02 -1.57475853e-02 2.40280130e+02] [ 3.39141075e-02 9.99424703e-01 -3.10638104e-04 2.37899006e+00] [ 1.57490609e-02 -2.23644439e-04 9.99875951e-01 3.66642529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.15925415399997 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:240.31, Y:2.38, Z:3.67 [[ 9.99254274e-01 -3.52550404e-02 -1.57473321e-02 2.40311513e+02] [ 3.52543270e-02 9.99378321e-01 -3.22983516e-04 2.37989823e+00] [ 1.57489291e-02 -2.32418934e-04 9.99875951e-01 3.66645660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.18925415399997 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:240.34, Y:2.38, Z:3.67 [[ 9.99105702e-01 -3.92404985e-02 -1.57473438e-02 2.40342713e+02] [ 3.92402889e-02 9.99229751e-01 -3.22410622e-04 2.38040085e+00] [ 1.57478660e-02 -2.95808028e-04 9.99875951e-01 3.66613910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.21925415399997 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:240.37, Y:2.38, Z:3.67 [[ 9.99016031e-01 -4.14607189e-02 -1.57473613e-02 2.40373988e+02] [ 4.14607985e-02 9.99140080e-01 -3.21553149e-04 2.38080191e+00] [ 1.57471516e-02 -3.31661424e-04 9.99875951e-01 3.66649389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.24925415399997 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:240.40, Y:2.38, Z:3.67 [[ 9.98967252e-01 -4.26198304e-02 -1.57473729e-02 2.40403027e+02] [ 4.26200629e-02 9.99091301e-01 -3.20983178e-04 2.38115412e+00] [ 1.57467435e-02 -3.50502342e-04 9.99875951e-01 3.66601334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.27925415399997 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:240.44, Y:2.38, Z:3.67 [[ 9.98804247e-01 -4.62834604e-02 -1.57454201e-02 2.40436029e+02] [ 4.62826551e-02 9.98928297e-01 -4.15730575e-04 2.38143504e+00] [ 1.57477871e-02 -3.13506382e-04 9.99875947e-01 3.66708028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.30925415399997 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:240.47, Y:2.38, Z:3.67 [[ 9.98621097e-01 -5.00791912e-02 -1.57473301e-02 2.40467892e+02] [ 5.00803270e-02 9.98745141e-01 -3.22456293e-04 2.38201534e+00] [ 1.57437178e-02 -4.66619783e-04 9.99875951e-01 3.66789657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.33925415399997 meters Centerline goodness : 0.998996 Centerline is valid? [True, True] Translation: X:240.50, Y:2.38, Z:3.67 [[ 9.98563777e-01 -5.12094186e-02 -1.57473535e-02 2.40499661e+02] [ 5.12107128e-02 9.98687819e-01 -3.21309899e-04 2.38284640e+00] [ 1.57431442e-02 -4.85584770e-04 9.99875951e-01 3.66861237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.36925415399998 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:240.53, Y:2.38, Z:3.67 [[ 9.98535974e-01 -5.17487085e-02 -1.57473775e-02 2.40530557e+02] [ 5.17500883e-02 9.98660015e-01 -3.20129028e-04 2.38370205e+00] [ 1.57428425e-02 -4.95267824e-04 9.99875951e-01 3.66865226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.39925415399998 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:240.56, Y:2.38, Z:3.67 [[ 9.98594448e-01 -5.06077763e-02 -1.57473953e-02 2.40563109e+02] [ 5.06090282e-02 9.98718491e-01 -3.19249222e-04 2.38480405e+00] [ 1.57433714e-02 -4.78159874e-04 9.99875951e-01 3.66884952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.42925415399998 meters Centerline goodness : 0.998932 Centerline is valid? [True, True] Translation: X:240.59, Y:2.39, Z:3.67 [[ 9.98677133e-01 -4.89489854e-02 -1.57474189e-02 2.40594718e+02] [ 4.89500497e-02 9.98801177e-01 -3.18081591e-04 2.38617374e+00] [ 1.57441103e-02 -4.53176126e-04 9.99875951e-01 3.66908966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.45925415399998 meters Centerline goodness : 0.998913 Centerline is valid? [True, True] Translation: X:240.63, Y:2.39, Z:3.67 [[ 9.98792627e-01 -4.65328479e-02 -1.57474364e-02 2.40625534e+02] [ 4.65336258e-02 9.98916674e-01 -3.17211584e-04 2.38766264e+00] [ 1.57451376e-02 -4.15956724e-04 9.99875951e-01 3.66950732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.48925415399998 meters Centerline goodness : 0.999267 Centerline is valid? [True, True] Translation: X:240.66, Y:2.39, Z:3.67 [[ 9.98928841e-01 -4.35107913e-02 -1.57474537e-02 2.40657917e+02] [ 4.35112074e-02 9.99052889e-01 -3.16353741e-04 2.38917963e+00] [ 1.57463039e-02 -3.69175847e-04 9.99875951e-01 3.67052829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.51925415399998 meters Centerline goodness : 0.998973 Centerline is valid? [True, True] Translation: X:240.69, Y:2.39, Z:3.67 [[ 9.99076388e-01 -3.99798555e-02 -1.57474770e-02 2.40690544e+02] [ 3.99798515e-02 9.99200436e-01 -3.15188899e-04 2.39068004e+00] [ 1.57474871e-02 -3.14684005e-04 9.99875951e-01 3.67087745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.54925415399998 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:240.72, Y:2.39, Z:3.67 [[ 9.99350245e-01 -3.24207427e-02 -1.57475001e-02 2.40721956e+02] [ 3.24198186e-02 9.99474290e-01 -3.14031228e-04 2.39363937e+00] [ 1.57494026e-02 -1.96703910e-04 9.99875951e-01 3.67184562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.57925415399998 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:240.75, Y:2.40, Z:3.67 [[ 9.99474043e-01 -2.83487827e-02 -1.57475115e-02 2.40752564e+02] [ 2.83473621e-02 9.99598084e-01 -3.13458937e-04 2.39527050e+00] [ 1.57500685e-02 -1.33106339e-04 9.99875951e-01 3.67278696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.60925415399998 meters Centerline goodness : 0.999393 Centerline is valid? [True, True] Translation: X:240.78, Y:2.40, Z:3.67 [[ 9.99575863e-01 -2.44971300e-02 -1.57475115e-02 2.40781753e+02] [ 2.44952315e-02 9.99699898e-01 -3.13458937e-04 2.39670443e+00] [ 1.57504644e-02 -7.24129514e-05 9.99875951e-01 3.67368490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.63925415399999 meters Centerline goodness : 0.998931 Centerline is valid? [True, True] Translation: X:240.81, Y:2.40, Z:3.67 [[ 9.99712897e-01 -1.80593142e-02 -1.57475122e-02 2.40811033e+02] [ 1.80566175e-02 9.99836917e-01 -3.13419771e-04 2.39803848e+00] [ 1.57506042e-02 2.89829818e-05 9.99875951e-01 3.67393203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.669254154 meters Centerline goodness : 0.998993 Centerline is valid? [True, True] Translation: X:240.84, Y:2.40, Z:3.67 [[ 9.99756269e-01 -1.54731726e-02 -1.57475010e-02 2.40838876e+02] [ 1.54701463e-02 9.99880281e-01 -3.13985203e-04 2.39881773e+00] [ 1.57504740e-02 7.02925320e-05 9.99875951e-01 3.67303904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.69925415399996 meters Centerline goodness : 0.999055 Centerline is valid? [True, True] Translation: X:240.87, Y:2.40, Z:3.67 [[ 9.99771454e-01 -1.44588456e-02 -1.57474085e-02 2.40867035e+02] [ 1.44556214e-02 9.99895461e-01 -3.18553873e-04 2.39980096e+00] [ 1.57503683e-02 9.08424923e-05 9.99875951e-01 3.67443748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.72925415399996 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:240.89, Y:2.40, Z:3.67 [[ 9.99786607e-01 -1.33702261e-02 -1.57473150e-02 2.40894502e+02] [ 1.33667951e-02 9.99910608e-01 -3.23111047e-04 2.40037624e+00] [ 1.57502274e-02 1.12550963e-04 9.99875951e-01 3.67492030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.75925415399996 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:240.92, Y:2.40, Z:3.67 [[ 9.99791976e-01 -1.29625965e-02 -1.57472196e-02 2.40922733e+02] [ 1.29590428e-02 9.99915974e-01 -3.27696388e-04 2.40028919e+00] [ 1.57501442e-02 1.23559327e-04 9.99875951e-01 3.67483279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.78925415399996 meters Centerline goodness : 0.998951 Centerline is valid? [True, True] Translation: X:240.95, Y:2.40, Z:3.68 [[ 9.99782045e-01 -1.37073341e-02 -1.57471235e-02 2.40950883e+02] [ 1.37038010e-02 9.99906043e-01 -3.32250048e-04 2.40021071e+00] [ 1.57501983e-02 1.16382185e-04 9.99875951e-01 3.67531433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.81925415399996 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:240.98, Y:2.40, Z:3.67 [[ 9.99777054e-01 -1.40667758e-02 -1.57470259e-02 2.40977755e+02] [ 1.40632154e-02 9.99901051e-01 -3.36815130e-04 2.39956590e+00] [ 1.57502057e-02 1.15286221e-04 9.99875951e-01 3.67462017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.84925415399996 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:241.01, Y:2.40, Z:3.68 [[ 9.99726023e-01 -1.73179320e-02 -1.57469833e-02 2.41005076e+02] [ 1.73147437e-02 9.99850031e-01 -3.38793555e-04 2.39790147e+00] [ 1.57504890e-02 6.60457524e-05 9.99875951e-01 3.67633935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.87925415399997 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:241.03, Y:2.40, Z:3.68 [[ 9.99687965e-01 -1.93909148e-02 -1.57469161e-02 2.41032956e+02] [ 1.93879348e-02 9.99811978e-01 -3.41891084e-04 2.39732466e+00] [ 1.57505849e-02 3.64842188e-05 9.99875951e-01 3.67707778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.90925415399997 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:241.06, Y:2.40, Z:3.68 [[ 9.99642048e-01 -2.16290078e-02 -1.57468178e-02 2.41060740e+02] [ 2.16262351e-02 9.99766066e-01 -3.46357201e-04 2.39693427e+00] [ 1.57506255e-02 5.68883574e-06 9.99875951e-01 3.67764020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.93925415399997 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:241.09, Y:2.40, Z:3.68 [[ 9.99587890e-01 -2.40018695e-02 -1.57467873e-02 2.41089710e+02] [ 2.39993695e-02 9.99711913e-01 -3.47739383e-04 2.39643722e+00] [ 1.57505973e-02 -3.03168909e-05 9.99875951e-01 3.67854376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.96925415399997 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:241.12, Y:2.39, Z:3.68 [[ 9.99475112e-01 -2.83115053e-02 -1.57467017e-02 2.41118195e+02] [ 2.83094797e-02 9.99599145e-01 -3.51572564e-04 2.39362751e+00] [ 1.57503431e-02 -9.43929052e-05 9.99875951e-01 3.68004295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.99925415399997 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:241.15, Y:2.39, Z:3.68 [[ 9.99406624e-01 -3.06339844e-02 -1.57466835e-02 2.41147741e+02] [ 3.06322341e-02 9.99530661e-01 -3.52386559e-04 2.39255571e+00] [ 1.57500880e-02 -1.30178636e-04 9.99875951e-01 3.68133942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.02925415399997 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:241.18, Y:2.39, Z:3.68 [[ 9.99283750e-01 -3.44097389e-02 -1.57466709e-02 2.41177955e+02] [ 3.44084485e-02 9.99407792e-01 -3.52949170e-04 2.38942039e+00] [ 1.57494905e-02 -1.89122145e-04 9.99875951e-01 3.68203915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.05925415399997 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:241.21, Y:2.39, Z:3.68 [[ 9.99195374e-01 -3.68869434e-02 -1.57466709e-02 2.41208060e+02] [ 3.68859605e-02 9.99319419e-01 -3.52949170e-04 2.38828073e+00] [ 1.57489733e-02 -2.28165903e-04 9.99875951e-01 3.68394402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.08925415399997 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:241.24, Y:2.39, Z:3.69 [[ 9.99116558e-01 -3.89633760e-02 -1.57466916e-02 2.41239025e+02] [ 3.89626654e-02 9.99240605e-01 -3.52023382e-04 2.38723735e+00] [ 1.57484497e-02 -2.61820687e-04 9.99875951e-01 3.68520537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.11925415399998 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:241.27, Y:2.39, Z:3.68 [[ 9.99071347e-01 -4.01059108e-02 -1.57467040e-02 2.41269710e+02] [ 4.01053508e-02 9.99195395e-01 -3.51470313e-04 2.38581066e+00] [ 1.57481301e-02 -2.80383168e-04 9.99875951e-01 3.68401913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.14925415399998 meters Centerline goodness : 0.999126 Centerline is valid? [True, True] Translation: X:241.30, Y:2.38, Z:3.69 [[ 9.98900169e-01 -4.41643836e-02 -1.57467101e-02 2.41300904e+02] [ 4.41643319e-02 9.99024218e-01 -3.51195888e-04 2.38368871e+00] [ 1.57468551e-02 -3.44633298e-04 9.99875951e-01 3.68706571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.17925415399998 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:241.33, Y:2.38, Z:3.69 [[ 9.98833828e-01 -4.56401624e-02 -1.57467221e-02 2.41332300e+02] [ 4.56403025e-02 9.98957877e-01 -3.50655097e-04 2.38259286e+00] [ 1.57463161e-02 -3.68438988e-04 9.99875951e-01 3.68742822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.20925415399998 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:241.36, Y:2.38, Z:3.69 [[ 9.98785670e-01 -4.66821745e-02 -1.57467341e-02 2.41364761e+02] [ 4.66824525e-02 9.98909719e-01 -3.50115722e-04 2.38149619e+00] [ 1.57459099e-02 -3.85405602e-04 9.99875951e-01 3.68784463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.23925415399998 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:241.40, Y:2.38, Z:3.69 [[ 9.98738060e-01 -4.76899048e-02 -1.57467579e-02 2.41396304e+02] [ 4.76903249e-02 9.98862108e-01 -3.49042373e-04 2.38074445e+00] [ 1.57454856e-02 -4.02366098e-04 9.99875951e-01 3.68837392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.26925415399998 meters Centerline goodness : 0.999375 Centerline is valid? [True, True] Translation: X:241.43, Y:2.38, Z:3.69 [[ 9.98709695e-01 -4.82802645e-02 -1.57467756e-02 2.41426366e+02] [ 4.82807706e-02 9.98833743e-01 -3.48241558e-04 2.37962353e+00] [ 1.57452240e-02 -4.12474241e-04 9.99875951e-01 3.68884795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.29925415399998 meters Centerline goodness : 0.999396 Centerline is valid? [True, True] Translation: X:241.46, Y:2.38, Z:3.69 [[ 9.98771068e-01 -4.69935228e-02 -1.57467955e-02 2.41458176e+02] [ 4.69938832e-02 9.98895117e-01 -3.47341252e-04 2.37928754e+00] [ 1.57457199e-02 -3.93088674e-04 9.99875951e-01 3.68782912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.32925415399998 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:241.49, Y:2.38, Z:3.69 [[ 9.98808564e-01 -4.61897198e-02 -1.57468070e-02 2.41488388e+02] [ 4.61899886e-02 9.98932613e-01 -3.46818548e-04 2.37985601e+00] [ 1.57460185e-02 -3.80939499e-04 9.99875951e-01 3.68921488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.35925415399998 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:241.52, Y:2.38, Z:3.69 [[ 9.98956172e-01 -4.28789466e-02 -1.57468127e-02 2.41519216e+02] [ 4.28788083e-02 9.99080221e-01 -3.46559306e-04 2.38037986e+00] [ 1.57471892e-02 -3.29007005e-04 9.99875951e-01 3.68848133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.38925415399999 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:241.55, Y:2.38, Z:3.69 [[ 9.99071300e-01 -4.01070351e-02 -1.57468183e-02 2.41550345e+02] [ 4.01065567e-02 9.99195348e-01 -3.46302327e-04 2.38052726e+00] [ 1.57480368e-02 -2.85569947e-04 9.99875951e-01 3.68716344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.419254154 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:241.58, Y:2.38, Z:3.69 [[ 9.99146837e-01 -3.81789924e-02 -1.57468296e-02 2.41580612e+02] [ 3.81782827e-02 9.99270884e-01 -3.45790211e-04 2.38143772e+00] [ 1.57485502e-02 -2.55691715e-04 9.99875951e-01 3.68952147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.44925415399996 meters Centerline goodness : 0.999417 Centerline is valid? [True, True] Translation: X:241.61, Y:2.38, Z:3.69 [[ 9.99248262e-01 -3.54252450e-02 -1.57468296e-02 2.41612203e+02] [ 3.54241934e-02 9.99372306e-01 -3.45790211e-04 2.38193843e+00] [ 1.57491951e-02 -2.12288469e-04 9.99875951e-01 3.68986188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.47925415399996 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:241.64, Y:2.38, Z:3.69 [[ 9.99395164e-01 -3.10055349e-02 -1.57468424e-02 2.41642104e+02] [ 3.10039440e-02 9.99519203e-01 -3.45205776e-04 2.38184981e+00] [ 1.57499747e-02 -1.43217236e-04 9.99875951e-01 3.68879320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.50925415399996 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:241.67, Y:2.38, Z:3.69 [[ 9.99434906e-01 -2.96969015e-02 -1.57468360e-02 2.41671500e+02] [ 2.96951435e-02 9.99558942e-01 -3.45495536e-04 2.38240223e+00] [ 1.57501509e-02 -1.22304258e-04 9.99875951e-01 3.68868515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.53925415399996 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:241.70, Y:2.38, Z:3.69 [[ 9.99466697e-01 -2.86069775e-02 -1.57468233e-02 2.41700825e+02] [ 2.86050751e-02 9.99590731e-01 -3.46075004e-04 2.38258443e+00] [ 1.57502788e-02 -1.04548623e-04 9.99875951e-01 3.68799050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.56925415399996 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:241.73, Y:2.38, Z:3.69 [[ 9.99468133e-01 -2.85567691e-02 -1.57468170e-02 2.41729153e+02] [ 2.85548560e-02 9.99592167e-01 -3.46362093e-04 2.38216021e+00] [ 1.57502859e-02 -1.03470217e-04 9.99875951e-01 3.68670671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.59925415399996 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:241.76, Y:2.38, Z:3.69 [[ 9.99445512e-01 -2.93378056e-02 -1.57467933e-02 2.41758144e+02] [ 2.93359725e-02 9.99569547e-01 -3.47434693e-04 2.38189651e+00] [ 1.57502081e-02 -1.14705451e-04 9.99875951e-01 3.68666318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.62925415399997 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:241.79, Y:2.38, Z:3.69 [[ 9.99413287e-01 -3.04157923e-02 -1.57467700e-02 2.41788252e+02] [ 3.04140763e-02 9.99537324e-01 -3.48490245e-04 2.38150695e+00] [ 1.57500839e-02 -1.30637682e-04 9.99875951e-01 3.68714820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.65925415399997 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:241.82, Y:2.38, Z:3.69 [[ 9.99354246e-01 -3.22975331e-02 -1.57467574e-02 2.41816979e+02] [ 3.22960417e-02 9.99478286e-01 -3.49058586e-04 2.38106061e+00] [ 1.57498158e-02 -1.59724754e-04 9.99875951e-01 3.68692610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.68925415399997 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:241.85, Y:2.38, Z:3.69 [[ 9.99185133e-01 -3.71632933e-02 -1.57467386e-02 2.41846743e+02] [ 3.71623927e-02 9.99309178e-01 -3.49904889e-04 2.37964177e+00] [ 1.57488640e-02 -2.35566719e-04 9.99875951e-01 3.68754766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.71925415399997 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:241.88, Y:2.38, Z:3.69 [[ 9.99072931e-01 -4.00664439e-02 -1.57467259e-02 2.41876776e+02] [ 4.00658947e-02 9.99196978e-01 -3.50472388e-04 2.37903814e+00] [ 1.57481232e-02 -2.80759188e-04 9.99875951e-01 3.68755680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.74925415399997 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:241.91, Y:2.38, Z:3.69 [[ 9.98978632e-01 -4.23524864e-02 -1.57467322e-02 2.41908403e+02] [ 4.23522256e-02 9.99102681e-01 -3.50190484e-04 2.37814585e+00] [ 1.57474338e-02 -3.17076344e-04 9.99875951e-01 3.68680457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.77925415399997 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:241.94, Y:2.38, Z:3.69 [[ 9.98711627e-01 -4.82402880e-02 -1.57467447e-02 2.41938985e+02] [ 4.82407672e-02 9.98835675e-01 -3.49627834e-04 2.37695893e+00] [ 1.57452765e-02 -4.10457663e-04 9.99875951e-01 3.68926808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.80925415399997 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:241.97, Y:2.38, Z:3.69 [[ 9.98610583e-01 -5.02885901e-02 -1.57467655e-02 2.41970678e+02] [ 5.02893385e-02 9.98734630e-01 -3.48689724e-04 2.37667607e+00] [ 1.57443751e-02 -4.43689170e-04 9.99875951e-01 3.68846726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.83925415399997 meters Centerline goodness : 0.999481 Centerline is valid? [True, True] Translation: X:242.00, Y:2.38, Z:3.69 [[ 9.98496791e-01 -5.24995070e-02 -1.57467777e-02 2.42001947e+02] [ 5.25005388e-02 9.98620835e-01 -3.48137567e-04 2.37643259e+00] [ 1.57433373e-02 -4.79100070e-04 9.99875951e-01 3.68951795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.86925415399998 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:242.03, Y:2.38, Z:3.69 [[ 9.98391897e-01 -5.44578616e-02 -1.57467898e-02 2.42033262e+02] [ 5.44591454e-02 9.98515939e-01 -3.47587619e-04 2.37631428e+00] [ 1.57423495e-02 -5.10528053e-04 9.99875951e-01 3.69051123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.89925415399998 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:242.07, Y:2.38, Z:3.69 [[ 9.98200720e-01 -5.78563830e-02 -1.57468079e-02 2.42065423e+02] [ 5.78581020e-02 9.98324757e-01 -3.46764416e-04 2.37675413e+00] [ 1.57404907e-02 -5.64939930e-04 9.99875951e-01 3.69468063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.92925415399998 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:242.10, Y:2.38, Z:3.70 [[ 9.98204993e-01 -5.77826090e-02 -1.57468334e-02 2.42098099e+02] [ 5.77843371e-02 9.98329029e-01 -3.45603405e-04 2.37741130e+00] [ 1.57404908e-02 -5.64937286e-04 9.99875951e-01 3.69519521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.95925415399998 meters Centerline goodness : 0.999375 Centerline is valid? [True, True] Translation: X:242.13, Y:2.38, Z:3.70 [[ 9.98078234e-01 -5.99322541e-02 -1.57468589e-02 2.42128854e+02] [ 5.99342677e-02 9.98202267e-01 -3.44439748e-04 2.37768166e+00] [ 1.57391933e-02 -5.99998640e-04 9.99875951e-01 3.69625007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.98925415399998 meters Centerline goodness : 0.999396 Centerline is valid? [True, True] Translation: X:242.16, Y:2.38, Z:3.70 [[ 9.98020555e-01 -6.08851991e-02 -1.57468778e-02 2.42160758e+02] [ 6.08873448e-02 9.98144585e-01 -3.43573056e-04 2.37804482e+00] [ 1.57385793e-02 -6.15892605e-04 9.99875951e-01 3.69660723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.01925415399998 meters Centerline goodness : 0.999396 Centerline is valid? [True, True] Translation: X:242.19, Y:2.38, Z:3.70 [[ 9.98025029e-01 -6.08118126e-02 -1.57469030e-02 2.42193435e+02] [ 6.08139674e-02 9.98149059e-01 -3.42415300e-04 2.37869494e+00] [ 1.57385793e-02 -6.15892604e-04 9.99875951e-01 3.69712182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.04925415399998 meters Centerline goodness : 0.999375 Centerline is valid? [True, True] Translation: X:242.22, Y:2.38, Z:3.70 [[ 9.97955867e-01 -6.19364313e-02 -1.57469281e-02 2.42224677e+02] [ 6.19387440e-02 9.98079894e-01 -3.41257543e-04 2.37953800e+00] [ 1.57378286e-02 -6.34784979e-04 9.99875951e-01 3.69793679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.07925415399998 meters Centerline goodness : 0.999292 Centerline is valid? [True, True] Translation: X:242.26, Y:2.38, Z:3.70 [[ 9.97817820e-01 -6.41220011e-02 -1.57469681e-02 2.42255381e+02] [ 6.41246147e-02 9.97941841e-01 -3.39401566e-04 2.38066183e+00] [ 1.57363214e-02 -6.71107330e-04 9.99875951e-01 3.69761583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.10925415399998 meters Centerline goodness : 0.999209 Centerline is valid? [True, True] Translation: X:242.29, Y:2.38, Z:3.70 [[ 9.97736896e-01 -6.53690925e-02 -1.57469862e-02 2.42287748e+02] [ 6.53718744e-02 9.97860914e-01 -3.38559645e-04 2.38140530e+00] [ 1.57354333e-02 -6.91616553e-04 9.99875951e-01 3.69711798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.13925415399999 meters Centerline goodness : 0.999168 Centerline is valid? [True, True] Translation: X:242.32, Y:2.38, Z:3.70 [[ 9.97607007e-01 -6.73222916e-02 -1.57470105e-02 2.42319592e+02] [ 6.73253342e-02 9.97731019e-01 -3.37425284e-04 2.38263041e+00] [ 1.57339970e-02 -7.23554915e-04 9.99875951e-01 3.70007089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.169254154 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:242.35, Y:2.38, Z:3.70 [[ 9.97515712e-01 -6.86617379e-02 -1.57470346e-02 2.42351623e+02] [ 6.86649648e-02 9.97639719e-01 -3.36294632e-04 2.38386549e+00] [ 1.57329578e-02 -7.45810397e-04 9.99875951e-01 3.70060190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.19925415399996 meters Centerline goodness : 0.999211 Centerline is valid? [True, True] Translation: X:242.38, Y:2.39, Z:3.70 [[ 9.97439672e-01 -6.97576584e-02 -1.57470587e-02 2.42383581e+02] [ 6.97610394e-02 9.97563675e-01 -3.35160870e-04 2.38520703e+00] [ 1.57320738e-02 -7.64228437e-04 9.99875951e-01 3.70056305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.22925415399996 meters Centerline goodness : 0.999316 Centerline is valid? [True, True] Translation: X:242.41, Y:2.39, Z:3.70 [[ 9.97357422e-01 -7.09239113e-02 -1.57470831e-02 2.42414922e+02] [ 7.09274554e-02 9.97481421e-01 -3.34011299e-04 2.38690697e+00] [ 1.57311122e-02 -7.83771887e-04 9.99875951e-01 3.70200036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.25925415399996 meters Centerline goodness : 0.999129 Centerline is valid? [True, True] Translation: X:242.45, Y:2.39, Z:3.70 [[ 9.97348337e-01 -7.10515494e-02 -1.57471012e-02 2.42446217e+02] [ 7.10551229e-02 9.97472335e-01 -3.33154664e-04 2.38821907e+00] [ 1.57309690e-02 -7.86640964e-04 9.99875951e-01 3.70203026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.28925415399996 meters Centerline goodness : 0.999314 Centerline is valid? [True, True] Translation: X:242.48, Y:2.39, Z:3.70 [[ 9.97348511e-01 -7.10491095e-02 -1.57471415e-02 2.42478277e+02] [ 7.10527128e-02 9.97472507e-01 -3.31239826e-04 2.38988618e+00] [ 1.57308750e-02 -7.88515577e-04 9.99875951e-01 3.70273110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.31925415399996 meters Centerline goodness : 0.999128 Centerline is valid? [True, True] Translation: X:242.51, Y:2.39, Z:3.70 [[ 9.97411439e-01 -7.01601547e-02 -1.57471656e-02 2.42508944e+02] [ 7.01636655e-02 9.97535439e-01 -3.30093446e-04 2.39284621e+00] [ 1.57315151e-02 -7.75639878e-04 9.99875951e-01 3.70238093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.34925415399996 meters Centerline goodness : 0.999294 Centerline is valid? [True, True] Translation: X:242.54, Y:2.39, Z:3.70 [[ 9.97453177e-01 -6.95642526e-02 -1.57472058e-02 2.42539599e+02] [ 6.95677198e-02 9.97577177e-01 -3.28161688e-04 2.39481120e+00] [ 1.57318815e-02 -7.68171285e-04 9.99875951e-01 3.70235222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.37925415399997 meters Centerline goodness : 0.999274 Centerline is valid? [True, True] Translation: X:242.57, Y:2.40, Z:3.70 [[ 9.97502218e-01 -6.88574564e-02 -1.57472232e-02 2.42571931e+02] [ 6.88608489e-02 9.97626221e-01 -3.27324314e-04 2.39707953e+00] [ 1.57323815e-02 -7.57860429e-04 9.99875951e-01 3.70270705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.40925415399997 meters Centerline goodness : 0.999252 Centerline is valid? [True, True] Translation: X:242.60, Y:2.40, Z:3.70 [[ 9.97615676e-01 -6.71936541e-02 -1.57472463e-02 2.42604247e+02] [ 6.71968573e-02 9.97739683e-01 -3.26210329e-04 2.40094930e+00] [ 1.57335718e-02 -7.32732925e-04 9.99875951e-01 3.70255104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.43925415399997 meters Centerline goodness : 0.999231 Centerline is valid? [True, True] Translation: X:242.64, Y:2.40, Z:3.70 [[ 9.98065237e-01 -6.01481965e-02 -1.57472692e-02 2.42642494e+02] [ 6.01505415e-02 9.98189264e-01 -3.25101991e-04 2.39533652e+00] [ 1.57383093e-02 -6.22733773e-04 9.99875951e-01 3.69952689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.46925415399997 meters Centerline goodness : 0.999147 Centerline is valid? [True, True] Translation: X:242.66, Y:2.41, Z:3.70 [[ 9.97784706e-01 -6.46332302e-02 -1.57552051e-02 2.42664632e+02] [ 6.46423132e-02 9.97908496e-01 6.73987266e-05 2.40548811e+00] [ 1.57178968e-02 -1.08570232e-03 9.99875877e-01 3.70286887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.49925415399997 meters Centerline goodness : 0.999022 Centerline is valid? [True, True] Translation: X:242.70, Y:2.40, Z:3.70 [[ 9.98201390e-01 -5.78448110e-02 -1.57468343e-02 2.42701979e+02] [ 5.78467776e-02 9.98325418e-01 -3.30948545e-04 2.40085881e+00] [ 1.57396086e-02 -5.80550326e-04 9.99875956e-01 3.69988751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.52925415399997 meters Centerline goodness : 0.999188 Centerline is valid? [True, True] Translation: X:242.73, Y:2.41, Z:3.70 [[ 9.97994820e-01 -6.13037325e-02 -1.57541283e-02 2.42725356e+02] [ 6.13116774e-02 9.98118669e-01 2.13582908e-05 2.41072278e+00] [ 1.57231802e-02 -9.87227493e-04 9.99875896e-01 3.70372497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.55925415399997 meters Centerline goodness : 0.999230 Centerline is valid? [True, True] Translation: X:242.76, Y:2.42, Z:3.70 [[ 9.98263770e-01 -5.67581800e-02 -1.57465439e-02 2.42756200e+02] [ 5.67599461e-02 9.98387799e-01 -3.35091992e-04 2.41578383e+00] [ 1.57401765e-02 -5.59262787e-04 9.99875959e-01 3.70396117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.58925415399997 meters Centerline goodness : 0.999335 Centerline is valid? [True, True] Translation: X:242.79, Y:2.42, Z:3.70 [[ 9.98402249e-01 -5.42678165e-02 -1.57465613e-02 2.42787249e+02] [ 5.42692862e-02 9.98526281e-01 -3.34270988e-04 2.41891969e+00] [ 1.57414954e-02 -5.20817735e-04 9.99875959e-01 3.70367410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.61925415399998 meters Centerline goodness : 0.999209 Centerline is valid? [True, True] Translation: X:242.82, Y:2.42, Z:3.70 [[ 9.98555584e-01 -5.13691611e-02 -1.57465784e-02 2.42818671e+02] [ 5.13702834e-02 9.98679620e-01 -3.33461476e-04 2.42183562e+00] [ 1.57429166e-02 -4.75926379e-04 9.99875959e-01 3.70368680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.64925415399998 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:242.85, Y:2.42, Z:3.70 [[ 9.98704914e-01 -4.83791149e-02 -1.57465951e-02 2.42850415e+02] [ 4.83798783e-02 9.98828953e-01 -3.32673539e-04 2.42452615e+00] [ 1.57442495e-02 -4.29575656e-04 9.99875959e-01 3.70388061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.67925415399998 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:242.88, Y:2.43, Z:3.70 [[ 9.99003798e-01 -4.17546978e-02 -1.57466175e-02 2.42881571e+02] [ 4.17546553e-02 9.99127839e-01 -3.31610000e-04 2.42899050e+00] [ 1.57467302e-02 -3.26214936e-04 9.99875959e-01 3.70423300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.70925415399998 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:242.91, Y:2.43, Z:3.71 [[ 9.99130601e-01 -3.86016301e-02 -1.57466341e-02 2.42912514e+02] [ 3.86012086e-02 9.99254641e-01 -3.30817714e-04 2.43169650e+00] [ 1.57476673e-02 -2.77309007e-04 9.99875959e-01 3.70522181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.73925415399998 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:242.94, Y:2.44, Z:3.71 [[ 9.99324569e-01 -3.32031521e-02 -1.57466451e-02 2.42943281e+02] [ 3.32020687e-02 9.99448605e-01 -3.30296134e-04 2.43594850e+00] [ 1.57489293e-02 -1.92748150e-04 9.99875959e-01 3.70683952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.76925415399998 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:242.97, Y:2.44, Z:3.71 [[ 9.99392426e-01 -3.10937552e-02 -1.57466560e-02 2.42974079e+02] [ 3.10924182e-02 9.99516459e-01 -3.29775164e-04 2.43813949e+00] [ 1.57492958e-02 -1.60026812e-04 9.99875959e-01 3.70791767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.79925415399998 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:243.00, Y:2.44, Z:3.71 [[ 9.99448506e-01 -2.92356970e-02 -1.57466560e-02 2.43003276e+02] [ 2.92341294e-02 9.99572537e-01 -3.29775164e-04 2.44008894e+00] [ 1.57495661e-02 -1.30746483e-04 9.99875959e-01 3.70834005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.82925415399998 meters Centerline goodness : 0.999272 Centerline is valid? [True, True] Translation: X:243.03, Y:2.44, Z:3.71 [[ 9.99482380e-01 -2.80537914e-02 -1.57466506e-02 2.43034038e+02] [ 2.80520731e-02 9.99606409e-01 -3.30031642e-04 2.44174790e+00] [ 1.57497115e-02 -1.11865383e-04 9.99875959e-01 3.70905213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.85925415399998 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:243.06, Y:2.44, Z:3.71 [[ 9.99494028e-01 -2.76356758e-02 -1.57466506e-02 2.43064020e+02] [ 2.76339056e-02 9.99618056e-01 -3.30031642e-04 2.44290267e+00] [ 1.57497569e-02 -1.05276802e-04 9.99875959e-01 3.70936403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.88925415399999 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:243.09, Y:2.44, Z:3.71 [[ 9.99478591e-01 -2.81884778e-02 -1.57466400e-02 2.43093747e+02] [ 2.81867683e-02 9.99602619e-01 -3.30538014e-04 2.44414143e+00] [ 1.57496999e-02 -1.13481224e-04 9.99875959e-01 3.70944796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.919254154 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:243.12, Y:2.45, Z:3.71 [[ 9.99446461e-01 -2.93055522e-02 -1.57466293e-02 2.43122925e+02] [ 2.93039733e-02 9.99570492e-01 -3.31045008e-04 2.44527772e+00] [ 1.57495675e-02 -1.30577043e-04 9.99875959e-01 3.70965899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.94925415399996 meters Centerline goodness : 0.999079 Centerline is valid? [True, True] Translation: X:243.15, Y:2.45, Z:3.71 [[ 9.99408783e-01 -3.05635154e-02 -1.57466240e-02 2.43153583e+02] [ 3.05620886e-02 9.99532815e-01 -3.31296786e-04 2.44609797e+00] [ 1.57493930e-02 -1.50148801e-04 9.99875959e-01 3.71031554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.97925415399996 meters Centerline goodness : 0.998912 Centerline is valid? [True, True] Translation: X:243.18, Y:2.45, Z:3.71 [[ 9.99311943e-01 -3.35810055e-02 -1.57466240e-02 2.43182577e+02] [ 3.35799532e-02 9.99435979e-01 -3.31296786e-04 2.44649839e+00] [ 1.57488679e-02 -1.97702062e-04 9.99875959e-01 3.71112616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.00925415399996 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:243.21, Y:2.45, Z:3.71 [[ 9.99266066e-01 -3.49195407e-02 -1.57466188e-02 2.43212490e+02] [ 3.49186506e-02 9.99390103e-01 -3.31545619e-04 2.44675780e+00] [ 1.57485924e-02 -2.18548394e-04 9.99875959e-01 3.71134768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.03925415399996 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:243.24, Y:2.45, Z:3.71 [[ 9.99219877e-01 -3.62171271e-02 -1.57466240e-02 2.43243481e+02] [ 3.62164020e-02 9.99343916e-01 -3.31298910e-04 2.44705489e+00] [ 1.57482916e-02 -2.39245608e-04 9.99875959e-01 3.71204682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.06925415399996 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:243.27, Y:2.45, Z:3.71 [[ 9.99174715e-01 -3.74424006e-02 -1.57466240e-02 2.43274447e+02] [ 3.74418276e-02 9.99298754e-01 -3.31298910e-04 2.44739322e+00] [ 1.57479863e-02 -2.58556887e-04 9.99875959e-01 3.71213837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.09925415399996 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:243.31, Y:2.45, Z:3.71 [[ 9.99148323e-01 -3.81401738e-02 -1.57466240e-02 2.43305566e+02] [ 3.81396875e-02 9.99272363e-01 -3.31298910e-04 2.44762954e+00] [ 1.57478019e-02 -2.69554567e-04 9.99875959e-01 3.71216327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.12925415399997 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:243.34, Y:2.45, Z:3.71 [[ 9.99142085e-01 -3.83032186e-02 -1.57466342e-02 2.43336223e+02] [ 3.83027601e-02 9.99266125e-01 -3.30814129e-04 2.44785958e+00] [ 1.57477493e-02 -2.72609232e-04 9.99875959e-01 3.71223840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.15925415399997 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:243.37, Y:2.45, Z:3.71 [[ 9.99151206e-01 -3.80645602e-02 -1.57466392e-02 2.43367385e+02] [ 3.80640759e-02 9.99275246e-01 -3.30573187e-04 2.44833733e+00] [ 1.57478099e-02 -2.69088672e-04 9.99875959e-01 3.71244981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.18925415399997 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:243.40, Y:2.45, Z:3.71 [[ 9.99168873e-01 -3.75979664e-02 -1.57466492e-02 2.43398784e+02] [ 3.75974316e-02 9.99292912e-01 -3.30098414e-04 2.44846195e+00] [ 1.57479259e-02 -2.62209505e-04 9.99875959e-01 3.71274395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.21925415399997 meters Centerline goodness : 0.999125 Centerline is valid? [True, True] Translation: X:243.43, Y:2.45, Z:3.71 [[ 9.99198806e-01 -3.67938755e-02 -1.57466591e-02 2.43429872e+02] [ 3.67932483e-02 9.99322845e-01 -3.29626192e-04 2.44828114e+00] [ 1.57481243e-02 -2.50008639e-04 9.99875959e-01 3.71228277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.24925415399997 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:243.46, Y:2.45, Z:3.71 [[ 9.99239669e-01 -3.56668682e-02 -1.57466690e-02 2.43459790e+02] [ 3.56661087e-02 9.99363708e-01 -3.29151796e-04 2.44881055e+00] [ 1.57483893e-02 -2.32720875e-04 9.99875959e-01 3.71237006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.27925415399997 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:243.49, Y:2.45, Z:3.71 [[ 9.99261771e-01 -3.50421999e-02 -1.57466739e-02 2.43491362e+02] [ 3.50413665e-02 9.99385809e-01 -3.28916255e-04 2.44967091e+00] [ 1.57485284e-02 -2.23111532e-04 9.99875959e-01 3.71421357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.30925415399997 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:243.52, Y:2.45, Z:3.71 [[ 9.99282481e-01 -3.44465543e-02 -1.57466855e-02 2.43521414e+02] [ 3.44456557e-02 9.99406518e-01 -3.28360434e-04 2.45038497e+00] [ 1.57486510e-02 -2.14280078e-04 9.99875959e-01 3.71401775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.33925415399997 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:243.55, Y:2.45, Z:3.71 [[ 9.99286909e-01 -3.43178686e-02 -1.57466912e-02 2.43552753e+02] [ 3.43169584e-02 9.99410946e-01 -3.28084681e-04 2.45111410e+00] [ 1.57486747e-02 -2.12527822e-04 9.99875959e-01 3.71447733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.36925415399998 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:243.58, Y:2.45, Z:3.71 [[ 9.99300685e-01 -3.39143460e-02 -1.57467031e-02 2.43582906e+02] [ 3.39133947e-02 9.99424722e-01 -3.27514792e-04 2.45188326e+00] [ 1.57487518e-02 -2.06738400e-04 9.99875959e-01 3.71492201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.39925415399998 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:243.61, Y:2.45, Z:3.72 [[ 9.99310567e-01 -3.36218990e-02 -1.57467089e-02 2.43614461e+02] [ 3.36209159e-02 9.99434604e-01 -3.27232355e-04 2.45289611e+00] [ 1.57488080e-02 -2.02412027e-04 9.99875959e-01 3.71601738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.42925415399998 meters Centerline goodness : 0.999309 Centerline is valid? [True, True] Translation: X:243.64, Y:2.45, Z:3.72 [[ 9.99332351e-01 -3.29680569e-02 -1.57467207e-02 2.43644774e+02] [ 3.29670015e-02 9.99456387e-01 -3.26665782e-04 2.45380780e+00] [ 1.57489301e-02 -1.92674481e-04 9.99875959e-01 3.71638136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.45925415399998 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:243.68, Y:2.45, Z:3.72 [[ 9.99366116e-01 -3.19281595e-02 -1.57467265e-02 2.43675641e+02] [ 3.19269794e-02 9.99490151e-01 -3.26384766e-04 2.45492928e+00] [ 1.57491189e-02 -1.76567538e-04 9.99875959e-01 3.71871489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.48925415399998 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:243.71, Y:2.46, Z:3.72 [[ 9.99368240e-01 -3.18616001e-02 -1.57467383e-02 2.43706278e+02] [ 3.18604207e-02 9.99492275e-01 -3.25815119e-04 2.45557051e+00] [ 1.57491243e-02 -1.76088426e-04 9.99875959e-01 3.71925890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.51925415399998 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:243.74, Y:2.46, Z:3.72 [[ 9.99357202e-01 -3.22059439e-02 -1.57467442e-02 2.43736281e+02] [ 3.22048118e-02 9.99481238e-01 -3.25532442e-04 2.45649279e+00] [ 1.57490594e-02 -1.81797742e-04 9.99875959e-01 3.71992299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.54925415399998 meters Centerline goodness : 0.998872 Centerline is valid? [True, True] Translation: X:243.77, Y:2.46, Z:3.72 [[ 9.99300386e-01 -3.39231348e-02 -1.57467442e-02 2.43766551e+02] [ 3.39222158e-02 9.99424423e-01 -3.25532442e-04 2.45744582e+00] [ 1.57487238e-02 -2.08859759e-04 9.99875959e-01 3.71984351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.57925415399998 meters Centerline goodness : 0.998872 Centerline is valid? [True, True] Translation: X:243.80, Y:2.46, Z:3.72 [[ 9.99301579e-01 -3.38879567e-02 -1.57467499e-02 2.43798385e+02] [ 3.38870377e-02 9.99425616e-01 -3.25254688e-04 2.45807217e+00] [ 1.57487274e-02 -2.08583184e-04 9.99875959e-01 3.72034498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.60925415399998 meters Centerline goodness : 0.998891 Centerline is valid? [True, True] Translation: X:243.83, Y:2.46, Z:3.72 [[ 9.99183704e-01 -3.72016817e-02 -1.57467613e-02 2.43829472e+02] [ 3.72011828e-02 9.99307744e-01 -3.24700359e-04 2.45813676e+00] [ 1.57479399e-02 -2.61362839e-04 9.99875959e-01 3.71987480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.63925415399999 meters Centerline goodness : 0.999038 Centerline is valid? [True, True] Translation: X:243.86, Y:2.46, Z:3.72 [[ 9.99092254e-01 -3.95816600e-02 -1.57467732e-02 2.43859445e+02] [ 3.95814657e-02 9.99216294e-01 -3.24124036e-04 2.45841924e+00] [ 1.57472617e-02 -2.99450549e-04 9.99875959e-01 3.71959110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.669254154 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:243.89, Y:2.46, Z:3.72 [[ 9.98986744e-01 -4.21606919e-02 -1.57467791e-02 2.43891060e+02] [ 4.21608223e-02 9.99110785e-01 -3.23837948e-04 2.45873472e+00] [ 1.57464300e-02 -3.40387336e-04 9.99875959e-01 3.71998196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.69925415399996 meters Centerline goodness : 0.998956 Centerline is valid? [True, True] Translation: X:243.92, Y:2.46, Z:3.72 [[ 9.98881107e-01 -4.45934136e-02 -1.57467905e-02 2.43922164e+02] [ 4.45938549e-02 9.99005147e-01 -3.23280388e-04 2.45886931e+00] [ 1.57455410e-02 -3.79291419e-04 9.99875959e-01 3.71967625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.72925415399996 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:243.95, Y:2.46, Z:3.72 [[ 9.98652787e-01 -4.94433962e-02 -1.57468076e-02 2.43954510e+02] [ 4.94444529e-02 9.98776823e-01 -3.22446424e-04 2.45926994e+00] [ 1.57434893e-02 -4.56580266e-04 9.99875959e-01 3.72142986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.75925415399996 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:243.99, Y:2.46, Z:3.72 [[ 9.98552879e-01 -5.14216440e-02 -1.57468313e-02 2.43986736e+02] [ 5.14229648e-02 9.98676912e-01 -3.21282265e-04 2.45978186e+00] [ 1.57425178e-02 -4.88931423e-04 9.99875959e-01 3.72189579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.78925415399996 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:244.02, Y:2.46, Z:3.72 [[ 9.98462542e-01 -5.31468564e-02 -1.57468551e-02 2.44019030e+02] [ 5.31484098e-02 9.98586573e-01 -3.20116328e-04 2.46042436e+00] [ 1.57416112e-02 -5.17296142e-04 9.99875959e-01 3.72250138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.81925415399996 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:244.05, Y:2.46, Z:3.72 [[ 9.98399121e-01 -5.43252309e-02 -1.57468789e-02 2.44051044e+02] [ 5.43269492e-02 9.98523150e-01 -3.18940031e-04 2.46094147e+00] [ 1.57409496e-02 -5.37050443e-04 9.99875959e-01 3.72301045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.84925415399996 meters Centerline goodness : 0.999041 Centerline is valid? [True, True] Translation: X:244.08, Y:2.46, Z:3.72 [[ 9.98320141e-01 -5.57577953e-02 -1.57469025e-02 2.44082462e+02] [ 5.57597100e-02 9.98444167e-01 -3.17770783e-04 2.46178301e+00] [ 1.57401211e-02 -5.60805743e-04 9.99875959e-01 3.72316446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.87925415399997 meters Centerline goodness : 0.998976 Centerline is valid? [True, True] Translation: X:244.12, Y:2.46, Z:3.72 [[ 9.98306294e-01 -5.60051681e-02 -1.57469200e-02 2.44115068e+02] [ 5.60071273e-02 9.98430319e-01 -3.16898826e-04 2.46249528e+00] [ 1.57399503e-02 -5.65577662e-04 9.99875959e-01 3.72242950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.90925415399997 meters Centerline goodness : 0.998976 Centerline is valid? [True, True] Translation: X:244.15, Y:2.46, Z:3.72 [[ 9.98310424e-01 -5.59314902e-02 -1.57469434e-02 2.44147747e+02] [ 5.59334586e-02 9.98434449e-01 -3.15735163e-04 2.46309108e+00] [ 1.57399502e-02 -5.65579299e-04 9.99875959e-01 3.72294404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.93925415399997 meters Centerline goodness : 0.998852 Centerline is valid? [True, True] Translation: X:244.18, Y:2.46, Z:3.72 [[ 9.98280076e-01 -5.64705438e-02 -1.57469666e-02 2.44179079e+02] [ 5.64725974e-02 9.98404100e-01 -3.14573137e-04 2.46431465e+00] [ 1.57396001e-02 -5.75240008e-04 9.99875959e-01 3.72396972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.96925415399997 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:244.21, Y:2.47, Z:3.72 [[ 9.98301533e-01 -5.60899429e-02 -1.57469838e-02 2.44211453e+02] [ 5.60919629e-02 9.98425557e-01 -3.13707652e-04 2.46595810e+00] [ 1.57397869e-02 -5.70104401e-04 9.99875959e-01 3.72426908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.99925415399997 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:244.24, Y:2.47, Z:3.72 [[ 9.98305666e-01 -5.60163290e-02 -1.57470069e-02 2.44244133e+02] [ 5.60183581e-02 9.98429690e-01 -3.12545624e-04 2.46654716e+00] [ 1.57397868e-02 -5.70105403e-04 9.99875959e-01 3.72478364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.02925415399997 meters Centerline goodness : 0.998913 Centerline is valid? [True, True] Translation: X:244.27, Y:2.47, Z:3.72 [[ 9.98396736e-01 -5.43690069e-02 -1.57470298e-02 2.44274969e+02] [ 5.43708497e-02 9.98520763e-01 -3.11384599e-04 2.46899223e+00] [ 1.57406659e-02 -5.45294025e-04 9.99875959e-01 3.72470205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.05925415399997 meters Centerline goodness : 0.998870 Centerline is valid? [True, True] Translation: X:244.31, Y:2.47, Z:3.73 [[ 9.98457073e-01 -5.32494450e-02 -1.57470664e-02 2.44307161e+02] [ 5.32511781e-02 9.98581101e-01 -3.09524651e-04 2.47055420e+00] [ 1.57412049e-02 -5.29502759e-04 9.99875959e-01 3.72545125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.08925415399997 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:244.34, Y:2.47, Z:3.73 [[ 9.98530622e-01 -5.18519647e-02 -1.57470893e-02 2.44337983e+02] [ 5.18535426e-02 9.98654653e-01 -3.08355521e-04 2.47192224e+00] [ 1.57418928e-02 -5.08639934e-04 9.99875959e-01 3.72533615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.11925415399998 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:244.37, Y:2.47, Z:3.73 [[ 9.98664336e-01 -4.92094679e-02 -1.57471063e-02 2.44369089e+02] [ 4.92107313e-02 9.98788371e-01 -3.07484306e-04 2.47433114e+00] [ 1.57431578e-02 -4.67853006e-04 9.99875959e-01 3.72579327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.14925415399998 meters Centerline goodness : 0.999329 Centerline is valid? [True, True] Translation: X:244.40, Y:2.48, Z:3.73 [[ 9.98734904e-01 -4.77558250e-02 -1.57471395e-02 2.44401391e+02] [ 4.77569348e-02 9.98858940e-01 -3.05772923e-04 2.47573309e+00] [ 1.57437735e-02 -4.46649025e-04 9.99875959e-01 3.72725545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.17925415399998 meters Centerline goodness : 0.998911 Centerline is valid? [True, True] Translation: X:244.43, Y:2.48, Z:3.73 [[ 9.98806627e-01 -4.62314731e-02 -1.57471618e-02 2.44433696e+02] [ 4.62324117e-02 9.98930664e-01 -3.04621120e-04 2.47738270e+00] [ 1.57444059e-02 -4.23771674e-04 9.99875959e-01 3.72753448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.20925415399998 meters Centerline goodness : 0.998973 Centerline is valid? [True, True] Translation: X:244.47, Y:2.48, Z:3.73 [[ 9.98880315e-01 -4.46110223e-02 -1.57471838e-02 2.44465710e+02] [ 4.46117777e-02 9.99004353e-01 -3.03477431e-04 2.47900553e+00] [ 1.57450436e-02 -3.99372233e-04 9.99875959e-01 3.72792682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.23925415399998 meters Centerline goodness : 0.998867 Centerline is valid? [True, True] Translation: X:244.50, Y:2.48, Z:3.73 [[ 9.98959769e-01 -4.27949277e-02 -1.57472056e-02 2.44497484e+02] [ 4.27954754e-02 9.99083808e-01 -3.02343535e-04 2.48082412e+00] [ 1.57457169e-02 -3.71880124e-04 9.99875959e-01 3.72837078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.26925415399998 meters Centerline goodness : 0.999097 Centerline is valid? [True, True] Translation: X:244.53, Y:2.48, Z:3.73 [[ 9.99105945e-01 -3.92343630e-02 -1.57472274e-02 2.44529852e+02] [ 3.92344867e-02 9.99229986e-01 -3.01202881e-04 2.48374450e+00] [ 1.57469193e-02 -3.16900795e-04 9.99875959e-01 3.72901809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.29925415399998 meters Centerline goodness : 0.999371 Centerline is valid? [True, True] Translation: X:244.56, Y:2.49, Z:3.73 [[ 9.99176263e-01 -3.74008081e-02 -1.57472495e-02 2.44561789e+02] [ 3.74007224e-02 9.99300303e-01 -3.00043472e-04 2.48528791e+00] [ 1.57474531e-02 -2.89162193e-04 9.99875959e-01 3.72932794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.32925415399998 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:244.59, Y:2.49, Z:3.73 [[ 9.99237277e-01 -3.57335695e-02 -1.57472714e-02 2.44593476e+02] [ 3.57332949e-02 9.99361317e-01 -2.98893268e-04 2.48676058e+00] [ 1.57478944e-02 -2.64036596e-04 9.99875959e-01 3.72964727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.35925415399998 meters Centerline goodness : 0.999243 Centerline is valid? [True, True] Translation: X:244.62, Y:2.49, Z:3.73 [[ 9.99325363e-01 -3.31789484e-02 -1.57472822e-02 2.44624581e+02] [ 3.31783658e-02 9.99449402e-01 -2.98320927e-04 2.48954731e+00] [ 1.57485098e-02 -2.24349421e-04 9.99875959e-01 3.72959347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.38925415399999 meters Centerline goodness : 0.999095 Centerline is valid? [True, True] Translation: X:244.66, Y:2.49, Z:3.73 [[ 9.99357263e-01 -3.22037716e-02 -1.57472984e-02 2.44656238e+02] [ 3.22030814e-02 9.99481302e-01 -2.97464281e-04 2.49115633e+00] [ 1.57487098e-02 -2.09838442e-04 9.99875959e-01 3.73091637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.419254154 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:244.69, Y:2.49, Z:3.73 [[ 9.99386297e-01 -3.12898148e-02 -1.57473090e-02 2.44687383e+02] [ 3.12890200e-02 9.99510335e-01 -2.96902850e-04 2.49271316e+00] [ 1.57488881e-02 -1.95997226e-04 9.99875959e-01 3.73159819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.44925415399996 meters Centerline goodness : 0.999054 Centerline is valid? [True, True] Translation: X:244.72, Y:2.50, Z:3.73 [[ 9.99415824e-01 -3.03320445e-02 -1.57473195e-02 2.44718731e+02] [ 3.03311397e-02 9.99539861e-01 -2.96342417e-04 2.49539271e+00] [ 1.57490622e-02 -1.81464848e-04 9.99875959e-01 3.73302198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.47925415399996 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:244.75, Y:2.50, Z:3.73 [[ 9.99410692e-01 -3.05006496e-02 -1.57473303e-02 2.44749439e+02] [ 3.04997748e-02 9.99534730e-01 -2.95765824e-04 2.49697885e+00] [ 1.57490246e-02 -1.84698502e-04 9.99875959e-01 3.73359989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.50925415399996 meters Centerline goodness : 0.998905 Centerline is valid? [True, True] Translation: X:244.78, Y:2.50, Z:3.73 [[ 9.99396099e-01 -3.09751242e-02 -1.57473357e-02 2.44780556e+02] [ 3.09743128e-02 9.99520137e-01 -2.95479849e-04 2.49824962e+00] [ 1.57489317e-02 -1.92461493e-04 9.99875959e-01 3.73418493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.53925415399996 meters Centerline goodness : 0.999053 Centerline is valid? [True, True] Translation: X:244.81, Y:2.50, Z:3.73 [[ 9.99385372e-01 -3.13193022e-02 -1.57473460e-02 2.44811132e+02] [ 3.13185422e-02 9.99509411e-01 -2.94931120e-04 2.49946484e+00] [ 1.57488575e-02 -1.98434072e-04 9.99875959e-01 3.73380625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.56925415399996 meters Centerline goodness : 0.999178 Centerline is valid? [True, True] Translation: X:244.84, Y:2.50, Z:3.74 [[ 9.99217737e-01 -3.62762300e-02 -1.57464080e-02 2.44841834e+02] [ 3.62753005e-02 9.99341775e-01 -3.44738690e-04 2.50041182e+00] [ 1.57485491e-02 -2.26736667e-04 9.99875958e-01 3.73516986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.59925415399996 meters Centerline goodness : 0.999072 Centerline is valid? [True, True] Translation: X:244.87, Y:2.50, Z:3.74 [[ 9.99121381e-01 -3.88392510e-02 -1.57473507e-02 2.44874421e+02] [ 3.88394345e-02 9.99245421e-01 -2.94293603e-04 2.50113006e+00] [ 1.57468982e-02 -3.17583166e-04 9.99875959e-01 3.73597850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.62925415399997 meters Centerline goodness : 0.998926 Centerline is valid? [True, True] Translation: X:244.91, Y:2.50, Z:3.74 [[ 9.99009123e-01 -4.16268217e-02 -1.57473724e-02 2.44906153e+02] [ 4.16273696e-02 9.99133162e-01 -2.93128768e-04 2.50193322e+00] [ 1.57459240e-02 -3.62683377e-04 9.99875959e-01 3.73603673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.65925415399997 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:244.94, Y:2.50, Z:3.74 [[ 9.98768481e-01 -4.70482838e-02 -1.57473939e-02 2.44937666e+02] [ 4.70495231e-02 9.98892515e-01 -2.91971106e-04 2.50299905e+00] [ 1.57436906e-02 -4.49295834e-04 9.99875959e-01 3.73589110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.68925415399997 meters Centerline goodness : 0.998864 Centerline is valid? [True, True] Translation: X:244.97, Y:2.50, Z:3.74 [[ 9.98631115e-01 -4.98790095e-02 -1.57474098e-02 2.44969510e+02] [ 4.98806140e-02 9.98755145e-01 -2.91108012e-04 2.50380572e+00] [ 1.57423268e-02 -4.94780951e-04 9.99875959e-01 3.73665617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.71925415399997 meters Centerline goodness : 0.998906 Centerline is valid? [True, True] Translation: X:245.00, Y:2.50, Z:3.74 [[ 9.98491590e-01 -5.25981241e-02 -1.57474310e-02 2.45001943e+02] [ 5.26000844e-02 9.98615615e-01 -2.89959527e-04 2.50453022e+00] [ 1.57408818e-02 -5.38794049e-04 9.99875959e-01 3.73712395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.74925415399997 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:245.03, Y:2.51, Z:3.74 [[ 9.98334973e-01 -5.54914366e-02 -1.57474519e-02 2.45034571e+02] [ 5.54937743e-02 9.98458991e-01 -2.88815692e-04 2.50517041e+00] [ 1.57392118e-02 -5.85550738e-04 9.99875959e-01 3.73759385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.77925415399997 meters Centerline goodness : 0.998970 Centerline is valid? [True, True] Translation: X:245.07, Y:2.51, Z:3.74 [[ 9.98003858e-01 -6.11581304e-02 -1.57474836e-02 2.45067149e+02] [ 6.11611994e-02 9.98127860e-01 -2.87081309e-04 2.50611258e+00] [ 1.57355594e-02 -6.76626729e-04 9.99875959e-01 3.73858934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.80925415399997 meters Centerline goodness : 0.999032 Centerline is valid? [True, True] Translation: X:245.10, Y:2.51, Z:3.74 [[ 9.97845830e-01 -6.36844972e-02 -1.57475152e-02 2.45099930e+02] [ 6.36879077e-02 9.97969824e-01 -2.85337140e-04 2.50720752e+00] [ 1.57337165e-02 -7.18203816e-04 9.99875959e-01 3.73927685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.83925415399997 meters Centerline goodness : 0.998971 Centerline is valid? [True, True] Translation: X:245.13, Y:2.51, Z:3.74 [[ 9.97731118e-01 -6.54570925e-02 -1.57475470e-02 2.45131820e+02] [ 6.54607512e-02 9.97855105e-01 -2.83567036e-04 2.50791379e+00] [ 1.57323317e-02 -7.47922602e-04 9.99875959e-01 3.73963410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.86925415399998 meters Centerline goodness : 0.998885 Centerline is valid? [True, True] Translation: X:245.16, Y:2.51, Z:3.74 [[ 9.97637300e-01 -6.68717497e-02 -1.57475733e-02 2.45164642e+02] [ 6.68756072e-02 9.97761281e-01 -2.82100072e-04 2.50909411e+00] [ 1.57311834e-02 -7.71694974e-04 9.99875959e-01 3.74032868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.89925415399998 meters Centerline goodness : 0.998697 Centerline is valid? [True, True] Translation: X:245.20, Y:2.51, Z:3.74 [[ 9.97550806e-01 -6.81498586e-02 -1.57476038e-02 2.45197784e+02] [ 6.81539019e-02 9.97674780e-01 -2.80389658e-04 2.51181018e+00] [ 1.57300956e-02 -7.93557714e-04 9.99875959e-01 3.74066494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.92925415399998 meters Centerline goodness : 0.998741 Centerline is valid? [True, True] Translation: X:245.23, Y:2.51, Z:3.74 [[ 9.97560668e-01 -6.80053302e-02 -1.57476341e-02 2.45229950e+02] [ 6.80093824e-02 9.97684643e-01 -2.78677796e-04 2.51372206e+00] [ 1.57301242e-02 -7.92988859e-04 9.99875959e-01 3.74140304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.95925415399998 meters Centerline goodness : 0.998800 Centerline is valid? [True, True] Translation: X:245.26, Y:2.52, Z:3.74 [[ 9.97574116e-01 -6.78077695e-02 -1.57476590e-02 2.45263439e+02] [ 6.78118195e-02 9.97698091e-01 -2.77260629e-04 2.51567373e+00] [ 1.57302098e-02 -7.91289384e-04 9.99875959e-01 3.74170139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.98925415399998 meters Centerline goodness : 0.998654 Centerline is valid? [True, True] Translation: X:245.30, Y:2.52, Z:3.74 [[ 9.97628853e-01 -6.69976260e-02 -1.57476886e-02 2.45296935e+02] [ 6.70016020e-02 9.97752830e-01 -2.75569626e-04 2.51761069e+00] [ 1.57307634e-02 -7.80204154e-04 9.99875959e-01 3.74223576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.01925415399998 meters Centerline goodness : 0.998904 Centerline is valid? [True, True] Translation: X:245.33, Y:2.52, Z:3.74 [[ 9.97739122e-01 -6.53349284e-02 -1.57477188e-02 2.45328931e+02] [ 6.53387251e-02 9.97863105e-01 -2.73833526e-04 2.52082515e+00] [ 1.57319585e-02 -7.55721447e-04 9.99875959e-01 3.74262310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.04925415399998 meters Centerline goodness : 0.998885 Centerline is valid? [True, True] Translation: X:245.36, Y:2.52, Z:3.74 [[ 9.97831165e-01 -6.39138024e-02 -1.57477437e-02 2.45361829e+02] [ 6.39174451e-02 9.97955152e-01 -2.72396596e-04 2.52272231e+00] [ 1.57329518e-02 -7.34749728e-04 9.99875959e-01 3.74279723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.07925415399998 meters Centerline goodness : 0.999051 Centerline is valid? [True, True] Translation: X:245.39, Y:2.53, Z:3.74 [[ 9.98022690e-01 -6.08499554e-02 -1.57477727e-02 2.45394810e+02] [ 6.08532440e-02 9.98146687e-01 -2.70708791e-04 2.52647840e+00] [ 1.57350597e-02 -6.88129537e-04 9.99875959e-01 3.74292776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.10925415399998 meters Centerline goodness : 0.999136 Centerline is valid? [True, True] Translation: X:245.43, Y:2.53, Z:3.74 [[ 9.98145982e-01 -5.87928951e-02 -1.57478015e-02 2.45427760e+02] [ 5.87959547e-02 9.98269985e-01 -2.69023088e-04 2.52885347e+00] [ 1.57363742e-02 -6.57382707e-04 9.99875959e-01 3.74289351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.13925415399999 meters Centerline goodness : 0.999239 Centerline is valid? [True, True] Translation: X:245.46, Y:2.53, Z:3.74 [[ 9.98260958e-01 -5.68072605e-02 -1.57478311e-02 2.45461114e+02] [ 5.68101010e-02 9.98384966e-01 -2.67277383e-04 2.53163494e+00] [ 1.57375811e-02 -6.27823298e-04 9.99875959e-01 3.74279052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.169254154 meters Centerline goodness : 0.999132 Centerline is valid? [True, True] Translation: X:245.49, Y:2.53, Z:3.74 [[ 9.98387933e-01 -5.45301760e-02 -1.57478605e-02 2.45493920e+02] [ 5.45327611e-02 9.98511947e-01 -2.65534675e-04 2.53420633e+00] [ 1.57389065e-02 -5.93667697e-04 9.99875959e-01 3.74270523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.19925415399996 meters Centerline goodness : 0.999194 Centerline is valid? [True, True] Translation: X:245.53, Y:2.54, Z:3.74 [[ 9.98672489e-01 -4.90434975e-02 -1.57478898e-02 2.45527272e+02] [ 4.90454287e-02 9.98796514e-01 -2.63781330e-04 2.53855724e+00] [ 1.57418742e-02 -5.08930851e-04 9.99875959e-01 3.74104087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.22925415399996 meters Centerline goodness : 0.999086 Centerline is valid? [True, True] Translation: X:245.56, Y:2.54, Z:3.74 [[ 9.98790542e-01 -4.65774235e-02 -1.57479189e-02 2.45559167e+02] [ 4.65790760e-02 9.98914571e-01 -2.62035615e-04 2.54109455e+00] [ 1.57430306e-02 -4.71804816e-04 9.99875960e-01 3.74289006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.25925415399996 meters Centerline goodness : 0.999276 Centerline is valid? [True, True] Translation: X:245.59, Y:2.54, Z:3.74 [[ 9.98938327e-01 -4.32922883e-02 -1.57479380e-02 2.45591550e+02] [ 4.32935510e-02 9.99062361e-01 -2.60884870e-04 2.54351020e+00] [ 1.57444664e-02 -4.21176259e-04 9.99875960e-01 3.74391640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.28925415399996 meters Centerline goodness : 0.999085 Centerline is valid? [True, True] Translation: X:245.62, Y:2.55, Z:3.74 [[ 9.99087792e-01 -3.96936419e-02 -1.57479569e-02 2.45623227e+02] [ 3.96944758e-02 9.99211830e-01 -2.59738921e-04 2.54606000e+00] [ 1.57458548e-02 -3.65604907e-04 9.99875960e-01 3.74484928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.31925415399996 meters Centerline goodness : 0.998850 Centerline is valid? [True, True] Translation: X:245.65, Y:2.55, Z:3.75 [[ 9.99232281e-01 -3.58726765e-02 -1.57479756e-02 2.45654790e+02] [ 3.58730541e-02 9.99356321e-01 -2.58596147e-04 2.54892471e+00] [ 1.57471155e-02 -3.06530363e-04 9.99875960e-01 3.74575583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.34925415399996 meters Centerline goodness : 0.999338 Centerline is valid? [True, True] Translation: X:245.69, Y:2.55, Z:3.75 [[ 9.99488417e-01 -2.78371000e-02 -1.57479896e-02 2.45687216e+02] [ 2.78364936e-02 9.99612457e-01 -2.57744543e-04 2.55419339e+00] [ 1.57490614e-02 -1.80756125e-04 9.99875960e-01 3.74812285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.37925415399997 meters Centerline goodness : 0.999015 Centerline is valid? [True, True] Translation: X:245.72, Y:2.56, Z:3.75 [[ 9.99582463e-01 -2.42260332e-02 -1.57480077e-02 2.45718547e+02] [ 2.42249963e-02 9.99706499e-01 -2.56628534e-04 2.55649479e+00] [ 1.57496028e-02 -1.24974048e-04 9.99875960e-01 3.74901432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.40925415399997 meters Centerline goodness : 0.999421 Centerline is valid? [True, True] Translation: X:245.75, Y:2.56, Z:3.75 [[ 9.99656960e-01 -2.09275338e-02 -1.57480170e-02 2.45749422e+02] [ 2.09260966e-02 9.99780992e-01 -2.56061433e-04 2.55824897e+00] [ 1.57499268e-02 -7.35709295e-05 9.99875960e-01 3.74985407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.43925415399997 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:245.78, Y:2.56, Z:3.75 [[ 9.99710287e-01 -1.82028180e-02 -1.57480170e-02 2.45779072e+02] [ 1.82010427e-02 9.99834315e-01 -2.56061433e-04 2.55968372e+00] [ 1.57500688e-02 -3.06430806e-05 9.99875960e-01 3.75036626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.46925415399997 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:245.81, Y:2.56, Z:3.75 [[ 9.99767022e-01 -1.47614728e-02 -1.57480078e-02 2.45807745e+02] [ 1.47592617e-02 9.99891043e-01 -2.56626884e-04 2.56130945e+00] [ 1.57500801e-02 2.41381283e-05 9.99875960e-01 3.75171768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.49925415399997 meters Centerline goodness : 0.999033 Centerline is valid? [True, True] Translation: X:245.84, Y:2.56, Z:3.75 [[ 9.99779990e-01 -1.38554841e-02 -1.57479417e-02 2.45835435e+02] [ 1.38530977e-02 9.99904007e-01 -2.60619460e-04 2.56171544e+00] [ 1.57500410e-02 4.24043468e-05 9.99875960e-01 3.75209946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.52925415399997 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:245.86, Y:2.56, Z:3.75 [[ 9.99775660e-01 -1.41645201e-02 -1.57479182e-02 2.45863736e+02] [ 1.41621497e-02 9.99899677e-01 -2.62031311e-04 2.56186971e+00] [ 1.57500499e-02 3.89481511e-05 9.99875960e-01 3.75262847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.55925415399997 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:245.89, Y:2.56, Z:3.75 [[ 9.99740447e-01 -1.64633995e-02 -1.57478409e-02 2.45891529e+02] [ 1.64612424e-02 9.99864469e-01 -2.66598946e-04 2.56107880e+00] [ 1.57500957e-02 7.30072370e-06 9.99875960e-01 3.75177598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.58925415399997 meters Centerline goodness : 0.999142 Centerline is valid? [True, True] Translation: X:245.92, Y:2.56, Z:3.75 [[ 9.99696068e-01 -1.89678076e-02 -1.57478057e-02 2.45920416e+02] [ 1.89659287e-02 9.99820095e-01 -2.68658927e-04 2.56057857e+00] [ 1.57500685e-02 -3.00944870e-05 9.99875960e-01 3.75155221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.61925415399998 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:245.95, Y:2.56, Z:3.75 [[ 9.99631100e-01 -2.21285338e-02 -1.57477347e-02 2.45948853e+02] [ 2.21269825e-02 9.99755131e-01 -2.72760189e-04 2.55979202e+00] [ 1.57499143e-02 -7.57902817e-05 9.99875960e-01 3.75068117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.64925415399998 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:245.98, Y:2.56, Z:3.75 [[ 9.99545875e-01 -2.56914966e-02 -1.57477195e-02 2.45978152e+02] [ 2.56903737e-02 9.99669910e-01 -2.73631118e-04 2.55861563e+00] [ 1.57495514e-02 -1.31057945e-04 9.99875960e-01 3.75010748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.67925415399998 meters Centerline goodness : 0.999038 Centerline is valid? [True, True] Translation: X:246.01, Y:2.56, Z:3.75 [[ 9.99302256e-01 -3.38675408e-02 -1.57477097e-02 2.46008440e+02] [ 3.38674236e-02 9.99426297e-01 -2.74199493e-04 2.55631923e+00] [ 1.57479616e-02 -2.59326182e-04 9.99875960e-01 3.75007377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.70925415399998 meters Centerline goodness : 0.999168 Centerline is valid? [True, True] Translation: X:246.04, Y:2.56, Z:3.75 [[ 9.99152396e-01 -3.80328769e-02 -1.57477097e-02 2.46040136e+02] [ 3.80332768e-02 9.99276436e-01 -2.74199492e-04 2.55564585e+00] [ 1.57467438e-02 -3.24969920e-04 9.99875960e-01 3.75046115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.73925415399998 meters Centerline goodness : 0.999191 Centerline is valid? [True, True] Translation: X:246.07, Y:2.55, Z:3.75 [[ 9.98984586e-01 -4.22114321e-02 -1.57477435e-02 2.46071120e+02] [ 4.22123817e-02 9.99108623e-01 -2.72239244e-04 2.55470110e+00] [ 1.57451980e-02 -3.92786952e-04 9.99875960e-01 3.75099208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.76925415399998 meters Centerline goodness : 0.999025 Centerline is valid? [True, True] Translation: X:246.10, Y:2.55, Z:3.75 [[ 9.98626528e-01 -4.99706533e-02 -1.57477585e-02 2.46103437e+02] [ 4.99725801e-02 9.98750553e-01 -2.71371287e-04 2.55303200e+00] [ 1.57416431e-02 -5.15957557e-04 9.99875960e-01 3.75211642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.79925415399998 meters Centerline goodness : 0.998961 Centerline is valid? [True, True] Translation: X:246.14, Y:2.55, Z:3.75 [[ 9.98441400e-01 -5.35423028e-02 -1.57477782e-02 2.46135735e+02] [ 5.35446913e-02 9.98565418e-01 -2.70220554e-04 2.55248710e+00] [ 1.57396550e-02 -5.73410536e-04 9.99875960e-01 3.75255103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.82925415399998 meters Centerline goodness : 0.998961 Centerline is valid? [True, True] Translation: X:246.17, Y:2.55, Z:3.75 [[ 9.98447204e-01 -5.34339524e-02 -1.57478028e-02 2.46169268e+02] [ 5.34363501e-02 9.98571221e-01 -2.68783619e-04 2.55296687e+00] [ 1.57396648e-02 -5.73138850e-04 9.99875960e-01 3.75307885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.85925415399998 meters Centerline goodness : 0.999046 Centerline is valid? [True, True] Translation: X:246.20, Y:2.55, Z:3.75 [[ 9.98284187e-01 -5.63975876e-02 -1.57478317e-02 2.46202142e+02] [ 5.64003804e-02 9.98408196e-01 -2.67074822e-04 2.55217941e+00] [ 1.57378267e-02 -6.21567129e-04 9.99875960e-01 3.75359016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.88925415399999 meters Centerline goodness : 0.999091 Centerline is valid? [True, True] Translation: X:246.24, Y:2.55, Z:3.75 [[ 9.97970832e-01 -6.16945967e-02 -1.57478614e-02 2.46235311e+02] [ 6.16980752e-02 9.98094824e-01 -2.65314969e-04 2.55079096e+00] [ 1.57342274e-02 -7.06836136e-04 9.99875960e-01 3.75393905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.919254154 meters Centerline goodness : 0.998815 Centerline is valid? [True, True] Translation: X:246.27, Y:2.55, Z:3.75 [[ 9.97831164e-01 -6.39137937e-02 -1.57478907e-02 2.46267521e+02] [ 6.39175755e-02 9.97955146e-01 -2.63562592e-04 2.55103167e+00] [ 1.57325339e-02 -7.43576027e-04 9.99875960e-01 3.75379319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.94925415399996 meters Centerline goodness : 0.999281 Centerline is valid? [True, True] Translation: X:246.30, Y:2.55, Z:3.75 [[ 9.97711553e-01 -6.57545405e-02 -1.57479149e-02 2.46300916e+02] [ 6.57585739e-02 9.97835528e-01 -2.62111311e-04 2.55152854e+00] [ 1.57310640e-02 -7.74048942e-04 9.99875960e-01 3.75446056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.97925415399996 meters Centerline goodness : 0.998944 Centerline is valid? [True, True] Translation: X:246.33, Y:2.55, Z:3.75 [[ 9.97463838e-01 -6.94110457e-02 -1.57479440e-02 2.46333518e+02] [ 6.94155613e-02 9.97587797e-01 -2.60347195e-04 2.55272623e+00] [ 1.57280278e-02 -8.33465462e-04 9.99875960e-01 3.75439155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.00925415399996 meters Centerline goodness : 0.999050 Centerline is valid? [True, True] Translation: X:246.37, Y:2.55, Z:3.75 [[ 9.97363806e-01 -7.08338860e-02 -1.57479729e-02 2.46365860e+02] [ 7.08386061e-02 9.97487757e-01 -2.58591563e-04 2.55333399e+00] [ 1.57267272e-02 -8.57654582e-04 9.99875960e-01 3.75482782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.03925415399996 meters Centerline goodness : 0.998986 Centerline is valid? [True, True] Translation: X:246.40, Y:2.55, Z:3.76 [[ 9.97261310e-01 -7.22625832e-02 -1.57479966e-02 2.46398675e+02] [ 7.22675036e-02 9.97385252e-01 -2.57139651e-04 2.55367211e+00] [ 1.57254011e-02 -8.81632975e-04 9.99875960e-01 3.75553620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.06925415399996 meters Centerline goodness : 0.998942 Centerline is valid? [True, True] Translation: X:246.43, Y:2.55, Z:3.76 [[ 9.97168311e-01 -7.35347439e-02 -1.57480237e-02 2.46431396e+02] [ 7.35398488e-02 9.97292247e-01 -2.55466906e-04 2.55379402e+00] [ 1.57241676e-02 -9.03363780e-04 9.99875960e-01 3.75629705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.09925415399996 meters Centerline goodness : 0.998861 Centerline is valid? [True, True] Translation: X:246.46, Y:2.56, Z:3.76 [[ 9.96995896e-01 -7.58365507e-02 -1.57480521e-02 2.46464381e+02] [ 7.58419695e-02 9.97119818e-01 -2.53705290e-04 2.55520606e+00] [ 1.57219350e-02 -9.41420153e-04 9.99875960e-01 3.75727850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.12925415399997 meters Centerline goodness : 0.999010 Centerline is valid? [True, True] Translation: X:246.50, Y:2.56, Z:3.76 [[ 9.96960021e-01 -7.63067075e-02 -1.57480805e-02 2.46496703e+02] [ 7.63122125e-02 9.97083940e-01 -2.51932589e-04 2.55669593e+00] [ 1.57213822e-02 -9.50604143e-04 9.99875960e-01 3.75798996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.15925415399997 meters Centerline goodness : 0.999345 Centerline is valid? [True, True] Translation: X:246.53, Y:2.56, Z:3.76 [[ 9.96952779e-01 -7.64012603e-02 -1.57481494e-02 2.46529935e+02] [ 7.64068461e-02 9.97076693e-01 -2.47547298e-04 2.55826706e+00] [ 1.57210256e-02 -9.56473461e-04 9.99875960e-01 3.75849258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.18925415399997 meters Centerline goodness : 0.999197 Centerline is valid? [True, True] Translation: X:246.56, Y:2.56, Z:3.76 [[ 9.96995830e-01 -7.58373927e-02 -1.57481767e-02 2.46562447e+02] [ 7.58429360e-02 9.97119746e-01 -2.45798878e-04 2.56102764e+00] [ 1.57214587e-02 -9.49327500e-04 9.99875960e-01 3.75757407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.21925415399997 meters Centerline goodness : 0.999152 Centerline is valid? [True, True] Translation: X:246.60, Y:2.56, Z:3.76 [[ 9.97008773e-01 -7.56670345e-02 -1.57482429e-02 2.46595319e+02] [ 7.56726245e-02 9.97132687e-01 -2.41481971e-04 2.56260413e+00] [ 1.57213600e-02 -9.50951226e-04 9.99875960e-01 3.75763406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.24925415399997 meters Centerline goodness : 0.999068 Centerline is valid? [True, True] Translation: X:246.63, Y:2.56, Z:3.76 [[ 9.97026385e-01 -7.54346110e-02 -1.57482690e-02 2.46627934e+02] [ 7.54401992e-02 9.97150299e-01 -2.39765088e-04 2.56393459e+00] [ 1.57214777e-02 -9.49000433e-04 9.99875960e-01 3.75742006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.27925415399997 meters Centerline goodness : 0.999173 Centerline is valid? [True, True] Translation: X:246.66, Y:2.57, Z:3.76 [[ 9.97035578e-01 -7.53129940e-02 -1.57482948e-02 2.46661078e+02] [ 7.53185940e-02 9.97159492e-01 -2.38056961e-04 2.56521213e+00] [ 1.57214905e-02 -9.48788164e-04 9.99875960e-01 3.75734351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.30925415399997 meters Centerline goodness : 0.999256 Centerline is valid? [True, True] Translation: X:246.69, Y:2.57, Z:3.76 [[ 9.97019364e-01 -7.55273398e-02 -1.57483209e-02 2.46693235e+02] [ 7.55329938e-02 9.97143275e-01 -2.36317608e-04 2.56803125e+00] [ 1.57211808e-02 -9.53904596e-04 9.99875960e-01 3.75644543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.33925415399997 meters Centerline goodness : 0.999065 Centerline is valid? [True, True] Translation: X:246.73, Y:2.57, Z:3.76 [[ 9.97021660e-01 -7.54970157e-02 -1.57483381e-02 2.46726377e+02] [ 7.55026840e-02 9.97145571e-01 -2.35169547e-04 2.56990115e+00] [ 1.57211402e-02 -9.54572661e-04 9.99875960e-01 3.75657637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.36925415399998 meters Centerline goodness : 0.999129 Centerline is valid? [True, True] Translation: X:246.76, Y:2.57, Z:3.76 [[ 9.97055639e-01 -7.50469354e-02 -1.57483640e-02 2.46758061e+02] [ 7.50525752e-02 9.97179551e-01 -2.33421860e-04 2.57179356e+00] [ 1.57214641e-02 -9.49220691e-04 9.99875960e-01 3.75658871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.39925415399998 meters Centerline goodness : 0.999320 Centerline is valid? [True, True] Translation: X:246.79, Y:2.57, Z:3.76 [[ 9.97126319e-01 -7.41018941e-02 -1.57484267e-02 2.46790944e+02] [ 7.41074843e-02 9.97250234e-01 -2.29111971e-04 2.57369257e+00] [ 1.57220998e-02 -9.38622707e-04 9.99875960e-01 3.75786237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.42925415399998 meters Centerline goodness : 0.999256 Centerline is valid? [True, True] Translation: X:246.82, Y:2.58, Z:3.76 [[ 9.97207371e-01 -7.30030571e-02 -1.57484509e-02 2.46822333e+02] [ 7.30085372e-02 9.97331290e-01 -2.27436916e-04 2.57602402e+00] [ 1.57230264e-02 -9.22969592e-04 9.99875960e-01 3.75882081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.45925415399998 meters Centerline goodness : 0.999126 Centerline is valid? [True, True] Translation: X:246.85, Y:2.58, Z:3.76 [[ 9.97502914e-01 -6.88470911e-02 -1.57484628e-02 2.46854685e+02] [ 6.88520678e-02 9.97626855e-01 -2.26606225e-04 2.58037083e+00] [ 1.57266906e-02 -8.58273860e-04 9.99875960e-01 3.76323901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.48925415399998 meters Centerline goodness : 0.999359 Centerline is valid? [True, True] Translation: X:246.89, Y:2.58, Z:3.77 [[ 9.97692631e-01 -6.60408936e-02 -1.57484796e-02 2.46886445e+02] [ 6.60455401e-02 9.97816584e-01 -2.25431484e-04 2.58297061e+00] [ 1.57289819e-02 -8.15205513e-04 9.99875960e-01 3.76510978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.51925415399998 meters Centerline goodness : 0.999339 Centerline is valid? [True, True] Translation: X:246.92, Y:2.59, Z:3.77 [[ 9.97907859e-01 -6.27047904e-02 -1.57484963e-02 2.46918167e+02] [ 6.27090408e-02 9.98031826e-01 -2.24264412e-04 2.58534924e+00] [ 1.57315629e-02 -7.63777875e-04 9.99875960e-01 3.76690003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.54925415399998 meters Centerline goodness : 0.999233 Centerline is valid? [True, True] Translation: X:246.95, Y:2.59, Z:3.77 [[ 9.98113522e-01 -5.93412370e-02 -1.57485169e-02 2.46951262e+02] [ 5.93450926e-02 9.98237502e-01 -2.22806919e-04 2.58783914e+00] [ 1.57339818e-02 -7.12210593e-04 9.99875960e-01 3.76844024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.57925415399998 meters Centerline goodness : 0.999337 Centerline is valid? [True, True] Translation: X:246.98, Y:2.59, Z:3.77 [[ 9.98308804e-01 -5.59599503e-02 -1.57485411e-02 2.46984480e+02] [ 5.59634131e-02 9.98432796e-01 -2.21078949e-04 2.59024490e+00] [ 1.57362315e-02 -6.60637053e-04 9.99875960e-01 3.76970170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.60925415399998 meters Centerline goodness : 0.999465 Centerline is valid? [True, True] Translation: X:247.02, Y:2.59, Z:3.77 [[ 9.98638115e-01 -4.97382965e-02 -1.57485653e-02 2.47016576e+02] [ 4.97410139e-02 9.98762126e-01 -2.19345395e-04 2.59317102e+00] [ 1.57399804e-02 -5.64302933e-04 9.99875960e-01 3.76991995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.63925415399999 meters Centerline goodness : 0.999549 Centerline is valid? [True, True] Translation: X:247.05, Y:2.59, Z:3.77 [[ 9.98758877e-01 -4.72513248e-02 -1.57485851e-02 2.47049519e+02] [ 4.72537560e-02 9.98882894e-01 -2.17910216e-04 2.59418407e+00] [ 1.57412888e-02 -5.26540037e-04 9.99875960e-01 3.76976163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.669254154 meters Centerline goodness : 0.999377 Centerline is valid? [True, True] Translation: X:247.08, Y:2.60, Z:3.77 [[ 9.98910202e-01 -4.39361984e-02 -1.57486086e-02 2.47081884e+02] [ 4.39382449e-02 9.99034226e-01 -2.16198248e-04 2.59603768e+00] [ 1.57428980e-02 -4.76003588e-04 9.99875960e-01 3.76818328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.69925415399996 meters Centerline goodness : 0.999398 Centerline is valid? [True, True] Translation: X:247.11, Y:2.60, Z:3.77 [[ 9.98949218e-01 -4.30399784e-02 -1.57486450e-02 2.47114512e+02] [ 4.30419559e-02 9.99073243e-01 -2.13518114e-04 2.59740432e+00] [ 1.57432396e-02 -4.64558729e-04 9.99875960e-01 3.76785552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.72925415399996 meters Centerline goodness : 0.999548 Centerline is valid? [True, True] Translation: X:247.15, Y:2.60, Z:3.77 [[ 9.98966974e-01 -4.26258704e-02 -1.57486603e-02 2.47147770e+02] [ 4.26278143e-02 9.99090999e-01 -2.12385794e-04 2.59845278e+00] [ 1.57433978e-02 -4.59164572e-04 9.99875960e-01 3.76792140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.75925415399996 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:247.18, Y:2.60, Z:3.77 [[ 9.98950442e-01 -4.30115477e-02 -1.57486834e-02 2.47179210e+02] [ 4.30135668e-02 9.99074466e-01 -2.10652967e-04 2.59904587e+00] [ 1.57431680e-02 -4.66975172e-04 9.99875960e-01 3.76619739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.78925415399996 meters Centerline goodness : 0.999612 Centerline is valid? [True, True] Translation: X:247.21, Y:2.60, Z:3.77 [[ 9.98952230e-01 -4.29699888e-02 -1.57486948e-02 2.47212062e+02] [ 4.29720162e-02 9.99076254e-01 -2.09796971e-04 2.59935630e+00] [ 1.57431620e-02 -4.67176018e-04 9.99875960e-01 3.76583047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.81925415399996 meters Centerline goodness : 0.999397 Centerline is valid? [True, True] Translation: X:247.24, Y:2.60, Z:3.77 [[ 9.98977084e-01 -4.23882413e-02 -1.57487172e-02 2.47244851e+02] [ 4.23902231e-02 9.99101109e-01 -2.08108166e-04 2.60003958e+00] [ 1.57433821e-02 -4.59696344e-04 9.99875960e-01 3.76583259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.84925415399996 meters Centerline goodness : 0.999440 Centerline is valid? [True, True] Translation: X:247.28, Y:2.60, Z:3.77 [[ 9.99028567e-01 -4.11570136e-02 -1.57487398e-02 2.47276656e+02] [ 4.11588697e-02 9.99152593e-01 -2.06379971e-04 2.60065434e+00] [ 1.57438882e-02 -4.42020843e-04 9.99875960e-01 3.76638562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.87925415399997 meters Centerline goodness : 0.999440 Centerline is valid? [True, True] Translation: X:247.31, Y:2.60, Z:3.77 [[ 9.99031566e-01 -4.10841436e-02 -1.57487548e-02 2.47309345e+02] [ 4.10860088e-02 9.99155592e-01 -2.05230278e-04 2.60102002e+00] [ 1.57438881e-02 -4.42021952e-04 9.99875960e-01 3.76690018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.90925415399997 meters Centerline goodness : 0.999568 Centerline is valid? [True, True] Translation: X:247.34, Y:2.60, Z:3.77 [[ 9.99193076e-01 -3.69482484e-02 -1.57487697e-02 2.47340237e+02] [ 3.69496183e-02 9.99317109e-01 -2.04081695e-04 2.60263939e+00] [ 1.57455554e-02 -3.77994012e-04 9.99875960e-01 3.76869037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.93925415399997 meters Centerline goodness : 0.999375 Centerline is valid? [True, True] Translation: X:247.37, Y:2.60, Z:3.77 [[ 9.99290417e-01 -3.42145883e-02 -1.57487807e-02 2.47372490e+02] [ 3.42156323e-02 9.99414453e-01 -2.03226153e-04 2.60378959e+00] [ 1.57465124e-02 -3.35772543e-04 9.99875960e-01 3.76939795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.96925415399997 meters Centerline goodness : 0.999525 Centerline is valid? [True, True] Translation: X:247.40, Y:2.60, Z:3.77 [[ 9.99476312e-01 -2.82679647e-02 -1.57487952e-02 2.47404404e+02] [ 2.82682884e-02 9.99600352e-01 -2.02096801e-04 2.60483785e+00] [ 1.57482141e-02 -2.43200519e-04 9.99875960e-01 3.77112468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.99925415399997 meters Centerline goodness : 0.999589 Centerline is valid? [True, True] Translation: X:247.44, Y:2.61, Z:3.77 [[ 9.99553136e-01 -2.54067572e-02 -1.57488098e-02 2.47435100e+02] [ 2.54067440e-02 9.99677176e-01 -2.00949195e-04 2.60504232e+00] [ 1.57488312e-02 -1.99266581e-04 9.99875960e-01 3.77179872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.02925415399997 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:247.47, Y:2.61, Z:3.77 [[ 9.99615084e-01 -2.28398243e-02 -1.57488207e-02 2.47466029e+02] [ 2.28395059e-02 9.99739124e-01 -2.00095194e-04 2.60514733e+00] [ 1.57492823e-02 -1.59677109e-04 9.99875960e-01 3.77269795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.05925415399997 meters Centerline goodness : 0.999590 Centerline is valid? [True, True] Translation: X:247.50, Y:2.60, Z:3.77 [[ 9.99683166e-01 -1.96352367e-02 -1.57488279e-02 2.47496454e+02] [ 1.96345297e-02 9.99807204e-01 -1.99527766e-04 2.60449789e+00] [ 1.57497093e-02 -1.09756280e-04 9.99875960e-01 3.77257726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.08925415399997 meters Centerline goodness : 0.999611 Centerline is valid? [True, True] Translation: X:247.53, Y:2.60, Z:3.77 [[ 9.99705823e-01 -1.84456460e-02 -1.57488314e-02 2.47525719e+02] [ 1.84447958e-02 9.99829860e-01 -1.99246181e-04 2.60396769e+00] [ 1.57498272e-02 -9.12964129e-05 9.99875960e-01 3.77257926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.11925415399998 meters Centerline goodness : 0.999633 Centerline is valid? [True, True] Translation: X:247.56, Y:2.60, Z:3.77 [[ 9.99711933e-01 -1.81114657e-02 -1.57488244e-02 2.47555719e+02] [ 1.81105653e-02 9.99835970e-01 -1.99802793e-04 2.60338922e+00] [ 1.57498598e-02 -8.54748763e-05 9.99875960e-01 3.77279032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.14925415399998 meters Centerline goodness : 0.999676 Centerline is valid? [True, True] Translation: X:247.59, Y:2.60, Z:3.77 [[ 9.99710290e-01 -1.82019605e-02 -1.57488171e-02 2.47585639e+02] [ 1.82010623e-02 9.99834327e-01 -2.00378348e-04 2.60071988e+00] [ 1.57498552e-02 -8.63249030e-05 9.99875960e-01 3.77257513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.17925415399998 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:247.62, Y:2.60, Z:3.77 [[ 9.99704865e-01 -1.84974889e-02 -1.57488097e-02 2.47615108e+02] [ 1.84966182e-02 9.99828903e-01 -2.00955765e-04 2.59924573e+00] [ 1.57498323e-02 -9.04032643e-05 9.99875960e-01 3.77244835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.20925415399998 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:247.64, Y:2.60, Z:3.77 [[ 9.99694118e-01 -1.90695005e-02 -1.57488024e-02 2.47643958e+02] [ 1.90686917e-02 9.99818156e-01 -2.01529166e-04 2.59774286e+00] [ 1.57497816e-02 -9.88415359e-05 9.99875960e-01 3.77245044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.23925415399998 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:247.67, Y:2.59, Z:3.77 [[ 9.99667649e-01 -2.04099756e-02 -1.57487879e-02 2.47673413e+02] [ 2.04093155e-02 9.99791688e-01 -2.02651965e-04 2.59424909e+00] [ 1.57496434e-02 -1.18837368e-04 9.99875960e-01 3.77219532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.26925415399998 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:247.70, Y:2.59, Z:3.77 [[ 9.99649591e-01 -2.12760813e-02 -1.57487807e-02 2.47703058e+02] [ 2.12755198e-02 9.99773630e-01 -2.03212066e-04 2.59302231e+00] [ 1.57495392e-02 -1.31922637e-04 9.99875960e-01 3.77235041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.29925415399998 meters Centerline goodness : 0.999570 Centerline is valid? [True, True] Translation: X:247.73, Y:2.59, Z:3.77 [[ 9.99629705e-01 -2.21907437e-02 -1.57487812e-02 2.47732228e+02] [ 2.21902964e-02 9.99753744e-01 -2.03170288e-04 2.59163177e+00] [ 1.57494115e-02 -1.46375068e-04 9.99875960e-01 3.77264247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.32925415399998 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:247.76, Y:2.59, Z:3.77 [[ 9.99562174e-01 -2.50488237e-02 -1.57485407e-02 2.47761833e+02] [ 2.50484398e-02 9.99686214e-01 -2.21657562e-04 2.58786158e+00] [ 1.57491512e-02 -1.72915858e-04 9.99875959e-01 3.77259594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.35925415399998 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:247.79, Y:2.59, Z:3.77 [[ 9.99562177e-01 -2.50485887e-02 -1.57487365e-02 2.47792827e+02] [ 2.50484399e-02 9.99686217e-01 -2.06736340e-04 2.58826120e+00] [ 1.57489733e-02 -1.87835454e-04 9.99875960e-01 3.77307924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.38925415399999 meters Centerline goodness : 0.999422 Centerline is valid? [True, True] Translation: X:247.82, Y:2.58, Z:3.77 [[ 9.99488525e-01 -2.78328247e-02 -1.57487365e-02 2.47823332e+02] [ 2.78330213e-02 9.99612565e-01 -2.06736340e-04 2.58415931e+00] [ 1.57483890e-02 -2.31704320e-04 9.99875960e-01 3.77302529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.41925415399996 meters Centerline goodness : 0.999381 Centerline is valid? [True, True] Translation: X:247.85, Y:2.58, Z:3.77 [[ 9.99436610e-01 -2.96384840e-02 -1.57487401e-02 2.47854873e+02] [ 2.96389090e-02 9.99560650e-01 -2.06464550e-04 2.58275368e+00] [ 1.57479402e-02 -2.60427245e-04 9.99875960e-01 3.77401822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.44925415399996 meters Centerline goodness : 0.999574 Centerline is valid? [True, True] Translation: X:247.89, Y:2.58, Z:3.77 [[ 9.99310993e-01 -3.36082815e-02 -1.57487476e-02 2.47886438e+02] [ 3.36092083e-02 9.99435030e-01 -2.05889821e-04 2.57955757e+00] [ 1.57467696e-02 -3.23554977e-04 9.99875960e-01 3.77387282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.47925415399996 meters Centerline goodness : 0.999424 Centerline is valid? [True, True] Translation: X:247.92, Y:2.58, Z:3.78 [[ 9.99229612e-01 -3.59466147e-02 -1.57487729e-02 2.47918265e+02] [ 3.59478625e-02 9.99353646e-01 -2.03932742e-04 2.57804550e+00] [ 1.57459244e-02 -3.62359090e-04 9.99875960e-01 3.77511208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.50925415399996 meters Centerline goodness : 0.999383 Centerline is valid? [True, True] Translation: X:247.95, Y:2.58, Z:3.78 [[ 9.99138383e-01 -3.83988032e-02 -1.57487880e-02 2.47950099e+02] [ 3.84003739e-02 9.99262413e-01 -2.02759649e-04 2.57650299e+00] [ 1.57449577e-02 -4.02174402e-04 9.99875960e-01 3.77539866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.53925415399996 meters Centerline goodness : 0.999363 Centerline is valid? [True, True] Translation: X:247.98, Y:2.58, Z:3.78 [[ 9.99024217e-01 -4.12624432e-02 -1.57488030e-02 2.47981591e+02] [ 4.12643879e-02 9.99148242e-01 -2.01588732e-04 2.57517256e+00] [ 1.57437069e-02 -4.48472693e-04 9.99875960e-01 3.77528283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.56925415399996 meters Centerline goodness : 0.999598 Centerline is valid? [True, True] Translation: X:248.01, Y:2.57, Z:3.78 [[ 9.98773581e-01 -4.69394097e-02 -1.57488142e-02 2.48013398e+02] [ 4.69420729e-02 9.98897593e-01 -2.00716670e-04 2.57204953e+00] [ 1.57408741e-02 -5.38811476e-04 9.99875960e-01 3.77595419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.59925415399996 meters Centerline goodness : 0.999385 Centerline is valid? [True, True] Translation: X:248.05, Y:2.57, Z:3.78 [[ 9.98620359e-01 -5.00934333e-02 -1.57488286e-02 2.48045218e+02] [ 5.00965061e-02 9.98744362e-01 -1.99579529e-04 2.57091379e+00] [ 1.57390514e-02 -5.89657105e-04 9.99875960e-01 3.77678280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.62925415399997 meters Centerline goodness : 0.999236 Centerline is valid? [True, True] Translation: X:248.08, Y:2.57, Z:3.78 [[ 9.98476958e-01 -5.28747380e-02 -1.57488433e-02 2.48076629e+02] [ 5.28781747e-02 9.98600951e-01 -1.98406944e-04 2.56995112e+00] [ 1.57373006e-02 -6.34665327e-04 9.99875960e-01 3.77708205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.65925415399997 meters Centerline goodness : 0.999364 Centerline is valid? [True, True] Translation: X:248.11, Y:2.57, Z:3.78 [[ 9.98324502e-01 -5.56790928e-02 -1.57488543e-02 2.48109119e+02] [ 5.56828914e-02 9.98448485e-01 -1.97533648e-04 2.56941343e+00] [ 1.57354182e-02 -6.79739063e-04 9.99875960e-01 3.77756514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.68925415399997 meters Centerline goodness : 0.999344 Centerline is valid? [True, True] Translation: X:248.14, Y:2.57, Z:3.78 [[ 9.98049129e-01 -6.04144834e-02 -1.57488685e-02 2.48141740e+02] [ 6.04188881e-02 9.98173091e-01 -1.96393485e-04 2.56800391e+00] [ 1.57319618e-02 -7.55518778e-04 9.99875960e-01 3.77884950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.71925415399997 meters Centerline goodness : 0.999344 Centerline is valid? [True, True] Translation: X:248.18, Y:2.57, Z:3.78 [[ 9.98055762e-01 -6.03048039e-02 -1.57488827e-02 2.48175271e+02] [ 6.03092131e-02 9.98179724e-01 -1.95246364e-04 2.56832827e+00] [ 1.57319897e-02 -7.54935966e-04 9.99875960e-01 3.77937736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.74925415399997 meters Centerline goodness : 0.999090 Centerline is valid? [True, True] Translation: X:248.21, Y:2.57, Z:3.78 [[ 9.97942744e-01 -6.21470173e-02 -1.57489040e-02 2.48207036e+02] [ 6.21516825e-02 9.98066697e-01 -1.93515732e-04 2.56788376e+00] [ 1.57304830e-02 -7.85703260e-04 9.99875960e-01 3.78062300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.77925415399997 meters Centerline goodness : 0.999239 Centerline is valid? [True, True] Translation: X:248.24, Y:2.57, Z:3.77 [[ 9.97888840e-01 -6.30066167e-02 -1.57489180e-02 2.48237850e+02] [ 6.30114067e-02 9.98012788e-01 -1.92372404e-04 2.56752747e+00] [ 1.57297423e-02 -8.00395200e-04 9.99875960e-01 3.77396838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.80925415399997 meters Centerline goodness : 0.999471 Centerline is valid? [True, True] Translation: X:248.27, Y:2.57, Z:3.78 [[ 9.97759898e-01 -6.50165833e-02 -1.57489944e-02 2.48270170e+02] [ 6.50217216e-02 9.97883831e-01 -1.86104240e-04 2.56747469e+00] [ 1.57277667e-02 -8.38339379e-04 9.99875960e-01 3.78486746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.83925415399997 meters Centerline goodness : 0.999577 Centerline is valid? [True, True] Translation: X:248.30, Y:2.57, Z:3.79 [[ 9.97766807e-01 -6.49104790e-02 -1.57489460e-02 2.48302016e+02] [ 6.49155410e-02 9.97890744e-01 -1.90113048e-04 2.56796443e+00] [ 1.57280677e-02 -8.32662859e-04 9.99875960e-01 3.78562381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.86925415399998 meters Centerline goodness : 0.999577 Centerline is valid? [True, True] Translation: X:248.33, Y:2.57, Z:3.79 [[ 9.97778395e-01 -6.47320894e-02 -1.57489801e-02 2.48334536e+02] [ 6.47371745e-02 9.97902331e-01 -1.87240482e-04 2.56881298e+00] [ 1.57280644e-02 -8.32719967e-04 9.99875960e-01 3.78739318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.89925415399998 meters Centerline goodness : 0.999472 Centerline is valid? [True, True] Translation: X:248.37, Y:2.57, Z:3.79 [[ 9.97799784e-01 -6.44015553e-02 -1.57490003e-02 2.48367336e+02] [ 6.44066263e-02 9.97923721e-01 -1.85525173e-04 2.56991224e+00] [ 1.57282491e-02 -8.29223002e-04 9.99875960e-01 3.78860240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.92925415399998 meters Centerline goodness : 0.999385 Centerline is valid? [True, True] Translation: X:248.40, Y:2.57, Z:3.79 [[ 9.97906769e-01 -6.27219973e-02 -1.57490202e-02 2.48398233e+02] [ 6.27268865e-02 9.98030713e-01 -1.83822586e-04 2.57187680e+00] [ 1.57295356e-02 -8.04449200e-04 9.99875960e-01 3.78907582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.95925415399998 meters Centerline goodness : 0.999237 Centerline is valid? [True, True] Translation: X:248.43, Y:2.57, Z:3.79 [[ 9.97979367e-01 -6.15560848e-02 -1.57490300e-02 2.48430453e+02] [ 6.15608425e-02 9.98103316e-01 -1.82978610e-04 2.57307665e+00] [ 1.57304225e-02 -7.86914679e-04 9.99875960e-01 3.78925201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.98925415399998 meters Centerline goodness : 0.999471 Centerline is valid? [True, True] Translation: X:248.46, Y:2.57, Z:3.79 [[ 9.98083374e-01 -5.98460165e-02 -1.57490430e-02 2.48461469e+02] [ 5.98505795e-02 9.98207331e-01 -1.81855393e-04 2.57403151e+00] [ 1.57316935e-02 -7.61082504e-04 9.99875960e-01 3.78936334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.01925415399998 meters Centerline goodness : 0.999300 Centerline is valid? [True, True] Translation: X:248.49, Y:2.58, Z:3.79 [[ 9.98164023e-01 -5.84854689e-02 -1.57490526e-02 2.48493776e+02] [ 5.84898761e-02 9.98287985e-01 -1.81018270e-04 2.57581958e+00] [ 1.57326769e-02 -7.40474210e-04 9.99875960e-01 3.79056218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.04925415399998 meters Centerline goodness : 0.999171 Centerline is valid? [True, True] Translation: X:248.52, Y:2.58, Z:3.79 [[ 9.98377012e-01 -5.47294208e-02 -1.57490658e-02 2.48524813e+02] [ 5.47333798e-02 9.98500989e-01 -1.79858356e-04 2.57865679e+00] [ 1.57353014e-02 -6.82433154e-04 9.99875960e-01 3.79016740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.07925415399998 meters Centerline goodness : 0.999427 Centerline is valid? [True, True] Translation: X:248.56, Y:2.58, Z:3.79 [[ 9.98505374e-01 -5.23353122e-02 -1.57490757e-02 2.48556565e+02] [ 5.23389875e-02 9.98629360e-01 -1.78992755e-04 2.58029100e+00] [ 1.57368570e-02 -6.45565447e-04 9.99875960e-01 3.79139339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.10925415399998 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:248.59, Y:2.58, Z:3.79 [[ 9.98761124e-01 -4.72036359e-02 -1.57490888e-02 2.48589047e+02] [ 4.72066923e-02 9.98885127e-01 -1.77833211e-04 2.58437752e+00] [ 1.57399249e-02 -5.65849490e-04 9.99875960e-01 3.79175237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.13925415399999 meters Centerline goodness : 0.999043 Centerline is valid? [True, True] Translation: X:248.62, Y:2.59, Z:3.79 [[ 9.98886400e-01 -4.44738844e-02 -1.57491017e-02 2.48619784e+02] [ 4.44766202e-02 9.99010410e-01 -1.76675921e-04 2.58619626e+00] [ 1.57413741e-02 -5.23987643e-04 9.99875960e-01 3.79196386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.16925415399996 meters Centerline goodness : 0.999298 Centerline is valid? [True, True] Translation: X:248.65, Y:2.59, Z:3.79 [[ 9.99026487e-01 -4.12073210e-02 -1.57491114e-02 2.48651451e+02] [ 4.12096648e-02 9.99150505e-01 -1.75812735e-04 2.58779413e+00] [ 1.57429774e-02 -4.73374023e-04 9.99875960e-01 3.79213860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.19925415399996 meters Centerline goodness : 0.999233 Centerline is valid? [True, True] Translation: X:248.68, Y:2.59, Z:3.79 [[ 9.99300134e-01 -3.39294294e-02 -1.57491320e-02 2.48683925e+02] [ 3.39308993e-02 9.99424166e-01 -1.73943173e-04 2.59125077e+00] [ 1.57459649e-02 -3.60560776e-04 9.99875960e-01 3.79467440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.22925415399996 meters Centerline goodness : 0.999148 Centerline is valid? [True, True] Translation: X:248.72, Y:2.59, Z:3.79 [[ 9.99430614e-01 -2.98397616e-02 -1.57491447e-02 2.48715518e+02] [ 2.98407421e-02 9.99554651e-01 -1.72787502e-04 2.59364029e+00] [ 1.57472868e-02 -2.97277047e-04 9.99875960e-01 3.79450652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.25925415399996 meters Centerline goodness : 0.999271 Centerline is valid? [True, True] Translation: X:248.75, Y:2.60, Z:3.80 [[ 9.99548744e-01 -2.55787582e-02 -1.57491541e-02 2.48746325e+02] [ 2.55792235e-02 9.99672783e-01 -1.71928278e-04 2.59573742e+00] [ 1.57483984e-02 -2.31000438e-04 9.99875960e-01 3.79600384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.28925415399996 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:248.78, Y:2.60, Z:3.80 [[ 9.99727849e-01 -1.72102266e-02 -1.57491631e-02 2.48776754e+02] [ 1.72096665e-02 9.99851888e-01 -1.71102754e-04 2.59862837e+00] [ 1.57497751e-02 -9.99816551e-05 9.99875960e-01 3.80059471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.31925415399996 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:248.81, Y:2.60, Z:3.80 [[ 9.99779292e-01 -1.39043629e-02 -1.57491631e-02 2.48805829e+02] [ 1.39033926e-02 9.99903329e-01 -1.71102754e-04 2.60023814e+00] [ 1.57500196e-02 -4.79018063e-05 9.99875960e-01 3.80248878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.34925415399996 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:248.83, Y:2.60, Z:3.80 [[ 9.99812975e-01 -1.12240619e-02 -1.57491185e-02 2.48834073e+02] [ 1.12226960e-02 9.99937008e-01 -1.75107627e-04 2.60174039e+00] [ 1.57500919e-02 -1.67269229e-06 9.99875960e-01 3.80361444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.37925415399997 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:248.86, Y:2.60, Z:3.80 [[ 9.99841732e-01 -8.27504813e-03 -1.57491027e-02 2.48862298e+02] [ 8.27329411e-03 9.99965760e-01 -1.76522863e-04 2.60313785e+00] [ 1.57500242e-02 4.61979663e-05 9.99875960e-01 3.80350118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.40925415399997 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:248.89, Y:2.60, Z:3.80 [[ 9.99837411e-01 -8.78165918e-03 -1.57490869e-02 2.48890836e+02] [ 8.77994596e-03 9.99961440e-01 -1.77922722e-04 2.60336098e+00] [ 1.57500420e-02 3.96176622e-05 9.99875960e-01 3.80350783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.43925415399997 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:248.92, Y:2.60, Z:3.80 [[ 9.99827785e-01 -9.81672121e-03 -1.57490419e-02 2.48918849e+02] [ 9.81507501e-03 9.99951814e-01 -1.81819439e-04 2.60319936e+00] [ 1.57500679e-02 2.72100997e-05 9.99875960e-01 3.80291305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.46925415399997 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:248.95, Y:2.60, Z:3.80 [[ 9.99800678e-01 -1.22708157e-02 -1.57490258e-02 2.48947278e+02] [ 1.22694522e-02 9.99924711e-01 -1.83199259e-04 2.60302503e+00] [ 1.57500881e-02 -1.00691763e-05 9.99875960e-01 3.80373810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.49925415399997 meters Centerline goodness : 0.999142 Centerline is valid? [True, True] Translation: X:248.98, Y:2.60, Z:3.81 [[ 9.99702312e-01 -1.86348402e-02 -1.57489786e-02 2.48976487e+02] [ 1.86342037e-02 9.99826351e-01 -1.87171031e-04 2.60190481e+00] [ 1.57497317e-02 -1.06354364e-04 9.99875960e-01 3.80547239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.52925415399997 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:249.00, Y:2.60, Z:3.81 [[ 9.99629147e-01 -2.22157246e-02 -1.57489647e-02 2.49004773e+02] [ 2.22155141e-02 9.99753187e-01 -1.88334575e-04 2.60096094e+00] [ 1.57492616e-02 -1.61606617e-04 9.99875960e-01 3.80577691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.55925415399997 meters Centerline goodness : 0.999231 Centerline is valid? [True, True] Translation: X:249.04, Y:2.60, Z:3.81 [[ 9.99539552e-01 -2.59355756e-02 -1.57489543e-02 2.49035619e+02] [ 2.59358130e-02 9.99663592e-01 -1.89201999e-04 2.60008851e+00] [ 1.57485633e-02 -2.19347052e-04 9.99875960e-01 3.80678164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.58925415399997 meters Centerline goodness : 0.999316 Centerline is valid? [True, True] Translation: X:249.07, Y:2.60, Z:3.81 [[ 9.99348098e-01 -3.24861486e-02 -1.57489543e-02 2.49065589e+02] [ 3.24871990e-02 9.99472134e-01 -1.89201999e-04 2.59787744e+00] [ 1.57467874e-02 -3.22560755e-04 9.99875960e-01 3.80686132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.61925415399998 meters Centerline goodness : 0.999062 Centerline is valid? [True, True] Translation: X:249.10, Y:2.60, Z:3.81 [[ 9.99260599e-01 -3.50745856e-02 -1.57489577e-02 2.49097560e+02] [ 3.50759618e-02 9.99384631e-01 -1.88917058e-04 2.59700289e+00] [ 1.57458925e-02 -3.63632466e-04 9.99875960e-01 3.80833023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.64925415399998 meters Centerline goodness : 0.998913 Centerline is valid? [True, True] Translation: X:249.13, Y:2.59, Z:3.81 [[ 9.99103692e-01 -3.92909928e-02 -1.57489715e-02 2.49128490e+02] [ 3.92929106e-02 9.99227718e-01 -1.87755890e-04 2.59481564e+00] [ 1.57441860e-02 -4.31235329e-04 9.99875960e-01 3.80757792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.67925415399998 meters Centerline goodness : 0.998785 Centerline is valid? [True, True] Translation: X:249.16, Y:2.59, Z:3.81 [[ 9.99068592e-01 -4.01735867e-02 -1.57489945e-02 2.49160283e+02] [ 4.01756448e-02 9.99192616e-01 -1.85807947e-04 2.59358807e+00] [ 1.57437436e-02 -4.47091126e-04 9.99875960e-01 3.80873109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.70925415399998 meters Centerline goodness : 0.999129 Centerline is valid? [True, True] Translation: X:249.19, Y:2.59, Z:3.81 [[ 9.98998712e-01 -4.18753164e-02 -1.57490082e-02 2.49192335e+02] [ 4.18776041e-02 9.99122731e-01 -1.84641850e-04 2.59343873e+00] [ 1.57429240e-02 -4.75073761e-04 9.99875960e-01 3.80942025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.73925415399998 meters Centerline goodness : 0.999042 Centerline is valid? [True, True] Translation: X:249.22, Y:2.59, Z:3.81 [[ 9.98960229e-01 -4.27835234e-02 -1.57490217e-02 2.49224031e+02] [ 4.27859421e-02 9.99084245e-01 -1.83483439e-04 2.59262652e+00] [ 1.57424495e-02 -4.90544072e-04 9.99875960e-01 3.80976592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.76925415399998 meters Centerline goodness : 0.998809 Centerline is valid? [True, True] Translation: X:249.26, Y:2.59, Z:3.81 [[ 9.98881991e-01 -4.45728166e-02 -1.57490318e-02 2.49255715e+02] [ 4.45754711e-02 9.99006003e-01 -1.82615038e-04 2.59040804e+00] [ 1.57415169e-02 -5.19609637e-04 9.99875960e-01 3.80795193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.79925415399998 meters Centerline goodness : 0.998915 Centerline is valid? [True, True] Translation: X:249.29, Y:2.59, Z:3.81 [[ 9.98791991e-01 -4.65459647e-02 -1.57490417e-02 2.49287761e+02] [ 4.65488777e-02 9.98915997e-01 -1.81755089e-04 2.58845609e+00] [ 1.57404296e-02 -5.51564689e-04 9.99875960e-01 3.81098649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.82925415399998 meters Centerline goodness : 0.998938 Centerline is valid? [True, True] Translation: X:249.32, Y:2.59, Z:3.81 [[ 9.98757417e-01 -4.72820094e-02 -1.57490552e-02 2.49318764e+02] [ 4.72850323e-02 9.98881421e-01 -1.80579010e-04 2.58716423e+00] [ 1.57399767e-02 -5.64339956e-04 9.99875960e-01 3.81088636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.85925415399998 meters Centerline goodness : 0.998917 Centerline is valid? [True, True] Translation: X:249.35, Y:2.59, Z:3.81 [[ 9.98646083e-01 -4.95779031e-02 -1.57490652e-02 2.49351111e+02] [ 4.95812249e-02 9.98770079e-01 -1.79701607e-04 2.58708589e+00] [ 1.57386043e-02 -6.01399637e-04 9.99875960e-01 3.81084760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.88925415399999 meters Centerline goodness : 0.998982 Centerline is valid? [True, True] Translation: X:249.38, Y:2.59, Z:3.81 [[ 9.98560393e-01 -5.12748244e-02 -1.57490783e-02 2.49384488e+02] [ 5.12783752e-02 9.98684383e-01 -1.78544817e-04 2.58659054e+00] [ 1.57375134e-02 -6.29299363e-04 9.99875960e-01 3.81103891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.91925415399996 meters Centerline goodness : 0.998920 Centerline is valid? [True, True] Translation: X:249.42, Y:2.59, Z:3.81 [[ 9.98455947e-01 -5.32699569e-02 -1.57490979e-02 2.49417149e+02] [ 5.32737829e-02 9.98579928e-01 -1.76794576e-04 2.58590756e+00] [ 1.57361509e-02 -6.62492429e-04 9.99875960e-01 3.81122657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.94925415399996 meters Centerline goodness : 0.999195 Centerline is valid? [True, True] Translation: X:249.45, Y:2.59, Z:3.81 [[ 9.98334103e-01 -5.55066175e-02 -1.57491174e-02 2.49449742e+02] [ 5.55107489e-02 9.98458074e-01 -1.75041305e-04 2.58509847e+00] [ 1.57345494e-02 -6.99495599e-04 9.99875960e-01 3.81089196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.97925415399996 meters Centerline goodness : 0.999045 Centerline is valid? [True, True] Translation: X:249.48, Y:2.58, Z:3.81 [[ 9.98088057e-01 -5.97678522e-02 -1.57491366e-02 2.49483231e+02] [ 5.97725401e-02 9.98212008e-01 -1.73299413e-04 2.58337144e+00] [ 1.57313350e-02 -7.68397826e-04 9.99875960e-01 3.81062043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.00925415399996 meters Centerline goodness : 0.998981 Centerline is valid? [True, True] Translation: X:249.51, Y:2.58, Z:3.81 [[ 9.97979625e-01 -6.15518680e-02 -1.57491557e-02 2.49514063e+02] [ 6.15568051e-02 9.98103567e-01 -1.71546685e-04 2.58297136e+00] [ 1.57298475e-02 -7.98267612e-04 9.99875960e-01 3.80986837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.03925415399996 meters Centerline goodness : 0.998982 Centerline is valid? [True, True] Translation: X:249.55, Y:2.58, Z:3.81 [[ 9.97900101e-01 -6.28279509e-02 -1.57491651e-02 2.49546603e+02] [ 6.28330602e-02 9.98024037e-01 -1.70677903e-04 2.58300850e+00] [ 1.57287687e-02 -8.19248742e-04 9.99875960e-01 3.81070744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.06925415399996 meters Centerline goodness : 0.999280 Centerline is valid? [True, True] Translation: X:249.58, Y:2.58, Z:3.81 [[ 9.97855168e-01 -6.35376001e-02 -1.57491836e-02 2.49579700e+02] [ 6.35428247e-02 9.97979098e-01 -1.68951335e-04 2.58297643e+00] [ 1.57280908e-02 -8.32158652e-04 9.99875960e-01 3.81109580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.09925415399996 meters Centerline goodness : 0.998918 Centerline is valid? [True, True] Translation: X:249.61, Y:2.58, Z:3.81 [[ 9.97772381e-01 -6.48246748e-02 -1.57492019e-02 2.49612722e+02] [ 6.48300864e-02 9.97896303e-01 -1.67227904e-04 2.58318474e+00] [ 1.57269109e-02 -8.54166737e-04 9.99875960e-01 3.81145529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.12925415399997 meters Centerline goodness : 0.999088 Centerline is valid? [True, True] Translation: X:249.64, Y:2.58, Z:3.81 [[ 9.97754716e-01 -6.50959990e-02 -1.57492200e-02 2.49644431e+02] [ 6.51014713e-02 9.97878635e-01 -1.65510917e-04 2.58323775e+00] [ 1.57265842e-02 -8.60158094e-04 9.99875960e-01 3.81146412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.15925415399997 meters Centerline goodness : 0.999004 Centerline is valid? [True, True] Translation: X:249.68, Y:2.58, Z:3.81 [[ 9.97763135e-01 -6.49668291e-02 -1.57492348e-02 2.49676584e+02] [ 6.49723077e-02 9.97887054e-01 -1.64089700e-04 2.58313156e+00] [ 1.57266179e-02 -8.59541475e-04 9.99875960e-01 3.81103800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.18925415399997 meters Centerline goodness : 0.998834 Centerline is valid? [True, True] Translation: X:249.71, Y:2.58, Z:3.81 [[ 9.97826547e-01 -6.39854946e-02 -1.57492493e-02 2.49709164e+02] [ 6.39908735e-02 9.97950471e-01 -1.62681899e-04 2.58304489e+00] [ 1.57273801e-02 -8.45479904e-04 9.99875960e-01 3.81087098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.21925415399997 meters Centerline goodness : 0.998855 Centerline is valid? [True, True] Translation: X:249.74, Y:2.58, Z:3.81 [[ 9.97875987e-01 -6.32097685e-02 -1.57492607e-02 2.49740982e+02] [ 6.32150686e-02 9.97999914e-01 -1.61570433e-04 2.58380461e+00] [ 1.57279737e-02 -8.34363341e-04 9.99875960e-01 3.81231217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.24925415399997 meters Centerline goodness : 0.999002 Centerline is valid? [True, True] Translation: X:249.77, Y:2.58, Z:3.81 [[ 9.97928673e-01 -6.23724554e-02 -1.57492724e-02 2.49772974e+02] [ 6.23776696e-02 9.98052604e-01 -1.60422793e-04 2.58437552e+00] [ 1.57286083e-02 -8.22312405e-04 9.99875960e-01 3.81155307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.27925415399997 meters Centerline goodness : 0.998834 Centerline is valid? [True, True] Translation: X:249.80, Y:2.59, Z:3.81 [[ 9.98005941e-01 -6.11236608e-02 -1.57492868e-02 2.49804233e+02] [ 6.11287423e-02 9.98129877e-01 -1.58995498e-04 2.58525478e+00] [ 1.57295521e-02 -8.04055643e-04 9.99875960e-01 3.81248633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.30925415399997 meters Centerline goodness : 0.999192 Centerline is valid? [True, True] Translation: X:249.84, Y:2.59, Z:3.82 [[ 9.98040238e-01 -6.05610705e-02 -1.57493079e-02 2.49837483e+02] [ 6.05661155e-02 9.98164175e-01 -1.56876871e-04 2.58557481e+00] [ 1.57298956e-02 -7.97304973e-04 9.99875960e-01 3.81510297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.33925415399997 meters Centerline goodness : 0.999002 Centerline is valid? [True, True] Translation: X:249.87, Y:2.59, Z:3.82 [[ 9.98055570e-01 -6.03078543e-02 -1.57493249e-02 2.49869592e+02] [ 6.03128950e-02 9.98179508e-01 -1.55154805e-04 2.58578733e+00] [ 1.57300104e-02 -7.95034261e-04 9.99875960e-01 3.81624669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.36925415399998 meters Centerline goodness : 0.998917 Centerline is valid? [True, True] Translation: X:249.90, Y:2.59, Z:3.82 [[ 9.98062679e-01 -6.01900849e-02 -1.57493361e-02 2.49901534e+02] [ 6.01951289e-02 9.98186617e-01 -1.54011446e-04 2.58587605e+00] [ 1.57300465e-02 -7.94320239e-04 9.99875960e-01 3.81740201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.39925415399998 meters Centerline goodness : 0.999024 Centerline is valid? [True, True] Translation: X:249.93, Y:2.59, Z:3.82 [[ 9.98079217e-01 -5.99152340e-02 -1.57493471e-02 2.49933644e+02] [ 5.99202618e-02 9.98203155e-01 -1.52875353e-04 2.58615547e+00] [ 1.57302075e-02 -7.91123288e-04 9.99875960e-01 3.81949527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.42925415399998 meters Centerline goodness : 0.998982 Centerline is valid? [True, True] Translation: X:249.97, Y:2.59, Z:3.82 [[ 9.98085020e-01 -5.98184826e-02 -1.57493580e-02 2.49966233e+02] [ 5.98235161e-02 9.98208958e-01 -1.51745486e-04 2.58710781e+00] [ 1.57302274e-02 -7.90727075e-04 9.99875960e-01 3.82050528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.45925415399998 meters Centerline goodness : 0.998961 Centerline is valid? [True, True] Translation: X:250.00, Y:2.59, Z:3.82 [[ 9.98108332e-01 -5.94282355e-02 -1.57493688e-02 2.49997241e+02] [ 5.94332384e-02 9.98232271e-01 -1.50614667e-04 2.58806421e+00] [ 1.57304790e-02 -7.85706236e-04 9.99875960e-01 3.82116708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.48925415399998 meters Centerline goodness : 0.998984 Centerline is valid? [True, True] Translation: X:250.03, Y:2.59, Z:3.82 [[ 9.98149382e-01 -5.87347229e-02 -1.57493768e-02 2.50029760e+02] [ 5.87396529e-02 9.98273325e-01 -1.49772267e-04 2.58945769e+00] [ 1.57309796e-02 -7.75617831e-04 9.99875960e-01 3.82192101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.51925415399998 meters Centerline goodness : 0.998961 Centerline is valid? [True, True] Translation: X:250.06, Y:2.59, Z:3.82 [[ 9.98166812e-01 -5.84377683e-02 -1.57493873e-02 2.50062895e+02] [ 5.84426790e-02 9.98290755e-01 -1.48659173e-04 2.59012480e+00] [ 1.57311551e-02 -7.72049734e-04 9.99875960e-01 3.82332456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.54925415399998 meters Centerline goodness : 0.999068 Centerline is valid? [True, True] Translation: X:250.09, Y:2.59, Z:3.82 [[ 9.98175178e-01 -5.82946812e-02 -1.57494039e-02 2.50094689e+02] [ 5.82996021e-02 9.98299121e-01 -1.46880664e-04 2.59071545e+00] [ 1.57311784e-02 -7.71571348e-04 9.99875960e-01 3.82246953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.57925415399998 meters Centerline goodness : 0.999175 Centerline is valid? [True, True] Translation: X:250.13, Y:2.59, Z:3.82 [[ 9.98173225e-01 -5.83281096e-02 -1.57494175e-02 2.50127521e+02] [ 5.83330578e-02 9.98297167e-01 -1.45410617e-04 2.59139378e+00] [ 1.57310804e-02 -7.73566695e-04 9.99875960e-01 3.82282287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.60925415399998 meters Centerline goodness : 0.999152 Centerline is valid? [True, True] Translation: X:250.16, Y:2.59, Z:3.82 [[ 9.98129394e-01 -5.90734139e-02 -1.57494328e-02 2.50159805e+02] [ 5.90784811e-02 9.98253331e-01 -1.43728625e-04 2.59313699e+00] [ 1.57304143e-02 -7.86992804e-04 9.99875960e-01 3.82227719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.63925415399999 meters Centerline goodness : 0.999152 Centerline is valid? [True, True] Translation: X:250.19, Y:2.59, Z:3.82 [[ 9.98135781e-01 -5.89654005e-02 -1.57494431e-02 2.50193338e+02] [ 5.89704722e-02 9.98259717e-01 -1.42595169e-04 2.59334747e+00] [ 1.57304428e-02 -7.86422755e-04 9.99875960e-01 3.82280506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.66925415399996 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:250.23, Y:2.59, Z:3.82 [[ 9.98114578e-01 -5.93232102e-02 -1.57494583e-02 2.50226033e+02] [ 5.93283531e-02 9.98238512e-01 -1.40890904e-04 2.59422512e+00] [ 1.57300740e-02 -7.93764160e-04 9.99875960e-01 3.82300497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.69925415399996 meters Centerline goodness : 0.999175 Centerline is valid? [True, True] Translation: X:250.26, Y:2.60, Z:3.82 [[ 9.98088283e-01 -5.97639746e-02 -1.57494712e-02 2.50257120e+02] [ 5.97691950e-02 9.98212214e-01 -1.39442887e-04 2.59513258e+00] [ 1.57296481e-02 -8.02156901e-04 9.99875960e-01 3.82166428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.72925415399996 meters Centerline goodness : 0.999025 Centerline is valid? [True, True] Translation: X:250.29, Y:2.60, Z:3.82 [[ 9.98026857e-01 -6.07811436e-02 -1.57494788e-02 2.50289757e+02] [ 6.07865039e-02 9.98150781e-01 -1.38578844e-04 2.59612619e+00] [ 1.57287775e-02 -8.19050343e-04 9.99875960e-01 3.82248864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.75925415399996 meters Centerline goodness : 0.999002 Centerline is valid? [True, True] Translation: X:250.32, Y:2.60, Z:3.82 [[ 9.97969110e-01 -6.17220383e-02 -1.57494888e-02 2.50321703e+02] [ 6.17275335e-02 9.98093028e-01 -1.37430572e-04 2.59679883e+00] [ 1.57279374e-02 -8.35025630e-04 9.99875960e-01 3.82342309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.78925415399996 meters Centerline goodness : 0.998983 Centerline is valid? [True, True] Translation: X:250.35, Y:2.60, Z:3.82 [[ 9.97962960e-01 -6.18213869e-02 -1.57494988e-02 2.50352629e+02] [ 6.18269127e-02 9.98086877e-01 -1.36268993e-04 2.59712844e+00] [ 1.57277924e-02 -8.37751482e-04 9.99875960e-01 3.82398989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.81925415399996 meters Centerline goodness : 0.998854 Centerline is valid? [True, True] Translation: X:250.38, Y:2.60, Z:3.83 [[ 9.97972223e-01 -6.16716648e-02 -1.57495063e-02 2.50384943e+02] [ 6.16771856e-02 9.98096141e-01 -1.35403838e-04 2.59782372e+00] [ 1.57278720e-02 -8.36255953e-04 9.99875960e-01 3.82639018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.84925415399996 meters Centerline goodness : 0.999025 Centerline is valid? [True, True] Translation: X:250.42, Y:2.60, Z:3.83 [[ 9.97974919e-01 -6.16280228e-02 -1.57495162e-02 2.50416306e+02] [ 6.16335566e-02 9.98098836e-01 -1.34235036e-04 2.59918418e+00] [ 1.57278465e-02 -8.36735500e-04 9.99875960e-01 3.82820073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.87925415399997 meters Centerline goodness : 0.999300 Centerline is valid? [True, True] Translation: X:250.45, Y:2.60, Z:3.83 [[ 9.97988949e-01 -6.14004048e-02 -1.57495236e-02 2.50447909e+02] [ 6.14059241e-02 9.98112867e-01 -1.33363787e-04 2.59925714e+00] [ 1.57279907e-02 -8.34018465e-04 9.99875960e-01 3.82878019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.90925415399997 meters Centerline goodness : 0.999089 Centerline is valid? [True, True] Translation: X:250.48, Y:2.60, Z:3.83 [[ 9.97980951e-01 -6.15302710e-02 -1.57495307e-02 2.50479395e+02] [ 6.15358198e-02 9.98104867e-01 -1.32514796e-04 2.59908684e+00] [ 1.57278370e-02 -8.36913044e-04 9.99875960e-01 3.82911755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.93925415399997 meters Centerline goodness : 0.999068 Centerline is valid? [True, True] Translation: X:250.51, Y:2.60, Z:3.83 [[ 9.97960174e-01 -6.18663368e-02 -1.57495377e-02 2.50512178e+02] [ 6.18719404e-02 9.98084087e-01 -1.31679561e-04 2.59931611e+00] [ 1.57275095e-02 -8.43043503e-04 9.99875960e-01 3.82997636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.96925415399997 meters Centerline goodness : 0.998921 Centerline is valid? [True, True] Translation: X:250.54, Y:2.60, Z:3.83 [[ 9.97943748e-01 -6.21307218e-02 -1.57495518e-02 2.50543477e+02] [ 6.21363850e-02 9.98067659e-01 -1.29979257e-04 2.59922825e+00] [ 1.57271940e-02 -8.48908226e-04 9.99875960e-01 3.83086184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.99925415399997 meters Centerline goodness : 0.999133 Centerline is valid? [True, True] Translation: X:250.58, Y:2.60, Z:3.83 [[ 9.97913225e-01 -6.26190604e-02 -1.57495587e-02 2.50576118e+02] [ 6.26247975e-02 9.98037133e-01 -1.29138343e-04 2.59954239e+00] [ 1.57267309e-02 -8.57444061e-04 9.99875960e-01 3.83117066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.02925415399997 meters Centerline goodness : 0.999027 Centerline is valid? [True, True] Translation: X:250.61, Y:2.60, Z:3.83 [[ 9.97880507e-01 -6.31383007e-02 -1.57495682e-02 2.50608632e+02] [ 6.31441207e-02 9.98004411e-01 -1.27963902e-04 2.60000968e+00] [ 1.57262180e-02 -8.66799953e-04 9.99875960e-01 3.83016632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.05925415399997 meters Centerline goodness : 0.999027 Centerline is valid? [True, True] Translation: X:250.64, Y:2.60, Z:3.83 [[ 9.97840575e-01 -6.37662763e-02 -1.57495913e-02 2.50642072e+02] [ 6.37722201e-02 9.97964472e-01 -1.25050633e-04 2.60025824e+00] [ 1.57255066e-02 -8.79605809e-04 9.99875960e-01 3.83043885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.08925415399997 meters Centerline goodness : 0.998963 Centerline is valid? [True, True] Translation: X:250.67, Y:2.60, Z:3.83 [[ 9.97904655e-01 -6.27554707e-02 -1.57496047e-02 2.50672858e+02] [ 6.27613159e-02 9.98028558e-01 -1.23345438e-04 2.60022581e+00] [ 1.57262959e-02 -8.65378928e-04 9.99875960e-01 3.82966297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.11925415399998 meters Centerline goodness : 0.999029 Centerline is valid? [True, True] Translation: X:250.71, Y:2.60, Z:3.83 [[ 9.97874048e-01 -6.32404087e-02 -1.57491450e-02 2.50707121e+02] [ 6.32453639e-02 9.97997991e-01 -1.83730999e-04 2.60028223e+00] [ 1.57292343e-02 -8.12720012e-04 9.99875958e-01 3.83093367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.14925415399998 meters Centerline goodness : 0.999047 Centerline is valid? [True, True] Translation: X:250.74, Y:2.60, Z:3.83 [[ 9.97952332e-01 -6.19926703e-02 -1.57496415e-02 2.50740558e+02] [ 6.19985242e-02 9.98076234e-01 -1.16770919e-04 2.60081434e+00] [ 1.57265818e-02 -8.59922720e-04 9.99875960e-01 3.83003031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.17925415399998 meters Centerline goodness : 0.999111 Centerline is valid? [True, True] Translation: X:250.77, Y:2.60, Z:3.83 [[ 9.98024350e-01 -6.08222427e-02 -1.57496544e-02 2.50772217e+02] [ 6.08279790e-02 9.98148257e-01 -1.15005630e-04 2.60142023e+00] [ 1.57274850e-02 -8.43241228e-04 9.99875960e-01 3.82941602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.20925415399998 meters Centerline goodness : 0.999001 Centerline is valid? [True, True] Translation: X:250.81, Y:2.60, Z:3.83 [[ 9.98120917e-01 -5.92164118e-02 -1.57496649e-02 2.50805230e+02] [ 5.92219718e-02 9.98244832e-01 -1.13545337e-04 2.60217122e+00] [ 1.57287454e-02 -8.19394236e-04 9.99875960e-01 3.83058792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.23925415399998 meters Centerline goodness : 0.999109 Centerline is valid? [True, True] Translation: X:250.84, Y:2.60, Z:3.83 [[ 9.98309118e-01 -5.59540281e-02 -1.57496775e-02 2.50836643e+02] [ 5.59592109e-02 9.98433049e-01 -1.11780046e-04 2.60455489e+00] [ 1.57312530e-02 -7.69748483e-04 9.99875960e-01 3.83001952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.26925415399998 meters Centerline goodness : 0.999087 Centerline is valid? [True, True] Translation: X:250.87, Y:2.61, Z:3.83 [[ 9.98409752e-01 -5.41286805e-02 -1.57496836e-02 2.50869583e+02] [ 5.41336504e-02 9.98533693e-01 -1.10906704e-04 2.60543552e+00] [ 1.57325930e-02 -7.41857531e-04 9.99875960e-01 3.83101290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.29925415399998 meters Centerline goodness : 0.999170 Centerline is valid? [True, True] Translation: X:250.90, Y:2.61, Z:3.83 [[ 9.98529035e-01 -5.18817295e-02 -1.57496958e-02 2.50900467e+02] [ 5.18864481e-02 9.98652985e-01 -1.09152399e-04 2.60666427e+00] [ 1.57341437e-02 -7.08203931e-04 9.99875960e-01 3.83143132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.32925415399998 meters Centerline goodness : 0.999000 Centerline is valid? [True, True] Translation: X:250.93, Y:2.61, Z:3.83 [[ 9.98568204e-01 -5.11222949e-02 -1.57497017e-02 2.50933048e+02] [ 5.11269329e-02 9.98692157e-01 -1.08283962e-04 2.60728722e+00] [ 1.57346393e-02 -6.97105023e-04 9.99875960e-01 3.83249365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.35925415399998 meters Centerline goodness : 0.999085 Centerline is valid? [True, True] Translation: X:250.96, Y:2.61, Z:3.83 [[ 9.98541711e-01 -5.16371820e-02 -1.57497136e-02 2.50964926e+02] [ 5.16419116e-02 9.98665661e-01 -1.06525428e-04 2.60795934e+00] [ 1.57341988e-02 -7.06975235e-04 9.99875960e-01 3.83201337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.38925415399999 meters Centerline goodness : 0.999276 Centerline is valid? [True, True] Translation: X:251.00, Y:2.61, Z:3.83 [[ 9.98423464e-01 -5.38751630e-02 -1.57497233e-02 2.50995231e+02] [ 5.38801932e-02 9.98547402e-01 -1.05069882e-04 2.60847153e+00] [ 1.57325060e-02 -7.43693902e-04 9.99875960e-01 3.83184554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.41925415399996 meters Centerline goodness : 0.999277 Centerline is valid? [True, True] Translation: X:251.03, Y:2.61, Z:3.83 [[ 9.98269963e-01 -5.66483624e-02 -1.57493962e-02 2.51028375e+02] [ 5.66529737e-02 9.98393919e-01 -1.53565007e-04 2.60853817e+00] [ 1.57328006e-02 -7.38950797e-04 9.99875959e-01 3.83119427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.44925415399996 meters Centerline goodness : 0.999044 Centerline is valid? [True, True] Translation: X:251.06, Y:2.61, Z:3.83 [[ 9.97833947e-01 -6.38698761e-02 -1.57497279e-02 2.51060219e+02] [ 6.38761845e-02 9.97957826e-01 -1.02698240e-04 2.60837632e+00] [ 1.57241236e-02 -9.03556737e-04 9.99875960e-01 3.83049664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.47925415399996 meters Centerline goodness : 0.999278 Centerline is valid? [True, True] Translation: X:251.09, Y:2.61, Z:3.83 [[ 9.97689175e-01 -6.60927881e-02 -1.57497352e-02 2.51091804e+02] [ 6.60993900e-02 9.97813039e-01 -1.01578613e-04 2.60863640e+00] [ 1.57220047e-02 -9.39704004e-04 9.99875960e-01 3.83081308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.50925415399996 meters Centerline goodness : 0.999278 Centerline is valid? [True, True] Translation: X:251.13, Y:2.61, Z:3.83 [[ 9.97696177e-01 -6.59869916e-02 -1.57497441e-02 2.51125340e+02] [ 6.59936025e-02 9.97820041e-01 -1.00178416e-04 2.60875330e+00] [ 1.57220207e-02 -9.39434726e-04 9.99875960e-01 3.83134089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.53925415399996 meters Centerline goodness : 0.999278 Centerline is valid? [True, True] Translation: X:251.16, Y:2.61, Z:3.83 [[ 9.97703169e-01 -6.58811902e-02 -1.57497545e-02 2.51158876e+02] [ 6.58878142e-02 9.97827032e-01 -9.85084353e-05 2.60886651e+00] [ 1.57220207e-02 -9.39434721e-04 9.99875960e-01 3.83186861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.56925415399996 meters Centerline goodness : 0.999194 Centerline is valid? [True, True] Translation: X:251.19, Y:2.61, Z:3.83 [[ 9.97487259e-01 -6.90732470e-02 -1.57497648e-02 2.51192363e+02] [ 6.90802935e-02 9.97611098e-01 -9.68384534e-05 2.60997428e+00] [ 1.57188291e-02 -9.91403250e-04 9.99875960e-01 3.83346619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.59925415399996 meters Centerline goodness : 0.999194 Centerline is valid? [True, True] Translation: X:251.23, Y:2.61, Z:3.83 [[ 9.97494826e-01 -6.89638794e-02 -1.57497752e-02 2.51225901e+02] [ 6.89709395e-02 9.97618665e-01 -9.51143797e-05 2.61008419e+00] [ 1.57188292e-02 -9.91400690e-04 9.99875960e-01 3.83399391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.62925415399997 meters Centerline goodness : 0.999385 Centerline is valid? [True, True] Translation: X:251.26, Y:2.61, Z:3.83 [[ 9.97378883e-01 -7.06208738e-02 -1.57497854e-02 2.51258557e+02] [ 7.06281667e-02 9.97502708e-01 -9.33877451e-05 2.61188293e+00] [ 1.57170487e-02 -1.01923551e-03 9.99875960e-01 3.83464995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.65925415399997 meters Centerline goodness : 0.999363 Centerline is valid? [True, True] Translation: X:251.29, Y:2.61, Z:3.84 [[ 9.97362637e-01 -7.08499480e-02 -1.57497954e-02 2.51291375e+02] [ 7.08572963e-02 9.97486459e-01 -9.16754485e-05 2.61310508e+00] [ 1.57167028e-02 -1.02455425e-03 9.99875960e-01 3.83544173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.68925415399997 meters Centerline goodness : 0.999321 Centerline is valid? [True, True] Translation: X:251.32, Y:2.62, Z:3.84 [[ 9.97364173e-01 -7.08283088e-02 -1.57498056e-02 2.51323975e+02] [ 7.08356824e-02 9.97487994e-01 -8.98941158e-05 2.61584840e+00] [ 1.57166090e-02 -1.02599106e-03 9.99875960e-01 3.83526227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.71925415399997 meters Centerline goodness : 0.999259 Centerline is valid? [True, True] Translation: X:251.36, Y:2.62, Z:3.83 [[ 9.97379806e-01 -7.06078299e-02 -1.57498122e-02 2.51355813e+02] [ 7.06151946e-02 9.97503627e-01 -8.87163011e-05 2.61721970e+00] [ 1.57167589e-02 -1.02369221e-03 9.99875960e-01 3.83481218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.74925415399997 meters Centerline goodness : 0.999256 Centerline is valid? [True, True] Translation: X:251.39, Y:2.62, Z:3.84 [[ 9.97376123e-01 -7.06598330e-02 -1.57498281e-02 2.51388569e+02] [ 7.06672501e-02 9.97499941e-01 -8.57947328e-05 2.61853341e+00] [ 1.57165149e-02 -1.02742742e-03 9.99875960e-01 3.83601416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.77925415399997 meters Centerline goodness : 0.999382 Centerline is valid? [True, True] Translation: X:251.42, Y:2.62, Z:3.84 [[ 9.97373564e-01 -7.06959394e-02 -1.57498375e-02 2.51420958e+02] [ 7.07033888e-02 9.97497380e-01 -8.40288682e-05 2.62050596e+00] [ 1.57163622e-02 -1.02975872e-03 9.99875960e-01 3.83548321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.80925415399997 meters Centerline goodness : 0.999532 Centerline is valid? [True, True] Translation: X:251.45, Y:2.62, Z:3.84 [[ 9.97351929e-01 -7.10005100e-02 -1.57498596e-02 2.51453908e+02] [ 7.10080657e-02 9.97475738e-01 -7.96750513e-05 2.62147413e+00] [ 1.57157598e-02 -1.03890300e-03 9.99875960e-01 3.83613704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.83925415399997 meters Centerline goodness : 0.999445 Centerline is valid? [True, True] Translation: X:251.49, Y:2.62, Z:3.84 [[ 9.97335988e-01 -7.12240785e-02 -1.57498681e-02 2.51486714e+02] [ 7.12316890e-02 9.97459794e-01 -7.79581950e-05 2.62214506e+00] [ 1.57154126e-02 -1.04413919e-03 9.99875960e-01 3.83705683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.86925415399998 meters Centerline goodness : 0.999488 Centerline is valid? [True, True] Translation: X:251.52, Y:2.62, Z:3.84 [[ 9.97319587e-01 -7.14533551e-02 -1.57498765e-02 2.51519417e+02] [ 7.14610215e-02 9.97443390e-01 -7.62071108e-05 2.62292145e+00] [ 1.57150555e-02 -1.04949942e-03 9.99875960e-01 3.83779077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.89925415399998 meters Centerline goodness : 0.999487 Centerline is valid? [True, True] Translation: X:251.55, Y:2.62, Z:3.84 [[ 9.97296132e-01 -7.17799800e-02 -1.57498849e-02 2.51551915e+02] [ 7.17877147e-02 9.97419931e-01 -7.44437578e-05 2.62373920e+00] [ 1.57145926e-02 -1.05640577e-03 9.99875960e-01 3.83790655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.92925415399998 meters Centerline goodness : 0.999424 Centerline is valid? [True, True] Translation: X:251.58, Y:2.63, Z:3.84 [[ 9.97187419e-01 -7.32747737e-02 -1.57498980e-02 2.51584374e+02] [ 7.32827395e-02 9.97311203e-01 -7.15427303e-05 2.62502291e+00] [ 1.57127920e-02 -1.08285417e-03 9.99875960e-01 3.83749744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.95925415399998 meters Centerline goodness : 0.999380 Centerline is valid? [True, True] Translation: X:251.62, Y:2.63, Z:3.84 [[ 9.97137487e-01 -7.39511475e-02 -1.57499031e-02 2.51617023e+02] [ 7.39592151e-02 9.97261264e-01 -7.04123485e-05 2.62525938e+00] [ 1.57119754e-02 -1.09463968e-03 9.99875960e-01 3.83734899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.98925415399998 meters Centerline goodness : 0.999251 Centerline is valid? [True, True] Translation: X:251.65, Y:2.63, Z:3.84 [[ 9.97019952e-01 -7.55192353e-02 -1.57499080e-02 2.51649609e+02] [ 7.55275151e-02 9.97143716e-01 -6.92896603e-05 2.62537185e+00] [ 1.57101545e-02 -1.12046824e-03 9.99875960e-01 3.83738483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.01925415399998 meters Centerline goodness : 0.999443 Centerline is valid? [True, True] Translation: X:251.68, Y:2.63, Z:3.84 [[ 9.96981407e-01 -7.60264008e-02 -1.57499131e-02 2.51681211e+02] [ 7.60347621e-02 9.97105165e-01 -6.81168629e-05 2.62567763e+00] [ 1.57094984e-02 -1.12962965e-03 9.99875960e-01 3.83666827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.04925415399998 meters Centerline goodness : 0.999401 Centerline is valid? [True, True] Translation: X:251.71, Y:2.63, Z:3.84 [[ 9.96925088e-01 -7.67613713e-02 -1.57499285e-02 2.51713645e+02] [ 7.67698829e-02 9.97048836e-01 -6.43536631e-05 2.62633181e+00] [ 1.57083877e-02 -1.14496438e-03 9.99875960e-01 3.83688292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.07925415399998 meters Centerline goodness : 0.999614 Centerline is valid? [True, True] Translation: X:251.75, Y:2.63, Z:3.84 [[ 9.96899370e-01 -7.70946603e-02 -1.57499331e-02 2.51745869e+02] [ 7.71032313e-02 9.97023113e-01 -6.32081854e-05 2.62692279e+00] [ 1.57079203e-02 -1.15135853e-03 9.99875960e-01 3.83662969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.10925415399998 meters Centerline goodness : 0.999593 Centerline is valid? [True, True] Translation: X:251.78, Y:2.63, Z:3.84 [[ 9.96901191e-01 -7.70711030e-02 -1.57499376e-02 2.51777024e+02] [ 7.70796890e-02 9.97024933e-01 -6.20674606e-05 2.62738382e+00] [ 1.57078641e-02 -1.15212516e-03 9.99875960e-01 3.83592635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.13925415399999 meters Centerline goodness : 0.999506 Centerline is valid? [True, True] Translation: X:251.81, Y:2.63, Z:3.84 [[ 9.96974441e-01 -7.61176987e-02 -1.57499409e-02 2.51810510e+02] [ 7.61261797e-02 9.97098190e-01 -6.12180900e-05 2.62875058e+00] [ 1.57088973e-02 -1.13794996e-03 9.99875960e-01 3.83676930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.16925415399996 meters Centerline goodness : 0.999592 Centerline is valid? [True, True] Translation: X:251.84, Y:2.63, Z:3.84 [[ 9.97124166e-01 -7.41305340e-02 -1.57499473e-02 2.51843018e+02] [ 7.41387950e-02 9.97247931e-01 -5.95247249e-05 2.62982016e+00] [ 1.57110149e-02 -1.10832857e-03 9.99875960e-01 3.83815382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.19925415399996 meters Centerline goodness : 0.999591 Centerline is valid? [True, True] Translation: X:251.87, Y:2.63, Z:3.84 [[ 9.97304925e-01 -7.16576923e-02 -1.57499515e-02 2.51874118e+02] [ 7.16656643e-02 9.97428709e-01 -5.83833892e-05 2.63134518e+00] [ 1.57136374e-02 -1.07050470e-03 9.99875960e-01 3.83917098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.22925415399996 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:251.91, Y:2.63, Z:3.84 [[ 9.97854745e-01 -6.35440514e-02 -1.57499546e-02 2.51905478e+02] [ 6.35510297e-02 9.97978589e-01 -5.75316788e-05 2.63471507e+00] [ 1.57217733e-02 -9.43517576e-04 9.99875960e-01 3.84052494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.25925415399996 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:251.94, Y:2.64, Z:3.84 [[ 9.98184627e-01 -5.81325146e-02 -1.57499621e-02 2.51937209e+02] [ 5.81388550e-02 9.98308505e-01 -5.53966135e-05 2.63658875e+00] [ 1.57265415e-02 -8.60388716e-04 9.99875960e-01 3.84217065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.28925415399996 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:251.97, Y:2.64, Z:3.84 [[ 9.98520810e-01 -5.20396991e-02 -1.57499660e-02 2.51969655e+02] [ 5.20453008e-02 9.98644723e-01 -5.42840580e-05 2.63881388e+00] [ 1.57314453e-02 -7.65507955e-04 9.99875960e-01 3.84398362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.31925415399996 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:252.00, Y:2.64, Z:3.85 [[ 9.99104678e-01 -3.92655101e-02 -1.57499698e-02 2.52000951e+02] [ 3.92695447e-02 9.99228653e-01 -5.31374738e-05 2.64318117e+00] [ 1.57399076e-02 -5.65404246e-04 9.99875960e-01 3.84605661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.34925415399996 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:252.03, Y:2.65, Z:3.85 [[ 9.99513502e-01 -2.69202085e-02 -1.57499758e-02 2.52032590e+02] [ 2.69227401e-02 9.99637516e-01 -5.13084731e-05 2.64651431e+00] [ 1.57456479e-02 -3.72748993e-04 9.99875960e-01 3.84740969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.37925415399997 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:252.06, Y:2.65, Z:3.85 [[ 9.99649197e-01 -2.12936690e-02 -1.57499785e-02 2.52063979e+02] [ 2.12955158e-02 9.99773224e-01 -5.04671870e-05 2.64811952e+00] [ 1.57474814e-02 -2.84954433e-04 9.99875960e-01 3.84858114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.40925415399997 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:252.09, Y:2.65, Z:3.85 [[ 9.99649198e-01 -2.12936601e-02 -1.57499803e-02 2.52094974e+02] [ 2.12955158e-02 9.99773224e-01 -4.99002565e-05 2.64821745e+00] [ 1.57474711e-02 -2.85521203e-04 9.99875960e-01 3.84906918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.43925415399997 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:252.12, Y:2.65, Z:3.85 [[ 9.99803351e-01 -1.20497752e-02 -1.57499803e-02 2.52124150e+02] [ 1.20504840e-02 9.99927389e-01 -4.99002565e-05 2.65046436e+00] [ 1.57494379e-02 -1.39904442e-04 9.99875960e-01 3.84963129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.46925415399997 meters Centerline goodness : 0.999565 Centerline is valid? [True, True] Translation: X:252.15, Y:2.65, Z:3.85 [[ 9.99836253e-01 -8.91091748e-03 -1.57499794e-02 2.52152300e+02] [ 8.91123247e-03 9.99960293e-01 -5.01818835e-05 2.65159096e+00] [ 1.57498012e-02 -9.01780614e-05 9.99875960e-01 3.84980084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.49925415399997 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:252.18, Y:2.65, Z:3.85 [[ 9.99855741e-01 -6.35895405e-03 -1.57499640e-02 2.52180309e+02] [ 6.35888240e-03 9.99979781e-01 -5.46292193e-05 2.65238340e+00] [ 1.57499929e-02 -4.55308300e-05 9.99875960e-01 3.84997730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.52925415399997 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:252.21, Y:2.65, Z:3.85 [[ 9.99853912e-01 -6.64035184e-03 -1.57499474e-02 2.52208685e+02] [ 6.64024536e-03 9.99977952e-01 -5.90564568e-05 2.65257410e+00] [ 1.57499923e-02 -4.55356855e-05 9.99875960e-01 3.85042591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.55925415399997 meters Centerline goodness : 0.999695 Centerline is valid? [True, True] Translation: X:252.24, Y:2.65, Z:3.85 [[ 9.99870315e-01 -3.36052587e-03 -1.57499295e-02 2.52236096e+02] [ 3.35994269e-03 9.99994353e-01 -6.34885472e-05 2.65357561e+00] [ 1.57500539e-02 1.05614532e-05 9.99875960e-01 3.85040627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.58925415399997 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:252.26, Y:2.65, Z:3.85 [[ 9.99872192e-01 -2.74575622e-03 -1.57499104e-02 2.52263347e+02] [ 2.74502709e-03 9.99996230e-01 -6.79120140e-05 2.65375128e+00] [ 1.57500375e-02 2.46694036e-05 9.99875960e-01 3.85036501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.61925415399998 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:252.29, Y:2.65, Z:3.85 [[ 9.99871651e-01 -2.93637191e-03 -1.57498967e-02 2.52291706e+02] [ 2.93561841e-03 9.99995689e-01 -7.09604820e-05 2.65403221e+00] [ 1.57500371e-02 2.47156876e-05 9.99875960e-01 3.85062194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.64925415399998 meters Centerline goodness : 0.999673 Centerline is valid? [True, True] Translation: X:252.32, Y:2.65, Z:3.85 [[ 9.99866215e-01 -4.41507668e-03 -1.57498755e-02 2.52319343e+02] [ 4.41443688e-03 9.99990253e-01 -7.53876993e-05 2.65393273e+00] [ 1.57500548e-02 5.85078227e-06 9.99875960e-01 3.85070415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.67925415399998 meters Centerline goodness : 0.999673 Centerline is valid? [True, True] Translation: X:252.35, Y:2.65, Z:3.85 [[ 9.99857065e-01 -6.14742172e-03 -1.57498673e-02 2.52347442e+02] [ 6.14697038e-03 9.99981104e-01 -7.70675568e-05 2.65376995e+00] [ 1.57500434e-02 -1.97574264e-05 9.99875960e-01 3.85117148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.70925415399998 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:252.38, Y:2.65, Z:3.85 [[ 9.99841260e-01 -8.33051344e-03 -1.57498589e-02 2.52375114e+02] [ 8.33030661e-03 9.99965299e-01 -7.87376419e-05 2.65328744e+00] [ 1.57499683e-02 -5.24760109e-05 9.99875960e-01 3.85139075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.73925415399998 meters Centerline goodness : 0.999587 Centerline is valid? [True, True] Translation: X:252.40, Y:2.65, Z:3.85 [[ 9.99781147e-01 -1.37695705e-02 -1.57498504e-02 2.52403209e+02] [ 1.37700123e-02 9.99905186e-01 -8.03987557e-05 2.65162663e+00] [ 1.57494642e-02 -1.36494473e-04 9.99875960e-01 3.85186365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.76925415399998 meters Centerline goodness : 0.999675 Centerline is valid? [True, True] Translation: X:252.43, Y:2.65, Z:3.85 [[ 9.99723716e-01 -1.74480681e-02 -1.57498433e-02 2.52431577e+02] [ 1.74489446e-02 9.99847752e-01 -8.17749635e-05 2.65064113e+00] [ 1.57488722e-02 -1.93065773e-04 9.99875960e-01 3.85205576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.79925415399998 meters Centerline goodness : 0.999547 Centerline is valid? [True, True] Translation: X:252.46, Y:2.65, Z:3.85 [[ 9.99653205e-01 -2.11048184e-02 -1.57498195e-02 2.52460495e+02] [ 2.11060800e-02 9.99777238e-01 -8.61298880e-05 2.64936279e+00] [ 1.57481288e-02 -2.46316931e-04 9.99875960e-01 3.85197384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.82925415399998 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:252.49, Y:2.65, Z:3.85 [[ 9.99561652e-01 -2.50688455e-02 -1.57498150e-02 2.52490877e+02] [ 2.50705862e-02 9.99685680e-01 -8.69387216e-05 2.64804102e+00] [ 1.57470440e-02 -3.07956483e-04 9.99875960e-01 3.85275183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.85925415399998 meters Centerline goodness : 0.999547 Centerline is valid? [True, True] Translation: X:252.52, Y:2.65, Z:3.85 [[ 9.99454229e-01 -2.90376917e-02 -1.57498150e-02 2.52522326e+02] [ 2.90399249e-02 9.99578249e-01 -8.69387216e-05 2.64647983e+00] [ 1.57456970e-02 -3.70482173e-04 9.99875960e-01 3.85331772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.88925415399999 meters Centerline goodness : 0.999613 Centerline is valid? [True, True] Translation: X:252.55, Y:2.64, Z:3.85 [[ 9.99207597e-01 -3.65529941e-02 -1.57498182e-02 2.52553504e+02] [ 3.65561689e-02 9.99331596e-01 -8.63649406e-05 2.64287771e+00] [ 1.57424478e-02 -4.89456508e-04 9.99875960e-01 3.85412823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.91925415399996 meters Centerline goodness : 0.999526 Centerline is valid? [True, True] Translation: X:252.58, Y:2.64, Z:3.85 [[ 9.99075639e-01 -3.99976220e-02 -1.57498284e-02 2.52584316e+02] [ 4.00012543e-02 9.99199626e-01 -8.44576429e-05 2.64101060e+00] [ 1.57406007e-02 -5.45633318e-04 9.99875960e-01 3.85447518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.94925415399996 meters Centerline goodness : 0.999548 Centerline is valid? [True, True] Translation: X:252.62, Y:2.64, Z:3.85 [[ 9.98960004e-01 -4.27884730e-02 -1.57498378e-02 2.52616422e+02] [ 4.27924800e-02 9.99083979e-01 -8.26589477e-05 2.63860334e+00] [ 1.57389475e-02 -5.91401638e-04 9.99875960e-01 3.85499548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.97925415399996 meters Centerline goodness : 0.999529 Centerline is valid? [True, True] Translation: X:252.65, Y:2.63, Z:3.86 [[ 9.98771331e-01 -4.69869226e-02 -1.57498437e-02 2.52649240e+02] [ 4.69914684e-02 9.98895287e-01 -8.15301174e-05 2.63483346e+00] [ 1.57362755e-02 -6.58678338e-04 9.99875960e-01 3.85583407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.00925415399996 meters Centerline goodness : 0.999571 Centerline is valid? [True, True] Translation: X:252.68, Y:2.63, Z:3.86 [[ 9.98738168e-01 -4.76866232e-02 -1.57498526e-02 2.52681518e+02] [ 4.76912835e-02 9.98862120e-01 -7.97742760e-05 2.63349131e+00] [ 1.57357353e-02 -6.71457070e-04 9.99875960e-01 3.85622106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.03925415399996 meters Centerline goodness : 0.999507 Centerline is valid? [True, True] Translation: X:252.71, Y:2.63, Z:3.86 [[ 9.98733436e-01 -4.77856186e-02 -1.57498598e-02 2.52714312e+02] [ 4.77903141e-02 9.98857387e-01 -7.83201447e-05 2.63232540e+00] [ 1.57356064e-02 -6.74469799e-04 9.99875960e-01 3.85650081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.06925415399996 meters Centerline goodness : 0.999466 Centerline is valid? [True, True] Translation: X:252.75, Y:2.63, Z:3.86 [[ 9.98785606e-01 -4.66824971e-02 -1.57498682e-02 2.52747006e+02] [ 4.66870828e-02 9.98909561e-01 -7.65937048e-05 2.63088309e+00] [ 1.57362695e-02 -6.58814712e-04 9.99875960e-01 3.85638851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.09925415399996 meters Centerline goodness : 0.999274 Centerline is valid? [True, True] Translation: X:252.78, Y:2.63, Z:3.86 [[ 9.98947618e-01 -4.30766594e-02 -1.57498737e-02 2.52778900e+02] [ 4.30808157e-02 9.99071588e-01 -7.54487195e-05 2.62806626e+00] [ 1.57385014e-02 -6.03148087e-04 9.99875960e-01 3.85524586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.12925415399997 meters Centerline goodness : 0.999274 Centerline is valid? [True, True] Translation: X:252.81, Y:2.63, Z:3.85 [[ 9.99045716e-01 -4.07381613e-02 -1.57498791e-02 2.52811126e+02] [ 4.07420456e-02 9.99169695e-01 -7.42929943e-05 2.62707877e+00] [ 1.57398285e-02 -5.67460196e-04 9.99875960e-01 3.85498911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.15925415399997 meters Centerline goodness : 0.999084 Centerline is valid? [True, True] Translation: X:252.84, Y:2.63, Z:3.86 [[ 9.99155571e-01 -3.79484738e-02 -1.57498845e-02 2.52843300e+02] [ 3.79520300e-02 9.99279560e-01 -7.31448201e-05 2.62629319e+00] [ 1.57413133e-02 -5.24657033e-04 9.99875960e-01 3.85502542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.18925415399997 meters Centerline goodness : 0.999318 Centerline is valid? [True, True] Translation: X:252.88, Y:2.63, Z:3.85 [[ 9.99356915e-01 -3.22133086e-02 -1.57498898e-02 2.52875805e+02] [ 3.22161713e-02 9.99480922e-01 -7.19880994e-05 2.62535426e+00] [ 1.57440333e-02 -4.35459341e-04 9.99875960e-01 3.85471495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.21925415399997 meters Centerline goodness : 0.999317 Centerline is valid? [True, True] Translation: X:252.91, Y:2.63, Z:3.85 [[ 9.99447282e-01 -2.92757891e-02 -1.57498950e-02 2.52906739e+02] [ 2.92783056e-02 9.99571296e-01 -7.08286249e-05 2.62505404e+00] [ 1.57452165e-02 -3.90340762e-04 9.99875960e-01 3.85457862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.24925415399997 meters Centerline goodness : 0.999231 Centerline is valid? [True, True] Translation: X:252.94, Y:2.62, Z:3.86 [[ 9.99524823e-01 -2.64965962e-02 -1.57498988e-02 2.52938532e+02] [ 2.64987814e-02 9.99648843e-01 -6.99658620e-05 2.62481280e+00] [ 1.57462220e-02 -3.47420509e-04 9.99875960e-01 3.85516978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.27925415399997 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:252.97, Y:2.62, Z:3.86 [[ 9.99581454e-01 -2.42663952e-02 -1.57499013e-02 2.52968872e+02] [ 2.42683128e-02 9.99705479e-01 -6.93878679e-05 2.62461931e+00] [ 1.57469465e-02 -3.12864707e-04 9.99875960e-01 3.85532921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.30925415399997 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:253.00, Y:2.62, Z:3.86 [[ 9.99659854e-01 -2.07874369e-02 -1.57499026e-02 2.52999599e+02] [ 2.07889274e-02 9.99783885e-01 -6.91013260e-05 2.62302906e+00] [ 1.57479352e-02 -2.58345760e-04 9.99875960e-01 3.85517965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.33925415399997 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:253.03, Y:2.62, Z:3.86 [[ 9.99667500e-01 -2.04164342e-02 -1.57499026e-02 2.53029520e+02] [ 2.04178786e-02 9.99791531e-01 -6.91013260e-05 2.62254342e+00] [ 1.57480300e-02 -2.52501250e-04 9.99875960e-01 3.85531789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.36925415399998 meters Centerline goodness : 0.999209 Centerline is valid? [True, True] Translation: X:253.06, Y:2.62, Z:3.86 [[ 9.99670008e-01 -2.02932496e-02 -1.57499027e-02 2.53059349e+02] [ 2.02946789e-02 9.99794039e-01 -6.90872355e-05 2.62083902e+00] [ 1.57480608e-02 -2.50574781e-04 9.99875960e-01 3.85640391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.39925415399998 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:253.09, Y:2.62, Z:3.86 [[ 9.99651456e-01 -2.11874064e-02 -1.57499002e-02 2.53088873e+02] [ 2.11889378e-02 9.99775487e-01 -6.96527537e-05 2.62025018e+00] [ 1.57478399e-02 -2.64095178e-04 9.99875960e-01 3.85738909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.42925415399998 meters Centerline goodness : 0.999337 Centerline is valid? [True, True] Translation: X:253.12, Y:2.62, Z:3.86 [[ 9.99624979e-01 -2.24018395e-02 -1.57498977e-02 2.53118312e+02] [ 2.24035128e-02 9.99749007e-01 -7.02149499e-05 2.61929694e+00] [ 1.57475175e-02 -2.82664415e-04 9.99875960e-01 3.85847045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.45925415399998 meters Centerline goodness : 0.999424 Centerline is valid? [True, True] Translation: X:253.15, Y:2.62, Z:3.86 [[ 9.99578448e-01 -2.43899037e-02 -1.57498951e-02 2.53147914e+02] [ 2.43918148e-02 9.99702473e-01 -7.07735728e-05 2.61827395e+00] [ 1.57469353e-02 -3.13424787e-04 9.99875960e-01 3.85969018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.48925415399998 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:253.18, Y:2.62, Z:3.86 [[ 9.99509923e-01 -2.70528136e-02 -1.57498939e-02 2.53178108e+02] [ 2.70550508e-02 9.99633943e-01 -7.10506566e-05 2.61684193e+00] [ 1.57460507e-02 -3.55098343e-04 9.99875960e-01 3.86073953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.51925415399998 meters Centerline goodness : 0.998980 Centerline is valid? [True, True] Translation: X:253.21, Y:2.61, Z:3.86 [[ 9.99296073e-01 -3.40484860e-02 -1.57498939e-02 2.53208062e+02] [ 3.40515912e-02 9.99420074e-01 -7.10506566e-05 2.61278500e+00] [ 1.57431793e-02 -4.65308306e-04 9.99875960e-01 3.86065006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.54925415399998 meters Centerline goodness : 0.999384 Centerline is valid? [True, True] Translation: X:253.24, Y:2.61, Z:3.86 [[ 9.99116019e-01 -3.89759004e-02 -1.57498952e-02 2.53240638e+02] [ 3.89796214e-02 9.99240003e-01 -7.07705829e-05 2.61130182e+00] [ 1.57406836e-02 -5.43216928e-04 9.99875960e-01 3.86163997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.57925415399998 meters Centerline goodness : 0.999237 Centerline is valid? [True, True] Translation: X:253.27, Y:2.61, Z:3.86 [[ 9.98920681e-01 -4.36968307e-02 -1.57499001e-02 2.53272849e+02] [ 4.37011550e-02 9.99044646e-01 -6.96629732e-05 2.60949903e+00] [ 1.57378974e-02 -6.18701039e-04 9.99875960e-01 3.86205990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.60925415399998 meters Centerline goodness : 0.999175 Centerline is valid? [True, True] Translation: X:253.31, Y:2.61, Z:3.86 [[ 9.98449296e-01 -5.33942310e-02 -1.57499049e-02 2.53305440e+02] [ 5.33997762e-02 9.98573212e-01 -6.85558195e-05 2.60665796e+00] [ 1.57310936e-02 -7.72591886e-04 9.99875960e-01 3.86244583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.63925415399999 meters Centerline goodness : 0.999070 Centerline is valid? [True, True] Translation: X:253.34, Y:2.61, Z:3.86 [[ 9.98204549e-01 -5.77894358e-02 -1.57499099e-02 2.53338962e+02] [ 5.77955448e-02 9.98328438e-01 -6.73929445e-05 2.60532874e+00] [ 1.57274775e-02 -8.43002677e-04 9.99875960e-01 3.86306746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.66925415399996 meters Centerline goodness : 0.998964 Centerline is valid? [True, True] Translation: X:253.37, Y:2.60, Z:3.86 [[ 9.97948224e-01 -6.20587073e-02 -1.57499172e-02 2.53370717e+02] [ 6.20653741e-02 9.98072084e-01 -6.56192609e-05 2.60382944e+00] [ 1.57236250e-02 -9.12039881e-04 9.99875960e-01 3.86324725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.69925415399996 meters Centerline goodness : 0.999094 Centerline is valid? [True, True] Translation: X:253.40, Y:2.60, Z:3.86 [[ 9.97742670e-01 -6.52801950e-02 -1.57499232e-02 2.53403017e+02] [ 6.52872847e-02 9.97866507e-01 -6.41520777e-05 2.60223415e+00] [ 1.57205087e-02 -9.64262456e-04 9.99875960e-01 3.86229796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.72925415399996 meters Centerline goodness : 0.999031 Centerline is valid? [True, True] Translation: X:253.44, Y:2.60, Z:3.86 [[ 9.97441721e-01 -6.97277070e-02 -1.57499290e-02 2.53436213e+02] [ 6.97353716e-02 9.97565524e-01 -6.26979399e-05 2.60005965e+00] [ 1.57159580e-02 -1.03578961e-03 9.99875960e-01 3.86370785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.75925415399996 meters Centerline goodness : 0.999055 Centerline is valid? [True, True] Translation: X:253.47, Y:2.60, Z:3.86 [[ 9.97376308e-01 -7.06572041e-02 -1.57499357e-02 2.53468884e+02] [ 7.06650113e-02 9.97500101e-01 -6.09647704e-05 2.59942545e+00] [ 1.57148701e-02 -1.05216457e-03 9.99875960e-01 3.86415561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.78925415399996 meters Centerline goodness : 0.999011 Centerline is valid? [True, True] Translation: X:253.50, Y:2.60, Z:3.86 [[ 9.97376308e-01 -7.06571939e-02 -1.57499423e-02 2.53501092e+02] [ 7.06650284e-02 9.97500100e-01 -5.92269365e-05 2.59971071e+00] [ 1.57147538e-02 -1.05389857e-03 9.99875960e-01 3.86470357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.81925415399996 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:253.53, Y:2.60, Z:3.87 [[ 9.97441837e-01 -6.97260372e-02 -1.57499525e-02 2.53532940e+02] [ 6.97338012e-02 9.97565634e-01 -5.63621761e-05 2.60043129e+00] [ 1.57155413e-02 -1.04208606e-03 9.99875960e-01 3.86514704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.84925415399996 meters Centerline goodness : 0.998884 Centerline is valid? [True, True] Translation: X:253.57, Y:2.60, Z:3.87 [[ 9.97526122e-01 -6.85096675e-02 -1.57499575e-02 2.53565402e+02] [ 6.85173029e-02 9.97649927e-01 -5.49387619e-05 2.60136366e+00] [ 1.57167077e-02 -1.02434176e-03 9.99875960e-01 3.86554512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.87925415399997 meters Centerline goodness : 0.998885 Centerline is valid? [True, True] Translation: X:253.60, Y:2.60, Z:3.87 [[ 9.97623578e-01 -6.70755975e-02 -1.57499622e-02 2.53598646e+02] [ 6.70830769e-02 9.97747392e-01 -5.35436529e-05 2.60219089e+00] [ 1.57180752e-02 -1.00313952e-03 9.99875960e-01 3.86652438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.90925415399997 meters Centerline goodness : 0.999093 Centerline is valid? [True, True] Translation: X:253.63, Y:2.60, Z:3.87 [[ 9.97839790e-01 -6.37784627e-02 -1.57499679e-02 2.53631351e+02] [ 6.37855599e-02 9.97963626e-01 -5.18249271e-05 2.60377784e+00] [ 1.57212004e-02 -9.52907544e-04 9.99875960e-01 3.86744421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.93925415399997 meters Centerline goodness : 0.999114 Centerline is valid? [True, True] Translation: X:253.66, Y:2.60, Z:3.87 [[ 9.97941634e-01 -6.21645664e-02 -1.57499733e-02 2.53664466e+02] [ 6.21714903e-02 9.98065480e-01 -5.01133343e-05 2.60467600e+00] [ 1.57226200e-02 -9.29189130e-04 9.99875960e-01 3.86821293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.96925415399997 meters Centerline goodness : 0.999092 Centerline is valid? [True, True] Translation: X:253.69, Y:2.61, Z:3.87 [[ 9.98115384e-01 -5.93095070e-02 -1.57499785e-02 2.53694924e+02] [ 5.93161033e-02 9.98239249e-01 -4.84104457e-05 2.60586911e+00] [ 1.57251180e-02 -8.85908144e-04 9.99875960e-01 3.86758661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.99925415399997 meters Centerline goodness : 0.999029 Centerline is valid? [True, True] Translation: X:253.73, Y:2.60, Z:3.87 [[ 9.98302407e-01 -5.60736082e-02 -1.57497266e-02 2.53732988e+02] [ 5.60785405e-02 9.98426352e-01 -1.28646532e-04 2.60314589e+00] [ 1.57321557e-02 -7.54793536e-04 9.99875957e-01 3.86706749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.02925415399997 meters Centerline goodness : 0.999345 Centerline is valid? [True, True] Translation: X:253.76, Y:2.61, Z:3.87 [[ 9.98148555e-01 -5.87483468e-02 -1.57509994e-02 2.53758114e+02] [ 5.87588758e-02 9.98272183e-01 2.06119461e-04 2.60997618e+00] [ 1.57116754e-02 -1.13124886e-03 9.99875924e-01 3.87106486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.05925415399997 meters Centerline goodness : 0.999196 Centerline is valid? [True, True] Translation: X:253.79, Y:2.61, Z:3.87 [[ 9.98320846e-01 -5.57443442e-02 -1.57498337e-02 2.53791472e+02] [ 5.57502023e-02 9.98444746e-01 -6.72043321e-05 2.61229243e+00] [ 1.57290850e-02 -8.10964931e-04 9.99875961e-01 3.87196075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.08925415399997 meters Centerline goodness : 0.999153 Centerline is valid? [True, True] Translation: X:253.82, Y:2.61, Z:3.87 [[ 9.98421423e-01 -5.39129429e-02 -1.57498407e-02 2.53824901e+02] [ 5.39186000e-02 9.98545332e-01 -6.55360962e-05 2.61283802e+00] [ 1.57304631e-02 -7.83776716e-04 9.99875961e-01 3.87168796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.11925415399998 meters Centerline goodness : 0.999175 Centerline is valid? [True, True] Translation: X:253.86, Y:2.61, Z:3.87 [[ 9.98499321e-01 -5.24504303e-02 -1.57498475e-02 2.53858408e+02] [ 5.24559323e-02 9.98623238e-01 -6.38579261e-05 2.61415858e+00] [ 1.57315130e-02 -7.62410836e-04 9.99875961e-01 3.87296700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.14925415399998 meters Centerline goodness : 0.999195 Centerline is valid? [True, True] Translation: X:253.89, Y:2.62, Z:3.87 [[ 9.98596992e-01 -5.05567924e-02 -1.57498543e-02 2.53891181e+02] [ 5.05620865e-02 9.98720918e-01 -6.21344237e-05 2.61524482e+00] [ 1.57328502e-02 -7.34298245e-04 9.99875961e-01 3.87366627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.17925415399998 meters Centerline goodness : 0.999193 Centerline is valid? [True, True] Translation: X:253.92, Y:2.62, Z:3.87 [[ 9.98786753e-01 -4.66579377e-02 -1.57498610e-02 2.53923605e+02] [ 4.66627758e-02 9.98910698e-01 -6.03658178e-05 2.61729008e+00] [ 1.57355212e-02 -6.74639656e-04 9.99875961e-01 3.87364249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.20925415399998 meters Centerline goodness : 0.999299 Centerline is valid? [True, True] Translation: X:253.95, Y:2.62, Z:3.87 [[ 9.98889787e-01 -4.43974783e-02 -1.57498654e-02 2.53954456e+02] [ 4.44020542e-02 9.99013741e-01 -5.92007991e-05 2.61833151e+00] [ 1.57369603e-02 -6.40191305e-04 9.99875961e-01 3.87369779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.23925415399998 meters Centerline goodness : 0.999108 Centerline is valid? [True, True] Translation: X:253.99, Y:2.62, Z:3.87 [[ 9.98990843e-01 -4.20623003e-02 -1.57498686e-02 2.53986477e+02] [ 4.20666001e-02 9.99114807e-01 -5.83319786e-05 2.61988306e+00] [ 1.57383805e-02 -6.04270314e-04 9.99875961e-01 3.87404395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.26925415399998 meters Centerline goodness : 0.999278 Centerline is valid? [True, True] Translation: X:254.02, Y:2.62, Z:3.87 [[ 9.99187449e-01 -3.70996449e-02 -1.57498728e-02 2.54018579e+02] [ 3.71033470e-02 9.99311432e-01 -5.71842955e-05 2.62220584e+00] [ 1.57411495e-02 -5.27235166e-04 9.99875961e-01 3.87458278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.29925415399998 meters Centerline goodness : 0.999236 Centerline is valid? [True, True] Translation: X:254.05, Y:2.62, Z:3.88 [[ 9.99260049e-01 -3.50898388e-02 -1.57498769e-02 2.54050776e+02] [ 3.50933098e-02 9.99384039e-01 -5.60225582e-05 2.62380058e+00] [ 1.57421414e-02 -4.96734206e-04 9.99875961e-01 3.87613855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.32925415399998 meters Centerline goodness : 0.999128 Centerline is valid? [True, True] Translation: X:254.08, Y:2.62, Z:3.88 [[ 9.99333967e-01 -3.29175409e-02 -1.57498810e-02 2.54081517e+02] [ 3.29207606e-02 9.99457963e-01 -5.48652110e-05 2.62489818e+00] [ 1.57431500e-02 -4.63669391e-04 9.99875961e-01 3.87682905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.35925415399998 meters Centerline goodness : 0.999298 Centerline is valid? [True, True] Translation: X:254.11, Y:2.63, Z:3.88 [[ 9.99409518e-01 -3.05377744e-02 -1.57498839e-02 2.54113623e+02] [ 3.05407124e-02 9.99533522e-01 -5.40031854e-05 2.62586671e+00] [ 1.57441861e-02 -4.27041378e-04 9.99875961e-01 3.87801961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.38925415399999 meters Centerline goodness : 0.999211 Centerline is valid? [True, True] Translation: X:254.15, Y:2.63, Z:3.88 [[ 9.99522777e-01 -2.65736716e-02 -1.57498879e-02 2.54145157e+02] [ 2.65761363e-02 9.99646791e-01 -5.28283392e-05 2.62812494e+00] [ 1.57457287e-02 -3.65768038e-04 9.99875961e-01 3.87869276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.41925415399996 meters Centerline goodness : 0.999295 Centerline is valid? [True, True] Translation: X:254.18, Y:2.63, Z:3.88 [[ 9.99566869e-01 -2.48599002e-02 -1.57498898e-02 2.54176474e+02] [ 2.48621614e-02 9.99690887e-01 -5.22456366e-05 2.62927269e+00] [ 1.57463201e-02 -3.39353295e-04 9.99875961e-01 3.87895869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.44925415399996 meters Centerline goodness : 0.999295 Centerline is valid? [True, True] Translation: X:254.21, Y:2.63, Z:3.88 [[ 9.99567786e-01 -2.48230224e-02 -1.57498917e-02 2.54208317e+02] [ 2.48252882e-02 9.99691804e-01 -5.16640702e-05 2.62934788e+00] [ 1.57463201e-02 -3.39353861e-04 9.99875961e-01 3.87946008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.47925415399996 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:254.24, Y:2.63, Z:3.88 [[ 9.99590997e-01 -2.38700758e-02 -1.57498936e-02 2.54238854e+02] [ 2.38722325e-02 9.99715016e-01 -5.10830701e-05 2.63050713e+00] [ 1.57466245e-02 -3.24922945e-04 9.99875961e-01 3.87958845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.50925415399996 meters Centerline goodness : 0.999359 Centerline is valid? [True, True] Translation: X:254.27, Y:2.63, Z:3.88 [[ 9.99587522e-01 -2.40151220e-02 -1.57498945e-02 2.54268857e+02] [ 2.40173012e-02 9.99711542e-01 -5.07949265e-05 2.63144334e+00] [ 1.57465712e-02 -3.27495986e-04 9.99875961e-01 3.87907010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.53925415399996 meters Centerline goodness : 0.999317 Centerline is valid? [True, True] Translation: X:254.30, Y:2.63, Z:3.88 [[ 9.99556757e-01 -2.52632349e-02 -1.57498945e-02 2.54299739e+02] [ 2.52655690e-02 9.99680773e-01 -5.07949265e-05 2.63152356e+00] [ 1.57461500e-02 -3.47157634e-04 9.99875961e-01 3.87980879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.56925415399996 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:254.33, Y:2.63, Z:3.88 [[ 9.99504033e-01 -2.72695490e-02 -1.57498945e-02 2.54330510e+02] [ 2.72721320e-02 9.99628045e-01 -5.07949265e-05 2.63138623e+00] [ 1.57454214e-02 -3.78763468e-04 9.99875961e-01 3.87989228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.59925415399996 meters Centerline goodness : 0.999551 Centerline is valid? [True, True] Translation: X:254.36, Y:2.63, Z:3.88 [[ 9.99430274e-01 -2.98507671e-02 -1.57498954e-02 2.54361332e+02] [ 2.98536749e-02 9.99554278e-01 -5.05062550e-05 2.63113283e+00] [ 1.57443830e-02 -4.19714778e-04 9.99875961e-01 3.87980226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.62925415399997 meters Centerline goodness : 0.999318 Centerline is valid? [True, True] Translation: X:254.39, Y:2.63, Z:3.88 [[ 9.99237191e-01 -3.57348082e-02 -1.57498982e-02 2.54393090e+02] [ 3.57384596e-02 9.99361176e-01 -4.96466245e-05 2.62999154e+00] [ 1.57416108e-02 -5.13268345e-04 9.99875961e-01 3.88005625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.65925415399997 meters Centerline goodness : 0.999275 Centerline is valid? [True, True] Translation: X:254.42, Y:2.63, Z:3.88 [[ 9.99132015e-01 -3.85636723e-02 -1.57499017e-02 2.54424889e+02] [ 3.85676927e-02 9.99255989e-01 -4.85041967e-05 2.62970458e+00] [ 1.57400541e-02 -5.58975272e-04 9.99875961e-01 3.88060686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.68925415399997 meters Centerline goodness : 0.999211 Centerline is valid? [True, True] Translation: X:254.46, Y:2.63, Z:3.88 [[ 9.99038802e-01 -4.09073550e-02 -1.57499051e-02 2.54457262e+02] [ 4.09116842e-02 9.99162765e-01 -4.73650499e-05 2.62929108e+00] [ 1.57386563e-02 -5.97035621e-04 9.99875961e-01 3.88074721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.71925415399997 meters Centerline goodness : 0.999467 Centerline is valid? [True, True] Translation: X:254.49, Y:2.63, Z:3.88 [[ 9.98942808e-01 -4.31880375e-02 -1.57499084e-02 2.54488845e+02] [ 4.31926676e-02 9.99066760e-01 -4.62257779e-05 2.62948384e+00] [ 1.57372064e-02 -6.34103652e-04 9.99875961e-01 3.88183587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.74925415399997 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:254.52, Y:2.63, Z:3.88 [[ 9.98820993e-01 -4.59191114e-02 -1.57499109e-02 2.54521296e+02] [ 4.59240937e-02 9.98944931e-01 -4.53779298e-05 2.62960771e+00] [ 1.57353774e-02 -6.77975954e-04 9.99875961e-01 3.88247846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.77925415399997 meters Centerline goodness : 0.999317 Centerline is valid? [True, True] Translation: X:254.55, Y:2.63, Z:3.88 [[ 9.98800095e-01 -4.63714458e-02 -1.57499140e-02 2.54553102e+02] [ 4.63765018e-02 9.98924030e-01 -4.42623681e-05 2.62980451e+00] [ 1.57350201e-02 -6.86216658e-04 9.99875961e-01 3.88329388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.80925415399997 meters Centerline goodness : 0.999424 Centerline is valid? [True, True] Translation: X:254.58, Y:2.63, Z:3.88 [[ 9.98798582e-01 -4.64040132e-02 -1.57499171e-02 2.54584211e+02] [ 4.64090909e-02 9.98922517e-01 -4.31375570e-05 2.62995222e+00] [ 1.57349486e-02 -6.87853604e-04 9.99875961e-01 3.88362760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.83925415399997 meters Centerline goodness : 0.999425 Centerline is valid? [True, True] Translation: X:254.62, Y:2.63, Z:3.88 [[ 9.98868577e-01 -4.48721029e-02 -1.57499193e-02 2.54616179e+02] [ 4.48770038e-02 9.98992519e-01 -4.22993450e-05 2.62985489e+00] [ 1.57359497e-02 -6.64557703e-04 9.99875961e-01 3.88467415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.86925415399998 meters Centerline goodness : 0.999467 Centerline is valid? [True, True] Translation: X:254.65, Y:2.63, Z:3.89 [[ 9.98900779e-01 -4.41494530e-02 -1.57499223e-02 2.54648690e+02] [ 4.41542822e-02 9.99024723e-01 -4.11591052e-05 2.63076752e+00] [ 1.57363789e-02 -6.54312652e-04 9.99875961e-01 3.88673435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.89925415399998 meters Centerline goodness : 0.999296 Centerline is valid? [True, True] Translation: X:254.68, Y:2.63, Z:3.89 [[ 9.98957167e-01 -4.28546123e-02 -1.57499253e-02 2.54679419e+02] [ 4.28592992e-02 9.99081117e-01 -3.99892557e-05 2.63164424e+00] [ 1.57371667e-02 -6.35083207e-04 9.99875961e-01 3.88697739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.92925415399998 meters Centerline goodness : 0.999467 Centerline is valid? [True, True] Translation: X:254.71, Y:2.63, Z:3.89 [[ 9.99029764e-01 -4.11274844e-02 -1.57499275e-02 2.54711245e+02] [ 4.11319707e-02 9.99153722e-01 -3.91175085e-05 2.63255038e+00] [ 1.57382074e-02 -6.08746000e-04 9.99875961e-01 3.88801895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.95925415399998 meters Centerline goodness : 0.999467 Centerline is valid? [True, True] Translation: X:254.74, Y:2.63, Z:3.89 [[ 9.99162957e-01 -3.77534813e-02 -1.57499303e-02 2.54743148e+02] [ 3.77575673e-02 9.99286928e-01 -3.79590310e-05 2.63408457e+00] [ 1.57401325e-02 -5.56751793e-04 9.99875961e-01 3.88793175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.98925415399998 meters Centerline goodness : 0.999573 Centerline is valid? [True, True] Translation: X:254.77, Y:2.63, Z:3.89 [[ 9.99238651e-01 -3.56939356e-02 -1.57499330e-02 2.54774797e+02] [ 3.56977842e-02 9.99362630e-01 -3.68021783e-05 2.63469578e+00] [ 1.57412080e-02 -5.25463548e-04 9.99875961e-01 3.88714318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.01925415399998 meters Centerline goodness : 0.999465 Centerline is valid? [True, True] Translation: X:254.81, Y:2.64, Z:3.89 [[ 9.99297211e-01 -3.40150568e-02 -1.57499373e-02 2.54806666e+02] [ 3.40187279e-02 9.99421195e-01 -3.48449549e-05 2.63549736e+00] [ 1.57420064e-02 -5.00972365e-04 9.99875961e-01 3.88696070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.04925415399998 meters Centerline goodness : 0.999615 Centerline is valid? [True, True] Translation: X:254.84, Y:2.64, Z:3.89 [[ 9.99404703e-01 -3.06949402e-02 -1.57499397e-02 2.54838783e+02] [ 3.06982168e-02 9.99528698e-01 -3.37398551e-05 2.63712707e+00] [ 1.57435523e-02 -4.49775292e-04 9.99875961e-01 3.88759412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.07925415399998 meters Centerline goodness : 0.999550 Centerline is valid? [True, True] Translation: X:254.87, Y:2.64, Z:3.89 [[ 9.99442727e-01 -2.94308551e-02 -1.57499420e-02 2.54869862e+02] [ 2.94339929e-02 9.99566726e-01 -3.25915500e-05 2.63800104e+00] [ 1.57440772e-02 -4.31010295e-04 9.99875961e-01 3.88773467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.10925415399998 meters Centerline goodness : 0.999485 Centerline is valid? [True, True] Translation: X:254.90, Y:2.64, Z:3.89 [[ 9.99502428e-01 -2.73283032e-02 -1.57499438e-02 2.54900953e+02] [ 2.73311937e-02 9.99626433e-01 -3.17366693e-05 2.63995152e+00] [ 1.57449274e-02 -3.98743885e-04 9.99875961e-01 3.88828140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.13925415399999 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:254.93, Y:2.64, Z:3.89 [[ 9.99528841e-01 -2.63445329e-02 -1.57499449e-02 2.54932647e+02] [ 2.63473102e-02 9.99652849e-01 -3.11697401e-05 2.64108598e+00] [ 1.57452984e-02 -3.83813630e-04 9.99875961e-01 3.88907893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.16925415399996 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:254.96, Y:2.64, Z:3.89 [[ 9.99545448e-01 -2.57067332e-02 -1.57499460e-02 2.54964264e+02] [ 2.57094404e-02 9.99669457e-01 -3.05949077e-05 2.64224083e+00] [ 1.57455265e-02 -3.74341297e-04 9.99875961e-01 3.88929421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.19925415399996 meters Centerline goodness : 0.999507 Centerline is valid? [True, True] Translation: X:254.99, Y:2.64, Z:3.89 [[ 9.99576841e-01 -2.44556493e-02 -1.57499471e-02 2.54994748e+02] [ 2.44582103e-02 9.99700853e-01 -3.00225281e-05 2.64293190e+00] [ 1.57459698e-02 -3.55205694e-04 9.99875961e-01 3.88919102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.22925415399996 meters Centerline goodness : 0.999527 Centerline is valid? [True, True] Translation: X:255.03, Y:2.64, Z:3.89 [[ 9.99576644e-01 -2.44636975e-02 -1.57499476e-02 2.55026064e+02] [ 2.44662640e-02 9.99700656e-01 -2.97385966e-05 2.64418306e+00] [ 1.57459605e-02 -3.55616370e-04 9.99875961e-01 3.89080986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.25925415399996 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:255.05, Y:2.65, Z:3.89 [[ 9.99518481e-01 -2.67347331e-02 -1.57499487e-02 2.55053256e+02] [ 2.67375903e-02 9.99642486e-01 -2.91659126e-05 2.64993003e+00] [ 1.57450976e-02 -3.91963807e-04 9.99875961e-01 3.89054736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.28925415399996 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:255.09, Y:2.65, Z:3.89 [[ 9.99578298e-01 -2.43963261e-02 -1.57494283e-02 2.55086222e+02] [ 2.43953139e-02 9.99702357e-01 -2.56418506e-04 2.64653090e+00] [ 1.57509963e-02 -1.27901872e-04 9.99875937e-01 3.89281445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.31925415399996 meters Centerline goodness : 0.999483 Centerline is valid? [True, True] Translation: X:255.12, Y:2.65, Z:3.89 [[ 9.99564143e-01 -2.49692995e-02 -1.57498613e-02 2.55117920e+02] [ 2.49719229e-02 9.99688152e-01 -3.01081855e-05 2.64746493e+00] [ 1.57457016e-02 -3.63209260e-04 9.99875963e-01 3.89396026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.34925415399996 meters Centerline goodness : 0.999440 Centerline is valid? [True, True] Translation: X:255.15, Y:2.65, Z:3.90 [[ 9.99486904e-01 -2.78903197e-02 -1.57498624e-02 2.55148565e+02] [ 2.78933144e-02 9.99610905e-01 -2.95423349e-05 2.64888014e+00] [ 1.57445582e-02 -4.09788687e-04 9.99875963e-01 3.89590157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.37925415399997 meters Centerline goodness : 0.999396 Centerline is valid? [True, True] Translation: X:255.18, Y:2.65, Z:3.90 [[ 9.99428218e-01 -2.99195446e-02 -1.57498629e-02 2.55180919e+02] [ 2.99227954e-02 9.99552212e-01 -2.92620268e-05 2.64912124e+00] [ 1.57436858e-02 -4.42034631e-04 9.99875963e-01 3.89687444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.40925415399997 meters Centerline goodness : 0.999505 Centerline is valid? [True, True] Translation: X:255.21, Y:2.65, Z:3.90 [[ 9.99352438e-01 -3.23519179e-02 -1.57498649e-02 2.55213305e+02] [ 3.23554882e-02 9.99476424e-01 -2.81408679e-05 2.64923596e+00] [ 1.57425291e-02 -4.81471924e-04 9.99875963e-01 3.89774142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.43925415399997 meters Centerline goodness : 0.999398 Centerline is valid? [True, True] Translation: X:255.25, Y:2.65, Z:3.90 [[ 9.99254128e-01 -3.52580354e-02 -1.57498668e-02 2.55245814e+02] [ 3.52619838e-02 9.99378103e-01 -2.70232140e-05 2.64924568e+00] [ 1.57410248e-02 -5.28368491e-04 9.99875963e-01 3.89807321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.46925415399997 meters Centerline goodness : 0.999634 Centerline is valid? [True, True] Translation: X:255.28, Y:2.65, Z:3.90 [[ 9.99028360e-01 -4.11615982e-02 -1.57498687e-02 2.55276697e+02] [ 4.11662966e-02 9.99152308e-01 -2.59076556e-05 2.64918738e+00] [ 1.57375840e-02 -6.22481283e-04 9.99875963e-01 3.89884358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.49925415399997 meters Centerline goodness : 0.999526 Centerline is valid? [True, True] Translation: X:255.31, Y:2.65, Z:3.90 [[ 9.98912573e-01 -4.38818008e-02 -1.57498715e-02 2.55308321e+02] [ 4.38868656e-02 9.99036507e-01 -2.40757928e-05 2.64944041e+00] [ 1.57357531e-02 -6.67162880e-04 9.99875963e-01 3.89927190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.52925415399997 meters Centerline goodness : 0.999506 Centerline is valid? [True, True] Translation: X:255.34, Y:2.65, Z:3.90 [[ 9.98705199e-01 -4.83721729e-02 -1.57498734e-02 2.55340700e+02] [ 4.83778163e-02 9.98829108e-01 -2.27078934e-05 2.64976138e+00] [ 1.57325305e-02 -7.39265992e-04 9.99875963e-01 3.89943459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.55925415399997 meters Centerline goodness : 0.999527 Centerline is valid? [True, True] Translation: X:255.37, Y:2.65, Z:3.90 [[ 9.98621922e-01 -5.00619479e-02 -1.57498753e-02 2.55373675e+02] [ 5.00678222e-02 9.98745820e-01 -2.13543608e-05 2.64977245e+00] [ 1.57311911e-02 -7.67237023e-04 9.99875963e-01 3.90079414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.58925415399997 meters Centerline goodness : 0.999462 Centerline is valid? [True, True] Translation: X:255.41, Y:2.65, Z:3.90 [[ 9.98548926e-01 -5.14974073e-02 -1.57498774e-02 2.55406376e+02] [ 5.15034868e-02 9.98672815e-01 -1.96349156e-05 2.64980173e+00] [ 1.57299856e-02 -7.91567180e-04 9.99875963e-01 3.90131909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.61925415399998 meters Centerline goodness : 0.999420 Centerline is valid? [True, True] Translation: X:255.44, Y:2.65, Z:3.90 [[ 9.98496704e-01 -5.25002192e-02 -1.57498794e-02 2.55439263e+02] [ 5.25064504e-02 9.98620585e-01 -1.79019573e-05 2.64992466e+00] [ 1.57290936e-02 -8.09095216e-04 9.99875963e-01 3.90191955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.64925415399998 meters Centerline goodness : 0.999505 Centerline is valid? [True, True] Translation: X:255.47, Y:2.65, Z:3.90 [[ 9.98472808e-01 -5.29527507e-02 -1.57498812e-02 2.55470856e+02] [ 5.29590657e-02 9.98596684e-01 -1.61416667e-05 2.65022379e+00] [ 1.57286339e-02 -8.17981978e-04 9.99875963e-01 3.90160858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.67925415399998 meters Centerline goodness : 0.999548 Centerline is valid? [True, True] Translation: X:255.50, Y:2.65, Z:3.90 [[ 9.98525480e-01 -5.19500469e-02 -1.57498826e-02 2.55503392e+02] [ 5.19562605e-02 9.98649361e-01 -1.46840473e-05 2.65046533e+00] [ 1.57293730e-02 -8.03642605e-04 9.99875963e-01 3.90206610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.70925415399998 meters Centerline goodness : 0.999505 Centerline is valid? [True, True] Translation: X:255.54, Y:2.65, Z:3.90 [[ 9.98622203e-01 -5.00563461e-02 -1.57498835e-02 2.55536335e+02] [ 5.00623430e-02 9.98746095e-01 -1.35250736e-05 2.65084599e+00] [ 1.57308117e-02 -7.74969633e-04 9.99875963e-01 3.90254295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.73925415399998 meters Centerline goodness : 0.999591 Centerline is valid? [True, True] Translation: X:255.57, Y:2.65, Z:3.90 [[ 9.98731658e-01 -4.78227597e-02 -1.57498849e-02 2.55567923e+02] [ 4.78285069e-02 9.98855562e-01 -1.17772176e-05 2.65212066e+00] [ 1.57324233e-02 -7.41531197e-04 9.99875963e-01 3.90352602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.76925415399998 meters Centerline goodness : 0.999397 Centerline is valid? [True, True] Translation: X:255.60, Y:2.65, Z:3.90 [[ 9.98869215e-01 -4.48579244e-02 -1.57498865e-02 2.55601413e+02] [ 4.48633491e-02 9.98993133e-01 -8.89645868e-06 2.65336532e+00] [ 1.57344275e-02 -6.97706258e-04 9.99875963e-01 3.90436193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.79925415399998 meters Centerline goodness : 0.999590 Centerline is valid? [True, True] Translation: X:255.63, Y:2.66, Z:3.91 [[ 9.99163621e-01 -3.77359121e-02 -1.57498873e-02 2.55632485e+02] [ 3.77404808e-02 9.99287574e-01 -7.15277754e-06 2.65591705e+00] [ 1.57389366e-02 -5.87261523e-04 9.99875963e-01 3.90514789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.82925415399998 meters Centerline goodness : 0.999589 Centerline is valid? [True, True] Translation: X:255.66, Y:2.66, Z:3.91 [[ 9.99296112e-01 -3.40473317e-02 -1.57498879e-02 2.55664613e+02] [ 3.40514754e-02 9.99420080e-01 -5.07705453e-06 2.65706296e+00] [ 1.57409271e-02 -5.31233441e-04 9.99875963e-01 3.90630481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.85925415399998 meters Centerline goodness : 0.999502 Centerline is valid? [True, True] Translation: X:255.70, Y:2.66, Z:3.91 [[ 9.99425852e-01 -2.99984400e-02 -1.57498882e-02 2.55696799e+02] [ 3.00020998e-02 9.99549836e-01 -3.91216491e-06 2.65790686e+00] [ 1.57429156e-02 -4.68619799e-04 9.99875963e-01 3.90683460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.88925415399996 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:255.73, Y:2.66, Z:3.91 [[ 9.99530520e-01 -2.62807853e-02 -1.57498884e-02 2.55729332e+02] [ 2.62840020e-02 9.99654516e-01 -2.75743249e-06 2.65858947e+00] [ 1.57445196e-02 -4.11213962e-04 9.99875963e-01 3.90740659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.91925415399996 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:255.76, Y:2.66, Z:3.91 [[ 9.99622928e-01 -2.24931544e-02 -1.57498886e-02 2.55759780e+02] [ 2.24959196e-02 9.99746935e-01 -1.59519182e-06 2.65918837e+00] [ 1.57459387e-02 -3.52713637e-04 9.99875963e-01 3.90730033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.94925415399996 meters Centerline goodness : 0.999565 Centerline is valid? [True, True] Translation: X:255.79, Y:2.66, Z:3.91 [[ 9.99752861e-01 -1.56894472e-02 -1.57498886e-02 2.55789132e+02] [ 1.56913729e-02 9.99876883e-01 -1.30809842e-06 2.66120282e+00] [ 1.57479700e-02 -2.45829599e-04 9.99875963e-01 3.90704325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.97925415399996 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:255.82, Y:2.66, Z:3.91 [[ 9.99798772e-01 -1.24240446e-02 -1.57498885e-02 2.55817719e+02] [ 1.24255608e-02 9.99922800e-01 -1.59142000e-06 2.66229217e+00] [ 1.57486924e-02 -1.94110098e-04 9.99875963e-01 3.90709003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.00925415399996 meters Centerline goodness : 0.999542 Centerline is valid? [True, True] Translation: X:255.85, Y:2.66, Z:3.91 [[ 9.99829298e-01 -9.65998611e-03 -1.57498872e-02 2.55845473e+02] [ 9.66109749e-03 9.99953331e-01 -5.52105658e-06 2.66341772e+00] [ 1.57492055e-02 -1.46641081e-04 9.99875963e-01 3.90756559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.03925415399996 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:255.87, Y:2.67, Z:3.91 [[ 9.99867412e-01 -4.13509461e-03 -1.57498842e-02 2.55872897e+02] [ 4.13544748e-03 9.99991449e-01 -1.01640838e-05 2.66524867e+00] [ 1.57497915e-02 -5.49700826e-05 9.99875963e-01 3.90647868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.06925415399996 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:255.90, Y:2.67, Z:3.91 [[ 9.99873818e-01 -2.07097767e-03 -1.57498826e-02 2.55899929e+02] [ 2.07104281e-03 9.99997855e-01 -1.21740372e-05 2.66594897e+00] [ 1.57498741e-02 -2.04461802e-05 9.99875963e-01 3.90603337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.09925415399996 meters Centerline goodness : 0.999584 Centerline is valid? [True, True] Translation: X:255.93, Y:2.67, Z:3.91 [[ 9.99875425e-01 1.03675856e-03 -1.57498809e-02 2.55927769e+02] [-1.03710988e-03 9.99999462e-01 -1.41385272e-05 2.66636519e+00] [ 1.57498577e-02 3.04711229e-05 9.99875963e-01 3.90653786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.12925415399997 meters Centerline goodness : 0.999649 Centerline is valid? [True, True] Translation: X:255.96, Y:2.67, Z:3.91 [[ 9.99874943e-01 1.42807449e-03 -1.57498753e-02 2.55955182e+02] [-1.42854724e-03 9.99998979e-01 -1.87655949e-05 2.66672528e+00] [ 1.57498325e-02 4.12626891e-05 9.99875963e-01 3.90711268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.15925415399997 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:255.98, Y:2.67, Z:3.91 [[ 9.99874510e-01 1.70442435e-03 -1.57498685e-02 2.55983434e+02] [-1.70500388e-03 9.99998546e-01 -2.33680216e-05 2.66681429e+00] [ 1.57498058e-02 5.02186761e-05 9.99875963e-01 3.90779068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.18925415399997 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:256.01, Y:2.67, Z:3.91 [[ 9.99875401e-01 1.06018584e-03 -1.57498658e-02 2.56009917e+02] [-1.06071260e-03 9.99999437e-01 -2.50916275e-05 2.66688223e+00] [ 1.57498303e-02 4.17945821e-05 9.99875963e-01 3.90826378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.21925415399997 meters Centerline goodness : 0.999629 Centerline is valid? [True, True] Translation: X:256.04, Y:2.67, Z:3.91 [[ 9.99875617e-01 8.32287772e-04 -1.57498623e-02 2.56037001e+02] [-8.32817672e-04 9.99999653e-01 -2.70859764e-05 2.66666202e+00] [ 1.57498343e-02 4.01993711e-05 9.99875963e-01 3.90914642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.24925415399997 meters Centerline goodness : 0.999585 Centerline is valid? [True, True] Translation: X:256.07, Y:2.67, Z:3.91 [[ 9.99874926e-01 -1.44120976e-03 -1.57497465e-02 2.56067316e+02] [ 1.44001048e-03 9.99998959e-01 -8.74862751e-05 2.66614280e+00] [ 1.57498562e-02 6.47955328e-05 9.99875961e-01 3.91010815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.27925415399997 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:256.10, Y:2.66, Z:3.91 [[ 9.99860028e-01 -5.64495133e-03 -1.57498557e-02 2.56095943e+02] [ 5.64518172e-03 9.99984065e-01 -2.98303298e-05 2.66452417e+00] [ 1.57497731e-02 -5.90846431e-05 9.99875963e-01 3.91193877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.30925415399997 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:256.12, Y:2.66, Z:3.91 [[ 9.99843421e-01 -8.06698003e-03 -1.57498534e-02 2.56123283e+02] [ 8.06749262e-03 9.99967457e-01 -3.09896586e-05 2.66373920e+00] [ 1.57495909e-02 -9.60770201e-05 9.99875963e-01 3.91286401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.33925415399997 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:256.15, Y:2.66, Z:3.91 [[ 9.99841017e-01 -8.35955752e-03 -1.57498492e-02 2.56151655e+02] [ 8.36007472e-03 9.99965053e-01 -3.30015449e-05 2.66386579e+00] [ 1.57495747e-02 -9.86736180e-05 9.99875963e-01 3.91331167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.36925415399998 meters Centerline goodness : 0.999566 Centerline is valid? [True, True] Translation: X:256.18, Y:2.66, Z:3.92 [[ 9.99779624e-01 -1.38797180e-02 -1.57498382e-02 2.56180622e+02] [ 1.38808474e-02 9.99903656e-01 -3.76103929e-05 2.66165160e+00] [ 1.57488428e-02 -1.81018996e-04 9.99875963e-01 3.91526138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.39925415399998 meters Centerline goodness : 0.999566 Centerline is valid? [True, True] Translation: X:256.21, Y:2.66, Z:3.92 [[ 9.99775508e-01 -1.41730827e-02 -1.57498354e-02 2.56208995e+02] [ 1.41742304e-02 9.99899540e-01 -3.87615098e-05 2.66178876e+00] [ 1.57488025e-02 -1.84488987e-04 9.99875963e-01 3.91570873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.42925415399998 meters Centerline goodness : 0.999565 Centerline is valid? [True, True] Translation: X:256.24, Y:2.66, Z:3.92 [[ 9.99729278e-01 -1.71264160e-02 -1.57498226e-02 2.56237309e+02] [ 1.71278573e-02 9.99853307e-01 -4.33832674e-05 2.66064125e+00] [ 1.57482552e-02 -2.26389191e-04 9.99875963e-01 3.91629310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.45925415399998 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:256.27, Y:2.66, Z:3.92 [[ 9.99672652e-01 -2.01626481e-02 -1.57498104e-02 2.56265908e+02] [ 2.01644022e-02 9.99796677e-01 -4.74389625e-05 2.65966660e+00] [ 1.57475646e-02 -2.70162078e-04 9.99875963e-01 3.91743707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.48925415399998 meters Centerline goodness : 0.999568 Centerline is valid? [True, True] Translation: X:256.30, Y:2.66, Z:3.92 [[ 9.99539734e-01 -2.59280476e-02 -1.57498078e-02 2.56295598e+02] [ 2.59305034e-02 9.99663747e-01 -4.83015936e-05 2.65724784e+00] [ 1.57457642e-02 -3.60121082e-04 9.99875963e-01 3.91758278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.51925415399998 meters Centerline goodness : 0.999546 Centerline is valid? [True, True] Translation: X:256.33, Y:2.66, Z:3.92 [[ 9.99466024e-01 -2.86288280e-02 -1.57498069e-02 2.56328255e+02] [ 2.86316144e-02 9.99590030e-01 -4.85868739e-05 2.65567990e+00] [ 1.57447409e-02 -4.02381468e-04 9.99875963e-01 3.91748597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.54925415399998 meters Centerline goodness : 0.999569 Centerline is valid? [True, True] Translation: X:256.36, Y:2.65, Z:3.92 [[ 9.99300551e-01 -3.39168329e-02 -1.57498104e-02 2.56360525e+02] [ 3.39202935e-02 9.99424540e-01 -4.74366123e-05 2.65284572e+00] [ 1.57423559e-02 -4.86834758e-04 9.99875963e-01 3.91614362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.57925415399998 meters Centerline goodness : 0.999548 Centerline is valid? [True, True] Translation: X:256.39, Y:2.65, Z:3.92 [[ 9.99221889e-01 -3.61602036e-02 -1.57498137e-02 2.56392612e+02] [ 3.61639606e-02 9.99345869e-01 -4.62927321e-05 2.65175370e+00] [ 1.57411852e-02 -5.23318931e-04 9.99875963e-01 3.91609146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.60925415399998 meters Centerline goodness : 0.999505 Centerline is valid? [True, True] Translation: X:256.42, Y:2.65, Z:3.92 [[ 9.99135992e-01 -3.84605449e-02 -1.57498171e-02 2.56424322e+02] [ 3.84646058e-02 9.99259962e-01 -4.51172442e-05 2.65101108e+00] [ 1.57398969e-02 -5.60732243e-04 9.99875963e-01 3.91598767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.63925415399996 meters Centerline goodness : 0.999569 Centerline is valid? [True, True] Translation: X:256.46, Y:2.65, Z:3.92 [[ 9.99047841e-01 -4.06860482e-02 -1.57498204e-02 2.56456302e+02] [ 4.06904037e-02 9.99171802e-01 -4.39394289e-05 2.65051017e+00] [ 1.57385641e-02 -5.96968958e-04 9.99875963e-01 3.91593587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.66925415399996 meters Centerline goodness : 0.999569 Centerline is valid? [True, True] Translation: X:256.49, Y:2.65, Z:3.92 [[ 9.98858675e-01 -4.50920246e-02 -1.57498236e-02 2.56487789e+02] [ 4.50969454e-02 9.98982614e-01 -4.27617469e-05 2.64940273e+00] [ 1.57357281e-02 -6.67555993e-04 9.99875963e-01 3.91547186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.69925415399996 meters Centerline goodness : 0.999441 Centerline is valid? [True, True] Translation: X:256.52, Y:2.65, Z:3.92 [[ 9.98770481e-01 -4.70049925e-02 -1.57498259e-02 2.56521286e+02] [ 4.70101644e-02 9.98894410e-01 -4.18842004e-05 2.64866116e+00] [ 1.57343818e-02 -6.98569203e-04 9.99875963e-01 3.91614970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.72925415399996 meters Centerline goodness : 0.999463 Centerline is valid? [True, True] Translation: X:256.55, Y:2.65, Z:3.92 [[ 9.98672837e-01 -4.90357796e-02 -1.57498304e-02 2.56554446e+02] [ 4.90412312e-02 9.98796754e-01 -4.01266278e-05 2.64775556e+00] [ 1.57328471e-02 -7.32317700e-04 9.99875963e-01 3.91649099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.75925415399996 meters Centerline goodness : 0.999506 Centerline is valid? [True, True] Translation: X:256.59, Y:2.65, Z:3.92 [[ 9.98571971e-01 -5.10486283e-02 -1.57498346e-02 2.56586165e+02] [ 5.10543572e-02 9.98695875e-01 -3.83780233e-05 2.64691670e+00] [ 1.57312540e-02 -7.65774466e-04 9.99875963e-01 3.91648314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.78925415399996 meters Centerline goodness : 0.999506 Centerline is valid? [True, True] Translation: X:256.62, Y:2.65, Z:3.92 [[ 9.98380010e-01 -5.46744681e-02 -1.57498380e-02 2.56619114e+02] [ 5.46806697e-02 9.98503892e-01 -3.69286050e-05 2.64556157e+00] [ 1.57282936e-02 -8.24342911e-04 9.99875963e-01 3.91731741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.81925415399996 meters Centerline goodness : 0.999463 Centerline is valid? [True, True] Translation: X:256.65, Y:2.65, Z:3.92 [[ 9.98288849e-01 -5.63144481e-02 -1.57498420e-02 2.56650822e+02] [ 5.63208809e-02 9.98412719e-01 -3.51660231e-05 2.64538185e+00] [ 1.57268229e-02 -8.51939126e-04 9.99875963e-01 3.91680721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.84925415399996 meters Centerline goodness : 0.999442 Centerline is valid? [True, True] Translation: X:256.68, Y:2.65, Z:3.92 [[ 9.98223862e-01 -5.74548908e-02 -1.57498451e-02 2.56683615e+02] [ 5.74614881e-02 9.98347723e-01 -3.37057141e-05 2.64502487e+00] [ 1.57257586e-02 -8.71363689e-04 9.99875963e-01 3.91842437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.87925415399997 meters Centerline goodness : 0.999506 Centerline is valid? [True, True] Translation: X:256.72, Y:2.64, Z:3.92 [[ 9.98192935e-01 -5.79897182e-02 -1.57498486e-02 2.56716146e+02] [ 5.79964092e-02 9.98316791e-01 -3.19720183e-05 2.64492991e+00] [ 1.57251924e-02 -8.81520422e-04 9.99875963e-01 3.91948410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.90925415399997 meters Centerline goodness : 0.999549 Centerline is valid? [True, True] Translation: X:256.75, Y:2.64, Z:3.92 [[ 9.98167717e-01 -5.84221790e-02 -1.57498509e-02 2.56748637e+02] [ 5.84289422e-02 9.98291570e-01 -3.07887469e-05 2.64476118e+00] [ 1.57247422e-02 -8.89514797e-04 9.99875963e-01 3.92042965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.93925415399997 meters Centerline goodness : 0.999335 Centerline is valid? [True, True] Translation: X:256.78, Y:2.64, Z:3.92 [[ 9.98162651e-01 -5.85086717e-02 -1.57498532e-02 2.56780188e+02] [ 5.85154643e-02 9.98286502e-01 -2.96041621e-05 2.64449875e+00] [ 1.57245979e-02 -8.92060202e-04 9.99875963e-01 3.92047050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.96925415399997 meters Centerline goodness : 0.999420 Centerline is valid? [True, True] Translation: X:256.81, Y:2.64, Z:3.92 [[ 9.98207684e-01 -5.77352800e-02 -1.57498548e-02 2.56812228e+02] [ 5.77419905e-02 9.98331539e-01 -2.87216055e-05 2.64354016e+00] [ 1.57252350e-02 -8.80757837e-04 9.99875963e-01 3.92093508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.99925415399997 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:256.84, Y:2.64, Z:3.92 [[ 9.98213258e-01 -5.76388259e-02 -1.57498568e-02 2.56844685e+02] [ 5.76455431e-02 9.98337113e-01 -2.75349284e-05 2.64352453e+00] [ 1.57252537e-02 -8.80423321e-04 9.99875963e-01 3.92106101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.02925415399997 meters Centerline goodness : 0.999380 Centerline is valid? [True, True] Translation: X:256.88, Y:2.64, Z:3.92 [[ 9.98262279e-01 -5.67834853e-02 -1.57498593e-02 2.56876840e+02] [ 5.67901196e-02 9.98386139e-01 -2.60565921e-05 2.64342773e+00] [ 1.57259208e-02 -8.68425080e-04 9.99875963e-01 3.92145020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.05925415399997 meters Centerline goodness : 0.999506 Centerline is valid? [True, True] Translation: X:256.91, Y:2.64, Z:3.92 [[ 9.98402390e-01 -5.42642640e-02 -1.57498611e-02 2.56909526e+02] [ 5.42706039e-02 9.98526265e-01 -2.48986190e-05 2.64348898e+00] [ 1.57280011e-02 -8.29895634e-04 9.99875963e-01 3.92063540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.08925415399997 meters Centerline goodness : 0.999593 Centerline is valid? [True, True] Translation: X:256.94, Y:2.64, Z:3.92 [[ 9.98523050e-01 -5.19967257e-02 -1.57498633e-02 2.56942203e+02] [ 5.20028069e-02 9.98646938e-01 -2.34588134e-05 2.64365031e+00] [ 1.57297725e-02 -7.95612933e-04 9.99875963e-01 3.92098932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.11925415399998 meters Centerline goodness : 0.999571 Centerline is valid? [True, True] Translation: X:256.97, Y:2.64, Z:3.92 [[ 9.98655068e-01 -4.93963229e-02 -1.57498653e-02 2.56973316e+02] [ 4.94021046e-02 9.98778970e-01 -2.19957424e-05 2.64394195e+00] [ 1.57317208e-02 -7.56110333e-04 9.99875963e-01 3.92047917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.14925415399998 meters Centerline goodness : 0.999485 Centerline is valid? [True, True] Translation: X:257.01, Y:2.64, Z:3.92 [[ 9.98969192e-01 -4.25734009e-02 -1.57498682e-02 2.57005915e+02] [ 4.25783724e-02 9.99093130e-01 -1.96853208e-05 2.64435875e+00] [ 1.57364232e-02 -6.50938724e-04 9.99875963e-01 3.92074724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.17925415399998 meters Centerline goodness : 0.999420 Centerline is valid? [True, True] Translation: X:257.04, Y:2.64, Z:3.92 [[ 9.99141167e-01 -3.83258299e-02 -1.57498696e-02 2.57036847e+02] [ 3.83302927e-02 9.99265124e-01 -1.85247171e-05 2.64478633e+00] [ 1.57390053e-02 -5.85188303e-04 9.99875963e-01 3.92094197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.20925415399998 meters Centerline goodness : 0.999527 Centerline is valid? [True, True] Translation: X:257.07, Y:2.65, Z:3.92 [[ 9.99307213e-01 -3.37199525e-02 -1.57498715e-02 2.57069399e+02] [ 3.37238733e-02 9.99431188e-01 -1.66585026e-05 2.64558991e+00] [ 1.57414746e-02 -5.14499710e-04 9.99875963e-01 3.92208874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.23925415399998 meters Centerline goodness : 0.999569 Centerline is valid? [True, True] Translation: X:257.10, Y:2.65, Z:3.92 [[ 9.99600351e-01 -2.34750679e-02 -1.57498727e-02 2.57101687e+02] [ 2.34777356e-02 9.99724360e-01 -1.55197162e-05 2.64698246e+00] [ 1.57458957e-02 -3.54257832e-04 9.99875963e-01 3.92464119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.26925415399998 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:257.13, Y:2.65, Z:3.93 [[ 9.99704892e-01 -1.84951271e-02 -1.57498737e-02 2.57132831e+02] [ 1.84971954e-02 9.99828912e-01 -1.43579791e-05 2.64777773e+00] [ 1.57474447e-02 -2.76974749e-04 9.99875963e-01 3.92602400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.29925415399998 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:257.16, Y:2.65, Z:3.93 [[ 9.99786448e-01 -1.33791090e-02 -1.57498742e-02 2.57161061e+02] [ 1.33805517e-02 9.99910476e-01 -1.37759066e-05 2.64841601e+00] [ 1.57486486e-02 -1.96969042e-04 9.99875963e-01 3.92615878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.32925415399998 meters Centerline goodness : 0.999482 Centerline is valid? [True, True] Translation: X:257.19, Y:2.65, Z:3.93 [[ 9.99837126e-01 -8.81271050e-03 -1.57498734e-02 2.57188689e+02] [ 8.81357313e-03 9.99961160e-01 -1.46404914e-05 2.64888503e+00] [ 1.57493907e-02 -1.24174554e-04 9.99875963e-01 3.92746003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.35925415399998 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:257.22, Y:2.65, Z:3.93 [[ 9.99865034e-01 -4.67492742e-03 -1.57498678e-02 2.57215855e+02] [ 4.67520449e-03 9.99989071e-01 -1.92277721e-05 2.64912805e+00] [ 1.57497856e-02 -5.44086757e-05 9.99875963e-01 3.92720137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.38925415399996 meters Centerline goodness : 0.999243 Centerline is valid? [True, True] Translation: X:257.24, Y:2.65, Z:3.93 [[ 9.99874997e-01 -1.38983663e-03 -1.57498652e-02 2.57243512e+02] [ 1.38967489e-03 9.99999034e-01 -2.12138878e-05 2.64893962e+00] [ 1.57498794e-02 -6.75956113e-07 9.99875963e-01 3.92875910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.41925415399996 meters Centerline goodness : 0.999438 Centerline is valid? [True, True] Translation: X:257.27, Y:2.65, Z:3.93 [[ 9.99871389e-01 3.02450388e-03 -1.57498577e-02 2.57271449e+02] [-3.02528500e-03 9.99995423e-01 -2.57706443e-05 2.64676067e+00] [ 1.57497077e-02 7.34151382e-05 9.99875963e-01 3.92916745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.44925415399996 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:257.30, Y:2.65, Z:3.93 [[ 9.99869676e-01 3.54582296e-03 -1.57498489e-02 2.57300716e+02] [-3.54674082e-03 9.99993710e-01 -3.03451970e-05 2.64532551e+00] [ 1.57496422e-02 8.62018742e-05 9.99875963e-01 3.92999806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.47925415399996 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:257.33, Y:2.64, Z:3.93 [[ 9.99870860e-01 3.19449986e-03 -1.57498465e-02 2.57328899e+02] [-3.19539253e-03 9.99994894e-01 -3.15132421e-05 2.64359779e+00] [ 1.57496655e-02 8.18361145e-05 9.99875963e-01 3.92947466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.50925415399996 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:257.36, Y:2.64, Z:3.93 [[ 9.99875819e-01 -5.37962655e-04 -1.57498435e-02 2.57357972e+02] [ 5.37510163e-04 9.99999855e-01 -3.29629952e-05 2.63961601e+00] [ 1.57498590e-02 2.44932008e-05 9.99875963e-01 3.92876482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.53925415399996 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:257.39, Y:2.64, Z:3.93 [[ 9.99870067e-01 -3.43401593e-03 -1.57498410e-02 2.57385647e+02] [ 3.43390466e-03 9.99994104e-01 -3.41083296e-05 2.63741835e+00] [ 1.57498653e-02 -1.99795548e-05 9.99875963e-01 3.92858747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.56925415399996 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:257.41, Y:2.64, Z:3.93 [[ 9.99852646e-01 -6.82847327e-03 -1.57498378e-02 2.57414039e+02] [ 6.82876071e-03 9.99976683e-01 -3.55294848e-05 2.63535880e+00] [ 1.57497132e-02 -7.20276243e-05 9.99875963e-01 3.92968032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.59925415399996 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:257.44, Y:2.63, Z:3.93 [[ 9.99821501e-01 -1.04359173e-02 -1.57498351e-02 2.57443053e+02] [ 1.04366341e-02 9.99945536e-01 -3.66855618e-05 2.63278308e+00] [ 1.57493602e-02 -1.27696252e-04 9.99875963e-01 3.92993135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.62925415399997 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:257.47, Y:2.63, Z:3.93 [[ 9.99780356e-01 -1.38268969e-02 -1.57498324e-02 2.57470637e+02] [ 1.38280162e-02 9.99904388e-01 -3.78394025e-05 2.62992021e+00] [ 1.57488497e-02 -1.79957846e-04 9.99875963e-01 3.93064309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.65925415399997 meters Centerline goodness : 0.999148 Centerline is valid? [True, True] Translation: X:257.50, Y:2.63, Z:3.93 [[ 9.99678811e-01 -1.98549001e-02 -1.57498280e-02 2.57498527e+02] [ 1.98567397e-02 9.99802835e-01 -3.95839502e-05 2.62529123e+00] [ 1.57475086e-02 -2.73168998e-04 9.99875963e-01 3.93117991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.68925415399997 meters Centerline goodness : 0.999106 Centerline is valid? [True, True] Translation: X:257.53, Y:2.62, Z:3.93 [[ 9.99631536e-01 -2.21073795e-02 -1.57498242e-02 2.57528490e+02] [ 2.21094758e-02 9.99755555e-01 -4.10269870e-05 2.62381853e+00] [ 1.57468812e-02 -3.07208487e-04 9.99875963e-01 3.93266136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.71925415399997 meters Centerline goodness : 0.999021 Centerline is valid? [True, True] Translation: X:257.56, Y:2.62, Z:3.93 [[ 9.99594402e-01 -2.37270713e-02 -1.57498227e-02 2.57558520e+02] [ 2.37293595e-02 9.99718418e-01 -4.16041311e-05 2.62268873e+00] [ 1.57463750e-02 -3.32145949e-04 9.99875963e-01 3.93357503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.74925415399997 meters Centerline goodness : 0.999064 Centerline is valid? [True, True] Translation: X:257.59, Y:2.62, Z:3.93 [[ 9.99574212e-01 -2.45629269e-02 -1.57498212e-02 2.57588373e+02] [ 2.45653098e-02 9.99698226e-01 -4.21778154e-05 2.62153600e+00] [ 1.57461043e-02 -3.44739380e-04 9.99875963e-01 3.93289173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.77925415399997 meters Centerline goodness : 0.999193 Centerline is valid? [True, True] Translation: X:257.62, Y:2.62, Z:3.94 [[ 9.99567044e-01 -2.48529391e-02 -1.57498204e-02 2.57618883e+02] [ 2.48553535e-02 9.99691057e-01 -4.24621874e-05 2.61927935e+00] [ 1.57460099e-02 -3.49023550e-04 9.99875963e-01 3.93606178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.80925415399997 meters Centerline goodness : 0.999236 Centerline is valid? [True, True] Translation: X:257.65, Y:2.62, Z:3.94 [[ 9.99580500e-01 -2.43057149e-02 -1.57498204e-02 2.57649426e+02] [ 2.43080613e-02 9.99704515e-01 -4.24621874e-05 2.61838158e+00] [ 1.57461986e-02 -3.40403225e-04 9.99875963e-01 3.93720534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.83925415399997 meters Centerline goodness : 0.999192 Centerline is valid? [True, True] Translation: X:257.68, Y:2.62, Z:3.94 [[ 9.99599538e-01 -2.35097089e-02 -1.57498204e-02 2.57679676e+02] [ 2.35119566e-02 9.99723555e-01 -4.24621874e-05 2.61744242e+00] [ 1.57464647e-02 -3.27863911e-04 9.99875963e-01 3.93823504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.86925415399998 meters Centerline goodness : 0.999088 Centerline is valid? [True, True] Translation: X:257.71, Y:2.62, Z:3.94 [[ 9.99624616e-01 -2.24180718e-02 -1.57498204e-02 2.57709334e+02] [ 2.24201841e-02 9.99748635e-01 -4.24621874e-05 2.61636087e+00] [ 1.57468134e-02 -3.10667624e-04 9.99875963e-01 3.93881798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.89925415399998 meters Centerline goodness : 0.999087 Centerline is valid? [True, True] Translation: X:257.74, Y:2.61, Z:3.94 [[ 9.99685617e-01 -1.95092416e-02 -1.57498196e-02 2.57738973e+02] [ 1.95109885e-02 9.99809642e-01 -4.27477117e-05 2.61468648e+00] [ 1.57476555e-02 -2.64560278e-04 9.99875963e-01 3.93993856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.92925415399998 meters Centerline goodness : 0.999152 Centerline is valid? [True, True] Translation: X:257.77, Y:2.61, Z:3.94 [[ 9.99712803e-01 -1.80624992e-02 -1.57498181e-02 2.57768433e+02] [ 1.80640577e-02 9.99836831e-01 -4.33122139e-05 2.61429882e+00] [ 1.57480305e-02 -2.41205848e-04 9.99875963e-01 3.94039155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.95925415399998 meters Centerline goodness : 0.998811 Centerline is valid? [True, True] Translation: X:257.80, Y:2.61, Z:3.94 [[ 9.99765101e-01 -1.48891162e-02 -1.57498165e-02 2.57797505e+02] [ 1.48902722e-02 9.99889133e-01 -4.38731702e-05 2.61345827e+00] [ 1.57487236e-02 -1.90656190e-04 9.99875963e-01 3.94008974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.98925415399998 meters Centerline goodness : 0.999045 Centerline is valid? [True, True] Translation: X:257.83, Y:2.61, Z:3.94 [[ 9.99789232e-01 -1.31695028e-02 -1.57498046e-02 2.57825874e+02] [ 1.31703836e-02 9.99913266e-01 -4.78010146e-05 2.61317283e+00] [ 1.57490680e-02 -1.59640027e-04 9.99875963e-01 3.94016056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.01925415399998 meters Centerline goodness : 0.998980 Centerline is valid? [True, True] Translation: X:257.85, Y:2.61, Z:3.94 [[ 9.99812927e-01 -1.12274395e-02 -1.57497897e-02 2.57853613e+02] [ 1.12280087e-02 9.99936963e-01 -5.22873128e-05 2.61259359e+00] [ 1.57493839e-02 -1.24561245e-04 9.99875963e-01 3.94048203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.04925415399998 meters Centerline goodness : 0.998807 Centerline is valid? [True, True] Translation: X:257.88, Y:2.61, Z:3.94 [[ 9.99837313e-01 -8.79162116e-03 -1.57497734e-02 2.57881632e+02] [ 8.79181703e-03 9.99961350e-01 -5.68043212e-05 2.61167012e+00] [ 1.57496641e-02 -8.16740460e-05 9.99875963e-01 3.94117789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.07925415399998 meters Centerline goodness : 0.999042 Centerline is valid? [True, True] Translation: X:257.91, Y:2.61, Z:3.94 [[ 9.99856739e-01 -6.20060895e-03 -1.57497555e-02 2.57909154e+02] [ 6.20041096e-03 9.99980775e-01 -6.14020126e-05 2.61106009e+00] [ 1.57498334e-02 -3.62617404e-05 9.99875963e-01 3.94054449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.10925415399998 meters Centerline goodness : 0.999063 Centerline is valid? [True, True] Translation: X:257.94, Y:2.61, Z:3.94 [[ 9.99875628e-01 -8.20815807e-04 -1.57497498e-02 2.57935834e+02] [ 8.19928056e-04 9.99999662e-01 -6.28231599e-05 2.60994860e+00] [ 1.57497960e-02 4.99016847e-05 9.99875963e-01 3.93895206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.13925415399996 meters Centerline goodness : 0.998891 Centerline is valid? [True, True] Translation: X:257.96, Y:2.61, Z:3.94 [[ 9.99875305e-01 1.14853755e-03 -1.57497418e-02 2.57964148e+02] [-1.14970015e-03 9.99999337e-01 -6.47628596e-05 2.60972364e+00] [ 1.57496570e-02 8.28622645e-05 9.99875963e-01 3.94200684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.16925415399996 meters Centerline goodness : 0.999147 Centerline is valid? [True, True] Translation: X:257.99, Y:2.61, Z:3.94 [[ 9.99871919e-01 2.84464517e-03 -1.57497216e-02 2.57991303e+02] [-2.84609053e-03 9.99995947e-01 -6.93576581e-05 2.60944542e+00] [ 1.57494605e-02 1.14173908e-04 9.99875963e-01 3.94207748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.19925415399996 meters Centerline goodness : 0.999062 Centerline is valid? [True, True] Translation: X:258.02, Y:2.61, Z:3.94 [[ 9.99869697e-01 3.54061373e-03 -1.57497126e-02 2.58019935e+02] [-3.54217676e-03 9.99993724e-01 -7.13473378e-05 2.60938617e+00] [ 1.57493611e-02 1.27126307e-04 9.99875963e-01 3.94336931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.22925415399996 meters Centerline goodness : 0.999254 Centerline is valid? [True, True] Translation: X:258.05, Y:2.61, Z:3.94 [[ 9.99871830e-01 2.87585439e-03 -1.57497073e-02 2.58047408e+02] [-2.87735290e-03 9.99995858e-01 -7.24858497e-05 2.60727973e+00] [ 1.57494336e-02 1.17794025e-04 9.99875963e-01 3.94273826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.25925415399996 meters Centerline goodness : 0.999254 Centerline is valid? [True, True] Translation: X:258.08, Y:2.61, Z:3.94 [[ 9.99872131e-01 2.76933442e-03 -1.57497007e-02 2.58075861e+02] [-2.77084199e-03 9.99996158e-01 -7.38999407e-05 2.60750378e+00] [ 1.57494355e-02 1.17530423e-04 9.99875963e-01 3.94318690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.28925415399996 meters Centerline goodness : 0.999232 Centerline is valid? [True, True] Translation: X:258.10, Y:2.61, Z:3.94 [[ 9.99875138e-01 1.28685393e-03 -1.57496926e-02 2.58103782e+02] [-1.28820403e-03 9.99999167e-01 -7.55776695e-05 2.60622631e+00] [ 1.57495823e-02 9.58570503e-05 9.99875963e-01 3.94215798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.31925415399996 meters Centerline goodness : 0.998998 Centerline is valid? [True, True] Translation: X:258.13, Y:2.61, Z:3.94 [[ 9.99875305e-01 -1.15009007e-03 -1.57496825e-02 2.58131500e+02] [ 1.14900973e-03 9.99999337e-01 -7.76430755e-05 2.60530312e+00] [ 1.57497613e-02 5.95368554e-05 9.99875963e-01 3.94453699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.34925415399996 meters Centerline goodness : 0.999024 Centerline is valid? [True, True] Translation: X:258.16, Y:2.60, Z:3.95 [[ 9.99852461e-01 -6.85594847e-03 -1.57496739e-02 2.58159750e+02] [ 6.85554924e-03 9.99976497e-01 -7.93383163e-05 2.60338877e+00] [ 1.57498477e-02 -2.86460544e-05 9.99875963e-01 3.94505778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.37925415399997 meters Centerline goodness : 0.999066 Centerline is valid? [True, True] Translation: X:258.19, Y:2.60, Z:3.95 [[ 9.99823748e-01 -1.02186893e-02 -1.57496667e-02 2.58187561e+02] [ 1.02186851e-02 9.99947785e-01 -8.07407192e-05 2.60234553e+00] [ 1.57496694e-02 -8.02143966e-05 9.99875963e-01 3.94577594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.40925415399997 meters Centerline goodness : 0.998983 Centerline is valid? [True, True] Translation: X:258.22, Y:2.60, Z:3.95 [[ 9.99788699e-01 -1.32100479e-02 -1.57496596e-02 2.58216465e+02] [ 1.32103934e-02 9.99912736e-01 -8.21007053e-05 2.60106435e+00] [ 1.57493698e-02 -1.25975843e-04 9.99875963e-01 3.94825316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.43925415399997 meters Centerline goodness : 0.999088 Centerline is valid? [True, True] Translation: X:258.24, Y:2.60, Z:3.95 [[ 9.99745324e-01 -1.61627778e-02 -1.57496535e-02 2.58244096e+02] [ 1.61634715e-02 9.99869359e-01 -8.32551508e-05 2.59969559e+00] [ 1.57489416e-02 -1.71335128e-04 9.99875963e-01 3.94871515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.46925415399997 meters Centerline goodness : 0.999172 Centerline is valid? [True, True] Translation: X:258.27, Y:2.60, Z:3.95 [[ 9.99706920e-01 -1.83854303e-02 -1.57496278e-02 2.58271468e+02] [ 1.83863271e-02 9.99830953e-01 -8.78703852e-05 2.59848110e+00] [ 1.57485809e-02 -2.01733176e-04 9.99875963e-01 3.94894976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.49925415399997 meters Centerline goodness : 0.998921 Centerline is valid? [True, True] Translation: X:258.30, Y:2.60, Z:3.95 [[ 9.99666203e-01 -2.04800249e-02 -1.57496197e-02 2.58298986e+02] [ 2.04811590e-02 9.99790235e-01 -8.92987897e-05 2.59614060e+00] [ 1.57481448e-02 -2.33301483e-04 9.99875963e-01 3.94924132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.52925415399997 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:258.33, Y:2.60, Z:3.95 [[ 9.99661572e-01 -2.07048507e-02 -1.57496116e-02 2.58327924e+02] [ 2.07059905e-02 9.99785604e-01 -9.07063414e-05 2.59551424e+00] [ 1.57481130e-02 -2.35435664e-04 9.99875963e-01 3.95030770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.55925415399997 meters Centerline goodness : 0.998921 Centerline is valid? [True, True] Translation: X:258.36, Y:2.59, Z:3.95 [[ 9.99681701e-01 -1.97090815e-02 -1.57495877e-02 2.58356880e+02] [ 1.97100353e-02 9.99805734e-01 -9.46764566e-05 2.59479299e+00] [ 1.57483941e-02 -2.15778608e-04 9.99875963e-01 3.95060870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.58925415399997 meters Centerline goodness : 0.999008 Centerline is valid? [True, True] Translation: X:258.39, Y:2.59, Z:3.95 [[ 9.99706009e-01 -1.84349256e-02 -1.57495826e-02 2.58385926e+02] [ 1.84357080e-02 9.99830043e-01 -9.55198063e-05 2.59408959e+00] [ 1.57486668e-02 -1.94862982e-04 9.99875963e-01 3.95247134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.61925415399998 meters Centerline goodness : 0.998986 Centerline is valid? [True, True] Translation: X:258.41, Y:2.59, Z:3.95 [[ 9.99781676e-01 -1.37314130e-02 -1.57495573e-02 2.58414756e+02] [ 1.37315488e-02 9.99905713e-01 -9.95201593e-05 2.59189278e+00] [ 1.57494389e-02 -1.16767384e-04 9.99875963e-01 3.95463972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.64925415399998 meters Centerline goodness : 0.999007 Centerline is valid? [True, True] Translation: X:258.44, Y:2.59, Z:3.96 [[ 9.99811853e-01 -1.13230663e-02 -1.57495302e-02 2.58442744e+02] [ 1.13228385e-02 9.99935889e-01 -1.03639449e-04 2.59125258e+00] [ 1.57496940e-02 -7.47094376e-05 9.99875963e-01 3.95536447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.67925415399998 meters Centerline goodness : 0.998968 Centerline is valid? [True, True] Translation: X:258.47, Y:2.59, Z:3.96 [[ 9.99858542e-01 -5.90329082e-03 -1.57494981e-02 2.58470790e+02] [ 5.90231713e-03 9.99982575e-01 -1.08305676e-04 2.58977424e+00] [ 1.57498631e-02 1.53318227e-05 9.99875963e-01 3.95643770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.70925415399998 meters Centerline goodness : 0.998968 Centerline is valid? [True, True] Translation: X:258.50, Y:2.59, Z:3.96 [[ 9.99856752e-01 -6.19914481e-03 -1.57494647e-02 2.58499184e+02] [ 6.19813431e-03 9.99980785e-01 -1.12971893e-04 2.59004118e+00] [ 1.57498624e-02 1.53384126e-05 9.99875963e-01 3.95688630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.73925415399998 meters Centerline goodness : 0.999030 Centerline is valid? [True, True] Translation: X:258.53, Y:2.59, Z:3.96 [[ 9.99875619e-01 -8.38002051e-04 -1.57494299e-02 2.58526229e+02] [ 8.36253137e-04 9.99999643e-01 -1.17631508e-04 2.58856668e+00] [ 1.57495228e-02 1.04446367e-04 9.99875963e-01 3.95712730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.76925415399998 meters Centerline goodness : 0.998989 Centerline is valid? [True, True] Translation: X:258.55, Y:2.59, Z:3.96 [[ 9.99875444e-01 1.02552952e-03 -1.57494145e-02 2.58553740e+02] [-1.02754136e-03 9.99999465e-01 -1.19648964e-04 2.58774001e+00] [ 1.57492834e-02 1.35817236e-04 9.99875963e-01 3.95717102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.79925415399998 meters Centerline goodness : 0.999348 Centerline is valid? [True, True] Translation: X:258.58, Y:2.59, Z:3.96 [[ 9.99872351e-01 2.69046480e-03 -1.57493784e-02 2.58581332e+02] [-2.69275529e-03 9.99996367e-01 -1.24229732e-04 2.58641974e+00] [ 1.57489869e-02 1.66623096e-04 9.99875963e-01 3.95712151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.82925415399998 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:258.61, Y:2.58, Z:3.96 [[ 9.99864032e-01 4.88618810e-03 -1.57493407e-02 2.58609247e+02] [-4.88882345e-03 9.99988041e-01 -1.28834897e-04 2.58282417e+00] [ 1.57485229e-02 2.05813126e-04 9.99875963e-01 3.95614750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.85925415399998 meters Centerline goodness : 0.999390 Centerline is valid? [True, True] Translation: X:258.64, Y:2.58, Z:3.96 [[ 9.99862766e-01 5.13889784e-03 -1.57493290e-02 2.58637719e+02] [-5.14158697e-03 9.99986773e-01 -1.30259328e-04 2.58070323e+00] [ 1.57484513e-02 2.11217996e-04 9.99875963e-01 3.95666778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.88925415399996 meters Centerline goodness : 0.999095 Centerline is valid? [True, True] Translation: X:258.67, Y:2.58, Z:3.96 [[ 9.99865175e-01 4.64655355e-03 -1.57493193e-02 2.58666277e+02] [-4.64919992e-03 9.99989184e-01 -1.31421886e-04 2.57877202e+00] [ 1.57485382e-02 2.04625901e-04 9.99875963e-01 3.95673327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.91925415399996 meters Centerline goodness : 0.999306 Centerline is valid? [True, True] Translation: X:258.70, Y:2.57, Z:3.96 [[ 9.99871839e-01 2.87472251e-03 -1.57493095e-02 2.58695485e+02] [-2.87716738e-03 9.99995852e-01 -1.32581174e-04 2.57430941e+00] [ 1.57488630e-02 1.77877582e-04 9.99875963e-01 3.95652464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.94925415399996 meters Centerline goodness : 0.999222 Centerline is valid? [True, True] Translation: X:258.72, Y:2.57, Z:3.96 [[ 9.99874845e-01 1.50097253e-03 -1.57492997e-02 2.58724449e+02] [-1.50326517e-03 9.99998861e-01 -1.33733364e-04 2.57214780e+00] [ 1.57490810e-02 1.57392000e-04 9.99875963e-01 3.95689754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.97925415399996 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:258.75, Y:2.57, Z:3.96 [[ 9.99875972e-01 -2.00265269e-06 -1.57492898e-02 2.58753058e+02] [-1.21739484e-07 9.99999991e-01 -1.34887165e-04 2.56963148e+00] [ 1.57492900e-02 1.34872353e-04 9.99875963e-01 3.95724738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.00925415399996 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:258.78, Y:2.57, Z:3.96 [[ 9.99874351e-01 -1.80073817e-03 -1.57492799e-02 2.58780800e+02] [ 1.79881871e-03 9.99998373e-01 -1.36041464e-04 2.56714136e+00] [ 1.57494992e-02 1.07694271e-04 9.99875963e-01 3.95747123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.03925415399996 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:258.81, Y:2.56, Z:3.96 [[ 9.99858586e-01 -5.89655723e-03 -1.57492648e-02 2.58808165e+02] [ 5.89511873e-03 9.99982614e-01 -1.37761128e-04 2.56148977e+00] [ 1.57498033e-02 4.48978607e-05 9.99875963e-01 3.95825271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.06925415399996 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:258.84, Y:2.56, Z:3.96 [[ 9.99839073e-01 -8.59004620e-03 -1.57492472e-02 2.58836862e+02] [ 8.58891047e-03 9.99963105e-01 -1.39751799e-04 2.55858322e+00] [ 1.57498666e-02 4.46043557e-06 9.99875963e-01 3.95922564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.09925415399996 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:258.87, Y:2.56, Z:3.96 [[ 9.99808462e-01 -1.16189646e-02 -1.57492369e-02 2.58865341e+02] [ 1.16181866e-02 9.99932497e-01 -1.40900161e-04 2.55576160e+00] [ 1.57498109e-02 -4.21043989e-05 9.99875963e-01 3.96003613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.12925415399997 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:258.89, Y:2.55, Z:3.96 [[ 9.99766911e-01 -1.47677189e-02 -1.57492265e-02 2.58894445e+02] [ 1.47673135e-02 9.99890947e-01 -1.42045451e-04 2.55264141e+00] [ 1.57496067e-02 -9.05614236e-05 9.99875963e-01 3.96114723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.15925415399997 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:258.92, Y:2.55, Z:3.96 [[ 9.99647706e-01 -2.13641193e-02 -1.57492162e-02 2.58922738e+02] [ 2.13645143e-02 9.99771742e-01 -1.43188056e-04 2.54685414e+00] [ 1.57486804e-02 -1.93336741e-04 9.99875963e-01 3.96219426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.18925415399997 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:258.95, Y:2.54, Z:3.96 [[ 9.99572935e-01 -2.46152384e-02 -1.57492018e-02 2.58950924e+02] [ 2.46160123e-02 9.99696970e-01 -1.44745566e-04 2.54429563e+00] [ 1.57479923e-02 -2.42998796e-04 9.99875963e-01 3.96295595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.21925415399997 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:258.98, Y:2.54, Z:3.96 [[ 9.99487257e-01 -2.78780650e-02 -1.57491591e-02 2.58979637e+02] [ 2.78791727e-02 9.99611289e-01 -1.49253447e-04 2.54191057e+00] [ 1.57471982e-02 -2.89896609e-04 9.99875963e-01 3.96400112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.24925415399997 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:259.01, Y:2.54, Z:3.96 [[ 9.99405488e-01 -3.06697980e-02 -1.57491199e-02 2.59008278e+02] [ 3.06711886e-02 9.99529517e-01 -1.53284433e-04 2.53916828e+00] [ 1.57464114e-02 -3.29850924e-04 9.99875963e-01 3.96395845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.27925415399997 meters Centerline goodness : 0.999375 Centerline is valid? [True, True] Translation: X:259.04, Y:2.53, Z:3.96 [[ 9.99210693e-01 -3.64685619e-02 -1.57491115e-02 2.59038418e+02] [ 3.64706588e-02 9.99334712e-01 -1.54140233e-04 2.53344712e+00] [ 1.57442551e-02 -4.20361904e-04 9.99875963e-01 3.96489333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.30925415399997 meters Centerline goodness : 0.999583 Centerline is valid? [True, True] Translation: X:259.07, Y:2.53, Z:3.97 [[ 9.99105080e-01 -3.92556356e-02 -1.57491059e-02 2.59068858e+02] [ 3.92580693e-02 9.99229093e-01 -1.54715244e-04 2.53069663e+00] [ 1.57430382e-02 -4.63702704e-04 9.99875963e-01 3.96505589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.33925415399997 meters Centerline goodness : 0.999417 Centerline is valid? [True, True] Translation: X:259.10, Y:2.53, Z:3.97 [[ 9.98978794e-01 -4.23477916e-02 -1.57491059e-02 2.59099239e+02] [ 4.23506092e-02 9.99102799e-01 -1.54715244e-04 2.52823091e+00] [ 1.57415276e-02 -5.12426979e-04 9.99875963e-01 3.96505177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.36925415399998 meters Centerline goodness : 0.999500 Centerline is valid? [True, True] Translation: X:259.13, Y:2.53, Z:3.97 [[ 9.98838422e-01 -4.55386889e-02 -1.57491087e-02 2.59130202e+02] [ 4.55419070e-02 9.98962417e-01 -1.54430815e-04 2.52583648e+00] [ 1.57398002e-02 -5.62993011e-04 9.99875963e-01 3.96575508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.39925415399998 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:259.16, Y:2.52, Z:3.97 [[ 9.98546993e-01 -5.15351207e-02 -1.57491143e-02 2.59161119e+02] [ 5.15390923e-02 9.98670966e-01 -1.53856566e-04 2.52149063e+00] [ 1.57361122e-02 -6.58062043e-04 9.99875963e-01 3.96607629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.42925415399998 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:259.19, Y:2.52, Z:3.97 [[ 9.98453899e-01 -5.33083197e-02 -1.57491199e-02 2.59193789e+02] [ 5.33125206e-02 9.98577865e-01 -1.53274461e-04 2.51865311e+00] [ 1.57348934e-02 -6.86587798e-04 9.99875963e-01 3.96713042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.45925415399998 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:259.22, Y:2.52, Z:3.97 [[ 9.98228043e-01 -5.73820763e-02 -1.57503156e-02 2.59222725e+02] [ 5.73887415e-02 9.98351908e-01 -2.88384747e-05 2.51824086e+00] [ 1.57260124e-02 -8.75103415e-04 9.99875956e-01 3.96647123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.48925415399998 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:259.25, Y:2.52, Z:3.97 [[ 9.98080538e-01 -5.98932873e-02 -1.57490661e-02 2.59254415e+02] [ 5.98982717e-02 9.98204474e-01 -1.55444011e-04 2.51670794e+00] [ 1.57300983e-02 -7.88196198e-04 9.99875964e-01 3.96622934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.51925415399998 meters Centerline goodness : 0.999522 Centerline is valid? [True, True] Translation: X:259.29, Y:2.52, Z:3.97 [[ 9.97958269e-01 -6.18971674e-02 -1.57490746e-02 2.59285221e+02] [ 6.19024143e-02 9.98082195e-01 -1.54575981e-04 2.51556177e+00] [ 1.57284388e-02 -8.20645363e-04 9.99875964e-01 3.96537770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.54925415399998 meters Centerline goodness : 0.999397 Centerline is valid? [True, True] Translation: X:259.32, Y:2.51, Z:3.97 [[ 9.97779445e-01 -6.47158764e-02 -1.57490924e-02 2.59317800e+02] [ 6.47215023e-02 9.97903354e-01 -1.52739355e-04 2.51452329e+00] [ 1.57259568e-02 -8.66904732e-04 9.99875964e-01 3.96632755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.57925415399998 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:259.35, Y:2.51, Z:3.97 [[ 9.97717425e-01 -6.56650946e-02 -1.57491032e-02 2.59349759e+02] [ 6.56708560e-02 9.97841328e-01 -1.51615786e-04 2.51487082e+00] [ 1.57250620e-02 -8.82987380e-04 9.99875964e-01 3.96743670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.60925415399998 meters Centerline goodness : 0.999542 Centerline is valid? [True, True] Translation: X:259.38, Y:2.52, Z:3.97 [[ 9.97713935e-01 -6.57181042e-02 -1.57491142e-02 2.59380643e+02] [ 6.57238903e-02 9.97837836e-01 -1.50466067e-04 2.51521651e+00] [ 1.57249504e-02 -8.84970964e-04 9.99875964e-01 3.96743886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.63925415399996 meters Centerline goodness : 0.999584 Centerline is valid? [True, True] Translation: X:259.41, Y:2.52, Z:3.97 [[ 9.97724835e-01 -6.55524137e-02 -1.57491224e-02 2.59413177e+02] [ 6.55581927e-02 9.97848737e-01 -1.49609225e-04 2.51609746e+00] [ 1.57250491e-02 -8.83215159e-04 9.99875964e-01 3.96864574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.66925415399996 meters Centerline goodness : 0.999562 Centerline is valid? [True, True] Translation: X:259.44, Y:2.52, Z:3.97 [[ 9.97797790e-01 -6.44324028e-02 -1.57491333e-02 2.59444381e+02] [ 6.44380609e-02 9.97921697e-01 -1.48450936e-04 2.51762734e+00] [ 1.57259669e-02 -8.66719594e-04 9.99875964e-01 3.96842473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.69925415399996 meters Centerline goodness : 0.999562 Centerline is valid? [True, True] Translation: X:259.48, Y:2.52, Z:3.97 [[ 9.97844246e-01 -6.37089114e-02 -1.57491414e-02 2.59476075e+02] [ 6.37144932e-02 9.97968157e-01 -1.47587378e-04 2.51855264e+00] [ 1.57265442e-02 -8.56179345e-04 9.99875964e-01 3.96912808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.72925415399996 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:259.51, Y:2.52, Z:3.97 [[ 9.97859391e-01 -6.34712560e-02 -1.57491521e-02 2.59506835e+02] [ 6.34768266e-02 9.97983302e-01 -1.46431081e-04 2.52081293e+00] [ 1.57266850e-02 -8.53588569e-04 9.99875964e-01 3.96914835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.75925415399996 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:259.54, Y:2.52, Z:3.97 [[ 9.97822173e-01 -6.40536952e-02 -1.57491601e-02 2.59537673e+02] [ 6.40593516e-02 9.97946080e-01 -1.45569463e-04 2.52233180e+00] [ 1.57261368e-02 -8.63628546e-04 9.99875964e-01 3.96907253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.78925415399996 meters Centerline goodness : 0.999399 Centerline is valid? [True, True] Translation: X:259.57, Y:2.52, Z:3.97 [[ 9.97791681e-01 -6.45269287e-02 -1.57491679e-02 2.59568900e+02] [ 6.45326573e-02 9.97915585e-01 -1.44714262e-04 2.52336907e+00] [ 1.57256781e-02 -8.71940971e-04 9.99875964e-01 3.96896008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.81925415399996 meters Centerline goodness : 0.999520 Centerline is valid? [True, True] Translation: X:259.60, Y:2.52, Z:3.97 [[ 9.97715994e-01 -6.56868304e-02 -1.57491756e-02 2.59600761e+02] [ 6.56927164e-02 9.97839890e-01 -1.43871873e-04 2.52439035e+00] [ 1.57246062e-02 -8.91062860e-04 9.99875964e-01 3.96928945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.84925415399996 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:259.63, Y:2.53, Z:3.97 [[ 9.97589860e-01 -6.75753953e-02 -1.57491856e-02 2.59631458e+02] [ 6.75815332e-02 9.97713745e-01 -1.42769780e-04 2.52705938e+00] [ 1.57228267e-02 -9.21928426e-04 9.99875964e-01 3.97093317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.87925415399997 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:259.66, Y:2.53, Z:3.97 [[ 9.97536826e-01 -6.83538063e-02 -1.57491930e-02 2.59663686e+02] [ 6.83600537e-02 9.97660705e-01 -1.41947124e-04 2.52883001e+00] [ 1.57220537e-02 -9.35018199e-04 9.99875964e-01 3.97414783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.90925415399997 meters Centerline goodness : 0.999521 Centerline is valid? [True, True] Translation: X:259.70, Y:2.53, Z:3.98 [[ 9.97506218e-01 -6.87990343e-02 -1.57492036e-02 2.59696188e+02] [ 6.88053555e-02 9.97630093e-01 -1.40770004e-04 2.53088575e+00] [ 1.57215643e-02 -9.43210596e-04 9.99875964e-01 3.97531717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.93925415399997 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:259.73, Y:2.53, Z:3.98 [[ 9.97531133e-01 -6.84368461e-02 -1.57492140e-02 2.59726338e+02] [ 6.84431410e-02 9.97655009e-01 -1.39588475e-04 2.53337784e+00] [ 1.57218353e-02 -9.38681827e-04 9.99875964e-01 3.97595090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.96925415399997 meters Centerline goodness : 0.999542 Centerline is valid? [True, True] Translation: X:259.76, Y:2.53, Z:3.98 [[ 9.97514409e-01 -6.86803482e-02 -1.57484511e-02 2.59759497e+02] [ 6.86853284e-02 9.97638349e-01 -2.25066412e-04 2.53472057e+00] [ 1.57267164e-02 -8.57180547e-04 9.99875960e-01 3.97672643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.99925415399997 meters Centerline goodness : 0.999396 Centerline is valid? [True, True] Translation: X:259.79, Y:2.54, Z:3.98 [[ 9.97653044e-01 -6.66360715e-02 -1.57492171e-02 2.59788381e+02] [ 6.66421825e-02 9.97776929e-01 -1.37061614e-04 2.53949494e+00] [ 1.57233387e-02 -9.12822260e-04 9.99875964e-01 3.97747920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.02925415399997 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:259.82, Y:2.54, Z:3.98 [[ 9.97749983e-01 -6.51687234e-02 -1.57483109e-02 2.59823110e+02] [ 6.51730218e-02 9.97873950e-01 -2.40660983e-04 2.54068264e+00] [ 1.57305128e-02 -7.86245520e-04 9.99875959e-01 3.97794922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.05925415399997 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:259.85, Y:2.54, Z:3.98 [[ 9.97913211e-01 -6.26193649e-02 -1.57492210e-02 2.59854821e+02] [ 6.26250491e-02 9.98037116e-01 -1.32487400e-04 2.54270087e+00] [ 1.57266034e-02 -8.54084812e-04 9.99875965e-01 3.97860947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.08925415399997 meters Centerline goodness : 0.999479 Centerline is valid? [True, True] Translation: X:259.89, Y:2.54, Z:3.98 [[ 9.98097244e-01 -5.96142114e-02 -1.57492309e-02 2.59886729e+02] [ 5.96195411e-02 9.98221164e-01 -1.31302997e-04 2.54495603e+00] [ 1.57290431e-02 -8.07908759e-04 9.99875965e-01 3.97876191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.11925415399998 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:259.92, Y:2.55, Z:3.98 [[ 9.98302431e-01 -5.60733304e-02 -1.57492406e-02 2.59918084e+02] [ 5.60782390e-02 9.98426369e-01 -1.30125225e-04 2.54767458e+00] [ 1.57317537e-02 -7.53285351e-04 9.99875965e-01 3.97889553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.14925415399998 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:259.95, Y:2.55, Z:3.98 [[ 9.98306580e-01 -5.59994020e-02 -1.57492556e-02 2.59950764e+02] [ 5.60043303e-02 9.98430518e-01 -1.28290119e-04 2.54788076e+00] [ 1.57317216e-02 -7.53953641e-04 9.99875965e-01 3.97940988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.17925415399998 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:259.98, Y:2.55, Z:3.98 [[ 9.98718095e-01 -4.81053808e-02 -1.57492650e-02 2.59982981e+02] [ 4.81093475e-02 9.98842067e-01 -1.27124134e-04 2.55369789e+00] [ 1.57371437e-02 -6.30725690e-04 9.99875965e-01 3.98092695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.20925415399998 meters Centerline goodness : 0.999125 Centerline is valid? [True, True] Translation: X:260.01, Y:2.56, Z:3.98 [[ 9.98916462e-01 -4.37934116e-02 -1.57492743e-02 2.60014919e+02] [ 4.37968614e-02 9.99040449e-01 -1.25962441e-04 2.55660501e+00] [ 1.57396784e-02 -5.63942826e-04 9.99875965e-01 3.98157786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.23925415399998 meters Centerline goodness : 0.999210 Centerline is valid? [True, True] Translation: X:260.05, Y:2.56, Z:3.98 [[ 9.99083697e-01 -3.97960501e-02 -1.57492835e-02 2.60046413e+02] [ 3.97990220e-02 9.99207697e-01 -1.24802882e-04 2.55924342e+00] [ 1.57417719e-02 -5.02117554e-04 9.99875965e-01 3.98288049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.26925415399998 meters Centerline goodness : 0.999062 Centerline is valid? [True, True] Translation: X:260.08, Y:2.56, Z:3.98 [[ 9.99357734e-01 -3.21882030e-02 -1.57492880e-02 2.60076309e+02] [ 3.21902398e-02 9.99481752e-01 -1.24221844e-04 2.56334472e+00] [ 1.57451245e-02 -3.82831299e-04 9.99875965e-01 3.98359036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.29925415399998 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:260.11, Y:2.57, Z:3.98 [[ 9.99421477e-01 -3.01441840e-02 -1.57492954e-02 2.60107121e+02] [ 3.01459820e-02 9.99545499e-01 -1.23278070e-04 2.56576169e+00] [ 1.57458535e-02 -3.51571226e-04 9.99875965e-01 3.98387980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.32925415399998 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:260.14, Y:2.57, Z:3.98 [[ 9.99501312e-01 -2.73694391e-02 -1.57492976e-02 2.60136794e+02] [ 2.73708973e-02 9.99625339e-01 -1.22994420e-04 2.56762645e+00] [ 1.57467633e-02 -3.08139324e-04 9.99875965e-01 3.98383724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.35925415399998 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:260.17, Y:2.57, Z:3.98 [[ 9.99518958e-01 -2.67174379e-02 -1.57489872e-02 2.60166863e+02] [ 2.67181988e-02 9.99642992e-01 -1.62126181e-04 2.56932069e+00] [ 1.57476963e-02 -2.58736380e-04 9.99875964e-01 3.98449306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.38925415399996 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:260.20, Y:2.57, Z:3.99 [[ 9.99550910e-01 -2.54938932e-02 -1.57492762e-02 2.60196869e+02] [ 2.54950712e-02 9.99674940e-01 -1.26005697e-04 2.57151855e+00] [ 1.57473691e-02 -2.75579809e-04 9.99875965e-01 3.98583463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.41925415399996 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:260.23, Y:2.57, Z:3.99 [[ 9.99533872e-01 -2.61533760e-02 -1.57492715e-02 2.60225762e+02] [ 2.61546267e-02 9.99657901e-01 -1.26590440e-04 2.57259153e+00] [ 1.57471945e-02 -2.85384884e-04 9.99875965e-01 3.98518832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.44925415399996 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:260.25, Y:2.57, Z:3.99 [[ 9.99511320e-01 -2.70015320e-02 -1.57492645e-02 2.60254115e+02] [ 2.70028742e-02 9.99635348e-01 -1.27460229e-04 2.57332992e+00] [ 1.57469631e-02 -2.97877465e-04 9.99875965e-01 3.98551208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.47925415399996 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:260.28, Y:2.57, Z:3.99 [[ 9.99475792e-01 -2.82860905e-02 -1.57492559e-02 2.60283814e+02] [ 2.82875755e-02 9.99599818e-01 -1.28513057e-04 2.57377406e+00] [ 1.57465884e-02 -3.17062576e-04 9.99875965e-01 3.98608270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.50925415399996 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:260.31, Y:2.58, Z:3.99 [[ 9.99423468e-01 -3.00781043e-02 -1.57492537e-02 2.60313410e+02] [ 3.00798075e-02 9.99547492e-01 -1.28782173e-04 2.57530889e+00] [ 1.57460005e-02 -3.45026593e-04 9.99875965e-01 3.99015468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.53925415399996 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:260.34, Y:2.57, Z:3.99 [[ 9.99301346e-01 -3.38940466e-02 -1.57484342e-02 2.60344144e+02] [ 3.38946898e-02 9.99425384e-01 -2.26143183e-04 2.57455213e+00] [ 1.57470498e-02 -3.07803103e-04 9.99875960e-01 3.98940611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.56925415399996 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:260.37, Y:2.57, Z:3.99 [[ 9.99238041e-01 -3.57113340e-02 -1.57492240e-02 2.60374791e+02] [ 3.57136901e-02 9.99362054e-01 -1.31715975e-04 2.57474778e+00] [ 1.57438806e-02 -4.30847291e-04 9.99875965e-01 3.98822354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.59925415399996 meters Centerline goodness : 0.999226 Centerline is valid? [True, True] Translation: X:260.41, Y:2.57, Z:3.99 [[ 9.99173907e-01 -3.74628460e-02 -1.57492263e-02 2.60405910e+02] [ 3.74654239e-02 9.99297916e-01 -1.31432447e-04 2.57491551e+00] [ 1.57430929e-02 -4.58727569e-04 9.99875965e-01 3.98996917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.62925415399997 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:260.44, Y:2.58, Z:3.99 [[ 9.99052382e-01 -4.05746260e-02 -1.57492311e-02 2.60436328e+02] [ 4.05775992e-02 9.99176381e-01 -1.30857146e-04 2.57516560e+00] [ 1.57415692e-02 -5.08332844e-04 9.99875965e-01 3.98960043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.65925415399997 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:260.47, Y:2.58, Z:3.99 [[ 9.99010170e-01 -4.16009826e-02 -1.57492335e-02 2.60468102e+02] [ 4.16040876e-02 9.99134167e-01 -1.30571806e-04 2.57525482e+00] [ 1.57410292e-02 -5.24789928e-04 9.99875965e-01 3.99016856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.68925415399997 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:260.50, Y:2.58, Z:3.99 [[ 9.98988745e-01 -4.21123403e-02 -1.57492382e-02 2.60499409e+02] [ 4.21155178e-02 9.99112740e-01 -1.29997058e-04 2.57502667e+00] [ 1.57407390e-02 -5.33421725e-04 9.99875965e-01 3.99025886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.71925415399997 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:260.53, Y:2.57, Z:3.99 [[ 9.99010725e-01 -4.15876502e-02 -1.57492453e-02 2.60530960e+02] [ 4.15907762e-02 9.99134721e-01 -1.29138657e-04 2.57484236e+00] [ 1.57409883e-02 -5.26012432e-04 9.99875965e-01 3.99089330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.74925415399997 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:260.56, Y:2.57, Z:3.99 [[ 9.99020010e-01 -4.13641545e-02 -1.57488655e-02 2.60563305e+02] [ 4.13665206e-02 9.99144024e-01 -1.75630901e-04 2.57482372e+00] [ 1.57426497e-02 -4.76016984e-04 9.99875964e-01 3.99165132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.77925415399997 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:260.60, Y:2.58, Z:3.99 [[ 9.99073007e-01 -4.00635514e-02 -1.57492625e-02 2.60595725e+02] [ 4.00665373e-02 9.99197006e-01 -1.26021763e-04 2.57533783e+00] [ 1.57416648e-02 -5.05113470e-04 9.99875965e-01 3.99248296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.80925415399997 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:260.63, Y:2.58, Z:3.99 [[ 9.99144654e-01 -3.82350752e-02 -1.57492717e-02 2.60627421e+02] [ 3.82378525e-02 9.99268658e-01 -1.24855777e-04 2.57598844e+00] [ 1.57425275e-02 -4.77469347e-04 9.99875965e-01 3.99288050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.83925415399997 meters Centerline goodness : 0.999038 Centerline is valid? [True, True] Translation: X:260.66, Y:2.58, Z:3.99 [[ 9.99314179e-01 -3.35131618e-02 -1.57492763e-02 2.60658206e+02] [ 3.35153623e-02 9.99438195e-01 -1.24271251e-04 2.57716200e+00] [ 1.57445930e-02 -4.03656678e-04 9.99875965e-01 3.99237018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.86925415399998 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:260.69, Y:2.58, Z:3.99 [[ 9.99401844e-01 -3.07882182e-02 -1.57492909e-02 2.60689092e+02] [ 3.07901100e-02 9.99525865e-01 -1.22397060e-04 2.57780069e+00] [ 1.57455920e-02 -3.62598552e-04 9.99875965e-01 3.99289296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.89925415399998 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] Translation: X:260.72, Y:2.58, Z:3.99 [[ 9.99492716e-01 -2.76815716e-02 -1.57492954e-02 2.60719942e+02] [ 2.76830870e-02 9.99616742e-01 -1.21820704e-04 2.57812983e+00] [ 1.57466315e-02 -3.14230208e-04 9.99875965e-01 3.99323223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.92925415399998 meters Centerline goodness : 0.998976 Centerline is valid? [True, True] Translation: X:260.75, Y:2.58, Z:3.99 [[ 9.99569018e-01 -2.47737290e-02 -1.57492954e-02 2.60749328e+02] [ 2.47748836e-02 9.99693048e-01 -1.21820704e-04 2.57859283e+00] [ 1.57474790e-02 -2.68418757e-04 9.99875965e-01 3.99329398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.95925415399998 meters Centerline goodness : 0.999226 Centerline is valid? [True, True] Translation: X:260.78, Y:2.58, Z:3.99 [[ 9.99692722e-01 -1.91421115e-02 -1.57492958e-02 2.60777962e+02] [ 1.91425683e-02 9.99816757e-01 -1.21757109e-04 2.57914468e+00] [ 1.57487406e-02 -1.79762275e-04 9.99875965e-01 3.99381082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.98925415399998 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:260.81, Y:2.58, Z:3.99 [[ 9.99723817e-01 -1.74427432e-02 -1.57492875e-02 2.60805989e+02] [ 1.74429724e-02 9.99847852e-01 -1.22825851e-04 2.57963036e+00] [ 1.57490337e-02 -1.51922458e-04 9.99875965e-01 3.99470938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.01925415399998 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:260.83, Y:2.58, Z:3.99 [[ 9.99746801e-01 -1.60715776e-02 -1.57492501e-02 2.60833681e+02] [ 1.60715640e-02 9.99870836e-01 -1.27442699e-04 2.57972125e+00] [ 1.57492641e-02 -1.25704650e-04 9.99875965e-01 3.99472566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.04925415399998 meters Centerline goodness : 0.999286 Centerline is valid? [True, True] Translation: X:260.86, Y:2.58, Z:3.99 [[ 9.99762728e-01 -1.50482803e-02 -1.57492111e-02 2.60861272e+02] [ 1.50480663e-02 9.99886763e-01 -1.32102250e-04 2.57947042e+00] [ 1.57494156e-02 -1.04924266e-04 9.99875965e-01 3.99346968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.07925415399998 meters Centerline goodness : 0.999286 Centerline is valid? [True, True] Translation: X:260.89, Y:2.58, Z:3.99 [[ 9.99758252e-01 -1.53427813e-02 -1.57491708e-02 2.60889674e+02] [ 1.53425307e-02 9.99882287e-01 -1.36742127e-04 2.57978247e+00] [ 1.57494149e-02 -1.04923066e-04 9.99875965e-01 3.99391828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.10925415399998 meters Centerline goodness : 0.999247 Centerline is valid? [True, True] Translation: X:260.92, Y:2.58, Z:3.99 [[ 9.99736027e-01 -1.67284725e-02 -1.57491291e-02 2.60917519e+02] [ 1.67283208e-02 9.99860062e-01 -1.41380795e-04 2.57903811e+00] [ 1.57492903e-02 -1.22113009e-04 9.99875965e-01 3.99206861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.13925415399996 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:260.95, Y:2.58, Z:3.99 [[ 9.99702994e-01 -1.85980733e-02 -1.57491161e-02 2.60945723e+02] [ 1.85981309e-02 9.99827030e-01 -1.42815117e-04 2.57851478e+00] [ 1.57490481e-02 -1.50131424e-04 9.99875965e-01 3.99196021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.16925415399996 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:260.97, Y:2.58, Z:3.99 [[ 9.99653535e-01 -2.10897300e-02 -1.57490723e-02 2.60973330e+02] [ 2.10900231e-02 9.99777570e-01 -1.47493239e-04 2.57777001e+00] [ 1.57486798e-02 -1.84706161e-04 9.99875965e-01 3.99133693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.19925415399996 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:261.00, Y:2.58, Z:3.99 [[ 9.99495705e-01 -2.75736040e-02 -1.57490586e-02 2.61002311e+02] [ 2.75746788e-02 9.99619735e-01 -1.48940884e-04 2.57606899e+00] [ 1.57471767e-02 -2.85409460e-04 9.99875965e-01 3.99246244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.22925415399996 meters Centerline goodness : 0.999247 Centerline is valid? [True, True] Translation: X:261.03, Y:2.58, Z:3.99 [[ 9.99384262e-01 -3.13538703e-02 -1.57490477e-02 2.61032211e+02] [ 3.13553962e-02 9.99508287e-01 -1.50090458e-04 2.57530107e+00] [ 1.57460096e-02 -3.43819588e-04 9.99875965e-01 3.99332663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.25925415399996 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:261.06, Y:2.57, Z:4.00 [[ 9.99267717e-01 -3.48711672e-02 -1.57490449e-02 2.61063115e+02] [ 3.48731250e-02 9.99391736e-01 -1.50376364e-04 2.57453612e+00] [ 1.57447092e-02 -3.98952168e-04 9.99875965e-01 3.99503079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.28925415399996 meters Centerline goodness : 0.999271 Centerline is valid? [True, True] Translation: X:261.09, Y:2.57, Z:4.00 [[ 9.99006946e-01 -4.16784091e-02 -1.57490449e-02 2.61093793e+02] [ 4.16812119e-02 9.99130949e-01 -1.50376364e-04 2.57323912e+00] [ 1.57416257e-02 -5.06212248e-04 9.99875965e-01 3.99629552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.31925415399996 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:261.13, Y:2.57, Z:4.00 [[ 9.98869400e-01 -4.48540909e-02 -1.57490505e-02 2.61125039e+02] [ 4.48572971e-02 9.98993394e-01 -1.49793668e-04 2.57273959e+00] [ 1.57399163e-02 -5.56835525e-04 9.99875965e-01 3.99709088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.34925415399996 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:261.16, Y:2.57, Z:4.00 [[ 9.98733225e-01 -4.77903010e-02 -1.57490560e-02 2.61156456e+02] [ 4.77938807e-02 9.98857208e-01 -1.49213768e-04 2.57230606e+00] [ 1.57381891e-02 -6.03683755e-04 9.99875965e-01 3.99729119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.37925415399997 meters Centerline goodness : 0.999375 Centerline is valid? [True, True] Translation: X:261.19, Y:2.57, Z:4.00 [[ 9.98585720e-01 -5.07791869e-02 -1.57490642e-02 2.61188467e+02] [ 5.07831514e-02 9.98709692e-01 -1.48344893e-04 2.57190758e+00] [ 1.57362759e-02 -6.51652018e-04 9.99875965e-01 3.99812716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.40925415399997 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:261.22, Y:2.57, Z:4.00 [[ 9.98300695e-01 -5.61042712e-02 -1.57490751e-02 2.61219689e+02] [ 5.61089152e-02 9.98424643e-01 -1.47176632e-04 2.57162455e+00] [ 1.57325219e-02 -7.36736985e-04 9.99875965e-01 3.99827338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.43925415399997 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:261.25, Y:2.57, Z:4.00 [[ 9.98159397e-01 -5.85643616e-02 -1.57490832e-02 2.61251767e+02] [ 5.85693248e-02 9.98283333e-01 -1.46305308e-04 2.57182357e+00] [ 1.57306155e-02 -7.76377150e-04 9.99875965e-01 3.99911283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.46925415399997 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:261.28, Y:2.57, Z:4.00 [[ 9.98023431e-01 -6.08374667e-02 -1.57490938e-02 2.61283953e+02] [ 6.08427302e-02 9.98147354e-01 -1.45156701e-04 2.57200708e+00] [ 1.57287472e-02 -8.13348074e-04 9.99875965e-01 3.99986433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.49925415399997 meters Centerline goodness : 0.999417 Centerline is valid? [True, True] Translation: X:261.32, Y:2.57, Z:4.00 [[ 9.97790909e-01 -6.45388877e-02 -1.57491043e-02 2.61315948e+02] [ 6.45446289e-02 9.97914811e-01 -1.44009564e-04 2.57248283e+00] [ 1.57255586e-02 -8.72828656e-04 9.99875965e-01 4.00204210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.52925415399997 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:261.35, Y:2.57, Z:4.00 [[ 9.97648650e-01 -6.67018924e-02 -1.57489093e-02 2.61349033e+02] [ 6.67075627e-02 9.97772556e-01 -1.65583967e-04 2.57331431e+00] [ 1.57248743e-02 -8.85376736e-04 9.99875965e-01 4.00223626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.55925415399997 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:261.38, Y:2.57, Z:4.00 [[ 9.97593137e-01 -6.75270162e-02 -1.57491389e-02 2.61380731e+02] [ 6.75331962e-02 9.97717018e-01 -1.39704546e-04 2.57444568e+00] [ 1.57226177e-02 -9.24221392e-04 9.99875965e-01 4.00299038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.58925415399997 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:261.41, Y:2.58, Z:4.00 [[ 9.97505394e-01 -6.88110842e-02 -1.57487677e-02 2.61413006e+02] [ 6.88167686e-02 9.97629300e-01 -1.81339902e-04 2.57539256e+00] [ 1.57239103e-02 -9.02891772e-04 9.99875964e-01 4.00299259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.61925415399998 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:261.44, Y:2.58, Z:4.00 [[ 9.97490200e-01 -6.90309023e-02 -1.57491553e-02 2.61443998e+02] [ 6.90373166e-02 9.97614069e-01 -1.36680498e-04 2.57815350e+00] [ 1.57210141e-02 -9.50941965e-04 9.99875965e-01 4.00200812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.64925415399998 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:261.48, Y:2.58, Z:4.00 [[ 9.97544147e-01 -6.82468865e-02 -1.57491729e-02 2.61476656e+02] [ 6.82532359e-02 9.97668020e-01 -1.34619947e-04 2.57973905e+00] [ 1.57216336e-02 -9.40642674e-04 9.99875965e-01 4.00267537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.67925415399998 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:261.51, Y:2.58, Z:4.00 [[ 9.97624340e-01 -6.70644400e-02 -1.57491879e-02 2.61509887e+02] [ 6.70706706e-02 9.97748219e-01 -1.32839683e-04 2.58136549e+00] [ 1.57226330e-02 -9.23784495e-04 9.99875965e-01 4.00322128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.70925415399998 meters Centerline goodness : 0.998998 Centerline is valid? [True, True] Translation: X:261.54, Y:2.58, Z:4.00 [[ 9.97852550e-01 -6.35787068e-02 -1.57492027e-02 2.61541735e+02] [ 6.35845325e-02 9.97976448e-01 -1.31061976e-04 2.58458268e+00] [ 1.57256662e-02 -8.70625166e-04 9.99875965e-01 4.00350223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.73925415399998 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:261.57, Y:2.59, Z:4.00 [[ 9.97988986e-01 -6.13998860e-02 -1.57492149e-02 2.61573305e+02] [ 6.14054643e-02 9.98112896e-01 -1.29587928e-04 2.58672382e+00] [ 1.57274511e-02 -8.37760526e-04 9.99875965e-01 4.00415305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.76925415399998 meters Centerline goodness : 0.998723 Centerline is valid? [True, True] Translation: X:261.61, Y:2.59, Z:4.01 [[ 9.98147898e-01 -5.87599841e-02 -1.57492220e-02 2.61605868e+02] [ 5.87652484e-02 9.98271821e-01 -1.28715843e-04 2.58911318e+00] [ 1.57295679e-02 -7.97029493e-04 9.99875965e-01 4.00532921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.79925415399998 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:261.64, Y:2.59, Z:4.00 [[ 9.98504243e-01 -5.23568809e-02 -1.57491131e-02 2.61637931e+02] [ 5.23611410e-02 9.98628204e-01 -1.42007393e-04 2.59305835e+00] [ 1.57349436e-02 -6.82846550e-04 9.99875965e-01 4.00442768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.82925415399998 meters Centerline goodness : 0.999038 Centerline is valid? [True, True] Translation: X:261.67, Y:2.60, Z:4.01 [[ 9.98637462e-01 -4.97511878e-02 -1.57492431e-02 2.61670566e+02] [ 4.97553807e-02 9.98761426e-01 -1.25730853e-04 2.59584351e+00] [ 1.57359917e-02 -6.58050046e-04 9.99875965e-01 4.00550622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.85925415399998 meters Centerline goodness : 0.998871 Centerline is valid? [True, True] Translation: X:261.70, Y:2.60, Z:4.01 [[ 9.98810499e-01 -4.61470280e-02 -1.57492522e-02 2.61701617e+02] [ 4.61507917e-02 9.98934477e-01 -1.24578403e-04 2.59805972e+00] [ 1.57382199e-02 -6.02410240e-04 9.99875965e-01 4.00550170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.88925415399996 meters Centerline goodness : 0.998996 Centerline is valid? [True, True] Translation: X:261.73, Y:2.60, Z:4.01 [[ 9.99059383e-01 -4.04018687e-02 -1.57492589e-02 2.61733272e+02] [ 4.04049327e-02 9.99183380e-01 -1.23721190e-04 2.60305840e+00] [ 1.57413963e-02 -5.12742932e-04 9.99875965e-01 4.00774280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.91925415399996 meters Centerline goodness : 0.999225 Centerline is valid? [True, True] Translation: X:261.77, Y:2.61, Z:4.01 [[ 9.99165285e-01 -3.76921020e-02 -1.57492677e-02 2.61765478e+02] [ 3.76948476e-02 9.99289289e-01 -1.22591452e-04 2.60519212e+00] [ 1.57426953e-02 -4.71177123e-04 9.99875965e-01 4.00883305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.94925415399996 meters Centerline goodness : 0.999308 Centerline is valid? [True, True] Translation: X:261.80, Y:2.61, Z:4.01 [[ 9.99251598e-01 -3.53299202e-02 -1.57492765e-02 2.61797892e+02] [ 3.53323906e-02 9.99375609e-01 -1.21449196e-04 2.60724780e+00] [ 1.57437336e-02 -4.35101288e-04 9.99875965e-01 4.00981660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.97925415399996 meters Centerline goodness : 0.999077 Centerline is valid? [True, True] Translation: X:261.83, Y:2.61, Z:4.01 [[ 9.99364051e-01 -3.19914605e-02 -1.57492853e-02 2.61828567e+02] [ 3.19935348e-02 9.99488069e-01 -1.20295755e-04 2.61110484e+00] [ 1.57450712e-02 -3.83656055e-04 9.99875965e-01 4.01112907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.00925415399996 meters Centerline goodness : 0.999140 Centerline is valid? [True, True] Translation: X:261.86, Y:2.61, Z:4.01 [[ 9.99389377e-01 -3.11902585e-02 -1.57493004e-02 2.61859890e+02] [ 3.11922648e-02 9.99513396e-01 -1.18296996e-04 2.61310235e+00] [ 1.57453264e-02 -3.73031586e-04 9.99875965e-01 4.01170873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.039254154 meters Centerline goodness : 0.998847 Centerline is valid? [True, True] Translation: X:261.89, Y:2.61, Z:4.01 [[ 9.99407599e-01 -3.06008297e-02 -1.57493047e-02 2.61891052e+02] [ 3.06027719e-02 9.99531619e-01 -1.17722741e-04 2.61482347e+00] [ 1.57455304e-02 -3.64319377e-04 9.99875965e-01 4.01176899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.06925415399996 meters Centerline goodness : 0.998847 Centerline is valid? [True, True] Translation: X:261.92, Y:2.62, Z:4.01 [[ 9.99408728e-01 -3.05639380e-02 -1.57493090e-02 2.61922893e+02] [ 3.05658847e-02 9.99532747e-01 -1.17141449e-04 2.61503102e+00] [ 1.57455304e-02 -3.64319377e-04 9.99875965e-01 4.01227039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.099254154 meters Centerline goodness : 0.998803 Centerline is valid? [True, True] Translation: X:261.95, Y:2.62, Z:4.01 [[ 9.99415228e-01 -3.03506467e-02 -1.57493133e-02 2.61954202e+02] [ 3.03525761e-02 9.99539248e-01 -1.16560157e-04 2.61648806e+00] [ 1.57455944e-02 -3.61540235e-04 9.99875965e-01 4.01198850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.12925415399997 meters Centerline goodness : 0.998865 Centerline is valid? [True, True] Translation: X:261.98, Y:2.62, Z:4.01 [[ 9.99430586e-01 -2.98406138e-02 -1.57493175e-02 2.61984749e+02] [ 2.98424890e-02 9.99554607e-01 -1.15983740e-04 2.61954036e+00] [ 1.57457639e-02 -3.54081138e-04 9.99875965e-01 4.01148709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.159254154 meters Centerline goodness : 0.999077 Centerline is valid? [True, True] Translation: X:262.02, Y:2.62, Z:4.01 [[ 9.99436871e-01 -2.96293806e-02 -1.57493196e-02 2.62016518e+02] [ 2.96312342e-02 9.99560892e-01 -1.15697851e-04 2.62136201e+00] [ 1.57458320e-02 -3.51039079e-04 9.99875965e-01 4.01179566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.18925415399997 meters Centerline goodness : 0.998781 Centerline is valid? [True, True] Translation: X:262.05, Y:2.62, Z:4.01 [[ 9.99475169e-01 -2.83080467e-02 -1.57493238e-02 2.62046348e+02] [ 2.83097452e-02 9.99599192e-01 -1.15132738e-04 2.62293177e+00] [ 1.57462705e-02 -3.30787030e-04 9.99875965e-01 4.01203555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.219254154 meters Centerline goodness : 0.998844 Centerline is valid? [True, True] Translation: X:262.08, Y:2.62, Z:4.01 [[ 9.99476347e-01 -2.82666400e-02 -1.57489420e-02 2.62076657e+02] [ 2.82675163e-02 9.99600380e-01 -1.67005820e-04 2.62455006e+00] [ 1.57473691e-02 -2.78265108e-04 9.99875964e-01 4.01222911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.24925415399997 meters Centerline goodness : 0.998655 Centerline is valid? [True, True] Translation: X:262.11, Y:2.63, Z:4.01 [[ 9.99493406e-01 -2.76566446e-02 -1.57493235e-02 2.62108278e+02] [ 2.76582711e-02 9.99617430e-01 -1.14567709e-04 2.62610853e+00] [ 1.57464668e-02 -3.21089389e-04 9.99875965e-01 4.01298095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.27925415399994 meters Centerline goodness : 0.999033 Centerline is valid? [True, True] Translation: X:262.14, Y:2.63, Z:4.01 [[ 9.99521431e-01 -2.66245872e-02 -1.57493275e-02 2.62138131e+02] [ 2.66260944e-02 9.99645456e-01 -1.14008547e-04 2.62762412e+00] [ 1.57467791e-02 -3.05389097e-04 9.99875965e-01 4.01372959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.309254154 meters Centerline goodness : 0.998886 Centerline is valid? [True, True] Translation: X:262.17, Y:2.63, Z:4.01 [[ 9.99574391e-01 -2.45559725e-02 -1.57493295e-02 2.62167797e+02] [ 2.45572275e-02 9.99698419e-01 -1.13731149e-04 2.62929983e+00] [ 1.57473726e-02 -2.73077125e-04 9.99875965e-01 4.01347925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.33925415399995 meters Centerline goodness : 0.999139 Centerline is valid? [True, True] Translation: X:262.20, Y:2.63, Z:4.02 [[ 9.99616843e-01 -2.27626658e-02 -1.57489107e-02 2.62198619e+02] [ 2.27627978e-02 9.99740879e-01 -1.70896823e-04 2.63138818e+00] [ 1.57487199e-02 -1.87657926e-04 9.99875964e-01 4.01503649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.369254154 meters Centerline goodness : 0.999096 Centerline is valid? [True, True] Translation: X:262.23, Y:2.63, Z:4.01 [[ 9.99735938e-01 -1.67335668e-02 -1.57493203e-02 2.62234379e+02] [ 1.67338373e-02 9.99859973e-01 -1.14616136e-04 2.62659070e+00] [ 1.57490329e-02 -1.48960693e-04 9.99875965e-01 4.01358755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.39925415399995 meters Centerline goodness : 0.998968 Centerline is valid? [True, True] Translation: X:262.26, Y:2.63, Z:4.02 [[ 9.99656134e-01 -2.09642266e-02 -1.57516805e-02 2.62258163e+02] [ 2.09703157e-02 9.99780074e-01 2.21481088e-04 2.63278648e+00] [ 1.57435731e-02 -5.51722641e-04 9.99875910e-01 4.01535067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.429254154 meters Centerline goodness : 0.999282 Centerline is valid? [True, True] Translation: X:262.29, Y:2.63, Z:4.02 [[ 9.99662185e-01 -2.06756416e-02 -1.57490722e-02 2.62287703e+02] [ 2.06763124e-02 9.99786215e-01 -1.20247842e-04 2.63299126e+00] [ 1.57481915e-02 -2.05425517e-04 9.99875968e-01 4.01550896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.45925415399995 meters Centerline goodness : 0.999326 Centerline is valid? [True, True] Translation: X:262.32, Y:2.63, Z:4.02 [[ 9.99645529e-01 -2.14658705e-02 -1.57490679e-02 2.62317040e+02] [ 2.14666305e-02 9.99769558e-01 -1.20807250e-04 2.63301886e+00] [ 1.57480319e-02 -2.17314995e-04 9.99875968e-01 4.01603199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.489254154 meters Centerline goodness : 0.999326 Centerline is valid? [True, True] Translation: X:262.35, Y:2.63, Z:4.02 [[ 9.99615969e-01 -2.28009057e-02 -1.57490634e-02 2.62345441e+02] [ 2.28018222e-02 9.99739997e-01 -1.21390901e-04 2.63293331e+00] [ 1.57477364e-02 -2.37763061e-04 9.99875968e-01 4.01649658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.51925415399995 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:262.37, Y:2.63, Z:4.02 [[ 9.99533760e-01 -2.61577782e-02 -1.57490567e-02 2.62374806e+02] [ 2.61590975e-02 9.99657785e-01 -1.22259549e-04 2.63172729e+00] [ 1.57468651e-02 -2.89778563e-04 9.99875968e-01 4.01629949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.549254154 meters Centerline goodness : 0.998675 Centerline is valid? [True, True] Translation: X:262.41, Y:2.63, Z:4.02 [[ 9.99492740e-01 -2.76808720e-02 -1.57490521e-02 2.62405493e+02] [ 2.76823712e-02 9.99616762e-01 -1.22841806e-04 2.63158298e+00] [ 1.57464169e-02 -3.13191614e-04 9.99875968e-01 4.01652746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.57925415399995 meters Centerline goodness : 0.998466 Centerline is valid? [True, True] Translation: X:262.44, Y:2.63, Z:4.02 [[ 9.99452146e-01 -2.91097151e-02 -1.57490521e-02 2.62435481e+02] [ 2.91113915e-02 9.99576166e-01 -1.22841806e-04 2.63154389e+00] [ 1.57459530e-02 -3.35702316e-04 9.99875968e-01 4.01673295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.609254154 meters Centerline goodness : 0.998822 Centerline is valid? [True, True] Translation: X:262.47, Y:2.63, Z:4.02 [[ 9.99416957e-01 -3.02937955e-02 -1.57490595e-02 2.62467251e+02] [ 3.02956339e-02 9.99540975e-01 -1.21891575e-04 2.63132134e+00] [ 1.57455228e-02 -3.55307233e-04 9.99875968e-01 4.01708156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.63925415399996 meters Centerline goodness : 0.998653 Centerline is valid? [True, True] Translation: X:262.50, Y:2.63, Z:4.02 [[ 9.99393654e-01 -3.10530286e-02 -1.57490639e-02 2.62498202e+02] [ 3.10549703e-02 9.99517671e-01 -1.21315228e-04 2.63079633e+00] [ 1.57452349e-02 -3.67845043e-04 9.99875968e-01 4.01697631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.669254154 meters Centerline goodness : 0.999136 Centerline is valid? [True, True] Translation: X:262.53, Y:2.63, Z:4.02 [[ 9.99402951e-01 -3.07523798e-02 -1.57490684e-02 2.62529316e+02] [ 3.07542933e-02 9.99526968e-01 -1.20733439e-04 2.62993474e+00] [ 1.57453314e-02 -3.63690113e-04 9.99875968e-01 4.01700843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.69925415399996 meters Centerline goodness : 0.999326 Centerline is valid? [True, True] Translation: X:262.56, Y:2.63, Z:4.02 [[ 9.99429728e-01 -2.98694852e-02 -1.57490728e-02 2.62559734e+02] [ 2.98712983e-02 9.99553746e-01 -1.20156284e-04 2.62974048e+00] [ 1.57456337e-02 -3.50357489e-04 9.99875968e-01 4.01719474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.729254154 meters Centerline goodness : 0.999390 Centerline is valid? [True, True] Translation: X:262.59, Y:2.63, Z:4.02 [[ 9.99478187e-01 -2.82014347e-02 -1.57490800e-02 2.62591013e+02] [ 2.82030558e-02 9.99602208e-01 -1.19201275e-04 2.62950832e+00] [ 1.57461768e-02 -3.25033108e-04 9.99875968e-01 4.01763943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.75925415399996 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:262.62, Y:2.63, Z:4.02 [[ 9.99602868e-01 -2.33681877e-02 -1.57490843e-02 2.62622790e+02] [ 2.33692180e-02 9.99726896e-01 -1.18636944e-04 2.62887098e+00] [ 1.57475555e-02 -2.49453954e-04 9.99875968e-01 4.01890840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.789254154 meters Centerline goodness : 0.999324 Centerline is valid? [True, True] Translation: X:262.65, Y:2.63, Z:4.02 [[ 9.99662323e-01 -2.06689611e-02 -1.57490886e-02 2.62652077e+02] [ 2.06696655e-02 9.99786353e-01 -1.18062696e-04 2.62886970e+00] [ 1.57481641e-02 -2.07505564e-04 9.99875968e-01 4.01999951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.81925415399996 meters Centerline goodness : 0.999136 Centerline is valid? [True, True] Translation: X:262.68, Y:2.63, Z:4.02 [[ 9.99718581e-01 -1.77405166e-02 -1.57490864e-02 2.62680918e+02] [ 1.77408532e-02 9.99842612e-01 -1.18347447e-04 2.62846523e+00] [ 1.57487073e-02 -1.61088088e-04 9.99875968e-01 4.02099883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.849254154 meters Centerline goodness : 0.999178 Centerline is valid? [True, True] Translation: X:262.71, Y:2.63, Z:4.02 [[ 9.99808847e-01 -1.15860633e-02 -1.57490553e-02 2.62708933e+02] [ 1.15855733e-02 9.99932878e-01 -1.22356023e-04 2.62723849e+00] [ 1.57494158e-02 -6.01291996e-05 9.99875968e-01 4.02203731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.87925415399997 meters Centerline goodness : 0.999199 Centerline is valid? [True, True] Translation: X:262.74, Y:2.62, Z:4.02 [[ 9.99854530e-01 -6.54877943e-03 -1.57490442e-02 2.62742718e+02] [ 6.54764220e-03 9.99978556e-01 -1.23771998e-04 2.62360647e+00] [ 1.57495170e-02 2.06348865e-05 9.99875968e-01 4.02416512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.909254154 meters Centerline goodness : 0.999390 Centerline is valid? [True, True] Translation: X:262.77, Y:2.63, Z:4.02 [[ 9.99850197e-01 -7.17578805e-03 -1.57509472e-02 2.62767550e+02] [ 7.17856219e-03 9.99974227e-01 1.19593254e-04 2.62599410e+00] [ 1.57496831e-02 -2.32644492e-04 9.99875939e-01 4.02381199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.93925415399997 meters Centerline goodness : 0.999431 Centerline is valid? [True, True] Translation: X:262.80, Y:2.63, Z:4.02 [[ 9.99857530e-01 -6.07404845e-03 -1.57488368e-02 2.62795384e+02] [ 6.07272137e-03 9.99981552e-01 -1.32086610e-04 2.62501103e+00] [ 1.57493486e-02 3.64294931e-05 9.99875971e-01 4.02423410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.969254154 meters Centerline goodness : 0.999241 Centerline is valid? [True, True] Translation: X:262.82, Y:2.62, Z:4.02 [[ 9.99860325e-01 -5.59522545e-03 -1.57487971e-02 2.62823293e+02] [ 5.59376682e-03 9.99984345e-01 -1.36667209e-04 2.62109353e+00] [ 1.57493152e-02 4.85530210e-05 9.99875971e-01 4.02315317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.99925415399997 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:262.85, Y:2.62, Z:4.02 [[ 9.99852947e-01 -6.78678624e-03 -1.57487847e-02 2.62850152e+02] [ 6.78545312e-03 9.99976969e-01 -1.38083016e-04 2.61894313e+00] [ 1.57493591e-02 3.12000701e-05 9.99875971e-01 4.02253467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.02925415399994 meters Centerline goodness : 0.998949 Centerline is valid? [True, True] Translation: X:262.88, Y:2.62, Z:4.02 [[ 9.99838738e-01 -8.62990092e-03 -1.57487672e-02 2.62879268e+02] [ 8.62876547e-03 9.99962762e-01 -1.40048192e-04 2.61622181e+00] [ 1.57493893e-02 4.13318939e-06 9.99875971e-01 4.02180991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.059254154 meters Centerline goodness : 0.999349 Centerline is valid? [True, True] Translation: X:262.91, Y:2.61, Z:4.02 [[ 9.99779616e-01 -1.38815232e-02 -1.57487317e-02 2.62907927e+02] [ 1.38809780e-02 9.99903644e-01 -1.43936074e-04 2.61077691e+00] [ 1.57492122e-02 -7.47034447e-05 9.99875971e-01 4.02135535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.08925415399995 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:262.94, Y:2.61, Z:4.02 [[ 9.99743796e-01 -1.62579037e-02 -1.57487215e-02 2.62935118e+02] [ 1.62576360e-02 9.99867825e-01 -1.45037442e-04 2.60848460e+00] [ 1.57489979e-02 -1.11036699e-04 9.99875971e-01 4.02158546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.119254154 meters Centerline goodness : 0.999309 Centerline is valid? [True, True] Translation: X:262.96, Y:2.61, Z:4.02 [[ 9.99665228e-01 -2.05286990e-02 -1.57481673e-02 2.62963873e+02] [ 2.05280393e-02 9.99789257e-01 -2.03556431e-04 2.60637414e+00] [ 1.57490272e-02 -1.19790711e-04 9.99875969e-01 4.02303237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.14925415399995 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:262.99, Y:2.60, Z:4.02 [[ 9.99521732e-01 -2.66136372e-02 -1.57486803e-02 2.62991887e+02] [ 2.66145837e-02 9.99645758e-01 -1.49523133e-04 2.60203500e+00] [ 1.57470808e-02 -2.69692949e-04 9.99875971e-01 4.02489422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.179254154 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:263.02, Y:2.60, Z:4.03 [[ 9.99395682e-01 -3.09879141e-02 -1.57486674e-02 2.63020503e+02] [ 3.09893820e-02 9.99519702e-01 -1.50874669e-04 2.60317903e+00] [ 1.57457786e-02 -3.37257977e-04 9.99875971e-01 4.02517365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.20925415399995 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:263.05, Y:2.60, Z:4.03 [[ 9.99390167e-01 -3.11659208e-02 -1.57473791e-02 2.63052597e+02] [ 3.11653446e-02 9.99514203e-01 -2.82048129e-04 2.59819248e+00] [ 1.57485194e-02 -2.08896370e-04 9.99875963e-01 4.02699736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.239254154 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:263.08, Y:2.59, Z:4.03 [[ 9.99281568e-01 -3.44721374e-02 -1.57486362e-02 2.63083161e+02] [ 3.44740418e-02 9.99405582e-01 -1.50617521e-04 2.59390995e+00] [ 1.57444671e-02 -3.92409831e-04 9.99875971e-01 4.02963578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.26925415399995 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:263.11, Y:2.59, Z:4.03 [[ 9.99205301e-01 -3.66163784e-02 -1.57482764e-02 2.63113381e+02] [ 3.66179663e-02 9.99329320e-01 -1.87606986e-04 2.59160307e+00] [ 1.57445838e-02 -3.89211959e-04 9.99875971e-01 4.03047581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.299254154 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:263.14, Y:2.59, Z:4.03 [[ 9.99142004e-01 -3.83045389e-02 -1.57486119e-02 2.63144412e+02] [ 3.83068800e-02 9.99266010e-01 -1.53088465e-04 2.58948804e+00] [ 1.57429166e-02 -4.50323071e-04 9.99875971e-01 4.03176327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.32925415399995 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:263.18, Y:2.59, Z:4.03 [[ 9.99001247e-01 -4.18149550e-02 -1.57486176e-02 2.63175651e+02] [ 4.18177411e-02 9.99125244e-01 -1.52502559e-04 2.58512283e+00] [ 1.57412183e-02 -5.06221367e-04 9.99875971e-01 4.03225710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.359254154 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:263.21, Y:2.58, Z:4.03 [[ 9.98920388e-01 -4.37039865e-02 -1.57486261e-02 2.63206523e+02] [ 4.37070208e-02 9.99044380e-01 -1.51625942e-04 2.58306009e+00] [ 1.57402030e-02 -5.36863281e-04 9.99875971e-01 4.03299461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.38925415399996 meters Centerline goodness : 0.999127 Centerline is valid? [True, True] Translation: X:263.24, Y:2.58, Z:4.03 [[ 9.98835885e-01 -4.55944615e-02 -1.57486317e-02 2.63237694e+02] [ 4.55977396e-02 9.98959871e-01 -1.51041951e-04 2.58125769e+00] [ 1.57391377e-02 -5.67235884e-04 9.99875971e-01 4.03354153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.419254154 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:263.27, Y:2.58, Z:4.03 [[ 9.98708534e-01 -4.83036734e-02 -1.57486372e-02 2.63269074e+02] [ 4.83072970e-02 9.98832510e-01 -1.50457644e-04 2.57769298e+00] [ 1.57375185e-02 -6.10510764e-04 9.99875971e-01 4.03342887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.44925415399996 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:263.30, Y:2.58, Z:4.03 [[ 9.98669001e-01 -4.91142170e-02 -1.57486559e-02 2.63300132e+02] [ 4.91179724e-02 9.98792973e-01 -1.48481823e-04 2.57621081e+00] [ 1.57369394e-02 -6.25257850e-04 9.99875971e-01 4.03352840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.479254154 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:263.33, Y:2.58, Z:4.03 [[ 9.98646716e-01 -4.95652738e-02 -1.57486639e-02 2.63332221e+02] [ 4.95690987e-02 9.98770686e-01 -1.47625007e-04 2.57503338e+00] [ 1.57366209e-02 -6.33221847e-04 9.99875971e-01 4.03406244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.50925415399996 meters Centerline goodness : 0.999108 Centerline is valid? [True, True] Translation: X:263.36, Y:2.57, Z:4.03 [[ 9.98643025e-01 -4.96395808e-02 -1.57486748e-02 2.63363705e+02] [ 4.96434334e-02 9.98766994e-01 -1.46453588e-04 2.57402794e+00] [ 1.57365265e-02 -6.35563433e-04 9.99875971e-01 4.03304236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.539254154 meters Centerline goodness : 0.999316 Centerline is valid? [True, True] Translation: X:263.40, Y:2.57, Z:4.03 [[ 9.98706333e-01 -4.83491479e-02 -1.57486829e-02 2.63395334e+02] [ 4.83528540e-02 9.98830306e-01 -1.45580680e-04 2.57277358e+00] [ 1.57373004e-02 -6.16101416e-04 9.99875971e-01 4.03341562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.56925415399996 meters Centerline goodness : 0.999251 Centerline is valid? [True, True] Translation: X:263.43, Y:2.57, Z:4.03 [[ 9.98779775e-01 -4.68074826e-02 -1.57486881e-02 2.63427958e+02] [ 4.68110063e-02 9.98903753e-01 -1.45010174e-04 2.57285615e+00] [ 1.57382112e-02 -5.92378709e-04 9.99875971e-01 4.03413545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.599254154 meters Centerline goodness : 0.999438 Centerline is valid? [True, True] Translation: X:263.46, Y:2.57, Z:4.03 [[ 9.98867416e-01 -4.48983793e-02 -1.57486986e-02 2.63459622e+02] [ 4.49016841e-02 9.98991400e-01 -1.43858753e-04 2.57350189e+00] [ 1.57392735e-02 -5.63447270e-04 9.99875971e-01 4.03496856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.62925415399997 meters Centerline goodness : 0.999252 Centerline is valid? [True, True] Translation: X:263.49, Y:2.57, Z:4.04 [[ 9.98974246e-01 -4.24550807e-02 -1.57487064e-02 2.63490803e+02] [ 4.24580959e-02 9.99098238e-01 -1.42998822e-04 2.57431619e+00] [ 1.57405759e-02 -5.25807947e-04 9.99875971e-01 4.03588118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.659254154 meters Centerline goodness : 0.999209 Centerline is valid? [True, True] Translation: X:263.52, Y:2.58, Z:4.04 [[ 9.99188829e-01 -3.70629344e-02 -1.57487116e-02 2.63521664e+02] [ 3.70652892e-02 9.99312836e-01 -1.42432715e-04 2.57604396e+00] [ 1.57431686e-02 -4.41413371e-04 9.99875971e-01 4.03800743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.68925415399997 meters Centerline goodness : 0.999042 Centerline is valid? [True, True] Translation: X:263.55, Y:2.58, Z:4.04 [[ 9.99283567e-01 -3.44140920e-02 -1.57487168e-02 2.63551410e+02] [ 3.44161272e-02 9.99407580e-01 -1.41853080e-04 2.57709109e+00] [ 1.57442687e-02 -4.00258388e-04 9.99875971e-01 4.03760905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.719254154 meters Centerline goodness : 0.998183 Centerline is valid? [True, True] Translation: X:263.58, Y:2.58, Z:4.04 [[ 9.99426987e-01 -2.99612424e-02 -1.57487142e-02 2.63582043e+02] [ 2.99627205e-02 9.99551007e-01 -1.42140575e-04 2.57844482e+00] [ 1.57459018e-02 -3.29815195e-04 9.99875971e-01 4.03900301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.74925415399997 meters Centerline goodness : 0.997742 Centerline is valid? [True, True] Translation: X:263.61, Y:2.58, Z:4.04 [[ 9.99476608e-01 -2.82575249e-02 -1.57487142e-02 2.63611272e+02] [ 2.82587916e-02 9.99600631e-01 -1.42140575e-04 2.57917438e+00] [ 1.57464412e-02 -3.02973452e-04 9.99875971e-01 4.03938075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.77925415399994 meters Centerline goodness : 0.997209 Centerline is valid? [True, True] Translation: X:263.64, Y:2.58, Z:4.04 [[ 9.99515539e-01 -2.68452030e-02 -1.57487089e-02 2.63639917e+02] [ 2.68462852e-02 9.99639563e-01 -1.42725870e-04 2.57964900e+00] [ 1.57468640e-02 -2.80137605e-04 9.99875971e-01 4.03967036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.809254154 meters Centerline goodness : 0.997371 Centerline is valid? [True, True] Translation: X:263.67, Y:2.58, Z:4.04 [[ 9.99548075e-01 -2.56051424e-02 -1.57487009e-02 2.63669771e+02] [ 2.56060571e-02 9.99672101e-01 -1.43595719e-04 2.57986663e+00] [ 1.57472137e-02 -2.59731311e-04 9.99875971e-01 4.04128971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.83925415399995 meters Centerline goodness : 0.997394 Centerline is valid? [True, True] Translation: X:263.70, Y:2.58, Z:4.04 [[ 9.99574290e-01 -2.45604656e-02 -1.57486957e-02 2.63698364e+02] [ 2.45612415e-02 9.99698317e-01 -1.44173381e-04 2.57994800e+00] [ 1.57474855e-02 -2.42695513e-04 9.99875971e-01 4.04336224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.869254154 meters Centerline goodness : 0.997458 Centerline is valid? [True, True] Translation: X:263.73, Y:2.58, Z:4.04 [[ 9.99576610e-01 -2.44659159e-02 -1.57486573e-02 2.63727189e+02] [ 2.44666159e-02 9.99700637e-01 -1.48252655e-04 2.57980572e+00] [ 1.57475698e-02 -2.37126461e-04 9.99875971e-01 4.04342525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.89925415399995 meters Centerline goodness : 0.997501 Centerline is valid? [True, True] Translation: X:263.76, Y:2.58, Z:4.04 [[ 9.99561320e-01 -2.50828152e-02 -1.57486491e-02 2.63756233e+02] [ 2.50835780e-02 9.99685346e-01 -1.49118757e-04 2.57943508e+00] [ 1.57474340e-02 -2.45979126e-04 9.99875971e-01 4.04453106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.929254154 meters Centerline goodness : 0.997370 Centerline is valid? [True, True] Translation: X:263.79, Y:2.58, Z:4.04 [[ 9.99540016e-01 -2.59179159e-02 -1.57486102e-02 2.63785075e+02] [ 2.59187194e-02 9.99664042e-01 -1.53117034e-04 2.57892580e+00] [ 1.57472878e-02 -2.55137206e-04 9.99875971e-01 4.04499773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.95925415399995 meters Centerline goodness : 0.997370 Centerline is valid? [True, True] Translation: X:263.81, Y:2.58, Z:4.05 [[ 9.99533297e-01 -2.61757583e-02 -1.57485697e-02 2.63814326e+02] [ 2.61765298e-02 9.99657324e-01 -1.57174298e-04 2.57925642e+00] [ 1.57472872e-02 -2.55141960e-04 9.99875971e-01 4.04545944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.989254154 meters Centerline goodness : 0.997622 Centerline is valid? [True, True] Translation: X:263.84, Y:2.58, Z:4.05 [[ 9.99452294e-01 -2.91048978e-02 -1.57485281e-02 2.63842689e+02] [ 2.91059689e-02 9.99576319e-01 -1.61236315e-04 2.57792845e+00] [ 1.57465485e-02 -2.97228164e-04 9.99875971e-01 4.04558557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.01925415399995 meters Centerline goodness : 0.997872 Centerline is valid? [True, True] Translation: X:263.87, Y:2.58, Z:4.05 [[ 9.99394758e-01 -3.10177815e-02 -1.57484856e-02 2.63871971e+02] [ 3.10190261e-02 9.99518781e-01 -1.65284098e-04 2.57742973e+00] [ 1.57460339e-02 -3.23318626e-04 9.99875971e-01 4.04579480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.049254154 meters Centerline goodness : 0.997538 Centerline is valid? [True, True] Translation: X:263.90, Y:2.58, Z:4.05 [[ 9.99327955e-01 -3.31002322e-02 -1.57484454e-02 2.63901832e+02] [ 3.31016763e-02 9.99451975e-01 -1.69028252e-04 2.57690072e+00] [ 1.57454098e-02 -3.52385286e-04 9.99875971e-01 4.04563384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.07925415399995 meters Centerline goodness : 0.997540 Centerline is valid? [True, True] Translation: X:263.93, Y:2.58, Z:4.05 [[ 9.99141029e-01 -3.83300282e-02 -1.57484393e-02 2.63931892e+02] [ 3.83321124e-02 9.99265040e-01 -1.69601886e-04 2.57572421e+00] [ 1.57433656e-02 -4.34214740e-04 9.99875971e-01 4.04565552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.109254154 meters Centerline goodness : 0.997663 Centerline is valid? [True, True] Translation: X:263.96, Y:2.58, Z:4.05 [[ 9.99019906e-01 -4.13668240e-02 -1.57484393e-02 2.63962722e+02] [ 4.13692851e-02 9.99143910e-01 -1.69601886e-04 2.57533092e+00] [ 1.57419731e-02 -4.82066013e-04 9.99875971e-01 4.04516938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.13925415399996 meters Centerline goodness : 0.997536 Centerline is valid? [True, True] Translation: X:263.99, Y:2.58, Z:4.05 [[ 9.98876260e-01 -4.47012787e-02 -1.57484423e-02 2.63994190e+02] [ 4.47041583e-02 9.99000255e-01 -1.69314572e-04 2.57503729e+00] [ 1.57402665e-02 -5.34896553e-04 9.99875971e-01 4.04652578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.169254154 meters Centerline goodness : 0.997578 Centerline is valid? [True, True] Translation: X:264.03, Y:2.57, Z:4.05 [[ 9.98730685e-01 -4.78435394e-02 -1.57484485e-02 2.64025473e+02] [ 4.78468180e-02 9.98854671e-01 -1.68740101e-04 2.57471087e+00] [ 1.57384845e-02 -5.84987233e-04 9.99875971e-01 4.04723859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.19925415399996 meters Centerline goodness : 0.997583 Centerline is valid? [True, True] Translation: X:264.06, Y:2.57, Z:4.05 [[ 9.98394595e-01 -5.44078938e-02 -1.57484546e-02 2.64056507e+02] [ 5.44119964e-02 9.98518556e-01 -1.68168265e-04 2.57463583e+00] [ 1.57342738e-02 -6.89006568e-04 9.99875971e-01 4.04843998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.229254154 meters Centerline goodness : 0.997771 Centerline is valid? [True, True] Translation: X:264.09, Y:2.57, Z:4.05 [[ 9.98212278e-01 -5.76561707e-02 -1.57484733e-02 2.64088897e+02] [ 5.76607046e-02 9.98336224e-01 -1.66396285e-04 2.57477515e+00] [ 1.57318652e-02 -7.41969254e-04 9.99875971e-01 4.05009366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.25925415399996 meters Centerline goodness : 0.997689 Centerline is valid? [True, True] Translation: X:264.12, Y:2.58, Z:4.05 [[ 9.98007253e-01 -6.11024481e-02 -1.57484856e-02 2.64120499e+02] [ 6.11074283e-02 9.98131181e-01 -1.65224881e-04 2.57522688e+00] [ 1.57291502e-02 -7.97453827e-04 9.99875971e-01 4.05026214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.289254154 meters Centerline goodness : 0.997687 Centerline is valid? [True, True] Translation: X:264.15, Y:2.58, Z:4.05 [[ 9.97808666e-01 -6.42639232e-02 -1.57484947e-02 2.64152569e+02] [ 6.42693098e-02 9.97932577e-01 -1.64351227e-04 2.57540449e+00] [ 1.57264978e-02 -8.48153808e-04 9.99875971e-01 4.05100364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.31925415399996 meters Centerline goodness : 0.997893 Centerline is valid? [True, True] Translation: X:264.18, Y:2.58, Z:4.05 [[ 9.97399635e-01 -7.03274738e-02 -1.57485066e-02 2.64183446e+02] [ 7.03336314e-02 9.97523510e-01 -1.63206216e-04 2.57610379e+00] [ 1.57209835e-02 -9.44867839e-04 9.99875971e-01 4.05113819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.349254154 meters Centerline goodness : 0.997871 Centerline is valid? [True, True] Translation: X:264.22, Y:2.58, Z:4.05 [[ 9.97228189e-01 -7.27181055e-02 -1.57485154e-02 2.64215659e+02] [ 7.27245734e-02 9.97352049e-01 -1.62353409e-04 2.57670056e+00] [ 1.57186201e-02 -9.83400669e-04 9.99875971e-01 4.05247996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.37925415399997 meters Centerline goodness : 0.997896 Centerline is valid? [True, True] Translation: X:264.25, Y:2.58, Z:4.05 [[ 9.97095904e-01 -7.45100202e-02 -1.57485270e-02 2.64246644e+02] [ 7.45167285e-02 9.97219751e-01 -1.61223724e-04 2.57742730e+00] [ 1.57167549e-02 -1.01277319e-03 9.99875971e-01 4.05252938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.409254154 meters Centerline goodness : 0.997724 Centerline is valid? [True, True] Translation: X:264.28, Y:2.58, Z:4.05 [[ 9.96952685e-01 -7.64024078e-02 -1.57485355e-02 2.64278526e+02] [ 7.64093644e-02 9.97076518e-01 -1.60381369e-04 2.57940218e+00] [ 1.57147485e-02 -1.04344295e-03 9.99875971e-01 4.05311561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.43925415399997 meters Centerline goodness : 0.997916 Centerline is valid? [True, True] Translation: X:264.31, Y:2.58, Z:4.05 [[ 9.97020216e-01 -7.55160403e-02 -1.57485471e-02 2.64308912e+02] [ 7.55229048e-02 9.97144055e-01 -1.59233166e-04 2.58097212e+00] [ 1.57155948e-02 -1.03061734e-03 9.99875971e-01 4.05368588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.469254154 meters Centerline goodness : 0.997954 Centerline is valid? [True, True] Translation: X:264.34, Y:2.58, Z:4.05 [[ 9.96976582e-01 -7.60900856e-02 -1.57478384e-02 2.64342685e+02] [ 7.60959242e-02 9.97100475e-01 -2.28995647e-04 2.58226542e+00] [ 1.57196015e-02 -9.70043019e-04 9.99875969e-01 4.05374515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.49925415399997 meters Centerline goodness : 0.997707 Centerline is valid? [True, True] Translation: X:264.37, Y:2.59, Z:4.05 [[ 9.97144935e-01 -7.38509477e-02 -1.57485503e-02 2.64374307e+02] [ 7.38576236e-02 9.97268783e-01 -1.58077182e-04 2.58526867e+00] [ 1.57172117e-02 -1.00552464e-03 9.99875971e-01 4.05305782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.52925415399994 meters Centerline goodness : 0.997706 Centerline is valid? [True, True] Translation: X:264.41, Y:2.59, Z:4.05 [[ 9.97291429e-01 -7.18455899e-02 -1.57485588e-02 2.64406868e+02] [ 7.18520301e-02 9.97415290e-01 -1.57226718e-04 2.58712038e+00] [ 1.57191494e-02 -9.74765063e-04 9.99875971e-01 4.05270255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.559254154 meters Centerline goodness : 0.997687 Centerline is valid? [True, True] Translation: X:264.44, Y:2.59, Z:4.05 [[ 9.97437229e-01 -6.97922451e-02 -1.57485699e-02 2.64439245e+02] [ 6.97984480e-02 9.97561102e-01 -1.56107639e-04 2.58938851e+00] [ 1.57210558e-02 -9.43518164e-04 9.99875971e-01 4.05278917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.58925415399995 meters Centerline goodness : 0.997686 Centerline is valid? [True, True] Translation: X:264.47, Y:2.59, Z:4.05 [[ 9.97629693e-01 -6.69849062e-02 -1.57485809e-02 2.64470006e+02] [ 6.69907780e-02 9.97753583e-01 -1.54989612e-04 2.59151010e+00] [ 1.57235850e-02 -9.00387447e-04 9.99875971e-01 4.05248182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.619254154 meters Centerline goodness : 0.997647 Centerline is valid? [True, True] Translation: X:264.50, Y:2.60, Z:4.05 [[ 9.98007675e-01 -6.10955130e-02 -1.57485890e-02 2.64500688e+02] [ 6.11006665e-02 9.98131597e-01 -1.54155554e-04 2.59691054e+00] [ 1.57285825e-02 -8.08400862e-04 9.99875971e-01 4.05245289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.64925415399995 meters Centerline goodness : 0.997774 Centerline is valid? [True, True] Translation: X:264.53, Y:2.60, Z:4.05 [[ 9.98208155e-01 -5.77274688e-02 -1.57485971e-02 2.64532670e+02] [ 5.77322172e-02 9.98332093e-01 -1.53331497e-04 2.59996382e+00] [ 1.57311813e-02 -7.56144676e-04 9.99875971e-01 4.05280840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.679254154 meters Centerline goodness : 0.997707 Centerline is valid? [True, True] Translation: X:264.56, Y:2.60, Z:4.05 [[ 9.98394068e-01 -5.44175191e-02 -1.57486076e-02 2.64563851e+02] [ 5.44218737e-02 9.98518020e-01 -1.52242100e-04 2.60314654e+00] [ 1.57335531e-02 -7.05071124e-04 9.99875971e-01 4.05302927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.70925415399995 meters Centerline goodness : 0.997714 Centerline is valid? [True, True] Translation: X:264.60, Y:2.61, Z:4.05 [[ 9.98576570e-01 -5.09589477e-02 -1.57486248e-02 2.64596229e+02] [ 5.09629012e-02 9.98700536e-01 -1.50442996e-04 2.60598866e+00] [ 1.57358264e-02 -6.52366758e-04 9.99875971e-01 4.05414036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.739254154 meters Centerline goodness : 0.997768 Centerline is valid? [True, True] Translation: X:264.63, Y:2.61, Z:4.06 [[ 9.98880681e-01 -4.46023125e-02 -1.57486350e-02 2.64628584e+02] [ 4.46054939e-02 9.99004668e-01 -1.49368121e-04 2.61097636e+00] [ 1.57396220e-02 -5.53274711e-04 9.99875971e-01 4.05726579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.76925415399995 meters Centerline goodness : 0.998058 Centerline is valid? [True, True] Translation: X:264.66, Y:2.61, Z:4.06 [[ 9.99019663e-01 -4.13726223e-02 -1.57486456e-02 2.64660232e+02] [ 4.13754205e-02 9.99143660e-01 -1.48243522e-04 2.61335739e+00] [ 1.57412926e-02 -5.03508640e-04 9.99875971e-01 4.05907598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.799254154 meters Centerline goodness : 0.998144 Centerline is valid? [True, True] Translation: X:264.69, Y:2.62, Z:4.06 [[ 9.99145607e-01 -3.82104125e-02 -1.57486536e-02 2.64691996e+02] [ 3.82128317e-02 9.99269612e-01 -1.47387528e-04 2.61589984e+00] [ 1.57427827e-02 -4.54539048e-04 9.99875971e-01 4.06039260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.82925415399995 meters Centerline goodness : 0.997852 Centerline is valid? [True, True] Translation: X:264.72, Y:2.62, Z:4.06 [[ 9.99346260e-01 -3.25427783e-02 -1.57486641e-02 2.64722714e+02] [ 3.25445120e-02 9.99470276e-01 -1.46252089e-04 2.62058494e+00] [ 1.57450811e-02 -3.66376110e-04 9.99875971e-01 4.06191485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.859254154 meters Centerline goodness : 0.997640 Centerline is valid? [True, True] Translation: X:264.75, Y:2.62, Z:4.06 [[ 9.99435291e-01 -2.96829622e-02 -1.57486667e-02 2.64753612e+02] [ 2.96843454e-02 9.99559312e-01 -1.45971538e-04 2.62297602e+00] [ 1.57460593e-02 -3.21599756e-04 9.99875971e-01 4.06288662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.88925415399996 meters Centerline goodness : 0.997682 Centerline is valid? [True, True] Translation: X:264.78, Y:2.62, Z:4.06 [[ 9.99516465e-01 -2.68107552e-02 -1.57486667e-02 2.64783736e+02] [ 2.68117820e-02 9.99640489e-01 -1.45971538e-04 2.62486102e+00] [ 1.57469185e-02 -2.76348863e-04 9.99875971e-01 4.06339362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.919254154 meters Centerline goodness : 0.998100 Centerline is valid? [True, True] Translation: X:264.81, Y:2.63, Z:4.06 [[ 9.99585534e-01 -2.40985581e-02 -1.57486693e-02 2.64814199e+02] [ 2.40992527e-02 9.99709560e-01 -1.45696373e-04 2.62650234e+00] [ 1.57476063e-02 -2.33895174e-04 9.99875971e-01 4.06393976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.94925415399996 meters Centerline goodness : 0.998079 Centerline is valid? [True, True] Translation: X:264.84, Y:2.63, Z:4.06 [[ 9.99678228e-01 -1.98851475e-02 -1.57486693e-02 2.64844135e+02] [ 1.98853194e-02 9.99802257e-01 -1.45696373e-04 2.62911358e+00] [ 1.57484523e-02 -1.67517825e-04 9.99875971e-01 4.06397702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.979254154 meters Centerline goodness : 0.998032 Centerline is valid? [True, True] Translation: X:264.87, Y:2.63, Z:4.06 [[ 9.99704661e-01 -1.85086411e-02 -1.57486696e-02 2.64871730e+02] [ 1.85086427e-02 9.99828690e-01 -1.45661628e-04 2.63038975e+00] [ 1.57486677e-02 -1.45867890e-04 9.99875971e-01 4.06392028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.00925415399996 meters Centerline goodness : 0.998056 Centerline is valid? [True, True] Translation: X:264.90, Y:2.63, Z:4.06 [[ 9.99720929e-01 -1.76080771e-02 -1.57486571e-02 2.64899102e+02] [ 1.76079459e-02 9.99844957e-01 -1.47002075e-04 2.63165548e+00] [ 1.57488038e-02 -1.30340451e-04 9.99875971e-01 4.06366286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.039254154 meters Centerline goodness : 0.998056 Centerline is valid? [True, True] Translation: X:264.93, Y:2.63, Z:4.06 [[ 9.99724377e-01 -1.74112126e-02 -1.57486446e-02 2.64926541e+02] [ 1.74110361e-02 9.99848405e-01 -1.48332016e-04 2.63276799e+00] [ 1.57488398e-02 -1.25909086e-04 9.99875971e-01 4.06401345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.06925415399996 meters Centerline goodness : 0.998222 Centerline is valid? [True, True] Translation: X:264.95, Y:2.63, Z:4.06 [[ 9.99710587e-01 -1.81858153e-02 -1.57486034e-02 2.64954063e+02] [ 1.81856679e-02 9.99834615e-01 -1.52584067e-04 2.63337857e+00] [ 1.57487736e-02 -1.33858963e-04 9.99875971e-01 4.06373750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.099254154 meters Centerline goodness : 0.998013 Centerline is valid? [True, True] Translation: X:264.98, Y:2.63, Z:4.06 [[ 9.99684658e-01 -1.95592922e-02 -1.57485905e-02 2.64981581e+02] [ 1.95592944e-02 9.99808687e-01 -1.53902745e-04 2.63363337e+00] [ 1.57485878e-02 -1.54177104e-04 9.99875971e-01 4.06385934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.12925415399997 meters Centerline goodness : 0.998326 Centerline is valid? [True, True] Translation: X:265.01, Y:2.63, Z:4.06 [[ 9.99647304e-01 -2.13834283e-02 -1.57485487e-02 2.65010732e+02] [ 2.13835912e-02 9.99771332e-01 -1.58066928e-04 2.63382239e+00] [ 1.57483275e-02 -1.78749349e-04 9.99875971e-01 4.06429533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.159254154 meters Centerline goodness : 0.998429 Centerline is valid? [True, True] Translation: X:265.04, Y:2.63, Z:4.06 [[ 9.99599547e-01 -2.35102238e-02 -1.57485114e-02 2.65039134e+02] [ 2.35105934e-02 9.99723575e-01 -1.61692668e-04 2.63413028e+00] [ 1.57479596e-02 -2.08628933e-04 9.99875971e-01 4.06498865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.18925415399997 meters Centerline goodness : 0.998538 Centerline is valid? [True, True] Translation: X:265.07, Y:2.63, Z:4.07 [[ 9.99482635e-01 -2.80436780e-02 -1.57484736e-02 2.65067569e+02] [ 2.80445533e-02 9.99606661e-01 -1.65298751e-04 2.63408980e+00] [ 1.57469147e-02 -2.76445677e-04 9.99875971e-01 4.06568893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.219254154 meters Centerline goodness : 0.998539 Centerline is valid? [True, True] Translation: X:265.10, Y:2.63, Z:4.07 [[ 9.99406152e-01 -3.06484648e-02 -1.57484655e-02 2.65098502e+02] [ 3.06496513e-02 9.99530175e-01 -1.66065115e-04 2.63418186e+00] [ 1.57461561e-02 -3.16718479e-04 9.99875971e-01 4.06634821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.24925415399997 meters Centerline goodness : 0.998579 Centerline is valid? [True, True] Translation: X:265.13, Y:2.63, Z:4.07 [[ 9.99305086e-01 -3.37835992e-02 -1.57484655e-02 2.65130035e+02] [ 3.37851749e-02 9.99429104e-01 -1.66065115e-04 2.63409149e+00] [ 1.57450851e-02 -3.66114947e-04 9.99875971e-01 4.06747456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.27925415399994 meters Centerline goodness : 0.998389 Centerline is valid? [True, True] Translation: X:265.16, Y:2.63, Z:4.07 [[ 9.99048942e-01 -4.06595243e-02 -1.57484708e-02 2.65161432e+02] [ 4.06619612e-02 9.99172947e-01 -1.65560659e-04 2.63306355e+00] [ 1.57421776e-02 -4.74960509e-04 9.99875971e-01 4.06883519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.309254154 meters Centerline goodness : 0.998431 Centerline is valid? [True, True] Translation: X:265.19, Y:2.63, Z:4.07 [[ 9.98891439e-01 -4.43607746e-02 -1.57484762e-02 2.65193506e+02] [ 4.43636791e-02 9.99015434e-01 -1.65043997e-04 2.63278007e+00] [ 1.57402923e-02 -5.33799310e-04 9.99875971e-01 4.06942168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.33925415399995 meters Centerline goodness : 0.998309 Centerline is valid? [True, True] Translation: X:265.22, Y:2.63, Z:4.07 [[ 9.98742477e-01 -4.75967347e-02 -1.57484870e-02 2.65224210e+02] [ 4.76000572e-02 9.98866461e-01 -1.64008783e-04 2.63261934e+00] [ 1.57384418e-02 -5.85826344e-04 9.99875971e-01 4.06994106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.369254154 meters Centerline goodness : 0.998473 Centerline is valid? [True, True] Translation: X:265.26, Y:2.63, Z:4.07 [[ 9.98577413e-01 -5.09424719e-02 -1.57484950e-02 2.65256549e+02] [ 5.09462220e-02 9.98701385e-01 -1.63236199e-04 2.63276467e+00] [ 1.57363594e-02 -6.39322341e-04 9.99875971e-01 4.07003016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.39925415399995 meters Centerline goodness : 0.998623 Centerline is valid? [True, True] Translation: X:265.29, Y:2.63, Z:4.07 [[ 9.98297261e-01 -5.61655027e-02 -1.57485055e-02 2.65288117e+02] [ 5.61699173e-02 9.98421211e-01 -1.62214307e-04 2.63225614e+00] [ 1.57327528e-02 -7.22654156e-04 9.99875971e-01 4.06949600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.429254154 meters Centerline goodness : 0.998704 Centerline is valid? [True, True] Translation: X:265.32, Y:2.63, Z:4.07 [[ 9.98157550e-01 -5.85959864e-02 -1.57485134e-02 2.65320536e+02] [ 5.86007148e-02 9.98281488e-01 -1.61451254e-04 2.63228356e+00] [ 1.57309098e-02 -7.61720352e-04 9.99875971e-01 4.06934973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.45925415399995 meters Centerline goodness : 0.998729 Centerline is valid? [True, True] Translation: X:265.35, Y:2.63, Z:4.07 [[ 9.97877075e-01 -6.31927836e-02 -1.57485237e-02 2.65351610e+02] [ 6.31980987e-02 9.98000989e-01 -1.60441012e-04 2.63214178e+00] [ 1.57271809e-02 -8.35176344e-04 9.99875971e-01 4.06847667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.489254154 meters Centerline goodness : 0.998663 Centerline is valid? [True, True] Translation: X:265.38, Y:2.63, Z:4.07 [[ 9.97746346e-01 -6.52243201e-02 -1.57485313e-02 2.65383921e+02] [ 6.52298993e-02 9.97870249e-01 -1.59687539e-04 2.63227969e+00] [ 1.57254064e-02 -8.67947451e-04 9.99875971e-01 4.06955645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.51925415399995 meters Centerline goodness : 0.998892 Centerline is valid? [True, True] Translation: X:265.42, Y:2.63, Z:4.07 [[ 9.97620242e-01 -6.71255220e-02 -1.57485420e-02 2.65415474e+02] [ 6.71313541e-02 9.97744134e-01 -1.58620587e-04 2.63249107e+00] [ 1.57236629e-02 -8.98977844e-04 9.99875971e-01 4.06867756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.549254154 meters Centerline goodness : 0.998808 Centerline is valid? [True, True] Translation: X:265.45, Y:2.63, Z:4.07 [[ 9.97492737e-01 -6.89943686e-02 -1.57485553e-02 2.65448630e+02] [ 6.90004537e-02 9.97616616e-01 -1.57290403e-04 2.63304270e+00] [ 1.57218726e-02 -9.29761429e-04 9.99875971e-01 4.07026074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.57925415399995 meters Centerline goodness : 0.998870 Centerline is valid? [True, True] Translation: X:265.48, Y:2.63, Z:4.07 [[ 9.97217407e-01 -7.28658112e-02 -1.57485711e-02 2.65479797e+02] [ 7.28724021e-02 9.97341260e-01 -1.55699359e-04 2.63450516e+00] [ 1.57180449e-02 -9.92370093e-04 9.99875971e-01 4.07017921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.609254154 meters Centerline goodness : 0.998870 Centerline is valid? [True, True] Translation: X:265.51, Y:2.64, Z:4.07 [[ 9.97110391e-01 -7.43158777e-02 -1.57485895e-02 2.65511770e+02] [ 7.43226785e-02 9.97234233e-01 -1.53810172e-04 2.63509919e+00] [ 1.57164631e-02 -1.01711163e-03 9.99875971e-01 4.07020698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.63925415399996 meters Centerline goodness : 0.998810 Centerline is valid? [True, True] Translation: X:265.54, Y:2.64, Z:4.07 [[ 9.97010090e-01 -7.56496016e-02 -1.57486022e-02 2.65544797e+02] [ 7.56565886e-02 9.97133921e-01 -1.52501929e-04 2.63621989e+00] [ 1.57150022e-02 -1.03943955e-03 9.99875971e-01 4.07063292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.669254154 meters Centerline goodness : 0.998726 Centerline is valid? [True, True] Translation: X:265.58, Y:2.64, Z:4.07 [[ 9.96953752e-01 -7.63884652e-02 -1.57486171e-02 2.65577110e+02] [ 7.63955685e-02 9.97077577e-01 -1.50946882e-04 2.63752947e+00] [ 1.57141236e-02 -1.05263749e-03 9.99875971e-01 4.07062731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.69925415399996 meters Centerline goodness : 0.998913 Centerline is valid? [True, True] Translation: X:265.61, Y:2.64, Z:4.07 [[ 9.96806182e-01 -7.82905869e-02 -1.57486293e-02 2.65609216e+02] [ 7.82979467e-02 9.96929992e-01 -1.49657770e-04 2.64057196e+00] [ 1.57119977e-02 -1.08390555e-03 9.99875971e-01 4.07068125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.729254154 meters Centerline goodness : 0.998788 Centerline is valid? [True, True] Translation: X:265.64, Y:2.64, Z:4.07 [[ 9.96784715e-01 -7.85634259e-02 -1.57486389e-02 2.65641220e+02] [ 7.85708355e-02 9.96908522e-01 -1.48640811e-04 2.64224250e+00] [ 1.57116301e-02 -1.08922083e-03 9.99875971e-01 4.07069398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.75925415399996 meters Centerline goodness : 0.998996 Centerline is valid? [True, True] Translation: X:265.67, Y:2.64, Z:4.07 [[ 9.96791114e-01 -7.84822023e-02 -1.57486484e-02 2.65673296e+02] [ 7.84896178e-02 9.96914920e-01 -1.47630181e-04 2.64408299e+00] [ 1.57116489e-02 -1.08894894e-03 9.99875971e-01 4.07078901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.789254154 meters Centerline goodness : 0.998767 Centerline is valid? [True, True] Translation: X:265.71, Y:2.65, Z:4.07 [[ 9.96853276e-01 -7.76886481e-02 -1.57486578e-02 2.65705016e+02] [ 7.76959808e-02 9.96977088e-01 -1.46624760e-04 2.64795460e+00] [ 1.57124420e-02 -1.07744404e-03 9.99875971e-01 4.07181143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.81925415399996 meters Centerline goodness : 0.998681 Centerline is valid? [True, True] Translation: X:265.74, Y:2.65, Z:4.07 [[ 9.96918182e-01 -7.68512767e-02 -1.57486693e-02 2.65737768e+02] [ 7.68585251e-02 9.97041998e-01 -1.45371220e-04 2.64987688e+00] [ 1.57132567e-02 -1.06549629e-03 9.99875971e-01 4.07270584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.849254154 meters Centerline goodness : 0.998783 Centerline is valid? [True, True] Translation: X:265.77, Y:2.65, Z:4.07 [[ 9.96995328e-01 -7.58438859e-02 -1.57486829e-02 2.65769512e+02] [ 7.58510325e-02 9.97119150e-01 -1.43884736e-04 2.65188699e+00] [ 1.57142261e-02 -1.05110145e-03 9.99875971e-01 4.07336523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.87925415399997 meters Centerline goodness : 0.998783 Centerline is valid? [True, True] Translation: X:265.80, Y:2.65, Z:4.07 [[ 9.97002430e-01 -7.57504620e-02 -1.57487050e-02 2.65803039e+02] [ 7.57576357e-02 9.97126251e-01 -1.41429560e-04 2.65207384e+00] [ 1.57141605e-02 -1.05207904e-03 9.99875971e-01 4.07389264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.909254154 meters Centerline goodness : 0.998787 Centerline is valid? [True, True] Translation: X:265.84, Y:2.65, Z:4.08 [[ 9.97140554e-01 -7.39100400e-02 -1.57487181e-02 2.65835600e+02] [ 7.39170083e-02 9.97264386e-01 -1.39954251e-04 2.65413037e+00] [ 1.57159797e-02 -1.02454406e-03 9.99875971e-01 4.07514507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.93925415399997 meters Centerline goodness : 0.998783 Centerline is valid? [True, True] Translation: X:265.87, Y:2.66, Z:4.08 [[ 9.97394414e-01 -7.04014302e-02 -1.57487311e-02 2.65867468e+02] [ 7.04079860e-02 9.97518269e-01 -1.38476641e-04 2.65886056e+00] [ 1.57193959e-02 -9.70720610e-04 9.99875971e-01 4.07685853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.969254154 meters Centerline goodness : 0.998931 Centerline is valid? [True, True] Translation: X:265.90, Y:2.66, Z:4.08 [[ 9.97505670e-01 -6.88070937e-02 -1.57487417e-02 2.65899246e+02] [ 6.88134707e-02 9.97629534e-01 -1.37255633e-04 2.66180905e+00] [ 1.57208540e-02 -9.46812305e-04 9.99875971e-01 4.07744336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.99925415399997 meters Centerline goodness : 0.998635 Centerline is valid? [True, True] Translation: X:265.93, Y:2.66, Z:4.08 [[ 9.97681331e-01 -6.62113129e-02 -1.57487501e-02 2.65932139e+02] [ 6.62173829e-02 9.97805211e-01 -1.36288746e-04 2.66415452e+00] [ 1.57232088e-02 -9.06868276e-04 9.99875971e-01 4.08117846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.02925415399994 meters Centerline goodness : 0.998718 Centerline is valid? [True, True] Translation: X:265.97, Y:2.67, Z:4.08 [[ 9.97888774e-01 -6.30077095e-02 -1.57487645e-02 2.65965534e+02] [ 6.30134083e-02 9.98012671e-01 -1.34598528e-04 2.66610821e+00] [ 1.57259473e-02 -8.58068970e-04 9.99875971e-01 4.08258165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.059254154 meters Centerline goodness : 0.998861 Centerline is valid? [True, True] Translation: X:266.00, Y:2.67, Z:4.08 [[ 9.98222464e-01 -5.74794682e-02 -1.57487790e-02 2.65997861e+02] [ 5.74845075e-02 9.98346390e-01 -1.32889429e-04 2.66993773e+00] [ 1.57303750e-02 -7.72657589e-04 9.99875971e-01 4.08304575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.08925415399995 meters Centerline goodness : 0.998884 Centerline is valid? [True, True] Translation: X:266.03, Y:2.67, Z:4.08 [[ 9.98414072e-01 -5.40491966e-02 -1.57487908e-02 2.66030203e+02] [ 5.40538323e-02 9.98538014e-01 -1.31476046e-04 2.67208812e+00] [ 1.57328724e-02 -7.20014959e-04 9.99875971e-01 4.08320923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.119254154 meters Centerline goodness : 0.998821 Centerline is valid? [True, True] Translation: X:266.06, Y:2.68, Z:4.08 [[ 9.98804046e-01 -4.62866444e-02 -1.57488022e-02 2.66063238e+02] [ 4.62903385e-02 9.98928019e-01 -1.30085377e-04 2.67633826e+00] [ 1.57379410e-02 -5.99087585e-04 9.99875971e-01 4.08403591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.14925415399995 meters Centerline goodness : 0.998987 Centerline is valid? [True, True] Translation: X:266.10, Y:2.68, Z:4.08 [[ 9.99005285e-01 -4.17182925e-02 -1.57488156e-02 2.66095653e+02] [ 4.17214453e-02 9.99129273e-01 -1.28450322e-04 2.67831659e+00] [ 1.57404614e-02 -5.28740796e-04 9.99875971e-01 4.08491188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.179254154 meters Centerline goodness : 0.998902 Centerline is valid? [True, True] Translation: X:266.13, Y:2.68, Z:4.08 [[ 9.99182522e-01 -3.72325460e-02 -1.57488247e-02 2.66127617e+02] [ 3.72351598e-02 9.99306523e-01 -1.27322513e-04 2.68038306e+00] [ 1.57426438e-02 -4.59191575e-04 9.99875971e-01 4.08492793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.20925415399995 meters Centerline goodness : 0.998882 Centerline is valid? [True, True] Translation: X:266.16, Y:2.68, Z:4.09 [[ 9.99348454e-01 -3.24752457e-02 -1.57488338e-02 2.66160273e+02] [ 3.24772870e-02 9.99472466e-01 -1.26190179e-04 2.68221916e+00] [ 1.57446238e-02 -3.85371433e-04 9.99875971e-01 4.08546707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.239254154 meters Centerline goodness : 0.999343 Centerline is valid? [True, True] Translation: X:266.19, Y:2.69, Z:4.08 [[ 9.99604218e-01 -2.33105363e-02 -1.57488430e-02 2.66190395e+02] [ 2.33114586e-02 9.99728243e-01 -1.25030782e-04 2.68517713e+00] [ 1.57474776e-02 -2.42147204e-04 9.99875971e-01 4.08426430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.26925415399995 meters Centerline goodness : 0.999004 Centerline is valid? [True, True] Translation: X:266.22, Y:2.69, Z:4.08 [[ 9.99697628e-01 -1.88845646e-02 -1.57488452e-02 2.66221250e+02] [ 1.88849423e-02 9.99821656e-01 -1.24744535e-04 2.68665853e+00] [ 1.57483923e-02 -1.72709219e-04 9.99875971e-01 4.08418179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.299254154 meters Centerline goodness : 0.999066 Centerline is valid? [True, True] Translation: X:266.25, Y:2.69, Z:4.08 [[ 9.99766719e-01 -1.47811407e-02 -1.57488452e-02 2.66249646e+02] [ 1.47810093e-02 9.99890747e-01 -1.24744535e-04 2.68826516e+00] [ 1.57489685e-02 -1.08068394e-04 9.99875971e-01 4.08328380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.32925415399995 meters Centerline goodness : 0.999107 Centerline is valid? [True, True] Translation: X:266.28, Y:2.69, Z:4.08 [[ 9.99812121e-01 -1.13003063e-02 -1.57488384e-02 2.66277286e+02] [ 1.12997297e-02 9.99936148e-01 -1.25596420e-04 2.68967236e+00] [ 1.57492521e-02 -5.23847953e-05 9.99875971e-01 4.08393763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.359254154 meters Centerline goodness : 0.999149 Centerline is valid? [True, True] Translation: X:266.30, Y:2.69, Z:4.08 [[ 9.99860979e-01 -5.47703000e-03 -1.57488015e-02 2.66304053e+02] [ 5.47566069e-03 9.99985000e-01 -1.30066428e-04 2.69228474e+00] [ 1.57492777e-02 4.38132522e-05 9.99875971e-01 4.08410361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.38925415399996 meters Centerline goodness : 0.998936 Centerline is valid? [True, True] Translation: X:266.33, Y:2.69, Z:4.09 [[ 9.99869359e-01 -3.63885591e-03 -1.57487756e-02 2.66331696e+02] [ 3.63721023e-03 9.99993376e-01 -1.33137572e-04 2.69342751e+00] [ 1.57491557e-02 7.58385708e-05 9.99875971e-01 4.08508454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.419254154 meters Centerline goodness : 0.998851 Centerline is valid? [True, True] Translation: X:266.36, Y:2.69, Z:4.08 [[ 9.99873652e-01 -2.15802132e-03 -1.57487359e-02 2.66358990e+02] [ 2.15612050e-03 9.99997666e-01 -1.37675200e-04 2.69414985e+00] [ 1.57489962e-02 1.03701633e-04 9.99875971e-01 4.08483321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.44925415399996 meters Centerline goodness : 0.999128 Centerline is valid? [True, True] Translation: X:266.39, Y:2.69, Z:4.09 [[ 9.99874883e-01 -1.48224559e-03 -1.57487080e-02 2.66386702e+02] [ 1.48021185e-03 9.99998895e-01 -1.40792386e-04 2.69410949e+00] [ 1.57488993e-02 1.17463346e-04 9.99875971e-01 4.08521212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.479254154 meters Centerline goodness : 0.998956 Centerline is valid? [True, True] Translation: X:266.42, Y:2.69, Z:4.09 [[ 9.99873565e-01 -2.19860597e-03 -1.57486671e-02 2.66415503e+02] [ 2.19659125e-03 9.99997577e-01 -1.45226305e-04 2.69371565e+00] [ 1.57489483e-02 1.10614559e-04 9.99875972e-01 4.08546319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.50925415399996 meters Centerline goodness : 0.999127 Centerline is valid? [True, True] Translation: X:266.44, Y:2.69, Z:4.09 [[ 9.99869124e-01 -3.70324985e-03 -1.57486569e-02 2.66442502e+02] [ 3.70140445e-03 9.99993139e-01 -1.46324734e-04 2.69326960e+00] [ 1.57490908e-02 8.80134347e-05 9.99875972e-01 4.08567418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.539254154 meters Centerline goodness : 0.998936 Centerline is valid? [True, True] Translation: X:266.47, Y:2.69, Z:4.09 [[ 9.99859877e-01 -5.67520181e-03 -1.57486323e-02 2.66470975e+02] [ 5.67356002e-03 9.99983894e-01 -1.48926224e-04 2.69263441e+00] [ 1.57492239e-02 5.95545447e-05 9.99875972e-01 4.08615816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.56925415399996 meters Centerline goodness : 0.999089 Centerline is valid? [True, True] Translation: X:266.50, Y:2.69, Z:4.09 [[ 9.99813376e-01 -1.11890454e-02 -1.57486220e-02 2.66498868e+02] [ 1.11880705e-02 9.99937400e-01 -1.50007912e-04 2.69061171e+00] [ 1.57493146e-02 -2.62167777e-05 9.99875972e-01 4.08679463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.599254154 meters Centerline goodness : 0.998919 Centerline is valid? [True, True] Translation: X:266.52, Y:2.69, Z:4.09 [[ 9.99753727e-01 -1.56354302e-02 -1.57486091e-02 2.66524980e+02] [ 1.56349858e-02 9.99877755e-01 -1.51350100e-04 2.69213180e+00] [ 1.57490504e-02 -9.49164532e-05 9.99875972e-01 4.08586837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.62925415399997 meters Centerline goodness : 0.998941 Centerline is valid? [True, True] Translation: X:266.56, Y:2.69, Z:4.09 [[ 9.99660468e-01 -2.07601964e-02 -1.57468141e-02 2.66556837e+02] [ 2.07575954e-02 9.99784484e-01 -3.28616541e-04 2.68584350e+00] [ 1.57502425e-02 1.63897018e-06 9.99875957e-01 4.08836895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.659254154 meters Centerline goodness : 0.998986 Centerline is valid? [True, True] Translation: X:266.58, Y:2.69, Z:4.09 [[ 9.99529988e-01 -2.63018589e-02 -1.57485226e-02 2.66583298e+02] [ 2.63026857e-02 9.99654013e-01 -1.54657054e-04 2.68863783e+00] [ 1.57471416e-02 -2.59644079e-04 9.99875972e-01 4.08808136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.68925415399997 meters Centerline goodness : 0.998901 Centerline is valid? [True, True] Translation: X:266.62, Y:2.68, Z:4.09 [[ 9.99550994e-01 -2.54921925e-02 -1.57466762e-02 2.66617023e+02] [ 2.54899448e-02 9.99675020e-01 -3.43457117e-04 2.68249086e+00] [ 1.57503143e-02 -5.80790046e-05 9.99875954e-01 4.08930637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.71925415399994 meters Centerline goodness : 0.998817 Centerline is valid? [True, True] Translation: X:266.65, Y:2.68, Z:4.09 [[ 9.99499546e-01 -2.74343227e-02 -1.57485138e-02 2.66647993e+02] [ 2.74353926e-02 9.99623568e-01 -1.48147276e-04 2.68107602e+00] [ 1.57466499e-02 -2.83993524e-04 9.99875973e-01 4.08951681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.74925415399997 meters Centerline goodness : 0.998839 Centerline is valid? [True, True] Translation: X:266.68, Y:2.68, Z:4.09 [[ 9.99462239e-01 -2.87613817e-02 -1.57485138e-02 2.66679007e+02] [ 2.87626162e-02 9.99586259e-01 -1.48147276e-04 2.67991604e+00] [ 1.57462589e-02 -3.04900850e-04 9.99875973e-01 4.08962744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.77925415399994 meters Centerline goodness : 0.998879 Centerline is valid? [True, True] Translation: X:266.71, Y:2.68, Z:4.09 [[ 9.99435317e-01 -2.96821863e-02 -1.57485191e-02 2.66708906e+02] [ 2.96835441e-02 9.99559336e-01 -1.47582784e-04 2.67832113e+00] [ 1.57459599e-02 -3.19972414e-04 9.99875973e-01 4.08946595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.809254154 meters Centerline goodness : 0.998966 Centerline is valid? [True, True] Translation: X:266.74, Y:2.68, Z:4.09 [[ 9.99395521e-01 -3.09931600e-02 -1.57485217e-02 2.66739422e+02] [ 3.09946848e-02 9.99519538e-01 -1.47302354e-04 2.68016086e+00] [ 1.57455205e-02 -3.40907155e-04 9.99875973e-01 4.08944368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.83925415399995 meters Centerline goodness : 0.998987 Centerline is valid? [True, True] Translation: X:266.77, Y:2.68, Z:4.09 [[ 9.99488701e-01 -2.78269402e-02 -1.57479467e-02 2.66770454e+02] [ 2.78271200e-02 9.99612729e-01 -2.07753212e-04 2.67629711e+00] [ 1.57476291e-02 -2.30573014e-04 9.99875972e-01 4.08870612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.869254154 meters Centerline goodness : 0.998903 Centerline is valid? [True, True] Translation: X:266.80, Y:2.68, Z:4.09 [[ 9.99509798e-01 -2.70582341e-02 -1.57485103e-02 2.66801632e+02] [ 2.70592653e-02 9.99633820e-01 -1.47641907e-04 2.67590570e+00] [ 1.57467384e-02 -2.78573585e-04 9.99875974e-01 4.08931559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.89925415399995 meters Centerline goodness : 0.999007 Centerline is valid? [True, True] Translation: X:266.83, Y:2.68, Z:4.09 [[ 9.99534005e-01 -2.61487423e-02 -1.57485154e-02 2.66832491e+02] [ 2.61496692e-02 9.99658028e-01 -1.47098918e-04 2.67560438e+00] [ 1.57469763e-02 -2.64788096e-04 9.99875974e-01 4.08949110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.929254154 meters Centerline goodness : 0.999178 Centerline is valid? [True, True] Translation: X:266.86, Y:2.68, Z:4.09 [[ 9.99571043e-01 -2.46923743e-02 -1.57485154e-02 2.66862859e+02] [ 2.46931205e-02 9.99695068e-01 -1.47098918e-04 2.67531653e+00] [ 1.57473454e-02 -2.41844168e-04 9.99875974e-01 4.08906794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.95925415399995 meters Centerline goodness : 0.999072 Centerline is valid? [True, True] Translation: X:266.89, Y:2.68, Z:4.09 [[ 9.99576957e-01 -2.44518011e-02 -1.57485179e-02 2.66893525e+02] [ 2.44525216e-02 9.99700982e-01 -1.46830186e-04 2.67545279e+00] [ 1.57473990e-02 -2.38322904e-04 9.99875974e-01 4.08941372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.989254154 meters Centerline goodness : 0.998903 Centerline is valid? [True, True] Translation: X:266.92, Y:2.67, Z:4.09 [[ 9.99585265e-01 -2.41098139e-02 -1.57485179e-02 2.66923690e+02] [ 2.41104920e-02 9.99709289e-01 -1.46830186e-04 2.67498954e+00] [ 1.57474797e-02 -2.32935224e-04 9.99875974e-01 4.08995026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.01925415399995 meters Centerline goodness : 0.998776 Centerline is valid? [True, True] Translation: X:266.95, Y:2.67, Z:4.09 [[ 9.99531108e-01 -2.62592460e-02 -1.57485179e-02 2.66954056e+02] [ 2.62601908e-02 9.99655131e-01 -1.46830186e-04 2.67352734e+00] [ 1.57469423e-02 -2.66797747e-04 9.99875974e-01 4.09012554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.049254154 meters Centerline goodness : 0.998841 Centerline is valid? [True, True] Translation: X:266.98, Y:2.67, Z:4.09 [[ 9.99493155e-01 -2.76661849e-02 -1.57485179e-02 2.66984987e+02] [ 2.76673043e-02 9.99617176e-01 -1.46830186e-04 2.67267659e+00] [ 1.57465512e-02 -2.88963270e-04 9.99875974e-01 4.09060600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.07925415399995 meters Centerline goodness : 0.998822 Centerline is valid? [True, True] Translation: X:267.02, Y:2.67, Z:4.09 [[ 9.99438376e-01 -2.95789801e-02 -1.57485179e-02 2.67015661e+02] [ 2.95803369e-02 9.99562395e-01 -1.46830186e-04 2.67213439e+00] [ 1.57459693e-02 -3.19098742e-04 9.99875974e-01 4.09070657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.109254154 meters Centerline goodness : 0.998991 Centerline is valid? [True, True] Translation: X:267.05, Y:2.67, Z:4.09 [[ 9.99375866e-01 -3.16206139e-02 -1.57485206e-02 2.67046632e+02] [ 3.16222286e-02 9.99499882e-01 -1.46537024e-04 2.67167093e+00] [ 1.57452781e-02 -3.51557753e-04 9.99875974e-01 4.09129181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.13925415399996 meters Centerline goodness : 0.999095 Centerline is valid? [True, True] Translation: X:267.08, Y:2.67, Z:4.09 [[ 9.99216737e-01 -3.63028569e-02 -1.57485260e-02 2.67077817e+02] [ 3.63050618e-02 9.99340743e-01 -1.45953608e-04 2.67038067e+00] [ 1.57434422e-02 -4.25911922e-04 9.99875974e-01 4.09206132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.169254154 meters Centerline goodness : 0.998970 Centerline is valid? [True, True] Translation: X:267.11, Y:2.67, Z:4.09 [[ 9.99114599e-01 -3.90128547e-02 -1.57485314e-02 2.67109220e+02] [ 3.90154052e-02 9.99238599e-01 -1.45371839e-04 2.66967859e+00] [ 1.57422118e-02 -4.69192206e-04 9.99875974e-01 4.09237197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.19925415399996 meters Centerline goodness : 0.998926 Centerline is valid? [True, True] Translation: X:267.14, Y:2.67, Z:4.09 [[ 9.98996414e-01 -4.19302704e-02 -1.57485394e-02 2.67141298e+02] [ 4.19331966e-02 9.99120406e-01 -1.44501020e-04 2.66857506e+00] [ 1.57407460e-02 -5.16030597e-04 9.99875974e-01 4.09319044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.229254154 meters Centerline goodness : 0.998887 Centerline is valid? [True, True] Translation: X:267.17, Y:2.67, Z:4.09 [[ 9.98874878e-01 -4.47321057e-02 -1.57485502e-02 2.67172476e+02] [ 4.47353984e-02 9.98998861e-01 -1.43314965e-04 2.66740628e+00] [ 1.57391944e-02 -5.61363948e-04 9.99875974e-01 4.09361205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.25925415399996 meters Centerline goodness : 0.998992 Centerline is valid? [True, True] Translation: X:267.20, Y:2.66, Z:4.09 [[ 9.98560321e-01 -5.12763849e-02 -1.57485582e-02 2.67204303e+02] [ 5.12805039e-02 9.98684279e-01 -1.42430446e-04 2.66482711e+00] [ 1.57351408e-02 -6.65368606e-04 9.99875974e-01 4.09481354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.289254154 meters Centerline goodness : 0.999055 Centerline is valid? [True, True] Translation: X:267.24, Y:2.66, Z:4.10 [[ 9.98410477e-01 -5.41156385e-02 -1.57485687e-02 2.67236281e+02] [ 5.41201284e-02 9.98534422e-01 -1.41257881e-04 2.66369662e+00] [ 1.57331322e-02 -7.11281211e-04 9.99875974e-01 4.09537295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.31925415399996 meters Centerline goodness : 0.998679 Centerline is valid? [True, True] Translation: X:267.27, Y:2.66, Z:4.10 [[ 9.98286921e-01 -5.63489693e-02 -1.57485817e-02 2.67268824e+02] [ 5.63537594e-02 9.98410854e-01 -1.39795618e-04 2.66281705e+00] [ 1.57314322e-02 -7.47935645e-04 9.99875974e-01 4.09620920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.349254154 meters Centerline goodness : 0.998952 Centerline is valid? [True, True] Translation: X:267.30, Y:2.66, Z:4.10 [[ 9.98028436e-01 -6.07554287e-02 -1.57485969e-02 2.67300659e+02] [ 6.07607934e-02 9.98152347e-01 -1.38055488e-04 2.66168055e+00] [ 1.57278866e-02 -8.19113939e-04 9.99875974e-01 4.09631023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.37925415399997 meters Centerline goodness : 0.998844 Centerline is valid? [True, True] Translation: X:267.33, Y:2.66, Z:4.10 [[ 9.97942871e-01 -6.21450499e-02 -1.57486202e-02 2.67333242e+02] [ 6.21506297e-02 9.98066772e-01 -1.35341654e-04 2.66089370e+00] [ 1.57265854e-02 -8.43723426e-04 9.99875974e-01 4.09664111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.409254154 meters Centerline goodness : 0.998971 Centerline is valid? [True, True] Translation: X:267.37, Y:2.66, Z:4.10 [[ 9.97870188e-01 -6.33014018e-02 -1.57486352e-02 2.67365766e+02] [ 6.33071530e-02 9.97994081e-01 -1.33573957e-04 2.66027176e+00] [ 1.57255002e-02 -8.63711790e-04 9.99875974e-01 4.09700321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.43925415399997 meters Centerline goodness : 0.998846 Centerline is valid? [True, True] Translation: X:267.40, Y:2.66, Z:4.10 [[ 9.97852116e-01 -6.35856444e-02 -1.57486475e-02 2.67398367e+02] [ 6.35914540e-02 9.97976006e-01 -1.32107528e-04 2.65961489e+00] [ 1.57251725e-02 -8.69655619e-04 9.99875974e-01 4.09754632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.46925415399994 meters Centerline goodness : 0.998975 Centerline is valid? [True, True] Translation: X:267.43, Y:2.66, Z:4.10 [[ 9.97798224e-01 -6.44257936e-02 -1.57486621e-02 2.67430177e+02] [ 6.44317351e-02 9.97922108e-01 -1.30351819e-04 2.65929223e+00] [ 1.57243361e-02 -8.84648809e-04 9.99875974e-01 4.09751170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.49925415399997 meters Centerline goodness : 0.998680 Centerline is valid? [True, True] Translation: X:267.46, Y:2.66, Z:4.10 [[ 9.97836155e-01 -6.38356261e-02 -1.57486739e-02 2.67462032e+02] [ 6.38415172e-02 9.97960041e-01 -1.28899223e-04 2.65905499e+00] [ 1.57247757e-02 -8.76798934e-04 9.99875974e-01 4.09764222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.52925415399994 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:267.49, Y:2.66, Z:4.10 [[ 9.97844117e-01 -6.37110473e-02 -1.57486835e-02 2.67494556e+02] [ 6.37169415e-02 9.97968003e-01 -1.27723172e-04 2.65951607e+00] [ 1.57248196e-02 -8.76010128e-04 9.99875974e-01 4.09725796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.559254154 meters Centerline goodness : 0.998973 Centerline is valid? [True, True] Translation: X:267.53, Y:2.66, Z:4.10 [[ 9.97887693e-01 -6.30248468e-02 -1.57486952e-02 2.67526388e+02] [ 6.30306788e-02 9.98011582e-01 -1.26257554e-04 2.65982953e+00] [ 1.57253376e-02 -8.66660092e-04 9.99875974e-01 4.09732350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.58925415399995 meters Centerline goodness : 0.998808 Centerline is valid? [True, True] Translation: X:267.56, Y:2.66, Z:4.10 [[ 9.98026817e-01 -6.07820025e-02 -1.57487045e-02 2.67558564e+02] [ 6.07875744e-02 9.98150718e-01 -1.25088813e-04 2.66061246e+00] [ 1.57271839e-02 -8.32483559e-04 9.99875974e-01 4.09655261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.619254154 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:267.59, Y:2.66, Z:4.10 [[ 9.98132377e-01 -5.90231867e-02 -1.57487270e-02 2.67591090e+02] [ 5.90285859e-02 9.98256285e-01 -1.22192077e-04 2.66135704e+00] [ 1.57284779e-02 -8.07661216e-04 9.99875974e-01 4.09776224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.64925415399995 meters Centerline goodness : 0.998869 Centerline is valid? [True, True] Translation: X:267.62, Y:2.66, Z:4.10 [[ 9.98359103e-01 -5.50552321e-02 -1.57487403e-02 2.67623377e+02] [ 5.50601661e-02 9.98483031e-01 -1.20451724e-04 2.66327428e+00] [ 1.57314815e-02 -7.46874182e-04 9.99875974e-01 4.09898319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.679254154 meters Centerline goodness : 0.998867 Centerline is valid? [True, True] Translation: X:267.66, Y:2.66, Z:4.10 [[ 9.98491012e-01 -5.26086987e-02 -1.57487491e-02 2.67655347e+02] [ 5.26133473e-02 9.98614952e-01 -1.19293962e-04 2.66434263e+00] [ 1.57332122e-02 -7.09480456e-04 9.99875974e-01 4.09979013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.70925415399995 meters Centerline goodness : 0.998952 Centerline is valid? [True, True] Translation: X:267.69, Y:2.67, Z:4.10 [[ 9.98633371e-01 -4.98333856e-02 -1.57487578e-02 2.67686789e+02] [ 4.98377081e-02 9.98757322e-01 -1.18124576e-04 2.66564994e+00] [ 1.57350738e-02 -6.66918852e-04 9.99875974e-01 4.09978256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.739254154 meters Centerline goodness : 0.998952 Centerline is valid? [True, True] Translation: X:267.72, Y:2.67, Z:4.10 [[ 9.98777505e-01 -4.68558657e-02 -1.57487643e-02 2.67719060e+02] [ 4.68598324e-02 9.98901468e-01 -1.17253745e-04 2.66709186e+00] [ 1.57369578e-02 -6.20874054e-04 9.99875974e-01 4.10065785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.76925415399995 meters Centerline goodness : 0.998952 Centerline is valid? [True, True] Translation: X:267.75, Y:2.67, Z:4.10 [[ 9.98780952e-01 -4.67823286e-02 -1.57487729e-02 2.67751747e+02] [ 4.67863043e-02 9.98904915e-01 -1.16094853e-04 2.66727284e+00] [ 1.57369578e-02 -6.20873552e-04 9.99875974e-01 4.10117238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.799254154 meters Centerline goodness : 0.998783 Centerline is valid? [True, True] Translation: X:267.78, Y:2.67, Z:4.10 [[ 9.99080811e-01 -3.98686501e-02 -1.57487813e-02 2.67782963e+02] [ 3.98717860e-02 9.99204798e-01 -1.14935460e-04 2.66964290e+00] [ 1.57408402e-02 -5.13102227e-04 9.99875974e-01 4.10103277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.82925415399995 meters Centerline goodness : 0.999014 Centerline is valid? [True, True] Translation: X:267.81, Y:2.67, Z:4.10 [[ 9.99179234e-01 -3.73206821e-02 -1.57487876e-02 2.67813841e+02] [ 3.73235154e-02 9.99303228e-01 -1.14071923e-04 2.67129651e+00] [ 1.57420715e-02 -4.73821820e-04 9.99875974e-01 4.10191799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.859254154 meters Centerline goodness : 0.999035 Centerline is valid? [True, True] Translation: X:267.85, Y:2.67, Z:4.10 [[ 9.99286194e-01 -3.43377113e-02 -1.57487937e-02 2.67846162e+02] [ 3.43401879e-02 9.99410195e-01 -1.13217923e-04 2.67250944e+00] [ 1.57433927e-02 -4.27679428e-04 9.99875974e-01 4.10285380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.88925415399996 meters Centerline goodness : 0.998908 Centerline is valid? [True, True] Translation: X:267.88, Y:2.67, Z:4.10 [[ 9.99374960e-01 -3.16490950e-02 -1.57488019e-02 2.67877378e+02] [ 3.16512560e-02 9.99498967e-01 -1.12073016e-04 2.67347887e+00] [ 1.57444582e-02 -3.86466394e-04 9.99875974e-01 4.10302493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.919254154 meters Centerline goodness : 0.998866 Centerline is valid? [True, True] Translation: X:267.91, Y:2.67, Z:4.10 [[ 9.99499068e-01 -2.74515651e-02 -1.57488151e-02 2.67908322e+02] [ 2.74532350e-02 9.99623083e-01 -1.10184141e-04 2.67476937e+00] [ 1.57459038e-02 -3.22226976e-04 9.99875974e-01 4.10377838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.94925415399996 meters Centerline goodness : 0.998991 Centerline is valid? [True, True] Translation: X:267.94, Y:2.68, Z:4.10 [[ 9.99539317e-01 -2.59447329e-02 -1.57488191e-02 2.67938942e+02] [ 2.59462251e-02 9.99663334e-01 -1.09602108e-04 2.67560560e+00] [ 1.57463606e-02 -2.99070790e-04 9.99875974e-01 4.10356321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.979254154 meters Centerline goodness : 0.998927 Centerline is valid? [True, True] Translation: X:267.97, Y:2.68, Z:4.10 [[ 9.99565129e-01 -2.49304357e-02 -1.57488211e-02 2.67967951e+02] [ 2.49318066e-02 9.99689148e-01 -1.09314108e-04 2.67646074e+00] [ 1.57466508e-02 -2.83379992e-04 9.99875974e-01 4.10313436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.00925415399996 meters Centerline goodness : 0.998908 Centerline is valid? [True, True] Translation: X:268.00, Y:2.68, Z:4.10 [[ 9.99593641e-01 -2.37598067e-02 -1.57488192e-02 2.67998425e+02] [ 2.37610280e-02 9.99717661e-01 -1.09594184e-04 2.67709018e+00] [ 1.57469766e-02 -2.64658484e-04 9.99875974e-01 4.10281706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.039254154 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:268.03, Y:2.68, Z:4.10 [[ 9.99578294e-01 -2.43968993e-02 -1.57488192e-02 2.68028246e+02] [ 2.43981996e-02 9.99702314e-01 -1.09594184e-04 2.67726890e+00] [ 1.57468047e-02 -2.74694866e-04 9.99875974e-01 4.10284181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.06925415399996 meters Centerline goodness : 0.998801 Centerline is valid? [True, True] Translation: X:268.06, Y:2.68, Z:4.10 [[ 9.99555813e-01 -2.53012232e-02 -1.57488152e-02 2.68058611e+02] [ 2.53026267e-02 9.99679831e-01 -1.10164959e-04 2.67741614e+00] [ 1.57465602e-02 -2.88370366e-04 9.99875974e-01 4.10325575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.099254154 meters Centerline goodness : 0.999140 Centerline is valid? [True, True] Translation: X:268.09, Y:2.68, Z:4.10 [[ 9.99567077e-01 -2.48522220e-02 -1.57488152e-02 2.68087964e+02] [ 2.48535697e-02 9.99691096e-01 -1.10164959e-04 2.67736145e+00] [ 1.57466882e-02 -2.81297011e-04 9.99875974e-01 4.10193340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.12925415399997 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:268.12, Y:2.68, Z:4.10 [[ 9.99427131e-01 -2.99567202e-02 -1.57481465e-02 2.68117749e+02] [ 2.99572817e-02 9.99551160e-01 -2.00295942e-04 2.67715008e+00] [ 1.57470783e-02 -2.71590462e-04 9.99875970e-01 4.10376548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.159254154 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:268.15, Y:2.68, Z:4.11 [[ 9.99370349e-01 -3.17943584e-02 -1.57487668e-02 2.68149140e+02] [ 3.17964708e-02 9.99494358e-01 -1.16306348e-04 2.67704517e+00] [ 1.57445014e-02 -3.84522088e-04 9.99875974e-01 4.10514322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.18925415399997 meters Centerline goodness : 0.999370 Centerline is valid? [True, True] Translation: X:268.18, Y:2.68, Z:4.11 [[ 9.99309188e-01 -3.36618956e-02 -1.57487710e-02 2.68181588e+02] [ 3.36642487e-02 9.99433192e-01 -1.15734257e-04 2.67693327e+00] [ 1.57437403e-02 -4.14516238e-04 9.99875974e-01 4.10612810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.21925415399994 meters Centerline goodness : 0.998932 Centerline is valid? [True, True] Translation: X:268.21, Y:2.68, Z:4.11 [[ 9.99255045e-01 -3.52325346e-02 -1.57487795e-02 2.68213552e+02] [ 3.52351012e-02 9.99379044e-01 -1.14559360e-04 2.67684477e+00] [ 1.57430365e-02 -4.40435822e-04 9.99875974e-01 4.10691557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.24925415399997 meters Centerline goodness : 0.999098 Centerline is valid? [True, True] Translation: X:268.25, Y:2.68, Z:4.11 [[ 9.99104652e-01 -3.92666545e-02 -1.57487880e-02 2.68245226e+02] [ 3.92697402e-02 9.99228640e-01 -1.13380589e-04 2.67599382e+00] [ 1.57410921e-02 -5.05171741e-04 9.99875974e-01 4.10790239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.27925415399994 meters Centerline goodness : 0.998952 Centerline is valid? [True, True] Translation: X:268.28, Y:2.68, Z:4.11 [[ 9.99026018e-01 -4.12188151e-02 -1.57488018e-02 2.68277770e+02] [ 4.12221737e-02 9.99149999e-01 -1.11436666e-04 2.67537555e+00] [ 1.57400086e-02 -5.37871714e-04 9.99875974e-01 4.10805005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.309254154 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] Translation: X:268.31, Y:2.67, Z:4.11 [[ 9.98953207e-01 -4.29472331e-02 -1.57488099e-02 2.68308869e+02] [ 4.29508244e-02 9.99077181e-01 -1.10281517e-04 2.67468285e+00] [ 1.57390129e-02 -5.66258293e-04 9.99875974e-01 4.10809291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.33925415399995 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:268.34, Y:2.67, Z:4.11 [[ 9.98847638e-01 -4.53362015e-02 -1.57488159e-02 2.68339864e+02] [ 4.53401028e-02 9.98971603e-01 -1.09420749e-04 2.67358171e+00] [ 1.57375805e-02 -6.04758273e-04 9.99875974e-01 4.10706954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.369254154 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:268.37, Y:2.67, Z:4.11 [[ 9.98789291e-01 -4.66039257e-02 -1.57488289e-02 2.68371892e+02] [ 4.66080145e-02 9.98913250e-01 -1.07510794e-04 2.67351820e+00] [ 1.57367243e-02 -6.26641015e-04 9.99875974e-01 4.10760968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.39925415399995 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:268.40, Y:2.67, Z:4.11 [[ 9.98767742e-01 -4.70634787e-02 -1.57488366e-02 2.68403219e+02] [ 4.70676425e-02 9.98891699e-01 -1.06368443e-04 2.67350243e+00] [ 1.57363882e-02 -6.35023241e-04 9.99875974e-01 4.10777561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.429254154 meters Centerline goodness : 0.999159 Centerline is valid? [True, True] Translation: X:268.44, Y:2.67, Z:4.11 [[ 9.98785480e-01 -4.66855365e-02 -1.57488423e-02 2.68435002e+02] [ 4.66896668e-02 9.98909437e-01 -1.05514441e-04 2.67364087e+00] [ 1.57365932e-02 -6.29921909e-04 9.99875974e-01 4.10801533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.45925415399995 meters Centerline goodness : 0.998992 Centerline is valid? [True, True] Translation: X:268.47, Y:2.67, Z:4.11 [[ 9.98846917e-01 -4.53520582e-02 -1.57488499e-02 2.68466021e+02] [ 4.53560410e-02 9.98970880e-01 -1.04369042e-04 2.67422657e+00] [ 1.57373758e-02 -6.10056787e-04 9.99875974e-01 4.10926652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.489254154 meters Centerline goodness : 0.999138 Centerline is valid? [True, True] Translation: X:268.50, Y:2.67, Z:4.11 [[ 9.98921522e-01 -4.36779917e-02 -1.57488555e-02 2.68498254e+02] [ 4.36817802e-02 9.99045490e-01 -1.03516217e-04 2.67482374e+00] [ 1.57383445e-02 -5.84533468e-04 9.99875974e-01 4.10990429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.51925415399995 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:268.53, Y:2.68, Z:4.11 [[ 9.99001713e-01 -4.18037124e-02 -1.57488629e-02 2.68529329e+02] [ 4.18072861e-02 9.99125688e-01 -1.02389595e-04 2.67546294e+00] [ 1.57393737e-02 -5.56129834e-04 9.99875974e-01 4.11059927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.549254154 meters Centerline goodness : 0.998950 Centerline is valid? [True, True] Translation: X:268.56, Y:2.68, Z:4.11 [[ 9.99113080e-01 -3.90515982e-02 -1.57488683e-02 2.68562023e+02] [ 3.90548435e-02 9.99237063e-01 -1.01550999e-04 2.67844775e+00] [ 1.57408186e-02 -5.13608654e-04 9.99875974e-01 4.11247184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.57925415399995 meters Centerline goodness : 0.999031 Centerline is valid? [True, True] Translation: X:268.59, Y:2.68, Z:4.11 [[ 9.99224103e-01 -3.60993109e-02 -1.57490146e-02 2.68592357e+02] [ 3.61025556e-02 9.99348087e-01 -7.83263789e-05 2.67815401e+00] [ 1.57415751e-02 -4.90314069e-04 9.99875974e-01 4.11131918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.609254154 meters Centerline goodness : 0.998820 Centerline is valid? [True, True] Translation: X:268.62, Y:2.68, Z:4.11 [[ 9.99276203e-01 -3.46271987e-02 -1.57488772e-02 2.68624556e+02] [ 3.46299198e-02 9.99400199e-01 -9.99759361e-05 2.67924916e+00] [ 1.57428929e-02 -4.45478780e-04 9.99875974e-01 4.11165706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.63925415399996 meters Centerline goodness : 0.999137 Centerline is valid? [True, True] Translation: X:268.66, Y:2.68, Z:4.11 [[ 9.99327197e-01 -3.31228898e-02 -1.57488844e-02 2.68656025e+02] [ 3.31254423e-02 9.99451197e-01 -9.88305347e-05 2.67986318e+00] [ 1.57435149e-02 -4.22924719e-04 9.99875974e-01 4.11188443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.669254154 meters Centerline goodness : 0.998838 Centerline is valid? [True, True] Translation: X:268.69, Y:2.68, Z:4.11 [[ 9.99375784e-01 -3.16230159e-02 -1.57488879e-02 2.68687435e+02] [ 3.16253912e-02 9.99499787e-01 -9.82618384e-05 2.68064838e+00] [ 1.57441174e-02 -3.99864239e-04 9.99875974e-01 4.11124701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.69925415399996 meters Centerline goodness : 0.998818 Centerline is valid? [True, True] Translation: X:268.72, Y:2.68, Z:4.11 [[ 9.99383209e-01 -3.13874670e-02 -1.57488915e-02 2.68717779e+02] [ 3.13898221e-02 9.99507213e-01 -9.76854375e-05 2.68121131e+00] [ 1.57441967e-02 -3.96729716e-04 9.99875974e-01 4.11067382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.729254154 meters Centerline goodness : 0.998923 Centerline is valid? [True, True] Translation: X:268.75, Y:2.68, Z:4.11 [[ 9.99386662e-01 -3.12773573e-02 -1.57488932e-02 2.68748748e+02] [ 3.12797034e-02 9.99510666e-01 -9.73995565e-05 2.68180615e+00] [ 1.57442332e-02 -3.95280891e-04 9.99875974e-01 4.11070199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.75925415399996 meters Centerline goodness : 0.998777 Centerline is valid? [True, True] Translation: X:268.78, Y:2.68, Z:4.11 [[ 9.99380943e-01 -3.14595431e-02 -1.57488968e-02 2.68780037e+02] [ 3.14619209e-02 9.99504947e-01 -9.68158110e-05 2.68278578e+00] [ 1.57441461e-02 -3.98734670e-04 9.99875974e-01 4.10977941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.789254154 meters Centerline goodness : 0.998903 Centerline is valid? [True, True] Translation: X:268.81, Y:2.68, Z:4.11 [[ 9.99383395e-01 -3.13815526e-02 -1.57489004e-02 2.68810643e+02] [ 3.13839299e-02 9.99507399e-01 -9.62361685e-05 2.68364382e+00] [ 1.57441625e-02 -3.98085556e-04 9.99875974e-01 4.11001036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.81925415399996 meters Centerline goodness : 0.998838 Centerline is valid? [True, True] Translation: X:268.84, Y:2.68, Z:4.11 [[ 9.99413413e-01 -3.04105683e-02 -1.57489021e-02 2.68840604e+02] [ 3.04128296e-02 9.99537418e-01 -9.59484452e-05 2.68451766e+00] [ 1.57445348e-02 -3.83076514e-04 9.99875974e-01 4.11058125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.849254154 meters Centerline goodness : 0.998712 Centerline is valid? [True, True] Translation: X:268.87, Y:2.69, Z:4.11 [[ 9.99468580e-01 -2.85401165e-02 -1.57486264e-02 2.68871612e+02] [ 2.85414461e-02 9.99592600e-01 -1.40371006e-04 2.68602135e+00] [ 1.57462166e-02 -3.09192161e-04 9.99875973e-01 4.11228251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.87925415399997 meters Centerline goodness : 0.998945 Centerline is valid? [True, True] Translation: X:268.90, Y:2.69, Z:4.11 [[ 9.99524915e-01 -2.64937018e-02 -1.57489010e-02 2.68903019e+02] [ 2.64954963e-02 9.99648928e-01 -9.47292383e-05 2.68710847e+00] [ 1.57458817e-02 -3.22590714e-04 9.99875974e-01 4.11349176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.909254154 meters Centerline goodness : 0.998816 Centerline is valid? [True, True] Translation: X:268.93, Y:2.69, Z:4.11 [[ 9.99617882e-01 -2.27169890e-02 -1.57489044e-02 2.68932666e+02] [ 2.27183239e-02 9.99741901e-01 -9.41599986e-05 2.68790668e+00] [ 1.57469786e-02 -2.63664693e-04 9.99875974e-01 4.11311362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.93925415399997 meters Centerline goodness : 0.998796 Centerline is valid? [True, True] Translation: X:268.96, Y:2.69, Z:4.12 [[ 9.99656122e-01 -2.09670677e-02 -1.57486214e-02 2.68962688e+02] [ 2.09674526e-02 9.99780149e-01 -1.40694093e-04 2.68982348e+00] [ 1.57481090e-02 -1.89562762e-04 9.99875973e-01 4.11567196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.96925415399994 meters Centerline goodness : 0.998964 Centerline is valid? [True, True] Translation: X:268.99, Y:2.69, Z:4.12 [[ 9.99716353e-01 -1.78657507e-02 -1.57488898e-02 2.68992264e+02] [ 1.78664355e-02 9.99840378e-01 -9.72258308e-05 2.69120273e+00] [ 1.57481129e-02 -1.84178271e-04 9.99875974e-01 4.11628851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.99925415399997 meters Centerline goodness : 0.998729 Centerline is valid? [True, True] Translation: X:269.02, Y:2.69, Z:4.12 [[ 9.99804274e-01 -1.19743760e-02 -1.57488862e-02 2.69021417e+02] [ 1.19743208e-02 9.99928300e-01 -9.78013889e-05 2.69326980e+00] [ 1.57489282e-02 -9.07999695e-05 9.99875974e-01 4.11713836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.02925415399994 meters Centerline goodness : 0.998625 Centerline is valid? [True, True] Translation: X:269.05, Y:2.69, Z:4.12 [[ 9.99835295e-01 -9.01977105e-03 -1.57488599e-02 2.69048275e+02] [ 9.01928524e-03 9.99959320e-01 -1.01874958e-04 2.69362857e+00] [ 1.57491381e-02 -4.01852805e-05 9.99875974e-01 4.11617624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.059254154 meters Centerline goodness : 0.998878 Centerline is valid? [True, True] Translation: X:269.08, Y:2.69, Z:4.12 [[ 9.99844022e-01 -7.99411542e-03 -1.57488466e-02 2.69075362e+02] [ 7.99347065e-03 9.99968046e-01 -1.03889525e-04 2.69457469e+00] [ 1.57491739e-02 -2.20146227e-05 9.99875974e-01 4.11700880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.08925415399995 meters Centerline goodness : 0.998856 Centerline is valid? [True, True] Translation: X:269.10, Y:2.69, Z:4.12 [[ 9.99856930e-01 -6.17207060e-03 -1.57488335e-02 2.69103597e+02] [ 6.17116924e-03 9.99980953e-01 -1.05830917e-04 2.69483720e+00] [ 1.57491868e-02 8.62705823e-06 9.99875974e-01 4.11772890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.119254154 meters Centerline goodness : 0.998836 Centerline is valid? [True, True] Translation: X:269.13, Y:2.70, Z:4.12 [[ 9.99857224e-01 -6.12435619e-03 -1.57488010e-02 2.69131645e+02] [ 6.12337574e-03 9.99981246e-01 -1.10476021e-04 2.69507912e+00] [ 1.57491822e-02 1.40244216e-05 9.99875974e-01 4.11802752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.14925415399995 meters Centerline goodness : 0.999068 Centerline is valid? [True, True] Translation: X:269.16, Y:2.70, Z:4.12 [[ 9.99856213e-01 -6.28721272e-03 -1.57487672e-02 2.69159417e+02] [ 6.28617964e-03 9.99980235e-01 -1.15100385e-04 2.69509274e+00] [ 1.57491795e-02 1.60842561e-05 9.99875974e-01 4.11806796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.179254154 meters Centerline goodness : 0.998985 Centerline is valid? [True, True] Translation: X:269.19, Y:2.69, Z:4.12 [[ 9.99852782e-01 -6.81120154e-03 -1.57487320e-02 2.69186369e+02] [ 6.81016066e-03 9.99976803e-01 -1.19721823e-04 2.69341101e+00] [ 1.57491822e-02 1.24528024e-05 9.99875974e-01 4.11727598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.20925415399995 meters Centerline goodness : 0.995639 Centerline is valid? [True, True] Translation: X:269.21, Y:2.69, Z:4.11 [[ 9.99833821e-01 -9.18191960e-03 -1.57487166e-02 2.69210781e+02] [ 9.18114127e-03 9.99957845e-01 -1.21722409e-04 2.69477822e+00] [ 1.57491703e-02 -2.28890101e-05 9.99875974e-01 4.11462883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.239254154 meters Centerline goodness : 0.999071 Centerline is valid? [True, True] Translation: X:269.24, Y:2.69, Z:4.12 [[ 9.99853637e-01 -6.68903356e-03 -1.57467907e-02 2.69242674e+02] [ 6.68434880e-03 9.99977598e-01 -3.50119402e-04 2.69049180e+00] [ 1.57487799e-02 2.44811116e-04 9.99875950e-01 4.11707750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.26925415399995 meters Centerline goodness : 0.998796 Centerline is valid? [True, True] Translation: X:269.27, Y:2.69, Z:4.12 [[ 9.99856224e-01 -6.28595275e-03 -1.57486009e-02 2.69270683e+02] [ 6.28470438e-03 9.99980243e-01 -1.28758387e-04 2.68955484e+00] [ 1.57490991e-02 2.97645735e-05 9.99875975e-01 4.11774123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.299254154 meters Centerline goodness : 0.998904 Centerline is valid? [True, True] Translation: X:269.30, Y:2.69, Z:4.12 [[ 9.99860310e-01 -5.59843483e-03 -1.57485633e-02 2.69298500e+02] [ 5.59703116e-03 9.99984328e-01 -1.33204229e-04 2.68857548e+00] [ 1.57490622e-02 4.50404219e-05 9.99875975e-01 4.11896084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.32925415399995 meters Centerline goodness : 0.999134 Centerline is valid? [True, True] Translation: X:269.33, Y:2.69, Z:4.12 [[ 9.99864221e-01 -4.85016745e-03 -1.57485232e-02 2.69326107e+02] [ 4.84859884e-03 9.99988236e-01 -1.37783583e-04 2.68750837e+00] [ 1.57490062e-02 6.14066031e-05 9.99875975e-01 4.12031866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.359254154 meters Centerline goodness : 0.999028 Centerline is valid? [True, True] Translation: X:269.35, Y:2.68, Z:4.12 [[ 9.99871759e-01 -2.90713691e-03 -1.57484808e-02 2.69352999e+02] [ 2.90525342e-03 9.99995770e-01 -1.42474836e-04 2.68473143e+00] [ 1.57488284e-02 9.67032368e-05 9.99875975e-01 4.12002834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.38925415399996 meters Centerline goodness : 0.999176 Centerline is valid? [True, True] Translation: X:269.38, Y:2.68, Z:4.12 [[ 9.99873600e-01 -2.18394357e-03 -1.57484621e-02 2.69381377e+02] [ 2.18193839e-03 9.99997609e-01 -1.44506369e-04 2.68301046e+00] [ 1.57487401e-02 1.10125929e-04 9.99875975e-01 4.12067524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.419254154 meters Centerline goodness : 0.998839 Centerline is valid? [True, True] Translation: X:269.41, Y:2.68, Z:4.12 [[ 9.99875252e-01 -1.21153148e-03 -1.57484191e-02 2.69409333e+02] [ 1.20933413e-03 9.99999258e-01 -1.49050156e-04 2.68096209e+00] [ 1.57485880e-02 1.29986462e-04 9.99875975e-01 4.11975169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.44925415399996 meters Centerline goodness : 0.999093 Centerline is valid? [True, True] Translation: X:269.44, Y:2.68, Z:4.12 [[ 9.99873872e-01 -2.05628308e-03 -1.57483747e-02 2.69437460e+02] [ 2.05411874e-03 9.99997879e-01 -1.53606484e-04 2.67775091e+00] [ 1.57486571e-02 1.21238078e-04 9.99875975e-01 4.12179454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.479254154 meters Centerline goodness : 0.999178 Centerline is valid? [True, True] Translation: X:269.47, Y:2.68, Z:4.12 [[ 9.99870923e-01 -3.18215019e-03 -1.57483608e-02 2.69465453e+02] [ 3.18010329e-03 9.99994931e-01 -1.55015848e-04 2.67577637e+00] [ 1.57487743e-02 1.04914425e-04 9.99875975e-01 4.12303395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.50925415399996 meters Centerline goodness : 0.999221 Centerline is valid? [True, True] Translation: X:269.49, Y:2.67, Z:4.12 [[ 9.99864036e-01 -4.88860642e-03 -1.57483437e-02 2.69493293e+02] [ 4.88674401e-03 9.99988048e-01 -1.56740206e-04 2.67349165e+00] [ 1.57489217e-02 7.97607712e-05 9.99875975e-01 4.12315729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.539254154 meters Centerline goodness : 0.999012 Centerline is valid? [True, True] Translation: X:269.52, Y:2.67, Z:4.12 [[ 9.99814503e-01 -1.10883018e-02 -1.57483263e-02 2.69521080e+02] [ 1.10871812e-02 9.99938523e-01 -1.58463643e-04 2.66821357e+00] [ 1.57491152e-02 -1.61702990e-05 9.99875975e-01 4.12305501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.56925415399996 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:269.55, Y:2.67, Z:4.12 [[ 9.99759649e-01 -1.52524087e-02 -1.57483089e-02 2.69549087e+02] [ 1.52517777e-02 9.99883672e-01 -1.60176062e-04 2.66540156e+00] [ 1.57489200e-02 -8.00521428e-05 9.99875975e-01 4.12296868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.599254154 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:269.58, Y:2.66, Z:4.12 [[ 9.99679991e-01 -1.97966209e-02 -1.57482918e-02 2.69577330e+02] [ 1.97965275e-02 9.99804016e-01 -1.61838611e-04 2.66261231e+00] [ 1.57484093e-02 -1.49974671e-04 9.99875975e-01 4.12359030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.62925415399997 meters Centerline goodness : 0.998870 Centerline is valid? [True, True] Translation: X:269.61, Y:2.66, Z:4.12 [[ 9.99566168e-01 -2.48891158e-02 -1.57482737e-02 2.69606095e+02] [ 2.48896268e-02 9.99690192e-01 -1.63579954e-04 2.65981918e+00] [ 1.57474661e-02 -2.28459667e-04 9.99875975e-01 4.12349786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.659254154 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:269.64, Y:2.66, Z:4.12 [[ 9.99287435e-01 -3.43018429e-02 -1.57482305e-02 2.69636251e+02] [ 3.43034579e-02 9.99411449e-01 -1.67640002e-04 2.65521373e+00] [ 1.57447122e-02 -3.72698215e-04 9.99875975e-01 4.12367494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.68925415399997 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:269.67, Y:2.66, Z:4.12 [[ 9.99288689e-01 -3.42652869e-02 -1.57482244e-02 2.69668089e+02] [ 3.42668883e-02 9.99412704e-01 -1.68214981e-04 2.65552464e+00] [ 1.57447394e-02 -3.71547318e-04 9.99875975e-01 4.12417661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.71925415399994 meters Centerline goodness : 0.998828 Centerline is valid? [True, True] Translation: X:269.70, Y:2.65, Z:4.12 [[ 9.99136922e-01 -3.84370227e-02 -1.57482305e-02 2.69698502e+02] [ 3.84391510e-02 9.99260929e-01 -1.67638664e-04 2.65362813e+00] [ 1.57430350e-02 -4.37854631e-04 9.99875975e-01 4.12379947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.74925415399997 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:269.73, Y:2.65, Z:4.12 [[ 9.99013868e-01 -4.15124716e-02 -1.57482335e-02 2.69728417e+02] [ 4.15149861e-02 9.99137867e-01 -1.67352824e-04 2.65214092e+00] [ 1.57416037e-02 -4.86599905e-04 9.99875975e-01 4.12333200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.77925415399994 meters Centerline goodness : 0.998873 Centerline is valid? [True, True] Translation: X:269.76, Y:2.65, Z:4.12 [[ 9.98673118e-01 -4.90307404e-02 -1.57476843e-02 2.69761155e+02] [ 4.90333689e-02 9.98797117e-01 -2.19382066e-04 2.64884393e+00] [ 1.57394981e-02 -5.53071041e-04 9.99875973e-01 4.12457781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.809254154 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:269.79, Y:2.65, Z:4.13 [[ 9.98538429e-01 -5.17010485e-02 -1.57482605e-02 2.69793586e+02] [ 5.17048794e-02 9.98662395e-01 -1.64075097e-04 2.64749578e+00] [ 1.57356784e-02 -6.50426622e-04 9.99875975e-01 4.12576594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.83925415399995 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:269.83, Y:2.65, Z:4.13 [[ 9.98427649e-01 -5.37979672e-02 -1.57482723e-02 2.69825752e+02] [ 5.38020763e-02 9.98551606e-01 -1.62937033e-04 2.64627500e+00] [ 1.57342283e-02 -6.84608910e-04 9.99875975e-01 4.12677608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.869254154 meters Centerline goodness : 0.998917 Centerline is valid? [True, True] Translation: X:269.86, Y:2.65, Z:4.13 [[ 9.98334542e-01 -5.54989612e-02 -1.57482840e-02 2.69857926e+02] [ 5.55032995e-02 9.98458491e-01 -1.61795333e-04 2.64548907e+00] [ 1.57329874e-02 -7.12555856e-04 9.99875975e-01 4.12749419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.89925415399995 meters Centerline goodness : 0.999021 Centerline is valid? [True, True] Translation: X:269.89, Y:2.64, Z:4.13 [[ 9.98229208e-01 -5.73623525e-02 -1.57482956e-02 2.69890393e+02] [ 5.73669399e-02 9.98353148e-01 -1.60662561e-04 2.64485930e+00] [ 1.57315765e-02 -7.43053466e-04 9.99875975e-01 4.12957573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.929254154 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:269.92, Y:2.65, Z:4.13 [[ 9.98221222e-01 -5.75011483e-02 -1.57483075e-02 2.69922255e+02] [ 5.75057716e-02 9.98345161e-01 -1.59482657e-04 2.64507790e+00] [ 1.57314171e-02 -7.46419603e-04 9.99875975e-01 4.13041671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.95925415399995 meters Centerline goodness : 0.998999 Centerline is valid? [True, True] Translation: X:269.95, Y:2.65, Z:4.13 [[ 9.98235754e-01 -5.72483227e-02 -1.57483193e-02 2.69954580e+02] [ 5.72529331e-02 9.98359693e-01 -1.58307927e-04 2.64510225e+00] [ 1.57315501e-02 -7.43608840e-04 9.99875975e-01 4.12998938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.989254154 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:269.99, Y:2.65, Z:4.13 [[ 9.98223206e-01 -5.74667030e-02 -1.57483310e-02 2.69987053e+02] [ 5.74713588e-02 9.98347143e-01 -1.57141506e-04 2.64563169e+00] [ 1.57313316e-02 -7.48215683e-04 9.99875975e-01 4.13060591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.01925415399995 meters Centerline goodness : 0.999084 Centerline is valid? [True, True] Translation: X:270.02, Y:2.65, Z:4.13 [[ 9.98229189e-01 -5.73626721e-02 -1.57483426e-02 2.70018636e+02] [ 5.73673335e-02 9.98353126e-01 -1.55972282e-04 2.64596846e+00] [ 1.57313540e-02 -7.47744334e-04 9.99875975e-01 4.13048517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.049254154 meters Centerline goodness : 0.999021 Centerline is valid? [True, True] Translation: X:270.05, Y:2.65, Z:4.13 [[ 9.98235308e-01 -5.72560926e-02 -1.57483511e-02 2.70051199e+02] [ 5.72607544e-02 9.98359245e-01 -1.55100999e-04 2.64648604e+00] [ 1.57313924e-02 -7.46935174e-04 9.99875975e-01 4.13054264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.07925415399995 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:270.08, Y:2.65, Z:4.13 [[ 9.98257660e-01 -5.68650382e-02 -1.57483625e-02 2.70083578e+02] [ 5.68696697e-02 9.98381599e-01 -1.53941637e-04 2.64754179e+00] [ 1.57316292e-02 -7.41930753e-04 9.99875975e-01 4.12976884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.109254154 meters Centerline goodness : 0.998582 Centerline is valid? [True, True] Translation: X:270.13, Y:2.64, Z:4.12 [[ 9.98742554e-01 -4.75951673e-02 -1.57483737e-02 2.70125198e+02] [ 4.75986662e-02 9.98866529e-01 -1.52789252e-04 2.63819895e+00] [ 1.57377954e-02 -5.97004452e-04 9.99875975e-01 4.12399165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.13925415399996 meters Centerline goodness : 0.999125 Centerline is valid? [True, True] Translation: X:270.14, Y:2.65, Z:4.13 [[ 9.98279597e-01 -5.64772086e-02 -1.57534190e-02 2.70143072e+02] [ 5.64907269e-02 9.98403038e-01 4.14101209e-04 2.64924966e+00] [ 1.57048741e-02 -1.30331088e-03 9.99875821e-01 4.12988705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.169254154 meters Centerline goodness : 0.999293 Centerline is valid? [True, True] Translation: X:270.18, Y:2.65, Z:4.13 [[ 9.98310419e-01 -5.59313758e-02 -1.57476339e-02 2.70175486e+02] [ 5.59358108e-02 9.98434354e-01 -1.59026220e-04 2.65074922e+00] [ 1.57318732e-02 -7.22099138e-04 9.99875986e-01 4.13067452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.19925415399996 meters Centerline goodness : 0.999188 Centerline is valid? [True, True] Translation: X:270.22, Y:2.64, Z:4.13 [[ 9.98821950e-01 -4.58990559e-02 -1.57476455e-02 2.70216257e+02] [ 4.59022638e-02 9.98945923e-01 -1.57870659e-04 2.64408782e+00] [ 1.57382924e-02 -5.65167898e-04 9.99875986e-01 4.12545868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.229254154 meters Centerline goodness : 0.999085 Centerline is valid? [True, True] Translation: X:270.23, Y:2.66, Z:4.13 [[ 9.98456012e-01 -5.32676314e-02 -1.57528000e-02 2.70234731e+02] [ 5.32802339e-02 9.98579527e-01 3.81117460e-04 2.65534438e+00] [ 1.57101223e-02 -1.21984189e-03 9.99875844e-01 4.13241514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.25925415399996 meters Centerline goodness : 0.999188 Centerline is valid? [True, True] Translation: X:270.27, Y:2.66, Z:4.13 [[ 9.98543498e-01 -5.16034572e-02 -1.57469489e-02 2.70266971e+02] [ 5.16072150e-02 9.98667446e-01 -1.67892901e-04 2.65722558e+00] [ 1.57346291e-02 -6.45007811e-04 9.99875995e-01 4.13340442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.289254154 meters Centerline goodness : 0.999041 Centerline is valid? [True, True] Translation: X:270.30, Y:2.66, Z:4.13 [[ 9.98735891e-01 -4.77352399e-02 -1.57469610e-02 2.70299198e+02] [ 4.77385356e-02 9.98859852e-01 -1.66747513e-04 2.66095124e+00] [ 1.57369669e-02 -5.85200132e-04 9.99875995e-01 4.13476333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.31925415399996 meters Centerline goodness : 0.999106 Centerline is valid? [True, True] Translation: X:270.33, Y:2.66, Z:4.14 [[ 9.98957011e-01 -4.28593392e-02 -1.57469730e-02 2.70334083e+02] [ 4.28620477e-02 9.99080986e-01 -1.65608936e-04 2.65946374e+00] [ 1.57395992e-02 -5.09511299e-04 9.99875995e-01 4.13589872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.349254154 meters Centerline goodness : 0.999041 Centerline is valid? [True, True] Translation: X:270.36, Y:2.67, Z:4.14 [[ 9.98909777e-01 -4.39456678e-02 -1.57491534e-02 2.70360257e+02] [ 4.39518617e-02 9.99033649e-01 4.72086437e-05 2.66522351e+00] [ 1.57318596e-02 -7.39361789e-04 9.99875973e-01 4.13633464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.37925415399997 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:270.39, Y:2.67, Z:4.14 [[ 9.98992218e-01 -4.20307703e-02 -1.57468632e-02 2.70392726e+02] [ 4.20333418e-02 9.99116194e-01 -1.67776419e-04 2.66693252e+00] [ 1.57399978e-02 -4.94285948e-04 9.99875996e-01 4.13724945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.409254154 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:270.43, Y:2.67, Z:4.14 [[ 9.99213467e-01 -3.63934406e-02 -1.57468753e-02 2.70426060e+02] [ 3.63953306e-02 9.99337457e-01 -1.66632626e-04 2.66662579e+00] [ 1.57425067e-02 -4.06611169e-04 9.99875996e-01 4.13764471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.43925415399997 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:270.46, Y:2.67, Z:4.14 [[ 9.99261461e-01 -3.50500050e-02 -1.57489888e-02 2.70456833e+02] [ 3.50548702e-02 9.99385389e-01 3.28869070e-05 2.66812693e+00] [ 1.57381566e-02 -5.84941379e-04 9.99875976e-01 4.13806411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.46925415399994 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:270.49, Y:2.67, Z:4.14 [[ 9.99324240e-01 -3.32120586e-02 -1.57487226e-02 2.70486798e+02] [ 3.32163050e-02 9.99448186e-01 8.06240844e-06 2.66998686e+00] [ 1.57397645e-02 -5.31171334e-04 9.99875981e-01 4.13772161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.49925415399997 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:270.51, Y:2.67, Z:4.14 [[ 9.99419884e-01 -3.01973446e-02 -1.57485433e-02 2.70513930e+02] [ 3.02009394e-02 9.99543848e-01 -9.56409756e-06 2.67491368e+00] [ 1.57416484e-02 -4.66062255e-04 9.99875984e-01 4.13861106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.52925415399994 meters Centerline goodness : 0.999226 Centerline is valid? [True, True] Translation: X:270.54, Y:2.68, Z:4.14 [[ 9.99498751e-01 -2.74641631e-02 -1.57469227e-02 2.70544397e+02] [ 2.74649769e-02 9.99622753e-01 -1.64613922e-04 2.67651596e+00] [ 1.57455032e-02 -2.67957459e-04 9.99875996e-01 4.13947159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.559254154 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:270.58, Y:2.68, Z:4.14 [[ 9.99640519e-01 -2.16994556e-02 -1.57469227e-02 2.70575180e+02] [ 2.16995543e-02 9.99764523e-01 -1.64613922e-04 2.67898727e+00] [ 1.57467867e-02 -1.77146458e-04 9.99875996e-01 4.14108936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.58925415399995 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:270.60, Y:2.68, Z:4.14 [[ 9.99699681e-01 -1.87771726e-02 -1.57469227e-02 2.70604073e+02] [ 1.87769088e-02 9.99823685e-01 -1.64613922e-04 2.67988615e+00] [ 1.57472373e-02 -1.31114047e-04 9.99875996e-01 4.14154442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.619254154 meters Centerline goodness : 0.999139 Centerline is valid? [True, True] Translation: X:270.63, Y:2.68, Z:4.14 [[ 9.99741167e-01 -1.64205063e-02 -1.57469111e-02 2.70632383e+02] [ 1.64199328e-02 9.99865170e-01 -1.65717600e-04 2.68061160e+00] [ 1.57475091e-02 -9.28885156e-05 9.99875996e-01 4.14203105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.64925415399995 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:270.66, Y:2.68, Z:4.14 [[ 9.99772499e-01 -1.43869997e-02 -1.57468687e-02 2.70660633e+02] [ 1.43861121e-02 9.99896500e-01 -1.69650951e-04 2.68092963e+00] [ 1.57476797e-02 -5.69238628e-05 9.99875996e-01 4.14268168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.679254154 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:270.69, Y:2.68, Z:4.14 [[ 9.99796048e-01 -1.26451581e-02 -1.57468193e-02 2.70688775e+02] [ 1.26439840e-02 9.99920046e-01 -1.74119286e-04 2.68112377e+00] [ 1.57477620e-02 -2.50187568e-05 9.99875996e-01 4.14349721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.70925415399995 meters Centerline goodness : 0.999074 Centerline is valid? [True, True] Translation: X:270.72, Y:2.68, Z:4.14 [[ 9.99812891e-01 -1.12349020e-02 -1.57467666e-02 2.70716277e+02] [ 1.12334799e-02 9.99936887e-01 -1.78764989e-04 2.68081717e+00] [ 1.57477811e-02 1.84055520e-06 9.99875996e-01 4.14340824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.739254154 meters Centerline goodness : 0.999286 Centerline is valid? [True, True] Translation: X:270.74, Y:2.68, Z:4.14 [[ 9.99810385e-01 -1.14557518e-02 -1.57467127e-02 2.70742886e+02] [ 1.14542842e-02 9.99934381e-01 -1.83387563e-04 2.68052739e+00] [ 1.57477803e-02 2.98546644e-06 9.99875996e-01 4.14334173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.76925415399995 meters Centerline goodness : 0.999476 Centerline is valid? [True, True] Translation: X:270.77, Y:2.68, Z:4.14 [[ 9.99799119e-01 -1.24001591e-02 -1.57466892e-02 2.70769794e+02] [ 1.23987771e-02 9.99923115e-01 -1.85388953e-04 2.68007368e+00] [ 1.57477773e-02 -9.88797702e-06 9.99875996e-01 4.14292025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.799254154 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:270.80, Y:2.68, Z:4.14 [[ 9.99746153e-01 -1.61143146e-02 -1.57466657e-02 2.70797303e+02] [ 1.61133622e-02 9.99870154e-01 -1.87360064e-04 2.67791797e+00] [ 1.57476402e-02 -6.64192250e-05 9.99875996e-01 4.14342061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.82925415399995 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:270.82, Y:2.68, Z:4.14 [[ 9.99730654e-01 -1.70488186e-02 -1.57466454e-02 2.70823356e+02] [ 1.70479555e-02 9.99854655e-01 -1.89049462e-04 2.67682175e+00] [ 1.57475798e-02 -7.94495682e-05 9.99875996e-01 4.14368437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.859254154 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:270.85, Y:2.68, Z:4.14 [[ 9.99633482e-01 -2.20227584e-02 -1.57448499e-02 2.70854090e+02] [ 2.20202598e-02 9.99757470e-01 -3.32064193e-04 2.67525224e+00] [ 1.57483443e-02 -1.47632006e-05 9.99875987e-01 4.14323490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.88925415399996 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:270.88, Y:2.67, Z:4.14 [[ 9.99483588e-01 -2.80107652e-02 -1.57465454e-02 2.70882460e+02] [ 2.80111594e-02 9.99607591e-01 -1.95557465e-04 2.67184825e+00] [ 1.57458440e-02 -2.45622517e-04 9.99875996e-01 4.14367830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.919254154 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:270.91, Y:2.67, Z:4.14 [[ 9.99378227e-01 -3.15470233e-02 -1.57462646e-02 2.70911906e+02] [ 3.15475045e-02 9.99502230e-01 -2.17892464e-04 2.66973338e+00] [ 1.57453004e-02 -2.78998368e-04 9.99875996e-01 4.14447492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.94925415399996 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:270.94, Y:2.67, Z:4.15 [[ 9.99272557e-01 -3.47333283e-02 -1.57465255e-02 2.70942794e+02] [ 3.47345333e-02 9.99396555e-01 -1.97042124e-04 2.66780411e+00] [ 1.57438672e-02 -3.50049426e-04 9.99875996e-01 4.14524595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.979254154 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:270.97, Y:2.67, Z:4.15 [[ 9.99155300e-01 -3.79569944e-02 -1.57465255e-02 2.70973690e+02] [ 3.79585995e-02 9.99279293e-01 -1.97042124e-04 2.66573729e+00] [ 1.57426560e-02 -4.00840371e-04 9.99875996e-01 4.14544586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.00925415399996 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:271.00, Y:2.66, Z:4.14 [[ 9.98931833e-01 -4.34423839e-02 -1.57465326e-02 2.71004451e+02] [ 4.34446787e-02 9.99055815e-01 -1.96469869e-04 2.66136178e+00] [ 1.57402001e-02 -4.87843045e-04 9.99875996e-01 4.14470578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.039254154 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:271.04, Y:2.66, Z:4.15 [[ 9.98839299e-01 -4.55203405e-02 -1.57465433e-02 2.71035971e+02] [ 4.55229068e-02 9.98963276e-01 -1.95613263e-04 2.65983779e+00] [ 1.57391228e-02 -5.21442206e-04 9.99875996e-01 4.14502514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.06925415399996 meters Centerline goodness : 0.999271 Centerline is valid? [True, True] Translation: X:271.07, Y:2.66, Z:4.15 [[ 9.98762566e-01 -4.71739539e-02 -1.57465531e-02 2.71067932e+02] [ 4.71767380e-02 9.98886539e-01 -1.94815558e-04 2.65888275e+00] [ 1.57382102e-02 -5.48296524e-04 9.99875996e-01 4.14570542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.099254154 meters Centerline goodness : 0.999520 Centerline is valid? [True, True] Translation: X:271.10, Y:2.66, Z:4.15 [[ 9.98628705e-01 -4.99275014e-02 -1.57465661e-02 2.71100000e+02] [ 4.99306438e-02 9.98752669e-01 -1.93762473e-04 2.65723530e+00] [ 1.57365990e-02 -5.92739416e-04 9.99875996e-01 4.14738445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.12925415399997 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:271.13, Y:2.66, Z:4.15 [[ 9.98567591e-01 -5.11352207e-02 -1.57465801e-02 2.71132334e+02] [ 5.11385311e-02 9.98691551e-01 -1.92616009e-04 2.65672636e+00] [ 1.57358260e-02 -6.12916873e-04 9.99875996e-01 4.14786869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.159254154 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:271.16, Y:2.66, Z:4.15 [[ 9.98505768e-01 -5.23285350e-02 -1.57465940e-02 2.71163561e+02] [ 5.23320116e-02 9.98629723e-01 -1.91472237e-04 2.65607256e+00] [ 1.57350363e-02 -6.32864808e-04 9.99875996e-01 4.14758219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.18925415399997 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:271.20, Y:2.66, Z:4.15 [[ 9.98449106e-01 -5.33987625e-02 -1.57466043e-02 2.71195885e+02] [ 5.34023853e-02 9.98573056e-01 -1.90619534e-04 2.65531118e+00] [ 1.57343137e-02 -6.50582330e-04 9.99875996e-01 4.14817807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.21925415399994 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:271.23, Y:2.65, Z:4.15 [[ 9.98318379e-01 -5.57894132e-02 -1.57466181e-02 2.71227116e+02] [ 5.57933507e-02 9.98442320e-01 -1.89480017e-04 2.65441965e+00] [ 1.57326608e-02 -6.89395202e-04 9.99875996e-01 4.14834652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.24925415399997 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:271.26, Y:2.65, Z:4.15 [[ 9.98264048e-01 -5.67532753e-02 -1.57466282e-02 2.71258164e+02] [ 5.67573459e-02 9.98387985e-01 -1.88630467e-04 2.65466168e+00] [ 1.57319498e-02 -7.05433812e-04 9.99875996e-01 4.14736610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.27925415399994 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:271.29, Y:2.65, Z:4.15 [[ 9.98205440e-01 -5.77749398e-02 -1.57466382e-02 2.71290466e+02] [ 5.77791503e-02 9.98329372e-01 -1.87798413e-04 2.65496943e+00] [ 1.57311814e-02 -7.22365976e-04 9.99875996e-01 4.14872740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.309254154 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:271.32, Y:2.65, Z:4.15 [[ 9.98082640e-01 -5.98588926e-02 -1.57466512e-02 2.71321995e+02] [ 5.98633791e-02 9.98206562e-01 -1.86700782e-04 2.65487461e+00] [ 1.57295862e-02 -7.56304940e-04 9.99875996e-01 4.14848906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.33925415399995 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:271.36, Y:2.65, Z:4.15 [[ 9.98340204e-01 -5.53974665e-02 -1.57466608e-02 2.71361037e+02] [ 5.54014120e-02 9.98464145e-01 -1.85882279e-04 2.64913211e+00] [ 1.57327737e-02 -6.86813493e-04 9.99875996e-01 4.14671024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.369254154 meters Centerline goodness : 0.999520 Centerline is valid? [True, True] Translation: X:271.38, Y:2.66, Z:4.15 [[ 9.97954638e-01 -6.19549607e-02 -1.57519252e-02 2.71381166e+02] [ 6.19669526e-02 9.98078164e-01 2.73892801e-04 2.65535137e+00] [ 1.57046836e-02 -1.24943139e-03 9.99875893e-01 4.14926628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.39925415399995 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:271.41, Y:2.66, Z:4.15 [[ 9.97909324e-01 -6.26820664e-02 -1.57461257e-02 2.71412870e+02] [ 6.26867746e-02 9.98033231e-01 -1.94868443e-04 2.65624277e+00] [ 1.57273715e-02 -7.92612796e-04 9.99876003e-01 4.14939390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.429254154 meters Centerline goodness : 0.999229 Centerline is valid? [True, True] Translation: X:271.45, Y:2.66, Z:4.15 [[ 9.97873556e-01 -6.32489163e-02 -1.57461390e-02 2.71445376e+02] [ 6.32537119e-02 9.97997460e-01 -1.93789519e-04 2.65749372e+00] [ 1.57268637e-02 -8.02624302e-04 9.99876003e-01 4.14983585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.45925415399995 meters Centerline goodness : 0.999563 Centerline is valid? [True, True] Translation: X:271.48, Y:2.66, Z:4.15 [[ 9.97899375e-01 -6.28402432e-02 -1.57461529e-02 2.71477445e+02] [ 6.28450059e-02 9.98023280e-01 -1.92654740e-04 2.65845124e+00] [ 1.57271336e-02 -7.97317024e-04 9.99876003e-01 4.15027359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.489254154 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:271.51, Y:2.66, Z:4.15 [[ 9.97946473e-01 -6.20878052e-02 -1.57461666e-02 2.71509084e+02] [ 6.20924922e-02 9.98070381e-01 -1.91527716e-04 2.65959595e+00] [ 1.57276740e-02 -7.86584316e-04 9.99876003e-01 4.14937332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.51925415399995 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:271.55, Y:2.65, Z:4.15 [[ 9.98394231e-01 -5.44152310e-02 -1.57461767e-02 2.71547533e+02] [ 5.44189787e-02 9.98518171e-01 -1.90687776e-04 2.65300406e+00] [ 1.57332199e-02 -6.66509281e-04 9.99876003e-01 4.14586133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.549254154 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:271.57, Y:2.66, Z:4.15 [[ 9.98222087e-01 -5.74853650e-02 -1.57511396e-02 2.71567474e+02] [ 5.74962345e-02 9.98345695e-01 2.37734864e-04 2.66303092e+00] [ 1.57114161e-02 -1.14294341e-03 9.99875915e-01 4.15084826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.57925415399995 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:271.60, Y:2.66, Z:4.15 [[ 9.98225548e-01 -5.74267142e-02 -1.57457544e-02 2.71600150e+02] [ 5.74307567e-02 9.98349473e-01 -1.95690989e-04 2.66357585e+00] [ 1.57310035e-02 -7.08946844e-04 9.99876009e-01 4.15146935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.609254154 meters Centerline goodness : 0.998999 Centerline is valid? [True, True] Translation: X:271.63, Y:2.66, Z:4.15 [[ 9.98404474e-01 -5.42270873e-02 -1.57457672e-02 2.71632312e+02] [ 5.42307488e-02 9.98528411e-01 -1.94658149e-04 2.66463827e+00] [ 1.57331516e-02 -6.59557177e-04 9.99876009e-01 4.15245496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.63925415399996 meters Centerline goodness : 0.998830 Centerline is valid? [True, True] Translation: X:271.67, Y:2.66, Z:4.15 [[ 9.99041932e-01 -4.08324326e-02 -1.57457806e-02 2.71670443e+02] [ 4.08344489e-02 9.99165907e-01 -1.93562038e-04 2.66055037e+00] [ 1.57405508e-02 -4.49593682e-04 9.99876009e-01 4.14988691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.669254154 meters Centerline goodness : 0.999188 Centerline is valid? [True, True] Translation: X:271.69, Y:2.67, Z:4.16 [[ 9.98893417e-01 -4.43153053e-02 -1.57510658e-02 2.71690633e+02] [ 4.43247894e-02 9.99017141e-01 2.53361316e-04 2.67123335e+00] [ 1.57243570e-02 -9.51243625e-04 9.99875912e-01 4.15623455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.69925415399996 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:271.72, Y:2.67, Z:4.16 [[ 9.99062920e-01 -4.03158718e-02 -1.57452566e-02 2.71722705e+02] [ 4.03177028e-02 9.99186891e-01 -2.01253579e-04 2.67351591e+00] [ 1.57405677e-02 -4.33747588e-04 9.99876016e-01 4.15707204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.729254154 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:271.75, Y:2.67, Z:4.16 [[ 9.99259847e-01 -3.50976344e-02 -1.57452712e-02 2.71753965e+02] [ 3.50988359e-02 9.99383826e-01 -2.00105741e-04 2.67474673e+00] [ 1.57425926e-02 -3.52683058e-04 9.99876016e-01 4.15639601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.75925415399996 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:271.78, Y:2.68, Z:4.16 [[ 9.99342709e-01 -3.26532181e-02 -1.57453692e-02 2.71784034e+02] [ 3.26542379e-02 9.99466690e-01 -1.92383976e-04 2.67714969e+00] [ 1.57432540e-02 -3.21895507e-04 9.99876015e-01 4.15839781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.789254154 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:271.81, Y:2.68, Z:4.16 [[ 9.99544843e-01 -2.57331211e-02 -1.57452884e-02 2.71814137e+02] [ 2.57331817e-02 9.99668827e-01 -1.98784119e-04 2.67985288e+00] [ 1.57451893e-02 -2.06482725e-04 9.99876016e-01 4.15875641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.81925415399996 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:271.84, Y:2.68, Z:4.16 [[ 9.99622522e-01 -2.25144469e-02 -1.57452884e-02 2.71843545e+02] [ 2.25141083e-02 9.99746506e-01 -1.98784119e-04 2.68118764e+00] [ 1.57457726e-02 -1.55782045e-04 9.99876016e-01 4.15865203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.849254154 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:271.87, Y:2.68, Z:4.16 [[ 9.99675885e-01 -2.00052694e-02 -1.57452811e-02 2.71872518e+02] [ 2.00046105e-02 9.99799868e-01 -1.99360599e-04 2.68258600e+00] [ 1.57461182e-02 -1.15682232e-04 9.99876016e-01 4.15896261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.87925415399997 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:271.90, Y:2.69, Z:4.16 [[ 9.99755478e-01 -1.55264925e-02 -1.57452287e-02 2.71900162e+02] [ 1.55252143e-02 9.99879456e-01 -2.03418927e-04 2.68516886e+00] [ 1.57464890e-02 -4.10788622e-05 9.99876016e-01 4.15956170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.909254154 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:271.93, Y:2.69, Z:4.16 [[ 9.99784341e-01 -1.35410591e-02 -1.57452100e-02 2.71927404e+02] [ 1.35395121e-02 9.99908316e-01 -2.04852129e-04 2.68630422e+00] [ 1.57465403e-02 -8.37451084e-06 9.99876016e-01 4.16000418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.93925415399997 meters Centerline goodness : 0.996395 Centerline is valid? [True, True] Translation: X:271.96, Y:2.69, Z:4.16 [[ 9.99808148e-01 -1.16514278e-02 -1.57451840e-02 2.71955469e+02] [ 1.16496153e-02 9.99932120e-01 -2.06831366e-04 2.68710169e+00] [ 1.57465251e-02 2.33663480e-05 9.99876016e-01 4.16003382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.96925415399994 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:271.98, Y:2.69, Z:4.16 [[ 9.99821998e-01 -1.03960263e-02 -1.57446809e-02 2.71984636e+02] [ 1.03934685e-02 9.99945957e-01 -2.44277436e-04 2.68773712e+00] [ 1.57463695e-02 8.05921100e-05 9.99876015e-01 4.16097253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.99925415399997 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:272.01, Y:2.69, Z:4.16 [[ 9.99823049e-01 -1.02938593e-02 -1.57450702e-02 2.72012644e+02] [ 1.02917359e-02 9.99947015e-01 -2.15887371e-04 2.68782438e+00] [ 1.57464582e-02 5.38050656e-05 9.99876015e-01 4.16124407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.02925415399994 meters Centerline goodness : 0.999456 Centerline is valid? [True, True] Translation: X:272.04, Y:2.69, Z:4.16 [[ 9.99815605e-01 -1.09932487e-02 -1.57450051e-02 2.72040979e+02] [ 1.09911388e-02 9.99939571e-01 -2.20533753e-04 2.68648965e+00] [ 1.57464780e-02 4.74375511e-05 9.99876015e-01 4.16133189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.059254154 meters Centerline goodness : 0.999351 Centerline is valid? [True, True] Translation: X:272.07, Y:2.69, Z:4.16 [[ 9.99801717e-01 -1.21911058e-02 -1.57449382e-02 2.72068072e+02] [ 1.21890707e-02 9.99925685e-01 -2.25211864e-04 2.68579448e+00] [ 1.57465137e-02 3.32510432e-05 9.99876015e-01 4.16120010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.08925415399995 meters Centerline goodness : 0.999038 Centerline is valid? [True, True] Translation: X:272.10, Y:2.69, Z:4.16 [[ 9.99779583e-01 -1.38882078e-02 -1.57449089e-02 2.72095820e+02] [ 1.38863513e-02 9.99903554e-01 -2.27238324e-04 2.68511523e+00] [ 1.57465463e-02 8.54890167e-06 9.99876015e-01 4.16119211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.119254154 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:272.12, Y:2.68, Z:4.16 [[ 9.99751398e-01 -1.57873858e-02 -1.57448408e-02 2.72123220e+02] [ 1.57856920e-02 9.99875371e-01 -2.31862724e-04 2.68458617e+00] [ 1.57465391e-02 -1.67381246e-05 9.99876015e-01 4.16225124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.14925415399995 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:272.15, Y:2.68, Z:4.16 [[ 9.99703540e-01 -1.85726229e-02 -1.57445227e-02 2.72150660e+02] [ 1.85709387e-02 9.99827513e-01 -2.53178407e-04 2.68347228e+00] [ 1.57465092e-02 -3.92872169e-05 9.99876015e-01 4.16219550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.179254154 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:272.18, Y:2.68, Z:4.16 [[ 9.99572718e-01 -2.46269046e-02 -1.57447501e-02 2.72179262e+02] [ 2.46262080e-02 9.99696701e-01 -2.38146736e-04 2.67994255e+00] [ 1.57458395e-02 -1.49688511e-04 9.99876015e-01 4.16323152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.20925415399995 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:272.21, Y:2.68, Z:4.16 [[ 9.99472752e-01 -2.83957823e-02 -1.57447326e-02 2.72207825e+02] [ 2.83955351e-02 9.99596737e-01 -2.39297976e-04 2.67783720e+00] [ 1.57451784e-02 -2.07908300e-04 9.99876015e-01 4.16364394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.239254154 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:272.24, Y:2.68, Z:4.16 [[ 9.99362346e-01 -3.20469332e-02 -1.57447161e-02 2.72236885e+02] [ 3.20471219e-02 9.99486330e-01 -2.40380729e-04 2.67550199e+00] [ 1.57443320e-02 -2.64345386e-04 9.99876015e-01 4.16414897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.26925415399995 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:272.27, Y:2.67, Z:4.16 [[ 9.99113616e-01 -3.90395474e-02 -1.57447118e-02 2.72267441e+02] [ 3.90405993e-02 9.99237596e-01 -2.40662795e-04 2.67036998e+00] [ 1.57421033e-02 -3.74233508e-04 9.99876015e-01 4.16388404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.299254154 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:272.30, Y:2.67, Z:4.16 [[ 9.98990705e-01 -4.20675004e-02 -1.57447118e-02 2.72297522e+02] [ 4.20689281e-02 9.99114682e-01 -2.40662795e-04 2.66819787e+00] [ 1.57408968e-02 -4.21943252e-04 9.99876015e-01 4.16350078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.32925415399995 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:272.33, Y:2.67, Z:4.16 [[ 9.98866655e-01 -4.49166819e-02 -1.57447262e-02 2.72329202e+02] [ 4.49184780e-02 9.98990627e-01 -2.39714137e-04 2.66634021e+00] [ 1.57396011e-02 -4.67786680e-04 9.99876015e-01 4.16322307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.359254154 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:272.36, Y:2.66, Z:4.16 [[ 9.98768552e-01 -4.70476620e-02 -1.57447346e-02 2.72360890e+02] [ 4.70497314e-02 9.98892520e-01 -2.39159133e-04 2.66455833e+00] [ 1.57385495e-02 -5.01920914e-04 9.99876015e-01 4.16332318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.38925415399996 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:272.39, Y:2.66, Z:4.16 [[ 9.98649755e-01 -4.95052604e-02 -1.57447434e-02 2.72391791e+02] [ 4.95076440e-02 9.98773716e-01 -2.38578323e-04 2.66058678e+00] [ 1.57372468e-02 -5.41228969e-04 9.99876015e-01 4.16286909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.419254154 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:272.42, Y:2.66, Z:4.16 [[ 9.98631620e-01 -4.98697192e-02 -1.57447726e-02 2.72423880e+02] [ 4.98721786e-02 9.98755581e-01 -2.36640286e-04 2.65890069e+00] [ 1.57369806e-02 -5.48909636e-04 9.99876015e-01 4.16337390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.44925415399996 meters Centerline goodness : 0.999295 Centerline is valid? [True, True] Translation: X:272.45, Y:2.66, Z:4.16 [[ 9.98652562e-01 -4.94485794e-02 -1.57447900e-02 2.72454828e+02] [ 4.94510049e-02 9.98776523e-01 -2.35475643e-04 2.65733137e+00] [ 1.57371705e-02 -5.43437331e-04 9.99876015e-01 4.16390720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.479254154 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:272.49, Y:2.66, Z:4.17 [[ 9.98739681e-01 -4.76565849e-02 -1.57448029e-02 2.72486237e+02] [ 4.76588016e-02 9.98863646e-01 -2.34607849e-04 2.65545589e+00] [ 1.57380919e-02 -5.16066270e-04 9.99876015e-01 4.16560661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.50925415399996 meters Centerline goodness : 0.999396 Centerline is valid? [True, True] Translation: X:272.52, Y:2.66, Z:4.17 [[ 9.98793143e-01 -4.65226746e-02 -1.57448113e-02 2.72518031e+02] [ 4.65247594e-02 9.98917110e-01 -2.34044974e-04 2.65535861e+00] [ 1.57386498e-02 -4.98761042e-04 9.99876015e-01 4.16600209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.539254154 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:272.55, Y:2.66, Z:4.17 [[ 9.98850685e-01 -4.52704172e-02 -1.57448196e-02 2.72548782e+02] [ 4.52723555e-02 9.98974654e-01 -2.33480557e-04 2.65579841e+00] [ 1.57392455e-02 -4.79592857e-04 9.99876015e-01 4.16756934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.56925415399996 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:272.58, Y:2.65, Z:4.17 [[ 9.98902524e-01 -4.41120137e-02 -1.57441272e-02 2.72579728e+02] [ 4.41130764e-02 9.99026505e-01 -2.79945120e-04 2.65339539e+00] [ 1.57411494e-02 -4.14884002e-04 9.99876014e-01 4.16615349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.599254154 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:272.61, Y:2.65, Z:4.17 [[ 9.98903059e-01 -4.40996425e-02 -1.57448264e-02 2.72611415e+02] [ 4.41014489e-02 9.99027031e-01 -2.32628210e-04 2.65246905e+00] [ 1.57397659e-02 -4.61996624e-04 9.99876015e-01 4.16610225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.62925415399997 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:272.64, Y:2.65, Z:4.17 [[ 9.98871330e-01 -4.48125591e-02 -1.57448348e-02 2.72641489e+02] [ 4.48144630e-02 9.98995300e-01 -2.32053317e-04 2.65162292e+00] [ 1.57394149e-02 -4.73804913e-04 9.99876015e-01 4.16584087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.659254154 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:272.67, Y:2.65, Z:4.17 [[ 9.98748636e-01 -4.74685288e-02 -1.57448390e-02 2.72672906e+02] [ 4.74707669e-02 9.98872601e-01 -2.31768056e-04 2.64933900e+00] [ 1.57380900e-02 -5.15941553e-04 9.99876015e-01 4.16513083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.68925415399997 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:272.70, Y:2.65, Z:4.17 [[ 9.98643290e-01 -4.96354567e-02 -1.57448476e-02 2.72703528e+02] [ 4.96379729e-02 9.98767249e-01 -2.31186929e-04 2.64859405e+00] [ 1.57369132e-02 -5.50669041e-04 9.99876015e-01 4.16510144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.71925415399994 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:272.73, Y:2.65, Z:4.17 [[ 9.98522051e-01 -5.20174254e-02 -1.57448518e-02 2.72734884e+02] [ 5.20202417e-02 9.98646004e-01 -2.30898350e-04 2.64807950e+00] [ 1.57355441e-02 -5.88493903e-04 9.99876015e-01 4.16526078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.74925415399997 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:272.77, Y:2.65, Z:4.17 [[ 9.98387663e-01 -5.45359805e-02 -1.57448603e-02 2.72766728e+02] [ 5.45391187e-02 9.98511608e-01 -2.30317222e-04 2.64778864e+00] [ 1.57339864e-02 -6.28764931e-04 9.99876015e-01 4.16558302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.77925415399994 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:272.80, Y:2.65, Z:4.17 [[ 9.98102262e-01 -5.95312758e-02 -1.57448774e-02 2.72798023e+02] [ 5.95350527e-02 9.98226189e-01 -2.29142103e-04 2.64603162e+00] [ 1.57305901e-02 -7.08664853e-04 9.99876015e-01 4.16556069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.809254154 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:272.83, Y:2.65, Z:4.17 [[ 9.97963699e-01 -6.18106217e-02 -1.57448901e-02 2.72830668e+02] [ 6.18146954e-02 9.98087617e-01 -2.28266175e-04 2.64555745e+00] [ 1.57288891e-02 -7.45464228e-04 9.99876015e-01 4.16676898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.83925415399995 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:272.86, Y:2.65, Z:4.17 [[ 9.97837431e-01 -6.38166118e-02 -1.57449069e-02 2.72862320e+02] [ 6.38209529e-02 9.97961339e-01 -2.27104302e-04 2.64525798e+00] [ 1.57273014e-02 -7.78241785e-04 9.99876015e-01 4.16671912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.869254154 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:272.89, Y:2.64, Z:4.17 [[ 9.97697074e-01 -6.59745795e-02 -1.57449336e-02 2.72894533e+02] [ 6.59792180e-02 9.97820972e-01 -2.25236630e-04 2.64452732e+00] [ 1.57254848e-02 -8.14120478e-04 9.99876015e-01 4.16777999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.89925415399995 meters Centerline goodness : 0.999209 Centerline is valid? [True, True] Translation: X:272.93, Y:2.64, Z:4.17 [[ 9.97668816e-01 -6.64005278e-02 -1.57449502e-02 2.72925855e+02] [ 6.64052375e-02 9.97792711e-01 -2.24069314e-04 2.64481075e+00] [ 1.57250749e-02 -8.22000189e-04 9.99876015e-01 4.16832021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.929254154 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:272.96, Y:2.65, Z:4.17 [[ 9.97677084e-01 -6.62761836e-02 -1.57449762e-02 2.72957240e+02] [ 6.62809068e-02 9.97800978e-01 -2.22229881e-04 2.64533942e+00] [ 1.57250812e-02 -8.21877637e-04 9.99876015e-01 4.16934427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.95925415399995 meters Centerline goodness : 0.999645 Centerline is valid? [True, True] Translation: X:272.99, Y:2.65, Z:4.17 [[ 9.97795338e-01 -6.44713747e-02 -1.57449882e-02 2.72989270e+02] [ 6.44758874e-02 9.97919241e-01 -2.21369787e-04 2.64691141e+00] [ 1.57264987e-02 -7.94290347e-04 9.99876015e-01 4.17190723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.989254154 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:273.02, Y:2.65, Z:4.17 [[ 9.97912728e-01 -6.26281297e-02 -1.57450049e-02 2.73020342e+02] [ 6.26324322e-02 9.98036638e-01 -2.20179388e-04 2.64781177e+00] [ 1.57278812e-02 -7.66428139e-04 9.99876015e-01 4.17272545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.01925415399995 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:273.05, Y:2.65, Z:4.17 [[ 9.98183258e-01 -5.81573536e-02 -1.57450172e-02 2.73051194e+02] [ 5.81611150e-02 9.98307186e-01 -2.19292531e-04 2.65049956e+00] [ 1.57311173e-02 -6.96853625e-04 9.99876015e-01 4.17378385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.049254154 meters Centerline goodness : 0.999417 Centerline is valid? [True, True] Translation: X:273.08, Y:2.65, Z:4.17 [[ 9.98339036e-01 -5.54190647e-02 -1.57447040e-02 2.73082525e+02] [ 5.54221323e-02 9.98462983e-01 -2.41763293e-04 2.65121558e+00] [ 1.57339025e-02 -6.31243338e-04 9.99876015e-01 4.17449604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.07925415399995 meters Centerline goodness : 0.999520 Centerline is valid? [True, True] Translation: X:273.11, Y:2.65, Z:4.17 [[ 9.98468676e-01 -5.30320431e-02 -1.57450395e-02 2.73113350e+02] [ 5.30351968e-02 9.98592620e-01 -2.17477962e-04 2.65294262e+00] [ 1.57344135e-02 -6.17896335e-04 9.99876016e-01 4.17495594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.109254154 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:273.14, Y:2.66, Z:4.18 [[ 9.98688139e-01 -4.87246745e-02 -1.57450475e-02 2.73144947e+02] [ 4.87273027e-02 9.98812096e-01 -2.16896068e-04 2.65547952e+00] [ 1.57369121e-02 -5.50602165e-04 9.99876016e-01 4.17550581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.13925415399996 meters Centerline goodness : 0.999333 Centerline is valid? [True, True] Translation: X:273.18, Y:2.66, Z:4.17 [[ 9.98789667e-01 -4.65971413e-02 -1.57450555e-02 2.73175386e+02] [ 4.65995145e-02 9.98913629e-01 -2.16317441e-04 2.65577877e+00] [ 1.57380303e-02 -5.17656316e-04 9.99876016e-01 4.17348898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.169254154 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:273.21, Y:2.66, Z:4.18 [[ 9.98885722e-01 -4.44905304e-02 -1.57450594e-02 2.73205711e+02] [ 4.44926467e-02 9.99009689e-01 -2.16030465e-04 2.65780077e+00] [ 1.57390782e-02 -4.84749618e-04 9.99876016e-01 4.17524116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.19925415399996 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:273.24, Y:2.66, Z:4.17 [[ 9.98947928e-01 -4.30712121e-02 -1.57450633e-02 2.73237221e+02] [ 4.30731567e-02 9.99071898e-01 -2.15746380e-04 2.65828507e+00] [ 1.57397427e-02 -4.62670178e-04 9.99876016e-01 4.17495401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.229254154 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:273.27, Y:2.66, Z:4.18 [[ 9.98949508e-01 -4.30345599e-02 -1.57450712e-02 2.73269058e+02] [ 4.30365091e-02 9.99073477e-01 -2.15168504e-04 2.65869035e+00] [ 1.57397427e-02 -4.62670428e-04 9.99876016e-01 4.17545529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.25925415399996 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:273.30, Y:2.66, Z:4.18 [[ 9.98909936e-01 -4.39435176e-02 -1.57450791e-02 2.73297544e+02] [ 4.39455886e-02 9.99033903e-01 -2.14590877e-04 2.66379374e+00] [ 1.57392977e-02 -4.77569808e-04 9.99876016e-01 4.17572912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.289254154 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:273.33, Y:2.66, Z:4.18 [[ 9.99052761e-01 -4.05673883e-02 -1.57438166e-02 2.73329287e+02] [ 4.05675911e-02 9.99176749e-01 -3.06609998e-04 2.66185974e+00] [ 1.57432939e-02 -3.32369151e-04 9.99876011e-01 4.17718524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.31925415399996 meters Centerline goodness : 0.997618 Centerline is valid? [True, True] Translation: X:273.36, Y:2.66, Z:4.18 [[ 9.99088260e-01 -3.96830197e-02 -1.57450721e-02 2.73358432e+02] [ 3.96845647e-02 9.99212234e-01 -2.14422057e-04 2.66362880e+00] [ 1.57411776e-02 -4.10609776e-04 9.99876016e-01 4.17560575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.349254154 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:273.39, Y:2.66, Z:4.18 [[ 9.99046645e-01 -4.07176201e-02 -1.57440771e-02 2.73389098e+02] [ 4.07181655e-02 9.99170631e-01 -2.86045537e-04 2.66438728e+00] [ 1.57426665e-02 -3.55297101e-04 9.99876013e-01 4.17763663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.37925415399997 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:273.42, Y:2.66, Z:4.18 [[ 9.99018585e-01 -4.14000213e-02 -1.57450233e-02 2.73420554e+02] [ 4.14017298e-02 9.99142557e-01 -2.17570420e-04 2.66496347e+00] [ 1.57405303e-02 -4.34514308e-04 9.99876016e-01 4.17785998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.409254154 meters Centerline goodness : 0.997263 Centerline is valid? [True, True] Translation: X:273.45, Y:2.67, Z:4.18 [[ 9.98942888e-01 -4.31879580e-02 -1.57450314e-02 2.73449907e+02] [ 4.31898975e-02 9.99066857e-01 -2.16986563e-04 2.66569462e+00] [ 1.57397102e-02 -4.63269107e-04 9.99876016e-01 4.17569084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.43925415399997 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:273.48, Y:2.67, Z:4.18 [[ 9.98787609e-01 -4.66416867e-02 -1.57437397e-02 2.73481850e+02] [ 4.66425951e-02 9.98911594e-01 -3.09681987e-04 2.66681999e+00] [ 1.57410482e-02 -4.25022347e-04 9.99876012e-01 4.17925389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.46925415399994 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:273.51, Y:2.67, Z:4.18 [[ 9.98649843e-01 -4.95033904e-02 -1.57449930e-02 2.73512613e+02] [ 4.95060666e-02 9.98773799e-01 -2.19984075e-04 2.66742897e+00] [ 1.57365765e-02 -5.59785610e-04 9.99876016e-01 4.18003722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.49925415399997 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:273.55, Y:2.67, Z:4.18 [[ 9.98653445e-01 -4.94306768e-02 -1.57450050e-02 2.73545293e+02] [ 4.94333576e-02 9.98777400e-01 -2.19120376e-04 2.66782310e+00] [ 1.57365865e-02 -5.59503146e-04 9.99876016e-01 4.18055172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.52925415399994 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:273.58, Y:2.67, Z:4.18 [[ 9.98477333e-01 -5.28687894e-02 -1.57450209e-02 2.73577902e+02] [ 5.28719150e-02 9.98601278e-01 -2.17974026e-04 2.66838613e+00] [ 1.57345220e-02 -6.14827284e-04 9.99876016e-01 4.18143342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.559254154 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:273.61, Y:2.67, Z:4.18 [[ 9.98013976e-01 -6.09934236e-02 -1.57450367e-02 2.73609996e+02] [ 6.09975758e-02 9.98137891e-01 -2.16828778e-04 2.66856470e+00] [ 1.57289428e-02 -7.44010918e-04 9.99876016e-01 4.18247595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.58925415399995 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:273.64, Y:2.67, Z:4.18 [[ 9.97734837e-01 -6.54009801e-02 -1.57450525e-02 2.73641095e+02] [ 6.54056978e-02 9.97858732e-01 -2.15674400e-04 2.66882948e+00] [ 1.57254434e-02 -8.14630283e-04 9.99876016e-01 4.18267184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.619254154 meters Centerline goodness : 0.999333 Centerline is valid? [True, True] Translation: X:273.67, Y:2.67, Z:4.18 [[ 9.97438385e-01 -6.97765141e-02 -1.57450643e-02 2.73672556e+02] [ 6.97817887e-02 9.97562257e-01 -2.14811902e-04 2.66915775e+00] [ 1.57216707e-02 -8.84457112e-04 9.99876016e-01 4.18324136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.64925415399995 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:273.71, Y:2.67, Z:4.18 [[ 9.96876198e-01 -7.73946988e-02 -1.57450757e-02 2.73708026e+02] [ 7.74009330e-02 9.97000025e-01 -2.13967079e-04 2.66917098e+00] [ 1.57144008e-02 -1.00538486e-03 9.99876016e-01 4.18429330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.679254154 meters Centerline goodness : 0.999209 Centerline is valid? [True, True] Translation: X:273.74, Y:2.67, Z:4.19 [[ 9.96563176e-01 -8.13256891e-02 -1.57469948e-02 2.73735906e+02] [ 8.13346704e-02 9.96686845e-01 -7.02947884e-05 2.67085014e+00] [ 1.57005393e-02 -1.21072344e-03 9.99876006e-01 4.18543522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.70925415399995 meters Centerline goodness : 0.999292 Centerline is valid? [True, True] Translation: X:273.77, Y:2.67, Z:4.19 [[ 9.96359609e-01 -8.37831914e-02 -1.57450616e-02 2.73768900e+02] [ 8.37902323e-02 9.96483393e-01 -2.13128163e-04 2.67201695e+00] [ 1.57075489e-02 -1.10693007e-03 9.99876016e-01 4.18584999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.739254154 meters Centerline goodness : 0.999063 Centerline is valid? [True, True] Translation: X:273.80, Y:2.67, Z:4.18 [[ 9.96298196e-01 -8.45103370e-02 -1.57450855e-02 2.73803942e+02] [ 8.45174963e-02 9.96421973e-01 -2.11344796e-04 2.67195838e+00] [ 1.57066100e-02 -1.12017276e-03 9.99876016e-01 4.18494037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.76925415399995 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:273.83, Y:2.68, Z:4.19 [[ 9.96134488e-01 -8.64182169e-02 -1.57471660e-02 2.73831791e+02] [ 8.64280724e-02 9.96258092e-01 -5.48799803e-05 2.67590513e+00] [ 1.56929842e-02 -1.30632936e-03 9.99876004e-01 4.18620030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.799254154 meters Centerline goodness : 0.998959 Centerline is valid? [True, True] Translation: X:273.86, Y:2.68, Z:4.19 [[ 9.96216542e-01 -8.54675179e-02 -1.57450074e-02 2.73863662e+02] [ 8.54747568e-02 9.96340313e-01 -2.13838279e-04 2.67764665e+00] [ 1.57056618e-02 -1.13277144e-03 9.99876017e-01 4.18644368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.82925415399995 meters Centerline goodness : 0.999188 Centerline is valid? [True, True] Translation: X:273.90, Y:2.68, Z:4.19 [[ 9.96506035e-01 -8.20232689e-02 -1.57450231e-02 2.73896549e+02] [ 8.20300983e-02 9.96629830e-01 -2.12670827e-04 2.68204289e+00] [ 1.57094037e-02 -1.07963803e-03 9.99876017e-01 4.18769443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.859254154 meters Centerline goodness : 0.998770 Centerline is valid? [True, True] Translation: X:273.93, Y:2.68, Z:4.19 [[ 9.96741737e-01 -7.91075483e-02 -1.57450467e-02 2.73928942e+02] [ 7.91140432e-02 9.96865549e-01 -2.10908569e-04 2.68439879e+00] [ 1.57123791e-02 -1.03543293e-03 9.99876017e-01 4.18668213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.88925415399996 meters Centerline goodness : 0.998771 Centerline is valid? [True, True] Translation: X:273.96, Y:2.69, Z:4.19 [[ 9.96959077e-01 -7.63196728e-02 -1.57450622e-02 2.73961318e+02] [ 7.63258397e-02 9.97082906e-01 -2.09746684e-04 2.68795015e+00] [ 1.57151402e-02 -9.92646234e-04 9.99876017e-01 4.18838296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.919254154 meters Centerline goodness : 0.998874 Centerline is valid? [True, True] Translation: X:273.99, Y:2.69, Z:4.19 [[ 9.97502314e-01 -6.88565574e-02 -1.57450778e-02 2.73992694e+02] [ 6.88618160e-02 9.97626186e-01 -2.08568841e-04 2.69360759e+00] [ 1.57220633e-02 -8.76186749e-04 9.99876017e-01 4.18740801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.94925415399996 meters Centerline goodness : 0.998999 Centerline is valid? [True, True] Translation: X:274.02, Y:2.70, Z:4.19 [[ 9.97713573e-01 -6.57245553e-02 -1.57451037e-02 2.74023555e+02] [ 6.57294561e-02 9.97837460e-01 -2.06592469e-04 2.69764827e+00] [ 1.57246325e-02 -8.28796995e-04 9.99876017e-01 4.18852586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.979254154 meters Centerline goodness : 0.998998 Centerline is valid? [True, True] Translation: X:274.06, Y:2.70, Z:4.19 [[ 9.97998911e-01 -6.12394094e-02 -1.57451150e-02 2.74058160e+02] [ 6.12437668e-02 9.98122817e-01 -2.05730336e-04 2.69964626e+00] [ 1.57281574e-02 -7.58971501e-04 9.99876017e-01 4.18968339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.00925415399996 meters Centerline goodness : 0.998936 Centerline is valid? [True, True] Translation: X:274.09, Y:2.70, Z:4.19 [[ 9.98201914e-01 -5.78358151e-02 -1.57466615e-02 2.74089783e+02] [ 5.78416292e-02 9.98325768e-01 -8.63386946e-05 2.70284365e+00] [ 1.57252914e-02 -8.24629107e-04 9.99876010e-01 4.19031682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.039254154 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:274.12, Y:2.71, Z:4.19 [[ 9.98327289e-01 -5.56297163e-02 -1.57466879e-02 2.74118537e+02] [ 5.56352887e-02 9.98451154e-01 -8.43046616e-05 2.70745908e+00] [ 1.57269886e-02 -7.91907883e-04 9.99876010e-01 4.19009365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.06925415399996 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:274.15, Y:2.71, Z:4.19 [[ 9.98627187e-01 -4.99583032e-02 -1.57451082e-02 2.74150094e+02] [ 4.99612653e-02 9.98751135e-01 -2.05405492e-04 2.71317063e+00] [ 1.57357064e-02 -5.81522019e-04 9.99876017e-01 4.18990987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.099254154 meters Centerline goodness : 0.998932 Centerline is valid? [True, True] Translation: X:274.18, Y:2.72, Z:4.19 [[ 9.98752467e-01 -4.73877618e-02 -1.57451193e-02 2.74181993e+02] [ 4.73904184e-02 9.98876422e-01 -2.04548868e-04 2.71642249e+00] [ 1.57371216e-02 -5.41874105e-04 9.99876017e-01 4.19098880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.12925415399997 meters Centerline goodness : 0.998932 Centerline is valid? [True, True] Translation: X:274.21, Y:2.72, Z:4.19 [[ 9.98972117e-01 -4.25064710e-02 -1.57451340e-02 2.74212695e+02] [ 4.25085398e-02 9.99096083e-01 -2.03410549e-04 2.72176258e+00] [ 1.57395480e-02 -4.66101189e-04 9.99876017e-01 4.19197340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.159254154 meters Centerline goodness : 0.998849 Centerline is valid? [True, True] Translation: X:274.24, Y:2.72, Z:4.19 [[ 9.99072024e-01 -4.00896651e-02 -1.57451449e-02 2.74243945e+02] [ 4.00914473e-02 9.99195994e-01 -2.02562602e-04 2.72426642e+00] [ 1.57406064e-02 -4.28871020e-04 9.99876017e-01 4.19221578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.18925415399997 meters Centerline goodness : 0.998930 Centerline is valid? [True, True] Translation: X:274.28, Y:2.73, Z:4.19 [[ 9.99159529e-01 -3.78460777e-02 -1.57451556e-02 2.74275690e+02] [ 3.78475946e-02 9.99283503e-01 -2.01731744e-04 2.72654155e+00] [ 1.57415090e-02 -3.94354072e-04 9.99876017e-01 4.19346468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.21925415399994 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:274.31, Y:2.73, Z:4.19 [[ 9.99307077e-01 -3.37261759e-02 -1.57451699e-02 2.74307839e+02] [ 3.37271994e-02 9.99431056e-01 -2.00604318e-04 2.72990756e+00] [ 1.57429774e-02 -3.30575172e-04 9.99876017e-01 4.19476089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.24925415399997 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:274.34, Y:2.73, Z:4.20 [[ 9.99368126e-01 -3.18659217e-02 -1.57451845e-02 2.74338943e+02] [ 3.18667326e-02 9.99492107e-01 -1.99452788e-04 2.73153331e+00] [ 1.57435434e-02 -3.02420826e-04 9.99876017e-01 4.19514958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.27925415399994 meters Centerline goodness : 0.999097 Centerline is valid? [True, True] Translation: X:274.37, Y:2.73, Z:4.20 [[ 9.99406136e-01 -3.06506763e-02 -1.57451917e-02 2.74370079e+02] [ 3.06513454e-02 9.99530117e-01 -1.98883440e-04 2.73354711e+00] [ 1.57438892e-02 -2.83845979e-04 9.99876017e-01 4.19659074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.309254154 meters Centerline goodness : 0.999055 Centerline is valid? [True, True] Translation: X:274.40, Y:2.74, Z:4.20 [[ 9.99448931e-01 -2.92219480e-02 -1.57451991e-02 2.74400795e+02] [ 2.92224490e-02 9.99572913e-01 -1.98300718e-04 2.73549145e+00] [ 1.57442692e-02 -2.61921836e-04 9.99876017e-01 4.19730302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.33925415399995 meters Centerline goodness : 0.998907 Centerline is valid? [True, True] Translation: X:274.43, Y:2.74, Z:4.20 [[ 9.99497383e-01 -2.75149119e-02 -1.57452109e-02 2.74431513e+02] [ 2.75152161e-02 9.99621365e-01 -1.97352249e-04 2.73772719e+00] [ 1.57446794e-02 -2.35979825e-04 9.99876017e-01 4.19813379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.369254154 meters Centerline goodness : 0.998992 Centerline is valid? [True, True] Translation: X:274.46, Y:2.74, Z:4.20 [[ 9.99495701e-01 -2.75759336e-02 -1.57452226e-02 2.74461935e+02] [ 2.75762600e-02 9.99619683e-01 -1.96421952e-04 2.73818731e+00] [ 1.57446509e-02 -2.37871454e-04 9.99876017e-01 4.19859562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.39925415399995 meters Centerline goodness : 0.998971 Centerline is valid? [True, True] Translation: X:274.49, Y:2.74, Z:4.20 [[ 9.99489506e-01 -2.77995618e-02 -1.57452226e-02 2.74492340e+02] [ 2.77999160e-02 9.99613488e-01 -1.96421952e-04 2.73833879e+00] [ 1.57445973e-02 -2.41394184e-04 9.99876017e-01 4.19879159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.429254154 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:274.52, Y:2.74, Z:4.20 [[ 9.99453744e-01 -2.90568529e-02 -1.57452226e-02 2.74523080e+02] [ 2.90573630e-02 9.99577726e-01 -1.96421952e-04 2.73878050e+00] [ 1.57442812e-02 -2.61199991e-04 9.99876017e-01 4.19883565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.45925415399995 meters Centerline goodness : 0.998804 Centerline is valid? [True, True] Translation: X:274.55, Y:2.74, Z:4.20 [[ 9.99429411e-01 -2.98823314e-02 -1.57448270e-02 2.74553931e+02] [ 2.98824443e-02 9.99553394e-01 -2.28140956e-04 2.73791054e+00] [ 1.57446127e-02 -2.42483135e-04 9.99876017e-01 4.19858986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.489254154 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:274.58, Y:2.74, Z:4.20 [[ 9.99386266e-01 -3.12918268e-02 -1.57452291e-02 2.74584840e+02] [ 3.12926238e-02 9.99510247e-01 -1.95806855e-04 2.73868930e+00] [ 1.57436450e-02 -2.97022850e-04 9.99876017e-01 4.19969562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.51925415399995 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:274.62, Y:2.74, Z:4.20 [[ 9.99356259e-01 -3.22359383e-02 -1.57452291e-02 2.74615203e+02] [ 3.22368525e-02 9.99480238e-01 -1.95806855e-04 2.73864495e+00] [ 1.57433574e-02 -3.11895823e-04 9.99876017e-01 4.19966171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.549254154 meters Centerline goodness : 0.998953 Centerline is valid? [True, True] Translation: X:274.65, Y:2.74, Z:4.20 [[ 9.99356116e-01 -3.22403657e-02 -1.57452325e-02 2.74646562e+02] [ 3.22412847e-02 9.99480096e-01 -1.95532455e-04 2.73876442e+00] [ 1.57433505e-02 -3.12239970e-04 9.99876017e-01 4.19937387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.57925415399995 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:274.68, Y:2.74, Z:4.20 [[ 9.99352416e-01 -3.23548328e-02 -1.57452393e-02 2.74678400e+02] [ 3.23557746e-02 9.99476396e-01 -1.94988421e-04 2.73858284e+00] [ 1.57433038e-02 -3.14587263e-04 9.99876017e-01 4.19955982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.609254154 meters Centerline goodness : 0.998843 Centerline is valid? [True, True] Translation: X:274.71, Y:2.74, Z:4.20 [[ 9.99359633e-01 -3.21311411e-02 -1.57452459e-02 2.74708784e+02] [ 3.21320637e-02 9.99483613e-01 -1.94447243e-04 2.73836385e+00] [ 1.57433631e-02 -3.11604521e-04 9.99876017e-01 4.19954879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.63925415399996 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:274.74, Y:2.74, Z:4.20 [[ 9.99365174e-01 -3.19583375e-02 -1.57452568e-02 2.74739001e+02] [ 3.19592526e-02 9.99489154e-01 -1.93563358e-04 2.73799194e+00] [ 1.57433994e-02 -3.09766160e-04 9.99876017e-01 4.19973632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.669254154 meters Centerline goodness : 0.998948 Centerline is valid? [True, True] Translation: X:274.78, Y:2.73, Z:4.20 [[ 9.99595057e-01 -2.37024892e-02 -1.57452601e-02 2.74779611e+02] [ 2.37023843e-02 9.99719040e-01 -1.93297005e-04 2.72903563e+00] [ 1.57454179e-02 -1.79981475e-04 9.99876017e-01 4.19597066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.69925415399996 meters Centerline goodness : 0.999053 Centerline is valid? [True, True] Translation: X:274.80, Y:2.74, Z:4.20 [[ 9.99359613e-01 -3.21287777e-02 -1.57513367e-02 2.74798276e+02] [ 3.21379522e-02 9.99483388e-01 3.29617545e-04 2.73853144e+00] [ 1.57326091e-02 -8.35622166e-04 9.99875886e-01 4.20143150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.729254154 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:274.83, Y:2.74, Z:4.20 [[ 9.99392046e-01 -3.11070103e-02 -1.57446119e-02 2.74829898e+02] [ 3.11077184e-02 9.99516018e-01 -1.99985808e-04 2.73878269e+00] [ 1.57432128e-02 -2.89914728e-04 9.99876026e-01 4.20292497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.75925415399996 meters Centerline goodness : 0.999011 Centerline is valid? [True, True] Translation: X:274.86, Y:2.74, Z:4.20 [[ 9.99417361e-01 -3.02827472e-02 -1.57446193e-02 2.74859892e+02] [ 3.02833622e-02 9.99541334e-01 -1.99406323e-04 2.73881415e+00] [ 1.57434363e-02 -2.77509867e-04 9.99876026e-01 4.20252625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.789254154 meters Centerline goodness : 0.998968 Centerline is valid? [True, True] Translation: X:274.89, Y:2.74, Z:4.20 [[ 9.99452845e-01 -2.90880850e-02 -1.57446229e-02 2.74891242e+02] [ 2.90885563e-02 9.99576819e-01 -1.99118802e-04 2.73873720e+00] [ 1.57437520e-02 -2.58978497e-04 9.99876026e-01 4.20313947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.81925415399996 meters Centerline goodness : 0.998864 Centerline is valid? [True, True] Translation: X:274.92, Y:2.74, Z:4.20 [[ 9.99525045e-01 -2.64913243e-02 -1.57446301e-02 2.74921763e+02] [ 2.64914825e-02 9.99649019e-01 -1.98547350e-04 2.73878442e+00] [ 1.57443638e-02 -2.18645544e-04 9.99876026e-01 4.20410862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.849254154 meters Centerline goodness : 0.998758 Centerline is valid? [True, True] Translation: X:274.95, Y:2.74, Z:4.20 [[ 9.99571186e-01 -2.46890878e-02 -1.57446301e-02 2.74952103e+02] [ 2.46890225e-02 9.99695160e-01 -1.98547350e-04 2.73859262e+00] [ 1.57447325e-02 -1.90257317e-04 9.99876026e-01 4.20425861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.87925415399997 meters Centerline goodness : 0.998928 Centerline is valid? [True, True] Translation: X:274.98, Y:2.74, Z:4.21 [[ 9.99598283e-01 -2.35664933e-02 -1.57446301e-02 2.74981409e+02] [ 2.35662888e-02 9.99722257e-01 -1.98547350e-04 2.73917194e+00] [ 1.57449362e-02 -1.72574910e-04 9.99876026e-01 4.20527053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.909254154 meters Centerline goodness : 0.999054 Centerline is valid? [True, True] Translation: X:275.01, Y:2.74, Z:4.21 [[ 9.99622418e-01 -2.25196855e-02 -1.57443491e-02 2.75009634e+02] [ 2.25190028e-02 9.99746391e-01 -2.20671838e-04 2.73895137e+00] [ 1.57453257e-02 -1.33958526e-04 9.99876026e-01 4.20556563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.93925415399997 meters Centerline goodness : 0.999075 Centerline is valid? [True, True] Translation: X:275.04, Y:2.74, Z:4.21 [[ 9.99638490e-01 -2.17944022e-02 -1.57445994e-02 2.75038180e+02] [ 2.17939381e-02 9.99762464e-01 -2.01078165e-04 2.73866266e+00] [ 1.57452419e-02 -1.42131351e-04 9.99876026e-01 4.20660558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.96925415399994 meters Centerline goodness : 0.999054 Centerline is valid? [True, True] Translation: X:275.07, Y:2.74, Z:4.21 [[ 9.99657194e-01 -2.09189861e-02 -1.57445462e-02 2.75067164e+02] [ 2.09183491e-02 9.99781166e-01 -2.05157329e-04 2.73688085e+00] [ 1.57453925e-02 -1.24262915e-04 9.99876026e-01 4.20653995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.99925415399997 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:275.10, Y:2.74, Z:4.21 [[ 9.99642300e-01 -2.16190261e-02 -1.57444924e-02 2.75096243e+02] [ 2.16184122e-02 9.99766273e-01 -2.09205966e-04 2.73632099e+00] [ 1.57453354e-02 -1.31239795e-04 9.99876026e-01 4.20692338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.02925415399994 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] Translation: X:275.12, Y:2.73, Z:4.21 [[ 9.99600790e-01 -2.34600286e-02 -1.57444377e-02 2.75124734e+02] [ 2.34595793e-02 9.99724763e-01 -2.13248916e-04 2.73385246e+00] [ 1.57451071e-02 -1.56194100e-04 9.99876026e-01 4.20661297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.059254154 meters Centerline goodness : 0.999140 Centerline is valid? [True, True] Translation: X:275.15, Y:2.73, Z:4.21 [[ 9.99557411e-01 -2.52407627e-02 -1.57443819e-02 2.75153824e+02] [ 2.52404707e-02 9.99681385e-01 -2.17288067e-04 2.73276597e+00] [ 1.57448501e-02 -1.80203712e-04 9.99876026e-01 4.20692109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.08925415399995 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:275.18, Y:2.73, Z:4.21 [[ 9.99513866e-01 -2.69100082e-02 -1.57443245e-02 2.75183710e+02] [ 2.69098590e-02 9.99637840e-01 -2.21370077e-04 2.73130561e+00] [ 1.57445796e-02 -2.02415092e-04 9.99876026e-01 4.20674609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.119254154 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:275.21, Y:2.73, Z:4.21 [[ 9.99462244e-01 -2.87635178e-02 -1.57443163e-02 2.75213413e+02] [ 2.87635893e-02 9.99586218e-01 -2.21953298e-04 2.72962822e+00] [ 1.57441858e-02 -2.31029107e-04 9.99876026e-01 4.20662390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.14925415399995 meters Centerline goodness : 0.999226 Centerline is valid? [True, True] Translation: X:275.24, Y:2.73, Z:4.21 [[ 9.99347468e-01 -3.25077684e-02 -1.57443122e-02 2.75242544e+02] [ 3.25082998e-02 9.99471441e-01 -2.22242605e-04 2.72535178e+00] [ 1.57432150e-02 -2.89723237e-04 9.99876026e-01 4.20630396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.179254154 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:275.27, Y:2.72, Z:4.21 [[ 9.99246464e-01 -3.54773146e-02 -1.57437395e-02 2.75273486e+02] [ 3.54775790e-02 9.99370438e-01 -2.62585211e-04 2.72337836e+00] [ 1.57431437e-02 -2.96162419e-04 9.99876025e-01 4.20594499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.20925415399995 meters Centerline goodness : 0.998913 Centerline is valid? [True, True] Translation: X:275.30, Y:2.72, Z:4.21 [[ 9.99154893e-01 -3.79686306e-02 -1.57442874e-02 2.75303521e+02] [ 3.79698103e-02 9.99278862e-01 -2.24095273e-04 2.72176815e+00] [ 1.57414422e-02 -3.73901716e-04 9.99876026e-01 4.20626913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.239254154 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:275.33, Y:2.72, Z:4.21 [[ 9.99001733e-01 -4.18049551e-02 -1.57442915e-02 2.75334958e+02] [ 4.18066154e-02 9.99125696e-01 -2.23805487e-04 2.71876897e+00] [ 1.57398824e-02 -4.34633470e-04 9.99876026e-01 4.20786020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.26925415399995 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:275.37, Y:2.72, Z:4.21 [[ 9.98965787e-01 -4.26552771e-02 -1.57442997e-02 2.75365150e+02] [ 4.26570520e-02 9.99089749e-01 -2.23227948e-04 2.71775577e+00] [ 1.57394903e-02 -4.48608327e-04 9.99876026e-01 4.20950914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.299254154 meters Centerline goodness : 0.999372 Centerline is valid? [True, True] Translation: X:275.40, Y:2.72, Z:4.21 [[ 9.98909506e-01 -4.39537801e-02 -1.57437199e-02 2.75397130e+02] [ 4.39550740e-02 9.99033474e-01 -2.64001651e-04 2.71654709e+00] [ 1.57401071e-02 -4.28302615e-04 9.99876025e-01 4.21006066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.32925415399995 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:275.43, Y:2.72, Z:4.21 [[ 9.98902872e-01 -4.41040737e-02 -1.57442963e-02 2.75428511e+02] [ 4.41060261e-02 9.99026831e-01 -2.23373019e-04 2.71543275e+00] [ 1.57388261e-02 -4.71290394e-04 9.99876026e-01 4.21079550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.359254154 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:275.46, Y:2.71, Z:4.21 [[ 9.98961032e-01 -4.27665083e-02 -1.57443086e-02 2.75460634e+02] [ 4.27683083e-02 9.99084993e-01 -2.22506939e-04 2.71364701e+00] [ 1.57394183e-02 -4.51081683e-04 9.99876026e-01 4.21151147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.38925415399996 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:275.49, Y:2.71, Z:4.21 [[ 9.98962559e-01 -4.27308159e-02 -1.57443244e-02 2.75492471e+02] [ 4.27326292e-02 9.99086519e-01 -2.21379100e-04 2.71406330e+00] [ 1.57394020e-02 -4.51646946e-04 9.99876026e-01 4.21201260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.419254154 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:275.52, Y:2.71, Z:4.21 [[ 9.99021561e-01 -4.13284118e-02 -1.57443323e-02 2.75523681e+02] [ 4.13300600e-02 9.99145524e-01 -2.20816773e-04 2.71363832e+00] [ 1.57400052e-02 -4.30113483e-04 9.99876026e-01 4.21282864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.44925415399996 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:275.55, Y:2.71, Z:4.21 [[ 9.99076885e-01 -3.99686518e-02 -1.57443404e-02 2.75554153e+02] [ 3.99701403e-02 9.99200850e-01 -2.20239173e-04 2.71341834e+00] [ 1.57405610e-02 -4.09267629e-04 9.99876026e-01 4.21317020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.479254154 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:275.59, Y:2.71, Z:4.21 [[ 9.99198544e-01 -3.68019805e-02 -1.57443444e-02 2.75585111e+02] [ 3.68030807e-02 9.99322513e-01 -2.19952609e-04 2.71254659e+00] [ 1.57417725e-02 -3.59664051e-04 9.99876026e-01 4.21419913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.50925415399996 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:275.62, Y:2.71, Z:4.22 [[ 9.99279298e-01 -3.45398348e-02 -1.57443523e-02 2.75616835e+02] [ 3.45406633e-02 9.99403269e-01 -2.19386420e-04 2.71105894e+00] [ 1.57425347e-02 -3.24592064e-04 9.99876026e-01 4.21534575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.539254154 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:275.64, Y:2.71, Z:4.22 [[ 9.99276015e-01 -3.46339621e-02 -1.57459540e-02 2.75644751e+02] [ 3.46366227e-02 9.99399967e-01 -1.03794056e-04 2.71238095e+00] [ 1.57401007e-02 -4.41667756e-04 9.99876019e-01 4.21512671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.56925415399996 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:275.68, Y:2.71, Z:4.21 [[ 9.99268856e-01 -3.48406440e-02 -1.57443051e-02 2.75675124e+02] [ 3.48414815e-02 9.99392827e-01 -2.21176323e-04 2.71253594e+00] [ 1.57424515e-02 -3.27540305e-04 9.99876026e-01 4.21495005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.599254154 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:275.71, Y:2.71, Z:4.21 [[ 9.99275010e-01 -3.46638557e-02 -1.57439497e-02 2.75705545e+02] [ 3.46642739e-02 9.99398983e-01 -2.46410590e-04 2.71122622e+00] [ 1.57430288e-02 -2.99520639e-04 9.99876026e-01 4.21489817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.62925415399997 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:275.74, Y:2.71, Z:4.21 [[ 9.99209191e-01 -3.65117696e-02 -1.57443112e-02 2.75735594e+02] [ 3.65128234e-02 9.99333160e-01 -2.20607033e-04 2.70988587e+00] [ 1.57418670e-02 -3.54436681e-04 9.99876026e-01 4.21367750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.659254154 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:275.77, Y:2.71, Z:4.21 [[ 9.99139862e-01 -3.83621233e-02 -1.57443112e-02 2.75766082e+02] [ 3.83634067e-02 9.99263829e-01 -2.20607033e-04 2.71028264e+00] [ 1.57411837e-02 -3.83588135e-04 9.99876026e-01 4.21482216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.68925415399997 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:275.80, Y:2.71, Z:4.21 [[ 9.99062422e-01 -4.03286232e-02 -1.57441462e-02 2.75796492e+02] [ 4.03299666e-02 9.99186389e-01 -2.32290371e-04 2.71072467e+00] [ 1.57407046e-02 -4.02888311e-04 9.99876026e-01 4.21347197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.71925415399994 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:275.83, Y:2.71, Z:4.21 [[ 9.99055388e-01 -4.05026944e-02 -1.57436832e-02 2.75827073e+02] [ 4.05035472e-02 9.99179360e-01 -2.64815769e-04 2.70893829e+00] [ 1.57414891e-02 -3.73109397e-04 9.99876025e-01 4.21341057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.74925415399997 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:275.86, Y:2.71, Z:4.21 [[ 9.98964548e-01 -4.26843045e-02 -1.57442737e-02 2.75857978e+02] [ 4.26860841e-02 9.99088509e-01 -2.23155300e-04 2.70811199e+00] [ 1.57394482e-02 -4.49137159e-04 9.99876026e-01 4.21497905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.77925415399994 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:275.89, Y:2.71, Z:4.22 [[ 9.98943604e-01 -4.31716813e-02 -1.57442816e-02 2.75888248e+02] [ 4.31735302e-02 9.99067564e-01 -2.22594505e-04 2.70831441e+00] [ 1.57392109e-02 -4.57376862e-04 9.99876026e-01 4.21507064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.809254154 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:275.92, Y:2.71, Z:4.22 [[ 9.98926938e-01 -4.35555907e-02 -1.57442856e-02 2.75919952e+02] [ 4.35574916e-02 9.99050897e-01 -2.22316044e-04 2.70882447e+00] [ 1.57390257e-02 -4.63704102e-04 9.99876026e-01 4.21681769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.83925415399995 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:275.95, Y:2.71, Z:4.22 [[ 9.98971397e-01 -4.25235857e-02 -1.57445909e-02 2.75950786e+02] [ 4.25257010e-02 9.99095353e-01 -2.00568556e-04 2.70930362e+00] [ 1.57388765e-02 -4.69187514e-04 9.99876026e-01 4.21924732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.869254154 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:275.98, Y:2.71, Z:4.22 [[ 9.98971212e-01 -4.25280555e-02 -1.57442937e-02 2.75981430e+02] [ 4.25298389e-02 9.99095172e-01 -2.21679821e-04 2.71026094e+00] [ 1.57394754e-02 -4.48150513e-04 9.99876026e-01 4.22044484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.89925415399995 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:276.01, Y:2.71, Z:4.22 [[ 9.98973100e-01 -4.24836658e-02 -1.57442977e-02 2.76012712e+02] [ 4.24854483e-02 9.99097061e-01 -2.21390161e-04 2.71097401e+00] [ 1.57394871e-02 -4.47740732e-04 9.99876026e-01 4.22144534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.929254154 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] Translation: X:276.04, Y:2.71, Z:4.22 [[ 9.98984922e-01 -4.22047780e-02 -1.57443058e-02 2.76042712e+02] [ 4.22065350e-02 9.99108883e-01 -2.20812372e-04 2.71144363e+00] [ 1.57395951e-02 -4.43924365e-04 9.99876026e-01 4.22152855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.95925415399995 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:276.07, Y:2.71, Z:4.22 [[ 9.98980957e-01 -4.22985070e-02 -1.57443098e-02 2.76074368e+02] [ 4.23002802e-02 9.99104918e-01 -2.20525657e-04 2.71245127e+00] [ 1.57395453e-02 -4.45687786e-04 9.99876026e-01 4.22312848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.989254154 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:276.11, Y:2.71, Z:4.22 [[ 9.99000098e-01 -4.18440066e-02 -1.57443178e-02 2.76105458e+02] [ 4.18457323e-02 9.99124060e-01 -2.19958150e-04 2.71290382e+00] [ 1.57397306e-02 -4.39094294e-04 9.99876026e-01 4.22404494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.01925415399995 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:276.14, Y:2.71, Z:4.22 [[ 9.99003611e-01 -4.17600526e-02 -1.57443257e-02 2.76135425e+02] [ 4.17617769e-02 9.99127572e-01 -2.19386161e-04 2.71360722e+00] [ 1.57397515e-02 -4.38343452e-04 9.99876026e-01 4.22425335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.049254154 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:276.17, Y:2.71, Z:4.22 [[ 9.99168708e-01 -3.76033246e-02 -1.57443297e-02 2.76169886e+02] [ 3.76045375e-02 9.99292675e-01 -2.19102330e-04 2.71017342e+00] [ 1.57414323e-02 -3.73138045e-04 9.99876026e-01 4.22248402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.07925415399995 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:276.19, Y:2.72, Z:4.23 [[ 9.99027041e-01 -4.11942435e-02 -1.57481670e-02 2.76193945e+02] [ 4.12003102e-02 9.99150905e-01 6.08552203e-05 2.71600140e+00] [ 1.57322884e-02 -7.09625375e-04 9.99875988e-01 4.22504738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.109254154 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:276.22, Y:2.72, Z:4.22 [[ 9.99056467e-01 -4.04758875e-02 -1.57441277e-02 2.76223896e+02] [ 4.04773860e-02 9.99180430e-01 -2.23600802e-04 2.71666930e+00] [ 1.57402747e-02 -4.13891307e-04 9.99876029e-01 4.22414294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.13925415399996 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:276.25, Y:2.72, Z:4.23 [[ 9.98976627e-01 -4.24007169e-02 -1.57441318e-02 2.76251368e+02] [ 4.24024588e-02 9.99100586e-01 -2.23311957e-04 2.72155164e+00] [ 1.57394399e-02 -4.44506475e-04 9.99876029e-01 4.22506347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.169254154 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:276.28, Y:2.72, Z:4.23 [[ 9.99144099e-01 -3.82528255e-02 -1.57413605e-02 2.76283841e+02] [ 3.82510534e-02 9.99268075e-01 -4.13752528e-04 2.71842594e+00] [ 1.57456662e-02 -1.88725224e-04 9.99876012e-01 4.22521491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.19925415399996 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:276.32, Y:2.72, Z:4.23 [[ 9.99186468e-01 -3.71285258e-02 -1.57440593e-02 2.76315136e+02] [ 3.71295945e-02 9.99310434e-01 -2.24520212e-04 2.71914105e+00] [ 1.57415389e-02 -3.60232982e-04 9.99876029e-01 4.22532696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.229254154 meters Centerline goodness : 0.999375 Centerline is valid? [True, True] Translation: X:276.35, Y:2.72, Z:4.23 [[ 9.99225517e-01 -3.60623029e-02 -1.57440676e-02 2.76346280e+02] [ 3.60632484e-02 9.99349484e-01 -2.23942622e-04 2.72002952e+00] [ 1.57419017e-02 -3.44013037e-04 9.99876029e-01 4.22598999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.25925415399996 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:276.38, Y:2.72, Z:4.23 [[ 9.99260270e-01 -3.50861301e-02 -1.57440758e-02 2.76376752e+02] [ 3.50869636e-02 9.99384238e-01 -2.23363217e-04 2.72062915e+00] [ 1.57422181e-02 -3.29213825e-04 9.99876029e-01 4.22589380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.289254154 meters Centerline goodness : 0.996706 Centerline is valid? [True, True] Translation: X:276.40, Y:2.72, Z:4.22 [[ 9.99315690e-01 -3.34705296e-02 -1.57440798e-02 2.76404823e+02] [ 3.34711672e-02 9.99439659e-01 -2.23076106e-04 2.72314874e+00] [ 1.57427243e-02 -3.04049276e-04 9.99876029e-01 4.22241348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.31925415399996 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:276.44, Y:2.72, Z:4.23 [[ 9.99359320e-01 -3.21426650e-02 -1.57416435e-02 2.76436083e+02] [ 3.21404978e-02 9.99483284e-01 -3.90705337e-04 2.72200512e+00] [ 1.57460678e-02 -1.15489239e-04 9.99876016e-01 4.22696219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.349254154 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:276.47, Y:2.72, Z:4.23 [[ 9.99365807e-01 -3.19391704e-02 -1.57440097e-02 2.76466334e+02] [ 3.19395790e-02 9.99489776e-01 -2.25555367e-04 2.72260609e+00] [ 1.57431808e-02 -2.77444721e-04 9.99876030e-01 4.22791301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.37925415399997 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:276.50, Y:2.72, Z:4.23 [[ 9.99378753e-01 -3.15314889e-02 -1.57440097e-02 2.76496534e+02] [ 3.15318470e-02 9.99502722e-01 -2.25555367e-04 2.72249006e+00] [ 1.57432927e-02 -2.71022463e-04 9.99876030e-01 4.22857900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.409254154 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:276.53, Y:2.72, Z:4.23 [[ 9.99371786e-01 -3.17515186e-02 -1.57440097e-02 2.76526761e+02] [ 3.17519039e-02 9.99495756e-01 -2.25555367e-04 2.72241623e+00] [ 1.57432326e-02 -2.74488613e-04 9.99876030e-01 4.22932584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.43925415399997 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:276.56, Y:2.72, Z:4.23 [[ 9.99356538e-01 -3.22278705e-02 -1.57440097e-02 2.76557171e+02] [ 3.22283149e-02 9.99480507e-01 -2.25555367e-04 2.72257629e+00] [ 1.57431000e-02 -2.81992671e-04 9.99876030e-01 4.23010447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.46925415399994 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:276.59, Y:2.72, Z:4.23 [[ 9.99337739e-01 -3.28056203e-02 -1.57440097e-02 2.76586556e+02] [ 3.28061364e-02 9.99461708e-01 -2.25555367e-04 2.72266960e+00] [ 1.57429343e-02 -2.91094140e-04 9.99876030e-01 4.23082547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.49925415399997 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:276.62, Y:2.72, Z:4.23 [[ 9.99285410e-01 -3.43626945e-02 -1.57440057e-02 2.76615866e+02] [ 3.43633993e-02 9.99409378e-01 -2.25837273e-04 2.72197090e+00] [ 1.57424673e-02 -3.15341662e-04 9.99876030e-01 4.23226241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.52925415399994 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:276.65, Y:2.72, Z:4.23 [[ 9.99256423e-01 -3.51955527e-02 -1.57440017e-02 2.76646093e+02] [ 3.51963564e-02 9.99380391e-01 -2.26116504e-04 2.72160144e+00] [ 1.57422048e-02 -3.28183125e-04 9.99876030e-01 4.23311584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.559254154 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:276.68, Y:2.72, Z:4.23 [[ 9.99215860e-01 -3.63289292e-02 -1.57440144e-02 2.76676493e+02] [ 3.63298876e-02 9.99339826e-01 -2.25224816e-04 2.72089040e+00] [ 1.57418028e-02 -3.46930065e-04 9.99876030e-01 4.23385203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.58925415399995 meters Centerline goodness : 0.999333 Centerline is valid? [True, True] Translation: X:276.71, Y:2.72, Z:4.23 [[ 9.99120220e-01 -3.88704389e-02 -1.57440144e-02 2.76706745e+02] [ 3.88717126e-02 9.99244184e-01 -2.25224816e-04 2.71916622e+00] [ 1.57408694e-02 -3.86970136e-04 9.99876030e-01 4.23369349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.619254154 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:276.74, Y:2.72, Z:4.23 [[ 9.99065324e-01 -4.02567202e-02 -1.57440183e-02 2.76737988e+02] [ 4.02581702e-02 9.99189286e-01 -2.24949959e-04 2.71883864e+00] [ 1.57403102e-02 -4.09085667e-04 9.99876030e-01 4.23404278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.64925415399995 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:276.77, Y:2.72, Z:4.23 [[ 9.99008871e-01 -4.16341387e-02 -1.57440261e-02 2.76769356e+02] [ 4.16357682e-02 9.99132830e-01 -2.24406683e-04 2.71844267e+00] [ 1.57397163e-02 -4.31330353e-04 9.99876030e-01 4.23449148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.679254154 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:276.80, Y:2.72, Z:4.24 [[ 9.98873140e-01 -4.47724905e-02 -1.57440338e-02 2.76800330e+02] [ 4.47745180e-02 9.98997093e-01 -2.23866912e-04 2.71680092e+00] [ 1.57382670e-02 -4.81316877e-04 9.99876030e-01 4.23540721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.70925415399995 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:276.83, Y:2.72, Z:4.23 [[ 9.98801311e-01 -4.63472352e-02 -1.57440418e-02 2.76831007e+02] [ 4.63494669e-02 9.98925261e-01 -2.23302046e-04 2.71623896e+00] [ 1.57374705e-02 -5.06693568e-04 9.99876030e-01 4.23492538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.739254154 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:276.86, Y:2.72, Z:4.24 [[ 9.98743564e-01 -4.75753943e-02 -1.57440457e-02 2.76861934e+02] [ 4.75777828e-02 9.98867511e-01 -2.23021313e-04 2.71533971e+00] [ 1.57368261e-02 -5.26325688e-04 9.99876030e-01 4.23609204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.76925415399995 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:276.89, Y:2.71, Z:4.24 [[ 9.98652510e-01 -4.94498688e-02 -1.57440536e-02 2.76893026e+02] [ 4.94524987e-02 9.98776452e-01 -2.22469078e-04 2.71389041e+00] [ 1.57357910e-02 -5.56413485e-04 9.99876030e-01 4.23754220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.799254154 meters Centerline goodness : 0.999333 Centerline is valid? [True, True] Translation: X:276.93, Y:2.71, Z:4.24 [[ 9.98655208e-01 -4.93953362e-02 -1.57440617e-02 2.76925510e+02] [ 4.93979685e-02 9.98779151e-01 -2.21891548e-04 2.71363476e+00] [ 1.57358010e-02 -5.56131512e-04 9.99876030e-01 4.23834396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.82925415399995 meters Centerline goodness : 0.999417 Centerline is valid? [True, True] Translation: X:276.96, Y:2.71, Z:4.24 [[ 9.98651331e-01 -4.94736623e-02 -1.57440779e-02 2.76956473e+02] [ 4.94763225e-02 9.98775272e-01 -2.20732502e-04 2.71352821e+00] [ 1.57357162e-02 -5.58524271e-04 9.99876030e-01 4.23861172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.859254154 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:276.99, Y:2.71, Z:4.24 [[ 9.98681239e-01 -4.88662202e-02 -1.57440900e-02 2.76988353e+02] [ 4.88688186e-02 9.98805181e-01 -2.19869960e-04 2.71311837e+00] [ 1.57360229e-02 -5.49815073e-04 9.99876030e-01 4.23964737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.88925415399996 meters Centerline goodness : 0.999188 Centerline is valid? [True, True] Translation: X:277.02, Y:2.71, Z:4.24 [[ 9.98709662e-01 -4.82818244e-02 -1.57441062e-02 2.77019319e+02] [ 4.82843686e-02 9.98833606e-01 -2.18703851e-04 2.71293143e+00] [ 1.57363018e-02 -5.41772578e-04 9.99876030e-01 4.23973561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.919254154 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:277.05, Y:2.71, Z:4.24 [[ 9.98727685e-01 -4.79075537e-02 -1.57441182e-02 2.77051066e+02] [ 4.79100651e-02 9.98851630e-01 -2.17836094e-04 2.71301532e+00] [ 1.57364741e-02 -5.36742790e-04 9.99876030e-01 4.24089450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.94925415399996 meters Centerline goodness : 0.999084 Centerline is valid? [True, True] Translation: X:277.08, Y:2.71, Z:4.24 [[ 9.98759610e-01 -4.72373096e-02 -1.57441344e-02 2.77082354e+02] [ 4.72397564e-02 9.98883556e-01 -2.16658322e-04 2.71270719e+00] [ 1.57367913e-02 -5.27359493e-04 9.99876030e-01 4.23983679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.979254154 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:277.11, Y:2.71, Z:4.24 [[ 9.98732146e-01 -4.78144634e-02 -1.57441464e-02 2.77113561e+02] [ 4.78169956e-02 9.98856090e-01 -2.15782435e-04 2.71280336e+00] [ 1.57364540e-02 -5.37328925e-04 9.99876030e-01 4.24114267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.00925415399996 meters Centerline goodness : 0.999251 Centerline is valid? [True, True] Translation: X:277.14, Y:2.71, Z:4.24 [[ 9.98713338e-01 -4.82056975e-02 -1.57441544e-02 2.77144332e+02] [ 4.82082875e-02 9.98837281e-01 -2.15196695e-04 2.71300421e+00] [ 1.57362221e-02 -5.44078912e-04 9.99876030e-01 4.24132396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.039254154 meters Centerline goodness : 0.998895 Centerline is valid? [True, True] Translation: X:277.18, Y:2.71, Z:4.24 [[ 9.98684613e-01 -4.87971775e-02 -1.57441663e-02 2.77176665e+02] [ 4.87998547e-02 9.98808554e-01 -2.14320707e-04 2.71310154e+00] [ 1.57358663e-02 -5.54274237e-04 9.99876030e-01 4.24252513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.06925415399996 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:277.21, Y:2.71, Z:4.24 [[ 9.98623386e-01 -5.00345285e-02 -1.57441823e-02 2.77207661e+02] [ 5.00373778e-02 9.98747323e-01 -2.13144992e-04 2.71371705e+00] [ 1.57351245e-02 -5.74946021e-04 9.99876030e-01 4.24257060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.099254154 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:277.24, Y:2.71, Z:4.24 [[ 9.98591655e-01 -5.06638578e-02 -1.57441941e-02 2.77239210e+02] [ 5.06667990e-02 9.98715590e-01 -2.12267378e-04 2.71372736e+00] [ 1.57347264e-02 -5.85739485e-04 9.99876030e-01 4.24280077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.12925415399997 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:277.27, Y:2.71, Z:4.24 [[ 9.98556681e-01 -5.13485677e-02 -1.57442057e-02 2.77271390e+02] [ 5.13516075e-02 9.98680613e-01 -2.11404461e-04 2.71378144e+00] [ 1.57342883e-02 -5.97390933e-04 9.99876030e-01 4.24352419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.159254154 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:277.30, Y:2.71, Z:4.24 [[ 9.98525674e-01 -5.19480385e-02 -1.57442213e-02 2.77303065e+02] [ 5.19511711e-02 9.98649604e-01 -2.10233242e-04 2.71403330e+00] [ 1.57338816e-02 -6.08007446e-04 9.99876030e-01 4.24308404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.18925415399997 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:277.33, Y:2.72, Z:4.24 [[ 9.98474379e-01 -5.29248004e-02 -1.57442329e-02 2.77334979e+02] [ 5.29280679e-02 9.98598306e-01 -2.09359347e-04 2.71545226e+00] [ 1.57332446e-02 -6.24271887e-04 9.99876030e-01 4.24376782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.21925415399994 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:277.37, Y:2.72, Z:4.25 [[ 9.98467106e-01 -5.30618289e-02 -1.57442478e-02 2.77367029e+02] [ 5.30651313e-02 9.98591032e-01 -2.08231865e-04 2.71633275e+00] [ 1.57331139e-02 -6.27557911e-04 9.99876030e-01 4.24537911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.24925415399997 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:277.40, Y:2.72, Z:4.25 [[ 9.98446272e-01 -5.34524025e-02 -1.57442631e-02 2.77398678e+02] [ 5.34557716e-02 9.98570197e-01 -2.07069407e-04 2.71728322e+00] [ 1.57328203e-02 -6.34874056e-04 9.99876030e-01 4.24576381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.27925415399994 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:277.43, Y:2.72, Z:4.25 [[ 9.98399155e-01 -5.43253609e-02 -1.57442745e-02 2.77430998e+02] [ 5.43288520e-02 9.98523076e-01 -2.06202486e-04 2.71871540e+00] [ 1.57322234e-02 -6.49495971e-04 9.99876030e-01 4.24832293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.309254154 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:277.46, Y:2.72, Z:4.25 [[ 9.98403199e-01 -5.42509829e-02 -1.57442898e-02 2.77463677e+02] [ 5.42544833e-02 9.98527120e-01 -2.05029728e-04 2.71908204e+00] [ 1.57322234e-02 -6.49495969e-04 9.99876030e-01 4.24883731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.33925415399995 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:277.50, Y:2.72, Z:4.25 [[ 9.98395936e-01 -5.43844784e-02 -1.57443049e-02 2.77496201e+02] [ 5.43880138e-02 9.98519856e-01 -2.03856969e-04 2.71979903e+00] [ 1.57320878e-02 -6.52771505e-04 9.99876030e-01 4.24933693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.369254154 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:277.53, Y:2.72, Z:4.25 [[ 9.98372056e-01 -5.48211154e-02 -1.57443200e-02 2.77528651e+02] [ 5.48247234e-02 9.98495973e-01 -2.02689699e-04 2.72063984e+00] [ 1.57317518e-02 -6.60818256e-04 9.99876030e-01 4.24977373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.39925415399995 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:277.56, Y:2.72, Z:4.25 [[ 9.98329745e-01 -5.55863020e-02 -1.57443348e-02 2.77560718e+02] [ 5.55900232e-02 9.98453659e-01 -2.01530005e-04 2.72252293e+00] [ 1.57311910e-02 -6.74034540e-04 9.99876030e-01 4.25040768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.429254154 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:277.59, Y:2.72, Z:4.25 [[ 9.98320527e-01 -5.57516001e-02 -1.57443494e-02 2.77592929e+02] [ 5.57553599e-02 9.98444440e-01 -2.00381125e-04 2.72401815e+00] [ 1.57310297e-02 -6.77787279e-04 9.99876030e-01 4.25051533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.45925415399995 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:277.62, Y:2.73, Z:4.25 [[ 9.98330362e-01 -5.55751964e-02 -1.57443640e-02 2.77624952e+02] [ 5.55789525e-02 9.98454276e-01 -1.99230149e-04 2.72535783e+00] [ 1.57310998e-02 -6.76157752e-04 9.99876030e-01 4.25121488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.489254154 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:277.66, Y:2.73, Z:4.25 [[ 9.98376746e-01 -5.47356109e-02 -1.57443787e-02 2.77655969e+02] [ 5.47392811e-02 9.98500662e-01 -1.98060711e-04 2.72771840e+00] [ 1.57316135e-02 -6.64096764e-04 9.99876030e-01 4.25060146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.51925415399995 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:277.69, Y:2.73, Z:4.25 [[ 9.98429920e-01 -5.37569480e-02 -1.57443896e-02 2.77687669e+02] [ 5.37605105e-02 9.98553839e-01 -1.97189647e-04 2.72939152e+00] [ 1.57322210e-02 -6.49546380e-04 9.99876030e-01 4.25138076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.549254154 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:277.72, Y:2.73, Z:4.25 [[ 9.98498829e-01 -5.24614389e-02 -1.57444042e-02 2.77718962e+02] [ 5.24648590e-02 9.98622752e-01 -1.96019056e-04 2.73103807e+00] [ 1.57330037e-02 -6.30303147e-04 9.99876030e-01 4.25120217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.57925415399995 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:277.75, Y:2.73, Z:4.25 [[ 9.98675320e-01 -4.89869240e-02 -1.57444150e-02 2.77750730e+02] [ 4.89899266e-02 9.98799254e-01 -1.95147238e-04 2.73393280e+00] [ 1.57350696e-02 -5.76429005e-04 9.99876030e-01 4.25180264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.609254154 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:277.78, Y:2.74, Z:4.25 [[ 9.98784696e-01 -4.67037920e-02 -1.57444291e-02 2.77783342e+02] [ 4.67065293e-02 9.98908636e-01 -1.94000931e-04 2.73572148e+00] [ 1.57363068e-02 -5.41602480e-04 9.99876030e-01 4.25236038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.63925415399996 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:277.81, Y:2.74, Z:4.25 [[ 9.98909819e-01 -4.39464030e-02 -1.57444436e-02 2.77814872e+02] [ 4.39488167e-02 9.99033765e-01 -1.92819761e-04 2.73736469e+00] [ 1.57377045e-02 -4.99340114e-04 9.99876030e-01 4.25224256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.669254154 meters Centerline goodness : 0.998976 Centerline is valid? [True, True] Translation: X:277.85, Y:2.74, Z:4.25 [[ 9.99130399e-01 -3.86077326e-02 -1.57444543e-02 2.77846583e+02] [ 3.86094978e-02 9.99254357e-01 -1.91941267e-04 2.74049084e+00] [ 1.57401250e-02 -4.16111119e-04 9.99876030e-01 4.25191953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.69925415399996 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:277.88, Y:2.74, Z:4.25 [[ 9.99201184e-01 -3.67301754e-02 -1.57444687e-02 2.77876764e+02] [ 3.67317265e-02 9.99325144e-01 -1.90749187e-04 2.74273188e+00] [ 1.57408498e-02 -3.87724706e-04 9.99876030e-01 4.25191862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.729254154 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:277.91, Y:2.74, Z:4.25 [[ 9.99283185e-01 -3.44271434e-02 -1.57444805e-02 2.77907869e+02] [ 3.44284241e-02 9.99407148e-01 -1.89773041e-04 2.74432521e+00] [ 1.57416797e-02 -3.52420643e-04 9.99876030e-01 4.25199810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.75925415399996 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:277.94, Y:2.75, Z:4.25 [[ 9.99406726e-01 -3.06317867e-02 -1.57444874e-02 2.77938872e+02] [ 3.06326057e-02 9.99530694e-01 -1.89197913e-04 2.74727980e+00] [ 1.57428939e-02 -2.93209008e-04 9.99876030e-01 4.25230412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.789254154 meters Centerline goodness : 0.998936 Centerline is valid? [True, True] Translation: X:277.97, Y:2.75, Z:4.25 [[ 9.99457945e-01 -2.89123898e-02 -1.57444944e-02 2.77968263e+02] [ 2.89130047e-02 9.99581914e-01 -1.88615156e-04 2.74868948e+00] [ 1.57433652e-02 -2.66707724e-04 9.99876030e-01 4.25198805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.81925415399996 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:278.00, Y:2.75, Z:4.25 [[ 9.99483168e-01 -2.80269063e-02 -1.57444952e-02 2.77997607e+02] [ 2.80274123e-02 9.99607137e-01 -1.88552126e-04 2.75044486e+00] [ 1.57435943e-02 -2.52822782e-04 9.99876030e-01 4.25287085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.849254154 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:278.03, Y:2.75, Z:4.25 [[ 9.99498689e-01 -2.74678165e-02 -1.57444884e-02 2.78027434e+02] [ 2.74682444e-02 9.99622659e-01 -1.89113420e-04 2.75181365e+00] [ 1.57437419e-02 -2.43454840e-04 9.99876030e-01 4.25381951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.87925415399997 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:278.06, Y:2.75, Z:4.25 [[ 9.99487013e-01 -2.78894497e-02 -1.57444815e-02 2.78056614e+02] [ 2.78899208e-02 9.99610983e-01 -1.89690677e-04 2.75356460e+00] [ 1.57436470e-02 -2.49518972e-04 9.99876030e-01 4.25457239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.909254154 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:278.09, Y:2.75, Z:4.25 [[ 9.99456088e-01 -2.89765292e-02 -1.57444780e-02 2.78085941e+02] [ 2.89771306e-02 9.99580057e-01 -1.89976927e-04 2.75450586e+00] [ 1.57433711e-02 -2.66356200e-04 9.99876030e-01 4.25485543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.93925415399997 meters Centerline goodness : 0.999372 Centerline is valid? [True, True] Translation: X:278.12, Y:2.75, Z:4.26 [[ 9.99410963e-01 -3.04932558e-02 -1.57444746e-02 2.78115832e+02] [ 3.04940409e-02 9.99534930e-01 -1.90260031e-04 2.75494994e+00] [ 1.57429540e-02 -2.89964692e-04 9.99876030e-01 4.25524390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.96925415399994 meters Centerline goodness : 0.999226 Centerline is valid? [True, True] Translation: X:278.15, Y:2.75, Z:4.25 [[ 9.99265032e-01 -3.49500768e-02 -1.57444712e-02 2.78146249e+02] [ 3.49514103e-02 9.99388995e-01 -1.90538025e-04 2.75496303e+00] [ 1.57415106e-02 -3.59893489e-04 9.99876030e-01 4.25486330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.99925415399997 meters Centerline goodness : 0.999210 Centerline is valid? [True, True] Translation: X:278.18, Y:2.76, Z:4.26 [[ 9.99179875e-01 -3.73053442e-02 -1.57444712e-02 2.78177419e+02] [ 3.73069700e-02 9.99303835e-01 -1.90538025e-04 2.75521968e+00] [ 1.57406186e-02 -3.96996755e-04 9.99876030e-01 4.25528462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.02925415399994 meters Centerline goodness : 0.998936 Centerline is valid? [True, True] Translation: X:278.21, Y:2.76, Z:4.26 [[ 9.99071021e-01 -4.01149030e-02 -1.57444782e-02 2.78207904e+02] [ 4.01168865e-02 9.99194976e-01 -1.89957730e-04 2.75560953e+00] [ 1.57394237e-02 -4.41838183e-04 9.99876030e-01 4.25543654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.059254154 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:278.24, Y:2.76, Z:4.26 [[ 9.98793874e-01 -4.65070880e-02 -1.57444817e-02 2.78238872e+02] [ 4.65098691e-02 9.98917812e-01 -1.89670364e-04 2.75555873e+00] [ 1.57362642e-02 -5.42832184e-04 9.99876030e-01 4.25517307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.08925415399995 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:278.27, Y:2.76, Z:4.26 [[ 9.98650387e-01 -4.94925807e-02 -1.57444919e-02 2.78271210e+02] [ 4.94957458e-02 9.98774317e-01 -1.88815418e-04 2.75555498e+00] [ 1.57345391e-02 -5.90724780e-04 9.99876030e-01 4.25532193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.119254154 meters Centerline goodness : 0.999021 Centerline is valid? [True, True] Translation: X:278.30, Y:2.76, Z:4.26 [[ 9.98486424e-01 -5.26969856e-02 -1.57445054e-02 2.78303502e+02] [ 5.27005661e-02 9.98610342e-01 -1.87682918e-04 2.75589379e+00] [ 1.57325163e-02 -6.42345504e-04 9.99876030e-01 4.25567523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.14925415399995 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:278.34, Y:2.76, Z:4.26 [[ 9.98317729e-01 -5.58016249e-02 -1.57445189e-02 2.78335704e+02] [ 5.58056086e-02 9.98441635e-01 -1.86548737e-04 2.75597123e+00] [ 1.57303929e-02 -6.92397547e-04 9.99876030e-01 4.25613813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.179254154 meters Centerline goodness : 0.998831 Centerline is valid? [True, True] Translation: X:278.37, Y:2.76, Z:4.26 [[ 9.97997390e-01 -6.12643375e-02 -1.57445326e-02 2.78366813e+02] [ 6.12690177e-02 9.98121272e-01 -1.85380944e-04 2.75546707e+00] [ 1.57263102e-02 -7.79642350e-04 9.99876030e-01 4.25623432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.20925415399995 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:278.40, Y:2.76, Z:4.26 [[ 9.97803640e-01 -6.43428787e-02 -1.57445428e-02 2.78397715e+02] [ 6.43479547e-02 9.97927506e-01 -1.84511945e-04 2.75651116e+00] [ 1.57237844e-02 -8.29022437e-04 9.99876030e-01 4.25780167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.239254154 meters Centerline goodness : 0.998937 Centerline is valid? [True, True] Translation: X:278.43, Y:2.76, Z:4.26 [[ 9.97663176e-01 -6.64853079e-02 -1.57445527e-02 2.78429590e+02] [ 6.64906632e-02 9.97787030e-01 -1.83660526e-04 2.75744813e+00] [ 1.57219213e-02 -8.63634409e-04 9.99876030e-01 4.25931298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.26925415399995 meters Centerline goodness : 0.998998 Centerline is valid? [True, True] Translation: X:278.46, Y:2.76, Z:4.26 [[ 9.97495561e-01 -6.89544427e-02 -1.57445663e-02 2.78460984e+02] [ 6.89601230e-02 9.97619400e-01 -1.82492092e-04 2.75887762e+00] [ 1.57196684e-02 -9.03712175e-04 9.99876030e-01 4.26072266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.299254154 meters Centerline goodness : 0.998917 Centerline is valid? [True, True] Translation: X:278.49, Y:2.76, Z:4.26 [[ 9.97424781e-01 -6.99708128e-02 -1.57445876e-02 2.78494479e+02] [ 6.99766485e-02 9.97548613e-01 -1.80634606e-04 2.76007487e+00] [ 1.57186307e-02 -9.21584039e-04 9.99876030e-01 4.26174318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.32925415399995 meters Centerline goodness : 0.998894 Centerline is valid? [True, True] Translation: X:278.53, Y:2.76, Z:4.26 [[ 9.97404117e-01 -7.02647450e-02 -1.57446078e-02 2.78527724e+02] [ 7.02706451e-02 9.97527947e-01 -1.78854644e-04 2.76148276e+00] [ 1.57182535e-02 -9.27993391e-04 9.99876030e-01 4.26230560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.359254154 meters Centerline goodness : 0.998894 Centerline is valid? [True, True] Translation: X:278.56, Y:2.76, Z:4.26 [[ 9.97403402e-01 -7.02748934e-02 -1.57446278e-02 2.78560396e+02] [ 7.02808227e-02 9.97527230e-01 -1.77079226e-04 2.76388984e+00] [ 1.57181392e-02 -9.29925971e-04 9.99876030e-01 4.26187015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.38925415399996 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:278.59, Y:2.77, Z:4.26 [[ 9.97439760e-01 -6.97569452e-02 -1.57446474e-02 2.78591773e+02] [ 6.97628380e-02 9.97563590e-01 -1.75317013e-04 2.76510157e+00] [ 1.57185166e-02 -9.23523126e-04 9.99876030e-01 4.26155498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.419254154 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:278.63, Y:2.77, Z:4.26 [[ 9.97476622e-01 -6.92278451e-02 -1.57446571e-02 2.78625206e+02] [ 6.92336859e-02 9.97600454e-01 -1.74444705e-04 2.76694056e+00] [ 1.57189535e-02 -9.16056127e-04 9.99876030e-01 4.26176856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.44925415399996 meters Centerline goodness : 0.998957 Centerline is valid? [True, True] Translation: X:278.66, Y:2.77, Z:4.26 [[ 9.97612912e-01 -6.72352838e-02 -1.57446763e-02 2.78656773e+02] [ 6.72409049e-02 9.97736754e-01 -1.72687708e-04 2.77077179e+00] [ 1.57206530e-02 -8.86410797e-04 9.99876030e-01 4.26078612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.479254154 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:278.69, Y:2.77, Z:4.26 [[ 9.97709646e-01 -6.57842415e-02 -1.57446858e-02 2.78689184e+02] [ 6.57896962e-02 9.97833496e-01 -1.71817102e-04 2.77249308e+00] [ 1.57218778e-02 -8.64414518e-04 9.99876030e-01 4.26180700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.50925415399996 meters Centerline goodness : 0.998941 Centerline is valid? [True, True] Translation: X:278.72, Y:2.77, Z:4.26 [[ 9.97794479e-01 -6.44847375e-02 -1.57446985e-02 2.78721742e+02] [ 6.44900492e-02 9.97918336e-01 -1.70650818e-04 2.77479853e+00] [ 1.57229277e-02 -8.45101936e-04 9.99876030e-01 4.26275261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.539254154 meters Centerline goodness : 0.998974 Centerline is valid? [True, True] Translation: X:278.75, Y:2.78, Z:4.26 [[ 9.98026567e-01 -6.07871303e-02 -1.57447171e-02 2.78754908e+02] [ 6.07920104e-02 9.98150441e-01 -1.68911117e-04 2.77955020e+00] [ 1.57258640e-02 -7.88575227e-04 9.99876030e-01 4.26404138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.56925415399996 meters Centerline goodness : 0.999034 Centerline is valid? [True, True] Translation: X:278.79, Y:2.78, Z:4.27 [[ 9.98156924e-01 -5.86076568e-02 -1.57447355e-02 2.78786578e+02] [ 5.86122936e-02 9.98280808e-01 -1.67178520e-04 2.78212445e+00] [ 1.57274653e-02 -7.55964665e-04 9.99876030e-01 4.26508381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.599254154 meters Centerline goodness : 0.999077 Centerline is valid? [True, True] Translation: X:278.82, Y:2.78, Z:4.27 [[ 9.98311092e-01 -5.59201792e-02 -1.57447477e-02 2.78818484e+02] [ 5.59245007e-02 9.98434987e-01 -1.66023171e-04 2.78461921e+00] [ 1.57293910e-02 -7.14774381e-04 9.99876030e-01 4.26619625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.62925415399997 meters Centerline goodness : 0.998993 Centerline is valid? [True, True] Translation: X:278.85, Y:2.79, Z:4.27 [[ 9.98664033e-01 -4.92163747e-02 -1.57447600e-02 2.78849772e+02] [ 4.92198828e-02 9.98787953e-01 -1.64849088e-04 2.78956989e+00] [ 1.57337899e-02 -6.10326388e-04 9.99876030e-01 4.26667263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.659254154 meters Centerline goodness : 0.999097 Centerline is valid? [True, True] Translation: X:278.88, Y:2.79, Z:4.27 [[ 9.98838017e-01 -4.55490637e-02 -1.57447691e-02 2.78882309e+02] [ 4.55521305e-02 9.98961949e-01 -1.63974406e-04 2.79235507e+00] [ 1.57358941e-02 -5.53423907e-04 9.99876030e-01 4.26778155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.68925415399997 meters Centerline goodness : 0.998906 Centerline is valid? [True, True] Translation: X:278.91, Y:2.79, Z:4.27 [[ 9.99008354e-01 -4.16462577e-02 -1.57447811e-02 2.78914183e+02] [ 4.16488585e-02 9.99132297e-01 -1.62815808e-04 2.79487551e+00] [ 1.57379000e-02 -4.93097808e-04 9.99876030e-01 4.26843972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.71925415399994 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:278.95, Y:2.80, Z:4.27 [[ 9.99308458e-01 -3.36854057e-02 -1.57447929e-02 2.78945905e+02] [ 3.36870371e-02 9.99432418e-01 -1.61664800e-04 2.79880295e+00] [ 1.57413022e-02 -3.68842421e-04 9.99876030e-01 4.27000551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.74925415399997 meters Centerline goodness : 0.999052 Centerline is valid? [True, True] Translation: X:278.98, Y:2.80, Z:4.27 [[ 9.99412633e-01 -3.04383098e-02 -1.57448048e-02 2.78976991e+02] [ 3.04395567e-02 9.99536596e-01 -1.60499145e-04 2.80096498e+00] [ 1.57423939e-02 -3.18860006e-04 9.99876030e-01 4.27088223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.77925415399994 meters Centerline goodness : 0.998989 Centerline is valid? [True, True] Translation: X:279.01, Y:2.80, Z:4.27 [[ 9.99495159e-01 -2.75957865e-02 -1.57448107e-02 2.79008513e+02] [ 2.75966900e-02 9.99619126e-01 -1.59922894e-04 2.80300686e+00] [ 1.57432271e-02 -2.74662500e-04 9.99876030e-01 4.27183648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.809254154 meters Centerline goodness : 0.998991 Centerline is valid? [True, True] Translation: X:279.04, Y:2.81, Z:4.27 [[ 9.99498216e-01 -2.74848552e-02 -1.57448165e-02 2.79036207e+02] [ 2.74857539e-02 9.99622183e-01 -1.59349846e-04 2.80931728e+00] [ 1.57432475e-02 -2.73488264e-04 9.99876030e-01 4.27331739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.83925415399995 meters Centerline goodness : 0.998884 Centerline is valid? [True, True] Translation: X:279.07, Y:2.81, Z:4.27 [[ 9.99604508e-01 -2.33020396e-02 -1.57429938e-02 2.79068696e+02] [ 2.32996801e-02 9.99728470e-01 -3.33303654e-04 2.80565631e+00] [ 1.57464858e-02 -3.36348847e-05 9.99876016e-01 4.27242743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.869254154 meters Centerline goodness : 0.998883 Centerline is valid? [True, True] Translation: X:279.10, Y:2.81, Z:4.27 [[ 9.99613416e-01 -2.29155410e-02 -1.57447552e-02 2.79098323e+02] [ 2.29158633e-02 9.99737384e-01 -1.59964615e-04 2.80574508e+00] [ 1.57442860e-02 -2.00901882e-04 9.99876031e-01 4.27274239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.89925415399995 meters Centerline goodness : 0.998883 Centerline is valid? [True, True] Translation: X:279.13, Y:2.81, Z:4.27 [[ 9.99586349e-01 -2.40672675e-02 -1.57447492e-02 2.79127408e+02] [ 2.40677235e-02 9.99710318e-01 -1.60551171e-04 2.80573804e+00] [ 1.57440523e-02 -2.18455511e-04 9.99876031e-01 4.27235959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.929254154 meters Centerline goodness : 0.999262 Centerline is valid? [True, True] Translation: X:279.16, Y:2.81, Z:4.27 [[ 9.99557416e-01 -2.52403342e-02 -1.57447403e-02 2.79157111e+02] [ 2.52409219e-02 9.99681384e-01 -1.61424015e-04 2.80554590e+00] [ 1.57437981e-02 -2.36059188e-04 9.99876031e-01 4.27277581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.95925415399995 meters Centerline goodness : 0.998948 Centerline is valid? [True, True] Translation: X:279.19, Y:2.81, Z:4.27 [[ 9.99522653e-01 -2.65813717e-02 -1.57447343e-02 2.79187557e+02] [ 2.65821165e-02 9.99646620e-01 -1.62004533e-04 2.80520845e+00] [ 1.57434767e-02 -2.56601160e-04 9.99876031e-01 4.27320173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.989254154 meters Centerline goodness : 0.998780 Centerline is valid? [True, True] Translation: X:279.22, Y:2.80, Z:4.27 [[ 9.99479578e-01 -2.81544998e-02 -1.57447343e-02 2.79217415e+02] [ 2.81554398e-02 9.99603544e-01 -1.62004533e-04 2.80492447e+00] [ 1.57430533e-02 -2.81379695e-04 9.99876031e-01 4.27338077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.01925415399995 meters Centerline goodness : 0.998907 Centerline is valid? [True, True] Translation: X:279.25, Y:2.80, Z:4.27 [[ 9.99398580e-01 -3.08962993e-02 -1.57447313e-02 2.79247580e+02] [ 3.08975748e-02 9.99522543e-01 -1.62291832e-04 2.80355327e+00] [ 1.57422281e-02 -3.24279788e-04 9.99876031e-01 4.27374002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.049254154 meters Centerline goodness : 0.998844 Centerline is valid? [True, True] Translation: X:279.27, Y:2.81, Z:4.27 [[ 9.99230764e-01 -3.59163401e-02 -1.57447313e-02 2.79274328e+02] [ 3.59182383e-02 9.99354719e-01 -1.62291832e-04 2.80760849e+00] [ 1.57404005e-02 -4.03356020e-04 9.99876031e-01 4.27085469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.07925415399995 meters Centerline goodness : 0.998802 Centerline is valid? [True, True] Translation: X:279.31, Y:2.80, Z:4.27 [[ 9.99294011e-01 -3.41124291e-02 -1.57423791e-02 2.79306996e+02] [ 3.41106362e-02 9.99417990e-01 -3.82465462e-04 2.80234578e+00] [ 1.57462637e-02 -1.54787120e-04 9.99876008e-01 4.27446871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.109254154 meters Centerline goodness : 0.999013 Centerline is valid? [True, True] Translation: X:279.34, Y:2.80, Z:4.27 [[ 9.99174205e-01 -3.74568263e-02 -1.57446501e-02 2.79338916e+02] [ 3.74589106e-02 9.99298156e-01 -1.62607477e-04 2.80008561e+00] [ 1.57396906e-02 -4.27304245e-04 9.99876032e-01 4.27453372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.13925415399996 meters Centerline goodness : 0.998951 Centerline is valid? [True, True] Translation: X:279.37, Y:2.80, Z:4.27 [[ 9.99114778e-01 -3.90098119e-02 -1.57446620e-02 2.79370662e+02] [ 3.90121072e-02 9.99238725e-01 -1.61444989e-04 2.79887761e+00] [ 1.57389740e-02 -4.52930369e-04 9.99876032e-01 4.27465774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.169254154 meters Centerline goodness : 0.998867 Centerline is valid? [True, True] Translation: X:279.40, Y:2.80, Z:4.27 [[ 9.99045951e-01 -4.07344239e-02 -1.57446738e-02 2.79402297e+02] [ 4.07369513e-02 9.99169893e-01 -1.60287526e-04 2.79771396e+00] [ 1.57381333e-02 -4.81255407e-04 9.99876032e-01 4.27460891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.19925415399996 meters Centerline goodness : 0.998867 Centerline is valid? [True, True] Translation: X:279.43, Y:2.80, Z:4.28 [[ 9.99048873e-01 -4.06626789e-02 -1.57446826e-02 2.79434982e+02] [ 4.06652110e-02 9.99172815e-01 -1.59425049e-04 2.79798352e+00] [ 1.57381414e-02 -4.80987423e-04 9.99876032e-01 4.27512338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.229254154 meters Centerline goodness : 0.998950 Centerline is valid? [True, True] Translation: X:279.47, Y:2.80, Z:4.28 [[ 9.98903138e-01 -4.40979145e-02 -1.57446939e-02 2.79466757e+02] [ 4.41008906e-02 9.99027070e-01 -1.58294443e-04 2.79588588e+00] [ 1.57363559e-02 -5.36234208e-04 9.99876032e-01 4.27594795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.25925415399996 meters Centerline goodness : 0.998952 Centerline is valid? [True, True] Translation: X:279.50, Y:2.79, Z:4.28 [[ 9.98834652e-01 -4.56228358e-02 -1.57447054e-02 2.79498507e+02] [ 4.56260193e-02 9.98958579e-01 -1.57143935e-04 2.79491820e+00] [ 1.57354779e-02 -5.61407425e-04 9.99876032e-01 4.27659169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.289254154 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] Translation: X:279.53, Y:2.79, Z:4.28 [[ 9.98778305e-01 -4.68401589e-02 -1.57447171e-02 2.79531070e+02] [ 4.68435119e-02 9.98902228e-01 -1.55967150e-04 2.79377341e+00] [ 1.57347385e-02 -5.81761234e-04 9.99876032e-01 4.27640962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.31925415399996 meters Centerline goodness : 0.998954 Centerline is valid? [True, True] Translation: X:279.56, Y:2.79, Z:4.28 [[ 9.98708576e-01 -4.83040702e-02 -1.57447286e-02 2.79562618e+02] [ 4.83076233e-02 9.98832493e-01 -1.54792042e-04 2.79311256e+00] [ 1.57338236e-02 -6.05998279e-04 9.99876032e-01 4.27547652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.349254154 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:279.59, Y:2.79, Z:4.28 [[ 9.98581563e-01 -5.08622119e-02 -1.57447372e-02 2.79594419e+02] [ 5.08660963e-02 9.98705470e-01 -1.53916503e-04 2.79149512e+00] [ 1.57321837e-02 -6.47175135e-04 9.99876032e-01 4.27660544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.37925415399997 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:279.63, Y:2.79, Z:4.28 [[ 9.98517435e-01 -5.21059916e-02 -1.57447483e-02 2.79625796e+02] [ 5.21100482e-02 9.98641337e-01 -1.52771276e-04 2.79097403e+00] [ 1.57313168e-02 -6.67914810e-04 9.99876032e-01 4.27675749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.409254154 meters Centerline goodness : 0.998975 Centerline is valid? [True, True] Translation: X:279.66, Y:2.79, Z:4.28 [[ 9.98377688e-01 -5.47183266e-02 -1.57447565e-02 2.79657654e+02] [ 5.47227208e-02 9.98501578e-01 -1.51918217e-04 2.78928200e+00] [ 1.57294769e-02 -7.09924157e-04 9.99876032e-01 4.27742339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.43925415399997 meters Centerline goodness : 0.998892 Centerline is valid? [True, True] Translation: X:279.69, Y:2.79, Z:4.28 [[ 9.98321886e-01 -5.57271334e-02 -1.57447677e-02 2.79689479e+02] [ 5.57316713e-02 9.98445771e-01 -1.50749259e-04 2.78868829e+00] [ 1.57286976e-02 -7.26985933e-04 9.99876032e-01 4.27746203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.46925415399994 meters Centerline goodness : 0.998810 Centerline is valid? [True, True] Translation: X:279.72, Y:2.79, Z:4.28 [[ 9.98260790e-01 -5.68110681e-02 -1.57447787e-02 2.79720775e+02] [ 5.68157587e-02 9.98384669e-01 -1.49588530e-04 2.78860841e+00] [ 1.57278440e-02 -7.45223186e-04 9.99876032e-01 4.27718018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.49925415399997 meters Centerline goodness : 0.999146 Centerline is valid? [True, True] Translation: X:279.75, Y:2.79, Z:4.28 [[ 9.98174605e-01 -5.83057392e-02 -1.57447869e-02 2.79752809e+02] [ 5.83106289e-02 9.98298477e-01 -1.48724744e-04 2.78842268e+00] [ 1.57266683e-02 -7.69635163e-04 9.99876032e-01 4.27845014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.52925415399994 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:279.78, Y:2.79, Z:4.28 [[ 9.98143188e-01 -5.88411164e-02 -1.57447975e-02 2.79784540e+02] [ 5.88460904e-02 9.98267056e-01 -1.47588499e-04 2.78857558e+00] [ 1.57261970e-02 -7.79205325e-04 9.99876032e-01 4.27889321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.559254154 meters Centerline goodness : 0.998830 Centerline is valid? [True, True] Translation: X:279.82, Y:2.79, Z:4.28 [[ 9.98122123e-01 -5.91973733e-02 -1.57448080e-02 2.79816761e+02] [ 5.92024092e-02 9.98245988e-01 -1.46460626e-04 2.78920263e+00] [ 1.57258615e-02 -7.85944977e-04 9.99876032e-01 4.27978643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.58925415399995 meters Centerline goodness : 0.998871 Centerline is valid? [True, True] Translation: X:279.85, Y:2.79, Z:4.28 [[ 9.98292305e-01 -5.62545465e-02 -1.57448184e-02 2.79853071e+02] [ 5.62592350e-02 9.98416184e-01 -1.45333699e-04 2.78614901e+00] [ 1.57280572e-02 -7.40705927e-04 9.99876032e-01 4.27792697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.619254154 meters Centerline goodness : 0.998807 Centerline is valid? [True, True] Translation: X:279.88, Y:2.79, Z:4.28 [[ 9.98103066e-01 -5.95173224e-02 -1.57466835e-02 2.79879555e+02] [ 5.95257065e-02 9.98226771e-01 6.38587618e-05 2.79021460e+00] [ 1.57149603e-02 -1.00107009e-03 9.99876011e-01 4.28077278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.64925415399995 meters Centerline goodness : 0.998621 Centerline is valid? [True, True] Translation: X:279.91, Y:2.79, Z:4.28 [[ 9.98217129e-01 -5.75731360e-02 -1.57447613e-02 2.79914403e+02] [ 5.75779940e-02 9.98341001e-01 -1.44959374e-04 2.78863643e+00] [ 1.57269865e-02 -7.61850842e-04 9.99876033e-01 4.28028335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.679254154 meters Centerline goodness : 0.998871 Centerline is valid? [True, True] Translation: X:279.94, Y:2.79, Z:4.28 [[ 9.98097403e-01 -5.96124452e-02 -1.57458382e-02 2.79942978e+02] [ 5.96194468e-02 9.98221178e-01 -2.47840320e-05 2.79164440e+00] [ 1.57193066e-02 -9.14021285e-04 9.99876026e-01 4.28175473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.70925415399995 meters Centerline goodness : 0.998787 Centerline is valid? [True, True] Translation: X:279.97, Y:2.79, Z:4.28 [[ 9.98106760e-01 -5.94558494e-02 -1.57447552e-02 2.79974613e+02] [ 5.94609629e-02 9.98230621e-01 -1.43565714e-04 2.79263827e+00] [ 1.57254326e-02 -7.92904396e-04 9.99876033e-01 4.28145415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.739254154 meters Centerline goodness : 0.998806 Centerline is valid? [True, True] Translation: X:280.01, Y:2.79, Z:4.28 [[ 9.98306944e-01 -5.59941821e-02 -1.57447631e-02 2.80010289e+02] [ 5.59988797e-02 9.98430821e-01 -1.42700820e-04 2.78991315e+00] [ 1.57280471e-02 -7.39229873e-04 9.99876033e-01 4.27913406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.76925415399995 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:280.04, Y:2.79, Z:4.28 [[ 9.98261555e-01 -5.67972138e-02 -1.57462347e-02 2.80042345e+02] [ 5.68043093e-02 9.98385332e-01 3.37112762e-06 2.79163657e+00] [ 1.57206183e-02 -8.97819255e-04 9.99876020e-01 4.28213824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.799254154 meters Centerline goodness : 0.998741 Centerline is valid? [True, True] Translation: X:280.08, Y:2.79, Z:4.28 [[ 9.98486752e-01 -5.26902669e-02 -1.57461885e-02 2.80075206e+02] [ 5.26967809e-02 9.98610559e-01 -1.22859837e-06 2.79220418e+00] [ 1.57243748e-02 -8.28546704e-04 9.99876021e-01 4.28172146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.82925415399995 meters Centerline goodness : 0.998847 Centerline is valid? [True, True] Translation: X:280.10, Y:2.80, Z:4.29 [[ 9.98408471e-01 -5.41531135e-02 -1.57469015e-02 2.80100230e+02] [ 5.41609567e-02 9.98532216e-01 7.17359515e-05 2.79750923e+00] [ 1.57199038e-02 -9.24489035e-04 9.99876007e-01 4.28529223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.859254154 meters Centerline goodness : 0.998700 Centerline is valid? [True, True] Translation: X:280.13, Y:2.80, Z:4.29 [[ 9.98573615e-01 -5.10180729e-02 -1.57445474e-02 2.80132149e+02] [ 5.10218809e-02 9.98697523e-01 -1.59985136e-04 2.79893297e+00] [ 1.57322026e-02 -6.43559486e-04 9.99876034e-01 4.28611040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.88925415399996 meters Centerline goodness : 0.998803 Centerline is valid? [True, True] Translation: X:280.17, Y:2.80, Z:4.29 [[ 9.99041151e-01 -4.08520100e-02 -1.57445588e-02 2.80167526e+02] [ 4.08545745e-02 9.99165091e-01 -1.58854662e-04 2.79888892e+00] [ 1.57379030e-02 -4.84534905e-04 9.99876034e-01 4.28563298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.919254154 meters Centerline goodness : 0.998700 Centerline is valid? [True, True] Translation: X:280.19, Y:2.80, Z:4.29 [[ 9.99124881e-01 -3.87495026e-02 -1.57463692e-02 2.80194400e+02] [ 3.87548044e-02 9.99248750e-01 3.15817170e-05 2.80271160e+00] [ 1.57333160e-02 -6.41801539e-04 9.99876018e-01 4.28723963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.94925415399996 meters Centerline goodness : 0.998782 Centerline is valid? [True, True] Translation: X:280.23, Y:2.80, Z:4.29 [[ 9.99335378e-01 -3.28772109e-02 -1.57445614e-02 2.80227420e+02] [ 3.28788678e-02 9.99459332e-01 -1.53668991e-04 2.80139425e+00] [ 1.57411010e-02 -3.64096494e-04 9.99876035e-01 4.28597087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.979254154 meters Centerline goodness : 0.998572 Centerline is valid? [True, True] Translation: X:280.25, Y:2.81, Z:4.29 [[ 9.99453943e-01 -2.90491973e-02 -1.57467688e-02 2.80253307e+02] [ 2.90538067e-02 9.99577847e-01 6.39885542e-05 2.80691215e+00] [ 1.57382624e-02 -5.21457190e-04 9.99876010e-01 4.28935971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.00925415399996 meters Centerline goodness : 0.998867 Centerline is valid? [True, True] Translation: X:280.28, Y:2.81, Z:4.29 [[ 9.99532913e-01 -2.61929385e-02 -1.57443600e-02 2.80283862e+02] [ 2.61935820e-02 9.99656876e-01 -1.65374861e-04 2.80761341e+00] [ 1.57432894e-02 -2.47103569e-04 9.99876036e-01 4.28922704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.039254154 meters Centerline goodness : 0.998972 Centerline is valid? [True, True] Translation: X:280.31, Y:2.81, Z:4.29 [[ 9.99590029e-01 -2.39141856e-02 -1.57443631e-02 2.80314842e+02] [ 2.39145510e-02 9.99713993e-01 -1.65086136e-04 2.80824478e+00] [ 1.57438080e-02 -2.11500918e-04 9.99876036e-01 4.29026068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.06925415399996 meters Centerline goodness : 0.999009 Centerline is valid? [True, True] Translation: X:280.34, Y:2.81, Z:4.29 [[ 9.99659901e-01 -2.07893769e-02 -1.57443631e-02 2.80344290e+02] [ 2.07893549e-02 9.99783864e-01 -1.65086136e-04 2.80876586e+00] [ 1.57443922e-02 -1.62285161e-04 9.99876036e-01 4.29032960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.099254154 meters Centerline goodness : 0.998904 Centerline is valid? [True, True] Translation: X:280.37, Y:2.81, Z:4.29 [[ 9.99684341e-01 -1.95788987e-02 -1.57443600e-02 2.80372730e+02] [ 1.95787220e-02 9.99808305e-01 -1.65374759e-04 2.80895170e+00] [ 1.57445798e-02 -1.42931891e-04 9.99876036e-01 4.29044196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.12925415399997 meters Centerline goodness : 0.998904 Centerline is valid? [True, True] Translation: X:280.40, Y:2.81, Z:4.29 [[ 9.99686579e-01 -1.94643334e-02 -1.57443172e-02 2.80401490e+02] [ 1.94640798e-02 9.99810543e-01 -1.69352642e-04 2.80919621e+00] [ 1.57446307e-02 -1.37149085e-04 9.99876036e-01 4.29098358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.159254154 meters Centerline goodness : 0.998947 Centerline is valid? [True, True] Translation: X:280.43, Y:2.81, Z:4.29 [[ 9.99688094e-01 -1.93863850e-02 -1.57442732e-02 2.80428812e+02] [ 1.93860587e-02 9.99812058e-01 -1.73356282e-04 2.80888223e+00] [ 1.57446749e-02 -1.31917193e-04 9.99876036e-01 4.29099613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.18925415399997 meters Centerline goodness : 0.995198 Centerline is valid? [True, True] Translation: X:280.46, Y:2.81, Z:4.29 [[ 9.99658975e-01 -2.08339278e-02 -1.57442574e-02 2.80456698e+02] [ 2.08337587e-02 9.99782938e-01 -1.74773028e-04 2.80911095e+00] [ 1.57444812e-02 -1.53298635e-04 9.99876036e-01 4.28870391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.21925415399994 meters Centerline goodness : 0.999076 Centerline is valid? [True, True] Translation: X:280.49, Y:2.81, Z:4.29 [[ 9.99639100e-01 -2.17683273e-02 -1.57419913e-02 2.80487870e+02] [ 2.17651940e-02 9.99763042e-01 -3.70358944e-04 2.80662358e+00] [ 1.57463232e-02 2.75977871e-05 9.99876019e-01 4.29109627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.24925415399997 meters Centerline goodness : 0.999053 Centerline is valid? [True, True] Translation: X:280.52, Y:2.81, Z:4.29 [[ 9.99598039e-01 -2.35771495e-02 -1.57441675e-02 2.80516866e+02] [ 2.35772463e-02 9.99722002e-01 -1.79490011e-04 2.80564693e+00] [ 1.57440225e-02 -1.91786254e-04 9.99876037e-01 4.29096976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.27925415399994 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:280.55, Y:2.80, Z:4.29 [[ 9.99508219e-01 -2.71190437e-02 -1.57441203e-02 2.80546240e+02] [ 2.71195160e-02 9.99632181e-01 -1.83539493e-04 2.80327044e+00] [ 1.57433068e-02 -2.43523691e-04 9.99876037e-01 4.29092187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.309254154 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:280.58, Y:2.80, Z:4.29 [[ 9.99454534e-01 -2.90302945e-02 -1.57441136e-02 2.80576158e+02] [ 2.90309948e-02 9.99578495e-01 -1.84112418e-04 2.80191312e+00] [ 1.57428222e-02 -2.73055290e-04 9.99876037e-01 4.29089670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.33925415399995 meters Centerline goodness : 0.999140 Centerline is valid? [True, True] Translation: X:280.61, Y:2.80, Z:4.29 [[ 9.99379459e-01 -3.15090481e-02 -1.57441140e-02 2.80607057e+02] [ 3.15100563e-02 9.99503418e-01 -1.84083541e-04 2.80072174e+00] [ 1.57420960e-02 -3.12128607e-04 9.99876037e-01 4.29154014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.369254154 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:280.64, Y:2.80, Z:4.29 [[ 9.99298224e-01 -3.39879869e-02 -1.57441140e-02 2.80637868e+02] [ 3.39893026e-02 9.99422180e-01 -1.84083541e-04 2.79955175e+00] [ 1.57412733e-02 -3.51177097e-04 9.99876037e-01 4.29217359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.39925415399995 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:280.67, Y:2.80, Z:4.29 [[ 9.99103562e-01 -3.92962505e-02 -1.57441173e-02 2.80668953e+02] [ 3.92982292e-02 9.99227509e-01 -1.83799744e-04 2.79692665e+00] [ 1.57391777e-02 -4.35080950e-04 9.99876037e-01 4.29284987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.429254154 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] Translation: X:280.70, Y:2.80, Z:4.29 [[ 9.99035156e-01 -4.09985411e-02 -1.57441238e-02 2.80699948e+02] [ 4.10007398e-02 9.99159099e-01 -1.83237424e-04 2.79508324e+00] [ 1.57383970e-02 -4.62460095e-04 9.99876037e-01 4.29236468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.45925415399995 meters Centerline goodness : 0.998974 Centerline is valid? [True, True] Translation: X:280.73, Y:2.79, Z:4.29 [[ 9.98924512e-01 -4.36112465e-02 -1.57441336e-02 2.80731941e+02] [ 4.36137826e-02 9.99048450e-01 -1.82394954e-04 2.79407255e+00] [ 1.57371067e-02 -5.04462430e-04 9.99876037e-01 4.29353719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.489254154 meters Centerline goodness : 0.999288 Centerline is valid? [True, True] Translation: X:280.76, Y:2.79, Z:4.29 [[ 9.98741810e-01 -4.76121620e-02 -1.57441464e-02 2.80762809e+02] [ 4.76152121e-02 9.98865736e-01 -1.81282230e-04 2.79139069e+00] [ 1.57349196e-02 -5.68606727e-04 9.99876037e-01 4.29368967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.51925415399995 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:280.79, Y:2.79, Z:4.29 [[ 9.98664447e-01 -4.92081702e-02 -1.57441559e-02 2.80794599e+02] [ 4.92114314e-02 9.98788367e-01 -1.80453221e-04 2.79018283e+00] [ 1.57339595e-02 -5.94580232e-04 9.99876037e-01 4.29395847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.549254154 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:280.83, Y:2.79, Z:4.29 [[ 9.98606172e-01 -5.03769251e-02 -1.57441684e-02 2.80826385e+02] [ 5.03803486e-02 9.98730088e-01 -1.79355763e-04 2.78893666e+00] [ 1.57332101e-02 -6.14090920e-04 9.99876037e-01 4.29405645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.57925415399995 meters Centerline goodness : 0.999351 Centerline is valid? [True, True] Translation: X:280.86, Y:2.79, Z:4.29 [[ 9.98526953e-01 -5.19234474e-02 -1.57441808e-02 2.80858310e+02] [ 5.19270799e-02 9.98650863e-01 -1.78264674e-04 2.78713494e+00] [ 1.57321958e-02 -6.39547250e-04 9.99876037e-01 4.29377510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.609254154 meters Centerline goodness : 0.999079 Centerline is valid? [True, True] Translation: X:280.89, Y:2.79, Z:4.29 [[ 9.98543387e-01 -5.16064331e-02 -1.57441929e-02 2.80890574e+02] [ 5.16100433e-02 9.98667298e-01 -1.77182181e-04 2.78660336e+00] [ 1.57323544e-02 -6.35634385e-04 9.99876037e-01 4.29384417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.63925415399996 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:280.92, Y:2.79, Z:4.29 [[ 9.98579766e-01 -5.08976568e-02 -1.57442050e-02 2.80921317e+02] [ 5.09011961e-02 9.98703678e-01 -1.76102522e-04 2.78611683e+00] [ 1.57327587e-02 -6.25546451e-04 9.99876037e-01 4.29391792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.669254154 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:280.95, Y:2.79, Z:4.29 [[ 9.98720953e-01 -4.80476577e-02 -1.57442140e-02 2.80953561e+02] [ 4.80508560e-02 9.98844875e-01 -1.75297347e-04 2.78572353e+00] [ 1.57344501e-02 -5.81449825e-04 9.99876037e-01 4.29477190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.69925415399996 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:280.99, Y:2.79, Z:4.30 [[ 9.98824538e-01 -4.58438894e-02 -1.57442257e-02 2.80985103e+02] [ 4.58468309e-02 9.98948466e-01 -1.74240677e-04 2.78585550e+00] [ 1.57356580e-02 -5.47786989e-04 9.99876037e-01 4.29542180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.729254154 meters Centerline goodness : 0.998933 Centerline is valid? [True, True] Translation: X:281.02, Y:2.79, Z:4.30 [[ 9.98931774e-01 -4.34445516e-02 -1.57442451e-02 2.81016238e+02] [ 4.34472234e-02 9.99055709e-01 -1.72463163e-04 2.78615347e+00] [ 1.57368706e-02 -5.11764803e-04 9.99876037e-01 4.29604524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.75925415399996 meters Centerline goodness : 0.999079 Centerline is valid? [True, True] Translation: X:281.05, Y:2.79, Z:4.30 [[ 9.99144453e-01 -3.82423862e-02 -1.57442508e-02 2.81046430e+02] [ 3.82444208e-02 9.99268400e-01 -1.71945342e-04 2.78620564e+00] [ 1.57393079e-02 -4.30331518e-04 9.99876037e-01 4.29723254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.789254154 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:281.08, Y:2.79, Z:4.30 [[ 9.99238241e-01 -3.57079421e-02 -1.57442536e-02 2.81077345e+02] [ 3.57096664e-02 9.99362192e-01 -1.71688405e-04 2.78635486e+00] [ 1.57403424e-02 -3.90664424e-04 9.99876037e-01 4.29967356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.81925415399996 meters Centerline goodness : 0.999267 Centerline is valid? [True, True] Translation: X:281.11, Y:2.79, Z:4.30 [[ 9.99318292e-01 -3.33926659e-02 -1.57442598e-02 2.81109102e+02] [ 3.33941120e-02 9.99442246e-01 -1.71117025e-04 2.78653930e+00] [ 1.57411924e-02 -3.54765202e-04 9.99876037e-01 4.30074709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.849254154 meters Centerline goodness : 0.998933 Centerline is valid? [True, True] Translation: X:281.14, Y:2.79, Z:4.30 [[ 9.99391951e-01 -3.11102430e-02 -1.57442662e-02 2.81139581e+02] [ 3.11114152e-02 9.99515908e-01 -1.70531219e-04 2.78660986e+00] [ 1.57419497e-02 -3.19398873e-04 9.99876037e-01 4.30005043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.87925415399997 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:281.17, Y:2.79, Z:4.30 [[ 9.99443588e-01 -2.94046179e-02 -1.57442693e-02 2.81170005e+02] [ 2.94055831e-02 9.99567548e-01 -1.70240586e-04 2.78668700e+00] [ 1.57424665e-02 -2.92823556e-04 9.99876037e-01 4.30052931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.909254154 meters Centerline goodness : 0.999456 Centerline is valid? [True, True] Translation: X:281.20, Y:2.79, Z:4.30 [[ 9.99441891e-01 -2.94622533e-02 -1.57442693e-02 2.81200328e+02] [ 2.94632256e-02 9.99565850e-01 -1.70240586e-04 2.78673911e+00] [ 1.57424496e-02 -2.93731385e-04 9.99876037e-01 4.30077845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.93925415399997 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:281.23, Y:2.79, Z:4.30 [[ 9.99407020e-01 -3.06223279e-02 -1.57442693e-02 2.81230095e+02] [ 3.06234442e-02 9.99530978e-01 -1.70240586e-04 2.78571265e+00] [ 1.57420980e-02 -3.12004115e-04 9.99876037e-01 4.29964954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.96925415399994 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:281.26, Y:2.79, Z:4.30 [[ 9.99352309e-01 -3.23586126e-02 -1.57442663e-02 2.81260268e+02] [ 3.23599397e-02 9.99476265e-01 -1.70521608e-04 2.78541057e+00] [ 1.57415383e-02 -3.39072344e-04 9.99876037e-01 4.29996275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.99925415399997 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:281.29, Y:2.78, Z:4.30 [[ 9.99294471e-01 -3.40980562e-02 -1.57442631e-02 2.81290679e+02] [ 3.40995946e-02 9.99418425e-01 -1.70809626e-04 2.78476182e+00] [ 1.57409309e-02 -3.66183875e-04 9.99876037e-01 4.29955871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.02925415399994 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:281.32, Y:2.78, Z:4.30 [[ 9.99134355e-01 -3.85053005e-02 -1.57442662e-02 2.81321020e+02] [ 3.85073901e-02 9.99258301e-01 -1.70523462e-04 2.78326607e+00] [ 1.57391548e-02 -4.35894753e-04 9.99876037e-01 4.30035177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.059254154 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:281.35, Y:2.78, Z:4.30 [[ 9.99044780e-01 -4.07632954e-02 -1.57442662e-02 2.81351855e+02] [ 4.07656652e-02 9.99168720e-01 -1.70523462e-04 2.78272523e+00] [ 1.57381294e-02 -4.71464911e-04 9.99876037e-01 4.30114264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.08925415399995 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:281.38, Y:2.78, Z:4.30 [[ 9.98941076e-01 -4.32301266e-02 -1.57442694e-02 2.81383443e+02] [ 4.32328070e-02 9.99065011e-01 -1.70229673e-04 2.78239882e+00] [ 1.57369077e-02 -5.10619547e-04 9.99876037e-01 4.30196748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.119254154 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:281.42, Y:2.78, Z:4.30 [[ 9.98944299e-01 -4.31556031e-02 -1.57442757e-02 2.81416126e+02] [ 4.31582834e-02 9.99068233e-01 -1.69644503e-04 2.78269300e+00] [ 1.57369268e-02 -5.10030504e-04 9.99876037e-01 4.30248202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.14925415399995 meters Centerline goodness : 0.999272 Centerline is valid? [True, True] Translation: X:281.45, Y:2.78, Z:4.30 [[ 9.98747388e-01 -4.74949681e-02 -1.57442883e-02 2.81447068e+02] [ 4.74982054e-02 9.98871309e-01 -1.68469942e-04 2.78141492e+00] [ 1.57345193e-02 -5.79566524e-04 9.99876037e-01 4.30301658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.179254154 meters Centerline goodness : 0.999375 Centerline is valid? [True, True] Translation: X:281.48, Y:2.78, Z:4.30 [[ 9.98637701e-01 -4.97479633e-02 -1.57442976e-02 2.81479488e+02] [ 4.97514939e-02 9.98761614e-01 -1.67595185e-04 2.78127562e+00] [ 1.57331376e-02 -6.15935455e-04 9.99876037e-01 4.30446360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.20925415399995 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:281.51, Y:2.78, Z:4.31 [[ 9.98554932e-01 -5.13825359e-02 -1.57443099e-02 2.81511312e+02] [ 5.13862876e-02 9.98678838e-01 -1.66433356e-04 2.78081649e+00] [ 1.57320609e-02 -6.42848786e-04 9.99876037e-01 4.30549115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.239254154 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:281.54, Y:2.78, Z:4.31 [[ 9.98494076e-01 -5.25518381e-02 -1.57443222e-02 2.81542013e+02] [ 5.25557534e-02 9.98617978e-01 -1.65255436e-04 2.78048177e+00] [ 1.57312477e-02 -6.62448142e-04 9.99876037e-01 4.30595550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.26925415399995 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:281.57, Y:2.78, Z:4.31 [[ 9.98372962e-01 -5.48045966e-02 -1.57443314e-02 2.81573557e+02] [ 5.48088053e-02 9.98496854e-01 -1.64377433e-04 2.77978665e+00] [ 1.57296740e-02 -6.98818009e-04 9.99876037e-01 4.30722764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.299254154 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:281.61, Y:2.78, Z:4.31 [[ 9.98288565e-01 -5.63210131e-02 -1.57443509e-02 2.81605432e+02] [ 5.63254397e-02 9.98412449e-01 -1.62491171e-04 2.77976048e+00] [ 1.57285076e-02 -7.24594407e-04 9.99876037e-01 4.30790927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.32925415399995 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:281.64, Y:2.78, Z:4.31 [[ 9.98209282e-01 -5.77091327e-02 -1.57443625e-02 2.81637500e+02] [ 5.77137494e-02 9.98333159e-01 -1.61352425e-04 2.77944929e+00] [ 1.57274307e-02 -7.47602705e-04 9.99876037e-01 4.30896479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.359254154 meters Centerline goodness : 0.999043 Centerline is valid? [True, True] Translation: X:281.67, Y:2.78, Z:4.31 [[ 9.97988260e-01 -6.14129278e-02 -1.57443745e-02 2.81669490e+02] [ 6.14180226e-02 9.98112118e-01 -1.60181327e-04 2.77900710e+00] [ 1.57244881e-02 -8.07129262e-04 9.99876037e-01 4.31012782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.38925415399996 meters Centerline goodness : 0.999168 Centerline is valid? [True, True] Translation: X:281.70, Y:2.78, Z:4.31 [[ 9.97884375e-01 -6.30784272e-02 -1.57443863e-02 2.81701363e+02] [ 6.30837472e-02 9.98008224e-01 -1.59007404e-04 2.77867256e+00] [ 1.57230570e-02 -8.34543881e-04 9.99876037e-01 4.31065553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.419254154 meters Centerline goodness : 0.999480 Centerline is valid? [True, True] Translation: X:281.73, Y:2.78, Z:4.31 [[ 9.97769433e-01 -6.48711955e-02 -1.57443980e-02 2.81732531e+02] [ 6.48767564e-02 9.97893272e-01 -1.57839622e-04 2.77819474e+00] [ 1.57214681e-02 -8.63957924e-04 9.99876037e-01 4.31056326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.44925415399996 meters Centerline goodness : 0.999209 Centerline is valid? [True, True] Translation: X:281.77, Y:2.78, Z:4.31 [[ 9.97549343e-01 -6.81720035e-02 -1.57444067e-02 2.81765203e+02] [ 6.81779877e-02 9.97673162e-01 -1.56969782e-04 2.77734146e+00] [ 1.57184729e-02 -9.16836863e-04 9.99876037e-01 4.30994682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.479254154 meters Centerline goodness : 0.999188 Centerline is valid? [True, True] Translation: X:281.80, Y:2.78, Z:4.31 [[ 9.97478249e-01 -6.92044552e-02 -1.57444182e-02 2.81797565e+02] [ 6.92105858e-02 9.97602060e-01 -1.55808949e-04 2.77718475e+00] [ 1.57174467e-02 -9.34264368e-04 9.99876037e-01 4.30922594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.50925415399996 meters Centerline goodness : 0.999125 Centerline is valid? [True, True] Translation: X:281.83, Y:2.78, Z:4.31 [[ 9.97386514e-01 -7.05142206e-02 -1.57444296e-02 2.81829730e+02] [ 7.05205321e-02 9.97510316e-01 -1.54650377e-04 2.77796769e+00] [ 1.57161360e-02 -9.56059349e-04 9.99876037e-01 4.30989883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.539254154 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:281.86, Y:2.78, Z:4.31 [[ 9.97352627e-01 -7.09919022e-02 -1.57444408e-02 2.81862132e+02] [ 7.09982911e-02 9.97476425e-01 -1.53495547e-04 2.77846122e+00] [ 1.57156055e-02 -9.64739205e-04 9.99876037e-01 4.31021301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.56925415399996 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:281.89, Y:2.78, Z:4.31 [[ 9.97412195e-01 -7.01500192e-02 -1.57444520e-02 2.81894695e+02] [ 7.01563218e-02 9.97535998e-01 -1.52337972e-04 2.77885093e+00] [ 1.57163442e-02 -9.52629091e-04 9.99876037e-01 4.30871514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.599254154 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:281.93, Y:2.78, Z:4.31 [[ 9.97452889e-01 -6.95689983e-02 -1.57444631e-02 2.81926611e+02] [ 6.95752469e-02 9.97576695e-01 -1.51184261e-04 2.78001167e+00] [ 1.57168272e-02 -9.44625729e-04 9.99876037e-01 4.30998288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.62925415399997 meters Centerline goodness : 0.998956 Centerline is valid? [True, True] Translation: X:281.96, Y:2.78, Z:4.31 [[ 9.97556515e-01 -6.80669555e-02 -1.57444741e-02 2.81958684e+02] [ 6.80730358e-02 9.97680329e-01 -1.50033277e-04 2.78111532e+00] [ 1.57181644e-02 -9.22107474e-04 9.99876037e-01 4.31069335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.65925415399994 meters Centerline goodness : 0.999229 Centerline is valid? [True, True] Translation: X:281.99, Y:2.78, Z:4.31 [[ 9.97722415e-01 -6.55903436e-02 -1.57444851e-02 2.81989691e+02] [ 6.55961350e-02 9.97846243e-01 -1.48861016e-04 2.78224092e+00] [ 1.57203392e-02 -8.84255401e-04 9.99876037e-01 4.31118334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.68925415399997 meters Centerline goodness : 0.999229 Centerline is valid? [True, True] Translation: X:282.02, Y:2.79, Z:4.31 [[ 9.98044809e-01 -6.04869362e-02 -1.57445025e-02 2.82020585e+02] [ 6.04921235e-02 9.98168664e-01 -1.47001570e-04 2.78546136e+00] [ 1.57245607e-02 -8.05704236e-04 9.99876037e-01 4.31315071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.71925415399994 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:282.05, Y:2.79, Z:4.31 [[ 9.98234470e-01 -5.72717534e-02 -1.57445105e-02 2.82051562e+02] [ 5.72765553e-02 9.98358340e-01 -1.46140303e-04 2.78717558e+00] [ 1.57270331e-02 -7.55909038e-04 9.99876037e-01 4.31391307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.74925415399997 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:282.08, Y:2.79, Z:4.32 [[ 9.98404476e-01 -5.42274190e-02 -1.57445281e-02 2.82083664e+02] [ 5.42318732e-02 9.98528359e-01 -1.44222705e-04 2.78905207e+00] [ 1.57291786e-02 -7.09862656e-04 9.99876037e-01 4.31568403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.77925415399994 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:282.12, Y:2.79, Z:4.32 [[ 9.98752323e-01 -4.73910016e-02 -1.57445387e-02 2.82115880e+02] [ 4.73946260e-02 9.98876233e-01 -1.43052104e-04 2.79209284e+00] [ 1.57336249e-02 -6.03332902e-04 9.99876037e-01 4.31673524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.809254154 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:282.15, Y:2.79, Z:4.32 [[ 9.98910405e-01 -4.39330489e-02 -1.57445494e-02 2.82147810e+02] [ 4.39362629e-02 9.99034326e-01 -1.41869752e-04 2.79378808e+00] [ 1.57355780e-02 -5.50041489e-04 9.99876037e-01 4.31742500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.83925415399995 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:282.18, Y:2.80, Z:4.32 [[ 9.99177961e-01 -3.73565493e-02 -1.57445598e-02 2.82179070e+02] [ 3.73589660e-02 9.99301900e-01 -1.40699018e-04 2.79670231e+00] [ 1.57388246e-02 -4.47617117e-04 9.99876037e-01 4.31865797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.869254154 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:282.21, Y:2.80, Z:4.32 [[ 9.99272386e-01 -3.47391163e-02 -1.57445759e-02 2.82210014e+02] [ 3.47412370e-02 9.99396331e-01 -1.38880120e-04 2.79782838e+00] [ 1.57398959e-02 -4.08206973e-04 9.99876037e-01 4.31903313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.89925415399995 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:282.24, Y:2.80, Z:4.32 [[ 9.99341785e-01 -3.26818743e-02 -1.57445810e-02 2.82240666e+02] [ 3.26837490e-02 9.99465734e-01 -1.38298182e-04 2.79891612e+00] [ 1.57406890e-02 -3.76384780e-04 9.99876037e-01 4.31900823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.929254154 meters Centerline goodness : 0.998956 Centerline is valid? [True, True] Translation: X:282.27, Y:2.80, Z:4.32 [[ 9.99436395e-01 -2.96479546e-02 -1.57445835e-02 2.82270667e+02] [ 2.96494575e-02 9.99560349e-01 -1.38009733e-04 2.80020573e+00] [ 1.57417531e-02 -3.28886410e-04 9.99876037e-01 4.31873565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.95925415399995 meters Centerline goodness : 0.998956 Centerline is valid? [True, True] Translation: X:282.30, Y:2.80, Z:4.32 [[ 9.99467962e-01 -2.85639770e-02 -1.57445860e-02 2.82301497e+02] [ 2.85653499e-02 9.99591918e-01 -1.37726168e-04 2.80049763e+00] [ 1.57420949e-02 -3.12096715e-04 9.99876037e-01 4.31885685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.989254154 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:282.33, Y:2.80, Z:4.32 [[ 9.99484186e-01 -2.79905277e-02 -1.57445860e-02 2.82330737e+02] [ 2.79918295e-02 9.99608142e-01 -1.37726168e-04 2.80077839e+00] [ 1.57422714e-02 -3.03064640e-04 9.99876037e-01 4.31879550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.01925415399995 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:282.36, Y:2.80, Z:4.32 [[ 9.99507189e-01 -2.71567003e-02 -1.57445835e-02 2.82360656e+02] [ 2.71578943e-02 9.99631147e-01 -1.38007196e-04 2.80115488e+00] [ 1.57425239e-02 -2.89650550e-04 9.99876037e-01 4.31902803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.049254154 meters Centerline goodness : 0.999064 Centerline is valid? [True, True] Translation: X:282.39, Y:2.80, Z:4.32 [[ 9.99509395e-01 -2.70753892e-02 -1.57445785e-02 2.82389813e+02] [ 2.70765641e-02 9.99633353e-01 -1.38579098e-04 2.80136541e+00] [ 1.57425579e-02 -2.87797978e-04 9.99876037e-01 4.31928505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.07925415399995 meters Centerline goodness : 0.999142 Centerline is valid? [True, True] Translation: X:282.42, Y:2.80, Z:4.32 [[ 9.99513652e-01 -2.69177987e-02 -1.57445735e-02 2.82419948e+02] [ 2.69189451e-02 9.99637610e-01 -1.39148086e-04 2.80130524e+00] [ 1.57426133e-02 -2.84746897e-04 9.99876037e-01 4.31993332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.109254154 meters Centerline goodness : 0.998995 Centerline is valid? [True, True] Translation: X:282.45, Y:2.80, Z:4.32 [[ 9.99528896e-01 -2.63456634e-02 -1.57445683e-02 2.82449151e+02] [ 2.63467296e-02 9.99652855e-01 -1.39731316e-04 2.80085808e+00] [ 1.57427839e-02 -2.75152396e-04 9.99876037e-01 4.31944755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.13925415399996 meters Centerline goodness : 0.999267 Centerline is valid? [True, True] Translation: X:282.48, Y:2.80, Z:4.32 [[ 9.99501593e-01 -2.73619287e-02 -1.57445657e-02 2.82478975e+02] [ 2.73631164e-02 9.99625550e-01 -1.40020377e-04 2.80158759e+00] [ 1.57425014e-02 -2.90869794e-04 9.99876037e-01 4.32165589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.169254154 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:282.51, Y:2.80, Z:4.32 [[ 9.99487157e-01 -2.78842646e-02 -1.57445605e-02 2.82508041e+02] [ 2.78855079e-02 9.99611114e-01 -1.40602275e-04 2.80120936e+00] [ 1.57423583e-02 -2.98514899e-04 9.99876037e-01 4.32182280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.19925415399996 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:282.54, Y:2.80, Z:4.32 [[ 9.99421832e-01 -3.01348737e-02 -1.57445579e-02 2.82537592e+02] [ 3.01363916e-02 9.99545786e-01 -1.40890932e-04 2.79952545e+00] [ 1.57416523e-02 -3.33674691e-04 9.99876037e-01 4.32164793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.229254154 meters Centerline goodness : 0.999247 Centerline is valid? [True, True] Translation: X:282.57, Y:2.80, Z:4.32 [[ 9.99341757e-01 -3.26827314e-02 -1.57445554e-02 2.82567877e+02] [ 3.26845609e-02 9.99465707e-01 -1.41173114e-04 2.79948242e+00] [ 1.57407571e-02 -3.73523692e-04 9.99876037e-01 4.32281675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.25925415399996 meters Centerline goodness : 0.998870 Centerline is valid? [True, True] Translation: X:282.60, Y:2.80, Z:4.32 [[ 9.99257922e-01 -3.51527335e-02 -1.57445554e-02 2.82598656e+02] [ 3.51548694e-02 9.99381867e-01 -1.41173114e-04 2.79909635e+00] [ 1.57397858e-02 -4.12429436e-04 9.99876037e-01 4.32320020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.289254154 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:282.63, Y:2.80, Z:4.32 [[ 9.99008883e-01 -4.16336478e-02 -1.57445554e-02 2.82629637e+02] [ 4.16365876e-02 9.99132811e-01 -1.41173114e-04 2.79771453e+00] [ 1.57367794e-02 -5.14516365e-04 9.99876037e-01 4.32335074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.31925415399996 meters Centerline goodness : 0.998999 Centerline is valid? [True, True] Translation: X:282.66, Y:2.80, Z:4.32 [[ 9.98874494e-01 -4.47420750e-02 -1.57445606e-02 2.82660377e+02] [ 4.47454095e-02 9.98998413e-01 -1.40593128e-04 2.79672993e+00] [ 1.57350815e-02 -5.64061921e-04 9.99876037e-01 4.32236187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.349254154 meters Centerline goodness : 0.998936 Centerline is valid? [True, True] Translation: X:282.70, Y:2.79, Z:4.32 [[ 9.99011393e-01 -4.15733622e-02 -1.57445683e-02 2.82701107e+02] [ 4.15763174e-02 9.99135321e-01 -1.39724600e-04 2.78808750e+00] [ 1.57367631e-02 -5.15014701e-04 9.99876037e-01 4.31949457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.37925415399997 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:282.72, Y:2.80, Z:4.32 [[ 9.98461124e-01 -5.31728586e-02 -1.57489786e-02 2.82719507e+02] [ 5.31855825e-02 9.98584569e-01 3.89890540e-04 2.79623092e+00] [ 1.57059555e-02 -1.22690915e-03 9.99875901e-01 4.32285414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.40925415399994 meters Centerline goodness : 0.998976 Centerline is valid? [True, True] Translation: X:282.76, Y:2.79, Z:4.32 [[ 9.98436495e-01 -5.36348367e-02 -1.57438932e-02 2.82757739e+02] [ 5.36391463e-02 9.98560374e-01 -1.48717115e-04 2.78733251e+00] [ 1.57292043e-02 -6.96004397e-04 9.99876046e-01 4.31811166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.43925415399997 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:282.78, Y:2.80, Z:4.32 [[ 9.97850095e-01 -6.36175721e-02 -1.57477914e-02 2.82778022e+02] [ 6.36299895e-02 9.97973517e-01 2.88216339e-04 2.79531639e+00] [ 1.56975431e-02 -1.28962850e-03 9.99875954e-01 4.32216885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.46925415399994 meters Centerline goodness : 0.999084 Centerline is valid? [True, True] Translation: X:282.82, Y:2.79, Z:4.32 [[ 9.97889865e-01 -6.29917616e-02 -1.57434269e-02 2.82815271e+02] [ 6.29971321e-02 9.98013696e-01 -1.55062876e-04 2.78889924e+00] [ 1.57219233e-02 -8.37055070e-04 9.99876053e-01 4.31864146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.49925415399997 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:282.84, Y:2.80, Z:4.32 [[ 9.97337335e-01 -7.12058454e-02 -1.57469726e-02 2.82837995e+02] [ 7.12181690e-02 9.97460738e-01 2.22512343e-04 2.79703357e+00] [ 1.56911428e-02 -1.34339043e-03 9.99875984e-01 4.32332295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.52925415399994 meters Centerline goodness : 0.999002 Centerline is valid? [True, True] Translation: X:282.87, Y:2.80, Z:4.32 [[ 9.97222796e-01 -7.27931916e-02 -1.57431458e-02 2.82871287e+02] [ 7.27997278e-02 9.97346567e-01 -1.58267411e-04 2.79803350e+00] [ 1.57128932e-02 -9.88268856e-04 9.99876056e-01 4.32438024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.559254154 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:282.90, Y:2.80, Z:4.33 [[ 9.97121644e-01 -7.41658997e-02 -1.57431628e-02 2.82904735e+02] [ 7.41726332e-02 9.97245404e-01 -1.56553664e-04 2.79877346e+00] [ 1.57114077e-02 -1.01160879e-03 9.99876056e-01 4.32542746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.58925415399995 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:282.94, Y:2.80, Z:4.33 [[ 9.96972822e-01 -7.61402978e-02 -1.57431796e-02 2.82937945e+02] [ 7.61473032e-02 9.97096567e-01 -1.54849363e-04 2.80044388e+00] [ 1.57092606e-02 -1.04442006e-03 9.99876056e-01 4.32684636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.619254154 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:282.97, Y:2.80, Z:4.33 [[ 9.96921949e-01 -7.68035102e-02 -1.57431963e-02 2.82971436e+02] [ 7.68106250e-02 9.97045688e-01 -1.53128458e-04 2.80147633e+00] [ 1.57084468e-02 -1.05658763e-03 9.99876056e-01 4.32737055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.64925415399995 meters Centerline goodness : 0.999041 Centerline is valid? [True, True] Translation: X:283.00, Y:2.80, Z:4.33 [[ 9.96885254e-01 -7.72783391e-02 -1.57432130e-02 2.83004839e+02] [ 7.72855401e-02 9.97008988e-01 -1.51387969e-04 2.80303834e+00] [ 1.57078239e-02 -1.06580629e-03 9.99876056e-01 4.32779890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.679254154 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:283.04, Y:2.81, Z:4.33 [[ 9.96843623e-01 -7.78135027e-02 -1.57432296e-02 2.83037035e+02] [ 7.78207977e-02 9.96967352e-01 -1.49640851e-04 2.80622830e+00] [ 1.57071301e-02 -1.07598216e-03 9.99876056e-01 4.32838416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.70925415399995 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:283.07, Y:2.81, Z:4.33 [[ 9.96847593e-01 -7.77626283e-02 -1.57432409e-02 2.83068554e+02] [ 7.77699357e-02 9.96971321e-01 -1.48450058e-04 2.80769267e+00] [ 1.57071035e-02 -1.07636875e-03 9.99876056e-01 4.32812355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.739254154 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:283.10, Y:2.81, Z:4.33 [[ 9.96881603e-01 -7.73254151e-02 -1.57432492e-02 2.83100868e+02] [ 7.73326821e-02 9.97005333e-01 -1.47564183e-04 2.81061928e+00] [ 1.57075139e-02 -1.07036367e-03 9.99876056e-01 4.32819129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.76925415399995 meters Centerline goodness : 0.998957 Centerline is valid? [True, True] Translation: X:283.13, Y:2.81, Z:4.33 [[ 9.96923066e-01 -7.67889996e-02 -1.57432601e-02 2.83133698e+02] [ 7.67962186e-02 9.97046799e-01 -1.46388670e-04 2.81258647e+00] [ 1.57080081e-02 -1.06308460e-03 9.99876056e-01 4.32895670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.799254154 meters Centerline goodness : 0.998977 Centerline is valid? [True, True] Translation: X:283.17, Y:2.81, Z:4.33 [[ 9.96969276e-01 -7.61866882e-02 -1.57432764e-02 2.83166007e+02] [ 7.61938603e-02 9.97093012e-01 -1.44613406e-04 2.81492226e+00] [ 1.57085285e-02 -1.05536588e-03 9.99876056e-01 4.32906897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.82925415399995 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:283.20, Y:2.82, Z:4.33 [[ 9.97052311e-01 -7.50921941e-02 -1.57432898e-02 2.83198916e+02] [ 7.50992534e-02 9.97176053e-01 -1.43146023e-04 2.81699496e+00] [ 1.57095807e-02 -1.03958523e-03 9.99876056e-01 4.33044676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.859254154 meters Centerline goodness : 0.998998 Centerline is valid? [True, True] Translation: X:283.23, Y:2.82, Z:4.33 [[ 9.97297406e-01 -7.17637277e-02 -1.57433055e-02 2.83230993e+02] [ 7.17704015e-02 9.97421170e-01 -1.41389940e-04 2.82126506e+00] [ 1.57128529e-02 -9.88895538e-04 9.99876056e-01 4.33112661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.88925415399996 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:283.26, Y:2.82, Z:4.33 [[ 9.97491480e-01 -6.90137359e-02 -1.57433159e-02 2.83263806e+02] [ 6.90200868e-02 9.97615260e-01 -1.40223890e-04 2.82333791e+00] [ 1.57154496e-02 -9.46732896e-04 9.99876056e-01 4.33179178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.919254154 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:283.30, Y:2.83, Z:4.33 [[ 9.97727792e-01 -6.55087773e-02 -1.57433314e-02 2.83296006e+02] [ 6.55147210e-02 9.97851593e-01 -1.38463567e-04 2.82539030e+00] [ 1.57185789e-02 -8.93271014e-04 9.99876056e-01 4.33174732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.94925415399996 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:283.33, Y:2.83, Z:4.33 [[ 9.98284468e-01 -5.63938700e-02 -1.57433441e-02 2.83328754e+02] [ 5.63987057e-02 9.98408317e-01 -1.37007984e-04 2.83035062e+00] [ 1.57260121e-02 -7.51131286e-04 9.99876056e-01 4.33292231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.979254154 meters Centerline goodness : 0.999497 Centerline is valid? [True, True] Translation: X:283.36, Y:2.83, Z:4.33 [[ 9.98575094e-01 -5.09894935e-02 -1.57433589e-02 2.83360835e+02] [ 5.09936859e-02 9.98698967e-01 -1.35282055e-04 2.83342789e+00] [ 1.57297742e-02 -6.67722608e-04 9.99876056e-01 4.33415582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.00925415399996 meters Centerline goodness : 0.999497 Centerline is valid? [True, True] Translation: X:283.39, Y:2.83, Z:4.33 [[ 9.98578878e-01 -5.09153374e-02 -1.57433689e-02 2.83393521e+02] [ 5.09195390e-02 9.98702750e-01 -1.34113069e-04 2.83364698e+00] [ 1.57297742e-02 -6.67722606e-04 9.99876056e-01 4.33467017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.039254154 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:283.42, Y:2.84, Z:4.33 [[ 9.98853365e-01 -4.52117312e-02 -1.57433787e-02 2.83424968e+02] [ 4.52152437e-02 9.98977259e-01 -1.32944083e-04 2.83648780e+00] [ 1.57332880e-02 -5.79049061e-04 9.99876056e-01 4.33470745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.06925415399996 meters Centerline goodness : 0.999328 Centerline is valid? [True, True] Translation: X:283.46, Y:2.84, Z:4.34 [[ 9.99075007e-01 -4.00159468e-02 -1.57433942e-02 2.83457102e+02] [ 4.00188441e-02 9.99198917e-01 -1.31090782e-04 2.83910166e+00] [ 1.57360281e-02 -4.99062911e-04 9.99876056e-01 4.33669226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.099254154 meters Centerline goodness : 0.999370 Centerline is valid? [True, True] Translation: X:283.49, Y:2.84, Z:4.34 [[ 9.99406336e-01 -3.06450890e-02 -1.57434038e-02 2.83489089e+02] [ 3.06468424e-02 9.99530267e-01 -1.29927381e-04 2.84269377e+00] [ 1.57399902e-02 -3.52635367e-04 9.99876056e-01 4.33866832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.12925415399997 meters Centerline goodness : 0.999349 Centerline is valid? [True, True] Translation: X:283.52, Y:2.84, Z:4.34 [[ 9.99499614e-01 -2.74347625e-02 -1.57434133e-02 2.83519174e+02] [ 2.74361362e-02 9.99623550e-01 -1.28761323e-04 2.84418558e+00] [ 1.57410192e-02 -3.03241539e-04 9.99876056e-01 4.33933020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.15925415399994 meters Centerline goodness : 0.998968 Centerline is valid? [True, True] Translation: X:283.55, Y:2.85, Z:4.34 [[ 9.99604108e-01 -2.33189181e-02 -1.57434156e-02 2.83549990e+02] [ 2.33197860e-02 9.99728049e-01 -1.28473948e-04 2.84579128e+00] [ 1.57421301e-02 -2.38709997e-04 9.99876056e-01 4.33950382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.18925415399997 meters Centerline goodness : 0.999073 Centerline is valid? [True, True] Translation: X:283.58, Y:2.85, Z:4.34 [[ 9.99625505e-01 -2.23829116e-02 -1.57434156e-02 2.83579978e+02] [ 2.23836634e-02 9.99749446e-01 -1.28473948e-04 2.84643063e+00] [ 1.57423467e-02 -2.23969482e-04 9.99876056e-01 4.34001367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.21925415399994 meters Centerline goodness : 0.999284 Centerline is valid? [True, True] Translation: X:283.61, Y:2.85, Z:4.34 [[ 9.99631279e-01 -2.21235591e-02 -1.57434109e-02 2.83608427e+02] [ 2.21242697e-02 9.99755220e-01 -1.29049246e-04 2.84690960e+00] [ 1.57424123e-02 -2.19309807e-04 9.99876056e-01 4.34023467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.24925415399997 meters Centerline goodness : 0.999073 Centerline is valid? [True, True] Translation: X:283.64, Y:2.85, Z:4.34 [[ 9.99616557e-01 -2.27790147e-02 -1.57434039e-02 2.83637057e+02] [ 2.27797931e-02 9.99740498e-01 -1.29904371e-04 2.84630450e+00] [ 1.57422775e-02 -2.28776923e-04 9.99876056e-01 4.33943454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.27925415399994 meters Centerline goodness : 0.999010 Centerline is valid? [True, True] Translation: X:283.67, Y:2.85, Z:4.34 [[ 9.99598067e-01 -2.35764561e-02 -1.57433969e-02 2.83667176e+02] [ 2.35773202e-02 9.99722008e-01 -1.30744392e-04 2.84590892e+00] [ 1.57421028e-02 -2.40495269e-04 9.99876056e-01 4.33957104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.309254154 meters Centerline goodness : 0.998883 Centerline is valid? [True, True] Translation: X:283.70, Y:2.85, Z:4.34 [[ 9.99572143e-01 -2.46510919e-02 -1.57433921e-02 2.83697289e+02] [ 2.46520801e-02 9.99696083e-01 -1.31321549e-04 2.84521929e+00] [ 1.57418446e-02 -2.56842000e-04 9.99876056e-01 4.33960810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.33925415399995 meters Centerline goodness : 0.998926 Centerline is valid? [True, True] Translation: X:283.73, Y:2.84, Z:4.34 [[ 9.99551132e-01 -2.54888202e-02 -1.57433872e-02 2.83726473e+02] [ 2.54899031e-02 9.99675071e-01 -1.31903597e-04 2.84470531e+00] [ 1.57416338e-02 -2.69453025e-04 9.99876056e-01 4.33971295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.369254154 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:283.76, Y:2.84, Z:4.34 [[ 9.99520357e-01 -2.66683570e-02 -1.57433875e-02 2.83755604e+02] [ 2.66695867e-02 9.99644295e-01 -1.31871405e-04 2.84390820e+00] [ 1.57413043e-02 -2.88061483e-04 9.99876056e-01 4.34039960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.39925415399995 meters Centerline goodness : 0.998885 Centerline is valid? [True, True] Translation: X:283.79, Y:2.84, Z:4.34 [[ 9.99503320e-01 -2.72994512e-02 -1.57433877e-02 2.83785771e+02] [ 2.73007594e-02 9.99627256e-01 -1.31850062e-04 2.84369763e+00] [ 1.57411188e-02 -2.98021864e-04 9.99876056e-01 4.34101089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.429254154 meters Centerline goodness : 0.998969 Centerline is valid? [True, True] Translation: X:283.82, Y:2.84, Z:4.34 [[ 9.99491819e-01 -2.77173099e-02 -1.57433877e-02 2.83816023e+02] [ 2.77186700e-02 9.99615755e-01 -1.31850062e-04 2.84308436e+00] [ 1.57409929e-02 -3.04602708e-04 9.99876056e-01 4.34142738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.45925415399995 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:283.85, Y:2.84, Z:4.34 [[ 9.99466297e-01 -2.86228442e-02 -1.57433877e-02 2.83846158e+02] [ 2.86243166e-02 9.99590232e-01 -1.31850062e-04 2.84105460e+00] [ 1.57407104e-02 -3.18864019e-04 9.99876056e-01 4.34159443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.489254154 meters Centerline goodness : 0.998971 Centerline is valid? [True, True] Translation: X:283.88, Y:2.84, Z:4.34 [[ 9.99455086e-01 -2.90116723e-02 -1.57433877e-02 2.83876504e+02] [ 2.90131929e-02 9.99579020e-01 -1.31850062e-04 2.83964186e+00] [ 1.57405852e-02 -3.24987728e-04 9.99876056e-01 4.34058881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.51925415399995 meters Centerline goodness : 0.998950 Centerline is valid? [True, True] Translation: X:283.91, Y:2.84, Z:4.34 [[ 9.99405368e-01 -3.06766218e-02 -1.57433958e-02 2.83906887e+02] [ 3.06783643e-02 9.99529300e-01 -1.30871533e-04 2.83913780e+00] [ 1.57400001e-02 -3.52187919e-04 9.99876056e-01 4.34173271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.549254154 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:283.94, Y:2.84, Z:4.34 [[ 9.99307944e-01 -3.37013243e-02 -1.57433958e-02 2.83938131e+02] [ 3.37034418e-02 9.99431869e-01 -1.30871533e-04 2.83684912e+00] [ 1.57388620e-02 -3.99825662e-04 9.99876056e-01 4.34336025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.57925415399995 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:283.97, Y:2.84, Z:4.34 [[ 9.99230041e-01 -3.59370434e-02 -1.57434006e-02 2.83969012e+02] [ 3.59394474e-02 9.99353961e-01 -1.30289700e-04 2.83639064e+00] [ 1.57379120e-02 -4.35619736e-04 9.99876056e-01 4.34374282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.609254154 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:284.00, Y:2.84, Z:4.34 [[ 9.99048857e-01 -4.06635727e-02 -1.57434078e-02 2.84001559e+02] [ 4.06665766e-02 9.99172764e-01 -1.29420014e-04 2.83528005e+00] [ 1.57356469e-02 -5.10933579e-04 9.99876057e-01 4.34423761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.63925415399996 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:284.03, Y:2.83, Z:4.34 [[ 9.98944630e-01 -4.31482399e-02 -1.57434171e-02 2.84033035e+02] [ 4.31515699e-02 9.99068529e-01 -1.28272802e-04 2.83450205e+00] [ 1.57342873e-02 -5.51215738e-04 9.99876057e-01 4.34384152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.669254154 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:284.06, Y:2.83, Z:4.34 [[ 9.98824186e-01 -4.58518267e-02 -1.57434240e-02 2.84064800e+02] [ 4.58555056e-02 9.98948075e-01 -1.27416366e-04 2.83389458e+00] [ 1.57327054e-02 -5.94656121e-04 9.99876057e-01 4.34412504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.69925415399996 meters Centerline goodness : 0.999288 Centerline is valid? [True, True] Translation: X:284.10, Y:2.83, Z:4.34 [[ 9.98682679e-01 -4.88369893e-02 -1.57434331e-02 2.84098969e+02] [ 4.88410561e-02 9.98806555e-01 -1.26290483e-04 2.82952210e+00] [ 1.57308118e-02 -6.42801780e-04 9.99876057e-01 4.34493780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.729254154 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:284.12, Y:2.83, Z:4.35 [[ 9.98402509e-01 -5.42634443e-02 -1.57450989e-02 2.84124979e+02] [ 5.42715221e-02 9.98526211e-01 8.58929177e-05 2.83198906e+00] [ 1.57172331e-02 -9.40266187e-04 9.99876035e-01 4.34543531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.75925415399996 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:284.16, Y:2.83, Z:4.35 [[ 9.98271069e-01 -5.66305561e-02 -1.57433566e-02 2.84157072e+02] [ 5.66355602e-02 9.98394910e-01 -1.28167469e-04 2.83173913e+00] [ 1.57253453e-02 -7.63687944e-04 9.99876057e-01 4.34565356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.789254154 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:284.19, Y:2.83, Z:4.35 [[ 9.98151826e-01 -5.86947931e-02 -1.57433683e-02 2.84189522e+02] [ 5.87000762e-02 9.98275656e-01 -1.26710631e-04 2.83190674e+00] [ 1.57236586e-02 -7.97660471e-04 9.99876057e-01 4.34636882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.81925415399996 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:284.22, Y:2.83, Z:4.35 [[ 9.98007009e-01 -6.11077481e-02 -1.57433775e-02 2.84221073e+02] [ 6.11133486e-02 9.98130825e-01 -1.25561823e-04 2.83191462e+00] [ 1.57216231e-02 -8.36818936e-04 9.99876057e-01 4.34707890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.849254154 meters Centerline goodness : 0.999037 Centerline is valid? [True, True] Translation: X:284.25, Y:2.83, Z:4.35 [[ 9.97996748e-01 -6.12750893e-02 -1.57433843e-02 2.84253044e+02] [ 6.12807241e-02 9.98120563e-01 -1.24704930e-04 2.83268247e+00] [ 1.57214369e-02 -8.40310872e-04 9.99876057e-01 4.34779736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.87925415399997 meters Centerline goodness : 0.999225 Centerline is valid? [True, True] Translation: X:284.29, Y:2.83, Z:4.35 [[ 9.98040446e-01 -6.05591772e-02 -1.57433932e-02 2.84285184e+02] [ 6.05647411e-02 9.98164263e-01 -1.23561390e-04 2.83403401e+00] [ 1.57219753e-02 -8.30175271e-04 9.99876057e-01 4.34894936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.90925415399994 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:284.32, Y:2.84, Z:4.35 [[ 9.98214911e-01 -5.76119455e-02 -1.57434022e-02 2.84317481e+02] [ 5.76171620e-02 9.98338744e-01 -1.22406140e-04 2.83698580e+00] [ 1.57243004e-02 -7.84902521e-04 9.99876057e-01 4.34961490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.93925415399997 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:284.35, Y:2.84, Z:4.35 [[ 9.98320046e-01 -5.57604760e-02 -1.57434240e-02 2.84349216e+02] [ 5.57655079e-02 9.98443886e-01 -1.19538583e-04 2.83853888e+00] [ 1.57255910e-02 -7.58602271e-04 9.99876057e-01 4.35050635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.96925415399994 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:284.38, Y:2.84, Z:4.35 [[ 9.98509335e-01 -5.22613880e-02 -1.57434326e-02 2.84379966e+02] [ 5.22660038e-02 9.98633191e-01 -1.18392349e-04 2.84120521e+00] [ 1.57281017e-02 -7.04630444e-04 9.99876057e-01 4.35069887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.99925415399997 meters Centerline goodness : 0.999138 Centerline is valid? [True, True] Translation: X:284.41, Y:2.84, Z:4.35 [[ 9.98585015e-01 -5.07948030e-02 -1.57434390e-02 2.84412003e+02] [ 5.07992504e-02 9.98708878e-01 -1.17538183e-04 2.84281691e+00] [ 1.57290826e-02 -6.82383031e-04 9.99876057e-01 4.35143793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.02925415399994 meters Centerline goodness : 0.999012 Centerline is valid? [True, True] Translation: X:284.44, Y:2.84, Z:4.35 [[ 9.98648219e-01 -4.95366286e-02 -1.57434474e-02 2.84444177e+02] [ 4.95409379e-02 9.98772087e-01 -1.16399861e-04 2.84448683e+00] [ 1.57298819e-02 -6.63702635e-04 9.99876057e-01 4.35232659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.059254154 meters Centerline goodness : 0.999032 Centerline is valid? [True, True] Translation: X:284.48, Y:2.85, Z:4.35 [[ 9.98705712e-01 -4.83636601e-02 -1.57434559e-02 2.84476741e+02] [ 4.83678421e-02 9.98829584e-01 -1.15239100e-04 2.84602632e+00] [ 1.57306029e-02 -6.46387042e-04 9.99876057e-01 4.35280109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.08925415399995 meters Centerline goodness : 0.999052 Centerline is valid? [True, True] Translation: X:284.51, Y:2.85, Z:4.35 [[ 9.98782961e-01 -4.67411959e-02 -1.57434643e-02 2.84508315e+02] [ 4.67451950e-02 9.98906839e-01 -1.14074049e-04 2.84916843e+00] [ 1.57315862e-02 -6.21996094e-04 9.99876057e-01 4.35266950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.119254154 meters Centerline goodness : 0.999054 Centerline is valid? [True, True] Translation: X:284.54, Y:2.85, Z:4.35 [[ 9.98830249e-01 -4.57195359e-02 -1.57434706e-02 2.84540451e+02] [ 4.57234220e-02 9.98954131e-01 -1.13205483e-04 2.85050351e+00] [ 1.57321807e-02 -6.06772289e-04 9.99876057e-01 4.35315716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.14925415399995 meters Centerline goodness : 0.998945 Centerline is valid? [True, True] Translation: X:284.57, Y:2.85, Z:4.35 [[ 9.98921893e-01 -4.36714277e-02 -1.57434788e-02 2.84572676e+02] [ 4.36750779e-02 9.99045782e-01 -1.12057285e-04 2.85328809e+00] [ 1.57333498e-02 -5.75661185e-04 9.99876057e-01 4.35325163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.179254154 meters Centerline goodness : 0.998966 Centerline is valid? [True, True] Translation: X:284.60, Y:2.85, Z:4.35 [[ 9.98982345e-01 -4.22660329e-02 -1.57434868e-02 2.84604022e+02] [ 4.22695268e-02 9.99106238e-01 -1.10913865e-04 2.85483228e+00] [ 1.57341038e-02 -5.54668745e-04 9.99876057e-01 4.35305933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.20925415399995 meters Centerline goodness : 0.998797 Centerline is valid? [True, True] Translation: X:284.64, Y:2.86, Z:4.35 [[ 9.99038281e-01 -4.09225471e-02 -1.57434928e-02 2.84636276e+02] [ 4.09258877e-02 9.99162179e-01 -1.10063221e-04 2.85654109e+00] [ 1.57348066e-02 -5.34359046e-04 9.99876057e-01 4.35430805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.239254154 meters Centerline goodness : 0.998943 Centerline is valid? [True, True] Translation: X:284.67, Y:2.86, Z:4.36 [[ 9.99094796e-01 -3.95187493e-02 -1.57435007e-02 2.84668638e+02] [ 3.95219339e-02 9.99218697e-01 -1.08920772e-04 2.85854871e+00] [ 1.57355046e-02 -5.13391415e-04 9.99876057e-01 4.35522594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.26925415399995 meters Centerline goodness : 0.998836 Centerline is valid? [True, True] Translation: X:284.70, Y:2.86, Z:4.36 [[ 9.99208600e-01 -3.65282969e-02 -1.57435086e-02 2.84700423e+02] [ 3.65311288e-02 9.99332510e-01 -1.07762896e-04 2.86257030e+00] [ 1.57369363e-02 -4.67450528e-04 9.99876057e-01 4.35630674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.299254154 meters Centerline goodness : 0.998794 Centerline is valid? [True, True] Translation: X:284.73, Y:2.86, Z:4.36 [[ 9.99272781e-01 -3.47282387e-02 -1.57435165e-02 2.84732214e+02] [ 3.47308657e-02 9.99396696e-01 -1.06599990e-04 2.86425587e+00] [ 1.57377204e-02 -4.40263487e-04 9.99876057e-01 4.35718274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.32925415399995 meters Centerline goodness : 0.998942 Centerline is valid? [True, True] Translation: X:284.76, Y:2.87, Z:4.36 [[ 9.99331985e-01 -3.29806867e-02 -1.57435242e-02 2.84764718e+02] [ 3.29831152e-02 9.99455903e-01 -1.05442113e-04 2.86572439e+00] [ 1.57384358e-02 -4.13898797e-04 9.99876057e-01 4.35820081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.359254154 meters Centerline goodness : 0.998923 Centerline is valid? [True, True] Translation: X:284.80, Y:2.87, Z:4.36 [[ 9.99395041e-01 -3.10111860e-02 -1.57435319e-02 2.84795838e+02] [ 3.10133886e-02 9.99518964e-01 -1.04277694e-04 2.86711344e+00] [ 1.57391925e-02 -3.84045664e-04 9.99876057e-01 4.35903005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.38925415399996 meters Centerline goodness : 0.999027 Centerline is valid? [True, True] Translation: X:284.83, Y:2.87, Z:4.36 [[ 9.99506977e-01 -2.71651165e-02 -1.57435376e-02 2.84826168e+02] [ 2.71668559e-02 9.99630908e-01 -1.03411185e-04 2.87033341e+00] [ 1.57405360e-02 -3.24342217e-04 9.99876057e-01 4.36038996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.419254154 meters Centerline goodness : 0.998920 Centerline is valid? [True, True] Translation: X:284.86, Y:2.87, Z:4.36 [[ 9.99554998e-01 -2.53366781e-02 -1.57435433e-02 2.84857250e+02] [ 2.53382046e-02 9.99678931e-01 -1.02536453e-04 2.87168149e+00] [ 1.57410865e-02 -2.96422298e-04 9.99876057e-01 4.36186620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.44925415399996 meters Centerline goodness : 0.999046 Centerline is valid? [True, True] Translation: X:284.89, Y:2.87, Z:4.36 [[ 9.99587458e-01 -2.40219445e-02 -1.57435471e-02 2.84887463e+02] [ 2.40233171e-02 9.99711393e-01 -1.01949644e-04 2.87296490e+00] [ 1.57414525e-02 -2.76304640e-04 9.99876057e-01 4.36269359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.479254154 meters Centerline goodness : 0.998984 Centerline is valid? [True, True] Translation: X:284.92, Y:2.87, Z:4.36 [[ 9.99617427e-01 -2.27407009e-02 -1.57435471e-02 2.84916748e+02] [ 2.27419148e-02 9.99741364e-01 -1.01949644e-04 2.87434304e+00] [ 1.57417937e-02 -2.56127766e-04 9.99876057e-01 4.36285917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.50925415399996 meters Centerline goodness : 0.998982 Centerline is valid? [True, True] Translation: X:284.95, Y:2.87, Z:4.36 [[ 9.99615047e-01 -2.28451028e-02 -1.57435452e-02 2.84946744e+02] [ 2.28463251e-02 9.99738983e-01 -1.02238937e-04 2.87432561e+00] [ 1.57417716e-02 -2.57482572e-04 9.99876057e-01 4.36229919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.539254154 meters Centerline goodness : 0.998963 Centerline is valid? [True, True] Translation: X:284.98, Y:2.87, Z:4.36 [[ 9.99597250e-01 -2.36109907e-02 -1.57435434e-02 2.84976576e+02] [ 2.36123033e-02 9.99721185e-01 -1.02524226e-04 2.87417056e+00] [ 1.57415746e-02 -2.69258388e-04 9.99876057e-01 4.36199002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.56925415399996 meters Centerline goodness : 0.999094 Centerline is valid? [True, True] Translation: X:285.01, Y:2.87, Z:4.36 [[ 9.99529375e-01 -2.63281185e-02 -1.57435398e-02 2.85007419e+02] [ 2.63297593e-02 9.99653306e-01 -1.03077378e-04 2.87351205e+00] [ 1.57407954e-02 -3.11494746e-04 9.99876057e-01 4.36141984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.599254154 meters Centerline goodness : 0.999004 Centerline is valid? [True, True] Translation: X:285.04, Y:2.87, Z:4.36 [[ 9.99479798e-01 -2.81473816e-02 -1.57435398e-02 2.85037291e+02] [ 2.81492481e-02 9.99603726e-01 -1.03077378e-04 2.87308061e+00] [ 1.57402024e-02 -3.40145049e-04 9.99876057e-01 4.36135993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.62925415399997 meters Centerline goodness : 0.998901 Centerline is valid? [True, True] Translation: X:285.07, Y:2.87, Z:4.36 [[ 9.99363163e-01 -3.20220131e-02 -1.57435456e-02 2.85068936e+02] [ 3.20243742e-02 9.99487083e-01 -1.02172393e-04 2.87121507e+00] [ 1.57387423e-02 -4.02069871e-04 9.99876057e-01 4.36036725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.65925415399994 meters Centerline goodness : 0.998968 Centerline is valid? [True, True] Translation: X:285.10, Y:2.87, Z:4.36 [[ 9.99278506e-01 -3.45630944e-02 -1.57435494e-02 2.85099751e+02] [ 3.45657797e-02 9.99402420e-01 -1.01591567e-04 2.87122718e+00] [ 1.57376527e-02 -4.42669791e-04 9.99876057e-01 4.36123025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.68925415399997 meters Centerline goodness : 0.998922 Centerline is valid? [True, True] Translation: X:285.13, Y:2.87, Z:4.36 [[ 9.99203612e-01 -3.66644591e-02 -1.57435549e-02 2.85131887e+02] [ 3.66674187e-02 9.99327519e-01 -1.00723468e-04 2.87042534e+00] [ 1.57366607e-02 -4.76632268e-04 9.99876057e-01 4.36160489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.71925415399994 meters Centerline goodness : 0.998903 Centerline is valid? [True, True] Translation: X:285.16, Y:2.87, Z:4.36 [[ 9.99130350e-01 -3.86093853e-02 -1.57435621e-02 2.85163948e+02] [ 3.86126039e-02 9.99254250e-01 -9.95882729e-05 2.86968423e+00] [ 1.57356664e-02 -5.08398263e-04 9.99876057e-01 4.36197891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.74925415399997 meters Centerline goodness : 0.998711 Centerline is valid? [True, True] Translation: X:285.20, Y:2.87, Z:4.36 [[ 9.99008711e-01 -4.16381588e-02 -1.57435692e-02 2.85196145e+02] [ 4.16417709e-02 9.99132600e-01 -9.84567950e-05 2.86827151e+00] [ 1.57340128e-02 -5.57230905e-04 9.99876057e-01 4.36138228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.77925415399994 meters Centerline goodness : 0.998840 Centerline is valid? [True, True] Translation: X:285.23, Y:2.87, Z:4.36 [[ 9.98951121e-01 -4.29976461e-02 -1.57435762e-02 2.85228606e+02] [ 4.30014446e-02 9.99075005e-01 -9.73226812e-05 2.86863759e+00] [ 1.57331981e-02 -5.79775918e-04 9.99876057e-01 4.36313635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.809254154 meters Centerline goodness : 0.998967 Centerline is valid? [True, True] Translation: X:285.26, Y:2.87, Z:4.36 [[ 9.98903857e-01 -4.40820149e-02 -1.57435832e-02 2.85259327e+02] [ 4.40859659e-02 9.99027737e-01 -9.61786406e-05 2.86873385e+00] [ 1.57325160e-02 -5.97997856e-04 9.99876057e-01 4.36374435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.83925415399995 meters Centerline goodness : 0.998946 Centerline is valid? [True, True] Translation: X:285.29, Y:2.87, Z:4.36 [[ 9.98846912e-01 -4.53539988e-02 -1.57435884e-02 2.85291008e+02] [ 4.53581209e-02 9.98970786e-01 -9.53257405e-05 2.86865542e+00] [ 1.57317082e-02 -6.18883763e-04 9.99876057e-01 4.36459683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.869254154 meters Centerline goodness : 0.999177 Centerline is valid? [True, True] Translation: X:285.32, Y:2.87, Z:4.37 [[ 9.98827970e-01 -4.57692706e-02 -1.57435934e-02 2.85323096e+02] [ 4.57734574e-02 9.98951842e-01 -9.44911666e-05 2.86860521e+00] [ 1.57314164e-02 -6.26258279e-04 9.99876057e-01 4.36594773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.89925415399995 meters Centerline goodness : 0.998839 Centerline is valid? [True, True] Translation: X:285.35, Y:2.87, Z:4.37 [[ 9.98809435e-01 -4.61719728e-02 -1.57436002e-02 2.85354193e+02] [ 4.61762277e-02 9.98933305e-01 -9.33386369e-05 2.86849747e+00] [ 1.57311162e-02 -6.33752556e-04 9.99876057e-01 4.36566188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.929254154 meters Centerline goodness : 0.998839 Centerline is valid? [True, True] Translation: X:285.39, Y:2.87, Z:4.37 [[ 9.98812646e-01 -4.61024733e-02 -1.57436052e-02 2.85386880e+02] [ 4.61067331e-02 9.98936515e-01 -9.24809072e-05 2.86862464e+00] [ 1.57311257e-02 -6.33515105e-04 9.99876057e-01 4.36617631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.95925415399995 meters Centerline goodness : 0.999113 Centerline is valid? [True, True] Translation: X:285.42, Y:2.87, Z:4.37 [[ 9.98799657e-01 -4.63830179e-02 -1.57436116e-02 2.85419030e+02] [ 4.63873297e-02 9.98923524e-01 -9.13855089e-05 2.86856098e+00] [ 1.57309027e-02 -6.39028286e-04 9.99876057e-01 4.36713689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.989254154 meters Centerline goodness : 0.998945 Centerline is valid? [True, True] Translation: X:285.46, Y:2.86, Z:4.36 [[ 9.99217494e-01 -3.62841389e-02 -1.57436182e-02 2.85463629e+02] [ 3.62872164e-02 9.99341398e-01 -9.02387715e-05 2.85733588e+00] [ 1.57365236e-02 -4.81123921e-04 9.99876057e-01 4.36083337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.01925415399995 meters Centerline goodness : 0.999134 Centerline is valid? [True, True] Translation: X:285.48, Y:2.87, Z:4.37 [[ 9.98797130e-01 -4.64362072e-02 -1.57470985e-02 2.85476911e+02] [ 4.64518563e-02 9.98920332e-01 6.29272472e-04 2.86930078e+00] [ 1.57008759e-02 -1.35999750e-03 9.99875809e-01 4.36691718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.049254154 meters Centerline goodness : 0.999028 Centerline is valid? [True, True] Translation: X:285.51, Y:2.87, Z:4.37 [[ 9.98892283e-01 -4.43439431e-02 -1.57423520e-02 2.85509233e+02] [ 4.43478305e-02 9.99016146e-01 -1.02237556e-04 2.87014783e+00] [ 1.57313975e-02 -5.96014854e-04 9.99876076e-01 4.36748772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.07925415399995 meters Centerline goodness : 0.998922 Centerline is valid? [True, True] Translation: X:285.54, Y:2.87, Z:4.37 [[ 9.98971139e-01 -4.25304808e-02 -1.57423591e-02 2.85540791e+02] [ 4.25341608e-02 9.99095008e-01 -1.01128412e-04 2.87027003e+00] [ 1.57324135e-02 -5.68563671e-04 9.99876076e-01 4.36770743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.109254154 meters Centerline goodness : 0.998901 Centerline is valid? [True, True] Translation: X:285.57, Y:2.87, Z:4.37 [[ 9.99138357e-01 -3.84021062e-02 -1.57423644e-02 2.85573003e+02] [ 3.84052873e-02 9.99262240e-01 -1.00301714e-04 2.87073099e+00] [ 1.57346021e-02 -5.04374738e-04 9.99876076e-01 4.36889721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.13925415399996 meters Centerline goodness : 0.999134 Centerline is valid? [True, True] Translation: X:285.60, Y:2.87, Z:4.37 [[ 9.99230958e-01 -3.59119809e-02 -1.57423716e-02 2.85604378e+02] [ 3.59148713e-02 9.99354848e-01 -9.91555570e-05 2.87107564e+00] [ 1.57357763e-02 -4.66305949e-04 9.99876076e-01 4.36856351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.169254154 meters Centerline goodness : 0.998923 Centerline is valid? [True, True] Translation: X:285.64, Y:2.87, Z:4.37 [[ 9.99329373e-01 -3.30602816e-02 -1.57423770e-02 2.85636142e+02] [ 3.30628319e-02 9.99453270e-01 -9.83026271e-05 2.87140353e+00] [ 1.57370200e-02 -4.22250860e-04 9.99876076e-01 4.36887366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.19925415399996 meters Centerline goodness : 0.999050 Centerline is valid? [True, True] Translation: X:285.67, Y:2.87, Z:4.37 [[ 9.99405718e-01 -3.06657525e-02 -1.57423836e-02 2.85667463e+02] [ 3.06680228e-02 9.99529621e-01 -9.72264557e-05 2.87219185e+00] [ 1.57379602e-02 -3.85619104e-04 9.99876076e-01 4.37056084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.229254154 meters Centerline goodness : 0.999196 Centerline is valid? [True, True] Translation: X:285.70, Y:2.87, Z:4.37 [[ 9.99532277e-01 -2.62183892e-02 -1.57423871e-02 2.85698726e+02] [ 2.62201171e-02 9.99656189e-01 -9.66608164e-05 2.87302749e+00] [ 1.57395090e-02 -3.16151627e-04 9.99876076e-01 4.37102008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.25925415399996 meters Centerline goodness : 0.998902 Centerline is valid? [True, True] Translation: X:285.73, Y:2.87, Z:4.37 [[ 9.99574537e-01 -2.45544619e-02 -1.57423906e-02 2.85729185e+02] [ 2.45559925e-02 9.99698452e-01 -9.60888977e-05 2.87353948e+00] [ 1.57400029e-02 -2.90522009e-04 9.99876076e-01 4.36946713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.289254154 meters Centerline goodness : 0.998815 Centerline is valid? [True, True] Translation: X:285.76, Y:2.87, Z:4.37 [[ 9.99600898e-01 -2.34568007e-02 -1.57423923e-02 2.85759729e+02] [ 2.34581997e-02 9.99724814e-01 -9.58053724e-05 2.87383629e+00] [ 1.57403075e-02 -2.73521047e-04 9.99876076e-01 4.37107041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.31925415399996 meters Centerline goodness : 0.999089 Centerline is valid? [True, True] Translation: X:285.79, Y:2.87, Z:4.37 [[ 9.99616835e-01 -2.27675292e-02 -1.57423923e-02 2.85788829e+02] [ 2.27688428e-02 9.99740752e-01 -9.58053724e-05 2.87398385e+00] [ 1.57404924e-02 -2.62667392e-04 9.99876076e-01 4.36990053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.349254154 meters Centerline goodness : 0.998855 Centerline is valid? [True, True] Translation: X:285.82, Y:2.87, Z:4.37 [[ 9.99605923e-01 -2.32416713e-02 -1.57423929e-02 2.85818803e+02] [ 2.32430452e-02 9.99729839e-01 -9.57074302e-05 2.87376314e+00] [ 1.57403643e-02 -2.70231435e-04 9.99876076e-01 4.37022269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.37925415399997 meters Centerline goodness : 0.999025 Centerline is valid? [True, True] Translation: X:285.85, Y:2.87, Z:4.37 [[ 9.99582189e-01 -2.42409704e-02 -1.57423895e-02 2.85848150e+02] [ 2.42424594e-02 9.99706104e-01 -9.62630641e-05 2.87328086e+00] [ 1.57400964e-02 -2.85411394e-04 9.99876076e-01 4.37020527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.40925415399994 meters Centerline goodness : 0.998857 Centerline is valid? [True, True] Translation: X:285.88, Y:2.87, Z:4.37 [[ 9.99499124e-01 -2.74531923e-02 -1.57423878e-02 2.85877716e+02] [ 2.74550752e-02 9.99623034e-01 -9.65390451e-05 2.87266364e+00] [ 1.57391038e-02 -3.35717750e-04 9.99876076e-01 4.37197189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.43925415399997 meters Centerline goodness : 0.998984 Centerline is valid? [True, True] Translation: X:285.91, Y:2.87, Z:4.37 [[ 9.99450705e-01 -2.91627531e-02 -1.57423843e-02 2.85908642e+02] [ 2.91648390e-02 9.99574611e-01 -9.71042934e-05 2.87239078e+00] [ 1.57385195e-02 -3.62073150e-04 9.99876076e-01 4.37318315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.46925415399994 meters Centerline goodness : 0.999090 Centerline is valid? [True, True] Translation: X:285.94, Y:2.87, Z:4.37 [[ 9.99328269e-01 -3.30936253e-02 -1.57423843e-02 2.85938588e+02] [ 3.30961986e-02 9.99452166e-01 -9.71042934e-05 2.87157922e+00] [ 1.57369736e-02 -4.23974012e-04 9.99876076e-01 4.37457317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.49925415399997 meters Centerline goodness : 0.999175 Centerline is valid? [True, True] Translation: X:285.97, Y:2.87, Z:4.38 [[ 9.99256321e-01 -3.51991679e-02 -1.57423861e-02 2.85969658e+02] [ 3.52020067e-02 9.99380213e-01 -9.68205271e-05 2.87118824e+00] [ 1.57360371e-02 -4.57415055e-04 9.99876076e-01 4.37532819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.52925415399994 meters Centerline goodness : 0.998945 Centerline is valid? [True, True] Translation: X:286.00, Y:2.87, Z:4.38 [[ 9.99184717e-01 -3.71763171e-02 -1.57423895e-02 2.86000785e+02] [ 3.71794099e-02 9.99308602e-01 -9.62562548e-05 2.87059318e+00] [ 1.57350837e-02 -4.89114974e-04 9.99876076e-01 4.37566769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.559254154 meters Centerline goodness : 0.998669 Centerline is valid? [True, True] Translation: X:286.03, Y:2.87, Z:4.38 [[ 9.99119909e-01 -3.88790990e-02 -1.57423946e-02 2.86033151e+02] [ 3.88824162e-02 9.99243788e-01 -9.54134325e-05 2.86927991e+00] [ 1.57341996e-02 -5.16772879e-04 9.99876076e-01 4.37513047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.58925415399995 meters Centerline goodness : 0.999114 Centerline is valid? [True, True] Translation: X:286.07, Y:2.87, Z:4.38 [[ 9.98929849e-01 -4.34894711e-02 -1.57424012e-02 2.86065268e+02] [ 4.34933773e-02 9.99053711e-01 -9.43098867e-05 2.86863934e+00] [ 1.57316059e-02 -5.90481235e-04 9.99876076e-01 4.37709368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.619254154 meters Centerline goodness : 0.998987 Centerline is valid? [True, True] Translation: X:286.10, Y:2.87, Z:4.38 [[ 9.98823978e-01 -4.58566965e-02 -1.57424079e-02 2.86097358e+02] [ 4.58609139e-02 9.98947830e-01 -9.31903136e-05 2.86837537e+00] [ 1.57301176e-02 -6.28880491e-04 9.99876076e-01 4.37795726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.64925415399995 meters Centerline goodness : 0.998883 Centerline is valid? [True, True] Translation: X:286.13, Y:2.87, Z:4.38 [[ 9.98696427e-01 -4.85553655e-02 -1.57424144e-02 2.86129008e+02] [ 4.85599352e-02 9.98820266e-01 -9.20624897e-05 2.86789769e+00] [ 1.57283127e-02 -6.72508146e-04 9.99876076e-01 4.37846080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.679254154 meters Centerline goodness : 0.998713 Centerline is valid? [True, True] Translation: X:286.16, Y:2.87, Z:4.38 [[ 9.98415977e-01 -5.40158587e-02 -1.57424193e-02 2.86161510e+02] [ 5.40211188e-02 9.98539789e-01 -9.12219577e-05 2.86671512e+00] [ 1.57243595e-02 -7.59345644e-04 9.99876076e-01 4.37898882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.70925415399995 meters Centerline goodness : 0.998841 Centerline is valid? [True, True] Translation: X:286.19, Y:2.87, Z:4.38 [[ 9.98277542e-01 -5.65165941e-02 -1.57424257e-02 2.86194046e+02] [ 5.65221819e-02 9.98401340e-01 -9.01064635e-05 2.86652064e+00] [ 1.57223514e-02 -7.99844990e-04 9.99876076e-01 4.37914131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.739254154 meters Centerline goodness : 0.999012 Centerline is valid? [True, True] Translation: X:286.23, Y:2.87, Z:4.38 [[ 9.98043442e-01 -6.05100234e-02 -1.57424320e-02 2.86225354e+02] [ 6.05161238e-02 9.98167216e-01 -8.89999530e-05 2.86532754e+00] [ 1.57189649e-02 -8.63845141e-04 9.99876076e-01 4.37883797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.76925415399995 meters Centerline goodness : 0.998865 Centerline is valid? [True, True] Translation: X:286.26, Y:2.86, Z:4.38 [[ 9.97980930e-01 -6.15324238e-02 -1.57424418e-02 2.86258422e+02] [ 6.15386789e-02 9.98104696e-01 -8.72257965e-05 2.86401887e+00] [ 1.57179723e-02 -8.81719390e-04 9.99876076e-01 4.37807747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.799254154 meters Centerline goodness : 0.998971 Centerline is valid? [True, True] Translation: X:286.29, Y:2.86, Z:4.38 [[ 9.97875525e-01 -6.32187695e-02 -1.57424507e-02 2.86291006e+02] [ 6.32252595e-02 9.97999278e-01 -8.55848958e-05 2.86414341e+00] [ 1.57163650e-02 -9.09917459e-04 9.99876076e-01 4.37930716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.82925415399995 meters Centerline goodness : 0.998884 Centerline is valid? [True, True] Translation: X:286.32, Y:2.86, Z:4.38 [[ 9.97811763e-01 -6.42172875e-02 -1.57424594e-02 2.86323725e+02] [ 6.42239270e-02 9.97935509e-01 -8.39518188e-05 2.86395033e+00] [ 1.57153504e-02 -9.27274453e-04 9.99876076e-01 4.37936833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.859254154 meters Centerline goodness : 0.998781 Centerline is valid? [True, True] Translation: X:286.36, Y:2.86, Z:4.38 [[ 9.97748941e-01 -6.51860801e-02 -1.57424679e-02 2.86355893e+02] [ 6.51928652e-02 9.97872679e-01 -8.23294540e-05 2.86433446e+00] [ 1.57143454e-02 -9.44152463e-04 9.99876076e-01 4.37985993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.88925415399996 meters Centerline goodness : 0.998887 Centerline is valid? [True, True] Translation: X:286.39, Y:2.86, Z:4.38 [[ 9.97754928e-01 -6.50943816e-02 -1.57424737e-02 2.86387151e+02] [ 6.51011732e-02 9.97878665e-01 -8.12020995e-05 2.86449118e+00] [ 1.57143645e-02 -9.43833713e-04 9.99876076e-01 4.37913343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.919254154 meters Centerline goodness : 0.998907 Centerline is valid? [True, True] Translation: X:286.42, Y:2.86, Z:4.38 [[ 9.97801577e-01 -6.43753684e-02 -1.57424780e-02 2.86419772e+02] [ 6.43820840e-02 9.97925318e-01 -8.03608637e-05 2.86435887e+00] [ 1.57149906e-02 -9.33349345e-04 9.99876076e-01 4.38079062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.94925415399996 meters Centerline goodness : 0.999096 Centerline is valid? [True, True] Translation: X:286.46, Y:2.86, Z:4.38 [[ 9.98228344e-01 -5.73789844e-02 -1.57424868e-02 2.86459063e+02] [ 5.73848601e-02 9.98352128e-01 -7.85973590e-05 2.85909034e+00] [ 1.57210551e-02 -8.24922293e-04 9.99876076e-01 4.37610962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.979254154 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:286.48, Y:2.87, Z:4.38 [[ 9.97968276e-01 -6.17368506e-02 -1.57442503e-02 2.86480427e+02] [ 6.17493465e-02 9.98091641e-01 3.08328084e-04 2.86682257e+00] [ 1.56951694e-02 -1.27989882e-03 9.99876004e-01 4.38190748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.00925415399996 meters Centerline goodness : 0.998864 Centerline is valid? [True, True] Translation: X:286.51, Y:2.87, Z:4.38 [[ 9.98090026e-01 -5.97367995e-02 -1.57421351e-02 2.86512676e+02] [ 5.97428705e-02 9.98213796e-01 -8.47573490e-05 2.86824804e+00] [ 1.57190796e-02 -8.55884875e-04 9.99876081e-01 4.38049165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.039254154 meters Centerline goodness : 0.999178 Centerline is valid? [True, True] Translation: X:286.55, Y:2.87, Z:4.38 [[ 9.98216218e-01 -5.75896455e-02 -1.57421429e-02 2.86545212e+02] [ 5.75954732e-02 9.98339999e-01 -8.32956840e-05 2.86958972e+00] [ 1.57208079e-02 -8.23529065e-04 9.99876081e-01 4.38117231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.06925415399996 meters Centerline goodness : 0.999094 Centerline is valid? [True, True] Translation: X:286.58, Y:2.87, Z:4.38 [[ 9.98533276e-01 -5.18023312e-02 -1.57421509e-02 2.86576640e+02] [ 5.18074655e-02 9.98657088e-01 -8.17536604e-05 2.87198511e+00] [ 1.57252456e-02 -7.33927188e-04 9.99876081e-01 4.38248447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.099254154 meters Centerline goodness : 0.999177 Centerline is valid? [True, True] Translation: X:286.61, Y:2.87, Z:4.38 [[ 9.98948725e-01 -4.30537890e-02 -1.57421592e-02 2.86614327e+02] [ 4.30578644e-02 9.99072577e-01 -8.01148301e-05 2.86681736e+00] [ 1.57310088e-02 -5.97793150e-04 9.99876081e-01 4.38138791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.12925415399997 meters Centerline goodness : 0.999135 Centerline is valid? [True, True] Translation: X:286.64, Y:2.88, Z:4.39 [[ 9.99023781e-01 -4.12748630e-02 -1.57439398e-02 2.86636184e+02] [ 4.12846642e-02 9.99147380e-01 2.97895203e-04 2.87606383e+00] [ 1.57182206e-02 -9.47587658e-04 9.99876012e-01 4.38680730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.15925415399994 meters Centerline goodness : 0.998965 Centerline is valid? [True, True] Translation: X:286.67, Y:2.88, Z:4.39 [[ 9.99177509e-01 -3.73697608e-02 -1.57418624e-02 2.86668677e+02] [ 3.73730486e-02 9.99301380e-01 -8.53720153e-05 2.87789744e+00] [ 1.57340551e-02 -5.03019590e-04 9.99876086e-01 4.38784725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.18925415399997 meters Centerline goodness : 0.998986 Centerline is valid? [True, True] Translation: X:286.70, Y:2.88, Z:4.39 [[ 9.99317560e-01 -3.34156775e-02 -1.57418685e-02 2.86701162e+02] [ 3.34184932e-02 9.99441443e-01 -8.42217141e-05 2.87937319e+00] [ 1.57358901e-02 -4.41905288e-04 9.99876086e-01 4.38874030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.21925415399994 meters Centerline goodness : 0.999177 Centerline is valid? [True, True] Translation: X:286.73, Y:2.88, Z:4.39 [[ 9.99535427e-01 -2.60983313e-02 -1.57418746e-02 2.86733494e+02] [ 2.61002581e-02 9.99659327e-01 -8.30672015e-05 2.88172093e+00] [ 1.57386797e-02 -3.27838380e-04 9.99876086e-01 4.38927237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.24925415399997 meters Centerline goodness : 0.998877 Centerline is valid? [True, True] Translation: X:286.76, Y:2.88, Z:4.39 [[ 9.99610581e-01 -2.30408404e-02 -1.57418806e-02 2.86764070e+02] [ 2.30424063e-02 9.99734485e-01 -8.19152919e-05 2.88253146e+00] [ 1.57395883e-02 -2.80847417e-04 9.99876086e-01 4.38935289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.27925415399994 meters Centerline goodness : 0.998919 Centerline is valid? [True, True] Translation: X:286.79, Y:2.88, Z:4.39 [[ 9.99663963e-01 -2.05950277e-02 -1.57418806e-02 2.86793815e+02] [ 2.05962905e-02 9.99787871e-01 -8.19152919e-05 2.88326478e+00] [ 1.57402283e-02 -2.42336581e-04 9.99876086e-01 4.38965095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.309254154 meters Centerline goodness : 0.999129 Centerline is valid? [True, True] Translation: X:286.82, Y:2.88, Z:4.39 [[ 9.99719867e-01 -1.76742796e-02 -1.57418776e-02 2.86822409e+02] [ 1.76751712e-02 9.99843779e-01 -8.24964629e-05 2.88408384e+00] [ 1.57408764e-02 -1.95767028e-04 9.99876086e-01 4.38944587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.33925415399995 meters Centerline goodness : 0.999002 Centerline is valid? [True, True] Translation: X:286.85, Y:2.88, Z:4.39 [[ 9.99733970e-01 -1.68576950e-02 -1.57418717e-02 2.86849865e+02] [ 1.68584681e-02 9.99857882e-01 -8.35980516e-05 2.88415831e+00] [ 1.57410438e-02 -1.81808030e-04 9.99876086e-01 4.38939126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.369254154 meters Centerline goodness : 0.998897 Centerline is valid? [True, True] Translation: X:286.88, Y:2.89, Z:4.39 [[ 9.99729446e-01 -1.71239055e-02 -1.57418641e-02 2.86877190e+02] [ 1.71246893e-02 9.99853358e-01 -8.50139807e-05 2.88600242e+00] [ 1.57410114e-02 -1.84583551e-04 9.99876086e-01 4.38938170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.39925415399995 meters Centerline goodness : 0.999086 Centerline is valid? [True, True] Translation: X:286.91, Y:2.88, Z:4.39 [[ 9.99721182e-01 -1.76002507e-02 -1.57413218e-02 2.86907388e+02] [ 1.75996207e-02 9.99845099e-01 -1.78561479e-04 2.88437989e+00] [ 1.57420262e-02 -9.85296005e-05 9.99876082e-01 4.39009685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.429254154 meters Centerline goodness : 0.998853 Centerline is valid? [True, True] Translation: X:286.94, Y:2.88, Z:4.39 [[ 9.99706552e-01 -1.84120834e-02 -1.57418282e-02 2.86935731e+02] [ 1.84129472e-02 9.99830463e-01 -9.00752400e-05 2.88396667e+00] [ 1.57408179e-02 -1.99804644e-04 9.99876086e-01 4.39035228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.45925415399995 meters Centerline goodness : 0.999087 Centerline is valid? [True, True] Translation: X:286.96, Y:2.88, Z:4.39 [[ 9.99706637e-01 -1.84074735e-02 -1.57418044e-02 2.86964998e+02] [ 1.84082739e-02 9.99830549e-01 -9.40690051e-05 2.88240560e+00] [ 1.57408685e-02 -1.95738037e-04 9.99876086e-01 4.39043461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.489254154 meters Centerline goodness : 0.998920 Centerline is valid? [True, True] Translation: X:286.99, Y:2.88, Z:4.39 [[ 9.99635113e-01 -2.19507555e-02 -1.57418564e-02 2.86992598e+02] [ 2.19521295e-02 9.99759019e-01 -8.55274485e-05 2.88278778e+00] [ 1.57399403e-02 -2.60071028e-04 9.99876086e-01 4.39113714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.51925415399995 meters Centerline goodness : 0.998834 Centerline is valid? [True, True] Translation: X:287.02, Y:2.88, Z:4.39 [[ 9.99597174e-01 -2.36153715e-02 -1.57417679e-02 2.87022577e+02] [ 2.36167314e-02 9.99721081e-01 -9.95259533e-05 2.88232715e+00] [ 1.57397275e-02 -2.72283243e-04 9.99876086e-01 4.39216222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.549254154 meters Centerline goodness : 0.999237 Centerline is valid? [True, True] Translation: X:287.05, Y:2.88, Z:4.39 [[ 9.99484999e-01 -2.79630934e-02 -1.57417642e-02 2.87051558e+02] [ 2.79649833e-02 9.99608898e-01 -1.00101192e-04 2.88083712e+00] [ 1.57384067e-02 -3.40168534e-04 9.99876086e-01 4.39283779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.57925415399995 meters Centerline goodness : 0.999132 Centerline is valid? [True, True] Translation: X:287.08, Y:2.88, Z:4.39 [[ 9.99402138e-01 -3.07825089e-02 -1.57417606e-02 2.87083141e+02] [ 3.07847393e-02 9.99526033e-01 -1.00671945e-04 2.87986509e+00] [ 1.57373984e-02 -3.83994238e-04 9.99876086e-01 4.39324064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.609254154 meters Centerline goodness : 0.999024 Centerline is valid? [True, True] Translation: X:287.11, Y:2.88, Z:4.39 [[ 9.99294869e-01 -3.40875699e-02 -1.57417642e-02 2.87114874e+02] [ 3.40902189e-02 9.99418755e-01 -1.00104771e-04 2.87859332e+00] [ 1.57360267e-02 -4.36606002e-04 9.99876086e-01 4.39380918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.63925415399996 meters Centerline goodness : 0.998772 Centerline is valid? [True, True] Translation: X:287.15, Y:2.88, Z:4.39 [[ 9.99154814e-01 -3.79717703e-02 -1.57417678e-02 2.87147551e+02] [ 3.79749097e-02 9.99278688e-01 -9.95389721e-05 2.87722990e+00] [ 1.57341927e-02 -4.98337367e-04 9.99876086e-01 4.39428887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.669254154 meters Centerline goodness : 0.998839 Centerline is valid? [True, True] Translation: X:287.18, Y:2.87, Z:4.39 [[ 9.98808719e-01 -4.61880910e-02 -1.57417750e-02 2.87179830e+02] [ 4.61922674e-02 9.98932563e-01 -9.83805952e-05 2.87393729e+00] [ 1.57295157e-02 -6.28884884e-04 9.99876086e-01 4.39399238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.69925415399996 meters Centerline goodness : 0.998859 Centerline is valid? [True, True] Translation: X:287.21, Y:2.87, Z:4.39 [[ 9.98628037e-01 -4.99423679e-02 -1.57417822e-02 2.87211788e+02] [ 4.99470281e-02 9.98751864e-01 -9.72156695e-05 2.87209437e+00] [ 1.57269895e-02 -6.89172944e-04 9.99876086e-01 4.39212838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.729254154 meters Centerline goodness : 0.999050 Centerline is valid? [True, True] Translation: X:287.24, Y:2.87, Z:4.39 [[ 9.98389359e-01 -5.45058073e-02 -1.57417893e-02 2.87243690e+02] [ 5.45110517e-02 9.98513163e-01 -9.60533942e-05 2.87138801e+00] [ 1.57236193e-02 -7.62202803e-04 9.99876086e-01 4.39422349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.75925415399996 meters Centerline goodness : 0.999008 Centerline is valid? [True, True] Translation: X:287.28, Y:2.87, Z:4.39 [[ 9.97983737e-01 -6.14870481e-02 -1.57417963e-02 2.87277057e+02] [ 6.14931765e-02 9.98107499e-01 -9.48906151e-05 2.86888604e+00] [ 1.57178395e-02 -8.73313767e-04 9.99876086e-01 4.39381793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.789254154 meters Centerline goodness : 0.998840 Centerline is valid? [True, True] Translation: X:287.31, Y:2.87, Z:4.39 [[ 9.97816218e-01 -6.41481957e-02 -1.57418067e-02 2.87309068e+02] [ 6.41546817e-02 9.97939962e-01 -9.31356708e-05 2.86773778e+00] [ 1.57153524e-02 -9.16978315e-04 9.99876086e-01 4.39371288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.81925415399996 meters Centerline goodness : 0.998840 Centerline is valid? [True, True] Translation: X:287.34, Y:2.87, Z:4.39 [[ 9.97823283e-01 -6.40381954e-02 -1.57418151e-02 2.87342603e+02] [ 6.40446906e-02 9.97947027e-01 -9.16810336e-05 2.86784100e+00] [ 1.57153687e-02 -9.16698211e-04 9.99876086e-01 4.39424042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.849254154 meters Centerline goodness : 0.999009 Centerline is valid? [True, True] Translation: X:287.37, Y:2.87, Z:4.39 [[ 9.97687108e-01 -6.61258561e-02 -1.57418251e-02 2.87374781e+02] [ 6.61326376e-02 9.97810837e-01 -8.99457895e-05 2.86672969e+00] [ 1.57133114e-02 -9.51310657e-04 9.99876086e-01 4.39454114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.87925415399997 meters Centerline goodness : 0.999052 Centerline is valid? [True, True] Translation: X:287.42, Y:2.86, Z:4.39 [[ 9.98095392e-01 -5.96471555e-02 -1.57418331e-02 2.87416206e+02] [ 5.96531561e-02 9.98219161e-01 -8.85093995e-05 2.85525744e+00] [ 1.57190788e-02 -8.50709206e-04 9.99876086e-01 4.39013165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.90925415399994 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:287.43, Y:2.86, Z:4.40 [[ 9.97482743e-01 -6.91396372e-02 -1.57444696e-02 2.87432684e+02] [ 6.91555382e-02 9.97605781e-01 4.67092569e-04 2.86489768e+00] [ 1.56744793e-02 -1.55473404e-03 9.99875939e-01 4.39500413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.93925415399997 meters Centerline goodness : 0.999516 Centerline is valid? [True, True] Translation: X:287.47, Y:2.86, Z:4.40 [[ 9.97540124e-01 -6.83075393e-02 -1.57410841e-02 2.87465962e+02] [ 6.83145129e-02 9.97663830e-01 -9.48948082e-05 2.86498024e+00] [ 1.57107923e-02 -9.80683116e-04 9.99876097e-01 4.39581560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.96925415399994 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:287.50, Y:2.87, Z:4.40 [[ 9.97593464e-01 -6.75240625e-02 -1.57410946e-02 2.87498417e+02] [ 6.75309666e-02 9.97717174e-01 -9.31329930e-05 2.86500005e+00] [ 1.57114491e-02 -9.70102465e-04 9.99876097e-01 4.39551769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.99925415399997 meters Centerline goodness : 0.999138 Centerline is valid? [True, True] Translation: X:287.53, Y:2.87, Z:4.40 [[ 9.97646919e-01 -6.67296269e-02 -1.57411030e-02 2.87531154e+02] [ 6.67364554e-02 9.97770634e-01 -9.16755591e-05 2.86508497e+00] [ 1.57121278e-02 -9.59045582e-04 9.99876097e-01 4.39529235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.02925415399994 meters Centerline goodness : 0.998946 Centerline is valid? [True, True] Translation: X:287.56, Y:2.87, Z:4.40 [[ 9.97704010e-01 -6.58705292e-02 -1.57411127e-02 2.87562973e+02] [ 6.58772776e-02 9.97827729e-01 -8.99891696e-05 2.86539633e+00] [ 1.57128464e-02 -9.47199095e-04 9.99876097e-01 4.39531442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.059254154 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:287.59, Y:2.87, Z:4.39 [[ 9.97820089e-01 -6.40881128e-02 -1.57411190e-02 2.87594474e+02] [ 6.40946578e-02 9.97943820e-01 -8.88727208e-05 2.86585006e+00] [ 1.57144481e-02 -9.20242648e-04 9.99876097e-01 4.39410766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.08925415399995 meters Centerline goodness : 0.999008 Centerline is valid? [True, True] Translation: X:287.63, Y:2.87, Z:4.39 [[ 9.97880762e-01 -6.31363725e-02 -1.57411236e-02 2.87627741e+02] [ 6.31428125e-02 9.98004498e-01 -8.80409580e-05 2.86631211e+00] [ 1.57152708e-02 -9.06084441e-04 9.99876097e-01 4.39402248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.119254154 meters Centerline goodness : 0.999007 Centerline is valid? [True, True] Translation: X:287.67, Y:2.86, Z:4.39 [[ 9.98243440e-01 -5.71161188e-02 -1.57411327e-02 2.87665071e+02] [ 5.71218383e-02 9.98367211e-01 -8.63890500e-05 2.86300621e+00] [ 1.57203650e-02 -8.12925135e-04 9.99876097e-01 4.39112375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.14925415399995 meters Centerline goodness : 0.999071 Centerline is valid? [True, True] Translation: X:287.69, Y:2.87, Z:4.39 [[ 9.98107327e-01 -5.94469705e-02 -1.57423596e-02 2.87690760e+02] [ 5.94567095e-02 9.98230874e-01 1.50932555e-04 2.86878215e+00] [ 1.57055368e-02 -1.08663579e-03 9.99876070e-01 4.39424564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.179254154 meters Centerline goodness : 0.998733 Centerline is valid? [True, True] Translation: X:287.72, Y:2.87, Z:4.40 [[ 9.98222777e-01 -5.74761461e-02 -1.57410522e-02 2.87723396e+02] [ 5.74819062e-02 9.98346545e-01 -8.66472368e-05 2.87004351e+00] [ 1.57200053e-02 -8.18332442e-04 9.99876098e-01 4.39542044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.20925415399995 meters Centerline goodness : 0.998928 Centerline is valid? [True, True] Translation: X:287.76, Y:2.87, Z:4.40 [[ 9.98513613e-01 -5.21802949e-02 -1.57410614e-02 2.87755359e+02] [ 5.21854250e-02 9.98637409e-01 -8.49492735e-05 2.87246254e+00] [ 1.57240454e-02 -7.36630973e-04 9.99876098e-01 4.39834458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.239254154 meters Centerline goodness : 0.999154 Centerline is valid? [True, True] Translation: X:287.79, Y:2.87, Z:4.40 [[ 9.98684961e-01 -4.87910496e-02 -1.57410675e-02 2.87787686e+02] [ 4.87957777e-02 9.98808773e-01 -8.37935698e-05 2.87388925e+00] [ 1.57264047e-02 -6.84414255e-04 9.99876098e-01 4.39961781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.26925415399995 meters Centerline goodness : 0.999070 Centerline is valid? [True, True] Translation: X:287.82, Y:2.87, Z:4.40 [[ 9.98890173e-01 -4.43919080e-02 -1.57410736e-02 2.87818903e+02] [ 4.43961089e-02 9.99014003e-01 -8.26374968e-05 2.87486893e+00] [ 1.57292214e-02 -6.16296636e-04 9.99876098e-01 4.39843168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.299254154 meters Centerline goodness : 0.999070 Centerline is valid? [True, True] Translation: X:287.85, Y:2.88, Z:4.40 [[ 9.99208035e-01 -3.65447937e-02 -1.57410830e-02 2.87851472e+02] [ 3.65480506e-02 9.99331894e-01 -8.08118671e-05 2.87859859e+00] [ 1.57335195e-02 -4.94558031e-04 9.99876098e-01 4.40250054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.32925415399995 meters Centerline goodness : 0.998964 Centerline is valid? [True, True] Translation: X:287.88, Y:2.88, Z:4.40 [[ 9.99356167e-01 -3.22408034e-02 -1.57410889e-02 2.87882620e+02] [ 3.22435453e-02 9.99480039e-01 -7.96363838e-05 2.88027563e+00] [ 1.57354717e-02 -4.27963403e-04 9.99876098e-01 4.40335715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.359254154 meters Centerline goodness : 0.998942 Centerline is valid? [True, True] Translation: X:287.91, Y:2.88, Z:4.40 [[ 9.99482556e-01 -2.80506237e-02 -1.57410933e-02 2.87912859e+02] [ 2.80528600e-02 9.99606438e-01 -7.87619061e-05 2.88181679e+00] [ 1.57371075e-02 -3.62861535e-04 9.99876098e-01 4.40405853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.38925415399996 meters Centerline goodness : 0.999004 Centerline is valid? [True, True] Translation: X:287.94, Y:2.88, Z:4.41 [[ 9.99578459e-01 -2.43951201e-02 -1.57410947e-02 2.87943853e+02] [ 2.43969078e-02 9.99702348e-01 -7.84755244e-05 2.88315321e+00] [ 1.57383238e-02 -3.05591594e-04 9.99876098e-01 4.40508734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.419254154 meters Centerline goodness : 0.998982 Centerline is valid? [True, True] Translation: X:287.97, Y:2.89, Z:4.41 [[ 9.99688412e-01 -1.93725579e-02 -1.57410976e-02 2.87973310e+02] [ 1.93737324e-02 9.99812309e-01 -7.78882290e-05 2.88542890e+00] [ 1.57396521e-02 -2.27099853e-04 9.99876098e-01 4.40508874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.44925415399996 meters Centerline goodness : 0.998962 Centerline is valid? [True, True] Translation: X:288.00, Y:2.89, Z:4.40 [[ 9.99706709e-01 -1.84042083e-02 -1.57410962e-02 2.88001583e+02] [ 1.84052582e-02 9.99830606e-01 -7.81792677e-05 2.88650712e+00] [ 1.57398686e-02 -2.11562602e-04 9.99876098e-01 4.40498816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.479254154 meters Centerline goodness : 0.998937 Centerline is valid? [True, True] Translation: X:288.03, Y:2.89, Z:4.41 [[ 9.99711876e-01 -1.81213325e-02 -1.57410753e-02 2.88029844e+02] [ 1.81222844e-02 9.99835775e-01 -8.21765481e-05 2.88729442e+00] [ 1.57399794e-02 -2.03111373e-04 9.99876098e-01 4.40536908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.50925415399996 meters Centerline goodness : 0.999086 Centerline is valid? [True, True] Translation: X:288.06, Y:2.89, Z:4.40 [[ 9.99691577e-01 -1.92085815e-02 -1.57410530e-02 2.88057551e+02] [ 1.92096041e-02 9.99815475e-01 -8.62480976e-05 2.88779926e+00] [ 1.57398051e-02 -2.16157900e-04 9.99876098e-01 4.40492482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.539254154 meters Centerline goodness : 0.998858 Centerline is valid? [True, True] Translation: X:288.09, Y:2.89, Z:4.40 [[ 9.99666823e-01 -2.04563608e-02 -1.57410450e-02 2.88086550e+02] [ 2.04575153e-02 9.99790719e-01 -8.76883139e-05 2.88794193e+00] [ 1.57395445e-02 -2.34363571e-04 9.99876098e-01 4.40472083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.56925415399996 meters Centerline goodness : 0.999087 Centerline is valid? [True, True] Translation: X:288.12, Y:2.89, Z:4.41 [[ 9.99585466e-01 -2.41063332e-02 -1.57410402e-02 2.88115550e+02] [ 2.41079267e-02 9.99709358e-01 -8.85444943e-05 2.88799364e+00] [ 1.57385997e-02 -2.90976053e-04 9.99876098e-01 4.40654391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.599254154 meters Centerline goodness : 0.999511 Centerline is valid? [True, True] Translation: X:288.15, Y:2.89, Z:4.41 [[ 9.99539523e-01 -2.59415266e-02 -1.57410165e-02 2.88145502e+02] [ 2.59432841e-02 9.99663412e-01 -9.25696461e-05 2.88803861e+00] [ 1.57381197e-02 -3.15846644e-04 9.99876098e-01 4.40707103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.62925415399997 meters Centerline goodness : 0.999045 Centerline is valid? [True, True] Translation: X:288.18, Y:2.89, Z:4.41 [[ 9.99482594e-01 -2.80493159e-02 -1.57410148e-02 2.88176256e+02] [ 2.80513302e-02 9.99606480e-01 -9.28543731e-05 2.88828215e+00] [ 1.57374249e-02 -3.48750075e-04 9.99876098e-01 4.40786915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.65925415399994 meters Centerline goodness : 0.999024 Centerline is valid? [True, True] Translation: X:288.21, Y:2.89, Z:4.41 [[ 9.99424992e-01 -3.00317391e-02 -1.57410148e-02 2.88206338e+02] [ 3.00339991e-02 9.99548873e-01 -9.28543731e-05 2.88837774e+00] [ 1.57367022e-02 -3.79964645e-04 9.99876098e-01 4.40828706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.68925415399997 meters Centerline goodness : 0.999024 Centerline is valid? [True, True] Translation: X:288.24, Y:2.89, Z:4.41 [[ 9.99289548e-01 -3.42435454e-02 -1.57410201e-02 2.88237402e+02] [ 3.42463417e-02 9.99413418e-01 -9.19515524e-05 2.88790678e+00] [ 1.57349355e-02 -4.47186129e-04 9.99876098e-01 4.40925078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.71925415399994 meters Centerline goodness : 0.999322 Centerline is valid? [True, True] Translation: X:288.27, Y:2.89, Z:4.41 [[ 9.99209533e-01 -3.65038311e-02 -1.57410309e-02 2.88269795e+02] [ 3.65069374e-02 9.99333396e-01 -9.00600670e-05 2.88763374e+00] [ 1.57338254e-02 -4.84667953e-04 9.99876098e-01 4.41011311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.74925415399997 meters Centerline goodness : 0.999112 Centerline is valid? [True, True] Translation: X:288.30, Y:2.89, Z:4.41 [[ 9.99018904e-01 -4.13938402e-02 -1.57410373e-02 2.88300802e+02] [ 4.13975705e-02 9.99142749e-01 -8.89251778e-05 2.88664101e+00] [ 1.57312243e-02 -5.62802770e-04 9.99876098e-01 4.41057188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.77925415399994 meters Centerline goodness : 0.999131 Centerline is valid? [True, True] Translation: X:288.33, Y:2.89, Z:4.41 [[ 9.98889572e-01 -4.44054362e-02 -1.57410421e-02 2.88333447e+02] [ 4.44095532e-02 9.99013405e-01 -8.80789671e-05 2.88629697e+00] [ 1.57294232e-02 -6.11071483e-04 9.99876098e-01 4.41179946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.809254154 meters Centerline goodness : 0.999216 Centerline is valid? [True, True] Translation: X:288.36, Y:2.89, Z:4.41 [[ 9.98749917e-01 -4.74428279e-02 -1.57410485e-02 2.88364298e+02] [ 4.74473399e-02 9.98873737e-01 -8.69068300e-05 2.88577686e+00] [ 1.57274431e-02 -6.60072692e-04 9.99876098e-01 4.41127086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.83925415399995 meters Centerline goodness : 0.999153 Centerline is valid? [True, True] Translation: X:288.40, Y:2.89, Z:4.41 [[ 9.98634995e-01 -4.98032789e-02 -1.57410533e-02 2.88395927e+02] [ 4.98080973e-02 9.98758803e-01 -8.60327330e-05 2.88515769e+00] [ 1.57258003e-02 -6.98116618e-04 9.99876098e-01 4.41096760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.869254154 meters Centerline goodness : 0.999365 Centerline is valid? [True, True] Translation: X:288.43, Y:2.88, Z:4.41 [[ 9.98275177e-01 -5.65588079e-02 -1.57407618e-02 2.88429064e+02] [ 5.65636266e-02 9.98398987e-01 -1.39264581e-04 2.88418704e+00] [ 1.57234373e-02 -7.51330200e-04 9.99876097e-01 4.41234975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.89925415399995 meters Centerline goodness : 0.999407 Centerline is valid? [True, True] Translation: X:288.46, Y:2.88, Z:4.41 [[ 9.98149845e-01 -5.87290974e-02 -1.57410591e-02 2.88461619e+02] [ 5.87350754e-02 9.98273602e-01 -8.26616983e-05 2.88344154e+00] [ 1.57187384e-02 -8.42043531e-04 9.99876098e-01 4.41183417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.929254154 meters Centerline goodness : 0.999091 Centerline is valid? [True, True] Translation: X:288.49, Y:2.88, Z:4.41 [[ 9.98039841e-01 -6.05697540e-02 -1.57410730e-02 2.88494726e+02] [ 6.05760034e-02 9.98163585e-01 -7.99187403e-05 2.88321292e+00] [ 1.57170065e-02 -8.73769205e-04 9.99876098e-01 4.41299871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.95925415399995 meters Centerline goodness : 0.998920 Centerline is valid? [True, True] Translation: X:288.53, Y:2.88, Z:4.41 [[ 9.97933249e-01 -6.23012821e-02 -1.57410815e-02 2.88526682e+02] [ 6.23077732e-02 9.98056980e-01 -7.82011857e-05 2.88362524e+00] [ 1.57153683e-02 -9.02752176e-04 9.99876098e-01 4.41432884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.989254154 meters Centerline goodness : 0.999090 Centerline is valid? [True, True] Translation: X:288.56, Y:2.88, Z:4.42 [[ 9.97930600e-01 -6.23436918e-02 -1.57410873e-02 2.88559602e+02] [ 6.23502066e-02 9.98054330e-01 -7.70275091e-05 2.88440966e+00] [ 1.57152625e-02 -9.04591936e-04 9.99876098e-01 4.41506756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.01925415399995 meters Centerline goodness : 0.998857 Centerline is valid? [True, True] Translation: X:288.59, Y:2.89, Z:4.42 [[ 9.97968138e-01 -6.17398883e-02 -1.57410957e-02 2.88592370e+02] [ 6.17463558e-02 9.98091870e-01 -7.52731930e-05 2.88503873e+00] [ 1.57157070e-02 -8.96835046e-04 9.99876098e-01 4.41564910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.049254154 meters Centerline goodness : 0.998964 Centerline is valid? [True, True] Translation: X:288.62, Y:2.89, Z:4.42 [[ 9.98043852e-01 -6.05036139e-02 -1.57411039e-02 2.88624708e+02] [ 6.05099558e-02 9.98167591e-01 -7.35113767e-05 2.88581600e+00] [ 1.57167075e-02 -8.79125924e-04 9.99876098e-01 4.41553543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.07925415399995 meters Centerline goodness : 0.998919 Centerline is valid? [True, True] Translation: X:288.66, Y:2.89, Z:4.42 [[ 9.98243751e-01 -5.71106864e-02 -1.57411169e-02 2.88657657e+02] [ 5.71166533e-02 9.98367509e-01 -7.06078817e-05 2.88763959e+00] [ 1.57194522e-02 -8.28596042e-04 9.99876098e-01 4.41731760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.109254154 meters Centerline goodness : 0.998899 Centerline is valid? [True, True] Translation: X:288.69, Y:2.89, Z:4.42 [[ 9.98384268e-01 -5.45991802e-02 -1.57411245e-02 2.88688883e+02] [ 5.46048629e-02 9.98508039e-01 -6.88797850e-05 2.88863897e+00] [ 1.57214001e-02 -7.90773451e-04 9.99876098e-01 4.41518078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.13925415399996 meters Centerline goodness : 0.998940 Centerline is valid? [True, True] Translation: X:288.72, Y:2.89, Z:4.42 [[ 9.98504013e-01 -5.23636671e-02 -1.57411334e-02 2.88720865e+02] [ 5.23691056e-02 9.98627795e-01 -6.67854138e-05 2.89009724e+00] [ 1.57230304e-02 -7.57663572e-04 9.99876098e-01 4.41784957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.169254154 meters Centerline goodness : 0.998959 Centerline is valid? [True, True] Translation: X:288.75, Y:2.89, Z:4.42 [[ 9.98784695e-01 -4.67049188e-02 -1.57411381e-02 2.88753307e+02] [ 4.67096737e-02 9.98908505e-01 -6.56514757e-05 2.89267769e+00] [ 1.57270230e-02 -6.69691735e-04 9.99876098e-01 4.41640999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.19925415399996 meters Centerline goodness : 0.999065 Centerline is valid? [True, True] Translation: X:288.79, Y:2.89, Z:4.42 [[ 9.98896801e-01 -4.42424835e-02 -1.57411427e-02 2.88785486e+02] [ 4.42469508e-02 9.99020622e-01 -6.45254058e-05 2.89488933e+00] [ 1.57285810e-02 -6.32043347e-04 9.99876098e-01 4.41763338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.229254154 meters Centerline goodness : 0.998896 Centerline is valid? [True, True] Translation: X:288.82, Y:2.90, Z:4.42 [[ 9.99021702e-01 -4.13262070e-02 -1.57411472e-02 2.88817195e+02] [ 4.13303306e-02 9.99145535e-01 -6.34043999e-05 2.89646110e+00] [ 1.57303172e-02 -5.87244447e-04 9.99876098e-01 4.41857231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.25925415399996 meters Centerline goodness : 0.998832 Centerline is valid? [True, True] Translation: X:288.85, Y:2.90, Z:4.42 [[ 9.99276552e-01 -3.46206300e-02 -1.57411518e-02 2.88852006e+02] [ 3.46239405e-02 9.99400410e-01 -6.22546435e-05 2.89819639e+00] [ 1.57338688e-02 -4.82811097e-04 9.99876098e-01 4.42149354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.289254154 meters Centerline goodness : 0.998980 Centerline is valid? [True, True] Translation: X:288.88, Y:2.90, Z:4.42 [[ 9.99381545e-01 -3.14439542e-02 -1.57418389e-02 2.88884163e+02] [ 3.14496319e-02 9.99505332e-01 1.13195955e-04 2.89894779e+00] [ 1.57304926e-02 -6.08200987e-04 9.99876083e-01 4.42293343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.31925415399996 meters Centerline goodness : 0.999085 Centerline is valid? [True, True] Translation: X:288.92, Y:2.90, Z:4.42 [[ 9.99503520e-01 -2.72929250e-02 -1.57419466e-02 2.88916988e+02] [ 2.72985053e-02 9.99627317e-01 1.39669839e-04 2.89864590e+00] [ 1.57322678e-02 -5.69332108e-04 9.99876078e-01 4.42135101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.349254154 meters Centerline goodness : 0.999105 Centerline is valid? [True, True] Translation: X:288.94, Y:2.91, Z:4.42 [[ 9.99570007e-01 -2.47382303e-02 -1.57423610e-02 2.88940185e+02] [ 2.47450480e-02 9.99693766e-01 2.38416386e-04 2.90529191e+00] [ 1.57316422e-02 -6.27859347e-04 9.99876053e-01 4.42241711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.37925415399997 meters Centerline goodness : 0.999062 Centerline is valid? [True, True] Translation: X:288.97, Y:2.91, Z:4.42 [[ 9.99644118e-01 -2.15374526e-02 -1.57408741e-02 2.88970513e+02] [ 2.15389444e-02 9.99768007e-01 -7.47722629e-05 2.90673319e+00] [ 1.57388327e-02 -2.64296158e-04 9.99876102e-01 4.42345467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.40925415399994 meters Centerline goodness : 0.998997 Centerline is valid? [True, True] Translation: X:289.00, Y:2.91, Z:4.42 [[ 9.99701843e-01 -1.86668220e-02 -1.57408754e-02 2.88999967e+02] [ 1.86679626e-02 9.99825736e-01 -7.44853635e-05 2.90825079e+00] [ 1.57395228e-02 -2.19386918e-04 9.99876102e-01 4.42487994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.43925415399997 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:289.03, Y:2.91, Z:4.43 [[ 9.99815432e-01 -1.10148383e-02 -1.57408727e-02 2.89034966e+02] [ 1.10150215e-02 9.99939330e-01 -7.50595206e-05 2.90691429e+00] [ 1.57407445e-02 -9.83403849e-05 9.99876102e-01 4.42754298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.46925415399994 meters Centerline goodness : 0.998996 Centerline is valid? [True, True] Translation: X:289.06, Y:2.91, Z:4.43 [[ 9.99807278e-01 -1.17301301e-02 -1.57420090e-02 2.89060632e+02] [ 1.17341795e-02 9.99931139e-01 1.64895592e-04 2.91009648e+00] [ 1.57389907e-02 -3.49583373e-04 9.99876073e-01 4.42784674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.49925415399997 meters Centerline goodness : 0.998953 Centerline is valid? [True, True] Translation: X:289.09, Y:2.91, Z:4.43 [[ 9.99823182e-01 -1.02875780e-02 -1.57407175e-02 2.89088614e+02] [ 1.02875575e-02 9.99947078e-01 -8.22791283e-05 2.90992444e+00] [ 1.57407309e-02 -7.96689557e-05 9.99876104e-01 4.42803006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.52925415399994 meters Centerline goodness : 0.999168 Centerline is valid? [True, True] Translation: X:289.12, Y:2.91, Z:4.43 [[ 9.99828596e-01 -9.74726921e-03 -1.57407098e-02 2.89116918e+02] [ 9.74715893e-03 9.99952492e-01 -8.37261562e-05 2.90960756e+00] [ 1.57407780e-02 -6.97153945e-05 9.99876104e-01 4.42879170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.559254154 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:289.15, Y:2.91, Z:4.43 [[ 9.99817171e-01 -1.08560810e-02 -1.57406838e-02 2.89145862e+02] [ 1.08560352e-02 9.99941068e-01 -8.83558265e-05 2.90886993e+00] [ 1.57407153e-02 -8.25417444e-05 9.99876104e-01 4.42911599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.58925415399995 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:289.17, Y:2.91, Z:4.43 [[ 9.99795885e-01 -1.26656871e-02 -1.57406598e-02 2.89172906e+02] [ 1.26658012e-02 9.99919781e-01 -9.24397567e-05 2.90873811e+00] [ 1.57405679e-02 -1.06947180e-04 9.99876104e-01 4.42895485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.619254154 meters Centerline goodness : 0.999126 Centerline is valid? [True, True] Translation: X:289.20, Y:2.91, Z:4.43 [[ 9.99720332e-01 -1.76491059e-02 -1.57406394e-02 2.89200863e+02] [ 1.76497848e-02 9.99844226e-01 -9.57973622e-05 2.90681334e+00] [ 1.57398781e-02 -1.82048327e-04 9.99876104e-01 4.42791615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.64925415399995 meters Centerline goodness : 0.999319 Centerline is valid? [True, True] Translation: X:289.23, Y:2.91, Z:4.43 [[ 9.99655479e-01 -2.10036923e-02 -1.57406307e-02 2.89229605e+02] [ 2.10047647e-02 9.99779371e-01 -9.72060345e-05 2.90528115e+00] [ 1.57391995e-02 -2.33455699e-04 9.99876104e-01 4.42881430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.679254154 meters Centerline goodness : 0.999021 Centerline is valid? [True, True] Translation: X:289.26, Y:2.90, Z:4.43 [[ 9.99582536e-01 -2.42277974e-02 -1.57406048e-02 2.89259318e+02] [ 2.42292061e-02 9.99706425e-01 -1.01231081e-04 2.90334522e+00] [ 1.57384363e-02 -2.80193536e-04 9.99876104e-01 4.42796080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.70925415399995 meters Centerline goodness : 0.998983 Centerline is valid? [True, True] Translation: X:289.29, Y:2.90, Z:4.43 [[ 9.99387747e-01 -3.12468456e-02 -1.57406011e-02 2.89289599e+02] [ 3.12491153e-02 9.99511622e-01 -1.01801558e-04 2.90069733e+00] [ 1.57360947e-02 -3.90140628e-04 9.99876104e-01 4.42957672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.739254154 meters Centerline goodness : 0.998983 Centerline is valid? [True, True] Translation: X:289.32, Y:2.90, Z:4.43 [[ 9.99388900e-01 -3.12099277e-02 -1.57406011e-02 2.89321438e+02] [ 3.12121928e-02 9.99512776e-01 -1.01801558e-04 2.90087436e+00] [ 1.57361091e-02 -3.89559329e-04 9.99876104e-01 4.43007797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.76925415399995 meters Centerline goodness : 0.999045 Centerline is valid? [True, True] Translation: X:289.35, Y:2.90, Z:4.43 [[ 9.99283000e-01 -3.44342624e-02 -1.57406048e-02 2.89353099e+02] [ 3.44369364e-02 9.99406868e-01 -1.01220021e-04 2.90009227e+00] [ 1.57347540e-02 -4.40910760e-04 9.99876104e-01 4.42812308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.799254154 meters Centerline goodness : 0.999025 Centerline is valid? [True, True] Translation: X:289.38, Y:2.90, Z:4.43 [[ 9.99131047e-01 -3.85925471e-02 -1.57406170e-02 2.89384812e+02] [ 3.85957667e-02 9.99254901e-01 -9.92964253e-05 2.89919833e+00] [ 1.57327207e-02 -5.08311039e-04 9.99876104e-01 4.43200617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.82925415399995 meters Centerline goodness : 0.998899 Centerline is valid? [True, True] Translation: X:289.42, Y:2.90, Z:4.43 [[ 9.99095104e-01 -3.95121017e-02 -1.57406242e-02 2.89416335e+02] [ 3.95154537e-02 9.99218955e-01 -9.81355006e-05 2.89908843e+00] [ 1.57322076e-02 -5.23951208e-04 9.99876104e-01 4.43198929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.859254154 meters Centerline goodness : 0.998962 Centerline is valid? [True, True] Translation: X:289.45, Y:2.90, Z:4.43 [[ 9.99078437e-01 -3.99313056e-02 -1.57406362e-02 2.89448292e+02] [ 3.99347403e-02 9.99202285e-01 -9.61766299e-05 2.89906284e+00] [ 1.57319201e-02 -5.32510220e-04 9.99876104e-01 4.43283568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.88925415399996 meters Centerline goodness : 0.998962 Centerline is valid? [True, True] Translation: X:289.48, Y:2.90, Z:4.43 [[ 9.99089693e-01 -3.96486686e-02 -1.57406431e-02 2.89480316e+02] [ 3.96520864e-02 9.99213542e-01 -9.50215827e-05 2.89910241e+00] [ 1.57320313e-02 -5.29214258e-04 9.99876104e-01 4.43311962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.919254154 meters Centerline goodness : 0.998878 Centerline is valid? [True, True] Translation: X:289.51, Y:2.90, Z:4.43 [[ 9.99107735e-01 -3.91914016e-02 -1.57406500e-02 2.89512242e+02] [ 3.91947809e-02 9.99231585e-01 -9.38719903e-05 2.89938556e+00] [ 1.57322336e-02 -5.23163096e-04 9.99876104e-01 4.43373137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.94925415399996 meters Centerline goodness : 0.999046 Centerline is valid? [True, True] Translation: X:289.54, Y:2.90, Z:4.43 [[ 9.99194917e-01 -3.69019001e-02 -1.57406568e-02 2.89543484e+02] [ 3.69050138e-02 9.99318774e-01 -9.27114350e-05 2.89945827e+00] [ 1.57333551e-02 -4.88272363e-04 9.99876104e-01 4.43309673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.979254154 meters Centerline goodness : 0.999153 Centerline is valid? [True, True] Translation: X:289.58, Y:2.90, Z:4.44 [[ 9.99252480e-01 -3.53088164e-02 -1.57406619e-02 2.89575524e+02] [ 3.53117463e-02 9.99376342e-01 -9.18467661e-05 2.89989824e+00] [ 1.57340881e-02 -4.64052149e-04 9.99876104e-01 4.43556745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.00925415399996 meters Centerline goodness : 0.999215 Centerline is valid? [True, True] Translation: X:289.61, Y:2.90, Z:4.44 [[ 9.99313367e-01 -3.35414026e-02 -1.57406685e-02 2.89606961e+02] [ 3.35441316e-02 9.99437233e-01 -9.06895978e-05 2.90072147e+00] [ 1.57348521e-02 -4.37379730e-04 9.99876104e-01 4.43531108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.039254154 meters Centerline goodness : 0.999192 Centerline is valid? [True, True] Translation: X:289.64, Y:2.90, Z:4.44 [[ 9.99443533e-01 -2.94084105e-02 -1.57406735e-02 2.89639367e+02] [ 2.94106409e-02 9.99567410e-01 -8.98268740e-05 2.90222083e+00] [ 1.57365059e-02 -3.73166405e-04 9.99876104e-01 4.43724094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.06925415399996 meters Centerline goodness : 0.999171 Centerline is valid? [True, True] Translation: X:289.67, Y:2.90, Z:4.44 [[ 9.99501923e-01 -2.73520941e-02 -1.57406800e-02 2.89670444e+02] [ 2.73540877e-02 9.99625803e-01 -8.86708300e-05 2.90295904e+00] [ 1.57372152e-02 -3.41945275e-04 9.99876104e-01 4.43756323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.099254154 meters Centerline goodness : 0.998787 Centerline is valid? [True, True] Translation: X:289.70, Y:2.90, Z:4.44 [[ 9.99565274e-01 -2.49297808e-02 -1.57406832e-02 2.89701618e+02] [ 2.49314833e-02 9.99689158e-01 -8.80968888e-05 2.90307769e+00] [ 1.57379866e-02 -3.04379988e-04 9.99876104e-01 4.43713990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.12925415399997 meters Centerline goodness : 0.999041 Centerline is valid? [True, True] Translation: X:289.73, Y:2.90, Z:4.44 [[ 9.99656350e-01 -2.09621559e-02 -1.57406864e-02 2.89732014e+02] [ 2.09633757e-02 9.99780240e-01 -8.75199817e-05 2.90464150e+00] [ 1.57390618e-02 -2.42488017e-04 9.99876104e-01 4.43717041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.15925415399994 meters Centerline goodness : 0.999169 Centerline is valid? [True, True] Translation: X:289.76, Y:2.91, Z:4.44 [[ 9.99699682e-01 -1.87823210e-02 -1.57406880e-02 2.89762030e+02] [ 1.87832752e-02 9.99823575e-01 -8.72338824e-05 2.90531190e+00] [ 1.57395494e-02 -2.08453989e-04 9.99876104e-01 4.43750043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.18925415399997 meters Centerline goodness : 0.999253 Centerline is valid? [True, True] Translation: X:289.79, Y:2.91, Z:4.44 [[ 9.99730239e-01 -1.70786167e-02 -1.57406848e-02 2.89791185e+02] [ 1.70793507e-02 9.99854133e-01 -8.78029721e-05 2.90627467e+00] [ 1.57398883e-02 -1.81061390e-04 9.99876104e-01 4.43770653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.21925415399994 meters Centerline goodness : 0.999211 Centerline is valid? [True, True] Translation: X:289.82, Y:2.91, Z:4.44 [[ 9.99759159e-01 -1.52923206e-02 -1.57406615e-02 2.89819327e+02] [ 1.52927704e-02 9.99883055e-01 -9.17927877e-05 2.90744261e+00] [ 1.57402245e-02 -1.48947643e-04 9.99876104e-01 4.43796603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.24925415399997 meters Centerline goodness : 0.999232 Centerline is valid? [True, True] Translation: X:289.85, Y:2.91, Z:4.44 [[ 9.99798813e-01 -1.24324685e-02 -1.57406532e-02 2.89847290e+02] [ 1.24325417e-02 9.99922709e-01 -9.32041302e-05 2.90902707e+00] [ 1.57405953e-02 -1.02510949e-04 9.99876104e-01 4.43874329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.27925415399994 meters Centerline goodness : 0.998996 Centerline is valid? [True, True] Translation: X:289.87, Y:2.91, Z:4.44 [[ 9.99807165e-01 -1.17416580e-02 -1.57406252e-02 2.89874670e+02] [ 1.17415745e-02 9.99931061e-01 -9.77185143e-05 2.90959620e+00] [ 1.57406874e-02 -8.71200528e-05 9.99876104e-01 4.43977887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.309254154 meters Centerline goodness : 0.999126 Centerline is valid? [True, True] Translation: X:289.90, Y:2.91, Z:4.44 [[ 9.99813244e-01 -1.12121017e-02 -1.57405953e-02 2.89901362e+02] [ 1.12118804e-02 9.99937140e-01 -1.02310650e-04 2.90997093e+00] [ 1.57407530e-02 -7.41901294e-05 9.99876104e-01 4.43978115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.33925415399995 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:289.93, Y:2.91, Z:4.44 [[ 9.99815986e-01 -1.09648301e-02 -1.57405821e-02 2.89930297e+02] [ 1.09645468e-02 9.99939882e-01 -1.04296438e-04 2.90997185e+00] [ 1.57407795e-02 -6.83111044e-05 9.99876104e-01 4.43931314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.369254154 meters Centerline goodness : 0.999466 Centerline is valid? [True, True] Translation: X:289.96, Y:2.91, Z:4.44 [[ 9.99806271e-01 -1.18175713e-02 -1.57405549e-02 2.89959288e+02] [ 1.18173314e-02 9.99930167e-01 -1.08251560e-04 2.91078817e+00] [ 1.57407350e-02 -7.77807665e-05 9.99876104e-01 4.44124641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.39925415399995 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:289.99, Y:2.91, Z:4.44 [[ 9.99794820e-01 -1.27496822e-02 -1.57405261e-02 2.89987657e+02] [ 1.27494942e-02 9.99918716e-01 -1.12301059e-04 2.91096941e+00] [ 1.57406784e-02 -8.84057283e-05 9.99876104e-01 4.44122196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.429254154 meters Centerline goodness : 0.999338 Centerline is valid? [True, True] Translation: X:290.02, Y:2.91, Z:4.44 [[ 9.99780117e-01 -1.38547439e-02 -1.57404919e-02 2.90016194e+02] [ 1.38546203e-02 9.99904013e-01 -1.16904813e-04 2.91120032e+00] [ 1.57406007e-02 -1.01199429e-04 9.99876104e-01 4.44216910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.45925415399995 meters Centerline goodness : 0.999424 Centerline is valid? [True, True] Translation: X:290.04, Y:2.91, Z:4.44 [[ 9.99741486e-01 -1.64072786e-02 -1.57404610e-02 2.90044352e+02] [ 1.64074080e-02 9.99865382e-01 -1.20924215e-04 2.91056871e+00] [ 1.57403261e-02 -1.37367212e-04 9.99876104e-01 4.44277934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.489254154 meters Centerline goodness : 0.999126 Centerline is valid? [True, True] Translation: X:290.07, Y:2.91, Z:4.44 [[ 9.99712958e-01 -1.80621074e-02 -1.57404499e-02 2.90073464e+02] [ 1.80624196e-02 9.99836854e-01 -1.22345273e-04 2.91035784e+00] [ 1.57400918e-02 -1.62000457e-04 9.99876104e-01 4.44386056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.51925415399995 meters Centerline goodness : 0.998977 Centerline is valid? [True, True] Translation: X:290.10, Y:2.91, Z:4.44 [[ 9.99656219e-01 -2.09686428e-02 -1.57404175e-02 2.90102256e+02] [ 2.09692516e-02 9.99780113e-01 -1.26382470e-04 2.90909950e+00] [ 1.57396065e-02 -2.03725753e-04 9.99876104e-01 4.44382400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.549254154 meters Centerline goodness : 0.998829 Centerline is valid? [True, True] Translation: X:290.13, Y:2.91, Z:4.44 [[ 9.99630215e-01 -2.21737000e-02 -1.57404106e-02 2.90132197e+02] [ 2.21744447e-02 9.99754109e-01 -1.27238616e-04 2.90861717e+00] [ 1.57393615e-02 -2.21843298e-04 9.99876104e-01 4.44474624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.57925415399995 meters Centerline goodness : 0.998550 Centerline is valid? [True, True] Translation: X:290.16, Y:2.91, Z:4.45 [[ 9.99596854e-01 -2.36298217e-02 -1.57404061e-02 2.90161545e+02] [ 2.36307382e-02 9.99720747e-01 -1.27788253e-04 2.90824202e+00] [ 1.57390302e-02 -2.44220681e-04 9.99876104e-01 4.44719369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.609254154 meters Centerline goodness : 0.997341 Centerline is valid? [True, True] Translation: X:290.19, Y:2.91, Z:4.45 [[ 9.99549056e-01 -2.55719393e-02 -1.57404014e-02 2.90192108e+02] [ 2.55730874e-02 9.99672947e-01 -1.28369936e-04 2.90681924e+00] [ 1.57385361e-02 -2.74218612e-04 9.99876104e-01 4.44828652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.63925415399996 meters Centerline goodness : 0.996357 Centerline is valid? [True, True] Translation: X:290.22, Y:2.91, Z:4.45 [[ 9.99532636e-01 -2.62059123e-02 -1.57404014e-02 2.90222659e+02] [ 2.62071389e-02 9.99656526e-01 -1.28369936e-04 2.90575940e+00] [ 1.57383590e-02 -2.84200945e-04 9.99876104e-01 4.44826152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.669254154 meters Centerline goodness : 0.995873 Centerline is valid? [True, True] Translation: X:290.25, Y:2.90, Z:4.45 [[ 9.99525168e-01 -2.64892127e-02 -1.57404014e-02 2.90253289e+02] [ 2.64904744e-02 9.99649058e-01 -1.28369936e-04 2.90448894e+00] [ 1.57382778e-02 -2.88661719e-04 9.99876104e-01 4.44803659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.69925415399996 meters Centerline goodness : 0.993816 Centerline is valid? [True, True] Translation: X:290.28, Y:2.90, Z:4.45 [[ 9.99527947e-01 -2.63841420e-02 -1.57404037e-02 2.90283416e+02] [ 2.63853952e-02 9.99651837e-01 -1.28081563e-04 2.90191006e+00] [ 1.57383028e-02 -2.87295672e-04 9.99876104e-01 4.44811546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.729254154 meters Centerline goodness : 0.993032 Centerline is valid? [True, True] Translation: X:290.31, Y:2.90, Z:4.45 [[ 9.99538793e-01 -2.59700094e-02 -1.57404037e-02 2.90313466e+02] [ 2.59712114e-02 9.99662683e-01 -1.28081563e-04 2.90080364e+00] [ 1.57384205e-02 -2.80774861e-04 9.99876104e-01 4.44839208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.75925415399996 meters Centerline goodness : 0.992318 Centerline is valid? [True, True] Translation: X:290.34, Y:2.90, Z:4.45 [[ 9.99557456e-01 -2.52414843e-02 -1.57404037e-02 2.90344307e+02] [ 2.52425959e-02 9.99681347e-01 -1.28081563e-04 2.89968266e+00] [ 1.57386210e-02 -2.69303770e-04 9.99876104e-01 4.44889534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.789254154 meters Centerline goodness : 0.992129 Centerline is valid? [True, True] Translation: X:290.38, Y:2.90, Z:4.45 [[ 9.99584262e-01 -2.41566486e-02 -1.57404061e-02 2.90375157e+02] [ 2.41576303e-02 9.99708154e-01 -1.27793871e-04 2.89887195e+00] [ 1.57388994e-02 -2.52510169e-04 9.99876104e-01 4.44894349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.81925415399996 meters Centerline goodness : 0.991439 Centerline is valid? [True, True] Translation: X:290.41, Y:2.89, Z:4.44 [[ 9.99775627e-01 -1.41751371e-02 -1.57404084e-02 2.90413625e+02] [ 1.41748862e-02 9.99899523e-01 -1.27506149e-04 2.88968558e+00] [ 1.57406343e-02 -9.56409582e-05 9.99876104e-01 4.44389301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.849254154 meters Centerline goodness : 0.991118 Centerline is valid? [True, True] Translation: X:290.44, Y:2.89, Z:4.44 [[ 9.99765307e-01 -1.48823199e-02 -1.57431449e-02 2.90439538e+02] [ 1.48890172e-02 9.99889105e-01 3.08283555e-04 2.89133401e+00] [ 1.57368111e-02 -5.42611158e-04 9.99876021e-01 4.44490189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.87925415399997 meters Centerline goodness : 0.990844 Centerline is valid? [True, True] Translation: X:290.47, Y:2.89, Z:4.45 [[ 9.99753739e-01 -1.56414341e-02 -1.57418811e-02 2.90466855e+02] [ 1.56452496e-02 9.99877598e-01 1.19249088e-04 2.89297309e+00] [ 1.57380891e-02 -3.65505382e-04 9.99876082e-01 4.44544488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.90925415399994 meters Centerline goodness : 0.990841 Centerline is valid? [True, True] Translation: X:290.49, Y:2.89, Z:4.45 [[ 9.99758706e-01 -1.53216904e-02 -1.57408937e-02 2.90493442e+02] [ 1.53233510e-02 9.99882590e-01 -1.51121982e-05 2.89233493e+00] [ 1.57392771e-02 -2.26094687e-04 9.99876104e-01 4.44958714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.93925415399997 meters Centerline goodness : 0.990600 Centerline is valid? [True, True] Translation: X:290.52, Y:2.89, Z:4.45 [[ 9.99771794e-01 -1.44433188e-02 -1.57400688e-02 2.90520977e+02] [ 1.44431917e-02 9.99895684e-01 -1.21754781e-04 2.89100605e+00] [ 1.57401854e-02 -1.05609836e-04 9.99876110e-01 4.45012946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.96925415399994 meters Centerline goodness : 0.991148 Centerline is valid? [True, True] Translation: X:290.55, Y:2.89, Z:4.45 [[ 9.99782958e-01 -1.36487151e-02 -1.57400312e-02 2.90548259e+02] [ 1.36484159e-02 9.99906848e-01 -1.26434422e-04 2.88975671e+00] [ 1.57402907e-02 -8.84195116e-05 9.99876110e-01 4.45060889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.99925415399997 meters Centerline goodness : 0.991020 Centerline is valid? [True, True] Translation: X:290.58, Y:2.89, Z:4.45 [[ 9.99789756e-01 -1.31413832e-02 -1.57400147e-02 2.90575717e+02] [ 1.31409892e-02 9.99913645e-01 -1.28460253e-04 2.88710998e+00] [ 1.57403436e-02 -7.84061183e-05 9.99876110e-01 4.45066173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.02925415399994 meters Centerline goodness : 0.991342 Centerline is valid? [True, True] Translation: X:290.60, Y:2.89, Z:4.45 [[ 9.99785346e-01 -1.34727634e-02 -1.57399760e-02 2.90602950e+02] [ 1.34723384e-02 9.99909235e-01 -1.33043484e-04 2.88557391e+00] [ 1.57403398e-02 -7.90393566e-05 9.99876110e-01 4.45060541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.059254154 meters Centerline goodness : 0.990797 Centerline is valid? [True, True] Translation: X:290.63, Y:2.88, Z:4.45 [[ 9.99769486e-01 -1.46023777e-02 -1.57399487e-02 2.90631230e+02] [ 1.46020430e-02 9.99893375e-01 -1.36190457e-04 2.88362754e+00] [ 1.57402592e-02 -9.36763454e-05 9.99876110e-01 4.45052295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.08925415399995 meters Centerline goodness : 0.990946 Centerline is valid? [True, True] Translation: X:290.66, Y:2.88, Z:4.45 [[ 9.99717864e-01 -1.77889636e-02 -1.57399078e-02 2.90659645e+02] [ 1.77889518e-02 9.99841754e-01 -1.40763284e-04 2.87866661e+00] [ 1.57399211e-02 -1.39272893e-04 9.99876110e-01 4.44987419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.119254154 meters Centerline goodness : 0.991455 Centerline is valid? [True, True] Translation: X:290.69, Y:2.88, Z:4.45 [[ 9.99684897e-01 -1.95541057e-02 -1.57398649e-02 2.90687325e+02] [ 1.95542395e-02 9.99808787e-01 -1.45414703e-04 2.87605106e+00] [ 1.57396987e-02 -1.62412205e-04 9.99876110e-01 4.44930141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.14925415399995 meters Centerline goodness : 0.990969 Centerline is valid? [True, True] Translation: X:290.72, Y:2.87, Z:4.45 [[ 9.99611459e-01 -2.30041054e-02 -1.57398514e-02 2.90715848e+02] [ 2.30046441e-02 9.99735347e-01 -1.46854189e-04 2.87139578e+00] [ 1.57390641e-02 -2.15292551e-04 9.99876110e-01 4.45096081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.179254154 meters Centerline goodness : 0.991177 Centerline is valid? [True, True] Translation: X:290.74, Y:2.87, Z:4.45 [[ 9.99575349e-01 -2.45230359e-02 -1.57398122e-02 2.90744238e+02] [ 2.45236984e-02 9.99699237e-01 -1.50943688e-04 2.86997827e+00] [ 1.57387799e-02 -2.35118818e-04 9.99876110e-01 4.45112898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.20925415399995 meters Centerline goodness : 0.991222 Centerline is valid? [True, True] Translation: X:290.77, Y:2.87, Z:4.45 [[ 9.99544614e-01 -2.57453405e-02 -1.57398039e-02 2.90774191e+02] [ 2.57461409e-02 9.99668502e-01 -1.51811825e-04 2.86814933e+00] [ 1.57384946e-02 -2.53496515e-04 9.99876110e-01 4.45294077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.239254154 meters Centerline goodness : 0.991690 Centerline is valid? [True, True] Translation: X:290.80, Y:2.86, Z:4.45 [[ 9.99577024e-01 -2.44546852e-02 -1.57397983e-02 2.90803570e+02] [ 2.44553165e-02 9.99700912e-01 -1.52387855e-04 2.86438667e+00] [ 1.57388173e-02 -2.32598350e-04 9.99876110e-01 4.45320173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.26925415399995 meters Centerline goodness : 0.991205 Centerline is valid? [True, True] Translation: X:290.83, Y:2.86, Z:4.45 [[ 9.99507338e-01 -2.71540277e-02 -1.57397926e-02 2.90831930e+02] [ 2.71549844e-02 9.99631224e-01 -1.52970399e-04 2.86458998e+00] [ 1.57381419e-02 -2.74518787e-04 9.99876110e-01 4.45335726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.299254154 meters Centerline goodness : 0.991558 Centerline is valid? [True, True] Translation: X:290.86, Y:2.86, Z:4.45 [[ 9.99487825e-01 -2.78630081e-02 -1.57397842e-02 2.90862051e+02] [ 2.78640391e-02 9.99611710e-01 -1.53831651e-04 2.86030596e+00] [ 1.57379588e-02 -2.84821101e-04 9.99876110e-01 4.45425898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.32925415399995 meters Centerline goodness : 0.991582 Centerline is valid? [True, True] Translation: X:290.89, Y:2.86, Z:4.45 [[ 9.99487069e-01 -2.78901015e-02 -1.57397784e-02 2.90891423e+02] [ 2.78911267e-02 9.99610955e-01 -1.54417507e-04 2.85815842e+00] [ 1.57379617e-02 -2.84661852e-04 9.99876110e-01 4.45432614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.359254154 meters Centerline goodness : 0.991459 Centerline is valid? [True, True] Translation: X:290.92, Y:2.86, Z:4.46 [[ 9.99486573e-01 -2.79078803e-02 -1.57397782e-02 2.90921041e+02] [ 2.79089074e-02 9.99610459e-01 -1.54438040e-04 2.85631753e+00] [ 1.57379570e-02 -2.84921266e-04 9.99876110e-01 4.45508206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.38925415399996 meters Centerline goodness : 0.991369 Centerline is valid? [True, True] Translation: X:290.95, Y:2.85, Z:4.46 [[ 9.99494500e-01 -2.76225315e-02 -1.57397726e-02 2.90950455e+02] [ 2.76235141e-02 9.99618386e-01 -1.55015624e-04 2.85433131e+00] [ 1.57380480e-02 -2.79850566e-04 9.99876110e-01 4.45581283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.419254154 meters Centerline goodness : 0.991790 Centerline is valid? [True, True] Translation: X:290.98, Y:2.85, Z:4.46 [[ 9.99515337e-01 -2.68579840e-02 -1.57397668e-02 2.90979861e+02] [ 2.68588627e-02 9.99639224e-01 -1.55600330e-04 2.85094277e+00] [ 1.57382674e-02 -2.67227318e-04 9.99876110e-01 4.45648619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.44925415399996 meters Centerline goodness : 0.992070 Centerline is valid? [True, True] Translation: X:291.01, Y:2.85, Z:4.46 [[ 9.99531538e-01 -2.62481258e-02 -1.57397639e-02 2.91009354e+02] [ 2.62489243e-02 9.99655425e-01 -1.55889961e-04 2.84935589e+00] [ 1.57384322e-02 -2.57334940e-04 9.99876110e-01 4.45683073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.479254154 meters Centerline goodness : 0.992353 Centerline is valid? [True, True] Translation: X:291.04, Y:2.85, Z:4.46 [[ 9.99565346e-01 -2.49274726e-02 -1.57397581e-02 2.91038425e+02] [ 2.49280982e-02 9.99689234e-01 -1.56471620e-04 2.84614721e+00] [ 1.57387672e-02 -2.35958627e-04 9.99876110e-01 4.45614242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.50925415399996 meters Centerline goodness : 0.992407 Centerline is valid? [True, True] Translation: X:291.07, Y:2.84, Z:4.46 [[ 9.99568569e-01 -2.47979122e-02 -1.57397495e-02 2.91067059e+02] [ 2.47985082e-02 9.99692457e-01 -1.57336859e-04 2.84480851e+00] [ 1.57388105e-02 -2.33053327e-04 9.99876110e-01 4.45719714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.539254154 meters Centerline goodness : 0.992011 Centerline is valid? [True, True] Translation: X:291.10, Y:2.84, Z:4.46 [[ 9.99570138e-01 -2.47346117e-02 -1.57397083e-02 2.91095676e+02] [ 2.47351365e-02 9.99694027e-01 -1.61355141e-04 2.84343155e+00] [ 1.57388834e-02 -2.28038053e-04 9.99876110e-01 4.45774565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.56925415399996 meters Centerline goodness : 0.992140 Centerline is valid? [True, True] Translation: X:291.12, Y:2.84, Z:4.46 [[ 9.99573436e-01 -2.46009876e-02 -1.57396650e-02 2.91124149e+02] [ 2.46014311e-02 9.99697325e-01 -1.65470877e-04 2.84194643e+00] [ 1.57389718e-02 -2.21817991e-04 9.99876110e-01 4.45781347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.599254154 meters Centerline goodness : 0.992730 Centerline is valid? [True, True] Translation: X:291.15, Y:2.84, Z:4.46 [[ 9.99567953e-01 -2.48227677e-02 -1.57396558e-02 2.91152933e+02] [ 2.48232250e-02 9.99691842e-01 -1.66343910e-04 2.83872113e+00] [ 1.57389346e-02 -2.24436975e-04 9.99876110e-01 4.45806136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.62925415399997 meters Centerline goodness : 0.992730 Centerline is valid? [True, True] Translation: X:291.18, Y:2.84, Z:4.46 [[ 9.99561476e-01 -2.50822619e-02 -1.57396116e-02 2.91182183e+02] [ 2.50826870e-02 9.99685365e-01 -1.70426611e-04 2.83907426e+00] [ 1.57389340e-02 -2.24439877e-04 9.99876110e-01 4.45852284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.65925415399994 meters Centerline goodness : 0.992977 Centerline is valid? [True, True] Translation: X:291.21, Y:2.84, Z:4.46 [[ 9.99542220e-01 -2.58382910e-02 -1.57395663e-02 2.91211071e+02] [ 2.58387456e-02 9.99666109e-01 -1.74512209e-04 2.83780029e+00] [ 1.57388201e-02 -2.32258327e-04 9.99876110e-01 4.45857746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.68925415399997 meters Centerline goodness : 0.992749 Centerline is valid? [True, True] Translation: X:291.24, Y:2.84, Z:4.46 [[ 9.99520800e-01 -2.66540562e-02 -1.57395200e-02 2.91240254e+02] [ 2.66545477e-02 9.99644688e-01 -1.78588162e-04 2.83671662e+00] [ 1.57386877e-02 -2.41027205e-04 9.99876110e-01 4.45850451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.71925415399994 meters Centerline goodness : 0.993165 Centerline is valid? [True, True] Translation: X:291.27, Y:2.83, Z:4.46 [[ 9.99473775e-01 -2.83627028e-02 -1.57394731e-02 2.91268499e+02] [ 2.83633424e-02 9.99597663e-01 -1.82631714e-04 2.83399992e+00] [ 1.57383205e-02 -2.63888458e-04 9.99876110e-01 4.45795087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.74925415399997 meters Centerline goodness : 0.993520 Centerline is valid? [True, True] Translation: X:291.30, Y:2.83, Z:4.46 [[ 9.99441113e-01 -2.94912156e-02 -1.57394631e-02 2.91298296e+02] [ 2.94919816e-02 9.99565000e-01 -1.83489730e-04 2.83308113e+00] [ 1.57380278e-02 -2.80800776e-04 9.99876110e-01 4.45825662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.77925415399994 meters Centerline goodness : 0.993226 Centerline is valid? [True, True] Translation: X:291.33, Y:2.83, Z:4.46 [[ 9.99406599e-01 -3.06385204e-02 -1.57394565e-02 2.91327868e+02] [ 3.06394196e-02 9.99530486e-01 -1.84058049e-04 2.83205330e+00] [ 1.57377058e-02 -2.98298983e-04 9.99876110e-01 4.45850768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.809254154 meters Centerline goodness : 0.993601 Centerline is valid? [True, True] Translation: X:291.36, Y:2.83, Z:4.46 [[ 9.99325977e-01 -3.31641697e-02 -1.57394498e-02 2.91357934e+02] [ 3.31653731e-02 9.99449861e-01 -1.84624804e-04 2.82982020e+00] [ 1.57369139e-02 -3.37504363e-04 9.99876110e-01 4.45911502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.83925415399995 meters Centerline goodness : 0.993730 Centerline is valid? [True, True] Translation: X:291.39, Y:2.83, Z:4.46 [[ 9.99281292e-01 -3.44843299e-02 -1.57394430e-02 2.91387456e+02] [ 3.44856878e-02 9.99405175e-01 -1.85207844e-04 2.82878559e+00] [ 1.57364675e-02 -3.57710782e-04 9.99876110e-01 4.45934417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.869254154 meters Centerline goodness : 0.993706 Centerline is valid? [True, True] Translation: X:291.42, Y:2.83, Z:4.46 [[ 9.99255590e-01 -3.52212521e-02 -1.57394437e-02 2.91417901e+02] [ 3.52227024e-02 9.99379471e-01 -1.85142224e-04 2.82781480e+00] [ 1.57361979e-02 -3.69381341e-04 9.99876110e-01 4.45946955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.89925415399995 meters Centerline goodness : 0.993789 Centerline is valid? [True, True] Translation: X:291.45, Y:2.83, Z:4.46 [[ 9.99208478e-01 -3.65333770e-02 -1.57394437e-02 2.91447367e+02] [ 3.65349900e-02 9.99332357e-01 -1.85142224e-04 2.82605121e+00] [ 1.57356993e-02 -3.90044740e-04 9.99876110e-01 4.46103767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.929254154 meters Centerline goodness : 0.993864 Centerline is valid? [True, True] Translation: X:291.48, Y:2.83, Z:4.46 [[ 9.99206233e-01 -3.65947351e-02 -1.57394405e-02 2.91477226e+02] [ 3.65963514e-02 9.99330112e-01 -1.85415590e-04 2.82527021e+00] [ 1.57356821e-02 -3.90737682e-04 9.99876110e-01 4.46205434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.95925415399995 meters Centerline goodness : 0.994028 Centerline is valid? [True, True] Translation: X:291.51, Y:2.82, Z:4.46 [[ 9.99220967e-01 -3.61901744e-02 -1.57394564e-02 2.91507408e+02] [ 3.61917618e-02 9.99344847e-01 -1.84058881e-04 2.82453409e+00] [ 1.57358057e-02 -3.85723164e-04 9.99876110e-01 4.46286984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.989254154 meters Centerline goodness : 0.994341 Centerline is valid? [True, True] Translation: X:291.54, Y:2.82, Z:4.46 [[ 9.99290952e-01 -3.42032556e-02 -1.57394564e-02 2.91537888e+02] [ 3.42045967e-02 9.99414835e-01 -1.84058881e-04 2.82378505e+00] [ 1.57365416e-02 -3.54433384e-04 9.99876110e-01 4.46359777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.01925415399995 meters Centerline goodness : 0.994324 Centerline is valid? [True, True] Translation: X:291.57, Y:2.82, Z:4.46 [[ 9.99330023e-01 -3.30420088e-02 -1.57394564e-02 2.91568751e+02] [ 3.30432060e-02 9.99453907e-01 -1.84058881e-04 2.82339622e+00] [ 1.57369428e-02 -3.36146535e-04 9.99876110e-01 4.46454817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.049254154 meters Centerline goodness : 0.994655 Centerline is valid? [True, True] Translation: X:291.60, Y:2.82, Z:4.46 [[ 9.99387302e-01 -3.12616508e-02 -1.57394564e-02 2.91598590e+02] [ 3.12626273e-02 9.99511188e-01 -1.84058881e-04 2.82329049e+00] [ 1.57375167e-02 -3.08110651e-04 9.99876110e-01 4.46494933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.07925415399995 meters Centerline goodness : 0.994652 Centerline is valid? [True, True] Translation: X:291.63, Y:2.82, Z:4.47 [[ 9.99529047e-01 -2.63430202e-02 -1.57394571e-02 2.91627888e+02] [ 2.63433879e-02 9.99652936e-01 -1.84000732e-04 2.82245984e+00] [ 1.57388416e-02 -2.30716546e-04 9.99876110e-01 4.46516362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.109254154 meters Centerline goodness : 0.994739 Centerline is valid? [True, True] Translation: X:291.66, Y:2.82, Z:4.46 [[ 9.99600100e-01 -2.34927809e-02 -1.57394502e-02 2.91655417e+02] [ 2.34927862e-02 9.99723989e-01 -1.84582949e-04 2.82221496e+00] [ 1.57394423e-02 -1.85254405e-04 9.99876110e-01 4.46490573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.13925415399996 meters Centerline goodness : 0.994757 Centerline is valid? [True, True] Translation: X:291.68, Y:2.82, Z:4.47 [[ 9.99667629e-01 -2.04181709e-02 -1.57394332e-02 2.91682837e+02] [ 2.04177724e-02 9.99791518e-01 -1.86025034e-04 2.82198923e+00] [ 1.57399501e-02 -1.35400960e-04 9.99876110e-01 4.46515061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.169254154 meters Centerline goodness : 0.994985 Centerline is valid? [True, True] Translation: X:291.71, Y:2.82, Z:4.47 [[ 9.99719502e-01 -1.76971442e-02 -1.57394165e-02 2.91710295e+02] [ 1.76963865e-02 9.99843389e-01 -1.87423447e-04 2.82191700e+00] [ 1.57402684e-02 -9.11599230e-05 9.99876110e-01 4.46569615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.19925415399996 meters Centerline goodness : 0.995374 Centerline is valid? [True, True] Translation: X:291.74, Y:2.82, Z:4.47 [[ 9.99801532e-01 -1.22134945e-02 -1.57393617e-02 2.91738197e+02] [ 1.22119865e-02 9.99925413e-01 -1.91921250e-04 2.82082165e+00] [ 1.57405318e-02 -3.25712237e-07 9.99876110e-01 4.46674027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.229254154 meters Centerline goodness : 0.995128 Centerline is valid? [True, True] Translation: X:291.77, Y:2.82, Z:4.47 [[ 9.99823038e-01 -1.03037794e-02 -1.57393040e-02 2.91766511e+02] [ 1.03019621e-02 9.99946914e-01 -1.96539920e-04 2.82034750e+00] [ 1.57404936e-02 3.43594272e-05 9.99876110e-01 4.46720944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.25925415399996 meters Centerline goodness : 0.995341 Centerline is valid? [True, True] Translation: X:291.79, Y:2.82, Z:4.47 [[ 9.99837708e-01 -8.76552143e-03 -1.57392444e-02 2.91793260e+02] [ 8.76344013e-03 9.99961580e-01 -2.01201900e-04 2.81978797e+00] [ 1.57404034e-02 6.32393204e-05 9.99876110e-01 4.46725519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.289254154 meters Centerline goodness : 0.995802 Centerline is valid? [True, True] Translation: X:291.82, Y:2.82, Z:4.47 [[ 9.99845075e-01 -7.88048965e-03 -1.57392184e-02 2.91820894e+02] [ 7.87826696e-03 9.99968945e-01 -2.03218919e-04 2.81898372e+00] [ 1.57403311e-02 7.91896717e-05 9.99876110e-01 4.46763381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.31925415399996 meters Centerline goodness : 0.995639 Centerline is valid? [True, True] Translation: X:291.85, Y:2.82, Z:4.47 [[ 9.99843463e-01 -8.08260405e-03 -1.57391604e-02 2.91848844e+02] [ 8.08033720e-03 9.99967332e-01 -2.07614708e-04 2.81645040e+00] [ 1.57403243e-02 8.04044859e-05 9.99876110e-01 4.46793811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.349254154 meters Centerline goodness : 0.995922 Centerline is valid? [True, True] Translation: X:291.88, Y:2.81, Z:4.47 [[ 9.99834076e-01 -9.17068624e-03 -1.57390996e-02 2.91876131e+02] [ 9.16848323e-03 9.99957946e-01 -2.12122483e-04 2.81497812e+00] [ 1.57403831e-02 6.77836152e-05 9.99876110e-01 4.46773801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.37925415399997 meters Centerline goodness : 0.995760 Centerline is valid? [True, True] Translation: X:291.90, Y:2.81, Z:4.47 [[ 9.99813671e-01 -1.11761291e-02 -1.57390731e-02 2.91903665e+02] [ 1.11741439e-02 9.99937544e-01 -2.14074178e-04 2.81330875e+00] [ 1.57404826e-02 3.81636223e-05 9.99876110e-01 4.46846478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.40925415399994 meters Centerline goodness : 0.996225 Centerline is valid? [True, True] Translation: X:291.93, Y:2.81, Z:4.47 [[ 9.99719995e-01 -1.76696312e-02 -1.57390080e-02 2.91931630e+02] [ 1.76683768e-02 9.99843878e-01 -2.18757169e-04 2.80978255e+00] [ 1.57404162e-02 -5.93868085e-05 9.99876110e-01 4.46852721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.43925415399997 meters Centerline goodness : 0.996154 Centerline is valid? [True, True] Translation: X:291.96, Y:2.81, Z:4.47 [[ 9.99636660e-01 -2.18822368e-02 -1.57389877e-02 2.91959925e+02] [ 2.18814816e-02 9.99760547e-01 -2.20207332e-04 2.80807010e+00] [ 1.57400376e-02 -1.24265048e-04 9.99876110e-01 4.46878595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.46925415399994 meters Centerline goodness : 0.996153 Centerline is valid? [True, True] Translation: X:291.99, Y:2.81, Z:4.47 [[ 9.99509027e-01 -2.70922862e-02 -1.57389228e-02 2.91987688e+02] [ 2.70921052e-02 9.99632916e-01 -2.24752345e-04 2.80638901e+00] [ 1.57392344e-02 -2.01758556e-04 9.99876110e-01 4.47021696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.49925415399997 meters Centerline goodness : 0.996261 Centerline is valid? [True, True] Translation: X:292.02, Y:2.80, Z:4.47 [[ 9.99181132e-01 -3.72740430e-02 -1.57388558e-02 2.92015158e+02] [ 3.72750518e-02 9.99305017e-01 -2.29353267e-04 2.80242527e+00] [ 1.57364665e-02 -3.57501208e-04 9.99876110e-01 4.47192616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.52925415399994 meters Centerline goodness : 0.996320 Centerline is valid? [True, True] Translation: X:292.04, Y:2.80, Z:4.47 [[ 9.98975086e-01 -4.24389792e-02 -1.57388349e-02 2.92044358e+02] [ 4.24406061e-02 9.99098965e-01 -2.30776141e-04 2.80043238e+00] [ 1.57344476e-02 -4.37426077e-04 9.99876110e-01 4.47273255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.559254154 meters Centerline goodness : 0.996535 Centerline is valid? [True, True] Translation: X:292.08, Y:2.80, Z:4.47 [[ 9.98770785e-01 -4.70022150e-02 -1.57388268e-02 2.92075261e+02] [ 4.70043990e-02 9.98894656e-01 -2.31328898e-04 2.79853158e+00] [ 1.57323029e-02 -5.08749549e-04 9.99876110e-01 4.47254836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.58925415399995 meters Centerline goodness : 0.996491 Centerline is valid? [True, True] Translation: X:292.11, Y:2.79, Z:4.47 [[ 9.98299339e-01 -5.61312605e-02 -1.57388268e-02 2.92106263e+02] [ 5.61345769e-02 9.98423185e-01 -2.31328898e-04 2.79453783e+00] [ 1.57269943e-02 -6.52556896e-04 9.99876110e-01 4.47258633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.619254154 meters Centerline goodness : 0.996604 Centerline is valid? [True, True] Translation: X:292.14, Y:2.79, Z:4.47 [[ 9.98027745e-01 -6.07693222e-02 -1.57388268e-02 2.92137791e+02] [ 6.07732140e-02 9.98151573e-01 -2.31328898e-04 2.79328205e+00] [ 1.57237924e-02 -7.25626429e-04 9.99876110e-01 4.47408294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.64925415399995 meters Centerline goodness : 0.996487 Centerline is valid? [True, True] Translation: X:292.17, Y:2.79, Z:4.47 [[ 9.97773897e-01 -6.48038587e-02 -1.57388352e-02 2.92169365e+02] [ 6.48082602e-02 9.97897708e-01 -2.30751310e-04 2.79249988e+00] [ 1.57207012e-02 -7.89768895e-04 9.99876110e-01 4.47446709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.679254154 meters Centerline goodness : 0.996826 Centerline is valid? [True, True] Translation: X:292.20, Y:2.79, Z:4.48 [[ 9.97551106e-01 -6.81474875e-02 -1.57388437e-02 2.92200724e+02] [ 6.81523131e-02 9.97674902e-01 -2.30170152e-04 2.79194082e+00] [ 1.57179349e-02 -8.43032117e-04 9.99876110e-01 4.47505886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.70925415399995 meters Centerline goodness : 0.996877 Centerline is valid? [True, True] Translation: X:292.23, Y:2.79, Z:4.48 [[ 9.97124007e-01 -7.41350335e-02 -1.57388564e-02 2.92232129e+02] [ 7.41406158e-02 9.97247771e-01 -2.29299869e-04 2.79143122e+00] [ 1.57125386e-02 -9.38248104e-04 9.99876110e-01 4.47513328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.739254154 meters Centerline goodness : 0.996734 Centerline is valid? [True, True] Translation: X:292.26, Y:2.79, Z:4.48 [[ 9.96987195e-01 -7.59527535e-02 -1.57388690e-02 2.92264470e+02] [ 7.59585750e-02 9.97110948e-01 -2.28436506e-04 2.79152329e+00] [ 1.57107489e-02 -9.67753787e-04 9.99876110e-01 4.47503977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.76925415399995 meters Centerline goodness : 0.996881 Centerline is valid? [True, True] Translation: X:292.30, Y:2.79, Z:4.48 [[ 9.96819953e-01 -7.81170201e-02 -1.57388854e-02 2.92296300e+02] [ 7.81231283e-02 9.96943692e-01 -2.27295003e-04 2.79180376e+00] [ 1.57085382e-02 -1.00299877e-03 9.99876110e-01 4.47640528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.799254154 meters Centerline goodness : 0.996967 Centerline is valid? [True, True] Translation: X:292.33, Y:2.79, Z:4.48 [[ 9.96617016e-01 -8.06647982e-02 -1.57389018e-02 2.92328727e+02] [ 8.06712406e-02 9.96740739e-01 -2.26157010e-04 2.79276676e+00] [ 1.57058475e-02 -1.04428481e-03 9.99876110e-01 4.47719824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.82925415399995 meters Centerline goodness : 0.997112 Centerline is valid? [True, True] Translation: X:292.36, Y:2.79, Z:4.48 [[ 9.96572768e-01 -8.12096305e-02 -1.57389185e-02 2.92360957e+02] [ 8.12161589e-02 9.96696486e-01 -2.24987846e-04 2.79384800e+00] [ 1.57051959e-02 -1.05403774e-03 9.99876110e-01 4.47764334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.859254154 meters Centerline goodness : 0.996971 Centerline is valid? [True, True] Translation: X:292.39, Y:2.80, Z:4.48 [[ 9.96562541e-01 -8.13350293e-02 -1.57389354e-02 2.92392558e+02] [ 8.13415919e-02 9.96686257e-01 -2.23801992e-04 2.79705724e+00] [ 1.57049835e-02 -1.05719738e-03 9.99876110e-01 4.47752103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.88925415399996 meters Centerline goodness : 0.997034 Centerline is valid? [True, True] Translation: X:292.42, Y:2.80, Z:4.48 [[ 9.96630640e-01 -8.04962968e-02 -1.57389479e-02 2.92424894e+02] [ 8.05027691e-02 9.96754360e-01 -2.22918889e-04 2.79927321e+00] [ 1.57058091e-02 -1.04486109e-03 9.99876110e-01 4.47747368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.919254154 meters Centerline goodness : 0.997076 Centerline is valid? [True, True] Translation: X:292.46, Y:2.80, Z:4.48 [[ 9.96715496e-01 -7.94386870e-02 -1.57389645e-02 2.92455877e+02] [ 7.94450466e-02 9.96839222e-01 -2.21737996e-04 2.80174003e+00] [ 1.57068317e-02 -1.02937307e-03 9.99876110e-01 4.47728748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.94925415399996 meters Centerline goodness : 0.997105 Centerline is valid? [True, True] Translation: X:292.49, Y:2.80, Z:4.48 [[ 9.96839913e-01 -7.78618729e-02 -1.57389921e-02 2.92487149e+02] [ 7.78680679e-02 9.96963648e-01 -2.19760095e-04 2.80459965e+00] [ 1.57083139e-02 -1.00649927e-03 9.99876110e-01 4.47707976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.979254154 meters Centerline goodness : 0.997206 Centerline is valid? [True, True] Translation: X:292.52, Y:2.81, Z:4.48 [[ 9.97093137e-01 -7.45490447e-02 -1.57390042e-02 2.92518894e+02] [ 7.45548422e-02 9.97216891e-01 -2.18889428e-04 2.81067490e+00] [ 1.57115189e-02 -9.55165830e-04 9.99876110e-01 4.47688441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.00925415399996 meters Centerline goodness : 0.997125 Centerline is valid? [True, True] Translation: X:292.55, Y:2.81, Z:4.48 [[ 9.97245877e-01 -7.24772035e-02 -1.57390204e-02 2.92550662e+02] [ 7.24827622e-02 9.97369642e-01 -2.17722552e-04 2.81379655e+00] [ 1.57134010e-02 -9.23684754e-04 9.99876110e-01 4.47698581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.039254154 meters Centerline goodness : 0.997107 Centerline is valid? [True, True] Translation: X:292.58, Y:2.82, Z:4.48 [[ 9.97352214e-01 -7.09989063e-02 -1.57390364e-02 2.92582418e+02] [ 7.10042999e-02 9.97475986e-01 -2.16557324e-04 2.81704369e+00] [ 1.57146862e-02 -9.01555335e-04 9.99876110e-01 4.47786375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.06925415399996 meters Centerline goodness : 0.997210 Centerline is valid? [True, True] Translation: X:292.61, Y:2.82, Z:4.48 [[ 9.97464770e-01 -6.93996760e-02 -1.57390523e-02 2.92614397e+02] [ 6.94048895e-02 9.97588550e-01 -2.15393236e-04 2.82027289e+00] [ 1.57160466e-02 -8.77520023e-04 9.99876110e-01 4.47880776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.099254154 meters Centerline goodness : 0.997208 Centerline is valid? [True, True] Translation: X:292.65, Y:2.83, Z:4.48 [[ 9.97744570e-01 -6.52537711e-02 -1.57390682e-02 2.92646395e+02] [ 6.52584883e-02 9.97868370e-01 -2.14231292e-04 2.82597550e+00] [ 1.57194977e-02 -8.13359687e-04 9.99876110e-01 4.47819833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.12925415399997 meters Centerline goodness : 0.997315 Centerline is valid? [True, True] Translation: X:292.68, Y:2.83, Z:4.48 [[ 9.97782277e-01 -6.46746463e-02 -1.57390840e-02 2.92677754e+02] [ 6.46793101e-02 9.97906078e-01 -2.13062116e-04 2.82942777e+00] [ 1.57199073e-02 -8.05403491e-04 9.99876110e-01 4.48073610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.15925415399994 meters Centerline goodness : 0.997295 Centerline is valid? [True, True] Translation: X:292.71, Y:2.83, Z:4.48 [[ 9.97899644e-01 -6.28377378e-02 -1.57390957e-02 2.92709530e+02] [ 6.28421873e-02 9.98023454e-01 -2.12191819e-04 2.83243047e+00] [ 1.57213203e-02 -7.77333061e-04 9.99876110e-01 4.48194634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.18925415399997 meters Centerline goodness : 0.997490 Centerline is valid? [True, True] Translation: X:292.74, Y:2.84, Z:4.48 [[ 9.98079192e-01 -5.99183296e-02 -1.57391115e-02 2.92741362e+02] [ 5.99224355e-02 9.98203014e-01 -2.11014805e-04 2.83880201e+00] [ 1.57234722e-02 -7.32516407e-04 9.99876110e-01 4.48367912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.21925415399994 meters Centerline goodness : 0.997572 Centerline is valid? [True, True] Translation: X:292.77, Y:2.84, Z:4.48 [[ 9.98159214e-01 -5.85701615e-02 -1.57391271e-02 2.92773457e+02] [ 5.85741185e-02 9.98283040e-01 -2.09846774e-04 2.84223020e+00] [ 1.57243944e-02 -7.12445004e-04 9.99876110e-01 4.48477503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.24925415399997 meters Centerline goodness : 0.997739 Centerline is valid? [True, True] Translation: X:292.80, Y:2.85, Z:4.49 [[ 9.98236339e-01 -5.72406449e-02 -1.57391426e-02 2.92804407e+02] [ 5.72444554e-02 9.98360170e-01 -2.08676065e-04 2.84505852e+00] [ 1.57252778e-02 -6.92670615e-04 9.99876110e-01 4.48541131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.27925415399994 meters Centerline goodness : 0.997403 Centerline is valid? [True, True] Translation: X:292.84, Y:2.85, Z:4.48 [[ 9.98351967e-01 -5.51872149e-02 -1.57391541e-02 2.92837004e+02] [ 5.51907844e-02 9.98475805e-01 -2.07805290e-04 2.84773661e+00] [ 1.57266328e-02 -6.61193439e-04 9.99876110e-01 4.48453039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.309254154 meters Centerline goodness : 0.997383 Centerline is valid? [True, True] Translation: X:292.87, Y:2.85, Z:4.49 [[ 9.98417126e-01 -5.39955686e-02 -1.57391693e-02 2.92867700e+02] [ 5.39990085e-02 9.98540968e-01 -2.06646477e-04 2.85341725e+00] [ 1.57273633e-02 -6.43580156e-04 9.99876110e-01 4.48576781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.33925415399995 meters Centerline goodness : 0.997507 Centerline is valid? [True, True] Translation: X:292.90, Y:2.86, Z:4.49 [[ 9.98457323e-01 -5.32470798e-02 -1.57391806e-02 2.92900061e+02] [ 5.32504405e-02 9.98581168e-01 -2.05783835e-04 2.85626544e+00] [ 1.57278067e-02 -6.32651922e-04 9.99876110e-01 4.48634204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.369254154 meters Centerline goodness : 0.997575 Centerline is valid? [True, True] Translation: X:292.93, Y:2.86, Z:4.49 [[ 9.98478082e-01 -5.28563942e-02 -1.57391952e-02 2.92932679e+02] [ 5.28597242e-02 9.98601927e-01 -2.04656364e-04 2.85912640e+00] [ 1.57280081e-02 -6.27624626e-04 9.99876110e-01 4.48698609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.39925415399995 meters Centerline goodness : 0.997557 Centerline is valid? [True, True] Translation: X:292.96, Y:2.86, Z:4.49 [[ 9.98560351e-01 -5.12786758e-02 -1.57392100e-02 2.92964564e+02] [ 5.12818280e-02 9.98684201e-01 -2.03513615e-04 2.86113562e+00] [ 1.57289363e-02 -6.03914835e-04 9.99876110e-01 4.48564850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.429254154 meters Centerline goodness : 0.997865 Centerline is valid? [True, True] Translation: X:293.00, Y:2.87, Z:4.49 [[ 9.98518534e-01 -5.20866113e-02 -1.57392247e-02 2.92995549e+02] [ 5.20898817e-02 9.98642380e-01 -2.02374149e-04 2.86581465e+00] [ 1.57283978e-02 -6.17780012e-04 9.99876110e-01 4.48874397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.45925415399995 meters Centerline goodness : 0.997757 Centerline is valid? [True, True] Translation: X:293.03, Y:2.87, Z:4.49 [[ 9.98539690e-01 -5.16794386e-02 -1.57392355e-02 2.93026865e+02] [ 5.16826719e-02 9.98663537e-01 -2.01525713e-04 2.86778609e+00] [ 1.57286154e-02 -6.12214322e-04 9.99876110e-01 4.48900489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.489254154 meters Centerline goodness : 0.997985 Centerline is valid? [True, True] Translation: X:293.06, Y:2.87, Z:4.49 [[ 9.98586975e-01 -5.07575546e-02 -1.57392462e-02 2.93059396e+02] [ 5.07606867e-02 9.98710825e-01 -2.00686492e-04 2.86974693e+00] [ 1.57291420e-02 -5.98532031e-04 9.99876110e-01 4.48998626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.51925415399995 meters Centerline goodness : 0.997921 Centerline is valid? [True, True] Translation: X:293.09, Y:2.87, Z:4.49 [[ 9.98712206e-01 -4.82307573e-02 -1.57392605e-02 2.93091994e+02] [ 4.82335937e-02 9.98836063e-01 -1.99564094e-04 2.87380530e+00] [ 1.57305661e-02 -5.59853998e-04 9.99876110e-01 4.49023316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.549254154 meters Centerline goodness : 0.997921 Centerline is valid? [True, True] Translation: X:293.12, Y:2.87, Z:4.49 [[ 9.98715612e-01 -4.81601640e-02 -1.57392745e-02 2.93124677e+02] [ 4.81630092e-02 9.98839469e-01 -1.98451833e-04 2.87415360e+00] [ 1.57305661e-02 -5.59853878e-04 9.99876110e-01 4.49074741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.57925415399995 meters Centerline goodness : 0.998062 Centerline is valid? [True, True] Translation: X:293.16, Y:2.88, Z:4.49 [[ 9.98814325e-01 -4.60675426e-02 -1.57392884e-02 2.93155734e+02] [ 4.60701457e-02 9.98938188e-01 -1.97339452e-04 2.87644350e+00] [ 1.57316672e-02 -5.28005840e-04 9.99876110e-01 4.49066061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.609254154 meters Centerline goodness : 0.998147 Centerline is valid? [True, True] Translation: X:293.19, Y:2.88, Z:4.49 [[ 9.98912102e-01 -4.38963109e-02 -1.57392988e-02 2.93186653e+02] [ 4.38986579e-02 9.99035970e-01 -1.96510699e-04 2.87900577e+00] [ 1.57327517e-02 -4.94637177e-04 9.99876110e-01 4.49094815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.63925415399996 meters Centerline goodness : 0.998000 Centerline is valid? [True, True] Translation: X:293.22, Y:2.88, Z:4.49 [[ 9.99093027e-01 -3.95651118e-02 -1.57393054e-02 2.93217552e+02] [ 3.95669301e-02 9.99216903e-01 -1.95975563e-04 2.88288509e+00] [ 1.57347338e-02 -4.26958180e-04 9.99876110e-01 4.49148781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.669254154 meters Centerline goodness : 0.997899 Centerline is valid? [True, True] Translation: X:293.25, Y:2.88, Z:4.49 [[ 9.99170686e-01 -3.75528273e-02 -1.57393123e-02 2.93249076e+02] [ 3.75544047e-02 9.99294565e-01 -1.95426383e-04 2.88454045e+00] [ 1.57355480e-02 -3.95816190e-04 9.99876110e-01 4.49225851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.69925415399996 meters Centerline goodness : 0.998060 Centerline is valid? [True, True] Translation: X:293.28, Y:2.89, Z:4.49 [[ 9.99234931e-01 -3.58026025e-02 -1.57393190e-02 2.93280516e+02] [ 3.58039715e-02 9.99358813e-01 -1.94881336e-04 2.88578410e+00] [ 1.57362044e-02 -3.68797891e-04 9.99876110e-01 4.49315903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.729254154 meters Centerline goodness : 0.998227 Centerline is valid? [True, True] Translation: X:293.31, Y:2.89, Z:4.49 [[ 9.99334028e-01 -3.29207377e-02 -1.57393257e-02 2.93310919e+02] [ 3.29217581e-02 9.99457913e-01 -1.94338002e-04 2.88781559e+00] [ 1.57371914e-02 -3.23957695e-04 9.99876110e-01 4.49466220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.75925415399996 meters Centerline goodness : 0.998226 Centerline is valid? [True, True] Translation: X:293.34, Y:2.89, Z:4.50 [[ 9.99365147e-01 -3.19621085e-02 -1.57393291e-02 2.93340786e+02] [ 3.19630143e-02 9.99489033e-01 -1.94068398e-04 2.88863512e+00] [ 1.57374896e-02 -3.09131206e-04 9.99876110e-01 4.49529096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.789254154 meters Centerline goodness : 0.998331 Centerline is valid? [True, True] Translation: X:293.37, Y:2.89, Z:4.50 [[ 9.99373062e-01 -3.17136687e-02 -1.57393395e-02 2.93371072e+02] [ 3.17145571e-02 9.99496948e-01 -1.93214078e-04 2.88938501e+00] [ 1.57375494e-02 -3.06073238e-04 9.99876110e-01 4.49559132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.81925415399996 meters Centerline goodness : 0.998561 Centerline is valid? [True, True] Translation: X:293.40, Y:2.89, Z:4.50 [[ 9.99343559e-01 -3.26301218e-02 -1.57393395e-02 2.93401246e+02] [ 3.26311238e-02 9.99467444e-01 -1.93214078e-04 2.88997162e+00] [ 1.57372621e-02 -3.20505093e-04 9.99876110e-01 4.49553414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.849254154 meters Centerline goodness : 0.998433 Centerline is valid? [True, True] Translation: X:293.43, Y:2.89, Z:4.50 [[ 9.99312415e-01 -3.35703848e-02 -1.57393428e-02 2.93432841e+02] [ 3.35715075e-02 9.99436299e-01 -1.92949977e-04 2.89012776e+00] [ 1.57369479e-02 -3.35576157e-04 9.99876110e-01 4.49525867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.87925415399997 meters Centerline goodness : 0.998434 Centerline is valid? [True, True] Translation: X:293.46, Y:2.89, Z:4.49 [[ 9.99272691e-01 -3.47327152e-02 -1.57393492e-02 2.93463589e+02] [ 3.47339902e-02 9.99396574e-01 -1.92427472e-04 2.88985199e+00] [ 1.57365352e-02 -3.54402883e-04 9.99876110e-01 4.49475094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.90925415399994 meters Centerline goodness : 0.998640 Centerline is valid? [True, True] Translation: X:293.49, Y:2.89, Z:4.49 [[ 9.99161404e-01 -3.77989728e-02 -1.57393523e-02 2.93494117e+02] [ 3.78006321e-02 9.99285282e-01 -1.92167926e-04 2.88869701e+00] [ 1.57353669e-02 -4.02950692e-04 9.99876110e-01 4.49391000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.93925415399997 meters Centerline goodness : 0.998392 Centerline is valid? [True, True] Translation: X:293.53, Y:2.89, Z:4.49 [[ 9.99099722e-01 -3.93956489e-02 -1.57393630e-02 2.93525421e+02] [ 3.93975200e-02 9.99223598e-01 -1.91287048e-04 2.88877275e+00] [ 1.57346788e-02 -4.28977033e-04 9.99876110e-01 4.49395453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.96925415399994 meters Centerline goodness : 0.998519 Centerline is valid? [True, True] Translation: X:293.56, Y:2.89, Z:4.49 [[ 9.99048266e-01 -4.06796496e-02 -1.57393692e-02 2.93556884e+02] [ 4.06816879e-02 9.99172139e-01 -1.90776006e-04 2.88890851e+00] [ 1.57340999e-02 -4.49709669e-04 9.99876110e-01 4.49472334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.99925415399997 meters Centerline goodness : 0.998644 Centerline is valid? [True, True] Translation: X:293.59, Y:2.89, Z:4.50 [[ 9.98999251e-01 -4.18660699e-02 -1.57393754e-02 2.93588159e+02] [ 4.18682633e-02 9.99123122e-01 -1.90267533e-04 2.88906715e+00] [ 1.57335396e-02 -4.68903190e-04 9.99876110e-01 4.49530446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.02925415399994 meters Centerline goodness : 0.998478 Centerline is valid? [True, True] Translation: X:293.62, Y:2.89, Z:4.50 [[ 9.98938435e-01 -4.32928899e-02 -1.57393815e-02 2.93619351e+02] [ 4.32952682e-02 9.99062302e-01 -1.89762323e-04 2.88911331e+00] [ 1.57328380e-02 -4.91879864e-04 9.99876110e-01 4.49645306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.059254154 meters Centerline goodness : 0.998625 Centerline is valid? [True, True] Translation: X:293.65, Y:2.89, Z:4.50 [[ 9.98925623e-01 -4.35875124e-02 -1.57393905e-02 2.93650390e+02] [ 4.35899392e-02 9.99049489e-01 -1.89006242e-04 2.88937395e+00] [ 1.57326684e-02 -4.97275899e-04 9.99876110e-01 4.49761902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.08925415399995 meters Centerline goodness : 0.998456 Centerline is valid? [True, True] Translation: X:293.68, Y:2.89, Z:4.50 [[ 9.98930647e-01 -4.34722091e-02 -1.57393965e-02 2.93681331e+02] [ 4.34746294e-02 9.99054514e-01 -1.88509601e-04 2.88956686e+00] [ 1.57327100e-02 -4.95956413e-04 9.99876110e-01 4.49851923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.119254154 meters Centerline goodness : 0.998662 Centerline is valid? [True, True] Translation: X:293.71, Y:2.89, Z:4.50 [[ 9.99038322e-01 -4.09231272e-02 -1.57394024e-02 2.93714566e+02] [ 4.09252392e-02 9.99162194e-01 -1.88014565e-04 2.88548853e+00] [ 1.57339100e-02 -4.56305053e-04 9.99876110e-01 4.49927974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.14925415399995 meters Centerline goodness : 0.998725 Centerline is valid? [True, True] Translation: X:293.75, Y:2.88, Z:4.50 [[ 9.99105777e-01 -3.92408731e-02 -1.57416479e-02 2.93745798e+02] [ 3.92457822e-02 9.99229588e-01 2.94234515e-06 2.88410817e+00] [ 1.57294048e-02 -6.20732998e-04 9.99876093e-01 4.49704355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.179254154 meters Centerline goodness : 0.998809 Centerline is valid? [True, True] Translation: X:293.77, Y:2.89, Z:4.50 [[ 9.99004678e-01 -4.17353155e-02 -1.57422045e-02 2.93770233e+02] [ 4.17412760e-02 9.99128452e-01 5.01049337e-05 2.89025681e+00] [ 1.57263933e-02 -7.07154765e-04 9.99876083e-01 4.50066204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.20925415399995 meters Centerline goodness : 0.998767 Centerline is valid? [True, True] Translation: X:293.80, Y:2.89, Z:4.50 [[ 9.99031203e-01 -4.10966151e-02 -1.57392290e-02 2.93801657e+02] [ 4.10986730e-02 9.99155074e-01 -1.92815377e-04 2.89084639e+00] [ 1.57338546e-02 -4.54232849e-04 9.99876112e-01 4.50130323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.239254154 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:293.83, Y:2.89, Z:4.50 [[ 9.99060221e-01 -4.03850507e-02 -1.57392349e-02 2.93832392e+02] [ 4.03870279e-02 9.99184093e-01 -1.92334739e-04 2.89077288e+00] [ 1.57341606e-02 -4.43506932e-04 9.99876112e-01 4.50158196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.26925415399995 meters Centerline goodness : 0.998913 Centerline is valid? [True, True] Translation: X:293.86, Y:2.89, Z:4.50 [[ 9.99050810e-01 -4.06171889e-02 -1.57392378e-02 2.93862252e+02] [ 4.06191987e-02 9.99174681e-01 -1.92095780e-04 2.89079827e+00] [ 1.57340503e-02 -4.47401785e-04 9.99876112e-01 4.50171435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.299254154 meters Centerline goodness : 0.999014 Centerline is valid? [True, True] Translation: X:293.89, Y:2.89, Z:4.50 [[ 9.99035905e-01 -4.09821476e-02 -1.57392407e-02 2.93893846e+02] [ 4.09842064e-02 9.99159776e-01 -1.91858913e-04 2.89077556e+00] [ 1.57338790e-02 -4.53386347e-04 9.99876112e-01 4.50190065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.32925415399995 meters Centerline goodness : 0.998993 Centerline is valid? [True, True] Translation: X:293.92, Y:2.89, Z:4.50 [[ 9.98999036e-01 -4.18712598e-02 -1.57392465e-02 2.93924131e+02] [ 4.18734363e-02 9.99122905e-01 -1.91385494e-04 2.89065919e+00] [ 1.57334552e-02 -4.67862411e-04 9.99876112e-01 4.50244724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.359254154 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:293.96, Y:2.89, Z:4.50 [[ 9.98886108e-01 -4.44839167e-02 -1.57392493e-02 2.93955988e+02] [ 4.44864208e-02 9.99009971e-01 -1.91150166e-04 2.89061802e+00] [ 1.57321701e-02 -5.09245624e-04 9.99876112e-01 4.50243871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.38925415399996 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:293.99, Y:2.89, Z:4.50 [[ 9.98814752e-01 -4.60582983e-02 -1.57392578e-02 2.93986408e+02] [ 4.60610087e-02 9.98938610e-01 -1.90448996e-04 2.89087755e+00] [ 1.57313241e-02 -5.34742824e-04 9.99876112e-01 4.50221749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.419254154 meters Centerline goodness : 0.998932 Centerline is valid? [True, True] Translation: X:294.02, Y:2.89, Z:4.50 [[ 9.98681333e-01 -4.88658414e-02 -1.57392606e-02 2.94018045e+02] [ 4.88689036e-02 9.98805183e-01 -1.90216508e-04 2.89080259e+00] [ 1.57297502e-02 -5.79194734e-04 9.99876112e-01 4.50130679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.44925415399996 meters Centerline goodness : 0.999288 Centerline is valid? [True, True] Translation: X:294.05, Y:2.89, Z:4.50 [[ 9.98609302e-01 -5.03163746e-02 -1.57392662e-02 2.94050288e+02] [ 5.03196240e-02 9.98733147e-01 -1.89755594e-04 2.89108117e+00] [ 1.57288747e-02 -6.02502254e-04 9.99876112e-01 4.50121881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.479254154 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:294.08, Y:2.89, Z:4.50 [[ 9.98563201e-01 -5.12231200e-02 -1.57392772e-02 2.94082081e+02] [ 5.12264963e-02 9.98687043e-01 -1.88836064e-04 2.89111519e+00] [ 1.57282850e-02 -6.17703281e-04 9.99876112e-01 4.50137432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.50925415399996 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:294.11, Y:2.89, Z:4.51 [[ 9.98486312e-01 -5.27006593e-02 -1.57392882e-02 2.94114577e+02] [ 5.27042332e-02 9.98610148e-01 -1.87919208e-04 2.89182245e+00] [ 1.57273164e-02 -6.41892357e-04 9.99876112e-01 4.50557751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.539254154 meters Centerline goodness : 0.998997 Centerline is valid? [True, True] Translation: X:294.15, Y:2.89, Z:4.50 [[ 9.98469327e-01 -5.30214774e-02 -1.57393019e-02 2.94146061e+02] [ 5.30251093e-02 9.98593162e-01 -1.86765252e-04 2.89273659e+00] [ 1.57270618e-02 -6.48098826e-04 9.99876112e-01 4.50150345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.56925415399996 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:294.18, Y:2.89, Z:4.50 [[ 9.98808263e-01 -4.61987865e-02 -1.57393120e-02 2.94184184e+02] [ 4.62015858e-02 9.98932119e-01 -1.85905370e-04 2.88555354e+00] [ 1.57310929e-02 -5.41497354e-04 9.99876112e-01 4.50088531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.599254154 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:294.20, Y:2.90, Z:4.51 [[ 9.98453249e-01 -5.33219038e-02 -1.57443258e-02 2.94204919e+02] [ 5.33325416e-02 9.98576774e-01 2.56265743e-04 2.89604394e+00] [ 1.57082535e-02 -1.09555428e-03 9.99876018e-01 4.50847667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.62925415399997 meters Centerline goodness : 0.998976 Centerline is valid? [True, True] Translation: X:294.24, Y:2.90, Z:4.51 [[ 9.98471746e-01 -5.29760551e-02 -1.57388190e-02 2.94236857e+02] [ 5.29795833e-02 9.98595577e-01 -1.92980822e-04 2.89730803e+00] [ 1.57269384e-02 -6.41150174e-04 9.99876118e-01 4.50997893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.65925415399994 meters Centerline goodness : 0.998705 Centerline is valid? [True, True] Translation: X:294.27, Y:2.90, Z:4.51 [[ 9.98530041e-01 -5.18656614e-02 -1.57388331e-02 2.94267942e+02] [ 5.18690700e-02 9.98653875e-01 -1.91824914e-04 2.89788225e+00] [ 1.57275958e-02 -6.24815697e-04 9.99876118e-01 4.50846346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.68925415399997 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:294.30, Y:2.90, Z:4.51 [[ 9.98509773e-01 -5.22544018e-02 -1.57388435e-02 2.94299328e+02] [ 5.22578722e-02 9.98633606e-01 -1.90962757e-04 2.90045201e+00] [ 1.57273167e-02 -6.31800297e-04 9.99876118e-01 4.51238865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.71925415399994 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:294.33, Y:2.90, Z:4.51 [[ 9.98522693e-01 -5.20069168e-02 -1.57388537e-02 2.94331914e+02] [ 5.20103698e-02 9.98646527e-01 -1.90122065e-04 2.90144027e+00] [ 1.57274392e-02 -6.28742404e-04 9.99876118e-01 4.51369890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.74925415399997 meters Centerline goodness : 0.999038 Centerline is valid? [True, True] Translation: X:294.36, Y:2.90, Z:4.51 [[ 9.98532721e-01 -5.18140217e-02 -1.57388673e-02 2.94362822e+02] [ 5.18174686e-02 9.98656555e-01 -1.88986853e-04 2.90259579e+00] [ 1.57275152e-02 -6.26838708e-04 9.99876118e-01 4.51447228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.77925415399994 meters Centerline goodness : 0.999038 Centerline is valid? [True, True] Translation: X:294.39, Y:2.90, Z:4.51 [[ 9.98547685e-01 -5.15248434e-02 -1.57388774e-02 2.94393691e+02] [ 5.15282678e-02 9.98671519e-01 -1.88141561e-04 2.90412537e+00] [ 1.57276626e-02 -6.23128772e-04 9.99876118e-01 4.51480081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.809254154 meters Centerline goodness : 0.998934 Centerline is valid? [True, True] Translation: X:294.43, Y:2.91, Z:4.52 [[ 9.98598165e-01 -5.05370452e-02 -1.57388874e-02 2.94425508e+02] [ 5.05403602e-02 9.98722002e-01 -1.87307672e-04 2.90685285e+00] [ 1.57282391e-02 -6.08403938e-04 9.99876118e-01 4.51507945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.83925415399995 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:294.46, Y:2.91, Z:4.52 [[ 9.98634491e-01 -4.98140509e-02 -1.57389012e-02 2.94457938e+02] [ 4.98172946e-02 9.98758330e-01 -1.86141312e-04 2.90805666e+00] [ 1.57286311e-02 -5.98182341e-04 9.99876118e-01 4.51540578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.869254154 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:294.49, Y:2.91, Z:4.52 [[ 9.98694838e-01 -4.85891767e-02 -1.57389148e-02 2.94490105e+02] [ 4.85922868e-02 9.98818680e-01 -1.84984143e-04 2.90931922e+00] [ 1.57293103e-02 -5.80047150e-04 9.99876118e-01 4.51565511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.89925415399995 meters Centerline goodness : 0.998890 Centerline is valid? [True, True] Translation: X:294.52, Y:2.91, Z:4.52 [[ 9.98812163e-01 -4.61145307e-02 -1.57389282e-02 2.94521827e+02] [ 4.61173520e-02 9.98936012e-01 -1.83832450e-04 2.91207517e+00] [ 1.57306595e-02 -5.42223606e-04 9.99876118e-01 4.51615196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.929254154 meters Centerline goodness : 0.998868 Centerline is valid? [True, True] Translation: X:294.55, Y:2.91, Z:4.52 [[ 9.98888785e-01 -4.44238790e-02 -1.57389418e-02 2.94553308e+02] [ 4.44265091e-02 9.99012639e-01 -1.82661624e-04 2.91367466e+00] [ 1.57315163e-02 -5.16767594e-04 9.99876118e-01 4.51663550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.95925415399995 meters Centerline goodness : 0.998975 Centerline is valid? [True, True] Translation: X:294.59, Y:2.92, Z:4.52 [[ 9.98958730e-01 -4.28222077e-02 -1.57389519e-02 2.94585372e+02] [ 4.28246529e-02 9.99082587e-01 -1.81789632e-04 2.91559777e+00] [ 1.57322974e-02 -4.92414812e-04 9.99876118e-01 4.51714783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.989254154 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:294.62, Y:2.92, Z:4.52 [[ 9.99033203e-01 -4.10480731e-02 -1.57389648e-02 2.94617777e+02] [ 4.10503161e-02 9.99157064e-01 -1.80662177e-04 2.91730953e+00] [ 1.57331137e-02 -4.65601967e-04 9.99876119e-01 4.51798948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.01925415399995 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:294.65, Y:2.92, Z:4.52 [[ 9.99158778e-01 -3.78684767e-02 -1.57389780e-02 2.94648832e+02] [ 3.78703437e-02 9.99282645e-01 -1.79505004e-04 2.91981669e+00] [ 1.57344852e-02 -4.16686506e-04 9.99876119e-01 4.51758401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.049254154 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:294.68, Y:2.92, Z:4.52 [[ 9.99199352e-01 -3.67823251e-02 -1.57389996e-02 2.94681429e+02] [ 3.67840875e-02 9.99323221e-01 -1.77594460e-04 2.92120878e+00] [ 1.57348801e-02 -4.01492469e-04 9.99876119e-01 4.51805602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.07925415399995 meters Centerline goodness : 0.999159 Centerline is valid? [True, True] Translation: X:294.71, Y:2.92, Z:4.52 [[ 9.99246861e-01 -3.54682207e-02 -1.57390123e-02 2.94713944e+02] [ 3.54698382e-02 9.99370732e-01 -1.76458633e-04 2.92314876e+00] [ 1.57353669e-02 -3.81934484e-04 9.99876119e-01 4.51877885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.109254154 meters Centerline goodness : 0.999012 Centerline is valid? [True, True] Translation: X:294.75, Y:2.92, Z:4.52 [[ 9.99260944e-01 -3.50692061e-02 -1.57390254e-02 2.94745197e+02] [ 3.50707926e-02 9.99384815e-01 -1.75283437e-04 2.92404751e+00] [ 1.57354900e-02 -3.76826203e-04 9.99876119e-01 4.51897399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.13925415399996 meters Centerline goodness : 0.998865 Centerline is valid? [True, True] Translation: X:294.78, Y:2.92, Z:4.52 [[ 9.99247909e-01 -3.54386572e-02 -1.57390351e-02 2.94776300e+02] [ 3.54403033e-02 9.99371780e-01 -1.74408214e-04 2.92476370e+00] [ 1.57353283e-02 -3.83519133e-04 9.99876119e-01 4.51971762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.169254154 meters Centerline goodness : 0.998928 Centerline is valid? [True, True] Translation: X:294.81, Y:2.93, Z:4.52 [[ 9.99198238e-01 -3.68125415e-02 -1.57390415e-02 2.94807662e+02] [ 3.68143670e-02 9.99322106e-01 -1.73829246e-04 2.92615033e+00] [ 1.57347712e-02 -4.05732972e-04 9.99876119e-01 4.52080511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.19925415399996 meters Centerline goodness : 0.998866 Centerline is valid? [True, True] Translation: X:294.84, Y:2.93, Z:4.52 [[ 9.99163090e-01 -3.77544934e-02 -1.57390478e-02 2.94839975e+02] [ 3.77564447e-02 9.99286956e-01 -1.73252399e-04 2.92671350e+00] [ 1.57343663e-02 -4.21143087e-04 9.99876119e-01 4.52146890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.229254154 meters Centerline goodness : 0.998990 Centerline is valid? [True, True] Translation: X:294.87, Y:2.93, Z:4.52 [[ 9.99106249e-01 -3.92299043e-02 -1.57390605e-02 2.94871130e+02] [ 3.92320567e-02 9.99230112e-01 -1.72093593e-04 2.92732018e+00] [ 1.57336944e-02 -4.45535930e-04 9.99876119e-01 4.52247212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.25925415399996 meters Centerline goodness : 0.998803 Centerline is valid? [True, True] Translation: X:294.90, Y:2.93, Z:4.52 [[ 9.99051462e-01 -4.06012091e-02 -1.57390699e-02 2.94903645e+02] [ 4.06035451e-02 9.99175321e-01 -1.71230588e-04 2.92746326e+00] [ 1.57330424e-02 -4.67993865e-04 9.99876119e-01 4.52298719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.289254154 meters Centerline goodness : 0.998654 Centerline is valid? [True, True] Translation: X:294.94, Y:2.93, Z:4.52 [[ 9.98893130e-01 -4.43260151e-02 -1.57390825e-02 2.94935740e+02] [ 4.43288313e-02 9.99016980e-01 -1.70061545e-04 2.92761566e+00] [ 1.57311488e-02 -5.27821826e-04 9.99876119e-01 4.52350558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.31925415399996 meters Centerline goodness : 0.998822 Centerline is valid? [True, True] Translation: X:294.97, Y:2.93, Z:4.52 [[ 9.98821444e-01 -4.59130098e-02 -1.57390950e-02 2.94967008e+02] [ 4.59160411e-02 9.98945288e-01 -1.68896182e-04 2.92774197e+00] [ 1.57302494e-02 -5.53979807e-04 9.99876119e-01 4.52312249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.349254154 meters Centerline goodness : 0.998719 Centerline is valid? [True, True] Translation: X:295.00, Y:2.93, Z:4.52 [[ 9.98729879e-01 -4.78634501e-02 -1.57391043e-02 2.94999593e+02] [ 4.78667370e-02 9.98853717e-01 -1.68027108e-04 2.92814066e+00] [ 1.57291052e-02 -5.85565873e-04 9.99876119e-01 4.52477418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.37925415399997 meters Centerline goodness : 0.998804 Centerline is valid? [True, True] Translation: X:295.03, Y:2.93, Z:4.53 [[ 9.98601316e-01 -5.04746743e-02 -1.57391169e-02 2.95030283e+02] [ 5.04783036e-02 9.98725144e-01 -1.66841241e-04 2.92866766e+00] [ 1.57274730e-02 -6.27876038e-04 9.99876119e-01 4.52535677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.40925415399994 meters Centerline goodness : 0.998823 Centerline is valid? [True, True] Translation: X:295.06, Y:2.93, Z:4.53 [[ 9.98586191e-01 -5.07730186e-02 -1.57391262e-02 2.95062402e+02] [ 5.07766988e-02 9.98710018e-01 -1.65959773e-04 2.92930952e+00] [ 1.57272493e-02 -6.33455732e-04 9.99876119e-01 4.52590449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.43925415399997 meters Centerline goodness : 0.998823 Centerline is valid? [True, True] Translation: X:295.10, Y:2.93, Z:4.53 [[ 9.98589974e-01 -5.06985533e-02 -1.57391385e-02 2.95095089e+02] [ 5.07022427e-02 9.98713801e-01 -1.64786754e-04 2.92959279e+00] [ 1.57272492e-02 -6.33455218e-04 9.99876119e-01 4.52641872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.46925415399994 meters Centerline goodness : 0.998826 Centerline is valid? [True, True] Translation: X:295.13, Y:2.93, Z:4.53 [[ 9.98606916e-01 -5.03637372e-02 -1.57391507e-02 2.95126705e+02] [ 5.03674036e-02 9.98730743e-01 -1.63613222e-04 2.93050743e+00] [ 1.57274138e-02 -6.29354859e-04 9.99876119e-01 4.52635146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.49925415399997 meters Centerline goodness : 0.998783 Centerline is valid? [True, True] Translation: X:295.16, Y:2.93, Z:4.53 [[ 9.98757559e-01 -4.72823041e-02 -1.57391597e-02 2.95158619e+02] [ 4.72856021e-02 9.98881397e-01 -1.62739230e-04 2.93131823e+00] [ 1.57292485e-02 -5.81698607e-04 9.99876119e-01 4.52533365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.52925415399994 meters Centerline goodness : 0.999076 Centerline is valid? [True, True] Translation: X:295.19, Y:2.93, Z:4.53 [[ 9.98820235e-01 -4.59392795e-02 -1.57391716e-02 2.95190784e+02] [ 4.59424292e-02 9.98944076e-01 -1.61583168e-04 2.93313813e+00] [ 1.57299752e-02 -5.61703237e-04 9.99876119e-01 4.52903867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.559254154 meters Centerline goodness : 0.998908 Centerline is valid? [True, True] Translation: X:295.22, Y:2.93, Z:4.53 [[ 9.98922629e-01 -4.36561381e-02 -1.57391835e-02 2.95222507e+02] [ 4.36590233e-02 9.99046477e-01 -1.60410146e-04 2.93446408e+00] [ 1.57311787e-02 -5.26920054e-04 9.99876119e-01 4.52993766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.58925415399995 meters Centerline goodness : 0.998912 Centerline is valid? [True, True] Translation: X:295.25, Y:2.94, Z:4.53 [[ 9.99125510e-01 -3.87361937e-02 -1.57391954e-02 2.95254634e+02] [ 3.87384873e-02 9.99249370e-01 -1.59237123e-04 2.93618152e+00] [ 1.57335493e-02 -4.50614749e-04 9.99876119e-01 4.53101123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.619254154 meters Centerline goodness : 0.998886 Centerline is valid? [True, True] Translation: X:295.29, Y:2.94, Z:4.53 [[ 9.99204594e-01 -3.66395617e-02 -1.57392071e-02 2.95286552e+02] [ 3.66416137e-02 9.99328458e-01 -1.58073397e-04 2.93682110e+00] [ 1.57344293e-02 -4.18762281e-04 9.99876119e-01 4.53164088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.64925415399995 meters Centerline goodness : 0.998802 Centerline is valid? [True, True] Translation: X:295.32, Y:2.94, Z:4.53 [[ 9.99272636e-01 -3.47343609e-02 -1.57392187e-02 2.95319003e+02] [ 3.47361950e-02 9.99396504e-01 -1.56911442e-04 2.93737464e+00] [ 1.57351703e-02 -3.89923259e-04 9.99876119e-01 4.53206572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.679254154 meters Centerline goodness : 0.998803 Centerline is valid? [True, True] Translation: X:295.35, Y:2.94, Z:4.53 [[ 9.99350366e-01 -3.24210263e-02 -1.57392301e-02 2.95350198e+02] [ 3.24225920e-02 9.99474237e-01 -1.55751622e-04 2.93816839e+00] [ 1.57360047e-02 -3.54656196e-04 9.99876119e-01 4.53248701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.70925415399995 meters Centerline goodness : 0.998843 Centerline is valid? [True, True] Translation: X:295.38, Y:2.94, Z:4.53 [[ 9.99373715e-01 -3.16931339e-02 -1.57392358e-02 2.95382057e+02] [ 3.16946184e-02 9.99497587e-01 -1.55173399e-04 2.93796123e+00] [ 1.57362462e-02 -3.43772857e-04 9.99876119e-01 4.53165452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.739254154 meters Centerline goodness : 0.998739 Centerline is valid? [True, True] Translation: X:295.41, Y:2.94, Z:4.53 [[ 9.99358308e-01 -3.21752631e-02 -1.57392417e-02 2.95413544e+02] [ 3.21768167e-02 9.99482180e-01 -1.54580434e-04 2.93807375e+00] [ 1.57360652e-02 -3.51957453e-04 9.99876119e-01 4.53241780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.76925415399995 meters Centerline goodness : 0.998967 Centerline is valid? [True, True] Translation: X:295.44, Y:2.94, Z:4.53 [[ 9.99339322e-01 -3.27596541e-02 -1.57392474e-02 2.95444096e+02] [ 3.27612894e-02 9.99463193e-01 -1.53998125e-04 2.93813390e+00] [ 1.57358433e-02 -3.61741655e-04 9.99876119e-01 4.53237351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.799254154 meters Centerline goodness : 0.998969 Centerline is valid? [True, True] Translation: X:295.48, Y:2.94, Z:4.53 [[ 9.99322377e-01 -3.32725431e-02 -1.57392570e-02 2.95475942e+02] [ 3.32742574e-02 9.99446247e-01 -1.53009466e-04 2.93794058e+00] [ 1.57356323e-02 -3.70806305e-04 9.99876119e-01 4.53239503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.82925415399995 meters Centerline goodness : 0.998631 Centerline is valid? [True, True] Translation: X:295.51, Y:2.94, Z:4.53 [[ 9.99312873e-01 -3.35567743e-02 -1.57392630e-02 2.95506291e+02] [ 3.35585336e-02 9.99436742e-01 -1.52389443e-04 2.93746539e+00] [ 1.57355114e-02 -3.75901853e-04 9.99876119e-01 4.53108100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.859254154 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:295.54, Y:2.94, Z:4.53 [[ 9.99278769e-01 -3.45574491e-02 -1.57392657e-02 2.95538068e+02] [ 3.45593370e-02 9.99402636e-01 -1.52102573e-04 2.93742025e+00] [ 1.57351199e-02 -3.91945717e-04 9.99876119e-01 4.53263746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.88925415399996 meters Centerline goodness : 0.998905 Centerline is valid? [True, True] Translation: X:295.57, Y:2.94, Z:4.53 [[ 9.99288460e-01 -3.42760848e-02 -1.57392712e-02 2.95569599e+02] [ 3.42779468e-02 9.99412327e-01 -1.51531863e-04 2.93718163e+00] [ 1.57352156e-02 -3.88085861e-04 9.99876119e-01 4.53267007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.919254154 meters Centerline goodness : 0.998715 Centerline is valid? [True, True] Translation: X:295.60, Y:2.94, Z:4.53 [[ 9.99293673e-01 -3.41237436e-02 -1.57392794e-02 2.95600551e+02] [ 3.41256002e-02 9.99417541e-01 -1.50677561e-04 2.93723361e+00] [ 1.57352536e-02 -3.86541222e-04 9.99876119e-01 4.53337671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.94925415399996 meters Centerline goodness : 0.998883 Centerline is valid? [True, True] Translation: X:295.63, Y:2.94, Z:4.53 [[ 9.99312432e-01 -3.35699106e-02 -1.57392848e-02 2.95631755e+02] [ 3.35717074e-02 9.99436300e-01 -1.50116180e-04 2.93725569e+00] [ 1.57354519e-02 -3.78381698e-04 9.99876119e-01 4.53461263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.979254154 meters Centerline goodness : 0.998886 Centerline is valid? [True, True] Translation: X:295.66, Y:2.94, Z:4.54 [[ 9.99375685e-01 -3.16309174e-02 -1.57392902e-02 2.95663283e+02] [ 3.16324828e-02 9.99499557e-01 -1.49545957e-04 2.93768705e+00] [ 1.57361438e-02 -3.48420233e-04 9.99876119e-01 4.53649399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.00925415399996 meters Centerline goodness : 0.998946 Centerline is valid? [True, True] Translation: X:295.69, Y:2.94, Z:4.54 [[ 9.99415950e-01 -3.03320533e-02 -1.57392956e-02 2.95693296e+02] [ 3.03334668e-02 9.99539823e-01 -1.48969101e-04 2.93786481e+00] [ 1.57365713e-02 -3.28545307e-04 9.99876119e-01 4.53720049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.039254154 meters Centerline goodness : 0.998842 Centerline is valid? [True, True] Translation: X:295.72, Y:2.94, Z:4.54 [[ 9.99518761e-01 -2.67305368e-02 -1.57393044e-02 2.95724850e+02] [ 2.67315185e-02 9.99642638e-01 -1.48042709e-04 2.93829211e+00] [ 1.57376370e-02 -2.72764041e-04 9.99876119e-01 4.53906560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.06925415399996 meters Centerline goodness : 0.998969 Centerline is valid? [True, True] Translation: X:295.75, Y:2.94, Z:4.54 [[ 9.99579409e-01 -2.43573228e-02 -1.57393098e-02 2.95754740e+02] [ 2.43580196e-02 9.99703289e-01 -1.47460967e-04 2.93856696e+00] [ 1.57382315e-02 -2.35979470e-04 9.99876119e-01 4.53951605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.099254154 meters Centerline goodness : 0.998989 Centerline is valid? [True, True] Translation: X:295.78, Y:2.94, Z:4.54 [[ 9.99633684e-01 -2.20175147e-02 -1.57393125e-02 2.95783952e+02] [ 2.20179260e-02 9.99757565e-01 -1.47172738e-04 2.93878305e+00] [ 1.57387371e-02 -1.99428192e-04 9.99876119e-01 4.54071926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.12925415399997 meters Centerline goodness : 0.998840 Centerline is valid? [True, True] Translation: X:295.81, Y:2.94, Z:4.54 [[ 9.99674629e-01 -2.00726052e-02 -1.57393071e-02 2.95813059e+02] [ 2.00727664e-02 9.99798511e-01 -1.47752744e-04 2.93897268e+00] [ 1.57391015e-02 -1.68226764e-04 9.99876119e-01 4.54050322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.15925415399994 meters Centerline goodness : 0.999092 Centerline is valid? [True, True] Translation: X:295.84, Y:2.94, Z:4.54 [[ 9.99730117e-01 -1.70870644e-02 -1.57392989e-02 2.95841734e+02] [ 1.70868421e-02 9.99853998e-01 -1.48615542e-04 2.93875181e+00] [ 1.57395404e-02 -1.20359481e-04 9.99876119e-01 4.54075160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.18925415399997 meters Centerline goodness : 0.998798 Centerline is valid? [True, True] Translation: X:295.87, Y:2.94, Z:4.54 [[ 9.99739785e-01 -1.65117752e-02 -1.57392600e-02 2.95869502e+02] [ 1.65114183e-02 9.99863666e-01 -1.52630896e-04 2.93848120e+00] [ 1.57396344e-02 -1.07286327e-04 9.99876119e-01 4.53948918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.21925415399994 meters Centerline goodness : 0.998882 Centerline is valid? [True, True] Translation: X:295.90, Y:2.94, Z:4.54 [[ 9.99731559e-01 -1.70025155e-02 -1.57392461e-02 2.95896956e+02] [ 1.70021971e-02 9.99855440e-01 -1.54050491e-04 2.93801699e+00] [ 1.57395901e-02 -1.13592626e-04 9.99876119e-01 4.54043496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.24925415399997 meters Centerline goodness : 0.998651 Centerline is valid? [True, True] Translation: X:295.92, Y:2.94, Z:4.54 [[ 9.99713328e-01 -1.80427007e-02 -1.57391997e-02 2.95924866e+02] [ 1.80424388e-02 9.99837209e-01 -1.58647449e-04 2.93724259e+00] [ 1.57395000e-02 -1.25371579e-04 9.99876119e-01 4.54076733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.27925415399994 meters Centerline goodness : 0.998904 Centerline is valid? [True, True] Translation: X:295.95, Y:2.94, Z:4.54 [[ 9.99661452e-01 -2.07186093e-02 -1.57391508e-02 2.95952205e+02] [ 2.07186047e-02 9.99785333e-01 -1.63365220e-04 2.93512429e+00] [ 1.57391568e-02 -1.62783330e-04 9.99876119e-01 4.54024069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.309254154 meters Centerline goodness : 0.999074 Centerline is valid? [True, True] Translation: X:295.98, Y:2.93, Z:4.54 [[ 9.99620289e-01 -2.26176220e-02 -1.57391355e-02 2.95981162e+02] [ 2.26178298e-02 9.99744171e-01 -1.64824399e-04 2.93452476e+00] [ 1.57388369e-02 -1.91223275e-04 9.99876119e-01 4.54064705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.33925415399995 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:296.01, Y:2.93, Z:4.54 [[ 9.99522863e-01 -2.65768363e-02 -1.57390914e-02 2.96009434e+02] [ 2.65774700e-02 9.99646742e-01 -1.68937033e-04 2.93298989e+00] [ 1.57380212e-02 -2.49448802e-04 9.99876119e-01 4.53849861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.369254154 meters Centerline goodness : 0.998990 Centerline is valid? [True, True] Translation: X:296.04, Y:2.93, Z:4.54 [[ 9.99466258e-01 -2.86265716e-02 -1.57390819e-02 2.96039559e+02] [ 2.86274456e-02 9.99590136e-01 -1.69810035e-04 2.93253888e+00] [ 1.57374921e-02 -2.80850312e-04 9.99876119e-01 4.53849337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.39925415399995 meters Centerline goodness : 0.999095 Centerline is valid? [True, True] Translation: X:296.07, Y:2.93, Z:4.54 [[ 9.99394908e-01 -3.10177137e-02 -1.57390819e-02 2.96069856e+02] [ 3.10188841e-02 9.99518784e-01 -1.69810035e-04 2.93223253e+00] [ 1.57367752e-02 -3.18501475e-04 9.99876119e-01 4.53826668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.429254154 meters Centerline goodness : 0.998801 Centerline is valid? [True, True] Translation: X:296.10, Y:2.93, Z:4.54 [[ 9.99240213e-01 -3.56549951e-02 -1.57390819e-02 2.96101420e+02] [ 3.56567403e-02 9.99364082e-01 -1.69810035e-04 2.93167145e+00] [ 1.57351277e-02 -3.91523342e-04 9.99876119e-01 4.53845725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.45925415399995 meters Centerline goodness : 0.998928 Centerline is valid? [True, True] Translation: X:296.13, Y:2.93, Z:4.54 [[ 9.99166381e-01 -3.76672888e-02 -1.57390882e-02 2.96132438e+02] [ 3.76692926e-02 9.99290246e-01 -1.69229998e-04 2.93139316e+00] [ 1.57342917e-02 -4.23791392e-04 9.99876119e-01 4.53816956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.489254154 meters Centerline goodness : 0.998781 Centerline is valid? [True, True] Translation: X:296.16, Y:2.93, Z:4.54 [[ 9.99050703e-01 -4.06198810e-02 -1.57390944e-02 2.96164160e+02] [ 4.06222600e-02 9.99174561e-01 -1.68649144e-04 2.93199787e+00] [ 1.57329532e-02 -4.70868539e-04 9.99876119e-01 4.53993007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.51925415399995 meters Centerline goodness : 0.998844 Centerline is valid? [True, True] Translation: X:296.20, Y:2.93, Z:4.54 [[ 9.98945385e-01 -4.31323264e-02 -1.57391068e-02 2.96196375e+02] [ 4.31350353e-02 9.99069237e-01 -1.67483275e-04 2.93222215e+00] [ 1.57316814e-02 -5.11600282e-04 9.99876119e-01 4.54078596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.549254154 meters Centerline goodness : 0.998887 Centerline is valid? [True, True] Translation: X:296.23, Y:2.93, Z:4.54 [[ 9.98701414e-01 -4.84537548e-02 -1.57391191e-02 2.96227914e+02] [ 4.84571417e-02 9.98825249e-01 -1.66320824e-04 2.93252696e+00] [ 1.57286884e-02 -5.96567882e-04 9.99876119e-01 4.54062013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.57925415399995 meters Centerline goodness : 0.998931 Centerline is valid? [True, True] Translation: X:296.26, Y:2.93, Z:4.54 [[ 9.98573287e-01 -5.10261671e-02 -1.57391282e-02 2.96260475e+02] [ 5.10298866e-02 9.98697113e-01 -1.65456141e-04 2.93267428e+00] [ 1.57270645e-02 -6.37945843e-04 9.99876119e-01 4.54211481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.609254154 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:296.29, Y:2.93, Z:4.54 [[ 9.98279056e-01 -5.64907573e-02 -1.57391401e-02 2.96291927e+02] [ 5.64951725e-02 9.98402859e-01 -1.64314619e-04 2.93366081e+00] [ 1.57232847e-02 -7.25153591e-04 9.99876119e-01 4.54328036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.63925415399996 meters Centerline goodness : 0.998871 Centerline is valid? [True, True] Translation: X:296.32, Y:2.93, Z:4.54 [[ 9.98139534e-01 -5.89045853e-02 -1.57391584e-02 2.96324021e+02] [ 5.89093276e-02 9.98263324e-01 -1.62544692e-04 2.93419299e+00] [ 1.57213992e-02 -7.64940954e-04 9.99876119e-01 4.54242445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.669254154 meters Centerline goodness : 0.998889 Centerline is valid? [True, True] Translation: X:296.36, Y:2.94, Z:4.54 [[ 9.97995252e-01 -6.13005318e-02 -1.57391699e-02 2.96356936e+02] [ 6.13055889e-02 9.98119030e-01 -1.61423238e-04 2.93524113e+00] [ 1.57194603e-02 -8.03799453e-04 9.99876119e-01 4.54372020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.69925415399996 meters Centerline goodness : 0.998785 Centerline is valid? [True, True] Translation: X:296.39, Y:2.94, Z:4.55 [[ 9.97832292e-01 -6.38983138e-02 -1.57391877e-02 2.96389388e+02] [ 6.39037208e-02 9.97956056e-01 -1.59663379e-04 2.93677485e+00] [ 1.57172199e-02 -8.46475383e-04 9.99876119e-01 4.54549848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.729254154 meters Centerline goodness : 0.998848 Centerline is valid? [True, True] Translation: X:296.42, Y:2.94, Z:4.55 [[ 9.97599000e-01 -6.74426642e-02 -1.57391995e-02 2.96422040e+02] [ 6.74485292e-02 9.97722742e-01 -1.58495982e-04 2.93813738e+00] [ 1.57140467e-02 -9.03470423e-04 9.99876119e-01 4.54588808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.75925415399996 meters Centerline goodness : 0.998742 Centerline is valid? [True, True] Translation: X:296.45, Y:2.94, Z:4.55 [[ 9.97505374e-01 -6.88135567e-02 -1.57392170e-02 2.96454120e+02] [ 6.88196194e-02 9.97629107e-01 -1.56733610e-04 2.93921869e+00] [ 1.57126864e-02 -9.26824308e-04 9.99876119e-01 4.54593445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.789254154 meters Centerline goodness : 0.998848 Centerline is valid? [True, True] Translation: X:296.49, Y:2.94, Z:4.55 [[ 9.97446227e-01 -6.96656420e-02 -1.57392315e-02 2.96486961e+02] [ 6.96718335e-02 9.97569953e-01 -1.55270953e-04 2.94021558e+00] [ 1.57118014e-02 -9.41706687e-04 9.99876119e-01 4.54656173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.81925415399996 meters Centerline goodness : 0.998740 Centerline is valid? [True, True] Translation: X:296.52, Y:2.94, Z:4.55 [[ 9.97392912e-01 -7.04248156e-02 -1.57392486e-02 2.96519594e+02] [ 7.04311287e-02 9.97516633e-01 -1.53518781e-04 2.94268997e+00] [ 1.57109737e-02 -9.55414497e-04 9.99876119e-01 4.54718334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.849254154 meters Centerline goodness : 0.998928 Centerline is valid? [True, True] Translation: X:296.55, Y:2.94, Z:4.55 [[ 9.97411019e-01 -7.01679031e-02 -1.57392655e-02 2.96552914e+02] [ 7.01742121e-02 9.97534740e-01 -1.51758913e-04 2.94439736e+00] [ 1.57111127e-02 -9.53124545e-04 9.99876119e-01 4.54799837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.87925415399997 meters Centerline goodness : 0.998864 Centerline is valid? [True, True] Translation: X:296.59, Y:2.94, Z:4.54 [[ 9.97887881e-01 -6.30242247e-02 -1.57392823e-02 2.96591924e+02] [ 6.30296752e-02 9.98011642e-01 -1.50001544e-04 2.94072394e+00] [ 1.57174407e-02 -8.42357127e-04 9.99876119e-01 4.54252451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.90925415399994 meters Centerline goodness : 0.999055 Centerline is valid? [True, True] Translation: X:296.61, Y:2.95, Z:4.55 [[ 9.97602612e-01 -6.73883809e-02 -1.57427373e-02 2.96613768e+02] [ 6.74003713e-02 9.97725983e-01 2.31723248e-04 2.94916454e+00] [ 1.56913226e-02 -1.29223406e-03 9.99876049e-01 4.54694109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.93925415399997 meters Centerline goodness : 0.999051 Centerline is valid? [True, True] Translation: X:296.65, Y:2.95, Z:4.55 [[ 9.97742856e-01 -6.52799932e-02 -1.57389674e-02 2.96646279e+02] [ 6.52856619e-02 9.97866604e-01 -1.53909852e-04 2.95119951e+00] [ 1.57154372e-02 -8.73966450e-04 9.99876123e-01 4.54773335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.96925415399994 meters Centerline goodness : 0.998949 Centerline is valid? [True, True] Translation: X:296.68, Y:2.95, Z:4.55 [[ 9.97927099e-01 -6.24002317e-02 -1.57389789e-02 2.96677325e+02] [ 6.24055618e-02 9.98050862e-01 -1.52724383e-04 2.95348722e+00] [ 1.57178315e-02 -8.29792021e-04 9.99876123e-01 4.54680308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.99925415399997 meters Centerline goodness : 0.998691 Centerline is valid? [True, True] Translation: X:296.71, Y:2.96, Z:4.55 [[ 9.98384823e-01 -5.45896494e-02 -1.57389874e-02 2.96709811e+02] [ 5.45940248e-02 9.98508623e-01 -1.51841664e-04 2.95863805e+00] [ 1.57238037e-02 -7.07658258e-04 9.99876123e-01 4.54549487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.02925415399994 meters Centerline goodness : 0.998900 Centerline is valid? [True, True] Translation: X:296.74, Y:2.96, Z:4.55 [[ 9.98592805e-01 -5.06427962e-02 -1.57389981e-02 2.96742169e+02] [ 5.06466998e-02 9.98716621e-01 -1.50726756e-04 2.96209789e+00] [ 1.57264322e-02 -6.46613659e-04 9.99876123e-01 4.54862141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.059254154 meters Centerline goodness : 0.998794 Centerline is valid? [True, True] Translation: X:296.77, Y:2.97, Z:4.55 [[ 9.98823638e-01 -4.58652844e-02 -1.57390091e-02 2.96773146e+02] [ 4.58686138e-02 9.98947470e-01 -1.49570835e-04 2.96518106e+00] [ 1.57293034e-02 -5.72531645e-04 9.99876123e-01 4.54919386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.08925415399995 meters Centerline goodness : 0.998902 Centerline is valid? [True, True] Translation: X:296.81, Y:2.97, Z:4.55 [[ 9.99229214e-01 -3.59619469e-02 -1.57390172e-02 2.96805637e+02] [ 3.59640622e-02 9.99353073e-01 -1.48709869e-04 2.97089645e+00] [ 1.57341831e-02 -4.17443750e-04 9.99876123e-01 4.55149428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.119254154 meters Centerline goodness : 0.998959 Centerline is valid? [True, True] Translation: X:296.84, Y:2.97, Z:4.55 [[ 9.99394769e-01 -3.10222308e-02 -1.57390279e-02 2.96837398e+02] [ 3.10237517e-02 9.99518637e-01 -1.47569325e-04 2.97342916e+00] [ 1.57360297e-02 -3.40803683e-04 9.99876123e-01 4.55280354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.14925415399995 meters Centerline goodness : 0.999044 Centerline is valid? [True, True] Translation: X:296.87, Y:2.98, Z:4.55 [[ 9.99536548e-01 -2.60571018e-02 -1.57390387e-02 2.96868432e+02] [ 2.60580257e-02 9.99660421e-01 -1.46408889e-04 2.97559243e+00] [ 1.57375091e-02 -2.63787240e-04 9.99876123e-01 4.55364988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.179254154 meters Centerline goodness : 0.999236 Centerline is valid? [True, True] Translation: X:296.90, Y:2.98, Z:4.55 [[ 9.99643291e-01 -2.15771301e-02 -1.57390467e-02 2.96900044e+02] [ 2.15775124e-02 9.99767168e-01 -1.45545419e-04 2.97769579e+00] [ 1.57385226e-02 -1.94115974e-04 9.99876123e-01 4.55491934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.20925415399995 meters Centerline goodness : 0.998914 Centerline is valid? [True, True] Translation: X:296.93, Y:2.98, Z:4.56 [[ 9.99774331e-01 -1.42677720e-02 -1.57390520e-02 2.96929797e+02] [ 1.42672576e-02 9.99898207e-01 -1.44971231e-04 2.98138816e+00] [ 1.57395183e-02 -7.96145942e-05 9.99876123e-01 4.55627638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.239254154 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:296.96, Y:2.98, Z:4.56 [[ 9.99808238e-01 -1.16519920e-02 -1.57390466e-02 2.96958054e+02] [ 1.16511444e-02 9.99932113e-01 -1.45553687e-04 2.98293109e+00] [ 1.57396741e-02 -3.78521293e-05 9.99876123e-01 4.55671246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.26925415399995 meters Centerline goodness : 0.997202 Centerline is valid? [True, True] Translation: X:296.99, Y:2.98, Z:4.56 [[ 9.99832945e-01 -9.29327415e-03 -1.57390331e-02 2.96985170e+02] [ 9.29211154e-03 9.99956817e-01 -1.46996508e-04 2.98488200e+00] [ 1.57397196e-02 7.23099845e-07 9.99876123e-01 4.55620124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.299254154 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:297.01, Y:2.98, Z:4.56 [[ 9.99840137e-01 -8.48647526e-03 -1.57378296e-02 2.97014782e+02] [ 8.48327284e-03 9.99963980e-01 -2.70234386e-04 2.98441171e+00] [ 1.57395561e-02 1.36682883e-04 9.99876116e-01 4.55637121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.32925415399995 meters Centerline goodness : 0.996287 Centerline is valid? [True, True] Translation: X:297.04, Y:2.99, Z:4.56 [[ 9.99835078e-01 -9.06099806e-03 -1.57389678e-02 2.97040424e+02] [ 9.05970128e-03 9.99958948e-01 -1.53691875e-04 2.98536638e+00] [ 1.57397143e-02 1.10761810e-05 9.99876123e-01 4.55511738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.359254154 meters Centerline goodness : 0.996287 Centerline is valid? [True, True] Translation: X:297.07, Y:2.99, Z:4.56 [[ 9.99833563e-01 -9.22911038e-03 -1.57375122e-02 2.97068849e+02] [ 9.22559761e-03 9.99957400e-01 -2.95795364e-04 2.98577594e+00] [ 1.57395717e-02 1.50558179e-04 9.99876114e-01 4.55561082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.38925415399996 meters Centerline goodness : 0.995398 Centerline is valid? [True, True] Translation: X:297.10, Y:2.98, Z:4.55 [[ 9.99787291e-01 -1.33305401e-02 -1.57375187e-02 2.97097212e+02] [ 1.33275454e-02 9.99911141e-01 -2.95159243e-04 2.98436277e+00] [ 1.57400549e-02 8.53539652e-05 9.99876114e-01 4.55493785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.419254154 meters Centerline goodness : 0.998934 Centerline is valid? [True, True] Translation: X:297.13, Y:2.98, Z:4.56 [[ 9.99720887e-01 -1.76204893e-02 -1.57374199e-02 2.97127031e+02] [ 1.76178802e-02 9.99844747e-01 -3.04424378e-04 2.98303128e+00] [ 1.57403407e-02 2.70794307e-05 9.99876113e-01 4.55520688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.44925415399996 meters Centerline goodness : 0.998785 Centerline is valid? [True, True] Translation: X:297.16, Y:2.98, Z:4.56 [[ 9.99644299e-01 -2.15305338e-02 -1.57388808e-02 2.97156177e+02] [ 2.15305958e-02 9.99768176e-01 -1.65527952e-04 2.98195344e+00] [ 1.57387961e-02 -1.73398408e-04 9.99876122e-01 4.55554203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.479254154 meters Centerline goodness : 0.998936 Centerline is valid? [True, True] Translation: X:297.19, Y:2.98, Z:4.56 [[ 9.99557717e-01 -2.52321102e-02 -1.57388367e-02 2.97185219e+02] [ 2.52325664e-02 9.99681594e-01 -1.69621078e-04 2.98070310e+00] [ 1.57381053e-02 -2.27585185e-04 9.99876122e-01 4.55612490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.50925415399996 meters Centerline goodness : 0.998749 Centerline is valid? [True, True] Translation: X:297.22, Y:2.98, Z:4.56 [[ 9.99351426e-01 -3.23885304e-02 -1.57388336e-02 2.97215712e+02] [ 3.23898690e-02 9.99475296e-01 -1.69910847e-04 2.97754719e+00] [ 1.57360785e-02 -3.39978111e-04 9.99876122e-01 4.55702888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.539254154 meters Centerline goodness : 0.998899 Centerline is valid? [True, True] Translation: X:297.26, Y:2.96, Z:4.55 [[ 9.99610272e-01 -2.30563041e-02 -1.57388367e-02 2.97260887e+02] [ 2.30564906e-02 9.99734149e-01 -1.69623985e-04 2.96343708e+00] [ 1.57385634e-02 -1.93324462e-04 9.99876122e-01 4.55147646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.56925415399996 meters Centerline goodness : 0.998899 Centerline is valid? [True, True] Translation: X:297.27, Y:2.97, Z:4.56 [[ 9.99099413e-01 -3.94008076e-02 -1.57461094e-02 2.97272993e+02] [ 3.94151064e-02 9.99222743e-01 5.98660892e-04 2.97353357e+00] [ 1.57102829e-02 -1.21875632e-03 9.99875843e-01 4.55903601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.59925415399994 meters Centerline goodness : 0.998986 Centerline is valid? [True, True] Translation: X:297.30, Y:2.97, Z:4.56 [[ 9.99060597e-01 -4.03764460e-02 -1.57373833e-02 2.97304968e+02] [ 4.03786609e-02 9.99184434e-01 -1.77114703e-04 2.97295312e+00] [ 1.57316997e-02 -4.58506141e-04 9.99876144e-01 4.56010240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.62925415399997 meters Centerline goodness : 0.998966 Centerline is valid? [True, True] Translation: X:297.34, Y:2.97, Z:4.56 [[ 9.99041158e-01 -4.08546139e-02 -1.57373964e-02 2.97336388e+02] [ 4.08569064e-02 9.99164993e-01 -1.75941814e-04 2.97197923e+00] [ 1.57314436e-02 -4.67208218e-04 9.99876144e-01 4.56062295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.65925415399994 meters Centerline goodness : 0.998882 Centerline is valid? [True, True] Translation: X:297.37, Y:2.97, Z:4.56 [[ 9.99072950e-01 -4.00696137e-02 -1.57374061e-02 2.97367137e+02] [ 4.00718227e-02 9.99196787e-01 -1.75068298e-04 2.97140757e+00] [ 1.57317805e-02 -4.55720546e-04 9.99876144e-01 4.56100140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.68925415399997 meters Centerline goodness : 0.999030 Centerline is valid? [True, True] Translation: X:297.40, Y:2.97, Z:4.56 [[ 9.99061295e-01 -4.03593959e-02 -1.57368460e-02 2.97399195e+02] [ 4.03608455e-02 9.99185144e-01 -2.25600063e-04 2.97027112e+00] [ 1.57331278e-02 -4.09764118e-04 9.99876143e-01 4.56158889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.71925415399994 meters Centerline goodness : 0.998947 Centerline is valid? [True, True] Translation: X:297.43, Y:2.97, Z:4.56 [[ 9.99110437e-01 -3.91237467e-02 -1.57374377e-02 2.97431072e+02] [ 3.91258993e-02 9.99234274e-01 -1.71206957e-04 2.96880360e+00] [ 1.57320854e-02 -4.44686746e-04 9.99876144e-01 4.56155880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.74925415399997 meters Centerline goodness : 0.998862 Centerline is valid? [True, True] Translation: X:297.46, Y:2.97, Z:4.56 [[ 9.99143078e-01 -3.82811004e-02 -1.57374503e-02 2.97463634e+02] [ 3.82831668e-02 9.99266916e-01 -1.70041716e-04 2.96812120e+00] [ 1.57324229e-02 -4.32583433e-04 9.99876144e-01 4.56162536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.77925415399994 meters Centerline goodness : 0.998967 Centerline is valid? [True, True] Translation: X:297.49, Y:2.97, Z:4.56 [[ 9.99184095e-01 -3.71951211e-02 -1.57374627e-02 2.97494718e+02] [ 3.71970711e-02 9.99307935e-01 -1.68885780e-04 2.96695235e+00] [ 1.57328531e-02 -4.16639536e-04 9.99876144e-01 4.56129229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.809254154 meters Centerline goodness : 0.998673 Centerline is valid? [True, True] Translation: X:297.53, Y:2.96, Z:4.56 [[ 9.99263168e-01 -3.50064691e-02 -1.57374719e-02 2.97526666e+02] [ 3.50081615e-02 9.99387012e-01 -1.68024434e-04 2.96493056e+00] [ 1.57337070e-02 -3.83039331e-04 9.99876144e-01 4.56003722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.83925415399995 meters Centerline goodness : 0.998945 Centerline is valid? [True, True] Translation: X:297.56, Y:2.96, Z:4.56 [[ 9.99311386e-01 -3.36018769e-02 -1.57374841e-02 2.97558372e+02] [ 3.36034133e-02 9.99435232e-01 -1.66876546e-04 2.96444804e+00] [ 1.57342034e-02 -3.62071549e-04 9.99876144e-01 4.55965212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.869254154 meters Centerline goodness : 0.998901 Centerline is valid? [True, True] Translation: X:297.59, Y:2.96, Z:4.56 [[ 9.99363321e-01 -3.20200515e-02 -1.57374902e-02 2.97589682e+02] [ 3.20214008e-02 9.99487170e-01 -1.66299258e-04 2.96420596e+00] [ 1.57347445e-02 -3.37743104e-04 9.99876144e-01 4.55978567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.89925415399995 meters Centerline goodness : 0.998881 Centerline is valid? [True, True] Translation: X:297.62, Y:2.96, Z:4.56 [[ 9.99485699e-01 -2.79404494e-02 -1.57374963e-02 2.97620785e+02] [ 2.79413023e-02 9.99609552e-01 -1.65718149e-04 2.96384486e+00] [ 1.57359819e-02 -2.74093223e-04 9.99876144e-01 4.55943942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.929254154 meters Centerline goodness : 0.998944 Centerline is valid? [True, True] Translation: X:297.65, Y:2.96, Z:4.56 [[ 9.99565281e-01 -2.49315240e-02 -1.57375025e-02 2.97649019e+02] [ 2.49320133e-02 9.99689135e-01 -1.65134316e-04 2.96376027e+00] [ 1.57367273e-02 -2.27305091e-04 9.99876144e-01 4.55954908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.95925415399995 meters Centerline goodness : 0.998713 Centerline is valid? [True, True] Translation: X:297.68, Y:2.96, Z:4.56 [[ 9.99603820e-01 -2.33358023e-02 -1.57366814e-02 2.97679919e+02] [ 2.33348804e-02 9.99727675e-01 -2.42222086e-04 2.96370298e+00] [ 1.57380484e-02 -1.25087457e-04 9.99876141e-01 4.56068389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.989254154 meters Centerline goodness : 0.998944 Centerline is valid? [True, True] Translation: X:297.71, Y:2.96, Z:4.56 [[ 9.99660223e-01 -2.07790982e-02 -1.57374758e-02 2.97708920e+02] [ 2.07790330e-02 9.99784079e-01 -1.67671956e-04 2.96348077e+00] [ 1.57375618e-02 -1.59394544e-04 9.99876144e-01 4.56107454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.01925415399995 meters Centerline goodness : 0.998796 Centerline is valid? [True, True] Translation: X:297.74, Y:2.96, Z:4.56 [[ 9.99711097e-01 -1.81673825e-02 -1.57374727e-02 2.97737867e+02] [ 1.81669893e-02 9.99834953e-01 -1.67959676e-04 2.96341141e+00] [ 1.57379267e-02 -1.17991345e-04 9.99876144e-01 4.56148539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.049254154 meters Centerline goodness : 0.998924 Centerline is valid? [True, True] Translation: X:297.77, Y:2.96, Z:4.56 [[ 9.99785172e-01 -1.34885594e-02 -1.57374635e-02 2.97766416e+02] [ 1.34875731e-02 9.99909024e-01 -1.68813210e-04 2.96364365e+00] [ 1.57383089e-02 -4.34832458e-05 9.99876144e-01 4.56300313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.07925415399995 meters Centerline goodness : 0.999092 Centerline is valid? [True, True] Translation: X:297.79, Y:2.96, Z:4.56 [[ 9.99807845e-01 -1.16878552e-02 -1.57374193e-02 2.97792939e+02] [ 1.16865823e-02 9.99931695e-01 -1.72843998e-04 2.96396945e+00] [ 1.57383645e-02 -1.11058613e-05 9.99876144e-01 4.56360557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.109254154 meters Centerline goodness : 0.999071 Centerline is valid? [True, True] Translation: X:297.82, Y:2.97, Z:4.56 [[ 9.99813736e-01 -1.11726375e-02 -1.57373971e-02 2.97820043e+02] [ 1.11712695e-02 9.99937584e-01 -1.74838469e-04 2.96565271e+00] [ 1.57383683e-02 -1.00080066e-06 9.99876144e-01 4.56455490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.13925415399996 meters Centerline goodness : 0.998821 Centerline is valid? [True, True] Translation: X:297.85, Y:2.96, Z:4.56 [[ 9.99823503e-01 -1.02633345e-02 -1.57361937e-02 2.97851161e+02] [ 1.02601977e-02 9.99947324e-01 -2.80062407e-04 2.96215492e+00] [ 1.57382391e-02 1.18556519e-04 9.99876139e-01 4.56471032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.169254154 meters Centerline goodness : 0.998945 Centerline is valid? [True, True] Translation: X:297.88, Y:2.96, Z:4.56 [[ 9.99809859e-01 -1.15144332e-02 -1.57373410e-02 2.97879589e+02] [ 1.15130347e-02 9.99933707e-01 -1.79458940e-04 2.96089706e+00] [ 1.57383641e-02 -1.75973586e-06 9.99876144e-01 4.56442542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.19925415399996 meters Centerline goodness : 0.998737 Centerline is valid? [True, True] Translation: X:297.91, Y:2.96, Z:4.56 [[ 9.99754249e-01 -1.56134219e-02 -1.57372895e-02 2.97907002e+02] [ 1.56124618e-02 9.99878101e-01 -1.83867196e-04 2.95814130e+00] [ 1.57382419e-02 -6.18758215e-05 9.99876144e-01 4.56394234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.229254154 meters Centerline goodness : 0.998928 Centerline is valid? [True, True] Translation: X:297.93, Y:2.96, Z:4.56 [[ 9.99704661e-01 -1.85183586e-02 -1.57372724e-02 2.97934947e+02] [ 1.85177355e-02 9.99828515e-01 -1.85322081e-04 2.95712075e+00] [ 1.57380055e-02 -1.06151299e-04 9.99876144e-01 4.56403228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.25925415399996 meters Centerline goodness : 0.998971 Centerline is valid? [True, True] Translation: X:297.96, Y:2.96, Z:4.56 [[ 9.99643294e-01 -2.15783388e-02 -1.57372163e-02 2.97963252e+02] [ 2.15780217e-02 9.99767149e-01 -1.89969112e-04 2.95613854e+00] [ 1.57376511e-02 -1.49676645e-04 9.99876144e-01 4.56402181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.289254154 meters Centerline goodness : 0.998912 Centerline is valid? [True, True] Translation: X:297.99, Y:2.95, Z:4.56 [[ 9.99503954e-01 -2.72797933e-02 -1.57371988e-02 2.97992050e+02] [ 2.72801600e-02 9.99627809e-01 -1.91406347e-04 2.95308215e+00] [ 1.57365631e-02 -2.38001900e-04 9.99876144e-01 4.56435076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.31925415399996 meters Centerline goodness : 0.998993 Centerline is valid? [True, True] Translation: X:298.02, Y:2.95, Z:4.57 [[ 9.99434402e-01 -2.97189828e-02 -1.57371491e-02 2.98022768e+02] [ 2.97195888e-02 9.99558256e-01 -1.95407256e-04 2.95164377e+00] [ 1.57360046e-02 -2.72404867e-04 9.99876144e-01 4.56521528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.34925415399994 meters Centerline goodness : 0.998846 Centerline is valid? [True, True] Translation: X:298.05, Y:2.95, Z:4.57 [[ 9.99380950e-01 -3.14652141e-02 -1.57371491e-02 2.98052921e+02] [ 3.14660365e-02 9.99504803e-01 -1.95407256e-04 2.94986007e+00] [ 1.57355046e-02 -2.99899418e-04 9.99876144e-01 4.56550533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.37925415399997 meters Centerline goodness : 0.998888 Centerline is valid? [True, True] Translation: X:298.08, Y:2.95, Z:4.57 [[ 9.99342317e-01 -3.26691936e-02 -1.57371491e-02 2.98082901e+02] [ 3.26701652e-02 9.99466169e-01 -1.95407256e-04 2.94824413e+00] [ 1.57351319e-02 -3.18856521e-04 9.99876144e-01 4.56593137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.40925415399994 meters Centerline goodness : 0.998952 Centerline is valid? [True, True] Translation: X:298.11, Y:2.95, Z:4.57 [[ 9.99305567e-01 -3.37746318e-02 -1.57371612e-02 2.98113868e+02] [ 3.37757558e-02 9.99429417e-01 -1.94431199e-04 2.94599447e+00] [ 1.57347487e-02 -3.37238333e-04 9.99876144e-01 4.56765343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.43925415399997 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:298.15, Y:2.95, Z:4.57 [[ 9.99317539e-01 -3.34185363e-02 -1.57371682e-02 2.98145137e+02] [ 3.34196252e-02 9.99441390e-01 -1.93856893e-04 2.94529011e+00] [ 1.57348557e-02 -3.32205672e-04 9.99876144e-01 4.56886557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.46925415399994 meters Centerline goodness : 0.998929 Centerline is valid? [True, True] Translation: X:298.18, Y:2.94, Z:4.57 [[ 9.99339254e-01 -3.27627438e-02 -1.57371753e-02 2.98176361e+02] [ 3.27637604e-02 9.99463105e-01 -1.93284369e-04 2.94497566e+00] [ 1.57350586e-02 -3.22452383e-04 9.99876144e-01 4.57053055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.49925415399997 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:298.21, Y:2.94, Z:4.57 [[ 9.99381941e-01 -3.14336999e-02 -1.57371824e-02 2.98206255e+02] [ 3.14345610e-02 9.99505794e-01 -1.92701374e-04 2.94447104e+00] [ 1.57354623e-02 -3.02109148e-04 9.99876144e-01 4.57137936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.52925415399994 meters Centerline goodness : 0.998952 Centerline is valid? [True, True] Translation: X:298.24, Y:2.94, Z:4.57 [[ 9.99485809e-01 -2.79366851e-02 -1.57371940e-02 2.98237907e+02] [ 2.79371278e-02 9.99609664e-01 -1.91753388e-04 2.94295409e+00] [ 1.57364081e-02 -2.47997208e-04 9.99876144e-01 4.57159383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.559254154 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] Translation: X:298.27, Y:2.94, Z:4.57 [[ 9.99545912e-01 -2.56965081e-02 -1.57372010e-02 2.98268534e+02] [ 2.56966822e-02 9.99669767e-01 -1.91175801e-04 2.94230476e+00] [ 1.57369166e-02 -2.13304863e-04 9.99876144e-01 4.57173274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.58925415399995 meters Centerline goodness : 0.998973 Centerline is valid? [True, True] Translation: X:298.30, Y:2.94, Z:4.57 [[ 9.99603248e-01 -2.33599279e-02 -1.57372010e-02 2.98298352e+02] [ 2.33598125e-02 9.99727104e-01 -1.91175801e-04 2.94168511e+00] [ 1.57373722e-02 -1.76518113e-04 9.99876144e-01 4.57179872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.619254154 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:298.33, Y:2.94, Z:4.57 [[ 9.99702153e-01 -1.86533174e-02 -1.57371940e-02 2.98327127e+02] [ 1.86526099e-02 9.99826007e-01 -1.91746945e-04 2.94069622e+00] [ 1.57380326e-02 -1.01849907e-04 9.99876144e-01 4.57189580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.64925415399995 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:298.35, Y:2.94, Z:4.57 [[ 9.99736691e-01 -1.66999671e-02 -1.57371836e-02 2.98354743e+02] [ 1.66990042e-02 9.99860543e-01 -1.92595415e-04 2.94021785e+00] [ 1.57382053e-02 -7.02505933e-05 9.99876144e-01 4.57246915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.679254154 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:298.38, Y:2.94, Z:4.57 [[ 9.99764721e-01 -1.49280041e-02 -1.57371275e-02 2.98382737e+02] [ 1.49267512e-02 9.99888570e-01 -1.97076989e-04 2.93959476e+00] [ 1.57383159e-02 -3.78735669e-05 9.99876144e-01 4.57334131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.70925415399995 meters Centerline goodness : 0.999247 Centerline is valid? [True, True] Translation: X:298.41, Y:2.94, Z:4.57 [[ 9.99809953e-01 -1.15066166e-02 -1.57370694e-02 2.98410802e+02] [ 1.15048685e-02 9.99933796e-01 -2.01611255e-04 2.93717917e+00] [ 1.57383474e-02 2.05200251e-05 9.99876144e-01 4.57384782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.739254154 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:298.44, Y:2.94, Z:4.57 [[ 9.99820746e-01 -1.05271484e-02 -1.57370513e-02 2.98438625e+02] [ 1.05252569e-02 9.99944587e-01 -2.03013853e-04 2.93587838e+00] [ 1.57383165e-02 3.73409545e-05 9.99876144e-01 4.57392336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.76925415399995 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:298.47, Y:2.93, Z:4.57 [[ 9.99826110e-01 -1.00048725e-02 -1.57369929e-02 2.98467352e+02] [ 1.00028465e-02 9.99949949e-01 -2.07449354e-04 2.93478959e+00] [ 1.57382807e-02 4.99985563e-05 9.99876144e-01 4.57485263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.799254154 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:298.50, Y:2.93, Z:4.57 [[ 9.99834912e-01 -9.08280311e-03 -1.57369385e-02 2.98495344e+02] [ 9.08059926e-03 9.99958748e-01 -2.11494168e-04 2.93218728e+00] [ 1.57382103e-02 6.85584205e-05 9.99876144e-01 4.57374861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.82925415399995 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:298.52, Y:2.93, Z:4.57 [[ 9.99836473e-01 -8.90941328e-03 -1.57369192e-02 2.98523558e+02] [ 8.90716544e-03 9.99960308e-01 -2.12924013e-04 2.93132898e+00] [ 1.57381915e-02 7.27178514e-05 9.99876144e-01 4.57441706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.859254154 meters Centerline goodness : 0.999188 Centerline is valid? [True, True] Translation: X:298.55, Y:2.93, Z:4.58 [[ 9.99818706e-01 -1.07194690e-02 -1.57368561e-02 2.98550940e+02] [ 1.07173736e-02 9.99942544e-01 -2.17483305e-04 2.93163632e+00] [ 1.57382833e-02 4.87861092e-05 9.99876144e-01 4.57592852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.88925415399996 meters Centerline goodness : 0.999188 Centerline is valid? [True, True] Translation: X:298.58, Y:2.93, Z:4.58 [[ 9.99818896e-01 -1.07038326e-02 -1.57353923e-02 2.98579260e+02] [ 1.07000885e-02 9.99942701e-01 -3.22110177e-04 2.93208236e+00] [ 1.57379385e-02 1.53681751e-04 9.99876139e-01 4.57640064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.919254154 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:298.61, Y:2.93, Z:4.58 [[ 9.99839732e-01 -8.53867771e-03 -1.57353598e-02 2.98608119e+02] [ 8.53462919e-03 9.99963527e-01 -3.24423327e-04 2.92578148e+00] [ 1.57375560e-02 1.90075872e-04 9.99876139e-01 4.57560527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.94925415399996 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:298.64, Y:2.92, Z:4.58 [[ 9.99819182e-01 -1.06769187e-02 -1.57355411e-02 2.98638771e+02] [ 1.06733371e-02 9.99942990e-01 -3.11575336e-04 2.92374763e+00] [ 1.57379707e-02 1.43568263e-04 9.99876140e-01 4.57781019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.979254154 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:298.67, Y:2.92, Z:4.58 [[ 9.99803383e-01 -1.20643442e-02 -1.57368094e-02 2.98667108e+02] [ 1.20623528e-02 9.99927223e-01 -2.21459394e-04 2.92160923e+00] [ 1.57383358e-02 3.15929041e-05 9.99876144e-01 4.57852827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.00925415399996 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:298.69, Y:2.92, Z:4.58 [[ 9.99754403e-01 -1.56041503e-02 -1.57367441e-02 2.98694804e+02] [ 1.56025258e-02 9.99878248e-01 -2.26006075e-04 2.91687234e+00] [ 1.57383547e-02 -1.95823862e-05 9.99876144e-01 4.57999394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.039254154 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:298.72, Y:2.92, Z:4.58 [[ 9.99707707e-01 -1.83536644e-02 -1.57367193e-02 2.98723500e+02] [ 1.83523536e-02 9.99831555e-01 -2.27715597e-04 2.91504281e+00] [ 1.57382480e-02 -6.11568004e-05 9.99876144e-01 4.58096933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.06925415399996 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:298.75, Y:2.91, Z:4.58 [[ 9.99598933e-01 -2.35442376e-02 -1.57366609e-02 2.98751168e+02] [ 2.35435074e-02 9.99722786e-01 -2.31685166e-04 2.91030746e+00] [ 1.57377533e-02 -1.38903948e-04 9.99876144e-01 4.58231915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.09925415399994 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:298.78, Y:2.91, Z:4.58 [[ 9.99536386e-01 -2.60647587e-02 -1.57366351e-02 2.98778571e+02] [ 2.60643135e-02 9.99660241e-01 -2.33425041e-04 2.90811840e+00] [ 1.57373726e-02 -1.76847768e-04 9.99876144e-01 4.58239027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.12925415399997 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:298.81, Y:2.91, Z:4.58 [[ 9.99475127e-01 -2.83165998e-02 -1.57366136e-02 2.98806569e+02] [ 2.83164109e-02 9.99598982e-01 -2.34863611e-04 2.90586317e+00] [ 1.57369535e-02 -2.10864081e-04 9.99876144e-01 4.58261164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.15925415399994 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:298.84, Y:2.90, Z:4.58 [[ 9.99423995e-01 -3.00672317e-02 -1.57365923e-02 2.98835054e+02] [ 3.00672375e-02 9.99547850e-01 -2.36280267e-04 2.90362969e+00] [ 1.57365813e-02 -2.37011690e-04 9.99876144e-01 4.58351959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.18925415399997 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:298.86, Y:2.90, Z:4.58 [[ 9.99388000e-01 -3.12408021e-02 -1.57365307e-02 2.98864753e+02] [ 3.12408898e-02 9.99511855e-01 -2.40313663e-04 2.89991282e+00] [ 1.57363566e-02 -2.51456632e-04 9.99876144e-01 4.58475410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.21925415399994 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:298.89, Y:2.90, Z:4.58 [[ 9.99408870e-01 -3.05658606e-02 -1.57365218e-02 2.98893068e+02] [ 3.05658554e-02 9.99532726e-01 -2.40899336e-04 2.89863754e+00] [ 1.57365318e-02 -2.40243316e-04 9.99876144e-01 4.58451945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.24925415399997 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:298.92, Y:2.90, Z:4.58 [[ 9.99407774e-01 -3.06016905e-02 -1.57365084e-02 2.98923214e+02] [ 3.06016761e-02 9.99531630e-01 -2.41770115e-04 2.89913121e+00] [ 1.57365365e-02 -2.39936600e-04 9.99876144e-01 4.58499420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.27925415399994 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:298.95, Y:2.90, Z:4.59 [[ 9.99448362e-01 -2.92461157e-02 -1.57364997e-02 2.98952217e+02] [ 2.92459244e-02 9.99572217e-01 -2.42334140e-04 2.89816609e+00] [ 1.57368552e-02 -2.18028023e-04 9.99876144e-01 4.58558756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.309254154 meters Centerline goodness : 0.999229 Centerline is valid? [True, True] Translation: X:298.98, Y:2.90, Z:4.59 [[ 9.99559722e-01 -2.51540331e-02 -1.57364911e-02 2.98981219e+02] [ 2.51533259e-02 9.99683576e-01 -2.42893850e-04 2.89588601e+00] [ 1.57376214e-02 -1.53038179e-04 9.99876144e-01 4.58644823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.33925415399995 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:299.01, Y:2.89, Z:4.59 [[ 9.99623619e-01 -2.24718960e-02 -1.57364300e-02 2.99008869e+02] [ 2.24707952e-02 9.99747469e-01 -2.46785705e-04 2.89493235e+00] [ 1.57380019e-02 -1.06917277e-04 9.99876144e-01 4.58672886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.369254154 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:299.04, Y:2.89, Z:4.59 [[ 9.99671940e-01 -2.02083366e-02 -1.57364084e-02 2.99037280e+02] [ 2.02069337e-02 9.99795788e-01 -2.48159607e-04 2.89401946e+00] [ 1.57382097e-02 -6.99063653e-05 9.99876144e-01 4.58809972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.39925415399995 meters Centerline goodness : 0.999521 Centerline is valid? [True, True] Translation: X:299.07, Y:2.89, Z:4.59 [[ 9.99712603e-01 -1.80853073e-02 -1.57363364e-02 2.99065221e+02] [ 1.80835708e-02 9.99836447e-01 -2.52645426e-04 2.89299380e+00] [ 1.57383318e-02 -3.19963363e-05 9.99876144e-01 4.58880903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.429254154 meters Centerline goodness : 0.999687 Centerline is valid? [True, True] Translation: X:299.09, Y:2.89, Z:4.59 [[ 9.99768161e-01 -1.46967695e-02 -1.57362625e-02 2.99093248e+02] [ 1.46945422e-02 9.99891996e-01 -2.57163612e-04 2.88997197e+00] [ 1.57383424e-02 2.58668178e-05 9.99876144e-01 4.58929640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.45925415399995 meters Centerline goodness : 0.999584 Centerline is valid? [True, True] Translation: X:299.12, Y:2.89, Z:4.59 [[ 9.99779331e-01 -1.39162719e-02 -1.57361852e-02 2.99121034e+02] [ 1.39138748e-02 9.99903163e-01 -2.61809138e-04 2.88874888e+00] [ 1.57383048e-02 4.28000548e-05 9.99876144e-01 4.58695626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.489254154 meters Centerline goodness : 0.999730 Centerline is valid? [True, True] Translation: X:299.15, Y:2.89, Z:4.59 [[ 9.99781896e-01 -1.37307743e-02 -1.57361612e-02 2.99150119e+02] [ 1.37283316e-02 9.99905727e-01 -2.63244276e-04 2.88538492e+00] [ 1.57382923e-02 4.71556219e-05 9.99876144e-01 4.58653103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.51925415399995 meters Centerline goodness : 0.999729 Centerline is valid? [True, True] Translation: X:299.18, Y:2.88, Z:4.59 [[ 9.99771289e-01 -1.44825759e-02 -1.57360981e-02 2.99178487e+02] [ 1.44801678e-02 9.99895121e-01 -2.66965322e-04 2.88392793e+00] [ 1.57383141e-02 3.90429226e-05 9.99876144e-01 4.58900267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.549254154 meters Centerline goodness : 0.999688 Centerline is valid? [True, True] Translation: X:299.21, Y:2.88, Z:4.59 [[ 9.99758027e-01 -1.53708980e-02 -1.57360201e-02 2.99206632e+02] [ 1.53685287e-02 9.99881860e-01 -2.71486846e-04 2.88230573e+00] [ 1.57383340e-02 2.95816768e-05 9.99876144e-01 4.58930382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.57925415399995 meters Centerline goodness : 0.999750 Centerline is valid? [True, True] Translation: X:299.23, Y:2.88, Z:4.59 [[ 9.99729948e-01 -1.70999777e-02 -1.57359958e-02 2.99234288e+02] [ 1.70978006e-02 9.99853785e-01 -2.72885541e-04 2.88070682e+00] [ 1.57383613e-02 3.76092899e-06 9.99876144e-01 4.59083254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.609254154 meters Centerline goodness : 0.999686 Centerline is valid? [True, True] Translation: X:299.26, Y:2.88, Z:4.59 [[ 9.99651719e-01 -2.11854101e-02 -1.57359152e-02 2.99262147e+02] [ 2.11836671e-02 9.99775562e-01 -2.77460064e-04 2.87630578e+00] [ 1.57382616e-02 -5.59809582e-05 9.99876144e-01 4.59277501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.63925415399996 meters Centerline goodness : 0.999686 Centerline is valid? [True, True] Translation: X:299.29, Y:2.87, Z:4.59 [[ 9.99589009e-01 -2.39623953e-02 -1.57358332e-02 2.99290980e+02] [ 2.39609244e-02 9.99712856e-01 -2.82032870e-04 2.87387901e+00] [ 1.57380730e-02 -9.51281532e-05 9.99876144e-01 4.59411900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.669254154 meters Centerline goodness : 0.999686 Centerline is valid? [True, True] Translation: X:299.32, Y:2.87, Z:4.60 [[ 9.99434805e-01 -2.97061580e-02 -1.57357602e-02 2.99318949e+02] [ 2.97053354e-02 9.99558658e-01 -2.86051998e-04 2.86861185e+00] [ 1.57373128e-02 -1.81545711e-04 9.99876144e-01 4.59550990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.69925415399996 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:299.35, Y:2.87, Z:4.60 [[ 9.99347891e-01 -3.24989151e-02 -1.57357206e-02 2.99347355e+02] [ 3.24984047e-02 9.99471746e-01 -2.88209514e-04 2.86653732e+00] [ 1.57367747e-02 -2.23364248e-04 9.99876144e-01 4.59686676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.729254154 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:299.38, Y:2.86, Z:4.60 [[ 9.99277360e-01 -3.45998023e-02 -1.57356468e-02 2.99375436e+02] [ 3.45994896e-02 9.99401216e-01 -2.92188874e-04 2.86438515e+00] [ 1.57363342e-02 -2.52467620e-04 9.99876144e-01 4.59733121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.75925415399996 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:299.40, Y:2.86, Z:4.60 [[ 9.99195630e-01 -3.68847252e-02 -1.57356059e-02 2.99403924e+02] [ 3.68846613e-02 9.99319486e-01 -2.94374553e-04 2.86019370e+00] [ 1.57357555e-02 -2.86264726e-04 9.99876144e-01 4.59903413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.789254154 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:299.43, Y:2.86, Z:4.60 [[ 9.99186126e-01 -3.71413350e-02 -1.57355293e-02 2.99433187e+02] [ 3.71412395e-02 9.99309982e-01 -2.98410497e-04 2.86078823e+00] [ 1.57357549e-02 -2.86269434e-04 9.99876144e-01 4.59949550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.81925415399996 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:299.46, Y:2.86, Z:4.60 [[ 9.99235533e-01 -3.57874930e-02 -1.57354517e-02 2.99462407e+02] [ 3.57871660e-02 9.99359388e-01 -3.02451139e-04 2.85682747e+00] [ 1.57361953e-02 -2.60907295e-04 9.99876144e-01 4.60008070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.84925415399994 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:299.49, Y:2.86, Z:4.60 [[ 9.99283013e-01 -3.44362815e-02 -1.57353735e-02 2.99490744e+02] [ 3.44357239e-02 9.99406868e-01 -3.06462726e-04 2.85539012e+00] [ 1.57365938e-02 -2.35615981e-04 9.99876144e-01 4.60105676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.87925415399997 meters Centerline goodness : 0.999876 Centerline is valid? [True, True] Translation: X:299.52, Y:2.85, Z:4.60 [[ 9.99352488e-01 -3.23574592e-02 -1.57352936e-02 2.99518174e+02] [ 3.23565802e-02 9.99476341e-01 -3.10512797e-04 2.85416380e+00] [ 1.57371011e-02 -1.98828553e-04 9.99876144e-01 4.60133381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.90925415399994 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:299.55, Y:2.85, Z:4.60 [[ 9.99471897e-01 -2.84311337e-02 -1.57352652e-02 2.99546847e+02] [ 2.84297456e-02 9.99595744e-01 -3.11944480e-04 2.85144868e+00] [ 1.57377731e-02 -1.35569847e-04 9.99876144e-01 4.60262988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.93925415399997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.58, Y:2.85, Z:4.60 [[ 9.99514999e-01 -2.68732508e-02 -1.57351859e-02 2.99575085e+02] [ 2.68716075e-02 9.99638843e-01 -3.15894664e-04 2.85037757e+00] [ 1.57379922e-02 -1.07088285e-04 9.99876144e-01 4.60358509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.96925415399994 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:299.60, Y:2.85, Z:4.60 [[ 9.99551532e-01 -2.54782554e-02 -1.57350930e-02 2.99602925e+02] [ 2.54763673e-02 9.99675373e-01 -3.20459760e-04 2.84885776e+00] [ 1.57381497e-02 -8.05569645e-05 9.99876144e-01 4.60418083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.99925415399997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.63, Y:2.84, Z:4.60 [[ 9.99575526e-01 -2.45189431e-02 -1.57349990e-02 2.99630791e+02] [ 2.45168646e-02 9.99699364e-01 -3.25009912e-04 2.84486844e+00] [ 1.57382374e-02 -6.09008850e-05 9.99876144e-01 4.60490445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.02925415399994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.66, Y:2.84, Z:4.60 [[ 9.99564419e-01 -2.49676709e-02 -1.57349023e-02 2.99658683e+02] [ 2.49655753e-02 9.99688257e-01 -3.29626106e-04 2.84297554e+00] [ 1.57382270e-02 -6.33483605e-05 9.99876144e-01 4.60495877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.059254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.69, Y:2.84, Z:4.61 [[ 9.99534579e-01 -2.61350502e-02 -1.57348044e-02 2.99686749e+02] [ 2.61330267e-02 9.99658418e-01 -3.34234632e-04 2.84145192e+00] [ 1.57381649e-02 -7.71189902e-05 9.99876144e-01 4.60513939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.08925415399995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.71, Y:2.84, Z:4.60 [[ 9.99444247e-01 -2.93873308e-02 -1.57347055e-02 2.99714243e+02] [ 2.93856380e-02 9.99568091e-01 -3.38823878e-04 2.83699196e+00] [ 1.57378667e-02 -1.23738786e-04 9.99876144e-01 4.60398772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.119254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.74, Y:2.84, Z:4.60 [[ 9.99351861e-01 -3.23771256e-02 -1.57346369e-02 2.99742326e+02] [ 3.23757536e-02 9.99475709e-01 -3.41981679e-04 2.83517816e+00] [ 1.57374598e-02 -1.67660701e-04 9.99876144e-01 4.60411584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.14925415399995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.77, Y:2.83, Z:4.60 [[ 9.99223833e-01 -3.61131037e-02 -1.57345367e-02 2.99770576e+02] [ 3.61121231e-02 9.99347684e-01 -3.46530547e-04 2.83356214e+00] [ 1.57367871e-02 -2.21945946e-04 9.99876144e-01 4.60471439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.179254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.80, Y:2.83, Z:4.61 [[ 9.98886134e-01 -4.44850324e-02 -1.57344345e-02 2.99798510e+02] [ 4.44850176e-02 9.99009990e-01 -3.51110997e-04 2.83016279e+00] [ 1.57344765e-02 -3.49226690e-04 9.99876144e-01 4.60552180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.20925415399995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.83, Y:2.83, Z:4.61 [[ 9.98658854e-01 -4.93246717e-02 -1.57343307e-02 2.99826711e+02] [ 4.93251847e-02 9.98782709e-01 -3.55702477e-04 2.82888407e+00] [ 1.57327224e-02 -4.20873342e-04 9.99876144e-01 4.60673337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.239254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.85, Y:2.83, Z:4.61 [[ 9.98427535e-01 -5.38041927e-02 -1.57342242e-02 2.99854397e+02] [ 5.38051881e-02 9.98551387e-01 -3.60355184e-04 2.82754665e+00] [ 1.57308200e-02 -4.86794353e-04 9.99876144e-01 4.60760905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.26925415399995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.88, Y:2.83, Z:4.61 [[ 9.98145245e-01 -5.88090603e-02 -1.57341910e-02 2.99883126e+02] [ 5.88106539e-02 9.98269090e-01 -3.61796165e-04 2.82673182e+00] [ 1.57282335e-02 -5.64212941e-04 9.99876144e-01 4.60841402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.299254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.91, Y:2.82, Z:4.61 [[ 9.97623159e-01 -6.70855536e-02 -1.57340977e-02 2.99912341e+02] [ 6.70881111e-02 9.97746988e-01 -3.65808352e-04 2.82495404e+00] [ 1.57231891e-02 -6.90632015e-04 9.99876145e-01 4.60981163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.32925415399995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.94, Y:2.82, Z:4.61 [[ 9.97394417e-01 -7.04046722e-02 -1.57340040e-02 2.99941981e+02] [ 7.04075790e-02 9.97518238e-01 -3.69796480e-04 2.82478870e+00] [ 1.57209914e-02 -7.38960186e-04 9.99876145e-01 4.61036773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.359254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.97, Y:2.82, Z:4.61 [[ 9.97196241e-01 -7.31580367e-02 -1.57339907e-02 2.99971179e+02] [ 7.31612764e-02 9.97320054e-01 -3.70362202e-04 2.82454831e+00] [ 1.57189194e-02 -7.81795046e-04 9.99876145e-01 4.61131546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.38925415399996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.00, Y:2.82, Z:4.61 [[ 9.97025655e-01 -7.54472315e-02 -1.57339770e-02 3.00000708e+02] [ 7.54507463e-02 9.97149461e-01 -3.70944217e-04 2.82464578e+00] [ 1.57171134e-02 -8.17299405e-04 9.99876145e-01 4.61165306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.419254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.03, Y:2.83, Z:4.61 [[ 9.96736642e-01 -7.91739125e-02 -1.57339632e-02 3.00030974e+02] [ 7.91778810e-02 9.96860434e-01 -3.71529220e-04 2.82577752e+00] [ 1.57139808e-02 -8.75465075e-04 9.99876145e-01 4.61203437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.44925415399996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.06, Y:2.83, Z:4.61 [[ 9.96627441e-01 -8.05368608e-02 -1.57339632e-02 3.00060876e+02] [ 8.05409985e-02 9.96751228e-01 -3.71529220e-04 2.82726863e+00] [ 1.57127689e-02 -8.96952888e-04 9.99876145e-01 4.61210890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.479254154 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:300.09, Y:2.83, Z:4.61 [[ 9.96470734e-01 -8.24531270e-02 -1.57339494e-02 3.00090113e+02] [ 8.24574935e-02 9.96594513e-01 -3.72113199e-04 2.83028152e+00] [ 1.57110495e-02 -9.26582114e-04 9.99876145e-01 4.61193938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.50925415399996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.12, Y:2.83, Z:4.61 [[ 9.96397788e-01 -8.33300158e-02 -1.57339425e-02 3.00121031e+02] [ 8.33344867e-02 9.96521563e-01 -3.72403255e-04 2.83249121e+00] [ 1.57102453e-02 -9.40118240e-04 9.99876145e-01 4.61268330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.539254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.15, Y:2.83, Z:4.61 [[ 9.96353601e-01 -8.38566878e-02 -1.57339425e-02 3.00150260e+02] [ 8.38612241e-02 9.96477374e-01 -3.72403255e-04 2.83494080e+00] [ 1.57097462e-02 -9.48422352e-04 9.99876145e-01 4.61208764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.56925415399996 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:300.18, Y:2.84, Z:4.61 [[ 9.96323041e-01 -8.42190071e-02 -1.57339357e-02 3.00180218e+02] [ 8.42235838e-02 9.96446812e-01 -3.72691036e-04 2.83770330e+00] [ 1.57094177e-02 -9.53847784e-04 9.99876145e-01 4.61309302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.59925415399994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.21, Y:2.84, Z:4.61 [[ 9.96354453e-01 -8.38465721e-02 -1.57339357e-02 3.00210397e+02] [ 8.38511027e-02 9.96478225e-01 -3.72691036e-04 2.84263801e+00] [ 1.57097732e-02 -9.47975483e-04 9.99876145e-01 4.61393703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.62925415399997 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:300.24, Y:2.85, Z:4.61 [[ 9.96400945e-01 -8.32922575e-02 -1.57339580e-02 3.00241390e+02] [ 8.32967340e-02 9.96524719e-01 -3.71746252e-04 2.84631251e+00] [ 1.57102417e-02 -9.40178997e-04 9.99876145e-01 4.61377244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.65925415399994 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:300.27, Y:2.85, Z:4.61 [[ 9.96610229e-01 -8.07495730e-02 -1.57339717e-02 3.00271105e+02] [ 8.07537428e-02 9.96734014e-01 -3.71164452e-04 2.85234622e+00] [ 1.57125562e-02 -9.00670816e-04 9.99876145e-01 4.61367634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.68925415399997 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:300.30, Y:2.86, Z:4.61 [[ 9.96750446e-01 -7.89999366e-02 -1.57339717e-02 3.00301940e+02] [ 7.90038892e-02 9.96874239e-01 -3.71164452e-04 2.85600190e+00] [ 1.57141130e-02 -8.73086624e-04 9.99876145e-01 4.61424986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.71925415399994 meters Centerline goodness : 0.999814 Centerline is valid? [True, True] Translation: X:300.33, Y:2.86, Z:4.61 [[ 9.96902139e-01 -7.70621036e-02 -1.57339856e-02 3.00332094e+02] [ 7.70658248e-02 9.97025938e-01 -3.70574057e-04 2.86011031e+00] [ 1.57157490e-02 -8.43126509e-04 9.99876145e-01 4.61402849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.74925415399997 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:300.36, Y:2.86, Z:4.61 [[ 9.97075515e-01 -7.47854203e-02 -1.57339925e-02 3.00362893e+02] [ 7.47888634e-02 9.97199323e-01 -3.70281710e-04 2.86421183e+00] [ 1.57176183e-02 -8.07528589e-04 9.99876145e-01 4.61458741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.77925415399994 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:300.39, Y:2.87, Z:4.61 [[ 9.97475575e-01 -6.92453467e-02 -1.57340061e-02 3.00393444e+02] [ 6.92481110e-02 9.97599400e-01 -3.69705108e-04 2.87277227e+00] [ 1.57218354e-02 -7.20778383e-04 9.99876145e-01 4.61489569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.809254154 meters Centerline goodness : 0.999520 Centerline is valid? [True, True] Translation: X:300.42, Y:2.88, Z:4.62 [[ 9.97702046e-01 -6.59019589e-02 -1.57340128e-02 3.00424859e+02] [ 6.59043127e-02 9.97825879e-01 -3.69419130e-04 2.87705736e+00] [ 1.57241506e-02 -6.68369076e-04 9.99876145e-01 4.61559318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.83925415399995 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:300.46, Y:2.88, Z:4.62 [[ 9.97927555e-01 -6.23941998e-02 -1.57340263e-02 3.00455213e+02] [ 6.23961274e-02 9.98051395e-01 -3.68842776e-04 2.88137057e+00] [ 1.57263805e-02 -6.13663938e-04 9.99876145e-01 4.61631494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.869254154 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:300.49, Y:2.89, Z:4.62 [[ 9.98307369e-01 -5.59896191e-02 -1.57340484e-02 3.00486468e+02] [ 5.59907669e-02 9.98431219e-01 -3.67897120e-04 2.88955961e+00] [ 1.57299635e-02 -5.13687030e-04 9.99876145e-01 4.61724074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.89925415399995 meters Centerline goodness : 0.999605 Centerline is valid? [True, True] Translation: X:300.52, Y:2.89, Z:4.62 [[ 9.98464624e-01 -5.31115211e-02 -1.57340617e-02 3.00516446e+02] [ 5.31123208e-02 9.98588477e-01 -3.67326052e-04 2.89374750e+00] [ 1.57313620e-02 -4.68910465e-04 9.99876145e-01 4.61755214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.929254154 meters Centerline goodness : 0.999583 Centerline is valid? [True, True] Translation: X:300.55, Y:2.90, Z:4.62 [[ 9.98692975e-01 -4.86290225e-02 -1.57340617e-02 3.00546923e+02] [ 4.86292663e-02 9.98816830e-01 -3.67326052e-04 2.90045866e+00] [ 1.57333084e-02 -3.98289930e-04 9.99876145e-01 4.61782455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.95925415399995 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:300.58, Y:2.90, Z:4.62 [[ 9.98760892e-01 -4.72135478e-02 -1.57340617e-02 3.00577826e+02] [ 4.72136161e-02 9.98884748e-01 -3.67326052e-04 2.90390642e+00] [ 1.57338570e-02 -3.75991054e-04 9.99876145e-01 4.61817043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.989254154 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:300.61, Y:2.91, Z:4.62 [[ 9.98816357e-01 -4.60252615e-02 -1.57340617e-02 3.00607736e+02] [ 4.60251823e-02 9.98940212e-01 -3.67326052e-04 2.90713718e+00] [ 1.57342932e-02 -3.57271791e-04 9.99876145e-01 4.61826531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.01925415399995 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:300.64, Y:2.91, Z:4.62 [[ 9.98849698e-01 -4.52959114e-02 -1.57340618e-02 3.00638643e+02] [ 4.52957419e-02 9.98973554e-01 -3.67321400e-04 2.91010498e+00] [ 1.57345498e-02 -3.45787135e-04 9.99876145e-01 4.61848962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.049254154 meters Centerline goodness : 0.999498 Centerline is valid? [True, True] Translation: X:300.67, Y:2.92, Z:4.62 [[ 9.98818557e-01 -4.59774968e-02 -1.57340618e-02 3.00669868e+02] [ 4.59774119e-02 9.98942412e-01 -3.67321400e-04 2.91533159e+00] [ 1.57343102e-02 -3.56524011e-04 9.99876145e-01 4.61835973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.07925415399995 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:300.70, Y:2.92, Z:4.62 [[ 9.98792856e-01 -4.65324580e-02 -1.57340751e-02 3.00701241e+02] [ 4.65324508e-02 9.98916712e-01 -3.66753238e-04 2.91795648e+00] [ 1.57340965e-02 -3.65834560e-04 9.99876145e-01 4.61924843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.109254154 meters Centerline goodness : 0.999562 Centerline is valid? [True, True] Translation: X:300.73, Y:2.92, Z:4.62 [[ 9.98758038e-01 -4.72738810e-02 -1.57340886e-02 3.00732137e+02] [ 4.72739749e-02 9.98881894e-01 -3.66173386e-04 2.92055559e+00] [ 1.57338066e-02 -3.78094295e-04 9.99876145e-01 4.61982151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.13925415399996 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:300.76, Y:2.92, Z:4.62 [[ 9.98712891e-01 -4.82182382e-02 -1.57341020e-02 3.00763474e+02] [ 4.82184582e-02 9.98836747e-01 -3.65597278e-04 2.92495331e+00] [ 1.57334277e-02 -3.93547423e-04 9.99876145e-01 4.62081001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.169254154 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:300.79, Y:2.93, Z:4.62 [[ 9.98712892e-01 -4.82182292e-02 -1.57341153e-02 3.00794461e+02] [ 4.82184582e-02 9.98836747e-01 -3.65022281e-04 2.92567192e+00] [ 1.57334133e-02 -3.94122323e-04 9.99876145e-01 4.62129778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.19925415399996 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:300.83, Y:2.93, Z:4.62 [[ 9.98716955e-01 -4.81340024e-02 -1.57341153e-02 3.00826082e+02] [ 4.81342210e-02 9.98840810e-01 -3.65022281e-04 2.92836066e+00] [ 1.57334464e-02 -3.92795441e-04 9.99876145e-01 4.62242489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.229254154 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:300.86, Y:2.93, Z:4.62 [[ 9.98741056e-01 -4.76313013e-02 -1.57341286e-02 3.00857010e+02] [ 4.76314666e-02 9.98864911e-01 -3.64449869e-04 2.93117026e+00] [ 1.57336281e-02 -3.85448571e-04 9.99876145e-01 4.62344324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.25925415399996 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:300.89, Y:2.94, Z:4.63 [[ 9.98845940e-01 -4.53786904e-02 -1.57341418e-02 3.00888506e+02] [ 4.53785854e-02 9.98969795e-01 -3.63878064e-04 2.93635132e+00] [ 1.57344447e-02 -3.50534970e-04 9.99876145e-01 4.62507327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.289254154 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:300.92, Y:2.94, Z:4.63 [[ 9.98904256e-01 -4.40763478e-02 -1.57341551e-02 3.00919884e+02] [ 4.40760904e-02 9.99028111e-01 -3.63299275e-04 2.93911325e+00] [ 1.57348762e-02 -3.30598853e-04 9.99876145e-01 4.62591272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.31925415399996 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:300.95, Y:2.94, Z:4.63 [[ 9.98988947e-01 -4.21131677e-02 -1.57341684e-02 3.00949819e+02] [ 4.21126760e-02 9.99112802e-01 -3.62723969e-04 2.94141232e+00] [ 1.57354845e-02 -3.00250699e-04 9.99876145e-01 4.62614723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.34925415399994 meters Centerline goodness : 0.999477 Centerline is valid? [True, True] Translation: X:300.98, Y:2.94, Z:4.63 [[ 9.99048035e-01 -4.06873419e-02 -1.57341750e-02 3.00981120e+02] [ 4.06866778e-02 9.99171889e-01 -3.62438629e-04 2.94376932e+00] [ 1.57358920e-02 -2.78077708e-04 9.99876145e-01 4.62741219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.37925415399997 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:301.01, Y:2.95, Z:4.63 [[ 9.99162129e-01 -3.77819413e-02 -1.57341885e-02 3.01011749e+02] [ 3.77809264e-02 9.99285980e-01 -3.61849914e-04 2.94687942e+00] [ 1.57366254e-02 -2.32905488e-04 9.99876145e-01 4.62789483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.40925415399994 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:301.04, Y:2.95, Z:4.63 [[ 9.99164910e-01 -3.77083368e-02 -1.57341885e-02 3.01042548e+02] [ 3.77073128e-02 9.99288761e-01 -3.61849914e-04 2.94889521e+00] [ 1.57366425e-02 -2.31746232e-04 9.99876145e-01 4.62799715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.43925415399997 meters Centerline goodness : 0.999480 Centerline is valid? [True, True] Translation: X:301.07, Y:2.95, Z:4.63 [[ 9.99167180e-01 -3.76481262e-02 -1.57342104e-02 3.01072486e+02] [ 3.76471097e-02 9.99291031e-01 -3.60893752e-04 2.95065842e+00] [ 1.57366424e-02 -2.31754355e-04 9.99876145e-01 4.62806497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.46925415399994 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:301.10, Y:2.95, Z:4.63 [[ 9.99115538e-01 -3.89945570e-02 -1.57342170e-02 3.01102966e+02] [ 3.89937119e-02 9.99239391e-01 -3.60608167e-04 2.95327346e+00] [ 1.57363112e-02 -2.53246302e-04 9.99876145e-01 4.62793904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.49925415399997 meters Centerline goodness : 0.999521 Centerline is valid? [True, True] Translation: X:301.13, Y:2.95, Z:4.63 [[ 9.99057475e-01 -4.04548666e-02 -1.57342170e-02 3.01134064e+02] [ 4.04542026e-02 9.99181329e-01 -3.60608167e-04 2.95458313e+00] [ 1.57359242e-02 -2.76246917e-04 9.99876145e-01 4.62787392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.52925415399994 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:301.16, Y:2.96, Z:4.63 [[ 9.98972325e-01 -4.25056306e-02 -1.57342299e-02 3.01164623e+02] [ 4.25052297e-02 9.99096179e-01 -3.60043891e-04 2.95577296e+00] [ 1.57353129e-02 -3.09113174e-04 9.99876145e-01 4.62749768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.559254154 meters Centerline goodness : 0.999542 Centerline is valid? [True, True] Translation: X:301.20, Y:2.96, Z:4.63 [[ 9.98722929e-01 -4.80098380e-02 -1.57342363e-02 3.01196239e+02] [ 4.80101240e-02 9.98846784e-01 -3.59763979e-04 2.95710413e+00] [ 1.57333635e-02 -3.96098102e-04 9.99876145e-01 4.62730324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.58925415399995 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:301.23, Y:2.96, Z:4.63 [[ 9.98587495e-01 -5.07488732e-02 -1.57342495e-02 3.01227456e+02] [ 5.07495080e-02 9.98711349e-01 -3.59186809e-04 2.95809612e+00] [ 1.57322018e-02 -4.39825965e-04 9.99876145e-01 4.62675185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.619254154 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:301.26, Y:2.96, Z:4.63 [[ 9.98411306e-01 -5.41044998e-02 -1.57342933e-02 3.01258139e+02] [ 5.41055812e-02 9.98535156e-01 -3.57256627e-04 2.95992060e+00] [ 1.57305742e-02 -4.94624029e-04 9.99876145e-01 4.62671631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.64925415399995 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:301.29, Y:2.96, Z:4.63 [[ 9.98192048e-01 -5.80094527e-02 -1.57333474e-02 3.01290018e+02] [ 5.80103650e-02 9.98315901e-01 -3.98772233e-04 2.96112930e+00] [ 1.57299835e-02 -5.14645953e-04 9.99876144e-01 4.62782985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.679254154 meters Centerline goodness : 0.999500 Centerline is valid? [True, True] Translation: X:301.32, Y:2.96, Z:4.63 [[ 9.97724142e-01 -6.55665032e-02 -1.57343386e-02 3.01322536e+02] [ 6.55690452e-02 9.97847972e-01 -3.54817196e-04 2.96342999e+00] [ 1.57237420e-02 -6.77675879e-04 9.99876145e-01 4.62823128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.70925415399995 meters Centerline goodness : 0.999417 Centerline is valid? [True, True] Translation: X:301.35, Y:2.96, Z:4.63 [[ 9.97467060e-01 -6.93678214e-02 -1.57343646e-02 3.01354467e+02] [ 6.93708534e-02 9.97590878e-01 -3.53661984e-04 2.96491276e+00] [ 1.57209914e-02 -7.38740120e-04 9.99876145e-01 4.62865447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.739254154 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:301.39, Y:2.97, Z:4.63 [[ 9.97221306e-01 -7.28154963e-02 -1.57343908e-02 3.01385635e+02] [ 7.28189748e-02 9.97345112e-01 -3.52491629e-04 2.96610711e+00] [ 1.57182846e-02 -7.94250046e-04 9.99876145e-01 4.62873479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.76925415399995 meters Centerline goodness : 0.999520 Centerline is valid? [True, True] Translation: X:301.42, Y:2.97, Z:4.63 [[ 9.96937193e-01 -7.66071796e-02 -1.57344334e-02 3.01417398e+02] [ 7.66111589e-02 9.97060985e-01 -3.50578561e-04 2.96772873e+00] [ 1.57150465e-02 -8.55928375e-04 9.99876145e-01 4.62903784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.799254154 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:301.45, Y:2.97, Z:4.63 [[ 9.96417319e-01 -8.30960459e-02 -1.57344595e-02 3.01449130e+02] [ 8.31008496e-02 9.96541081e-01 -3.49405379e-04 2.97045095e+00] [ 1.57090695e-02 -9.59393381e-04 9.99876145e-01 4.62975958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.82925415399995 meters Centerline goodness : 0.999292 Centerline is valid? [True, True] Translation: X:301.48, Y:2.97, Z:4.63 [[ 9.96167387e-01 -8.60404667e-02 -1.57344919e-02 3.01480987e+02] [ 8.60456591e-02 9.96291134e-01 -3.47941716e-04 2.97296781e+00] [ 1.57060718e-02 -1.00727653e-03 9.99876145e-01 4.63039855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.859254154 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:301.51, Y:2.98, Z:4.63 [[ 9.95781797e-01 -9.03937871e-02 -1.57345230e-02 3.01513760e+02] [ 9.03995426e-02 9.95905519e-01 -3.46527507e-04 2.97711862e+00] [ 1.57014222e-02 -1.07732790e-03 9.99876145e-01 4.63158641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.88925415399996 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:301.55, Y:2.98, Z:4.63 [[ 9.95646069e-01 -9.18766999e-02 -1.57345608e-02 3.01546576e+02] [ 9.18826668e-02 9.95769781e-01 -3.44801071e-04 2.97968486e+00] [ 1.56996794e-02 -1.10243358e-03 9.99876145e-01 4.63227890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.919254154 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:301.58, Y:2.98, Z:4.63 [[ 9.95546194e-01 -9.29526658e-02 -1.57345989e-02 3.01578106e+02] [ 9.29587938e-02 9.95669898e-01 -3.43054368e-04 2.98234678e+00] [ 1.56983543e-02 -1.12114287e-03 9.99876145e-01 4.63270550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.94925415399996 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:301.61, Y:2.99, Z:4.63 [[ 9.95532135e-01 -9.31031171e-02 -1.57346304e-02 3.01609755e+02] [ 9.31092866e-02 9.95655836e-01 -3.41606349e-04 2.98782651e+00] [ 1.56980812e-02 -1.12496011e-03 9.99876145e-01 4.63282486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.979254154 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:301.64, Y:2.99, Z:4.63 [[ 9.95601903e-01 -9.23540554e-02 -1.57346609e-02 3.01642762e+02] [ 9.23601541e-02 9.95725608e-01 -3.40194235e-04 2.99117976e+00] [ 1.56988231e-02 -1.11455768e-03 9.99876145e-01 4.63333228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.00925415399996 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:301.68, Y:2.99, Z:4.63 [[ 9.95708951e-01 -9.11926716e-02 -1.57346969e-02 3.01675397e+02] [ 9.11986522e-02 9.95832662e-01 -3.38521525e-04 2.99444900e+00] [ 1.56999958e-02 -1.09791424e-03 9.99876145e-01 4.63395456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.039254154 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:301.71, Y:3.00, Z:4.63 [[ 9.95998700e-01 -8.79716254e-02 -1.57347340e-02 3.01707990e+02] [ 8.79772332e-02 9.96122429e-01 -3.36785163e-04 3.00123102e+00] [ 1.57033490e-02 -1.04886078e-03 9.99876145e-01 4.63464421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.06925415399996 meters Centerline goodness : 0.999686 Centerline is valid? [True, True] Translation: X:301.74, Y:3.01, Z:4.63 [[ 9.96199507e-01 -8.56677211e-02 -1.57347715e-02 3.01740709e+02] [ 8.56730704e-02 9.96323247e-01 -3.35024056e-04 3.00526524e+00] [ 1.57056194e-02 -1.01429539e-03 9.99876145e-01 4.63497608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.09925415399994 meters Centerline goodness : 0.999539 Centerline is valid? [True, True] Translation: X:301.77, Y:3.01, Z:4.64 [[ 9.96444641e-01 -8.27677077e-02 -1.57348088e-02 3.01773352e+02] [ 8.27727245e-02 9.96568395e-01 -3.33265450e-04 3.00956845e+00] [ 1.57083968e-02 -9.70332421e-04 9.99876145e-01 4.63541798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.12925415399997 meters Centerline goodness : 0.999498 Centerline is valid? [True, True] Translation: X:301.81, Y:3.02, Z:4.64 [[ 9.96965820e-01 -7.62336497e-02 -1.57348462e-02 3.01805512e+02] [ 7.62378831e-02 9.97089602e-01 -3.31489147e-04 3.01836597e+00] [ 1.57143222e-02 -8.69108016e-04 9.99876145e-01 4.63594943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.15925415399994 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:301.84, Y:3.02, Z:4.64 [[ 9.97250368e-01 -7.24162792e-02 -1.57348770e-02 3.01836961e+02] [ 7.24200617e-02 9.97374165e-01 -3.30021914e-04 3.02314750e+00] [ 1.57174588e-02 -8.10406287e-04 9.99876145e-01 4.63660121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.18925415399997 meters Centerline goodness : 0.999686 Centerline is valid? [True, True] Translation: X:301.87, Y:3.03, Z:4.64 [[ 9.97505685e-01 -6.88100394e-02 -1.57349072e-02 3.01869872e+02] [ 6.88133971e-02 9.97629495e-01 -3.28575284e-04 3.02800498e+00] [ 1.57202168e-02 -7.55016702e-04 9.99876145e-01 4.63762879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.21925415399994 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:301.90, Y:3.03, Z:4.64 [[ 9.97755766e-01 -6.50833607e-02 -1.57349431e-02 3.01902804e+02] [ 6.50862831e-02 9.97879586e-01 -3.26845449e-04 3.03254930e+00] [ 1.57228507e-02 -6.98017031e-04 9.99876145e-01 4.63823280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.24925415399997 meters Centerline goodness : 0.999391 Centerline is valid? [True, True] Translation: X:301.94, Y:3.04, Z:4.64 [[ 9.97982182e-01 -6.15140257e-02 -1.57349789e-02 3.01935392e+02] [ 6.15165324e-02 9.98106012e-01 -3.25116348e-04 3.03684584e+00] [ 1.57251762e-02 -6.43501014e-04 9.99876145e-01 4.63888931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.27925415399994 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:301.97, Y:3.04, Z:4.64 [[ 9.98363608e-01 -5.49774046e-02 -1.57350144e-02 3.01967375e+02] [ 5.49791275e-02 9.98487452e-01 -3.23388185e-04 3.04418772e+00] [ 1.57289934e-02 -5.42238366e-04 9.99876145e-01 4.63884759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.309254154 meters Centerline goodness : 0.999014 Centerline is valid? [True, True] Translation: X:302.00, Y:3.05, Z:4.64 [[ 9.98466065e-01 -5.30841248e-02 -1.57350706e-02 3.01999072e+02] [ 5.30856563e-02 9.98589911e-01 -3.20627709e-04 3.04858721e+00] [ 1.57299030e-02 -5.15170664e-04 9.99876145e-01 4.64014181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.33925415399995 meters Centerline goodness : 0.999474 Centerline is valid? [True, True] Translation: X:302.03, Y:3.06, Z:4.64 [[ 9.98682751e-01 -4.88381954e-02 -1.57350932e-02 3.02030925e+02] [ 4.88392179e-02 9.98806602e-01 -3.19514583e-04 3.05514152e+00] [ 1.57319195e-02 -4.49395943e-04 9.99876145e-01 4.64120643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.369254154 meters Centerline goodness : 0.999137 Centerline is valid? [True, True] Translation: X:302.06, Y:3.06, Z:4.64 [[ 9.98770974e-01 -4.69994354e-02 -1.57351161e-02 3.02062673e+02] [ 4.70002476e-02 9.98894827e-01 -3.18384665e-04 3.05802541e+00] [ 1.57326900e-02 -4.21560989e-04 9.99876145e-01 4.64161501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.39925415399995 meters Centerline goodness : 0.999220 Centerline is valid? [True, True] Translation: X:302.09, Y:3.06, Z:4.64 [[ 9.98879948e-01 -4.46234730e-02 -1.57351392e-02 3.02092716e+02] [ 4.46240085e-02 9.99003802e-01 -3.17240264e-04 3.06064602e+00] [ 1.57336202e-02 -3.85280046e-04 9.99876145e-01 4.64154174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.429254154 meters Centerline goodness : 0.999450 Centerline is valid? [True, True] Translation: X:302.13, Y:3.06, Z:4.64 [[ 9.98919864e-01 -4.37212399e-02 -1.57339919e-02 3.02126247e+02] [ 4.37207674e-02 9.99043720e-01 -3.74164576e-04 3.06338938e+00] [ 1.57353047e-02 -3.14141773e-04 9.99876143e-01 4.64243002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.45925415399995 meters Centerline goodness : 0.999132 Centerline is valid? [True, True] Translation: X:302.16, Y:3.07, Z:4.64 [[ 9.99039942e-01 -4.08851847e-02 -1.57351917e-02 3.02157360e+02] [ 4.08853071e-02 9.99163797e-01 -3.14049378e-04 3.06781891e+00] [ 1.57348739e-02 -3.29590273e-04 9.99876145e-01 4.64285783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.489254154 meters Centerline goodness : 0.999110 Centerline is valid? [True, True] Translation: X:302.19, Y:3.07, Z:4.64 [[ 9.99092708e-01 -3.95748021e-02 -1.57352085e-02 3.02188448e+02] [ 3.95747752e-02 9.99216563e-01 -3.13207386e-04 3.06969208e+00] [ 1.57352761e-02 -3.09794123e-04 9.99876145e-01 4.64303049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.51925415399995 meters Centerline goodness : 0.999109 Centerline is valid? [True, True] Translation: X:302.22, Y:3.07, Z:4.64 [[ 9.99133237e-01 -3.85379906e-02 -1.57352250e-02 3.02220245e+02] [ 3.85378483e-02 9.99257092e-01 -3.12376710e-04 3.07121418e+00] [ 1.57355735e-02 -2.94295759e-04 9.99876145e-01 4.64361890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.549254154 meters Centerline goodness : 0.999131 Centerline is valid? [True, True] Translation: X:302.25, Y:3.07, Z:4.64 [[ 9.99188183e-01 -3.70860650e-02 -1.57352469e-02 3.02251398e+02] [ 3.70857602e-02 9.99312038e-01 -3.11269218e-04 3.07304675e+00] [ 1.57359654e-02 -2.72537068e-04 9.99876145e-01 4.64339443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.57925415399995 meters Centerline goodness : 0.998897 Centerline is valid? [True, True] Translation: X:302.28, Y:3.07, Z:4.64 [[ 9.99197803e-01 -3.68259740e-02 -1.57352831e-02 3.02282578e+02] [ 3.68256659e-02 9.99321657e-01 -3.09425014e-04 3.07409176e+00] [ 1.57360041e-02 -2.70285485e-04 9.99876145e-01 4.64337184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.609254154 meters Centerline goodness : 0.999022 Centerline is valid? [True, True] Translation: X:302.31, Y:3.07, Z:4.64 [[ 9.99204892e-01 -3.66331102e-02 -1.57352991e-02 3.02314438e+02] [ 3.66327911e-02 9.99328746e-01 -3.08610337e-04 3.07488608e+00] [ 1.57360421e-02 -2.68062967e-04 9.99876145e-01 4.64311445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.63925415399996 meters Centerline goodness : 0.998788 Centerline is valid? [True, True] Translation: X:302.35, Y:3.08, Z:4.64 [[ 9.99200726e-01 -3.67465485e-02 -1.57353217e-02 3.02345162e+02] [ 3.67462616e-02 9.99324581e-01 -3.07456673e-04 3.07579740e+00] [ 1.57359917e-02 -2.71003316e-04 9.99876145e-01 4.64196076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.669254154 meters Centerline goodness : 0.998404 Centerline is valid? [True, True] Translation: X:302.38, Y:3.08, Z:4.64 [[ 9.99185390e-01 -3.71611981e-02 -1.57353589e-02 3.02376008e+02] [ 3.71609927e-02 9.99309245e-01 -3.05538992e-04 3.07663122e+00] [ 1.57358438e-02 -2.79451461e-04 9.99876145e-01 4.64144060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.69925415399996 meters Centerline goodness : 0.999170 Centerline is valid? [True, True] Translation: X:302.41, Y:3.08, Z:4.64 [[ 9.99169116e-01 -3.75963894e-02 -1.57349626e-02 3.02406894e+02] [ 3.75959173e-02 9.99292970e-01 -3.25915060e-04 3.07694835e+00] [ 1.57360908e-02 -2.65926091e-04 9.99876145e-01 4.64203532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.729254154 meters Centerline goodness : 0.999021 Centerline is valid? [True, True] Translation: X:302.45, Y:3.07, Z:4.64 [[ 9.99458396e-01 -2.89017733e-02 -1.57353941e-02 3.02449764e+02] [ 2.89005756e-02 9.99582245e-01 -3.03551562e-04 3.06504976e+00] [ 1.57375937e-02 -1.51374788e-04 9.99876145e-01 4.63846680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.75925415399996 meters Centerline goodness : 0.998874 Centerline is valid? [True, True] Translation: X:302.47, Y:3.08, Z:4.64 [[ 9.99123174e-01 -3.87934145e-02 -1.57465434e-02 3.02465618e+02] [ 3.88030368e-02 9.99246832e-01 3.05898755e-04 3.07585819e+00] [ 1.57228167e-02 -9.16644237e-04 9.99875969e-01 4.64082304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.789254154 meters Centerline goodness : 0.999042 Centerline is valid? [True, True] Translation: X:302.50, Y:3.08, Z:4.64 [[ 9.99095856e-01 -3.94955096e-02 -1.57345024e-02 3.02496586e+02] [ 3.94955473e-02 9.99219699e-01 -3.08460994e-04 3.07646103e+00] [ 1.57344075e-02 -3.13260682e-04 9.99876157e-01 4.64209848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.81925415399996 meters Centerline goodness : 0.998980 Centerline is valid? [True, True] Translation: X:302.53, Y:3.08, Z:4.64 [[ 9.99074490e-01 -4.00323299e-02 -1.57345395e-02 3.02528088e+02] [ 4.00324642e-02 9.99198333e-01 -3.06556628e-04 3.07648085e+00] [ 1.57341978e-02 -3.23619480e-04 9.99876157e-01 4.64183618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.84925415399994 meters Centerline goodness : 0.999065 Centerline is valid? [True, True] Translation: X:302.56, Y:3.08, Z:4.64 [[ 9.99058950e-01 -4.04183592e-02 -1.57343548e-02 3.02560021e+02] [ 4.04183925e-02 9.99182793e-01 -3.16017565e-04 3.07658489e+00] [ 1.57342695e-02 -3.20237150e-04 9.99876157e-01 4.64199426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.87925415399997 meters Centerline goodness : 0.998678 Centerline is valid? [True, True] Translation: X:302.60, Y:3.07, Z:4.64 [[ 9.99379305e-01 -3.15187007e-02 -1.57345368e-02 3.02601715e+02] [ 3.15177779e-02 9.99503144e-01 -3.06680872e-04 3.06596924e+00] [ 1.57363852e-02 -1.89427119e-04 9.99876157e-01 4.63943602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.90925415399994 meters Centerline goodness : 0.999062 Centerline is valid? [True, True] Translation: X:302.62, Y:3.08, Z:4.64 [[ 9.99018625e-01 -4.13992368e-02 -1.57445464e-02 3.02620034e+02] [ 4.14080442e-02 9.99142292e-01 2.33671529e-04 3.07616803e+00] [ 1.57213684e-02 -8.85393083e-04 9.99876020e-01 4.64143736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.93925415399997 meters Centerline goodness : 0.998934 Centerline is valid? [True, True] Translation: X:302.65, Y:3.07, Z:4.64 [[ 9.98958591e-01 -4.28273311e-02 -1.57338002e-02 3.02652598e+02] [ 4.28277468e-02 9.99082423e-01 -3.10675079e-04 3.07486709e+00] [ 1.57326686e-02 -3.63491673e-04 9.99876168e-01 4.64121759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.96925415399994 meters Centerline goodness : 0.998871 Centerline is valid? [True, True] Translation: X:302.68, Y:3.07, Z:4.64 [[ 9.98952383e-01 -4.29718712e-02 -1.57338757e-02 3.02683931e+02] [ 4.29723652e-02 9.99076214e-01 -3.06837925e-04 3.07411654e+00] [ 1.57325263e-02 -3.69605375e-04 9.99876168e-01 4.64039495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.99925415399997 meters Centerline goodness : 0.998957 Centerline is valid? [True, True] Translation: X:302.71, Y:3.07, Z:4.64 [[ 9.98926405e-01 -4.35716682e-02 -1.57336284e-02 3.02714871e+02] [ 4.35720373e-02 9.99050237e-01 -3.19501210e-04 3.07376638e+00] [ 1.57326064e-02 -3.66388049e-04 9.99876168e-01 4.64112509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.02925415399994 meters Centerline goodness : 0.998977 Centerline is valid? [True, True] Translation: X:302.75, Y:3.07, Z:4.64 [[ 9.98924825e-01 -4.36077619e-02 -1.57339169e-02 3.02747290e+02] [ 4.36083700e-02 9.99048656e-01 -3.04599359e-04 3.07356168e+00] [ 1.57322315e-02 -3.81858610e-04 9.99876168e-01 4.64078595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.059254154 meters Centerline goodness : 0.998977 Centerline is valid? [True, True] Translation: X:302.78, Y:3.07, Z:4.64 [[ 9.98927966e-01 -4.35357634e-02 -1.57339388e-02 3.02779974e+02] [ 4.35363804e-02 9.99051796e-01 -3.03465939e-04 3.07413056e+00] [ 1.57322314e-02 -3.81858131e-04 9.99876168e-01 4.64130009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.08925415399995 meters Centerline goodness : 0.998915 Centerline is valid? [True, True] Translation: X:302.81, Y:3.07, Z:4.64 [[ 9.98902851e-01 -4.41082352e-02 -1.57339606e-02 3.02811182e+02] [ 4.41089410e-02 9.99026681e-01 -3.02332040e-04 3.07385478e+00] [ 1.57319818e-02 -3.92008003e-04 9.99876168e-01 4.64140680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.119254154 meters Centerline goodness : 0.998942 Centerline is valid? [True, True] Translation: X:302.84, Y:3.07, Z:4.64 [[ 9.98889713e-01 -4.44047657e-02 -1.57339768e-02 3.02843478e+02] [ 4.44055215e-02 9.99013543e-01 -3.01487365e-04 3.07410497e+00] [ 1.57318433e-02 -3.97522817e-04 9.99876168e-01 4.64213206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.14925415399995 meters Centerline goodness : 0.998831 Centerline is valid? [True, True] Translation: X:302.88, Y:3.07, Z:4.64 [[ 9.98867320e-01 -4.49056577e-02 -1.57339968e-02 3.02875310e+02] [ 4.49064922e-02 9.98991149e-01 -3.00439441e-04 3.07392793e+00] [ 1.57316150e-02 -4.06459464e-04 9.99876168e-01 4.64219892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.179254154 meters Centerline goodness : 0.998961 Centerline is valid? [True, True] Translation: X:302.91, Y:3.07, Z:4.64 [[ 9.98751968e-01 -4.74019769e-02 -1.57340185e-02 3.02907761e+02] [ 4.74031388e-02 9.98875795e-01 -2.99296708e-04 3.07317229e+00] [ 1.57305175e-02 -4.46918688e-04 9.99876168e-01 4.64318170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.20925415399995 meters Centerline goodness : 0.998814 Centerline is valid? [True, True] Translation: X:302.95, Y:3.06, Z:4.64 [[ 9.99048526e-01 -4.06753411e-02 -1.57340402e-02 3.02949182e+02] [ 4.06756872e-02 9.99172357e-01 -2.98153974e-04 3.06247358e+00] [ 1.57331455e-02 -3.42122608e-04 9.99876168e-01 4.64222322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.239254154 meters Centerline goodness : 0.999219 Centerline is valid? [True, True] Translation: X:302.97, Y:3.07, Z:4.64 [[ 9.98488549e-01 -5.26571580e-02 -1.57429596e-02 3.02967219e+02] [ 5.26672087e-02 9.98612094e-01 2.24224425e-04 3.07059298e+00] [ 1.57093029e-02 -1.05302326e-03 9.99876047e-01 4.64330803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.26925415399995 meters Centerline goodness : 0.999072 Centerline is valid? [True, True] Translation: X:303.00, Y:3.07, Z:4.64 [[ 9.98337655e-01 -5.54472977e-02 -1.57329033e-02 3.02999420e+02] [ 5.54490616e-02 9.98461465e-01 -3.24412337e-04 3.06981643e+00] [ 1.57266854e-02 -5.48501670e-04 9.99876178e-01 4.64250588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.299254154 meters Centerline goodness : 0.999198 Centerline is valid? [True, True] Translation: X:303.03, Y:3.07, Z:4.64 [[ 9.98184110e-01 -5.81458197e-02 -1.57335805e-02 3.03031499e+02] [ 5.81485019e-02 9.98307903e-01 -2.87327401e-04 3.06954179e+00] [ 1.57236647e-02 -6.28078490e-04 9.99876178e-01 4.64248158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.32925415399995 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:303.06, Y:3.07, Z:4.64 [[ 9.97856664e-01 -6.35181848e-02 -1.57327462e-02 3.03064066e+02] [ 6.35208162e-02 9.97980458e-01 -3.32903662e-04 3.06840782e+00] [ 1.57221187e-02 -6.67166744e-04 9.99876177e-01 4.64155245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.359254154 meters Centerline goodness : 0.999054 Centerline is valid? [True, True] Translation: X:303.10, Y:3.07, Z:4.64 [[ 9.97710496e-01 -6.57741948e-02 -1.57328376e-02 3.03096289e+02] [ 6.57771850e-02 9.97834282e-01 -3.27888752e-04 3.06806473e+00] [ 1.57203313e-02 -7.07723718e-04 9.99876177e-01 4.64200722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.38925415399996 meters Centerline goodness : 0.999053 Centerline is valid? [True, True] Translation: X:303.13, Y:3.07, Z:4.64 [[ 9.97531120e-01 -6.84407833e-02 -1.57328956e-02 3.03130170e+02] [ 6.84441552e-02 9.97654896e-01 -3.24653755e-04 3.06791486e+00] [ 1.57182199e-02 -7.52972525e-04 9.99876178e-01 4.64198327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.419254154 meters Centerline goodness : 0.998864 Centerline is valid? [True, True] Translation: X:303.16, Y:3.07, Z:4.64 [[ 9.97320694e-01 -7.14414738e-02 -1.57337248e-02 3.03161248e+02] [ 7.14459572e-02 9.97444434e-01 -2.77669023e-04 3.06794658e+00] [ 1.57133533e-02 -8.47185967e-04 9.99876179e-01 4.64232270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.44925415399996 meters Centerline goodness : 0.998949 Centerline is valid? [True, True] Translation: X:303.19, Y:3.07, Z:4.64 [[ 9.97231019e-01 -7.26825464e-02 -1.57334506e-02 3.03194743e+02] [ 7.26869368e-02 9.97354763e-01 -2.93374460e-04 3.06872489e+00] [ 1.57131551e-02 -8.51054219e-04 9.99876179e-01 4.64287921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.479254154 meters Centerline goodness : 0.998822 Centerline is valid? [True, True] Translation: X:303.23, Y:3.07, Z:4.64 [[ 9.97200864e-01 -7.30950359e-02 -1.57338227e-02 3.03227733e+02] [ 7.30998162e-02 9.97324593e-01 -2.71838949e-04 3.06981639e+00] [ 1.57115984e-02 -8.79061513e-04 9.99876179e-01 4.64396223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.50925415399996 meters Centerline goodness : 0.998866 Centerline is valid? [True, True] Translation: X:303.26, Y:3.07, Z:4.65 [[ 9.97210801e-01 -7.29593293e-02 -1.57338516e-02 3.03260220e+02] [ 7.29641192e-02 9.97334530e-01 -2.70154740e-04 3.07187695e+00] [ 1.57116238e-02 -8.78605400e-04 9.99876179e-01 4.64604718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.539254154 meters Centerline goodness : 0.998844 Centerline is valid? [True, True] Translation: X:303.29, Y:3.07, Z:4.65 [[ 9.97347873e-01 -7.10609999e-02 -1.57338816e-02 3.03289888e+02] [ 7.10655819e-02 9.97471609e-01 -2.68398737e-04 3.07293091e+00] [ 1.57131729e-02 -8.50450541e-04 9.99876179e-01 4.64704227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.56925415399996 meters Centerline goodness : 0.998947 Centerline is valid? [True, True] Translation: X:303.32, Y:3.07, Z:4.65 [[ 9.97542586e-01 -6.82735613e-02 -1.57324799e-02 3.03324544e+02] [ 6.82764957e-02 9.97666376e-01 -3.51141745e-04 3.07489671e+00] [ 1.57197399e-02 -7.23879755e-04 9.99876175e-01 4.64970577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.59925415399994 meters Centerline goodness : 0.998906 Centerline is valid? [True, True] Translation: X:303.36, Y:3.08, Z:4.65 [[ 9.97735976e-01 -6.53862805e-02 -1.57339609e-02 3.03356585e+02] [ 6.53902542e-02 9.97859733e-01 -2.62316360e-04 3.07630585e+00] [ 1.57174379e-02 -7.67125234e-04 9.99876179e-01 4.65085257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.62925415399997 meters Centerline goodness : 0.998715 Centerline is valid? [True, True] Translation: X:303.39, Y:3.08, Z:4.65 [[ 9.97945031e-01 -6.21140646e-02 -1.57339852e-02 3.03389927e+02] [ 6.21176555e-02 9.98068800e-01 -2.60851930e-04 3.07818075e+00] [ 1.57198023e-02 -7.17042384e-04 9.99876179e-01 4.65164777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.65925415399994 meters Centerline goodness : 0.999093 Centerline is valid? [True, True] Translation: X:303.42, Y:3.08, Z:4.65 [[ 9.98373846e-01 -5.47914622e-02 -1.57340137e-02 3.03422761e+02] [ 5.47941723e-02 9.98497637e-01 -2.59119772e-04 3.08187366e+00] [ 1.57245731e-02 -6.03433855e-04 9.99876179e-01 4.65195998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.68925415399997 meters Centerline goodness : 0.999093 Centerline is valid? [True, True] Translation: X:303.46, Y:3.08, Z:4.65 [[ 9.98377846e-01 -5.47185212e-02 -1.57340420e-02 3.03455447e+02] [ 5.47212495e-02 9.98501637e-01 -2.57388352e-04 3.08234719e+00] [ 1.57245506e-02 -6.04015612e-04 9.99876179e-01 4.65247392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.71925415399994 meters Centerline goodness : 0.998923 Centerline is valid? [True, True] Translation: X:303.49, Y:3.08, Z:4.65 [[ 9.98547243e-01 -5.15348672e-02 -1.57340607e-02 3.03488435e+02] [ 5.15372189e-02 9.98671042e-01 -2.56239114e-04 3.08458611e+00] [ 1.57263561e-02 -5.55022872e-04 9.99876179e-01 4.65247195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.74925415399997 meters Centerline goodness : 0.998880 Centerline is valid? [True, True] Translation: X:303.52, Y:3.09, Z:4.65 [[ 9.98777146e-01 -4.68684364e-02 -1.57340890e-02 3.03519801e+02] [ 4.68702371e-02 9.98900954e-01 -2.54492467e-04 3.08705759e+00] [ 1.57287242e-02 -4.83279221e-04 9.99876179e-01 4.65172667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.77925415399994 meters Centerline goodness : 0.998774 Centerline is valid? [True, True] Translation: X:303.55, Y:3.09, Z:4.65 [[ 9.98838900e-01 -4.55333829e-02 -1.57341029e-02 3.03551849e+02] [ 4.55350316e-02 9.98962710e-01 -2.53628898e-04 3.08804766e+00] [ 1.57293307e-02 -4.63118464e-04 9.99876179e-01 4.65143300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.809254154 meters Centerline goodness : 0.999089 Centerline is valid? [True, True] Translation: X:303.58, Y:3.09, Z:4.65 [[ 9.98874501e-01 -4.47456050e-02 -1.57341211e-02 3.03582557e+02] [ 4.47471739e-02 9.98998312e-01 -2.52497146e-04 3.08906652e+00] [ 1.57296585e-02 -4.51844491e-04 9.99876179e-01 4.65116580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.83925415399995 meters Centerline goodness : 0.998795 Centerline is valid? [True, True] Translation: X:303.61, Y:3.09, Z:4.65 [[ 9.98867981e-01 -4.48909122e-02 -1.57341346e-02 3.03614752e+02] [ 4.48925124e-02 9.98991791e-01 -2.51653969e-04 3.09078804e+00] [ 1.57295682e-02 -4.54975740e-04 9.99876179e-01 4.65005080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.869254154 meters Centerline goodness : 0.998984 Centerline is valid? [True, True] Translation: X:303.65, Y:3.09, Z:4.65 [[ 9.98871343e-01 -4.48160390e-02 -1.57341524e-02 3.03647185e+02] [ 4.48176475e-02 9.98995153e-01 -2.50533929e-04 3.09144483e+00] [ 1.57295699e-02 -4.54916535e-04 9.99876179e-01 4.64971198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.89925415399995 meters Centerline goodness : 0.998856 Centerline is valid? [True, True] Translation: X:303.68, Y:3.09, Z:4.65 [[ 9.98869350e-01 -4.48604311e-02 -1.57341700e-02 3.03679676e+02] [ 4.48620627e-02 9.98993160e-01 -2.49422029e-04 3.09328295e+00] [ 1.57295174e-02 -4.56727303e-04 9.99876179e-01 4.64997179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.929254154 meters Centerline goodness : 0.998920 Centerline is valid? [True, True] Translation: X:303.71, Y:3.09, Z:4.65 [[ 9.98894386e-01 -4.42994488e-02 -1.57341877e-02 3.03711856e+02] [ 4.43010285e-02 9.99018197e-01 -2.48298932e-04 3.09446686e+00] [ 1.57297394e-02 -4.49016290e-04 9.99876179e-01 4.65062183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.95925415399995 meters Centerline goodness : 0.998918 Centerline is valid? [True, True] Translation: X:303.74, Y:3.10, Z:4.65 [[ 9.98920261e-01 -4.37120837e-02 -1.57342053e-02 3.03742610e+02] [ 4.37136082e-02 9.99044073e-01 -2.47182510e-04 3.09578196e+00] [ 1.57299694e-02 -4.40883267e-04 9.99876179e-01 4.65134282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.989254154 meters Centerline goodness : 0.998981 Centerline is valid? [True, True] Translation: X:303.78, Y:3.10, Z:4.65 [[ 9.99001958e-01 -4.18033871e-02 -1.57342183e-02 3.03775208e+02] [ 4.18046881e-02 9.99125772e-01 -2.46351112e-04 3.09768528e+00] [ 1.57307613e-02 -4.11658846e-04 9.99876179e-01 4.65366871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.01925415399995 meters Centerline goodness : 0.999089 Centerline is valid? [True, True] Translation: X:303.81, Y:3.10, Z:4.66 [[ 9.99035930e-01 -4.09834762e-02 -1.57342364e-02 3.03806302e+02] [ 4.09846938e-02 9.99159744e-01 -2.45191661e-04 3.09898075e+00] [ 1.57310644e-02 -3.99907581e-04 9.99876179e-01 4.65500568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.049254154 meters Centerline goodness : 0.999108 Centerline is valid? [True, True] Translation: X:303.84, Y:3.10, Z:4.66 [[ 9.99055371e-01 -4.05067900e-02 -1.57342498e-02 3.03837196e+02] [ 4.05079621e-02 9.99179186e-01 -2.44328084e-04 3.09994672e+00] [ 1.57312318e-02 -3.93265110e-04 9.99876179e-01 4.65635267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.07925415399995 meters Centerline goodness : 0.999044 Centerline is valid? [True, True] Translation: X:303.87, Y:3.10, Z:4.66 [[ 9.99046247e-01 -4.07311864e-02 -1.57342629e-02 3.03869602e+02] [ 4.07323997e-02 9.99170062e-01 -2.43480723e-04 3.10076085e+00] [ 1.57311217e-02 -3.97645782e-04 9.99876179e-01 4.65759574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.109254154 meters Centerline goodness : 0.999235 Centerline is valid? [True, True] Translation: X:303.90, Y:3.10, Z:4.66 [[ 9.98947416e-01 -4.30870330e-02 -1.57342807e-02 3.03900566e+02] [ 4.30885564e-02 9.99071227e-01 -2.42325020e-04 3.10102243e+00] [ 1.57301082e-02 -4.35897489e-04 9.99876179e-01 4.65879903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.13925415399996 meters Centerline goodness : 0.999087 Centerline is valid? [True, True] Translation: X:303.93, Y:3.10, Z:4.66 [[ 9.98728078e-01 -4.79025924e-02 -1.57342939e-02 3.03932415e+02] [ 4.79047263e-02 9.98851880e-01 -2.41464679e-04 3.10006318e+00] [ 1.57277958e-02 -5.12589487e-04 9.99876179e-01 4.65939584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.169254154 meters Centerline goodness : 0.998875 Centerline is valid? [True, True] Translation: X:303.97, Y:3.10, Z:4.66 [[ 9.98580873e-01 -5.08789841e-02 -1.57343110e-02 3.03965004e+02] [ 5.08815046e-02 9.98704668e-01 -2.40342635e-04 3.09951549e+00] [ 1.57261583e-02 -5.60583861e-04 9.99876179e-01 4.65954452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.19925415399996 meters Centerline goodness : 0.998368 Centerline is valid? [True, True] Translation: X:303.99, Y:3.10, Z:4.66 [[ 9.98367705e-01 -5.49031553e-02 -1.57343371e-02 3.03993455e+02] [ 5.49062018e-02 9.98491488e-01 -2.38622495e-04 3.09773254e+00] [ 1.57237028e-02 -6.25679697e-04 9.99876179e-01 4.65828091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.229254154 meters Centerline goodness : 0.998368 Centerline is valid? [True, True] Translation: X:304.03, Y:3.10, Z:4.66 [[ 9.98384797e-01 -5.45922280e-02 -1.57317024e-02 3.04026220e+02] [ 5.45925839e-02 9.98508630e-01 -4.07135667e-04 3.09803283e+00] [ 1.57304670e-02 -4.52356223e-04 9.99876166e-01 4.65884964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.25925415399996 meters Centerline goodness : 0.999237 Centerline is valid? [True, True] Translation: X:304.06, Y:3.10, Z:4.66 [[ 9.97980825e-01 -6.15367958e-02 -1.57320228e-02 3.04062059e+02] [ 6.15383561e-02 9.98104645e-01 -3.85355033e-04 3.09735490e+00] [ 1.57259185e-02 -5.83545887e-04 9.99876170e-01 4.65857361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.289254154 meters Centerline goodness : 0.999091 Centerline is valid? [True, True] Translation: X:304.09, Y:3.10, Z:4.66 [[ 9.97858809e-01 -6.34840813e-02 -1.57343155e-02 3.04094503e+02] [ 6.34884037e-02 9.97982551e-01 -2.25147086e-04 3.09732725e+00] [ 1.57168655e-02 -7.74281569e-04 9.99876183e-01 4.65820200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.31925415399996 meters Centerline goodness : 0.999089 Centerline is valid? [True, True] Translation: X:304.13, Y:3.10, Z:4.66 [[ 9.97754360e-01 -6.51050513e-02 -1.57343559e-02 3.04126277e+02] [ 6.51096197e-02 9.97878093e-01 -2.22285163e-04 3.09760793e+00] [ 1.57154409e-02 -8.02671939e-04 9.99876183e-01 4.65841424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.34925415399994 meters Centerline goodness : 0.999131 Centerline is valid? [True, True] Translation: X:304.16, Y:3.10, Z:4.66 [[ 9.97613160e-01 -6.72340111e-02 -1.57343718e-02 3.04158109e+02] [ 6.72388613e-02 9.97736882e-01 -2.21151233e-04 3.09734776e+00] [ 1.57136320e-02 -8.37337865e-04 9.99876183e-01 4.65870253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.37925415399997 meters Centerline goodness : 0.999045 Centerline is valid? [True, True] Translation: X:304.19, Y:3.10, Z:4.66 [[ 9.97563190e-01 -6.79714037e-02 -1.57343879e-02 3.04189086e+02] [ 6.79763635e-02 9.97686908e-01 -2.20000986e-04 3.09771141e+00] [ 1.57129466e-02 -8.50101587e-04 9.99876183e-01 4.65892084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.40925415399994 meters Centerline goodness : 0.999257 Centerline is valid? [True, True] Translation: X:304.22, Y:3.10, Z:4.66 [[ 9.97565079e-01 -6.79436676e-02 -1.57343999e-02 3.04222127e+02] [ 6.79486375e-02 9.97688797e-01 -2.19143758e-04 3.09801064e+00] [ 1.57129239e-02 -8.50520871e-04 9.99876183e-01 4.65944965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.43925415399997 meters Centerline goodness : 0.999241 Centerline is valid? [True, True] Translation: X:304.25, Y:3.10, Z:4.66 [[ 9.97590485e-01 -6.75696055e-02 -1.57344235e-02 3.04253847e+02] [ 6.75745558e-02 9.97714204e-01 -2.17436417e-04 3.09838064e+00] [ 1.57131499e-02 -8.46334174e-04 9.99876183e-01 4.66024713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.46925415399994 meters Centerline goodness : 0.998938 Centerline is valid? [True, True] Translation: X:304.29, Y:3.10, Z:4.66 [[ 9.97757183e-01 -6.50617511e-02 -1.57344428e-02 3.04289804e+02] [ 6.50664126e-02 9.97880912e-01 -2.16023565e-04 3.09702759e+00] [ 1.57151551e-02 -8.08244687e-04 9.99876183e-01 4.66128376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.49925415399997 meters Centerline goodness : 0.999172 Centerline is valid? [True, True] Translation: X:304.32, Y:3.10, Z:4.66 [[ 9.97727404e-01 -6.55163757e-02 -1.57363264e-02 3.04318223e+02] [ 6.55232942e-02 9.97851037e-01 -7.60793414e-05 3.09898915e+00] [ 1.57074941e-02 -9.55189502e-04 9.99876173e-01 4.66180339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.52925415399994 meters Centerline goodness : 0.998960 Centerline is valid? [True, True] Translation: X:304.35, Y:3.10, Z:4.66 [[ 9.97803494e-01 -6.43476109e-02 -1.57344317e-02 3.04350403e+02] [ 6.43522023e-02 9.97927226e-01 -2.14850912e-04 3.09942447e+00] [ 1.57156429e-02 -7.98166340e-04 9.99876183e-01 4.66221407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.559254154 meters Centerline goodness : 0.999131 Centerline is valid? [True, True] Translation: X:304.38, Y:3.10, Z:4.66 [[ 9.97920049e-01 -6.25140137e-02 -1.57344511e-02 3.04382513e+02] [ 6.25184002e-02 9.98043789e-01 -2.13422985e-04 3.10004689e+00] [ 1.57170131e-02 -7.70713633e-04 9.99876183e-01 4.66195782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.58925415399995 meters Centerline goodness : 0.998960 Centerline is valid? [True, True] Translation: X:304.41, Y:3.10, Z:4.66 [[ 9.97964489e-01 -6.18005212e-02 -1.57344700e-02 3.04414875e+02] [ 6.18048413e-02 9.98088231e-01 -2.12016671e-04 3.10074595e+00] [ 1.57174921e-02 -7.60881313e-04 9.99876183e-01 4.66232652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.619254154 meters Centerline goodness : 0.999090 Centerline is valid? [True, True] Translation: X:304.45, Y:3.10, Z:4.66 [[ 9.97980816e-01 -6.15362996e-02 -1.57344850e-02 3.04446565e+02] [ 6.15406046e-02 9.98104558e-01 -2.10898128e-04 3.10169184e+00] [ 1.57176391e-02 -7.57837433e-04 9.99876183e-01 4.66317829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.64925415399995 meters Centerline goodness : 0.999087 Centerline is valid? [True, True] Translation: X:304.48, Y:3.10, Z:4.66 [[ 9.97945482e-01 -6.21066882e-02 -1.57345003e-02 3.04478647e+02] [ 6.21110819e-02 9.98069221e-01 -2.09749350e-04 3.10310194e+00] [ 1.57171473e-02 -7.67968422e-04 9.99876183e-01 4.66361715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.679254154 meters Centerline goodness : 0.998960 Centerline is valid? [True, True] Translation: X:304.51, Y:3.10, Z:4.66 [[ 9.97903125e-01 -6.27835794e-02 -1.57345159e-02 3.04509807e+02] [ 6.27880756e-02 9.98026860e-01 -2.08572679e-04 3.10334189e+00] [ 1.57165645e-02 -7.79804646e-04 9.99876183e-01 4.66284867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.70925415399995 meters Centerline goodness : 0.999107 Centerline is valid? [True, True] Translation: X:304.54, Y:3.10, Z:4.66 [[ 9.97834536e-01 -6.38644207e-02 -1.57345275e-02 3.04541361e+02] [ 6.38690647e-02 9.97958265e-01 -2.07695985e-04 3.10368894e+00] [ 1.57156661e-02 -7.97703327e-04 9.99876183e-01 4.66184654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.739254154 meters Centerline goodness : 0.999107 Centerline is valid? [True, True] Translation: X:304.57, Y:3.10, Z:4.66 [[ 9.97752273e-01 -6.51369722e-02 -1.57345386e-02 3.04574075e+02] [ 6.51417873e-02 9.97875997e-01 -2.06847445e-04 3.10436937e+00] [ 1.57145918e-02 -8.18593461e-04 9.99876183e-01 4.66422332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.76925415399995 meters Centerline goodness : 0.999213 Centerline is valid? [True, True] Translation: X:304.60, Y:3.11, Z:4.66 [[ 9.97584896e-01 -6.76520479e-02 -1.57345614e-02 3.04604965e+02] [ 6.76572024e-02 9.97708605e-01 -2.05098064e-04 3.10551588e+00] [ 1.57123827e-02 -8.59953676e-04 9.99876183e-01 4.66456604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.799254154 meters Centerline goodness : 0.999001 Centerline is valid? [True, True] Translation: X:304.64, Y:3.11, Z:4.67 [[ 9.97522051e-01 -6.85724572e-02 -1.57345727e-02 3.04637514e+02] [ 6.85777395e-02 9.97645755e-01 -2.04231677e-04 3.10646412e+00] [ 1.57115343e-02 -8.75315825e-04 9.99876183e-01 4.66579336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.82925415399995 meters Centerline goodness : 0.998978 Centerline is valid? [True, True] Translation: X:304.67, Y:3.11, Z:4.67 [[ 9.97474369e-01 -6.92625935e-02 -1.57345875e-02 3.04670504e+02] [ 6.92679795e-02 9.97598068e-01 -2.03082893e-04 3.10742296e+00] [ 1.57108602e-02 -8.87333105e-04 9.99876183e-01 4.66663050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.859254154 meters Centerline goodness : 0.999086 Centerline is valid? [True, True] Translation: X:304.70, Y:3.11, Z:4.67 [[ 9.97407793e-01 -7.02147857e-02 -1.57346096e-02 3.04702057e+02] [ 7.02203169e-02 9.97531487e-01 -2.01354774e-04 3.10895064e+00] [ 1.57099066e-02 -9.04056453e-04 9.99876183e-01 4.66674568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.88925415399996 meters Centerline goodness : 0.999086 Centerline is valid? [True, True] Translation: X:304.74, Y:3.11, Z:4.67 [[ 9.97415409e-01 -7.01065109e-02 -1.57346205e-02 3.04735591e+02] [ 7.01120421e-02 9.97539103e-01 -2.00500002e-04 3.10928505e+00] [ 1.57099556e-02 -9.03204586e-04 9.99876183e-01 4.66727318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.919254154 meters Centerline goodness : 0.999298 Centerline is valid? [True, True] Translation: X:304.77, Y:3.11, Z:4.67 [[ 9.97396486e-01 -7.03752120e-02 -1.57346421e-02 3.04768394e+02] [ 7.03808034e-02 9.97520177e-01 -1.98791917e-04 3.11056333e+00] [ 1.57096130e-02 -9.09142393e-04 9.99876183e-01 4.66912748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.94925415399996 meters Centerline goodness : 0.999298 Centerline is valid? [True, True] Translation: X:304.80, Y:3.11, Z:4.67 [[ 9.97414345e-01 -7.01216462e-02 -1.57346640e-02 3.04799362e+02] [ 7.01272336e-02 9.97538036e-01 -1.97042524e-04 3.11258768e+00] [ 1.57097428e-02 -9.06895419e-04 9.99876183e-01 4.66965580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.979254154 meters Centerline goodness : 0.999298 Centerline is valid? [True, True] Translation: X:304.83, Y:3.11, Z:4.67 [[ 9.97422056e-01 -7.00118660e-02 -1.57346916e-02 3.04832897e+02] [ 7.00174748e-02 9.97545746e-01 -1.94815329e-04 3.11291119e+00] [ 1.57097140e-02 -9.07390265e-04 9.99876183e-01 4.67018288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.00925415399996 meters Centerline goodness : 0.999086 Centerline is valid? [True, True] Translation: X:304.87, Y:3.11, Z:4.67 [[ 9.97412979e-01 -7.01410581e-02 -1.57347128e-02 3.04865690e+02] [ 7.01467102e-02 9.97536667e-01 -1.93083835e-04 3.11429189e+00] [ 1.57094961e-02 -9.11154017e-04 9.99876183e-01 4.67085476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.039254154 meters Centerline goodness : 0.999129 Centerline is valid? [True, True] Translation: X:304.90, Y:3.12, Z:4.67 [[ 9.97421840e-01 -7.00149359e-02 -1.57347338e-02 3.04899000e+02] [ 7.00205995e-02 9.97545527e-01 -1.91359789e-04 3.11526760e+00] [ 1.57095114e-02 -9.10889061e-04 9.99876183e-01 4.67143704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.06925415399996 meters Centerline goodness : 0.999107 Centerline is valid? [True, True] Translation: X:304.93, Y:3.12, Z:4.67 [[ 9.97372568e-01 -7.07133485e-02 -1.57347545e-02 3.04931555e+02] [ 7.07191257e-02 9.97496250e-01 -1.89637939e-04 3.11663605e+00] [ 1.57087686e-02 -9.23608406e-04 9.99876183e-01 4.67152161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.09925415399994 meters Centerline goodness : 0.999213 Centerline is valid? [True, True] Translation: X:304.96, Y:3.12, Z:4.67 [[ 9.97344843e-01 -7.11033111e-02 -1.57347681e-02 3.04963329e+02] [ 7.11091546e-02 9.97468522e-01 -1.88503502e-04 3.11692768e+00] [ 1.57083391e-02 -9.30883064e-04 9.99876183e-01 4.67134104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.12925415399997 meters Centerline goodness : 0.999406 Centerline is valid? [True, True] Translation: X:305.00, Y:3.12, Z:4.67 [[ 9.97304256e-01 -7.16703461e-02 -1.57347850e-02 3.04995250e+02] [ 7.16762821e-02 9.97427930e-01 -1.87088678e-04 3.11719241e+00] [ 1.57077227e-02 -9.41226551e-04 9.99876183e-01 4.67126713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.15925415399994 meters Centerline goodness : 0.999128 Centerline is valid? [True, True] Translation: X:305.03, Y:3.12, Z:4.67 [[ 9.97220657e-01 -7.28242978e-02 -1.57347981e-02 3.05027454e+02] [ 7.28303943e-02 9.97344323e-01 -1.85980185e-04 3.11804570e+00] [ 1.57065554e-02 -9.60508265e-04 9.99876183e-01 4.67071351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.18925415399997 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:305.06, Y:3.12, Z:4.67 [[ 9.97237303e-01 -7.25959801e-02 -1.57348111e-02 3.05058213e+02] [ 7.26020658e-02 9.97360971e-01 -1.84870079e-04 3.11894491e+00] [ 1.57067073e-02 -9.58020451e-04 9.99876183e-01 4.67059802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.21925415399994 meters Centerline goodness : 0.999128 Centerline is valid? [True, True] Translation: X:305.09, Y:3.12, Z:4.67 [[ 9.97291513e-01 -7.18474273e-02 -1.57348208e-02 3.05091681e+02] [ 7.18534332e-02 9.97415185e-01 -1.84042761e-04 3.12016554e+00] [ 1.57073722e-02 -9.47056609e-04 9.99876183e-01 4.67109205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.24925415399997 meters Centerline goodness : 0.999171 Centerline is valid? [True, True] Translation: X:305.12, Y:3.12, Z:4.67 [[ 9.97547513e-01 -6.82009859e-02 -1.57348399e-02 3.05123924e+02] [ 6.82065656e-02 9.97671204e-01 -1.82390840e-04 3.12207859e+00] [ 1.57106359e-02 -8.91275863e-04 9.99876183e-01 4.67178237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.27925415399994 meters Centerline goodness : 0.999063 Centerline is valid? [True, True] Translation: X:305.16, Y:3.12, Z:4.67 [[ 9.97724077e-01 -6.55673808e-02 -1.57348557e-02 3.05156569e+02] [ 6.55726554e-02 9.97847781e-01 -1.81023536e-04 3.12353520e+00] [ 1.57128600e-02 -8.51164728e-04 9.99876183e-01 4.67263659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.309254154 meters Centerline goodness : 0.999468 Centerline is valid? [True, True] Translation: X:305.19, Y:3.13, Z:4.67 [[ 9.97935319e-01 -6.22696801e-02 -1.57348742e-02 3.05188844e+02] [ 6.22745714e-02 9.98059039e-01 -1.79400475e-04 3.12527739e+00] [ 1.57155046e-02 -8.00852475e-04 9.99876183e-01 4.67357803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.33925415399995 meters Centerline goodness : 0.999276 Centerline is valid? [True, True] Translation: X:305.22, Y:3.13, Z:4.67 [[ 9.98141329e-01 -5.88752996e-02 -1.57348863e-02 3.05220816e+02] [ 5.88797870e-02 9.98265064e-01 -1.78328475e-04 3.12685769e+00] [ 1.57180864e-02 -7.48469734e-04 9.99876183e-01 4.67447384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.369254154 meters Centerline goodness : 0.999296 Centerline is valid? [True, True] Translation: X:305.25, Y:3.13, Z:4.68 [[ 9.98557839e-01 -5.13288914e-02 -1.57348983e-02 3.05251797e+02] [ 5.13324601e-02 9.98681604e-01 -1.77262979e-04 3.12974383e+00] [ 1.57232522e-02 -6.30703702e-04 9.99876183e-01 4.67607064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.39925415399995 meters Centerline goodness : 0.999467 Centerline is valid? [True, True] Translation: X:305.29, Y:3.13, Z:4.67 [[ 9.98743169e-01 -4.75867125e-02 -1.57349072e-02 3.05285285e+02] [ 4.75898299e-02 9.98866947e-01 -1.76469644e-04 3.13153067e+00] [ 1.57254763e-02 -5.72573706e-04 9.99876183e-01 4.67418246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.429254154 meters Centerline goodness : 0.999360 Centerline is valid? [True, True] Translation: X:305.32, Y:3.13, Z:4.68 [[ 9.98950086e-01 -4.30247268e-02 -1.57352818e-02 3.05317489e+02] [ 4.30278018e-02 9.99073865e-01 -1.43228786e-04 3.13283493e+00] [ 1.57268711e-02 -5.33976178e-04 9.99876183e-01 4.67963827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.45925415399995 meters Centerline goodness : 0.999315 Centerline is valid? [True, True] Translation: X:305.35, Y:3.14, Z:4.68 [[ 9.99277507e-01 -3.45958900e-02 -1.57349150e-02 3.05349929e+02] [ 3.45974047e-02 9.99401315e-01 -1.76017401e-04 3.13521559e+00] [ 1.57315842e-02 -3.68496991e-04 9.99876183e-01 4.68013297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.489254154 meters Centerline goodness : 0.999272 Centerline is valid? [True, True] Translation: X:305.38, Y:3.14, Z:4.68 [[ 9.99419839e-01 -3.02059280e-02 -1.57349275e-02 3.05382457e+02] [ 3.02069166e-02 9.99543652e-01 -1.74891776e-04 3.13652962e+00] [ 1.57330296e-02 -3.00513331e-04 9.99876183e-01 4.68101095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.51925415399995 meters Centerline goodness : 0.999574 Centerline is valid? [True, True] Translation: X:305.41, Y:3.14, Z:4.68 [[ 9.99549971e-01 -2.55395201e-02 -1.57349403e-02 3.05413921e+02] [ 2.55399489e-02 9.99673787e-01 -1.73732903e-04 3.13783942e+00] [ 1.57342444e-02 -2.28214852e-04 9.99876183e-01 4.68115200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.549254154 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:305.44, Y:3.14, Z:4.68 [[ 9.99649649e-01 -2.12835746e-02 -1.57349614e-02 3.05444916e+02] [ 2.12835066e-02 9.99773466e-01 -1.71796869e-04 3.13894301e+00] [ 1.57350534e-02 -1.63158476e-04 9.99876183e-01 4.68084815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.57925415399995 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:305.47, Y:3.14, Z:4.68 [[ 9.99742939e-01 -1.63238029e-02 -1.57349675e-02 3.05474637e+02] [ 1.63231296e-02 9.99866754e-01 -1.71233577e-04 3.14029546e+00] [ 1.57356661e-02 -8.56543541e-05 9.99876183e-01 4.67981991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.609254154 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:305.50, Y:3.14, Z:4.68 [[ 9.99824621e-01 -1.01569797e-02 -1.57341451e-02 3.05504005e+02] [ 1.01543541e-02 9.99948413e-01 -2.46754610e-04 3.14257652e+00] [ 1.57358397e-02 8.69412543e-05 9.99876180e-01 4.68376766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.63925415399996 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:305.53, Y:3.14, Z:4.68 [[ 9.99848199e-01 -7.48260243e-03 -1.57349607e-02 3.05531436e+02] [ 7.48081813e-03 9.99972003e-01 -1.72253682e-04 3.14370546e+00] [ 1.57358091e-02 5.45171543e-05 9.99876183e-01 4.68443432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.669254154 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:305.56, Y:3.14, Z:4.68 [[ 9.99866196e-01 -4.47236116e-03 -1.57349084e-02 3.05559411e+02] [ 4.47013096e-03 9.99989993e-01 -1.76903635e-04 3.14487797e+00] [ 1.57355421e-02 1.06542864e-04 9.99876183e-01 4.68439181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.69925415399996 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:305.59, Y:3.15, Z:4.68 [[ 9.99868097e-01 -4.02512657e-03 -1.57348921e-02 3.05587046e+02] [ 4.02281837e-03 9.99991893e-01 -1.78342047e-04 3.14508566e+00] [ 1.57354824e-02 1.15019910e-04 9.99876183e-01 4.68377271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.729254154 meters Centerline goodness : 0.999546 Centerline is valid? [True, True] Translation: X:305.62, Y:3.15, Z:4.69 [[ 9.99864427e-01 -4.85185506e-03 -1.57348761e-02 3.05615143e+02] [ 4.84962716e-03 9.99988224e-01 -1.79743274e-04 3.14545476e+00] [ 1.57355629e-02 1.03410623e-04 9.99876183e-01 4.68501127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.75925415399996 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:305.64, Y:3.15, Z:4.69 [[ 9.99857924e-01 -6.04545778e-03 -1.57348230e-02 3.05642906e+02] [ 6.04330638e-03 9.99981722e-01 -1.84273466e-04 3.14523885e+00] [ 1.57356494e-02 8.91569288e-05 9.99876183e-01 4.68562526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.789254154 meters Centerline goodness : 0.994447 Centerline is valid? [True, True] Translation: X:305.67, Y:3.15, Z:4.68 [[ 9.99842966e-01 -8.15227763e-03 -1.57347684e-02 3.05667366e+02] [ 8.15031539e-03 9.99966768e-01 -1.88829843e-04 3.14656503e+00] [ 1.57357848e-02 6.05568655e-05 9.99876183e-01 4.68282856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.81925415399996 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:305.70, Y:3.14, Z:4.69 [[ 9.99796651e-01 -1.26154586e-02 -1.57323298e-02 3.05697613e+02] [ 1.26110240e-02 9.99920405e-01 -3.81054239e-04 3.14325091e+00] [ 1.57358847e-02 1.82575963e-04 9.99876167e-01 4.68777888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.84925415399994 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:305.73, Y:3.14, Z:4.69 [[ 9.99753851e-01 -1.56415948e-02 -1.57346343e-02 3.05725281e+02] [ 1.56404292e-02 9.99877662e-01 -1.97138653e-04 3.14261596e+00] [ 1.57357929e-02 -4.90063055e-05 9.99876184e-01 4.68824728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.87925415399997 meters Centerline goodness : 0.999591 Centerline is valid? [True, True] Translation: X:305.75, Y:3.14, Z:4.69 [[ 9.99696669e-01 -1.89471043e-02 -1.57346162e-02 3.05754258e+02] [ 1.89463256e-02 9.99820483e-01 -1.98569049e-04 3.14182303e+00] [ 1.57355539e-02 -9.96043456e-05 9.99876184e-01 4.68884827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.90925415399994 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:305.78, Y:3.14, Z:4.69 [[ 9.99622397e-01 -2.25274883e-02 -1.57345660e-02 3.05784281e+02] [ 2.25270916e-02 9.99746212e-01 -2.02472724e-04 3.14086129e+00] [ 1.57351340e-02 -1.52057740e-04 9.99876184e-01 4.68961988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.93925415399997 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:305.81, Y:3.14, Z:4.69 [[ 9.99431935e-01 -2.98031922e-02 -1.57345586e-02 3.05814349e+02] [ 2.98036877e-02 9.99555751e-01 -2.03044017e-04 3.13834618e+00] [ 1.57336199e-02 -2.66019198e-04 9.99876184e-01 4.68943235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.96925415399994 meters Centerline goodness : 0.999442 Centerline is valid? [True, True] Translation: X:305.85, Y:3.14, Z:4.69 [[ 9.99322408e-01 -3.32738502e-02 -1.57345586e-02 3.05846676e+02] [ 3.32747757e-02 9.99446221e-01 -2.03044017e-04 3.13675793e+00] [ 1.57326012e-02 -3.20657474e-04 9.99876184e-01 4.69009639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.99925415399997 meters Centerline goodness : 0.999229 Centerline is valid? [True, True] Translation: X:305.88, Y:3.14, Z:4.69 [[ 9.99210221e-01 -3.64877745e-02 -1.57345736e-02 3.05878138e+02] [ 3.64891165e-02 9.99334030e-01 -2.01880260e-04 3.13521710e+00] [ 1.57314610e-02 -3.72419869e-04 9.99876184e-01 4.68988160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.02925415399994 meters Centerline goodness : 0.998975 Centerline is valid? [True, True] Translation: X:305.91, Y:3.13, Z:4.69 [[ 9.99097909e-01 -3.94435141e-02 -1.57345847e-02 3.05909553e+02] [ 3.94452361e-02 9.99221714e-01 -2.01013029e-04 3.13395025e+00] [ 1.57302673e-02 -4.19822709e-04 9.99876184e-01 4.68947960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.059254154 meters Centerline goodness : 0.999295 Centerline is valid? [True, True] Translation: X:305.94, Y:3.13, Z:4.69 [[ 9.98895709e-01 -4.42694662e-02 -1.57346078e-02 3.05942019e+02] [ 4.42718150e-02 9.99019503e-01 -1.99183970e-04 3.13183767e+00] [ 1.57279978e-02 -4.97635632e-04 9.99876184e-01 4.69094402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.08925415399995 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:305.98, Y:3.12, Z:4.69 [[ 9.99098899e-01 -3.94184147e-02 -1.57346224e-02 3.05979447e+02] [ 3.94201806e-02 9.99222703e-01 -1.98025491e-04 3.12368972e+00] [ 1.57301978e-02 -4.22414606e-04 9.99876184e-01 4.68551255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.119254154 meters Centerline goodness : 0.999146 Centerline is valid? [True, True] Translation: X:306.00, Y:3.13, Z:4.69 [[ 9.98759726e-01 -4.72364499e-02 -1.57393381e-02 3.06001328e+02] [ 4.72453198e-02 9.98883298e-01 1.91988534e-04 3.13051054e+00] [ 1.57126931e-02 -9.35360478e-04 9.99876111e-01 4.69162381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.14925415399995 meters Centerline goodness : 0.999125 Centerline is valid? [True, True] Translation: X:306.03, Y:3.13, Z:4.69 [[ 9.98726130e-01 -4.79431828e-02 -1.57343090e-02 3.06033493e+02] [ 4.79459540e-02 9.98849911e-01 -2.01267055e-04 3.12969972e+00] [ 1.57258625e-02 -5.53385786e-04 9.99876188e-01 4.69266010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.179254154 meters Centerline goodness : 0.999296 Centerline is valid? [True, True] Translation: X:306.07, Y:3.13, Z:4.69 [[ 9.98759512e-01 -4.72426599e-02 -1.57343237e-02 3.06065744e+02] [ 4.72453626e-02 9.98883294e-01 -2.00103821e-04 3.12940581e+00] [ 1.57262066e-02 -5.43518236e-04 9.99876188e-01 4.69294276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.20925415399995 meters Centerline goodness : 0.999063 Centerline is valid? [True, True] Translation: X:306.10, Y:3.13, Z:4.69 [[ 9.98802204e-01 -4.63312806e-02 -1.57343385e-02 3.06098164e+02] [ 4.63338886e-02 9.98925989e-01 -1.98937798e-04 3.12948055e+00] [ 1.57266567e-02 -5.30333576e-04 9.99876188e-01 4.69296215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.239254154 meters Centerline goodness : 0.999041 Centerline is valid? [True, True] Translation: X:306.13, Y:3.13, Z:4.69 [[ 9.98910399e-01 -4.39368154e-02 -1.57343745e-02 3.06129331e+02] [ 4.39391722e-02 9.99034189e-01 -1.96047763e-04 3.12973512e+00] [ 1.57277918e-02 -4.95521240e-04 9.99876188e-01 4.69272740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.26925415399995 meters Centerline goodness : 0.999041 Centerline is valid? [True, True] Translation: X:306.16, Y:3.13, Z:4.69 [[ 9.98913526e-01 -4.38656657e-02 -1.57343850e-02 3.06162017e+02] [ 4.38680270e-02 9.99037316e-01 -1.95201107e-04 3.13007834e+00] [ 1.57278004e-02 -4.95247400e-04 9.99876188e-01 4.69324156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.299254154 meters Centerline goodness : 0.999254 Centerline is valid? [True, True] Translation: X:306.19, Y:3.13, Z:4.69 [[ 9.99002833e-01 -4.17824025e-02 -1.57343988e-02 3.06194280e+02] [ 4.17845233e-02 9.99126627e-01 -1.94080461e-04 3.13086155e+00] [ 1.57287660e-02 -4.63567424e-04 9.99876188e-01 4.69386010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.32925415399995 meters Centerline goodness : 0.998999 Centerline is valid? [True, True] Translation: X:306.23, Y:3.13, Z:4.69 [[ 9.99041738e-01 -4.08415614e-02 -1.57344130e-02 3.06225662e+02] [ 4.08435839e-02 9.99165534e-01 -1.92921627e-04 3.13129235e+00] [ 1.57291624e-02 -4.49913061e-04 9.99876188e-01 4.69220853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.359254154 meters Centerline goodness : 0.999147 Centerline is valid? [True, True] Translation: X:306.26, Y:3.13, Z:4.69 [[ 9.99037336e-01 -4.09490979e-02 -1.57344236e-02 3.06258122e+02] [ 4.09511472e-02 9.99161131e-01 -1.92058877e-04 3.13191810e+00] [ 1.57290891e-02 -4.52468707e-04 9.99876188e-01 4.69416581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.38925415399996 meters Centerline goodness : 0.999148 Centerline is valid? [True, True] Translation: X:306.29, Y:3.13, Z:4.69 [[ 9.98993733e-01 -4.19993982e-02 -1.57344376e-02 3.06290277e+02] [ 4.20015959e-02 9.99117525e-01 -1.90899911e-04 3.13248387e+00] [ 1.57285701e-02 -4.70163676e-04 9.99876188e-01 4.69389109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.419254154 meters Centerline goodness : 0.998892 Centerline is valid? [True, True] Translation: X:306.32, Y:3.13, Z:4.69 [[ 9.98945597e-01 -4.31291152e-02 -1.57344516e-02 3.06321651e+02] [ 4.31314711e-02 9.99069387e-01 -1.89744325e-04 3.13293313e+00] [ 1.57279924e-02 -4.89105786e-04 9.99876188e-01 4.69347416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.44925415399996 meters Centerline goodness : 0.999063 Centerline is valid? [True, True] Translation: X:306.35, Y:3.13, Z:4.69 [[ 9.98799075e-01 -4.63986505e-02 -1.57344749e-02 3.06354211e+02] [ 4.64014422e-02 9.98922855e-01 -1.87792976e-04 3.13370804e+00] [ 1.57262399e-02 -5.42534876e-04 9.99876188e-01 4.69466662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.479254154 meters Centerline goodness : 0.999128 Centerline is valid? [True, True] Translation: X:306.39, Y:3.13, Z:4.70 [[ 9.98730496e-01 -4.78520852e-02 -1.57344887e-02 3.06386395e+02] [ 4.78550754e-02 9.98854272e-01 -1.86624781e-04 3.13431188e+00] [ 1.57253917e-02 -5.66587284e-04 9.99876188e-01 4.69546185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.50925415399996 meters Centerline goodness : 0.999191 Centerline is valid? [True, True] Translation: X:306.42, Y:3.14, Z:4.70 [[ 9.98658034e-01 -4.93412274e-02 -1.57345058e-02 3.06418640e+02] [ 4.93444251e-02 9.98781805e-01 -1.85170016e-04 3.13527760e+00] [ 1.57244746e-02 -5.91488621e-04 9.99876188e-01 4.69615097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.539254154 meters Centerline goodness : 0.999256 Centerline is valid? [True, True] Translation: X:306.45, Y:3.14, Z:4.70 [[ 9.98591449e-01 -5.06709271e-02 -1.57345227e-02 3.06451432e+02] [ 5.06743123e-02 9.98715215e-01 -1.83726243e-04 3.13631338e+00] [ 1.57236168e-02 -6.13868662e-04 9.99876188e-01 4.69741765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.56925415399996 meters Centerline goodness : 0.999127 Centerline is valid? [True, True] Translation: X:306.48, Y:3.14, Z:4.70 [[ 9.98507696e-01 -5.22953626e-02 -1.57345427e-02 3.06483115e+02] [ 5.22989764e-02 9.98631456e-01 -1.81996452e-04 3.13776694e+00] [ 1.57225268e-02 -6.41175619e-04 9.99876188e-01 4.69916715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.59925415399994 meters Centerline goodness : 0.999086 Centerline is valid? [True, True] Translation: X:306.51, Y:3.14, Z:4.70 [[ 9.98488104e-01 -5.26681037e-02 -1.57345526e-02 3.06514128e+02] [ 5.26717772e-02 9.98611862e-01 -1.81138024e-04 3.13865482e+00] [ 1.57222510e-02 -6.47902685e-04 9.99876188e-01 4.70010317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.62925415399997 meters Centerline goodness : 0.999064 Centerline is valid? [True, True] Translation: X:306.55, Y:3.14, Z:4.70 [[ 9.98481728e-01 -5.27888524e-02 -1.57345623e-02 3.06546363e+02] [ 5.27925543e-02 9.98605485e-01 -1.80287505e-04 3.13967264e+00] [ 1.57221374e-02 -6.50653955e-04 9.99876188e-01 4.70167844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.65925415399994 meters Centerline goodness : 0.998999 Centerline is valid? [True, True] Translation: X:306.58, Y:3.14, Z:4.70 [[ 9.98480206e-01 -5.28176308e-02 -1.57345753e-02 3.06578716e+02] [ 5.28213542e-02 9.98603962e-01 -1.79149950e-04 3.14082071e+00] [ 1.57220715e-02 -6.52243895e-04 9.99876188e-01 4.70261299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.68925415399997 meters Centerline goodness : 0.999298 Centerline is valid? [True, True] Translation: X:306.61, Y:3.14, Z:4.70 [[ 9.98511930e-01 -5.22144401e-02 -1.57345881e-02 3.06610322e+02] [ 5.22181064e-02 9.98635688e-01 -1.78017085e-04 3.14263206e+00] [ 1.57224163e-02 -6.43878212e-04 9.99876188e-01 4.70410349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.71925415399994 meters Centerline goodness : 0.999191 Centerline is valid? [True, True] Translation: X:306.64, Y:3.14, Z:4.70 [[ 9.98546212e-01 -5.15546714e-02 -1.57345976e-02 3.06643825e+02] [ 5.15582693e-02 9.98669972e-01 -1.77172731e-04 3.14376218e+00] [ 1.57228042e-02 -6.34333461e-04 9.99876188e-01 4.70461874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.74925415399997 meters Centerline goodness : 0.999360 Centerline is valid? [True, True] Translation: X:306.68, Y:3.14, Z:4.70 [[ 9.98608567e-01 -5.03324065e-02 -1.57346162e-02 3.06676999e+02] [ 5.03358792e-02 9.98732331e-01 -1.75502290e-04 3.14454392e+00] [ 1.57235034e-02 -6.16757651e-04 9.99876188e-01 4.70387929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.77925415399994 meters Centerline goodness : 0.999231 Centerline is valid? [True, True] Translation: X:306.71, Y:3.15, Z:4.71 [[ 9.98637439e-01 -4.97562682e-02 -1.57346346e-02 3.06708788e+02] [ 4.97596957e-02 9.98761204e-01 -1.73839960e-04 3.14589033e+00] [ 1.57237922e-02 -6.09347536e-04 9.99876188e-01 4.70552628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.809254154 meters Centerline goodness : 0.999209 Centerline is valid? [True, True] Translation: X:306.74, Y:3.15, Z:4.71 [[ 9.98757158e-01 -4.72922947e-02 -1.57346497e-02 3.06741025e+02] [ 4.72954384e-02 9.98880930e-01 -1.72465375e-04 3.14777665e+00] [ 1.57251978e-02 -5.71926126e-04 9.99876188e-01 4.70584924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.83925415399995 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:306.77, Y:3.15, Z:4.71 [[ 9.98832224e-01 -4.56794126e-02 -1.57346617e-02 3.06772446e+02] [ 4.56823739e-02 9.98956001e-01 -1.71356434e-04 3.14902266e+00] [ 1.57260622e-02 -5.47640373e-04 9.99876188e-01 4.70529425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.869254154 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:306.81, Y:3.15, Z:4.71 [[ 9.98835322e-01 -4.56116087e-02 -1.57346806e-02 3.06805133e+02] [ 4.56145890e-02 9.98959099e-01 -1.69606783e-04 3.14930770e+00] [ 1.57260384e-02 -5.48321744e-04 9.99876188e-01 4.70580810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.89925415399995 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:306.84, Y:3.15, Z:4.71 [[ 9.98933531e-01 -4.34076081e-02 -1.57346920e-02 3.06837609e+02] [ 4.34103321e-02 9.99057313e-01 -1.68538964e-04 3.15068239e+00] [ 1.57271750e-02 -5.14688986e-04 9.99876188e-01 4.70609023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.929254154 meters Centerline goodness : 0.999271 Centerline is valid? [True, True] Translation: X:306.87, Y:3.15, Z:4.71 [[ 9.99140716e-01 -3.83438135e-02 -1.57347035e-02 3.06868586e+02] [ 3.83459271e-02 9.99264510e-01 -1.67459088e-04 3.15362806e+00] [ 1.57295518e-02 -4.36046601e-04 9.99876188e-01 4.70614912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.95925415399995 meters Centerline goodness : 0.999292 Centerline is valid? [True, True] Translation: X:306.90, Y:3.16, Z:4.71 [[ 9.99256578e-01 -3.51953086e-02 -1.57347120e-02 3.06900773e+02] [ 3.51970448e-02 9.99380378e-01 -1.66655041e-04 3.15527630e+00] [ 1.57308280e-02 -3.87284220e-04 9.99876188e-01 4.70824442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.989254154 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:306.93, Y:3.16, Z:4.71 [[ 9.99378644e-01 -3.15395747e-02 -1.57347242e-02 3.06932286e+02] [ 3.15408761e-02 9.99502449e-01 -1.65503033e-04 3.15687203e+00] [ 1.57321152e-02 -3.30886789e-04 9.99876188e-01 4.70883131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.01925415399995 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:306.96, Y:3.16, Z:4.71 [[ 9.99497987e-01 -2.74989621e-02 -1.57347331e-02 3.06963392e+02] [ 2.74997765e-02 9.99621796e-01 -1.64645058e-04 3.15830433e+00] [ 1.57333098e-02 -2.68139241e-04 9.99876188e-01 4.70824858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.049254154 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:306.99, Y:3.16, Z:4.71 [[ 9.99693085e-01 -1.91351353e-02 -1.57347420e-02 3.06994507e+02] [ 1.91349271e-02 9.99816897e-01 -1.63798476e-04 3.16136324e+00] [ 1.57349952e-02 -1.37334936e-04 9.99876188e-01 4.71114707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.07925415399995 meters Centerline goodness : 0.999396 Centerline is valid? [True, True] Translation: X:307.02, Y:3.16, Z:4.71 [[ 9.99780195e-01 -1.38556720e-02 -1.57347478e-02 3.07022110e+02] [ 1.38548188e-02 9.99904004e-01 -1.63230590e-04 3.16272336e+00] [ 1.57354990e-02 -5.48073695e-05 9.99876188e-01 4.71108059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.109254154 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] Translation: X:307.05, Y:3.16, Z:4.71 [[ 9.99816307e-01 -1.09452261e-02 -1.57338442e-02 3.07053275e+02] [ 1.09426797e-02 9.99940096e-01 -2.47922938e-04 3.16423940e+00] [ 1.57356153e-02 7.57069784e-05 9.99876185e-01 4.71244718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.13925415399996 meters Centerline goodness : 0.999285 Centerline is valid? [True, True] Translation: X:307.08, Y:3.17, Z:4.71 [[ 9.99865762e-01 -4.56914379e-03 -1.57347053e-02 3.07081220e+02] [ 4.56708784e-03 9.99989557e-01 -1.66594042e-04 3.16591839e+00] [ 1.57353022e-02 9.47098978e-05 9.99876188e-01 4.71314489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.169254154 meters Centerline goodness : 0.999285 Centerline is valid? [True, True] Translation: X:307.11, Y:3.17, Z:4.71 [[ 9.99864424e-01 -4.85335734e-03 -1.57346567e-02 3.07109597e+02] [ 4.85126619e-03 9.99988218e-01 -1.71067207e-04 3.16630509e+00] [ 1.57353016e-02 9.47110064e-05 9.99876188e-01 4.71359308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.19925415399996 meters Centerline goodness : 0.999219 Centerline is valid? [True, True] Translation: X:307.14, Y:3.17, Z:4.71 [[ 9.99876190e-01 -1.66319269e-04 -1.57346068e-02 3.07137363e+02] [ 1.63577476e-04 9.99999971e-01 -1.75539245e-04 3.16611620e+00] [ 1.57346356e-02 1.72943684e-04 9.99876188e-01 4.71422558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.229254154 meters Centerline goodness : 0.999242 Centerline is valid? [True, True] Translation: X:307.17, Y:3.17, Z:4.72 [[ 9.99875744e-01 9.59821375e-04 -1.57345548e-02 3.07165220e+02] [-9.62774053e-04 9.99999520e-01 -1.80081849e-04 3.16575447e+00] [ 1.57343744e-02 1.95208293e-04 9.99876188e-01 4.71518291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.25925415399996 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] Translation: X:307.19, Y:3.16, Z:4.72 [[ 9.99874833e-01 1.65674967e-03 -1.57345008e-02 3.07191903e+02] [-1.65986109e-03 9.99998605e-01 -1.84687925e-04 3.16496131e+00] [ 1.57341728e-02 2.10781894e-04 9.99876188e-01 4.71522492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.289254154 meters Centerline goodness : 0.999567 Centerline is valid? [True, True] Translation: X:307.22, Y:3.16, Z:4.72 [[ 9.99875202e-01 1.41684572e-03 -1.57344772e-02 3.07220308e+02] [-1.41995875e-03 9.99998974e-01 -1.86677576e-04 3.16400278e+00] [ 1.57341965e-02 2.08996587e-04 9.99876188e-01 4.71589692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.31925415399996 meters Centerline goodness : 0.999309 Centerline is valid? [True, True] Translation: X:307.25, Y:3.16, Z:4.72 [[ 9.99875993e-01 -6.52203532e-04 -1.57344569e-02 3.07249568e+02] [ 6.49319959e-04 9.99999771e-01 -1.88372784e-04 3.16127532e+00] [ 1.57345761e-02 1.78132728e-04 9.99876188e-01 4.71603339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.34925415399994 meters Centerline goodness : 0.999376 Centerline is valid? [True, True] Translation: X:307.27, Y:3.16, Z:4.71 [[ 9.99866039e-01 -4.50912350e-03 -1.57344430e-02 3.07273631e+02] [ 4.50669924e-03 9.99989827e-01 -1.89527612e-04 3.16396029e+00] [ 1.57351375e-02 1.18591820e-04 9.99876188e-01 4.71446852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.37925415399997 meters Centerline goodness : 0.998730 Centerline is valid? [True, True] Translation: X:307.30, Y:3.16, Z:4.71 [[ 9.99853787e-01 -6.70296457e-03 -1.57313184e-02 3.07301236e+02] [ 6.69694670e-03 9.99977481e-01 -4.35189122e-04 3.16267122e+00] [ 1.57338812e-02 3.29773691e-04 9.99876160e-01 4.71462213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.40925415399994 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:307.33, Y:3.15, Z:4.72 [[ 9.99831057e-01 -9.50766465e-03 -1.57309134e-02 3.07334377e+02] [ 9.50150258e-03 9.99954751e-01 -4.66410820e-04 3.15410748e+00] [ 1.57346361e-02 3.16864709e-04 9.99876153e-01 4.71556687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.43925415399997 meters Centerline goodness : 0.999315 Centerline is valid? [True, True] Translation: X:307.36, Y:3.15, Z:4.72 [[ 9.99798687e-01 -1.24506049e-02 -1.57342900e-02 3.07362524e+02] [ 1.24490362e-02 9.99922488e-01 -1.97640933e-04 3.15178891e+00] [ 1.57355312e-02 1.72439954e-06 9.99876189e-01 4.71581956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.46925415399994 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] Translation: X:307.39, Y:3.15, Z:4.72 [[ 9.99759809e-01 -1.52563496e-02 -1.57342682e-02 3.07390563e+02] [ 1.52551013e-02 9.99883614e-01 -1.99364492e-04 3.14955930e+00] [ 1.57354785e-02 -4.07112480e-05 9.99876189e-01 4.71512814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.49925415399997 meters Centerline goodness : 0.998930 Centerline is valid? [True, True] Translation: X:307.42, Y:3.15, Z:4.72 [[ 9.99700868e-01 -1.87248119e-02 -1.57339411e-02 3.07418743e+02] [ 1.87235924e-02 9.99824673e-01 -2.24829719e-04 3.14740391e+00] [ 1.57353924e-02 -6.98334335e-05 9.99876189e-01 4.71616997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.52925415399994 meters Centerline goodness : 0.999148 Centerline is valid? [True, True] Translation: X:307.45, Y:3.14, Z:4.72 [[ 9.99576297e-01 -2.44879763e-02 -1.57341907e-02 3.07447405e+02] [ 2.44877709e-02 9.99700108e-01 -2.05743011e-04 3.14256912e+00] [ 1.57345103e-02 -1.79639420e-04 9.99876189e-01 4.71687277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.559254154 meters Centerline goodness : 0.999127 Centerline is valid? [True, True] Translation: X:307.48, Y:3.14, Z:4.72 [[ 9.99508777e-01 -2.71042332e-02 -1.57341796e-02 3.07477726e+02] [ 2.71043386e-02 9.99632589e-01 -2.06587042e-04 3.14029248e+00] [ 1.57339981e-02 -2.19978970e-04 9.99876189e-01 4.71738628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.58925415399995 meters Centerline goodness : 0.998873 Centerline is valid? [True, True] Translation: X:307.51, Y:3.14, Z:4.72 [[ 9.99441774e-01 -2.94715994e-02 -1.57341796e-02 3.07507989e+02] [ 2.94719980e-02 9.99565585e-01 -2.06587042e-04 3.13803791e+00] [ 1.57334329e-02 -2.57245990e-04 9.99876189e-01 4.71775541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.619254154 meters Centerline goodness : 0.999112 Centerline is valid? [True, True] Translation: X:307.54, Y:3.14, Z:4.72 [[ 9.99369989e-01 -3.18129087e-02 -1.57341832e-02 3.07539649e+02] [ 3.18136018e-02 9.99493798e-01 -2.06308150e-04 3.13616228e+00] [ 1.57327818e-02 -2.94382866e-04 9.99876189e-01 4.71829240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.64925415399995 meters Centerline goodness : 0.998856 Centerline is valid? [True, True] Translation: X:307.57, Y:3.13, Z:4.72 [[ 9.99265124e-01 -3.49520685e-02 -1.57341905e-02 3.07571748e+02] [ 3.49531592e-02 9.99388930e-01 -2.05754494e-04 3.13098537e+00] [ 1.57317673e-02 -3.44356376e-04 9.99876189e-01 4.71695136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.679254154 meters Centerline goodness : 0.999049 Centerline is valid? [True, True] Translation: X:307.60, Y:3.13, Z:4.72 [[ 9.99199256e-01 -3.67869761e-02 -1.57342054e-02 3.07603689e+02] [ 3.67883122e-02 9.99323060e-01 -2.04609057e-04 3.12935761e+00] [ 1.57310812e-02 -3.74389642e-04 9.99876189e-01 4.71868740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.70925415399995 meters Centerline goodness : 0.998986 Centerline is valid? [True, True] Translation: X:307.64, Y:3.13, Z:4.72 [[ 9.99109331e-01 -3.91532692e-02 -1.57342202e-02 3.07636364e+02] [ 3.91549165e-02 9.99233132e-01 -2.03464597e-04 3.12543592e+00] [ 1.57301204e-02 -4.12788701e-04 9.99876189e-01 4.71866151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.739254154 meters Centerline goodness : 0.998989 Centerline is valid? [True, True] Translation: X:307.67, Y:3.12, Z:4.72 [[ 9.99075452e-01 -4.00084348e-02 -1.57342348e-02 3.07668994e+02] [ 4.00102060e-02 9.99199251e-01 -2.02326941e-04 3.12383906e+00] [ 1.57297304e-02 -4.27390095e-04 9.99876189e-01 4.71924132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.76925415399995 meters Centerline goodness : 0.998903 Centerline is valid? [True, True] Translation: X:307.70, Y:3.12, Z:4.72 [[ 9.99042924e-01 -4.08126252e-02 -1.57342497e-02 3.07700316e+02] [ 4.08145143e-02 9.99166720e-01 -2.01165352e-04 3.12219151e+00] [ 1.57293487e-02 -4.41212935e-04 9.99876189e-01 4.71909213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.799254154 meters Centerline goodness : 0.998864 Centerline is valid? [True, True] Translation: X:307.73, Y:3.12, Z:4.72 [[ 9.99031641e-01 -4.10878816e-02 -1.57342607e-02 3.07731822e+02] [ 4.10898184e-02 9.99155437e-01 -2.00301035e-04 3.12005022e+00] [ 1.57292020e-02 -4.46410841e-04 9.99876189e-01 4.71714375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.82925415399995 meters Centerline goodness : 0.998990 Centerline is valid? [True, True] Translation: X:307.76, Y:3.12, Z:4.72 [[ 9.98983436e-01 -4.22436711e-02 -1.57342712e-02 3.07763871e+02] [ 4.22457642e-02 9.99107229e-01 -1.99469292e-04 3.11920101e+00] [ 1.57286504e-02 -4.65439792e-04 9.99876189e-01 4.72008198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.859254154 meters Centerline goodness : 0.999011 Centerline is valid? [True, True] Translation: X:307.80, Y:3.12, Z:4.72 [[ 9.98947416e-01 -4.30870415e-02 -1.57342856e-02 3.07795494e+02] [ 4.30892571e-02 9.99071207e-01 -1.98329701e-04 3.11648914e+00] [ 1.57282171e-02 -4.79857734e-04 9.99876189e-01 4.71982101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.88925415399996 meters Centerline goodness : 0.999286 Centerline is valid? [True, True] Translation: X:307.83, Y:3.12, Z:4.72 [[ 9.98943869e-01 -4.31691775e-02 -1.57343096e-02 3.07827947e+02] [ 4.31714335e-02 9.99067660e-01 -1.96404415e-04 3.11550906e+00] [ 1.57281185e-02 -4.83075715e-04 9.99876189e-01 4.71987723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.919254154 meters Centerline goodness : 0.999013 Centerline is valid? [True, True] Translation: X:307.86, Y:3.11, Z:4.72 [[ 9.98943697e-01 -4.31731539e-02 -1.57343236e-02 3.07859107e+02] [ 4.31754281e-02 9.99067487e-01 -1.95280369e-04 3.11475354e+00] [ 1.57280820e-02 -4.84262062e-04 9.99876189e-01 4.71956744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.94925415399996 meters Centerline goodness : 0.998927 Centerline is valid? [True, True] Translation: X:307.89, Y:3.11, Z:4.72 [[ 9.98948677e-01 -4.30577713e-02 -1.57343339e-02 3.07890898e+02] [ 4.30600444e-02 9.99072467e-01 -1.94442546e-04 3.11419092e+00] [ 1.57281121e-02 -4.83282993e-04 9.99876189e-01 4.71979838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.979254154 meters Centerline goodness : 0.999032 Centerline is valid? [True, True] Translation: X:307.92, Y:3.11, Z:4.72 [[ 9.98971869e-01 -4.25162958e-02 -1.57343478e-02 3.07923253e+02] [ 4.25185196e-02 9.99095660e-01 -1.93312684e-04 3.11276787e+00] [ 1.57283375e-02 -4.75887242e-04 9.99876189e-01 4.71999055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.00925415399996 meters Centerline goodness : 0.998930 Centerline is valid? [True, True] Translation: X:307.95, Y:3.11, Z:4.72 [[ 9.99000335e-01 -4.18420847e-02 -1.57343619e-02 3.07954602e+02] [ 4.18442432e-02 9.99124128e-01 -1.92153853e-04 3.11242184e+00] [ 1.57286208e-02 -4.66430704e-04 9.99876189e-01 4.72015562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.039254154 meters Centerline goodness : 0.998759 Centerline is valid? [True, True] Translation: X:307.99, Y:3.11, Z:4.72 [[ 9.99040009e-01 -4.08838627e-02 -1.57343724e-02 3.07987040e+02] [ 4.08859160e-02 9.99163803e-01 -1.91291106e-04 3.11206040e+00] [ 1.57290361e-02 -4.52206761e-04 9.99876189e-01 4.72105272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.06925415399996 meters Centerline goodness : 0.999055 Centerline is valid? [True, True] Translation: X:308.02, Y:3.11, Z:4.72 [[ 9.99162983e-01 -3.77592722e-02 -1.57343863e-02 3.08018897e+02] [ 3.77609563e-02 9.99286783e-01 -1.90145530e-04 3.11151556e+00] [ 1.57303440e-02 -4.04159098e-04 9.99876189e-01 4.72274925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.09925415399994 meters Centerline goodness : 0.998949 Centerline is valid? [True, True] Translation: X:308.05, Y:3.11, Z:4.72 [[ 9.99241281e-01 -3.56271177e-02 -1.57344000e-02 3.08051353e+02] [ 3.56285557e-02 9.99365084e-01 -1.89001056e-04 3.11161786e+00] [ 1.57311436e-02 -3.71736290e-04 9.99876189e-01 4.72318926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.12925415399997 meters Centerline goodness : 0.998869 Centerline is valid? [True, True] Translation: X:308.08, Y:3.11, Z:4.72 [[ 9.99307723e-01 -3.37120532e-02 -1.57344136e-02 3.08082491e+02] [ 3.37132718e-02 9.99431528e-01 -1.87865081e-04 3.11203839e+00] [ 1.57318023e-02 -3.42723536e-04 9.99876189e-01 4.72436909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.15925415399994 meters Centerline goodness : 0.999032 Centerline is valid? [True, True] Translation: X:308.11, Y:3.11, Z:4.73 [[ 9.99433481e-01 -2.97513775e-02 -1.57344236e-02 3.08113269e+02] [ 2.97521187e-02 9.99557290e-01 -1.87019580e-04 3.11229606e+00] [ 1.57330219e-02 -2.81218810e-04 9.99876189e-01 4.72554115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.18925415399997 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:308.14, Y:3.11, Z:4.73 [[ 9.99523624e-01 -2.65509654e-02 -1.57344269e-02 3.08144217e+02] [ 2.65513145e-02 9.99647434e-01 -1.86742302e-04 3.11180293e+00] [ 1.57338377e-02 -2.31116376e-04 9.99876189e-01 4.72670234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.21925415399994 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:308.18, Y:3.11, Z:4.73 [[ 9.99523624e-01 -2.65509654e-02 -1.57344269e-02 3.08175209e+02] [ 2.65513145e-02 9.99647434e-01 -1.86742302e-04 3.11217075e+00] [ 1.57338377e-02 -2.31116376e-04 9.99876189e-01 4.72719011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.24925415399997 meters Centerline goodness : 0.998948 Centerline is valid? [True, True] Translation: X:308.21, Y:3.11, Z:4.73 [[ 9.99553655e-01 -2.53952399e-02 -1.57344269e-02 3.08205593e+02] [ 2.53954459e-02 9.99677466e-01 -1.86742302e-04 3.11174049e+00] [ 1.57340944e-02 -2.12923837e-04 9.99876189e-01 4.72783714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.27925415399994 meters Centerline goodness : 0.998947 Centerline is valid? [True, True] Translation: X:308.23, Y:3.11, Z:4.73 [[ 9.99574113e-01 -2.45768242e-02 -1.57344269e-02 3.08234996e+02] [ 2.45769289e-02 9.99697924e-01 -1.86742302e-04 3.11039598e+00] [ 1.57342635e-02 -2.00041120e-04 9.99876189e-01 4.72872550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.309254154 meters Centerline goodness : 0.999052 Centerline is valid? [True, True] Translation: X:308.26, Y:3.11, Z:4.73 [[ 9.99574505e-01 -2.45608953e-02 -1.57344205e-02 3.08264395e+02] [ 2.45609894e-02 9.99698316e-01 -1.87284718e-04 3.10985116e+00] [ 1.57342735e-02 -1.99247905e-04 9.99876189e-01 4.73009134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.33925415399995 meters Centerline goodness : 0.999075 Centerline is valid? [True, True] Translation: X:308.29, Y:3.11, Z:4.73 [[ 9.99557280e-01 -2.52521901e-02 -1.57344137e-02 3.08293590e+02] [ 2.52523610e-02 9.99681091e-01 -1.87850754e-04 3.10954396e+00] [ 1.57341395e-02 -2.09563506e-04 9.99876189e-01 4.73038544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.369254154 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:308.32, Y:3.11, Z:4.73 [[ 9.99490713e-01 -2.77622674e-02 -1.57344104e-02 3.08323037e+02] [ 2.77627448e-02 9.99614523e-01 -1.88131100e-04 3.10789902e+00] [ 1.57335681e-02 -2.48795132e-04 9.99876189e-01 4.72987478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.39925415399995 meters Centerline goodness : 0.999077 Centerline is valid? [True, True] Translation: X:308.35, Y:3.11, Z:4.73 [[ 9.99431643e-01 -2.98130629e-02 -1.57344111e-02 3.08353585e+02] [ 2.98137952e-02 9.99555452e-01 -1.88073089e-04 3.10697595e+00] [ 1.57330234e-02 -2.81136312e-04 9.99876189e-01 4.73147423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.429254154 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:308.38, Y:3.11, Z:4.73 [[ 9.99353087e-01 -3.23393902e-02 -1.57344111e-02 3.08384144e+02] [ 3.23404355e-02 9.99476894e-01 -1.88073089e-04 3.10608977e+00] [ 1.57322624e-02 -3.20906283e-04 9.99876189e-01 4.73093006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.45925415399995 meters Centerline goodness : 0.999037 Centerline is valid? [True, True] Translation: X:308.42, Y:3.10, Z:4.73 [[ 9.99129230e-01 -3.86420691e-02 -1.57344144e-02 3.08415987e+02] [ 3.86438997e-02 9.99253028e-01 -1.87790634e-04 3.10364172e+00] [ 1.57299179e-02 -4.20412022e-04 9.99876189e-01 4.73223799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.489254154 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:308.45, Y:3.10, Z:4.73 [[ 9.98995387e-01 -4.19600458e-02 -1.57344213e-02 3.08446706e+02] [ 4.19622966e-02 9.99119177e-01 -1.87214205e-04 3.10234875e+00] [ 1.57284176e-02 -4.73226325e-04 9.99876189e-01 4.73239267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.51925415399995 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:308.48, Y:3.10, Z:4.73 [[ 9.98850478e-01 -4.52785872e-02 -1.57344315e-02 3.08477881e+02] [ 4.52812628e-02 9.98974260e-01 -1.86351086e-04 3.10132765e+00] [ 1.57267298e-02 -5.26338056e-04 9.99876189e-01 4.73058072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.549254154 meters Centerline goodness : 0.999037 Centerline is valid? [True, True] Translation: X:308.51, Y:3.10, Z:4.73 [[ 9.98537551e-01 -5.17222027e-02 -1.57344537e-02 3.08509913e+02] [ 5.17257067e-02 9.98661313e-01 -1.84460739e-04 3.09964801e+00] [ 1.57229309e-02 -6.29684760e-04 9.99876189e-01 4.73339555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.57925415399995 meters Centerline goodness : 0.999037 Centerline is valid? [True, True] Translation: X:308.54, Y:3.10, Z:4.73 [[ 9.98541197e-01 -5.16517536e-02 -1.57344666e-02 3.08542595e+02] [ 5.16552663e-02 9.98664959e-01 -1.83353302e-04 3.09996485e+00] [ 1.57229309e-02 -6.29682235e-04 9.99876189e-01 4.73390961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.609254154 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:308.57, Y:3.10, Z:4.74 [[ 9.98223099e-01 -5.74723474e-02 -1.57344794e-02 3.08574395e+02] [ 5.74765989e-02 9.98346837e-01 -1.82243338e-04 3.09855597e+00] [ 1.57189417e-02 -7.22444854e-04 9.99876189e-01 4.73622733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.63925415399996 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:308.61, Y:3.10, Z:4.74 [[ 9.98099993e-01 -5.95720472e-02 -1.57344929e-02 3.08607542e+02] [ 5.95765774e-02 9.98223722e-01 -1.81073353e-04 3.09788293e+00] [ 1.57173310e-02 -7.56677922e-04 9.99876189e-01 4.73686510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.669254154 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:308.64, Y:3.10, Z:4.74 [[ 9.97833413e-01 -6.38819675e-02 -1.57345132e-02 3.08639091e+02] [ 6.38870601e-02 9.97957119e-01 -1.79293750e-04 3.09740286e+00] [ 1.57138231e-02 -8.26326493e-04 9.99876189e-01 4.73792486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.69925415399996 meters Centerline goodness : 0.998955 Centerline is valid? [True, True] Translation: X:308.67, Y:3.10, Z:4.74 [[ 9.97746631e-01 -6.52233492e-02 -1.57345349e-02 3.08671308e+02] [ 6.52286383e-02 9.97870329e-01 -1.77367851e-04 3.09727395e+00] [ 1.57125940e-02 -8.49374108e-04 9.99876189e-01 4.73855994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.729254154 meters Centerline goodness : 0.998955 Centerline is valid? [True, True] Translation: X:308.70, Y:3.10, Z:4.74 [[ 9.97681568e-01 -6.62111193e-02 -1.57345480e-02 3.08702022e+02] [ 6.62165493e-02 9.97805260e-01 -1.76199653e-04 3.09732352e+00] [ 1.57116811e-02 -8.66096325e-04 9.99876189e-01 4.73935315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.75925415399996 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:308.73, Y:3.10, Z:4.74 [[ 9.97626776e-01 -6.70316281e-02 -1.57345577e-02 3.08734254e+02] [ 6.70371735e-02 9.97750463e-01 -1.75329132e-04 3.09768907e+00] [ 1.57109148e-02 -8.79887235e-04 9.99876189e-01 4.74020005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.789254154 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:308.77, Y:3.10, Z:4.74 [[ 9.97634250e-01 -6.69202949e-02 -1.57345706e-02 3.08767782e+02] [ 6.69258448e-02 9.97757937e-01 -1.74161948e-04 3.09797077e+00] [ 1.57109477e-02 -8.79299505e-04 9.99876189e-01 4.74072741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.81925415399996 meters Centerline goodness : 0.999079 Centerline is valid? [True, True] Translation: X:308.80, Y:3.10, Z:4.74 [[ 9.97556413e-01 -6.80707434e-02 -1.57345898e-02 3.08798866e+02] [ 6.80764636e-02 9.97680092e-01 -1.72406076e-04 3.09877726e+00] [ 1.57098228e-02 -8.99170444e-04 9.99876189e-01 4.74064836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.84925415399994 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:308.83, Y:3.10, Z:4.74 [[ 9.97529118e-01 -6.84695662e-02 -1.57345993e-02 3.08831431e+02] [ 6.84753495e-02 9.97652794e-01 -1.71537251e-04 3.09935453e+00] [ 1.57094120e-02 -9.06318782e-04 9.99876189e-01 4.74205520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.87925415399997 meters Centerline goodness : 0.998890 Centerline is valid? [True, True] Translation: X:308.86, Y:3.10, Z:4.74 [[ 9.97521467e-01 -6.85809340e-02 -1.57346120e-02 3.08863385e+02] [ 6.85867495e-02 9.97645142e-01 -1.70367258e-04 3.09957887e+00] [ 1.57092431e-02 -9.09240892e-04 9.99876189e-01 4.74137804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.90925415399994 meters Centerline goodness : 0.998785 Centerline is valid? [True, True] Translation: X:308.90, Y:3.10, Z:4.74 [[ 9.97481029e-01 -6.91666001e-02 -1.57346244e-02 3.08895623e+02] [ 6.91725064e-02 9.97604699e-01 -1.69206775e-04 3.10043639e+00] [ 1.57086387e-02 -9.19622861e-04 9.99876189e-01 4.74163169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.93925415399997 meters Centerline goodness : 0.998954 Centerline is valid? [True, True] Translation: X:308.93, Y:3.10, Z:4.74 [[ 9.97472026e-01 -6.92963029e-02 -1.57346367e-02 3.08927155e+02] [ 6.93022434e-02 9.97595695e-01 -1.68054774e-04 3.10127550e+00] [ 1.57084515e-02 -9.22815689e-04 9.99876189e-01 4.74081557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.96925415399994 meters Centerline goodness : 0.998995 Centerline is valid? [True, True] Translation: X:308.96, Y:3.10, Z:4.74 [[ 9.97465609e-01 -6.93886128e-02 -1.57346591e-02 3.08959401e+02] [ 6.93945981e-02 9.97589275e-01 -1.65936145e-04 3.10382793e+00] [ 1.57082412e-02 -9.26384745e-04 9.99876189e-01 4.74054489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.99925415399997 meters Centerline goodness : 0.998931 Centerline is valid? [True, True] Translation: X:308.99, Y:3.11, Z:4.74 [[ 9.97474763e-01 -6.92568910e-02 -1.57346709e-02 3.08992726e+02] [ 6.92628777e-02 9.97598430e-01 -1.64806382e-04 3.10558725e+00] [ 1.57082970e-02 -9.25438381e-04 9.99876189e-01 4.74089286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.02925415399994 meters Centerline goodness : 0.998807 Centerline is valid? [True, True] Translation: X:309.02, Y:3.11, Z:4.74 [[ 9.97539182e-01 -6.83227681e-02 -1.57346887e-02 3.09024306e+02] [ 6.83286660e-02 9.97662852e-01 -1.63092632e-04 3.10928950e+00] [ 1.57090573e-02 -9.12438996e-04 9.99876189e-01 4.74103299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.059254154 meters Centerline goodness : 0.998993 Centerline is valid? [True, True] Translation: X:309.06, Y:3.11, Z:4.74 [[ 9.97579522e-01 -6.77312024e-02 -1.57346974e-02 3.09057164e+02] [ 6.77370402e-02 9.97703196e-01 -1.62244440e-04 3.11158744e+00] [ 1.57095469e-02 -9.03970101e-04 9.99876189e-01 4.74335409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.08925415399995 meters Centerline goodness : 0.998846 Centerline is valid? [True, True] Translation: X:309.09, Y:3.11, Z:4.74 [[ 9.97630461e-01 -6.69767285e-02 -1.57347153e-02 3.09088866e+02] [ 6.69825004e-02 9.97754138e-01 -1.60492563e-04 3.11398650e+00] [ 1.57101266e-02 -8.93838304e-04 9.99876189e-01 4.74324787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.119254154 meters Centerline goodness : 0.998824 Centerline is valid? [True, True] Translation: X:309.12, Y:3.12, Z:4.74 [[ 9.97721856e-01 -6.56011927e-02 -1.57347300e-02 3.09120668e+02] [ 6.56068168e-02 9.97845539e-01 -1.59040630e-04 3.11656251e+00] [ 1.57112634e-02 -8.73627234e-04 9.99876189e-01 4.74453117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.14925415399995 meters Centerline goodness : 0.998739 Centerline is valid? [True, True] Translation: X:309.15, Y:3.12, Z:4.75 [[ 9.97901811e-01 -6.28044022e-02 -1.57347412e-02 3.09153071e+02] [ 6.28096973e-02 9.98025509e-01 -1.57917024e-04 3.12213605e+00] [ 1.57135910e-02 -8.30708651e-04 9.99876189e-01 4.74784464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.179254154 meters Centerline goodness : 0.998782 Centerline is valid? [True, True] Translation: X:309.18, Y:3.13, Z:4.75 [[ 9.98011013e-01 -6.10445325e-02 -1.57347528e-02 3.09184871e+02] [ 6.10496277e-02 9.98134720e-01 -1.56757034e-04 3.12521470e+00] [ 1.57149722e-02 -8.04155554e-04 9.99876189e-01 4.74877043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.20925415399995 meters Centerline goodness : 0.998906 Centerline is valid? [True, True] Translation: X:309.22, Y:3.13, Z:4.75 [[ 9.98134814e-01 -5.89856861e-02 -1.57347671e-02 3.09217568e+02] [ 5.89905488e-02 9.98258529e-01 -1.55312446e-04 3.12818280e+00] [ 1.57165266e-02 -7.73179785e-04 9.99876189e-01 4.74949176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.239254154 meters Centerline goodness : 0.998823 Centerline is valid? [True, True] Translation: X:309.25, Y:3.13, Z:4.75 [[ 9.98250580e-01 -5.69929427e-02 -1.57347836e-02 3.09249521e+02] [ 5.69975851e-02 9.98374304e-01 -1.53614252e-04 3.13128763e+00] [ 1.57179586e-02 -7.43499154e-04 9.99876189e-01 4.75154811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.26925415399995 meters Centerline goodness : 0.998779 Centerline is valid? [True, True] Translation: X:309.28, Y:3.14, Z:4.75 [[ 9.98459396e-01 -5.32095033e-02 -1.57347949e-02 3.09281368e+02] [ 5.32136951e-02 9.98583136e-01 -1.52448833e-04 3.13653833e+00] [ 1.57206126e-02 -6.85092611e-04 9.99876189e-01 4.75247114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.299254154 meters Centerline goodness : 0.998882 Centerline is valid? [True, True] Translation: X:309.31, Y:3.14, Z:4.75 [[ 9.98550118e-01 -5.14789063e-02 -1.57348062e-02 3.09312493e+02] [ 5.14829022e-02 9.98673865e-01 -1.51272789e-04 3.13892137e+00] [ 1.57217271e-02 -6.59020030e-04 9.99876189e-01 4.75250066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.32925415399995 meters Centerline goodness : 0.998923 Centerline is valid? [True, True] Translation: X:309.34, Y:3.14, Z:4.75 [[ 9.98630804e-01 -4.98892088e-02 -1.57348146e-02 3.09344217e+02] [ 4.98930215e-02 9.98754556e-01 -1.50397422e-04 3.14138277e+00] [ 1.57227210e-02 -6.34865944e-04 9.99876189e-01 4.75269776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.359254154 meters Centerline goodness : 0.999111 Centerline is valid? [True, True] Translation: X:309.38, Y:3.15, Z:4.75 [[ 9.98755817e-01 -4.73205309e-02 -1.57348256e-02 3.09376280e+02] [ 4.73240435e-02 9.98879579e-01 -1.49238557e-04 3.14585038e+00] [ 1.57242580e-02 -5.95582693e-04 9.99876189e-01 4.75279422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.38925415399996 meters Centerline goodness : 0.999027 Centerline is valid? [True, True] Translation: X:309.41, Y:3.15, Z:4.75 [[ 9.98819859e-01 -4.59489388e-02 -1.57348365e-02 3.09408728e+02] [ 4.59522996e-02 9.98943624e-01 -1.48082316e-04 3.14776115e+00] [ 1.57250188e-02 -5.75144362e-04 9.99876189e-01 4.75330424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.419254154 meters Centerline goodness : 0.999069 Centerline is valid? [True, True] Translation: X:309.44, Y:3.15, Z:4.75 [[ 9.98870757e-01 -4.48288348e-02 -1.57348473e-02 3.09439712e+02] [ 4.48320751e-02 9.98994526e-01 -1.46922189e-04 3.14979024e+00] [ 1.57256127e-02 -5.58669578e-04 9.99876189e-01 4.75318589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.44925415399996 meters Centerline goodness : 0.999237 Centerline is valid? [True, True] Translation: X:309.47, Y:3.15, Z:4.75 [[ 9.98973015e-01 -4.24891670e-02 -1.57348553e-02 3.09471915e+02] [ 4.24921310e-02 9.99096791e-01 -1.46057839e-04 3.15372125e+00] [ 1.57268493e-02 -5.22699693e-04 9.99876189e-01 4.75436885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.479254154 meters Centerline goodness : 0.999129 Centerline is valid? [True, True] Translation: X:309.50, Y:3.16, Z:4.76 [[ 9.99041499e-01 -4.08472556e-02 -1.57348658e-02 3.09504227e+02] [ 4.08500340e-02 9.99165278e-01 -1.44919656e-04 3.15570395e+00] [ 1.57276512e-02 -4.97989054e-04 9.99876189e-01 4.75523210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.50925415399996 meters Centerline goodness : 0.999004 Centerline is valid? [True, True] Translation: X:309.54, Y:3.16, Z:4.76 [[ 9.99104410e-01 -3.92783878e-02 -1.57348762e-02 3.09536483e+02] [ 3.92809897e-02 9.99228194e-01 -1.43787249e-04 3.15766020e+00] [ 1.57283796e-02 -4.74423035e-04 9.99876189e-01 4.75646630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.539254154 meters Centerline goodness : 0.998980 Centerline is valid? [True, True] Translation: X:309.57, Y:3.16, Z:4.76 [[ 9.99176104e-01 -3.74102555e-02 -1.57348864e-02 3.09568177e+02] [ 3.74126437e-02 9.99299892e-01 -1.42655441e-04 3.15950614e+00] [ 1.57292071e-02 -4.46145792e-04 9.99876189e-01 4.75869302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.56925415399996 meters Centerline goodness : 0.998917 Centerline is valid? [True, True] Translation: X:309.60, Y:3.16, Z:4.76 [[ 9.99265837e-01 -3.49313571e-02 -1.57348970e-02 3.09598980e+02] [ 3.49334567e-02 9.99389631e-01 -1.41483762e-04 3.16320159e+00] [ 1.57302351e-02 -4.08294451e-04 9.99876189e-01 4.75820325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.59925415399994 meters Centerline goodness : 0.999108 Centerline is valid? [True, True] Translation: X:309.63, Y:3.16, Z:4.76 [[ 9.99297532e-01 -3.40125701e-02 -1.57349048e-02 3.09630940e+02] [ 3.40145696e-02 9.99421327e-01 -1.40610863e-04 3.16482233e+00] [ 1.57305819e-02 -3.94703925e-04 9.99876189e-01 4.76043417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.62925415399997 meters Centerline goodness : 0.999149 Centerline is valid? [True, True] Translation: X:309.66, Y:3.17, Z:4.76 [[ 9.99312493e-01 -3.35701288e-02 -1.57349150e-02 3.09662026e+02] [ 3.35720917e-02 9.99436289e-01 -1.39452363e-04 3.16626769e+00] [ 1.57307265e-02 -3.88897522e-04 9.99876189e-01 4.76040263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.65925415399994 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:309.69, Y:3.17, Z:4.76 [[ 9.99306909e-01 -3.37359353e-02 -1.57349226e-02 3.09694269e+02] [ 3.37379324e-02 9.99430704e-01 -1.38588749e-04 3.16762275e+00] [ 1.57306402e-02 -3.92371062e-04 9.99876189e-01 4.76076326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.68925415399997 meters Centerline goodness : 0.999277 Centerline is valid? [True, True] Translation: X:309.73, Y:3.17, Z:4.76 [[ 9.99236208e-01 -3.57688897e-02 -1.57349326e-02 3.09726618e+02] [ 3.57711565e-02 9.99359998e-01 -1.37451043e-04 3.16979456e+00] [ 1.57297787e-02 -4.25510677e-04 9.99876189e-01 4.76225384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.71925415399994 meters Centerline goodness : 0.999339 Centerline is valid? [True, True] Translation: X:309.76, Y:3.17, Z:4.76 [[ 9.99169900e-01 -3.75755593e-02 -1.57349425e-02 3.09759194e+02] [ 3.75780680e-02 9.99293686e-01 -1.36302359e-04 3.17056757e+00] [ 1.57289503e-02 -4.55099525e-04 9.99876189e-01 4.76331337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.74925415399997 meters Centerline goodness : 0.999276 Centerline is valid? [True, True] Translation: X:309.79, Y:3.17, Z:4.76 [[ 9.99084602e-01 -3.97789985e-02 -1.57349524e-02 3.09790442e+02] [ 3.97817983e-02 9.99208382e-01 -1.35148850e-04 3.17119130e+00] [ 1.57278724e-02 -4.90939569e-04 9.99876189e-01 4.76326437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.77925415399994 meters Centerline goodness : 0.999189 Centerline is valid? [True, True] Translation: X:309.82, Y:3.17, Z:4.76 [[ 9.98840632e-01 -4.54950867e-02 -1.57349598e-02 3.09822952e+02] [ 4.54986082e-02 9.98964393e-01 -1.34288473e-04 3.17225661e+00] [ 1.57247740e-02 -5.81785987e-04 9.99876189e-01 4.76440118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.809254154 meters Centerline goodness : 0.999169 Centerline is valid? [True, True] Translation: X:309.85, Y:3.17, Z:4.76 [[ 9.98702394e-01 -4.84348851e-02 -1.57349694e-02 3.09854154e+02] [ 4.84387889e-02 9.98826144e-01 -1.33147739e-04 3.17272885e+00] [ 1.57229478e-02 -6.29207896e-04 9.99876189e-01 4.76422019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.83925415399995 meters Centerline goodness : 0.999276 Centerline is valid? [True, True] Translation: X:309.89, Y:3.17, Z:4.77 [[ 9.98394964e-01 -5.44050260e-02 -1.57349766e-02 3.09885870e+02] [ 5.44096830e-02 9.98518687e-01 -1.32297651e-04 3.17356579e+00] [ 1.57188658e-02 -7.24049779e-04 9.99876189e-01 4.76567873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.869254154 meters Centerline goodness : 0.999296 Centerline is valid? [True, True] Translation: X:309.92, Y:3.17, Z:4.77 [[ 9.98227786e-01 -5.73907417e-02 -1.57349928e-02 3.09919303e+02] [ 5.73957995e-02 9.98351494e-01 -1.30334015e-04 3.17424951e+00] [ 1.57165336e-02 -7.73019460e-04 9.99876189e-01 4.76649844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.89925415399995 meters Centerline goodness : 0.999316 Centerline is valid? [True, True] Translation: X:309.95, Y:3.18, Z:4.77 [[ 9.98085973e-01 -5.98063583e-02 -1.57350066e-02 3.09951437e+02] [ 5.98117419e-02 9.98209667e-01 -1.28656037e-04 3.17510966e+00] [ 1.57145301e-02 -8.12728365e-04 9.99876189e-01 4.76707719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.929254154 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:309.98, Y:3.18, Z:4.77 [[ 9.97802543e-01 -6.43622057e-02 -1.57350155e-02 3.09982504e+02] [ 6.43681713e-02 9.97926211e-01 -1.27549475e-04 3.17643705e+00] [ 1.57105938e-02 -8.85564985e-04 9.99876189e-01 4.76721808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.95925415399995 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:310.01, Y:3.18, Z:4.77 [[ 9.97706208e-01 -6.58386824e-02 -1.57350222e-02 3.10014652e+02] [ 6.58448440e-02 9.97829866e-01 -1.26723928e-04 3.17669588e+00] [ 1.57092184e-02 -9.09636831e-04 9.99876189e-01 4.76723833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.989254154 meters Centerline goodness : 0.999381 Centerline is valid? [True, True] Translation: X:310.05, Y:3.18, Z:4.77 [[ 9.97614283e-01 -6.72171917e-02 -1.57350436e-02 3.10047664e+02] [ 6.72235668e-02 9.97737930e-01 -1.24012571e-04 3.17713622e+00] [ 1.57077856e-02 -9.34049040e-04 9.99876189e-01 4.76757977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.01925415399995 meters Centerline goodness : 0.999531 Centerline is valid? [True, True] Translation: X:310.08, Y:3.18, Z:4.77 [[ 9.97529352e-01 -6.84660512e-02 -1.57350562e-02 3.10080366e+02] [ 6.84726066e-02 9.97652989e-01 -1.22391798e-04 3.17743328e+00] [ 1.57065055e-02 -9.55330899e-04 9.99876189e-01 4.76943755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.049254154 meters Centerline goodness : 0.999233 Centerline is valid? [True, True] Translation: X:310.11, Y:3.18, Z:4.77 [[ 9.97394125e-01 -7.04085775e-02 -1.57350692e-02 3.10111954e+02] [ 7.04154003e-02 9.97517748e-01 -1.20689091e-04 3.17903001e+00] [ 1.57045084e-02 -9.87616608e-04 9.99876189e-01 4.76930703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.07925415399995 meters Centerline goodness : 0.999318 Centerline is valid? [True, True] Translation: X:310.14, Y:3.18, Z:4.77 [[ 9.97345766e-01 -7.10902955e-02 -1.57350756e-02 3.10144476e+02] [ 7.10972161e-02 9.97469384e-01 -1.19846660e-04 3.18119948e+00] [ 1.57037761e-02 -9.99191514e-04 9.99876189e-01 4.76930134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.109254154 meters Centerline goodness : 0.999318 Centerline is valid? [True, True] Translation: X:310.18, Y:3.18, Z:4.77 [[ 9.97353439e-01 -7.09825607e-02 -1.57350841e-02 3.10178009e+02] [ 7.09894857e-02 9.97477057e-01 -1.18717940e-04 3.18135826e+00] [ 1.57038123e-02 -9.98621785e-04 9.99876189e-01 4.76982869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.13925415399996 meters Centerline goodness : 0.999338 Centerline is valid? [True, True] Translation: X:310.21, Y:3.18, Z:4.77 [[ 9.97338903e-01 -7.11865162e-02 -1.57350968e-02 3.10210225e+02] [ 7.11934931e-02 9.97462517e-01 -1.17018286e-04 3.18282847e+00] [ 1.57034994e-02 -1.00352962e-03 9.99876189e-01 4.76991577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.169254154 meters Centerline goodness : 0.999551 Centerline is valid? [True, True] Translation: X:310.24, Y:3.19, Z:4.77 [[ 9.97420315e-01 -7.00365706e-02 -1.57351051e-02 3.10241469e+02] [ 7.00434228e-02 9.97543937e-01 -1.15889441e-04 3.18529269e+00] [ 1.57045752e-02 -9.86550136e-04 9.99876189e-01 4.77008973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.19925415399996 meters Centerline goodness : 0.999530 Centerline is valid? [True, True] Translation: X:310.27, Y:3.19, Z:4.77 [[ 9.97496481e-01 -6.89432859e-02 -1.57351310e-02 3.10274888e+02] [ 6.89500596e-02 9.97620106e-01 -1.12258032e-04 3.18697661e+00] [ 1.57054225e-02 -9.72961229e-04 9.99876189e-01 4.77069491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.229254154 meters Centerline goodness : 0.999380 Centerline is valid? [True, True] Translation: X:310.31, Y:3.19, Z:4.77 [[ 9.97607092e-01 -6.73238154e-02 -1.57351427e-02 3.10306998e+02] [ 6.73304146e-02 9.97730727e-01 -1.10591850e-04 3.18872710e+00] [ 1.57068808e-02 -9.49126470e-04 9.99876189e-01 4.77224169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.25925415399996 meters Centerline goodness : 0.999356 Centerline is valid? [True, True] Translation: X:310.34, Y:3.19, Z:4.78 [[ 9.97909075e-01 -6.26887875e-02 -1.57351506e-02 3.10338660e+02] [ 6.26948300e-02 9.98032738e-01 -1.09466087e-04 3.19262846e+00] [ 1.57110577e-02 -8.77275387e-04 9.99876189e-01 4.77654313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.289254154 meters Centerline goodness : 0.999485 Centerline is valid? [True, True] Translation: X:310.37, Y:3.19, Z:4.78 [[ 9.98105801e-01 -5.94744858e-02 -1.57351587e-02 3.10369688e+02] [ 5.94801486e-02 9.98229483e-01 -1.08283919e-04 3.19489309e+00] [ 1.57137394e-02 -8.27850769e-04 9.99876189e-01 4.77707763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.31925415399996 meters Centerline goodness : 0.999528 Centerline is valid? [True, True] Translation: X:310.40, Y:3.20, Z:4.78 [[ 9.98309803e-01 -5.59458909e-02 -1.57351647e-02 3.10401553e+02] [ 5.59511302e-02 9.98433503e-01 -1.07406809e-04 3.19734025e+00] [ 1.57165246e-02 -7.73174977e-04 9.99876189e-01 4.77966067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.34925415399994 meters Centerline goodness : 0.999399 Centerline is valid? [True, True] Translation: X:310.43, Y:3.20, Z:4.78 [[ 9.98508866e-01 -5.22728235e-02 -1.57351726e-02 3.10432928e+02] [ 5.22776263e-02 9.98632584e-01 -1.06226719e-04 3.19977984e+00] [ 1.57192089e-02 -7.16529154e-04 9.99876189e-01 4.78069680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.37925415399997 meters Centerline goodness : 0.999442 Centerline is valid? [True, True] Translation: X:310.47, Y:3.20, Z:4.78 [[ 9.98880161e-01 -4.46186975e-02 -1.57351785e-02 3.10465113e+02] [ 4.46225657e-02 9.99003912e-01 -1.05346727e-04 3.20380392e+00] [ 1.57242053e-02 -5.96915283e-04 9.99876189e-01 4.78195210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.40925415399994 meters Centerline goodness : 0.999525 Centerline is valid? [True, True] Translation: X:310.50, Y:3.21, Z:4.78 [[ 9.99023776e-01 -4.12783168e-02 -1.57351862e-02 3.10497002e+02] [ 4.12817895e-02 9.99147538e-01 -1.04189833e-04 3.20547097e+00] [ 1.57260733e-02 -5.45488523e-04 9.99876189e-01 4.78249728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.43925415399997 meters Centerline goodness : 0.999439 Centerline is valid? [True, True] Translation: X:310.53, Y:3.21, Z:4.78 [[ 9.99144245e-01 -3.82515499e-02 -1.57351938e-02 3.10528353e+02] [ 3.82546659e-02 9.99268017e-01 -1.03026534e-04 3.20709046e+00] [ 1.57276168e-02 -4.99006213e-04 9.99876189e-01 4.78214368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.46925415399994 meters Centerline goodness : 0.999524 Centerline is valid? [True, True] Translation: X:310.56, Y:3.21, Z:4.78 [[ 9.99297291e-01 -3.40195280e-02 -1.57352058e-02 3.10560494e+02] [ 3.40221492e-02 9.99421074e-01 -1.01160008e-04 3.20951862e+00] [ 1.57295377e-02 -4.34256597e-04 9.99876189e-01 4.78173020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.49925415399997 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:310.59, Y:3.21, Z:4.78 [[ 9.99348701e-01 -3.24742345e-02 -1.57352130e-02 3.10592258e+02] [ 3.24766821e-02 9.99472488e-01 -1.00023494e-04 3.21028763e+00] [ 1.57301607e-02 -4.11069163e-04 9.99876189e-01 4.78178515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.52925415399994 meters Centerline goodness : 0.999522 Centerline is valid? [True, True] Translation: X:310.62, Y:3.21, Z:4.78 [[ 9.99373591e-01 -3.16990271e-02 -1.57352202e-02 3.10623528e+02] [ 3.17013967e-02 9.99497380e-01 -9.88784721e-05 3.21119087e+00] [ 1.57304457e-02 -4.00011925e-04 9.99876189e-01 4.78119126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.559254154 meters Centerline goodness : 0.999522 Centerline is valid? [True, True] Translation: X:310.66, Y:3.21, Z:4.78 [[ 9.99380377e-01 -3.14843470e-02 -1.57352255e-02 3.10655438e+02] [ 3.14867035e-02 9.99504166e-01 -9.80252086e-05 3.21203550e+00] [ 1.57305097e-02 -3.97485911e-04 9.99876189e-01 4.78078887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.58925415399995 meters Centerline goodness : 0.999674 Centerline is valid? [True, True] Translation: X:310.69, Y:3.21, Z:4.78 [[ 9.99376571e-01 -3.16049267e-02 -1.57352325e-02 3.10687458e+02] [ 3.16073157e-02 9.99500359e-01 -9.69030979e-05 3.21312298e+00] [ 1.57304331e-02 -4.00505775e-04 9.99876189e-01 4.78049925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.619254154 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:310.72, Y:3.21, Z:4.78 [[ 9.99367767e-01 -3.18821080e-02 -1.57352392e-02 3.10720060e+02] [ 3.18845489e-02 9.99491554e-01 -9.57879936e-05 3.21361014e+00] [ 1.57302926e-02 -4.05983572e-04 9.99876189e-01 4.78144029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.64925415399995 meters Centerline goodness : 0.999673 Centerline is valid? [True, True] Translation: X:310.75, Y:3.21, Z:4.78 [[ 9.99353533e-01 -3.23251902e-02 -1.57352460e-02 3.10752116e+02] [ 3.23277037e-02 9.99477319e-01 -9.46591389e-05 3.21429248e+00] [ 1.57300814e-02 -4.14086427e-04 9.99876189e-01 4.78185330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.679254154 meters Centerline goodness : 0.999673 Centerline is valid? [True, True] Translation: X:310.78, Y:3.21, Z:4.78 [[ 9.99355849e-01 -3.22535173e-02 -1.57352527e-02 3.10784803e+02] [ 3.22560397e-02 9.99479634e-01 -9.35328962e-05 3.21442518e+00] [ 1.57300814e-02 -4.14084289e-04 9.99876189e-01 4.78236731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.70925415399995 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:310.82, Y:3.22, Z:4.78 [[ 9.99335898e-01 -3.28658525e-02 -1.57352594e-02 3.10816282e+02] [ 3.28684685e-02 9.99459682e-01 -9.24045152e-05 3.21546868e+00] [ 1.57297943e-02 -4.24850727e-04 9.99876189e-01 4.78266063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.739254154 meters Centerline goodness : 0.999674 Centerline is valid? [True, True] Translation: X:310.85, Y:3.22, Z:4.78 [[ 9.99322294e-01 -3.32769304e-02 -1.57352691e-02 3.10848568e+02] [ 3.32796239e-02 9.99446076e-01 -9.07169028e-05 3.21636422e+00] [ 1.57295717e-02 -4.33008414e-04 9.99876189e-01 4.78409192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.76925415399995 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:310.88, Y:3.22, Z:4.79 [[ 9.99301933e-01 -3.38828500e-02 -1.57352755e-02 3.10880542e+02] [ 3.38856363e-02 9.99425713e-01 -8.95854215e-05 3.21724587e+00] [ 1.57292744e-02 -4.43676939e-04 9.99876189e-01 4.78539777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.799254154 meters Centerline goodness : 0.999543 Centerline is valid? [True, True] Translation: X:310.91, Y:3.22, Z:4.79 [[ 9.99272441e-01 -3.47417524e-02 -1.57352820e-02 3.10911760e+02] [ 3.47446631e-02 9.99396218e-01 -8.84410097e-05 3.21814208e+00] [ 1.57288539e-02 -4.58340406e-04 9.99876189e-01 4.78631125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.82925415399995 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:310.94, Y:3.22, Z:4.79 [[ 9.99177340e-01 -3.73770614e-02 -1.57352867e-02 3.10943745e+02] [ 3.73803120e-02 9.99301108e-01 -8.75857428e-05 3.21885768e+00] [ 1.57275632e-02 -5.00676238e-04 9.99876189e-01 4.78820307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.859254154 meters Centerline goodness : 0.999586 Centerline is valid? [True, True] Translation: X:310.97, Y:3.22, Z:4.79 [[ 9.99102411e-01 -3.93290400e-02 -1.57352931e-02 3.10974891e+02] [ 3.93325506e-02 9.99226172e-01 -8.64272143e-05 3.21884725e+00] [ 1.57265158e-02 -5.32559573e-04 9.99876189e-01 4.78830334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.88925415399996 meters Centerline goodness : 0.999673 Centerline is valid? [True, True] Translation: X:311.01, Y:3.22, Z:4.79 [[ 9.99009324e-01 -4.16265569e-02 -1.57352978e-02 3.11006944e+02] [ 4.16303658e-02 9.99133077e-01 -8.55587251e-05 3.21875187e+00] [ 1.57252180e-02 -5.69592240e-04 9.99876189e-01 4.78887167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.919254154 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:311.04, Y:3.22, Z:4.79 [[ 9.98767555e-01 -4.70719825e-02 -1.57353040e-02 3.11038362e+02] [ 4.70764840e-02 9.98891284e-01 -8.44079182e-05 3.21805788e+00] [ 1.57218312e-02 -6.56458896e-04 9.99876189e-01 4.78805990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.94925415399996 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:311.07, Y:3.22, Z:4.79 [[ 9.98656628e-01 -4.93694125e-02 -1.57353085e-02 3.11071831e+02] [ 4.93742121e-02 9.98780346e-01 -8.35530125e-05 3.21767663e+00] [ 1.57202419e-02 -6.93477690e-04 9.99876189e-01 4.78913554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.979254154 meters Centerline goodness : 0.999587 Centerline is valid? [True, True] Translation: X:311.10, Y:3.22, Z:4.79 [[ 9.98534106e-01 -5.17884150e-02 -1.57353176e-02 3.11103907e+02] [ 5.17935417e-02 9.98657810e-01 -8.18103517e-05 3.21759534e+00] [ 1.57184346e-02 -7.33297400e-04 9.99876189e-01 4.78883729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.00925415399996 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:311.14, Y:3.22, Z:4.79 [[ 9.98365446e-01 -5.49439280e-02 -1.57353250e-02 3.11135902e+02] [ 5.49494683e-02 9.98489133e-01 -8.03671210e-05 3.21663140e+00] [ 1.57159667e-02 -7.84411983e-04 9.99876189e-01 4.78884419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.039254154 meters Centerline goodness : 0.999674 Centerline is valid? [True, True] Translation: X:311.17, Y:3.22, Z:4.79 [[ 9.98290501e-01 -5.62892058e-02 -1.57353307e-02 3.11165776e+02] [ 5.62949307e-02 9.98414180e-01 -7.92273292e-05 3.21734284e+00] [ 1.57148369e-02 -8.06727461e-04 9.99876189e-01 4.78723911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.06925415399996 meters Centerline goodness : 0.999632 Centerline is valid? [True, True] Translation: X:311.20, Y:3.22, Z:4.79 [[ 9.98267431e-01 -5.66969955e-02 -1.57348893e-02 3.11199210e+02] [ 5.67014103e-02 9.98391167e-01 -1.65767720e-04 3.21610229e+00] [ 1.57189730e-02 -7.26709899e-04 9.99876185e-01 4.78946008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.09925415399994 meters Centerline goodness : 0.999588 Centerline is valid? [True, True] Translation: X:311.23, Y:3.22, Z:4.79 [[ 9.98280700e-01 -5.64627646e-02 -1.57353235e-02 3.11232470e+02] [ 5.64685514e-02 9.98404375e-01 -7.66562233e-05 3.21575187e+00] [ 1.57145440e-02 -8.12026495e-04 9.99876189e-01 4.78977271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.12925415399997 meters Centerline goodness : 0.999566 Centerline is valid? [True, True] Translation: X:311.26, Y:3.22, Z:4.79 [[ 9.98326285e-01 -5.56509424e-02 -1.57353317e-02 3.11263619e+02] [ 5.56566556e-02 9.98449964e-01 -7.49376375e-05 3.21598407e+00] [ 1.57151117e-02 -8.00963723e-04 9.99876189e-01 4.78940938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.15925415399994 meters Centerline goodness : 0.999610 Centerline is valid? [True, True] Translation: X:311.30, Y:3.22, Z:4.79 [[ 9.98368744e-01 -5.48839671e-02 -1.57353357e-02 3.11295738e+02] [ 5.48895987e-02 9.98492427e-01 -7.40862637e-05 3.21623606e+00] [ 1.57156797e-02 -7.89740851e-04 9.99876189e-01 4.78974453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.18925415399997 meters Centerline goodness : 0.999632 Centerline is valid? [True, True] Translation: X:311.33, Y:3.22, Z:4.79 [[ 9.98444964e-01 -5.34794651e-02 -1.57353410e-02 3.11328691e+02] [ 5.34849406e-02 9.98568654e-01 -7.29481705e-05 3.21609263e+00] [ 1.57167195e-02 -7.68769043e-04 9.99876189e-01 4.79008449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.21925415399994 meters Centerline goodness : 0.999610 Centerline is valid? [True, True] Translation: X:311.36, Y:3.22, Z:4.79 [[ 9.98589763e-01 -5.07038832e-02 -1.57353488e-02 3.11361505e+02] [ 5.07090421e-02 9.98713466e-01 -7.12141772e-05 3.21658717e+00] [ 1.57187156e-02 -7.26810717e-04 9.99876189e-01 4.79012053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.24925415399997 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:311.39, Y:3.22, Z:4.79 [[ 9.98681885e-01 -4.88558123e-02 -1.57353566e-02 3.11393771e+02] [ 4.88607702e-02 9.98805597e-01 -6.94405823e-05 3.21683158e+00] [ 1.57199549e-02 -6.99492593e-04 9.99876189e-01 4.78983988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.27925415399994 meters Centerline goodness : 0.999479 Centerline is valid? [True, True] Translation: X:311.43, Y:3.22, Z:4.79 [[ 9.98842437e-01 -4.54552992e-02 -1.57353630e-02 3.11429010e+02] [ 4.54598590e-02 9.98966164e-01 -6.79684710e-05 3.21568390e+00] [ 1.57221847e-02 -6.47437590e-04 9.99876189e-01 4.78915732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.309254154 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:311.46, Y:3.22, Z:4.79 [[ 9.98879405e-01 -4.46353712e-02 -1.57359015e-02 3.11457954e+02] [ 4.46418697e-02 9.99003053e-01 6.17792298e-05 3.21800780e+00] [ 1.57174561e-02 -7.64190065e-04 9.99876181e-01 4.78942129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.33925415399995 meters Centerline goodness : 0.999586 Centerline is valid? [True, True] Translation: X:311.49, Y:3.22, Z:4.79 [[ 9.99096764e-01 -3.94722194e-02 -1.57353277e-02 3.11490470e+02] [ 3.94760213e-02 9.99220516e-01 -6.90374244e-05 3.21928170e+00] [ 1.57257873e-02 -5.52193064e-04 9.99876190e-01 4.78898925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.369254154 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:311.52, Y:3.22, Z:4.79 [[ 9.99200736e-01 -3.67462837e-02 -1.57353339e-02 3.11522929e+02] [ 3.67497707e-02 9.99324497e-01 -6.75866807e-05 3.22015189e+00] [ 1.57271882e-02 -5.10737253e-04 9.99876190e-01 4.78904919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.39925415399995 meters Centerline goodness : 0.999629 Centerline is valid? [True, True] Translation: X:311.55, Y:3.22, Z:4.79 [[ 9.99309334e-01 -3.36638526e-02 -1.57353388e-02 3.11554905e+02] [ 3.36669759e-02 9.99433104e-01 -6.64416504e-05 3.22098887e+00] [ 1.57286552e-02 -4.63365510e-04 9.99876190e-01 4.78918972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.429254154 meters Centerline goodness : 0.999520 Centerline is valid? [True, True] Translation: X:311.59, Y:3.22, Z:4.79 [[ 9.99399448e-01 -3.08729917e-02 -1.57353435e-02 3.11587058e+02] [ 3.08757872e-02 9.99523227e-01 -6.53024663e-05 3.22174352e+00] [ 1.57298574e-02 -4.20577868e-04 9.99876190e-01 4.78961700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.45925415399995 meters Centerline goodness : 0.999672 Centerline is valid? [True, True] Translation: X:311.62, Y:3.22, Z:4.79 [[ 9.99555874e-01 -2.53071655e-02 -1.57353481e-02 3.11618772e+02] [ 2.53092896e-02 9.99679667e-01 -6.41643726e-05 3.22368017e+00] [ 1.57319314e-02 -3.34114608e-04 9.99876190e-01 4.78954493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.489254154 meters Centerline goodness : 0.999584 Centerline is valid? [True, True] Translation: X:311.65, Y:3.22, Z:4.79 [[ 9.99622199e-01 -2.25357140e-02 -1.57353555e-02 3.11649906e+02] [ 2.25375241e-02 9.99745996e-01 -6.23025036e-05 3.22464417e+00] [ 1.57327627e-02 -2.92356989e-04 9.99876190e-01 4.78975780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.51925415399995 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:311.68, Y:3.23, Z:4.79 [[ 9.99728827e-01 -1.71660025e-02 -1.57353577e-02 3.11680459e+02] [ 1.71671565e-02 9.99852632e-01 -6.17404971e-05 3.22658355e+00] [ 1.57340987e-02 -2.08407594e-04 9.99876190e-01 4.78981565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.549254154 meters Centerline goodness : 0.999737 Centerline is valid? [True, True] Translation: X:311.71, Y:3.23, Z:4.79 [[ 9.99769703e-01 -1.45924747e-02 -1.57353588e-02 3.11709855e+02] [ 1.45933145e-02 9.99893510e-01 -6.14618457e-05 3.22749189e+00] [ 1.57345800e-02 -1.68183348e-04 9.99876190e-01 4.79032831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.57925415399995 meters Centerline goodness : 0.999693 Centerline is valid? [True, True] Translation: X:311.74, Y:3.23, Z:4.79 [[ 9.99797008e-01 -1.25833734e-02 -1.57353566e-02 3.11738098e+02] [ 1.25839556e-02 9.99920817e-01 -6.20152785e-05 3.22863482e+00] [ 1.57348910e-02 -1.36010340e-04 9.99876190e-01 4.79096971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.609254154 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:311.77, Y:3.23, Z:4.79 [[ 9.99842294e-01 -8.23327897e-03 -1.57353401e-02 3.11766120e+02] [ 8.23326040e-03 9.99966104e-01 -6.59618862e-05 3.22955810e+00] [ 1.57353498e-02 -6.36016687e-05 9.99876190e-01 4.79210554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.63925415399996 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:311.79, Y:3.23, Z:4.79 [[ 9.99852927e-01 -6.82077562e-03 -1.57353313e-02 3.11793673e+02] [ 6.82055017e-03 9.99976737e-01 -6.79930336e-05 3.23012024e+00] [ 1.57354290e-02 -3.93405829e-05 9.99876190e-01 4.79270186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.669254154 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:311.82, Y:3.23, Z:4.79 [[ 9.99861251e-01 -5.46622740e-03 -1.57353101e-02 3.11821523e+02] [ 5.46576176e-03 9.99985060e-01 -7.25976292e-05 3.23050323e+00] [ 1.57354718e-02 -1.34178997e-05 9.99876190e-01 4.79331019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.69925415399996 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:311.85, Y:3.23, Z:4.79 [[ 9.99867123e-01 -4.25870889e-03 -1.57352874e-02 3.11848760e+02] [ 4.25802122e-03 9.99990932e-01 -7.72051162e-05 3.23084877e+00] [ 1.57354735e-02 1.01936696e-05 9.99876190e-01 4.79391432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.729254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.88, Y:3.23, Z:4.79 [[ 9.99872134e-01 -2.84896656e-03 -1.57352774e-02 3.11876211e+02] [ 2.84807299e-03 9.99995941e-01 -7.91967683e-05 3.23065077e+00] [ 1.57354392e-02 3.43714231e-05 9.99876190e-01 4.79355079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.75925415399996 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:311.90, Y:3.23, Z:4.79 [[ 9.99872296e-01 -2.79160340e-03 -1.57352529e-02 3.11904437e+02] [ 2.79063027e-03 9.99996103e-01 -8.38001684e-05 3.23051121e+00] [ 1.57354255e-02 3.98781937e-05 9.99876190e-01 4.79389381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.789254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.93, Y:3.23, Z:4.79 [[ 9.99871639e-01 -3.01797932e-03 -1.57352272e-02 3.11930967e+02] [ 3.01696230e-03 9.99995445e-01 -8.83704732e-05 3.22888856e+00] [ 1.57354223e-02 4.08865425e-05 9.99876190e-01 4.79382118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.81925415399996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.96, Y:3.23, Z:4.79 [[ 9.99868978e-01 -3.79869260e-03 -1.57352159e-02 3.11958818e+02] [ 3.79774113e-03 9.99992784e-01 -9.03484567e-05 3.22793724e+00] [ 1.57354456e-02 3.05783425e-05 9.99876190e-01 4.79382851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.84925415399994 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:311.99, Y:3.23, Z:4.79 [[ 9.99865599e-01 -4.60311350e-03 -1.57351887e-02 3.11986363e+02] [ 4.60219062e-03 9.99989405e-01 -9.48612813e-05 3.22707045e+00] [ 1.57354586e-02 2.24321941e-05 9.99876190e-01 4.79425346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.87925415399997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:312.01, Y:3.23, Z:4.79 [[ 9.99862782e-01 -5.17896087e-03 -1.57351598e-02 3.12013492e+02] [ 5.17803740e-03 9.99986589e-01 -9.94292447e-05 3.22604741e+00] [ 1.57354637e-02 1.79383552e-05 9.99876190e-01 4.79474342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.90925415399994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.04, Y:3.22, Z:4.80 [[ 9.99851035e-01 -7.09313074e-03 -1.57351470e-02 3.12040430e+02] [ 7.09241311e-03 9.99974843e-01 -1.01410777e-04 3.22422183e+00] [ 1.57354705e-02 -1.02044928e-05 9.99876190e-01 4.79572966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.93925415399997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.09, Y:3.21, Z:4.79 [[ 9.99873107e-01 2.48515727e-03 -1.57351342e-02 3.12086550e+02] [-2.48709171e-03 9.99996902e-01 -1.03370759e-04 3.21111904e+00] [ 1.57348285e-02 1.42492364e-04 9.99876190e-01 4.79484394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.96925415399994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.10, Y:3.22, Z:4.80 [[ 9.99817738e-01 -1.08056248e-02 -1.57394384e-02 3.12097887e+02] [ 1.08175152e-02 9.99941264e-01 6.70510774e-04 3.22195299e+00] [ 1.57312686e-02 -8.40650179e-04 9.99875903e-01 4.79598146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.99925415399997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.12, Y:3.22, Z:4.80 [[ 9.99789952e-01 -1.31341475e-02 -1.57336270e-02 3.12124682e+02] [ 1.31339434e-02 9.99913739e-01 -1.16306213e-04 3.22092260e+00] [ 1.57337973e-02 -9.03627826e-05 9.99876212e-01 4.79711866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.02925415399994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.15, Y:3.22, Z:4.80 [[ 9.99757305e-01 -1.54202518e-02 -1.57336121e-02 3.12152592e+02] [ 1.54202996e-02 9.99881093e-01 -1.18285672e-04 3.21920784e+00] [ 1.57335652e-02 -1.24360048e-04 9.99876212e-01 4.79632082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.059254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.18, Y:3.21, Z:4.80 [[ 9.99620855e-01 -2.25966417e-02 -1.57333628e-02 3.12181342e+02] [ 2.25970658e-02 9.99744642e-01 -1.50840262e-04 3.21416047e+00] [ 1.57327537e-02 -2.04744764e-04 9.99876212e-01 4.79566818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.08925415399995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:312.22, Y:3.21, Z:4.79 [[ 9.99607677e-01 -2.31720951e-02 -1.57335907e-02 3.12216022e+02] [ 2.31730558e-02 9.99731461e-01 -1.21275432e-04 3.20824737e+00] [ 1.57321759e-02 -2.43367523e-04 9.99876212e-01 4.79383524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.119254154 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:312.24, Y:3.21, Z:4.80 [[ 9.99337977e-01 -3.28022672e-02 -1.57359353e-02 3.12239000e+02] [ 3.28093647e-02 9.99461609e-01 1.93020981e-04 3.20737201e+00] [ 1.57211317e-02 -7.09179238e-04 9.99876164e-01 4.79500624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.14925415399995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:312.27, Y:3.21, Z:4.80 [[ 9.99220664e-01 -3.62011802e-02 -1.57333597e-02 3.12270986e+02] [ 3.62036681e-02 9.99344424e-01 -1.26759622e-04 3.20593330e+00] [ 1.57276342e-02 -4.42944499e-04 9.99876215e-01 4.79533354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.179254154 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:312.30, Y:3.20, Z:4.80 [[ 9.98949827e-01 -4.30314323e-02 -1.57333686e-02 3.12302914e+02] [ 4.30347835e-02 9.99073567e-01 -1.25655568e-04 3.20239799e+00] [ 1.57241998e-02 -5.51558501e-04 9.99876215e-01 4.79578597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.20925415399995 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:312.34, Y:3.20, Z:4.80 [[ 9.98789700e-01 -4.66003920e-02 -1.57333775e-02 3.12335020e+02] [ 4.66042032e-02 9.98913426e-01 -1.24524347e-04 3.20074722e+00] [ 1.57220849e-02 -6.08867887e-04 9.99876215e-01 4.79669979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.239254154 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:312.37, Y:3.20, Z:4.80 [[ 9.98450851e-01 -5.33700164e-02 -1.57333885e-02 3.12367829e+02] [ 5.33746884e-02 9.98574548e-01 -1.23112935e-04 3.19665647e+00] [ 1.57175319e-02 -7.16842496e-04 9.99876215e-01 4.79733067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.26925415399995 meters Centerline goodness : 0.999594 Centerline is valid? [True, True] Translation: X:312.40, Y:3.19, Z:4.80 [[ 9.98299366e-01 -5.61323107e-02 -1.57334017e-02 3.12400282e+02] [ 5.61373516e-02 9.98423048e-01 -1.21412037e-04 3.19469711e+00] [ 1.57154060e-02 -7.62025942e-04 9.99876215e-01 4.79805269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.299254154 meters Centerline goodness : 0.999595 Centerline is valid? [True, True] Translation: X:312.43, Y:3.19, Z:4.80 [[ 9.98192209e-01 -5.80066749e-02 -1.57334124e-02 3.12432100e+02] [ 5.80119702e-02 9.98315880e-01 -1.20001968e-04 3.19323084e+00] [ 1.57138764e-02 -7.92941224e-04 9.99876215e-01 4.79962386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.32925415399995 meters Centerline goodness : 0.999489 Centerline is valid? [True, True] Translation: X:312.46, Y:3.19, Z:4.80 [[ 9.97998538e-01 -6.12485498e-02 -1.57331787e-02 3.12464428e+02] [ 6.12537594e-02 9.98122214e-01 -1.50999338e-04 3.19023157e+00] [ 1.57128837e-02 -8.13019227e-04 9.99876214e-01 4.80033408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.359254154 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:312.50, Y:3.19, Z:4.80 [[ 9.97907310e-01 -6.27173852e-02 -1.57331128e-02 3.12496228e+02] [ 6.27226362e-02 9.98030984e-01 -1.59948631e-04 3.18895706e+00] [ 1.57121656e-02 -8.27208402e-04 9.99876214e-01 4.80010467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.38925415399996 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:312.53, Y:3.19, Z:4.80 [[ 9.97915067e-01 -6.25937835e-02 -1.57333029e-02 3.12528772e+02] [ 6.25994357e-02 9.98038723e-01 -1.33457153e-04 3.18904471e+00] [ 1.57107991e-02 -8.51716977e-04 9.99876215e-01 4.80060799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.419254154 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:312.56, Y:3.19, Z:4.80 [[ 9.97869927e-01 -6.33093360e-02 -1.57333197e-02 3.12561922e+02] [ 6.33151144e-02 9.97993577e-01 -1.31063198e-04 3.18754019e+00] [ 1.57100495e-02 -8.65372914e-04 9.99876215e-01 4.80103866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.44925415399996 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:312.59, Y:3.18, Z:4.80 [[ 9.97887402e-01 -6.30332742e-02 -1.57333639e-02 3.12594240e+02] [ 6.30391190e-02 9.98011049e-01 -1.24667810e-04 3.18418957e+00] [ 1.57099292e-02 -8.67412962e-04 9.99876215e-01 4.79975091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.479254154 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:312.63, Y:3.18, Z:4.80 [[ 9.97897946e-01 -6.28661990e-02 -1.57331036e-02 3.12626040e+02] [ 6.28714028e-02 9.98021623e-01 -1.64126185e-04 3.18249943e+00] [ 1.57122956e-02 -8.25381110e-04 9.99876214e-01 4.79922048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.50925415399996 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:312.66, Y:3.18, Z:4.80 [[ 9.98031798e-01 -6.07041711e-02 -1.57332347e-02 3.12656828e+02] [ 6.07094244e-02 9.98155471e-01 -1.43940433e-04 3.18036704e+00] [ 1.57129521e-02 -8.11498494e-04 9.99876215e-01 4.79840793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.53925415399993 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:312.69, Y:3.18, Z:4.80 [[ 9.98161396e-01 -5.85345554e-02 -1.57331873e-02 3.12689902e+02] [ 5.85394206e-02 9.98285086e-01 -1.51516725e-04 3.17988708e+00] [ 1.57150752e-02 -7.69773525e-04 9.99876214e-01 4.79856181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.56925415399996 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:312.72, Y:3.18, Z:4.80 [[ 9.98317856e-01 -5.58025522e-02 -1.57332078e-02 3.12722300e+02] [ 5.58071322e-02 9.98441557e-01 -1.48130996e-04 3.18003971e+00] [ 1.57169546e-02 -7.30143388e-04 9.99876214e-01 4.79882407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.59925415399994 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:312.76, Y:3.18, Z:4.80 [[ 9.98329860e-01 -5.55874003e-02 -1.57331649e-02 3.12755873e+02] [ 5.55918381e-02 9.98453566e-01 -1.55471716e-04 3.18006442e+00] [ 1.57174769e-02 -7.19423501e-04 9.99876214e-01 4.79935471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.62925415399997 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:312.79, Y:3.18, Z:4.80 [[ 9.98628100e-01 -4.99438122e-02 -1.57331771e-02 3.12788482e+02] [ 4.99475847e-02 9.98751829e-01 -1.53315582e-04 3.18032465e+00] [ 1.57211966e-02 -6.32728950e-04 9.99876214e-01 4.79993655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.65925415399994 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:312.82, Y:3.18, Z:4.80 [[ 9.99077219e-01 -3.99645485e-02 -1.57335444e-02 3.12817535e+02] [ 3.99681346e-02 9.99200951e-01 -8.65688076e-05 3.18139769e+00] [ 1.57244322e-02 -5.42351498e-04 9.99876216e-01 4.80083263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.68925415399997 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:312.85, Y:3.18, Z:4.80 [[ 9.99223803e-01 -3.61145794e-02 -1.57330693e-02 3.12850240e+02] [ 3.61163577e-02 9.99347577e-01 -1.71176052e-04 3.18208130e+00] [ 1.57289866e-02 -3.97177974e-04 9.99876213e-01 4.80204401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.71925415399994 meters Centerline goodness : 0.999319 Centerline is valid? [True, True] Translation: X:312.88, Y:3.18, Z:4.80 [[ 9.99414407e-01 -3.03859217e-02 -1.57333772e-02 3.12880917e+02] [ 3.03878911e-02 9.99538175e-01 -1.13932027e-04 3.18259586e+00] [ 1.57295731e-02 -3.64238845e-04 9.99876216e-01 4.80286104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.74925415399997 meters Centerline goodness : 0.999574 Centerline is valid? [True, True] Translation: X:312.91, Y:3.18, Z:4.80 [[ 9.99537734e-01 -2.60151483e-02 -1.57331028e-02 3.12912830e+02] [ 2.60156810e-02 9.99661520e-01 -1.70839640e-04 3.18318908e+00] [ 1.57322219e-02 -2.38546718e-04 9.99876212e-01 4.80415622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.77925415399994 meters Centerline goodness : 0.999296 Centerline is valid? [True, True] Translation: X:312.94, Y:3.18, Z:4.80 [[ 9.99625983e-01 -2.23686765e-02 -1.57332930e-02 3.12944102e+02] [ 2.23693833e-02 9.99749765e-01 -1.31078826e-04 3.18384859e+00] [ 1.57322880e-02 -2.20914261e-04 9.99876215e-01 4.80487143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.809254154 meters Centerline goodness : 0.999253 Centerline is valid? [True, True] Translation: X:312.97, Y:3.18, Z:4.81 [[ 9.99712385e-01 -1.80998100e-02 -1.57335623e-02 3.12974288e+02] [ 1.81009000e-02 9.99836163e-01 -7.31347337e-05 3.18428137e+00] [ 1.57323083e-02 -2.11677939e-04 9.99876217e-01 4.80511002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.83925415399995 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:313.00, Y:3.18, Z:4.80 [[ 9.99823334e-01 -1.02837416e-02 -1.57335623e-02 3.13003201e+02] [ 1.02838639e-02 9.99947117e-01 -7.31347337e-05 3.18456141e+00] [ 1.57334824e-02 -8.86800010e-05 9.99876217e-01 4.80414118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.869254154 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:313.03, Y:3.18, Z:4.80 [[ 9.99852444e-01 -6.89539504e-03 -1.57335424e-02 3.13030630e+02] [ 6.89503386e-03 9.99976226e-01 -7.72014880e-05 3.18481401e+00] [ 1.57337007e-02 -3.12932111e-05 9.99876217e-01 4.80373914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.89925415399995 meters Centerline goodness : 0.998994 Centerline is valid? [True, True] Translation: X:313.06, Y:3.18, Z:4.80 [[ 9.99872779e-01 -2.62349619e-03 -1.57335323e-02 3.13057867e+02] [ 2.62257453e-03 9.99996558e-01 -7.92112895e-05 3.18487293e+00] [ 1.57336859e-02 3.79388511e-05 9.99876217e-01 4.80388058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.929254154 meters Centerline goodness : 0.999230 Centerline is valid? [True, True] Translation: X:313.09, Y:3.19, Z:4.80 [[ 9.99875807e-01 -9.17500859e-04 -1.57330513e-02 3.13087884e+02] [ 9.14964108e-04 9.99999567e-01 -1.68434364e-04 3.18514677e+00] [ 1.57331990e-02 1.54018268e-04 9.99876214e-01 4.80458166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.95925415399995 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:313.11, Y:3.18, Z:4.81 [[ 9.99866055e-01 4.50873110e-03 -1.57335018e-02 3.13114875e+02] [-4.51065065e-03 9.99989823e-01 -8.65196385e-05 3.18476360e+00] [ 1.57329516e-02 1.57476380e-04 9.99876217e-01 4.80549187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.989254154 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:313.14, Y:3.18, Z:4.81 [[ 9.99851514e-01 7.02902304e-03 -1.57334905e-02 3.13141690e+02] [-7.03128616e-03 9.99975276e-01 -8.85285703e-05 3.18418110e+00] [ 1.57324793e-02 1.99142099e-04 9.99876217e-01 4.80624036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.01925415399995 meters Centerline goodness : 0.998974 Centerline is valid? [True, True] Translation: X:313.17, Y:3.18, Z:4.81 [[ 9.99836779e-01 8.88105105e-03 -1.57334793e-02 3.13169570e+02] [-8.88357412e-03 9.99960536e-01 -9.04793762e-05 3.18356433e+00] [ 1.57320548e-02 2.30234137e-04 9.99876217e-01 4.80716585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.049254154 meters Centerline goodness : 0.998846 Centerline is valid? [True, True] Translation: X:313.20, Y:3.18, Z:4.81 [[ 9.99812123e-01 1.13215060e-02 -1.57334520e-02 3.13197440e+02] [-1.13244024e-02 9.99935872e-01 -9.50063721e-05 3.18084475e+00] [ 1.57313674e-02 2.73160464e-04 9.99876217e-01 4.80823577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.07925415399995 meters Centerline goodness : 0.995539 Centerline is valid? [True, True] Translation: X:313.22, Y:3.18, Z:4.81 [[ 9.99808260e-01 1.16577724e-02 -1.57334227e-02 3.13223169e+02] [-1.16607830e-02 9.99932006e-01 -9.96233160e-05 3.18077287e+00] [ 1.57311916e-02 2.83068243e-04 9.99876217e-01 4.80658222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.109254154 meters Centerline goodness : 0.999446 Centerline is valid? [True, True] Translation: X:313.25, Y:3.18, Z:4.81 [[ 9.99816511e-01 1.09286999e-02 -1.57323801e-02 3.13253383e+02] [-1.09340083e-02 9.99940190e-01 -2.51440037e-04 3.17560548e+00] [ 1.57286912e-02 4.23411875e-04 9.99876207e-01 4.80855436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.13925415399996 meters Centerline goodness : 0.999192 Centerline is valid? [True, True] Translation: X:313.28, Y:3.17, Z:4.81 [[ 9.99830461e-01 9.56606865e-03 -1.57333626e-02 3.13281497e+02] [-9.56893706e-03 9.99954211e-01 -1.07041317e-04 3.17372092e+00] [ 1.57316183e-02 2.57574727e-04 9.99876217e-01 4.80854323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.169254154 meters Centerline goodness : 0.999023 Centerline is valid? [True, True] Translation: X:313.31, Y:3.17, Z:4.81 [[ 9.99846410e-01 7.72129600e-03 -1.57333508e-02 3.13308321e+02] [-7.72396309e-03 9.99970164e-01 -1.08759067e-04 3.17166287e+00] [ 1.57320416e-02 2.30266184e-04 9.99876217e-01 4.80861051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.19925415399996 meters Centerline goodness : 0.999215 Centerline is valid? [True, True] Translation: X:313.34, Y:3.17, Z:4.81 [[ 9.99873359e-01 2.39320247e-03 -1.57333368e-02 3.13336606e+02] [-2.39524131e-03 9.99997125e-01 -1.10744785e-04 3.16634552e+00] [ 1.57330265e-02 1.48415898e-04 9.99876217e-01 4.80915885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.229254154 meters Centerline goodness : 0.999049 Centerline is valid? [True, True] Translation: X:313.36, Y:3.16, Z:4.81 [[ 9.99874679e-01 -1.75766935e-03 -1.57333247e-02 3.13363606e+02] [ 1.75611762e-03 9.99998452e-01 -1.12442027e-04 3.16355131e+00] [ 1.57334979e-02 8.47983671e-05 9.99876217e-01 4.80928051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.25925415399996 meters Centerline goodness : 0.998924 Centerline is valid? [True, True] Translation: X:313.39, Y:3.16, Z:4.81 [[ 9.99856198e-01 -6.32813631e-03 -1.57333104e-02 3.13391226e+02] [ 6.32711942e-03 9.99979977e-01 -1.14408779e-04 3.16027776e+00] [ 1.57337193e-02 1.48457937e-05 9.99876217e-01 4.80996363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.28925415399993 meters Centerline goodness : 0.998801 Centerline is valid? [True, True] Translation: X:313.42, Y:3.15, Z:4.81 [[ 9.99730630e-01 -1.70625678e-02 -1.57332978e-02 3.13420210e+02] [ 1.70628530e-02 9.99854412e-01 -1.16114667e-04 3.15368709e+00] [ 1.57329884e-02 -1.52371558e-04 9.99876217e-01 4.81113369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.31925415399996 meters Centerline goodness : 0.999014 Centerline is valid? [True, True] Translation: X:313.45, Y:3.15, Z:4.81 [[ 9.99618367e-01 -2.27064609e-02 -1.57332891e-02 3.13448507e+02] [ 2.27074268e-02 9.99742146e-01 -1.17273159e-04 3.15024377e+00] [ 1.57318951e-02 -2.40034108e-04 9.99876217e-01 4.81140769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.34925415399994 meters Centerline goodness : 0.999139 Centerline is valid? [True, True] Translation: X:313.48, Y:3.15, Z:4.81 [[ 9.99473033e-01 -2.83922498e-02 -1.57332783e-02 3.13477755e+02] [ 2.83938971e-02 9.99596805e-01 -1.18712043e-04 3.14693607e+00] [ 1.57303052e-02 -3.28079599e-04 9.99876217e-01 4.81160072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.37925415399997 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] Translation: X:313.51, Y:3.14, Z:4.81 [[ 9.99301890e-01 -3.38850389e-02 -1.57332739e-02 3.13508481e+02] [ 3.38873574e-02 9.99425651e-01 -1.19284574e-04 3.14358044e+00] [ 1.57282795e-02 -4.13957777e-04 9.99876217e-01 4.81154399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.40925415399994 meters Centerline goodness : 0.999097 Centerline is valid? [True, True] Translation: X:313.54, Y:3.14, Z:4.81 [[ 9.98928122e-01 -4.35324188e-02 -1.57332739e-02 3.13539752e+02] [ 4.35359322e-02 9.99051855e-01 -1.19284574e-04 3.13658512e+00] [ 1.57235493e-02 -5.65806032e-04 9.99876217e-01 4.81083303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.43925415399997 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:313.57, Y:3.13, Z:4.81 [[ 9.98744519e-01 -4.75589110e-02 -1.57332804e-02 3.13571486e+02] [ 4.75629366e-02 9.98868236e-01 -1.18430960e-04 3.13358761e+00] [ 1.57211065e-02 -6.30038745e-04 9.99876217e-01 4.81082129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.46925415399994 meters Centerline goodness : 0.998932 Centerline is valid? [True, True] Translation: X:313.60, Y:3.13, Z:4.81 [[ 9.98396747e-01 -5.43727850e-02 -1.57332887e-02 3.13602996e+02] [ 5.43776724e-02 9.98520433e-01 -1.17308519e-04 3.12854191e+00] [ 1.57163887e-02 -7.38419177e-04 9.99876217e-01 4.81164654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.49925415399997 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:313.63, Y:3.13, Z:4.81 [[ 9.98255927e-01 -5.68996326e-02 -1.57332949e-02 3.13634761e+02] [ 5.69048462e-02 9.98379600e-01 -1.16472233e-04 3.12673822e+00] [ 1.57144279e-02 -7.79031631e-04 9.99876217e-01 4.81244330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.52925415399994 meters Centerline goodness : 0.998954 Centerline is valid? [True, True] Translation: X:313.67, Y:3.13, Z:4.81 [[ 9.98184448e-01 -5.81400967e-02 -1.57333030e-02 3.13665936e+02] [ 5.81454813e-02 9.98308114e-01 -1.15367847e-04 3.12509465e+00] [ 1.57133916e-02 -7.99662086e-04 9.99876217e-01 4.81262189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.559254154 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:313.70, Y:3.12, Z:4.81 [[ 9.98046948e-01 -6.04546492e-02 -1.57329198e-02 3.13698691e+02] [ 6.04594960e-02 9.98170637e-01 -1.67814681e-04 3.12357067e+00] [ 1.57142838e-02 -7.83717472e-04 9.99876216e-01 4.81379619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.58925415399995 meters Centerline goodness : 0.998828 Centerline is valid? [True, True] Translation: X:313.73, Y:3.12, Z:4.81 [[ 9.97947655e-01 -6.20720620e-02 -1.57333180e-02 3.13729728e+02] [ 6.20779905e-02 9.98071295e-01 -1.11756670e-04 3.12057075e+00] [ 1.57099101e-02 -8.65165461e-04 9.99876217e-01 4.81394380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.619254154 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:313.76, Y:3.12, Z:4.81 [[ 9.97829350e-01 -6.39457938e-02 -1.57328833e-02 3.13761479e+02] [ 6.39509914e-02 9.97953025e-01 -1.73027050e-04 3.11954215e+00] [ 1.57117429e-02 -8.33482020e-04 9.99876216e-01 4.81298627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.64925415399995 meters Centerline goodness : 0.998831 Centerline is valid? [True, True] Translation: X:313.79, Y:3.12, Z:4.81 [[ 9.97811296e-01 -6.42267859e-02 -1.57333267e-02 3.13794060e+02] [ 6.42330232e-02 9.97934921e-01 -1.09095384e-04 3.11784410e+00] [ 1.57078430e-02 -9.01742531e-04 9.99876218e-01 4.81343879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.679254154 meters Centerline goodness : 0.998810 Centerline is valid? [True, True] Translation: X:313.83, Y:3.12, Z:4.81 [[ 9.97851610e-01 -6.35973845e-02 -1.57333347e-02 3.13825024e+02] [ 6.36035622e-02 9.97975238e-01 -1.07924465e-04 3.11720256e+00] [ 1.57083422e-02 -8.93003532e-04 9.99876218e-01 4.81037710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.70925415399995 meters Centerline goodness : 0.998873 Centerline is valid? [True, True] Translation: X:313.86, Y:3.12, Z:4.81 [[ 9.97882166e-01 -6.31161200e-02 -1.57333481e-02 3.13857387e+02] [ 6.31222693e-02 9.98005796e-01 -1.05940698e-04 3.11760817e+00] [ 1.57086591e-02 -8.87408300e-04 9.99876218e-01 4.81316741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.739254154 meters Centerline goodness : 0.998915 Centerline is valid? [True, True] Translation: X:313.89, Y:3.12, Z:4.81 [[ 9.97942117e-01 -6.21610152e-02 -1.57333554e-02 3.13888598e+02] [ 6.21670635e-02 9.98065752e-01 -1.04834826e-04 3.11787505e+00] [ 1.57094399e-02 -8.73477419e-04 9.99876218e-01 4.81284734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.76925415399995 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:313.92, Y:3.12, Z:4.82 [[ 9.98113927e-01 -5.93384429e-02 -1.57333609e-02 3.13920355e+02] [ 5.93441545e-02 9.98237577e-01 -1.04010805e-04 3.11906227e+00] [ 1.57118039e-02 -8.29868366e-04 9.99876218e-01 4.81514003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.799254154 meters Centerline goodness : 0.999000 Centerline is valid? [True, True] Translation: X:313.95, Y:3.12, Z:4.81 [[ 9.98240596e-01 -5.71679343e-02 -1.57333685e-02 3.13951320e+02] [ 5.71733953e-02 9.98364258e-01 -1.02843202e-04 3.11937217e+00] [ 1.57135121e-02 -7.96867839e-04 9.99876218e-01 4.81365966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.82925415399995 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:313.98, Y:3.12, Z:4.82 [[ 9.98404869e-01 -5.42234197e-02 -1.57333742e-02 3.13983731e+02] [ 5.42285297e-02 9.98528546e-01 -1.01972847e-04 3.12272039e+00] [ 1.57157525e-02 -7.51387561e-04 9.99876218e-01 4.81627634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.859254154 meters Centerline goodness : 0.998937 Centerline is valid? [True, True] Translation: X:314.01, Y:3.12, Z:4.82 [[ 9.98583194e-01 -5.08336481e-02 -1.57335560e-02 3.14013844e+02] [ 5.08387847e-02 9.98706870e-01 -7.35759082e-05 3.12277523e+00] [ 1.57169506e-02 -7.26403199e-04 9.99876217e-01 4.81630206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.88925415399996 meters Centerline goodness : 0.999062 Centerline is valid? [True, True] Translation: X:314.05, Y:3.12, Z:4.82 [[ 9.98712077e-01 -4.82353434e-02 -1.57333814e-02 3.14045850e+02] [ 4.82397297e-02 9.98835781e-01 -1.00824567e-04 3.12393897e+00] [ 1.57199276e-02 -6.58279351e-04 9.99876218e-01 4.81725462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.919254154 meters Centerline goodness : 0.998999 Centerline is valid? [True, True] Translation: X:314.08, Y:3.12, Z:4.82 [[ 9.98924026e-01 -4.36262718e-02 -1.57333887e-02 3.14079986e+02] [ 4.36301056e-02 9.99047749e-01 -9.96576016e-05 3.12273144e+00] [ 1.57227543e-02 -5.86899039e-04 9.99876218e-01 4.81931646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.94925415399996 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:314.11, Y:3.12, Z:4.82 [[ 9.99044781e-01 -4.07669880e-02 -1.57346053e-02 3.14112772e+02] [ 4.07733402e-02 9.99168418e-01 8.29859571e-05 3.12286481e+00] [ 1.57181376e-02 -7.24459103e-04 9.99876200e-01 4.81888353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.979254154 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:314.14, Y:3.13, Z:4.82 [[ 9.99120323e-01 -3.88713678e-02 -1.57352206e-02 3.14136549e+02] [ 3.88789294e-02 9.99243913e-01 1.74823259e-04 3.12824733e+00] [ 1.57165278e-02 -7.86438001e-04 9.99876178e-01 4.81922251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.00925415399996 meters Centerline goodness : 0.998873 Centerline is valid? [True, True] Translation: X:314.17, Y:3.13, Z:4.82 [[ 9.99221016e-01 -3.61915691e-02 -1.57331314e-02 3.14167628e+02] [ 3.61942582e-02 9.99344767e-01 -1.13883773e-04 3.12963010e+00] [ 1.57269442e-02 -4.55653962e-04 9.99876220e-01 4.82057241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.03925415399993 meters Centerline goodness : 0.999038 Centerline is valid? [True, True] Translation: X:314.20, Y:3.13, Z:4.82 [[ 9.99413437e-01 -3.04179355e-02 -1.57331356e-02 3.14197681e+02] [ 3.04199187e-02 9.99537201e-01 -1.13302259e-04 3.13138829e+00] [ 1.57293008e-02 -3.65364907e-04 9.99876220e-01 4.82135939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.06925415399996 meters Centerline goodness : 0.999063 Centerline is valid? [True, True] Translation: X:314.23, Y:3.13, Z:4.82 [[ 9.99506250e-01 -2.71978810e-02 -1.57331426e-02 3.14228272e+02] [ 2.71994808e-02 9.99630019e-01 -1.12326761e-04 3.13220647e+00] [ 1.57303767e-02 -3.15662009e-04 9.99876220e-01 4.82187911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.09925415399994 meters Centerline goodness : 0.999079 Centerline is valid? [True, True] Translation: X:314.26, Y:3.13, Z:4.82 [[ 9.99650229e-01 -2.12576381e-02 -1.57331446e-02 3.14257749e+02] [ 2.12585068e-02 9.99774006e-01 -1.12041196e-04 3.13428495e+00] [ 1.57319708e-02 -2.22461155e-04 9.99876220e-01 4.82312010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.12925415399997 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:314.29, Y:3.14, Z:4.82 [[ 9.99700249e-01 -1.87585034e-02 -1.57331406e-02 3.14286261e+02] [ 1.87590538e-02 9.99824027e-01 -1.12609770e-04 3.13556233e+00] [ 1.57324843e-02 -1.82562815e-04 9.99876220e-01 4.82385139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.15925415399994 meters Centerline goodness : 0.999098 Centerline is valid? [True, True] Translation: X:314.31, Y:3.14, Z:4.82 [[ 9.99750827e-01 -1.58352149e-02 -1.57331110e-02 3.14314130e+02] [ 1.58353407e-02 9.99874606e-01 -1.16593075e-04 3.13614911e+00] [ 1.57329845e-02 -1.32575150e-04 9.99876220e-01 4.82434573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.18925415399997 meters Centerline goodness : 0.998911 Centerline is valid? [True, True] Translation: X:314.34, Y:3.14, Z:4.82 [[ 9.99784395e-01 -1.35511748e-02 -1.57330760e-02 3.14341700e+02] [ 1.35509462e-02 9.99908174e-01 -1.21137547e-04 3.13688535e+00] [ 1.57332729e-02 -9.20866379e-05 9.99876220e-01 4.82456515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.21925415399994 meters Centerline goodness : 0.999035 Centerline is valid? [True, True] Translation: X:314.37, Y:3.14, Z:4.82 [[ 9.99811275e-01 -1.13967590e-02 -1.57330399e-02 3.14369580e+02] [ 1.13961925e-02 9.99935053e-01 -1.25663285e-04 3.13706455e+00] [ 1.57334502e-02 -5.36571821e-05 9.99876220e-01 4.82470194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.24925415399997 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:314.40, Y:3.14, Z:4.83 [[ 9.99837193e-01 -8.83514038e-03 -1.57330026e-02 3.14397886e+02] [ 8.83418575e-03 9.99960969e-01 -1.30175482e-04 3.13727255e+00] [ 1.57335386e-02 -8.83397796e-06 9.99876220e-01 4.82608471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.27925415399994 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:314.42, Y:3.14, Z:4.83 [[ 9.99842054e-01 -8.26681510e-03 -1.57329637e-02 3.14424738e+02] [ 8.26571863e-03 9.99965829e-01 -1.34718774e-04 3.13734635e+00] [ 1.57335397e-02 4.65324492e-06 9.99876220e-01 4.82654014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.309254154 meters Centerline goodness : 0.999139 Centerline is valid? [True, True] Translation: X:314.45, Y:3.14, Z:4.83 [[ 9.99839716e-01 -8.54502140e-03 -1.57329466e-02 3.14453091e+02] [ 8.54392839e-03 9.99963491e-01 -1.36687337e-04 3.13718658e+00] [ 1.57335402e-02 2.24425989e-06 9.99876220e-01 4.82710937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.33925415399995 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:314.49, Y:3.13, Z:4.82 [[ 9.99872400e-01 -2.76739448e-03 -1.57329065e-02 3.14493072e+02] [ 2.76551609e-03 9.99996166e-01 -1.41146790e-04 3.12730734e+00] [ 1.57332368e-02 9.76191730e-05 9.99876220e-01 4.82083736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.369254154 meters Centerline goodness : 0.999014 Centerline is valid? [True, True] Translation: X:314.51, Y:3.14, Z:4.83 [[ 9.99805318e-01 -1.19027540e-02 -1.57369138e-02 3.14511312e+02] [ 1.19094866e-02 9.99929024e-01 3.34171782e-04 3.13605576e+00] [ 1.57318193e-02 -5.21525289e-04 9.99876111e-01 4.82731711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.39925415399995 meters Centerline goodness : 0.999077 Centerline is valid? [True, True] Translation: X:314.54, Y:3.14, Z:4.83 [[ 9.99786681e-01 -1.33822724e-02 -1.57323471e-02 3.14538393e+02] [ 1.33815874e-02 9.99910451e-01 -1.48812376e-04 3.13528300e+00] [ 1.57329297e-02 -6.17431463e-05 9.99876228e-01 4.82742536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.429254154 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:314.57, Y:3.13, Z:4.83 [[ 9.99733646e-01 -1.68858102e-02 -1.57323286e-02 3.14566582e+02] [ 1.68855286e-02 9.99857418e-01 -1.50742149e-04 3.13313233e+00] [ 1.57326308e-02 -1.14946686e-04 9.99876228e-01 4.82775627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.45925415399995 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:314.59, Y:3.13, Z:4.83 [[ 9.99704132e-01 -1.85511261e-02 -1.57322851e-02 3.14593438e+02] [ 1.85509814e-02 9.99827904e-01 -1.55148847e-04 3.13214954e+00] [ 1.57324559e-02 -1.36746385e-04 9.99876228e-01 4.82802896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.489254154 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:314.62, Y:3.13, Z:4.83 [[ 9.99698967e-01 -1.88273815e-02 -1.57322661e-02 3.14621843e+02] [ 1.88272409e-02 9.99822739e-01 -1.57058353e-04 3.13252239e+00] [ 1.57324344e-02 -1.39184090e-04 9.99876228e-01 4.82847645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.51925415399995 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] Translation: X:314.65, Y:3.13, Z:4.83 [[ 9.99667957e-01 -2.04076548e-02 -1.57322215e-02 3.14650080e+02] [ 2.04076414e-02 9.99791729e-01 -1.61405828e-04 3.13147245e+00] [ 1.57322388e-02 -1.59705300e-04 9.99876228e-01 4.82965788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.549254154 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:314.68, Y:3.13, Z:4.83 [[ 9.99624122e-01 -2.24524689e-02 -1.57321731e-02 3.14678016e+02] [ 2.24526367e-02 9.99747894e-01 -1.65985619e-04 3.12910123e+00] [ 1.57319338e-02 -1.87305539e-04 9.99876228e-01 4.82947699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.57925415399995 meters Centerline goodness : 0.998997 Centerline is valid? [True, True] Translation: X:314.71, Y:3.13, Z:4.83 [[ 9.99607195e-01 -2.31938673e-02 -1.57321581e-02 3.14707218e+02] [ 2.31941046e-02 9.99730967e-01 -1.67402020e-04 3.12777960e+00] [ 1.57318083e-02 -1.97557055e-04 9.99876228e-01 4.83046697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.609254154 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:314.74, Y:3.13, Z:4.83 [[ 9.99574195e-01 -2.45749928e-02 -1.57321143e-02 3.14736186e+02] [ 2.45753378e-02 9.99697966e-01 -1.71421145e-04 3.12510804e+00] [ 1.57315753e-02 -2.15273869e-04 9.99876228e-01 4.82977562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.63925415399996 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:314.77, Y:3.13, Z:4.83 [[ 9.99568443e-01 -2.48078357e-02 -1.57321049e-02 3.14765439e+02] [ 2.48081961e-02 9.99692215e-01 -1.72274840e-04 3.12549688e+00] [ 1.57315366e-02 -2.18084651e-04 9.99876228e-01 4.83023618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.669254154 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:314.79, Y:3.12, Z:4.83 [[ 9.99508782e-01 -2.71052769e-02 -1.57320639e-02 3.14794482e+02] [ 2.71058641e-02 9.99632553e-01 -1.75939753e-04 3.12285451e+00] [ 1.57310521e-02 -2.50577858e-04 9.99876228e-01 4.82975321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.69925415399996 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:314.82, Y:3.12, Z:4.83 [[ 9.99479381e-01 -2.81685800e-02 -1.57320552e-02 3.14823845e+02] [ 2.81692867e-02 9.99603151e-01 -1.76718156e-04 3.12184285e+00] [ 1.57307899e-02 -2.66534620e-04 9.99876228e-01 4.83060061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.729254154 meters Centerline goodness : 0.998997 Centerline is valid? [True, True] Translation: X:314.85, Y:3.12, Z:4.83 [[ 9.99448434e-01 -2.92460226e-02 -1.57320489e-02 3.14853152e+02] [ 2.92468539e-02 9.99572204e-01 -1.77274638e-04 3.12094808e+00] [ 1.57305034e-02 -2.82936078e-04 9.99876228e-01 4.83095065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.75925415399996 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:314.88, Y:3.12, Z:4.83 [[ 9.99420420e-01 -3.01881988e-02 -1.57320458e-02 3.14883029e+02] [ 3.01891424e-02 9.99544188e-01 -1.77550921e-04 3.11894536e+00] [ 1.57302349e-02 -2.97488955e-04 9.99876228e-01 4.83198237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.78925415399993 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:314.91, Y:3.12, Z:4.83 [[ 9.99431601e-01 -2.98157323e-02 -1.57320392e-02 3.14912795e+02] [ 2.98166206e-02 9.99555370e-01 -1.78133118e-04 3.11830232e+00] [ 1.57303555e-02 -2.91044378e-04 9.99876228e-01 4.83192926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.81925415399996 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:314.94, Y:3.12, Z:4.83 [[ 9.99502923e-01 -2.73205176e-02 -1.57320400e-02 3.14942095e+02] [ 2.73210980e-02 9.99626693e-01 -1.78066095e-04 3.11712106e+00] [ 1.57310320e-02 -2.51839024e-04 9.99876228e-01 4.83129029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.84925415399994 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:314.97, Y:3.12, Z:4.83 [[ 9.99547838e-01 -2.56246371e-02 -1.57320409e-02 3.14971637e+02] [ 2.56250088e-02 9.99671610e-01 -1.77985186e-04 3.11693181e+00] [ 1.57314355e-02 -2.25228979e-04 9.99876228e-01 4.83188552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.87925415399997 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:315.00, Y:3.12, Z:4.83 [[ 9.99593981e-01 -2.37566077e-02 -1.57320345e-02 3.15000464e+02] [ 2.37567392e-02 9.99717753e-01 -1.78551433e-04 3.11678979e+00] [ 1.57318359e-02 -1.95262901e-04 9.99876228e-01 4.83201574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.90925415399994 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:315.03, Y:3.12, Z:4.83 [[ 9.99640254e-01 -2.17225005e-02 -1.57319883e-02 3.15029420e+02] [ 2.17223175e-02 9.99764026e-01 -1.82531688e-04 3.11667433e+00] [ 1.57322410e-02 -1.59269222e-04 9.99876228e-01 4.83248686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.93925415399997 meters Centerline goodness : 0.999125 Centerline is valid? [True, True] Translation: X:315.06, Y:3.12, Z:4.83 [[ 9.99719787e-01 -1.76876797e-02 -1.57319410e-02 3.15056986e+02] [ 1.76869343e-02 9.99843557e-01 -1.86522035e-04 3.11625811e+00] [ 1.57327790e-02 -9.17800377e-05 9.99876228e-01 4.83343145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.96925415399994 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:315.08, Y:3.12, Z:4.83 [[ 9.99745443e-01 -1.61727053e-02 -1.57319241e-02 3.15084645e+02] [ 1.61717502e-02 9.99869211e-01 -1.87933191e-04 3.11610497e+00] [ 1.57329059e-02 -6.65273951e-05 9.99876228e-01 4.83413426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.99925415399997 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:315.11, Y:3.12, Z:4.84 [[ 9.99760685e-01 -1.52013691e-02 -1.57318692e-02 3.15112491e+02] [ 1.52002231e-02 9.99884451e-01 -1.92421606e-04 3.11570321e+00] [ 1.57329765e-02 -4.67523654e-05 9.99876228e-01 4.83506562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.02925415399994 meters Centerline goodness : 0.998977 Centerline is valid? [True, True] Translation: X:315.14, Y:3.11, Z:4.83 [[ 9.99775488e-01 -1.41944684e-02 -1.57318126e-02 3.15140919e+02] [ 1.41931266e-02 9.99899253e-01 -1.96941921e-04 3.11372548e+00] [ 1.57330232e-02 -2.63859027e-05 9.99876228e-01 4.83447260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.059254154 meters Centerline goodness : 0.997000 Centerline is valid? [True, True] Translation: X:315.17, Y:3.11, Z:4.83 [[ 9.99771444e-01 -1.44765872e-02 -1.57317539e-02 3.15167425e+02] [ 1.44752082e-02 9.99895208e-01 -2.01527964e-04 3.11302529e+00] [ 1.57330228e-02 -2.62385087e-05 9.99876228e-01 4.83484796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.08925415399995 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:315.20, Y:3.11, Z:4.84 [[ 9.99722354e-01 -1.75426897e-02 -1.57311389e-02 3.15196103e+02] [ 1.75409541e-02 9.99846115e-01 -2.48315278e-04 3.11083552e+00] [ 1.57330742e-02 -2.76928497e-05 9.99876227e-01 4.83507652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.119254154 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:315.22, Y:3.11, Z:4.84 [[ 9.99672546e-01 -2.01820585e-02 -1.57316665e-02 3.15224326e+02] [ 2.01812760e-02 9.99796316e-01 -2.08505573e-04 3.11011244e+00] [ 1.57326703e-02 -1.09047806e-04 9.99876228e-01 4.83607203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.14925415399995 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:315.25, Y:3.11, Z:4.84 [[ 9.99615239e-01 -2.28449253e-02 -1.57316053e-02 3.15251899e+02] [ 2.28444014e-02 9.99739010e-01 -2.13024692e-04 3.10888391e+00] [ 1.57323660e-02 -1.46436378e-04 9.99876228e-01 4.83595652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.179254154 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:315.28, Y:3.11, Z:4.84 [[ 9.99444004e-01 -2.93972933e-02 -1.57315428e-02 3.15279643e+02] [ 2.93975096e-02 9.99567776e-01 -2.17544929e-04 3.10573055e+00] [ 1.57311385e-02 -2.45044206e-04 9.99876228e-01 4.83574742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.20925415399995 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:315.31, Y:3.10, Z:4.84 [[ 9.99333741e-01 -3.29331682e-02 -1.57315191e-02 3.15307969e+02] [ 3.29337957e-02 9.99457511e-01 -2.19242149e-04 3.10403330e+00] [ 1.57302053e-02 -2.99002561e-04 9.99876228e-01 4.83518287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.239254154 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:315.34, Y:3.10, Z:4.84 [[ 9.99197605e-01 -3.68329444e-02 -1.57315073e-02 3.15337524e+02] [ 3.68340417e-02 9.99321372e-01 -2.20086036e-04 3.10285224e+00] [ 1.57289379e-02 -3.59545557e-04 9.99876228e-01 4.83734530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.26925415399995 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:315.37, Y:3.10, Z:4.84 [[ 9.99071761e-01 -4.01015751e-02 -1.57314994e-02 3.15366682e+02] [ 4.01030684e-02 9.99195524e-01 -2.20648873e-04 3.10145910e+00] [ 1.57276922e-02 -4.10437340e-04 9.99876228e-01 4.83714364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.299254154 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:315.40, Y:3.10, Z:4.84 [[ 9.98839394e-01 -4.55234516e-02 -1.57314955e-02 3.15397212e+02] [ 4.55256122e-02 9.98963147e-01 -2.20928290e-04 3.09916483e+00] [ 1.57252417e-02 -4.95514085e-04 9.99876228e-01 4.83717314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.32925415399995 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:315.43, Y:3.10, Z:4.84 [[ 9.98753226e-01 -4.73762944e-02 -1.57315084e-02 3.15428181e+02] [ 4.73786992e-02 9.98876975e-01 -2.20004660e-04 3.09867180e+00] [ 1.57242646e-02 -5.25608042e-04 9.99876228e-01 4.83792417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.359254154 meters Centerline goodness : 0.999434 Centerline is valid? [True, True] Translation: X:315.46, Y:3.10, Z:4.84 [[ 9.98700705e-01 -4.84708300e-02 -1.57315162e-02 3.15459180e+02] [ 4.84733791e-02 9.98824451e-01 -2.19449319e-04 3.09827982e+00] [ 1.57236599e-02 -5.43395557e-04 9.99876228e-01 4.83794872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.38925415399996 meters Centerline goodness : 0.999393 Centerline is valid? [True, True] Translation: X:315.49, Y:3.10, Z:4.84 [[ 9.98649233e-01 -4.95199720e-02 -1.57315241e-02 3.15490146e+02] [ 4.95226600e-02 9.98772976e-01 -2.18883111e-04 3.09806604e+00] [ 1.57230602e-02 -5.60479467e-04 9.99876228e-01 4.83958286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.419254154 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:315.52, Y:3.10, Z:4.84 [[ 9.98645543e-01 -4.95943368e-02 -1.57315320e-02 3.15520912e+02] [ 4.95970430e-02 9.98769286e-01 -2.18312681e-04 3.09858957e+00] [ 1.57229980e-02 -5.62220482e-04 9.99876228e-01 4.84094462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.44925415399996 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:315.55, Y:3.10, Z:4.84 [[ 9.98627319e-01 -4.99599561e-02 -1.57315438e-02 3.15552078e+02] [ 4.99627210e-02 9.98751060e-01 -2.17459978e-04 3.09992342e+00] [ 1.57227603e-02 -5.68829258e-04 9.99876228e-01 4.84152575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.479254154 meters Centerline goodness : 0.999477 Centerline is valid? [True, True] Translation: X:315.58, Y:3.10, Z:4.84 [[ 9.98772310e-01 -4.69723124e-02 -1.57313152e-02 3.15582359e+02] [ 4.69744484e-02 9.98896064e-01 -2.33906419e-04 3.09965510e+00] [ 1.57249360e-02 -5.05350602e-04 9.99876228e-01 4.84175924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.50925415399996 meters Centerline goodness : 0.999309 Centerline is valid? [True, True] Translation: X:315.61, Y:3.10, Z:4.84 [[ 9.98827103e-01 -4.57923152e-02 -1.57315371e-02 3.15613712e+02] [ 4.57945570e-02 9.98950855e-01 -2.17885577e-04 3.10053653e+00] [ 1.57250100e-02 -5.02788755e-04 9.99876228e-01 4.84192221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.53925415399993 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:315.65, Y:3.10, Z:4.84 [[ 9.98881599e-01 -4.45877686e-02 -1.57315446e-02 3.15645478e+02] [ 4.45898697e-02 9.99005353e-01 -2.17345579e-04 3.10161781e+00] [ 1.57255882e-02 -4.84365025e-04 9.99876228e-01 4.84243167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.56925415399996 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:315.68, Y:3.10, Z:4.84 [[ 9.98927641e-01 -4.35440630e-02 -1.57315520e-02 3.15675762e+02] [ 4.35460432e-02 9.99051398e-01 -2.16808346e-04 3.10259131e+00] [ 1.57260697e-02 -4.68470994e-04 9.99876228e-01 4.84292541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.59925415399994 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:315.71, Y:3.10, Z:4.84 [[ 9.99031885e-01 -4.10829729e-02 -1.57315520e-02 3.15706262e+02] [ 4.10846482e-02 9.99155646e-01 -2.16808346e-04 3.10337840e+00] [ 1.57271761e-02 -4.29726829e-04 9.99876228e-01 4.84252038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.62925415399997 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:315.74, Y:3.10, Z:4.84 [[ 9.99035543e-01 -4.09939236e-02 -1.57315520e-02 3.15737957e+02] [ 4.09955880e-02 9.99159304e-01 -2.16808346e-04 3.10445487e+00] [ 1.57272144e-02 -4.28324980e-04 9.99876228e-01 4.84461886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.65925415399994 meters Centerline goodness : 0.999644 Centerline is valid? [True, True] Translation: X:315.77, Y:3.11, Z:4.84 [[ 9.99024216e-01 -4.12690429e-02 -1.57315598e-02 3.15769145e+02] [ 4.12707502e-02 9.99147976e-01 -2.16244643e-04 3.10568196e+00] [ 1.57270803e-02 -4.33219638e-04 9.99876228e-01 4.84451755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.68925415399997 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:315.80, Y:3.11, Z:4.84 [[ 9.99037542e-01 -4.09451679e-02 -1.57315677e-02 3.15800438e+02] [ 4.09468441e-02 9.99161303e-01 -2.15667262e-04 3.10632295e+00] [ 1.57272042e-02 -4.28698357e-04 9.99876228e-01 4.84279703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.71925415399994 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:315.83, Y:3.11, Z:4.84 [[ 9.99002400e-01 -4.17938110e-02 -1.57315756e-02 3.15830392e+02] [ 4.17956015e-02 9.99126159e-01 -2.15088257e-04 3.10779948e+00] [ 1.57268180e-02 -4.42636978e-04 9.99876228e-01 4.84261034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.74925415399997 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:315.86, Y:3.11, Z:4.84 [[ 9.98989749e-01 -4.20951250e-02 -1.57315795e-02 3.15861491e+02] [ 4.20969573e-02 9.99113507e-01 -2.14800851e-04 3.10910364e+00] [ 1.57266756e-02 -4.47667783e-04 9.99876228e-01 4.84394492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.77925415399994 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:315.89, Y:3.11, Z:4.84 [[ 9.98953476e-01 -4.29472998e-02 -1.57315873e-02 3.15893195e+02] [ 4.29492468e-02 9.99077232e-01 -2.14225887e-04 3.11121092e+00] [ 1.57262712e-02 -4.61658132e-04 9.99876228e-01 4.84387222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.809254154 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:315.92, Y:3.11, Z:4.84 [[ 9.98950094e-01 -4.30258907e-02 -1.57315952e-02 3.15923266e+02] [ 4.30278566e-02 9.99073850e-01 -2.13644683e-04 3.11222932e+00] [ 1.57262177e-02 -4.63476447e-04 9.99876228e-01 4.84312683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.83925415399995 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:315.95, Y:3.11, Z:4.85 [[ 9.98912439e-01 -4.38914213e-02 -1.57315991e-02 3.15953776e+02] [ 4.38934989e-02 9.99036193e-01 -2.13356316e-04 3.11448102e+00] [ 1.57258014e-02 -4.77390651e-04 9.99876228e-01 4.84584419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.869254154 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:315.98, Y:3.12, Z:4.85 [[ 9.98913712e-01 -4.38624320e-02 -1.57316029e-02 3.15983707e+02] [ 4.38645105e-02 9.99037466e-01 -2.13075305e-04 3.11567205e+00] [ 1.57258068e-02 -4.77215218e-04 9.99876228e-01 4.84662620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.89925415399995 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:316.01, Y:3.12, Z:4.85 [[ 9.98917076e-01 -4.37857571e-02 -1.57316067e-02 3.16014821e+02] [ 4.37878304e-02 9.99040830e-01 -2.12798192e-04 3.11692633e+00] [ 1.57258349e-02 -4.76285178e-04 9.99876228e-01 4.84894708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.929254154 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:316.04, Y:3.12, Z:4.85 [[ 9.98919583e-01 -4.37285098e-02 -1.57316144e-02 3.16044958e+02] [ 4.37305850e-02 9.99043338e-01 -2.12225074e-04 3.11819083e+00] [ 1.57258449e-02 -4.75956919e-04 9.99876228e-01 4.84969465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.95925415399995 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:316.08, Y:3.12, Z:4.85 [[ 9.98938906e-01 -4.32848599e-02 -1.57316183e-02 3.16075444e+02] [ 4.32868846e-02 9.99062661e-01 -2.11940690e-04 3.12046871e+00] [ 1.57260462e-02 -4.69256943e-04 9.99876228e-01 4.85029312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.989254154 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:316.11, Y:3.12, Z:4.85 [[ 9.98955962e-01 -4.28894074e-02 -1.57316220e-02 3.16106645e+02] [ 4.28913876e-02 9.99079719e-01 -2.11659797e-04 3.12136053e+00] [ 1.57262225e-02 -4.63312282e-04 9.99876228e-01 4.85050540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.01925415399995 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:316.14, Y:3.12, Z:4.85 [[ 9.98966867e-01 -4.26346727e-02 -1.57316298e-02 3.16136889e+02] [ 4.26366304e-02 9.99090623e-01 -2.11078652e-04 3.12285764e+00] [ 1.57263231e-02 -4.59883107e-04 9.99876228e-01 4.85090596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.049254154 meters Centerline goodness : 0.998977 Centerline is valid? [True, True] Translation: X:316.17, Y:3.12, Z:4.85 [[ 9.98985054e-01 -4.22063698e-02 -1.57316337e-02 3.16168263e+02] [ 4.22082790e-02 9.99108811e-01 -2.10790688e-04 3.12362117e+00] [ 1.57265105e-02 -4.53428437e-04 9.99876228e-01 4.85133012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.07925415399995 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:316.20, Y:3.12, Z:4.85 [[ 9.99076225e-01 -3.99901511e-02 -1.57316413e-02 3.16199334e+02] [ 3.99917947e-02 9.99199986e-01 -2.10218366e-04 3.12437451e+00] [ 1.57274625e-02 -4.19112400e-04 9.99876228e-01 4.85094822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.109254154 meters Centerline goodness : 0.999062 Centerline is valid? [True, True] Translation: X:316.23, Y:3.13, Z:4.85 [[ 9.99197245e-01 -3.68426429e-02 -1.57316492e-02 3.16229671e+02] [ 3.68439060e-02 9.99321011e-01 -2.09630264e-04 3.12638523e+00] [ 1.57286909e-02 -3.70153420e-04 9.99876228e-01 4.85289505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.13925415399996 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:316.26, Y:3.13, Z:4.85 [[ 9.99299721e-01 -3.39497133e-02 -1.57316531e-02 3.16259702e+02] [ 3.39506226e-02 9.99423490e-01 -2.09338661e-04 3.12708648e+00] [ 1.57296906e-02 -3.24907350e-04 9.99876228e-01 4.85284885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.169254154 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:316.29, Y:3.13, Z:4.85 [[ 9.99299721e-01 -3.39497133e-02 -1.57316531e-02 3.16290695e+02] [ 3.39506226e-02 9.99423490e-01 -2.09338661e-04 3.12749890e+00] [ 1.57296906e-02 -3.24907350e-04 9.99876228e-01 4.85333656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.19925415399996 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:316.32, Y:3.13, Z:4.85 [[ 9.99384521e-01 -3.13543289e-02 -1.57316531e-02 3.16321252e+02] [ 3.13549167e-02 9.99508292e-01 -2.09338661e-04 3.12868391e+00] [ 1.57304813e-02 -2.84054854e-04 9.99876228e-01 4.85483937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.229254154 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:316.35, Y:3.13, Z:4.85 [[ 9.99567696e-01 -2.48382153e-02 -1.57316531e-02 3.16350955e+02] [ 2.48379962e-02 9.99691467e-01 -2.09338661e-04 3.12965830e+00] [ 1.57319989e-02 -1.81494576e-04 9.99876228e-01 4.85473504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.25925415399996 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:316.38, Y:3.13, Z:4.86 [[ 9.99642250e-01 -2.16306980e-02 -1.57316492e-02 3.16380205e+02] [ 2.16300773e-02 9.99766021e-01 -2.09625444e-04 3.13030972e+00] [ 1.57325027e-02 -1.30726338e-04 9.99876228e-01 4.85525305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.28925415399993 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:316.41, Y:3.13, Z:4.86 [[ 9.99756755e-01 -1.54579238e-02 -1.57315978e-02 3.16407754e+02] [ 1.54564791e-02 9.99880519e-01 -2.13418584e-04 3.13101022e+00] [ 1.57330172e-02 -2.97884412e-05 9.99876228e-01 4.85536456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.31925415399996 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:316.44, Y:3.13, Z:4.85 [[ 9.99792474e-01 -1.29431941e-02 -1.57315781e-02 3.16435907e+02] [ 1.29414155e-02 9.99916233e-01 -2.14861969e-04 3.13108911e+00] [ 1.57330413e-02 1.12284917e-05 9.99876228e-01 4.85438748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.34925415399994 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:316.46, Y:3.13, Z:4.86 [[ 9.99801606e-01 -1.22174952e-02 -1.57315150e-02 3.16464654e+02] [ 1.22155556e-02 9.99925363e-01 -2.19383335e-04 3.13159573e+00] [ 1.57330212e-02 2.71706148e-05 9.99876228e-01 4.85683696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.37925415399997 meters Centerline goodness : 0.999372 Centerline is valid? [True, True] Translation: X:316.49, Y:3.13, Z:4.86 [[ 9.99800387e-01 -1.23169491e-02 -1.57314582e-02 3.16492307e+02] [ 1.23149588e-02 9.99924143e-01 -2.23384636e-04 3.13196654e+00] [ 1.57330163e-02 2.96077851e-05 9.99876228e-01 4.85624645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.40925415399994 meters Centerline goodness : 0.999372 Centerline is valid? [True, True] Translation: X:316.52, Y:3.13, Z:4.86 [[ 9.99796540e-01 -1.26254160e-02 -1.57313929e-02 3.16520709e+02] [ 1.26233930e-02 9.99920296e-01 -2.27893016e-04 3.13249403e+00] [ 1.57330163e-02 2.92630939e-05 9.99876228e-01 4.85669450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.43925415399997 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:316.55, Y:3.13, Z:4.86 [[ 9.99771997e-01 -1.44387906e-02 -1.57313211e-02 3.16548856e+02] [ 1.44369157e-02 9.99895755e-01 -2.32746071e-04 3.13116155e+00] [ 1.57330417e-02 5.58124727e-06 9.99876228e-01 4.85730107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.46925415399994 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:316.58, Y:3.13, Z:4.86 [[ 9.99664577e-01 -2.05732819e-02 -1.57312987e-02 3.16576851e+02] [ 2.05721428e-02 9.99788344e-01 -2.34246207e-04 3.12886306e+00] [ 1.57327883e-02 -8.94588881e-05 9.99876228e-01 4.85836292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.49925415399997 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:316.60, Y:3.13, Z:4.86 [[ 9.99567324e-01 -2.48534204e-02 -1.57312779e-02 3.16604976e+02] [ 2.48527894e-02 9.99691094e-01 -2.35635770e-04 3.12741793e+00] [ 1.57322748e-02 -1.55432321e-04 9.99876228e-01 4.85860122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.52925415399994 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:316.63, Y:3.13, Z:4.86 [[ 9.99441524e-01 -2.94816672e-02 -1.57312102e-02 3.16633936e+02] [ 2.94815394e-02 9.99565296e-01 -2.40074519e-04 3.12603930e+00] [ 1.57314496e-02 -2.23839851e-04 9.99876228e-01 4.85908101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.559254154 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:316.66, Y:3.12, Z:4.86 [[ 9.99134126e-01 -3.85166055e-02 -1.57311487e-02 3.16662619e+02] [ 3.85175344e-02 9.99257895e-01 -2.44039985e-04 3.12333292e+00] [ 1.57288741e-02 -3.62096383e-04 9.99876228e-01 4.85906920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.58925415399995 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:316.69, Y:3.12, Z:4.86 [[ 9.98820535e-01 -4.59355082e-02 -1.57311356e-02 3.16692740e+02] [ 4.59373430e-02 9.98944293e-01 -2.44882701e-04 3.12058996e+00] [ 1.57257769e-02 -4.78052699e-04 9.99876228e-01 4.85951875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.619254154 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:316.72, Y:3.12, Z:4.86 [[ 9.98687681e-01 -4.87385666e-02 -1.57311356e-02 3.16724171e+02] [ 4.87407487e-02 9.98811433e-01 -2.44882701e-04 3.11940936e+00] [ 1.57243733e-02 -5.22185987e-04 9.99876228e-01 4.85962521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.64925415399995 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:316.76, Y:3.12, Z:4.86 [[ 9.98689461e-01 -4.87020616e-02 -1.57311445e-02 3.16756006e+02] [ 4.87042482e-02 9.98813214e-01 -2.44308308e-04 3.11987368e+00] [ 1.57243733e-02 -5.22185433e-04 9.99876228e-01 4.86012608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.679254154 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:316.79, Y:3.12, Z:4.86 [[ 9.98568863e-01 -5.11151247e-02 -1.57311534e-02 3.16787339e+02] [ 5.11176194e-02 9.98692610e-01 -2.43733360e-04 3.11909643e+00] [ 1.57230451e-02 -5.60754568e-04 9.99876228e-01 4.86093017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.70925415399995 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:316.82, Y:3.12, Z:4.86 [[ 9.98375152e-01 -5.47684835e-02 -1.57311667e-02 3.16819855e+02] [ 5.47714445e-02 9.98498888e-01 -2.42873924e-04 3.11808426e+00] [ 1.57208543e-02 -6.19139431e-04 9.99876228e-01 4.86154172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.739254154 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:316.85, Y:3.12, Z:4.86 [[ 9.98312059e-01 -5.59067396e-02 -1.57311845e-02 3.16850880e+02] [ 5.59098600e-02 9.98435791e-01 -2.41709277e-04 3.11789033e+00] [ 1.57200909e-02 -6.38227039e-04 9.99876228e-01 4.86191600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.76925415399995 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:316.88, Y:3.12, Z:4.86 [[ 9.98250095e-01 -5.70024357e-02 -1.57311978e-02 3.16881980e+02] [ 5.70057055e-02 9.98373824e-01 -2.40841015e-04 3.11814953e+00] [ 1.57193447e-02 -6.56348466e-04 9.99876228e-01 4.86173012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.799254154 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:316.91, Y:3.12, Z:4.86 [[ 9.98130412e-01 -5.90610637e-02 -1.57312110e-02 3.16913832e+02] [ 5.90646022e-02 9.98254134e-01 -2.39981673e-04 3.11844884e+00] [ 1.57179199e-02 -6.89624711e-04 9.99876228e-01 4.86316570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.82925415399995 meters Centerline goodness : 0.998955 Centerline is valid? [True, True] Translation: X:316.95, Y:3.12, Z:4.86 [[ 9.98103741e-01 -5.95100840e-02 -1.57312289e-02 3.16945144e+02] [ 5.95136968e-02 9.98227460e-01 -2.38800186e-04 3.11824686e+00] [ 1.57175557e-02 -6.97876227e-04 9.99876228e-01 4.86180383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.859254154 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:316.98, Y:3.12, Z:4.86 [[ 9.98020189e-01 -6.08952380e-02 -1.57312578e-02 3.16977774e+02] [ 6.08990526e-02 9.98143902e-01 -2.36882955e-04 3.11858099e+00] [ 1.57164840e-02 -7.21604722e-04 9.99876228e-01 4.86411170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.88925415399996 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:317.01, Y:3.12, Z:4.86 [[ 9.97930291e-01 -6.23511097e-02 -1.57312753e-02 3.17008559e+02] [ 6.23551232e-02 9.98053998e-01 -2.35713850e-04 3.11918554e+00] [ 1.57153592e-02 -7.45699616e-04 9.99876228e-01 4.86445398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.919254154 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:317.04, Y:3.12, Z:4.86 [[ 9.97908285e-01 -6.27023168e-02 -1.57312883e-02 3.17040977e+02] [ 6.27063876e-02 9.98031990e-01 -2.34843135e-04 3.12034653e+00] [ 1.57150542e-02 -7.52100349e-04 9.99876228e-01 4.86443076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.94925415399996 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:317.07, Y:3.12, Z:4.86 [[ 9.97907842e-01 -6.27093765e-02 -1.57313052e-02 3.17072959e+02] [ 6.27134659e-02 9.98031546e-01 -2.33706903e-04 3.12206279e+00] [ 1.57149944e-02 -7.53346719e-04 9.99876228e-01 4.86394758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.979254154 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:317.10, Y:3.12, Z:4.86 [[ 9.97942817e-01 -6.21503001e-02 -1.57313224e-02 3.17104956e+02] [ 6.21543386e-02 9.98066523e-01 -2.32541610e-04 3.12332687e+00] [ 1.57153588e-02 -7.45706708e-04 9.99876228e-01 4.86394273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.00925415399996 meters Centerline goodness : 0.999247 Centerline is valid? [True, True] Translation: X:317.14, Y:3.12, Z:4.86 [[ 9.97990262e-01 -6.13837232e-02 -1.57313396e-02 3.17136414e+02] [ 6.13876851e-02 9.98113971e-01 -2.31370839e-04 3.12478698e+00] [ 1.57158722e-02 -7.34804676e-04 9.99876228e-01 4.86308968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.03925415399993 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:317.17, Y:3.13, Z:4.86 [[ 9.98057274e-01 -6.02843441e-02 -1.57313524e-02 3.17168272e+02] [ 6.02881835e-02 9.98180987e-01 -2.30498037e-04 3.12622311e+00] [ 1.57166323e-02 -7.18364417e-04 9.99876228e-01 4.86363471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.06925415399996 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:317.20, Y:3.13, Z:4.86 [[ 9.98131730e-01 -5.90387530e-02 -1.57313692e-02 3.17200402e+02] [ 5.90424561e-02 9.98255446e-01 -2.29344663e-04 3.12771532e+00] [ 1.57174652e-02 -6.99902490e-04 9.99876228e-01 4.86365115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.09925415399994 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:317.23, Y:3.13, Z:4.86 [[ 9.98313958e-01 -5.58727569e-02 -1.57313859e-02 3.17232778e+02] [ 5.58760857e-02 9.98437685e-01 -2.28190919e-04 3.13144345e+00] [ 1.57195582e-02 -6.51202089e-04 9.99876228e-01 4.86375559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.12925415399997 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:317.26, Y:3.13, Z:4.86 [[ 9.98425149e-01 -5.38492737e-02 -1.57314028e-02 3.17264713e+02] [ 5.38523701e-02 9.98548882e-01 -2.27020654e-04 3.13378472e+00] [ 1.57207996e-02 -6.20510197e-04 9.99876228e-01 4.86464883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.15925415399994 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:317.30, Y:3.14, Z:4.87 [[ 9.98533472e-01 -5.18018204e-02 -1.57314197e-02 3.17296479e+02] [ 5.18046817e-02 9.98657210e-01 -2.25845893e-04 3.13606808e+00] [ 1.57219949e-02 -5.89446506e-04 9.99876228e-01 4.86548541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.18925415399997 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:317.33, Y:3.14, Z:4.87 [[ 9.98723058e-01 -4.80080802e-02 -1.57314365e-02 3.17327778e+02] [ 4.80104899e-02 9.98846806e-01 -2.24667904e-04 3.14005030e+00] [ 1.57240810e-02 -5.30892957e-04 9.99876228e-01 4.86652271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.21925415399994 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:317.36, Y:3.14, Z:4.87 [[ 9.98814625e-01 -4.60637291e-02 -1.57314490e-02 3.17360350e+02] [ 4.60659116e-02 9.98938377e-01 -2.23790619e-04 3.14223056e+00] [ 1.57250568e-02 -5.01158196e-04 9.99876228e-01 4.86753767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.24925415399997 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] Translation: X:317.39, Y:3.14, Z:4.87 [[ 9.98888301e-01 -4.44374169e-02 -1.57314655e-02 3.17392981e+02] [ 4.44394163e-02 9.99012056e-01 -2.22625822e-04 3.14427140e+00] [ 1.57258166e-02 -4.76718814e-04 9.99876228e-01 4.86819611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.27925415399994 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:317.42, Y:3.15, Z:4.87 [[ 9.99007037e-01 -4.16828653e-02 -1.57314820e-02 3.17423954e+02] [ 4.16845419e-02 9.99130797e-01 -2.21451189e-04 3.14734331e+00] [ 1.57270389e-02 -4.34528325e-04 9.99876228e-01 4.86846320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.309254154 meters Centerline goodness : 0.998997 Centerline is valid? [True, True] Translation: X:317.46, Y:3.15, Z:4.87 [[ 9.99049032e-01 -4.06638963e-02 -1.57314902e-02 3.17455537e+02] [ 4.06654559e-02 9.99172794e-01 -2.20868659e-04 3.14956779e+00] [ 1.57274584e-02 -4.19069601e-04 9.99876228e-01 4.86922355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.33925415399995 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:317.49, Y:3.15, Z:4.87 [[ 9.99104983e-01 -3.92651668e-02 -1.57314984e-02 3.17485987e+02] [ 3.92665623e-02 9.99228747e-01 -2.20283071e-04 3.15164192e+00] [ 1.57280149e-02 -3.97635948e-04 9.99876228e-01 4.86898599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.369254154 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:317.52, Y:3.16, Z:4.87 [[ 9.99161609e-01 -3.77968015e-02 -1.57315024e-02 3.17516675e+02] [ 3.77980196e-02 9.99285375e-01 -2.19992704e-04 3.15512030e+00] [ 1.57285754e-02 -3.74811374e-04 9.99876228e-01 4.86992584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.39925415399995 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:317.55, Y:3.16, Z:4.87 [[ 9.99186717e-01 -3.71271320e-02 -1.57315149e-02 3.17548204e+02] [ 3.71282812e-02 9.99310484e-01 -2.19099781e-04 3.15643015e+00] [ 1.57288023e-02 -3.65162518e-04 9.99876228e-01 4.87040145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.429254154 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:317.58, Y:3.16, Z:4.87 [[ 9.99218035e-01 -3.62744643e-02 -1.57315229e-02 3.17578757e+02] [ 3.62755169e-02 9.99341803e-01 -2.18526174e-04 3.15748111e+00] [ 1.57290953e-02 -3.52313829e-04 9.99876228e-01 4.87041070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.45925415399995 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:317.61, Y:3.16, Z:4.87 [[ 9.99239416e-01 -3.56806423e-02 -1.57315268e-02 3.17610309e+02] [ 3.56816259e-02 9.99363184e-01 -2.18241670e-04 3.15865314e+00] [ 1.57292957e-02 -3.43250775e-04 9.99876228e-01 4.87117022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.489254154 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:317.64, Y:3.16, Z:4.87 [[ 9.99284730e-01 -3.43881752e-02 -1.57315347e-02 3.17641313e+02] [ 3.43890076e-02 9.99408499e-01 -2.17672331e-04 3.16100670e+00] [ 1.57297148e-02 -3.23475230e-04 9.99876228e-01 4.87211675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.51925415399995 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:317.67, Y:3.16, Z:4.87 [[ 9.99307243e-01 -3.37276396e-02 -1.57315427e-02 3.17672127e+02] [ 3.37283994e-02 9.99431012e-01 -2.17088657e-04 3.16249627e+00] [ 1.57299136e-02 -3.13661489e-04 9.99876228e-01 4.87237358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.549254154 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:317.70, Y:3.16, Z:4.87 [[ 9.99336947e-01 -3.28357329e-02 -1.57315467e-02 3.17703040e+02] [ 3.28363868e-02 9.99460717e-01 -2.16799076e-04 3.16415424e+00] [ 1.57301817e-02 -2.99911827e-04 9.99876228e-01 4.87276231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.57925415399995 meters Centerline goodness : 0.999226 Centerline is valid? [True, True] Translation: X:317.73, Y:3.17, Z:4.87 [[ 9.99393875e-01 -3.10548203e-02 -1.57315467e-02 3.17733334e+02] [ 3.10552536e-02 9.99517646e-01 -2.16799076e-04 3.16598073e+00] [ 1.57306912e-02 -2.71879505e-04 9.99876228e-01 4.87295380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.609254154 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:317.76, Y:3.17, Z:4.87 [[ 9.99428685e-01 -2.99135844e-02 -1.57315467e-02 3.17762793e+02] [ 2.99138764e-02 9.99552456e-01 -2.16799076e-04 3.16652894e+00] [ 1.57309914e-02 -2.53916330e-04 9.99876228e-01 4.87291385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.63925415399996 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:317.79, Y:3.17, Z:4.87 [[ 9.99480516e-01 -2.81285684e-02 -1.57315477e-02 3.17793476e+02] [ 2.81286404e-02 9.99604288e-01 -2.16729213e-04 3.16747953e+00] [ 1.57314188e-02 -2.25890422e-04 9.99876228e-01 4.87302477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.669254154 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:317.82, Y:3.17, Z:4.87 [[ 9.99498258e-01 -2.74909353e-02 -1.57315477e-02 3.17823463e+02] [ 2.74909285e-02 9.99622030e-01 -2.16729213e-04 3.16830776e+00] [ 1.57315597e-02 -2.15854381e-04 9.99876228e-01 4.87375725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.69925415399996 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:317.85, Y:3.17, Z:4.87 [[ 9.99505051e-01 -2.72428314e-02 -1.57315397e-02 3.17853500e+02] [ 2.72427847e-02 9.99628823e-01 -2.17309498e-04 3.16906660e+00] [ 1.57316206e-02 -2.11369008e-04 9.99876228e-01 4.87419352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.729254154 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:317.88, Y:3.17, Z:4.88 [[ 9.99497008e-01 -2.75363344e-02 -1.57315317e-02 3.17883552e+02] [ 2.75363149e-02 9.99620780e-01 -2.17886530e-04 3.16978686e+00] [ 1.57315658e-02 -2.15411477e-04 9.99876228e-01 4.87521453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.75925415399996 meters Centerline goodness : 0.999058 Centerline is valid? [True, True] Translation: X:317.91, Y:3.17, Z:4.88 [[ 9.99451335e-01 -2.91470098e-02 -1.57315237e-02 3.17912955e+02] [ 2.91471807e-02 9.99575107e-01 -2.18463062e-04 3.16938301e+00] [ 1.57312070e-02 -2.40186364e-04 9.99876228e-01 4.87602432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.78925415399993 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:317.94, Y:3.17, Z:4.88 [[ 9.99408952e-01 -3.05657515e-02 -1.57315156e-02 3.17942924e+02] [ 3.05660891e-02 9.99532724e-01 -2.19040094e-04 3.16869752e+00] [ 1.57308598e-02 -2.61940277e-04 9.99876228e-01 4.87631710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.81925415399996 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:317.97, Y:3.17, Z:4.88 [[ 9.99351866e-01 -3.23784979e-02 -1.57315075e-02 3.17972810e+02] [ 3.23790508e-02 9.99475637e-01 -2.19620125e-04 3.16804707e+00] [ 1.57303695e-02 -2.89893501e-04 9.99876228e-01 4.87622047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.84925415399994 meters Centerline goodness : 0.999038 Centerline is valid? [True, True] Translation: X:318.00, Y:3.17, Z:4.87 [[ 9.99225679e-01 -3.60633088e-02 -1.57315086e-02 3.18003509e+02] [ 3.60643192e-02 9.99349447e-01 -2.19546243e-04 3.16620636e+00] [ 1.57291920e-02 -3.47969903e-04 9.99876228e-01 4.87448999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.87925415399997 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:318.03, Y:3.17, Z:4.88 [[ 9.99112573e-01 -3.90715517e-02 -1.57315086e-02 3.18034401e+02] [ 3.90729348e-02 9.99236337e-01 -2.19546243e-04 3.16622605e+00] [ 1.57280730e-02 -3.95324796e-04 9.99876228e-01 4.87673894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.90925415399994 meters Centerline goodness : 0.999288 Centerline is valid? [True, True] Translation: X:318.07, Y:3.16, Z:4.88 [[ 9.98916447e-01 -4.38001207e-02 -1.57315166e-02 3.18065318e+02] [ 4.38020987e-02 9.99040204e-01 -2.18969173e-04 3.16490851e+00] [ 1.57260084e-02 -4.70341534e-04 9.99876228e-01 4.87622991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.93925415399997 meters Centerline goodness : 0.999288 Centerline is valid? [True, True] Translation: X:318.10, Y:3.17, Z:4.88 [[ 9.98919670e-01 -4.37265508e-02 -1.57315246e-02 3.18097999e+02] [ 4.37285287e-02 9.99043427e-01 -2.18392044e-04 3.16530313e+00] [ 1.57260258e-02 -4.69760317e-04 9.99876228e-01 4.87674404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.96925415399994 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:318.13, Y:3.16, Z:4.88 [[ 9.98713470e-01 -4.82070954e-02 -1.57315406e-02 3.18129314e+02] [ 4.82096466e-02 9.98837215e-01 -2.17233421e-04 3.16448003e+00] [ 1.57237204e-02 -5.41458071e-04 9.99876228e-01 4.87711906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.99925415399997 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:318.16, Y:3.16, Z:4.88 [[ 9.98616415e-01 -5.01774335e-02 -1.57315525e-02 3.18160418e+02] [ 5.01802425e-02 9.98740155e-01 -2.16370459e-04 3.16473799e+00] [ 1.57225901e-02 -5.73342027e-04 9.99876228e-01 4.87794346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.02925415399994 meters Centerline goodness : 0.998726 Centerline is valid? [True, True] Translation: X:318.20, Y:3.16, Z:4.88 [[ 9.98743915e-01 -4.75721574e-02 -1.57315642e-02 3.18196135e+02] [ 4.75746570e-02 9.98867662e-01 -2.15514210e-04 3.16004845e+00] [ 1.57240032e-02 -5.33180266e-04 9.99876228e-01 4.87863245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.059254154 meters Centerline goodness : 0.998767 Centerline is valid? [True, True] Translation: X:318.22, Y:3.17, Z:4.88 [[ 9.98429472e-01 -5.37676894e-02 -1.57361134e-02 3.18219472e+02] [ 5.37762806e-02 9.98553001e-01 1.23021506e-04 3.16568214e+00] [ 1.57067287e-02 -9.69057947e-04 9.99876172e-01 4.87910320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.08925415399995 meters Centerline goodness : 0.998432 Centerline is valid? [True, True] Translation: X:318.25, Y:3.16, Z:4.88 [[ 9.98497618e-01 -5.24884306e-02 -1.57312355e-02 3.18254768e+02] [ 5.24914330e-02 9.98621350e-01 -2.22273026e-04 3.16247324e+00] [ 1.57212144e-02 -6.03816008e-04 9.99876232e-01 4.88017798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.119254154 meters Centerline goodness : 0.998642 Centerline is valid? [True, True] Translation: X:318.29, Y:3.16, Z:4.88 [[ 9.98442897e-01 -5.35180563e-02 -1.57353085e-02 3.18286034e+02] [ 5.35258067e-02 9.98566464e-01 7.15109678e-05 3.16356429e+00] [ 1.57089242e-02 -9.13644698e-04 9.99876190e-01 4.88156717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.14925415399995 meters Centerline goodness : 0.998957 Centerline is valid? [True, True] Translation: X:318.31, Y:3.17, Z:4.88 [[ 9.98213816e-01 -5.76332705e-02 -1.57348164e-02 3.18310934e+02] [ 5.76409775e-02 9.98337376e-01 3.63561041e-05 3.16951728e+00] [ 1.57065600e-02 -9.43261361e-04 9.99876199e-01 4.88303703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.179254154 meters Centerline goodness : 0.998726 Centerline is valid? [True, True] Translation: X:318.34, Y:3.17, Z:4.88 [[ 9.98218094e-01 -5.75601560e-02 -1.57310420e-02 3.18341871e+02] [ 5.75637252e-02 9.98341808e-01 -2.26186774e-04 3.17025880e+00] [ 1.57179762e-02 -6.79753647e-04 9.99876234e-01 4.88372629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.20925415399995 meters Centerline goodness : 0.998829 Centerline is valid? [True, True] Translation: X:318.37, Y:3.17, Z:4.89 [[ 9.98218497e-01 -5.75531681e-02 -1.57310537e-02 3.18373906e+02] [ 5.75567494e-02 9.98342211e-01 -2.25367246e-04 3.17108804e+00] [ 1.57179455e-02 -6.80462562e-04 9.99876234e-01 4.88573071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.239254154 meters Centerline goodness : 0.998516 Centerline is valid? [True, True] Translation: X:318.41, Y:3.17, Z:4.88 [[ 9.98488888e-01 -5.26542890e-02 -1.57310705e-02 3.18410641e+02] [ 5.26572817e-02 9.98612618e-01 -2.24188633e-04 3.16693346e+00] [ 1.57210500e-02 -6.04505551e-04 9.99876234e-01 4.88261062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.26925415399995 meters Centerline goodness : 0.998747 Centerline is valid? [True, True] Translation: X:318.44, Y:3.17, Z:4.89 [[ 9.98257035e-01 -5.68797547e-02 -1.57348294e-02 3.18435298e+02] [ 5.68875073e-02 9.98380594e-01 4.51932148e-05 3.17386028e+00] [ 1.57067777e-02 -9.40229665e-04 9.99876199e-01 4.88655313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.299254154 meters Centerline goodness : 0.998747 Centerline is valid? [True, True] Translation: X:318.47, Y:3.17, Z:4.89 [[ 9.98261122e-01 -5.68090561e-02 -1.57309456e-02 3.18467977e+02] [ 5.68125410e-02 9.98384838e-01 -2.25627219e-04 3.17440220e+00] [ 1.57183552e-02 -6.68480111e-04 9.99876236e-01 4.88713490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.32925415399995 meters Centerline goodness : 0.998891 Centerline is valid? [True, True] Translation: X:318.50, Y:3.18, Z:4.89 [[ 9.98273733e-01 -5.65870216e-02 -1.57309625e-02 3.18500335e+02] [ 5.65904975e-02 9.98397449e-01 -2.24445886e-04 3.17553336e+00] [ 1.57184535e-02 -6.66164559e-04 9.99876236e-01 4.88774343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.359254154 meters Centerline goodness : 0.998975 Centerline is valid? [True, True] Translation: X:318.53, Y:3.18, Z:4.89 [[ 9.98288370e-01 -5.63282132e-02 -1.57309791e-02 3.18531890e+02] [ 5.63316755e-02 9.98412086e-01 -2.23274631e-04 3.17664255e+00] [ 1.57185763e-02 -6.63259941e-04 9.99876236e-01 4.88638459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.38925415399996 meters Centerline goodness : 0.998394 Centerline is valid? [True, True] Translation: X:318.56, Y:3.18, Z:4.89 [[ 9.98351887e-01 -5.51909900e-02 -1.57309914e-02 3.18563934e+02] [ 5.51943251e-02 9.98475607e-01 -2.22399477e-04 3.17750025e+00] [ 1.57192857e-02 -6.46228518e-04 9.99876236e-01 4.88658080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.419254154 meters Centerline goodness : 0.998934 Centerline is valid? [True, True] Translation: X:318.60, Y:3.18, Z:4.89 [[ 9.98357616e-01 -5.50872569e-02 -1.57310078e-02 3.18595199e+02] [ 5.50905974e-02 9.98481335e-01 -2.21237998e-04 3.17985049e+00] [ 1.57193051e-02 -6.45755977e-04 9.99876236e-01 4.88839457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.44925415399996 meters Centerline goodness : 0.998726 Centerline is valid? [True, True] Translation: X:318.63, Y:3.18, Z:4.89 [[ 9.98371324e-01 -5.48384192e-02 -1.57304290e-02 3.18628049e+02] [ 5.48410780e-02 9.98495061e-01 -2.62615968e-04 3.18015683e+00] [ 1.57211571e-02 -6.00485430e-04 9.99876235e-01 4.88649828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.479254154 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:318.66, Y:3.18, Z:4.89 [[ 9.98318063e-01 -5.57994622e-02 -1.57310343e-02 3.18659127e+02] [ 5.58029235e-02 9.98441779e-01 -2.19169457e-04 3.18146886e+00] [ 1.57187514e-02 -6.59036875e-04 9.99876236e-01 4.88855360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.50925415399996 meters Centerline goodness : 0.998558 Centerline is valid? [True, True] Translation: X:318.70, Y:3.18, Z:4.88 [[ 9.98705212e-01 -4.83780217e-02 -1.57310463e-02 3.18696728e+02] [ 4.83805771e-02 9.98828950e-01 -2.18303636e-04 3.17545359e+00] [ 1.57231856e-02 -5.43056119e-04 9.99876236e-01 4.88200912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.53925415399993 meters Centerline goodness : 0.998765 Centerline is valid? [True, True] Translation: X:318.72, Y:3.18, Z:4.89 [[ 9.98359949e-01 -5.50433963e-02 -1.57365001e-02 3.18718175e+02] [ 5.50531524e-02 9.98483408e-01 1.87114778e-04 3.18469864e+00] [ 1.57023348e-02 -1.05315184e-03 9.99876156e-01 4.88874488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.56925415399996 meters Centerline goodness : 0.998912 Centerline is valid? [True, True] Translation: X:318.75, Y:3.19, Z:4.89 [[ 9.98482487e-01 -5.27756509e-02 -1.57306395e-02 3.18750385e+02] [ 5.27786583e-02 9.98606210e-01 -2.24191736e-04 3.18775039e+00] [ 1.57205461e-02 -6.06390525e-04 9.99876241e-01 4.88916453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.59925415399994 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:318.78, Y:3.19, Z:4.89 [[ 9.98549420e-01 -5.14937073e-02 -1.57306558e-02 3.18781571e+02] [ 5.14965740e-02 9.98673146e-01 -2.23041269e-04 3.18953579e+00] [ 1.57212687e-02 -5.87357151e-04 9.99876241e-01 4.88952198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.62925415399997 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:318.81, Y:3.19, Z:4.89 [[ 9.98622427e-01 -5.00579166e-02 -1.57306679e-02 3.18813561e+02] [ 5.00606188e-02 9.98746156e-01 -2.22185068e-04 3.19111933e+00] [ 1.57220662e-02 -5.65607977e-04 9.99876241e-01 4.89075834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.65925415399994 meters Centerline goodness : 0.998974 Centerline is valid? [True, True] Translation: X:318.84, Y:3.19, Z:4.89 [[ 9.98721275e-01 -4.80453902e-02 -1.57306844e-02 3.18844277e+02] [ 4.80478616e-02 9.98845010e-01 -2.21008302e-04 3.19335611e+00] [ 1.57231341e-02 -5.35100055e-04 9.99876241e-01 4.89149676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.68925415399997 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:318.88, Y:3.19, Z:4.89 [[ 9.98782594e-01 -4.67533402e-02 -1.57306967e-02 3.18875834e+02] [ 4.67556654e-02 9.98906332e-01 -2.20131059e-04 3.19435326e+00] [ 1.57237844e-02 -5.15636121e-04 9.99876241e-01 4.89004159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.71925415399994 meters Centerline goodness : 0.999015 Centerline is valid? [True, True] Translation: X:318.91, Y:3.20, Z:4.89 [[ 9.98773567e-01 -4.69457753e-02 -1.57307087e-02 3.18908306e+02] [ 4.69481379e-02 9.98897304e-01 -2.19268513e-04 3.19628151e+00] [ 1.57236563e-02 -5.19527887e-04 9.99876241e-01 4.89369604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.74925415399997 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:318.94, Y:3.20, Z:4.90 [[ 9.98799447e-01 -4.63919063e-02 -1.57307249e-02 3.18939683e+02] [ 4.63942186e-02 9.98923185e-01 -2.18103396e-04 3.19899192e+00] [ 1.57239040e-02 -5.11973138e-04 9.99876241e-01 4.89554130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.77925415399994 meters Centerline goodness : 0.999098 Centerline is valid? [True, True] Translation: X:318.97, Y:3.20, Z:4.90 [[ 9.98813224e-01 -4.60943423e-02 -1.57307369e-02 3.18971670e+02] [ 4.60966314e-02 9.98936962e-01 -2.17235631e-04 3.20012846e+00] [ 1.57240278e-02 -5.08156157e-04 9.99876241e-01 4.89715116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.809254154 meters Centerline goodness : 0.998910 Centerline is valid? [True, True] Translation: X:319.01, Y:3.20, Z:4.89 [[ 9.99009417e-01 -4.16260586e-02 -1.57307531e-02 3.19005791e+02] [ 4.16278127e-02 9.99133164e-01 -2.16053795e-04 3.19602762e+00] [ 1.57261106e-02 -4.38997068e-04 9.99876241e-01 4.89366073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.83925415399995 meters Centerline goodness : 0.998910 Centerline is valid? [True, True] Translation: X:319.03, Y:3.20, Z:4.90 [[ 9.98762641e-01 -4.71766247e-02 -1.57338458e-02 3.19031842e+02] [ 4.71826931e-02 9.98886276e-01 1.44984924e-05 3.20214227e+00] [ 1.57156387e-02 -7.56845770e-04 9.99876215e-01 4.89821246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.869254154 meters Centerline goodness : 0.999139 Centerline is valid? [True, True] Translation: X:319.06, Y:3.20, Z:4.90 [[ 9.98742372e-01 -4.76048375e-02 -1.57306441e-02 3.19062669e+02] [ 4.76073126e-02 9.98866105e-01 -2.17303337e-04 3.20312624e+00] [ 1.57231519e-02 -5.31863641e-04 9.99876242e-01 4.89840146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.89925415399995 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:319.09, Y:3.20, Z:4.90 [[ 9.98715133e-01 -4.81729106e-02 -1.57306562e-02 3.19094300e+02] [ 4.81754699e-02 9.98838865e-01 -2.16425715e-04 3.20488649e+00] [ 1.57228166e-02 -5.41684117e-04 9.99876242e-01 4.89776149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.929254154 meters Centerline goodness : 0.999267 Centerline is valid? [True, True] Translation: X:319.13, Y:3.21, Z:4.90 [[ 9.98686753e-01 -4.87577132e-02 -1.57306681e-02 3.19126479e+02] [ 4.87603586e-02 9.98810483e-01 -2.15555034e-04 3.20629439e+00] [ 1.57224662e-02 -5.51761062e-04 9.99876242e-01 4.89801445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.95925415399995 meters Centerline goodness : 0.999267 Centerline is valid? [True, True] Translation: X:319.16, Y:3.21, Z:4.90 [[ 9.98690383e-01 -4.86833139e-02 -1.57306841e-02 3.19159163e+02] [ 4.86859685e-02 9.98814112e-01 -2.14383157e-04 3.20668090e+00] [ 1.57224661e-02 -5.51761193e-04 9.99876242e-01 4.89852843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.989254154 meters Centerline goodness : 0.998992 Centerline is valid? [True, True] Translation: X:319.19, Y:3.21, Z:4.90 [[ 9.98652356e-01 -4.94572321e-02 -1.57307000e-02 3.19190315e+02] [ 4.94600010e-02 9.98776082e-01 -2.13211412e-04 3.20858259e+00] [ 1.57219917e-02 -5.65116358e-04 9.99876242e-01 4.89753984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.01925415399995 meters Centerline goodness : 0.999013 Centerline is valid? [True, True] Translation: X:319.22, Y:3.21, Z:4.90 [[ 9.98634015e-01 -4.98261950e-02 -1.57307118e-02 3.19222964e+02] [ 4.98290233e-02 9.98757740e-01 -2.12338745e-04 3.20946459e+00] [ 1.57217501e-02 -5.71797309e-04 9.99876242e-01 4.89781473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.049254154 meters Centerline goodness : 0.998930 Centerline is valid? [True, True] Translation: X:319.25, Y:3.21, Z:4.90 [[ 9.98654871e-01 -4.94064046e-02 -1.57307271e-02 3.19253877e+02] [ 4.94091990e-02 9.98778597e-01 -2.11193562e-04 3.21024456e+00] [ 1.57219479e-02 -5.66333147e-04 9.99876242e-01 4.89725893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.07925415399995 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:319.29, Y:3.21, Z:4.90 [[ 9.98624018e-01 -5.00263951e-02 -1.57299339e-02 3.19286705e+02] [ 5.00283322e-02 9.98747762e-01 -2.70568093e-04 3.21270813e+00] [ 1.57237718e-02 -5.16746562e-04 9.99876240e-01 4.89873649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.109254154 meters Centerline goodness : 0.998846 Centerline is valid? [True, True] Translation: X:319.32, Y:3.21, Z:4.90 [[ 9.98681070e-01 -4.88739564e-02 -1.57307706e-02 3.19319291e+02] [ 4.88767511e-02 9.98804796e-01 -2.06977673e-04 3.21381459e+00] [ 1.57220850e-02 -5.62164276e-04 9.99876242e-01 4.89756611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.13925415399996 meters Centerline goodness : 0.998972 Centerline is valid? [True, True] Translation: X:319.35, Y:3.22, Z:4.90 [[ 9.98741460e-01 -4.76239265e-02 -1.57307859e-02 3.19349401e+02] [ 4.76265848e-02 9.98865189e-01 -2.05805789e-04 3.21650509e+00] [ 1.57227358e-02 -5.43656837e-04 9.99876242e-01 4.89993387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.169254154 meters Centerline goodness : 0.999096 Centerline is valid? [True, True] Translation: X:319.38, Y:3.22, Z:4.90 [[ 9.98804021e-01 -4.62937235e-02 -1.57295275e-02 3.19382340e+02] [ 4.62947101e-02 9.98927780e-01 -3.01586850e-04 3.21957460e+00] [ 1.57266236e-02 -4.26967757e-04 9.99876238e-01 4.90106816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.19925415399996 meters Centerline goodness : 0.998972 Centerline is valid? [True, True] Translation: X:319.42, Y:3.21, Z:4.90 [[ 9.99162760e-01 -3.77666582e-02 -1.57307997e-02 3.19423714e+02] [ 3.77681395e-02 9.99286509e-01 -2.03009319e-04 3.21344119e+00] [ 1.57272429e-02 -3.91283687e-04 9.99876243e-01 4.89541608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.229254154 meters Centerline goodness : 0.999095 Centerline is valid? [True, True] Translation: X:319.44, Y:3.22, Z:4.90 [[ 9.98910225e-01 -4.39395154e-02 -1.57378891e-02 3.19439990e+02] [ 4.39507917e-02 9.99033628e-01 3.71190730e-04 3.22469929e+00] [ 1.57063705e-02 -1.06247890e-03 9.99876083e-01 4.90173186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.25925415399996 meters Centerline goodness : 0.999011 Centerline is valid? [True, True] Translation: X:319.47, Y:3.23, Z:4.90 [[ 9.98942699e-01 -4.31978441e-02 -1.57299270e-02 3.19472338e+02] [ 4.31998237e-02 9.99066429e-01 -2.14069825e-04 3.22652897e+00] [ 1.57244893e-02 -4.65686584e-04 9.99876254e-01 4.90270718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.28925415399993 meters Centerline goodness : 0.999033 Centerline is valid? [True, True] Translation: X:319.50, Y:3.23, Z:4.90 [[ 9.98929770e-01 -4.34958637e-02 -1.57297039e-02 3.19504746e+02] [ 4.34976214e-02 9.99053504e-01 -2.30523950e-04 3.22787084e+00] [ 1.57248426e-02 -4.53927467e-04 9.99876254e-01 4.90425944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.31925415399996 meters Centerline goodness : 0.999011 Centerline is valid? [True, True] Translation: X:319.54, Y:3.23, Z:4.91 [[ 9.98912067e-01 -4.39004793e-02 -1.57299340e-02 3.19537045e+02] [ 4.39025538e-02 9.99035795e-01 -2.13573783e-04 3.22905227e+00] [ 1.57241431e-02 -4.77242845e-04 9.99876254e-01 4.90512102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.34925415399994 meters Centerline goodness : 0.999015 Centerline is valid? [True, True] Translation: X:319.57, Y:3.23, Z:4.91 [[ 9.98824246e-01 -4.58551450e-02 -1.57299497e-02 3.19567720e+02] [ 4.58574799e-02 9.98947970e-01 -2.12412512e-04 3.23073831e+00] [ 1.57231415e-02 -5.09173084e-04 9.99876254e-01 4.90567451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.37925415399997 meters Centerline goodness : 0.999073 Centerline is valid? [True, True] Translation: X:319.60, Y:3.23, Z:4.91 [[ 9.98772548e-01 -4.69676997e-02 -1.57299613e-02 3.19599777e+02] [ 4.69701861e-02 9.98896269e-01 -2.11546379e-04 3.23185645e+00] [ 1.57225355e-02 -5.27552494e-04 9.99876254e-01 4.90571775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.40925415399994 meters Centerline goodness : 0.998841 Centerline is valid? [True, True] Translation: X:319.63, Y:3.23, Z:4.91 [[ 9.98738865e-01 -4.76785857e-02 -1.57299764e-02 3.19630754e+02] [ 4.76811779e-02 9.98862584e-01 -2.10416354e-04 3.23290177e+00] [ 1.57221173e-02 -5.39872814e-04 9.99876254e-01 4.90543764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.43925415399997 meters Centerline goodness : 0.999009 Centerline is valid? [True, True] Translation: X:319.66, Y:3.23, Z:4.91 [[ 9.98699264e-01 -4.85009975e-02 -1.57299877e-02 3.19662862e+02] [ 4.85037048e-02 9.98822981e-01 -2.09574992e-04 3.23466421e+00] [ 1.57216377e-02 -5.53660287e-04 9.99876254e-01 4.90653367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.46925415399994 meters Centerline goodness : 0.998885 Centerline is valid? [True, True] Translation: X:319.69, Y:3.24, Z:4.91 [[ 9.98705414e-01 -4.83741942e-02 -1.57300030e-02 3.19694159e+02] [ 4.83769039e-02 9.98829130e-01 -2.08417981e-04 3.23574739e+00] [ 1.57216673e-02 -5.52820677e-04 9.99876254e-01 4.90698398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.49925415399997 meters Centerline goodness : 0.998923 Centerline is valid? [True, True] Translation: X:319.73, Y:3.24, Z:4.91 [[ 9.98735165e-01 -4.77560057e-02 -1.57300144e-02 3.19725272e+02] [ 4.77586524e-02 9.98858883e-01 -2.07555473e-04 3.23778245e+00] [ 1.57219766e-02 -5.43951339e-04 9.99876254e-01 4.90768596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.52925415399994 meters Centerline goodness : 0.998965 Centerline is valid? [True, True] Translation: X:319.76, Y:3.24, Z:4.91 [[ 9.98761375e-01 -4.72046774e-02 -1.57300392e-02 3.19757071e+02] [ 4.72072858e-02 9.98885093e-01 -2.05652690e-04 3.23896268e+00] [ 1.57222095e-02 -5.37174495e-04 9.99876254e-01 4.90853791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.559254154 meters Centerline goodness : 0.998902 Centerline is valid? [True, True] Translation: X:319.79, Y:3.24, Z:4.91 [[ 9.98800046e-01 -4.63792368e-02 -1.57300540e-02 3.19789164e+02] [ 4.63817608e-02 9.98923766e-01 -2.04515337e-04 3.24008557e+00] [ 1.57226101e-02 -5.25317675e-04 9.99876254e-01 4.90922472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.58925415399995 meters Centerline goodness : 0.998817 Centerline is valid? [True, True] Translation: X:319.82, Y:3.24, Z:4.91 [[ 9.98826467e-01 -4.58067039e-02 -1.57300691e-02 3.19821278e+02] [ 4.58091754e-02 9.98950188e-01 -2.03348994e-04 3.24155804e+00] [ 1.57228702e-02 -5.17471137e-04 9.99876254e-01 4.90964165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.619254154 meters Centerline goodness : 0.998818 Centerline is valid? [True, True] Translation: X:319.85, Y:3.24, Z:4.91 [[ 9.98879310e-01 -4.46395477e-02 -1.57300841e-02 3.19851964e+02] [ 4.46418929e-02 9.99003033e-01 -2.02180618e-04 3.24387096e+00] [ 1.57234270e-02 -5.00266695e-04 9.99876254e-01 4.90955030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.64925415399995 meters Centerline goodness : 0.999133 Centerline is valid? [True, True] Translation: X:319.88, Y:3.24, Z:4.91 [[ 9.98895389e-01 -4.42782896e-02 -1.57300953e-02 3.19884445e+02] [ 4.42806038e-02 9.99019113e-01 -2.01310444e-04 3.24497018e+00] [ 1.57235795e-02 -4.95450041e-04 9.99876254e-01 4.91044214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.679254154 meters Centerline goodness : 0.998901 Centerline is valid? [True, True] Translation: X:319.92, Y:3.25, Z:4.91 [[ 9.98891875e-01 -4.43574701e-02 -1.57301100e-02 3.19915796e+02] [ 4.43598123e-02 9.99015599e-01 -2.00150667e-04 3.24635104e+00] [ 1.57235035e-02 -4.97855853e-04 9.99876254e-01 4.91037782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.70925415399995 meters Centerline goodness : 0.998879 Centerline is valid? [True, True] Translation: X:319.95, Y:3.25, Z:4.91 [[ 9.98884574e-01 -4.45215812e-02 -1.57301210e-02 3.19947792e+02] [ 4.45239574e-02 9.99008297e-01 -1.99286479e-04 3.24733457e+00] [ 1.57233939e-02 -5.01303047e-04 9.99876254e-01 4.91111701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.739254154 meters Centerline goodness : 0.999025 Centerline is valid? [True, True] Translation: X:319.98, Y:3.25, Z:4.91 [[ 9.98896338e-01 -4.42568454e-02 -1.57301353e-02 3.19977800e+02] [ 4.42592068e-02 9.99020062e-01 -1.98145000e-04 3.24827992e+00] [ 1.57234900e-02 -4.98276998e-04 9.99876254e-01 4.91105430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.76925415399995 meters Centerline goodness : 0.999026 Centerline is valid? [True, True] Translation: X:320.01, Y:3.25, Z:4.91 [[ 9.98829895e-01 -4.57320059e-02 -1.57297290e-02 3.20010681e+02] [ 4.57340368e-02 9.98953625e-01 -2.30771235e-04 3.24974727e+00] [ 1.57238234e-02 -4.88882794e-04 9.99876254e-01 4.91244194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.799254154 meters Centerline goodness : 0.998942 Centerline is valid? [True, True] Translation: X:320.04, Y:3.25, Z:4.91 [[ 9.98809215e-01 -4.61813005e-02 -1.57301816e-02 3.20042797e+02] [ 4.61839641e-02 9.98932933e-01 -1.94087421e-04 3.25032321e+00] [ 1.57223596e-02 -5.32625837e-04 9.99876254e-01 4.91320594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.82925415399995 meters Centerline goodness : 0.998878 Centerline is valid? [True, True] Translation: X:320.08, Y:3.25, Z:4.91 [[ 9.98776524e-01 -4.68830114e-02 -1.57301959e-02 3.20075241e+02] [ 4.68857803e-02 9.98900238e-01 -1.92917246e-04 3.25115160e+00] [ 1.57219410e-02 -5.44841295e-04 9.99876254e-01 4.91373170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.859254154 meters Centerline goodness : 0.998921 Centerline is valid? [True, True] Translation: X:320.11, Y:3.25, Z:4.91 [[ 9.98746696e-01 -4.75141866e-02 -1.57302103e-02 3.20107403e+02] [ 4.75170522e-02 9.98870409e-01 -1.91738180e-04 3.25200057e+00] [ 1.57215519e-02 -5.55955351e-04 9.99876254e-01 4.91416521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.88925415399996 meters Centerline goodness : 0.998772 Centerline is valid? [True, True] Translation: X:320.14, Y:3.25, Z:4.91 [[ 9.98714473e-01 -4.81867244e-02 -1.57302281e-02 3.20139436e+02] [ 4.81896964e-02 9.98838184e-01 -1.90268649e-04 3.25250137e+00] [ 1.57211209e-02 -5.68010862e-04 9.99876254e-01 4.91447205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.919254154 meters Centerline goodness : 0.998624 Centerline is valid? [True, True] Translation: X:320.17, Y:3.25, Z:4.91 [[ 9.98660478e-01 -4.92930981e-02 -1.57302421e-02 3.20171398e+02] [ 4.92962255e-02 9.98784184e-01 -1.89101786e-04 3.25283771e+00] [ 1.57204385e-02 -5.86593083e-04 9.99876254e-01 4.91426068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.94925415399996 meters Centerline goodness : 0.999047 Centerline is valid? [True, True] Translation: X:320.20, Y:3.25, Z:4.92 [[ 9.98659058e-01 -4.93218470e-02 -1.57302595e-02 3.20204099e+02] [ 4.93250009e-02 9.98782764e-01 -1.87648038e-04 3.25342195e+00] [ 1.57203672e-02 -5.88498648e-04 9.99876254e-01 4.91533874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.979254154 meters Centerline goodness : 0.999152 Centerline is valid? [True, True] Translation: X:320.23, Y:3.25, Z:4.92 [[ 9.98679786e-01 -4.89003451e-02 -1.57302805e-02 3.20234806e+02] [ 4.89034747e-02 9.98803492e-01 -1.85871690e-04 3.25400564e+00] [ 1.57205482e-02 -5.83639073e-04 9.99876254e-01 4.91513205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.00925415399996 meters Centerline goodness : 0.998938 Centerline is valid? [True, True] Translation: X:320.27, Y:3.26, Z:4.92 [[ 9.98790868e-01 -4.65763986e-02 -1.57302908e-02 3.20266794e+02] [ 4.65792542e-02 9.98914580e-01 -1.84991485e-04 3.25538599e+00] [ 1.57218331e-02 -5.47937407e-04 9.99876254e-01 4.91608013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.03925415399993 meters Centerline goodness : 0.999004 Centerline is valid? [True, True] Translation: X:320.30, Y:3.26, Z:4.92 [[ 9.98882673e-01 -4.45641501e-02 -1.57303044e-02 3.20298589e+02] [ 4.45667748e-02 9.99006391e-01 -1.83827409e-04 3.25651320e+00] [ 1.57228667e-02 -5.17426920e-04 9.99876254e-01 4.91642251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.06925415399996 meters Centerline goodness : 0.998812 Centerline is valid? [True, True] Translation: X:320.33, Y:3.26, Z:4.92 [[ 9.98992930e-01 -4.20200260e-02 -1.57303179e-02 3.20330483e+02] [ 4.20223537e-02 9.99116654e-01 -1.82669376e-04 3.25788914e+00] [ 1.57240983e-02 -4.78539566e-04 9.99876254e-01 4.91754887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.09925415399994 meters Centerline goodness : 0.999085 Centerline is valid? [True, True] Translation: X:320.36, Y:3.26, Z:4.92 [[ 9.99240148e-01 -3.56606780e-02 -1.57303312e-02 3.20362046e+02] [ 3.56622363e-02 9.99363884e-01 -1.81516206e-04 3.26048216e+00] [ 1.57267978e-02 -3.79600507e-04 9.99876254e-01 4.91873021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.12925415399997 meters Centerline goodness : 0.999152 Centerline is valid? [True, True] Translation: X:320.39, Y:3.26, Z:4.92 [[ 9.99358011e-01 -3.21888486e-02 -1.57303410e-02 3.20393773e+02] [ 3.21899906e-02 9.99481752e-01 -1.80658470e-04 3.26149201e+00] [ 1.57280040e-02 -3.25817039e-04 9.99876254e-01 4.91975125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.15925415399994 meters Centerline goodness : 0.998874 Centerline is valid? [True, True] Translation: X:320.43, Y:3.26, Z:4.92 [[ 9.99448422e-01 -2.92473503e-02 -1.57303539e-02 3.20425498e+02] [ 2.92481459e-02 9.99572165e-01 -1.79529017e-04 3.26254888e+00] [ 1.57288747e-02 -2.80653693e-04 9.99876254e-01 4.91978499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.18925415399997 meters Centerline goodness : 0.998957 Centerline is valid? [True, True] Translation: X:320.46, Y:3.26, Z:4.92 [[ 9.99573263e-01 -2.46139646e-02 -1.57303603e-02 3.20456372e+02] [ 2.46141953e-02 9.99697009e-01 -1.78970472e-04 3.26406802e+00] [ 1.57299993e-02 -2.08296061e-04 9.99876254e-01 4.91980224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.21925415399994 meters Centerline goodness : 0.998957 Centerline is valid? [True, True] Translation: X:320.49, Y:3.26, Z:4.92 [[ 9.99573263e-01 -2.46139646e-02 -1.57303603e-02 3.20487365e+02] [ 2.46141953e-02 9.99697009e-01 -1.78970472e-04 3.26442064e+00] [ 1.57299993e-02 -2.08296061e-04 9.99876254e-01 4.92028990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.24925415399997 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:320.51, Y:3.28, Z:4.92 [[ 9.99392072e-01 -3.11133717e-02 -1.57303603e-02 3.20507422e+02] [ 3.11144071e-02 9.99515814e-01 -1.78970472e-04 3.27502229e+00] [ 1.57283122e-02 -3.10579162e-04 9.99876254e-01 4.92078176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.27925415399994 meters Centerline goodness : 0.998999 Centerline is valid? [True, True] Translation: X:320.55, Y:3.27, Z:4.92 [[ 9.99624928e-01 -2.24223311e-02 -1.57239481e-02 3.20546489e+02] [ 2.24142314e-02 9.99748531e-01 -6.91183468e-04 3.26527338e+00] [ 1.57354919e-02 3.38484014e-04 9.99876132e-01 4.91989791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.309254154 meters Centerline goodness : 0.998998 Centerline is valid? [True, True] Translation: X:320.58, Y:3.27, Z:4.92 [[ 9.99612879e-01 -2.29491962e-02 -1.57297829e-02 3.20575741e+02] [ 2.29492171e-02 9.99736616e-01 -1.79201822e-04 3.26533507e+00] [ 1.57297524e-02 -1.81853753e-04 9.99876263e-01 4.91986318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.33925415399995 meters Centerline goodness : 0.999191 Centerline is valid? [True, True] Translation: X:320.60, Y:3.27, Z:4.92 [[ 9.99474077e-01 -2.83574218e-02 -1.57297763e-02 3.20600110e+02] [ 2.83581031e-02 9.99597812e-01 -1.79773676e-04 3.27278772e+00] [ 1.57285479e-02 -2.66387491e-04 9.99876263e-01 4.91760853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.369254154 meters Centerline goodness : 0.999085 Centerline is valid? [True, True] Translation: X:320.64, Y:3.27, Z:4.92 [[ 9.99561205e-01 -2.51019734e-02 -1.57254265e-02 3.20636827e+02] [ 2.50965915e-02 9.99684885e-01 -5.39517865e-04 3.26562118e+00] [ 1.57340141e-02 1.44626523e-04 9.99876202e-01 4.92013767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.39925415399995 meters Centerline goodness : 0.999129 Centerline is valid? [True, True] Translation: X:320.67, Y:3.27, Z:4.92 [[ 9.99474379e-01 -2.83469219e-02 -1.57295317e-02 3.20667592e+02] [ 2.83476119e-02 9.99598110e-01 -1.79135669e-04 3.26503248e+00] [ 1.57282881e-02 -2.66853148e-04 9.99876267e-01 4.92188593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.429254154 meters Centerline goodness : 0.998682 Centerline is valid? [True, True] Translation: X:320.69, Y:3.27, Z:4.92 [[ 9.99348146e-01 -3.24940619e-02 -1.57295317e-02 3.20693835e+02] [ 3.24952653e-02 9.99471873e-01 -1.79135669e-04 3.26937578e+00] [ 1.57270453e-02 -3.32116406e-04 9.99876267e-01 4.91841076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.45925415399995 meters Centerline goodness : 0.998980 Centerline is valid? [True, True] Translation: X:320.73, Y:3.26, Z:4.92 [[ 9.99345871e-01 -3.25654893e-02 -1.57263841e-02 3.20727602e+02] [ 3.25625702e-02 9.99469601e-01 -4.41712123e-04 3.26454515e+00] [ 1.57324274e-02 -7.06683006e-05 9.99876235e-01 4.92295139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.489254154 meters Centerline goodness : 0.999129 Centerline is valid? [True, True] Translation: X:320.76, Y:3.26, Z:4.92 [[ 9.99284504e-01 -3.43957375e-02 -1.57293918e-02 3.20759389e+02] [ 3.43971245e-02 9.99408227e-01 -1.82432324e-04 3.26359469e+00] [ 1.57263585e-02 -3.58744055e-04 9.99876269e-01 4.92314371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.51925415399995 meters Centerline goodness : 0.998833 Centerline is valid? [True, True] Translation: X:320.79, Y:3.26, Z:4.92 [[ 9.99143547e-01 -3.82721708e-02 -1.57293983e-02 3.20790400e+02] [ 3.82740466e-02 9.99267264e-01 -1.81871060e-04 3.26191959e+00] [ 1.57248334e-02 -4.20312428e-04 9.99876269e-01 4.92244413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.549254154 meters Centerline goodness : 0.998812 Centerline is valid? [True, True] Translation: X:320.82, Y:3.26, Z:4.92 [[ 9.99072056e-01 -4.00950572e-02 -1.57294080e-02 3.20823031e+02] [ 4.00971720e-02 9.99195769e-01 -1.81031665e-04 3.26122509e+00] [ 1.57240164e-02 -4.49841099e-04 9.99876269e-01 4.92315644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.57925415399995 meters Centerline goodness : 0.998983 Centerline is valid? [True, True] Translation: X:320.86, Y:3.26, Z:4.92 [[ 9.98989070e-01 -4.21120297e-02 -1.57294206e-02 3.20855079e+02] [ 4.21144116e-02 9.99112778e-01 -1.79925040e-04 3.26090643e+00] [ 1.57230422e-02 -4.82692147e-04 9.99876269e-01 4.92433469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.609254154 meters Centerline goodness : 0.998940 Centerline is valid? [True, True] Translation: X:320.89, Y:3.26, Z:4.93 [[ 9.98834600e-01 -4.56292365e-02 -1.57294331e-02 3.20888118e+02] [ 4.56320712e-02 9.98958298e-01 -1.78824780e-04 3.26022090e+00] [ 1.57212074e-02 -5.39150236e-04 9.99876269e-01 4.92544408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.63925415399996 meters Centerline goodness : 0.999003 Centerline is valid? [True, True] Translation: X:320.92, Y:3.26, Z:4.92 [[ 9.98774444e-01 -4.69273222e-02 -1.57301302e-02 3.20918681e+02] [ 4.69312892e-02 9.98898113e-01 -1.17060972e-04 3.25992898e+00] [ 1.57182908e-02 -6.21317783e-04 9.99876267e-01 4.92428159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.669254154 meters Centerline goodness : 0.999280 Centerline is valid? [True, True] Translation: X:320.95, Y:3.26, Z:4.93 [[ 9.98709670e-01 -4.82864402e-02 -1.57294489e-02 3.20950306e+02] [ 4.82896255e-02 9.98833360e-01 -1.77458063e-04 3.25972015e+00] [ 1.57196671e-02 -5.82340113e-04 9.99876269e-01 4.92538743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.69925415399996 meters Centerline goodness : 0.999069 Centerline is valid? [True, True] Translation: X:320.98, Y:3.26, Z:4.93 [[ 9.98584049e-01 -5.08181141e-02 -1.57294687e-02 3.20982932e+02] [ 5.08216409e-02 9.98707730e-01 -1.75686211e-04 3.25921331e+00] [ 1.57180700e-02 -6.23959960e-04 9.99876269e-01 4.92608541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.729254154 meters Centerline goodness : 0.999217 Centerline is valid? [True, True] Translation: X:321.02, Y:3.26, Z:4.93 [[ 9.98551961e-01 -5.14447665e-02 -1.57294807e-02 3.21015610e+02] [ 5.14483879e-02 9.98675639e-01 -1.74606582e-04 3.25913500e+00] [ 1.57176317e-02 -6.34902677e-04 9.99876269e-01 4.92670071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.75925415399996 meters Centerline goodness : 0.999153 Centerline is valid? [True, True] Translation: X:321.05, Y:3.25, Z:4.92 [[ 9.98744750e-01 -4.75553072e-02 -1.57294925e-02 3.21051649e+02] [ 4.75584637e-02 9.98868441e-01 -1.73531181e-04 3.25449801e+00] [ 1.57199460e-02 -5.74757144e-04 9.99876269e-01 4.92411597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.78925415399993 meters Centerline goodness : 0.999026 Centerline is valid? [True, True] Translation: X:321.08, Y:3.26, Z:4.93 [[ 9.98507216e-01 -5.23051755e-02 -1.57323844e-02 3.21076911e+02] [ 5.23131833e-02 9.98630723e-01 9.76203846e-05 3.25972262e+00] [ 1.57057363e-02 -9.20485765e-04 9.99876234e-01 4.92809418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.81925415399996 meters Centerline goodness : 0.999302 Centerline is valid? [True, True] Translation: X:321.11, Y:3.26, Z:4.93 [[ 9.98533174e-01 -5.18081905e-02 -1.57293319e-02 3.21108029e+02] [ 5.18118396e-02 9.98656849e-01 -1.75699804e-04 3.26032702e+00] [ 1.57173077e-02 -6.39523538e-04 9.99876271e-01 4.92765566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.84925415399994 meters Centerline goodness : 0.999239 Centerline is valid? [True, True] Translation: X:321.14, Y:3.26, Z:4.93 [[ 9.98653991e-01 -4.94246261e-02 -1.57293523e-02 3.21139979e+02] [ 4.94280090e-02 9.98777674e-01 -1.73851808e-04 3.26140702e+00] [ 1.57187185e-02 -6.03852767e-04 9.99876271e-01 4.92734291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.87925415399997 meters Centerline goodness : 0.999301 Centerline is valid? [True, True] Translation: X:321.17, Y:3.26, Z:4.93 [[ 9.98746922e-01 -4.75097061e-02 -1.57293645e-02 3.21172530e+02] [ 4.75128693e-02 9.98870611e-01 -1.72747126e-04 3.26216915e+00] [ 1.57198071e-02 -5.74816577e-04 9.99876271e-01 4.92761161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.90925415399994 meters Centerline goodness : 0.999068 Centerline is valid? [True, True] Translation: X:321.20, Y:3.26, Z:4.93 [[ 9.98871149e-01 -4.48220255e-02 -1.57293764e-02 3.21204958e+02] [ 4.48248731e-02 9.98994845e-01 -1.71651710e-04 3.26302139e+00] [ 1.57212597e-02 -5.33609361e-04 9.99876271e-01 4.92692409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.93925415399997 meters Centerline goodness : 0.999341 Centerline is valid? [True, True] Translation: X:321.24, Y:3.27, Z:4.93 [[ 9.99107138e-01 -3.92111474e-02 -1.57293885e-02 3.21237097e+02] [ 3.92133177e-02 9.99230848e-01 -1.70535629e-04 3.26562410e+00] [ 1.57239771e-02 -4.46418144e-04 9.99876271e-01 4.92875732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.96925415399994 meters Centerline goodness : 0.999341 Centerline is valid? [True, True] Translation: X:321.27, Y:3.27, Z:4.93 [[ 9.99239421e-01 -3.56814435e-02 -1.57294008e-02 3.21267852e+02] [ 3.56831948e-02 9.99363138e-01 -1.69392133e-04 3.26735080e+00] [ 1.57254275e-02 -3.92011977e-04 9.99876271e-01 4.92894680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.99925415399997 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:321.30, Y:3.27, Z:4.93 [[ 9.99373633e-01 -3.17005803e-02 -1.57294100e-02 3.21300437e+02] [ 3.17018521e-02 9.99497356e-01 -1.68541080e-04 3.26894312e+00] [ 1.57268465e-02 -3.30215917e-04 9.99876271e-01 4.93013105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.02925415399994 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:321.33, Y:3.27, Z:4.93 [[ 9.99587869e-01 -2.40141295e-02 -1.57294223e-02 3.21331385e+02] [ 2.40144681e-02 9.99711597e-01 -1.67376564e-04 3.27199440e+00] [ 1.57289053e-02 -2.10426129e-04 9.99876271e-01 4.93030695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.059254154 meters Centerline goodness : 0.999594 Centerline is valid? [True, True] Translation: X:321.36, Y:3.27, Z:4.93 [[ 9.99674909e-01 -2.00664310e-02 -1.57294285e-02 3.21362281e+02] [ 2.00662901e-02 9.99798638e-01 -1.66797950e-04 3.27318759e+00] [ 1.57296082e-02 -1.48887549e-04 9.99876271e-01 4.93082920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.08925415399995 meters Centerline goodness : 0.999573 Centerline is valid? [True, True] Translation: X:321.39, Y:3.27, Z:4.93 [[ 9.99735082e-01 -1.68033281e-02 -1.57294285e-02 3.21390850e+02] [ 1.68027834e-02 9.99858809e-01 -1.66797950e-04 3.27424240e+00] [ 1.57300104e-02 -9.75444172e-05 9.99876271e-01 4.93096759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.119254154 meters Centerline goodness : 0.999358 Centerline is valid? [True, True] Translation: X:321.42, Y:3.27, Z:4.93 [[ 9.99820999e-01 -1.05145270e-02 -1.57294194e-02 3.21420016e+02] [ 1.05131906e-02 9.99944721e-01 -1.67651498e-04 3.27470009e+00] [ 1.57303126e-02 2.25510510e-06 9.99876271e-01 4.92989620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.14925415399995 meters Centerline goodness : 0.999680 Centerline is valid? [True, True] Translation: X:321.45, Y:3.28, Z:4.93 [[ 9.99836455e-01 -8.92469648e-03 -1.57293759e-02 3.21448122e+02] [ 8.92310059e-03 9.99960174e-01 -1.71639366e-04 3.27553879e+00] [ 1.57302813e-02 3.12564924e-05 9.99876271e-01 4.93179130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.179254154 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:321.47, Y:3.28, Z:4.93 [[ 9.99857413e-01 -6.14340354e-03 -1.57293251e-02 3.21474799e+02] [ 6.14139223e-03 9.99981126e-01 -1.76170258e-04 3.27614012e+00] [ 1.57301105e-02 7.95451833e-05 9.99876271e-01 4.92789386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.20925415399995 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:321.50, Y:3.28, Z:4.93 [[ 9.99867531e-01 -4.18975790e-03 -1.57278940e-02 3.21503197e+02] [ 4.18555793e-03 9.99991196e-01 -2.99947267e-04 3.27594805e+00] [ 1.57290122e-02 2.34077522e-04 9.99876264e-01 4.92840562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.239254154 meters Centerline goodness : 0.999615 Centerline is valid? [True, True] Translation: X:321.53, Y:3.27, Z:4.93 [[ 9.99871093e-01 -3.22928992e-03 -1.57279926e-02 3.21532756e+02] [ 3.22510503e-03 9.99994757e-01 -2.91435617e-04 3.27488684e+00] [ 1.57288513e-02 2.40673620e-04 9.99876265e-01 4.93344157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.26925415399995 meters Centerline goodness : 0.999381 Centerline is valid? [True, True] Translation: X:321.56, Y:3.27, Z:4.93 [[ 9.99872238e-01 -2.84569821e-03 -1.57292578e-02 3.21560388e+02] [ 2.84318332e-03 9.99995942e-01 -1.82245686e-04 3.27460180e+00] [ 1.57297126e-02 1.37501239e-04 9.99876271e-01 4.93343053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.299254154 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:321.59, Y:3.27, Z:4.93 [[ 9.99873067e-01 -2.53808577e-03 -1.57292031e-02 3.21588500e+02] [ 2.53546034e-03 9.99996768e-01 -1.86853753e-04 3.27396154e+00] [ 1.57296265e-02 1.46949264e-04 9.99876271e-01 4.93362854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.32925415399995 meters Centerline goodness : 0.999595 Centerline is valid? [True, True] Translation: X:321.61, Y:3.27, Z:4.93 [[ 9.99871867e-01 -2.97394846e-03 -1.57291469e-02 3.21614937e+02] [ 2.97130433e-03 9.99995567e-01 -1.91471168e-04 3.27362596e+00] [ 1.57296466e-02 1.44710552e-04 9.99876271e-01 4.93459048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.359254154 meters Centerline goodness : 0.999362 Centerline is valid? [True, True] Translation: X:321.64, Y:3.27, Z:4.93 [[ 9.99870875e-01 -3.29075229e-03 -1.57291081e-02 3.21642719e+02] [ 3.28809800e-03 9.99994575e-01 -1.94608381e-04 3.27094663e+00] [ 1.57296632e-02 1.42864403e-04 9.99876271e-01 4.93421055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.38925415399996 meters Centerline goodness : 0.999383 Centerline is valid? [True, True] Translation: X:321.67, Y:3.27, Z:4.94 [[ 9.99864329e-01 -4.89069172e-03 -1.57290905e-02 3.21671173e+02] [ 4.88821321e-03 9.99988033e-01 -1.96017352e-04 3.27038953e+00] [ 1.57298610e-02 1.19103610e-04 9.99876271e-01 4.93635919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.419254154 meters Centerline goodness : 0.999299 Centerline is valid? [True, True] Translation: X:321.70, Y:3.27, Z:4.94 [[ 9.99859150e-01 -5.85463870e-03 -1.57290762e-02 3.21699195e+02] [ 5.85226143e-03 9.99982856e-01 -1.97162767e-04 3.26929414e+00] [ 1.57299608e-02 1.05084330e-04 9.99876271e-01 4.93709338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.44925415399996 meters Centerline goodness : 0.999172 Centerline is valid? [True, True] Translation: X:321.73, Y:3.27, Z:4.94 [[ 9.99858464e-01 -5.97082798e-03 -1.57290172e-02 3.21725705e+02] [ 5.96839274e-03 9.99982169e-01 -2.01761988e-04 3.26749834e+00] [ 1.57299414e-02 1.07856479e-04 9.99876271e-01 4.93664603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.479254154 meters Centerline goodness : 0.999088 Centerline is valid? [True, True] Translation: X:321.75, Y:3.26, Z:4.94 [[ 9.99852803e-01 -6.85356286e-03 -1.57289760e-02 3.21753043e+02] [ 6.85118712e-03 9.99976509e-01 -2.04922665e-04 3.26446482e+00] [ 1.57300110e-02 9.71303433e-05 9.99876271e-01 4.93678269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.50925415399996 meters Centerline goodness : 0.999386 Centerline is valid? [True, True] Translation: X:321.78, Y:3.26, Z:4.94 [[ 9.99839875e-01 -8.53380176e-03 -1.57289342e-02 3.21781868e+02] [ 8.53158423e-03 9.99963584e-01 -2.08080388e-04 3.26415410e+00] [ 1.57301371e-02 7.38543416e-05 9.99876271e-01 4.93941671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.53925415399993 meters Centerline goodness : 0.999556 Centerline is valid? [True, True] Translation: X:321.81, Y:3.26, Z:4.94 [[ 9.99833805e-01 -9.21754206e-03 -1.57289188e-02 3.21810194e+02] [ 9.21539089e-03 9.99957516e-01 -2.09240188e-04 3.26262337e+00] [ 1.57301792e-02 6.42572786e-05 9.99876271e-01 4.93977107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.56925415399996 meters Centerline goodness : 0.999345 Centerline is valid? [True, True] Translation: X:321.84, Y:3.26, Z:4.94 [[ 9.99812917e-01 -1.12576682e-02 -1.57288561e-02 3.21838223e+02] [ 1.12556970e-02 9.99936630e-01 -2.13848153e-04 3.25890188e+00] [ 1.57302668e-02 3.67689063e-05 9.99876271e-01 4.93960636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.59925415399994 meters Centerline goodness : 0.999282 Centerline is valid? [True, True] Translation: X:321.87, Y:3.26, Z:4.94 [[ 9.99800362e-01 -1.23223967e-02 -1.57287921e-02 3.21866177e+02] [ 1.23204847e-02 9.99924076e-01 -2.18459002e-04 3.25675641e+00] [ 1.57302898e-02 2.46290468e-05 9.99876271e-01 4.93870917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.62925415399997 meters Centerline goodness : 0.999283 Centerline is valid? [True, True] Translation: X:321.89, Y:3.25, Z:4.94 [[ 9.99785645e-01 -1.34637155e-02 -1.57287272e-02 3.21893195e+02] [ 1.34618726e-02 9.99909360e-01 -2.23038957e-04 3.25463549e+00] [ 1.57303044e-02 1.12530260e-05 9.99876271e-01 4.93786925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.65925415399994 meters Centerline goodness : 0.999325 Centerline is valid? [True, True] Translation: X:321.92, Y:3.25, Z:4.94 [[ 9.99718668e-01 -1.77536888e-02 -1.57286988e-02 3.21921411e+02] [ 1.77523457e-02 9.99842389e-01 -2.25022403e-04 3.25145006e+00] [ 1.57302147e-02 -5.42622010e-05 9.99876271e-01 4.93959289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.68925415399997 meters Centerline goodness : 0.998948 Centerline is valid? [True, True] Translation: X:321.95, Y:3.25, Z:4.94 [[ 9.99682321e-01 -1.96943267e-02 -1.57286739e-02 3.21949025e+02] [ 1.96931965e-02 9.99806045e-01 -2.26749243e-04 3.24959867e+00] [ 1.57300889e-02 -8.30706554e-05 9.99876271e-01 4.93939136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.71925415399994 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:321.98, Y:3.25, Z:4.94 [[ 9.99653528e-01 -2.11052877e-02 -1.57286425e-02 3.21977480e+02] [ 2.11042983e-02 9.99777253e-01 -2.28903987e-04 3.24729198e+00] [ 1.57299701e-02 -1.03117285e-04 9.99876271e-01 4.93882742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.74925415399997 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:322.01, Y:3.24, Z:4.94 [[ 9.99529296e-01 -2.63400520e-02 -1.57285785e-02 3.22005579e+02] [ 2.63396426e-02 9.99653024e-01 -2.33220367e-04 3.24422319e+00] [ 1.57292641e-02 -1.81174548e-04 9.99876271e-01 4.94010536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.77925415399994 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:322.04, Y:3.24, Z:4.94 [[ 9.99459215e-01 -2.88771380e-02 -1.57285573e-02 3.22035472e+02] [ 2.88770202e-02 9.99582944e-01 -2.34644886e-04 3.24246722e+00] [ 1.57287735e-02 -2.19675872e-04 9.99876271e-01 4.94033092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.809254154 meters Centerline goodness : 0.999348 Centerline is valid? [True, True] Translation: X:322.08, Y:3.23, Z:4.94 [[ 9.99586031e-01 -2.40910541e-02 -1.57285488e-02 3.22075677e+02] [ 2.40903349e-02 9.99709758e-01 -2.35214081e-04 3.23209641e+00] [ 1.57296502e-02 -1.43789298e-04 9.99876271e-01 4.93643272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.83925415399995 meters Centerline goodness : 0.999098 Centerline is valid? [True, True] Translation: X:322.09, Y:3.24, Z:4.94 [[ 9.99222525e-01 -3.61484790e-02 -1.57363644e-02 3.22093044e+02] [ 3.61578118e-02 9.99346045e-01 3.08867929e-04 3.23595642e+00] [ 1.57149084e-02 -8.77620293e-04 9.99876128e-01 4.93894546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.869254154 meters Centerline goodness : 0.999098 Centerline is valid? [True, True] Translation: X:322.12, Y:3.24, Z:4.94 [[ 9.99223620e-01 -3.61219556e-02 -1.57277489e-02 3.22124874e+02] [ 3.61225748e-02 9.99347337e-01 -2.44802255e-04 3.23669130e+00] [ 1.57263267e-02 -3.23514592e-04 9.99876281e-01 4.93959425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.89925415399995 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:322.16, Y:3.23, Z:4.94 [[ 9.98989151e-01 -4.21107253e-02 -1.57277575e-02 3.22156231e+02] [ 4.21120947e-02 9.99112862e-01 -2.44247619e-04 3.23354365e+00] [ 1.57240903e-02 -4.18328094e-04 9.99876281e-01 4.94122310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.929254154 meters Centerline goodness : 0.999139 Centerline is valid? [True, True] Translation: X:322.19, Y:3.23, Z:4.94 [[ 9.98856258e-01 -4.51532286e-02 -1.57277664e-02 3.22188286e+02] [ 4.51549839e-02 9.98979964e-01 -2.43677628e-04 3.23200761e+00] [ 1.57227263e-02 -4.66788113e-04 9.99876281e-01 4.94147309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.95925415399995 meters Centerline goodness : 0.999076 Centerline is valid? [True, True] Translation: X:322.22, Y:3.23, Z:4.94 [[ 9.98721441e-01 -4.80428985e-02 -1.57277844e-02 3.22219150e+02] [ 4.80450300e-02 9.98845141e-01 -2.42505967e-04 3.23033625e+00] [ 1.57212718e-02 -5.13445966e-04 9.99876281e-01 4.94114826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.989254154 meters Centerline goodness : 0.999076 Centerline is valid? [True, True] Translation: X:322.25, Y:3.23, Z:4.94 [[ 9.98326692e-01 -5.56457675e-02 -1.57277978e-02 3.22251136e+02] [ 5.56488546e-02 9.98450373e-01 -2.41632985e-04 3.22697191e+00] [ 1.57168715e-02 -6.34005277e-04 9.99876281e-01 4.94142737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.01925415399995 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:322.28, Y:3.23, Z:4.94 [[ 9.98109357e-01 -5.94167209e-02 -1.57278159e-02 3.22282853e+02] [ 5.94202937e-02 9.98233024e-01 -2.40454750e-04 3.22566858e+00] [ 1.57143122e-02 -6.94551301e-04 9.99876281e-01 4.94143446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.049254154 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:322.31, Y:3.22, Z:4.94 [[ 9.97861253e-01 -6.34472615e-02 -1.57278337e-02 3.22314908e+02] [ 6.34513521e-02 9.97984904e-01 -2.39284750e-04 3.22450226e+00] [ 1.57113225e-02 -7.59179331e-04 9.99876281e-01 4.94195380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.07925415399995 meters Centerline goodness : 0.998995 Centerline is valid? [True, True] Translation: X:322.35, Y:3.22, Z:4.94 [[ 9.97358670e-01 -7.09106357e-02 -1.57278514e-02 3.22345808e+02] [ 7.09156697e-02 9.97482286e-01 -2.38113596e-04 3.22172509e+00] [ 1.57051379e-02 -8.77866455e-04 9.99876281e-01 4.94222226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.109254154 meters Centerline goodness : 0.998995 Centerline is valid? [True, True] Translation: X:322.38, Y:3.22, Z:4.94 [[ 9.97366399e-01 -7.08018390e-02 -1.57278813e-02 3.22379335e+02] [ 7.08068908e-02 9.97490014e-01 -2.36121790e-04 3.22213482e+00] [ 1.57051224e-02 -8.78142434e-04 9.99876281e-01 4.94274924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.13925415399996 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:322.41, Y:3.22, Z:4.94 [[ 9.97095411e-01 -7.45209681e-02 -1.57279069e-02 3.22411844e+02] [ 7.45265078e-02 9.97219005e-01 -2.34406400e-04 3.22182855e+00] [ 1.57016358e-02 -9.38420428e-04 9.99876281e-01 4.94372279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.169254154 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:322.45, Y:3.22, Z:4.94 [[ 9.97205019e-01 -7.30395983e-02 -1.57279243e-02 3.22450003e+02] [ 7.30449729e-02 9.97328621e-01 -2.33227505e-04 3.21616109e+00] [ 1.57029439e-02 -9.16270169e-04 9.99876281e-01 4.94225297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.19925415399996 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] Translation: X:322.47, Y:3.22, Z:4.94 [[ 9.96537816e-01 -8.16386185e-02 -1.57326594e-02 3.22473385e+02] [ 8.16502327e-02 9.96661041e-01 9.62371545e-05 3.22243476e+00] [ 1.56722720e-02 -1.38047926e-03 9.99876229e-01 4.94392730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.229254154 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:322.51, Y:3.22, Z:4.94 [[ 9.96494211e-01 -8.21701164e-02 -1.57276488e-02 3.22506378e+02] [ 8.21765678e-02 9.96617758e-01 -2.36722533e-04 3.22333817e+00] [ 1.56939056e-02 -1.05655156e-03 9.99876285e-01 4.94469639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.25925415399996 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:322.54, Y:3.22, Z:4.94 [[ 9.96791611e-01 -7.84800850e-02 -1.57276752e-02 3.22543165e+02] [ 7.84861068e-02 9.96915180e-01 -2.34951571e-04 3.22050991e+00] [ 1.56975972e-02 -1.00020624e-03 9.99876285e-01 4.94409383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.28925415399993 meters Centerline goodness : 0.998933 Centerline is valid? [True, True] Translation: X:322.57, Y:3.23, Z:4.95 [[ 9.96639562e-01 -8.03872699e-02 -1.57311655e-02 3.22568462e+02] [ 8.03972763e-02 9.96762900e-01 3.68544616e-06 3.22532695e+00] [ 1.56799459e-02 -1.26841592e-03 9.99876258e-01 4.94521981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.31925415399996 meters Centerline goodness : 0.999063 Centerline is valid? [True, True] Translation: X:322.60, Y:3.22, Z:4.95 [[ 9.96909823e-01 -7.69639508e-02 -1.57275256e-02 3.22604885e+02] [ 7.69697453e-02 9.97033401e-01 -2.37442498e-04 3.22367350e+00] [ 1.56991429e-02 -9.73834882e-04 9.99876287e-01 4.94619389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.34925415399994 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:322.63, Y:3.23, Z:4.95 [[ 9.96909357e-01 -7.69694202e-02 -1.57302722e-02 3.22631927e+02] [ 7.69781131e-02 9.97032781e-01 -5.30140584e-05 3.22780303e+00] [ 1.56876775e-02 -1.15803646e-03 9.99876270e-01 4.94662735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.37925415399997 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:322.67, Y:3.23, Z:4.95 [[ 9.97098053e-01 -7.44856968e-02 -1.57274938e-02 3.22665028e+02] [ 7.44911875e-02 9.97221644e-01 -2.37232447e-04 3.22929742e+00] [ 1.57014676e-02 -9.35015676e-04 9.99876287e-01 4.94675760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.40925415399994 meters Centerline goodness : 0.999038 Centerline is valid? [True, True] Translation: X:322.70, Y:3.23, Z:4.95 [[ 9.97256189e-01 -7.23376702e-02 -1.57275203e-02 3.22697846e+02] [ 7.23429224e-02 9.97379790e-01 -2.35462060e-04 3.23149728e+00] [ 1.57033437e-02 -9.02958782e-04 9.99876287e-01 4.94797211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.43925415399997 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:322.73, Y:3.24, Z:4.95 [[ 9.97632326e-01 -6.69506218e-02 -1.57275465e-02 3.22730325e+02] [ 6.69552341e-02 9.97755953e-01 -2.33699463e-04 3.23584827e+00] [ 1.57078994e-02 -8.19895416e-04 9.99876287e-01 4.94941137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.46925415399994 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:322.76, Y:3.24, Z:4.95 [[ 9.97842620e-01 -6.37396934e-02 -1.57275728e-02 3.22762946e+02] [ 6.37439359e-02 9.97966260e-01 -2.31915508e-04 3.23803113e+00] [ 1.57103692e-02 -7.71122212e-04 9.99876287e-01 4.94968039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.49925415399997 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:322.80, Y:3.24, Z:4.95 [[ 9.98005711e-01 -6.11329922e-02 -1.57275988e-02 3.22795454e+02] [ 6.11369396e-02 9.98129361e-01 -2.30139462e-04 3.24055609e+00] [ 1.57122472e-02 -7.31856758e-04 9.99876287e-01 4.95091801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.52925415399994 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:322.83, Y:3.24, Z:4.95 [[ 9.98181126e-01 -5.81986392e-02 -1.57276160e-02 3.22827914e+02] [ 5.82022417e-02 9.98304786e-01 -2.28956028e-04 3.24263486e+00] [ 1.57142793e-02 -6.86842921e-04 9.99876287e-01 4.95128666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.559254154 meters Centerline goodness : 0.998952 Centerline is valid? [True, True] Translation: X:322.86, Y:3.25, Z:4.95 [[ 9.98502089e-01 -5.24043852e-02 -1.57276331e-02 3.22859512e+02] [ 5.24072885e-02 9.98625768e-01 -2.27774427e-04 3.24608816e+00] [ 1.57179561e-02 -5.96809365e-04 9.99876287e-01 4.95029376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.58925415399995 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:322.89, Y:3.25, Z:4.95 [[ 9.98773356e-01 -4.69512952e-02 -1.57276612e-02 3.22891664e+02] [ 4.69535539e-02 9.98897048e-01 -2.25814432e-04 3.25100194e+00] [ 1.57209167e-02 -5.12932152e-04 9.99876287e-01 4.95193293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.619254154 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:322.92, Y:3.25, Z:4.95 [[ 9.98925296e-01 -4.35992419e-02 -1.57276779e-02 3.22922683e+02] [ 4.36011039e-02 9.99048994e-01 -2.24646744e-04 3.25338671e+00] [ 1.57225152e-02 -4.61338805e-04 9.99876287e-01 4.95251911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.64925415399995 meters Centerline goodness : 0.999055 Centerline is valid? [True, True] Translation: X:322.95, Y:3.26, Z:4.95 [[ 9.99066476e-01 -4.02345211e-02 -1.57276903e-02 3.22954488e+02] [ 4.02359801e-02 9.99190180e-01 -2.23777078e-04 3.25579064e+00] [ 1.57239573e-02 -4.09250858e-04 9.99876287e-01 4.95370947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.679254154 meters Centerline goodness : 0.999033 Centerline is valid? [True, True] Translation: X:322.99, Y:3.26, Z:4.95 [[ 9.99199989e-01 -3.67698460e-02 -1.57277070e-02 3.22985313e+02] [ 3.67708947e-02 9.99323697e-01 -2.22594159e-04 3.25804718e+00] [ 1.57252551e-02 -3.55905777e-04 9.99876287e-01 4.95416494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.70925415399995 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:323.02, Y:3.26, Z:4.95 [[ 9.99328642e-01 -3.30893496e-02 -1.57277195e-02 3.23016605e+02] [ 3.30899564e-02 9.99452353e-01 -2.21712843e-04 3.26012591e+00] [ 1.57264426e-02 -2.98865558e-04 9.99876287e-01 4.95486746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.739254154 meters Centerline goodness : 0.999140 Centerline is valid? [True, True] Translation: X:323.05, Y:3.26, Z:4.95 [[ 9.99433221e-01 -2.97636691e-02 -1.57277316e-02 3.23046862e+02] [ 2.97638779e-02 9.99556933e-01 -2.20847576e-04 3.26197160e+00] [ 1.57273364e-02 -2.47395880e-04 9.99876287e-01 4.95466037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.76925415399995 meters Centerline goodness : 0.998846 Centerline is valid? [True, True] Translation: X:323.08, Y:3.27, Z:4.96 [[ 9.99586616e-01 -2.40673080e-02 -1.57277356e-02 3.23076815e+02] [ 2.40668162e-02 9.99710328e-01 -2.20563291e-04 3.26528503e+00] [ 1.57284881e-02 -1.58044408e-04 9.99876287e-01 4.95582133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.799254154 meters Centerline goodness : 0.998989 Centerline is valid? [True, True] Translation: X:323.11, Y:3.27, Z:4.96 [[ 9.99632375e-01 -2.20851337e-02 -1.57277356e-02 3.23105092e+02] [ 2.20843967e-02 9.99756086e-01 -2.20563291e-04 3.26698597e+00] [ 1.57287705e-02 -1.26855345e-04 9.99876287e-01 4.95633443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.82925415399995 meters Centerline goodness : 0.999011 Centerline is valid? [True, True] Translation: X:323.13, Y:3.27, Z:4.96 [[ 9.99659090e-01 -2.08408863e-02 -1.57277235e-02 3.23133729e+02] [ 2.08399818e-02 9.99782799e-01 -2.21419934e-04 3.26871233e+00] [ 1.57289221e-02 -1.06421023e-04 9.99876287e-01 4.95859589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.859254154 meters Centerline goodness : 0.999052 Centerline is valid? [True, True] Translation: X:323.16, Y:3.27, Z:4.96 [[ 9.99673516e-01 -2.01372812e-02 -1.57274370e-02 3.23162607e+02] [ 2.01359724e-02 9.99797222e-01 -2.41579266e-04 3.26926728e+00] [ 1.57291126e-02 -7.51868448e-05 9.99876287e-01 4.95929774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.88925415399996 meters Centerline goodness : 0.999051 Centerline is valid? [True, True] Translation: X:323.19, Y:3.27, Z:4.96 [[ 9.99676840e-01 -1.99714070e-02 -1.57276570e-02 3.23191824e+02] [ 1.99703183e-02 9.99800548e-01 -2.26292349e-04 3.26964660e+00] [ 1.57290395e-02 -8.78670950e-05 9.99876287e-01 4.96007118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.919254154 meters Centerline goodness : 0.998906 Centerline is valid? [True, True] Translation: X:323.22, Y:3.27, Z:4.96 [[ 9.99667846e-01 -2.04166917e-02 -1.57275980e-02 3.23220015e+02] [ 2.04155947e-02 9.99791554e-01 -2.30317825e-04 3.26969040e+00] [ 1.57290220e-02 -9.08469437e-05 9.99876287e-01 4.96034652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.94925415399996 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:323.25, Y:3.27, Z:4.96 [[ 9.99650101e-01 -2.12677937e-02 -1.57275771e-02 3.23248670e+02] [ 2.12667797e-02 9.99773810e-01 -2.31740288e-04 3.26892007e+00] [ 1.57289483e-02 -1.02815714e-04 9.99876287e-01 4.95954415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.979254154 meters Centerline goodness : 0.999159 Centerline is valid? [True, True] Translation: X:323.28, Y:3.27, Z:4.96 [[ 9.99577180e-01 -2.44562053e-02 -1.57275174e-02 3.23277922e+02] [ 2.44555232e-02 9.99700891e-01 -2.35721265e-04 3.26706208e+00] [ 1.57285780e-02 -1.49003069e-04 9.99876287e-01 4.96089615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.00925415399996 meters Centerline goodness : 0.999097 Centerline is valid? [True, True] Translation: X:323.31, Y:3.27, Z:4.96 [[ 9.99525783e-01 -2.64736940e-02 -1.57274565e-02 3.23307797e+02] [ 2.64731988e-02 9.99649495e-01 -2.39718791e-04 3.26639735e+00] [ 1.57282902e-02 -1.76750969e-04 9.99876287e-01 4.96124391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.03925415399993 meters Centerline goodness : 0.999012 Centerline is valid? [True, True] Translation: X:323.34, Y:3.27, Z:4.96 [[ 9.99476205e-01 -2.82836170e-02 -1.57274478e-02 3.23337732e+02] [ 2.82833368e-02 9.99599918e-01 -2.40286618e-04 3.26557411e+00] [ 1.57279517e-02 -2.04663947e-04 9.99876287e-01 4.96170336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.06925415399996 meters Centerline goodness : 0.999222 Centerline is valid? [True, True] Translation: X:323.37, Y:3.26, Z:4.96 [[ 9.99424802e-01 -3.00451932e-02 -1.57274390e-02 3.23368116e+02] [ 3.00451219e-02 9.99548514e-01 -2.40864559e-04 3.26447956e+00] [ 1.57275751e-02 -2.31806807e-04 9.99876287e-01 4.96149123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.09925415399994 meters Centerline goodness : 0.998994 Centerline is valid? [True, True] Translation: X:323.40, Y:3.26, Z:4.96 [[ 9.99304193e-01 -3.38197907e-02 -1.57274390e-02 3.23398554e+02] [ 3.38201867e-02 9.99427905e-01 -2.40864559e-04 3.26149695e+00] [ 1.57265874e-02 -2.91207958e-04 9.99876287e-01 4.95928909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.12925415399997 meters Centerline goodness : 0.998972 Centerline is valid? [True, True] Translation: X:323.43, Y:3.26, Z:4.96 [[ 9.99237023e-01 -3.57494112e-02 -1.57274390e-02 3.23429763e+02] [ 3.57500461e-02 9.99360734e-01 -2.40864559e-04 3.26066574e+00] [ 1.57259957e-02 -3.21575884e-04 9.99876287e-01 4.95964709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.15925415399994 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:323.46, Y:3.26, Z:4.96 [[ 9.99164447e-01 -3.77234132e-02 -1.57274478e-02 3.23461181e+02] [ 3.77243016e-02 9.99288156e-01 -2.40288137e-04 3.26007033e+00] [ 1.57253168e-02 -3.53219619e-04 9.99876287e-01 4.96098103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.18925415399997 meters Centerline goodness : 0.999098 Centerline is valid? [True, True] Translation: X:323.49, Y:3.26, Z:4.96 [[ 9.99110144e-01 -3.91352559e-02 -1.57274567e-02 3.23492720e+02] [ 3.91363283e-02 9.99233852e-01 -2.39704422e-04 3.25932697e+00] [ 1.57247880e-02 -3.76023788e-04 9.99876287e-01 4.96029047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.21925415399994 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:323.52, Y:3.26, Z:4.96 [[ 9.98931740e-01 -4.34514208e-02 -1.57274699e-02 3.23521622e+02] [ 4.34530413e-02 9.99055442e-01 -2.38831835e-04 3.26033516e+00] [ 1.57229920e-02 -4.44829700e-04 9.99876287e-01 4.95867902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.24925415399997 meters Centerline goodness : 0.999038 Centerline is valid? [True, True] Translation: X:323.55, Y:3.26, Z:4.96 [[ 9.99034745e-01 -4.10154196e-02 -1.57262264e-02 3.23552985e+02] [ 4.10154580e-02 9.99158461e-01 -3.20221209e-04 3.25674082e+00] [ 1.57261262e-02 -3.25106266e-04 9.99876284e-01 4.96283845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.27925415399994 meters Centerline goodness : 0.999058 Centerline is valid? [True, True] Translation: X:323.59, Y:3.26, Z:4.96 [[ 9.99039220e-01 -4.09057924e-02 -1.57274734e-02 3.23585535e+02] [ 4.09071151e-02 9.99162925e-01 -2.37729973e-04 3.25667410e+00] [ 1.57240329e-02 -4.05863998e-04 9.99876287e-01 4.96376691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.309254154 meters Centerline goodness : 0.998847 Centerline is valid? [True, True] Translation: X:323.62, Y:3.26, Z:4.96 [[ 9.99063754e-01 -4.03021287e-02 -1.57274909e-02 3.23617547e+02] [ 4.03033949e-02 9.99187460e-01 -2.36567244e-04 3.25632858e+00] [ 1.57242458e-02 -3.97525517e-04 9.99876287e-01 4.96463108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.33925415399995 meters Centerline goodness : 0.999079 Centerline is valid? [True, True] Translation: X:323.65, Y:3.26, Z:4.96 [[ 9.99099502e-01 -3.94059723e-02 -1.57275082e-02 3.23648848e+02] [ 3.94071457e-02 9.99223209e-01 -2.35410915e-04 3.25612067e+00] [ 1.57245678e-02 -3.84577280e-04 9.99876287e-01 4.96415865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.369254154 meters Centerline goodness : 0.999058 Centerline is valid? [True, True] Translation: X:323.68, Y:3.26, Z:4.97 [[ 9.99128911e-01 -3.86531218e-02 -1.57275211e-02 3.23680197e+02] [ 3.86542156e-02 9.99252619e-01 -2.34548912e-04 3.25600616e+00] [ 1.57248327e-02 -3.73590391e-04 9.99876287e-01 4.96587345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.39925415399995 meters Centerline goodness : 0.999288 Centerline is valid? [True, True] Translation: X:323.71, Y:3.26, Z:4.97 [[ 9.99177176e-01 -3.73846976e-02 -1.57275295e-02 3.23711930e+02] [ 3.73856432e-02 9.99300885e-01 -2.33983625e-04 3.25571095e+00] [ 1.57252815e-02 -3.54192708e-04 9.99876287e-01 4.96661208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.429254154 meters Centerline goodness : 0.999015 Centerline is valid? [True, True] Translation: X:323.74, Y:3.25, Z:4.97 [[ 9.99277816e-01 -3.45903339e-02 -1.57275379e-02 3.23743023e+02] [ 3.45909425e-02 9.99401527e-01 -2.33418519e-04 3.25486807e+00] [ 1.57261994e-02 -3.10780409e-04 9.99876287e-01 4.96727854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.45925415399995 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:323.77, Y:3.25, Z:4.97 [[ 9.99339140e-01 -3.27708275e-02 -1.57275463e-02 3.23774314e+02] [ 3.27712198e-02 9.99462852e-01 -2.32844810e-04 3.25472092e+00] [ 1.57267289e-02 -2.82719946e-04 9.99876287e-01 4.96786006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.489254154 meters Centerline goodness : 0.999309 Centerline is valid? [True, True] Translation: X:323.81, Y:3.25, Z:4.97 [[ 9.99392478e-01 -3.11017482e-02 -1.57275548e-02 3.23805876e+02] [ 3.11019429e-02 9.99516191e-01 -2.32274281e-04 3.25472626e+00] [ 1.57271698e-02 -2.57024341e-04 9.99876287e-01 4.96882877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.51925415399995 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:323.84, Y:3.25, Z:4.97 [[ 9.99489310e-01 -2.78165891e-02 -1.57275632e-02 3.23836441e+02] [ 2.78163861e-02 9.99613023e-01 -2.31703693e-04 3.25414504e+00] [ 1.57279222e-02 -2.05898606e-04 9.99876287e-01 4.96976607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.549254154 meters Centerline goodness : 0.999079 Centerline is valid? [True, True] Translation: X:323.87, Y:3.25, Z:4.97 [[ 9.99532228e-01 -2.62291541e-02 -1.57275632e-02 3.23865482e+02] [ 2.62287547e-02 9.99655940e-01 -2.31703693e-04 3.25375690e+00] [ 1.57282294e-02 -1.80919088e-04 9.99876287e-01 4.96972191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.57925415399995 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:323.90, Y:3.25, Z:4.97 [[ 9.99569204e-01 -2.47800351e-02 -1.57275589e-02 3.23895094e+02] [ 2.47794518e-02 9.99692915e-01 -2.31991605e-04 3.25346422e+00] [ 1.57284780e-02 -1.57828625e-04 9.99876287e-01 4.97046766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.609254154 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:323.92, Y:3.25, Z:4.97 [[ 9.99594214e-01 -2.37497633e-02 -1.57275504e-02 3.23924004e+02] [ 2.37490434e-02 9.99717925e-01 -2.32567186e-04 3.25316358e+00] [ 1.57286375e-02 -1.41041463e-04 9.99876287e-01 4.97007523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.63925415399996 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:323.95, Y:3.25, Z:4.97 [[ 9.99640709e-01 -2.17047907e-02 -1.57275377e-02 3.23953325e+02] [ 2.17038043e-02 9.99764417e-01 -2.33423364e-04 3.25176209e+00] [ 1.57288990e-02 -1.08007903e-04 9.99876287e-01 4.96970316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.669254154 meters Centerline goodness : 0.998975 Centerline is valid? [True, True] Translation: X:323.98, Y:3.25, Z:4.97 [[ 9.99657934e-01 -2.08964316e-02 -1.57275044e-02 3.23982165e+02] [ 2.08953101e-02 9.99781641e-01 -2.35648795e-04 3.25108878e+00] [ 1.57289944e-02 -9.30628922e-05 9.99876287e-01 4.96717744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.69925415399996 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:324.01, Y:3.25, Z:4.97 [[ 9.99649257e-01 -2.13075433e-02 -1.57274432e-02 3.24009837e+02] [ 2.13064095e-02 9.99772964e-01 -2.39665799e-04 3.25091354e+00] [ 1.57289792e-02 -9.55136061e-05 9.99876287e-01 4.96964934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.729254154 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:324.04, Y:3.25, Z:4.97 [[ 9.99649179e-01 -2.13112187e-02 -1.57273724e-02 3.24038627e+02] [ 2.13100137e-02 9.99772886e-01 -2.44220034e-04 3.25010562e+00] [ 1.57290052e-02 -9.10161649e-05 9.99876287e-01 4.97049710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.75925415399996 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:324.07, Y:3.25, Z:4.97 [[ 9.99636110e-01 -2.19157283e-02 -1.57273100e-02 3.24066979e+02] [ 2.19145359e-02 9.99759817e-01 -2.48174555e-04 3.25002299e+00] [ 1.57289715e-02 -9.65724534e-05 9.99876287e-01 4.97184064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.78925415399993 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:324.10, Y:3.25, Z:4.97 [[ 9.99614343e-01 -2.28870819e-02 -1.57272459e-02 3.24095412e+02] [ 2.28859468e-02 9.99738051e-01 -2.52172026e-04 3.24989903e+00] [ 1.57288977e-02 -1.07858139e-04 9.99876287e-01 4.97271880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.81925415399996 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:324.12, Y:3.25, Z:4.97 [[ 9.99541143e-01 -2.58874213e-02 -1.57271813e-02 3.24123300e+02] [ 2.58865951e-02 9.99664853e-01 -2.56141953e-04 3.24920580e+00] [ 1.57285412e-02 -1.51098753e-04 9.99876287e-01 4.97407389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.84925415399994 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:324.15, Y:3.25, Z:4.97 [[ 9.99481907e-01 -2.80815554e-02 -1.57271583e-02 3.24152677e+02] [ 2.80809786e-02 9.99605618e-01 -2.57548090e-04 3.24880813e+00] [ 1.57281881e-02 -1.84219339e-04 9.99876287e-01 4.97477187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.87925415399997 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:324.18, Y:3.25, Z:4.98 [[ 9.99403052e-01 -3.07602992e-02 -1.57271491e-02 3.24182677e+02] [ 3.07600452e-02 9.99526765e-01 -2.58105207e-04 3.24810757e+00] [ 1.57276459e-02 -2.25816686e-04 9.99876287e-01 4.97576951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.90925415399994 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:324.21, Y:3.25, Z:4.98 [[ 9.99296729e-01 -3.40397581e-02 -1.57271397e-02 3.24212069e+02] [ 3.40399010e-02 9.99420441e-01 -2.58678065e-04 3.24718574e+00] [ 1.57268302e-02 -2.76854135e-04 9.99876287e-01 4.97529987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.93925415399997 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:324.24, Y:3.24, Z:4.98 [[ 9.99000147e-01 -4.18492862e-02 -1.57271350e-02 3.24242695e+02] [ 4.18503916e-02 9.99123855e-01 -2.58962269e-04 3.24432080e+00] [ 1.57241931e-02 -3.99483414e-04 9.99876287e-01 4.97626751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.96925415399994 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:324.27, Y:3.24, Z:4.98 [[ 9.98810910e-01 -4.61456646e-02 -1.57271350e-02 3.24274560e+02] [ 4.61473021e-02 9.98934612e-01 -2.58962269e-04 3.24311521e+00] [ 1.57223295e-02 -4.67110511e-04 9.99876287e-01 4.97800806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.99925415399997 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:324.31, Y:3.24, Z:4.98 [[ 9.98573943e-01 -5.10170337e-02 -1.57271542e-02 3.24307000e+02] [ 5.10192929e-02 9.98697635e-01 -2.57794620e-04 3.24215744e+00] [ 1.57198236e-02 -5.44961294e-04 9.99876287e-01 4.97825684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.02925415399994 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:324.34, Y:3.24, Z:4.98 [[ 9.98577729e-01 -5.09428538e-02 -1.57271732e-02 3.24339680e+02] [ 5.09451222e-02 9.98701421e-01 -2.56630140e-04 3.24263121e+00] [ 1.57198237e-02 -5.44957616e-04 9.99876287e-01 4.97877072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.059254154 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:324.37, Y:3.24, Z:4.98 [[ 9.98349925e-01 -5.52275556e-02 -1.57271921e-02 3.24372275e+02] [ 5.52303731e-02 9.98473605e-01 -2.55461979e-04 3.24143864e+00] [ 1.57172948e-02 -6.13578242e-04 9.99876287e-01 4.97683001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.08925415399995 meters Centerline goodness : 0.999168 Centerline is valid? [True, True] Translation: X:324.40, Y:3.24, Z:4.98 [[ 9.98051187e-01 -6.03861220e-02 -1.57272110e-02 3.24403175e+02] [ 6.03895969e-02 9.98174850e-01 -2.54297122e-04 3.24103241e+00] [ 1.57138625e-02 -6.95958387e-04 9.99876287e-01 4.97906339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.119254154 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:324.44, Y:3.24, Z:4.98 [[ 9.97768837e-01 -6.48845201e-02 -1.57272410e-02 3.24435481e+02] [ 6.48885820e-02 9.97892483e-01 -2.52423528e-04 3.24038677e+00] [ 1.57104740e-02 -7.68658039e-04 9.99876287e-01 4.98074279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.14925415399995 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:324.47, Y:3.24, Z:4.98 [[ 9.97182567e-01 -7.33456329e-02 -1.57272598e-02 3.24467504e+02] [ 7.33507619e-02 9.97306173e-01 -2.51248563e-04 3.23968964e+00] [ 1.57033213e-02 -9.03065802e-04 9.99876287e-01 4.98104213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.179254154 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:324.50, Y:3.24, Z:4.98 [[ 9.96948041e-01 -7.64673503e-02 -1.57272785e-02 3.24501419e+02] [ 7.64728847e-02 9.97071630e-01 -2.50075404e-04 3.23974265e+00] [ 1.57003458e-02 -9.53398168e-04 9.99876287e-01 4.98113571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.20925415399995 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:324.53, Y:3.24, Z:4.98 [[ 9.96772982e-01 -7.87160375e-02 -1.57292222e-02 3.24530137e+02] [ 7.87237851e-02 9.96896459e-01 -1.26964694e-04 3.24034597e+00] [ 1.56904001e-02 -1.11170893e-03 9.99876280e-01 4.98171453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.239254154 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:324.56, Y:3.24, Z:4.98 [[ 9.96669292e-01 -8.00185920e-02 -1.57272732e-02 3.24562786e+02] [ 8.00245723e-02 9.96792860e-01 -2.49721186e-04 3.24126507e+00] [ 1.56968160e-02 -1.00967887e-03 9.99876288e-01 4.98229974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.26925415399995 meters Centerline goodness : 0.998872 Centerline is valid? [True, True] Translation: X:324.59, Y:3.24, Z:4.98 [[ 9.96646944e-01 -8.02964586e-02 -1.57273005e-02 3.24594537e+02] [ 8.03025005e-02 9.96770509e-01 -2.47987544e-04 3.24368797e+00] [ 1.56964219e-02 -1.01578553e-03 9.99876288e-01 4.98302959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.299254154 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:324.63, Y:3.25, Z:4.98 [[ 9.96730344e-01 -7.92544852e-02 -1.57273230e-02 3.24627260e+02] [ 7.92604205e-02 9.96853914e-01 -2.46553087e-04 3.24546219e+00] [ 1.56973839e-02 -1.00080729e-03 9.99876288e-01 4.98383102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.32925415399995 meters Centerline goodness : 0.998789 Centerline is valid? [True, True] Translation: X:324.66, Y:3.25, Z:4.98 [[ 9.96898675e-01 -7.71082564e-02 -1.57273498e-02 3.24658300e+02] [ 7.71139527e-02 9.97022256e-01 -2.44832250e-04 3.24742696e+00] [ 1.56993964e-02 -9.68725162e-04 9.99876288e-01 4.98407159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.359254154 meters Centerline goodness : 0.999043 Centerline is valid? [True, True] Translation: X:324.69, Y:3.25, Z:4.98 [[ 9.97118050e-01 -7.42177377e-02 -1.57264976e-02 3.24690592e+02] [ 7.42222167e-02 9.97241682e-01 -2.99468412e-04 3.25092127e+00] [ 1.57053448e-02 -8.68650155e-04 9.99876286e-01 4.98438841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.38925415399996 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:324.72, Y:3.25, Z:4.98 [[ 9.97250614e-01 -7.24145183e-02 -1.57273796e-02 3.24723448e+02] [ 7.24196741e-02 9.97374219e-01 -2.42198621e-04 3.25272827e+00] [ 1.57036216e-02 -8.97438981e-04 9.99876288e-01 4.98498999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.419254154 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:324.76, Y:3.25, Z:4.99 [[ 9.97369652e-01 -7.07561069e-02 -1.57274066e-02 3.24756535e+02] [ 7.07610849e-02 9.97493264e-01 -2.40433521e-04 3.25465119e+00] [ 1.57049942e-02 -8.73087254e-04 9.99876288e-01 4.98508654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.44925415399996 meters Centerline goodness : 0.999085 Centerline is valid? [True, True] Translation: X:324.79, Y:3.26, Z:4.99 [[ 9.97464854e-01 -6.94011078e-02 -1.57274331e-02 3.24787247e+02] [ 6.94059454e-02 9.97588471e-01 -2.38682664e-04 3.25661087e+00] [ 1.57060708e-02 -8.53499797e-04 9.99876288e-01 4.98504188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.479254154 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:324.82, Y:3.26, Z:4.98 [[ 9.97711422e-01 -6.57614292e-02 -1.57274462e-02 3.24817855e+02] [ 6.57658294e-02 9.97835056e-01 -2.37816670e-04 3.25952873e+00] [ 1.57090363e-02 -7.97056137e-04 9.99876288e-01 4.98401804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.50925415399996 meters Centerline goodness : 0.998852 Centerline is valid? [True, True] Translation: X:324.85, Y:3.26, Z:4.99 [[ 9.97714429e-01 -6.57160539e-02 -1.57263411e-02 3.24851663e+02] [ 6.57192803e-02 9.97838103e-01 -3.12103180e-04 3.26166485e+00] [ 1.57128525e-02 -7.22133973e-04 9.99876285e-01 4.98726176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.53925415399993 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:324.88, Y:3.26, Z:4.99 [[ 9.97785518e-01 -6.46274294e-02 -1.57275270e-02 3.24884060e+02] [ 6.46317875e-02 9.97909153e-01 -2.31558690e-04 3.26343144e+00] [ 1.57096082e-02 -7.85452276e-04 9.99876288e-01 4.98811496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.56925415399996 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:324.92, Y:3.27, Z:4.99 [[ 9.97929821e-01 -6.23595813e-02 -1.57275443e-02 3.24915840e+02] [ 6.23636769e-02 9.98053465e-01 -2.30380341e-04 3.26696982e+00] [ 1.57112965e-02 -7.50924076e-04 9.99876288e-01 4.98919864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.59925415399994 meters Centerline goodness : 0.998912 Centerline is valid? [True, True] Translation: X:324.95, Y:3.27, Z:4.99 [[ 9.98018638e-01 -6.09216109e-02 -1.57275613e-02 3.24949698e+02] [ 6.09255467e-02 9.98142287e-01 -2.29208830e-04 3.26852976e+00] [ 1.57123078e-02 -7.29455589e-04 9.99876288e-01 4.99001114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.62925415399997 meters Centerline goodness : 0.998872 Centerline is valid? [True, True] Translation: X:324.98, Y:3.27, Z:4.99 [[ 9.98103710e-01 -5.95111978e-02 -1.57289721e-02 3.24979274e+02] [ 5.95164913e-02 9.98227314e-01 -1.31751168e-04 3.27095761e+00] [ 1.57089302e-02 -8.04631901e-04 9.99876283e-01 4.99046296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.65925415399994 meters Centerline goodness : 0.998933 Centerline is valid? [True, True] Translation: X:325.01, Y:3.27, Z:4.99 [[ 9.98226464e-01 -5.74157732e-02 -1.57275718e-02 3.25011516e+02] [ 5.74192898e-02 9.98350126e-01 -2.28245106e-04 3.27300136e+00] [ 1.57147281e-02 -6.75225698e-04 9.99876288e-01 4.99101506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.68925415399997 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:325.04, Y:3.28, Z:4.99 [[ 9.98515806e-01 -5.21423922e-02 -1.57275888e-02 3.25042381e+02] [ 5.21452741e-02 9.98639484e-01 -2.27069602e-04 3.27671229e+00] [ 1.57180311e-02 -5.93386841e-04 9.99876288e-01 4.99149675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.71925415399994 meters Centerline goodness : 0.998974 Centerline is valid? [True, True] Translation: X:325.07, Y:3.28, Z:4.99 [[ 9.98671685e-01 -4.90663709e-02 -1.57276014e-02 3.25074422e+02] [ 4.90688856e-02 9.98795371e-01 -2.26193294e-04 3.27937735e+00] [ 1.57197539e-02 -5.45843034e-04 9.99876288e-01 4.99218207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.74925415399997 meters Centerline goodness : 0.998974 Centerline is valid? [True, True] Translation: X:325.11, Y:3.28, Z:4.99 [[ 9.98837599e-01 -4.55641551e-02 -1.57276182e-02 3.25105768e+02] [ 4.55662547e-02 9.98961293e-01 -2.25013904e-04 3.28210160e+00] [ 1.57215344e-02 -4.91896310e-04 9.99876288e-01 4.99247519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.77925415399994 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:325.14, Y:3.29, Z:4.99 [[ 9.99157308e-01 -3.79119338e-02 -1.57276308e-02 3.25137922e+02] [ 3.79130996e-02 9.99281015e-01 -2.24135585e-04 3.28699423e+00] [ 1.57248202e-02 -3.72336523e-04 9.99876288e-01 4.99390639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.809254154 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:325.17, Y:3.29, Z:4.99 [[ 9.99285857e-01 -3.43572024e-02 -1.57276474e-02 3.25169538e+02] [ 3.43579465e-02 9.99409567e-01 -2.22964067e-04 3.28942664e+00] [ 1.57260217e-02 -3.17564828e-04 9.99876288e-01 4.99444951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.83925415399995 meters Centerline goodness : 0.998824 Centerline is valid? [True, True] Translation: X:325.20, Y:3.29, Z:5.00 [[ 9.99388929e-01 -3.12155373e-02 -1.57276597e-02 3.25201319e+02] [ 3.12159063e-02 9.99512640e-01 -2.22091948e-04 3.29191001e+00] [ 1.57269274e-02 -2.68996917e-04 9.99876288e-01 4.99515669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.869254154 meters Centerline goodness : 0.998907 Centerline is valid? [True, True] Translation: X:325.23, Y:3.29, Z:5.00 [[ 9.99475234e-01 -2.83177846e-02 -1.57276678e-02 3.25233058e+02] [ 2.83178040e-02 9.99598946e-01 -2.21514770e-04 3.29407626e+00] [ 1.57276330e-02 -2.23974488e-04 9.99876288e-01 4.99595930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.89925415399995 meters Centerline goodness : 0.998926 Centerline is valid? [True, True] Translation: X:325.26, Y:3.30, Z:5.00 [[ 9.99569644e-01 -2.47622014e-02 -1.57276760e-02 3.25262890e+02] [ 2.47617899e-02 9.99693355e-01 -2.20931872e-04 3.29736959e+00] [ 1.57283240e-02 -1.68608615e-04 9.99876288e-01 4.99637277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.929254154 meters Centerline goodness : 0.998843 Centerline is valid? [True, True] Translation: X:325.29, Y:3.30, Z:5.00 [[ 9.99588815e-01 -2.39758487e-02 -1.57276801e-02 3.25292874e+02] [ 2.39753444e-02 9.99712526e-01 -2.20642798e-04 3.29902335e+00] [ 1.57284489e-02 -1.56524473e-04 9.99876288e-01 4.99735319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.95925415399995 meters Centerline goodness : 0.999053 Centerline is valid? [True, True] Translation: X:325.32, Y:3.30, Z:5.00 [[ 9.99588517e-01 -2.39882808e-02 -1.57276720e-02 3.25322170e+02] [ 2.39877691e-02 9.99712228e-01 -2.21212204e-04 3.30088029e+00] [ 1.57284526e-02 -1.56150587e-04 9.99876288e-01 4.99790946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.989254154 meters Centerline goodness : 0.998968 Centerline is valid? [True, True] Translation: X:325.35, Y:3.30, Z:5.00 [[ 9.99567859e-01 -2.48341580e-02 -1.57276681e-02 3.25351873e+02] [ 2.48337465e-02 9.99691570e-01 -2.21494737e-04 3.30253051e+00] [ 1.57283178e-02 -1.69177901e-04 9.99876288e-01 4.99861662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.01925415399995 meters Centerline goodness : 0.998652 Centerline is valid? [True, True] Translation: X:325.38, Y:3.30, Z:5.00 [[ 9.99538343e-01 -2.59950284e-02 -1.57276600e-02 3.25381056e+02] [ 2.59947516e-02 9.99662055e-01 -2.22064200e-04 3.30336563e+00] [ 1.57281175e-02 -1.86874933e-04 9.99876288e-01 4.99799205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.049254154 meters Centerline goodness : 0.998781 Centerline is valid? [True, True] Translation: X:325.41, Y:3.30, Z:5.00 [[ 9.99549619e-01 -2.55577954e-02 -1.57276560e-02 3.25414389e+02] [ 2.55574600e-02 9.99673330e-01 -2.22346614e-04 3.30061936e+00] [ 1.57282010e-02 -1.79712467e-04 9.99876288e-01 4.99688423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.07925415399995 meters Centerline goodness : 0.998339 Centerline is valid? [True, True] Translation: X:325.44, Y:3.30, Z:5.00 [[ 9.99246675e-01 -3.54772982e-02 -1.57303319e-02 3.25441450e+02] [ 3.54811406e-02 9.99370346e-01 -3.48358566e-05 3.30444702e+00] [ 1.57216631e-02 -5.23320503e-04 9.99876270e-01 4.99860039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.109254154 meters Centerline goodness : 0.997205 Centerline is valid? [True, True] Translation: X:325.48, Y:3.30, Z:5.00 [[ 9.99272397e-01 -3.47465471e-02 -1.57275065e-02 3.25477285e+02] [ 3.47472453e-02 9.99396106e-01 -2.28946736e-04 3.29864198e+00] [ 1.57259638e-02 -3.17707372e-04 9.99876289e-01 4.99506288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.13925415399996 meters Centerline goodness : 0.996112 Centerline is valid? [True, True] Translation: X:325.50, Y:3.31, Z:5.00 [[ 9.98896579e-01 -4.42506508e-02 -1.57322538e-02 3.25500414e+02] [ 4.42577450e-02 9.99020141e-01 1.02894367e-04 3.30501955e+00] [ 1.57122852e-02 -7.99054906e-04 9.99876235e-01 4.99784072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.169254154 meters Centerline goodness : 0.995726 Centerline is valid? [True, True] Translation: X:325.53, Y:3.31, Z:5.00 [[ 9.98719152e-01 -4.80906587e-02 -1.57272000e-02 3.25531337e+02] [ 4.80929114e-02 9.98842839e-01 -2.35157294e-04 3.30515654e+00] [ 1.57203100e-02 -5.21510743e-04 9.99876292e-01 4.99704782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.19925415399996 meters Centerline goodness : 0.994882 Centerline is valid? [True, True] Translation: X:325.56, Y:3.31, Z:5.00 [[ 9.98286978e-01 -5.63539168e-02 -1.57272126e-02 3.25563934e+02] [ 5.63572064e-02 9.98410642e-01 -2.34311024e-04 3.30509346e+00] [ 1.57154208e-02 -6.52432124e-04 9.99876292e-01 4.99703737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.229254154 meters Centerline goodness : 0.995070 Centerline is valid? [True, True] Translation: X:325.60, Y:3.30, Z:4.99 [[ 9.98369063e-01 -5.48804839e-02 -1.57272292e-02 3.25601925e+02] [ 5.48836085e-02 9.98492732e-01 -2.33192064e-04 3.29915885e+00] [ 1.57163218e-02 -6.30355349e-04 9.99876292e-01 4.99435417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.25925415399996 meters Centerline goodness : 0.995477 Centerline is valid? [True, True] Translation: X:325.63, Y:3.30, Z:4.99 [[ 9.98035988e-01 -6.06355328e-02 -1.57320650e-02 3.25633767e+02] [ 6.06446247e-02 9.98159416e-01 1.01067782e-04 3.29971618e+00] [ 1.56969805e-02 -1.05493446e-03 9.99876238e-01 4.99434085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.28925415399993 meters Centerline goodness : 0.995627 Centerline is valid? [True, True] Translation: X:325.66, Y:3.31, Z:5.00 [[ 9.97623596e-01 -6.70796306e-02 -1.57316066e-02 3.25657085e+02] [ 6.70890276e-02 9.97746991e-01 6.97590651e-05 3.30581777e+00] [ 1.56914837e-02 -1.12501148e-03 9.99876248e-01 4.99691566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.31925415399996 meters Centerline goodness : 0.995853 Centerline is valid? [True, True] Translation: X:325.70, Y:3.30, Z:5.00 [[ 9.97784897e-01 -6.46371876e-02 -1.57268517e-02 3.25695440e+02] [ 6.46414009e-02 9.97908529e-01 -2.40814632e-04 3.30246886e+00] [ 1.57095250e-02 -7.76324524e-04 9.99876296e-01 4.99662692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.34925415399994 meters Centerline goodness : 0.996135 Centerline is valid? [True, True] Translation: X:325.72, Y:3.31, Z:5.00 [[ 9.97463992e-01 -6.94126657e-02 -1.57310885e-02 3.25720072e+02] [ 6.94219474e-02 9.97587385e-01 4.40586398e-05 3.30809911e+00] [ 1.56900773e-02 -1.13602971e-03 9.99876258e-01 4.99775543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.37925415399997 meters Centerline goodness : 0.996088 Centerline is valid? [True, True] Translation: X:325.75, Y:3.31, Z:5.00 [[ 9.97433287e-01 -6.98534886e-02 -1.57266862e-02 3.25752488e+02] [ 6.98583290e-02 9.97556893e-01 -2.42032742e-04 3.31064427e+00] [ 1.57051711e-02 -8.57228509e-04 9.99876299e-01 4.99860668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.40925415399994 meters Centerline goodness : 0.995926 Centerline is valid? [True, True] Translation: X:325.79, Y:3.30, Z:5.00 [[ 9.97944611e-01 -6.21226558e-02 -1.57267071e-02 3.25793339e+02] [ 6.21265598e-02 9.98068251e-01 -2.40667958e-04 3.30427745e+00] [ 1.57112780e-02 -7.36872918e-04 9.99876299e-01 4.99583215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.43925415399997 meters Centerline goodness : 0.996504 Centerline is valid? [True, True] Translation: X:325.81, Y:3.31, Z:5.00 [[ 9.97443398e-01 -6.97071310e-02 -1.57347922e-02 3.25810797e+02] [ 6.97206975e-02 9.97566502e-01 3.14625774e-04 3.31416935e+00] [ 1.56745700e-02 -1.41086209e-03 9.99876151e-01 5.00065944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.46925415399994 meters Centerline goodness : 0.996481 Centerline is valid? [True, True] Translation: X:325.84, Y:3.32, Z:5.00 [[ 9.97511694e-01 -6.87249325e-02 -1.57259264e-02 3.25843447e+02] [ 6.87295400e-02 9.97635299e-01 -2.47916389e-04 3.31616457e+00] [ 1.57057773e-02 -8.33536187e-04 9.99876309e-01 5.00125957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.49925415399997 meters Centerline goodness : 0.996987 Centerline is valid? [True, True] Translation: X:325.88, Y:3.32, Z:5.00 [[ 9.97746779e-01 -6.52231557e-02 -1.57259533e-02 3.25878632e+02] [ 6.52273564e-02 9.97870398e-01 -2.46195705e-04 3.31804943e+00] [ 1.57085209e-02 -7.80121388e-04 9.99876309e-01 5.00283411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.52925415399994 meters Centerline goodness : 0.996964 Centerline is valid? [True, True] Translation: X:325.91, Y:3.32, Z:5.00 [[ 9.97748146e-01 -6.52017377e-02 -1.57280267e-02 3.25906442e+02] [ 6.52080562e-02 9.97871684e-01 -1.11304267e-04 3.32187368e+00] [ 1.57018097e-02 -9.14540419e-04 9.99876301e-01 5.00314584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.559254154 meters Centerline goodness : 0.997193 Centerline is valid? [True, True] Translation: X:325.94, Y:3.32, Z:5.00 [[ 9.97841112e-01 -6.37636866e-02 -1.57259991e-02 3.25939821e+02] [ 6.37677615e-02 9.97964736e-01 -2.42692407e-04 3.32422291e+00] [ 1.57094675e-02 -7.60643301e-04 9.99876309e-01 5.00380721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.58925415399995 meters Centerline goodness : 0.997274 Centerline is valid? [True, True] Translation: X:325.97, Y:3.33, Z:5.00 [[ 9.97935272e-01 -6.22726671e-02 -1.57260255e-02 3.25971844e+02] [ 6.22765843e-02 9.98058901e-01 -2.40973177e-04 3.32640117e+00] [ 1.57105057e-02 -7.38887519e-04 9.99876309e-01 5.00403286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.619254154 meters Centerline goodness : 0.997653 Centerline is valid? [True, True] Translation: X:326.00, Y:3.33, Z:5.00 [[ 9.98020317e-01 -6.08944942e-02 -1.57260429e-02 3.26003809e+02] [ 6.08982586e-02 9.98143950e-01 -2.39829924e-04 3.32861274e+00] [ 1.57114589e-02 -7.18333492e-04 9.99876309e-01 5.00395031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.64925415399995 meters Centerline goodness : 0.997252 Centerline is valid? [True, True] Translation: X:326.03, Y:3.33, Z:5.00 [[ 9.98101966e-01 -5.95412239e-02 -1.57260602e-02 3.26034620e+02] [ 5.95448386e-02 9.98225603e-01 -2.38693466e-04 3.33089594e+00] [ 1.57123680e-02 -6.98165297e-04 9.99876309e-01 5.00306986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.679254154 meters Centerline goodness : 0.997433 Centerline is valid? [True, True] Translation: X:326.07, Y:3.33, Z:5.00 [[ 9.98293819e-01 -5.62329253e-02 -1.57260730e-02 3.26066539e+02] [ 5.62361435e-02 9.98417468e-01 -2.37846190e-04 3.33460216e+00] [ 1.57145607e-02 -6.46933316e-04 9.99876309e-01 5.00435997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.70925415399995 meters Centerline goodness : 0.997583 Centerline is valid? [True, True] Translation: X:326.10, Y:3.34, Z:5.00 [[ 9.98407800e-01 -5.41715424e-02 -1.57260903e-02 3.26098902e+02] [ 5.41745234e-02 9.98531454e-01 -2.36696422e-04 3.33692220e+00] [ 1.57158180e-02 -6.15633891e-04 9.99876309e-01 5.00450141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.739254154 meters Centerline goodness : 0.997985 Centerline is valid? [True, True] Translation: X:326.13, Y:3.34, Z:5.01 [[ 9.98535016e-01 -5.17736538e-02 -1.57261303e-02 3.26130685e+02] [ 5.17763802e-02 9.98658676e-01 -2.34004536e-04 3.33950622e+00] [ 1.57171518e-02 -5.80580380e-04 9.99876309e-01 5.00529452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.76925415399995 meters Centerline goodness : 0.998363 Centerline is valid? [True, True] Translation: X:326.16, Y:3.34, Z:5.01 [[ 9.98806483e-01 -4.62417388e-02 -1.57261469e-02 3.26163084e+02] [ 4.62437977e-02 9.98930156e-01 -2.32888101e-04 3.34488886e+00] [ 1.57200915e-02 -4.94626609e-04 9.99876309e-01 5.00783490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.799254154 meters Centerline goodness : 0.998191 Centerline is valid? [True, True] Translation: X:326.20, Y:3.35, Z:5.01 [[ 9.98952245e-01 -4.29778903e-02 -1.57261639e-02 3.26195358e+02] [ 4.29795633e-02 9.99075925e-01 -2.31730245e-04 3.34740532e+00] [ 1.57215911e-02 -4.44416210e-04 9.99876309e-01 5.00854097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.82925415399995 meters Centerline goodness : 0.998402 Centerline is valid? [True, True] Translation: X:326.23, Y:3.35, Z:5.01 [[ 9.99080630e-01 -3.98820924e-02 -1.57261808e-02 3.26227460e+02] [ 3.98834002e-02 9.99204314e-01 -2.30578497e-04 3.34990486e+00] [ 1.57228637e-02 -3.96847054e-04 9.99876309e-01 5.00987987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.859254154 meters Centerline goodness : 0.998421 Centerline is valid? [True, True] Translation: X:326.27, Y:3.34, Z:5.00 [[ 9.99670460e-01 -2.02893680e-02 -1.57261978e-02 3.26274784e+02] [ 2.02882693e-02 9.99794146e-01 -2.29415229e-04 3.33992040e+00] [ 1.57276152e-02 -8.97177075e-05 9.99876309e-01 5.00336650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.88925415399996 meters Centerline goodness : 0.998825 Centerline is valid? [True, True] Translation: X:326.29, Y:3.36, Z:5.01 [[ 9.99421871e-01 -3.01377033e-02 -1.57366338e-02 3.26286396e+02] [ 3.01503798e-02 9.99545212e-01 5.68863779e-04 3.35569115e+00] [ 1.57123328e-02 -1.04300039e-03 9.99876010e-01 5.01211978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.919254154 meters Centerline goodness : 0.998825 Centerline is valid? [True, True] Translation: X:326.32, Y:3.36, Z:5.01 [[ 9.99422786e-01 -3.01136313e-02 -1.57246637e-02 3.26318224e+02] [ 3.01136692e-02 9.99546453e-01 -2.34420011e-04 3.35652329e+00] [ 1.57245911e-02 -2.39242621e-04 9.99876332e-01 5.01288270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.94925415399996 meters Centerline goodness : 0.998952 Centerline is valid? [True, True] Translation: X:326.35, Y:3.36, Z:5.01 [[ 9.99573114e-01 -2.46236616e-02 -1.57246723e-02 3.26349719e+02] [ 2.46230294e-02 9.99696780e-01 -2.33842384e-04 3.36030852e+00] [ 1.57256623e-02 -1.53446509e-04 9.99876332e-01 5.01311473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.979254154 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:326.38, Y:3.36, Z:5.01 [[ 9.99619969e-01 -2.26418290e-02 -1.57246851e-02 3.26380178e+02] [ 2.26409651e-02 9.99743633e-01 -2.32978962e-04 3.36211654e+00] [ 1.57259289e-02 -1.23131624e-04 9.99876332e-01 5.01431603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.00925415399996 meters Centerline goodness : 0.999058 Centerline is valid? [True, True] Translation: X:326.41, Y:3.36, Z:5.01 [[ 9.99646566e-01 -2.14354217e-02 -1.57246851e-02 3.26409271e+02] [ 2.14344086e-02 9.99770230e-01 -2.32978962e-04 3.36377719e+00] [ 1.57260660e-02 -1.04152706e-04 9.99876332e-01 5.01426358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.03925415399993 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:326.44, Y:3.37, Z:5.01 [[ 9.99661586e-01 -2.07231412e-02 -1.57246809e-02 3.26438316e+02] [ 2.07220355e-02 9.99785248e-01 -2.33264304e-04 3.36505444e+00] [ 1.57261379e-02 -9.26620305e-05 9.99876332e-01 5.01432183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.06925415399996 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:326.47, Y:3.37, Z:5.02 [[ 9.99674010e-01 -2.01148998e-02 -1.57246767e-02 3.26467581e+02] [ 2.01137144e-02 9.99797672e-01 -2.33544859e-04 3.36723941e+00] [ 1.57261929e-02 -8.28129314e-05 9.99876332e-01 5.01520206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.09925415399994 meters Centerline goodness : 0.999314 Centerline is valid? [True, True] Translation: X:326.50, Y:3.37, Z:5.02 [[ 9.99654811e-01 -2.10481634e-02 -1.57236568e-02 3.26497804e+02] [ 2.10460305e-02 9.99778462e-01 -3.01125426e-04 3.36734461e+00] [ 1.57265115e-02 -2.98990783e-05 9.99876330e-01 5.01583914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.12925415399997 meters Centerline goodness : 0.999229 Centerline is valid? [True, True] Translation: X:326.53, Y:3.37, Z:5.02 [[ 9.99644947e-01 -2.15108340e-02 -1.57246181e-02 3.26527255e+02] [ 2.15097596e-02 9.99768610e-01 -2.37471374e-04 3.36927450e+00] [ 1.57260878e-02 -1.00845697e-04 9.99876332e-01 5.01648368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.15925415399994 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:326.56, Y:3.37, Z:5.02 [[ 9.99635121e-01 -2.19637413e-02 -1.57232039e-02 3.26557097e+02] [ 2.19612682e-02 9.99758768e-01 -3.29952266e-04 3.36898498e+00] [ 1.57266580e-02 -1.54696256e-05 9.99876328e-01 5.01662780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.18925415399997 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:326.59, Y:3.37, Z:5.02 [[ 9.99637269e-01 -2.18647512e-02 -1.57245808e-02 3.26587517e+02] [ 2.18636872e-02 9.99760932e-01 -2.39589482e-04 3.37000574e+00] [ 1.57260601e-02 -1.04294740e-04 9.99876332e-01 5.01792428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.21925415399994 meters Centerline goodness : 0.998821 Centerline is valid? [True, True] Translation: X:326.62, Y:3.37, Z:5.02 [[ 9.99662985e-01 -2.06556284e-02 -1.57245808e-02 3.26617693e+02] [ 2.06544148e-02 9.99786646e-01 -2.39589482e-04 3.37004369e+00] [ 1.57261748e-02 -8.52732776e-05 9.99876332e-01 5.01727899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.24925415399997 meters Centerline goodness : 0.998907 Centerline is valid? [True, True] Translation: X:326.65, Y:3.37, Z:5.02 [[ 9.99666506e-01 -2.04845150e-02 -1.57245808e-02 3.26647181e+02] [ 2.04832803e-02 9.99790167e-01 -2.39589482e-04 3.37116940e+00] [ 1.57261891e-02 -8.25814160e-05 9.99876332e-01 5.01852943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.27925415399994 meters Centerline goodness : 0.998972 Centerline is valid? [True, True] Translation: X:326.68, Y:3.37, Z:5.02 [[ 9.99689017e-01 -1.93547448e-02 -1.57245765e-02 3.26676639e+02] [ 1.93533658e-02 9.99812677e-01 -2.39874974e-04 3.37142762e+00] [ 1.57262736e-02 -6.45231041e-05 9.99876332e-01 5.01958873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.309254154 meters Centerline goodness : 0.998908 Centerline is valid? [True, True] Translation: X:326.71, Y:3.36, Z:5.02 [[ 9.99811277e-01 -1.14082471e-02 -1.57245677e-02 3.26714611e+02] [ 1.14058762e-02 9.99934922e-01 -2.40448536e-04 3.36465682e+00] [ 1.57262875e-02 6.10506851e-05 9.99876332e-01 5.01585680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.33925415399995 meters Centerline goodness : 0.998800 Centerline is valid? [True, True] Translation: X:326.74, Y:3.37, Z:5.02 [[ 9.99747719e-01 -1.60328339e-02 -1.57304270e-02 3.26735602e+02] [ 1.60372583e-02 9.99871383e-01 1.55153191e-04 3.37041558e+00] [ 1.57259162e-02 -4.07386969e-04 9.99876257e-01 5.02089259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.369254154 meters Centerline goodness : 0.998864 Centerline is valid? [True, True] Translation: X:326.76, Y:3.37, Z:5.02 [[ 9.99767174e-01 -1.47766084e-02 -1.57242058e-02 3.26764343e+02] [ 1.47745874e-02 9.99890820e-01 -2.44698868e-04 3.36947220e+00] [ 1.57261048e-02 1.23232442e-05 9.99876337e-01 5.02171821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.39925415399995 meters Centerline goodness : 0.998864 Centerline is valid? [True, True] Translation: X:326.79, Y:3.37, Z:5.02 [[ 9.99762886e-01 -1.50639757e-02 -1.57241433e-02 3.26792722e+02] [ 1.50619279e-02 9.99886532e-01 -2.48651694e-04 3.36999413e+00] [ 1.57261048e-02 1.17568225e-05 9.99876337e-01 5.02216594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.429254154 meters Centerline goodness : 0.998672 Centerline is valid? [True, True] Translation: X:326.82, Y:3.37, Z:5.02 [[ 9.99742906e-01 -1.63363245e-02 -1.57240705e-02 3.26820814e+02] [ 1.63343631e-02 9.99866553e-01 -2.53170920e-04 3.36764956e+00] [ 1.57261081e-02 -3.73684523e-06 9.99876337e-01 5.02227908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.45925415399995 meters Centerline goodness : 0.998737 Centerline is valid? [True, True] Translation: X:326.85, Y:3.37, Z:5.02 [[ 9.99707128e-01 -1.83960126e-02 -1.57239962e-02 3.26848727e+02] [ 1.83942346e-02 9.99830779e-01 -2.57702561e-04 3.36648906e+00] [ 1.57260761e-02 -3.16037884e-05 9.99876337e-01 5.02242960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.489254154 meters Centerline goodness : 0.998674 Centerline is valid? [True, True] Translation: X:326.88, Y:3.36, Z:5.02 [[ 9.99652341e-01 -2.11649418e-02 -1.57239731e-02 3.26877099e+02] [ 2.11634842e-02 9.99775995e-01 -2.59105905e-04 3.36486798e+00] [ 1.57259348e-02 -7.37582331e-05 9.99876337e-01 5.02240355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.51925415399995 meters Centerline goodness : 0.998634 Centerline is valid? [True, True] Translation: X:326.91, Y:3.36, Z:5.02 [[ 9.99577670e-01 -2.44385143e-02 -1.57239079e-02 3.26907218e+02] [ 2.44374004e-02 9.99701328e-01 -2.63005186e-04 3.36291632e+00] [ 1.57256390e-02 -1.21357321e-04 9.99876337e-01 5.02263989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.549254154 meters Centerline goodness : 0.998849 Centerline is valid? [True, True] Translation: X:326.94, Y:3.36, Z:5.02 [[ 9.99349337e-01 -3.24601429e-02 -1.57238984e-02 3.26937815e+02] [ 3.24600125e-02 9.99473000e-01 -2.63573426e-04 3.35816734e+00] [ 1.57241675e-02 -2.46996008e-04 9.99876337e-01 5.02313699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.57925415399995 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:326.97, Y:3.36, Z:5.02 [[ 9.99200801e-01 -3.67494018e-02 -1.57238984e-02 3.26968690e+02] [ 3.67498022e-02 9.99324463e-01 -2.63573426e-04 3.35590369e+00] [ 1.57229625e-02 -3.14487376e-04 9.99876337e-01 5.02301935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.609254154 meters Centerline goodness : 0.999001 Centerline is valid? [True, True] Translation: X:327.00, Y:3.35, Z:5.02 [[ 9.99023287e-01 -4.12944270e-02 -1.57239129e-02 3.27000511e+02] [ 4.12954037e-02 9.99146946e-01 -2.62702368e-04 3.35398812e+00] [ 1.57213477e-02 -3.86879549e-04 9.99876337e-01 5.02365265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.63925415399996 meters Centerline goodness : 0.998897 Centerline is valid? [True, True] Translation: X:327.03, Y:3.35, Z:5.02 [[ 9.98820451e-01 -4.59397960e-02 -1.57239323e-02 3.27031529e+02] [ 4.59413661e-02 9.98944104e-01 -2.61535972e-04 3.35195189e+00] [ 1.57193444e-02 -4.61151453e-04 9.99876337e-01 5.02261488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.669254154 meters Centerline goodness : 0.998771 Centerline is valid? [True, True] Translation: X:327.06, Y:3.35, Z:5.02 [[ 9.98325868e-01 -5.56616443e-02 -1.57239467e-02 3.27063427e+02] [ 5.56644318e-02 9.98449500e-01 -2.60667263e-04 3.34828897e+00] [ 1.57140759e-02 -6.15033689e-04 9.99876337e-01 5.02419952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.69925415399996 meters Centerline goodness : 0.998729 Centerline is valid? [True, True] Translation: X:327.10, Y:3.35, Z:5.02 [[ 9.98051374e-01 -6.03838784e-02 -1.57239660e-02 3.27096854e+02] [ 6.03872690e-02 9.98174990e-01 -2.59502009e-04 3.34697760e+00] [ 1.57109393e-02 -6.90531026e-04 9.99876337e-01 5.02483793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.729254154 meters Centerline goodness : 0.998816 Centerline is valid? [True, True] Translation: X:327.13, Y:3.35, Z:5.03 [[ 9.97791245e-01 -6.45398109e-02 -1.57239948e-02 3.27128688e+02] [ 6.45437440e-02 9.97914845e-01 -2.57742320e-04 3.34559489e+00] [ 1.57078425e-02 -7.57712463e-04 9.99876337e-01 5.02545433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.75925415399996 meters Centerline goodness : 0.998626 Centerline is valid? [True, True] Translation: X:327.16, Y:3.34, Z:5.03 [[ 9.97314407e-01 -7.15313125e-02 -1.57240138e-02 3.27161429e+02] [ 7.15361300e-02 9.97437976e-01 -2.56580352e-04 3.34313470e+00] [ 1.57020820e-02 -8.68943811e-04 9.99876337e-01 5.02644711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.78925415399993 meters Centerline goodness : 0.998649 Centerline is valid? [True, True] Translation: X:327.19, Y:3.34, Z:5.03 [[ 9.97122059e-01 -7.41643701e-02 -1.57240419e-02 3.27193508e+02] [ 7.41695412e-02 9.97245614e-01 -2.54843681e-04 3.34242136e+00] [ 1.56996321e-02 -9.12134717e-04 9.99876337e-01 5.02689178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.81925415399996 meters Centerline goodness : 0.998796 Centerline is valid? [True, True] Translation: X:327.23, Y:3.34, Z:5.03 [[ 9.96989628e-01 -7.59238847e-02 -1.57240604e-02 3.27226163e+02] [ 7.59292918e-02 9.97113172e-01 -2.53696900e-04 3.34182575e+00] [ 1.56979294e-02 -9.40983593e-04 9.99876337e-01 5.02766304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.84925415399994 meters Centerline goodness : 0.998630 Centerline is valid? [True, True] Translation: X:327.26, Y:3.34, Z:5.03 [[ 9.96823578e-01 -7.80737341e-02 -1.57240789e-02 3.27259591e+02] [ 7.80794258e-02 9.96947110e-01 -2.52545672e-04 3.34135308e+00] [ 1.56957922e-02 -9.75983570e-04 9.99876337e-01 5.02841852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.87925415399997 meters Centerline goodness : 0.998627 Centerline is valid? [True, True] Translation: X:327.29, Y:3.34, Z:5.03 [[ 9.96810223e-01 -7.82440563e-02 -1.57241064e-02 3.27292833e+02] [ 7.82497961e-02 9.96933752e-01 -2.50822588e-04 3.34140150e+00] [ 1.56955178e-02 -9.80385599e-04 9.99876337e-01 5.02950278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.90925415399994 meters Centerline goodness : 0.998607 Centerline is valid? [True, True] Translation: X:327.33, Y:3.34, Z:5.03 [[ 9.96809505e-01 -7.82531918e-02 -1.57241343e-02 3.27325781e+02] [ 7.82589604e-02 9.96933033e-01 -2.49061906e-04 3.34157408e+00] [ 1.56953988e-02 -9.82287127e-04 9.99876337e-01 5.02939333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.93925415399997 meters Centerline goodness : 0.998880 Centerline is valid? [True, True] Translation: X:327.36, Y:3.34, Z:5.03 [[ 9.96811386e-01 -7.82292230e-02 -1.57241617e-02 3.27357597e+02] [ 7.82350160e-02 9.96934913e-01 -2.47320324e-04 3.34189137e+00] [ 1.56953134e-02 -9.83648324e-04 9.99876337e-01 5.02972129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.96925415399994 meters Centerline goodness : 0.998712 Centerline is valid? [True, True] Translation: X:327.39, Y:3.34, Z:5.03 [[ 9.96870616e-01 -7.74708048e-02 -1.57241798e-02 3.27389520e+02] [ 7.74765221e-02 9.96994146e-01 -2.46160613e-04 3.34291405e+00] [ 1.56959855e-02 -9.72864483e-04 9.99876337e-01 5.02972166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.99925415399997 meters Centerline goodness : 0.998776 Centerline is valid? [True, True] Translation: X:327.42, Y:3.34, Z:5.03 [[ 9.96920289e-01 -7.68289464e-02 -1.57241980e-02 3.27420537e+02] [ 7.68346024e-02 9.97043822e-01 -2.44992674e-04 3.34370866e+00] [ 1.56965370e-02 -9.63924335e-04 9.99876337e-01 5.02852307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.02925415399994 meters Centerline goodness : 0.998862 Centerline is valid? [True, True] Translation: X:327.45, Y:3.34, Z:5.03 [[ 9.96945400e-01 -7.65024073e-02 -1.57242115e-02 3.27453273e+02] [ 7.65080366e-02 9.97068935e-01 -2.44123201e-04 3.34467595e+00] [ 1.56967988e-02 -9.59651047e-04 9.99876337e-01 5.02914630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.059254154 meters Centerline goodness : 0.998819 Centerline is valid? [True, True] Translation: X:327.49, Y:3.35, Z:5.03 [[ 9.96987592e-01 -7.59505697e-02 -1.57242373e-02 3.27485029e+02] [ 7.59561569e-02 9.97111129e-01 -2.42449147e-04 3.34577589e+00] [ 1.56972262e-02 -9.52633845e-04 9.99876337e-01 5.03079707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.08925415399995 meters Centerline goodness : 0.999008 Centerline is valid? [True, True] Translation: X:327.52, Y:3.35, Z:5.03 [[ 9.97087315e-01 -7.46299807e-02 -1.57242550e-02 3.27516754e+02] [ 7.46354224e-02 9.97210858e-01 -2.41296917e-04 3.34757317e+00] [ 1.56984058e-02 -9.32992318e-04 9.99876337e-01 5.03075361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.119254154 meters Centerline goodness : 0.998694 Centerline is valid? [True, True] Translation: X:327.55, Y:3.35, Z:5.03 [[ 9.97167038e-01 -7.35570862e-02 -1.57242769e-02 3.27550043e+02] [ 7.35624174e-02 9.97290586e-01 -2.39861347e-04 3.34881229e+00] [ 1.56993168e-02 -9.17533993e-04 9.99876337e-01 5.03213372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.14925415399995 meters Centerline goodness : 0.998946 Centerline is valid? [True, True] Translation: X:327.58, Y:3.35, Z:5.03 [[ 9.97256218e-01 -7.23379740e-02 -1.57243034e-02 3.27582289e+02] [ 7.23431816e-02 9.97379771e-01 -2.38114824e-04 3.35021935e+00] [ 1.57003268e-02 -9.00084644e-04 9.99876337e-01 5.03269670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.179254154 meters Centerline goodness : 0.998986 Centerline is valid? [True, True] Translation: X:327.61, Y:3.35, Z:5.03 [[ 9.97458646e-01 -6.94909777e-02 -1.57243208e-02 3.27614381e+02] [ 6.94958509e-02 9.97582212e-01 -2.36956734e-04 3.35299804e+00] [ 1.57027691e-02 -8.56420512e-04 9.99876337e-01 5.03215429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.20925415399995 meters Centerline goodness : 0.998943 Centerline is valid? [True, True] Translation: X:327.65, Y:3.35, Z:5.03 [[ 9.97577182e-01 -6.77680676e-02 -1.57243636e-02 3.27646529e+02] [ 6.77727725e-02 9.97700755e-01 -2.34084657e-04 3.35489639e+00] [ 1.57040729e-02 -8.32166203e-04 9.99876337e-01 5.03361649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.239254154 meters Centerline goodness : 0.999032 Centerline is valid? [True, True] Translation: X:327.68, Y:3.36, Z:5.03 [[ 9.97707063e-01 -6.58282697e-02 -1.57243806e-02 3.27677463e+02] [ 6.58327524e-02 9.97830644e-01 -2.32934028e-04 3.35697039e+00] [ 1.57056025e-02 -8.02779329e-04 9.99876337e-01 5.03353782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.26925415399995 meters Centerline goodness : 0.999217 Centerline is valid? [True, True] Translation: X:327.71, Y:3.36, Z:5.03 [[ 9.97839453e-01 -6.37900370e-02 -1.57244130e-02 3.27709048e+02] [ 6.37943019e-02 9.97963042e-01 -2.30725200e-04 3.35896046e+00] [ 1.57071010e-02 -7.72901244e-04 9.99876337e-01 5.03423485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.299254154 meters Centerline goodness : 0.998836 Centerline is valid? [True, True] Translation: X:327.74, Y:3.36, Z:5.04 [[ 9.98063989e-01 -6.01748869e-02 -1.57244253e-02 3.27741543e+02] [ 6.01787173e-02 9.98187592e-01 -2.29884486e-04 3.36246372e+00] [ 1.57097595e-02 -7.16836319e-04 9.99876337e-01 5.03663025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.32925415399995 meters Centerline goodness : 0.998919 Centerline is valid? [True, True] Translation: X:327.77, Y:3.36, Z:5.04 [[ 9.98166041e-01 -5.84576455e-02 -1.57244422e-02 3.27774254e+02] [ 5.84612815e-02 9.98289650e-01 -2.28721852e-04 3.36445888e+00] [ 1.57109185e-02 -6.90968658e-04 9.99876337e-01 5.03750156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.359254154 meters Centerline goodness : 0.998899 Centerline is valid? [True, True] Translation: X:327.81, Y:3.37, Z:5.04 [[ 9.98246914e-01 -5.70599757e-02 -1.57244675e-02 3.27807543e+02] [ 5.70634662e-02 9.98370527e-01 -2.26968630e-04 3.36653274e+00] [ 1.57117958e-02 -6.70721887e-04 9.99876337e-01 5.03853047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.38925415399996 meters Centerline goodness : 0.998982 Centerline is valid? [True, True] Translation: X:327.84, Y:3.37, Z:5.04 [[ 9.98316034e-01 -5.58375832e-02 -1.57244928e-02 3.27839284e+02] [ 5.58409502e-02 9.98439651e-01 -2.25201118e-04 3.36854249e+00] [ 1.57125318e-02 -6.53248734e-04 9.99876337e-01 5.03820415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.419254154 meters Centerline goodness : 0.999322 Centerline is valid? [True, True] Translation: X:327.87, Y:3.37, Z:5.04 [[ 9.98415496e-01 -5.40299728e-02 -1.57245137e-02 3.27870897e+02] [ 5.40331389e-02 9.98539118e-01 -2.23738384e-04 3.37141226e+00] [ 1.57136306e-02 -6.26260961e-04 9.99876337e-01 5.03781028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.44925415399996 meters Centerline goodness : 0.999153 Centerline is valid? [True, True] Translation: X:327.90, Y:3.37, Z:5.04 [[ 9.98439955e-01 -5.35760643e-02 -1.57245340e-02 3.27903613e+02] [ 5.35791969e-02 9.98563578e-01 -2.22301570e-04 3.37305613e+00] [ 1.57138569e-02 -6.20553132e-04 9.99876337e-01 5.03853701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.47925415399993 meters Centerline goodness : 0.999383 Centerline is valid? [True, True] Translation: X:327.94, Y:3.38, Z:5.04 [[ 9.98440445e-01 -5.35669327e-02 -1.57245579e-02 3.27935350e+02] [ 5.35700909e-02 9.98564067e-01 -2.20592740e-04 3.37588764e+00] [ 1.57137950e-02 -6.22117285e-04 9.99876337e-01 5.03885174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.50925415399996 meters Centerline goodness : 0.999341 Centerline is valid? [True, True] Translation: X:327.97, Y:3.38, Z:5.04 [[ 9.98439445e-01 -5.35855622e-02 -1.57245737e-02 3.27967239e+02] [ 5.35887406e-02 9.98563067e-01 -2.19464176e-04 3.37729289e+00] [ 1.57137386e-02 -6.23538409e-04 9.99876337e-01 5.03999943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.53925415399993 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:328.00, Y:3.38, Z:5.04 [[ 9.98424766e-01 -5.38583754e-02 -1.57245896e-02 3.27999121e+02] [ 5.38616055e-02 9.98548386e-01 -2.18318952e-04 3.37863438e+00] [ 1.57135219e-02 -6.28976592e-04 9.99876337e-01 5.04098843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.56925415399996 meters Centerline goodness : 0.999149 Centerline is valid? [True, True] Translation: X:328.03, Y:3.38, Z:5.04 [[ 9.98411313e-01 -5.41071770e-02 -1.57246056e-02 3.28030189e+02] [ 5.41104562e-02 9.98534932e-01 -2.17158577e-04 3.37996854e+00] [ 1.57133178e-02 -6.34052003e-04 9.99876337e-01 5.04152459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.59925415399994 meters Centerline goodness : 0.999296 Centerline is valid? [True, True] Translation: X:328.06, Y:3.38, Z:5.04 [[ 9.98398670e-01 -5.43399764e-02 -1.57246175e-02 3.28060924e+02] [ 5.43432980e-02 9.98522288e-01 -2.16294692e-04 3.38120715e+00] [ 1.57131345e-02 -6.38579242e-04 9.99876337e-01 5.04141396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.62925415399997 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:328.09, Y:3.38, Z:5.04 [[ 9.98336969e-01 -5.54619865e-02 -1.57246291e-02 3.28093436e+02] [ 5.54654604e-02 9.98460583e-01 -2.15444710e-04 3.38344327e+00] [ 1.57123714e-02 -6.57087377e-04 9.99876337e-01 5.04238192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.65925415399994 meters Centerline goodness : 0.999126 Centerline is valid? [True, True] Translation: X:328.13, Y:3.38, Z:5.04 [[ 9.98294684e-01 -5.62179556e-02 -1.57246444e-02 3.28125411e+02] [ 5.62215407e-02 9.98418295e-01 -2.14324879e-04 3.38446674e+00] [ 1.57118216e-02 -6.70104347e-04 9.99876337e-01 5.04266242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.68925415399997 meters Centerline goodness : 0.999382 Centerline is valid? [True, True] Translation: X:328.16, Y:3.39, Z:5.04 [[ 9.98255916e-01 -5.69022031e-02 -1.57246596e-02 3.28157048e+02] [ 5.69058906e-02 9.98379524e-01 -2.13203054e-04 3.38558021e+00] [ 1.57113099e-02 -6.81994549e-04 9.99876337e-01 5.04274402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.71925415399994 meters Centerline goodness : 0.999531 Centerline is valid? [True, True] Translation: X:328.19, Y:3.39, Z:5.04 [[ 9.98200694e-01 -5.78628479e-02 -1.57246970e-02 3.28190242e+02] [ 5.78666982e-02 9.98324297e-01 -2.10412675e-04 3.38657436e+00] [ 1.57105221e-02 -6.99902214e-04 9.99876337e-01 5.04309617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.74925415399997 meters Centerline goodness : 0.999360 Centerline is valid? [True, True] Translation: X:328.22, Y:3.39, Z:5.04 [[ 9.98059108e-01 -6.02557114e-02 -1.57247191e-02 3.28221606e+02] [ 6.02598842e-02 9.98182700e-01 -2.08744662e-04 3.38809114e+00] [ 1.57087206e-02 -7.39230241e-04 9.99876337e-01 5.04262731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.77925415399994 meters Centerline goodness : 0.999276 Centerline is valid? [True, True] Translation: X:328.25, Y:3.39, Z:5.04 [[ 9.97990961e-01 -6.13740473e-02 -1.57247300e-02 3.28254203e+02] [ 6.13783716e-02 9.98114549e-01 -2.07918552e-04 3.38869403e+00] [ 1.57078426e-02 -7.57657486e-04 9.99876337e-01 5.04267667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.809254154 meters Centerline goodness : 0.999423 Centerline is valid? [True, True] Translation: X:328.29, Y:3.39, Z:5.04 [[ 9.97853729e-01 -6.35662462e-02 -1.57247516e-02 3.28287608e+02] [ 6.35708678e-02 9.97977305e-01 -2.06275802e-04 3.38952725e+00] [ 1.57060574e-02 -7.93803025e-04 9.99876337e-01 5.04309008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.83925415399995 meters Centerline goodness : 0.999423 Centerline is valid? [True, True] Translation: X:328.32, Y:3.39, Z:5.04 [[ 9.97860654e-01 -6.34574461e-02 -1.57247738e-02 3.28321144e+02] [ 6.34620810e-02 9.97984230e-01 -2.04567822e-04 3.38986986e+00] [ 1.57060576e-02 -7.93796687e-04 9.99876337e-01 5.04361699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.869254154 meters Centerline goodness : 0.999339 Centerline is valid? [True, True] Translation: X:328.35, Y:3.39, Z:5.04 [[ 9.97815098e-01 -6.41697892e-02 -1.57247959e-02 3.28354441e+02] [ 6.41745393e-02 9.97938669e-01 -2.02853498e-04 3.39083018e+00] [ 1.57053990e-02 -8.06721249e-04 9.99876337e-01 5.04418298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.89925415399995 meters Centerline goodness : 0.999359 Centerline is valid? [True, True] Translation: X:328.39, Y:3.39, Z:5.04 [[ 9.97779913e-01 -6.47145727e-02 -1.57248182e-02 3.28387114e+02] [ 6.47194177e-02 9.97903481e-01 -2.01107672e-04 3.39197416e+00] [ 1.57048654e-02 -8.17039884e-04 9.99876337e-01 5.04409605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.929254154 meters Centerline goodness : 0.999252 Centerline is valid? [True, True] Translation: X:328.42, Y:3.39, Z:5.04 [[ 9.97777881e-01 -6.47458780e-02 -1.57248403e-02 3.28418792e+02] [ 6.47507543e-02 9.97901448e-01 -1.99364307e-04 3.39307608e+00] [ 1.57047490e-02 -8.19273977e-04 9.99876337e-01 5.04337241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.95925415399995 meters Centerline goodness : 0.999529 Centerline is valid? [True, True] Translation: X:328.45, Y:3.39, Z:5.04 [[ 9.97894723e-01 -6.29193976e-02 -1.57248512e-02 3.28451689e+02] [ 6.29240612e-02 9.98018298e-01 -1.98504116e-04 3.39479189e+00] [ 1.57061790e-02 -7.91385288e-04 9.99876337e-01 5.04271389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.989254154 meters Centerline goodness : 0.999422 Centerline is valid? [True, True] Translation: X:328.49, Y:3.40, Z:5.04 [[ 9.97974258e-01 -6.16450228e-02 -1.57248718e-02 3.28485136e+02] [ 6.16495545e-02 9.98097838e-01 -1.96856302e-04 3.39635310e+00] [ 1.57070958e-02 -7.72973820e-04 9.99876337e-01 5.04406653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.01925415399995 meters Centerline goodness : 0.999422 Centerline is valid? [True, True] Translation: X:328.52, Y:3.40, Z:5.04 [[ 9.98092937e-01 -5.96926882e-02 -1.57248936e-02 3.28517262e+02] [ 5.96970057e-02 9.98216524e-01 -1.95103792e-04 3.39777393e+00] [ 1.57084949e-02 -7.43997344e-04 9.99876337e-01 5.04420090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.049254154 meters Centerline goodness : 0.999274 Centerline is valid? [True, True] Translation: X:328.55, Y:3.40, Z:5.05 [[ 9.98253000e-01 -5.69532782e-02 -1.57249114e-02 3.28549878e+02] [ 5.69572793e-02 9.98376598e-01 -1.93653388e-04 3.39928188e+00] [ 1.57104128e-02 -7.02333097e-04 9.99876337e-01 5.04529819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.07925415399995 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:328.58, Y:3.40, Z:5.05 [[ 9.98539899e-01 -5.16797582e-02 -1.57249326e-02 3.28581227e+02] [ 5.16831337e-02 9.98663515e-01 -1.91919057e-04 3.40258893e+00] [ 1.57138348e-02 -6.21074957e-04 9.99876337e-01 5.04685700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.109254154 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:328.61, Y:3.40, Z:5.05 [[ 9.98724006e-01 -4.79904702e-02 -1.57249430e-02 3.28612440e+02] [ 4.79934025e-02 9.98847634e-01 -1.91061154e-04 3.40432358e+00] [ 1.57159912e-02 -5.63876157e-04 9.99876337e-01 5.04764036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.13925415399996 meters Centerline goodness : 0.999398 Centerline is valid? [True, True] Translation: X:328.64, Y:3.41, Z:5.05 [[ 9.98859803e-01 -4.50757021e-02 -1.57249532e-02 3.28643683e+02] [ 4.50782868e-02 9.98983439e-01 -1.90215454e-04 3.40633663e+00] [ 1.57175420e-02 -5.18855382e-04 9.99876337e-01 5.04851116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.169254154 meters Centerline goodness : 0.999375 Centerline is valid? [True, True] Translation: X:328.68, Y:3.41, Z:5.05 [[ 9.99113652e-01 -3.90465798e-02 -1.57249633e-02 3.28675529e+02] [ 3.90484315e-02 9.99237301e-01 -1.89380396e-04 3.40919239e+00] [ 1.57203646e-02 -4.24822614e-04 9.99876337e-01 5.04906284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.19925415399996 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:328.71, Y:3.41, Z:5.05 [[ 9.99209536e-01 -3.65106698e-02 -1.57249771e-02 3.28707556e+02] [ 3.65122258e-02 9.99333189e-01 -1.88230837e-04 3.41061358e+00] [ 1.57213639e-02 -3.86071866e-04 9.99876337e-01 5.04905127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.22925415399993 meters Centerline goodness : 0.999567 Centerline is valid? [True, True] Translation: X:328.74, Y:3.41, Z:5.05 [[ 9.99285290e-01 -3.43749124e-02 -1.57249907e-02 3.28739855e+02] [ 3.43762220e-02 9.99408946e-01 -1.87087174e-04 3.41187169e+00] [ 1.57221275e-02 -3.53612310e-04 9.99876337e-01 5.04876015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.25925415399996 meters Centerline goodness : 0.999350 Centerline is valid? [True, True] Translation: X:328.77, Y:3.41, Z:5.05 [[ 9.99340926e-01 -3.27175505e-02 -1.57250042e-02 3.28771448e+02] [ 3.27186730e-02 9.99464584e-01 -1.85945096e-04 3.41291114e+00] [ 1.57226684e-02 -3.28678726e-04 9.99876337e-01 5.04832792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.28925415399993 meters Centerline goodness : 0.999610 Centerline is valid? [True, True] Translation: X:328.80, Y:3.41, Z:5.05 [[ 9.99393881e-01 -3.10579091e-02 -1.57250142e-02 3.28803103e+02] [ 3.10588396e-02 9.99517541e-01 -1.85093562e-04 3.41442019e+00] [ 1.57231761e-02 -3.03419321e-04 9.99876337e-01 5.04669398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.31925415399996 meters Centerline goodness : 0.999240 Centerline is valid? [True, True] Translation: X:328.84, Y:3.42, Z:5.05 [[ 9.99405254e-01 -3.06897801e-02 -1.57250241e-02 3.28835171e+02] [ 3.06906784e-02 9.99528913e-01 -1.84252465e-04 3.41509726e+00] [ 1.57232709e-02 -2.98468774e-04 9.99876337e-01 5.04633882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.34925415399994 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:328.87, Y:3.42, Z:5.05 [[ 9.99414202e-01 -3.03969900e-02 -1.57250370e-02 3.28866150e+02] [ 3.03978696e-02 9.99537861e-01 -1.83137157e-04 3.41564026e+00] [ 1.57233367e-02 -2.94977749e-04 9.99876337e-01 5.04611712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.37925415399997 meters Centerline goodness : 0.999348 Centerline is valid? [True, True] Translation: X:328.90, Y:3.42, Z:5.05 [[ 9.99416703e-01 -3.03146409e-02 -1.57250467e-02 3.28898814e+02] [ 3.03155233e-02 9.99540362e-01 -1.82307019e-04 3.41628987e+00] [ 1.57233454e-02 -2.94512339e-04 9.99876337e-01 5.04637985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.40925415399994 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:328.93, Y:3.42, Z:5.05 [[ 9.99418646e-01 -3.02504887e-02 -1.57250593e-02 3.28931395e+02] [ 3.02513805e-02 9.99542306e-01 -1.81207633e-04 3.41793599e+00] [ 1.57233437e-02 -2.94602466e-04 9.99876337e-01 5.04733947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.43925415399997 meters Centerline goodness : 0.999346 Centerline is valid? [True, True] Translation: X:328.96, Y:3.42, Z:5.05 [[ 9.99423758e-01 -3.00811306e-02 -1.57250724e-02 3.28963209e+02] [ 3.00820193e-02 9.99547417e-01 -1.80069675e-04 3.41898302e+00] [ 1.57233722e-02 -2.93076020e-04 9.99876337e-01 5.04840185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.46925415399994 meters Centerline goodness : 0.999303 Centerline is valid? [True, True] Translation: X:328.99, Y:3.42, Z:5.05 [[ 9.99421932e-01 -3.01417222e-02 -1.57250857e-02 3.28994818e+02] [ 3.01426369e-02 9.99545591e-01 -1.78897059e-04 3.42020862e+00] [ 1.57233324e-02 -2.95201904e-04 9.99876337e-01 5.04873052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.49925415399997 meters Centerline goodness : 0.999456 Centerline is valid? [True, True] Translation: X:329.03, Y:3.42, Z:5.05 [[ 9.99409105e-01 -3.05640759e-02 -1.57251063e-02 3.29027077e+02] [ 3.05650716e-02 9.99532763e-01 -1.77066367e-04 3.42089043e+00] [ 1.57231708e-02 -3.03677262e-04 9.99876337e-01 5.04930874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.52925415399994 meters Centerline goodness : 0.999434 Centerline is valid? [True, True] Translation: X:329.06, Y:3.42, Z:5.05 [[ 9.99371184e-01 -3.17798394e-02 -1.57251193e-02 3.29058038e+02] [ 3.17810038e-02 9.99494841e-01 -1.75908588e-04 3.42157062e+00] [ 1.57227659e-02 -3.23962101e-04 9.99876337e-01 5.04992183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.559254154 meters Centerline goodness : 0.999370 Centerline is valid? [True, True] Translation: X:329.09, Y:3.42, Z:5.05 [[ 9.99339683e-01 -3.27554350e-02 -1.57251289e-02 3.29090141e+02] [ 3.27567337e-02 9.99463339e-01 -1.75045142e-04 3.42177050e+00] [ 1.57224235e-02 -3.40174301e-04 9.99876337e-01 5.04996654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.58925415399995 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:329.12, Y:3.42, Z:5.05 [[ 9.99151247e-01 -3.80723732e-02 -1.57251416e-02 3.29121439e+02] [ 3.80743478e-02 9.99274894e-01 -1.73897174e-04 3.42221469e+00] [ 1.57203599e-02 -4.24974932e-04 9.99876337e-01 5.05109055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.619254154 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:329.15, Y:3.42, Z:5.05 [[ 9.99019606e-01 -4.13829213e-02 -1.57251510e-02 3.29153955e+02] [ 4.13853191e-02 9.99143246e-01 -1.73042458e-04 3.42250456e+00] [ 1.57188394e-02 -4.77917583e-04 9.99876337e-01 5.05209919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.64925415399995 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:329.19, Y:3.42, Z:5.05 [[ 9.98858492e-01 -4.51046863e-02 -1.57251638e-02 3.29185606e+02] [ 4.51075631e-02 9.98982121e-01 -1.71872789e-04 3.42265263e+00] [ 1.57169097e-02 -5.37647223e-04 9.99876337e-01 5.05266487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.679254154 meters Centerline goodness : 0.999675 Centerline is valid? [True, True] Translation: X:329.22, Y:3.42, Z:5.05 [[ 9.98439048e-01 -5.35927867e-02 -1.57251795e-02 3.29217962e+02] [ 5.35967370e-02 9.98562647e-01 -1.70418261e-04 3.42218967e+00] [ 1.57117101e-02 -6.72666065e-04 9.99876337e-01 5.05251784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.70925415399995 meters Centerline goodness : 0.999545 Centerline is valid? [True, True] Translation: X:329.25, Y:3.42, Z:5.05 [[ 9.98220258e-01 -5.75242057e-02 -1.57251949e-02 3.29250694e+02] [ 5.75286653e-02 9.98343841e-01 -1.68985214e-04 3.42164538e+00] [ 1.57088722e-02 -7.35965012e-04 9.99876337e-01 5.05296693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.739254154 meters Centerline goodness : 0.999481 Centerline is valid? [True, True] Translation: X:329.28, Y:3.42, Z:5.05 [[ 9.97991267e-01 -6.13689505e-02 -1.57252128e-02 3.29282425e+02] [ 6.13739126e-02 9.98114831e-01 -1.67302123e-04 3.42106212e+00] [ 1.57058353e-02 -7.98151780e-04 9.99876337e-01 5.05294942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.76925415399995 meters Centerline goodness : 0.999612 Centerline is valid? [True, True] Translation: X:329.31, Y:3.42, Z:5.05 [[ 9.97636006e-01 -6.68963050e-02 -1.57252419e-02 3.29314705e+02] [ 6.69019950e-02 9.97759538e-01 -1.64526697e-04 3.42000303e+00] [ 1.57010163e-02 -8.87912297e-04 9.99876337e-01 5.05292595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.799254154 meters Centerline goodness : 0.999590 Centerline is valid? [True, True] Translation: X:329.35, Y:3.42, Z:5.05 [[ 9.97592342e-01 -6.75443298e-02 -1.57252537e-02 3.29347213e+02] [ 6.75501180e-02 9.97715869e-01 -1.63386542e-04 3.41939525e+00] [ 1.57003710e-02 -8.99249581e-04 9.99876337e-01 5.05269572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.82925415399995 meters Centerline goodness : 0.999612 Centerline is valid? [True, True] Translation: X:329.38, Y:3.42, Z:5.05 [[ 9.97588947e-01 -6.75944383e-02 -1.57252655e-02 3.29379863e+02] [ 6.76002506e-02 9.97712474e-01 -1.62247480e-04 3.41920301e+00] [ 1.57002605e-02 -9.01175595e-04 9.99876337e-01 5.05305114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.859254154 meters Centerline goodness : 0.999633 Centerline is valid? [True, True] Translation: X:329.41, Y:3.42, Z:5.05 [[ 9.97738428e-01 -6.53509307e-02 -1.57252829e-02 3.29412690e+02] [ 6.53564921e-02 9.97861966e-01 -1.60538048e-04 3.41949792e+00] [ 1.57021530e-02 -8.67574349e-04 9.99876337e-01 5.05372246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.88925415399996 meters Centerline goodness : 0.999524 Centerline is valid? [True, True] Translation: X:329.45, Y:3.42, Z:5.05 [[ 9.97792598e-01 -6.45185795e-02 -1.57253005e-02 3.29446124e+02] [ 6.45240652e-02 9.97916139e-01 -1.58795383e-04 3.42059716e+00] [ 1.57027764e-02 -8.56215459e-04 9.99876337e-01 5.05497639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.919254154 meters Centerline goodness : 0.999546 Centerline is valid? [True, True] Translation: X:329.48, Y:3.42, Z:5.06 [[ 9.97909341e-01 -6.26870068e-02 -1.57253178e-02 3.29478666e+02] [ 6.26922930e-02 9.98032891e-01 -1.57062701e-04 3.42138653e+00] [ 1.57042302e-02 -8.29121896e-04 9.99876337e-01 5.05597983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.94925415399996 meters Centerline goodness : 0.999545 Centerline is valid? [True, True] Translation: X:329.51, Y:3.42, Z:5.06 [[ 9.98040482e-01 -6.05632759e-02 -1.57253349e-02 3.29510720e+02] [ 6.05683262e-02 9.98164042e-01 -1.55338748e-04 3.42244028e+00] [ 1.57058716e-02 -7.97422853e-04 9.99876337e-01 5.05686775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.97925415399993 meters Centerline goodness : 0.999502 Centerline is valid? [True, True] Translation: X:329.54, Y:3.42, Z:5.06 [[ 9.98344229e-01 -5.53309449e-02 -1.57253624e-02 3.29543247e+02] [ 5.53353921e-02 9.98467812e-01 -1.52498195e-04 3.42454153e+00] [ 1.57097061e-02 -7.17923403e-04 9.99876337e-01 5.05829763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.00925415399996 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:329.58, Y:3.43, Z:5.06 [[ 9.98526235e-01 -5.19429499e-02 -1.57253732e-02 3.29576752e+02] [ 5.19469954e-02 9.98649832e-01 -1.51372065e-04 3.42570088e+00] [ 1.57120041e-02 -6.65736914e-04 9.99876337e-01 5.05866872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.03925415399993 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:329.61, Y:3.43, Z:5.06 [[ 9.98691976e-01 -4.86523328e-02 -1.57253893e-02 3.29609747e+02] [ 4.86559975e-02 9.98815584e-01 -1.49689655e-04 3.42700018e+00] [ 1.57140466e-02 -6.15640643e-04 9.99876337e-01 5.05972504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.06925415399996 meters Centerline goodness : 0.999545 Centerline is valid? [True, True] Translation: X:329.64, Y:3.43, Z:5.06 [[ 9.99034662e-01 -4.10177472e-02 -1.57254051e-02 3.29641519e+02] [ 4.10204935e-02 9.99158294e-01 -1.48008136e-04 3.43010086e+00] [ 1.57182399e-02 -4.97198619e-04 9.99876337e-01 5.06032666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.09925415399994 meters Centerline goodness : 0.999544 Centerline is valid? [True, True] Translation: X:329.67, Y:3.43, Z:5.06 [[ 9.99179860e-01 -3.73137692e-02 -1.57254302e-02 3.29674154e+02] [ 3.73160998e-02 9.99303501e-01 -1.45295185e-04 3.43183455e+00] [ 1.57198989e-02 -4.41635698e-04 9.99876337e-01 5.06096508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.12925415399997 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:329.71, Y:3.43, Z:5.06 [[ 9.99308780e-01 -3.36848998e-02 -1.57254402e-02 3.29705970e+02] [ 3.36867985e-02 9.99432428e-01 -1.44200159e-04 3.43341925e+00] [ 1.57213722e-02 -3.85639251e-04 9.99876337e-01 5.06241450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.15925415399994 meters Centerline goodness : 0.999521 Centerline is valid? [True, True] Translation: X:329.74, Y:3.43, Z:5.06 [[ 9.99420861e-01 -3.01770383e-02 -1.57254507e-02 3.29738005e+02] [ 3.01785211e-02 9.99544514e-01 -1.43047346e-04 3.43469193e+00] [ 1.57226047e-02 -3.31606344e-04 9.99876337e-01 5.06311216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.18925415399997 meters Centerline goodness : 0.999477 Centerline is valid? [True, True] Translation: X:329.77, Y:3.44, Z:5.06 [[ 9.99600721e-01 -2.34757152e-02 -1.57254612e-02 3.29768803e+02] [ 2.34763873e-02 9.99724382e-01 -1.41884264e-04 3.43674198e+00] [ 1.57244578e-02 -2.27349404e-04 9.99876337e-01 5.06258562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.21925415399994 meters Centerline goodness : 0.999565 Centerline is valid? [True, True] Translation: X:329.80, Y:3.44, Z:5.06 [[ 9.99676806e-01 -1.99748077e-02 -1.57254689e-02 3.29799696e+02] [ 1.99750604e-02 9.99800469e-01 -1.41017535e-04 3.43763641e+00] [ 1.57251480e-02 -1.73145232e-04 9.99876337e-01 5.06279705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.24925415399997 meters Centerline goodness : 0.999476 Centerline is valid? [True, True] Translation: X:329.83, Y:3.44, Z:5.06 [[ 9.99740492e-01 -1.64820748e-02 -1.57254741e-02 3.29829187e+02] [ 1.64819044e-02 9.99864154e-01 -1.40440936e-04 3.43885810e+00] [ 1.57256526e-02 -1.18781270e-04 9.99876337e-01 5.06275656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.27925415399994 meters Centerline goodness : 0.999585 Centerline is valid? [True, True] Translation: X:329.86, Y:3.44, Z:5.06 [[ 9.99790627e-01 -1.30924322e-02 -1.57254749e-02 3.29857574e+02] [ 1.30918440e-02 9.99914288e-01 -1.40356216e-04 3.44023039e+00] [ 1.57259646e-02 -6.55486336e-05 9.99876337e-01 5.06371595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.309254154 meters Centerline goodness : 0.999628 Centerline is valid? [True, True] Translation: X:329.89, Y:3.44, Z:5.06 [[ 9.99861010e-01 -5.53815884e-03 -1.57254374e-02 3.29885154e+02] [ 5.53657212e-03 9.99984663e-01 -1.44435240e-04 3.44271992e+00] [ 1.57259961e-02 5.73501463e-05 9.99876337e-01 5.06452029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.33925415399995 meters Centerline goodness : 0.999671 Centerline is valid? [True, True] Translation: X:329.91, Y:3.44, Z:5.07 [[ 9.99873381e-01 -2.43558014e-03 -1.57254240e-02 3.29913511e+02] [ 2.43358704e-03 9.99997028e-01 -1.45878060e-04 3.44388449e+00] [ 1.57257326e-02 1.07590401e-04 9.99876337e-01 5.06529198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.369254154 meters Centerline goodness : 0.999563 Centerline is valid? [True, True] Translation: X:329.94, Y:3.44, Z:5.07 [[ 9.99870625e-01 3.38315388e-03 -1.57253803e-02 3.29941213e+02] [-3.38593835e-03 9.99994256e-01 -1.50447827e-04 3.44465960e+00] [ 1.57247810e-02 2.03673531e-04 9.99876337e-01 5.06639266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.39925415399995 meters Centerline goodness : 0.999542 Centerline is valid? [True, True] Translation: X:329.97, Y:3.44, Z:5.07 [[ 9.99862857e-01 5.19430323e-03 -1.57253666e-02 3.29969417e+02] [-5.19733386e-03 9.99986482e-01 -1.51860929e-04 3.44458221e+00] [ 1.57243653e-02 2.33570083e-04 9.99876337e-01 5.06745925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.429254154 meters Centerline goodness : 0.999521 Centerline is valid? [True, True] Translation: X:330.00, Y:3.44, Z:5.07 [[ 9.99852338e-01 6.92940886e-03 -1.57253212e-02 3.29996995e+02] [-6.93272591e-03 9.99975956e-01 -1.56432372e-04 3.44398270e+00] [ 1.57238591e-02 2.65428614e-04 9.99876337e-01 5.06746509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.45925415399995 meters Centerline goodness : 0.999630 Centerline is valid? [True, True] Translation: X:330.03, Y:3.44, Z:5.07 [[ 9.99851483e-01 7.05176468e-03 -1.57253070e-02 3.30025425e+02] [-7.05511909e-03 9.99975100e-01 -1.57847411e-04 3.44388310e+00] [ 1.57238023e-02 2.68767882e-04 9.99876337e-01 5.06875620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.489254154 meters Centerline goodness : 0.999521 Centerline is valid? [True, True] Translation: X:330.05, Y:3.44, Z:5.07 [[ 9.99858023e-01 6.05387790e-03 -1.57252954e-02 3.30053068e+02] [-6.05712696e-03 9.99981643e-01 -1.58993535e-04 3.44175903e+00] [ 1.57240442e-02 2.54221072e-04 9.99876337e-01 5.06882659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.51925415399995 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:330.08, Y:3.44, Z:5.07 [[ 9.99864289e-01 4.91110289e-03 -1.57252809e-02 3.30081318e+02] [-4.91423302e-03 9.99987912e-01 -1.60415038e-04 3.44045392e+00] [ 1.57243030e-02 2.37670962e-04 9.99876337e-01 5.06970418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.549254154 meters Centerline goodness : 0.999588 Centerline is valid? [True, True] Translation: X:330.11, Y:3.44, Z:5.07 [[ 9.99870118e-01 3.53029081e-03 -1.57252638e-02 3.30108311e+02] [-3.53327625e-03 9.99993745e-01 -1.62071334e-04 3.43893631e+00] [ 1.57245933e-02 2.17611985e-04 9.99876337e-01 5.07003073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.57925415399995 meters Centerline goodness : 0.999544 Centerline is valid? [True, True] Translation: X:330.14, Y:3.44, Z:5.07 [[ 9.99874432e-01 1.95897057e-03 -1.57252438e-02 3.30135822e+02] [-1.96179185e-03 9.99998062e-01 -1.63987603e-04 3.43715814e+00] [ 1.57248921e-02 1.94816666e-04 9.99876337e-01 5.07098428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.609254154 meters Centerline goodness : 0.999501 Centerline is valid? [True, True] Translation: X:330.16, Y:3.43, Z:5.07 [[ 9.99874498e-01 -1.92493122e-03 -1.57252262e-02 3.30163019e+02] [ 1.92256391e-03 9.99998138e-01 -1.65658026e-04 3.43289423e+00] [ 1.57255158e-02 1.35404484e-04 9.99876337e-01 5.07140904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.63925415399996 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:330.19, Y:3.43, Z:5.07 [[ 9.99867425e-01 -4.22497099e-03 -1.57252056e-02 3.30190585e+02] [ 4.22285769e-03 9.99991070e-01 -1.67592104e-04 3.43074630e+00] [ 1.57257732e-02 1.01164580e-04 9.99876337e-01 5.07209557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.669254154 meters Centerline goodness : 0.999525 Centerline is valid? [True, True] Translation: X:330.22, Y:3.42, Z:5.07 [[ 9.99838317e-01 -8.72115987e-03 -1.57251878e-02 3.30218844e+02] [ 8.71957660e-03 9.99961969e-01 -1.69244807e-04 3.42469840e+00] [ 1.57260658e-02 3.21004634e-05 9.99876337e-01 5.07322728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.69925415399996 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:330.25, Y:3.42, Z:5.07 [[ 9.99813422e-01 -1.12178363e-02 -1.57251692e-02 3.30245419e+02] [ 1.12165348e-02 9.99937078e-01 -1.70960015e-04 3.42158086e+00] [ 1.57260975e-02 -5.45378960e-06 9.99876337e-01 5.07342254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.72925415399993 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:330.27, Y:3.42, Z:5.07 [[ 9.99810151e-01 -1.15056863e-02 -1.57251473e-02 3.30273797e+02] [ 1.15043893e-02 9.99933807e-01 -1.72944699e-04 3.42196460e+00] [ 1.57260963e-02 -7.99635048e-06 9.99876337e-01 5.07386958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.75925415399996 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:330.30, Y:3.42, Z:5.07 [[ 9.99781773e-01 -1.37523480e-02 -1.57250962e-02 3.30302202e+02] [ 1.37512576e-02 9.99905431e-01 -1.77472090e-04 3.41837912e+00] [ 1.57260498e-02 -3.88064884e-05 9.99876337e-01 5.07402383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.78925415399993 meters Centerline goodness : 0.999292 Centerline is valid? [True, True] Translation: X:330.33, Y:3.41, Z:5.07 [[ 9.99709694e-01 -1.82551292e-02 -1.57250442e-02 3.30330028e+02] [ 1.82545249e-02 9.99833356e-01 -1.81971940e-04 3.41137273e+00] [ 1.57257456e-02 -1.05134099e-04 9.99876337e-01 5.07326768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.81925415399996 meters Centerline goodness : 0.999188 Centerline is valid? [True, True] Translation: X:330.36, Y:3.41, Z:5.07 [[ 9.99676432e-01 -1.99938878e-02 -1.57250279e-02 3.30358490e+02] [ 1.99934767e-02 9.99800094e-01 -1.83366597e-04 3.40753187e+00] [ 1.57255506e-02 -1.31090713e-04 9.99876337e-01 5.07389819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.84925415399994 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:330.39, Y:3.40, Z:5.07 [[ 9.99630538e-01 -2.21700643e-02 -1.57249801e-02 3.30388447e+02] [ 2.21698593e-02 9.99754201e-01 -1.87377382e-04 3.40447525e+00] [ 1.57252691e-02 -1.61312444e-04 9.99876337e-01 5.07409596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.87925415399997 meters Centerline goodness : 0.998764 Centerline is valid? [True, True] Translation: X:330.42, Y:3.40, Z:5.07 [[ 9.99545214e-01 -2.57311221e-02 -1.57249732e-02 3.30418211e+02] [ 2.57313486e-02 9.99668876e-01 -1.87954423e-04 3.39768177e+00] [ 1.57246026e-02 -2.16755824e-04 9.99876337e-01 5.07315898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.90925415399994 meters Centerline goodness : 0.999106 Centerline is valid? [True, True] Translation: X:330.45, Y:3.39, Z:5.07 [[ 9.99478776e-01 -2.81940147e-02 -1.57249663e-02 3.30448738e+02] [ 2.81945369e-02 9.99602437e-01 -1.88529910e-04 3.39481238e+00] [ 1.57240301e-02 -2.54926500e-04 9.99876337e-01 5.07313543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.93925415399997 meters Centerline goodness : 0.999023 Centerline is valid? [True, True] Translation: X:330.48, Y:3.39, Z:5.07 [[ 9.99413476e-01 -3.04208562e-02 -1.57249663e-02 3.30480620e+02] [ 3.04216538e-02 9.99537137e-01 -1.88529910e-04 3.39168333e+00] [ 1.57234231e-02 -2.89960150e-04 9.99876337e-01 5.07264191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.96925415399994 meters Centerline goodness : 0.998897 Centerline is valid? [True, True] Translation: X:330.51, Y:3.39, Z:5.07 [[ 9.99335271e-01 -3.28898219e-02 -1.57249731e-02 3.30511577e+02] [ 3.28909341e-02 9.99458929e-01 -1.87961051e-04 3.38865446e+00] [ 1.57226468e-02 -3.29372947e-04 9.99876337e-01 5.07260070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.99925415399997 meters Centerline goodness : 0.999111 Centerline is valid? [True, True] Translation: X:330.54, Y:3.39, Z:5.07 [[ 9.99009033e-01 -4.16374511e-02 -1.57249799e-02 3.30538532e+02] [ 4.16396547e-02 9.99132676e-01 -1.87394299e-04 3.38710064e+00] [ 1.57191438e-02 -4.67574135e-04 9.99876337e-01 5.07164707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.02925415399994 meters Centerline goodness : 0.998711 Centerline is valid? [True, True] Translation: X:330.57, Y:3.38, Z:5.07 [[ 9.99054960e-01 -4.05213566e-02 -1.57227752e-02 3.30571976e+02] [ 4.05205727e-02 9.99178636e-01 -3.68552725e-04 3.37944478e+00] [ 1.57247954e-02 -2.68891429e-04 9.99876322e-01 5.07163967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.059254154 meters Centerline goodness : 0.999030 Centerline is valid? [True, True] Translation: X:330.60, Y:3.38, Z:5.07 [[ 9.98908105e-01 -4.39923104e-02 -1.57249350e-02 3.30604404e+02] [ 4.39948631e-02 9.99031740e-01 -1.83725081e-04 3.37710791e+00] [ 1.57177917e-02 -5.08291889e-04 9.99876339e-01 5.07283325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.08925415399995 meters Centerline goodness : 0.999072 Centerline is valid? [True, True] Translation: X:330.64, Y:3.37, Z:5.07 [[ 9.98586737e-01 -5.07666784e-02 -1.57249485e-02 3.30637143e+02] [ 5.07700879e-02 9.98710351e-01 -1.82563677e-04 3.37230043e+00] [ 1.57139370e-02 -6.16051350e-04 9.99876339e-01 5.07299198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.119254154 meters Centerline goodness : 0.998944 Centerline is valid? [True, True] Translation: X:330.67, Y:3.37, Z:5.07 [[ 9.98430987e-01 -5.37428111e-02 -1.57249619e-02 3.30669504e+02] [ 5.37466074e-02 9.98554590e-01 -1.81398855e-04 3.37016690e+00] [ 1.57119818e-02 -6.64049115e-04 9.99876339e-01 5.07299392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.14925415399995 meters Centerline goodness : 0.999073 Centerline is valid? [True, True] Translation: X:330.70, Y:3.37, Z:5.07 [[ 9.98271327e-01 -5.66311049e-02 -1.57249754e-02 3.30702983e+02] [ 5.66352772e-02 9.98394918e-01 -1.80224709e-04 3.36863448e+00] [ 1.57099418e-02 -7.10675179e-04 9.99876339e-01 5.07355528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.179254154 meters Centerline goodness : 0.998674 Centerline is valid? [True, True] Translation: X:330.73, Y:3.37, Z:5.07 [[ 9.98008341e-01 -6.10907242e-02 -1.57249953e-02 3.30734575e+02] [ 6.10954762e-02 9.98131911e-01 -1.78468936e-04 3.36574261e+00] [ 1.57065224e-02 -7.82612589e-04 9.99876339e-01 5.07363049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.20925415399995 meters Centerline goodness : 0.999010 Centerline is valid? [True, True] Translation: X:330.77, Y:3.36, Z:5.07 [[ 9.97880519e-01 -6.31442275e-02 -1.57250173e-02 3.30767138e+02] [ 6.31492647e-02 9.98004078e-01 -1.76504697e-04 3.36487525e+00] [ 1.57047767e-02 -8.16892683e-04 9.99876339e-01 5.07481504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.239254154 meters Centerline goodness : 0.998738 Centerline is valid? [True, True] Translation: X:330.80, Y:3.36, Z:5.07 [[ 9.97752467e-01 -6.51363083e-02 -1.57250304e-02 3.30798519e+02] [ 6.51416104e-02 9.97876014e-01 -1.75337205e-04 3.36334401e+00] [ 1.57030514e-02 -8.49410672e-04 9.99876339e-01 5.07498174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.26925415399995 meters Centerline goodness : 0.998781 Centerline is valid? [True, True] Translation: X:330.83, Y:3.36, Z:5.07 [[ 9.97762158e-01 -6.49876871e-02 -1.57250545e-02 3.30830108e+02] [ 6.49930052e-02 9.97885705e-01 -1.73146756e-04 3.36292437e+00] [ 1.57030595e-02 -8.49259267e-04 9.99876339e-01 5.07488205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.299254154 meters Centerline goodness : 0.998780 Centerline is valid? [True, True] Translation: X:330.86, Y:3.36, Z:5.08 [[ 9.97782039e-01 -6.46817134e-02 -1.57250639e-02 3.30861947e+02] [ 6.46870072e-02 9.97905587e-01 -1.72286089e-04 3.36311077e+00] [ 1.57032729e-02 -8.45303357e-04 9.99876339e-01 5.07528958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.32925415399995 meters Centerline goodness : 0.998990 Centerline is valid? [True, True] Translation: X:330.89, Y:3.36, Z:5.08 [[ 9.97924346e-01 -6.24477454e-02 -1.57250944e-02 3.30893895e+02] [ 6.24528072e-02 9.98047904e-01 -1.69453402e-04 3.36194400e+00] [ 1.57049795e-02 -8.12974615e-04 9.99876339e-01 5.07720024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.359254154 meters Centerline goodness : 0.998738 Centerline is valid? [True, True] Translation: X:330.93, Y:3.36, Z:5.08 [[ 9.97950072e-01 -6.20352726e-02 -1.57251070e-02 3.30926167e+02] [ 6.20403018e-02 9.98073631e-01 -1.68274067e-04 3.36377198e+00] [ 1.57052536e-02 -8.07661271e-04 9.99876339e-01 5.07807026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.38925415399996 meters Centerline goodness : 0.998948 Centerline is valid? [True, True] Translation: X:330.96, Y:3.36, Z:5.08 [[ 9.98039821e-01 -6.05742200e-02 -1.57251255e-02 3.30959592e+02] [ 6.05790957e-02 9.98163386e-01 -1.66530670e-04 3.36397017e+00] [ 1.57063320e-02 -7.86409642e-04 9.99876339e-01 5.07869018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.419254154 meters Centerline goodness : 0.998947 Centerline is valid? [True, True] Translation: X:330.99, Y:3.36, Z:5.08 [[ 9.98157545e-01 -5.86023534e-02 -1.57251439e-02 3.30991371e+02] [ 5.86070126e-02 9.98281118e-01 -1.64772594e-04 3.36426755e+00] [ 1.57077703e-02 -7.57134701e-04 9.99876339e-01 5.07921317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.44925415399996 meters Centerline goodness : 0.998883 Centerline is valid? [True, True] Translation: X:331.02, Y:3.37, Z:5.08 [[ 9.98448915e-01 -5.34086481e-02 -1.57251561e-02 3.31023293e+02] [ 5.34126827e-02 9.98572510e-01 -1.63607758e-04 3.36549118e+00] [ 1.57114466e-02 -6.76568782e-04 9.99876339e-01 5.07978465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.47925415399993 meters Centerline goodness : 0.998757 Centerline is valid? [True, True] Translation: X:331.06, Y:3.37, Z:5.08 [[ 9.98626855e-01 -4.99712339e-02 -1.57251681e-02 3.31055239e+02] [ 4.99748613e-02 9.98750463e-01 -1.62443052e-04 3.36677263e+00] [ 1.57136364e-02 -6.23643100e-04 9.99876339e-01 5.08031905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.50925415399996 meters Centerline goodness : 0.998883 Centerline is valid? [True, True] Translation: X:331.09, Y:3.37, Z:5.08 [[ 9.98803436e-01 -4.63078388e-02 -1.57251801e-02 3.31086506e+02] [ 4.63110312e-02 9.98927056e-01 -1.61269403e-04 3.36864113e+00] [ 1.57157759e-02 -5.67172874e-04 9.99876339e-01 5.08090222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.53925415399993 meters Centerline goodness : 0.998967 Centerline is valid? [True, True] Translation: X:331.12, Y:3.37, Z:5.08 [[ 9.99132468e-01 -3.85620187e-02 -1.57251891e-02 3.31118298e+02] [ 3.85642663e-02 9.99256109e-01 -1.60393711e-04 3.37240416e+00] [ 1.57196763e-02 -4.46175814e-04 9.99876339e-01 5.08239206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.56925415399996 meters Centerline goodness : 0.999135 Centerline is valid? [True, True] Translation: X:331.15, Y:3.37, Z:5.08 [[ 9.99277572e-01 -3.45984344e-02 -1.57252008e-02 3.31149788e+02] [ 3.46002098e-02 9.99401221e-01 -1.59230013e-04 3.37435000e+00] [ 1.57212940e-02 -3.84980268e-04 9.99876339e-01 5.08326692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.59925415399994 meters Centerline goodness : 0.998841 Centerline is valid? [True, True] Translation: X:331.18, Y:3.38, Z:5.08 [[ 9.99404111e-01 -3.07268720e-02 -1.57252096e-02 3.31181222e+02] [ 3.07281820e-02 9.99527765e-01 -1.58364513e-04 3.37609474e+00] [ 1.57226496e-02 -3.24936956e-04 9.99876339e-01 5.08415997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.62925415399997 meters Centerline goodness : 0.998818 Centerline is valid? [True, True] Translation: X:331.21, Y:3.38, Z:5.08 [[ 9.99503013e-01 -2.73211398e-02 -1.57252154e-02 3.31211462e+02] [ 2.73220375e-02 9.99626671e-01 -1.57783352e-04 3.37767130e+00] [ 1.57236555e-02 -2.71939989e-04 9.99876339e-01 5.08442002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.65925415399994 meters Centerline goodness : 0.999069 Centerline is valid? [True, True] Translation: X:331.24, Y:3.38, Z:5.08 [[ 9.99638421e-01 -2.18115641e-02 -1.57252183e-02 3.31241848e+02] [ 2.18117848e-02 9.99762082e-01 -1.57495382e-04 3.38013534e+00] [ 1.57249122e-02 -1.85556642e-04 9.99876339e-01 5.08466552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.68925415399997 meters Centerline goodness : 0.998922 Centerline is valid? [True, True] Translation: X:331.26, Y:3.39, Z:5.08 [[ 9.99575617e-01 -2.45215055e-02 -1.57252183e-02 3.31264720e+02] [ 2.45220614e-02 9.99699277e-01 -1.57495382e-04 3.38866516e+00] [ 1.57243514e-02 -2.28186224e-04 9.99876339e-01 5.08028451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.71925415399994 meters Centerline goodness : 0.998813 Centerline is valid? [True, True] Translation: X:331.29, Y:3.39, Z:5.08 [[ 9.99688534e-01 -1.93820841e-02 -1.57216476e-02 3.31294603e+02] [ 1.93765039e-02 9.99812129e-01 -5.07199567e-04 3.39027218e+00] [ 1.57285246e-02 2.02411024e-04 9.99876279e-01 5.08248878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.74925415399997 meters Centerline goodness : 0.998897 Centerline is valid? [True, True] Translation: X:331.33, Y:3.38, Z:5.09 [[ 9.99786635e-01 -1.33984791e-02 -1.57215164e-02 3.31329464e+02] [ 1.33919610e-02 9.99910189e-01 -5.19801914e-04 3.38474970e+00] [ 1.57270689e-02 3.09149072e-04 9.99876274e-01 5.08543836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.77925415399994 meters Centerline goodness : 0.999111 Centerline is valid? [True, True] Translation: X:331.36, Y:3.38, Z:5.09 [[ 9.99808697e-01 -1.16314542e-02 -1.57250971e-02 3.31357327e+02] [ 1.16304738e-02 9.99932352e-01 -1.53798968e-04 3.38491227e+00] [ 1.57258222e-02 -2.91207850e-05 9.99876341e-01 5.08619638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.809254154 meters Centerline goodness : 0.998962 Centerline is valid? [True, True] Translation: X:331.38, Y:3.39, Z:5.09 [[ 9.99824808e-01 -1.01526103e-02 -1.57250509e-02 3.31383930e+02] [ 1.01513748e-02 9.99948461e-01 -1.58389446e-04 3.38537117e+00] [ 1.57258485e-02 -1.26918796e-06 9.99876341e-01 5.08697790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.83925415399995 meters Centerline goodness : 0.999068 Centerline is valid? [True, True] Translation: X:331.41, Y:3.39, Z:5.09 [[ 9.99855200e-01 -6.50404449e-03 -1.57250306e-02 3.31412157e+02] [ 6.50232656e-03 9.99978847e-01 -1.60374317e-04 3.38573887e+00] [ 1.57257411e-02 5.81018106e-05 9.99876341e-01 5.08638351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.869254154 meters Centerline goodness : 0.999344 Centerline is valid? [True, True] Translation: X:331.44, Y:3.39, Z:5.09 [[ 9.99863878e-01 -4.99496840e-03 -1.57249827e-02 3.31440262e+02] [ 4.99299193e-03 9.99987521e-01 -1.64947606e-04 3.38584810e+00] [ 1.57256103e-02 8.64104411e-05 9.99876341e-01 5.08981171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.89925415399995 meters Centerline goodness : 0.999345 Centerline is valid? [True, True] Translation: X:331.46, Y:3.39, Z:5.09 [[ 9.99862227e-01 -5.31544410e-03 -1.57249276e-02 3.31464219e+02] [ 5.31342726e-03 9.99985869e-01 -1.70034316e-04 3.38953545e+00] [ 1.57256093e-02 8.64576306e-05 9.99876341e-01 5.08934393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.929254154 meters Centerline goodness : 0.999429 Centerline is valid? [True, True] Translation: X:331.50, Y:3.38, Z:5.09 [[ 9.99873075e-01 -2.57891608e-03 -1.57220552e-02 3.31497485e+02] [ 2.57264460e-03 9.99996603e-01 -4.19108863e-04 3.38443842e+00] [ 1.57230826e-02 3.78608408e-04 9.99876313e-01 5.09149832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.95925415399995 meters Centerline goodness : 0.994370 Centerline is valid? [True, True] Translation: X:331.52, Y:3.38, Z:5.09 [[ 9.99865527e-01 -4.65394488e-03 -1.57247685e-02 3.31523301e+02] [ 4.65178143e-03 9.99989165e-01 -1.74156476e-04 3.38360408e+00] [ 1.57254087e-02 1.00984870e-04 9.99876343e-01 5.08922108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.989254154 meters Centerline goodness : 0.999429 Centerline is valid? [True, True] Translation: X:331.55, Y:3.38, Z:5.09 [[ 9.99835097e-01 -9.08681175e-03 -1.57228615e-02 3.31552786e+02] [ 9.08261469e-03 9.99958695e-01 -3.38327748e-04 3.37923151e+00] [ 1.57252864e-02 1.95467264e-04 9.99876331e-01 5.09228308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.01925415399995 meters Centerline goodness : 0.999429 Centerline is valid? [True, True] Translation: X:331.58, Y:3.38, Z:5.09 [[ 9.99771065e-01 -1.45104359e-02 -1.57246711e-02 3.31582074e+02] [ 1.45093684e-02 9.99894717e-01 -1.81976262e-04 3.37507862e+00] [ 1.57256561e-02 -4.62204447e-05 9.99876343e-01 5.09148559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.049254154 meters Centerline goodness : 0.999325 Centerline is valid? [True, True] Translation: X:331.61, Y:3.37, Z:5.09 [[ 9.99650112e-01 -2.12694226e-02 -1.57246579e-02 3.31610306e+02] [ 2.12691732e-02 9.99773769e-01 -1.83112847e-04 3.37164596e+00] [ 1.57249952e-02 -1.51401695e-04 9.99876343e-01 5.09096100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.07925415399995 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:331.64, Y:3.37, Z:5.09 [[ 9.99511523e-01 -2.70083571e-02 -1.57246413e-02 3.31639307e+02] [ 2.70087955e-02 9.99635179e-01 -1.84523349e-04 3.36817516e+00] [ 1.57238883e-02 -2.40270408e-04 9.99876343e-01 5.09106791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.109254154 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:331.67, Y:3.37, Z:5.09 [[ 9.99511522e-01 -2.70084206e-02 -1.57245929e-02 3.31670300e+02] [ 2.70087954e-02 9.99635178e-01 -1.88562140e-04 3.36854878e+00] [ 1.57239490e-02 -2.36232282e-04 9.99876343e-01 5.09155651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.13925415399996 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:331.70, Y:3.37, Z:5.09 [[ 9.99511522e-01 -2.70084206e-02 -1.57245929e-02 3.31701293e+02] [ 2.70087954e-02 9.99635178e-01 -1.88562140e-04 3.36892044e+00] [ 1.57239490e-02 -2.36232282e-04 9.99876343e-01 5.09204399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.169254154 meters Centerline goodness : 0.999432 Centerline is valid? [True, True] Translation: X:331.73, Y:3.37, Z:5.09 [[ 9.99457931e-01 -2.89237226e-02 -1.57245929e-02 3.31730738e+02] [ 2.89243345e-02 9.99581586e-01 -1.88562140e-04 3.36739128e+00] [ 1.57234674e-02 -2.66363459e-04 9.99876343e-01 5.09133121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.19925415399996 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:331.76, Y:3.37, Z:5.09 [[ 9.99410834e-01 -3.05077311e-02 -1.57245895e-02 3.31760901e+02] [ 3.05085345e-02 9.99534488e-01 -1.88848150e-04 3.36601123e+00] [ 1.57230308e-02 -2.90997293e-04 9.99876343e-01 5.09261726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.22925415399993 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:331.79, Y:3.36, Z:5.09 [[ 9.99376687e-01 -3.16065745e-02 -1.57245895e-02 3.31791693e+02] [ 3.16075138e-02 9.99500340e-01 -1.88848150e-04 3.36248673e+00] [ 1.57227014e-02 -3.08284741e-04 9.99876343e-01 5.09192117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.25925415399996 meters Centerline goodness : 0.999371 Centerline is valid? [True, True] Translation: X:331.82, Y:3.36, Z:5.09 [[ 9.99365370e-01 -3.19623786e-02 -1.57246013e-02 3.31821988e+02] [ 3.19633774e-02 9.99489023e-01 -1.87860412e-04 3.36176082e+00] [ 1.57225708e-02 -3.14870175e-04 9.99876343e-01 5.09217188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.28925415399993 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:331.85, Y:3.36, Z:5.09 [[ 9.99383686e-01 -3.13844676e-02 -1.57246047e-02 3.31853554e+02] [ 3.13853994e-02 9.99507339e-01 -1.87574453e-04 3.36085704e+00] [ 1.57227447e-02 -3.06064151e-04 9.99876343e-01 5.09286343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.31925415399996 meters Centerline goodness : 0.999351 Centerline is valid? [True, True] Translation: X:331.88, Y:3.36, Z:5.09 [[ 9.99449162e-01 -2.92251300e-02 -1.57246116e-02 3.31883788e+02] [ 2.92258038e-02 9.99572817e-01 -1.86995202e-04 3.35882816e+00] [ 1.57233593e-02 -2.72672215e-04 9.99876343e-01 5.09253159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.34925415399994 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:331.91, Y:3.36, Z:5.09 [[ 9.99473792e-01 -2.83703424e-02 -1.57246228e-02 3.31914212e+02] [ 2.83709254e-02 9.99597447e-01 -1.86044895e-04 3.35807653e+00] [ 1.57235710e-02 -2.60175104e-04 9.99876343e-01 5.09293050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.37925415399997 meters Centerline goodness : 0.999497 Centerline is valid? [True, True] Translation: X:331.94, Y:3.36, Z:5.09 [[ 9.99509344e-01 -2.70888923e-02 -1.57246228e-02 3.31943949e+02] [ 2.70893167e-02 9.99633000e-01 -1.86044895e-04 3.35717765e+00] [ 1.57238916e-02 -2.40015677e-04 9.99876343e-01 5.09329315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.40925415399994 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:331.97, Y:3.36, Z:5.09 [[ 9.99563738e-01 -2.50014049e-02 -1.57246160e-02 3.31973520e+02] [ 2.50015620e-02 9.99687395e-01 -1.86622733e-04 3.35508154e+00] [ 1.57243662e-02 -2.06598645e-04 9.99876343e-01 5.09330449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.43925415399997 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:332.00, Y:3.35, Z:5.09 [[ 9.99590985e-01 -2.38872361e-02 -1.57246091e-02 3.32003006e+02] [ 2.38872463e-02 9.99714642e-01 -1.87195744e-04 3.35381037e+00] [ 1.57245936e-02 -1.88498433e-04 9.99876343e-01 5.09295079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.46925415399994 meters Centerline goodness : 0.999247 Centerline is valid? [True, True] Translation: X:332.03, Y:3.35, Z:5.09 [[ 9.99578599e-01 -2.44000217e-02 -1.57246023e-02 3.32031624e+02] [ 2.44000864e-02 9.99702256e-01 -1.87769614e-04 3.35329140e+00] [ 1.57245020e-02 -1.95991167e-04 9.99876343e-01 5.09397491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.49925415399997 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:332.06, Y:3.35, Z:5.09 [[ 9.99553063e-01 -2.54246391e-02 -1.57245535e-02 3.32059950e+02] [ 2.54247676e-02 9.99676720e-01 -1.91773794e-04 3.35418129e+00] [ 1.57243458e-02 -2.08105033e-04 9.99876343e-01 5.09367032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.52925415399994 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:332.09, Y:3.35, Z:5.09 [[ 9.99500163e-01 -2.74262399e-02 -1.57234044e-02 3.32089742e+02] [ 2.74251711e-02 9.99623819e-01 -2.83635937e-04 3.34944550e+00] [ 1.57252686e-02 -1.47722891e-04 9.99876339e-01 5.09377730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.559254154 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:332.12, Y:3.35, Z:5.09 [[ 9.99437062e-01 -2.96361071e-02 -1.57244971e-02 3.32118690e+02] [ 2.96366908e-02 9.99560718e-01 -1.95957477e-04 3.34804566e+00] [ 1.57233970e-02 -2.70174894e-04 9.99876343e-01 5.09416291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.58925415399995 meters Centerline goodness : 0.999623 Centerline is valid? [True, True] Translation: X:332.15, Y:3.35, Z:5.09 [[ 9.99357799e-01 -3.21983010e-02 -1.57244865e-02 3.32148234e+02] [ 3.21991883e-02 9.99481452e-01 -1.96806428e-04 3.34664203e+00] [ 1.57226694e-02 -3.09635663e-04 9.99876343e-01 5.09421584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.619254154 meters Centerline goodness : 0.999518 Centerline is valid? [True, True] Translation: X:332.18, Y:3.34, Z:5.09 [[ 9.99157811e-01 -3.78999851e-02 -1.57244794e-02 3.32178614e+02] [ 3.79015691e-02 9.99281458e-01 -1.97371033e-04 3.34390729e+00] [ 1.57206611e-02 -3.98777634e-04 9.99876343e-01 5.09403099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.64925415399995 meters Centerline goodness : 0.999518 Centerline is valid? [True, True] Translation: X:332.21, Y:3.34, Z:5.09 [[ 9.99159190e-01 -3.78636243e-02 -1.57244794e-02 3.32210452e+02] [ 3.78652038e-02 9.99282837e-01 -1.97371033e-04 3.34427721e+00] [ 1.57206756e-02 -3.98205536e-04 9.99876343e-01 5.09453175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.679254154 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:332.24, Y:3.34, Z:5.09 [[ 9.99056541e-01 -4.04817109e-02 -1.57244866e-02 3.32242145e+02] [ 4.04836234e-02 9.99180183e-01 -1.96798726e-04 3.34308139e+00] [ 1.57195621e-02 -4.39971138e-04 9.99876343e-01 5.09480820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.70925415399995 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:332.28, Y:3.33, Z:5.09 [[ 9.99236649e-01 -3.57611592e-02 -1.57244938e-02 3.32281338e+02] [ 3.57624966e-02 9.99360298e-01 -1.96222412e-04 3.33403303e+00] [ 1.57214519e-02 -3.66274529e-04 9.99876343e-01 5.08960161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.739254154 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] Translation: X:332.30, Y:3.34, Z:5.10 [[ 9.98731523e-01 -4.78320138e-02 -1.57303394e-02 3.32300586e+02] [ 4.78425438e-02 9.98854847e-01 2.93562234e-04 3.34150343e+00] [ 1.56982841e-02 -1.04576931e-03 9.99876227e-01 5.09563034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.76925415399995 meters Centerline goodness : 0.999308 Centerline is valid? [True, True] Translation: X:332.33, Y:3.34, Z:5.10 [[ 9.98657727e-01 -4.93508212e-02 -1.57239081e-02 3.32332552e+02] [ 4.93537257e-02 9.98781342e-01 -2.03505430e-04 3.34104795e+00] [ 1.57147891e-02 -5.72801175e-04 9.99876351e-01 5.09676210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.799254154 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:332.36, Y:3.34, Z:5.10 [[ 9.98595341e-01 -5.05974552e-02 -1.57239228e-02 3.32363320e+02] [ 5.06005321e-02 9.98718952e-01 -2.02358532e-04 3.34040351e+00] [ 1.57140185e-02 -5.93564574e-04 9.99876351e-01 5.09713132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.82925415399995 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:332.40, Y:3.34, Z:5.10 [[ 9.98540005e-01 -5.16780000e-02 -1.57239470e-02 3.32395838e+02] [ 5.16812404e-02 9.98663612e-01 -2.00462496e-04 3.33998454e+00] [ 1.57132932e-02 -6.12463262e-04 9.99876351e-01 5.09869224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.859254154 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:332.43, Y:3.34, Z:5.10 [[ 9.98508858e-01 -5.22763563e-02 -1.57239615e-02 3.32427430e+02] [ 5.22796888e-02 9.98632462e-01 -1.99315722e-04 3.33990615e+00] [ 1.57128779e-02 -6.23025301e-04 9.99876351e-01 5.09991380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.88925415399996 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:332.46, Y:3.34, Z:5.10 [[ 9.98488101e-01 -5.26713197e-02 -1.57239723e-02 3.32459180e+02] [ 5.26747145e-02 9.98611704e-01 -1.98461890e-04 3.34015167e+00] [ 1.57125960e-02 -6.30093916e-04 9.99876351e-01 5.10240221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.919254154 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:332.49, Y:3.34, Z:5.10 [[ 9.98481416e-01 -5.27978995e-02 -1.57239863e-02 3.32490924e+02] [ 5.28013275e-02 9.98605017e-01 -1.97350591e-04 3.34056055e+00] [ 1.57124713e-02 -6.33196450e-04 9.99876351e-01 5.10366728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.94925415399996 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:332.52, Y:3.34, Z:5.11 [[ 9.98464349e-01 -5.31196691e-02 -1.57240003e-02 3.32523350e+02] [ 5.31231545e-02 9.98587949e-01 -1.96226098e-04 3.34098012e+00] [ 1.57122207e-02 -6.39383734e-04 9.99876351e-01 5.10512748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.97925415399993 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:332.56, Y:3.34, Z:5.11 [[ 9.98440254e-01 -5.35706449e-02 -1.57240146e-02 3.32555065e+02] [ 5.35742043e-02 9.98563852e-01 -1.95075496e-04 3.34163369e+00] [ 1.57118829e-02 -6.47630341e-04 9.99876351e-01 5.10582703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.00925415399996 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:332.59, Y:3.34, Z:5.11 [[ 9.98409312e-01 -5.41442589e-02 -1.57240288e-02 3.32586149e+02] [ 5.41479075e-02 9.98532907e-01 -1.93917297e-04 3.34229077e+00] [ 1.57114597e-02 -6.57814425e-04 9.99876351e-01 5.10600409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.03925415399993 meters Centerline goodness : 0.999520 Centerline is valid? [True, True] Translation: X:332.62, Y:3.34, Z:5.11 [[ 9.98345494e-01 -5.53084836e-02 -1.57240394e-02 3.32618348e+02] [ 5.53122899e-02 9.98469085e-01 -1.93053542e-04 3.34317482e+00] [ 1.57106448e-02 -6.76998495e-04 9.99876351e-01 5.10617988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.06925415399996 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:332.65, Y:3.34, Z:5.11 [[ 9.98294108e-01 -5.62283489e-02 -1.57240535e-02 3.32650486e+02] [ 5.62322872e-02 9.98417695e-01 -1.91900704e-04 3.34441296e+00] [ 1.57099635e-02 -6.92626151e-04 9.99876351e-01 5.10637269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.09925415399994 meters Centerline goodness : 0.998998 Centerline is valid? [True, True] Translation: X:332.68, Y:3.35, Z:5.11 [[ 9.98263451e-01 -5.67700249e-02 -1.57240676e-02 3.32681262e+02] [ 5.67740485e-02 9.98387035e-01 -1.90737724e-04 3.34540197e+00] [ 1.57095334e-02 -7.02312480e-04 9.99876351e-01 5.10643033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.12925415399997 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:332.71, Y:3.35, Z:5.11 [[ 9.98209317e-01 -5.77140614e-02 -1.57240905e-02 3.32713109e+02] [ 5.77182318e-02 9.98332895e-01 -1.88834366e-04 3.34753669e+00] [ 1.57087752e-02 -7.19070476e-04 9.99876351e-01 5.10737725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.15925415399994 meters Centerline goodness : 0.999333 Centerline is valid? [True, True] Translation: X:332.74, Y:3.35, Z:5.11 [[ 9.98210391e-01 -5.76954722e-02 -1.57241043e-02 3.32744189e+02] [ 5.76996586e-02 9.98333969e-01 -1.87675662e-04 3.34873035e+00] [ 1.57087355e-02 -7.19935655e-04 9.99876351e-01 5.10744181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.18925415399997 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:332.78, Y:3.35, Z:5.11 [[ 9.98229353e-01 -5.73664634e-02 -1.57241146e-02 3.32776511e+02] [ 5.73706226e-02 9.98352932e-01 -1.86812272e-04 3.35014092e+00] [ 1.57089326e-02 -7.15620750e-04 9.99876351e-01 5.10798442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.21925415399994 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:332.81, Y:3.35, Z:5.11 [[ 9.98317229e-01 -5.58163322e-02 -1.57241281e-02 3.32807369e+02] [ 5.58203175e-02 9.98440813e-01 -1.85669033e-04 3.35330849e+00] [ 1.57099746e-02 -6.92369227e-04 9.99876351e-01 5.10860100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.24925415399997 meters Centerline goodness : 0.998937 Centerline is valid? [True, True] Translation: X:332.84, Y:3.36, Z:5.11 [[ 9.98408573e-01 -5.41578438e-02 -1.57241381e-02 3.32839070e+02] [ 5.41616372e-02 9.98532164e-01 -1.84817546e-04 3.35507865e+00] [ 1.57110669e-02 -6.67121638e-04 9.99876351e-01 5.10875429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.27925415399994 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] Translation: X:332.87, Y:3.36, Z:5.11 [[ 9.98486074e-01 -5.27096840e-02 -1.57241512e-02 3.32869831e+02] [ 5.27133158e-02 9.98609670e-01 -1.83690084e-04 3.35762441e+00] [ 1.57119717e-02 -6.45460159e-04 9.99876351e-01 5.10993374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.309254154 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:332.90, Y:3.36, Z:5.11 [[ 9.98606781e-01 -5.03711006e-02 -1.57241718e-02 3.32901225e+02] [ 5.03744709e-02 9.98730384e-01 -1.81909403e-04 3.35954009e+00] [ 1.57133712e-02 -6.10440875e-04 9.99876351e-01 5.10977910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.33925415399995 meters Centerline goodness : 0.999226 Centerline is valid? [True, True] Translation: X:332.93, Y:3.36, Z:5.11 [[ 9.98795657e-01 -4.64756393e-02 -1.57241813e-02 3.32933027e+02] [ 4.64785405e-02 9.98919272e-01 -1.81084763e-04 3.36374339e+00] [ 1.57156038e-02 -5.49970325e-04 9.99876351e-01 5.11182392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.369254154 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] Translation: X:332.97, Y:3.37, Z:5.11 [[ 9.98889960e-01 -4.44026783e-02 -1.57241939e-02 3.32965489e+02] [ 4.44053402e-02 9.99013580e-01 -1.79983851e-04 3.36543429e+00] [ 1.57166751e-02 -5.18454121e-04 9.99876351e-01 5.11180583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.39925415399995 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:333.00, Y:3.37, Z:5.11 [[ 9.98950204e-01 -4.30260374e-02 -1.57242065e-02 3.32996573e+02] [ 4.30285462e-02 9.99073827e-01 -1.78884524e-04 3.36909344e+00] [ 1.57173398e-02 -4.97893012e-04 9.99876351e-01 5.11384246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.429254154 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:333.03, Y:3.37, Z:5.11 [[ 9.98969579e-01 -4.25738032e-02 -1.57242157e-02 3.33028316e+02] [ 4.25762690e-02 9.99093204e-01 -1.78066525e-04 3.37048533e+00] [ 1.57175380e-02 -4.91595397e-04 9.99876351e-01 5.11466601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.45925415399995 meters Centerline goodness : 0.999014 Centerline is valid? [True, True] Translation: X:333.06, Y:3.37, Z:5.12 [[ 9.98984336e-01 -4.22261093e-02 -1.57242281e-02 3.33060714e+02] [ 4.22285493e-02 9.99107961e-01 -1.76968996e-04 3.37195068e+00] [ 1.57176742e-02 -4.87222085e-04 9.99876351e-01 5.11524734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.489254154 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:333.09, Y:3.37, Z:5.12 [[ 9.99017793e-01 -4.14270255e-02 -1.57242403e-02 3.33092397e+02] [ 4.14293837e-02 9.99141419e-01 -1.75878847e-04 3.37481624e+00] [ 1.57180259e-02 -4.75739487e-04 9.99876351e-01 5.11629213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.51925415399995 meters Centerline goodness : 0.999286 Centerline is valid? [True, True] Translation: X:333.12, Y:3.38, Z:5.12 [[ 9.99067523e-01 -4.02098571e-02 -1.57242529e-02 3.33123188e+02] [ 4.02120826e-02 9.99191152e-01 -1.74740948e-04 3.37589064e+00] [ 1.57185607e-02 -4.57726950e-04 9.99876351e-01 5.11503044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.549254154 meters Centerline goodness : 0.999222 Centerline is valid? [True, True] Translation: X:333.16, Y:3.38, Z:5.12 [[ 9.99106593e-01 -3.92270701e-02 -1.57242623e-02 3.33155443e+02] [ 3.92291873e-02 9.99230224e-01 -1.73893319e-04 3.37775644e+00] [ 1.57189794e-02 -4.43112068e-04 9.99876351e-01 5.11707006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.57925415399995 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:333.19, Y:3.38, Z:5.12 [[ 9.99187575e-01 -3.71071101e-02 -1.57242747e-02 3.33187532e+02] [ 3.71089829e-02 9.99311210e-01 -1.72760118e-04 3.38118583e+00] [ 1.57198546e-02 -4.10892078e-04 9.99876351e-01 5.11652132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.609254154 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:333.21, Y:3.38, Z:5.12 [[ 9.99376638e-01 -3.16073439e-02 -1.57261295e-02 3.33214397e+02] [ 3.16115172e-02 9.99500231e-01 1.68035707e-05 3.38188129e+00] [ 1.57177389e-02 -5.13919909e-04 9.99876337e-01 5.11607865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.63925415399996 meters Centerline goodness : 0.998992 Centerline is valid? [True, True] Translation: X:333.24, Y:3.38, Z:5.12 [[ 9.99466997e-01 -2.86088606e-02 -1.57243389e-02 3.33244444e+02] [ 2.86098886e-02 9.99590641e-01 -1.59616947e-04 3.38365757e+00] [ 1.57224685e-02 -2.90339713e-04 9.99876352e-01 5.11759236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.669254154 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:333.27, Y:3.39, Z:5.12 [[ 9.99549201e-01 -2.55761689e-02 -1.57243389e-02 3.33274892e+02] [ 2.55768217e-02 9.99672847e-01 -1.59616947e-04 3.38534912e+00] [ 1.57232770e-02 -2.42633620e-04 9.99876352e-01 5.11863842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.69925415399996 meters Centerline goodness : 0.999095 Centerline is valid? [True, True] Translation: X:333.30, Y:3.39, Z:5.12 [[ 9.99675086e-01 -2.00615838e-02 -1.57243389e-02 3.33304086e+02] [ 2.00615545e-02 9.99798734e-01 -1.59616947e-04 3.38827031e+00] [ 1.57243763e-02 -1.55889597e-04 9.99876352e-01 5.11889306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.72925415399993 meters Centerline goodness : 0.999033 Centerline is valid? [True, True] Translation: X:333.33, Y:3.39, Z:5.12 [[ 9.99707855e-01 -1.83562207e-02 -1.57243360e-02 3.33332367e+02] [ 1.83559760e-02 9.99831502e-01 -1.59901101e-04 3.38932749e+00] [ 1.57246217e-02 -1.28781148e-04 9.99876352e-01 5.11930506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.75925415399996 meters Centerline goodness : 0.999222 Centerline is valid? [True, True] Translation: X:333.36, Y:3.39, Z:5.12 [[ 9.99729214e-01 -1.71535668e-02 -1.57242951e-02 3.33359676e+02] [ 1.71531115e-02 9.99852861e-01 -1.63830586e-04 3.39027109e+00] [ 1.57247917e-02 -1.05934363e-04 9.99876352e-01 5.11943234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.78925415399993 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:333.39, Y:3.39, Z:5.12 [[ 9.99740870e-01 -1.64602573e-02 -1.57242730e-02 3.33387973e+02] [ 1.64596834e-02 9.99864516e-01 -1.65924408e-04 3.39096226e+00] [ 1.57248738e-02 -9.29351426e-05 9.99876352e-01 5.11956351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.81925415399996 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:333.42, Y:3.39, Z:5.12 [[ 9.99731311e-01 -1.70309703e-02 -1.57242251e-02 3.33416312e+02] [ 1.70303974e-02 9.99854958e-01 -1.70344414e-04 3.39108974e+00] [ 1.57248456e-02 -9.74911581e-05 9.99876352e-01 5.12041238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.84925415399994 meters Centerline goodness : 0.998864 Centerline is valid? [True, True] Translation: X:333.44, Y:3.39, Z:5.12 [[ 9.99679187e-01 -1.98563421e-02 -1.57241746e-02 3.33444705e+02] [ 1.98560472e-02 9.99802834e-01 -1.74886314e-04 3.39037320e+00] [ 1.57245469e-02 -1.37389745e-04 9.99876352e-01 5.12102344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.87925415399997 meters Centerline goodness : 0.998885 Centerline is valid? [True, True] Translation: X:333.47, Y:3.39, Z:5.12 [[ 9.99569757e-01 -2.47598931e-02 -1.57241221e-02 3.33472588e+02] [ 2.47601325e-02 9.99693405e-01 -1.79486457e-04 3.38889494e+00] [ 1.57237452e-02 -2.09922111e-04 9.99876352e-01 5.12059540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.90925415399994 meters Centerline goodness : 0.998885 Centerline is valid? [True, True] Translation: X:333.50, Y:3.39, Z:5.12 [[ 9.99568886e-01 -2.47950673e-02 -1.57241057e-02 3.33502735e+02] [ 2.47952886e-02 9.99692533e-01 -1.80911182e-04 3.38927350e+00] [ 1.57237567e-02 -2.09050550e-04 9.99876352e-01 5.12106996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.93925415399997 meters Centerline goodness : 0.999097 Centerline is valid? [True, True] Translation: X:333.53, Y:3.39, Z:5.12 [[ 9.99485618e-01 -2.79508868e-02 -1.57240993e-02 3.33532415e+02] [ 2.79514898e-02 9.99609264e-01 -1.81464219e-04 3.38830908e+00] [ 1.57230274e-02 -2.58141124e-04 9.99876352e-01 5.12191774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.96925415399994 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:333.56, Y:3.39, Z:5.12 [[ 9.99275432e-01 -3.46607066e-02 -1.57240927e-02 3.33563190e+02] [ 3.46621308e-02 9.99399071e-01 -1.82031983e-04 3.38525425e+00] [ 1.57209530e-02 -3.63130471e-04 9.99876352e-01 5.12231195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.99925415399997 meters Centerline goodness : 0.998849 Centerline is valid? [True, True] Translation: X:333.59, Y:3.38, Z:5.12 [[ 9.99168676e-01 -3.76126315e-02 -1.57240927e-02 3.33594581e+02] [ 3.76144209e-02 9.99292311e-01 -1.82031983e-04 3.38368706e+00] [ 1.57198117e-02 -4.09571987e-04 9.99876352e-01 5.12136298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.02925415399994 meters Centerline goodness : 0.998974 Centerline is valid? [True, True] Translation: X:333.63, Y:3.38, Z:5.12 [[ 9.99038613e-01 -4.09219170e-02 -1.57240994e-02 3.33626271e+02] [ 4.09241250e-02 9.99162241e-01 -1.81454316e-04 3.38287675e+00] [ 1.57183518e-02 -4.62215141e-04 9.99876352e-01 5.12265292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.059254154 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:333.66, Y:3.38, Z:5.12 [[ 9.98819741e-01 -4.59551768e-02 -1.57241093e-02 3.33658272e+02] [ 4.59580213e-02 9.98943356e-01 -1.80588133e-04 3.38135609e+00] [ 1.57157935e-02 -5.42273959e-04 9.99876352e-01 5.12480338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.08925415399995 meters Centerline goodness : 0.998936 Centerline is valid? [True, True] Translation: X:333.69, Y:3.38, Z:5.13 [[ 9.98746996e-01 -4.75098912e-02 -1.57241227e-02 3.33690415e+02] [ 4.75129466e-02 9.98870606e-01 -1.79416746e-04 3.38085683e+00] [ 1.57148880e-02 -5.67907466e-04 9.99876352e-01 5.12519592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.119254154 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:333.72, Y:3.38, Z:5.13 [[ 9.98686702e-01 -4.87608840e-02 -1.57241359e-02 3.33722869e+02] [ 4.87641125e-02 9.98810307e-01 -1.78252116e-04 3.38050073e+00] [ 1.57141207e-02 -5.88755515e-04 9.99876352e-01 5.12570588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.14925415399995 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:333.75, Y:3.38, Z:5.13 [[ 9.98638337e-01 -4.97415595e-02 -1.57241491e-02 3.33753918e+02] [ 4.97449278e-02 9.98761939e-01 -1.77080215e-04 3.37955967e+00] [ 1.57134899e-02 -6.05357570e-04 9.99876352e-01 5.12604249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.179254154 meters Centerline goodness : 0.998830 Centerline is valid? [True, True] Translation: X:333.79, Y:3.38, Z:5.13 [[ 9.98620723e-01 -5.00939346e-02 -1.57241589e-02 3.33785665e+02] [ 5.00973603e-02 9.98744323e-01 -1.76207056e-04 3.37941583e+00] [ 1.57132413e-02 -6.11774835e-04 9.99876352e-01 5.12670772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.20925415399995 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:333.82, Y:3.38, Z:5.13 [[ 9.98634437e-01 -4.98197829e-02 -1.57241719e-02 3.33816661e+02] [ 4.98231930e-02 9.98758038e-01 -1.75041787e-04 3.37925949e+00] [ 1.57133636e-02 -6.08625692e-04 9.99876352e-01 5.12683634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.239254154 meters Centerline goodness : 0.998790 Centerline is valid? [True, True] Translation: X:333.85, Y:3.38, Z:5.13 [[ 9.98683436e-01 -4.88277091e-02 -1.57241815e-02 3.33849176e+02] [ 4.88310100e-02 9.98807039e-01 -1.74174384e-04 3.37883248e+00] [ 1.57139277e-02 -5.93882590e-04 9.99876352e-01 5.12545036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.26925415399995 meters Centerline goodness : 0.998934 Centerline is valid? [True, True] Translation: X:333.88, Y:3.38, Z:5.13 [[ 9.98655706e-01 -4.93915949e-02 -1.57241942e-02 3.33881365e+02] [ 4.93949838e-02 9.98779308e-01 -1.73015673e-04 3.37949345e+00] [ 1.57135453e-02 -6.03913230e-04 9.99876352e-01 5.12731390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.299254154 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:333.91, Y:3.38, Z:5.13 [[ 9.98668667e-01 -4.91288372e-02 -1.57242070e-02 3.33912431e+02] [ 4.91322119e-02 9.98792269e-01 -1.71849257e-04 3.37946456e+00] [ 1.57136591e-02 -6.00944600e-04 9.99876352e-01 5.12726035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.32925415399995 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:333.94, Y:3.38, Z:5.13 [[ 9.98678083e-01 -4.89370551e-02 -1.57242164e-02 3.33943235e+02] [ 4.89404198e-02 9.98801685e-01 -1.70979409e-04 3.37912823e+00] [ 1.57137411e-02 -5.98796365e-04 9.99876352e-01 5.12664692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.359254154 meters Centerline goodness : 0.998996 Centerline is valid? [True, True] Translation: X:333.98, Y:3.38, Z:5.13 [[ 9.98687906e-01 -4.87361672e-02 -1.57242372e-02 3.33975703e+02] [ 4.87395374e-02 9.98811508e-01 -1.69049080e-04 3.37941992e+00] [ 1.57137879e-02 -5.97564773e-04 9.99876352e-01 5.12735001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.38925415399996 meters Centerline goodness : 0.999037 Centerline is valid? [True, True] Translation: X:334.01, Y:3.38, Z:5.13 [[ 9.98752817e-01 -4.73873201e-02 -1.57242493e-02 3.34007374e+02] [ 4.73905411e-02 9.98876423e-01 -1.67914319e-04 3.37966493e+00] [ 1.57145389e-02 -5.77475784e-04 9.99876352e-01 5.12610318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.419254154 meters Centerline goodness : 0.998825 Centerline is valid? [True, True] Translation: X:334.04, Y:3.38, Z:5.13 [[ 9.98794735e-01 -4.64954174e-02 -1.57242688e-02 3.34039803e+02] [ 4.64985571e-02 9.98918343e-01 -1.66065400e-04 3.38051981e+00] [ 1.57149818e-02 -5.65290565e-04 9.99876352e-01 5.12760720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.44925415399996 meters Centerline goodness : 0.998868 Centerline is valid? [True, True] Translation: X:334.07, Y:3.38, Z:5.13 [[ 9.98874704e-01 -4.47445292e-02 -1.57242805e-02 3.34071548e+02] [ 4.47474698e-02 9.98998317e-01 -1.64952117e-04 3.38156775e+00] [ 1.57159105e-02 -5.38855270e-04 9.99876352e-01 5.12842740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.47925415399993 meters Centerline goodness : 0.999329 Centerline is valid? [True, True] Translation: X:334.10, Y:3.38, Z:5.13 [[ 9.99044713e-01 -4.07726503e-02 -1.57242923e-02 3.34103966e+02] [ 4.07751171e-02 9.99168336e-01 -1.63823099e-04 3.38342618e+00] [ 1.57178944e-02 -4.77493257e-04 9.99876352e-01 5.12952606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.50925415399996 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:334.14, Y:3.38, Z:5.13 [[ 9.99126907e-01 -3.87062019e-02 -1.57243039e-02 3.34136634e+02] [ 3.87084307e-02 9.99250535e-01 -1.62696099e-04 3.38401107e+00] [ 1.57188165e-02 -4.46109078e-04 9.99876352e-01 5.12961742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.53925415399993 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:334.17, Y:3.38, Z:5.13 [[ 9.99128290e-01 -3.86704699e-02 -1.57243155e-02 3.34168472e+02] [ 3.86727120e-02 9.99251918e-01 -1.61568029e-04 3.38430700e+00] [ 1.57188003e-02 -4.46674737e-04 9.99876352e-01 5.13011786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.56925415399996 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:334.20, Y:3.39, Z:5.13 [[ 9.99186664e-01 -3.71316180e-02 -1.57243213e-02 3.34200116e+02] [ 3.71336785e-02 9.99310294e-01 -1.61005887e-04 3.38500663e+00] [ 1.57194545e-02 -4.23026957e-04 9.99876352e-01 5.13130949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.59925415399994 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:334.23, Y:3.39, Z:5.13 [[ 9.99219395e-01 -3.62401206e-02 -1.57243270e-02 3.34231173e+02] [ 3.62420797e-02 9.99343027e-01 -1.60446798e-04 3.38579046e+00] [ 1.57198111e-02 -4.09560759e-04 9.99876352e-01 5.13213578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.62925415399997 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:334.26, Y:3.39, Z:5.13 [[ 9.99111073e-01 -3.91127661e-02 -1.57243327e-02 3.34257957e+02] [ 3.91150894e-02 9.99234699e-01 -1.59886186e-04 3.39124869e+00] [ 1.57185524e-02 -4.55314620e-04 9.99876352e-01 5.13278412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.65925415399994 meters Centerline goodness : 0.998973 Centerline is valid? [True, True] Translation: X:334.29, Y:3.39, Z:5.13 [[ 9.99227863e-01 -3.60066842e-02 -1.57224644e-02 3.34291661e+02] [ 3.60058355e-02 9.99351523e-01 -3.37137251e-04 3.38819277e+00] [ 1.57244080e-02 -2.29223534e-04 9.99876338e-01 5.13370623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.68925415399997 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:334.32, Y:3.39, Z:5.13 [[ 9.99212158e-01 -3.64391296e-02 -1.57242670e-02 3.34321883e+02] [ 3.64411213e-02 9.99335789e-01 -1.59934753e-04 3.38903173e+00] [ 1.57196507e-02 -4.13201173e-04 9.99876353e-01 5.13390907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.71925415399994 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:334.35, Y:3.39, Z:5.13 [[ 9.99183369e-01 -3.72201899e-02 -1.57242699e-02 3.34353238e+02] [ 3.72222826e-02 9.99306998e-01 -1.59657165e-04 3.39033741e+00] [ 1.57193154e-02 -4.25766433e-04 9.99876353e-01 5.13458426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.74925415399997 meters Centerline goodness : 0.998892 Centerline is valid? [True, True] Translation: X:334.38, Y:3.39, Z:5.14 [[ 9.99117997e-01 -3.89355365e-02 -1.57242754e-02 3.34384569e+02] [ 3.89378501e-02 9.99241622e-01 -1.59110022e-04 3.39194637e+00] [ 1.57185455e-02 -4.53299791e-04 9.99876353e-01 5.13591032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.77925415399994 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:334.42, Y:3.39, Z:5.14 [[ 9.99076395e-01 -3.99887928e-02 -1.57242810e-02 3.34415317e+02] [ 3.99912454e-02 9.99200018e-01 -1.58553436e-04 3.39270728e+00] [ 1.57180422e-02 -4.70426586e-04 9.99876353e-01 5.13582219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.809254154 meters Centerline goodness : 0.998747 Centerline is valid? [True, True] Translation: X:334.45, Y:3.39, Z:5.14 [[ 9.99017424e-01 -4.14358829e-02 -1.57242997e-02 3.34447026e+02] [ 4.14385440e-02 9.99141042e-01 -1.56681686e-04 3.39279068e+00] [ 1.57172854e-02 -4.95064349e-04 9.99876353e-01 5.13527984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.83925415399995 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:334.48, Y:3.39, Z:5.14 [[ 9.98964349e-01 -4.26963270e-02 -1.57243102e-02 3.34478939e+02] [ 4.26991609e-02 9.99087963e-01 -1.55612225e-04 3.39376359e+00] [ 1.57166132e-02 -5.15963788e-04 9.99876353e-01 5.13734894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.869254154 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:334.51, Y:3.39, Z:5.14 [[ 9.98933294e-01 -4.34168142e-02 -1.57243208e-02 3.34510870e+02] [ 4.34197542e-02 9.99056906e-01 -1.54533496e-04 3.39442260e+00] [ 1.57162007e-02 -5.28377492e-04 9.99876353e-01 5.13958996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.89925415399995 meters Centerline goodness : 0.998807 Centerline is valid? [True, True] Translation: X:334.54, Y:3.39, Z:5.14 [[ 9.98934803e-01 -4.33820741e-02 -1.57243321e-02 3.34541780e+02] [ 4.33850280e-02 9.99058415e-01 -1.53375904e-04 3.39457706e+00] [ 1.57161801e-02 -5.28988062e-04 9.99876353e-01 5.13715026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.929254154 meters Centerline goodness : 0.998971 Centerline is valid? [True, True] Translation: X:334.57, Y:3.40, Z:5.14 [[ 9.98872939e-01 -4.47838905e-02 -1.57243405e-02 3.34573718e+02] [ 4.47870314e-02 9.98996546e-01 -1.52513338e-04 3.39578319e+00] [ 1.57153920e-02 -5.51905086e-04 9.99876353e-01 5.14018219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.95925415399995 meters Centerline goodness : 0.998888 Centerline is valid? [True, True] Translation: X:334.61, Y:3.40, Z:5.14 [[ 9.98852755e-01 -4.52318287e-02 -1.57243515e-02 3.34605726e+02] [ 4.52350431e-02 9.98976360e-01 -1.51369596e-04 3.39625196e+00] [ 1.57151022e-02 -5.60095781e-04 9.99876353e-01 5.14111953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.989254154 meters Centerline goodness : 0.998971 Centerline is valid? [True, True] Translation: X:334.64, Y:3.40, Z:5.14 [[ 9.98833779e-01 -4.56489368e-02 -1.57243625e-02 3.34636617e+02] [ 4.56522209e-02 9.98957383e-01 -1.50218347e-04 3.39668673e+00] [ 1.57148253e-02 -5.67808911e-04 9.99876353e-01 5.14123997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.01925415399995 meters Centerline goodness : 0.998969 Centerline is valid? [True, True] Translation: X:334.67, Y:3.40, Z:5.14 [[ 9.98826059e-01 -4.58175603e-02 -1.57243707e-02 3.34668733e+02] [ 4.58208788e-02 9.98949661e-01 -1.49361301e-04 3.39731559e+00] [ 1.57146981e-02 -5.71318521e-04 9.99876353e-01 5.14249023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.049254154 meters Centerline goodness : 0.998886 Centerline is valid? [True, True] Translation: X:334.70, Y:3.40, Z:5.14 [[ 9.98847406e-01 -4.53497919e-02 -1.57243813e-02 3.34701005e+02] [ 4.53530702e-02 9.98971009e-01 -1.48232277e-04 3.39767955e+00] [ 1.57149234e-02 -5.65087544e-04 9.99876353e-01 5.14296506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.07925415399995 meters Centerline goodness : 0.998739 Centerline is valid? [True, True] Translation: X:334.73, Y:3.40, Z:5.14 [[ 9.98910079e-01 -4.39476737e-02 -1.57243918e-02 3.34732163e+02] [ 4.39507961e-02 9.99033686e-01 -1.47110940e-04 3.39795113e+00] [ 1.57156623e-02 -5.44148937e-04 9.99876353e-01 5.14058915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.109254154 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:334.77, Y:3.40, Z:5.15 [[ 9.98861445e-01 -4.50397380e-02 -1.57237165e-02 3.34765188e+02] [ 4.50418748e-02 9.98985076e-01 -2.18395734e-04 3.40063300e+00] [ 1.57175946e-02 -4.90078593e-04 9.99876351e-01 5.14653942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.13925415399996 meters Centerline goodness : 0.999055 Centerline is valid? [True, True] Translation: X:334.80, Y:3.40, Z:5.15 [[ 9.98883820e-01 -4.45405100e-02 -1.57243854e-02 3.34796994e+02] [ 4.45437122e-02 9.99007425e-01 -1.46703358e-04 3.40152505e+00] [ 1.57153121e-02 -5.53882889e-04 9.99876353e-01 5.14699096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.169254154 meters Centerline goodness : 0.998972 Centerline is valid? [True, True] Translation: X:334.83, Y:3.40, Z:5.15 [[ 9.98877861e-01 -4.46739548e-02 -1.57243960e-02 3.34828888e+02] [ 4.46771914e-02 9.99001465e-01 -1.45565450e-04 3.40294381e+00] [ 1.57151976e-02 -5.57119743e-04 9.99876353e-01 5.14775023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.19925415399996 meters Centerline goodness : 0.999012 Centerline is valid? [True, True] Translation: X:334.86, Y:3.40, Z:5.15 [[ 9.98884253e-01 -4.45308033e-02 -1.57244064e-02 3.34860714e+02] [ 4.45340400e-02 9.99007857e-01 -1.44430677e-04 3.40329633e+00] [ 1.57152372e-02 -5.56001815e-04 9.99876353e-01 5.14788633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.22925415399993 meters Centerline goodness : 0.998761 Centerline is valid? [True, True] Translation: X:334.89, Y:3.40, Z:5.15 [[ 9.98886555e-01 -4.44791194e-02 -1.57244167e-02 3.34891681e+02] [ 4.44823675e-02 9.99010159e-01 -1.43302599e-04 3.40350506e+00] [ 1.57152260e-02 -5.56316241e-04 9.99876353e-01 5.14743231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.25925415399996 meters Centerline goodness : 0.999035 Centerline is valid? [True, True] Translation: X:334.92, Y:3.40, Z:5.15 [[ 9.98900410e-01 -4.41668907e-02 -1.57244243e-02 3.34924150e+02] [ 4.41701133e-02 9.99024014e-01 -1.42461535e-04 3.40402691e+00] [ 1.57153696e-02 -5.52244718e-04 9.99876353e-01 5.14761299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.28925415399993 meters Centerline goodness : 0.998889 Centerline is valid? [True, True] Translation: X:334.96, Y:3.40, Z:5.15 [[ 9.98943291e-01 -4.31861538e-02 -1.57244342e-02 3.34955964e+02] [ 4.31892725e-02 9.99066898e-01 -1.41355143e-04 3.40465695e+00] [ 1.57158663e-02 -5.37921104e-04 9.99876353e-01 5.14789324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.31925415399996 meters Centerline goodness : 0.999012 Centerline is valid? [True, True] Translation: X:334.99, Y:3.41, Z:5.15 [[ 9.99096947e-01 -3.94719114e-02 -1.57244441e-02 3.34988256e+02] [ 3.94745878e-02 9.99220565e-01 -1.40254665e-04 3.40639612e+00] [ 1.57177240e-02 -4.80587940e-04 9.99876353e-01 5.15102275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.34925415399994 meters Centerline goodness : 0.998802 Centerline is valid? [True, True] Translation: X:335.02, Y:3.41, Z:5.15 [[ 9.99162337e-01 -3.77805066e-02 -1.57244544e-02 3.35019777e+02] [ 3.77829921e-02 9.99285958e-01 -1.39088869e-04 3.40853981e+00] [ 1.57184813e-02 -4.55144576e-04 9.99876353e-01 5.15197458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.37925415399997 meters Centerline goodness : 0.999012 Centerline is valid? [True, True] Translation: X:335.05, Y:3.41, Z:5.15 [[ 9.99264059e-01 -3.49868819e-02 -1.57244620e-02 3.35050810e+02] [ 3.49890354e-02 9.99387687e-01 -1.38220604e-04 3.40984109e+00] [ 1.57196696e-02 -4.12064877e-04 9.99876353e-01 5.15008542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.40925415399994 meters Centerline goodness : 0.998929 Centerline is valid? [True, True] Translation: X:335.08, Y:3.41, Z:5.15 [[ 9.99477931e-01 -2.82242112e-02 -1.57244695e-02 3.35082231e+02] [ 2.82255415e-02 9.99601571e-01 -1.37362362e-04 3.41149592e+00] [ 1.57220814e-02 -3.06541018e-04 9.99876353e-01 5.15423645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.43925415399997 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:335.11, Y:3.41, Z:5.15 [[ 9.99570517e-01 -2.47289851e-02 -1.57244746e-02 3.35112775e+02] [ 2.47298922e-02 9.99694160e-01 -1.36781168e-04 3.41241952e+00] [ 1.57230478e-02 -2.52142139e-04 9.99876353e-01 5.15477829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.46925415399994 meters Centerline goodness : 0.999053 Centerline is valid? [True, True] Translation: X:335.14, Y:3.41, Z:5.15 [[ 9.99653138e-01 -2.11268742e-02 -1.57244746e-02 3.35142703e+02] [ 2.11273358e-02 9.99776784e-01 -1.36781168e-04 3.41337724e+00] [ 1.57238544e-02 -1.95482532e-04 9.99876353e-01 5.15425830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.49925415399997 meters Centerline goodness : 0.999035 Centerline is valid? [True, True] Translation: X:335.17, Y:3.41, Z:5.16 [[ 9.99764862e-01 -1.49319284e-02 -1.57244721e-02 3.35171337e+02] [ 1.49316193e-02 9.99888508e-01 -1.37067574e-04 3.41475965e+00] [ 1.57247656e-02 -9.77564866e-05 9.99876353e-01 5.15669644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.52925415399994 meters Centerline goodness : 0.999136 Centerline is valid? [True, True] Translation: X:335.20, Y:3.42, Z:5.16 [[ 9.99795264e-01 -1.27346769e-02 -1.57244363e-02 3.35199138e+02] [ 1.27340334e-02 9.99918909e-01 -1.41054189e-04 3.41542708e+00] [ 1.57249575e-02 -5.92101863e-05 9.99876353e-01 5.15737386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.559254154 meters Centerline goodness : 0.999074 Centerline is valid? [True, True] Translation: X:335.23, Y:3.42, Z:5.16 [[ 9.99816607e-01 -1.09314477e-02 -1.57243943e-02 3.35228262e+02] [ 1.09305098e-02 9.99940250e-01 -1.45589898e-04 3.41595839e+00] [ 1.57250463e-02 -2.63124480e-05 9.99876353e-01 5.15794720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.58925415399995 meters Centerline goodness : 0.999012 Centerline is valid? [True, True] Translation: X:335.26, Y:3.42, Z:5.16 [[ 9.99836145e-01 -8.96810359e-03 -1.57243567e-02 3.35256440e+02] [ 8.96686065e-03 9.99959786e-01 -1.49549108e-04 3.41556616e+00] [ 1.57250655e-02 8.52648864e-06 9.99876353e-01 5.15886375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.619254154 meters Centerline goodness : 0.999092 Centerline is valid? [True, True] Translation: X:335.28, Y:3.42, Z:5.16 [[ 9.99834426e-01 -9.15789194e-03 -1.57243116e-02 3.35284468e+02] [ 9.15660019e-03 9.99958066e-01 -1.54144065e-04 3.41528214e+00] [ 1.57250639e-02 1.01373075e-05 9.99876353e-01 5.15888703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.64925415399995 meters Centerline goodness : 0.999093 Centerline is valid? [True, True] Translation: X:335.31, Y:3.41, Z:5.16 [[ 9.99832760e-01 -9.33809470e-03 -1.57242648e-02 3.35311929e+02] [ 9.33675228e-03 9.99956399e-01 -1.58783127e-04 3.41473844e+00] [ 1.57250619e-02 1.19430073e-05 9.99876353e-01 5.15843071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.679254154 meters Centerline goodness : 0.999075 Centerline is valid? [True, True] Translation: X:335.34, Y:3.41, Z:5.16 [[ 9.99824930e-01 -1.01418815e-02 -1.57242436e-02 3.35339386e+02] [ 1.01406059e-02 9.99948570e-01 -1.60853434e-04 3.41452666e+00] [ 1.57250662e-02 1.37191622e-06 9.99876354e-01 5.15831715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.70925415399995 meters Centerline goodness : 0.999032 Centerline is valid? [True, True] Translation: X:335.37, Y:3.41, Z:5.16 [[ 9.99793737e-01 -1.28543130e-02 -1.57241956e-02 3.35368622e+02] [ 1.28533010e-02 9.99917379e-01 -1.65419373e-04 3.41406385e+00] [ 1.57250228e-02 -3.67225654e-05 9.99876354e-01 5.15904298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.739254154 meters Centerline goodness : 0.999073 Centerline is valid? [True, True] Translation: X:335.40, Y:3.41, Z:5.16 [[ 9.99768127e-01 -1.47120278e-02 -1.57241556e-02 3.35395459e+02] [ 1.47111872e-02 9.99891770e-01 -1.69131023e-04 3.41364161e+00] [ 1.57249421e-02 -6.22291919e-05 9.99876354e-01 5.15903867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.76925415399995 meters Centerline goodness : 0.999178 Centerline is valid? [True, True] Translation: X:335.42, Y:3.41, Z:5.16 [[ 9.99680508e-01 -1.97897410e-02 -1.57241341e-02 3.35423575e+02] [ 1.97894973e-02 9.99804154e-01 -1.71112849e-04 3.41121911e+00] [ 1.57244408e-02 -1.40114528e-04 9.99876354e-01 5.15788954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.799254154 meters Centerline goodness : 0.999011 Centerline is valid? [True, True] Translation: X:335.45, Y:3.41, Z:5.16 [[ 9.99612686e-01 -2.29615120e-02 -1.57241189e-02 3.35451722e+02] [ 2.29616387e-02 9.99736332e-01 -1.72498616e-04 3.40986162e+00] [ 1.57239337e-02 -1.88619731e-04 9.99876354e-01 5.15823551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.82925415399995 meters Centerline goodness : 0.998971 Centerline is valid? [True, True] Translation: X:335.48, Y:3.41, Z:5.16 [[ 9.99529764e-01 -2.63250571e-02 -1.57239283e-02 3.35481152e+02] [ 2.63253313e-02 9.99653410e-01 -1.89580449e-04 3.40815989e+00] [ 1.57234692e-02 -2.24446320e-04 9.99876353e-01 5.16121685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.859254154 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:335.51, Y:3.41, Z:5.16 [[ 9.99431422e-01 -2.98259243e-02 -1.57240667e-02 3.35512017e+02] [ 2.98268246e-02 9.99555066e-01 -1.77303853e-04 3.40728428e+00] [ 1.57223588e-02 -2.91795938e-04 9.99876354e-01 5.16197095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.88925415399996 meters Centerline goodness : 0.998867 Centerline is valid? [True, True] Translation: X:335.54, Y:3.40, Z:5.16 [[ 9.99277933e-01 -3.45885182e-02 -1.57240667e-02 3.35542601e+02] [ 3.45900077e-02 9.99401571e-01 -1.77303853e-04 3.40462927e+00] [ 1.57207897e-02 -3.66719762e-04 9.99876354e-01 5.16299989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.919254154 meters Centerline goodness : 0.998910 Centerline is valid? [True, True] Translation: X:335.57, Y:3.40, Z:5.16 [[ 9.99198921e-01 -3.68004113e-02 -1.57240667e-02 3.35573827e+02] [ 3.68021746e-02 9.99322555e-01 -1.77303853e-04 3.40464760e+00] [ 1.57199394e-02 -4.01518030e-04 9.99876354e-01 5.16371484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.94925415399996 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:335.61, Y:3.40, Z:5.16 [[ 9.99144135e-01 -3.82590034e-02 -1.57240733e-02 3.35605463e+02] [ 3.82609563e-02 9.99267766e-01 -1.76720201e-04 3.40412300e+00] [ 1.57193207e-02 -4.25049128e-04 9.99876354e-01 5.16376475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.97925415399993 meters Centerline goodness : 0.998891 Centerline is valid? [True, True] Translation: X:335.64, Y:3.40, Z:5.16 [[ 9.99061592e-01 -4.03570027e-02 -1.57240830e-02 3.35637070e+02] [ 4.03592289e-02 9.99185219e-01 -1.75846669e-04 3.40206898e+00] [ 1.57183680e-02 -4.58930214e-04 9.99876354e-01 5.16415018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.00925415399996 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:335.67, Y:3.40, Z:5.16 [[ 9.98997277e-01 -4.19188853e-02 -1.57240925e-02 3.35669186e+02] [ 4.19213182e-02 9.99120900e-01 -1.74993648e-04 3.40195454e+00] [ 1.57176050e-02 -4.84356508e-04 9.99876354e-01 5.16488730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.03925415399993 meters Centerline goodness : 0.998870 Centerline is valid? [True, True] Translation: X:335.70, Y:3.40, Z:5.17 [[ 9.98891700e-01 -4.43635348e-02 -1.57241053e-02 3.35701400e+02] [ 4.43662885e-02 9.99015316e-01 -1.73836073e-04 3.40085383e+00] [ 1.57163340e-02 -5.23976783e-04 9.99876354e-01 5.16574800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.06925415399996 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:335.73, Y:3.40, Z:5.16 [[ 9.98826610e-01 -4.58056266e-02 -1.57241180e-02 3.35732222e+02] [ 4.58085769e-02 9.98950221e-01 -1.72684842e-04 3.40111900e+00] [ 1.57155211e-02 -5.47817251e-04 9.99876354e-01 5.16497321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.09925415399994 meters Centerline goodness : 0.998911 Centerline is valid? [True, True] Translation: X:335.76, Y:3.40, Z:5.17 [[ 9.98750587e-01 -4.74343305e-02 -1.57241385e-02 3.35764846e+02] [ 4.74375120e-02 9.98874193e-01 -1.70792164e-04 3.40091865e+00] [ 1.57145376e-02 -5.75335236e-04 9.99876354e-01 5.16620825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.12925415399997 meters Centerline goodness : 0.998891 Centerline is valid? [True, True] Translation: X:335.80, Y:3.40, Z:5.17 [[ 9.98700430e-01 -4.84788906e-02 -1.57241510e-02 3.35796726e+02] [ 4.84822196e-02 9.98824031e-01 -1.69640437e-04 3.40028166e+00] [ 1.57138838e-02 -5.92921762e-04 9.99876354e-01 5.16694829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.15925415399994 meters Centerline goodness : 0.998891 Centerline is valid? [True, True] Translation: X:335.83, Y:3.40, Z:5.17 [[ 9.98536889e-01 -5.17381151e-02 -1.57241635e-02 3.35827655e+02] [ 5.17418658e-02 9.98660478e-01 -1.68468022e-04 3.40063541e+00] [ 1.57118169e-02 -6.45376024e-04 9.99876354e-01 5.16575734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.18925415399997 meters Centerline goodness : 0.999142 Centerline is valid? [True, True] Translation: X:335.86, Y:3.40, Z:5.17 [[ 9.98480407e-01 -5.28169177e-02 -1.57241728e-02 3.35858418e+02] [ 5.28208157e-02 9.98603992e-01 -1.67595241e-04 3.40073880e+00] [ 1.57110736e-02 -6.63223070e-04 9.99876354e-01 5.16540525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.21925415399994 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:335.89, Y:3.40, Z:5.17 [[ 9.98408716e-01 -5.41551990e-02 -1.57241818e-02 3.35890163e+02] [ 5.41592760e-02 9.98532295e-01 -1.66746809e-04 3.40106187e+00] [ 1.57101336e-02 -6.85128836e-04 9.99876354e-01 5.16506028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.24925415399997 meters Centerline goodness : 0.999079 Centerline is valid? [True, True] Translation: X:335.92, Y:3.40, Z:5.17 [[ 9.98400300e-01 -5.43101338e-02 -1.57241939e-02 3.35922439e+02] [ 5.43142480e-02 9.98523878e-01 -1.65598910e-04 3.40199885e+00] [ 1.57099768e-02 -6.88713767e-04 9.99876354e-01 5.16562478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.27925415399994 meters Centerline goodness : 0.998953 Centerline is valid? [True, True] Translation: X:335.95, Y:3.40, Z:5.17 [[ 9.98406554e-01 -5.41950338e-02 -1.57242062e-02 3.35953584e+02] [ 5.41991522e-02 9.98530132e-01 -1.64424687e-04 3.40331487e+00] [ 1.57100047e-02 -6.88075960e-04 9.99876354e-01 5.16585116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.309254154 meters Centerline goodness : 0.999140 Centerline is valid? [True, True] Translation: X:335.99, Y:3.40, Z:5.17 [[ 9.98440268e-01 -5.35703241e-02 -1.57242153e-02 3.35986166e+02] [ 5.35743789e-02 9.98563848e-01 -1.63549809e-04 3.40478182e+00] [ 1.57103943e-02 -6.79120353e-04 9.99876354e-01 5.16657206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.33925415399995 meters Centerline goodness : 0.998954 Centerline is valid? [True, True] Translation: X:336.02, Y:3.41, Z:5.17 [[ 9.98492573e-01 -5.25864000e-02 -1.57242273e-02 3.36018230e+02] [ 5.25903513e-02 9.98616157e-01 -1.62389964e-04 3.40641573e+00] [ 1.57110069e-02 -6.64797462e-04 9.99876354e-01 5.16753374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.369254154 meters Centerline goodness : 0.998952 Centerline is valid? [True, True] Translation: X:336.05, Y:3.41, Z:5.17 [[ 9.98620185e-01 -5.01046281e-02 -1.57242392e-02 3.36049321e+02] [ 5.01082905e-02 9.98743778e-01 -1.61229115e-04 3.40922193e+00] [ 1.57125644e-02 -6.26908095e-04 9.99876354e-01 5.16859695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.39925415399995 meters Centerline goodness : 0.998866 Centerline is valid? [True, True] Translation: X:336.08, Y:3.41, Z:5.17 [[ 9.98699211e-01 -4.85039570e-02 -1.57242480e-02 3.36081675e+02] [ 4.85074349e-02 9.98822809e-01 -1.60364039e-04 3.41053003e+00] [ 1.57135158e-02 -6.02587495e-04 9.99876354e-01 5.16944688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.429254154 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:336.11, Y:3.41, Z:5.17 [[ 9.98786407e-01 -4.66739871e-02 -1.57242597e-02 3.36113982e+02] [ 4.66772567e-02 9.98910010e-01 -1.59211314e-04 3.41192640e+00] [ 1.57145514e-02 -5.74947208e-04 9.99876354e-01 5.17050070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.45925415399995 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:336.15, Y:3.41, Z:5.17 [[ 9.98789832e-01 -4.66006240e-02 -1.57242713e-02 3.36146664e+02] [ 4.66039026e-02 9.98913435e-01 -1.58055850e-04 3.41219505e+00] [ 1.57145513e-02 -5.74947832e-04 9.99876354e-01 5.17101440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.489254154 meters Centerline goodness : 0.998866 Centerline is valid? [True, True] Translation: X:336.18, Y:3.41, Z:5.17 [[ 9.98879155e-01 -4.46450481e-02 -1.57242828e-02 3.36177869e+02] [ 4.46481029e-02 9.99002764e-01 -1.56901010e-04 3.41363401e+00] [ 1.57156068e-02 -5.45334248e-04 9.99876354e-01 5.17154180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.51925415399995 meters Centerline goodness : 0.998868 Centerline is valid? [True, True] Translation: X:336.21, Y:3.42, Z:5.17 [[ 9.99088484e-01 -3.96856129e-02 -1.57242913e-02 3.36209003e+02] [ 3.96880675e-02 9.99212106e-01 -1.56040850e-04 3.41665411e+00] [ 1.57180948e-02 -4.68168120e-04 9.99876354e-01 5.17282469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.549254154 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:336.24, Y:3.42, Z:5.17 [[ 9.99197985e-01 -3.68257035e-02 -1.57242997e-02 3.36241408e+02] [ 3.68278176e-02 9.99321614e-01 -1.55192506e-04 3.41804965e+00] [ 1.57193476e-02 -4.24023603e-04 9.99876354e-01 5.17444870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.57925415399995 meters Centerline goodness : 0.998866 Centerline is valid? [True, True] Translation: X:336.27, Y:3.42, Z:5.18 [[ 9.99364583e-01 -3.19871338e-02 -1.57243109e-02 3.36273515e+02] [ 3.19886671e-02 9.99488220e-01 -1.54055211e-04 3.41989594e+00] [ 1.57211912e-02 -3.49042425e-04 9.99876354e-01 5.17620670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.609254154 meters Centerline goodness : 0.999012 Centerline is valid? [True, True] Translation: X:336.30, Y:3.42, Z:5.18 [[ 9.99406531e-01 -3.06480045e-02 -1.57253081e-02 3.36302252e+02] [ 3.06509674e-02 9.99530147e-01 -5.26183990e-05 3.42160875e+00] [ 1.57195322e-02 -4.29408735e-04 9.99876348e-01 5.17645577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.63925415399996 meters Centerline goodness : 0.998867 Centerline is valid? [True, True] Translation: X:336.33, Y:3.42, Z:5.18 [[ 9.99446299e-01 -2.93230986e-02 -1.57242509e-02 3.36332130e+02] [ 2.93242418e-02 9.99569939e-01 -1.57906778e-04 3.42298690e+00] [ 1.57221188e-02 -3.03282390e-04 9.99876354e-01 5.17636169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.669254154 meters Centerline goodness : 0.999158 Centerline is valid? [True, True] Translation: X:336.36, Y:3.42, Z:5.18 [[ 9.99437152e-01 -2.96332179e-02 -1.57242537e-02 3.36363178e+02] [ 2.96344039e-02 9.99560792e-01 -1.57623580e-04 3.42337042e+00] [ 1.57220184e-02 -3.08444024e-04 9.99876354e-01 5.17648269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.69925415399996 meters Centerline goodness : 0.999054 Centerline is valid? [True, True] Translation: X:336.39, Y:3.42, Z:5.18 [[ 9.99416404e-01 -3.03249039e-02 -1.57242594e-02 3.36393719e+02] [ 3.03261844e-02 9.99540043e-01 -1.57058410e-04 3.42369740e+00] [ 1.57217897e-02 -3.19890037e-04 9.99876354e-01 5.17616777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.72925415399993 meters Centerline goodness : 0.998970 Centerline is valid? [True, True] Translation: X:336.42, Y:3.42, Z:5.18 [[ 9.99329350e-01 -3.30695930e-02 -1.57242621e-02 3.36423764e+02] [ 3.30712174e-02 9.99452985e-01 -1.56778176e-04 3.42408729e+00] [ 1.57208453e-02 -3.63347459e-04 9.99876354e-01 5.17579929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.75925415399996 meters Centerline goodness : 0.998907 Centerline is valid? [True, True] Translation: X:336.46, Y:3.42, Z:5.18 [[ 9.99275162e-01 -3.46684092e-02 -1.57242649e-02 3.36455040e+02] [ 3.46702357e-02 9.99398794e-01 -1.56504870e-04 3.42434574e+00] [ 1.57202371e-02 -3.88772540e-04 9.99876354e-01 5.17651554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.78925415399993 meters Centerline goodness : 0.999034 Centerline is valid? [True, True] Translation: X:336.49, Y:3.42, Z:5.18 [[ 9.99231931e-01 -3.58928444e-02 -1.57242702e-02 3.36486347e+02] [ 3.58948309e-02 9.99355561e-01 -1.55962718e-04 3.42430446e+00] [ 1.57197349e-02 -4.08577095e-04 9.99876354e-01 5.17730759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.81925415399996 meters Centerline goodness : 0.998740 Centerline is valid? [True, True] Translation: X:336.52, Y:3.42, Z:5.18 [[ 9.99195065e-01 -3.69048798e-02 -1.57242756e-02 3.36517852e+02] [ 3.69070001e-02 9.99318693e-01 -1.55424111e-04 3.42471208e+00] [ 1.57192984e-02 -4.25036834e-04 9.99876354e-01 5.17749123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.84925415399994 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:336.55, Y:3.43, Z:5.18 [[ 9.99174225e-01 -3.74648490e-02 -1.57242835e-02 3.36550150e+02] [ 3.74670512e-02 9.99297852e-01 -1.54618179e-04 3.42556307e+00] [ 1.57190355e-02 -4.34652036e-04 9.99876354e-01 5.18103449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.87925415399997 meters Centerline goodness : 0.999035 Centerline is valid? [True, True] Translation: X:336.58, Y:3.43, Z:5.18 [[ 9.99190516e-01 -3.70278246e-02 -1.57242948e-02 3.36581013e+02] [ 3.70299910e-02 9.99314143e-01 -1.53454547e-04 3.42569629e+00] [ 1.57191923e-02 -4.28940169e-04 9.99876354e-01 5.18139737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.90925415399994 meters Centerline goodness : 0.998828 Centerline is valid? [True, True] Translation: X:336.61, Y:3.43, Z:5.18 [[ 9.99210900e-01 -3.64736017e-02 -1.57243033e-02 3.36612052e+02] [ 3.64757132e-02 9.99334528e-01 -1.52587883e-04 3.42612900e+00] [ 1.57194046e-02 -4.21087700e-04 9.99876354e-01 5.18123861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.93925415399997 meters Centerline goodness : 0.998866 Centerline is valid? [True, True] Translation: X:336.64, Y:3.43, Z:5.18 [[ 9.99245143e-01 -3.55230915e-02 -1.57243116e-02 3.36644418e+02] [ 3.55250989e-02 9.99368773e-01 -1.51728455e-04 3.42656860e+00] [ 1.57197758e-02 -4.06993801e-04 9.99876354e-01 5.18280017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.96925415399994 meters Centerline goodness : 0.998928 Centerline is valid? [True, True] Translation: X:336.68, Y:3.43, Z:5.18 [[ 9.99286252e-01 -3.43472384e-02 -1.57243226e-02 3.36676032e+02] [ 3.43491185e-02 9.99409884e-01 -1.50572360e-04 3.42720779e+00] [ 1.57202152e-02 -3.89651732e-04 9.99876354e-01 5.18336639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.99925415399997 meters Centerline goodness : 0.998931 Centerline is valid? [True, True] Translation: X:336.71, Y:3.43, Z:5.18 [[ 9.99298512e-01 -3.39886593e-02 -1.57243404e-02 3.36707597e+02] [ 3.39905247e-02 9.99422144e-01 -1.48691323e-04 3.42722368e+00] [ 1.57203078e-02 -3.85891563e-04 9.99876354e-01 5.18410839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.02925415399994 meters Centerline goodness : 0.998762 Centerline is valid? [True, True] Translation: X:336.74, Y:3.43, Z:5.18 [[ 9.99297691e-01 -3.40127937e-02 -1.57243458e-02 3.36739273e+02] [ 3.40146709e-02 9.99421323e-01 -1.48122971e-04 3.42732733e+00] [ 1.57202845e-02 -3.86839503e-04 9.99876354e-01 5.18499392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.059254154 meters Centerline goodness : 0.998762 Centerline is valid? [True, True] Translation: X:336.77, Y:3.43, Z:5.19 [[ 9.99300913e-01 -3.39179862e-02 -1.57243512e-02 3.36770801e+02] [ 3.39198608e-02 9.99424545e-01 -1.47541528e-04 3.42632907e+00] [ 1.57203069e-02 -3.85929421e-04 9.99876354e-01 5.18530197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.08925415399995 meters Centerline goodness : 0.998803 Centerline is valid? [True, True] Translation: X:336.80, Y:3.43, Z:5.18 [[ 9.99272186e-01 -3.47540228e-02 -1.57243566e-02 3.36801730e+02] [ 3.47560100e-02 9.99395817e-01 -1.46963912e-04 3.42636241e+00] [ 1.57199638e-02 -3.99658947e-04 9.99876354e-01 5.18494050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.119254154 meters Centerline goodness : 0.998803 Centerline is valid? [True, True] Translation: X:336.83, Y:3.43, Z:5.18 [[ 9.99244692e-01 -3.55357673e-02 -1.57243620e-02 3.36833247e+02] [ 3.55378603e-02 9.99368320e-01 -1.46388717e-04 3.42550845e+00] [ 1.57196312e-02 -4.12532031e-04 9.99876354e-01 5.18487321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.14925415399995 meters Centerline goodness : 0.998748 Centerline is valid? [True, True] Translation: X:336.86, Y:3.43, Z:5.18 [[ 9.99237701e-01 -3.57318068e-02 -1.57243674e-02 3.36864427e+02] [ 3.57339332e-02 9.99361328e-01 -1.45803456e-04 3.42545245e+00] [ 1.57195345e-02 -4.16201183e-04 9.99876354e-01 5.18455829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.179254154 meters Centerline goodness : 0.998846 Centerline is valid? [True, True] Translation: X:336.90, Y:3.43, Z:5.18 [[ 9.99240609e-01 -3.56503742e-02 -1.57243755e-02 3.36895173e+02] [ 3.56525043e-02 9.99364237e-01 -1.44928670e-04 3.42535169e+00] [ 1.57195452e-02 -4.15794751e-04 9.99876354e-01 5.18411022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.20925415399995 meters Centerline goodness : 0.998951 Centerline is valid? [True, True] Translation: X:336.93, Y:3.42, Z:5.18 [[ 9.99298554e-01 -3.39874052e-02 -1.57243928e-02 3.36926185e+02] [ 3.39893595e-02 9.99422185e-01 -1.43025148e-04 3.42474338e+00] [ 1.57201680e-02 -3.91537215e-04 9.99876354e-01 5.18420174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.239254154 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:336.96, Y:3.42, Z:5.18 [[ 9.99352954e-01 -3.23483593e-02 -1.57243980e-02 3.36956511e+02] [ 3.23501199e-02 9.99476588e-01 -1.42446659e-04 3.42465936e+00] [ 1.57207756e-02 -3.66331671e-04 9.99876354e-01 5.18404549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.26925415399995 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:336.99, Y:3.42, Z:5.18 [[ 9.99496860e-01 -2.75457773e-02 -1.57244006e-02 3.36986614e+02] [ 2.75469483e-02 9.99620501e-01 -1.42159507e-04 3.42479693e+00] [ 1.57223491e-02 -2.91071270e-04 9.99876354e-01 5.18449276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.299254154 meters Centerline goodness : 0.998827 Centerline is valid? [True, True] Translation: X:337.02, Y:3.43, Z:5.19 [[ 9.99572478e-01 -2.46496360e-02 -1.57244006e-02 3.37016977e+02] [ 2.46504487e-02 9.99696121e-01 -1.42159507e-04 3.42527014e+00] [ 1.57231265e-02 -2.45514800e-04 9.99876354e-01 5.18536951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.32925415399995 meters Centerline goodness : 0.998786 Centerline is valid? [True, True] Translation: X:337.05, Y:3.43, Z:5.19 [[ 9.99638678e-01 -2.18004012e-02 -1.57244006e-02 3.37046157e+02] [ 2.18008615e-02 9.99762323e-01 -1.42159507e-04 3.42602711e+00] [ 1.57237624e-02 -2.00697339e-04 9.99876354e-01 5.18588843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.359254154 meters Centerline goodness : 0.998890 Centerline is valid? [True, True] Translation: X:337.08, Y:3.43, Z:5.19 [[ 9.99700862e-01 -1.87331442e-02 -1.57243980e-02 3.37075665e+02] [ 1.87332206e-02 9.99824508e-01 -1.42447391e-04 3.42657353e+00] [ 1.57243070e-02 -1.52163837e-04 9.99876354e-01 5.18663857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.38925415399996 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:337.10, Y:3.43, Z:5.19 [[ 9.99745768e-01 -1.61599380e-02 -1.57243927e-02 3.37103206e+02] [ 1.61596870e-02 9.99869414e-01 -1.43028229e-04 3.42687497e+00] [ 1.57246507e-02 -1.11109397e-04 9.99876354e-01 5.18701772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.419254154 meters Centerline goodness : 0.998973 Centerline is valid? [True, True] Translation: X:337.13, Y:3.43, Z:5.19 [[ 9.99803244e-01 -1.20920012e-02 -1.57243719e-02 3.37130104e+02] [ 1.20912117e-02 9.99926888e-01 -1.45277192e-04 3.42690211e+00] [ 1.57249790e-02 -4.48781027e-05 9.99876354e-01 5.18702714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.44925415399996 meters Centerline goodness : 0.998972 Centerline is valid? [True, True] Translation: X:337.16, Y:3.43, Z:5.19 [[ 9.99816133e-01 -1.09747981e-02 -1.57243423e-02 3.37157589e+02] [ 1.09738210e-02 9.99939775e-01 -1.48421044e-04 3.42669229e+00] [ 1.57250242e-02 -2.41623630e-05 9.99876354e-01 5.18756029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.47925415399993 meters Centerline goodness : 0.998847 Centerline is valid? [True, True] Translation: X:337.19, Y:3.43, Z:5.19 [[ 9.99822854e-01 -1.03444123e-02 -1.57242972e-02 3.37185634e+02] [ 1.03432845e-02 9.99946495e-01 -1.53047084e-04 3.42525678e+00] [ 1.57250391e-02 -9.62090754e-06 9.99876354e-01 5.18758762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.50925415399996 meters Centerline goodness : 0.998910 Centerline is valid? [True, True] Translation: X:337.21, Y:3.42, Z:5.19 [[ 9.99814280e-01 -1.11424405e-02 -1.57242506e-02 3.37212250e+02] [ 1.11413383e-02 9.99937921e-01 -1.57693888e-04 3.42491676e+00] [ 1.57250316e-02 -1.75245956e-05 9.99876354e-01 5.18731264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.53925415399993 meters Centerline goodness : 0.998910 Centerline is valid? [True, True] Translation: X:337.24, Y:3.42, Z:5.19 [[ 9.99796510e-01 -1.26367594e-02 -1.57242302e-02 3.37239926e+02] [ 1.26358104e-02 9.99920152e-01 -1.59704438e-04 3.42422406e+00] [ 1.57249928e-02 -3.90164525e-05 9.99876354e-01 5.18726645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.56925415399996 meters Centerline goodness : 0.999079 Centerline is valid? [True, True] Translation: X:337.27, Y:3.42, Z:5.19 [[ 9.99737724e-01 -1.66503472e-02 -1.57241822e-02 3.37268412e+02] [ 1.66498222e-02 9.99861369e-01 -1.64303422e-04 3.42193083e+00] [ 1.57247380e-02 -9.75445090e-05 9.99876354e-01 5.18639729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.59925415399994 meters Centerline goodness : 0.998909 Centerline is valid? [True, True] Translation: X:337.30, Y:3.42, Z:5.19 [[ 9.99685631e-01 -1.95292073e-02 -1.57241702e-02 3.37296287e+02] [ 1.95290205e-02 9.99809277e-01 -1.65443234e-04 3.42090677e+00] [ 1.57244022e-02 -1.41686418e-04 9.99876354e-01 5.18640529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.62925415399997 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] Translation: X:337.32, Y:3.42, Z:5.19 [[ 9.99631799e-01 -2.21137802e-02 -1.57241202e-02 3.37323422e+02] [ 2.21138405e-02 9.99755445e-01 -1.70060360e-04 3.41973483e+00] [ 1.57240355e-02 -1.77722943e-04 9.99876354e-01 5.18561977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.65925415399994 meters Centerline goodness : 0.998954 Centerline is valid? [True, True] Translation: X:337.35, Y:3.42, Z:5.19 [[ 9.99574740e-01 -2.45581551e-02 -1.57237232e-02 3.37351723e+02] [ 2.45579597e-02 9.99698387e-01 -2.05538710e-04 3.41845444e+00] [ 1.57240283e-02 -1.80691257e-04 9.99876353e-01 5.18542548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.68925415399997 meters Centerline goodness : 0.998853 Centerline is valid? [True, True] Translation: X:337.38, Y:3.42, Z:5.19 [[ 9.99408192e-01 -3.05948403e-02 -1.57233088e-02 3.37380149e+02] [ 3.05948242e-02 9.99531840e-01 -2.41625329e-04 3.41608277e+00] [ 1.57233403e-02 -2.39569536e-04 9.99876352e-01 5.18569592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.71925415399994 meters Centerline goodness : 0.999351 Centerline is valid? [True, True] Translation: X:337.41, Y:3.42, Z:5.19 [[ 9.99312806e-01 -3.35661779e-02 -1.57234982e-02 3.37410295e+02] [ 3.35667883e-02 9.99436451e-01 -2.25162815e-04 3.41515373e+00] [ 1.57221951e-02 -3.02779251e-04 9.99876353e-01 5.18721317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.74925415399997 meters Centerline goodness : 0.997557 Centerline is valid? [True, True] Translation: X:337.44, Y:3.41, Z:5.19 [[ 9.99289226e-01 -3.42607411e-02 -1.57240013e-02 3.37439787e+02] [ 3.42621226e-02 9.99412865e-01 -1.81599777e-04 3.41385193e+00] [ 1.57209910e-02 -3.57266961e-04 9.99876354e-01 5.18618957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.77925415399994 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:337.47, Y:3.41, Z:5.19 [[ 9.99134494e-01 -3.85104276e-02 -1.57229077e-02 3.37470417e+02] [ 3.85108685e-02 9.99258144e-01 -2.74838282e-04 3.41262724e+00] [ 1.57218277e-02 -3.30902425e-04 9.99876350e-01 5.18878789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.809254154 meters Centerline goodness : 0.996008 Centerline is valid? [True, True] Translation: X:337.50, Y:3.41, Z:5.19 [[ 9.99089785e-01 -3.96533752e-02 -1.57229499e-02 3.37500832e+02] [ 3.96540150e-02 9.99213433e-01 -2.71190857e-04 3.41091777e+00] [ 1.57213364e-02 -3.52534076e-04 9.99876350e-01 5.18817900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.83925415399995 meters Centerline goodness : 0.998935 Centerline is valid? [True, True] Translation: X:337.53, Y:3.41, Z:5.19 [[ 9.98973230e-01 -4.24885033e-02 -1.57229838e-02 3.37533127e+02] [ 4.24895402e-02 9.99096876e-01 -2.68251352e-04 3.41025287e+00] [ 1.57201816e-02 -4.00086431e-04 9.99876350e-01 5.18914214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.869254154 meters Centerline goodness : 0.999062 Centerline is valid? [True, True] Translation: X:337.56, Y:3.41, Z:5.19 [[ 9.98889323e-01 -4.44170813e-02 -1.57239903e-02 3.37564385e+02] [ 4.44197344e-02 9.99012940e-01 -1.80651249e-04 3.40996913e+00] [ 1.57164937e-02 -5.18004867e-04 9.99876354e-01 5.18962717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.89925415399995 meters Centerline goodness : 0.999062 Centerline is valid? [True, True] Translation: X:337.60, Y:3.41, Z:5.19 [[ 9.98709549e-01 -4.82907050e-02 -1.57240117e-02 3.37596394e+02] [ 4.82938671e-02 9.98833154e-01 -1.78768056e-04 3.40856823e+00] [ 1.57142970e-02 -5.80835965e-04 9.99876354e-01 5.18987386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.929254154 meters Centerline goodness : 0.998978 Centerline is valid? [True, True] Translation: X:337.63, Y:3.41, Z:5.19 [[ 9.98602602e-01 -5.04539308e-02 -1.57240244e-02 3.37628390e+02] [ 5.04573783e-02 9.98726199e-01 -1.77643683e-04 3.40819170e+00] [ 1.57129579e-02 -6.15997603e-04 9.99876354e-01 5.18982602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.95925415399995 meters Centerline goodness : 0.998833 Centerline is valid? [True, True] Translation: X:337.66, Y:3.41, Z:5.19 [[ 9.98496002e-01 -5.25213071e-02 -1.57240369e-02 3.37660509e+02] [ 5.25250280e-02 9.98619592e-01 -1.76528326e-04 3.40781085e+00] [ 1.57116028e-02 -6.49642650e-04 9.99876354e-01 5.18975473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.989254154 meters Centerline goodness : 0.999044 Centerline is valid? [True, True] Translation: X:337.69, Y:3.41, Z:5.19 [[ 9.98275397e-01 -5.65595820e-02 -1.57240493e-02 3.37693152e+02] [ 5.65638203e-02 9.98398970e-01 -1.75416563e-04 3.40737892e+00] [ 1.57087961e-02 -7.14298260e-04 9.99876354e-01 5.18937905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.01925415399995 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:337.73, Y:3.41, Z:5.19 [[ 9.98174894e-01 -5.83063820e-02 -1.57240620e-02 3.37725462e+02] [ 5.83108546e-02 9.98298459e-01 -1.74266450e-04 3.40760396e+00] [ 1.57074678e-02 -7.42935099e-04 9.99876354e-01 5.18945032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.049254154 meters Centerline goodness : 0.998978 Centerline is valid? [True, True] Translation: X:337.76, Y:3.41, Z:5.19 [[ 9.98155653e-01 -5.86348549e-02 -1.57240747e-02 3.37757933e+02] [ 5.86393863e-02 9.98279216e-01 -1.73116465e-04 3.40653545e+00] [ 1.57071676e-02 -7.49252912e-04 9.99876354e-01 5.18989852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.07925415399995 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:337.79, Y:3.41, Z:5.19 [[ 9.97958206e-01 -6.19045376e-02 -1.57240879e-02 3.37789508e+02] [ 6.19094927e-02 9.98081753e-01 -1.71907232e-04 3.40863193e+00] [ 1.57045671e-02 -8.01914074e-04 9.99876354e-01 5.18983267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.109254154 meters Centerline goodness : 0.998958 Centerline is valid? [True, True] Translation: X:337.82, Y:3.41, Z:5.19 [[ 9.97913290e-01 -6.26244203e-02 -1.57240977e-02 3.37820588e+02] [ 6.26294787e-02 9.98036833e-01 -1.71006956e-04 3.40965519e+00] [ 1.57039379e-02 -8.14141928e-04 9.99876354e-01 5.19043721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.13925415399996 meters Centerline goodness : 0.998897 Centerline is valid? [True, True] Translation: X:337.85, Y:3.41, Z:5.19 [[ 9.97901401e-01 -6.28135794e-02 -1.57241071e-02 3.37852481e+02] [ 6.28186749e-02 9.98024942e-01 -1.70139930e-04 3.41069812e+00] [ 1.57037382e-02 -8.17984697e-04 9.99876354e-01 5.19088463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.169254154 meters Centerline goodness : 0.998936 Centerline is valid? [True, True] Translation: X:337.88, Y:3.41, Z:5.19 [[ 9.97864043e-01 -6.34042930e-02 -1.57241194e-02 3.37884724e+02] [ 6.34094795e-02 9.97987580e-01 -1.68993634e-04 3.41298004e+00] [ 1.57031908e-02 -8.28425557e-04 9.99876354e-01 5.19112601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.19925415399996 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:337.92, Y:3.41, Z:5.19 [[ 9.97888032e-01 -6.30256115e-02 -1.57241316e-02 3.37916638e+02] [ 6.30307692e-02 9.98011570e-01 -1.67847827e-04 3.41406516e+00] [ 1.57034440e-02 -8.23610775e-04 9.99876354e-01 5.19130088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.22925415399993 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:337.95, Y:3.42, Z:5.19 [[ 9.97937794e-01 -6.22327061e-02 -1.57241439e-02 3.37948208e+02] [ 6.22377837e-02 9.98061336e-01 -1.66696100e-04 3.41639911e+00] [ 1.57040340e-02 -8.12283526e-04 9.99876354e-01 5.19136990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.25925415399996 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:337.98, Y:3.42, Z:5.19 [[ 9.97980772e-01 -6.15396532e-02 -1.57241529e-02 3.37980657e+02] [ 6.15446585e-02 9.98104317e-01 -1.65838702e-04 3.41799863e+00] [ 1.57045505e-02 -8.02233784e-04 9.99876354e-01 5.19228615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.28925415399993 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:338.01, Y:3.42, Z:5.19 [[ 9.98015966e-01 -6.09662391e-02 -1.57241648e-02 3.38012347e+02] [ 6.09711913e-02 9.98139513e-01 -1.64702381e-04 3.41990959e+00] [ 1.57049515e-02 -7.94345454e-04 9.99876354e-01 5.19328075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.31925415399996 meters Centerline goodness : 0.998955 Centerline is valid? [True, True] Translation: X:338.04, Y:3.42, Z:5.19 [[ 9.98053285e-01 -6.03522190e-02 -1.57241766e-02 3.38044856e+02] [ 6.03571131e-02 9.98176834e-01 -1.63564005e-04 3.42187434e+00] [ 1.57053803e-02 -7.85820315e-04 9.99876354e-01 5.19424207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.34925415399994 meters Centerline goodness : 0.998955 Centerline is valid? [True, True] Translation: X:338.08, Y:3.42, Z:5.19 [[ 9.98057687e-01 -6.02793810e-02 -1.57241885e-02 3.38077541e+02] [ 6.02842841e-02 9.98181235e-01 -1.62416597e-04 3.42215063e+00] [ 1.57053803e-02 -7.85820313e-04 9.99876354e-01 5.19475582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.37925415399997 meters Centerline goodness : 0.998727 Centerline is valid? [True, True] Translation: X:338.11, Y:3.43, Z:5.19 [[ 9.98144191e-01 -5.88296175e-02 -1.57242003e-02 3.38108217e+02] [ 5.88343592e-02 9.98267746e-01 -1.61269189e-04 3.42574862e+00] [ 1.57064494e-02 -7.64153343e-04 9.99876354e-01 5.19452817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.40925415399994 meters Centerline goodness : 0.998913 Centerline is valid? [True, True] Translation: X:338.14, Y:3.43, Z:5.19 [[ 9.98206569e-01 -5.77615377e-02 -1.57242090e-02 3.38140563e+02] [ 5.77661605e-02 9.98330128e-01 -1.60414524e-04 3.42747603e+00] [ 1.57072174e-02 -7.48200349e-04 9.99876354e-01 5.19479002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.43925415399997 meters Centerline goodness : 0.998996 Centerline is valid? [True, True] Translation: X:338.17, Y:3.43, Z:5.20 [[ 9.98279711e-01 -5.64833400e-02 -1.57242204e-02 3.38172647e+02] [ 5.64878224e-02 9.98403276e-01 -1.59285389e-04 3.42945069e+00] [ 1.57081101e-02 -7.29215599e-04 9.99876354e-01 5.19575126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.46925415399994 meters Centerline goodness : 0.998723 Centerline is valid? [True, True] Translation: X:338.20, Y:3.43, Z:5.20 [[ 9.98365833e-01 -5.49400806e-02 -1.57242320e-02 3.38203410e+02] [ 5.49443901e-02 9.98489404e-01 -1.58134277e-04 3.43111868e+00] [ 1.57091669e-02 -7.06082478e-04 9.99876354e-01 5.19632328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.49925415399997 meters Centerline goodness : 0.998891 Centerline is valid? [True, True] Translation: X:338.24, Y:3.44, Z:5.20 [[ 9.98548195e-01 -5.15194128e-02 -1.57242512e-02 3.38235711e+02] [ 5.15233293e-02 9.98671779e-01 -1.56204385e-04 3.43500935e+00] [ 1.57114134e-02 -6.54188163e-04 9.99876354e-01 5.19840071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.52925415399994 meters Centerline goodness : 0.998783 Centerline is valid? [True, True] Translation: X:338.27, Y:3.44, Z:5.20 [[ 9.98661843e-01 -4.92673462e-02 -1.57242625e-02 3.38268010e+02] [ 4.92710020e-02 9.98785435e-01 -1.55056481e-04 3.43710557e+00] [ 1.57128036e-02 -6.19901177e-04 9.99876354e-01 5.19949678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.559254154 meters Centerline goodness : 0.998930 Centerline is valid? [True, True] Translation: X:338.30, Y:3.44, Z:5.20 [[ 9.98786076e-01 -4.66810676e-02 -1.57242737e-02 3.38299237e+02] [ 4.66844214e-02 9.98909676e-01 -1.53907466e-04 3.43940954e+00] [ 1.57143137e-02 -5.80357987e-04 9.99876354e-01 5.19972381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.58925415399995 meters Centerline goodness : 0.999034 Centerline is valid? [True, True] Translation: X:338.33, Y:3.44, Z:5.20 [[ 9.99037688e-01 -4.09444204e-02 -1.57242821e-02 3.38331891e+02] [ 4.09470777e-02 9.99161305e-01 -1.53052798e-04 3.44328960e+00] [ 1.57173608e-02 -4.90957886e-04 9.99876354e-01 5.20092172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.619254154 meters Centerline goodness : 0.999033 Centerline is valid? [True, True] Translation: X:338.36, Y:3.45, Z:5.20 [[ 9.99163828e-01 -3.77411123e-02 -1.57242961e-02 3.38363660e+02] [ 3.77433962e-02 9.99287453e-01 -1.51594807e-04 3.44527548e+00] [ 1.57188132e-02 -4.42020290e-04 9.99876354e-01 5.20172120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.64925415399995 meters Centerline goodness : 0.999013 Centerline is valid? [True, True] Translation: X:338.39, Y:3.45, Z:5.20 [[ 9.99292093e-01 -3.41768710e-02 -1.57243073e-02 3.38394485e+02] [ 3.41787324e-02 9.99415725e-01 -1.50421737e-04 3.44715898e+00] [ 1.57202610e-02 -3.87121639e-04 9.99876354e-01 5.20244983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.679254154 meters Centerline goodness : 0.998906 Centerline is valid? [True, True] Translation: X:338.43, Y:3.45, Z:5.20 [[ 9.99506176e-01 -2.72057058e-02 -1.57243156e-02 3.38425180e+02] [ 2.72067185e-02 9.99629818e-01 -1.49547333e-04 3.45070781e+00] [ 1.57225633e-02 -2.78333546e-04 9.99876354e-01 5.20435190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.70925415399995 meters Centerline goodness : 0.999051 Centerline is valid? [True, True] Translation: X:338.46, Y:3.45, Z:5.21 [[ 9.99582146e-01 -2.42544577e-02 -1.57243184e-02 3.38455982e+02] [ 2.42551099e-02 9.99705790e-01 -1.49260059e-04 3.45278813e+00] [ 1.57233124e-02 -2.32197379e-04 9.99876354e-01 5.20578430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.739254154 meters Centerline goodness : 0.998903 Centerline is valid? [True, True] Translation: X:338.49, Y:3.45, Z:5.21 [[ 9.99642270e-01 -2.16350861e-02 -1.57243184e-02 3.38485227e+02] [ 2.16354142e-02 9.99765916e-01 -1.49260059e-04 3.45461199e+00] [ 1.57238668e-02 -1.90995477e-04 9.99876354e-01 5.20702318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.76925415399995 meters Centerline goodness : 0.998923 Centerline is valid? [True, True] Translation: X:338.51, Y:3.46, Z:5.21 [[ 9.99684201e-01 -1.96021596e-02 -1.57243157e-02 3.38514938e+02] [ 1.96022320e-02 9.99807847e-01 -1.49541878e-04 3.45650080e+00] [ 1.57242256e-02 -1.58737030e-04 9.99876354e-01 5.20912100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.799254154 meters Centerline goodness : 0.998837 Centerline is valid? [True, True] Translation: X:338.54, Y:3.46, Z:5.21 [[ 9.99711497e-01 -1.81567959e-02 -1.57243102e-02 3.38543913e+02] [ 1.81566804e-02 9.99835143e-01 -1.50119455e-04 3.45899443e+00] [ 1.57244436e-02 -1.35425130e-04 9.99876354e-01 5.21076679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.82925415399995 meters Centerline goodness : 0.999006 Centerline is valid? [True, True] Translation: X:338.57, Y:3.46, Z:5.21 [[ 9.99700820e-01 -1.87354627e-02 -1.57242708e-02 3.38572787e+02] [ 1.87353555e-02 9.99824466e-01 -1.54139394e-04 3.45963760e+00] [ 1.57243985e-02 -1.40506525e-04 9.99876354e-01 5.21115780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.859254154 meters Centerline goodness : 0.999091 Centerline is valid? [True, True] Translation: X:338.60, Y:3.46, Z:5.21 [[ 9.99626791e-01 -2.23389204e-02 -1.57242306e-02 3.38601288e+02] [ 2.23391961e-02 9.99750437e-01 -1.58134230e-04 3.45978078e+00] [ 1.57238390e-02 -1.93191458e-04 9.99876354e-01 5.21168139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.88925415399996 meters Centerline goodness : 0.998881 Centerline is valid? [True, True] Translation: X:338.64, Y:3.45, Z:5.21 [[ 9.99676312e-01 -2.00005359e-02 -1.57241892e-02 3.38639203e+02] [ 2.00004593e-02 9.99799958e-01 -1.62144813e-04 3.45373338e+00] [ 1.57242867e-02 -1.52398678e-04 9.99876354e-01 5.20890551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.919254154 meters Centerline goodness : 0.999072 Centerline is valid? [True, True] Translation: X:338.66, Y:3.46, Z:5.21 [[ 9.99458486e-01 -2.89026756e-02 -1.57279838e-02 3.38660958e+02] [ 2.89095522e-02 9.99582010e-01 2.09989149e-04 3.46029836e+00] [ 1.57153404e-02 -6.64564405e-04 9.99876286e-01 5.21261191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.94925415399996 meters Centerline goodness : 0.998821 Centerline is valid? [True, True] Translation: X:338.69, Y:3.46, Z:5.21 [[ 9.99240307e-01 -3.56591044e-02 -1.57237673e-02 3.38692487e+02] [ 3.56607923e-02 9.99363937e-01 -1.73107042e-04 3.46050569e+00] [ 1.57199389e-02 -3.87746468e-04 9.99876359e-01 5.21271246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.97925415399993 meters Centerline goodness : 0.999198 Centerline is valid? [True, True] Translation: X:338.72, Y:3.46, Z:5.21 [[ 9.99115018e-01 -3.90120950e-02 -1.57237736e-02 3.38724203e+02] [ 3.90142068e-02 9.99238641e-01 -1.72534269e-04 3.46074563e+00] [ 1.57185331e-02 -4.41068976e-04 9.99876359e-01 5.21319779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.00925415399996 meters Centerline goodness : 0.999028 Centerline is valid? [True, True] Translation: X:338.76, Y:3.46, Z:5.21 [[ 9.98824793e-01 -4.58453392e-02 -1.57237862e-02 3.38756604e+02] [ 4.58483146e-02 9.98948398e-01 -1.71381083e-04 3.46012532e+00] [ 1.57151081e-02 -5.49729422e-04 9.99876359e-01 5.21327848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.03925415399993 meters Centerline goodness : 0.998969 Centerline is valid? [True, True] Translation: X:338.79, Y:3.46, Z:5.21 [[ 9.98558298e-01 -5.13233610e-02 -1.57237987e-02 3.38787815e+02] [ 5.13270326e-02 9.98681885e-01 -1.70225155e-04 3.45970869e+00] [ 1.57118095e-02 -6.37076187e-04 9.99876359e-01 5.21209596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.06925415399996 meters Centerline goodness : 0.998841 Centerline is valid? [True, True] Translation: X:338.82, Y:3.46, Z:5.21 [[ 9.98346224e-01 -5.52953746e-02 -1.57238080e-02 3.38819657e+02] [ 5.52995513e-02 9.98469795e-01 -1.69363724e-04 3.45994325e+00] [ 1.57091124e-02 -7.00435892e-04 9.99876359e-01 5.21351576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.09925415399994 meters Centerline goodness : 0.998989 Centerline is valid? [True, True] Translation: X:338.85, Y:3.46, Z:5.21 [[ 9.98179744e-01 -5.82233655e-02 -1.57238201e-02 3.38853110e+02] [ 5.82279224e-02 9.98303301e-01 -1.68231034e-04 3.46022443e+00] [ 1.57069365e-02 -7.47640567e-04 9.99876359e-01 5.21458377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.12925415399997 meters Centerline goodness : 0.998967 Centerline is valid? [True, True] Translation: X:338.89, Y:3.46, Z:5.22 [[ 9.98111143e-01 -5.93877752e-02 -1.57238387e-02 3.38885486e+02] [ 5.93925038e-02 9.98234693e-01 -1.66478642e-04 3.46083441e+00] [ 1.57059681e-02 -7.67713960e-04 9.99876359e-01 5.21523612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.15925415399994 meters Centerline goodness : 0.999031 Centerline is valid? [True, True] Translation: X:338.92, Y:3.46, Z:5.21 [[ 9.98107534e-01 -5.94483981e-02 -1.57238510e-02 3.38917399e+02] [ 5.94531527e-02 9.98231083e-01 -1.65309070e-04 3.46181326e+00] [ 1.57058641e-02 -7.69836283e-04 9.99876359e-01 5.21374778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.18925415399997 meters Centerline goodness : 0.998903 Centerline is valid? [True, True] Translation: X:338.95, Y:3.46, Z:5.22 [[ 9.98113595e-01 -5.93465336e-02 -1.57238661e-02 3.38949081e+02] [ 5.93512984e-02 9.98237144e-01 -1.63853859e-04 3.46271143e+00] [ 1.57058714e-02 -7.69687105e-04 9.99876359e-01 5.21601811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.21925415399994 meters Centerline goodness : 0.998903 Centerline is valid? [True, True] Translation: X:338.98, Y:3.46, Z:5.22 [[ 9.98120101e-01 -5.92370132e-02 -1.57238780e-02 3.38982610e+02] [ 5.92417825e-02 9.98243650e-01 -1.62706474e-04 3.46296714e+00] [ 1.57058996e-02 -7.69109957e-04 9.99876359e-01 5.21654508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.24925415399997 meters Centerline goodness : 0.999030 Centerline is valid? [True, True] Translation: X:339.01, Y:3.46, Z:5.22 [[ 9.98159697e-01 -5.85660186e-02 -1.57238957e-02 3.39014674e+02] [ 5.85707320e-02 9.98283248e-01 -1.60981209e-04 3.46377353e+00] [ 1.57063297e-02 -7.60275123e-04 9.99876359e-01 5.21701375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.27925415399994 meters Centerline goodness : 0.999030 Centerline is valid? [True, True] Translation: X:339.05, Y:3.46, Z:5.22 [[ 9.98166091e-01 -5.84569375e-02 -1.57239073e-02 3.39048203e+02] [ 5.84616553e-02 9.98289642e-01 -1.59839211e-04 3.46402265e+00] [ 1.57063575e-02 -7.59699566e-04 9.99876359e-01 5.21754072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.309254154 meters Centerline goodness : 0.998946 Centerline is valid? [True, True] Translation: X:339.08, Y:3.47, Z:5.22 [[ 9.98200860e-01 -5.78601878e-02 -1.57239245e-02 3.39079689e+02] [ 5.78648587e-02 9.98324413e-01 -1.58120941e-04 3.46503606e+00] [ 1.57067266e-02 -7.52026212e-04 9.99876359e-01 5.21734185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.33925415399995 meters Centerline goodness : 0.999071 Centerline is valid? [True, True] Translation: X:339.11, Y:3.47, Z:5.22 [[ 9.98217590e-01 -5.75708250e-02 -1.57239460e-02 3.39112341e+02] [ 5.75754941e-02 9.98341143e-01 -1.55956844e-04 3.46628031e+00] [ 1.57068408e-02 -7.49635095e-04 9.99876359e-01 5.21794008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.369254154 meters Centerline goodness : 0.999007 Centerline is valid? [True, True] Translation: X:339.14, Y:3.47, Z:5.22 [[ 9.98315282e-01 -5.58511859e-02 -1.57239571e-02 3.39143951e+02] [ 5.58556598e-02 9.98438842e-01 -1.54832004e-04 3.46811363e+00] [ 1.57080571e-02 -7.23700842e-04 9.99876359e-01 5.21732415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.39925415399995 meters Centerline goodness : 0.998794 Centerline is valid? [True, True] Translation: X:339.18, Y:3.47, Z:5.22 [[ 9.98400536e-01 -5.43058536e-02 -1.57239653e-02 3.39176016e+02] [ 5.43101495e-02 9.98524103e-01 -1.53994734e-04 3.46922819e+00] [ 1.57091211e-02 -7.00222480e-04 9.99876359e-01 5.21738417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.429254154 meters Centerline goodness : 0.999091 Centerline is valid? [True, True] Translation: X:339.21, Y:3.47, Z:5.22 [[ 9.98468785e-01 -5.30362327e-02 -1.57239760e-02 3.39207910e+02] [ 5.30403887e-02 9.98592356e-01 -1.52895308e-04 3.47079897e+00] [ 1.57099512e-02 -6.81344605e-04 9.99876359e-01 5.21785448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.45925415399995 meters Centerline goodness : 0.999130 Centerline is valid? [True, True] Translation: X:339.24, Y:3.47, Z:5.22 [[ 9.98644788e-01 -4.96119295e-02 -1.57239866e-02 3.39238981e+02] [ 4.96156789e-02 9.98768372e-01 -1.51799257e-04 3.47338994e+00] [ 1.57121515e-02 -6.28562732e-04 9.99876359e-01 5.21848082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.489254154 meters Centerline goodness : 0.998961 Centerline is valid? [True, True] Translation: X:339.27, Y:3.48, Z:5.22 [[ 9.98751243e-01 -4.74205722e-02 -1.57239944e-02 3.39271091e+02] [ 4.74240633e-02 9.98874835e-01 -1.50982264e-04 3.47516067e+00] [ 1.57134620e-02 -5.94901983e-04 9.99876359e-01 5.21918083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.51925415399995 meters Centerline goodness : 0.999002 Centerline is valid? [True, True] Translation: X:339.30, Y:3.48, Z:5.22 [[ 9.98856359e-01 -4.51522948e-02 -1.57240047e-02 3.39303172e+02] [ 4.51555222e-02 9.98979958e-01 -1.49903990e-04 3.47696775e+00] [ 1.57147340e-02 -5.60293089e-04 9.99876359e-01 5.22022534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.549254154 meters Centerline goodness : 0.999064 Centerline is valid? [True, True] Translation: X:339.33, Y:3.48, Z:5.22 [[ 9.99040811e-01 -4.08682395e-02 -1.57240148e-02 3.39334682e+02] [ 4.08709537e-02 9.99164422e-01 -1.48833586e-04 3.48020340e+00] [ 1.57169587e-02 -4.93964654e-04 9.99876359e-01 5.22184694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.57925415399995 meters Centerline goodness : 0.999043 Centerline is valid? [True, True] Translation: X:339.37, Y:3.48, Z:5.22 [[ 9.99126293e-01 -3.87221603e-02 -1.57240223e-02 3.39367101e+02] [ 3.87246214e-02 9.99249910e-01 -1.48035993e-04 3.48185260e+00] [ 1.57179602e-02 -4.61000158e-04 9.99876359e-01 5.22493252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.609254154 meters Centerline goodness : 0.998959 Centerline is valid? [True, True] Translation: X:339.40, Y:3.48, Z:5.22 [[ 9.99204441e-01 -3.66502355e-02 -1.57240326e-02 3.39398070e+02] [ 3.66524576e-02 9.99328062e-01 -1.46937013e-04 3.48336636e+00] [ 1.57188523e-02 -4.29504321e-04 9.99876359e-01 5.22402296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.63925415399996 meters Centerline goodness : 0.999106 Centerline is valid? [True, True] Translation: X:339.43, Y:3.49, Z:5.23 [[ 9.99310923e-01 -3.36219196e-02 -1.57240402e-02 3.39430098e+02] [ 3.36237799e-02 9.99434550e-01 -1.46117184e-04 3.48607030e+00] [ 1.57200618e-02 -3.82685170e-04 9.99876359e-01 5.22865872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.669254154 meters Centerline goodness : 0.999130 Centerline is valid? [True, True] Translation: X:339.46, Y:3.49, Z:5.23 [[ 9.99337709e-01 -3.28161215e-02 -1.57240507e-02 3.39462111e+02] [ 3.28179000e-02 9.99461337e-01 -1.44981833e-04 3.48733172e+00] [ 1.57203385e-02 -3.71144509e-04 9.99876359e-01 5.22953945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.69925415399996 meters Centerline goodness : 0.999171 Centerline is valid? [True, True] Translation: X:339.49, Y:3.49, Z:5.23 [[ 9.99352025e-01 -3.23772143e-02 -1.57240611e-02 3.39494601e+02] [ 3.23789565e-02 9.99475654e-01 -1.43838599e-04 3.48840174e+00] [ 1.57204734e-02 -3.65383296e-04 9.99876359e-01 5.23049861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.72925415399993 meters Centerline goodness : 0.999171 Centerline is valid? [True, True] Translation: X:339.53, Y:3.49, Z:5.23 [[ 9.99322741e-01 -3.32687980e-02 -1.57240716e-02 3.39526032e+02] [ 3.32706686e-02 9.99446368e-01 -1.42685392e-04 3.48971681e+00] [ 1.57201132e-02 -3.80561618e-04 9.99876359e-01 5.22776032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.75925415399996 meters Centerline goodness : 0.999150 Centerline is valid? [True, True] Translation: X:339.56, Y:3.49, Z:5.23 [[ 9.99283539e-01 -3.44261693e-02 -1.57240876e-02 3.39558368e+02] [ 3.44282111e-02 9.99407163e-01 -1.40903016e-04 3.49018052e+00] [ 1.57196165e-02 -4.00550142e-04 9.99876359e-01 5.22803071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.78925415399993 meters Centerline goodness : 0.999109 Centerline is valid? [True, True] Translation: X:339.59, Y:3.49, Z:5.23 [[ 9.99240771e-01 -3.56459540e-02 -1.57240969e-02 3.39590787e+02] [ 3.56481632e-02 9.99364392e-01 -1.39851328e-04 3.49047644e+00] [ 1.57190877e-02 -4.20790025e-04 9.99876359e-01 5.23225130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.81925415399996 meters Centerline goodness : 0.999213 Centerline is valid? [True, True] Translation: X:339.62, Y:3.49, Z:5.23 [[ 9.99138733e-01 -3.83997937e-02 -1.57241072e-02 3.39622411e+02] [ 3.84023621e-02 9.99262348e-01 -1.38681737e-04 3.49092199e+00] [ 1.57178337e-02 -4.65280564e-04 9.99876359e-01 5.23202412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.84925415399994 meters Centerline goodness : 0.999383 Centerline is valid? [True, True] Translation: X:339.65, Y:3.49, Z:5.23 [[ 9.99087592e-01 -3.97081277e-02 -1.57241149e-02 3.39654148e+02] [ 3.97108716e-02 9.99211203e-01 -1.37810191e-04 3.49168821e+00] [ 1.57171839e-02 -4.86733856e-04 9.99876359e-01 5.23356619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.87925415399997 meters Centerline goodness : 0.999319 Centerline is valid? [True, True] Translation: X:339.69, Y:3.49, Z:5.23 [[ 9.99038324e-01 -4.09289606e-02 -1.57241250e-02 3.39685904e+02] [ 4.09318739e-02 9.99161930e-01 -1.36646067e-04 3.49261696e+00] [ 1.57165399e-02 -5.07103243e-04 9.99876359e-01 5.23422009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.90925415399994 meters Centerline goodness : 0.999150 Centerline is valid? [True, True] Translation: X:339.72, Y:3.49, Z:5.23 [[ 9.98992986e-01 -4.20210122e-02 -1.57241350e-02 3.39718256e+02] [ 4.20240788e-02 9.99116589e-01 -1.35487990e-04 3.49338482e+00] [ 1.57159374e-02 -5.25440736e-04 9.99876359e-01 5.23454543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.93925415399997 meters Centerline goodness : 0.999107 Centerline is valid? [True, True] Translation: X:339.75, Y:3.49, Z:5.24 [[ 9.98946900e-01 -4.31026829e-02 -1.57241448e-02 3.39750127e+02] [ 4.31059015e-02 9.99070500e-01 -1.34332535e-04 3.49406091e+00] [ 1.57153193e-02 -5.43612370e-04 9.99876359e-01 5.23527093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.96925415399994 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:339.78, Y:3.49, Z:5.24 [[ 9.98961875e-01 -4.27542189e-02 -1.57241546e-02 3.39781124e+02] [ 4.27574126e-02 9.99085475e-01 -1.33177078e-04 3.49433891e+00] [ 1.57154684e-02 -5.39285343e-04 9.99876359e-01 5.23547546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.99925415399997 meters Centerline goodness : 0.999211 Centerline is valid? [True, True] Translation: X:339.81, Y:3.49, Z:5.24 [[ 9.98986507e-01 -4.21747575e-02 -1.57241619e-02 3.39812849e+02] [ 4.21778930e-02 9.99110108e-01 -1.32316925e-04 3.49496870e+00] [ 1.57157495e-02 -5.31029193e-04 9.99876359e-01 5.23624671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.02925415399994 meters Centerline goodness : 0.999169 Centerline is valid? [True, True] Translation: X:339.84, Y:3.50, Z:5.24 [[ 9.99087820e-01 -3.97023821e-02 -1.57241713e-02 3.39843821e+02] [ 3.97052295e-02 9.99211428e-01 -1.31184811e-04 3.49628662e+00] [ 1.57169800e-02 -4.93266684e-04 9.99876359e-01 5.23756870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.059254154 meters Centerline goodness : 0.999253 Centerline is valid? [True, True] Translation: X:339.88, Y:3.50, Z:5.24 [[ 9.99164714e-01 -3.77176940e-02 -1.57241783e-02 3.39875570e+02] [ 3.77203091e-02 9.99288327e-01 -1.30340309e-04 3.49739345e+00] [ 1.57179040e-02 -4.62889428e-04 9.99876359e-01 5.23912558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.08925415399995 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:339.91, Y:3.50, Z:5.24 [[ 9.99248269e-01 -3.54351022e-02 -1.57241874e-02 3.39908044e+02] [ 3.54374523e-02 9.99371888e-01 -1.29235419e-04 3.49868229e+00] [ 1.57188903e-02 -4.28086872e-04 9.99876359e-01 5.24084275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.119254154 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:339.94, Y:3.50, Z:5.24 [[ 9.99408209e-01 -3.05938264e-02 -1.57241965e-02 3.39940605e+02] [ 3.05955950e-02 9.99531837e-01 -1.28122142e-04 3.50066118e+00] [ 1.57207547e-02 -3.53044827e-04 9.99876359e-01 5.24338723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.14925415399995 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:339.97, Y:3.50, Z:5.24 [[ 9.99478286e-01 -2.82117864e-02 -1.57242059e-02 3.39972793e+02] [ 2.82132787e-02 9.99601918e-01 -1.26956870e-04 3.50142137e+00] [ 1.57215280e-02 -3.16740768e-04 9.99876359e-01 5.24399224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.179254154 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:340.00, Y:3.50, Z:5.24 [[ 9.99543458e-01 -2.57997038e-02 -1.57242152e-02 3.40003040e+02] [ 2.58009162e-02 9.99667093e-01 -1.25787140e-04 3.50186580e+00] [ 1.57222258e-02 -2.79969447e-04 9.99876359e-01 5.24292510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.20925415399995 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:340.03, Y:3.50, Z:5.24 [[ 9.99593094e-01 -2.37990441e-02 -1.57242175e-02 3.40034082e+02] [ 2.38000136e-02 9.99716732e-01 -1.25498130e-04 3.50232143e+00] [ 1.57227501e-02 -2.48789527e-04 9.99876359e-01 5.24477967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.239254154 meters Centerline goodness : 0.999271 Centerline is valid? [True, True] Translation: X:340.06, Y:3.50, Z:5.24 [[ 9.99663977e-01 -2.06077987e-02 -1.57242222e-02 3.40064801e+02] [ 2.06083826e-02 9.99787617e-01 -1.24912237e-04 3.50269719e+00] [ 1.57234568e-02 -1.99180524e-04 9.99876359e-01 5.24402628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.26925415399995 meters Centerline goodness : 0.999271 Centerline is valid? [True, True] Translation: X:340.09, Y:3.50, Z:5.24 [[ 9.99663242e-01 -2.06434579e-02 -1.57242245e-02 3.40094946e+02] [ 2.06440508e-02 9.99786881e-01 -1.24621438e-04 3.50296627e+00] [ 1.57234460e-02 -2.00032220e-04 9.99876359e-01 5.24450028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.299254154 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:340.12, Y:3.50, Z:5.25 [[ 9.99681926e-01 -1.97178945e-02 -1.57242200e-02 3.40124743e+02] [ 1.97183642e-02 9.99805566e-01 -1.25182481e-04 3.50333358e+00] [ 1.57236310e-02 -1.84913234e-04 9.99876359e-01 5.24579030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.32925415399995 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:340.15, Y:3.50, Z:5.25 [[ 9.99699026e-01 -1.88310037e-02 -1.57242154e-02 3.40153912e+02] [ 1.88313546e-02 9.99822666e-01 -1.25760865e-04 3.50320235e+00] [ 1.57237952e-02 -1.70385262e-04 9.99876359e-01 5.24599823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.359254154 meters Centerline goodness : 0.999077 Centerline is valid? [True, True] Translation: X:340.18, Y:3.50, Z:5.25 [[ 9.99696369e-01 -1.89715093e-02 -1.57242155e-02 3.40183320e+02] [ 1.89718777e-02 9.99820010e-01 -1.25754570e-04 3.50317160e+00] [ 1.57237710e-02 -1.72601505e-04 9.99876359e-01 5.24614442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.38925415399996 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:340.21, Y:3.50, Z:5.25 [[ 9.99685030e-01 -1.95599317e-02 -1.57242109e-02 3.40213042e+02] [ 1.95603639e-02 9.99808670e-01 -1.26322879e-04 3.50300307e+00] [ 1.57236732e-02 -1.81288196e-04 9.99876359e-01 5.24660845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.419254154 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:340.24, Y:3.50, Z:5.25 [[ 9.99664704e-01 -2.05725304e-02 -1.57242063e-02 3.40242987e+02] [ 2.05730788e-02 9.99788344e-01 -1.26893738e-04 3.50241155e+00] [ 1.57234887e-02 -1.96644144e-04 9.99876359e-01 5.24665823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.44925415399996 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:340.27, Y:3.50, Z:5.25 [[ 9.99599807e-01 -2.35154245e-02 -1.57242016e-02 3.40272311e+02] [ 2.35163278e-02 9.99723445e-01 -1.27472936e-04 3.50057601e+00] [ 1.57228506e-02 -2.42353558e-04 9.99876359e-01 5.24638806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.47925415399993 meters Centerline goodness : 0.998952 Centerline is valid? [True, True] Translation: X:340.30, Y:3.50, Z:5.25 [[ 9.99557965e-01 -2.52314043e-02 -1.57241969e-02 3.40302890e+02] [ 2.52325108e-02 9.99681601e-01 -1.28050198e-04 3.49987005e+00] [ 1.57224212e-02 -2.68767373e-04 9.99876359e-01 5.24614098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.50925415399996 meters Centerline goodness : 0.999231 Centerline is valid? [True, True] Translation: X:340.33, Y:3.50, Z:5.25 [[ 9.99509447e-01 -2.70853442e-02 -1.57241992e-02 3.40334736e+02] [ 2.70866845e-02 9.99633080e-01 -1.27763725e-04 3.49897783e+00] [ 1.57218902e-02 -2.98215373e-04 9.99876359e-01 5.24669701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.53925415399993 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:340.37, Y:3.50, Z:5.25 [[ 9.99377477e-01 -3.15817803e-02 -1.57242038e-02 3.40366545e+02] [ 3.15836858e-02 9.99501103e-01 -1.27192223e-04 3.49700497e+00] [ 1.57203760e-02 -3.69515271e-04 9.99876359e-01 5.24691579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.56925415399996 meters Centerline goodness : 0.999043 Centerline is valid? [True, True] Translation: X:340.40, Y:3.50, Z:5.25 [[ 9.99306675e-01 -3.37478532e-02 -1.57242084e-02 3.40399053e+02] [ 3.37500357e-02 9.99430297e-01 -1.26622546e-04 3.49583368e+00] [ 1.57195235e-02 -4.04157840e-04 9.99876359e-01 5.24746527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.59925415399994 meters Centerline goodness : 0.999108 Centerline is valid? [True, True] Translation: X:340.43, Y:3.49, Z:5.25 [[ 9.99229434e-01 -3.59622962e-02 -1.57242175e-02 3.40429854e+02] [ 3.59647705e-02 9.99353051e-01 -1.25479913e-04 3.49443979e+00] [ 1.57185573e-02 -4.40134653e-04 9.99876359e-01 5.24762327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.62925415399997 meters Centerline goodness : 0.999065 Centerline is valid? [True, True] Translation: X:340.46, Y:3.49, Z:5.25 [[ 9.99150356e-01 -3.80961366e-02 -1.57242316e-02 3.40461843e+02] [ 3.80989031e-02 9.99273966e-01 -1.23692648e-04 3.49302711e+00] [ 1.57175275e-02 -4.75488422e-04 9.99876359e-01 5.24849493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.65925415399994 meters Centerline goodness : 0.999236 Centerline is valid? [True, True] Translation: X:340.49, Y:3.49, Z:5.25 [[ 9.99020999e-01 -4.13496245e-02 -1.57242404e-02 3.40494469e+02] [ 4.13528111e-02 9.99144599e-01 -1.22569322e-04 3.48987374e+00] [ 1.57158580e-02 -5.27792215e-04 9.99876359e-01 5.24987342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.68925415399997 meters Centerline goodness : 0.999152 Centerline is valid? [True, True] Translation: X:340.53, Y:3.49, Z:5.25 [[ 9.98975130e-01 -4.24433431e-02 -1.57242492e-02 3.40526952e+02] [ 4.24466829e-02 9.99098726e-01 -1.21429850e-04 3.48878286e+00] [ 1.57152312e-02 -5.46136818e-04 9.99876359e-01 5.25127621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.71925415399994 meters Centerline goodness : 0.998944 Centerline is valid? [True, True] Translation: X:340.56, Y:3.49, Z:5.25 [[ 9.98944175e-01 -4.31657629e-02 -1.57242580e-02 3.40559037e+02] [ 4.31692104e-02 9.99067768e-01 -1.20268366e-04 3.48759043e+00] [ 1.57147909e-02 -5.58662419e-04 9.99876359e-01 5.25226827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.74925415399997 meters Centerline goodness : 0.999111 Centerline is valid? [True, True] Translation: X:340.59, Y:3.49, Z:5.25 [[ 9.98922754e-01 -4.36586562e-02 -1.57242669e-02 3.40590966e+02] [ 4.36621830e-02 9.99046345e-01 -1.19103596e-04 3.48639901e+00] [ 1.57144712e-02 -5.67580525e-04 9.99876359e-01 5.25331803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.77925415399994 meters Centerline goodness : 0.999008 Centerline is valid? [True, True] Translation: X:340.62, Y:3.48, Z:5.25 [[ 9.98907558e-01 -4.40049679e-02 -1.57242756e-02 3.40623627e+02] [ 4.40085558e-02 9.99031147e-01 -1.17939462e-04 3.48422416e+00] [ 1.57142310e-02 -5.74192041e-04 9.99876359e-01 5.25465200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.809254154 meters Centerline goodness : 0.999239 Centerline is valid? [True, True] Translation: X:340.66, Y:3.48, Z:5.26 [[ 9.98907660e-01 -4.40026516e-02 -1.57242843e-02 3.40655917e+02] [ 4.40062576e-02 9.99031249e-01 -1.16773547e-04 3.48337360e+00] [ 1.57141897e-02 -5.75320912e-04 9.99876359e-01 5.25520922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.83925415399995 meters Centerline goodness : 0.998901 Centerline is valid? [True, True] Translation: X:340.69, Y:3.48, Z:5.26 [[ 9.98924984e-01 -4.36076090e-02 -1.57242928e-02 3.40688199e+02] [ 4.36111842e-02 9.99048573e-01 -1.15616956e-04 3.48222405e+00] [ 1.57143740e-02 -5.70262363e-04 9.99876359e-01 5.25520240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.869254154 meters Centerline goodness : 0.999011 Centerline is valid? [True, True] Translation: X:340.72, Y:3.48, Z:5.25 [[ 9.98897525e-01 -4.42321356e-02 -1.57243011e-02 3.40719474e+02] [ 4.42358063e-02 9.99021111e-01 -1.14467319e-04 3.48092104e+00] [ 1.57139719e-02 -5.81236017e-04 9.99876359e-01 5.25480614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.89925415399995 meters Centerline goodness : 0.998816 Centerline is valid? [True, True] Translation: X:340.75, Y:3.48, Z:5.26 [[ 9.98879910e-01 -4.46281532e-02 -1.57243148e-02 3.40751455e+02] [ 4.46319030e-02 9.99003494e-01 -1.12550985e-04 3.48041454e+00] [ 1.57136684e-02 -5.89381177e-04 9.99876359e-01 5.25510136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.929254154 meters Centerline goodness : 0.998902 Centerline is valid? [True, True] Translation: X:340.78, Y:3.48, Z:5.25 [[ 9.98855788e-01 -4.51648212e-02 -1.57243231e-02 3.40782566e+02] [ 4.51686557e-02 9.98979369e-01 -1.11385704e-04 3.47885908e+00] [ 1.57133051e-02 -5.98988281e-04 9.99876359e-01 5.25345592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.95925415399995 meters Centerline goodness : 0.998927 Centerline is valid? [True, True] Translation: X:340.82, Y:3.48, Z:5.25 [[ 9.98851412e-01 -4.52614836e-02 -1.57243292e-02 3.40815146e+02] [ 4.52653437e-02 9.98974993e-01 -1.10517447e-04 3.47830201e+00] [ 1.57132138e-02 -6.01376657e-04 9.99876359e-01 5.25289428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.989254154 meters Centerline goodness : 0.998838 Centerline is valid? [True, True] Translation: X:340.85, Y:3.48, Z:5.25 [[ 9.98856274e-01 -4.51540683e-02 -1.57243372e-02 3.40846934e+02] [ 4.51579332e-02 9.98979854e-01 -1.09366822e-04 3.47792793e+00] [ 1.57132344e-02 -6.00836833e-04 9.99876359e-01 5.25270677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.01925415399995 meters Centerline goodness : 0.998881 Centerline is valid? [True, True] Translation: X:340.88, Y:3.48, Z:5.25 [[ 9.98899738e-01 -4.41821018e-02 -1.57243452e-02 3.40877696e+02] [ 4.41858646e-02 9.99023322e-01 -1.08211849e-04 3.47776812e+00] [ 1.57137686e-02 -5.86700998e-04 9.99876359e-01 5.25204223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.049254154 meters Centerline goodness : 0.999050 Centerline is valid? [True, True] Translation: X:340.91, Y:3.48, Z:5.25 [[ 9.98945932e-01 -4.31250564e-02 -1.57243582e-02 3.40909390e+02] [ 4.31287188e-02 9.99069518e-01 -1.06273605e-04 3.47810171e+00] [ 1.57143101e-02 -5.72009840e-04 9.99876359e-01 5.25260040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.07925415399995 meters Centerline goodness : 0.999029 Centerline is valid? [True, True] Translation: X:340.94, Y:3.48, Z:5.25 [[ 9.99085811e-01 -3.97528263e-02 -1.57243659e-02 3.40941061e+02] [ 3.97560894e-02 9.99209409e-01 -1.05136182e-04 3.47963625e+00] [ 1.57161138e-02 -5.20099228e-04 9.99876359e-01 5.25371406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.109254154 meters Centerline goodness : 0.998966 Centerline is valid? [True, True] Translation: X:340.97, Y:3.48, Z:5.26 [[ 9.99175469e-01 -3.74316274e-02 -1.57243715e-02 3.40973624e+02] [ 3.74346168e-02 9.99299074e-01 -1.04285496e-04 3.48048666e+00] [ 1.57172534e-02 -4.84436312e-04 9.99876359e-01 5.25535879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.13925415399996 meters Centerline goodness : 0.998943 Centerline is valid? [True, True] Translation: X:341.01, Y:3.48, Z:5.26 [[ 9.99324711e-01 -3.32094304e-02 -1.57243789e-02 3.41005313e+02] [ 3.32119153e-02 9.99448327e-01 -1.03151329e-04 3.48230165e+00] [ 1.57191298e-02 -4.19155069e-04 9.99876359e-01 5.25797901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.169254154 meters Centerline goodness : 0.998881 Centerline is valid? [True, True] Translation: X:341.04, Y:3.48, Z:5.26 [[ 9.99397203e-01 -3.09511575e-02 -1.57243863e-02 3.41037103e+02] [ 3.09533810e-02 9.99520824e-01 -1.02009170e-04 3.48318839e+00] [ 1.57200089e-02 -3.84775242e-04 9.99876359e-01 5.25932719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.19925415399996 meters Centerline goodness : 0.998859 Centerline is valid? [True, True] Translation: X:341.07, Y:3.48, Z:5.26 [[ 9.99458636e-01 -2.88994362e-02 -1.57243938e-02 3.41068075e+02] [ 2.89014242e-02 9.99582262e-01 -1.00851445e-04 3.48377554e+00] [ 1.57207396e-02 -3.53660527e-04 9.99876359e-01 5.26014900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.22925415399993 meters Centerline goodness : 0.998711 Centerline is valid? [True, True] Translation: X:341.10, Y:3.48, Z:5.26 [[ 9.99504685e-01 -2.72603803e-02 -1.57243975e-02 3.41099424e+02] [ 2.72621746e-02 9.99628313e-01 -1.00271072e-04 3.48426095e+00] [ 1.57212863e-02 -3.28459863e-04 9.99876359e-01 5.26079097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.25925415399996 meters Centerline goodness : 0.998881 Centerline is valid? [True, True] Translation: X:341.13, Y:3.48, Z:5.26 [[ 9.99558103e-01 -2.52258153e-02 -1.57244012e-02 3.41130196e+02] [ 2.52273671e-02 9.99681734e-01 -9.96879803e-05 3.48455387e+00] [ 1.57219113e-02 -2.97041313e-04 9.99876359e-01 5.26108376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.28925415399993 meters Centerline goodness : 0.998986 Centerline is valid? [True, True] Translation: X:341.16, Y:3.48, Z:5.26 [[ 9.99574358e-01 -2.45732621e-02 -1.57244030e-02 3.41160507e+02] [ 2.45747378e-02 9.99697991e-01 -9.93992170e-05 3.48472749e+00] [ 1.57220966e-02 -2.87066172e-04 9.99876359e-01 5.26209031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.31925415399996 meters Centerline goodness : 0.999007 Centerline is valid? [True, True] Translation: X:341.19, Y:3.48, Z:5.26 [[ 9.99576696e-01 -2.44779913e-02 -1.57244030e-02 3.41190984e+02] [ 2.44794552e-02 9.99700328e-01 -9.93992170e-05 3.48486991e+00] [ 1.57221239e-02 -2.85567677e-04 9.99876359e-01 5.26264292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.34925415399994 meters Centerline goodness : 0.998945 Centerline is valid? [True, True] Translation: X:341.22, Y:3.48, Z:5.26 [[ 9.99583660e-01 -2.41919190e-02 -1.57244030e-02 3.41221055e+02] [ 2.41933475e-02 9.99707293e-01 -9.93992170e-05 3.48440034e+00] [ 1.57222050e-02 -2.81068113e-04 9.99876359e-01 5.26287569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.37925415399997 meters Centerline goodness : 0.998861 Centerline is valid? [True, True] Translation: X:341.25, Y:3.48, Z:5.26 [[ 9.99519088e-01 -2.67270740e-02 -1.57244030e-02 3.41250187e+02] [ 2.67288160e-02 9.99642716e-01 -9.93992170e-05 3.48357951e+00] [ 1.57214416e-02 -3.20943260e-04 9.99876359e-01 5.26223937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.40925415399994 meters Centerline goodness : 0.999030 Centerline is valid? [True, True] Translation: X:341.28, Y:3.48, Z:5.26 [[ 9.99483865e-01 -2.80133291e-02 -1.57244012e-02 3.41281349e+02] [ 2.80152258e-02 9.99607492e-01 -9.96846757e-05 3.48289110e+00] [ 1.57210217e-02 -3.40889425e-04 9.99876359e-01 5.26201418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.43925415399997 meters Centerline goodness : 0.999029 Centerline is valid? [True, True] Translation: X:341.31, Y:3.48, Z:5.26 [[ 9.99405268e-01 -3.06896142e-02 -1.57244048e-02 3.41312813e+02] [ 3.06918508e-02 9.99528889e-01 -9.91179446e-05 3.48121507e+00] [ 1.57200387e-02 -3.83552089e-04 9.99876359e-01 5.26114669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.46925415399994 meters Centerline goodness : 0.999072 Centerline is valid? [True, True] Translation: X:341.34, Y:3.48, Z:5.26 [[ 9.99370802e-01 -3.17921734e-02 -1.57244084e-02 3.41342978e+02] [ 3.17945555e-02 9.99494420e-01 -9.85389525e-05 3.48043171e+00] [ 1.57195912e-02 -4.01473624e-04 9.99876359e-01 5.26078330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.49925415399997 meters Centerline goodness : 0.998801 Centerline is valid? [True, True] Translation: X:341.37, Y:3.48, Z:5.26 [[ 9.99376749e-01 -3.16046767e-02 -1.57244102e-02 3.41374693e+02] [ 3.16070401e-02 9.99500368e-01 -9.82519240e-05 3.47839771e+00] [ 1.57196590e-02 -3.98811375e-04 9.99876359e-01 5.26097740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.52925415399994 meters Centerline goodness : 0.998991 Centerline is valid? [True, True] Translation: X:341.41, Y:3.48, Z:5.26 [[ 9.99356734e-01 -3.22313826e-02 -1.57244137e-02 3.41405758e+02] [ 3.22338324e-02 9.99480350e-01 -9.76851348e-05 3.47872313e+00] [ 1.57193910e-02 -4.09235819e-04 9.99876359e-01 5.26125861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.559254154 meters Centerline goodness : 0.998968 Centerline is valid? [True, True] Translation: X:341.44, Y:3.48, Z:5.26 [[ 9.99404889e-01 -3.07019717e-02 -1.57244173e-02 3.41436543e+02] [ 3.07042414e-02 9.99528509e-01 -9.71083256e-05 3.47778258e+00] [ 1.57199848e-02 -3.85755769e-04 9.99876359e-01 5.26180642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.58925415399995 meters Centerline goodness : 0.999010 Centerline is valid? [True, True] Translation: X:341.47, Y:3.48, Z:5.26 [[ 9.99422288e-01 -3.01302577e-02 -1.57244190e-02 3.41467437e+02] [ 3.01324613e-02 9.99545910e-01 -9.68220952e-05 3.47795012e+00] [ 1.57201960e-02 -3.77049287e-04 9.99876359e-01 5.26225416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.619254154 meters Centerline goodness : 0.999033 Centerline is valid? [True, True] Translation: X:341.50, Y:3.48, Z:5.26 [[ 9.99527736e-01 -2.64016740e-02 -1.57244224e-02 3.41498719e+02] [ 2.64034251e-02 9.99651364e-01 -9.62657917e-05 3.47737379e+00] [ 1.57214819e-02 -3.18958281e-04 9.99876359e-01 5.26314854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.64925415399995 meters Centerline goodness : 0.998906 Centerline is valid? [True, True] Translation: X:341.53, Y:3.48, Z:5.26 [[ 9.99586699e-01 -2.40660409e-02 -1.57244259e-02 3.41529420e+02] [ 2.40675120e-02 9.99710331e-01 -9.56993005e-05 3.47735522e+00] [ 1.57221741e-02 -2.82788061e-04 9.99876359e-01 5.26391536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.679254154 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:341.56, Y:3.48, Z:5.26 [[ 9.99631663e-01 -2.21196779e-02 -1.57244276e-02 3.41560166e+02] [ 2.21209127e-02 9.99755298e-01 -9.54182991e-05 3.47761203e+00] [ 1.57226904e-02 -2.52455538e-04 9.99876359e-01 5.26469019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.70925415399995 meters Centerline goodness : 0.999031 Centerline is valid? [True, True] Translation: X:341.59, Y:3.48, Z:5.27 [[ 9.99669441e-01 -2.03408728e-02 -1.57244276e-02 3.41589852e+02] [ 2.03418876e-02 9.99793078e-01 -9.54182991e-05 3.47775799e+00] [ 1.57231147e-02 -2.24477781e-04 9.99876359e-01 5.26544535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.739254154 meters Centerline goodness : 0.999032 Centerline is valid? [True, True] Translation: X:341.62, Y:3.48, Z:5.27 [[ 9.99729545e-01 -1.71341520e-02 -1.57244241e-02 3.41619443e+02] [ 1.71347612e-02 9.99853185e-01 -9.59926563e-05 3.47674681e+00] [ 1.57237602e-02 -1.73467557e-04 9.99876359e-01 5.26584376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.76925415399995 meters Centerline goodness : 0.999158 Centerline is valid? [True, True] Translation: X:341.65, Y:3.48, Z:5.27 [[ 9.99745893e-01 -1.61521732e-02 -1.57244205e-02 3.41648505e+02] [ 1.61526517e-02 9.99869533e-01 -9.65787741e-05 3.47602776e+00] [ 1.57239289e-02 -1.57436855e-04 9.99876359e-01 5.26583423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.799254154 meters Centerline goodness : 0.997435 Centerline is valid? [True, True] Translation: X:341.68, Y:3.48, Z:5.27 [[ 9.99757294e-01 -1.54303826e-02 -1.57243943e-02 3.41676162e+02] [ 1.54307076e-02 9.99880934e-01 -1.00668144e-04 3.47522322e+00] [ 1.57240754e-02 -1.41994819e-04 9.99876359e-01 5.26565908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.82925415399995 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:341.70, Y:3.47, Z:5.27 [[ 9.99805787e-01 -1.18795521e-02 -1.57246302e-02 3.41703585e+02] [ 1.18800150e-02 9.99929428e-01 -6.39794594e-05 3.47283406e+00] [ 1.57242806e-02 -1.22841809e-04 9.99876358e-01 5.26570698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.859254154 meters Centerline goodness : 0.998928 Centerline is valid? [True, True] Translation: X:341.73, Y:3.47, Z:5.27 [[ 9.99823152e-01 -1.03155352e-02 -1.57243422e-02 3.41731769e+02] [ 1.03151358e-02 9.99946792e-01 -1.06509528e-04 3.47214074e+00] [ 1.57246042e-02 -5.57080325e-05 9.99876359e-01 5.26614391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.88925415399996 meters Centerline goodness : 0.999284 Centerline is valid? [True, True] Translation: X:341.76, Y:3.47, Z:5.27 [[ 9.99839126e-01 -8.62955063e-03 -1.57243099e-02 3.41759836e+02] [ 8.62887083e-03 9.99962764e-01 -1.11078984e-04 3.47182643e+00] [ 1.57246830e-02 -2.46219246e-05 9.99876359e-01 5.26647942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.919254154 meters Centerline goodness : 0.998884 Centerline is valid? [True, True] Translation: X:341.79, Y:3.47, Z:5.27 [[ 9.99852502e-01 -6.90800124e-03 -1.57242758e-02 3.41787583e+02] [ 6.90703566e-03 9.99976139e-01 -1.15714460e-04 3.47116756e+00] [ 1.57246999e-02 7.08925911e-06 9.99876359e-01 5.26718748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.94925415399996 meters Centerline goodness : 0.999135 Centerline is valid? [True, True] Translation: X:341.81, Y:3.47, Z:5.27 [[ 9.99870729e-01 -3.35773521e-03 -1.57242400e-02 3.41814309e+02] [ 3.35625722e-03 9.99994361e-01 -1.20382778e-04 3.46877585e+00] [ 1.57245556e-02 6.75926223e-05 9.99876359e-01 5.26741236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.97925415399993 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:341.84, Y:3.47, Z:5.27 [[ 9.99873595e-01 -2.35442192e-03 -1.57242148e-02 3.41842416e+02] [ 2.35276941e-03 9.99997225e-01 -1.23591348e-04 3.46703103e+00] [ 1.57244622e-02 8.65802735e-05 9.99876359e-01 5.26747677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.00925415399996 meters Centerline goodness : 0.999221 Centerline is valid? [True, True] Translation: X:341.87, Y:3.46, Z:5.27 [[ 9.99875235e-01 -1.50508752e-03 -1.57241770e-02 3.41869036e+02] [ 1.50325710e-03 9.99998862e-01 -1.28226795e-04 3.46196906e+00] [ 1.57243521e-02 1.04573316e-04 9.99876359e-01 5.26693912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.03925415399993 meters Centerline goodness : 0.998928 Centerline is valid? [True, True] Translation: X:341.90, Y:3.46, Z:5.27 [[ 9.99872900e-01 -2.63350629e-03 -1.57241604e-02 3.41897455e+02] [ 2.63178382e-03 9.99996528e-01 -1.30234535e-04 3.45974744e+00] [ 1.57244488e-02 8.88353911e-05 9.99876359e-01 5.26737277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.06925415399996 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:341.93, Y:3.46, Z:5.27 [[ 9.99866339e-01 -4.47822546e-03 -1.57241461e-02 3.41925369e+02] [ 4.47670421e-03 9.99989971e-01 -1.31943420e-04 3.45739568e+00] [ 1.57245792e-02 6.15334338e-05 9.99876359e-01 5.26763958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.09925415399994 meters Centerline goodness : 0.999476 Centerline is valid? [True, True] Translation: X:341.95, Y:3.45, Z:5.27 [[ 9.99823701e-01 -1.02624913e-02 -1.57241309e-02 3.41952244e+02] [ 1.02616573e-02 9.99947339e-01 -1.33720390e-04 3.45133493e+00] [ 1.57246752e-02 -2.76588286e-05 9.99876359e-01 5.26792274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.12925415399997 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:341.98, Y:3.45, Z:5.27 [[ 9.99772598e-01 -1.44050208e-02 -1.57241132e-02 3.41980149e+02] [ 1.44046668e-02 9.99896238e-01 -1.35775715e-04 3.44814407e+00] [ 1.57244375e-02 -9.07557721e-05 9.99876359e-01 5.26800872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.15925415399994 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:342.01, Y:3.45, Z:5.27 [[ 9.99768379e-01 -1.46949198e-02 -1.57240983e-02 3.42008551e+02] [ 1.46945749e-02 9.99892019e-01 -1.37479879e-04 3.44846421e+00] [ 1.57244207e-02 -9.36109043e-05 9.99876359e-01 5.26845586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.18925415399997 meters Centerline goodness : 0.999226 Centerline is valid? [True, True] Translation: X:342.04, Y:3.44, Z:5.27 [[ 9.99696180e-01 -1.89815986e-02 -1.57240571e-02 3.42036582e+02] [ 1.89817121e-02 9.99819821e-01 -1.42039457e-04 3.44488922e+00] [ 1.57239201e-02 -1.56473222e-04 9.99876359e-01 5.26846552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.21925415399994 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:342.07, Y:3.44, Z:5.27 [[ 9.99493845e-01 -2.76551736e-02 -1.57240413e-02 3.42065415e+02] [ 2.76563328e-02 9.99617480e-01 -1.43763379e-04 3.43738089e+00] [ 1.57220024e-02 -2.91178708e-04 9.99876359e-01 5.26766624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.24925415399997 meters Centerline goodness : 0.999271 Centerline is valid? [True, True] Translation: X:342.10, Y:3.43, Z:5.27 [[ 9.99374579e-01 -3.16734332e-02 -1.57240305e-02 3.42095156e+02] [ 3.16750710e-02 9.99498209e-01 -1.44937702e-04 3.43398108e+00] [ 1.57207310e-02 -3.53212728e-04 9.99876359e-01 5.26797584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.27925415399994 meters Centerline goodness : 0.999209 Centerline is valid? [True, True] Translation: X:342.12, Y:3.43, Z:5.27 [[ 9.99254385e-01 -3.52622884e-02 -1.57240251e-02 3.42124873e+02] [ 3.52643609e-02 9.99378008e-01 -1.45525417e-04 3.43083456e+00] [ 1.57193764e-02 -4.09080785e-04 9.99876359e-01 5.26845661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.309254154 meters Centerline goodness : 0.999271 Centerline is valid? [True, True] Translation: X:342.16, Y:3.42, Z:5.27 [[ 9.99121711e-01 -3.88402147e-02 -1.57240224e-02 3.42156855e+02] [ 3.88427253e-02 9.99245326e-01 -1.45816678e-04 3.42302921e+00] [ 1.57178194e-02 -4.65075273e-04 9.99876359e-01 5.26953647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.33925415399995 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:342.18, Y:3.42, Z:5.27 [[ 9.98995305e-01 -4.19653582e-02 -1.57254078e-02 3.42184519e+02] [ 4.19706111e-02 9.99118846e-01 4.02431348e-06 3.42283534e+00] [ 1.57113824e-02 -6.64025244e-04 9.99876348e-01 5.26982202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.369254154 meters Centerline goodness : 0.999396 Centerline is valid? [True, True] Translation: X:342.22, Y:3.42, Z:5.27 [[ 9.98977711e-01 -4.23826665e-02 -1.57239278e-02 3.42215859e+02] [ 4.23855408e-02 9.99101318e-01 -1.50560604e-04 3.42048670e+00] [ 1.57161781e-02 -5.16060495e-04 9.99876360e-01 5.27030328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.39925415399995 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:342.25, Y:3.42, Z:5.27 [[ 9.98982964e-01 -4.22586654e-02 -1.57239332e-02 3.42247189e+02] [ 4.22615334e-02 9.99106571e-01 -1.49986968e-04 3.41806734e+00] [ 1.57162233e-02 -5.14683104e-04 9.99876360e-01 5.27066344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.429254154 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:342.28, Y:3.41, Z:5.27 [[ 9.99114453e-01 -3.90265081e-02 -1.57239388e-02 3.42280492e+02] [ 3.90289853e-02 9.99238068e-01 -1.49404718e-04 3.41256993e+00] [ 1.57177889e-02 -4.64416963e-04 9.99876360e-01 5.27117097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.45925415399995 meters Centerline goodness : 0.999417 Centerline is valid? [True, True] Translation: X:342.31, Y:3.41, Z:5.27 [[ 9.99195041e-01 -3.69047900e-02 -1.57259535e-02 3.42306551e+02] [ 3.69103391e-02 9.99318579e-01 6.26700037e-05 3.41274838e+00] [ 1.57129247e-02 -6.43069835e-04 9.99876338e-01 5.27188166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.489254154 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:342.34, Y:3.41, Z:5.27 [[ 9.99318810e-01 -3.33867985e-02 -1.57237889e-02 3.42337365e+02] [ 3.33884772e-02 9.99442437e-01 -1.55810862e-04 3.41196670e+00] [ 1.57202240e-02 -3.69288643e-04 9.99876361e-01 5.27257223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.51925415399995 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:342.37, Y:3.41, Z:5.27 [[ 9.99564695e-01 -2.49636201e-02 -1.57237889e-02 3.42367497e+02] [ 2.49642568e-02 9.99688332e-01 -1.55810862e-04 3.41030784e+00] [ 1.57227779e-02 -2.36789668e-04 9.99876361e-01 5.27338850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.549254154 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:342.40, Y:3.41, Z:5.27 [[ 9.99653915e-01 -2.10905712e-02 -1.57237832e-02 3.42395314e+02] [ 2.10907199e-02 9.99777554e-01 -1.56383047e-04 3.40953809e+00] [ 1.57235838e-02 -1.75296983e-04 9.99876361e-01 5.27389898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.57925415399995 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:342.42, Y:3.41, Z:5.27 [[ 9.99732446e-01 -1.69646484e-02 -1.57237690e-02 3.42423446e+02] [ 1.69642646e-02 9.99856084e-01 -1.57799295e-04 3.40830781e+00] [ 1.57241831e-02 -1.08985104e-04 9.99876361e-01 5.27381206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.609254154 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:342.45, Y:3.40, Z:5.27 [[ 9.99824295e-01 -1.02050172e-02 -1.57237478e-02 3.42451333e+02] [ 1.02037646e-02 9.99947927e-01 -1.59887414e-04 3.40474930e+00] [ 1.57245607e-02 -5.82100076e-07 9.99876361e-01 5.27329633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.63925415399996 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:342.48, Y:3.40, Z:5.27 [[ 9.99843049e-01 -8.16347354e-03 -1.57237010e-02 3.42478022e+02] [ 8.16189807e-03 9.99966678e-01 -1.64367396e-04 3.40346703e+00] [ 1.57245188e-02 3.60063537e-05 9.99876361e-01 5.27312097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.669254154 meters Centerline goodness : 0.999604 Centerline is valid? [True, True] Translation: X:342.50, Y:3.41, Z:5.28 [[ 9.99825739e-01 -1.00626584e-02 -1.57236805e-02 3.42504453e+02] [ 1.00612873e-02 9.99949370e-01 -1.66305686e-04 3.40587625e+00] [ 1.57245579e-02 8.07623901e-06 9.99876361e-01 5.27660321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.69925415399996 meters Centerline goodness : 0.999646 Centerline is valid? [True, True] Translation: X:342.54, Y:3.40, Z:5.27 [[ 9.99862001e-01 -5.36647982e-03 -1.57219351e-02 3.42537243e+02] [ 5.36200333e-03 9.99985571e-01 -3.26868263e-04 3.39763259e+00] [ 1.57234624e-02 2.42522087e-04 9.99876349e-01 5.27255472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.72925415399993 meters Centerline goodness : 0.999625 Centerline is valid? [True, True] Translation: X:342.56, Y:3.40, Z:5.27 [[ 9.99840284e-01 -8.49557057e-03 -1.57236336e-02 3.42563981e+02] [ 8.49400733e-03 9.99963911e-01 -1.66200547e-04 3.39887221e+00] [ 1.57244781e-02 3.26173434e-05 9.99876362e-01 5.27399547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.75925415399996 meters Centerline goodness : 0.999688 Centerline is valid? [True, True] Translation: X:342.60, Y:3.39, Z:5.27 [[ 9.99848978e-01 -7.40526896e-03 -1.57220403e-02 3.42596658e+02] [ 7.40127594e-03 9.99972561e-01 -3.12146533e-04 3.39276863e+00] [ 1.57239205e-02 1.95736233e-04 9.99876352e-01 5.27250640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.78925415399993 meters Centerline goodness : 0.999646 Centerline is valid? [True, True] Translation: X:342.62, Y:3.39, Z:5.27 [[ 9.99810436e-01 -1.14830813e-02 -1.57235800e-02 3.42624844e+02] [ 1.14818524e-02 9.99934067e-01 -1.68429626e-04 3.38681484e+00] [ 1.57244774e-02 -1.21381275e-05 9.99876363e-01 5.27185979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.81925415399996 meters Centerline goodness : 0.999708 Centerline is valid? [True, True] Translation: X:342.65, Y:3.38, Z:5.27 [[ 9.99781254e-01 -1.37917744e-02 -1.57235615e-02 3.42653297e+02] [ 1.37908041e-02 9.99904888e-01 -1.70140445e-04 3.38383718e+00] [ 1.57244125e-02 -4.67373289e-05 9.99876363e-01 5.27230189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.84925415399994 meters Centerline goodness : 0.999604 Centerline is valid? [True, True] Translation: X:342.68, Y:3.38, Z:5.27 [[ 9.99748467e-01 -1.59929119e-02 -1.57235101e-02 3.42679804e+02] [ 1.59921411e-02 9.99872102e-01 -1.74758578e-04 3.38149451e+00] [ 1.57242940e-02 -7.67379727e-05 9.99876363e-01 5.27271102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.87925415399997 meters Centerline goodness : 0.999646 Centerline is valid? [True, True] Translation: X:342.71, Y:3.38, Z:5.27 [[ 9.99704478e-01 -1.85399384e-02 -1.57234876e-02 3.42707909e+02] [ 1.85394512e-02 9.99828114e-01 -1.76759589e-04 3.37966739e+00] [ 1.57240621e-02 -1.14797479e-04 9.99876363e-01 5.27344196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.90925415399994 meters Centerline goodness : 0.999563 Centerline is valid? [True, True] Translation: X:342.74, Y:3.38, Z:5.27 [[ 9.99607307e-01 -2.31949543e-02 -1.57234358e-02 3.42735993e+02] [ 2.31949720e-02 9.99730944e-01 -1.81257852e-04 3.37559666e+00] [ 1.57234096e-02 -1.83517980e-04 9.99876363e-01 5.27435292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.93925415399997 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:342.76, Y:3.37, Z:5.28 [[ 9.99543642e-01 -2.57930717e-02 -1.57233820e-02 3.42764079e+02] [ 2.57933393e-02 9.99667279e-01 -1.85810931e-04 3.37341739e+00] [ 1.57229431e-02 -2.19832392e-04 9.99876363e-01 5.27531148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.96925415399994 meters Centerline goodness : 0.999583 Centerline is valid? [True, True] Translation: X:342.79, Y:3.37, Z:5.28 [[ 9.99485102e-01 -2.79697815e-02 -1.57233257e-02 3.42790681e+02] [ 2.79702452e-02 9.99608738e-01 -1.90456259e-04 3.37109048e+00] [ 1.57225008e-02 -2.49427082e-04 9.99876363e-01 5.27572985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.99925415399997 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:342.82, Y:3.37, Z:5.28 [[ 9.99349081e-01 -3.24683230e-02 -1.57233011e-02 3.42819079e+02] [ 3.24693116e-02 9.99472714e-01 -1.92468424e-04 3.36687795e+00] [ 1.57212595e-02 -3.18181619e-04 9.99876363e-01 5.27667750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.02925415399994 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:342.85, Y:3.37, Z:5.28 [[ 9.99268992e-01 -3.48462634e-02 -1.57232432e-02 3.42847704e+02] [ 3.48474736e-02 9.99392623e-01 -1.97084107e-04 3.36541272e+00] [ 1.57205609e-02 -3.50975267e-04 9.99876363e-01 5.27744410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.059254154 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:342.88, Y:3.36, Z:5.28 [[ 9.99142489e-01 -3.83023321e-02 -1.57231919e-02 3.42875755e+02] [ 3.83039067e-02 9.99266116e-01 -2.01099097e-04 3.36239701e+00] [ 1.57193554e-02 -4.01333022e-04 9.99876363e-01 5.27752468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.08925415399995 meters Centerline goodness : 0.997611 Centerline is valid? [True, True] Translation: X:342.90, Y:3.36, Z:5.28 [[ 9.99118656e-01 -3.89190483e-02 -1.57231736e-02 3.42904477e+02] [ 3.89206769e-02 9.99242283e-01 -2.02519805e-04 3.36131367e+00] [ 1.57191417e-02 -4.09615243e-04 9.99876363e-01 5.27687813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.119254154 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:342.93, Y:3.36, Z:5.28 [[ 9.99071430e-01 -4.01133114e-02 -1.57225766e-02 3.42933074e+02] [ 4.01143737e-02 9.99195064e-01 -2.47923652e-04 3.36089916e+00] [ 1.57198660e-02 -3.83007875e-04 9.99876362e-01 5.27826290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.14925415399995 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:342.96, Y:3.36, Z:5.28 [[ 9.99070766e-01 -4.01297263e-02 -1.57229257e-02 3.42963268e+02] [ 4.01312046e-02 9.99194394e-01 -2.21604394e-04 3.35921530e+00] [ 1.57191522e-02 -4.09581478e-04 9.99876363e-01 5.27875170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.179254154 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:342.99, Y:3.36, Z:5.28 [[ 9.99095243e-01 -3.95155658e-02 -1.57230768e-02 3.42991455e+02] [ 3.95171457e-02 9.99218870e-01 -2.10313756e-04 3.35900915e+00] [ 1.57191057e-02 -4.11207642e-04 9.99876363e-01 5.27926388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.20925415399995 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:343.02, Y:3.36, Z:5.28 [[ 9.99135481e-01 -3.84847566e-02 -1.57230654e-02 3.43020184e+02] [ 3.84861956e-02 9.99259110e-01 -2.11162270e-04 3.35829165e+00] [ 1.57195428e-02 -3.94141253e-04 9.99876363e-01 5.27943518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.239254154 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:343.05, Y:3.36, Z:5.28 [[ 9.99187372e-01 -3.71130954e-02 -1.57230511e-02 3.43048967e+02] [ 3.71143480e-02 9.99311003e-01 -2.12219535e-04 3.35915071e+00] [ 1.57200941e-02 -3.71503710e-04 9.99876363e-01 5.28059390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.26925415399995 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:343.08, Y:3.36, Z:5.28 [[ 9.99305927e-01 -3.37705630e-02 -1.57229971e-02 3.43077768e+02] [ 3.37713403e-02 9.99429562e-01 -2.16143346e-04 3.35881965e+00] [ 1.57213274e-02 -3.14993361e-04 9.99876363e-01 5.28041108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.299254154 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:343.11, Y:3.36, Z:5.28 [[ 9.99355659e-01 -3.22654000e-02 -1.57229426e-02 3.43106482e+02] [ 3.22659299e-02 9.99479295e-01 -2.20037991e-04 3.35990049e+00] [ 1.57218552e-02 -2.87419153e-04 9.99876363e-01 5.28098355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.32925415399995 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:343.13, Y:3.36, Z:5.28 [[ 9.99460715e-01 -2.88282976e-02 -1.57228876e-02 3.43134466e+02] [ 2.88283414e-02 9.99584352e-01 -2.23906479e-04 3.35991820e+00] [ 1.57228072e-02 -2.29479040e-04 9.99876363e-01 5.28033610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.359254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.16, Y:3.36, Z:5.28 [[ 9.99483107e-01 -2.80412222e-02 -1.57228679e-02 3.43162156e+02] [ 2.80411471e-02 9.99606744e-01 -2.25274849e-04 3.36096247e+00] [ 1.57230018e-02 -2.15728848e-04 9.99876363e-01 5.28088942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.38925415399996 meters Centerline goodness : 0.999708 Centerline is valid? [True, True] Translation: X:343.19, Y:3.36, Z:5.28 [[ 9.99495319e-01 -2.76025639e-02 -1.57228029e-02 3.43189836e+02] [ 2.76023645e-02 9.99618956e-01 -2.29728123e-04 3.36040568e+00] [ 1.57231529e-02 -2.04374353e-04 9.99876363e-01 5.28049083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.41925415399993 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:343.22, Y:3.36, Z:5.28 [[ 9.99473555e-01 -2.83797116e-02 -1.57227367e-02 3.43217184e+02] [ 2.83795385e-02 9.99597192e-01 -2.34169366e-04 3.36029877e+00] [ 1.57230492e-02 -2.12157923e-04 9.99876363e-01 5.27999629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.44925415399996 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:343.25, Y:3.36, Z:5.28 [[ 9.99443653e-01 -2.94139492e-02 -1.57227162e-02 3.43245409e+02] [ 2.94138825e-02 9.99567290e-01 -2.35543203e-04 3.36059521e+00] [ 1.57228410e-02 -2.27053966e-04 9.99876363e-01 5.28062737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.47925415399993 meters Centerline goodness : 0.999813 Centerline is valid? [True, True] Translation: X:343.27, Y:3.36, Z:5.28 [[ 9.99404248e-01 -3.07237107e-02 -1.57226495e-02 3.43272648e+02] [ 3.07237373e-02 9.99527886e-01 -2.39912145e-04 3.35951817e+00] [ 1.57225976e-02 -2.43289335e-04 9.99876363e-01 5.28043262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.50925415399996 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:343.30, Y:3.36, Z:5.28 [[ 9.99234285e-01 -3.58279816e-02 -1.57226031e-02 3.43301637e+02] [ 3.58285924e-02 9.99357920e-01 -2.42915374e-04 3.36015243e+00] [ 1.57212111e-02 -3.20589368e-04 9.99876363e-01 5.28236258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.53925415399993 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:343.33, Y:3.36, Z:5.28 [[ 9.99149217e-01 -3.81268696e-02 -1.57220619e-02 3.43330910e+02] [ 3.81272233e-02 9.99272855e-01 -2.77353440e-04 3.35856156e+00] [ 1.57212043e-02 -3.22321092e-04 9.99876362e-01 5.28282373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.56925415399996 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:343.36, Y:3.36, Z:5.28 [[ 9.99032684e-01 -4.10669859e-02 -1.57225353e-02 3.43359276e+02] [ 4.10681768e-02 9.99156316e-01 -2.47249624e-04 3.35749771e+00] [ 1.57194243e-02 -3.98685405e-04 9.99876363e-01 5.28388663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.59925415399994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.39, Y:3.36, Z:5.28 [[ 9.98682499e-01 -4.88474086e-02 -1.57224720e-02 3.43388034e+02] [ 4.88495001e-02 9.98806119e-01 -2.51213806e-04 3.35874191e+00] [ 1.57159724e-02 -5.17152066e-04 9.99876363e-01 5.28447404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.62925415399997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.42, Y:3.36, Z:5.29 [[ 9.98611368e-01 -5.02809016e-02 -1.57215044e-02 3.43419127e+02] [ 5.02822310e-02 9.98735000e-01 -3.10962151e-04 3.35640144e+00] [ 1.57172522e-02 -4.79981976e-04 9.99876361e-01 5.28658677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.65925415399994 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:343.45, Y:3.36, Z:5.29 [[ 9.98463772e-01 -5.31309743e-02 -1.57224281e-02 3.43449147e+02] [ 5.31335566e-02 9.98587383e-01 -2.53726015e-04 3.35554239e+00] [ 1.57136990e-02 -5.82052289e-04 9.99876363e-01 5.28610210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.68925415399997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.48, Y:3.36, Z:5.29 [[ 9.98382302e-01 -5.46404974e-02 -1.57224236e-02 3.43479317e+02] [ 5.46432622e-02 9.98505909e-01 -2.54006530e-04 3.35506925e+00] [ 1.57128119e-02 -6.05528888e-04 9.99876363e-01 5.28659895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.71925415399994 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:343.51, Y:3.36, Z:5.29 [[ 9.98118239e-01 -5.92686811e-02 -1.57227241e-02 3.43508339e+02] [ 5.92723090e-02 9.98241823e-01 -2.35552959e-04 3.35585468e+00] [ 1.57090417e-02 -6.96812459e-04 9.99876363e-01 5.28556227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.74925415399997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.54, Y:3.35, Z:5.29 [[ 9.98192201e-01 -5.80098112e-02 -1.57223610e-02 3.43539903e+02] [ 5.80129350e-02 9.98315798e-01 -2.57704944e-04 3.35390365e+00] [ 1.57108308e-02 -6.54861244e-04 9.99876363e-01 5.28731543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.77925415399994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.57, Y:3.36, Z:5.29 [[ 9.98027925e-01 -6.07698693e-02 -1.57252356e-02 3.43566511e+02] [ 6.07760985e-02 9.98151421e-01 -8.19012977e-05 3.35838398e+00] [ 1.57011434e-02 -8.73978688e-04 9.99876347e-01 5.28870517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.809254154 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:343.60, Y:3.36, Z:5.29 [[ 9.98161701e-01 -5.85322947e-02 -1.57222671e-02 3.43598937e+02] [ 5.85354337e-02 9.98285297e-01 -2.60845610e-04 3.35675492e+00] [ 1.57105759e-02 -6.59943624e-04 9.99876363e-01 5.28845833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.83925415399995 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:343.63, Y:3.36, Z:5.29 [[ 9.98066955e-01 -6.01254672e-02 -1.57252025e-02 3.43625612e+02] [ 6.01315873e-02 9.98190455e-01 -8.37686332e-05 3.36128081e+00] [ 1.57017837e-02 -8.61974685e-04 9.99876348e-01 5.29058146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.869254154 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:343.66, Y:3.36, Z:5.29 [[ 9.98148147e-01 -5.87630186e-02 -1.57221067e-02 3.43655595e+02] [ 5.87660980e-02 9.98271744e-01 -2.66453421e-04 3.36433230e+00] [ 1.57105925e-02 -6.57966875e-04 9.99876365e-01 5.28978676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.89925415399995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.69, Y:3.37, Z:5.29 [[ 9.98292077e-01 -5.62649639e-02 -1.57220484e-02 3.43685521e+02] [ 5.62676799e-02 9.98415683e-01 -2.69898084e-04 3.36545452e+00] [ 1.57123255e-02 -6.15206066e-04 9.99876365e-01 5.29084298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.929254154 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:343.72, Y:3.37, Z:5.29 [[ 9.98423482e-01 -5.38828907e-02 -1.57221029e-02 3.43716373e+02] [ 5.38853623e-02 9.98547093e-01 -2.66683476e-04 3.36659623e+00] [ 1.57136298e-02 -5.80928166e-04 9.99876365e-01 5.29022804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.95925415399995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.75, Y:3.37, Z:5.29 [[ 9.98630252e-01 -4.99042576e-02 -1.57221029e-02 3.43746436e+02] [ 4.99062366e-02 9.98753872e-01 -2.66683476e-04 3.37067708e+00] [ 1.57158198e-02 -5.18312800e-04 9.99876365e-01 5.28935913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.989254154 meters Centerline goodness : 0.999834 Centerline is valid? [True, True] Translation: X:343.78, Y:3.37, Z:5.29 [[ 9.98740740e-01 -4.76416777e-02 -1.57227316e-02 3.43775933e+02] [ 4.76439576e-02 9.98864355e-01 -2.29748667e-04 3.37260971e+00] [ 1.57158218e-02 -5.19633803e-04 9.99876364e-01 5.29038738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.01925415399995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:343.80, Y:3.37, Z:5.29 [[ 9.98843398e-01 -4.54387907e-02 -1.57220348e-02 3.43804671e+02] [ 4.54401604e-02 9.98967026e-01 -2.70281788e-04 3.37427465e+00] [ 1.57180756e-02 -4.44442603e-04 9.99876365e-01 5.29059511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.049254154 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:343.83, Y:3.38, Z:5.29 [[ 9.98935003e-01 -4.33783075e-02 -1.57220206e-02 3.43834180e+02] [ 4.33794092e-02 9.99058634e-01 -2.71104589e-04 3.37575460e+00] [ 1.57189805e-02 -4.11196102e-04 9.99876365e-01 5.29070324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.07925415399995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:343.86, Y:3.38, Z:5.29 [[ 9.98933498e-01 -4.34129623e-02 -1.57220112e-02 3.43864329e+02] [ 4.34140597e-02 9.99057128e-01 -2.71650169e-04 3.37630783e+00] [ 1.57189805e-02 -4.11195879e-04 9.99876365e-01 5.29117754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.109254154 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:343.89, Y:3.38, Z:5.29 [[ 9.99055589e-01 -4.05061668e-02 -1.57220017e-02 3.43893578e+02] [ 4.05068959e-02 9.99179222e-01 -2.72195526e-04 3.37879973e+00] [ 1.57201231e-02 -3.64911027e-04 9.99876365e-01 5.29272411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.13925415399996 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:343.92, Y:3.38, Z:5.29 [[ 9.99078321e-01 -3.99415592e-02 -1.57219917e-02 3.43923270e+02] [ 3.99422094e-02 9.99201954e-01 -2.72771401e-04 3.38049001e+00] [ 1.57203398e-02 -3.55451093e-04 9.99876365e-01 5.29330344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.16925415399993 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:343.95, Y:3.38, Z:5.29 [[ 9.99067655e-01 -4.02074605e-02 -1.57219817e-02 3.43951510e+02] [ 4.02081346e-02 9.99191289e-01 -2.73347773e-04 3.38308984e+00] [ 1.57202578e-02 -3.59058638e-04 9.99876365e-01 5.29391451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.19925415399996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:343.98, Y:3.38, Z:5.29 [[ 9.99045035e-01 -4.07656419e-02 -1.57219668e-02 3.43980991e+02] [ 4.07663715e-02 9.99168668e-01 -2.74204102e-04 3.38412482e+00] [ 1.57200747e-02 -3.66985292e-04 9.99876365e-01 5.29435843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.22925415399993 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:344.01, Y:3.39, Z:5.30 [[ 9.99014395e-01 -4.15097421e-02 -1.57219570e-02 3.44010419e+02] [ 4.15105550e-02 9.99138028e-01 -2.74764593e-04 3.38506262e+00] [ 1.57198105e-02 -3.78133376e-04 9.99876365e-01 5.29546082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.25925415399996 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:344.04, Y:3.39, Z:5.29 [[ 9.98769370e-01 -4.70379195e-02 -1.57219468e-02 3.44037988e+02] [ 4.70394075e-02 9.98892996e-01 -2.75343707e-04 3.38942390e+00] [ 1.57174942e-02 -4.64546203e-04 9.99876365e-01 5.29481769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.28925415399993 meters Centerline goodness : 0.999792 Centerline is valid? [True, True] Translation: X:344.07, Y:3.39, Z:5.30 [[ 9.98867429e-01 -4.49082039e-02 -1.57198328e-02 3.44069593e+02] [ 4.49075617e-02 9.98991069e-01 -3.94016959e-04 3.38743068e+00] [ 1.57216672e-02 -3.12368655e-04 9.99876358e-01 5.29621564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.31925415399996 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:344.10, Y:3.39, Z:5.30 [[ 9.98812289e-01 -4.61176051e-02 -1.57218859e-02 3.44099729e+02] [ 4.61189397e-02 9.98935917e-01 -2.77854313e-04 3.38856452e+00] [ 1.57179704e-02 -4.47552404e-04 9.99876365e-01 5.29697949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.34925415399994 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:344.13, Y:3.39, Z:5.30 [[ 9.98678434e-01 -4.89306437e-02 -1.57218859e-02 3.44129181e+02] [ 4.89323266e-02 9.98802058e-01 -2.77854313e-04 3.38989603e+00] [ 1.57166475e-02 -4.91821343e-04 9.99876365e-01 5.29649224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.37925415399997 meters Centerline goodness : 0.999792 Centerline is valid? [True, True] Translation: X:344.16, Y:3.39, Z:5.30 [[ 9.98594516e-01 -5.06143749e-02 -1.57218808e-02 3.44159323e+02] [ 5.06162616e-02 9.98718137e-01 -2.78140919e-04 3.39091638e+00] [ 1.57158054e-02 -5.18032835e-04 9.99876365e-01 5.29793377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.40925415399994 meters Centerline goodness : 0.999729 Centerline is valid? [True, True] Translation: X:344.19, Y:3.39, Z:5.30 [[ 9.98492173e-01 -5.25947048e-02 -1.57218808e-02 3.44189474e+02] [ 5.25968367e-02 9.98615790e-01 -2.78140919e-04 3.39208981e+00] [ 1.57147471e-02 -5.49199666e-04 9.99876365e-01 5.29878581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.43925415399997 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:344.21, Y:3.40, Z:5.29 [[ 9.98091552e-01 -5.97166261e-02 -1.57218808e-02 3.44213157e+02] [ 5.97196398e-02 9.98215151e-01 -2.78140919e-04 3.39792076e+00] [ 1.57104292e-02 -6.61294957e-04 9.99876365e-01 5.29490399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.46925415399994 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:344.25, Y:3.39, Z:5.30 [[ 9.98215198e-01 -5.76140239e-02 -1.57175774e-02 3.44248848e+02] [ 5.76129490e-02 9.98338858e-01 -5.21550756e-04 3.39385270e+00] [ 1.57215170e-02 -3.84916096e-04 9.99876335e-01 5.30078994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.49925415399997 meters Centerline goodness : 0.999708 Centerline is valid? [True, True] Translation: X:344.28, Y:3.39, Z:5.30 [[ 9.98177999e-01 -5.82537895e-02 -1.57218978e-02 3.44279893e+02] [ 5.82567482e-02 9.98301597e-01 -2.70114554e-04 3.39432095e+00] [ 1.57109309e-02 -6.46284236e-04 9.99876367e-01 5.30080169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.52925415399994 meters Centerline goodness : 0.999687 Centerline is valid? [True, True] Translation: X:344.31, Y:3.40, Z:5.30 [[ 9.98146572e-01 -5.87898151e-02 -1.57219076e-02 3.44310510e+02] [ 5.87928492e-02 9.98270168e-01 -2.69543135e-04 3.39763319e+00] [ 1.57105577e-02 -6.55292186e-04 9.99876367e-01 5.30209393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.559254154 meters Centerline goodness : 0.999729 Centerline is valid? [True, True] Translation: X:344.34, Y:3.40, Z:5.30 [[ 9.98179296e-01 -5.82315536e-02 -1.57219125e-02 3.44342304e+02] [ 5.82345230e-02 9.98302894e-01 -2.69259709e-04 3.39919047e+00] [ 1.57109101e-02 -6.46788606e-04 9.99876367e-01 5.30271691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.58925415399995 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:344.37, Y:3.40, Z:5.30 [[ 9.98342352e-01 -5.53657857e-02 -1.57219220e-02 3.44373047e+02] [ 5.53684090e-02 9.98465957e-01 -2.68703958e-04 3.39860439e+00] [ 1.57126809e-02 -6.02239264e-04 9.99876367e-01 5.30262184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.619254154 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:344.40, Y:3.40, Z:5.30 [[ 9.98421094e-01 -5.39266487e-02 -1.57237276e-02 3.44401412e+02] [ 5.39307637e-02 9.98544664e-01 -1.62506163e-04 3.40353981e+00] [ 1.57096077e-02 -6.85743058e-04 9.99876361e-01 5.30195385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.64925415399995 meters Centerline goodness : 0.999730 Centerline is valid? [True, True] Translation: X:344.43, Y:3.41, Z:5.30 [[ 9.98503892e-01 -5.23717417e-02 -1.57218867e-02 3.44432718e+02] [ 5.23739773e-02 9.98627505e-01 -2.69791182e-04 3.40577481e+00] [ 1.57144379e-02 -5.54030189e-04 9.99876367e-01 5.30268626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.679254154 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:344.46, Y:3.41, Z:5.30 [[ 9.98675725e-01 -4.89858912e-02 -1.57218960e-02 3.44463793e+02] [ 4.89877162e-02 9.98799345e-01 -2.69248396e-04 3.40947267e+00] [ 1.57162088e-02 -5.01287939e-04 9.99876367e-01 5.30256226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.70925415399995 meters Centerline goodness : 0.999646 Centerline is valid? [True, True] Translation: X:344.49, Y:3.41, Z:5.30 [[ 9.98754605e-01 -4.73504003e-02 -1.57219057e-02 3.44494433e+02] [ 4.73520318e-02 9.98878227e-01 -2.68680916e-04 3.41166544e+00] [ 1.57169914e-02 -4.76117874e-04 9.99876367e-01 5.30249039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.739254154 meters Centerline goodness : 0.999562 Centerline is valid? [True, True] Translation: X:344.53, Y:3.41, Z:5.30 [[ 9.98820663e-01 -4.59358739e-02 -1.57219057e-02 3.44525016e+02] [ 4.59373303e-02 9.98944287e-01 -2.68680916e-04 3.41346322e+00] [ 1.57176499e-02 -4.53858322e-04 9.99876367e-01 5.30266364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.76925415399995 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:344.56, Y:3.41, Z:5.30 [[ 9.98877311e-01 -4.46871293e-02 -1.57219057e-02 3.44555402e+02] [ 4.46884311e-02 9.99000937e-01 -2.68680916e-04 3.41486289e+00] [ 1.57182051e-02 -4.34208027e-04 9.99876367e-01 5.30287021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.799254154 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:344.59, Y:3.42, Z:5.30 [[ 9.98972515e-01 -4.25057191e-02 -1.57219057e-02 3.44585770e+02] [ 4.25067509e-02 9.99096144e-01 -2.68680916e-04 3.41647476e+00] [ 1.57191158e-02 -3.99882277e-04 9.99876367e-01 5.30267891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.82925415399995 meters Centerline goodness : 0.999520 Centerline is valid? [True, True] Translation: X:344.62, Y:3.42, Z:5.30 [[ 9.98997357e-01 -4.19177985e-02 -1.57219057e-02 3.44615554e+02] [ 4.19187575e-02 9.99120986e-01 -2.68680916e-04 3.41812909e+00] [ 1.57193484e-02 -3.90631225e-04 9.99876367e-01 5.30305464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.859254154 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:344.65, Y:3.42, Z:5.30 [[ 9.99050719e-01 -4.06261229e-02 -1.57219008e-02 3.44645979e+02] [ 4.06269177e-02 9.99174350e-01 -2.68965691e-04 3.42043530e+00] [ 1.57198470e-02 -3.70022002e-04 9.99876367e-01 5.30304259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.88925415399996 meters Centerline goodness : 0.999644 Centerline is valid? [True, True] Translation: X:344.68, Y:3.42, Z:5.30 [[ 9.99071564e-01 -4.01102578e-02 -1.57219008e-02 3.44676406e+02] [ 4.01109887e-02 9.99195194e-01 -2.68965691e-04 3.42262277e+00] [ 1.57200360e-02 -3.61905012e-04 9.99876367e-01 5.30407857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.91925415399993 meters Centerline goodness : 0.999477 Centerline is valid? [True, True] Translation: X:344.71, Y:3.42, Z:5.30 [[ 9.99100826e-01 -3.93746224e-02 -1.57219058e-02 3.44707365e+02] [ 3.93752668e-02 9.99224457e-01 -2.68674934e-04 3.42422022e+00] [ 1.57202917e-02 -3.50620885e-04 9.99876367e-01 5.30497537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.94925415399996 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:344.74, Y:3.43, Z:5.31 [[ 9.99136860e-01 -3.84493981e-02 -1.57219058e-02 3.44737688e+02] [ 3.84499281e-02 9.99260492e-01 -2.68674934e-04 3.42533519e+00] [ 1.57206097e-02 -3.36063115e-04 9.99876367e-01 5.30514338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.97925415399993 meters Centerline goodness : 0.999477 Centerline is valid? [True, True] Translation: X:344.77, Y:3.43, Z:5.31 [[ 9.99160226e-01 -3.78373501e-02 -1.57219058e-02 3.44767667e+02] [ 3.78378043e-02 9.99283858e-01 -2.68674934e-04 3.42687176e+00] [ 1.57208126e-02 -3.26433085e-04 9.99876367e-01 5.30611153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.00925415399996 meters Centerline goodness : 0.999456 Centerline is valid? [True, True] Translation: X:344.80, Y:3.43, Z:5.31 [[ 9.99165984e-01 -3.76849918e-02 -1.57219058e-02 3.44797435e+02] [ 3.76854272e-02 9.99289616e-01 -2.68674934e-04 3.42756470e+00] [ 1.57208622e-02 -3.24035880e-04 9.99876367e-01 5.30603077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.03925415399993 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:344.83, Y:3.43, Z:5.31 [[ 9.99142457e-01 -3.83036968e-02 -1.57219009e-02 3.44827116e+02] [ 3.83042042e-02 9.99266089e-01 -2.68959981e-04 3.42927832e+00] [ 1.57206646e-02 -3.33485565e-04 9.99876367e-01 5.30817166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.06925415399996 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:344.86, Y:3.43, Z:5.31 [[ 9.99107809e-01 -3.91971627e-02 -1.57216020e-02 3.44856453e+02] [ 3.91975078e-02 9.99231441e-01 -2.86313533e-04 3.43029633e+00] [ 1.57207417e-02 -3.30189528e-04 9.99876367e-01 5.30816733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.09925415399994 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:344.89, Y:3.43, Z:5.31 [[ 9.99059728e-01 -4.04039979e-02 -1.57218411e-02 3.44885898e+02] [ 4.04047093e-02 9.99183359e-01 -2.72515182e-04 3.43091725e+00] [ 1.57200127e-02 -3.62977477e-04 9.99876367e-01 5.30778946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.12925415399997 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:344.92, Y:3.43, Z:5.31 [[ 9.99018246e-01 -4.14170015e-02 -1.57218362e-02 3.44916256e+02] [ 4.14178338e-02 9.99141876e-01 -2.72799805e-04 3.43229087e+00] [ 1.57196435e-02 -3.78632415e-04 9.99876367e-01 5.31032516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.15925415399994 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:344.95, Y:3.43, Z:5.31 [[ 9.98975273e-01 -4.24408736e-02 -1.57218362e-02 3.44947088e+02] [ 4.24418326e-02 9.99098902e-01 -2.72799805e-04 3.43288138e+00] [ 1.57192471e-02 -3.94743280e-04 9.99876367e-01 5.31054725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.18925415399997 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:344.98, Y:3.43, Z:5.31 [[ 9.98985482e-01 -4.21998849e-02 -1.57218362e-02 3.44978557e+02] [ 4.22008140e-02 9.99109112e-01 -2.72799805e-04 3.43325948e+00] [ 1.57193419e-02 -3.90951241e-04 9.99876367e-01 5.31070117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.21925415399994 meters Centerline goodness : 0.999500 Centerline is valid? [True, True] Translation: X:345.01, Y:3.43, Z:5.31 [[ 9.99005106e-01 -4.17327536e-02 -1.57218461e-02 3.45010059e+02] [ 4.17336340e-02 9.99128735e-01 -2.72225445e-04 3.43389572e+00] [ 1.57195090e-02 -3.84175164e-04 9.99876367e-01 5.31101344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.24925415399997 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:345.04, Y:3.43, Z:5.31 [[ 9.99086659e-01 -3.97324958e-02 -1.57218562e-02 3.45039074e+02] [ 3.97331378e-02 9.99210290e-01 -2.71643272e-04 3.43470939e+00] [ 1.57202336e-02 -3.53283511e-04 9.99876367e-01 5.31004141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.27925415399994 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:345.07, Y:3.44, Z:5.31 [[ 9.99120078e-01 -3.88830830e-02 -1.57218512e-02 3.45069464e+02] [ 3.88836153e-02 9.99243709e-01 -2.71931636e-04 3.43603844e+00] [ 1.57205345e-02 -3.39630057e-04 9.99876367e-01 5.31100945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.309254154 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:345.10, Y:3.44, Z:5.31 [[ 9.99157877e-01 -3.78993490e-02 -1.57218512e-02 3.45099568e+02] [ 3.78997596e-02 9.99281509e-01 -2.71931636e-04 3.43667435e+00] [ 1.57208612e-02 -3.24151746e-04 9.99876367e-01 5.31153535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.33925415399995 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:345.13, Y:3.44, Z:5.31 [[ 9.99223477e-01 -3.61284808e-02 -1.57218512e-02 3.45129506e+02] [ 3.61286724e-02 9.99347109e-01 -2.71931636e-04 3.43583501e+00] [ 1.57214110e-02 -2.96289136e-04 9.99876367e-01 5.31045203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.369254154 meters Centerline goodness : 0.999477 Centerline is valid? [True, True] Translation: X:345.16, Y:3.44, Z:5.31 [[ 9.99233965e-01 -3.58372249e-02 -1.57218462e-02 3.45158754e+02] [ 3.58373758e-02 9.99357598e-01 -2.72218794e-04 3.43599583e+00] [ 1.57215021e-02 -2.91419448e-04 9.99876367e-01 5.31098331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.39925415399995 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:345.19, Y:3.44, Z:5.31 [[ 9.99214701e-01 -3.63703787e-02 -1.57218362e-02 3.45187804e+02] [ 3.63705866e-02 9.99338334e-01 -2.72796029e-04 3.43697020e+00] [ 1.57213553e-02 -2.99230602e-04 9.99876367e-01 5.31197063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.429254154 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:345.22, Y:3.44, Z:5.31 [[ 9.99190953e-01 -3.70170769e-02 -1.57218312e-02 3.45217459e+02] [ 3.70173603e-02 9.99314585e-01 -2.73082265e-04 3.43684404e+00] [ 1.57211640e-02 -3.09119364e-04 9.99876367e-01 5.31256077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.45925415399995 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:345.25, Y:3.44, Z:5.31 [[ 9.99156088e-01 -3.79464999e-02 -1.57218214e-02 3.45247322e+02] [ 3.79468894e-02 9.99279720e-01 -2.73649164e-04 3.43669351e+00] [ 1.57208813e-02 -3.23175989e-04 9.99876367e-01 5.31324513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.489254154 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:345.28, Y:3.44, Z:5.31 [[ 9.99102569e-01 -3.93304115e-02 -1.57218115e-02 3.45277813e+02] [ 3.93309633e-02 9.99226201e-01 -2.74215823e-04 3.43623779e+00] [ 1.57204310e-02 -3.44384258e-04 9.99876367e-01 5.31357629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.51925415399995 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:345.31, Y:3.44, Z:5.31 [[ 9.99038288e-01 -4.09307136e-02 -1.57218115e-02 3.45307526e+02] [ 4.09314634e-02 9.99161919e-01 -2.74215823e-04 3.43575098e+00] [ 1.57198592e-02 -3.69564646e-04 9.99876367e-01 5.31371954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.549254154 meters Centerline goodness : 0.999645 Centerline is valid? [True, True] Translation: X:345.34, Y:3.43, Z:5.31 [[ 9.98850359e-01 -4.52856058e-02 -1.57218066e-02 3.45337728e+02] [ 4.52868902e-02 9.98973985e-01 -2.74495564e-04 3.43425656e+00] [ 1.57181065e-02 -4.37811738e-04 9.99876367e-01 5.31407270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.57925415399995 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:345.36, Y:3.44, Z:5.32 [[ 9.98458139e-01 -5.32369134e-02 -1.57218066e-02 3.45363060e+02] [ 5.32391821e-02 9.98581751e-01 -2.74495564e-04 3.43947176e+00] [ 1.57141225e-02 -5.62943795e-04 9.99876367e-01 5.31680965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.609254154 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:345.40, Y:3.43, Z:5.32 [[ 9.98467997e-01 -5.30528983e-02 -1.57177831e-02 3.45397815e+02] [ 5.30515819e-02 9.98591648e-01 -5.00982748e-04 3.43299325e+00] [ 1.57222255e-02 -3.33638014e-04 9.99876343e-01 5.31568580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.63925415399996 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:345.43, Y:3.43, Z:5.32 [[ 9.98334161e-01 -5.55133217e-02 -1.57217431e-02 3.45428755e+02] [ 5.55159004e-02 9.98457766e-01 -2.72694426e-04 3.43265041e+00] [ 1.57126347e-02 -6.00566566e-04 9.99876369e-01 5.31571073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.66925415399993 meters Centerline goodness : 0.998162 Centerline is valid? [True, True] Translation: X:345.46, Y:3.43, Z:5.32 [[ 9.98138436e-01 -5.89278327e-02 -1.57217526e-02 3.45459566e+02] [ 5.89308428e-02 9.98262031e-01 -2.72147595e-04 3.43333615e+00] [ 1.57104658e-02 -6.54855157e-04 9.99876369e-01 5.31514821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.69925415399996 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:345.49, Y:3.43, Z:5.32 [[ 9.97968233e-01 -6.17432790e-02 -1.57217581e-02 3.45490123e+02] [ 6.17466427e-02 9.98091819e-01 -2.71832621e-04 3.43159874e+00] [ 1.57085419e-02 -6.99485458e-04 9.99876369e-01 5.31641686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.72925415399993 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] Translation: X:345.52, Y:3.43, Z:5.32 [[ 9.97866800e-01 -6.33614712e-02 -1.57217635e-02 3.45521847e+02] [ 6.33650402e-02 9.97990380e-01 -2.71517371e-04 3.43193875e+00] [ 1.57073725e-02 -7.25272007e-04 9.99876369e-01 5.31693822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.75925415399996 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:345.55, Y:3.43, Z:5.32 [[ 9.97712782e-01 -6.57421558e-02 -1.57217727e-02 3.45553116e+02] [ 6.57460281e-02 9.97836353e-01 -2.70986279e-04 3.43197897e+00] [ 1.57055715e-02 -7.63277632e-04 9.99876369e-01 5.31852218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.78925415399993 meters Centerline goodness : 0.999645 Centerline is valid? [True, True] Translation: X:345.58, Y:3.43, Z:5.32 [[ 9.97631947e-01 -6.69576301e-02 -1.57217825e-02 3.45584856e+02] [ 6.69616619e-02 9.97755513e-01 -2.70412781e-04 3.43272569e+00] [ 1.57046014e-02 -7.82984256e-04 9.99876369e-01 5.31929287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.81925415399996 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:345.62, Y:3.43, Z:5.32 [[ 9.97591477e-01 -6.75579015e-02 -1.57218025e-02 3.45616853e+02] [ 6.75620260e-02 9.97715040e-01 -2.69245529e-04 3.43305220e+00] [ 1.57040685e-02 -7.93599785e-04 9.99876369e-01 5.31879464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.84925415399994 meters Centerline goodness : 0.999584 Centerline is valid? [True, True] Translation: X:345.65, Y:3.44, Z:5.32 [[ 9.97520728e-01 -6.85946183e-02 -1.57218223e-02 3.45648895e+02] [ 6.85988895e-02 9.97644286e-01 -2.68084225e-04 3.43535529e+00] [ 1.57031753e-02 -8.11079980e-04 9.99876369e-01 5.32067802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.87925415399997 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:345.68, Y:3.44, Z:5.32 [[ 9.97458630e-01 -6.94917691e-02 -1.57218420e-02 3.45679633e+02] [ 6.94961696e-02 9.97582183e-01 -2.66926817e-04 3.43749529e+00] [ 1.57023786e-02 -8.26359339e-04 9.99876369e-01 5.32080776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.90925415399994 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:345.71, Y:3.44, Z:5.32 [[ 9.97480132e-01 -6.91824341e-02 -1.57218565e-02 3.45712250e+02] [ 6.91868098e-02 9.97603686e-01 -2.66064756e-04 3.43795468e+00] [ 1.57025891e-02 -8.22350791e-04 9.99876369e-01 5.32018858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.93925415399997 meters Centerline goodness : 0.999584 Centerline is valid? [True, True] Translation: X:345.74, Y:3.44, Z:5.32 [[ 9.97256934e-01 -7.23286206e-02 -1.57218758e-02 3.45740847e+02] [ 7.23334040e-02 9.97380473e-01 -2.64923391e-04 3.44347546e+00] [ 1.56998535e-02 -8.73020104e-04 9.99876369e-01 5.31957025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.96925415399994 meters Centerline goodness : 0.999584 Centerline is valid? [True, True] Translation: X:345.77, Y:3.44, Z:5.32 [[ 9.97268534e-01 -7.21688268e-02 -1.57204036e-02 3.45772539e+02] [ 7.21722286e-02 9.97392122e-01 -3.51560375e-04 3.44393589e+00] [ 1.57047785e-02 -7.83976466e-04 9.99876365e-01 5.32008605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.99925415399997 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:345.80, Y:3.44, Z:5.32 [[ 9.97533783e-01 -6.84048346e-02 -1.57204116e-02 3.45804352e+02] [ 6.84077774e-02 9.97657382e-01 -3.51091974e-04 3.44393990e+00] [ 1.57076010e-02 -7.25172310e-04 9.99876365e-01 5.32254342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.02925415399994 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:345.84, Y:3.45, Z:5.32 [[ 9.97571684e-01 -6.78495203e-02 -1.57219004e-02 3.45836452e+02] [ 6.78538007e-02 9.97695241e-01 -2.61624971e-04 3.44574917e+00] [ 1.57034164e-02 -8.05801036e-04 9.99876369e-01 5.32309891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.059254154 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:345.87, Y:3.45, Z:5.33 [[ 9.97606452e-01 -6.73363747e-02 -1.57219188e-02 3.45868129e+02] [ 6.73406090e-02 9.97730011e-01 -2.60513818e-04 3.44957227e+00] [ 1.57037723e-02 -7.98833324e-04 9.99876369e-01 5.32508561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.08925415399995 meters Centerline goodness : 0.994560 Centerline is valid? [True, True] Translation: X:345.90, Y:3.45, Z:5.32 [[ 9.97539424e-01 -6.83221623e-02 -1.57219378e-02 3.45898939e+02] [ 6.83265368e-02 9.97662978e-01 -2.59361758e-04 3.45266561e+00] [ 1.57029155e-02 -8.15501986e-04 9.99876369e-01 5.31989907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.119254154 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:345.93, Y:3.45, Z:5.33 [[ 9.97631822e-01 -6.69594651e-02 -1.57218676e-02 3.45929178e+02] [ 6.69636038e-02 9.97755384e-01 -2.63628281e-04 3.45305350e+00] [ 1.57042304e-02 -7.89788947e-04 9.99876369e-01 5.32629372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.14925415399995 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:345.96, Y:3.45, Z:5.32 [[ 9.97626082e-01 -6.70449080e-02 -1.57219687e-02 3.45959929e+02] [ 6.70491545e-02 9.97749640e-01 -2.57448458e-04 3.45467421e+00] [ 1.57038493e-02 -7.97307414e-04 9.99876369e-01 5.32467713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.179254154 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:345.99, Y:3.46, Z:5.33 [[ 9.97699397e-01 -6.59449153e-02 -1.57219829e-02 3.45991873e+02] [ 6.59490391e-02 9.97822959e-01 -2.56582764e-04 3.45783963e+00] [ 1.57046758e-02 -7.80857194e-04 9.99876369e-01 5.32652173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.20925415399995 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:346.02, Y:3.46, Z:5.33 [[ 9.97764671e-01 -6.49498254e-02 -1.57220017e-02 3.46022686e+02] [ 6.49538441e-02 9.97888237e-01 -2.55426969e-04 3.46046833e+00] [ 1.57053904e-02 -7.66348439e-04 9.99876369e-01 5.32534014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.239254154 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:346.05, Y:3.46, Z:5.33 [[ 9.97841468e-01 -6.37591006e-02 -1.57220156e-02 3.46054763e+02] [ 6.37629854e-02 9.97965038e-01 -2.54566101e-04 3.46328205e+00] [ 1.57062528e-02 -7.48466038e-04 9.99876369e-01 5.32828701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.26925415399995 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:346.09, Y:3.47, Z:5.33 [[ 9.98040673e-01 -6.05609906e-02 -1.57220340e-02 3.46087243e+02] [ 6.05644973e-02 9.98164254e-01 -2.53421425e-04 3.46756369e+00] [ 1.57085198e-02 -6.99272199e-04 9.99876369e-01 5.33002552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.299254154 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:346.12, Y:3.47, Z:5.33 [[ 9.98164325e-01 -5.84875777e-02 -1.57220525e-02 3.46119853e+02] [ 5.84908459e-02 9.98287913e-01 -2.52268367e-04 3.46971330e+00] [ 1.57098896e-02 -6.67790869e-04 9.99876369e-01 5.33088148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.32925415399995 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:346.15, Y:3.47, Z:5.33 [[ 9.98424357e-01 -5.38666865e-02 -1.57220709e-02 3.46151749e+02] [ 5.38694006e-02 9.98547958e-01 -2.51118528e-04 3.47289074e+00] [ 1.57127687e-02 -5.96215682e-04 9.99876369e-01 5.33125054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.359254154 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:346.18, Y:3.47, Z:5.33 [[ 9.98561229e-01 -5.12668237e-02 -1.57220895e-02 3.46182570e+02] [ 5.12692344e-02 9.98684837e-01 -2.49948955e-04 3.47486408e+00] [ 1.57142265e-02 -5.56470156e-04 9.99876369e-01 5.33113961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.38925415399996 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:346.21, Y:3.48, Z:5.33 [[ 9.98697263e-01 -4.85447487e-02 -1.57221033e-02 3.46214008e+02] [ 4.85468362e-02 9.98820876e-01 -2.49077897e-04 3.47680934e+00] [ 1.57156564e-02 -5.14504960e-04 9.99876369e-01 5.33116971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.41925415399993 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:346.25, Y:3.48, Z:5.33 [[ 9.98939559e-01 -4.32732354e-02 -1.57221124e-02 3.46245350e+02] [ 4.32746795e-02 9.99063181e-01 -2.48504327e-04 3.48171137e+00] [ 1.57181372e-02 -4.32128570e-04 9.99876369e-01 5.33150479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.44925415399996 meters Centerline goodness : 0.999292 Centerline is valid? [True, True] Translation: X:346.28, Y:3.48, Z:5.33 [[ 9.99060343e-01 -4.03886921e-02 -1.57221259e-02 3.46276132e+02] [ 4.03897927e-02 9.99183969e-01 -2.47647404e-04 3.48398849e+00] [ 1.57192983e-02 -3.87598704e-04 9.99876369e-01 5.33198774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.47925415399993 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:346.31, Y:3.49, Z:5.33 [[ 9.99157941e-01 -3.78975289e-02 -1.57221540e-02 3.46307012e+02] [ 3.78983495e-02 9.99281569e-01 -2.45846562e-04 3.48581488e+00] [ 1.57201757e-02 -3.50204144e-04 9.99876369e-01 5.33237923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.50925415399996 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:346.34, Y:3.49, Z:5.33 [[ 9.99294099e-01 -3.41191675e-02 -1.57221628e-02 3.46337821e+02] [ 3.41195295e-02 9.99417729e-01 -2.45284734e-04 3.48803675e+00] [ 1.57213771e-02 -2.91321210e-04 9.99876369e-01 5.33308211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.53925415399993 meters Centerline goodness : 0.999271 Centerline is valid? [True, True] Translation: X:346.37, Y:3.49, Z:5.33 [[ 9.99334817e-01 -3.29049636e-02 -1.57221628e-02 3.46367776e+02] [ 3.29051754e-02 9.99458448e-01 -2.45284734e-04 3.48884607e+00] [ 1.57217195e-02 -2.72218950e-04 9.99876369e-01 5.33287416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.56925415399996 meters Centerline goodness : 0.999063 Centerline is valid? [True, True] Translation: X:346.40, Y:3.49, Z:5.33 [[ 9.99346197e-01 -3.25575216e-02 -1.57221672e-02 3.46397392e+02] [ 3.25576949e-02 9.99469828e-01 -2.45002498e-04 3.49000985e+00] [ 1.57218084e-02 -2.67035207e-04 9.99876369e-01 5.33318457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.59925415399994 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:346.43, Y:3.49, Z:5.33 [[ 9.99346261e-01 -3.25555611e-02 -1.57221629e-02 3.46428010e+02] [ 3.25557298e-02 9.99469892e-01 -2.45275928e-04 3.49102795e+00] [ 1.57218136e-02 -2.66730907e-04 9.99876369e-01 5.33363071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.62925415399997 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:346.46, Y:3.49, Z:5.33 [[ 9.99277621e-01 -3.45984198e-02 -1.57221629e-02 3.46458375e+02] [ 3.45988413e-02 9.99401251e-01 -2.45275928e-04 3.49247667e+00] [ 1.57212355e-02 -2.98869874e-04 9.99876369e-01 5.33493254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.65925415399994 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:346.49, Y:3.49, Z:5.33 [[ 9.99213553e-01 -3.64017718e-02 -1.57221629e-02 3.46489155e+02] [ 3.64024163e-02 9.99337182e-01 -2.45275928e-04 3.49255331e+00] [ 1.57206705e-02 -3.27241690e-04 9.99876369e-01 5.33398519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.68925415399997 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:346.51, Y:3.50, Z:5.33 [[ 9.98839211e-01 -4.55306995e-02 -1.57221673e-02 3.46513108e+02] [ 4.55324782e-02 9.98962829e-01 -2.44993692e-04 3.49964521e+00] [ 1.57170155e-02 -4.71159935e-04 9.99876369e-01 5.33207817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.71925415399994 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:346.55, Y:3.49, Z:5.33 [[ 9.98866362e-01 -4.49328608e-02 -1.57171731e-02 3.46551294e+02] [ 4.49296175e-02 9.98989998e-01 -5.59579252e-04 3.49295287e+00] [ 1.57264422e-02 -1.47221683e-04 9.99876321e-01 5.33495901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.74925415399997 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:346.58, Y:3.49, Z:5.33 [[ 9.98714802e-01 -4.81825829e-02 -1.57220459e-02 3.46582756e+02] [ 4.81847880e-02 9.98838410e-01 -2.38739936e-04 3.49287530e+00] [ 1.57152864e-02 -5.19130339e-04 9.99876372e-01 5.33498504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.77925415399994 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:346.61, Y:3.49, Z:5.34 [[ 9.98382986e-01 -5.46281041e-02 -1.57220543e-02 3.46613948e+02] [ 5.46311158e-02 9.98506577e-01 -2.38184754e-04 3.49293868e+00] [ 1.57115862e-02 -6.21113762e-04 9.99876372e-01 5.33532069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.809254154 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:346.65, Y:3.49, Z:5.34 [[ 9.98207356e-01 -5.77485197e-02 -1.57220668e-02 3.46646516e+02] [ 5.77519307e-02 9.98330936e-01 -2.37354340e-04 3.49366976e+00] [ 1.57095325e-02 -6.71050864e-04 9.99876372e-01 5.33641347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.83925415399995 meters Centerline goodness : 0.999041 Centerline is valid? [True, True] Translation: X:346.68, Y:3.49, Z:5.34 [[ 9.98114374e-01 -5.93339032e-02 -1.57220833e-02 3.46678403e+02] [ 5.93375277e-02 9.98237949e-01 -2.36259879e-04 3.49410574e+00] [ 1.57083984e-02 -6.97095169e-04 9.99876372e-01 5.33936988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.869254154 meters Centerline goodness : 0.998978 Centerline is valid? [True, True] Translation: X:346.71, Y:3.49, Z:5.34 [[ 9.97882468e-01 -6.31141543e-02 -1.57221016e-02 3.46709666e+02] [ 6.31182661e-02 9.98006027e-01 -2.35032923e-04 3.49487820e+00] [ 1.57055861e-02 -7.57816560e-04 9.99876372e-01 5.33939575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.89925415399995 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:346.74, Y:3.49, Z:5.34 [[ 9.97599170e-01 -6.74441259e-02 -1.57221195e-02 3.46740857e+02] [ 6.74487929e-02 9.97722710e-01 -2.33827924e-04 3.49469712e+00] [ 1.57020860e-02 -8.27171440e-04 9.99876372e-01 5.33953095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.929254154 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:346.77, Y:3.49, Z:5.34 [[ 9.97481693e-01 -6.91598694e-02 -1.57221323e-02 3.46773222e+02] [ 6.91647624e-02 9.97605223e-01 -2.32963435e-04 3.49483277e+00] [ 1.57005931e-02 -8.55040787e-04 9.99876372e-01 5.33973022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.95925415399995 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:346.80, Y:3.50, Z:5.34 [[ 9.97262927e-01 -7.22459004e-02 -1.57220799e-02 3.46804537e+02] [ 7.22511195e-02 9.97386445e-01 -2.36534081e-04 3.49569622e+00] [ 1.56980780e-02 -9.00051204e-04 9.99876372e-01 5.34162469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.989254154 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:346.84, Y:3.50, Z:5.34 [[ 9.97202677e-01 -7.30728028e-02 -1.57221699e-02 3.46836984e+02] [ 7.30782208e-02 9.97326186e-01 -2.30392963e-04 3.49657071e+00] [ 1.56969672e-02 -9.19199724e-04 9.99876373e-01 5.34203709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.01925415399995 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:346.87, Y:3.50, Z:5.34 [[ 9.97156769e-01 -7.36966078e-02 -1.57221865e-02 3.46869272e+02] [ 7.37021210e-02 9.97280274e-01 -2.29251090e-04 3.49764846e+00] [ 1.56963215e-02 -9.30159220e-04 9.99876373e-01 5.34222579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.049254154 meters Centerline goodness : 0.998936 Centerline is valid? [True, True] Translation: X:346.90, Y:3.50, Z:5.34 [[ 9.97074725e-01 -7.47984267e-02 -1.57222272e-02 3.46901942e+02] [ 7.48041207e-02 9.97198221e-01 -2.26430509e-04 3.50001612e+00] [ 1.56951136e-02 -9.50319241e-04 9.99876373e-01 5.34258716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.07925415399995 meters Centerline goodness : 0.998981 Centerline is valid? [True, True] Translation: X:346.93, Y:3.50, Z:5.34 [[ 9.97059415e-01 -7.50022264e-02 -1.57222513e-02 3.46933615e+02] [ 7.50079722e-02 9.97182909e-01 -2.24742942e-04 3.50142982e+00] [ 1.56948165e-02 -9.55212121e-04 9.99876373e-01 5.34270973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.109254154 meters Centerline goodness : 0.998918 Centerline is valid? [True, True] Translation: X:346.97, Y:3.50, Z:5.34 [[ 9.97067140e-01 -7.48994523e-02 -1.57222671e-02 3.46966825e+02] [ 7.49052028e-02 9.97190634e-01 -2.23630844e-04 3.50283458e+00] [ 1.56948473e-02 -9.54704641e-04 9.99876373e-01 5.34304573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.13925415399996 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:347.00, Y:3.51, Z:5.34 [[ 9.97117033e-01 -7.42322809e-02 -1.57222906e-02 3.46998964e+02] [ 7.42379749e-02 9.97240530e-01 -2.21970687e-04 3.50614377e+00] [ 1.56953827e-02 -9.45860258e-04 9.99876373e-01 5.34448933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.16925415399993 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:347.03, Y:3.51, Z:5.34 [[ 9.97178139e-01 -7.34068659e-02 -1.57223069e-02 3.47029880e+02] [ 7.34124758e-02 9.97301639e-01 -2.20809851e-04 3.50849239e+00] [ 1.56960914e-02 -9.34026716e-04 9.99876373e-01 5.34356892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.19925415399996 meters Centerline goodness : 0.999125 Centerline is valid? [True, True] Translation: X:347.06, Y:3.51, Z:5.34 [[ 9.97370584e-01 -7.07440957e-02 -1.57223190e-02 3.47061519e+02] [ 7.07493895e-02 9.97494098e-01 -2.19944138e-04 3.51297767e+00] [ 1.56984801e-02 -8.92978654e-04 9.99876373e-01 5.34444885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.22925415399993 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:347.09, Y:3.52, Z:5.35 [[ 9.97491139e-01 -6.90234463e-02 -1.57223349e-02 3.47094804e+02] [ 6.90285450e-02 9.97614661e-01 -2.18802129e-04 3.51546073e+00] [ 1.56999342e-02 -8.67036714e-04 9.99876373e-01 5.34517830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.25925415399996 meters Centerline goodness : 0.999168 Centerline is valid? [True, True] Translation: X:347.13, Y:3.52, Z:5.35 [[ 9.97762030e-01 -6.49902939e-02 -1.57223590e-02 3.47127925e+02] [ 6.49949206e-02 9.97885571e-01 -2.17055069e-04 3.51984338e+00] [ 1.57032216e-02 -8.05304167e-04 9.99876373e-01 5.34584396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.28925415399993 meters Centerline goodness : 0.998771 Centerline is valid? [True, True] Translation: X:347.16, Y:3.52, Z:5.35 [[ 9.97901945e-01 -6.28053732e-02 -1.57223828e-02 3.47159430e+02] [ 6.28097567e-02 9.98025495e-01 -2.15316136e-04 3.52242468e+00] [ 1.57048619e-02 -7.72654647e-04 9.99876373e-01 5.34630221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.31925415399996 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:347.19, Y:3.53, Z:5.35 [[ 9.98049798e-01 -6.04103279e-02 -1.57224023e-02 3.47191169e+02] [ 6.04144375e-02 9.98173357e-01 -2.13879863e-04 3.52511192e+00] [ 1.57066037e-02 -7.36397339e-04 9.99876373e-01 5.34722750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.34925415399994 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:347.22, Y:3.53, Z:5.35 [[ 9.98197604e-01 -5.79167342e-02 -1.57224179e-02 3.47222463e+02] [ 5.79205531e-02 9.98321173e-01 -2.12732584e-04 3.52804674e+00] [ 1.57083434e-02 -6.98301982e-04 9.99876373e-01 5.34757754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.37925415399997 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:347.25, Y:3.53, Z:5.35 [[ 9.98464243e-01 -5.31221362e-02 -1.57224294e-02 3.47254599e+02] [ 5.31253750e-02 9.98587828e-01 -2.11878016e-04 3.53363223e+00] [ 1.57114820e-02 -6.23707334e-04 9.99876373e-01 5.34885623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.40925415399994 meters Centerline goodness : 0.998931 Centerline is valid? [True, True] Translation: X:347.29, Y:3.54, Z:5.35 [[ 9.98584041e-01 -5.08204434e-02 -1.57224448e-02 3.47285892e+02] [ 5.08234155e-02 9.98707633e-01 -2.10725296e-04 3.53624154e+00] [ 1.57128348e-02 -5.88641427e-04 9.99876373e-01 5.34870116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.43925415399997 meters Centerline goodness : 0.998848 Centerline is valid? [True, True] Translation: X:347.32, Y:3.54, Z:5.35 [[ 9.98768258e-01 -4.70613644e-02 -1.57224563e-02 3.47318063e+02] [ 4.70638848e-02 9.98891859e-01 -2.09866799e-04 3.54081516e+00] [ 1.57149102e-02 -5.30351574e-04 9.99876373e-01 5.35069088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.46925415399994 meters Centerline goodness : 0.998784 Centerline is valid? [True, True] Translation: X:347.35, Y:3.54, Z:5.35 [[ 9.98845568e-01 -4.53909063e-02 -1.57224713e-02 3.47350563e+02] [ 4.53932377e-02 9.98969174e-01 -2.08736238e-04 3.54281249e+00] [ 1.57157389e-02 -5.05198609e-04 9.99876373e-01 5.35208678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.49925415399997 meters Centerline goodness : 0.998782 Centerline is valid? [True, True] Translation: X:347.38, Y:3.54, Z:5.35 [[ 9.98894669e-01 -4.42972282e-02 -1.57224867e-02 3.47381634e+02] [ 4.42994426e-02 9.99018276e-01 -2.07569950e-04 3.54474878e+00] [ 1.57162463e-02 -4.89156880e-04 9.99876373e-01 5.35236270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.52925415399994 meters Centerline goodness : 0.998928 Centerline is valid? [True, True] Translation: X:347.41, Y:3.55, Z:5.35 [[ 9.98943091e-01 -4.31914832e-02 -1.57224981e-02 3.47414269e+02] [ 4.31935744e-02 9.99066701e-01 -2.06701321e-04 3.54770960e+00] [ 1.57167520e-02 -4.72628036e-04 9.99876373e-01 5.35314872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.559254154 meters Centerline goodness : 0.998991 Centerline is valid? [True, True] Translation: X:347.45, Y:3.55, Z:5.35 [[ 9.98959355e-01 -4.28136578e-02 -1.57225133e-02 3.47445537e+02] [ 4.28157207e-02 9.99082965e-01 -2.05535669e-04 3.54937211e+00] [ 1.57168950e-02 -4.67848960e-04 9.99876373e-01 5.35246860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.58925415399995 meters Centerline goodness : 0.998905 Centerline is valid? [True, True] Translation: X:347.48, Y:3.55, Z:5.35 [[ 9.98963375e-01 -4.27197663e-02 -1.57225246e-02 3.47476432e+02] [ 4.27218312e-02 9.99086985e-01 -2.04668258e-04 3.55091602e+00] [ 1.57169131e-02 -4.67238949e-04 9.99876373e-01 5.35267253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.619254154 meters Centerline goodness : 0.998735 Centerline is valid? [True, True] Translation: X:347.51, Y:3.55, Z:5.35 [[ 9.98970986e-01 -4.25414044e-02 -1.57225352e-02 3.47508674e+02] [ 4.25434601e-02 9.99094596e-01 -2.03850678e-04 3.55221529e+00] [ 1.57169721e-02 -4.65250138e-04 9.99876373e-01 5.35407485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.64925415399995 meters Centerline goodness : 0.998649 Centerline is valid? [True, True] Translation: X:347.54, Y:3.55, Z:5.35 [[ 9.99002528e-01 -4.17941332e-02 -1.57225500e-02 3.47540349e+02] [ 4.17961144e-02 9.99126140e-01 -2.02705964e-04 3.55444496e+00] [ 1.57172826e-02 -4.54637727e-04 9.99876373e-01 5.35396886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.679254154 meters Centerline goodness : 0.998924 Centerline is valid? [True, True] Translation: X:347.57, Y:3.56, Z:5.35 [[ 9.99017899e-01 -4.14251034e-02 -1.57225645e-02 3.47572291e+02] [ 4.14270567e-02 9.99141511e-01 -2.01570720e-04 3.55584308e+00] [ 1.57174170e-02 -4.49966817e-04 9.99876373e-01 5.35481485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.70925415399995 meters Centerline goodness : 0.998860 Centerline is valid? [True, True] Translation: X:347.60, Y:3.56, Z:5.36 [[ 9.99072461e-01 -4.00876257e-02 -1.57225789e-02 3.47603502e+02] [ 4.00894313e-02 9.99196076e-01 -2.00441825e-04 3.55808504e+00] [ 1.57179744e-02 -4.30053341e-04 9.99876373e-01 5.35519408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.739254154 meters Centerline goodness : 0.998795 Centerline is valid? [True, True] Translation: X:347.64, Y:3.56, Z:5.36 [[ 9.99107870e-01 -3.91952061e-02 -1.57225896e-02 3.47636041e+02] [ 3.91969146e-02 9.99231486e-01 -1.99600063e-04 3.55898101e+00] [ 1.57183300e-02 -4.16855008e-04 9.99876373e-01 5.35655329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.76925415399995 meters Centerline goodness : 0.998987 Centerline is valid? [True, True] Translation: X:347.67, Y:3.56, Z:5.36 [[ 9.99142793e-01 -3.82946222e-02 -1.57226044e-02 3.47667439e+02] [ 3.82962376e-02 9.99266410e-01 -1.98432751e-04 3.55986158e+00] [ 1.57186693e-02 -4.03853939e-04 9.99876373e-01 5.35587420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.799254154 meters Centerline goodness : 0.998819 Centerline is valid? [True, True] Translation: X:347.70, Y:3.56, Z:5.36 [[ 9.99203128e-01 -3.66866144e-02 -1.57226285e-02 3.47700028e+02] [ 3.66880612e-02 9.99326747e-01 -1.96501121e-04 3.56063114e+00] [ 1.57192522e-02 -3.80488222e-04 9.99876373e-01 5.35669763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.82925415399995 meters Centerline goodness : 0.998712 Centerline is valid? [True, True] Translation: X:347.73, Y:3.56, Z:5.36 [[ 9.99225068e-01 -3.60840995e-02 -1.57226420e-02 3.47731882e+02] [ 3.60854888e-02 9.99348688e-01 -1.95412966e-04 3.56108641e+00] [ 1.57194530e-02 -3.72097689e-04 9.99876373e-01 5.35805771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.859254154 meters Centerline goodness : 0.998965 Centerline is valid? [True, True] Translation: X:347.76, Y:3.56, Z:5.36 [[ 9.99249402e-01 -3.54038126e-02 -1.57226563e-02 3.47764039e+02] [ 3.54051360e-02 9.99373023e-01 -1.94259863e-04 3.56114671e+00] [ 1.57196761e-02 -3.62548731e-04 9.99876373e-01 5.35828601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.88925415399996 meters Centerline goodness : 0.998965 Centerline is valid? [True, True] Translation: X:347.80, Y:3.56, Z:5.36 [[ 9.99252011e-01 -3.53301054e-02 -1.57226705e-02 3.47796724e+02] [ 3.53314378e-02 9.99375631e-01 -1.93100263e-04 3.56148904e+00] [ 1.57196760e-02 -3.62548730e-04 9.99876373e-01 5.35879970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.91925415399993 meters Centerline goodness : 0.998988 Centerline is valid? [True, True] Translation: X:347.83, Y:3.56, Z:5.36 [[ 9.99222834e-01 -3.61458984e-02 -1.57226847e-02 3.47828508e+02] [ 3.61473500e-02 9.99346453e-01 -1.91940661e-04 3.56151049e+00] [ 1.57193470e-02 -3.76541895e-04 9.99876373e-01 5.35872946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.94925415399996 meters Centerline goodness : 0.998735 Centerline is valid? [True, True] Translation: X:347.86, Y:3.56, Z:5.36 [[ 9.99192183e-01 -3.69835010e-02 -1.57226917e-02 3.47859598e+02] [ 3.69850653e-02 9.99315800e-01 -1.91363106e-04 3.56165846e+00] [ 1.57190115e-02 -3.90296260e-04 9.99876373e-01 5.35838984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.97925415399993 meters Centerline goodness : 0.998904 Centerline is valid? [True, True] Translation: X:347.89, Y:3.56, Z:5.36 [[ 9.99138466e-01 -3.84073328e-02 -1.57227022e-02 3.47891379e+02] [ 3.84090869e-02 9.99262081e-01 -1.90498956e-04 3.56157493e+00] [ 1.57184166e-02 -4.13559800e-04 9.99876373e-01 5.35886937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.00925415399996 meters Centerline goodness : 0.998799 Centerline is valid? [True, True] Translation: X:347.92, Y:3.56, Z:5.36 [[ 9.99000874e-01 -4.18335904e-02 -1.57227159e-02 3.47923546e+02] [ 4.18357863e-02 9.99124482e-01 -1.89360078e-04 3.56003080e+00] [ 1.57168720e-02 -4.68601299e-04 9.99876373e-01 5.35909766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.03925415399993 meters Centerline goodness : 0.998970 Centerline is valid? [True, True] Translation: X:347.95, Y:3.56, Z:5.36 [[ 9.98926285e-01 -4.35783645e-02 -1.57227299e-02 3.47954800e+02] [ 4.35807947e-02 9.99049888e-01 -1.88190590e-04 3.55933952e+00] [ 1.57159926e-02 -4.97220536e-04 9.99876373e-01 5.35918540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.06925415399996 meters Centerline goodness : 0.998885 Centerline is valid? [True, True] Translation: X:347.99, Y:3.56, Z:5.36 [[ 9.98769352e-01 -4.70380301e-02 -1.57227403e-02 3.47987489e+02] [ 4.70409021e-02 9.98892946e-01 -1.87319120e-04 3.55843200e+00] [ 1.57141455e-02 -5.52523290e-04 9.99876373e-01 5.36017398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.09925415399994 meters Centerline goodness : 0.998822 Centerline is valid? [True, True] Translation: X:348.02, Y:3.56, Z:5.36 [[ 9.98701382e-01 -4.84597231e-02 -1.57227541e-02 3.48019044e+02] [ 4.84627894e-02 9.98824971e-01 -1.86146678e-04 3.55843326e+00] [ 1.57133001e-02 -5.76063579e-04 9.99876373e-01 5.36068089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.12925415399997 meters Centerline goodness : 0.998990 Centerline is valid? [True, True] Translation: X:348.05, Y:3.56, Z:5.36 [[ 9.98657467e-01 -4.93564457e-02 -1.57227644e-02 3.48051451e+02] [ 4.93596367e-02 9.98781053e-01 -1.85272740e-04 3.55817342e+00] [ 1.57127436e-02 -5.91045936e-04 9.99876373e-01 5.36139822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.15925415399994 meters Centerline goodness : 0.998740 Centerline is valid? [True, True] Translation: X:348.08, Y:3.56, Z:5.36 [[ 9.98607629e-01 -5.03547091e-02 -1.57227780e-02 3.48082809e+02] [ 5.03580419e-02 9.98731212e-01 -1.84112500e-04 3.55806939e+00] [ 1.57121001e-02 -6.07912168e-04 9.99876373e-01 5.36149886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.18925415399997 meters Centerline goodness : 0.998822 Centerline is valid? [True, True] Translation: X:348.11, Y:3.56, Z:5.36 [[ 9.98571132e-01 -5.10733691e-02 -1.57227881e-02 3.48114757e+02] [ 5.10768044e-02 9.98694711e-01 -1.83247974e-04 3.55825875e+00] [ 1.57116244e-02 -6.20083636e-04 9.99876373e-01 5.36241976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.21925415399994 meters Centerline goodness : 0.998926 Centerline is valid? [True, True] Translation: X:348.15, Y:3.56, Z:5.36 [[ 9.98573690e-01 -5.10233286e-02 -1.57228013e-02 3.48147146e+02] [ 5.10267757e-02 9.98697269e-01 -1.82107997e-04 3.55824917e+00] [ 1.57116105e-02 -6.20435601e-04 9.99876373e-01 5.36288293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.24925415399997 meters Centerline goodness : 0.998906 Centerline is valid? [True, True] Translation: X:348.18, Y:3.56, Z:5.36 [[ 9.98582831e-01 -5.08441107e-02 -1.57228144e-02 3.48177914e+02] [ 5.08475535e-02 9.98706410e-01 -1.80972379e-04 3.55840790e+00] [ 1.57116769e-02 -6.18750735e-04 9.99876373e-01 5.36323885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.27925415399994 meters Centerline goodness : 0.998782 Centerline is valid? [True, True] Translation: X:348.21, Y:3.56, Z:5.36 [[ 9.98654824e-01 -4.94098687e-02 -1.57228241e-02 3.48210159e+02] [ 4.94131473e-02 9.98778408e-01 -1.80126439e-04 3.55904560e+00] [ 1.57125172e-02 -5.97030085e-04 9.99876373e-01 5.36429201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.309254154 meters Centerline goodness : 0.998948 Centerline is valid? [True, True] Translation: X:348.24, Y:3.56, Z:5.37 [[ 9.98731911e-01 -4.78263783e-02 -1.57228367e-02 3.48242720e+02] [ 4.78294784e-02 9.98855500e-01 -1.79018671e-04 3.55961235e+00] [ 1.57134037e-02 -5.73223418e-04 9.99876373e-01 5.36604672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.33925415399995 meters Centerline goodness : 0.998926 Centerline is valid? [True, True] Translation: X:348.27, Y:3.56, Z:5.37 [[ 9.98784250e-01 -4.67205911e-02 -1.57228492e-02 3.48274618e+02] [ 4.67235717e-02 9.98907842e-01 -1.77916832e-04 3.55987825e+00] [ 1.57139897e-02 -5.56927140e-04 9.99876373e-01 5.36757238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.369254154 meters Centerline goodness : 0.998822 Centerline is valid? [True, True] Translation: X:348.31, Y:3.56, Z:5.37 [[ 9.98850635e-01 -4.52791516e-02 -1.57228618e-02 3.48307160e+02] [ 4.52819715e-02 9.98974230e-01 -1.76789936e-04 3.56028345e+00] [ 1.57147387e-02 -5.35375441e-04 9.99876373e-01 5.36861638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.39925415399995 meters Centerline goodness : 0.998675 Centerline is valid? [True, True] Translation: X:348.34, Y:3.56, Z:5.37 [[ 9.98946392e-01 -4.31149410e-02 -1.57228743e-02 3.48338447e+02] [ 4.31175107e-02 9.99069992e-01 -1.75671286e-04 3.55996185e+00] [ 1.57158260e-02 -5.02445004e-04 9.99876373e-01 5.36900125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.429254154 meters Centerline goodness : 0.998821 Centerline is valid? [True, True] Translation: X:348.37, Y:3.56, Z:5.37 [[ 9.98985655e-01 -4.21953956e-02 -1.57228836e-02 3.48370876e+02] [ 4.21978646e-02 9.99109258e-01 -1.74838934e-04 3.56026380e+00] [ 1.57162559e-02 -4.88810525e-04 9.99876373e-01 5.37148570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.45925415399995 meters Centerline goodness : 0.998990 Centerline is valid? [True, True] Translation: X:348.40, Y:3.56, Z:5.37 [[ 9.99036157e-01 -4.09822816e-02 -1.57228966e-02 3.48401806e+02] [ 4.09846191e-02 9.99159762e-01 -1.73656512e-04 3.56054871e+00] [ 1.57168025e-02 -4.70907796e-04 9.99876373e-01 5.37138860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.489254154 meters Centerline goodness : 0.998802 Centerline is valid? [True, True] Translation: X:348.43, Y:3.56, Z:5.37 [[ 9.99092375e-01 -3.95880898e-02 -1.57229063e-02 3.48434474e+02] [ 3.95902687e-02 9.99215983e-01 -1.72775568e-04 3.56105264e+00] [ 1.57174192e-02 -4.49855333e-04 9.99876373e-01 5.37176763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.51925415399995 meters Centerline goodness : 0.998634 Centerline is valid? [True, True] Translation: X:348.47, Y:3.56, Z:5.37 [[ 9.99116705e-01 -3.89692111e-02 -1.57229191e-02 3.48466516e+02] [ 3.89713318e-02 9.99240314e-01 -1.71604913e-04 3.56129805e+00] [ 1.57176619e-02 -4.41289761e-04 9.99876373e-01 5.37154621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.549254154 meters Centerline goodness : 0.998783 Centerline is valid? [True, True] Translation: X:348.50, Y:3.56, Z:5.37 [[ 9.99101909e-01 -3.93467336e-02 -1.57229317e-02 3.48497357e+02] [ 3.93489193e-02 9.99225517e-01 -1.70442018e-04 3.56119714e+00] [ 1.57174609e-02 -4.48391425e-04 9.99876373e-01 5.37093122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.57925415399995 meters Centerline goodness : 0.998803 Centerline is valid? [True, True] Translation: X:348.53, Y:3.56, Z:5.37 [[ 9.99082293e-01 -3.98417014e-02 -1.57229529e-02 3.48529956e+02] [ 3.98439794e-02 9.99205899e-01 -1.68463119e-04 3.56124021e+00] [ 1.57171792e-02 -4.58156494e-04 9.99876373e-01 5.37149734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.609254154 meters Centerline goodness : 0.998886 Centerline is valid? [True, True] Translation: X:348.56, Y:3.56, Z:5.37 [[ 9.99052682e-01 -4.05774082e-02 -1.57229653e-02 3.48561128e+02] [ 4.05797956e-02 9.99176287e-01 -1.67300594e-04 3.56155525e+00] [ 1.57168027e-02 -4.70892609e-04 9.99876373e-01 5.37152420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.63925415399996 meters Centerline goodness : 0.998845 Centerline is valid? [True, True] Translation: X:348.59, Y:3.56, Z:5.37 [[ 9.99004538e-01 -4.17459063e-02 -1.57229744e-02 3.48592912e+02] [ 4.17484518e-02 9.99128139e-01 -1.66434474e-04 3.56206444e+00] [ 1.57162142e-02 -4.90141045e-04 9.99876373e-01 5.37219993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.66925415399993 meters Centerline goodness : 0.998992 Centerline is valid? [True, True] Translation: X:348.62, Y:3.56, Z:5.37 [[ 9.98965605e-01 -4.26673978e-02 -1.57229863e-02 3.48624739e+02] [ 4.26700751e-02 9.99089204e-01 -1.65308043e-04 3.56258367e+00] [ 1.57157191e-02 -5.05763957e-04 9.99876373e-01 5.37403585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.69925415399996 meters Centerline goodness : 0.998950 Centerline is valid? [True, True] Translation: X:348.66, Y:3.56, Z:5.38 [[ 9.98794993e-01 -4.64903226e-02 -1.57229985e-02 3.48656755e+02] [ 4.64934912e-02 9.98918579e-01 -1.64142224e-04 3.56326478e+00] [ 1.57136263e-02 -5.67072659e-04 9.99876373e-01 5.37559194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.72925415399993 meters Centerline goodness : 0.998825 Centerline is valid? [True, True] Translation: X:348.69, Y:3.56, Z:5.38 [[ 9.98700584e-01 -4.84760831e-02 -1.57230106e-02 3.48687480e+02] [ 4.84795158e-02 9.98824164e-01 -1.62972073e-04 3.56341952e+00] [ 1.57124231e-02 -5.99483636e-04 9.99876373e-01 5.37600330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.75925415399996 meters Centerline goodness : 0.998782 Centerline is valid? [True, True] Translation: X:348.72, Y:3.56, Z:5.38 [[ 9.98489371e-01 -5.26475258e-02 -1.57230196e-02 3.48719988e+02] [ 5.26514884e-02 9.98612935e-01 -1.62100963e-04 3.56304517e+00] [ 1.57097449e-02 -6.65984293e-04 9.99876373e-01 5.37661836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.78925415399993 meters Centerline goodness : 0.998761 Centerline is valid? [True, True] Translation: X:348.75, Y:3.56, Z:5.38 [[ 9.98307635e-01 -5.59879732e-02 -1.57230313e-02 3.48751848e+02] [ 5.59923672e-02 9.98431184e-01 -1.60955726e-04 3.56281918e+00] [ 1.57073763e-02 -7.19686412e-04 9.99876373e-01 5.37740058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.81925415399996 meters Centerline goodness : 0.998741 Centerline is valid? [True, True] Translation: X:348.79, Y:3.56, Z:5.38 [[ 9.98149526e-01 -5.87393327e-02 -1.57230432e-02 3.48785044e+02] [ 5.87440856e-02 9.98273062e-01 -1.59785572e-04 3.56280048e+00] [ 1.57052762e-02 -7.64145902e-04 9.99876373e-01 5.37794284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.84925415399994 meters Centerline goodness : 0.998740 Centerline is valid? [True, True] Translation: X:348.82, Y:3.56, Z:5.38 [[ 9.97733895e-01 -6.54206345e-02 -1.57230610e-02 3.48817241e+02] [ 6.54262423e-02 9.97857396e-01 -1.58010039e-04 3.56265908e+00] [ 1.56997098e-02 -8.71048829e-04 9.99876373e-01 5.37869155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.87925415399997 meters Centerline goodness : 0.998698 Centerline is valid? [True, True] Translation: X:348.85, Y:3.56, Z:5.38 [[ 9.97538947e-01 -6.83288616e-02 -1.57230727e-02 3.48850774e+02] [ 6.83348477e-02 9.97662430e-01 -1.56838218e-04 3.56288408e+00] [ 1.56970355e-02 -9.17981549e-04 9.99876373e-01 5.37946444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.90925415399994 meters Centerline goodness : 0.998846 Centerline is valid? [True, True] Translation: X:348.88, Y:3.56, Z:5.38 [[ 9.97106601e-01 -7.43721066e-02 -1.57230928e-02 3.48882303e+02] [ 7.43788729e-02 9.97230043e-01 -1.54798547e-04 3.56256324e+00] [ 1.56910532e-02 -1.01511527e-03 9.99876373e-01 5.37985682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.93925415399997 meters Centerline goodness : 0.998700 Centerline is valid? [True, True] Translation: X:348.92, Y:3.56, Z:5.38 [[ 9.96919378e-01 -7.68409909e-02 -1.57231013e-02 3.48915205e+02] [ 7.68480765e-02 9.97042802e-01 -1.53931577e-04 3.56268924e+00] [ 1.56884332e-02 -1.05483272e-03 9.99876373e-01 5.38054195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.96925415399994 meters Centerline goodness : 0.998762 Centerline is valid? [True, True] Translation: X:348.95, Y:3.56, Z:5.38 [[ 9.96735451e-01 -7.91910672e-02 -1.57231180e-02 3.48948578e+02] [ 7.91984709e-02 9.96858856e-01 -1.52200824e-04 3.56404106e+00] [ 1.56857824e-02 -1.09354295e-03 9.99876373e-01 5.38068325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.99925415399997 meters Centerline goodness : 0.998743 Centerline is valid? [True, True] Translation: X:348.98, Y:3.57, Z:5.38 [[ 9.96632141e-01 -8.04807093e-02 -1.57235541e-02 3.48981324e+02] [ 8.04889839e-02 9.96755493e-01 -1.06889689e-04 3.56555885e+00] [ 1.56811415e-02 -1.15904319e-03 9.99876372e-01 5.38193230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.02925415399994 meters Centerline goodness : 0.998785 Centerline is valid? [True, True] Translation: X:349.01, Y:3.57, Z:5.38 [[ 9.96422975e-01 -8.30302423e-02 -1.57236471e-02 3.49009417e+02] [ 8.30389854e-02 9.96546295e-01 -9.71452645e-05 3.56940695e+00] [ 1.56774082e-02 -1.20887793e-03 9.99876371e-01 5.38193025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.059254154 meters Centerline goodness : 0.998765 Centerline is valid? [True, True] Translation: X:349.04, Y:3.57, Z:5.38 [[ 9.96578235e-01 -8.11457668e-02 -1.57221505e-02 3.49042607e+02] [ 8.11518517e-02 9.96701718e-01 -2.51622998e-04 3.56970368e+00] [ 1.56907126e-02 -1.02511962e-03 9.99876368e-01 5.38151188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.08925415399995 meters Centerline goodness : 0.998951 Centerline is valid? [True, True] Translation: X:349.08, Y:3.57, Z:5.38 [[ 9.96825275e-01 -7.80523191e-02 -1.57228088e-02 3.49075771e+02] [ 7.80591273e-02 9.96948715e-01 -1.81152939e-04 3.57205542e+00] [ 1.56889734e-02 -1.04673090e-03 9.99876373e-01 5.38187218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.119254154 meters Centerline goodness : 0.998991 Centerline is valid? [True, True] Translation: X:349.10, Y:3.58, Z:5.38 [[ 9.96926033e-01 -7.67545983e-02 -1.57231215e-02 3.49102593e+02] [ 7.67617785e-02 9.97049451e-01 -1.47221083e-04 3.57529003e+00] [ 1.56880295e-02 -1.06016624e-03 9.99876373e-01 5.38068447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.14925415399995 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:349.14, Y:3.58, Z:5.38 [[ 9.97094413e-01 -7.45356653e-02 -1.57215408e-02 3.49135263e+02] [ 7.45400646e-02 9.97217972e-01 -3.06782397e-04 3.57655536e+00] [ 1.57006693e-02 -8.65993654e-04 9.99876362e-01 5.38231626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.179254154 meters Centerline goodness : 0.998844 Centerline is valid? [True, True] Translation: X:349.17, Y:3.58, Z:5.38 [[ 9.97384963e-01 -7.05411686e-02 -1.57219265e-02 3.49168217e+02] [ 7.05457742e-02 9.97508509e-01 -2.62150140e-04 3.57914143e+00] [ 1.57012479e-02 -8.47650872e-04 9.99876369e-01 5.38318597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.20925415399995 meters Centerline goodness : 0.998844 Centerline is valid? [True, True] Translation: X:349.20, Y:3.58, Z:5.38 [[ 9.97749090e-01 -6.51886195e-02 -1.57225197e-02 3.49198919e+02] [ 6.51936268e-02 9.97872614e-01 -1.94390018e-04 3.57860109e+00] [ 1.57017438e-02 -8.31055615e-04 9.99876375e-01 5.38244383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.239254154 meters Centerline goodness : 0.998862 Centerline is valid? [True, True] Translation: X:349.23, Y:3.58, Z:5.39 [[ 9.97746145e-01 -6.52337007e-02 -1.57224144e-02 3.49233046e+02] [ 6.52385235e-02 9.97869677e-01 -2.06488528e-04 3.58224937e+00] [ 1.57023906e-02 -8.19683966e-04 9.99876374e-01 5.38624054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.26925415399995 meters Centerline goodness : 0.998800 Centerline is valid? [True, True] Translation: X:349.26, Y:3.58, Z:5.39 [[ 9.98076529e-01 -5.99667617e-02 -1.57235342e-02 3.49262221e+02] [ 5.99729195e-02 9.98200001e-01 -8.00222568e-05 3.58477003e+00] [ 1.57000306e-02 -8.63117917e-04 9.99876374e-01 5.38581858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.299254154 meters Centerline goodness : 0.998904 Centerline is valid? [True, True] Translation: X:349.29, Y:3.59, Z:5.39 [[ 9.98224240e-01 -5.74556740e-02 -1.57230001e-02 3.49294798e+02] [ 5.74605787e-02 9.98347766e-01 -1.40005796e-04 3.58650187e+00] [ 1.57050662e-02 -7.63695506e-04 9.99876376e-01 5.38786124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.32925415399995 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:349.33, Y:3.59, Z:5.39 [[ 9.98370688e-01 -5.48521214e-02 -1.57230154e-02 3.49325414e+02] [ 5.48567312e-02 9.98494226e-01 -1.38273162e-04 3.58922898e+00] [ 1.57069246e-02 -7.24465355e-04 9.99876376e-01 5.38802973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.359254154 meters Centerline goodness : 0.998754 Centerline is valid? [True, True] Translation: X:349.36, Y:3.59, Z:5.39 [[ 9.98676032e-01 -4.89794144e-02 -1.57225787e-02 3.49358964e+02] [ 4.89825164e-02 9.98799618e-01 -1.87965170e-04 3.59144023e+00] [ 1.57129121e-02 -5.82415160e-04 9.99876375e-01 5.38957933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.38925415399996 meters Centerline goodness : 0.998966 Centerline is valid? [True, True] Translation: X:349.39, Y:3.59, Z:5.39 [[ 9.98836580e-01 -4.55880789e-02 -1.57230331e-02 3.49391470e+02] [ 4.55915926e-02 9.98960154e-01 -1.35081001e-04 3.59304598e+00] [ 1.57128417e-02 -5.81914274e-04 9.99876376e-01 5.39054258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.41925415399993 meters Centerline goodness : 0.998944 Centerline is valid? [True, True] Translation: X:349.42, Y:3.60, Z:5.39 [[ 9.99175578e-01 -3.74292619e-02 -1.57230430e-02 3.49420701e+02] [ 3.74317845e-02 9.99299176e-01 -1.33920110e-04 3.59588645e+00] [ 1.57170364e-02 -4.54731853e-04 9.99876376e-01 5.38696926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.44925415399996 meters Centerline goodness : 0.998901 Centerline is valid? [True, True] Translation: X:349.45, Y:3.60, Z:5.39 [[ 9.99236662e-01 -3.57618696e-02 -1.57220455e-02 3.49453875e+02] [ 3.57623375e-02 9.99360291e-01 -2.51474238e-04 3.59771327e+00] [ 1.57209812e-02 -3.10974821e-04 9.99876369e-01 5.39224306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.47925415399993 meters Centerline goodness : 0.998792 Centerline is valid? [True, True] Translation: X:349.49, Y:3.60, Z:5.39 [[ 9.99339551e-01 -3.27604440e-02 -1.57230504e-02 3.49486168e+02] [ 3.27624638e-02 9.99463158e-01 -1.29171710e-04 3.59878873e+00] [ 1.57188414e-02 -3.86039471e-04 9.99876377e-01 5.39282372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.50925415399996 meters Centerline goodness : 0.998793 Centerline is valid? [True, True] Translation: X:349.52, Y:3.60, Z:5.39 [[ 9.99425542e-01 -3.00228455e-02 -1.57230598e-02 3.49517868e+02] [ 3.00245449e-02 9.99549154e-01 -1.28014082e-04 3.59965998e+00] [ 1.57198145e-02 -3.44137173e-04 9.99876377e-01 5.39336216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.53925415399993 meters Centerline goodness : 0.998961 Centerline is valid? [True, True] Translation: X:349.55, Y:3.60, Z:5.39 [[ 9.99548050e-01 -2.56219007e-02 -1.57230692e-02 3.49548376e+02] [ 2.56230739e-02 9.99671667e-01 -1.26860949e-04 3.60018870e+00] [ 1.57211572e-02 -2.76069748e-04 9.99876377e-01 5.39364897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.56925415399996 meters Centerline goodness : 0.998897 Centerline is valid? [True, True] Translation: X:349.58, Y:3.60, Z:5.39 [[ 9.99599297e-01 -2.35378503e-02 -1.57230714e-02 3.49579439e+02] [ 2.35387702e-02 9.99722917e-01 -1.26576083e-04 3.60060722e+00] [ 1.57216942e-02 -2.43576402e-04 9.99876377e-01 5.39458453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.59925415399994 meters Centerline goodness : 0.999193 Centerline is valid? [True, True] Translation: X:349.61, Y:3.61, Z:5.39 [[ 9.99596977e-01 -2.36361813e-02 -1.57230761e-02 3.49607734e+02] [ 2.36371225e-02 9.99720596e-01 -1.25996889e-04 3.60526438e+00] [ 1.57216611e-02 -2.45702167e-04 9.99876377e-01 5.39121682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.62925415399997 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:349.64, Y:3.60, Z:5.39 [[ 9.99685634e-01 -1.95310437e-02 -1.57216891e-02 3.49639225e+02] [ 1.95288565e-02 9.99809251e-01 -2.92642538e-04 3.60156518e+00] [ 1.57244058e-02 -1.44760704e-05 9.99876364e-01 5.39454286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.65925415399994 meters Centerline goodness : 0.999129 Centerline is valid? [True, True] Translation: X:349.67, Y:3.60, Z:5.39 [[ 9.99697526e-01 -1.89114274e-02 -1.57230250e-02 3.49668779e+02] [ 1.89117829e-02 9.99821148e-01 -1.26087021e-04 3.60157232e+00] [ 1.57225974e-02 -1.71301553e-04 9.99876378e-01 5.39454802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.68925415399997 meters Centerline goodness : 0.998791 Centerline is valid? [True, True] Translation: X:349.70, Y:3.60, Z:5.39 [[ 9.99699382e-01 -1.88130977e-02 -1.57230204e-02 3.49697249e+02] [ 1.88134320e-02 9.99823004e-01 -1.26658629e-04 3.60116506e+00] [ 1.57226203e-02 -1.69183422e-04 9.99876378e-01 5.39457348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.71925415399994 meters Centerline goodness : 0.998874 Centerline is valid? [True, True] Translation: X:349.73, Y:3.60, Z:5.39 [[ 9.99691459e-01 -1.92295139e-02 -1.57229871e-02 3.49725447e+02] [ 1.92298368e-02 9.99815081e-01 -1.30663332e-04 3.60062499e+00] [ 1.57225922e-02 -1.71727459e-04 9.99876378e-01 5.39450435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.74925415399997 meters Centerline goodness : 0.998770 Centerline is valid? [True, True] Translation: X:349.75, Y:3.60, Z:5.39 [[ 9.99670144e-01 -2.03074078e-02 -1.57229800e-02 3.49753878e+02] [ 2.03078506e-02 9.99793766e-01 -1.31512202e-04 3.60023974e+00] [ 1.57224081e-02 -1.87831107e-04 9.99876378e-01 5.39462533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.77925415399994 meters Centerline goodness : 0.998770 Centerline is valid? [True, True] Translation: X:349.78, Y:3.60, Z:5.40 [[ 9.99669417e-01 -2.03432124e-02 -1.57229461e-02 3.49784022e+02] [ 2.03435978e-02 9.99793038e-01 -1.35449419e-04 3.60053142e+00] [ 1.57224475e-02 -1.84456649e-04 9.99876378e-01 5.39510062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.809254154 meters Centerline goodness : 0.998834 Centerline is valid? [True, True] Translation: X:349.82, Y:3.59, Z:5.39 [[ 9.99718200e-01 -1.77851118e-02 -1.57229412e-02 3.49822006e+02] [ 1.77851719e-02 9.99841822e-01 -1.36011656e-04 3.59382458e+00] [ 1.57228732e-02 -1.43661885e-04 9.99876378e-01 5.39427399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.83925415399995 meters Centerline goodness : 0.998899 Centerline is valid? [True, True] Translation: X:349.84, Y:3.60, Z:5.40 [[ 9.99587247e-01 -2.40422654e-02 -1.57259241e-02 3.49843973e+02] [ 2.40487142e-02 9.99710763e-01 2.21071848e-04 3.59908205e+00] [ 1.57160605e-02 -5.99168855e-04 9.99876316e-01 5.39701581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.869254154 meters Centerline goodness : 0.998942 Centerline is valid? [True, True] Translation: X:349.87, Y:3.60, Z:5.40 [[ 9.99521646e-01 -2.66322735e-02 -1.57226356e-02 3.49873609e+02] [ 2.66333284e-02 9.99645260e-01 -1.42325732e-04 3.59772471e+00] [ 1.57208486e-02 -2.76488466e-04 9.99876382e-01 5.39573820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.89925415399995 meters Centerline goodness : 0.998880 Centerline is valid? [True, True] Translation: X:349.90, Y:3.60, Z:5.40 [[ 9.99490150e-01 -2.77891761e-02 -1.57226330e-02 3.49904836e+02] [ 2.77903695e-02 9.99613763e-01 -1.42611585e-04 3.59683443e+00] [ 1.57205234e-02 -2.94398906e-04 9.99876382e-01 5.39706275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.929254154 meters Centerline goodness : 0.998922 Centerline is valid? [True, True] Translation: X:349.94, Y:3.60, Z:5.40 [[ 9.99457507e-01 -2.89394337e-02 -1.57226381e-02 3.49935798e+02] [ 2.89407784e-02 9.99581118e-01 -1.42041477e-04 3.59582143e+00] [ 1.57201628e-02 -3.13060965e-04 9.99876382e-01 5.39722971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.95925415399995 meters Centerline goodness : 0.999092 Centerline is valid? [True, True] Translation: X:349.97, Y:3.59, Z:5.40 [[ 9.99379496e-01 -3.15185837e-02 -1.57226433e-02 3.49967455e+02] [ 3.15202563e-02 9.99503103e-01 -1.41470824e-04 3.59345781e+00] [ 1.57192897e-02 -3.54198705e-04 9.99876382e-01 5.39674463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.989254154 meters Centerline goodness : 0.998799 Centerline is valid? [True, True] Translation: X:350.00, Y:3.59, Z:5.40 [[ 9.99341020e-01 -3.27157923e-02 -1.57226509e-02 3.49998578e+02] [ 3.27176264e-02 9.99464625e-01 -1.40617063e-04 3.59227390e+00] [ 1.57188338e-02 -3.73883419e-04 9.99876382e-01 5.39799123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.01925415399995 meters Centerline goodness : 0.998757 Centerline is valid? [True, True] Translation: X:350.03, Y:3.59, Z:5.40 [[ 9.99324910e-01 -3.32042386e-02 -1.57226559e-02 3.50029976e+02] [ 3.32061421e-02 9.99448514e-01 -1.40050338e-04 3.59077303e+00] [ 1.57186354e-02 -3.82132956e-04 9.99876382e-01 5.39694745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.049254154 meters Centerline goodness : 0.998883 Centerline is valid? [True, True] Translation: X:350.06, Y:3.59, Z:5.40 [[ 9.99228084e-01 -3.60004744e-02 -1.57226732e-02 3.50062359e+02] [ 3.60027546e-02 9.99351681e-01 -1.38088795e-04 3.58901122e+00] [ 1.57174511e-02 -4.28077342e-04 9.99876382e-01 5.39878048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.07925415399995 meters Centerline goodness : 0.998820 Centerline is valid? [True, True] Translation: X:350.09, Y:3.59, Z:5.40 [[ 9.99209889e-01 -3.65019726e-02 -1.57226832e-02 3.50093284e+02] [ 3.65043329e-02 9.99333485e-01 -1.36935066e-04 3.58783509e+00] [ 1.57172022e-02 -4.37119190e-04 9.99876382e-01 5.39801170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.109254154 meters Centerline goodness : 0.998779 Centerline is valid? [True, True] Translation: X:350.13, Y:3.59, Z:5.40 [[ 9.99178763e-01 -3.73442821e-02 -1.57227001e-02 3.50125146e+02] [ 3.73467775e-02 9.99302357e-01 -1.34973329e-04 3.58525476e+00] [ 1.57167717e-02 -4.52329697e-04 9.99876382e-01 5.39824443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.13925415399996 meters Centerline goodness : 0.998843 Centerline is valid? [True, True] Translation: X:350.16, Y:3.58, Z:5.40 [[ 9.99172719e-01 -3.75056452e-02 -1.57227100e-02 3.50156090e+02] [ 3.75081788e-02 9.99296312e-01 -1.33810450e-04 3.58410280e+00] [ 1.57166647e-02 -4.56030466e-04 9.99876382e-01 5.39781425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.16925415399993 meters Centerline goodness : 0.998948 Centerline is valid? [True, True] Translation: X:350.18, Y:3.58, Z:5.40 [[ 9.99229057e-01 -3.59734396e-02 -1.57227264e-02 3.50184596e+02] [ 3.59758145e-02 9.99352652e-01 -1.31851549e-04 3.58315869e+00] [ 1.57172915e-02 -4.33887989e-04 9.99876382e-01 5.39644069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.19925415399996 meters Centerline goodness : 0.998928 Centerline is valid? [True, True] Translation: X:350.22, Y:3.58, Z:5.40 [[ 9.99165697e-01 -3.76926982e-02 -1.57216833e-02 3.50217754e+02] [ 3.76933590e-02 9.99289320e-01 -2.54394370e-04 3.58125259e+00] [ 1.57200991e-02 -3.38420926e-04 9.99876374e-01 5.39927305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.22925415399993 meters Centerline goodness : 0.998952 Centerline is valid? [True, True] Translation: X:350.25, Y:3.58, Z:5.40 [[ 9.99191770e-01 -3.69946365e-02 -1.57227113e-02 3.50249799e+02] [ 3.69971433e-02 9.99315363e-01 -1.31499018e-04 3.58071903e+00] [ 1.57168117e-02 -4.50302667e-04 9.99876382e-01 5.40009859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.25925415399996 meters Centerline goodness : 0.998990 Centerline is valid? [True, True] Translation: X:350.28, Y:3.58, Z:5.40 [[ 9.99225754e-01 -3.60650562e-02 -1.57227207e-02 3.50281793e+02] [ 3.60674657e-02 9.99349349e-01 -1.30371536e-04 3.58039341e+00] [ 1.57171925e-02 -4.36808091e-04 9.99876382e-01 5.40194938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.28925415399993 meters Centerline goodness : 0.998905 Centerline is valid? [True, True] Translation: X:350.31, Y:3.58, Z:5.40 [[ 9.99277580e-01 -3.45993252e-02 -1.57227302e-02 3.50313364e+02] [ 3.46015716e-02 9.99401178e-01 -1.29211802e-04 3.58002811e+00] [ 1.57177857e-02 -4.14912718e-04 9.99876382e-01 5.40121924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.31925415399996 meters Centerline goodness : 0.998905 Centerline is valid? [True, True] Translation: X:350.34, Y:3.58, Z:5.40 [[ 9.99399114e-01 -3.08902382e-02 -1.57227372e-02 3.50344966e+02] [ 3.08920395e-02 9.99522719e-01 -1.28347649e-04 3.57909561e+00] [ 1.57191978e-02 -3.57436893e-04 9.99876382e-01 5.40181605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.34925415399994 meters Centerline goodness : 0.999053 Centerline is valid? [True, True] Translation: X:350.38, Y:3.58, Z:5.40 [[ 9.99453293e-01 -2.90845530e-02 -1.57227440e-02 3.50375953e+02] [ 2.90861441e-02 9.99576900e-01 -1.27515739e-04 3.57904901e+00] [ 1.57198004e-02 -3.29867972e-04 9.99876382e-01 5.40234794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.37925415399997 meters Centerline goodness : 0.998825 Centerline is valid? [True, True] Translation: X:350.41, Y:3.58, Z:5.41 [[ 9.99505562e-01 -2.72291733e-02 -1.57227362e-02 3.50406699e+02] [ 2.72305196e-02 9.99629172e-01 -1.28488678e-04 3.57931505e+00] [ 1.57204044e-02 -2.99713127e-04 9.99876382e-01 5.40595863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.40925415399994 meters Centerline goodness : 0.999200 Centerline is valid? [True, True] Translation: X:350.44, Y:3.58, Z:5.41 [[ 9.99584895e-01 -2.41421409e-02 -1.57224107e-02 3.50436885e+02] [ 2.41424759e-02 9.99708514e-01 -1.68522509e-04 3.57813451e+00] [ 1.57218963e-02 -2.11125367e-04 9.99876381e-01 5.40608696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.43925415399997 meters Centerline goodness : 0.999051 Centerline is valid? [True, True] Translation: X:350.47, Y:3.58, Z:5.40 [[ 9.99606978e-01 -2.32096025e-02 -1.57227388e-02 3.50466498e+02] [ 2.32104543e-02 9.99730593e-01 -1.28322232e-04 3.57772653e+00] [ 1.57214813e-02 -2.36660112e-04 9.99876382e-01 5.40449478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.46925415399994 meters Centerline goodness : 0.999032 Centerline is valid? [True, True] Translation: X:350.50, Y:3.58, Z:5.41 [[ 9.99645773e-01 -2.14737386e-02 -1.57228477e-02 3.50496361e+02] [ 2.14745825e-02 9.99769388e-01 -1.15179409e-04 3.57636736e+00] [ 1.57216952e-02 -2.22502981e-04 9.99876382e-01 5.40743798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.49925415399997 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:350.53, Y:3.58, Z:5.41 [[ 9.99655386e-01 -2.10215805e-02 -1.57227031e-02 3.50525283e+02] [ 2.10220982e-02 9.99779003e-01 -1.32362517e-04 3.57548937e+00] [ 1.57220109e-02 -1.98207306e-04 9.99876382e-01 5.40730311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.52925415399994 meters Centerline goodness : 0.999200 Centerline is valid? [True, True] Translation: X:350.55, Y:3.57, Z:5.41 [[ 9.99653148e-01 -2.11277010e-02 -1.57226959e-02 3.50553694e+02] [ 2.11282185e-02 9.99776765e-01 -1.33212540e-04 3.57449790e+00] [ 1.57220005e-02 -1.99026218e-04 9.99876382e-01 5.40889931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.559254154 meters Centerline goodness : 0.999306 Centerline is valid? [True, True] Translation: X:350.58, Y:3.57, Z:5.41 [[ 9.99631860e-01 -2.21120224e-02 -1.57226608e-02 3.50582493e+02] [ 2.21125985e-02 9.99755477e-01 -1.37227395e-04 3.57274393e+00] [ 1.57218507e-02 -2.10492010e-04 9.99876382e-01 5.40819557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.58925415399995 meters Centerline goodness : 0.999075 Centerline is valid? [True, True] Translation: X:350.61, Y:3.57, Z:5.41 [[ 9.99622137e-01 -2.25473218e-02 -1.57226534e-02 3.50612448e+02] [ 2.25479382e-02 9.99745753e-01 -1.38079762e-04 3.57193864e+00] [ 1.57217693e-02 -2.16485830e-04 9.99876382e-01 5.41122881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.619254154 meters Centerline goodness : 0.999096 Centerline is valid? [True, True] Translation: X:350.64, Y:3.57, Z:5.41 [[ 9.99552167e-01 -2.54612034e-02 -1.57223510e-02 3.50642474e+02] [ 2.54616524e-02 9.99675785e-01 -1.71643570e-04 3.57063071e+00] [ 1.57216238e-02 -2.28750333e-04 9.99876381e-01 5.41084725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.64925415399995 meters Centerline goodness : 0.999158 Centerline is valid? [True, True] Translation: X:350.67, Y:3.57, Z:5.41 [[ 9.99524180e-01 -2.65369932e-02 -1.57226185e-02 3.50671729e+02] [ 2.65380409e-02 9.99647794e-01 -1.42031261e-04 3.56992272e+00] [ 1.57208500e-02 -2.75283813e-04 9.99876382e-01 5.41094420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.679254154 meters Centerline goodness : 0.999077 Centerline is valid? [True, True] Translation: X:350.70, Y:3.57, Z:5.41 [[ 9.99488289e-01 -2.78560420e-02 -1.57226159e-02 3.50701017e+02] [ 2.78572483e-02 9.99611901e-01 -1.42319764e-04 3.56930380e+00] [ 1.57204784e-02 -2.95741877e-04 9.99876382e-01 5.41023928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.70925415399995 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:350.73, Y:3.57, Z:5.41 [[ 9.99408270e-01 -3.05926484e-02 -1.57226133e-02 3.50731622e+02] [ 3.05941887e-02 9.99531878e-01 -1.42604008e-04 3.56757104e+00] [ 1.57196158e-02 -3.38500973e-04 9.99876382e-01 5.41212097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.739254154 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:350.76, Y:3.57, Z:5.41 [[ 9.99371153e-01 -3.17820441e-02 -1.57226133e-02 3.50761637e+02] [ 3.17837315e-02 9.99494759e-01 -1.42604008e-04 3.56703889e+00] [ 1.57192019e-02 -3.57208989e-04 9.99876382e-01 5.41221386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.76925415399995 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:350.79, Y:3.57, Z:5.41 [[ 9.99330299e-01 -3.30416846e-02 -1.57226218e-02 3.50792706e+02] [ 3.30435426e-02 9.99453903e-01 -1.41663957e-04 3.56673244e+00] [ 1.57187165e-02 -3.77962039e-04 9.99876382e-01 5.41343676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.799254154 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:350.82, Y:3.57, Z:5.41 [[ 9.99278435e-01 -3.45746784e-02 -1.57226269e-02 3.50823188e+02] [ 3.45767349e-02 9.99402036e-01 -1.41098549e-04 3.56672907e+00] [ 1.57181037e-02 -4.02640364e-04 9.99876382e-01 5.41392833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.82925415399995 meters Centerline goodness : 0.999058 Centerline is valid? [True, True] Translation: X:350.86, Y:3.57, Z:5.42 [[ 9.99161022e-01 -3.78160219e-02 -1.57226294e-02 3.50855642e+02] [ 3.78184837e-02 9.99284615e-01 -1.40817816e-04 3.56562961e+00] [ 1.57167068e-02 -4.53906330e-04 9.99876382e-01 5.41536297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.859254154 meters Centerline goodness : 0.999079 Centerline is valid? [True, True] Translation: X:350.89, Y:3.57, Z:5.42 [[ 9.99071080e-01 -4.01220185e-02 -1.57226396e-02 3.50886847e+02] [ 4.01247838e-02 9.99194667e-01 -1.39663466e-04 3.56551054e+00] [ 1.57155812e-02 -4.91333785e-04 9.99876382e-01 5.41529670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.88925415399996 meters Centerline goodness : 0.998892 Centerline is valid? [True, True] Translation: X:350.92, Y:3.56, Z:5.42 [[ 9.98880993e-01 -4.46044891e-02 -1.57226447e-02 3.50918675e+02] [ 4.46078179e-02 9.99004566e-01 -1.39092323e-04 3.56412508e+00] [ 1.57131980e-02 -5.62416192e-04 9.99876382e-01 5.41524904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.91925415399993 meters Centerline goodness : 0.998934 Centerline is valid? [True, True] Translation: X:350.95, Y:3.56, Z:5.42 [[ 9.98773373e-01 -4.69526003e-02 -1.57226548e-02 3.50950307e+02] [ 4.69562377e-02 9.98896938e-01 -1.37938100e-04 3.56339863e+00] [ 1.57117883e-02 -6.00507814e-04 9.99876382e-01 5.41528419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.94925415399996 meters Centerline goodness : 0.998997 Centerline is valid? [True, True] Translation: X:350.98, Y:3.56, Z:5.42 [[ 9.98653403e-01 -4.94386407e-02 -1.57226623e-02 3.50981080e+02] [ 4.94425991e-02 9.98776957e-01 -1.37076829e-04 3.56281033e+00] [ 1.57102097e-02 -6.40477048e-04 9.99876382e-01 5.41502298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.97925415399993 meters Centerline goodness : 0.999142 Centerline is valid? [True, True] Translation: X:351.01, Y:3.56, Z:5.42 [[ 9.98394900e-01 -5.44097588e-02 -1.57226697e-02 3.51013267e+02] [ 5.44143458e-02 9.98518433e-01 -1.36224967e-04 3.56211474e+00] [ 1.57067875e-02 -7.19532472e-04 9.99876382e-01 5.41524056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.00925415399996 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:351.05, Y:3.56, Z:5.42 [[ 9.98242312e-01 -5.71409134e-02 -1.57226793e-02 3.51045380e+02] [ 5.71458559e-02 9.98365831e-01 -1.35103752e-04 3.56183927e+00] [ 1.57047058e-02 -7.63619684e-04 9.99876382e-01 5.41581738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.03925415399993 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:351.08, Y:3.56, Z:5.42 [[ 9.97941529e-01 -6.21731578e-02 -1.57226892e-02 3.51076180e+02] [ 6.21787411e-02 9.98065021e-01 -1.33947777e-04 3.56122978e+00] [ 1.57005941e-02 -8.43944970e-04 9.99876382e-01 5.41599701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.06925415399996 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:351.11, Y:3.56, Z:5.42 [[ 9.97806368e-01 -6.43058992e-02 -1.57227054e-02 3.51108360e+02] [ 6.43117768e-02 9.97929846e-01 -1.32017224e-04 3.56132846e+00] [ 1.56986464e-02 -8.79427493e-04 9.99876382e-01 5.41634688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.09925415399994 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:351.14, Y:3.56, Z:5.42 [[ 9.97699020e-01 -6.59504553e-02 -1.57227149e-02 3.51140449e+02] [ 6.59565543e-02 9.97822487e-01 -1.30873600e-04 3.56135554e+00] [ 1.56971097e-02 -9.06443637e-04 9.99876382e-01 5.41676842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.12925415399997 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:351.17, Y:3.56, Z:5.42 [[ 9.97524042e-01 -6.85462050e-02 -1.57227244e-02 3.51173157e+02] [ 6.85526433e-02 9.97647492e-01 -1.29726790e-04 3.56207322e+00] [ 1.56946288e-02 -9.48428723e-04 9.99876382e-01 5.41738850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.15925415399994 meters Centerline goodness : 0.999038 Centerline is valid? [True, True] Translation: X:351.21, Y:3.56, Z:5.42 [[ 9.97494856e-01 -6.89696163e-02 -1.57227383e-02 3.51206624e+02] [ 6.89761340e-02 9.97618302e-01 -1.28011036e-04 3.56297057e+00] [ 1.56941204e-02 -9.56803356e-04 9.99876382e-01 5.41842909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.18925415399997 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:351.24, Y:3.56, Z:5.42 [[ 9.97468331e-01 -6.93521658e-02 -1.57227524e-02 3.51239648e+02] [ 6.93587584e-02 9.97591774e-01 -1.26260490e-04 3.56419580e+00] [ 1.56936449e-02 -9.64569743e-04 9.99876382e-01 5.41903484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.21925415399994 meters Centerline goodness : 0.998746 Centerline is valid? [True, True] Translation: X:351.27, Y:3.57, Z:5.42 [[ 9.97525317e-01 -6.85276274e-02 -1.57227662e-02 3.51273035e+02] [ 6.85341451e-02 9.97648764e-01 -1.24520561e-04 3.56593223e+00] [ 1.56943313e-02 -9.53333927e-04 9.99876382e-01 5.41944967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.24925415399997 meters Centerline goodness : 0.998935 Centerline is valid? [True, True] Translation: X:351.30, Y:3.57, Z:5.42 [[ 9.97559955e-01 -6.80215374e-02 -1.57227799e-02 3.51304613e+02] [ 6.80280202e-02 9.97683403e-01 -1.22761773e-04 3.56702680e+00] [ 1.56947070e-02 -9.47127360e-04 9.99876382e-01 5.41935308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.27925415399994 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:351.34, Y:3.57, Z:5.42 [[ 9.97540643e-01 -6.83041756e-02 -1.57227911e-02 3.51336994e+02] [ 6.83107162e-02 9.97664087e-01 -1.21307466e-04 3.56889069e+00] [ 1.56943499e-02 -9.53025996e-04 9.99876382e-01 5.41946762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.309254154 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:351.37, Y:3.57, Z:5.42 [[ 9.97546387e-01 -6.82202235e-02 -1.57228018e-02 3.51370310e+02] [ 6.82267758e-02 9.97669832e-01 -1.19906023e-04 3.57037712e+00] [ 1.56943450e-02 -9.53104254e-04 9.99876382e-01 5.42077824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.33925415399995 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:351.40, Y:3.57, Z:5.42 [[ 9.97519110e-01 -6.86179094e-02 -1.57228151e-02 3.51402437e+02] [ 6.86245385e-02 9.97642551e-01 -1.18141438e-04 3.57299256e+00] [ 1.56938559e-02 -9.61122587e-04 9.99876382e-01 5.42163303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.369254154 meters Centerline goodness : 0.998952 Centerline is valid? [True, True] Translation: X:351.43, Y:3.58, Z:5.42 [[ 9.97463309e-01 -6.94243444e-02 -1.57228259e-02 3.51434478e+02] [ 6.94310962e-02 9.97586743e-01 -1.16681567e-04 3.57574159e+00] [ 1.56929832e-02 -9.75267457e-04 9.99876382e-01 5.42144656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.39925415399995 meters Centerline goodness : 0.999391 Centerline is valid? [True, True] Translation: X:351.47, Y:3.58, Z:5.42 [[ 9.97446584e-01 -6.96642218e-02 -1.57228365e-02 3.51466974e+02] [ 6.96710261e-02 9.97570015e-01 -1.15236048e-04 3.57726432e+00] [ 1.56926581e-02 -9.80484349e-04 9.99876382e-01 5.42167753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.429254154 meters Centerline goodness : 0.998741 Centerline is valid? [True, True] Translation: X:351.50, Y:3.58, Z:5.42 [[ 9.97420362e-01 -7.00386568e-02 -1.57228468e-02 3.51499581e+02] [ 7.00455298e-02 9.97543789e-01 -1.13807193e-04 3.57878931e+00] [ 1.56921991e-02 -9.87801525e-04 9.99876382e-01 5.42244133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.45925415399995 meters Centerline goodness : 0.998991 Centerline is valid? [True, True] Translation: X:351.53, Y:3.58, Z:5.42 [[ 9.97427637e-01 -6.99349775e-02 -1.57228591e-02 3.51532548e+02] [ 6.99418646e-02 9.97551063e-01 -1.12093081e-04 3.58039807e+00] [ 1.56921940e-02 -9.87881343e-04 9.99876382e-01 5.42334783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.489254154 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:351.56, Y:3.58, Z:5.42 [[ 9.97476565e-01 -6.92336167e-02 -1.57228711e-02 3.51564738e+02] [ 6.92404438e-02 9.97599994e-01 -1.10383912e-04 3.58418456e+00] [ 1.56927784e-02 -9.78553205e-04 9.99876382e-01 5.42465847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.51925415399995 meters Centerline goodness : 0.998931 Centerline is valid? [True, True] Translation: X:351.60, Y:3.59, Z:5.43 [[ 9.97506241e-01 -6.88047259e-02 -1.57228809e-02 3.51596907e+02] [ 6.88115222e-02 9.97629672e-01 -1.08968214e-04 3.58622393e+00] [ 1.56931100e-02 -9.73218893e-04 9.99876382e-01 5.42528237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.549254154 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:351.63, Y:3.59, Z:5.43 [[ 9.97534229e-01 -6.83977585e-02 -1.57228904e-02 3.51630118e+02] [ 6.84045262e-02 9.97657661e-01 -1.07581134e-04 3.58795882e+00] [ 1.56934203e-02 -9.68201002e-04 9.99876382e-01 5.42609406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.57925415399995 meters Centerline goodness : 0.998718 Centerline is valid? [True, True] Translation: X:351.66, Y:3.59, Z:5.43 [[ 9.97540391e-01 -6.83078294e-02 -1.57229016e-02 3.51662858e+02] [ 6.83146122e-02 9.97663822e-01 -1.05908988e-04 3.59109767e+00] [ 1.56934045e-02 -9.68455434e-04 9.99876382e-01 5.42648310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.609254154 meters Centerline goodness : 0.998887 Centerline is valid? [True, True] Translation: X:351.69, Y:3.59, Z:5.43 [[ 9.97517739e-01 -6.86378183e-02 -1.57229132e-02 3.51694396e+02] [ 6.86446695e-02 9.97641167e-01 -1.04158424e-04 3.59275529e+00] [ 1.56929747e-02 -9.75394305e-04 9.99876382e-01 5.42624898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.63925415399996 meters Centerline goodness : 0.998759 Centerline is valid? [True, True] Translation: X:351.73, Y:3.59, Z:5.43 [[ 9.97538849e-01 -6.83303337e-02 -1.57229227e-02 3.51726703e+02] [ 6.83371695e-02 9.97662278e-01 -1.02709624e-04 3.59395762e+00] [ 1.56931850e-02 -9.72003194e-04 9.99876382e-01 5.42596009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.66925415399993 meters Centerline goodness : 0.998990 Centerline is valid? [True, True] Translation: X:351.76, Y:3.60, Z:5.43 [[ 9.97478544e-01 -6.92050915e-02 -1.57229315e-02 3.51757639e+02] [ 6.92120569e-02 9.97601965e-01 -1.01349479e-04 3.59724023e+00] [ 1.56922412e-02 -9.87122496e-04 9.99876382e-01 5.42552974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.69925415399996 meters Centerline goodness : 0.998990 Centerline is valid? [True, True] Translation: X:351.79, Y:3.60, Z:5.43 [[ 9.97485630e-01 -6.91028718e-02 -1.57229366e-02 3.51791172e+02] [ 6.91098373e-02 9.97609052e-01 -1.00544259e-04 3.59735283e+00] [ 1.56922918e-02 -9.86318136e-04 9.99876382e-01 5.42605681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.72925415399993 meters Centerline goodness : 0.999242 Centerline is valid? [True, True] Translation: X:351.82, Y:3.60, Z:5.43 [[ 9.97509467e-01 -6.87579183e-02 -1.57229467e-02 3.51824368e+02] [ 6.87648664e-02 9.97632890e-01 -9.89330082e-05 3.59882950e+00] [ 1.56925312e-02 -9.82499720e-04 9.99876382e-01 5.42697208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.75925415399996 meters Centerline goodness : 0.999095 Centerline is valid? [True, True] Translation: X:351.86, Y:3.60, Z:5.43 [[ 9.97561411e-01 -6.80001480e-02 -1.57229573e-02 3.51856903e+02] [ 6.80070292e-02 9.97684837e-01 -9.72190861e-05 3.60183164e+00] [ 1.56931670e-02 -9.72289610e-04 9.99876382e-01 5.42733473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.78925415399993 meters Centerline goodness : 0.999074 Centerline is valid? [True, True] Translation: X:351.89, Y:3.60, Z:5.43 [[ 9.97638274e-01 -6.68630073e-02 -1.57229678e-02 3.51889611e+02] [ 6.68697749e-02 9.97761707e-01 -9.54905674e-05 3.60324992e+00] [ 1.56941600e-02 -9.56126275e-04 9.99876382e-01 5.42802053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.81925415399996 meters Centerline goodness : 0.999075 Centerline is valid? [True, True] Translation: X:351.92, Y:3.61, Z:5.43 [[ 9.97710106e-01 -6.57824595e-02 -1.57229782e-02 3.51922803e+02] [ 6.57891209e-02 9.97833545e-01 -9.37451543e-05 3.60507507e+00] [ 1.56950819e-02 -9.40870428e-04 9.99876382e-01 5.42871270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.84925415399994 meters Centerline goodness : 0.999031 Centerline is valid? [True, True] Translation: X:351.96, Y:3.61, Z:5.43 [[ 9.97938658e-01 -6.22191460e-02 -1.57229885e-02 3.51956277e+02] [ 6.22253940e-02 9.98062118e-01 -9.19963049e-05 3.60828423e+00] [ 1.56982431e-02 -8.86562484e-04 9.99876382e-01 5.42963430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.87925415399997 meters Centerline goodness : 0.998948 Centerline is valid? [True, True] Translation: X:351.99, Y:3.61, Z:5.43 [[ 9.98092343e-01 -5.97031219e-02 -1.57229985e-02 3.51989427e+02] [ 5.97090860e-02 9.98215817e-01 -9.02533529e-05 3.61012476e+00] [ 1.57003342e-02 -8.48724689e-04 9.99876382e-01 5.43041081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.90925415399994 meters Centerline goodness : 0.998948 Centerline is valid? [True, True] Translation: X:352.02, Y:3.61, Z:5.43 [[ 9.98266594e-01 -5.67150293e-02 -1.57230084e-02 3.52021106e+02] [ 5.67206514e-02 9.98390084e-01 -8.84945391e-05 3.61215426e+00] [ 1.57027146e-02 -8.03478135e-04 9.99876382e-01 5.43078338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.93925415399997 meters Centerline goodness : 0.999113 Centerline is valid? [True, True] Translation: X:352.05, Y:3.62, Z:5.43 [[ 9.98584727e-01 -5.08067982e-02 -1.57230164e-02 3.52052699e+02] [ 5.08117123e-02 9.98708247e-01 -8.70387802e-05 3.61671127e+00] [ 1.57071283e-02 -7.11997792e-04 9.99876382e-01 5.43133833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.96925415399994 meters Centerline goodness : 0.998923 Centerline is valid? [True, True] Translation: X:352.09, Y:3.62, Z:5.43 [[ 9.98737808e-01 -4.77030080e-02 -1.57230241e-02 3.52085013e+02] [ 4.77075602e-02 9.98861342e-01 -8.56403811e-05 3.61852419e+00] [ 1.57092062e-02 -6.64574830e-04 9.99876382e-01 5.43243553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.99925415399997 meters Centerline goodness : 0.999005 Centerline is valid? [True, True] Translation: X:352.12, Y:3.62, Z:5.43 [[ 9.98871730e-01 -4.48112993e-02 -1.57230303e-02 3.52117528e+02] [ 4.48155121e-02 9.98995277e-01 -8.44768434e-05 3.62001390e+00] [ 1.57110185e-02 -6.20254124e-04 9.99876382e-01 5.43302550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.02925415399994 meters Centerline goodness : 0.999008 Centerline is valid? [True, True] Translation: X:352.15, Y:3.62, Z:5.43 [[ 9.99070421e-01 -4.01382662e-02 -1.57230364e-02 3.52148631e+02] [ 4.01419191e-02 9.99193985e-01 -8.33208430e-05 3.62233316e+00] [ 1.57137078e-02 -5.47909467e-04 9.99876382e-01 5.43351850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.059254154 meters Centerline goodness : 0.999385 Centerline is valid? [True, True] Translation: X:352.18, Y:3.62, Z:5.43 [[ 9.99158137e-01 -3.78919914e-02 -1.57230409e-02 3.52180603e+02] [ 3.78953801e-02 9.99281709e-01 -8.24606541e-05 3.62341484e+00] [ 1.57148718e-02 -5.13439379e-04 9.99876382e-01 5.43425940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.08925415399995 meters Centerline goodness : 0.999110 Centerline is valid? [True, True] Translation: X:352.21, Y:3.62, Z:5.43 [[ 9.99239719e-01 -3.56759082e-02 -1.57230468e-02 3.52212071e+02] [ 3.56790406e-02 9.99363297e-01 -8.13311273e-05 3.62465307e+00] [ 1.57159374e-02 -4.79713931e-04 9.99876382e-01 5.43484640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.119254154 meters Centerline goodness : 0.999279 Centerline is valid? [True, True] Translation: X:352.24, Y:3.63, Z:5.44 [[ 9.99368810e-01 -3.18554176e-02 -1.57230511e-02 3.52244217e+02] [ 3.18580908e-02 9.99492399e-01 -8.04889892e-05 3.62669864e+00] [ 1.57176341e-02 -4.20468204e-04 9.99876382e-01 5.43534448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.14925415399995 meters Centerline goodness : 0.999194 Centerline is valid? [True, True] Translation: X:352.28, Y:3.63, Z:5.44 [[ 9.99433567e-01 -2.97545103e-02 -1.57230568e-02 3.52276557e+02] [ 2.97569414e-02 9.99557161e-01 -7.93574328e-05 3.62792833e+00] [ 1.57184553e-02 -3.88557599e-04 9.99876382e-01 5.43580621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.179254154 meters Centerline goodness : 0.999363 Centerline is valid? [True, True] Translation: X:352.31, Y:3.63, Z:5.44 [[ 9.99497940e-01 -2.75073193e-02 -1.57230625e-02 3.52307818e+02] [ 2.75094906e-02 9.99621539e-01 -7.82073938e-05 3.62910663e+00] [ 1.57192632e-02 -3.54365312e-04 9.99876382e-01 5.43593322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.20925415399995 meters Centerline goodness : 0.999171 Centerline is valid? [True, True] Translation: X:352.34, Y:3.63, Z:5.44 [[ 9.99636568e-01 -2.18978916e-02 -1.57230654e-02 3.52336605e+02] [ 2.18993783e-02 9.99760177e-01 -7.76332956e-05 3.63079394e+00] [ 1.57209946e-02 -2.66720276e-04 9.99876382e-01 5.43570590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.239254154 meters Centerline goodness : 0.999276 Centerline is valid? [True, True] Translation: X:352.37, Y:3.63, Z:5.44 [[ 9.99662979e-01 -2.06573286e-02 -1.57226812e-02 3.52367655e+02] [ 2.06574907e-02 9.99786600e-01 -1.52112168e-04 3.63156791e+00] [ 1.57224682e-02 -1.72730237e-04 9.99876379e-01 5.43610661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.26925415399995 meters Centerline goodness : 0.999339 Centerline is valid? [True, True] Translation: X:352.40, Y:3.63, Z:5.44 [[ 9.99704736e-01 -1.85263912e-02 -1.57230474e-02 3.52397764e+02] [ 1.85274034e-02 9.99828350e-01 -8.12914326e-05 3.63215839e+00] [ 1.57218546e-02 -2.10039812e-04 9.99876382e-01 5.43642111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.299254154 meters Centerline goodness : 0.999233 Centerline is valid? [True, True] Translation: X:352.43, Y:3.63, Z:5.44 [[ 9.99737450e-01 -1.66678323e-02 -1.57230445e-02 3.52426490e+02] [ 1.66686060e-02 9.99861066e-01 -8.18496818e-05 3.63265156e+00] [ 1.57222243e-02 -1.80253041e-04 9.99876382e-01 5.43671037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.32925415399995 meters Centerline goodness : 0.999210 Centerline is valid? [True, True] Translation: X:352.46, Y:3.63, Z:5.44 [[ 9.99773642e-01 -1.43335321e-02 -1.57230401e-02 3.52455379e+02] [ 1.43340041e-02 9.99897259e-01 -8.26810578e-05 3.63328955e+00] [ 1.57226098e-02 -1.42711779e-04 9.99876382e-01 5.43697445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.359254154 meters Centerline goodness : 0.999360 Centerline is valid? [True, True] Translation: X:352.48, Y:3.63, Z:5.44 [[ 9.99781399e-01 -1.37818808e-02 -1.57230357e-02 3.52483653e+02] [ 1.37822717e-02 9.99905017e-01 -8.35031547e-05 3.63330392e+00] [ 1.57226931e-02 -1.33214249e-04 9.99876382e-01 5.43690582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.38925415399996 meters Centerline goodness : 0.999168 Centerline is valid? [True, True] Translation: X:352.51, Y:3.63, Z:5.44 [[ 9.99781234e-01 -1.37938940e-02 -1.57230114e-02 3.52511100e+02] [ 1.37942178e-02 9.99904851e-01 -8.78642901e-05 3.63343719e+00] [ 1.57227273e-02 -1.29041575e-04 9.99876382e-01 5.43698250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.41925415399993 meters Centerline goodness : 0.999021 Centerline is valid? [True, True] Translation: X:352.54, Y:3.63, Z:5.44 [[ 9.99774243e-01 -1.42916428e-02 -1.57229857e-02 3.52539396e+02] [ 1.42919594e-02 9.99897860e-01 -9.22333252e-05 3.63274772e+00] [ 1.57226980e-02 -1.32499771e-04 9.99876382e-01 5.43618011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.44925415399996 meters Centerline goodness : 0.998998 Centerline is valid? [True, True] Translation: X:352.57, Y:3.63, Z:5.44 [[ 9.99761887e-01 -1.51313705e-02 -1.57229585e-02 3.52567462e+02] [ 1.51317212e-02 9.99885504e-01 -9.66659624e-05 3.63230218e+00] [ 1.57226210e-02 -1.41272479e-04 9.99876382e-01 5.43587795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.47925415399993 meters Centerline goodness : 0.999212 Centerline is valid? [True, True] Translation: X:352.59, Y:3.63, Z:5.44 [[ 9.99746924e-01 -1.60896450e-02 -1.57229294e-02 3.52594396e+02] [ 1.60900432e-02 9.99870542e-01 -1.01180319e-04 3.63086050e+00] [ 1.57225219e-02 -1.51827902e-04 9.99876382e-01 5.43569518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.50925415399996 meters Centerline goodness : 0.999062 Centerline is valid? [True, True] Translation: X:352.62, Y:3.63, Z:5.44 [[ 9.99706207e-01 -1.84472887e-02 -1.57224789e-02 3.52624224e+02] [ 1.84469106e-02 9.99829827e-01 -1.69084071e-04 3.62999846e+00] [ 1.57229225e-02 -1.20996768e-04 9.99876380e-01 5.43576422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.53925415399993 meters Centerline goodness : 0.999127 Centerline is valid? [True, True] Translation: X:352.65, Y:3.63, Z:5.44 [[ 9.99630784e-01 -2.21604403e-02 -1.57229085e-02 3.52652953e+02] [ 2.21615387e-02 9.99754398e-01 -1.04393738e-04 3.62772933e+00] [ 1.57213603e-02 -2.44088650e-04 9.99876382e-01 5.43673270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.56925415399996 meters Centerline goodness : 0.999065 Centerline is valid? [True, True] Translation: X:352.68, Y:3.63, Z:5.44 [[ 9.99588960e-01 -2.39729453e-02 -1.57229011e-02 3.52683095e+02] [ 2.39742504e-02 9.99712571e-01 -1.05499344e-04 3.62635939e+00] [ 1.57209110e-02 -2.71488789e-04 9.99876382e-01 5.43702127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.59925415399994 meters Centerline goodness : 0.999001 Centerline is valid? [True, True] Translation: X:352.71, Y:3.63, Z:5.44 [[ 9.99542042e-01 -2.58552978e-02 -1.57228974e-02 3.52714074e+02] [ 2.58568271e-02 9.99665651e-01 -1.06045008e-04 3.62501392e+00] [ 1.57203823e-02 -3.00547795e-04 9.99876382e-01 5.43718544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.62925415399997 meters Centerline goodness : 0.998874 Centerline is valid? [True, True] Translation: X:352.75, Y:3.62, Z:5.44 [[ 9.99473049e-01 -2.83974515e-02 -1.57228974e-02 3.52745608e+02] [ 2.83992952e-02 9.99596653e-01 -1.06045008e-04 3.62393533e+00] [ 1.57195670e-02 -3.40530077e-04 9.99876382e-01 5.43792123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.65925415399994 meters Centerline goodness : 0.998918 Centerline is valid? [True, True] Translation: X:352.78, Y:3.62, Z:5.44 [[ 9.99355668e-01 -3.22651481e-02 -1.57229012e-02 3.52776757e+02] [ 3.22674790e-02 9.99479264e-01 -1.05480843e-04 3.62153152e+00] [ 1.57181171e-02 -4.01925506e-04 9.99876382e-01 5.43772577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.68925415399997 meters Centerline goodness : 0.999088 Centerline is valid? [True, True] Translation: X:352.81, Y:3.62, Z:5.44 [[ 9.99308322e-01 -3.36996630e-02 -1.57229050e-02 3.52807749e+02] [ 3.37021803e-02 9.99431915e-01 -1.04905642e-04 3.62048787e+00] [ 1.57175084e-02 -4.25063099e-04 9.99876382e-01 5.43778444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.71925415399994 meters Centerline goodness : 0.999004 Centerline is valid? [True, True] Translation: X:352.84, Y:3.62, Z:5.44 [[ 9.99280657e-01 -3.45102799e-02 -1.57229088e-02 3.52840251e+02] [ 3.45129065e-02 9.99404247e-01 -1.04331549e-04 3.61929115e+00] [ 1.57171424e-02 -4.38386784e-04 9.99876382e-01 5.43779220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.74925415399997 meters Centerline goodness : 0.998814 Centerline is valid? [True, True] Translation: X:352.87, Y:3.62, Z:5.44 [[ 9.99243639e-01 -3.55659958e-02 -1.57229163e-02 3.52871056e+02] [ 3.55687710e-02 9.99367226e-01 -1.03186320e-04 3.61858126e+00] [ 1.57166372e-02 -4.56136536e-04 9.99876382e-01 5.43829985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.77925415399994 meters Centerline goodness : 0.998837 Centerline is valid? [True, True] Translation: X:352.90, Y:3.62, Z:5.44 [[ 9.99213586e-01 -3.64005449e-02 -1.57229219e-02 3.52903741e+02] [ 3.64034368e-02 9.99337170e-01 -1.02332907e-04 3.61677958e+00] [ 1.57162252e-02 -4.70115962e-04 9.99876382e-01 5.43826150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.809254154 meters Centerline goodness : 0.999240 Centerline is valid? [True, True] Translation: X:352.93, Y:3.62, Z:5.44 [[ 9.99162682e-01 -3.77720067e-02 -1.57229292e-02 3.52934909e+02] [ 3.77750861e-02 9.99286262e-01 -1.01194497e-04 3.61666433e+00] [ 1.57155295e-02 -4.92825240e-04 9.99876382e-01 5.43997126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.83925415399995 meters Centerline goodness : 0.998986 Centerline is valid? [True, True] Translation: X:352.97, Y:3.62, Z:5.44 [[ 9.99128461e-01 -3.86666250e-02 -1.57229346e-02 3.52966638e+02] [ 3.86698284e-02 9.99252037e-01 -1.00345417e-04 3.61538708e+00] [ 1.57150545e-02 -5.07745222e-04 9.99876382e-01 5.44065407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.869254154 meters Centerline goodness : 0.999093 Centerline is valid? [True, True] Translation: X:353.00, Y:3.61, Z:5.44 [[ 9.99116677e-01 -3.89699274e-02 -1.57229418e-02 3.52997976e+02] [ 3.89731862e-02 9.99240252e-01 -9.92076137e-05 3.61485250e+00] [ 1.57148625e-02 -5.13653157e-04 9.99876382e-01 5.44096991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.89925415399995 meters Centerline goodness : 0.999177 Centerline is valid? [True, True] Translation: X:353.03, Y:3.61, Z:5.44 [[ 9.99088880e-01 -3.96761680e-02 -1.57229471e-02 3.53030240e+02] [ 3.96795275e-02 9.99212453e-01 -9.83588907e-05 3.61455349e+00] [ 1.57144671e-02 -5.25609838e-04 9.99876382e-01 5.44137682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.929254154 meters Centerline goodness : 0.998927 Centerline is valid? [True, True] Translation: X:353.06, Y:3.61, Z:5.44 [[ 9.99045577e-01 -4.07519838e-02 -1.57229541e-02 3.53061700e+02] [ 4.07554941e-02 9.99169145e-01 -9.72263864e-05 3.61382191e+00] [ 1.57138528e-02 -5.43663173e-04 9.99876382e-01 5.44145285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.95925415399995 meters Centerline goodness : 0.999176 Centerline is valid? [True, True] Translation: X:353.09, Y:3.61, Z:5.44 [[ 9.99018897e-01 -4.14008778e-02 -1.57229656e-02 3.53093774e+02] [ 4.14044980e-02 9.99142462e-01 -9.53415922e-05 3.61389819e+00] [ 1.57134297e-02 -5.55753445e-04 9.99876382e-01 5.44209388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.989254154 meters Centerline goodness : 0.999135 Centerline is valid? [True, True] Translation: X:353.13, Y:3.61, Z:5.44 [[ 9.98990552e-01 -4.20792716e-02 -1.57229721e-02 3.53126138e+02] [ 4.20829928e-02 9.99114114e-01 -9.42568349e-05 3.61423912e+00] [ 1.57130096e-02 -5.67508032e-04 9.99876382e-01 5.44281939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.01925415399995 meters Centerline goodness : 0.998923 Centerline is valid? [True, True] Translation: X:353.16, Y:3.61, Z:5.44 [[ 9.98974087e-01 -4.24683697e-02 -1.57229789e-02 3.53158038e+02] [ 4.24721570e-02 9.99097646e-01 -9.31068021e-05 3.61419986e+00] [ 1.57127453e-02 -5.74777545e-04 9.99876382e-01 5.44115653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.049254154 meters Centerline goodness : 0.999007 Centerline is valid? [True, True] Translation: X:353.19, Y:3.62, Z:5.44 [[ 9.98911295e-01 -4.39205214e-02 -1.57229856e-02 3.53190071e+02] [ 4.39245065e-02 9.99034849e-01 -9.19585001e-05 3.61505640e+00] [ 1.57118494e-02 -5.98765998e-04 9.99876382e-01 5.44352134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.07925415399995 meters Centerline goodness : 0.998754 Centerline is valid? [True, True] Translation: X:353.22, Y:3.62, Z:5.44 [[ 9.98890309e-01 -4.43952408e-02 -1.57229923e-02 3.53221859e+02] [ 4.43993029e-02 9.99013861e-01 -9.07923058e-05 3.61541631e+00] [ 1.57115180e-02 -6.07398344e-04 9.99876382e-01 5.44383466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.109254154 meters Centerline goodness : 0.998798 Centerline is valid? [True, True] Translation: X:353.26, Y:3.61, Z:5.44 [[ 9.99153290e-01 -3.80196084e-02 -1.57229990e-02 3.53262234e+02] [ 3.80229003e-02 9.99276864e-01 -8.96194659e-05 3.60839224e+00] [ 1.57150364e-02 -5.08290440e-04 9.99876382e-01 5.44022808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.13925415399996 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:353.28, Y:3.62, Z:5.45 [[ 9.98841001e-01 -4.54903037e-02 -1.57253908e-02 3.53280643e+02] [ 4.55020706e-02 9.98964168e-01 3.91107282e-04 3.61729512e+00] [ 1.56913103e-02 -1.10619183e-03 9.99876272e-01 5.44512298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.16925415399993 meters Centerline goodness : 0.998839 Centerline is valid? [True, True] Translation: X:353.31, Y:3.62, Z:5.44 [[ 9.98878138e-01 -4.46684403e-02 -1.57224722e-02 3.53312918e+02] [ 4.46724768e-02 9.99001682e-01 -9.45463751e-05 3.61804651e+00] [ 1.57109994e-02 -6.07921467e-04 9.99876390e-01 5.44475708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.19925415399996 meters Centerline goodness : 0.998967 Centerline is valid? [True, True] Translation: X:353.35, Y:3.61, Z:5.44 [[ 9.99132490e-01 -3.85625560e-02 -1.57224791e-02 3.53349171e+02] [ 3.85658558e-02 9.99256056e-01 -9.33807255e-05 3.61418690e+00] [ 1.57143835e-02 -5.13051145e-04 9.99876390e-01 5.44445913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.22925415399993 meters Centerline goodness : 0.998796 Centerline is valid? [True, True] Translation: X:353.37, Y:3.62, Z:5.45 [[ 9.98938378e-01 -4.32996862e-02 -1.57242906e-02 3.53372931e+02] [ 4.33087402e-02 9.99061709e-01 2.35573243e-04 3.62152519e+00] [ 1.56993364e-02 -9.16322368e-04 9.99876338e-01 5.44867882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.25925415399996 meters Centerline goodness : 0.999176 Centerline is valid? [True, True] Translation: X:353.41, Y:3.62, Z:5.45 [[ 9.98990787e-01 -4.20739585e-02 -1.57222804e-02 3.53405175e+02] [ 4.20776590e-02 9.99114339e-01 -9.55024450e-05 3.62265024e+00] [ 1.57123739e-02 -5.66150690e-04 9.99876393e-01 5.44975434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.28925415399993 meters Centerline goodness : 0.998795 Centerline is valid? [True, True] Translation: X:353.44, Y:3.62, Z:5.45 [[ 9.99117440e-01 -3.89506205e-02 -1.57222873e-02 3.53436970e+02] [ 3.89539528e-02 9.99241002e-01 -9.43561567e-05 3.62438535e+00] [ 1.57140293e-02 -5.18172354e-04 9.99876393e-01 5.44876219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.31925415399996 meters Centerline goodness : 0.998963 Centerline is valid? [True, True] Translation: X:353.47, Y:3.63, Z:5.45 [[ 9.99124868e-01 -3.87596127e-02 -1.57222941e-02 3.53468599e+02] [ 3.87629395e-02 9.99248431e-01 -9.32034479e-05 3.62626449e+00] [ 1.57140902e-02 -5.16320451e-04 9.99876393e-01 5.45162956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.34925415399994 meters Centerline goodness : 0.998898 Centerline is valid? [True, True] Translation: X:353.50, Y:3.63, Z:5.45 [[ 9.99170601e-01 -3.75621950e-02 -1.57222991e-02 3.53499634e+02] [ 3.75653871e-02 9.99294167e-01 -9.23461507e-05 3.62739889e+00] [ 1.57146705e-02 -4.98344694e-04 9.99876393e-01 5.45152783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.37925415399997 meters Centerline goodness : 0.999024 Centerline is valid? [True, True] Translation: X:353.53, Y:3.63, Z:5.45 [[ 9.99208798e-01 -3.65320024e-02 -1.57223040e-02 3.53531092e+02] [ 3.65350804e-02 9.99332367e-01 -9.15051995e-05 3.63009537e+00] [ 1.57151502e-02 -4.82982841e-04 9.99876393e-01 5.45229978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.40925415399994 meters Centerline goodness : 0.998960 Centerline is valid? [True, True] Translation: X:353.56, Y:3.63, Z:5.45 [[ 9.99233510e-01 -3.58496972e-02 -1.57223088e-02 3.53562852e+02] [ 3.58527039e-02 9.99357081e-01 -9.06740886e-05 3.63116917e+00] [ 1.57154513e-02 -4.73082694e-04 9.99876393e-01 5.45239715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.43925415399997 meters Centerline goodness : 0.999043 Centerline is valid? [True, True] Translation: X:353.59, Y:3.63, Z:5.45 [[ 9.99246441e-01 -3.54874513e-02 -1.57223151e-02 3.53593614e+02] [ 3.54904305e-02 9.99370012e-01 -8.95708108e-05 3.63327217e+00] [ 1.57155889e-02 -4.68488417e-04 9.99876393e-01 5.45257245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.46925415399994 meters Centerline goodness : 0.999065 Centerline is valid? [True, True] Translation: X:353.63, Y:3.63, Z:5.45 [[ 9.99259938e-01 -3.51053364e-02 -1.57223197e-02 3.53626153e+02] [ 3.51082813e-02 9.99383510e-01 -8.87470315e-05 3.63398299e+00] [ 1.57157426e-02 -4.63302271e-04 9.99876393e-01 5.45305774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.49925415399997 meters Centerline goodness : 0.998808 Centerline is valid? [True, True] Translation: X:353.66, Y:3.63, Z:5.45 [[ 9.99278866e-01 -3.45623674e-02 -1.57223260e-02 3.53658358e+02] [ 3.45652628e-02 9.99402439e-01 -8.76207694e-05 3.63449218e+00] [ 1.57159594e-02 -4.55888748e-04 9.99876393e-01 5.45322968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.52925415399994 meters Centerline goodness : 0.999065 Centerline is valid? [True, True] Translation: X:353.69, Y:3.64, Z:5.45 [[ 9.99318309e-01 -3.34024641e-02 -1.57223322e-02 3.53690666e+02] [ 3.34052338e-02 9.99441886e-01 -8.64965167e-05 3.63601650e+00] [ 1.57164465e-02 -4.38770631e-04 9.99876393e-01 5.45359382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.559254154 meters Centerline goodness : 0.999149 Centerline is valid? [True, True] Translation: X:353.72, Y:3.64, Z:5.45 [[ 9.99347171e-01 -3.25275385e-02 -1.57223385e-02 3.53723183e+02] [ 3.25302181e-02 9.99470749e-01 -8.53428130e-05 3.63699780e+00] [ 1.57167934e-02 -4.26164001e-04 9.99876393e-01 5.45423243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.58925415399995 meters Centerline goodness : 0.999149 Centerline is valid? [True, True] Translation: X:353.76, Y:3.64, Z:5.45 [[ 9.99349574e-01 -3.24536075e-02 -1.57223447e-02 3.53755874e+02] [ 3.24562963e-02 9.99473152e-01 -8.41803346e-05 3.63711399e+00] [ 1.57167934e-02 -4.26163496e-04 9.99876393e-01 5.45474610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.619254154 meters Centerline goodness : 0.999106 Centerline is valid? [True, True] Translation: X:353.79, Y:3.64, Z:5.45 [[ 9.99373245e-01 -3.17163118e-02 -1.57223508e-02 3.53786915e+02] [ 3.17189277e-02 9.99496825e-01 -8.30173516e-05 3.63813592e+00] [ 1.57170727e-02 -4.15730789e-04 9.99876393e-01 5.45476010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.64925415399995 meters Centerline goodness : 0.999106 Centerline is valid? [True, True] Translation: X:353.82, Y:3.64, Z:5.45 [[ 9.99426391e-01 -2.99949426e-02 -1.57223554e-02 3.53819337e+02] [ 2.99973593e-02 9.99549975e-01 -8.21511671e-05 3.63834337e+00] [ 1.57177440e-02 -3.89525098e-04 9.99876393e-01 5.45274711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.679254154 meters Centerline goodness : 0.999233 Centerline is valid? [True, True] Translation: X:353.85, Y:3.64, Z:5.45 [[ 9.99447149e-01 -2.92951046e-02 -1.57223613e-02 3.53850868e+02] [ 2.92974530e-02 9.99570734e-01 -8.09886874e-05 3.63914337e+00] [ 1.57179848e-02 -3.79681229e-04 9.99876393e-01 5.45386804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.70925415399995 meters Centerline goodness : 0.999318 Centerline is valid? [True, True] Translation: X:353.88, Y:3.64, Z:5.45 [[ 9.99455430e-01 -2.90112218e-02 -1.57223713e-02 3.53882021e+02] [ 2.90135663e-02 9.99579015e-01 -7.90075408e-05 3.63910910e+00] [ 1.57180445e-02 -3.77197546e-04 9.99876393e-01 5.45455080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.739254154 meters Centerline goodness : 0.999172 Centerline is valid? [True, True] Translation: X:353.91, Y:3.64, Z:5.45 [[ 9.99461653e-01 -2.87960211e-02 -1.57223741e-02 3.53911926e+02] [ 2.87983478e-02 9.99585239e-01 -7.84439861e-05 3.63891632e+00] [ 1.57181120e-02 -3.74376642e-04 9.99876393e-01 5.45468397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.76925415399995 meters Centerline goodness : 0.998831 Centerline is valid? [True, True] Translation: X:353.94, Y:3.64, Z:5.46 [[ 9.99446678e-01 -2.93111709e-02 -1.57223755e-02 3.53943626e+02] [ 2.93135657e-02 9.99570262e-01 -7.81645472e-05 3.63883833e+00] [ 1.57179101e-02 -3.82757590e-04 9.99876393e-01 5.45685363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.799254154 meters Centerline goodness : 0.998958 Centerline is valid? [True, True] Translation: X:353.97, Y:3.64, Z:5.46 [[ 9.99446982e-01 -2.93007899e-02 -1.57223812e-02 3.53974052e+02] [ 2.93032018e-02 9.99570566e-01 -7.69954630e-05 3.63844363e+00] [ 1.57178855e-02 -3.83763226e-04 9.99876393e-01 5.45713055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.82925415399995 meters Centerline goodness : 0.999108 Centerline is valid? [True, True] Translation: X:354.01, Y:3.64, Z:5.46 [[ 9.99445173e-01 -2.93624315e-02 -1.57223826e-02 3.54005870e+02] [ 2.93648555e-02 9.99568757e-01 -7.67064866e-05 3.63797835e+00] [ 1.57178548e-02 -3.85021566e-04 9.99876393e-01 5.45850032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.859254154 meters Centerline goodness : 0.999110 Centerline is valid? [True, True] Translation: X:354.04, Y:3.64, Z:5.46 [[ 9.99429136e-01 -2.99033308e-02 -1.57223854e-02 3.54036083e+02] [ 2.99058308e-02 9.99552718e-01 -7.61278203e-05 3.63680605e+00] [ 1.57176296e-02 -3.94106637e-04 9.99876393e-01 5.45853405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.88925415399996 meters Centerline goodness : 0.998876 Centerline is valid? [True, True] Translation: X:354.07, Y:3.64, Z:5.46 [[ 9.99427428e-01 -2.99603396e-02 -1.57223868e-02 3.54067202e+02] [ 2.99628512e-02 9.99551010e-01 -7.58408287e-05 3.63565019e+00] [ 1.57175998e-02 -3.95290133e-04 9.99876393e-01 5.45672334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.91925415399993 meters Centerline goodness : 0.999088 Centerline is valid? [True, True] Translation: X:354.10, Y:3.63, Z:5.46 [[ 9.99371503e-01 -3.17711325e-02 -1.57223896e-02 3.54098217e+02] [ 3.17738772e-02 9.99495080e-01 -7.52616596e-05 3.63397423e+00] [ 1.57168422e-02 -4.24346918e-04 9.99876393e-01 5.45723324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.94925415399996 meters Centerline goodness : 0.998982 Centerline is valid? [True, True] Translation: X:354.13, Y:3.63, Z:5.46 [[ 9.99378845e-01 -3.15393532e-02 -1.57223923e-02 3.54130537e+02] [ 3.15420782e-02 9.99502422e-01 -7.46859803e-05 3.63229204e+00] [ 1.57169248e-02 -4.21277340e-04 9.99876393e-01 5.45789942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.97925415399993 meters Centerline goodness : 0.999194 Centerline is valid? [True, True] Translation: X:354.16, Y:3.63, Z:5.46 [[ 9.99331149e-01 -3.30157527e-02 -1.57230457e-02 3.54158343e+02] [ 3.30208868e-02 9.99454660e-01 6.69615242e-05 3.63313406e+00] [ 1.57122605e-02 -5.86105649e-04 9.99876383e-01 5.45785492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.00925415399996 meters Centerline goodness : 0.998899 Centerline is valid? [True, True] Translation: X:354.19, Y:3.63, Z:5.46 [[ 9.99345288e-01 -3.25853239e-02 -1.57223628e-02 3.54190812e+02] [ 3.25881666e-02 9.99468862e-01 -7.54253737e-05 3.63212088e+00] [ 1.57164698e-02 -4.36986985e-04 9.99876393e-01 5.45823913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.03925415399993 meters Centerline goodness : 0.998940 Centerline is valid? [True, True] Translation: X:354.22, Y:3.63, Z:5.46 [[ 9.99385398e-01 -3.13310208e-02 -1.57223682e-02 3.54223070e+02] [ 3.13337266e-02 9.99508975e-01 -7.42711715e-05 3.63175076e+00] [ 1.57169751e-02 -4.18414863e-04 9.99876393e-01 5.45901332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.06925415399996 meters Centerline goodness : 0.998859 Centerline is valid? [True, True] Translation: X:354.25, Y:3.63, Z:5.46 [[ 9.99442957e-01 -2.94377620e-02 -1.57223736e-02 3.54254530e+02] [ 2.94402517e-02 9.99566539e-01 -7.31248768e-05 3.63173534e+00] [ 1.57177112e-02 -3.89786491e-04 9.99876393e-01 5.46016814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.09925415399994 meters Centerline goodness : 0.998621 Centerline is valid? [True, True] Translation: X:354.28, Y:3.63, Z:5.46 [[ 9.99587076e-01 -2.40517030e-02 -1.57223762e-02 3.54284776e+02] [ 2.40535357e-02 9.99710669e-01 -7.25534407e-05 3.63113900e+00] [ 1.57195723e-02 -3.05655255e-04 9.99876393e-01 5.45987195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.12925415399997 meters Centerline goodness : 0.998918 Centerline is valid? [True, True] Translation: X:354.32, Y:3.63, Z:5.46 [[ 9.99635091e-01 -2.19656874e-02 -1.57223775e-02 3.54315101e+02] [ 2.19672666e-02 9.99758688e-01 -7.22705450e-05 3.63120947e+00] [ 1.57201710e-02 -2.73133485e-04 9.99876393e-01 5.46259068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.15925415399994 meters Centerline goodness : 0.998918 Centerline is valid? [True, True] Translation: X:354.34, Y:3.63, Z:5.46 [[ 9.99689286e-01 -1.93426458e-02 -1.57223775e-02 3.54344570e+02] [ 1.93439007e-02 9.99812887e-01 -7.22705450e-05 3.63066101e+00] [ 1.57208335e-02 -2.31884020e-04 9.99876393e-01 5.46311312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.18925415399997 meters Centerline goodness : 0.998896 Centerline is valid? [True, True] Translation: X:354.37, Y:3.63, Z:5.46 [[ 9.99769209e-01 -1.46402154e-02 -1.57223749e-02 3.54373437e+02] [ 1.46408800e-02 9.99892814e-01 -7.28307589e-05 3.62894221e+00] [ 1.57217559e-02 -1.57375455e-04 9.99876393e-01 5.46339992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.21925415399994 meters Centerline goodness : 0.998938 Centerline is valid? [True, True] Translation: X:354.40, Y:3.63, Z:5.46 [[ 9.99791436e-01 -1.30342361e-02 -1.57223710e-02 3.54401118e+02] [ 1.30346891e-02 9.99915042e-01 -7.36643442e-05 3.62830077e+00] [ 1.57219954e-02 -1.31287237e-04 9.99876393e-01 5.46449696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.24925415399997 meters Centerline goodness : 0.999108 Centerline is valid? [True, True] Translation: X:354.43, Y:3.63, Z:5.46 [[ 9.99804053e-01 -1.20275786e-02 -1.57223483e-02 3.54428576e+02] [ 1.20278355e-02 9.99927660e-01 -7.82171235e-05 3.62735950e+00] [ 1.57221518e-02 -1.10904023e-04 9.99876393e-01 5.46495346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.27925415399994 meters Centerline goodness : 0.998727 Centerline is valid? [True, True] Translation: X:354.46, Y:3.62, Z:5.46 [[ 9.99811217e-01 -1.14165989e-02 -1.57223245e-02 3.54457168e+02] [ 1.14167089e-02 9.99934824e-01 -8.27561949e-05 3.62435780e+00] [ 1.57222445e-02 -9.67566301e-05 9.99876393e-01 5.46315158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.309254154 meters Centerline goodness : 0.999173 Centerline is valid? [True, True] Translation: X:354.48, Y:3.62, Z:5.47 [[ 9.99792404e-01 -1.29598675e-02 -1.57223026e-02 3.54484911e+02] [ 1.29601062e-02 9.99916011e-01 -8.67121533e-05 3.62282462e+00] [ 1.57221059e-02 -1.17068559e-04 9.99876393e-01 5.46518581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.33925415399995 meters Centerline goodness : 0.998898 Centerline is valid? [True, True] Translation: X:354.51, Y:3.62, Z:5.47 [[ 9.99791255e-01 -1.30482003e-02 -1.57222759e-02 3.54513396e+02] [ 1.30483775e-02 9.99914862e-01 -9.13129338e-05 3.62025247e+00] [ 1.57221288e-02 -1.13856319e-04 9.99876393e-01 5.46502233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.369254154 meters Centerline goodness : 0.998881 Centerline is valid? [True, True] Translation: X:354.54, Y:3.62, Z:5.46 [[ 9.99700348e-01 -1.87621310e-02 -1.57224944e-02 3.54538894e+02] [ 1.87636058e-02 9.99823947e-01 -5.37185458e-05 3.61693383e+00] [ 1.57207342e-02 -2.41308238e-04 9.99876393e-01 5.46255721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.39925415399995 meters Centerline goodness : 0.998986 Centerline is valid? [True, True] Translation: X:354.57, Y:3.61, Z:5.47 [[ 9.99648091e-01 -2.13662757e-02 -1.57218363e-02 3.54569388e+02] [ 2.13663446e-02 9.99771700e-01 -1.63604424e-04 3.61364893e+00] [ 1.57217426e-02 -1.72371321e-04 9.99876391e-01 5.46664077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.429254154 meters Centerline goodness : 0.998903 Centerline is valid? [True, True] Translation: X:354.60, Y:3.61, Z:5.47 [[ 9.99523198e-01 -2.65740234e-02 -1.57225563e-02 3.54597402e+02] [ 2.65766261e-02 9.99646778e-01 -4.34148147e-05 3.61313009e+00] [ 1.57181564e-02 -3.74458386e-04 9.99876392e-01 5.46578351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.45925415399995 meters Centerline goodness : 0.998948 Centerline is valid? [True, True] Translation: X:354.63, Y:3.61, Z:5.46 [[ 9.99321439e-01 -3.33088999e-02 -1.57219437e-02 3.54627174e+02] [ 3.33107684e-02 9.99445032e-01 -1.43082691e-04 3.60801940e+00] [ 1.57179845e-02 -3.80724425e-04 9.99876392e-01 5.46444203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.489254154 meters Centerline goodness : 0.998864 Centerline is valid? [True, True] Translation: X:354.66, Y:3.61, Z:5.47 [[ 9.99179163e-01 -3.73338487e-02 -1.57220765e-02 3.54658664e+02] [ 3.73365618e-02 9.99302740e-01 -1.21024946e-04 3.60594753e+00] [ 1.57156324e-02 -4.66082675e-04 9.99876393e-01 5.46597481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.51925415399995 meters Centerline goodness : 0.998802 Centerline is valid? [True, True] Translation: X:354.70, Y:3.59, Z:5.46 [[ 9.99379677e-01 -3.15130379e-02 -1.57222414e-02 3.54700020e+02] [ 3.15154683e-02 9.99503260e-01 -9.32144397e-05 3.59322962e+00] [ 1.57173690e-02 -4.02337183e-04 9.99876394e-01 5.45926905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.549254154 meters Centerline goodness : 0.998929 Centerline is valid? [True, True] Translation: X:354.72, Y:3.60, Z:5.47 [[ 9.98844921e-01 -4.54042256e-02 -1.57251445e-02 3.54717687e+02] [ 4.54170942e-02 9.98968005e-01 4.62013268e-04 3.60093954e+00] [ 1.56879389e-02 -1.17566998e-03 9.99876246e-01 5.46799500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.57925415399995 meters Centerline goodness : 0.998720 Centerline is valid? [True, True] Translation: X:354.75, Y:3.60, Z:5.47 [[ 9.98787944e-01 -4.66420003e-02 -1.57215344e-02 3.54749028e+02] [ 4.66461806e-02 9.98911469e-01 -1.00896978e-04 3.59950025e+00] [ 1.57091270e-02 -6.32574846e-04 9.99876404e-01 5.46690743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.609254154 meters Centerline goodness : 0.998846 Centerline is valid? [True, True] Translation: X:354.78, Y:3.60, Z:5.47 [[ 9.98669470e-01 -4.91133722e-02 -1.57215399e-02 3.54781227e+02] [ 4.91178718e-02 9.98792984e-01 -1.00030938e-04 3.59845242e+00] [ 1.57074766e-02 -6.72310737e-04 9.99876404e-01 5.47041602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.63925415399996 meters Centerline goodness : 0.998827 Centerline is valid? [True, True] Translation: X:354.81, Y:3.60, Z:5.47 [[ 9.98501172e-01 -5.24236907e-02 -1.57215473e-02 3.54812144e+02] [ 5.24286183e-02 9.98624669e-01 -9.88484823e-05 3.59525949e+00] [ 1.57051070e-02 -7.25558678e-04 9.99876404e-01 5.47078673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.66925415399993 meters Centerline goodness : 0.998913 Centerline is valid? [True, True] Translation: X:354.84, Y:3.59, Z:5.47 [[ 9.98405365e-01 -5.42177020e-02 -1.57215528e-02 3.54843941e+02] [ 5.42228653e-02 9.98528854e-01 -9.79654805e-05 3.59403794e+00] [ 1.57037356e-02 -7.54658380e-04 9.99876404e-01 5.47141762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.69925415399996 meters Centerline goodness : 0.998996 Centerline is valid? [True, True] Translation: X:354.88, Y:3.59, Z:5.47 [[ 9.98312346e-01 -5.59043188e-02 -1.57215599e-02 3.54875698e+02] [ 5.59097088e-02 9.98435824e-01 -9.68140708e-05 3.59268161e+00] [ 1.57023810e-02 -7.82337155e-04 9.99876404e-01 5.47237262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.72925415399993 meters Centerline goodness : 0.998745 Centerline is valid? [True, True] Translation: X:354.91, Y:3.59, Z:5.47 [[ 9.98276167e-01 -5.65466733e-02 -1.57215670e-02 3.54907802e+02] [ 5.65521610e-02 9.98399641e-01 -9.56512764e-05 3.59087514e+00] [ 1.57018156e-02 -7.93602199e-04 9.99876404e-01 5.47003287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.75925415399996 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:354.94, Y:3.59, Z:5.47 [[ 9.98069438e-01 -6.00851860e-02 -1.57215739e-02 3.54938618e+02] [ 6.00911295e-02 9.98192891e-01 -9.44981248e-05 3.58939329e+00] [ 1.56988413e-02 -8.50411445e-04 9.99876404e-01 5.47163144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.78925415399993 meters Centerline goodness : 0.999038 Centerline is valid? [True, True] Translation: X:354.97, Y:3.59, Z:5.47 [[ 9.97987887e-01 -6.14248347e-02 -1.57215790e-02 3.54970784e+02] [ 6.14309575e-02 9.98111331e-01 -9.36388462e-05 3.58894707e+00] [ 1.56976379e-02 -8.72341219e-04 9.99876404e-01 5.47337080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.81925415399996 meters Centerline goodness : 0.998934 Centerline is valid? [True, True] Translation: X:355.00, Y:3.59, Z:5.47 [[ 9.97933821e-01 -6.22970361e-02 -1.57215858e-02 3.55002799e+02] [ 6.23032849e-02 9.98057259e-01 -9.24830811e-05 3.58825731e+00] [ 1.56968043e-02 -8.87214447e-04 9.99876404e-01 5.47279115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.84925415399994 meters Centerline goodness : 0.998913 Centerline is valid? [True, True] Translation: X:355.03, Y:3.59, Z:5.47 [[ 9.97936467e-01 -6.22546387e-02 -1.57215927e-02 3.55034241e+02] [ 6.22609008e-02 9.98059904e-01 -9.13040095e-05 3.58828643e+00] [ 1.56967754e-02 -8.87724922e-04 9.99876404e-01 5.47214653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.87925415399997 meters Centerline goodness : 0.999038 Centerline is valid? [True, True] Translation: X:355.07, Y:3.59, Z:5.47 [[ 9.98021505e-01 -6.08761613e-02 -1.57215977e-02 3.55066754e+02] [ 6.08822666e-02 9.98144950e-01 -9.04267916e-05 3.58768373e+00] [ 1.56979382e-02 -8.66918623e-04 9.99876404e-01 5.46985603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.90925415399994 meters Centerline goodness : 0.998809 Centerline is valid? [True, True] Translation: X:355.10, Y:3.59, Z:5.47 [[ 9.98042347e-01 -6.05335091e-02 -1.57216042e-02 3.55099228e+02] [ 6.05395900e-02 9.98165793e-01 -8.92805531e-05 3.58885875e+00] [ 1.56981720e-02 -8.62673702e-04 9.99876404e-01 5.47079874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.93925415399997 meters Centerline goodness : 0.999038 Centerline is valid? [True, True] Translation: X:355.13, Y:3.59, Z:5.47 [[ 9.98047379e-01 -6.04504755e-02 -1.57216108e-02 3.55131515e+02] [ 6.04565645e-02 9.98170825e-01 -8.81133151e-05 3.58974044e+00] [ 1.56981797e-02 -8.62533313e-04 9.99876404e-01 5.47191193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.96925415399994 meters Centerline goodness : 0.999037 Centerline is valid? [True, True] Translation: X:355.16, Y:3.59, Z:5.47 [[ 9.98194425e-01 -5.79717309e-02 -1.57216188e-02 3.55162634e+02] [ 5.79775361e-02 9.98317884e-01 -8.66605446e-05 3.59027045e+00] [ 1.57001971e-02 -8.24996648e-04 9.99876404e-01 5.47069088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.99925415399997 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:355.20, Y:3.59, Z:5.47 [[ 9.98227816e-01 -5.73938846e-02 -1.57216235e-02 3.55195111e+02] [ 5.73996317e-02 9.98351278e-01 -8.58075626e-05 3.59195375e+00] [ 1.57006277e-02 -8.16759900e-04 9.99876404e-01 5.47425238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.02925415399994 meters Centerline goodness : 0.999267 Centerline is valid? [True, True] Translation: X:355.23, Y:3.59, Z:5.47 [[ 9.98330467e-01 -5.55797563e-02 -1.57216297e-02 3.55226440e+02] [ 5.55852974e-02 9.98453939e-01 -8.46419760e-05 3.59299021e+00] [ 1.57020275e-02 -7.89390800e-04 9.99876404e-01 5.47483594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.059254154 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:355.26, Y:3.59, Z:5.48 [[ 9.98417643e-01 -5.39911080e-02 -1.57216344e-02 3.55257358e+02] [ 5.39964662e-02 9.98541123e-01 -8.37738674e-05 3.59458438e+00] [ 1.57032215e-02 -7.65271391e-04 9.99876404e-01 5.47585244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.08925415399995 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:355.29, Y:3.60, Z:5.48 [[ 9.98677645e-01 -4.89468245e-02 -1.57216443e-02 3.55289829e+02] [ 4.89515890e-02 9.98801149e-01 -8.18600065e-05 3.59658985e+00] [ 1.57068032e-02 -6.87847712e-04 9.99876404e-01 5.47813472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.119254154 meters Centerline goodness : 0.999015 Centerline is valid? [True, True] Translation: X:355.32, Y:3.60, Z:5.48 [[ 9.98781026e-01 -4.67898769e-02 -1.57216503e-02 3.55321697e+02] [ 4.67943929e-02 9.98904539e-01 -8.06987158e-05 3.59815817e+00] [ 1.57082037e-02 -6.55084733e-04 9.99876404e-01 5.47987288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.14925415399995 meters Centerline goodness : 0.999391 Centerline is valid? [True, True] Translation: X:355.35, Y:3.60, Z:5.48 [[ 9.98899511e-01 -4.41881987e-02 -1.57216562e-02 3.55353099e+02] [ 4.41924112e-02 9.99023035e-01 -7.95374247e-05 3.59913879e+00] [ 1.57098113e-02 -6.15327999e-04 9.99876404e-01 5.48041905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.179254154 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:355.38, Y:3.60, Z:5.48 [[ 9.99012521e-01 -4.15549400e-02 -1.57216605e-02 3.55384712e+02] [ 4.15588404e-02 9.99136055e-01 -7.86725902e-05 3.60011754e+00] [ 1.57113471e-02 -5.74779077e-04 9.99876404e-01 5.48065671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.20925415399995 meters Centerline goodness : 0.999015 Centerline is valid? [True, True] Translation: X:355.42, Y:3.60, Z:5.48 [[ 9.99217813e-01 -3.62848724e-02 -1.57216646e-02 3.55417222e+02] [ 3.62881343e-02 9.99341366e-01 -7.78373609e-05 3.60167640e+00] [ 1.57141341e-02 -4.92733400e-04 9.99876404e-01 5.47967012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.239254154 meters Centerline goodness : 0.999158 Centerline is valid? [True, True] Translation: X:355.45, Y:3.60, Z:5.48 [[ 9.99289213e-01 -3.42621835e-02 -1.57216701e-02 3.55449375e+02] [ 3.42652131e-02 9.99412772e-01 -7.67068582e-05 3.60288763e+00] [ 1.57150661e-02 -4.62054042e-04 9.99876404e-01 5.48068804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.26925415399995 meters Centerline goodness : 0.999073 Centerline is valid? [True, True] Translation: X:355.48, Y:3.60, Z:5.48 [[ 9.99389001e-01 -3.12162425e-02 -1.57216756e-02 3.55480923e+02] [ 3.12189135e-02 9.99512568e-01 -7.55590163e-05 3.60483431e+00] [ 1.57163711e-02 -4.15300782e-04 9.99876404e-01 5.48003887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.299254154 meters Centerline goodness : 0.999198 Centerline is valid? [True, True] Translation: X:355.51, Y:3.61, Z:5.48 [[ 9.99405129e-01 -3.06955621e-02 -1.57216784e-02 3.55511149e+02] [ 3.06981778e-02 9.99528697e-01 -7.49833631e-05 3.60629665e+00] [ 1.57165704e-02 -4.07688120e-04 9.99876404e-01 5.48221485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.32925415399995 meters Centerline goodness : 0.998926 Centerline is valid? [True, True] Translation: X:355.54, Y:3.61, Z:5.48 [[ 9.99430571e-01 -2.98556982e-02 -1.57216828e-02 3.55541256e+02] [ 2.98582249e-02 9.99554141e-01 -7.40384513e-05 3.60732854e+00] [ 1.57168837e-02 -3.95425250e-04 9.99876404e-01 5.48097351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.359254154 meters Centerline goodness : 0.999220 Centerline is valid? [True, True] Translation: X:355.57, Y:3.61, Z:5.48 [[ 9.99479967e-01 -2.81536352e-02 -1.57216044e-02 3.55572462e+02] [ 2.81556942e-02 9.99603546e-01 -9.03977195e-05 3.60851201e+00] [ 1.57179165e-02 -3.52301977e-04 9.99876404e-01 5.48171015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.38925415399996 meters Centerline goodness : 0.998948 Centerline is valid? [True, True] Translation: X:355.60, Y:3.61, Z:5.48 [[ 9.99521371e-01 -2.66431527e-02 -1.57216737e-02 3.55603360e+02] [ 2.66452501e-02 9.99644949e-01 -7.60799702e-05 3.60869283e+00] [ 1.57181187e-02 -3.42864372e-04 9.99876404e-01 5.48045252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.41925415399993 meters Centerline goodness : 0.999199 Centerline is valid? [True, True] Translation: X:355.63, Y:3.61, Z:5.48 [[ 9.99530123e-01 -2.63127687e-02 -1.57216737e-02 3.55633811e+02] [ 2.63148252e-02 9.99653702e-01 -7.60799702e-05 3.61006802e+00] [ 1.57182312e-02 -3.37668874e-04 9.99876404e-01 5.48258853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.44925415399996 meters Centerline goodness : 0.999242 Centerline is valid? [True, True] Translation: X:355.66, Y:3.61, Z:5.48 [[ 9.99576639e-01 -2.44820865e-02 -1.57216737e-02 3.55664099e+02] [ 2.44839167e-02 9.99700221e-01 -7.60799702e-05 3.61186379e+00] [ 1.57188233e-02 -3.08880389e-04 9.99876404e-01 5.48365009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.47925415399993 meters Centerline goodness : 0.999304 Centerline is valid? [True, True] Translation: X:355.69, Y:3.61, Z:5.48 [[ 9.99594025e-01 -2.37616199e-02 -1.57216751e-02 3.55693460e+02] [ 2.37633656e-02 9.99717608e-01 -7.57922189e-05 3.61250938e+00] [ 1.57190364e-02 -2.97838464e-04 9.99876404e-01 5.48458882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.50925415399996 meters Centerline goodness : 0.999304 Centerline is valid? [True, True] Translation: X:355.72, Y:3.61, Z:5.49 [[ 9.99593173e-01 -2.37974321e-02 -1.57216737e-02 3.55723609e+02] [ 2.37991777e-02 9.99716757e-01 -7.60763245e-05 3.61268563e+00] [ 1.57190311e-02 -2.98117532e-04 9.99876404e-01 5.48506297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.53925415399993 meters Centerline goodness : 0.998883 Centerline is valid? [True, True] Translation: X:355.75, Y:3.61, Z:5.49 [[ 9.99615229e-01 -2.28521918e-02 -1.57216710e-02 3.55753230e+02] [ 2.28538118e-02 9.99738815e-01 -7.66395797e-05 3.61282662e+00] [ 1.57193161e-02 -2.82690018e-04 9.99876404e-01 5.48623791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.56925415399996 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:355.78, Y:3.61, Z:5.49 [[ 9.99625444e-01 -2.24009038e-02 -1.57216682e-02 3.55782456e+02] [ 2.24024589e-02 9.99749030e-01 -7.72111387e-05 3.61298940e+00] [ 1.57194521e-02 -2.75021807e-04 9.99876404e-01 5.48688534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.59925415399994 meters Centerline goodness : 0.999072 Centerline is valid? [True, True] Translation: X:355.81, Y:3.61, Z:5.49 [[ 9.99626620e-01 -2.23483713e-02 -1.57216668e-02 3.55811813e+02] [ 2.23499154e-02 9.99750206e-01 -7.74946113e-05 3.61305831e+00] [ 1.57194715e-02 -2.73912246e-04 9.99876404e-01 5.48766192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.62925415399997 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:355.84, Y:3.61, Z:5.49 [[ 9.99626183e-01 -2.23679106e-02 -1.57216639e-02 3.55840780e+02] [ 2.23694482e-02 9.99749770e-01 -7.80704745e-05 3.61291465e+00] [ 1.57194761e-02 -2.73643655e-04 9.99876404e-01 5.48749625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.65925415399994 meters Centerline goodness : 0.999072 Centerline is valid? [True, True] Translation: X:355.87, Y:3.61, Z:5.49 [[ 9.99612620e-01 -2.29660656e-02 -1.57216596e-02 3.55870256e+02] [ 2.29676637e-02 9.99736205e-01 -7.89271532e-05 3.61168368e+00] [ 1.57193250e-02 -2.82193211e-04 9.99876404e-01 5.48775657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.68925415399997 meters Centerline goodness : 0.998968 Centerline is valid? [True, True] Translation: X:355.90, Y:3.61, Z:5.49 [[ 9.99605502e-01 -2.32738054e-02 -1.57216567e-02 3.55899852e+02] [ 2.32754323e-02 9.99729087e-01 -7.95100433e-05 3.61072162e+00] [ 1.57192480e-02 -2.86449678e-04 9.99876404e-01 5.48663016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.71925415399994 meters Centerline goodness : 0.999054 Centerline is valid? [True, True] Translation: X:355.93, Y:3.61, Z:5.49 [[ 9.99543077e-01 -2.58160129e-02 -1.57216552e-02 3.55929507e+02] [ 2.58179496e-02 9.99666658e-01 -7.97990894e-05 3.60953383e+00] [ 1.57184746e-02 -3.26138273e-04 9.99876404e-01 5.48827283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.74925415399997 meters Centerline goodness : 0.998886 Centerline is valid? [True, True] Translation: X:355.96, Y:3.61, Z:5.49 [[ 9.99516984e-01 -2.68072569e-02 -1.57216522e-02 3.55959781e+02] [ 2.68093071e-02 9.99640563e-01 -8.03730388e-05 3.60875875e+00] [ 1.57181559e-02 -3.41152386e-04 9.99876404e-01 5.48826830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.77925415399994 meters Centerline goodness : 0.999053 Centerline is valid? [True, True] Translation: X:355.99, Y:3.61, Z:5.49 [[ 9.99509100e-01 -2.70996131e-02 -1.57216522e-02 3.55990316e+02] [ 2.71016995e-02 9.99632678e-01 -8.03730388e-05 3.60744256e+00] [ 1.57180554e-02 -3.45749911e-04 9.99876404e-01 5.48720054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.809254154 meters Centerline goodness : 0.998885 Centerline is valid? [True, True] Translation: X:356.02, Y:3.61, Z:5.49 [[ 9.99513018e-01 -2.69547072e-02 -1.57216522e-02 3.56021304e+02] [ 2.69567756e-02 9.99636597e-01 -8.03730388e-05 3.60657203e+00] [ 1.57181054e-02 -3.43471154e-04 9.99876404e-01 5.48691261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.83925415399995 meters Centerline goodness : 0.998674 Centerline is valid? [True, True] Translation: X:356.05, Y:3.61, Z:5.49 [[ 9.99529819e-01 -2.63243460e-02 -1.57216522e-02 3.56051572e+02] [ 2.63263365e-02 9.99653399e-01 -8.03730388e-05 3.60658048e+00] [ 1.57183189e-02 -3.33558259e-04 9.99876404e-01 5.48706492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.869254154 meters Centerline goodness : 0.998736 Centerline is valid? [True, True] Translation: X:356.08, Y:3.61, Z:5.49 [[ 9.99547352e-01 -2.56499535e-02 -1.57216537e-02 3.56082111e+02] [ 2.56518652e-02 9.99670934e-01 -8.00840759e-05 3.60706278e+00] [ 1.57185344e-02 -3.23241915e-04 9.99876404e-01 5.48917431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.89925415399995 meters Centerline goodness : 0.998931 Centerline is valid? [True, True] Translation: X:356.11, Y:3.61, Z:5.49 [[ 9.99590397e-01 -2.39137400e-02 -1.57216537e-02 3.56112941e+02] [ 2.39154370e-02 9.99713982e-01 -8.00840759e-05 3.60670043e+00] [ 1.57190722e-02 -2.95938946e-04 9.99876404e-01 5.48907530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.929254154 meters Centerline goodness : 0.998823 Centerline is valid? [True, True] Translation: X:356.14, Y:3.61, Z:5.49 [[ 9.99666467e-01 -2.04886631e-02 -1.57216537e-02 3.56142118e+02] [ 2.04899366e-02 9.99790056e-01 -8.00840759e-05 3.60650573e+00] [ 1.57199939e-02 -2.42078324e-04 9.99876404e-01 5.49081246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.95925415399995 meters Centerline goodness : 0.998972 Centerline is valid? [True, True] Translation: X:356.17, Y:3.61, Z:5.49 [[ 9.99712658e-01 -1.80950667e-02 -1.57216508e-02 3.56170579e+02] [ 1.80960353e-02 9.99836250e-01 -8.06572260e-05 3.60627090e+00] [ 1.57205359e-02 -2.03865498e-04 9.99876404e-01 5.49188823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.989254154 meters Centerline goodness : 0.998863 Centerline is valid? [True, True] Translation: X:356.20, Y:3.61, Z:5.49 [[ 9.99755511e-01 -1.55482340e-02 -1.57216464e-02 3.56199056e+02] [ 1.55488744e-02 9.99879106e-01 -8.15095386e-05 3.60568622e+00] [ 1.57210130e-02 -1.62964294e-04 9.99876404e-01 5.49186993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.01925415399995 meters Centerline goodness : 0.998906 Centerline is valid? [True, True] Translation: X:356.23, Y:3.61, Z:5.49 [[ 9.99785170e-01 -1.35071728e-02 -1.57216246e-02 3.56227623e+02] [ 1.35074978e-02 9.99908766e-01 -8.55166962e-05 3.60614527e+00] [ 1.57213453e-02 -1.26861485e-04 9.99876404e-01 5.49461572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.049254154 meters Centerline goodness : 0.999032 Centerline is valid? [True, True] Translation: X:356.26, Y:3.61, Z:5.50 [[ 9.99843385e-01 -8.12635933e-03 -1.57216015e-02 3.56255336e+02] [ 8.12595565e-03 9.99966980e-01 -8.95575669e-05 3.60580251e+00] [ 1.57218102e-02 -3.82094962e-05 9.99876404e-01 5.49567455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.07925415399995 meters Centerline goodness : 0.998782 Centerline is valid? [True, True] Translation: X:356.28, Y:3.61, Z:5.50 [[ 9.99858654e-01 -5.95841328e-03 -1.57215933e-02 3.56283457e+02] [ 5.95771915e-03 9.99982249e-01 -9.09867783e-05 3.60550173e+00] [ 1.57218563e-02 -2.69091962e-06 9.99876404e-01 5.49623486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.109254154 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:356.31, Y:3.60, Z:5.50 [[ 9.99874083e-01 -2.15629534e-03 -1.57215652e-02 3.56311760e+02] [ 2.15505875e-03 9.99997673e-01 -9.55966909e-05 3.60392236e+00] [ 1.57217348e-02 6.17037570e-05 9.99876404e-01 5.49637454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.13925415399996 meters Centerline goodness : 0.998950 Centerline is valid? [True, True] Translation: X:356.34, Y:3.60, Z:5.50 [[ 9.99875828e-01 -1.07783239e-03 -1.57215354e-02 3.56338295e+02] [ 1.07638890e-03 9.99999416e-01 -1.00277476e-04 3.60278500e+00] [ 1.57216343e-02 8.33425377e-05 9.99876404e-01 5.49596821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.16925415399993 meters Centerline goodness : 0.998932 Centerline is valid? [True, True] Translation: X:356.37, Y:3.60, Z:5.50 [[ 9.99876373e-01 -2.67872772e-04 -1.57215222e-02 3.56365506e+02] [ 2.66297343e-04 9.99999959e-01 -1.02301803e-04 3.60144834e+00] [ 1.57215490e-02 9.81025564e-05 9.99876404e-01 5.49585926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.19925415399996 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] Translation: X:356.39, Y:3.60, Z:5.50 [[ 9.99876062e-01 -8.33444670e-04 -1.57215089e-02 3.56393900e+02] [ 8.31907689e-04 9.99999649e-01 -1.04302562e-04 3.59885309e+00] [ 1.57215903e-02 9.12107907e-05 9.99876404e-01 5.49637624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.22925415399993 meters Centerline goodness : 0.998991 Centerline is valid? [True, True] Translation: X:356.42, Y:3.60, Z:5.50 [[ 9.99874649e-01 -1.87664517e-03 -1.57214971e-02 3.56420979e+02] [ 1.87520961e-03 9.99998236e-01 -1.06053084e-04 3.59753237e+00] [ 1.57216684e-02 7.65586871e-05 9.99876404e-01 5.49644581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.25925415399996 meters Centerline goodness : 0.998993 Centerline is valid? [True, True] Translation: X:356.45, Y:3.60, Z:5.50 [[ 9.99873351e-01 -2.47337990e-03 -1.57214832e-02 3.56447447e+02] [ 2.47198623e-03 9.99996939e-01 -1.08079374e-04 3.59613042e+00] [ 1.57217024e-02 6.92023963e-05 9.99876404e-01 5.49559019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.28925415399993 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:356.48, Y:3.59, Z:5.50 [[ 9.99865602e-01 -4.64983148e-03 -1.57212039e-02 3.56476801e+02] [ 4.64808461e-03 9.99989187e-01 -1.47652628e-04 3.59431140e+00] [ 1.57217204e-02 7.45592985e-05 9.99876403e-01 5.49716356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.31925415399996 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:356.51, Y:3.59, Z:5.50 [[ 9.99839465e-01 -8.59539251e-03 -1.57214553e-02 3.56505031e+02] [ 8.59468573e-03 9.99963059e-01 -1.12521263e-04 3.59051084e+00] [ 1.57218417e-02 -2.26177687e-05 9.99876404e-01 5.49721557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.34925415399994 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:356.53, Y:3.59, Z:5.49 [[ 9.99836766e-01 -8.90382943e-03 -1.57214415e-02 3.56530913e+02] [ 8.90313085e-03 9.99960360e-01 -1.14424668e-04 3.58829067e+00] [ 1.57218371e-02 -2.55640606e-05 9.99876404e-01 5.49492824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.37925415399997 meters Centerline goodness : 0.999037 Centerline is valid? [True, True] Translation: X:356.56, Y:3.59, Z:5.50 [[ 9.99792873e-01 -1.29252623e-02 -1.57209404e-02 3.56560525e+02] [ 1.29240092e-02 9.99916465e-01 -1.81305605e-04 3.58731371e+00] [ 1.57219705e-02 -2.19095257e-05 9.99876402e-01 5.49858113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.40925415399994 meters Centerline goodness : 0.995358 Centerline is valid? [True, True] Translation: X:356.59, Y:3.58, Z:5.50 [[ 9.99737714e-01 -1.66535105e-02 -1.57214148e-02 3.56585916e+02] [ 1.66537103e-02 9.99861310e-01 -1.18216222e-04 3.58400837e+00] [ 1.57212031e-02 -1.43634672e-04 9.99876404e-01 5.49972015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.43925415399997 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:356.62, Y:3.58, Z:5.50 [[ 9.99664898e-01 -2.05659416e-02 -1.57204904e-02 3.56616539e+02] [ 2.05648672e-02 9.99788494e-01 -2.30011840e-04 3.58322793e+00] [ 1.57218958e-02 -9.33550354e-05 9.99876399e-01 5.49994001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.46925415399994 meters Centerline goodness : 0.998998 Centerline is valid? [True, True] Translation: X:356.65, Y:3.58, Z:5.50 [[ 9.99549278e-01 -2.55749935e-02 -1.57213196e-02 3.56645155e+02] [ 2.55761288e-02 9.99672869e-01 -1.28869802e-04 3.58043401e+00] [ 1.57194725e-02 -2.73278776e-04 9.99876404e-01 5.50052193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.49925415399997 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:356.67, Y:3.58, Z:5.50 [[ 9.99497770e-01 -2.75145177e-02 -1.57212857e-02 3.56673944e+02] [ 2.75158299e-02 9.99621359e-01 -1.32872229e-04 3.57909589e+00] [ 1.57189889e-02 -2.99778728e-04 9.99876404e-01 5.50084278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.52925415399994 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:356.70, Y:3.58, Z:5.50 [[ 9.99440307e-01 -2.95281853e-02 -1.57212785e-02 3.56703043e+02] [ 2.95297331e-02 9.99563893e-01 -1.33722985e-04 3.57809330e+00] [ 1.57183709e-02 -3.30597017e-04 9.99876404e-01 5.50138707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.559254154 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:356.73, Y:3.58, Z:5.50 [[ 9.99298898e-01 -3.39787225e-02 -1.57212784e-02 3.56733607e+02] [ 3.39808205e-02 9.99422476e-01 -1.33734190e-04 3.57609998e+00] [ 1.57167431e-02 -4.00581510e-04 9.99876404e-01 5.50230925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.58925415399995 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:356.76, Y:3.57, Z:5.50 [[ 9.99235634e-01 -3.57909215e-02 -1.57212784e-02 3.56763566e+02] [ 3.57932437e-02 9.99359208e-01 -1.33734190e-04 3.57456688e+00] [ 1.57159908e-02 -4.29083580e-04 9.99876404e-01 5.50159685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.619254154 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:356.79, Y:3.57, Z:5.50 [[ 9.99151275e-01 -3.80732378e-02 -1.57212809e-02 3.56794526e+02] [ 3.80758467e-02 9.99274843e-01 -1.33444264e-04 3.57345266e+00] [ 1.57149611e-02 -4.65270074e-04 9.99876404e-01 5.50246891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.64925415399995 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:356.83, Y:3.57, Z:5.50 [[ 9.98992712e-01 -4.20286010e-02 -1.57212858e-02 3.56825716e+02] [ 4.20317083e-02 9.99116268e-01 -1.32860778e-04 3.57120628e+00] [ 1.57129764e-02 -5.28065551e-04 9.99876404e-01 5.50264780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.679254154 meters Centerline goodness : 0.999230 Centerline is valid? [True, True] Translation: X:356.86, Y:3.57, Z:5.50 [[ 9.99116538e-01 -3.89741448e-02 -1.57212907e-02 3.56861875e+02] [ 3.89768835e-02 9.99240104e-01 -1.32277801e-04 3.56503043e+00] [ 1.57144996e-02 -4.80605977e-04 9.99876404e-01 5.49989505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.70925415399995 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:356.89, Y:3.57, Z:5.50 [[ 9.98866388e-01 -4.49299414e-02 -1.57238468e-02 3.56886290e+02] [ 4.49383554e-02 9.98989745e-01 1.82015335e-04 3.56991706e+00] [ 1.56997838e-02 -8.88412816e-04 9.99876356e-01 5.50138690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.739254154 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:356.92, Y:3.57, Z:5.50 [[ 9.98803879e-01 -4.62996574e-02 -1.57210906e-02 3.56918273e+02] [ 4.63032404e-02 9.98927420e-01 -1.36203738e-04 3.56994344e+00] [ 1.57105347e-02 -5.91896615e-04 9.99876407e-01 5.50309132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.76925415399995 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:356.95, Y:3.57, Z:5.50 [[ 9.98736496e-01 -4.77311116e-02 -1.57211005e-02 3.56950065e+02] [ 4.77348896e-02 9.98860031e-01 -1.35055447e-04 3.56915712e+00] [ 1.57096253e-02 -6.15560192e-04 9.99876407e-01 5.50300694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.799254154 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:356.98, Y:3.57, Z:5.50 [[ 9.98707404e-01 -4.83359968e-02 -1.57211104e-02 3.56981023e+02] [ 4.83398679e-02 9.98830936e-01 -1.33894196e-04 3.56928143e+00] [ 1.57092033e-02 -6.26235274e-04 9.99876407e-01 5.50307610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.82925415399995 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:357.01, Y:3.57, Z:5.50 [[ 9.98691557e-01 -4.86623135e-02 -1.57211177e-02 3.57012436e+02] [ 4.86662385e-02 9.98815088e-01 -1.33028179e-04 3.56918840e+00] [ 1.57089630e-02 -6.32233545e-04 9.99876407e-01 5.50303865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.859254154 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:357.04, Y:3.57, Z:5.50 [[ 9.98664559e-01 -4.92132572e-02 -1.57211336e-02 3.57044799e+02] [ 4.92172804e-02 9.98788087e-01 -1.31118662e-04 3.56907411e+00] [ 1.57085337e-02 -6.42807881e-04 9.99876407e-01 5.50308963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.88925415399996 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:357.08, Y:3.57, Z:5.50 [[ 9.98667439e-01 -4.91547853e-02 -1.57211430e-02 3.57075904e+02] [ 4.91588191e-02 9.98790966e-01 -1.29983521e-04 3.56957452e+00] [ 1.57085249e-02 -6.43022516e-04 9.99876407e-01 5.50346914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.91925415399993 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:357.11, Y:3.57, Z:5.50 [[ 9.98684503e-01 -4.88068571e-02 -1.57211500e-02 3.57108410e+02] [ 4.88108612e-02 9.98808031e-01 -1.29137577e-04 3.57110363e+00] [ 1.57087136e-02 -6.38395172e-04 9.99876407e-01 5.50480208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.94925415399996 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:357.14, Y:3.57, Z:5.50 [[ 9.98702939e-01 -4.84281507e-02 -1.57211591e-02 3.57139363e+02] [ 4.84321256e-02 9.98826468e-01 -1.28011398e-04 3.57194110e+00] [ 1.57089092e-02 -6.33563795e-04 9.99876407e-01 5.50491068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.97925415399993 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:357.17, Y:3.57, Z:5.51 [[ 9.98705883e-01 -4.83673827e-02 -1.57211659e-02 3.57170118e+02] [ 4.83713633e-02 9.98829412e-01 -1.27172792e-04 3.57316851e+00] [ 1.57089139e-02 -6.33446013e-04 9.99876407e-01 5.50665096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.00925415399996 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:357.20, Y:3.57, Z:5.51 [[ 9.98772247e-01 -4.69770418e-02 -1.57211725e-02 3.57201895e+02] [ 4.69808634e-02 9.98895782e-01 -1.26348310e-04 3.57462812e+00] [ 1.57097484e-02 -6.12401075e-04 9.99876407e-01 5.50822411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.03925415399993 meters Centerline goodness : 0.999041 Centerline is valid? [True, True] Translation: X:357.23, Y:3.57, Z:5.51 [[ 9.98833892e-01 -4.56475802e-02 -1.57211812e-02 3.57234166e+02] [ 4.56512545e-02 9.98957430e-01 -1.25258816e-04 3.57494909e+00] [ 1.57105086e-02 -5.92578895e-04 9.99876407e-01 5.50801396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.06925415399996 meters Centerline goodness : 0.999001 Centerline is valid? [True, True] Translation: X:357.27, Y:3.58, Z:5.51 [[ 9.98892432e-01 -4.43480990e-02 -1.57211905e-02 3.57265974e+02] [ 4.43516311e-02 9.99015975e-01 -1.24082626e-04 3.57546562e+00] [ 1.57112233e-02 -5.73315245e-04 9.99876407e-01 5.50864019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.09925415399994 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:357.30, Y:3.58, Z:5.51 [[ 9.98925750e-01 -4.35911571e-02 -1.57211997e-02 3.57297190e+02] [ 4.35946141e-02 9.99049295e-01 -1.22903584e-04 3.57681776e+00] [ 1.57116110e-02 -5.62588080e-04 9.99876407e-01 5.51057805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.12925415399997 meters Centerline goodness : 0.998918 Centerline is valid? [True, True] Translation: X:357.33, Y:3.58, Z:5.51 [[ 9.99045424e-01 -4.07563931e-02 -1.57212065e-02 3.57329216e+02] [ 4.07595133e-02 9.99168978e-01 -1.22026388e-04 3.57779213e+00] [ 1.57131152e-02 -5.18878821e-04 9.99876407e-01 5.50889451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.15925415399994 meters Centerline goodness : 0.999021 Centerline is valid? [True, True] Translation: X:357.36, Y:3.58, Z:5.51 [[ 9.99059969e-01 -4.03982921e-02 -1.57212155e-02 3.57359984e+02] [ 4.04013864e-02 9.99183523e-01 -1.20857522e-04 3.57910388e+00] [ 1.57132619e-02 -5.14414990e-04 9.99876407e-01 5.51103439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.18925415399997 meters Centerline goodness : 0.999146 Centerline is valid? [True, True] Translation: X:357.39, Y:3.58, Z:5.51 [[ 9.99097737e-01 -3.94532046e-02 -1.57212222e-02 3.57390881e+02] [ 3.94561957e-02 9.99221294e-01 -1.19987839e-04 3.57982020e+00] [ 1.57137138e-02 -5.00420039e-04 9.99876407e-01 5.51091975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.21925415399994 meters Centerline goodness : 0.998855 Centerline is valid? [True, True] Translation: X:357.42, Y:3.58, Z:5.51 [[ 9.99182076e-01 -3.72561608e-02 -1.57212266e-02 3.57421952e+02] [ 3.72588893e-02 9.99305639e-01 -1.19407837e-04 3.58068991e+00] [ 1.57147590e-02 -4.66445270e-04 9.99876407e-01 5.51004077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.24925415399997 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:357.45, Y:3.58, Z:5.51 [[ 9.99233319e-01 -3.58554944e-02 -1.57212309e-02 3.57452025e+02] [ 3.58580588e-02 9.99356886e-01 -1.18828650e-04 3.58130967e+00] [ 1.57153810e-02 -4.44995277e-04 9.99876407e-01 5.50970750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.27925415399994 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:357.48, Y:3.58, Z:5.51 [[ 9.99278885e-01 -3.45622884e-02 -1.57212381e-02 3.57483550e+02] [ 3.45647079e-02 9.99402455e-01 -1.17866814e-04 3.58205258e+00] [ 1.57159177e-02 -4.25618186e-04 9.99876407e-01 5.50960737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.309254154 meters Centerline goodness : 0.998812 Centerline is valid? [True, True] Translation: X:357.52, Y:3.58, Z:5.51 [[ 9.99367851e-01 -3.18863740e-02 -1.57212424e-02 3.57515083e+02] [ 3.18884717e-02 9.99491426e-01 -1.17292783e-04 3.58361084e+00] [ 1.57169871e-02 -3.84107758e-04 9.99876407e-01 5.50867521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.33925415399995 meters Centerline goodness : 0.998874 Centerline is valid? [True, True] Translation: X:357.55, Y:3.58, Z:5.51 [[ 9.99413173e-01 -3.04327430e-02 -1.57212467e-02 3.57545126e+02] [ 3.04346700e-02 9.99536751e-01 -1.16717394e-04 3.58438479e+00] [ 1.57175159e-02 -3.61822054e-04 9.99876407e-01 5.50862450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.369254154 meters Centerline goodness : 0.998873 Centerline is valid? [True, True] Translation: X:357.57, Y:3.59, Z:5.51 [[ 9.99471878e-01 -2.84395440e-02 -1.57212467e-02 3.57574907e+02] [ 2.84412246e-02 9.99595460e-01 -1.16717394e-04 3.58623541e+00] [ 1.57182062e-02 -3.30475755e-04 9.99876407e-01 5.50884059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.39925415399995 meters Centerline goodness : 0.998873 Centerline is valid? [True, True] Translation: X:357.61, Y:3.59, Z:5.51 [[ 9.99470880e-01 -2.84745993e-02 -1.57212445e-02 3.57605057e+02] [ 2.84762796e-02 9.99594462e-01 -1.17009686e-04 3.58649128e+00] [ 1.57182008e-02 -3.30734781e-04 9.99876407e-01 5.50931476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.429254154 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:357.63, Y:3.59, Z:5.51 [[ 9.99483711e-01 -2.80206070e-02 -1.57212404e-02 3.57634577e+02] [ 2.80222225e-02 9.99607294e-01 -1.17561086e-04 3.58798252e+00] [ 1.57183607e-02 -3.23043706e-04 9.99876407e-01 5.51088505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.45925415399995 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:357.66, Y:3.59, Z:5.51 [[ 9.99504095e-01 -2.72838209e-02 -1.57212362e-02 3.57664333e+02] [ 2.72853365e-02 9.99627679e-01 -1.18119449e-04 3.58937649e+00] [ 1.57186056e-02 -3.10898347e-04 9.99876407e-01 5.51205543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.489254154 meters Centerline goodness : 0.998894 Centerline is valid? [True, True] Translation: X:357.69, Y:3.59, Z:5.51 [[ 9.99544307e-01 -2.57686192e-02 -1.57212318e-02 3.57694158e+02] [ 2.57699383e-02 9.99667893e-01 -1.18702129e-04 3.59145697e+00] [ 1.57190695e-02 -2.86487136e-04 9.99876407e-01 5.51133583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.51925415399995 meters Centerline goodness : 0.998892 Centerline is valid? [True, True] Translation: X:357.72, Y:3.59, Z:5.51 [[ 9.99531995e-01 -2.62418398e-02 -1.57212323e-02 3.57724238e+02] [ 2.62432185e-02 9.99655580e-01 -1.18636585e-04 3.59319238e+00] [ 1.57189308e-02 -2.93994671e-04 9.99876407e-01 5.51371792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.549254154 meters Centerline goodness : 0.998999 Centerline is valid? [True, True] Translation: X:357.75, Y:3.59, Z:5.51 [[ 9.99517249e-01 -2.67976046e-02 -1.57212280e-02 3.57753554e+02] [ 2.67990429e-02 9.99640834e-01 -1.19209474e-04 3.59423649e+00] [ 1.57187760e-02 -3.02161938e-04 9.99876407e-01 5.51437206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.57925415399995 meters Centerline goodness : 0.998976 Centerline is valid? [True, True] Translation: X:357.78, Y:3.60, Z:5.51 [[ 9.99495725e-01 -2.75887403e-02 -1.57212236e-02 3.57782650e+02] [ 2.75902674e-02 9.99619309e-01 -1.19781075e-04 3.59505649e+00] [ 1.57185433e-02 -3.14032091e-04 9.99876407e-01 5.51488659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.609254154 meters Centerline goodness : 0.998830 Centerline is valid? [True, True] Translation: X:357.81, Y:3.60, Z:5.51 [[ 9.99432788e-01 -2.97816449e-02 -1.57212214e-02 3.57812233e+02] [ 2.97834388e-02 9.99556368e-01 -1.20064781e-04 3.59591864e+00] [ 1.57178227e-02 -3.48235358e-04 9.99876407e-01 5.51363947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.63925415399996 meters Centerline goodness : 0.998830 Centerline is valid? [True, True] Translation: X:357.84, Y:3.60, Z:5.52 [[ 9.99368981e-01 -3.18509651e-02 -1.57212215e-02 3.57843129e+02] [ 3.18530150e-02 9.99492557e-01 -1.20051097e-04 3.59693431e+00] [ 1.57170677e-02 -3.80792964e-04 9.99876407e-01 5.51544357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.66925415399993 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:357.87, Y:3.60, Z:5.52 [[ 9.99318308e-01 -3.34030410e-02 -1.57212215e-02 3.57873192e+02] [ 3.34052829e-02 9.99441881e-01 -1.20051097e-04 3.59768335e+00] [ 1.57164573e-02 -4.05202594e-04 9.99876407e-01 5.51579691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.69925415399996 meters Centerline goodness : 0.998789 Centerline is valid? [True, True] Translation: X:357.92, Y:3.59, Z:5.51 [[ 9.99499785e-01 -2.74412523e-02 -1.57212236e-02 3.57915029e+02] [ 2.74427613e-02 9.99623369e-01 -1.19775166e-04 3.58923868e+00] [ 1.57185893e-02 -3.11718535e-04 9.99876407e-01 5.51222793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.72925415399993 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:357.93, Y:3.60, Z:5.52 [[ 9.99168651e-01 -3.76127635e-02 -1.57253473e-02 3.57931938e+02] [ 3.76248686e-02 9.99291821e-01 4.74538068e-04 3.60027809e+00] [ 1.56963623e-02 -1.06580769e-03 9.99876236e-01 5.51637436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.75925415399996 meters Centerline goodness : 0.998955 Centerline is valid? [True, True] Translation: X:357.96, Y:3.60, Z:5.52 [[ 9.99164222e-01 -3.77323031e-02 -1.57203903e-02 3.57963647e+02] [ 3.77349368e-02 9.99287775e-01 -1.29157209e-04 3.60099153e+00] [ 1.57140672e-02 -4.64158672e-04 9.99876419e-01 5.51601419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.78925415399993 meters Centerline goodness : 0.998976 Centerline is valid? [True, True] Translation: X:357.99, Y:3.60, Z:5.52 [[ 9.99160300e-01 -3.78360194e-02 -1.57203947e-02 3.57994421e+02] [ 3.78386744e-02 9.99283853e-01 -1.28618954e-04 3.60307848e+00] [ 1.57140030e-02 -4.66327944e-04 9.99876419e-01 5.51866372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.81925415399996 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:358.03, Y:3.60, Z:5.52 [[ 9.99200488e-01 -3.67594055e-02 -1.57204012e-02 3.58025836e+02] [ 3.67619400e-02 9.99324043e-01 -1.27814591e-04 3.60466190e+00] [ 1.57144733e-02 -4.50200045e-04 9.99876419e-01 5.52001231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.84925415399994 meters Centerline goodness : 0.998977 Centerline is valid? [True, True] Translation: X:358.06, Y:3.61, Z:5.52 [[ 9.99253524e-01 -3.52882948e-02 -1.57204055e-02 3.58057194e+02] [ 3.52906557e-02 9.99377083e-01 -1.27285593e-04 3.60667117e+00] [ 1.57151047e-02 -4.27592841e-04 9.99876419e-01 5.52142532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.87925415399997 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:358.09, Y:3.61, Z:5.52 [[ 9.99381248e-01 -3.14641009e-02 -1.57204101e-02 3.58087736e+02] [ 3.14659980e-02 9.99504815e-01 -1.26711345e-04 3.61054021e+00] [ 1.57166125e-02 -3.68025452e-04 9.99876419e-01 5.52220313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.90925415399994 meters Centerline goodness : 0.999038 Centerline is valid? [True, True] Translation: X:358.12, Y:3.61, Z:5.52 [[ 9.99436265e-01 -2.96651291e-02 -1.57204173e-02 3.58119542e+02] [ 2.96668178e-02 9.99559835e-01 -1.25821902e-04 3.61241111e+00] [ 1.57172302e-02 -3.40623783e-04 9.99876419e-01 5.52315123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.93925415399997 meters Centerline goodness : 0.998829 Centerline is valid? [True, True] Translation: X:358.15, Y:3.62, Z:5.52 [[ 9.99508591e-01 -2.71191047e-02 -1.57204219e-02 3.58151351e+02] [ 2.71204877e-02 9.99632164e-01 -1.25238957e-04 3.61526480e+00] [ 1.57180357e-02 -3.01168096e-04 9.99876419e-01 5.52347035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.96925415399994 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:358.18, Y:3.62, Z:5.52 [[ 9.99526547e-01 -2.64490264e-02 -1.57204265e-02 3.58182232e+02] [ 2.64503358e-02 9.99650121e-01 -1.24657152e-04 3.61663956e+00] [ 1.57182233e-02 -2.91212428e-04 9.99876419e-01 5.52409697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.99925415399997 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:358.21, Y:3.62, Z:5.52 [[ 9.99532237e-01 -2.62330813e-02 -1.57204265e-02 3.58212865e+02] [ 2.62343640e-02 9.99655812e-01 -1.24657152e-04 3.61795071e+00] [ 1.57182859e-02 -2.87816549e-04 9.99876419e-01 5.52453647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.02925415399994 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:358.24, Y:3.62, Z:5.52 [[ 9.99523295e-01 -2.65716355e-02 -1.57204265e-02 3.58242837e+02] [ 2.65729600e-02 9.99646869e-01 -1.24657152e-04 3.62006548e+00] [ 1.57181875e-02 -2.93140538e-04 9.99876419e-01 5.52394884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.059254154 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:358.27, Y:3.62, Z:5.52 [[ 9.99494260e-01 -2.76422297e-02 -1.57204242e-02 3.58273236e+02] [ 2.76436821e-02 9.99617833e-01 -1.24948346e-04 3.62159558e+00] [ 1.57178702e-02 -3.09685253e-04 9.99876419e-01 5.52496805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.08925415399995 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] Translation: X:358.30, Y:3.62, Z:5.52 [[ 9.99474111e-01 -2.83613994e-02 -1.57204242e-02 3.58303943e+02] [ 2.83629406e-02 9.99597683e-01 -1.24948346e-04 3.62251893e+00] [ 1.57176433e-02 -3.20994821e-04 9.99876419e-01 5.52451822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.119254154 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:358.33, Y:3.62, Z:5.53 [[ 9.99404534e-01 -3.07155640e-02 -1.57204242e-02 3.58333946e+02] [ 3.07173964e-02 9.99528102e-01 -1.24948346e-04 3.62482385e+00] [ 1.57168436e-02 -3.58016557e-04 9.99876419e-01 5.52553042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.14925415399995 meters Centerline goodness : 0.998911 Centerline is valid? [True, True] Translation: X:358.37, Y:3.63, Z:5.53 [[ 9.99374336e-01 -3.16828895e-02 -1.57204265e-02 3.58365732e+02] [ 3.16848459e-02 9.99497901e-01 -1.24661420e-04 3.62591738e+00] [ 1.57164829e-02 -3.73515866e-04 9.99876419e-01 5.52573906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.179254154 meters Centerline goodness : 0.999058 Centerline is valid? [True, True] Translation: X:358.40, Y:3.63, Z:5.53 [[ 9.99352000e-01 -3.23797378e-02 -1.57204309e-02 3.58397224e+02] [ 3.23817893e-02 9.99475565e-01 -1.24095073e-04 3.62694629e+00] [ 1.57162048e-02 -3.85041023e-04 9.99876419e-01 5.52658167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.20925415399995 meters Centerline goodness : 0.998888 Centerline is valid? [True, True] Translation: X:358.43, Y:3.63, Z:5.53 [[ 9.99337320e-01 -3.28296891e-02 -1.57204355e-02 3.58428921e+02] [ 3.28318053e-02 9.99460883e-01 -1.23517040e-04 3.62779442e+00] [ 1.57160154e-02 -3.92695088e-04 9.99876419e-01 5.52696703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.239254154 meters Centerline goodness : 0.998888 Centerline is valid? [True, True] Translation: X:358.46, Y:3.63, Z:5.53 [[ 9.99323575e-01 -3.32454665e-02 -1.57204400e-02 3.58460404e+02] [ 3.32476432e-02 9.99447137e-01 -1.22938446e-04 3.62961853e+00] [ 1.57158359e-02 -3.99812293e-04 9.99876419e-01 5.52808737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.26925415399995 meters Centerline goodness : 0.999014 Centerline is valid? [True, True] Translation: X:358.49, Y:3.63, Z:5.53 [[ 9.99322930e-01 -3.32648302e-02 -1.57204445e-02 3.58490650e+02] [ 3.32670184e-02 9.99446492e-01 -1.22356893e-04 3.63089165e+00] [ 1.57158133e-02 -4.00698269e-04 9.99876419e-01 5.52862705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.299254154 meters Centerline goodness : 0.998762 Centerline is valid? [True, True] Translation: X:358.52, Y:3.63, Z:5.53 [[ 9.99332502e-01 -3.29760356e-02 -1.57204468e-02 3.58521875e+02] [ 3.29781927e-02 9.99456064e-01 -1.22068358e-04 3.63270088e+00] [ 1.57159212e-02 -3.96445045e-04 9.99876419e-01 5.52769568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.32925415399995 meters Centerline goodness : 0.998909 Centerline is valid? [True, True] Translation: X:358.55, Y:3.63, Z:5.53 [[ 9.99310241e-01 -3.36438548e-02 -1.57204512e-02 3.58552590e+02] [ 3.36461036e-02 9.99433802e-01 -1.21490825e-04 3.63417198e+00] [ 1.57156378e-02 -4.07524905e-04 9.99876419e-01 5.52874270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.3592541539999 meters Centerline goodness : 0.998948 Centerline is valid? [True, True] Translation: X:358.58, Y:3.63, Z:5.53 [[ 9.99295206e-01 -3.40875055e-02 -1.57204585e-02 3.58583809e+02] [ 3.40898241e-02 9.99418766e-01 -1.20537287e-04 3.63467522e+00] [ 1.57154301e-02 -4.15455334e-04 9.99876419e-01 5.52826768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.38925415399996 meters Centerline goodness : 0.998504 Centerline is valid? [True, True] Translation: X:358.62, Y:3.64, Z:5.53 [[ 9.99177139e-01 -3.73886503e-02 -1.57204629e-02 3.58615311e+02] [ 3.73913861e-02 9.99300690e-01 -1.19963837e-04 3.63637162e+00] [ 1.57139547e-02 -4.67944775e-04 9.99876419e-01 5.52796381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.41925415399993 meters Centerline goodness : 0.998990 Centerline is valid? [True, True] Translation: X:358.65, Y:3.64, Z:5.53 [[ 9.99110515e-01 -3.91286122e-02 -1.57203771e-02 3.58646088e+02] [ 3.91313883e-02 9.99234065e-01 -1.31086773e-04 3.63688346e+00] [ 1.57134655e-02 -4.84190006e-04 9.99876419e-01 5.52833656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.44925415399996 meters Centerline goodness : 0.998867 Centerline is valid? [True, True] Translation: X:358.68, Y:3.64, Z:5.53 [[ 9.99028659e-01 -4.11655795e-02 -1.57204529e-02 3.58677873e+02] [ 4.11687621e-02 9.99152200e-01 -1.21248705e-04 3.63737949e+00] [ 1.57121164e-02 -5.26060657e-04 9.99876419e-01 5.52843975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.47925415399993 meters Centerline goodness : 0.998800 Centerline is valid? [True, True] Translation: X:358.72, Y:3.63, Z:5.52 [[ 9.99104627e-01 -3.92786371e-02 -1.57204617e-02 3.58716305e+02] [ 3.92816045e-02 9.99228173e-01 -1.20096130e-04 3.62981728e+00] [ 1.57130455e-02 -4.97536361e-04 9.99876419e-01 5.52309969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.50925415399996 meters Centerline goodness : 0.998967 Centerline is valid? [True, True] Translation: X:358.74, Y:3.64, Z:5.53 [[ 9.98642224e-01 -4.96636299e-02 -1.57236223e-02 3.58736382e+02] [ 4.96748942e-02 9.98765387e-01 3.26407883e-04 3.63908533e+00] [ 1.56879991e-02 -1.10703397e-03 9.99876323e-01 5.52799225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.53925415399993 meters Centerline goodness : 0.998841 Centerline is valid? [True, True] Translation: X:358.77, Y:3.64, Z:5.53 [[ 9.98508454e-01 -5.22852708e-02 -1.57200046e-02 3.58767363e+02] [ 5.22897566e-02 9.98631947e-01 -1.25813608e-04 3.63993325e+00] [ 1.57050770e-02 -6.96369262e-04 9.99876425e-01 5.52777239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.56925415399996 meters Centerline goodness : 0.998841 Centerline is valid? [True, True] Translation: X:358.80, Y:3.64, Z:5.53 [[ 9.98370455e-01 -5.48572287e-02 -1.57200115e-02 3.58798427e+02] [ 5.48620462e-02 9.98493936e-01 -1.24946807e-04 3.64063633e+00] [ 1.57031903e-02 -7.37688794e-04 9.99876425e-01 5.52747661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.59925415399994 meters Centerline goodness : 0.998923 Centerline is valid? [True, True] Translation: X:358.83, Y:3.64, Z:5.53 [[ 9.98141776e-01 -5.88716877e-02 -1.57200182e-02 3.58830549e+02] [ 5.88770151e-02 9.98265236e-01 -1.24097528e-04 3.64166820e+00] [ 1.57000535e-02 -8.01680820e-04 9.99876425e-01 5.52669968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.62925415399997 meters Centerline goodness : 0.998944 Centerline is valid? [True, True] Translation: X:358.86, Y:3.64, Z:5.53 [[ 9.98047466e-01 -6.04494478e-02 -1.57200270e-02 3.58862785e+02] [ 6.04549881e-02 9.98170917e-01 -1.22963071e-04 3.64219308e+00] [ 1.56987068e-02 -8.27631066e-04 9.99876425e-01 5.52700557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.65925415399994 meters Centerline goodness : 0.998946 Centerline is valid? [True, True] Translation: X:358.89, Y:3.64, Z:5.53 [[ 9.97872549e-01 -6.32712910e-02 -1.57200359e-02 3.58894932e+02] [ 6.32771984e-02 9.97995983e-01 -1.21818178e-04 3.64324426e+00] [ 1.56962403e-02 -8.73160815e-04 9.99876425e-01 5.52635710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.68925415399997 meters Centerline goodness : 0.998945 Centerline is valid? [True, True] Translation: X:358.93, Y:3.64, Z:5.52 [[ 9.97820968e-01 -6.40796100e-02 -1.57200448e-02 3.58926173e+02] [ 6.40856356e-02 9.97944396e-01 -1.20654357e-04 3.64364658e+00] [ 1.56954621e-02 -8.87037618e-04 9.99876425e-01 5.52466213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.71925415399994 meters Centerline goodness : 0.999072 Centerline is valid? [True, True] Translation: X:358.96, Y:3.65, Z:5.53 [[ 9.97727531e-01 -6.55183484e-02 -1.57200514e-02 3.58958517e+02] [ 6.55245656e-02 9.97850949e-01 -1.19787554e-04 3.64523257e+00] [ 1.56941165e-02 -9.10534202e-04 9.99876425e-01 5.52573416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.74925415399997 meters Centerline goodness : 0.998925 Centerline is valid? [True, True] Translation: X:358.99, Y:3.65, Z:5.52 [[ 9.97711932e-01 -6.57554560e-02 -1.57200621e-02 3.58991657e+02] [ 6.57617247e-02 9.97835348e-01 -1.18377339e-04 3.64576349e+00] [ 1.56938176e-02 -9.15671910e-04 9.99876425e-01 5.52446679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.77925415399994 meters Centerline goodness : 0.998966 Centerline is valid? [True, True] Translation: X:359.02, Y:3.65, Z:5.53 [[ 9.97602206e-01 -6.73996833e-02 -1.57200744e-02 3.59023972e+02] [ 6.74061814e-02 9.97725610e-01 -1.16718965e-04 3.64872421e+00] [ 1.56921876e-02 -9.43191088e-04 9.99876425e-01 5.52764730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.809254154 meters Centerline goodness : 0.999050 Centerline is valid? [True, True] Translation: X:359.06, Y:3.65, Z:5.53 [[ 9.97587370e-01 -6.76189172e-02 -1.57200828e-02 3.59056504e+02] [ 6.76254603e-02 9.97710772e-01 -1.15579310e-04 3.64973038e+00] [ 1.56919112e-02 -9.47777372e-04 9.99876425e-01 5.52885787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.83925415399995 meters Centerline goodness : 0.999028 Centerline is valid? [True, True] Translation: X:359.09, Y:3.65, Z:5.53 [[ 9.97554107e-01 -6.81078685e-02 -1.57200954e-02 3.59089074e+02] [ 6.81144995e-02 9.97677504e-01 -1.13836680e-04 3.65187983e+00] [ 1.56913387e-02 -9.57208180e-04 9.99876425e-01 5.52941647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.869254154 meters Centerline goodness : 0.998815 Centerline is valid? [True, True] Translation: X:359.12, Y:3.65, Z:5.53 [[ 9.97587238e-01 -6.76208616e-02 -1.57201079e-02 3.59121326e+02] [ 6.76274599e-02 9.97710636e-01 -1.12082425e-04 3.65233156e+00] [ 1.56916979e-02 -9.51298968e-04 9.99876425e-01 5.52722939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.89925415399995 meters Centerline goodness : 0.999280 Centerline is valid? [True, True] Translation: X:359.15, Y:3.65, Z:5.53 [[ 9.97523662e-01 -6.85523231e-02 -1.57201280e-02 3.59154294e+02] [ 6.85590820e-02 9.97647052e-01 -1.09190951e-04 3.65443684e+00] [ 1.56906246e-02 -9.68836986e-04 9.99876425e-01 5.53028279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.929254154 meters Centerline goodness : 0.999090 Centerline is valid? [True, True] Translation: X:359.19, Y:3.66, Z:5.53 [[ 9.97508306e-01 -6.87754121e-02 -1.57201399e-02 3.59187459e+02] [ 6.87822259e-02 9.97631692e-01 -1.07448858e-04 3.65565637e+00] [ 1.56902996e-02 -9.74085084e-04 9.99876425e-01 5.53031925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.95925415399995 meters Centerline goodness : 0.999260 Centerline is valid? [True, True] Translation: X:359.22, Y:3.66, Z:5.53 [[ 9.97473360e-01 -6.92803923e-02 -1.57201517e-02 3.59219219e+02] [ 6.92872962e-02 9.97596742e-01 -1.05694598e-04 3.65783643e+00] [ 1.56896946e-02 -9.83779258e-04 9.99876425e-01 5.53019434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.989254154 meters Centerline goodness : 0.998920 Centerline is valid? [True, True] Translation: X:359.25, Y:3.66, Z:5.53 [[ 9.97457332e-01 -6.95107747e-02 -1.57201594e-02 3.59251349e+02] [ 6.95177252e-02 9.97580711e-01 -1.04536684e-04 3.65896620e+00] [ 1.56893942e-02 -9.88558837e-04 9.99876425e-01 5.52996541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.01925415399995 meters Centerline goodness : 0.999321 Centerline is valid? [True, True] Translation: X:359.28, Y:3.66, Z:5.53 [[ 9.97495124e-01 -6.89663281e-02 -1.57201669e-02 3.59282210e+02] [ 6.89732294e-02 9.97618506e-01 -1.03383636e-04 3.66057774e+00] [ 1.56898595e-02 -9.81146008e-04 9.99876425e-01 5.52859892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.049254154 meters Centerline goodness : 0.999300 Centerline is valid? [True, True] Translation: X:359.31, Y:3.66, Z:5.53 [[ 9.97547203e-01 -6.82089023e-02 -1.57201725e-02 3.59314139e+02] [ 6.82157233e-02 9.97670589e-01 -1.02526090e-04 3.66176187e+00] [ 1.56905470e-02 -9.70088326e-04 9.99876425e-01 5.52941876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.07925415399995 meters Centerline goodness : 0.999407 Centerline is valid? [True, True] Translation: X:359.35, Y:3.66, Z:5.53 [[ 9.97596535e-01 -6.74835494e-02 -1.57201799e-02 3.59346826e+02] [ 6.74902985e-02 9.97719925e-01 -1.01389094e-04 3.66334283e+00] [ 1.56911788e-02 -9.59814224e-04 9.99876425e-01 5.52956084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.1092541539999 meters Centerline goodness : 0.999405 Centerline is valid? [True, True] Translation: X:359.38, Y:3.67, Z:5.53 [[ 9.97749797e-01 -6.51783569e-02 -1.57201888e-02 3.59378856e+02] [ 6.51848431e-02 9.97873201e-01 -9.99840037e-05 3.66643840e+00] [ 1.56932719e-02 -9.24959021e-04 9.99876425e-01 5.53055274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.13925415399996 meters Centerline goodness : 0.999277 Centerline is valid? [True, True] Translation: X:359.41, Y:3.67, Z:5.53 [[ 9.97864951e-01 -6.33909680e-02 -1.57201960e-02 3.59412304e+02] [ 6.33972510e-02 9.97988366e-01 -9.88390992e-05 3.66800432e+00] [ 1.56948382e-02 -8.97989139e-04 9.99876425e-01 5.53166949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.16925415399993 meters Centerline goodness : 0.999234 Centerline is valid? [True, True] Translation: X:359.44, Y:3.67, Z:5.53 [[ 9.97979556e-01 -6.15603876e-02 -1.57202069e-02 3.59443908e+02] [ 6.15664718e-02 9.98102981e-01 -9.70798345e-05 3.66971610e+00] [ 1.56963616e-02 -8.70953984e-04 9.99876425e-01 5.53175204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.19925415399996 meters Centerline goodness : 0.999235 Centerline is valid? [True, True] Translation: X:359.48, Y:3.67, Z:5.53 [[ 9.98312649e-01 -5.58992883e-02 -1.57202157e-02 3.59475162e+02] [ 5.59046953e-02 9.98436105e-01 -9.56249615e-05 3.67231335e+00] [ 1.57009763e-02 -7.83370262e-04 9.99876425e-01 5.53065846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.22925415399993 meters Centerline goodness : 0.999340 Centerline is valid? [True, True] Translation: X:359.51, Y:3.68, Z:5.54 [[ 9.98444798e-01 -5.34870095e-02 -1.57202208e-02 3.59507577e+02] [ 5.34921316e-02 9.98568267e-01 -9.47756707e-05 3.67513853e+00] [ 1.57027829e-02 -7.46279846e-04 9.99876425e-01 5.53543619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.25925415399996 meters Centerline goodness : 0.999318 Centerline is valid? [True, True] Translation: X:359.54, Y:3.68, Z:5.54 [[ 9.98622480e-01 -5.00601311e-02 -1.57202278e-02 3.59538949e+02] [ 5.00648477e-02 9.98745965e-01 -9.36084042e-05 3.67720181e+00] [ 1.57052001e-02 -6.93551353e-04 9.99876425e-01 5.53580267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.28925415399993 meters Centerline goodness : 0.999337 Centerline is valid? [True, True] Translation: X:359.57, Y:3.68, Z:5.54 [[ 9.98933278e-01 -4.34186538e-02 -1.57202329e-02 3.59570745e+02] [ 4.34225628e-02 9.99056791e-01 -9.27387760e-05 3.68177013e+00] [ 1.57094321e-02 -5.89972952e-04 9.99876425e-01 5.53863351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.31925415399996 meters Centerline goodness : 0.999337 Centerline is valid? [True, True] Translation: X:359.60, Y:3.68, Z:5.54 [[ 9.98938079e-01 -4.33080696e-02 -1.57202397e-02 3.59604282e+02] [ 4.33119832e-02 9.99061592e-01 -9.15814852e-05 3.68187648e+00] [ 1.57094539e-02 -5.89390523e-04 9.99876425e-01 5.53916041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.34925415399994 meters Centerline goodness : 0.999274 Centerline is valid? [True, True] Translation: X:359.64, Y:3.68, Z:5.54 [[ 9.99095177e-01 -3.95183658e-02 -1.57202496e-02 3.59635629e+02] [ 3.95218381e-02 9.99218703e-01 -8.98412938e-05 3.68364821e+00] [ 1.57115178e-02 -5.31533157e-04 9.99876425e-01 5.53843366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.37925415399997 meters Centerline goodness : 0.999465 Centerline is valid? [True, True] Translation: X:359.67, Y:3.69, Z:5.54 [[ 9.99270981e-01 -3.47905111e-02 -1.57202545e-02 3.59667931e+02] [ 3.47934125e-02 9.99394522e-01 -8.89801551e-05 3.68808167e+00] [ 1.57138319e-02 -4.58046011e-04 9.99876425e-01 5.54095134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.40925415399994 meters Centerline goodness : 0.999485 Centerline is valid? [True, True] Translation: X:359.70, Y:3.69, Z:5.54 [[ 9.99341527e-01 -3.27014600e-02 -1.57202609e-02 3.59700272e+02] [ 3.27041213e-02 9.99465073e-01 -8.78254824e-05 3.68929020e+00] [ 1.57147238e-02 -4.26349668e-04 9.99876425e-01 5.54128692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.43925415399997 meters Centerline goodness : 0.999378 Centerline is valid? [True, True] Translation: X:359.73, Y:3.69, Z:5.54 [[ 9.99417649e-01 -3.02858935e-02 -1.57202673e-02 3.59732097e+02] [ 3.02882742e-02 9.99541201e-01 -8.66773790e-05 3.68993958e+00] [ 1.57156799e-02 -3.89512863e-04 9.99876425e-01 5.54030567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.46925415399994 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:359.76, Y:3.69, Z:5.54 [[ 9.99505676e-01 -2.72263783e-02 -1.57202735e-02 3.59763100e+02] [ 2.72283987e-02 9.99629235e-01 -8.55372262e-05 3.69338019e+00] [ 1.57167738e-02 -3.42542930e-04 9.99876425e-01 5.54275064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.49925415399997 meters Centerline goodness : 0.999484 Centerline is valid? [True, True] Translation: X:359.79, Y:3.69, Z:5.54 [[ 9.99558063e-01 -2.52299747e-02 -1.57202780e-02 3.59794235e+02] [ 2.52317616e-02 9.99681625e-01 -8.46878375e-05 3.69470597e+00] [ 1.57174098e-02 -3.11999897e-04 9.99876425e-01 5.54314501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.52925415399994 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:359.83, Y:3.70, Z:5.54 [[ 9.99603980e-01 -2.33399894e-02 -1.57202810e-02 3.59826030e+02] [ 2.33415515e-02 9.99727545e-01 -8.41289488e-05 3.69620447e+00] [ 1.57179615e-02 -2.82840117e-04 9.99876425e-01 5.54406008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.559254154 meters Centerline goodness : 0.999309 Centerline is valid? [True, True] Translation: X:359.86, Y:3.70, Z:5.54 [[ 9.99665870e-01 -2.05188144e-02 -1.57202841e-02 3.59856523e+02] [ 2.05200367e-02 9.99789438e-01 -8.35594724e-05 3.69688201e+00] [ 1.57186885e-02 -2.39049254e-04 9.99876425e-01 5.54337214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.58925415399995 meters Centerline goodness : 0.999439 Centerline is valid? [True, True] Translation: X:359.89, Y:3.70, Z:5.55 [[ 9.99745314e-01 -1.61919751e-02 -1.57202841e-02 3.59886895e+02] [ 1.61926626e-02 9.99868887e-01 -8.35594724e-05 3.69971193e+00] [ 1.57195759e-02 -1.71015064e-04 9.99876425e-01 5.54594467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.619254154 meters Centerline goodness : 0.999568 Centerline is valid? [True, True] Translation: X:359.92, Y:3.70, Z:5.55 [[ 9.99787347e-01 -1.33466550e-02 -1.57202841e-02 3.59915488e+02] [ 1.33469908e-02 9.99910921e-01 -8.35594724e-05 3.69954581e+00] [ 1.57199990e-02 -1.26276783e-04 9.99876425e-01 5.54524652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.64925415399995 meters Centerline goodness : 0.999418 Centerline is valid? [True, True] Translation: X:359.94, Y:3.70, Z:5.55 [[ 9.99833885e-01 -9.22367338e-03 -1.57202782e-02 3.59944290e+02] [ 9.22348252e-03 9.99957459e-01 -8.46447930e-05 3.70088532e+00] [ 1.57203902e-02 -6.03649792e-05 9.99876425e-01 5.54794084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.679254154 meters Centerline goodness : 0.999247 Centerline is valid? [True, True] Translation: X:359.97, Y:3.70, Z:5.55 [[ 9.99849317e-01 -7.36322696e-03 -1.57202557e-02 3.59973375e+02] [ 7.36274331e-03 9.99972891e-01 -8.86423242e-05 3.70149508e+00] [ 1.57204822e-02 -2.71152401e-05 9.99876425e-01 5.54894969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.70925415399995 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:360.00, Y:3.70, Z:5.55 [[ 9.99858308e-01 -6.01974334e-03 -1.57202323e-02 3.60001773e+02] [ 6.01903120e-03 9.99981881e-01 -9.26141203e-05 3.70169361e+00] [ 1.57205050e-02 -2.01957090e-06 9.99876425e-01 5.55041871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.739254154 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:360.03, Y:3.70, Z:5.55 [[ 9.99863556e-01 -5.07390517e-03 -1.57202075e-02 3.60030188e+02] [ 5.07301270e-03 9.99987128e-01 -9.66489739e-05 3.70108226e+00] [ 1.57204955e-02 1.68869746e-05 9.99876425e-01 5.55204335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.76925415399995 meters Centerline goodness : 0.999440 Centerline is valid? [True, True] Translation: X:360.06, Y:3.70, Z:5.55 [[ 9.99860594e-01 -5.62741590e-03 -1.57201816e-02 3.60057356e+02] [ 5.62652836e-03 9.99984166e-01 -1.00686631e-04 3.70032667e+00] [ 1.57204993e-02 1.22225469e-05 9.99876425e-01 5.55258478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.799254154 meters Centerline goodness : 0.999376 Centerline is valid? [True, True] Translation: X:360.09, Y:3.70, Z:5.55 [[ 9.99851252e-01 -7.09575156e-03 -1.57201605e-02 3.60085082e+02] [ 7.09499519e-03 9.99974825e-01 -1.03885296e-04 3.69936959e+00] [ 1.57205019e-02 -7.66461976e-06 9.99876425e-01 5.55226349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.82925415399995 meters Centerline goodness : 0.999333 Centerline is valid? [True, True] Translation: X:360.11, Y:3.70, Z:5.55 [[ 9.99796226e-01 -1.26642625e-02 -1.57201489e-02 3.60113914e+02] [ 1.26641673e-02 9.99919801e-01 -1.05606566e-04 3.69633914e+00] [ 1.57202256e-02 -9.34975493e-05 9.99876425e-01 5.55307389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.8592541539999 meters Centerline goodness : 0.996929 Centerline is valid? [True, True] Translation: X:360.14, Y:3.70, Z:5.55 [[ 9.99753186e-01 -1.56985579e-02 -1.57201410e-02 3.60140480e+02] [ 1.56988196e-02 9.99876760e-01 -1.06766849e-04 3.69523562e+00] [ 1.57198798e-02 -1.40047160e-04 9.99876425e-01 5.55022037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.88925415399996 meters Centerline goodness : 0.999357 Centerline is valid? [True, True] Translation: X:360.17, Y:3.69, Z:5.55 [[ 9.99672730e-01 -2.01827781e-02 -1.57190665e-02 3.60170707e+02] [ 2.01813020e-02 9.99796305e-01 -2.52536840e-04 3.69258032e+00] [ 1.57209615e-02 -6.47770354e-05 9.99876416e-01 5.55319372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.91925415399993 meters Centerline goodness : 0.999379 Centerline is valid? [True, True] Translation: X:360.20, Y:3.69, Z:5.55 [[ 9.99586868e-01 -2.40618352e-02 -1.57200708e-02 3.60200681e+02] [ 2.40630216e-02 9.99710437e-01 -1.13704997e-04 3.69062059e+00] [ 1.57182548e-02 -2.64614381e-04 9.99876426e-01 5.55325270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.94925415399996 meters Centerline goodness : 0.999189 Centerline is valid? [True, True] Translation: X:360.23, Y:3.69, Z:5.55 [[ 9.99396727e-01 -3.09687152e-02 -1.57200688e-02 3.60231510e+02] [ 3.09707510e-02 9.99520285e-01 -1.13985469e-04 3.68694997e+00] [ 1.57160576e-02 -3.72945630e-04 9.99876426e-01 5.55309433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.97925415399993 meters Centerline goodness : 0.999360 Centerline is valid? [True, True] Translation: X:360.26, Y:3.69, Z:5.55 [[ 9.99317149e-01 -3.34382301e-02 -1.57200688e-02 3.60263560e+02] [ 3.34405712e-02 9.99440701e-01 -1.13985469e-04 3.68528576e+00] [ 1.57150880e-02 -4.11780444e-04 9.99876426e-01 5.55388941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.00925415399996 meters Centerline goodness : 0.999168 Centerline is valid? [True, True] Translation: X:360.29, Y:3.68, Z:5.55 [[ 9.99221862e-01 -3.61738908e-02 -1.57200770e-02 3.60294784e+02] [ 3.61765883e-02 9.99345407e-01 -1.12832923e-04 3.68199415e+00] [ 1.57138684e-02 -4.55953631e-04 9.99876426e-01 5.55337804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.03925415399993 meters Centerline goodness : 0.999296 Centerline is valid? [True, True] Translation: X:360.33, Y:3.68, Z:5.55 [[ 9.99156322e-01 -3.79412464e-02 -1.57195777e-02 3.60328345e+02] [ 3.79430790e-02 9.99279886e-01 -1.81752824e-04 3.68037244e+00] [ 1.57151537e-02 -4.14849693e-04 9.99876423e-01 5.55438814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.06925415399996 meters Centerline goodness : 0.999169 Centerline is valid? [True, True] Translation: X:360.36, Y:3.68, Z:5.55 [[ 9.99137342e-01 -3.84376142e-02 -1.57200745e-02 3.60359316e+02] [ 3.84406035e-02 9.99260881e-01 -1.12069370e-04 3.67931545e+00] [ 1.57127631e-02 -4.92316457e-04 9.99876426e-01 5.55486906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.09925415399994 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:360.39, Y:3.68, Z:5.56 [[ 9.99168636e-01 -3.76153752e-02 -1.57200805e-02 3.60390604e+02] [ 3.76182764e-02 9.99292176e-01 -1.11212923e-04 3.67782647e+00] [ 1.57131368e-02 -4.80241870e-04 9.99876426e-01 5.55547286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.12925415399997 meters Centerline goodness : 0.999256 Centerline is valid? [True, True] Translation: X:360.42, Y:3.68, Z:5.56 [[ 9.99210408e-01 -3.64888906e-02 -1.57200865e-02 3.60423088e+02] [ 3.64916658e-02 9.99333951e-01 -1.10367484e-04 3.67750365e+00] [ 1.57136433e-02 -4.63371802e-04 9.99876426e-01 5.55693523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.15925415399994 meters Centerline goodness : 0.999233 Centerline is valid? [True, True] Translation: X:360.46, Y:3.68, Z:5.56 [[ 9.99312489e-01 -3.35772038e-02 -1.57200942e-02 3.60455569e+02] [ 3.35796365e-02 9.99436039e-01 -1.09247978e-04 3.67714132e+00] [ 1.57148970e-02 -4.18702182e-04 9.99876426e-01 5.55844567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.18925415399997 meters Centerline goodness : 0.999148 Centerline is valid? [True, True] Translation: X:360.49, Y:3.68, Z:5.56 [[ 9.99364952e-01 -3.19776593e-02 -1.57201021e-02 3.60487270e+02] [ 3.19799123e-02 9.99488506e-01 -1.08101486e-04 3.67668361e+00] [ 1.57155182e-02 -3.94694652e-04 9.99876426e-01 5.55878000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.21925415399994 meters Centerline goodness : 0.999234 Centerline is valid? [True, True] Translation: X:360.52, Y:3.68, Z:5.56 [[ 9.99421742e-01 -3.01506084e-02 -1.57201099e-02 3.60519731e+02] [ 3.01526534e-02 9.99545300e-01 -1.06966063e-04 3.67531021e+00] [ 1.57161870e-02 -3.67098815e-04 9.99876426e-01 5.55756460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.24925415399997 meters Centerline goodness : 0.999383 Centerline is valid? [True, True] Translation: X:360.55, Y:3.68, Z:5.56 [[ 9.99427025e-01 -2.99749905e-02 -1.57201174e-02 3.60551310e+02] [ 2.99770315e-02 9.99550582e-01 -1.05839363e-04 3.67595412e+00] [ 1.57162251e-02 -3.65463736e-04 9.99876426e-01 5.55994777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.27925415399994 meters Centerline goodness : 0.999086 Centerline is valid? [True, True] Translation: X:360.58, Y:3.67, Z:5.56 [[ 9.99460910e-01 -2.88230233e-02 -1.57201212e-02 3.60581277e+02] [ 2.88249307e-02 9.99584470e-01 -1.05282692e-04 3.67406145e+00] [ 1.57166236e-02 -3.47905468e-04 9.99876426e-01 5.55858522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.309254154 meters Centerline goodness : 0.998980 Centerline is valid? [True, True] Translation: X:360.63, Y:3.66, Z:5.55 [[ 9.99726013e-01 -1.73429361e-02 -1.57201230e-02 3.60627226e+02] [ 1.73434286e-02 9.99849586e-01 -1.05006552e-04 3.65988065e+00] [ 1.57195796e-02 -1.67663050e-04 9.99876426e-01 5.55133174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.33925415399995 meters Centerline goodness : 0.999257 Centerline is valid? [True, True] Translation: X:360.64, Y:3.67, Z:5.56 [[ 9.99566427e-01 -2.48959902e-02 -1.57209306e-02 3.60642999e+02] [ 2.49086608e-02 9.99689545e-01 6.10647611e-04 3.66797860e+00] [ 1.57008473e-02 -1.00197018e-03 9.99876232e-01 5.55804475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.369254154 meters Centerline goodness : 0.998961 Centerline is valid? [True, True] Translation: X:360.67, Y:3.67, Z:5.56 [[ 9.99521520e-01 -2.66392053e-02 -1.57188780e-02 3.60673885e+02] [ 2.66403248e-02 9.99645074e-01 -1.38201946e-04 3.66790482e+00] [ 1.57169806e-02 -2.80620197e-04 9.99876441e-01 5.56051227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.39925415399995 meters Centerline goodness : 0.998917 Centerline is valid? [True, True] Translation: X:360.71, Y:3.67, Z:5.56 [[ 9.99526666e-01 -2.64452744e-02 -1.57191365e-02 3.60705376e+02] [ 2.64478759e-02 9.99650193e-01 -4.23949348e-05 3.66655980e+00] [ 1.57147590e-02 -3.73362904e-04 9.99876446e-01 5.55946771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.429254154 meters Centerline goodness : 0.998961 Centerline is valid? [True, True] Translation: X:360.74, Y:3.67, Z:5.56 [[ 9.99525951e-01 -2.64722962e-02 -1.57191381e-02 3.60735726e+02] [ 2.64749103e-02 9.99649477e-01 -4.18092935e-05 3.66604771e+00] [ 1.57147349e-02 -3.74373296e-04 9.99876446e-01 5.55933441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.45925415399995 meters Centerline goodness : 0.999215 Centerline is valid? [True, True] Translation: X:360.77, Y:3.67, Z:5.56 [[ 9.99517716e-01 -2.67814101e-02 -1.57191388e-02 3.60767393e+02] [ 2.67840669e-02 9.99641242e-01 -4.15194069e-05 3.66652299e+00] [ 1.57146114e-02 -3.79523083e-04 9.99876446e-01 5.56231799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.489254154 meters Centerline goodness : 0.999086 Centerline is valid? [True, True] Translation: X:360.80, Y:3.67, Z:5.56 [[ 9.99520001e-01 -2.66960054e-02 -1.57191403e-02 3.60799046e+02] [ 2.66986607e-02 9.99643526e-01 -4.09400455e-05 3.66708718e+00] [ 1.57146298e-02 -3.78759600e-04 9.99876446e-01 5.56412520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.51925415399995 meters Centerline goodness : 0.999216 Centerline is valid? [True, True] Translation: X:360.83, Y:3.67, Z:5.56 [[ 9.99544843e-01 -2.57490769e-02 -1.57191418e-02 3.60829613e+02] [ 2.57516244e-02 9.99668371e-01 -4.03577187e-05 3.66692498e+00] [ 1.57149681e-02 -3.64454087e-04 9.99876446e-01 5.56487579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.549254154 meters Centerline goodness : 0.999194 Centerline is valid? [True, True] Translation: X:360.86, Y:3.67, Z:5.57 [[ 9.99551580e-01 -2.54862294e-02 -1.57191442e-02 3.60861079e+02] [ 2.54887593e-02 9.99675108e-01 -3.94067710e-05 3.66738096e+00] [ 1.57150415e-02 -3.61272383e-04 9.99876446e-01 5.56611303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.57925415399995 meters Centerline goodness : 0.998897 Centerline is valid? [True, True] Translation: X:360.89, Y:3.67, Z:5.57 [[ 9.99559417e-01 -2.51769927e-02 -1.57191456e-02 3.60892867e+02] [ 2.51794935e-02 9.99682946e-01 -3.88323215e-05 3.66728149e+00] [ 1.57151395e-02 -3.56984912e-04 9.99876446e-01 5.56629375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.6092541539999 meters Centerline goodness : 0.999066 Centerline is valid? [True, True] Translation: X:360.92, Y:3.66, Z:5.56 [[ 9.99624922e-01 -2.24259545e-02 -1.57191470e-02 3.60923478e+02] [ 2.24281243e-02 9.99748457e-01 -3.82604540e-05 3.66473123e+00] [ 1.57160510e-02 -3.14304880e-04 9.99876446e-01 5.56270478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.63925415399996 meters Centerline goodness : 0.999048 Centerline is valid? [True, True] Translation: X:360.95, Y:3.67, Z:5.57 [[ 9.99559376e-01 -2.51784794e-02 -1.57193517e-02 3.60952200e+02] [ 2.51823436e-02 9.99682873e-01 4.79021174e-05 3.66675967e+00] [ 1.57131605e-02 -4.43731126e-04 9.99876442e-01 5.56801565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.66925415399993 meters Centerline goodness : 0.999132 Centerline is valid? [True, True] Translation: X:360.98, Y:3.67, Z:5.57 [[ 9.99547202e-01 -2.56573488e-02 -1.57191265e-02 3.60982600e+02] [ 2.56598875e-02 9.99670730e-01 -4.01961274e-05 3.66656602e+00] [ 1.57149819e-02 -3.63173090e-04 9.99876446e-01 5.56898253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.69925415399996 meters Centerline goodness : 0.998519 Centerline is valid? [True, True] Translation: X:361.01, Y:3.67, Z:5.57 [[ 9.99532196e-01 -2.62354206e-02 -1.57191265e-02 3.61012562e+02] [ 2.62380307e-02 9.99655723e-01 -4.01961274e-05 3.66573881e+00] [ 1.57147693e-02 -3.72261599e-04 9.99876446e-01 5.56573984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.72925415399993 meters Centerline goodness : 0.997266 Centerline is valid? [True, True] Translation: X:361.04, Y:3.67, Z:5.57 [[ 9.99513920e-01 -2.69227766e-02 -1.57190486e-02 3.61043312e+02] [ 2.69249934e-02 9.99637454e-01 -7.06262581e-05 3.66530969e+00] [ 1.57152512e-02 -3.52643352e-04 9.99876446e-01 5.56650230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.75925415399996 meters Centerline goodness : 0.999173 Centerline is valid? [True, True] Translation: X:361.07, Y:3.67, Z:5.57 [[ 9.99465918e-01 -2.86494064e-02 -1.57190818e-02 3.61073939e+02] [ 2.86520363e-02 9.99589444e-01 -5.79181493e-05 3.66515062e+00] [ 1.57142876e-02 -3.92496488e-04 9.99876446e-01 5.57048107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.78925415399993 meters Centerline goodness : 0.999130 Centerline is valid? [True, True] Translation: X:361.11, Y:3.66, Z:5.57 [[ 9.99423526e-01 -3.00919518e-02 -1.57191242e-02 3.61105367e+02] [ 3.00950088e-02 9.99547042e-01 -4.20866817e-05 3.66404429e+00] [ 1.57132706e-02 -4.31004762e-04 9.99876446e-01 5.57050353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.81925415399996 meters Centerline goodness : 0.999174 Centerline is valid? [True, True] Translation: X:361.14, Y:3.66, Z:5.57 [[ 9.99397189e-01 -3.09542857e-02 -1.57191258e-02 3.61135510e+02] [ 3.09574585e-02 9.99520702e-01 -4.15046097e-05 3.66352451e+00] [ 1.57128764e-02 -4.45144593e-04 9.99876446e-01 5.56987166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.84925415399994 meters Centerline goodness : 0.999215 Centerline is valid? [True, True] Translation: X:361.17, Y:3.66, Z:5.57 [[ 9.99327999e-01 -3.31128201e-02 -1.57191265e-02 3.61167776e+02] [ 3.31162642e-02 9.99451505e-01 -4.12156631e-05 3.66303533e+00] [ 1.57118694e-02 -4.79370781e-04 9.99876446e-01 5.57064463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.87925415399997 meters Centerline goodness : 0.999217 Centerline is valid? [True, True] Translation: X:361.20, Y:3.66, Z:5.57 [[ 9.99286828e-01 -3.43328597e-02 -1.57191295e-02 3.61199028e+02] [ 3.43364729e-02 9.99410329e-01 -4.00481016e-05 3.66299030e+00] [ 1.57112353e-02 -4.99719924e-04 9.99876446e-01 5.57075477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.90925415399994 meters Centerline goodness : 0.998817 Centerline is valid? [True, True] Translation: X:361.23, Y:3.66, Z:5.57 [[ 9.99264196e-01 -3.49853603e-02 -1.57191317e-02 3.61231483e+02] [ 3.49890678e-02 9.99387694e-01 -3.91773078e-05 3.66188733e+00] [ 1.57108774e-02 -5.10849283e-04 9.99876446e-01 5.57019394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.93925415399997 meters Centerline goodness : 0.999238 Centerline is valid? [True, True] Translation: X:361.26, Y:3.66, Z:5.57 [[ 9.99173446e-01 -3.74877907e-02 -1.57191345e-02 3.61263806e+02] [ 3.74918259e-02 9.99296934e-01 -3.80029503e-05 3.66251657e+00] [ 1.57095076e-02 -5.51367516e-04 9.99876446e-01 5.57247116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.96925415399994 meters Centerline goodness : 0.999069 Centerline is valid? [True, True] Translation: X:361.30, Y:3.66, Z:5.57 [[ 9.99132358e-01 -3.85673446e-02 -1.57191372e-02 3.61296429e+02] [ 3.85715317e-02 9.99255841e-01 -3.68319340e-05 3.66252224e+00] [ 1.57088602e-02 -5.69511223e-04 9.99876446e-01 5.57275394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.99925415399997 meters Centerline goodness : 0.999069 Centerline is valid? [True, True] Translation: X:361.33, Y:3.66, Z:5.57 [[ 9.99102901e-01 -3.93230453e-02 -1.57191399e-02 3.61328150e+02] [ 3.93273441e-02 9.99226380e-01 -3.56610500e-05 3.66213077e+00] [ 1.57083816e-02 -5.82562966e-04 9.99876446e-01 5.57196121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.02925415399994 meters Centerline goodness : 0.999177 Centerline is valid? [True, True] Translation: X:361.36, Y:3.66, Z:5.57 [[ 9.98969591e-01 -4.25754033e-02 -1.57191425e-02 3.61358980e+02] [ 4.25801224e-02 9.99093055e-01 -3.45005770e-05 3.66372560e+00] [ 1.57063549e-02 -6.34857982e-04 9.99876446e-01 5.57214952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.059254154 meters Centerline goodness : 0.999111 Centerline is valid? [True, True] Translation: X:361.40, Y:3.66, Z:5.57 [[ 9.99192927e-01 -3.69648930e-02 -1.57191443e-02 3.61399738e+02] [ 3.69689323e-02 9.99316415e-01 -3.36357825e-05 3.65519443e+00] [ 1.57096423e-02 -5.47511345e-04 9.99876446e-01 5.56814913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.08925415399995 meters Centerline goodness : 0.999090 Centerline is valid? [True, True] Translation: X:361.42, Y:3.66, Z:5.57 [[ 9.98788267e-01 -4.66355799e-02 -1.57200414e-02 3.61417470e+02] [ 4.66495507e-02 9.98911180e-01 5.23014616e-04 3.66388429e+00] [ 1.56785340e-02 -1.25571373e-03 9.99876296e-01 5.57207050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.119254154 meters Centerline goodness : 0.999092 Centerline is valid? [True, True] Translation: X:361.45, Y:3.67, Z:5.57 [[ 9.98669789e-01 -4.91078532e-02 -1.57184734e-02 3.61449903e+02] [ 4.91132367e-02 9.98793216e-01 -4.35711331e-05 3.66527990e+00] [ 1.57016442e-02 -7.28471928e-04 9.99876456e-01 5.57361091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.14925415399995 meters Centerline goodness : 0.999110 Centerline is valid? [True, True] Translation: X:361.48, Y:3.67, Z:5.57 [[ 9.98472529e-01 -5.29673276e-02 -1.57184772e-02 3.61482559e+02] [ 5.29732104e-02 9.98595933e-01 -4.21468019e-05 3.66613683e+00] [ 1.56986398e-02 -7.90575776e-04 9.99876456e-01 5.57445738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.179254154 meters Centerline goodness : 0.999217 Centerline is valid? [True, True] Translation: X:361.52, Y:3.67, Z:5.58 [[ 9.98371260e-01 -5.48430091e-02 -1.57184816e-02 3.61515226e+02] [ 5.48491508e-02 9.98494651e-01 -4.04276665e-05 3.66645166e+00] [ 1.56970370e-02 -8.21783548e-04 9.99876456e-01 5.57522095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.20925415399995 meters Centerline goodness : 0.999217 Centerline is valid? [True, True] Translation: X:361.55, Y:3.67, Z:5.58 [[ 9.98377258e-01 -5.47337103e-02 -1.57184858e-02 3.61548762e+02] [ 5.47398654e-02 9.98500649e-01 -3.87092608e-05 3.66644210e+00] [ 1.56970370e-02 -8.21781354e-04 9.99876456e-01 5.57574760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.239254154 meters Centerline goodness : 0.999089 Centerline is valid? [True, True] Translation: X:361.58, Y:3.67, Z:5.57 [[ 9.98236622e-01 -5.72413855e-02 -1.57184899e-02 3.61580893e+02] [ 5.72478775e-02 9.98359995e-01 -3.69886626e-05 3.66580125e+00] [ 1.56948288e-02 -8.62926747e-04 9.99876456e-01 5.57368651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.26925415399995 meters Centerline goodness : 0.999047 Centerline is valid? [True, True] Translation: X:361.62, Y:3.66, Z:5.58 [[ 9.98270581e-01 -5.66460667e-02 -1.57184931e-02 3.61617532e+02] [ 5.66525075e-02 9.98393956e-01 -3.55643299e-05 3.66489931e+00] [ 1.56952631e-02 -8.54989225e-04 9.99876456e-01 5.57666948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.299254154 meters Centerline goodness : 0.999217 Centerline is valid? [True, True] Translation: X:361.64, Y:3.67, Z:5.58 [[ 9.98088496e-01 -5.97684737e-02 -1.57189112e-02 3.61643528e+02] [ 5.97787593e-02 9.98211634e-01 1.84884724e-04 3.66860018e+00] [ 1.56797498e-02 -1.12418833e-03 9.99876433e-01 5.57704474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.32925415399995 meters Centerline goodness : 0.999448 Centerline is valid? [True, True] Translation: X:361.68, Y:3.67, Z:5.58 [[ 9.98055804e-01 -6.03120593e-02 -1.57184053e-02 3.61675467e+02] [ 6.03189460e-02 9.98179154e-01 -3.60227069e-05 3.67073867e+00] [ 1.56919571e-02 -9.12164970e-04 9.99876458e-01 5.57707975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.3592541539999 meters Centerline goodness : 0.999216 Centerline is valid? [True, True] Translation: X:361.71, Y:3.67, Z:5.58 [[ 9.98047000e-01 -6.04575595e-02 -1.57184079e-02 3.61707218e+02] [ 6.04644825e-02 9.98170349e-01 -3.48534085e-05 3.67205896e+00] [ 1.56917559e-02 -9.15620061e-04 9.99876458e-01 5.57719862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.38925415399996 meters Centerline goodness : 0.999257 Centerline is valid? [True, True] Translation: X:361.74, Y:3.67, Z:5.58 [[ 9.98074364e-01 -6.00041261e-02 -1.57184104e-02 3.61740496e+02] [ 6.00110114e-02 9.98197715e-01 -3.36875541e-05 3.67326119e+00] [ 1.56921027e-02 -9.09655022e-04 9.99876458e-01 5.57805700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.41925415399993 meters Centerline goodness : 0.999043 Centerline is valid? [True, True] Translation: X:361.77, Y:3.68, Z:5.58 [[ 9.98178116e-01 -5.82527216e-02 -1.57184140e-02 3.61773349e+02] [ 5.82594181e-02 9.98301477e-01 -3.19234635e-05 3.67562926e+00] [ 1.56935755e-02 -8.83880350e-04 9.99876458e-01 5.57895921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.44925415399996 meters Centerline goodness : 0.999108 Centerline is valid? [True, True] Translation: X:361.80, Y:3.68, Z:5.58 [[ 9.98260202e-01 -5.68286955e-02 -1.57184174e-02 3.61804326e+02] [ 5.68352439e-02 9.98383571e-01 -3.01474588e-05 3.67637972e+00] [ 1.56947229e-02 -8.63265078e-04 9.99876458e-01 5.57685749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.47925415399993 meters Centerline goodness : 0.999426 Centerline is valid? [True, True] Translation: X:361.84, Y:3.68, Z:5.58 [[ 9.98320029e-01 -5.57678333e-02 -1.57184190e-02 3.61836218e+02] [ 5.57742644e-02 9.98443404e-01 -2.92687876e-05 3.67881520e+00] [ 1.56955841e-02 -8.47463642e-04 9.99876458e-01 5.58071303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.50925415399996 meters Centerline goodness : 0.999319 Centerline is valid? [True, True] Translation: X:361.87, Y:3.68, Z:5.58 [[ 9.98468659e-01 -5.30402590e-02 -1.57184211e-02 3.61868808e+02] [ 5.30463711e-02 9.98592050e-01 -2.81176079e-05 3.68321994e+00] [ 1.56977817e-02 -8.05730648e-04 9.99876458e-01 5.58228055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.53925415399993 meters Centerline goodness : 0.999296 Centerline is valid? [True, True] Translation: X:361.90, Y:3.69, Z:5.58 [[ 9.98566871e-01 -5.11579506e-02 -1.57184231e-02 3.61901791e+02] [ 5.11638481e-02 9.98690272e-01 -2.69695121e-05 3.68522549e+00] [ 1.56992159e-02 -7.77284148e-04 9.99876458e-01 5.58314607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.56925415399996 meters Centerline goodness : 0.999363 Centerline is valid? [True, True] Translation: X:361.93, Y:3.69, Z:5.58 [[ 9.98667295e-01 -4.91585768e-02 -1.57184258e-02 3.61934168e+02] [ 4.91642543e-02 9.98790707e-01 -2.52479857e-05 3.68651837e+00] [ 1.57006588e-02 -7.47570347e-04 9.99876458e-01 5.58306555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.59925415399994 meters Centerline goodness : 0.999402 Centerline is valid? [True, True] Translation: X:361.96, Y:3.69, Z:5.58 [[ 9.98653072e-01 -4.94466647e-02 -1.57184280e-02 3.61960635e+02] [ 4.94524001e-02 9.98776481e-01 -2.38228874e-05 3.69489437e+00] [ 1.57003742e-02 -7.53523191e-04 9.99876458e-01 5.58391249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.62925415399997 meters Centerline goodness : 0.999572 Centerline is valid? [True, True] Translation: X:361.99, Y:3.70, Z:5.58 [[ 9.98631385e-01 -4.98828578e-02 -1.57180909e-02 3.61990882e+02] [ 4.98853780e-02 9.98754923e-01 -2.31942458e-04 3.69732279e+00] [ 1.57100906e-02 -5.52477887e-04 9.99876436e-01 5.58145214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.65925415399994 meters Centerline goodness : 0.999572 Centerline is valid? [True, True] Translation: X:362.02, Y:3.70, Z:5.59 [[ 9.98825906e-01 -4.58230283e-02 -1.57181000e-02 3.62020201e+02] [ 4.58251595e-02 9.98949450e-01 -2.24734010e-04 3.70144077e+00] [ 1.57118854e-02 -4.95814289e-04 9.99876438e-01 5.58503920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.68925415399997 meters Centerline goodness : 0.999421 Centerline is valid? [True, True] Translation: X:362.05, Y:3.70, Z:5.58 [[ 9.98880587e-01 -4.46152271e-02 -1.57179591e-02 3.62052450e+02] [ 4.46153655e-02 9.99004180e-01 -3.42021874e-04 3.70174350e+00] [ 1.57175663e-02 -3.59623482e-04 9.99876407e-01 5.58274772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.71925415399994 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:362.09, Y:3.70, Z:5.58 [[ 9.99170179e-01 -3.75752300e-02 -1.57180140e-02 3.62088540e+02] [ 3.75753027e-02 9.99293757e-01 -2.90799607e-04 3.69649333e+00] [ 1.57178401e-02 -3.00050840e-04 9.99876422e-01 5.58325936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.74925415399997 meters Centerline goodness : 0.999528 Centerline is valid? [True, True] Translation: X:362.12, Y:3.70, Z:5.58 [[ 9.99253145e-01 -3.53000330e-02 -1.57181500e-02 3.62119392e+02] [ 3.53042764e-02 9.99376610e-01 -7.51064342e-06 3.69969921e+00] [ 1.57086166e-02 -5.47412878e-04 9.99876462e-01 5.58464299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.77925415399994 meters Centerline goodness : 0.999420 Centerline is valid? [True, True] Translation: X:362.15, Y:3.70, Z:5.59 [[ 9.99294363e-01 -3.41132886e-02 -1.57181504e-02 3.62151982e+02] [ 3.41173983e-02 9.99417832e-01 -6.69512014e-06 3.70082460e+00] [ 1.57092281e-02 -5.29572000e-04 9.99876462e-01 5.58592772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.809254154 meters Centerline goodness : 0.999505 Centerline is valid? [True, True] Translation: X:362.18, Y:3.70, Z:5.59 [[ 9.99397132e-01 -3.09566258e-02 -1.57181508e-02 3.62182972e+02] [ 3.09603633e-02 9.99520613e-01 -5.55085290e-06 3.70298413e+00] [ 1.57107875e-02 -4.81092152e-04 9.99876462e-01 5.58619648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.83925415399995 meters Centerline goodness : 0.999634 Centerline is valid? [True, True] Translation: X:362.21, Y:3.71, Z:5.58 [[ 9.99344630e-01 -3.26075048e-02 -1.57181510e-02 3.62209422e+02] [ 3.26114597e-02 9.99468105e-01 -4.69923590e-06 3.70972367e+00] [ 1.57099438e-02 -5.07895693e-04 9.99876462e-01 5.58400087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.869254154 meters Centerline goodness : 0.999440 Centerline is valid? [True, True] Translation: X:362.24, Y:3.71, Z:5.59 [[ 9.99516801e-01 -2.68162229e-02 -1.57179646e-02 3.62243060e+02] [ 2.68158948e-02 9.99640362e-01 -2.31671304e-04 3.70585751e+00] [ 1.57185243e-02 -1.89931924e-04 9.99876438e-01 5.58788177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.89925415399995 meters Centerline goodness : 0.999633 Centerline is valid? [True, True] Translation: X:362.27, Y:3.71, Z:5.59 [[ 9.99515657e-01 -2.68588061e-02 -1.57180327e-02 3.62268094e+02] [ 2.68620509e-02 9.99639150e-01 -4.68947537e-06 3.71398976e+00] [ 1.57124868e-02 -4.17531390e-04 9.99876464e-01 5.58586577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.929254154 meters Centerline goodness : 0.999481 Centerline is valid? [True, True] Translation: X:362.30, Y:3.71, Z:5.59 [[ 9.99658959e-01 -2.08546628e-02 -1.57178010e-02 3.62303144e+02] [ 2.08528097e-02 9.99782517e-01 -2.81796407e-04 3.70883987e+00] [ 1.57202594e-02 -4.60600104e-05 9.99876428e-01 5.59081018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.95925415399995 meters Centerline goodness : 0.999547 Centerline is valid? [True, True] Translation: X:362.33, Y:3.71, Z:5.59 [[ 9.99740692e-01 -1.64771524e-02 -1.57178832e-02 3.62333071e+02] [ 1.64791154e-02 9.99864210e-01 -4.62694950e-06 3.70839922e+00] [ 1.57158251e-02 -2.54391062e-04 9.99876466e-01 5.58880764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.989254154 meters Centerline goodness : 0.999482 Centerline is valid? [True, True] Translation: X:362.36, Y:3.71, Z:5.59 [[ 9.99713966e-01 -1.80259211e-02 -1.57178831e-02 3.62361716e+02] [ 1.80280709e-02 9.99837481e-01 -4.91483809e-06 3.70936595e+00] [ 1.57154172e-02 -2.78449678e-04 9.99876466e-01 5.59051474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.01925415399995 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:362.39, Y:3.71, Z:5.59 [[ 9.99721136e-01 -1.76237911e-02 -1.57178810e-02 3.62391059e+02] [ 1.76258325e-02 9.99844653e-01 -8.65246235e-06 3.70935168e+00] [ 1.57155918e-02 -2.68390688e-04 9.99876466e-01 5.59250777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.049254154 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:362.42, Y:3.71, Z:5.59 [[ 9.99729307e-01 -1.71540341e-02 -1.57178807e-02 3.62419304e+02] [ 1.71560084e-02 9.99852825e-01 -9.23224256e-06 3.70925450e+00] [ 1.57157258e-02 -2.60426349e-04 9.99876466e-01 5.59238027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.07925415399995 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:362.45, Y:3.71, Z:5.59 [[ 9.99745512e-01 -1.61821028e-02 -1.57178801e-02 3.62448600e+02] [ 1.61839434e-02 9.99869031e-01 -1.00974896e-05 3.70980316e+00] [ 1.57159850e-02 -2.44282363e-04 9.99876466e-01 5.59285396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.1092541539999 meters Centerline goodness : 0.999438 Centerline is valid? [True, True] Translation: X:362.48, Y:3.71, Z:5.59 [[ 9.99751256e-01 -1.58231945e-02 -1.57178798e-02 3.62477320e+02] [ 1.58249818e-02 9.99874777e-01 -1.06655705e-05 3.71014443e+00] [ 1.57160803e-02 -2.38072244e-04 9.99876466e-01 5.59260440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.13925415399996 meters Centerline goodness : 0.999610 Centerline is valid? [True, True] Translation: X:362.50, Y:3.72, Z:5.59 [[ 9.99678961e-01 -1.98727024e-02 -1.57178760e-02 3.62502367e+02] [ 1.98749270e-02 9.99802474e-01 -1.46736190e-05 3.71732942e+00] [ 1.57150629e-02 -2.97722730e-04 9.99876466e-01 5.58958228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.16925415399993 meters Centerline goodness : 0.999524 Centerline is valid? [True, True] Translation: X:362.54, Y:3.71, Z:5.59 [[ 9.99782624e-01 -1.36991847e-02 -1.57173929e-02 3.62537254e+02] [ 1.36958490e-02 9.99906156e-01 -3.19856161e-04 3.71057874e+00] [ 1.57202997e-02 1.04523592e-04 9.99876423e-01 5.59288157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.19925415399996 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:362.56, Y:3.71, Z:5.59 [[ 9.99816299e-01 -1.09691633e-02 -1.57176759e-02 3.62564914e+02] [ 1.09702901e-02 9.99939824e-01 -1.45324373e-05 3.71013198e+00] [ 1.57168895e-02 -1.57897697e-04 9.99876470e-01 5.59266048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.22925415399993 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:362.59, Y:3.71, Z:5.59 [[ 9.99831806e-01 -9.45067221e-03 -1.57176737e-02 3.62591774e+02] [ 9.45157820e-03 9.99955333e-01 -1.66425732e-05 3.71020325e+00] [ 1.57171289e-02 -1.31917048e-04 9.99876470e-01 5.59333949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.25925415399996 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:362.62, Y:3.72, Z:5.59 [[ 9.99808819e-01 -1.16309822e-02 -1.57176714e-02 3.62615772e+02] [ 1.16321270e-02 9.99932344e-01 -1.85845412e-05 3.71707861e+00] [ 1.57168242e-02 -1.64248962e-04 9.99876470e-01 5.59132153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.28925415399993 meters Centerline goodness : 0.999566 Centerline is valid? [True, True] Translation: X:362.65, Y:3.71, Z:5.60 [[ 9.99863666e-01 -5.06214351e-03 -1.57170071e-02 3.62652010e+02] [ 5.05702588e-03 9.99987146e-01 -3.65337126e-04 3.70982884e+00] [ 1.57186545e-02 2.85806007e-04 9.99876413e-01 5.59554666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.31925415399996 meters Centerline goodness : 0.999328 Centerline is valid? [True, True] Translation: X:362.68, Y:3.71, Z:5.60 [[ 9.99868175e-01 -4.07388393e-03 -1.57173893e-02 3.62681249e+02] [ 4.07411666e-03 9.99991701e-01 -1.72126123e-05 3.70916355e+00] [ 1.57173290e-02 -4.68241343e-05 9.99876474e-01 5.59684718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.34925415399994 meters Centerline goodness : 0.999481 Centerline is valid? [True, True] Translation: X:362.71, Y:3.71, Z:5.60 [[ 9.99872032e-01 -2.98064629e-03 -1.57173845e-02 3.62708668e+02] [ 2.98068658e-03 9.99995558e-01 -2.08626918e-05 3.70804241e+00] [ 1.57173768e-02 -2.59885750e-05 9.99876474e-01 5.59628369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.37925415399997 meters Centerline goodness : 0.999221 Centerline is valid? [True, True] Translation: X:362.74, Y:3.71, Z:5.60 [[ 9.99875755e-01 -1.19958283e-03 -1.57173825e-02 3.62742579e+02] [ 1.19938123e-03 9.99999281e-01 -2.22527640e-05 3.70513267e+00] [ 1.57173979e-02 3.39886569e-06 9.99876474e-01 5.59875558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.40925415399994 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:362.77, Y:3.71, Z:5.60 [[ 9.99869519e-01 -3.72839022e-03 -1.57176197e-02 3.62766312e+02] [ 3.73139487e-03 9.99993025e-01 1.61842928e-04 3.70629949e+00] [ 1.57169066e-02 -2.20470456e-04 9.99876457e-01 5.59839426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.43925415399997 meters Centerline goodness : 0.999287 Centerline is valid? [True, True] Translation: X:362.80, Y:3.70, Z:5.60 [[ 9.99863696e-01 -5.05537703e-03 -1.57172768e-02 3.62795239e+02] [ 5.05555582e-03 9.99987220e-01 -2.83570200e-05 3.70425456e+00] [ 1.57172193e-02 -5.11064153e-05 9.99876476e-01 5.59838519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.46925415399994 meters Centerline goodness : 0.999481 Centerline is valid? [True, True] Translation: X:362.82, Y:3.71, Z:5.60 [[ 9.99825186e-01 -1.01274710e-02 -1.57172746e-02 3.62819612e+02] [ 1.01282583e-02 9.99948707e-01 -2.95074810e-05 3.70959671e+00] [ 1.57167673e-02 -1.29686294e-04 9.99876476e-01 5.59548688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.49925415399997 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:362.86, Y:3.70, Z:5.60 [[ 9.99833364e-01 -9.28619220e-03 -1.57165880e-02 3.62855584e+02] [ 9.28249965e-03 9.99956869e-01 -3.07880323e-04 3.70166728e+00] [ 1.57187692e-02 1.61939797e-04 9.99876439e-01 5.59928519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.52925415399994 meters Centerline goodness : 0.999591 Centerline is valid? [True, True] Translation: X:362.88, Y:3.70, Z:5.60 [[ 9.99817816e-01 -1.08308197e-02 -1.57171421e-02 3.62882909e+02] [ 1.08316630e-02 9.99941335e-01 -3.14706282e-05 3.70041386e+00] [ 1.57165609e-02 -1.38777892e-04 9.99876478e-01 5.59914130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.559254154 meters Centerline goodness : 0.999375 Centerline is valid? [True, True] Translation: X:362.91, Y:3.70, Z:5.60 [[ 9.99795645e-01 -1.27137583e-02 -1.57171378e-02 3.62910513e+02] [ 1.27148027e-02 9.99919163e-01 -3.34791990e-05 3.69939637e+00] [ 1.57162929e-02 -1.66367949e-04 9.99876478e-01 5.60010423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.58925415399995 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:362.94, Y:3.70, Z:5.60 [[ 9.99741227e-01 -1.64454230e-02 -1.57171266e-02 3.62939209e+02] [ 1.64468561e-02 9.99864741e-01 -3.80825464e-05 3.69765246e+00] [ 1.57156270e-02 -2.20424629e-04 9.99876478e-01 5.60066892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.619254154 meters Centerline goodness : 0.999226 Centerline is valid? [True, True] Translation: X:362.97, Y:3.70, Z:5.60 [[ 9.99701151e-01 -1.87237884e-02 -1.57171238e-02 3.62967995e+02] [ 1.87254850e-02 9.99824662e-01 -3.92286845e-05 3.69682122e+00] [ 1.57151025e-02 -2.55093804e-04 9.99876478e-01 5.60106014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.64925415399995 meters Centerline goodness : 0.999527 Centerline is valid? [True, True] Translation: X:363.00, Y:3.70, Z:5.60 [[ 9.99660581e-01 -2.07772885e-02 -1.57171127e-02 3.62996441e+02] [ 2.07791753e-02 9.99784089e-01 -4.32636795e-05 3.69595750e+00] [ 1.57146181e-02 -2.83339644e-04 9.99876478e-01 5.60041512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.679254154 meters Centerline goodness : 0.999377 Centerline is valid? [True, True] Translation: X:363.03, Y:3.69, Z:5.60 [[ 9.99570292e-01 -2.47427406e-02 -1.57171103e-02 3.63026760e+02] [ 2.47451039e-02 9.99693792e-01 -4.41192895e-05 3.69420694e+00] [ 1.57133892e-02 -3.44821195e-04 9.99876478e-01 5.60223353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.70925415399995 meters Centerline goodness : 0.999356 Centerline is valid? [True, True] Translation: X:363.05, Y:3.70, Z:5.60 [[ 9.99439578e-01 -2.95550627e-02 -1.57171103e-02 3.63053342e+02] [ 2.95580206e-02 9.99563065e-01 -4.41192895e-05 3.69865457e+00] [ 1.57115469e-02 -4.20472105e-04 9.99876478e-01 5.59913769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.739254154 meters Centerline goodness : 0.999314 Centerline is valid? [True, True] Translation: X:363.09, Y:3.69, Z:5.60 [[ 9.99487712e-01 -2.78803300e-02 -1.57162415e-02 3.63088253e+02] [ 2.78789203e-02 9.99611260e-01 -3.08821871e-04 3.69271962e+00] [ 1.57187420e-02 -1.29488178e-04 9.99876445e-01 5.60238650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.76925415399995 meters Centerline goodness : 0.999400 Centerline is valid? [True, True] Translation: X:363.12, Y:3.69, Z:5.60 [[ 9.99389328e-01 -3.12081319e-02 -1.57169717e-02 3.63120850e+02] [ 3.12113090e-02 9.99512807e-01 -4.31670037e-05 3.69131814e+00] [ 1.57106616e-02 -4.47406616e-04 9.99876480e-01 5.60461751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.799254154 meters Centerline goodness : 0.999357 Centerline is valid? [True, True] Translation: X:363.15, Y:3.69, Z:5.61 [[ 9.99333670e-01 -3.29422756e-02 -1.57169748e-02 3.63152551e+02] [ 3.29456850e-02 9.99457143e-01 -4.20169170e-05 3.69044572e+00] [ 1.57098268e-02 -4.75817579e-04 9.99876480e-01 5.60547021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.82925415399995 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:363.18, Y:3.69, Z:5.61 [[ 9.99181539e-01 -3.72723549e-02 -1.57169770e-02 3.63184880e+02] [ 3.72763129e-02 9.99304996e-01 -4.11514992e-05 3.68882467e+00] [ 1.57075875e-02 -5.44753134e-04 9.99876480e-01 5.60580273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.8592541539999 meters Centerline goodness : 0.999337 Centerline is valid? [True, True] Translation: X:363.22, Y:3.69, Z:5.60 [[ 9.99095509e-01 -3.95112761e-02 -1.57169799e-02 3.63216436e+02] [ 3.95155287e-02 9.99218956e-01 -4.00078052e-05 3.68792436e+00] [ 1.57062850e-02 -5.81093152e-04 9.99876480e-01 5.60443689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.88925415399996 meters Centerline goodness : 0.999379 Centerline is valid? [True, True] Translation: X:363.25, Y:3.69, Z:5.61 [[ 9.98992973e-01 -4.20239926e-02 -1.57169821e-02 3.63248282e+02] [ 4.20285690e-02 9.99116409e-01 -3.91551707e-05 3.68721994e+00] [ 1.57047401e-02 -6.21446525e-04 9.99876480e-01 5.60627742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.91925415399993 meters Centerline goodness : 0.999294 Centerline is valid? [True, True] Translation: X:363.28, Y:3.69, Z:5.61 [[ 9.98891481e-01 -4.43710033e-02 -1.57169848e-02 3.63280917e+02] [ 4.43758878e-02 9.99014904e-01 -3.80057039e-05 3.68644519e+00] [ 1.57031884e-02 -6.59491582e-04 9.99876480e-01 5.60622360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.94925415399996 meters Centerline goodness : 0.999273 Centerline is valid? [True, True] Translation: X:363.31, Y:3.68, Z:5.60 [[ 9.98695792e-01 -4.85766453e-02 -1.57169875e-02 3.63312372e+02] [ 4.85820676e-02 9.98819194e-01 -3.68497790e-05 3.68478019e+00] [ 1.57002189e-02 -7.26762032e-04 9.99876480e-01 5.60464347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.97925415399993 meters Centerline goodness : 0.999230 Centerline is valid? [True, True] Translation: X:363.34, Y:3.68, Z:5.60 [[ 9.98635772e-01 -4.97953012e-02 -1.57169895e-02 3.63343763e+02] [ 4.98008876e-02 9.98759165e-01 -3.59895542e-05 3.68419116e+00] [ 1.56992794e-02 -7.46779572e-04 9.99876480e-01 5.60432552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.00925415399996 meters Centerline goodness : 0.999189 Centerline is valid? [True, True] Translation: X:363.37, Y:3.68, Z:5.60 [[ 9.98610399e-01 -5.03015674e-02 -1.57169914e-02 3.63374616e+02] [ 5.03072296e-02 9.98733789e-01 -3.51438337e-05 3.68434551e+00] [ 1.56988582e-02 -7.55583297e-04 9.99876480e-01 5.60428968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.03925415399993 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:363.41, Y:3.69, Z:5.61 [[ 9.98652129e-01 -4.94661662e-02 -1.57169932e-02 3.63406898e+02] [ 4.94717384e-02 9.98775523e-01 -3.43043100e-05 3.68516913e+00] [ 1.56994450e-02 -7.43288905e-04 9.99876480e-01 5.60532236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.06925415399996 meters Centerline goodness : 0.999272 Centerline is valid? [True, True] Translation: X:363.44, Y:3.69, Z:5.61 [[ 9.98740158e-01 -4.76557783e-02 -1.57169956e-02 3.63438636e+02] [ 4.76611442e-02 9.98863561e-01 -3.31925843e-05 3.68610485e+00] [ 1.57007160e-02 -7.15939226e-04 9.99876480e-01 5.60631822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.09925415399994 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:363.47, Y:3.69, Z:5.61 [[ 9.98947781e-01 -4.30848724e-02 -1.57169978e-02 3.63469392e+02] [ 4.30896911e-02 9.99071207e-01 -3.20833953e-05 3.68839988e+00] [ 1.57037823e-02 -6.45190945e-04 9.99876480e-01 5.60819469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.12925415399997 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:363.50, Y:3.69, Z:5.61 [[ 9.98950772e-01 -4.30154844e-02 -1.57169995e-02 3.63502080e+02] [ 4.30203074e-02 9.99074198e-01 -3.12581192e-05 3.68839982e+00] [ 1.57037932e-02 -6.44924827e-04 9.99876480e-01 5.60870824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.15925415399994 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:363.53, Y:3.69, Z:5.61 [[ 9.99070545e-01 -4.01375338e-02 -1.57170016e-02 3.63534379e+02] [ 4.01420184e-02 9.99193984e-01 -3.01664687e-05 3.68934423e+00] [ 1.57055442e-02 -6.00773737e-04 9.99876480e-01 5.61100871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.18925415399997 meters Centerline goodness : 0.999335 Centerline is valid? [True, True] Translation: X:363.57, Y:3.69, Z:5.61 [[ 9.99191254e-01 -3.70109889e-02 -1.57170037e-02 3.63565942e+02] [ 3.70151056e-02 9.99314706e-01 -2.89951000e-05 3.69036220e+00] [ 1.57073061e-02 -5.52794903e-04 9.99876480e-01 5.61125510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.21925415399994 meters Centerline goodness : 0.999379 Centerline is valid? [True, True] Translation: X:363.60, Y:3.69, Z:5.61 [[ 9.99349204e-01 -3.24675774e-02 -1.57170053e-02 3.63597434e+02] [ 3.24711465e-02 9.99472673e-01 -2.81227165e-05 3.69106441e+00] [ 1.57096304e-02 -4.82244767e-04 9.99876480e-01 5.61064968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.24925415399997 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:363.63, Y:3.69, Z:5.61 [[ 9.99518832e-01 -2.67410420e-02 -1.57169049e-02 3.63629670e+02] [ 2.67430237e-02 9.99642338e-01 -8.41139323e-05 3.69367916e+00] [ 1.57135328e-02 -3.36244100e-04 9.99876478e-01 5.61168248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.27925415399994 meters Centerline goodness : 0.999397 Centerline is valid? [True, True] Translation: X:363.66, Y:3.69, Z:5.61 [[ 9.99606131e-01 -2.32499054e-02 -1.57170000e-02 3.63661479e+02] [ 2.32523766e-02 9.99729627e-01 -2.55159828e-05 3.69492111e+00] [ 1.57133438e-02 -3.39951671e-04 9.99876480e-01 5.61204832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.309254154 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:363.69, Y:3.70, Z:5.61 [[ 9.99732552e-01 -1.69646591e-02 -1.57170009e-02 3.63691297e+02] [ 1.69663626e-02 9.99856061e-01 -2.49502973e-05 3.69811759e+00] [ 1.57151619e-02 -2.41716713e-04 9.99876480e-01 5.61245276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.33925415399995 meters Centerline goodness : 0.999309 Centerline is valid? [True, True] Translation: X:363.74, Y:3.69, Z:5.60 [[ 9.99874034e-01 -2.21176984e-03 -1.57170005e-02 3.63737256e+02] [ 2.21164647e-03 9.99997554e-01 -2.52307151e-05 3.68667180e+00] [ 1.57170179e-02 -9.53291189e-06 9.99876480e-01 5.60483266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.369254154 meters Centerline goodness : 0.999308 Centerline is valid? [True, True] Translation: X:363.75, Y:3.70, Z:5.61 [[ 9.99810970e-01 -1.14451417e-02 -1.57172763e-02 3.63750093e+02] [ 1.14579597e-02 9.99934092e-01 7.25725390e-04 3.70038659e+00] [ 1.57079344e-02 -9.05676124e-04 9.99876213e-01 5.61233192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.39925415399995 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:363.78, Y:3.70, Z:5.61 [[ 9.99835583e-01 -9.04565072e-03 -1.57157083e-02 3.63777973e+02] [ 9.04625576e-03 9.99959081e-01 -3.25905853e-05 3.70176333e+00] [ 1.57153600e-02 -1.09583089e-04 9.99876500e-01 5.61270553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.429254154 meters Centerline goodness : 0.999284 Centerline is valid? [True, True] Translation: X:363.82, Y:3.69, Z:5.60 [[ 9.99844194e-01 8.03771666e-03 -1.57156979e-02 3.63823665e+02] [-8.03929102e-03 9.99967684e-01 -3.70033564e-05 3.69085054e+00] [ 1.57148926e-02 1.63340660e-04 9.99876500e-01 5.60478482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.45925415399995 meters Centerline goodness : 0.999218 Centerline is valid? [True, True] Translation: X:363.85, Y:3.69, Z:5.60 [[ 9.99812753e-01 1.12894336e-02 -1.57164849e-02 3.63854960e+02] [-1.12795489e-02 9.99936127e-01 7.17438637e-04 3.69006790e+00] [ 1.57235805e-02 -5.40029439e-04 9.99876231e-01 5.60438744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.489254154 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:363.87, Y:3.71, Z:5.61 [[ 9.99875302e-01 1.53919165e-03 -1.57165856e-02 3.63865169e+02] [-1.52712190e-03 9.99998530e-01 7.79934968e-04 3.70710101e+00] [ 1.57177630e-02 -7.55836570e-04 9.99876183e-01 5.61340375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.51925415399995 meters Centerline goodness : 0.999565 Centerline is valid? [True, True] Translation: X:363.89, Y:3.71, Z:5.61 [[ 9.99869471e-01 3.75814927e-03 -1.57135706e-02 3.63892781e+02] [-3.75950484e-03 9.99992931e-01 -5.67288659e-05 3.70827579e+00] [ 1.57132463e-02 1.15796706e-04 9.99876533e-01 5.61419512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.549254154 meters Centerline goodness : 0.999543 Centerline is valid? [True, True] Translation: X:363.92, Y:3.71, Z:5.61 [[ 9.99862165e-01 5.36046983e-03 -1.57135525e-02 3.63919836e+02] [-5.36209590e-03 9.99985622e-01 -6.13517441e-05 3.70913003e+00] [ 1.57129977e-02 1.45600863e-04 9.99876533e-01 5.61407783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.57925415399995 meters Centerline goodness : 0.999327 Centerline is valid? [True, True] Translation: X:363.95, Y:3.71, Z:5.61 [[ 9.99827558e-01 9.89645287e-03 -1.57135396e-02 3.63947239e+02] [-9.89868836e-03 9.99951005e-01 -6.44937620e-05 3.71003002e+00] [ 1.57121315e-02 2.20026073e-04 9.99876533e-01 5.61448275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.6092541539999 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:363.98, Y:3.71, Z:5.61 [[ 9.99819938e-01 1.06387997e-02 -1.57132656e-02 3.63977001e+02] [-1.06420840e-02 9.99943364e-01 -1.25409007e-04 3.71105748e+00] [ 1.57110414e-02 2.92608317e-04 9.99876531e-01 5.61487607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.63925415399996 meters Centerline goodness : 0.999348 Centerline is valid? [True, True] Translation: X:364.01, Y:3.71, Z:5.62 [[ 9.99801422e-01 1.22556618e-02 -1.57135124e-02 3.64005441e+02] [-1.22582758e-02 9.99924862e-01 -7.00471671e-05 3.71167209e+00] [ 1.57114732e-02 2.62653826e-04 9.99876533e-01 5.61544691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.66925415399993 meters Centerline goodness : 0.999328 Centerline is valid? [True, True] Translation: X:364.03, Y:3.71, Z:5.62 [[ 9.99792812e-01 1.29390408e-02 -1.57135073e-02 3.64033671e+02] [-1.29417570e-02 9.99916249e-01 -7.11783765e-05 3.71189853e+00] [ 1.57112703e-02 2.74524021e-04 9.99876533e-01 5.61600616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.69925415399996 meters Centerline goodness : 0.999347 Centerline is valid? [True, True] Translation: X:364.06, Y:3.71, Z:5.62 [[ 9.99794964e-01 1.27716930e-02 -1.57134994e-02 3.64061421e+02] [-1.27744151e-02 9.99918401e-01 -7.28727613e-05 3.71115859e+00] [ 1.57112865e-02 2.73588584e-04 9.99876533e-01 5.61631370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.72925415399993 meters Centerline goodness : 0.999351 Centerline is valid? [True, True] Translation: X:364.09, Y:3.71, Z:5.62 [[ 9.99809248e-01 1.15997002e-02 -1.57134911e-02 3.64088696e+02] [-1.16023051e-02 9.99932688e-01 -7.46206781e-05 3.71036613e+00] [ 1.57115678e-02 2.56919162e-04 9.99876533e-01 5.61623178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.75925415399996 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:364.12, Y:3.71, Z:5.62 [[ 9.99831791e-01 9.45914677e-03 -1.57134812e-02 3.64116369e+02] [-9.46151918e-03 9.99955236e-01 -7.66428825e-05 3.70949732e+00] [ 1.57120529e-02 2.25303395e-04 9.99876533e-01 5.61664288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.78925415399993 meters Centerline goodness : 0.999350 Centerline is valid? [True, True] Translation: X:364.14, Y:3.71, Z:5.62 [[ 9.99866512e-01 4.47709217e-03 -1.57134726e-02 3.64143350e+02] [-4.47887668e-03 9.99989967e-01 -7.83760696e-05 3.70698027e+00] [ 1.57129640e-02 1.48744313e-04 9.99876533e-01 5.61591333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.81925415399996 meters Centerline goodness : 0.999328 Centerline is valid? [True, True] Translation: X:364.17, Y:3.71, Z:5.62 [[ 9.99876451e-01 4.26356151e-04 -1.57130680e-02 3.64172179e+02] [-4.28826410e-04 9.99999896e-01 -1.53841524e-04 3.70504060e+00] [ 1.57130008e-02 1.60560695e-04 9.99876530e-01 5.61637246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.84925415399994 meters Centerline goodness : 0.999222 Centerline is valid? [True, True] Translation: X:364.20, Y:3.70, Z:5.62 [[ 9.99852189e-01 -6.97762060e-03 -1.57134405e-02 3.64200061e+02] [ 6.97714669e-03 9.99975656e-01 -8.49814181e-05 3.70176278e+00] [ 1.57136509e-02 -2.46661222e-05 9.99876533e-01 5.61679799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.87925415399997 meters Centerline goodness : 0.999396 Centerline is valid? [True, True] Translation: X:364.23, Y:3.70, Z:5.62 [[ 9.99820853e-01 -1.05522766e-02 -1.57134310e-02 3.64226720e+02] [ 1.05522170e-02 9.99944320e-01 -8.67034349e-05 3.70009666e+00] [ 1.57134710e-02 -7.91236318e-05 9.99876533e-01 5.61689463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.90925415399994 meters Centerline goodness : 0.999076 Centerline is valid? [True, True] Translation: X:364.26, Y:3.70, Z:5.62 [[ 9.99724074e-01 -1.74603598e-02 -1.57134197e-02 3.64256001e+02] [ 1.74611220e-02 9.99847539e-01 -8.86978293e-05 3.69709066e+00] [ 1.57125727e-02 -1.85700583e-04 9.99876533e-01 5.61744686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.93925415399997 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:364.29, Y:3.70, Z:5.62 [[ 9.99665190e-01 -2.05571473e-02 -1.57134131e-02 3.64285067e+02] [ 2.05582739e-02 9.99788652e-01 -8.98467784e-05 3.69556302e+00] [ 1.57119391e-02 -2.33223954e-04 9.99876533e-01 5.61787190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.96925415399994 meters Centerline goodness : 0.999335 Centerline is valid? [True, True] Translation: X:364.31, Y:3.69, Z:5.62 [[ 9.99596619e-01 -2.36577155e-02 -1.57134082e-02 3.64314735e+02] [ 2.36592116e-02 9.99720078e-01 -9.07025529e-05 3.69415893e+00] [ 1.57111555e-02 -2.81100884e-04 9.99876533e-01 5.61804224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.99925415399997 meters Centerline goodness : 0.999444 Centerline is valid? [True, True] Translation: X:364.35, Y:3.69, Z:5.62 [[ 9.99524639e-01 -2.65251768e-02 -1.57134049e-02 3.64345143e+02] [ 2.65270181e-02 9.99648093e-01 -9.12738115e-05 3.69246493e+00] [ 1.57102963e-02 -3.25599352e-04 9.99876533e-01 5.61811251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.02925415399994 meters Centerline goodness : 0.999274 Centerline is valid? [True, True] Translation: X:364.38, Y:3.69, Z:5.62 [[ 9.99379892e-01 -3.15106370e-02 -1.57134049e-02 3.64376965e+02] [ 3.15130941e-02 9.99503335e-01 -9.12738115e-05 3.68926992e+00] [ 1.57084767e-02 -4.03960795e-04 9.99876533e-01 5.61778222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.059254154 meters Centerline goodness : 0.999445 Centerline is valid? [True, True] Translation: X:364.41, Y:3.69, Z:5.62 [[ 9.99316997e-01 -3.34459054e-02 -1.57134082e-02 3.64409633e+02] [ 3.34486105e-02 9.99440435e-01 -9.06976554e-05 3.68785145e+00] [ 1.57076490e-02 -4.34955963e-04 9.99876533e-01 5.61833942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.08925415399995 meters Centerline goodness : 0.999169 Centerline is valid? [True, True] Translation: X:364.44, Y:3.69, Z:5.62 [[ 9.99191835e-01 -3.69968374e-02 -1.57134148e-02 3.64440500e+02] [ 3.69999993e-02 9.99315262e-01 -8.95439825e-05 3.68529180e+00] [ 1.57059681e-02 -4.91924721e-04 9.99876533e-01 5.61846190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.119254154 meters Centerline goodness : 0.999127 Centerline is valid? [True, True] Translation: X:364.47, Y:3.68, Z:5.62 [[ 9.99134731e-01 -3.85081584e-02 -1.57134196e-02 3.64472545e+02] [ 3.85115205e-02 9.99258152e-01 -8.86859783e-05 3.68398379e+00] [ 1.57051778e-02 -5.16538440e-04 9.99876533e-01 5.61938375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.14925415399995 meters Centerline goodness : 0.999169 Centerline is valid? [True, True] Translation: X:364.50, Y:3.68, Z:5.62 [[ 9.99071179e-01 -4.01231560e-02 -1.57134261e-02 3.64504190e+02] [ 4.01267358e-02 9.99194594e-01 -8.75242896e-05 3.68278362e+00] [ 1.57042822e-02 -5.43085503e-04 9.99876533e-01 5.61973712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.179254154 meters Centerline goodness : 0.998957 Centerline is valid? [True, True] Translation: X:364.54, Y:3.68, Z:5.62 [[ 9.98930097e-01 -4.34942494e-02 -1.57134309e-02 3.64536163e+02] [ 4.34982593e-02 9.99053499e-01 -8.66578523e-05 3.68059882e+00] [ 1.57023272e-02 -5.96941754e-04 9.99876533e-01 5.61979059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.20925415399995 meters Centerline goodness : 0.999256 Centerline is valid? [True, True] Translation: X:364.57, Y:3.68, Z:5.62 [[ 9.98856084e-01 -4.51620608e-02 -1.57134371e-02 3.64568303e+02] [ 4.51662947e-02 9.98979479e-01 -8.55166147e-05 3.67975705e+00] [ 1.57012633e-02 -6.24298939e-04 9.99876533e-01 5.62059702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.239254154 meters Centerline goodness : 0.999044 Centerline is valid? [True, True] Translation: X:364.60, Y:3.68, Z:5.62 [[ 9.98782602e-01 -4.67589724e-02 -1.57134432e-02 3.64600584e+02] [ 4.67634215e-02 9.98905989e-01 -8.43720757e-05 3.67885817e+00] [ 1.57001977e-02 -6.50545008e-04 9.99876533e-01 5.62075191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.26925415399995 meters Centerline goodness : 0.999215 Centerline is valid? [True, True] Translation: X:364.63, Y:3.68, Z:5.62 [[ 9.98693098e-01 -4.86331575e-02 -1.57134508e-02 3.64633674e+02] [ 4.86378606e-02 9.98816475e-01 -8.29440753e-05 3.67836976e+00] [ 1.56988874e-02 -6.81432952e-04 9.99876533e-01 5.62146514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.299254154 meters Centerline goodness : 0.999149 Centerline is valid? [True, True] Translation: X:364.68, Y:3.67, Z:5.62 [[ 9.99014208e-01 -4.15174573e-02 -1.57134598e-02 3.64678859e+02] [ 4.15213087e-02 9.99137615e-01 -8.12002626e-05 3.66533878e+00] [ 1.57032800e-02 -5.71323199e-04 9.99876533e-01 5.61622367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.32925415399995 meters Centerline goodness : 0.999152 Centerline is valid? [True, True] Translation: X:364.69, Y:3.68, Z:5.62 [[ 9.98391149e-01 -5.44803661e-02 -1.57163653e-02 3.64693123e+02] [ 5.44969701e-02 9.98513737e-01 6.29830994e-04 3.67708483e+00] [ 1.56586932e-02 -1.48531198e-03 9.99876292e-01 5.62200331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.3592541539999 meters Centerline goodness : 0.999088 Centerline is valid? [True, True] Translation: X:364.73, Y:3.68, Z:5.62 [[ 9.98311897e-01 -5.59149466e-02 -1.57122657e-02 3.64725128e+02] [ 5.59204436e-02 9.98435224e-01 -8.96215463e-05 3.67713140e+00] [ 1.56926907e-02 -7.89166609e-04 9.99876551e-01 5.62252159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.38925415399996 meters Centerline goodness : 0.999151 Centerline is valid? [True, True] Translation: X:364.77, Y:3.67, Z:5.62 [[ 9.98707955e-01 -4.83274679e-02 -1.57122736e-02 3.64769367e+02] [ 4.83320497e-02 9.98831320e-01 -8.82132052e-05 3.66522719e+00] [ 1.56981741e-02 -6.71307157e-04 9.99876551e-01 5.61758189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.41925415399993 meters Centerline goodness : 0.999046 Centerline is valid? [True, True] Translation: X:364.78, Y:3.68, Z:5.62 [[ 9.98066516e-01 -6.01352219e-02 -1.57157709e-02 3.64783063e+02] [ 6.01526506e-02 9.98188986e-01 6.38227836e-04 3.67642920e+00] [ 1.56489295e-02 -1.58233911e-03 9.99876296e-01 5.62301941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.44925415399996 meters Centerline goodness : 0.999068 Centerline is valid? [True, True] Translation: X:364.81, Y:3.68, Z:5.62 [[ 9.98000074e-01 -6.12292182e-02 -1.57110020e-02 3.64814463e+02] [ 6.12351859e-02 9.98123360e-01 -1.01392711e-04 3.67651228e+00] [ 1.56877263e-02 -8.60876195e-04 9.99876569e-01 5.62332753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.47925415399993 meters Centerline goodness : 0.999219 Centerline is valid? [True, True] Translation: X:364.85, Y:3.67, Z:5.62 [[ 9.98189003e-01 -5.80678749e-02 -1.57110074e-02 3.64853648e+02] [ 5.80734653e-02 9.98312307e-01 -1.00552014e-04 3.67247060e+00] [ 1.56903309e-02 -8.12022728e-04 9.99876569e-01 5.62436253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.50925415399996 meters Centerline goodness : 0.998898 Centerline is valid? [True, True] Translation: X:364.88, Y:3.68, Z:5.62 [[ 9.97992331e-01 -6.13548080e-02 -1.57128833e-02 3.64877175e+02] [ 6.13657322e-02 9.98115325e-01 2.13584317e-04 3.67720403e+00] [ 1.56701651e-02 -1.17738810e-03 9.99876522e-01 5.62419100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.53925415399993 meters Centerline goodness : 0.999258 Centerline is valid? [True, True] Translation: X:364.91, Y:3.68, Z:5.63 [[ 9.97997693e-01 -6.12680497e-02 -1.57108213e-02 3.64909450e+02] [ 6.12740043e-02 9.98120978e-01 -1.02521615e-04 3.67819483e+00] [ 1.56875816e-02 -8.60348595e-04 9.99876572e-01 5.62606001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.56925415399996 meters Centerline goodness : 0.998920 Centerline is valid? [True, True] Translation: X:364.94, Y:3.68, Z:5.63 [[ 9.98146501e-01 -5.87939860e-02 -1.57108289e-02 3.64942131e+02] [ 5.87996534e-02 9.98269798e-01 -1.01346849e-04 3.67968784e+00] [ 1.56896045e-02 -8.22632289e-04 9.99876572e-01 5.62695632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.59925415399994 meters Centerline goodness : 0.999067 Centerline is valid? [True, True] Translation: X:364.98, Y:3.68, Z:5.63 [[ 9.98447020e-01 -5.34482809e-02 -1.57108400e-02 3.64981675e+02] [ 5.34533157e-02 9.98570345e-01 -9.95833956e-05 3.67673805e+00] [ 1.56937015e-02 -7.40367748e-04 9.99876572e-01 5.62743461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.62925415399997 meters Centerline goodness : 0.998960 Centerline is valid? [True, True] Translation: X:365.00, Y:3.68, Z:5.63 [[ 9.98377868e-01 -5.47241891e-02 -1.57128976e-02 3.65004813e+02] [ 5.47348455e-02 9.98500894e-01 2.48626505e-04 3.68276845e+00] [ 1.56757364e-02 -1.10826622e-03 9.99876514e-01 5.62912329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.65925415399994 meters Centerline goodness : 0.999237 Centerline is valid? [True, True] Translation: X:365.04, Y:3.69, Z:5.63 [[ 9.98717560e-01 -4.81291258e-02 -1.57106146e-02 3.65036590e+02] [ 4.81334614e-02 9.98840908e-01 -1.02261805e-04 3.68521423e+00] [ 1.56973263e-02 -6.54075599e-04 9.99876575e-01 5.63148268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.68925415399997 meters Centerline goodness : 0.999130 Centerline is valid? [True, True] Translation: X:365.07, Y:3.69, Z:5.63 [[ 9.98886721e-01 -4.44802873e-02 -1.57106222e-02 3.65067579e+02] [ 4.44841908e-02 9.99010083e-01 -1.01080827e-04 3.68638878e+00] [ 1.56995661e-02 -5.97906018e-04 9.99876575e-01 5.63184077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.71925415399994 meters Centerline goodness : 0.999065 Centerline is valid? [True, True] Translation: X:365.10, Y:3.69, Z:5.63 [[ 9.99189223e-01 -3.70684923e-02 -1.57106278e-02 3.65099528e+02] [ 3.70714944e-02 9.99312611e-01 -1.00202208e-04 3.68843584e+00] [ 1.57035428e-02 -4.82295482e-04 9.99876575e-01 5.63262370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.74925415399997 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:365.13, Y:3.69, Z:5.63 [[ 9.99324587e-01 -3.32196553e-02 -1.57106351e-02 3.65131101e+02] [ 3.32222003e-02 9.99447985e-01 -9.90385789e-05 3.68957515e+00] [ 1.57052526e-02 -4.22970180e-04 9.99876575e-01 5.63184419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.77925415399994 meters Centerline goodness : 0.999107 Centerline is valid? [True, True] Translation: X:365.16, Y:3.69, Z:5.63 [[ 9.99545882e-01 -2.57140080e-02 -1.57105041e-02 3.65163856e+02] [ 2.57152993e-02 9.99669300e-01 -1.19847134e-04 3.69138995e+00] [ 1.57083903e-02 -2.84207605e-04 9.99876575e-01 5.63258349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.809254154 meters Centerline goodness : 0.999150 Centerline is valid? [True, True] Translation: X:365.19, Y:3.69, Z:5.63 [[ 9.99648367e-01 -2.13616142e-02 -1.57106429e-02 3.65192865e+02] [ 2.13627198e-02 9.99771786e-01 -9.74698032e-05 3.69230385e+00] [ 1.57091396e-02 -2.38186532e-04 9.99876575e-01 5.63075518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.83925415399995 meters Centerline goodness : 0.997717 Centerline is valid? [True, True] Translation: X:365.22, Y:3.69, Z:5.63 [[ 9.99707651e-01 -1.83793323e-02 -1.57102473e-02 3.65222639e+02] [ 1.83790925e-02 9.99831077e-01 -1.59657621e-04 3.69391134e+00] [ 1.57105279e-02 -1.29129142e-04 9.99876574e-01 5.63002274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.869254154 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:365.25, Y:3.69, Z:5.63 [[ 9.99765801e-01 -1.48836634e-02 -1.57105045e-02 3.65252230e+02] [ 1.48836282e-02 9.99889226e-01 -1.19169190e-04 3.69480876e+00] [ 1.57105378e-02 -1.14688027e-04 9.99876575e-01 5.63244755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.89925415399995 meters Centerline goodness : 0.999358 Centerline is valid? [True, True] Translation: X:365.28, Y:3.70, Z:5.63 [[ 9.99848601e-01 -7.48010337e-03 -1.57106150e-02 3.65279666e+02] [ 7.47942120e-03 9.99972024e-01 -1.02178230e-04 3.69554172e+00] [ 1.57109397e-02 -1.53435468e-05 9.99876575e-01 5.63207234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.929254154 meters Centerline goodness : 0.999230 Centerline is valid? [True, True] Translation: X:365.31, Y:3.70, Z:5.63 [[ 9.99868847e-01 -3.93269730e-03 -1.57106056e-02 3.65306886e+02] [ 3.93155499e-03 9.99992266e-01 -1.03593892e-04 3.69582231e+00] [ 1.57108915e-02 4.18131955e-05 9.99876575e-01 5.63220028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.95925415399995 meters Centerline goodness : 0.999358 Centerline is valid? [True, True] Translation: X:365.33, Y:3.70, Z:5.63 [[ 9.99859430e-01 -5.85637802e-03 -1.57105840e-02 3.65331231e+02] [ 5.85542319e-03 9.99982851e-01 -1.06774832e-04 3.70211385e+00] [ 1.57109399e-02 1.47677049e-05 9.99876575e-01 5.63423950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.989254154 meters Centerline goodness : 0.995653 Centerline is valid? [True, True] Translation: X:365.36, Y:3.70, Z:5.63 [[ 9.99874134e-01 -2.22922068e-03 -1.57081518e-02 3.65361360e+02] [ 2.22342230e-03 9.99997453e-01 -3.86586671e-04 3.70164064e+00] [ 1.57089736e-02 3.51612158e-04 9.99876545e-01 5.63352860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.01925415399995 meters Centerline goodness : 0.995653 Centerline is valid? [True, True] Translation: X:365.39, Y:3.70, Z:5.63 [[ 9.99874496e-01 -2.05814091e-03 -1.57085088e-02 3.65389743e+02] [ 2.05297910e-03 9.99997833e-01 -3.44718686e-04 3.70174854e+00] [ 1.57091843e-02 3.12426182e-04 9.99876554e-01 5.63396039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.049254154 meters Centerline goodness : 0.994468 Centerline is valid? [True, True] Translation: X:365.42, Y:3.70, Z:5.63 [[ 9.99866746e-01 4.44216759e-03 -1.57084960e-02 3.65421146e+02] [-4.44815424e-03 9.99990047e-01 -3.46190343e-04 3.69734707e+00] [ 1.57068018e-02 4.16018025e-04 9.99876554e-01 5.63343904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.07925415399995 meters Centerline goodness : 0.999379 Centerline is valid? [True, True] Translation: X:365.45, Y:3.70, Z:5.64 [[ 9.99876441e-01 5.37938230e-04 -1.57102940e-02 3.65447455e+02] [-5.40072891e-04 9.99999846e-01 -1.31634285e-04 3.69888154e+00] [ 1.57102208e-02 1.40102724e-04 9.99876577e-01 5.63690229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.1092541539999 meters Centerline goodness : 0.999169 Centerline is valid? [True, True] Translation: X:365.48, Y:3.69, Z:5.64 [[ 9.99865326e-01 4.75115844e-03 -1.57084697e-02 3.65482305e+02] [-4.75840664e-03 9.99988589e-01 -4.24075360e-04 3.69029631e+00] [ 1.57062756e-02 4.98765535e-04 9.99876524e-01 5.63502642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.13925415399996 meters Centerline goodness : 0.999125 Centerline is valid? [True, True] Translation: X:365.51, Y:3.69, Z:5.63 [[ 9.99874021e-01 2.26477757e-03 -1.57102498e-02 3.65508959e+02] [-2.26687100e-03 9.99997424e-01 -1.15445774e-04 3.68838766e+00] [ 1.57099479e-02 1.51044340e-04 9.99876580e-01 5.63474925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.16925415399993 meters Centerline goodness : 0.999232 Centerline is valid? [True, True] Translation: X:365.54, Y:3.69, Z:5.64 [[ 9.99875470e-01 -1.49499442e-03 -1.57102039e-02 3.65537452e+02] [ 1.49324062e-03 9.99998878e-01 -1.23364180e-04 3.68652420e+00] [ 1.57103707e-02 9.98897028e-05 9.99876580e-01 5.63693098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.19925415399996 meters Centerline goodness : 0.999021 Centerline is valid? [True, True] Translation: X:365.56, Y:3.68, Z:5.64 [[ 9.99828002e-01 -9.85648386e-03 -1.57103877e-02 3.65564234e+02] [ 9.85625531e-03 9.99951422e-01 -9.19768205e-05 3.68239861e+00] [ 1.57105311e-02 -6.28845914e-05 9.99876580e-01 5.63761765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.22925415399993 meters Centerline goodness : 0.999066 Centerline is valid? [True, True] Translation: X:365.59, Y:3.68, Z:5.64 [[ 9.99771678e-01 -1.44836398e-02 -1.57103758e-02 3.65591595e+02] [ 1.44839511e-02 9.99895098e-01 -9.39706240e-05 3.68032306e+00] [ 1.57100887e-02 -1.33599147e-04 9.99876580e-01 5.63816545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.25925415399996 meters Centerline goodness : 0.999152 Centerline is valid? [True, True] Translation: X:365.62, Y:3.68, Z:5.64 [[ 9.99691471e-01 -1.92391949e-02 -1.57103674e-02 3.65619933e+02] [ 1.92400716e-02 9.99814888e-01 -9.53527438e-05 3.67824115e+00] [ 1.57092937e-02 -2.06945269e-04 9.99876580e-01 5.63864375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.28925415399993 meters Centerline goodness : 0.999090 Centerline is valid? [True, True] Translation: X:365.65, Y:3.67, Z:5.64 [[ 9.99484553e-01 -2.79966723e-02 -1.57103604e-02 3.65648155e+02] [ 2.79986124e-02 9.99607957e-01 -9.64862473e-05 3.67388329e+00] [ 1.57069026e-02 -3.43431779e-04 9.99876580e-01 5.63752079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.31925415399996 meters Centerline goodness : 0.998737 Centerline is valid? [True, True] Translation: X:365.68, Y:3.67, Z:5.64 [[ 9.99369827e-01 -3.18297462e-02 -1.57103569e-02 3.65678416e+02] [ 3.18321505e-02 9.99493224e-01 -9.70609882e-05 3.67162629e+00] [ 1.57054847e-02 -4.03094621e-04 9.99876580e-01 5.63679561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.34925415399994 meters Centerline goodness : 0.998881 Centerline is valid? [True, True] Translation: X:365.71, Y:3.67, Z:5.64 [[ 9.99133830e-01 -3.85327720e-02 -1.57103585e-02 3.65711045e+02] [ 3.85360083e-02 9.99257207e-01 -9.67913928e-05 3.66703072e+00] [ 1.57024186e-02 -5.08706951e-04 9.99876580e-01 5.63715250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.37925415399997 meters Centerline goodness : 0.998987 Centerline is valid? [True, True] Translation: X:365.74, Y:3.67, Z:5.64 [[ 9.99033889e-01 -4.10423239e-02 -1.57103653e-02 3.65742804e+02] [ 4.10458876e-02 9.99157258e-01 -9.56751500e-05 3.66517812e+00] [ 1.57010523e-02 -5.49263172e-04 9.99876580e-01 5.63739788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.40925415399994 meters Centerline goodness : 0.998946 Centerline is valid? [True, True] Translation: X:365.77, Y:3.66, Z:5.64 [[ 9.98960771e-01 -4.27850810e-02 -1.57103720e-02 3.65774949e+02] [ 4.27888773e-02 9.99084132e-01 -9.45652736e-05 3.66375276e+00] [ 1.57000294e-02 -5.77762182e-04 9.99876580e-01 5.63861924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.43925415399997 meters Centerline goodness : 0.998990 Centerline is valid? [True, True] Translation: X:365.81, Y:3.66, Z:5.64 [[ 9.98875332e-01 -4.47353868e-02 -1.57103789e-02 3.65806803e+02] [ 4.47394420e-02 9.98998685e-01 -9.34124477e-05 3.66138279e+00] [ 1.56988267e-02 -6.09566195e-04 9.99876580e-01 5.63927136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.46925415399994 meters Centerline goodness : 0.999010 Centerline is valid? [True, True] Translation: X:365.84, Y:3.66, Z:5.64 [[ 9.98878506e-01 -4.46644595e-02 -1.57103856e-02 3.65838575e+02] [ 4.46685241e-02 9.99001859e-01 -9.22634637e-05 3.66039501e+00] [ 1.56988253e-02 -6.09599747e-04 9.99876580e-01 5.64024683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.49925415399997 meters Centerline goodness : 0.998947 Centerline is valid? [True, True] Translation: X:365.87, Y:3.66, Z:5.64 [[ 9.98901599e-01 -4.41449879e-02 -1.57103924e-02 3.65869850e+02] [ 4.41490065e-02 9.99024953e-01 -9.11002267e-05 3.65983247e+00] [ 1.56990956e-02 -6.02598053e-04 9.99876580e-01 5.63657409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.52925415399994 meters Centerline goodness : 0.999012 Centerline is valid? [True, True] Translation: X:365.90, Y:3.66, Z:5.64 [[ 9.98971531e-01 -4.25331372e-02 -1.57102856e-02 3.65902580e+02] [ 4.25366667e-02 9.99094900e-01 -1.09573666e-04 3.65863621e+00] [ 1.57007267e-02 -5.58802209e-04 9.99876580e-01 5.64052607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.559254154 meters Centerline goodness : 0.998864 Centerline is valid? [True, True] Translation: X:365.94, Y:3.66, Z:5.64 [[ 9.99012131e-01 -4.15685694e-02 -1.57103940e-02 3.65935002e+02] [ 4.15722745e-02 9.99135495e-01 -9.08114224e-05 3.65817029e+00] [ 1.57005872e-02 -5.62395101e-04 9.99876580e-01 5.64064229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.58925415399995 meters Centerline goodness : 0.998930 Centerline is valid? [True, True] Translation: X:365.97, Y:3.66, Z:5.64 [[ 9.99114719e-01 -3.90251294e-02 -1.57104006e-02 3.65966825e+02] [ 3.90285386e-02 9.99238092e-01 -8.96527273e-05 3.65752417e+00] [ 1.57019295e-02 -5.23580619e-04 9.99876580e-01 5.64032766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.619254154 meters Centerline goodness : 0.999013 Centerline is valid? [True, True] Translation: X:366.00, Y:3.66, Z:5.64 [[ 9.99155310e-01 -3.79716896e-02 -1.57104071e-02 3.65998950e+02] [ 3.79749868e-02 9.99278686e-01 -8.85031213e-05 3.65777783e+00] [ 1.57024356e-02 -5.08174140e-04 9.99876580e-01 5.64047701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.64925415399995 meters Centerline goodness : 0.999013 Centerline is valid? [True, True] Translation: X:366.03, Y:3.66, Z:5.64 [[ 9.99200261e-01 -3.67698393e-02 -1.57104136e-02 3.66031271e+02] [ 3.67730063e-02 9.99323640e-01 -8.73465540e-05 3.65799787e+00] [ 1.57029994e-02 -4.90442436e-04 9.99876580e-01 5.64069394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.679254154 meters Centerline goodness : 0.999096 Centerline is valid? [True, True] Translation: X:366.06, Y:3.66, Z:5.64 [[ 9.99275810e-01 -3.46559876e-02 -1.57104199e-02 3.66063696e+02] [ 3.46589116e-02 9.99399196e-01 -8.61963265e-05 3.65912632e+00] [ 1.57039682e-02 -4.58372149e-04 9.99876580e-01 5.64035742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.70925415399995 meters Centerline goodness : 0.998907 Centerline is valid? [True, True] Translation: X:366.09, Y:3.66, Z:5.64 [[ 9.99308343e-01 -3.37048554e-02 -1.57104261e-02 3.66094656e+02] [ 3.37076799e-02 9.99431731e-01 -8.50509032e-05 3.65979082e+00] [ 1.57043649e-02 -4.44569936e-04 9.99876580e-01 5.64059728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.739254154 meters Centerline goodness : 0.998781 Centerline is valid? [True, True] Translation: X:366.12, Y:3.66, Z:5.64 [[ 9.99253523e-01 -3.52927705e-02 -1.57104291e-02 3.66124522e+02] [ 3.52958000e-02 9.99376906e-01 -8.44796566e-05 3.66357515e+00] [ 1.57036216e-02 -4.70095571e-04 9.99876580e-01 5.64206681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.76925415399995 meters Centerline goodness : 0.998778 Centerline is valid? [True, True] Translation: X:366.16, Y:3.66, Z:5.64 [[ 9.99369178e-01 -3.18502076e-02 -1.57101869e-02 3.66155795e+02] [ 3.18521210e-02 9.99492584e-01 -1.28468551e-04 3.66131672e+00] [ 1.57063071e-02 -3.72015264e-04 9.99876579e-01 5.64105000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.799254154 meters Centerline goodness : 0.998735 Centerline is valid? [True, True] Translation: X:366.19, Y:3.66, Z:5.64 [[ 9.99412937e-01 -3.04460796e-02 -1.57104258e-02 3.66185979e+02] [ 3.04485253e-02 9.99536333e-01 -8.35540323e-05 3.66301649e+00] [ 1.57056853e-02 -3.94854315e-04 9.99876580e-01 5.64107411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.82925415399995 meters Centerline goodness : 0.998989 Centerline is valid? [True, True] Translation: X:366.22, Y:3.66, Z:5.64 [[ 9.99428692e-01 -2.99244340e-02 -1.57104273e-02 3.66217426e+02] [ 2.99268198e-02 9.99552089e-01 -8.32684538e-05 3.66395888e+00] [ 1.57058822e-02 -3.86942245e-04 9.99876580e-01 5.64228414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.8592541539999 meters Centerline goodness : 0.998884 Centerline is valid? [True, True] Translation: X:366.25, Y:3.67, Z:5.65 [[ 9.99448069e-01 -2.92701155e-02 -1.57104302e-02 3.66248329e+02] [ 2.92724291e-02 9.99571467e-01 -8.27173436e-05 3.66597977e+00] [ 1.57061189e-02 -3.77210765e-04 9.99876580e-01 5.64516923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.88925415399996 meters Centerline goodness : 0.998565 Centerline is valid? [True, True] Translation: X:366.27, Y:3.67, Z:5.64 [[ 9.99403383e-01 -3.07580930e-02 -1.57104331e-02 3.66274915e+02] [ 3.07605992e-02 9.99526777e-01 -8.21544548e-05 3.67030138e+00] [ 1.57055255e-02 -4.01156897e-04 9.99876580e-01 5.64441414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.91925415399993 meters Centerline goodness : 0.998903 Centerline is valid? [True, True] Translation: X:366.31, Y:3.67, Z:5.65 [[ 9.99454528e-01 -2.90495726e-02 -1.57088898e-02 3.66308781e+02] [ 2.90476327e-02 9.99577967e-01 -3.51689241e-04 3.66723856e+00] [ 1.57124766e-02 -1.04808658e-04 9.99876546e-01 5.64760254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.94925415399996 meters Centerline goodness : 0.998692 Centerline is valid? [True, True] Translation: X:366.34, Y:3.67, Z:5.65 [[ 9.99447131e-01 -2.93022087e-02 -1.57102950e-02 3.66339355e+02] [ 2.93045414e-02 9.99570526e-01 -8.17505121e-05 3.66767199e+00] [ 1.57059434e-02 -3.78677676e-04 9.99876582e-01 5.64810671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.97925415399993 meters Centerline goodness : 0.998838 Centerline is valid? [True, True] Translation: X:366.37, Y:3.67, Z:5.65 [[ 9.99461504e-01 -2.88077884e-02 -1.57102965e-02 3.66369968e+02] [ 2.88100644e-02 9.99584901e-01 -8.14757643e-05 3.66835556e+00] [ 1.57061223e-02 -3.71182762e-04 9.99876582e-01 5.64704020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.00925415399996 meters Centerline goodness : 0.998798 Centerline is valid? [True, True] Translation: X:366.40, Y:3.67, Z:5.65 [[ 9.99433182e-01 -2.97742862e-02 -1.57101118e-02 3.66398588e+02] [ 2.97761205e-02 9.99556586e-01 -1.17190704e-04 3.67176070e+00] [ 1.57066350e-02 -3.50661903e-04 9.99876582e-01 5.64965427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.03925415399993 meters Centerline goodness : 0.998820 Centerline is valid? [True, True] Translation: X:366.43, Y:3.67, Z:5.65 [[ 9.99471822e-01 -2.84482160e-02 -1.57091226e-02 3.66430643e+02] [ 2.84469638e-02 9.99595257e-01 -3.03203529e-04 3.67170026e+00] [ 1.57113900e-02 -1.43833458e-04 9.99876558e-01 5.65161731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.06925415399996 meters Centerline goodness : 0.998625 Centerline is valid? [True, True] Translation: X:366.47, Y:3.67, Z:5.64 [[ 9.99618041e-01 -2.27373222e-02 -1.57094190e-02 3.66471728e+02] [ 2.27363577e-02 9.99741467e-01 -2.40017444e-04 3.66519106e+00] [ 1.57108149e-02 -1.17249202e-04 9.99876571e-01 5.64381487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.09925415399994 meters Centerline goodness : 0.998985 Centerline is valid? [True, True] Translation: X:366.49, Y:3.68, Z:5.65 [[ 9.99380574e-01 -3.14888605e-02 -1.57137091e-02 3.66491017e+02] [ 3.14991128e-02 9.99503698e-01 4.05307976e-04 3.67547634e+00] [ 1.56931477e-02 -9.00024812e-04 9.99876450e-01 5.65101491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.12925415399997 meters Centerline goodness : 0.999027 Centerline is valid? [True, True] Translation: X:366.52, Y:3.68, Z:5.65 [[ 9.99388099e-01 -3.12511456e-02 -1.57096593e-02 3.66522193e+02] [ 3.12531029e-02 9.99511495e-01 -1.20955553e-04 3.67619129e+00] [ 1.57057651e-02 -3.70094060e-04 9.99876588e-01 5.65185226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.15925415399994 meters Centerline goodness : 0.998732 Centerline is valid? [True, True] Translation: X:366.55, Y:3.68, Z:5.65 [[ 9.99432078e-01 -2.98115478e-02 -1.57096638e-02 3.66553050e+02] [ 2.98133365e-02 9.99555476e-01 -1.20375977e-04 3.67706063e+00] [ 1.57062691e-02 -3.48049879e-04 9.99876588e-01 5.65064076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.18925415399997 meters Centerline goodness : 0.999006 Centerline is valid? [True, True] Translation: X:366.58, Y:3.68, Z:5.65 [[ 9.99458626e-01 -2.89078209e-02 -1.57096712e-02 3.66584528e+02] [ 2.89095133e-02 9.99582026e-01 -1.19397910e-04 3.67796730e+00] [ 1.57065565e-02 -3.34825678e-04 9.99876588e-01 5.65260180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.21925415399994 meters Centerline goodness : 0.998986 Centerline is valid? [True, True] Translation: X:366.61, Y:3.68, Z:5.65 [[ 9.99539924e-01 -2.59450650e-02 -1.57096754e-02 3.66614688e+02] [ 2.59464003e-02 9.99663328e-01 -1.18845401e-04 3.67956569e+00] [ 1.57074698e-02 -2.88818804e-04 9.99876588e-01 5.65349643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.24925415399997 meters Centerline goodness : 0.998962 Centerline is valid? [True, True] Translation: X:366.65, Y:3.68, Z:5.65 [[ 9.99578032e-01 -2.44328459e-02 -1.57096820e-02 3.66645645e+02] [ 2.44340084e-02 9.99701438e-01 -1.17963984e-04 3.68021471e+00] [ 1.57078739e-02 -2.65936295e-04 9.99876588e-01 5.65489943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.27925415399994 meters Centerline goodness : 0.998834 Centerline is valid? [True, True] Translation: X:366.68, Y:3.68, Z:5.66 [[ 9.99617642e-01 -2.27546919e-02 -1.57096820e-02 3.66675668e+02] [ 2.27556472e-02 9.99741050e-01 -1.17963984e-04 3.68079414e+00] [ 1.57082982e-02 -2.39565102e-04 9.99876588e-01 5.65510821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.309254154 meters Centerline goodness : 0.998876 Centerline is valid? [True, True] Translation: X:366.71, Y:3.68, Z:5.66 [[ 9.99685931e-01 -1.95254913e-02 -1.57096820e-02 3.66705252e+02] [ 1.95260480e-02 9.99809342e-01 -1.17963984e-04 3.68108752e+00] [ 1.57089901e-02 -1.88821069e-04 9.99876588e-01 5.65531867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.33925415399995 meters Centerline goodness : 0.998960 Centerline is valid? [True, True] Translation: X:366.73, Y:3.68, Z:5.66 [[ 9.99708039e-01 -1.83587185e-02 -1.57096799e-02 3.66734294e+02] [ 1.83591266e-02 9.99831450e-01 -1.18250397e-04 3.68111276e+00] [ 1.57092029e-02 -1.70200129e-04 9.99876588e-01 5.65634242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.369254154 meters Centerline goodness : 0.998857 Centerline is valid? [True, True] Translation: X:366.76, Y:3.68, Z:5.66 [[ 9.99744541e-01 -1.62498983e-02 -1.57096480e-02 3.66762892e+02] [ 1.62499818e-02 9.99867953e-01 -1.22340774e-04 3.68070410e+00] [ 1.57095616e-02 -1.32971974e-04 9.99876588e-01 5.65677552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.39925415399995 meters Centerline goodness : 0.998815 Centerline is valid? [True, True] Translation: X:366.79, Y:3.68, Z:5.66 [[ 9.99753247e-01 -1.57051999e-02 -1.57096393e-02 3.66790172e+02] [ 1.57051988e-02 9.99876658e-01 -1.23447626e-04 3.68156971e+00] [ 1.57096404e-02 -1.23305843e-04 9.99876588e-01 5.65606949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.429254154 meters Centerline goodness : 0.999069 Centerline is valid? [True, True] Translation: X:366.82, Y:3.68, Z:5.66 [[ 9.99745058e-01 -1.62190472e-02 -1.57086532e-02 3.66819947e+02] [ 1.62172034e-02 9.99868463e-01 -2.44762126e-04 3.68039706e+00] [ 1.57105568e-02 -1.00506981e-05 9.99876582e-01 5.65840678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.45925415399995 meters Centerline goodness : 0.998842 Centerline is valid? [True, True] Translation: X:366.85, Y:3.68, Z:5.66 [[ 9.99710152e-01 -1.82433672e-02 -1.57096061e-02 3.66848192e+02] [ 1.82436466e-02 9.99833563e-01 -1.25535118e-04 3.67865765e+00] [ 1.57092816e-02 -1.61101769e-04 9.99876589e-01 5.65860629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.489254154 meters Centerline goodness : 0.998881 Centerline is valid? [True, True] Translation: X:366.88, Y:3.68, Z:5.66 [[ 9.99676037e-01 -2.00257353e-02 -1.57095675e-02 3.66876140e+02] [ 2.00261616e-02 9.99799448e-01 -1.30190718e-04 3.67781124e+00] [ 1.57090241e-02 -1.84453795e-04 9.99876589e-01 5.65817271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.51925415399995 meters Centerline goodness : 0.998692 Centerline is valid? [True, True] Translation: X:366.90, Y:3.68, Z:5.66 [[ 9.99632266e-01 -2.21029794e-02 -1.57095554e-02 3.66904489e+02] [ 2.21036395e-02 9.99755676e-01 -1.31630687e-04 3.67686105e+00] [ 1.57086266e-02 -2.15656068e-04 9.99876589e-01 5.65859668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.549254154 meters Centerline goodness : 0.998944 Centerline is valid? [True, True] Translation: X:366.93, Y:3.68, Z:5.66 [[ 9.99585487e-01 -2.41260447e-02 -1.57095213e-02 3.66933993e+02] [ 2.41268925e-02 9.99708895e-01 -1.35579836e-04 3.67594841e+00] [ 1.57082192e-02 -2.43498297e-04 9.99876589e-01 5.65934503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.57925415399995 meters Centerline goodness : 0.999072 Centerline is valid? [True, True] Translation: X:366.96, Y:3.67, Z:5.66 [[ 9.99454397e-01 -2.90537283e-02 -1.57095164e-02 3.66964453e+02] [ 2.90551755e-02 9.99577800e-01 -1.36153096e-04 3.67392503e+00] [ 1.57068396e-02 -3.20363945e-04 9.99876589e-01 5.65971549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.6092541539999 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:366.99, Y:3.67, Z:5.66 [[ 9.99390501e-01 -3.11743219e-02 -1.57095164e-02 3.66994349e+02] [ 3.11760309e-02 9.99513900e-01 -1.36153096e-04 3.67279313e+00] [ 1.57061245e-02 -3.53690258e-04 9.99876589e-01 5.65977093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.63925415399996 meters Centerline goodness : 0.998907 Centerline is valid? [True, True] Translation: X:367.03, Y:3.67, Z:5.66 [[ 9.99312731e-01 -3.35749276e-02 -1.57095189e-02 3.67026088e+02] [ 3.35769376e-02 9.99436126e-01 -1.35866492e-04 3.67189493e+00] [ 1.57052224e-02 -3.91704419e-04 9.99876589e-01 5.66013117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.66925415399993 meters Centerline goodness : 0.998949 Centerline is valid? [True, True] Translation: X:367.06, Y:3.67, Z:5.66 [[ 9.99167355e-01 -3.76537827e-02 -1.57095238e-02 3.67058533e+02] [ 3.76563053e-02 9.99290741e-01 -1.35293933e-04 3.66970178e+00] [ 1.57034760e-02 -4.56381343e-04 9.99876589e-01 5.66000985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.69925415399996 meters Centerline goodness : 0.998908 Centerline is valid? [True, True] Translation: X:367.09, Y:3.67, Z:5.66 [[ 9.99112622e-01 -3.90791493e-02 -1.57095336e-02 3.67091213e+02] [ 3.90818660e-02 9.99236003e-01 -1.34147595e-04 3.66887273e+00] [ 1.57027739e-02 -4.79929330e-04 9.99876589e-01 5.66054389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.72925415399993 meters Centerline goodness : 0.998550 Centerline is valid? [True, True] Translation: X:367.12, Y:3.67, Z:5.66 [[ 9.99081992e-01 -3.98545363e-02 -1.57095434e-02 3.67123660e+02] [ 3.98573670e-02 9.99205371e-01 -1.32985560e-04 3.66777599e+00] [ 1.57023602e-02 -4.93277559e-04 9.99876589e-01 5.66067874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.75925415399996 meters Centerline goodness : 0.998698 Centerline is valid? [True, True] Translation: X:367.15, Y:3.67, Z:5.66 [[ 9.98986919e-01 -4.21704388e-02 -1.57095532e-02 3.67154709e+02] [ 4.21735737e-02 9.99110290e-01 -1.31824157e-04 3.66669388e+00] [ 1.57011353e-02 -5.30837389e-04 9.99876589e-01 5.66110698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.78925415399993 meters Centerline goodness : 0.999013 Centerline is valid? [True, True] Translation: X:367.19, Y:3.67, Z:5.66 [[ 9.98956648e-01 -4.28815318e-02 -1.57095604e-02 3.67186212e+02] [ 4.28847682e-02 9.99080017e-01 -1.30959519e-04 3.66604959e+00] [ 1.57007236e-02 -5.42877972e-04 9.99876589e-01 5.66087958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.81925415399996 meters Centerline goodness : 0.998820 Centerline is valid? [True, True] Translation: X:367.22, Y:3.67, Z:5.66 [[ 9.98935146e-01 -4.33795304e-02 -1.57095675e-02 3.67218768e+02] [ 4.33828416e-02 9.99058513e-01 -1.30102091e-04 3.66549490e+00] [ 1.57004209e-02 -5.51562127e-04 9.99876589e-01 5.66148999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.84925415399994 meters Centerline goodness : 0.998907 Centerline is valid? [True, True] Translation: X:367.25, Y:3.66, Z:5.66 [[ 9.98928483e-01 -4.35326819e-02 -1.57095765e-02 3.67251330e+02] [ 4.35360294e-02 9.99051849e-01 -1.28999370e-04 3.66498225e+00] [ 1.57002972e-02 -5.55071441e-04 9.99876589e-01 5.66166915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.87925415399997 meters Centerline goodness : 0.998970 Centerline is valid? [True, True] Translation: X:367.28, Y:3.66, Z:5.66 [[ 9.98977201e-01 -4.24000177e-02 -1.57095854e-02 3.67283054e+02] [ 4.24032425e-02 9.99100570e-01 -1.27903427e-04 3.66365402e+00] [ 1.57008789e-02 -5.38364754e-04 9.99876589e-01 5.66216076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.90925415399994 meters Centerline goodness : 0.999201 Centerline is valid? [True, True] Translation: X:367.31, Y:3.66, Z:5.66 [[ 9.99027270e-01 -4.12034277e-02 -1.57095944e-02 3.67313927e+02] [ 4.12065222e-02 9.99150643e-01 -1.26794184e-04 3.66308221e+00] [ 1.57014757e-02 -5.20666903e-04 9.99876589e-01 5.66226712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.93925415399997 meters Centerline goodness : 0.999201 Centerline is valid? [True, True] Translation: X:367.35, Y:3.66, Z:5.66 [[ 9.99030148e-01 -4.11335841e-02 -1.57096088e-02 3.67346613e+02] [ 4.11366984e-02 9.99153520e-01 -1.24983740e-04 3.66327765e+00] [ 1.57014520e-02 -5.21378915e-04 9.99876589e-01 5.66278017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.96925415399994 meters Centerline goodness : 0.999013 Centerline is valid? [True, True] Translation: X:367.38, Y:3.66, Z:5.66 [[ 9.99155074e-01 -3.79782247e-02 -1.57096175e-02 3.67378891e+02] [ 3.79809666e-02 9.99278455e-01 -1.23885767e-04 3.66317594e+00] [ 1.57029872e-02 -4.72885363e-04 9.99876589e-01 5.66362837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.99925415399997 meters Centerline goodness : 0.999032 Centerline is valid? [True, True] Translation: X:367.41, Y:3.66, Z:5.66 [[ 9.99269081e-01 -3.48498509e-02 -1.57096265e-02 3.67407586e+02] [ 3.48522246e-02 9.99392469e-01 -1.22731876e-04 3.66366143e+00] [ 1.57043596e-02 -4.24873261e-04 9.99876589e-01 5.66316072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.02925415399994 meters Centerline goodness : 0.998990 Centerline is valid? [True, True] Translation: X:367.44, Y:3.67, Z:5.66 [[ 9.99285839e-01 -3.43662521e-02 -1.57089710e-02 3.67438661e+02] [ 3.43672476e-02 9.99409250e-01 -2.06657751e-04 3.66620914e+00] [ 1.57067930e-02 -3.33363932e-04 9.99876585e-01 5.66160216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.059254154 meters Centerline goodness : 0.998864 Centerline is valid? [True, True] Translation: X:367.47, Y:3.66, Z:5.66 [[ 9.99505949e-01 -2.72228877e-02 -1.57089770e-02 3.67470524e+02] [ 2.72230131e-02 9.99629364e-01 -2.05889743e-04 3.66492182e+00] [ 1.57087596e-02 -2.21857663e-04 9.99876585e-01 5.66342587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.08925415399995 meters Centerline goodness : 0.999030 Centerline is valid? [True, True] Translation: X:367.50, Y:3.67, Z:5.66 [[ 9.99582365e-01 -2.42549741e-02 -1.57096351e-02 3.67501237e+02] [ 2.42560973e-02 9.99705771e-01 -1.19065654e-04 3.66558183e+00] [ 1.57079008e-02 -2.62038509e-04 9.99876589e-01 5.66390845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.119254154 meters Centerline goodness : 0.999177 Centerline is valid? [True, True] Translation: X:367.53, Y:3.67, Z:5.66 [[ 9.99650882e-01 -2.12443310e-02 -1.57096371e-02 3.67530976e+02] [ 2.12450867e-02 9.99774291e-01 -1.18796558e-04 3.66615430e+00] [ 1.57086151e-02 -2.14997519e-04 9.99876589e-01 5.66438725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.14925415399995 meters Centerline goodness : 0.995611 Centerline is valid? [True, True] Translation: X:367.56, Y:3.67, Z:5.66 [[ 9.99750079e-01 -1.59055494e-02 -1.57096331e-02 3.67559665e+02] [ 1.59056377e-02 9.99873490e-01 -1.19328529e-04 3.66826205e+00] [ 1.57095436e-02 -1.30573026e-04 9.99876589e-01 5.66225607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.179254154 meters Centerline goodness : 0.999052 Centerline is valid? [True, True] Translation: X:367.59, Y:3.67, Z:5.66 [[ 9.99771572e-01 -1.44925719e-02 -1.57088895e-02 3.67588699e+02] [ 1.44909973e-02 9.99894977e-01 -2.14067412e-04 3.66890373e+00] [ 1.57103421e-02 -1.36189609e-05 9.99876585e-01 5.66465620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.20925415399995 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:367.62, Y:3.67, Z:5.67 [[ 9.99799973e-01 -1.23790257e-02 -1.57090119e-02 3.67618988e+02] [ 1.23774427e-02 9.99923377e-01 -1.97995603e-04 3.66782276e+00] [ 1.57102592e-02 3.51860451e-06 9.99876586e-01 5.66831129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.239254154 meters Centerline goodness : 0.999050 Centerline is valid? [True, True] Translation: X:367.65, Y:3.67, Z:5.67 [[ 9.99812988e-01 -1.12781589e-02 -1.57096075e-02 3.67646555e+02] [ 1.12776640e-02 9.99936398e-01 -1.20094572e-04 3.66782595e+00] [ 1.57099628e-02 -5.70955616e-05 9.99876589e-01 5.66891646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.26925415399995 meters Centerline goodness : 0.999050 Centerline is valid? [True, True] Translation: X:367.67, Y:3.67, Z:5.67 [[ 9.99811529e-01 -1.14068760e-02 -1.57095709e-02 3.67674332e+02] [ 1.14063245e-02 9.99934938e-01 -1.24708610e-04 3.66764780e+00] [ 1.57099713e-02 -5.45033565e-05 9.99876589e-01 5.66932697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.299254154 meters Centerline goodness : 0.999303 Centerline is valid? [True, True] Translation: X:367.70, Y:3.67, Z:5.67 [[ 9.99790872e-01 -1.30928232e-02 -1.57095324e-02 3.67702662e+02] [ 1.30924064e-02 9.99914282e-01 -1.29376198e-04 3.66682999e+00] [ 1.57098797e-02 -7.63264411e-05 9.99876589e-01 5.66974440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.32925415399995 meters Centerline goodness : 0.999220 Centerline is valid? [True, True] Translation: X:367.73, Y:3.67, Z:5.67 [[ 9.99771417e-01 -1.45025750e-02 -1.57094925e-02 3.67730197e+02] [ 1.45022587e-02 9.99894828e-01 -1.34058275e-04 3.66629657e+00] [ 1.57097844e-02 -9.37954923e-05 9.99876589e-01 5.67010739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.3592541539999 meters Centerline goodness : 0.999051 Centerline is valid? [True, True] Translation: X:367.76, Y:3.67, Z:5.67 [[ 9.99740247e-01 -1.65121572e-02 -1.57094511e-02 3.67758252e+02] [ 1.65120154e-02 9.99863658e-01 -1.38739119e-04 3.66598005e+00] [ 1.57096001e-02 -1.20691618e-04 9.99876589e-01 5.67060847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.38925415399996 meters Centerline goodness : 0.998734 Centerline is valid? [True, True] Translation: X:367.79, Y:3.66, Z:5.67 [[ 9.99663294e-01 -2.06521732e-02 -1.57094087e-02 3.67785586e+02] [ 2.06524694e-02 9.99786705e-01 -1.43391053e-04 3.66486957e+00] [ 1.57090193e-02 -1.81095309e-04 9.99876589e-01 5.67099815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.41925415399993 meters Centerline goodness : 0.998884 Centerline is valid? [True, True] Translation: X:367.81, Y:3.66, Z:5.67 [[ 9.99607353e-01 -2.32024542e-02 -1.57093954e-02 3.67813836e+02] [ 2.32030426e-02 9.99730763e-01 -1.44830385e-04 3.66434224e+00] [ 1.57085263e-02 -2.19732253e-04 9.99876589e-01 5.67199346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.44925415399996 meters Centerline goodness : 0.999011 Centerline is valid? [True, True] Translation: X:367.84, Y:3.66, Z:5.67 [[ 9.99550068e-01 -2.55514655e-02 -1.57093569e-02 3.67843531e+02] [ 2.55522801e-02 9.99673476e-01 -1.48894684e-04 3.66379613e+00] [ 1.57080319e-02 -2.52582195e-04 9.99876589e-01 5.67236780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.47925415399993 meters Centerline goodness : 0.999097 Centerline is valid? [True, True] Translation: X:367.87, Y:3.66, Z:5.67 [[ 9.99434411e-01 -2.97333880e-02 -1.57093513e-02 3.67873251e+02] [ 2.97347097e-02 9.99557815e-01 -1.49479346e-04 3.66200109e+00] [ 1.57068494e-02 -3.17718198e-04 9.99876589e-01 5.67307211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.50925415399996 meters Centerline goodness : 0.998888 Centerline is valid? [True, True] Translation: X:367.90, Y:3.66, Z:5.67 [[ 9.99376426e-01 -3.16223881e-02 -1.57093457e-02 3.67903522e+02] [ 3.16239339e-02 9.99499827e-01 -1.50065098e-04 3.66151070e+00] [ 1.57062337e-02 -3.46819788e-04 9.99876589e-01 5.67298826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.53925415399993 meters Centerline goodness : 0.998865 Centerline is valid? [True, True] Translation: X:367.93, Y:3.66, Z:5.67 [[ 9.99295238e-01 -3.40917046e-02 -1.57093485e-02 3.67934756e+02] [ 3.40935599e-02 9.99418634e-01 -1.49774573e-04 3.66123063e+00] [ 1.57053217e-02 -3.85918595e-04 9.99876589e-01 5.67348008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.56925415399996 meters Centerline goodness : 0.999014 Centerline is valid? [True, True] Translation: X:367.97, Y:3.66, Z:5.67 [[ 9.99267483e-01 -3.48957446e-02 -1.57093540e-02 3.67965788e+02] [ 3.48977082e-02 9.99390878e-01 -1.49193117e-04 3.66180658e+00] [ 1.57049913e-02 -3.99136622e-04 9.99876589e-01 5.67384330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.59925415399994 meters Centerline goodness : 0.998971 Centerline is valid? [True, True] Translation: X:368.00, Y:3.66, Z:5.67 [[ 9.99257032e-01 -3.51937426e-02 -1.57093595e-02 3.67997504e+02] [ 3.51957522e-02 9.99380427e-01 -1.48614428e-04 3.66233943e+00] [ 1.57048567e-02 -4.04398710e-04 9.99876589e-01 5.67433394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.62925415399997 meters Centerline goodness : 0.999076 Centerline is valid? [True, True] Translation: X:368.03, Y:3.66, Z:5.67 [[ 9.99262998e-01 -3.50239436e-02 -1.57093649e-02 3.68029129e+02] [ 3.50259413e-02 9.99386393e-01 -1.48035679e-04 3.66266311e+00] [ 1.57049103e-02 -4.02308717e-04 9.99876589e-01 5.67492210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.65925415399994 meters Centerline goodness : 0.998761 Centerline is valid? [True, True] Translation: X:368.06, Y:3.66, Z:5.68 [[ 9.99317106e-01 -3.34445276e-02 -1.57093704e-02 3.68060093e+02] [ 3.34463393e-02 9.99440504e-01 -1.47455356e-04 3.66252041e+00] [ 1.57055126e-02 -3.78066273e-04 9.99876589e-01 5.67552775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.68925415399997 meters Centerline goodness : 0.999075 Centerline is valid? [True, True] Translation: X:368.09, Y:3.66, Z:5.67 [[ 9.99336801e-01 -3.28507938e-02 -1.57093758e-02 3.68090302e+02] [ 3.28525415e-02 9.99460199e-01 -1.46870336e-04 3.66325355e+00] [ 1.57057207e-02 -3.69319990e-04 9.99876589e-01 5.67495922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.71925415399994 meters Centerline goodness : 0.998929 Centerline is valid? [True, True] Translation: X:368.12, Y:3.66, Z:5.68 [[ 9.99389065e-01 -3.12203643e-02 -1.57093846e-02 3.68121389e+02] [ 3.12219254e-02 9.99512466e-01 -1.45931325e-04 3.66447597e+00] [ 1.57062817e-02 -3.44635063e-04 9.99876589e-01 5.67768276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.74925415399997 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:368.15, Y:3.67, Z:5.68 [[ 9.99418901e-01 -3.02501985e-02 -1.57093899e-02 3.68152995e+02] [ 3.02516489e-02 9.99542304e-01 -1.45351254e-04 3.66512441e+00] [ 1.57065967e-02 -3.29968159e-04 9.99876589e-01 5.67819826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.77925415399994 meters Centerline goodness : 0.999095 Centerline is valid? [True, True] Translation: X:368.18, Y:3.67, Z:5.68 [[ 9.99439417e-01 -2.95646285e-02 -1.57093953e-02 3.68183908e+02] [ 2.95660034e-02 9.99562820e-01 -1.44771496e-04 3.66563532e+00] [ 1.57068076e-02 -3.19773694e-04 9.99876589e-01 5.67859229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.809254154 meters Centerline goodness : 0.998864 Centerline is valid? [True, True] Translation: X:368.22, Y:3.67, Z:5.68 [[ 9.99464477e-01 -2.87049449e-02 -1.57094006e-02 3.68215694e+02] [ 2.87062227e-02 9.99587881e-01 -1.44195178e-04 3.66613629e+00] [ 1.57070655e-02 -3.06839592e-04 9.99876589e-01 5.67879937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.83925415399995 meters Centerline goodness : 0.998886 Centerline is valid? [True, True] Translation: X:368.25, Y:3.67, Z:5.68 [[ 9.99493804e-01 -2.76649717e-02 -1.57094058e-02 3.68245903e+02] [ 2.76661302e-02 9.99617209e-01 -1.43619169e-04 3.66687414e+00] [ 1.57073656e-02 -2.91071997e-04 9.99876589e-01 5.67873451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.869254154 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:368.28, Y:3.67, Z:5.68 [[ 9.99505096e-01 -2.72539447e-02 -1.57094058e-02 3.68276708e+02] [ 2.72550523e-02 9.99628502e-01 -1.43619169e-04 3.66703639e+00] [ 1.57074840e-02 -2.84612587e-04 9.99876589e-01 5.67826335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.89925415399995 meters Centerline goodness : 0.999390 Centerline is valid? [True, True] Translation: X:368.31, Y:3.67, Z:5.68 [[ 9.99514869e-01 -2.68931361e-02 -1.57094085e-02 3.68307465e+02] [ 2.68942037e-02 9.99638275e-01 -1.43329053e-04 3.66765328e+00] [ 1.57075806e-02 -2.79232512e-04 9.99876589e-01 5.67865219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.929254154 meters Centerline goodness : 0.998949 Centerline is valid? [True, True] Translation: X:368.34, Y:3.67, Z:5.68 [[ 9.99522627e-01 -2.66032287e-02 -1.57094085e-02 3.68336744e+02] [ 2.66042606e-02 9.99646034e-01 -1.43329053e-04 3.66931894e+00] [ 1.57076609e-02 -2.74676565e-04 9.99876589e-01 5.67835850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.95925415399995 meters Centerline goodness : 0.998952 Centerline is valid? [True, True] Translation: X:368.37, Y:3.67, Z:5.68 [[ 9.99529912e-01 -2.63280968e-02 -1.57094059e-02 3.68366982e+02] [ 2.63290903e-02 9.99653319e-01 -1.43610991e-04 3.67023448e+00] [ 1.57077408e-02 -2.70070885e-04 9.99876589e-01 5.67891597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.989254154 meters Centerline goodness : 0.999097 Centerline is valid? [True, True] Translation: X:368.40, Y:3.67, Z:5.68 [[ 9.99512358e-01 -2.69863121e-02 -1.57094059e-02 3.68396447e+02] [ 2.69873869e-02 9.99635764e-01 -1.43610991e-04 3.67145830e+00] [ 1.57075595e-02 -2.80414854e-04 9.99876589e-01 5.67901487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.01925415399995 meters Centerline goodness : 0.999076 Centerline is valid? [True, True] Translation: X:368.43, Y:3.67, Z:5.68 [[ 9.99494305e-01 -2.76469030e-02 -1.57093154e-02 3.68426723e+02] [ 2.76479063e-02 9.99617712e-01 -1.53351042e-04 3.67263239e+00] [ 1.57075496e-02 -2.81056187e-04 9.99876589e-01 5.68216236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.049254154 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:368.46, Y:3.67, Z:5.68 [[ 9.99476240e-01 -2.82924106e-02 -1.57093783e-02 3.68457103e+02] [ 2.82935996e-02 9.99599645e-01 -1.46607400e-04 3.67333442e+00] [ 1.57072369e-02 -2.97944247e-04 9.99876589e-01 5.68189097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.07925415399995 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:368.49, Y:3.67, Z:5.68 [[ 9.99454666e-01 -2.90445652e-02 -1.57093810e-02 3.68487911e+02] [ 2.90458515e-02 9.99578070e-01 -1.46321075e-04 3.67398293e+00] [ 1.57070026e-02 -3.10051067e-04 9.99876589e-01 5.68373397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.1092541539999 meters Centerline goodness : 0.999012 Centerline is valid? [True, True] Translation: X:368.52, Y:3.68, Z:5.68 [[ 9.99372610e-01 -3.17427309e-02 -1.57093810e-02 3.68517821e+02] [ 3.17443503e-02 9.99496010e-01 -1.46321075e-04 3.67501720e+00] [ 1.57061083e-02 -3.52454820e-04 9.99876589e-01 5.68405097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.13925415399996 meters Centerline goodness : 0.998972 Centerline is valid? [True, True] Translation: X:368.55, Y:3.68, Z:5.68 [[ 9.99310300e-01 -3.36472837e-02 -1.57093837e-02 3.68549247e+02] [ 3.36491429e-02 9.99433697e-01 -1.46034597e-04 3.67577080e+00] [ 1.57054011e-02 -3.82673419e-04 9.99876589e-01 5.68454807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.16925415399993 meters Centerline goodness : 0.999222 Centerline is valid? [True, True] Translation: X:368.58, Y:3.68, Z:5.69 [[ 9.99236220e-01 -3.57797707e-02 -1.57093889e-02 3.68580769e+02] [ 3.57819021e-02 9.99359612e-01 -1.45465214e-04 3.67620023e+00] [ 1.57045336e-02 -4.16757707e-04 9.99876589e-01 5.68501392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.19925415399996 meters Centerline goodness : 0.998868 Centerline is valid? [True, True] Translation: X:368.61, Y:3.68, Z:5.68 [[ 9.99012250e-01 -4.15660931e-02 -1.57093942e-02 3.68611494e+02] [ 4.15689481e-02 9.99135627e-01 -1.44891615e-04 3.67654248e+00] [ 1.57018380e-02 -5.08274496e-04 9.99876589e-01 5.68385049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.22925415399993 meters Centerline goodness : 0.998804 Centerline is valid? [True, True] Translation: X:368.64, Y:3.68, Z:5.68 [[ 9.98811699e-01 -4.61346307e-02 -1.57094021e-02 3.68644011e+02] [ 4.61380634e-02 9.98935062e-01 -1.44033465e-04 3.67723841e+00] [ 1.56993175e-02 -5.80939080e-04 9.99876589e-01 5.68161501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.25925415399996 meters Centerline goodness : 0.998909 Centerline is valid? [True, True] Translation: X:368.67, Y:3.68, Z:5.69 [[ 9.98672850e-01 -4.90483742e-02 -1.57097281e-02 3.68674835e+02] [ 4.90527287e-02 9.98796184e-01 -1.08253001e-04 3.67716955e+00] [ 1.56961261e-02 -6.62495698e-04 9.99876589e-01 5.68501254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.28925415399993 meters Centerline goodness : 0.999034 Centerline is valid? [True, True] Translation: X:368.71, Y:3.68, Z:5.69 [[ 9.98278701e-01 -5.65053010e-02 -1.57094171e-02 3.68707431e+02] [ 5.65100384e-02 9.98402021e-01 -1.42529581e-04 3.67782581e+00] [ 1.56923675e-02 -7.45455519e-04 9.99876589e-01 5.68600968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.31925415399996 meters Centerline goodness : 0.997857 Centerline is valid? [True, True] Translation: X:368.74, Y:3.68, Z:5.68 [[ 9.98145453e-01 -5.88121459e-02 -1.57094274e-02 3.68737659e+02] [ 5.88171862e-02 9.98268761e-01 -1.41382760e-04 3.67815421e+00] [ 1.56905457e-02 -7.82863760e-04 9.99876589e-01 5.68300207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.34925415399994 meters Centerline goodness : 0.998972 Centerline is valid? [True, True] Translation: X:368.77, Y:3.68, Z:5.69 [[ 9.97931241e-01 -6.23416015e-02 -1.57086709e-02 3.68771802e+02] [ 6.23457473e-02 9.98054586e-01 -2.26130392e-04 3.67898927e+00] [ 1.56922084e-02 -7.53706246e-04 9.99876586e-01 5.68705189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.37925415399997 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:368.80, Y:3.68, Z:5.69 [[ 9.97673971e-01 -6.63314508e-02 -1.57094541e-02 3.68803155e+02] [ 6.63375198e-02 9.97797232e-01 -1.35026390e-04 3.68084665e+00] [ 1.56838063e-02 -9.07413905e-04 9.99876590e-01 5.68678118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.40925415399994 meters Centerline goodness : 0.999034 Centerline is valid? [True, True] Translation: X:368.84, Y:3.68, Z:5.69 [[ 9.97610289e-01 -6.72824274e-02 -1.57094614e-02 3.68835186e+02] [ 6.72886274e-02 9.97733543e-01 -1.34165843e-04 3.68186367e+00] [ 1.56828836e-02 -9.23222871e-04 9.99876590e-01 5.68719612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.43925415399997 meters Centerline goodness : 0.998991 Centerline is valid? [True, True] Translation: X:368.87, Y:3.68, Z:5.69 [[ 9.97627286e-01 -6.70299234e-02 -1.57094734e-02 3.68868857e+02] [ 6.70361144e-02 9.97750541e-01 -1.32748046e-04 3.68220114e+00] [ 1.56830337e-02 -9.20668983e-04 9.99876590e-01 5.68992170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.46925415399994 meters Centerline goodness : 0.999096 Centerline is valid? [True, True] Translation: X:368.90, Y:3.69, Z:5.69 [[ 9.97605327e-01 -6.73558279e-02 -1.57100062e-02 3.68899143e+02] [ 6.73630684e-02 9.97728526e-01 -6.84283986e-05 3.68569267e+00] [ 1.56789304e-02 -9.90009690e-04 9.99876588e-01 5.68885317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.49925415399997 meters Centerline goodness : 0.998995 Centerline is valid? [True, True] Translation: X:368.93, Y:3.69, Z:5.69 [[ 9.97656679e-01 -6.65909447e-02 -1.57097516e-02 3.68932413e+02] [ 6.65976090e-02 9.97779910e-01 -9.91324527e-05 3.68732508e+00] [ 1.56814759e-02 -9.47331744e-04 9.99876589e-01 5.68926178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.52925415399994 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:368.96, Y:3.69, Z:5.69 [[ 9.97809130e-01 -6.42661610e-02 -1.57098809e-02 3.68964434e+02] [ 6.42727889e-02 9.97932363e-01 -8.31524782e-05 3.68779255e+00] [ 1.56827425e-02 -9.26747557e-04 9.99876589e-01 5.69135045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.559254154 meters Centerline goodness : 0.998990 Centerline is valid? [True, True] Translation: X:368.99, Y:3.69, Z:5.69 [[ 9.97825726e-01 -6.40079067e-02 -1.57101072e-02 3.68994843e+02] [ 6.40149469e-02 9.97948938e-01 -5.48494404e-05 3.69241539e+00] [ 1.56813956e-02 -9.50951494e-04 9.99876587e-01 5.68970785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.58925415399995 meters Centerline goodness : 0.998990 Centerline is valid? [True, True] Translation: X:369.03, Y:3.69, Z:5.69 [[ 9.97939998e-01 -6.22010497e-02 -1.57095515e-02 3.69027560e+02] [ 6.22067689e-02 9.98063276e-01 -1.24802485e-04 3.69436138e+00] [ 1.56868893e-02 -8.52695049e-04 9.99876590e-01 5.69014680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.619254154 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:369.06, Y:3.70, Z:5.69 [[ 9.98048300e-01 -6.04382884e-02 -1.57099999e-02 3.69057215e+02] [ 6.04446907e-02 9.98171546e-01 -6.74085148e-05 3.69651037e+00] [ 1.56853489e-02 -8.82309129e-04 9.99876588e-01 5.69044917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.64925415399995 meters Centerline goodness : 0.999218 Centerline is valid? [True, True] Translation: X:369.09, Y:3.70, Z:5.69 [[ 9.98396301e-01 -5.43878205e-02 -1.57095579e-02 3.69089397e+02] [ 5.43925937e-02 9.98519619e-01 -1.23587320e-04 3.70106465e+00] [ 1.56930234e-02 -7.31094478e-04 9.99876590e-01 5.69143179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.679254154 meters Centerline goodness : 0.998943 Centerline is valid? [True, True] Translation: X:369.12, Y:3.70, Z:5.69 [[ 9.98582800e-01 -5.08488055e-02 -1.57095669e-02 3.69121858e+02] [ 5.08531596e-02 9.98706134e-01 -1.22436167e-04 3.70415396e+00] [ 1.56954666e-02 -6.76618462e-04 9.99876590e-01 5.69191131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.70925415399995 meters Centerline goodness : 0.998963 Centerline is valid? [True, True] Translation: X:369.15, Y:3.71, Z:5.69 [[ 9.98814851e-01 -4.60662813e-02 -1.57095780e-02 3.69153856e+02] [ 4.60700673e-02 9.98938203e-01 -1.21000546e-04 3.70681070e+00] [ 1.56984716e-02 -6.02884172e-04 9.99876590e-01 5.69263953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.739254154 meters Centerline goodness : 0.999343 Centerline is valid? [True, True] Translation: X:369.19, Y:3.71, Z:5.69 [[ 9.98997820e-01 -4.19113986e-02 -1.57095866e-02 3.69185092e+02] [ 4.19146894e-02 9.99121186e-01 -1.19861653e-04 3.71007818e+00] [ 1.57008044e-02 -5.38720915e-04 9.99876590e-01 5.69370224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.76925415399995 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:369.22, Y:3.72, Z:5.70 [[ 9.99336411e-01 -3.28625468e-02 -1.57095931e-02 3.69217196e+02] [ 3.28647336e-02 9.99459802e-01 -1.19012842e-04 3.71535737e+00] [ 1.57050178e-02 -3.97357725e-04 9.99876590e-01 5.69537338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.799254154 meters Centerline goodness : 0.999170 Centerline is valid? [True, True] Translation: X:369.25, Y:3.72, Z:5.70 [[ 9.99488764e-01 -2.78463564e-02 -1.57096015e-02 3.69248779e+02] [ 2.78479416e-02 9.99612164e-01 -1.17884756e-04 3.71778556e+00] [ 1.57067915e-02 -3.19655577e-04 9.99876590e-01 5.69586664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.82925415399995 meters Centerline goodness : 0.999170 Centerline is valid? [True, True] Translation: X:369.28, Y:3.72, Z:5.70 [[ 9.99489746e-01 -2.78110645e-02 -1.57096078e-02 3.69280620e+02] [ 2.78126585e-02 9.99613146e-01 -1.17046418e-04 3.71799143e+00] [ 1.57067857e-02 -3.19939261e-04 9.99876590e-01 5.69636666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.8592541539999 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:369.31, Y:3.72, Z:5.70 [[ 9.99595485e-01 -2.37081030e-02 -1.57096119e-02 3.69312323e+02] [ 2.37091991e-02 9.99718891e-01 -1.16491851e-04 3.72059456e+00] [ 1.57079576e-02 -2.56017589e-04 9.99876590e-01 5.69642558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.88925415399996 meters Centerline goodness : 0.999188 Centerline is valid? [True, True] Translation: X:369.35, Y:3.72, Z:5.69 [[ 9.99766059e-01 -1.48672458e-02 -1.57096160e-02 3.69346428e+02] [ 1.48672592e-02 9.99889469e-01 -1.15940313e-04 3.71858407e+00] [ 1.57096033e-02 -1.17645743e-04 9.99876590e-01 5.69480814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.91925415399993 meters Centerline goodness : 0.999229 Centerline is valid? [True, True] Translation: X:369.37, Y:3.73, Z:5.70 [[ 9.99784279e-01 -1.35848838e-02 -1.57113637e-02 3.69371491e+02] [ 1.35885171e-02 9.99907664e-01 1.24518754e-04 3.72636183e+00] [ 1.57082214e-02 -3.37986028e-04 9.99876561e-01 5.69553349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.94925415399996 meters Centerline goodness : 0.999230 Centerline is valid? [True, True] Translation: X:369.40, Y:3.73, Z:5.70 [[ 9.99805794e-01 -1.18990526e-02 -1.57094460e-02 3.69399831e+02] [ 1.18986018e-02 9.99929202e-01 -1.22161128e-04 3.72806389e+00] [ 1.57097874e-02 -6.47830394e-05 9.99876592e-01 5.69579662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.97925415399993 meters Centerline goodness : 0.999420 Centerline is valid? [True, True] Translation: X:369.43, Y:3.73, Z:5.70 [[ 9.99821095e-01 -1.05353025e-02 -1.57094112e-02 3.69427985e+02] [ 1.05346155e-02 9.99944501e-01 -1.26479507e-04 3.72910610e+00] [ 1.57098718e-02 -3.90357284e-05 9.99876592e-01 5.69765116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.00925415399996 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:369.46, Y:3.73, Z:5.70 [[ 9.99827600e-01 -9.89876927e-03 -1.57093727e-02 3.69455134e+02] [ 9.89793128e-03 9.99951006e-01 -1.31094673e-04 3.73001403e+00] [ 1.57099007e-02 -2.44182194e-05 9.99876592e-01 5.69795747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.03925415399993 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:369.49, Y:3.72, Z:5.69 [[ 9.99873904e-01 -2.32205166e-03 -1.57093558e-02 3.69491378e+02] [ 2.32024717e-03 9.99997299e-01 -1.33092172e-04 3.72413148e+00] [ 1.57096224e-02 9.66258013e-05 9.99876592e-01 5.69495686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.06925415399996 meters Centerline goodness : 0.999229 Centerline is valid? [True, True] Translation: X:369.51, Y:3.73, Z:5.70 [[ 9.99830868e-01 -9.55858658e-03 -1.57120373e-02 3.69514832e+02] [ 9.56291220e-03 9.99954254e-01 2.00196125e-04 3.73058061e+00] [ 1.57094050e-02 -3.50415098e-04 9.99876538e-01 5.69939636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.09925415399994 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:369.54, Y:3.73, Z:5.70 [[ 9.99820172e-01 -1.06228896e-02 -1.57091529e-02 3.69543492e+02] [ 1.06220771e-02 9.99943575e-01 -1.35156295e-04 3.73092400e+00] [ 1.57097023e-02 -3.17318444e-05 9.99876595e-01 5.70119899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.12925415399997 meters Centerline goodness : 0.998927 Centerline is valid? [True, True] Translation: X:369.57, Y:3.73, Z:5.70 [[ 9.99805191e-01 -1.19500848e-02 -1.57091182e-02 3.69569138e+02] [ 1.19493746e-02 9.99928594e-01 -1.39075757e-04 3.73389723e+00] [ 1.57096585e-02 -4.86654746e-05 9.99876595e-01 5.70169011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.15925415399994 meters Centerline goodness : 0.999358 Centerline is valid? [True, True] Translation: X:369.60, Y:3.73, Z:5.70 [[ 9.99788673e-01 -1.32623692e-02 -1.57073111e-02 3.69602302e+02] [ 1.32587556e-02 9.99912043e-01 -3.34175894e-04 3.73092112e+00] [ 1.57103615e-02 1.25845875e-04 9.99876577e-01 5.70331522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.18925415399997 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:369.63, Y:3.73, Z:5.70 [[ 9.99768035e-01 -1.47343975e-02 -1.57090521e-02 3.69630430e+02] [ 1.47339667e-02 9.99891439e-01 -1.43164165e-04 3.73013940e+00] [ 1.57094562e-02 -8.83256947e-05 9.99876595e-01 5.70463146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.21925415399994 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:369.66, Y:3.73, Z:5.71 [[ 9.99729678e-01 -1.71405658e-02 -1.57090083e-02 3.69657852e+02] [ 1.71403588e-02 9.99853082e-01 -1.47823776e-04 3.72965765e+00] [ 1.57092342e-02 -1.21474223e-04 9.99876595e-01 5.70529861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.24925415399997 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:369.69, Y:3.73, Z:5.71 [[ 9.99641487e-01 -2.16823669e-02 -1.57089631e-02 3.69686477e+02] [ 2.16826473e-02 9.99764892e-01 -1.52484583e-04 3.72802046e+00] [ 1.57085760e-02 -1.88181990e-04 9.99876595e-01 5.70558418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.27925415399994 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:369.72, Y:3.73, Z:5.71 [[ 9.99571535e-01 -2.46976634e-02 -1.57089518e-02 3.69716283e+02] [ 2.46982979e-02 9.99694939e-01 -1.53639277e-04 3.72754109e+00] [ 1.57079541e-02 -2.34410922e-04 9.99876595e-01 5.70565591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.309254154 meters Centerline goodness : 0.999148 Centerline is valid? [True, True] Translation: X:369.75, Y:3.73, Z:5.71 [[ 9.99451706e-01 -2.91464654e-02 -1.57089490e-02 3.69747069e+02] [ 2.91476447e-02 9.99575105e-01 -1.53925923e-04 3.72517315e+00] [ 1.57067607e-02 -3.04037336e-04 9.99876595e-01 5.70533215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.33925415399995 meters Centerline goodness : 0.999191 Centerline is valid? [True, True] Translation: X:369.78, Y:3.72, Z:5.71 [[ 9.99388541e-01 -3.12373536e-02 -1.57089490e-02 3.69779697e+02] [ 3.12387911e-02 9.99511938e-01 -1.53925923e-04 3.72424514e+00] [ 1.57060903e-02 -3.36896771e-04 9.99876595e-01 5.70538773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.369254154 meters Centerline goodness : 0.999127 Centerline is valid? [True, True] Translation: X:369.81, Y:3.72, Z:5.71 [[ 9.99314909e-01 -3.35103200e-02 -1.57089600e-02 3.69811901e+02] [ 3.35120559e-02 9.99438302e-01 -1.52788167e-04 3.72354357e+00] [ 1.57052563e-02 -3.73756054e-04 9.99876595e-01 5.70528701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.39925415399995 meters Centerline goodness : 0.999172 Centerline is valid? [True, True] Translation: X:369.84, Y:3.72, Z:5.71 [[ 9.99272319e-01 -3.47571725e-02 -1.57089709e-02 3.69844483e+02] [ 3.47590801e-02 9.99395709e-01 -1.51659651e-04 3.72277729e+00] [ 1.57047494e-02 -3.94480087e-04 9.99876595e-01 5.70539842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.429254154 meters Centerline goodness : 0.999151 Centerline is valid? [True, True] Translation: X:369.88, Y:3.72, Z:5.71 [[ 9.99194264e-01 -3.69330543e-02 -1.57089817e-02 3.69877113e+02] [ 3.69352484e-02 9.99317650e-01 -1.50534345e-04 3.72168638e+00] [ 1.57038224e-02 -4.29802086e-04 9.99876595e-01 5.70527581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.45925415399995 meters Centerline goodness : 0.999238 Centerline is valid? [True, True] Translation: X:369.91, Y:3.72, Z:5.71 [[ 9.99184908e-01 -3.71853138e-02 -1.57089924e-02 3.69908771e+02] [ 3.71875567e-02 9.99308292e-01 -1.49406901e-04 3.72131080e+00] [ 1.57036821e-02 -4.34893926e-04 9.99876595e-01 5.70559890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.489254154 meters Centerline goodness : 0.999004 Centerline is valid? [True, True] Translation: X:369.94, Y:3.72, Z:5.71 [[ 9.99193320e-01 -3.69585713e-02 -1.57090004e-02 3.69941103e+02] [ 3.69607994e-02 9.99316705e-01 -1.48566661e-04 3.72065250e+00] [ 1.57037573e-02 -4.32170396e-04 9.99876595e-01 5.70671249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.51925415399995 meters Centerline goodness : 0.999238 Centerline is valid? [True, True] Translation: X:369.97, Y:3.72, Z:5.71 [[ 9.99175670e-01 -3.74327179e-02 -1.57090112e-02 3.69973734e+02] [ 3.74350227e-02 9.99299053e-01 -1.47414431e-04 3.71994637e+00] [ 1.57035181e-02 -4.40774277e-04 9.99876595e-01 5.70844589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.549254154 meters Centerline goodness : 0.998983 Centerline is valid? [True, True] Translation: X:370.01, Y:3.72, Z:5.71 [[ 9.99201300e-01 -3.67421993e-02 -1.57090219e-02 3.70005967e+02] [ 3.67444368e-02 9.99324684e-01 -1.46265912e-04 3.71956898e+00] [ 1.57037875e-02 -4.31070072e-04 9.99876595e-01 5.70883818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.57925415399995 meters Centerline goodness : 0.998837 Centerline is valid? [True, True] Translation: X:370.04, Y:3.72, Z:5.71 [[ 9.99213510e-01 -3.64086150e-02 -1.57090324e-02 3.70038643e+02] [ 3.64108293e-02 9.99336895e-01 -1.45121821e-04 3.71922885e+00] [ 1.57038994e-02 -4.26971214e-04 9.99876595e-01 5.70971089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.6092541539999 meters Centerline goodness : 0.999071 Centerline is valid? [True, True] Translation: X:370.07, Y:3.72, Z:5.71 [[ 9.99200467e-01 -3.67648167e-02 -1.57090430e-02 3.70071103e+02] [ 3.67670930e-02 9.99323851e-01 -1.43973427e-04 3.71880835e+00] [ 1.57037145e-02 -4.33717529e-04 9.99876595e-01 5.71075002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.63925415399996 meters Centerline goodness : 0.999112 Centerline is valid? [True, True] Translation: X:370.10, Y:3.72, Z:5.71 [[ 9.99209287e-01 -3.65243352e-02 -1.57090536e-02 3.70103156e+02] [ 3.65266003e-02 9.99332671e-01 -1.42799309e-04 3.71828944e+00] [ 1.57037862e-02 -4.31111928e-04 9.99876595e-01 5.71072930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.66925415399993 meters Centerline goodness : 0.998984 Centerline is valid? [True, True] Translation: X:370.14, Y:3.72, Z:5.71 [[ 9.99154685e-01 -3.79887037e-02 -1.57090643e-02 3.70135619e+02] [ 3.79911681e-02 9.99278065e-01 -1.41622479e-04 3.71750944e+00] [ 1.57031034e-02 -4.55302938e-04 9.99876595e-01 5.70996208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.69925415399996 meters Centerline goodness : 0.999195 Centerline is valid? [True, True] Translation: X:370.17, Y:3.72, Z:5.71 [[ 9.99147386e-01 -3.81801850e-02 -1.57090747e-02 3.70165237e+02] [ 3.81826915e-02 9.99270765e-01 -1.40452345e-04 3.71734093e+00] [ 1.57029816e-02 -4.59482160e-04 9.99876595e-01 5.70943960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.72925415399993 meters Centerline goodness : 0.999090 Centerline is valid? [True, True] Translation: X:370.20, Y:3.72, Z:5.71 [[ 9.98991156e-01 -4.20704735e-02 -1.57081583e-02 3.70198378e+02] [ 4.20719038e-02 9.99114557e-01 -2.39538037e-04 3.71654767e+00] [ 1.57043271e-02 -4.21575744e-04 9.99876591e-01 5.70797643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.75925415399996 meters Centerline goodness : 0.999217 Centerline is valid? [True, True] Translation: X:370.23, Y:3.72, Z:5.71 [[ 9.98927995e-01 -4.35440784e-02 -1.57090445e-02 3.70230305e+02] [ 4.35472489e-02 9.99051359e-01 -1.40342392e-04 3.71647289e+00] [ 1.57002534e-02 -5.43893728e-04 9.99876595e-01 5.70904567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.78925415399993 meters Centerline goodness : 0.999217 Centerline is valid? [True, True] Translation: X:370.26, Y:3.72, Z:5.71 [[ 9.98931229e-01 -4.34698316e-02 -1.57090549e-02 3.70262992e+02] [ 4.34730112e-02 9.99054592e-01 -1.39174299e-04 3.71670387e+00] [ 1.57002533e-02 -5.43894366e-04 9.99876595e-01 5.70955888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.81925415399996 meters Centerline goodness : 0.999067 Centerline is valid? [True, True] Translation: X:370.29, Y:3.72, Z:5.71 [[ 9.98795154e-01 -4.64915616e-02 -1.57090652e-02 3.70293837e+02] [ 4.64951328e-02 9.98918507e-01 -1.38006846e-04 3.71634907e+00] [ 1.56984921e-02 -5.92554502e-04 9.99876595e-01 5.70911561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.84925415399994 meters Centerline goodness : 0.999067 Centerline is valid? [True, True] Translation: X:370.33, Y:3.72, Z:5.71 [[ 9.98741921e-01 -4.76214218e-02 -1.57090727e-02 3.70326223e+02] [ 4.76251462e-02 9.98865270e-01 -1.37137360e-04 3.71660508e+00] [ 1.56977779e-02 -6.11182056e-04 9.99876595e-01 5.70972449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.87925415399997 meters Centerline goodness : 0.998983 Centerline is valid? [True, True] Translation: X:370.36, Y:3.72, Z:5.71 [[ 9.98720135e-01 -4.80761463e-02 -1.57090850e-02 3.70357668e+02] [ 4.80799491e-02 9.98843481e-01 -1.35723497e-04 3.71690597e+00] [ 1.56974422e-02 -6.19742216e-04 9.99876596e-01 5.71052170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.90925415399994 meters Centerline goodness : 0.998961 Centerline is valid? [True, True] Translation: X:370.39, Y:3.72, Z:5.71 [[ 9.98761826e-01 -4.72021152e-02 -1.57090922e-02 3.70389358e+02] [ 4.72058232e-02 9.98885175e-01 -1.34884395e-04 3.71793066e+00] [ 1.56979461e-02 -6.06843242e-04 9.99876596e-01 5.71237849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.93925415399997 meters Centerline goodness : 0.998981 Centerline is valid? [True, True] Translation: X:370.42, Y:3.72, Z:5.71 [[ 9.98825452e-01 -4.58360275e-02 -1.57091017e-02 3.70421049e+02] [ 4.58395844e-02 9.98948805e-01 -1.33762030e-04 3.71871077e+00] [ 1.56987195e-02 -5.86493774e-04 9.99876596e-01 5.71363729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.96925415399994 meters Centerline goodness : 0.998876 Centerline is valid? [True, True] Translation: X:370.45, Y:3.72, Z:5.71 [[ 9.98939669e-01 -4.32754072e-02 -1.57091176e-02 3.70453400e+02] [ 4.32786776e-02 9.99063030e-01 -1.31873488e-04 3.71969488e+00] [ 1.57001055e-02 -5.48136176e-04 9.99876596e-01 5.71462711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.99925415399997 meters Centerline goodness : 0.998938 Centerline is valid? [True, True] Translation: X:370.49, Y:3.72, Z:5.72 [[ 9.99092225e-01 -3.95973517e-02 -1.57091271e-02 3.70485996e+02] [ 3.96001858e-02 9.99215596e-01 -1.30734503e-04 3.72234305e+00] [ 1.57019815e-02 -4.91468524e-04 9.99876596e-01 5.71671431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.02925415399994 meters Centerline goodness : 0.998915 Centerline is valid? [True, True] Translation: X:370.52, Y:3.72, Z:5.72 [[ 9.99171319e-01 -3.75486173e-02 -1.57091365e-02 3.70518096e+02] [ 3.75512164e-02 9.99294696e-01 -1.29589300e-04 3.72348747e+00] [ 1.57029227e-02 -4.60415272e-04 9.99876596e-01 5.71763749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.059254154 meters Centerline goodness : 0.999149 Centerline is valid? [True, True] Translation: X:370.55, Y:3.72, Z:5.72 [[ 9.99237266e-01 -3.57506568e-02 -1.57091459e-02 3.70549877e+02] [ 3.57530519e-02 9.99360647e-01 -1.28439166e-04 3.72419499e+00] [ 1.57036940e-02 -4.33308708e-04 9.99876596e-01 5.71818483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.08925415399995 meters Centerline goodness : 0.999447 Centerline is valid? [True, True] Translation: X:370.58, Y:3.73, Z:5.72 [[ 9.99337761e-01 -3.28216750e-02 -1.57091552e-02 3.70581613e+02] [ 3.28237264e-02 9.99461148e-01 -1.27293961e-04 3.72519033e+00] [ 1.57048683e-02 -3.88423350e-04 9.99876596e-01 5.71858455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.119254154 meters Centerline goodness : 0.999298 Centerline is valid? [True, True] Translation: X:370.61, Y:3.73, Z:5.72 [[ 9.99377634e-01 -3.15842797e-02 -1.57091644e-02 3.70613716e+02] [ 3.15861964e-02 9.99501024e-01 -1.26142215e-04 3.72613521e+00] [ 1.57053100e-02 -3.70129045e-04 9.99876596e-01 5.71871748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.14925415399995 meters Centerline goodness : 0.999340 Centerline is valid? [True, True] Translation: X:370.64, Y:3.73, Z:5.72 [[ 9.99468007e-01 -2.85819027e-02 -1.57091736e-02 3.70644972e+02] [ 2.85834669e-02 9.99591401e-01 -1.24984111e-04 3.72755804e+00] [ 1.57063272e-02 -3.24105025e-04 9.99876596e-01 5.71793724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.179254154 meters Centerline goodness : 0.999041 Centerline is valid? [True, True] Translation: X:370.68, Y:3.73, Z:5.72 [[ 9.99513097e-01 -2.69590726e-02 -1.57091805e-02 3.70676715e+02] [ 2.69604501e-02 9.99636493e-01 -1.24122280e-04 3.72853141e+00] [ 1.57068163e-02 -2.99464732e-04 9.99876596e-01 5.71796119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.20925415399995 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:370.71, Y:3.73, Z:5.72 [[ 9.99575419e-01 -2.45398177e-02 -1.57091849e-02 3.70706786e+02] [ 2.45409054e-02 9.99698819e-01 -1.23558664e-04 3.73064497e+00] [ 1.57074857e-02 -2.62011416e-04 9.99876596e-01 5.71729080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.239254154 meters Centerline goodness : 0.998932 Centerline is valid? [True, True] Translation: X:370.74, Y:3.73, Z:5.72 [[ 9.99657571e-01 -2.09275629e-02 -1.57091896e-02 3.70736029e+02] [ 2.09282141e-02 9.99780973e-01 -1.22956858e-04 3.73173288e+00] [ 1.57083221e-02 -2.05850529e-04 9.99876596e-01 5.71803652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.26925415399995 meters Centerline goodness : 0.998932 Centerline is valid? [True, True] Translation: X:370.77, Y:3.73, Z:5.72 [[ 9.99656837e-01 -2.09625779e-02 -1.57091872e-02 3.70766176e+02] [ 2.09632287e-02 9.99780240e-01 -1.23257465e-04 3.73200076e+00] [ 1.57083188e-02 -2.06100118e-04 9.99876596e-01 5.71851030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.299254154 meters Centerline goodness : 0.999171 Centerline is valid? [True, True] Translation: X:370.80, Y:3.73, Z:5.72 [[ 9.99680408e-01 -1.98066418e-02 -1.57091829e-02 3.70796091e+02] [ 1.98071413e-02 9.99803812e-01 -1.23807705e-04 3.73267507e+00] [ 1.57085532e-02 -1.87385868e-04 9.99876596e-01 5.71846750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.32925415399995 meters Centerline goodness : 0.999277 Centerline is valid? [True, True] Translation: X:370.83, Y:3.73, Z:5.72 [[ 9.99700141e-01 -1.87842761e-02 -1.57091786e-02 3.70826133e+02] [ 1.87846407e-02 9.99823545e-01 -1.24356756e-04 3.73331205e+00] [ 1.57087425e-02 -1.70771809e-04 9.99876596e-01 5.71851669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.3592541539999 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:370.85, Y:3.73, Z:5.72 [[ 9.99710616e-01 -1.82182783e-02 -1.57091742e-02 3.70854389e+02] [ 1.82185644e-02 9.99834020e-01 -1.24905076e-04 3.73436810e+00] [ 1.57088423e-02 -1.61329672e-04 9.99876596e-01 5.71829088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.38925415399996 meters Centerline goodness : 0.999528 Centerline is valid? [True, True] Translation: X:370.88, Y:3.74, Z:5.72 [[ 9.99723438e-01 -1.75005532e-02 -1.57091677e-02 3.70883305e+02] [ 1.75007379e-02 9.99846842e-01 -1.25721016e-04 3.73588338e+00] [ 1.57089619e-02 -1.49235780e-04 9.99876596e-01 5.71787643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.41925415399993 meters Centerline goodness : 0.999058 Centerline is valid? [True, True] Translation: X:370.91, Y:3.74, Z:5.72 [[ 9.99711336e-01 -1.81787369e-02 -1.57091612e-02 3.70911538e+02] [ 1.81789927e-02 9.99834740e-01 -1.26528491e-04 3.73675979e+00] [ 1.57088652e-02 -1.59084759e-04 9.99876596e-01 5.71860985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.44925415399996 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:370.94, Y:3.74, Z:5.72 [[ 9.99694328e-01 -1.90911982e-02 -1.57091296e-02 3.70940364e+02] [ 1.90915068e-02 9.99817732e-01 -1.30333146e-04 3.73709930e+00] [ 1.57087545e-02 -1.69617648e-04 9.99876596e-01 5.72040537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.47925415399993 meters Centerline goodness : 0.999315 Centerline is valid? [True, True] Translation: X:370.97, Y:3.74, Z:5.72 [[ 9.99648331e-01 -2.13644488e-02 -1.57090952e-02 3.70969255e+02] [ 2.13649748e-02 9.99771734e-01 -1.34359508e-04 3.73678420e+00] [ 1.57083798e-02 -2.01312165e-04 9.99876596e-01 5.72116932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.50925415399996 meters Centerline goodness : 0.999316 Centerline is valid? [True, True] Translation: X:371.00, Y:3.74, Z:5.72 [[ 9.99611990e-01 -2.30020652e-02 -1.57090878e-02 3.70998742e+02] [ 2.30027799e-02 9.99735392e-01 -1.35214681e-04 3.73656435e+00] [ 1.57080413e-02 -2.26190473e-04 9.99876596e-01 5.72255113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.53925415399993 meters Centerline goodness : 0.999293 Centerline is valid? [True, True] Translation: X:371.03, Y:3.74, Z:5.72 [[ 9.99568274e-01 -2.48292276e-02 -1.57090829e-02 3.71029135e+02] [ 2.48301589e-02 9.99691675e-01 -1.35784805e-04 3.73639072e+00] [ 1.57076108e-02 -2.54332841e-04 9.99876596e-01 5.72339689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.56925415399996 meters Centerline goodness : 0.999466 Centerline is valid? [True, True] Translation: X:371.06, Y:3.74, Z:5.72 [[ 9.99514900e-01 -2.68921947e-02 -1.57090829e-02 3.71060682e+02] [ 2.68933807e-02 9.99638298e-01 -1.35784805e-04 3.73648851e+00] [ 1.57070524e-02 -2.86751410e-04 9.99876596e-01 5.72461330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.59925415399994 meters Centerline goodness : 0.999550 Centerline is valid? [True, True] Translation: X:371.09, Y:3.74, Z:5.73 [[ 9.99374176e-01 -3.16935599e-02 -1.57090878e-02 3.71091586e+02] [ 3.16953477e-02 9.99497567e-01 -1.35213362e-04 3.73616106e+00] [ 1.57054804e-02 -3.62776257e-04 9.99876596e-01 5.72541259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.62925415399997 meters Centerline goodness : 0.999637 Centerline is valid? [True, True] Translation: X:371.12, Y:3.74, Z:5.73 [[ 9.99300462e-01 -3.39383399e-02 -1.57090951e-02 3.71124018e+02] [ 3.39404183e-02 9.99423849e-01 -1.34359519e-04 3.73566503e+00] [ 1.57046042e-02 -3.98907728e-04 9.99876596e-01 5.72619965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.65925415399994 meters Centerline goodness : 0.999573 Centerline is valid? [True, True] Translation: X:371.16, Y:3.74, Z:5.73 [[ 9.99217656e-01 -3.62946173e-02 -1.57091048e-02 3.71156005e+02] [ 3.62970046e-02 9.99341038e-01 -1.33213212e-04 3.73517242e+00] [ 1.57035880e-02 -4.37084455e-04 9.99876596e-01 5.72630249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.68925415399997 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:371.19, Y:3.73, Z:5.73 [[ 9.99150651e-01 -3.80946114e-02 -1.57091144e-02 3.71188095e+02] [ 3.80972389e-02 9.99274028e-01 -1.32066905e-04 3.73467596e+00] [ 1.57027411e-02 -4.66519152e-04 9.99876596e-01 5.72652586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.71925415399994 meters Centerline goodness : 0.999680 Centerline is valid? [True, True] Translation: X:371.22, Y:3.73, Z:5.73 [[ 9.99033506e-01 -4.10521189e-02 -1.57091239e-02 3.71219055e+02] [ 4.10551296e-02 9.99156874e-01 -1.30927920e-04 3.73357214e+00] [ 1.57012540e-02 -5.14138740e-04 9.99876596e-01 5.72545430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.74925415399997 meters Centerline goodness : 0.999680 Centerline is valid? [True, True] Translation: X:371.25, Y:3.73, Z:5.73 [[ 9.99036434e-01 -4.09808039e-02 -1.57091310e-02 3.71251743e+02] [ 4.09838191e-02 9.99159802e-01 -1.30078418e-04 3.73378078e+00] [ 1.57012629e-02 -5.13867104e-04 9.99876596e-01 5.72596762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.77925415399994 meters Centerline goodness : 0.999595 Centerline is valid? [True, True] Translation: X:371.28, Y:3.73, Z:5.73 [[ 9.98998408e-01 -4.18975496e-02 -1.57091402e-02 3.71283618e+02] [ 4.19006956e-02 9.99121772e-01 -1.28957110e-04 3.73373462e+00] [ 1.57007470e-02 -5.29395954e-04 9.99876596e-01 5.72588656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.809254154 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:371.31, Y:3.73, Z:5.73 [[ 9.98977126e-01 -4.24019395e-02 -1.57091494e-02 3.71314735e+02] [ 4.24051656e-02 9.99100488e-01 -1.27824520e-04 3.73491668e+00] [ 1.57004388e-02 -5.38455309e-04 9.99876596e-01 5.72554004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.83925415399995 meters Centerline goodness : 0.999552 Centerline is valid? [True, True] Translation: X:371.35, Y:3.74, Z:5.73 [[ 9.98997991e-01 -4.19074839e-02 -1.57091562e-02 3.71346991e+02] [ 4.19106622e-02 9.99121354e-01 -1.26979670e-04 3.73562344e+00] [ 1.57006748e-02 -5.31528705e-04 9.99876596e-01 5.72632926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.869254154 meters Centerline goodness : 0.999616 Centerline is valid? [True, True] Translation: X:371.38, Y:3.74, Z:5.73 [[ 9.99011214e-01 -4.15910554e-02 -1.57091650e-02 3.71378965e+02] [ 4.15942119e-02 9.99134578e-01 -1.25879810e-04 3.73670104e+00] [ 1.57008055e-02 -5.27654997e-04 9.99876596e-01 5.72775526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.89925415399995 meters Centerline goodness : 0.999063 Centerline is valid? [True, True] Translation: X:371.41, Y:3.74, Z:5.73 [[ 9.99088289e-01 -3.96964995e-02 -1.57091742e-02 3.71410324e+02] [ 3.96994401e-02 9.99211659e-01 -1.24729308e-04 3.73799503e+00] [ 1.57017413e-02 -4.99029828e-04 9.99876596e-01 5.72780940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.929254154 meters Centerline goodness : 0.999318 Centerline is valid? [True, True] Translation: X:371.44, Y:3.74, Z:5.73 [[ 9.99126135e-01 -3.87322698e-02 -1.57091891e-02 3.71442472e+02] [ 3.87351213e-02 9.99249506e-01 -1.22824813e-04 3.73858915e+00] [ 1.57021567e-02 -4.85779863e-04 9.99876596e-01 5.72834964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.95925415399995 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:371.47, Y:3.74, Z:5.73 [[ 9.99189373e-01 -3.70650386e-02 -1.57091975e-02 3.71474431e+02] [ 3.70677014e-02 9.99312749e-01 -1.21735150e-04 3.74032363e+00] [ 1.57029135e-02 -4.60667374e-04 9.99876596e-01 5.72946143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.989254154 meters Centerline goodness : 0.999402 Centerline is valid? [True, True] Translation: X:371.51, Y:3.74, Z:5.73 [[ 9.99219482e-01 -3.62442857e-02 -1.57092059e-02 3.71506139e+02] [ 3.62468642e-02 9.99342859e-01 -1.20643152e-04 3.74112330e+00] [ 1.57032554e-02 -4.48860466e-04 9.99876596e-01 5.73115320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.01925415399995 meters Centerline goodness : 0.999574 Centerline is valid? [True, True] Translation: X:371.54, Y:3.74, Z:5.73 [[ 9.99230713e-01 -3.59333173e-02 -1.57092148e-02 3.71537706e+02] [ 3.59358759e-02 9.99354091e-01 -1.19468507e-04 3.74233252e+00] [ 1.57033610e-02 -4.45147793e-04 9.99876596e-01 5.73165927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.049254154 meters Centerline goodness : 0.999489 Centerline is valid? [True, True] Translation: X:371.57, Y:3.74, Z:5.73 [[ 9.99244794e-01 -3.55395813e-02 -1.57092295e-02 3.71570282e+02] [ 3.55421221e-02 9.99368172e-01 -1.17507109e-04 3.74313267e+00] [ 1.57034801e-02 -4.40920986e-04 9.99876596e-01 5.73211174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.07925415399995 meters Centerline goodness : 0.999616 Centerline is valid? [True, True] Translation: X:371.60, Y:3.74, Z:5.73 [[ 9.99258233e-01 -3.51596867e-02 -1.57092381e-02 3.71602151e+02] [ 3.51621988e-02 9.99381612e-01 -1.16350129e-04 3.74407465e+00] [ 1.57036145e-02 -4.36107528e-04 9.99876596e-01 5.73189261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.1092541539999 meters Centerline goodness : 0.999573 Centerline is valid? [True, True] Translation: X:371.63, Y:3.74, Z:5.73 [[ 9.99253546e-01 -3.52926306e-02 -1.57092465e-02 3.71634232e+02] [ 3.52951772e-02 9.99376924e-01 -1.15194146e-04 3.74473244e+00] [ 1.57035240e-02 -4.39352482e-04 9.99876596e-01 5.73187743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.13925415399996 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:371.67, Y:3.75, Z:5.73 [[ 9.99239134e-01 -3.56983478e-02 -1.57092550e-02 3.71665198e+02] [ 3.57009629e-02 9.99362511e-01 -1.14025529e-04 3.74542974e+00] [ 1.57033111e-02 -4.46896760e-04 9.99876596e-01 5.73126335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.16925415399993 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:371.70, Y:3.75, Z:5.73 [[ 9.99220439e-01 -3.62178564e-02 -1.57092613e-02 3.71697376e+02] [ 3.62205494e-02 9.99343814e-01 -1.13154429e-04 3.74614384e+00] [ 1.57030513e-02 -4.55931856e-04 9.99876596e-01 5.73188814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.19925415399996 meters Centerline goodness : 0.999616 Centerline is valid? [True, True] Translation: X:371.73, Y:3.75, Z:5.73 [[ 9.99204945e-01 -3.66428383e-02 -1.57092693e-02 3.71729371e+02] [ 3.66456014e-02 9.99328318e-01 -1.12026965e-04 3.74691481e+00] [ 1.57028227e-02 -4.63737726e-04 9.99876596e-01 5.73287518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.22925415399993 meters Centerline goodness : 0.999574 Centerline is valid? [True, True] Translation: X:371.76, Y:3.75, Z:5.73 [[ 9.99210740e-01 -3.64844469e-02 -1.57092775e-02 3.71760392e+02] [ 3.64872084e-02 9.99334114e-01 -1.10878062e-04 3.74751282e+00] [ 1.57028622e-02 -4.62397131e-04 9.99876596e-01 5.73278205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.25925415399996 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:371.79, Y:3.75, Z:5.73 [[ 9.99262318e-01 -3.50433733e-02 -1.57092835e-02 3.71792269e+02] [ 3.50459704e-02 9.99385695e-01 -1.10021474e-04 3.74845268e+00] [ 1.57034887e-02 -4.40606769e-04 9.99876596e-01 5.73435508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.28925415399993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.82, Y:3.75, Z:5.74 [[ 9.99322313e-01 -3.32886172e-02 -1.57092914e-02 3.71824637e+02] [ 3.32910156e-02 9.99445695e-01 -1.08880412e-04 3.74933316e+00] [ 1.57042081e-02 -4.14171638e-04 9.99876596e-01 5.73546747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.31925415399996 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:371.86, Y:3.75, Z:5.74 [[ 9.99402001e-01 -3.08035304e-02 -1.57092992e-02 3.71855889e+02] [ 3.08056398e-02 9.99525388e-01 -1.07742990e-04 3.75043737e+00] [ 1.57051622e-02 -3.76256452e-04 9.99876596e-01 5.73632149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.34925415399994 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:371.89, Y:3.75, Z:5.74 [[ 9.99585744e-01 -2.41155237e-02 -1.57093049e-02 3.71887799e+02] [ 2.41168208e-02 9.99709141e-01 -1.06895360e-04 3.75276236e+00] [ 1.57073136e-02 -2.72007414e-04 9.99876596e-01 5.73933433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.37925415399997 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:371.92, Y:3.75, Z:5.74 [[ 9.99664612e-01 -2.05883606e-02 -1.57093127e-02 3.71918048e+02] [ 2.05892404e-02 9.99788014e-01 -1.05742613e-04 3.75389541e+00] [ 1.57081596e-02 -2.17735667e-04 9.99876596e-01 5.74025286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.40925415399994 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:371.95, Y:3.76, Z:5.74 [[ 9.99729574e-01 -1.71462996e-02 -1.57093146e-02 3.71948914e+02] [ 1.71467590e-02 9.99852978e-01 -1.05457845e-04 3.75501708e+00] [ 1.57088132e-02 -1.63934505e-04 9.99876596e-01 5.74162453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.43925415399997 meters Centerline goodness : 0.999271 Centerline is valid? [True, True] Translation: X:371.98, Y:3.76, Z:5.74 [[ 9.99806283e-01 -1.18580370e-02 -1.57093146e-02 3.71977268e+02] [ 1.18578436e-02 9.99929688e-01 -1.05457845e-04 3.75571872e+00] [ 1.57094606e-02 -8.08411792e-05 9.99876596e-01 5.74342522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.46925415399994 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:372.00, Y:3.76, Z:5.74 [[ 9.99826715e-01 -9.98795341e-03 -1.57092861e-02 3.72004415e+02] [ 9.98746496e-03 9.99950118e-01 -1.09547165e-04 3.75557682e+00] [ 1.57095966e-02 -4.73677621e-05 9.99876596e-01 5.74357424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.49925415399997 meters Centerline goodness : 0.999335 Centerline is valid? [True, True] Translation: X:372.03, Y:3.75, Z:5.74 [[ 9.99839108e-01 -8.65887901e-03 -1.57092717e-02 3.72031884e+02] [ 8.65819475e-03 9.99962511e-01 -1.11569915e-04 3.75494836e+00] [ 1.57096489e-02 -2.44619694e-05 9.99876596e-01 5.74423341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.52925415399994 meters Centerline goodness : 0.999401 Centerline is valid? [True, True] Translation: X:372.06, Y:3.75, Z:5.74 [[ 9.99838775e-01 -8.69736323e-03 -1.57092375e-02 3.72059597e+02] [ 8.69661096e-03 9.99962177e-01 -1.16200957e-04 3.75473884e+00] [ 1.57096539e-02 -2.04349043e-05 9.99876596e-01 5.74465375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.559254154 meters Centerline goodness : 0.999572 Centerline is valid? [True, True] Translation: X:372.09, Y:3.75, Z:5.74 [[ 9.99830195e-01 -9.63341613e-03 -1.57092019e-02 3.72087072e+02] [ 9.63270670e-03 9.99953597e-01 -1.20826671e-04 3.75248212e+00] [ 1.57096369e-02 -3.05159806e-05 9.99876596e-01 5.74445069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.58925415399995 meters Centerline goodness : 0.999358 Centerline is valid? [True, True] Translation: X:372.11, Y:3.75, Z:5.74 [[ 9.99820857e-01 -1.05582131e-02 -1.57091648e-02 3.72114712e+02] [ 1.05575449e-02 9.99944260e-01 -1.25465416e-04 3.75051848e+00] [ 1.57096139e-02 -4.04072733e-05 9.99876596e-01 5.74457106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.619254154 meters Centerline goodness : 0.999402 Centerline is valid? [True, True] Translation: X:372.14, Y:3.75, Z:5.74 [[ 9.99787524e-01 -1.33465078e-02 -1.57091262e-02 3.72142767e+02] [ 1.33461106e-02 9.99910928e-01 -1.30125062e-04 3.74956734e+00] [ 1.57094637e-02 -7.95583219e-05 9.99876596e-01 5.74451420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.64925415399995 meters Centerline goodness : 0.999595 Centerline is valid? [True, True] Translation: X:372.17, Y:3.75, Z:5.74 [[ 9.99703043e-01 -1.86292666e-02 -1.57090860e-02 3.72170962e+02] [ 1.86294479e-02 9.99826448e-01 -1.34811242e-04 3.74562641e+00] [ 1.57088711e-02 -1.57880390e-04 9.99876596e-01 5.74328597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.679254154 meters Centerline goodness : 0.999383 Centerline is valid? [True, True] Translation: X:372.20, Y:3.74, Z:5.74 [[ 9.99637445e-01 -2.18678474e-02 -1.57090734e-02 3.72200163e+02] [ 2.18684056e-02 9.99760849e-01 -1.36261320e-04 3.74373622e+00] [ 1.57082963e-02 -2.07320472e-04 9.99876596e-01 5.74302827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.70925415399995 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:372.23, Y:3.74, Z:5.74 [[ 9.99467479e-01 -2.86003965e-02 -1.57090684e-02 3.72229972e+02] [ 2.86017768e-02 9.99590876e-01 -1.36838336e-04 3.74002983e+00] [ 1.57065551e-02 -3.12541801e-04 9.99876596e-01 5.74276060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.739254154 meters Centerline goodness : 0.999448 Centerline is valid? [True, True] Translation: X:372.26, Y:3.74, Z:5.74 [[ 9.99371599e-01 -3.17747241e-02 -1.57090713e-02 3.72261783e+02] [ 3.17765017e-02 9.99494990e-01 -1.36501663e-04 3.73833274e+00] [ 1.57054754e-02 -3.62763447e-04 9.99876596e-01 5.74328123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.76925415399995 meters Centerline goodness : 0.999386 Centerline is valid? [True, True] Translation: X:372.29, Y:3.74, Z:5.74 [[ 9.99268324e-01 -3.48717795e-02 -1.57090812e-02 3.72294377e+02] [ 3.48739575e-02 9.99391709e-01 -1.35353758e-04 3.73672865e+00] [ 1.57042456e-02 -4.12583108e-04 9.99876596e-01 5.74340741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.799254154 meters Centerline goodness : 0.999323 Centerline is valid? [True, True] Translation: X:372.33, Y:3.73, Z:5.74 [[ 9.99084345e-01 -3.97956753e-02 -1.57090911e-02 3.72326853e+02] [ 3.97984794e-02 9.99207718e-01 -1.34202017e-04 3.73260468e+00] [ 1.57019857e-02 -4.91118802e-04 9.99876596e-01 5.74367550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.82925415399995 meters Centerline goodness : 0.999174 Centerline is valid? [True, True] Translation: X:372.36, Y:3.73, Z:5.74 [[ 9.98899687e-01 -4.41886738e-02 -1.57091008e-02 3.72357873e+02] [ 4.41920384e-02 9.99023046e-01 -1.33048789e-04 3.72911652e+00] [ 1.56996330e-02 -5.61314794e-04 9.99876596e-01 5.74347300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.8592541539999 meters Centerline goodness : 0.999301 Centerline is valid? [True, True] Translation: X:372.39, Y:3.73, Z:5.74 [[ 9.98830143e-01 -4.57336832e-02 -1.57091081e-02 3.72389645e+02] [ 4.57372522e-02 9.98953496e-01 -1.32189363e-04 3.72743261e+00] [ 1.56987139e-02 -5.86456717e-04 9.99876596e-01 5.74422761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.88925415399996 meters Centerline goodness : 0.999138 Centerline is valid? [True, True] Translation: X:372.42, Y:3.73, Z:5.74 [[ 9.98755007e-01 -4.73461742e-02 -1.57091177e-02 3.72421576e+02] [ 4.73499605e-02 9.98878353e-01 -1.31034386e-04 3.72631141e+00] [ 1.56977016e-02 -6.12954854e-04 9.99876596e-01 5.74457201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.91925415399993 meters Centerline goodness : 0.999302 Centerline is valid? [True, True] Translation: X:372.45, Y:3.72, Z:5.75 [[ 9.98677961e-01 -4.89443814e-02 -1.57091401e-02 3.72454463e+02] [ 4.89484081e-02 9.98801300e-01 -1.28296360e-04 3.72499934e+00] [ 1.56965889e-02 -6.40810651e-04 9.99876596e-01 5.74552014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.94925415399996 meters Centerline goodness : 0.999027 Centerline is valid? [True, True] Translation: X:372.49, Y:3.72, Z:5.75 [[ 9.98599140e-01 -5.05270224e-02 -1.57091542e-02 3.72487986e+02] [ 5.05312720e-02 9.98722471e-01 -1.26545057e-04 3.72398568e+00] [ 1.56954792e-02 -6.67435759e-04 9.99876596e-01 5.74602904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.97925415399993 meters Centerline goodness : 0.999068 Centerline is valid? [True, True] Translation: X:372.52, Y:3.72, Z:5.75 [[ 9.98459914e-01 -5.32073480e-02 -1.57091680e-02 3.72521267e+02] [ 5.32119560e-02 9.98583232e-01 -1.24800968e-04 3.72231702e+00] [ 1.56935521e-02 -7.11306794e-04 9.99876596e-01 5.74611032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.00925415399996 meters Centerline goodness : 0.999089 Centerline is valid? [True, True] Translation: X:372.55, Y:3.72, Z:5.75 [[ 9.98379373e-01 -5.46978058e-02 -1.57091817e-02 3.72553082e+02] [ 5.47026253e-02 9.98502683e-01 -1.23056126e-04 3.72191823e+00] [ 1.56923910e-02 -7.36476783e-04 9.99876596e-01 5.74645746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.03925415399993 meters Centerline goodness : 0.998792 Centerline is valid? [True, True] Translation: X:372.59, Y:3.72, Z:5.75 [[ 9.98337208e-01 -5.54620683e-02 -1.57091929e-02 3.72585214e+02] [ 5.54670049e-02 9.98460513e-01 -1.21610625e-04 3.72103681e+00] [ 1.56917536e-02 -7.49933467e-04 9.99876596e-01 5.74640368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.06925415399996 meters Centerline goodness : 0.998901 Centerline is valid? [True, True] Translation: X:372.62, Y:3.72, Z:5.75 [[ 9.98232216e-01 -5.73207054e-02 -1.57092017e-02 3.72617108e+02] [ 5.73258895e-02 9.98355512e-01 -1.20467010e-04 3.72045705e+00] [ 1.56902733e-02 -7.80289909e-04 9.99876596e-01 5.74653220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.09925415399994 meters Centerline goodness : 0.998817 Centerline is valid? [True, True] Translation: X:372.65, Y:3.72, Z:5.75 [[ 9.98171835e-01 -5.83627338e-02 -1.57092125e-02 3.72650080e+02] [ 5.83680690e-02 9.98295124e-01 -1.19041545e-04 3.72082106e+00] [ 1.56893778e-02 -7.98092480e-04 9.99876596e-01 5.74672637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.12925415399997 meters Centerline goodness : 0.998709 Centerline is valid? [True, True] Translation: X:372.68, Y:3.72, Z:5.75 [[ 9.98185172e-01 -5.81341711e-02 -1.57092249e-02 3.72683556e+02] [ 5.81395043e-02 9.98308461e-01 -1.17371353e-04 3.71999783e+00] [ 1.56894755e-02 -7.96168207e-04 9.99876596e-01 5.74603813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.15925415399994 meters Centerline goodness : 0.998834 Centerline is valid? [True, True] Translation: X:372.71, Y:3.72, Z:5.75 [[ 9.98099302e-01 -5.95903019e-02 -1.57092373e-02 3.72714405e+02] [ 5.95958413e-02 9.98222582e-01 -1.15689780e-04 3.72125510e+00] [ 1.56882094e-02 -8.20735326e-04 9.99876596e-01 5.74585846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.18925415399997 meters Centerline goodness : 0.998879 Centerline is valid? [True, True] Translation: X:372.75, Y:3.72, Z:5.75 [[ 9.98138645e-01 -5.89276206e-02 -1.57092434e-02 3.72747778e+02] [ 5.89330913e-02 9.98261928e-01 -1.14856338e-04 3.72100394e+00] [ 1.56887078e-02 -8.11151727e-04 9.99876596e-01 5.74528359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.21925415399994 meters Centerline goodness : 0.998942 Centerline is valid? [True, True] Translation: X:372.78, Y:3.72, Z:5.75 [[ 9.98161370e-01 -5.85414279e-02 -1.57092560e-02 3.72779479e+02] [ 5.85468782e-02 9.98284654e-01 -1.13114910e-04 3.72321073e+00] [ 1.56889311e-02 -8.06820962e-04 9.99876596e-01 5.74557198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.24925415399997 meters Centerline goodness : 0.999175 Centerline is valid? [True, True] Translation: X:372.81, Y:3.72, Z:5.75 [[ 9.98206324e-01 -5.77698429e-02 -1.57092642e-02 3.72811422e+02] [ 5.77752159e-02 9.98329611e-01 -1.11962166e-04 3.72444416e+00] [ 1.56894916e-02 -7.95844788e-04 9.99876596e-01 5.74568666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.27925415399994 meters Centerline goodness : 0.999068 Centerline is valid? [True, True] Translation: X:372.84, Y:3.73, Z:5.75 [[ 9.98397557e-01 -5.43648481e-02 -1.57092743e-02 3.72843375e+02] [ 5.43698231e-02 9.98520861e-01 -1.10526747e-04 3.72630792e+00] [ 1.56920468e-02 -7.43760830e-04 9.99876596e-01 5.74550948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.309254154 meters Centerline goodness : 0.998919 Centerline is valid? [True, True] Translation: X:372.88, Y:3.73, Z:5.75 [[ 9.98489040e-01 -5.26579037e-02 -1.57092841e-02 3.72875778e+02] [ 5.26626902e-02 9.98612352e-01 -1.09112273e-04 3.72843967e+00] [ 1.56932308e-02 -7.18345753e-04 9.99876596e-01 5.74671166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.33925415399995 meters Centerline goodness : 0.998941 Centerline is valid? [True, True] Translation: X:372.91, Y:3.73, Z:5.75 [[ 9.98611233e-01 -5.02874018e-02 -1.57092935e-02 3.72908384e+02] [ 5.02919171e-02 9.98734555e-01 -1.07735670e-04 3.73039716e+00] [ 1.56948320e-02 -6.82464439e-04 9.99876596e-01 5.74878744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.369254154 meters Centerline goodness : 0.998942 Centerline is valid? [True, True] Translation: X:372.94, Y:3.73, Z:5.75 [[ 9.98757947e-01 -4.72840482e-02 -1.57093014e-02 3.72940469e+02] [ 4.72882110e-02 9.98881281e-01 -1.06571503e-04 3.73205713e+00] [ 1.56967663e-02 -6.36425625e-04 9.99876596e-01 5.74909952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.39925415399995 meters Centerline goodness : 0.998854 Centerline is valid? [True, True] Translation: X:372.97, Y:3.74, Z:5.75 [[ 9.98973493e-01 -4.24873828e-02 -1.57093092e-02 3.72972707e+02] [ 4.24909714e-02 9.99096845e-01 -1.05417635e-04 3.73672221e+00] [ 1.56996002e-02 -5.62194383e-04 9.99876596e-01 5.75204351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.429254154 meters Centerline goodness : 0.998687 Centerline is valid? [True, True] Translation: X:373.00, Y:3.74, Z:5.75 [[ 9.99108850e-01 -3.91755564e-02 -1.57093168e-02 3.73004527e+02] [ 3.91787541e-02 9.99232212e-01 -1.04265383e-04 3.73790597e+00] [ 1.57013401e-02 -5.11298995e-04 9.99876596e-01 5.75196487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.45925415399995 meters Centerline goodness : 0.998982 Centerline is valid? [True, True] Translation: X:373.04, Y:3.74, Z:5.75 [[ 9.99198740e-01 -3.68116088e-02 -1.57093244e-02 3.73036259e+02] [ 3.68145329e-02 9.99322110e-01 -1.03105635e-04 3.74023536e+00] [ 1.57024707e-02 -4.75308421e-04 9.99876596e-01 5.75402448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.489254154 meters Centerline goodness : 0.999045 Centerline is valid? [True, True] Translation: X:373.07, Y:3.74, Z:5.75 [[ 9.99291431e-01 -3.42031239e-02 -1.57093320e-02 3.73067125e+02] [ 3.42057443e-02 9.99414807e-01 -1.01938669e-04 3.74191242e+00] [ 1.57036256e-02 -4.35482955e-04 9.99876596e-01 5.75468364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.51925415399995 meters Centerline goodness : 0.998980 Centerline is valid? [True, True] Translation: X:373.10, Y:3.74, Z:5.75 [[ 9.99469497e-01 -2.85296473e-02 -1.57093376e-02 3.73098631e+02] [ 2.85315808e-02 9.99592886e-01 -1.01069545e-04 3.74455391e+00] [ 1.57058256e-02 -3.47196309e-04 9.99876596e-01 5.75417320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.549254154 meters Centerline goodness : 0.999085 Centerline is valid? [True, True] Translation: X:373.13, Y:3.75, Z:5.76 [[ 9.99514367e-01 -2.69118339e-02 -1.57093431e-02 3.73129489e+02] [ 2.69135812e-02 9.99637759e-01 -1.00208906e-04 3.74694166e+00] [ 1.57063493e-02 -3.22634440e-04 9.99876596e-01 5.75510921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.57925415399995 meters Centerline goodness : 0.999000 Centerline is valid? [True, True] Translation: X:373.16, Y:3.75, Z:5.76 [[ 9.99568269e-01 -2.48292612e-02 -1.57093467e-02 3.73161199e+02] [ 2.48307604e-02 9.99691664e-01 -9.96427181e-05 3.74836323e+00] [ 1.57069770e-02 -2.90475324e-04 9.99876596e-01 5.75524234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.6092541539999 meters Centerline goodness : 0.999382 Centerline is valid? [True, True] Translation: X:373.19, Y:3.75, Z:5.75 [[ 9.99656223e-01 -2.09917240e-02 -1.57093503e-02 3.73191586e+02] [ 2.09927584e-02 9.99779623e-01 -9.90746664e-05 3.75058245e+00] [ 1.57079680e-02 -2.30741987e-04 9.99876596e-01 5.75475835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.63925415399996 meters Centerline goodness : 0.999382 Centerline is valid? [True, True] Translation: X:373.22, Y:3.75, Z:5.76 [[ 9.99655481e-01 -2.10269985e-02 -1.57093520e-02 3.73221734e+02] [ 2.10280416e-02 9.99778881e-01 -9.87926607e-05 3.75080279e+00] [ 1.57079557e-02 -2.31578283e-04 9.99876596e-01 5.75523194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.66925415399993 meters Centerline goodness : 0.999253 Centerline is valid? [True, True] Translation: X:373.25, Y:3.75, Z:5.76 [[ 9.99693374e-01 -1.91409090e-02 -1.57093485e-02 3.73251541e+02] [ 1.91417106e-02 9.99816776e-01 -9.93471282e-05 3.75172272e+00] [ 1.57083718e-02 -2.01387138e-04 9.99876596e-01 5.75519132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.69925415399996 meters Centerline goodness : 0.999189 Centerline is valid? [True, True] Translation: X:373.28, Y:3.75, Z:5.76 [[ 9.99752904e-01 -1.57272766e-02 -1.57093450e-02 3.73281147e+02] [ 1.57276481e-02 9.99876308e-01 -9.99011343e-05 3.75341513e+00] [ 1.57089731e-02 -1.47194602e-04 9.99876596e-01 5.75573179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.72925415399993 meters Centerline goodness : 0.999231 Centerline is valid? [True, True] Translation: X:373.31, Y:3.75, Z:5.76 [[ 9.99814129e-01 -1.11769791e-02 -1.57093414e-02 3.73314445e+02] [ 1.11767801e-02 9.99937533e-01 -1.00463653e-04 3.75061583e+00] [ 1.57094830e-02 -7.51348752e-05 9.99876596e-01 5.75644570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.75925415399996 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:373.34, Y:3.76, Z:5.76 [[ 9.99790041e-01 -1.31544763e-02 -1.57109728e-02 3.73339304e+02] [ 1.31586111e-02 9.99913409e-01 1.59833067e-04 3.75514985e+00] [ 1.57075098e-02 -3.66534090e-04 9.99876562e-01 5.75729149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.78925415399993 meters Centerline goodness : 0.999339 Centerline is valid? [True, True] Translation: X:373.37, Y:3.76, Z:5.76 [[ 9.99801853e-01 -1.22261333e-02 -1.57091475e-02 3.73367375e+02] [ 1.22259556e-02 9.99925254e-01 -1.07349661e-04 3.75571442e+00] [ 1.57092858e-02 -8.47309494e-05 9.99876598e-01 5.75834487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.81925415399996 meters Centerline goodness : 0.999189 Centerline is valid? [True, True] Translation: X:373.39, Y:3.76, Z:5.76 [[ 9.99799044e-01 -1.24537173e-02 -1.57091141e-02 3.73393936e+02] [ 1.24534941e-02 9.99922446e-01 -1.12038297e-04 3.75576279e+00] [ 1.57092911e-02 -8.36175768e-05 9.99876598e-01 5.75861762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.84925415399994 meters Centerline goodness : 0.998977 Centerline is valid? [True, True] Translation: X:373.42, Y:3.76, Z:5.76 [[ 9.99788134e-01 -1.33008255e-02 -1.57090994e-02 3.73422166e+02] [ 1.33006749e-02 9.99911536e-01 -1.14065632e-04 3.75568824e+00] [ 1.57092268e-02 -9.49001586e-05 9.99876598e-01 5.75931952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.87925415399997 meters Centerline goodness : 0.999381 Centerline is valid? [True, True] Translation: X:373.45, Y:3.76, Z:5.76 [[ 9.99771411e-01 -1.45035117e-02 -1.57090647e-02 3.73450087e+02] [ 1.45034376e-02 9.99894813e-01 -1.18648566e-04 3.75521651e+00] [ 1.57091332e-02 -1.09213996e-04 9.99876598e-01 5.76021828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.90925415399994 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:373.48, Y:3.75, Z:5.76 [[ 9.99724639e-01 -1.74319410e-02 -1.57090285e-02 3.73477706e+02] [ 1.74321558e-02 9.99848041e-01 -1.23270113e-04 3.75339446e+00] [ 1.57087902e-02 -1.50606062e-04 9.99876598e-01 5.76102649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.93925415399997 meters Centerline goodness : 0.999171 Centerline is valid? [True, True] Translation: X:373.51, Y:3.75, Z:5.76 [[ 9.99684377e-01 -1.96054448e-02 -1.57089908e-02 3.73505721e+02] [ 1.96058551e-02 9.99807779e-01 -1.27902277e-04 3.75100888e+00] [ 1.57084787e-02 -1.80126288e-04 9.99876598e-01 5.76197925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.96925415399994 meters Centerline goodness : 0.999023 Centerline is valid? [True, True] Translation: X:373.54, Y:3.75, Z:5.76 [[ 9.99615116e-01 -2.28663361e-02 -1.57083212e-02 3.73536036e+02] [ 2.28658692e-02 9.99738520e-01 -2.09345534e-04 3.74965210e+00] [ 1.57090008e-02 -1.49919458e-04 9.99876595e-01 5.76169622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.99925415399997 meters Centerline goodness : 0.999171 Centerline is valid? [True, True] Translation: X:373.57, Y:3.75, Z:5.76 [[ 9.99572467e-01 -2.46599231e-02 -1.57089740e-02 3.73566734e+02] [ 2.46609057e-02 9.99695865e-01 -1.31187261e-04 3.74799626e+00] [ 1.57074314e-02 -2.56266351e-04 9.99876598e-01 5.76225478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.02925415399994 meters Centerline goodness : 0.998771 Centerline is valid? [True, True] Translation: X:373.60, Y:3.75, Z:5.76 [[ 9.99540581e-01 -2.59201767e-02 -1.57089740e-02 3.73597473e+02] [ 2.59213149e-02 9.99663978e-01 -1.31187261e-04 3.74552821e+00] [ 1.57070958e-02 -2.76070269e-04 9.99876598e-01 5.76131782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.059254154 meters Centerline goodness : 0.999280 Centerline is valid? [True, True] Translation: X:373.63, Y:3.74, Z:5.76 [[ 9.99491007e-01 -2.77660686e-02 -1.57089817e-02 3.73627957e+02] [ 2.77674493e-02 9.99614402e-01 -1.30254740e-04 3.74257121e+00] [ 1.57065410e-02 -3.06009912e-04 9.99876598e-01 5.76255254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.08925415399995 meters Centerline goodness : 0.998854 Centerline is valid? [True, True] Translation: X:373.66, Y:3.74, Z:5.76 [[ 9.99486689e-01 -2.79210585e-02 -1.57089840e-02 3.73659037e+02] [ 2.79224628e-02 9.99610084e-01 -1.29975773e-04 3.74107942e+00] [ 1.57064879e-02 -3.08724466e-04 9.99876598e-01 5.76337714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.119254154 meters Centerline goodness : 0.999028 Centerline is valid? [True, True] Translation: X:373.69, Y:3.74, Z:5.76 [[ 9.99538626e-01 -2.59954441e-02 -1.57089888e-02 3.73689165e+02] [ 2.59966196e-02 9.99662022e-01 -1.29400087e-04 3.73803779e+00] [ 1.57070433e-02 -2.79040220e-04 9.99876598e-01 5.76333777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.14925415399995 meters Centerline goodness : 0.999003 Centerline is valid? [True, True] Translation: X:373.72, Y:3.74, Z:5.76 [[ 9.99585257e-01 -2.41358801e-02 -1.57089911e-02 3.73720126e+02] [ 2.41368305e-02 9.99708656e-01 -1.29114535e-04 3.73667210e+00] [ 1.57075307e-02 -2.50104270e-04 9.99876598e-01 5.76359148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.179254154 meters Centerline goodness : 0.999045 Centerline is valid? [True, True] Translation: X:373.75, Y:3.73, Z:5.76 [[ 9.99690211e-01 -1.93056859e-02 -1.57089911e-02 3.73749865e+02] [ 1.93060401e-02 9.99813613e-01 -1.29114535e-04 3.73484392e+00] [ 1.57085558e-02 -1.74203875e-04 9.99876598e-01 5.76379601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.20925415399995 meters Centerline goodness : 0.998875 Centerline is valid? [True, True] Translation: X:373.78, Y:3.73, Z:5.76 [[ 9.99739253e-01 -1.65726809e-02 -1.57089915e-02 3.73778552e+02] [ 1.65726985e-02 9.99862655e-01 -1.29066588e-04 3.73414836e+00] [ 1.57089729e-02 -1.31307446e-04 9.99876598e-01 5.76382781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.239254154 meters Centerline goodness : 0.999047 Centerline is valid? [True, True] Translation: X:373.81, Y:3.73, Z:5.76 [[ 9.99786885e-01 -1.33945369e-02 -1.57089583e-02 3.73806146e+02] [ 1.33941005e-02 9.99910286e-01 -1.32992240e-04 3.73359174e+00] [ 1.57093303e-02 -7.74434687e-05 9.99876598e-01 5.76390541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.26925415399995 meters Centerline goodness : 0.998962 Centerline is valid? [True, True] Translation: X:373.83, Y:3.73, Z:5.76 [[ 9.99821402e-01 -1.05068421e-02 -1.57089409e-02 3.73834077e+02] [ 1.05060177e-02 9.99944801e-01 -1.35007347e-04 3.73317564e+00] [ 1.57094923e-02 -3.00551763e-05 9.99876598e-01 5.76419263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.2992541539999 meters Centerline goodness : 0.999090 Centerline is valid? [True, True] Translation: X:373.86, Y:3.73, Z:5.76 [[ 9.99863086e-01 -5.20001551e-03 -1.57089015e-02 3.73862076e+02] [ 5.19846631e-03 9.99986478e-01 -1.39451774e-04 3.73137801e+00] [ 1.57094142e-02 5.77704857e-05 9.99876598e-01 5.76468865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.32925415399995 meters Centerline goodness : 0.998837 Centerline is valid? [True, True] Translation: X:373.89, Y:3.73, Z:5.77 [[ 9.99871919e-01 -3.06226936e-03 -1.57088609e-02 3.73890278e+02] [ 3.06038671e-03 9.99995307e-01 -1.43884215e-04 3.73013241e+00] [ 1.57092278e-02 9.57905967e-05 9.99876598e-01 5.76582060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.3592541539999 meters Centerline goodness : 0.999218 Centerline is valid? [True, True] Translation: X:373.92, Y:3.73, Z:5.77 [[ 9.99876538e-01 -3.76482935e-04 -1.57088175e-02 3.73918529e+02] [ 3.74196716e-04 9.99999919e-01 -1.48476353e-04 3.72699135e+00] [ 1.57088721e-02 1.42579834e-04 9.99876598e-01 5.76630439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.38925415399996 meters Centerline goodness : 0.999198 Centerline is valid? [True, True] Translation: X:373.95, Y:3.73, Z:5.77 [[ 9.99876591e-01 1.93656269e-04 -1.57087729e-02 3.73945975e+02] [-1.96084715e-04 9.99999969e-01 -1.53051661e-04 3.72558967e+00] [ 1.57087428e-02 1.56113024e-04 9.99876598e-01 5.76612325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.41925415399993 meters Centerline goodness : 0.999134 Centerline is valid? [True, True] Translation: X:373.97, Y:3.72, Z:5.77 [[ 9.99876550e-01 3.45520002e-04 -1.57087534e-02 3.73974500e+02] [-3.47998293e-04 9.99999927e-01 -1.55031750e-04 3.72399015e+00] [ 1.57086987e-02 1.60479231e-04 9.99876598e-01 5.76691429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.44925415399996 meters Centerline goodness : 0.999135 Centerline is valid? [True, True] Translation: X:374.00, Y:3.72, Z:5.77 [[ 9.99876602e-01 1.24775231e-04 -1.57087420e-02 3.74002362e+02] [-1.27244228e-04 9.99999980e-01 -1.56174095e-04 3.72226502e+00] [ 1.57087222e-02 1.58153670e-04 9.99876598e-01 5.76708861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.47925415399993 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:374.03, Y:3.72, Z:5.77 [[ 9.99876505e-01 -4.58404039e-04 -1.57087248e-02 3.74030169e+02] [ 4.55980120e-04 9.99999884e-01 -1.57885309e-04 3.72040642e+00] [ 1.57087954e-02 1.50702944e-04 9.99876598e-01 5.76726211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.50925415399996 meters Centerline goodness : 0.999221 Centerline is valid? [True, True] Translation: X:374.06, Y:3.72, Z:5.77 [[ 9.99873128e-01 -2.63920996e-03 -1.57087075e-02 3.74059509e+02] [ 2.63702846e-03 9.99996510e-01 -1.59584013e-04 3.71580437e+00] [ 1.57090739e-02 1.18139457e-04 9.99876598e-01 5.76738920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.53925415399993 meters Centerline goodness : 0.999200 Centerline is valid? [True, True] Translation: X:374.09, Y:3.71, Z:5.77 [[ 9.99867985e-01 -4.15333559e-03 -1.57086988e-02 3.74087423e+02] [ 4.15132751e-03 9.99991370e-01 -1.60437917e-04 3.71323144e+00] [ 1.57092296e-02 9.52047832e-05 9.99876598e-01 5.76770947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.56925415399996 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:374.12, Y:3.71, Z:5.77 [[ 9.99842396e-01 -8.27167217e-03 -1.57086813e-02 3.74115717e+02] [ 8.27014564e-03 9.99965789e-01 -1.62136619e-04 3.70776730e+00] [ 1.57094850e-02 3.21979831e-05 9.99876598e-01 5.76870889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.59925415399994 meters Centerline goodness : 0.999286 Centerline is valid? [True, True] Translation: X:374.14, Y:3.71, Z:5.77 [[ 9.99820408e-01 -1.06014231e-02 -1.57086636e-02 3.74144615e+02] [ 1.06001575e-02 9.99943803e-01 -1.63829047e-04 3.70521989e+00] [ 1.57095177e-02 -2.71468364e-06 9.99876598e-01 5.76953834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.62925415399997 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:374.17, Y:3.70, Z:5.77 [[ 9.99789237e-01 -1.32181680e-02 -1.57086518e-02 3.74171130e+02] [ 1.32172077e-02 9.99912635e-01 -1.64957762e-04 3.70264766e+00] [ 1.57094598e-02 -4.27015181e-05 9.99876598e-01 5.77013133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.65925415399994 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:374.20, Y:3.70, Z:5.77 [[ 9.99708814e-01 -1.83173718e-02 -1.57086310e-02 3.74200025e+02] [ 1.83170100e-02 9.99832216e-01 -1.66917929e-04 3.69704490e+00] [ 1.57090528e-02 -1.20865826e-04 9.99876598e-01 5.77089976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.68925415399997 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:374.23, Y:3.69, Z:5.77 [[ 9.99653132e-01 -2.11389311e-02 -1.57086189e-02 3.74227833e+02] [ 2.11388999e-02 9.99776534e-01 -1.68044503e-04 3.69431759e+00] [ 1.57086609e-02 -1.64076709e-04 9.99876598e-01 5.77061617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.71925415399994 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:374.26, Y:3.69, Z:5.77 [[ 9.99583716e-01 -2.41998757e-02 -1.57085961e-02 3.74256736e+02] [ 2.42001893e-02 9.99707118e-01 -1.70153368e-04 3.69158906e+00] [ 1.57081130e-02 -2.10068462e-04 9.99876598e-01 5.77115972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.74925415399997 meters Centerline goodness : 0.999520 Centerline is valid? [True, True] Translation: X:374.29, Y:3.69, Z:5.77 [[ 9.99425641e-01 -3.00271481e-02 -1.57085536e-02 3.74285924e+02] [ 3.00281208e-02 9.99549039e-01 -1.73991710e-04 3.68627548e+00] [ 1.57066941e-02 -2.97806567e-04 9.99876598e-01 5.77272917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.77925415399994 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:374.32, Y:3.68, Z:5.78 [[ 9.99395053e-01 -3.10285349e-02 -1.57085075e-02 3.74319277e+02] [ 3.10295673e-02 9.99518451e-01 -1.78057727e-04 3.68097332e+00] [ 1.57064679e-02 -3.09478179e-04 9.99876598e-01 5.77731226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.809254154 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:374.35, Y:3.68, Z:5.77 [[ 9.99076735e-01 -3.99855867e-02 -1.57108644e-02 3.74345334e+02] [ 3.99910288e-02 9.99200038e-01 3.22523855e-05 3.67893972e+00] [ 1.56970067e-02 -6.60516241e-04 9.99876576e-01 5.77341635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.83925415399995 meters Centerline goodness : 0.999604 Centerline is valid? [True, True] Translation: X:374.38, Y:3.68, Z:5.77 [[ 9.98938789e-01 -4.32959703e-02 -1.57084282e-02 3.74376220e+02] [ 4.32984843e-02 9.99062165e-01 -1.80178255e-04 3.67687599e+00] [ 1.57014973e-02 -5.00164084e-04 9.99876599e-01 5.77442292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.869254154 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:374.41, Y:3.67, Z:5.77 [[ 9.98805669e-01 -4.62653386e-02 -1.57084347e-02 3.74407841e+02] [ 4.62682283e-02 9.98929036e-01 -1.79608117e-04 3.67478301e+00] [ 1.56999212e-02 -5.47407838e-04 9.99876599e-01 5.77488683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.89925415399995 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:374.44, Y:3.67, Z:5.78 [[ 9.98662670e-01 -4.92556311e-02 -1.57084412e-02 3.74442952e+02] [ 4.92588991e-02 9.98786028e-01 -1.79036453e-04 3.66803718e+00] [ 1.56981902e-02 -5.94983500e-04 9.99876599e-01 5.77643546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.929254154 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:374.47, Y:3.67, Z:5.78 [[ 9.98412227e-01 -5.40941440e-02 -1.57113918e-02 3.74468139e+02] [ 5.41021452e-02 9.98535403e-01 8.43663719e-05 3.66982826e+00] [ 1.56838172e-02 -9.34252416e-04 9.99876565e-01 5.77595027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.95925415399995 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:374.50, Y:3.67, Z:5.78 [[ 9.98318285e-01 -5.58018871e-02 -1.57082927e-02 3.74499335e+02] [ 5.58059098e-02 9.98441619e-01 -1.82470908e-04 3.66912156e+00] [ 1.56939954e-02 -6.94451520e-04 9.99876601e-01 5.77624515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.989254154 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:374.53, Y:3.67, Z:5.78 [[ 9.98210318e-01 -5.77010486e-02 -1.57083026e-02 3.74531405e+02] [ 5.77053194e-02 9.98333643e-01 -1.81616746e-04 3.66762657e+00] [ 1.56926064e-02 -7.25160907e-04 9.99876601e-01 5.77635787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.01925415399995 meters Centerline goodness : 0.999583 Centerline is valid? [True, True] Translation: X:374.57, Y:3.67, Z:5.78 [[ 9.98279787e-01 -5.64864190e-02 -1.57083155e-02 3.74566040e+02] [ 5.64905574e-02 9.98403117e-01 -1.80494437e-04 3.66579909e+00] [ 1.56934266e-02 -7.07187548e-04 9.99876601e-01 5.77846655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.0492541539999 meters Centerline goodness : 0.999335 Centerline is valid? [True, True] Translation: X:374.59, Y:3.67, Z:5.78 [[ 9.98201497e-01 -5.78528745e-02 -1.57103803e-02 3.74591891e+02] [ 5.78600246e-02 9.98324705e-01 5.93506104e-07 3.66701102e+00] [ 1.56840265e-02 -9.09595430e-04 9.99876584e-01 5.77602624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.07925415399995 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:374.62, Y:3.67, Z:5.78 [[ 9.98088630e-01 -5.97690487e-02 -1.57081870e-02 3.74620375e+02] [ 5.97735166e-02 9.98211948e-01 -1.85330291e-04 3.67003981e+00] [ 1.56911769e-02 -7.53957520e-04 9.99876602e-01 5.77504768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.1092541539999 meters Centerline goodness : 0.999438 Centerline is valid? [True, True] Translation: X:374.65, Y:3.67, Z:5.78 [[ 9.98249912e-01 -5.70124119e-02 -1.57066165e-02 3.74654670e+02] [ 5.70144822e-02 9.98373301e-01 -3.16299606e-04 3.66794968e+00] [ 1.56990995e-02 -5.79758552e-04 9.99876593e-01 5.77730655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.13925415399996 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:374.69, Y:3.67, Z:5.78 [[ 9.98282084e-01 -5.64458546e-02 -1.57081685e-02 3.74686390e+02] [ 5.64499433e-02 9.98405414e-01 -1.83334987e-04 3.66828495e+00] [ 1.56934690e-02 -7.03705187e-04 9.99876602e-01 5.77745709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.16925415399993 meters Centerline goodness : 0.999375 Centerline is valid? [True, True] Translation: X:374.72, Y:3.67, Z:5.78 [[ 9.98339022e-01 -5.54296904e-02 -1.57081816e-02 3.74717664e+02] [ 5.54336713e-02 9.98462355e-01 -1.82202343e-04 3.66946966e+00] [ 1.56941274e-02 -6.88862468e-04 9.99876602e-01 5.77798773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.19925415399996 meters Centerline goodness : 0.999333 Centerline is valid? [True, True] Translation: X:374.75, Y:3.67, Z:5.78 [[ 9.98393267e-01 -5.44438951e-02 -1.57081914e-02 3.74749779e+02] [ 5.44477674e-02 9.98516604e-01 -1.81358253e-04 3.67017927e+00] [ 1.56947637e-02 -6.74209091e-04 9.99876602e-01 5.77838483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.22925415399993 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:374.78, Y:3.67, Z:5.78 [[ 9.98437858e-01 -5.36199129e-02 -1.57082042e-02 3.74781846e+02] [ 5.36237010e-02 9.98561198e-01 -1.80242509e-04 3.67128481e+00] [ 1.56952678e-02 -6.62371099e-04 9.99876602e-01 5.78164651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.25925415399996 meters Centerline goodness : 0.999356 Centerline is valid? [True, True] Translation: X:374.81, Y:3.67, Z:5.78 [[ 9.98653053e-01 -4.94502668e-02 -1.57083234e-02 3.74812821e+02] [ 4.94537032e-02 9.98776403e-01 -1.69839586e-04 3.67214415e+00] [ 1.56975013e-02 -6.07223941e-04 9.99876602e-01 5.77916966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.28925415399993 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:374.84, Y:3.67, Z:5.78 [[ 9.98767331e-01 -4.70857678e-02 -1.57082279e-02 3.74844382e+02] [ 4.70887800e-02 9.98890692e-01 -1.78257757e-04 3.67346976e+00] [ 1.56991960e-02 -5.61643261e-04 9.99876602e-01 5.77911042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.31925415399996 meters Centerline goodness : 0.999247 Centerline is valid? [True, True] Translation: X:374.88, Y:3.68, Z:5.78 [[ 9.98885682e-01 -4.45044560e-02 -1.57082373e-02 3.74875399e+02] [ 4.45071624e-02 9.99009050e-01 -1.77425506e-04 3.67505173e+00] [ 1.57005674e-02 -5.21901269e-04 9.99876602e-01 5.78066563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.34925415399994 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:374.91, Y:3.68, Z:5.78 [[ 9.99094031e-01 -3.95520934e-02 -1.57082435e-02 3.74906155e+02] [ 3.95541970e-02 9.99217411e-01 -1.76868558e-04 3.67830050e+00] [ 1.57029460e-02 -4.44618638e-04 9.99876602e-01 5.78166422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.37925415399997 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:374.94, Y:3.68, Z:5.78 [[ 9.99176537e-01 -3.74098885e-02 -1.57082465e-02 3.74937319e+02] [ 3.74117318e-02 9.99299921e-01 -1.76600163e-04 3.67992041e+00] [ 1.57038561e-02 -4.11217967e-04 9.99876602e-01 5.78214436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.40925415399994 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:374.97, Y:3.68, Z:5.78 [[ 9.99302167e-01 -3.38885042e-02 -1.57082525e-02 3.74967168e+02] [ 3.38899210e-02 9.99425556e-01 -1.76069105e-04 3.68255888e+00] [ 1.57051957e-02 -3.56405197e-04 9.99876602e-01 5.77820272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.43925415399997 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:375.00, Y:3.68, Z:5.78 [[ 9.99387381e-01 -3.12748527e-02 -1.57081357e-02 3.74996937e+02] [ 3.12757849e-02 9.99510776e-01 -1.86371365e-04 3.68326974e+00] [ 1.57062796e-02 -3.05027081e-04 9.99876602e-01 5.78099589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.46925415399994 meters Centerline goodness : 0.999288 Centerline is valid? [True, True] Translation: X:375.03, Y:3.68, Z:5.78 [[ 9.99393064e-01 -3.10930205e-02 -1.57075421e-02 3.75026904e+02] [ 3.10931102e-02 9.99516464e-01 -2.38558523e-04 3.68479475e+00] [ 1.57073645e-02 -2.49982606e-04 9.99876600e-01 5.78316075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.49925415399997 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:375.06, Y:3.69, Z:5.78 [[ 9.99478592e-01 -2.82098710e-02 -1.57082222e-02 3.75056520e+02] [ 2.82105434e-02 9.99601987e-01 -1.78820666e-04 3.68776792e+00] [ 1.57070146e-02 -2.64410056e-04 9.99876602e-01 5.78492002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.52925415399994 meters Centerline goodness : 0.999580 Centerline is valid? [True, True] Translation: X:375.09, Y:3.69, Z:5.79 [[ 9.99529841e-01 -2.63315170e-02 -1.57082193e-02 3.75086227e+02] [ 2.63319534e-02 9.99653238e-01 -1.79077996e-04 3.68939099e+00] [ 1.57074877e-02 -2.34634298e-04 9.99876602e-01 5.78617542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.559254154 meters Centerline goodness : 0.999580 Centerline is valid? [True, True] Translation: X:375.12, Y:3.69, Z:5.79 [[ 9.99528986e-01 -2.63639450e-02 -1.57082134e-02 3.75116375e+02] [ 2.63643775e-02 9.99652383e-01 -1.79587996e-04 3.68977037e+00] [ 1.57074877e-02 -2.34633861e-04 9.99876602e-01 5.78664925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.58925415399995 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:375.14, Y:3.69, Z:5.79 [[ 9.99595802e-01 -2.36956508e-02 -1.57082076e-02 3.75144715e+02] [ 2.36957458e-02 9.99719200e-01 -1.80097559e-04 3.69193199e+00] [ 1.57080643e-02 -1.92192929e-04 9.99876602e-01 5.78727730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.619254154 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] Translation: X:375.17, Y:3.69, Z:5.79 [[ 9.99613260e-01 -2.29474139e-02 -1.57081989e-02 3.75173226e+02] [ 2.29474046e-02 9.99736657e-01 -1.80856322e-04 3.69240652e+00] [ 1.57082124e-02 -1.79676017e-04 9.99876602e-01 5.79030058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.64925415399995 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:375.20, Y:3.69, Z:5.79 [[ 9.99616733e-01 -2.27956504e-02 -1.57081528e-02 3.75201828e+02] [ 2.27955609e-02 9.99740130e-01 -1.84770215e-04 3.69288909e+00] [ 1.57082827e-02 -1.73376756e-04 9.99876602e-01 5.79096221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.679254154 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:375.23, Y:3.69, Z:5.79 [[ 9.99617720e-01 -2.27523282e-02 -1.57081052e-02 3.75229990e+02] [ 2.27521711e-02 9.99741118e-01 -1.88732579e-04 3.69319852e+00] [ 1.57083328e-02 -1.68733066e-04 9.99876602e-01 5.79068767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.70925415399995 meters Centerline goodness : 0.999664 Centerline is valid? [True, True] Translation: X:375.26, Y:3.69, Z:5.79 [[ 9.99583920e-01 -2.41917749e-02 -1.57080951e-02 3.75259181e+02] [ 2.41917823e-02 9.99707318e-01 -1.89572915e-04 3.69340741e+00] [ 1.57080837e-02 -1.90512779e-04 9.99876602e-01 5.79132317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.739254154 meters Centerline goodness : 0.999434 Centerline is valid? [True, True] Translation: X:375.29, Y:3.69, Z:5.79 [[ 9.99551226e-01 -2.55069348e-02 -1.57080462e-02 3.75287678e+02] [ 2.55070422e-02 9.99674624e-01 -1.93541631e-04 3.69371287e+00] [ 1.57078718e-02 -2.07211022e-04 9.99876602e-01 5.79133470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.76925415399995 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:375.32, Y:3.69, Z:5.79 [[ 9.99514943e-01 -2.68911809e-02 -1.57080330e-02 3.75317002e+02] [ 2.68914425e-02 9.99638341e-01 -1.94608055e-04 3.69390501e+00] [ 1.57075853e-02 -2.27898006e-04 9.99876602e-01 5.79238035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.7992541539999 meters Centerline goodness : 0.999309 Centerline is valid? [True, True] Translation: X:375.35, Y:3.69, Z:5.79 [[ 9.99400782e-01 -3.08437217e-02 -1.57080259e-02 3.75345427e+02] [ 3.08444623e-02 9.99524177e-01 -1.95177293e-04 3.69271704e+00] [ 1.57065717e-02 -2.89445273e-04 9.99876602e-01 5.79227259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.82925415399995 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:375.38, Y:3.69, Z:5.79 [[ 9.99327120e-01 -3.31446153e-02 -1.57080153e-02 3.75375145e+02] [ 3.31456267e-02 9.99450514e-01 -1.96023831e-04 3.69200875e+00] [ 1.57058811e-02 -3.24760082e-04 9.99876602e-01 5.79203022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.8592541539999 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:375.41, Y:3.69, Z:5.79 [[ 9.99235875e-01 -3.57900147e-02 -1.57080159e-02 3.75405518e+02] [ 3.57913535e-02 9.99359265e-01 -1.95975712e-04 3.69161363e+00] [ 1.57049652e-02 -3.66385189e-04 9.99876602e-01 5.79303076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.88925415399996 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] Translation: X:375.44, Y:3.69, Z:5.79 [[ 9.99040303e-01 -4.08868115e-02 -1.57080159e-02 3.75435894e+02] [ 4.08887797e-02 9.99163685e-01 -1.95975712e-04 3.69045886e+00] [ 1.57028919e-02 -4.46493968e-04 9.99876602e-01 5.79326166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.91925415399993 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:375.47, Y:3.69, Z:5.79 [[ 9.98922883e-01 -4.36615550e-02 -1.57080194e-02 3.75466984e+02] [ 4.36638703e-02 9.99046259e-01 -1.95698784e-04 3.69006684e+00] [ 1.57015825e-02 -4.90384927e-04 9.99876602e-01 5.79414920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.94925415399996 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:375.50, Y:3.69, Z:5.79 [[ 9.98807725e-01 -4.62210598e-02 -1.57080264e-02 3.75497860e+02] [ 4.62237001e-02 9.98931094e-01 -1.95130780e-04 3.68961328e+00] [ 1.57002552e-02 -5.31184972e-04 9.99876602e-01 5.79276220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.97925415399993 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:375.53, Y:3.69, Z:5.79 [[ 9.98601973e-01 -5.04713549e-02 -1.57080369e-02 3.75530389e+02] [ 5.04745335e-02 9.98725329e-01 -1.94281337e-04 3.68864655e+00] [ 1.56978200e-02 -5.98846111e-04 9.99876602e-01 5.79353073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.00925415399996 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:375.56, Y:3.69, Z:5.79 [[ 9.98530428e-01 -5.18675331e-02 -1.57080508e-02 3.75562177e+02] [ 5.18709019e-02 9.98653780e-01 -1.93156098e-04 3.68811430e+00] [ 1.56969228e-02 -6.21918520e-04 9.99876602e-01 5.79422212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.03925415399993 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:375.59, Y:3.69, Z:5.79 [[ 9.98441230e-01 -5.35571372e-02 -1.57080651e-02 3.75593110e+02] [ 5.35607331e-02 9.98564575e-01 -1.91986417e-04 3.68779025e+00] [ 1.56957996e-02 -6.49648327e-04 9.99876602e-01 5.79357184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.06925415399996 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:375.62, Y:3.69, Z:5.79 [[ 9.98464669e-01 -5.31183694e-02 -1.57080757e-02 3.75624780e+02] [ 5.31219248e-02 9.98588015e-01 -1.91115007e-04 3.68826599e+00] [ 1.56960478e-02 -6.43621633e-04 9.99876602e-01 5.79315624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.09925415399994 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:375.66, Y:3.69, Z:5.79 [[ 9.98513320e-01 -5.21958430e-02 -1.57080976e-02 3.75657145e+02] [ 5.21993129e-02 9.98636669e-01 -1.89298531e-04 3.68919479e+00] [ 1.56965628e-02 -6.30934796e-04 9.99876602e-01 5.79473940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.12925415399997 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:375.69, Y:3.69, Z:5.80 [[ 9.98591379e-01 -5.06805000e-02 -1.57081114e-02 3.75689767e+02] [ 5.06838009e-02 9.98714733e-01 -1.88143628e-04 3.69012873e+00] [ 1.56974575e-02 -6.08268186e-04 9.99876602e-01 5.79571831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.15925415399994 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:375.72, Y:3.69, Z:5.80 [[ 9.98866660e-01 -4.49293935e-02 -1.57081254e-02 3.75721727e+02] [ 4.49320025e-02 9.98990030e-01 -1.86965049e-04 3.69119223e+00] [ 1.57006609e-02 -5.19044378e-04 9.99876602e-01 5.79603911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.18925415399997 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:375.75, Y:3.69, Z:5.80 [[ 9.99054057e-01 -4.05492956e-02 -1.57081393e-02 3.75752695e+02] [ 4.05513821e-02 9.99177437e-01 -1.85796005e-04 3.69159141e+00] [ 1.57027522e-02 -4.51366505e-04 9.99876602e-01 5.79653233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.21925415399994 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:375.78, Y:3.69, Z:5.80 [[ 9.99382871e-01 -3.14186516e-02 -1.57081495e-02 3.75784285e+02] [ 3.14196242e-02 9.99506265e-01 -1.84926570e-04 3.69380478e+00] [ 1.57062040e-02 -3.08731707e-04 9.99876602e-01 5.79779828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.24925415399997 meters Centerline goodness : 0.999392 Centerline is valid? [True, True] Translation: X:375.82, Y:3.70, Z:5.80 [[ 9.99529742e-01 -2.63353190e-02 -1.57081563e-02 3.75815108e+02] [ 2.63356730e-02 9.99653139e-01 -1.84349239e-04 3.69506821e+00] [ 1.57075626e-02 -2.29422320e-04 9.99876602e-01 5.79882249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.27925415399994 meters Centerline goodness : 0.999476 Centerline is valid? [True, True] Translation: X:375.84, Y:3.70, Z:5.80 [[ 9.99642325e-01 -2.16443067e-02 -1.57081563e-02 3.75843511e+02] [ 2.16440817e-02 9.99765722e-01 -1.84349239e-04 3.69637487e+00] [ 1.57084663e-02 -1.55705316e-04 9.99876602e-01 5.79892818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.309254154 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:375.87, Y:3.70, Z:5.80 [[ 9.99780074e-01 -1.38944945e-02 -1.57081437e-02 3.75871991e+02] [ 1.38932962e-02 9.99903466e-01 -1.85410516e-04 3.69775618e+00] [ 1.57092036e-02 -3.28681551e-05 9.99876602e-01 5.79945177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.33925415399995 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:375.90, Y:3.70, Z:5.80 [[ 9.99775931e-01 -1.41895582e-02 -1.57080947e-02 3.75900394e+02] [ 1.41883325e-02 9.99899323e-01 -1.89474488e-04 3.69816319e+00] [ 1.57092018e-02 -3.34396387e-05 9.99876602e-01 5.79989908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.369254154 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:375.93, Y:3.70, Z:5.80 [[ 9.99829348e-01 -9.72275428e-03 -1.57080374e-02 3.75928407e+02] [ 9.72090450e-03 9.99952732e-01 -1.94109959e-04 3.69777535e+00] [ 1.57091822e-02 4.13805017e-05 9.99876602e-01 5.79963196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.39925415399995 meters Centerline goodness : 0.999350 Centerline is valid? [True, True] Translation: X:375.96, Y:3.70, Z:5.80 [[ 9.99839245e-01 -8.64544321e-03 -1.57079792e-02 3.75955288e+02] [ 8.64338820e-03 9.99962625e-01 -1.98711806e-04 3.69783279e+00] [ 1.57091101e-02 6.29096995e-05 9.99876602e-01 5.79921281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.429254154 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:375.98, Y:3.70, Z:5.80 [[ 9.99837189e-01 -8.88004967e-03 -1.57079538e-02 3.75983366e+02] [ 8.87799235e-03 9.99960570e-01 -2.00701695e-04 3.69807138e+00] [ 1.57091167e-02 6.12139253e-05 9.99876602e-01 5.79966422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.45925415399995 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:376.01, Y:3.70, Z:5.80 [[ 9.99819476e-01 -1.06900713e-02 -1.57078936e-02 3.76011651e+02] [ 1.06881649e-02 9.99942859e-01 -2.05311146e-04 3.69720133e+00] [ 1.57091908e-02 3.73855255e-05 9.99876602e-01 5.79919141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.489254154 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] Translation: X:376.04, Y:3.70, Z:5.80 [[ 9.99794023e-01 -1.28520020e-02 -1.57078748e-02 3.76039085e+02] [ 1.28503400e-02 9.99917410e-01 -2.06736373e-04 3.69649692e+00] [ 1.57092345e-02 4.84225844e-06 9.99876602e-01 5.79953609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.51925415399995 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:376.07, Y:3.70, Z:5.80 [[ 9.99758690e-01 -1.53566357e-02 -1.57078131e-02 3.76067364e+02] [ 1.53552109e-02 9.99882079e-01 -2.11318942e-04 3.69573830e+00] [ 1.57092060e-02 -2.99288339e-05 9.99876602e-01 5.80020855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.5492541539999 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:376.10, Y:3.69, Z:5.80 [[ 9.99661883e-01 -2.07216266e-02 -1.57077499e-02 3.76095470e+02] [ 2.07207917e-02 9.99785278e-01 -2.15918364e-04 3.69316417e+00] [ 1.57088513e-02 -1.09631655e-04 9.99876602e-01 5.80097939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.57925415399995 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:376.12, Y:3.69, Z:5.80 [[ 9.99599203e-01 -2.35520731e-02 -1.57077302e-02 3.76123614e+02] [ 2.35515652e-02 9.99722600e-01 -2.17340390e-04 3.69201344e+00] [ 1.57084917e-02 -1.52688353e-04 9.99876602e-01 5.80177214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.6092541539999 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:376.15, Y:3.69, Z:5.80 [[ 9.99461993e-01 -2.87922578e-02 -1.57076661e-02 3.76151804e+02] [ 2.87923255e-02 9.99585390e-01 -2.21881488e-04 3.68989670e+00] [ 1.57075420e-02 -2.30498121e-04 9.99876602e-01 5.80274265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.63925415399996 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:376.18, Y:3.69, Z:5.80 [[ 9.99390572e-01 -3.11729905e-02 -1.57076461e-02 3.76181647e+02] [ 3.11733301e-02 9.99513969e-01 -2.23287801e-04 3.68914960e+00] [ 1.57069722e-02 -2.66507914e-04 9.99876602e-01 5.80346151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.66925415399993 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:376.21, Y:3.69, Z:5.80 [[ 9.99322465e-01 -3.32848380e-02 -1.57076381e-02 3.76210925e+02] [ 3.32854295e-02 9.99445862e-01 -2.23850316e-04 3.68813010e+00] [ 1.57063847e-02 -2.99136831e-04 9.99876602e-01 5.80429165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.69925415399996 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:376.24, Y:3.69, Z:5.81 [[ 9.99213619e-01 -3.64062268e-02 -1.57076341e-02 3.76241706e+02] [ 3.64071993e-02 9.99337013e-01 -2.24129659e-04 3.68551123e+00] [ 1.57053799e-02 -3.47917557e-04 9.99876602e-01 5.80508217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.72925415399993 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:376.27, Y:3.68, Z:5.81 [[ 9.99165121e-01 -3.77138107e-02 -1.57076341e-02 3.76272347e+02] [ 3.77149447e-02 9.99288513e-01 -2.24129659e-04 3.68455508e+00] [ 1.57049111e-02 -3.68470015e-04 9.99876602e-01 5.80536609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.75925415399996 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:376.30, Y:3.68, Z:5.81 [[ 9.99127441e-01 -3.86991890e-02 -1.57076382e-02 3.76302556e+02] [ 3.87004492e-02 9.99250832e-01 -2.23841886e-04 3.68387671e+00] [ 1.57045330e-02 -3.84246083e-04 9.99876602e-01 5.80522253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.78925415399993 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:376.33, Y:3.68, Z:5.81 [[ 9.99100002e-01 -3.94012236e-02 -1.57076517e-02 3.76333875e+02] [ 3.94025854e-02 9.99223392e-01 -2.22893872e-04 3.68325163e+00] [ 1.57042353e-02 -3.96228819e-04 9.99876602e-01 5.80636623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.81925415399996 meters Centerline goodness : 0.999333 Centerline is valid? [True, True] Translation: X:376.36, Y:3.68, Z:5.81 [[ 9.99049511e-01 -4.06613351e-02 -1.57076598e-02 3.76364820e+02] [ 4.06628616e-02 9.99172899e-01 -2.22318732e-04 3.68167246e+00] [ 1.57037078e-02 -4.16610976e-04 9.99876602e-01 5.80616638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.84925415399994 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:376.40, Y:3.68, Z:5.81 [[ 9.99025116e-01 -4.12563522e-02 -1.57076679e-02 3.76395717e+02] [ 4.12579613e-02 9.99148503e-01 -2.21741479e-04 3.68132592e+00] [ 1.57034412e-02 -4.26541049e-04 9.99876602e-01 5.80642771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.87925415399997 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:376.42, Y:3.68, Z:5.81 [[ 9.98890375e-01 -4.43991934e-02 -1.57076761e-02 3.76423132e+02] [ 4.44011997e-02 9.99013756e-01 -2.21162852e-04 3.68488310e+00] [ 1.57020039e-02 -4.76522219e-04 9.99876602e-01 5.80771993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.90925415399994 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:376.46, Y:3.68, Z:5.81 [[ 9.99032638e-01 -4.10748517e-02 -1.57049126e-02 3.76456413e+02] [ 4.10734227e-02 9.99156045e-01 -4.13659379e-04 3.68004719e+00] [ 1.57086494e-02 -2.31795294e-04 9.99876585e-01 5.80604375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.93925415399997 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:376.49, Y:3.68, Z:5.81 [[ 9.99081561e-01 -3.98660875e-02 -1.57076252e-02 3.76487994e+02] [ 3.98675513e-02 9.99204949e-01 -2.20057240e-04 3.67930513e+00] [ 1.57039096e-02 -4.06369422e-04 9.99876603e-01 5.80613733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.96925415399994 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:376.52, Y:3.68, Z:5.81 [[ 9.99133133e-01 -3.85519517e-02 -1.57076332e-02 3.76517962e+02] [ 3.85532622e-02 9.99256523e-01 -2.19483458e-04 3.67956114e+00] [ 1.57044164e-02 -3.86287306e-04 9.99876603e-01 5.80624524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.99925415399997 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:376.55, Y:3.68, Z:5.81 [[ 9.99207597e-01 -3.65711434e-02 -1.57076336e-02 3.76548999e+02] [ 3.65722098e-02 9.99330989e-01 -2.19451260e-04 3.67987247e+00] [ 1.57051507e-02 -3.55185507e-04 9.99876603e-01 5.80695591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.02925415399994 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:376.58, Y:3.68, Z:5.81 [[ 9.99369967e-01 -3.18267144e-02 -1.57076417e-02 3.76578219e+02] [ 3.18272040e-02 9.99493362e-01 -2.18876121e-04 3.68027580e+00] [ 1.57066497e-02 -2.81192093e-04 9.99876603e-01 5.80700873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.059254154 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:376.61, Y:3.68, Z:5.81 [[ 9.99442458e-01 -2.94625613e-02 -1.57076377e-02 3.76607415e+02] [ 2.94627544e-02 9.99565855e-01 -2.19161671e-04 3.68087501e+00] [ 1.57072753e-02 -2.43750792e-04 9.99876603e-01 5.80749034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.08925415399995 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:376.64, Y:3.68, Z:5.81 [[ 9.99555615e-01 -2.53346049e-02 -1.57076297e-02 3.76636168e+02] [ 2.53342795e-02 9.99679011e-01 -2.19728599e-04 3.68075280e+00] [ 1.57081545e-02 -1.78310528e-04 9.99876603e-01 5.80682179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.119254154 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:376.66, Y:3.68, Z:5.81 [[ 9.99594117e-01 -2.37670294e-02 -1.57076150e-02 3.76664882e+02] [ 2.37664940e-02 9.99717513e-01 -2.20775635e-04 3.68066696e+00] [ 1.57084250e-02 -1.52628912e-04 9.99876603e-01 5.80731460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.14925415399995 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:376.69, Y:3.68, Z:5.81 [[ 9.99604187e-01 -2.33397107e-02 -1.57075574e-02 3.76693333e+02] [ 2.33390593e-02 9.99727582e-01 -2.24804403e-04 3.68071740e+00] [ 1.57085252e-02 -1.41884191e-04 9.99876603e-01 5.80765619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.179254154 meters Centerline goodness : 0.999396 Centerline is valid? [True, True] Translation: X:376.72, Y:3.68, Z:5.81 [[ 9.99596625e-01 -2.36613945e-02 -1.57074983e-02 3.76721265e+02] [ 2.36607192e-02 9.99720020e-01 -2.28856780e-04 3.68054942e+00] [ 1.57085156e-02 -1.42886242e-04 9.99876603e-01 5.80733332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.20925415399995 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:376.75, Y:3.68, Z:5.81 [[ 9.99573014e-01 -2.46386730e-02 -1.57074665e-02 3.76749512e+02] [ 2.46380843e-02 9.99696410e-01 -2.31020699e-04 3.68048053e+00] [ 1.57083899e-02 -1.56079828e-04 9.99876603e-01 5.80806956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.239254154 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:376.78, Y:3.68, Z:5.81 [[ 9.99496233e-01 -2.75782163e-02 -1.57073978e-02 3.76778545e+02] [ 2.75779185e-02 9.99619629e-01 -2.35603147e-04 3.67878049e+00] [ 1.57079206e-02 -1.97692877e-04 9.99876603e-01 5.80857305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.26925415399995 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:376.81, Y:3.68, Z:5.81 [[ 9.99456535e-01 -2.89812617e-02 -1.57073365e-02 3.76807329e+02] [ 2.89810740e-02 9.99579932e-01 -2.39617829e-04 3.67762840e+00] [ 1.57076828e-02 -2.15727878e-04 9.99876603e-01 5.80869615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.2992541539999 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:376.84, Y:3.68, Z:5.81 [[ 9.99330893e-01 -3.30309858e-02 -1.57073235e-02 3.76836269e+02] [ 3.30312847e-02 9.99454289e-01 -2.40470178e-04 3.67587120e+00] [ 1.57066948e-02 -2.78523796e-04 9.99876603e-01 5.80943304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.32925415399995 meters Centerline goodness : 0.999292 Centerline is valid? [True, True] Translation: X:376.87, Y:3.68, Z:5.81 [[ 9.99247611e-01 -3.54611331e-02 -1.57073106e-02 3.76866323e+02] [ 3.54617190e-02 9.99371006e-01 -2.41305569e-04 3.67543750e+00] [ 1.57059878e-02 -3.15884223e-04 9.99876603e-01 5.81047627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.3592541539999 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:376.90, Y:3.67, Z:5.81 [[ 9.99185286e-01 -3.71758697e-02 -1.57073019e-02 3.76896686e+02] [ 3.71766585e-02 9.99308680e-01 -2.41872726e-04 3.67473782e+00] [ 1.57054350e-02 -3.42269330e-04 9.99876603e-01 5.81108869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.38925415399996 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:376.93, Y:3.67, Z:5.81 [[ 9.99043870e-01 -4.07998322e-02 -1.57073019e-02 3.76926155e+02] [ 4.08010685e-02 9.99167260e-01 -2.41872726e-04 3.67325457e+00] [ 1.57040902e-02 -3.99233237e-04 9.99876603e-01 5.81128769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.41925415399993 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:376.96, Y:3.67, Z:5.81 [[ 9.98970463e-01 -4.25593095e-02 -1.57072975e-02 3.76956879e+02] [ 4.25607587e-02 9.99093851e-01 -2.42156964e-04 3.67302717e+00] [ 1.57033704e-02 -4.26606846e-04 9.99876603e-01 5.81210504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.44925415399996 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:376.99, Y:3.67, Z:5.81 [[ 9.98971998e-01 -4.25232753e-02 -1.57072975e-02 3.76988714e+02] [ 4.25247200e-02 9.99095386e-01 -2.42156964e-04 3.67348772e+00] [ 1.57033858e-02 -4.26040403e-04 9.99876603e-01 5.81260526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.47925415399993 meters Centerline goodness : 0.997438 Centerline is valid? [True, True] Translation: X:377.02, Y:3.67, Z:5.81 [[ 9.98972060e-01 -4.25218046e-02 -1.57073062e-02 3.77017695e+02] [ 4.25232580e-02 9.99095448e-01 -2.41590310e-04 3.67243731e+00] [ 1.57033710e-02 -4.26583867e-04 9.99876603e-01 5.81085196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.50925415399996 meters Centerline goodness : 0.999334 Centerline is valid? [True, True] Translation: X:377.05, Y:3.67, Z:5.81 [[ 9.98765003e-01 -4.71357955e-02 -1.57062141e-02 3.77048021e+02] [ 4.71366911e-02 9.98888399e-01 -3.13368615e-04 3.67412005e+00] [ 1.57035259e-02 -4.27357356e-04 9.99876601e-01 5.81405038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.53925415399993 meters Centerline goodness : 0.999189 Centerline is valid? [True, True] Translation: X:377.08, Y:3.67, Z:5.81 [[ 9.98672483e-01 -4.90567908e-02 -1.57067957e-02 3.77078463e+02] [ 4.90585421e-02 9.98795867e-01 -2.74017156e-04 3.67097221e+00] [ 1.57013250e-02 -4.96899103e-04 9.99876603e-01 5.81420957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.56925415399996 meters Centerline goodness : 0.999334 Centerline is valid? [True, True] Translation: X:377.11, Y:3.67, Z:5.82 [[ 9.98606426e-01 -5.03833607e-02 -1.57074274e-02 3.77109576e+02] [ 5.03859503e-02 9.98729795e-01 -2.31079553e-04 3.67090755e+00] [ 1.56991183e-02 -5.60676129e-04 9.99876604e-01 5.81573403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.59925415399994 meters Centerline goodness : 0.999438 Centerline is valid? [True, True] Translation: X:377.14, Y:3.67, Z:5.82 [[ 9.98517582e-01 -5.21144332e-02 -1.57074358e-02 3.77140764e+02] [ 5.21172458e-02 9.98640946e-01 -2.30506273e-04 3.67100365e+00] [ 1.56981012e-02 -5.88463725e-04 9.99876604e-01 5.81659650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.62925415399997 meters Centerline goodness : 0.999376 Centerline is valid? [True, True] Translation: X:377.17, Y:3.67, Z:5.82 [[ 9.98418741e-01 -5.39749414e-02 -1.57074483e-02 3.77172153e+02] [ 5.39779973e-02 9.98542099e-01 -2.29648595e-04 3.67065841e+00] [ 1.56969437e-02 -6.18571142e-04 9.99876604e-01 5.81666931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.65925415399994 meters Centerline goodness : 0.999334 Centerline is valid? [True, True] Translation: X:377.20, Y:3.67, Z:5.82 [[ 9.98369344e-01 -5.48810422e-02 -1.57074759e-02 3.77204205e+02] [ 5.48842399e-02 9.98492698e-01 -2.27749240e-04 3.67089527e+00] [ 1.56962991e-02 -6.34715015e-04 9.99876604e-01 5.81793689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.68925415399997 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:377.24, Y:3.67, Z:5.82 [[ 9.98332655e-01 -5.55444448e-02 -1.57074921e-02 3.77235858e+02] [ 5.55477422e-02 9.98456007e-01 -2.26622973e-04 3.67112096e+00] [ 1.56958275e-02 -6.46270608e-04 9.99876604e-01 5.81840901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.71925415399994 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:377.27, Y:3.67, Z:5.82 [[ 9.98296864e-01 -5.61840330e-02 -1.57075001e-02 3.77267389e+02] [ 5.61874181e-02 9.98420214e-01 -2.26065995e-04 3.67121498e+00] [ 1.56953869e-02 -6.56882903e-04 9.99876604e-01 5.81883028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.74925415399997 meters Centerline goodness : 0.999438 Centerline is valid? [True, True] Translation: X:377.30, Y:3.67, Z:5.82 [[ 9.98099251e-01 -5.95916023e-02 -1.57075081e-02 3.77297390e+02] [ 5.95954171e-02 9.98222588e-01 -2.25512819e-04 3.67365352e+00] [ 1.56930280e-02 -7.11011320e-04 9.99876604e-01 5.82101459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.77925415399994 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:377.33, Y:3.67, Z:5.82 [[ 9.98038597e-01 -6.05991594e-02 -1.57067154e-02 3.77329547e+02] [ 6.06022341e-02 9.98161956e-01 -2.80566392e-04 3.67282878e+00] [ 1.56948478e-02 -6.71845954e-04 9.99876603e-01 5.82078128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.809254154 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:377.36, Y:3.67, Z:5.82 [[ 9.98042947e-01 -6.05272654e-02 -1.57075266e-02 3.77362224e+02] [ 6.05312263e-02 9.98166279e-01 -2.23577980e-04 3.67320402e+00] [ 1.56922559e-02 -7.27655418e-04 9.99876604e-01 5.82128307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.83925415399995 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:377.39, Y:3.67, Z:5.82 [[ 9.97958571e-01 -6.19028633e-02 -1.57075424e-02 3.77394104e+02] [ 6.19070117e-02 9.98081897e-01 -2.22460422e-04 3.67392869e+00] [ 1.56911846e-02 -7.50400726e-04 9.99876604e-01 5.82246613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.869254154 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:377.43, Y:3.68, Z:5.82 [[ 9.97751195e-01 -6.51600025e-02 -1.57075585e-02 3.77425532e+02] [ 6.51645713e-02 9.97874506e-01 -2.21316926e-04 3.67631279e+00] [ 1.56885932e-02 -8.02757089e-04 9.99876604e-01 5.82410158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.89925415399995 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:377.46, Y:3.68, Z:5.83 [[ 9.97789333e-01 -6.45734807e-02 -1.57071002e-02 3.77460071e+02] [ 6.45774636e-02 9.97912665e-01 -2.54019092e-04 3.67531639e+00] [ 1.56907172e-02 -7.60867153e-04 9.99876604e-01 5.82707680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.929254154 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:377.49, Y:3.68, Z:5.83 [[ 9.97720736e-01 -6.56244704e-02 -1.57086594e-02 3.77494681e+02] [ 6.56303534e-02 9.97843994e-01 -1.41274592e-04 3.67659125e+00] [ 1.56840625e-02 -8.90012275e-04 9.99876601e-01 5.82632950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.95925415399995 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:377.52, Y:3.68, Z:5.83 [[ 9.97501618e-01 -6.88745747e-02 -1.57103423e-02 3.77520487e+02] [ 6.88827769e-02 9.97624760e-01 -1.90691226e-05 3.68088617e+00] [ 1.56743399e-02 -1.06315052e-03 9.99876585e-01 5.82559688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.989254154 meters Centerline goodness : 0.999376 Centerline is valid? [True, True] Translation: X:377.55, Y:3.68, Z:5.83 [[ 9.97459891e-01 -6.94769084e-02 -1.57074882e-02 3.77552344e+02] [ 6.94820080e-02 9.97583180e-01 -2.21493770e-04 3.68277103e+00] [ 1.56849147e-02 -8.70456670e-04 9.99876605e-01 5.82733026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.01925415399995 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:377.58, Y:3.69, Z:5.83 [[ 9.97428276e-01 -6.99293137e-02 -1.57075043e-02 3.77583142e+02] [ 6.99344873e-02 9.97551562e-01 -2.20345489e-04 3.68591484e+00] [ 1.56844541e-02 -8.78717439e-04 9.99876605e-01 5.82701845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.0492541539999 meters Centerline goodness : 0.999229 Centerline is valid? [True, True] Translation: X:377.61, Y:3.69, Z:5.83 [[ 9.97459401e-01 -6.94839382e-02 -1.57075163e-02 3.77614845e+02] [ 6.94890701e-02 9.97582689e-01 -2.19489726e-04 3.68794307e+00] [ 1.56847973e-02 -8.72568609e-04 9.99876605e-01 5.82875007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.07925415399995 meters Centerline goodness : 0.999273 Centerline is valid? [True, True] Translation: X:377.65, Y:3.69, Z:5.83 [[ 9.97633860e-01 -6.69324636e-02 -1.57075321e-02 3.77646402e+02] [ 6.69372981e-02 9.97757160e-01 -2.18351465e-04 3.69208447e+00] [ 1.56869174e-02 -8.33584943e-04 9.99876605e-01 5.82946827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.1092541539999 meters Centerline goodness : 0.999251 Centerline is valid? [True, True] Translation: X:377.68, Y:3.69, Z:5.83 [[ 9.97769926e-01 -6.48725478e-02 -1.57075438e-02 3.77678786e+02] [ 6.48771409e-02 9.97893235e-01 -2.17503930e-04 3.69462773e+00] [ 1.56885618e-02 -8.02041655e-04 9.99876605e-01 5.83182402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.13925415399996 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:377.71, Y:3.70, Z:5.83 [[ 9.98083869e-01 -5.98486607e-02 -1.57075599e-02 3.77710327e+02] [ 5.98526513e-02 9.98207200e-01 -2.16340903e-04 3.69987534e+00] [ 1.56923470e-02 -7.24212736e-04 9.99876605e-01 5.83262947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.16925415399993 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:377.74, Y:3.70, Z:5.83 [[ 9.98222592e-01 -5.74885084e-02 -1.57075865e-02 3.77742243e+02] [ 5.74922381e-02 9.98345930e-01 -2.14387383e-04 3.70274104e+00] [ 1.56939299e-02 -6.89057975e-04 9.99876605e-01 5.83393669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.19925415399996 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:377.77, Y:3.70, Z:5.83 [[ 9.98226794e-01 -5.74154858e-02 -1.57076021e-02 3.77774920e+02] [ 5.74192245e-02 9.98350133e-01 -2.13238602e-04 3.70312384e+00] [ 1.56939298e-02 -6.89057846e-04 9.99876605e-01 5.83444984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.22925415399993 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:377.81, Y:3.71, Z:5.84 [[ 9.98498764e-01 -5.24737056e-02 -1.57076176e-02 3.77807031e+02] [ 5.24768518e-02 9.98622118e-01 -2.12089693e-04 3.70820897e+00] [ 1.56971035e-02 -6.12515026e-04 9.99876605e-01 5.83519681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.25925415399996 meters Centerline goodness : 0.998914 Centerline is valid? [True, True] Translation: X:377.84, Y:3.71, Z:5.84 [[ 9.98636470e-01 -4.97842412e-02 -1.57076331e-02 3.77838299e+02] [ 4.97870732e-02 9.98759832e-01 -2.10940911e-04 3.71050613e+00] [ 1.56986545e-02 -5.71383789e-04 9.99876605e-01 5.83568878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.28925415399993 meters Centerline goodness : 0.999247 Centerline is valid? [True, True] Translation: X:377.87, Y:3.71, Z:5.84 [[ 9.98761758e-01 -4.72040310e-02 -1.57076445e-02 3.77870646e+02] [ 4.72065577e-02 9.98885127e-01 -2.10086422e-04 3.71265950e+00] [ 1.57000494e-02 -5.31677541e-04 9.99876605e-01 5.83721552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.31925415399996 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:377.90, Y:3.71, Z:5.84 [[ 9.98881447e-01 -4.45995941e-02 -1.57076599e-02 3.77902536e+02] [ 4.46018172e-02 9.99004822e-01 -2.08928430e-04 3.71477245e+00] [ 1.57013461e-02 -4.91895443e-04 9.99876605e-01 5.83770753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.34925415399994 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:377.93, Y:3.72, Z:5.84 [[ 9.99094875e-01 -3.95309853e-02 -1.57076751e-02 3.77933979e+02] [ 3.95326005e-02 9.99218260e-01 -2.07780136e-04 3.71934771e+00] [ 1.57036095e-02 -4.13373175e-04 9.99876605e-01 5.83923579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.37925415399997 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:377.96, Y:3.72, Z:5.84 [[ 9.99164089e-01 -3.77411051e-02 -1.57076828e-02 3.77964821e+02] [ 3.77425084e-02 9.99287476e-01 -2.07197348e-04 3.72228558e+00] [ 1.57043105e-02 -3.85823199e-04 9.99876605e-01 5.84076886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.40925415399994 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:378.00, Y:3.72, Z:5.84 [[ 9.99233490e-01 -3.58566598e-02 -1.57076904e-02 3.77995675e+02] [ 3.58578396e-02 9.99356880e-01 -2.06612709e-04 3.72455633e+00] [ 1.57049970e-02 -3.56789506e-04 9.99876605e-01 5.84110811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.43925415399997 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:378.03, Y:3.73, Z:5.84 [[ 9.99321988e-01 -3.32991473e-02 -1.57076981e-02 3.78025891e+02] [ 3.33000205e-02 9.99445379e-01 -2.06028837e-04 3.72798246e+00] [ 1.57058469e-02 -3.17177521e-04 9.99876605e-01 5.84033921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.46925415399994 meters Centerline goodness : 0.998934 Centerline is valid? [True, True] Translation: X:378.06, Y:3.73, Z:5.84 [[ 9.99364847e-01 -3.19870416e-02 -1.57077019e-02 3.78057673e+02] [ 3.19877574e-02 9.99488240e-01 -2.05739288e-04 3.72961766e+00] [ 1.57062443e-02 -2.96845545e-04 9.99876605e-01 5.84140696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.49925415399997 meters Centerline goodness : 0.998934 Centerline is valid? [True, True] Translation: X:378.09, Y:3.73, Z:5.84 [[ 9.99374889e-01 -3.16717547e-02 -1.57077094e-02 3.78087920e+02] [ 3.16724406e-02 9.99498281e-01 -2.05163341e-04 3.73172493e+00] [ 1.57063265e-02 -2.92466402e-04 9.99876605e-01 5.84265746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.52925415399994 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:378.12, Y:3.74, Z:5.84 [[ 9.99380355e-01 -3.14987795e-02 -1.57077094e-02 3.78118696e+02] [ 3.14994440e-02 9.99503748e-01 -2.05163341e-04 3.73523025e+00] [ 1.57063768e-02 -2.89747900e-04 9.99876605e-01 5.84300084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.559254154 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:378.15, Y:3.74, Z:5.84 [[ 9.99367551e-01 -3.19024396e-02 -1.57077222e-02 3.78150006e+02] [ 3.19031694e-02 9.99490943e-01 -2.04177692e-04 3.73710029e+00] [ 1.57062399e-02 -2.97077564e-04 9.99876605e-01 5.84431770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.58925415399995 meters Centerline goodness : 0.999372 Centerline is valid? [True, True] Translation: X:378.18, Y:3.74, Z:5.85 [[ 9.99346810e-01 -3.25456712e-02 -1.57077296e-02 3.78181153e+02] [ 3.25464894e-02 9.99470202e-01 -2.03605749e-04 3.73896509e+00] [ 1.57060342e-02 -3.07758701e-04 9.99876605e-01 5.84568468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.619254154 meters Centerline goodness : 0.999142 Centerline is valid? [True, True] Translation: X:378.21, Y:3.74, Z:5.84 [[ 9.99339708e-01 -3.27630217e-02 -1.57077371e-02 3.78211036e+02] [ 3.27638758e-02 9.99463099e-01 -2.03027371e-04 3.74005299e+00] [ 1.57059554e-02 -3.11753035e-04 9.99876605e-01 5.84459846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.64925415399995 meters Centerline goodness : 0.999058 Centerline is valid? [True, True] Translation: X:378.24, Y:3.74, Z:5.85 [[ 9.99242011e-01 -3.56184055e-02 -1.57077491e-02 3.78242101e+02] [ 3.56196269e-02 9.99365399e-01 -2.02094092e-04 3.74176464e+00] [ 1.57049793e-02 -3.57563257e-04 9.99876605e-01 5.84641831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.679254154 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:378.27, Y:3.74, Z:5.85 [[ 9.99174404e-01 -3.74670155e-02 -1.57077565e-02 3.78273246e+02] [ 3.74684742e-02 9.99297790e-01 -2.01521657e-04 3.74288914e+00] [ 1.57042767e-02 -3.87190387e-04 9.99876605e-01 5.84725515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.70925415399995 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:378.30, Y:3.74, Z:5.85 [[ 9.99095941e-01 -3.95040022e-02 -1.57077638e-02 3.78304993e+02] [ 3.95057214e-02 9.99219324e-01 -2.00952634e-04 3.74407089e+00] [ 1.57034395e-02 -4.19775578e-04 9.99876605e-01 5.84877546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.739254154 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:378.34, Y:3.75, Z:5.85 [[ 9.98894896e-01 -4.42973243e-02 -1.57077712e-02 3.78336346e+02] [ 4.42996446e-02 9.99018269e-01 -2.00370474e-04 3.74579902e+00] [ 1.57012262e-02 -4.95699636e-04 9.99876605e-01 5.84871403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.76925415399995 meters Centerline goodness : 0.998975 Centerline is valid? [True, True] Translation: X:378.37, Y:3.75, Z:5.85 [[ 9.98797439e-01 -4.64428865e-02 -1.57077822e-02 3.78368579e+02] [ 4.64454854e-02 9.98920806e-01 -1.99501060e-04 3.74642593e+00] [ 1.57000959e-02 -5.30294423e-04 9.99876605e-01 5.84942457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.7992541539999 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:378.40, Y:3.75, Z:5.85 [[ 9.98637165e-01 -4.97702505e-02 -1.57077970e-02 3.78400457e+02] [ 4.97732788e-02 9.98760523e-01 -1.98334341e-04 3.74766805e+00] [ 1.56981986e-02 -5.83764513e-04 9.99876605e-01 5.85076490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.82925415399995 meters Centerline goodness : 0.999058 Centerline is valid? [True, True] Translation: X:378.43, Y:3.75, Z:5.85 [[ 9.98314762e-01 -5.58650237e-02 -1.57078117e-02 3.78432636e+02] [ 5.58688232e-02 9.98438098e-01 -1.97163146e-04 3.74855518e+00] [ 1.56942921e-02 -6.80746074e-04 9.99876605e-01 5.85078546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.8592541539999 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:378.47, Y:3.75, Z:5.85 [[ 9.98144222e-01 -5.88334699e-02 -1.57078262e-02 3.78465876e+02] [ 5.88376545e-02 9.98267545e-01 -1.95998583e-04 3.74897502e+00] [ 1.56921444e-02 -7.28576797e-04 9.99876605e-01 5.85134366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.88925415399996 meters Centerline goodness : 0.998996 Centerline is valid? [True, True] Translation: X:378.50, Y:3.75, Z:5.85 [[ 9.97993822e-01 -6.13318411e-02 -1.57078479e-02 3.78498158e+02] [ 6.13363620e-02 9.98117134e-01 -1.94243964e-04 3.74935912e+00] [ 1.56901855e-02 -7.69607968e-04 9.99876605e-01 5.85145354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.91925415399993 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:378.53, Y:3.75, Z:5.85 [[ 9.97814801e-01 -6.41785425e-02 -1.57078623e-02 3.78529512e+02] [ 6.41834335e-02 9.97938099e-01 -1.93074430e-04 3.75026337e+00] [ 1.56878654e-02 -8.15532008e-04 9.99876605e-01 5.85220450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.94925415399996 meters Centerline goodness : 0.998973 Centerline is valid? [True, True] Translation: X:378.56, Y:3.75, Z:5.85 [[ 9.97540508e-01 -6.83095672e-02 -1.57078729e-02 3.78561691e+02] [ 6.83149824e-02 9.97663784e-01 -1.92202176e-04 3.75215955e+00] [ 1.56843052e-02 -8.81353606e-04 9.99876605e-01 5.85320182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.97925415399993 meters Centerline goodness : 0.998910 Centerline is valid? [True, True] Translation: X:378.59, Y:3.75, Z:5.85 [[ 9.97447789e-01 -6.96503383e-02 -1.57078870e-02 3.78593418e+02] [ 6.96559373e-02 9.97571057e-01 -1.91044038e-04 3.75338841e+00] [ 1.56830397e-02 -9.03591141e-04 9.99876605e-01 5.85353855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.00925415399996 meters Centerline goodness : 0.998954 Centerline is valid? [True, True] Translation: X:378.63, Y:3.75, Z:5.85 [[ 9.97392774e-01 -7.04337741e-02 -1.57079009e-02 3.78625775e+02] [ 7.04394880e-02 9.97516036e-01 -1.89891889e-04 3.75474207e+00] [ 1.56822579e-02 -9.17059703e-04 9.99876605e-01 5.85394275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.03925415399993 meters Centerline goodness : 0.998868 Centerline is valid? [True, True] Translation: X:378.66, Y:3.76, Z:5.85 [[ 9.97395882e-01 -7.03897380e-02 -1.57079182e-02 3.78657905e+02] [ 7.03954691e-02 9.97519144e-01 -1.88455199e-04 3.75580981e+00] [ 1.56822144e-02 -9.17801829e-04 9.99876605e-01 5.85463663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.06925415399996 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:378.69, Y:3.76, Z:5.86 [[ 9.97544767e-01 -6.82473381e-02 -1.57079319e-02 3.78689419e+02] [ 6.82528224e-02 9.97668040e-01 -1.87306267e-04 3.75849454e+00] [ 1.56840848e-02 -8.85264299e-04 9.99876605e-01 5.85503930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.09925415399994 meters Centerline goodness : 0.998783 Centerline is valid? [True, True] Translation: X:378.72, Y:3.76, Z:5.86 [[ 9.97676538e-01 -6.62931764e-02 -1.57079488e-02 3.78721543e+02] [ 6.62984417e-02 9.97799821e-01 -1.85873884e-04 3.76022869e+00] [ 1.56857107e-02 -8.55970516e-04 9.99876605e-01 5.85552212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.12925415399997 meters Centerline goodness : 0.998908 Centerline is valid? [True, True] Translation: X:378.75, Y:3.76, Z:5.86 [[ 9.97823347e-01 -6.40455213e-02 -1.57079622e-02 3.78753206e+02] [ 6.40505267e-02 9.97946640e-01 -1.84740902e-04 3.76244278e+00] [ 1.56875399e-02 -8.21764464e-04 9.99876605e-01 5.85593435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.15925415399994 meters Centerline goodness : 0.998865 Centerline is valid? [True, True] Translation: X:378.78, Y:3.77, Z:5.86 [[ 9.98122000e-01 -5.92092232e-02 -1.57079850e-02 3.78784399e+02] [ 5.92136618e-02 9.98245315e-01 -1.82778160e-04 3.76705250e+00] [ 1.56912446e-02 -7.47692409e-04 9.99876605e-01 5.85635067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.18925415399997 meters Centerline goodness : 0.998949 Centerline is valid? [True, True] Translation: X:378.82, Y:3.77, Z:5.86 [[ 9.98304713e-01 -5.60442541e-02 -1.57080063e-02 3.78817894e+02] [ 5.60483308e-02 9.98428040e-01 -1.80927161e-04 3.76896574e+00] [ 1.56934539e-02 -6.99787097e-04 9.99876605e-01 5.85672459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.21925415399994 meters Centerline goodness : 0.998841 Centerline is valid? [True, True] Translation: X:378.85, Y:3.77, Z:5.86 [[ 9.98424502e-01 -5.38681020e-02 -1.57080256e-02 3.78849518e+02] [ 5.38719365e-02 9.98547837e-01 -1.79233472e-04 3.77123827e+00] [ 1.56948700e-02 -6.67270670e-04 9.99876605e-01 5.85697281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.24925415399997 meters Centerline goodness : 0.999138 Centerline is valid? [True, True] Translation: X:378.88, Y:3.77, Z:5.86 [[ 9.98555603e-01 -5.13805951e-02 -1.57080352e-02 3.78881672e+02] [ 5.13841354e-02 9.98678947e-01 -1.78395566e-04 3.77358521e+00] [ 1.56964501e-02 -6.29005913e-04 9.99876605e-01 5.85769799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.27925415399994 meters Centerline goodness : 0.998842 Centerline is valid? [True, True] Translation: X:378.91, Y:3.78, Z:5.86 [[ 9.98813475e-01 -4.60966410e-02 -1.57080479e-02 3.78914048e+02] [ 4.60995464e-02 9.98936835e-01 -1.77269259e-04 3.77766483e+00] [ 1.56995191e-02 -5.47074957e-04 9.99876605e-01 5.85744964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.309254154 meters Centerline goodness : 0.998904 Centerline is valid? [True, True] Translation: X:378.95, Y:3.78, Z:5.86 [[ 9.98877040e-01 -4.46980414e-02 -1.57080610e-02 3.78945941e+02] [ 4.47007925e-02 9.99000404e-01 -1.76095862e-04 3.77998737e+00] [ 1.57002305e-02 -5.26264662e-04 9.99876605e-01 5.85825926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.33925415399995 meters Centerline goodness : 0.998988 Centerline is valid? [True, True] Translation: X:378.98, Y:3.78, Z:5.86 [[ 9.98960348e-01 -4.27957779e-02 -1.57080740e-02 3.78978369e+02] [ 4.27983124e-02 9.99083717e-01 -1.74926823e-04 3.78210838e+00] [ 1.57011671e-02 -4.97534100e-04 9.99876605e-01 5.85839191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.369254154 meters Centerline goodness : 0.998988 Centerline is valid? [True, True] Translation: X:379.01, Y:3.78, Z:5.86 [[ 9.98963504e-01 -4.27220518e-02 -1.57080869e-02 3.79011053e+02] [ 4.27245955e-02 9.99086872e-01 -1.73766665e-04 3.78241075e+00] [ 1.57011671e-02 -4.97535101e-04 9.99876605e-01 5.85890510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.39925415399995 meters Centerline goodness : 0.999198 Centerline is valid? [True, True] Translation: X:379.04, Y:3.78, Z:5.86 [[ 9.99037183e-01 -4.09629320e-02 -1.57080996e-02 3.79043317e+02] [ 4.09652766e-02 9.99160556e-01 -1.72607509e-04 3.78461908e+00] [ 1.57019841e-02 -4.71045326e-04 9.99876605e-01 5.85946036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.429254154 meters Centerline goodness : 0.998987 Centerline is valid? [True, True] Translation: X:379.08, Y:3.79, Z:5.86 [[ 9.99161831e-01 -3.78006683e-02 -1.57081123e-02 3.79075071e+02] [ 3.78026406e-02 9.99285210e-01 -1.71449353e-04 3.78895842e+00] [ 1.57033652e-02 -4.22502473e-04 9.99876605e-01 5.86085093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.45925415399995 meters Centerline goodness : 0.999074 Centerline is valid? [True, True] Translation: X:379.11, Y:3.79, Z:5.86 [[ 9.99226725e-01 -3.60445066e-02 -1.57081249e-02 3.79106299e+02] [ 3.60462804e-02 9.99350107e-01 -1.70280952e-04 3.79097269e+00] [ 1.57040540e-02 -3.96070198e-04 9.99876605e-01 5.86156838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.489254154 meters Centerline goodness : 0.998859 Centerline is valid? [True, True] Translation: X:379.14, Y:3.79, Z:5.86 [[ 9.99350482e-01 -3.24325226e-02 -1.57081343e-02 3.79137280e+02] [ 3.24338641e-02 9.99473869e-01 -1.69411894e-04 3.79427956e+00] [ 1.57053642e-02 -3.40173635e-04 9.99876605e-01 5.86263462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.51925415399995 meters Centerline goodness : 0.998707 Centerline is valid? [True, True] Translation: X:379.17, Y:3.80, Z:5.86 [[ 9.99394163e-01 -3.10573888e-02 -1.57081540e-02 3.79168779e+02] [ 3.10585895e-02 9.99517552e-01 -1.67568407e-04 3.79615142e+00] [ 1.57057798e-02 -3.20406218e-04 9.99876605e-01 5.86336964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.5492541539999 meters Centerline goodness : 0.999175 Centerline is valid? [True, True] Translation: X:379.20, Y:3.80, Z:5.86 [[ 9.99434070e-01 -2.97454947e-02 -1.57081600e-02 3.79200293e+02] [ 2.97465424e-02 9.99557460e-01 -1.66995957e-04 3.79775216e+00] [ 1.57061759e-02 -3.00362000e-04 9.99876605e-01 5.86372617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.57925415399995 meters Centerline goodness : 0.998878 Centerline is valid? [True, True] Translation: X:379.23, Y:3.80, Z:5.86 [[ 9.99453675e-01 -2.90793014e-02 -1.57081691e-02 3.79231466e+02] [ 2.90802803e-02 9.99577065e-01 -1.66140981e-04 3.79937603e+00] [ 1.57063568e-02 -2.90747746e-04 9.99876605e-01 5.86421494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.6092541539999 meters Centerline goodness : 0.998876 Centerline is valid? [True, True] Translation: X:379.26, Y:3.80, Z:5.86 [[ 9.99464320e-01 -2.87110701e-02 -1.57081750e-02 3.79261930e+02] [ 2.87120124e-02 9.99587711e-01 -1.65580239e-04 3.80082810e+00] [ 1.57064527e-02 -2.85521774e-04 9.99876605e-01 5.86474853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.63925415399996 meters Centerline goodness : 0.998767 Centerline is valid? [True, True] Translation: X:379.29, Y:3.80, Z:5.87 [[ 9.99443737e-01 -2.94188616e-02 -1.57081779e-02 3.79292788e+02] [ 2.94198956e-02 9.99567128e-01 -1.65301664e-04 3.80240857e+00] [ 1.57062413e-02 -2.96923242e-04 9.99876605e-01 5.86525006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.66925415399993 meters Centerline goodness : 0.999047 Centerline is valid? [True, True] Translation: X:379.32, Y:3.80, Z:5.87 [[ 9.99419737e-01 -3.02231923e-02 -1.57081837e-02 3.79324367e+02] [ 3.02243343e-02 9.99543127e-01 -1.64749381e-04 3.80285573e+00] [ 1.57059863e-02 -3.10115612e-04 9.99876605e-01 5.86561142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.69925415399996 meters Centerline goodness : 0.998940 Centerline is valid? [True, True] Translation: X:379.35, Y:3.80, Z:5.87 [[ 9.99401275e-01 -3.08276602e-02 -1.57081896e-02 3.79354468e+02] [ 3.08288857e-02 9.99524663e-01 -1.64185801e-04 3.80312385e+00] [ 1.57057844e-02 -3.20178483e-04 9.99876605e-01 5.86550043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.72925415399993 meters Centerline goodness : 0.998898 Centerline is valid? [True, True] Translation: X:379.39, Y:3.80, Z:5.87 [[ 9.99386211e-01 -3.13121994e-02 -1.57081925e-02 3.79385854e+02] [ 3.13134890e-02 9.99509599e-01 -1.63906235e-04 3.80371016e+00] [ 1.57056215e-02 -3.28072684e-04 9.99876605e-01 5.86573454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.75925415399996 meters Centerline goodness : 0.999088 Centerline is valid? [True, True] Translation: X:379.42, Y:3.81, Z:5.87 [[ 9.99382096e-01 -3.14432692e-02 -1.57081985e-02 3.79417082e+02] [ 3.14445840e-02 9.99505483e-01 -1.63335617e-04 3.80518975e+00] [ 1.57055663e-02 -3.30703075e-04 9.99876605e-01 5.86507044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.78925415399993 meters Centerline goodness : 0.998896 Centerline is valid? [True, True] Translation: X:379.45, Y:3.81, Z:5.87 [[ 9.99407886e-01 -3.06125762e-02 -1.57082073e-02 3.79448372e+02] [ 3.06138018e-02 9.99531275e-01 -1.62483003e-04 3.80618546e+00] [ 1.57058185e-02 -3.18501151e-04 9.99876605e-01 5.86556855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.81925415399996 meters Centerline goodness : 0.999130 Centerline is valid? [True, True] Translation: X:379.48, Y:3.81, Z:5.87 [[ 9.99446704e-01 -2.93178631e-02 -1.57082133e-02 3.79479520e+02] [ 2.93189380e-02 9.99570094e-01 -1.61900001e-04 3.80721622e+00] [ 1.57062068e-02 -2.98737709e-04 9.99876605e-01 5.86590885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.84925415399994 meters Centerline goodness : 0.999108 Centerline is valid? [True, True] Translation: X:379.51, Y:3.81, Z:5.87 [[ 9.99532363e-01 -2.62356107e-02 -1.57082222e-02 3.79510390e+02] [ 2.62363188e-02 9.99655756e-01 -1.61028960e-04 3.80884488e+00] [ 1.57070394e-02 -2.51172270e-04 9.99876605e-01 5.86650825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.87925415399997 meters Centerline goodness : 0.998895 Centerline is valid? [True, True] Translation: X:379.54, Y:3.81, Z:5.87 [[ 9.99578667e-01 -2.44078040e-02 -1.57082282e-02 3.79540725e+02] [ 2.44082958e-02 9.99702060e-01 -1.60439531e-04 3.80942736e+00] [ 1.57074641e-02 -2.23039149e-04 9.99876605e-01 5.86687306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.90925415399994 meters Centerline goodness : 0.998872 Centerline is valid? [True, True] Translation: X:379.57, Y:3.81, Z:5.87 [[ 9.99612639e-01 -2.29744274e-02 -1.57082312e-02 3.79570788e+02] [ 2.29747468e-02 9.99736033e-01 -1.60147504e-04 3.81016358e+00] [ 1.57077641e-02 -2.00807166e-04 9.99876605e-01 5.86726763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.93925415399997 meters Centerline goodness : 0.999109 Centerline is valid? [True, True] Translation: X:379.60, Y:3.81, Z:5.87 [[ 9.99661164e-01 -2.07559490e-02 -1.57082312e-02 3.79600135e+02] [ 2.07559946e-02 9.99784558e-01 -1.60147504e-04 3.81113188e+00] [ 1.57081710e-02 -1.65946722e-04 9.99876605e-01 5.86797208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.96925415399994 meters Centerline goodness : 0.998897 Centerline is valid? [True, True] Translation: X:379.63, Y:3.81, Z:5.87 [[ 9.99672992e-01 -2.01782411e-02 -1.57082283e-02 3.79630095e+02] [ 2.01782108e-02 9.99796386e-01 -1.60434289e-04 3.81159882e+00] [ 1.57082672e-02 -1.56582116e-04 9.99876605e-01 5.86824152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.99925415399997 meters Centerline goodness : 0.999131 Centerline is valid? [True, True] Translation: X:379.66, Y:3.81, Z:5.87 [[ 9.99670028e-01 -2.03245163e-02 -1.57082223e-02 3.79658688e+02] [ 2.03244949e-02 9.99793423e-01 -1.61014218e-04 3.81200656e+00] [ 1.57082499e-02 -1.58300598e-04 9.99876605e-01 5.86854259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.02925415399994 meters Centerline goodness : 0.998853 Centerline is valid? [True, True] Translation: X:379.69, Y:3.81, Z:5.87 [[ 9.99664932e-01 -2.05736762e-02 -1.57082134e-02 3.79688587e+02] [ 2.05736721e-02 9.99788327e-01 -1.61878095e-04 3.81210540e+00] [ 1.57082189e-02 -1.61351777e-04 9.99876605e-01 5.86867130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.059254154 meters Centerline goodness : 0.998963 Centerline is valid? [True, True] Translation: X:379.72, Y:3.81, Z:5.87 [[ 9.99602568e-01 -2.34084884e-02 -1.57082076e-02 3.79717406e+02] [ 2.34088253e-02 9.99725963e-01 -1.62445768e-04 3.81128799e+00] [ 1.57077055e-02 -2.05329479e-04 9.99876605e-01 5.86781643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.08925415399995 meters Centerline goodness : 0.998858 Centerline is valid? [True, True] Translation: X:379.75, Y:3.81, Z:5.87 [[ 9.99552787e-01 -2.54455919e-02 -1.57081965e-02 3.79748208e+02] [ 2.54461635e-02 9.99676181e-01 -1.63511887e-04 3.81086268e+00] [ 1.57072705e-02 -2.36274574e-04 9.99876605e-01 5.86787707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.119254154 meters Centerline goodness : 0.999070 Centerline is valid? [True, True] Translation: X:379.78, Y:3.81, Z:5.87 [[ 9.99481663e-01 -2.81008472e-02 -1.57081965e-02 3.79778521e+02] [ 2.81017466e-02 9.99605055e-01 -1.63511887e-04 3.81047312e+00] [ 1.57065874e-02 -2.78000624e-04 9.99876605e-01 5.86801608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.14925415399995 meters Centerline goodness : 0.999006 Centerline is valid? [True, True] Translation: X:379.81, Y:3.81, Z:5.87 [[ 9.99384801e-01 -3.13571556e-02 -1.57081965e-02 3.79810229e+02] [ 3.13584570e-02 9.99508189e-01 -1.63511887e-04 3.81010188e+00] [ 1.57055983e-02 -3.29173510e-04 9.99876605e-01 5.86817065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.179254154 meters Centerline goodness : 0.999048 Centerline is valid? [True, True] Translation: X:379.84, Y:3.81, Z:5.87 [[ 9.99140121e-01 -3.83701881e-02 -1.57082024e-02 3.79842111e+02] [ 3.83723643e-02 9.99263496e-01 -1.62945200e-04 3.80828585e+00] [ 1.57028854e-02 -4.39955776e-04 9.99876605e-01 5.86798567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.20925415399995 meters Centerline goodness : 0.999005 Centerline is valid? [True, True] Translation: X:379.87, Y:3.81, Z:5.87 [[ 9.98985169e-01 -4.22123747e-02 -1.57082143e-02 3.79874598e+02] [ 4.22150436e-02 9.99108535e-01 -1.61788296e-04 3.80750229e+00] [ 1.57010404e-02 -5.01498841e-04 9.99876605e-01 5.86842263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.239254154 meters Centerline goodness : 0.999004 Centerline is valid? [True, True] Translation: X:379.91, Y:3.81, Z:5.87 [[ 9.98831905e-01 -4.56954917e-02 -1.57082261e-02 3.79906768e+02] [ 4.56986089e-02 9.98955260e-01 -1.60635132e-04 3.80652340e+00] [ 1.56991553e-02 -5.57396584e-04 9.99876605e-01 5.86885579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.26925415399995 meters Centerline goodness : 0.998858 Centerline is valid? [True, True] Translation: X:379.94, Y:3.80, Z:5.87 [[ 9.98530107e-01 -5.18736588e-02 -1.57082378e-02 3.79937974e+02] [ 5.18775571e-02 9.98653440e-01 -1.59483582e-04 3.80460020e+00] [ 1.56953587e-02 -6.55655842e-04 9.99876605e-01 5.86904744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.2992541539999 meters Centerline goodness : 0.998880 Centerline is valid? [True, True] Translation: X:379.97, Y:3.80, Z:5.87 [[ 9.98394201e-01 -5.44267519e-02 -1.57082464e-02 3.79970979e+02] [ 5.44309790e-02 9.98517523e-01 -1.58625032e-04 3.80404902e+00] [ 1.56935928e-02 -6.96644918e-04 9.99876605e-01 5.86985356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.32925415399995 meters Centerline goodness : 0.998879 Centerline is valid? [True, True] Translation: X:380.00, Y:3.80, Z:5.87 [[ 9.98287504e-01 -5.63498881e-02 -1.57082636e-02 3.80004347e+02] [ 5.63543797e-02 9.98410817e-01 -1.56909403e-04 3.80386502e+00] [ 1.56921421e-02 -7.28588752e-04 9.99876605e-01 5.87066866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.3592541539999 meters Centerline goodness : 0.998881 Centerline is valid? [True, True] Translation: X:380.04, Y:3.80, Z:5.87 [[ 9.98198707e-01 -5.79015705e-02 -1.57082806e-02 3.80036673e+02] [ 5.79062809e-02 9.98322011e-01 -1.55180284e-04 3.80398856e+00] [ 1.56909075e-02 -7.54707351e-04 9.99876605e-01 5.87142223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.38925415399996 meters Centerline goodness : 0.998881 Centerline is valid? [True, True] Translation: X:380.07, Y:3.80, Z:5.87 [[ 9.98096889e-01 -5.96309502e-02 -1.57082947e-02 3.80069215e+02] [ 5.96358968e-02 9.98220184e-01 -1.53744955e-04 3.80394855e+00] [ 1.56895048e-02 -7.83325880e-04 9.99876605e-01 5.87193817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.41925415399993 meters Centerline goodness : 0.998945 Centerline is valid? [True, True] Translation: X:380.10, Y:3.80, Z:5.87 [[ 9.98076624e-01 -5.99691794e-02 -1.57083111e-02 3.80102318e+02] [ 5.99741945e-02 9.98199916e-01 -1.52044947e-04 3.80414424e+00] [ 1.56891529e-02 -7.90340801e-04 9.99876605e-01 5.87243794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.44925415399996 meters Centerline goodness : 0.998902 Centerline is valid? [True, True] Translation: X:380.13, Y:3.80, Z:5.87 [[ 9.98075620e-01 -5.99858720e-02 -1.57083276e-02 3.80134321e+02] [ 5.99909162e-02 9.98198912e-01 -1.50321187e-04 3.80444322e+00] [ 1.56890527e-02 -7.92325055e-04 9.99876605e-01 5.87301264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.47925415399993 meters Centerline goodness : 0.998985 Centerline is valid? [True, True] Translation: X:380.17, Y:3.80, Z:5.87 [[ 9.98102161e-01 -5.95426286e-02 -1.57083412e-02 3.80166062e+02] [ 5.95476404e-02 9.98225454e-01 -1.48893651e-04 3.80491358e+00] [ 1.56893315e-02 -7.86783576e-04 9.99876605e-01 5.87360788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.50925415399996 meters Centerline goodness : 0.998923 Centerline is valid? [True, True] Translation: X:380.20, Y:3.81, Z:5.87 [[ 9.98136230e-01 -5.89687505e-02 -1.57083672e-02 3.80199110e+02] [ 5.89737354e-02 9.98259524e-01 -1.46090974e-04 3.80536355e+00] [ 1.56896420e-02 -7.80562399e-04 9.99876605e-01 5.87442439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.53925415399993 meters Centerline goodness : 0.999029 Centerline is valid? [True, True] Translation: X:380.23, Y:3.81, Z:5.88 [[ 9.98176691e-01 -5.82798522e-02 -1.57083823e-02 3.80232280e+02] [ 5.82847778e-02 9.98299987e-01 -1.44449268e-04 3.80598878e+00] [ 1.56900964e-02 -7.71373682e-04 9.99876605e-01 5.87511988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.56925415399996 meters Centerline goodness : 0.998962 Centerline is valid? [True, True] Translation: X:380.26, Y:3.81, Z:5.88 [[ 9.98271537e-01 -5.66320051e-02 -1.57083972e-02 3.80264196e+02] [ 5.66367528e-02 9.98394841e-01 -1.42814749e-04 3.80760868e+00] [ 1.56912706e-02 -7.47104710e-04 9.99876605e-01 5.87592699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.59925415399994 meters Centerline goodness : 0.999133 Centerline is valid? [True, True] Translation: X:380.30, Y:3.81, Z:5.88 [[ 9.98336944e-01 -5.54670364e-02 -1.57084075e-02 3.80296064e+02] [ 5.54716583e-02 9.98460252e-01 -1.41667385e-04 3.80836499e+00] [ 1.56920784e-02 -7.29939631e-04 9.99876605e-01 5.87610186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.62925415399997 meters Centerline goodness : 0.999131 Centerline is valid? [True, True] Translation: X:380.33, Y:3.81, Z:5.88 [[ 9.98403557e-01 -5.42548026e-02 -1.57084178e-02 3.80328482e+02] [ 5.42592928e-02 9.98526870e-01 -1.40520147e-04 3.80925261e+00] [ 1.56929012e-02 -7.12031826e-04 9.99876605e-01 5.87602665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.65925415399994 meters Centerline goodness : 0.999003 Centerline is valid? [True, True] Translation: X:380.36, Y:3.81, Z:5.88 [[ 9.98496976e-01 -5.25074723e-02 -1.57084280e-02 3.80361127e+02] [ 5.25117647e-02 9.98620296e-01 -1.39369572e-04 3.81001963e+00] [ 1.56940730e-02 -6.85717180e-04 9.99876605e-01 5.87587698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.68925415399997 meters Centerline goodness : 0.999237 Centerline is valid? [True, True] Translation: X:380.39, Y:3.81, Z:5.88 [[ 9.98686727e-01 -4.87654179e-02 -1.57084381e-02 3.80393336e+02] [ 4.87692662e-02 9.98810062e-01 -1.38224420e-04 3.81163609e+00] [ 1.56964866e-02 -6.28046105e-04 9.99876605e-01 5.87592352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.71925415399994 meters Centerline goodness : 0.998959 Centerline is valid? [True, True] Translation: X:380.43, Y:3.81, Z:5.88 [[ 9.98789320e-01 -4.66169334e-02 -1.57084482e-02 3.80425595e+02] [ 4.66205344e-02 9.98912662e-01 -1.37069123e-04 3.81281154e+00] [ 1.56977575e-02 -5.95433072e-04 9.99876605e-01 5.87649217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.74925415399997 meters Centerline goodness : 0.999066 Centerline is valid? [True, True] Translation: X:380.46, Y:3.81, Z:5.88 [[ 9.98918124e-01 -4.37701422e-02 -1.57084583e-02 3.80457086e+02] [ 4.37734101e-02 9.99041476e-01 -1.35902354e-04 3.81400344e+00] [ 1.56993498e-02 -5.51857460e-04 9.99876605e-01 5.87672275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.77925415399994 meters Centerline goodness : 0.999044 Centerline is valid? [True, True] Translation: X:380.49, Y:3.82, Z:5.88 [[ 9.99040681e-01 -4.08774008e-02 -1.57084747e-02 3.80488684e+02] [ 4.08803417e-02 9.99164040e-01 -1.33970616e-04 3.81539268e+00] [ 1.57008195e-02 -5.08325720e-04 9.99876605e-01 5.87739888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.809254154 meters Centerline goodness : 0.999170 Centerline is valid? [True, True] Translation: X:380.52, Y:3.82, Z:5.88 [[ 9.99274476e-01 -3.46953099e-02 -1.57084820e-02 3.80521039e+02] [ 3.46975010e-02 9.99397852e-01 -1.33114072e-04 3.81800935e+00] [ 1.57036416e-02 -4.12027575e-04 9.99876605e-01 5.87886390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.83925415399995 meters Centerline goodness : 0.999002 Centerline is valid? [True, True] Translation: X:380.55, Y:3.82, Z:5.88 [[ 9.99372057e-01 -3.17606023e-02 -1.57084916e-02 3.80553693e+02] [ 3.17624490e-02 9.99495437e-01 -1.31968790e-04 3.81909566e+00] [ 1.57047571e-02 -3.67054243e-04 9.99876605e-01 5.88048287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.869254154 meters Centerline goodness : 0.999023 Centerline is valid? [True, True] Translation: X:380.58, Y:3.82, Z:5.88 [[ 9.99448733e-01 -2.92484784e-02 -1.57085013e-02 3.80584606e+02] [ 2.92500334e-02 9.99572118e-01 -1.30805319e-04 3.82000290e+00] [ 1.57056058e-02 -3.28740977e-04 9.99876605e-01 5.88090397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.89925415399995 meters Centerline goodness : 0.999023 Centerline is valid? [True, True] Translation: X:380.62, Y:3.82, Z:5.88 [[ 9.99538346e-01 -2.60064842e-02 -1.57085085e-02 3.80616040e+02] [ 2.60076525e-02 9.99661735e-01 -1.29938682e-04 3.82066213e+00] [ 1.57065741e-02 -2.78662734e-04 9.99876605e-01 5.88228648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.929254154 meters Centerline goodness : 0.999149 Centerline is valid? [True, True] Translation: X:380.65, Y:3.82, Z:5.88 [[ 9.99559570e-01 -2.51775331e-02 -1.57085132e-02 3.80647283e+02] [ 2.51786080e-02 9.99682960e-01 -1.29368600e-04 3.82102642e+00] [ 1.57067901e-02 -2.66206874e-04 9.99876605e-01 5.88331193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.95925415399995 meters Centerline goodness : 0.998896 Centerline is valid? [True, True] Translation: X:380.68, Y:3.82, Z:5.88 [[ 9.99573245e-01 -2.46286603e-02 -1.57085179e-02 3.80677478e+02] [ 2.46296766e-02 9.99696635e-01 -1.28786921e-04 3.82118131e+00] [ 1.57069244e-02 -2.58163757e-04 9.99876605e-01 5.88346713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.989254154 meters Centerline goodness : 0.999108 Centerline is valid? [True, True] Translation: X:380.71, Y:3.82, Z:5.88 [[ 9.99579822e-01 -2.43602508e-02 -1.57085203e-02 3.80707694e+02] [ 2.43612385e-02 9.99703213e-01 -1.28498574e-04 3.82127177e+00] [ 1.57069885e-02 -2.54234428e-04 9.99876605e-01 5.88334797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.01925415399995 meters Centerline goodness : 0.999107 Centerline is valid? [True, True] Translation: X:380.74, Y:3.82, Z:5.88 [[ 9.99568491e-01 -2.48208264e-02 -1.57085203e-02 3.80737933e+02] [ 2.48218710e-02 9.99691882e-01 -1.28498574e-04 3.82131383e+00] [ 1.57068697e-02 -2.61471739e-04 9.99876605e-01 5.88254903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.0492541539999 meters Centerline goodness : 0.998960 Centerline is valid? [True, True] Translation: X:380.77, Y:3.82, Z:5.88 [[ 9.99566676e-01 -2.48938418e-02 -1.57085203e-02 3.80768549e+02] [ 2.48948954e-02 9.99690066e-01 -1.28498574e-04 3.82110600e+00] [ 1.57068505e-02 -2.62619077e-04 9.99876605e-01 5.88294252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.07925415399995 meters Centerline goodness : 0.999066 Centerline is valid? [True, True] Translation: X:380.80, Y:3.82, Z:5.88 [[ 9.99529173e-01 -2.63566819e-02 -1.57085203e-02 3.80798555e+02] [ 2.63579160e-02 9.99652562e-01 -1.28498574e-04 3.82136239e+00] [ 1.57064494e-02 -2.85605786e-04 9.99876605e-01 5.88190963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.1092541539999 meters Centerline goodness : 0.998999 Centerline is valid? [True, True] Translation: X:380.83, Y:3.82, Z:5.88 [[ 9.99502489e-01 -2.73499053e-02 -1.57085226e-02 3.80830051e+02] [ 2.73512666e-02 9.99625876e-01 -1.28211865e-04 3.82097676e+00] [ 1.57061523e-02 -3.01499912e-04 9.99876605e-01 5.88272934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.13925415399996 meters Centerline goodness : 0.999044 Centerline is valid? [True, True] Translation: X:380.86, Y:3.82, Z:5.88 [[ 9.99471764e-01 -2.84505717e-02 -1.57085273e-02 3.80861373e+02] [ 2.84520780e-02 9.99595150e-01 -1.27632139e-04 3.82064227e+00] [ 1.57057990e-02 -3.19375526e-04 9.99876605e-01 5.88257972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.16925415399993 meters Centerline goodness : 0.999066 Centerline is valid? [True, True] Translation: X:380.89, Y:3.82, Z:5.88 [[ 9.99408853e-01 -3.05808051e-02 -1.57085426e-02 3.80892188e+02] [ 3.05826044e-02 9.99532235e-01 -1.25722639e-04 3.81986313e+00] [ 1.57050394e-02 -3.54759826e-04 9.99876605e-01 5.88179183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.19925415399996 meters Centerline goodness : 0.998959 Centerline is valid? [True, True] Translation: X:380.92, Y:3.82, Z:5.88 [[ 9.99387997e-01 -3.12549555e-02 -1.57085495e-02 3.80923042e+02] [ 3.12568515e-02 9.99511377e-01 -1.24864900e-04 3.81976965e+00] [ 1.57047765e-02 -3.66211315e-04 9.99876605e-01 5.88310977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.22925415399993 meters Centerline goodness : 0.999174 Centerline is valid? [True, True] Translation: X:380.95, Y:3.82, Z:5.88 [[ 9.99374975e-01 -3.16686188e-02 -1.57085540e-02 3.80954734e+02] [ 3.16705749e-02 9.99498354e-01 -1.24288673e-04 3.81934848e+00] [ 1.57046099e-02 -3.73287946e-04 9.99876605e-01 5.88353499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.25925415399996 meters Centerline goodness : 0.999174 Centerline is valid? [True, True] Translation: X:380.99, Y:3.82, Z:5.88 [[ 9.99376132e-01 -3.16320684e-02 -1.57085608e-02 3.80986575e+02] [ 3.16340336e-02 9.99499511e-01 -1.23423249e-04 3.81956893e+00] [ 1.57046030e-02 -3.73578891e-04 9.99876605e-01 5.88403497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.28925415399993 meters Centerline goodness : 0.998941 Centerline is valid? [True, True] Translation: X:381.02, Y:3.82, Z:5.88 [[ 9.99382975e-01 -3.14151420e-02 -1.57085653e-02 3.81017532e+02] [ 3.14170894e-02 9.99506354e-01 -1.22848879e-04 3.81956977e+00] [ 1.57046701e-02 -3.70744322e-04 9.99876605e-01 5.88422304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.31925415399996 meters Centerline goodness : 0.999006 Centerline is valid? [True, True] Translation: X:381.05, Y:3.82, Z:5.89 [[ 9.99412023e-01 -3.04770285e-02 -1.57085720e-02 3.81049308e+02] [ 3.04788736e-02 9.99535404e-01 -1.21990312e-04 3.81940270e+00] [ 1.57049917e-02 -3.56860995e-04 9.99876605e-01 5.88554021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.34925415399994 meters Centerline goodness : 0.999088 Centerline is valid? [True, True] Translation: X:381.08, Y:3.82, Z:5.89 [[ 9.99421617e-01 -3.01607586e-02 -1.57085763e-02 3.81080120e+02] [ 3.01625735e-02 9.99544999e-01 -1.21424632e-04 3.81964134e+00] [ 1.57050912e-02 -3.52456687e-04 9.99876605e-01 5.88578065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.37925415399997 meters Centerline goodness : 0.999067 Centerline is valid? [True, True] Translation: X:381.11, Y:3.82, Z:5.89 [[ 9.99433767e-01 -2.97554474e-02 -1.57085785e-02 3.81111414e+02] [ 2.97572167e-02 9.99557149e-01 -1.21144032e-04 3.81977602e+00] [ 1.57052266e-02 -3.46368138e-04 9.99876605e-01 5.88635408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.40925415399994 meters Centerline goodness : 0.998961 Centerline is valid? [True, True] Translation: X:381.14, Y:3.82, Z:5.89 [[ 9.99442973e-01 -2.94445999e-02 -1.57085828e-02 3.81142718e+02] [ 2.94463396e-02 9.99566355e-01 -1.20587537e-04 3.81959898e+00] [ 1.57053215e-02 -3.42039896e-04 9.99876605e-01 5.88642807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.43925415399997 meters Centerline goodness : 0.999047 Centerline is valid? [True, True] Translation: X:381.17, Y:3.82, Z:5.89 [[ 9.99430117e-01 -2.98777803e-02 -1.57085871e-02 3.81173621e+02] [ 2.98795823e-02 9.99553498e-01 -1.20023648e-04 3.81959927e+00] [ 1.57051592e-02 -3.49410772e-04 9.99876605e-01 5.88652292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.46925415399994 meters Centerline goodness : 0.999110 Centerline is valid? [True, True] Translation: X:381.20, Y:3.82, Z:5.89 [[ 9.99401762e-01 -3.08116550e-02 -1.57085914e-02 3.81203764e+02] [ 3.08135811e-02 9.99525142e-01 -1.19462125e-04 3.81940922e+00] [ 1.57048128e-02 -3.64647296e-04 9.99876605e-01 5.88600837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.49925415399997 meters Centerline goodness : 0.999069 Centerline is valid? [True, True] Translation: X:381.23, Y:3.82, Z:5.88 [[ 9.99316998e-01 -3.34481416e-02 -1.57085935e-02 3.81234679e+02] [ 3.34503975e-02 9.99440372e-01 -1.19183803e-04 3.81820366e+00] [ 1.57037890e-02 -4.06356296e-04 9.99876605e-01 5.88492553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.52925415399994 meters Centerline goodness : 0.998942 Centerline is valid? [True, True] Translation: X:381.27, Y:3.82, Z:5.88 [[ 9.99274277e-01 -3.47010120e-02 -1.57085976e-02 3.81266634e+02] [ 3.47034313e-02 9.99397647e-01 -1.18632073e-04 3.81744995e+00] [ 1.57032522e-02 -4.26596261e-04 9.99876605e-01 5.88461729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.559254154 meters Centerline goodness : 0.999048 Centerline is valid? [True, True] Translation: X:381.30, Y:3.82, Z:5.88 [[ 9.99228386e-01 -3.59982399e-02 -1.57086059e-02 3.81297458e+02] [ 3.60008367e-02 9.99351753e-01 -1.17526912e-04 3.81714271e+00] [ 1.57026536e-02 -4.48086730e-04 9.99876605e-01 5.88426044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.58925415399995 meters Centerline goodness : 0.998940 Centerline is valid? [True, True] Translation: X:381.33, Y:3.82, Z:5.88 [[ 9.99214487e-01 -3.63819883e-02 -1.57086120e-02 3.81329370e+02] [ 3.63846454e-02 9.99337853e-01 -1.16704188e-04 3.81686334e+00] [ 1.57024565e-02 -4.54939763e-04 9.99876605e-01 5.88400803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.619254154 meters Centerline goodness : 0.998983 Centerline is valid? [True, True] Translation: X:381.36, Y:3.82, Z:5.88 [[ 9.99227044e-01 -3.60354552e-02 -1.57086200e-02 3.81361142e+02] [ 3.60380866e-02 9.99350411e-01 -1.15620746e-04 3.81751779e+00] [ 1.57025823e-02 -4.50577231e-04 9.99876605e-01 5.88458013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.64925415399995 meters Centerline goodness : 0.999047 Centerline is valid? [True, True] Translation: X:381.39, Y:3.82, Z:5.88 [[ 9.99270431e-01 -3.48115536e-02 -1.57086280e-02 3.81392998e+02] [ 3.48140512e-02 9.99393801e-01 -1.14516495e-04 3.81782590e+00] [ 1.57030920e-02 -4.32448033e-04 9.99876605e-01 5.88499783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.679254154 meters Centerline goodness : 0.999026 Centerline is valid? [True, True] Translation: X:381.42, Y:3.82, Z:5.89 [[ 9.99331050e-01 -3.30256219e-02 -1.57086361e-02 3.81424726e+02] [ 3.30279165e-02 9.99454423e-01 -1.13406281e-04 3.81815570e+00] [ 1.57038111e-02 -4.05493102e-04 9.99876605e-01 5.88564787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.70925415399995 meters Centerline goodness : 0.999069 Centerline is valid? [True, True] Translation: X:381.46, Y:3.82, Z:5.89 [[ 9.99493288e-01 -2.76840321e-02 -1.57086440e-02 3.81455775e+02] [ 2.76856848e-02 9.99616672e-01 -1.12290506e-04 3.81929991e+00] [ 1.57057311e-02 -3.22670960e-04 9.99876605e-01 5.88642034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.739254154 meters Centerline goodness : 0.998899 Centerline is valid? [True, True] Translation: X:381.49, Y:3.82, Z:5.89 [[ 9.99572133e-01 -2.46736386e-02 -1.57086499e-02 3.81487522e+02] [ 2.46749327e-02 9.99695521e-01 -1.11459684e-04 3.82037838e+00] [ 1.57066171e-02 -2.76197886e-04 9.99876605e-01 5.88729037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.76925415399995 meters Centerline goodness : 0.999045 Centerline is valid? [True, True] Translation: X:381.52, Y:3.82, Z:5.89 [[ 9.99643947e-01 -2.15688896e-02 -1.57086538e-02 3.81518167e+02] [ 2.15698090e-02 9.99767338e-01 -1.10914979e-04 3.82130530e+00] [ 1.57073913e-02 -2.27957174e-04 9.99876605e-01 5.88823278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.7992541539999 meters Centerline goodness : 0.998937 Centerline is valid? [True, True] Translation: X:381.55, Y:3.82, Z:5.89 [[ 9.99751025e-01 -1.58469560e-02 -1.57086538e-02 3.81547725e+02] [ 1.58471692e-02 9.99874420e-01 -1.10914979e-04 3.82255814e+00] [ 1.57084387e-02 -1.38050330e-04 9.99876605e-01 5.88922498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.82925415399995 meters Centerline goodness : 0.998723 Centerline is valid? [True, True] Translation: X:381.58, Y:3.82, Z:5.89 [[ 9.99783431e-01 -1.36502426e-02 -1.57086499e-02 3.81575541e+02] [ 1.36501760e-02 9.99906826e-01 -1.11466165e-04 3.82299404e+00] [ 1.57087078e-02 -1.02983810e-04 9.99876605e-01 5.89034027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.8592541539999 meters Centerline goodness : 0.998851 Centerline is valid? [True, True] Translation: X:381.60, Y:3.82, Z:5.89 [[ 9.99805551e-01 -1.19205473e-02 -1.57086158e-02 3.81603414e+02] [ 1.19201947e-02 9.99928945e-01 -1.16075828e-04 3.82313307e+00] [ 1.57088833e-02 -7.11965021e-05 9.99876605e-01 5.89049803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.88925415399996 meters Centerline goodness : 0.998916 Centerline is valid? [True, True] Translation: X:381.63, Y:3.82, Z:5.89 [[ 9.99823350e-01 -1.03203269e-02 -1.57085804e-02 3.81631109e+02] [ 1.03197045e-02 9.99946743e-01 -1.20687205e-04 3.82249371e+00] [ 1.57089893e-02 -4.14420215e-05 9.99876605e-01 5.88961017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.91925415399993 meters Centerline goodness : 0.998852 Centerline is valid? [True, True] Translation: X:381.66, Y:3.82, Z:5.89 [[ 9.99823809e-01 -1.02758662e-02 -1.57085436e-02 3.81658664e+02] [ 1.02751658e-02 9.99947201e-01 -1.25293298e-04 3.82203602e+00] [ 1.57090017e-02 -3.61366683e-05 9.99876605e-01 5.88949473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.94925415399996 meters Centerline goodness : 0.998832 Centerline is valid? [True, True] Translation: X:381.69, Y:3.82, Z:5.89 [[ 9.99817413e-01 -1.08804381e-02 -1.57085056e-02 3.81686727e+02] [ 1.08797401e-02 9.99940805e-01 -1.29896479e-04 3.82166622e+00] [ 1.57089890e-02 -4.10316962e-05 9.99876605e-01 5.88940199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.97925415399993 meters Centerline goodness : 0.999149 Centerline is valid? [True, True] Translation: X:381.71, Y:3.82, Z:5.89 [[ 9.99789641e-01 -1.31877602e-02 -1.57084665e-02 3.81714796e+02] [ 1.31872751e-02 9.99913035e-01 -1.34463021e-04 3.82005533e+00] [ 1.57088737e-02 -7.27171341e-05 9.99876605e-01 5.88908611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.00925415399996 meters Centerline goodness : 0.998898 Centerline is valid? [True, True] Translation: X:381.74, Y:3.82, Z:5.89 [[ 9.99767611e-01 -1.47637681e-02 -1.57084255e-02 3.81742584e+02] [ 1.47634049e-02 9.99891005e-01 -1.39089698e-04 3.81905348e+00] [ 1.57087669e-02 -9.28524710e-05 9.99876605e-01 5.89013338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.03925415399993 meters Centerline goodness : 0.998833 Centerline is valid? [True, True] Translation: X:381.77, Y:3.82, Z:5.89 [[ 9.99732299e-01 -1.69875728e-02 -1.57083833e-02 3.81769519e+02] [ 1.69874116e-02 9.99855693e-01 -1.43704573e-04 3.81826827e+00] [ 1.57085577e-02 -1.23178669e-04 9.99876605e-01 5.89051888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.06925415399996 meters Centerline goodness : 0.998748 Centerline is valid? [True, True] Translation: X:381.80, Y:3.82, Z:5.89 [[ 9.99676477e-01 -2.00047269e-02 -1.57083536e-02 3.81798762e+02] [ 2.00048882e-02 9.99799871e-01 -1.46881296e-04 3.81772693e+00] [ 1.57081482e-02 -1.67410080e-04 9.99876605e-01 5.89035260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.09925415399994 meters Centerline goodness : 0.998836 Centerline is valid? [True, True] Translation: X:381.83, Y:3.82, Z:5.89 [[ 9.99561190e-01 -2.51132543e-02 -1.57083154e-02 3.81827206e+02] [ 2.51139837e-02 9.99684583e-01 -1.50853743e-04 3.81552583e+00] [ 1.57071492e-02 -2.43710832e-04 9.99876605e-01 5.89187116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.12925415399997 meters Centerline goodness : 0.999070 Centerline is valid? [True, True] Translation: X:381.86, Y:3.81, Z:5.89 [[ 9.99487543e-01 -2.78909017e-02 -1.57082762e-02 3.81857442e+02] [ 2.78919115e-02 9.99610933e-01 -1.54830758e-04 3.81467106e+00] [ 1.57064830e-02 -2.83382437e-04 9.99876605e-01 5.89229270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.15925415399994 meters Centerline goodness : 0.998755 Centerline is valid? [True, True] Translation: X:381.89, Y:3.81, Z:5.89 [[ 9.99428056e-01 -2.99467903e-02 -1.57082762e-02 3.81888443e+02] [ 2.99480540e-02 9.99551444e-01 -1.54830758e-04 3.81365861e+00] [ 1.57058669e-02 -3.15690101e-04 9.99876605e-01 5.89443161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.18925415399997 meters Centerline goodness : 0.998841 Centerline is valid? [True, True] Translation: X:381.92, Y:3.81, Z:5.89 [[ 9.99255811e-01 -3.52288922e-02 -1.57082819e-02 3.81919389e+02] [ 3.52308171e-02 9.99379190e-01 -1.54252109e-04 3.81154732e+00] [ 1.57039642e-02 -3.99278292e-04 9.99876605e-01 5.89479985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.21925415399994 meters Centerline goodness : 0.998778 Centerline is valid? [True, True] Translation: X:381.95, Y:3.81, Z:5.90 [[ 9.99173880e-01 -3.74807509e-02 -1.57082876e-02 3.81951173e+02] [ 3.74829630e-02 9.99297255e-01 -1.53673962e-04 3.81052717e+00] [ 1.57030085e-02 -4.35246153e-04 9.99876605e-01 5.89585506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.24925415399997 meters Centerline goodness : 0.998611 Centerline is valid? [True, True] Translation: X:381.98, Y:3.81, Z:5.90 [[ 9.99086921e-01 -3.97312661e-02 -1.57082988e-02 3.81983725e+02] [ 3.97337741e-02 9.99210290e-01 -1.52520168e-04 3.80952367e+00] [ 1.57019536e-02 -4.71769091e-04 9.99876605e-01 5.89702925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.27925415399994 meters Centerline goodness : 0.998820 Centerline is valid? [True, True] Translation: X:382.02, Y:3.81, Z:5.90 [[ 9.98831934e-01 -4.56948222e-02 -1.57083099e-02 3.82016327e+02] [ 4.56980848e-02 9.98955285e-01 -1.51366870e-04 3.80756751e+00] [ 1.56988159e-02 -5.66649615e-04 9.99876605e-01 5.89609803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.309254154 meters Centerline goodness : 0.998735 Centerline is valid? [True, True] Translation: X:382.05, Y:3.81, Z:5.90 [[ 9.98687903e-01 -4.87413685e-02 -1.57083212e-02 3.82048099e+02] [ 4.87450260e-02 9.98811243e-01 -1.50185410e-04 3.80664486e+00] [ 1.56969681e-02 -6.15714173e-04 9.99876605e-01 5.89581915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.33925415399995 meters Centerline goodness : 0.998465 Centerline is valid? [True, True] Translation: X:382.08, Y:3.81, Z:5.90 [[ 9.98552053e-01 -5.14494488e-02 -1.57083323e-02 3.82079959e+02] [ 5.14534592e-02 9.98675382e-01 -1.49009151e-04 3.80547087e+00] [ 1.56951913e-02 -6.59454643e-04 9.99876605e-01 5.89602664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.369254154 meters Centerline goodness : 0.998655 Centerline is valid? [True, True] Translation: X:382.11, Y:3.80, Z:5.89 [[ 9.98185333e-01 -5.81316439e-02 -1.57083461e-02 3.82112686e+02] [ 5.81365027e-02 9.98308632e-01 -1.47541028e-04 3.80337725e+00] [ 1.56903544e-02 -7.65955017e-04 9.99876605e-01 5.89448921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.39925415399995 meters Centerline goodness : 0.998929 Centerline is valid? [True, True] Translation: X:382.15, Y:3.80, Z:5.89 [[ 9.98006987e-01 -6.11171120e-02 -1.57083626e-02 3.82145405e+02] [ 6.11223673e-02 9.98130270e-01 -1.45770261e-04 3.80282540e+00] [ 1.56879012e-02 -8.14652568e-04 9.99876605e-01 5.89401273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.429254154 meters Centerline goodness : 0.998655 Centerline is valid? [True, True] Translation: X:382.18, Y:3.80, Z:5.89 [[ 9.97882788e-01 -6.31124988e-02 -1.57083788e-02 3.82178760e+02] [ 6.31180283e-02 9.98006059e-01 -1.44004560e-04 3.80251644e+00] [ 1.56861457e-02 -8.47782223e-04 9.99876605e-01 5.89494401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.45925415399995 meters Centerline goodness : 0.998843 Centerline is valid? [True, True] Translation: X:382.21, Y:3.80, Z:5.89 [[ 9.97670832e-01 -6.63788935e-02 -1.57083948e-02 3.82211057e+02] [ 6.63848544e-02 9.97794082e-01 -1.42231461e-04 3.80242408e+00] [ 1.56831846e-02 -9.00899323e-04 9.99876605e-01 5.89414276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.489254154 meters Centerline goodness : 0.999012 Centerline is valid? [True, True] Translation: X:382.24, Y:3.80, Z:5.89 [[ 9.97652863e-01 -6.66484075e-02 -1.57084080e-02 3.82243956e+02] [ 6.66544248e-02 9.97776111e-01 -1.40762511e-04 3.80262927e+00] [ 1.56828558e-02 -9.06602776e-04 9.99876605e-01 5.89472446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.51925415399995 meters Centerline goodness : 0.998567 Centerline is valid? [True, True] Translation: X:382.28, Y:3.80, Z:5.90 [[ 9.97732101e-01 -6.54515088e-02 -1.57084235e-02 3.82276746e+02] [ 6.54574057e-02 9.97855355e-01 -1.39011078e-04 3.80379242e+00] [ 1.56838330e-02 -8.89536833e-04 9.99876605e-01 5.89592047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.5492541539999 meters Centerline goodness : 0.998567 Centerline is valid? [True, True] Translation: X:382.31, Y:3.80, Z:5.90 [[ 9.97739389e-01 -6.53403127e-02 -1.57084388e-02 3.82310280e+02] [ 6.53462233e-02 9.97862642e-01 -1.37261370e-04 3.80399478e+00] [ 1.56838329e-02 -8.89536071e-04 9.99876605e-01 5.89644682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.57925415399995 meters Centerline goodness : 0.998779 Centerline is valid? [True, True] Translation: X:382.34, Y:3.81, Z:5.90 [[ 9.97943919e-01 -6.21383844e-02 -1.57084539e-02 3.82343261e+02] [ 6.21439269e-02 9.98067189e-01 -1.35510903e-04 3.80561213e+00] [ 1.56865128e-02 -8.40952727e-04 9.99876605e-01 5.89609457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.6092541539999 meters Centerline goodness : 0.998673 Centerline is valid? [True, True] Translation: X:382.37, Y:3.81, Z:5.90 [[ 9.98103050e-01 -5.95276926e-02 -1.57084687e-02 3.82374657e+02] [ 5.95329401e-02 9.98226333e-01 -1.33767852e-04 3.80710913e+00] [ 1.56885700e-02 -8.01657225e-04 9.99876605e-01 5.89737729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.63925415399996 meters Centerline goodness : 0.998672 Centerline is valid? [True, True] Translation: X:382.41, Y:3.81, Z:5.90 [[ 9.98343663e-01 -5.53459675e-02 -1.57083884e-02 3.82407916e+02] [ 5.53505475e-02 9.98466973e-01 -1.43378548e-04 3.80989687e+00] [ 1.56922424e-02 -7.26326834e-04 9.99876605e-01 5.89596460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.66925415399993 meters Centerline goodness : 0.998798 Centerline is valid? [True, True] Translation: X:382.44, Y:3.81, Z:5.90 [[ 9.98485138e-01 -5.27320750e-02 -1.57084951e-02 3.82439594e+02] [ 5.27365337e-02 9.98608452e-01 -1.30542823e-04 3.81123373e+00] [ 1.56935197e-02 -6.98066512e-04 9.99876605e-01 5.89709224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.69925415399996 meters Centerline goodness : 0.998797 Centerline is valid? [True, True] Translation: X:382.47, Y:3.81, Z:5.90 [[ 9.98696441e-01 -4.85660524e-02 -1.57085046e-02 3.82470689e+02] [ 4.85700148e-02 9.98819772e-01 -1.29387522e-04 3.81340098e+00] [ 1.56962488e-02 -6.33743442e-04 9.99876605e-01 5.89664120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.72925415399993 meters Centerline goodness : 0.999008 Centerline is valid? [True, True] Translation: X:382.50, Y:3.81, Z:5.90 [[ 9.98827901e-01 -4.57828207e-02 -1.57085199e-02 3.82502680e+02] [ 4.57864691e-02 9.98951242e-01 -1.27496725e-04 3.81462171e+00] [ 1.56978827e-02 -5.91890376e-04 9.99876605e-01 5.89804422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.75925415399996 meters Centerline goodness : 0.998965 Centerline is valid? [True, True] Translation: X:382.53, Y:3.82, Z:5.90 [[ 9.98932775e-01 -4.34344646e-02 -1.57085293e-02 3.82534988e+02] [ 4.34378413e-02 9.99056124e-01 -1.26332109e-04 3.81598817e+00] [ 1.56991896e-02 -5.56147318e-04 9.99876605e-01 5.89810550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.78925415399993 meters Centerline goodness : 0.998799 Centerline is valid? [True, True] Translation: X:382.57, Y:3.82, Z:5.90 [[ 9.99055748e-01 -4.05074512e-02 -1.57085386e-02 3.82566571e+02] [ 4.05104848e-02 9.99179106e-01 -1.25165335e-04 3.81752858e+00] [ 1.57007137e-02 -5.11313366e-04 9.99876605e-01 5.89924617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.81925415399996 meters Centerline goodness : 0.998752 Centerline is valid? [True, True] Translation: X:382.60, Y:3.82, Z:5.90 [[ 9.99145499e-01 -3.82297474e-02 -1.57085455e-02 3.82598088e+02] [ 3.82325134e-02 9.99268862e-01 -1.24297102e-04 3.81920703e+00] [ 1.57018122e-02 -4.76386286e-04 9.99876605e-01 5.89871609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.84925415399994 meters Centerline goodness : 0.998881 Centerline is valid? [True, True] Translation: X:382.63, Y:3.82, Z:5.90 [[ 9.99366035e-01 -3.19494821e-02 -1.57085522e-02 3.82629688e+02] [ 3.19514861e-02 9.99489413e-01 -1.23445285e-04 3.82228621e+00] [ 1.57044756e-02 -3.78544560e-04 9.99876605e-01 5.89937295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.87925415399997 meters Centerline goodness : 0.998839 Centerline is valid? [True, True] Translation: X:382.66, Y:3.82, Z:5.90 [[ 9.99451812e-01 -2.91430276e-02 -1.57085654e-02 3.82660887e+02] [ 2.91447120e-02 9.99575195e-01 -1.21734183e-04 3.82378298e+00] [ 1.57054401e-02 -3.36154165e-04 9.99876605e-01 5.89969320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.90925415399994 meters Centerline goodness : 0.998944 Centerline is valid? [True, True] Translation: X:382.69, Y:3.83, Z:5.90 [[ 9.99604755e-01 -2.33146903e-02 -1.57085698e-02 3.82691309e+02] [ 2.33156640e-02 9.99728146e-01 -1.21172367e-04 3.82580498e+00] [ 1.57071244e-02 -2.45131260e-04 9.99876605e-01 5.89941136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.93925415399997 meters Centerline goodness : 0.998900 Centerline is valid? [True, True] Translation: X:382.72, Y:3.83, Z:5.90 [[ 9.99664245e-01 -2.06067568e-02 -1.57085698e-02 3.82721272e+02] [ 2.06073963e-02 9.99787638e-01 -1.21172367e-04 3.82698071e+00] [ 1.57077308e-02 -2.02581040e-04 9.99876605e-01 5.89977390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.96925415399994 meters Centerline goodness : 0.999111 Centerline is valid? [True, True] Translation: X:382.75, Y:3.83, Z:5.90 [[ 9.99703916e-01 -1.85828054e-02 -1.57085655e-02 3.82746236e+02] [ 1.85831863e-02 9.99827310e-01 -1.21727324e-04 3.83472898e+00] [ 1.57081148e-02 -1.70223916e-04 9.99876605e-01 5.90072182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.99925415399997 meters Centerline goodness : 0.999004 Centerline is valid? [True, True] Translation: X:382.78, Y:3.83, Z:5.90 [[ 9.99792186e-01 -1.29962775e-02 -1.57061064e-02 3.82779752e+02] [ 1.29913563e-02 9.99915523e-01 -4.15325049e-04 3.83052445e+00] [ 1.57101773e-02 2.11195115e-04 9.99876565e-01 5.90099377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.02925415399994 meters Centerline goodness : 0.998812 Centerline is valid? [True, True] Translation: X:382.81, Y:3.83, Z:5.90 [[ 9.99816654e-01 -1.09500724e-02 -1.57084103e-02 3.82806345e+02] [ 1.09494703e-02 9.99940045e-01 -1.24337035e-04 3.83131566e+00] [ 1.57088300e-02 -4.76845339e-05 9.99876608e-01 5.90090776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.059254154 meters Centerline goodness : 0.998981 Centerline is valid? [True, True] Translation: X:382.83, Y:3.83, Z:5.90 [[ 9.99843304e-01 -8.16171846e-03 -1.57083945e-02 3.82834391e+02] [ 8.16074127e-03 9.99966693e-01 -1.26308741e-04 3.83171156e+00] [ 1.57089022e-02 -1.90319370e-06 9.99876608e-01 5.90128764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.08925415399995 meters Centerline goodness : 0.998917 Centerline is valid? [True, True] Translation: X:382.86, Y:3.83, Z:5.90 [[ 9.99847605e-01 -7.61676766e-03 -1.57083574e-02 3.82861893e+02] [ 7.61565322e-03 9.99970992e-01 -1.30763947e-04 3.83147882e+00] [ 1.57088977e-02 1.11146171e-05 9.99876608e-01 5.90175691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.119254154 meters Centerline goodness : 0.998472 Centerline is valid? [True, True] Translation: X:382.89, Y:3.84, Z:5.90 [[ 9.99820076e-01 -1.06331453e-02 -1.57083185e-02 3.82886016e+02] [ 1.06323322e-02 9.99943466e-01 -1.35278645e-04 3.83608072e+00] [ 1.57088689e-02 -3.17617558e-05 9.99876608e-01 5.90252630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.14925415399995 meters Centerline goodness : 0.998661 Centerline is valid? [True, True] Translation: X:382.92, Y:3.83, Z:5.90 [[ 9.99845136e-01 -7.93997683e-03 -1.57054076e-02 3.82919837e+02] [ 7.93401411e-03 9.99968428e-01 -4.41931871e-04 3.83052003e+00] [ 1.57084207e-02 3.17256506e-04 9.99876565e-01 5.90319488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.179254154 meters Centerline goodness : 0.998661 Centerline is valid? [True, True] Translation: X:382.95, Y:3.83, Z:5.90 [[ 9.99842741e-01 -8.23093449e-03 -1.57080996e-02 3.82948225e+02] [ 8.22975041e-03 9.99966125e-01 -1.40020426e-04 3.83068964e+00] [ 1.57087199e-02 1.07246682e-05 9.99876610e-01 5.90354668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.20925415399995 meters Centerline goodness : 0.999132 Centerline is valid? [True, True] Translation: X:382.98, Y:3.83, Z:5.90 [[ 9.99813790e-01 -1.12090710e-02 -1.57080568e-02 3.82975291e+02] [ 1.12081815e-02 9.99937176e-01 -1.44666595e-04 3.82865180e+00] [ 1.57086915e-02 -3.14190938e-05 9.99876610e-01 5.90346990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.239254154 meters Centerline goodness : 0.999069 Centerline is valid? [True, True] Translation: X:383.00, Y:3.83, Z:5.91 [[ 9.99727719e-01 -1.72553057e-02 -1.57080380e-02 3.82999916e+02] [ 1.72551308e-02 9.99851108e-01 -1.46677882e-04 3.83354402e+00] [ 1.57082302e-02 -1.24406305e-04 9.99876610e-01 5.90502600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.26925415399995 meters Centerline goodness : 0.998837 Centerline is valid? [True, True] Translation: X:383.03, Y:3.83, Z:5.90 [[ 9.99754292e-01 -1.56431169e-02 -1.57050745e-02 3.83034684e+02] [ 1.56380551e-02 9.99877619e-01 -4.45061144e-04 3.82611338e+00] [ 1.57101147e-02 1.99354967e-04 9.99876569e-01 5.90439588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.2992541539999 meters Centerline goodness : 0.998968 Centerline is valid? [True, True] Translation: X:383.06, Y:3.82, Z:5.90 [[ 9.99658949e-01 -2.08626365e-02 -1.57078495e-02 3.83063113e+02] [ 2.08629261e-02 9.99782335e-01 -1.45444516e-04 3.82227461e+00] [ 1.57074648e-02 -1.82316791e-04 9.99876614e-01 5.90469146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.32925415399995 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:383.09, Y:3.82, Z:5.91 [[ 9.99591659e-01 -2.38700451e-02 -1.57078388e-02 3.83093277e+02] [ 2.38706879e-02 9.99715044e-01 -1.46593671e-04 3.82057062e+00] [ 1.57068619e-02 -2.28423105e-04 9.99876614e-01 5.90519970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.3592541539999 meters Centerline goodness : 0.999032 Centerline is valid? [True, True] Translation: X:383.12, Y:3.82, Z:5.91 [[ 9.99458016e-01 -2.89298701e-02 -1.57078334e-02 3.83122921e+02] [ 2.89311285e-02 9.99581396e-01 -1.47168779e-04 3.81687881e+00] [ 1.57055156e-02 -3.07356328e-04 9.99876614e-01 5.90595338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.38925415399996 meters Centerline goodness : 0.998717 Centerline is valid? [True, True] Translation: X:383.15, Y:3.82, Z:5.91 [[ 9.99354672e-01 -3.23033217e-02 -1.57078280e-02 3.83153780e+02] [ 3.23049875e-02 9.99478047e-01 -1.47743025e-04 3.81547516e+00] [ 1.57044018e-02 -3.59793504e-04 9.99876614e-01 5.90652579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.41925415399993 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:383.19, Y:3.81, Z:5.91 [[ 9.99380955e-01 -3.14796804e-02 -1.57078334e-02 3.83188130e+02] [ 3.14812536e-02 9.99504332e-01 -1.47164141e-04 3.80957526e+00] [ 1.57046802e-02 -3.47429247e-04 9.99876614e-01 5.90665870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.44925415399996 meters Centerline goodness : 0.998993 Centerline is valid? [True, True] Translation: X:383.21, Y:3.81, Z:5.91 [[ 9.99152319e-01 -3.80502057e-02 -1.57106966e-02 3.83212377e+02] [ 3.80575255e-02 9.99275536e-01 1.67093507e-04 3.81193462e+00] [ 1.56929568e-02 -7.64862100e-04 9.99876565e-01 5.90702715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.47925415399993 meters Centerline goodness : 0.998952 Centerline is valid? [True, True] Translation: X:383.24, Y:3.81, Z:5.91 [[ 9.98933763e-01 -4.34120815e-02 -1.57076168e-02 3.83244120e+02] [ 4.34150557e-02 9.99057110e-01 -1.51759260e-04 3.80798204e+00] [ 1.56993944e-02 -5.30349608e-04 9.99876616e-01 5.90692241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.50925415399996 meters Centerline goodness : 0.999015 Centerline is valid? [True, True] Translation: X:383.28, Y:3.81, Z:5.91 [[ 9.98867941e-01 -4.49010808e-02 -1.57076274e-02 3.83277270e+02] [ 4.49042563e-02 9.98991284e-01 -1.50649696e-04 3.80547876e+00] [ 1.56985472e-02 -5.54860175e-04 9.99876616e-01 5.90702115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.53925415399993 meters Centerline goodness : 0.998805 Centerline is valid? [True, True] Translation: X:383.31, Y:3.80, Z:5.91 [[ 9.98632078e-01 -4.98720433e-02 -1.57083359e-02 3.83307115e+02] [ 4.98769965e-02 9.98755365e-01 -7.65311763e-05 3.80287521e+00] [ 1.56926016e-02 -7.07058128e-04 9.99876614e-01 5.90757233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.56925415399996 meters Centerline goodness : 0.998808 Centerline is valid? [True, True] Translation: X:383.34, Y:3.80, Z:5.91 [[ 9.98557359e-01 -5.13465807e-02 -1.57076109e-02 3.83338882e+02] [ 5.13505365e-02 9.98680679e-01 -1.51640344e-04 3.80186807e+00] [ 1.56946737e-02 -6.55172665e-04 9.99876616e-01 5.90770897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.59925415399994 meters Centerline goodness : 0.998851 Centerline is valid? [True, True] Translation: X:383.37, Y:3.80, Z:5.91 [[ 9.98501412e-01 -5.24232905e-02 -1.57076220e-02 3.83370303e+02] [ 5.24273976e-02 9.98624727e-01 -1.50479084e-04 3.80072522e+00] [ 1.56939084e-02 -6.73256166e-04 9.99876616e-01 5.90769351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.62925415399997 meters Centerline goodness : 0.998869 Centerline is valid? [True, True] Translation: X:383.41, Y:3.79, Z:5.90 [[ 9.98725776e-01 -4.79593050e-02 -1.57076403e-02 3.83409335e+02] [ 4.79628913e-02 9.98849107e-01 -1.48539806e-04 3.79079617e+00] [ 1.56966864e-02 -6.05033313e-04 9.99876616e-01 5.90403445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.65925415399994 meters Centerline goodness : 0.998827 Centerline is valid? [True, True] Translation: X:383.44, Y:3.79, Z:5.90 [[ 9.98646124e-01 -4.95889525e-02 -1.57116274e-02 3.83441626e+02] [ 4.95996850e-02 9.98769135e-01 2.93925206e-04 3.78941092e+00] [ 1.56777130e-02 -1.07281904e-03 9.99876522e-01 5.90435109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.68925415399997 meters Centerline goodness : 0.998870 Centerline is valid? [True, True] Translation: X:383.47, Y:3.79, Z:5.90 [[ 9.98477587e-01 -5.28739571e-02 -1.57115271e-02 3.83473534e+02] [ 5.28849268e-02 9.98600573e-01 2.83246433e-04 3.78806808e+00] [ 1.56745636e-02 -1.11371817e-03 9.99876526e-01 5.90348803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.71925415399994 meters Centerline goodness : 0.999142 Centerline is valid? [True, True] Translation: X:383.50, Y:3.79, Z:5.90 [[ 9.98246561e-01 -5.70697870e-02 -1.57112608e-02 3.83504258e+02] [ 5.70808556e-02 9.98369526e-01 2.56603366e-04 3.78944580e+00] [ 1.56709997e-02 -1.15296563e-03 9.99876538e-01 5.90481265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.74925415399997 meters Centerline goodness : 0.998911 Centerline is valid? [True, True] Translation: X:383.53, Y:3.80, Z:5.91 [[ 9.97760273e-01 -6.50200984e-02 -1.57106500e-02 3.83526540e+02] [ 6.50312186e-02 9.97883210e-01 1.97438259e-04 3.79660715e+00] [ 1.56645564e-02 -1.21867877e-03 9.99876561e-01 5.90872903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.77925415399994 meters Centerline goodness : 0.998618 Centerline is valid? [True, True] Translation: X:383.57, Y:3.79, Z:5.91 [[ 9.98055559e-01 -6.03191781e-02 -1.57065897e-02 3.83565041e+02] [ 6.03239148e-02 9.98178839e-01 -1.72454778e-04 3.78848230e+00] [ 1.56883878e-02 -7.75363531e-04 9.99876629e-01 5.90516981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.809254154 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:383.60, Y:3.79, Z:5.91 [[ 9.97698175e-01 -6.59659554e-02 -1.57112687e-02 3.83596108e+02] [ 6.59777782e-02 9.97821065e-01 2.34798686e-04 3.79014190e+00] [ 1.56615461e-02 -1.27085282e-03 9.99876543e-01 5.90545064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.83925415399995 meters Centerline goodness : 0.998890 Centerline is valid? [True, True] Translation: X:383.62, Y:3.80, Z:5.91 [[ 9.97186472e-01 -7.32961066e-02 -1.57105429e-02 3.83618612e+02] [ 7.33078794e-02 9.97309342e-01 1.74005893e-04 3.79690098e+00] [ 1.56555173e-02 -1.32522291e-03 9.99876567e-01 5.90891047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.869254154 meters Centerline goodness : 0.998636 Centerline is valid? [True, True] Translation: X:383.65, Y:3.80, Z:5.91 [[ 9.97089081e-01 -7.46102722e-02 -1.57058183e-02 3.83651152e+02] [ 7.46163577e-02 9.97212294e-01 -1.98986540e-04 3.79701953e+00] [ 1.56768816e-02 -9.73503653e-04 9.99876636e-01 5.90834589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.89925415399995 meters Centerline goodness : 0.998783 Centerline is valid? [True, True] Translation: X:383.68, Y:3.80, Z:5.91 [[ 9.96989285e-01 -7.59321514e-02 -1.57058331e-02 3.83684593e+02] [ 7.59384185e-02 9.97112490e-01 -1.97815360e-04 3.79793804e+00] [ 1.56755029e-02 -9.95456332e-04 9.99876636e-01 5.90946292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.929254154 meters Centerline goodness : 0.998993 Centerline is valid? [True, True] Translation: X:383.72, Y:3.80, Z:5.91 [[ 9.96955673e-01 -7.63721900e-02 -1.57058551e-02 3.83717048e+02] [ 7.63785392e-02 9.97078874e-01 -1.96055960e-04 3.79857198e+00] [ 1.56749495e-02 -1.00413116e-03 9.99876636e-01 5.90946520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.95925415399995 meters Centerline goodness : 0.998865 Centerline is valid? [True, True] Translation: X:383.75, Y:3.79, Z:5.91 [[ 9.97246686e-01 -7.24732625e-02 -1.57058731e-02 3.83754962e+02] [ 7.24791527e-02 9.97369909e-01 -1.94597033e-04 3.79402975e+00] [ 1.56786683e-02 -9.44287131e-04 9.99876636e-01 5.90674602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.989254154 meters Centerline goodness : 0.998763 Centerline is valid? [True, True] Translation: X:383.78, Y:3.80, Z:5.91 [[ 9.96888533e-01 -7.72429512e-02 -1.57092398e-02 3.83778727e+02] [ 7.72538799e-02 9.97011449e-01 8.91305980e-05 3.80078451e+00] [ 1.56554072e-02 -1.30245299e-03 9.99876598e-01 5.91088535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.01925415399995 meters Centerline goodness : 0.998889 Centerline is valid? [True, True] Translation: X:383.81, Y:3.80, Z:5.91 [[ 9.96902540e-01 -7.70626788e-02 -1.57057277e-02 3.83811329e+02] [ 7.70691375e-02 9.97025732e-01 -1.94506224e-04 3.80170332e+00] [ 1.56740038e-02 -1.01652314e-03 9.99876639e-01 5.91161105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.0492541539999 meters Centerline goodness : 0.998574 Centerline is valid? [True, True] Translation: X:383.85, Y:3.79, Z:5.91 [[ 9.97614270e-01 -6.72242285e-02 -1.57057493e-02 3.83854845e+02] [ 6.72294990e-02 9.97737519e-01 -1.92750867e-04 3.79241618e+00] [ 1.56831728e-02 -8.63598640e-04 9.99876639e-01 5.90730914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.07925415399995 meters Centerline goodness : 0.998929 Centerline is valid? [True, True] Translation: X:383.88, Y:3.80, Z:5.91 [[ 9.97318701e-01 -7.14739606e-02 -1.57124800e-02 3.83879724e+02] [ 7.14889783e-02 9.97441311e-01 3.95478311e-04 3.79945185e+00] [ 1.56440103e-02 -1.51768706e-03 9.99876473e-01 5.91022212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.1092541539999 meters Centerline goodness : 0.998992 Centerline is valid? [True, True] Translation: X:383.90, Y:3.81, Z:5.92 [[ 9.97015912e-01 -7.55810673e-02 -1.57089976e-02 3.83902936e+02] [ 7.55921535e-02 9.97138814e-01 1.12296287e-04 3.80794271e+00] [ 1.56555637e-02 -1.29943814e-03 9.99876600e-01 5.91521751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.13925415399996 meters Centerline goodness : 0.998741 Centerline is valid? [True, True] Translation: X:383.94, Y:3.81, Z:5.92 [[ 9.97228557e-01 -7.27224866e-02 -1.57049443e-02 3.83935515e+02] [ 7.27282852e-02 9.97351771e-01 -2.02350766e-04 3.81184493e+00] [ 1.56780694e-02 -9.40403703e-04 9.99876649e-01 5.91694884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.16925415399993 meters Centerline goodness : 0.998992 Centerline is valid? [True, True] Translation: X:383.97, Y:3.81, Z:5.92 [[ 9.97370574e-01 -7.07480834e-02 -1.57049659e-02 3.83967158e+02] [ 7.07536647e-02 9.97493799e-01 -2.00654367e-04 3.81370133e+00] [ 1.56798020e-02 -9.11057131e-04 9.99876649e-01 5.91797708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.19925415399996 meters Centerline goodness : 0.998928 Centerline is valid? [True, True] Translation: X:384.00, Y:3.82, Z:5.92 [[ 9.97520257e-01 -6.86053261e-02 -1.57049838e-02 3.84000363e+02] [ 6.86106648e-02 9.97643492e-01 -1.99248019e-04 3.81565361e+00] [ 1.56816443e-02 -8.78775442e-04 9.99876649e-01 5.91886395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.22925415399993 meters Centerline goodness : 0.998989 Centerline is valid? [True, True] Translation: X:384.03, Y:3.82, Z:5.92 [[ 9.97815613e-01 -6.41666230e-02 -1.57050048e-02 3.84032805e+02] [ 6.41714396e-02 9.97938870e-01 -1.97573935e-04 3.81919747e+00] [ 1.56853124e-02 -8.10670412e-04 9.99876649e-01 5.91909577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.25925415399996 meters Centerline goodness : 0.998947 Centerline is valid? [True, True] Translation: X:384.08, Y:3.81, Z:5.91 [[ 9.98498103e-01 -5.24870601e-02 -1.57050222e-02 3.84075844e+02] [ 5.24904560e-02 9.98621407e-01 -1.96187294e-04 3.81050425e+00] [ 1.56936686e-02 -6.28471133e-04 9.99876649e-01 5.91452883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.28925415399993 meters Centerline goodness : 0.999159 Centerline is valid? [True, True] Translation: X:384.09, Y:3.82, Z:5.92 [[ 9.98086897e-01 -5.97969496e-02 -1.57121556e-02 3.84091901e+02] [ 5.98108224e-02 9.98209644e-01 4.14094970e-04 3.82395440e+00] [ 1.56592636e-02 -1.35305971e-03 9.99876471e-01 5.91978092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.31925415399996 meters Centerline goodness : 0.998990 Centerline is valid? [True, True] Translation: X:384.12, Y:3.83, Z:5.92 [[ 9.98391142e-01 -5.44840376e-02 -1.57040727e-02 3.84124273e+02] [ 5.44875399e-02 9.98514430e-01 -2.05080581e-04 3.82818054e+00] [ 1.56919168e-02 -6.50925654e-04 9.99876662e-01 5.92063031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.34925415399994 meters Centerline goodness : 0.998800 Centerline is valid? [True, True] Translation: X:384.16, Y:3.83, Z:5.92 [[ 9.98544300e-01 -5.16009932e-02 -1.57040877e-02 3.84156666e+02] [ 5.16041576e-02 9.98667597e-01 -2.03926102e-04 3.82963676e+00] [ 1.56936863e-02 -6.06766970e-04 9.99876662e-01 5.92010117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.37925415399997 meters Centerline goodness : 0.998926 Centerline is valid? [True, True] Translation: X:384.19, Y:3.83, Z:5.92 [[ 9.98661208e-01 -4.92866341e-02 -1.57041028e-02 3.84187777e+02] [ 4.92895311e-02 9.98784512e-01 -2.02756339e-04 3.83139023e+00] [ 1.56950078e-02 -5.71562974e-04 9.99876662e-01 5.92042215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.40925415399994 meters Centerline goodness : 0.999136 Centerline is valid? [True, True] Translation: X:384.22, Y:3.83, Z:5.92 [[ 9.98916503e-01 -4.38086935e-02 -1.57041140e-02 3.84218671e+02] [ 4.38109279e-02 9.99039820e-01 -2.01886277e-04 3.83447520e+00] [ 1.56978796e-02 -4.86344272e-04 9.99876662e-01 5.91848956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.43925415399997 meters Centerline goodness : 0.998904 Centerline is valid? [True, True] Translation: X:384.26, Y:3.82, Z:5.91 [[ 9.99382038e-01 -3.14471333e-02 -1.57041250e-02 3.84262078e+02] [ 3.14478554e-02 9.99505374e-01 -2.01024354e-04 3.82436497e+00] [ 1.57026790e-02 -2.92960925e-04 9.99876662e-01 5.91445588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.46925415399994 meters Centerline goodness : 0.999198 Centerline is valid? [True, True] Translation: X:384.28, Y:3.84, Z:5.92 [[ 9.99106884e-01 -3.92248334e-02 -1.57113742e-02 3.84275247e+02] [ 3.92361741e-02 9.99229879e-01 4.14095985e-04 3.83831405e+00] [ 1.56830317e-02 -1.03018036e-03 9.99876483e-01 5.92191129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.49925415399997 meters Centerline goodness : 0.998988 Centerline is valid? [True, True] Translation: X:384.31, Y:3.84, Z:5.92 [[ 9.99166450e-01 -3.76811432e-02 -1.57014896e-02 3.84308947e+02] [ 3.76808883e-02 9.99289774e-01 -3.12180622e-04 3.84139887e+00] [ 1.57021013e-02 -2.79725671e-04 9.99876675e-01 5.92417494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.52925415399994 meters Centerline goodness : 0.998923 Centerline is valid? [True, True] Translation: X:384.34, Y:3.84, Z:5.93 [[ 9.99202642e-01 -3.67083058e-02 -1.57028560e-02 3.84341445e+02] [ 3.67095355e-02 9.99325956e-01 -2.10023312e-04 3.84273082e+00] [ 1.56999812e-02 -3.66588701e-04 9.99876680e-01 5.92519414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.559254154 meters Centerline goodness : 0.999091 Centerline is valid? [True, True] Translation: X:384.37, Y:3.84, Z:5.93 [[ 9.99232351e-01 -3.58905146e-02 -1.57028714e-02 3.84373005e+02] [ 3.58916615e-02 9.99355665e-01 -2.08867171e-04 3.84468046e+00] [ 1.57002498e-02 -3.54895310e-04 9.99876680e-01 5.92626509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.58925415399995 meters Centerline goodness : 0.999069 Centerline is valid? [True, True] Translation: X:384.41, Y:3.85, Z:5.93 [[ 9.99225236e-01 -3.60880586e-02 -1.57028828e-02 3.84405048e+02] [ 3.60892434e-02 9.99348549e-01 -2.08006519e-04 3.84580854e+00] [ 1.57001597e-02 -3.58859795e-04 9.99876680e-01 5.92717417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.619254154 meters Centerline goodness : 0.999112 Centerline is valid? [True, True] Translation: X:384.45, Y:3.84, Z:5.92 [[ 9.99489007e-01 -2.78414011e-02 -1.57028977e-02 3.84447067e+02] [ 2.78415861e-02 9.99612327e-01 -2.06872696e-04 3.83583557e+00] [ 1.57025697e-02 -2.30426594e-04 9.99876680e-01 5.92118744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.64925415399995 meters Centerline goodness : 0.998774 Centerline is valid? [True, True] Translation: X:384.46, Y:3.85, Z:5.93 [[ 9.99119367e-01 -3.89061410e-02 -1.57099593e-02 3.84463586e+02] [ 3.89166542e-02 9.99242394e-01 3.63941894e-04 3.84692874e+00] [ 1.56838978e-02 -9.75000450e-04 9.99876525e-01 5.92571772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.679254154 meters Centerline goodness : 0.998797 Centerline is valid? [True, True] Translation: X:384.50, Y:3.85, Z:5.93 [[ 9.99009229e-01 -4.16413587e-02 -1.57021325e-02 3.84495893e+02] [ 4.16431491e-02 9.99132525e-01 -2.13063481e-04 3.84823614e+00] [ 1.56973836e-02 -4.41033862e-04 9.99876691e-01 5.92817087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.70925415399995 meters Centerline goodness : 0.998944 Centerline is valid? [True, True] Translation: X:384.53, Y:3.85, Z:5.93 [[ 9.98924091e-01 -4.36360250e-02 -1.57021478e-02 3.84527864e+02] [ 4.36380794e-02 9.99047383e-01 -2.11933906e-04 3.84832958e+00] [ 1.56964376e-02 -4.73505686e-04 9.99876691e-01 5.92853500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.739254154 meters Centerline goodness : 0.998966 Centerline is valid? [True, True] Translation: X:384.56, Y:3.85, Z:5.93 [[ 9.98805077e-01 -4.62802442e-02 -1.57021632e-02 3.84559332e+02] [ 4.62826430e-02 9.98928362e-01 -2.10787616e-04 3.84872484e+00] [ 1.56950914e-02 -5.16201870e-04 9.99876691e-01 5.92850743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.76925415399995 meters Centerline goodness : 0.998923 Centerline is valid? [True, True] Translation: X:384.59, Y:3.85, Z:5.93 [[ 9.98573449e-01 -5.10343865e-02 -1.57021871e-02 3.84590268e+02] [ 5.10374004e-02 9.98696721e-01 -2.08987576e-04 3.84832194e+00] [ 1.56923883e-02 -5.92709366e-04 9.99876691e-01 5.92732419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.7992541539999 meters Centerline goodness : 0.998775 Centerline is valid? [True, True] Translation: X:384.62, Y:3.85, Z:5.93 [[ 9.98468737e-01 -5.30435959e-02 -1.57021981e-02 3.84622141e+02] [ 5.30468708e-02 9.98592002e-01 -2.08161545e-04 3.84816766e+00] [ 1.56911310e-02 -6.25109677e-04 9.99876691e-01 5.92634452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.82925415399995 meters Centerline goodness : 0.998987 Centerline is valid? [True, True] Translation: X:384.66, Y:3.85, Z:5.93 [[ 9.98321377e-01 -5.57482597e-02 -1.57022124e-02 3.84655616e+02] [ 5.57518855e-02 9.98444633e-01 -2.07075685e-04 3.84888770e+00] [ 1.56893338e-02 -6.68699864e-04 9.99876691e-01 5.92844996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.8592541539999 meters Centerline goodness : 0.999028 Centerline is valid? [True, True] Translation: X:384.69, Y:3.85, Z:5.93 [[ 9.98162149e-01 -5.85300232e-02 -1.57022344e-02 3.84688612e+02] [ 5.85340189e-02 9.98285393e-01 -2.05392060e-04 3.84957172e+00] [ 1.56873329e-02 -7.14100305e-04 9.99876691e-01 5.93013622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.88925415399996 meters Centerline goodness : 0.999198 Centerline is valid? [True, True] Translation: X:384.72, Y:3.85, Z:5.93 [[ 9.98126053e-01 -5.91423871e-02 -1.57022573e-02 3.84721593e+02] [ 5.91464861e-02 9.98249293e-01 -2.03624733e-04 3.85026896e+00] [ 1.56868101e-02 -7.25490194e-04 9.99876691e-01 5.93105862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.91925415399993 meters Centerline goodness : 0.999029 Centerline is valid? [True, True] Translation: X:384.75, Y:3.85, Z:5.93 [[ 9.98106581e-01 -5.94700847e-02 -1.57022801e-02 3.84754760e+02] [ 5.94742521e-02 9.98229820e-01 -2.01853100e-04 3.85088539e+00] [ 1.56864885e-02 -7.32410457e-04 9.99876691e-01 5.93191353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.94925415399996 meters Centerline goodness : 0.998881 Centerline is valid? [True, True] Translation: X:384.79, Y:3.85, Z:5.93 [[ 9.98108336e-01 -5.94406255e-02 -1.57023025e-02 3.84785530e+02] [ 5.94448168e-02 9.98231573e-01 -2.00092567e-04 3.85176026e+00] [ 1.56864278e-02 -7.33706439e-04 9.99876691e-01 5.93232646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.97925415399993 meters Centerline goodness : 0.999069 Centerline is valid? [True, True] Translation: X:384.82, Y:3.85, Z:5.93 [[ 9.98117125e-01 -5.92928522e-02 -1.57023136e-02 3.84818417e+02] [ 5.92970390e-02 9.98240363e-01 -1.99221852e-04 3.85256982e+00] [ 1.56864956e-02 -7.32253958e-04 9.99876691e-01 5.93350156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.00925415399996 meters Centerline goodness : 0.998774 Centerline is valid? [True, True] Translation: X:384.85, Y:3.85, Z:5.93 [[ 9.98135182e-01 -5.89880984e-02 -1.57023357e-02 3.84849114e+02] [ 5.89922751e-02 9.98258420e-01 -1.97462847e-04 3.85372792e+00] [ 1.56866368e-02 -7.29221894e-04 9.99876691e-01 5.93367828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.03925415399993 meters Centerline goodness : 0.998922 Centerline is valid? [True, True] Translation: X:384.88, Y:3.85, Z:5.93 [[ 9.98133814e-01 -5.90112371e-02 -1.57023466e-02 3.84882261e+02] [ 5.90154303e-02 9.98257051e-01 -1.96591277e-04 3.85442131e+00] [ 1.56865793e-02 -7.30456342e-04 9.99876691e-01 5.93465445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.06925415399996 meters Centerline goodness : 0.998922 Centerline is valid? [True, True] Translation: X:384.92, Y:3.85, Z:5.94 [[ 9.98140359e-01 -5.89004199e-02 -1.57023682e-02 3.84915795e+02] [ 5.89046269e-02 9.98263596e-01 -1.94848695e-04 3.85474747e+00] [ 1.56865793e-02 -7.30455795e-04 9.99876691e-01 5.93518060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.09925415399994 meters Centerline goodness : 0.999069 Centerline is valid? [True, True] Translation: X:384.95, Y:3.86, Z:5.93 [[ 9.98110397e-01 -5.94059788e-02 -1.57023897e-02 3.84947010e+02] [ 5.94102756e-02 9.98233631e-01 -1.93105568e-04 3.85543661e+00] [ 1.56861251e-02 -7.40142622e-04 9.99876691e-01 5.93481767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.12925415399997 meters Centerline goodness : 0.998795 Centerline is valid? [True, True] Translation: X:384.98, Y:3.86, Z:5.93 [[ 9.98110791e-01 -5.93993484e-02 -1.57024002e-02 3.84978124e+02] [ 5.94036578e-02 9.98234025e-01 -1.92243002e-04 3.85542023e+00] [ 1.56860893e-02 -7.40900196e-04 9.99876691e-01 5.93318394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.15925415399994 meters Centerline goodness : 0.998858 Centerline is valid? [True, True] Translation: X:385.01, Y:3.86, Z:5.93 [[ 9.98041532e-01 -6.05519129e-02 -1.57024106e-02 3.85011254e+02] [ 6.05563780e-02 9.98164760e-01 -1.91389884e-04 3.85676928e+00] [ 1.56851820e-02 -7.59866061e-04 9.99876691e-01 5.93473534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.18925415399997 meters Centerline goodness : 0.999070 Centerline is valid? [True, True] Translation: X:385.04, Y:3.86, Z:5.93 [[ 9.98042337e-01 -6.05386426e-02 -1.57024311e-02 3.85042630e+02] [ 6.05431327e-02 9.98165564e-01 -1.89694471e-04 3.85818098e+00] [ 1.56851099e-02 -7.61351257e-04 9.99876691e-01 5.93479675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.21925415399994 meters Centerline goodness : 0.998878 Centerline is valid? [True, True] Translation: X:385.07, Y:3.86, Z:5.93 [[ 9.98092098e-01 -5.97126177e-02 -1.57024412e-02 3.85074366e+02] [ 5.97170190e-02 9.98215328e-01 -1.88855375e-04 3.85915233e+00] [ 1.56856946e-02 -7.49207922e-04 9.99876691e-01 5.93469160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.24925415399997 meters Centerline goodness : 0.999237 Centerline is valid? [True, True] Translation: X:385.11, Y:3.86, Z:5.94 [[ 9.98155212e-01 -5.86481465e-02 -1.57024544e-02 3.85107199e+02] [ 5.86524337e-02 9.98278447e-01 -1.87749618e-04 3.86043266e+00] [ 1.56864330e-02 -7.33583908e-04 9.99876691e-01 5.93642639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.27925415399994 meters Centerline goodness : 0.999026 Centerline is valid? [True, True] Translation: X:385.14, Y:3.86, Z:5.94 [[ 9.98283051e-01 -5.64303358e-02 -1.57024746e-02 3.85138955e+02] [ 5.64343759e-02 9.98406293e-01 -1.86047180e-04 3.86181914e+00] [ 1.56879482e-02 -7.00431608e-04 9.99876691e-01 5.93682173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.309254154 meters Centerline goodness : 0.999130 Centerline is valid? [True, True] Translation: X:385.17, Y:3.87, Z:5.94 [[ 9.98544417e-01 -5.15992121e-02 -1.57024878e-02 3.85171006e+02] [ 5.16026735e-02 9.98667677e-01 -1.84925408e-04 3.86558136e+00] [ 1.56911090e-02 -6.25634118e-04 9.99876691e-01 5.93902001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.33925415399995 meters Centerline goodness : 0.999150 Centerline is valid? [True, True] Translation: X:385.20, Y:3.87, Z:5.94 [[ 9.98733399e-01 -4.78019729e-02 -1.57025012e-02 3.85202732e+02] [ 4.78049836e-02 9.98856671e-01 -1.83777001e-04 3.86678734e+00] [ 1.56933330e-02 -5.67113586e-04 9.99876691e-01 5.93881695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.369254154 meters Centerline goodness : 0.999151 Centerline is valid? [True, True] Translation: X:385.23, Y:3.87, Z:5.94 [[ 9.99002000e-01 -4.18142969e-02 -1.57025147e-02 3.85233796e+02] [ 4.18165867e-02 9.99125287e-01 -1.82621514e-04 3.87094041e+00] [ 1.56964157e-02 -4.74186309e-04 9.99876691e-01 5.94101978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.39925415399995 meters Centerline goodness : 0.998981 Centerline is valid? [True, True] Translation: X:385.28, Y:3.86, Z:5.93 [[ 9.99510066e-01 -2.70750609e-02 -1.57025246e-02 3.85277740e+02] [ 2.70755456e-02 9.99633374e-01 -1.81761714e-04 3.85953707e+00] [ 1.57016889e-02 -2.43481759e-04 9.99876691e-01 5.93253177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.429254154 meters Centerline goodness : 0.999086 Centerline is valid? [True, True] Translation: X:385.29, Y:3.87, Z:5.94 [[ 9.99269295e-01 -3.48439051e-02 -1.57091678e-02 3.85292997e+02] [ 3.48552176e-02 9.99392272e-01 4.46819866e-04 3.87486426e+00] [ 1.56840520e-02 -9.94039836e-04 9.99876504e-01 5.94304028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.45925415399995 meters Centerline goodness : 0.999168 Centerline is valid? [True, True] Translation: X:385.32, Y:3.88, Z:5.95 [[ 9.99501006e-01 -2.74080301e-02 -1.57015616e-02 3.85324724e+02] [ 2.74084551e-02 9.99624300e-01 -1.88162143e-04 3.87860218e+00] [ 1.57008197e-02 -2.42287295e-04 9.99876705e-01 5.94566992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.489254154 meters Centerline goodness : 0.999210 Centerline is valid? [True, True] Translation: X:385.36, Y:3.88, Z:5.94 [[ 9.99726769e-01 -1.73160921e-02 -1.57015754e-02 3.85356273e+02] [ 1.73152905e-02 9.99850062e-01 -1.87008347e-04 3.87834248e+00] [ 1.57024593e-02 -8.49200879e-05 9.99876705e-01 5.94220442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.51925415399995 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:385.38, Y:3.88, Z:5.95 [[ 9.99710661e-01 -1.82212717e-02 -1.57028354e-02 3.85384192e+02] [ 1.82222676e-02 9.99833958e-01 -7.96649234e-05 3.88183969e+00] [ 1.57016797e-02 -2.06499396e-04 9.99876700e-01 5.94690885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.5492541539999 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:385.41, Y:3.88, Z:5.95 [[ 9.99738878e-01 -1.66023398e-02 -1.57015572e-02 3.85412970e+02] [ 1.66014503e-02 9.99862169e-01 -1.87001060e-04 3.88229125e+00] [ 1.57024977e-02 -7.37163904e-05 9.99876705e-01 5.94642743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.57925415399995 meters Centerline goodness : 0.995865 Centerline is valid? [True, True] Translation: X:385.44, Y:3.88, Z:5.94 [[ 9.99757041e-01 -1.54700093e-02 -1.57015086e-02 3.85440659e+02] [ 1.54689174e-02 9.99880331e-01 -1.90995659e-04 3.88322589e+00] [ 1.57025843e-02 -5.19360835e-05 9.99876705e-01 5.94322281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.6092541539999 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:385.47, Y:3.88, Z:5.95 [[ 9.99720921e-01 -1.76517445e-02 -1.57001634e-02 3.85470172e+02] [ 1.76492503e-02 9.99844196e-01 -2.97418967e-04 3.88253482e+00] [ 1.57029672e-02 2.02398500e-05 9.99876701e-01 5.94628762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.63925415399996 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:385.50, Y:3.88, Z:5.95 [[ 9.99687616e-01 -1.94456931e-02 -1.57014247e-02 3.85498491e+02] [ 1.94450005e-02 9.99810909e-01 -1.96788715e-04 3.88211966e+00] [ 1.57022824e-02 -1.08586970e-04 9.99876706e-01 5.94609041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.66925415399993 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:385.53, Y:3.88, Z:5.95 [[ 9.99635731e-01 -2.19516059e-02 -1.57013734e-02 3.85528198e+02] [ 2.19511594e-02 9.99759024e-01 -2.00803727e-04 3.88191881e+00] [ 1.57019977e-02 -1.43932768e-04 9.99876706e-01 5.94612852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.69925415399996 meters Centerline goodness : 0.996820 Centerline is valid? [True, True] Translation: X:385.56, Y:3.88, Z:5.94 [[ 9.99522956e-01 -2.65956359e-02 -1.57013660e-02 3.85557683e+02] [ 2.65957531e-02 9.99646250e-01 -2.01377489e-04 3.88081949e+00] [ 1.57011674e-02 -2.16308231e-04 9.99876706e-01 5.94198297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.72925415399993 meters Centerline goodness : 0.997373 Centerline is valid? [True, True] Translation: X:385.59, Y:3.88, Z:5.94 [[ 9.99447108e-01 -2.93086073e-02 -1.56998125e-02 3.85588421e+02] [ 2.93071802e-02 9.99570401e-01 -3.21014863e-04 3.87993756e+00] [ 1.57024763e-02 -1.39279856e-04 9.99876699e-01 5.94169506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.75925415399996 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:385.62, Y:3.88, Z:5.94 [[ 9.99412943e-01 -3.04513687e-02 -1.56998017e-02 3.85620392e+02] [ 3.04500693e-02 9.99536237e-01 -3.21857794e-04 3.87714738e+00] [ 1.57023217e-02 -1.56391203e-04 9.99876699e-01 5.94125554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.78925415399993 meters Centerline goodness : 0.999231 Centerline is valid? [True, True] Translation: X:385.65, Y:3.88, Z:5.95 [[ 9.99206435e-01 -3.66051846e-02 -1.57022732e-02 3.85649724e+02] [ 3.66076551e-02 9.99329707e-01 -1.30167180e-04 3.87912578e+00] [ 1.56965129e-02 -4.44759517e-04 9.99876703e-01 5.94714822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.81925415399996 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:385.68, Y:3.88, Z:5.95 [[ 9.98992622e-01 -4.20382026e-02 -1.57013133e-02 3.85682295e+02] [ 4.20401834e-02 9.99115900e-01 -2.04036449e-04 3.87770927e+00] [ 1.56960091e-02 -4.56255184e-04 9.99876706e-01 5.94834170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.84925415399994 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:385.71, Y:3.88, Z:5.95 [[ 9.98887797e-01 -4.44593999e-02 -1.57013284e-02 3.85714875e+02] [ 4.44616978e-02 9.99011069e-01 -2.02870078e-04 3.87717360e+00] [ 1.56948204e-02 -4.95463272e-04 9.99876706e-01 5.94863880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.87925415399997 meters Centerline goodness : 0.999213 Centerline is valid? [True, True] Translation: X:385.75, Y:3.88, Z:5.95 [[ 9.98784733e-01 -4.67175028e-02 -1.57013433e-02 3.85747267e+02] [ 4.67200976e-02 9.98908000e-01 -2.01710790e-04 3.87669641e+00] [ 1.56936208e-02 -5.32102633e-04 9.99876706e-01 5.94954456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.90925415399994 meters Centerline goodness : 0.999364 Centerline is valid? [True, True] Translation: X:385.78, Y:3.88, Z:5.95 [[ 9.98588620e-01 -5.07369255e-02 -1.57013582e-02 3.85778645e+02] [ 5.07400347e-02 9.98711875e-01 -2.00543909e-04 3.87561893e+00] [ 1.56913079e-02 -5.96426594e-04 9.99876706e-01 5.94967853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.93925415399997 meters Centerline goodness : 0.999235 Centerline is valid? [True, True] Translation: X:385.81, Y:3.88, Z:5.95 [[ 9.98495007e-01 -5.25470170e-02 -1.57013693e-02 3.85811318e+02] [ 5.25503633e-02 9.98618255e-01 -1.99674100e-04 3.87535943e+00] [ 1.56901662e-02 -6.25739067e-04 9.99876706e-01 5.95012570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.96925415399994 meters Centerline goodness : 0.999171 Centerline is valid? [True, True] Translation: X:385.84, Y:3.88, Z:5.95 [[ 9.98408906e-01 -5.41583098e-02 -1.57013905e-02 3.85843903e+02] [ 5.41618814e-02 9.98532148e-01 -1.97988217e-04 3.87532616e+00] [ 1.56890659e-02 -6.52743652e-04 9.99876706e-01 5.95129204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.99925415399997 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:385.88, Y:3.88, Z:5.95 [[ 9.98203780e-01 -5.78159030e-02 -1.57014050e-02 3.85877242e+02] [ 5.78199443e-02 9.98327008e-01 -1.96829053e-04 3.87535411e+00] [ 1.56865166e-02 -7.11378859e-04 9.99876706e-01 5.95190964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.02925415399994 meters Centerline goodness : 0.999447 Centerline is valid? [True, True] Translation: X:385.91, Y:3.88, Z:5.95 [[ 9.98082100e-01 -5.98797632e-02 -1.57014270e-02 3.85910102e+02] [ 5.98840871e-02 9.98205319e-01 -1.95060832e-04 3.87572534e+00] [ 1.56849281e-02 -7.45578897e-04 9.99876706e-01 5.95242241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.059254154 meters Centerline goodness : 0.999171 Centerline is valid? [True, True] Translation: X:385.94, Y:3.88, Z:5.95 [[ 9.97797474e-01 -6.44489331e-02 -1.57014486e-02 3.85943517e+02] [ 6.44538486e-02 9.97920670e-01 -1.93306167e-04 3.87554568e+00] [ 1.56812585e-02 -8.19138386e-04 9.99876706e-01 5.95210154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.08925415399995 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:385.98, Y:3.88, Z:5.95 [[ 9.97640604e-01 -6.68332915e-02 -1.57014702e-02 3.85975454e+02] [ 6.68385291e-02 9.97763787e-01 -1.91540686e-04 3.87576595e+00] [ 1.56791596e-02 -8.58374403e-04 9.99876706e-01 5.95227552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.119254154 meters Centerline goodness : 0.999087 Centerline is valid? [True, True] Translation: X:386.01, Y:3.88, Z:5.95 [[ 9.97487384e-01 -6.90824242e-02 -1.57014878e-02 3.86008253e+02] [ 6.90879624e-02 9.97610554e-01 -1.90079282e-04 3.87570066e+00] [ 1.56771011e-02 -8.95182116e-04 9.99876706e-01 5.95241741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.14925415399995 meters Centerline goodness : 0.999172 Centerline is valid? [True, True] Translation: X:386.04, Y:3.88, Z:5.95 [[ 9.97218065e-01 -7.28669521e-02 -1.57015090e-02 3.86040022e+02] [ 7.28729853e-02 9.97341212e-01 -1.88316876e-04 3.87627975e+00] [ 1.56734841e-02 -9.56422842e-04 9.99876706e-01 5.95230395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.179254154 meters Centerline goodness : 0.999279 Centerline is valid? [True, True] Translation: X:386.07, Y:3.88, Z:5.95 [[ 9.97112787e-01 -7.42936913e-02 -1.57015230e-02 3.86072695e+02] [ 7.42999192e-02 9.97235923e-01 -1.87140612e-04 3.87734273e+00] [ 1.56720262e-02 -9.80021593e-04 9.99876706e-01 5.95206495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.20925415399995 meters Centerline goodness : 0.999320 Centerline is valid? [True, True] Translation: X:386.10, Y:3.88, Z:5.95 [[ 9.97105124e-01 -7.43964547e-02 -1.57015437e-02 3.86104468e+02] [ 7.44027229e-02 9.97228259e-01 -1.85383224e-04 3.87774453e+00] [ 1.56718150e-02 -9.83391045e-04 9.99876706e-01 5.95020941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.239254154 meters Centerline goodness : 0.999130 Centerline is valid? [True, True] Translation: X:386.14, Y:3.88, Z:5.95 [[ 9.97063640e-01 -7.49503704e-02 -1.57015576e-02 3.86135294e+02] [ 7.49567254e-02 9.97186771e-01 -1.84203967e-04 3.88090770e+00] [ 1.56711917e-02 -9.93274263e-04 9.99876706e-01 5.94978555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.26925415399995 meters Centerline goodness : 0.999172 Centerline is valid? [True, True] Translation: X:386.17, Y:3.88, Z:5.95 [[ 9.97108611e-01 -7.43497048e-02 -1.57016012e-02 3.86167727e+02] [ 7.43560451e-02 9.97231741e-01 -1.80412200e-04 3.88265366e+00] [ 1.56715487e-02 -9.87618406e-04 9.99876706e-01 5.94994341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.2992541539999 meters Centerline goodness : 0.999213 Centerline is valid? [True, True] Translation: X:386.20, Y:3.88, Z:5.95 [[ 9.97219248e-01 -7.28507484e-02 -1.57016139e-02 3.86200382e+02] [ 7.28569211e-02 9.97342387e-01 -1.79299941e-04 3.88419229e+00] [ 1.56729472e-02 -9.65169889e-04 9.99876706e-01 5.95016945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.32925415399995 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:386.23, Y:3.89, Z:5.95 [[ 9.97466053e-01 -6.93897056e-02 -1.57016270e-02 3.86232792e+02] [ 6.93954691e-02 9.97589213e-01 -1.78141893e-04 3.88843638e+00] [ 1.56761349e-02 -9.11931279e-04 9.99876706e-01 5.95163247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.3592541539999 meters Centerline goodness : 0.999318 Centerline is valid? [True, True] Translation: X:386.27, Y:3.89, Z:5.95 [[ 9.97632299e-01 -6.69571053e-02 -1.57016432e-02 3.86265382e+02] [ 6.69625910e-02 9.97755471e-01 -1.76702980e-04 3.89083106e+00] [ 1.56782319e-02 -8.75138111e-04 9.99876706e-01 5.95310307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.38925415399996 meters Centerline goodness : 0.999169 Centerline is valid? [True, True] Translation: X:386.30, Y:3.89, Z:5.95 [[ 9.97849542e-01 -6.36376381e-02 -1.57016624e-02 3.86296836e+02] [ 6.36427410e-02 9.97972731e-01 -1.74980155e-04 3.89266670e+00] [ 1.56809662e-02 -8.24692964e-04 9.99876706e-01 5.95219431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.41925415399993 meters Centerline goodness : 0.999402 Centerline is valid? [True, True] Translation: X:386.33, Y:3.90, Z:5.96 [[ 9.98165476e-01 -5.84734117e-02 -1.57016869e-02 3.86328531e+02] [ 5.84779121e-02 9.98288688e-01 -1.72747482e-04 3.89857294e+00] [ 1.56849176e-02 -7.45771297e-04 9.99876706e-01 5.95687858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.44925415399996 meters Centerline goodness : 0.999423 Centerline is valid? [True, True] Translation: X:386.36, Y:3.90, Z:5.96 [[ 9.98320951e-01 -5.57560419e-02 -1.57016994e-02 3.86361665e+02] [ 5.57602247e-02 9.98444174e-01 -1.71611216e-04 3.90184450e+00] [ 1.56868386e-02 -7.04207213e-04 9.99876706e-01 5.95682744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.47925415399993 meters Centerline goodness : 0.999380 Centerline is valid? [True, True] Translation: X:386.39, Y:3.90, Z:5.96 [[ 9.98531420e-01 -5.18502192e-02 -1.57021933e-02 3.86391643e+02] [ 5.18546440e-02 9.98654635e-01 -1.25492446e-04 3.90397880e+00] [ 1.56875750e-02 -6.88923494e-04 9.99876705e-01 5.95930537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.50925415399996 meters Centerline goodness : 0.999315 Centerline is valid? [True, True] Translation: X:386.42, Y:3.91, Z:5.96 [[ 9.98851805e-01 -4.52606597e-02 -1.57017524e-02 3.86423356e+02] [ 4.52636203e-02 9.98975063e-01 -1.66961431e-04 3.90757664e+00] [ 1.56932159e-02 -5.43948431e-04 9.99876706e-01 5.96032757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.53925415399993 meters Centerline goodness : 0.999314 Centerline is valid? [True, True] Translation: X:386.46, Y:3.91, Z:5.96 [[ 9.98994150e-01 -4.20017070e-02 -1.57017642e-02 3.86455398e+02] [ 4.20042830e-02 9.99117417e-01 -1.65843110e-04 3.90909753e+00] [ 1.56948718e-02 -4.93865050e-04 9.99876706e-01 5.96131418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.56925415399996 meters Centerline goodness : 0.999527 Centerline is valid? [True, True] Translation: X:386.49, Y:3.91, Z:5.96 [[ 9.99184483e-01 -3.71997669e-02 -1.57017763e-02 3.86487794e+02] [ 3.72017685e-02 9.99307761e-01 -1.64688305e-04 3.91320555e+00] [ 1.56970333e-02 -4.19579849e-04 9.99876706e-01 5.96311598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.59925415399994 meters Centerline goodness : 0.999570 Centerline is valid? [True, True] Translation: X:386.52, Y:3.91, Z:5.96 [[ 9.99270523e-01 -3.48120196e-02 -1.57017883e-02 3.86519088e+02] [ 3.48137448e-02 9.99393804e-01 -1.63538216e-04 3.91494633e+00] [ 1.56979630e-02 -3.83219132e-04 9.99876706e-01 5.96334771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.62925415399997 meters Centerline goodness : 0.999590 Centerline is valid? [True, True] Translation: X:386.55, Y:3.92, Z:5.96 [[ 9.99347805e-01 -3.25179732e-02 -1.57017972e-02 3.86551509e+02] [ 3.25194287e-02 9.99471090e-01 -1.62682037e-04 3.91625950e+00] [ 1.56987824e-02 -3.48037537e-04 9.99876706e-01 5.96353731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.65925415399994 meters Centerline goodness : 0.999525 Centerline is valid? [True, True] Translation: X:386.58, Y:3.92, Z:5.96 [[ 9.99488250e-01 -2.78691858e-02 -1.57018088e-02 3.86582483e+02] [ 2.78700856e-02 9.99611541e-01 -1.61553561e-04 3.91811611e+00] [ 1.57002116e-02 -2.76139868e-04 9.99876706e-01 5.96322345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.68925415399997 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:386.61, Y:3.92, Z:5.96 [[ 9.99554093e-01 -2.53981781e-02 -1.57018174e-02 3.86614082e+02] [ 2.53987863e-02 9.99677386e-01 -1.60712911e-04 3.91899138e+00] [ 1.57008336e-02 -2.38165856e-04 9.99876706e-01 5.96352505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.71925415399994 meters Centerline goodness : 0.998919 Centerline is valid? [True, True] Translation: X:386.65, Y:3.92, Z:5.96 [[ 9.99600624e-01 -2.34956264e-02 -1.57018231e-02 3.86645424e+02] [ 2.34960087e-02 9.99723918e-01 -1.60155669e-04 3.92080389e+00] [ 1.57012510e-02 -2.08838465e-04 9.99876706e-01 5.96231804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.74925415399997 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:386.68, Y:3.92, Z:5.96 [[ 9.99726502e-01 -1.73312925e-02 -1.57018333e-02 3.86676219e+02] [ 1.73309304e-02 9.99849795e-01 -1.59144657e-04 3.91939212e+00] [ 1.57022330e-02 -1.13026249e-04 9.99876706e-01 5.96319867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.77925415399994 meters Centerline goodness : 0.999306 Centerline is valid? [True, True] Translation: X:386.71, Y:3.92, Z:5.96 [[ 9.99764902e-01 -1.49524530e-02 -1.57023858e-02 3.86705551e+02] [ 1.49526076e-02 9.99888198e-01 -1.07564418e-04 3.92076934e+00] [ 1.57022386e-02 -1.27252483e-04 9.99876704e-01 5.96476506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.809254154 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:386.73, Y:3.92, Z:5.96 [[ 9.99756946e-01 -1.54745590e-02 -1.57030868e-02 3.86733278e+02] [ 1.54757980e-02 9.99880242e-01 -4.26194761e-05 3.92302479e+00] [ 1.57018657e-02 -2.00408681e-04 9.99876698e-01 5.96457083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.83925415399995 meters Centerline goodness : 0.999588 Centerline is valid? [True, True] Translation: X:386.76, Y:3.93, Z:5.97 [[ 9.99760262e-01 -1.52603496e-02 -1.57016270e-02 3.86761770e+02] [ 1.52594955e-02 9.99883552e-01 -1.74207658e-04 3.92505046e+00] [ 1.57024570e-02 -6.54330123e-05 9.99876707e-01 5.96790069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.869254154 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:386.79, Y:3.92, Z:5.97 [[ 9.99799741e-01 -1.24071556e-02 -1.57015759e-02 3.86789669e+02] [ 1.24058792e-02 9.99923028e-01 -1.78690208e-04 3.92246055e+00] [ 1.57025844e-02 -1.61374313e-05 9.99876707e-01 5.96603313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.89925415399995 meters Centerline goodness : 0.999349 Centerline is valid? [True, True] Translation: X:386.82, Y:3.92, Z:5.97 [[ 9.99800926e-01 -1.23113774e-02 -1.57015562e-02 3.86817554e+02] [ 1.23100622e-02 9.99924212e-01 -1.80411684e-04 3.92213034e+00] [ 1.57025873e-02 -1.29113643e-05 9.99876707e-01 5.96725570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.929254154 meters Centerline goodness : 0.999567 Centerline is valid? [True, True] Translation: X:386.85, Y:3.92, Z:5.97 [[ 9.99799975e-01 -1.23884517e-02 -1.57015020e-02 3.86846226e+02] [ 1.23870739e-02 9.99923260e-01 -1.85008098e-04 3.92140543e+00] [ 1.57025890e-02 -9.52457296e-06 9.99876707e-01 5.96774962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.95925415399995 meters Centerline goodness : 0.997418 Centerline is valid? [True, True] Translation: X:386.87, Y:3.92, Z:5.97 [[ 9.99770635e-01 -1.45650610e-02 -1.57014533e-02 3.86874640e+02] [ 1.45638880e-02 9.99893923e-01 -1.89053221e-04 3.92099228e+00] [ 1.57025413e-02 -3.96643483e-05 9.99876707e-01 5.96844535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.989254154 meters Centerline goodness : 0.997418 Centerline is valid? [True, True] Translation: X:386.90, Y:3.92, Z:5.97 [[ 9.99765766e-01 -1.48956059e-02 -1.57013945e-02 3.86903833e+02] [ 1.48943988e-02 9.99889054e-01 -1.93819260e-04 3.92150154e+00] [ 1.57025395e-02 -4.00889704e-05 9.99876707e-01 5.96890557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.01925415399995 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:386.93, Y:3.92, Z:5.97 [[ 9.99758390e-01 -1.53827629e-02 -1.57013287e-02 3.86931326e+02] [ 1.53815344e-02 9.99881677e-01 -1.99009922e-04 3.91911923e+00] [ 1.57025322e-02 -4.25486868e-05 9.99876707e-01 5.96939275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.0492541539999 meters Centerline goodness : 0.999329 Centerline is valid? [True, True] Translation: X:386.96, Y:3.92, Z:5.97 [[ 9.99674785e-01 -2.00945999e-02 -1.57013052e-02 3.86959707e+02] [ 2.00939237e-02 9.99798077e-01 -2.00841597e-04 3.91586748e+00] [ 1.57021706e-02 -1.14724550e-04 9.99876707e-01 5.96963539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.07925415399995 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:386.99, Y:3.91, Z:5.97 [[ 9.99610271e-01 -2.30819323e-02 -1.57012903e-02 3.86989105e+02] [ 2.30816063e-02 9.99733564e-01 -2.02005918e-04 3.91359367e+00] [ 1.57017696e-02 -1.60483810e-04 9.99876707e-01 5.96918556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.1092541539999 meters Centerline goodness : 0.999247 Centerline is valid? [True, True] Translation: X:387.02, Y:3.91, Z:5.97 [[ 9.99539567e-01 -2.59639007e-02 -1.57012827e-02 3.87019549e+02] [ 2.59639209e-02 9.99662860e-01 -2.02589194e-04 3.91074333e+00] [ 1.57012492e-02 -2.05170948e-04 9.99876707e-01 5.96792998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.13925415399996 meters Centerline goodness : 0.999139 Centerline is valid? [True, True] Translation: X:387.05, Y:3.91, Z:5.97 [[ 9.99414566e-01 -3.03972766e-02 -1.57012956e-02 3.87050828e+02] [ 3.03978595e-02 9.99537858e-01 -2.01585972e-04 3.90915345e+00] [ 1.57001671e-02 -2.75817821e-04 9.99876707e-01 5.96897102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.16925415399993 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:387.09, Y:3.90, Z:5.96 [[ 9.99379969e-01 -3.15142376e-02 -1.57013031e-02 3.87088387e+02] [ 3.15149674e-02 9.99503260e-01 -2.01002911e-04 3.89771207e+00] [ 1.56998381e-02 -2.93947773e-04 9.99876707e-01 5.96435152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.19925415399996 meters Centerline goodness : 0.999401 Centerline is valid? [True, True] Translation: X:387.11, Y:3.90, Z:5.97 [[ 9.99057561e-01 -4.04636576e-02 -1.57061158e-02 3.87109547e+02] [ 4.04716381e-02 9.99180669e-01 1.90471227e-04 3.90242984e+00] [ 1.56855401e-02 -8.25943954e-04 9.99876633e-01 5.96807616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.22925415399993 meters Centerline goodness : 0.999189 Centerline is valid? [True, True] Translation: X:387.14, Y:3.90, Z:5.97 [[ 9.98890466e-01 -4.43995256e-02 -1.57009448e-02 3.87141572e+02] [ 4.44017788e-02 9.99013734e-01 -2.05228443e-04 3.89890673e+00] [ 1.56945715e-02 -4.92149143e-04 9.99876712e-01 5.96743512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.25925415399996 meters Centerline goodness : 0.999210 Centerline is valid? [True, True] Translation: X:387.17, Y:3.90, Z:5.97 [[ 9.98832942e-01 -4.56752987e-02 -1.57009595e-02 3.87173302e+02] [ 4.56777272e-02 9.98956207e-01 -2.04093318e-04 3.89793554e+00] [ 1.56938930e-02 -5.13329017e-04 9.99876712e-01 5.96818614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.28925415399993 meters Centerline goodness : 0.999338 Centerline is valid? [True, True] Translation: X:387.21, Y:3.90, Z:5.97 [[ 9.98839983e-01 -4.55210609e-02 -1.57009743e-02 3.87208583e+02] [ 4.55234883e-02 9.98963248e-01 -2.02952860e-04 3.89612583e+00] [ 1.56939349e-02 -5.12045687e-04 9.99876712e-01 5.96877832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.31925415399996 meters Centerline goodness : 0.999211 Centerline is valid? [True, True] Translation: X:387.24, Y:3.89, Z:5.97 [[ 9.98780617e-01 -4.68050853e-02 -1.57023030e-02 3.87237881e+02] [ 4.68093244e-02 9.98903838e-01 -9.76585789e-05 3.89465266e+00] [ 1.56896616e-02 -6.37474697e-04 9.99876706e-01 5.96814583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.34925415399994 meters Centerline goodness : 0.999147 Centerline is valid? [True, True] Translation: X:387.27, Y:3.89, Z:5.97 [[ 9.98781256e-01 -4.67918855e-02 -1.57010316e-02 3.87270164e+02] [ 4.67945425e-02 9.98904516e-01 -1.98321315e-04 3.89392853e+00] [ 1.56931112e-02 -5.36642977e-04 9.99876712e-01 5.96848404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.37925415399997 meters Centerline goodness : 0.998958 Centerline is valid? [True, True] Translation: X:387.30, Y:3.89, Z:5.97 [[ 9.98795149e-01 -4.64943857e-02 -1.57010456e-02 3.87302672e+02] [ 4.64970234e-02 9.98918409e-01 -1.97207126e-04 3.89314619e+00] [ 1.56932325e-02 -5.33082362e-04 9.99876712e-01 5.96916954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.40925415399994 meters Centerline goodness : 0.999065 Centerline is valid? [True, True] Translation: X:387.33, Y:3.89, Z:5.97 [[ 9.98831133e-01 -4.57148229e-02 -1.57010597e-02 3.87333817e+02] [ 4.57173822e-02 9.98954395e-01 -1.96074518e-04 3.89143166e+00] [ 1.56936061e-02 -5.21966015e-04 9.99876712e-01 5.96890482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.43925415399997 meters Centerline goodness : 0.999064 Centerline is valid? [True, True] Translation: X:387.37, Y:3.89, Z:5.97 [[ 9.98853743e-01 -4.52180987e-02 -1.57010702e-02 3.87366487e+02] [ 4.52206100e-02 9.98977006e-01 -1.95231963e-04 3.89095137e+00] [ 1.56938361e-02 -5.15003794e-04 9.99876712e-01 5.96908920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.46925415399994 meters Centerline goodness : 0.998854 Centerline is valid? [True, True] Translation: X:387.40, Y:3.89, Z:5.97 [[ 9.98939035e-01 -4.32929680e-02 -1.57010836e-02 3.87398317e+02] [ 4.32952587e-02 9.99062302e-01 -1.94146735e-04 3.88895931e+00] [ 1.56947659e-02 -4.85841725e-04 9.99876712e-01 5.96833432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.49925415399997 meters Centerline goodness : 0.999066 Centerline is valid? [True, True] Translation: X:387.43, Y:3.89, Z:5.97 [[ 9.98969560e-01 -4.25827913e-02 -1.57010970e-02 3.87430573e+02] [ 4.25850115e-02 9.99092828e-01 -1.93059516e-04 3.88904104e+00] [ 1.56950744e-02 -4.75770815e-04 9.99876712e-01 5.97040257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.52925415399994 meters Centerline goodness : 0.999173 Centerline is valid? [True, True] Translation: X:387.46, Y:3.89, Z:5.97 [[ 9.99022774e-01 -4.13155188e-02 -1.57011113e-02 3.87462273e+02] [ 4.13176010e-02 9.99146045e-01 -1.91883798e-04 3.88863721e+00] [ 1.56956311e-02 -4.57035969e-04 9.99876712e-01 5.96896092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.559254154 meters Centerline goodness : 0.999108 Centerline is valid? [True, True] Translation: X:387.49, Y:3.89, Z:5.97 [[ 9.99142163e-01 -3.83198598e-02 -1.57011352e-02 3.87493986e+02] [ 3.83216034e-02 9.99265440e-01 -1.89908844e-04 3.88769759e+00] [ 1.56968791e-02 -4.11946743e-04 9.99876712e-01 5.97054394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.58925415399995 meters Centerline goodness : 0.999065 Centerline is valid? [True, True] Translation: X:387.53, Y:3.89, Z:5.97 [[ 9.99194139e-01 -3.69397598e-02 -1.57011492e-02 3.87526405e+02] [ 3.69413514e-02 9.99317418e-01 -1.88748566e-04 3.88777652e+00] [ 1.56974042e-02 -3.91425208e-04 9.99876712e-01 5.97096373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.619254154 meters Centerline goodness : 0.999023 Centerline is valid? [True, True] Translation: X:387.56, Y:3.89, Z:5.97 [[ 9.99266110e-01 -3.49387422e-02 -1.57011630e-02 3.87558987e+02] [ 3.49401050e-02 9.99389391e-01 -1.87594800e-04 3.88751398e+00] [ 1.56981300e-02 -3.61143157e-04 9.99876712e-01 5.97160283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.64925415399995 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:387.59, Y:3.89, Z:5.97 [[ 9.99364465e-01 -3.20021728e-02 -1.57011768e-02 3.87590943e+02] [ 3.20031917e-02 9.99487749e-01 -1.86425764e-04 3.88813068e+00] [ 1.56990999e-02 -3.16180488e-04 9.99876712e-01 5.97276269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.679254154 meters Centerline goodness : 0.999279 Centerline is valid? [True, True] Translation: X:387.62, Y:3.89, Z:5.97 [[ 9.99415213e-01 -3.03760601e-02 -1.57011905e-02 3.87622353e+02] [ 3.03768966e-02 9.99538498e-01 -1.85267748e-04 3.88853695e+00] [ 1.56995721e-02 -2.91794033e-04 9.99876712e-01 5.97311913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.70925415399995 meters Centerline goodness : 0.999045 Centerline is valid? [True, True] Translation: X:387.65, Y:3.89, Z:5.97 [[ 9.99530431e-01 -2.63132907e-02 -1.57011972e-02 3.87653874e+02] [ 2.63136350e-02 9.99653719e-01 -1.84695493e-04 3.88878709e+00] [ 1.57006202e-02 -2.28546807e-04 9.99876712e-01 5.97333474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.739254154 meters Centerline goodness : 0.998810 Centerline is valid? [True, True] Translation: X:387.68, Y:3.89, Z:5.97 [[ 9.99575980e-01 -2.45220954e-02 -1.57012040e-02 3.87684167e+02] [ 2.45222279e-02 9.99699268e-01 -1.84114592e-04 3.88940962e+00] [ 1.57009971e-02 -2.00991980e-04 9.99876712e-01 5.97299531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.76925415399995 meters Centerline goodness : 0.999107 Centerline is valid? [True, True] Translation: X:387.71, Y:3.89, Z:5.97 [[ 9.99623753e-01 -2.24905342e-02 -1.57012074e-02 3.87714202e+02] [ 2.24904207e-02 9.99747042e-01 -1.83826255e-04 3.89002335e+00] [ 1.57013700e-02 -1.69369669e-04 9.99876712e-01 5.97417470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.7992541539999 meters Centerline goodness : 0.999043 Centerline is valid? [True, True] Translation: X:387.74, Y:3.89, Z:5.98 [[ 9.99669904e-01 -2.03360485e-02 -1.57012074e-02 3.87744050e+02] [ 2.03356692e-02 9.99793192e-01 -1.83826255e-04 3.89059492e+00] [ 1.57016986e-02 -1.35528986e-04 9.99876712e-01 5.97549033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.82925415399995 meters Centerline goodness : 0.998895 Centerline is valid? [True, True] Translation: X:387.77, Y:3.89, Z:5.98 [[ 9.99741097e-01 -1.64684951e-02 -1.57012006e-02 3.87773152e+02] [ 1.64676298e-02 9.99864382e-01 -1.84407878e-04 3.89146407e+00] [ 1.57021081e-02 -7.42014234e-05 9.99876712e-01 5.97597732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.8592541539999 meters Centerline goodness : 0.999128 Centerline is valid? [True, True] Translation: X:387.80, Y:3.89, Z:5.98 [[ 9.99763337e-01 -1.50580073e-02 -1.57011872e-02 3.87802026e+02] [ 1.50569502e-02 9.99886620e-01 -1.85542646e-04 3.89205386e+00] [ 1.57022009e-02 -5.09132595e-05 9.99876712e-01 5.97718268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.88925415399996 meters Centerline goodness : 0.998871 Centerline is valid? [True, True] Translation: X:387.83, Y:3.89, Z:5.98 [[ 9.99782549e-01 -1.37233248e-02 -1.57011389e-02 3.87829456e+02] [ 1.37220403e-02 9.99905830e-01 -1.89544581e-04 3.89253944e+00] [ 1.57022615e-02 -2.59482956e-05 9.99876712e-01 5.97768476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.91925415399993 meters Centerline goodness : 0.999212 Centerline is valid? [True, True] Translation: X:387.86, Y:3.89, Z:5.98 [[ 9.99811009e-01 -1.14639374e-02 -1.57011216e-02 3.87857157e+02] [ 1.14623520e-02 9.99934287e-01 -1.90961942e-04 3.89295535e+00] [ 1.57022790e-02 1.09540682e-05 9.99876712e-01 5.97879791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.94925415399996 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:387.88, Y:3.89, Z:5.98 [[ 9.99816431e-01 -1.09809602e-02 -1.57010646e-02 3.87884446e+02] [ 1.09792434e-02 9.99939707e-01 -1.95541373e-04 3.89345465e+00] [ 1.57022652e-02 2.31196678e-05 9.99876712e-01 5.97909562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.97925415399993 meters Centerline goodness : 0.998913 Centerline is valid? [True, True] Translation: X:387.91, Y:3.89, Z:5.98 [[ 9.99823110e-01 -1.03550177e-02 -1.57010248e-02 3.87911001e+02] [ 1.03531743e-02 9.99946385e-01 -1.98684537e-04 3.89379838e+00] [ 1.57022404e-02 3.60939449e-05 9.99876712e-01 5.97934506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.00925415399996 meters Centerline goodness : 0.999106 Centerline is valid? [True, True] Translation: X:387.94, Y:3.89, Z:5.98 [[ 9.99831469e-01 -9.51379500e-03 -1.57009997e-02 3.87938462e+02] [ 9.51181711e-03 9.99954742e-01 -2.00646424e-04 3.89374663e+00] [ 1.57021981e-02 5.12675706e-05 9.99876712e-01 5.98097047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.03925415399993 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:387.97, Y:3.89, Z:5.98 [[ 9.99829930e-01 -9.67423082e-03 -1.57009412e-02 3.87966207e+02] [ 9.67220232e-03 9.99953202e-01 -2.05128251e-04 3.89375688e+00] [ 1.57021909e-02 5.32306846e-05 9.99876712e-01 5.98170755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.06925415399996 meters Centerline goodness : 0.998893 Centerline is valid? [True, True] Translation: X:387.99, Y:3.89, Z:5.98 [[ 9.99824840e-01 -1.01868707e-02 -1.57008808e-02 3.87993822e+02] [ 1.01848344e-02 9.99948111e-01 -2.09652087e-04 3.89236879e+00] [ 1.57022018e-02 4.97044940e-05 9.99876712e-01 5.98213118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.09925415399994 meters Centerline goodness : 0.998935 Centerline is valid? [True, True] Translation: X:388.02, Y:3.89, Z:5.98 [[ 9.99820974e-01 -1.05595283e-02 -1.57008188e-02 3.88021296e+02] [ 1.05574665e-02 9.99944245e-01 -2.14198631e-04 3.89146752e+00] [ 1.57022052e-02 4.83994158e-05 9.99876712e-01 5.98145812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.12925415399997 meters Centerline goodness : 0.999085 Centerline is valid? [True, True] Translation: X:388.05, Y:3.89, Z:5.98 [[ 9.99815191e-01 -1.10936509e-02 -1.57007994e-02 3.88048886e+02] [ 1.10916329e-02 9.99938463e-01 -2.15605067e-04 3.89035571e+00] [ 1.57022251e-02 4.14177182e-05 9.99876712e-01 5.98234252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.15925415399994 meters Centerline goodness : 0.999172 Centerline is valid? [True, True] Translation: X:388.08, Y:3.89, Z:5.98 [[ 9.99801071e-01 -1.23006453e-02 -1.57007353e-02 3.88077919e+02] [ 1.22987042e-02 9.99924344e-01 -2.20182066e-04 3.88840920e+00] [ 1.57022558e-02 2.70395657e-05 9.99876712e-01 5.98271470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.18925415399997 meters Centerline goodness : 0.999023 Centerline is valid? [True, True] Translation: X:388.11, Y:3.89, Z:5.98 [[ 9.99791839e-01 -1.30294500e-02 -1.57006784e-02 3.88105784e+02] [ 1.30275362e-02 9.99915113e-01 -2.24168170e-04 3.88755611e+00] [ 1.57022664e-02 1.95803519e-05 9.99876712e-01 5.98207087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.21925415399994 meters Centerline goodness : 0.998768 Centerline is valid? [True, True] Translation: X:388.13, Y:3.89, Z:5.98 [[ 9.99776634e-01 -1.41482237e-02 -1.57006581e-02 3.88134081e+02] [ 1.41464257e-02 9.99899909e-01 -2.25578454e-04 3.88665485e+00] [ 1.57022781e-02 3.41987523e-06 9.99876712e-01 5.98366926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.24925415399997 meters Centerline goodness : 0.998919 Centerline is valid? [True, True] Translation: X:388.16, Y:3.89, Z:5.98 [[ 9.99759914e-01 -1.52841383e-02 -1.57005898e-02 3.88161592e+02] [ 1.52824072e-02 9.99883191e-01 -2.30234359e-04 3.88548967e+00] [ 1.57022748e-02 -9.76372367e-06 9.99876712e-01 5.98341864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.27925415399994 meters Centerline goodness : 0.999005 Centerline is valid? [True, True] Translation: X:388.19, Y:3.88, Z:5.98 [[ 9.99718269e-01 -1.78010253e-02 -1.57005205e-02 3.88189579e+02] [ 1.77995318e-02 9.99841548e-01 -2.34869354e-04 3.88210737e+00] [ 1.57022136e-02 -4.46587290e-05 9.99876712e-01 5.98288175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.309254154 meters Centerline goodness : 0.999069 Centerline is valid? [True, True] Translation: X:388.22, Y:3.88, Z:5.98 [[ 9.99692714e-01 -1.91826531e-02 -1.57004494e-02 3.88217191e+02] [ 1.91812568e-02 9.99815994e-01 -2.39527635e-04 3.88086956e+00] [ 1.57021552e-02 -6.17003204e-05 9.99876712e-01 5.98303714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.33925415399995 meters Centerline goodness : 0.999070 Centerline is valid? [True, True] Translation: X:388.24, Y:3.88, Z:5.98 [[ 9.99661219e-01 -2.07591709e-02 -1.57004273e-02 3.88244889e+02] [ 2.07579464e-02 9.99784502e-01 -2.40968785e-04 3.88002560e+00] [ 1.57020462e-02 -8.50214790e-05 9.99876712e-01 5.98297008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.369254154 meters Centerline goodness : 0.999029 Centerline is valid? [True, True] Translation: X:388.27, Y:3.88, Z:5.98 [[ 9.99580923e-01 -2.43202641e-02 -1.57004052e-02 3.88273866e+02] [ 2.43194563e-02 9.99704209e-01 -2.42397294e-04 3.87813127e+00] [ 1.57016564e-02 -1.39529608e-04 9.99876712e-01 5.98408663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.39925415399995 meters Centerline goodness : 0.998818 Centerline is valid? [True, True] Translation: X:388.30, Y:3.88, Z:5.98 [[ 9.99537314e-01 -2.60510440e-02 -1.57003424e-02 3.88303897e+02] [ 2.60503869e-02 9.99660601e-01 -2.46399026e-04 3.87712443e+00] [ 1.57014327e-02 -1.62714973e-04 9.99876712e-01 5.98418384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.429254154 meters Centerline goodness : 0.999200 Centerline is valid? [True, True] Translation: X:388.33, Y:3.87, Z:5.98 [[ 9.99406101e-01 -3.06748298e-02 -1.57003333e-02 3.88334489e+02] [ 3.06747339e-02 9.99529389e-01 -2.46978411e-04 3.87456121e+00] [ 1.57005206e-02 -2.34771817e-04 9.99876712e-01 5.98381494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.45925415399995 meters Centerline goodness : 0.998989 Centerline is valid? [True, True] Translation: X:388.37, Y:3.87, Z:5.98 [[ 9.99323738e-01 -3.32500422e-02 -1.57003333e-02 3.88366183e+02] [ 3.32502640e-02 9.99447027e-01 -2.46978411e-04 3.87337757e+00] [ 1.56998635e-02 -2.75228839e-04 9.99876712e-01 5.98382278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.489254154 meters Centerline goodness : 0.999095 Centerline is valid? [True, True] Translation: X:388.40, Y:3.87, Z:5.98 [[ 9.99240364e-01 -3.56678245e-02 -1.57003424e-02 3.88397675e+02] [ 3.56683537e-02 9.99363651e-01 -2.46402426e-04 3.87215657e+00] [ 1.56991401e-02 -3.13790115e-04 9.99876712e-01 5.98369036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.51925415399995 meters Centerline goodness : 0.999179 Centerline is valid? [True, True] Translation: X:388.43, Y:3.87, Z:5.98 [[ 9.99042959e-01 -4.08248187e-02 -1.57003559e-02 3.88430016e+02] [ 4.08259978e-02 9.99166241e-01 -2.45539873e-04 3.86998305e+00] [ 1.56972897e-02 -3.95677811e-04 9.99876712e-01 5.98345595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.5492541539999 meters Centerline goodness : 0.998867 Centerline is valid? [True, True] Translation: X:388.46, Y:3.87, Z:5.98 [[ 9.98950219e-01 -4.30343743e-02 -1.57003735e-02 3.88461827e+02] [ 4.30358439e-02 9.99073499e-01 -2.44405876e-04 3.86941560e+00] [ 1.56963449e-02 -4.31529519e-04 9.99876712e-01 5.98390943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.57925415399995 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:388.49, Y:3.87, Z:5.98 [[ 9.98846256e-01 -4.53834239e-02 -1.57003914e-02 3.88494435e+02] [ 4.53852014e-02 9.98969531e-01 -2.43253160e-04 3.86927784e+00] [ 1.56952523e-02 -4.69592917e-04 9.99876712e-01 5.98490719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.6092541539999 meters Centerline goodness : 0.998929 Centerline is valid? [True, True] Translation: X:388.53, Y:3.87, Z:5.99 [[ 9.98749005e-01 -4.74754926e-02 -1.57004092e-02 3.88525747e+02] [ 4.74775465e-02 9.98872276e-01 -2.42098823e-04 3.86911673e+00] [ 1.56941972e-02 -5.03620948e-04 9.99876712e-01 5.98541569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.63925415399996 meters Centerline goodness : 0.998764 Centerline is valid? [True, True] Translation: X:388.56, Y:3.87, Z:5.99 [[ 9.98600934e-01 -5.04942664e-02 -1.57004224e-02 3.88558209e+02] [ 5.04967064e-02 9.98724198e-01 -2.41237938e-04 3.86839635e+00] [ 1.56925729e-02 -5.51919190e-04 9.99876712e-01 5.98585701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.66925415399993 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:388.59, Y:3.87, Z:5.99 [[ 9.98554458e-01 -5.14051624e-02 -1.57004402e-02 3.88589484e+02] [ 5.14077332e-02 9.98677719e-01 -2.40070486e-04 3.86830729e+00] [ 1.56920207e-02 -5.67400589e-04 9.99876712e-01 5.98595615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.69925415399996 meters Centerline goodness : 0.998973 Centerline is valid? [True, True] Translation: X:388.62, Y:3.87, Z:5.99 [[ 9.98515706e-01 -5.21524680e-02 -1.57004535e-02 3.88620880e+02] [ 5.21551447e-02 9.98638966e-01 -2.39199875e-04 3.86933552e+00] [ 1.56915595e-02 -5.80014592e-04 9.99876712e-01 5.98624795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.72925415399993 meters Centerline goodness : 0.998994 Centerline is valid? [True, True] Translation: X:388.65, Y:3.87, Z:5.99 [[ 9.98537669e-01 -5.17302555e-02 -1.57004664e-02 3.88653467e+02] [ 5.17328934e-02 9.98660929e-01 -2.38350029e-04 3.87039762e+00] [ 1.56917723e-02 -5.74229072e-04 9.99876712e-01 5.98719349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.75925415399996 meters Centerline goodness : 0.998971 Centerline is valid? [True, True] Translation: X:388.69, Y:3.87, Z:5.99 [[ 9.98590534e-01 -5.06995018e-02 -1.57004836e-02 3.88685635e+02] [ 5.07020303e-02 9.98713797e-01 -2.37211312e-04 3.87146142e+00] [ 1.56923161e-02 -5.59169425e-04 9.99876712e-01 5.98776668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.78925415399993 meters Centerline goodness : 0.999140 Centerline is valid? [True, True] Translation: X:388.72, Y:3.87, Z:5.99 [[ 9.98718615e-01 -4.81105222e-02 -1.57005012e-02 3.88716328e+02] [ 4.81127496e-02 9.98841883e-01 -2.36040663e-04 3.87375499e+00] [ 1.56936742e-02 -5.19656079e-04 9.99876712e-01 5.98784735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.81925415399996 meters Centerline goodness : 0.999076 Centerline is valid? [True, True] Translation: X:388.75, Y:3.88, Z:5.99 [[ 9.98786985e-01 -4.66696103e-02 -1.57005143e-02 3.88747404e+02] [ 4.66716735e-02 9.98910256e-01 -2.35168817e-04 3.87504197e+00] [ 1.56943800e-02 -4.97885723e-04 9.99876712e-01 5.98756107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.84925415399994 meters Centerline goodness : 0.998993 Centerline is valid? [True, True] Translation: X:388.78, Y:3.88, Z:5.99 [[ 9.98866364e-01 -4.49386189e-02 -1.57005270e-02 3.88779851e+02] [ 4.49404819e-02 9.98989639e-01 -2.34316980e-04 3.87625976e+00] [ 1.56951937e-02 -4.71537898e-04 9.99876712e-01 5.98843556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.87925415399997 meters Centerline goodness : 0.998993 Centerline is valid? [True, True] Translation: X:388.81, Y:3.88, Z:5.99 [[ 9.98869614e-01 -4.48663261e-02 -1.57005439e-02 3.88812535e+02] [ 4.48681980e-02 9.98992888e-01 -2.33180798e-04 3.87668400e+00] [ 1.56951936e-02 -4.71537897e-04 9.99876712e-01 5.98894856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.90925415399994 meters Centerline goodness : 0.998989 Centerline is valid? [True, True] Translation: X:388.84, Y:3.88, Z:5.99 [[ 9.98942330e-01 -4.32170614e-02 -1.57005606e-02 3.88844652e+02] [ 4.32187476e-02 9.99065606e-01 -2.32044615e-04 3.87798910e+00] [ 1.56959184e-02 -4.46759379e-04 9.99876712e-01 5.98913787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.93925415399997 meters Centerline goodness : 0.999093 Centerline is valid? [True, True] Translation: X:388.88, Y:3.88, Z:5.99 [[ 9.99086697e-01 -3.97399402e-02 -1.57005773e-02 3.88875769e+02] [ 3.97412152e-02 9.99209979e-01 -2.30909393e-04 3.88050519e+00] [ 1.56973499e-02 -3.93261519e-04 9.99876712e-01 5.98915734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.96925415399994 meters Centerline goodness : 0.999158 Centerline is valid? [True, True] Translation: X:388.91, Y:3.88, Z:5.99 [[ 9.99148283e-01 -3.81601778e-02 -1.57006039e-02 3.88907756e+02] [ 3.81612865e-02 9.99271567e-01 -2.29086077e-04 3.88213122e+00] [ 1.56979091e-02 -3.70264284e-04 9.99876712e-01 5.98987749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.99925415399997 meters Centerline goodness : 0.999011 Centerline is valid? [True, True] Translation: X:388.94, Y:3.89, Z:5.99 [[ 9.99249209e-01 -3.54190552e-02 -1.57006208e-02 3.88939024e+02] [ 3.54198438e-02 9.99372494e-01 -2.27928104e-04 3.88514474e+00] [ 1.56988415e-02 -3.28356558e-04 9.99876712e-01 5.98999598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.02925415399994 meters Centerline goodness : 0.998967 Centerline is valid? [True, True] Translation: X:388.97, Y:3.89, Z:5.99 [[ 9.99293562e-01 -3.41447909e-02 -1.57006332e-02 3.88969876e+02] [ 3.41454359e-02 9.99416849e-01 -2.27065634e-04 3.88674975e+00] [ 1.56992305e-02 -3.09199739e-04 9.99876712e-01 5.99046262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.059254154 meters Centerline goodness : 0.998796 Centerline is valid? [True, True] Translation: X:389.00, Y:3.89, Z:5.99 [[ 9.99335744e-01 -3.28870915e-02 -1.57006414e-02 3.89001236e+02] [ 3.28875902e-02 9.99459031e-01 -2.26497355e-04 3.88820181e+00] [ 1.56995967e-02 -2.90009359e-04 9.99876712e-01 5.99139971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.08925415399995 meters Centerline goodness : 0.998966 Centerline is valid? [True, True] Translation: X:389.03, Y:3.89, Z:5.99 [[ 9.99367358e-01 -3.19119601e-02 -1.57006498e-02 3.89031544e+02] [ 3.19123477e-02 9.99490646e-01 -2.25918675e-04 3.89045884e+00] [ 1.56998621e-02 -2.75268844e-04 9.99876712e-01 5.99210520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.119254154 meters Centerline goodness : 0.999093 Centerline is valid? [True, True] Translation: X:389.06, Y:3.89, Z:5.99 [[ 9.99360950e-01 -3.21119956e-02 -1.57006634e-02 3.89063337e+02] [ 3.21124227e-02 9.99484238e-01 -2.24965817e-04 3.89158568e+00] [ 1.56997897e-02 -2.79364289e-04 9.99876712e-01 5.99319295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.14925415399995 meters Centerline goodness : 0.999092 Centerline is valid? [True, True] Translation: X:389.09, Y:3.89, Z:5.99 [[ 9.99301121e-01 -3.39228194e-02 -1.57006716e-02 3.89094964e+02] [ 3.39234790e-02 9.99424408e-01 -2.24391429e-04 3.89298493e+00] [ 1.56992464e-02 -3.08386798e-04 9.99876712e-01 5.99389241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.179254154 meters Centerline goodness : 0.998775 Centerline is valid? [True, True] Translation: X:389.13, Y:3.89, Z:5.99 [[ 9.99242931e-01 -3.55956833e-02 -1.57006838e-02 3.89125998e+02] [ 3.55965627e-02 9.99366217e-01 -2.23533293e-04 3.89374667e+00] [ 1.56986898e-02 -3.35526315e-04 9.99876712e-01 5.99485395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.20925415399995 meters Centerline goodness : 0.998903 Centerline is valid? [True, True] Translation: X:389.16, Y:3.89, Z:6.00 [[ 9.99190627e-01 -3.70348399e-02 -1.57006919e-02 3.89157312e+02] [ 3.70359058e-02 9.99313911e-01 -2.22965796e-04 3.89415761e+00] [ 1.56981773e-02 -3.58704013e-04 9.99876712e-01 5.99542721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.2392541539999 meters Centerline goodness : 0.998945 Centerline is valid? [True, True] Translation: X:389.19, Y:3.89, Z:6.00 [[ 9.99140150e-01 -3.83725070e-02 -1.57007039e-02 3.89189072e+02] [ 3.83737513e-02 9.99263432e-01 -2.22116296e-04 3.89468369e+00] [ 1.56976624e-02 -3.80569598e-04 9.99876712e-01 5.99619810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.26925415399995 meters Centerline goodness : 0.996496 Centerline is valid? [True, True] Translation: X:389.22, Y:3.90, Z:6.00 [[ 9.98980127e-01 -4.23343014e-02 -1.57007196e-02 3.89217866e+02] [ 4.23360521e-02 9.99103403e-01 -2.21002594e-04 3.89913626e+00] [ 1.56959984e-02 -4.43929282e-04 9.99876712e-01 5.99593566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.2992541539999 meters Centerline goodness : 0.998904 Centerline is valid? [True, True] Translation: X:389.25, Y:3.90, Z:6.00 [[ 9.99047887e-01 -4.07047959e-02 -1.56983865e-02 3.89250826e+02] [ 4.07037878e-02 9.99171184e-01 -3.83853217e-04 3.89715239e+00] [ 1.57010001e-02 -2.55496049e-04 9.99876699e-01 5.99922042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.32925415399995 meters Centerline goodness : 0.998902 Centerline is valid? [True, True] Translation: X:389.28, Y:3.90, Z:6.00 [[ 9.99035809e-01 -4.09992710e-02 -1.57006923e-02 3.89281937e+02] [ 4.10009168e-02 9.99159085e-01 -2.17184458e-04 3.89853594e+00] [ 1.56963937e-02 -4.26767726e-04 9.99876713e-01 6.00030958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.3592541539999 meters Centerline goodness : 0.999219 Centerline is valid? [True, True] Translation: X:389.31, Y:3.90, Z:6.00 [[ 9.99014843e-01 -4.15069924e-02 -1.57007188e-02 3.89314904e+02] [ 4.15087313e-02 9.99138118e-01 -2.15250034e-04 3.89962699e+00] [ 1.56961210e-02 -4.36678938e-04 9.99876713e-01 6.00333551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.38925415399996 meters Centerline goodness : 0.998922 Centerline is valid? [True, True] Translation: X:389.34, Y:3.90, Z:6.00 [[ 9.98918365e-01 -4.37671517e-02 -1.57014719e-02 3.89342463e+02] [ 4.37700571e-02 9.99041619e-01 -1.58728699e-04 3.90388851e+00] [ 1.56933710e-02 -5.28697308e-04 9.99876712e-01 6.00102822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.41925415399993 meters Centerline goodness : 0.999091 Centerline is valid? [True, True] Translation: X:389.38, Y:3.90, Z:6.00 [[ 9.99017864e-01 -4.14352141e-02 -1.56980764e-02 3.89377210e+02] [ 4.14339555e-02 9.99141163e-01 -4.05546143e-04 3.90058992e+00] [ 1.57013982e-02 -2.45285556e-04 9.99876695e-01 6.00269970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.44925415399996 meters Centerline goodness : 0.999006 Centerline is valid? [True, True] Translation: X:389.41, Y:3.90, Z:6.00 [[ 9.99015296e-01 -4.14961070e-02 -1.57006935e-02 3.89409008e+02] [ 4.14979534e-02 9.99138567e-01 -2.08318317e-04 3.90115332e+00] [ 1.56958128e-02 -4.43433462e-04 9.99876715e-01 6.00335749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.47925415399993 meters Centerline goodness : 0.998838 Centerline is valid? [True, True] Translation: X:389.44, Y:3.90, Z:6.00 [[ 9.99016129e-01 -4.14760320e-02 -1.57007083e-02 3.89441222e+02] [ 4.14778934e-02 9.99139400e-01 -2.07198548e-04 3.90192880e+00] [ 1.56957900e-02 -4.44237613e-04 9.99876715e-01 6.00433272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.50925415399996 meters Centerline goodness : 0.998941 Centerline is valid? [True, True] Translation: X:389.47, Y:3.90, Z:6.01 [[ 9.99024459e-01 -4.12748916e-02 -1.57007232e-02 3.89473758e+02] [ 4.12767461e-02 9.99147731e-01 -2.06061747e-04 3.90279972e+00] [ 1.56958471e-02 -4.42214041e-04 9.99876715e-01 6.00507948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.53925415399993 meters Centerline goodness : 0.999217 Centerline is valid? [True, True] Translation: X:389.51, Y:3.90, Z:6.01 [[ 9.99102843e-01 -3.93318642e-02 -1.57007385e-02 3.89505692e+02] [ 3.93334973e-02 9.99226118e-01 -2.04892234e-04 3.90418526e+00] [ 1.56966467e-02 -4.12856541e-04 9.99876715e-01 6.00535593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.56925415399996 meters Centerline goodness : 0.999048 Centerline is valid? [True, True] Translation: X:389.54, Y:3.91, Z:6.01 [[ 9.99170055e-01 -3.75857236e-02 -1.57007535e-02 3.89537104e+02] [ 3.75871596e-02 9.99293332e-01 -2.03729841e-04 3.90525453e+00] [ 1.56973157e-02 -3.86585973e-04 9.99876715e-01 6.00553929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.59925415399994 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:389.57, Y:3.91, Z:6.01 [[ 9.99294732e-01 -3.41104864e-02 -1.57007647e-02 3.89571379e+02] [ 3.41115071e-02 9.99418013e-01 -2.02864474e-04 3.90526195e+00] [ 1.56985469e-02 -3.32855348e-04 9.99876715e-01 6.01017707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.62925415399997 meters Centerline goodness : 0.998899 Centerline is valid? [True, True] Translation: X:389.60, Y:3.91, Z:6.01 [[ 9.99346844e-01 -3.25471480e-02 -1.57025067e-02 3.89598920e+02] [ 3.25501400e-02 9.99470102e-01 -6.50630770e-05 3.90882747e+00] [ 1.56963036e-02 -4.46098210e-04 9.99876706e-01 6.00562718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.65925415399994 meters Centerline goodness : 0.999110 Centerline is valid? [True, True] Translation: X:389.63, Y:3.91, Z:6.01 [[ 9.99375275e-01 -3.16629987e-02 -1.57007524e-02 3.89630162e+02] [ 3.16637365e-02 9.99498558e-01 -2.01659308e-04 3.90978009e+00] [ 1.56992645e-02 -2.95611161e-04 9.99876715e-01 6.00605749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.68925415399997 meters Centerline goodness : 0.999067 Centerline is valid? [True, True] Translation: X:389.66, Y:3.91, Z:6.01 [[ 9.99385160e-01 -3.13494596e-02 -1.57007596e-02 3.89661264e+02] [ 3.13501674e-02 9.99508442e-01 -2.01098537e-04 3.91091747e+00] [ 1.56993461e-02 -2.91246548e-04 9.99876715e-01 6.00722650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.71925415399994 meters Centerline goodness : 0.999005 Centerline is valid? [True, True] Translation: X:389.69, Y:3.91, Z:6.01 [[ 9.99369911e-01 -3.18318392e-02 -1.57007668e-02 3.89692314e+02] [ 3.18326155e-02 9.99493194e-01 -2.00530496e-04 3.91164048e+00] [ 1.56991928e-02 -2.99392329e-04 9.99876715e-01 6.00776325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.74925415399997 meters Centerline goodness : 0.998898 Centerline is valid? [True, True] Translation: X:389.72, Y:3.91, Z:6.01 [[ 9.99358351e-01 -3.21927256e-02 -1.57007741e-02 3.89723221e+02] [ 3.21935554e-02 9.99481633e-01 -1.99960880e-04 3.91216614e+00] [ 1.56990726e-02 -3.05631165e-04 9.99876715e-01 6.00798926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.77925415399994 meters Centerline goodness : 0.999004 Centerline is valid? [True, True] Translation: X:389.75, Y:3.91, Z:6.01 [[ 9.99359161e-01 -3.21675801e-02 -1.57007813e-02 3.89754124e+02] [ 3.21684157e-02 9.99482443e-01 -1.99396497e-04 3.91266738e+00] [ 1.56990693e-02 -3.05800542e-04 9.99876715e-01 6.00741502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.809254154 meters Centerline goodness : 0.998941 Centerline is valid? [True, True] Translation: X:389.79, Y:3.91, Z:6.01 [[ 9.99354800e-01 -3.23027780e-02 -1.57007919e-02 3.89785229e+02] [ 3.23036435e-02 9.99478081e-01 -1.98551742e-04 3.91353968e+00] [ 1.56990112e-02 -3.08769149e-04 9.99876715e-01 6.00808544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.83925415399995 meters Centerline goodness : 0.999068 Centerline is valid? [True, True] Translation: X:389.82, Y:3.91, Z:6.01 [[ 9.99367524e-01 -3.19066933e-02 -1.57007988e-02 3.89816962e+02] [ 3.19075184e-02 9.99490806e-01 -1.98011111e-04 3.91410188e+00] [ 1.56991219e-02 -3.03087652e-04 9.99876715e-01 6.01108828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.869254154 meters Centerline goodness : 0.999110 Centerline is valid? [True, True] Translation: X:389.85, Y:3.91, Z:6.01 [[ 9.99395912e-01 -3.10047560e-02 -1.57008059e-02 3.89848381e+02] [ 3.10054787e-02 9.99519195e-01 -1.97443668e-04 3.91499056e+00] [ 1.56993786e-02 -2.89486608e-04 9.99876715e-01 6.01445116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.89925415399995 meters Centerline goodness : 0.999091 Centerline is valid? [True, True] Translation: X:389.88, Y:3.92, Z:6.01 [[ 9.99405053e-01 -3.07086902e-02 -1.57008132e-02 3.89878462e+02] [ 3.07093856e-02 9.99528336e-01 -1.96862275e-04 3.91513834e+00] [ 1.56994531e-02 -2.85417174e-04 9.99876715e-01 6.01260106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.929254154 meters Centerline goodness : 0.998985 Centerline is valid? [True, True] Translation: X:389.91, Y:3.92, Z:6.02 [[ 9.99409075e-01 -3.05775214e-02 -1.57008168e-02 3.89909463e+02] [ 3.05782051e-02 9.99532358e-01 -1.96573945e-04 3.91527564e+00] [ 1.56994852e-02 -2.83645012e-04 9.99876715e-01 6.01705432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.95925415399995 meters Centerline goodness : 0.999050 Centerline is valid? [True, True] Translation: X:389.94, Y:3.92, Z:6.02 [[ 9.99405058e-01 -3.07085482e-02 -1.57008241e-02 3.89940178e+02] [ 3.07092572e-02 9.99528340e-01 -1.95991727e-04 3.91524157e+00] [ 1.56994372e-02 -2.86285522e-04 9.99876715e-01 6.01721891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.9892541539999 meters Centerline goodness : 0.999113 Centerline is valid? [True, True] Translation: X:389.97, Y:3.91, Z:6.02 [[ 9.99371384e-01 -3.17855275e-02 -1.57008364e-02 3.89972021e+02] [ 3.17863850e-02 9.99494666e-01 -1.95001436e-04 3.91440377e+00] [ 1.56991004e-02 -3.04193974e-04 9.99876715e-01 6.01856331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.01925415399995 meters Centerline goodness : 0.999283 Centerline is valid? [True, True] Translation: X:390.00, Y:3.91, Z:6.02 [[ 9.99351230e-01 -3.24130071e-02 -1.57008471e-02 3.90003289e+02] [ 3.24139556e-02 9.99474511e-01 -1.94130816e-04 3.91374404e+00] [ 1.56988889e-02 -3.14921692e-04 9.99876715e-01 6.01890515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.0492541539999 meters Centerline goodness : 0.999010 Centerline is valid? [True, True] Translation: X:390.03, Y:3.91, Z:6.02 [[ 9.99294257e-01 -3.41243584e-02 -1.57008542e-02 3.90034850e+02] [ 3.41255271e-02 9.99417536e-01 -1.93553253e-04 3.91237526e+00] [ 1.56983139e-02 -3.42383272e-04 9.99876715e-01 6.01952928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.07925415399995 meters Centerline goodness : 0.999031 Centerline is valid? [True, True] Translation: X:390.07, Y:3.91, Z:6.02 [[ 9.99269996e-01 -3.48275413e-02 -1.57008613e-02 3.90066492e+02] [ 3.48288058e-02 9.99393274e-01 -1.92975690e-04 3.91183681e+00] [ 1.56980561e-02 -3.54007434e-04 9.99876715e-01 6.01908425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.1092541539999 meters Centerline goodness : 0.998925 Centerline is valid? [True, True] Translation: X:390.10, Y:3.91, Z:6.02 [[ 9.99247221e-01 -3.54749662e-02 -1.57008838e-02 3.90098477e+02] [ 3.54763396e-02 9.99370498e-01 -1.91127196e-04 3.91178485e+00] [ 1.56977803e-02 -3.66026568e-04 9.99876715e-01 6.02055987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.13925415399996 meters Centerline goodness : 0.999262 Centerline is valid? [True, True] Translation: X:390.13, Y:3.91, Z:6.02 [[ 9.99248721e-01 -3.54326849e-02 -1.57008978e-02 3.90129897e+02] [ 3.54340713e-02 9.99371998e-01 -1.89972952e-04 3.91136869e+00] [ 1.56977689e-02 -3.66516503e-04 9.99876715e-01 6.02002104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.16925415399993 meters Centerline goodness : 0.998861 Centerline is valid? [True, True] Translation: X:390.16, Y:3.91, Z:6.02 [[ 9.99257169e-01 -3.51936221e-02 -1.57009082e-02 3.90162335e+02] [ 3.51949924e-02 9.99380446e-01 -1.89114803e-04 3.91137519e+00] [ 1.56978362e-02 -3.63619020e-04 9.99876715e-01 6.02140520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.19925415399996 meters Centerline goodness : 0.999029 Centerline is valid? [True, True] Translation: X:390.19, Y:3.91, Z:6.02 [[ 9.99268674e-01 -3.48654328e-02 -1.57009218e-02 3.90193856e+02] [ 3.48667806e-02 9.99391951e-01 -1.87974349e-04 3.91132317e+00] [ 1.56979287e-02 -3.59603717e-04 9.99876715e-01 6.02141165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.22925415399993 meters Centerline goodness : 0.999177 Centerline is valid? [True, True] Translation: X:390.22, Y:3.91, Z:6.02 [[ 9.99281182e-01 -3.45050828e-02 -1.57009319e-02 3.90224709e+02] [ 3.45063994e-02 9.99404459e-01 -1.87124479e-04 3.91035859e+00] [ 1.56980381e-02 -3.54792658e-04 9.99876715e-01 6.02120054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.25925415399996 meters Centerline goodness : 0.998929 Centerline is valid? [True, True] Translation: X:390.26, Y:3.91, Z:6.02 [[ 9.99290752e-01 -3.42267993e-02 -1.57009419e-02 3.90257122e+02] [ 3.42280947e-02 9.99414030e-01 -1.86284670e-04 3.91009211e+00] [ 1.56981175e-02 -3.51260778e-04 9.99876715e-01 6.02189061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.28925415399993 meters Centerline goodness : 0.999009 Centerline is valid? [True, True] Translation: X:390.29, Y:3.91, Z:6.02 [[ 9.99324203e-01 -3.32357869e-02 -1.57009550e-02 3.90289145e+02] [ 3.32369776e-02 9.99447482e-01 -1.85171996e-04 3.90998658e+00] [ 1.56984343e-02 -3.36805432e-04 9.99876715e-01 6.02451954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.31925415399996 meters Centerline goodness : 0.999303 Centerline is valid? [True, True] Translation: X:390.32, Y:3.91, Z:6.03 [[ 9.99367527e-01 -3.19065006e-02 -1.57009683e-02 3.90320124e+02] [ 3.19075452e-02 9.99490808e-01 -1.84038312e-04 3.91018931e+00] [ 1.56988455e-02 -3.17057443e-04 9.99876715e-01 6.02632781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.34925415399994 meters Centerline goodness : 0.998946 Centerline is valid? [True, True] Translation: X:390.35, Y:3.91, Z:6.03 [[ 9.99426325e-01 -3.00083223e-02 -1.57009750e-02 3.90351696e+02] [ 3.00091416e-02 9.99549607e-01 -1.83465573e-04 3.91054466e+00] [ 1.56994089e-02 -2.87812459e-04 9.99876715e-01 6.02714461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.37925415399997 meters Centerline goodness : 0.998860 Centerline is valid? [True, True] Translation: X:390.38, Y:3.91, Z:6.03 [[ 9.99501381e-01 -2.73946953e-02 -1.57009816e-02 3.90382574e+02] [ 2.73952012e-02 9.99624664e-01 -1.82897524e-04 3.91070687e+00] [ 1.57000989e-02 -2.47325223e-04 9.99876715e-01 6.02834569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.40925415399994 meters Centerline goodness : 0.999113 Centerline is valid? [True, True] Translation: X:390.41, Y:3.91, Z:6.03 [[ 9.99643225e-01 -2.16079153e-02 -1.57009882e-02 3.90412303e+02] [ 2.16077164e-02 9.99766509e-01 -1.82330316e-04 3.91094076e+00] [ 1.57012620e-02 -1.56997236e-04 9.99876715e-01 6.02991485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.43925415399997 meters Centerline goodness : 0.999092 Centerline is valid? [True, True] Translation: X:390.44, Y:3.91, Z:6.03 [[ 9.99705177e-01 -1.85212967e-02 -1.57009849e-02 3.90442044e+02] [ 1.85207127e-02 9.99828460e-01 -1.82611479e-04 3.91099820e+00] [ 1.57016738e-02 -1.08235790e-04 9.99876715e-01 6.03036004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.46925415399994 meters Centerline goodness : 0.998984 Centerline is valid? [True, True] Translation: X:390.47, Y:3.91, Z:6.03 [[ 9.99773778e-01 -1.43482600e-02 -1.57009785e-02 3.90470979e+02] [ 1.43471528e-02 9.99897058e-01 -1.83163136e-04 3.91038754e+00] [ 1.57019903e-02 -4.21426377e-05 9.99876715e-01 6.03185161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.49925415399997 meters Centerline goodness : 0.999025 Centerline is valid? [True, True] Translation: X:390.50, Y:3.91, Z:6.03 [[ 9.99787671e-01 -1.33451861e-02 -1.57009315e-02 3.90499055e+02] [ 1.33438931e-02 9.99910949e-01 -1.87111022e-04 3.90987572e+00] [ 1.57020303e-02 -2.24402587e-05 9.99876715e-01 6.03269444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.52925415399994 meters Centerline goodness : 0.999237 Centerline is valid? [True, True] Translation: X:390.53, Y:3.91, Z:6.03 [[ 9.99795695e-01 -1.27299258e-02 -1.57008754e-02 3.90526490e+02] [ 1.27284849e-02 9.99918971e-01 -1.91699128e-04 3.90926466e+00] [ 1.57020435e-02 -8.18839281e-06 9.99876715e-01 6.03201588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.559254154 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:390.55, Y:3.91, Z:6.03 [[ 9.99784678e-01 -1.35676565e-02 -1.57008510e-02 3.90553614e+02] [ 1.35662878e-02 9.99907955e-01 -1.93683478e-04 3.90692691e+00] [ 1.57020336e-02 -1.93604894e-05 9.99876715e-01 6.03104565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.58925415399995 meters Centerline goodness : 0.999112 Centerline is valid? [True, True] Translation: X:390.58, Y:3.91, Z:6.03 [[ 9.99762505e-01 -1.51135139e-02 -1.57008265e-02 3.90581334e+02] [ 1.51123049e-02 9.99885783e-01 -1.95648850e-04 3.90576499e+00] [ 1.57019901e-02 -4.16732934e-05 9.99876715e-01 6.03134225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.619254154 meters Centerline goodness : 0.999176 Centerline is valid? [True, True] Translation: X:390.61, Y:3.90, Z:6.03 [[ 9.99710806e-01 -1.82151122e-02 -1.57007688e-02 3.90608873e+02] [ 1.82142147e-02 9.99834087e-01 -2.00171514e-04 3.90307234e+00] [ 1.57018100e-02 -8.58635487e-05 9.99876715e-01 6.03073292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.64925415399995 meters Centerline goodness : 0.998964 Centerline is valid? [True, True] Translation: X:390.64, Y:3.90, Z:6.03 [[ 9.99672110e-01 -2.02276810e-02 -1.57007405e-02 3.90636450e+02] [ 2.02269972e-02 9.99795393e-01 -2.02368849e-04 3.90235686e+00] [ 1.57016215e-02 -1.15276340e-04 9.99876715e-01 6.03067340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.679254154 meters Centerline goodness : 0.998925 Centerline is valid? [True, True] Translation: X:390.67, Y:3.90, Z:6.03 [[ 9.99625082e-01 -2.24317267e-02 -1.57007225e-02 3.90665004e+02] [ 2.24312928e-02 9.99748366e-01 -2.03756868e-04 3.90164027e+00] [ 1.57013423e-02 -1.48507027e-04 9.99876715e-01 6.03118920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.70925415399995 meters Centerline goodness : 0.999050 Centerline is valid? [True, True] Translation: X:390.69, Y:3.90, Z:6.03 [[ 9.99580484e-01 -2.43381228e-02 -1.57006707e-02 3.90694117e+02] [ 2.43378627e-02 9.99703769e-01 -2.07669778e-04 3.90091698e+00] [ 1.57010740e-02 -1.74538110e-04 9.99876715e-01 6.03100147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.7392541539999 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:390.72, Y:3.90, Z:6.03 [[ 9.99449394e-01 -2.92301065e-02 -1.57006597e-02 3.90724049e+02] [ 2.92304367e-02 9.99572678e-01 -2.08501090e-04 3.89926647e+00] [ 1.57000449e-02 -2.50550852e-04 9.99876715e-01 6.03100117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.76925415399995 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:390.75, Y:3.90, Z:6.03 [[ 9.99381870e-01 -3.14542145e-02 -1.57006524e-02 3.90753989e+02] [ 3.14548105e-02 9.99505153e-01 -2.09049617e-04 3.89827328e+00] [ 1.56994584e-02 -2.84940647e-04 9.99876715e-01 6.03092218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.7992541539999 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:390.79, Y:3.90, Z:6.03 [[ 9.99382959e-01 -3.14195780e-02 -1.57006560e-02 3.90785823e+02] [ 3.14201740e-02 9.99506243e-01 -2.08776721e-04 3.89866470e+00] [ 1.56994634e-02 -2.84669446e-04 9.99876715e-01 6.03142205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.82925415399995 meters Centerline goodness : 0.998927 Centerline is valid? [True, True] Translation: X:390.82, Y:3.90, Z:6.03 [[ 9.99195843e-01 -3.68938447e-02 -1.57006632e-02 3.90817496e+02] [ 3.68951245e-02 9.99319121e-01 -2.08232570e-04 3.89710081e+00] [ 1.56976555e-02 -3.71212806e-04 9.99876715e-01 6.03378190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.8592541539999 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:390.85, Y:3.90, Z:6.03 [[ 9.99099239e-01 -3.94233463e-02 -1.57006708e-02 3.90848511e+02] [ 3.94249473e-02 9.99222513e-01 -2.07657378e-04 3.89641247e+00] [ 1.56966503e-02 -4.11527791e-04 9.99876715e-01 6.03229482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.88925415399996 meters Centerline goodness : 0.999031 Centerline is valid? [True, True] Translation: X:390.88, Y:3.90, Z:6.03 [[ 9.98991271e-01 -4.20705153e-02 -1.57006822e-02 3.90880410e+02] [ 4.20724564e-02 9.99114541e-01 -2.06796847e-04 3.89611388e+00] [ 1.56954799e-02 -4.53978021e-04 9.99876715e-01 6.03385218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.91925415399993 meters Centerline goodness : 0.999074 Centerline is valid? [True, True] Translation: X:390.91, Y:3.90, Z:6.04 [[ 9.98770221e-01 -4.70269488e-02 -1.57006967e-02 3.90912215e+02] [ 4.70295190e-02 9.98893479e-01 -2.05685233e-04 3.89558117e+00] [ 1.56929963e-02 -5.32963929e-04 9.99876715e-01 6.03613437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.94925415399996 meters Centerline goodness : 0.999076 Centerline is valid? [True, True] Translation: X:390.94, Y:3.90, Z:6.04 [[ 9.98669079e-01 -4.91279841e-02 -1.57007118e-02 3.90944797e+02] [ 4.91308318e-02 9.98792331e-01 -2.04531003e-04 3.89538853e+00] [ 1.56917987e-02 -5.67130239e-04 9.99876715e-01 6.03676336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.97925415399993 meters Centerline goodness : 0.999159 Centerline is valid? [True, True] Translation: X:390.98, Y:3.90, Z:6.04 [[ 9.98530368e-01 -5.18709188e-02 -1.57007267e-02 3.90976097e+02] [ 5.18741230e-02 9.98653611e-01 -2.03380992e-04 3.89533468e+00] [ 1.56901369e-02 -6.11379330e-04 9.99876715e-01 6.03637285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.00925415399996 meters Centerline goodness : 0.999368 Centerline is valid? [True, True] Translation: X:391.01, Y:3.89, Z:6.04 [[ 9.98237722e-01 -5.72270692e-02 -1.57007377e-02 3.91008111e+02] [ 5.72309480e-02 9.98360946e-01 -2.02524507e-04 3.89456853e+00] [ 1.56865932e-02 -6.96400500e-04 9.99876715e-01 6.03630124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.03925415399993 meters Centerline goodness : 0.999094 Centerline is valid? [True, True] Translation: X:391.04, Y:3.89, Z:6.04 [[ 9.98075250e-01 -5.99940164e-02 -1.57007522e-02 3.91040281e+02] [ 5.99982545e-02 9.98198462e-01 -2.01392522e-04 3.89440081e+00] [ 1.56845491e-02 -7.41012835e-04 9.99876715e-01 6.03627086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.06925415399996 meters Centerline goodness : 0.999054 Centerline is valid? [True, True] Translation: X:391.07, Y:3.89, Z:6.03 [[ 9.97733502e-01 -6.54319915e-02 -1.57007669e-02 3.91072184e+02] [ 6.54369190e-02 9.97856688e-01 -2.00241520e-04 3.89487057e+00] [ 1.56802175e-02 -8.27622139e-04 9.99876715e-01 6.03427341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.09925415399994 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:391.10, Y:3.90, Z:6.04 [[ 9.97575827e-01 -6.77934644e-02 -1.57007851e-02 3.91104813e+02] [ 6.77987060e-02 9.97699001e-01 -1.98806093e-04 3.89551118e+00] [ 1.56781353e-02 -8.66168760e-04 9.99876715e-01 6.03568090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.12925415399997 meters Centerline goodness : 0.999390 Centerline is valid? [True, True] Translation: X:391.14, Y:3.90, Z:6.03 [[ 9.97435644e-01 -6.98256432e-02 -1.57008070e-02 3.91136741e+02] [ 6.98311632e-02 9.97558805e-01 -1.97056478e-04 3.89618656e+00] [ 1.56762379e-02 -8.99854463e-04 9.99876715e-01 6.03386174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.15925415399994 meters Centerline goodness : 0.999494 Centerline is valid? [True, True] Translation: X:391.17, Y:3.90, Z:6.04 [[ 9.97339589e-01 -7.11844722e-02 -1.57008251e-02 3.91169794e+02] [ 7.11901827e-02 9.97462741e-01 -1.95607497e-04 3.89683612e+00] [ 1.56749122e-02 -9.22657506e-04 9.99876715e-01 6.03644566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.18925415399997 meters Centerline goodness : 0.999537 Centerline is valid? [True, True] Translation: X:391.20, Y:3.90, Z:6.04 [[ 9.97249961e-01 -7.24292632e-02 -1.57008469e-02 3.91200967e+02] [ 7.24351552e-02 9.97373105e-01 -1.93837018e-04 3.89810956e+00] [ 1.56736419e-02 -9.43989326e-04 9.99876715e-01 6.03608891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.21925415399994 meters Centerline goodness : 0.999600 Centerline is valid? [True, True] Translation: X:391.23, Y:3.90, Z:6.04 [[ 9.97208967e-01 -7.29914971e-02 -1.57008577e-02 3.91234166e+02] [ 7.29974723e-02 9.97332107e-01 -1.92960958e-04 3.89940368e+00] [ 1.56730540e-02 -9.53700529e-04 9.99876715e-01 6.03630806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.24925415399997 meters Centerline goodness : 0.999536 Centerline is valid? [True, True] Translation: X:391.27, Y:3.90, Z:6.04 [[ 9.97209184e-01 -7.29885279e-02 -1.57008790e-02 3.91267462e+02] [ 7.29945301e-02 9.97332323e-01 -1.91214568e-04 3.90082672e+00] [ 1.56729506e-02 -9.55397359e-04 9.99876715e-01 6.03620796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.27925415399994 meters Centerline goodness : 0.999493 Centerline is valid? [True, True] Translation: X:391.30, Y:3.90, Z:6.04 [[ 9.97328086e-01 -7.13454313e-02 -1.57008999e-02 3.91300100e+02] [ 7.13512579e-02 9.97451233e-01 -1.89478012e-04 3.90408088e+00] [ 1.56744004e-02 -9.31307217e-04 9.99876715e-01 6.03630196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.309254154 meters Centerline goodness : 0.999471 Centerline is valid? [True, True] Translation: X:391.33, Y:3.91, Z:6.04 [[ 9.97354685e-01 -7.09726235e-02 -1.57009206e-02 3.91333320e+02] [ 7.09784311e-02 9.97477833e-01 -1.87750918e-04 3.90650372e+00] [ 1.56746454e-02 -9.27172454e-04 9.99876715e-01 6.03604878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.33925415399995 meters Centerline goodness : 0.999449 Centerline is valid? [True, True] Translation: X:391.37, Y:3.91, Z:6.04 [[ 9.97512645e-01 -6.87168336e-02 -1.57009409e-02 3.91365180e+02] [ 6.87223896e-02 9.97635805e-01 -1.86035361e-04 3.91076049e+00] [ 1.56766046e-02 -8.93433554e-04 9.99876715e-01 6.03661645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.369254154 meters Centerline goodness : 0.999344 Centerline is valid? [True, True] Translation: X:391.40, Y:3.91, Z:6.04 [[ 9.97592261e-01 -6.75511664e-02 -1.57009576e-02 3.91398209e+02] [ 6.75566008e-02 9.97715426e-01 -1.84614584e-04 3.91319549e+00] [ 1.56775586e-02 -8.76533246e-04 9.99876715e-01 6.03727888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.39925415399995 meters Centerline goodness : 0.999448 Centerline is valid? [True, True] Translation: X:391.43, Y:3.92, Z:6.04 [[ 9.97669656e-01 -6.63983122e-02 -1.57009773e-02 3.91430885e+02] [ 6.64036307e-02 9.97792826e-01 -1.82929302e-04 3.91550609e+00] [ 1.56784687e-02 -8.60098882e-04 9.99876715e-01 6.03853901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.429254154 meters Centerline goodness : 0.999490 Centerline is valid? [True, True] Translation: X:391.46, Y:3.92, Z:6.04 [[ 9.97794573e-01 -6.44939389e-02 -1.57009973e-02 3.91462076e+02] [ 6.44990496e-02 9.97917752e-01 -1.81191242e-04 3.91961315e+00] [ 1.56799897e-02 -8.31907767e-04 9.99876715e-01 6.04013114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.45925415399995 meters Centerline goodness : 0.999110 Centerline is valid? [True, True] Translation: X:391.50, Y:3.92, Z:6.04 [[ 9.97843191e-01 -6.37373068e-02 -1.57010072e-02 3.91495325e+02] [ 6.37423376e-02 9.97966373e-01 -1.80329957e-04 3.92223603e+00] [ 1.56805710e-02 -8.20877883e-04 9.99876715e-01 6.04128793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.4892541539999 meters Centerline goodness : 0.999596 Centerline is valid? [True, True] Translation: X:391.53, Y:3.92, Z:6.04 [[ 9.97921082e-01 -6.25059377e-02 -1.57010271e-02 3.91527037e+02] [ 6.25108439e-02 9.98044269e-01 -1.78582041e-04 3.92453257e+00] [ 1.56814825e-02 -8.03273670e-04 9.99876715e-01 6.04242214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.51925415399995 meters Centerline goodness : 0.999278 Centerline is valid? [True, True] Translation: X:391.56, Y:3.93, Z:6.04 [[ 9.97984591e-01 -6.14836104e-02 -1.57010434e-02 3.91559113e+02] [ 6.14884131e-02 9.98107782e-01 -1.77135257e-04 3.92930150e+00] [ 1.56822245e-02 -7.88653987e-04 9.99876715e-01 6.04319424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.5492541539999 meters Centerline goodness : 0.999555 Centerline is valid? [True, True] Translation: X:391.59, Y:3.93, Z:6.04 [[ 9.98028660e-01 -6.07640497e-02 -1.57010593e-02 3.91592518e+02] [ 6.07687858e-02 9.98151854e-01 -1.75718388e-04 3.93153400e+00] [ 1.56827188e-02 -7.78762321e-04 9.99876715e-01 6.04357444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.57925415399995 meters Centerline goodness : 0.999448 Centerline is valid? [True, True] Translation: X:391.62, Y:3.93, Z:6.04 [[ 9.98049629e-01 -6.04186648e-02 -1.57010787e-02 3.91624128e+02] [ 6.04233859e-02 9.98172823e-01 -1.73960288e-04 3.93384044e+00] [ 1.56829005e-02 -7.75091339e-04 9.99876715e-01 6.04397721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.6092541539999 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:391.66, Y:3.94, Z:6.04 [[ 9.98023846e-01 -6.08430691e-02 -1.57010947e-02 3.91657506e+02] [ 6.08478654e-02 9.98147037e-01 -1.72504500e-04 3.93818714e+00] [ 1.56824969e-02 -7.83214495e-04 9.99876715e-01 6.04390269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.63925415399996 meters Centerline goodness : 0.999638 Centerline is valid? [True, True] Translation: X:391.69, Y:3.94, Z:6.04 [[ 9.97979937e-01 -6.15590803e-02 -1.57011130e-02 3.91690306e+02] [ 6.15639913e-02 9.98103124e-01 -1.70828557e-04 3.94018189e+00] [ 1.56818460e-02 -7.96139709e-04 9.99876715e-01 6.04401170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.66925415399993 meters Centerline goodness : 0.999638 Centerline is valid? [True, True] Translation: X:391.72, Y:3.94, Z:6.04 [[ 9.97847215e-01 -6.36742490e-02 -1.57011319e-02 3.91722701e+02] [ 6.36794486e-02 9.97970390e-01 -1.69071428e-04 3.94356266e+00] [ 1.56800302e-02 -8.31131969e-04 9.99876715e-01 6.04319843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.69925415399996 meters Centerline goodness : 0.999617 Centerline is valid? [True, True] Translation: X:391.76, Y:3.95, Z:6.04 [[ 9.97683483e-01 -6.61901988e-02 -1.57011474e-02 3.91755868e+02] [ 6.61957318e-02 9.97806643e-01 -1.67618498e-04 3.94602284e+00] [ 1.56778039e-02 -8.72118736e-04 9.99876715e-01 6.04345188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.72925415399993 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:391.79, Y:3.95, Z:6.04 [[ 9.97606264e-01 -6.73440092e-02 -1.57011658e-02 3.91788055e+02] [ 6.73497120e-02 9.97729417e-01 -1.65874546e-04 3.94783557e+00] [ 1.56766857e-02 -8.91991510e-04 9.99876715e-01 6.04361761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.75925415399996 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:391.82, Y:3.95, Z:6.05 [[ 9.97537846e-01 -6.83499742e-02 -1.57011809e-02 3.91820376e+02] [ 6.83558239e-02 9.97660992e-01 -1.64431018e-04 3.95185799e+00] [ 1.56756946e-02 -9.09240996e-04 9.99876715e-01 6.04566162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.78925415399993 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:391.85, Y:3.95, Z:6.04 [[ 9.97469470e-01 -6.93406742e-02 -1.57011932e-02 3.91851133e+02] [ 6.93466647e-02 9.97592609e-01 -1.63249709e-04 3.95347486e+00] [ 1.56747142e-02 -9.25988782e-04 9.99876715e-01 6.04468365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.81925415399996 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:391.88, Y:3.96, Z:6.05 [[ 9.97499513e-01 -6.89071342e-02 -1.57012052e-02 3.91883311e+02] [ 6.89130894e-02 9.97622654e-01 -1.62088290e-04 3.95564814e+00] [ 1.56750471e-02 -9.20335568e-04 9.99876715e-01 6.04545045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.84925415399994 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:391.92, Y:3.96, Z:6.05 [[ 9.97607399e-01 -6.73271817e-02 -1.57012334e-02 3.91916409e+02] [ 6.73329855e-02 9.97730547e-01 -1.59309609e-04 3.95981705e+00] [ 1.56763261e-02 -8.98282476e-04 9.99876715e-01 6.04677159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.87925415399997 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:391.95, Y:3.96, Z:6.05 [[ 9.97698173e-01 -6.59683805e-02 -1.57012507e-02 3.91948157e+02] [ 6.59740435e-02 9.97821327e-01 -1.57586095e-04 3.96167724e+00] [ 1.56774385e-02 -8.78651639e-04 9.99876715e-01 6.04759220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.90925415399994 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:391.98, Y:3.96, Z:6.05 [[ 9.97923995e-01 -6.24593418e-02 -1.57012787e-02 3.91981531e+02] [ 6.24646162e-02 9.98047167e-01 -1.54749893e-04 3.96488157e+00] [ 1.56802823e-02 -8.26345713e-04 9.99876715e-01 6.04875678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.93925415399997 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:392.01, Y:3.97, Z:6.05 [[ 9.98024882e-01 -6.08260087e-02 -1.57012955e-02 3.92013529e+02] [ 6.08311087e-02 9.98148062e-01 -1.53019654e-04 3.96655846e+00] [ 1.56815253e-02 -8.02409793e-04 9.99876715e-01 6.04935624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.96925415399994 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:392.05, Y:3.97, Z:6.05 [[ 9.98141349e-01 -5.88839294e-02 -1.57013094e-02 3.92046161e+02] [ 5.88888121e-02 9.98264537e-01 -1.51587570e-04 3.96808421e+00] [ 1.56829864e-02 -7.73325636e-04 9.99876715e-01 6.04977265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.99925415399997 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:392.08, Y:3.97, Z:6.05 [[ 9.98243274e-01 -5.71299842e-02 -1.57013255e-02 3.92078717e+02] [ 5.71346770e-02 9.98366469e-01 -1.49900138e-04 3.96978645e+00] [ 1.56842407e-02 -7.47453354e-04 9.99876715e-01 6.05037030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.02925415399994 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:392.11, Y:3.97, Z:6.05 [[ 9.98394436e-01 -5.44244334e-02 -1.57013414e-02 3.92111792e+02] [ 5.44288188e-02 9.98517642e-01 -1.48208075e-04 3.97284888e+00] [ 1.56861326e-02 -7.06635350e-04 9.99876715e-01 6.05132345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.059254154 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:392.14, Y:3.97, Z:6.05 [[ 9.98448996e-01 -5.34141334e-02 -1.57013573e-02 3.92144813e+02] [ 5.34184208e-02 9.98572206e-01 -1.46511354e-04 3.97428358e+00] [ 1.56867647e-02 -6.92457595e-04 9.99876715e-01 6.05184719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.08925415399995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:392.18, Y:3.98, Z:6.05 [[ 9.98492935e-01 -5.25863632e-02 -1.57013730e-02 3.92176401e+02] [ 5.25905753e-02 9.98616148e-01 -1.44802681e-04 3.97518057e+00] [ 1.56872593e-02 -6.81159786e-04 9.99876715e-01 6.05227057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.119254154 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:392.21, Y:3.98, Z:6.05 [[ 9.98508165e-01 -5.22963797e-02 -1.57013860e-02 3.92209618e+02] [ 5.23005782e-02 9.98631378e-01 -1.43386971e-04 3.97634931e+00] [ 1.56873953e-02 -6.78018503e-04 9.99876715e-01 6.05156520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.14925415399995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.24, Y:3.98, Z:6.05 [[ 9.98517119e-01 -5.21251301e-02 -1.57014017e-02 3.92241225e+02] [ 5.21293349e-02 9.98640332e-01 -1.41638047e-04 3.97696985e+00] [ 1.56874359e-02 -6.77075615e-04 9.99876715e-01 6.05108230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.179254154 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:392.27, Y:3.98, Z:6.05 [[ 9.98513378e-01 -5.21967441e-02 -1.57014272e-02 3.92274540e+02] [ 5.22010030e-02 9.98636589e-01 -1.38754065e-04 3.97806186e+00] [ 1.56872622e-02 -6.81082459e-04 9.99876715e-01 6.05031624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.20925415399995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.31, Y:3.98, Z:6.05 [[ 9.98521615e-01 -5.20389215e-02 -1.57014425e-02 3.92306592e+02] [ 5.20431885e-02 9.98644826e-01 -1.37000162e-04 3.97889531e+00] [ 1.56872937e-02 -6.80355509e-04 9.99876715e-01 6.05007150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.2392541539999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:392.34, Y:3.98, Z:6.05 [[ 9.98545544e-01 -5.15777045e-02 -1.57014673e-02 3.92339819e+02] [ 5.15819601e-02 9.98668756e-01 -1.34099896e-04 3.97980470e+00] [ 1.56874814e-02 -6.76007606e-04 9.99876715e-01 6.05038293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.26925415399995 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:392.37, Y:3.98, Z:6.05 [[ 9.98615723e-01 -5.02006134e-02 -1.57014819e-02 3.92370577e+02] [ 5.02047263e-02 9.98738939e-01 -1.32367205e-04 3.98183292e+00] [ 1.56883263e-02 -6.56104629e-04 9.99876715e-01 6.04992799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.2992541539999 meters Centerline goodness : 0.999591 Centerline is valid? [True, True] Translation: X:392.40, Y:3.98, Z:6.05 [[ 9.98686429e-01 -4.87737544e-02 -1.57014891e-02 3.92404032e+02] [ 4.87777046e-02 9.98809651e-01 -1.31509852e-04 3.98276735e+00] [ 1.56892130e-02 -6.34545492e-04 9.99876715e-01 6.05032805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.32925415399995 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] Translation: X:392.44, Y:3.98, Z:6.05 [[ 9.98759036e-01 -4.72636415e-02 -1.57015032e-02 3.92436820e+02] [ 4.72674323e-02 9.98882262e-01 -1.29801364e-04 3.98364341e+00] [ 1.56900879e-02 -6.12529454e-04 9.99876715e-01 6.05103866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.3592541539999 meters Centerline goodness : 0.999613 Centerline is valid? [True, True] Translation: X:392.47, Y:3.99, Z:6.05 [[ 9.98907998e-01 -4.40031086e-02 -1.57015172e-02 3.92468070e+02] [ 4.40065241e-02 9.99031235e-01 -1.28082421e-04 3.98556542e+00] [ 1.56919422e-02 -5.63026641e-04 9.99876715e-01 6.05209050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.38925415399996 meters Centerline goodness : 0.999482 Centerline is valid? [True, True] Translation: X:392.50, Y:3.99, Z:6.05 [[ 9.98978171e-01 -4.23801414e-02 -1.57015241e-02 3.92500310e+02] [ 4.23833700e-02 9.99101413e-01 -1.27230986e-04 3.98684139e+00] [ 1.56928070e-02 -5.38382529e-04 9.99876715e-01 6.05333786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.41925415399993 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:392.53, Y:3.99, Z:6.05 [[ 9.99053926e-01 -4.05550806e-02 -1.57015331e-02 3.92532457e+02] [ 4.05581016e-02 9.99177174e-01 -1.26117226e-04 3.98758426e+00] [ 1.56937281e-02 -5.10826463e-04 9.99876715e-01 6.05485366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.44925415399996 meters Centerline goodness : 0.999676 Centerline is valid? [True, True] Translation: X:392.56, Y:3.99, Z:6.06 [[ 9.99125408e-01 -3.87540977e-02 -1.57015421e-02 3.92564565e+02] [ 3.87569143e-02 9.99248661e-01 -1.24981453e-04 3.98934560e+00] [ 1.56945885e-02 -4.83671176e-04 9.99876715e-01 6.05697700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.47925415399993 meters Centerline goodness : 0.999567 Centerline is valid? [True, True] Translation: X:392.60, Y:3.99, Z:6.06 [[ 9.99167913e-01 -3.76423056e-02 -1.57015511e-02 3.92596758e+02] [ 3.76450030e-02 9.99291168e-01 -1.23837292e-04 3.98987753e+00] [ 1.56950829e-02 -4.67350691e-04 9.99876715e-01 6.05782712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.50925415399996 meters Centerline goodness : 0.999481 Centerline is valid? [True, True] Translation: X:392.64, Y:3.98, Z:6.05 [[ 9.99438297e-01 -2.96066210e-02 -1.57015602e-02 3.92635464e+02] [ 2.96083453e-02 9.99561569e-01 -1.22682871e-04 3.98249465e+00] [ 1.56983083e-02 -3.42283255e-04 9.99876715e-01 6.05465926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.53925415399993 meters Centerline goodness : 0.999546 Centerline is valid? [True, True] Translation: X:392.66, Y:3.99, Z:6.06 [[ 9.99217446e-01 -3.63023146e-02 -1.57047180e-02 3.92655663e+02] [ 3.63117813e-02 9.99340459e-01 3.17968299e-04 3.99071448e+00] [ 1.56828171e-02 -8.87985757e-04 9.99876623e-01 6.05804862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.56925415399996 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:392.69, Y:3.99, Z:6.06 [[ 9.99220374e-01 -3.62232088e-02 -1.57010588e-02 3.92687601e+02] [ 3.62256549e-02 9.99343627e-01 -1.28684746e-04 3.99115199e+00] [ 1.56954144e-02 -4.40196719e-04 9.99876722e-01 6.05834155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.59925415399994 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:392.73, Y:3.98, Z:6.05 [[ 9.99520950e-01 -2.66710747e-02 -1.57010681e-02 3.92729967e+02] [ 2.66723605e-02 9.99644221e-01 -1.27540005e-04 3.98042240e+00] [ 1.56988836e-02 -2.91305643e-04 9.99876722e-01 6.05358794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.62925415399997 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:392.76, Y:3.98, Z:6.05 [[ 9.99505289e-01 -2.72494169e-02 -1.57050044e-02 3.92761629e+02] [ 2.72596751e-02 9.99628289e-01 4.39437727e-04 3.97970656e+00] [ 1.56871922e-02 -8.67333649e-04 9.99876572e-01 6.05309103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.65925415399994 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:392.78, Y:3.99, Z:6.06 [[ 9.99131319e-01 -3.86000249e-02 -1.57049409e-02 3.92777517e+02] [ 3.86115460e-02 9.99254203e-01 4.30930650e-04 3.98937414e+00] [ 1.56765942e-02 -1.03694835e-03 9.99876577e-01 6.05772417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.68925415399997 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:392.81, Y:3.99, Z:6.06 [[ 9.99133867e-01 -3.85360551e-02 -1.56999460e-02 3.92810204e+02] [ 3.85386409e-02 9.99257101e-01 -1.37924740e-04 3.98987527e+00] [ 1.56935976e-02 -4.67249302e-04 9.99876739e-01 6.05844142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.71925415399994 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:392.84, Y:3.99, Z:6.06 [[ 9.99131719e-01 -3.85917080e-02 -1.56999560e-02 3.92841206e+02] [ 3.85943186e-02 9.99254952e-01 -1.36779100e-04 3.98875206e+00] [ 1.56935373e-02 -4.69268765e-04 9.99876739e-01 6.05812657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.74925415399997 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:392.87, Y:3.99, Z:6.06 [[ 9.99046884e-01 -4.07287958e-02 -1.56999633e-02 3.92873683e+02] [ 4.07316834e-02 9.99170111e-01 -1.35925754e-04 3.98802964e+00] [ 1.56924702e-02 -5.03689736e-04 9.99876739e-01 6.05848957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.77925415399994 meters Centerline goodness : 0.999502 Centerline is valid? [True, True] Translation: X:392.91, Y:3.99, Z:6.06 [[ 9.99026593e-01 -4.12235071e-02 -1.56999732e-02 3.92905289e+02] [ 4.12264738e-02 9.99149818e-01 -1.34774315e-04 3.98737624e+00] [ 1.56921813e-02 -5.12611411e-04 9.99876739e-01 6.05880758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.809254154 meters Centerline goodness : 0.999568 Centerline is valid? [True, True] Translation: X:392.94, Y:3.99, Z:6.06 [[ 9.99002114e-01 -4.18125089e-02 -1.56999854e-02 3.92937902e+02] [ 4.18155707e-02 9.99125338e-01 -1.33343739e-04 3.98593614e+00] [ 1.56918286e-02 -5.23293172e-04 9.99876739e-01 6.05889317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.83925415399995 meters Centerline goodness : 0.999417 Centerline is valid? [True, True] Translation: X:392.97, Y:3.99, Z:6.06 [[ 9.98993359e-01 -4.20211672e-02 -1.56999949e-02 3.92970664e+02] [ 4.20242724e-02 9.99116581e-01 -1.32219549e-04 3.98535730e+00] [ 1.56916812e-02 -5.27694410e-04 9.99876739e-01 6.05936976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.869254154 meters Centerline goodness : 0.999526 Centerline is valid? [True, True] Translation: X:393.00, Y:3.99, Z:6.06 [[ 9.98989312e-01 -4.21172708e-02 -1.57000089e-02 3.93002531e+02] [ 4.21204145e-02 9.99112533e-01 -1.30525108e-04 3.98500829e+00] [ 1.56915731e-02 -5.30897696e-04 9.99876739e-01 6.05968703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.89925415399995 meters Centerline goodness : 0.999398 Centerline is valid? [True, True] Translation: X:393.03, Y:3.98, Z:6.06 [[ 9.99017121e-01 -4.14524085e-02 -1.57000205e-02 3.93034459e+02] [ 4.14554922e-02 9.99140343e-01 -1.29121875e-04 3.98405622e+00] [ 1.56918763e-02 -5.21857113e-04 9.99876739e-01 6.06001432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.929254154 meters Centerline goodness : 0.999442 Centerline is valid? [True, True] Translation: X:393.07, Y:3.98, Z:6.06 [[ 9.99031424e-01 -4.11062287e-02 -1.57000295e-02 3.93065532e+02] [ 4.11092870e-02 9.99154648e-01 -1.28015375e-04 3.98369843e+00] [ 1.56920197e-02 -5.17525637e-04 9.99876739e-01 6.06010949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.95925415399995 meters Centerline goodness : 0.999528 Centerline is valid? [True, True] Translation: X:393.10, Y:3.98, Z:6.06 [[ 9.99062618e-01 -4.03409838e-02 -1.57000362e-02 3.93097849e+02] [ 4.03439607e-02 9.99185843e-01 -1.27189886e-04 3.98330499e+00] [ 1.56923849e-02 -5.06330983e-04 9.99876739e-01 6.05998048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.9892541539999 meters Centerline goodness : 0.999506 Centerline is valid? [True, True] Translation: X:393.13, Y:3.98, Z:6.06 [[ 9.99092578e-01 -3.95920392e-02 -1.57000449e-02 3.93130408e+02] [ 3.95949408e-02 9.99215805e-01 -1.26103736e-04 3.98309080e+00] [ 1.56927257e-02 -4.95653042e-04 9.99876739e-01 6.06000564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.01925415399995 meters Centerline goodness : 0.999463 Centerline is valid? [True, True] Translation: X:393.16, Y:3.98, Z:6.06 [[ 9.99180725e-01 -3.73012942e-02 -1.57000535e-02 3.93162394e+02] [ 3.73039302e-02 9.99303958e-01 -1.25026127e-04 3.98270627e+00] [ 1.56937892e-02 -4.60750004e-04 9.99876739e-01 6.05985098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.0492541539999 meters Centerline goodness : 0.999527 Centerline is valid? [True, True] Translation: X:393.19, Y:3.98, Z:6.06 [[ 9.99240603e-01 -3.56612715e-02 -1.57000622e-02 3.93194112e+02] [ 3.56637227e-02 9.99363839e-01 -1.23918015e-04 3.98328331e+00] [ 1.56944936e-02 -4.36098754e-04 9.99876739e-01 6.06029986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.07925415399995 meters Centerline goodness : 0.999505 Centerline is valid? [True, True] Translation: X:393.22, Y:3.98, Z:6.06 [[ 9.99313395e-01 -3.35595860e-02 -1.57000711e-02 3.93224889e+02] [ 3.35617957e-02 9.99436637e-01 -1.22788590e-04 3.98388259e+00] [ 1.56953470e-02 -4.04218294e-04 9.99876739e-01 6.06069987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.1092541539999 meters Centerline goodness : 0.999398 Centerline is valid? [True, True] Translation: X:393.26, Y:3.98, Z:6.06 [[ 9.99477063e-01 -2.82684945e-02 -1.57000856e-02 3.93257276e+02] [ 2.82700814e-02 9.99600314e-01 -1.20898948e-04 3.98484832e+00] [ 1.56972282e-02 -3.23006972e-04 9.99876739e-01 6.06152328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.13925415399996 meters Centerline goodness : 0.999482 Centerline is valid? [True, True] Translation: X:393.29, Y:3.99, Z:6.06 [[ 9.99556931e-01 -2.52873108e-02 -1.57000941e-02 3.93288124e+02] [ 2.52885475e-02 9.99680186e-01 -1.19786797e-04 3.98526114e+00] [ 1.56981021e-02 -2.77298852e-04 9.99876739e-01 6.06265259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.16925415399993 meters Centerline goodness : 0.999333 Centerline is valid? [True, True] Translation: X:393.32, Y:3.99, Z:6.06 [[ 9.99632242e-01 -2.21108020e-02 -1.57000984e-02 3.93318385e+02] [ 2.21116559e-02 9.99755500e-01 -1.19215926e-04 3.98531916e+00] [ 1.56988957e-02 -2.27983091e-04 9.99876739e-01 6.06299657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.19925415399996 meters Centerline goodness : 0.999288 Centerline is valid? [True, True] Translation: X:393.35, Y:3.99, Z:6.06 [[ 9.99690684e-01 -1.92884033e-02 -1.57001006e-02 3.93348842e+02] [ 1.92889137e-02 9.99813945e-01 -1.18932532e-04 3.98516120e+00] [ 1.56994735e-02 -1.83942141e-04 9.99876739e-01 6.06410832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.22925415399993 meters Centerline goodness : 0.999569 Centerline is valid? [True, True] Translation: X:393.38, Y:3.99, Z:6.07 [[ 9.99746449e-01 -1.61413822e-02 -1.57001006e-02 3.93378828e+02] [ 1.61415046e-02 9.99869710e-01 -1.18932532e-04 3.98552250e+00] [ 1.56999748e-02 -1.34520870e-04 9.99876739e-01 6.06696497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.25925415399996 meters Centerline goodness : 0.999396 Centerline is valid? [True, True] Translation: X:393.41, Y:3.99, Z:6.07 [[ 9.99752762e-01 -1.57455287e-02 -1.57000962e-02 3.93407840e+02] [ 1.57455933e-02 9.99876023e-01 -1.19507050e-04 3.98561174e+00] [ 1.57000315e-02 -1.27729826e-04 9.99876739e-01 6.06813167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.28925415399993 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:393.44, Y:3.99, Z:6.07 [[ 9.99745757e-01 -1.61842542e-02 -1.57000646e-02 3.93436071e+02] [ 1.61843097e-02 9.99869018e-01 -1.23526406e-04 3.98542771e+00] [ 1.57000074e-02 -1.30599707e-04 9.99876739e-01 6.06890228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.31925415399996 meters Centerline goodness : 0.999398 Centerline is valid? [True, True] Translation: X:393.46, Y:3.98, Z:6.07 [[ 9.99727821e-01 -1.72566662e-02 -1.57000321e-02 3.93463954e+02] [ 1.72567911e-02 9.99851082e-01 -1.27528981e-04 3.98456182e+00] [ 1.56998948e-02 -1.43437904e-04 9.99876739e-01 6.06907704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.34925415399994 meters Centerline goodness : 0.999397 Centerline is valid? [True, True] Translation: X:393.50, Y:3.98, Z:6.07 [[ 9.99729288e-01 -1.71714969e-02 -1.57000204e-02 3.93496981e+02] [ 1.71715890e-02 9.99852549e-01 -1.28946243e-04 3.97713783e+00] [ 1.56999197e-02 -1.40682963e-04 9.99876739e-01 6.06512548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.37925415399997 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:393.52, Y:3.98, Z:6.07 [[ 9.99555305e-01 -2.53505194e-02 -1.57017324e-02 3.93522924e+02] [ 2.53549015e-02 9.99678510e-01 8.00474852e-05 3.98112515e+00] [ 1.56946552e-02 -4.78127766e-04 9.99876717e-01 6.06833985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.40925415399994 meters Centerline goodness : 0.999613 Centerline is valid? [True, True] Translation: X:393.55, Y:3.98, Z:6.07 [[ 9.99464706e-01 -2.87021730e-02 -1.56998892e-02 3.93553643e+02] [ 2.87035959e-02 9.99587958e-01 -1.34748522e-04 3.97993628e+00] [ 1.56972877e-02 -3.15966882e-04 9.99876740e-01 6.06823946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.43925415399997 meters Centerline goodness : 0.999507 Centerline is valid? [True, True] Translation: X:393.59, Y:3.98, Z:6.07 [[ 9.99233689e-01 -3.58545545e-02 -1.56998916e-02 3.93585538e+02] [ 3.58568638e-02 9.99356927e-01 -1.34469978e-04 3.97689008e+00] [ 1.56946167e-02 -4.28581941e-04 9.99876740e-01 6.06731194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.46925415399994 meters Centerline goodness : 0.999271 Centerline is valid? [True, True] Translation: X:393.62, Y:3.98, Z:6.07 [[ 9.99096512e-01 -3.94926870e-02 -1.56999010e-02 3.93618057e+02] [ 3.94954625e-02 9.99219741e-01 -1.33359343e-04 3.97592738e+00] [ 1.56929177e-02 -4.86835996e-04 9.99876740e-01 6.06710890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.49925415399997 meters Centerline goodness : 0.999486 Centerline is valid? [True, True] Translation: X:393.65, Y:3.97, Z:6.07 [[ 9.98956165e-01 -4.28963063e-02 -1.56999104e-02 3.93649848e+02] [ 4.28995190e-02 9.99079383e-01 -1.32245698e-04 3.97498265e+00] [ 1.56911296e-02 -5.41410947e-04 9.99876740e-01 6.06765302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.52925415399994 meters Centerline goodness : 0.999443 Centerline is valid? [True, True] Translation: X:393.68, Y:3.97, Z:6.07 [[ 9.98678652e-01 -4.89332530e-02 -1.56999200e-02 3.93681162e+02] [ 4.89372285e-02 9.98801847e-01 -1.31094630e-04 3.97308597e+00] [ 1.56875240e-02 -6.37389163e-04 9.99876740e-01 6.06741978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.559254154 meters Centerline goodness : 0.999273 Centerline is valid? [True, True] Translation: X:393.71, Y:3.97, Z:6.07 [[ 9.98549670e-01 -5.14982394e-02 -1.56999271e-02 3.93714039e+02] [ 5.15025447e-02 9.98672855e-01 -1.30236169e-04 3.97241241e+00] [ 1.56857980e-02 -6.78538914e-04 9.99876740e-01 6.06769644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.58925415399995 meters Centerline goodness : 0.999316 Centerline is valid? [True, True] Translation: X:393.75, Y:3.97, Z:6.07 [[ 9.98430023e-01 -5.37680386e-02 -1.56999413e-02 3.93746140e+02] [ 5.37726512e-02 9.98553196e-01 -1.28500465e-04 3.97165047e+00] [ 1.56841358e-02 -7.15928746e-04 9.99876740e-01 6.06777728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.619254154 meters Centerline goodness : 0.999294 Centerline is valid? [True, True] Translation: X:393.78, Y:3.97, Z:6.07 [[ 9.98305881e-01 -5.60257075e-02 -1.56999530e-02 3.93779332e+02] [ 5.60306212e-02 9.98429043e-01 -1.27061882e-04 3.97085854e+00] [ 1.56824077e-02 -7.52831493e-04 9.99876740e-01 6.06823056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.64925415399995 meters Centerline goodness : 0.999381 Centerline is valid? [True, True] Translation: X:393.81, Y:3.97, Z:6.07 [[ 9.98070574e-01 -6.00719527e-02 -1.56999667e-02 3.93810893e+02] [ 6.00773927e-02 9.98193714e-01 -1.25334417e-04 3.96924389e+00] [ 1.56791372e-02 -8.18120475e-04 9.99876740e-01 6.06879881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.679254154 meters Centerline goodness : 0.999256 Centerline is valid? [True, True] Translation: X:393.84, Y:3.97, Z:6.07 [[ 9.97972283e-01 -6.16833269e-02 -1.56999735e-02 3.93844191e+02] [ 6.16889791e-02 9.98095413e-01 -1.24478701e-04 3.96880331e+00] [ 1.56777498e-02 -8.44289045e-04 9.99876740e-01 6.06963947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.70925415399995 meters Centerline goodness : 0.999275 Centerline is valid? [True, True] Translation: X:393.88, Y:3.97, Z:6.07 [[ 9.97887745e-01 -6.30361772e-02 -1.56999869e-02 3.93876376e+02] [ 6.30420232e-02 9.98010866e-01 -1.22768008e-04 3.96811227e+00] [ 1.56764964e-02 -8.67250248e-04 9.99876740e-01 6.06961866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.7392541539999 meters Centerline goodness : 0.999191 Centerline is valid? [True, True] Translation: X:393.91, Y:3.97, Z:6.07 [[ 9.97777977e-01 -6.47504402e-02 -1.56999979e-02 3.93908412e+02] [ 6.47565199e-02 9.97901086e-01 -1.21352424e-04 3.96813561e+00] [ 1.56749025e-02 -8.95594448e-04 9.99876740e-01 6.07032313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.76925415399995 meters Centerline goodness : 0.999319 Centerline is valid? [True, True] Translation: X:393.94, Y:3.97, Z:6.07 [[ 9.97642842e-01 -6.68002264e-02 -1.57000085e-02 3.93941617e+02] [ 6.68065810e-02 9.97765938e-01 -1.19954916e-04 3.96738018e+00] [ 1.56729467e-02 -9.29191728e-04 9.99876740e-01 6.07108651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.7992541539999 meters Centerline goodness : 0.998935 Centerline is valid? [True, True] Translation: X:393.97, Y:3.97, Z:6.07 [[ 9.97599129e-01 -6.74498895e-02 -1.57000212e-02 3.93973872e+02] [ 6.74563506e-02 9.97722219e-01 -1.18275919e-04 3.96736702e+00] [ 1.56722377e-02 -9.41074179e-04 9.99876740e-01 6.07056920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.82925415399995 meters Centerline goodness : 0.999319 Centerline is valid? [True, True] Translation: X:394.00, Y:3.97, Z:6.07 [[ 9.97561425e-01 -6.80052382e-02 -1.57000218e-02 3.94004711e+02] [ 6.80117692e-02 9.97684512e-01 -1.18185701e-04 3.96689774e+00] [ 1.56717059e-02 -9.49888766e-04 9.99876740e-01 6.07153467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.8592541539999 meters Centerline goodness : 0.999192 Centerline is valid? [True, True] Translation: X:394.05, Y:3.96, Z:6.07 [[ 9.97961861e-01 -6.18517000e-02 -1.57000401e-02 3.94045960e+02] [ 6.18575106e-02 9.98084984e-01 -1.15711812e-04 3.95776105e+00] [ 1.56771312e-02 -8.55689420e-04 9.99876740e-01 6.06782758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.88925415399996 meters Centerline goodness : 0.999278 Centerline is valid? [True, True] Translation: X:394.07, Y:3.97, Z:6.07 [[ 9.97612300e-01 -6.72541587e-02 -1.57027687e-02 3.94066420e+02] [ 6.72670932e-02 9.97734960e-01 2.96393410e-04 3.96575135e+00] [ 1.56472676e-02 -1.35196532e-03 9.99876660e-01 6.07134428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.91925415399993 meters Centerline goodness : 0.999298 Centerline is valid? [True, True] Translation: X:394.10, Y:3.97, Z:6.07 [[ 9.97683521e-01 -6.61899625e-02 -1.56996825e-02 3.94099521e+02] [ 6.61962846e-02 9.97806614e-01 -1.17200270e-04 3.96566021e+00] [ 1.56730045e-02 -9.22331876e-04 9.99876746e-01 6.07124395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.94925415399996 meters Centerline goodness : 0.999234 Centerline is valid? [True, True] Translation: X:394.13, Y:3.97, Z:6.07 [[ 9.97744793e-01 -6.52598548e-02 -1.56996944e-02 3.94131687e+02] [ 6.52660875e-02 9.97867889e-01 -1.15585258e-04 3.96588721e+00] [ 1.56737640e-02 -9.09333041e-04 9.99876746e-01 6.07154941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.97925415399993 meters Centerline goodness : 0.999171 Centerline is valid? [True, True] Translation: X:394.16, Y:3.97, Z:6.07 [[ 9.97947216e-01 -6.20876200e-02 -1.56997027e-02 3.94163160e+02] [ 6.20934791e-02 9.98070332e-01 -1.14451789e-04 3.96672451e+00] [ 1.56765135e-02 -8.60632317e-04 9.99876746e-01 6.06981743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.00925415399996 meters Centerline goodness : 0.999148 Centerline is valid? [True, True] Translation: X:394.20, Y:3.97, Z:6.07 [[ 9.98071706e-01 -6.00532101e-02 -1.56997088e-02 3.94195902e+02] [ 6.00588314e-02 9.98194833e-01 -1.13607447e-04 3.96738394e+00] [ 1.56781907e-02 -8.29517786e-04 9.99876746e-01 6.07079484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.03925415399993 meters Centerline goodness : 0.999168 Centerline is valid? [True, True] Translation: X:394.23, Y:3.97, Z:6.07 [[ 9.98236763e-01 -5.72440804e-02 -1.56997208e-02 3.94227023e+02] [ 5.72493815e-02 9.98359903e-01 -1.11929179e-04 3.96798969e+00] [ 1.56803790e-02 -7.87067482e-04 9.99876746e-01 6.07030947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.06925415399996 meters Centerline goodness : 0.999295 Centerline is valid? [True, True] Translation: X:394.26, Y:3.97, Z:6.07 [[ 9.98608122e-01 -5.03521314e-02 -1.56997267e-02 3.94259784e+02] [ 5.03565955e-02 9.98731296e-01 -1.11097366e-04 3.96963917e+00] [ 1.56854023e-02 -6.79642052e-04 9.99876746e-01 6.07237656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.09925415399994 meters Centerline goodness : 0.999188 Centerline is valid? [True, True] Translation: X:394.29, Y:3.97, Z:6.07 [[ 9.98818812e-01 -4.59836729e-02 -1.56997383e-02 3.94291641e+02] [ 4.59876245e-02 9.98942004e-01 -1.09419986e-04 3.97072839e+00] [ 1.56881596e-02 -6.12702931e-04 9.99876746e-01 6.07313759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.12925415399997 meters Centerline goodness : 0.999274 Centerline is valid? [True, True] Translation: X:394.32, Y:3.97, Z:6.07 [[ 9.99013478e-01 -4.15401920e-02 -1.56997571e-02 3.94322489e+02] [ 4.15436389e-02 9.99136685e-01 -1.06656510e-04 3.97212697e+00] [ 1.56906338e-02 -5.45673750e-04 9.99876746e-01 6.07423905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.15925415399994 meters Centerline goodness : 0.999358 Centerline is valid? [True, True] Translation: X:394.35, Y:3.97, Z:6.08 [[ 9.99369357e-01 -3.18497247e-02 -1.56997627e-02 3.94354521e+02] [ 3.18519895e-02 9.99492591e-01 -1.05835009e-04 3.97468968e+00] [ 1.56951673e-02 -3.94300411e-04 9.99876746e-01 6.07629452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.18925415399997 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:394.39, Y:3.98, Z:6.08 [[ 9.99504849e-01 -2.72685568e-02 -1.56997700e-02 3.94386715e+02] [ 2.72702740e-02 9.99628091e-01 -1.04735807e-04 3.97591660e+00] [ 1.56967871e-02 -3.23453082e-04 9.99876746e-01 6.07763822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.21925415399994 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:394.42, Y:3.98, Z:6.08 [[ 9.99620611e-01 -2.26307534e-02 -1.56997776e-02 3.94417494e+02] [ 2.26319169e-02 9.99743860e-01 -1.03581148e-04 3.97653933e+00] [ 1.56981004e-02 -2.51774211e-04 9.99876746e-01 6.07814585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.24925415399997 meters Centerline goodness : 0.999334 Centerline is valid? [True, True] Translation: X:394.45, Y:3.98, Z:6.08 [[ 9.99774583e-01 -1.42933725e-02 -1.56997795e-02 3.94448076e+02] [ 1.42935125e-02 9.99897837e-01 -1.03296037e-04 3.97737591e+00] [ 1.56996520e-02 -1.21132243e-04 9.99876746e-01 6.07884126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.27925415399994 meters Centerline goodness : 0.999506 Centerline is valid? [True, True] Translation: X:394.48, Y:3.98, Z:6.08 [[ 9.99818581e-01 -1.07852776e-02 -1.56997795e-02 3.94476127e+02] [ 1.07849852e-02 9.99941835e-01 -1.03296037e-04 3.97779137e+00] [ 1.56999804e-02 -6.60445920e-05 9.99876746e-01 6.07926047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.309254154 meters Centerline goodness : 0.996670 Centerline is valid? [True, True] Translation: X:394.50, Y:3.98, Z:6.08 [[ 9.99852188e-01 -7.00850712e-03 -1.56997488e-02 3.94501719e+02] [ 7.00767894e-03 9.99975440e-01 -1.07764229e-04 3.97924648e+00] [ 1.57001185e-02 -2.27049935e-06 9.99876746e-01 6.07835240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.33925415399995 meters Centerline goodness : 0.999075 Centerline is valid? [True, True] Translation: X:394.53, Y:3.98, Z:6.08 [[ 9.99875488e-01 -1.59884501e-03 -1.56988196e-02 3.94531285e+02] [ 1.59539339e-03 9.99998700e-01 -2.32385619e-04 3.97866166e+00] [ 1.56991707e-02 2.07310891e-04 9.99876739e-01 6.07966779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.369254154 meters Centerline goodness : 0.996766 Centerline is valid? [True, True] Translation: X:394.56, Y:3.98, Z:6.08 [[ 9.99875309e-01 1.69871986e-03 -1.56996795e-02 3.94557012e+02] [-1.70072814e-03 9.99998547e-01 -1.14568495e-04 3.97974350e+00] [ 1.56994620e-02 1.41255096e-04 9.99876746e-01 6.07903384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.39925415399995 meters Centerline goodness : 0.997156 Centerline is valid? [True, True] Translation: X:394.59, Y:3.98, Z:6.08 [[ 9.99868869e-01 3.97474951e-03 -1.56986268e-02 3.94585302e+02] [-3.97917355e-03 9.99992052e-01 -2.50585117e-04 3.97983058e+00] [ 1.56975060e-02 3.13019818e-04 9.99876738e-01 6.07920444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.429254154 meters Centerline goodness : 0.999010 Centerline is valid? [True, True] Translation: X:394.62, Y:3.98, Z:6.08 [[ 9.99852891e-01 6.91030585e-03 -1.56985433e-02 3.94615306e+02] [-6.91525775e-03 9.99976055e-01 -2.61175370e-04 3.97713390e+00] [ 1.56963626e-02 3.69696422e-04 9.99876736e-01 6.08044041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.45925415399995 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:394.64, Y:3.98, Z:6.08 [[ 9.99844103e-01 8.08034100e-03 -1.56996266e-02 3.94643552e+02] [-8.08327960e-03 9.99967322e-01 -1.23728312e-04 3.97604743e+00] [ 1.56981138e-02 2.50613494e-04 9.99876746e-01 6.08094657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.4892541539999 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:394.67, Y:3.97, Z:6.08 [[ 9.99838634e-01 8.73090586e-03 -1.56996139e-02 3.94671862e+02] [-8.73394971e-03 9.99961850e-01 -1.25325555e-04 3.97469348e+00] [ 1.56979207e-02 2.62424969e-04 9.99876746e-01 6.08093611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.51925415399995 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:394.70, Y:3.97, Z:6.08 [[ 9.99836859e-01 8.93187580e-03 -1.56996010e-02 3.94697721e+02] [-8.93496935e-03 9.99960074e-01 -1.26913931e-04 3.97486465e+00] [ 1.56978406e-02 2.67168681e-04 9.99876746e-01 6.08167080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.5492541539999 meters Centerline goodness : 0.996228 Centerline is valid? [True, True] Translation: X:394.73, Y:3.97, Z:6.08 [[ 9.99859196e-01 5.92856417e-03 -1.56984300e-02 3.94727121e+02] [-5.93330229e-03 9.99982365e-01 -2.55263633e-04 3.97180503e+00] [ 1.56966398e-02 3.48371222e-04 9.99876739e-01 6.08075936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.57925415399995 meters Centerline goodness : 0.999252 Centerline is valid? [True, True] Translation: X:394.76, Y:3.97, Z:6.08 [[ 9.99862950e-01 5.25458627e-03 -1.56993544e-02 3.94755072e+02] [-5.25765289e-03 9.99986167e-01 -1.54066891e-04 3.96817398e+00] [ 1.56983276e-02 2.36587532e-04 9.99876746e-01 6.08093251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.6092541539999 meters Centerline goodness : 0.999252 Centerline is valid? [True, True] Translation: X:394.78, Y:3.97, Z:6.08 [[ 9.99863463e-01 5.15590758e-03 -1.56994304e-02 3.94783529e+02] [-5.15883361e-03 9.99986683e-01 -1.45885231e-04 3.96853408e+00] [ 1.56984692e-02 2.26856062e-04 9.99876746e-01 6.08137673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.63925415399996 meters Centerline goodness : 0.999211 Centerline is valid? [True, True] Translation: X:394.81, Y:3.97, Z:6.08 [[ 9.99871800e-01 3.14825282e-03 -1.56994158e-02 3.94810834e+02] [-3.15095578e-03 9.99995025e-01 -1.47436849e-04 3.96646380e+00] [ 1.56988736e-02 1.96886112e-04 9.99876746e-01 6.08172208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.66925415399993 meters Centerline goodness : 0.999086 Centerline is valid? [True, True] Translation: X:394.84, Y:3.96, Z:6.08 [[ 9.99872746e-01 -2.83199526e-03 -1.56993988e-02 3.94837543e+02] [ 2.83000114e-03 9.99995984e-01 -1.49233623e-04 3.96135890e+00] [ 1.56997583e-02 1.04785316e-04 9.99876746e-01 6.08186583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.69925415399996 meters Centerline goodness : 0.999023 Centerline is valid? [True, True] Translation: X:394.88, Y:3.95, Z:6.08 [[ 9.99873876e-01 2.40011178e-03 -1.56993817e-02 3.94880248e+02] [-2.40277866e-03 9.99997102e-01 -1.51011100e-04 3.94796060e+00] [ 1.56989737e-02 1.88714193e-04 9.99876746e-01 6.07834159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.72925415399993 meters Centerline goodness : 0.998982 Centerline is valid? [True, True] Translation: X:394.90, Y:3.96, Z:6.08 [[ 9.99809780e-01 -1.15654603e-02 -1.57049073e-02 3.94896309e+02] [ 1.15743317e-02 9.99932903e-01 4.74101693e-04 3.95506831e+00] [ 1.56983704e-02 -6.55785317e-04 9.99876558e-01 6.08387631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.75925415399996 meters Centerline goodness : 0.998813 Centerline is valid? [True, True] Translation: X:394.92, Y:3.95, Z:6.08 [[ 9.99747149e-01 -1.60996242e-02 -1.56983900e-02 3.94924908e+02] [ 1.60990786e-02 9.99870388e-01 -1.61139412e-04 3.95165421e+00] [ 1.56989495e-02 -9.16309461e-05 9.99876760e-01 6.08432207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.78925415399993 meters Centerline goodness : 0.998924 Centerline is valid? [True, True] Translation: X:394.95, Y:3.94, Z:6.08 [[ 9.99566512e-01 -2.49068237e-02 -1.56983784e-02 3.94952442e+02] [ 2.49073464e-02 9.99689751e-01 -1.62252584e-04 3.94427789e+00] [ 1.56975492e-02 -2.28822700e-04 9.99876760e-01 6.08400468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.81925415399996 meters Centerline goodness : 0.998973 Centerline is valid? [True, True] Translation: X:394.98, Y:3.94, Z:6.09 [[ 9.99460176e-01 -2.88603202e-02 -1.56983640e-02 3.94982345e+02] [ 2.88613086e-02 9.99583412e-01 -1.63634221e-04 3.94125912e+00] [ 1.56965468e-02 -2.89529442e-04 9.99876760e-01 6.08553334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.84925415399994 meters Centerline goodness : 0.998904 Centerline is valid? [True, True] Translation: X:395.01, Y:3.94, Z:6.09 [[ 9.99351244e-01 -3.24137639e-02 -1.56983582e-02 3.95012495e+02] [ 3.24151816e-02 9.99474476e-01 -1.64195398e-04 3.93817234e+00] [ 1.56954305e-02 -3.44776256e-04 9.99876760e-01 6.08597540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.87925415399997 meters Centerline goodness : 0.998991 Centerline is valid? [True, True] Translation: X:395.04, Y:3.94, Z:6.09 [[ 9.99253699e-01 -3.52931483e-02 -1.56983582e-02 3.95043724e+02] [ 3.52949212e-02 9.99376927e-01 -1.64195398e-04 3.93500696e+00] [ 1.56943719e-02 -3.89999455e-04 9.99876760e-01 6.08632543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.90925415399994 meters Centerline goodness : 0.998906 Centerline is valid? [True, True] Translation: X:395.07, Y:3.93, Z:6.09 [[ 9.99076021e-01 -4.00083212e-02 -1.56983640e-02 3.95074771e+02] [ 4.00106843e-02 9.99199239e-01 -1.63635477e-04 3.92866153e+00] [ 1.56923401e-02 -4.64618006e-04 9.99876760e-01 6.08564226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.93925415399997 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:395.11, Y:3.93, Z:6.09 [[ 9.98998519e-01 -4.18989328e-02 -1.56983727e-02 3.95106273e+02] [ 4.19015422e-02 9.99121731e-01 -1.62797739e-04 3.92601874e+00] [ 1.56914064e-02 -4.95151327e-04 9.99876760e-01 6.08576891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.96925415399994 meters Centerline goodness : 0.999076 Centerline is valid? [True, True] Translation: X:395.14, Y:3.92, Z:6.09 [[ 9.98963479e-01 -4.27261973e-02 -1.56983811e-02 3.95139627e+02] [ 4.27289217e-02 9.99086689e-01 -1.61978914e-04 3.92163149e+00] [ 1.56909644e-02 -5.08963878e-04 9.99876760e-01 6.08575649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.99925415399997 meters Centerline goodness : 0.999015 Centerline is valid? [True, True] Translation: X:395.17, Y:3.92, Z:6.09 [[ 9.98780933e-01 -4.67991273e-02 -1.57000054e-02 3.95166412e+02] [ 4.68048574e-02 9.98904052e-01 -2.46735823e-06 3.92039678e+00] [ 1.56829145e-02 -7.32372166e-04 9.99876747e-01 6.08604708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.02925415399994 meters Centerline goodness : 0.998909 Centerline is valid? [True, True] Translation: X:395.20, Y:3.92, Z:6.09 [[ 9.98711525e-01 -4.82581912e-02 -1.56983237e-02 3.95197648e+02] [ 4.82615704e-02 9.98834718e-01 -1.63732205e-04 3.91943560e+00] [ 1.56879321e-02 -5.94104513e-04 9.99876760e-01 6.08631574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.059254154 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:395.23, Y:3.92, Z:6.09 [[ 9.98666870e-01 -4.91736232e-02 -1.56983321e-02 3.95230166e+02] [ 4.91771280e-02 9.98790060e-01 -1.62920839e-04 3.91842278e+00] [ 1.56873495e-02 -6.09295242e-04 9.99876760e-01 6.08651192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.08925415399995 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:395.26, Y:3.92, Z:6.09 [[ 9.98634298e-01 -4.98307304e-02 -1.56983431e-02 3.95261897e+02] [ 4.98343331e-02 9.98757485e-01 -1.61847998e-04 3.91763901e+00] [ 1.56869027e-02 -6.20689499e-04 9.99876760e-01 6.08643880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.119254154 meters Centerline goodness : 0.998932 Centerline is valid? [True, True] Translation: X:395.29, Y:3.92, Z:6.09 [[ 9.98574120e-01 -5.10224268e-02 -1.56983541e-02 3.95293018e+02] [ 5.10261933e-02 9.98697302e-01 -1.60779341e-04 3.91679019e+00] [ 1.56861072e-02 -6.40477161e-04 9.99876760e-01 6.08568077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.14925415399995 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:395.33, Y:3.92, Z:6.09 [[ 9.98567525e-01 -5.11513317e-02 -1.56983719e-02 3.95325441e+02] [ 5.11551417e-02 9.98690706e-01 -1.59020062e-04 3.91653370e+00] [ 1.56859522e-02 -6.44260169e-04 9.99876760e-01 6.08714858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.179254154 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:395.36, Y:3.92, Z:6.09 [[ 9.98566654e-01 -5.11683402e-02 -1.56983834e-02 3.95356734e+02] [ 5.11721702e-02 9.98689834e-01 -1.57879307e-04 3.91640790e+00] [ 1.56858943e-02 -6.45667335e-04 9.99876760e-01 6.08566764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.20925415399995 meters Centerline goodness : 0.999142 Centerline is valid? [True, True] Translation: X:395.39, Y:3.92, Z:6.09 [[ 9.98558226e-01 -5.13325411e-02 -1.56983919e-02 3.95388660e+02] [ 5.13364047e-02 9.98681405e-01 -1.57028856e-04 3.91687202e+00] [ 1.56857528e-02 -6.49096543e-04 9.99876760e-01 6.08574351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.2392541539999 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:395.42, Y:3.92, Z:6.09 [[ 9.98581301e-01 -5.08816761e-02 -1.56984022e-02 3.95420367e+02] [ 5.08855003e-02 9.98704482e-01 -1.55993537e-04 3.91714569e+00] [ 1.56860018e-02 -6.43048820e-04 9.99876760e-01 6.08600821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.26925415399995 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:395.45, Y:3.92, Z:6.09 [[ 9.98630238e-01 -4.99119893e-02 -1.56984124e-02 3.95452890e+02] [ 4.99157101e-02 9.98753422e-01 -1.54962115e-04 3.91818178e+00] [ 1.56865775e-02 -6.28847546e-04 9.99876760e-01 6.08905192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.2992541539999 meters Centerline goodness : 0.998972 Centerline is valid? [True, True] Translation: X:395.48, Y:3.92, Z:6.09 [[ 9.98676792e-01 -4.89716651e-02 -1.56984235e-02 3.95483818e+02] [ 4.89752877e-02 9.98799979e-01 -1.53824514e-04 3.91881488e+00] [ 1.56871181e-02 -6.15213835e-04 9.99876760e-01 6.08945403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.32925415399995 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:395.52, Y:3.92, Z:6.09 [[ 9.98735186e-01 -4.77659729e-02 -1.56984318e-02 3.95516166e+02] [ 4.77694601e-02 9.98858376e-01 -1.52976401e-04 3.91991147e+00] [ 1.56878171e-02 -5.97122696e-04 9.99876760e-01 6.09043566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.3592541539999 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:395.55, Y:3.92, Z:6.09 [[ 9.98807527e-01 -4.62285924e-02 -1.56984426e-02 3.95548535e+02] [ 4.62319076e-02 9.98930722e-01 -1.51854797e-04 3.92127620e+00] [ 1.56886767e-02 -5.74095233e-04 9.99876760e-01 6.09142908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.38925415399996 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:395.59, Y:3.91, Z:6.09 [[ 9.99292660e-01 -3.41721808e-02 -1.56984534e-02 3.95589431e+02] [ 3.41740267e-02 9.99415886e-01 -1.50731782e-04 3.91399643e+00] [ 1.56944346e-02 -3.85854203e-04 9.99876760e-01 6.08684832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.41925415399993 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:395.61, Y:3.93, Z:6.09 [[ 9.99047727e-01 -4.07068878e-02 -1.57031531e-02 3.95608628e+02] [ 4.07176850e-02 9.99170623e-01 3.68346844e-04 3.92595298e+00] [ 1.56751350e-02 -1.00739212e-03 9.99876630e-01 6.09485575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.44925415399996 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:395.64, Y:3.93, Z:6.09 [[ 9.99137018e-01 -3.84551353e-02 -1.56978062e-02 3.95640148e+02] [ 3.84573766e-02 9.99260229e-01 -1.59176439e-04 3.92794541e+00] [ 1.56923146e-02 -4.44657372e-04 9.99876769e-01 6.09484353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.47925415399993 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:395.67, Y:3.93, Z:6.10 [[ 9.99222774e-01 -3.61583563e-02 -1.56978255e-02 3.95671142e+02] [ 3.61603445e-02 9.99345989e-01 -1.57252907e-04 3.92942790e+00] [ 1.56932449e-02 -4.10508091e-04 9.99876769e-01 6.09545454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.50925415399996 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:395.70, Y:3.93, Z:6.10 [[ 9.99300397e-01 -3.39454624e-02 -1.56978308e-02 3.95702811e+02] [ 3.39471862e-02 9.99423616e-01 -1.56716878e-04 3.93055494e+00] [ 1.56941027e-02 -3.76289948e-04 9.99876769e-01 6.09727771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.53925415399993 meters Centerline goodness : 0.999370 Centerline is valid? [True, True] Translation: X:395.73, Y:3.93, Z:6.10 [[ 9.99402898e-01 -3.07802666e-02 -1.56978365e-02 3.95733422e+02] [ 3.07816092e-02 9.99526122e-01 -1.56141849e-04 3.93256825e+00] [ 1.56952038e-02 -3.27156052e-04 9.99876769e-01 6.09774816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.56925415399996 meters Centerline goodness : 0.999287 Centerline is valid? [True, True] Translation: X:395.76, Y:3.93, Z:6.10 [[ 9.99450087e-01 -2.92079157e-02 -1.56978394e-02 3.95764827e+02] [ 2.92090688e-02 9.99573312e-01 -1.55856925e-04 3.93373422e+00] [ 1.56956935e-02 -3.02748053e-04 9.99876769e-01 6.09853720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.59925415399994 meters Centerline goodness : 0.999097 Centerline is valid? [True, True] Translation: X:395.80, Y:3.94, Z:6.10 [[ 9.99486920e-01 -2.79190629e-02 -1.56978450e-02 3.95795728e+02] [ 2.79200661e-02 9.99610147e-01 -1.55289831e-04 3.93513411e+00] [ 1.56960607e-02 -2.83074714e-04 9.99876769e-01 6.09885151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.62925415399997 meters Centerline goodness : 0.999098 Centerline is valid? [True, True] Translation: X:395.83, Y:3.94, Z:6.10 [[ 9.99527061e-01 -2.64429843e-02 -1.56978450e-02 3.95826110e+02] [ 2.64438055e-02 9.99650289e-01 -1.55289831e-04 3.93646219e+00] [ 1.56964616e-02 -2.59894371e-04 9.99876769e-01 6.09914854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.65925415399994 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:395.86, Y:3.94, Z:6.10 [[ 9.99600620e-01 -2.34984821e-02 -1.56978450e-02 3.95856564e+02] [ 2.34989403e-02 9.99723850e-01 -1.55289831e-04 3.93908449e+00] [ 1.56971591e-02 -2.13654911e-04 9.99876769e-01 6.09974269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.68925415399997 meters Centerline goodness : 0.999200 Centerline is valid? [True, True] Translation: X:395.89, Y:3.94, Z:6.10 [[ 9.99635344e-01 -2.19717290e-02 -1.56978450e-02 3.95885631e+02] [ 2.19719989e-02 9.99758574e-01 -1.55289831e-04 3.94083523e+00] [ 1.56974671e-02 -1.89679830e-04 9.99876769e-01 6.09990944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.71925415399994 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:395.91, Y:3.94, Z:6.10 [[ 9.99672279e-01 -2.02215928e-02 -1.56978365e-02 3.95914329e+02] [ 2.02216336e-02 9.99795510e-01 -1.56145211e-04 3.94194139e+00] [ 1.56977839e-02 -1.61341858e-04 9.99876769e-01 6.10040704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.74925415399997 meters Centerline goodness : 0.999179 Centerline is valid? [True, True] Translation: X:395.94, Y:3.94, Z:6.10 [[ 9.99708634e-01 -1.83364935e-02 -1.56977953e-02 3.95943016e+02] [ 1.83362385e-02 9.99831864e-01 -1.60182775e-04 3.94303622e+00] [ 1.56980931e-02 -1.27702415e-04 9.99876769e-01 6.10061806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.77925415399994 meters Centerline goodness : 0.999178 Centerline is valid? [True, True] Translation: X:395.97, Y:3.94, Z:6.10 [[ 9.99784206e-01 -1.36059663e-02 -1.56977534e-02 3.95971586e+02] [ 1.36050655e-02 9.99907433e-01 -1.64181049e-04 3.94495639e+00] [ 1.56985342e-02 -4.94233432e-05 9.99876769e-01 6.10217787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.809254154 meters Centerline goodness : 0.999199 Centerline is valid? [True, True] Translation: X:396.00, Y:3.95, Z:6.10 [[ 9.99815608e-01 -1.10603896e-02 -1.56977101e-02 3.95999577e+02] [ 1.10591116e-02 9.99938832e-01 -1.68222385e-04 3.94579948e+00] [ 1.56986105e-02 -5.41136235e-06 9.99876769e-01 6.10307125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.83925415399995 meters Centerline goodness : 0.999053 Centerline is valid? [True, True] Translation: X:396.03, Y:3.95, Z:6.10 [[ 9.99840371e-01 -8.53313329e-03 -1.56976947e-02 3.96028237e+02] [ 8.53152134e-03 9.99963592e-01 -1.69652021e-04 3.94655030e+00] [ 1.56985708e-02 3.56997229e-05 9.99876769e-01 6.10392955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.869254154 meters Centerline goodness : 0.999158 Centerline is valid? [True, True] Translation: X:396.06, Y:3.95, Z:6.10 [[ 9.99856614e-01 -6.35097090e-03 -1.56976508e-02 3.96056497e+02] [ 6.34902769e-03 9.99979830e-01 -1.73622678e-04 3.94750203e+00] [ 1.56984368e-02 7.39329636e-05 9.99876769e-01 6.10498952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.89925415399995 meters Centerline goodness : 0.999409 Centerline is valid? [True, True] Translation: X:396.08, Y:3.95, Z:6.11 [[ 9.99869704e-01 -3.76313215e-03 -1.56975995e-02 3.96083730e+02] [ 3.76079918e-03 9.99992912e-01 -1.78137082e-04 3.94829057e+00] [ 1.56981586e-02 1.19078352e-04 9.99876769e-01 6.10618601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.929254154 meters Centerline goodness : 0.999135 Centerline is valid? [True, True] Translation: X:396.11, Y:3.95, Z:6.11 [[ 9.99874589e-01 -2.10058095e-03 -1.56969260e-02 3.96113315e+02] [ 2.09714142e-03 9.99997773e-01 -2.35578488e-04 3.94799675e+00] [ 1.56973859e-02 2.02630270e-04 9.99876768e-01 6.10619291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.95925415399995 meters Centerline goodness : 0.999262 Centerline is valid? [True, True] Translation: X:396.14, Y:3.95, Z:6.11 [[ 9.99874727e-01 -2.02961874e-03 -1.56975102e-02 3.96141618e+02] [ 2.02694272e-03 9.99997928e-01 -1.86382593e-04 3.94764937e+00] [ 1.56978559e-02 1.54541290e-04 9.99876769e-01 6.10701721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.9892541539999 meters Centerline goodness : 0.999388 Centerline is valid? [True, True] Translation: X:396.17, Y:3.95, Z:6.11 [[ 9.99873287e-01 -2.64558303e-03 -1.56974542e-02 3.96170529e+02] [ 2.64291071e-03 9.99996489e-01 -1.90981356e-04 3.94702605e+00] [ 1.56979044e-02 1.49470186e-04 9.99876769e-01 6.10742132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.01925415399995 meters Centerline goodness : 0.999114 Centerline is valid? [True, True] Translation: X:396.20, Y:3.95, Z:6.11 [[ 9.99868800e-01 -3.99668053e-03 -1.56974402e-02 3.96198960e+02] [ 3.99415670e-03 9.99992005e-01 -1.92127654e-04 3.94623071e+00] [ 1.56980825e-02 1.29404411e-04 9.99876769e-01 6.10790986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.0492541539999 meters Centerline goodness : 0.999286 Centerline is valid? [True, True] Translation: X:396.23, Y:3.94, Z:6.11 [[ 9.99832388e-01 -9.42270302e-03 -1.56974188e-02 3.96225929e+02] [ 9.42082063e-03 9.99955604e-01 -1.93860753e-04 3.94411571e+00] [ 1.56985486e-02 4.59456931e-05 9.99876769e-01 6.10849848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.07925415399995 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:396.25, Y:3.94, Z:6.11 [[ 9.99788599e-01 -1.32796703e-02 -1.56973937e-02 3.96254277e+02] [ 1.32782318e-02 9.99911821e-01 -1.95865937e-04 3.94310590e+00] [ 1.56986106e-02 -1.26091022e-05 9.99876769e-01 6.10909107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.1092541539999 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:396.28, Y:3.94, Z:6.11 [[ 9.99722956e-01 -1.75386230e-02 -1.56973722e-02 3.96280869e+02] [ 1.75376826e-02 9.99846184e-01 -1.97574276e-04 3.94170204e+00] [ 1.56984229e-02 -7.77759929e-05 9.99876769e-01 6.10926952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.13925415399996 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:396.31, Y:3.94, Z:6.11 [[ 9.99627305e-01 -2.23348394e-02 -1.56973471e-02 3.96309245e+02] [ 2.23344591e-02 9.99750535e-01 -1.99553767e-04 3.94016205e+00] [ 1.56978881e-02 -1.51112362e-04 9.99876769e-01 6.10933709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.16925415399993 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:396.34, Y:3.94, Z:6.11 [[ 9.99394943e-01 -3.10377612e-02 -1.56972880e-02 3.96338099e+02] [ 3.10383825e-02 9.99518173e-01 -2.04101593e-04 3.93630424e+00] [ 1.56960594e-02 -2.83240329e-04 9.99876769e-01 6.10863155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.19925415399996 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:396.37, Y:3.93, Z:6.11 [[ 9.99262435e-01 -3.50454358e-02 -1.56972730e-02 3.96368563e+02] [ 3.50465333e-02 9.99385660e-01 -2.05244691e-04 3.93481460e+00] [ 1.56948224e-02 -3.45041692e-04 9.99876769e-01 6.10788009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.22925415399993 meters Centerline goodness : 0.999247 Centerline is valid? [True, True] Translation: X:396.40, Y:3.93, Z:6.11 [[ 9.99131614e-01 -3.85955148e-02 -1.56972854e-02 3.96399862e+02] [ 3.85970651e-02 9.99254835e-01 -2.04293901e-04 3.93354423e+00] [ 1.56934731e-02 -4.01752650e-04 9.99876769e-01 6.10848682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.25925415399996 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:396.43, Y:3.93, Z:6.11 [[ 9.99003448e-01 -4.17816525e-02 -1.56972928e-02 3.96431228e+02] [ 4.17836048e-02 9.99126663e-01 -2.03718645e-04 3.93283539e+00] [ 1.56920955e-02 -4.52373852e-04 9.99876769e-01 6.10791305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.28925415399993 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:396.46, Y:3.93, Z:6.11 [[ 9.98780763e-01 -4.68036480e-02 -1.56973040e-02 3.96463430e+02] [ 4.68062333e-02 9.98903967e-01 -2.02857931e-04 3.93198465e+00] [ 1.56895937e-02 -5.32121072e-04 9.99876769e-01 6.10936523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.31925415399996 meters Centerline goodness : 0.999226 Centerline is valid? [True, True] Translation: X:396.50, Y:3.93, Z:6.11 [[ 9.98682788e-01 -4.88495951e-02 -1.56973189e-02 3.96495533e+02] [ 4.88524509e-02 9.98805986e-01 -2.01699570e-04 3.93198338e+00] [ 1.56884290e-02 -5.65418609e-04 9.99876769e-01 6.10990844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.34925415399994 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:396.53, Y:3.93, Z:6.11 [[ 9.98581808e-01 -5.08720566e-02 -1.56973336e-02 3.96526953e+02] [ 5.08751800e-02 9.98704999e-01 -2.00543467e-04 3.93198031e+00] [ 1.56872076e-02 -5.98345616e-04 9.99876769e-01 6.10921766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.37925415399997 meters Centerline goodness : 0.999146 Centerline is valid? [True, True] Translation: X:396.56, Y:3.93, Z:6.11 [[ 9.98493597e-01 -5.25750021e-02 -1.56973446e-02 3.96559246e+02] [ 5.25783492e-02 9.98616782e-01 -1.99681917e-04 3.93192571e+00] [ 1.56861300e-02 -6.25959349e-04 9.99876769e-01 6.11061038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.40925415399994 meters Centerline goodness : 0.998869 Centerline is valid? [True, True] Translation: X:396.59, Y:3.93, Z:6.11 [[ 9.98307074e-01 -5.60051654e-02 -1.56973590e-02 3.96590390e+02] [ 5.60089535e-02 9.98430247e-01 -1.98545359e-04 3.93085283e+00] [ 1.56838375e-02 -6.80983412e-04 9.99876769e-01 6.11068793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.43925415399997 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:396.62, Y:3.93, Z:6.11 [[ 9.98161770e-01 -5.85377973e-02 -1.56973696e-02 3.96622546e+02] [ 5.85419112e-02 9.98284932e-01 -1.97698824e-04 3.93114631e+00] [ 1.56820204e-02 -7.21618610e-04 9.99876769e-01 6.11284078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.46925415399994 meters Centerline goodness : 0.999058 Centerline is valid? [True, True] Translation: X:396.65, Y:3.93, Z:6.11 [[ 9.98029849e-01 -6.07454682e-02 -1.56973838e-02 3.96654874e+02] [ 6.07498722e-02 9.98153002e-01 -1.96569116e-04 3.93116520e+00] [ 1.56803314e-02 -7.57432212e-04 9.99876769e-01 6.11367198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.49925415399997 meters Centerline goodness : 0.999058 Centerline is valid? [True, True] Translation: X:396.69, Y:3.93, Z:6.11 [[ 9.98034207e-01 -6.06738300e-02 -1.56973978e-02 3.96687557e+02] [ 6.06782428e-02 9.98157359e-01 -1.95444045e-04 3.93150927e+00] [ 1.56803314e-02 -7.57430670e-04 9.99876769e-01 6.11418485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.52925415399994 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:396.72, Y:3.93, Z:6.11 [[ 9.97913340e-01 -6.26303174e-02 -1.56974117e-02 3.96719561e+02] [ 6.26349893e-02 9.98036482e-01 -1.94317432e-04 3.93150023e+00] [ 1.56787597e-02 -7.89295258e-04 9.99876769e-01 6.11490081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.559254154 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:396.75, Y:3.93, Z:6.12 [[ 9.97779063e-01 -6.47343160e-02 -1.56974255e-02 3.96751956e+02] [ 6.47392652e-02 9.97902195e-01 -1.93196960e-04 3.93172126e+00] [ 1.56770018e-02 -8.23471911e-04 9.99876769e-01 6.11547182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.58925415399995 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:396.78, Y:3.93, Z:6.12 [[ 9.97516438e-01 -6.86625490e-02 -1.56974391e-02 3.96784132e+02] [ 6.86680003e-02 9.97639549e-01 -1.92086499e-04 3.93163428e+00] [ 1.56735752e-02 -8.86302312e-04 9.99876769e-01 6.11500407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.619254154 meters Centerline goodness : 0.998975 Centerline is valid? [True, True] Translation: X:396.82, Y:3.93, Z:6.11 [[ 9.97409144e-01 -7.02039087e-02 -1.56974526e-02 3.96815321e+02] [ 7.02095676e-02 9.97532245e-01 -1.90975577e-04 3.93164839e+00] [ 1.56721224e-02 -9.11630574e-04 9.99876769e-01 6.11445321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.64925415399995 meters Centerline goodness : 0.998952 Centerline is valid? [True, True] Translation: X:396.85, Y:3.93, Z:6.11 [[ 9.97311387e-01 -7.15792326e-02 -1.56974626e-02 3.96847885e+02] [ 7.15850743e-02 9.97434480e-01 -1.90147236e-04 3.93206037e+00] [ 1.56708011e-02 -9.34068026e-04 9.99876769e-01 6.11414229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.679254154 meters Centerline goodness : 0.998891 Centerline is valid? [True, True] Translation: X:396.88, Y:3.93, Z:6.11 [[ 9.97255104e-01 -7.23591552e-02 -1.56974824e-02 3.96880066e+02] [ 7.23651190e-02 9.97378190e-01 -1.88502778e-04 3.93263326e+00] [ 1.56699665e-02 -9.47964823e-04 9.99876769e-01 6.11371861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.70925415399995 meters Centerline goodness : 0.999079 Centerline is valid? [True, True] Translation: X:396.91, Y:3.93, Z:6.11 [[ 9.97275380e-01 -7.20791547e-02 -1.56974954e-02 3.96910933e+02] [ 7.20851011e-02 9.97398468e-01 -1.87412039e-04 3.93411693e+00] [ 1.56701664e-02 -9.44654131e-04 9.99876769e-01 6.11152852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.7392541539999 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:396.94, Y:3.94, Z:6.11 [[ 9.97304029e-01 -7.16816787e-02 -1.56975051e-02 3.96944239e+02] [ 7.16875888e-02 9.97427118e-01 -1.86598575e-04 3.93594700e+00] [ 1.56704930e-02 -9.39220779e-04 9.99876769e-01 6.11383507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.76925415399995 meters Centerline goodness : 0.998954 Centerline is valid? [True, True] Translation: X:396.98, Y:3.94, Z:6.11 [[ 9.97375115e-01 -7.06856943e-02 -1.56975246e-02 3.96976920e+02] [ 7.06915074e-02 9.97498209e-01 -1.84942580e-04 3.93766088e+00] [ 1.56713255e-02 -9.25224549e-04 9.99876769e-01 6.11415739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.7992541539999 meters Centerline goodness : 0.998951 Centerline is valid? [True, True] Translation: X:397.01, Y:3.94, Z:6.11 [[ 9.97494070e-01 -6.89867139e-02 -1.56975439e-02 3.97009256e+02] [ 6.89923432e-02 9.97617173e-01 -1.83293044e-04 3.93926050e+00] [ 1.56727841e-02 -9.00176608e-04 9.99876769e-01 6.11443727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.82925415399995 meters Centerline goodness : 0.998868 Centerline is valid? [True, True] Translation: X:397.05, Y:3.94, Z:6.11 [[ 9.98116194e-01 -5.93097776e-02 -1.56975597e-02 3.97048815e+02] [ 5.93142342e-02 9.98239344e-01 -1.81926616e-04 3.93654271e+00] [ 1.56807117e-02 -7.49504830e-04 9.99876769e-01 6.11276644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.8592541539999 meters Centerline goodness : 0.998950 Centerline is valid? [True, True] Translation: X:397.07, Y:3.94, Z:6.12 [[ 9.97963881e-01 -6.18186132e-02 -1.57019681e-02 3.97070318e+02] [ 6.18295926e-02 9.98086697e-01 2.14279180e-04 3.94429344e+00] [ 1.56586791e-02 -1.18468918e-03 9.99876694e-01 6.11864475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.88925415399996 meters Centerline goodness : 0.998930 Centerline is valid? [True, True] Translation: X:397.10, Y:3.95, Z:6.12 [[ 9.98159282e-01 -5.85802515e-02 -1.56972130e-02 3.97102801e+02] [ 5.85845483e-02 9.98282433e-01 -1.86359054e-04 3.94639056e+00] [ 1.56811689e-02 -7.33598114e-04 9.99876774e-01 6.12025466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.91925415399993 meters Centerline goodness : 0.999035 Centerline is valid? [True, True] Translation: X:397.14, Y:3.94, Z:6.12 [[ 9.98666689e-01 -4.91776571e-02 -1.56972266e-02 3.97141933e+02] [ 4.91808122e-02 9.98789875e-01 -1.85202959e-04 3.94218569e+00] [ 1.56873389e-02 -5.87046328e-04 9.99876774e-01 6.11617274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.94925415399996 meters Centerline goodness : 0.999077 Centerline is valid? [True, True] Translation: X:397.16, Y:3.95, Z:6.12 [[ 9.98723863e-01 -4.80007469e-02 -1.57026778e-02 3.97162376e+02] [ 4.80112254e-02 9.98846754e-01 2.90796471e-04 3.95304655e+00] [ 1.56706103e-02 -1.04433018e-03 9.99876663e-01 6.12201998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.97925415399993 meters Centerline goodness : 0.998887 Centerline is valid? [True, True] Translation: X:397.19, Y:3.96, Z:6.12 [[ 9.98887688e-01 -4.44634851e-02 -1.56966849e-02 3.97194486e+02] [ 4.44659193e-02 9.99010883e-01 -1.94070053e-04 3.95582656e+00] [ 1.56897881e-02 -5.04113338e-04 9.99876781e-01 6.12229929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.00925415399996 meters Centerline goodness : 0.998865 Centerline is valid? [True, True] Translation: X:397.23, Y:3.96, Z:6.12 [[ 9.99050563e-01 -4.06397173e-02 -1.56966992e-02 3.97225615e+02] [ 4.06416982e-02 9.99173766e-01 -1.92904534e-04 3.95796028e+00] [ 1.56915697e-02 -4.45219129e-04 9.99876781e-01 6.12217776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.03925415399993 meters Centerline goodness : 0.998864 Centerline is valid? [True, True] Translation: X:397.26, Y:3.96, Z:6.12 [[ 9.99193401e-01 -3.69616077e-02 -1.56967099e-02 3.97257563e+02] [ 3.69631486e-02 9.99316611e-01 -1.92035358e-04 3.95967945e+00] [ 1.56930808e-02 -3.88319358e-04 9.99876781e-01 6.12137431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.06925415399996 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:397.29, Y:3.96, Z:6.12 [[ 9.99379959e-01 -3.15168182e-02 -1.56967237e-02 3.97289324e+02] [ 3.15177057e-02 9.99503175e-01 -1.90897880e-04 3.96330273e+00] [ 1.56949417e-02 -3.03945201e-04 9.99876781e-01 6.12272335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.09925415399994 meters Centerline goodness : 0.998840 Centerline is valid? [True, True] Translation: X:397.32, Y:3.97, Z:6.12 [[ 9.99451787e-01 -2.91502532e-02 -1.56967307e-02 3.97320386e+02] [ 2.91508579e-02 9.99575005e-01 -1.90324250e-04 3.96542985e+00] [ 1.56956076e-02 -2.67353252e-04 9.99876781e-01 6.12312253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.12925415399997 meters Centerline goodness : 0.999031 Centerline is valid? [True, True] Translation: X:397.35, Y:3.97, Z:6.12 [[ 9.99511742e-01 -2.70164642e-02 -1.56967376e-02 3.97351429e+02] [ 2.70168148e-02 9.99634961e-01 -1.89753198e-04 3.96743728e+00] [ 1.56961341e-02 -2.34415302e-04 9.99876781e-01 6.12385559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.15925415399994 meters Centerline goodness : 0.998775 Centerline is valid? [True, True] Translation: X:397.38, Y:3.97, Z:6.12 [[ 9.99557825e-01 -2.52540607e-02 -1.56967445e-02 3.97381620e+02] [ 2.52542030e-02 9.99681044e-01 -1.89181165e-04 3.96931674e+00] [ 1.56965155e-02 -2.07311258e-04 9.99876781e-01 6.12404586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.18925415399997 meters Centerline goodness : 0.999029 Centerline is valid? [True, True] Translation: X:397.41, Y:3.97, Z:6.13 [[ 9.99644503e-01 -2.15517969e-02 -1.56967479e-02 3.97411905e+02] [ 2.15514873e-02 9.99767722e-01 -1.88897440e-04 3.97236498e+00] [ 1.56971729e-02 -1.49457975e-04 9.99876781e-01 6.12535668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.21925415399994 meters Centerline goodness : 0.998880 Centerline is valid? [True, True] Translation: X:397.44, Y:3.98, Z:6.12 [[ 9.99634945e-01 -2.19906442e-02 -1.56967479e-02 3.97438440e+02] [ 2.19903887e-02 9.99758164e-01 -1.88897440e-04 3.97822456e+00] [ 1.56971058e-02 -1.56349106e-04 9.99876781e-01 6.12265548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.24925415399997 meters Centerline goodness : 0.998898 Centerline is valid? [True, True] Translation: X:397.47, Y:3.98, Z:6.13 [[ 9.99716320e-01 -1.79157830e-02 -1.56940633e-02 3.97470737e+02] [ 1.79116673e-02 9.99839492e-01 -4.02777625e-04 3.97561050e+00] [ 1.56987603e-02 1.21556526e-04 9.99876759e-01 6.12568220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.27925415399994 meters Centerline goodness : 0.998898 Centerline is valid? [True, True] Translation: X:397.50, Y:3.98, Z:6.13 [[ 9.99776405e-01 -1.41688299e-02 -1.56966405e-02 3.97498375e+02] [ 1.41675782e-02 9.99899617e-01 -1.90945174e-04 3.97799398e+00] [ 1.56977703e-02 -3.14809020e-05 9.99876782e-01 6.12572109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.309254154 meters Centerline goodness : 0.999045 Centerline is valid? [True, True] Translation: X:397.53, Y:3.98, Z:6.13 [[ 9.99789447e-01 -1.32165550e-02 -1.56966154e-02 3.97526132e+02] [ 1.32151539e-02 9.99912657e-01 -1.92987582e-04 3.97960166e+00] [ 1.56977950e-02 -1.44862403e-05 9.99876782e-01 6.12637936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.33925415399995 meters Centerline goodness : 0.999067 Centerline is valid? [True, True] Translation: X:397.55, Y:3.98, Z:6.13 [[ 9.99799394e-01 -1.24414895e-02 -1.56965595e-02 3.97553881e+02] [ 1.24399231e-02 9.99922602e-01 -1.97430716e-04 3.98085173e+00] [ 1.56978009e-02 2.12711740e-06 9.99876782e-01 6.12690165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.369254154 meters Centerline goodness : 0.998792 Centerline is valid? [True, True] Translation: X:397.58, Y:3.98, Z:6.13 [[ 9.99806852e-01 -1.18270363e-02 -1.56965027e-02 3.97582018e+02] [ 1.18253248e-02 9.99930058e-01 -2.01847768e-04 3.98128679e+00] [ 1.56977921e-02 1.61925394e-05 9.99876782e-01 6.12724079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.39925415399995 meters Centerline goodness : 0.998876 Centerline is valid? [True, True] Translation: X:397.61, Y:3.98, Z:6.13 [[ 9.99802609e-01 -1.21804666e-02 -1.56964451e-02 3.97609480e+02] [ 1.21787298e-02 9.99925815e-01 -2.06232696e-04 3.98172069e+00] [ 1.56977927e-02 1.50292241e-05 9.99876782e-01 6.12796378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.429254154 meters Centerline goodness : 0.998878 Centerline is valid? [True, True] Translation: X:397.64, Y:3.98, Z:6.13 [[ 9.99790021e-01 -1.31732768e-02 -1.56964271e-02 3.97637605e+02] [ 1.31716411e-02 9.99913229e-01 -2.07589875e-04 3.98198253e+00] [ 1.56977998e-02 7.98581035e-07 9.99876782e-01 6.12863039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.45925415399995 meters Centerline goodness : 0.998691 Centerline is valid? [True, True] Translation: X:397.67, Y:3.98, Z:6.13 [[ 9.99740777e-01 -1.64924811e-02 -1.56963687e-02 3.97665736e+02] [ 1.64911865e-02 9.99863989e-01 -2.11916024e-04 3.98108277e+00] [ 1.56977289e-02 -4.69906543e-05 9.99876782e-01 6.12876887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.4892541539999 meters Centerline goodness : 0.998901 Centerline is valid? [True, True] Translation: X:397.69, Y:3.98, Z:6.13 [[ 9.99687261e-01 -1.94680652e-02 -1.56963505e-02 3.97693570e+02] [ 1.94671163e-02 9.99810475e-01 -2.13256041e-04 3.98054429e+00] [ 1.56975274e-02 -9.23733344e-05 9.99876782e-01 6.12960099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.51925415399995 meters Centerline goodness : 0.998969 Centerline is valid? [True, True] Translation: X:397.72, Y:3.98, Z:6.13 [[ 9.99615384e-01 -2.28628801e-02 -1.56962867e-02 3.97720995e+02] [ 2.28622775e-02 9.99738600e-01 -2.17852105e-04 3.97963896e+00] [ 1.56971645e-02 -1.41084548e-04 9.99876782e-01 6.12892578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.5492541539999 meters Centerline goodness : 0.999030 Centerline is valid? [True, True] Translation: X:397.75, Y:3.98, Z:6.13 [[ 9.99406941e-01 -3.06495406e-02 -1.56962567e-02 3.97750790e+02] [ 3.06498643e-02 9.99530158e-01 -2.19996464e-04 3.97662916e+00] [ 1.56956247e-02 -2.61222144e-04 9.99876782e-01 6.12843846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.57925415399995 meters Centerline goodness : 0.998695 Centerline is valid? [True, True] Translation: X:397.78, Y:3.98, Z:6.13 [[ 9.99273611e-01 -3.47257690e-02 -1.56962493e-02 3.97782495e+02] [ 3.47265870e-02 9.99396826e-01 -2.20522588e-04 3.97526434e+00] [ 1.56944395e-02 -3.24714763e-04 9.99876782e-01 6.12918863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.6092541539999 meters Centerline goodness : 0.998842 Centerline is valid? [True, True] Translation: X:397.81, Y:3.97, Z:6.13 [[ 9.99141781e-01 -3.83318391e-02 -1.56962573e-02 3.97814032e+02] [ 3.83331107e-02 9.99264992e-01 -2.19951308e-04 3.97378846e+00] [ 1.56931516e-02 -3.81923826e-04 9.99876782e-01 6.12791990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.63925415399996 meters Centerline goodness : 0.998822 Centerline is valid? [True, True] Translation: X:397.85, Y:3.97, Z:6.13 [[ 9.98997053e-01 -4.19346527e-02 -1.56962692e-02 3.97846469e+02] [ 4.19363820e-02 9.99120259e-01 -2.19097343e-04 3.97261256e+00] [ 1.56916483e-02 -4.39367142e-04 9.99876782e-01 6.12949517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.66925415399993 meters Centerline goodness : 0.996441 Centerline is valid? [True, True] Translation: X:397.88, Y:3.97, Z:6.13 [[ 9.98789185e-01 -4.66239357e-02 -1.56962854e-02 3.97875432e+02] [ 4.66262617e-02 9.98912381e-01 -2.17931854e-04 3.97075177e+00] [ 1.56893746e-02 -5.14191131e-04 9.99876782e-01 6.12710026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.69925415399996 meters Centerline goodness : 0.998969 Centerline is valid? [True, True] Translation: X:397.91, Y:3.97, Z:6.13 [[ 9.98682509e-01 -4.88560547e-02 -1.56949898e-02 3.97908711e+02] [ 4.88572077e-02 9.98805725e-01 -3.10191926e-04 3.97055566e+00] [ 1.56914004e-02 -4.57030124e-04 9.99876778e-01 6.12932276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.72925415399993 meters Centerline goodness : 0.998992 Centerline is valid? [True, True] Translation: X:397.94, Y:3.97, Z:6.13 [[ 9.98555601e-01 -5.13844796e-02 -1.56954543e-02 3.97942363e+02] [ 5.13864855e-02 9.98678804e-01 -2.75729498e-04 3.97052019e+00] [ 1.56888857e-02 -5.31202998e-04 9.99876781e-01 6.13103801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.75925415399996 meters Centerline goodness : 0.999033 Centerline is valid? [True, True] Translation: X:397.97, Y:3.97, Z:6.13 [[ 9.98480739e-01 -5.28189321e-02 -1.56963433e-02 3.97974156e+02] [ 5.28221632e-02 9.98603913e-01 -2.08950058e-04 3.97030857e+00] [ 1.56854663e-02 -6.20482198e-04 9.99876783e-01 6.13176955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.78925415399993 meters Centerline goodness : 0.998822 Centerline is valid? [True, True] Translation: X:398.01, Y:3.97, Z:6.13 [[ 9.98410203e-01 -5.41358644e-02 -1.56963585e-02 3.98005187e+02] [ 5.41392760e-02 9.98533372e-01 -2.07798756e-04 3.97026302e+00] [ 1.56845872e-02 -6.42321087e-04 9.99876783e-01 6.13182876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.81925415399996 meters Centerline goodness : 0.998820 Centerline is valid? [True, True] Translation: X:398.04, Y:3.97, Z:6.13 [[ 9.98327376e-01 -5.56423818e-02 -1.56963837e-02 3.98037094e+02] [ 5.56460094e-02 9.98450539e-01 -2.05879734e-04 3.96991635e+00] [ 1.56835184e-02 -6.67905739e-04 9.99876783e-01 6.13265149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.84925415399994 meters Centerline goodness : 0.999052 Centerline is valid? [True, True] Translation: X:398.07, Y:3.97, Z:6.13 [[ 9.98298641e-01 -5.61555623e-02 -1.56963989e-02 3.98068770e+02] [ 5.61592715e-02 9.98421802e-01 -2.04715513e-04 3.97038564e+00] [ 1.56831227e-02 -6.77131108e-04 9.99876783e-01 6.13347767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.87925415399997 meters Centerline goodness : 0.998797 Centerline is valid? [True, True] Translation: X:398.10, Y:3.97, Z:6.13 [[ 9.98296408e-01 -5.61952387e-02 -1.56964102e-02 3.98099618e+02] [ 5.61989665e-02 9.98419568e-01 -2.03841803e-04 3.97097965e+00] [ 1.56830580e-02 -6.78627492e-04 9.99876783e-01 6.13403704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.90925415399994 meters Centerline goodness : 0.998924 Centerline is valid? [True, True] Translation: X:398.13, Y:3.97, Z:6.14 [[ 9.98310509e-01 -5.59441639e-02 -1.56964214e-02 3.98132232e+02] [ 5.59478743e-02 9.98433670e-01 -2.02975087e-04 3.97177055e+00] [ 1.56831909e-02 -6.75549250e-04 9.99876783e-01 6.13503947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.93925415399997 meters Centerline goodness : 0.998776 Centerline is valid? [True, True] Translation: X:398.16, Y:3.97, Z:6.14 [[ 9.98320219e-01 -5.57706252e-02 -1.56964364e-02 3.98163391e+02] [ 5.57743325e-02 9.98443380e-01 -2.01811874e-04 3.97286900e+00] [ 1.56832582e-02 -6.73985387e-04 9.99876783e-01 6.13550698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.96925415399994 meters Centerline goodness : 0.998964 Centerline is valid? [True, True] Translation: X:398.20, Y:3.97, Z:6.14 [[ 9.98352441e-01 -5.51908003e-02 -1.56964475e-02 3.98195624e+02] [ 5.51944496e-02 9.98475604e-01 -2.00943562e-04 3.97409429e+00] [ 1.56836101e-02 -6.65744285e-04 9.99876783e-01 6.13564454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.99925415399997 meters Centerline goodness : 0.998882 Centerline is valid? [True, True] Translation: X:398.23, Y:3.97, Z:6.14 [[ 9.98361578e-01 -5.50252781e-02 -1.56964620e-02 3.98227393e+02] [ 5.50289250e-02 9.98484741e-01 -1.99800260e-04 3.97484669e+00] [ 1.56836719e-02 -6.64286530e-04 9.99876783e-01 6.13587427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.02925415399994 meters Centerline goodness : 0.998651 Centerline is valid? [True, True] Translation: X:398.26, Y:3.98, Z:6.14 [[ 9.98398476e-01 -5.43516602e-02 -1.56964766e-02 3.98259553e+02] [ 5.43552421e-02 9.98521641e-01 -1.98647831e-04 3.97519185e+00] [ 1.56840684e-02 -6.54856095e-04 9.99876783e-01 6.13510807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.059254154 meters Centerline goodness : 0.998884 Centerline is valid? [True, True] Translation: X:398.29, Y:3.98, Z:6.14 [[ 9.98390301e-01 -5.45016214e-02 -1.56964912e-02 3.98290703e+02] [ 5.45052399e-02 9.98513465e-01 -1.97492787e-04 3.97701658e+00] [ 1.56839215e-02 -6.58366133e-04 9.99876783e-01 6.13575803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.08925415399995 meters Centerline goodness : 0.998987 Centerline is valid? [True, True] Translation: X:398.32, Y:3.98, Z:6.14 [[ 9.98398694e-01 -5.43476472e-02 -1.56965019e-02 3.98323101e+02] [ 5.43512602e-02 9.98521858e-01 -1.96632117e-04 3.97801823e+00] [ 1.56839868e-02 -6.56807413e-04 9.99876783e-01 6.13630997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.119254154 meters Centerline goodness : 0.998905 Centerline is valid? [True, True] Translation: X:398.36, Y:3.98, Z:6.14 [[ 9.98423879e-01 -5.38829912e-02 -1.56965162e-02 3.98355296e+02] [ 5.38865649e-02 9.98547044e-01 -1.95484639e-04 3.97894582e+00] [ 1.56842432e-02 -6.50654809e-04 9.99876783e-01 6.13640432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.14925415399995 meters Centerline goodness : 0.998820 Centerline is valid? [True, True] Translation: X:398.39, Y:3.98, Z:6.14 [[ 9.98443295e-01 -5.35220087e-02 -1.56965303e-02 3.98386845e+02] [ 5.35255557e-02 9.98566461e-01 -1.94346568e-04 3.97998989e+00] [ 1.56844306e-02 -6.46121481e-04 9.99876783e-01 6.13633768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.179254154 meters Centerline goodness : 0.998987 Centerline is valid? [True, True] Translation: X:398.42, Y:3.98, Z:6.14 [[ 9.98541244e-01 -5.16623901e-02 -1.56965408e-02 3.98419438e+02] [ 5.16657211e-02 9.98664416e-01 -1.93498104e-04 3.98213878e+00] [ 1.56855733e-02 -6.17757260e-04 9.99876783e-01 6.13642476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.20925415399995 meters Centerline goodness : 0.999012 Centerline is valid? [True, True] Translation: X:398.45, Y:3.98, Z:6.14 [[ 9.98629402e-01 -4.99292977e-02 -1.56965549e-02 3.98450700e+02] [ 4.99324329e-02 9.98752580e-01 -1.92345669e-04 3.98364459e+00] [ 1.56865784e-02 -5.91685134e-04 9.99876783e-01 6.13618311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.2392541539999 meters Centerline goodness : 0.998988 Centerline is valid? [True, True] Translation: X:398.48, Y:3.99, Z:6.14 [[ 9.98719493e-01 -4.80935690e-02 -1.56965654e-02 3.98482998e+02] [ 4.80964913e-02 9.98842676e-01 -1.91486929e-04 3.98558605e+00] [ 1.56876087e-02 -5.63707991e-04 9.99876783e-01 6.13719073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.26925415399995 meters Centerline goodness : 0.998795 Centerline is valid? [True, True] Translation: X:398.52, Y:3.99, Z:6.14 [[ 9.98823096e-01 -4.58916135e-02 -1.56965794e-02 3.98515218e+02] [ 4.58942824e-02 9.98946284e-01 -1.90329754e-04 3.98755464e+00] [ 1.56887742e-02 -5.30277495e-04 9.99876783e-01 6.13786365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.2992541539999 meters Centerline goodness : 0.998837 Centerline is valid? [True, True] Translation: X:398.55, Y:3.99, Z:6.14 [[ 9.99052519e-01 -4.05916456e-02 -1.56965934e-02 3.98545970e+02] [ 4.05936791e-02 9.99175719e-01 -1.89170816e-04 3.99162573e+00] [ 1.56913337e-02 -4.48190895e-04 9.99876783e-01 6.13877792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.32925415399995 meters Centerline goodness : 0.999154 Centerline is valid? [True, True] Translation: X:398.58, Y:3.99, Z:6.14 [[ 9.99181729e-01 -3.72758632e-02 -1.56966037e-02 3.98577380e+02] [ 3.72775014e-02 9.99304935e-01 -1.88307731e-04 3.99402502e+00] [ 1.56927129e-02 -3.96976523e-04 9.99876783e-01 6.13999581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.3592541539999 meters Centerline goodness : 0.998943 Centerline is valid? [True, True] Translation: X:398.61, Y:4.00, Z:6.14 [[ 9.99296786e-01 -3.40521717e-02 -1.56966254e-02 3.98608071e+02] [ 3.40534411e-02 9.99419996e-01 -1.86481051e-04 3.99627718e+00] [ 1.56938714e-02 -3.48174195e-04 9.99876783e-01 6.14024999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.38925415399996 meters Centerline goodness : 0.999048 Centerline is valid? [True, True] Translation: X:398.64, Y:4.00, Z:6.14 [[ 9.99403970e-01 -3.07460789e-02 -1.56966353e-02 3.98640567e+02] [ 3.07469538e-02 9.99527183e-01 -1.85644450e-04 3.99832077e+00] [ 1.56949215e-02 -2.97089921e-04 9.99876783e-01 6.14224988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.41925415399993 meters Centerline goodness : 0.999048 Centerline is valid? [True, True] Translation: X:398.67, Y:4.00, Z:6.14 [[ 9.99405097e-01 -3.07093889e-02 -1.56966489e-02 3.98672407e+02] [ 3.07102774e-02 9.99528311e-01 -1.84486769e-04 3.99866525e+00] [ 1.56949105e-02 -2.97671426e-04 9.99876783e-01 6.14274944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.44925415399996 meters Centerline goodness : 0.998854 Centerline is valid? [True, True] Translation: X:398.70, Y:4.00, Z:6.14 [[ 9.99578680e-01 -2.44146814e-02 -1.56966557e-02 3.98703276e+02] [ 2.44148030e-02 9.99701897e-01 -1.83910730e-04 4.00226785e+00] [ 1.56964666e-02 -1.99397512e-04 9.99876783e-01 6.14477385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.47925415399993 meters Centerline goodness : 0.998853 Centerline is valid? [True, True] Translation: X:398.73, Y:4.00, Z:6.15 [[ 9.99648787e-01 -2.13522249e-02 -1.56966625e-02 3.98733298e+02] [ 2.13519781e-02 9.99772004e-01 -1.83329804e-04 4.00415119e+00] [ 1.56969982e-02 -1.51889377e-04 9.99876783e-01 6.14561145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.50925415399996 meters Centerline goodness : 0.998957 Centerline is valid? [True, True] Translation: X:398.76, Y:4.01, Z:6.15 [[ 9.99697566e-01 -1.89312443e-02 -1.56966625e-02 3.98762821e+02] [ 1.89306991e-02 9.99820781e-01 -1.83329804e-04 4.00603981e+00] [ 1.56973200e-02 -1.13874435e-04 9.99876783e-01 6.14664739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.53925415399993 meters Centerline goodness : 0.998808 Centerline is valid? [True, True] Translation: X:398.79, Y:4.01, Z:6.15 [[ 9.99731087e-01 -1.70695369e-02 -1.56966556e-02 3.98791846e+02] [ 1.70687530e-02 9.99854301e-01 -1.83914055e-04 4.00770022e+00] [ 1.56975080e-02 -8.40577399e-05 9.99876783e-01 6.14666873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.56925415399996 meters Centerline goodness : 0.998723 Centerline is valid? [True, True] Translation: X:398.82, Y:4.01, Z:6.15 [[ 9.99769575e-01 -1.46428482e-02 -1.56966454e-02 3.98820581e+02] [ 1.46417516e-02 9.99892787e-01 -1.84783383e-04 4.00940682e+00] [ 1.56976683e-02 -4.50855788e-05 9.99876783e-01 6.14687431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.59925415399994 meters Centerline goodness : 0.998934 Centerline is valid? [True, True] Translation: X:398.85, Y:4.01, Z:6.15 [[ 9.99778056e-01 -1.40518878e-02 -1.56965965e-02 3.98848085e+02] [ 1.40506546e-02 9.99901267e-01 -1.88844380e-04 4.01019517e+00] [ 1.56977004e-02 -3.17449890e-05 9.99876783e-01 6.14663824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.62925415399997 meters Centerline goodness : 0.998678 Centerline is valid? [True, True] Translation: X:398.88, Y:4.01, Z:6.15 [[ 9.99775028e-01 -1.42657953e-02 -1.56965389e-02 3.98875520e+02] [ 1.42645151e-02 9.99898238e-01 -1.93517721e-04 4.01107198e+00] [ 1.56977023e-02 -3.04293322e-05 9.99876783e-01 6.14736408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.65925415399994 meters Centerline goodness : 0.999168 Centerline is valid? [True, True] Translation: X:398.90, Y:4.01, Z:6.15 [[ 9.99770857e-01 -1.45551963e-02 -1.56965137e-02 3.98902988e+02] [ 1.45539200e-02 9.99894067e-01 -1.95540582e-04 4.01159926e+00] [ 1.56976971e-02 -3.29500301e-05 9.99876783e-01 6.14783982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.68925415399997 meters Centerline goodness : 0.998932 Centerline is valid? [True, True] Translation: X:398.93, Y:4.01, Z:6.15 [[ 9.99758475e-01 -1.53822252e-02 -1.56964541e-02 3.98929543e+02] [ 1.53809774e-02 9.99881686e-01 -2.00217552e-04 4.01224742e+00] [ 1.56976767e-02 -4.12576111e-05 9.99876783e-01 6.14805381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.71925415399994 meters Centerline goodness : 0.998761 Centerline is valid? [True, True] Translation: X:398.96, Y:4.01, Z:6.15 [[ 9.99745126e-01 -1.62267092e-02 -1.56964280e-02 3.98957572e+02] [ 1.62255337e-02 9.99868337e-01 -2.02243251e-04 4.01297043e+00] [ 1.56976431e-02 -5.24912161e-05 9.99876783e-01 6.14860151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.74925415399997 meters Centerline goodness : 0.998634 Centerline is valid? [True, True] Translation: X:398.99, Y:4.01, Z:6.15 [[ 9.99729701e-01 -1.71507858e-02 -1.56963679e-02 3.98985737e+02] [ 1.71496526e-02 9.99852913e-01 -2.06804585e-04 4.01365645e+00] [ 1.56976060e-02 -6.24385695e-05 9.99876783e-01 6.14923313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.77925415399994 meters Centerline goodness : 0.998912 Centerline is valid? [True, True] Translation: X:399.01, Y:4.01, Z:6.15 [[ 9.99714667e-01 -1.80058452e-02 -1.56963057e-02 3.99014481e+02] [ 1.80047450e-02 9.99837879e-01 -2.11417097e-04 4.01408552e+00] [ 1.56975678e-02 -7.12512091e-05 9.99876783e-01 6.14976972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.809254154 meters Centerline goodness : 0.998976 Centerline is valid? [True, True] Translation: X:399.04, Y:4.01, Z:6.15 [[ 9.99676805e-01 -1.99978217e-02 -1.56962505e-02 3.99043270e+02] [ 1.99969038e-02 9.99800019e-01 -2.15441098e-04 4.01387516e+00] [ 1.56974199e-02 -9.85049433e-05 9.99876783e-01 6.14979133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.83925415399995 meters Centerline goodness : 0.998978 Centerline is valid? [True, True] Translation: X:399.07, Y:4.01, Z:6.15 [[ 9.99661284e-01 -2.07592674e-02 -1.56961937e-02 3.99071453e+02] [ 2.07583795e-02 9.99784498e-01 -2.19503926e-04 4.01352432e+00] [ 1.56973679e-02 -1.06397969e-04 9.99876783e-01 6.14904742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.869254154 meters Centerline goodness : 0.998764 Centerline is valid? [True, True] Translation: X:399.10, Y:4.01, Z:6.15 [[ 9.99629157e-01 -2.22526057e-02 -1.56961816e-02 3.99101576e+02] [ 2.22518884e-02 9.99752372e-01 -2.20366397e-04 4.01388441e+00] [ 1.56971985e-02 -1.28985005e-04 9.99876783e-01 6.15056432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.89925415399995 meters Centerline goodness : 0.998892 Centerline is valid? [True, True] Translation: X:399.13, Y:4.01, Z:6.15 [[ 9.99610172e-01 -2.30897147e-02 -1.56961734e-02 3.99131458e+02] [ 2.30890914e-02 9.99733387e-01 -2.20944873e-04 4.01372099e+00] [ 1.56970902e-02 -1.41551641e-04 9.99876783e-01 6.15121423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.929254154 meters Centerline goodness : 0.998762 Centerline is valid? [True, True] Translation: X:399.16, Y:4.01, Z:6.15 [[ 9.99592460e-01 -2.38441826e-02 -1.56961653e-02 3.99160794e+02] [ 2.38436433e-02 9.99715675e-01 -2.21523348e-04 4.01328132e+00] [ 1.56969845e-02 -1.52820697e-04 9.99876783e-01 6.15172646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.95925415399995 meters Centerline goodness : 0.998913 Centerline is valid? [True, True] Translation: X:399.19, Y:4.01, Z:6.15 [[ 9.99596153e-01 -2.36888388e-02 -1.56961571e-02 3.99191111e+02] [ 2.36882713e-02 9.99719369e-01 -2.22102076e-04 4.01338742e+00] [ 1.56970136e-02 -1.49802446e-04 9.99876783e-01 6.15240756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.9892541539999 meters Centerline goodness : 0.998871 Centerline is valid? [True, True] Translation: X:399.22, Y:4.01, Z:6.15 [[ 9.99605445e-01 -2.32934734e-02 -1.56961571e-02 3.99221462e+02] [ 2.32928571e-02 9.99728660e-01 -2.22102076e-04 4.01336927e+00] [ 1.56970716e-02 -1.43593900e-04 9.99876783e-01 6.15265914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.01925415399995 meters Centerline goodness : 0.998935 Centerline is valid? [True, True] Translation: X:399.25, Y:4.01, Z:6.15 [[ 9.99620397e-01 -2.26427268e-02 -1.56961571e-02 3.99251355e+02] [ 2.26420303e-02 9.99743612e-01 -2.22102076e-04 4.01305227e+00] [ 1.56971618e-02 -1.33375100e-04 9.99876783e-01 6.15299768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.0492541539999 meters Centerline goodness : 0.998745 Centerline is valid? [True, True] Translation: X:399.28, Y:4.01, Z:6.15 [[ 9.99630924e-01 -2.21730912e-02 -1.56961490e-02 3.99280591e+02] [ 2.21723278e-02 9.99754139e-01 -2.22674050e-04 4.01273943e+00] [ 1.56972273e-02 -1.25428294e-04 9.99876783e-01 6.15318947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.07925415399995 meters Centerline goodness : 0.998896 Centerline is valid? [True, True] Translation: X:399.31, Y:4.01, Z:6.15 [[ 9.99660841e-01 -2.07806001e-02 -1.56961408e-02 3.99310470e+02] [ 2.07796561e-02 9.99784055e-01 -2.23247680e-04 4.01115459e+00] [ 1.56973905e-02 -1.02988445e-04 9.99876783e-01 6.15355576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.1092541539999 meters Centerline goodness : 0.999023 Centerline is valid? [True, True] Translation: X:399.34, Y:4.01, Z:6.15 [[ 9.99672791e-01 -2.01976030e-02 -1.56961367e-02 3.99339726e+02] [ 2.01965827e-02 9.99796003e-01 -2.23532655e-04 4.01052653e+00] [ 1.56974496e-02 -9.35488114e-05 9.99876783e-01 6.15404071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.13925415399996 meters Centerline goodness : 0.998832 Centerline is valid? [True, True] Translation: X:399.37, Y:4.01, Z:6.15 [[ 9.99690391e-01 -1.93068453e-02 -1.56961285e-02 3.99368331e+02] [ 1.93057061e-02 9.99813602e-01 -2.24109505e-04 4.00962575e+00] [ 1.56975296e-02 -7.89847260e-05 9.99876783e-01 6.15447166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.16925415399993 meters Centerline goodness : 0.999067 Centerline is valid? [True, True] Translation: X:399.40, Y:4.01, Z:6.15 [[ 9.99737103e-01 -1.67140143e-02 -1.56960696e-02 3.99396601e+02] [ 1.67124920e-02 9.99860311e-01 -2.28163695e-04 4.00754077e+00] [ 1.56976905e-02 -3.42167254e-05 9.99876783e-01 6.15472992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.19925415399996 meters Centerline goodness : 0.999004 Centerline is valid? [True, True] Translation: X:399.42, Y:4.01, Z:6.16 [[ 9.99756089e-01 -1.55369355e-02 -1.56960570e-02 3.99424782e+02] [ 1.55352545e-02 9.99879294e-01 -2.29023751e-04 4.00711791e+00] [ 1.56977208e-02 -1.48743510e-05 9.99876783e-01 6.15539928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.22925415399993 meters Centerline goodness : 0.999365 Centerline is valid? [True, True] Translation: X:399.45, Y:4.01, Z:6.16 [[ 9.99777904e-01 -1.40633439e-02 -1.56959891e-02 3.99452818e+02] [ 1.40614097e-02 9.99901106e-01 -2.33591312e-04 4.00646758e+00] [ 1.56977219e-02 1.28317003e-05 9.99876783e-01 6.15536543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.25925415399996 meters Centerline goodness : 0.999152 Centerline is valid? [True, True] Translation: X:399.48, Y:4.01, Z:6.16 [[ 9.99790602e-01 -1.31297569e-02 -1.56959185e-02 3.99480159e+02] [ 1.31276346e-02 9.99913801e-01 -2.38238047e-04 4.00627186e+00] [ 1.56976936e-02 3.21378773e-05 9.99876783e-01 6.15656932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.28925415399993 meters Centerline goodness : 0.999006 Centerline is valid? [True, True] Translation: X:399.51, Y:4.00, Z:6.16 [[ 9.99822545e-01 -1.04171553e-02 -1.56958877e-02 3.99508315e+02] [ 1.04146672e-02 9.99945737e-01 -2.40248644e-04 4.00431704e+00] [ 1.56975388e-02 7.67385638e-05 9.99876783e-01 6.15609529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.31925415399996 meters Centerline goodness : 0.999132 Centerline is valid? [True, True] Translation: X:399.54, Y:4.00, Z:6.16 [[ 9.99829262e-01 -9.75132120e-03 -1.56958169e-02 3.99536414e+02] [ 9.74867983e-03 9.99952451e-01 -2.44789762e-04 4.00364217e+00] [ 1.56974576e-02 9.17344734e-05 9.99876783e-01 6.15656254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.34925415399994 meters Centerline goodness : 0.999049 Centerline is valid? [True, True] Translation: X:399.56, Y:4.00, Z:6.16 [[ 9.99836240e-01 -9.00760313e-03 -1.56957446e-02 3.99563276e+02] [ 9.00479862e-03 9.99959425e-01 -2.49344595e-04 4.00259474e+00] [ 1.56973537e-02 1.07966744e-04 9.99876783e-01 6.15663088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.37925415399997 meters Centerline goodness : 0.999134 Centerline is valid? [True, True] Translation: X:399.59, Y:4.00, Z:6.16 [[ 9.99837437e-01 -8.87381398e-03 -1.56956942e-02 3.99591218e+02] [ 8.87094386e-03 9.99960621e-01 -2.52474802e-04 4.00166049e+00] [ 1.56973165e-02 1.13198136e-04 9.99876783e-01 6.15759694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.40925415399994 meters Centerline goodness : 0.999133 Centerline is valid? [True, True] Translation: X:399.62, Y:4.00, Z:6.16 [[ 9.99838815e-01 -8.71736864e-03 -1.56956202e-02 3.99619367e+02] [ 8.71440828e-03 9.99961996e-01 -2.56994843e-04 3.99893247e+00] [ 1.56972640e-02 1.20175376e-04 9.99876783e-01 6.15862998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.43925415399997 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:399.65, Y:4.00, Z:6.16 [[ 9.99834036e-01 -9.24924326e-03 -1.56955972e-02 3.99647601e+02] [ 9.24632646e-03 9.99957218e-01 -2.58394334e-04 3.99762601e+00] [ 1.56973156e-02 1.13224835e-04 9.99876783e-01 6.15953057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.46925415399994 meters Centerline goodness : 0.999199 Centerline is valid? [True, True] Translation: X:399.67, Y:4.00, Z:6.16 [[ 9.99830394e-01 -9.63498758e-03 -1.56955213e-02 3.99674477e+02] [ 9.63204718e-03 9.99953576e-01 -2.62925666e-04 3.99599228e+00] [ 1.56973259e-02 1.11701071e-04 9.99876783e-01 6.16018969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.49925415399997 meters Centerline goodness : 0.997217 Centerline is valid? [True, True] Translation: X:399.70, Y:3.99, Z:6.16 [[ 9.99835629e-01 -9.07555723e-03 -1.56954881e-02 3.99701694e+02] [ 9.07251710e-03 9.99958809e-01 -2.64887887e-04 3.99147866e+00] [ 1.56972456e-02 1.22446763e-04 9.99876783e-01 6.15810105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.52925415399994 meters Centerline goodness : 0.999095 Centerline is valid? [True, True] Translation: X:399.73, Y:3.99, Z:6.16 [[ 9.99839891e-01 -8.59528102e-03 -1.56943565e-02 3.99729931e+02] [ 8.59115067e-03 9.99963041e-01 -3.30576937e-04 3.98995479e+00] [ 1.56966179e-02 1.95691427e-04 9.99876781e-01 6.16110749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.559254154 meters Centerline goodness : 0.999030 Centerline is valid? [True, True] Translation: X:399.76, Y:3.99, Z:6.16 [[ 9.99823493e-01 -1.03284855e-02 -1.56940963e-02 3.99759599e+02] [ 1.03243252e-02 9.99946643e-01 -3.46088272e-04 3.98817528e+00] [ 1.56968335e-02 1.83996232e-04 9.99876780e-01 6.16081280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.58925415399995 meters Centerline goodness : 0.999243 Centerline is valid? [True, True] Translation: X:399.79, Y:3.99, Z:6.16 [[ 9.99824128e-01 -1.02647894e-02 -1.56954670e-02 3.99787520e+02] [ 1.02618962e-02 9.99947310e-01 -2.64861863e-04 3.98622039e+00] [ 1.56973588e-02 1.03750027e-04 9.99876783e-01 6.16102028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.619254154 meters Centerline goodness : 0.998971 Centerline is valid? [True, True] Translation: X:399.82, Y:3.98, Z:6.16 [[ 9.99825813e-01 -1.00998112e-02 -1.56951619e-02 3.99816907e+02] [ 1.00966170e-02 9.99948988e-01 -2.82740065e-04 3.98090444e+00] [ 1.56972169e-02 1.24222777e-04 9.99876783e-01 6.16053768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.64925415399995 meters Centerline goodness : 0.999328 Centerline is valid? [True, True] Translation: X:399.85, Y:3.98, Z:6.16 [[ 9.99823147e-01 -1.03600083e-02 -1.56953746e-02 3.99845177e+02] [ 1.03570399e-02 9.99946328e-01 -2.70398363e-04 3.97851587e+00] [ 1.56973335e-02 1.07792921e-04 9.99876783e-01 6.16111150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.679254154 meters Centerline goodness : 0.999329 Centerline is valid? [True, True] Translation: X:399.87, Y:3.98, Z:6.16 [[ 9.99819382e-01 -1.07172968e-02 -1.56952924e-02 3.99871923e+02] [ 1.07142989e-02 9.99942562e-01 -2.75084655e-04 3.97611087e+00] [ 1.56973391e-02 1.06870916e-04 9.99876783e-01 6.16144835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.70925415399995 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:399.90, Y:3.97, Z:6.16 [[ 9.99815939e-01 -1.10339084e-02 -1.56952566e-02 3.99899421e+02] [ 1.10309176e-02 9.99939119e-01 -2.77114155e-04 3.97368074e+00] [ 1.56973587e-02 1.03930067e-04 9.99876783e-01 6.16235290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.7392541539999 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:399.93, Y:3.97, Z:6.16 [[ 9.99805851e-01 -1.19130098e-02 -1.56952204e-02 3.99926718e+02] [ 1.19100955e-02 9.99929033e-01 -2.79147406e-04 3.96814416e+00] [ 1.56974321e-02 9.21616358e-05 9.99876783e-01 6.16258402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.76925415399995 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:399.95, Y:3.97, Z:6.16 [[ 9.99793445e-01 -1.29123596e-02 -1.56951843e-02 3.99954320e+02] [ 1.29095367e-02 9.99916629e-01 -2.81165505e-04 3.96559002e+00] [ 1.56975063e-02 7.84898723e-05 9.99876783e-01 6.16315709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.7992541539999 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] Translation: X:399.98, Y:3.96, Z:6.16 [[ 9.99772213e-01 -1.44632517e-02 -1.56950995e-02 3.99981102e+02] [ 1.44605468e-02 9.99895400e-01 -2.85819782e-04 3.96000729e+00] [ 1.56975917e-02 5.87949548e-05 9.99876783e-01 6.16291953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.82925415399995 meters Centerline goodness : 0.999058 Centerline is valid? [True, True] Translation: X:400.01, Y:3.96, Z:6.16 [[ 9.99759559e-01 -1.53130254e-02 -1.56950626e-02 4.00008971e+02] [ 1.53103936e-02 9.99882748e-01 -2.87834167e-04 3.95758096e+00] [ 1.56976299e-02 4.74673744e-05 9.99876783e-01 6.16297514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.8592541539999 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:400.04, Y:3.96, Z:6.16 [[ 9.99747223e-01 -1.60983729e-02 -1.56949757e-02 4.00035603e+02] [ 1.60957647e-02 9.99870412e-01 -2.92495006e-04 3.95526343e+00] [ 1.56976505e-02 3.97984340e-05 9.99876784e-01 6.16308312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.88925415399996 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:400.06, Y:3.95, Z:6.16 [[ 9.99740131e-01 -1.65329792e-02 -1.56949153e-02 4.00062744e+02] [ 1.65303742e-02 9.99863320e-01 -2.95701734e-04 3.95288198e+00] [ 1.56976590e-02 3.61820675e-05 9.99876784e-01 6.16363977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.91925415399993 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:400.09, Y:3.95, Z:6.16 [[ 9.99725046e-01 -1.74213399e-02 -1.56948779e-02 4.00090998e+02] [ 1.74188134e-02 9.99848237e-01 -2.97671943e-04 3.94762255e+00] [ 1.56976819e-02 2.42039467e-05 9.99876784e-01 6.16408537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.94925415399996 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:400.12, Y:3.95, Z:6.16 [[ 9.99714994e-01 -1.79890089e-02 -1.56947888e-02 4.00118827e+02] [ 1.79864797e-02 9.99838185e-01 -3.02299918e-04 3.94567207e+00] [ 1.56976872e-02 1.99197614e-05 9.99876784e-01 6.16492883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.97925415399993 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:400.15, Y:3.94, Z:6.17 [[ 9.99707214e-01 -1.84163492e-02 -1.56946989e-02 4.00146736e+02] [ 1.84138005e-02 9.99830405e-01 -3.06899053e-04 3.94379236e+00] [ 1.56976891e-02 1.78101441e-05 9.99876784e-01 6.16572900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.00925415399996 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:400.17, Y:3.94, Z:6.17 [[ 9.99705655e-01 -1.85008647e-02 -1.56946069e-02 4.00174270e+02] [ 1.84982537e-02 9.99828844e-01 -3.11530559e-04 3.94177129e+00] [ 1.56976843e-02 2.11160418e-05 9.99876784e-01 6.16605197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.03925415399993 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:400.20, Y:3.94, Z:6.17 [[ 9.99708449e-01 -1.83493597e-02 -1.56945139e-02 4.00202616e+02] [ 1.83466576e-02 9.99831636e-01 -3.16146647e-04 3.93987245e+00] [ 1.56976726e-02 2.81126009e-05 9.99876784e-01 6.16705310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.06925415399996 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:400.23, Y:3.94, Z:6.17 [[ 9.99716439e-01 -1.79088463e-02 -1.56944196e-02 4.00230094e+02] [ 1.79060174e-02 9.99839623e-01 -3.20763895e-04 3.93776437e+00] [ 1.56976471e-02 3.96483892e-05 9.99876784e-01 6.16674944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.09925415399994 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:400.26, Y:3.93, Z:6.17 [[ 9.99744478e-01 -1.62685926e-02 -1.56943243e-02 4.00256663e+02] [ 1.62654894e-02 9.99867655e-01 -3.25359385e-04 3.93349824e+00] [ 1.56975404e-02 7.00003823e-05 9.99876784e-01 6.16837271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.12925415399997 meters Centerline goodness : 0.999456 Centerline is valid? [True, True] Translation: X:400.28, Y:3.93, Z:6.17 [[ 9.99754272e-01 -1.56552017e-02 -1.56942828e-02 4.00284434e+02] [ 1.56519918e-02 9.99877447e-01 -3.27348391e-04 3.93163563e+00] [ 1.56974841e-02 8.16211664e-05 9.99876784e-01 6.16875128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.15925415399994 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:400.31, Y:3.93, Z:6.17 [[ 9.99759555e-01 -1.53142219e-02 -1.56941865e-02 4.00311986e+02] [ 1.53108984e-02 9.99882726e-01 -3.31901616e-04 3.92952635e+00] [ 1.56974288e-02 9.15297159e-05 9.99876784e-01 6.16892425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.18925415399997 meters Centerline goodness : 0.999498 Centerline is valid? [True, True] Translation: X:400.34, Y:3.93, Z:6.17 [[ 9.99768473e-01 -1.47205998e-02 -1.56940889e-02 4.00339537e+02] [ 1.47171317e-02 9.99891641e-01 -3.36453657e-04 3.92754779e+00] [ 1.56973411e-02 1.05403785e-04 9.99876784e-01 6.16934184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.21925415399994 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:400.37, Y:3.92, Z:6.17 [[ 9.99761303e-01 -1.52002670e-02 -1.56935998e-02 4.00368089e+02] [ 1.51965025e-02 9.99884462e-01 -3.59104059e-04 3.92161400e+00] [ 1.56972451e-02 1.20530513e-04 9.99876783e-01 6.16731290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.24925415399997 meters Centerline goodness : 0.999645 Centerline is valid? [True, True] Translation: X:400.40, Y:3.92, Z:6.17 [[ 9.99735483e-01 -1.68125774e-02 -1.56939752e-02 4.00396256e+02] [ 1.68092820e-02 9.99858656e-01 -3.41872019e-04 3.91996677e+00] [ 1.56975047e-02 7.79771330e-05 9.99876784e-01 6.16953268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.27925415399994 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:400.42, Y:3.92, Z:6.17 [[ 9.99702291e-01 -1.86824025e-02 -1.56938741e-02 4.00424254e+02] [ 1.86792657e-02 9.99825467e-01 -3.46449352e-04 3.91785471e+00] [ 1.56976075e-02 5.31961660e-05 9.99876784e-01 6.16949066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.309254154 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:400.45, Y:3.92, Z:6.17 [[ 9.99696785e-01 -1.89748289e-02 -1.56937715e-02 4.00452668e+02] [ 1.89716561e-02 9.99819960e-01 -3.51037091e-04 3.91855702e+00] [ 1.56976069e-02 5.31938154e-05 9.99876784e-01 6.16993778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.33925415399995 meters Centerline goodness : 0.999583 Centerline is valid? [True, True] Translation: X:400.48, Y:3.91, Z:6.17 [[ 9.99597488e-01 -2.36341072e-02 -1.56936675e-02 4.00480967e+02] [ 2.36314365e-02 9.99720675e-01 -3.55627148e-04 3.91346779e+00] [ 1.56976888e-02 -1.53799034e-05 9.99876784e-01 6.16945022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.369254154 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:400.51, Y:3.91, Z:6.17 [[ 9.99522445e-01 -2.66193928e-02 -1.56936352e-02 4.00509340e+02] [ 2.66170677e-02 9.99645639e-01 -3.57046540e-04 3.91133626e+00] [ 1.56975784e-02 -6.08425211e-05 9.99876784e-01 6.17033032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.39925415399995 meters Centerline goodness : 0.999604 Centerline is valid? [True, True] Translation: X:400.54, Y:3.91, Z:6.17 [[ 9.99439749e-01 -2.95618114e-02 -1.56935284e-02 4.00536240e+02] [ 2.95597762e-02 9.99562949e-01 -3.61681865e-04 3.90882277e+00] [ 1.56973615e-02 -1.02417954e-04 9.99876784e-01 6.16998233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.429254154 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:400.56, Y:3.91, Z:6.17 [[ 9.99343324e-01 -3.26594067e-02 -1.56934543e-02 4.00564546e+02] [ 3.26577033e-02 9.99466528e-01 -3.64867801e-04 3.90660453e+00] [ 1.56969987e-02 -1.47883974e-04 9.99876784e-01 6.17101707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.45925415399995 meters Centerline goodness : 0.999520 Centerline is valid? [True, True] Translation: X:400.59, Y:3.90, Z:6.17 [[ 9.99187551e-01 -3.71208408e-02 -1.56933466e-02 4.00592896e+02] [ 3.71196157e-02 9.99310761e-01 -3.69444981e-04 3.90116527e+00] [ 1.56962442e-02 -2.13386168e-04 9.99876784e-01 6.16973579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.4892541539999 meters Centerline goodness : 0.999750 Centerline is valid? [True, True] Translation: X:400.62, Y:3.90, Z:6.17 [[ 9.99110986e-01 -3.91274699e-02 -1.56932960e-02 4.00621924e+02] [ 3.91264587e-02 9.99234198e-01 -3.71579047e-04 3.90022322e+00] [ 1.56958170e-02 -2.42774391e-04 9.99876784e-01 6.17289066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.51925415399995 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:400.65, Y:3.90, Z:6.17 [[ 9.99058594e-01 -4.04431704e-02 -1.56932006e-02 4.00650945e+02] [ 4.04422588e-02 9.99181807e-01 -3.75567863e-04 3.89897184e+00] [ 1.56955496e-02 -2.59454178e-04 9.99876784e-01 6.17276687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.5492541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:400.68, Y:3.90, Z:6.17 [[ 9.99025038e-01 -4.12637533e-02 -1.56931802e-02 4.00680242e+02] [ 4.12629296e-02 9.99148252e-01 -3.76415124e-04 3.89769586e+00] [ 1.56953459e-02 -2.71498458e-04 9.99876784e-01 6.17485649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.57925415399995 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] Translation: X:400.71, Y:3.89, Z:6.17 [[ 9.99016840e-01 -4.14617670e-02 -1.56931663e-02 4.00708806e+02] [ 4.14609586e-02 9.99140054e-01 -3.76995881e-04 3.89354644e+00] [ 1.56953019e-02 -2.74028484e-04 9.99876784e-01 6.17313819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.6092541539999 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:400.74, Y:3.89, Z:6.17 [[ 9.99011621e-01 -4.15873374e-02 -1.56931455e-02 4.00737557e+02] [ 4.15865310e-02 9.99134835e-01 -3.77859766e-04 3.89247681e+00] [ 1.56952825e-02 -2.75137183e-04 9.99876784e-01 6.17358682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.63925415399996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:400.77, Y:3.89, Z:6.18 [[ 9.99014755e-01 -4.15119843e-02 -1.56931252e-02 4.00766907e+02] [ 4.15111554e-02 9.99137969e-01 -3.78700446e-04 3.89206685e+00] [ 1.56953178e-02 -2.73112425e-04 9.99876784e-01 6.17551913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.66925415399993 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:400.80, Y:3.89, Z:6.17 [[ 9.99061592e-01 -4.03690703e-02 -1.56931114e-02 4.00796107e+02] [ 4.03680914e-02 9.99184804e-01 -3.79269990e-04 3.88942782e+00] [ 1.56956293e-02 -2.54586878e-04 9.99876784e-01 6.17468770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.69925415399996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.82, Y:3.89, Z:6.18 [[ 9.99110217e-01 -3.91472097e-02 -1.56930140e-02 4.00824699e+02] [ 3.91460175e-02 9.99233427e-01 -3.83259676e-04 3.88950723e+00] [ 1.56959877e-02 -2.31400343e-04 9.99876784e-01 6.17621694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.72925415399993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.85, Y:3.89, Z:6.18 [[ 9.99168146e-01 -3.76396867e-02 -1.56929933e-02 4.00853711e+02] [ 3.76382952e-02 9.99291355e-01 -3.84106566e-04 3.88929007e+00] [ 1.56963302e-02 -2.06870468e-04 9.99876784e-01 6.17715556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.75925415399996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.88, Y:3.89, Z:6.18 [[ 9.99237548e-01 -3.57499183e-02 -1.56928947e-02 4.00881212e+02] [ 3.57482313e-02 9.99360752e-01 -3.88092524e-04 3.88909687e+00] [ 1.56967373e-02 -1.73196607e-04 9.99876784e-01 6.17745491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.78925415399993 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:400.91, Y:3.89, Z:6.18 [[ 9.99318784e-01 -3.34021250e-02 -1.56928597e-02 4.00909697e+02] [ 3.34001264e-02 9.99441984e-01 -3.89503302e-04 3.88833907e+00] [ 1.56971131e-02 -1.34905530e-04 9.99876784e-01 6.17690286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.81925415399996 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:400.94, Y:3.89, Z:6.18 [[ 9.99467722e-01 -2.86008782e-02 -1.56927525e-02 4.00937653e+02] [ 2.85982207e-02 9.99590910e-01 -3.93775072e-04 3.88686908e+00] [ 1.56975951e-02 -5.52193250e-05 9.99876784e-01 6.17725695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.84925415399994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.96, Y:3.89, Z:6.18 [[ 9.99522889e-01 -2.66033008e-02 -1.56926367e-02 4.00964243e+02] [ 2.66003255e-02 9.99646069e-01 -3.98335321e-04 3.88712338e+00] [ 1.56976797e-02 -1.92839736e-05 9.99876784e-01 6.17858673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.87925415399997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:400.99, Y:3.89, Z:6.18 [[ 9.99563823e-01 -2.50181319e-02 -1.56925567e-02 4.00992398e+02] [ 2.50149121e-02 9.99686998e-01 -4.01464902e-04 3.88670465e+00] [ 1.56976888e-02 8.74186691e-06 9.99876784e-01 6.17820258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.90925415399994 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:401.02, Y:3.89, Z:6.18 [[ 9.99601453e-01 -2.34666224e-02 -1.56924389e-02 4.01019529e+02] [ 2.34631400e-02 9.99724620e-01 -4.06016464e-04 3.88594268e+00] [ 1.56976454e-02 3.76607566e-05 9.99876784e-01 6.17683368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.93925415399997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.05, Y:3.88, Z:6.18 [[ 9.99611856e-01 -2.30192449e-02 -1.56923876e-02 4.01046973e+02] [ 2.30156764e-02 9.99735021e-01 -4.07989898e-04 3.88455195e+00] [ 1.56976211e-02 4.66606253e-05 9.99876784e-01 6.17784854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.96925415399994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.07, Y:3.88, Z:6.18 [[ 9.99583225e-01 -2.42306881e-02 -1.56923516e-02 4.01074702e+02] [ 2.42272471e-02 9.99706393e-01 -4.09371006e-04 3.88360168e+00] [ 1.56976635e-02 2.90179111e-05 9.99876784e-01 6.17787344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.99925415399997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.10, Y:3.88, Z:6.18 [[ 9.99533367e-01 -2.62069025e-02 -1.56922372e-02 4.01101983e+02] [ 2.62036369e-02 9.99656540e-01 -4.13711055e-04 3.88266122e+00] [ 1.56976896e-02 2.32432022e-06 9.99876784e-01 6.17761127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.02925415399994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.13, Y:3.88, Z:6.18 [[ 9.99378350e-01 -3.15700761e-02 -1.56921873e-02 4.01129039e+02] [ 3.15674419e-02 9.99501538e-01 -4.15593258e-04 3.87969660e+00] [ 1.56974857e-02 -8.00273067e-05 9.99876784e-01 6.17802011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.059254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.16, Y:3.88, Z:6.18 [[ 9.99246895e-01 -3.54880214e-02 -1.56921376e-02 4.01157290e+02] [ 3.54858409e-02 9.99370092e-01 -4.17460609e-04 3.87851269e+00] [ 1.56970679e-02 -1.39702481e-04 9.99876784e-01 6.17866015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.08925415399995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.19, Y:3.88, Z:6.18 [[ 9.99087740e-01 -3.97171126e-02 -1.56920244e-02 4.01185201e+02] [ 3.97153874e-02 9.99210944e-01 -4.21673666e-04 3.87716710e+00] [ 1.56963902e-02 -2.01925839e-04 9.99876784e-01 6.17990117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.119254154 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:401.21, Y:3.87, Z:6.18 [[ 9.98909068e-01 -4.39822520e-02 -1.56919018e-02 4.01213266e+02] [ 4.39809819e-02 9.99032278e-01 -4.26188704e-04 3.87450131e+00] [ 1.56954611e-02 -2.64421487e-04 9.99876784e-01 6.17793749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.14925415399995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:401.24, Y:3.87, Z:6.18 [[ 9.98451198e-01 -5.33757676e-02 -1.56917778e-02 4.01241199e+02] [ 5.33755855e-02 9.98574415e-01 -4.30706500e-04 3.87122671e+00] [ 1.56923971e-02 -4.07518405e-04 9.99876784e-01 6.17929744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.179254154 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:401.27, Y:3.87, Z:6.18 [[ 9.98210153e-01 -5.77084324e-02 -1.56916498e-02 4.01270278e+02] [ 5.77087126e-02 9.98333369e-01 -4.35319372e-04 3.86974433e+00] [ 1.56906192e-02 -4.71004693e-04 9.99876784e-01 6.17947204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.20925415399995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.30, Y:3.87, Z:6.18 [[ 9.97928821e-01 -6.23846207e-02 -1.56916260e-02 4.01299137e+02] [ 6.23854647e-02 9.98052035e-01 -4.36177530e-04 3.86929723e+00] [ 1.56882700e-02 -5.43655249e-04 9.99876784e-01 6.18162921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.2392541539999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:401.33, Y:3.87, Z:6.18 [[ 9.97637552e-01 -6.68811775e-02 -1.56915104e-02 4.01328341e+02] [ 6.68825120e-02 9.97760761e-01 -4.40297332e-04 3.86811361e+00] [ 1.56858209e-02 -6.10230478e-04 9.99876784e-01 6.18045918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.26925415399995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.36, Y:3.87, Z:6.18 [[ 9.97224282e-01 -7.27841079e-02 -1.56909349e-02 4.01357262e+02] [ 7.27858512e-02 9.97347486e-01 -4.60703989e-04 3.86648052e+00] [ 1.56828464e-02 -6.82652849e-04 9.99876784e-01 6.18369540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.2992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.39, Y:3.87, Z:6.18 [[ 9.97001765e-01 -7.57711073e-02 -1.56913958e-02 4.01387515e+02] [ 7.57734752e-02 9.97124959e-01 -4.44430995e-04 3.86652531e+00] [ 1.56799574e-02 -7.45893106e-04 9.99876784e-01 6.18456128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.32925415399995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.42, Y:3.87, Z:6.19 [[ 9.96820697e-01 -7.81170841e-02 -1.56913958e-02 4.01415950e+02] [ 7.81197418e-02 9.96943884e-01 -4.44430995e-04 3.86652483e+00] [ 1.56781588e-02 -7.82789776e-04 9.99876784e-01 6.18546032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.3592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.44, Y:3.87, Z:6.19 [[ 9.96526863e-01 -8.17801504e-02 -1.56913707e-02 4.01444350e+02] [ 8.17832469e-02 9.96650040e-01 -4.45318023e-04 3.86685650e+00] [ 1.56752234e-02 -8.39519868e-04 9.99876784e-01 6.18591057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.38925415399996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.47, Y:3.87, Z:6.19 [[ 9.96506227e-01 -8.20312202e-02 -1.56913458e-02 4.01474026e+02] [ 8.20343341e-02 9.96629404e-01 -4.46192463e-04 3.86764572e+00] [ 1.56750583e-02 -8.42595535e-04 9.99876784e-01 6.18646021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.41925415399993 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:401.50, Y:3.87, Z:6.19 [[ 9.96516392e-01 -8.19076428e-02 -1.56913295e-02 4.01503349e+02] [ 8.19107324e-02 9.96639570e-01 -4.46766105e-04 3.86886686e+00] [ 1.56751934e-02 -8.40078541e-04 9.99876784e-01 6.18619709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.44925415399996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.53, Y:3.87, Z:6.19 [[ 9.96564952e-01 -8.13146899e-02 -1.56913130e-02 4.01532897e+02] [ 8.13176971e-02 9.96688132e-01 -4.47344653e-04 3.87170821e+00] [ 1.56757211e-02 -8.30173432e-04 9.99876784e-01 6.18763110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.47925415399993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.56, Y:3.87, Z:6.19 [[ 9.96683535e-01 -7.98480647e-02 -1.56912965e-02 4.01562548e+02] [ 7.98508816e-02 9.96806720e-01 -4.47922387e-04 3.87400801e+00] [ 1.56769555e-02 -8.06526988e-04 9.99876784e-01 6.18825243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.50925415399996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.59, Y:3.88, Z:6.19 [[ 9.97002310e-01 -7.57639592e-02 -1.56912980e-02 4.01591919e+02] [ 7.57662722e-02 9.97125504e-01 -4.47869837e-04 3.87768517e+00] [ 1.56801258e-02 -7.42343891e-04 9.99876784e-01 6.18865487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.53925415399993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.62, Y:3.88, Z:6.19 [[ 9.97181678e-01 -7.33654196e-02 -1.56912899e-02 4.01621924e+02] [ 7.33674318e-02 9.97304878e-01 -4.48153394e-04 3.88023612e+00] [ 1.56818789e-02 -7.04339286e-04 9.99876784e-01 6.18920621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.56925415399996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.65, Y:3.88, Z:6.19 [[ 9.97329621e-01 -7.13260905e-02 -1.56912733e-02 4.01651317e+02] [ 7.13278416e-02 9.97452825e-01 -4.48734081e-04 3.88300700e+00] [ 1.56833113e-02 -6.71688863e-04 9.99876784e-01 6.18917658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.59925415399994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.68, Y:3.89, Z:6.19 [[ 9.97452885e-01 -6.95810839e-02 -1.56912650e-02 4.01681384e+02] [ 6.95826149e-02 9.97576091e-01 -4.49022009e-04 3.88584207e+00] [ 1.56844743e-02 -6.43960953e-04 9.99876784e-01 6.18922820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.62925415399997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.71, Y:3.89, Z:6.19 [[ 9.97556123e-01 -6.80849875e-02 -1.56912484e-02 4.01711238e+02] [ 6.80863246e-02 9.97679332e-01 -4.49603578e-04 3.88873502e+00] [ 1.56854454e-02 -6.19854627e-04 9.99876784e-01 6.18881202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.65925415399994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.74, Y:3.90, Z:6.19 [[ 9.97347106e-01 -7.10811884e-02 -1.56912401e-02 4.01736845e+02] [ 7.10828911e-02 9.97470310e-01 -4.49891910e-04 3.89914661e+00] [ 1.56835250e-02 -6.66680315e-04 9.99876784e-01 6.19127091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.68925415399997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.77, Y:3.90, Z:6.19 [[ 9.97427450e-01 -6.99461359e-02 -1.56850461e-02 4.01767096e+02] [ 6.99443202e-02 9.97550675e-01 -6.64980042e-04 3.90189064e+00] [ 1.56931411e-02 -4.33810541e-04 9.99876761e-01 6.19126363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.71925415399994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.80, Y:3.90, Z:6.19 [[ 9.97772556e-01 -6.48375420e-02 -1.56850211e-02 4.01800656e+02] [ 6.48350815e-02 9.97895771e-01 -6.65850656e-04 3.89916524e+00] [ 1.56951884e-02 -3.52572112e-04 9.99876761e-01 6.18906970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.74925415399997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.83, Y:3.90, Z:6.19 [[ 9.97818215e-01 -6.41295068e-02 -1.56912922e-02 4.01830583e+02] [ 6.41304358e-02 9.97941426e-01 -4.44479336e-04 3.90410386e+00] [ 1.56874947e-02 -5.62779828e-04 9.99876785e-01 6.18882844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.77925415399994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.86, Y:3.91, Z:6.19 [[ 9.97826850e-01 -6.39950058e-02 -1.56912759e-02 4.01860136e+02] [ 6.39959092e-02 9.97950062e-01 -4.45053838e-04 3.90718730e+00] [ 1.56875910e-02 -5.60090797e-04 9.99876785e-01 6.18887391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.809254154 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:401.89, Y:3.91, Z:6.19 [[ 9.97819415e-01 -6.41108280e-02 -1.56912678e-02 4.01890270e+02] [ 6.41117412e-02 9.97942627e-01 -4.45338695e-04 3.91025326e+00] [ 1.56875360e-02 -5.61626904e-04 9.99876785e-01 6.18964107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.83925415399995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:401.92, Y:3.91, Z:6.19 [[ 9.97798418e-01 -6.44368060e-02 -1.56912678e-02 4.01919962e+02] [ 6.44377595e-02 9.97921629e-01 -4.45338695e-04 3.91327017e+00] [ 1.56873517e-02 -5.66751895e-04 9.99876785e-01 6.19015770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.869254154 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:401.95, Y:3.92, Z:6.19 [[ 9.97709092e-01 -6.58054089e-02 -1.56912598e-02 4.01950488e+02] [ 6.58065270e-02 9.97832302e-01 -4.45619537e-04 3.91890683e+00] [ 1.56865701e-02 -5.87988649e-04 9.99876785e-01 6.19106708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.89925415399995 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:401.98, Y:3.92, Z:6.19 [[ 9.97665636e-01 -6.64609846e-02 -1.56912598e-02 4.01980462e+02] [ 6.64621837e-02 9.97788845e-01 -4.45619537e-04 3.92149881e+00] [ 1.56861803e-02 -5.98296094e-04 9.99876785e-01 6.19222316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.929254154 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:402.01, Y:3.92, Z:6.19 [[ 9.97624389e-01 -6.70772852e-02 -1.56912598e-02 4.02012062e+02] [ 6.70785604e-02 9.97747597e-01 -4.45619537e-04 3.92406190e+00] [ 1.56858077e-02 -6.07986201e-04 9.99876785e-01 6.19323184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.95925415399995 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:402.04, Y:3.93, Z:6.19 [[ 9.97595789e-01 -6.75013050e-02 -1.56912764e-02 4.02043333e+02] [ 6.75026417e-02 9.97718996e-01 -4.45035704e-04 3.92675608e+00] [ 1.56855250e-02 -6.15236864e-04 9.99876785e-01 6.19403103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.9892541539999 meters Centerline goodness : 0.999518 Centerline is valid? [True, True] Translation: X:402.07, Y:3.93, Z:6.19 [[ 9.97643323e-01 -6.67950831e-02 -1.56912930e-02 4.02073704e+02] [ 6.67963418e-02 9.97766531e-01 -4.44450009e-04 3.93163727e+00] [ 1.56859340e-02 -6.04718385e-04 9.99876785e-01 6.19447110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.01925415399995 meters Centerline goodness : 0.999539 Centerline is valid? [True, True] Translation: X:402.10, Y:3.94, Z:6.20 [[ 9.97673510e-01 -6.63426706e-02 -1.56913213e-02 4.02104265e+02] [ 6.63438891e-02 9.97796719e-01 -4.43446287e-04 3.93602634e+00] [ 1.56861684e-02 -5.98608670e-04 9.99876785e-01 6.19604155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.0492541539999 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:402.14, Y:3.94, Z:6.20 [[ 9.97781410e-01 -6.46996113e-02 -1.56913294e-02 4.02135889e+02] [ 6.47006315e-02 9.97904621e-01 -4.43159339e-04 3.93927093e+00] [ 1.56871224e-02 -5.73062773e-04 9.99876785e-01 6.19699039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.07925415399995 meters Centerline goodness : 0.999623 Centerline is valid? [True, True] Translation: X:402.17, Y:3.94, Z:6.20 [[ 9.97864121e-01 -6.34111783e-02 -1.56913456e-02 4.02167106e+02] [ 6.34120483e-02 9.97987333e-01 -4.42587993e-04 3.94270667e+00] [ 1.56878291e-02 -5.53377684e-04 9.99876785e-01 6.19762198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.1092541539999 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:402.20, Y:3.95, Z:6.20 [[ 9.97933595e-01 -6.23082744e-02 -1.56913616e-02 4.02197101e+02] [ 6.23090172e-02 9.98056808e-01 -4.42017195e-04 3.94594990e+00] [ 1.56884116e-02 -5.36609514e-04 9.99876785e-01 6.19792331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.13925415399996 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:402.23, Y:3.95, Z:6.20 [[ 9.98003616e-01 -6.11764871e-02 -1.56913696e-02 4.02228365e+02] [ 6.11770946e-02 9.98126830e-01 -4.41734200e-04 3.94882932e+00] [ 1.56890007e-02 -5.19100075e-04 9.99876785e-01 6.19854103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.16925415399993 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:402.26, Y:3.95, Z:6.20 [[ 9.98088566e-01 -5.97745413e-02 -1.56913856e-02 4.02258501e+02] [ 5.97749847e-02 9.98211779e-01 -4.41166556e-04 3.95314958e+00] [ 1.56896964e-02 -4.97629037e-04 9.99876785e-01 6.19751889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.19925415399996 meters Centerline goodness : 0.999708 Centerline is valid? [True, True] Translation: X:402.29, Y:3.96, Z:6.20 [[ 9.98108928e-01 -5.94335598e-02 -1.56913935e-02 4.02289327e+02] [ 5.94339655e-02 9.98232142e-01 -4.40884872e-04 3.95734421e+00] [ 1.56898567e-02 -4.92550612e-04 9.99876785e-01 6.19908631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.22925415399993 meters Centerline goodness : 0.999708 Centerline is valid? [True, True] Translation: X:402.32, Y:3.96, Z:6.20 [[ 9.98110998e-01 -5.93987898e-02 -1.56914088e-02 4.02321152e+02] [ 5.93991999e-02 9.98234212e-01 -4.40338147e-04 3.95820517e+00] [ 1.56898567e-02 -4.92550782e-04 9.99876785e-01 6.19958602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.25925415399996 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:402.35, Y:3.96, Z:6.20 [[ 9.98195762e-01 -5.79568809e-02 -1.56914241e-02 4.02353188e+02] [ 5.79571215e-02 9.98318976e-01 -4.39791591e-04 3.96122751e+00] [ 1.56905354e-02 -4.70431674e-04 9.99876785e-01 6.20287980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.28925415399993 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:402.38, Y:3.97, Z:6.20 [[ 9.98182834e-01 -5.81788721e-02 -1.56923358e-02 4.02383122e+02] [ 5.81796519e-02 9.98306046e-01 -4.07204772e-04 3.96621090e+00] [ 1.56894444e-02 -5.06509819e-04 9.99876785e-01 6.20075864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.31925415399996 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:402.41, Y:3.97, Z:6.20 [[ 9.98194161e-01 -5.79844311e-02 -1.56914568e-02 4.02414281e+02] [ 5.79846930e-02 9.98317376e-01 -4.38649085e-04 3.96891357e+00] [ 1.56904887e-02 -4.72007348e-04 9.99876785e-01 6.20143479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.34925415399994 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:402.44, Y:3.97, Z:6.20 [[ 9.98231860e-01 -5.73317611e-02 -1.56914729e-02 4.02444557e+02] [ 5.73319516e-02 9.98355075e-01 -4.38070180e-04 3.97147830e+00] [ 1.56907770e-02 -4.62327155e-04 9.99876785e-01 6.19977295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.37925415399997 meters Centerline goodness : 0.999645 Centerline is valid? [True, True] Translation: X:402.48, Y:3.97, Z:6.20 [[ 9.98264474e-01 -5.67610614e-02 -1.56914809e-02 4.02475929e+02] [ 5.67611859e-02 9.98387688e-01 -4.37782827e-04 3.97412141e+00] [ 1.56910304e-02 -4.53644023e-04 9.99876785e-01 6.20170459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.40925415399994 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] Translation: X:402.51, Y:3.98, Z:6.20 [[ 9.98373899e-01 -5.48026976e-02 -1.56914966e-02 4.02506001e+02] [ 5.48025893e-02 9.98497113e-01 -4.37220380e-04 3.97877930e+00] [ 1.56918749e-02 -4.23425228e-04 9.99876785e-01 6.20177454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.43925415399997 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:402.54, Y:3.98, Z:6.20 [[ 9.98447575e-01 -5.34435856e-02 -1.56915044e-02 4.02537113e+02] [ 5.34433140e-02 9.98570789e-01 -4.36941606e-04 3.98144009e+00] [ 1.56924296e-02 -4.02342707e-04 9.99876785e-01 6.20283818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.46925415399994 meters Centerline goodness : 0.999687 Centerline is valid? [True, True] Translation: X:402.57, Y:3.98, Z:6.20 [[ 9.98517736e-01 -5.21162938e-02 -1.56915200e-02 4.02567754e+02] [ 5.21158671e-02 9.98640949e-01 -4.36380694e-04 3.98399023e+00] [ 1.56929369e-02 -3.82043307e-04 9.99876785e-01 6.20321738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.49925415399997 meters Centerline goodness : 0.999477 Centerline is valid? [True, True] Translation: X:402.60, Y:3.99, Z:6.21 [[ 9.98656124e-01 -4.93935441e-02 -1.56915277e-02 4.02599270e+02] [ 4.93927859e-02 9.98779336e-01 -4.36102414e-04 3.98785052e+00] [ 1.56939143e-02 -3.39531921e-04 9.99876785e-01 6.20559792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.52925415399994 meters Centerline goodness : 0.999351 Centerline is valid? [True, True] Translation: X:402.63, Y:3.99, Z:6.21 [[ 9.98709566e-01 -4.83009170e-02 -1.56915436e-02 4.02630686e+02] [ 4.83000330e-02 9.98832777e-01 -4.35529714e-04 3.98976514e+00] [ 1.56942646e-02 -3.22934382e-04 9.99876785e-01 6.20657807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.559254154 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:402.67, Y:3.99, Z:6.21 [[ 9.98915741e-01 -4.38305535e-02 -1.56915595e-02 4.02665455e+02] [ 4.38291270e-02 9.99038947e-01 -4.34957072e-04 3.98781660e+00] [ 1.56955435e-02 -2.53261887e-04 9.99876785e-01 6.20989654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.58925415399995 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:402.69, Y:3.99, Z:6.21 [[ 9.98766931e-01 -4.70977137e-02 -1.56978561e-02 4.02691855e+02] [ 4.71002574e-02 9.98890145e-01 -2.07829602e-04 3.99360936e+00] [ 1.56902221e-02 -5.31799731e-04 9.99876759e-01 6.20842419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.619254154 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:402.72, Y:4.00, Z:6.21 [[ 9.98826378e-01 -4.58219620e-02 -1.56912286e-02 4.02723431e+02] [ 4.58206590e-02 9.98949584e-01 -4.42735773e-04 3.99607192e+00] [ 1.56950333e-02 -2.76766264e-04 9.99876787e-01 6.20935266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.64925415399995 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:402.75, Y:4.00, Z:6.21 [[ 9.98864238e-01 -4.49890868e-02 -1.56912449e-02 4.02753651e+02] [ 4.49876901e-02 9.98987443e-01 -4.42156373e-04 3.99608109e+00] [ 1.56952488e-02 -2.64258674e-04 9.99876787e-01 6.20902342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.679254154 meters Centerline goodness : 0.999518 Centerline is valid? [True, True] Translation: X:402.79, Y:4.00, Z:6.21 [[ 9.98902011e-01 -4.41424550e-02 -1.56912530e-02 4.02785115e+02] [ 4.41409584e-02 9.99025215e-01 -4.41868900e-04 3.99848975e+00] [ 1.56954626e-02 -2.51243212e-04 9.99876787e-01 6.20973884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.70925415399995 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:402.82, Y:4.00, Z:6.21 [[ 9.98963995e-01 -4.27167613e-02 -1.56912693e-02 4.02815611e+02] [ 4.27150980e-02 9.99087196e-01 -4.41287352e-04 3.99969782e+00] [ 1.56957967e-02 -2.29423931e-04 9.99876787e-01 6.20959039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.7392541539999 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:402.85, Y:4.00, Z:6.21 [[ 9.99027372e-01 -4.12079380e-02 -1.56912774e-02 4.02845728e+02] [ 4.12060932e-02 9.99150571e-01 -4.40999601e-04 4.00097762e+00] [ 1.56961215e-02 -2.06005567e-04 9.99876787e-01 6.21004519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.76925415399995 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:402.88, Y:4.00, Z:6.21 [[ 9.99160225e-01 -3.78500933e-02 -1.56912774e-02 4.02876666e+02] [ 3.78478343e-02 9.99283417e-01 -4.40999601e-04 4.00291406e+00] [ 1.56967252e-02 -1.53251608e-04 9.99876787e-01 6.21092908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.7992541539999 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:402.91, Y:4.00, Z:6.21 [[ 9.99222167e-01 -3.61779695e-02 -1.56912774e-02 4.02906594e+02] [ 3.61755044e-02 9.99345355e-01 -4.40999601e-04 4.00394225e+00] [ 1.56969597e-02 -1.26983299e-04 9.99876787e-01 6.21111838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.82925415399995 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:402.94, Y:4.01, Z:6.21 [[ 9.99273543e-01 -3.47299418e-02 -1.56912855e-02 4.02937406e+02] [ 3.47273027e-02 9.99396728e-01 -4.40712654e-04 4.00506415e+00] [ 1.56971253e-02 -1.04523526e-04 9.99876787e-01 6.21193340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.8592541539999 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:402.97, Y:4.01, Z:6.21 [[ 9.99323389e-01 -3.32648089e-02 -1.56912855e-02 4.02966655e+02] [ 3.32619892e-02 9.99446570e-01 -4.40712654e-04 4.00558673e+00] [ 1.56972617e-02 -8.15089054e-05 9.99876787e-01 6.21280531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.88925415399996 meters Centerline goodness : 0.999498 Centerline is valid? [True, True] Translation: X:403.00, Y:4.01, Z:6.21 [[ 9.99371900e-01 -3.17740406e-02 -1.56912693e-02 4.02996485e+02] [ 3.17710282e-02 9.99495076e-01 -4.41286848e-04 4.00544348e+00] [ 1.56973679e-02 -5.75180850e-05 9.99876787e-01 6.21363160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.91925415399993 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:403.03, Y:4.01, Z:6.21 [[ 9.99382366e-01 -3.14431342e-02 -1.56912613e-02 4.03026467e+02] [ 3.14400765e-02 9.99505541e-01 -4.41571340e-04 4.00599122e+00] [ 1.56973870e-02 -5.20358460e-05 9.99876787e-01 6.21429809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.94925415399996 meters Centerline goodness : 0.999644 Centerline is valid? [True, True] Translation: X:403.06, Y:4.01, Z:6.22 [[ 9.99369756e-01 -3.18414275e-02 -1.56912453e-02 4.03056212e+02] [ 3.18384100e-02 9.99492932e-01 -4.42141548e-04 4.00646671e+00] [ 1.56973672e-02 -5.77214087e-05 9.99876787e-01 6.21513677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.97925415399993 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:403.08, Y:4.01, Z:6.21 [[ 9.99347989e-01 -3.25173993e-02 -1.56912291e-02 4.03084757e+02] [ 3.25144560e-02 9.99471167e-01 -4.42715187e-04 4.00669896e+00] [ 1.56973270e-02 -6.77652468e-05 9.99876787e-01 6.21478968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.00925415399996 meters Centerline goodness : 0.999498 Centerline is valid? [True, True] Translation: X:403.11, Y:4.01, Z:6.21 [[ 9.99234035e-01 -3.58487047e-02 -1.56912050e-02 4.03113517e+02] [ 3.58461587e-02 9.99357222e-01 -4.43569021e-04 4.00511413e+00] [ 1.56970204e-02 -1.19240161e-04 9.99876787e-01 6.21423833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.03925415399993 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:403.14, Y:4.00, Z:6.21 [[ 9.99150339e-01 -3.81101859e-02 -1.56911814e-02 4.03143103e+02] [ 3.81079057e-02 9.99273531e-01 -4.44399057e-04 4.00472957e+00] [ 1.56967184e-02 -1.53936594e-04 9.99876787e-01 6.21459678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.06925415399996 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:403.17, Y:4.00, Z:6.21 [[ 9.99045872e-01 -4.07570021e-02 -1.56911655e-02 4.03172203e+02] [ 4.07550395e-02 9.99169069e-01 -4.44959684e-04 4.00445229e+00] [ 1.56962625e-02 -1.94958935e-04 9.99876787e-01 6.21473556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.09925415399994 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:403.20, Y:4.00, Z:6.22 [[ 9.98921454e-01 -4.37003108e-02 -1.56911576e-02 4.03203136e+02] [ 4.36987068e-02 9.99044656e-01 -4.45238240e-04 4.00411155e+00] [ 1.56956242e-02 -2.40925267e-04 9.99876787e-01 6.21518444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.12925415399997 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:403.23, Y:4.00, Z:6.22 [[ 9.98615057e-01 -5.02170851e-02 -1.56911576e-02 4.03233859e+02] [ 5.02162849e-02 9.98738267e-01 -4.45238240e-04 4.00251691e+00] [ 1.56937182e-02 -3.43330033e-04 9.99876787e-01 6.21526157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.15925415399994 meters Centerline goodness : 0.999477 Centerline is valid? [True, True] Translation: X:403.27, Y:4.00, Z:6.22 [[ 9.98450670e-01 -5.33858271e-02 -1.56911840e-02 4.03265195e+02] [ 5.33854326e-02 9.98573882e-01 -4.44306263e-04 4.00246825e+00] [ 1.56925262e-02 -3.94062761e-04 9.99876787e-01 6.21567690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.18925415399997 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:403.30, Y:4.00, Z:6.22 [[ 9.98290538e-01 -5.63008736e-02 -1.56911994e-02 4.03296711e+02] [ 5.63008474e-02 9.98413751e-01 -4.43762883e-04 4.00252762e+00] [ 1.56912935e-02 -4.40423535e-04 9.99876787e-01 6.21589886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.21925415399994 meters Centerline goodness : 0.999479 Centerline is valid? [True, True] Translation: X:403.33, Y:4.00, Z:6.22 [[ 9.97984159e-01 -6.14931211e-02 -1.56912223e-02 4.03327852e+02] [ 6.14937485e-02 9.98107370e-01 -4.42950488e-04 4.00211654e+00] [ 1.56887631e-02 -5.22854510e-04 9.99876787e-01 6.21631424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.24925415399997 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:403.36, Y:4.00, Z:6.22 [[ 9.97837191e-01 -6.38335698e-02 -1.56912714e-02 4.03359361e+02] [ 6.38345136e-02 9.97960400e-01 -4.41205256e-04 4.00236867e+00] [ 1.56874312e-02 -5.61393665e-04 9.99876787e-01 6.21691937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.27925415399994 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:403.39, Y:4.00, Z:6.22 [[ 9.97683793e-01 -6.61878600e-02 -1.56912863e-02 4.03390397e+02] [ 6.61891029e-02 9.97807000e-01 -4.40675194e-04 4.00294322e+00] [ 1.56860426e-02 -5.98937663e-04 9.99876787e-01 6.21725568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.309254154 meters Centerline goodness : 0.999625 Centerline is valid? [True, True] Translation: X:403.42, Y:4.00, Z:6.22 [[ 9.97526695e-01 -6.85147790e-02 -1.56913011e-02 4.03421609e+02] [ 6.85163176e-02 9.97649899e-01 -4.40147176e-04 4.00387617e+00] [ 1.56845815e-02 -6.36051611e-04 9.99876787e-01 6.21779274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.33925415399995 meters Centerline goodness : 0.999438 Centerline is valid? [True, True] Translation: X:403.45, Y:4.00, Z:6.22 [[ 9.97363702e-01 -7.08479304e-02 -1.56913232e-02 4.03454062e+02] [ 7.08497696e-02 9.97486901e-01 -4.39357053e-04 4.00479617e+00] [ 1.56830169e-02 -6.73527858e-04 9.99876787e-01 6.21761042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.369254154 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:403.49, Y:4.01, Z:6.22 [[ 9.97035785e-01 -7.53221448e-02 -1.56913524e-02 4.03485431e+02] [ 7.53245532e-02 9.97158974e-01 -4.38311561e-04 4.00765501e+00] [ 1.56797875e-02 -7.44931798e-04 9.99876787e-01 6.21769314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.39925415399995 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:403.52, Y:4.01, Z:6.22 [[ 9.96935907e-01 -7.66327520e-02 -1.56913742e-02 4.03519849e+02] [ 7.66353345e-02 9.97059093e-01 -4.37530753e-04 4.00930108e+00] [ 1.56787565e-02 -7.66323592e-04 9.99876787e-01 6.22038454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.429254154 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:403.55, Y:4.01, Z:6.22 [[ 9.96746256e-01 -7.90604556e-02 -1.56954263e-02 4.03547669e+02] [ 7.90656343e-02 9.96869370e-01 -2.91273876e-04 4.01252954e+00] [ 1.56693179e-02 -9.50642687e-04 9.99876777e-01 6.22039580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.45925415399995 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:403.58, Y:4.02, Z:6.22 [[ 9.96614699e-01 -8.07026890e-02 -1.56913448e-02 4.03578344e+02] [ 8.07057730e-02 9.96737873e-01 -4.37624725e-04 4.01508045e+00] [ 1.56754751e-02 -8.30238875e-04 9.99876788e-01 6.22112548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.4892541539999 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:403.61, Y:4.02, Z:6.22 [[ 9.96415199e-01 -8.31296158e-02 -1.56913688e-02 4.03610064e+02] [ 8.31330133e-02 9.96538364e-01 -4.36759876e-04 4.01889089e+00] [ 1.56733587e-02 -8.69276596e-04 9.99876788e-01 6.22181448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.51925415399995 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:403.65, Y:4.02, Z:6.22 [[ 9.96369657e-01 -8.36736862e-02 -1.56914003e-02 4.03645139e+02] [ 8.36771688e-02 9.96492821e-01 -4.35626527e-04 4.02061386e+00] [ 1.56728182e-02 -8.78966897e-04 9.99876788e-01 6.22273504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.5492541539999 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:403.68, Y:4.02, Z:6.22 [[ 9.96185209e-01 -8.58410200e-02 -1.56954766e-02 4.03675142e+02] [ 8.58470779e-02 9.96308284e-01 -2.88620607e-04 4.02431483e+00] [ 1.56623088e-02 -1.05989122e-03 9.99876777e-01 6.22222145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.57925415399995 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:403.70, Y:4.03, Z:6.22 [[ 9.96133135e-01 -8.64435478e-02 -1.56936611e-02 4.03703517e+02] [ 8.64486544e-02 9.96256245e-01 -3.53977368e-04 4.02711160e+00] [ 1.56655069e-02 -1.00408730e-03 9.99876784e-01 6.22453991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.6092541539999 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:403.74, Y:4.03, Z:6.22 [[ 9.95983222e-01 -8.81544326e-02 -1.56913274e-02 4.03735070e+02] [ 8.81584374e-02 9.96106369e-01 -4.37650196e-04 4.03233000e+00] [ 1.56688120e-02 -9.47430652e-04 9.99876788e-01 6.22424383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.63925415399996 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:403.77, Y:4.03, Z:6.22 [[ 9.96042890e-01 -8.74776680e-02 -1.56913678e-02 4.03771559e+02] [ 8.74816118e-02 9.96166039e-01 -4.36198172e-04 4.03378799e+00] [ 1.56693653e-02 -9.38234057e-04 9.99876788e-01 6.22407394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.66925415399993 meters Centerline goodness : 0.999498 Centerline is valid? [True, True] Translation: X:403.80, Y:4.04, Z:6.22 [[ 9.95713015e-01 -9.11548879e-02 -1.56964307e-02 4.03797669e+02] [ 9.11621533e-02 9.95836029e-01 -2.53507677e-04 4.04024502e+00] [ 1.56541797e-02 -1.17849953e-03 9.99876771e-01 6.22238950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.69925415399996 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:403.83, Y:4.04, Z:6.22 [[ 9.95770698e-01 -9.05236410e-02 -1.56903574e-02 4.03830642e+02] [ 9.05274426e-02 9.95893851e-01 -4.69253042e-04 4.04334273e+00] [ 1.56684090e-02 -9.53139503e-04 9.99876789e-01 6.22129898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.72925415399993 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:403.86, Y:4.05, Z:6.22 [[ 9.95986058e-01 -8.81223868e-02 -1.56912992e-02 4.03860966e+02] [ 8.81264187e-02 9.96109203e-01 -4.35663438e-04 4.04511677e+00] [ 1.56686392e-02 -9.48903290e-04 9.99876789e-01 6.22405098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.75925415399996 meters Centerline goodness : 0.999226 Centerline is valid? [True, True] Translation: X:403.89, Y:4.05, Z:6.22 [[ 9.96089289e-01 -8.69477731e-02 -1.56912110e-02 4.03893378e+02] [ 8.69516103e-02 9.96212440e-01 -4.38817875e-04 4.04890192e+00] [ 1.56699338e-02 -9.27274275e-04 9.99876789e-01 6.22436160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.78925415399993 meters Centerline goodness : 0.999372 Centerline is valid? [True, True] Translation: X:403.93, Y:4.06, Z:6.23 [[ 9.96422919e-01 -8.30370451e-02 -1.56912425e-02 4.03925746e+02] [ 8.30404166e-02 9.96546084e-01 -4.37688132e-04 4.05625333e+00] [ 1.56733906e-02 -8.66884825e-04 9.99876789e-01 6.22661706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.81925415399996 meters Centerline goodness : 0.999288 Centerline is valid? [True, True] Translation: X:403.96, Y:4.06, Z:6.22 [[ 9.96472403e-01 -8.24410964e-02 -1.56912913e-02 4.03955254e+02] [ 8.24444218e-02 9.96595569e-01 -4.35929386e-04 4.06218306e+00] [ 1.56738099e-02 -8.59267838e-04 9.99876789e-01 6.22425536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.84925415399994 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:403.99, Y:4.06, Z:6.23 [[ 9.96943640e-01 -7.65322203e-02 -1.56906814e-02 4.03990059e+02] [ 7.65344717e-02 9.97066831e-01 -4.57822260e-04 4.06298002e+00] [ 1.56796961e-02 -7.44455019e-04 9.99876789e-01 6.22839954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.87925415399997 meters Centerline goodness : 0.998934 Centerline is valid? [True, True] Translation: X:404.02, Y:4.07, Z:6.23 [[ 9.97343454e-01 -7.11314803e-02 -1.56954704e-02 4.04018328e+02] [ 7.11358028e-02 9.97466600e-01 -2.83428368e-04 4.07208571e+00] [ 1.56758682e-02 -8.33834462e-04 9.99876778e-01 6.22815569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.90925415399994 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:404.05, Y:4.08, Z:6.23 [[ 9.97598758e-01 -6.74573997e-02 -1.56913076e-02 4.04050273e+02] [ 6.74589048e-02 9.97721959e-01 -4.33957113e-04 4.07691673e+00] [ 1.56848358e-02 -6.25603347e-04 9.99876790e-01 6.22903667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.93925415399997 meters Centerline goodness : 0.998932 Centerline is valid? [True, True] Translation: X:404.08, Y:4.08, Z:6.23 [[ 9.97862169e-01 -6.34418947e-02 -1.56913372e-02 4.04083594e+02] [ 6.34429208e-02 9.97985375e-01 -4.32884432e-04 4.08134795e+00] [ 1.56871880e-02 -5.63545264e-04 9.99876790e-01 6.23134043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.96925415399994 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:404.12, Y:4.08, Z:6.23 [[ 9.98460331e-01 -5.32047782e-02 -1.56913856e-02 4.04121783e+02] [ 5.32045683e-02 9.98583541e-01 -4.31122394e-04 4.07828102e+00] [ 1.56920972e-02 -4.04394789e-04 9.99876790e-01 6.22772020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.99925415399997 meters Centerline goodness : 0.998994 Centerline is valid? [True, True] Translation: X:404.14, Y:4.09, Z:6.23 [[ 9.98307655e-01 -5.59931553e-02 -1.57032539e-02 4.04141951e+02] [ 5.60001980e-02 9.98430758e-01 8.77895543e-06 4.08987485e+00] [ 1.56781201e-02 -8.88149423e-04 9.99876696e-01 6.23240012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.02925415399994 meters Centerline goodness : 0.998952 Centerline is valid? [True, True] Translation: X:404.18, Y:4.09, Z:6.23 [[ 9.98862509e-01 -4.50276365e-02 -1.56907855e-02 4.04178799e+02] [ 4.50263101e-02 9.98985705e-01 -4.37970798e-04 4.09121972e+00] [ 1.56945912e-02 -2.69025563e-04 9.99876796e-01 6.22936878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.059254154 meters Centerline goodness : 0.998909 Centerline is valid? [True, True] Translation: X:404.21, Y:4.09, Z:6.23 [[ 9.99117302e-01 -3.89635583e-02 -1.56990043e-02 4.04212054e+02] [ 3.89661713e-02 9.99240521e-01 -1.39523864e-04 4.09013184e+00] [ 1.56925176e-02 -4.72329386e-04 9.99876753e-01 6.22705479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.08925415399995 meters Centerline goodness : 0.998845 Centerline is valid? [True, True] Translation: X:404.23, Y:4.10, Z:6.23 [[ 9.98806021e-01 -4.62588428e-02 -1.57051677e-02 4.04230512e+02] [ 4.62658830e-02 9.98929157e-01 8.50454806e-05 4.10326573e+00] [ 1.56844159e-02 -8.11557390e-04 9.99876663e-01 6.23378369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.119254154 meters Centerline goodness : 0.998845 Centerline is valid? [True, True] Translation: X:404.26, Y:4.10, Z:6.23 [[ 9.98809306e-01 -4.61930405e-02 -1.56898891e-02 4.04263177e+02] [ 4.61916850e-02 9.98932494e-01 -4.48967491e-04 4.10440223e+00] [ 1.56938793e-02 -2.76309508e-04 9.99876805e-01 6.23444405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.14925415399995 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:404.30, Y:4.11, Z:6.23 [[ 9.98860749e-01 -4.50669640e-02 -1.56899224e-02 4.04295302e+02] [ 4.50654879e-02 9.98983934e-01 -4.47801968e-04 4.10720195e+00] [ 1.56941615e-02 -2.59782200e-04 9.99876805e-01 6.23440824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.1792541539999 meters Centerline goodness : 0.999013 Centerline is valid? [True, True] Translation: X:404.33, Y:4.11, Z:6.23 [[ 9.98865198e-01 -4.49682341e-02 -1.56899556e-02 4.04326333e+02] [ 4.49667642e-02 9.98988384e-01 -4.46635296e-04 4.10988092e+00] [ 1.56941678e-02 -2.59398081e-04 9.99876805e-01 6.23420197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.20925415399995 meters Centerline goodness : 0.997500 Centerline is valid? [True, True] Translation: X:404.36, Y:4.11, Z:6.23 [[ 9.98877731e-01 -4.46889613e-02 -1.56899803e-02 4.04358577e+02] [ 4.46874706e-02 9.99000917e-01 -4.45765266e-04 4.11367218e+00] [ 1.56942255e-02 -2.55880538e-04 9.99876805e-01 6.23149579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.2392541539999 meters Centerline goodness : 0.999138 Centerline is valid? [True, True] Translation: X:404.39, Y:4.12, Z:6.24 [[ 9.98779872e-01 -4.68251111e-02 -1.56900278e-02 4.04390782e+02] [ 4.68239103e-02 9.98903060e-01 -4.44087186e-04 4.11590817e+00] [ 1.56936113e-02 -2.91123113e-04 9.99876805e-01 6.23505064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.26925415399995 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:404.42, Y:4.12, Z:6.24 [[ 9.98690807e-01 -4.86877251e-02 -1.56900667e-02 4.04423337e+02] [ 4.86867756e-02 9.98813998e-01 -4.42708644e-04 4.11892021e+00] [ 1.56930127e-02 -3.21769706e-04 9.99876805e-01 6.23566415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.2992541539999 meters Centerline goodness : 0.998971 Centerline is valid? [True, True] Translation: X:404.45, Y:4.12, Z:6.24 [[ 9.98653477e-01 -4.94474783e-02 -1.56900997e-02 4.04454917e+02] [ 4.94466409e-02 9.98776669e-01 -4.41538259e-04 4.12050064e+00] [ 1.56927384e-02 -3.34879007e-04 9.99876805e-01 6.23557934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.32925415399995 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:404.49, Y:4.12, Z:6.24 [[ 9.98622396e-01 -5.00712451e-02 -1.56901241e-02 4.04486865e+02] [ 5.00704984e-02 9.98745589e-01 -4.40666513e-04 4.12228219e+00] [ 1.56925070e-02 -3.45552886e-04 9.99876805e-01 6.23618025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.3592541539999 meters Centerline goodness : 0.998928 Centerline is valid? [True, True] Translation: X:404.52, Y:4.12, Z:6.23 [[ 9.98829966e-01 -4.57440435e-02 -1.56901556e-02 4.04521854e+02] [ 4.57427807e-02 9.98953154e-01 -4.39542906e-04 4.11955742e+00] [ 1.56938369e-02 -2.78682722e-04 9.99876805e-01 6.23288215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.38925415399996 meters Centerline goodness : 0.998886 Centerline is valid? [True, True] Translation: X:404.55, Y:4.13, Z:6.24 [[ 9.98536259e-01 -5.17590536e-02 -1.56951949e-02 4.04548964e+02] [ 5.17613925e-02 9.98659447e-01 -2.57440435e-04 4.12663512e+00] [ 1.56874796e-02 -5.55341536e-04 9.99876790e-01 6.23691369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.41925415399993 meters Centerline goodness : 0.998802 Centerline is valid? [True, True] Translation: X:404.59, Y:4.11, Z:6.23 [[ 9.99063116e-01 -4.03324779e-02 -1.56901490e-02 4.04593814e+02] [ 4.03305697e-02 9.99186296e-01 -4.38145337e-04 4.11467152e+00] [ 1.56950534e-02 -1.95057802e-04 9.99876806e-01 6.22935645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.44925415399996 meters Centerline goodness : 0.998762 Centerline is valid? [True, True] Translation: X:404.61, Y:4.13, Z:6.24 [[ 9.98500760e-01 -5.24354440e-02 -1.57084661e-02 4.04606736e+02] [ 5.24457446e-02 9.98623745e-01 2.44223229e-04 4.13037595e+00] [ 1.56740413e-02 -1.06769928e-03 9.99876585e-01 6.23826207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.47925415399993 meters Centerline goodness : 0.998822 Centerline is valid? [True, True] Translation: X:404.64, Y:4.13, Z:6.24 [[ 9.98524332e-01 -5.19905533e-02 -1.56888501e-02 4.04638965e+02] [ 5.19899596e-02 9.98647508e-01 -4.45974781e-04 4.13250617e+00] [ 1.56908175e-02 -3.70346012e-04 9.99876823e-01 6.23901583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.50925415399996 meters Centerline goodness : 0.998970 Centerline is valid? [True, True] Translation: X:404.67, Y:4.13, Z:6.24 [[ 9.98544342e-01 -5.16048065e-02 -1.56888832e-02 4.04671513e+02] [ 5.16041835e-02 9.98667517e-01 -4.44808188e-04 4.13492136e+00] [ 1.56909322e-02 -3.65451307e-04 9.99876823e-01 6.23976214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.53925415399993 meters Centerline goodness : 0.998947 Centerline is valid? [True, True] Translation: X:404.70, Y:4.14, Z:6.24 [[ 9.98546287e-01 -5.15671457e-02 -1.56889162e-02 4.04703897e+02] [ 5.15665363e-02 9.98669463e-01 -4.43640575e-04 4.13618236e+00] [ 1.56909188e-02 -3.66027418e-04 9.99876823e-01 6.24014503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.56925415399996 meters Centerline goodness : 0.998674 Centerline is valid? [True, True] Translation: X:404.75, Y:4.13, Z:6.23 [[ 9.99025212e-01 -4.12611594e-02 -1.56889492e-02 4.04746172e+02] [ 4.12592975e-02 9.99148375e-01 -4.42469631e-04 4.12518627e+00] [ 1.56938449e-02 -2.05276707e-04 9.99876823e-01 6.23277879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.59925415399994 meters Centerline goodness : 0.998695 Centerline is valid? [True, True] Translation: X:404.76, Y:4.14, Z:6.24 [[ 9.98519113e-01 -5.20859374e-02 -1.57046604e-02 4.04762598e+02] [ 5.20944577e-02 9.98642153e-01 1.33654761e-04 4.13826674e+00] [ 1.56763743e-02 -9.51582598e-04 9.99876665e-01 6.24071340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.62925415399997 meters Centerline goodness : 0.998843 Centerline is valid? [True, True] Translation: X:404.79, Y:4.14, Z:6.24 [[ 9.98529736e-01 -5.18868972e-02 -1.56880640e-02 4.04794280e+02] [ 5.18862613e-02 9.98652900e-01 -4.47829885e-04 4.13949918e+00] [ 1.56901671e-02 -3.66823532e-04 9.99876834e-01 6.24130525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.65925415399994 meters Centerline goodness : 0.998908 Centerline is valid? [True, True] Translation: X:404.83, Y:4.14, Z:6.24 [[ 9.98584125e-01 -5.08294028e-02 -1.56880970e-02 4.04826280e+02] [ 5.08286547e-02 9.98707289e-01 -4.46671073e-04 4.14102364e+00] [ 1.56905209e-02 -3.51366222e-04 9.99876834e-01 6.24183917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.68925415399997 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:404.86, Y:4.14, Z:6.24 [[ 9.98792687e-01 -4.65515963e-02 -1.56881302e-02 4.04859935e+02] [ 4.65503389e-02 9.98915846e-01 -4.45504160e-04 4.14005470e+00] [ 1.56918607e-02 -2.85321478e-04 9.99876834e-01 6.23838182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.71925415399994 meters Centerline goodness : 0.999054 Centerline is valid? [True, True] Translation: X:404.89, Y:4.14, Z:6.24 [[ 9.98706916e-01 -4.83561749e-02 -1.56900116e-02 4.04890401e+02] [ 4.83561875e-02 9.98830083e-01 -3.78794546e-04 4.14362098e+00] [ 1.56899726e-02 -3.80404409e-04 9.99876832e-01 6.24247446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.74925415399997 meters Centerline goodness : 0.998884 Centerline is valid? [True, True] Translation: X:404.92, Y:4.15, Z:6.24 [[ 9.98874199e-01 -4.47684547e-02 -1.56882130e-02 4.04922916e+02] [ 4.47670237e-02 9.98997356e-01 -4.42553699e-04 4.14528363e+00] [ 1.56922958e-02 -2.60259132e-04 9.99876834e-01 6.24244814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.77925415399994 meters Centerline goodness : 0.998800 Centerline is valid? [True, True] Translation: X:404.95, Y:4.15, Z:6.24 [[ 9.98967942e-01 -4.26254668e-02 -1.56882452e-02 4.04954693e+02] [ 4.26237896e-02 9.99091096e-01 -4.41410507e-04 4.14628600e+00] [ 1.56928014e-02 -2.27737515e-04 9.99876834e-01 6.24250809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.809254154 meters Centerline goodness : 0.999094 Centerline is valid? [True, True] Translation: X:404.99, Y:4.15, Z:6.24 [[ 9.99073702e-01 -4.00701331e-02 -1.56882773e-02 4.04986131e+02] [ 4.00681588e-02 9.99196852e-01 -4.40265721e-04 4.14701561e+00] [ 1.56933188e-02 -1.88742483e-04 9.99876834e-01 6.24266645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.83925415399995 meters Centerline goodness : 0.998863 Centerline is valid? [True, True] Translation: X:405.02, Y:4.15, Z:6.24 [[ 9.99167431e-01 -3.76606099e-02 -1.56883306e-02 4.05016874e+02] [ 3.76583687e-02 9.99290576e-01 -4.38356291e-04 4.14778929e+00] [ 1.56937097e-02 -1.52805610e-04 9.99876834e-01 6.24268734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.869254154 meters Centerline goodness : 0.998946 Centerline is valid? [True, True] Translation: X:405.05, Y:4.15, Z:6.24 [[ 9.99257441e-01 -3.51915191e-02 -1.56883540e-02 4.05048961e+02] [ 3.51889867e-02 9.99380580e-01 -4.37520571e-04 4.14878017e+00] [ 1.56940333e-02 -1.14861592e-04 9.99876834e-01 6.24352519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.89925415399995 meters Centerline goodness : 0.999178 Centerline is valid? [True, True] Translation: X:405.08, Y:4.15, Z:6.24 [[ 9.99405606e-01 -3.06970570e-02 -1.56883847e-02 4.05080181e+02] [ 3.06939881e-02 9.99528733e-01 -4.36416378e-04 4.14971839e+00] [ 1.56943880e-02 -4.53821177e-05 9.99876834e-01 6.24427834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.9292541539999 meters Centerline goodness : 0.999074 Centerline is valid? [True, True] Translation: X:405.11, Y:4.15, Z:6.25 [[ 9.99451059e-01 -2.91796955e-02 -1.56884075e-02 4.05111505e+02] [ 2.91764526e-02 9.99574182e-01 -4.35594376e-04 4.15053079e+00] [ 1.56944376e-02 -2.23768177e-05 9.99876834e-01 6.24527502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.95925415399995 meters Centerline goodness : 0.998520 Centerline is valid? [True, True] Translation: X:405.14, Y:4.15, Z:6.24 [[ 9.99513431e-01 -2.69587410e-02 -1.56884234e-02 4.05140863e+02] [ 2.69552335e-02 9.99636547e-01 -4.35022341e-04 4.15112493e+00] [ 1.56944490e-02 1.19255581e-05 9.99876834e-01 6.24179667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.9892541539999 meters Centerline goodness : 0.996891 Centerline is valid? [True, True] Translation: X:405.17, Y:4.15, Z:6.24 [[ 9.99529451e-01 -2.63593863e-02 -1.56862869e-02 4.05170597e+02] [ 2.63546069e-02 9.99652526e-01 -5.11358114e-04 4.15108896e+00] [ 1.56943154e-02 9.77115698e-05 9.99876832e-01 6.24213267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.01925415399995 meters Centerline goodness : 0.999177 Centerline is valid? [True, True] Translation: X:405.20, Y:4.15, Z:6.25 [[ 9.99494807e-01 -2.76423281e-02 -1.56854284e-02 4.05199927e+02] [ 2.76372276e-02 9.99617872e-01 -5.41887377e-04 4.15070523e+00] [ 1.56944136e-02 1.08111865e-04 9.99876829e-01 6.24516660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.0492541539999 meters Centerline goodness : 0.998963 Centerline is valid? [True, True] Translation: X:405.23, Y:4.15, Z:6.25 [[ 9.99471658e-01 -2.84654672e-02 -1.56882841e-02 4.05230346e+02] [ 2.84620657e-02 9.99594776e-01 -4.40090190e-04 4.15015131e+00] [ 1.56944542e-02 -6.66330120e-06 9.99876834e-01 6.24561379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.07925415399995 meters Centerline goodness : 0.998922 Centerline is valid? [True, True] Translation: X:405.26, Y:4.15, Z:6.25 [[ 9.99430286e-01 -2.98827815e-02 -1.56882841e-02 4.05261214e+02] [ 2.98795547e-02 9.99553410e-01 -4.40090190e-04 4.14971927e+00] [ 1.56944290e-02 -2.89194784e-05 9.99876834e-01 6.24611860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.1092541539999 meters Centerline goodness : 0.998903 Centerline is valid? [True, True] Translation: X:405.29, Y:4.15, Z:6.25 [[ 9.99366409e-01 -3.19477583e-02 -1.56882841e-02 4.05292584e+02] [ 3.19447858e-02 9.99489538e-01 -4.40090190e-04 4.14919304e+00] [ 1.56943357e-02 -6.13475231e-05 9.99876834e-01 6.24666948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.13925415399996 meters Centerline goodness : 0.999008 Centerline is valid? [True, True] Translation: X:405.32, Y:4.15, Z:6.25 [[ 9.99183943e-01 -3.72199667e-02 -1.56883000e-02 4.05324149e+02] [ 3.72176528e-02 9.99307087e-01 -4.39520783e-04 4.14657083e+00] [ 1.56937884e-02 -1.44719596e-04 9.99876834e-01 6.24777147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.16925415399993 meters Centerline goodness : 0.999201 Centerline is valid? [True, True] Translation: X:405.35, Y:4.15, Z:6.25 [[ 9.99074324e-01 -4.00546015e-02 -1.56883162e-02 4.05354892e+02] [ 4.00526461e-02 9.99197474e-01 -4.38941995e-04 4.14554962e+00] [ 1.56933076e-02 -1.89822902e-04 9.99876834e-01 6.24823789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.19925415399996 meters Centerline goodness : 0.999137 Centerline is valid? [True, True] Translation: X:405.39, Y:4.14, Z:6.25 [[ 9.98933918e-01 -4.34154704e-02 -1.56883404e-02 4.05386925e+02] [ 4.34139430e-02 9.99057074e-01 -4.38075352e-04 4.14468211e+00] [ 1.56925667e-02 -2.43484389e-04 9.99876834e-01 6.24886303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.22925415399993 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:405.42, Y:4.14, Z:6.25 [[ 9.98787810e-01 -4.66560424e-02 -1.56883726e-02 4.05419343e+02] [ 4.66549327e-02 9.98910970e-01 -4.36921901e-04 4.14349587e+00] [ 1.56916725e-02 -2.95547697e-04 9.99876834e-01 6.24902044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.25925415399996 meters Centerline goodness : 0.998971 Centerline is valid? [True, True] Translation: X:405.45, Y:4.14, Z:6.25 [[ 9.98399790e-01 -5.43298631e-02 -1.56884045e-02 4.05450595e+02] [ 5.43297178e-02 9.98522955e-01 -4.35772792e-04 4.14014816e+00] [ 1.56889075e-02 -4.17271125e-04 9.99876834e-01 6.24899088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.28925415399993 meters Centerline goodness : 0.998887 Centerline is valid? [True, True] Translation: X:405.48, Y:4.14, Z:6.25 [[ 9.98168871e-01 -5.84189766e-02 -1.56884568e-02 4.05483091e+02] [ 5.84193655e-02 9.98292036e-01 -4.33880480e-04 4.13894108e+00] [ 1.56870084e-02 -4.83423705e-04 9.99876834e-01 6.24971998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.31925415399996 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:405.52, Y:4.14, Z:6.25 [[ 9.97918614e-01 -6.25484719e-02 -1.56884882e-02 4.05516487e+02] [ 6.25493884e-02 9.98041776e-01 -4.32741539e-04 4.13800444e+00] [ 1.56848340e-02 -5.49464507e-04 9.99876834e-01 6.25053196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.34925415399994 meters Centerline goodness : 0.998972 Centerline is valid? [True, True] Translation: X:405.56, Y:4.13, Z:6.24 [[ 9.98052299e-01 -6.03777916e-02 -1.56885368e-02 4.05555024e+02] [ 6.03784679e-02 9.98175463e-01 -4.30973996e-04 4.12943602e+00] [ 1.56859337e-02 -5.17115227e-04 9.99876834e-01 6.24491788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.37925415399997 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:405.58, Y:4.13, Z:6.25 [[ 9.97045229e-01 -7.51952880e-02 -1.56996556e-02 4.05576562e+02] [ 7.52042448e-02 9.97168151e-01 -1.99262429e-05 4.13463489e+00] [ 1.56566949e-02 -1.16081338e-03 9.99876753e-01 6.25040770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.40925415399994 meters Centerline goodness : 0.998930 Centerline is valid? [True, True] Translation: X:405.62, Y:4.12, Z:6.24 [[ 9.97494958e-01 -6.89760602e-02 -1.56879729e-02 4.05620895e+02] [ 6.89776840e-02 9.97618107e-01 -4.38213986e-04 4.12293276e+00] [ 1.56808321e-02 -6.45003793e-04 9.99876840e-01 6.24494761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.43925415399997 meters Centerline goodness : 0.998953 Centerline is valid? [True, True] Translation: X:405.64, Y:4.13, Z:6.25 [[ 9.96465333e-01 -8.25238232e-02 -1.57053724e-02 4.05635763e+02] [ 8.25372614e-02 9.96587958e-01 2.08286542e-04 4.13444660e+00] [ 1.56345964e-02 -1.50382875e-03 9.99876641e-01 6.25112317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.46925415399994 meters Centerline goodness : 0.998682 Centerline is valid? [True, True] Translation: X:405.68, Y:4.12, Z:6.25 [[ 9.97068663e-01 -7.48866092e-02 -1.56868497e-02 4.05680663e+02] [ 7.48888569e-02 9.97191788e-01 -4.44912413e-04 4.12315321e+00] [ 1.56761156e-02 -7.31162014e-04 9.99876855e-01 6.24562935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.49925415399997 meters Centerline goodness : 0.998996 Centerline is valid? [True, True] Translation: X:405.71, Y:4.12, Z:6.25 [[ 9.96778184e-01 -7.86548046e-02 -1.57058465e-02 4.05713108e+02] [ 7.86683016e-02 9.96900817e-01 2.42446928e-04 4.12383519e+00] [ 1.56381016e-02 -1.47721808e-03 9.99876626e-01 6.24615475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.52925415399994 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:405.73, Y:4.14, Z:6.25 [[ 9.95882323e-01 -8.92847208e-02 -1.57046963e-02 4.05727939e+02] [ 8.92988907e-02 9.96004853e-01 2.01944228e-04 4.13617294e+00] [ 1.56239232e-02 -1.60352465e-03 9.99876653e-01 6.25322209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.559254154 meters Centerline goodness : 0.998935 Centerline is valid? [True, True] Translation: X:405.76, Y:4.14, Z:6.25 [[ 9.95921207e-01 -8.88534944e-02 -1.56845982e-02 4.05760057e+02] [ 8.88570796e-02 9.96044276e-01 -4.69537734e-04 4.13767897e+00] [ 1.56642744e-02 -9.26065008e-04 9.99876879e-01 6.25377243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.58925415399995 meters Centerline goodness : 0.999038 Centerline is valid? [True, True] Translation: X:405.79, Y:4.14, Z:6.25 [[ 9.96162997e-01 -8.61003750e-02 -1.56846421e-02 4.05792655e+02] [ 8.61036430e-02 9.96286075e-01 -4.68069731e-04 4.13972987e+00] [ 1.56666914e-02 -8.84231074e-04 9.99876879e-01 6.25437475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.619254154 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:405.82, Y:4.14, Z:6.25 [[ 9.96374803e-01 -8.36136536e-02 -1.56846945e-02 4.05824856e+02] [ 8.36166421e-02 9.96497887e-01 -4.66306137e-04 4.14141598e+00] [ 1.56687545e-02 -8.46885800e-04 9.99876879e-01 6.25455555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.64925415399995 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:405.86, Y:4.14, Z:6.25 [[ 9.96604607e-01 -8.08285036e-02 -1.56847377e-02 4.05857781e+02] [ 8.08311710e-02 9.96727699e-01 -4.64847734e-04 4.14332471e+00] [ 1.56709855e-02 -8.04546322e-04 9.99876879e-01 6.25462921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.6792541539999 meters Centerline goodness : 0.998890 Centerline is valid? [True, True] Translation: X:405.89, Y:4.15, Z:6.25 [[ 9.97084307e-01 -7.46784572e-02 -1.56847890e-02 4.05890385e+02] [ 7.46803924e-02 9.97207413e-01 -4.63112009e-04 4.14668243e+00] [ 1.56755723e-02 -7.09584477e-04 9.99876879e-01 6.25452109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.70925415399995 meters Centerline goodness : 0.998972 Centerline is valid? [True, True] Translation: X:405.92, Y:4.15, Z:6.26 [[ 9.97337069e-01 -7.12232862e-02 -1.56848397e-02 4.05922974e+02] [ 7.12248219e-02 9.97460181e-01 -4.61386004e-04 4.14899951e+00] [ 1.56778645e-02 -6.56992552e-04 9.99876879e-01 6.25519972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.7392541539999 meters Centerline goodness : 0.999012 Centerline is valid? [True, True] Translation: X:405.96, Y:4.15, Z:6.26 [[ 9.97599268e-01 -6.74513452e-02 -1.56848912e-02 4.05956223e+02] [ 6.74524429e-02 9.97722385e-01 -4.59630692e-04 4.15122035e+00] [ 1.56801697e-02 -5.99456983e-04 9.99876879e-01 6.25589782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.76925415399995 meters Centerline goodness : 0.998971 Centerline is valid? [True, True] Translation: X:405.99, Y:4.15, Z:6.26 [[ 9.97829973e-01 -6.39478436e-02 -1.56849429e-02 4.05988316e+02] [ 6.39485368e-02 9.97953093e-01 -4.57859248e-04 4.15387160e+00] [ 1.56821164e-02 -5.46163465e-04 9.99876879e-01 6.25652098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.7992541539999 meters Centerline goodness : 0.998886 Centerline is valid? [True, True] Translation: X:406.02, Y:4.16, Z:6.26 [[ 9.98065926e-01 -6.01530500e-02 -1.56849855e-02 4.06020031e+02] [ 6.01532980e-02 9.98189046e-01 -4.56395398e-04 4.15636452e+00] [ 1.56840343e-02 -4.87990910e-04 9.99876879e-01 6.25725955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.82925415399995 meters Centerline goodness : 0.998844 Centerline is valid? [True, True] Translation: X:406.05, Y:4.16, Z:6.26 [[ 9.98280932e-01 -5.64726470e-02 -1.56850672e-02 4.06052012e+02] [ 5.64724855e-02 9.98404053e-01 -4.53569909e-04 4.15874656e+00] [ 1.56856489e-02 -4.32984536e-04 9.99876879e-01 6.25781044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.8592541539999 meters Centerline goodness : 0.999138 Centerline is valid? [True, True] Translation: X:406.08, Y:4.16, Z:6.26 [[ 9.98660425e-01 -4.93085532e-02 -1.56851081e-02 4.06083776e+02] [ 4.93075305e-02 9.98783542e-01 -4.52151164e-04 4.16244808e+00] [ 1.56883227e-02 -3.21848471e-04 9.99876879e-01 6.25998384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.88925415399996 meters Centerline goodness : 0.998886 Centerline is valid? [True, True] Translation: X:406.11, Y:4.16, Z:6.26 [[ 9.98830989e-01 -4.57234370e-02 -1.56851416e-02 4.06114612e+02] [ 4.57219907e-02 9.98954101e-01 -4.50984473e-04 4.16452610e+00] [ 1.56893571e-02 -2.66698632e-04 9.99876879e-01 6.26055485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.91925415399993 meters Centerline goodness : 0.998971 Centerline is valid? [True, True] Translation: X:406.15, Y:4.17, Z:6.26 [[ 9.98997036e-01 -4.19392219e-02 -1.56851665e-02 4.06146307e+02] [ 4.19373228e-02 9.99120142e-01 -4.50117159e-04 4.16628010e+00] [ 1.56902434e-02 -2.08128184e-04 9.99876879e-01 6.26111245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.94925415399996 meters Centerline goodness : 0.998927 Centerline is valid? [True, True] Translation: X:406.18, Y:4.17, Z:6.26 [[ 9.99132537e-01 -3.85765229e-02 -1.56851995e-02 4.06178598e+02] [ 3.85742275e-02 9.99255637e-01 -4.48963941e-04 4.16869175e+00] [ 1.56908435e-02 -1.56469974e-04 9.99876879e-01 6.26241281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.97925415399993 meters Centerline goodness : 0.999030 Centerline is valid? [True, True] Translation: X:406.21, Y:4.17, Z:6.26 [[ 9.99357404e-01 -3.22296699e-02 -1.56852325e-02 4.06210805e+02] [ 3.22266108e-02 9.99480488e-01 -4.47810352e-04 4.17105346e+00] [ 1.56915166e-02 -5.79592913e-05 9.99876879e-01 6.26362641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.00925415399996 meters Centerline goodness : 0.998990 Centerline is valid? [True, True] Translation: X:406.24, Y:4.17, Z:6.26 [[ 9.99449558e-01 -2.92327406e-02 -1.56852654e-02 4.06242106e+02] [ 2.92293306e-02 9.99572632e-01 -4.46652380e-04 4.17209155e+00] [ 1.56916189e-02 -1.20632853e-05 9.99876879e-01 6.26361472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.03925415399993 meters Centerline goodness : 0.998990 Centerline is valid? [True, True] Translation: X:406.27, Y:4.17, Z:6.26 [[ 9.99450625e-01 -2.91962274e-02 -1.56852817e-02 4.06273935e+02] [ 2.91928219e-02 9.99573699e-01 -4.46079169e-04 4.17296754e+00] [ 1.56916189e-02 -1.20635321e-05 9.99876879e-01 6.26411426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.06925415399996 meters Centerline goodness : 0.998967 Centerline is valid? [True, True] Translation: X:406.30, Y:4.17, Z:6.26 [[ 9.99510750e-01 -2.70597888e-02 -1.56852980e-02 4.06304913e+02] [ 2.70561293e-02 9.99633817e-01 -4.45506203e-04 4.17399792e+00] [ 1.56916096e-02 2.09047888e-05 9.99876879e-01 6.26437754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.09925415399994 meters Centerline goodness : 0.999050 Centerline is valid? [True, True] Translation: X:406.34, Y:4.17, Z:6.26 [[ 9.99559092e-01 -2.52109650e-02 -1.56853142e-02 4.06335389e+02] [ 2.52070868e-02 9.99682152e-01 -4.44934281e-04 4.17481921e+00] [ 1.56915459e-02 4.93570283e-05 9.99876879e-01 6.26466290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.12925415399997 meters Centerline goodness : 0.998966 Centerline is valid? [True, True] Translation: X:406.37, Y:4.17, Z:6.27 [[ 9.99602903e-01 -2.34095686e-02 -1.56853142e-02 4.06365412e+02] [ 2.34054687e-02 9.99725955e-01 -4.44934281e-04 4.17475223e+00] [ 1.56914315e-02 7.76354681e-05 9.99876879e-01 6.26508706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.15925415399994 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:406.39, Y:4.17, Z:6.27 [[ 9.99602620e-01 -2.34216401e-02 -1.56852981e-02 4.06394360e+02] [ 2.34175327e-02 9.99725673e-01 -4.45502152e-04 4.17469077e+00] [ 1.56914296e-02 7.80141379e-05 9.99876879e-01 6.26538541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.18925415399997 meters Centerline goodness : 0.999031 Centerline is valid? [True, True] Translation: X:406.42, Y:4.17, Z:6.27 [[ 9.99583540e-01 -2.42222800e-02 -1.56852741e-02 4.06424281e+02] [ 2.42182579e-02 9.99706595e-01 -4.46347021e-04 4.17448694e+00] [ 1.56914835e-02 6.62911229e-05 9.99876879e-01 6.26654495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.21925415399994 meters Centerline goodness : 0.999158 Centerline is valid? [True, True] Translation: X:406.45, Y:4.17, Z:6.27 [[ 9.99496086e-01 -2.75961233e-02 -1.56852578e-02 4.06453317e+02] [ 2.75925076e-02 9.99619154e-01 -4.46918903e-04 4.17189493e+00] [ 1.56916173e-02 1.38981008e-05 9.99876879e-01 6.26667483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.24925415399997 meters Centerline goodness : 0.998990 Centerline is valid? [True, True] Translation: X:406.48, Y:4.17, Z:6.27 [[ 9.99420146e-01 -3.02216006e-02 -1.56852334e-02 4.06483907e+02] [ 3.02182949e-02 9.99543223e-01 -4.47770780e-04 4.17059603e+00] [ 1.56916011e-02 -2.64698708e-05 9.99876879e-01 6.26748378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.27925415399994 meters Centerline goodness : 0.999095 Centerline is valid? [True, True] Translation: X:406.52, Y:4.17, Z:6.27 [[ 9.99301934e-01 -3.39060264e-02 -1.56852334e-02 4.06515529e+02] [ 3.39031744e-02 9.99425022e-01 -4.47770780e-04 4.16980933e+00] [ 1.56913969e-02 -8.43209986e-05 9.99876879e-01 6.26843816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.309254154 meters Centerline goodness : 0.998991 Centerline is valid? [True, True] Translation: X:406.55, Y:4.17, Z:6.27 [[ 9.99219643e-01 -3.62498622e-02 -1.56860726e-02 4.06546273e+02] [ 3.62477611e-02 9.99342746e-01 -4.18330311e-04 4.16747776e+00] [ 1.56909273e-02 -1.50581149e-04 9.99876878e-01 6.26736884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.33925415399995 meters Centerline goodness : 0.999013 Centerline is valid? [True, True] Translation: X:406.58, Y:4.17, Z:6.27 [[ 9.99103291e-01 -3.93266765e-02 -1.56852523e-02 4.06577358e+02] [ 3.93245027e-02 9.99226393e-01 -4.47108304e-04 4.16594369e+00] [ 1.56907014e-02 -1.70107369e-04 9.99876879e-01 6.26832518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.369254154 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:406.61, Y:4.16, Z:6.27 [[ 9.98851192e-01 -4.52798966e-02 -1.56852685e-02 4.06608673e+02] [ 4.52784654e-02 9.98974305e-01 -4.46539250e-04 4.16234652e+00] [ 1.56893994e-02 -2.64178624e-04 9.99876879e-01 6.26851971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.39925415399995 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:406.64, Y:4.16, Z:6.27 [[ 9.98725000e-01 -4.79827646e-02 -1.56852927e-02 4.06640817e+02] [ 4.79816800e-02 9.98848116e-01 -4.45687880e-04 4.16022698e+00] [ 1.56886104e-02 -3.07487066e-04 9.99876879e-01 6.26831780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.4292541539999 meters Centerline goodness : 0.998931 Centerline is valid? [True, True] Translation: X:406.67, Y:4.16, Z:6.27 [[ 9.98576656e-01 -5.09767795e-02 -1.56853253e-02 4.06672839e+02] [ 5.09760820e-02 9.98699775e-01 -4.44538010e-04 4.15881815e+00] [ 1.56875919e-02 -3.55671148e-04 9.99876879e-01 6.26925290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.45925415399995 meters Centerline goodness : 0.998995 Centerline is valid? [True, True] Translation: X:406.71, Y:4.16, Z:6.27 [[ 9.98467664e-01 -5.30687697e-02 -1.56853582e-02 4.06705501e+02] [ 5.30683484e-02 9.98590784e-01 -4.43372318e-04 4.15697190e+00] [ 1.56867834e-02 -3.89703133e-04 9.99876879e-01 6.26949088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.4892541539999 meters Centerline goodness : 0.998996 Centerline is valid? [True, True] Translation: X:406.74, Y:4.16, Z:6.27 [[ 9.98379294e-01 -5.47060735e-02 -1.56853909e-02 4.06737174e+02] [ 5.47058723e-02 9.98502415e-01 -4.42213706e-04 4.15531089e+00] [ 1.56860925e-02 -4.16585983e-04 9.99876879e-01 6.26957719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.51925415399995 meters Centerline goodness : 0.998932 Centerline is valid? [True, True] Translation: X:406.77, Y:4.15, Z:6.27 [[ 9.98275475e-01 -5.65689285e-02 -1.56854449e-02 4.06768028e+02] [ 5.65689873e-02 9.98398596e-01 -4.40289156e-04 4.15152386e+00] [ 1.56852329e-02 -4.47779869e-04 9.99876879e-01 6.26949395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.5492541539999 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:406.80, Y:4.15, Z:6.27 [[ 9.98268931e-01 -5.66842705e-02 -1.56854687e-02 4.06800633e+02] [ 5.66843569e-02 9.98392053e-01 -4.39438950e-04 4.15053065e+00] [ 1.56851566e-02 -4.50442456e-04 9.99876879e-01 6.27065534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.57925415399995 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:406.83, Y:4.15, Z:6.27 [[ 9.98297334e-01 -5.61818216e-02 -1.56855016e-02 4.06831494e+02] [ 5.61818645e-02 9.98420456e-01 -4.38263236e-04 4.14994120e+00] [ 1.56853481e-02 -4.43723703e-04 9.99876879e-01 6.27066706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.6092541539999 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:406.87, Y:4.15, Z:6.27 [[ 9.98373595e-01 -5.48099282e-02 -1.56855260e-02 4.06865499e+02] [ 5.48098156e-02 9.98496716e-01 -4.37388133e-04 4.14891676e+00] [ 1.56859194e-02 -4.23044024e-04 9.99876879e-01 6.27372235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.63925415399996 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:406.89, Y:4.15, Z:6.27 [[ 9.98578250e-01 -5.09443658e-02 -1.56891902e-02 4.06893377e+02] [ 5.09458455e-02 9.98701371e-01 -3.05606871e-04 4.14689690e+00] [ 1.56843847e-02 -4.94126688e-04 9.99876870e-01 6.27047773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.66925415399993 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:406.93, Y:4.15, Z:6.27 [[ 9.98715149e-01 -4.81873109e-02 -1.56854674e-02 4.06925322e+02] [ 4.81863609e-02 9.98838266e-01 -4.38715949e-04 4.14637500e+00] [ 1.56883856e-02 -3.17673326e-04 9.99876879e-01 6.27090573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.69925415399996 meters Centerline goodness : 0.997159 Centerline is valid? [True, True] Translation: X:406.96, Y:4.14, Z:6.27 [[ 9.99018375e-01 -4.14276549e-02 -1.56854996e-02 4.06957078e+02] [ 4.14258899e-02 9.99141484e-01 -4.37560090e-04 4.14475596e+00] [ 1.56901604e-02 -2.12655209e-04 9.99876879e-01 6.27054767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.72925415399993 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:406.99, Y:4.14, Z:6.27 [[ 9.99114131e-01 -3.90506878e-02 -1.56842778e-02 4.06988063e+02] [ 3.90479450e-02 9.99237222e-01 -4.81194045e-04 4.14470277e+00] [ 1.56911052e-02 -1.31671047e-04 9.99876878e-01 6.27154648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.75925415399996 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:407.02, Y:4.14, Z:6.27 [[ 9.99220306e-01 -3.62318345e-02 -1.56854614e-02 4.07018344e+02] [ 3.62294084e-02 9.99343403e-01 -4.38896735e-04 4.14412500e+00] [ 1.56910644e-02 -1.29720456e-04 9.99876879e-01 6.27133722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.78925415399993 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:407.05, Y:4.14, Z:6.27 [[ 9.99301842e-01 -3.39086302e-02 -1.56854693e-02 4.07049854e+02] [ 3.39059223e-02 9.99424933e-01 -4.38611365e-04 4.14376482e+00] [ 1.56913219e-02 -9.35251595e-05 9.99876879e-01 6.27186779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.81925415399996 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:407.08, Y:4.14, Z:6.27 [[ 9.99382831e-01 -3.14312386e-02 -1.56854853e-02 4.07080219e+02] [ 3.14282345e-02 9.99505915e-01 -4.38041026e-04 4.14223327e+00] [ 1.56915035e-02 -5.51964292e-05 9.99876879e-01 6.27166961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.84925415399994 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:407.11, Y:4.14, Z:6.27 [[ 9.99388963e-01 -3.12356677e-02 -1.56854853e-02 4.07110186e+02] [ 3.12326395e-02 9.99512046e-01 -4.38041026e-04 4.14163666e+00] [ 1.56915140e-02 -5.21257407e-05 9.99876879e-01 6.27148391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.87925415399997 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:407.14, Y:4.14, Z:6.27 [[ 9.99369700e-01 -3.18460263e-02 -1.56854691e-02 4.07139884e+02] [ 3.18430642e-02 9.99492785e-01 -4.38619359e-04 4.14064206e+00] [ 1.56914815e-02 -6.11305035e-05 9.99876879e-01 6.27097465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.90925415399994 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:407.17, Y:4.14, Z:6.27 [[ 9.99331251e-01 -3.30305524e-02 -1.56854530e-02 4.07169206e+02] [ 3.30277272e-02 9.99454339e-01 -4.39195507e-04 4.13958476e+00] [ 1.56914009e-02 -7.91530658e-05 9.99876879e-01 6.27091257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.93925415399997 meters Centerline goodness : 0.998996 Centerline is valid? [True, True] Translation: X:407.20, Y:4.14, Z:6.27 [[ 9.99274245e-01 -3.47123812e-02 -1.56854368e-02 4.07198994e+02] [ 3.47097541e-02 9.99397338e-01 -4.39773276e-04 4.13843768e+00] [ 1.56912493e-02 -1.04983544e-04 9.99876879e-01 6.27096772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.96925415399994 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:407.23, Y:4.13, Z:6.27 [[ 9.99154472e-01 -3.80040584e-02 -1.56854205e-02 4.07228794e+02] [ 3.80018278e-02 9.99277573e-01 -4.40351045e-04 4.13495510e+00] [ 1.56908241e-02 -1.56095934e-04 9.99876879e-01 6.27102560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.99925415399997 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:407.26, Y:4.13, Z:6.27 [[ 9.99090041e-01 -3.96617907e-02 -1.56854125e-02 4.07259631e+02] [ 3.96597598e-02 9.99213145e-01 -4.40637661e-04 4.13381274e+00] [ 1.56905468e-02 -1.81842993e-04 9.99876879e-01 6.27223916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.02925415399994 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:407.29, Y:4.13, Z:6.27 [[ 9.99033540e-01 -4.10603756e-02 -1.56854125e-02 4.07290217e+02] [ 4.10585170e-02 9.99156646e-01 -4.40637661e-04 4.13268373e+00] [ 1.56902769e-02 -2.03807974e-04 9.99876879e-01 6.27233322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.059254154 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:407.32, Y:4.13, Z:6.27 [[ 9.98974139e-01 -4.24810186e-02 -1.56854205e-02 4.07321714e+02] [ 4.24793395e-02 9.99097248e-01 -4.40354261e-04 4.13223523e+00] [ 1.56899671e-02 -2.26403782e-04 9.99876879e-01 6.27407978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.08925415399995 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:407.35, Y:4.13, Z:6.27 [[ 9.98937564e-01 -4.33325503e-02 -1.56854364e-02 4.07353113e+02] [ 4.33309852e-02 9.99060675e-01 -4.39784471e-04 4.13142501e+00] [ 1.56897597e-02 -2.40348185e-04 9.99876879e-01 6.27480142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.119254154 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:407.38, Y:4.13, Z:6.28 [[ 9.98896961e-01 -4.42586533e-02 -1.56854523e-02 4.07384874e+02] [ 4.42572112e-02 9.99020073e-01 -4.39219326e-04 4.12910689e+00] [ 1.56895209e-02 -2.55459522e-04 9.99876879e-01 6.27612180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.14925415399995 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:407.42, Y:4.13, Z:6.28 [[ 9.98890298e-01 -4.44087606e-02 -1.56854681e-02 4.07416568e+02] [ 4.44073459e-02 9.99013411e-01 -4.38652138e-04 4.12870788e+00] [ 1.56894730e-02 -2.58384642e-04 9.99876879e-01 6.27706155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.1792541539999 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:407.45, Y:4.13, Z:6.28 [[ 9.98920093e-01 -4.37334451e-02 -1.56854840e-02 4.07446875e+02] [ 4.37319560e-02 9.99043204e-01 -4.38083680e-04 4.12797958e+00] [ 1.56896351e-02 -2.48346306e-04 9.99876879e-01 6.27786438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.20925415399995 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:407.48, Y:4.13, Z:6.28 [[ 9.99020969e-01 -4.13650801e-02 -1.56854919e-02 4.07476581e+02] [ 4.13633036e-02 9.99144076e-01 -4.37801568e-04 4.12654234e+00] [ 1.56901760e-02 -2.11430816e-04 9.99876879e-01 6.27938264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.2392541539999 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:407.51, Y:4.13, Z:6.28 [[ 9.99090984e-01 -3.96380127e-02 -1.56854910e-02 4.07507358e+02] [ 3.96360229e-02 9.99214088e-01 -4.37832662e-04 4.12662793e+00] [ 1.56905184e-02 -1.84275816e-04 9.99876879e-01 6.28106393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.26925415399995 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:407.54, Y:4.13, Z:6.28 [[ 9.99163784e-01 -3.77584312e-02 -1.56854910e-02 4.07537125e+02] [ 3.77562098e-02 9.99286884e-01 -4.37832662e-04 4.12667403e+00] [ 1.56908373e-02 -1.54758150e-04 9.99876879e-01 6.28153598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.2992541539999 meters Centerline goodness : 0.996931 Centerline is valid? [True, True] Translation: X:407.57, Y:4.13, Z:6.28 [[ 9.99290815e-01 -3.42320442e-02 -1.56854831e-02 4.07565384e+02] [ 3.42293839e-02 9.99413907e-01 -4.38116655e-04 4.12728087e+00] [ 1.56912875e-02 -9.90984719e-05 9.99876879e-01 6.27864270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.32925415399995 meters Centerline goodness : 0.999729 Centerline is valid? [True, True] Translation: X:407.60, Y:4.12, Z:6.28 [[ 9.99424301e-01 -3.00860533e-02 -1.56810874e-02 4.07595032e+02] [ 3.00804425e-02 9.99547305e-01 -5.93602967e-04 4.12412035e+00] [ 1.56918478e-02 1.21567184e-04 9.99876868e-01 6.28182882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.3592541539999 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:407.62, Y:4.12, Z:6.28 [[ 9.99431539e-01 -2.98432264e-02 -1.56837780e-02 4.07624878e+02] [ 2.98391290e-02 9.99554591e-01 -4.95252128e-04 4.12344783e+00] [ 1.56915722e-02 2.69803220e-05 9.99876879e-01 6.28410280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.38925415399996 meters Centerline goodness : 0.999687 Centerline is valid? [True, True] Translation: X:407.65, Y:4.12, Z:6.28 [[ 9.99475044e-01 -2.83478353e-02 -1.56855763e-02 4.07653098e+02] [ 2.83445841e-02 9.99598119e-01 -4.29591852e-04 4.12238034e+00] [ 1.56914506e-02 -1.52348027e-05 9.99876881e-01 6.28462246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.41925415399993 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:407.68, Y:4.12, Z:6.28 [[ 9.99527429e-01 -2.64363777e-02 -1.56855526e-02 4.07680740e+02] [ 2.64328776e-02 9.99650498e-01 -4.30456906e-04 4.11943440e+00] [ 1.56914502e-02 1.56391925e-05 9.99876881e-01 6.28454640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.44925415399996 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:407.71, Y:4.12, Z:6.29 [[ 9.99531409e-01 -2.62855038e-02 -1.56855133e-02 4.07708810e+02] [ 2.62819627e-02 9.99654476e-01 -4.31882690e-04 4.11861913e+00] [ 1.56914459e-02 1.94342370e-05 9.99876881e-01 6.28522465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.47925415399993 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:407.74, Y:4.12, Z:6.29 [[ 9.99529571e-01 -2.63553508e-02 -1.56853838e-02 4.07736387e+02] [ 2.63517453e-02 9.99652637e-01 -4.36537708e-04 4.11762943e+00] [ 1.56914404e-02 2.29951097e-05 9.99876882e-01 6.28517063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.50925415399996 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:407.76, Y:4.12, Z:6.28 [[ 9.99518471e-01 -2.67731127e-02 -1.56852532e-02 4.07763990e+02] [ 2.67694858e-02 9.99641536e-01 -4.41181285e-04 4.11645283e+00] [ 1.56914424e-02 2.10826817e-05 9.99876882e-01 6.28472703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.53925415399993 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:407.79, Y:4.12, Z:6.28 [[ 9.99495361e-01 -2.76224034e-02 -1.56852126e-02 4.07792533e+02] [ 2.76188585e-02 9.99618429e-01 -4.42617780e-04 4.11516805e+00] [ 1.56914538e-02 9.18675008e-06 9.99876882e-01 6.28452644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.56925415399996 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:407.82, Y:4.11, Z:6.28 [[ 9.99391559e-01 -3.11526812e-02 -1.56850987e-02 4.07821084e+02] [ 3.11495082e-02 9.99514637e-01 -4.46618391e-04 4.11140112e+00] [ 1.56913991e-02 -4.22364612e-05 9.99876882e-01 6.28429451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.59925415399994 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:407.85, Y:4.11, Z:6.29 [[ 9.99300137e-01 -3.39590609e-02 -1.56849844e-02 4.07849588e+02] [ 3.39561711e-02 9.99423221e-01 -4.50596825e-04 4.10994406e+00] [ 1.56912395e-02 -8.23205461e-05 9.99876882e-01 6.28506286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.62925415399997 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:407.88, Y:4.11, Z:6.29 [[ 9.99183516e-01 -3.72328638e-02 -1.56848662e-02 4.07878047e+02] [ 3.72303133e-02 9.99306608e-01 -4.54675913e-04 4.10861227e+00] [ 1.56909193e-02 -1.29647805e-04 9.99876882e-01 6.28531779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.65925415399994 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:407.91, Y:4.11, Z:6.29 [[ 9.99029246e-01 -4.11649186e-02 -1.56848410e-02 4.07907266e+02] [ 4.11628389e-02 9.99152347e-01 -4.55542610e-04 4.10719306e+00] [ 1.56902981e-02 -1.90532193e-04 9.99876882e-01 6.28591811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.68925415399997 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:407.94, Y:4.11, Z:6.29 [[ 9.98852839e-01 -4.52437282e-02 -1.56847236e-02 4.07935866e+02] [ 4.52420883e-02 9.98975947e-01 -4.59548700e-04 4.10567687e+00] [ 1.56894533e-02 -2.50588127e-04 9.99876882e-01 6.28580269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.71925415399994 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:407.97, Y:4.10, Z:6.29 [[ 9.98403179e-01 -5.42686223e-02 -1.56846987e-02 4.07965731e+02] [ 5.42680816e-02 9.98526296e-01 -4.60399459e-04 4.10131562e+00] [ 1.56865693e-02 -3.91514224e-04 9.99876882e-01 6.28899405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.74925415399997 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:408.00, Y:4.10, Z:6.29 [[ 9.98149544e-01 -5.87492819e-02 -1.56846817e-02 4.07995962e+02] [ 5.87492848e-02 9.98272663e-01 -4.60976139e-04 4.09985876e+00] [ 1.56846710e-02 -4.61340710e-04 9.99876882e-01 6.28952130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.77925415399994 meters Centerline goodness : 0.999644 Centerline is valid? [True, True] Translation: X:408.03, Y:4.10, Z:6.29 [[ 9.97902266e-01 -6.28096996e-02 -1.56846901e-02 4.08027597e+02] [ 6.28102078e-02 9.98025383e-01 -4.60689589e-04 4.09872989e+00] [ 1.56826547e-02 -5.25435462e-04 9.99876882e-01 6.29064847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.809254154 meters Centerline goodness : 0.999644 Centerline is valid? [True, True] Translation: X:408.06, Y:4.10, Z:6.29 [[ 9.97377792e-01 -7.06507661e-02 -1.56847072e-02 4.08058638e+02] [ 7.06522511e-02 9.97500901e-01 -4.60108538e-04 4.09691087e+00] [ 1.56780166e-02 -6.49257832e-04 9.99876882e-01 6.29168229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.83925415399995 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:408.09, Y:4.10, Z:6.29 [[ 9.97149032e-01 -7.38091911e-02 -1.56847242e-02 4.08088878e+02] [ 7.38110751e-02 9.97272136e-01 -4.59527993e-04 4.09630356e+00] [ 1.56758558e-02 -6.99488460e-04 9.99876882e-01 6.29126203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.869254154 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:408.12, Y:4.10, Z:6.29 [[ 9.96880189e-01 -7.73555348e-02 -1.56847326e-02 4.08121316e+02] [ 7.73578612e-02 9.97003285e-01 -4.59239679e-04 4.09611552e+00] [ 1.56732547e-02 -7.55530431e-04 9.99876882e-01 6.29275295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.89925415399995 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:408.15, Y:4.10, Z:6.29 [[ 9.96628384e-01 -8.05347883e-02 -1.56847671e-02 4.08152165e+02] [ 8.05375258e-02 9.96751472e-01 -4.58059991e-04 4.09575644e+00] [ 1.56707044e-02 -8.06696745e-04 9.99876882e-01 6.29301641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.9292541539999 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:408.18, Y:4.10, Z:6.29 [[ 9.96631357e-01 -8.04979876e-02 -1.56847756e-02 4.08183988e+02] [ 8.05007252e-02 9.96754445e-01 -4.57767441e-04 4.09665517e+00] [ 1.56707192e-02 -8.06410425e-04 9.99876882e-01 6.29351597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.95925415399995 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:408.22, Y:4.10, Z:6.29 [[ 9.96098622e-01 -8.68419393e-02 -1.56847925e-02 4.08215488e+02] [ 8.68454696e-02 9.96221690e-01 -4.57188279e-04 4.09584606e+00] [ 1.56652336e-02 -9.06748556e-04 9.99876882e-01 6.29321553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.9892541539999 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:408.25, Y:4.10, Z:6.29 [[ 9.95694821e-01 -9.13554039e-02 -1.56848095e-02 4.08245652e+02] [ 9.13595011e-02 9.95817871e-01 -4.56603917e-04 4.09828825e+00] [ 1.56609269e-02 -9.78318217e-04 9.99876882e-01 6.29178385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.01925415399995 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:408.28, Y:4.10, Z:6.29 [[ 9.95664455e-01 -9.16860605e-02 -1.56831155e-02 4.08276792e+02] [ 9.16892855e-02 9.95787533e-01 -5.14790804e-04 4.09659185e+00] [ 1.56642501e-02 -9.25414754e-04 9.99876880e-01 6.29401174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.0492541539999 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:408.31, Y:4.10, Z:6.29 [[ 9.95489041e-01 -9.35711216e-02 -1.56848451e-02 4.08308823e+02] [ 9.35755147e-02 9.95612081e-01 -4.55196891e-04 4.09765621e+00] [ 1.56586145e-02 -1.01457393e-03 9.99876882e-01 6.29446299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.07925415399995 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:408.34, Y:4.10, Z:6.29 [[ 9.95222857e-01 -9.63610404e-02 -1.56848793e-02 4.08340425e+02] [ 9.63657969e-02 9.95345883e-01 -4.54014975e-04 4.09966827e+00] [ 1.56556294e-02 -1.05963981e-03 9.99876882e-01 6.29418891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.1092541539999 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:408.37, Y:4.10, Z:6.29 [[ 9.95171883e-01 -9.68860547e-02 -1.56849048e-02 4.08372289e+02] [ 9.68908899e-02 9.95294906e-01 -4.53133544e-04 4.10192830e+00] [ 1.56550081e-02 -1.06877862e-03 9.99876882e-01 6.29491844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.13925415399996 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:408.40, Y:4.10, Z:6.30 [[ 9.95156859e-01 -9.70402414e-02 -1.56849388e-02 4.08404741e+02] [ 9.70451142e-02 9.95279881e-01 -4.51951759e-04 4.10465448e+00] [ 1.56547615e-02 -1.07238378e-03 9.99876882e-01 6.29586243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.16925415399993 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:408.44, Y:4.11, Z:6.30 [[ 9.95202769e-01 -9.65682672e-02 -1.56849726e-02 4.08435361e+02] [ 9.65731001e-02 9.95325792e-01 -4.50774917e-04 4.10746844e+00] [ 1.56551884e-02 -1.06613399e-03 9.99876882e-01 6.29579308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.19925415399996 meters Centerline goodness : 0.999750 Centerline is valid? [True, True] Translation: X:408.47, Y:4.11, Z:6.30 [[ 9.95286035e-01 -9.57062674e-02 -1.56849978e-02 4.08467139e+02] [ 9.57110076e-02 9.95409062e-01 -4.49897350e-04 4.11011390e+00] [ 1.56560469e-02 -1.05345039e-03 9.99876882e-01 6.29608680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.22925415399993 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:408.50, Y:4.12, Z:6.30 [[ 9.95422452e-01 -9.42768338e-02 -1.56850311e-02 4.08499331e+02] [ 9.42814155e-02 9.95545485e-01 -4.48733840e-04 4.11510523e+00] [ 1.56574671e-02 -1.03212719e-03 9.99876882e-01 6.29661204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.25925415399996 meters Centerline goodness : 0.999498 Centerline is valid? [True, True] Translation: X:408.53, Y:4.12, Z:6.30 [[ 9.95479036e-01 -9.36774653e-02 -1.56850644e-02 4.08531711e+02] [ 9.36819913e-02 9.95602071e-01 -4.47565495e-04 4.11842113e+00] [ 1.56580094e-02 -1.02386600e-03 9.99876882e-01 6.29689749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.28925415399993 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:408.56, Y:4.12, Z:6.30 [[ 9.95523975e-01 -9.31986713e-02 -1.56850976e-02 4.08562828e+02] [ 9.32031564e-02 9.95647012e-01 -4.46399315e-04 4.12214431e+00] [ 1.56584244e-02 -1.01749939e-03 9.99876882e-01 6.29691353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.31925415399996 meters Centerline goodness : 0.999562 Centerline is valid? [True, True] Translation: X:408.59, Y:4.13, Z:6.30 [[ 9.95606589e-01 -9.23119503e-02 -1.56851223e-02 4.08594732e+02] [ 9.23163395e-02 9.95729629e-01 -4.45529555e-04 4.12862685e+00] [ 1.56592687e-02 -1.00442092e-03 9.99876882e-01 6.29805834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.34925415399994 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:408.63, Y:4.13, Z:6.30 [[ 9.95643325e-01 -9.19148839e-02 -1.56851553e-02 4.08626855e+02] [ 9.19192423e-02 9.95766366e-01 -4.44364386e-04 4.13221822e+00] [ 1.56595938e-02 -9.99339158e-04 9.99876882e-01 6.29867632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.37925415399997 meters Centerline goodness : 0.999434 Centerline is valid? [True, True] Translation: X:408.66, Y:4.14, Z:6.30 [[ 9.95672556e-01 -9.15976862e-02 -1.56851883e-02 4.08659272e+02] [ 9.16020237e-02 9.95795598e-01 -4.43197050e-04 4.13563532e+00] [ 1.56598373e-02 -9.95515852e-04 9.99876882e-01 6.29914214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.40925415399994 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:408.69, Y:4.14, Z:6.30 [[ 9.95706154e-01 -9.12317345e-02 -1.56852211e-02 4.08690897e+02] [ 9.12360450e-02 9.95829197e-01 -4.42034033e-04 4.13937321e+00] [ 1.56601286e-02 -9.90921531e-04 9.99876882e-01 6.30051436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.43925415399997 meters Centerline goodness : 0.999729 Centerline is valid? [True, True] Translation: X:408.72, Y:4.15, Z:6.30 [[ 9.95796559e-01 -9.02396025e-02 -1.56852540e-02 4.08723298e+02] [ 9.02438088e-02 9.95919606e-01 -4.40863876e-04 4.14644510e+00] [ 1.56610353e-02 -9.76486329e-04 9.99876882e-01 6.30227322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.46925415399994 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:408.75, Y:4.15, Z:6.30 [[ 9.95832245e-01 -8.98449304e-02 -1.56852865e-02 4.08754992e+02] [ 8.98491061e-02 9.95955293e-01 -4.39704139e-04 4.15057715e+00] [ 1.56613493e-02 -9.71437410e-04 9.99876882e-01 6.30307550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.49925415399997 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:408.79, Y:4.15, Z:6.30 [[ 9.95906560e-01 -8.90173831e-02 -1.56853188e-02 4.08786898e+02] [ 8.90214747e-02 9.96029610e-01 -4.38547793e-04 4.15433363e+00] [ 1.56620804e-02 -9.59577589e-04 9.99876882e-01 6.30417167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.52925415399994 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:408.82, Y:4.16, Z:6.30 [[ 9.95967206e-01 -8.83362558e-02 -1.56853512e-02 4.08818168e+02] [ 8.83402815e-02 9.96090259e-01 -4.37388051e-04 4.15827539e+00] [ 1.56626627e-02 -9.50024181e-04 9.99876882e-01 6.30450368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.559254154 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:408.85, Y:4.17, Z:6.31 [[ 9.96178208e-01 -8.59240743e-02 -1.56853752e-02 4.08849848e+02] [ 8.59278155e-02 9.96301270e-01 -4.36523532e-04 4.16526984e+00] [ 1.56648671e-02 -9.12954797e-04 9.99876882e-01 6.30615128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.58925415399995 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:408.88, Y:4.17, Z:6.31 [[ 9.96281371e-01 -8.47195267e-02 -1.56854077e-02 4.08880657e+02] [ 8.47231375e-02 9.96404436e-01 -4.35352208e-04 4.16946581e+00] [ 1.56658927e-02 -8.95183662e-04 9.99876882e-01 6.30573611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.619254154 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:408.91, Y:4.17, Z:6.31 [[ 9.96450229e-01 -8.27097823e-02 -1.56854318e-02 4.08911611e+02] [ 8.27131585e-02 9.96573301e-01 -4.34481954e-04 4.17321785e+00] [ 1.56676185e-02 -8.64451966e-04 9.99876882e-01 6.30639887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.64925415399995 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:408.94, Y:4.18, Z:6.31 [[ 9.96628620e-01 -8.05317314e-02 -1.56854825e-02 4.08944835e+02] [ 8.05348675e-02 9.96751698e-01 -4.32646598e-04 4.17704731e+00] [ 1.56693731e-02 -8.32040269e-04 9.99876882e-01 6.30818959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.6792541539999 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:408.98, Y:4.18, Z:6.31 [[ 9.97022384e-01 -7.55005255e-02 -1.56855295e-02 4.08977227e+02] [ 7.55030672e-02 9.97145476e-01 -4.30934179e-04 4.18379972e+00] [ 1.56732905e-02 -7.54654565e-04 9.99876882e-01 6.30880486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.70925415399995 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:409.01, Y:4.19, Z:6.31 [[ 9.97230395e-01 -7.27014625e-02 -1.56855606e-02 4.09009452e+02] [ 7.27036764e-02 9.97353493e-01 -4.29800168e-04 4.18771366e+00] [ 1.56752957e-02 -7.11788128e-04 9.99876882e-01 6.31017554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.7392541539999 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:409.04, Y:4.19, Z:6.31 [[ 9.97456234e-01 -6.95343325e-02 -1.56855923e-02 4.09040821e+02] [ 6.95361738e-02 9.97579339e-01 -4.28638263e-04 4.19144851e+00] [ 1.56774279e-02 -6.63168166e-04 9.99876882e-01 6.31055271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.76925415399995 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:409.07, Y:4.20, Z:6.31 [[ 9.97689362e-01 -6.61052060e-02 -1.56856159e-02 4.09072918e+02] [ 6.61066377e-02 9.97812472e-01 -4.27772144e-04 4.19527817e+00] [ 1.56795812e-02 -6.10139613e-04 9.99876882e-01 6.31143013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.7992541539999 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:409.11, Y:4.20, Z:6.31 [[ 9.98119277e-01 -5.92610315e-02 -1.56856477e-02 4.09105362e+02] [ 5.92616371e-02 9.98242394e-01 -4.26604133e-04 4.20142361e+00] [ 1.56833595e-02 -5.03755354e-04 9.99876882e-01 6.31157576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.82925415399995 meters Centerline goodness : 0.999247 Centerline is valid? [True, True] Translation: X:409.14, Y:4.20, Z:6.31 [[ 9.98326583e-01 -5.56596188e-02 -1.56856792e-02 4.09137808e+02] [ 5.56597984e-02 9.98449701e-01 -4.25442222e-04 4.20466757e+00] [ 1.56850417e-02 -4.48331464e-04 9.99876882e-01 6.31178158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.8592541539999 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:409.17, Y:4.21, Z:6.31 [[ 9.98502162e-01 -5.24155548e-02 -1.56857106e-02 4.09169713e+02] [ 5.24153527e-02 9.98625280e-01 -4.24281447e-04 4.20776507e+00] [ 1.56863861e-02 -3.98526112e-04 9.99876882e-01 6.31228015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.88925415399996 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:409.20, Y:4.21, Z:6.31 [[ 9.98657504e-01 -4.93674680e-02 -1.56857419e-02 4.09201856e+02] [ 4.93669083e-02 9.98780621e-01 -4.23121172e-04 4.21067454e+00] [ 1.56875035e-02 -3.51803449e-04 9.99876882e-01 6.31252998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.91925415399993 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:409.23, Y:4.22, Z:6.31 [[ 9.98875058e-01 -4.47501397e-02 -1.56857729e-02 4.09233188e+02] [ 4.47490289e-02 9.98998171e-01 -4.21969529e-04 4.21570527e+00] [ 1.56889416e-02 -2.80428267e-04 9.99876882e-01 6.31174629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.94925415399996 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:409.27, Y:4.22, Z:6.31 [[ 9.98944000e-01 -4.31837920e-02 -1.56857959e-02 4.09265206e+02] [ 4.31825016e-02 9.99067112e-01 -4.21111475e-04 4.21833558e+00] [ 1.56893480e-02 -2.56685127e-04 9.99876882e-01 6.31364758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.97925415399993 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:409.30, Y:4.22, Z:6.31 [[ 9.99005566e-01 -4.17352877e-02 -1.56858272e-02 4.09295933e+02] [ 4.17338371e-02 9.99128676e-01 -4.19944733e-04 4.22042834e+00] [ 1.56896862e-02 -2.35102630e-04 9.99876882e-01 6.31360534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.00925415399996 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:409.33, Y:4.22, Z:6.31 [[ 9.99016142e-01 -4.14813501e-02 -1.56858504e-02 4.09327833e+02] [ 4.14798819e-02 9.99139251e-01 -4.19075308e-04 4.22232318e+00] [ 1.56897326e-02 -2.31984225e-04 9.99876882e-01 6.31348844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.03925415399993 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:409.36, Y:4.22, Z:6.31 [[ 9.99015050e-01 -4.15076361e-02 -1.56858809e-02 4.09359970e+02] [ 4.15061891e-02 9.99138159e-01 -4.17929099e-04 4.22377239e+00] [ 1.56897095e-02 -2.33543681e-04 9.99876882e-01 6.31413872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.06925415399996 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:409.39, Y:4.23, Z:6.31 [[ 9.98935329e-01 -4.33838666e-02 -1.56859119e-02 4.09390933e+02] [ 4.33826691e-02 9.99058442e-01 -4.16762727e-04 4.22573366e+00] [ 1.56892235e-02 -2.64177715e-04 9.99876882e-01 6.31437589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.09925415399994 meters Centerline goodness : 0.999079 Centerline is valid? [True, True] Translation: X:409.42, Y:4.23, Z:6.31 [[ 9.98853155e-01 -4.52363294e-02 -1.56859630e-02 4.09423248e+02] [ 4.52353905e-02 9.98976270e-01 -4.14831573e-04 4.22700094e+00] [ 1.56886703e-02 -2.95204837e-04 9.99876882e-01 6.31499702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.12925415399997 meters Centerline goodness : 0.998913 Centerline is valid? [True, True] Translation: X:409.45, Y:4.23, Z:6.32 [[ 9.98748252e-01 -4.74961018e-02 -1.56859938e-02 4.09454784e+02] [ 4.74954598e-02 9.98871368e-01 -4.13664818e-04 4.22842749e+00] [ 1.56879375e-02 -3.31866473e-04 9.99876882e-01 6.31531083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.15925415399994 meters Centerline goodness : 0.998911 Centerline is valid? [True, True] Translation: X:409.49, Y:4.23, Z:6.32 [[ 9.98470003e-01 -5.30245489e-02 -1.56860166e-02 4.09486501e+02] [ 5.30246021e-02 9.98593121e-01 -4.12796984e-04 4.22982761e+00] [ 1.56858367e-02 -4.19579384e-04 9.99876882e-01 6.31655978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.18925415399997 meters Centerline goodness : 0.999079 Centerline is valid? [True, True] Translation: X:409.52, Y:4.23, Z:6.32 [[ 9.98295543e-01 -5.62134853e-02 -1.56860473e-02 4.09517589e+02] [ 5.62139501e-02 9.98418661e-01 -4.11629075e-04 4.23063043e+00] [ 1.56843814e-02 -4.70847208e-04 9.99876882e-01 6.31636145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.21925415399994 meters Centerline goodness : 0.999038 Centerline is valid? [True, True] Translation: X:409.55, Y:4.23, Z:6.32 [[ 9.98133910e-01 -5.90139402e-02 -1.56860700e-02 4.09549533e+02] [ 5.90147641e-02 9.98257025e-01 -4.10759638e-04 4.23102304e+00] [ 1.56829702e-02 -5.15716599e-04 9.99876882e-01 6.31691105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.24925415399997 meters Centerline goodness : 0.998997 Centerline is valid? [True, True] Translation: X:409.58, Y:4.23, Z:6.32 [[ 9.97970022e-01 -6.17234222e-02 -1.56861001e-02 4.09582060e+02] [ 6.17245984e-02 9.98093135e-01 -4.09607603e-04 4.23137462e+00] [ 1.56814712e-02 -5.59442121e-04 9.99876882e-01 6.31713773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.27925415399994 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:409.61, Y:4.23, Z:6.32 [[ 9.97839323e-01 -6.38015028e-02 -1.56861301e-02 4.09614320e+02] [ 6.38029534e-02 9.97962432e-01 -4.08456557e-04 4.22992579e+00] [ 1.56802287e-02 -5.93247413e-04 9.99876882e-01 6.31811390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.309254154 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:409.65, Y:4.23, Z:6.32 [[ 9.97624011e-01 -6.70841108e-02 -1.56861606e-02 4.09646394e+02] [ 6.70859849e-02 9.97747115e-01 -4.07279626e-04 4.23228570e+00] [ 1.56781435e-02 -6.46009603e-04 9.99876882e-01 6.31972155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.33925415399995 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:409.68, Y:4.23, Z:6.32 [[ 9.97431189e-01 -6.98925357e-02 -1.56861908e-02 4.09678026e+02] [ 6.98947747e-02 9.97554287e-01 -4.06116536e-04 4.23440990e+00] [ 1.56762113e-02 -6.91309469e-04 9.99876882e-01 6.31832031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.369254154 meters Centerline goodness : 0.999062 Centerline is valid? [True, True] Translation: X:409.71, Y:4.24, Z:6.32 [[ 9.97336250e-01 -7.12344422e-02 -1.56862359e-02 4.09711484e+02] [ 7.12368742e-02 9.97459345e-01 -4.04365303e-04 4.23537967e+00] [ 1.56751873e-02 -7.14150239e-04 9.99876882e-01 6.31908391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.39925415399995 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:409.74, Y:4.24, Z:6.32 [[ 9.97138179e-01 -7.39553406e-02 -1.56862805e-02 4.09743535e+02] [ 7.39581358e-02 9.97261266e-01 -4.02626214e-04 4.23825543e+00] [ 1.56730963e-02 -7.58654096e-04 9.99876882e-01 6.32071834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.4292541539999 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:409.77, Y:4.24, Z:6.32 [[ 9.96801413e-01 -7.83637084e-02 -1.56866821e-02 4.09771821e+02] [ 7.83672950e-02 9.96924479e-01 -3.86877600e-04 4.24136632e+00] [ 1.56687545e-02 -8.43682705e-04 9.99876882e-01 6.31878817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.45925415399995 meters Centerline goodness : 0.999247 Centerline is valid? [True, True] Translation: X:409.80, Y:4.24, Z:6.32 [[ 9.96998208e-01 -7.58194808e-02 -1.56837101e-02 4.09804955e+02] [ 7.58209444e-02 9.97121323e-01 -5.02124621e-04 4.23844424e+00] [ 1.56766326e-02 -6.88536363e-04 9.99876877e-01 6.31934953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.4892541539999 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:409.84, Y:4.24, Z:6.32 [[ 9.96946229e-01 -7.64993810e-02 -1.56863117e-02 4.09838229e+02] [ 7.65025292e-02 9.97069307e-01 -4.00141277e-04 4.23959489e+00] [ 1.56709505e-02 -8.01123179e-04 9.99876882e-01 6.32136765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.51925415399995 meters Centerline goodness : 0.998914 Centerline is valid? [True, True] Translation: X:409.87, Y:4.24, Z:6.32 [[ 9.96913660e-01 -7.69226452e-02 -1.56863566e-02 4.09870405e+02] [ 7.69258734e-02 9.97036735e-01 -3.98372991e-04 4.24131907e+00] [ 1.56705176e-02 -8.09543204e-04 9.99876882e-01 6.32150257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.5492541539999 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:409.90, Y:4.24, Z:6.32 [[ 9.96920957e-01 -7.68280027e-02 -1.56863937e-02 4.09902226e+02] [ 7.68312423e-02 9.97044032e-01 -3.96906920e-04 4.24428027e+00] [ 1.56705188e-02 -8.09520286e-04 9.99876882e-01 6.32180645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.57925415399995 meters Centerline goodness : 0.999058 Centerline is valid? [True, True] Translation: X:409.93, Y:4.25, Z:6.32 [[ 9.96965361e-01 -7.62496265e-02 -1.56864228e-02 4.09933766e+02] [ 7.62528128e-02 9.97088437e-01 -3.95749864e-04 4.24587594e+00] [ 1.56709266e-02 -8.01584959e-04 9.99876882e-01 6.32160499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.6092541539999 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:409.97, Y:4.25, Z:6.32 [[ 9.97044270e-01 -7.52107626e-02 -1.56864591e-02 4.09966393e+02] [ 7.52138432e-02 9.97167349e-01 -3.94309712e-04 4.24744873e+00] [ 1.56716811e-02 -7.86694632e-04 9.99876882e-01 6.32245260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.63925415399996 meters Centerline goodness : 0.999058 Centerline is valid? [True, True] Translation: X:410.00, Y:4.25, Z:6.32 [[ 9.97158069e-01 -7.36866303e-02 -1.56865026e-02 4.09997999e+02] [ 7.36895501e-02 9.97281152e-01 -3.92568349e-04 4.24919778e+00] [ 1.56727805e-02 -7.64478625e-04 9.99876882e-01 6.32225873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.66925415399993 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:410.03, Y:4.25, Z:6.32 [[ 9.97364857e-01 -7.08327261e-02 -1.56865241e-02 4.10030597e+02] [ 7.08353073e-02 9.97487948e-01 -3.91707024e-04 4.25228444e+00] [ 1.56748644e-02 -7.20484937e-04 9.99876882e-01 6.32297284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.69925415399996 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:410.06, Y:4.25, Z:6.32 [[ 9.97495898e-01 -6.89627860e-02 -1.56865674e-02 4.10063756e+02] [ 6.89651637e-02 9.97618992e-01 -3.89968111e-04 4.25451172e+00] [ 1.56761108e-02 -6.92835095e-04 9.99876882e-01 6.32350967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.72925415399993 meters Centerline goodness : 0.998951 Centerline is valid? [True, True] Translation: X:410.09, Y:4.26, Z:6.32 [[ 9.97753397e-01 -6.51313217e-02 -1.56866107e-02 4.10094935e+02] [ 6.51332540e-02 9.97876500e-01 -3.88217595e-04 4.25899278e+00] [ 1.56785853e-02 -6.34374574e-04 9.99876882e-01 6.32367289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.75925415399996 meters Centerline goodness : 0.998826 Centerline is valid? [True, True] Translation: X:410.12, Y:4.26, Z:6.32 [[ 9.97707679e-01 -6.58279324e-02 -1.56866321e-02 4.10123204e+02] [ 6.58299643e-02 9.97830780e-01 -3.87351420e-04 4.26466664e+00] [ 1.56781029e-02 -6.46186944e-04 9.99876882e-01 6.32041490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.78925415399993 meters Centerline goodness : 0.996324 Centerline is valid? [True, True] Translation: X:410.15, Y:4.27, Z:6.32 [[ 9.97880237e-01 -6.31593100e-02 -1.56823090e-02 4.10154728e+02] [ 6.31583330e-02 9.98003364e-01 -5.58055218e-04 4.26633963e+00] [ 1.56862435e-02 -4.33596219e-04 9.99876869e-01 6.31952161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.81925415399996 meters Centerline goodness : 0.999076 Centerline is valid? [True, True] Translation: X:410.19, Y:4.27, Z:6.32 [[ 9.98045546e-01 -6.04909609e-02 -1.56821893e-02 4.10189460e+02] [ 6.04895822e-02 9.98168670e-01 -5.62666564e-04 4.26640665e+00] [ 1.56875062e-02 -3.87042218e-04 9.99876869e-01 6.32441855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.84925415399994 meters Centerline goodness : 0.999076 Centerline is valid? [True, True] Translation: X:410.22, Y:4.27, Z:6.32 [[ 9.98049912e-01 -6.04178227e-02 -1.56863094e-02 4.10222138e+02] [ 6.04189598e-02 9.98173025e-01 -4.01841809e-04 4.26710271e+00] [ 1.56819293e-02 -5.46692313e-04 9.99876882e-01 6.32488679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.87925415399997 meters Centerline goodness : 0.999098 Centerline is valid? [True, True] Translation: X:410.25, Y:4.27, Z:6.33 [[ 9.98300168e-01 -5.61312095e-02 -1.56863377e-02 4.10254510e+02] [ 5.61318353e-02 9.98423285e-01 -4.00731792e-04 4.27101485e+00] [ 1.56840984e-02 -4.80452310e-04 9.99876882e-01 6.32682240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.90925415399994 meters Centerline goodness : 0.996534 Centerline is valid? [True, True] Translation: X:410.28, Y:4.28, Z:6.32 [[ 9.98310334e-01 -5.59501156e-02 -1.56863673e-02 4.10282480e+02] [ 5.59507373e-02 9.98433451e-01 -3.99570334e-04 4.27609671e+00] [ 1.56841498e-02 -4.78768623e-04 9.99876882e-01 6.32288348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.93925415399997 meters Centerline goodness : 0.999201 Centerline is valid? [True, True] Translation: X:410.32, Y:4.28, Z:6.33 [[ 9.98513663e-01 -5.21971153e-02 -1.56820469e-02 4.10316124e+02] [ 5.21946378e-02 9.98636770e-01 -5.67504392e-04 4.27534532e+00] [ 1.56902908e-02 -2.51857870e-04 9.99876868e-01 6.32900219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.96925415399994 meters Centerline goodness : 0.999076 Centerline is valid? [True, True] Translation: X:410.34, Y:4.28, Z:6.33 [[ 9.98361313e-01 -5.50329714e-02 -1.56863477e-02 4.10342626e+02] [ 5.50335044e-02 9.98484429e-01 -3.98009634e-04 4.28234540e+00] [ 1.56844776e-02 -4.65917266e-04 9.99876882e-01 6.32825469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.99925415399997 meters Centerline goodness : 0.999243 Centerline is valid? [True, True] Translation: X:410.38, Y:4.28, Z:6.33 [[ 9.98591875e-01 -5.06791480e-02 -1.56809191e-02 4.10377800e+02] [ 5.06758352e-02 9.98714969e-01 -6.08795766e-04 4.27966494e+00] [ 1.56916219e-02 -1.86705166e-04 9.99876861e-01 6.33162867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.02925415399994 meters Centerline goodness : 0.999095 Centerline is valid? [True, True] Translation: X:410.41, Y:4.28, Z:6.33 [[ 9.98597646e-01 -5.05636453e-02 -1.56862663e-02 4.10408635e+02] [ 5.05636254e-02 9.98720762e-01 -3.98128525e-04 4.28074133e+00] [ 1.56863307e-02 -3.95584286e-04 9.99876884e-01 6.33162718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.059254154 meters Centerline goodness : 0.998843 Centerline is valid? [True, True] Translation: X:410.44, Y:4.28, Z:6.33 [[ 9.98577779e-01 -5.09544709e-02 -1.56863145e-02 4.10440911e+02] [ 5.09545290e-02 9.98700896e-01 -3.96222556e-04 4.28170928e+00] [ 1.56861256e-02 -4.03629725e-04 9.99876884e-01 6.33222445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.08925415399995 meters Centerline goodness : 0.999176 Centerline is valid? [True, True] Translation: X:410.47, Y:4.28, Z:6.33 [[ 9.98522155e-01 -5.20331146e-02 -1.56863431e-02 4.10472947e+02] [ 5.20333236e-02 9.98645271e-01 -3.95087402e-04 4.28291145e+00] [ 1.56856499e-02 -4.21709040e-04 9.99876884e-01 6.33242281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.119254154 meters Centerline goodness : 0.998860 Centerline is valid? [True, True] Translation: X:410.50, Y:4.28, Z:6.33 [[ 9.98513298e-01 -5.22027952e-02 -1.56863719e-02 4.10504633e+02] [ 5.22030431e-02 9.98636414e-01 -3.93938442e-04 4.28391541e+00] [ 1.56855469e-02 -4.25523576e-04 9.99876884e-01 6.33218690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.14925415399995 meters Centerline goodness : 0.999070 Centerline is valid? [True, True] Translation: X:410.54, Y:4.29, Z:6.33 [[ 9.98497961e-01 -5.24953284e-02 -1.56864005e-02 4.10535617e+02] [ 5.24956303e-02 9.98621077e-01 -3.92797586e-04 4.28516803e+00] [ 1.56853902e-02 -4.31259891e-04 9.99876884e-01 6.33254025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.1792541539999 meters Centerline goodness : 0.999091 Centerline is valid? [True, True] Translation: X:410.56, Y:4.29, Z:6.33 [[ 9.98317690e-01 -5.58186897e-02 -1.56864214e-02 4.10562882e+02] [ 5.58194146e-02 9.98440804e-01 -3.91961530e-04 4.29011308e+00] [ 1.56838419e-02 -4.84304728e-04 9.99876884e-01 6.33172855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.20925415399995 meters Centerline goodness : 0.999026 Centerline is valid? [True, True] Translation: X:410.60, Y:4.29, Z:6.33 [[ 9.98468793e-01 -5.30485401e-02 -1.56818771e-02 4.10597386e+02] [ 5.30461109e-02 9.98591901e-01 -5.71112054e-04 4.28676130e+00] [ 1.56900921e-02 -2.61625028e-04 9.99876869e-01 6.33438753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.2392541539999 meters Centerline goodness : 0.999006 Centerline is valid? [True, True] Translation: X:410.63, Y:4.29, Z:6.33 [[ 9.98442497e-01 -5.35398677e-02 -1.56863719e-02 4.10629711e+02] [ 5.35403325e-02 9.98565611e-01 -3.90624433e-04 4.28748673e+00] [ 1.56847855e-02 -4.49837530e-04 9.99876885e-01 6.33495453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.26925415399995 meters Centerline goodness : 0.998942 Centerline is valid? [True, True] Translation: X:410.66, Y:4.29, Z:6.34 [[ 9.98424532e-01 -5.38738364e-02 -1.56863988e-02 4.10662018e+02] [ 5.38743593e-02 9.98547646e-01 -3.89541098e-04 4.28804580e+00] [ 1.56846026e-02 -4.56167296e-04 9.99876885e-01 6.33631654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.2992541539999 meters Centerline goodness : 0.999050 Centerline is valid? [True, True] Translation: X:410.69, Y:4.29, Z:6.34 [[ 9.98393761e-01 -5.44410989e-02 -1.56864271e-02 4.10693855e+02] [ 5.44417098e-02 9.98516875e-01 -3.88397551e-04 4.28865467e+00] [ 1.56843069e-02 -4.66222220e-04 9.99876885e-01 6.33534453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.32925415399995 meters Centerline goodness : 0.999132 Centerline is valid? [True, True] Translation: X:410.73, Y:4.29, Z:6.34 [[ 9.98369259e-01 -5.48885855e-02 -1.56864968e-02 4.10725817e+02] [ 5.48892960e-02 9.98492372e-01 -3.85560105e-04 4.28900458e+00] [ 1.56840103e-02 -4.76089412e-04 9.99876885e-01 6.33570409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.3592541539999 meters Centerline goodness : 0.998882 Centerline is valid? [True, True] Translation: X:410.76, Y:4.29, Z:6.34 [[ 9.98254992e-01 -5.69289331e-02 -1.56865241e-02 4.10757837e+02] [ 5.69299127e-02 9.98378103e-01 -3.84446484e-04 4.28983599e+00] [ 1.56829683e-02 -5.09256828e-04 9.99876885e-01 6.33625856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.38925415399996 meters Centerline goodness : 0.998923 Centerline is valid? [True, True] Translation: X:410.79, Y:4.29, Z:6.33 [[ 9.98292032e-01 -5.62756513e-02 -1.56866348e-02 4.10788751e+02] [ 5.62766214e-02 9.98415143e-01 -3.79921562e-04 4.28956374e+00] [ 1.56831541e-02 -5.03518140e-04 9.99876885e-01 6.33477447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.41925415399993 meters Centerline goodness : 0.998902 Centerline is valid? [True, True] Translation: X:410.82, Y:4.29, Z:6.33 [[ 9.98282821e-01 -5.64388115e-02 -1.56866039e-02 4.10821427e+02] [ 5.64397818e-02 9.98405932e-01 -3.81192556e-04 4.28999844e+00] [ 1.56831125e-02 -5.04810522e-04 9.99876885e-01 6.33476380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.44925415399996 meters Centerline goodness : 0.998946 Centerline is valid? [True, True] Translation: X:410.85, Y:4.29, Z:6.33 [[ 9.98266038e-01 -5.67348857e-02 -1.56866313e-02 4.10853858e+02] [ 5.67359102e-02 9.98389149e-01 -3.80064098e-04 4.29060998e+00] [ 1.56829253e-02 -5.10590222e-04 9.99876885e-01 6.33477666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.47925415399993 meters Centerline goodness : 0.999135 Centerline is valid? [True, True] Translation: X:410.89, Y:4.29, Z:6.34 [[ 9.98263657e-01 -5.67767563e-02 -1.56866583e-02 4.10886212e+02] [ 5.67778036e-02 9.98386767e-01 -3.78943806e-04 4.29148574e+00] [ 1.56828673e-02 -5.12368176e-04 9.99876885e-01 6.33599621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.50925415399996 meters Centerline goodness : 0.998882 Centerline is valid? [True, True] Translation: X:410.92, Y:4.29, Z:6.34 [[ 9.98250425e-01 -5.70089187e-02 -1.56866859e-02 4.10918139e+02] [ 5.70100126e-02 9.98373535e-01 -3.77798519e-04 4.29253305e+00] [ 1.56827099e-02 -5.17160629e-04 9.99876885e-01 6.33661099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.53925415399993 meters Centerline goodness : 0.998946 Centerline is valid? [True, True] Translation: X:410.95, Y:4.29, Z:6.34 [[ 9.98228088e-01 -5.73987033e-02 -1.56867138e-02 4.10949824e+02] [ 5.73998634e-02 9.98351198e-01 -3.76638675e-04 4.29345310e+00] [ 1.56824680e-02 -5.24443922e-04 9.99876885e-01 6.33727259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.56925415399996 meters Centerline goodness : 0.998968 Centerline is valid? [True, True] Translation: X:410.98, Y:4.29, Z:6.34 [[ 9.98157874e-01 -5.86070430e-02 -1.56867417e-02 4.10981578e+02] [ 5.86083705e-02 9.98280981e-01 -3.75469563e-04 4.29444689e+00] [ 1.56817811e-02 -5.44596472e-04 9.99876885e-01 6.33737019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.59925415399994 meters Centerline goodness : 0.998946 Centerline is valid? [True, True] Translation: X:411.01, Y:4.30, Z:6.34 [[ 9.98126842e-01 -5.91331705e-02 -1.56867697e-02 4.11013424e+02] [ 5.91345813e-02 9.98249949e-01 -3.74297110e-04 4.29538703e+00] [ 1.56814504e-02 -5.54034567e-04 9.99876885e-01 6.33758559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.62925415399997 meters Centerline goodness : 0.998989 Centerline is valid? [True, True] Translation: X:411.05, Y:4.30, Z:6.34 [[ 9.98125038e-01 -5.91636048e-02 -1.56868361e-02 4.11045056e+02] [ 5.91650634e-02 9.98248144e-01 -3.71493465e-04 4.29592555e+00] [ 1.56813339e-02 -5.57315724e-04 9.99876885e-01 6.33784763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.65925415399994 meters Centerline goodness : 0.999390 Centerline is valid? [True, True] Translation: X:411.08, Y:4.30, Z:6.34 [[ 9.98129235e-01 -5.90927480e-02 -1.56868700e-02 4.11076821e+02] [ 5.90942204e-02 9.98252341e-01 -3.70054680e-04 4.29662328e+00] [ 1.56813223e-02 -5.57640962e-04 9.99876885e-01 6.33812226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.68925415399997 meters Centerline goodness : 0.999285 Centerline is valid? [True, True] Translation: X:411.11, Y:4.30, Z:6.34 [[ 9.98242447e-01 -5.71483871e-02 -1.56868970e-02 4.11109142e+02] [ 5.71496377e-02 9.98365556e-01 -3.68908887e-04 4.29787096e+00] [ 1.56823402e-02 -5.28239969e-04 9.99876885e-01 6.33864906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.71925415399994 meters Centerline goodness : 0.999221 Centerline is valid? [True, True] Translation: X:411.14, Y:4.30, Z:6.34 [[ 9.98343790e-01 -5.53497782e-02 -1.56869240e-02 4.11140424e+02] [ 5.53508251e-02 9.98466900e-01 -3.67755543e-04 4.29915992e+00] [ 1.56832296e-02 -5.01137726e-04 9.99876885e-01 6.33897467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.74925415399997 meters Centerline goodness : 0.999369 Centerline is valid? [True, True] Translation: X:411.17, Y:4.30, Z:6.34 [[ 9.98473661e-01 -5.29553402e-02 -1.56869692e-02 4.11172653e+02] [ 5.29561223e-02 9.98596773e-01 -3.65819702e-04 4.30065415e+00] [ 1.56843289e-02 -4.65459721e-04 9.99876885e-01 6.34040150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.77925415399994 meters Centerline goodness : 0.999033 Centerline is valid? [True, True] Translation: X:411.20, Y:4.30, Z:6.34 [[ 9.98625184e-01 -5.00165900e-02 -1.56869962e-02 4.11203393e+02] [ 5.00170280e-02 9.98748299e-01 -3.64658831e-04 4.30221050e+00] [ 1.56855997e-02 -4.20459433e-04 9.99876885e-01 6.33929748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.809254154 meters Centerline goodness : 0.999242 Centerline is valid? [True, True] Translation: X:411.24, Y:4.30, Z:6.34 [[ 9.98920696e-01 -4.37191517e-02 -1.56869080e-02 4.11235476e+02] [ 4.37187536e-02 9.99043810e-01 -3.68471870e-04 4.30463821e+00] [ 1.56880176e-02 -3.17737887e-04 9.99876885e-01 6.34282971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.83925415399995 meters Centerline goodness : 0.999199 Centerline is valid? [True, True] Translation: X:411.27, Y:4.31, Z:6.34 [[ 9.99057909e-01 -4.04624514e-02 -1.56870555e-02 4.11267735e+02] [ 4.04617523e-02 9.99181022e-01 -3.62080373e-04 4.30586857e+00] [ 1.56888588e-02 -2.72986492e-04 9.99876885e-01 6.34401990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.869254154 meters Centerline goodness : 0.999241 Centerline is valid? [True, True] Translation: X:411.30, Y:4.31, Z:6.34 [[ 9.99183727e-01 -3.72262684e-02 -1.56870821e-02 4.11299482e+02] [ 3.72251886e-02 9.99306837e-01 -3.60922768e-04 4.30666912e+00] [ 1.56896442e-02 -2.23326434e-04 9.99876885e-01 6.34468828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.89925415399995 meters Centerline goodness : 0.999620 Centerline is valid? [True, True] Translation: X:411.33, Y:4.31, Z:6.34 [[ 9.99359109e-01 -3.21758706e-02 -1.56871087e-02 4.11330600e+02] [ 3.21741868e-02 9.99482212e-01 -3.59765662e-04 4.30722878e+00] [ 1.56905618e-02 -1.45184874e-04 9.99876885e-01 6.34464202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.9292541539999 meters Centerline goodness : 0.999619 Centerline is valid? [True, True] Translation: X:411.36, Y:4.31, Z:6.35 [[ 9.99421617e-01 -3.01719474e-02 -1.56871284e-02 4.11362075e+02] [ 3.01700303e-02 9.99544717e-01 -3.58903837e-04 4.30777379e+00] [ 1.56908151e-02 -1.14584886e-04 9.99876885e-01 6.34502360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.95925415399995 meters Centerline goodness : 0.999198 Centerline is valid? [True, True] Translation: X:411.39, Y:4.31, Z:6.35 [[ 9.99474748e-01 -2.83573987e-02 -1.56871414e-02 4.11393082e+02] [ 2.83552670e-02 9.99597844e-01 -3.58332340e-04 4.30790911e+00] [ 1.56909941e-02 -8.66689594e-05 9.99876885e-01 6.34506097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.9892541539999 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:411.42, Y:4.31, Z:6.34 [[ 9.99486098e-01 -2.79544686e-02 -1.56871545e-02 4.11423768e+02] [ 2.79522963e-02 9.99609194e-01 -3.57760596e-04 4.30842698e+00] [ 1.56910248e-02 -8.09152468e-05 9.99876885e-01 6.34493982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.01925415399995 meters Centerline goodness : 0.999514 Centerline is valid? [True, True] Translation: X:411.45, Y:4.31, Z:6.34 [[ 9.99484747e-01 -2.80027371e-02 -1.56871609e-02 4.11454670e+02] [ 2.80005752e-02 9.99607843e-01 -3.57477016e-04 4.30790840e+00] [ 1.56910194e-02 -8.19567048e-05 9.99876885e-01 6.34443297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.0492541539999 meters Centerline goodness : 0.999513 Centerline is valid? [True, True] Translation: X:411.49, Y:4.31, Z:6.34 [[ 9.99471883e-01 -2.84581962e-02 -1.56871609e-02 4.11485574e+02] [ 2.84560904e-02 9.99594980e-01 -3.57477016e-04 4.30747003e+00] [ 1.56909805e-02 -8.91070436e-05 9.99876885e-01 6.34440807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.07925415399995 meters Centerline goodness : 0.999598 Centerline is valid? [True, True] Translation: X:411.52, Y:4.31, Z:6.34 [[ 9.99415493e-01 -3.03740963e-02 -1.56871609e-02 4.11515524e+02] [ 3.03722265e-02 9.99538594e-01 -3.57477016e-04 4.30729048e+00] [ 1.56907808e-02 -1.19185937e-04 9.99876885e-01 6.34441561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.1092541539999 meters Centerline goodness : 0.999556 Centerline is valid? [True, True] Translation: X:411.55, Y:4.31, Z:6.35 [[ 9.99244709e-01 -3.55517037e-02 -1.56871673e-02 4.11546917e+02] [ 3.55504760e-02 9.99367818e-01 -3.57199218e-04 4.30590527e+00] [ 1.56899492e-02 -2.00756835e-04 9.99876885e-01 6.34525081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.13925415399996 meters Centerline goodness : 0.999598 Centerline is valid? [True, True] Translation: X:411.58, Y:4.31, Z:6.35 [[ 9.99126109e-01 -3.87418390e-02 -1.56871797e-02 4.11577367e+02] [ 3.87410130e-02 9.99249222e-01 -3.56653088e-04 4.30522832e+00] [ 1.56892195e-02 -2.51395819e-04 9.99876885e-01 6.34560781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.16925415399993 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:411.61, Y:4.30, Z:6.35 [[ 9.98961600e-01 -4.27742241e-02 -1.56871858e-02 4.11609478e+02] [ 4.27738993e-02 9.99084714e-01 -3.56382225e-04 4.30471391e+00] [ 1.56880715e-02 -3.14989949e-04 9.99876885e-01 6.34722486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.19925415399996 meters Centerline goodness : 0.999579 Centerline is valid? [True, True] Translation: X:411.64, Y:4.30, Z:6.35 [[ 9.98796613e-01 -4.64676012e-02 -1.56872109e-02 4.11640991e+02] [ 4.64677489e-02 9.98919728e-01 -3.55275478e-04 4.30345091e+00] [ 1.56867732e-02 -3.74101433e-04 9.99876885e-01 6.34714126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.22925415399993 meters Centerline goodness : 0.999222 Centerline is valid? [True, True] Translation: X:411.68, Y:4.29, Z:6.34 [[ 9.98685244e-01 -4.88026052e-02 -1.56872296e-02 4.11678530e+02] [ 4.88030538e-02 9.98808358e-01 -3.54449468e-04 4.29370470e+00] [ 1.56858341e-02 -4.11601254e-04 9.99876885e-01 6.34360492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.25925415399996 meters Centerline goodness : 0.999432 Centerline is valid? [True, True] Translation: X:411.70, Y:4.30, Z:6.35 [[ 9.98082687e-01 -5.98715277e-02 -1.56955611e-02 4.11701082e+02] [ 5.98792783e-02 9.98205626e-01 2.38993629e-05 4.30018188e+00] [ 1.56659665e-02 -9.63692412e-04 9.99876817e-01 6.35027133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.28925415399993 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:411.73, Y:4.30, Z:6.35 [[ 9.97830095e-01 -6.39454618e-02 -1.56869397e-02 4.11732431e+02] [ 6.39477528e-02 9.97953184e-01 -3.56024222e-04 4.29982833e+00] [ 1.56775975e-02 -6.47892857e-04 9.99876889e-01 6.35076716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.31925415399996 meters Centerline goodness : 0.999370 Centerline is valid? [True, True] Translation: X:411.76, Y:4.30, Z:6.35 [[ 9.97364487e-01 -7.08378358e-02 -1.56869589e-02 4.11764648e+02] [ 7.08409906e-02 9.97487558e-01 -3.55174749e-04 4.29814632e+00] [ 1.56727061e-02 -7.57041025e-04 9.99876889e-01 6.35224821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.34925415399994 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:411.80, Y:4.30, Z:6.35 [[ 9.97140026e-01 -7.39302793e-02 -1.56869848e-02 4.11797043e+02] [ 7.39338337e-02 9.97263086e-01 -3.54026365e-04 4.29784397e+00] [ 1.56702241e-02 -8.06785067e-04 9.99876889e-01 6.35256230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.37925415399997 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:411.83, Y:4.30, Z:6.35 [[ 9.96928982e-01 -7.67236809e-02 -1.56870170e-02 4.11829689e+02] [ 7.67276026e-02 9.97052030e-01 -3.52592980e-04 4.29796985e+00] [ 1.56678244e-02 -8.52117047e-04 9.99876889e-01 6.35367861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.40925415399994 meters Centerline goodness : 0.999580 Centerline is valid? [True, True] Translation: X:411.86, Y:4.30, Z:6.35 [[ 9.96775954e-01 -7.86868095e-02 -1.56870558e-02 4.11863003e+02] [ 7.86910006e-02 9.96898994e-01 -3.50861139e-04 4.29791310e+00] [ 1.56660182e-02 -8.84700169e-04 9.99876889e-01 6.35455282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.43925415399997 meters Centerline goodness : 0.999328 Centerline is valid? [True, True] Translation: X:411.90, Y:4.30, Z:6.36 [[ 9.96503622e-01 -8.20636733e-02 -1.56870942e-02 4.11896014e+02] [ 8.20683084e-02 9.96626646e-01 -3.49132464e-04 4.29800354e+00] [ 1.56628272e-02 -9.39501523e-04 9.99876889e-01 6.35566521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.46925415399994 meters Centerline goodness : 0.999372 Centerline is valid? [True, True] Translation: X:411.93, Y:4.30, Z:6.36 [[ 9.96408135e-01 -8.32150398e-02 -1.56871330e-02 4.11927923e+02] [ 8.32198445e-02 9.96531152e-01 -3.47383406e-04 4.29819549e+00] [ 1.56616242e-02 -9.59345114e-04 9.99876889e-01 6.35588853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.49925415399997 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:411.96, Y:4.30, Z:6.36 [[ 9.96326084e-01 -8.41917295e-02 -1.56871649e-02 4.11960795e+02] [ 8.41966775e-02 9.96449095e-01 -3.45934442e-04 4.29856264e+00] [ 1.56605861e-02 -9.76143658e-04 9.99876889e-01 6.35618212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.52925415399994 meters Centerline goodness : 0.999098 Centerline is valid? [True, True] Translation: X:411.99, Y:4.30, Z:6.36 [[ 9.96286457e-01 -8.46593654e-02 -1.56872024e-02 4.11993516e+02] [ 8.46643979e-02 9.96409465e-01 -3.44224942e-04 4.29883622e+00] [ 1.56600188e-02 -9.85200901e-04 9.99876889e-01 6.35608996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.559254154 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:412.03, Y:4.30, Z:6.35 [[ 9.96282414e-01 -8.47069170e-02 -1.56872398e-02 4.12025938e+02] [ 8.47119823e-02 9.96405421e-01 -3.42514915e-04 4.29945552e+00] [ 1.56598641e-02 -9.87655591e-04 9.99876889e-01 6.35499528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.58925415399995 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:412.07, Y:4.29, Z:6.35 [[ 9.96944935e-01 -7.65160476e-02 -1.56872647e-02 4.12066895e+02] [ 7.65201198e-02 9.97067979e-01 -3.41367495e-04 4.29137926e+00] [ 1.56673894e-02 -8.60066781e-04 9.99876889e-01 6.34865174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.619254154 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:412.09, Y:4.30, Z:6.35 [[ 9.96415912e-01 -8.31201054e-02 -1.56964523e-02 4.12087610e+02] [ 8.31318224e-02 9.96538555e-01 9.43519779e-05 4.30141328e+00] [ 1.56342774e-02 -1.39888850e-03 9.99876799e-01 6.35427965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.64925415399995 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:412.12, Y:4.30, Z:6.35 [[ 9.96595783e-01 -8.09368204e-02 -1.56868109e-02 4.12119423e+02] [ 8.09413870e-02 9.96718803e-01 -3.44604932e-04 4.30330014e+00] [ 1.56632306e-02 -9.26280412e-04 9.99876895e-01 6.35417250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.6792541539999 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:412.15, Y:4.31, Z:6.36 [[ 9.97038409e-01 -7.52883442e-02 -1.56868358e-02 4.12151563e+02] [ 7.52922315e-02 9.97161452e-01 -3.43470223e-04 4.30728872e+00] [ 1.56681672e-02 -8.38643865e-04 9.99876895e-01 6.35519071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.70925415399995 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:412.18, Y:4.31, Z:6.36 [[ 9.97289355e-01 -7.18878660e-02 -1.56868611e-02 4.12184398e+02] [ 7.18913518e-02 9.97412410e-01 -3.42309997e-04 4.30965476e+00] [ 1.56708779e-02 -7.86367534e-04 9.99876895e-01 6.35581667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.7392541539999 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:412.22, Y:4.31, Z:6.36 [[ 9.97297270e-01 -7.17779664e-02 -1.56868986e-02 4.12217924e+02] [ 7.17814659e-02 9.97420325e-01 -3.40580603e-04 4.31029115e+00] [ 1.56708777e-02 -7.86368473e-04 9.99876895e-01 6.35634239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.76925415399995 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:412.25, Y:4.31, Z:6.36 [[ 9.97565020e-01 -6.79555006e-02 -1.56869360e-02 4.12250952e+02] [ 6.79585556e-02 9.97688087e-01 -3.38852151e-04 4.31227608e+00] [ 1.56736960e-02 -7.28034457e-04 9.99876895e-01 6.35712302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.7992541539999 meters Centerline goodness : 0.999138 Centerline is valid? [True, True] Translation: X:412.28, Y:4.31, Z:6.36 [[ 9.97823521e-01 -6.40479496e-02 -1.56869730e-02 4.12284353e+02] [ 6.40505496e-02 9.97946599e-01 -3.37129265e-04 4.31404667e+00] [ 1.56763538e-02 -6.68363731e-04 9.99876895e-01 6.35769238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.82925415399995 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:412.32, Y:4.32, Z:6.36 [[ 9.98297494e-01 -5.61785697e-02 -1.56870095e-02 4.12316458e+02] [ 5.61802260e-02 9.98420588e-01 -3.35422658e-04 4.31686803e+00] [ 1.56810768e-02 -5.46448139e-04 9.99876895e-01 6.35837021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.8592541539999 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:412.35, Y:4.32, Z:6.36 [[ 9.98496935e-01 -5.25146445e-02 -1.56870336e-02 4.12347784e+02] [ 5.25158668e-02 9.98620034e-01 -3.34289501e-04 4.31908814e+00] [ 1.56829412e-02 -4.90031127e-04 9.99876895e-01 6.35959924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.88925415399996 meters Centerline goodness : 0.999178 Centerline is valid? [True, True] Translation: X:412.38, Y:4.32, Z:6.36 [[ 9.98693501e-01 -4.86333958e-02 -1.56870516e-02 4.12380055e+02] [ 4.86341529e-02 9.98816604e-01 -3.33446193e-04 4.32104523e+00] [ 1.56847042e-02 -4.29915918e-04 9.99876895e-01 6.36077427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.91925415399993 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:412.41, Y:4.32, Z:6.36 [[ 9.98886982e-01 -4.44827157e-02 -1.56870750e-02 4.12412597e+02] [ 4.44829786e-02 9.99010087e-01 -3.32338081e-04 4.32320286e+00] [ 1.56863295e-02 -3.65839640e-04 9.99876895e-01 6.36179876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.94925415399996 meters Centerline goodness : 0.999008 Centerline is valid? [True, True] Translation: X:412.44, Y:4.33, Z:6.36 [[ 9.99202221e-01 -3.67265033e-02 -1.56870982e-02 4.12444589e+02] [ 3.67258278e-02 9.99325324e-01 -3.31240218e-04 4.32631834e+00] [ 1.56886798e-02 -2.45145706e-04 9.99876895e-01 6.36259447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.97925415399993 meters Centerline goodness : 0.998946 Centerline is valid? [True, True] Translation: X:412.48, Y:4.33, Z:6.36 [[ 9.99330447e-01 -3.30540619e-02 -1.56871222e-02 4.12476467e+02] [ 3.30529518e-02 9.99453547e-01 -3.30099184e-04 4.32781878e+00] [ 1.56894611e-02 -1.88627529e-04 9.99876895e-01 6.36293313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.00925415399996 meters Centerline goodness : 0.999282 Centerline is valid? [True, True] Translation: X:412.51, Y:4.33, Z:6.36 [[ 9.99431024e-01 -2.98587006e-02 -1.56871461e-02 4.12507479e+02] [ 2.98572148e-02 9.99554120e-01 -3.28961917e-04 4.32890273e+00] [ 1.56899739e-02 -1.39599744e-04 9.99876895e-01 6.36343263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.03925415399993 meters Centerline goodness : 0.999008 Centerline is valid? [True, True] Translation: X:412.54, Y:4.33, Z:6.36 [[ 9.99602132e-01 -2.34412018e-02 -1.56871580e-02 4.12539258e+02] [ 2.34389346e-02 9.99725217e-01 -3.28393097e-04 4.32629805e+00] [ 1.56905453e-02 -3.94278300e-05 9.99876895e-01 6.36387466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.06925415399996 meters Centerline goodness : 0.999219 Centerline is valid? [True, True] Translation: X:412.57, Y:4.33, Z:6.36 [[ 9.99602928e-01 -2.34053060e-02 -1.56900877e-02 4.12566202e+02] [ 2.34052401e-02 9.99726042e-01 -1.87851631e-04 4.33009721e+00] [ 1.56901860e-02 -1.79453229e-04 9.99876885e-01 6.36407115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.09925415399994 meters Centerline goodness : 0.999135 Centerline is valid? [True, True] Translation: X:412.60, Y:4.33, Z:6.36 [[ 9.99630176e-01 -2.22132016e-02 -1.56870748e-02 4.12595087e+02] [ 2.22107461e-02 9.99753256e-01 -3.30755243e-04 4.33042779e+00] [ 1.56905512e-02 -1.77887126e-05 9.99876896e-01 6.36393100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.12925415399997 meters Centerline goodness : 0.999283 Centerline is valid? [True, True] Translation: X:412.62, Y:4.33, Z:6.36 [[ 9.99638418e-01 -2.18391876e-02 -1.56870565e-02 4.12624034e+02] [ 2.18366724e-02 9.99761496e-01 -3.31622063e-04 4.33068452e+00] [ 1.56905574e-02 -1.10509590e-05 9.99876896e-01 6.36459964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.15925415399994 meters Centerline goodness : 0.999031 Centerline is valid? [True, True] Translation: X:412.65, Y:4.33, Z:6.37 [[ 9.99636217e-01 -2.19397152e-02 -1.56870388e-02 4.12652641e+02] [ 2.19371994e-02 9.99759295e-01 -3.32454121e-04 4.32941856e+00] [ 1.56905568e-02 -1.17965181e-05 9.99876896e-01 6.36579151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.18925415399997 meters Centerline goodness : 0.999074 Centerline is valid? [True, True] Translation: X:412.68, Y:4.33, Z:6.37 [[ 9.99619911e-01 -2.26705217e-02 -1.56869524e-02 4.12680964e+02] [ 2.26680327e-02 9.99742991e-01 -3.36483241e-04 4.32862057e+00] [ 1.56905490e-02 -1.92370014e-05 9.99876896e-01 6.36634141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.21925415399994 meters Centerline goodness : 0.999073 Centerline is valid? [True, True] Translation: X:412.71, Y:4.33, Z:6.37 [[ 9.99600203e-01 -2.35235353e-02 -1.56868653e-02 4.12710342e+02] [ 2.35210883e-02 9.99723283e-01 -3.40493616e-04 4.32763339e+00] [ 1.56905341e-02 -2.86146575e-05 9.99876896e-01 6.36704898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.24925415399997 meters Centerline goodness : 0.999010 Centerline is valid? [True, True] Translation: X:412.75, Y:4.32, Z:6.36 [[ 9.99756717e-01 -1.55057703e-02 -1.56868528e-02 4.12752596e+02] [ 1.55023273e-02 9.99879774e-01 -3.41068512e-04 4.31559569e+00] [ 1.56902554e-02 9.78028090e-05 9.99876896e-01 6.36249079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.27925415399994 meters Centerline goodness : 0.999096 Centerline is valid? [True, True] Translation: X:412.77, Y:4.33, Z:6.37 [[ 9.99525538e-01 -2.64994470e-02 -1.56996160e-02 4.12769073e+02] [ 2.65068632e-02 9.99648596e-01 2.64445676e-04 4.32521542e+00] [ 1.56870914e-02 -6.80467778e-04 9.99876718e-01 6.36746009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.309254154 meters Centerline goodness : 0.998995 Centerline is valid? [True, True] Translation: X:412.80, Y:4.32, Z:6.37 [[ 9.99409737e-01 -3.05635867e-02 -1.56858401e-02 4.12798331e+02] [ 3.05618399e-02 9.99532816e-01 -3.51115380e-04 4.32286317e+00] [ 1.56892433e-02 -1.28480003e-04 9.99876908e-01 6.36788330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.33925415399995 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:412.83, Y:4.32, Z:6.37 [[ 9.99342653e-01 -3.26835733e-02 -1.56858337e-02 4.12828401e+02] [ 3.26820831e-02 9.99465736e-01 -3.51399895e-04 4.32170138e+00] [ 1.56889383e-02 -1.61476817e-04 9.99876908e-01 6.36832119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.369254154 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:412.86, Y:4.32, Z:6.37 [[ 9.99282279e-01 -3.44801643e-02 -1.56858337e-02 4.12859861e+02] [ 3.44788954e-02 9.99405364e-01 -3.51399895e-04 4.32021621e+00] [ 1.56886227e-02 -1.89682531e-04 9.99876908e-01 6.36822006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.39925415399995 meters Centerline goodness : 0.998954 Centerline is valid? [True, True] Translation: X:412.90, Y:4.31, Z:6.36 [[ 9.99383630e-01 -3.14056435e-02 -1.56858466e-02 4.12901244e+02] [ 3.14040050e-02 9.99506711e-01 -3.50824442e-04 4.30647367e+00] [ 1.56891268e-02 -1.41990200e-04 9.99876908e-01 6.36363150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.4292541539999 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:412.92, Y:4.31, Z:6.37 [[ 9.98955924e-01 -4.29027111e-02 -1.56977453e-02 4.12918540e+02] [ 4.29110965e-02 9.99078875e-01 1.97587719e-04 4.31472554e+00] [ 1.56748086e-02 -8.70988883e-04 9.99876763e-01 6.36837982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.45925415399995 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:412.95, Y:4.31, Z:6.37 [[ 9.98840883e-01 -4.55068212e-02 -1.56850097e-02 4.12949320e+02] [ 4.55067917e-02 9.98963965e-01 -3.58978524e-04 4.31291261e+00] [ 1.56850955e-02 -3.55212043e-04 9.99876918e-01 6.36858255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.4892541539999 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:412.98, Y:4.31, Z:6.37 [[ 9.98615781e-01 -5.02045965e-02 -1.56850294e-02 4.12980625e+02] [ 5.02051594e-02 9.98738862e-01 -3.58115705e-04 4.30806792e+00] [ 1.56832275e-02 -4.29849407e-04 9.99876918e-01 6.36881672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.51925415399995 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:413.01, Y:4.31, Z:6.37 [[ 9.98507372e-01 -5.23164117e-02 -1.56850726e-02 4.13013208e+02] [ 5.23172648e-02 9.98630451e-01 -3.56212703e-04 4.30624872e+00] [ 1.56822269e-02 -4.64919087e-04 9.99876918e-01 6.36964643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.5492541539999 meters Centerline goodness : 0.998978 Centerline is valid? [True, True] Translation: X:413.05, Y:4.30, Z:6.37 [[ 9.98414431e-01 -5.40610894e-02 -1.56850986e-02 4.13045855e+02] [ 5.40621755e-02 9.98537508e-01 -3.55067042e-04 4.30450627e+00] [ 1.56813545e-02 -4.93466492e-04 9.99876918e-01 6.36983027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.57925415399995 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:413.08, Y:4.30, Z:6.37 [[ 9.98352658e-01 -5.51900942e-02 -1.56851243e-02 4.13078383e+02] [ 5.51913374e-02 9.98475734e-01 -3.53926153e-04 4.30253842e+00] [ 1.56807492e-02 -5.12339872e-04 9.99876918e-01 6.36934807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.6092541539999 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:413.12, Y:4.29, Z:6.36 [[ 9.98709401e-01 -4.83064011e-02 -1.56851500e-02 4.13121416e+02] [ 4.83068138e-02 9.98832482e-01 -3.52784776e-04 4.28857529e+00] [ 1.56838790e-02 -4.05370147e-04 9.99876918e-01 6.36461669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.63925415399996 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:413.15, Y:4.29, Z:6.37 [[ 9.98547068e-01 -5.15493925e-02 -1.56975702e-02 4.13151953e+02] [ 5.15585015e-02 9.98669961e-01 1.75873161e-04 4.28932181e+00] [ 1.56676256e-02 -9.84960826e-04 9.99876770e-01 6.36584441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.66925415399993 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:413.17, Y:4.30, Z:6.37 [[ 9.98078662e-01 -5.99384136e-02 -1.56961835e-02 4.13170638e+02] [ 5.99476499e-02 9.98201515e-01 1.18182702e-04 4.29792837e+00] [ 1.56608705e-02 -1.05890495e-03 9.99876800e-01 6.37108253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.69925415399996 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:413.20, Y:4.30, Z:6.37 [[ 9.98106374e-01 -5.94785719e-02 -1.56832840e-02 4.13202755e+02] [ 5.94797052e-02 9.98229437e-01 -3.94594301e-04 4.29777360e+00] [ 1.56789856e-02 -5.38990020e-04 9.99876932e-01 6.37159846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.72925415399993 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:413.23, Y:4.30, Z:6.37 [[ 9.98196290e-01 -5.79499816e-02 -1.56833124e-02 4.13234329e+02] [ 5.79509441e-02 9.98319354e-01 -3.93462015e-04 4.29664662e+00] [ 1.56797554e-02 -5.16110436e-04 9.99876932e-01 6.37213003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.75925415399996 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:413.27, Y:4.30, Z:6.37 [[ 9.98253968e-01 -5.69477646e-02 -1.56833335e-02 4.13266161e+02] [ 5.69486168e-02 9.98377033e-01 -3.92619261e-04 4.29611843e+00] [ 1.56802388e-02 -5.01210413e-04 9.99876932e-01 6.37263196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.78925415399993 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:413.30, Y:4.29, Z:6.37 [[ 9.98647831e-01 -4.95635203e-02 -1.56833614e-02 4.13303501e+02] [ 4.95634799e-02 9.98770899e-01 -3.91499204e-04 4.28787696e+00] [ 1.56834891e-02 -3.86352139e-04 9.99876932e-01 6.36948507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.81925415399996 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:413.33, Y:4.29, Z:6.37 [[ 9.98396479e-01 -5.43891943e-02 -1.56934860e-02 4.13325091e+02] [ 5.43961936e-02 9.98519431e-01 1.91709377e-05 4.29425911e+00] [ 1.56692080e-02 -8.72806097e-04 9.99876849e-01 6.37217495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.84925415399994 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:413.36, Y:4.29, Z:6.37 [[ 9.98412912e-01 -5.40898020e-02 -1.56828112e-02 4.13356263e+02] [ 5.40901904e-02 9.98535974e-01 -3.99710414e-04 4.29448977e+00] [ 1.56814715e-02 -4.49210207e-04 9.99876937e-01 6.37414229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.87925415399997 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:413.39, Y:4.29, Z:6.37 [[ 9.98534183e-01 -5.18028426e-02 -1.56828323e-02 4.13388101e+02] [ 5.18029622e-02 9.98657246e-01 -3.98881300e-04 4.29311181e+00] [ 1.56824373e-02 -4.14120557e-04 9.99876937e-01 6.37449230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.90925415399994 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:413.42, Y:4.29, Z:6.38 [[ 9.98579019e-01 -5.09312348e-02 -1.56828609e-02 4.13420703e+02] [ 5.09312647e-02 9.98702082e-01 -3.97753589e-04 4.29340280e+00] [ 1.56827639e-02 -4.01559552e-04 9.99876937e-01 6.37504944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.93925415399997 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:413.45, Y:4.29, Z:6.37 [[ 9.98807927e-01 -4.62252366e-02 -1.56828899e-02 4.13454194e+02] [ 4.62247046e-02 9.98930988e-01 -3.96608579e-04 4.28902391e+00] [ 1.56844580e-02 -3.28801158e-04 9.99876937e-01 6.37257953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.96925415399994 meters Centerline goodness : 0.999226 Centerline is valid? [True, True] Translation: X:413.48, Y:4.29, Z:6.37 [[ 9.98699961e-01 -4.85001829e-02 -1.56881938e-02 4.13481334e+02] [ 4.85032685e-02 9.98823007e-01 -1.83970513e-04 4.29359473e+00] [ 1.56786515e-02 -5.77197331e-04 9.99876916e-01 6.37492000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.99925415399997 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:413.51, Y:4.29, Z:6.38 [[ 9.98821826e-01 -4.59239449e-02 -1.56828176e-02 4.13513641e+02] [ 4.59233761e-02 9.98944887e-01 -3.96583321e-04 4.29314110e+00] [ 1.56844831e-02 -3.24091855e-04 9.99876938e-01 6.37601548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.02925415399994 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:413.54, Y:4.29, Z:6.38 [[ 9.98877236e-01 -4.47025310e-02 -1.56828471e-02 4.13544833e+02] [ 4.47018301e-02 9.99000295e-01 -3.95415141e-04 4.29337565e+00] [ 1.56848449e-02 -3.06080783e-04 9.99876938e-01 6.37624154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.059254154 meters Centerline goodness : 0.999334 Centerline is valid? [True, True] Translation: X:413.58, Y:4.29, Z:6.38 [[ 9.98922800e-01 -4.36724959e-02 -1.56828689e-02 4.13576287e+02] [ 4.36716817e-02 9.99045859e-01 -3.94546731e-04 4.29361411e+00] [ 1.56851361e-02 -2.90775535e-04 9.99876938e-01 6.37725250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.08925415399995 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:413.61, Y:4.29, Z:6.38 [[ 9.99038514e-01 -4.09401348e-02 -1.56828830e-02 4.13607426e+02] [ 4.09389929e-02 9.99161570e-01 -3.93985598e-04 4.29266380e+00] [ 1.56858639e-02 -2.48434650e-04 9.99876938e-01 6.37814253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.119254154 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:413.64, Y:4.29, Z:6.38 [[ 9.99040058e-01 -4.09024320e-02 -1.56828973e-02 4.13639116e+02] [ 4.09012943e-02 9.99163115e-01 -3.93414863e-04 4.29323510e+00] [ 1.56858642e-02 -2.48413592e-04 9.99876938e-01 6.38058664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.14925415399995 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:413.67, Y:4.29, Z:6.38 [[ 9.99064792e-01 -4.02937728e-02 -1.56829118e-02 4.13669907e+02] [ 4.02925692e-02 9.99187847e-01 -3.92838211e-04 4.29327051e+00] [ 1.56860038e-02 -2.39433984e-04 9.99876938e-01 6.38142400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.1792541539999 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:413.70, Y:4.29, Z:6.38 [[ 9.99054416e-01 -4.05502033e-02 -1.56829190e-02 4.13700931e+02] [ 4.05490358e-02 9.99177473e-01 -3.92552092e-04 4.29213869e+00] [ 1.56859374e-02 -2.43746340e-04 9.99876938e-01 6.38218937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.20925415399995 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:413.73, Y:4.29, Z:6.38 [[ 9.99052748e-01 -4.05912797e-02 -1.56829334e-02 4.13732193e+02] [ 4.05901263e-02 9.99175804e-01 -3.91975129e-04 4.29121947e+00] [ 1.56859183e-02 -2.44968417e-04 9.99876938e-01 6.38028016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.2392541539999 meters Centerline goodness : 0.999333 Centerline is valid? [True, True] Translation: X:413.76, Y:4.29, Z:6.38 [[ 9.98971279e-01 -4.25491351e-02 -1.56829477e-02 4.13763247e+02] [ 4.25482319e-02 9.99094337e-01 -3.91401449e-04 4.29133693e+00] [ 1.56853980e-02 -2.76282889e-04 9.99876938e-01 6.38251572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.26925415399995 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:413.79, Y:4.29, Z:6.38 [[ 9.98921610e-01 -4.36996723e-02 -1.56829620e-02 4.13794949e+02] [ 4.36989198e-02 9.99044670e-01 -3.90827213e-04 4.29074616e+00] [ 1.56850586e-02 -2.94922749e-04 9.99876938e-01 6.38239743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.2992541539999 meters Centerline goodness : 0.999583 Centerline is valid? [True, True] Translation: X:413.83, Y:4.29, Z:6.38 [[ 9.98831105e-01 -4.57216453e-02 -1.56829762e-02 4.13825885e+02] [ 4.57211508e-02 9.98954165e-01 -3.90255682e-04 4.29038472e+00] [ 1.56844175e-02 -3.27244208e-04 9.99876938e-01 6.38314096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.32925415399995 meters Centerline goodness : 0.999479 Centerline is valid? [True, True] Translation: X:413.86, Y:4.29, Z:6.38 [[ 9.98639168e-01 -4.97378775e-02 -1.56829905e-02 4.13857262e+02] [ 4.97378870e-02 9.98762229e-01 -3.89681445e-04 4.28824016e+00] [ 1.56829605e-02 -3.90887654e-04 9.99876938e-01 6.38307589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.3592541539999 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:413.89, Y:4.29, Z:6.38 [[ 9.98525683e-01 -5.19663744e-02 -1.56830049e-02 4.13888996e+02] [ 5.19666676e-02 9.98648744e-01 -3.89100711e-04 4.28773006e+00] [ 1.56820333e-02 -4.26466449e-04 9.99876938e-01 6.38328363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.38925415399996 meters Centerline goodness : 0.999229 Centerline is valid? [True, True] Translation: X:413.92, Y:4.29, Z:6.38 [[ 9.98439922e-01 -5.35888433e-02 -1.56830192e-02 4.13921722e+02] [ 5.35893455e-02 9.98562983e-01 -3.88523804e-04 4.28652691e+00] [ 1.56813030e-02 -4.52525056e-04 9.99876938e-01 6.38197053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.41925415399993 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:413.95, Y:4.28, Z:6.38 [[ 9.98216944e-01 -5.75931883e-02 -1.56830479e-02 4.13952789e+02] [ 5.75942023e-02 9.98340001e-01 -3.87361079e-04 4.28498067e+00] [ 1.56793234e-02 -5.16582242e-04 9.99876938e-01 6.38392047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.44925415399996 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:413.99, Y:4.28, Z:6.38 [[ 9.98157374e-01 -5.86165388e-02 -1.56830692e-02 4.13985115e+02] [ 5.86176926e-02 9.98280430e-01 -3.86495100e-04 4.28482927e+00] [ 1.56787561e-02 -5.33522398e-04 9.99876938e-01 6.38492885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.47925415399993 meters Centerline goodness : 0.999333 Centerline is valid? [True, True] Translation: X:414.02, Y:4.29, Z:6.39 [[ 9.98116476e-01 -5.93088657e-02 -1.56830971e-02 4.14016484e+02] [ 5.93101227e-02 9.98239531e-01 -3.85361267e-04 4.28506716e+00] [ 1.56783428e-02 -5.45530984e-04 9.99876938e-01 6.38538556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.50925415399996 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:414.05, Y:4.29, Z:6.39 [[ 9.98158708e-01 -5.85938029e-02 -1.56831178e-02 4.14048823e+02] [ 5.85949850e-02 9.98281764e-01 -3.84517370e-04 4.28523906e+00] [ 1.56787008e-02 -5.35142691e-04 9.99876938e-01 6.38544481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.53925415399993 meters Centerline goodness : 0.998224 Centerline is valid? [True, True] Translation: X:414.08, Y:4.29, Z:6.38 [[ 9.98206074e-01 -5.77812488e-02 -1.56831454e-02 4.14079029e+02] [ 5.77823484e-02 9.98329131e-01 -3.83388210e-04 4.28562334e+00] [ 1.56790936e-02 -5.23508532e-04 9.99876938e-01 6.38280103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.56925415399996 meters Centerline goodness : 0.999562 Centerline is valid? [True, True] Translation: X:414.11, Y:4.29, Z:6.39 [[ 9.98206398e-01 -5.77757179e-02 -1.56829183e-02 4.14110030e+02] [ 5.77766717e-02 9.98329456e-01 -3.92635019e-04 4.28659425e+00] [ 1.56794041e-02 -5.14176035e-04 9.99876938e-01 6.38795662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.59925415399994 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:414.14, Y:4.29, Z:6.39 [[ 9.98233399e-01 -5.73072594e-02 -1.56831019e-02 4.14141588e+02] [ 5.73082727e-02 9.98356456e-01 -3.85159713e-04 4.28717736e+00] [ 1.56793985e-02 -5.14292192e-04 9.99876938e-01 6.38870193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.62925415399997 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:414.17, Y:4.29, Z:6.39 [[ 9.98255553e-01 -5.69200381e-02 -1.56831224e-02 4.14173256e+02] [ 5.69210169e-02 9.98378611e-01 -3.84322348e-04 4.28769327e+00] [ 1.56795696e-02 -5.09047359e-04 9.99876938e-01 6.39009052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.65925415399994 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:414.21, Y:4.29, Z:6.39 [[ 9.98257608e-01 -5.68839864e-02 -1.56831363e-02 4.14205085e+02] [ 5.68849697e-02 9.98380665e-01 -3.83756268e-04 4.28844139e+00] [ 1.56795696e-02 -5.09047118e-04 9.99876938e-01 6.39058994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.68925415399997 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:414.24, Y:4.29, Z:6.39 [[ 9.98260597e-01 -5.68314984e-02 -1.56831501e-02 4.14236171e+02] [ 5.68324840e-02 9.98383655e-01 -3.83189946e-04 4.28875623e+00] [ 1.56795780e-02 -5.08788955e-04 9.99876938e-01 6.38935580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.71925415399994 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:414.27, Y:4.29, Z:6.39 [[ 9.98229235e-01 -5.73797275e-02 -1.56831639e-02 4.14267785e+02] [ 5.73807896e-02 9.98352292e-01 -3.82625957e-04 4.28937991e+00] [ 1.56792776e-02 -5.17963910e-04 9.99876938e-01 6.38877986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.74925415399997 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:414.30, Y:4.28, Z:6.39 [[ 9.98452500e-01 -5.33539336e-02 -1.56831775e-02 4.14304721e+02] [ 5.33545082e-02 9.98575561e-01 -3.82065342e-04 4.28374250e+00] [ 1.56812225e-02 -4.55294128e-04 9.99876938e-01 6.38708948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.77925415399994 meters Centerline goodness : 0.999376 Centerline is valid? [True, True] Translation: X:414.33, Y:4.29, Z:6.39 [[ 9.98023133e-01 -6.08571734e-02 -1.56917322e-02 4.14326415e+02] [ 6.08642455e-02 9.98146053e-01 -2.69209857e-05 4.29131372e+00] [ 1.56642789e-02 -9.28197673e-04 9.99876877e-01 6.39166045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.809254154 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:414.36, Y:4.29, Z:6.39 [[ 9.97829635e-01 -6.39536689e-02 -1.56827427e-02 4.14358106e+02] [ 6.39554383e-02 9.97952679e-01 -3.89195318e-04 4.29112024e+00] [ 1.56755256e-02 -6.14646061e-04 9.99876942e-01 6.39127605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.83925415399995 meters Centerline goodness : 0.999477 Centerline is valid? [True, True] Translation: X:414.39, Y:4.29, Z:6.39 [[ 9.97710203e-01 -6.57905824e-02 -1.56827874e-02 4.14390067e+02] [ 6.57926066e-02 9.97833244e-01 -3.87385480e-04 4.29147409e+00] [ 1.56742930e-02 -6.45313018e-04 9.99876942e-01 6.39202743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.869254154 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:414.42, Y:4.29, Z:6.39 [[ 9.97633566e-01 -6.69426446e-02 -1.56828142e-02 4.14422354e+02] [ 6.69448280e-02 9.97756604e-01 -3.86297647e-04 4.29162240e+00] [ 1.56734912e-02 -6.64499800e-04 9.99876942e-01 6.39219309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.89925415399995 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:414.45, Y:4.29, Z:6.39 [[ 9.97537563e-01 -6.83583121e-02 -1.56828424e-02 4.14454647e+02] [ 6.83606881e-02 9.97660598e-01 -3.85151660e-04 4.29209953e+00] [ 1.56724822e-02 -6.87886647e-04 9.99876942e-01 6.39084899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.9292541539999 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:414.49, Y:4.29, Z:6.39 [[ 9.97503002e-01 -6.88607862e-02 -1.56828704e-02 4.14485609e+02] [ 6.88632421e-02 9.97626035e-01 -3.84008373e-04 4.29358470e+00] [ 1.56720829e-02 -6.96923794e-04 9.99876942e-01 6.39309973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.95925415399995 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:414.52, Y:4.29, Z:6.39 [[ 9.97547858e-01 -6.82079011e-02 -1.56829129e-02 4.14517846e+02] [ 6.82103039e-02 9.97670892e-01 -3.82261056e-04 4.29456040e+00] [ 1.56724590e-02 -6.88412560e-04 9.99876942e-01 6.39091815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.9892541539999 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:414.55, Y:4.30, Z:6.39 [[ 9.97578040e-01 -6.77650390e-02 -1.56829404e-02 4.14550062e+02] [ 6.77674049e-02 9.97701074e-01 -3.81132987e-04 4.29616716e+00] [ 1.56727139e-02 -6.82582272e-04 9.99876942e-01 6.39263631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.01925415399995 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:414.58, Y:4.30, Z:6.39 [[ 9.97626598e-01 -6.70463628e-02 -1.56829681e-02 4.14581686e+02] [ 6.70486580e-02 9.97749634e-01 -3.79988587e-04 4.29814975e+00] [ 1.56731525e-02 -6.72435242e-04 9.99876942e-01 6.39490854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.0492541539999 meters Centerline goodness : 0.999477 Centerline is valid? [True, True] Translation: X:414.61, Y:4.30, Z:6.40 [[ 9.97811037e-01 -6.42431256e-02 -1.56829888e-02 4.14612996e+02] [ 6.42450886e-02 9.97934078e-01 -3.79129857e-04 4.30100556e+00] [ 1.56749455e-02 -6.29255053e-04 9.99876942e-01 6.39548871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.07925415399995 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:414.65, Y:4.30, Z:6.40 [[ 9.97919014e-01 -6.25434617e-02 -1.56830094e-02 4.14645485e+02] [ 6.25452285e-02 9.98042059e-01 -3.78278971e-04 4.30287114e+00] [ 1.56759618e-02 -6.03405627e-04 9.99876942e-01 6.39645361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.1092541539999 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:414.68, Y:4.30, Z:6.40 [[ 9.98050769e-01 -6.04045067e-02 -1.56830357e-02 4.14677552e+02] [ 6.04060270e-02 9.98173817e-01 -3.77183870e-04 4.30486801e+00] [ 1.56771792e-02 -5.70901226e-04 9.99876942e-01 6.39700133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.13925415399996 meters Centerline goodness : 0.999520 Centerline is valid? [True, True] Translation: X:414.71, Y:4.31, Z:6.40 [[ 9.98283687e-01 -5.64244805e-02 -1.56830620e-02 4.14709737e+02] [ 5.64255273e-02 9.98406740e-01 -3.76087869e-04 4.30874228e+00] [ 1.56792954e-02 -5.09482657e-04 9.99876942e-01 6.40027560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.16925415399993 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:414.74, Y:4.31, Z:6.40 [[ 9.98418585e-01 -5.39849101e-02 -1.56830881e-02 4.14741032e+02] [ 5.39856734e-02 9.98541640e-01 -3.74995792e-04 4.31111306e+00] [ 1.56804606e-02 -4.72259304e-04 9.99876942e-01 6.40097849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.19925415399996 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:414.77, Y:4.31, Z:6.40 [[ 9.98551067e-01 -5.14762688e-02 -1.56831310e-02 4.14773010e+02] [ 5.14767512e-02 9.98674123e-01 -3.73193091e-04 4.31324035e+00] [ 1.56815477e-02 -4.34664272e-04 9.99876942e-01 6.40253539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.22925415399993 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:414.80, Y:4.32, Z:6.40 [[ 9.98671034e-01 -4.90938250e-02 -1.56831584e-02 4.14804002e+02] [ 4.90940320e-02 9.98794092e-01 -3.72036406e-04 4.31521273e+00] [ 1.56825107e-02 -3.98407499e-04 9.99876942e-01 6.40182435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.25925415399996 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:414.83, Y:4.32, Z:6.40 [[ 9.98843450e-01 -4.54510874e-02 -1.56831720e-02 4.14833972e+02] [ 4.54508545e-02 9.98966507e-01 -3.71464257e-04 4.31895633e+00] [ 1.56838470e-02 -3.41778927e-04 9.99876942e-01 6.40310568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.28925415399993 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:414.87, Y:4.32, Z:6.40 [[ 9.98923179e-01 -4.36637113e-02 -1.56831787e-02 4.14865088e+02] [ 4.36632627e-02 9.99046236e-01 -3.71180357e-04 4.32092366e+00] [ 1.56844278e-02 -3.13998089e-04 9.99876942e-01 6.40309348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.31925415399996 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:414.90, Y:4.32, Z:6.40 [[ 9.98992343e-01 -4.20515906e-02 -1.56831919e-02 4.14896212e+02] [ 4.20509522e-02 9.99115399e-01 -3.70620977e-04 4.32264179e+00] [ 1.56849038e-02 -2.89245635e-04 9.99876942e-01 6.40355339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.34925415399994 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:414.93, Y:4.32, Z:6.40 [[ 9.99057822e-01 -4.04661080e-02 -1.56832053e-02 4.14927770e+02] [ 4.04652832e-02 9.99180876e-01 -3.70054354e-04 4.32405772e+00] [ 1.56853335e-02 -2.64919646e-04 9.99876942e-01 6.40414279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.37925415399997 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:414.96, Y:4.33, Z:6.40 [[ 9.99151591e-01 -3.80806329e-02 -1.56832189e-02 4.14958562e+02] [ 3.80795233e-02 9.99274644e-01 -3.69477940e-04 4.32596173e+00] [ 1.56859129e-02 -2.28045027e-04 9.99876942e-01 6.40460671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.40925415399994 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:414.99, Y:4.33, Z:6.41 [[ 9.99186489e-01 -3.71536974e-02 -1.56832189e-02 4.14989767e+02] [ 3.71524736e-02 9.99309540e-01 -3.69477940e-04 4.32728628e+00] [ 1.56861177e-02 -2.13493009e-04 9.99876942e-01 6.40502169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.43925415399997 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:415.02, Y:4.33, Z:6.40 [[ 9.99249715e-01 -3.54124762e-02 -1.56832324e-02 4.15020883e+02] [ 3.54110470e-02 9.99372764e-01 -3.68901775e-04 4.32912655e+00] [ 1.56864591e-02 -1.86734687e-04 9.99876942e-01 6.40489568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.46925415399994 meters Centerline goodness : 0.998937 Centerline is valid? [True, True] Translation: X:415.05, Y:4.33, Z:6.40 [[ 9.99290303e-01 -3.42480062e-02 -1.56832459e-02 4.15051571e+02] [ 3.42464426e-02 9.99413351e-01 -3.68326417e-04 4.33009750e+00] [ 1.56866598e-02 -1.69030365e-04 9.99876942e-01 6.40385999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.49925415399997 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:415.08, Y:4.33, Z:6.41 [[ 9.99305026e-01 -3.38156762e-02 -1.56832526e-02 4.15081871e+02] [ 3.38140639e-02 9.99428073e-01 -3.68041088e-04 4.33144387e+00] [ 1.56867285e-02 -1.62529198e-04 9.99876942e-01 6.40634425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.52925415399994 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:415.11, Y:4.33, Z:6.41 [[ 9.99329715e-01 -3.30780216e-02 -1.56832526e-02 4.15112523e+02] [ 3.30763185e-02 9.99452761e-01 -3.68041088e-04 4.33217985e+00] [ 1.56868442e-02 -1.50949863e-04 9.99876942e-01 6.40637233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.559254154 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:415.14, Y:4.33, Z:6.41 [[ 9.99336566e-01 -3.28704073e-02 -1.56832526e-02 4.15143378e+02] [ 3.28686787e-02 9.99459611e-01 -3.68041088e-04 4.33305105e+00] [ 1.56868752e-02 -1.47690874e-04 9.99876942e-01 6.40753868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.58925415399995 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:415.17, Y:4.33, Z:6.41 [[ 9.99319586e-01 -3.33826340e-02 -1.56832526e-02 4.15173445e+02] [ 3.33809684e-02 9.99442632e-01 -3.68041088e-04 4.33344739e+00] [ 1.56867975e-02 -1.55731493e-04 9.99876942e-01 6.40851557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.619254154 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:415.20, Y:4.33, Z:6.41 [[ 9.99282722e-01 -3.44684822e-02 -1.56832526e-02 4.15203213e+02] [ 3.44669503e-02 9.99405770e-01 -3.68041088e-04 4.33368737e+00] [ 1.56866190e-02 -1.72776789e-04 9.99876942e-01 6.40875723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.64925415399995 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:415.23, Y:4.33, Z:6.41 [[ 9.99251547e-01 -3.53607356e-02 -1.56832459e-02 4.15234227e+02] [ 3.53593091e-02 9.99374596e-01 -3.68327540e-04 4.33314937e+00] [ 1.56864619e-02 -1.86496875e-04 9.99876942e-01 6.40746696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.6792541539999 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:415.26, Y:4.33, Z:6.41 [[ 9.99187951e-01 -3.71143555e-02 -1.56832459e-02 4.15263053e+02] [ 3.71131449e-02 9.99311002e-01 -3.68327540e-04 4.33363987e+00] [ 1.56861104e-02 -2.14026138e-04 9.99876942e-01 6.41158010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.70925415399995 meters Centerline goodness : 0.999333 Centerline is valid? [True, True] Translation: X:415.29, Y:4.33, Z:6.41 [[ 9.98961088e-01 -4.27880410e-02 -1.56820834e-02 4.15293356e+02] [ 4.27867567e-02 9.99084140e-01 -4.17551362e-04 4.33177373e+00] [ 1.56855870e-02 -2.53867925e-04 9.99876941e-01 6.40912995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.7392541539999 meters Centerline goodness : 0.999333 Centerline is valid? [True, True] Translation: X:415.32, Y:4.33, Z:6.41 [[ 9.98812601e-01 -4.61240090e-02 -1.56832313e-02 4.15323626e+02] [ 4.61239019e-02 9.98935658e-01 -3.68731724e-04 4.33172684e+00] [ 1.56835463e-02 -3.55077927e-04 9.99876943e-01 6.41136692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.76925415399995 meters Centerline goodness : 0.999479 Centerline is valid? [True, True] Translation: X:415.35, Y:4.33, Z:6.41 [[ 9.98541361e-01 -5.16641662e-02 -1.56832378e-02 4.15354645e+02] [ 5.16647461e-02 9.98664417e-01 -3.68454861e-04 4.33003317e+00] [ 1.56813274e-02 -4.42353078e-04 9.99876943e-01 6.41162864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.7992541539999 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:415.39, Y:4.33, Z:6.41 [[ 9.98407554e-01 -5.41884921e-02 -1.56832512e-02 4.15385375e+02] [ 5.41893921e-02 9.98530608e-01 -3.67883319e-04 4.32985535e+00] [ 1.56801414e-02 -4.82568362e-04 9.99876943e-01 6.41225555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.82925415399995 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:415.42, Y:4.33, Z:6.41 [[ 9.98272641e-01 -5.66195203e-02 -1.56832712e-02 4.15417841e+02] [ 5.66207333e-02 9.98395692e-01 -3.67028514e-04 4.32978639e+00] [ 1.56788913e-02 -5.21603791e-04 9.99876943e-01 6.41319739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.8592541539999 meters Centerline goodness : 0.999479 Centerline is valid? [True, True] Translation: X:415.45, Y:4.33, Z:6.41 [[ 9.98163231e-01 -5.85166437e-02 -1.56832980e-02 4.15449950e+02] [ 5.85181086e-02 9.98286280e-01 -3.65879779e-04 4.32996247e+00] [ 1.56778312e-02 -5.52549190e-04 9.99876943e-01 6.41400857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.88925415399996 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:415.48, Y:4.33, Z:6.41 [[ 9.98087774e-01 -5.97898745e-02 -1.56833249e-02 4.15481952e+02] [ 5.97915145e-02 9.98210820e-01 -3.64720186e-04 4.33010600e+00] [ 1.56770712e-02 -5.73706991e-04 9.99876943e-01 6.41253594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.91925415399993 meters Centerline goodness : 0.999500 Centerline is valid? [True, True] Translation: X:415.51, Y:4.33, Z:6.42 [[ 9.97927727e-01 -6.24041971e-02 -1.56833517e-02 4.15514338e+02] [ 6.24061776e-02 9.98050769e-01 -3.63563857e-04 4.33171779e+00] [ 1.56754692e-02 -6.15927580e-04 9.99876943e-01 6.41526299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.94925415399996 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:415.55, Y:4.33, Z:6.42 [[ 9.97882885e-01 -6.31171851e-02 -1.56833785e-02 4.15545249e+02] [ 6.31192717e-02 9.98005925e-01 -3.62404390e-04 4.33311684e+00] [ 1.56749786e-02 -6.28286292e-04 9.99876943e-01 6.41557120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.97925415399993 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:415.58, Y:4.33, Z:6.42 [[ 9.97862042e-01 -6.34458568e-02 -1.56833985e-02 4.15577218e+02] [ 6.34479975e-02 9.97985081e-01 -3.61539139e-04 4.33456394e+00] [ 1.56747359e-02 -6.34314045e-04 9.99876943e-01 6.41614664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.00925415399996 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:415.61, Y:4.34, Z:6.41 [[ 9.97881510e-01 -6.31389169e-02 -1.56834239e-02 4.15609641e+02] [ 6.31410371e-02 9.98004549e-01 -3.60431285e-04 4.33538572e+00] [ 1.56748857e-02 -6.30599938e-04 9.99876943e-01 6.41429337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.03925415399993 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:415.64, Y:4.34, Z:6.42 [[ 9.97806324e-01 -6.43161696e-02 -1.56834499e-02 4.15641373e+02] [ 6.43184528e-02 9.97929360e-01 -3.59296945e-04 4.33833258e+00] [ 1.56740837e-02 -6.50226469e-04 9.99876943e-01 6.41719798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.06925415399996 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:415.67, Y:4.34, Z:6.42 [[ 9.97778445e-01 -6.47472199e-02 -1.56834763e-02 4.15673927e+02] [ 6.47495744e-02 9.97901480e-01 -3.58141863e-04 4.33997348e+00] [ 1.56737529e-02 -6.58152184e-04 9.99876943e-01 6.41743191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.09925415399994 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:415.71, Y:4.34, Z:6.42 [[ 9.97747013e-01 -6.52297901e-02 -1.56835026e-02 4.15706065e+02] [ 6.52322222e-02 9.97870047e-01 -3.56986650e-04 4.34180502e+00] [ 1.56733836e-02 -6.66887363e-04 9.99876943e-01 6.41777009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.12925415399997 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:415.74, Y:4.34, Z:6.42 [[ 9.97710223e-01 -6.57901104e-02 -1.56835287e-02 4.15737907e+02] [ 6.57926297e-02 9.97833254e-01 -3.55834180e-04 4.34344179e+00] [ 1.56729569e-02 -6.76841201e-04 9.99876943e-01 6.41848952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.15925415399994 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:415.77, Y:4.35, Z:6.42 [[ 9.97587503e-01 -6.76254419e-02 -1.56835550e-02 4.15769415e+02] [ 6.76282057e-02 9.97710529e-01 -3.54670912e-04 4.34610754e+00] [ 1.56716328e-02 -7.06835419e-04 9.99876943e-01 6.41788554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.18925415399997 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:415.80, Y:4.35, Z:6.42 [[ 9.97531037e-01 -6.84533059e-02 -1.56835746e-02 4.15801485e+02] [ 6.84561855e-02 9.97654061e-01 -3.53805749e-04 4.34762872e+00] [ 1.56710010e-02 -7.20705474e-04 9.99876943e-01 6.41854707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.21925415399994 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:415.83, Y:4.35, Z:6.42 [[ 9.97477721e-01 -6.92258616e-02 -1.56836007e-02 4.15832588e+02] [ 6.92288546e-02 9.97600742e-01 -3.52644123e-04 4.34936591e+00] [ 1.56703838e-02 -7.34003056e-04 9.99876943e-01 6.41829842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.24925415399997 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:415.86, Y:4.35, Z:6.42 [[ 9.97425619e-01 -6.99725625e-02 -1.56836201e-02 4.15864841e+02] [ 6.99756612e-02 9.97548637e-01 -3.51778859e-04 4.35143794e+00] [ 1.56697887e-02 -7.46598440e-04 9.99876943e-01 6.41939617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.27925415399994 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:415.90, Y:4.36, Z:6.42 [[ 9.97364533e-01 -7.08379195e-02 -1.56836461e-02 4.15896211e+02] [ 7.08411432e-02 9.97487549e-01 -3.50615583e-04 4.35530620e+00] [ 1.56690786e-02 -7.61355871e-04 9.99876943e-01 6.41982822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.309254154 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:415.93, Y:4.36, Z:6.42 [[ 9.97361382e-01 -7.08822680e-02 -1.56836654e-02 4.15928320e+02] [ 7.08855107e-02 9.97484397e-01 -3.49749572e-04 4.35771310e+00] [ 1.56690026e-02 -7.62917916e-04 9.99876943e-01 6.42063273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.33925415399995 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:415.96, Y:4.36, Z:6.42 [[ 9.97380840e-01 -7.06079411e-02 -1.56836913e-02 4.15960155e+02] [ 7.06111683e-02 9.97503855e-01 -3.48583497e-04 4.36012870e+00] [ 1.56691553e-02 -7.59773267e-04 9.99876943e-01 6.42168020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.369254154 meters Centerline goodness : 0.998895 Centerline is valid? [True, True] Translation: X:415.99, Y:4.36, Z:6.42 [[ 9.97490384e-01 -6.90431396e-02 -1.56837172e-02 4.15992673e+02] [ 6.90461921e-02 9.97613403e-01 -3.47416271e-04 4.36157724e+00] [ 1.56702732e-02 -7.36356561e-04 9.99876943e-01 6.41964777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.39925415399995 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:416.02, Y:4.37, Z:6.42 [[ 9.97662976e-01 -6.65026781e-02 -1.56837428e-02 4.16024040e+02] [ 6.65054355e-02 9.97786003e-01 -3.46255007e-04 4.36666385e+00] [ 1.56720459e-02 -6.97608346e-04 9.99876943e-01 6.42402372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.4292541539999 meters Centerline goodness : 0.999146 Centerline is valid? [True, True] Translation: X:416.06, Y:4.37, Z:6.42 [[ 9.97845167e-01 -6.37106206e-02 -1.56837619e-02 4.16056034e+02] [ 6.37130474e-02 9.97968200e-01 -3.45388518e-04 4.36897162e+00] [ 1.56739006e-02 -6.54616002e-04 9.99876943e-01 6.42492893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.45925415399995 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:416.09, Y:4.37, Z:6.43 [[ 9.98029083e-01 -6.07615743e-02 -1.56837872e-02 4.16087997e+02] [ 6.07636555e-02 9.98152123e-01 -3.44238139e-04 4.37144720e+00] [ 1.56757219e-02 -6.09444566e-04 9.99876943e-01 6.42548970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.4892541539999 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:416.12, Y:4.38, Z:6.43 [[ 9.98403245e-01 -5.42676467e-02 -1.56838122e-02 4.16120478e+02] [ 5.42689454e-02 9.98526296e-01 -3.43094656e-04 4.37613385e+00] [ 1.56793178e-02 -5.08597128e-04 9.99876943e-01 6.42665050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.51925415399995 meters Centerline goodness : 0.999038 Centerline is valid? [True, True] Translation: X:416.15, Y:4.38, Z:6.43 [[ 9.98572489e-01 -5.10588015e-02 -1.56838369e-02 4.16152346e+02] [ 5.10597226e-02 9.98695543e-01 -3.41958113e-04 4.37883433e+00] [ 1.56808380e-02 -4.59342400e-04 9.99876943e-01 6.42784875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.5492541539999 meters Centerline goodness : 0.999038 Centerline is valid? [True, True] Translation: X:416.19, Y:4.38, Z:6.43 [[ 9.98576279e-01 -5.09846135e-02 -1.56838623e-02 4.16185024e+02] [ 5.09855437e-02 9.98699333e-01 -3.40792533e-04 4.37948563e+00] [ 1.56808380e-02 -4.59342906e-04 9.99876943e-01 6.42836127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.57925415399995 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:416.22, Y:4.38, Z:6.43 [[ 9.98750388e-01 -4.74518490e-02 -1.56838875e-02 4.16217262e+02] [ 4.74523622e-02 9.98873444e-01 -3.39627458e-04 4.38151866e+00] [ 1.56823347e-02 -4.05034455e-04 9.99876943e-01 6.42767578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.6092541539999 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:416.25, Y:4.38, Z:6.43 [[ 9.98865082e-01 -4.49729184e-02 -1.56839126e-02 4.16249667e+02] [ 4.49731445e-02 9.98988139e-01 -3.38463019e-04 4.38406258e+00] [ 1.56832644e-02 -3.67275977e-04 9.99876943e-01 6.42926610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.63925415399996 meters Centerline goodness : 0.999288 Centerline is valid? [True, True] Translation: X:416.28, Y:4.39, Z:6.43 [[ 9.99050187e-01 -4.06538774e-02 -1.56839376e-02 4.16280470e+02] [ 4.06535897e-02 9.99173244e-01 -3.37301368e-04 4.38673842e+00] [ 1.56846834e-02 -3.00627369e-04 9.99876943e-01 6.42908745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.66925415399993 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:416.31, Y:4.39, Z:6.43 [[ 9.99116181e-01 -3.89983388e-02 -1.56839562e-02 4.16313107e+02] [ 3.89978607e-02 9.99239237e-01 -3.36436928e-04 4.38838027e+00] [ 1.56851449e-02 -2.75501159e-04 9.99876943e-01 6.42920997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.69925415399996 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:416.35, Y:4.38, Z:6.42 [[ 9.99451705e-01 -2.91599431e-02 -1.56839805e-02 4.16354410e+02] [ 2.91582714e-02 9.99574751e-01 -3.35299408e-04 4.38055310e+00] [ 1.56870882e-02 -1.22202194e-04 9.99876943e-01 6.42291273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.72925415399993 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:416.37, Y:4.39, Z:6.43 [[ 9.99179125e-01 -3.73464327e-02 -1.56946095e-02 4.16373287e+02] [ 3.73538778e-02 9.99302084e-01 1.81394029e-04 4.39166619e+00] [ 1.56768816e-02 -7.67499653e-04 9.99876816e-01 6.43028570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.75925415399996 meters Centerline goodness : 0.999058 Centerline is valid? [True, True] Translation: X:416.40, Y:4.39, Z:6.43 [[ 9.99206850e-01 -3.66019548e-02 -1.56833421e-02 4.16403579e+02] [ 3.66011352e-02 9.99329896e-01 -3.39383345e-04 4.39386349e+00] [ 1.56852548e-02 -2.34913964e-04 9.99876951e-01 6.43075995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.78925415399993 meters Centerline goodness : 0.999267 Centerline is valid? [True, True] Translation: X:416.43, Y:4.40, Z:6.43 [[ 9.99203909e-01 -3.66821665e-02 -1.56833481e-02 4.16434570e+02] [ 3.66813612e-02 9.99326955e-01 -3.39106364e-04 4.39501206e+00] [ 1.56852317e-02 -2.36450153e-04 9.99876951e-01 6.43251362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.81925415399996 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] Translation: X:416.47, Y:4.40, Z:6.43 [[ 9.99183905e-01 -3.72230580e-02 -1.56833607e-02 4.16465249e+02] [ 3.72223284e-02 9.99306952e-01 -3.38522313e-04 4.39587176e+00] [ 1.56850923e-02 -2.45525158e-04 9.99876951e-01 6.43314942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.84925415399994 meters Centerline goodness : 0.998955 Centerline is valid? [True, True] Translation: X:416.51, Y:4.39, Z:6.43 [[ 9.99485198e-01 -2.79887526e-02 -1.56833670e-02 4.16507281e+02] [ 2.79868906e-02 9.99608233e-01 -3.38232425e-04 4.38549228e+00] [ 1.56866895e-02 -1.00870373e-04 9.99876951e-01 6.42581536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.87925415399997 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:416.52, Y:4.40, Z:6.43 [[ 9.99124080e-01 -3.87911291e-02 -1.56946322e-02 4.16524150e+02] [ 3.87992338e-02 9.99247004e-01 2.12130157e-04 4.39588007e+00] [ 1.56745854e-02 -8.20884053e-04 9.99876809e-01 6.43310346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.90925415399994 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:416.56, Y:4.40, Z:6.43 [[ 9.99013147e-01 -4.15546238e-02 -1.56826508e-02 4.16555460e+02] [ 4.15544005e-02 9.99136185e-01 -3.40238481e-04 4.39531064e+00] [ 1.56832424e-02 -3.11780438e-04 9.99876962e-01 6.43380796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.93925415399997 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:416.59, Y:4.40, Z:6.44 [[ 9.98943823e-01 -4.31890389e-02 -1.56826632e-02 4.16588102e+02] [ 4.31890259e-02 9.99066861e-01 -3.39666961e-04 4.39536534e+00] [ 1.56826990e-02 -3.38010736e-04 9.99876962e-01 6.43506704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.96925415399994 meters Centerline goodness : 0.998894 Centerline is valid? [True, True] Translation: X:416.62, Y:4.40, Z:6.44 [[ 9.98873914e-01 -4.47767489e-02 -1.56826881e-02 4.16620341e+02] [ 4.47769495e-02 9.98996952e-01 -3.38515177e-04 4.39508314e+00] [ 1.56821152e-02 -3.64088953e-04 9.99876962e-01 6.43558754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.99925415399997 meters Centerline goodness : 0.998914 Centerline is valid? [True, True] Translation: X:416.65, Y:4.39, Z:6.43 [[ 9.98819983e-01 -4.59640432e-02 -1.56827128e-02 4.16652170e+02] [ 4.59644081e-02 9.98943021e-01 -3.37365992e-04 4.39403010e+00] [ 1.56816432e-02 -3.83878716e-04 9.99876962e-01 6.43482906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.02925415399994 meters Centerline goodness : 0.999292 Centerline is valid? [True, True] Translation: X:416.68, Y:4.39, Z:6.44 [[ 9.98651073e-01 -4.94983452e-02 -1.56827379e-02 4.16683486e+02] [ 4.94991639e-02 9.98774108e-01 -3.36196667e-04 4.39270179e+00] [ 1.56801537e-02 -4.40539249e-04 9.99876962e-01 6.43639657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.059254154 meters Centerline goodness : 0.999125 Centerline is valid? [True, True] Translation: X:416.72, Y:4.39, Z:6.44 [[ 9.98601519e-01 -5.04881960e-02 -1.56827565e-02 4.16716140e+02] [ 5.04891503e-02 9.98724553e-01 -3.35325331e-04 4.39234664e+00] [ 1.56796839e-02 -4.56952665e-04 9.99876962e-01 6.43700642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.08925415399995 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:416.75, Y:4.39, Z:6.44 [[ 9.98577775e-01 -5.09556450e-02 -1.56827812e-02 4.16747167e+02] [ 5.09566751e-02 9.98700809e-01 -3.34165406e-04 4.39197447e+00] [ 1.56794339e-02 -4.65452239e-04 9.99876962e-01 6.43727006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.119254154 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:416.78, Y:4.39, Z:6.44 [[ 9.98591429e-01 -5.06873454e-02 -1.56828221e-02 4.16778742e+02] [ 5.06883727e-02 9.98714463e-01 -3.32237182e-04 4.39137564e+00] [ 1.56795014e-02 -4.63167527e-04 9.99876962e-01 6.43770055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.14925415399995 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:416.81, Y:4.39, Z:6.44 [[ 9.98672436e-01 -4.90653921e-02 -1.56828608e-02 4.16811224e+02] [ 4.90662484e-02 9.98795472e-01 -3.30398681e-04 4.38965149e+00] [ 1.56801815e-02 -4.39539086e-04 9.99876962e-01 6.43836220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.1792541539999 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:416.84, Y:4.39, Z:6.44 [[ 9.98746140e-01 -4.75415183e-02 -1.56828848e-02 4.16842699e+02] [ 4.75422048e-02 9.98869176e-01 -3.29253799e-04 4.38948418e+00] [ 1.56808035e-02 -4.16757962e-04 9.99876962e-01 6.43883747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.20925415399995 meters Centerline goodness : 0.999267 Centerline is valid? [True, True] Translation: X:416.88, Y:4.39, Z:6.44 [[ 9.98943552e-01 -4.31952221e-02 -1.56829027e-02 4.16875233e+02] [ 4.31953866e-02 9.99066590e-01 -3.28401380e-04 4.38834368e+00] [ 1.56824495e-02 -3.49374604e-04 9.99876962e-01 6.43997967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.2392541539999 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:416.91, Y:4.39, Z:6.44 [[ 9.99046682e-01 -4.07403150e-02 -1.56829269e-02 4.16907586e+02] [ 4.07401955e-02 9.99169720e-01 -3.27238027e-04 4.38792902e+00] [ 1.56832375e-02 -3.11999444e-04 9.99876962e-01 6.44009875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.26925415399995 meters Centerline goodness : 0.999226 Centerline is valid? [True, True] Translation: X:416.94, Y:4.39, Z:6.44 [[ 9.99130500e-01 -3.86301503e-02 -1.56829509e-02 4.16938387e+02] [ 3.86297889e-02 9.99253538e-01 -3.26084477e-04 4.38751978e+00] [ 1.56838409e-02 -2.80028138e-04 9.99876962e-01 6.44015863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.2992541539999 meters Centerline goodness : 0.998954 Centerline is valid? [True, True] Translation: X:416.99, Y:4.37, Z:6.43 [[ 9.99564272e-01 -2.50062157e-02 -1.56829687e-02 4.16985923e+02] [ 2.50041907e-02 9.99687293e-01 -3.25225381e-04 4.37451022e+00] [ 1.56861972e-02 -6.70562690e-05 9.99876962e-01 6.43418661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.32925415399995 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:417.00, Y:4.38, Z:6.44 [[ 9.99258052e-01 -3.51697440e-02 -1.56982348e-02 4.16997825e+02] [ 3.51813019e-02 9.99380840e-01 4.60615491e-04 4.38488735e+00] [ 1.56723153e-02 -1.01255808e-03 9.99876669e-01 6.43960802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.3592541539999 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:417.03, Y:4.38, Z:6.44 [[ 9.99260012e-01 -3.51215420e-02 -1.56813974e-02 4.17029329e+02] [ 3.51206421e-02 9.99383025e-01 -3.32855118e-04 4.38441482e+00] [ 1.56834128e-02 -2.18131937e-04 9.99876984e-01 6.44022888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.38925415399996 meters Centerline goodness : 0.999079 Centerline is valid? [True, True] Translation: X:417.06, Y:4.38, Z:6.44 [[ 9.99255474e-01 -3.52503979e-02 -1.56814098e-02 4.17059840e+02] [ 3.52495231e-02 9.99378487e-01 -3.32271139e-04 4.38266036e+00] [ 1.56833763e-02 -2.20738462e-04 9.99876984e-01 6.43847415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.41925415399993 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:417.09, Y:4.38, Z:6.44 [[ 9.99214856e-01 -3.63835750e-02 -1.56814159e-02 4.17090689e+02] [ 3.63828442e-02 9.99337870e-01 -3.31981540e-04 4.38189796e+00] [ 1.56831115e-02 -2.38813625e-04 9.99876984e-01 6.44044073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.44925415399996 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:417.12, Y:4.38, Z:6.44 [[ 9.99082173e-01 -3.98610730e-02 -1.56814280e-02 4.17120781e+02] [ 3.98607793e-02 9.99205188e-01 -3.31408657e-04 4.37907488e+00] [ 1.56821746e-02 -2.93969461e-04 9.99876984e-01 6.44081330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.47925415399993 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:417.15, Y:4.38, Z:6.44 [[ 9.99001016e-01 -4.18456912e-02 -1.56814486e-02 4.17151363e+02] [ 4.18456572e-02 9.99124032e-01 -3.30431051e-04 4.37819225e+00] [ 1.56815393e-02 -3.26099569e-04 9.99876984e-01 6.44108376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.50925415399996 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:417.18, Y:4.38, Z:6.44 [[ 9.98894329e-01 -4.43194194e-02 -1.56814546e-02 4.17182811e+02] [ 4.43196945e-02 9.99017345e-01 -3.30149398e-04 4.37729684e+00] [ 1.56806771e-02 -3.65212914e-04 9.99876984e-01 6.44181300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.53925415399993 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:417.21, Y:4.38, Z:6.44 [[ 9.98773533e-01 -4.69629695e-02 -1.56814668e-02 4.17213838e+02] [ 4.69635792e-02 9.98896548e-01 -3.29569794e-04 4.37656731e+00] [ 1.56796406e-02 -4.07292218e-04 9.99876984e-01 6.44208089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.56925415399996 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:417.25, Y:4.37, Z:6.44 [[ 9.98509293e-01 -5.22807989e-02 -1.56814849e-02 4.17245902e+02] [ 5.22820773e-02 9.98632303e-01 -3.28703431e-04 4.37406584e+00] [ 1.56772223e-02 -4.91647176e-04 9.99876984e-01 6.44289180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.59925415399994 meters Centerline goodness : 0.998998 Centerline is valid? [True, True] Translation: X:417.28, Y:4.37, Z:6.44 [[ 9.98373397e-01 -5.48146942e-02 -1.56815093e-02 4.17277569e+02] [ 5.48163031e-02 9.98496402e-01 -3.27533687e-04 4.37346933e+00] [ 1.56758843e-02 -5.32601451e-04 9.99876984e-01 6.44303099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.62925415399997 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:417.31, Y:4.37, Z:6.44 [[ 9.98256889e-01 -5.68970453e-02 -1.56815275e-02 4.17309293e+02] [ 5.68989244e-02 9.98379890e-01 -3.26661663e-04 4.37314072e+00] [ 1.56747078e-02 -5.66169794e-04 9.99876984e-01 6.44365396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.65925415399994 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:417.34, Y:4.37, Z:6.44 [[ 9.98137482e-01 -5.89546912e-02 -1.56815512e-02 4.17340429e+02] [ 5.89568419e-02 9.98260479e-01 -3.25518471e-04 4.37292989e+00] [ 1.56734637e-02 -5.99622549e-04 9.99876984e-01 6.44381338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.68925415399997 meters Centerline goodness : 0.998875 Centerline is valid? [True, True] Translation: X:417.37, Y:4.37, Z:6.44 [[ 9.97892724e-01 -6.29618971e-02 -1.56815689e-02 4.17372921e+02] [ 6.29645549e-02 9.98015711e-01 -3.24665764e-04 4.37189746e+00] [ 1.56708937e-02 -6.63401403e-04 9.99876984e-01 6.44242258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.71925415399994 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:417.41, Y:4.37, Z:6.45 [[ 9.97729451e-01 -6.54983205e-02 -1.56815920e-02 4.17405428e+02] [ 6.55013085e-02 9.97852431e-01 -3.23544895e-04 4.37243300e+00] [ 1.56691064e-02 -7.04354527e-04 9.99876984e-01 6.44501453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.74925415399997 meters Centerline goodness : 0.998957 Centerline is valid? [True, True] Translation: X:417.44, Y:4.37, Z:6.45 [[ 9.97558137e-01 -6.80576998e-02 -1.56816158e-02 4.17436555e+02] [ 6.80610215e-02 9.97681108e-01 -3.22388822e-04 4.37263933e+00] [ 1.56671929e-02 -7.45705196e-04 9.99876984e-01 6.44510706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.77925415399994 meters Centerline goodness : 0.999126 Centerline is valid? [True, True] Translation: X:417.47, Y:4.37, Z:6.45 [[ 9.97373601e-01 -7.07105865e-02 -1.56816334e-02 4.17467694e+02] [ 7.07142487e-02 9.97496562e-01 -3.21528502e-04 4.37280823e+00] [ 1.56651109e-02 -7.88230886e-04 9.99876984e-01 6.44581364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.809254154 meters Centerline goodness : 0.999108 Centerline is valid? [True, True] Translation: X:417.50, Y:4.37, Z:6.45 [[ 9.97000807e-01 -7.57857319e-02 -1.56816503e-02 4.17499887e+02] [ 7.57900328e-02 9.97123748e-01 -3.20702446e-04 4.37255905e+00] [ 1.56608506e-02 -8.68772195e-04 9.99876984e-01 6.44507406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.83925415399995 meters Centerline goodness : 0.999229 Centerline is valid? [True, True] Translation: X:417.53, Y:4.37, Z:6.45 [[ 9.96783117e-01 -7.85970857e-02 -1.56816737e-02 4.17531917e+02] [ 7.86017513e-02 9.96906045e-01 -3.19553958e-04 4.37369000e+00] [ 1.56582713e-02 -9.14081027e-04 9.99876984e-01 6.44705602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.869254154 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:417.56, Y:4.37, Z:6.45 [[ 9.96593476e-01 -8.09662125e-02 -1.56816976e-02 4.17564149e+02] [ 8.09711888e-02 9.96716392e-01 -3.18378530e-04 4.37488763e+00] [ 1.56559829e-02 -9.52471730e-04 9.99876984e-01 6.44781677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.89925415399995 meters Centerline goodness : 0.999126 Centerline is valid? [True, True] Translation: X:417.60, Y:4.38, Z:6.45 [[ 9.96438551e-01 -8.28510520e-02 -1.56817272e-02 4.17597168e+02] [ 8.28562837e-02 9.96561456e-01 -3.16911437e-04 4.37621642e+00] [ 1.56540614e-02 -9.83546868e-04 9.99876984e-01 6.44802362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.9292541539999 meters Centerline goodness : 0.999084 Centerline is valid? [True, True] Translation: X:417.63, Y:4.38, Z:6.45 [[ 9.96239969e-01 -8.52056668e-02 -1.56817623e-02 4.17630341e+02] [ 8.52112163e-02 9.96362860e-01 -3.15166212e-04 4.37861883e+00] [ 1.56515795e-02 -1.02228086e-03 9.99876984e-01 6.44755369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.95925415399995 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:417.66, Y:4.38, Z:6.45 [[ 9.96212042e-01 -8.55315680e-02 -1.56817970e-02 4.17663042e+02] [ 8.55371849e-02 9.96334930e-01 -3.13431024e-04 4.38028170e+00] [ 1.56511304e-02 -1.02913301e-03 9.99876984e-01 6.44773958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.9892541539999 meters Centerline goodness : 0.998959 Centerline is valid? [True, True] Translation: X:417.70, Y:4.38, Z:6.45 [[ 9.96232347e-01 -8.52947260e-02 -1.56818317e-02 4.17696154e+02] [ 8.53003410e-02 9.96355235e-01 -3.11685790e-04 4.38217052e+00] [ 1.56512602e-02 -1.02715412e-03 9.99876984e-01 6.44739187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.01925415399995 meters Centerline goodness : 0.998958 Centerline is valid? [True, True] Translation: X:417.73, Y:4.38, Z:6.45 [[ 9.96306182e-01 -8.44279008e-02 -1.56818665e-02 4.17727191e+02] [ 8.44334366e-02 9.96429074e-01 -3.09924821e-04 4.38378824e+00] [ 1.56520340e-02 -1.01529386e-03 9.99876984e-01 6.44602102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.0492541539999 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:417.76, Y:4.39, Z:6.45 [[ 9.96519753e-01 -8.18685556e-02 -1.56818837e-02 4.17760415e+02] [ 8.18737893e-02 9.96642658e-01 -3.09053634e-04 4.38903189e+00] [ 1.56545360e-02 -9.75957188e-04 9.99876984e-01 6.44790704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.07925415399995 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:417.79, Y:4.39, Z:6.45 [[ 9.96682723e-01 -7.98600505e-02 -1.56819179e-02 4.17793404e+02] [ 7.98650639e-02 9.96805637e-01 -3.07305368e-04 4.39181189e+00] [ 1.56563656e-02 -9.46151425e-04 9.99876984e-01 6.44851834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.1092541539999 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:417.83, Y:4.39, Z:6.45 [[ 9.96861141e-01 -7.76011667e-02 -1.56819520e-02 4.17825681e+02] [ 7.76059290e-02 9.96984065e-01 -3.05555161e-04 4.39476804e+00] [ 1.56583677e-02 -9.12416388e-04 9.99876984e-01 6.44900500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.13925415399996 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:417.86, Y:4.40, Z:6.45 [[ 9.97260543e-01 -7.22875106e-02 -1.56819801e-02 4.17858971e+02] [ 7.22916404e-02 9.97383490e-01 -3.04106054e-04 4.40009590e+00] [ 1.56629311e-02 -8.30403099e-04 9.99876984e-01 6.45036631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.16925415399993 meters Centerline goodness : 0.998768 Centerline is valid? [True, True] Translation: X:417.89, Y:4.40, Z:6.45 [[ 9.97486070e-01 -6.91058278e-02 -1.56820136e-02 4.17892104e+02] [ 6.91095927e-02 9.97609028e-01 -3.02370636e-04 4.40305968e+00] [ 1.56654139e-02 -7.82167073e-04 9.99876984e-01 6.45111042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.19925415399996 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:417.92, Y:4.41, Z:6.45 [[ 9.97707779e-01 -6.58275154e-02 -1.56820469e-02 4.17923843e+02] [ 6.58309034e-02 9.97830748e-01 -3.00632225e-04 4.40608663e+00] [ 1.56678185e-02 -7.32420206e-04 9.99876984e-01 6.45196190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.22925415399993 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:417.96, Y:4.41, Z:6.45 [[ 9.97930678e-01 -6.23573121e-02 -1.56820743e-02 4.17955773e+02] [ 6.23602950e-02 9.98053658e-01 -2.99195105e-04 4.40889367e+00] [ 1.56702086e-02 -6.79362807e-04 9.99876984e-01 6.45281008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.25925415399996 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:417.99, Y:4.41, Z:6.45 [[ 9.98320927e-01 -5.57619831e-02 -1.56820961e-02 4.17986815e+02] [ 5.57641713e-02 9.98443924e-01 -2.98049173e-04 4.41408279e+00] [ 1.56743134e-02 -5.76950367e-04 9.99876984e-01 6.45352184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.28925415399993 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:418.02, Y:4.42, Z:6.45 [[ 9.98495518e-01 -5.25430486e-02 -1.56821123e-02 4.18019308e+02] [ 5.25448536e-02 9.98618521e-01 -2.97195978e-04 4.41695962e+00] [ 1.56760633e-02 -5.27265442e-04 9.99876984e-01 6.45428238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.31925415399996 meters Centerline goodness : 0.999014 Centerline is valid? [True, True] Translation: X:418.05, Y:4.42, Z:6.45 [[ 9.98638948e-01 -4.97425644e-02 -1.56821333e-02 4.18050218e+02] [ 4.97440419e-02 9.98761955e-01 -2.96080572e-04 4.41957388e+00] [ 1.56774460e-02 -4.84415106e-04 9.99876984e-01 6.45499040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.34925415399994 meters Centerline goodness : 0.999098 Centerline is valid? [True, True] Translation: X:418.08, Y:4.42, Z:6.46 [[ 9.98756226e-01 -4.73293888e-02 -1.56821490e-02 4.18082038e+02] [ 4.73305821e-02 9.98879236e-01 -2.95250034e-04 4.42171256e+00] [ 1.56785470e-02 -4.47362429e-04 9.99876984e-01 6.45565620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.37925415399997 meters Centerline goodness : 0.998867 Centerline is valid? [True, True] Translation: X:418.11, Y:4.42, Z:6.46 [[ 9.98916432e-01 -4.38181742e-02 -1.56821697e-02 4.18113918e+02] [ 4.38189524e-02 9.99039445e-01 -2.94143761e-04 4.42431397e+00] [ 1.56799950e-02 -3.93351213e-04 9.99876984e-01 6.45609893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.40925415399994 meters Centerline goodness : 0.999097 Centerline is valid? [True, True] Translation: X:418.15, Y:4.43, Z:6.46 [[ 9.98967713e-01 -4.26330605e-02 -1.56821915e-02 4.18145939e+02] [ 4.26337112e-02 9.99090727e-01 -2.92977157e-04 4.42567208e+00] [ 1.56804226e-02 -3.75915303e-04 9.99876984e-01 6.45663254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.43925415399997 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:418.18, Y:4.43, Z:6.46 [[ 9.99018620e-01 -4.14230006e-02 -1.56822133e-02 4.18177838e+02] [ 4.14235205e-02 9.99141635e-01 -2.91808892e-04 4.42686555e+00] [ 1.56808398e-02 -3.58089966e-04 9.99876984e-01 6.45697543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.46925415399994 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:418.21, Y:4.43, Z:6.46 [[ 9.99021701e-01 -4.13486091e-02 -1.56822349e-02 4.18210520e+02] [ 4.13491382e-02 9.99144716e-01 -2.90641136e-04 4.42741304e+00] [ 1.56808397e-02 -3.58090096e-04 9.99876984e-01 6.45748787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.49925415399997 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:418.24, Y:4.43, Z:6.46 [[ 9.99078518e-01 -3.99522361e-02 -1.56822564e-02 4.18242497e+02] [ 3.99526116e-02 9.99201534e-01 -2.89473509e-04 4.42941302e+00] [ 1.56812998e-02 -3.37340336e-04 9.99876984e-01 6.45717760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.52925415399994 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:418.27, Y:4.43, Z:6.46 [[ 9.99099539e-01 -3.94230485e-02 -1.56822781e-02 4.18274758e+02] [ 3.94233773e-02 9.99222555e-01 -2.88296870e-04 4.43051783e+00] [ 1.56814515e-02 -3.30211096e-04 9.99876984e-01 6.45801480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.559254154 meters Centerline goodness : 0.999329 Centerline is valid? [True, True] Translation: X:418.31, Y:4.43, Z:6.46 [[ 9.99127265e-01 -3.87139913e-02 -1.56822996e-02 4.18306111e+02] [ 3.87142512e-02 9.99250281e-01 -2.87119711e-04 4.43092154e+00] [ 1.56816579e-02 -3.20259356e-04 9.99876984e-01 6.45813784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.58925415399995 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:418.34, Y:4.43, Z:6.46 [[ 9.99152364e-01 -3.80607223e-02 -1.56823353e-02 4.18337772e+02] [ 3.80609326e-02 9.99275380e-01 -2.85159001e-04 4.43122275e+00] [ 1.56818249e-02 -3.11967016e-04 9.99876984e-01 6.45831257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.619254154 meters Centerline goodness : 0.998973 Centerline is valid? [True, True] Translation: X:418.37, Y:4.43, Z:6.46 [[ 9.99213298e-01 -3.64259400e-02 -1.56823457e-02 4.18369573e+02] [ 3.64259580e-02 9.99336314e-01 -2.84585837e-04 4.43056843e+00] [ 1.56823038e-02 -2.86882513e-04 9.99876984e-01 6.45610094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.64925415399995 meters Centerline goodness : 0.998975 Centerline is valid? [True, True] Translation: X:418.40, Y:4.43, Z:6.46 [[ 9.99213034e-01 -3.64331676e-02 -1.56823563e-02 4.18400552e+02] [ 3.64331956e-02 9.99336050e-01 -2.84001823e-04 4.43144211e+00] [ 1.56822911e-02 -2.87580030e-04 9.99876984e-01 6.45791622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.6792541539999 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:418.43, Y:4.43, Z:6.46 [[ 9.99205910e-01 -3.66280440e-02 -1.56823667e-02 4.18432323e+02] [ 3.66281052e-02 9.99328926e-01 -2.83421619e-04 4.43194248e+00] [ 1.56822239e-02 -2.91218821e-04 9.99876984e-01 6.46001811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.70925415399995 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:418.46, Y:4.43, Z:6.46 [[ 9.99207394e-01 -3.65875102e-02 -1.56823772e-02 4.18463350e+02] [ 3.65875754e-02 9.99330411e-01 -2.82842859e-04 4.43178140e+00] [ 1.56822249e-02 -2.91161482e-04 9.99876984e-01 6.46053018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.7392541539999 meters Centerline goodness : 0.998871 Centerline is valid? [True, True] Translation: X:418.49, Y:4.43, Z:6.46 [[ 9.99160098e-01 -3.78571080e-02 -1.56823876e-02 4.18494367e+02] [ 3.78573387e-02 9.99283114e-01 -2.82262462e-04 4.43072503e+00] [ 1.56818308e-02 -3.11668070e-04 9.99876984e-01 6.46092208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.76925415399995 meters Centerline goodness : 0.998975 Centerline is valid? [True, True] Translation: X:418.52, Y:4.43, Z:6.46 [[ 9.99141586e-01 -3.83425910e-02 -1.56823980e-02 4.18524985e+02] [ 3.83428905e-02 9.99264601e-01 -2.81685328e-04 4.43010906e+00] [ 1.56816657e-02 -3.19864945e-04 9.99876984e-01 6.46151289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.7992541539999 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:418.56, Y:4.43, Z:6.46 [[ 9.99085895e-01 -3.97672692e-02 -1.56824031e-02 4.18556728e+02] [ 3.97677486e-02 9.99208911e-01 -2.81398820e-04 4.42816044e+00] [ 1.56811874e-02 -3.42512274e-04 9.99876984e-01 6.46191869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.82925415399995 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:418.59, Y:4.42, Z:6.46 [[ 9.99188596e-01 -3.70973307e-02 -1.56824136e-02 4.18589250e+02] [ 3.70974906e-02 9.99311612e-01 -2.80814228e-04 4.42499773e+00] [ 1.56820355e-02 -3.01191816e-04 9.99876984e-01 6.46023801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.8592541539999 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:418.62, Y:4.43, Z:6.46 [[ 9.99065796e-01 -4.02683842e-02 -1.56841251e-02 4.18619213e+02] [ 4.02704441e-02 9.99188800e-01 -1.84596479e-04 4.42695948e+00] [ 1.56788356e-02 -4.47182655e-04 9.99876980e-01 6.46249161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.88925415399996 meters Centerline goodness : 0.998977 Centerline is valid? [True, True] Translation: X:418.65, Y:4.43, Z:6.46 [[ 9.99083055e-01 -3.98385841e-02 -1.56823644e-02 4.18650232e+02] [ 3.98390568e-02 9.99206070e-01 -2.82384327e-04 4.42601614e+00] [ 1.56811635e-02 -3.42645210e-04 9.99876984e-01 6.46046912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.91925415399993 meters Centerline goodness : 0.998913 Centerline is valid? [True, True] Translation: X:418.68, Y:4.43, Z:6.46 [[ 9.99082070e-01 -3.98632811e-02 -1.56823800e-02 4.18681518e+02] [ 3.98637705e-02 9.99205084e-01 -2.81515094e-04 4.42514751e+00] [ 1.56811359e-02 -3.43902114e-04 9.99876984e-01 6.46190361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.94925415399996 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:418.71, Y:4.42, Z:6.46 [[ 9.99091251e-01 -3.96324849e-02 -1.56823903e-02 4.18712697e+02] [ 3.96329550e-02 9.99214266e-01 -2.80937088e-04 4.42441832e+00] [ 1.56812024e-02 -3.40857684e-04 9.99876984e-01 6.46181968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.97925415399993 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:418.74, Y:4.42, Z:6.46 [[ 9.99105104e-01 -3.92817167e-02 -1.56824058e-02 4.18742821e+02] [ 3.92821571e-02 9.99228119e-01 -2.80073203e-04 4.42343565e+00] [ 1.56813026e-02 -3.36216160e-04 9.99876984e-01 6.46159001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.00925415399996 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:418.77, Y:4.42, Z:6.46 [[ 9.99114098e-01 -3.90522907e-02 -1.56824226e-02 4.18774160e+02] [ 3.90527176e-02 9.99237113e-01 -2.79128301e-04 4.42259471e+00] [ 1.56813593e-02 -3.33560201e-04 9.99876984e-01 6.46219092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.03925415399993 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:418.81, Y:4.42, Z:6.46 [[ 9.99133361e-01 -3.85562886e-02 -1.56824329e-02 4.18805823e+02] [ 3.85566636e-02 9.99256377e-01 -2.78549478e-04 4.42158114e+00] [ 1.56815109e-02 -3.26354213e-04 9.99876984e-01 6.46253824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.06925415399996 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:418.84, Y:4.42, Z:6.46 [[ 9.99167063e-01 -3.76728099e-02 -1.56824431e-02 4.18836405e+02] [ 3.76730852e-02 9.99290079e-01 -2.77970715e-04 4.42028882e+00] [ 1.56817818e-02 -3.13066834e-04 9.99876984e-01 6.46304012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.09925415399994 meters Centerline goodness : 0.998936 Centerline is valid? [True, True] Translation: X:418.87, Y:4.42, Z:6.46 [[ 9.99198330e-01 -3.68342080e-02 -1.56824482e-02 4.18868164e+02] [ 3.68343846e-02 9.99321345e-01 -2.77683682e-04 4.42042619e+00] [ 1.56820335e-02 -3.00192258e-04 9.99876984e-01 6.46386246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.12925415399997 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:418.90, Y:4.42, Z:6.46 [[ 9.99308211e-01 -3.37217971e-02 -1.56824583e-02 4.18898587e+02] [ 3.37215995e-02 9.99431227e-01 -2.77110573e-04 4.41952810e+00] [ 1.56828832e-02 -2.51918709e-04 9.99876984e-01 6.46446448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.15925415399994 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:418.93, Y:4.42, Z:6.47 [[ 9.99356531e-01 -3.22580917e-02 -1.56824583e-02 4.18929138e+02] [ 3.22577139e-02 9.99479546e-01 -2.77110573e-04 4.41955204e+00] [ 1.56832354e-02 -2.28947993e-04 9.99876984e-01 6.46555390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.18925415399997 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:418.96, Y:4.42, Z:6.47 [[ 9.99413715e-01 -3.04349683e-02 -1.56824634e-02 4.18959280e+02] [ 3.04343706e-02 9.99536729e-01 -2.76824064e-04 4.41881789e+00] [ 1.56836233e-02 -2.00624137e-04 9.99876984e-01 6.46540284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.21925415399994 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:418.99, Y:4.42, Z:6.47 [[ 9.99432575e-01 -2.98091881e-02 -1.56824634e-02 4.18988955e+02] [ 2.98085134e-02 9.99555589e-01 -2.76824064e-04 4.41903918e+00] [ 1.56837458e-02 -1.90803933e-04 9.99876984e-01 6.46723276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.24925415399997 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:419.02, Y:4.42, Z:6.47 [[ 9.99428420e-01 -2.99481997e-02 -1.56824583e-02 4.19018922e+02] [ 2.99475375e-02 9.99551434e-01 -2.77113327e-04 4.41772182e+00] [ 1.56837227e-02 -1.92696073e-04 9.99876984e-01 6.46863783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.27925415399994 meters Centerline goodness : 0.999417 Centerline is valid? [True, True] Translation: X:419.05, Y:4.42, Z:6.47 [[ 9.99387477e-01 -3.12846885e-02 -1.56824481e-02 4.19048688e+02] [ 3.12841818e-02 9.99510492e-01 -2.77686704e-04 4.41702401e+00] [ 1.56834588e-02 -2.13095945e-04 9.99876984e-01 6.46928236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.309254154 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:419.08, Y:4.42, Z:6.47 [[ 9.99305083e-01 -3.38143762e-02 -1.56824380e-02 4.19079525e+02] [ 3.38141719e-02 9.99428099e-01 -2.78259774e-04 4.41615136e+00] [ 1.56828783e-02 -2.52222247e-04 9.99876984e-01 6.46958188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.33925415399995 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:419.11, Y:4.41, Z:6.47 [[ 9.99215258e-01 -3.63720843e-02 -1.56824380e-02 4.19110502e+02] [ 3.63721949e-02 9.99338274e-01 -2.78259774e-04 4.41461586e+00] [ 1.56821814e-02 -2.92363278e-04 9.99876984e-01 6.46967179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.369254154 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:419.14, Y:4.41, Z:6.47 [[ 9.98950140e-01 -4.30427587e-02 -1.56824380e-02 4.19141034e+02] [ 4.30436906e-02 9.99073152e-01 -2.78259774e-04 4.41066749e+00] [ 1.56798798e-02 -3.97062368e-04 9.99876984e-01 6.46868819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.39925415399995 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:419.17, Y:4.41, Z:6.47 [[ 9.98795140e-01 -4.65008552e-02 -1.56824430e-02 4.19172788e+02] [ 4.65022175e-02 9.98918148e-01 -2.77976158e-04 4.40941131e+00] [ 1.56784030e-02 -4.51627140e-04 9.99876984e-01 6.46925888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.4292541539999 meters Centerline goodness : 0.999418 Centerline is valid? [True, True] Translation: X:419.20, Y:4.41, Z:6.47 [[ 9.98644921e-01 -4.96223962e-02 -1.56824530e-02 4.19204007e+02] [ 4.96241518e-02 9.98767924e-01 -2.77412968e-04 4.40828954e+00] [ 1.56768969e-02 -5.01191374e-04 9.99876984e-01 6.46994218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.45925415399995 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:419.23, Y:4.41, Z:6.47 [[ 9.98355181e-01 -5.51451902e-02 -1.56824629e-02 4.19234842e+02] [ 5.51476349e-02 9.98478173e-01 -2.76847691e-04 4.40518772e+00] [ 1.56738638e-02 -5.88458414e-04 9.99876984e-01 6.46894951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.4892541539999 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:419.27, Y:4.41, Z:6.47 [[ 9.98168201e-01 -5.84320248e-02 -1.56824778e-02 4.19267231e+02] [ 5.84348877e-02 9.98291184e-01 -2.76002765e-04 4.40551977e+00] [ 1.56718067e-02 -6.40906647e-04 9.99876984e-01 6.47157246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.51925415399995 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:419.30, Y:4.40, Z:6.47 [[ 9.98042177e-01 -6.05464540e-02 -1.56824975e-02 4.19299445e+02] [ 6.05495951e-02 9.98165152e-01 -2.74881831e-04 4.40493224e+00] [ 1.56703656e-02 -6.75225210e-04 9.99876984e-01 6.47273370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.5492541539999 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:419.33, Y:4.40, Z:6.47 [[ 9.97904493e-01 -6.27748467e-02 -1.56825173e-02 4.19331386e+02] [ 6.27782802e-02 9.98027461e-01 -2.73742229e-04 4.40454848e+00] [ 1.56687671e-02 -7.11352868e-04 9.99876984e-01 6.47356655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.57925415399995 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:419.36, Y:4.40, Z:6.47 [[ 9.97691759e-01 -6.60697568e-02 -1.56825371e-02 4.19362357e+02] [ 6.60736142e-02 9.97814714e-01 -2.72605297e-04 4.40299942e+00] [ 1.56662772e-02 -7.64225848e-04 9.99876984e-01 6.47481271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.6092541539999 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:419.40, Y:4.39, Z:6.47 [[ 9.98180203e-01 -5.82266228e-02 -1.56825518e-02 4.19404694e+02] [ 5.82295271e-02 9.98303185e-01 -2.71757590e-04 4.39155781e+00] [ 1.56717649e-02 -6.41924528e-04 9.99876984e-01 6.46981475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.63925415399996 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:419.42, Y:4.40, Z:6.48 [[ 9.97492428e-01 -6.90116436e-02 -1.56923115e-02 4.19421301e+02] [ 6.90251106e-02 9.97614872e-01 3.17558398e-04 4.40324923e+00] [ 1.56329681e-02 -1.39992563e-03 9.99876818e-01 6.47635496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.66925415399993 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:419.45, Y:4.40, Z:6.48 [[ 9.97457174e-01 -6.95217264e-02 -1.56816747e-02 4.19453406e+02] [ 6.95259011e-02 9.97580108e-01 -2.79464655e-04 4.40369155e+00] [ 1.56631556e-02 -8.11528537e-04 9.99876996e-01 6.47731991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.69925415399996 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:419.48, Y:4.40, Z:6.48 [[ 9.97530873e-01 -6.84561334e-02 -1.56816943e-02 4.19482641e+02] [ 6.84601941e-02 9.97653810e-01 -2.78356805e-04 4.40379273e+00] [ 1.56639573e-02 -7.95902331e-04 9.99876996e-01 6.47888624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.72925415399993 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:419.52, Y:4.40, Z:6.48 [[ 9.97489931e-01 -6.90504075e-02 -1.56804996e-02 4.19516780e+02] [ 6.90534663e-02 9.97612900e-01 -3.46921375e-04 4.40406794e+00] [ 1.56670238e-02 -7.36742275e-04 9.99876993e-01 6.47878495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.75925415399996 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:419.55, Y:4.40, Z:6.48 [[ 9.97549210e-01 -6.81883650e-02 -1.56818419e-02 4.19547633e+02] [ 6.81925466e-02 9.97672143e-01 -2.68537427e-04 4.40370377e+00] [ 1.56636480e-02 -8.01505439e-04 9.99876996e-01 6.47749727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.78925415399993 meters Centerline goodness : 0.999583 Centerline is valid? [True, True] Translation: X:419.58, Y:4.41, Z:6.48 [[ 9.97560345e-01 -6.80252773e-02 -1.56818569e-02 4.19579080e+02] [ 6.80294526e-02 9.97683277e-01 -2.67663769e-04 4.40635848e+00] [ 1.56637342e-02 -7.99817376e-04 9.99876996e-01 6.47958099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.81925415399996 meters Centerline goodness : 0.999357 Centerline is valid? [True, True] Translation: X:419.61, Y:4.41, Z:6.48 [[ 9.97598117e-01 -6.74690732e-02 -1.56818714e-02 4.19611555e+02] [ 6.74731934e-02 9.97721052e-01 -2.66805833e-04 4.40714346e+00] [ 1.56641344e-02 -7.91940948e-04 9.99876996e-01 6.47932449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.84925415399994 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:419.64, Y:4.41, Z:6.48 [[ 9.97600768e-01 -6.74298637e-02 -1.56818910e-02 4.19643557e+02] [ 6.74339970e-02 9.97723702e-01 -2.65654108e-04 4.40845308e+00] [ 1.56641073e-02 -7.92475847e-04 9.99876996e-01 6.47955220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.87925415399997 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:419.68, Y:4.41, Z:6.48 [[ 9.97609114e-01 -6.73062720e-02 -1.56819104e-02 4.19676080e+02] [ 6.73104083e-02 9.97732048e-01 -2.64501756e-04 4.40942794e+00] [ 1.56641472e-02 -7.91686428e-04 9.99876996e-01 6.47953418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.90925415399994 meters Centerline goodness : 0.999252 Centerline is valid? [True, True] Translation: X:419.71, Y:4.41, Z:6.48 [[ 9.97708639e-01 -6.58145069e-02 -1.56819298e-02 4.19710952e+02] [ 6.58184774e-02 9.97831578e-01 -2.63348779e-04 4.40893531e+00] [ 1.56652569e-02 -7.69415388e-04 9.99876996e-01 6.47585725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.93925415399997 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:419.74, Y:4.41, Z:6.48 [[ 9.97613274e-01 -6.72437370e-02 -1.56855030e-02 4.19737198e+02] [ 6.72512372e-02 9.97736072e-01 -4.94114997e-05 4.41151261e+00] [ 1.56533147e-02 -1.00557591e-03 9.99876974e-01 6.47984697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.96925415399994 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:419.77, Y:4.41, Z:6.48 [[ 9.97653369e-01 -6.66471120e-02 -1.56817686e-02 4.19769659e+02] [ 6.66511126e-02 9.97776306e-01 -2.67969596e-04 4.41256141e+00] [ 1.56647566e-02 -7.77866556e-04 9.99876998e-01 6.48138751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.99925415399997 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:419.80, Y:4.41, Z:6.48 [[ 9.97720258e-01 -6.56381641e-02 -1.56817888e-02 4.19800880e+02] [ 6.56420589e-02 9.97843199e-01 -2.66786210e-04 4.41320404e+00] [ 1.56654776e-02 -7.63206894e-04 9.99876998e-01 6.48074664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.02925415399994 meters Centerline goodness : 0.999188 Centerline is valid? [True, True] Translation: X:419.83, Y:4.41, Z:6.48 [[ 9.97819942e-01 -6.41049533e-02 -1.56818037e-02 4.19832948e+02] [ 6.41086730e-02 9.97942888e-01 -2.65905056e-04 4.41397891e+00] [ 1.56665903e-02 -7.40014257e-04 9.99876998e-01 6.48097524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.059254154 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:419.86, Y:4.42, Z:6.48 [[ 9.98044295e-01 -6.05117021e-02 -1.56818236e-02 4.19864473e+02] [ 6.05149976e-02 9.98167253e-01 -2.64725589e-04 4.41833462e+00] [ 1.56691018e-02 -6.84777654e-04 9.99876998e-01 6.48303521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.08925415399995 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:419.90, Y:4.42, Z:6.48 [[ 9.98197257e-01 -5.79337218e-02 -1.56818384e-02 4.19897070e+02] [ 5.79367135e-02 9.98320223e-01 -2.63846845e-04 4.42033679e+00] [ 1.56707820e-02 -6.45182981e-04 9.99876998e-01 6.48369617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.1192541539999 meters Centerline goodness : 0.999375 Centerline is valid? [True, True] Translation: X:419.93, Y:4.42, Z:6.48 [[ 9.98356416e-01 -5.51230046e-02 -1.56818578e-02 4.19928802e+02] [ 5.51256683e-02 9.98479390e-01 -2.62687360e-04 4.42220841e+00] [ 1.56724919e-02 -6.02217280e-04 9.99876998e-01 6.48420141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.14925415399995 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:419.96, Y:4.42, Z:6.48 [[ 9.98601955e-01 -5.04798342e-02 -1.56818771e-02 4.19960063e+02] [ 5.04819441e-02 9.98724940e-01 -2.61530640e-04 4.42419783e+00] [ 1.56750838e-02 -5.30486635e-04 9.99876998e-01 6.48370528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.1792541539999 meters Centerline goodness : 0.999169 Centerline is valid? [True, True] Translation: X:419.99, Y:4.43, Z:6.49 [[ 9.98675285e-01 -4.90076977e-02 -1.56818914e-02 4.19991962e+02] [ 4.90096398e-02 9.98798272e-01 -2.60669102e-04 4.42641455e+00] [ 1.56758208e-02 -5.08240060e-04 9.99876998e-01 6.48585720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.20925415399995 meters Centerline goodness : 0.999229 Centerline is valid? [True, True] Translation: X:420.03, Y:4.43, Z:6.49 [[ 9.98791200e-01 -4.65855805e-02 -1.56819103e-02 4.20025381e+02] [ 4.65872422e-02 9.98914191e-01 -2.59530515e-04 4.42538789e+00] [ 1.56769731e-02 -4.71360158e-04 9.99876998e-01 6.48593763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.2392541539999 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:420.05, Y:4.43, Z:6.49 [[ 9.98764893e-01 -4.71453352e-02 -1.56845533e-02 4.20052367e+02] [ 4.71495733e-02 9.98887835e-01 -9.96704459e-05 4.42874615e+00] [ 1.56718085e-02 -6.39972655e-04 9.99876985e-01 6.48756479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.26925415399995 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:420.09, Y:4.43, Z:6.49 [[ 9.98900948e-01 -4.41698636e-02 -1.56817873e-02 4.20085685e+02] [ 4.41711578e-02 9.99023943e-01 -2.63991468e-04 4.42904059e+00] [ 1.56781415e-02 -4.28981375e-04 9.99876998e-01 6.48891235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.2992541539999 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:420.11, Y:4.43, Z:6.49 [[ 9.98915368e-01 -4.38418086e-02 -1.56838337e-02 4.20113597e+02] [ 4.38449814e-02 9.99038336e-01 -1.41659956e-04 4.43193126e+00] [ 1.56749618e-02 -5.46151090e-04 9.99876991e-01 6.49010133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.32925415399995 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:420.15, Y:4.43, Z:6.49 [[ 9.98968043e-01 -4.26254833e-02 -1.56817625e-02 4.20145158e+02] [ 4.26265798e-02 9.99091039e-01 -2.64477887e-04 4.43320263e+00] [ 1.56787819e-02 -4.04254942e-04 9.99876999e-01 6.49066683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.3592541539999 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:420.18, Y:4.43, Z:6.49 [[ 9.98969628e-01 -4.25883135e-02 -1.56817723e-02 4.20176994e+02] [ 4.25894145e-02 9.99092624e-01 -2.63894468e-04 4.43370928e+00] [ 1.56787819e-02 -4.04254942e-04 9.99876999e-01 6.49116613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.38925415399996 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:420.21, Y:4.43, Z:6.49 [[ 9.99086941e-01 -3.97412343e-02 -1.56817821e-02 4.20208623e+02] [ 3.97419940e-02 9.99209940e-01 -2.63311049e-04 4.43394107e+00] [ 1.56798569e-02 -3.60154659e-04 9.99876999e-01 6.48840711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.41925415399993 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:420.24, Y:4.44, Z:6.49 [[ 9.99119090e-01 -3.89246189e-02 -1.56817967e-02 4.20238706e+02] [ 3.89252917e-02 9.99242089e-01 -2.62439010e-04 4.43520339e+00] [ 1.56801266e-02 -3.48210685e-04 9.99876999e-01 6.48931629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.44925415399996 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:420.27, Y:4.44, Z:6.49 [[ 9.99151259e-01 -3.80899248e-02 -1.56817967e-02 4.20270550e+02] [ 3.80904948e-02 9.99274259e-01 -2.62439010e-04 4.43555295e+00] [ 1.56804120e-02 -3.35111128e-04 9.99876999e-01 6.48983629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.47925415399993 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:420.30, Y:4.44, Z:6.49 [[ 9.99177705e-01 -3.73897724e-02 -1.56818111e-02 4.20301760e+02] [ 3.73902698e-02 9.99300705e-01 -2.61574330e-04 4.43562700e+00] [ 1.56806251e-02 -3.24987910e-04 9.99876999e-01 6.48968117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.50925415399996 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:420.33, Y:4.44, Z:6.49 [[ 9.99196781e-01 -3.68764732e-02 -1.56818207e-02 4.20332129e+02] [ 3.68769164e-02 9.99319781e-01 -2.60998027e-04 4.43553444e+00] [ 1.56807783e-02 -3.17508803e-04 9.99876999e-01 6.48908725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.53925415399993 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:420.36, Y:4.44, Z:6.49 [[ 9.99204171e-01 -3.66756784e-02 -1.56818255e-02 4.20363428e+02] [ 3.66761015e-02 9.99327171e-01 -2.60712204e-04 4.43517506e+00] [ 1.56808361e-02 -3.14643500e-04 9.99876999e-01 6.48877653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.56925415399996 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:420.40, Y:4.44, Z:6.49 [[ 9.99191365e-01 -3.70229213e-02 -1.56818351e-02 4.20395139e+02] [ 3.70233961e-02 9.99314365e-01 -2.60132899e-04 4.43620001e+00] [ 1.56807139e-02 -3.20672245e-04 9.99876999e-01 6.49044906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.59925415399994 meters Centerline goodness : 0.998955 Centerline is valid? [True, True] Translation: X:420.43, Y:4.44, Z:6.49 [[ 9.99174187e-01 -3.74836559e-02 -1.56818446e-02 4.20425626e+02] [ 3.74841965e-02 9.99297187e-01 -2.59556785e-04 4.43605534e+00] [ 1.56805523e-02 -3.28478905e-04 9.99876999e-01 6.48970867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.62925415399997 meters Centerline goodness : 0.999226 Centerline is valid? [True, True] Translation: X:420.46, Y:4.44, Z:6.49 [[ 9.99118841e-01 -3.89309855e-02 -1.56818493e-02 4.20455078e+02] [ 3.89317088e-02 9.99241840e-01 -2.59270563e-04 4.43586460e+00] [ 1.56800536e-02 -3.51479086e-04 9.99876999e-01 6.49051487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.65925415399994 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:420.49, Y:4.44, Z:6.49 [[ 9.99044535e-01 -4.07939141e-02 -1.56803341e-02 4.20486366e+02] [ 4.07934442e-02 9.99167540e-01 -3.49947158e-04 4.43525403e+00] [ 1.56815566e-02 -2.90042039e-04 9.99876995e-01 6.49082886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.68925415399997 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:420.52, Y:4.44, Z:6.49 [[ 9.98971298e-01 -4.25491111e-02 -1.56818132e-02 4.20517596e+02] [ 4.25502507e-02 9.99094294e-01 -2.61126794e-04 4.43588687e+00] [ 1.56787208e-02 -4.06406910e-04 9.99876999e-01 6.49242256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.71925415399994 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:420.55, Y:4.44, Z:6.49 [[ 9.98767093e-01 -4.70996237e-02 -1.56818226e-02 4.20548581e+02] [ 4.71013325e-02 9.98890082e-01 -2.60561059e-04 4.43614690e+00] [ 1.56766894e-02 -4.78394928e-04 9.99876999e-01 6.49305441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.74925415399997 meters Centerline goodness : 0.999498 Centerline is valid? [True, True] Translation: X:420.57, Y:4.44, Z:6.49 [[ 9.98547411e-01 -5.15474006e-02 -1.56822798e-02 4.20574980e+02] [ 5.15500906e-02 9.98670383e-01 -2.32928817e-04 4.43940839e+00] [ 1.56734353e-02 -5.75832479e-04 9.99876998e-01 6.49210840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.77925415399994 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:420.61, Y:4.44, Z:6.49 [[ 9.98582262e-01 -5.08687393e-02 -1.56792274e-02 4.20608009e+02] [ 5.08685536e-02 9.98705273e-01 -4.10913028e-04 4.43547512e+00] [ 1.56798297e-02 -3.87249157e-04 9.99876989e-01 6.49331908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.809254154 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:420.64, Y:4.44, Z:6.49 [[ 9.98483217e-01 -5.27764122e-02 -1.56817029e-02 4.20639560e+02] [ 5.27787706e-02 9.98606195e-01 -2.63712589e-04 4.43528630e+00] [ 1.56737635e-02 -5.64348408e-04 9.99877000e-01 6.49349546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.83925415399995 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:420.67, Y:4.43, Z:6.49 [[ 9.98258299e-01 -5.68722484e-02 -1.56817171e-02 4.20672209e+02] [ 5.68751246e-02 9.98381265e-01 -2.62866448e-04 4.43458873e+00] [ 1.56712824e-02 -6.29491002e-04 9.99877000e-01 6.49384764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.8692541539999 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:420.70, Y:4.43, Z:6.49 [[ 9.98137555e-01 -5.89534148e-02 -1.56817358e-02 4.20704415e+02] [ 5.89565649e-02 9.98260515e-01 -2.61748033e-04 4.43437082e+00] [ 1.56698886e-02 -6.63280732e-04 9.99877000e-01 6.49499387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.89925415399995 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:420.74, Y:4.43, Z:6.49 [[ 9.97970071e-01 -6.17237420e-02 -1.56817551e-02 4.20735344e+02] [ 6.17272516e-02 9.98093021e-01 -2.60585273e-04 4.43453101e+00] [ 1.56679346e-02 -7.07935340e-04 9.99877000e-01 6.49394179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.9292541539999 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:420.77, Y:4.43, Z:6.50 [[ 9.97858598e-01 -6.35004044e-02 -1.56817742e-02 4.20767968e+02] [ 6.35041510e-02 9.97981541e-01 -2.59429688e-04 4.43462585e+00] [ 1.56665951e-02 -7.36983614e-04 9.99877000e-01 6.49597972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.95925415399995 meters Centerline goodness : 0.999021 Centerline is valid? [True, True] Translation: X:420.80, Y:4.43, Z:6.50 [[ 9.97562544e-01 -6.79930347e-02 -1.56817936e-02 4.20798696e+02] [ 6.79973533e-02 9.97685468e-01 -2.58254902e-04 4.43490995e+00] [ 1.56630571e-02 -8.08695041e-04 9.99877000e-01 6.49572455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.9892541539999 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:420.83, Y:4.44, Z:6.50 [[ 9.97423460e-01 -7.00037317e-02 -1.56818252e-02 4.20830397e+02] [ 7.00083284e-02 9.97546374e-01 -2.56322425e-04 4.43539277e+00] [ 1.56612914e-02 -8.42196365e-04 9.99877000e-01 6.49633650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.01925415399995 meters Centerline goodness : 0.999333 Centerline is valid? [True, True] Translation: X:420.86, Y:4.44, Z:6.50 [[ 9.97316921e-01 -7.15055215e-02 -1.56818436e-02 4.20861885e+02] [ 7.15103211e-02 9.97439827e-01 -2.55186508e-04 4.43603740e+00] [ 1.56599427e-02 -8.66911852e-04 9.99877000e-01 6.49591622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.0492541539999 meters Centerline goodness : 0.999148 Centerline is valid? [True, True] Translation: X:420.90, Y:4.44, Z:6.50 [[ 9.97129169e-01 -7.40776599e-02 -1.56818574e-02 4.20895361e+02] [ 7.40827898e-02 9.97252062e-01 -2.54339196e-04 4.43736355e+00] [ 1.56576055e-02 -9.08146713e-04 9.99877000e-01 6.49847967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.07925415399995 meters Centerline goodness : 0.999084 Centerline is valid? [True, True] Translation: X:420.93, Y:4.44, Z:6.50 [[ 9.97058747e-01 -7.50194155e-02 -1.56825246e-02 4.20925252e+02] [ 7.50253089e-02 9.97181607e-01 -2.13028759e-04 4.43897944e+00] [ 1.56543064e-02 -9.64184066e-04 9.99876999e-01 6.49892482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.1092541539999 meters Centerline goodness : 0.999084 Centerline is valid? [True, True] Translation: X:420.96, Y:4.44, Z:6.50 [[ 9.97011622e-01 -7.56432646e-02 -1.56818744e-02 4.20956912e+02] [ 7.56486040e-02 9.97134507e-01 -2.53285720e-04 4.44022632e+00] [ 1.56560975e-02 -9.33783103e-04 9.99877000e-01 6.49832521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.13925415399996 meters Centerline goodness : 0.999292 Centerline is valid? [True, True] Translation: X:420.99, Y:4.44, Z:6.50 [[ 9.96996031e-01 -7.58484825e-02 -1.56819085e-02 4.20989235e+02] [ 7.58538804e-02 9.97118913e-01 -2.51160414e-04 4.44224560e+00] [ 1.56557777e-02 -9.39127674e-04 9.99877000e-01 6.50001599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.16925415399993 meters Centerline goodness : 0.999375 Centerline is valid? [True, True] Translation: X:421.02, Y:4.45, Z:6.50 [[ 9.96963540e-01 -7.62743562e-02 -1.56819268e-02 4.21020012e+02] [ 7.62798247e-02 9.97086418e-01 -2.50010299e-04 4.44519134e+00] [ 1.56553056e-02 -9.46963475e-04 9.99877000e-01 6.49933531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.19925415399996 meters Centerline goodness : 0.998957 Centerline is valid? [True, True] Translation: X:421.05, Y:4.45, Z:6.50 [[ 9.96937132e-01 -7.66187408e-02 -1.56819404e-02 4.21052439e+02] [ 7.66242651e-02 9.97060008e-01 -2.49152822e-04 4.44607673e+00] [ 1.56549254e-02 -9.53227462e-04 9.99877000e-01 6.49881624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.22925415399993 meters Centerline goodness : 0.999146 Centerline is valid? [True, True] Translation: X:421.08, Y:4.45, Z:6.50 [[ 9.96916640e-01 -7.68849057e-02 -1.56819586e-02 4.21083142e+02] [ 7.68904809e-02 9.97039514e-01 -2.48003693e-04 4.44826644e+00] [ 1.56546001e-02 -9.58554330e-04 9.99877000e-01 6.49957250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.25925415399996 meters Centerline goodness : 0.998978 Centerline is valid? [True, True] Translation: X:421.12, Y:4.45, Z:6.50 [[ 9.96894212e-01 -7.71751648e-02 -1.56819721e-02 4.21115707e+02] [ 7.71807891e-02 9.97017083e-01 -2.47148595e-04 4.44974420e+00] [ 1.56542678e-02 -9.63965977e-04 9.99877000e-01 6.49932865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.28925415399993 meters Centerline goodness : 0.998998 Centerline is valid? [True, True] Translation: X:421.15, Y:4.45, Z:6.50 [[ 9.96828527e-01 -7.80189853e-02 -1.56819898e-02 4.21147342e+02] [ 7.80247313e-02 9.96951393e-01 -2.46021069e-04 4.45353340e+00] [ 1.56533759e-02 -9.78342219e-04 9.99877000e-01 6.49914087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.31925415399996 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:421.18, Y:4.46, Z:6.50 [[ 9.96825141e-01 -7.80622427e-02 -1.56820117e-02 4.21180621e+02] [ 7.80680161e-02 9.96948005e-01 -2.44616778e-04 4.45556391e+00] [ 1.56532456e-02 -9.80423385e-04 9.99877000e-01 6.49989092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.34925415399994 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:421.21, Y:4.46, Z:6.50 [[ 9.96854828e-01 -7.76822145e-02 -1.56820386e-02 4.21211806e+02] [ 7.76879682e-02 9.96977693e-01 -2.42881563e-04 4.45982596e+00] [ 1.56535102e-02 -9.76188053e-04 9.99877000e-01 6.49905430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.37925415399997 meters Centerline goodness : 0.999146 Centerline is valid? [True, True] Translation: X:421.24, Y:4.46, Z:6.50 [[ 9.96901755e-01 -7.70776514e-02 -1.56820518e-02 4.21244757e+02] [ 7.70833440e-02 9.97024623e-01 -2.42024811e-04 4.46246240e+00] [ 1.56540465e-02 -9.67550034e-04 9.99877000e-01 6.50034359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.40925415399994 meters Centerline goodness : 0.998976 Centerline is valid? [True, True] Translation: X:421.28, Y:4.46, Z:6.50 [[ 9.96997022e-01 -7.58354173e-02 -1.56820780e-02 4.21277538e+02] [ 7.58409836e-02 9.97119896e-01 -2.40315146e-04 4.46483798e+00] [ 1.56551364e-02 -9.49750735e-04 9.99877000e-01 6.50093686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.43925415399997 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:421.31, Y:4.47, Z:6.50 [[ 9.97118109e-01 -7.42263276e-02 -1.56821044e-02 4.21310179e+02] [ 7.42317228e-02 9.97240991e-01 -2.38580669e-04 4.46815206e+00] [ 1.56565463e-02 -9.26216519e-04 9.99877000e-01 6.50267735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.46925415399994 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:421.34, Y:4.47, Z:6.50 [[ 9.97448502e-01 -6.96459332e-02 -1.56821310e-02 4.21342229e+02] [ 6.96507916e-02 9.97571407e-01 -2.36815393e-04 4.47413005e+00] [ 1.56605387e-02 -8.56061681e-04 9.99877000e-01 6.50462838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.49925415399997 meters Centerline goodness : 0.998994 Centerline is valid? [True, True] Translation: X:421.38, Y:4.47, Z:6.50 [[ 9.97883147e-01 -6.31133464e-02 -1.56821485e-02 4.21378945e+02] [ 6.31174182e-02 9.98006080e-01 -2.35650579e-04 4.47349174e+00] [ 1.56657523e-02 -7.54664985e-04 9.99877000e-01 6.50202408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.52925415399994 meters Centerline goodness : 0.998891 Centerline is valid? [True, True] Translation: X:421.40, Y:4.48, Z:6.51 [[ 9.97825998e-01 -6.40096072e-02 -1.56859246e-02 4.21404254e+02] [ 6.40178177e-02 9.97948755e-01 2.13618086e-05 4.48098297e+00] [ 1.56523815e-02 -1.02549403e-03 9.99876968e-01 6.50746561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.559254154 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:421.44, Y:4.48, Z:6.51 [[ 9.98040167e-01 -6.05796910e-02 -1.56820030e-02 4.21436785e+02] [ 6.05834208e-02 9.98163109e-01 -2.37553137e-04 4.48471298e+00] [ 1.56675878e-02 -7.12981814e-04 9.99877002e-01 6.50869137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.58925415399995 meters Centerline goodness : 0.999267 Centerline is valid? [True, True] Translation: X:421.47, Y:4.49, Z:6.51 [[ 9.98398226e-01 -5.43604309e-02 -1.56820204e-02 4.21469340e+02] [ 5.43634127e-02 9.98521188e-01 -2.36402392e-04 4.49055672e+00] [ 1.56716805e-02 -6.16504415e-04 9.99877002e-01 6.51059354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.6192541539999 meters Centerline goodness : 0.998930 Centerline is valid? [True, True] Translation: X:421.50, Y:4.49, Z:6.51 [[ 9.98528774e-01 -5.19072305e-02 -1.56820377e-02 4.21501138e+02] [ 5.19099283e-02 9.98651743e-01 -2.35246160e-04 4.49358783e+00] [ 1.56731053e-02 -5.79153392e-04 9.99877002e-01 6.51152105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.64925415399995 meters Centerline goodness : 0.998805 Centerline is valid? [True, True] Translation: X:421.53, Y:4.50, Z:6.51 [[ 9.98623175e-01 -5.00582328e-02 -1.56820552e-02 4.21533104e+02] [ 5.00607213e-02 9.98746149e-01 -2.34073414e-04 4.49639987e+00] [ 1.56741095e-02 -5.51303858e-04 9.99877002e-01 6.51199296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.6792541539999 meters Centerline goodness : 0.998802 Centerline is valid? [True, True] Translation: X:421.57, Y:4.50, Z:6.51 [[ 9.98708345e-01 -4.83292279e-02 -1.56820726e-02 4.21565461e+02] [ 4.83315218e-02 9.98831322e-01 -2.32905159e-04 4.50086038e+00] [ 1.56750014e-02 -5.25334106e-04 9.99877002e-01 6.51223063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.70925415399995 meters Centerline goodness : 0.998697 Centerline is valid? [True, True] Translation: X:421.60, Y:4.50, Z:6.51 [[ 9.98717147e-01 -4.81469870e-02 -1.56820897e-02 4.21596496e+02] [ 4.81492767e-02 9.98840124e-01 -2.31743010e-04 4.50232738e+00] [ 1.56750582e-02 -5.23635559e-04 9.99877002e-01 6.51130720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.7392541539999 meters Centerline goodness : 0.998802 Centerline is valid? [True, True] Translation: X:421.63, Y:4.50, Z:6.51 [[ 9.98687364e-01 -4.87608589e-02 -1.56821025e-02 4.21627290e+02] [ 4.87632377e-02 9.98810339e-01 -2.30877830e-04 4.50481687e+00] [ 1.56747039e-02 -5.34135319e-04 9.99877002e-01 6.51121324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.76925415399995 meters Centerline goodness : 0.999012 Centerline is valid? [True, True] Translation: X:421.66, Y:4.51, Z:6.51 [[ 9.98652137e-01 -4.94770671e-02 -1.56821150e-02 4.21659741e+02] [ 4.94795476e-02 9.98775111e-01 -2.30024272e-04 4.50673929e+00] [ 1.56742871e-02 -5.46229723e-04 9.99877002e-01 6.51240124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.7992541539999 meters Centerline goodness : 0.998971 Centerline is valid? [True, True] Translation: X:421.69, Y:4.51, Z:6.51 [[ 9.98660827e-01 -4.93013589e-02 -1.56821321e-02 4.21694871e+02] [ 4.93038360e-02 9.98783800e-01 -2.28853193e-04 4.50631622e+00] [ 1.56743422e-02 -5.44642550e-04 9.99877002e-01 6.51214934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.82925415399995 meters Centerline goodness : 0.999011 Centerline is valid? [True, True] Translation: X:421.73, Y:4.50, Z:6.51 [[ 9.98755366e-01 -4.73467082e-02 -1.56846443e-02 4.21729375e+02] [ 4.73516627e-02 9.98878279e-01 -5.55480042e-05 4.50399125e+00] [ 1.56696805e-02 -6.87215119e-04 9.99876987e-01 6.50792213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.8592541539999 meters Centerline goodness : 0.998843 Centerline is valid? [True, True] Translation: X:421.76, Y:4.50, Z:6.51 [[ 9.98791326e-01 -4.65813595e-02 -1.56864547e-02 4.21764555e+02] [ 4.65881996e-02 9.98914178e-01 7.07092204e-05 4.50388485e+00] [ 1.56661282e-02 -8.01427437e-04 9.99876958e-01 6.50778529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.88925415399996 meters Centerline goodness : 0.998823 Centerline is valid? [True, True] Translation: X:421.78, Y:4.51, Z:6.51 [[ 9.98411518e-01 -5.41138900e-02 -1.56884418e-02 4.21784620e+02] [ 5.41238270e-02 9.98534210e-01 2.09188436e-04 4.51396129e+00] [ 1.56541259e-02 -1.05797465e-03 9.99876907e-01 6.51432337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.91925415399993 meters Centerline goodness : 0.999033 Centerline is valid? [True, True] Translation: X:421.82, Y:4.52, Z:6.52 [[ 9.98417417e-01 -5.40069347e-02 -1.56816234e-02 4.21816529e+02] [ 5.40098359e-02 9.98540375e-01 -2.38754612e-04 4.51647310e+00] [ 1.56716285e-02 -6.08585144e-04 9.99877007e-01 6.51626404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.94925415399996 meters Centerline goodness : 0.998951 Centerline is valid? [True, True] Translation: X:421.86, Y:4.51, Z:6.51 [[ 9.98851228e-01 -4.52803527e-02 -1.56816411e-02 4.21857854e+02] [ 4.52821977e-02 9.98974207e-01 -2.37584214e-04 4.50804210e+00] [ 1.56763129e-02 -4.72787890e-04 9.99877007e-01 6.51060185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.97925415399993 meters Centerline goodness : 0.999178 Centerline is valid? [True, True] Translation: X:421.88, Y:4.52, Z:6.52 [[ 9.98419656e-01 -5.39632635e-02 -1.56893604e-02 4.21876684e+02] [ 5.39745444e-02 9.98542268e-01 2.96161900e-04 4.51918867e+00] [ 1.56505076e-02 -1.14251994e-03 9.99876871e-01 6.51760830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.00925415399996 meters Centerline goodness : 0.999033 Centerline is valid? [True, True] Translation: X:421.91, Y:4.52, Z:6.52 [[ 9.98435286e-01 -5.36757516e-02 -1.56809881e-02 4.21907406e+02] [ 5.36785389e-02 9.98558238e-01 -2.43389980e-04 4.52055159e+00] [ 1.56714440e-02 -5.98723387e-04 9.99877016e-01 6.51825379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.03925415399993 meters Centerline goodness : 0.998863 Centerline is valid? [True, True] Translation: X:421.94, Y:4.52, Z:6.52 [[ 9.98438594e-01 -5.36141771e-02 -1.56810016e-02 4.21939116e+02] [ 5.36169705e-02 9.98561546e-01 -2.42515509e-04 4.52125341e+00] [ 1.56714475e-02 -5.98630959e-04 9.99877016e-01 6.51860098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.06925415399996 meters Centerline goodness : 0.998992 Centerline is valid? [True, True] Translation: X:421.97, Y:4.52, Z:6.52 [[ 9.98423817e-01 -5.38886609e-02 -1.56810193e-02 4.21971732e+02] [ 5.38915062e-02 9.98546768e-01 -2.41364215e-04 4.52171154e+00] [ 1.56712380e-02 -6.04089971e-04 9.99877016e-01 6.51969410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.09925415399994 meters Centerline goodness : 0.999013 Centerline is valid? [True, True] Translation: X:422.00, Y:4.52, Z:6.52 [[ 9.98420204e-01 -5.39555503e-02 -1.56810371e-02 4.22002862e+02] [ 5.39584221e-02 9.98543154e-01 -2.40202143e-04 4.52229160e+00] [ 1.56711525e-02 -6.06301348e-04 9.99877016e-01 6.52019978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.12925415399997 meters Centerline goodness : 0.998845 Centerline is valid? [True, True] Translation: X:422.03, Y:4.52, Z:6.52 [[ 9.98418777e-01 -5.39819380e-02 -1.56810504e-02 4.22034673e+02] [ 5.39848266e-02 9.98541727e-01 -2.39335804e-04 4.52307415e+00] [ 1.56711029e-02 -6.07581425e-04 9.99877016e-01 6.52114595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.15925415399994 meters Centerline goodness : 0.998843 Centerline is valid? [True, True] Translation: X:422.07, Y:4.52, Z:6.52 [[ 9.98457426e-01 -5.32623071e-02 -1.56810681e-02 4.22065855e+02] [ 5.32651254e-02 9.98580377e-01 -2.38165449e-04 4.52258122e+00] [ 1.56714922e-02 -5.97456001e-04 9.99877016e-01 6.52090424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.18925415399997 meters Centerline goodness : 0.998948 Centerline is valid? [True, True] Translation: X:422.10, Y:4.52, Z:6.52 [[ 9.98489709e-01 -5.26536292e-02 -1.56810813e-02 4.22096973e+02] [ 5.26563862e-02 9.98612662e-01 -2.37294205e-04 4.52253112e+00] [ 1.56718208e-02 -5.88773253e-04 9.99877016e-01 6.52071667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.21925415399994 meters Centerline goodness : 0.998905 Centerline is valid? [True, True] Translation: X:422.13, Y:4.52, Z:6.52 [[ 9.98557448e-01 -5.13529503e-02 -1.56810943e-02 4.22129325e+02] [ 5.13555607e-02 9.98680405e-01 -2.36435946e-04 4.52151005e+00] [ 1.56725433e-02 -5.69216514e-04 9.99877016e-01 6.51973752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.24925415399997 meters Centerline goodness : 0.998968 Centerline is valid? [True, True] Translation: X:422.16, Y:4.52, Z:6.52 [[ 9.98555959e-01 -5.13818972e-02 -1.56811108e-02 4.22161417e+02] [ 5.13845284e-02 9.98678915e-01 -2.35337600e-04 4.52282450e+00] [ 1.56724868e-02 -5.70768718e-04 9.99877016e-01 6.52162776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.27925415399994 meters Centerline goodness : 0.998968 Centerline is valid? [True, True] Translation: X:422.19, Y:4.52, Z:6.52 [[ 9.98559724e-01 -5.13086772e-02 -1.56811279e-02 4.22194103e+02] [ 5.13113173e-02 9.98682679e-01 -2.34187544e-04 4.52325236e+00] [ 1.56724867e-02 -5.70769082e-04 9.99877016e-01 6.52214014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.309254154 meters Centerline goodness : 0.998781 Centerline is valid? [True, True] Translation: X:422.22, Y:4.52, Z:6.52 [[ 9.98653799e-01 -4.94438143e-02 -1.56811450e-02 4.22224959e+02] [ 4.94462429e-02 9.98776759e-01 -2.33037852e-04 4.52248614e+00] [ 1.56734855e-02 -5.42649569e-04 9.99877016e-01 6.52243307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.33925415399995 meters Centerline goodness : 0.998883 Centerline is valid? [True, True] Translation: X:422.27, Y:4.51, Z:6.52 [[ 9.99080130e-01 -3.99123267e-02 -1.56811717e-02 4.22267839e+02] [ 3.99136103e-02 9.99203108e-01 -2.31224987e-04 4.51261617e+00] [ 1.56779043e-02 -3.94879888e-04 9.99877016e-01 6.51828041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.3692541539999 meters Centerline goodness : 0.998690 Centerline is valid? [True, True] Translation: X:422.30, Y:4.51, Z:6.52 [[ 9.99158355e-01 -3.79000642e-02 -1.56896943e-02 4.22299274e+02] [ 3.79107404e-02 9.99281056e-01 3.83487110e-04 4.51129700e+00] [ 1.56638801e-02 -9.77972276e-04 9.99876836e-01 6.51736503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.39925415399995 meters Centerline goodness : 0.998988 Centerline is valid? [True, True] Translation: X:422.31, Y:4.52, Z:6.52 [[ 9.98747650e-01 -4.75073765e-02 -1.56901200e-02 4.22314368e+02] [ 4.75197238e-02 9.98870214e-01 4.14861588e-04 4.52353454e+00] [ 1.56526846e-02 -1.15993221e-03 9.99876816e-01 6.52292707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.4292541539999 meters Centerline goodness : 0.998903 Centerline is valid? [True, True] Translation: X:422.35, Y:4.52, Z:6.52 [[ 9.98784363e-01 -4.67324509e-02 -1.56803600e-02 4.22345371e+02] [ 4.67345078e-02 9.98907318e-01 -2.35424968e-04 4.52343472e+00] [ 1.56742283e-02 -4.97675128e-04 9.99877028e-01 6.52250616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.45925415399995 meters Centerline goodness : 0.999093 Centerline is valid? [True, True] Translation: X:422.38, Y:4.52, Z:6.52 [[ 9.98812702e-01 -4.61227917e-02 -1.56803727e-02 4.22377900e+02] [ 4.61247870e-02 9.98935658e-01 -2.34571505e-04 4.52300037e+00] [ 1.56745025e-02 -4.88960852e-04 9.99877028e-01 6.52232378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.4892541539999 meters Centerline goodness : 0.998883 Centerline is valid? [True, True] Translation: X:422.41, Y:4.52, Z:6.52 [[ 9.98844732e-01 -4.54238585e-02 -1.56803896e-02 4.22410468e+02] [ 4.54257855e-02 9.98967689e-01 -2.33437263e-04 4.52220606e+00] [ 1.56748062e-02 -4.79126434e-04 9.99877028e-01 6.52137521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.51925415399995 meters Centerline goodness : 0.998969 Centerline is valid? [True, True] Translation: X:422.44, Y:4.52, Z:6.52 [[ 9.98839682e-01 -4.55347584e-02 -1.56804064e-02 4.22442259e+02] [ 4.55367168e-02 9.98962639e-01 -2.32303625e-04 4.52247436e+00] [ 1.56747181e-02 -4.82000147e-04 9.99877028e-01 6.52176527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.5492541539999 meters Centerline goodness : 0.999011 Centerline is valid? [True, True] Translation: X:422.47, Y:4.52, Z:6.52 [[ 9.98838764e-01 -4.55548966e-02 -1.56804230e-02 4.22474099e+02] [ 4.55568752e-02 9.98961720e-01 -2.31177283e-04 4.52165596e+00] [ 1.56746736e-02 -4.83442242e-04 9.99877028e-01 6.52211643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.57925415399995 meters Centerline goodness : 0.998990 Centerline is valid? [True, True] Translation: X:422.51, Y:4.52, Z:6.52 [[ 9.98819336e-01 -4.59788866e-02 -1.56804401e-02 4.22505158e+02] [ 4.59809356e-02 9.98942291e-01 -2.30010810e-04 4.52156335e+00] [ 1.56744304e-02 -4.91262064e-04 9.99877028e-01 6.52248541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.6092541539999 meters Centerline goodness : 0.998825 Centerline is valid? [True, True] Translation: X:422.54, Y:4.52, Z:6.52 [[ 9.98796427e-01 -4.64738756e-02 -1.56804528e-02 4.22537622e+02] [ 4.64759992e-02 9.98919381e-01 -2.29140833e-04 4.52127361e+00] [ 1.56741573e-02 -4.99899669e-04 9.99877028e-01 6.52307767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.63925415399996 meters Centerline goodness : 0.998850 Centerline is valid? [True, True] Translation: X:422.57, Y:4.52, Z:6.52 [[ 9.98756339e-01 -4.73275601e-02 -1.56804695e-02 4.22569576e+02] [ 4.73298068e-02 9.98879291e-01 -2.27997105e-04 4.52085166e+00] [ 1.56736868e-02 -5.14440037e-04 9.99877028e-01 6.52398098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.66925415399993 meters Centerline goodness : 0.998993 Centerline is valid? [True, True] Translation: X:422.60, Y:4.52, Z:6.52 [[ 9.98701082e-01 -4.84795887e-02 -1.56804859e-02 4.22602079e+02] [ 4.84819950e-02 9.98824031e-01 -2.26863461e-04 4.52054745e+00] [ 1.56730444e-02 -5.33652454e-04 9.99877028e-01 6.52493422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.69925415399996 meters Centerline goodness : 0.998866 Centerline is valid? [True, True] Translation: X:422.63, Y:4.52, Z:6.53 [[ 9.98577585e-01 -5.09600744e-02 -1.56805027e-02 4.22633196e+02] [ 5.09628044e-02 9.98700527e-01 -2.25697114e-04 4.51909060e+00] [ 1.56716278e-02 -5.73746311e-04 9.99877028e-01 6.52510643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.72925415399993 meters Centerline goodness : 0.998952 Centerline is valid? [True, True] Translation: X:422.66, Y:4.52, Z:6.53 [[ 9.98537499e-01 -5.17395866e-02 -1.56805151e-02 4.22664364e+02] [ 5.17424261e-02 9.98660438e-01 -2.24828460e-04 4.51879598e+00] [ 1.56711426e-02 -5.86848246e-04 9.99877028e-01 6.52541293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.75925415399996 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:422.70, Y:4.51, Z:6.52 [[ 9.98767421e-01 -4.70931071e-02 -1.56805274e-02 4.22701063e+02] [ 4.70953881e-02 9.98890372e-01 -2.23969865e-04 4.51216666e+00] [ 1.56736753e-02 -5.14786718e-04 9.99877028e-01 6.52251942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.78925415399993 meters Centerline goodness : 0.998784 Centerline is valid? [True, True] Translation: X:422.72, Y:4.52, Z:6.53 [[ 9.98420119e-01 -5.39557558e-02 -1.56857495e-02 4.22723397e+02] [ 5.39647867e-02 9.98542828e-01 1.52732816e-04 4.51902205e+00] [ 1.56546518e-02 -9.98969641e-04 9.99876959e-01 6.52736435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.81925415399996 meters Centerline goodness : 0.998950 Centerline is valid? [True, True] Translation: X:422.75, Y:4.52, Z:6.53 [[ 9.98418503e-01 -5.39872515e-02 -1.56802008e-02 4.22754249e+02] [ 5.39903124e-02 9.98541433e-01 -2.28352895e-04 4.51911072e+00] [ 1.56696584e-02 -6.18587185e-04 9.99877032e-01 6.52796537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.84925415399994 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] Translation: X:422.79, Y:4.52, Z:6.53 [[ 9.98420175e-01 -5.39563280e-02 -1.56802134e-02 4.22786303e+02] [ 5.39593987e-02 9.98543105e-01 -2.27483783e-04 4.51912094e+00] [ 1.56696432e-02 -6.18970491e-04 9.99877032e-01 6.52862722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.87925415399997 meters Centerline goodness : 0.998910 Centerline is valid? [True, True] Translation: X:422.82, Y:4.52, Z:6.53 [[ 9.98427993e-01 -5.38114585e-02 -1.56802297e-02 4.22817936e+02] [ 5.38145290e-02 9.98550923e-01 -2.26359349e-04 4.51901721e+00] [ 1.56696885e-02 -6.17820663e-04 9.99877032e-01 6.52901249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.90925415399994 meters Centerline goodness : 0.998700 Centerline is valid? [True, True] Translation: X:422.85, Y:4.52, Z:6.53 [[ 9.98440610e-01 -5.35768449e-02 -1.56802417e-02 4.22850075e+02] [ 5.35798997e-02 9.98563540e-01 -2.25520298e-04 4.51890542e+00] [ 1.56698004e-02 -6.14977155e-04 9.99877032e-01 6.52955705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.93925415399997 meters Centerline goodness : 0.998721 Centerline is valid? [True, True] Translation: X:422.88, Y:4.52, Z:6.53 [[ 9.98450994e-01 -5.33829693e-02 -1.56802576e-02 4.22881312e+02] [ 5.33860176e-02 9.98573925e-01 -2.24410132e-04 4.51865358e+00] [ 1.56698761e-02 -6.13043989e-04 9.99877032e-01 6.52934269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.96925415399994 meters Centerline goodness : 0.998931 Centerline is valid? [True, True] Translation: X:422.91, Y:4.52, Z:6.53 [[ 9.98448460e-01 -5.34303419e-02 -1.56802694e-02 4.22913055e+02] [ 5.34334090e-02 9.98571390e-01 -2.23582358e-04 4.51886746e+00] [ 1.56698145e-02 -6.14614787e-04 9.99877032e-01 6.53012363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.99925415399997 meters Centerline goodness : 0.999077 Centerline is valid? [True, True] Translation: X:422.94, Y:4.52, Z:6.53 [[ 9.98459447e-01 -5.32246226e-02 -1.56802856e-02 4.22944743e+02] [ 5.32276822e-02 9.98582377e-01 -2.22443889e-04 4.51885019e+00] [ 1.56698963e-02 -6.12524056e-04 9.99877032e-01 6.53061314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.02925415399994 meters Centerline goodness : 0.998931 Centerline is valid? [True, True] Translation: X:422.98, Y:4.52, Z:6.53 [[ 9.98488733e-01 -5.26723654e-02 -1.56802978e-02 4.22976854e+02] [ 5.26753707e-02 9.98611664e-01 -2.21575621e-04 4.51881733e+00] [ 1.56701992e-02 -6.04724740e-04 9.99877032e-01 6.53072279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.059254154 meters Centerline goodness : 0.998888 Centerline is valid? [True, True] Translation: X:423.01, Y:4.52, Z:6.53 [[ 9.98520012e-01 -5.20760348e-02 -1.56803142e-02 4.23007983e+02] [ 5.20789849e-02 9.98642945e-01 -2.20414612e-04 4.51916162e+00] [ 1.56705134e-02 -5.96526443e-04 9.99877032e-01 6.53038918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.08925415399995 meters Centerline goodness : 0.998866 Centerline is valid? [True, True] Translation: X:423.04, Y:4.52, Z:6.53 [[ 9.98548870e-01 -5.15197102e-02 -1.56803411e-02 4.23040419e+02] [ 5.15226221e-02 9.98671804e-01 -2.18480503e-04 4.51940663e+00] [ 1.56707706e-02 -5.89728830e-04 9.99877032e-01 6.53085129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.1192541539999 meters Centerline goodness : 0.998846 Centerline is valid? [True, True] Translation: X:423.07, Y:4.52, Z:6.53 [[ 9.98653780e-01 -4.94444516e-02 -1.56803571e-02 4.23073048e+02] [ 4.94471261e-02 9.98776719e-01 -2.17323894e-04 4.51938770e+00] [ 1.56719211e-02 -5.58317269e-04 9.99877032e-01 6.53064524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.14925415399995 meters Centerline goodness : 0.998638 Centerline is valid? [True, True] Translation: X:423.10, Y:4.52, Z:6.53 [[ 9.98713731e-01 -4.82183419e-02 -1.56803732e-02 4.23104185e+02] [ 4.82208838e-02 9.98836673e-01 -2.16157426e-04 4.51934378e+00] [ 1.56725546e-02 -5.40242065e-04 9.99877032e-01 6.53015592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.1792541539999 meters Centerline goodness : 0.998951 Centerline is valid? [True, True] Translation: X:423.14, Y:4.52, Z:6.53 [[ 9.98761455e-01 -4.72195013e-02 -1.56803851e-02 4.23135810e+02] [ 4.72219338e-02 9.98884399e-01 -2.15289903e-04 4.52011790e+00] [ 1.56730580e-02 -5.25434851e-04 9.99877032e-01 6.53080280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.20925415399995 meters Centerline goodness : 0.998908 Centerline is valid? [True, True] Translation: X:423.17, Y:4.52, Z:6.53 [[ 9.98827313e-01 -4.58052840e-02 -1.56803968e-02 4.23168097e+02] [ 4.58075558e-02 9.98950260e-01 -2.14436439e-04 4.52074397e+00] [ 1.56737588e-02 -5.04095679e-04 9.99877032e-01 6.53098769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.2392541539999 meters Centerline goodness : 0.999014 Centerline is valid? [True, True] Translation: X:423.20, Y:4.52, Z:6.53 [[ 9.98826875e-01 -4.58148298e-02 -1.56804121e-02 4.23200340e+02] [ 4.58171205e-02 9.98949822e-01 -2.13311520e-04 4.52201810e+00] [ 1.56737177e-02 -5.05370053e-04 9.99877032e-01 6.53319527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.26925415399995 meters Centerline goodness : 0.998806 Centerline is valid? [True, True] Translation: X:423.23, Y:4.52, Z:6.53 [[ 9.98879759e-01 -4.46469667e-02 -1.56804281e-02 4.23231574e+02] [ 4.46491321e-02 9.99002708e-01 -2.12130461e-04 4.52236614e+00] [ 1.56742611e-02 -4.88224681e-04 9.99877032e-01 6.53344108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.2992541539999 meters Centerline goodness : 0.998994 Centerline is valid? [True, True] Translation: X:423.26, Y:4.52, Z:6.53 [[ 9.98906970e-01 -4.40339593e-02 -1.56804399e-02 4.23263379e+02] [ 4.40360631e-02 9.99029920e-01 -2.11250540e-04 4.52277160e+00] [ 1.56745309e-02 -4.79485206e-04 9.99877032e-01 6.53411086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.32925415399995 meters Centerline goodness : 0.998868 Centerline is valid? [True, True] Translation: X:423.29, Y:4.52, Z:6.53 [[ 9.98950957e-01 -4.30245228e-02 -1.56804556e-02 4.23294831e+02] [ 4.30265206e-02 9.99073908e-01 -2.10085213e-04 4.52305804e+00] [ 1.56749728e-02 -4.64810620e-04 9.99877032e-01 6.53405304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.3592541539999 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] Translation: X:423.33, Y:4.52, Z:6.54 [[ 9.98998196e-01 -4.19133203e-02 -1.56804671e-02 4.23327089e+02] [ 4.19151949e-02 9.99121150e-01 -2.09216561e-04 4.52371276e+00] [ 1.56754553e-02 -4.48242869e-04 9.99877032e-01 6.53507544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.38925415399996 meters Centerline goodness : 0.998804 Centerline is valid? [True, True] Translation: X:423.36, Y:4.52, Z:6.54 [[ 9.99037452e-01 -4.09669588e-02 -1.56804826e-02 4.23359599e+02] [ 4.09687352e-02 9.99160407e-01 -2.08055035e-04 4.52429093e+00] [ 1.56758407e-02 -4.34554765e-04 9.99877032e-01 6.53513481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.41925415399993 meters Centerline goodness : 0.999015 Centerline is valid? [True, True] Translation: X:423.39, Y:4.53, Z:6.54 [[ 9.99072995e-01 -4.00908095e-02 -1.56804980e-02 4.23390829e+02] [ 4.00924964e-02 9.99195951e-01 -2.06888049e-04 4.52560323e+00] [ 1.56761844e-02 -4.21974045e-04 9.99877032e-01 6.53640970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.44925415399996 meters Centerline goodness : 0.998784 Centerline is valid? [True, True] Translation: X:423.42, Y:4.53, Z:6.54 [[ 9.99151423e-01 -3.80861615e-02 -1.56805094e-02 4.23422746e+02] [ 3.80876153e-02 9.99274382e-01 -2.06019296e-04 4.52689635e+00] [ 1.56769778e-02 -3.91388737e-04 9.99877032e-01 6.53734642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.47925415399993 meters Centerline goodness : 0.998783 Centerline is valid? [True, True] Translation: X:423.45, Y:4.53, Z:6.54 [[ 9.99182519e-01 -3.72614291e-02 -1.56805246e-02 4.23454621e+02] [ 3.72627996e-02 9.99305480e-01 -2.04853456e-04 4.52717102e+00] [ 1.56772673e-02 -3.79614254e-04 9.99877032e-01 6.53761360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.50925415399996 meters Centerline goodness : 0.999098 Centerline is valid? [True, True] Translation: X:423.49, Y:4.53, Z:6.54 [[ 9.99204953e-01 -3.66549172e-02 -1.56805396e-02 4.23487166e+02] [ 3.66562313e-02 9.99327914e-01 -2.03695332e-04 4.52745827e+00] [ 1.56774674e-02 -3.71256103e-04 9.99877032e-01 6.53850051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.53925415399993 meters Centerline goodness : 0.998972 Centerline is valid? [True, True] Translation: X:423.52, Y:4.53, Z:6.54 [[ 9.99213776e-01 -3.64136096e-02 -1.56805546e-02 4.23518414e+02] [ 3.64149122e-02 9.99336737e-01 -2.02536074e-04 4.52757691e+00] [ 1.56775293e-02 -3.68629185e-04 9.99877032e-01 6.53869008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.56925415399996 meters Centerline goodness : 0.998846 Centerline is valid? [True, True] Translation: X:423.55, Y:4.53, Z:6.54 [[ 9.99213948e-01 -3.64088609e-02 -1.56805657e-02 4.23549309e+02] [ 3.64101764e-02 9.99336909e-01 -2.01672291e-04 4.52769691e+00] [ 1.56775107e-02 -3.69418398e-04 9.99877032e-01 6.53903547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.59925415399994 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:423.58, Y:4.53, Z:6.54 [[ 9.99197285e-01 -3.68633384e-02 -1.56805766e-02 4.23580820e+02] [ 3.68647232e-02 9.99320245e-01 -2.00820360e-04 4.52716567e+00] [ 1.56773206e-02 -3.77400959e-04 9.99877032e-01 6.53958220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.62925415399997 meters Centerline goodness : 0.998760 Centerline is valid? [True, True] Translation: X:423.61, Y:4.53, Z:6.54 [[ 9.99173229e-01 -3.75097116e-02 -1.56805874e-02 4.23611755e+02] [ 3.75111892e-02 9.99296188e-01 -1.99977046e-04 4.52694484e+00] [ 1.56770523e-02 -3.88385769e-04 9.99877032e-01 6.53942885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.65925415399994 meters Centerline goodness : 0.998783 Centerline is valid? [True, True] Translation: X:423.64, Y:4.53, Z:6.54 [[ 9.99147944e-01 -3.81772877e-02 -1.56805945e-02 4.23643559e+02] [ 3.81788562e-02 9.99270902e-01 -1.99418229e-04 4.52660794e+00] [ 1.56767751e-02 -3.99418849e-04 9.99877032e-01 6.53965735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.68925415399997 meters Centerline goodness : 0.998909 Centerline is valid? [True, True] Translation: X:423.68, Y:4.53, Z:6.54 [[ 9.99115084e-01 -3.90277867e-02 -1.56806086e-02 4.23675961e+02] [ 3.90294774e-02 9.99238040e-01 -1.98302002e-04 4.52598347e+00] [ 1.56763999e-02 -4.13879439e-04 9.99877032e-01 6.53935041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.71925415399994 meters Centerline goodness : 0.999035 Centerline is valid? [True, True] Translation: X:423.71, Y:4.53, Z:6.54 [[ 9.99075269e-01 -4.00340413e-02 -1.56806227e-02 4.23707628e+02] [ 4.00358734e-02 9.99198224e-01 -1.97184720e-04 4.52562808e+00] [ 1.56759444e-02 -4.30785046e-04 9.99877032e-01 6.53996756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.74925415399997 meters Centerline goodness : 0.998782 Centerline is valid? [True, True] Translation: X:423.74, Y:4.52, Z:6.54 [[ 9.99037253e-01 -4.09717500e-02 -1.56806331e-02 4.23740004e+02] [ 4.09737106e-02 9.99160206e-01 -1.96351671e-04 4.52326415e+00] [ 1.56755095e-02 -4.46331088e-04 9.99877032e-01 6.53800661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.77925415399994 meters Centerline goodness : 0.999014 Centerline is valid? [True, True] Translation: X:423.77, Y:4.52, Z:6.54 [[ 9.99006646e-01 -4.17113620e-02 -1.56806469e-02 4.23772657e+02] [ 4.17134309e-02 9.99129597e-01 -1.95246420e-04 4.52352685e+00] [ 1.56751424e-02 -4.59041108e-04 9.99877032e-01 6.54020665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.809254154 meters Centerline goodness : 0.998909 Centerline is valid? [True, True] Translation: X:423.81, Y:4.52, Z:6.54 [[ 9.98987398e-01 -4.21698316e-02 -1.56806605e-02 4.23805112e+02] [ 4.21719743e-02 9.99110348e-01 -1.94142653e-04 4.52288555e+00] [ 1.56748972e-02 -4.67338348e-04 9.99877032e-01 6.54032552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.83925415399995 meters Centerline goodness : 0.998932 Centerline is valid? [True, True] Translation: X:423.84, Y:4.52, Z:6.54 [[ 9.98993519e-01 -4.20245814e-02 -1.56806743e-02 4.23837702e+02] [ 4.20267236e-02 9.99116468e-01 -1.93026421e-04 4.52256969e+00] [ 1.56749317e-02 -4.66175220e-04 9.99877032e-01 6.54071582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.8692541539999 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] Translation: X:423.87, Y:4.52, Z:6.54 [[ 9.98997725e-01 -4.19244748e-02 -1.56806884e-02 4.23868549e+02] [ 4.19266228e-02 9.99120674e-01 -1.91873535e-04 4.52242813e+00] [ 1.56749441e-02 -4.65757082e-04 9.99877032e-01 6.54073206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.89925415399995 meters Centerline goodness : 0.998805 Centerline is valid? [True, True] Translation: X:423.90, Y:4.52, Z:6.54 [[ 9.99005863e-01 -4.17301086e-02 -1.56807116e-02 4.23900316e+02] [ 4.17322628e-02 9.99128812e-01 -1.89954267e-04 4.52219598e+00] [ 1.56749776e-02 -4.64626152e-04 9.99877032e-01 6.54106082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.9292541539999 meters Centerline goodness : 0.998806 Centerline is valid? [True, True] Translation: X:423.93, Y:4.52, Z:6.54 [[ 9.99040391e-01 -4.08951374e-02 -1.56807253e-02 4.23931580e+02] [ 4.08972066e-02 9.99163341e-01 -1.88820001e-04 4.52164818e+00] [ 1.56753277e-02 -4.52659054e-04 9.99877032e-01 6.54017994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.95925415399995 meters Centerline goodness : 0.998909 Centerline is valid? [True, True] Translation: X:423.96, Y:4.52, Z:6.54 [[ 9.99142445e-01 -3.83208588e-02 -1.56807354e-02 4.23963576e+02] [ 3.83226245e-02 9.99265401e-01 -1.87974363e-04 4.52151750e+00] [ 1.56764197e-02 -4.13113771e-04 9.99877032e-01 6.54116907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.9892541539999 meters Centerline goodness : 0.998911 Centerline is valid? [True, True] Translation: X:424.00, Y:4.52, Z:6.54 [[ 9.99214249e-01 -3.64005199e-02 -1.56807492e-02 4.23995425e+02] [ 3.64020675e-02 9.99337208e-01 -1.86813452e-04 4.52231824e+00] [ 1.56771563e-02 -3.84145030e-04 9.99877032e-01 6.54189200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.01925415399995 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:424.03, Y:4.52, Z:6.54 [[ 9.99311107e-01 -3.36366737e-02 -1.56807630e-02 4.24027012e+02] [ 3.36378994e-02 9.99434069e-01 -1.85654178e-04 4.52303068e+00] [ 1.56781335e-02 -3.41941645e-04 9.99877032e-01 6.54268249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.0492541539999 meters Centerline goodness : 0.998972 Centerline is valid? [True, True] Translation: X:424.06, Y:4.52, Z:6.54 [[ 9.99402744e-01 -3.07939679e-02 -1.56807698e-02 4.24058655e+02] [ 3.07948528e-02 9.99525709e-01 -1.85079219e-04 4.52376868e+00] [ 1.56790318e-02 -2.97918317e-04 9.99877032e-01 6.54248155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.07925415399995 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:424.09, Y:4.52, Z:6.54 [[ 9.99477707e-01 -2.82564424e-02 -1.56807766e-02 4.24089519e+02] [ 2.82570242e-02 9.99600674e-01 -1.84500709e-04 4.52497035e+00] [ 1.56797282e-02 -2.58687737e-04 9.99877032e-01 6.54383064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.1092541539999 meters Centerline goodness : 0.999329 Centerline is valid? [True, True] Translation: X:424.12, Y:4.53, Z:6.54 [[ 9.99585942e-01 -2.41258632e-02 -1.56807833e-02 4.24119450e+02] [ 2.41259458e-02 9.99708910e-01 -1.83926802e-04 4.52540799e+00] [ 1.56806562e-02 -1.94463082e-04 9.99877032e-01 6.54454254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.13925415399996 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:424.15, Y:4.53, Z:6.54 [[ 9.99609281e-01 -2.31386865e-02 -1.56807800e-02 4.24148565e+02] [ 2.31386432e-02 9.99732249e-01 -1.84211468e-04 4.52532879e+00] [ 1.56808438e-02 -1.78692480e-04 9.99877032e-01 6.54466853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.16925415399993 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:424.18, Y:4.53, Z:6.55 [[ 9.99608455e-01 -2.31743429e-02 -1.56807700e-02 4.24178714e+02] [ 2.31742909e-02 9.99731423e-01 -1.85052279e-04 4.52571537e+00] [ 1.56808470e-02 -1.78410903e-04 9.99877032e-01 6.54514164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.19925415399996 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:424.21, Y:4.52, Z:6.54 [[ 9.99627999e-01 -2.23153986e-02 -1.56807634e-02 4.24207931e+02] [ 2.23152321e-02 9.99750967e-01 -1.85611479e-04 4.52471674e+00] [ 1.56810004e-02 -1.64377443e-04 9.99877032e-01 6.54384895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.22925415399993 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:424.24, Y:4.52, Z:6.54 [[ 9.99615739e-01 -2.28580130e-02 -1.56807568e-02 4.24237155e+02] [ 2.28579044e-02 9.99738707e-01 -1.86171499e-04 4.52414729e+00] [ 1.56809150e-02 -1.72329279e-04 9.99877032e-01 6.54448404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.25925415399996 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:424.27, Y:4.52, Z:6.55 [[ 9.99557555e-01 -2.52746891e-02 -1.56807095e-02 4.24265933e+02] [ 2.52748167e-02 9.99680523e-01 -1.90068833e-04 4.52272534e+00] [ 1.56805038e-02 -2.06342321e-04 9.99877032e-01 6.54536949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.28925415399993 meters Centerline goodness : 0.998994 Centerline is valid? [True, True] Translation: X:424.29, Y:4.52, Z:6.54 [[ 9.99511784e-01 -2.70242288e-02 -1.56806976e-02 4.24294226e+02] [ 2.70245563e-02 9.99634752e-01 -1.91045730e-04 4.52175951e+00] [ 1.56801331e-02 -2.32811438e-04 9.99877032e-01 6.54447670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.31925415399996 meters Centerline goodness : 0.998952 Centerline is valid? [True, True] Translation: X:424.32, Y:4.52, Z:6.54 [[ 9.99454040e-01 -2.90815780e-02 -1.56806877e-02 4.24323410e+02] [ 2.90821459e-02 9.99577007e-01 -1.91860270e-04 4.52078455e+00] [ 1.56796344e-02 -2.64272524e-04 9.99877032e-01 6.54492080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.34925415399994 meters Centerline goodness : 0.998806 Centerline is valid? [True, True] Translation: X:424.35, Y:4.52, Z:6.54 [[ 9.99327646e-01 -3.31417081e-02 -1.56806805e-02 4.24352920e+02] [ 3.31427664e-02 9.99450609e-01 -1.92441702e-04 4.51816907e+00] [ 1.56784435e-02 -3.27388819e-04 9.99877032e-01 6.54316222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.37925415399997 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:424.38, Y:4.52, Z:6.55 [[ 9.99244854e-01 -3.55504882e-02 -1.56806770e-02 4.24383177e+02] [ 3.55518383e-02 9.99367815e-01 -1.92730119e-04 4.51787199e+00] [ 1.56776155e-02 -3.64892313e-04 9.99877032e-01 6.54512018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.40925415399994 meters Centerline goodness : 0.998973 Centerline is valid? [True, True] Translation: X:424.41, Y:4.52, Z:6.55 [[ 9.99176945e-01 -3.74105477e-02 -1.56806805e-02 4.24414439e+02] [ 3.74121313e-02 9.99299903e-01 -1.92444042e-04 4.51713871e+00] [ 1.56769019e-02 -3.94362028e-04 9.99877032e-01 6.54548570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.43925415399997 meters Centerline goodness : 0.998953 Centerline is valid? [True, True] Translation: X:424.44, Y:4.52, Z:6.55 [[ 9.99124953e-01 -3.87742718e-02 -1.56806874e-02 4.24444664e+02] [ 3.87760321e-02 9.99247908e-01 -1.91876785e-04 4.51633298e+00] [ 1.56763340e-02 -4.16325955e-04 9.99877032e-01 6.54575413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.46925415399994 meters Centerline goodness : 0.999079 Centerline is valid? [True, True] Translation: X:424.48, Y:4.52, Z:6.55 [[ 9.99079075e-01 -3.99389300e-02 -1.56806909e-02 4.24475843e+02] [ 3.99408380e-02 9.99202028e-01 -1.91595146e-04 4.51581409e+00] [ 1.56758302e-02 -4.34881233e-04 9.99877032e-01 6.54706801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.49925415399997 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] Translation: X:424.51, Y:4.51, Z:6.55 [[ 9.99027423e-01 -4.12107201e-02 -1.56806979e-02 4.24506856e+02] [ 4.12127938e-02 9.99150374e-01 -1.91014244e-04 4.51488738e+00] [ 1.56752470e-02 -4.55416903e-04 9.99877032e-01 6.54845639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.52925415399994 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:424.54, Y:4.51, Z:6.55 [[ 9.99028523e-01 -4.11840567e-02 -1.56807085e-02 4.24538547e+02] [ 4.11861407e-02 9.99151473e-01 -1.90144352e-04 4.51439314e+00] [ 1.56752339e-02 -4.55868235e-04 9.99877032e-01 6.54957523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.559254154 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:424.57, Y:4.51, Z:6.55 [[ 9.99043331e-01 -4.08232514e-02 -1.56807218e-02 4.24569756e+02] [ 4.08253084e-02 9.99166282e-01 -1.89036230e-04 4.51402356e+00] [ 1.56753656e-02 -4.51314920e-04 9.99877032e-01 6.55021102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.58925415399995 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:424.60, Y:4.51, Z:6.55 [[ 9.99079229e-01 -3.99350606e-02 -1.56807318e-02 4.24600676e+02] [ 3.99370213e-02 9.99202181e-01 -1.88210222e-04 4.51358615e+00] [ 1.56757376e-02 -4.38204794e-04 9.99877032e-01 6.55124433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.6192541539999 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:424.63, Y:4.51, Z:6.55 [[ 9.99136558e-01 -3.84740543e-02 -1.56807383e-02 4.24631840e+02] [ 3.84758438e-02 9.99259513e-01 -1.87663365e-04 4.51304311e+00] [ 1.56763471e-02 -4.15828308e-04 9.99877032e-01 6.55079349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.64925415399995 meters Centerline goodness : 0.998937 Centerline is valid? [True, True] Translation: X:424.66, Y:4.51, Z:6.55 [[ 9.99270646e-01 -3.48179541e-02 -1.56807594e-02 4.24663577e+02] [ 3.48193215e-02 9.99393606e-01 -1.85883627e-04 4.51220043e+00] [ 1.56777228e-02 -3.60245351e-04 9.99877032e-01 6.55048168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.6792541539999 meters Centerline goodness : 0.998996 Centerline is valid? [True, True] Translation: X:424.70, Y:4.51, Z:6.55 [[ 9.99388356e-01 -3.12574309e-02 -1.56807662e-02 4.24695143e+02] [ 3.12583692e-02 9.99511321e-01 -1.85310768e-04 4.50992020e+00] [ 1.56788956e-02 -3.04957754e-04 9.99877032e-01 6.55195887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.70925415399995 meters Centerline goodness : 0.999247 Centerline is valid? [True, True] Translation: X:424.72, Y:4.51, Z:6.55 [[ 9.99371997e-01 -3.17751709e-02 -1.56827929e-02 4.24722676e+02] [ 3.17788799e-02 9.99494924e-01 -1.27059922e-05 4.51264541e+00] [ 1.56752757e-02 -4.85683581e-04 9.99877017e-01 6.55276225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.7392541539999 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:424.75, Y:4.51, Z:6.55 [[ 9.99453626e-01 -2.90957930e-02 -1.56806905e-02 4.24753270e+02] [ 2.90964225e-02 9.99576592e-01 -1.88044134e-04 4.51134058e+00] [ 1.56795225e-02 -2.68310604e-04 9.99877033e-01 6.55223742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.76925415399995 meters Centerline goodness : 0.998998 Centerline is valid? [True, True] Translation: X:424.78, Y:4.51, Z:6.55 [[ 9.99489742e-01 -2.78275271e-02 -1.56806905e-02 4.24783267e+02] [ 2.78280005e-02 9.99612709e-01 -1.88044134e-04 4.51019243e+00] [ 1.56798503e-02 -2.48414080e-04 9.99877033e-01 6.55112022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.7992541539999 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:424.81, Y:4.51, Z:6.55 [[ 9.99501461e-01 -2.74034011e-02 -1.56806836e-02 4.24812616e+02] [ 2.74038132e-02 9.99624427e-01 -1.88621417e-04 4.50978162e+00] [ 1.56799632e-02 -2.41183142e-04 9.99877033e-01 6.55215451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.82925415399995 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:424.84, Y:4.51, Z:6.55 [[ 9.99512739e-01 -2.69889039e-02 -1.56806766e-02 4.24842458e+02] [ 2.69892560e-02 9.99635706e-01 -1.89196275e-04 4.50923822e+00] [ 1.56800704e-02 -2.34105709e-04 9.99877033e-01 6.55242681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.8592541539999 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:424.87, Y:4.51, Z:6.55 [[ 9.99517900e-01 -2.67970940e-02 -1.56806697e-02 4.24872370e+02] [ 2.67974136e-02 9.99640867e-01 -1.89767685e-04 4.50885963e+00] [ 1.56801235e-02 -2.30525194e-04 9.99877033e-01 6.55246148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.88925415399996 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:424.90, Y:4.51, Z:6.55 [[ 9.99542564e-01 -2.58607644e-02 -1.56806628e-02 4.24900718e+02] [ 2.58609599e-02 9.99665531e-01 -1.90337753e-04 4.50806385e+00] [ 1.56803404e-02 -2.15266306e-04 9.99877033e-01 6.55267274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.91925415399993 meters Centerline goodness : 0.999038 Centerline is valid? [True, True] Translation: X:424.93, Y:4.51, Z:6.55 [[ 9.99544096e-01 -2.58018646e-02 -1.56800786e-02 4.24930401e+02] [ 2.58013089e-02 9.99667063e-01 -2.37772844e-04 4.50696597e+00] [ 1.56809931e-02 -1.66902110e-04 9.99877032e-01 6.55000275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.94925415399996 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:424.96, Y:4.51, Z:6.55 [[ 9.99528831e-01 -2.63862423e-02 -1.56806121e-02 4.24959412e+02] [ 2.63864318e-02 9.99651799e-01 -1.94843755e-04 4.50729063e+00] [ 1.56802933e-02 -2.19003450e-04 9.99877033e-01 6.55260519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.97925415399993 meters Centerline goodness : 0.999041 Centerline is valid? [True, True] Translation: X:424.99, Y:4.51, Z:6.55 [[ 9.99529784e-01 -2.63501735e-02 -1.56805626e-02 4.24987629e+02] [ 2.63502972e-02 9.99652751e-01 -1.98749892e-04 4.50697533e+00] [ 1.56803546e-02 -2.14531048e-04 9.99877033e-01 6.55276063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.00925415399996 meters Centerline goodness : 0.998836 Centerline is valid? [True, True] Translation: X:425.02, Y:4.51, Z:6.55 [[ 9.99521152e-01 -2.66755792e-02 -1.56805520e-02 4.25016216e+02] [ 2.66757300e-02 9.99644119e-01 -1.99579793e-04 4.50659109e+00] [ 1.56802955e-02 -2.18805947e-04 9.99877033e-01 6.55311175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.03925415399993 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:425.05, Y:4.51, Z:6.55 [[ 9.99461697e-01 -2.88173174e-02 -1.56805415e-02 4.25046034e+02] [ 2.88177188e-02 9.99584663e-01 -2.00401518e-04 4.50569924e+00] [ 1.56798038e-02 -2.51583794e-04 9.99877033e-01 6.55357963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.06925415399996 meters Centerline goodness : 0.999062 Centerline is valid? [True, True] Translation: X:425.08, Y:4.51, Z:6.55 [[ 9.99408739e-01 -3.05989176e-02 -1.56805344e-02 4.25075929e+02] [ 3.05995295e-02 9.99531705e-01 -2.00952511e-04 4.50573351e+00] [ 1.56793403e-02 -2.78983281e-04 9.99877033e-01 6.55408231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.09925415399994 meters Centerline goodness : 0.998978 Centerline is valid? [True, True] Translation: X:425.11, Y:4.51, Z:6.55 [[ 9.99346874e-01 -3.25568240e-02 -1.56805353e-02 4.25105972e+02] [ 3.25576778e-02 9.99469838e-01 -2.00889216e-04 4.50591569e+00] [ 1.56787623e-02 -3.09763805e-04 9.99877033e-01 6.55466082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.12925415399997 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:425.14, Y:4.50, Z:6.55 [[ 9.99205861e-01 -3.66301585e-02 -1.56805283e-02 4.25135149e+02] [ 3.66315051e-02 9.99328821e-01 -2.01430760e-04 4.50465434e+00] [ 1.56773823e-02 -3.73130556e-04 9.99877033e-01 6.55488373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.15925415399994 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:425.17, Y:4.50, Z:6.56 [[ 9.99112155e-01 -3.91027205e-02 -1.56805291e-02 4.25165100e+02] [ 3.91043723e-02 9.99235111e-01 -2.01371166e-04 4.50416104e+00] [ 1.56764094e-02 -4.11984867e-04 9.99877033e-01 6.55584691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.18925415399997 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:425.20, Y:4.50, Z:6.56 [[ 9.99012519e-01 -4.15705204e-02 -1.56805325e-02 4.25196501e+02] [ 4.15724801e-02 9.99135471e-01 -2.01105326e-04 4.50363906e+00] [ 1.56753362e-02 -4.50971885e-04 9.99877033e-01 6.55654821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.21925415399994 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:425.23, Y:4.50, Z:6.56 [[ 9.98911801e-01 -4.39241960e-02 -1.56805397e-02 4.25226927e+02] [ 4.39264542e-02 9.99034747e-01 -2.00536989e-04 4.50329248e+00] [ 1.56742125e-02 -4.88471746e-04 9.99877033e-01 6.55663573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.24925415399997 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:425.26, Y:4.50, Z:6.56 [[ 9.98738663e-01 -4.76990970e-02 -1.56805433e-02 4.25258735e+02] [ 4.77018244e-02 9.98861600e-01 -2.00254966e-04 4.50258651e+00] [ 1.56722446e-02 -5.47988148e-04 9.99877033e-01 6.55708400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.27925415399994 meters Centerline goodness : 0.998976 Centerline is valid? [True, True] Translation: X:425.29, Y:4.50, Z:6.56 [[ 9.98683335e-01 -4.88437980e-02 -1.56805499e-02 4.25290175e+02] [ 4.88466743e-02 9.98806269e-01 -1.99739888e-04 4.50289055e+00] [ 1.56715876e-02 -5.66465817e-04 9.99877033e-01 6.55807502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.309254154 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:425.32, Y:4.50, Z:6.56 [[ 9.98625541e-01 -5.00116459e-02 -1.56800515e-02 4.25321492e+02] [ 5.00140587e-02 9.98748485e-01 -2.38463776e-04 4.50312366e+00] [ 1.56723536e-02 -5.46086996e-04 9.99877032e-01 6.55770363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.33925415399995 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:425.35, Y:4.50, Z:6.56 [[ 9.98606413e-01 -5.03919974e-02 -1.56805296e-02 4.25352349e+02] [ 5.03950414e-02 9.98729342e-01 -2.01199425e-04 4.50363455e+00] [ 1.56707439e-02 -5.89301903e-04 9.99877033e-01 6.55818600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.3692541539999 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:425.38, Y:4.50, Z:6.56 [[ 9.98591829e-01 -5.06801806e-02 -1.56805361e-02 4.25384224e+02] [ 5.06832680e-02 9.98714757e-01 -2.00694675e-04 4.50435040e+00] [ 1.56705540e-02 -5.94328750e-04 9.99877033e-01 6.55833908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.39925415399995 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:425.42, Y:4.50, Z:6.55 [[ 9.98916988e-01 -4.38060575e-02 -1.56805499e-02 4.25424236e+02] [ 4.38083158e-02 9.99039935e-01 -1.99609987e-04 4.49583345e+00] [ 1.56742397e-02 -4.87544673e-04 9.99877033e-01 6.55496506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.4292541539999 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:425.44, Y:4.51, Z:6.56 [[ 9.98534833e-01 -5.17892616e-02 -1.56862762e-02 4.25443437e+02] [ 5.17998821e-02 9.98657448e-01 2.71243987e-04 4.50508074e+00] [ 1.56511690e-02 -1.08339383e-03 9.99876926e-01 6.55823559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.45925415399995 meters Centerline goodness : 0.999229 Centerline is valid? [True, True] Translation: X:425.47, Y:4.51, Z:6.56 [[ 9.98577211e-01 -5.09675540e-02 -1.56799854e-02 4.25473789e+02] [ 5.09705851e-02 9.98700134e-01 -2.06520173e-04 4.50553696e+00] [ 1.56701293e-02 -5.92991692e-04 9.99877040e-01 6.55877221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.4892541539999 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:425.51, Y:4.51, Z:6.56 [[ 9.98509471e-01 -5.22781244e-02 -1.56790755e-02 4.25506561e+02] [ 5.22802324e-02 9.98632416e-01 -2.75678752e-04 4.50668266e+00] [ 1.56720450e-02 -5.44437865e-04 9.99877038e-01 6.55946714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.51925415399995 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:425.54, Y:4.51, Z:6.56 [[ 9.98509394e-01 -5.22793240e-02 -1.56800025e-02 4.25537903e+02] [ 5.22825459e-02 9.98632311e-01 -2.04653079e-04 4.50748100e+00] [ 1.56692563e-02 -6.15442430e-04 9.99877040e-01 6.55969014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.5492541539999 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:425.58, Y:4.50, Z:6.56 [[ 9.98928041e-01 -4.35534800e-02 -1.56800136e-02 4.25579483e+02] [ 4.35556412e-02 9.99050982e-01 -2.03801274e-04 4.49746153e+00] [ 1.56740092e-02 -4.79370240e-04 9.99877040e-01 6.55554036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.57925415399995 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:425.60, Y:4.51, Z:6.56 [[ 9.98493265e-01 -5.25846099e-02 -1.56862783e-02 4.25598443e+02] [ 5.25960122e-02 9.98615822e-01 3.14958975e-04 4.50925961e+00] [ 1.56480037e-02 -1.13952010e-03 9.99876913e-01 6.56043665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.6092541539999 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:425.63, Y:4.51, Z:6.56 [[ 9.98447251e-01 -5.34531731e-02 -1.56794441e-02 4.25630819e+02] [ 5.34565208e-02 9.98570157e-01 -2.05823803e-04 4.51164802e+00] [ 1.56680269e-02 -6.32664319e-04 9.99877049e-01 6.56054783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.63925415399996 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:425.66, Y:4.51, Z:6.56 [[ 9.98439964e-01 -5.35891105e-02 -1.56794591e-02 4.25662383e+02] [ 5.35924930e-02 9.98562869e-01 -2.04672752e-04 4.51269089e+00] [ 1.56678939e-02 -6.35947847e-04 9.99877049e-01 6.56063885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.66925415399993 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:425.69, Y:4.51, Z:6.56 [[ 9.98424993e-01 -5.38673125e-02 -1.56794703e-02 4.25694521e+02] [ 5.38707427e-02 9.98547896e-01 -2.03815044e-04 4.51391352e+00] [ 1.56676810e-02 -6.41170674e-04 9.99877049e-01 6.56109175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.69925415399996 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:425.73, Y:4.52, Z:6.56 [[ 9.98427060e-01 -5.38289929e-02 -1.56794851e-02 4.25726940e+02] [ 5.38324363e-02 9.98549963e-01 -2.02668194e-04 4.51511293e+00] [ 1.56676587e-02 -6.41715474e-04 9.99877049e-01 6.56170244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.72925415399993 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:425.76, Y:4.52, Z:6.56 [[ 9.98423185e-01 -5.39008070e-02 -1.56794998e-02 4.25758512e+02] [ 5.39042772e-02 9.98546087e-01 -2.01526741e-04 4.51683213e+00] [ 1.56675656e-02 -6.43983131e-04 9.99877049e-01 6.56232538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.75925415399996 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:425.79, Y:4.52, Z:6.56 [[ 9.98444201e-01 -5.35100949e-02 -1.56795106e-02 4.25790981e+02] [ 5.35135303e-02 9.98567104e-01 -2.00676499e-04 4.51965656e+00] [ 1.56677818e-02 -6.38701682e-04 9.99877049e-01 6.56285775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.78925415399993 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:425.82, Y:4.52, Z:6.56 [[ 9.98481027e-01 -5.28184790e-02 -1.56795249e-02 4.25822232e+02] [ 5.28218468e-02 9.98603932e-01 -1.99558242e-04 4.52097982e+00] [ 1.56681756e-02 -6.28966343e-04 9.99877049e-01 6.56239453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.81925415399996 meters Centerline goodness : 0.998935 Centerline is valid? [True, True] Translation: X:425.85, Y:4.52, Z:6.56 [[ 9.98504398e-01 -5.23747996e-02 -1.56795354e-02 4.25854753e+02] [ 5.23781259e-02 9.98627304e-01 -1.98724814e-04 4.52301347e+00] [ 1.56684204e-02 -6.22837080e-04 9.99877049e-01 6.56397777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.84925415399994 meters Centerline goodness : 0.998893 Centerline is valid? [True, True] Translation: X:425.89, Y:4.53, Z:6.56 [[ 9.98604324e-01 -5.04336780e-02 -1.56795493e-02 4.25885904e+02] [ 5.04367825e-02 9.98727236e-01 -1.97626578e-04 4.52580407e+00] [ 1.56695600e-02 -5.93475262e-04 9.99877049e-01 6.56419188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.87925415399997 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:425.92, Y:4.53, Z:6.56 [[ 9.98656950e-01 -4.93806348e-02 -1.56795707e-02 4.25918109e+02] [ 4.93836365e-02 9.98779865e-01 -1.95915052e-04 4.52702989e+00] [ 1.56701139e-02 -5.78662291e-04 9.99877049e-01 6.56451640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.90925415399994 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:425.95, Y:4.53, Z:6.56 [[ 9.98705817e-01 -4.83822470e-02 -1.56795841e-02 4.25949745e+02] [ 4.83851428e-02 9.98828734e-01 -1.94833289e-04 4.52824104e+00] [ 1.56706456e-02 -5.64077778e-04 9.99877049e-01 6.56477063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.93925415399997 meters Centerline goodness : 0.999142 Centerline is valid? [True, True] Translation: X:425.98, Y:4.53, Z:6.57 [[ 9.98779549e-01 -4.68354811e-02 -1.56795941e-02 4.25980715e+02] [ 4.68381992e-02 9.98902470e-01 -1.94027544e-04 4.52961420e+00] [ 1.56714726e-02 -5.40613208e-04 9.99877049e-01 6.56598541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.96925415399994 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:426.01, Y:4.53, Z:6.57 [[ 9.98813369e-01 -4.61087729e-02 -1.56791245e-02 4.26013151e+02] [ 4.61107968e-02 9.98936304e-01 -2.32590236e-04 4.53128645e+00] [ 1.56731712e-02 -4.90662688e-04 9.99877048e-01 6.56632577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.99925415399997 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:426.04, Y:4.53, Z:6.57 [[ 9.98828217e-01 -4.57858310e-02 -1.56796357e-02 4.26044700e+02] [ 4.57884749e-02 9.98951140e-01 -1.90522570e-04 4.53213056e+00] [ 1.56719132e-02 -5.27647287e-04 9.99877049e-01 6.56601042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.02925415399994 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:426.08, Y:4.53, Z:6.57 [[ 9.98844378e-01 -4.54319035e-02 -1.56796460e-02 4.26076635e+02] [ 4.54345172e-02 9.98967301e-01 -1.89668422e-04 4.53288006e+00] [ 1.56720707e-02 -5.22947911e-04 9.99877049e-01 6.56711383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.059254154 meters Centerline goodness : 0.999058 Centerline is valid? [True, True] Translation: X:426.11, Y:4.53, Z:6.57 [[ 9.98852549e-01 -4.52518928e-02 -1.56796599e-02 4.26108682e+02] [ 4.52545025e-02 9.98975472e-01 -1.88511865e-04 4.53389353e+00] [ 1.56721262e-02 -5.21279652e-04 9.99877049e-01 6.56722432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.08925415399995 meters Centerline goodness : 0.999058 Centerline is valid? [True, True] Translation: X:426.14, Y:4.53, Z:6.57 [[ 9.98855866e-01 -4.51786195e-02 -1.56796737e-02 4.26141366e+02] [ 4.51812383e-02 9.98978789e-01 -1.87362282e-04 4.53422396e+00] [ 1.56721262e-02 -5.21279157e-04 9.99877049e-01 6.56773662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.1192541539999 meters Centerline goodness : 0.998722 Centerline is valid? [True, True] Translation: X:426.17, Y:4.53, Z:6.57 [[ 9.98880433e-01 -4.46321406e-02 -1.56796873e-02 4.26173154e+02] [ 4.46347101e-02 9.99003357e-01 -1.86212204e-04 4.53447833e+00] [ 1.56723713e-02 -5.13854571e-04 9.99877049e-01 6.56652671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.14925415399995 meters Centerline goodness : 0.998995 Centerline is valid? [True, True] Translation: X:426.20, Y:4.54, Z:6.57 [[ 9.98897642e-01 -4.42453186e-02 -1.56797008e-02 4.26204590e+02] [ 4.42478584e-02 9.99020567e-01 -1.85070610e-04 4.53539641e+00] [ 1.56725321e-02 -5.08926584e-04 9.99877049e-01 6.56679548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.1792541539999 meters Centerline goodness : 0.998995 Centerline is valid? [True, True] Translation: X:426.24, Y:4.54, Z:6.57 [[ 9.98919250e-01 -4.37547628e-02 -1.56797108e-02 4.26235380e+02] [ 4.37572556e-02 9.99042176e-01 -1.84220358e-04 4.53589788e+00] [ 1.56727529e-02 -5.02079851e-04 9.99877049e-01 6.56635178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.20925415399995 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:426.27, Y:4.54, Z:6.57 [[ 9.98952688e-01 -4.29845644e-02 -1.56797206e-02 4.26267927e+02] [ 4.29869755e-02 9.99075616e-01 -1.83383523e-04 4.53662988e+00] [ 1.56731092e-02 -4.90832301e-04 9.99877049e-01 6.56690930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.2392541539999 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:426.30, Y:4.54, Z:6.57 [[ 9.99015470e-01 -4.14998451e-02 -1.56797335e-02 4.26299861e+02] [ 4.15020910e-02 9.99138400e-01 -1.82268289e-04 4.53831648e+00] [ 1.56737880e-02 -4.68652888e-04 9.99877049e-01 6.56830153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.26925415399995 meters Centerline goodness : 0.999288 Centerline is valid? [True, True] Translation: X:426.33, Y:4.54, Z:6.57 [[ 9.99038429e-01 -4.09434127e-02 -1.56797464e-02 4.26332250e+02] [ 4.09456076e-02 9.99161361e-01 -1.81154102e-04 4.53939383e+00] [ 1.56740138e-02 -4.61036834e-04 9.99877049e-01 6.56949276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.2992541539999 meters Centerline goodness : 0.999038 Centerline is valid? [True, True] Translation: X:426.36, Y:4.54, Z:6.57 [[ 9.99052097e-01 -4.06085193e-02 -1.56797593e-02 4.26364500e+02] [ 4.06106906e-02 9.99175029e-01 -1.80031240e-04 4.54018394e+00] [ 1.56741348e-02 -4.56905266e-04 9.99877049e-01 6.57087099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.32925415399995 meters Centerline goodness : 0.998953 Centerline is valid? [True, True] Translation: X:426.40, Y:4.54, Z:6.57 [[ 9.99070674e-01 -4.01488765e-02 -1.56797722e-02 4.26396930e+02] [ 4.01510090e-02 9.99193607e-01 -1.78901246e-04 4.54024364e+00] [ 1.56743108e-02 -4.50823686e-04 9.99877049e-01 6.57092260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.3592541539999 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:426.43, Y:4.54, Z:6.57 [[ 9.99080173e-01 -3.99118161e-02 -1.56797856e-02 4.26428483e+02] [ 3.99139379e-02 9.99203105e-01 -1.77721933e-04 4.54048436e+00] [ 1.56743836e-02 -4.48283528e-04 9.99877049e-01 6.57310099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.38925415399996 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:426.46, Y:4.54, Z:6.57 [[ 9.99093523e-01 -3.95761975e-02 -1.56797955e-02 4.26459388e+02] [ 3.95782918e-02 9.99216457e-01 -1.76843788e-04 4.54047209e+00] [ 1.56745085e-02 -4.43896036e-04 9.99877049e-01 6.57374693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.41925415399993 meters Centerline goodness : 0.998974 Centerline is valid? [True, True] Translation: X:426.49, Y:4.54, Z:6.57 [[ 9.99115535e-01 -3.90165589e-02 -1.56798020e-02 4.26490287e+02] [ 3.90185934e-02 9.99238469e-01 -1.76263487e-04 4.54060826e+00] [ 1.56747385e-02 -4.35696230e-04 9.99877049e-01 6.57436661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.44925415399996 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:426.52, Y:4.54, Z:6.57 [[ 9.99143878e-01 -3.82838793e-02 -1.56798085e-02 4.26521891e+02] [ 3.82858327e-02 9.99266813e-01 -1.75685073e-04 4.54043247e+00] [ 1.56750382e-02 -4.24779859e-04 9.99877049e-01 6.57469398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.47925415399993 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:426.55, Y:4.54, Z:6.58 [[ 9.99186250e-01 -3.71615602e-02 -1.56798149e-02 4.26553612e+02] [ 3.71633845e-02 9.99309187e-01 -1.75111201e-04 4.53932624e+00] [ 1.56754905e-02 -4.07746286e-04 9.99877049e-01 6.57564618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.50925415399996 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:426.59, Y:4.54, Z:6.58 [[ 9.99197652e-01 -3.68537041e-02 -1.56798213e-02 4.26585215e+02] [ 3.68554996e-02 9.99320590e-01 -1.74535221e-04 4.53892668e+00] [ 1.56756005e-02 -4.03492464e-04 9.99877049e-01 6.57598846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.53925415399993 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:426.62, Y:4.54, Z:6.58 [[ 9.99204515e-01 -3.66671519e-02 -1.56798277e-02 4.26616579e+02] [ 3.66689334e-02 9.99327453e-01 -1.73961655e-04 4.53818848e+00] [ 1.56756609e-02 -4.01139285e-04 9.99877049e-01 6.57626373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.56925415399996 meters Centerline goodness : 0.999209 Centerline is valid? [True, True] Translation: X:426.65, Y:4.54, Z:6.57 [[ 9.99199104e-01 -3.68143006e-02 -1.56798340e-02 4.26646940e+02] [ 3.68161093e-02 9.99322042e-01 -1.73388030e-04 4.53622652e+00] [ 1.56755869e-02 -4.04021318e-04 9.99877049e-01 6.57493107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.59925415399994 meters Centerline goodness : 0.998891 Centerline is valid? [True, True] Translation: X:426.68, Y:4.54, Z:6.57 [[ 9.99186253e-01 -3.71614792e-02 -1.56798371e-02 4.26678689e+02] [ 3.71633350e-02 9.99309190e-01 -1.73103675e-04 4.53544975e+00] [ 1.56754381e-02 -4.09752227e-04 9.99877049e-01 6.57475299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.62925415399997 meters Centerline goodness : 0.998978 Centerline is valid? [True, True] Translation: X:426.71, Y:4.53, Z:6.57 [[ 9.99186480e-01 -3.71553724e-02 -1.56798436e-02 4.26708797e+02] [ 3.71572366e-02 9.99309417e-01 -1.72519180e-04 4.53442542e+00] [ 1.56754253e-02 -4.10240825e-04 9.99877049e-01 6.57276317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.65925415399994 meters Centerline goodness : 0.999288 Centerline is valid? [True, True] Translation: X:426.74, Y:4.53, Z:6.57 [[ 9.99158142e-01 -3.79097638e-02 -1.56798468e-02 4.26740160e+02] [ 3.79117254e-02 9.99281077e-01 -1.72229328e-04 4.53409367e+00] [ 1.56751033e-02 -4.22365710e-04 9.99877049e-01 6.57412052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.68925415399997 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:426.77, Y:4.53, Z:6.57 [[ 9.99133366e-01 -3.85572324e-02 -1.56798530e-02 4.26771465e+02] [ 3.85592826e-02 9.99256300e-01 -1.71658645e-04 4.53216800e+00] [ 1.56748106e-02 -4.33094004e-04 9.99877049e-01 6.57321674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.71925415399994 meters Centerline goodness : 0.999225 Centerline is valid? [True, True] Translation: X:426.80, Y:4.53, Z:6.57 [[ 9.99133884e-01 -3.85437853e-02 -1.56798592e-02 4.26803233e+02] [ 3.85458428e-02 9.99256818e-01 -1.71087472e-04 4.53138131e+00] [ 1.56748006e-02 -4.33454099e-04 9.99877049e-01 6.57375986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.74925415399997 meters Centerline goodness : 0.999288 Centerline is valid? [True, True] Translation: X:426.83, Y:4.53, Z:6.57 [[ 9.99143048e-01 -3.83055039e-02 -1.56798654e-02 4.26833472e+02] [ 3.83075410e-02 9.99265982e-01 -1.70516544e-04 4.53067918e+00] [ 1.56748879e-02 -4.30286669e-04 9.99877049e-01 6.57408658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.77925415399994 meters Centerline goodness : 0.999288 Centerline is valid? [True, True] Translation: X:426.87, Y:4.53, Z:6.57 [[ 9.99151340e-01 -3.80885883e-02 -1.56798685e-02 4.26865050e+02] [ 3.80906031e-02 9.99274275e-01 -1.70233125e-04 4.53024250e+00] [ 1.56749732e-02 -4.27166994e-04 9.99877049e-01 6.57497841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.809254154 meters Centerline goodness : 0.999247 Centerline is valid? [True, True] Translation: X:426.90, Y:4.53, Z:6.58 [[ 9.99174446e-01 -3.74775779e-02 -1.56798746e-02 4.26896414e+02] [ 3.74795264e-02 9.99297381e-01 -1.69672572e-04 4.52976944e+00] [ 1.56752165e-02 -4.18141775e-04 9.99877049e-01 6.57643847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.83925415399995 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:426.93, Y:4.53, Z:6.58 [[ 9.99203412e-01 -3.66971859e-02 -1.56798808e-02 4.26926651e+02] [ 3.66990474e-02 9.99326349e-01 -1.69096590e-04 4.52971833e+00] [ 1.56755234e-02 -4.06474800e-04 9.99877049e-01 6.57747423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.8692541539999 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:426.96, Y:4.53, Z:6.58 [[ 9.99217627e-01 -3.63080629e-02 -1.56798839e-02 4.26957927e+02] [ 3.63098810e-02 9.99340565e-01 -1.68811170e-04 4.52967130e+00] [ 1.56756732e-02 -4.00655620e-04 9.99877049e-01 6.57808092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.89925415399995 meters Centerline goodness : 0.998954 Centerline is valid? [True, True] Translation: X:426.99, Y:4.53, Z:6.58 [[ 9.99233918e-01 -3.58569122e-02 -1.56798900e-02 4.26988922e+02] [ 3.58586838e-02 9.99356856e-01 -1.68240731e-04 4.52931468e+00] [ 1.56758382e-02 -3.94148372e-04 9.99877049e-01 6.57806963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.9292541539999 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:427.02, Y:4.53, Z:6.58 [[ 9.99240009e-01 -3.56867786e-02 -1.56798960e-02 4.27020397e+02] [ 3.56885381e-02 9.99362947e-01 -1.67674286e-04 4.52737526e+00] [ 1.56758909e-02 -3.92045714e-04 9.99877049e-01 6.57917157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.95925415399995 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:427.05, Y:4.53, Z:6.58 [[ 9.99244091e-01 -3.55722809e-02 -1.56799021e-02 4.27051407e+02] [ 3.55740353e-02 9.99367030e-01 -1.67102866e-04 4.52626438e+00] [ 1.56759215e-02 -3.90820841e-04 9.99877049e-01 6.57994211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.9892541539999 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:427.08, Y:4.53, Z:6.58 [[ 9.99242888e-01 -3.56060501e-02 -1.56799083e-02 4.27083109e+02] [ 3.56078178e-02 9.99365827e-01 -1.66519199e-04 4.52544714e+00] [ 1.56758936e-02 -3.91934194e-04 9.99877049e-01 6.58035197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.01925415399995 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:427.11, Y:4.53, Z:6.58 [[ 9.99241810e-01 -3.56362858e-02 -1.56799145e-02 4.27114366e+02] [ 3.56380663e-02 9.99364749e-01 -1.65933930e-04 4.52506052e+00] [ 1.56758671e-02 -3.92993714e-04 9.99877049e-01 6.58067672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.0492541539999 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:427.14, Y:4.52, Z:6.58 [[ 9.99241338e-01 -3.56495306e-02 -1.56799207e-02 4.27144790e+02] [ 3.56513220e-02 9.99364276e-01 -1.65347762e-04 4.52404336e+00] [ 1.56758472e-02 -3.93787583e-04 9.99877049e-01 6.58148618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.07925415399995 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:427.18, Y:4.52, Z:6.58 [[ 9.99254811e-01 -3.52698464e-02 -1.56799238e-02 4.27175203e+02] [ 3.52715957e-02 9.99377750e-01 -1.65056706e-04 4.52292021e+00] [ 1.56759885e-02 -3.88122224e-04 9.99877049e-01 6.58167125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.1092541539999 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:427.21, Y:4.52, Z:6.58 [[ 9.99258013e-01 -3.51790310e-02 -1.56799238e-02 4.27205604e+02] [ 3.51807690e-02 9.99380952e-01 -1.65056706e-04 4.52225293e+00] [ 1.56760237e-02 -3.86697541e-04 9.99877049e-01 6.58175199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.13925415399996 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:427.24, Y:4.52, Z:6.58 [[ 9.99283059e-01 -3.44602414e-02 -1.56799268e-02 4.27236143e+02] [ 3.44618957e-02 9.99405999e-01 -1.64765904e-04 4.52119872e+00] [ 1.56762908e-02 -3.75712226e-04 9.99877049e-01 6.58155865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.16925415399993 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:427.27, Y:4.52, Z:6.58 [[ 9.99313785e-01 -3.35573901e-02 -1.56799268e-02 4.27266079e+02] [ 3.35589332e-02 9.99436727e-01 -1.64765904e-04 4.51945448e+00] [ 1.56766239e-02 -3.61548778e-04 9.99877049e-01 6.58014442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.19925415399996 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:427.30, Y:4.52, Z:6.58 [[ 9.99338673e-01 -3.28078828e-02 -1.56799238e-02 4.27295465e+02] [ 3.28093292e-02 9.99461615e-01 -1.65055372e-04 4.51863632e+00] [ 1.56768971e-02 -3.49501564e-04 9.99877049e-01 6.58012646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.22925415399993 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:427.33, Y:4.52, Z:6.58 [[ 9.99362336e-01 -3.20789791e-02 -1.56799208e-02 4.27325995e+02] [ 3.20803314e-02 9.99485280e-01 -1.65338602e-04 4.51823969e+00] [ 1.56771539e-02 -3.37783884e-04 9.99877049e-01 6.57979808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.25925415399996 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:427.36, Y:4.52, Z:6.58 [[ 9.99385748e-01 -3.13411466e-02 -1.56799208e-02 4.27355164e+02] [ 3.13424081e-02 9.99508692e-01 -1.65338602e-04 4.51775433e+00] [ 1.56773990e-02 -3.26209434e-04 9.99877049e-01 6.57980818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.28925415399993 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:427.38, Y:4.52, Z:6.58 [[ 9.99407778e-01 -3.06305988e-02 -1.56799215e-02 4.27384623e+02] [ 3.06317740e-02 9.99530723e-01 -1.65267773e-04 4.51656397e+00] [ 1.56776256e-02 -3.15133915e-04 9.99877049e-01 6.57986064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.31925415399996 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:427.41, Y:4.52, Z:6.58 [[ 9.99423271e-01 -3.01208577e-02 -1.56799155e-02 4.27413481e+02] [ 3.01219613e-02 9.99546217e-01 -1.65841057e-04 4.51611036e+00] [ 1.56777955e-02 -3.06564395e-04 9.99877049e-01 6.58089909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.34925415399994 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:427.44, Y:4.52, Z:6.58 [[ 9.99401242e-01 -3.08433029e-02 -1.56795468e-02 4.27442790e+02] [ 3.08439590e-02 9.99524192e-01 -2.00035294e-04 4.51572862e+00] [ 1.56782561e-02 -2.83703777e-04 9.99877048e-01 6.58098648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.37925415399997 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:427.47, Y:4.51, Z:6.58 [[ 9.99355779e-01 -3.22826321e-02 -1.56798765e-02 4.27471239e+02] [ 3.22839435e-02 9.99478723e-01 -1.69542829e-04 4.51495401e+00] [ 1.56771762e-02 -3.36774641e-04 9.99877049e-01 6.58113251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.40925415399994 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:427.50, Y:4.51, Z:6.58 [[ 9.99312199e-01 -3.36046198e-02 -1.56798673e-02 4.27501306e+02] [ 3.36060806e-02 9.99435142e-01 -1.70389011e-04 4.51470716e+00] [ 1.56767362e-02 -3.56667067e-04 9.99877049e-01 6.58189813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.43925415399997 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:427.53, Y:4.51, Z:6.58 [[ 9.99268756e-01 -3.48725653e-02 -1.56798610e-02 4.27531189e+02] [ 3.48741730e-02 9.99391696e-01 -1.70966575e-04 4.51399371e+00] [ 1.56762849e-02 -3.75980628e-04 9.99877049e-01 6.58089298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.46925415399994 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:427.56, Y:4.51, Z:6.58 [[ 9.99175005e-01 -3.74626573e-02 -1.56798547e-02 4.27561751e+02] [ 3.74645747e-02 9.99297942e-01 -1.71539609e-04 4.51378285e+00] [ 1.56752729e-02 -4.16040999e-04 9.99877049e-01 6.58298759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.49925415399997 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:427.59, Y:4.51, Z:6.58 [[ 9.99093633e-01 -3.95734165e-02 -1.56798547e-02 4.27589824e+02] [ 3.95755936e-02 9.99216565e-01 -1.71539609e-04 4.51478636e+00] [ 1.56743590e-02 -4.49155426e-04 9.99877049e-01 6.58360625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.52925415399994 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:427.62, Y:4.51, Z:6.58 [[ 9.98957323e-01 -4.28771709e-02 -1.56784651e-02 4.27621641e+02] [ 4.28777507e-02 9.99080282e-01 -2.99320728e-04 4.51283006e+00] [ 1.56768793e-02 -3.73248683e-04 9.99877041e-01 6.58436909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.559254154 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:427.65, Y:4.51, Z:6.58 [[ 9.98647231e-01 -4.95767010e-02 -1.56798702e-02 4.27653024e+02] [ 4.95801514e-02 9.98770134e-01 -1.68839363e-04 4.51134170e+00] [ 1.56689566e-02 -6.08799375e-04 9.99877049e-01 6.58492480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.58925415399995 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:427.68, Y:4.51, Z:6.59 [[ 9.98465666e-01 -5.31079501e-02 -1.56798795e-02 4.27683823e+02] [ 5.31118487e-02 9.98588556e-01 -1.67968287e-04 4.51142444e+00] [ 1.56666687e-02 -6.65076823e-04 9.99877049e-01 6.58551657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.6192541539999 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:427.72, Y:4.51, Z:6.59 [[ 9.98254467e-01 -5.69399684e-02 -1.56798885e-02 4.27715748e+02] [ 5.69443519e-02 9.98377340e-01 -1.67130396e-04 4.51173550e+00] [ 1.56639617e-02 -7.26042421e-04 9.99877049e-01 6.58631120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.64925415399995 meters Centerline goodness : 0.996809 Centerline is valid? [True, True] Translation: X:427.75, Y:4.51, Z:6.59 [[ 9.98183969e-01 -5.81627370e-02 -1.56799002e-02 4.27745224e+02] [ 5.81672883e-02 9.98306836e-01 -1.66022791e-04 4.51154447e+00] [ 1.56630079e-02 -7.46335986e-04 9.99877049e-01 6.58689877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.6792541539999 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:427.78, Y:4.51, Z:6.59 [[ 9.97587255e-01 -6.76303553e-02 -1.56781397e-02 4.27777467e+02] [ 6.76335514e-02 9.97710176e-01 -3.26874536e-04 4.51346486e+00] [ 1.56643462e-02 -7.34282397e-04 9.99877037e-01 6.58734224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.70925415399995 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:427.81, Y:4.51, Z:6.59 [[ 9.97395264e-01 -7.04047558e-02 -1.56798422e-02 4.27810003e+02] [ 7.04107859e-02 9.97518067e-01 -1.67828261e-04 4.51411656e+00] [ 1.56527418e-02 -9.36638902e-04 9.99877050e-01 6.58761956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.7392541539999 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:427.84, Y:4.51, Z:6.59 [[ 9.97231875e-01 -7.26823878e-02 -1.56798538e-02 4.27841045e+02] [ 7.26887153e-02 9.97354663e-01 -1.66742186e-04 4.51479017e+00] [ 1.56504945e-02 -9.73467805e-04 9.99877050e-01 6.58784752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.76925415399995 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:427.87, Y:4.52, Z:6.59 [[ 9.97112475e-01 -7.43024452e-02 -1.56798730e-02 4.27872822e+02] [ 7.43090007e-02 9.97235251e-01 -1.64917482e-04 4.51564960e+00] [ 1.56487758e-02 -1.00071441e-03 9.99877050e-01 6.58825521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.7992541539999 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:427.91, Y:4.51, Z:6.58 [[ 9.97519468e-01 -6.86225377e-02 -1.56798841e-02 4.27913097e+02] [ 6.86284106e-02 9.97642278e-01 -1.63851469e-04 4.50881585e+00] [ 1.56541592e-02 -9.12640496e-04 9.99877050e-01 6.58410912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.82925415399995 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:427.95, Y:4.51, Z:6.58 [[ 9.97522889e-01 -6.85716588e-02 -1.56848456e-02 4.27946671e+02] [ 6.85849725e-02 9.97645230e-01 3.11867202e-04 4.50939669e+00] [ 1.56265261e-02 -1.38683937e-03 9.99876937e-01 6.58453321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.8592541539999 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:427.98, Y:4.51, Z:6.58 [[ 9.97518284e-01 -6.86384246e-02 -1.56856342e-02 4.27978804e+02] [ 6.86529214e-02 9.97640530e-01 3.86983725e-04 4.51150830e+00] [ 1.56220624e-02 -1.46288795e-03 9.99876898e-01 6.58474269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.88925415399996 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:428.01, Y:4.52, Z:6.58 [[ 9.97544933e-01 -6.82500270e-02 -1.56856590e-02 4.28007031e+02] [ 6.82645121e-02 9.97667181e-01 3.89278222e-04 4.51747187e+00] [ 1.56224989e-02 -1.45909637e-03 9.99876897e-01 6.58403485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.91925415399993 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:428.03, Y:4.53, Z:6.59 [[ 9.97075598e-01 -7.47947080e-02 -1.56844861e-02 4.28026731e+02] [ 7.48083427e-02 9.97197890e-01 2.83593271e-04 4.52886317e+00] [ 1.56193252e-02 -1.45609434e-03 9.99876951e-01 6.59050235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.94925415399996 meters Centerline goodness : 0.999314 Centerline is valid? [True, True] Translation: X:428.06, Y:4.53, Z:6.59 [[ 9.97184727e-01 -7.33266525e-02 -1.56787508e-02 4.28058391e+02] [ 7.33326950e-02 9.97307515e-01 -1.89950492e-04 4.53126152e+00] [ 1.56504645e-02 -9.60349325e-04 9.99877063e-01 6.59089086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.97925415399993 meters Centerline goodness : 0.999314 Centerline is valid? [True, True] Translation: X:428.09, Y:4.53, Z:6.59 [[ 9.97189850e-01 -7.32569367e-02 -1.56787733e-02 4.28091072e+02] [ 7.32629999e-02 9.97312638e-01 -1.88079813e-04 4.53158745e+00] [ 1.56504169e-02 -9.61122685e-04 9.99877063e-01 6.59140294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.00925415399996 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:428.12, Y:4.53, Z:6.59 [[ 9.97290007e-01 -7.18805817e-02 -1.56787864e-02 4.28123313e+02] [ 7.18864926e-02 9.97412802e-01 -1.86983996e-04 4.53356438e+00] [ 1.56516627e-02 -9.40615688e-04 9.99877063e-01 6.59154225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.03925415399993 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:428.16, Y:4.54, Z:6.59 [[ 9.97512516e-01 -6.87237649e-02 -1.56787993e-02 4.28155283e+02] [ 6.87293043e-02 9.97635328e-01 -1.85888178e-04 4.53730595e+00] [ 1.56544991e-02 -8.92167186e-04 9.99877063e-01 6.59312109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.06925415399996 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:428.19, Y:4.54, Z:6.59 [[ 9.97610399e-01 -6.72879389e-02 -1.56788130e-02 4.28186393e+02] [ 6.72933197e-02 9.97733218e-01 -1.84730053e-04 4.53909183e+00] [ 1.56557026e-02 -8.70790753e-04 9.99877063e-01 6.59369871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.09925415399994 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:428.22, Y:4.54, Z:6.59 [[ 9.97715361e-01 -6.57132659e-02 -1.56788231e-02 4.28218995e+02] [ 6.57184663e-02 9.97838188e-01 -1.83867575e-04 4.54088205e+00] [ 1.56570110e-02 -8.46940703e-04 9.99877063e-01 6.59445717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.12925415399997 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:428.25, Y:4.54, Z:6.60 [[ 9.97822826e-01 -6.40607703e-02 -1.56788364e-02 4.28251387e+02] [ 6.40657851e-02 9.97945661e-01 -1.82726171e-04 4.54309963e+00] [ 1.56583323e-02 -8.22148620e-04 9.99877063e-01 6.59520339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.15925415399994 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:428.28, Y:4.55, Z:6.60 [[ 9.98052271e-01 -6.03807698e-02 -1.56788496e-02 4.28283750e+02] [ 6.03853495e-02 9.98175123e-01 -1.81587446e-04 4.54673158e+00] [ 1.56612020e-02 -7.65539050e-04 9.99877063e-01 6.59580589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.18925415399997 meters Centerline goodness : 0.998934 Centerline is valid? [True, True] Translation: X:428.31, Y:4.55, Z:6.60 [[ 9.98170305e-01 -5.83970497e-02 -1.56788631e-02 4.28314900e+02] [ 5.84014036e-02 9.98293165e-01 -1.80417766e-04 4.54856180e+00] [ 1.56626377e-02 -7.35579952e-04 9.99877063e-01 6.59589606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.21925415399994 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:428.35, Y:4.55, Z:6.60 [[ 9.98299276e-01 -5.61491638e-02 -1.56788730e-02 4.28347338e+02] [ 5.61532547e-02 9.98422145e-01 -1.79546268e-04 4.55041377e+00] [ 1.56642154e-02 -7.01178841e-04 9.99877063e-01 6.59673281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.24925415399997 meters Centerline goodness : 0.999058 Centerline is valid? [True, True] Translation: X:428.38, Y:4.55, Z:6.60 [[ 9.98444347e-01 -5.35075537e-02 -1.56788863e-02 4.28379522e+02] [ 5.35113377e-02 9.98567226e-01 -1.78381058e-04 4.55210488e+00] [ 1.56659667e-02 -6.60894620e-04 9.99877063e-01 6.59717681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.27925415399994 meters Centerline goodness : 0.999142 Centerline is valid? [True, True] Translation: X:428.41, Y:4.56, Z:6.60 [[ 9.98711025e-01 -4.82748380e-02 -1.56788995e-02 4.28412098e+02] [ 4.82779963e-02 9.98833922e-01 -1.77215339e-04 4.55534208e+00] [ 1.56691717e-02 -5.79958938e-04 9.99877063e-01 6.59793007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.309254154 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:428.44, Y:4.56, Z:6.60 [[ 9.98840612e-01 -4.55148634e-02 -1.56789125e-02 4.28444018e+02] [ 4.55177004e-02 9.98963517e-01 -1.76051778e-04 4.55688949e+00] [ 1.56706746e-02 -5.37820377e-04 9.99877063e-01 6.59838591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.33925415399995 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:428.48, Y:4.56, Z:6.60 [[ 9.98943759e-01 -4.31918780e-02 -1.56789254e-02 4.28476538e+02] [ 4.31944472e-02 9.99066669e-01 -1.74898653e-04 4.55830923e+00] [ 1.56718460e-02 -5.02528597e-04 9.99877063e-01 6.59881766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.3692541539999 meters Centerline goodness : 0.999079 Centerline is valid? [True, True] Translation: X:428.51, Y:4.56, Z:6.60 [[ 9.99024619e-01 -4.12793233e-02 -1.56789383e-02 4.28508778e+02] [ 4.12816754e-02 9.99147533e-01 -1.73737372e-04 4.55978262e+00] [ 1.56727442e-02 -4.73684928e-04 9.99877063e-01 6.59903673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.39925415399995 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:428.54, Y:4.56, Z:6.60 [[ 9.99145475e-01 -3.82425229e-02 -1.56789510e-02 4.28541237e+02] [ 3.82445196e-02 9.99268396e-01 -1.72577600e-04 4.56172868e+00] [ 1.56740800e-02 -4.27203821e-04 9.99877063e-01 6.59925190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.4292541539999 meters Centerline goodness : 0.999350 Centerline is valid? [True, True] Translation: X:428.57, Y:4.56, Z:6.60 [[ 9.99176904e-01 -3.74123511e-02 -1.56789636e-02 4.28572741e+02] [ 3.74142637e-02 9.99299827e-01 -1.71423349e-04 4.56244267e+00] [ 1.56743990e-02 -4.15334629e-04 9.99877063e-01 6.59939892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.45925415399995 meters Centerline goodness : 0.998951 Centerline is valid? [True, True] Translation: X:428.61, Y:4.55, Z:6.59 [[ 9.99436196e-01 -2.96894054e-02 -1.56789699e-02 4.28612254e+02] [ 2.96903770e-02 9.99559129e-01 -1.70852208e-04 4.55425841e+00] [ 1.56771300e-02 -2.94758645e-04 9.99877063e-01 6.59490806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.4892541539999 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:428.63, Y:4.56, Z:6.60 [[ 9.99173635e-01 -3.74973858e-02 -1.56841584e-02 4.28630161e+02] [ 3.75071905e-02 9.99296303e-01 3.31339547e-04 4.56387766e+00] [ 1.56606971e-02 -9.19334456e-04 9.99876941e-01 6.59913392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.51925415399995 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:428.66, Y:4.56, Z:6.60 [[ 9.99137104e-01 -3.84608686e-02 -1.56783210e-02 4.28661605e+02] [ 3.84627866e-02 9.99260017e-01 -1.79293121e-04 4.56371172e+00] [ 1.56736151e-02 -4.23893505e-04 9.99877071e-01 6.59928326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.5492541539999 meters Centerline goodness : 0.998974 Centerline is valid? [True, True] Translation: X:428.70, Y:4.55, Z:6.59 [[ 9.99335050e-01 -3.29188179e-02 -1.56783275e-02 4.28700818e+02] [ 3.29200632e-02 9.99457972e-01 -1.78717694e-04 4.55492407e+00] [ 1.56757126e-02 -3.37532677e-04 9.99877071e-01 6.59494695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.57925415399995 meters Centerline goodness : 0.999077 Centerline is valid? [True, True] Translation: X:428.72, Y:4.56, Z:6.60 [[ 9.99006900e-01 -4.17042524e-02 -1.56834334e-02 4.28720093e+02] [ 4.17139012e-02 9.99129555e-01 2.88453917e-04 4.56333468e+00] [ 1.56577521e-02 -9.42384644e-04 9.99876966e-01 6.59870887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.6092541539999 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:428.75, Y:4.56, Z:6.60 [[ 9.98866924e-01 -4.49341239e-02 -1.56777731e-02 4.28751762e+02] [ 4.49367205e-02 9.98989818e-01 -1.86786981e-04 4.56284362e+00] [ 1.56703288e-02 -5.17932370e-04 9.99877079e-01 6.59998329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.63925415399996 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:428.78, Y:4.56, Z:6.60 [[ 9.98807507e-01 -4.62360463e-02 -1.56777800e-02 4.28783046e+02] [ 4.62388122e-02 9.98930397e-01 -1.86206694e-04 4.56279294e+00] [ 1.56696204e-02 -5.38937280e-04 9.99877079e-01 6.59972538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.66925415399993 meters Centerline goodness : 0.999329 Centerline is valid? [True, True] Translation: X:428.81, Y:4.56, Z:6.60 [[ 9.98792278e-01 -4.65638480e-02 -1.56777902e-02 4.28814819e+02] [ 4.65666679e-02 9.98915167e-01 -1.85338940e-04 4.56202560e+00] [ 1.56694125e-02 -5.44947349e-04 9.99877079e-01 6.60002120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.69925415399996 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:428.85, Y:4.56, Z:6.60 [[ 9.98706148e-01 -4.83758668e-02 -1.56781860e-02 4.28845588e+02] [ 4.83794376e-02 9.98829018e-01 -1.51659775e-04 4.56247892e+00] [ 1.56671637e-02 -6.07038269e-04 9.99877078e-01 6.59942914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.72925415399993 meters Centerline goodness : 0.999140 Centerline is valid? [True, True] Translation: X:428.88, Y:4.56, Z:6.60 [[ 9.98622401e-01 -5.00750130e-02 -1.56778069e-02 4.28877696e+02] [ 5.00782865e-02 9.98745279e-01 -1.83965518e-04 4.56327474e+00] [ 1.56673477e-02 -6.01405617e-04 9.99877079e-01 6.60144456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.75925415399996 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:428.91, Y:4.56, Z:6.60 [[ 9.98509853e-01 -5.22712188e-02 -1.56778199e-02 4.28910126e+02] [ 5.22747800e-02 9.98632722e-01 -1.82847969e-04 4.56369593e+00] [ 1.56659417e-02 -6.36979089e-04 9.99877079e-01 6.60243785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.78925415399993 meters Centerline goodness : 0.998889 Centerline is valid? [True, True] Translation: X:428.94, Y:4.56, Z:6.60 [[ 9.98568897e-01 -5.11308441e-02 -1.56778333e-02 4.28943102e+02] [ 5.11342830e-02 9.98691770e-01 -1.81695293e-04 4.56159855e+00] [ 1.56666133e-02 -6.20239495e-04 9.99877079e-01 6.60263465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.81925415399996 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:428.97, Y:4.56, Z:6.60 [[ 9.98381853e-01 -5.46611501e-02 -1.56791316e-02 4.28973025e+02] [ 5.46667978e-02 9.98504650e-01 -6.84850013e-05 4.56413768e+00] [ 1.56594293e-02 -7.88753735e-04 9.99877073e-01 6.60319317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.84925415399994 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:429.01, Y:4.56, Z:6.60 [[ 9.98245317e-01 -5.71007321e-02 -1.56778301e-02 4.29005655e+02] [ 5.71049144e-02 9.98368167e-01 -1.81138722e-04 4.56410855e+00] [ 1.56625897e-02 -7.14460267e-04 9.99877079e-01 6.60366900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.87925415399997 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:429.04, Y:4.56, Z:6.60 [[ 9.98180182e-01 -5.82282497e-02 -1.56778435e-02 4.29037473e+02] [ 5.82325890e-02 9.98303027e-01 -1.79974735e-04 4.56461000e+00] [ 1.56617182e-02 -7.33314203e-04 9.99877079e-01 6.60395324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.90925415399994 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:429.07, Y:4.57, Z:6.60 [[ 9.98118236e-01 -5.92806144e-02 -1.56778568e-02 4.29069415e+02] [ 5.92851014e-02 9.98241075e-01 -1.78811889e-04 4.56542221e+00] [ 1.56608807e-02 -7.50987921e-04 9.99877079e-01 6.60376638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.93925415399997 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:429.10, Y:4.57, Z:6.60 [[ 9.98049676e-01 -6.04239034e-02 -1.56778700e-02 4.29102052e+02] [ 6.04285495e-02 9.98172510e-01 -1.77642416e-04 4.56709112e+00] [ 1.56599527e-02 -7.70094989e-04 9.99877079e-01 6.60357176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.96925415399994 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:429.13, Y:4.57, Z:6.60 [[ 9.98036209e-01 -6.06459427e-02 -1.56778832e-02 4.29132867e+02] [ 6.06506345e-02 9.98159040e-01 -1.76471654e-04 4.56826434e+00] [ 1.56597231e-02 -7.74748462e-04 9.99877079e-01 6.60353582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.99925415399997 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:429.16, Y:4.57, Z:6.60 [[ 9.98047454e-01 -6.04605984e-02 -1.56778929e-02 4.29164589e+02] [ 6.04652810e-02 9.98170286e-01 -1.75600588e-04 4.56933214e+00] [ 1.56598238e-02 -7.72710482e-04 9.99877079e-01 6.60418986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.02925415399994 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:429.20, Y:4.57, Z:6.60 [[ 9.98188594e-01 -5.80838624e-02 -1.56779059e-02 4.29200157e+02] [ 5.80882707e-02 9.98311436e-01 -1.74434435e-04 4.56820075e+00] [ 1.56615646e-02 -7.36583981e-04 9.99877079e-01 6.60335560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.059254154 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:429.23, Y:4.57, Z:6.61 [[ 9.98111943e-01 -5.93859944e-02 -1.56797119e-02 4.29227871e+02] [ 5.93931511e-02 9.98234669e-01 -9.24315090e-06 4.57206533e+00] [ 1.56525809e-02 -9.22041797e-04 9.99877066e-01 6.60510278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.08925415399995 meters Centerline goodness : 0.999097 Centerline is valid? [True, True] Translation: X:429.26, Y:4.58, Z:6.61 [[ 9.98213383e-01 -5.76562775e-02 -1.56778508e-02 4.29260253e+02] [ 5.76606164e-02 9.98336227e-01 -1.75507010e-04 4.57535733e+00] [ 1.56618855e-02 -7.28801096e-04 9.99877080e-01 6.60616695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.1192541539999 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:429.30, Y:4.57, Z:6.61 [[ 9.98390446e-01 -5.45043373e-02 -1.56778637e-02 4.29295190e+02] [ 5.45083064e-02 9.98513302e-01 -1.74349456e-04 4.57452868e+00] [ 1.56640583e-02 -6.80504968e-04 9.99877080e-01 6.60679063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.14925415399995 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:429.32, Y:4.58, Z:6.61 [[ 9.98371506e-01 -5.48496242e-02 -1.56797270e-02 4.29322570e+02] [ 5.48563282e-02 9.98494258e-01 -2.53391841e-06 4.57861443e+00] [ 1.56562563e-02 -8.57602458e-04 9.99877066e-01 6.60655891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.1792541539999 meters Centerline goodness : 0.999201 Centerline is valid? [True, True] Translation: X:429.36, Y:4.58, Z:6.61 [[ 9.98553434e-01 -5.14319481e-02 -1.56778118e-02 4.29355155e+02] [ 5.14355359e-02 9.98676302e-01 -1.74561752e-04 4.58215224e+00] [ 1.56660372e-02 -6.32087414e-04 9.99877080e-01 6.60761161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.20925415399995 meters Centerline goodness : 0.999200 Centerline is valid? [True, True] Translation: X:429.39, Y:4.58, Z:6.61 [[ 9.98644640e-01 -4.96295111e-02 -1.56778247e-02 4.29386966e+02] [ 4.96328954e-02 9.98767513e-01 -1.73391639e-04 4.58362771e+00] [ 1.56671074e-02 -6.04979205e-04 9.99877080e-01 6.60776334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.2392541539999 meters Centerline goodness : 0.998904 Centerline is valid? [True, True] Translation: X:429.42, Y:4.59, Z:6.61 [[ 9.98731494e-01 -4.78498613e-02 -1.56778375e-02 4.29417312e+02] [ 4.78530449e-02 9.98854372e-01 -1.72230309e-04 4.58524239e+00] [ 1.56681177e-02 -5.78220428e-04 9.99877080e-01 6.60700093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.26925415399995 meters Centerline goodness : 0.998967 Centerline is valid? [True, True] Translation: X:429.45, Y:4.59, Z:6.61 [[ 9.98817550e-01 -4.60186560e-02 -1.56775267e-02 4.29449904e+02] [ 4.60211713e-02 9.98940444e-01 -2.00483992e-04 4.58638765e+00] [ 1.56701415e-02 -5.21251214e-04 9.99877080e-01 6.60827067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.2992541539999 meters Centerline goodness : 0.999094 Centerline is valid? [True, True] Translation: X:429.48, Y:4.59, Z:6.61 [[ 9.98955409e-01 -4.29219658e-02 -1.56778533e-02 4.29482348e+02] [ 4.29245711e-02 9.99078301e-01 -1.70447798e-04 4.58891619e+00] [ 1.56707190e-02 -5.02695378e-04 9.99877080e-01 6.60908010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.32925415399995 meters Centerline goodness : 0.998987 Centerline is valid? [True, True] Translation: X:429.51, Y:4.59, Z:6.61 [[ 9.99006014e-01 -4.17275594e-02 -1.56778657e-02 4.29514436e+02] [ 4.17300358e-02 9.99128908e-01 -1.69298347e-04 4.58992281e+00] [ 1.56712732e-02 -4.85107829e-04 9.99877080e-01 6.60971955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.3592541539999 meters Centerline goodness : 0.998945 Centerline is valid? [True, True] Translation: X:429.55, Y:4.59, Z:6.61 [[ 9.99051259e-01 -4.06298643e-02 -1.56778782e-02 4.29546972e+02] [ 4.06322238e-02 9.99174156e-01 -1.68137014e-04 4.59094214e+00] [ 1.56717621e-02 -4.69049558e-04 9.99877080e-01 6.61041216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.38925415399996 meters Centerline goodness : 0.999009 Centerline is valid? [True, True] Translation: X:429.58, Y:4.59, Z:6.61 [[ 9.99090134e-01 -3.96624150e-02 -1.56778905e-02 4.29579479e+02] [ 3.96646736e-02 9.99213033e-01 -1.66980588e-04 4.59178462e+00] [ 1.56721753e-02 -4.55029750e-04 9.99877080e-01 6.61108633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.41925415399993 meters Centerline goodness : 0.998945 Centerline is valid? [True, True] Translation: X:429.61, Y:4.59, Z:6.61 [[ 9.99182334e-01 -3.72675103e-02 -1.56779028e-02 4.29610930e+02] [ 3.72694926e-02 9.99305237e-01 -1.65818244e-04 4.59331248e+00] [ 1.56731900e-02 -4.18624821e-04 9.99877080e-01 6.61154867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.44925415399996 meters Centerline goodness : 0.998903 Centerline is valid? [True, True] Translation: X:429.64, Y:4.59, Z:6.61 [[ 9.99245335e-01 -3.55381943e-02 -1.56779119e-02 4.29642210e+02] [ 3.55399775e-02 9.99368242e-01 -1.64952177e-04 4.59430551e+00] [ 1.56738693e-02 -3.92364941e-04 9.99877080e-01 6.61172345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.47925415399993 meters Centerline goodness : 0.998925 Centerline is valid? [True, True] Translation: X:429.67, Y:4.60, Z:6.61 [[ 9.99307064e-01 -3.37578912e-02 -1.56779179e-02 4.29673958e+02] [ 3.37594643e-02 9.99429973e-01 -1.64376517e-04 4.59585120e+00] [ 1.56745301e-02 -3.65015496e-04 9.99877080e-01 6.61326717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.50925415399996 meters Centerline goodness : 0.999072 Centerline is valid? [True, True] Translation: X:429.70, Y:4.60, Z:6.61 [[ 9.99381352e-01 -3.14819897e-02 -1.56779240e-02 4.29704634e+02] [ 3.14832920e-02 9.99504265e-01 -1.63796538e-04 4.59705246e+00] [ 1.56753085e-02 -3.29897453e-04 9.99877080e-01 6.61358963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.53925415399993 meters Centerline goodness : 0.999072 Centerline is valid? [True, True] Translation: X:429.74, Y:4.60, Z:6.62 [[ 9.99453989e-01 -2.90848228e-02 -1.56779270e-02 4.29735605e+02] [ 2.90858348e-02 9.99576904e-01 -1.63509032e-04 4.59824584e+00] [ 1.56760493e-02 -2.92585841e-04 9.99877080e-01 6.61522421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.56925415399996 meters Centerline goodness : 0.998797 Centerline is valid? [True, True] Translation: X:429.77, Y:4.60, Z:6.62 [[ 9.99590358e-01 -2.39440837e-02 -1.56779330e-02 4.29765195e+02] [ 2.39444726e-02 9.99713277e-01 -1.62932312e-04 4.59976896e+00] [ 1.56773390e-02 -2.12534269e-04 9.99877080e-01 6.61527192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.59925415399994 meters Centerline goodness : 0.999070 Centerline is valid? [True, True] Translation: X:429.80, Y:4.60, Z:6.62 [[ 9.99631473e-01 -2.21612238e-02 -1.56779300e-02 4.29795309e+02] [ 2.21613890e-02 9.99754393e-01 -1.63218145e-04 4.60054864e+00] [ 1.56776965e-02 -1.84286710e-04 9.99877080e-01 6.61622777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.62925415399997 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:429.82, Y:4.60, Z:6.62 [[ 9.99662847e-01 -2.06977130e-02 -1.56779239e-02 4.29824392e+02] [ 2.06976891e-02 9.99785766e-01 -1.63798399e-04 4.60108815e+00] [ 1.56779554e-02 -1.60753622e-04 9.99877080e-01 6.61832623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.65925415399994 meters Centerline goodness : 0.999113 Centerline is valid? [True, True] Translation: X:429.85, Y:4.60, Z:6.62 [[ 9.99659244e-01 -2.08710371e-02 -1.56778805e-02 4.29852672e+02] [ 2.08709709e-02 9.99782163e-01 -1.67858386e-04 4.60097129e+00] [ 1.56779686e-02 -1.59411400e-04 9.99877080e-01 6.61864137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.68925415399997 meters Centerline goodness : 0.999052 Centerline is valid? [True, True] Translation: X:429.88, Y:4.60, Z:6.62 [[ 9.99636104e-01 -2.19513896e-02 -1.56778570e-02 4.29881059e+02] [ 2.19514223e-02 9.99759024e-01 -1.70022299e-04 4.60061867e+00] [ 1.56778112e-02 -1.74190832e-04 9.99877080e-01 6.61868517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.71925415399994 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:429.91, Y:4.60, Z:6.62 [[ 9.99592029e-01 -2.38742996e-02 -1.56778123e-02 4.29910015e+02] [ 2.38745057e-02 9.99714948e-01 -1.74044368e-04 4.59991377e+00] [ 1.56774985e-02 -2.00326657e-04 9.99877080e-01 6.61848992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.74925415399997 meters Centerline goodness : 0.999053 Centerline is valid? [True, True] Translation: X:429.94, Y:4.60, Z:6.62 [[ 9.99474409e-01 -2.83745313e-02 -1.56777663e-02 4.29939277e+02] [ 2.83752272e-02 9.99597326e-01 -1.78096702e-04 4.59677265e+00] [ 1.56765067e-02 -2.66857085e-04 9.99877080e-01 6.61663354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.77925415399994 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:429.97, Y:4.60, Z:6.62 [[ 9.99372608e-01 -3.17584297e-02 -1.56777597e-02 4.29969040e+02] [ 3.17595327e-02 9.99495523e-01 -1.78672009e-04 4.59550057e+00] [ 1.56755250e-02 -3.19358412e-04 9.99877080e-01 6.61703113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.809254154 meters Centerline goodness : 0.998993 Centerline is valid? [True, True] Translation: X:430.01, Y:4.59, Z:6.61 [[ 9.99497072e-01 -2.75646632e-02 -1.56777565e-02 4.30007418e+02] [ 2.75652460e-02 9.99619990e-01 -1.78957810e-04 4.58503403e+00] [ 1.56767317e-02 -2.53293407e-04 9.99877080e-01 6.61143972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.83925415399995 meters Centerline goodness : 0.999055 Centerline is valid? [True, True] Translation: X:430.03, Y:4.59, Z:6.62 [[ 9.99143379e-01 -3.82960097e-02 -1.56819591e-02 4.30030003e+02] [ 3.83040321e-02 9.99266109e-01 2.11415593e-04 4.59237644e+00] [ 1.56623539e-02 -8.11916754e-04 9.99877008e-01 6.61688712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.8692541539999 meters Centerline goodness : 0.999035 Centerline is valid? [True, True] Translation: X:430.06, Y:4.59, Z:6.62 [[ 9.98912789e-01 -4.39028154e-02 -1.56774336e-02 4.30062196e+02] [ 4.39053774e-02 9.99035678e-01 -1.80895955e-04 4.58985842e+00] [ 1.56702573e-02 -5.07624355e-04 9.99877085e-01 6.61681387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.89925415399995 meters Centerline goodness : 0.999035 Centerline is valid? [True, True] Translation: X:430.09, Y:4.59, Z:6.62 [[ 9.98916052e-01 -4.38285051e-02 -1.56774470e-02 4.30094882e+02] [ 4.38310762e-02 9.99038940e-01 -1.79728177e-04 4.59017420e+00] [ 1.56702572e-02 -5.07626011e-04 9.99877085e-01 6.61732610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.9292541539999 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:430.13, Y:4.59, Z:6.62 [[ 9.98812193e-01 -4.61348001e-02 -1.56774602e-02 4.30126445e+02] [ 4.61376732e-02 9.98935075e-01 -1.78562057e-04 4.58890902e+00] [ 1.56690028e-02 -5.44971578e-04 9.99877085e-01 6.61714533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.95925415399995 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:430.16, Y:4.59, Z:6.62 [[ 9.98710159e-01 -4.82932199e-02 -1.56774701e-02 4.30158274e+02] [ 4.82963722e-02 9.98833034e-01 -1.77693572e-04 4.58768550e+00] [ 1.56677564e-02 -5.79700555e-04 9.99877085e-01 6.61761953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.9892541539999 meters Centerline goodness : 0.998889 Centerline is valid? [True, True] Translation: X:430.19, Y:4.59, Z:6.62 [[ 9.98532092e-01 -5.18447444e-02 -1.56774832e-02 4.30189292e+02] [ 5.18483519e-02 9.98654954e-01 -1.76532902e-04 4.58574420e+00] [ 1.56655485e-02 -6.36577895e-04 9.99877085e-01 6.61755894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.01925415399995 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:430.22, Y:4.58, Z:6.62 [[ 9.98518743e-01 -5.21012039e-02 -1.56774929e-02 4.30220517e+02] [ 5.21048565e-02 9.98641604e-01 -1.75666859e-04 4.58454812e+00] [ 1.56653491e-02 -6.41466864e-04 9.99877085e-01 6.61657459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.0492541539999 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:430.25, Y:4.58, Z:6.62 [[ 9.98462768e-01 -5.31631095e-02 -1.56775020e-02 4.30251205e+02] [ 5.31669056e-02 9.98585625e-01 -1.74846188e-04 4.58480356e+00] [ 1.56646235e-02 -6.58946861e-04 9.99877085e-01 6.61930652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.07925415399995 meters Centerline goodness : 0.999392 Centerline is valid? [True, True] Translation: X:430.28, Y:4.58, Z:6.62 [[ 9.98461616e-01 -5.31847354e-02 -1.56775110e-02 4.30283101e+02] [ 5.31885469e-02 9.98584472e-01 -1.74034503e-04 4.58481005e+00] [ 1.56645751e-02 -6.60097259e-04 9.99877085e-01 6.62082073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.1092541539999 meters Centerline goodness : 0.998870 Centerline is valid? [True, True] Translation: X:430.32, Y:4.59, Z:6.62 [[ 9.98457389e-01 -5.32640295e-02 -1.56775237e-02 4.30315043e+02] [ 5.32678687e-02 9.98580244e-01 -1.72887304e-04 4.58518545e+00] [ 1.56644741e-02 -6.62487667e-04 9.99877085e-01 6.62185805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.13925415399996 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:430.35, Y:4.59, Z:6.62 [[ 9.98464085e-01 -5.31383672e-02 -1.56775364e-02 4.30346764e+02] [ 5.31422092e-02 9.98586940e-01 -1.71722194e-04 4.58540753e+00] [ 1.56645082e-02 -6.61680478e-04 9.99877085e-01 6.62250773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.16925415399993 meters Centerline goodness : 0.999015 Centerline is valid? [True, True] Translation: X:430.38, Y:4.59, Z:6.62 [[ 9.98466429e-01 -5.30942997e-02 -1.56775491e-02 4.30378837e+02] [ 5.30981546e-02 9.98589283e-01 -1.70556444e-04 4.58546895e+00] [ 1.56644881e-02 -6.62154042e-04 9.99877085e-01 6.62305392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.19925415399996 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:430.41, Y:4.59, Z:6.62 [[ 9.98457985e-01 -5.32528591e-02 -1.56775617e-02 4.30410164e+02] [ 5.32567517e-02 9.98580838e-01 -1.69390317e-04 4.58584550e+00] [ 1.56643332e-02 -6.65806898e-04 9.99877085e-01 6.62324945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.22925415399993 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] Translation: X:430.44, Y:4.59, Z:6.62 [[ 9.98445561e-01 -5.34852896e-02 -1.56775710e-02 4.30442178e+02] [ 5.34892245e-02 9.98568413e-01 -1.68522575e-04 4.58651168e+00] [ 1.56641407e-02 -6.70320499e-04 9.99877085e-01 6.62300846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.25925415399996 meters Centerline goodness : 0.999014 Centerline is valid? [True, True] Translation: X:430.47, Y:4.59, Z:6.62 [[ 9.98438698e-01 -5.36132413e-02 -1.56775833e-02 4.30474871e+02] [ 5.36172099e-02 9.98561549e-01 -1.67372651e-04 4.58753232e+00] [ 1.56640053e-02 -6.73476944e-04 9.99877085e-01 6.62284385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.28925415399993 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:430.51, Y:4.59, Z:6.62 [[ 9.98419355e-01 -5.39722535e-02 -1.56775986e-02 4.30506530e+02] [ 5.39762890e-02 9.98542204e-01 -1.65925144e-04 4.58837239e+00] [ 1.56636993e-02 -6.80555719e-04 9.99877085e-01 6.62312008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.31925415399996 meters Centerline goodness : 0.999284 Centerline is valid? [True, True] Translation: X:430.54, Y:4.59, Z:6.62 [[ 9.98421681e-01 -5.39292128e-02 -1.56776077e-02 4.30538361e+02] [ 5.39332565e-02 9.98544529e-01 -1.65061425e-04 4.58949927e+00] [ 1.56636911e-02 -6.80743534e-04 9.99877085e-01 6.62294091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.34925415399994 meters Centerline goodness : 0.999074 Centerline is valid? [True, True] Translation: X:430.57, Y:4.58, Z:6.62 [[ 9.98661449e-01 -4.92901883e-02 -1.56776197e-02 4.30574649e+02] [ 4.92936792e-02 9.98784314e-01 -1.63918520e-04 4.58481330e+00] [ 1.56666402e-02 -6.09108448e-04 9.99877085e-01 6.62074917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.37925415399997 meters Centerline goodness : 0.999306 Centerline is valid? [True, True] Translation: X:430.60, Y:4.59, Z:6.62 [[ 9.98469910e-01 -5.30277527e-02 -1.56810778e-02 4.30598086e+02] [ 5.30370148e-02 9.98592532e-01 1.75083715e-04 4.59074371e+00] [ 1.56497228e-02 -1.00649337e-03 9.99877029e-01 6.62281827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.40925415399994 meters Centerline goodness : 0.999283 Centerline is valid? [True, True] Translation: X:430.63, Y:4.59, Z:6.62 [[ 9.98516712e-01 -5.21401467e-02 -1.56773822e-02 4.30630506e+02] [ 5.21439146e-02 9.98639566e-01 -1.68611041e-04 4.59176731e+00] [ 1.56648456e-02 -6.49119138e-04 9.99877088e-01 6.62324086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.43925415399997 meters Centerline goodness : 0.999221 Centerline is valid? [True, True] Translation: X:430.66, Y:4.59, Z:6.62 [[ 9.98575151e-01 -5.10086887e-02 -1.56773943e-02 4.30662786e+02] [ 5.10123350e-02 9.98698009e-01 -1.67480742e-04 4.59276499e+00] [ 1.56655255e-02 -6.32498384e-04 9.99877088e-01 6.62416611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.46925415399994 meters Centerline goodness : 0.999138 Centerline is valid? [True, True] Translation: X:430.69, Y:4.59, Z:6.62 [[ 9.98639734e-01 -4.97282623e-02 -1.56774067e-02 4.30693682e+02] [ 4.97317693e-02 9.98762596e-01 -1.66316786e-04 4.59413849e+00] [ 1.56662780e-02 -6.13574620e-04 9.99877088e-01 6.62395063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.49925415399997 meters Centerline goodness : 0.999178 Centerline is valid? [True, True] Translation: X:430.73, Y:4.60, Z:6.63 [[ 9.98761203e-01 -4.72258151e-02 -1.56774158e-02 4.30726126e+02] [ 4.72290279e-02 9.98884073e-01 -1.65450275e-04 4.59637889e+00] [ 1.56677345e-02 -5.75183792e-04 9.99877088e-01 6.62522193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.52925415399994 meters Centerline goodness : 0.999243 Centerline is valid? [True, True] Translation: X:430.76, Y:4.59, Z:6.63 [[ 9.98939627e-01 -4.32878657e-02 -1.56774278e-02 4.30760887e+02] [ 4.32906120e-02 9.99062509e-01 -1.64309460e-04 4.59390733e+00] [ 1.56698429e-02 -5.14550211e-04 9.99877088e-01 6.62559227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.559254154 meters Centerline goodness : 0.999179 Centerline is valid? [True, True] Translation: X:430.79, Y:4.60, Z:6.63 [[ 9.98880949e-01 -4.46205586e-02 -1.56798069e-02 4.30786665e+02] [ 4.46270818e-02 9.99003713e-01 6.62064464e-05 4.59852843e+00] [ 1.56612312e-02 -7.65876385e-04 9.99877062e-01 6.62636707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.58925415399995 meters Centerline goodness : 0.998948 Centerline is valid? [True, True] Translation: X:430.82, Y:4.60, Z:6.63 [[ 9.99056195e-01 -4.05085138e-02 -1.56773332e-02 4.30819146e+02] [ 4.05108821e-02 9.99179083e-01 -1.66608373e-04 4.60016430e+00] [ 1.56712124e-02 -4.68651468e-04 9.99877089e-01 6.62727475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.6192541539999 meters Centerline goodness : 0.999200 Centerline is valid? [True, True] Translation: X:430.85, Y:4.60, Z:6.63 [[ 9.99147362e-01 -3.81938513e-02 -1.56773455e-02 4.30851609e+02] [ 3.81959532e-02 9.99270255e-01 -1.65438939e-04 4.60161511e+00] [ 1.56722238e-02 -4.33513275e-04 9.99877089e-01 6.62882352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.64925415399995 meters Centerline goodness : 0.999053 Centerline is valid? [True, True] Translation: X:430.88, Y:4.60, Z:6.63 [[ 9.99258132e-01 -3.51767722e-02 -1.56773577e-02 4.30883062e+02] [ 3.51785213e-02 9.99381031e-01 -1.64276636e-04 4.60269130e+00] [ 1.56734326e-02 -3.87351496e-04 9.99877089e-01 6.62933090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.6792541539999 meters Centerline goodness : 0.998947 Centerline is valid? [True, True] Translation: X:430.91, Y:4.60, Z:6.63 [[ 9.99347406e-01 -3.25420233e-02 -1.56773638e-02 4.30913658e+02] [ 3.25434575e-02 9.99470308e-01 -1.63688043e-04 4.60427918e+00] [ 1.56743864e-02 -3.46614403e-04 9.99877089e-01 6.63047439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.70925415399995 meters Centerline goodness : 0.999241 Centerline is valid? [True, True] Translation: X:430.94, Y:4.61, Z:6.63 [[ 9.99503782e-01 -2.73205134e-02 -1.56773738e-02 4.30943634e+02] [ 2.73213207e-02 9.99626690e-01 -1.62725155e-04 4.60678852e+00] [ 1.56759670e-02 -2.65682149e-04 9.99877089e-01 6.63184688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.7392541539999 meters Centerline goodness : 0.999367 Centerline is valid? [True, True] Translation: X:430.97, Y:4.61, Z:6.63 [[ 9.99566127e-01 -2.49354596e-02 -1.56773738e-02 4.30972864e+02] [ 2.49359735e-02 9.99689037e-01 -1.62725155e-04 4.60775248e+00] [ 1.56765564e-02 -2.28276025e-04 9.99877089e-01 6.63219508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.76925415399995 meters Centerline goodness : 0.999241 Centerline is valid? [True, True] Translation: X:431.00, Y:4.61, Z:6.63 [[ 9.99610737e-01 -2.30779921e-02 -1.56773708e-02 4.31002460e+02] [ 2.30782731e-02 9.99733648e-01 -1.63012579e-04 4.60853624e+00] [ 1.56769571e-02 -1.98857521e-04 9.99877089e-01 6.63261020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.7992541539999 meters Centerline goodness : 0.999326 Centerline is valid? [True, True] Translation: X:431.03, Y:4.61, Z:6.63 [[ 9.99638156e-01 -2.18581089e-02 -1.56773648e-02 4.31030867e+02] [ 2.18582309e-02 9.99761067e-01 -1.63588930e-04 4.60893684e+00] [ 1.56771947e-02 -1.79149724e-04 9.99877089e-01 6.63297111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.82925415399995 meters Centerline goodness : 0.999282 Centerline is valid? [True, True] Translation: X:431.06, Y:4.61, Z:6.63 [[ 9.99655050e-01 -2.10713771e-02 -1.56773216e-02 4.31059603e+02] [ 2.10713390e-02 9.99777961e-01 -1.67625954e-04 4.60911215e+00] [ 1.56773728e-02 -1.62774028e-04 9.99877089e-01 6.63256658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.8592541539999 meters Centerline goodness : 0.999113 Centerline is valid? [True, True] Translation: X:431.09, Y:4.61, Z:6.63 [[ 9.99647248e-01 -2.14383343e-02 -1.56772778e-02 4.31088009e+02] [ 2.14382785e-02 9.99770159e-01 -1.71635730e-04 4.60916389e+00] [ 1.56773541e-02 -1.64518662e-04 9.99877089e-01 6.63258441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.88925415399996 meters Centerline goodness : 0.999220 Centerline is valid? [True, True] Translation: X:431.12, Y:4.61, Z:6.63 [[ 9.99636078e-01 -2.19530373e-02 -1.56772328e-02 4.31115827e+02] [ 2.19529819e-02 9.99758989e-01 -1.75643641e-04 4.60893487e+00] [ 1.56773104e-02 -1.68582289e-04 9.99877089e-01 6.63209988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.91925415399993 meters Centerline goodness : 0.999219 Centerline is valid? [True, True] Translation: X:431.14, Y:4.61, Z:6.63 [[ 9.99571885e-01 -2.47036877e-02 -1.56772168e-02 4.31144380e+02] [ 2.47039483e-02 9.99694795e-01 -1.77060799e-04 4.60834856e+00] [ 1.56768061e-02 -2.10304158e-04 9.99877089e-01 6.63261195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.94925415399996 meters Centerline goodness : 0.999008 Centerline is valid? [True, True] Translation: X:431.17, Y:4.61, Z:6.63 [[ 9.99538277e-01 -2.60280274e-02 -1.56771701e-02 4.31173260e+02] [ 2.60283873e-02 9.99661188e-01 -1.81111051e-04 4.60763812e+00] [ 1.56765724e-02 -2.27024027e-04 9.99877089e-01 6.63178604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.97925415399993 meters Centerline goodness : 0.999240 Centerline is valid? [True, True] Translation: X:431.20, Y:4.61, Z:6.63 [[ 9.99478910e-01 -2.82158712e-02 -1.56771601e-02 4.31202508e+02] [ 2.82164867e-02 9.99601819e-01 -1.81970901e-04 4.60744262e+00] [ 1.56760522e-02 -2.60478301e-04 9.99877089e-01 6.63228751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.00925415399996 meters Centerline goodness : 0.998988 Centerline is valid? [True, True] Translation: X:431.23, Y:4.61, Z:6.63 [[ 9.99411243e-01 -3.05187344e-02 -1.56771568e-02 4.31233315e+02] [ 3.05196287e-02 9.99534151e-01 -1.82254082e-04 4.60687708e+00] [ 1.56754158e-02 -2.96314226e-04 9.99877089e-01 6.63294655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.03925415399993 meters Centerline goodness : 0.999032 Centerline is valid? [True, True] Translation: X:431.26, Y:4.61, Z:6.63 [[ 9.99253371e-01 -3.53118547e-02 -1.56771568e-02 4.31263705e+02] [ 3.53133385e-02 9.99376273e-01 -1.82254082e-04 4.60517577e+00] [ 1.56738142e-02 -3.71494738e-04 9.99877089e-01 6.63296562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.06925415399996 meters Centerline goodness : 0.999075 Centerline is valid? [True, True] Translation: X:431.29, Y:4.60, Z:6.63 [[ 9.99175701e-01 -3.74452342e-02 -1.56771568e-02 4.31294919e+02] [ 3.74469803e-02 9.99298599e-01 -1.82254082e-04 4.60440643e+00] [ 1.56729854e-02 -4.04958332e-04 9.99877089e-01 6.63279105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.09925415399994 meters Centerline goodness : 0.999284 Centerline is valid? [True, True] Translation: X:431.33, Y:4.60, Z:6.63 [[ 9.99099648e-01 -3.94223301e-02 -1.56771634e-02 4.31326601e+02] [ 3.94243284e-02 9.99222542e-01 -1.81685925e-04 4.60383778e+00] [ 1.56721375e-02 -4.36539293e-04 9.99877089e-01 6.63357724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.12925415399997 meters Centerline goodness : 0.999390 Centerline is valid? [True, True] Translation: X:431.36, Y:4.60, Z:6.63 [[ 9.98973973e-01 -4.24879649e-02 -1.56771700e-02 4.31357510e+02] [ 4.24903492e-02 9.99096861e-01 -1.81115399e-04 4.60317192e+00] [ 1.56707065e-02 -4.85198857e-04 9.99877089e-01 6.63420499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.15925415399994 meters Centerline goodness : 0.999390 Centerline is valid? [True, True] Translation: X:431.39, Y:4.60, Z:6.64 [[ 9.98956074e-01 -4.29067505e-02 -1.56771766e-02 4.31389599e+02] [ 4.29091953e-02 9.99078960e-01 -1.80538457e-04 4.60315845e+00] [ 1.56704836e-02 -4.92345045e-04 9.99877089e-01 6.63504516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.18925415399997 meters Centerline goodness : 0.999476 Centerline is valid? [True, True] Translation: X:431.42, Y:4.60, Z:6.64 [[ 9.98948665e-01 -4.30788903e-02 -1.56771898e-02 4.31421488e+02] [ 4.30813745e-02 9.99071551e-01 -1.79380451e-04 4.60347624e+00] [ 1.56703619e-02 -4.96203024e-04 9.99877089e-01 6.63606407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.21925415399994 meters Centerline goodness : 0.999326 Centerline is valid? [True, True] Translation: X:431.45, Y:4.60, Z:6.64 [[ 9.98996509e-01 -4.19547532e-02 -1.56772030e-02 4.31453629e+02] [ 4.19571173e-02 9.99119397e-01 -1.78222574e-04 4.60373732e+00] [ 1.56708749e-02 -4.79726515e-04 9.99877089e-01 6.63632819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.24925415399997 meters Centerline goodness : 0.999432 Centerline is valid? [True, True] Translation: X:431.49, Y:4.60, Z:6.64 [[ 9.99033364e-01 -4.10677747e-02 -1.56772161e-02 4.31486073e+02] [ 4.10700479e-02 9.99156254e-01 -1.77064065e-04 4.60408045e+00] [ 1.56712601e-02 -4.66971107e-04 9.99877089e-01 6.63723366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.27925415399994 meters Centerline goodness : 0.999391 Centerline is valid? [True, True] Translation: X:431.52, Y:4.60, Z:6.64 [[ 9.99078907e-01 -3.99444813e-02 -1.56772291e-02 4.31516781e+02] [ 3.99466345e-02 9.99201799e-01 -1.75901640e-04 4.60428805e+00] [ 1.56717419e-02 -4.50512923e-04 9.99877089e-01 6.63748012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.309254154 meters Centerline goodness : 0.999600 Centerline is valid? [True, True] Translation: X:431.55, Y:4.60, Z:6.64 [[ 9.99132377e-01 -3.85839100e-02 -1.56772388e-02 4.31549116e+02] [ 3.85859094e-02 9.99255271e-01 -1.75034765e-04 4.60447997e+00] [ 1.56723171e-02 -4.30037616e-04 9.99877089e-01 6.63882642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.33925415399995 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:431.58, Y:4.61, Z:6.64 [[ 9.99238929e-01 -3.57181642e-02 -1.56772516e-02 4.31580682e+02] [ 3.57198292e-02 9.99361828e-01 -1.73880142e-04 4.60528870e+00] [ 1.56734575e-02 -3.86240944e-04 9.99877089e-01 6.64055619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.3692541539999 meters Centerline goodness : 0.999432 Centerline is valid? [True, True] Translation: X:431.61, Y:4.61, Z:6.64 [[ 9.99300489e-01 -3.39522582e-02 -1.56772580e-02 4.31612002e+02] [ 3.39537151e-02 9.99423391e-01 -1.73303387e-04 4.60595405e+00] [ 1.56741024e-02 -3.59118992e-04 9.99877089e-01 6.64149034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.39925415399995 meters Centerline goodness : 0.999643 Centerline is valid? [True, True] Translation: X:431.64, Y:4.61, Z:6.64 [[ 9.99362660e-01 -3.20701773e-02 -1.56772643e-02 4.31642906e+02] [ 3.20714117e-02 9.99485565e-01 -1.72727999e-04 4.60638419e+00] [ 1.56747388e-02 -3.30174086e-04 9.99877089e-01 6.64189146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.4292541539999 meters Centerline goodness : 0.999537 Centerline is valid? [True, True] Translation: X:431.67, Y:4.61, Z:6.64 [[ 9.99413554e-01 -3.04429192e-02 -1.56772707e-02 4.31673744e+02] [ 3.04439626e-02 9.99536460e-01 -1.72148611e-04 4.60707407e+00] [ 1.56752444e-02 -3.05230589e-04 9.99877089e-01 6.64266193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.45925415399995 meters Centerline goodness : 0.999179 Centerline is valid? [True, True] Translation: X:431.70, Y:4.61, Z:6.64 [[ 9.99447629e-01 -2.93028996e-02 -1.56772770e-02 4.31704120e+02] [ 2.93038119e-02 9.99570536e-01 -1.71571605e-04 4.60771118e+00] [ 1.56755717e-02 -2.87927143e-04 9.99877089e-01 6.64240409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.4892541539999 meters Centerline goodness : 0.999076 Centerline is valid? [True, True] Translation: X:431.73, Y:4.61, Z:6.64 [[ 9.99494524e-01 -2.76571767e-02 -1.56772801e-02 4.31734852e+02] [ 2.76578911e-02 9.99617433e-01 -1.71285713e-04 4.60775987e+00] [ 1.56760198e-02 -2.62401374e-04 9.99877089e-01 6.64276451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.51925415399995 meters Centerline goodness : 0.999179 Centerline is valid? [True, True] Translation: X:431.76, Y:4.61, Z:6.64 [[ 9.99494987e-01 -2.76404553e-02 -1.56772801e-02 4.31763959e+02] [ 2.76411676e-02 9.99617895e-01 -1.71285713e-04 4.60770310e+00] [ 1.56760242e-02 -2.62139117e-04 9.99877089e-01 6.64165473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.5492541539999 meters Centerline goodness : 0.999347 Centerline is valid? [True, True] Translation: X:431.79, Y:4.61, Z:6.64 [[ 9.99440756e-01 -2.95363807e-02 -1.56772813e-02 4.31793703e+02] [ 2.95373279e-02 9.99563663e-01 -1.71175274e-04 4.60722995e+00] [ 1.56754967e-02 -2.91985455e-04 9.99877089e-01 6.64309438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.57925415399995 meters Centerline goodness : 0.999243 Centerline is valid? [True, True] Translation: X:431.82, Y:4.61, Z:6.64 [[ 9.99387718e-01 -3.12795886e-02 -1.56772750e-02 4.31823708e+02] [ 3.12807412e-02 9.99510623e-01 -1.71751372e-04 4.60693416e+00] [ 1.56749752e-02 -3.18750571e-04 9.99877089e-01 6.64120244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.6092541539999 meters Centerline goodness : 0.999433 Centerline is valid? [True, True] Translation: X:431.85, Y:4.61, Z:6.64 [[ 9.99321651e-01 -3.33235799e-02 -1.56772752e-02 4.31853741e+02] [ 3.33249841e-02 9.99444554e-01 -1.71737150e-04 4.60663718e+00] [ 1.56742902e-02 -3.50824293e-04 9.99877089e-01 6.64265198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.63925415399996 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:431.89, Y:4.61, Z:6.64 [[ 9.99225997e-01 -3.60781088e-02 -1.56772752e-02 4.31885373e+02] [ 3.60798517e-02 9.99348895e-01 -1.71737150e-04 4.60674035e+00] [ 1.56732636e-02 -3.94029539e-04 9.99877089e-01 6.64333614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.66925415399993 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:431.92, Y:4.61, Z:6.64 [[ 9.99138568e-01 -3.84232280e-02 -1.56772814e-02 4.31916859e+02] [ 3.84252683e-02 9.99261462e-01 -1.71166562e-04 4.60659438e+00] [ 1.56722799e-02 -4.31384632e-04 9.99877089e-01 6.64384913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.69925415399996 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:431.95, Y:4.61, Z:6.64 [[ 9.98954961e-01 -4.29326158e-02 -1.56772876e-02 4.31948049e+02] [ 4.29352197e-02 9.99077844e-01 -1.70597009e-04 4.60642626e+00] [ 1.56701549e-02 -5.02689060e-04 9.99877089e-01 6.64407110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.72925415399993 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:431.98, Y:4.61, Z:6.64 [[ 9.98878438e-01 -4.46776050e-02 -1.56772968e-02 4.31979479e+02] [ 4.46804370e-02 9.99001316e-01 -1.69745256e-04 4.60648536e+00] [ 1.56692240e-02 -5.30913598e-04 9.99877089e-01 6.64388282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.75925415399996 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:432.01, Y:4.61, Z:6.65 [[ 9.98805668e-01 -4.62759134e-02 -1.56773059e-02 4.32011807e+02] [ 4.62789551e-02 9.98928541e-01 -1.68907503e-04 4.60708007e+00] [ 1.56683246e-02 -5.56823562e-04 9.99877089e-01 6.64642647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.78925415399993 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:432.04, Y:4.61, Z:6.65 [[ 9.98808993e-01 -4.62040909e-02 -1.56773179e-02 4.32044489e+02] [ 4.62071414e-02 9.98931866e-01 -1.67781262e-04 4.60736816e+00] [ 1.56683246e-02 -5.56822612e-04 9.99877089e-01 6.64693863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.81925415399996 meters Centerline goodness : 0.999475 Centerline is valid? [True, True] Translation: X:432.08, Y:4.61, Z:6.65 [[ 9.98811227e-01 -4.61557582e-02 -1.56773299e-02 4.32076283e+02] [ 4.61588205e-02 9.98934100e-01 -1.66654071e-04 4.60818464e+00] [ 1.56683115e-02 -5.57191098e-04 9.99877089e-01 6.64840559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.84925415399994 meters Centerline goodness : 0.999139 Centerline is valid? [True, True] Translation: X:432.11, Y:4.61, Z:6.65 [[ 9.98837199e-01 -4.55902558e-02 -1.56773420e-02 4.32108555e+02] [ 4.55932664e-02 9.98960073e-01 -1.65509594e-04 4.60875171e+00] [ 1.56685843e-02 -5.49464091e-04 9.99877089e-01 6.64994063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.87925415399997 meters Centerline goodness : 0.999685 Centerline is valid? [True, True] Translation: X:432.14, Y:4.61, Z:6.65 [[ 9.98881445e-01 -4.46102981e-02 -1.56773542e-02 4.32139640e+02] [ 4.46132064e-02 9.99004322e-01 -1.64346148e-04 4.60935387e+00] [ 1.56690761e-02 -5.35254719e-04 9.99877089e-01 6.65121227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.90925415399994 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:432.17, Y:4.61, Z:6.65 [[ 9.98917586e-01 -4.37935710e-02 -1.56773632e-02 4.32170292e+02] [ 4.37963924e-02 9.99040464e-01 -1.63478793e-04 4.61039475e+00] [ 1.56694796e-02 -5.23310110e-04 9.99877089e-01 6.65238624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.93925415399997 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:432.20, Y:4.61, Z:6.65 [[ 9.98996776e-01 -4.19483253e-02 -1.56773692e-02 4.32202629e+02] [ 4.19509287e-02 9.99119659e-01 -1.62906034e-04 4.61182080e+00] [ 1.56704014e-02 -4.94937594e-04 9.99877089e-01 6.65475598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.96925415399994 meters Centerline goodness : 0.999139 Centerline is valid? [True, True] Translation: X:432.23, Y:4.61, Z:6.66 [[ 9.99029652e-01 -4.11579273e-02 -1.56773810e-02 4.32234689e+02] [ 4.11604515e-02 9.99152536e-01 -1.61759956e-04 4.61240483e+00] [ 1.56707527e-02 -4.83685088e-04 9.99877089e-01 6.65565528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.99925415399997 meters Centerline goodness : 0.999390 Centerline is valid? [True, True] Translation: X:432.27, Y:4.61, Z:6.66 [[ 9.99035374e-01 -4.10187830e-02 -1.56773927e-02 4.32265677e+02] [ 4.10213079e-02 9.99158259e-01 -1.60616453e-04 4.61309866e+00] [ 1.56707847e-02 -4.82645636e-04 9.99877089e-01 6.65595070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.02925415399994 meters Centerline goodness : 0.999158 Centerline is valid? [True, True] Translation: X:432.30, Y:4.61, Z:6.66 [[ 9.99007453e-01 -4.16932697e-02 -1.56774014e-02 4.32297367e+02] [ 4.16958911e-02 9.99130335e-01 -1.59763514e-04 4.61310157e+00] [ 1.56704284e-02 -4.94078280e-04 9.99877089e-01 6.65575554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.059254154 meters Centerline goodness : 0.999136 Centerline is valid? [True, True] Translation: X:432.33, Y:4.61, Z:6.66 [[ 9.98962852e-01 -4.27485502e-02 -1.56774128e-02 4.32329888e+02] [ 4.27513189e-02 9.99085732e-01 -1.58642353e-04 4.61307096e+00] [ 1.56698611e-02 -5.11752254e-04 9.99877089e-01 6.65609394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.08925415399995 meters Centerline goodness : 0.999516 Centerline is valid? [True, True] Translation: X:432.36, Y:4.61, Z:6.66 [[ 9.98922326e-01 -4.36852854e-02 -1.56774242e-02 4.32362493e+02] [ 4.36881871e-02 9.99045203e-01 -1.57505667e-04 4.61283435e+00] [ 1.56693361e-02 -5.27582313e-04 9.99877089e-01 6.65639045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.1192541539999 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:432.39, Y:4.61, Z:6.66 [[ 9.98824438e-01 -4.58689520e-02 -1.56774356e-02 4.32393555e+02] [ 4.58721403e-02 9.98947307e-01 -1.56364239e-04 4.61247947e+00] [ 1.56681043e-02 -5.62977100e-04 9.99877089e-01 6.65564325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.14925415399995 meters Centerline goodness : 0.999094 Centerline is valid? [True, True] Translation: X:432.43, Y:4.61, Z:6.66 [[ 9.98785071e-01 -4.67183058e-02 -1.56774440e-02 4.32425690e+02] [ 4.67216119e-02 9.98907937e-01 -1.55513655e-04 4.61292713e+00] [ 1.56675886e-02 -5.77150738e-04 9.99877089e-01 6.65656860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.1792541539999 meters Centerline goodness : 0.999324 Centerline is valid? [True, True] Translation: X:432.46, Y:4.61, Z:6.66 [[ 9.98771018e-01 -4.70177803e-02 -1.56774552e-02 4.32457326e+02] [ 4.70211410e-02 9.98893882e-01 -1.54377091e-04 4.61337720e+00] [ 1.56673725e-02 -5.82984467e-04 9.99877089e-01 6.65673097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.20925415399995 meters Centerline goodness : 0.999388 Centerline is valid? [True, True] Translation: X:432.49, Y:4.61, Z:6.66 [[ 9.98768878e-01 -4.70632034e-02 -1.56774740e-02 4.32489905e+02] [ 4.70666000e-02 9.98891742e-01 -1.52441214e-04 4.61390771e+00] [ 1.56672737e-02 -5.85631858e-04 9.99877089e-01 6.65698422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.2392541539999 meters Centerline goodness : 0.999430 Centerline is valid? [True, True] Translation: X:432.52, Y:4.62, Z:6.66 [[ 9.98801725e-01 -4.63608787e-02 -1.56774848e-02 4.32521683e+02] [ 4.63642065e-02 9.98924590e-01 -1.51319699e-04 4.61572484e+00] [ 1.56676404e-02 -5.75735768e-04 9.99877089e-01 6.65790331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.26925415399995 meters Centerline goodness : 0.999347 Centerline is valid? [True, True] Translation: X:432.55, Y:4.62, Z:6.66 [[ 9.98841637e-01 -4.54928536e-02 -1.56774959e-02 4.32554267e+02] [ 4.54960927e-02 9.98964505e-01 -1.50168792e-04 4.61676924e+00] [ 1.56680935e-02 -5.63269964e-04 9.99877089e-01 6.65826862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.2992541539999 meters Centerline goodness : 0.999262 Centerline is valid? [True, True] Translation: X:432.59, Y:4.62, Z:6.66 [[ 9.98904627e-01 -4.40881264e-02 -1.56775068e-02 4.32585230e+02] [ 4.40912108e-02 9.99027499e-01 -1.49018379e-04 4.61752288e+00] [ 1.56688303e-02 -5.42385109e-04 9.99877089e-01 6.65793618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.32925415399995 meters Centerline goodness : 0.999452 Centerline is valid? [True, True] Translation: X:432.62, Y:4.62, Z:6.66 [[ 9.99053800e-01 -4.05674832e-02 -1.56775149e-02 4.32617433e+02] [ 4.05701479e-02 9.99176682e-01 -1.48161144e-04 4.61936229e+00] [ 1.56706178e-02 -4.88018144e-04 9.99877089e-01 6.65985680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.3592541539999 meters Centerline goodness : 0.998822 Centerline is valid? [True, True] Translation: X:432.65, Y:4.62, Z:6.66 [[ 9.99122859e-01 -3.88294824e-02 -1.56775255e-02 4.32649109e+02] [ 3.88319511e-02 9.99245745e-01 -1.47027109e-04 4.62118454e+00] [ 1.56714097e-02 -4.61890760e-04 9.99877089e-01 6.66091748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.38925415399996 meters Centerline goodness : 0.999240 Centerline is valid? [True, True] Translation: X:432.68, Y:4.62, Z:6.66 [[ 9.99214093e-01 -3.64061939e-02 -1.56775362e-02 4.32681729e+02] [ 3.64083825e-02 9.99336984e-01 -1.45885673e-04 4.62253762e+00] [ 1.56724528e-02 -4.25022713e-04 9.99877089e-01 6.66136020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.41925415399993 meters Centerline goodness : 0.999282 Centerline is valid? [True, True] Translation: X:432.71, Y:4.62, Z:6.66 [[ 9.99286463e-01 -3.43624800e-02 -1.56775466e-02 4.32713218e+02] [ 3.43644350e-02 9.99409358e-01 -1.44750068e-04 4.62389786e+00] [ 1.56732608e-02 -3.94103249e-04 9.99877089e-01 6.66220455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.44925415399996 meters Centerline goodness : 0.999577 Centerline is valid? [True, True] Translation: X:432.74, Y:4.63, Z:6.66 [[ 9.99393544e-01 -3.10927347e-02 -1.56775519e-02 4.32744738e+02] [ 3.10942966e-02 9.99516445e-01 -1.44178429e-04 4.62571555e+00] [ 1.56744538e-02 -3.43391457e-04 9.99877089e-01 6.66315295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.47925415399993 meters Centerline goodness : 0.999324 Centerline is valid? [True, True] Translation: X:432.78, Y:4.63, Z:6.66 [[ 9.99428229e-01 -2.99571361e-02 -1.56775571e-02 4.32776054e+02] [ 2.99585674e-02 9.99551131e-01 -1.43605747e-04 4.62635480e+00] [ 1.56748220e-02 -3.26153514e-04 9.99877089e-01 6.66348924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.50925415399996 meters Centerline goodness : 0.999450 Centerline is valid? [True, True] Translation: X:432.81, Y:4.63, Z:6.66 [[ 9.99455673e-01 -2.90271030e-02 -1.56775623e-02 4.32806361e+02] [ 2.90284288e-02 9.99578576e-01 -1.43036973e-04 4.62646480e+00] [ 1.56751074e-02 -3.12135888e-04 9.99877089e-01 6.66387164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.53925415399993 meters Centerline goodness : 0.999239 Centerline is valid? [True, True] Translation: X:432.84, Y:4.63, Z:6.66 [[ 9.99468069e-01 -2.85970940e-02 -1.56775623e-02 4.32837064e+02] [ 2.85983669e-02 9.99590973e-01 -1.43036973e-04 4.62654663e+00] [ 1.56752402e-02 -3.05391792e-04 9.99877089e-01 6.66416543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.56925415399996 meters Centerline goodness : 0.999241 Centerline is valid? [True, True] Translation: X:432.87, Y:4.63, Z:6.66 [[ 9.99457326e-01 -2.89701274e-02 -1.56775623e-02 4.32866109e+02] [ 2.89714462e-02 9.99580229e-01 -1.43036973e-04 4.62641865e+00] [ 1.56751251e-02 -3.11242302e-04 9.99877089e-01 6.66371667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.59925415399994 meters Centerline goodness : 0.999556 Centerline is valid? [True, True] Translation: X:432.90, Y:4.63, Z:6.66 [[ 9.99439757e-01 -2.95700390e-02 -1.56775598e-02 4.32896914e+02] [ 2.95714272e-02 9.99562659e-01 -1.43318845e-04 4.62638024e+00] [ 1.56749413e-02 -3.20369265e-04 9.99877089e-01 6.66422026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.62925415399997 meters Centerline goodness : 0.999598 Centerline is valid? [True, True] Translation: X:432.93, Y:4.63, Z:6.67 [[ 9.99418187e-01 -3.02902944e-02 -1.56775598e-02 4.32926977e+02] [ 3.02917711e-02 9.99541089e-01 -1.43318845e-04 4.62620376e+00] [ 1.56747063e-02 -3.31665591e-04 9.99877089e-01 6.66502772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.65925415399994 meters Centerline goodness : 0.999239 Centerline is valid? [True, True] Translation: X:432.96, Y:4.63, Z:6.66 [[ 9.99393791e-01 -3.10848127e-02 -1.56775598e-02 4.32957678e+02] [ 3.10863871e-02 9.99516691e-01 -1.43318845e-04 4.62562667e+00] [ 1.56744377e-02 -3.44126728e-04 9.99877089e-01 6.66424119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.68925415399997 meters Centerline goodness : 0.999599 Centerline is valid? [True, True] Translation: X:432.99, Y:4.62, Z:6.66 [[ 9.99343620e-01 -3.26579693e-02 -1.56775623e-02 4.32988043e+02] [ 3.26597416e-02 9.99466518e-01 -1.43034804e-04 4.62366815e+00] [ 1.56738699e-02 -3.69084217e-04 9.99877089e-01 6.66373825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.71925415399994 meters Centerline goodness : 0.999473 Centerline is valid? [True, True] Translation: X:433.02, Y:4.62, Z:6.66 [[ 9.99320256e-01 -3.33652396e-02 -1.56775648e-02 4.33019344e+02] [ 3.33671032e-02 9.99443153e-01 -1.42760148e-04 4.62319584e+00] [ 1.56735981e-02 -3.80451817e-04 9.99877089e-01 6.66474303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.74925415399997 meters Centerline goodness : 0.999030 Centerline is valid? [True, True] Translation: X:433.05, Y:4.62, Z:6.66 [[ 9.99308734e-01 -3.37085839e-02 -1.56775700e-02 4.33050856e+02] [ 3.37104986e-02 9.99431630e-01 -1.42193488e-04 4.62233316e+00] [ 1.56734525e-02 -3.86403507e-04 9.99877089e-01 6.66476231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.77925415399994 meters Centerline goodness : 0.999008 Centerline is valid? [True, True] Translation: X:433.08, Y:4.62, Z:6.66 [[ 9.99305953e-01 -3.37909102e-02 -1.56775751e-02 4.33081971e+02] [ 3.37928439e-02 9.99428849e-01 -1.41627849e-04 4.62028227e+00] [ 1.56734066e-02 -3.88260296e-04 9.99877089e-01 6.66459064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.809254154 meters Centerline goodness : 0.999242 Centerline is valid? [True, True] Translation: X:433.11, Y:4.62, Z:6.67 [[ 9.99273585e-01 -3.47349374e-02 -1.56775802e-02 4.33113277e+02] [ 3.47369962e-02 9.99396478e-01 -1.41056209e-04 4.62007294e+00] [ 1.56730181e-02 -4.03638301e-04 9.99877089e-01 6.66520251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.83925415399995 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:433.14, Y:4.62, Z:6.67 [[ 9.99257141e-01 -3.52048263e-02 -1.56775853e-02 4.33144874e+02] [ 3.52069518e-02 9.99380033e-01 -1.40487736e-04 4.61932019e+00] [ 1.56728116e-02 -4.11576618e-04 9.99877089e-01 6.66604356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.8692541539999 meters Centerline goodness : 0.999178 Centerline is valid? [True, True] Translation: X:433.18, Y:4.62, Z:6.67 [[ 9.99190585e-01 -3.70457655e-02 -1.56775905e-02 4.33175851e+02] [ 3.70481264e-02 9.99313473e-01 -1.39912645e-04 4.61713073e+00] [ 1.56720105e-02 -4.41025955e-04 9.99877089e-01 6.66665965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.89925415399995 meters Centerline goodness : 0.999073 Centerline is valid? [True, True] Translation: X:433.21, Y:4.62, Z:6.67 [[ 9.99152581e-01 -3.80569796e-02 -1.56775956e-02 4.33206361e+02] [ 3.80594739e-02 9.99275466e-01 -1.39338854e-04 4.61581782e+00] [ 1.56715394e-02 -4.57460263e-04 9.99877089e-01 6.66660067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.9292541539999 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:433.24, Y:4.61, Z:6.67 [[ 9.99121304e-01 -3.88694372e-02 -1.56775981e-02 4.33238112e+02] [ 3.88720358e-02 9.99244187e-01 -1.39054024e-04 4.61416258e+00] [ 1.56711537e-02 -4.70488317e-04 9.99877089e-01 6.66702820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.95925415399995 meters Centerline goodness : 0.999306 Centerline is valid? [True, True] Translation: X:433.27, Y:4.61, Z:6.67 [[ 9.99033101e-01 -4.10740188e-02 -1.56776031e-02 4.33269477e+02] [ 4.10768975e-02 9.99155978e-01 -1.38487604e-04 4.61203253e+00] [ 1.56700591e-02 -5.05633595e-04 9.99877089e-01 6.66760188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.9892541539999 meters Centerline goodness : 0.999138 Centerline is valid? [True, True] Translation: X:433.30, Y:4.61, Z:6.67 [[ 9.99002937e-01 -4.18012484e-02 -1.56776081e-02 4.33300564e+02] [ 4.18042255e-02 9.99125812e-01 -1.37915166e-04 4.61154474e+00] [ 1.56696680e-02 -5.17612611e-04 9.99877089e-01 6.66846154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.01925415399995 meters Centerline goodness : 0.998883 Centerline is valid? [True, True] Translation: X:433.33, Y:4.61, Z:6.67 [[ 9.98982431e-01 -4.22884688e-02 -1.56776131e-02 4.33332956e+02] [ 4.22915148e-02 9.99105304e-01 -1.37346448e-04 4.61118958e+00] [ 1.56693946e-02 -5.25823318e-04 9.99877089e-01 6.66922730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.0492541539999 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:433.37, Y:4.61, Z:6.67 [[ 9.98977884e-01 -4.23957533e-02 -1.56776230e-02 4.33365450e+02] [ 4.23988302e-02 9.99100756e-01 -1.36212531e-04 4.61053698e+00] [ 1.56692998e-02 -5.28639568e-04 9.99877089e-01 6.67010431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.07925415399995 meters Centerline goodness : 0.999158 Centerline is valid? [True, True] Translation: X:433.40, Y:4.61, Z:6.67 [[ 9.98976672e-01 -4.24242899e-02 -1.56776327e-02 4.33396482e+02] [ 4.24273881e-02 9.99099544e-01 -1.35078969e-04 4.60853276e+00] [ 1.56692463e-02 -5.30220269e-04 9.99877089e-01 6.67052543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.1092541539999 meters Centerline goodness : 0.999073 Centerline is valid? [True, True] Translation: X:433.43, Y:4.61, Z:6.67 [[ 9.98984526e-01 -4.22389480e-02 -1.56776400e-02 4.33427754e+02] [ 4.22420366e-02 9.99107398e-01 -1.34235366e-04 4.60736271e+00] [ 1.56693160e-02 -5.28156387e-04 9.99877089e-01 6.67067331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.13925415399996 meters Centerline goodness : 0.999093 Centerline is valid? [True, True] Translation: X:433.46, Y:4.61, Z:6.67 [[ 9.98994532e-01 -4.20016353e-02 -1.56776470e-02 4.33458899e+02] [ 4.20047077e-02 9.99117404e-01 -1.33405409e-04 4.60623225e+00] [ 1.56694132e-02 -5.25263706e-04 9.99877089e-01 6.67091104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.16925415399993 meters Centerline goodness : 0.999073 Centerline is valid? [True, True] Translation: X:433.49, Y:4.60, Z:6.67 [[ 9.99036329e-01 -4.09954332e-02 -1.56776517e-02 4.33489921e+02] [ 4.09983905e-02 9.99159204e-01 -1.32855504e-04 4.60427895e+00] [ 1.56699164e-02 -5.10031011e-04 9.99877089e-01 6.67145333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.19925415399996 meters Centerline goodness : 0.999095 Centerline is valid? [True, True] Translation: X:433.52, Y:4.60, Z:6.67 [[ 9.99055517e-01 -4.05251157e-02 -1.56776565e-02 4.33521405e+02] [ 4.05280242e-02 9.99178393e-01 -1.32278234e-04 4.60381586e+00] [ 1.56701363e-02 -5.03231145e-04 9.99877089e-01 6.67133260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.22925415399993 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:433.55, Y:4.60, Z:6.67 [[ 9.99062537e-01 -4.03516820e-02 -1.56776638e-02 4.33552542e+02] [ 4.03545827e-02 9.99185413e-01 -1.31415352e-04 4.60378410e+00] [ 1.56701958e-02 -5.01373426e-04 9.99877089e-01 6.67258966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.25925415399996 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:433.58, Y:4.60, Z:6.67 [[ 9.99080026e-01 -3.99163072e-02 -1.56776686e-02 4.33582542e+02] [ 3.99191635e-02 9.99202904e-01 -1.30837770e-04 4.60299181e+00] [ 1.56703946e-02 -4.95122013e-04 9.99877089e-01 6.67277096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.28925415399993 meters Centerline goodness : 0.999097 Centerline is valid? [True, True] Translation: X:433.61, Y:4.60, Z:6.67 [[ 9.99054953e-01 -4.05390227e-02 -1.56776710e-02 4.33614133e+02] [ 4.05419600e-02 9.99177828e-01 -1.30551196e-04 4.60136720e+00] [ 1.56700737e-02 -5.05175691e-04 9.99877089e-01 6.67224882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.31925415399996 meters Centerline goodness : 0.999097 Centerline is valid? [True, True] Translation: X:433.65, Y:4.60, Z:6.67 [[ 9.99027384e-01 -4.12128193e-02 -1.56776758e-02 4.33645822e+02] [ 4.12158486e-02 9.99150257e-01 -1.29973674e-04 4.60091411e+00] [ 1.56697104e-02 -5.16321451e-04 9.99877089e-01 6.67212608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.34925415399994 meters Centerline goodness : 0.999014 Centerline is valid? [True, True] Translation: X:433.68, Y:4.60, Z:6.67 [[ 9.98989215e-01 -4.21278861e-02 -1.56776805e-02 4.33676703e+02] [ 4.21310368e-02 9.99112085e-01 -1.29400127e-04 4.60052417e+00] [ 1.56692114e-02 -5.31247603e-04 9.99877089e-01 6.67198375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.37925415399997 meters Centerline goodness : 0.998930 Centerline is valid? [True, True] Translation: X:433.71, Y:4.60, Z:6.67 [[ 9.98970751e-01 -4.25634616e-02 -1.56776852e-02 4.33708402e+02] [ 4.25666750e-02 9.99093620e-01 -1.28823977e-04 4.60004490e+00] [ 1.56689585e-02 -5.38655548e-04 9.99877089e-01 6.67125057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.40925415399994 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:433.74, Y:4.60, Z:6.67 [[ 9.98861002e-01 -4.50656004e-02 -1.56776899e-02 4.33739727e+02] [ 4.50691305e-02 9.98983862e-01 -1.28249439e-04 4.60126523e+00] [ 1.56675389e-02 -5.78476491e-04 9.99877089e-01 6.67272219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.43925415399997 meters Centerline goodness : 0.998873 Centerline is valid? [True, True] Translation: X:433.77, Y:4.60, Z:6.67 [[ 9.98829413e-01 -4.57603839e-02 -1.56776947e-02 4.33770655e+02] [ 4.57640086e-02 9.98952271e-01 -1.27665085e-04 4.60181088e+00] [ 1.56671107e-02 -5.89958513e-04 9.99877089e-01 6.67305257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.46925415399994 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:433.80, Y:4.60, Z:6.67 [[ 9.98742118e-01 -4.76276356e-02 -1.56777018e-02 4.33803058e+02] [ 4.76315038e-02 9.98864968e-01 -1.26790418e-04 4.60222716e+00] [ 1.56659458e-02 -6.20121580e-04 9.99877089e-01 6.67426092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.49925415399997 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:433.84, Y:4.60, Z:6.68 [[ 9.98699427e-01 -4.85145829e-02 -1.56777108e-02 4.33835136e+02] [ 4.85185778e-02 9.98822272e-01 -1.25664623e-04 4.60259899e+00] [ 1.56653433e-02 -6.35159044e-04 9.99877089e-01 6.67558083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.52925415399994 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:433.87, Y:4.60, Z:6.68 [[ 9.98653067e-01 -4.94596982e-02 -1.56777201e-02 4.33866595e+02] [ 4.94638276e-02 9.98775908e-01 -1.24499500e-04 4.60299936e+00] [ 1.56646868e-02 -6.51148234e-04 9.99877089e-01 6.67630434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.559254154 meters Centerline goodness : 0.999349 Centerline is valid? [True, True] Translation: X:433.90, Y:4.60, Z:6.68 [[ 9.98587313e-01 -5.07699408e-02 -1.56777269e-02 4.33898851e+02] [ 5.07742450e-02 9.98710149e-01 -1.23631375e-04 4.60355423e+00] [ 1.56637817e-02 -6.72568024e-04 9.99877089e-01 6.67778118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.58925415399995 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:433.93, Y:4.60, Z:6.68 [[ 9.98523850e-01 -5.20031629e-02 -1.56777360e-02 4.33930043e+02] [ 5.20076370e-02 9.98646680e-01 -1.22466889e-04 4.60402043e+00] [ 1.56628877e-02 -6.93075894e-04 9.99877089e-01 6.67862108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.6192541539999 meters Centerline goodness : 0.999349 Centerline is valid? [True, True] Translation: X:433.96, Y:4.61, Z:6.68 [[ 9.98338099e-01 -5.54549255e-02 -1.56777427e-02 4.33962310e+02] [ 5.54598378e-02 9.98460911e-01 -1.21599612e-04 4.60530241e+00] [ 1.56603566e-02 -7.48087544e-04 9.99877089e-01 6.68033541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.64925415399995 meters Centerline goodness : 0.998991 Centerline is valid? [True, True] Translation: X:433.99, Y:4.61, Z:6.68 [[ 9.98239205e-01 -5.72074954e-02 -1.56777515e-02 4.33994848e+02] [ 5.72126412e-02 9.98362008e-01 -1.20454978e-04 4.60597678e+00] [ 1.56589624e-02 -7.76722691e-04 9.99877089e-01 6.68113579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.6792541539999 meters Centerline goodness : 0.999035 Centerline is valid? [True, True] Translation: X:434.03, Y:4.61, Z:6.68 [[ 9.98122911e-01 -5.92018735e-02 -1.56777603e-02 4.34025813e+02] [ 5.92072828e-02 9.98245703e-01 -1.19300188e-04 4.60671131e+00] [ 1.56573196e-02 -8.09161337e-04 9.99877089e-01 6.68148834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.70925415399995 meters Centerline goodness : 0.999035 Centerline is valid? [True, True] Translation: X:434.06, Y:4.61, Z:6.68 [[ 9.98127123e-01 -5.91308170e-02 -1.56777668e-02 4.34058498e+02] [ 5.91362310e-02 9.98249915e-01 -1.18438975e-04 4.60689446e+00] [ 1.56573328e-02 -8.08906887e-04 9.99877089e-01 6.68200062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.7392541539999 meters Centerline goodness : 0.998930 Centerline is valid? [True, True] Translation: X:434.09, Y:4.61, Z:6.68 [[ 9.97872755e-01 -6.32785265e-02 -1.56777752e-02 4.34090897e+02] [ 6.32844683e-02 9.97995522e-01 -1.17322949e-04 4.60710539e+00] [ 1.56537734e-02 -8.75086292e-04 9.99877089e-01 6.68188824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.76925415399995 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:434.12, Y:4.61, Z:6.68 [[ 9.97738812e-01 -6.53564846e-02 -1.56777836e-02 4.34123439e+02] [ 6.53626999e-02 9.97861566e-01 -1.16179906e-04 4.60732156e+00] [ 1.56518508e-02 -9.08825066e-04 9.99877089e-01 6.68206756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.7992541539999 meters Centerline goodness : 0.999098 Centerline is valid? [True, True] Translation: X:434.17, Y:4.60, Z:6.68 [[ 9.98182737e-01 -5.81844496e-02 -1.56777920e-02 4.34166888e+02] [ 5.81898005e-02 9.98305531e-01 -1.15038452e-04 4.59716357e+00] [ 1.56579199e-02 -7.97458192e-04 9.99877089e-01 6.67792562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.82925415399995 meters Centerline goodness : 0.999034 Centerline is valid? [True, True] Translation: X:434.18, Y:4.61, Z:6.68 [[ 9.97318664e-01 -7.14812183e-02 -1.56817587e-02 4.34183205e+02] [ 7.14977389e-02 9.97440639e-01 4.94674611e-04 4.60984807e+00] [ 1.56062634e-02 -1.61455851e-03 9.99876911e-01 6.68283804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.8592541539999 meters Centerline goodness : 0.998950 Centerline is valid? [True, True] Translation: X:434.22, Y:4.61, Z:6.68 [[ 9.97219018e-01 -7.28592132e-02 -1.56769195e-02 4.34216445e+02] [ 7.28662454e-02 9.97341714e-01 -1.22914691e-04 4.61144453e+00] [ 1.56442012e-02 -1.01974539e-03 9.99877102e-01 6.68349034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.88925415399996 meters Centerline goodness : 0.999097 Centerline is valid? [True, True] Translation: X:434.26, Y:4.61, Z:6.68 [[ 9.97562402e-01 -6.79962293e-02 -1.56769326e-02 4.34255716e+02] [ 6.80026898e-02 9.97685130e-01 -1.21215936e-04 4.60546031e+00] [ 1.56488848e-02 -9.45153124e-04 9.99877102e-01 6.68021027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.91925415399993 meters Centerline goodness : 0.999034 Centerline is valid? [True, True] Translation: X:434.28, Y:4.61, Z:6.68 [[ 9.97045206e-01 -7.51996517e-02 -1.56802340e-02 4.34276400e+02] [ 7.52140397e-02 9.97167358e-01 3.29052830e-04 4.61303473e+00] [ 1.56110728e-02 -1.50745429e-03 9.99877003e-01 6.68329254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.94925415399996 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:434.32, Y:4.61, Z:6.68 [[ 9.97450530e-01 -6.96181743e-02 -1.56764437e-02 4.34315834e+02] [ 6.96247027e-02 9.97573247e-01 -1.29603035e-04 4.60634858e+00] [ 1.56474236e-02 -9.62195118e-04 9.99877109e-01 6.67824767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.97925415399993 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:434.34, Y:4.61, Z:6.68 [[ 9.97027670e-01 -7.54318396e-02 -1.56800264e-02 4.34336094e+02] [ 7.54461650e-02 9.97149824e-01 3.23248501e-04 4.61465685e+00] [ 1.56109524e-02 -1.50528556e-03 9.99877009e-01 6.68188436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.00925415399996 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:434.37, Y:4.62, Z:6.68 [[ 9.97126601e-01 -7.41134675e-02 -1.56759520e-02 4.34369070e+02] [ 7.41204106e-02 9.97249290e-01 -1.38406689e-04 4.61626598e+00] [ 1.56430898e-02 -1.02389901e-03 9.99877115e-01 6.68253200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.03925415399993 meters Centerline goodness : 0.999079 Centerline is valid? [True, True] Translation: X:434.41, Y:4.61, Z:6.68 [[ 9.97710919e-01 -6.57813477e-02 -1.56759667e-02 4.34409482e+02] [ 6.57872920e-02 9.97833660e-01 -1.36728870e-04 4.61076489e+00] [ 1.56510014e-02 -8.94863510e-04 9.99877115e-01 6.67982800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.06925415399996 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] Translation: X:434.43, Y:4.62, Z:6.68 [[ 9.97687477e-01 -6.61349530e-02 -1.56801155e-02 4.34428432e+02] [ 6.61487872e-02 9.97809704e-01 3.64717822e-04 4.62238092e+00] [ 1.56216508e-02 -1.40109503e-03 9.99876993e-01 6.68492587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.09925415399994 meters Centerline goodness : 0.999287 Centerline is valid? [True, True] Translation: X:434.46, Y:4.63, Z:6.69 [[ 9.97934244e-01 -6.23019177e-02 -1.56753349e-02 4.34461822e+02] [ 6.23072787e-02 9.98057003e-01 -1.46615357e-04 4.62508587e+00] [ 1.56540122e-02 -8.30374976e-04 9.99877124e-01 6.68579933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.12925415399997 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:434.50, Y:4.62, Z:6.68 [[ 9.98486661e-01 -5.27131095e-02 -1.56753511e-02 4.34500172e+02] [ 5.27173185e-02 9.98609465e-01 -1.44863398e-04 4.62014449e+00] [ 1.56611902e-02 -6.81718306e-04 9.99877124e-01 6.68215929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.15925415399994 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:434.53, Y:4.62, Z:6.68 [[ 9.98875086e-01 -4.47518598e-02 -1.56790840e-02 4.34532741e+02] [ 4.47610351e-02 9.98997695e-01 2.34579749e-04 4.62306446e+00] [ 1.56528709e-02 -9.36127897e-04 9.99877048e-01 6.68222192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.18925415399997 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:434.55, Y:4.63, Z:6.69 [[ 9.98771868e-01 -4.69990838e-02 -1.56793671e-02 4.34552544e+02] [ 4.70089769e-02 9.98894432e-01 2.62799741e-04 4.63305513e+00] [ 1.56496812e-02 -9.99547997e-04 9.99877037e-01 6.68607192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.21925415399994 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:434.58, Y:4.64, Z:6.69 [[ 9.98975067e-01 -4.24631936e-02 -1.56745694e-02 4.34583438e+02] [ 4.24657051e-02 9.99097910e-01 -1.72725028e-04 4.63588302e+00] [ 1.56677640e-02 -4.93083644e-04 9.99877131e-01 6.68673166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.24925415399997 meters Centerline goodness : 0.998993 Centerline is valid? [True, True] Translation: X:434.62, Y:4.64, Z:6.69 [[ 9.99145457e-01 -3.82447753e-02 -1.56745884e-02 4.34616015e+02] [ 3.82467954e-02 9.99268309e-01 -1.70983156e-04 4.63870949e+00] [ 1.56696587e-02 -4.28665731e-04 9.99877131e-01 6.68865258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.27925415399994 meters Centerline goodness : 0.999073 Centerline is valid? [True, True] Translation: X:434.65, Y:4.64, Z:6.69 [[ 9.99401832e-01 -3.08267002e-02 -1.56746007e-02 4.34646527e+02] [ 3.08278260e-02 9.99524695e-01 -1.69851978e-04 4.64318023e+00] [ 1.56723864e-02 -3.13463483e-04 9.99877131e-01 6.69084991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.309254154 meters Centerline goodness : 0.999200 Centerline is valid? [True, True] Translation: X:434.68, Y:4.65, Z:6.69 [[ 9.99482699e-01 -2.80827495e-02 -1.56746037e-02 4.34677349e+02] [ 2.80835424e-02 9.99605565e-01 -1.69572250e-04 4.64518537e+00] [ 1.56731831e-02 -2.70713867e-04 9.99877131e-01 6.69194301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.33925415399995 meters Centerline goodness : 0.998821 Centerline is valid? [True, True] Translation: X:434.71, Y:4.65, Z:6.69 [[ 9.99542312e-01 -2.58741728e-02 -1.56746097e-02 4.34707648e+02] [ 2.58747028e-02 9.99665180e-01 -1.69017190e-04 4.64665676e+00] [ 1.56737347e-02 -2.36636034e-04 9.99877131e-01 6.69237359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.3692541539999 meters Centerline goodness : 0.999050 Centerline is valid? [True, True] Translation: X:434.74, Y:4.65, Z:6.69 [[ 9.99592826e-01 -2.38429894e-02 -1.56746097e-02 4.34737122e+02] [ 2.38432698e-02 9.99715695e-01 -1.69017190e-04 4.64808864e+00] [ 1.56741832e-02 -2.04785577e-04 9.99877131e-01 6.69270840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.39925415399995 meters Centerline goodness : 0.998863 Centerline is valid? [True, True] Translation: X:434.77, Y:4.65, Z:6.69 [[ 9.99594384e-01 -2.37775982e-02 -1.56746035e-02 4.34765963e+02] [ 2.37778616e-02 9.99717252e-01 -1.69583948e-04 4.64859926e+00] [ 1.56742039e-02 -2.03193391e-04 9.99877131e-01 6.69271030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.4292541539999 meters Centerline goodness : 0.999008 Centerline is valid? [True, True] Translation: X:434.79, Y:4.65, Z:6.69 [[ 9.99575118e-01 -2.45741853e-02 -1.56745944e-02 4.34794645e+02] [ 2.45745334e-02 9.99697986e-01 -1.70427884e-04 4.64911480e+00] [ 1.56740485e-02 -2.14840370e-04 9.99877131e-01 6.69279041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.45925415399995 meters Centerline goodness : 0.998753 Centerline is valid? [True, True] Translation: X:434.82, Y:4.65, Z:6.69 [[ 9.99546637e-01 -2.57065655e-02 -1.56745852e-02 4.34824644e+02] [ 2.57070397e-02 9.99669505e-01 -1.71263448e-04 4.64955591e+00] [ 1.56738074e-02 -2.31761382e-04 9.99877131e-01 6.69291446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.4892541539999 meters Centerline goodness : 0.999136 Centerline is valid? [True, True] Translation: X:434.85, Y:4.65, Z:6.69 [[ 9.99452555e-01 -2.91358510e-02 -1.56745792e-02 4.34854289e+02] [ 2.91367381e-02 9.99575420e-01 -1.71816918e-04 4.64894250e+00] [ 1.56729301e-02 -2.84983250e-04 9.99877131e-01 6.69247414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.51925415399995 meters Centerline goodness : 0.998821 Centerline is valid? [True, True] Translation: X:434.88, Y:4.65, Z:6.69 [[ 9.99353379e-01 -3.23594205e-02 -1.56745761e-02 4.34883165e+02] [ 3.23606996e-02 9.99476241e-01 -1.72091710e-04 4.65021418e+00] [ 1.56719352e-02 -3.35259819e-04 9.99877131e-01 6.69086809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.5492541539999 meters Centerline goodness : 0.998820 Centerline is valid? [True, True] Translation: X:434.91, Y:4.65, Z:6.69 [[ 9.99300832e-01 -3.39437604e-02 -1.56738158e-02 4.34913810e+02] [ 3.39441732e-02 9.99423702e-01 -2.39773192e-04 4.64780892e+00] [ 1.56729218e-02 -2.92429167e-04 9.99877129e-01 6.69347015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.57925415399995 meters Centerline goodness : 0.998992 Centerline is valid? [True, True] Translation: X:434.94, Y:4.65, Z:6.69 [[ 9.99110336e-01 -3.91515675e-02 -1.56745375e-02 4.34944985e+02] [ 3.91536328e-02 9.99233187e-01 -1.75209408e-04 4.64578852e+00] [ 1.56693778e-02 -4.38661556e-04 9.99877132e-01 6.69429617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.6092541539999 meters Centerline goodness : 0.999201 Centerline is valid? [True, True] Translation: X:434.98, Y:4.64, Z:6.69 [[ 9.98998774e-01 -4.19017594e-02 -1.56745435e-02 4.34976046e+02] [ 4.19041713e-02 9.99121619e-01 -1.74667544e-04 4.64488532e+00] [ 1.56680942e-02 -4.82336097e-04 9.99877132e-01 6.69482749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.63925415399996 meters Centerline goodness : 0.999179 Centerline is valid? [True, True] Translation: X:435.01, Y:4.64, Z:6.70 [[ 9.98879966e-01 -4.46443980e-02 -1.56745525e-02 4.35008594e+02] [ 4.46471599e-02 9.99002803e-01 -1.73857080e-04 4.64435161e+00] [ 1.56666837e-02 -5.26161899e-04 9.99877132e-01 6.69560734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.66925415399993 meters Centerline goodness : 0.999221 Centerline is valid? [True, True] Translation: X:435.04, Y:4.64, Z:6.70 [[ 9.98758128e-01 -4.72917474e-02 -1.56745644e-02 4.35040113e+02] [ 4.72948517e-02 9.98880957e-01 -1.72784035e-04 4.64414911e+00] [ 1.56651951e-02 -5.68756738e-04 9.99877132e-01 6.69630149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.69925415399996 meters Centerline goodness : 0.999138 Centerline is valid? [True, True] Translation: X:435.07, Y:4.64, Z:6.70 [[ 9.98508898e-01 -5.22904143e-02 -1.56745837e-02 4.35071050e+02] [ 5.22941613e-02 9.98631710e-01 -1.71009879e-04 4.64299519e+00] [ 1.56620785e-02 -6.48934323e-04 9.99877132e-01 6.69663613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.72925415399993 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:435.10, Y:4.64, Z:6.70 [[ 9.98388527e-01 -5.45404056e-02 -1.56745923e-02 4.35102827e+02] [ 5.45444416e-02 9.98511329e-01 -1.70221529e-04 4.64193152e+00] [ 1.56605419e-02 -6.85014663e-04 9.99877132e-01 6.69694513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.75925415399996 meters Centerline goodness : 0.999390 Centerline is valid? [True, True] Translation: X:435.13, Y:4.64, Z:6.70 [[ 9.98282672e-01 -5.64447868e-02 -1.56746035e-02 4.35133631e+02] [ 5.64490734e-02 9.98405465e-01 -1.69182546e-04 4.64072258e+00] [ 1.56591593e-02 -7.15924839e-04 9.99877132e-01 6.69731487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.78925415399993 meters Centerline goodness : 0.999308 Centerline is valid? [True, True] Translation: X:435.17, Y:4.64, Z:6.70 [[ 9.98180421e-01 -5.82250332e-02 -1.56746118e-02 4.35166270e+02] [ 5.82295509e-02 9.98303206e-01 -1.68407104e-04 4.63979794e+00] [ 1.56578207e-02 -7.44624934e-04 9.99877132e-01 6.69757273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.81925415399996 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:435.20, Y:4.64, Z:6.70 [[ 9.98048187e-01 -6.04493348e-02 -1.56746228e-02 4.35197666e+02] [ 6.04541422e-02 9.98170962e-01 -1.67383565e-04 4.63858249e+00] [ 1.56560715e-02 -7.80539009e-04 9.99877132e-01 6.69810909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.84925415399994 meters Centerline goodness : 0.999226 Centerline is valid? [True, True] Translation: X:435.23, Y:4.64, Z:6.70 [[ 9.98020273e-01 -6.09084647e-02 -1.56746309e-02 4.35228677e+02] [ 6.09133405e-02 9.98143044e-01 -1.66619088e-04 4.63844076e+00] [ 1.56556723e-02 -7.88504901e-04 9.99877132e-01 6.69834616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.87925415399997 meters Centerline goodness : 0.999286 Centerline is valid? [True, True] Translation: X:435.27, Y:4.63, Z:6.69 [[ 9.98370110e-01 -5.48764901e-02 -1.56746389e-02 4.35267326e+02] [ 5.48806357e-02 9.98492909e-01 -1.65865479e-04 4.62891601e+00] [ 1.56601179e-02 -6.94639009e-04 9.99877132e-01 6.69287477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.90925415399994 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:435.29, Y:4.64, Z:6.70 [[ 9.98067868e-01 -6.01224527e-02 -1.56786772e-02 4.35287703e+02] [ 6.01334954e-02 9.98190317e-01 2.33405256e-04 4.63875564e+00] [ 1.56362709e-02 -1.17576795e-03 9.99877055e-01 6.69855150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.93925415399997 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:435.32, Y:4.64, Z:6.70 [[ 9.98166877e-01 -5.84568638e-02 -1.56742075e-02 4.35318953e+02] [ 5.84613439e-02 9.98289658e-01 -1.72606786e-04 4.63917455e+00] [ 1.56574893e-02 -7.44044857e-04 9.99877137e-01 6.69891167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.96925415399994 meters Centerline goodness : 0.999391 Centerline is valid? [True, True] Translation: X:435.35, Y:4.64, Z:6.70 [[ 9.98279421e-01 -5.65023661e-02 -1.56742158e-02 4.35351321e+02] [ 5.65066177e-02 9.98402210e-01 -1.71851063e-04 4.63933733e+00] [ 1.56588816e-02 -7.14141537e-04 9.99877137e-01 6.69944737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.99925415399997 meters Centerline goodness : 0.999286 Centerline is valid? [True, True] Translation: X:435.38, Y:4.64, Z:6.70 [[ 9.98393776e-01 -5.44443520e-02 -1.56742268e-02 4.35382861e+02] [ 5.44483663e-02 9.98516573e-01 -1.70836408e-04 4.63976228e+00] [ 1.56602763e-02 -6.82874037e-04 9.99877137e-01 6.69928896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.02925415399994 meters Centerline goodness : 0.999242 Centerline is valid? [True, True] Translation: X:435.41, Y:4.64, Z:6.70 [[ 9.98635756e-01 -4.98090779e-02 -1.56742350e-02 4.35413946e+02] [ 4.98125340e-02 9.98758571e-01 -1.70080040e-04 4.64144153e+00] [ 1.56632481e-02 -6.10925355e-04 9.99877137e-01 6.69931842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.0592541539999 meters Centerline goodness : 0.999159 Centerline is valid? [True, True] Translation: X:435.45, Y:4.64, Z:6.70 [[ 9.98746920e-01 -4.75279680e-02 -1.56742430e-02 4.35446542e+02] [ 4.75311551e-02 9.98869742e-01 -1.69341271e-04 4.64250592e+00] [ 1.56645755e-02 -5.75885803e-04 9.99877137e-01 6.69936088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.08925415399995 meters Centerline goodness : 0.999200 Centerline is valid? [True, True] Translation: X:435.48, Y:4.64, Z:6.70 [[ 9.98840261e-01 -4.55241740e-02 -1.56742534e-02 4.35478975e+02] [ 4.55271299e-02 9.98963088e-01 -1.68370200e-04 4.64359441e+00] [ 1.56656655e-02 -5.45428838e-04 9.99877137e-01 6.69992992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.1192541539999 meters Centerline goodness : 0.999327 Centerline is valid? [True, True] Translation: X:435.51, Y:4.64, Z:6.70 [[ 9.98917822e-01 -4.37892991e-02 -1.56742639e-02 4.35511203e+02] [ 4.37920570e-02 9.99040654e-01 -1.67394958e-04 4.64430384e+00] [ 1.56665569e-02 -5.19194449e-04 9.99877137e-01 6.70048056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.14925415399995 meters Centerline goodness : 0.999031 Centerline is valid? [True, True] Translation: X:435.54, Y:4.65, Z:6.70 [[ 9.99021955e-01 -4.13455116e-02 -1.56742744e-02 4.35542641e+02] [ 4.13479845e-02 9.99144793e-01 -1.66404782e-04 4.64507682e+00] [ 1.56677497e-02 -4.81857624e-04 9.99877137e-01 6.69883005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.1792541539999 meters Centerline goodness : 0.999073 Centerline is valid? [True, True] Translation: X:435.58, Y:4.65, Z:6.70 [[ 9.99070982e-01 -4.01433777e-02 -1.56742822e-02 4.35575152e+02] [ 4.01457144e-02 9.99193822e-01 -1.65665738e-04 4.64555354e+00] [ 1.56682963e-02 -4.63743423e-04 9.99877137e-01 6.70180436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.20925415399995 meters Centerline goodness : 0.998966 Centerline is valid? [True, True] Translation: X:435.61, Y:4.65, Z:6.70 [[ 9.99168529e-01 -3.76373150e-02 -1.56742939e-02 4.35605414e+02] [ 3.76393611e-02 9.99291375e-01 -1.64548908e-04 4.64623566e+00] [ 1.56693799e-02 -4.25558318e-04 9.99877137e-01 6.69731285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.2392541539999 meters Centerline goodness : 0.999030 Centerline is valid? [True, True] Translation: X:435.64, Y:4.65, Z:6.70 [[ 9.99220034e-01 -3.62441683e-02 -1.56742968e-02 4.35637063e+02] [ 3.62460474e-02 9.99342883e-01 -1.64272947e-04 4.64696123e+00] [ 1.56699509e-02 -4.03986485e-04 9.99877137e-01 6.70220920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.26925415399995 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:435.67, Y:4.65, Z:6.70 [[ 9.99255561e-01 -3.52511012e-02 -1.56743027e-02 4.35668673e+02] [ 3.52528672e-02 9.99378411e-01 -1.63704894e-04 4.64784097e+00] [ 1.56703305e-02 -3.88981087e-04 9.99877137e-01 6.70285586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.2992541539999 meters Centerline goodness : 0.999008 Centerline is valid? [True, True] Translation: X:435.70, Y:4.65, Z:6.70 [[ 9.99286359e-01 -3.43669718e-02 -1.56743087e-02 4.35700274e+02] [ 3.43686380e-02 9.99409211e-01 -1.63135449e-04 4.64864419e+00] [ 1.56706549e-02 -3.75685611e-04 9.99877137e-01 6.70328010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.32925415399995 meters Centerline goodness : 0.999177 Centerline is valid? [True, True] Translation: X:435.73, Y:4.65, Z:6.70 [[ 9.99305598e-01 -3.38029376e-02 -1.56743145e-02 4.35731323e+02] [ 3.38045433e-02 9.99428450e-01 -1.62569446e-04 4.64915185e+00] [ 1.56708512e-02 -3.67406487e-04 9.99877137e-01 6.70423130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.3592541539999 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:435.76, Y:4.65, Z:6.71 [[ 9.99330805e-01 -3.30493104e-02 -1.56743203e-02 4.35762474e+02] [ 3.30508323e-02 9.99453659e-01 -1.62005776e-04 4.64914791e+00] [ 1.56711110e-02 -3.56151971e-04 9.99877137e-01 6.70581443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.38925415399996 meters Centerline goodness : 0.998987 Centerline is valid? [True, True] Translation: X:435.79, Y:4.65, Z:6.70 [[ 9.99347182e-01 -3.25503441e-02 -1.56743262e-02 4.35793152e+02] [ 3.25518136e-02 9.99470036e-01 -1.61438749e-04 4.64972978e+00] [ 1.56712742e-02 -3.48894385e-04 9.99877137e-01 6.70231278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.41925415399993 meters Centerline goodness : 0.999071 Centerline is valid? [True, True] Translation: X:435.82, Y:4.65, Z:6.71 [[ 9.99381566e-01 -3.14769746e-02 -1.56743355e-02 4.35824320e+02] [ 3.14783263e-02 9.99504422e-01 -1.60529372e-04 4.65005226e+00] [ 1.56716206e-02 -3.32971753e-04 9.99877137e-01 6.70853737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.44925415399996 meters Centerline goodness : 0.998924 Centerline is valid? [True, True] Translation: X:435.85, Y:4.65, Z:6.71 [[ 9.99462623e-01 -2.87885305e-02 -1.56743414e-02 4.35854642e+02] [ 2.87895608e-02 9.99585482e-01 -1.59952224e-04 4.65062728e+00] [ 1.56724489e-02 -2.91391135e-04 9.99877137e-01 6.70913464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.47925415399993 meters Centerline goodness : 0.998859 Centerline is valid? [True, True] Translation: X:435.89, Y:4.65, Z:6.71 [[ 9.99509711e-01 -2.71044695e-02 -1.56743443e-02 4.35885574e+02] [ 2.71052973e-02 9.99632571e-01 -1.59665986e-04 4.65114008e+00] [ 1.56729128e-02 -2.65270059e-04 9.99877137e-01 6.71000960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.50925415399996 meters Centerline goodness : 0.998671 Centerline is valid? [True, True] Translation: X:435.92, Y:4.65, Z:6.71 [[ 9.99552538e-01 -2.54762510e-02 -1.56743443e-02 4.35916237e+02] [ 2.54768787e-02 9.99675399e-01 -1.59665986e-04 4.65151013e+00] [ 1.56733241e-02 -2.39738826e-04 9.99877137e-01 6.71072744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.53925415399993 meters Centerline goodness : 0.998987 Centerline is valid? [True, True] Translation: X:435.95, Y:4.65, Z:6.71 [[ 9.99612254e-01 -2.30142702e-02 -1.56743443e-02 4.35946035e+02] [ 2.30145953e-02 9.99735116e-01 -1.59665986e-04 4.65210636e+00] [ 1.56738670e-02 -2.01134614e-04 9.99877137e-01 6.71217852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.56925415399996 meters Centerline goodness : 0.998861 Centerline is valid? [True, True] Translation: X:435.97, Y:4.65, Z:6.71 [[ 9.99641089e-01 -2.17257591e-02 -1.56743385e-02 4.35974959e+02] [ 2.17259169e-02 9.99763952e-01 -1.60235883e-04 4.65125336e+00] [ 1.56741198e-02 -1.80361002e-04 9.99877137e-01 6.71131264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.59925415399994 meters Centerline goodness : 0.998861 Centerline is valid? [True, True] Translation: X:436.00, Y:4.65, Z:6.71 [[ 9.99635757e-01 -2.19697333e-02 -1.56743275e-02 4.36004202e+02] [ 2.19699042e-02 9.99758620e-01 -1.61306783e-04 4.65160734e+00] [ 1.56740878e-02 -1.83115445e-04 9.99877137e-01 6.71177142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.62925415399997 meters Centerline goodness : 0.998924 Centerline is valid? [True, True] Translation: X:436.03, Y:4.65, Z:6.71 [[ 9.99629568e-01 -2.22495541e-02 -1.56742872e-02 4.36033251e+02] [ 2.22496995e-02 9.99752431e-01 -1.65132494e-04 4.65142863e+00] [ 1.56740808e-02 -1.83676856e-04 9.99877137e-01 6.71361926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.65925415399994 meters Centerline goodness : 0.998945 Centerline is valid? [True, True] Translation: X:436.06, Y:4.65, Z:6.71 [[ 9.99619013e-01 -2.27188535e-02 -1.56742438e-02 4.36062006e+02] [ 2.27189936e-02 9.99741876e-01 -1.69147096e-04 4.65075393e+00] [ 1.56740408e-02 -1.87020392e-04 9.99877137e-01 6.71374926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.68925415399997 meters Centerline goodness : 0.998840 Centerline is valid? [True, True] Translation: X:436.09, Y:4.65, Z:6.71 [[ 9.99585604e-01 -2.41441353e-02 -1.56741993e-02 4.36090970e+02] [ 2.41443875e-02 9.99708467e-01 -1.73175781e-04 4.64885817e+00] [ 1.56738110e-02 -2.05339924e-04 9.99877137e-01 6.71354583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.71925415399994 meters Centerline goodness : 0.998947 Centerline is valid? [True, True] Translation: X:436.12, Y:4.65, Z:6.71 [[ 9.99562789e-01 -2.50709010e-02 -1.56741898e-02 4.36120694e+02] [ 2.50712536e-02 9.99685652e-01 -1.74031426e-04 4.64830513e+00] [ 1.56736258e-02 -2.19016250e-04 9.99877137e-01 6.71394506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.74925415399997 meters Centerline goodness : 0.998840 Centerline is valid? [True, True] Translation: X:436.15, Y:4.65, Z:6.71 [[ 9.99544877e-01 -2.57751631e-02 -1.56741836e-02 4.36150675e+02] [ 2.57755935e-02 9.99667739e-01 -1.74591918e-04 4.64760362e+00] [ 1.56734758e-02 -2.29498927e-04 9.99877137e-01 6.71462975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.77925415399994 meters Centerline goodness : 0.999030 Centerline is valid? [True, True] Translation: X:436.18, Y:4.65, Z:6.72 [[ 9.99530807e-01 -2.63151128e-02 -1.56741772e-02 4.36180545e+02] [ 2.63156006e-02 9.99653669e-01 -1.75162357e-04 4.64678764e+00] [ 1.56733582e-02 -2.37395215e-04 9.99877137e-01 6.71514011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.8092541539999 meters Centerline goodness : 0.999138 Centerline is valid? [True, True] Translation: X:436.21, Y:4.65, Z:6.72 [[ 9.99544517e-01 -2.57891428e-02 -1.56741709e-02 4.36209480e+02] [ 2.57895571e-02 9.99667379e-01 -1.75728317e-04 4.64519317e+00] [ 1.56734892e-02 -2.28581649e-04 9.99877137e-01 6.71599310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.83925415399995 meters Centerline goodness : 0.998928 Centerline is valid? [True, True] Translation: X:436.24, Y:4.64, Z:6.72 [[ 9.99561111e-01 -2.51381215e-02 -1.56735341e-02 4.36238102e+02] [ 2.51375934e-02 9.99683974e-01 -2.30735681e-04 4.64469598e+00] [ 1.56743811e-02 -1.63360512e-04 9.99877136e-01 6.71521924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.8692541539999 meters Centerline goodness : 0.998928 Centerline is valid? [True, True] Translation: X:436.27, Y:4.64, Z:6.71 [[ 9.99541007e-01 -2.59255357e-02 -1.56729960e-02 4.36269145e+02] [ 2.59243809e-02 9.99663868e-01 -2.76878392e-04 4.64349980e+00] [ 1.56749061e-02 -1.29561412e-04 9.99877133e-01 6.71498308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.89925415399995 meters Centerline goodness : 0.998927 Centerline is valid? [True, True] Translation: X:436.30, Y:4.64, Z:6.72 [[ 9.99521581e-01 -2.66633200e-02 -1.56740982e-02 4.36297644e+02] [ 2.66637445e-02 9.99644443e-01 -1.81928327e-04 4.64167773e+00] [ 1.56733760e-02 -2.36088860e-04 9.99877137e-01 6.71617296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.9292541539999 meters Centerline goodness : 0.998780 Centerline is valid? [True, True] Translation: X:436.33, Y:4.64, Z:6.72 [[ 9.99491746e-01 -2.77591903e-02 -1.56740884e-02 4.36327687e+02] [ 2.77597364e-02 9.99614608e-01 -1.82768425e-04 4.64140035e+00] [ 1.56731212e-02 -2.52433029e-04 9.99877137e-01 6.71813658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.95925415399995 meters Centerline goodness : 0.998845 Centerline is valid? [True, True] Translation: X:436.36, Y:4.64, Z:6.72 [[ 9.99464509e-01 -2.87231495e-02 -1.56740816e-02 4.36356845e+02] [ 2.87238051e-02 9.99587370e-01 -1.83345465e-04 4.64071388e+00] [ 1.56728803e-02 -2.66971980e-04 9.99877137e-01 6.71799757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.9892541539999 meters Centerline goodness : 0.998994 Centerline is valid? [True, True] Translation: X:436.39, Y:4.64, Z:6.72 [[ 9.99373512e-01 -3.17317884e-02 -1.56740823e-02 4.36386843e+02] [ 3.17328148e-02 9.99496371e-01 -1.83285008e-04 4.63865404e+00] [ 1.56720044e-02 -3.14212570e-04 9.99877137e-01 6.71869520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.01925415399995 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:436.42, Y:4.64, Z:6.72 [[ 9.99340682e-01 -3.27494357e-02 -1.56740757e-02 4.36416819e+02] [ 3.27505783e-02 9.99463539e-01 -1.83853015e-04 4.63771126e+00] [ 1.56716882e-02 -3.29603245e-04 9.99877137e-01 6.71785904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.0492541539999 meters Centerline goodness : 0.998951 Centerline is valid? [True, True] Translation: X:436.45, Y:4.64, Z:6.72 [[ 9.99236606e-01 -3.57847772e-02 -1.56733784e-02 4.36447114e+02] [ 3.57853673e-02 9.99359469e-01 -2.42891149e-04 4.63706810e+00] [ 1.56720309e-02 -3.18171875e-04 9.99877136e-01 6.71899791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.07925415399995 meters Centerline goodness : 0.995851 Centerline is valid? [True, True] Translation: X:436.48, Y:4.64, Z:6.72 [[ 9.99206522e-01 -3.66148982e-02 -1.56740699e-02 4.36476458e+02] [ 3.66165141e-02 9.99329374e-01 -1.83972337e-04 4.63580420e+00] [ 1.56702946e-02 -3.90103443e-04 9.99877137e-01 6.71666529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.1092541539999 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:436.51, Y:4.63, Z:6.72 [[ 9.99057246e-01 -4.04841898e-02 -1.56732189e-02 4.36507412e+02] [ 4.04851709e-02 9.99180107e-01 -2.54813655e-04 4.63427833e+00] [ 1.56706845e-02 -3.79959518e-04 9.99877135e-01 6.72031787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.13925415399996 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:436.54, Y:4.63, Z:6.72 [[ 9.99008401e-01 -4.16718154e-02 -1.56740267e-02 4.36539014e+02] [ 4.16740031e-02 9.99131244e-01 -1.87163982e-04 4.63400226e+00] [ 1.56682093e-02 -4.66221048e-04 9.99877137e-01 6.72118358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.16925415399993 meters Centerline goodness : 0.998888 Centerline is valid? [True, True] Translation: X:436.57, Y:4.63, Z:6.72 [[ 9.98962224e-01 -4.27644628e-02 -1.56740333e-02 4.36570260e+02] [ 4.27667935e-02 9.99085065e-01 -1.86612214e-04 4.63401947e+00] [ 1.56676729e-02 -4.83909593e-04 9.99877137e-01 6.72213614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.19925415399996 meters Centerline goodness : 0.998805 Centerline is valid? [True, True] Translation: X:436.60, Y:4.63, Z:6.72 [[ 9.98935428e-01 -4.33858972e-02 -1.56740399e-02 4.36601946e+02] [ 4.33883130e-02 9.99058266e-01 -1.86060391e-04 4.63389787e+00] [ 1.56673515e-02 -4.94207830e-04 9.99877137e-01 6.72296834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.22925415399993 meters Centerline goodness : 0.999038 Centerline is valid? [True, True] Translation: X:436.63, Y:4.63, Z:6.72 [[ 9.98858366e-01 -4.51252642e-02 -1.56740496e-02 4.36633705e+02] [ 4.51279068e-02 9.98981200e-01 -1.85234735e-04 4.63322670e+00] [ 1.56664397e-02 -5.22313785e-04 9.99877137e-01 6.72460588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.25925415399996 meters Centerline goodness : 0.999079 Centerline is valid? [True, True] Translation: X:436.66, Y:4.63, Z:6.72 [[ 9.98878742e-01 -4.46719373e-02 -1.56740628e-02 4.36664349e+02] [ 4.46745417e-02 9.99001577e-01 -1.84108728e-04 4.63248143e+00] [ 1.56666380e-02 -5.16329279e-04 9.99877137e-01 6.72348931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.28925415399993 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:436.70, Y:4.63, Z:6.73 [[ 9.98770108e-01 -4.70386170e-02 -1.56729048e-02 4.36697043e+02] [ 4.70399724e-02 9.98892968e-01 -2.82363322e-04 4.63209736e+00] [ 1.56688364e-02 -4.55236965e-04 9.99877133e-01 6.72585125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.31925415399996 meters Centerline goodness : 0.999035 Centerline is valid? [True, True] Translation: X:436.73, Y:4.63, Z:6.73 [[ 9.98649606e-01 -4.95306773e-02 -1.56740677e-02 4.36727878e+02] [ 4.95339046e-02 9.98772426e-01 -1.82497442e-04 4.63070737e+00] [ 1.56638658e-02 -5.94146775e-04 9.99877138e-01 6.72594466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.34925415399994 meters Centerline goodness : 0.998889 Centerline is valid? [True, True] Translation: X:436.76, Y:4.63, Z:6.73 [[ 9.98590561e-01 -5.07071406e-02 -1.56740776e-02 4.36760214e+02] [ 5.07105260e-02 9.98713377e-01 -1.81639566e-04 4.63009183e+00] [ 1.56631214e-02 -6.13457164e-04 9.99877138e-01 6.72684882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.37925415399997 meters Centerline goodness : 0.998887 Centerline is valid? [True, True] Translation: X:436.79, Y:4.63, Z:6.73 [[ 9.98521646e-01 -5.20465656e-02 -1.56740910e-02 4.36792202e+02] [ 5.20501339e-02 9.98644457e-01 -1.80478009e-04 4.62967485e+00] [ 1.56622373e-02 -6.35627337e-04 9.99877138e-01 6.72703023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.40925415399994 meters Centerline goodness : 0.998891 Centerline is valid? [True, True] Translation: X:436.83, Y:4.63, Z:6.73 [[ 9.98549134e-01 -5.15164911e-02 -1.56741043e-02 4.36826568e+02] [ 5.15200125e-02 9.98671946e-01 -1.79312647e-04 4.62628589e+00] [ 1.56625258e-02 -6.28477562e-04 9.99877138e-01 6.73018749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.43925415399997 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:436.85, Y:4.63, Z:6.73 [[ 9.98223732e-01 -5.74772186e-02 -1.56764254e-02 4.36852863e+02] [ 5.74847034e-02 9.98346387e-01 2.68935227e-05 4.62838399e+00] [ 1.56489568e-02 -9.28000414e-04 9.99877117e-01 6.72680397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.46925415399994 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:436.88, Y:4.63, Z:6.73 [[ 9.98104671e-01 -5.95095883e-02 -1.56740317e-02 4.36884873e+02] [ 5.95140707e-02 9.98227450e-01 -1.80727410e-04 4.62849837e+00] [ 1.56570038e-02 -7.52440561e-04 9.99877138e-01 6.72685236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.49925415399997 meters Centerline goodness : 0.998848 Centerline is valid? [True, True] Translation: X:436.91, Y:4.63, Z:6.72 [[ 9.98109796e-01 -5.94235540e-02 -1.56740449e-02 4.36911866e+02] [ 5.94280437e-02 9.98232576e-01 -1.79579353e-04 4.62833840e+00] [ 1.56570135e-02 -7.52237914e-04 9.99877138e-01 6.72398784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.52925415399994 meters Centerline goodness : 0.998911 Centerline is valid? [True, True] Translation: X:436.95, Y:4.63, Z:6.73 [[ 9.97876992e-01 -6.32130706e-02 -1.56721760e-02 4.36945893e+02] [ 6.32154502e-02 9.97999844e-01 -3.44004637e-04 4.62857198e+00] [ 1.56625748e-02 -6.47449349e-04 9.99877125e-01 6.72735120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.5592541539999 meters Centerline goodness : 0.998829 Centerline is valid? [True, True] Translation: X:436.98, Y:4.63, Z:6.73 [[ 9.97555287e-01 -6.81011966e-02 -1.56740635e-02 4.36977233e+02] [ 6.81068435e-02 9.97678018e-01 -1.73853995e-04 4.62978657e+00] [ 1.56495083e-02 -8.94082018e-04 9.99877139e-01 6.72734774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.58925415399995 meters Centerline goodness : 0.999076 Centerline is valid? [True, True] Translation: X:437.01, Y:4.63, Z:6.73 [[ 9.97423379e-01 -7.00066116e-02 -1.56740731e-02 4.37009230e+02] [ 7.00125065e-02 9.97546099e-01 -1.72986921e-04 4.63042178e+00] [ 1.56477207e-02 -9.24839944e-04 9.99877139e-01 6.72889480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.6192541539999 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:437.04, Y:4.63, Z:6.73 [[ 9.97437321e-01 -6.98076949e-02 -1.56740857e-02 4.37036422e+02] [ 6.98135835e-02 9.97560040e-01 -1.71833029e-04 4.63112303e+00] [ 1.56478369e-02 -9.22871416e-04 9.99877139e-01 6.72953704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.64925415399995 meters Centerline goodness : 0.998852 Centerline is valid? [True, True] Translation: X:437.07, Y:4.63, Z:6.73 [[ 9.97158700e-01 -7.36812661e-02 -1.56715685e-02 4.37071913e+02] [ 7.36842281e-02 9.97281547e-01 -3.89105350e-04 4.63296876e+00] [ 1.56576359e-02 -7.66747646e-04 9.99877118e-01 6.73099108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.6792541539999 meters Centerline goodness : 0.998974 Centerline is valid? [True, True] Translation: X:437.10, Y:4.63, Z:6.73 [[ 9.97129681e-01 -7.40724460e-02 -1.56739524e-02 4.37104251e+02] [ 7.40788507e-02 9.97252372e-01 -1.72370872e-04 4.63435703e+00] [ 1.56436541e-02 -9.89232266e-04 9.99877141e-01 6.73168198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.70925415399995 meters Centerline goodness : 0.999037 Centerline is valid? [True, True] Translation: X:437.14, Y:4.64, Z:6.73 [[ 9.97108248e-01 -7.43604013e-02 -1.56739645e-02 4.37136112e+02] [ 7.43668589e-02 9.97230937e-01 -1.71258143e-04 4.63677305e+00] [ 1.56432972e-02 -9.94860603e-04 9.99877141e-01 6.73346174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.7392541539999 meters Centerline goodness : 0.998996 Centerline is valid? [True, True] Translation: X:437.17, Y:4.64, Z:6.73 [[ 9.97134791e-01 -7.40036143e-02 -1.56739770e-02 4.37167912e+02] [ 7.40100459e-02 9.97257481e-01 -1.70112313e-04 4.64137728e+00] [ 1.56435797e-02 -9.90406850e-04 9.99877141e-01 6.73314434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.76925415399995 meters Centerline goodness : 0.998701 Centerline is valid? [True, True] Translation: X:437.20, Y:4.64, Z:6.73 [[ 9.97165967e-01 -7.35823354e-02 -1.56739923e-02 4.37199705e+02] [ 7.35887375e-02 9.97288659e-01 -1.68685920e-04 4.64389521e+00] [ 1.56439071e-02 -9.85221448e-04 9.99877141e-01 6.73470012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.7992541539999 meters Centerline goodness : 0.998763 Centerline is valid? [True, True] Translation: X:437.23, Y:4.65, Z:6.73 [[ 9.97197354e-01 -7.31557459e-02 -1.56740049e-02 4.37230940e+02] [ 7.31621139e-02 9.97320047e-01 -1.67508866e-04 4.64632402e+00] [ 1.56442536e-02 -9.79703935e-04 9.99877141e-01 6.73459543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.82925415399995 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:437.26, Y:4.65, Z:6.73 [[ 9.97209905e-01 -7.29844525e-02 -1.56740142e-02 4.37263387e+02] [ 7.29908133e-02 9.97332599e-01 -1.66631913e-04 4.64858744e+00] [ 1.56443669e-02 -9.77892051e-04 9.99877141e-01 6.73425708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.8592541539999 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:437.30, Y:4.65, Z:6.73 [[ 9.97137261e-01 -7.39703137e-02 -1.56740294e-02 4.37295230e+02] [ 7.39768182e-02 9.97259948e-01 -1.65195531e-04 4.65158554e+00] [ 1.56433013e-02 -9.94792201e-04 9.99877141e-01 6.73436557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.88925415399996 meters Centerline goodness : 0.998936 Centerline is valid? [True, True] Translation: X:437.32, Y:4.65, Z:6.73 [[ 9.97175535e-01 -7.34525476e-02 -1.56740415e-02 4.37323162e+02] [ 7.34590065e-02 9.97298224e-01 -1.64036253e-04 4.65284403e+00] [ 1.56437426e-02 -9.87826578e-04 9.99877141e-01 6.73067705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.91925415399993 meters Centerline goodness : 0.998867 Centerline is valid? [True, True] Translation: X:437.36, Y:4.65, Z:6.73 [[ 9.96963660e-01 -7.62746771e-02 -1.56727042e-02 4.37358021e+02] [ 7.62794878e-02 9.97086433e-01 -2.91480872e-04 4.65468196e+00] [ 1.56492733e-02 -9.04910010e-04 9.99877133e-01 6.73492584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.94925415399996 meters Centerline goodness : 0.998739 Centerline is valid? [True, True] Translation: X:437.39, Y:4.66, Z:6.73 [[ 9.96727050e-01 -7.93064400e-02 -1.56740464e-02 4.37389122e+02] [ 7.93136820e-02 9.96849695e-01 -1.60029010e-04 4.65829270e+00] [ 1.56373597e-02 -1.08366109e-03 9.99877142e-01 6.73467290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.97925415399993 meters Centerline goodness : 0.998760 Centerline is valid? [True, True] Translation: X:437.42, Y:4.66, Z:6.73 [[ 9.96610374e-01 -8.07594350e-02 -1.56740693e-02 4.37421827e+02] [ 8.07668914e-02 9.96733006e-01 -1.57750780e-04 4.66039954e+00] [ 1.56356021e-02 -1.10872979e-03 9.99877142e-01 6.73496450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.00925415399996 meters Centerline goodness : 0.998759 Centerline is valid? [True, True] Translation: X:437.45, Y:4.66, Z:6.73 [[ 9.96525815e-01 -8.17962277e-02 -1.56740867e-02 4.37453040e+02] [ 8.18038390e-02 9.96648437e-01 -1.56000903e-04 4.66224197e+00] [ 1.56343143e-02 -1.12674154e-03 9.99877142e-01 6.73484248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.03925415399993 meters Centerline goodness : 0.998867 Centerline is valid? [True, True] Translation: X:437.49, Y:4.66, Z:6.74 [[ 9.96507127e-01 -8.20235890e-02 -1.56740953e-02 4.37486355e+02] [ 8.20312418e-02 9.96629746e-01 -1.55134202e-04 4.66394625e+00] [ 1.56339943e-02 -1.13117317e-03 9.99877142e-01 6.73513107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.06925415399996 meters Centerline goodness : 0.999015 Centerline is valid? [True, True] Translation: X:437.52, Y:4.67, Z:6.74 [[ 9.96581216e-01 -8.11184436e-02 -1.56741123e-02 4.37518946e+02] [ 8.11260122e-02 9.96703841e-01 -1.53402304e-04 4.66769328e+00] [ 1.56348917e-02 -1.11870037e-03 9.99877142e-01 6.73585096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.09925415399994 meters Centerline goodness : 0.998698 Centerline is valid? [True, True] Translation: X:437.56, Y:4.67, Z:6.74 [[ 9.96941180e-01 -7.65676474e-02 -1.56741289e-02 4.37556992e+02] [ 7.65746830e-02 9.97063837e-01 -1.51679360e-04 4.66632767e+00] [ 1.56397209e-02 -1.04902606e-03 9.99877142e-01 6.73888942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.12925415399997 meters Centerline goodness : 0.998613 Centerline is valid? [True, True] Translation: X:437.58, Y:4.67, Z:6.74 [[ 9.96789221e-01 -7.85206659e-02 -1.56765173e-02 4.37582286e+02] [ 7.85319932e-02 9.96911588e-01 1.07331122e-04 4.67254959e+00] [ 1.56196741e-02 -1.33809466e-03 9.99877110e-01 6.73837385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.15925415399994 meters Centerline goodness : 0.998910 Centerline is valid? [True, True] Translation: X:437.61, Y:4.67, Z:6.74 [[ 9.96945598e-01 -7.65101389e-02 -1.56739992e-02 4.37613972e+02] [ 7.65171600e-02 9.97068253e-01 -1.52142668e-04 4.67493485e+00] [ 1.56396875e-02 -1.04765194e-03 9.99877144e-01 6.73984370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.18925415399997 meters Centerline goodness : 0.998886 Centerline is valid? [True, True] Translation: X:437.65, Y:4.68, Z:6.74 [[ 9.97266106e-01 -7.22124576e-02 -1.56740203e-02 4.37646584e+02] [ 7.22189845e-02 9.97388789e-01 -1.49937979e-04 4.67933322e+00] [ 1.56439195e-02 -9.82433766e-04 9.99877144e-01 6.74165697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.21925415399994 meters Centerline goodness : 0.998908 Centerline is valid? [True, True] Translation: X:437.68, Y:4.68, Z:6.74 [[ 9.97469085e-01 -6.93523610e-02 -1.56740311e-02 4.37678204e+02] [ 6.93585539e-02 9.97591785e-01 -1.48800088e-04 4.68145401e+00] [ 1.56466043e-02 -9.38704644e-04 9.99877144e-01 6.73935895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.24925415399997 meters Centerline goodness : 0.998906 Centerline is valid? [True, True] Translation: X:437.71, Y:4.68, Z:6.74 [[ 9.97621960e-01 -6.71174460e-02 -1.56739514e-02 4.37710847e+02] [ 6.71232305e-02 9.97744680e-01 -1.57323567e-04 4.68320192e+00] [ 1.56491608e-02 -8.95136807e-04 9.99877144e-01 6.74230991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.27925415399994 meters Centerline goodness : 0.999135 Centerline is valid? [True, True] Translation: X:437.74, Y:4.69, Z:6.74 [[ 9.97808891e-01 -6.42786224e-02 -1.56740593e-02 4.37743708e+02] [ 6.42842394e-02 9.97931619e-01 -1.45720382e-04 4.68518166e+00] [ 1.56510060e-02 -8.62193885e-04 9.99877144e-01 6.74347609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.3092541539999 meters Centerline goodness : 0.999006 Centerline is valid? [True, True] Translation: X:437.77, Y:4.69, Z:6.74 [[ 9.98160615e-01 -5.85636141e-02 -1.56745246e-02 4.37774387e+02] [ 5.85693271e-02 9.98283339e-01 -9.47215382e-05 4.68960967e+00] [ 1.56531640e-02 -8.23499048e-04 9.99877143e-01 6.74134322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.33925415399995 meters Centerline goodness : 0.999175 Centerline is valid? [True, True] Translation: X:437.81, Y:4.69, Z:6.74 [[ 9.98342561e-01 -5.53755716e-02 -1.56740700e-02 4.37805457e+02] [ 5.53801183e-02 9.98465333e-01 -1.44150382e-04 4.69163995e+00] [ 1.56579979e-02 -7.24120390e-04 9.99877144e-01 6.74072922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.3692541539999 meters Centerline goodness : 0.999237 Centerline is valid? [True, True] Translation: X:437.84, Y:4.69, Z:6.74 [[ 9.98519471e-01 -5.20882778e-02 -1.56740776e-02 4.37837764e+02] [ 5.20924332e-02 9.98642257e-01 -1.43324385e-04 4.69320710e+00] [ 1.56602617e-02 -6.73388649e-04 9.99877144e-01 6.74030022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.39925415399995 meters Centerline goodness : 0.999132 Centerline is valid? [True, True] Translation: X:437.87, Y:4.69, Z:6.74 [[ 9.98694978e-01 -4.86072517e-02 -1.56740875e-02 4.37868511e+02] [ 4.86109963e-02 9.98817777e-01 -1.42227099e-04 4.69484503e+00] [ 1.56624705e-02 -6.19891521e-04 9.99877144e-01 6.73989839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.4292541539999 meters Centerline goodness : 0.999150 Centerline is valid? [True, True] Translation: X:437.90, Y:4.70, Z:6.74 [[ 9.98866108e-01 -4.49535392e-02 -1.56740949e-02 4.37900431e+02] [ 4.49568473e-02 9.98988920e-01 -1.41409541e-04 4.69654775e+00] [ 1.56646040e-02 -5.63408693e-04 9.99877144e-01 6.74039116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.45925415399995 meters Centerline goodness : 0.998892 Centerline is valid? [True, True] Translation: X:437.93, Y:4.70, Z:6.74 [[ 9.99178583e-01 -3.73695174e-02 -1.56741046e-02 4.37932270e+02] [ 3.73719101e-02 9.99301416e-01 -1.40326178e-04 4.70010237e+00] [ 1.56683988e-02 -4.45560316e-04 9.99877144e-01 6.74370729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.4892541539999 meters Centerline goodness : 0.999126 Centerline is valid? [True, True] Translation: X:437.96, Y:4.70, Z:6.75 [[ 9.99319748e-01 -3.33820967e-02 -1.56741149e-02 4.37964389e+02] [ 3.33840173e-02 9.99442589e-01 -1.39171158e-04 4.70193950e+00] [ 1.56700237e-02 -3.84188435e-04 9.99877144e-01 6.74522295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.51925415399995 meters Centerline goodness : 0.999126 Centerline is valid? [True, True] Translation: X:438.00, Y:4.70, Z:6.75 [[ 9.99320968e-01 -3.33455244e-02 -1.56741250e-02 4.37996227e+02] [ 3.33474586e-02 9.99443809e-01 -1.38018754e-04 4.70218999e+00] [ 1.56700095e-02 -3.84767198e-04 9.99877144e-01 6.74572172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.5492541539999 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:438.03, Y:4.70, Z:6.74 [[ 9.99454719e-01 -2.90617839e-02 -1.56741300e-02 4.38027354e+02] [ 2.90632006e-02 9.99577567e-01 -1.37445338e-04 4.70371532e+00] [ 1.56715032e-02 -3.18169993e-04 9.99877144e-01 6.74459837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.57925415399995 meters Centerline goodness : 0.999125 Centerline is valid? [True, True] Translation: X:438.06, Y:4.71, Z:6.75 [[ 9.99642756e-01 -2.16490629e-02 -1.56741463e-02 4.38057652e+02] [ 2.16495980e-02 9.99765611e-01 -1.35560536e-04 4.70691868e+00] [ 1.56734072e-02 -2.03826860e-04 9.99877144e-01 6.74915050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.6092541539999 meters Centerline goodness : 0.998996 Centerline is valid? [True, True] Translation: X:438.09, Y:4.71, Z:6.75 [[ 9.99697891e-01 -1.89327244e-02 -1.56741463e-02 4.38085522e+02] [ 1.89329257e-02 9.99820747e-01 -1.35560536e-04 4.70966553e+00] [ 1.56739032e-02 -1.61237866e-04 9.99877144e-01 6.75030252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.63925415399996 meters Centerline goodness : 0.998975 Centerline is valid? [True, True] Translation: X:438.12, Y:4.71, Z:6.75 [[ 9.99752845e-01 -1.57670341e-02 -1.56732144e-02 4.38116049e+02] [ 1.57652087e-02 9.99875693e-01 -2.40019017e-04 4.70851034e+00] [ 1.56750505e-02 -7.13180073e-06 9.99877139e-01 6.74800055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.66925415399993 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:438.14, Y:4.71, Z:6.75 [[ 9.99783533e-01 -1.36824838e-02 -1.56741097e-02 4.38144003e+02] [ 1.36819819e-02 9.99906388e-01 -1.39262471e-04 4.70871802e+00] [ 1.56745479e-02 -7.52205594e-05 9.99877144e-01 6.75124098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.69925415399996 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:438.17, Y:4.71, Z:6.75 [[ 9.99819207e-01 -1.07646111e-02 -1.56740678e-02 4.38171433e+02] [ 1.07636790e-02 9.99942060e-01 -1.43828833e-04 4.70859671e+00] [ 1.56747079e-02 -2.49078043e-05 9.99877144e-01 6.74846960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.72925415399993 meters Centerline goodness : 0.999210 Centerline is valid? [True, True] Translation: X:438.20, Y:4.71, Z:6.75 [[ 9.99816932e-01 -1.09739364e-02 -1.56740494e-02 4.38199571e+02] [ 1.09729990e-02 9.99939784e-01 -1.45806225e-04 4.70856235e+00] [ 1.56747056e-02 -2.62117955e-05 9.99877144e-01 6.75185007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.75925415399996 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:438.23, Y:4.71, Z:6.75 [[ 9.99810884e-01 -1.15118253e-02 -1.56740065e-02 4.38227637e+02] [ 1.15108839e-02 9.99933736e-01 -1.50280362e-04 4.70806083e+00] [ 1.56746979e-02 -3.01697281e-05 9.99877144e-01 6.75215778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.78925415399993 meters Centerline goodness : 0.999147 Centerline is valid? [True, True] Translation: X:438.26, Y:4.71, Z:6.75 [[ 9.99794104e-01 -1.28870725e-02 -1.56739626e-02 4.38255610e+02] [ 1.28862303e-02 9.99916957e-01 -1.54728018e-04 4.70751629e+00] [ 1.56746550e-02 -4.72821316e-05 9.99877144e-01 6.75295048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.81925415399996 meters Centerline goodness : 0.999126 Centerline is valid? [True, True] Translation: X:438.29, Y:4.70, Z:6.75 [[ 9.99804594e-01 -1.20457960e-02 -1.56739169e-02 4.38293623e+02] [ 1.20447801e-02 9.99927446e-01 -1.59222138e-04 4.69940749e+00] [ 1.56746977e-02 -2.95978573e-05 9.99877144e-01 6.75185918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.84925415399994 meters Centerline goodness : 0.999276 Centerline is valid? [True, True] Translation: X:438.32, Y:4.70, Z:6.75 [[ 9.99679063e-01 -1.98995034e-02 -1.56773939e-02 4.38315756e+02] [ 1.99051245e-02 9.99801853e-01 2.02571979e-04 4.70363821e+00] [ 1.56702564e-02 -5.14567443e-04 9.99877082e-01 6.75444828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.87925415399997 meters Centerline goodness : 0.999021 Centerline is valid? [True, True] Translation: X:438.34, Y:4.70, Z:6.75 [[ 9.99606785e-01 -2.32510709e-02 -1.56736232e-02 4.38344265e+02] [ 2.32513866e-02 9.99729637e-01 -1.62108170e-04 4.70216311e+00] [ 1.56731548e-02 -2.02389045e-04 9.99877148e-01 6.75455298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.90925415399994 meters Centerline goodness : 0.998833 Centerline is valid? [True, True] Translation: X:438.37, Y:4.70, Z:6.75 [[ 9.99523701e-01 -2.65840130e-02 -1.56736142e-02 4.38373548e+02] [ 2.65847248e-02 9.99646550e-01 -1.62970234e-04 4.70017479e+00] [ 1.56724068e-02 -2.53786110e-04 9.99877148e-01 6.75432056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.93925415399997 meters Centerline goodness : 0.999153 Centerline is valid? [True, True] Translation: X:438.40, Y:4.70, Z:6.75 [[ 9.99329589e-01 -3.30864178e-02 -1.56736112e-02 4.38404260e+02] [ 3.30879245e-02 9.99452431e-01 -1.63255195e-04 4.69597585e+00] [ 1.56704304e-02 -3.55461518e-04 9.99877148e-01 6.75470969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.96925415399994 meters Centerline goodness : 0.999195 Centerline is valid? [True, True] Translation: X:438.44, Y:4.69, Z:6.76 [[ 9.99226966e-01 -3.60528484e-02 -1.56736112e-02 4.38436059e+02] [ 3.60547197e-02 9.99349804e-01 -1.63255195e-04 4.69432347e+00] [ 1.56693061e-02 -4.01978666e-04 9.99877148e-01 6.75583319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.99925415399997 meters Centerline goodness : 0.999133 Centerline is valid? [True, True] Translation: X:438.47, Y:4.69, Z:6.76 [[ 9.99120376e-01 -3.88948694e-02 -1.56736232e-02 4.38468281e+02] [ 3.88971082e-02 9.99243208e-01 -1.62097453e-04 4.69255644e+00] [ 1.56680663e-02 -4.47703750e-04 9.99877148e-01 6.75675820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.02925415399994 meters Centerline goodness : 0.999008 Centerline is valid? [True, True] Translation: X:438.50, Y:4.69, Z:6.76 [[ 9.99008769e-01 -4.16631368e-02 -1.56736351e-02 4.38499763e+02] [ 4.16657340e-02 9.99131593e-01 -1.60941340e-04 4.69101504e+00] [ 1.56667293e-02 -4.92271700e-04 9.99877148e-01 6.75699023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.0592541539999 meters Centerline goodness : 0.998884 Centerline is valid? [True, True] Translation: X:438.53, Y:4.69, Z:6.76 [[ 9.98775821e-01 -4.69169094e-02 -1.56736533e-02 4.38530653e+02] [ 4.69201807e-02 9.98898629e-01 -1.59149621e-04 4.68763551e+00] [ 1.56638576e-02 -5.76455851e-04 9.99877148e-01 6.75671450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.08925415399995 meters Centerline goodness : 0.999028 Centerline is valid? [True, True] Translation: X:438.56, Y:4.69, Z:6.76 [[ 9.98644049e-01 -4.96427158e-02 -1.56736619e-02 4.38563321e+02] [ 4.96463356e-02 9.98766848e-01 -1.58296523e-04 4.68622199e+00] [ 1.56621921e-02 -6.20057998e-04 9.99877148e-01 6.75770109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.1192541539999 meters Centerline goodness : 0.999114 Centerline is valid? [True, True] Translation: X:438.60, Y:4.69, Z:6.76 [[ 9.98498944e-01 -5.24804180e-02 -1.56736732e-02 4.38595177e+02] [ 5.24844045e-02 9.98621731e-01 -1.57169595e-04 4.68501787e+00] [ 1.56603190e-02 -6.65689728e-04 9.99877148e-01 6.75802964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.14925415399995 meters Centerline goodness : 0.998859 Centerline is valid? [True, True] Translation: X:438.63, Y:4.68, Z:6.76 [[ 9.98332545e-01 -5.55559727e-02 -1.56736845e-02 4.38627229e+02] [ 5.55603552e-02 9.98455318e-01 -1.56031605e-04 4.68363101e+00] [ 1.56581422e-02 -7.15064050e-04 9.99877148e-01 6.75816343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.1792541539999 meters Centerline goodness : 0.998758 Centerline is valid? [True, True] Translation: X:438.66, Y:4.68, Z:6.76 [[ 9.97920486e-01 -6.25223084e-02 -1.56736959e-02 4.38659057e+02] [ 6.25275657e-02 9.98043225e-01 -1.54882588e-04 4.68042876e+00] [ 1.56527096e-02 -8.25477541e-04 9.99877148e-01 6.75762524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.20925415399995 meters Centerline goodness : 0.998927 Centerline is valid? [True, True] Translation: X:438.69, Y:4.68, Z:6.76 [[ 9.97684651e-01 -6.61790961e-02 -1.56737099e-02 4.38691438e+02] [ 6.61848256e-02 9.97807369e-01 -1.53451027e-04 4.67899947e+00] [ 1.56494985e-02 -8.84266021e-04 9.99877148e-01 6.75836294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.2392541539999 meters Centerline goodness : 0.998947 Centerline is valid? [True, True] Translation: X:438.72, Y:4.68, Z:6.76 [[ 9.97445735e-01 -6.96874415e-02 -1.56737211e-02 4.38722858e+02] [ 6.96936205e-02 9.97568432e-01 -1.52301514e-04 4.67787134e+00] [ 1.56462228e-02 -9.40445872e-04 9.99877148e-01 6.75757864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.26925415399995 meters Centerline goodness : 0.998736 Centerline is valid? [True, True] Translation: X:438.76, Y:4.68, Z:6.76 [[ 9.97225144e-01 -7.27760047e-02 -1.56737293e-02 4.38755534e+02] [ 7.27825771e-02 9.97347820e-01 -1.51444851e-04 4.67708429e+00] [ 1.56431813e-02 -9.89749800e-04 9.99877148e-01 6.75910695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.2992541539999 meters Centerline goodness : 0.998967 Centerline is valid? [True, True] Translation: X:438.79, Y:4.68, Z:6.76 [[ 9.97023426e-01 -7.54892181e-02 -1.56737459e-02 4.38787782e+02] [ 7.54961513e-02 9.97146082e-01 -1.49714480e-04 4.67660994e+00] [ 1.56403161e-02 -1.03403865e-03 9.99877148e-01 6.75971703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.32925415399995 meters Centerline goodness : 0.998926 Centerline is valid? [True, True] Translation: X:438.82, Y:4.68, Z:6.76 [[ 9.96770211e-01 -7.87621709e-02 -1.56737570e-02 4.38819582e+02] [ 7.87695252e-02 9.96892843e-01 -1.48543000e-04 4.67604037e+00] [ 1.56367557e-02 -1.08655116e-03 9.99877148e-01 6.75949748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.3592541539999 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:438.85, Y:4.68, Z:6.76 [[ 9.96743505e-01 -7.90994231e-02 -1.56737680e-02 4.38852289e+02] [ 7.91068372e-02 9.96866133e-01 -1.47370874e-04 4.67642109e+00] [ 1.56363054e-02 -1.09301125e-03 9.99877148e-01 6.75943564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.38925415399996 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:438.88, Y:4.68, Z:6.76 [[ 9.96844938e-01 -7.78106867e-02 -1.56737843e-02 4.38884723e+02] [ 7.78179697e-02 9.96967573e-01 -1.45617568e-04 4.67812048e+00] [ 1.56375853e-02 -1.07454393e-03 9.99877148e-01 6.75968889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.41925415399993 meters Centerline goodness : 0.998925 Centerline is valid? [True, True] Translation: X:438.92, Y:4.68, Z:6.76 [[ 9.96949646e-01 -7.64574054e-02 -1.56737950e-02 4.38917999e+02] [ 7.64645402e-02 9.97072291e-01 -1.44450571e-04 4.67942981e+00] [ 1.56389510e-02 -1.05447958e-03 9.99877148e-01 6.76027847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.44925415399996 meters Centerline goodness : 0.998844 Centerline is valid? [True, True] Translation: X:438.95, Y:4.68, Z:6.76 [[ 9.97097626e-01 -7.45027198e-02 -1.56738111e-02 4.38950080e+02] [ 7.45096417e-02 9.97220283e-01 -1.42686232e-04 4.68083094e+00] [ 1.56408728e-02 -1.02557795e-03 9.99877148e-01 6.76032887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.47925415399993 meters Centerline goodness : 0.998822 Centerline is valid? [True, True] Translation: X:438.98, Y:4.68, Z:6.76 [[ 9.97262533e-01 -7.22618265e-02 -1.56738243e-02 4.38983390e+02] [ 7.22684956e-02 9.97385204e-01 -1.41225326e-04 4.68271495e+00] [ 1.56430456e-02 -9.91884972e-04 9.99877148e-01 6.76095387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.50925415399996 meters Centerline goodness : 0.998841 Centerline is valid? [True, True] Translation: X:439.01, Y:4.69, Z:6.76 [[ 9.97596718e-01 -6.74916182e-02 -1.56738395e-02 4.39014433e+02] [ 6.74977275e-02 9.97719418e-01 -1.39508685e-04 4.68594254e+00] [ 1.56475097e-02 -9.18775143e-04 9.99877148e-01 6.76060023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.53925415399993 meters Centerline goodness : 0.999051 Centerline is valid? [True, True] Translation: X:439.05, Y:4.69, Z:6.76 [[ 9.97774688e-01 -6.48074321e-02 -1.56738470e-02 4.39047278e+02] [ 6.48132245e-02 9.97897403e-01 -1.38659469e-04 4.68754945e+00] [ 1.56498774e-02 -8.77521660e-04 9.99877148e-01 6.76293562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.56925415399996 meters Centerline goodness : 0.999029 Centerline is valid? [True, True] Translation: X:439.08, Y:4.69, Z:6.76 [[ 9.97963364e-01 -6.18340891e-02 -1.56738623e-02 4.39079833e+02] [ 6.18395433e-02 9.98086095e-01 -1.36910376e-04 4.68917417e+00] [ 1.56523298e-02 -8.32632949e-04 9.99877148e-01 6.76336855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.59925415399994 meters Centerline goodness : 0.999070 Centerline is valid? [True, True] Translation: X:439.11, Y:4.69, Z:6.76 [[ 9.98145603e-01 -5.88190810e-02 -1.56738774e-02 4.39113017e+02] [ 5.88241917e-02 9.98268349e-01 -1.35161071e-04 4.69112600e+00] [ 1.56546858e-02 -7.87092741e-04 9.99877148e-01 6.76394800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.62925415399997 meters Centerline goodness : 0.998754 Centerline is valid? [True, True] Translation: X:439.15, Y:4.68, Z:6.76 [[ 9.98948307e-01 -4.30883790e-02 -1.56738923e-02 4.39153419e+02] [ 4.30915829e-02 9.99071117e-01 -1.33414456e-04 4.68373636e+00] [ 1.56650817e-02 -5.42138684e-04 9.99877148e-01 6.75713228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.65925415399994 meters Centerline goodness : 0.999091 Centerline is valid? [True, True] Translation: X:439.17, Y:4.70, Z:6.77 [[ 9.98676448e-01 -4.89852946e-02 -1.56777822e-02 4.39173424e+02] [ 4.89971612e-02 9.98798848e-01 3.73465928e-04 4.69681541e+00] [ 1.56406564e-02 -1.14113845e-03 9.99877026e-01 6.76523855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.68925415399997 meters Centerline goodness : 0.999176 Centerline is valid? [True, True] Translation: X:439.21, Y:4.70, Z:6.77 [[ 9.98833426e-01 -4.56742156e-02 -1.56733271e-02 4.39205831e+02] [ 4.56776828e-02 9.98956221e-01 -1.36882106e-04 4.69883535e+00] [ 1.56632196e-02 -5.79198841e-04 9.99877156e-01 6.76594492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.71925415399994 meters Centerline goodness : 0.998982 Centerline is valid? [True, True] Translation: X:439.24, Y:4.70, Z:6.77 [[ 9.99109381e-01 -3.91764255e-02 -1.56733371e-02 4.39237368e+02] [ 3.91791121e-02 9.99232195e-01 -1.35726515e-04 4.70228617e+00] [ 1.56666203e-02 -4.78461797e-04 9.99877156e-01 6.76669767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.74925415399997 meters Centerline goodness : 0.996681 Centerline is valid? [True, True] Translation: X:439.27, Y:4.70, Z:6.76 [[ 9.99271401e-01 -3.47996138e-02 -1.56733445e-02 4.39268128e+02] [ 3.48017758e-02 9.99394226e-01 -1.34866650e-04 4.70406932e+00] [ 1.56685433e-02 -4.10691836e-04 9.99877156e-01 6.76433682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.77925415399994 meters Centerline goodness : 0.999046 Centerline is valid? [True, True] Translation: X:439.30, Y:4.71, Z:6.77 [[ 9.99339952e-01 -3.27723451e-02 -1.56727200e-02 4.39299201e+02] [ 3.27731353e-02 9.99462795e-01 -2.06485545e-04 4.70576542e+00] [ 1.56710676e-02 -3.07294920e-04 9.99877154e-01 6.76839529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.8092541539999 meters Centerline goodness : 0.999066 Centerline is valid? [True, True] Translation: X:439.33, Y:4.71, Z:6.77 [[ 9.99432609e-01 -2.98128474e-02 -1.56733431e-02 4.39330482e+02] [ 2.98144235e-02 9.99555442e-01 -1.33145178e-04 4.70709429e+00] [ 1.56703448e-02 -3.34222055e-04 9.99877157e-01 6.76916572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.83925415399995 meters Centerline goodness : 0.999086 Centerline is valid? [True, True] Translation: X:439.36, Y:4.71, Z:6.77 [[ 9.99555140e-01 -2.53745667e-02 -1.56733478e-02 4.39360725e+02] [ 2.53756060e-02 9.99677979e-01 -1.32587958e-04 4.70911750e+00] [ 1.56716650e-02 -2.65191723e-04 9.99877157e-01 6.77019784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.8692541539999 meters Centerline goodness : 0.999149 Centerline is valid? [True, True] Translation: X:439.39, Y:4.71, Z:6.77 [[ 9.99589524e-01 -2.39818563e-02 -1.56733548e-02 4.39391400e+02] [ 2.39827377e-02 9.99712364e-01 -1.31748288e-04 4.71008803e+00] [ 1.56720062e-02 -2.44195750e-04 9.99877157e-01 6.77068865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.89925415399995 meters Centerline goodness : 0.999065 Centerline is valid? [True, True] Translation: X:439.42, Y:4.71, Z:6.77 [[ 9.99612262e-01 -2.30146053e-02 -1.56733548e-02 4.39420609e+02] [ 2.30153678e-02 9.99735103e-01 -1.31748288e-04 4.71074436e+00] [ 1.56722351e-02 -2.29030823e-04 9.99877157e-01 6.77115330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.9292541539999 meters Centerline goodness : 0.999192 Centerline is valid? [True, True] Translation: X:439.45, Y:4.71, Z:6.77 [[ 9.99618100e-01 -2.27596082e-02 -1.56733552e-02 4.39450250e+02] [ 2.27603401e-02 9.99740941e-01 -1.31700225e-04 4.71099477e+00] [ 1.56722924e-02 -2.25080967e-04 9.99877157e-01 6.77167495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.95925415399995 meters Centerline goodness : 0.998957 Centerline is valid? [True, True] Translation: X:439.48, Y:4.71, Z:6.77 [[ 9.99659598e-01 -2.08574945e-02 -1.56733507e-02 4.39479959e+02] [ 2.08579842e-02 9.99782440e-01 -1.32244392e-04 4.70913768e+00] [ 1.56726990e-02 -1.94715124e-04 9.99877157e-01 6.76969993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.9892541539999 meters Centerline goodness : 0.999023 Centerline is valid? [True, True] Translation: X:439.51, Y:4.71, Z:6.77 [[ 9.99574672e-01 -2.45929043e-02 -1.56737090e-02 4.39508057e+02] [ 2.45945131e-02 9.99697505e-01 -9.01295675e-05 4.71091807e+00] [ 1.56711843e-02 -2.95396009e-04 9.99877156e-01 6.77330694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.01925415399995 meters Centerline goodness : 0.999129 Centerline is valid? [True, True] Translation: X:439.54, Y:4.71, Z:6.77 [[ 9.99551396e-01 -2.55216462e-02 -1.56733059e-02 4.39538276e+02] [ 2.55226433e-02 9.99674235e-01 -1.36434518e-04 4.71061622e+00] [ 1.56716822e-02 -2.63650883e-04 9.99877157e-01 6.77366636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.0492541539999 meters Centerline goodness : 0.998896 Centerline is valid? [True, True] Translation: X:439.57, Y:4.71, Z:6.77 [[ 9.99516535e-01 -2.68522400e-02 -1.56733059e-02 4.39568757e+02] [ 2.68534006e-02 9.99639373e-01 -1.36434518e-04 4.71032788e+00] [ 1.56713173e-02 -2.84513006e-04 9.99877157e-01 6.77428552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.07925415399995 meters Centerline goodness : 0.998897 Centerline is valid? [True, True] Translation: X:439.62, Y:4.69, Z:6.77 [[ 9.99734264e-01 -1.69041038e-02 -1.56733059e-02 4.39615559e+02] [ 1.69040420e-02 9.99857107e-01 -1.36434518e-04 4.69491541e+00] [ 1.56733726e-02 -1.28543958e-04 9.99877157e-01 6.76938258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.1092541539999 meters Centerline goodness : 0.999153 Centerline is valid? [True, True] Translation: X:439.63, Y:4.71, Z:6.78 [[ 9.99395440e-01 -3.10309591e-02 -1.56791187e-02 4.39626711e+02] [ 3.10448735e-02 9.99517784e-01 6.44777006e-04 4.70873841e+00] [ 1.56515499e-02 -1.13114346e-03 9.99876867e-01 6.77631404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.13925415399996 meters Centerline goodness : 0.998964 Centerline is valid? [True, True] Translation: X:439.66, Y:4.71, Z:6.78 [[ 9.99347130e-01 -3.25531537e-02 -1.56718116e-02 4.39658353e+02] [ 3.25548790e-02 9.99469939e-01 -1.45079407e-04 4.70823081e+00] [ 1.56682274e-02 -3.65209242e-04 9.99877179e-01 6.77720659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.16925415399993 meters Centerline goodness : 0.999008 Centerline is valid? [True, True] Translation: X:439.69, Y:4.71, Z:6.78 [[ 9.99296843e-01 -3.40619195e-02 -1.56718196e-02 4.39690011e+02] [ 3.40638437e-02 9.99419648e-01 -1.44212457e-04 4.70702397e+00] [ 1.56676366e-02 -3.89731361e-04 9.99877179e-01 6.77788562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.19925415399996 meters Centerline goodness : 0.999072 Centerline is valid? [True, True] Translation: X:439.72, Y:4.70, Z:6.78 [[ 9.99139956e-01 -3.83893493e-02 -1.56718246e-02 4.39721734e+02] [ 3.83918139e-02 9.99262752e-01 -1.43671454e-04 4.70387731e+00] [ 1.56657860e-02 -4.58121882e-04 9.99877179e-01 6.77863661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.22925415399993 meters Centerline goodness : 0.998756 Centerline is valid? [True, True] Translation: X:439.76, Y:4.69, Z:6.77 [[ 9.99352736e-01 -3.23805914e-02 -1.56718350e-02 4.39764785e+02] [ 3.23823355e-02 9.99475545e-01 -1.42521457e-04 4.69189128e+00] [ 1.56682308e-02 -3.65061412e-04 9.99877179e-01 6.77432804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.25925415399996 meters Centerline goodness : 0.998461 Centerline is valid? [True, True] Translation: X:439.80, Y:4.69, Z:6.77 [[ 9.99216787e-01 -3.63323231e-02 -1.56771956e-02 4.39796041e+02] [ 3.63432016e-02 9.99339284e-01 4.09472899e-04 4.69056568e+00] [ 1.56519603e-02 -9.78911674e-04 9.99877021e-01 6.77444872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.28925415399993 meters Centerline goodness : 0.998924 Centerline is valid? [True, True] Translation: X:439.81, Y:4.70, Z:6.78 [[ 9.98714709e-01 -4.81990574e-02 -1.56774153e-02 4.39811972e+02] [ 4.82117284e-02 9.98837045e-01 4.31078248e-04 4.69966822e+00] [ 1.56384057e-02 -1.18635948e-03 9.99877009e-01 6.77827292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.31925415399996 meters Centerline goodness : 0.998967 Centerline is valid? [True, True] Translation: X:439.84, Y:4.70, Z:6.78 [[ 9.98532557e-01 -5.18379534e-02 -1.56703583e-02 4.39844364e+02] [ 5.18414885e-02 9.98655310e-01 -1.80806355e-04 4.69731349e+00] [ 1.56586591e-02 -6.31833667e-04 9.99877196e-01 6.77759366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.34925415399994 meters Centerline goodness : 0.998799 Centerline is valid? [True, True] Translation: X:439.89, Y:4.69, Z:6.77 [[ 9.98944168e-01 -4.31855145e-02 -1.56703714e-02 4.39889437e+02] [ 4.31880040e-02 9.99066947e-01 -1.79662260e-04 4.68508491e+00] [ 1.56635089e-02 -4.97299496e-04 9.99877196e-01 6.77230727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.37925415399997 meters Centerline goodness : 0.998906 Centerline is valid? [True, True] Translation: X:439.90, Y:4.70, Z:6.78 [[ 9.98363626e-01 -5.49933426e-02 -1.56780638e-02 4.39902805e+02] [ 5.50087228e-02 9.98485722e-01 5.51125484e-04 4.69529749e+00] [ 1.56240146e-02 -1.41265390e-03 9.99876940e-01 6.77711033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.40925415399994 meters Centerline goodness : 0.998906 Centerline is valid? [True, True] Translation: X:439.94, Y:4.70, Z:6.78 [[ 9.98367186e-01 -5.49312526e-02 -1.56690522e-02 4.39935483e+02] [ 5.49350156e-02 9.98489914e-01 -1.90489518e-04 4.69600711e+00] [ 1.56558544e-02 -6.70601145e-04 9.99877215e-01 6.77783601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.43925415399997 meters Centerline goodness : 0.998799 Centerline is valid? [True, True] Translation: X:439.97, Y:4.70, Z:6.78 [[ 9.98341131e-01 -5.54027647e-02 -1.56690662e-02 4.39966255e+02] [ 5.54066038e-02 9.98463856e-01 -1.89332613e-04 4.69533121e+00] [ 1.56554858e-02 -6.79151208e-04 9.99877215e-01 6.77802667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.46925415399994 meters Centerline goodness : 0.998866 Centerline is valid? [True, True] Translation: X:440.00, Y:4.69, Z:6.78 [[ 9.98381103e-01 -5.46777241e-02 -1.56690884e-02 4.39998506e+02] [ 5.46815031e-02 9.98503830e-01 -1.87475922e-04 4.69349722e+00] [ 1.56558956e-02 -6.69636890e-04 9.99877215e-01 6.77883913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.49925415399997 meters Centerline goodness : 0.998782 Centerline is valid? [True, True] Translation: X:440.03, Y:4.69, Z:6.78 [[ 9.98467115e-01 -5.30838890e-02 -1.56691022e-02 4.40030187e+02] [ 5.30874902e-02 9.98589848e-01 -1.86317511e-04 4.69272905e+00] [ 1.56568968e-02 -6.45801402e-04 9.99877215e-01 6.77952620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.52925415399994 meters Centerline goodness : 0.998953 Centerline is valid? [True, True] Translation: X:440.06, Y:4.69, Z:6.78 [[ 9.98572791e-01 -5.10574106e-02 -1.56691243e-02 4.40062678e+02] [ 5.10607922e-02 9.98695530e-01 -1.84438869e-04 4.69241857e+00] [ 1.56581014e-02 -6.15902265e-04 9.99877215e-01 6.78056888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.5592541539999 meters Centerline goodness : 0.998910 Centerline is valid? [True, True] Translation: X:440.09, Y:4.69, Z:6.78 [[ 9.98848573e-01 -4.53432155e-02 -1.56691378e-02 4.40093423e+02] [ 4.53459127e-02 9.98971328e-01 -1.83289564e-04 4.69222812e+00] [ 1.56613303e-02 -5.27452834e-04 9.99877215e-01 6.78156003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.58925415399995 meters Centerline goodness : 0.998972 Centerline is valid? [True, True] Translation: X:440.13, Y:4.69, Z:6.78 [[ 9.98999669e-01 -4.18824366e-02 -1.56691477e-02 4.40125670e+02] [ 4.18847219e-02 9.99122433e-01 -1.82433517e-04 4.69215142e+00] [ 1.56630378e-02 -4.74046873e-04 9.99877215e-01 6.78230050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.6192541539999 meters Centerline goodness : 0.999098 Centerline is valid? [True, True] Translation: X:440.16, Y:4.69, Z:6.78 [[ 9.99141212e-01 -3.83577439e-02 -1.56691610e-02 4.40157478e+02] [ 3.83596142e-02 9.99263983e-01 -1.81282598e-04 4.69219724e+00] [ 1.56645819e-02 -4.19936058e-04 9.99877215e-01 6.78290555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.64925415399995 meters Centerline goodness : 0.998824 Centerline is valid? [True, True] Translation: X:440.19, Y:4.69, Z:6.78 [[ 9.99267726e-01 -3.49068660e-02 -1.56691743e-02 4.40188180e+02] [ 3.49083303e-02 9.99390502e-01 -1.80132174e-04 4.69203662e+00] [ 1.56659118e-02 -3.66984443e-04 9.99877215e-01 6.78288084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.6792541539999 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:440.22, Y:4.69, Z:6.78 [[ 9.99451239e-01 -2.91838421e-02 -1.56691841e-02 4.40218576e+02] [ 2.91846167e-02 9.99574022e-01 -1.79273737e-04 4.69028134e+00] [ 1.56677413e-02 -2.78123774e-04 9.99877215e-01 6.78299360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.70925415399995 meters Centerline goodness : 0.999096 Centerline is valid? [True, True] Translation: X:440.25, Y:4.69, Z:6.78 [[ 9.99502813e-01 -2.73606244e-02 -1.56691872e-02 4.40249251e+02] [ 2.73611794e-02 9.99625597e-01 -1.78998833e-04 4.68933074e+00] [ 1.56682182e-02 -2.49817606e-04 9.99877215e-01 6.78404283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.7392541539999 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:440.28, Y:4.69, Z:6.78 [[ 9.99536239e-01 -2.61109760e-02 -1.56691872e-02 4.40279066e+02] [ 2.61113774e-02 9.99659024e-01 -1.78998833e-04 4.68840358e+00] [ 1.56685183e-02 -2.30228242e-04 9.99877215e-01 6.78359057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.76925415399995 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:440.31, Y:4.69, Z:6.78 [[ 9.99537459e-01 -2.60642555e-02 -1.56691840e-02 4.40308799e+02] [ 2.60646468e-02 9.99660243e-01 -1.79282502e-04 4.68622238e+00] [ 1.56685331e-02 -2.29212169e-04 9.99877215e-01 6.78349845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.7992541539999 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:440.35, Y:4.68, Z:6.78 [[ 9.99651952e-01 -2.12238480e-02 -1.56691774e-02 4.40346535e+02] [ 2.12236356e-02 9.99774737e-01 -1.79860485e-04 4.67775865e+00] [ 1.56694650e-02 -1.52759025e-04 9.99877215e-01 6.77931140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.82925415399995 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:440.37, Y:4.68, Z:6.78 [[ 9.99462020e-01 -2.88096772e-02 -1.56739314e-02 4.40367145e+02] [ 2.88171116e-02 9.99584670e-01 2.48622731e-04 4.68357297e+00] [ 1.56602588e-02 -7.00166407e-04 9.99877125e-01 6.78256161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.8592541539999 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:440.40, Y:4.68, Z:6.78 [[ 9.99403850e-01 -3.07642153e-02 -1.56686839e-02 4.40396920e+02] [ 3.07650432e-02 9.99526626e-01 -1.88254492e-04 4.68233594e+00] [ 1.56670583e-02 -2.93905473e-04 9.99877221e-01 6.78220830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.88925415399996 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:440.43, Y:4.68, Z:6.78 [[ 9.99270006e-01 -3.48417594e-02 -1.56686841e-02 4.40427653e+02] [ 3.48430885e-02 9.99392778e-01 -1.88237436e-04 4.67859500e+00] [ 1.56657283e-02 -3.57845324e-04 9.99877221e-01 6.78278179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.91925415399993 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] Translation: X:440.46, Y:4.68, Z:6.78 [[ 9.99206491e-01 -3.66180294e-02 -1.56686841e-02 4.40459111e+02] [ 3.66195767e-02 9.99329261e-01 -1.88237436e-04 4.67685237e+00] [ 1.56650674e-02 -3.85692512e-04 9.99877221e-01 6.78334951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.94925415399996 meters Centerline goodness : 0.998934 Centerline is valid? [True, True] Translation: X:440.49, Y:4.68, Z:6.78 [[ 9.99130704e-01 -3.86306565e-02 -1.56686908e-02 4.40490919e+02] [ 3.86324599e-02 9.99253470e-01 -1.87677519e-04 4.67576640e+00] [ 1.56642438e-02 -4.17805698e-04 9.99877221e-01 6.78445757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.97925415399993 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:440.52, Y:4.67, Z:6.79 [[ 9.99004241e-01 -4.17734200e-02 -1.56686976e-02 4.40520893e+02] [ 4.17756185e-02 9.99127000e-01 -1.87108093e-04 4.67389619e+00] [ 1.56628350e-02 -4.67647757e-04 9.99877221e-01 6.78627784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.00925415399996 meters Centerline goodness : 0.998995 Centerline is valid? [True, True] Translation: X:440.55, Y:4.67, Z:6.79 [[ 9.98960357e-01 -4.28100179e-02 -1.56687010e-02 4.40552666e+02] [ 4.28123482e-02 9.99083114e-01 -1.86825775e-04 4.67306074e+00] [ 1.56623326e-02 -4.84182340e-04 9.99877221e-01 6.78817507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.03925415399993 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:440.58, Y:4.67, Z:6.79 [[ 9.98937613e-01 -4.33374860e-02 -1.56687079e-02 4.40584032e+02] [ 4.33398902e-02 9.99060368e-01 -1.86246703e-04 4.67240891e+00] [ 1.56620565e-02 -4.93031242e-04 9.99877221e-01 6.78913799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.06925415399996 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:440.61, Y:4.67, Z:6.79 [[ 9.98928964e-01 -4.35363875e-02 -1.56687181e-02 4.40614816e+02] [ 4.35388297e-02 9.99051718e-01 -1.85381517e-04 4.67161777e+00] [ 1.56619306e-02 -4.97014683e-04 9.99877221e-01 6.78993960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.09925415399994 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:440.65, Y:4.67, Z:6.79 [[ 9.98959690e-01 -4.28255622e-02 -1.56687282e-02 4.40646709e+02] [ 4.28279304e-02 9.99082446e-01 -1.84525493e-04 4.67020637e+00] [ 1.56622537e-02 -4.86725672e-04 9.99877221e-01 6.79155931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.12925415399997 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:440.68, Y:4.67, Z:6.79 [[ 9.98993173e-01 -4.20372518e-02 -1.56687413e-02 4.40679103e+02] [ 4.20395409e-02 9.99115931e-01 -1.83402005e-04 4.66974936e+00] [ 1.56625988e-02 -4.75489341e-04 9.99877221e-01 6.79291595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.15925415399994 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:440.71, Y:4.67, Z:6.79 [[ 9.99036583e-01 -4.09926308e-02 -1.56687546e-02 4.40710050e+02] [ 4.09948094e-02 9.99159343e-01 -1.82262918e-04 4.66931298e+00] [ 1.56630540e-02 -4.60250284e-04 9.99877221e-01 6.79368583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.18925415399997 meters Centerline goodness : 0.999247 Centerline is valid? [True, True] Translation: X:440.74, Y:4.67, Z:6.79 [[ 9.99074873e-01 -4.00485701e-02 -1.56687763e-02 4.40741090e+02] [ 4.00506622e-02 9.99197634e-01 -1.80377713e-04 4.66891193e+00] [ 1.56634281e-02 -4.47334025e-04 9.99877221e-01 6.79484445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.21925415399994 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:440.77, Y:4.67, Z:6.79 [[ 9.99105288e-01 -3.92824720e-02 -1.56687829e-02 4.40771806e+02] [ 3.92844789e-02 9.99228051e-01 -1.79805046e-04 4.66855962e+00] [ 1.56637506e-02 -4.35895798e-04 9.99877221e-01 6.79463291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.24925415399997 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:440.80, Y:4.67, Z:6.80 [[ 9.99147440e-01 -3.81955323e-02 -1.56682556e-02 4.40802750e+02] [ 3.81966928e-02 9.99270215e-01 -2.25293940e-04 4.66624817e+00] [ 1.56654264e-02 -3.73373683e-04 9.99877220e-01 6.79566432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.27925415399994 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:440.83, Y:4.66, Z:6.80 [[ 9.99160982e-01 -3.78394126e-02 -1.56687862e-02 4.40833254e+02] [ 3.78412580e-02 9.99283747e-01 -1.78794927e-04 4.66483505e+00] [ 1.56643289e-02 -4.14281667e-04 9.99877221e-01 6.79536748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.3092541539999 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:440.86, Y:4.66, Z:6.80 [[ 9.99168075e-01 -3.76516593e-02 -1.56687895e-02 4.40863551e+02] [ 3.76534862e-02 9.99290840e-01 -1.78507186e-04 4.66286642e+00] [ 1.56643989e-02 -4.11625867e-04 9.99877221e-01 6.79504056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.33925415399995 meters Centerline goodness : 0.999604 Centerline is valid? [True, True] Translation: X:440.89, Y:4.66, Z:6.79 [[ 9.99174590e-01 -3.74783495e-02 -1.56687927e-02 4.40894087e+02] [ 3.74801595e-02 9.99297356e-01 -1.78221723e-04 4.66246580e+00] [ 1.56644626e-02 -4.09194235e-04 9.99877221e-01 6.79474006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.3692541539999 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:440.93, Y:4.66, Z:6.79 [[ 9.99181158e-01 -3.73028437e-02 -1.56687960e-02 4.40925144e+02] [ 3.73046366e-02 9.99303924e-01 -1.77939015e-04 4.66196199e+00] [ 1.56645269e-02 -4.06725428e-04 9.99877221e-01 6.79457977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.39925415399995 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:440.96, Y:4.66, Z:6.79 [[ 9.99183798e-01 -3.72320588e-02 -1.56688025e-02 4.40956677e+02] [ 3.72338520e-02 9.99306564e-01 -1.77364186e-04 4.66138495e+00] [ 1.56645408e-02 -4.06190451e-04 9.99877221e-01 6.79438527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.4292541539999 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:440.99, Y:4.66, Z:6.79 [[ 9.99168472e-01 -3.76411089e-02 -1.56688090e-02 4.40986327e+02] [ 3.76429614e-02 9.99291237e-01 -1.76787743e-04 4.66008026e+00] [ 1.56643580e-02 -4.13179633e-04 9.99877221e-01 6.79299771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.45925415399995 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:441.02, Y:4.66, Z:6.79 [[ 9.99126374e-01 -3.87425549e-02 -1.56685321e-02 4.41018203e+02] [ 3.87441603e-02 9.99249143e-01 -2.01193655e-04 4.65962791e+00] [ 1.56645620e-02 -4.06046233e-04 9.99877221e-01 6.79228585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.4892541539999 meters Centerline goodness : 0.999267 Centerline is valid? [True, True] Translation: X:441.05, Y:4.66, Z:6.79 [[ 9.99088214e-01 -3.97143399e-02 -1.56688110e-02 4.41049292e+02] [ 3.97164527e-02 9.99210975e-01 -1.76429429e-04 4.65925802e+00] [ 1.56634547e-02 -4.46041027e-04 9.99877221e-01 6.79271878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.51925415399995 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:441.08, Y:4.66, Z:6.79 [[ 9.99029679e-01 -4.11605200e-02 -1.56688173e-02 4.41080122e+02] [ 4.11628194e-02 9.99152437e-01 -1.75862601e-04 4.65914556e+00] [ 1.56627756e-02 -4.69280740e-04 9.99877221e-01 6.79297282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.5492541539999 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:441.11, Y:4.66, Z:6.79 [[ 9.98883177e-01 -4.45745147e-02 -1.56688205e-02 4.41110240e+02] [ 4.45772381e-02 9.99005925e-01 -1.75581443e-04 4.65871774e+00] [ 1.56610710e-02 -5.23087392e-04 9.99877221e-01 6.79381953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.57925415399995 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:441.14, Y:4.66, Z:6.80 [[ 9.98800945e-01 -4.63806119e-02 -1.56688236e-02 4.41141874e+02] [ 4.63835615e-02 9.98923688e-01 -1.75305463e-04 4.65862901e+00] [ 1.56600898e-02 -5.51680580e-04 9.99877221e-01 6.79592687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.6092541539999 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:441.17, Y:4.66, Z:6.80 [[ 9.98578798e-01 -5.09398785e-02 -1.56688300e-02 4.41172736e+02] [ 5.09433974e-02 9.98701527e-01 -1.74728768e-04 4.65738576e+00] [ 1.56573851e-02 -6.23742990e-04 9.99877221e-01 6.79652615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.63925415399996 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:441.21, Y:4.66, Z:6.80 [[ 9.98448550e-01 -5.34320172e-02 -1.56688493e-02 4.41205196e+02] [ 5.34358699e-02 9.98571268e-01 -1.72979570e-04 4.65704688e+00] [ 1.56557054e-02 -6.64567392e-04 9.99877221e-01 6.79726227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.66925415399993 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:441.24, Y:4.66, Z:6.80 [[ 9.98372468e-01 -5.48352174e-02 -1.56688621e-02 4.41239145e+02] [ 5.48392608e-02 9.98495181e-01 -1.71814090e-04 4.65504178e+00] [ 1.56547047e-02 -6.87734358e-04 9.99877221e-01 6.79723352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.69925415399996 meters Centerline goodness : 0.999146 Centerline is valid? [True, True] Translation: X:441.27, Y:4.66, Z:6.80 [[ 9.98153063e-01 -5.86932369e-02 -1.56705581e-02 4.41266788e+02] [ 5.87001966e-02 9.98275657e-01 -1.58646604e-05 4.65695235e+00] [ 1.56444678e-02 -9.04029479e-04 9.99877209e-01 6.79762290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.72925415399993 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:441.30, Y:4.66, Z:6.80 [[ 9.97892154e-01 -6.29741083e-02 -1.56687684e-02 4.41298855e+02] [ 6.29790931e-02 9.98014831e-01 -1.75584503e-04 4.65692787e+00] [ 1.56487206e-02 -8.11590428e-04 9.99877222e-01 6.79899616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.75925415399996 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:441.33, Y:4.66, Z:6.80 [[ 9.97762172e-01 -6.50010501e-02 -1.56687813e-02 4.41329669e+02] [ 6.50063022e-02 9.97884838e-01 -1.74427619e-04 4.65708994e+00] [ 1.56469773e-02 -8.44532253e-04 9.99877222e-01 6.79950309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.78925415399993 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:441.36, Y:4.66, Z:6.80 [[ 9.97666759e-01 -6.64494275e-02 -1.56687909e-02 4.41361952e+02] [ 6.64548712e-02 9.97789417e-01 -1.73563174e-04 4.65724084e+00] [ 1.56456869e-02 -8.68109270e-04 9.99877222e-01 6.80020292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.81925415399996 meters Centerline goodness : 0.999065 Centerline is valid? [True, True] Translation: X:441.39, Y:4.66, Z:6.80 [[ 9.97576149e-01 -6.77961349e-02 -1.56688034e-02 4.41394399e+02] [ 6.78017620e-02 9.97698798e-01 -1.72425663e-04 4.65778073e+00] [ 1.56444361e-02 -8.90364750e-04 9.99877222e-01 6.80112978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.84925415399994 meters Centerline goodness : 0.999084 Centerline is valid? [True, True] Translation: X:441.43, Y:4.66, Z:6.80 [[ 9.97476199e-01 -6.92511406e-02 -1.56688159e-02 4.41425867e+02] [ 6.92569645e-02 9.97598839e-01 -1.71278482e-04 4.65842841e+00] [ 1.56430538e-02 -9.14328421e-04 9.99877222e-01 6.80161321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.87925415399997 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:441.46, Y:4.66, Z:6.80 [[ 9.97468263e-01 -6.93653480e-02 -1.56688252e-02 4.41458278e+02] [ 6.93711994e-02 9.97590902e-01 -1.70423277e-04 4.65906259e+00] [ 1.56428990e-02 -9.16973389e-04 9.99877222e-01 6.80222242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.90925415399994 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:441.49, Y:4.66, Z:6.80 [[ 9.97487751e-01 -6.90845396e-02 -1.56688377e-02 4.41489773e+02] [ 6.90903745e-02 9.97610391e-01 -1.69266390e-04 4.65990388e+00] [ 1.56430890e-02 -9.13724717e-04 9.99877222e-01 6.80224160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.93925415399997 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:441.52, Y:4.66, Z:6.80 [[ 9.97546797e-01 -6.82266352e-02 -1.56688579e-02 4.41521711e+02] [ 6.82323942e-02 9.97669440e-01 -1.67377885e-04 4.66161884e+00] [ 1.56437603e-02 -9.02156417e-04 9.99877222e-01 6.80200193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.96925415399994 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:441.55, Y:4.66, Z:6.80 [[ 9.97486603e-01 -6.91011169e-02 -1.56688699e-02 4.41553152e+02] [ 6.91070012e-02 9.97609240e-01 -1.66244600e-04 4.66471614e+00] [ 1.56428971e-02 -9.17001852e-04 9.99877222e-01 6.80001543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.99925415399997 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:441.58, Y:4.66, Z:6.80 [[ 9.97690291e-01 -6.60951263e-02 -1.56690159e-02 4.41582699e+02] [ 6.61008550e-02 9.97812935e-01 -1.52572037e-04 4.66411971e+00] [ 1.56448310e-02 -8.83515709e-04 9.99877222e-01 6.80160957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.02925415399994 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:441.62, Y:4.67, Z:6.80 [[ 9.97791169e-01 -6.45544069e-02 -1.56688409e-02 4.41615177e+02] [ 6.45596919e-02 9.97913833e-01 -1.68815205e-04 4.66572021e+00] [ 1.56470509e-02 -8.43133221e-04 9.99877222e-01 6.80182530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.0592541539999 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:441.65, Y:4.67, Z:6.80 [[ 9.98026503e-01 -6.08077810e-02 -1.56688532e-02 4.41647494e+02] [ 6.08126235e-02 9.98149186e-01 -1.67663190e-04 4.66920024e+00] [ 1.56500483e-02 -7.85531766e-04 9.99877222e-01 6.80154218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.08925415399995 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:441.68, Y:4.67, Z:6.80 [[ 9.98086492e-01 -5.98150583e-02 -1.56688654e-02 4.41676280e+02] [ 5.98197967e-02 9.98209179e-01 -1.66519331e-04 4.67359979e+00] [ 1.56507656e-02 -7.71107648e-04 9.99877222e-01 6.79940897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.1192541539999 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:441.71, Y:4.67, Z:6.80 [[ 9.98300511e-01 -5.61300809e-02 -1.56685448e-02 4.41708861e+02] [ 5.61339029e-02 9.98423230e-01 -1.96105330e-04 4.67498007e+00] [ 1.56548465e-02 -6.83764521e-04 9.99877222e-01 6.80097492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.14925415399995 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:441.74, Y:4.68, Z:6.80 [[ 9.98596106e-01 -5.05994054e-02 -1.56690156e-02 4.41740995e+02] [ 5.06032371e-02 9.98718824e-01 -1.52098204e-04 4.68160813e+00] [ 1.56566369e-02 -6.41018236e-04 9.99877222e-01 6.80471300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.1792541539999 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:441.77, Y:4.68, Z:6.81 [[ 9.98799648e-01 -4.64083170e-02 -1.56694350e-02 4.41770532e+02] [ 4.64122240e-02 9.98922366e-01 -1.14416462e-04 4.68393564e+00] [ 1.56578590e-02 -6.12974205e-04 9.99877220e-01 6.80519156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.20925415399995 meters Centerline goodness : 0.998974 Centerline is valid? [True, True] Translation: X:441.80, Y:4.69, Z:6.81 [[ 9.98959031e-01 -4.28409307e-02 -1.56687517e-02 4.41802987e+02] [ 4.28434431e-02 9.99081783e-01 -1.75448021e-04 4.68662825e+00] [ 1.56618807e-02 -4.96037885e-04 9.99877222e-01 6.80628935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.2392541539999 meters Centerline goodness : 0.999097 Centerline is valid? [True, True] Translation: X:441.84, Y:4.69, Z:6.81 [[ 9.99106581e-01 -3.92495881e-02 -1.56687643e-02 4.41835307e+02] [ 3.92516770e-02 9.99229341e-01 -1.74311480e-04 4.68924894e+00] [ 1.56635307e-02 -4.40869528e-04 9.99877222e-01 6.80753708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.26925415399995 meters Centerline goodness : 0.999031 Centerline is valid? [True, True] Translation: X:441.87, Y:4.69, Z:6.81 [[ 9.99429403e-01 -2.99225380e-02 -1.56687768e-02 4.41869094e+02] [ 2.99234987e-02 9.99552177e-01 -1.73182879e-04 4.69145266e+00] [ 1.56669420e-02 -2.95780560e-04 9.99877222e-01 6.81386568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.2992541539999 meters Centerline goodness : 0.999032 Centerline is valid? [True, True] Translation: X:441.89, Y:4.70, Z:6.81 [[ 9.99446478e-01 -2.93452065e-02 -1.56715007e-02 4.41894587e+02] [ 2.93499818e-02 9.99569194e-01 7.47550491e-05 4.69705074e+00] [ 1.56625556e-02 -5.34671929e-04 9.99877192e-01 6.81036310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.32925415399995 meters Centerline goodness : 0.999032 Centerline is valid? [True, True] Translation: X:441.93, Y:4.70, Z:6.81 [[ 9.99446407e-01 -2.93491898e-02 -1.56685894e-02 4.41925577e+02] [ 2.93499815e-02 9.99569180e-01 -1.79465292e-04 4.69753258e+00] [ 1.56671062e-02 -2.80506867e-04 9.99877224e-01 6.81091688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.3592541539999 meters Centerline goodness : 0.999097 Centerline is valid? [True, True] Translation: X:441.96, Y:4.70, Z:6.81 [[ 9.99537714e-01 -2.60548121e-02 -1.56685894e-02 4.41956338e+02] [ 2.60551992e-02 9.99660490e-01 -1.79465292e-04 4.69991868e+00] [ 1.56679456e-02 -2.28865888e-04 9.99877224e-01 6.81232230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.38925415399996 meters Centerline goodness : 0.999136 Centerline is valid? [True, True] Translation: X:441.99, Y:4.70, Z:6.81 [[ 9.99595485e-01 -2.37352377e-02 -1.56685894e-02 4.41986196e+02] [ 2.37353399e-02 9.99718261e-01 -1.79465292e-04 4.70227556e+00] [ 1.56684346e-02 -1.92506598e-04 9.99877224e-01 6.81307756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.41925415399993 meters Centerline goodness : 0.999051 Centerline is valid? [True, True] Translation: X:442.02, Y:4.71, Z:6.81 [[ 9.99654252e-01 -2.11156789e-02 -1.56685828e-02 4.42015664e+02] [ 2.11154504e-02 9.99777028e-01 -1.80038963e-04 4.70524897e+00] [ 1.56688908e-02 -1.50872467e-04 9.99877224e-01 6.81239220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.44925415399996 meters Centerline goodness : 0.999072 Centerline is valid? [True, True] Translation: X:442.04, Y:4.71, Z:6.81 [[ 9.99648386e-01 -2.13915815e-02 -1.56685762e-02 4.42043911e+02] [ 2.13913779e-02 9.99771162e-01 -1.80609442e-04 4.70650022e+00] [ 1.56688542e-02 -1.54626496e-04 9.99877224e-01 6.81294226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.47925415399993 meters Centerline goodness : 0.999282 Centerline is valid? [True, True] Translation: X:442.07, Y:4.71, Z:6.81 [[ 9.99637568e-01 -2.18913021e-02 -1.56685292e-02 4.42071571e+02] [ 2.18910975e-02 9.99760344e-01 -1.84594733e-04 4.70705908e+00] [ 1.56688152e-02 -1.58473471e-04 9.99877224e-01 6.81275398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.50925415399996 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:442.10, Y:4.71, Z:6.81 [[ 9.99557891e-01 -2.52689784e-02 -1.56685039e-02 4.42097086e+02] [ 2.52691553e-02 9.99680666e-01 -1.86717604e-04 4.71080363e+00] [ 1.56682186e-02 -2.09294805e-04 9.99877224e-01 6.80721942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.53925415399993 meters Centerline goodness : 0.999242 Centerline is valid? [True, True] Translation: X:442.13, Y:4.71, Z:6.81 [[ 9.99534570e-01 -2.61766164e-02 -1.56661448e-02 4.42126559e+02] [ 2.61737664e-02 9.99657333e-01 -3.86960463e-04 4.71043055e+00] [ 1.56709058e-02 -2.32616530e-05 9.99877204e-01 6.80815896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.56925415399996 meters Centerline goodness : 0.998988 Centerline is valid? [True, True] Translation: X:442.16, Y:4.71, Z:6.81 [[ 9.99570906e-01 -2.47497931e-02 -1.56668858e-02 4.42158920e+02] [ 2.47477516e-02 9.99693675e-01 -3.24198371e-04 4.70741738e+00] [ 1.56701105e-02 -6.36609383e-05 9.99877214e-01 6.81198221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.59925415399994 meters Centerline goodness : 0.998947 Centerline is valid? [True, True] Translation: X:442.19, Y:4.71, Z:6.81 [[ 9.99554849e-01 -2.53890009e-02 -1.56685423e-02 4.42188941e+02] [ 2.53892964e-02 9.99677624e-01 -1.80090401e-04 4.70750678e+00] [ 1.56680635e-02 -2.17803032e-04 9.99877225e-01 6.81174086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.62925415399997 meters Centerline goodness : 0.999306 Centerline is valid? [True, True] Translation: X:442.22, Y:4.71, Z:6.81 [[ 9.99553058e-01 -2.54593924e-02 -1.56685360e-02 4.42217564e+02] [ 2.54596880e-02 9.99675833e-01 -1.80638032e-04 4.70735334e+00] [ 1.56680557e-02 -2.18358741e-04 9.99877225e-01 6.81229436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.65925415399994 meters Centerline goodness : 0.998906 Centerline is valid? [True, True] Translation: X:442.24, Y:4.71, Z:6.81 [[ 9.99435991e-01 -2.97018011e-02 -1.56685240e-02 4.42244024e+02] [ 2.97026016e-02 9.99558764e-01 -1.81671628e-04 4.71186144e+00] [ 1.56670065e-02 -2.83826763e-04 9.99877225e-01 6.81211825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.68925415399997 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:442.28, Y:4.71, Z:6.81 [[ 9.99545673e-01 -2.57491667e-02 -1.56661312e-02 4.42277780e+02] [ 2.57463627e-02 9.99668435e-01 -3.80676611e-04 4.70617535e+00] [ 1.56707390e-02 -2.28422384e-05 9.99877206e-01 6.81387144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.71925415399994 meters Centerline goodness : 0.998908 Centerline is valid? [True, True] Translation: X:442.31, Y:4.70, Z:6.81 [[ 9.99542554e-01 -2.58685597e-02 -1.56684390e-02 4.42306704e+02] [ 2.58688889e-02 9.99665328e-01 -1.81698138e-04 4.70470578e+00] [ 1.56678955e-02 -2.23710086e-04 9.99877226e-01 6.81308858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.74925415399997 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:442.33, Y:4.71, Z:6.81 [[ 9.99449314e-01 -2.92500968e-02 -1.56684292e-02 4.42333399e+02] [ 2.92508282e-02 9.99572086e-01 -1.82542185e-04 4.70860835e+00] [ 1.56670638e-02 -2.75872867e-04 9.99877226e-01 6.81102355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.77925415399994 meters Centerline goodness : 0.999138 Centerline is valid? [True, True] Translation: X:442.37, Y:4.70, Z:6.82 [[ 9.99513664e-01 -2.69629613e-02 -1.56663575e-02 4.42366415e+02] [ 2.69607174e-02 9.99636431e-01 -3.54450756e-04 4.70443371e+00] [ 1.56702187e-02 -6.80978616e-05 9.99877212e-01 6.81571357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.8092541539999 meters Centerline goodness : 0.998864 Centerline is valid? [True, True] Translation: X:442.39, Y:4.71, Z:6.81 [[ 9.99398578e-01 -3.09351679e-02 -1.56683605e-02 4.42393689e+02] [ 3.09361061e-02 9.99521347e-01 -1.82546277e-04 4.70821248e+00] [ 1.56665079e-02 -3.02281573e-04 9.99877227e-01 6.81462732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.83925415399995 meters Centerline goodness : 0.998845 Centerline is valid? [True, True] Translation: X:442.43, Y:4.70, Z:6.82 [[ 9.99517525e-01 -2.68196479e-02 -1.56660344e-02 4.42426962e+02] [ 2.68170690e-02 9.99640288e-01 -3.74704178e-04 4.70190589e+00] [ 1.56704486e-02 -4.55937334e-05 9.99877210e-01 6.81644045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.8692541539999 meters Centerline goodness : 0.999013 Centerline is valid? [True, True] Translation: X:442.46, Y:4.70, Z:6.82 [[ 9.99513777e-01 -2.69576661e-02 -1.56682735e-02 4.42456978e+02] [ 2.69581156e-02 9.99636547e-01 -1.82552608e-04 4.70117142e+00] [ 1.56675000e-02 -2.39923281e-04 9.99877228e-01 6.81802347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.89925415399995 meters Centerline goodness : 0.999098 Centerline is valid? [True, True] Translation: X:442.49, Y:4.70, Z:6.82 [[ 9.99525840e-01 -2.65066100e-02 -1.56682668e-02 4.42486861e+02] [ 2.65069952e-02 9.99648611e-01 -1.83123871e-04 4.70004023e+00] [ 1.56676151e-02 -2.32281632e-04 9.99877228e-01 6.81808423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.9292541539999 meters Centerline goodness : 0.999035 Centerline is valid? [True, True] Translation: X:442.52, Y:4.70, Z:6.82 [[ 9.99537057e-01 -2.60802116e-02 -1.56682635e-02 4.42516095e+02] [ 2.60805400e-02 9.99659828e-01 -1.83407011e-04 4.69867883e+00] [ 1.56677169e-02 -2.25314669e-04 9.99877228e-01 6.81850013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.95925415399995 meters Centerline goodness : 0.998993 Centerline is valid? [True, True] Translation: X:442.54, Y:4.70, Z:6.82 [[ 9.99554238e-01 -2.54131995e-02 -1.56682567e-02 4.42544989e+02] [ 2.54134370e-02 9.99677010e-01 -1.83980363e-04 4.69643718e+00] [ 1.56678716e-02 -2.14285904e-04 9.99877228e-01 6.81761471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.9892541539999 meters Centerline goodness : 0.999140 Centerline is valid? [True, True] Translation: X:442.57, Y:4.70, Z:6.82 [[ 9.99564867e-01 -2.49916549e-02 -1.56682467e-02 4.42573320e+02] [ 2.49918272e-02 9.99687638e-01 -1.84833677e-04 4.69561453e+00] [ 1.56679718e-02 -2.06824864e-04 9.99877228e-01 6.81813646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.01925415399995 meters Centerline goodness : 0.999035 Centerline is valid? [True, True] Translation: X:442.60, Y:4.69, Z:6.82 [[ 9.99574807e-01 -2.45909071e-02 -1.56682002e-02 4.42602034e+02] [ 2.45909697e-02 9.99697579e-01 -1.88693889e-04 4.69486406e+00] [ 1.56681019e-02 -1.96682579e-04 9.99877228e-01 6.81942315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.0492541539999 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:442.63, Y:4.69, Z:6.82 [[ 9.99609959e-01 -2.31179489e-02 -1.56681505e-02 4.42630789e+02] [ 2.31177673e-02 9.99732730e-01 -1.92733286e-04 4.69285969e+00] [ 1.56684185e-02 -1.69554545e-04 9.99877228e-01 6.81903667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.07925415399995 meters Centerline goodness : 0.999058 Centerline is valid? [True, True] Translation: X:442.66, Y:4.69, Z:6.82 [[ 9.99619656e-01 -2.26947813e-02 -1.56680998e-02 4.42658807e+02] [ 2.26944844e-02 9.99742428e-01 -1.96772671e-04 4.69217285e+00] [ 1.56685298e-02 -1.58881616e-04 9.99877228e-01 6.81815236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.1092541539999 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:442.69, Y:4.69, Z:6.82 [[ 9.99627088e-01 -2.23650826e-02 -1.56680817e-02 4.42687367e+02] [ 2.23647228e-02 9.99749859e-01 -1.98200837e-04 4.69130780e+00] [ 1.56685952e-02 -1.52285380e-04 9.99877228e-01 6.81931104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.13925415399996 meters Centerline goodness : 0.999226 Centerline is valid? [True, True] Translation: X:442.72, Y:4.69, Z:6.82 [[ 9.99628768e-01 -2.22898960e-02 -1.56680297e-02 4.42715758e+02] [ 2.22894639e-02 9.99751539e-01 -2.02228870e-04 4.69049326e+00] [ 1.56686445e-02 -1.47078186e-04 9.99877228e-01 6.81950793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.16925415399993 meters Centerline goodness : 0.999350 Centerline is valid? [True, True] Translation: X:442.74, Y:4.69, Z:6.82 [[ 9.99615574e-01 -2.28739568e-02 -1.56679767e-02 4.42743948e+02] [ 2.28735333e-02 9.99738345e-01 -2.06254050e-04 4.68913279e+00] [ 1.56685950e-02 -1.52207226e-04 9.99877228e-01 6.82014857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.19925415399996 meters Centerline goodness : 0.999372 Centerline is valid? [True, True] Translation: X:442.77, Y:4.69, Z:6.82 [[ 9.99602212e-01 -2.34506609e-02 -1.56679148e-02 4.42772066e+02] [ 2.34502362e-02 9.99724983e-01 -2.10851766e-04 4.68856216e+00] [ 1.56685505e-02 -1.56648412e-04 9.99877228e-01 6.81983011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.22925415399993 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:442.80, Y:4.69, Z:6.82 [[ 9.99479676e-01 -2.81938981e-02 -1.56678601e-02 4.42798712e+02] [ 2.81939934e-02 9.99602447e-01 -2.14841506e-04 4.69223244e+00] [ 1.56676886e-02 -2.27009827e-04 9.99877228e-01 6.81941024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.25925415399996 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:442.83, Y:4.69, Z:6.82 [[ 9.99498341e-01 -2.75258664e-02 -1.56650103e-02 4.42832409e+02] [ 2.75227299e-02 9.99621091e-01 -4.15812804e-04 4.68578459e+00] [ 1.56705203e-02 -1.55396402e-05 9.99877210e-01 6.82255063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.28925415399993 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:442.86, Y:4.69, Z:6.82 [[ 9.99441149e-01 -2.95281373e-02 -1.56677644e-02 4.42860687e+02] [ 2.95283656e-02 9.99563919e-01 -2.16817324e-04 4.68526891e+00] [ 1.56673342e-02 -2.45947320e-04 9.99877230e-01 6.82234921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.31925415399996 meters Centerline goodness : 0.999142 Centerline is valid? [True, True] Translation: X:442.89, Y:4.68, Z:6.82 [[ 9.99363090e-01 -3.20614070e-02 -1.56678094e-02 4.42890507e+02] [ 3.20619971e-02 9.99485859e-01 -2.13584929e-04 4.68486351e+00] [ 1.56666017e-02 -2.88892363e-04 9.99877230e-01 6.82314977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.34925415399994 meters Centerline goodness : 0.999247 Centerline is valid? [True, True] Translation: X:442.92, Y:4.68, Z:6.82 [[ 9.99206653e-01 -3.66140404e-02 -1.56677058e-02 4.42920004e+02] [ 3.66150747e-02 9.99329419e-01 -2.20929742e-04 4.68322439e+00] [ 1.56652885e-02 -3.52919750e-04 9.99877230e-01 6.82426650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.37925415399997 meters Centerline goodness : 0.999247 Centerline is valid? [True, True] Translation: X:442.95, Y:4.68, Z:6.82 [[ 9.99116245e-01 -3.90032224e-02 -1.56676976e-02 4.42950692e+02] [ 3.90045412e-02 9.99239009e-01 -2.21505797e-04 4.68238659e+00] [ 1.56644141e-02 -3.89801319e-04 9.99877230e-01 6.82434643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.40925415399994 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:442.98, Y:4.68, Z:6.83 [[ 9.99011689e-01 -4.15953051e-02 -1.56676976e-02 4.42981344e+02] [ 4.15969425e-02 9.99134448e-01 -2.21505797e-04 4.68189481e+00] [ 1.56633500e-02 -4.30441437e-04 9.99877230e-01 6.82569392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.43925415399997 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:443.01, Y:4.68, Z:6.83 [[ 9.98891839e-01 -4.43803599e-02 -1.56677017e-02 4.43012748e+02] [ 4.43823439e-02 9.99014594e-01 -2.21221390e-04 4.68151103e+00] [ 1.56620805e-02 -4.74393083e-04 9.99877230e-01 6.82676273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.46925415399994 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:443.04, Y:4.68, Z:6.83 [[ 9.98648285e-01 -4.95593087e-02 -1.56677097e-02 4.43043781e+02] [ 4.95619381e-02 9.98771028e-01 -2.20653576e-04 4.68018744e+00] [ 1.56593899e-02 -5.56166741e-04 9.99877230e-01 6.82792973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.49925415399997 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:443.08, Y:4.68, Z:6.83 [[ 9.98522411e-01 -5.20338051e-02 -1.56677176e-02 4.43075819e+02] [ 5.20367476e-02 9.98645146e-01 -2.20085762e-04 4.67995787e+00] [ 1.56579421e-02 -5.95536502e-04 9.99877230e-01 6.82869609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.52925415399994 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:443.11, Y:4.68, Z:6.83 [[ 9.98405680e-01 -5.42274842e-02 -1.56677335e-02 4.43106911e+02] [ 5.42307141e-02 9.98528408e-01 -2.18950993e-04 4.67994140e+00] [ 1.56565501e-02 -6.31070461e-04 9.99877230e-01 6.82893429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.5592541539999 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:443.14, Y:4.68, Z:6.83 [[ 9.98222421e-01 -5.75023521e-02 -1.56677453e-02 4.43138100e+02] [ 5.75059978e-02 9.98345137e-01 -2.18105606e-04 4.68014339e+00] [ 1.56543589e-02 -6.83271418e-04 9.99877230e-01 6.83027636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.58925415399995 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:443.17, Y:4.68, Z:6.83 [[ 9.98153264e-01 -5.86905615e-02 -1.56677705e-02 4.43168956e+02] [ 5.86943820e-02 9.98275975e-01 -2.16275115e-04 4.68060884e+00] [ 1.56534522e-02 -7.03734397e-04 9.99877230e-01 6.83083013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.6192541539999 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:443.20, Y:4.68, Z:6.83 [[ 9.98108811e-01 -5.94417618e-02 -1.56677819e-02 4.43200871e+02] [ 5.94456876e-02 9.98231518e-01 -2.15446797e-04 4.68104789e+00] [ 1.56528803e-02 -7.16342722e-04 9.99877230e-01 6.83101458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.64925415399995 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:443.23, Y:4.68, Z:6.83 [[ 9.98076901e-01 -5.99751585e-02 -1.56677968e-02 4.43233065e+02] [ 5.99791670e-02 9.98199606e-01 -2.14356675e-04 4.68182769e+00] [ 1.56524447e-02 -7.25796957e-04 9.99877230e-01 6.83136092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.6792541539999 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:443.26, Y:4.68, Z:6.83 [[ 9.98101186e-01 -5.95696452e-02 -1.56678116e-02 4.43264289e+02] [ 5.95736208e-02 9.98223892e-01 -2.13272755e-04 4.68452395e+00] [ 1.56526884e-02 -7.20520477e-04 9.99877230e-01 6.83131728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.70925415399995 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:443.30, Y:4.69, Z:6.83 [[ 9.98146174e-01 -5.88110018e-02 -1.56678367e-02 4.43296590e+02] [ 5.88149132e-02 9.98268882e-01 -2.11414393e-04 4.68631414e+00] [ 1.56531473e-02 -7.10479985e-04 9.99877230e-01 6.83319116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.7392541539999 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:443.33, Y:4.69, Z:6.83 [[ 9.98200060e-01 -5.78891925e-02 -1.56678522e-02 4.43327764e+02] [ 5.78930087e-02 9.98322771e-01 -2.10257207e-04 4.68828528e+00] [ 1.56537452e-02 -6.97180347e-04 9.99877230e-01 6.83151333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.76925415399995 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:443.36, Y:4.69, Z:6.83 [[ 9.98288498e-01 -5.63435274e-02 -1.56678637e-02 4.43360022e+02] [ 5.63471671e-02 9.98411214e-01 -2.09396907e-04 4.68988158e+00] [ 1.56547690e-02 -6.73801210e-04 9.99877230e-01 6.83409103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.7992541539999 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:443.39, Y:4.69, Z:6.83 [[ 9.98471687e-01 -5.29981789e-02 -1.56678790e-02 4.43392502e+02] [ 5.30014254e-02 9.98594415e-01 -2.08246082e-04 4.69296950e+00] [ 1.56568931e-02 -6.22492102e-04 9.99877230e-01 6.83472624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.82925415399995 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:443.42, Y:4.69, Z:6.84 [[ 9.98564253e-01 -5.12245106e-02 -1.56678943e-02 4.43424931e+02] [ 5.12275572e-02 9.98686985e-01 -2.07089894e-04 4.69486433e+00] [ 1.56579302e-02 -5.95835385e-04 9.99877230e-01 6.83554822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.8592541539999 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:443.46, Y:4.69, Z:6.84 [[ 9.98937722e-01 -4.33352605e-02 -1.56679096e-02 4.43461625e+02] [ 4.33373558e-02 9.99060474e-01 -2.05926513e-04 4.69427005e+00] [ 1.56621130e-02 -4.73298010e-04 9.99877230e-01 6.83533097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.88925415399996 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:443.48, Y:4.70, Z:6.84 [[ 9.98838242e-01 -4.55691169e-02 -1.56723188e-02 4.43483967e+02] [ 4.55768488e-02 9.98960826e-01 1.36349320e-04 4.70104678e+00] [ 1.56498192e-02 -8.50485818e-04 9.99877172e-01 6.83814396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.91925415399993 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:443.52, Y:4.70, Z:6.84 [[ 9.98957532e-01 -4.28762949e-02 -1.56675360e-02 4.43515776e+02] [ 4.28782079e-02 9.99080284e-01 -2.13956253e-04 4.70283849e+00] [ 1.56622999e-02 -4.58062653e-04 9.99877234e-01 6.83850671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.94925415399996 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:443.55, Y:4.70, Z:6.84 [[ 9.99051902e-01 -4.06180423e-02 -1.56675515e-02 4.43547786e+02] [ 4.06196957e-02 9.99174657e-01 -2.12809784e-04 4.70480325e+00] [ 1.56632643e-02 -4.23803156e-04 9.99877234e-01 6.84044666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.97925415399993 meters Centerline goodness : 0.998933 Centerline is valid? [True, True] Translation: X:443.58, Y:4.71, Z:6.84 [[ 9.99263302e-01 -3.50340063e-02 -1.56675672e-02 4.43578676e+02] [ 3.50349919e-02 9.99386064e-01 -2.11647065e-04 4.70755556e+00] [ 1.56653632e-02 -3.37421946e-04 9.99877234e-01 6.84046799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.00925415399996 meters Centerline goodness : 0.998869 Centerline is valid? [True, True] Translation: X:443.61, Y:4.71, Z:6.84 [[ 9.99347425e-01 -3.25461190e-02 -1.56675916e-02 4.43609366e+02] [ 3.25468275e-02 9.99470190e-01 -2.09826588e-04 4.70907636e+00] [ 1.56661198e-02 -3.00240740e-04 9.99877234e-01 6.84117515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.03925415399993 meters Centerline goodness : 0.999077 Centerline is valid? [True, True] Translation: X:443.64, Y:4.71, Z:6.84 [[ 9.99422133e-01 -3.01649827e-02 -1.56675916e-02 4.43639719e+02] [ 3.01653987e-02 9.99544899e-01 -2.09826588e-04 4.71038274e+00] [ 1.56667907e-02 -2.62913812e-04 9.99877234e-01 6.84174423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.06925415399996 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:443.68, Y:4.70, Z:6.84 [[ 9.99684901e-01 -1.96118564e-02 -1.56675916e-02 4.43679399e+02] [ 1.96109762e-02 9.99807664e-01 -2.09826588e-04 4.70306720e+00] [ 1.56686933e-02 -9.74962949e-05 9.99877234e-01 6.83664675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.09925415399994 meters Centerline goodness : 0.998995 Centerline is valid? [True, True] Translation: X:443.70, Y:4.71, Z:6.84 [[ 9.99527179e-01 -2.64527502e-02 -1.56738622e-02 4.43697473e+02] [ 2.64603331e-02 9.99649826e-01 2.76573696e-04 4.71286456e+00] [ 1.56610574e-02 -6.91178540e-04 9.99877119e-01 6.84270155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.12925415399997 meters Centerline goodness : 0.998971 Centerline is valid? [True, True] Translation: X:443.73, Y:4.71, Z:6.84 [[ 9.99546742e-01 -2.57071344e-02 -1.56669476e-02 4.43726838e+02] [ 2.57068627e-02 9.99669500e-01 -2.18761852e-04 4.71361321e+00] [ 1.56673934e-02 -1.84085373e-04 9.99877242e-01 6.84349315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.15925415399994 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:443.76, Y:4.71, Z:6.84 [[ 9.99562749e-01 -2.50770519e-02 -1.56669395e-02 4.43755909e+02] [ 2.50766937e-02 9.99685506e-01 -2.19337879e-04 4.71402468e+00] [ 1.56675127e-02 -1.73633070e-04 9.99877242e-01 6.84386342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.18925415399997 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:443.79, Y:4.71, Z:6.84 [[ 9.99597530e-01 -2.36500583e-02 -1.56669275e-02 4.43785359e+02] [ 2.36495115e-02 9.99720287e-01 -2.20194686e-04 4.71376791e+00] [ 1.56677528e-02 -1.50409116e-04 9.99877242e-01 6.84448384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.21925415399994 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:443.81, Y:4.71, Z:6.84 [[ 9.99591459e-01 -2.39052868e-02 -1.56669194e-02 4.43814603e+02] [ 2.39047624e-02 9.99714216e-01 -2.20765105e-04 4.71421845e+00] [ 1.56677195e-02 -1.53839073e-04 9.99877242e-01 6.84494231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.24925415399997 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:443.84, Y:4.71, Z:6.85 [[ 9.99598110e-01 -2.36255598e-02 -1.56668620e-02 4.43843374e+02] [ 2.36249383e-02 9.99720867e-01 -2.24765709e-04 4.71471089e+00] [ 1.56677991e-02 -1.45453272e-04 9.99877242e-01 6.84538225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.27925415399994 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:443.87, Y:4.71, Z:6.85 [[ 9.99612627e-01 -2.30032133e-02 -1.56668040e-02 4.43872117e+02] [ 2.30024531e-02 9.99735382e-01 -2.28743211e-04 4.71497784e+00] [ 1.56679201e-02 -1.31720321e-04 9.99877242e-01 6.84549095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.3092541539999 meters Centerline goodness : 0.999035 Centerline is valid? [True, True] Translation: X:443.90, Y:4.71, Z:6.85 [[ 9.99638382e-01 -2.18553803e-02 -1.56667916e-02 4.43901355e+02] [ 2.18544659e-02 9.99761136e-01 -2.29587885e-04 4.71467266e+00] [ 1.56680671e-02 -1.12884500e-04 9.99877242e-01 6.84588874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.33925415399995 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:443.93, Y:4.71, Z:6.85 [[ 9.99648776e-01 -2.13747120e-02 -1.56667318e-02 4.43930435e+02] [ 2.13736758e-02 9.99771530e-01 -2.33595890e-04 4.71446996e+00] [ 1.56681455e-02 -1.01341802e-04 9.99877242e-01 6.84628370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.3692541539999 meters Centerline goodness : 0.999035 Centerline is valid? [True, True] Translation: X:443.96, Y:4.71, Z:6.85 [[ 9.99664435e-01 -2.06294078e-02 -1.56666705e-02 4.43958074e+02] [ 2.06282167e-02 9.99787187e-01 -2.37640595e-04 4.71406972e+00] [ 1.56682388e-02 -8.56146217e-05 9.99877242e-01 6.84602595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.39925415399995 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:443.99, Y:4.71, Z:6.85 [[ 9.99678110e-01 -1.99557513e-02 -1.56666487e-02 4.43985857e+02] [ 1.99544551e-02 9.99800861e-01 -2.39070007e-04 4.71253273e+00] [ 1.56682996e-02 -7.36263842e-05 9.99877242e-01 6.84652395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.4292541539999 meters Centerline goodness : 0.999267 Centerline is valid? [True, True] Translation: X:444.01, Y:4.71, Z:6.85 [[ 9.99677810e-01 -1.99708368e-02 -1.56665775e-02 4.44013839e+02] [ 1.99694706e-02 9.99800561e-01 -2.43648088e-04 4.71165263e+00] [ 1.56683188e-02 -6.92836712e-05 9.99877242e-01 6.84596074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.45925415399995 meters Centerline goodness : 0.999288 Centerline is valid? [True, True] Translation: X:444.04, Y:4.71, Z:6.85 [[ 9.99663658e-01 -2.06671033e-02 -1.56665553e-02 4.44042193e+02] [ 2.06658005e-02 9.99786410e-01 -2.45063076e-04 4.71095382e+00] [ 1.56682738e-02 -7.87812562e-05 9.99877242e-01 6.84671262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.4892541539999 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:444.07, Y:4.71, Z:6.85 [[ 9.99639017e-01 -2.18265165e-02 -1.56664839e-02 4.44069805e+02] [ 2.18252858e-02 9.99761769e-01 -2.49546164e-04 4.70867881e+00] [ 1.56681984e-02 -9.24694074e-05 9.99877242e-01 6.84644549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.51925415399995 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:444.10, Y:4.71, Z:6.85 [[ 9.99591925e-01 -2.38860934e-02 -1.56664617e-02 4.44097777e+02] [ 2.38850938e-02 9.99714679e-01 -2.50933606e-04 4.70781256e+00] [ 1.56679855e-02 -1.23363701e-04 9.99877242e-01 6.84847924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.5492541539999 meters Centerline goodness : 0.999498 Centerline is valid? [True, True] Translation: X:444.13, Y:4.71, Z:6.85 [[ 9.99558529e-01 -2.52450363e-02 -1.56663867e-02 4.44126281e+02] [ 2.52441315e-02 9.99681283e-01 -2.55533775e-04 4.70656649e+00] [ 1.56678445e-02 -1.40063361e-04 9.99877242e-01 6.84888220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.57925415399995 meters Centerline goodness : 0.999351 Centerline is valid? [True, True] Translation: X:444.15, Y:4.71, Z:6.85 [[ 9.99526321e-01 -2.64896269e-02 -1.56663202e-02 4.44154461e+02] [ 2.64888121e-02 9.99649076e-01 -2.59546348e-04 4.70557031e+00] [ 1.56676978e-02 -1.55558805e-04 9.99877242e-01 6.84892638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.6092541539999 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:444.18, Y:4.70, Z:6.85 [[ 9.99466880e-01 -2.86447583e-02 -1.56663024e-02 4.44183710e+02] [ 2.86441914e-02 9.99589637e-01 -2.60616016e-04 4.70370197e+00] [ 1.56673388e-02 -1.88271488e-04 9.99877242e-01 6.84946804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.63925415399996 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:444.21, Y:4.70, Z:6.85 [[ 9.99432547e-01 -2.98186719e-02 -1.56662355e-02 4.44212747e+02] [ 2.98181871e-02 9.99555304e-01 -2.64576913e-04 4.70297429e+00] [ 1.56671581e-02 -2.02711964e-04 9.99877242e-01 6.84961592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.66925415399993 meters Centerline goodness : 0.999287 Centerline is valid? [True, True] Translation: X:444.24, Y:4.70, Z:6.85 [[ 9.99399155e-01 -3.09176082e-02 -1.56662213e-02 4.44242789e+02] [ 3.09172453e-02 9.99521912e-01 -2.65417297e-04 4.70206978e+00] [ 1.56669375e-02 -2.19098582e-04 9.99877242e-01 6.85045278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.69925415399996 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:444.27, Y:4.70, Z:6.85 [[ 9.99306647e-01 -3.37756627e-02 -1.56662116e-02 4.44272120e+02] [ 3.37756420e-02 9.99429405e-01 -2.65985564e-04 4.69994916e+00] [ 1.56662564e-02 -2.63335212e-04 9.99877242e-01 6.85067538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.72925415399993 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] Translation: X:444.30, Y:4.70, Z:6.85 [[ 9.99246060e-01 -3.55229795e-02 -1.56662068e-02 4.44302665e+02] [ 3.55231690e-02 9.99368818e-01 -2.66267499e-04 4.69935526e+00] [ 1.56657772e-02 -2.90446562e-04 9.99877242e-01 6.85140522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.75925415399996 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:444.33, Y:4.70, Z:6.85 [[ 9.99191290e-01 -3.70315580e-02 -1.56662068e-02 4.44332518e+02] [ 3.70319328e-02 9.99314047e-01 -2.66267499e-04 4.69820804e+00] [ 1.56653208e-02 -3.14097752e-04 9.99877242e-01 6.85191628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.78925415399993 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:444.36, Y:4.70, Z:6.85 [[ 9.99044461e-01 -4.08011725e-02 -1.56662068e-02 4.44363074e+02] [ 4.08020104e-02 9.99167216e-01 -2.66267499e-04 4.69569063e+00] [ 1.56640243e-02 -3.73199664e-04 9.99877242e-01 6.85260793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.81925415399996 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:444.39, Y:4.70, Z:6.85 [[ 9.98830029e-01 -4.57508854e-02 -1.56662068e-02 4.44390327e+02] [ 4.57523316e-02 9.98952778e-01 -2.66267499e-04 4.69880952e+00] [ 1.56619828e-02 -4.50809515e-04 9.99877242e-01 6.85176262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.84925415399994 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:444.42, Y:4.69, Z:6.85 [[ 9.98898556e-01 -4.42303313e-02 -1.56637227e-02 4.44422911e+02] [ 4.42293289e-02 9.99021320e-01 -4.10576073e-04 4.69429255e+00] [ 1.56665528e-02 -2.82672096e-04 9.99877232e-01 6.85411185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.87925415399997 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:444.45, Y:4.69, Z:6.86 [[ 9.98832100e-01 -4.57056656e-02 -1.56661788e-02 4.44454287e+02] [ 4.57071127e-02 9.98954848e-01 -2.65853132e-04 4.69355719e+00] [ 1.56619563e-02 -4.50513158e-04 9.99877243e-01 6.85565296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.90925415399994 meters Centerline goodness : 0.999645 Centerline is valid? [True, True] Translation: X:444.49, Y:4.69, Z:6.86 [[ 9.98760759e-01 -4.72389320e-02 -1.56661886e-02 4.44485008e+02] [ 4.72405766e-02 9.98883506e-01 -2.65276284e-04 4.69142958e+00] [ 1.56612287e-02 -4.75132238e-04 9.99877243e-01 6.85580745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.93925415399997 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:444.52, Y:4.69, Z:6.86 [[ 9.98757749e-01 -4.73025211e-02 -1.56661934e-02 4.44516026e+02] [ 4.73041780e-02 9.98880496e-01 -2.64989919e-04 4.69100348e+00] [ 1.56611897e-02 -4.76415667e-04 9.99877243e-01 6.85652503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.96925415399994 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:444.55, Y:4.69, Z:6.86 [[ 9.98791874e-01 -4.65764150e-02 -1.56662071e-02 4.44547637e+02] [ 4.65779954e-02 9.98914621e-01 -2.64179233e-04 4.69022830e+00] [ 1.56615078e-02 -4.65840449e-04 9.99877243e-01 6.85715564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.99925415399997 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:444.58, Y:4.69, Z:6.86 [[ 9.98791890e-01 -4.65760675e-02 -1.56662164e-02 4.44578528e+02] [ 4.65776565e-02 9.98914637e-01 -2.63625738e-04 4.68998414e+00] [ 1.56614915e-02 -4.66388397e-04 9.99877243e-01 6.85907306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.02925415399994 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:444.61, Y:4.69, Z:6.86 [[ 9.98864156e-01 -4.49996304e-02 -1.56662259e-02 4.44610349e+02] [ 4.50010345e-02 9.98986906e-01 -2.63060027e-04 4.68851385e+00] [ 1.56621921e-02 -4.42235140e-04 9.99877243e-01 6.86125331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.0592541539999 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:444.64, Y:4.69, Z:6.86 [[ 9.98913853e-01 -4.38826108e-02 -1.56662357e-02 4.44640552e+02] [ 4.38838868e-02 9.99036604e-01 -2.62475525e-04 4.68857727e+00] [ 1.56626610e-02 -4.25304874e-04 9.99877243e-01 6.86222863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.08925415399995 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:444.67, Y:4.69, Z:6.86 [[ 9.98955617e-01 -4.29213811e-02 -1.56662405e-02 4.44671337e+02] [ 4.29225435e-02 9.99078369e-01 -2.62185798e-04 4.68885757e+00] [ 1.56630554e-02 -4.10522916e-04 9.99877243e-01 6.86255316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.1192541539999 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:444.70, Y:4.69, Z:6.86 [[ 9.99073608e-01 -4.00810956e-02 -1.56662453e-02 4.44702352e+02] [ 4.00819135e-02 9.99196363e-01 -2.61901690e-04 4.68827584e+00] [ 1.56641526e-02 -3.66274022e-04 9.99877243e-01 6.86203859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.14925415399995 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:444.73, Y:4.69, Z:6.86 [[ 9.99113807e-01 -3.90662149e-02 -1.56662420e-02 4.44734081e+02] [ 3.90669051e-02 9.99236563e-01 -2.62094742e-04 4.68873852e+00] [ 1.56645209e-02 -3.50169115e-04 9.99877243e-01 6.86384301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.1792541539999 meters Centerline goodness : 0.999333 Centerline is valid? [True, True] Translation: X:444.76, Y:4.69, Z:6.86 [[ 9.99160914e-01 -3.78422521e-02 -1.56662516e-02 4.44764557e+02] [ 3.78428009e-02 9.99283670e-01 -2.61520871e-04 4.68889290e+00] [ 1.56649260e-02 -3.31553408e-04 9.99877243e-01 6.86398756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.20925415399995 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:444.79, Y:4.69, Z:6.86 [[ 9.99209289e-01 -3.65426610e-02 -1.56662564e-02 4.44794242e+02] [ 3.65430546e-02 9.99332045e-01 -2.61236369e-04 4.68911378e+00] [ 1.56653383e-02 -3.11463056e-04 9.99877243e-01 6.86372069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.2392541539999 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:444.82, Y:4.69, Z:6.86 [[ 9.99296927e-01 -3.40620001e-02 -1.56662517e-02 4.44823790e+02] [ 3.40620845e-02 9.99419685e-01 -2.61518305e-04 4.68921373e+00] [ 1.56660681e-02 -2.72290749e-04 9.99877243e-01 6.86400842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.26925415399995 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:444.85, Y:4.69, Z:6.87 [[ 9.99335135e-01 -3.29219728e-02 -1.56662470e-02 4.44852951e+02] [ 3.29219128e-02 9.99457893e-01 -2.61795175e-04 4.68981112e+00] [ 1.56663731e-02 -2.54141703e-04 9.99877243e-01 6.86545670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.2992541539999 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:444.88, Y:4.69, Z:6.87 [[ 9.99360747e-01 -3.21351371e-02 -1.56662375e-02 4.44883003e+02] [ 3.21349716e-02 9.99483504e-01 -2.62365266e-04 4.69015613e+00] [ 1.56665771e-02 -2.41236548e-04 9.99877243e-01 6.86609002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.32925415399995 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:444.91, Y:4.69, Z:6.87 [[ 9.99361802e-01 -3.21022937e-02 -1.56662280e-02 4.44912166e+02] [ 3.21021152e-02 9.99484560e-01 -2.62933533e-04 4.69058691e+00] [ 1.56665937e-02 -2.40153325e-04 9.99877243e-01 6.86658645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.3592541539999 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:444.94, Y:4.69, Z:6.87 [[ 9.99320925e-01 -3.33505480e-02 -1.56662184e-02 4.44941313e+02] [ 3.33505139e-02 9.99443682e-01 -2.63499149e-04 4.68941214e+00] [ 1.56662909e-02 -2.59156224e-04 9.99877243e-01 6.86653221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.38925415399996 meters Centerline goodness : 0.999190 Centerline is valid? [True, True] Translation: X:444.97, Y:4.69, Z:6.87 [[ 9.99246493e-01 -3.55108022e-02 -1.56662042e-02 4.44970647e+02] [ 3.55110203e-02 9.99369250e-01 -2.64340682e-04 4.68937352e+00] [ 1.56657097e-02 -2.92181399e-04 9.99877243e-01 6.86811521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.41925415399993 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:445.00, Y:4.69, Z:6.87 [[ 9.99084258e-01 -3.98147642e-02 -1.56661949e-02 4.45000813e+02] [ 3.98155025e-02 9.99207013e-01 -2.64894834e-04 4.68786475e+00] [ 1.56643185e-02 -3.59105162e-04 9.99877243e-01 6.86875020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.44925415399996 meters Centerline goodness : 0.999439 Centerline is valid? [True, True] Translation: X:445.03, Y:4.69, Z:6.87 [[ 9.98981601e-01 -4.23123044e-02 -1.56661855e-02 4.45031588e+02] [ 4.23133409e-02 9.99104354e-01 -2.65448063e-04 4.68786208e+00] [ 1.56633859e-02 -3.97710917e-04 9.99877243e-01 6.86968325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.47925415399993 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:445.06, Y:4.69, Z:6.87 [[ 9.98876696e-01 -4.47204177e-02 -1.56661902e-02 4.45063251e+02] [ 4.47217544e-02 9.98999447e-01 -2.65172870e-04 4.68789425e+00] [ 1.56623739e-02 -4.35744508e-04 9.99877243e-01 6.87037626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.50925415399996 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:445.09, Y:4.69, Z:6.87 [[ 9.98779027e-01 -4.68510934e-02 -1.56661993e-02 4.45094727e+02] [ 4.68527005e-02 9.98901774e-01 -2.64629193e-04 4.68782942e+00] [ 1.56613925e-02 -4.69697657e-04 9.99877243e-01 6.87058063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.53925415399993 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:445.13, Y:4.69, Z:6.87 [[ 9.98689283e-01 -4.87266554e-02 -1.56662085e-02 4.45126033e+02] [ 4.87285015e-02 9.98812026e-01 -2.64086236e-04 4.68762359e+00] [ 1.56604655e-02 -4.99650770e-04 9.99877243e-01 6.87209362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.56925415399996 meters Centerline goodness : 0.999520 Centerline is valid? [True, True] Translation: X:445.16, Y:4.69, Z:6.87 [[ 9.98500204e-01 -5.24586636e-02 -1.56662179e-02 4.45156711e+02] [ 5.24609771e-02 9.98622940e-01 -2.63527227e-04 4.68641358e+00] [ 1.56584689e-02 -5.58733108e-04 9.99877243e-01 6.87202582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.59925415399994 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:445.19, Y:4.69, Z:6.87 [[ 9.98475325e-01 -5.29300910e-02 -1.56662226e-02 4.45189914e+02] [ 5.29324668e-02 9.98598060e-01 -2.63250031e-04 4.68513271e+00] [ 1.56581933e-02 -5.66403145e-04 9.99877243e-01 6.87419887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.62925415399997 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:445.22, Y:4.69, Z:6.87 [[ 9.98342884e-01 -5.53711206e-02 -1.56692132e-02 4.45216865e+02] [ 5.53765994e-02 9.98465535e-01 -8.43438392e-05 4.68611047e+00] [ 1.56498396e-02 -7.83503672e-04 9.99877227e-01 6.87221973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.65925415399994 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:445.25, Y:4.69, Z:6.87 [[ 9.98255164e-01 -5.69315487e-02 -1.56660783e-02 4.45246857e+02] [ 5.69343455e-02 9.98377889e-01 -2.67771569e-04 4.68674157e+00] [ 1.56559108e-02 -6.24633561e-04 9.99877244e-01 6.87363287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.68925415399997 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:445.28, Y:4.69, Z:6.88 [[ 9.98160709e-01 -5.85642713e-02 -1.56660827e-02 4.45280392e+02] [ 5.85672729e-02 9.98283428e-01 -2.67510039e-04 4.68678631e+00] [ 1.56548573e-02 -6.50501733e-04 9.99877244e-01 6.87527778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.71925415399994 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:445.31, Y:4.69, Z:6.88 [[ 9.98090743e-01 -5.97442132e-02 -1.56683379e-02 4.45308359e+02] [ 5.97494489e-02 9.98213397e-01 -1.34164113e-04 4.68760122e+00] [ 1.56483603e-02 -8.02266596e-04 9.99877235e-01 6.87540696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.74925415399997 meters Centerline goodness : 0.999521 Centerline is valid? [True, True] Translation: X:445.34, Y:4.69, Z:6.88 [[ 9.98016948e-01 -6.09651341e-02 -1.56660365e-02 4.45340448e+02] [ 6.09684160e-02 9.98139660e-01 -2.68467620e-04 4.68892883e+00] [ 1.56532595e-02 -6.87198195e-04 9.99877244e-01 6.87501546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.77925415399994 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:445.37, Y:4.69, Z:6.87 [[ 9.98016492e-01 -6.09725891e-02 -1.56660561e-02 4.45372220e+02] [ 6.09758899e-02 9.98139203e-01 -2.67320641e-04 4.68978140e+00] [ 1.56532040e-02 -6.88461301e-04 9.99877244e-01 6.87488185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.8092541539999 meters Centerline goodness : 0.999520 Centerline is valid? [True, True] Translation: X:445.40, Y:4.69, Z:6.88 [[ 9.98028453e-01 -6.07764875e-02 -1.56660754e-02 4.45404828e+02] [ 6.07797820e-02 9.98151165e-01 -2.66181138e-04 4.69101823e+00] [ 1.56532890e-02 -6.86524299e-04 9.99877244e-01 6.87518741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.83925415399995 meters Centerline goodness : 0.999372 Centerline is valid? [True, True] Translation: X:445.44, Y:4.69, Z:6.87 [[ 9.98068138e-01 -6.01212602e-02 -1.56660948e-02 4.45437058e+02] [ 6.01244921e-02 9.98190851e-01 -2.65035885e-04 4.69243273e+00] [ 1.56536868e-02 -6.77392121e-04 9.99877244e-01 6.87445270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.8692541539999 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:445.47, Y:4.70, Z:6.88 [[ 9.98134155e-01 -5.90150955e-02 -1.56661141e-02 4.45467806e+02] [ 5.90182092e-02 9.98256871e-01 -2.63890630e-04 4.69604695e+00] [ 1.56543796e-02 -6.61187749e-04 9.99877244e-01 6.87532583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.89925415399995 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:445.50, Y:4.70, Z:6.88 [[ 9.98175683e-01 -5.83084731e-02 -1.56661284e-02 4.45499934e+02] [ 5.83115134e-02 9.98298401e-01 -2.63037943e-04 4.69810889e+00] [ 1.56548083e-02 -6.50957578e-04 9.99877244e-01 6.87581944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.9292541539999 meters Centerline goodness : 0.999456 Centerline is valid? [True, True] Translation: X:445.53, Y:4.70, Z:6.88 [[ 9.98187835e-01 -5.81000599e-02 -1.56661470e-02 4.45532024e+02] [ 5.81030920e-02 9.98310554e-01 -2.61923795e-04 4.70009178e+00] [ 1.56548977e-02 -6.48802437e-04 9.99877244e-01 6.87596183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.95925415399995 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:445.56, Y:4.70, Z:6.88 [[ 9.98157464e-01 -5.86195180e-02 -1.56661655e-02 4.45562858e+02] [ 5.86226313e-02 9.98280181e-01 -2.60814627e-04 4.70308172e+00] [ 1.56545114e-02 -6.58057778e-04 9.99877244e-01 6.87686237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.9892541539999 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:445.59, Y:4.70, Z:6.88 [[ 9.98106819e-01 -5.94756108e-02 -1.56661936e-02 4.45594293e+02] [ 5.94788559e-02 9.98229532e-01 -2.59118888e-04 4.70496159e+00] [ 1.56538683e-02 -6.73178940e-04 9.99877244e-01 6.87775541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.01925415399995 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:445.63, Y:4.71, Z:6.88 [[ 9.98045763e-01 -6.04915281e-02 -1.56662071e-02 4.45626491e+02] [ 6.04949110e-02 9.98168472e-01 -2.58299566e-04 4.70686118e+00] [ 1.56531389e-02 -6.89931015e-04 9.99877244e-01 6.87899365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.0492541539999 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:445.66, Y:4.71, Z:6.88 [[ 9.97902552e-01 -6.28097563e-02 -1.56662253e-02 4.45657886e+02] [ 6.28134416e-02 9.98025253e-01 -2.57187849e-04 4.71076895e+00] [ 1.56514424e-02 -7.27401118e-04 9.99877244e-01 6.87890367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.07925415399995 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:445.69, Y:4.71, Z:6.88 [[ 9.97825981e-01 -6.40146955e-02 -1.56662389e-02 4.45689630e+02] [ 6.40185421e-02 9.97948676e-01 -2.56358587e-04 4.71331978e+00] [ 1.56505131e-02 -7.47128514e-04 9.99877244e-01 6.88192528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.1092541539999 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:445.72, Y:4.72, Z:6.88 [[ 9.97784893e-01 -6.46519600e-02 -1.56662576e-02 4.45721868e+02] [ 6.46559029e-02 9.97907585e-01 -2.55211720e-04 4.71515904e+00] [ 1.56499772e-02 -7.58269628e-04 9.99877244e-01 6.88199011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.13925415399996 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:445.75, Y:4.72, Z:6.88 [[ 9.97789645e-01 -6.45785676e-02 -1.56662762e-02 4.45754546e+02] [ 6.45825195e-02 9.97912338e-01 -2.54059894e-04 4.71562838e+00] [ 1.56499772e-02 -7.58269259e-04 9.99877244e-01 6.88250196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.16925415399993 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:445.79, Y:4.72, Z:6.88 [[ 9.97737292e-01 -6.53824388e-02 -1.56662948e-02 4.45786983e+02] [ 6.53865075e-02 9.97859981e-01 -2.52907698e-04 4.71742123e+00] [ 1.56493044e-02 -7.72028864e-04 9.99877244e-01 6.88276980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.19925415399996 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:445.82, Y:4.72, Z:6.88 [[ 9.97644191e-01 -6.67879825e-02 -1.56663132e-02 4.45819026e+02] [ 6.67922420e-02 9.97766873e-01 -2.51764026e-04 4.72047789e+00] [ 1.56481432e-02 -7.95217266e-04 9.99877244e-01 6.88346960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.22925415399993 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:445.85, Y:4.72, Z:6.88 [[ 9.97602702e-01 -6.74048564e-02 -1.56663318e-02 4.45850111e+02] [ 6.74092099e-02 9.97725381e-01 -2.50602540e-04 4.72272516e+00] [ 1.56475887e-02 -8.06053278e-04 9.99877244e-01 6.88368316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.25925415399996 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:445.88, Y:4.73, Z:6.88 [[ 9.97591242e-01 -6.75742520e-02 -1.56663456e-02 4.45882390e+02] [ 6.75786399e-02 9.97713919e-01 -2.49739071e-04 4.72514913e+00] [ 1.56474070e-02 -8.09572816e-04 9.99877244e-01 6.88479050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.28925415399993 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:445.91, Y:4.73, Z:6.88 [[ 9.97684933e-01 -6.61765788e-02 -1.56663640e-02 4.45914667e+02] [ 6.61808130e-02 9.97807616e-01 -2.48576947e-04 4.72969663e+00] [ 1.56484673e-02 -7.88811232e-04 9.99877244e-01 6.88471625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.31925415399996 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:445.95, Y:4.73, Z:6.89 [[ 9.97739087e-01 -6.53550260e-02 -1.56663824e-02 4.45946380e+02] [ 6.53591775e-02 9.97861772e-01 -2.47409994e-04 4.73273171e+00] [ 1.56490536e-02 -7.77091249e-04 9.99877244e-01 6.88624586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.34925415399994 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:445.98, Y:4.74, Z:6.89 [[ 9.97841747e-01 -6.37684180e-02 -1.56664009e-02 4.45978252e+02] [ 6.37723928e-02 9.97964439e-01 -2.46236361e-04 4.73507099e+00] [ 1.56502131e-02 -7.53378950e-04 9.99877244e-01 6.88680499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.37925415399997 meters Centerline goodness : 0.998977 Centerline is valid? [True, True] Translation: X:446.01, Y:4.74, Z:6.89 [[ 9.98052309e-01 -6.03833739e-02 -1.56664191e-02 4.46009781e+02] [ 6.03869508e-02 9.98175013e-01 -2.45070423e-04 4.73927321e+00] [ 1.56526263e-02 -7.01454179e-04 9.99877244e-01 6.88666202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.40925415399994 meters Centerline goodness : 0.998997 Centerline is valid? [True, True] Translation: X:446.04, Y:4.74, Z:6.89 [[ 9.98160386e-01 -5.85696687e-02 -1.56664327e-02 4.46041117e+02] [ 5.85730362e-02 9.98283096e-01 -2.44202449e-04 4.74165548e+00] [ 1.56538377e-02 -6.73877316e-04 9.99877244e-01 6.88683960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.43925415399997 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:446.07, Y:4.74, Z:6.89 [[ 9.98271978e-01 -5.66358577e-02 -1.56664459e-02 4.46071989e+02] [ 5.66390008e-02 9.98394694e-01 -2.43350564e-04 4.74411748e+00] [ 1.56550788e-02 -6.44401792e-04 9.99877244e-01 6.88702215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.46925415399994 meters Centerline goodness : 0.999058 Centerline is valid? [True, True] Translation: X:446.10, Y:4.75, Z:6.89 [[ 9.98451699e-01 -5.33738350e-02 -1.56664736e-02 4.46103886e+02] [ 5.33766053e-02 9.98574424e-01 -2.41552273e-04 4.74889464e+00] [ 1.56570324e-02 -5.95044902e-04 9.99877244e-01 6.88782852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.49925415399997 meters Centerline goodness : 0.998998 Centerline is valid? [True, True] Translation: X:446.14, Y:4.75, Z:6.89 [[ 9.98527241e-01 -5.19414009e-02 -1.56664910e-02 4.46135663e+02] [ 5.19440129e-02 9.98649970e-01 -2.40417950e-04 4.75139145e+00] [ 1.56578284e-02 -5.73716539e-04 9.99877244e-01 6.88854161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.52925415399994 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:446.17, Y:4.75, Z:6.89 [[ 9.98593854e-01 -5.06445921e-02 -1.56665083e-02 4.46167335e+02] [ 5.06470624e-02 9.98716585e-01 -2.39286400e-04 4.75383141e+00] [ 1.56585202e-02 -5.54512696e-04 9.99877244e-01 6.88965175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.5592541539999 meters Centerline goodness : 0.998975 Centerline is valid? [True, True] Translation: X:446.20, Y:4.76, Z:6.89 [[ 9.98635894e-01 -4.98087388e-02 -1.56665360e-02 4.46199832e+02] [ 4.98111350e-02 9.98758627e-01 -2.37459394e-04 4.75586878e+00] [ 1.56589155e-02 -5.43232465e-04 9.99877244e-01 6.89071894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.58925415399995 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:446.23, Y:4.76, Z:6.89 [[ 9.98623328e-01 -5.00600454e-02 -1.56665530e-02 4.46231636e+02] [ 5.00624902e-02 9.98746059e-01 -2.36329399e-04 4.75908016e+00] [ 1.56587388e-02 -5.48302607e-04 9.99877244e-01 6.89255882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.6192541539999 meters Centerline goodness : 0.999079 Centerline is valid? [True, True] Translation: X:446.26, Y:4.76, Z:6.89 [[ 9.98589582e-01 -5.07287451e-02 -1.56665701e-02 4.46263279e+02] [ 5.07312899e-02 9.98712311e-01 -2.35195195e-04 4.76050997e+00] [ 1.56583276e-02 -5.59921835e-04 9.99877244e-01 6.89322969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.64925415399995 meters Centerline goodness : 0.998955 Centerline is valid? [True, True] Translation: X:446.30, Y:4.76, Z:6.89 [[ 9.98527751e-01 -5.19315850e-02 -1.56665827e-02 4.46295087e+02] [ 5.19342909e-02 9.98650477e-01 -2.34349966e-04 4.76216574e+00] [ 1.56576105e-02 -5.79627919e-04 9.99877244e-01 6.89315095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.6792541539999 meters Centerline goodness : 0.998932 Centerline is valid? [True, True] Translation: X:446.33, Y:4.77, Z:6.89 [[ 9.98313378e-01 -5.59013098e-02 -1.56665994e-02 4.46327419e+02] [ 5.59045212e-02 9.98436092e-01 -2.33226631e-04 4.76550142e+00] [ 1.56551360e-02 -6.43000474e-04 9.99877244e-01 6.89471022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.70925415399995 meters Centerline goodness : 0.998891 Centerline is valid? [True, True] Translation: X:446.36, Y:4.76, Z:6.89 [[ 9.98316788e-01 -5.58403725e-02 -1.56666163e-02 4.46361819e+02] [ 5.58435943e-02 9.98439502e-01 -2.32085630e-04 4.76472128e+00] [ 1.56551284e-02 -6.43185186e-04 9.99877244e-01 6.89270818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.7392541539999 meters Centerline goodness : 0.998808 Centerline is valid? [True, True] Translation: X:446.39, Y:4.77, Z:6.89 [[ 9.98102003e-01 -5.95559078e-02 -1.56679519e-02 4.46391072e+02] [ 5.95610133e-02 9.98224657e-01 -1.40984672e-04 4.76816089e+00] [ 1.56485324e-02 -7.92482010e-04 9.99877240e-01 6.89457397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.76925415399995 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:446.42, Y:4.77, Z:6.89 [[ 9.97905563e-01 -6.27618115e-02 -1.56666289e-02 4.46423709e+02] [ 6.27659044e-02 9.98028250e-01 -2.30796918e-04 4.77086014e+00] [ 1.56502235e-02 -7.53016604e-04 9.99877244e-01 6.89449182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.7992541539999 meters Centerline goodness : 0.998887 Centerline is valid? [True, True] Translation: X:446.46, Y:4.77, Z:6.89 [[ 9.97842482e-01 -6.37568672e-02 -1.56666455e-02 4.46456692e+02] [ 6.37611001e-02 9.97965164e-01 -2.29665234e-04 4.77245853e+00] [ 1.56494092e-02 -7.69752825e-04 9.99877244e-01 6.89384848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.82925415399995 meters Centerline goodness : 0.998763 Centerline is valid? [True, True] Translation: X:446.49, Y:4.77, Z:6.90 [[ 9.97782802e-01 -6.46841271e-02 -1.56666705e-02 4.46490038e+02] [ 6.46885009e-02 9.97905479e-01 -2.27946249e-04 4.77458878e+00] [ 1.56486008e-02 -7.86012583e-04 9.99877244e-01 6.89503313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.8592541539999 meters Centerline goodness : 0.998741 Centerline is valid? [True, True] Translation: X:446.52, Y:4.78, Z:6.90 [[ 9.97720017e-01 -6.56454274e-02 -1.56666952e-02 4.46521844e+02] [ 6.56499462e-02 9.97842690e-01 -2.26235887e-04 4.77834040e+00] [ 1.56477486e-02 -8.02797624e-04 9.99877244e-01 6.89653495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.88925415399996 meters Centerline goodness : 0.998846 Centerline is valid? [True, True] Translation: X:446.56, Y:4.78, Z:6.90 [[ 9.97734682e-01 -6.54221622e-02 -1.56667156e-02 4.46555291e+02] [ 6.54266758e-02 9.97857354e-01 -2.24818040e-04 4.77995621e+00] [ 1.56478554e-02 -8.00712363e-04 9.99877244e-01 6.89688781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.91925415399993 meters Centerline goodness : 0.998698 Centerline is valid? [True, True] Translation: X:446.59, Y:4.78, Z:6.90 [[ 9.97782720e-01 -6.46853753e-02 -1.56667395e-02 4.46588602e+02] [ 6.46898246e-02 9.97905395e-01 -2.23135029e-04 4.78144477e+00] [ 1.56483575e-02 -7.90838356e-04 9.99877244e-01 6.89670297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.94925415399996 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:446.62, Y:4.78, Z:6.90 [[ 9.97794765e-01 -6.44993001e-02 -1.56667632e-02 4.46621757e+02] [ 6.45037528e-02 9.97917440e-01 -2.21459782e-04 4.78361231e+00] [ 1.56484202e-02 -7.89593610e-04 9.99877244e-01 6.89898817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.97925415399993 meters Centerline goodness : 0.999033 Centerline is valid? [True, True] Translation: X:446.65, Y:4.79, Z:6.90 [[ 9.97922588e-01 -6.24904730e-02 -1.56667867e-02 4.46653773e+02] [ 6.24947050e-02 9.98045271e-01 -2.19782249e-04 4.78748874e+00] [ 1.56498967e-02 -7.59765545e-04 9.99877244e-01 6.89909927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.00925415399996 meters Centerline goodness : 0.999242 Centerline is valid? [True, True] Translation: X:446.69, Y:4.79, Z:6.90 [[ 9.98176786e-01 -5.82894017e-02 -1.56668061e-02 4.46689327e+02] [ 5.82931390e-02 9.98299485e-01 -2.18393200e-04 4.78702784e+00] [ 1.56528945e-02 -6.95272283e-04 9.99877244e-01 6.89569122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.03925415399993 meters Centerline goodness : 0.999262 Centerline is valid? [True, True] Translation: X:446.72, Y:4.79, Z:6.90 [[ 9.98073301e-01 -6.00348270e-02 -1.56686223e-02 4.46717453e+02] [ 6.00408688e-02 9.98195916e-01 -8.49458280e-05 4.79252519e+00] [ 1.56454545e-02 -8.55975533e-04 9.99877236e-01 6.90039668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.06925415399996 meters Centerline goodness : 0.999304 Centerline is valid? [True, True] Translation: X:446.75, Y:4.80, Z:6.90 [[ 9.98197955e-01 -5.79257520e-02 -1.56668501e-02 4.46749662e+02] [ 5.79295066e-02 9.98320653e-01 -2.14432462e-04 4.79674399e+00] [ 1.56529612e-02 -6.93526854e-04 9.99877244e-01 6.90014990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.09925415399994 meters Centerline goodness : 0.999133 Centerline is valid? [True, True] Translation: X:446.78, Y:4.80, Z:6.90 [[ 9.98256366e-01 -5.69102571e-02 -1.56668697e-02 4.46782933e+02] [ 5.69139095e-02 9.98379067e-01 -2.12990681e-04 4.79876756e+00] [ 1.56535962e-02 -6.79043504e-04 9.99877244e-01 6.90085239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.12925415399997 meters Centerline goodness : 0.999217 Centerline is valid? [True, True] Translation: X:446.82, Y:4.80, Z:6.90 [[ 9.98280494e-01 -5.64854321e-02 -1.56668932e-02 4.46815889e+02] [ 5.64890596e-02 9.98403196e-01 -2.11248072e-04 4.80282473e+00] [ 1.56538087e-02 -6.74123236e-04 9.99877244e-01 6.90239511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.15925415399994 meters Centerline goodness : 0.998983 Centerline is valid? [True, True] Translation: X:446.85, Y:4.80, Z:6.90 [[ 9.98283418e-01 -5.64337257e-02 -1.56669165e-02 4.46847985e+02] [ 5.64373741e-02 9.98406119e-01 -2.09511339e-04 4.80490524e+00] [ 1.56537688e-02 -6.75047930e-04 9.99877244e-01 6.90308069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.18925415399997 meters Centerline goodness : 0.999153 Centerline is valid? [True, True] Translation: X:446.88, Y:4.81, Z:6.90 [[ 9.98292938e-01 -5.62650644e-02 -1.56669356e-02 4.46881435e+02] [ 5.62687146e-02 9.98415639e-01 -2.08072980e-04 4.80703001e+00] [ 1.56538207e-02 -6.73840539e-04 9.99877244e-01 6.90407648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.21925415399994 meters Centerline goodness : 0.999152 Centerline is valid? [True, True] Translation: X:446.91, Y:4.81, Z:6.91 [[ 9.98310712e-01 -5.59488014e-02 -1.56669586e-02 4.46914248e+02] [ 5.59524401e-02 9.98433414e-01 -2.06323689e-04 4.80906426e+00] [ 1.56539585e-02 -6.70629413e-04 9.99877244e-01 6.90508084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.24925415399997 meters Centerline goodness : 0.998980 Centerline is valid? [True, True] Translation: X:446.95, Y:4.81, Z:6.91 [[ 9.98380271e-01 -5.46935034e-02 -1.56669814e-02 4.46947536e+02] [ 5.46970152e-02 9.98502977e-01 -2.04576122e-04 4.81266111e+00] [ 1.56547166e-02 -6.52692358e-04 9.99877244e-01 6.90553457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.27925415399994 meters Centerline goodness : 0.998896 Centerline is valid? [True, True] Translation: X:446.98, Y:4.81, Z:6.91 [[ 9.98446677e-01 -5.34675343e-02 -1.56670039e-02 4.46980823e+02] [ 5.34709226e-02 9.98569386e-01 -2.02839378e-04 4.81443596e+00] [ 1.56554358e-02 -6.35204850e-04 9.99877244e-01 6.90613997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.3092541539999 meters Centerline goodness : 0.998937 Centerline is valid? [True, True] Translation: X:447.01, Y:4.82, Z:6.91 [[ 9.98500350e-01 -5.24556433e-02 -1.56670262e-02 4.47013007e+02] [ 5.24589344e-02 9.98623062e-01 -2.01104126e-04 4.81619262e+00] [ 1.56560027e-02 -6.21072959e-04 9.99877244e-01 6.90689496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.33925415399995 meters Centerline goodness : 0.999213 Centerline is valid? [True, True] Translation: X:447.04, Y:4.82, Z:6.91 [[ 9.98572163e-01 -5.10703276e-02 -1.56670409e-02 4.47044847e+02] [ 5.10734666e-02 9.98694879e-01 -1.99949129e-04 4.81776998e+00] [ 1.56568050e-02 -6.00506456e-04 9.99877244e-01 6.90799662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.3692541539999 meters Centerline goodness : 0.999213 Centerline is valid? [True, True] Translation: X:447.08, Y:4.82, Z:6.91 [[ 9.98678785e-01 -4.89410616e-02 -1.56670555e-02 4.47076971e+02] [ 4.89439570e-02 9.98801507e-01 -1.98796749e-04 4.82091920e+00] [ 1.56580080e-02 -5.68273597e-04 9.99877244e-01 6.90963640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.39925415399995 meters Centerline goodness : 0.999192 Centerline is valid? [True, True] Translation: X:447.11, Y:4.82, Z:6.91 [[ 9.98711593e-01 -4.82669410e-02 -1.56670704e-02 4.47109280e+02] [ 4.82697720e-02 9.98834316e-01 -1.97622417e-04 4.82237118e+00] [ 1.56583461e-02 -5.58878115e-04 9.99877244e-01 6.91033189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.4292541539999 meters Centerline goodness : 0.998871 Centerline is valid? [True, True] Translation: X:447.14, Y:4.82, Z:6.91 [[ 9.98734004e-01 -4.78009573e-02 -1.56670850e-02 4.47141297e+02] [ 4.78037493e-02 9.98856728e-01 -1.96458591e-04 4.82365280e+00] [ 1.56585641e-02 -5.52735526e-04 9.99877244e-01 6.91039017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.45925415399995 meters Centerline goodness : 0.999148 Centerline is valid? [True, True] Translation: X:447.17, Y:4.83, Z:6.91 [[ 9.98722908e-01 -4.80322367e-02 -1.56671030e-02 4.47174480e+02] [ 4.80350797e-02 9.98845630e-01 -1.95008812e-04 4.82547926e+00] [ 1.56583841e-02 -5.57810773e-04 9.99877244e-01 6.91087054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.4892541539999 meters Centerline goodness : 0.999298 Centerline is valid? [True, True] Translation: X:447.21, Y:4.83, Z:6.91 [[ 9.98697950e-01 -4.85483971e-02 -1.56671247e-02 4.47206107e+02] [ 4.85513311e-02 9.98820670e-01 -1.93252011e-04 4.82613038e+00] [ 1.56580300e-02 -5.67659370e-04 9.99877244e-01 6.91088521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.51925415399995 meters Centerline goodness : 0.999362 Centerline is valid? [True, True] Translation: X:447.24, Y:4.83, Z:6.91 [[ 9.98674343e-01 -4.90316038e-02 -1.56671425e-02 4.47238516e+02] [ 4.90346200e-02 9.98797061e-01 -1.91796683e-04 4.82627520e+00] [ 1.56577000e-02 -5.76689951e-04 9.99877244e-01 6.91075376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.5492541539999 meters Centerline goodness : 0.999085 Centerline is valid? [True, True] Translation: X:447.27, Y:4.83, Z:6.91 [[ 9.98633361e-01 -4.98593157e-02 -1.56671560e-02 4.47271399e+02] [ 4.98624510e-02 9.98756076e-01 -1.90689520e-04 4.82602042e+00] [ 1.56571749e-02 -5.90773879e-04 9.99877244e-01 6.91026345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.57925415399995 meters Centerline goodness : 0.999107 Centerline is valid? [True, True] Translation: X:447.30, Y:4.83, Z:6.91 [[ 9.98617139e-01 -5.01831661e-02 -1.56671768e-02 4.47304296e+02] [ 5.01863682e-02 9.98739852e-01 -1.88964722e-04 4.82645705e+00] [ 1.56569167e-02 -5.97575290e-04 9.99877244e-01 6.91152011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.6092541539999 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:447.34, Y:4.83, Z:6.91 [[ 9.98641484e-01 -4.96963217e-02 -1.56671975e-02 4.47336331e+02] [ 4.96994911e-02 9.98764199e-01 -1.87228498e-04 4.82700954e+00] [ 1.56571405e-02 -5.91677598e-04 9.99877244e-01 6.91191140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.63925415399996 meters Centerline goodness : 0.999256 Centerline is valid? [True, True] Translation: X:447.37, Y:4.83, Z:6.91 [[ 9.98735155e-01 -4.77768546e-02 -1.56672111e-02 4.47368975e+02] [ 4.77798062e-02 9.98857876e-01 -1.86081070e-04 4.82816938e+00] [ 1.56582076e-02 -5.62730606e-04 9.99877244e-01 6.91051951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.66925415399993 meters Centerline goodness : 0.999383 Centerline is valid? [True, True] Translation: X:447.40, Y:4.83, Z:6.91 [[ 9.98772043e-01 -4.69993974e-02 -1.56672248e-02 4.47401027e+02] [ 4.70022715e-02 9.98894765e-01 -1.84925930e-04 4.82946354e+00] [ 1.56586002e-02 -5.51696304e-04 9.99877244e-01 6.91193121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.69925415399996 meters Centerline goodness : 0.999468 Centerline is valid? [True, True] Translation: X:447.43, Y:4.83, Z:6.91 [[ 9.98829009e-01 -4.57727923e-02 -1.56672416e-02 4.47432395e+02] [ 4.57755382e-02 9.98951734e-01 -1.83490170e-04 4.83036197e+00] [ 1.56592170e-02 -5.33901111e-04 9.99877244e-01 6.91149843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.72925415399993 meters Centerline goodness : 0.999171 Centerline is valid? [True, True] Translation: X:447.46, Y:4.83, Z:6.91 [[ 9.98922816e-01 -4.36777451e-02 -1.56672628e-02 4.47464955e+02] [ 4.36802622e-02 9.99045545e-01 -1.81659198e-04 4.83181762e+00] [ 1.56602436e-02 -5.02886630e-04 9.99877244e-01 6.91058558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.75925415399996 meters Centerline goodness : 0.999617 Centerline is valid? [True, True] Translation: X:447.50, Y:4.83, Z:6.91 [[ 9.98966154e-01 -4.26750485e-02 -1.56672758e-02 4.47497334e+02] [ 4.26774601e-02 9.99088886e-01 -1.80534748e-04 4.83276222e+00] [ 1.56607054e-02 -4.88291433e-04 9.99877244e-01 6.91166756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.78925415399993 meters Centerline goodness : 0.999318 Centerline is valid? [True, True] Translation: X:447.53, Y:4.83, Z:6.91 [[ 9.99033460e-01 -4.10692291e-02 -1.56672891e-02 4.47528342e+02] [ 4.10714617e-02 9.99156195e-01 -1.79370400e-04 4.83365197e+00] [ 1.56614356e-02 -4.64281432e-04 9.99877244e-01 6.91032972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.81925415399996 meters Centerline goodness : 0.999275 Centerline is valid? [True, True] Translation: X:447.56, Y:4.84, Z:6.91 [[ 9.99075552e-01 -4.00321906e-02 -1.56673110e-02 4.47559261e+02] [ 4.00343260e-02 9.99198289e-01 -1.77439356e-04 4.83511477e+00] [ 1.56618536e-02 -4.49954913e-04 9.99877244e-01 6.91314588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.84925415399994 meters Centerline goodness : 0.999318 Centerline is valid? [True, True] Translation: X:447.59, Y:4.84, Z:6.91 [[ 9.99212210e-01 -3.64622278e-02 -1.56673207e-02 4.47591497e+02] [ 3.64639381e-02 9.99334954e-01 -1.76580654e-04 4.83701166e+00] [ 1.56633397e-02 -3.94850666e-04 9.99877244e-01 6.91277855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.87925415399997 meters Centerline goodness : 0.999423 Centerline is valid? [True, True] Translation: X:447.62, Y:4.84, Z:6.92 [[ 9.99265071e-01 -3.49835904e-02 -1.56673334e-02 4.47623383e+02] [ 3.49851369e-02 9.99387817e-01 -1.75441185e-04 4.83828053e+00] [ 1.56638797e-02 -3.72811556e-04 9.99877244e-01 6.91507242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.90925415399994 meters Centerline goodness : 0.999210 Centerline is valid? [True, True] Translation: X:447.65, Y:4.84, Z:6.92 [[ 9.99299195e-01 -3.39948892e-02 -1.56673463e-02 4.47654230e+02] [ 3.39963323e-02 9.99421942e-01 -1.74287162e-04 4.83949202e+00] [ 1.56642145e-02 -3.58467288e-04 9.99877244e-01 6.91689110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.93925415399997 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:447.69, Y:4.84, Z:6.92 [[ 9.99350455e-01 -3.24530822e-02 -1.56673558e-02 4.47685278e+02] [ 3.24543495e-02 9.99473204e-01 -1.73427626e-04 4.84080313e+00] [ 1.56647305e-02 -3.35158863e-04 9.99877244e-01 6.91708986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.96925415399994 meters Centerline goodness : 0.999316 Centerline is valid? [True, True] Translation: X:447.72, Y:4.84, Z:6.92 [[ 9.99359524e-01 -3.21725957e-02 -1.56673651e-02 4.47717825e+02] [ 3.21738419e-02 9.99482273e-01 -1.72575691e-04 4.84154211e+00] [ 1.56648059e-02 -3.31614169e-04 9.99877244e-01 6.91756107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.99925415399997 meters Centerline goodness : 0.998867 Centerline is valid? [True, True] Translation: X:447.75, Y:4.84, Z:6.92 [[ 9.99365382e-01 -3.19900891e-02 -1.56673775e-02 4.47749791e+02] [ 3.19913306e-02 9.99488132e-01 -1.71446113e-04 4.84186082e+00] [ 1.56648425e-02 -3.29882943e-04 9.99877244e-01 6.91627045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.02925415399994 meters Centerline goodness : 0.998867 Centerline is valid? [True, True] Translation: X:447.78, Y:4.84, Z:6.92 [[ 9.99367692e-01 -3.19178602e-02 -1.56673898e-02 4.47782480e+02] [ 3.19191105e-02 9.99490441e-01 -1.70315456e-04 4.84215487e+00] [ 1.56648424e-02 -3.29881382e-04 9.99877244e-01 6.91678235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.0592541539999 meters Centerline goodness : 0.999209 Centerline is valid? [True, True] Translation: X:447.82, Y:4.84, Z:6.92 [[ 9.99324159e-01 -3.32529499e-02 -1.56674020e-02 4.47815006e+02] [ 3.32543819e-02 9.99446906e-01 -1.69183238e-04 4.84294275e+00] [ 1.56643623e-02 -3.51940874e-04 9.99877244e-01 6.91782710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.08925415399995 meters Centerline goodness : 0.999229 Centerline is valid? [True, True] Translation: X:447.85, Y:4.84, Z:6.92 [[ 9.99299683e-01 -3.39805052e-02 -1.56674146e-02 4.47846063e+02] [ 3.39820449e-02 9.99422429e-01 -1.68014924e-04 4.84273898e+00] [ 1.56640748e-02 -3.64513525e-04 9.99877244e-01 6.91622556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.1192541539999 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:447.88, Y:4.84, Z:6.92 [[ 9.99241665e-01 -3.56458481e-02 -1.56674238e-02 4.47878366e+02] [ 3.56476060e-02 9.99364408e-01 -1.67145769e-04 4.84286391e+00] [ 1.56634238e-02 -3.91487135e-04 9.99877244e-01 6.91752215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.14925415399995 meters Centerline goodness : 0.999315 Centerline is valid? [True, True] Translation: X:447.91, Y:4.84, Z:6.92 [[ 9.99123063e-01 -3.88283044e-02 -1.56674361e-02 4.47909119e+02] [ 3.88304713e-02 9.99245799e-01 -1.65991241e-04 4.84198380e+00] [ 1.56620648e-02 -4.42528249e-04 9.99877244e-01 6.91657954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.1792541539999 meters Centerline goodness : 0.998931 Centerline is valid? [True, True] Translation: X:447.94, Y:4.84, Z:6.91 [[ 9.99075887e-01 -4.00237749e-02 -1.56674451e-02 4.47940262e+02] [ 4.00261021e-02 9.99198621e-01 -1.65131332e-04 4.84168962e+00] [ 1.56614987e-02 -4.62128026e-04 9.99877244e-01 6.91441243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.20925415399995 meters Centerline goodness : 0.999188 Centerline is valid? [True, True] Translation: X:447.97, Y:4.84, Z:6.92 [[ 9.98989238e-01 -4.21311517e-02 -1.56674540e-02 4.47972835e+02] [ 4.21337511e-02 9.99111966e-01 -1.64285961e-04 4.84197660e+00] [ 1.56604623e-02 -4.96008699e-04 9.99877244e-01 6.91586150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.2392541539999 meters Centerline goodness : 0.999189 Centerline is valid? [True, True] Translation: X:448.01, Y:4.84, Z:6.92 [[ 9.98971472e-01 -4.25502977e-02 -1.56674658e-02 4.48005245e+02] [ 4.25529663e-02 9.99094199e-01 -1.63151211e-04 4.84219153e+00] [ 1.56602163e-02 -5.03713739e-04 9.99877244e-01 6.91595353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.26925415399995 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:448.04, Y:4.84, Z:6.92 [[ 9.98954145e-01 -4.29551768e-02 -1.56674775e-02 4.48036422e+02] [ 4.29579129e-02 9.99076870e-01 -1.62022704e-04 4.84254334e+00] [ 1.56599741e-02 -5.11188881e-04 9.99877244e-01 6.91598786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.2992541539999 meters Centerline goodness : 0.999381 Centerline is valid? [True, True] Translation: X:448.07, Y:4.84, Z:6.92 [[ 9.98956061e-01 -4.29105910e-02 -1.56674861e-02 4.48067358e+02] [ 4.29133347e-02 9.99078786e-01 -1.61182396e-04 4.84294231e+00] [ 1.56599694e-02 -5.11329944e-04 9.99877244e-01 6.91624126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.32925415399995 meters Centerline goodness : 0.999041 Centerline is valid? [True, True] Translation: X:448.10, Y:4.84, Z:6.92 [[ 9.98968732e-01 -4.26145776e-02 -1.56674946e-02 4.48099881e+02] [ 4.26172980e-02 9.99091457e-01 -1.60348918e-04 4.84327381e+00] [ 1.56600933e-02 -5.07522734e-04 9.99877244e-01 6.91750279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.3592541539999 meters Centerline goodness : 0.999212 Centerline is valid? [True, True] Translation: X:448.13, Y:4.84, Z:6.92 [[ 9.99051572e-01 -4.06261603e-02 -1.56675060e-02 4.48131979e+02] [ 4.06286539e-02 9.99174303e-01 -1.59235721e-04 4.84382686e+00] [ 1.56610385e-02 -4.77464979e-04 9.99877244e-01 6.91973921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.38925415399996 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:448.16, Y:4.84, Z:6.92 [[ 9.99126700e-01 -3.87345659e-02 -1.56675174e-02 4.48164093e+02] [ 3.87368448e-02 9.99249434e-01 -1.58106011e-04 4.84451788e+00] [ 1.56618820e-02 -4.48942252e-04 9.99877244e-01 6.92088345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.41925415399993 meters Centerline goodness : 0.999232 Centerline is valid? [True, True] Translation: X:448.20, Y:4.85, Z:6.92 [[ 9.99201585e-01 -3.67521705e-02 -1.56675288e-02 4.48195804e+02] [ 3.67542238e-02 9.99324323e-01 -1.56963716e-04 4.84545927e+00] [ 1.56627114e-02 -4.19009467e-04 9.99877244e-01 6.92226408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.44925415399996 meters Centerline goodness : 0.999125 Centerline is valid? [True, True] Translation: X:448.23, Y:4.85, Z:6.92 [[ 9.99346557e-01 -3.25727836e-02 -1.56675403e-02 4.48226712e+02] [ 3.25743417e-02 9.99469303e-01 -1.55804788e-04 4.84713621e+00] [ 1.56643006e-02 -3.54656834e-04 9.99877244e-01 6.92274161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.47925415399993 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:448.26, Y:4.85, Z:6.92 [[ 9.99402492e-01 -3.08088864e-02 -1.56675489e-02 4.48258946e+02] [ 3.08102414e-02 9.99525240e-01 -1.54942463e-04 4.84767967e+00] [ 1.56648841e-02 -3.27871079e-04 9.99877244e-01 6.92358540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.50925415399996 meters Centerline goodness : 0.999146 Centerline is valid? [True, True] Translation: X:448.29, Y:4.85, Z:6.92 [[ 9.99438780e-01 -2.96083227e-02 -1.56675596e-02 4.48290126e+02] [ 2.96095474e-02 9.99561529e-01 -1.53845517e-04 4.84816760e+00] [ 1.56652450e-02 -3.10150173e-04 9.99877244e-01 6.92471207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.53925415399993 meters Centerline goodness : 0.998936 Centerline is valid? [True, True] Translation: X:448.32, Y:4.85, Z:6.93 [[ 9.99475891e-01 -2.83279185e-02 -1.56675652e-02 4.48321247e+02] [ 2.83289948e-02 9.99598642e-01 -1.53281017e-04 4.84741507e+00] [ 1.56656190e-02 -2.90645691e-04 9.99877244e-01 6.92522641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.56925415399996 meters Centerline goodness : 0.999188 Centerline is valid? [True, True] Translation: X:448.35, Y:4.85, Z:6.93 [[ 9.99476085e-01 -2.83210774e-02 -1.56675707e-02 4.48352726e+02] [ 2.83221618e-02 9.99598835e-01 -1.52707841e-04 4.84673117e+00] [ 1.56656103e-02 -2.91111639e-04 9.99877244e-01 6.92583696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.59925415399994 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:448.38, Y:4.85, Z:6.93 [[ 9.99461729e-01 -2.88232445e-02 -1.56675763e-02 4.48384960e+02] [ 2.88243996e-02 9.99584479e-01 -1.52137908e-04 4.84630440e+00] [ 1.56654512e-02 -2.99552462e-04 9.99877244e-01 6.92620003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.62925415399997 meters Centerline goodness : 0.999254 Centerline is valid? [True, True] Translation: X:448.42, Y:4.85, Z:6.93 [[ 9.99422974e-01 -3.01371199e-02 -1.56675874e-02 4.48415924e+02] [ 3.01384544e-02 9.99545722e-01 -1.50987105e-04 4.84521993e+00] [ 1.56650202e-02 -3.21296885e-04 9.99877244e-01 6.92598010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.65925415399994 meters Centerline goodness : 0.999360 Centerline is valid? [True, True] Translation: X:448.45, Y:4.85, Z:6.93 [[ 9.99407950e-01 -3.06312980e-02 -1.56675956e-02 4.48446793e+02] [ 3.06327066e-02 9.99530697e-01 -1.50129219e-04 4.84501622e+00] [ 1.56648414e-02 -3.29900524e-04 9.99877244e-01 6.92574016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.68925415399997 meters Centerline goodness : 0.999382 Centerline is valid? [True, True] Translation: X:448.48, Y:4.84, Z:6.93 [[ 9.99416783e-01 -3.03417110e-02 -1.56676009e-02 4.48477872e+02] [ 3.03430928e-02 9.99539531e-01 -1.49570686e-04 4.84470056e+00] [ 1.56649247e-02 -3.25920014e-04 9.99877244e-01 6.92537450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.71925415399994 meters Centerline goodness : 0.999530 Centerline is valid? [True, True] Translation: X:448.51, Y:4.84, Z:6.93 [[ 9.99430744e-01 -2.98783013e-02 -1.56676187e-02 4.48509432e+02] [ 2.98796557e-02 9.99553493e-01 -1.47684164e-04 4.84444574e+00] [ 1.56650355e-02 -3.20542958e-04 9.99877244e-01 6.92517882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.74925415399997 meters Centerline goodness : 0.999231 Centerline is valid? [True, True] Translation: X:448.54, Y:4.84, Z:6.92 [[ 9.99454487e-01 -2.90732386e-02 -1.56676239e-02 4.48540411e+02] [ 2.90745028e-02 9.99577236e-01 -1.47134328e-04 4.84422583e+00] [ 1.56652778e-02 -3.08474308e-04 9.99877244e-01 6.92498671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.77925415399994 meters Centerline goodness : 0.999424 Centerline is valid? [True, True] Translation: X:448.57, Y:4.84, Z:6.93 [[ 9.99494789e-01 -2.76530569e-02 -1.56676290e-02 4.48572096e+02] [ 2.76541552e-02 9.99617540e-01 -1.46587425e-04 4.84358702e+00] [ 1.56656903e-02 -2.86761677e-04 9.99877244e-01 6.92610685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.8092541539999 meters Centerline goodness : 0.999466 Centerline is valid? [True, True] Translation: X:448.60, Y:4.84, Z:6.93 [[ 9.99498574e-01 -2.75159310e-02 -1.56676343e-02 4.48602860e+02] [ 2.75170214e-02 9.99621324e-01 -1.46015843e-04 4.84358551e+00] [ 1.56657191e-02 -2.85184002e-04 9.99877244e-01 6.92617589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.83925415399995 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:448.63, Y:4.84, Z:6.93 [[ 9.99521450e-01 -2.66720259e-02 -1.56676369e-02 4.48633087e+02] [ 2.66730171e-02 9.99644201e-01 -1.45732103e-04 4.84326661e+00] [ 1.56659494e-02 -2.72240785e-04 9.99877244e-01 6.92785803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.8692541539999 meters Centerline goodness : 0.999147 Centerline is valid? [True, True] Translation: X:448.66, Y:4.84, Z:6.93 [[ 9.99547553e-01 -2.56751838e-02 -1.56676395e-02 4.48664711e+02] [ 2.56760570e-02 9.99670305e-01 -1.45457227e-04 4.84309441e+00] [ 1.56662086e-02 -2.56891789e-04 9.99877244e-01 6.92781141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.89925415399995 meters Centerline goodness : 0.999127 Centerline is valid? [True, True] Translation: X:448.70, Y:4.84, Z:6.93 [[ 9.99565092e-01 -2.49830345e-02 -1.56676448e-02 4.48695383e+02] [ 2.49838316e-02 9.99687845e-01 -1.44883800e-04 4.84365753e+00] [ 1.56663737e-02 -2.46617011e-04 9.99877244e-01 6.93014582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.9292541539999 meters Centerline goodness : 0.999318 Centerline is valid? [True, True] Translation: X:448.73, Y:4.84, Z:6.93 [[ 9.99598119e-01 -2.36246828e-02 -1.56676474e-02 4.48726001e+02] [ 2.36253176e-02 9.99720873e-01 -1.44599151e-04 4.84381973e+00] [ 1.56666903e-02 -2.25612107e-04 9.99877244e-01 6.93071538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.95925415399995 meters Centerline goodness : 0.999425 Centerline is valid? [True, True] Translation: X:448.76, Y:4.84, Z:6.93 [[ 9.99655727e-01 -2.10464547e-02 -1.56676474e-02 4.48755050e+02] [ 2.10467728e-02 9.99778482e-01 -1.44599151e-04 4.84353738e+00] [ 1.56672201e-02 -1.85204047e-04 9.99877244e-01 6.93112520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.9892541539999 meters Centerline goodness : 0.999191 Centerline is valid? [True, True] Translation: X:448.78, Y:4.84, Z:6.93 [[ 9.99677052e-01 -2.00079192e-02 -1.56676449e-02 4.48784905e+02] [ 2.00081055e-02 9.99799807e-01 -1.44877811e-04 4.84340390e+00] [ 1.56674070e-02 -1.68648868e-04 9.99877244e-01 6.93036352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.01925415399995 meters Centerline goodness : 0.999489 Centerline is valid? [True, True] Translation: X:448.81, Y:4.84, Z:6.93 [[ 9.99685225e-01 -1.95953285e-02 -1.56676423e-02 4.48814658e+02] [ 1.95954598e-02 9.99807980e-01 -1.45151860e-04 4.84300155e+00] [ 1.56674781e-02 -1.61908485e-04 9.99877244e-01 6.93151482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.0492541539999 meters Centerline goodness : 0.999256 Centerline is valid? [True, True] Translation: X:448.84, Y:4.84, Z:6.93 [[ 9.99671589e-01 -2.02790287e-02 -1.56676371e-02 4.48843155e+02] [ 2.02792351e-02 9.99794345e-01 -1.45715732e-04 4.84110766e+00] [ 1.56673699e-02 -1.72059818e-04 9.99877244e-01 6.93098775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.07925415399995 meters Centerline goodness : 0.999127 Centerline is valid? [True, True] Translation: X:448.87, Y:4.84, Z:6.93 [[ 9.99650144e-01 -2.13099522e-02 -1.56676292e-02 4.48872918e+02] [ 2.13102721e-02 9.99772900e-01 -1.46554339e-04 4.84036766e+00] [ 1.56671942e-02 -1.87378375e-04 9.99877244e-01 6.93141210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.1092541539999 meters Centerline goodness : 0.999022 Centerline is valid? [True, True] Translation: X:448.90, Y:4.84, Z:6.93 [[ 9.99594716e-01 -2.37682584e-02 -1.56676238e-02 4.48902941e+02] [ 2.37688711e-02 9.99717470e-01 -1.47127975e-04 4.83866782e+00] [ 1.56666942e-02 -2.25333386e-04 9.99877244e-01 6.93122002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.13925415399996 meters Centerline goodness : 0.998896 Centerline is valid? [True, True] Translation: X:448.93, Y:4.84, Z:6.93 [[ 9.99562633e-01 -2.50812260e-02 -1.56676184e-02 4.48933044e+02] [ 2.50819909e-02 9.99685386e-01 -1.47703468e-04 4.83786914e+00] [ 1.56663938e-02 -2.45336196e-04 9.99877244e-01 6.93125842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.16925415399993 meters Centerline goodness : 0.999129 Centerline is valid? [True, True] Translation: X:448.96, Y:4.84, Z:6.93 [[ 9.99527655e-01 -2.64384624e-02 -1.56676184e-02 4.48963711e+02] [ 2.64393941e-02 9.99650407e-01 -1.47703468e-04 4.83686605e+00] [ 1.56660462e-02 -2.66608636e-04 9.99877244e-01 6.93153434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.19925415399996 meters Centerline goodness : 0.999130 Centerline is valid? [True, True] Translation: X:448.99, Y:4.84, Z:6.93 [[ 9.99493470e-01 -2.77006958e-02 -1.56676211e-02 4.48993864e+02] [ 2.77017869e-02 9.99616221e-01 -1.47419092e-04 4.83577299e+00] [ 1.56656918e-02 -2.86676681e-04 9.99877244e-01 6.93169613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.22925415399993 meters Centerline goodness : 0.999130 Centerline is valid? [True, True] Translation: X:449.02, Y:4.83, Z:6.93 [[ 9.99430487e-01 -2.98868988e-02 -1.56676211e-02 4.49024377e+02] [ 2.98882584e-02 9.99553235e-01 -1.47419092e-04 4.83415407e+00] [ 1.56650272e-02 -3.20942773e-04 9.99877244e-01 6.93154117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.25925415399996 meters Centerline goodness : 0.999279 Centerline is valid? [True, True] Translation: X:449.06, Y:4.83, Z:6.93 [[ 9.99399866e-01 -3.08939146e-02 -1.56676237e-02 4.49056105e+02] [ 3.08954023e-02 9.99522612e-01 -1.47135744e-04 4.83379989e+00] [ 1.56646898e-02 -3.37010097e-04 9.99877244e-01 6.93202946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.28925415399993 meters Centerline goodness : 0.998940 Centerline is valid? [True, True] Translation: X:449.09, Y:4.83, Z:6.93 [[ 9.99378766e-01 -3.15690961e-02 -1.56676290e-02 4.49087285e+02] [ 3.15706757e-02 9.99501511e-01 -1.46570464e-04 4.83356581e+00] [ 1.56644460e-02 -3.48158225e-04 9.99877244e-01 6.93219957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.31925415399996 meters Centerline goodness : 0.999067 Centerline is valid? [True, True] Translation: X:449.12, Y:4.83, Z:6.93 [[ 9.99336138e-01 -3.28908493e-02 -1.56676343e-02 4.49118412e+02] [ 3.28926001e-02 9.99458881e-01 -1.46002837e-04 4.83358433e+00] [ 1.56639584e-02 -3.69443318e-04 9.99877244e-01 6.93287461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.34925415399994 meters Centerline goodness : 0.999089 Centerline is valid? [True, True] Translation: X:449.15, Y:4.83, Z:6.93 [[ 9.99311445e-01 -3.36327233e-02 -1.56676396e-02 4.49149745e+02] [ 3.36345741e-02 9.99434187e-01 -1.45430458e-04 4.83385697e+00] [ 1.56636659e-02 -3.81644066e-04 9.99877244e-01 6.93378204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.37925415399997 meters Centerline goodness : 0.999005 Centerline is valid? [True, True] Translation: X:449.18, Y:4.83, Z:6.93 [[ 9.99296556e-01 -3.40722363e-02 -1.56676449e-02 4.49181017e+02] [ 3.40741501e-02 9.99419297e-01 -1.44856477e-04 4.83380323e+00] [ 1.56634823e-02 -3.89107107e-04 9.99877244e-01 6.93443127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.40925415399994 meters Centerline goodness : 0.998961 Centerline is valid? [True, True] Translation: X:449.21, Y:4.83, Z:6.94 [[ 9.99287342e-01 -3.43414110e-02 -1.56676502e-02 4.49212851e+02] [ 3.43433669e-02 9.99410082e-01 -1.44283050e-04 4.83404952e+00] [ 1.56633625e-02 -3.93899635e-04 9.99877244e-01 6.93502406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.43925415399997 meters Centerline goodness : 0.998920 Centerline is valid? [True, True] Translation: X:449.24, Y:4.83, Z:6.94 [[ 9.99268086e-01 -3.48972239e-02 -1.56676607e-02 4.49244555e+02] [ 3.48992660e-02 9.99390825e-01 -1.43139153e-04 4.83441644e+00] [ 1.56631115e-02 -4.03755471e-04 9.99877244e-01 6.93596811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.46925415399994 meters Centerline goodness : 0.998982 Centerline is valid? [True, True] Translation: X:449.28, Y:4.83, Z:6.94 [[ 9.99259971e-01 -3.51288203e-02 -1.56676710e-02 4.49276486e+02] [ 3.51309086e-02 9.99382709e-01 -1.42004745e-04 4.83477690e+00] [ 1.56629879e-02 -4.08519860e-04 9.99877244e-01 6.93673145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.49925415399997 meters Centerline goodness : 0.998774 Centerline is valid? [True, True] Translation: X:449.31, Y:4.83, Z:6.94 [[ 9.99268680e-01 -3.48802059e-02 -1.56676812e-02 4.49307536e+02] [ 3.48822815e-02 9.99391418e-01 -1.40862439e-04 4.83472893e+00] [ 1.56630595e-02 -4.05765045e-04 9.99877244e-01 6.93566851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.52925415399994 meters Centerline goodness : 0.998943 Centerline is valid? [True, True] Translation: X:449.34, Y:4.84, Z:6.94 [[ 9.99230650e-01 -3.59531776e-02 -1.56676888e-02 4.49338449e+02] [ 3.59553984e-02 9.99353386e-01 -1.40010847e-04 4.83519081e+00] [ 1.56625917e-02 -4.23434865e-04 9.99877244e-01 6.93761589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.5592541539999 meters Centerline goodness : 0.999004 Centerline is valid? [True, True] Translation: X:449.37, Y:4.84, Z:6.94 [[ 9.99219833e-01 -3.62525734e-02 -1.56676963e-02 4.49370828e+02] [ 3.62548442e-02 9.99342567e-01 -1.39167426e-04 4.83532461e+00] [ 1.56624411e-02 -4.28971038e-04 9.99877244e-01 6.93853408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.58925415399995 meters Centerline goodness : 0.999026 Centerline is valid? [True, True] Translation: X:449.40, Y:4.84, Z:6.94 [[ 9.99181572e-01 -3.72922096e-02 -1.56677064e-02 4.49401555e+02] [ 3.72946260e-02 9.99304304e-01 -1.38026219e-04 4.83516848e+00] [ 1.56619537e-02 -4.46407995e-04 9.99877244e-01 6.93927968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.6192541539999 meters Centerline goodness : 0.999068 Centerline is valid? [True, True] Translation: X:449.43, Y:4.84, Z:6.94 [[ 9.99164862e-01 -3.77372562e-02 -1.56677138e-02 4.49433935e+02] [ 3.77397405e-02 9.99287593e-01 -1.37176258e-04 4.83509109e+00] [ 1.56617287e-02 -4.54233758e-04 9.99877244e-01 6.93993050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.64925415399995 meters Centerline goodness : 0.998730 Centerline is valid? [True, True] Translation: X:449.46, Y:4.84, Z:6.94 [[ 9.99144868e-01 -3.82629646e-02 -1.56677235e-02 4.49464622e+02] [ 3.82655311e-02 9.99267597e-01 -1.36056849e-04 4.83540496e+00] [ 1.56614544e-02 -4.63593260e-04 9.99877244e-01 6.94051663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.6792541539999 meters Centerline goodness : 0.998940 Centerline is valid? [True, True] Translation: X:449.50, Y:4.84, Z:6.94 [[ 9.99123415e-01 -3.88191277e-02 -1.56677308e-02 4.49496503e+02] [ 3.88217756e-02 9.99246142e-01 -1.35220654e-04 4.83555948e+00] [ 1.56611687e-02 -4.73147005e-04 9.99877244e-01 6.94153744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.70925415399995 meters Centerline goodness : 0.998813 Centerline is valid? [True, True] Translation: X:449.53, Y:4.84, Z:6.94 [[ 9.99127085e-01 -3.87245435e-02 -1.56677403e-02 4.49528999e+02] [ 3.87271972e-02 9.99249812e-01 -1.34105808e-04 4.83551715e+00] [ 1.56611797e-02 -4.72778923e-04 9.99877244e-01 6.94158217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.7392541539999 meters Centerline goodness : 0.998770 Centerline is valid? [True, True] Translation: X:449.56, Y:4.84, Z:6.94 [[ 9.99144882e-01 -3.82626099e-02 -1.56677497e-02 4.49561328e+02] [ 3.82652242e-02 9.99267609e-01 -1.32998026e-04 4.83530944e+00] [ 1.56613636e-02 -4.66645658e-04 9.99877244e-01 6.94138726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.76925415399995 meters Centerline goodness : 0.998835 Centerline is valid? [True, True] Translation: X:449.59, Y:4.84, Z:6.94 [[ 9.99197692e-01 -3.68577416e-02 -1.56677591e-02 4.49593991e+02] [ 3.68602009e-02 9.99320423e-01 -1.31880728e-04 4.83512315e+00] [ 1.56619725e-02 -4.45741829e-04 9.99877244e-01 6.93996331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.7992541539999 meters Centerline goodness : 0.998920 Centerline is valid? [True, True] Translation: X:449.63, Y:4.84, Z:6.94 [[ 9.99213011e-01 -3.64400941e-02 -1.56677685e-02 4.49625931e+02] [ 3.64425196e-02 9.99335742e-01 -1.30761906e-04 4.83535906e+00] [ 1.56621260e-02 -4.40313962e-04 9.99877244e-01 6.94131092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.82925415399995 meters Centerline goodness : 0.998771 Centerline is valid? [True, True] Translation: X:449.66, Y:4.84, Z:6.94 [[ 9.99226107e-01 -3.60791772e-02 -1.56677780e-02 4.49656999e+02] [ 3.60815765e-02 9.99348840e-01 -1.29606226e-04 4.83531635e+00] [ 1.56622519e-02 -4.35812206e-04 9.99877244e-01 6.94083729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.8592541539999 meters Centerline goodness : 0.998731 Centerline is valid? [True, True] Translation: X:449.69, Y:4.84, Z:6.94 [[ 9.99239873e-01 -3.56958949e-02 -1.56677851e-02 4.49689481e+02] [ 3.56982606e-02 9.99362606e-01 -1.28744258e-04 4.83544647e+00] [ 1.56623942e-02 -4.30666280e-04 9.99877244e-01 6.94198607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.88925415399996 meters Centerline goodness : 0.998985 Centerline is valid? [True, True] Translation: X:449.72, Y:4.84, Z:6.94 [[ 9.99267850e-01 -3.49039192e-02 -1.56677944e-02 4.49721484e+02] [ 3.49062056e-02 9.99390585e-01 -1.27601581e-04 4.83579959e+00] [ 1.56627000e-02 -4.19395094e-04 9.99877244e-01 6.94328414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.91925415399993 meters Centerline goodness : 0.998900 Centerline is valid? [True, True] Translation: X:449.75, Y:4.84, Z:6.94 [[ 9.99290984e-01 -3.42351997e-02 -1.56678036e-02 4.49752620e+02] [ 3.42374218e-02 9.99413720e-01 -1.26458289e-04 4.83630206e+00] [ 1.56629472e-02 -4.10056574e-04 9.99877244e-01 6.94435358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.94925415399996 meters Centerline goodness : 0.998900 Centerline is valid? [True, True] Translation: X:449.79, Y:4.84, Z:6.94 [[ 9.99293439e-01 -3.41634591e-02 -1.56678187e-02 4.49785308e+02] [ 3.41657020e-02 9.99416174e-01 -1.24569023e-04 4.83649983e+00] [ 1.56629271e-02 -4.10821016e-04 9.99877244e-01 6.94486524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.97925415399993 meters Centerline goodness : 0.999026 Centerline is valid? [True, True] Translation: X:449.82, Y:4.84, Z:6.95 [[ 9.99339137e-01 -3.27995194e-02 -1.56678275e-02 4.49817386e+02] [ 3.28016124e-02 9.99461875e-01 -1.23444533e-04 4.83680793e+00] [ 1.56634452e-02 -3.90567052e-04 9.99877244e-01 6.94617177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.00925415399996 meters Centerline goodness : 0.999090 Centerline is valid? [True, True] Translation: X:449.85, Y:4.84, Z:6.95 [[ 9.99478614e-01 -2.82315096e-02 -1.56678363e-02 4.49849033e+02] [ 2.82330592e-02 9.99601360e-01 -1.22318499e-04 4.83718304e+00] [ 1.56650437e-02 -3.20096226e-04 9.99877244e-01 6.94616379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.03925415399993 meters Centerline goodness : 0.999003 Centerline is valid? [True, True] Translation: X:449.88, Y:4.84, Z:6.95 [[ 9.99524133e-01 -2.65711652e-02 -1.56678407e-02 4.49879203e+02] [ 2.65725199e-02 9.99646881e-01 -1.21751707e-04 4.83833916e+00] [ 1.56655432e-02 -2.94640239e-04 9.99877244e-01 6.94949761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.06925415399996 meters Centerline goodness : 0.999174 Centerline is valid? [True, True] Translation: X:449.91, Y:4.84, Z:6.95 [[ 9.99588751e-01 -2.40176461e-02 -1.56678429e-02 4.49909499e+02] [ 2.40186915e-02 9.99711502e-01 -1.21471188e-04 4.83841075e+00] [ 1.56662402e-02 -2.54899852e-04 9.99877244e-01 6.94965677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.09925415399994 meters Centerline goodness : 0.998857 Centerline is valid? [True, True] Translation: X:449.94, Y:4.84, Z:6.95 [[ 9.99660456e-01 -2.08204400e-02 -1.56678429e-02 4.49940287e+02] [ 2.08210928e-02 9.99783210e-01 -1.21471188e-04 4.83773131e+00] [ 1.56669753e-02 -2.04791668e-04 9.99877244e-01 6.94935386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.12925415399997 meters Centerline goodness : 0.999196 Centerline is valid? [True, True] Translation: X:449.97, Y:4.84, Z:6.95 [[ 9.99654899e-01 -2.10856016e-02 -1.56678429e-02 4.49970320e+02] [ 2.10862870e-02 9.99777652e-01 -1.21471188e-04 4.83775673e+00] [ 1.56669205e-02 -2.08947364e-04 9.99877244e-01 6.95208881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.15925415399994 meters Centerline goodness : 0.999131 Centerline is valid? [True, True] Translation: X:450.00, Y:4.84, Z:6.95 [[ 9.99647835e-01 -2.14178467e-02 -1.56678384e-02 4.49999711e+02] [ 2.14185639e-02 9.99770589e-01 -1.22041640e-04 4.83690154e+00] [ 1.56668579e-02 -2.13583937e-04 9.99877244e-01 6.95171396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.18925415399997 meters Centerline goodness : 0.999110 Centerline is valid? [True, True] Translation: X:450.03, Y:4.84, Z:6.95 [[ 9.99639632e-01 -2.17973471e-02 -1.56678340e-02 4.50028833e+02] [ 2.17981020e-02 9.99762386e-01 -1.22608395e-04 4.83604537e+00] [ 1.56667836e-02 -2.18964833e-04 9.99877244e-01 6.95210361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.21925415399994 meters Centerline goodness : 0.998837 Centerline is valid? [True, True] Translation: X:450.06, Y:4.83, Z:6.95 [[ 9.99553153e-01 -2.54563497e-02 -1.56674628e-02 4.50058492e+02] [ 2.54568220e-02 9.99675908e-01 -1.69324673e-04 4.83369767e+00] [ 1.56666955e-02 -2.29594801e-04 9.99877243e-01 6.94979270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.24925415399997 meters Centerline goodness : 0.999048 Centerline is valid? [True, True] Translation: X:450.09, Y:4.83, Z:6.95 [[ 9.99503326e-01 -2.73426517e-02 -1.56678118e-02 4.50088875e+02] [ 2.73440362e-02 9.99626074e-01 -1.25893001e-04 4.83246978e+00] [ 1.56653955e-02 -3.02590740e-04 9.99877244e-01 6.94980925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.27925415399994 meters Centerline goodness : 0.999049 Centerline is valid? [True, True] Translation: X:450.12, Y:4.83, Z:6.95 [[ 9.99388499e-01 -3.12593786e-02 -1.56678118e-02 4.50119165e+02] [ 3.12612440e-02 9.99511240e-01 -1.25893001e-04 4.82958823e+00] [ 1.56640894e-02 -3.63979271e-04 9.99877244e-01 6.94893465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.3092541539999 meters Centerline goodness : 0.998921 Centerline is valid? [True, True] Translation: X:450.15, Y:4.83, Z:6.95 [[ 9.99339259e-01 -3.27958248e-02 -1.56678118e-02 4.50150315e+02] [ 3.27978790e-02 9.99461997e-01 -1.25893001e-04 4.82808591e+00] [ 1.56635112e-02 -3.88061177e-04 9.99877244e-01 6.94743823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.33925415399995 meters Centerline goodness : 0.998774 Centerline is valid? [True, True] Translation: X:450.18, Y:4.83, Z:6.95 [[ 9.99268214e-01 -3.48935076e-02 -1.56678164e-02 4.50182447e+02] [ 3.48958284e-02 9.99390947e-01 -1.25319875e-04 4.82758337e+00] [ 1.56626467e-02 -4.21513265e-04 9.99877244e-01 6.94901633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.3692541539999 meters Centerline goodness : 0.998902 Centerline is valid? [True, True] Translation: X:450.21, Y:4.83, Z:6.95 [[ 9.99155687e-01 -3.79793668e-02 -1.56678256e-02 4.50214611e+02] [ 3.79820847e-02 9.99278413e-01 -1.24164191e-04 4.82572604e+00] [ 1.56612355e-02 -4.71037320e-04 9.99877244e-01 6.94949079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.39925415399995 meters Centerline goodness : 0.999113 Centerline is valid? [True, True] Translation: X:450.25, Y:4.83, Z:6.95 [[ 9.99100037e-01 -3.94161680e-02 -1.56678346e-02 4.50246508e+02] [ 3.94190806e-02 9.99222758e-01 -1.23008007e-04 4.82524358e+00] [ 1.56605054e-02 -4.94714331e-04 9.99877244e-01 6.95058931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.4292541539999 meters Centerline goodness : 0.999177 Centerline is valid? [True, True] Translation: X:450.28, Y:4.82, Z:6.95 [[ 9.99060854e-01 -4.03971450e-02 -1.56678437e-02 4.50277903e+02] [ 4.04001963e-02 9.99183571e-01 -1.21840303e-04 4.82474708e+00] [ 1.56599740e-02 -5.11258085e-04 9.99877244e-01 6.95056515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.45925415399995 meters Centerline goodness : 0.998860 Centerline is valid? [True, True] Translation: X:450.31, Y:4.82, Z:6.95 [[ 9.99025465e-01 -4.12630394e-02 -1.56678586e-02 4.50309964e+02] [ 4.12662276e-02 9.99148179e-01 -1.19894859e-04 4.82462625e+00] [ 1.56594596e-02 -5.26775402e-04 9.99877244e-01 6.95098169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.4892541539999 meters Centerline goodness : 0.999390 Centerline is valid? [True, True] Translation: X:450.34, Y:4.83, Z:6.95 [[ 9.98962857e-01 -4.27519455e-02 -1.56678673e-02 4.50342192e+02] [ 4.27553346e-02 9.99085566e-01 -1.18744035e-04 4.82504404e+00] [ 1.56586166e-02 -5.51264029e-04 9.99877244e-01 6.95308060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.51925415399995 meters Centerline goodness : 0.999243 Centerline is valid? [True, True] Translation: X:450.37, Y:4.83, Z:6.95 [[ 9.98947183e-01 -4.31166228e-02 -1.56678760e-02 4.50374549e+02] [ 4.31200748e-02 9.99069890e-01 -1.17587848e-04 4.82513077e+00] [ 1.56583731e-02 -5.58135936e-04 9.99877244e-01 6.95390146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.5492541539999 meters Centerline goodness : 0.999495 Centerline is valid? [True, True] Translation: X:450.41, Y:4.83, Z:6.95 [[ 9.98941107e-01 -4.32571637e-02 -1.56678845e-02 4.50406621e+02] [ 4.32606509e-02 9.99063813e-01 -1.16439129e-04 4.82545070e+00] [ 1.56582533e-02 -5.61487051e-04 9.99877244e-01 6.95458772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.57925415399995 meters Centerline goodness : 0.999369 Centerline is valid? [True, True] Translation: X:450.44, Y:4.83, Z:6.95 [[ 9.98916845e-01 -4.38138634e-02 -1.56678930e-02 4.50438330e+02] [ 4.38174370e-02 9.99039548e-01 -1.15295215e-04 4.82606014e+00] [ 1.56578962e-02 -5.71356579e-04 9.99877244e-01 6.95491587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.6092541539999 meters Centerline goodness : 0.999159 Centerline is valid? [True, True] Translation: X:450.47, Y:4.83, Z:6.95 [[ 9.98915668e-01 -4.38406820e-02 -1.56679014e-02 4.50469492e+02] [ 4.38442771e-02 9.99038371e-01 -1.14134117e-04 4.82651330e+00] [ 1.56578384e-02 -5.72937453e-04 9.99877244e-01 6.95481515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.63925415399996 meters Centerline goodness : 0.999369 Centerline is valid? [True, True] Translation: X:450.50, Y:4.83, Z:6.95 [[ 9.98903760e-01 -4.41111618e-02 -1.56679153e-02 4.50501560e+02] [ 4.41148203e-02 9.99026461e-01 -1.12201541e-04 4.82794758e+00] [ 1.56576113e-02 -5.79108726e-04 9.99877244e-01 6.95461862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.66925415399993 meters Centerline goodness : 0.999303 Centerline is valid? [True, True] Translation: X:450.53, Y:4.83, Z:6.96 [[ 9.98890756e-01 -4.44046512e-02 -1.56679233e-02 4.50533975e+02] [ 4.44083635e-02 9.99013456e-01 -1.11070243e-04 4.82855809e+00] [ 1.56573982e-02 -5.84839793e-04 9.99877244e-01 6.95517319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.69925415399996 meters Centerline goodness : 0.999430 Centerline is valid? [True, True] Translation: X:450.57, Y:4.83, Z:6.96 [[ 9.98885997e-01 -4.45115757e-02 -1.56679315e-02 4.50565321e+02] [ 4.45153195e-02 9.99008696e-01 -1.09902533e-04 4.82891503e+00] [ 1.56572917e-02 -5.87682873e-04 9.99877244e-01 6.95550219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.72925415399993 meters Centerline goodness : 0.999494 Centerline is valid? [True, True] Translation: X:450.60, Y:4.83, Z:6.96 [[ 9.98887763e-01 -4.44719343e-02 -1.56679375e-02 4.50597327e+02] [ 4.44756868e-02 9.99010461e-01 -1.09030887e-04 4.82927568e+00] [ 1.56572823e-02 -5.87932663e-04 9.99877244e-01 6.95614705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.75925415399996 meters Centerline goodness : 0.999474 Centerline is valid? [True, True] Translation: X:450.63, Y:4.83, Z:6.96 [[ 9.98913605e-01 -4.38876442e-02 -1.56679455e-02 4.50629318e+02] [ 4.38913430e-02 9.99036305e-01 -1.07880186e-04 4.83040956e+00] [ 1.56575809e-02 -5.79924182e-04 9.99877244e-01 6.95698224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.78925415399993 meters Centerline goodness : 0.999430 Centerline is valid? [True, True] Translation: X:450.66, Y:4.83, Z:6.96 [[ 9.98946624e-01 -4.31295561e-02 -1.56679533e-02 4.50661151e+02] [ 4.31331799e-02 9.99069326e-01 -1.06725620e-04 4.83107653e+00] [ 1.56579746e-02 -5.69195450e-04 9.99877244e-01 6.95658752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.81925415399996 meters Centerline goodness : 0.999493 Centerline is valid? [True, True] Translation: X:450.69, Y:4.83, Z:6.96 [[ 9.98956654e-01 -4.28965927e-02 -1.56679612e-02 4.50691891e+02] [ 4.29002062e-02 9.99079357e-01 -1.05555732e-04 4.83234720e+00] [ 1.56580646e-02 -5.66713165e-04 9.99877244e-01 6.95789987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.84925415399994 meters Centerline goodness : 0.999472 Centerline is valid? [True, True] Translation: X:450.72, Y:4.83, Z:6.96 [[ 9.99011197e-01 -4.16070085e-02 -1.56679670e-02 4.50724128e+02] [ 4.16104772e-02 9.99133904e-01 -1.04684462e-04 4.83425908e+00] [ 1.56587527e-02 -5.47370634e-04 9.99877244e-01 6.95833106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.87925415399997 meters Centerline goodness : 0.999133 Centerline is valid? [True, True] Translation: X:450.76, Y:4.84, Z:6.96 [[ 9.99030799e-01 -4.11336520e-02 -1.56679744e-02 4.50755922e+02] [ 4.11370800e-02 9.99153507e-01 -1.03574126e-04 4.83523905e+00] [ 1.56589719e-02 -5.41060973e-04 9.99877244e-01 6.95824839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.90925415399994 meters Centerline goodness : 0.999408 Centerline is valid? [True, True] Translation: X:450.79, Y:4.84, Z:6.96 [[ 9.99050756e-01 -4.06460404e-02 -1.56679819e-02 4.50788417e+02] [ 4.06494265e-02 9.99173465e-01 -1.02420555e-04 4.83611887e+00] [ 1.56591948e-02 -5.34571147e-04 9.99877244e-01 6.95814963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.93925415399997 meters Centerline goodness : 0.999662 Centerline is valid? [True, True] Translation: X:450.82, Y:4.84, Z:6.96 [[ 9.99056105e-01 -4.05143469e-02 -1.56679893e-02 4.50820996e+02] [ 4.05177348e-02 9.99178814e-01 -1.01273562e-04 4.83759172e+00] [ 1.56592260e-02 -5.33653465e-04 9.99877244e-01 6.95775276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.96925415399994 meters Centerline goodness : 0.999239 Centerline is valid? [True, True] Translation: X:450.85, Y:4.84, Z:6.96 [[ 9.99045008e-01 -4.07870859e-02 -1.56679966e-02 4.50853376e+02] [ 4.07905252e-02 9.99167715e-01 -1.00129277e-04 4.83816392e+00] [ 1.56590404e-02 -5.39072157e-04 9.99877244e-01 6.95800175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.9992541539999 meters Centerline goodness : 0.999450 Centerline is valid? [True, True] Translation: X:450.88, Y:4.84, Z:6.96 [[ 9.99031286e-01 -4.11218080e-02 -1.56680039e-02 4.50884716e+02] [ 4.11253065e-02 9.99153992e-01 -9.89747070e-05 4.83894322e+00] [ 1.56588187e-02 -5.45472635e-04 9.99877244e-01 6.95785483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.02925415399994 meters Centerline goodness : 0.999281 Centerline is valid? [True, True] Translation: X:450.92, Y:4.84, Z:6.96 [[ 9.99008074e-01 -4.16819138e-02 -1.56680093e-02 4.50916655e+02] [ 4.16854946e-02 9.99130777e-01 -9.81167974e-05 4.84086798e+00] [ 1.56584800e-02 -5.55109244e-04 9.99877244e-01 6.95901729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.0592541539999 meters Centerline goodness : 0.999513 Centerline is valid? [True, True] Translation: X:450.95, Y:4.84, Z:6.96 [[ 9.99030237e-01 -4.11472828e-02 -1.56680165e-02 4.50947608e+02] [ 4.11508162e-02 9.99152942e-01 -9.69530333e-05 4.84187183e+00] [ 1.56587341e-02 -5.47892655e-04 9.99877244e-01 6.95943153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.08925415399995 meters Centerline goodness : 0.999258 Centerline is valid? [True, True] Translation: X:450.98, Y:4.84, Z:6.96 [[ 9.99111493e-01 -3.91246474e-02 -1.56680218e-02 4.50979475e+02] [ 3.91279459e-02 9.99234204e-01 -9.60861949e-05 4.84425534e+00] [ 1.56597826e-02 -5.17056688e-04 9.99877244e-01 6.96065435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.1192541539999 meters Centerline goodness : 0.998879 Centerline is valid? [True, True] Translation: X:451.01, Y:4.85, Z:6.96 [[ 9.99182417e-01 -3.72694262e-02 -1.56680285e-02 4.51011623e+02] [ 3.72725141e-02 9.99305134e-01 -9.49822894e-05 4.84527289e+00] [ 1.56606813e-02 -4.89082180e-04 9.99877244e-01 6.96004940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.14925415399995 meters Centerline goodness : 0.999151 Centerline is valid? [True, True] Translation: X:451.04, Y:4.85, Z:6.96 [[ 9.99234128e-01 -3.58562404e-02 -1.56680353e-02 4.51043036e+02] [ 3.58591725e-02 9.99356849e-01 -9.38484604e-05 4.84710359e+00] [ 1.56613234e-02 -4.68066195e-04 9.99877244e-01 6.96265476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.1792541539999 meters Centerline goodness : 0.999322 Centerline is valid? [True, True] Translation: X:451.08, Y:4.85, Z:6.96 [[ 9.99305171e-01 -3.38184355e-02 -1.56680464e-02 4.51075650e+02] [ 3.38211469e-02 9.99427897e-01 -9.19619180e-05 4.84861733e+00] [ 1.56621926e-02 -4.38013278e-04 9.99877244e-01 6.96418694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.20925415399995 meters Centerline goodness : 0.999490 Centerline is valid? [True, True] Translation: X:451.11, Y:4.85, Z:6.96 [[ 9.99426904e-01 -3.00062451e-02 -1.56680531e-02 4.51106591e+02] [ 3.00085065e-02 9.99549639e-01 -9.08035845e-05 4.85081759e+00] [ 1.56637215e-02 -3.79423327e-04 9.99877244e-01 6.96458870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.2392541539999 meters Centerline goodness : 0.999385 Centerline is valid? [True, True] Translation: X:451.14, Y:4.85, Z:6.97 [[ 9.99470277e-01 -2.85250240e-02 -1.56680580e-02 4.51138055e+02] [ 2.85271170e-02 9.99593015e-01 -8.99416012e-05 4.85169073e+00] [ 1.56642469e-02 -3.57070567e-04 9.99877244e-01 6.96607904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.26925415399995 meters Centerline goodness : 0.999363 Centerline is valid? [True, True] Translation: X:451.17, Y:4.85, Z:6.97 [[ 9.99504860e-01 -2.72863759e-02 -1.56680613e-02 4.51168038e+02] [ 2.72883257e-02 9.99627600e-01 -8.93715927e-05 4.85226333e+00] [ 1.56646651e-02 -3.38227818e-04 9.99877244e-01 6.96659345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.2992541539999 meters Centerline goodness : 0.999533 Centerline is valid? [True, True] Translation: X:451.20, Y:4.85, Z:6.97 [[ 9.99533213e-01 -2.62272404e-02 -1.56680629e-02 4.51199003e+02] [ 2.62290646e-02 9.99655955e-01 -8.90887481e-05 4.85298759e+00] [ 1.56650089e-02 -3.21911471e-04 9.99877244e-01 6.96650225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.32925415399995 meters Centerline goodness : 0.999341 Centerline is valid? [True, True] Translation: X:451.23, Y:4.85, Z:6.96 [[ 9.99537656e-01 -2.60573532e-02 -1.56680661e-02 4.51229062e+02] [ 2.60591655e-02 9.99660398e-01 -8.85158597e-05 4.85300596e+00] [ 1.56650517e-02 -3.19821793e-04 9.99877244e-01 6.96451486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.3592541539999 meters Centerline goodness : 0.999490 Centerline is valid? [True, True] Translation: X:451.26, Y:4.85, Z:6.97 [[ 9.99488998e-01 -2.78613374e-02 -1.56680677e-02 4.51259615e+02] [ 2.78633757e-02 9.99611737e-01 -8.82315971e-05 4.85415421e+00] [ 1.56644426e-02 -3.48378747e-04 9.99877244e-01 6.96668586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.38925415399996 meters Centerline goodness : 0.999490 Centerline is valid? [True, True] Translation: X:451.29, Y:4.85, Z:6.97 [[ 9.99490004e-01 -2.78252156e-02 -1.56680677e-02 4.51291458e+02] [ 2.78272495e-02 9.99612743e-01 -8.82315971e-05 4.85430365e+00] [ 1.56644552e-02 -3.47812630e-04 9.99877244e-01 6.96718484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.41925415399993 meters Centerline goodness : 0.999511 Centerline is valid? [True, True] Translation: X:451.32, Y:4.85, Z:6.97 [[ 9.99446105e-01 -2.93597564e-02 -1.56680709e-02 4.51321995e+02] [ 2.93619875e-02 9.99568840e-01 -8.76652799e-05 4.85433686e+00] [ 1.56638893e-02 -3.72428980e-04 9.99877244e-01 6.96689757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.44925415399996 meters Centerline goodness : 0.999384 Centerline is valid? [True, True] Translation: X:451.35, Y:4.85, Z:6.97 [[ 9.99425100e-01 -3.00662671e-02 -1.56680725e-02 4.51353005e+02] [ 3.00685894e-02 9.99547834e-01 -8.73843721e-05 4.85410144e+00] [ 1.56636152e-02 -3.83782703e-04 9.99877244e-01 6.96688283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.47925415399993 meters Centerline goodness : 0.999321 Centerline is valid? [True, True] Translation: X:451.38, Y:4.85, Z:6.97 [[ 9.99395973e-01 -3.10193691e-02 -1.56680756e-02 4.51383945e+02] [ 3.10218173e-02 9.99518704e-01 -8.68209261e-05 4.85380597e+00] [ 1.56632277e-02 -3.99283694e-04 9.99877244e-01 6.96711774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.50925415399996 meters Centerline goodness : 0.999405 Centerline is valid? [True, True] Translation: X:451.42, Y:4.85, Z:6.97 [[ 9.99398926e-01 -3.09240592e-02 -1.56680787e-02 4.51415346e+02] [ 3.09265045e-02 9.99521658e-01 -8.62582528e-05 4.85373874e+00] [ 1.56632514e-02 -3.98352501e-04 9.99877244e-01 6.96761203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.53925415399993 meters Centerline goodness : 0.999490 Centerline is valid? [True, True] Translation: X:451.45, Y:4.85, Z:6.97 [[ 9.99394264e-01 -3.10743684e-02 -1.56680818e-02 4.51445202e+02] [ 3.10768412e-02 9.99516995e-01 -8.56815856e-05 4.85414867e+00] [ 1.56631766e-02 -4.01284806e-04 9.99877244e-01 6.96893716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.56925415399996 meters Centerline goodness : 0.999575 Centerline is valid? [True, True] Translation: X:451.48, Y:4.85, Z:6.97 [[ 9.99448411e-01 -2.92811518e-02 -1.56680834e-02 4.51476716e+02] [ 2.92834089e-02 9.99571145e-01 -8.53958609e-05 4.85439445e+00] [ 1.56638646e-02 -3.73466135e-04 9.99877244e-01 6.96701588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.59925415399994 meters Centerline goodness : 0.999511 Centerline is valid? [True, True] Translation: X:451.51, Y:4.86, Z:6.97 [[ 9.99460031e-01 -2.88817949e-02 -1.56680864e-02 4.51508041e+02] [ 2.88840115e-02 9.99582766e-01 -8.48454991e-05 4.85510100e+00] [ 1.56639996e-02 -3.67757502e-04 9.99877244e-01 6.97064908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.62925415399997 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:451.54, Y:4.86, Z:6.97 [[ 9.99497675e-01 -2.75483000e-02 -1.56680894e-02 4.51538092e+02] [ 2.75503617e-02 9.99620413e-01 -8.42789397e-05 4.85510170e+00] [ 1.56644638e-02 -3.47424927e-04 9.99877244e-01 6.97112238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.65925415399994 meters Centerline goodness : 0.999278 Centerline is valid? [True, True] Translation: X:451.57, Y:4.86, Z:6.97 [[ 9.99581921e-01 -2.43001016e-02 -1.56680944e-02 4.51569157e+02] [ 2.43017791e-02 9.99704665e-01 -8.33472436e-05 4.85509741e+00] [ 1.56654924e-02 -2.97450170e-04 9.99877244e-01 6.97029031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.68925415399997 meters Centerline goodness : 0.999638 Centerline is valid? [True, True] Translation: X:451.60, Y:4.86, Z:6.97 [[ 9.99618503e-01 -2.27455380e-02 -1.56680974e-02 4.51599574e+02] [ 2.27470335e-02 9.99741249e-01 -8.27785702e-05 4.85599975e+00] [ 1.56659261e-02 -2.73655746e-04 9.99877244e-01 6.97259395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.71925415399994 meters Centerline goodness : 0.999320 Centerline is valid? [True, True] Translation: X:451.63, Y:4.86, Z:6.97 [[ 9.99696305e-01 -1.90212811e-02 -1.56680974e-02 4.51628809e+02] [ 1.90223193e-02 9.99819056e-01 -8.27785702e-05 4.85721762e+00] [ 1.56668369e-02 -2.15290121e-04 9.99877244e-01 6.97294038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.7492541539999 meters Centerline goodness : 0.999637 Centerline is valid? [True, True] Translation: X:451.66, Y:4.86, Z:6.97 [[ 9.99726606e-01 -1.73558247e-02 -1.56680977e-02 4.51657235e+02] [ 1.73566595e-02 9.99849358e-01 -8.27113446e-05 4.85774505e+00] [ 1.56671730e-02 -1.89257105e-04 9.99877244e-01 6.97377740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.77925415399994 meters Centerline goodness : 0.999446 Centerline is valid? [True, True] Translation: X:451.69, Y:4.86, Z:6.97 [[ 9.99787635e-01 -1.33864368e-02 -1.56680758e-02 4.51685810e+02] [ 1.33867221e-02 9.99910390e-01 -8.66736126e-05 4.85780619e+00] [ 1.56678321e-02 -1.23088971e-04 9.99877244e-01 6.97356803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.8092541539999 meters Centerline goodness : 0.999487 Centerline is valid? [True, True] Translation: X:451.71, Y:4.86, Z:6.97 [[ 9.99808202e-01 -1.17503477e-02 -1.56680528e-02 4.51713771e+02] [ 1.17503699e-02 9.99930958e-01 -9.06468398e-05 4.85775309e+00] [ 1.56680362e-02 -9.34759621e-05 9.99877244e-01 6.97371518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.83925415399995 meters Centerline goodness : 0.999487 Centerline is valid? [True, True] Translation: X:451.74, Y:4.86, Z:6.97 [[ 9.99804710e-01 -1.20438846e-02 -1.56680249e-02 4.51742155e+02] [ 1.20438707e-02 9.99927465e-01 -9.52474900e-05 4.85799232e+00] [ 1.56680355e-02 -9.34747766e-05 9.99877244e-01 6.97416146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.8692541539999 meters Centerline goodness : 0.999382 Centerline is valid? [True, True] Translation: X:451.77, Y:4.86, Z:6.97 [[ 9.99822240e-01 -1.04882386e-02 -1.56679956e-02 4.51769053e+02] [ 1.04879617e-02 9.99944995e-01 -9.98469499e-05 4.85772502e+00] [ 1.56681809e-02 -6.44961357e-05 9.99877244e-01 6.97313049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.89925415399995 meters Centerline goodness : 0.999680 Centerline is valid? [True, True] Translation: X:451.80, Y:4.86, Z:6.97 [[ 9.99829162e-01 -9.80616018e-03 -1.56679748e-02 4.51797403e+02] [ 9.80574994e-03 9.99951917e-01 -1.03007419e-04 4.85793520e+00] [ 1.56682315e-02 -5.06464212e-05 9.99877244e-01 6.97440897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.9292541539999 meters Centerline goodness : 0.999615 Centerline is valid? [True, True] Translation: X:451.83, Y:4.86, Z:6.97 [[ 9.99836268e-01 -9.05283079e-03 -1.56679434e-02 4.51825122e+02] [ 9.05225654e-03 9.99959022e-01 -1.07571996e-04 4.85783931e+00] [ 1.56682752e-02 -3.42758604e-05 9.99877244e-01 6.97487303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.95925415399995 meters Centerline goodness : 0.999594 Centerline is valid? [True, True] Translation: X:451.85, Y:4.86, Z:6.98 [[ 9.99837066e-01 -8.96421684e-03 -1.56679109e-02 4.51853168e+02] [ 8.96356037e-03 9.99959820e-01 -1.12123901e-04 4.85733921e+00] [ 1.56682864e-02 -2.83346328e-05 9.99877244e-01 6.97540749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.9892541539999 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:451.88, Y:4.86, Z:6.98 [[ 9.99807468e-01 -1.18129113e-02 -1.56678769e-02 4.51878744e+02] [ 1.18125331e-02 9.99930223e-01 -1.16687295e-04 4.86142263e+00] [ 1.56681620e-02 -6.84124846e-05 9.99877244e-01 6.97574919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.01925415399995 meters Centerline goodness : 0.999594 Centerline is valid? [True, True] Translation: X:451.91, Y:4.86, Z:6.98 [[ 9.99828361e-01 -9.89143498e-03 -1.56654832e-02 4.51912118e+02] [ 9.88620258e-03 9.99951046e-01 -4.11415090e-04 4.85578506e+00] [ 1.56687858e-02 2.56472335e-04 9.99877204e-01 6.97579119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.0492541539999 meters Centerline goodness : 0.999637 Centerline is valid? [True, True] Translation: X:451.94, Y:4.86, Z:6.97 [[ 9.99761122e-01 -1.52387860e-02 -1.56677177e-02 4.51937216e+02] [ 1.52387737e-02 9.99883876e-01 -1.20175550e-04 4.85861203e+00] [ 1.56677296e-02 -1.18609961e-04 9.99877247e-01 6.97386952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.07925415399995 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:451.97, Y:4.85, Z:6.98 [[ 9.99766770e-01 -1.48663000e-02 -1.56652244e-02 4.51970888e+02] [ 1.48614673e-02 9.99889472e-01 -4.24873551e-04 4.85263066e+00] [ 1.56698092e-02 1.91966238e-04 9.99877203e-01 6.97625532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.1092541539999 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:452.00, Y:4.85, Z:6.98 [[ 9.99716742e-01 -1.79154588e-02 -1.56675702e-02 4.51998423e+02] [ 1.79157645e-02 9.99839493e-01 -1.20857655e-04 4.85141028e+00] [ 1.56672207e-02 -1.59873078e-04 9.99877249e-01 6.97694007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.13925415399996 meters Centerline goodness : 0.999639 Centerline is valid? [True, True] Translation: X:452.03, Y:4.85, Z:6.98 [[ 9.99571678e-01 -2.47181930e-02 -1.56675332e-02 4.52025965e+02] [ 2.47192615e-02 9.99694425e-01 -1.25482909e-04 4.84892982e+00] [ 1.56658473e-02 -2.61860689e-04 9.99877249e-01 6.97793825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.16925415399993 meters Centerline goodness : 0.999598 Centerline is valid? [True, True] Translation: X:452.06, Y:4.85, Z:6.98 [[ 9.99477085e-01 -2.82857660e-02 -1.56675216e-02 4.52056825e+02] [ 2.82872502e-02 9.99599828e-01 -1.26915013e-04 4.84763249e+00] [ 1.56648418e-02 -3.16342457e-04 9.99877249e-01 6.97905492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.19925415399996 meters Centerline goodness : 0.999241 Centerline is valid? [True, True] Translation: X:452.09, Y:4.84, Z:6.98 [[ 9.99254266e-01 -3.52907913e-02 -1.56675216e-02 4.52087567e+02] [ 3.52931358e-02 9.99376995e-01 -1.26915013e-04 4.84446447e+00] [ 1.56622396e-02 -4.26135600e-04 9.99877249e-01 6.98019869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.22925415399993 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:452.12, Y:4.84, Z:6.98 [[ 9.99131113e-01 -3.86205512e-02 -1.56675375e-02 4.52120168e+02] [ 3.86233359e-02 9.99253833e-01 -1.24926177e-04 4.84314147e+00] [ 1.56606716e-02 -4.80314931e-04 9.99877249e-01 6.98156578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.25925415399996 meters Centerline goodness : 0.999344 Centerline is valid? [True, True] Translation: X:452.15, Y:4.84, Z:6.98 [[ 9.99014935e-01 -4.15173120e-02 -1.56675466e-02 4.52150969e+02] [ 4.15204704e-02 9.99137646e-01 -1.23774882e-04 4.84165806e+00] [ 1.56591744e-02 -5.26870948e-04 9.99877249e-01 6.98060287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.28925415399993 meters Centerline goodness : 0.999536 Centerline is valid? [True, True] Translation: X:452.18, Y:4.84, Z:6.98 [[ 9.98728393e-01 -4.79178887e-02 -1.56675606e-02 4.52183220e+02] [ 4.79218617e-02 9.98851080e-01 -1.21967734e-04 4.83958296e+00] [ 1.56554043e-02 -6.29006034e-04 9.99877249e-01 6.98298531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.31925415399996 meters Centerline goodness : 0.999198 Centerline is valid? [True, True] Translation: X:452.22, Y:4.84, Z:6.98 [[ 9.98591354e-01 -5.06935404e-02 -1.56675695e-02 4.52215576e+02] [ 5.06978724e-02 9.98714029e-01 -1.20818050e-04 4.83848409e+00] [ 1.56535461e-02 -6.73664578e-04 9.99877249e-01 6.98328571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.34925415399994 meters Centerline goodness : 0.999221 Centerline is valid? [True, True] Translation: X:452.25, Y:4.84, Z:6.98 [[ 9.98475685e-01 -5.29229082e-02 -1.56675783e-02 4.52248285e+02] [ 5.29275322e-02 9.98598349e-01 -1.19664011e-04 4.83754593e+00] [ 1.56519508e-02 -7.09764650e-04 9.99877249e-01 6.98351104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.37925415399997 meters Centerline goodness : 0.999579 Centerline is valid? [True, True] Translation: X:452.28, Y:4.84, Z:6.98 [[ 9.98362715e-01 -5.50128743e-02 -1.56675914e-02 4.52281443e+02] [ 5.50177822e-02 9.98485368e-01 -1.17922829e-04 4.83665914e+00] [ 1.56503480e-02 -7.44266376e-04 9.99877249e-01 6.98354513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.40925415399994 meters Centerline goodness : 0.999306 Centerline is valid? [True, True] Translation: X:452.32, Y:4.83, Z:6.98 [[ 9.98384059e-01 -5.46241491e-02 -1.56676043e-02 4.52319010e+02] [ 5.46290365e-02 9.98506712e-01 -1.16188467e-04 4.83085971e+00] [ 1.56505547e-02 -7.39905412e-04 9.99877249e-01 6.98074802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.43925415399997 meters Centerline goodness : 0.999285 Centerline is valid? [True, True] Translation: X:452.34, Y:4.83, Z:6.98 [[ 9.98087394e-01 -5.97997287e-02 -1.56698930e-02 4.52342425e+02] [ 5.98102561e-02 9.98209743e-01 2.03631474e-04 4.83483289e+00] [ 1.56296628e-02 -1.14046232e-03 9.99877199e-01 6.98375257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.46925415399994 meters Centerline goodness : 0.999285 Centerline is valid? [True, True] Translation: X:452.38, Y:4.83, Z:6.98 [[ 9.98035522e-01 -6.06599549e-02 -1.56673524e-02 4.52375715e+02] [ 6.06654895e-02 9.98158146e-01 -1.22202405e-04 4.83469522e+00] [ 1.56459082e-02 -8.28505262e-04 9.99877252e-01 6.98456605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.4992541539999 meters Centerline goodness : 0.999034 Centerline is valid? [True, True] Translation: X:452.41, Y:4.83, Z:6.98 [[ 9.98018391e-01 -6.09411528e-02 -1.56673659e-02 4.52407814e+02] [ 6.09467493e-02 9.98141012e-01 -1.20450790e-04 4.83447190e+00] [ 1.56455808e-02 -8.34662917e-04 9.99877252e-01 6.98430406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.52925415399994 meters Centerline goodness : 0.999034 Centerline is valid? [True, True] Translation: X:452.44, Y:4.83, Z:6.98 [[ 9.98066157e-01 -6.01538049e-02 -1.56673769e-02 4.52440008e+02] [ 6.01593274e-02 9.98188780e-01 -1.19000183e-04 4.83472425e+00] [ 1.56461581e-02 -8.23768800e-04 9.99877252e-01 6.98413612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.5592541539999 meters Centerline goodness : 0.998697 Centerline is valid? [True, True] Translation: X:452.47, Y:4.84, Z:6.98 [[ 9.98213192e-01 -5.76624301e-02 -1.56673855e-02 4.52472187e+02] [ 5.76676643e-02 9.98335829e-01 -1.17861071e-04 4.83520562e+00] [ 1.56481084e-02 -7.85851049e-04 9.99877252e-01 6.98284613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.58925415399995 meters Centerline goodness : 0.998966 Centerline is valid? [True, True] Translation: X:452.50, Y:4.84, Z:6.98 [[ 9.98313771e-01 -5.58940652e-02 -1.56673939e-02 4.52503182e+02] [ 5.58991000e-02 9.98436416e-01 -1.16722568e-04 4.83593001e+00] [ 1.56494207e-02 -7.59267474e-04 9.99877252e-01 6.98221898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.6192541539999 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:452.54, Y:4.84, Z:6.98 [[ 9.98438260e-01 -5.36243690e-02 -1.56674002e-02 4.52535420e+02] [ 5.36291383e-02 9.98560916e-01 -1.15875680e-04 4.83673788e+00] [ 1.56510672e-02 -7.24534459e-04 9.99877252e-01 6.98304008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.64925415399995 meters Centerline goodness : 0.998905 Centerline is valid? [True, True] Translation: X:452.57, Y:4.84, Z:6.98 [[ 9.98687059e-01 -4.87718242e-02 -1.56674087e-02 4.52567766e+02] [ 4.87760155e-02 9.98809735e-01 -1.14717896e-04 4.83938498e+00] [ 1.56543553e-02 -6.49626490e-04 9.99877252e-01 6.98338912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.6792541539999 meters Centerline goodness : 0.998963 Centerline is valid? [True, True] Translation: X:452.60, Y:4.84, Z:6.98 [[ 9.98831397e-01 -4.57205986e-02 -1.56674170e-02 4.52599223e+02] [ 4.57244332e-02 9.98954085e-01 -1.13562871e-04 4.84060113e+00] [ 1.56562224e-02 -6.02953603e-04 9.99877252e-01 6.98382897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.70925415399995 meters Centerline goodness : 0.998836 Centerline is valid? [True, True] Translation: X:452.63, Y:4.84, Z:6.98 [[ 9.98984295e-01 -4.22481881e-02 -1.56674232e-02 4.52631685e+02] [ 4.22516097e-02 9.99106996e-01 -1.12703331e-04 4.84193936e+00] [ 1.56581937e-02 -5.49384994e-04 9.99877252e-01 6.98447452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.7392541539999 meters Centerline goodness : 0.998771 Centerline is valid? [True, True] Translation: X:452.66, Y:4.85, Z:6.99 [[ 9.99267786e-01 -3.49059174e-02 -1.56674313e-02 4.52663574e+02] [ 3.49084548e-02 9.99390508e-01 -1.11576729e-04 4.84529357e+00] [ 1.56617768e-02 -4.35430784e-04 9.99877252e-01 6.98641431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.76925415399995 meters Centerline goodness : 0.998834 Centerline is valid? [True, True] Translation: X:452.70, Y:4.85, Z:6.99 [[ 9.99398572e-01 -3.09358378e-02 -1.56674395e-02 4.52695943e+02] [ 3.09379061e-02 9.99521302e-01 -1.10405209e-04 4.84698278e+00] [ 1.56633550e-02 -3.74378964e-04 9.99877252e-01 6.98761292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.7992541539999 meters Centerline goodness : 0.998896 Centerline is valid? [True, True] Translation: X:452.73, Y:4.85, Z:6.99 [[ 9.99600537e-01 -2.35222981e-02 -1.56674476e-02 4.52725830e+02] [ 2.35234742e-02 9.99723279e-01 -1.09241993e-04 4.85018334e+00] [ 1.56656817e-02 -2.59354445e-04 9.99877252e-01 6.98906531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.82925415399995 meters Centerline goodness : 0.998854 Centerline is valid? [True, True] Translation: X:452.76, Y:4.85, Z:6.99 [[ 9.99675121e-01 -2.01043147e-02 -1.56674496e-02 4.52755866e+02] [ 2.01050757e-02 9.99797867e-01 -1.08954957e-04 4.85144139e+00] [ 1.56664732e-02 -2.06075700e-04 9.99877252e-01 6.98997073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.8592541539999 meters Centerline goodness : 0.998702 Centerline is valid? [True, True] Translation: X:452.78, Y:4.85, Z:6.99 [[ 9.99737380e-01 -1.67243202e-02 -1.56674456e-02 4.52784767e+02] [ 1.67246572e-02 9.99860127e-01 -1.09528032e-04 4.85221126e+00] [ 1.56670859e-02 -1.52533388e-04 9.99877252e-01 6.98943948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.88925415399996 meters Centerline goodness : 0.998786 Centerline is valid? [True, True] Translation: X:452.81, Y:4.85, Z:6.99 [[ 9.99773647e-01 -1.43940126e-02 -1.56674166e-02 4.52812548e+02] [ 1.43940007e-02 9.99896395e-01 -1.13530625e-04 4.85336933e+00] [ 1.56674275e-02 -1.12011878e-04 9.99877252e-01 6.99103028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.91925415399993 meters Centerline goodness : 0.998911 Centerline is valid? [True, True] Translation: X:452.84, Y:4.85, Z:6.99 [[ 9.99818944e-01 -1.07986862e-02 -1.56673824e-02 4.52840282e+02] [ 1.07981617e-02 9.99941691e-01 -1.18070935e-04 4.85422962e+00] [ 1.56677439e-02 -5.11293713e-05 9.99877252e-01 6.99090288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.94925415399996 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:452.87, Y:4.85, Z:6.99 [[ 9.99827255e-01 -9.99975688e-03 -1.56673470e-02 4.52868291e+02] [ 9.99906343e-03 9.99950001e-01 -1.22596417e-04 4.85453241e+00] [ 1.56677896e-02 -3.40835576e-05 9.99877252e-01 6.99123816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.97925415399993 meters Centerline goodness : 0.998954 Centerline is valid? [True, True] Translation: X:452.90, Y:4.85, Z:6.99 [[ 9.99822048e-01 -1.05074954e-02 -1.56673091e-02 4.52896717e+02] [ 1.05067913e-02 9.99944794e-01 -1.27254431e-04 4.85422749e+00] [ 1.56677813e-02 -3.73813618e-05 9.99877252e-01 6.99021963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.00925415399996 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:452.92, Y:4.85, Z:6.99 [[ 9.99804292e-01 -1.20795367e-02 -1.56672726e-02 4.52923630e+02] [ 1.20789574e-02 9.99927038e-01 -1.31603673e-04 4.85412244e+00] [ 1.56677192e-02 -5.76664018e-05 9.99877252e-01 6.98999511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.03925415399993 meters Centerline goodness : 0.999318 Centerline is valid? [True, True] Translation: X:452.95, Y:4.85, Z:6.99 [[ 9.99775761e-01 -1.42465911e-02 -1.56672455e-02 4.52951956e+02] [ 1.42462284e-02 9.99898508e-01 -1.34760338e-04 4.85342063e+00] [ 1.56675752e-02 -8.84690374e-05 9.99877252e-01 6.99018763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.06925415399996 meters Centerline goodness : 0.999086 Centerline is valid? [True, True] Translation: X:452.98, Y:4.85, Z:6.99 [[ 9.99670964e-01 -2.03101655e-02 -1.56672045e-02 4.52980947e+02] [ 2.03104752e-02 9.99793711e-01 -1.39366021e-04 4.85108218e+00] [ 1.56668031e-02 -1.78888204e-04 9.99877252e-01 6.98982820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.09925415399994 meters Centerline goodness : 0.999043 Centerline is valid? [True, True] Translation: X:453.01, Y:4.85, Z:6.99 [[ 9.99585799e-01 -2.41406324e-02 -1.56671942e-02 4.53009713e+02] [ 2.41413944e-02 9.99708544e-01 -1.40509009e-04 4.84971784e+00] [ 1.56660199e-02 -2.37777107e-04 9.99877252e-01 6.99007348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.12925415399997 meters Centerline goodness : 0.999343 Centerline is valid? [True, True] Translation: X:453.04, Y:4.85, Z:6.99 [[ 9.99385487e-01 -3.13558230e-02 -1.56671572e-02 4.53039567e+02] [ 3.13574083e-02 9.99508225e-01 -1.44519938e-04 4.84697829e+00] [ 1.56639841e-02 -3.46850317e-04 9.99877252e-01 6.99065491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.15925415399994 meters Centerline goodness : 0.999091 Centerline is valid? [True, True] Translation: X:453.07, Y:4.85, Z:6.99 [[ 9.99280212e-01 -3.45484906e-02 -1.56671519e-02 4.53071036e+02] [ 3.45504591e-02 9.99402944e-01 -1.45091898e-04 4.84575907e+00] [ 1.56628105e-02 -3.96319830e-04 9.99877252e-01 6.99050975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.18925415399997 meters Centerline goodness : 0.999112 Centerline is valid? [True, True] Translation: X:453.10, Y:4.84, Z:6.99 [[ 9.99182305e-01 -3.72728050e-02 -1.56671598e-02 4.53102921e+02] [ 3.72751214e-02 9.99305031e-01 -1.44237148e-04 4.84454659e+00] [ 1.56616477e-02 -4.39876079e-04 9.99877252e-01 6.99158232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.21925415399994 meters Centerline goodness : 0.999007 Centerline is valid? [True, True] Translation: X:453.13, Y:4.84, Z:6.99 [[ 9.98999880e-01 -4.18781599e-02 -1.56671702e-02 4.53133905e+02] [ 4.18810599e-02 9.99122593e-01 -1.43098051e-04 4.84315491e+00] [ 1.56594164e-02 -5.13202759e-04 9.99877252e-01 6.99170756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.2492541539999 meters Centerline goodness : 0.999051 Centerline is valid? [True, True] Translation: X:453.17, Y:4.84, Z:6.99 [[ 9.98932830e-01 -4.34481278e-02 -1.56671779e-02 4.53165534e+02] [ 4.34512340e-02 9.99055539e-01 -1.42249650e-04 4.84282985e+00] [ 1.56585614e-02 -5.38660367e-04 9.99877252e-01 6.99198199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.27925415399994 meters Centerline goodness : 0.999238 Centerline is valid? [True, True] Translation: X:453.20, Y:4.84, Z:6.99 [[ 9.98818076e-01 -4.60107659e-02 -1.56671852e-02 4.53198157e+02] [ 4.60141995e-02 9.98940776e-01 -1.41438828e-04 4.84117333e+00] [ 1.56570979e-02 -5.79641329e-04 9.99877252e-01 6.99298997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.3092541539999 meters Centerline goodness : 0.999176 Centerline is valid? [True, True] Translation: X:453.23, Y:4.84, Z:6.99 [[ 9.98746031e-01 -4.75489648e-02 -1.56671953e-02 4.53228945e+02] [ 4.75526051e-02 9.98868725e-01 -1.40310217e-04 4.84069242e+00] [ 1.56561430e-02 -6.04881680e-04 9.99877252e-01 6.99273211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.33925415399995 meters Centerline goodness : 0.999325 Centerline is valid? [True, True] Translation: X:453.26, Y:4.84, Z:6.99 [[ 9.98675654e-01 -4.90048674e-02 -1.56672028e-02 4.53260942e+02] [ 4.90086997e-02 9.98798342e-01 -1.39469128e-04 4.84015916e+00] [ 1.56552109e-02 -6.28544816e-04 9.99877252e-01 6.99330891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.3692541539999 meters Centerline goodness : 0.999135 Centerline is valid? [True, True] Translation: X:453.29, Y:4.84, Z:6.99 [[ 9.98583182e-01 -5.08543684e-02 -1.56672130e-02 4.53292903e+02] [ 5.08584459e-02 9.98705862e-01 -1.38317362e-04 4.84010030e+00] [ 1.56539715e-02 -6.58688715e-04 9.99877252e-01 6.99407665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.39925415399995 meters Centerline goodness : 0.999071 Centerline is valid? [True, True] Translation: X:453.32, Y:4.84, Z:6.99 [[ 9.98496075e-01 -5.25369117e-02 -1.56672232e-02 4.53324462e+02] [ 5.25412142e-02 9.98618747e-01 -1.37149194e-04 4.83999848e+00] [ 1.56527882e-02 -6.86232001e-04 9.99877252e-01 6.99409530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.4292541539999 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:453.36, Y:4.84, Z:6.99 [[ 9.98333129e-01 -5.55472826e-02 -1.56672358e-02 4.53356469e+02] [ 5.55519779e-02 9.98455787e-01 -1.35692419e-04 4.84024290e+00] [ 1.56505796e-02 -7.34879702e-04 9.99877252e-01 6.99417793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.45925415399995 meters Centerline goodness : 0.998943 Centerline is valid? [True, True] Translation: X:453.39, Y:4.84, Z:6.99 [[ 9.98236886e-01 -5.72508251e-02 -1.56672481e-02 4.53387357e+02] [ 5.72557522e-02 9.98359535e-01 -1.34256659e-04 4.84087838e+00] [ 1.56492329e-02 -7.63020128e-04 9.99877252e-01 6.99386348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.4892541539999 meters Centerline goodness : 0.999135 Centerline is valid? [True, True] Translation: X:453.42, Y:4.84, Z:6.99 [[ 9.98107764e-01 -5.94594744e-02 -1.56672553e-02 4.53419523e+02] [ 5.94646860e-02 9.98230401e-01 -1.33414416e-04 4.84205797e+00] [ 1.56474633e-02 -7.98486454e-04 9.99877252e-01 6.99366850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.51925415399995 meters Centerline goodness : 0.999136 Centerline is valid? [True, True] Translation: X:453.45, Y:4.84, Z:6.99 [[ 9.98053241e-01 -6.03677500e-02 -1.56672649e-02 4.53452306e+02] [ 6.03730909e-02 9.98175872e-01 -1.32283768e-04 4.84295937e+00] [ 1.56466715e-02 -8.13854962e-04 9.99877252e-01 6.99407529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.5492541539999 meters Centerline goodness : 0.999240 Centerline is valid? [True, True] Translation: X:453.48, Y:4.84, Z:6.99 [[ 9.98030228e-01 -6.07470236e-02 -1.56672792e-02 4.53484529e+02] [ 6.07524380e-02 9.98152856e-01 -1.30561576e-04 4.84411954e+00] [ 1.56462707e-02 -8.21521010e-04 9.99877252e-01 6.99390883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.57925415399995 meters Centerline goodness : 0.999196 Centerline is valid? [True, True] Translation: X:453.52, Y:4.84, Z:6.99 [[ 9.98142099e-01 -5.88802777e-02 -1.56672910e-02 4.53519511e+02] [ 5.88854851e-02 9.98264736e-01 -1.29135189e-04 4.84463834e+00] [ 1.56477076e-02 -7.93680762e-04 9.99877252e-01 6.99470636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.6092541539999 meters Centerline goodness : 0.999324 Centerline is valid? [True, True] Translation: X:453.55, Y:4.85, Z:7.00 [[ 9.98082098e-01 -5.98885031e-02 -1.56681842e-02 4.53548988e+02] [ 5.98955835e-02 9.98204648e-01 -1.73865769e-05 4.84868450e+00] [ 1.56410955e-02 -9.21101804e-04 9.99877246e-01 6.99529604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.63925415399996 meters Centerline goodness : 0.999259 Centerline is valid? [True, True] Translation: X:453.58, Y:4.85, Z:6.99 [[ 9.98143211e-01 -5.88614140e-02 -1.56672879e-02 4.53580805e+02] [ 5.88666444e-02 9.98265847e-01 -1.27515922e-04 4.84995167e+00] [ 1.56476242e-02 -7.95001516e-04 9.99877252e-01 6.99481533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.66925415399993 meters Centerline goodness : 0.999364 Centerline is valid? [True, True] Translation: X:453.61, Y:4.85, Z:7.00 [[ 9.98185758e-01 -5.81354275e-02 -1.56672973e-02 4.53611735e+02] [ 5.81405869e-02 9.98308397e-01 -1.26358777e-04 4.85398900e+00] [ 1.56481404e-02 -7.84776327e-04 9.99877252e-01 6.99589223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.69925415399996 meters Centerline goodness : 0.999491 Centerline is valid? [True, True] Translation: X:453.64, Y:4.86, Z:7.00 [[ 9.98246543e-01 -5.70821699e-02 -1.56673042e-02 4.53644706e+02] [ 5.70872133e-02 9.98369187e-01 -1.25498876e-04 4.85609802e+00] [ 1.56489175e-02 -7.69123916e-04 9.99877252e-01 6.99653986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.72925415399993 meters Centerline goodness : 0.999639 Centerline is valid? [True, True] Translation: X:453.68, Y:4.86, Z:7.00 [[ 9.98308395e-01 -5.59900327e-02 -1.56673178e-02 4.53675649e+02] [ 5.59949690e-02 9.98431043e-01 -1.23771641e-04 4.85819997e+00] [ 1.56496664e-02 -7.53728707e-04 9.99877252e-01 6.99649309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.75925415399996 meters Centerline goodness : 0.999639 Centerline is valid? [True, True] Translation: X:453.71, Y:4.86, Z:7.00 [[ 9.98312420e-01 -5.59182200e-02 -1.56673245e-02 4.53708336e+02] [ 5.59231608e-02 9.98435068e-01 -1.22915790e-04 4.85839423e+00] [ 1.56496795e-02 -7.53457949e-04 9.99877252e-01 6.99700502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.78925415399993 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:453.74, Y:4.86, Z:7.00 [[ 9.98503281e-01 -5.23997371e-02 -1.56673333e-02 4.53739048e+02] [ 5.24042633e-02 9.98625945e-01 -1.21788844e-04 4.86245216e+00] [ 1.56521872e-02 -6.99428499e-04 9.99877252e-01 6.99584553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.81925415399996 meters Centerline goodness : 0.999000 Centerline is valid? [True, True] Translation: X:453.77, Y:4.86, Z:7.00 [[ 9.98663241e-01 -4.92571466e-02 -1.56673398e-02 4.53771630e+02] [ 4.92612999e-02 9.98785918e-01 -1.20949340e-04 4.86440785e+00] [ 1.56542760e-02 -6.51005864e-04 9.99877252e-01 6.99581509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.84925415399994 meters Centerline goodness : 0.999465 Centerline is valid? [True, True] Translation: X:453.80, Y:4.87, Z:7.00 [[ 9.98959934e-01 -4.28203770e-02 -1.56673485e-02 4.53802521e+02] [ 4.28237574e-02 9.99082635e-01 -1.19813509e-04 4.87070065e+00] [ 1.56581062e-02 -5.51245835e-04 9.99877252e-01 6.99852754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.87925415399997 meters Centerline goodness : 0.999296 Centerline is valid? [True, True] Translation: X:453.83, Y:4.87, Z:7.00 [[ 9.99139847e-01 -3.83940124e-02 -1.56673549e-02 4.53834987e+02] [ 3.83968625e-02 9.99262562e-01 -1.18967787e-04 4.87340273e+00] [ 1.56603688e-02 -4.82711814e-04 9.99877252e-01 7.00004916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.90925415399994 meters Centerline goodness : 0.999637 Centerline is valid? [True, True] Translation: X:453.87, Y:4.88, Z:7.00 [[ 9.99308187e-01 -3.37295168e-02 -1.56673632e-02 4.53865782e+02] [ 3.37318114e-02 9.99430914e-01 -1.17854945e-04 4.87583895e+00] [ 1.56624224e-02 -4.10715132e-04 9.99877252e-01 7.00129661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.93925415399997 meters Centerline goodness : 0.999637 Centerline is valid? [True, True] Translation: X:453.90, Y:4.88, Z:7.00 [[ 9.99589900e-01 -2.39701117e-02 -1.56673694e-02 4.53897532e+02] [ 2.39712209e-02 9.99712642e-01 -1.17026307e-04 4.88092408e+00] [ 1.56656724e-02 -2.58587659e-04 9.99877252e-01 7.00369334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.96925415399994 meters Centerline goodness : 0.999549 Centerline is valid? [True, True] Translation: X:453.93, Y:4.88, Z:7.01 [[ 9.99693043e-01 -1.91925339e-02 -1.56673736e-02 4.53928301e+02] [ 1.91930651e-02 9.99815789e-01 -1.16472253e-04 4.88353172e+00] [ 1.56667229e-02 -1.84268419e-04 9.99877252e-01 7.00547620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.9992541539999 meters Centerline goodness : 0.999506 Centerline is valid? [True, True] Translation: X:453.96, Y:4.89, Z:7.01 [[ 9.99764444e-01 -1.50196817e-02 -1.56673736e-02 4.53957597e+02] [ 1.50197006e-02 9.99887191e-01 -1.16472253e-04 4.88576670e+00] [ 1.56673555e-02 -1.18874442e-04 9.99877252e-01 7.00638982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.02925415399994 meters Centerline goodness : 0.999548 Centerline is valid? [True, True] Translation: X:453.99, Y:4.89, Z:7.01 [[ 9.99840904e-01 -8.52646301e-03 -1.56673693e-02 4.53985593e+02] [ 8.52567568e-03 9.99963649e-01 -1.17044772e-04 4.88852516e+00] [ 1.56677977e-02 -1.65487584e-05 9.99877252e-01 7.00723870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.0592541539999 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:454.01, Y:4.89, Z:7.01 [[ 9.99858329e-01 -6.15264453e-03 -1.56673586e-02 4.54013953e+02] [ 6.15154356e-03 9.99981072e-01 -1.18463142e-04 4.88923795e+00] [ 1.56677909e-02 2.20679209e-05 9.99877252e-01 7.00814648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.08925415399995 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:454.04, Y:4.89, Z:7.01 [[ 9.99865093e-01 -4.93268627e-03 -1.56673223e-02 4.54040534e+02] [ 4.93136317e-03 9.99987833e-01 -1.23081824e-04 4.89013736e+00] [ 1.56677388e-02 4.58039638e-05 9.99877252e-01 7.00784126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.1192541539999 meters Centerline goodness : 0.999547 Centerline is valid? [True, True] Translation: X:454.06, Y:4.90, Z:7.00 [[ 9.99853515e-01 -6.89086826e-03 -1.56673063e-02 4.54064362e+02] [ 6.88975424e-03 9.99976258e-01 -1.25079520e-04 4.89538937e+00] [ 1.56677962e-02 1.71173074e-05 9.99877252e-01 7.00356777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.14925415399995 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:454.10, Y:4.89, Z:7.01 [[ 9.99865569e-01 -4.84219226e-03 -1.56651303e-02 4.54097600e+02] [ 4.83692677e-03 9.99988232e-01 -3.73998660e-04 4.89114793e+00] [ 1.56667569e-02 2.98177295e-04 9.99877224e-01 7.00773744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.1792541539999 meters Centerline goodness : 0.999397 Centerline is valid? [True, True] Translation: X:454.13, Y:4.89, Z:7.01 [[ 9.99851500e-01 -7.17764402e-03 -1.56671633e-02 4.54126168e+02] [ 7.17647084e-03 9.99974240e-01 -1.31102055e-04 4.88997673e+00] [ 1.56677007e-02 1.86476452e-05 9.99877254e-01 7.00675625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.20925415399995 meters Centerline goodness : 0.997483 Centerline is valid? [True, True] Translation: X:454.15, Y:4.89, Z:7.01 [[ 9.99853329e-01 -6.91820780e-03 -1.56671539e-02 4.54153109e+02] [ 6.91698531e-03 9.99976069e-01 -1.32216141e-04 4.88878642e+00] [ 1.56676937e-02 2.38272753e-05 9.99877254e-01 7.00536228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.2392541539999 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:454.18, Y:4.89, Z:7.01 [[ 9.99810813e-01 -1.15286871e-02 -1.56661310e-02 4.54182692e+02] [ 1.15262113e-02 9.99933540e-01 -2.48322560e-04 4.88710462e+00] [ 1.56679526e-02 6.77044455e-05 9.99877248e-01 7.00610671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.26925415399995 meters Centerline goodness : 0.999615 Centerline is valid? [True, True] Translation: X:454.21, Y:4.89, Z:7.01 [[ 9.99793573e-01 -1.29365021e-02 -1.56671075e-02 4.54210637e+02] [ 1.29359742e-02 9.99916318e-01 -1.35042251e-04 4.88601459e+00] [ 1.56675434e-02 -6.76549231e-05 9.99877254e-01 7.00623064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.2992541539999 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:454.24, Y:4.89, Z:7.01 [[ 9.99776247e-01 -1.42126166e-02 -1.56670684e-02 4.54238561e+02] [ 1.42121766e-02 9.99898992e-01 -1.39433320e-04 4.88500567e+00] [ 1.56674676e-02 -8.32610209e-05 9.99877254e-01 7.00661217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.32925415399995 meters Centerline goodness : 0.999402 Centerline is valid? [True, True] Translation: X:454.27, Y:4.88, Z:7.01 [[ 9.99754232e-01 -1.56850056e-02 -1.56670284e-02 4.54267729e+02] [ 1.56846779e-02 9.99876978e-01 -1.43796257e-04 4.88283769e+00] [ 1.56673564e-02 -1.01971378e-04 9.99877254e-01 7.00783355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.3592541539999 meters Centerline goodness : 0.999487 Centerline is valid? [True, True] Translation: X:454.30, Y:4.88, Z:7.01 [[ 9.99748235e-01 -1.60627274e-02 -1.56669919e-02 4.54295636e+02] [ 1.60623854e-02 9.99870981e-01 -1.47669171e-04 4.88189528e+00] [ 1.56673425e-02 -1.04017268e-04 9.99877254e-01 7.00841436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.38925415399996 meters Centerline goodness : 0.999381 Centerline is valid? [True, True] Translation: X:454.32, Y:4.88, Z:7.01 [[ 9.99744955e-01 -1.62656480e-02 -1.56669491e-02 4.54323084e+02] [ 1.62652618e-02 9.99867700e-01 -1.52077905e-04 4.88077837e+00] [ 1.56673500e-02 -1.02787911e-04 9.99877254e-01 7.00946151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.41925415399993 meters Centerline goodness : 0.999297 Centerline is valid? [True, True] Translation: X:454.35, Y:4.88, Z:7.01 [[ 9.99748811e-01 -1.60269499e-02 -1.56669041e-02 4.54351168e+02] [ 1.60264639e-02 9.99871556e-01 -1.56580696e-04 4.87947367e+00] [ 1.56674012e-02 -9.45437071e-05 9.99877254e-01 7.00958401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.44925415399996 meters Centerline goodness : 0.998980 Centerline is valid? [True, True] Translation: X:454.38, Y:4.88, Z:7.01 [[ 9.99762530e-01 -1.51470540e-02 -1.56668582e-02 4.54379334e+02] [ 1.51463900e-02 9.99885274e-01 -1.61045592e-04 4.87586037e+00] [ 1.56675001e-02 -7.62889959e-05 9.99877254e-01 7.01024720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.47925415399993 meters Centerline goodness : 0.999320 Centerline is valid? [True, True] Translation: X:454.41, Y:4.87, Z:7.01 [[ 9.99767606e-01 -1.48082477e-02 -1.56668098e-02 4.54406002e+02] [ 1.48074703e-02 9.99890350e-01 -1.65622571e-04 4.87410812e+00] [ 1.56675445e-02 -6.64017399e-05 9.99877254e-01 7.01062575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.50925415399996 meters Centerline goodness : 0.999449 Centerline is valid? [True, True] Translation: X:454.43, Y:4.87, Z:7.01 [[ 9.99766278e-01 -1.48976920e-02 -1.56667758e-02 4.54434113e+02] [ 1.48968762e-02 9.99889021e-01 -1.68774753e-04 4.87022867e+00] [ 1.56675515e-02 -6.46507129e-05 9.99877254e-01 7.01183322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.53925415399993 meters Centerline goodness : 0.999129 Centerline is valid? [True, True] Translation: X:454.46, Y:4.87, Z:7.01 [[ 9.99755057e-01 -1.56326596e-02 -1.56667256e-02 4.54461031e+02] [ 1.56318630e-02 9.99877800e-01 -1.73312572e-04 4.86849459e+00] [ 1.56675205e-02 -7.16299884e-05 9.99877254e-01 7.01117268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.56925415399996 meters Centerline goodness : 0.999492 Centerline is valid? [True, True] Translation: X:454.49, Y:4.87, Z:7.01 [[ 9.99739042e-01 -1.66253990e-02 -1.56666675e-02 4.54488457e+02] [ 1.66246443e-02 9.99861785e-01 -1.78416292e-04 4.86622854e+00] [ 1.56674684e-02 -8.20830408e-05 9.99877254e-01 7.01148859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.59925415399994 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:454.52, Y:4.86, Z:7.01 [[ 9.99697824e-01 -1.89424641e-02 -1.56666258e-02 4.54516715e+02] [ 1.89419376e-02 9.99820569e-01 -1.82007552e-04 4.86072043e+00] [ 1.56672624e-02 -1.14803694e-04 9.99877254e-01 7.01017319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.62925415399997 meters Centerline goodness : 0.999599 Centerline is valid? [True, True] Translation: X:454.55, Y:4.86, Z:7.01 [[ 9.99671328e-01 -2.02927090e-02 -1.56665729e-02 4.54545063e+02] [ 2.02922787e-02 9.99794073e-01 -1.86452007e-04 4.85853646e+00] [ 1.56671303e-02 -1.31519737e-04 9.99877254e-01 7.00868958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.65925415399994 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:454.57, Y:4.85, Z:7.01 [[ 9.99623525e-01 -2.25249349e-02 -1.56664035e-02 4.54573087e+02] [ 2.25245600e-02 9.99746270e-01 -2.00405130e-04 4.85410349e+00] [ 1.56669426e-02 -1.52549164e-04 9.99877254e-01 7.00794670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.68925415399997 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:454.60, Y:4.85, Z:7.01 [[ 9.99605523e-01 -2.33100810e-02 -1.56664994e-02 4.54601624e+02] [ 2.33099247e-02 9.99728268e-01 -1.92608374e-04 4.85232519e+00] [ 1.56667320e-02 -1.72652526e-04 9.99877254e-01 7.00783865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.71925415399994 meters Centerline goodness : 0.999304 Centerline is valid? [True, True] Translation: X:454.63, Y:4.85, Z:7.01 [[ 9.99596093e-01 -2.37110551e-02 -1.56664519e-02 4.54630877e+02] [ 2.37108886e-02 9.99718838e-01 -1.96398511e-04 4.85088107e+00] [ 1.56667039e-02 -1.75146310e-04 9.99877254e-01 7.00768393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.7492541539999 meters Centerline goodness : 0.999514 Centerline is valid? [True, True] Translation: X:454.66, Y:4.85, Z:7.01 [[ 9.99611992e-01 -2.30310352e-02 -1.56664451e-02 4.54659197e+02] [ 2.30307768e-02 9.99734737e-01 -1.96936241e-04 4.84822401e+00] [ 1.56668250e-02 -1.63950573e-04 9.99877254e-01 7.00744301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.77925415399994 meters Centerline goodness : 0.999683 Centerline is valid? [True, True] Translation: X:454.69, Y:4.85, Z:7.01 [[ 9.99623314e-01 -2.25342614e-02 -1.56664350e-02 4.54688199e+02] [ 2.25339294e-02 9.99746059e-01 -1.97736926e-04 4.84695343e+00] [ 1.56669125e-02 -1.55363900e-04 9.99877254e-01 7.00804361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.8092541539999 meters Centerline goodness : 0.999536 Centerline is valid? [True, True] Translation: X:454.72, Y:4.85, Z:7.01 [[ 9.99627995e-01 -2.23256840e-02 -1.56663873e-02 4.54717246e+02] [ 2.23252683e-02 9.99750740e-01 -2.01443860e-04 4.84592796e+00] [ 1.56669797e-02 -1.48387379e-04 9.99877254e-01 7.00835683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.83925415399995 meters Centerline goodness : 0.999367 Centerline is valid? [True, True] Translation: X:454.75, Y:4.85, Z:7.01 [[ 9.99629527e-01 -2.22570326e-02 -1.56663391e-02 4.54745954e+02] [ 2.22565507e-02 9.99752271e-01 -2.05130953e-04 4.84509000e+00] [ 1.56670237e-02 -1.43623712e-04 9.99877254e-01 7.00887960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.8692541539999 meters Centerline goodness : 0.999389 Centerline is valid? [True, True] Translation: X:454.77, Y:4.84, Z:7.01 [[ 9.99623191e-01 -2.25398400e-02 -1.56662902e-02 4.54774428e+02] [ 2.25393354e-02 9.99745935e-01 -2.08795285e-04 4.84244590e+00] [ 1.56670162e-02 -1.44391160e-04 9.99877254e-01 7.01002895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.89925415399995 meters Centerline goodness : 0.999242 Centerline is valid? [True, True] Translation: X:454.80, Y:4.84, Z:7.01 [[ 9.99598552e-01 -2.36072545e-02 -1.56662798e-02 4.54803096e+02] [ 2.36068688e-02 9.99721297e-01 -2.09574054e-04 4.84125193e+00] [ 1.56668610e-02 -1.60341891e-04 9.99877254e-01 7.01071194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.9292541539999 meters Centerline goodness : 0.999328 Centerline is valid? [True, True] Translation: X:454.83, Y:4.84, Z:7.01 [[ 9.99571480e-01 -2.47270296e-02 -1.56662307e-02 4.54831789e+02] [ 2.47267248e-02 9.99694225e-01 -2.13182348e-04 4.83752784e+00] [ 1.56667117e-02 -1.74283580e-04 9.99877254e-01 7.01161330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.95925415399995 meters Centerline goodness : 0.999309 Centerline is valid? [True, True] Translation: X:454.86, Y:4.84, Z:7.01 [[ 9.99566482e-01 -2.49282803e-02 -1.56661808e-02 4.54861290e+02] [ 2.49279438e-02 9.99689227e-01 -2.16787601e-04 4.83639164e+00] [ 1.56667163e-02 -1.73832055e-04 9.99877254e-01 7.01203414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.9892541539999 meters Centerline goodness : 0.999285 Centerline is valid? [True, True] Translation: X:454.89, Y:4.84, Z:7.01 [[ 9.99574557e-01 -2.46023480e-02 -1.56661736e-02 4.54891355e+02] [ 2.46019633e-02 9.99697302e-01 -2.17305828e-04 4.83531388e+00] [ 1.56667777e-02 -1.68205251e-04 9.99877254e-01 7.01363392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.01925415399995 meters Centerline goodness : 0.998720 Centerline is valid? [True, True] Translation: X:454.92, Y:4.83, Z:7.01 [[ 9.99603384e-01 -2.34018234e-02 -1.56661658e-02 4.54920745e+02] [ 2.34012824e-02 9.99726129e-01 -2.17871201e-04 4.83310935e+00] [ 1.56669738e-02 -1.48823579e-04 9.99877254e-01 7.01445813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.0492541539999 meters Centerline goodness : 0.999308 Centerline is valid? [True, True] Translation: X:454.95, Y:4.83, Z:7.02 [[ 9.99624307e-01 -2.24903565e-02 -1.56661579e-02 4.54949099e+02] [ 2.24896948e-02 9.99747051e-01 -2.18431937e-04 4.83192390e+00] [ 1.56671078e-02 -1.33977238e-04 9.99877254e-01 7.01554807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.07925415399995 meters Centerline goodness : 0.999288 Centerline is valid? [True, True] Translation: X:454.98, Y:4.83, Z:7.02 [[ 9.99662542e-01 -2.07213628e-02 -1.56661007e-02 4.54976453e+02] [ 2.07204208e-02 9.99785284e-01 -2.22462284e-04 4.82885334e+00] [ 1.56673467e-02 -1.02220986e-04 9.99877254e-01 7.01710251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.1092541539999 meters Centerline goodness : 0.999372 Centerline is valid? [True, True] Translation: X:455.00, Y:4.83, Z:7.02 [[ 9.99670325e-01 -2.03424666e-02 -1.56660803e-02 4.55003974e+02] [ 2.03414557e-02 9.99793066e-01 -2.23888428e-04 4.82761844e+00] [ 1.56673929e-02 -9.48562611e-05 9.99877254e-01 7.01791631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.13925415399996 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:455.03, Y:4.82, Z:7.02 [[ 9.99677737e-01 -1.99748880e-02 -1.56660602e-02 4.55031581e+02] [ 1.99738100e-02 9.99800478e-01 -2.25291752e-04 4.82450240e+00] [ 1.56674346e-02 -8.76917597e-05 9.99877254e-01 7.01886655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.16925415399993 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:455.06, Y:4.82, Z:7.02 [[ 9.99669109e-01 -2.04022007e-02 -1.56659935e-02 4.55059008e+02] [ 2.04011039e-02 9.99791849e-01 -2.29835642e-04 4.82323143e+00] [ 1.56674218e-02 -8.98439705e-05 9.99877254e-01 7.01897637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.19925415399996 meters Centerline goodness : 0.999351 Centerline is valid? [True, True] Translation: X:455.09, Y:4.82, Z:7.02 [[ 9.99647551e-01 -2.14324671e-02 -1.56659727e-02 4.55087260e+02] [ 2.14314748e-02 9.99770293e-01 -2.31241475e-04 4.82186039e+00] [ 1.56673302e-02 -1.04584925e-04 9.99877254e-01 7.01876169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.22925415399993 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:455.12, Y:4.82, Z:7.02 [[ 9.99588112e-01 -2.40454902e-02 -1.56659028e-02 4.55115200e+02] [ 2.40447460e-02 9.99710855e-01 -2.35888297e-04 4.81797298e+00] [ 1.56670451e-02 -1.40891515e-04 9.99877254e-01 7.01723053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.25925415399996 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:455.14, Y:4.82, Z:7.02 [[ 9.99538648e-01 -2.60206081e-02 -1.56658693e-02 4.55144177e+02] [ 2.60200718e-02 9.99661392e-01 -2.38090880e-04 4.81688894e+00] [ 1.56667600e-02 -1.69646008e-04 9.99877254e-01 7.01723602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.28925415399993 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:455.17, Y:4.81, Z:7.02 [[ 9.99505084e-01 -2.72794529e-02 -1.56658091e-02 4.55173271e+02] [ 2.72790101e-02 9.99627829e-01 -2.41989797e-04 4.81499520e+00] [ 1.56665801e-02 -1.85477731e-04 9.99877254e-01 7.01640070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.31925415399996 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:455.20, Y:4.81, Z:7.02 [[ 9.99397106e-01 -3.09839845e-02 -1.56657962e-02 4.55202440e+02] [ 3.09839837e-02 9.99519852e-01 -2.42817801e-04 4.81287660e+00] [ 1.56657978e-02 -2.42717368e-04 9.99877254e-01 7.01642302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.34925415399994 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:455.23, Y:4.81, Z:7.02 [[ 9.99359251e-01 -3.21818245e-02 -1.56657836e-02 4.55232254e+02] [ 3.21819580e-02 9.99481997e-01 -2.43632232e-04 4.81114444e+00] [ 1.56655092e-02 -2.60679465e-04 9.99877254e-01 7.01576154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.37925415399997 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:455.26, Y:4.81, Z:7.02 [[ 9.99264407e-01 -3.50032506e-02 -1.56657794e-02 4.55261633e+02] [ 3.50037265e-02 9.99387152e-01 -2.43901679e-04 4.80903539e+00] [ 1.56647160e-02 -3.04638390e-04 9.99877254e-01 7.01749245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.40925415399994 meters Centerline goodness : 0.999329 Centerline is valid? [True, True] Translation: X:455.29, Y:4.81, Z:7.02 [[ 9.99229269e-01 -3.59923735e-02 -1.56657709e-02 4.55291438e+02] [ 3.59929624e-02 9.99352014e-01 -2.44445806e-04 4.80841317e+00] [ 1.56644179e-02 -3.19600098e-04 9.99877254e-01 7.01825713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.43925415399997 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:455.32, Y:4.81, Z:7.02 [[ 9.99195782e-01 -3.69103266e-02 -1.56657718e-02 4.55321926e+02] [ 3.69110291e-02 9.99318526e-01 -2.44389034e-04 4.80778202e+00] [ 1.56641164e-02 -3.34047265e-04 9.99877254e-01 7.01898986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.46925415399994 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:455.35, Y:4.81, Z:7.02 [[ 9.99142329e-01 -3.83299984e-02 -1.56657854e-02 4.55352018e+02] [ 3.83308891e-02 9.99265072e-01 -2.43511301e-04 4.80628684e+00] [ 1.56636060e-02 -3.57181035e-04 9.99877254e-01 7.01973114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.4992541539999 meters Centerline goodness : 0.999351 Centerline is valid? [True, True] Translation: X:455.38, Y:4.81, Z:7.02 [[ 9.99123852e-01 -3.88086418e-02 -1.56657854e-02 4.55382885e+02] [ 3.88095913e-02 9.99246594e-01 -2.43511301e-04 4.80594417e+00] [ 1.56634331e-02 -3.64684780e-04 9.99877254e-01 7.01991680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.52925415399994 meters Centerline goodness : 0.999288 Centerline is valid? [True, True] Translation: X:455.41, Y:4.81, Z:7.02 [[ 9.99085231e-01 -3.97905036e-02 -1.56657942e-02 4.55413443e+02] [ 3.97915826e-02 9.99207972e-01 -2.42944525e-04 4.80551539e+00] [ 1.56630533e-02 -3.80644457e-04 9.99877254e-01 7.02012359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.5592541539999 meters Centerline goodness : 0.999225 Centerline is valid? [True, True] Translation: X:455.44, Y:4.81, Z:7.02 [[ 9.99073954e-01 -4.00726594e-02 -1.56657986e-02 4.55444378e+02] [ 4.00737775e-02 9.99196694e-01 -2.42663035e-04 4.80508488e+00] [ 1.56629383e-02 -3.85349409e-04 9.99877254e-01 7.02101430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.58925415399995 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:455.48, Y:4.80, Z:7.02 [[ 9.99045794e-01 -4.07686667e-02 -1.56658073e-02 4.55476220e+02] [ 4.07698791e-02 9.99168534e-01 -2.42095774e-04 4.80477557e+00] [ 1.56626517e-02 -3.96828306e-04 9.99877254e-01 7.02159308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.6192541539999 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:455.51, Y:4.80, Z:7.02 [[ 9.98970831e-01 -4.25659703e-02 -1.56658161e-02 4.55507785e+02] [ 4.25674125e-02 9.99093568e-01 -2.41525906e-04 4.80363121e+00] [ 1.56618969e-02 -4.25575922e-04 9.99877254e-01 7.02235921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.64925415399995 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:455.54, Y:4.80, Z:7.02 [[ 9.98972399e-01 -4.25291505e-02 -1.56658250e-02 4.55539622e+02] [ 4.25305972e-02 9.99095136e-01 -2.40949322e-04 4.80409120e+00] [ 1.56618969e-02 -4.25575171e-04 9.99877254e-01 7.02285800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.6792541539999 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:455.57, Y:4.80, Z:7.02 [[ 9.98919231e-01 -4.37601578e-02 -1.56658338e-02 4.55569809e+02] [ 4.37617648e-02 9.99041966e-01 -2.40371986e-04 4.80429554e+00] [ 1.56613442e-02 -4.45452337e-04 9.99877254e-01 7.02336548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.70925415399995 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:455.60, Y:4.80, Z:7.02 [[ 9.98880438e-01 -4.46368837e-02 -1.56658382e-02 4.55599708e+02] [ 4.46386029e-02 9.99003172e-01 -2.40085657e-04 4.80461207e+00] [ 1.56609388e-02 -4.59484266e-04 9.99877254e-01 7.02355404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.7392541539999 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:455.63, Y:4.81, Z:7.02 [[ 9.98793568e-01 -4.65401967e-02 -1.56658426e-02 4.55630771e+02] [ 4.65421542e-02 9.98916298e-01 -2.39802732e-04 4.80540060e+00] [ 1.56600259e-02 -4.89608634e-04 9.99877254e-01 7.02311651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.76925415399995 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:455.66, Y:4.81, Z:7.02 [[ 9.98736573e-01 -4.77476493e-02 -1.56658515e-02 4.55662424e+02] [ 4.77497644e-02 9.98859301e-01 -2.39219650e-04 4.80610602e+00] [ 1.56594036e-02 -5.09123302e-04 9.99877254e-01 7.02284539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.7992541539999 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:455.69, Y:4.81, Z:7.02 [[ 9.98633266e-01 -4.98616244e-02 -1.56658647e-02 4.55693352e+02] [ 4.98640129e-02 9.98755988e-01 -2.38348120e-04 4.80623597e+00] [ 1.56582606e-02 -5.43140519e-04 9.99877254e-01 7.02206203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.82925415399995 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:455.73, Y:4.81, Z:7.02 [[ 9.98590771e-01 -5.07055428e-02 -1.56658734e-02 4.55725792e+02] [ 5.07080439e-02 9.98713491e-01 -2.37775312e-04 4.80662527e+00] [ 1.56577757e-02 -5.56945566e-04 9.99877254e-01 7.02227284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.8592541539999 meters Centerline goodness : 0.999292 Centerline is valid? [True, True] Translation: X:455.76, Y:4.81, Z:7.02 [[ 9.98565782e-01 -5.11953106e-02 -1.56658908e-02 4.55757737e+02] [ 5.11978899e-02 9.98688500e-01 -2.36627360e-04 4.80730502e+00] [ 1.56574592e-02 -5.65772565e-04 9.99877254e-01 7.02249783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.88925415399996 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:455.79, Y:4.81, Z:7.02 [[ 9.98551529e-01 -5.14725460e-02 -1.56659082e-02 4.55788847e+02] [ 5.14751776e-02 9.98674247e-01 -2.35469055e-04 4.80848608e+00] [ 1.56572592e-02 -5.71277420e-04 9.99877254e-01 7.02279909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.91925415399993 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:455.82, Y:4.81, Z:7.02 [[ 9.98564106e-01 -5.12279801e-02 -1.56659211e-02 4.55820917e+02] [ 5.12305952e-02 9.98686823e-01 -2.34605238e-04 4.81076623e+00] [ 1.56573673e-02 -5.68306092e-04 9.99877254e-01 7.02287958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.94925415399996 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:455.85, Y:4.81, Z:7.02 [[ 9.98574281e-01 -5.10292355e-02 -1.56659381e-02 4.55853284e+02] [ 5.10318440e-02 9.98696999e-01 -2.33462571e-04 4.81234972e+00] [ 1.56574388e-02 -5.66331992e-04 9.99877254e-01 7.02342485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.97925415399993 meters Centerline goodness : 0.999396 Centerline is valid? [True, True] Translation: X:455.88, Y:4.81, Z:7.02 [[ 9.98614484e-01 -5.02363504e-02 -1.56659553e-02 4.55884753e+02] [ 5.02388796e-02 9.98737203e-01 -2.32302625e-04 4.81441374e+00] [ 1.56578424e-02 -5.55059278e-04 9.99877254e-01 7.02294050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.00925415399996 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:455.92, Y:4.82, Z:7.02 [[ 9.98616095e-01 -5.02043091e-02 -1.56659833e-02 4.55917196e+02] [ 5.02068643e-02 9.98738814e-01 -2.30398299e-04 4.81583331e+00] [ 1.56577926e-02 -5.56460449e-04 9.99877254e-01 7.02354312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.03925415399993 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:455.95, Y:4.82, Z:7.02 [[ 9.98739166e-01 -4.76933387e-02 -1.56660001e-02 4.55949793e+02] [ 4.76956032e-02 9.98861891e-01 -2.29252562e-04 4.81583704e+00] [ 1.56591043e-02 -5.18235813e-04 9.99877254e-01 7.02482906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.06925415399996 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:455.98, Y:4.82, Z:7.03 [[ 9.98716102e-01 -4.81738872e-02 -1.56660177e-02 4.55980563e+02] [ 4.81762297e-02 9.98838825e-01 -2.28047253e-04 4.82039119e+00] [ 1.56588126e-02 -5.26975201e-04 9.99877254e-01 7.02562408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.09925415399994 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:456.01, Y:4.82, Z:7.03 [[ 9.98795703e-01 -4.64942780e-02 -1.56660463e-02 4.56012396e+02] [ 4.64964452e-02 9.98918430e-01 -2.26060145e-04 4.82226526e+00] [ 1.56596129e-02 -5.02627562e-04 9.99877254e-01 7.02686831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.12925415399997 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:456.04, Y:4.82, Z:7.03 [[ 9.98875037e-01 -4.47575048e-02 -1.56660629e-02 4.56044703e+02] [ 4.47594767e-02 9.98997767e-01 -2.24906715e-04 4.82407691e+00] [ 1.56604281e-02 -4.76551073e-04 9.99877254e-01 7.02764933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.15925415399994 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:456.08, Y:4.83, Z:7.03 [[ 9.99009060e-01 -4.16589967e-02 -1.56660792e-02 4.56076584e+02] [ 4.16606058e-02 9.99131795e-01 -2.23764526e-04 4.82760374e+00] [ 1.56617996e-02 -4.29115561e-04 9.99877254e-01 7.02866060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.18925415399997 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:456.11, Y:4.83, Z:7.03 [[ 9.99054515e-01 -4.05542841e-02 -1.56660956e-02 4.56106565e+02] [ 4.05557756e-02 9.99177251e-01 -2.22609598e-04 4.82919385e+00] [ 1.56622341e-02 -4.12951533e-04 9.99877254e-01 7.02895906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.21925415399994 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:456.14, Y:4.83, Z:7.03 [[ 9.99092276e-01 -3.96130812e-02 -1.56661087e-02 4.56137653e+02] [ 3.96144715e-02 9.99215014e-01 -2.21687141e-04 4.83111763e+00] [ 1.56625927e-02 -3.99118705e-04 9.99877254e-01 7.02912006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.2492541539999 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:456.17, Y:4.83, Z:7.03 [[ 9.99083632e-01 -3.98305111e-02 -1.56661167e-02 4.56167610e+02] [ 3.98319370e-02 9.99206369e-01 -2.21120952e-04 4.83210603e+00] [ 1.56624909e-02 -4.03093447e-04 9.99877254e-01 7.02870332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.27925415399994 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:456.20, Y:4.83, Z:7.03 [[ 9.99064791e-01 -4.03003174e-02 -1.56661206e-02 4.56199150e+02] [ 4.03018055e-02 9.99187528e-01 -2.20840227e-04 4.83297979e+00] [ 1.56622923e-02 -4.10739250e-04 9.99877254e-01 7.02914801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.3092541539999 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:456.23, Y:4.83, Z:7.03 [[ 9.99035694e-01 -4.10152992e-02 -1.56661286e-02 4.56230833e+02] [ 4.10168839e-02 9.99158429e-01 -2.20271683e-04 4.83393743e+00] [ 1.56619790e-02 -4.22516505e-04 9.99877254e-01 7.02960558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.33925415399995 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:456.26, Y:4.84, Z:7.03 [[ 9.98974767e-01 -4.24733641e-02 -1.56661366e-02 4.56261737e+02] [ 4.24751370e-02 9.99097500e-01 -2.19698865e-04 4.83576615e+00] [ 1.56613293e-02 -4.45947677e-04 9.99877254e-01 7.02999537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.3692541539999 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:456.29, Y:4.84, Z:7.03 [[ 9.98955017e-01 -4.29353680e-02 -1.56661446e-02 4.56292987e+02] [ 4.29372066e-02 9.99077749e-01 -2.19127092e-04 4.83656730e+00] [ 1.56611048e-02 -4.53762380e-04 9.99877254e-01 7.02995869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.39925415399995 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:456.32, Y:4.84, Z:7.03 [[ 9.98924688e-01 -4.36352978e-02 -1.56661526e-02 4.56324474e+02] [ 4.36372314e-02 9.99047418e-01 -2.18554274e-04 4.83883057e+00] [ 1.56607660e-02 -4.65308268e-04 9.99877254e-01 7.03066394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.4292541539999 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:456.36, Y:4.84, Z:7.03 [[ 9.98924907e-01 -4.36302832e-02 -1.56661606e-02 4.56356528e+02] [ 4.36322252e-02 9.99047637e-01 -2.17981208e-04 4.84064880e+00] [ 1.56607513e-02 -4.65802589e-04 9.99877254e-01 7.03117407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.45925415399995 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:456.39, Y:4.84, Z:7.03 [[ 9.98934976e-01 -4.33991412e-02 -1.56661767e-02 4.56387676e+02] [ 4.34010730e-02 9.99057706e-01 -2.16816435e-04 4.84205594e+00] [ 1.56608242e-02 -4.63343359e-04 9.99877254e-01 7.03085843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.4892541539999 meters Centerline goodness : 0.998998 Centerline is valid? [True, True] Translation: X:456.42, Y:4.84, Z:7.03 [[ 9.98944021e-01 -4.31904299e-02 -1.56661887e-02 4.56420034e+02] [ 4.31923496e-02 9.99066752e-01 -2.15949698e-04 4.84347426e+00] [ 1.56608952e-02 -4.60937838e-04 9.99877254e-01 7.03124386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.51925415399995 meters Centerline goodness : 0.998934 Centerline is valid? [True, True] Translation: X:456.45, Y:4.84, Z:7.03 [[ 9.98923641e-01 -4.36592338e-02 -1.56662045e-02 4.56452457e+02] [ 4.36612292e-02 9.99046371e-01 -2.14794134e-04 4.84449640e+00] [ 1.56606425e-02 -4.69442807e-04 9.99877254e-01 7.03168145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.5492541539999 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:456.48, Y:4.85, Z:7.03 [[ 9.98857190e-01 -4.51539946e-02 -1.56662202e-02 4.56484478e+02] [ 4.51561917e-02 9.98979916e-01 -2.13646778e-04 4.84630854e+00] [ 1.56598863e-02 -4.94024219e-04 9.99877254e-01 7.03306422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.57925415399995 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:456.52, Y:4.85, Z:7.03 [[ 9.98810899e-01 -4.61666200e-02 -1.56662358e-02 4.56516746e+02] [ 4.61689595e-02 9.98933622e-01 -2.12497192e-04 4.84720385e+00] [ 1.56593399e-02 -5.11049292e-04 9.99877254e-01 7.03431945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.6092541539999 meters Centerline goodness : 0.999142 Centerline is valid? [True, True] Translation: X:456.55, Y:4.85, Z:7.04 [[ 9.98766259e-01 -4.71224761e-02 -1.56662515e-02 4.56547788e+02] [ 4.71249514e-02 9.98888980e-01 -2.11326274e-04 4.84822868e+00] [ 1.56588042e-02 -5.27205791e-04 9.99877254e-01 7.03500429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.63925415399996 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:456.58, Y:4.85, Z:7.04 [[ 9.98767326e-01 -4.70998510e-02 -1.56662633e-02 4.56582518e+02] [ 4.71023372e-02 9.98890047e-01 -2.10455099e-04 4.84649428e+00] [ 1.56587868e-02 -5.27721937e-04 9.99877254e-01 7.03538995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.66925415399993 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:456.61, Y:4.85, Z:7.04 [[ 9.98595356e-01 -5.06142114e-02 -1.56689637e-02 4.56609137e+02] [ 5.06203125e-02 9.98717970e-01 -7.24358515e-06 4.85096613e+00] [ 1.56492422e-02 -7.85934426e-04 9.99877234e-01 7.03591147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.69925415399996 meters Centerline goodness : 0.998954 Centerline is valid? [True, True] Translation: X:456.64, Y:4.85, Z:7.04 [[ 9.98444088e-01 -5.35161115e-02 -1.56661469e-02 4.56641618e+02] [ 5.35193347e-02 9.98566791e-01 -2.13730183e-04 4.85227033e+00] [ 1.56551321e-02 -6.25044124e-04 9.99877256e-01 7.03654030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.72925415399993 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:456.67, Y:4.85, Z:7.04 [[ 9.98370128e-01 -5.48785777e-02 -1.56661624e-02 4.56673590e+02] [ 5.48819862e-02 9.98492825e-01 -2.12593955e-04 4.85291841e+00] [ 1.56542176e-02 -6.47542652e-04 9.99877256e-01 7.03690405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.75925415399996 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:456.71, Y:4.85, Z:7.04 [[ 9.98292494e-01 -5.62731467e-02 -1.56661776e-02 4.56705836e+02] [ 5.62767443e-02 9.98415186e-01 -2.11463864e-04 4.85350295e+00] [ 1.56532494e-02 -6.70538683e-04 9.99877256e-01 7.03697395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.78925415399993 meters Centerline goodness : 0.999038 Centerline is valid? [True, True] Translation: X:456.74, Y:4.86, Z:7.04 [[ 9.98146723e-01 -5.88021236e-02 -1.56661927e-02 4.56736544e+02] [ 5.88060496e-02 9.98269405e-01 -2.10340559e-04 4.85502281e+00] [ 1.56514493e-02 -7.11316165e-04 9.99877256e-01 7.03703166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.81925415399996 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:456.77, Y:4.86, Z:7.04 [[ 9.98094140e-01 -5.96880083e-02 -1.56662039e-02 4.56768207e+02] [ 5.96920562e-02 9.98216817e-01 -2.09503400e-04 4.85622595e+00] [ 1.56507730e-02 -7.26043808e-04 9.99877256e-01 7.03707541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.84925415399994 meters Centerline goodness : 0.998932 Centerline is valid? [True, True] Translation: X:456.80, Y:4.86, Z:7.04 [[ 9.98056740e-01 -6.03101378e-02 -1.56662149e-02 4.56799459e+02] [ 6.03142752e-02 9.98179415e-01 -2.08675596e-04 4.85783246e+00] [ 1.56502785e-02 -7.36626313e-04 9.99877256e-01 7.03770235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.87925415399997 meters Centerline goodness : 0.998872 Centerline is valid? [True, True] Translation: X:456.83, Y:4.86, Z:7.04 [[ 9.98077193e-01 -5.99707157e-02 -1.56662256e-02 4.56831851e+02] [ 5.99748240e-02 9.98199868e-01 -2.07867691e-04 4.85896455e+00] [ 1.56504903e-02 -7.32111124e-04 9.99877256e-01 7.03844587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.90925415399994 meters Centerline goodness : 0.998955 Centerline is valid? [True, True] Translation: X:456.86, Y:4.86, Z:7.04 [[ 9.98137126e-01 -5.89647946e-02 -1.56662400e-02 4.56864377e+02] [ 5.89687964e-02 9.98259805e-01 -2.06779681e-04 4.86009647e+00] [ 1.56511704e-02 -7.17424839e-04 9.99877256e-01 7.03885418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.93925415399997 meters Centerline goodness : 0.998994 Centerline is valid? [True, True] Translation: X:456.90, Y:4.86, Z:7.04 [[ 9.98278653e-01 -5.65181335e-02 -1.56662542e-02 4.56895697e+02] [ 5.65218515e-02 9.98401341e-01 -2.05696308e-04 4.86259434e+00] [ 1.56528348e-02 -6.80143460e-04 9.99877256e-01 7.03924995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.96925415399994 meters Centerline goodness : 0.998890 Centerline is valid? [True, True] Translation: X:456.94, Y:4.85, Z:7.03 [[ 9.98770221e-01 -4.70384365e-02 -1.56662648e-02 4.56937542e+02] [ 4.70410023e-02 9.98892938e-01 -2.04889461e-04 4.85284478e+00] [ 1.56585589e-02 -5.32319305e-04 9.99877256e-01 7.03446403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.9992541539999 meters Centerline goodness : 0.998784 Centerline is valid? [True, True] Translation: X:456.96, Y:4.87, Z:7.04 [[ 9.98387320e-01 -5.45631028e-02 -1.56724995e-02 4.56956212e+02] [ 5.45741979e-02 9.98509679e-01 2.80808221e-04 4.86608793e+00] [ 1.56338206e-02 -1.13566946e-03 9.99877139e-01 7.04040773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.02925415399994 meters Centerline goodness : 0.998867 Centerline is valid? [True, True] Translation: X:456.99, Y:4.87, Z:7.04 [[ 9.98501018e-01 -5.24433553e-02 -1.56655862e-02 4.56986898e+02] [ 5.24463885e-02 9.98623717e-01 -2.17427786e-04 4.86804881e+00] [ 1.56554286e-02 -6.04501556e-04 9.99877264e-01 7.04055216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.0592541539999 meters Centerline goodness : 0.998889 Centerline is valid? [True, True] Translation: X:457.03, Y:4.86, Z:7.04 [[ 9.98952005e-01 -4.30055815e-02 -1.56656121e-02 4.57027801e+02] [ 4.30074845e-02 9.99074727e-01 -2.15548940e-04 4.85807338e+00] [ 1.56603869e-02 -4.58415523e-04 9.99877264e-01 7.03591908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.08925415399995 meters Centerline goodness : 0.998782 Centerline is valid? [True, True] Translation: X:457.05, Y:4.87, Z:7.04 [[ 9.98590748e-01 -5.07039449e-02 -1.56725291e-02 4.57045629e+02] [ 5.07152073e-02 9.98713104e-01 3.21744899e-04 4.87012614e+00] [ 1.56360464e-02 -1.11612704e-03 9.99877127e-01 7.04195152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.1192541539999 meters Centerline goodness : 0.998663 Centerline is valid? [True, True] Translation: X:457.08, Y:4.86, Z:7.04 [[ 9.99019823e-01 -4.14005153e-02 -1.56649481e-02 4.57084716e+02] [ 4.14021591e-02 9.99142539e-01 -2.19485604e-04 4.86200236e+00] [ 1.56606028e-02 -4.29292203e-04 9.99877273e-01 7.03721578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.14925415399995 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:457.10, Y:4.87, Z:7.04 [[ 9.98707308e-01 -4.83541758e-02 -1.56712111e-02 4.57104257e+02] [ 4.83640533e-02 9.98829743e-01 2.51703144e-04 4.87263197e+00] [ 1.56407008e-02 -1.00930106e-03 9.99877167e-01 7.04179839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.1792541539999 meters Centerline goodness : 0.999055 Centerline is valid? [True, True] Translation: X:457.14, Y:4.87, Z:7.04 [[ 9.98916568e-01 -4.38214157e-02 -1.56644379e-02 4.57135632e+02] [ 4.38232957e-02 9.99039273e-01 -2.23382260e-04 4.87480581e+00] [ 1.56591776e-02 -4.63327054e-04 9.99877280e-01 7.04199133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.20925415399995 meters Centerline goodness : 0.998906 Centerline is valid? [True, True] Translation: X:457.17, Y:4.88, Z:7.04 [[ 9.99043089e-01 -4.08354251e-02 -1.56644487e-02 4.57168137e+02] [ 4.08369502e-02 9.99165799e-01 -2.22620750e-04 4.87550615e+00] [ 1.56604722e-02 -4.17280590e-04 9.99877280e-01 7.04301635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.2392541539999 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:457.20, Y:4.88, Z:7.04 [[ 9.99235259e-01 -3.58262609e-02 -1.56644648e-02 4.57199590e+02] [ 3.58271887e-02 9.99357976e-01 -2.21479906e-04 4.87690026e+00] [ 1.56623427e-02 -3.39903207e-04 9.99877280e-01 7.04426061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.26925415399995 meters Centerline goodness : 0.998926 Centerline is valid? [True, True] Translation: X:457.24, Y:4.87, Z:7.04 [[ 9.99541835e-01 -2.58987362e-02 -1.56644899e-02 4.57239649e+02] [ 2.58984730e-02 9.99664554e-01 -2.19689893e-04 4.86861666e+00] [ 1.56649251e-02 -1.86097132e-04 9.99877280e-01 7.03928005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.2992541539999 meters Centerline goodness : 0.999010 Centerline is valid? [True, True] Translation: X:457.27, Y:4.87, Z:7.04 [[ 9.99590365e-01 -2.39483578e-02 -1.56709151e-02 4.57270326e+02] [ 2.39546451e-02 9.99713024e-01 2.13598506e-04 4.86867063e+00] [ 1.56613026e-02 -5.88902219e-04 9.99877181e-01 7.03979564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.32925415399995 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:457.29, Y:4.88, Z:7.05 [[ 9.99382589e-01 -3.14456034e-02 -1.56721183e-02 4.57288000e+02] [ 3.14540493e-02 9.99505156e-01 2.92655339e-04 4.87955491e+00] [ 1.56551603e-02 -7.85426231e-04 9.99877142e-01 7.04586216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.3592541539999 meters Centerline goodness : 0.998756 Centerline is valid? [True, True] Translation: X:457.32, Y:4.88, Z:7.05 [[ 9.99499214e-01 -2.74952787e-02 -1.56630542e-02 4.57317036e+02] [ 2.74946123e-02 9.99621918e-01 -2.57924230e-04 4.88050815e+00] [ 1.56642240e-02 -1.72854538e-04 9.99877294e-01 7.04547383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.38925415399996 meters Centerline goodness : 0.999030 Centerline is valid? [True, True] Translation: X:457.35, Y:4.88, Z:7.05 [[ 9.99508301e-01 -2.71632919e-02 -1.56624064e-02 4.57347864e+02] [ 2.71619742e-02 9.99631001e-01 -2.96885667e-04 4.88114869e+00] [ 1.56646914e-02 -1.28682191e-04 9.99877293e-01 7.04661511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.41925415399993 meters Centerline goodness : 0.998903 Centerline is valid? [True, True] Translation: X:457.38, Y:4.88, Z:7.04 [[ 9.99526363e-01 -2.64899870e-02 -1.56630088e-02 4.57377439e+02] [ 2.64891538e-02 9.99649067e-01 -2.60692041e-04 4.88023533e+00] [ 1.56644179e-02 -1.54331282e-04 9.99877294e-01 7.04489635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.44925415399996 meters Centerline goodness : 0.998840 Centerline is valid? [True, True] Translation: X:457.41, Y:4.88, Z:7.05 [[ 9.99499068e-01 -2.75005985e-02 -1.56629995e-02 4.57407463e+02] [ 2.74998806e-02 9.99621773e-01 -2.61251898e-04 4.87995569e+00] [ 1.56642599e-02 -1.69609587e-04 9.99877294e-01 7.04590621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.47925415399993 meters Centerline goodness : 0.999072 Centerline is valid? [True, True] Translation: X:457.44, Y:4.88, Z:7.05 [[ 9.99459199e-01 -2.89133396e-02 -1.56629900e-02 4.57436565e+02] [ 2.89127862e-02 9.99581904e-01 -2.61818178e-04 4.87936702e+00] [ 1.56640114e-02 -1.91184096e-04 9.99877294e-01 7.04592541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.50925415399996 meters Centerline goodness : 0.998905 Centerline is valid? [True, True] Translation: X:457.47, Y:4.88, Z:7.05 [[ 9.99321045e-01 -3.33484756e-02 -1.56629853e-02 4.57467514e+02] [ 3.33484624e-02 9.99443751e-01 -2.62099164e-04 4.87720617e+00] [ 1.56630134e-02 -2.60415267e-04 9.99877294e-01 7.04685999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.53925415399993 meters Centerline goodness : 0.999033 Centerline is valid? [True, True] Translation: X:457.50, Y:4.88, Z:7.05 [[ 9.99224345e-01 -3.61300460e-02 -1.56629853e-02 4.57498462e+02] [ 3.61303743e-02 9.99347051e-01 -2.62099164e-04 4.87611986e+00] [ 1.56622279e-02 -3.04013658e-04 9.99877294e-01 7.04781781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.56925415399996 meters Centerline goodness : 0.999033 Centerline is valid? [True, True] Translation: X:457.53, Y:4.88, Z:7.05 [[ 9.99225646e-01 -3.60940433e-02 -1.56629948e-02 4.57530298e+02] [ 3.60943761e-02 9.99348352e-01 -2.61533811e-04 4.87662112e+00] [ 1.56622278e-02 -3.04014734e-04 9.99877294e-01 7.04831650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.59925415399994 meters Centerline goodness : 0.998846 Centerline is valid? [True, True] Translation: X:457.56, Y:4.87, Z:7.05 [[ 9.99003341e-01 -4.17970791e-02 -1.56630042e-02 4.57561505e+02] [ 4.17981212e-02 9.99126043e-01 -2.60969533e-04 4.87397137e+00] [ 1.56602231e-02 -3.93974712e-04 9.99877294e-01 7.04773220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.62925415399997 meters Centerline goodness : 0.999055 Centerline is valid? [True, True] Translation: X:457.59, Y:4.87, Z:7.05 [[ 9.98877332e-01 -4.47073295e-02 -1.56630182e-02 4.57592460e+02] [ 4.47087423e-02 9.99000030e-01 -2.60126009e-04 4.87327518e+00] [ 1.56589852e-02 -4.40439870e-04 9.99877294e-01 7.04908202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.65925415399994 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:457.62, Y:4.87, Z:7.05 [[ 9.98665728e-01 -4.92080641e-02 -1.56630319e-02 4.57624266e+02] [ 4.92100427e-02 9.98788418e-01 -2.59298032e-04 4.87106479e+00] [ 1.56568144e-02 -5.11826411e-04 9.99877294e-01 7.04924136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.68925415399997 meters Centerline goodness : 0.998867 Centerline is valid? [True, True] Translation: X:457.66, Y:4.87, Z:7.05 [[ 9.98566534e-01 -5.11814978e-02 -1.56630499e-02 4.57656619e+02] [ 5.11837359e-02 9.98689220e-01 -2.58208685e-04 4.87015125e+00] [ 1.56557346e-02 -5.43854856e-04 9.99877294e-01 7.04950691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.71925415399994 meters Centerline goodness : 0.998847 Centerline is valid? [True, True] Translation: X:457.69, Y:4.87, Z:7.05 [[ 9.98479392e-01 -5.28542558e-02 -1.56630677e-02 4.57689113e+02] [ 5.28567165e-02 9.98602074e-01 -2.57121225e-04 4.86950908e+00] [ 1.56547618e-02 -5.71168085e-04 9.99877294e-01 7.05029511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.7492541539999 meters Centerline goodness : 0.998994 Centerline is valid? [True, True] Translation: X:457.72, Y:4.87, Z:7.05 [[ 9.98400031e-01 -5.43327395e-02 -1.56630856e-02 4.57720071e+02] [ 5.43353990e-02 9.98522708e-01 -2.56027964e-04 4.86921479e+00] [ 1.56538573e-02 -5.95441676e-04 9.99877294e-01 7.05104381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.77925415399994 meters Centerline goodness : 0.999058 Centerline is valid? [True, True] Translation: X:457.75, Y:4.87, Z:7.05 [[ 9.98259142e-01 -5.68625837e-02 -1.56630988e-02 4.57751169e+02] [ 5.68655668e-02 9.98381812e-01 -2.55213806e-04 4.86773825e+00] [ 1.56522651e-02 -6.35921478e-04 9.99877294e-01 7.05095680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.8092541539999 meters Centerline goodness : 0.998973 Centerline is valid? [True, True] Translation: X:457.79, Y:4.87, Z:7.05 [[ 9.98252368e-01 -5.69813693e-02 -1.56631119e-02 4.57786099e+02] [ 5.69843796e-02 9.98375038e-01 -2.54410282e-04 4.86584882e+00] [ 1.56521566e-02 -6.38587047e-04 9.99877294e-01 7.05271549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.83925415399995 meters Centerline goodness : 0.998975 Centerline is valid? [True, True] Translation: X:457.81, Y:4.87, Z:7.05 [[ 9.98094811e-01 -5.96769659e-02 -1.56654783e-02 4.57814748e+02] [ 5.96826144e-02 9.98217398e-01 -1.07105250e-04 4.86682555e+00] [ 1.56439447e-02 -8.28055504e-04 9.99877283e-01 7.05252263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.8692541539999 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:457.85, Y:4.87, Z:7.05 [[ 9.98155612e-01 -5.86518772e-02 -1.56630952e-02 4.57850306e+02] [ 5.86550985e-02 9.98278275e-01 -2.54043762e-04 4.86554534e+00] [ 1.56510278e-02 -6.65145185e-04 9.99877294e-01 7.05351498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.89925415399995 meters Centerline goodness : 0.998851 Centerline is valid? [True, True] Translation: X:457.88, Y:4.87, Z:7.05 [[ 9.98035879e-01 -6.06544642e-02 -1.56658890e-02 4.57877532e+02] [ 6.06606657e-02 9.98158443e-01 -7.94529483e-05 4.86727690e+00] [ 1.56418586e-02 -8.71006365e-04 9.99877279e-01 7.05115698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.9292541539999 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:457.91, Y:4.86, Z:7.06 [[ 9.98210354e-01 -5.77127215e-02 -1.56630389e-02 4.57913452e+02] [ 5.77158167e-02 9.98333020e-01 -2.54722251e-04 4.86343284e+00] [ 1.56516297e-02 -6.49738697e-04 9.99877295e-01 7.05535994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.95925415399995 meters Centerline goodness : 0.998870 Centerline is valid? [True, True] Translation: X:457.94, Y:4.87, Z:7.05 [[ 9.98032053e-01 -6.07169563e-02 -1.56675886e-02 4.57937404e+02] [ 6.07248701e-02 9.98154542e-01 2.94286059e-05 4.86741383e+00] [ 1.56368879e-02 -9.80782976e-04 9.99877255e-01 7.05348098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.9892541539999 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:457.97, Y:4.86, Z:7.05 [[ 9.98241105e-01 -5.71784226e-02 -1.56628451e-02 4.57974392e+02] [ 5.71813965e-02 9.98363772e-01 -2.58274659e-04 4.86371680e+00] [ 1.56519849e-02 -6.37802977e-04 9.99877297e-01 7.05272144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.01925415399995 meters Centerline goodness : 0.998931 Centerline is valid? [True, True] Translation: X:458.00, Y:4.87, Z:7.05 [[ 9.97993137e-01 -6.13531689e-02 -1.56680248e-02 4.57997039e+02] [ 6.13616870e-02 9.98115594e-01 6.30511281e-05 4.86876647e+00] [ 1.56346315e-02 -1.02434102e-03 9.99877247e-01 7.05324053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.0492541539999 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:458.03, Y:4.87, Z:7.05 [[ 9.97960451e-01 -6.18839477e-02 -1.56625411e-02 4.58028945e+02] [ 6.18874217e-02 9.98083102e-01 -2.63253515e-04 4.86961989e+00] [ 1.56488088e-02 -7.06597689e-04 9.99877300e-01 7.05399040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.07925415399995 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:458.07, Y:4.86, Z:7.05 [[ 9.98286954e-01 -5.63723561e-02 -1.56625599e-02 4.58069603e+02] [ 5.63751703e-02 9.98409621e-01 -2.62129404e-04 4.86276512e+00] [ 1.56524274e-02 -6.21299120e-04 9.99877300e-01 7.05019230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.1092541539999 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:458.09, Y:4.87, Z:7.05 [[ 9.97711311e-01 -6.57765183e-02 -1.56712805e-02 4.58086899e+02] [ 6.57889371e-02 9.97833523e-01 2.77685283e-04 4.87085995e+00] [ 1.56190639e-02 -1.30804663e-03 9.99877159e-01 7.05291334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.13925415399996 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:458.12, Y:4.87, Z:7.05 [[ 9.97618595e-01 -6.71702974e-02 -1.56617465e-02 4.58119006e+02] [ 6.71742867e-02 9.97741220e-01 -2.71806627e-04 4.87186389e+00] [ 1.56446274e-02 -7.80907306e-04 9.99877310e-01 7.05281446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.16925415399993 meters Centerline goodness : 0.998930 Centerline is valid? [True, True] Translation: X:458.15, Y:4.87, Z:7.05 [[ 9.97501455e-01 -6.88879935e-02 -1.56617654e-02 4.58151051e+02] [ 6.88922111e-02 9.97624072e-01 -2.70713127e-04 4.87337712e+00] [ 1.56432031e-02 -8.08936913e-04 9.99877310e-01 7.05382294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.19925415399996 meters Centerline goodness : 0.999077 Centerline is valid? [True, True] Translation: X:458.18, Y:4.87, Z:7.05 [[ 9.97488812e-01 -6.90708268e-02 -1.56617848e-02 4.58184354e+02] [ 6.90750844e-02 9.97611427e-01 -2.69588598e-04 4.87474991e+00] [ 1.56429962e-02 -8.12927497e-04 9.99877310e-01 7.05448342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.22925415399993 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:458.22, Y:4.88, Z:7.06 [[ 9.97589152e-01 -6.76061465e-02 -1.56618137e-02 4.58215949e+02] [ 6.76102506e-02 9.97711773e-01 -2.67899893e-04 4.87685141e+00] [ 1.56440876e-02 -7.91645121e-04 9.99877310e-01 7.05605179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.25925415399996 meters Centerline goodness : 0.998993 Centerline is valid? [True, True] Translation: X:458.25, Y:4.88, Z:7.06 [[ 9.97678591e-01 -6.62731933e-02 -1.56618462e-02 4.58247801e+02] [ 6.62771635e-02 9.97801216e-01 -2.65983563e-04 4.87842024e+00] [ 1.56450368e-02 -7.72656637e-04 9.99877310e-01 7.05819252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.28925415399993 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:458.28, Y:4.88, Z:7.06 [[ 9.97793936e-01 -6.45133089e-02 -1.56618657e-02 4.58278443e+02] [ 6.45170808e-02 9.97916568e-01 -2.64833181e-04 4.88019367e+00] [ 1.56463205e-02 -7.46208913e-04 9.99877310e-01 7.05893507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.31925415399996 meters Centerline goodness : 0.998928 Centerline is valid? [True, True] Translation: X:458.31, Y:4.88, Z:7.06 [[ 9.98043299e-01 -6.05332875e-02 -1.56618754e-02 4.58310911e+02] [ 6.05365792e-02 9.98165945e-01 -2.64260189e-04 4.88293537e+00] [ 1.56491471e-02 -6.84373248e-04 9.99877310e-01 7.05970841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.34925415399994 meters Centerline goodness : 0.999035 Centerline is valid? [True, True] Translation: X:458.34, Y:4.89, Z:7.06 [[ 9.98144013e-01 -5.88492500e-02 -1.56618945e-02 4.58341795e+02] [ 5.88523527e-02 9.98266663e-01 -2.63119406e-04 4.88513303e+00] [ 1.56502316e-02 -6.59108281e-04 9.99877310e-01 7.06119591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.37925415399997 meters Centerline goodness : 0.999053 Centerline is valid? [True, True] Translation: X:458.37, Y:4.89, Z:7.06 [[ 9.98250385e-01 -5.70164263e-02 -1.56619087e-02 4.58374069e+02] [ 5.70193171e-02 9.98373041e-01 -2.62270119e-04 4.88712416e+00] [ 1.56513812e-02 -6.31220094e-04 9.99877310e-01 7.06232545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.40925415399994 meters Centerline goodness : 0.999075 Centerline is valid? [True, True] Translation: X:458.41, Y:4.89, Z:7.06 [[ 9.98402663e-01 -5.42846813e-02 -1.56619280e-02 4.58405886e+02] [ 5.42872545e-02 9.98525326e-01 -2.61113370e-04 4.89081539e+00] [ 1.56530062e-02 -5.89546789e-04 9.99877310e-01 7.06310867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.43925415399997 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:458.44, Y:4.89, Z:7.06 [[ 9.98457413e-01 -5.32681755e-02 -1.56619472e-02 4.58436780e+02] [ 5.32706420e-02 9.98580077e-01 -2.59957121e-04 4.89244177e+00] [ 1.56535559e-02 -5.74765869e-04 9.99877310e-01 7.06359316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.46925415399994 meters Centerline goodness : 0.999201 Centerline is valid? [True, True] Translation: X:458.47, Y:4.89, Z:7.06 [[ 9.98503016e-01 -5.24063962e-02 -1.56619779e-02 4.58468662e+02] [ 5.24087860e-02 9.98625682e-01 -2.58095323e-04 4.89455883e+00] [ 1.56539792e-02 -5.63116290e-04 9.99877310e-01 7.06438825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.4992541539999 meters Centerline goodness : 0.999329 Centerline is valid? [True, True] Translation: X:458.50, Y:4.90, Z:7.06 [[ 9.98508098e-01 -5.23094575e-02 -1.56619966e-02 4.58501007e+02] [ 5.23118532e-02 9.98630765e-01 -2.56956243e-04 4.89589452e+00] [ 1.56539929e-02 -5.62735177e-04 9.99877310e-01 7.06497381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.52925415399994 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:458.53, Y:4.90, Z:7.07 [[ 9.98492765e-01 -5.26013220e-02 -1.56620154e-02 4.58532862e+02] [ 5.26037716e-02 9.98615430e-01 -2.55804730e-04 4.89734021e+00] [ 1.56537859e-02 -5.68461909e-04 9.99877310e-01 7.06551307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.5592541539999 meters Centerline goodness : 0.999326 Centerline is valid? [True, True] Translation: X:458.56, Y:4.90, Z:7.07 [[ 9.98476256e-01 -5.29137655e-02 -1.56620340e-02 4.58563562e+02] [ 5.29162714e-02 9.98598920e-01 -2.54662347e-04 4.89864967e+00] [ 1.56535654e-02 -5.74502133e-04 9.99877310e-01 7.06547764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.58925415399995 meters Centerline goodness : 0.998862 Centerline is valid? [True, True] Translation: X:458.61, Y:4.89, Z:7.06 [[ 9.98857758e-01 -4.51428788e-02 -1.56620478e-02 4.58605442e+02] [ 4.51444435e-02 9.98980438e-01 -2.53811423e-04 4.89030688e+00] [ 1.56575371e-02 -4.53532921e-04 9.99877310e-01 7.05956808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.6192541539999 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:458.62, Y:4.90, Z:7.07 [[ 9.98346428e-01 -5.53068191e-02 -1.56705044e-02 4.58622906e+02] [ 5.53182753e-02 9.98468727e-01 2.98220231e-04 4.90224886e+00] [ 1.56300150e-02 -1.16459238e-03 9.99877166e-01 7.06598307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.64925415399995 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:458.65, Y:4.90, Z:7.07 [[ 9.98288654e-01 -5.63425866e-02 -1.56613094e-02 4.58654398e+02] [ 5.63454507e-02 9.98411300e-01 -2.58661632e-04 4.90413717e+00] [ 1.56510019e-02 -6.24224564e-04 9.99877321e-01 7.06506920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.6792541539999 meters Centerline goodness : 0.998946 Centerline is valid? [True, True] Translation: X:458.70, Y:4.89, Z:7.06 [[ 9.98767573e-01 -4.70962615e-02 -1.56613417e-02 4.58696650e+02] [ 4.70980206e-02 9.98890240e-01 -2.56693862e-04 4.89367181e+00] [ 1.56560506e-02 -4.81240687e-04 9.99877321e-01 7.05820369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.70925415399995 meters Centerline goodness : 0.999241 Centerline is valid? [True, True] Translation: X:458.71, Y:4.91, Z:7.07 [[ 9.98255758e-01 -5.69199782e-02 -1.56703107e-02 4.58713259e+02] [ 5.69319798e-02 9.98378008e-01 3.20489508e-04 4.90711353e+00] [ 1.56266514e-02 -1.21207231e-03 9.99877162e-01 7.06613563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.7392541539999 meters Centerline goodness : 0.999050 Centerline is valid? [True, True] Translation: X:458.75, Y:4.91, Z:7.07 [[ 9.98374284e-01 -5.48045405e-02 -1.56605062e-02 4.58745457e+02] [ 5.48071448e-02 9.98496924e-01 -2.63152097e-04 4.91020963e+00] [ 1.56513892e-02 -5.95583343e-04 9.99877332e-01 7.06733907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.76925415399995 meters Centerline goodness : 0.998923 Centerline is valid? [True, True] Translation: X:458.78, Y:4.91, Z:7.07 [[ 9.98495101e-01 -5.25574131e-02 -1.56605252e-02 4.58777731e+02] [ 5.25597593e-02 9.98617746e-01 -2.62013608e-04 4.91185882e+00] [ 1.56526492e-02 -5.61494131e-04 9.99877332e-01 7.06857482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.7992541539999 meters Centerline goodness : 0.998837 Centerline is valid? [True, True] Translation: X:458.81, Y:4.91, Z:7.07 [[ 9.98707094e-01 -4.83620538e-02 -1.56605443e-02 4.58810206e+02] [ 4.83639027e-02 9.98829748e-01 -2.60866541e-04 4.91280757e+00] [ 1.56548336e-02 -4.96875776e-04 9.99877332e-01 7.06669735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.82925415399995 meters Centerline goodness : 0.998963 Centerline is valid? [True, True] Translation: X:458.84, Y:4.92, Z:7.07 [[ 9.98877789e-01 -4.46979163e-02 -1.56607353e-02 4.58840441e+02] [ 4.46994954e-02 9.99000447e-01 -2.49367148e-04 4.91689765e+00] [ 1.56562278e-02 -4.50939660e-04 9.99877332e-01 7.07053801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.8592541539999 meters Centerline goodness : 0.998834 Centerline is valid? [True, True] Translation: X:458.87, Y:4.92, Z:7.07 [[ 9.99052188e-01 -4.06136821e-02 -1.56605789e-02 4.58872654e+02] [ 4.06146114e-02 9.99174853e-01 -2.58830608e-04 4.91975651e+00] [ 1.56581687e-02 -3.77463041e-04 9.99877332e-01 7.07088239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.88925415399996 meters Centerline goodness : 0.998855 Centerline is valid? [True, True] Translation: X:458.90, Y:4.92, Z:7.07 [[ 9.99108598e-01 -3.92014594e-02 -1.56605975e-02 4.58903781e+02] [ 3.92022331e-02 9.99231264e-01 -2.57698402e-04 4.92097621e+00] [ 1.56586608e-02 -3.56461706e-04 9.99877332e-01 7.07039209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.91925415399993 meters Centerline goodness : 0.998940 Centerline is valid? [True, True] Translation: X:458.94, Y:4.91, Z:7.06 [[ 9.99466586e-01 -2.86581455e-02 -1.56606114e-02 4.58944911e+02] [ 2.86576382e-02 9.99589253e-01 -2.56855008e-04 4.91149458e+00] [ 1.56615398e-02 -1.92078137e-04 9.99877332e-01 7.06400083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.94925415399996 meters Centerline goodness : 0.999024 Centerline is valid? [True, True] Translation: X:458.96, Y:4.92, Z:7.07 [[ 9.99146188e-01 -3.82280047e-02 -1.56688888e-02 4.58962620e+02] [ 3.82370384e-02 9.99268659e-01 2.77251177e-04 4.92422556e+00] [ 1.56468307e-02 -8.76146358e-04 9.99877197e-01 7.07232718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.97925415399993 meters Centerline goodness : 0.999001 Centerline is valid? [True, True] Translation: X:458.99, Y:4.93, Z:7.07 [[ 9.99141530e-01 -3.83532248e-02 -1.56599464e-02 4.58994925e+02] [ 3.83538504e-02 9.99264186e-01 -2.60485149e-04 4.92587526e+00] [ 1.56584141e-02 -3.40357712e-04 9.99877342e-01 7.07263214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.00925415399996 meters Centerline goodness : 0.999024 Centerline is valid? [True, True] Translation: X:459.03, Y:4.93, Z:7.07 [[ 9.99132213e-01 -3.85951734e-02 -1.56599654e-02 4.59025650e+02] [ 3.85958467e-02 9.99254869e-01 -2.59339235e-04 4.92699769e+00] [ 1.56583059e-02 -3.45295439e-04 9.99877342e-01 7.07230740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.03925415399993 meters Centerline goodness : 0.999002 Centerline is valid? [True, True] Translation: X:459.06, Y:4.93, Z:7.07 [[ 9.99092213e-01 -3.96171080e-02 -1.56599795e-02 4.59058258e+02] [ 3.96179202e-02 9.99214869e-01 -2.58484974e-04 4.92824472e+00] [ 1.56579248e-02 -3.62165493e-04 9.99877342e-01 7.07262921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.06925415399996 meters Centerline goodness : 0.998852 Centerline is valid? [True, True] Translation: X:459.09, Y:4.93, Z:7.07 [[ 9.99063629e-01 -4.03315023e-02 -1.56599985e-02 4.59090558e+02] [ 4.03324203e-02 9.99186284e-01 -2.57326734e-04 4.92951358e+00] [ 1.56576341e-02 -3.74519862e-04 9.99877342e-01 7.07250792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.09925415399994 meters Centerline goodness : 0.998959 Centerline is valid? [True, True] Translation: X:459.12, Y:4.93, Z:7.07 [[ 9.99007215e-01 -4.17054893e-02 -1.56600175e-02 4.59121477e+02] [ 4.17065942e-02 9.99129869e-01 -2.56168493e-04 4.93177688e+00] [ 1.56570748e-02 -3.97211820e-04 9.99877342e-01 7.07143332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.12925415399997 meters Centerline goodness : 0.998788 Centerline is valid? [True, True] Translation: X:459.15, Y:4.93, Z:7.07 [[ 9.98969867e-01 -4.25907085e-02 -1.56600315e-02 4.59154131e+02] [ 4.25919355e-02 9.99092519e-01 -2.55305841e-04 4.93292127e+00] [ 1.56566940e-02 -4.11948210e-04 9.99877342e-01 7.07132288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.15925415399994 meters Centerline goodness : 0.998894 Centerline is valid? [True, True] Translation: X:459.19, Y:4.93, Z:7.07 [[ 9.98936074e-01 -4.33760664e-02 -1.56600502e-02 4.59186528e+02] [ 4.33774079e-02 9.99058725e-01 -2.54158318e-04 4.93431504e+00] [ 1.56563341e-02 -4.25404471e-04 9.99877342e-01 7.07190902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.18925415399997 meters Centerline goodness : 0.996803 Centerline is valid? [True, True] Translation: X:459.22, Y:4.94, Z:7.07 [[ 9.98894611e-01 -4.43206418e-02 -1.56600688e-02 4.59218318e+02] [ 4.43221173e-02 9.99017260e-01 -2.53006580e-04 4.93605219e+00] [ 1.56558924e-02 -4.41360495e-04 9.99877342e-01 7.06847179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.21925415399994 meters Centerline goodness : 0.999147 Centerline is valid? [True, True] Translation: X:459.25, Y:4.94, Z:7.07 [[ 9.98800838e-01 -4.63858523e-02 -1.56600957e-02 4.59250532e+02] [ 4.63876077e-02 9.98923484e-01 -2.51325994e-04 4.93831844e+00] [ 1.56548954e-02 -4.75409764e-04 9.99877342e-01 7.07327265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.2492541539999 meters Centerline goodness : 0.998935 Centerline is valid? [True, True] Translation: X:459.29, Y:4.93, Z:7.07 [[ 9.99130551e-01 -3.86380926e-02 -1.56601173e-02 4.59290655e+02] [ 3.86389178e-02 9.99253207e-01 -2.49977240e-04 4.92988527e+00] [ 1.56580810e-02 -3.55330086e-04 9.99877342e-01 7.06736037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.27925415399994 meters Centerline goodness : 0.999000 Centerline is valid? [True, True] Translation: X:459.31, Y:4.94, Z:7.07 [[ 9.98706275e-01 -4.83765593e-02 -1.56679347e-02 4.59309533e+02] [ 4.83866375e-02 9.98828646e-01 2.64576646e-04 4.94075713e+00] [ 1.56367827e-02 -1.02235304e-03 9.99877215e-01 7.07492334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.3092541539999 meters Centerline goodness : 0.999001 Centerline is valid? [True, True] Translation: X:459.34, Y:4.94, Z:7.08 [[ 9.98686344e-01 -4.87890064e-02 -1.56594491e-02 4.59341722e+02] [ 4.87909905e-02 9.98808978e-01 -2.55543387e-04 4.94381748e+00] [ 1.56532661e-02 -5.08832341e-04 9.99877351e-01 7.07652718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.33925415399995 meters Centerline goodness : 0.998957 Centerline is valid? [True, True] Translation: X:459.38, Y:4.94, Z:7.07 [[ 9.99020922e-01 -4.13760643e-02 -1.56594676e-02 4.59380657e+02] [ 4.13771560e-02 9.99143566e-01 -2.54407646e-04 4.93597118e+00] [ 1.56565827e-02 -3.93785671e-04 9.99877351e-01 7.07068733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.3692541539999 meters Centerline goodness : 0.998808 Centerline is valid? [True, True] Translation: X:459.40, Y:4.95, Z:7.08 [[ 9.98683647e-01 -4.88419672e-02 -1.56663652e-02 4.59400594e+02] [ 4.88508419e-02 9.98806068e-01 1.84070500e-04 4.94810188e+00] [ 1.56386702e-02 -9.49143327e-04 9.99877258e-01 7.07840543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.39925415399995 meters Centerline goodness : 0.998913 Centerline is valid? [True, True] Translation: X:459.43, Y:4.95, Z:7.08 [[ 9.98702954e-01 -4.84479620e-02 -1.56590298e-02 4.59432495e+02] [ 4.84498469e-02 9.98825583e-01 -2.59191788e-04 4.94981431e+00] [ 1.56531968e-02 -4.99821990e-04 9.99877356e-01 7.07963732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.4292541539999 meters Centerline goodness : 0.998914 Centerline is valid? [True, True] Translation: X:459.46, Y:4.95, Z:7.08 [[ 9.98738645e-01 -4.77065338e-02 -1.56590481e-02 4.59464946e+02] [ 4.77083452e-02 9.98861275e-01 -2.58077095e-04 4.95072306e+00] [ 1.56535287e-02 -4.89315704e-04 9.99877356e-01 7.07954235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.45925415399995 meters Centerline goodness : 0.998914 Centerline is valid? [True, True] Translation: X:459.50, Y:4.95, Z:7.08 [[ 9.98742014e-01 -4.76359389e-02 -1.56590663e-02 4.59497631e+02] [ 4.76377589e-02 9.98864644e-01 -2.56970962e-04 4.95119623e+00] [ 1.56535287e-02 -4.89315127e-04 9.99877356e-01 7.08005400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.4892541539999 meters Centerline goodness : 0.999084 Centerline is valid? [True, True] Translation: X:459.53, Y:4.95, Z:7.08 [[ 9.98701358e-01 -4.84808214e-02 -1.56590844e-02 4.59530142e+02] [ 4.84827624e-02 9.98823987e-01 -2.55864252e-04 4.95308850e+00] [ 1.56530736e-02 -5.03663691e-04 9.99877356e-01 7.08121795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.51925415399995 meters Centerline goodness : 0.999127 Centerline is valid? [True, True] Translation: X:459.56, Y:4.95, Z:7.08 [[ 9.98682100e-01 -4.88759308e-02 -1.56591022e-02 4.59563344e+02] [ 4.88779376e-02 9.98804727e-01 -2.54765075e-04 4.95398584e+00] [ 1.56528372e-02 -5.10955302e-04 9.99877356e-01 7.08242351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.5492541539999 meters Centerline goodness : 0.998979 Centerline is valid? [True, True] Translation: X:459.60, Y:4.96, Z:7.08 [[ 9.98628823e-01 -4.99526317e-02 -1.56591303e-02 4.59595603e+02] [ 4.99547979e-02 9.98751448e-01 -2.53026752e-04 4.95582817e+00] [ 1.56522184e-02 -5.29568883e-04 9.99877356e-01 7.08270091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.57925415399995 meters Centerline goodness : 0.999169 Centerline is valid? [True, True] Translation: X:459.63, Y:4.96, Z:7.08 [[ 9.98618724e-01 -5.01541209e-02 -1.56591534e-02 4.59627656e+02] [ 5.01563344e-02 9.98741347e-01 -2.51589721e-04 4.95709144e+00] [ 1.56520622e-02 -5.34163528e-04 9.99877356e-01 7.08364453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.6092541539999 meters Centerline goodness : 0.999062 Centerline is valid? [True, True] Translation: X:459.66, Y:4.96, Z:7.08 [[ 9.98600712e-01 -5.05114745e-02 -1.56591716e-02 4.59660903e+02] [ 5.05137497e-02 9.98723334e-01 -2.50452301e-04 4.95857593e+00] [ 1.56518308e-02 -5.40901629e-04 9.99877356e-01 7.08445538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.63925415399996 meters Centerline goodness : 0.998827 Centerline is valid? [True, True] Translation: X:459.70, Y:4.95, Z:7.08 [[ 9.99041372e-01 -4.08794154e-02 -1.56591994e-02 4.59703943e+02] [ 4.08805353e-02 9.99164011e-01 -2.48704844e-04 4.94895966e+00] [ 1.56562753e-02 -3.91690024e-04 9.99877356e-01 7.07654857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.66925415399993 meters Centerline goodness : 0.999191 Centerline is valid? [True, True] Translation: X:459.72, Y:4.96, Z:7.08 [[ 9.98534227e-01 -5.18062940e-02 -1.56685965e-02 4.59719261e+02] [ 5.18185449e-02 9.98656446e-01 3.76628790e-04 4.96190894e+00] [ 1.56280332e-02 -1.18800061e-03 9.99877169e-01 7.08353665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.69925415399996 meters Centerline goodness : 0.999168 Centerline is valid? [True, True] Translation: X:459.75, Y:4.96, Z:7.08 [[ 9.98521709e-01 -5.20501282e-02 -1.56582756e-02 4.59750165e+02] [ 5.20525102e-02 9.98644316e-01 -2.55666271e-04 4.96341283e+00] [ 1.56503554e-02 -5.59764231e-04 9.99877369e-01 7.08297935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.72925415399993 meters Centerline goodness : 0.999150 Centerline is valid? [True, True] Translation: X:459.78, Y:4.96, Z:7.08 [[ 9.98499222e-01 -5.24797239e-02 -1.56582896e-02 4.59783543e+02] [ 5.24821721e-02 9.98621829e-01 -2.54807232e-04 4.96474555e+00] [ 1.56500820e-02 -5.67356227e-04 9.99877369e-01 7.08403482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.75925415399996 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:459.82, Y:4.97, Z:7.08 [[ 9.98442860e-01 -5.35413179e-02 -1.56583176e-02 4.59815221e+02] [ 5.35439235e-02 9.98565463e-01 -2.53077823e-04 4.96646710e+00] [ 1.56494053e-02 -5.85724014e-04 9.99877369e-01 7.08318145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.78925415399993 meters Centerline goodness : 0.999147 Centerline is valid? [True, True] Translation: X:459.85, Y:4.97, Z:7.08 [[ 9.98307712e-01 -5.60047112e-02 -1.56583618e-02 4.59848183e+02] [ 5.60076627e-02 9.98430308e-01 -2.50308168e-04 4.96838339e+00] [ 1.56478015e-02 -6.27103674e-04 9.99877369e-01 7.08482340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.81925415399996 meters Centerline goodness : 0.999211 Centerline is valid? [True, True] Translation: X:459.88, Y:4.97, Z:7.09 [[ 9.98249057e-01 -5.70406383e-02 -1.56583894e-02 4.59880332e+02] [ 5.70437442e-02 9.98371649e-01 -2.48570676e-04 4.96918312e+00] [ 1.56470707e-02 -6.45077718e-04 9.99877369e-01 7.08532127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.84925415399994 meters Centerline goodness : 0.999147 Centerline is valid? [True, True] Translation: X:459.91, Y:4.97, Z:7.09 [[ 9.98172298e-01 -5.83684538e-02 -1.56584343e-02 4.59911279e+02] [ 5.83717676e-02 9.98294884e-01 -2.45710645e-04 4.97013118e+00] [ 1.56460766e-02 -6.68748929e-04 9.99877369e-01 7.08611091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.87925415399997 meters Centerline goodness : 0.998847 Centerline is valid? [True, True] Translation: X:459.94, Y:4.97, Z:7.09 [[ 9.98102478e-01 -5.95504598e-02 -1.56584476e-02 4.59942505e+02] [ 5.95539320e-02 9.98225059e-01 -2.44859555e-04 4.97206186e+00] [ 1.56452363e-02 -6.88127196e-04 9.99877369e-01 7.08693493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.90925415399994 meters Centerline goodness : 0.999401 Centerline is valid? [True, True] Translation: X:459.98, Y:4.97, Z:7.09 [[ 9.98016225e-01 -6.09791582e-02 -1.56574912e-02 4.59976530e+02] [ 6.09818323e-02 9.98138829e-01 -3.07037781e-04 4.97359368e+00] [ 1.56470729e-02 -6.48393819e-04 9.99877367e-01 7.08903017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.93925415399997 meters Centerline goodness : 0.999402 Centerline is valid? [True, True] Translation: X:460.01, Y:4.98, Z:7.09 [[ 9.97963468e-01 -6.18362811e-02 -1.56585467e-02 4.60008738e+02] [ 6.18401504e-02 9.98086038e-01 -2.37430266e-04 4.97612041e+00] [ 1.56432587e-02 -7.31380155e-04 9.99877369e-01 7.09005935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.96925415399994 meters Centerline goodness : 0.999382 Centerline is valid? [True, True] Translation: X:460.04, Y:4.98, Z:7.09 [[ 9.97957968e-01 -6.19249751e-02 -1.56585685e-02 4.60041438e+02] [ 6.19288779e-02 9.98080537e-01 -2.35987396e-04 4.97757097e+00] [ 1.56431260e-02 -7.34212073e-04 9.99877369e-01 7.09091223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.9992541539999 meters Centerline goodness : 0.999382 Centerline is valid? [True, True] Translation: X:460.07, Y:4.98, Z:7.09 [[ 9.97941920e-01 -6.21830663e-02 -1.56585939e-02 4.60074648e+02] [ 6.21870274e-02 9.98064486e-01 -2.34289001e-04 4.97891976e+00] [ 1.56428553e-02 -7.39954593e-04 9.99877369e-01 7.09217610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.02925415399994 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:460.11, Y:4.98, Z:7.09 [[ 9.97914567e-01 -6.26204870e-02 -1.56586198e-02 4.60106218e+02] [ 6.26245291e-02 9.98037131e-01 -2.32543333e-04 4.97982156e+00] [ 1.56424460e-02 -7.48555313e-04 9.99877369e-01 7.09260221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.0592541539999 meters Centerline goodness : 0.999401 Centerline is valid? [True, True] Translation: X:460.14, Y:4.98, Z:7.09 [[ 9.97832070e-01 -6.39215737e-02 -1.56586411e-02 4.60138789e+02] [ 6.39257982e-02 9.97954628e-01 -2.31103717e-04 4.98051209e+00] [ 1.56413858e-02 -7.70388428e-04 9.99877369e-01 7.09352148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.08925415399995 meters Centerline goodness : 0.999550 Centerline is valid? [True, True] Translation: X:460.17, Y:4.98, Z:7.09 [[ 9.97809365e-01 -6.42750146e-02 -1.56586656e-02 4.60172088e+02] [ 6.42793087e-02 9.97931920e-01 -2.29429144e-04 4.98091567e+00] [ 1.56410288e-02 -7.77601651e-04 9.99877369e-01 7.09444672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.1192541539999 meters Centerline goodness : 0.999422 Centerline is valid? [True, True] Translation: X:460.20, Y:4.98, Z:7.09 [[ 9.97772710e-01 -6.48415395e-02 -1.56586899e-02 4.60204007e+02] [ 6.48459294e-02 9.97895262e-01 -2.27757730e-04 4.98148949e+00] [ 1.56405006e-02 -7.88151853e-04 9.99877369e-01 7.09429155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.14925415399995 meters Centerline goodness : 0.999378 Centerline is valid? [True, True] Translation: X:460.24, Y:4.98, Z:7.09 [[ 9.97762176e-01 -6.50034284e-02 -1.56587099e-02 4.60235765e+02] [ 6.50078598e-02 9.97884726e-01 -2.26373312e-04 4.98211178e+00] [ 1.56403025e-02 -7.92072492e-04 9.99877369e-01 7.09285419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.1792541539999 meters Centerline goodness : 0.999443 Centerline is valid? [True, True] Translation: X:460.27, Y:4.98, Z:7.09 [[ 9.97814566e-01 -6.41942045e-02 -1.56587256e-02 4.60267578e+02] [ 6.41985536e-02 9.97937120e-01 -2.25286266e-04 4.98288993e+00] [ 1.56408856e-02 -7.80473614e-04 9.99877369e-01 7.09270944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.20925415399995 meters Centerline goodness : 0.999377 Centerline is valid? [True, True] Translation: X:460.30, Y:4.98, Z:7.09 [[ 9.97890828e-01 -6.29976051e-02 -1.56587413e-02 4.60299035e+02] [ 6.30018244e-02 9.98013387e-01 -2.24186093e-04 4.98404605e+00] [ 1.56417566e-02 -7.62816025e-04 9.99877369e-01 7.09196762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.2392541539999 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:460.33, Y:4.99, Z:7.09 [[ 9.98176337e-01 -5.82992558e-02 -1.56587530e-02 4.60331225e+02] [ 5.83029109e-02 9.98298914e-01 -2.23367072e-04 4.98609744e+00] [ 1.56451382e-02 -6.89991155e-04 9.99877369e-01 7.09227871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.26925415399995 meters Centerline goodness : 0.999441 Centerline is valid? [True, True] Translation: X:460.36, Y:4.99, Z:7.09 [[ 9.98364328e-01 -5.49861095e-02 -1.56587689e-02 4.60363913e+02] [ 5.49893754e-02 9.98486915e-01 -2.22246775e-04 4.98771009e+00] [ 1.56472963e-02 -6.39182668e-04 9.99877369e-01 7.09303634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.2992541539999 meters Centerline goodness : 0.999483 Centerline is valid? [True, True] Translation: X:460.40, Y:4.99, Z:7.10 [[ 9.98794572e-01 -4.65210186e-02 -1.56587926e-02 4.60395733e+02] [ 4.65232715e-02 9.98917182e-01 -2.20563019e-04 4.99121347e+00] [ 1.56520978e-02 -5.08201114e-04 9.99877369e-01 7.09593869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.32925415399995 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:460.43, Y:4.99, Z:7.10 [[ 9.99008504e-01 -4.16750505e-02 -1.56588086e-02 4.60427857e+02] [ 4.16767265e-02 9.99131124e-01 -2.19419768e-04 4.99346437e+00] [ 1.56543474e-02 -4.33405671e-04 9.99877369e-01 7.09768585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.3592541539999 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:460.46, Y:5.00, Z:7.10 [[ 9.99213891e-01 -3.64197924e-02 -1.56588248e-02 4.60459149e+02] [ 3.64208415e-02 9.99336517e-01 -2.18259343e-04 4.99537976e+00] [ 1.56563844e-02 -3.52219810e-04 9.99877369e-01 7.09847311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.38925415399996 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:460.49, Y:5.00, Z:7.10 [[ 9.99522208e-01 -2.66487812e-02 -1.56588368e-02 4.60491273e+02] [ 2.66486449e-02 9.99644838e-01 -2.17395075e-04 4.99848000e+00] [ 1.56590687e-02 -1.99995578e-04 9.99877369e-01 7.09984680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.41925415399993 meters Centerline goodness : 0.999371 Centerline is valid? [True, True] Translation: X:460.52, Y:5.00, Z:7.10 [[ 9.99621937e-01 -2.26005399e-02 -1.56588523e-02 4.60522411e+02] [ 2.25999246e-02 9.99744566e-01 -2.16272174e-04 4.99981730e+00] [ 1.56597404e-02 -1.37698472e-04 9.99877369e-01 7.10039124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.44925415399996 meters Centerline goodness : 0.999523 Centerline is valid? [True, True] Translation: X:460.55, Y:5.00, Z:7.10 [[ 9.99696794e-01 -1.90031867e-02 -1.56588602e-02 4.60552484e+02] [ 1.90021391e-02 9.99819420e-01 -2.15702256e-04 5.00077194e+00] [ 1.56601315e-02 -8.19149851e-05 9.99877369e-01 7.10048928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.47925415399993 meters Centerline goodness : 0.999523 Centerline is valid? [True, True] Translation: X:460.58, Y:5.00, Z:7.10 [[ 9.99764720e-01 -1.50101691e-02 -1.56588602e-02 4.60582346e+02] [ 1.50086316e-02 9.99887341e-01 -2.15702256e-04 5.00192659e+00] [ 1.56603338e-02 -1.93665582e-05 9.99877369e-01 7.10001521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.50925415399996 meters Centerline goodness : 0.999347 Centerline is valid? [True, True] Translation: X:460.61, Y:5.00, Z:7.10 [[ 9.99777477e-01 -1.41349819e-02 -1.56588523e-02 4.60610645e+02] [ 1.41333281e-02 9.99900096e-01 -2.16272871e-04 5.00242153e+00] [ 1.56603449e-02 -5.08695259e-06 9.99877369e-01 7.09608599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.53925415399993 meters Centerline goodness : 0.999501 Centerline is valid? [True, True] Translation: X:460.64, Y:5.00, Z:7.10 [[ 9.99768347e-01 -1.47675042e-02 -1.56579823e-02 4.60640736e+02] [ 1.47649569e-02 9.99890953e-01 -2.78277561e-04 4.99966062e+00] [ 1.56603844e-02 4.70236627e-05 9.99877368e-01 7.09534582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.56925415399996 meters Centerline goodness : 0.999544 Centerline is valid? [True, True] Translation: X:460.67, Y:5.00, Z:7.10 [[ 9.99682592e-01 -1.97355151e-02 -1.56596353e-02 4.60667938e+02] [ 1.97353955e-02 9.99805225e-01 -1.62188205e-04 5.00107988e+00] [ 1.56597861e-02 -1.46912371e-04 9.99877367e-01 7.09906365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.59925415399994 meters Centerline goodness : 0.999350 Centerline is valid? [True, True] Translation: X:460.70, Y:5.00, Z:7.10 [[ 9.99614594e-01 -2.29230950e-02 -1.56587286e-02 4.60697176e+02] [ 2.29223789e-02 9.99737222e-01 -2.25230849e-04 5.00045528e+00] [ 1.56597768e-02 -1.33791265e-04 9.99877369e-01 7.09915320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.62925415399997 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:460.73, Y:5.00, Z:7.10 [[ 9.99547346e-01 -2.56886564e-02 -1.56587204e-02 4.60726893e+02] [ 2.56882707e-02 9.99669976e-01 -2.25798601e-04 4.99955594e+00] [ 1.56593531e-02 -1.76549056e-04 9.99877369e-01 7.09848272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.65925415399994 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:460.76, Y:5.00, Z:7.10 [[ 9.99258759e-01 -3.51678221e-02 -1.56575126e-02 4.60757507e+02] [ 3.51672947e-02 9.99381392e-01 -3.09096656e-04 4.99681912e+00] [ 1.56586970e-02 -2.41764821e-04 9.99877366e-01 7.09954401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.68925415399997 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:460.79, Y:5.00, Z:7.10 [[ 9.99091290e-01 -3.96408860e-02 -1.56586944e-02 4.60788855e+02] [ 3.96421795e-02 9.99213914e-01 -2.27902832e-04 4.99558105e+00] [ 1.56554196e-02 -3.93049040e-04 9.99877369e-01 7.09949155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.71925415399994 meters Centerline goodness : 0.999441 Centerline is valid? [True, True] Translation: X:460.82, Y:4.99, Z:7.10 [[ 9.98724528e-01 -4.80012667e-02 -1.56587068e-02 4.60820014e+02] [ 4.80035997e-02 9.98847137e-01 -2.27047355e-04 4.99347785e+00] [ 1.56515530e-02 -5.24916532e-04 9.99877369e-01 7.09960230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.7492541539999 meters Centerline goodness : 0.999356 Centerline is valid? [True, True] Translation: X:460.85, Y:4.99, Z:7.10 [[ 9.98539775e-01 -5.17022484e-02 -1.56587189e-02 4.60852843e+02] [ 5.17050490e-02 9.98662374e-01 -2.26210504e-04 4.99296353e+00] [ 1.56494690e-02 -5.83754642e-04 9.99877369e-01 7.10077569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.77925415399994 meters Centerline goodness : 0.999442 Centerline is valid? [True, True] Translation: X:460.88, Y:4.99, Z:7.10 [[ 9.98369826e-01 -5.48862005e-02 -1.56587430e-02 4.60884938e+02] [ 5.48894183e-02 9.98492414e-01 -2.24529949e-04 4.99260971e+00] [ 1.56474597e-02 -6.35335368e-04 9.99877369e-01 7.10123573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.8092541539999 meters Centerline goodness : 0.999336 Centerline is valid? [True, True] Translation: X:460.92, Y:4.99, Z:7.10 [[ 9.98035480e-01 -6.06628668e-02 -1.56587810e-02 4.60916826e+02] [ 6.06668359e-02 9.98158047e-01 -2.21848130e-04 4.99155485e+00] [ 1.56433962e-02 -7.28556393e-04 9.99877369e-01 7.10252766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.83925415399995 meters Centerline goodness : 0.999379 Centerline is valid? [True, True] Translation: X:460.95, Y:4.99, Z:7.10 [[ 9.97895575e-01 -6.29223603e-02 -1.56587969e-02 4.60949439e+02] [ 6.29266246e-02 9.98018132e-01 -2.20718694e-04 4.99108231e+00] [ 1.56416514e-02 -7.65101027e-04 9.99877369e-01 7.10311439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.8692541539999 meters Centerline goodness : 0.999336 Centerline is valid? [True, True] Translation: X:460.98, Y:4.99, Z:7.10 [[ 9.97670433e-01 -6.63965992e-02 -1.56588208e-02 4.60981527e+02] [ 6.64013170e-02 9.97792973e-01 -2.19012288e-04 4.99074023e+00] [ 1.56388030e-02 -8.21264238e-04 9.99877369e-01 7.10355438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.89925415399995 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:461.01, Y:4.99, Z:7.10 [[ 9.97597431e-01 -6.74845714e-02 -1.56588405e-02 4.61014632e+02] [ 6.74894450e-02 9.97719964e-01 -2.17596515e-04 4.99137949e+00] [ 1.56378221e-02 -8.39732727e-04 9.99877369e-01 7.10466082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.9292541539999 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:461.05, Y:4.99, Z:7.10 [[ 9.97557066e-01 -6.80786280e-02 -1.56588649e-02 4.61046286e+02] [ 6.80836023e-02 9.97679596e-01 -2.15822917e-04 4.99194199e+00] [ 1.56372229e-02 -8.50816255e-04 9.99877369e-01 7.10448784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.95925415399995 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:461.08, Y:4.99, Z:7.11 [[ 9.97565257e-01 -6.79585011e-02 -1.56588850e-02 4.61079461e+02] [ 6.79634835e-02 9.97687786e-01 -2.14356504e-04 4.99380613e+00] [ 1.56372456e-02 -8.50397770e-04 9.99877369e-01 7.10565516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.9892541539999 meters Centerline goodness : 0.999379 Centerline is valid? [True, True] Translation: X:461.11, Y:4.99, Z:7.11 [[ 9.97592094e-01 -6.75633976e-02 -1.56589088e-02 4.61110568e+02] [ 6.75683591e-02 9.97714624e-01 -2.12600837e-04 4.99481448e+00] [ 1.56374864e-02 -8.45957859e-04 9.99877369e-01 7.10572815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.01925415399995 meters Centerline goodness : 0.999251 Centerline is valid? [True, True] Translation: X:461.14, Y:5.00, Z:7.10 [[ 9.97669613e-01 -6.64088941e-02 -1.56589205e-02 4.61142217e+02] [ 6.64137273e-02 9.97792149e-01 -2.11732529e-04 4.99612490e+00] [ 1.56384089e-02 -8.28728169e-04 9.99877369e-01 7.10462387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.0492541539999 meters Centerline goodness : 0.999421 Centerline is valid? [True, True] Translation: X:461.17, Y:5.00, Z:7.10 [[ 9.97722622e-01 -6.56076804e-02 -1.56589397e-02 4.61174051e+02] [ 6.56124376e-02 9.97845160e-01 -2.10303705e-04 4.99685685e+00] [ 1.56389948e-02 -8.17596442e-04 9.99877369e-01 7.10492877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.07925415399995 meters Centerline goodness : 0.999463 Centerline is valid? [True, True] Translation: X:461.21, Y:5.00, Z:7.11 [[ 9.97753653e-01 -6.51340546e-02 -1.56589550e-02 4.61207538e+02] [ 6.51387714e-02 9.97876193e-01 -2.09162161e-04 4.99791378e+00] [ 1.56393220e-02 -8.11312780e-04 9.99877369e-01 7.10509560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.1092541539999 meters Centerline goodness : 0.999380 Centerline is valid? [True, True] Translation: X:461.24, Y:5.00, Z:7.10 [[ 9.97799987e-01 -6.44203498e-02 -1.56589780e-02 4.61240033e+02] [ 6.44250061e-02 9.97922530e-01 -2.07427055e-04 4.99911747e+00] [ 1.56398094e-02 -8.01859039e-04 9.99877369e-01 7.10480168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.13925415399996 meters Centerline goodness : 0.999592 Centerline is valid? [True, True] Translation: X:461.27, Y:5.00, Z:7.10 [[ 9.97852550e-01 -6.36009668e-02 -1.56590153e-02 4.61272025e+02] [ 6.36055673e-02 9.97975095e-01 -2.04566917e-04 5.00177068e+00] [ 1.56403180e-02 -7.91872935e-04 9.99877369e-01 7.10474907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.16925415399993 meters Centerline goodness : 0.999440 Centerline is valid? [True, True] Translation: X:461.30, Y:5.00, Z:7.10 [[ 9.97875056e-01 -6.32468838e-02 -1.56590299e-02 4.61304893e+02] [ 6.32514584e-02 9.97997601e-01 -2.03445190e-04 5.00344361e+00] [ 1.56405416e-02 -7.87443598e-04 9.99877369e-01 7.10454706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.19925415399996 meters Centerline goodness : 0.999397 Centerline is valid? [True, True] Translation: X:461.34, Y:5.01, Z:7.10 [[ 9.97936290e-01 -6.22732351e-02 -1.56590518e-02 4.61336534e+02] [ 6.22777167e-02 9.98058839e-01 -2.01744397e-04 5.00627448e+00] [ 1.56412184e-02 -7.73881938e-04 9.99877369e-01 7.10363847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.22925415399993 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:461.37, Y:5.01, Z:7.10 [[ 9.97964927e-01 -6.18125990e-02 -1.56590877e-02 4.61367557e+02] [ 6.18170682e-02 9.98087476e-01 -1.98923603e-04 5.00770485e+00] [ 1.56414353e-02 -7.69480110e-04 9.99877369e-01 7.10406158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.25925415399996 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:461.40, Y:5.01, Z:7.11 [[ 9.97984691e-01 -6.14926734e-02 -1.56590982e-02 4.61400728e+02] [ 6.14971164e-02 9.98107241e-01 -1.98086824e-04 5.00976424e+00] [ 1.56416402e-02 -7.65301770e-04 9.99877369e-01 7.10509011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.28925415399993 meters Centerline goodness : 0.999589 Centerline is valid? [True, True] Translation: X:461.43, Y:5.01, Z:7.11 [[ 9.98050314e-01 -6.04182363e-02 -1.56591191e-02 4.61434215e+02] [ 6.04225735e-02 9.98172868e-01 -1.96421961e-04 5.01314162e+00] [ 1.56423753e-02 -7.50125276e-04 9.99877369e-01 7.10600066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.31925415399996 meters Centerline goodness : 0.999524 Centerline is valid? [True, True] Translation: X:461.47, Y:5.01, Z:7.11 [[ 9.98107506e-01 -5.94659344e-02 -1.56591401e-02 4.61466150e+02] [ 5.94701810e-02 9.98230064e-01 -1.94731933e-04 5.01471413e+00] [ 1.56430044e-02 -7.36888496e-04 9.99877369e-01 7.10673964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.34925415399994 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:461.50, Y:5.02, Z:7.11 [[ 9.98141839e-01 -5.88868349e-02 -1.56591574e-02 4.61498893e+02] [ 5.88910323e-02 9.98264398e-01 -1.93336192e-04 5.01660703e+00] [ 1.56433643e-02 -7.29207000e-04 9.99877369e-01 7.10782795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.37925415399997 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:461.53, Y:5.02, Z:7.11 [[ 9.98148120e-01 -5.87802673e-02 -1.56591778e-02 4.61532431e+02] [ 5.87844778e-02 9.98270679e-01 -1.91664535e-04 5.01692251e+00] [ 1.56433642e-02 -7.29206996e-04 9.99877369e-01 7.10835266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.40925415399994 meters Centerline goodness : 0.998916 Centerline is valid? [True, True] Translation: X:461.56, Y:5.02, Z:7.11 [[ 9.98233778e-01 -5.73071914e-02 -1.56591981e-02 4.61563365e+02] [ 5.73112472e-02 9.98356342e-01 -1.89992876e-04 5.01875158e+00] [ 1.56443477e-02 -7.07790868e-04 9.99877369e-01 7.10818433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.43925415399997 meters Centerline goodness : 0.999545 Centerline is valid? [True, True] Translation: X:461.60, Y:5.02, Z:7.11 [[ 9.98342571e-01 -5.53797577e-02 -1.56586481e-02 4.61596589e+02] [ 5.53828608e-02 9.98465164e-01 -2.35726716e-04 5.02204776e+00] [ 1.56476692e-02 -6.31884715e-04 9.99877368e-01 7.11174738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.46925415399994 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:461.63, Y:5.02, Z:7.11 [[ 9.98427609e-01 -5.38246897e-02 -1.56592536e-02 4.61629000e+02] [ 5.38284075e-02 9.98550183e-01 -1.84275838e-04 5.02361097e+00] [ 1.56464692e-02 -6.58926600e-04 9.99877369e-01 7.11294076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.4992541539999 meters Centerline goodness : 0.999545 Centerline is valid? [True, True] Translation: X:461.66, Y:5.03, Z:7.11 [[ 9.98646597e-01 -4.95959889e-02 -1.56592668e-02 4.61661536e+02] [ 4.95992052e-02 9.98769185e-01 -1.83149472e-04 5.02587679e+00] [ 1.56490766e-02 -5.93785590e-04 9.99877369e-01 7.11388299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.52925415399994 meters Centerline goodness : 0.999522 Centerline is valid? [True, True] Translation: X:461.69, Y:5.03, Z:7.11 [[ 9.98766356e-01 -4.71227393e-02 -1.56592866e-02 4.61694612e+02] [ 4.71256786e-02 9.98888952e-01 -1.81444858e-04 5.02724375e+00] [ 1.56504385e-02 -5.56733486e-04 9.99877369e-01 7.11483912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.5592541539999 meters Centerline goodness : 0.999477 Centerline is valid? [True, True] Translation: X:461.73, Y:5.03, Z:7.11 [[ 9.99016170e-01 -4.14906999e-02 -1.56593064e-02 4.61726174e+02] [ 4.14929751e-02 9.99138780e-01 -1.79711953e-04 5.02962393e+00] [ 1.56532767e-02 -4.70216066e-04 9.99877369e-01 7.11492827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.58925415399995 meters Centerline goodness : 0.999629 Centerline is valid? [True, True] Translation: X:461.76, Y:5.03, Z:7.12 [[ 9.99087714e-01 -3.97308097e-02 -1.56589599e-02 4.61758204e+02] [ 3.97323941e-02 9.99210335e-01 -2.10034428e-04 5.03124346e+00] [ 1.56549394e-02 -4.12325149e-04 9.99877369e-01 7.11732103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.6192541539999 meters Centerline goodness : 0.999628 Centerline is valid? [True, True] Translation: X:461.79, Y:5.03, Z:7.12 [[ 9.99172074e-01 -3.75493189e-02 -1.56593338e-02 4.61790067e+02] [ 3.75511538e-02 9.99294691e-01 -1.76948064e-04 5.03257832e+00] [ 1.56549334e-02 -4.11224486e-04 9.99877369e-01 7.11852981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.64925415399995 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:461.82, Y:5.03, Z:7.12 [[ 9.99296342e-01 -3.40823284e-02 -1.56593465e-02 4.61821687e+02] [ 3.40837554e-02 9.99418965e-01 -1.75816907e-04 5.03448110e+00] [ 1.56562401e-02 -3.58036143e-04 9.99877369e-01 7.12015029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.6792541539999 meters Centerline goodness : 0.999520 Centerline is valid? [True, True] Translation: X:461.85, Y:5.03, Z:7.12 [[ 9.99358115e-01 -3.22202059e-02 -1.56593559e-02 4.61852426e+02] [ 3.22214176e-02 9.99480740e-01 -1.74975442e-04 5.03482861e+00] [ 1.56568623e-02 -3.29703518e-04 9.99877369e-01 7.12009888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.70925415399995 meters Centerline goodness : 0.999365 Centerline is valid? [True, True] Translation: X:461.88, Y:5.03, Z:7.12 [[ 9.99439464e-01 -2.95895457e-02 -1.56593651e-02 4.61883041e+02] [ 2.95904476e-02 9.99562092e-01 -1.74149882e-04 5.03482156e+00] [ 1.56576607e-02 -2.89315356e-04 9.99877369e-01 7.12130842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.7392541539999 meters Centerline goodness : 0.999584 Centerline is valid? [True, True] Translation: X:461.92, Y:5.03, Z:7.12 [[ 9.99506728e-01 -2.72233684e-02 -1.56585396e-02 4.61915111e+02] [ 2.72228285e-02 9.99629359e-01 -2.47665296e-04 5.03481949e+00] [ 1.56594782e-02 -1.78726610e-04 9.99877367e-01 7.12211874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.76925415399995 meters Centerline goodness : 0.999585 Centerline is valid? [True, True] Translation: X:461.95, Y:5.04, Z:7.12 [[ 9.99546327e-01 -2.57278888e-02 -1.56593553e-02 4.61946866e+02] [ 2.57283122e-02 9.99668957e-01 -1.74446637e-04 5.03512819e+00] [ 1.56586596e-02 -2.28521288e-04 9.99877370e-01 7.12272535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.7992541539999 meters Centerline goodness : 0.999562 Centerline is valid? [True, True] Translation: X:461.98, Y:5.04, Z:7.12 [[ 9.99583962e-01 -2.42216095e-02 -1.56593616e-02 4.61978299e+02] [ 2.42218570e-02 9.99706593e-01 -1.73886345e-04 5.03522331e+00] [ 1.56589788e-02 -2.05484814e-04 9.99877370e-01 7.12348487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.82925415399995 meters Centerline goodness : 0.999583 Centerline is valid? [True, True] Translation: X:462.01, Y:5.03, Z:7.12 [[ 9.99631113e-01 -2.21905898e-02 -1.56593678e-02 4.62009092e+02] [ 2.21905969e-02 9.99753743e-01 -1.73325286e-04 5.03488245e+00] [ 1.56593577e-02 -1.74229369e-04 9.99877370e-01 7.12385545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.8592541539999 meters Centerline goodness : 0.999518 Centerline is valid? [True, True] Translation: X:462.04, Y:5.03, Z:7.12 [[ 9.99638107e-01 -2.18732384e-02 -1.56593708e-02 4.62039925e+02] [ 2.18732109e-02 9.99760738e-01 -1.73046823e-04 5.03449632e+00] [ 1.56594092e-02 -1.69536522e-04 9.99877370e-01 7.12432704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.88925415399996 meters Centerline goodness : 0.999474 Centerline is valid? [True, True] Translation: X:462.07, Y:5.03, Z:7.12 [[ 9.99698976e-01 -1.88876116e-02 -1.56593708e-02 4.62074384e+02] [ 1.88872178e-02 9.99821606e-01 -1.73046823e-04 5.03054328e+00] [ 1.56598457e-02 -1.22767217e-04 9.99877370e-01 7.12423238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.91925415399993 meters Centerline goodness : 0.999301 Centerline is valid? [True, True] Translation: X:462.10, Y:5.03, Z:7.12 [[ 9.99626011e-01 -2.24170757e-02 -1.56624404e-02 4.62098312e+02] [ 2.24214689e-02 9.99748602e-01 1.04926153e-04 5.03130248e+00] [ 1.56561507e-02 -4.56061831e-04 9.99877331e-01 7.12353002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.94925415399996 meters Centerline goodness : 0.999433 Centerline is valid? [True, True] Translation: X:462.13, Y:5.03, Z:7.12 [[ 9.99621378e-01 -2.26250490e-02 -1.56591241e-02 4.62128492e+02] [ 2.26249828e-02 9.99744006e-01 -1.81400194e-04 5.03030535e+00] [ 1.56592197e-02 -1.72955903e-04 9.99877372e-01 7.12412633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.97925415399993 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:462.16, Y:5.03, Z:7.13 [[ 9.99620789e-01 -2.26510416e-02 -1.56591273e-02 4.62158742e+02] [ 2.26509829e-02 9.99743417e-01 -1.81128990e-04 5.02896470e+00] [ 1.56592122e-02 -1.73634321e-04 9.99877372e-01 7.12514686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.00925415399996 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:462.19, Y:5.03, Z:7.13 [[ 9.99621018e-01 -2.26409222e-02 -1.56591273e-02 4.62188837e+02] [ 2.26408622e-02 9.99743646e-01 -1.81128990e-04 5.02766072e+00] [ 1.56592139e-02 -1.73475798e-04 9.99877372e-01 7.12635492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.03925415399993 meters Centerline goodness : 0.999173 Centerline is valid? [True, True] Translation: X:462.22, Y:5.02, Z:7.13 [[ 9.99625096e-01 -2.24601742e-02 -1.56591273e-02 4.62219000e+02] [ 2.24600921e-02 9.99747724e-01 -1.81128990e-04 5.02401728e+00] [ 1.56592450e-02 -1.70644357e-04 9.99877372e-01 7.12555842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.06925415399996 meters Centerline goodness : 0.999067 Centerline is valid? [True, True] Translation: X:462.26, Y:5.01, Z:7.12 [[ 9.99791320e-01 -1.31189757e-02 -1.56591306e-02 4.62263460e+02] [ 1.31177523e-02 9.99913942e-01 -1.80841550e-04 5.01027246e+00] [ 1.56601554e-02 -2.46087839e-05 9.99877372e-01 7.12094877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.09925415399994 meters Centerline goodness : 0.999372 Centerline is valid? [True, True] Translation: X:462.28, Y:5.02, Z:7.13 [[ 9.99536930e-01 -2.60862501e-02 -1.56662769e-02 4.62277656e+02] [ 2.60973290e-02 9.99659280e-01 5.03122618e-04 5.01785935e+00] [ 1.56478145e-02 -9.11737618e-04 9.99877150e-01 7.12682939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.12925415399997 meters Centerline goodness : 0.999222 Centerline is valid? [True, True] Translation: X:462.31, Y:5.02, Z:7.13 [[ 9.99494348e-01 -2.76744348e-02 -1.56580595e-02 4.62307673e+02] [ 2.76749060e-02 9.99616959e-01 -1.86628103e-04 5.01551682e+00] [ 1.56572266e-02 -2.46801590e-04 9.99877388e-01 7.12688205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.15925415399994 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:462.35, Y:5.00, Z:7.12 [[ 9.99704869e-01 -1.85741890e-02 -1.56580703e-02 4.62351934e+02] [ 1.85735583e-02 9.99827479e-01 -1.85714901e-04 5.00032908e+00] [ 1.56588185e-02 -1.05165990e-04 9.99877388e-01 7.12089169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.18925415399997 meters Centerline goodness : 0.999096 Centerline is valid? [True, True] Translation: X:462.37, Y:5.01, Z:7.13 [[ 9.99299094e-01 -3.39989021e-02 -1.56650803e-02 4.62367162e+02] [ 3.40106040e-02 9.99421356e-01 4.81130213e-04 5.00744958e+00] [ 1.56396579e-02 -1.01357183e-03 9.99877179e-01 7.12678759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.21925415399994 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:462.40, Y:5.01, Z:7.13 [[ 9.99215758e-01 -3.63693048e-02 -1.56570600e-02 4.62399750e+02] [ 3.63708240e-02 9.99338345e-01 -1.87805107e-04 5.00596979e+00] [ 1.56535307e-02 -3.81802350e-04 9.99877403e-01 7.12755697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.2492541539999 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:462.45, Y:4.99, Z:7.12 [[ 9.99539544e-01 -2.59914723e-02 -1.56570737e-02 4.62447458e+02] [ 2.59917364e-02 9.99662140e-01 -1.86656815e-04 4.98933166e+00] [ 1.56566353e-02 -2.20383664e-04 9.99877403e-01 7.12077160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.27925415399994 meters Centerline goodness : 0.999037 Centerline is valid? [True, True] Translation: X:462.46, Y:5.00, Z:7.13 [[ 9.98844967e-01 -4.54238244e-02 -1.56654932e-02 4.62459179e+02] [ 4.54390320e-02 9.98966924e-01 6.16022973e-04 4.99924367e+00] [ 1.56213275e-02 -1.32713629e-03 9.99877099e-01 7.12749822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.3092541539999 meters Centerline goodness : 0.998912 Centerline is valid? [True, True] Translation: X:462.50, Y:4.98, Z:7.12 [[ 9.99170954e-01 -3.75806597e-02 -1.56556096e-02 4.62504360e+02] [ 3.75822664e-02 9.99293519e-01 -1.91673265e-04 4.98367222e+00] [ 1.56517524e-02 -3.96858932e-04 9.99877425e-01 7.12087839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.33925415399995 meters Centerline goodness : 0.998893 Centerline is valid? [True, True] Translation: X:462.54, Y:4.98, Z:7.12 [[ 9.98786905e-01 -4.66837788e-02 -1.56634679e-02 4.62536245e+02] [ 4.66958948e-02 9.98909068e-01 4.08484942e-04 4.97911364e+00] [ 1.56273105e-02 -1.13940906e-03 9.99877237e-01 7.12055622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.3692541539999 meters Centerline goodness : 0.998831 Centerline is valid? [True, True] Translation: X:462.57, Y:4.98, Z:7.12 [[ 9.98654438e-01 -4.94364147e-02 -1.56638209e-02 4.62568771e+02] [ 4.94492830e-02 9.98776541e-01 4.35050714e-04 4.97650585e+00] [ 1.56231495e-02 -1.20903004e-03 9.99877220e-01 7.12000518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.39925415399995 meters Centerline goodness : 0.998788 Centerline is valid? [True, True] Translation: X:462.60, Y:4.97, Z:7.12 [[ 9.98567402e-01 -5.11641404e-02 -1.56644072e-02 4.62600917e+02] [ 5.11779196e-02 9.98689436e-01 4.79793706e-04 4.97413191e+00] [ 1.56193298e-02 -1.28077813e-03 9.99877191e-01 7.11940178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.4292541539999 meters Centerline goodness : 0.998797 Centerline is valid? [True, True] Translation: X:462.63, Y:4.98, Z:7.12 [[ 9.98045833e-01 -6.04907253e-02 -1.56648771e-02 4.62626866e+02] [ 6.05061834e-02 9.98167690e-01 5.14317176e-04 4.97627667e+00] [ 1.56050627e-02 -1.46113404e-03 9.99877166e-01 7.12031063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.45925415399995 meters Centerline goodness : 0.999007 Centerline is valid? [True, True] Translation: X:462.64, Y:4.99, Z:7.13 [[ 9.97320245e-01 -7.14635010e-02 -1.56619572e-02 4.62643934e+02] [ 7.14771743e-02 9.97442186e-01 3.14282759e-04 4.98639683e+00] [ 1.55994371e-02 -1.43291300e-03 9.99877295e-01 7.12734879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.4892541539999 meters Centerline goodness : 0.999049 Centerline is valid? [True, True] Translation: X:462.67, Y:4.99, Z:7.13 [[ 9.97271764e-01 -7.21388362e-02 -1.56529941e-02 4.62674993e+02] [ 7.21437837e-02 9.97394211e-01 -2.49099832e-04 4.98601555e+00] [ 1.56301754e-02 -8.80845989e-04 9.99877453e-01 7.12738871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.51925415399995 meters Centerline goodness : 0.999003 Centerline is valid? [True, True] Translation: X:462.71, Y:4.98, Z:7.13 [[ 9.97289817e-01 -7.18888360e-02 -1.56530075e-02 4.62707344e+02] [ 7.18937661e-02 9.97412264e-01 -2.48251841e-04 4.98486033e+00] [ 1.56303482e-02 -8.77774629e-04 9.99877453e-01 7.12710826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.5492541539999 meters Centerline goodness : 0.998877 Centerline is valid? [True, True] Translation: X:462.74, Y:4.99, Z:7.13 [[ 9.97357961e-01 -7.09371653e-02 -1.56530252e-02 4.62740079e+02] [ 7.09419961e-02 9.97480412e-01 -2.47129358e-04 4.98503644e+00] [ 1.56311167e-02 -8.63980423e-04 9.99877453e-01 7.12793492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.57925415399995 meters Centerline goodness : 0.998960 Centerline is valid? [True, True] Translation: X:462.77, Y:4.99, Z:7.13 [[ 9.97532219e-01 -6.84430660e-02 -1.56530523e-02 4.62772057e+02] [ 6.84476176e-02 9.97654681e-01 -2.45404640e-04 4.98537930e+00] [ 1.56331371e-02 -8.26615101e-04 9.99877453e-01 7.12795115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.6092541539999 meters Centerline goodness : 0.998916 Centerline is valid? [True, True] Translation: X:462.80, Y:4.99, Z:7.13 [[ 9.97663195e-01 -6.65066137e-02 -1.56530746e-02 4.62804872e+02] [ 6.65109499e-02 9.97785665e-01 -2.43974965e-04 4.98606061e+00] [ 1.56346394e-02 -7.97696015e-04 9.99877453e-01 7.13010390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.63925415399996 meters Centerline goodness : 0.998876 Centerline is valid? [True, True] Translation: X:462.84, Y:4.99, Z:7.13 [[ 9.97784319e-01 -6.46640050e-02 -1.56531014e-02 4.62836693e+02] [ 6.46681423e-02 9.97906796e-01 -2.42238375e-04 4.98692970e+00] [ 1.56360004e-02 -7.70555339e-04 9.99877453e-01 7.12980465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.66925415399993 meters Centerline goodness : 0.998916 Centerline is valid? [True, True] Translation: X:462.87, Y:4.99, Z:7.13 [[ 9.98136814e-01 -5.89735480e-02 -1.56531235e-02 4.62867258e+02] [ 5.89770092e-02 9.98259312e-01 -2.40802685e-04 4.98772660e+00] [ 1.56400773e-02 -6.82820386e-04 9.99877453e-01 7.12893037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.69925415399996 meters Centerline goodness : 0.999277 Centerline is valid? [True, True] Translation: X:462.90, Y:4.99, Z:7.13 [[ 9.98257102e-01 -5.69013202e-02 -1.56523839e-02 4.62900411e+02] [ 5.69037594e-02 9.98379626e-01 -2.89847821e-04 4.98880702e+00] [ 1.56435140e-02 -6.01336844e-04 9.99877452e-01 7.13201757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.72925415399993 meters Centerline goodness : 0.999021 Centerline is valid? [True, True] Translation: X:462.93, Y:4.99, Z:7.13 [[ 9.98430466e-01 -5.37734223e-02 -1.56532372e-02 4.62931362e+02] [ 5.37763773e-02 9.98552977e-01 -2.32376581e-04 4.98965450e+00] [ 1.56430822e-02 -6.09762529e-04 9.99877454e-01 7.13146257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.75925415399996 meters Centerline goodness : 0.998914 Centerline is valid? [True, True] Translation: X:462.96, Y:4.99, Z:7.13 [[ 9.98746566e-01 -4.75423278e-02 -1.56532499e-02 4.62962781e+02] [ 4.75445318e-02 9.98869092e-01 -2.31514302e-04 4.99235021e+00] [ 1.56465543e-02 -5.13002323e-04 9.99877454e-01 7.13128324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.78925415399993 meters Centerline goodness : 0.998960 Centerline is valid? [True, True] Translation: X:463.00, Y:4.99, Z:7.13 [[ 9.98896404e-01 -4.42825999e-02 -1.56532787e-02 4.62995051e+02] [ 4.42844348e-02 9.99018937e-01 -2.29550619e-04 4.99415563e+00] [ 1.56480869e-02 -4.63899312e-04 9.99877454e-01 7.13309543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.81925415399996 meters Centerline goodness : 0.998848 Centerline is valid? [True, True] Translation: X:463.04, Y:4.98, Z:7.12 [[ 9.99552938e-01 -2.54734951e-02 -1.56532953e-02 4.63042644e+02] [ 2.54730411e-02 9.99675483e-01 -2.28411560e-04 4.98251528e+00] [ 1.56540340e-02 -1.70427589e-04 9.99877454e-01 7.12355364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.84925415399994 meters Centerline goodness : 0.998978 Centerline is valid? [True, True] Translation: X:463.05, Y:5.00, Z:7.13 [[ 9.99248990e-01 -3.54414368e-02 -1.56639925e-02 4.63052500e+02] [ 3.54546470e-02 9.99371126e-01 5.66367555e-04 4.99826617e+00] [ 1.56340690e-02 -1.12130353e-03 9.99877152e-01 7.13369149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.87925415399997 meters Centerline goodness : 0.998739 Centerline is valid? [True, True] Translation: X:463.10, Y:4.99, Z:7.13 [[ 9.99709460e-01 -1.83308859e-02 -1.56516418e-02 4.63100215e+02] [ 1.83293770e-02 9.99831974e-01 -2.39866759e-04 4.98596505e+00] [ 1.56534089e-02 -4.70877755e-05 9.99877477e-01 7.12693126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.90925415399994 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:463.11, Y:5.00, Z:7.14 [[ 9.99423060e-01 -3.01365013e-02 -1.56633033e-02 4.63110031e+02] [ 3.01494267e-02 9.99545229e-01 5.89670081e-04 5.00096557e+00] [ 1.56384094e-02 -1.06156949e-03 9.99877149e-01 7.13563730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.93925415399997 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:463.14, Y:5.00, Z:7.14 [[ 9.99592256e-01 -2.38831549e-02 -1.56498387e-02 4.63140906e+02] [ 2.38821548e-02 9.99714749e-01 -2.50813344e-04 5.00341530e+00] [ 1.56513648e-02 -1.23040795e-04 9.99877502e-01 7.13798331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.96925415399994 meters Centerline goodness : 0.995419 Centerline is valid? [True, True] Translation: X:463.17, Y:5.01, Z:7.14 [[ 9.99714744e-01 -1.80419943e-02 -1.56498480e-02 4.63168963e+02] [ 1.80402875e-02 9.99837229e-01 -2.50235161e-04 5.00691308e+00] [ 1.56518154e-02 -3.21639772e-05 9.99877502e-01 7.13690448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.9992541539999 meters Centerline goodness : 0.998974 Centerline is valid? [True, True] Translation: X:463.20, Y:5.01, Z:7.14 [[ 9.99757502e-01 -1.54947908e-02 -1.56476103e-02 4.63198985e+02] [ 1.54906273e-02 9.99879938e-01 -3.87259464e-04 5.00641408e+00] [ 1.56517321e-02 1.44774257e-04 9.99877494e-01 7.14000926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.02925415399994 meters Centerline goodness : 0.998908 Centerline is valid? [True, True] Translation: X:463.23, Y:5.01, Z:7.14 [[ 9.99788245e-01 -1.33622748e-02 -1.56497716e-02 4.63226520e+02] [ 1.33599325e-02 9.99910720e-01 -2.54207027e-04 5.00667311e+00] [ 1.56517712e-02 4.50733045e-05 9.99877503e-01 7.14057294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.0592541539999 meters Centerline goodness : 0.994730 Centerline is valid? [True, True] Translation: X:463.25, Y:5.01, Z:7.14 [[ 9.99829978e-01 -9.75207595e-03 -1.56496946e-02 4.63252005e+02] [ 9.74921863e-03 9.99952442e-01 -2.58862225e-04 5.00870944e+00] [ 1.56514748e-02 1.06245919e-04 9.99877503e-01 7.13742470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.08925415399995 meters Centerline goodness : 0.998823 Centerline is valid? [True, True] Translation: X:463.28, Y:5.01, Z:7.14 [[ 9.99839458e-01 -8.73245400e-03 -1.56461575e-02 4.63284241e+02] [ 8.72625112e-03 9.99961818e-01 -4.64675134e-04 5.00726464e+00] [ 1.56496179e-02 3.28068234e-04 9.99877483e-01 7.14198211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.1192541539999 meters Centerline goodness : 0.998908 Centerline is valid? [True, True] Translation: X:463.31, Y:5.01, Z:7.14 [[ 9.99832746e-01 -9.46425628e-03 -1.56495412e-02 4.63308496e+02] [ 9.46127595e-03 9.99955206e-01 -2.64469553e-04 5.01060137e+00] [ 1.56513432e-02 1.16360691e-04 9.99877503e-01 7.13902489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.14925415399995 meters Centerline goodness : 0.998867 Centerline is valid? [True, True] Translation: X:463.34, Y:5.01, Z:7.14 [[ 9.99842812e-01 -8.33943933e-03 -1.56462262e-02 4.63340060e+02] [ 8.33336860e-03 9.99965174e-01 -4.53157589e-04 5.00738426e+00] [ 1.56494604e-02 3.22700589e-04 9.99877488e-01 7.14403051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.1792541539999 meters Centerline goodness : 0.998935 Centerline is valid? [True, True] Translation: X:463.37, Y:5.01, Z:7.15 [[ 9.99819978e-01 -1.07288142e-02 -1.56493836e-02 4.63368627e+02] [ 1.07258942e-02 9.99942439e-01 -2.70511001e-04 5.00507999e+00] [ 1.56513851e-02 1.02608670e-04 9.99877504e-01 7.14545044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.20925415399995 meters Centerline goodness : 0.999038 Centerline is valid? [True, True] Translation: X:463.40, Y:5.00, Z:7.15 [[ 9.99786401e-01 -1.35000142e-02 -1.56493638e-02 4.63396278e+02] [ 1.34974158e-02 9.99908869e-01 -2.71653670e-04 5.00397143e+00] [ 1.56516050e-02 6.03696753e-05 9.99877504e-01 7.14596961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.2392541539999 meters Centerline goodness : 0.998932 Centerline is valid? [True, True] Translation: X:463.42, Y:5.00, Z:7.15 [[ 9.99731967e-01 -1.70614420e-02 -1.56493336e-02 4.63424505e+02] [ 1.70592528e-02 9.99854443e-01 -2.73379960e-04 5.00238057e+00] [ 1.56517200e-02 6.34074644e-06 9.99877504e-01 7.14622630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.26925415399995 meters Centerline goodness : 0.998932 Centerline is valid? [True, True] Translation: X:463.45, Y:5.00, Z:7.15 [[ 9.99726904e-01 -1.73556707e-02 -1.56492519e-02 4.63452887e+02] [ 1.73534456e-02 9.99849379e-01 -2.77982732e-04 5.00294956e+00] [ 1.56517193e-02 6.33837582e-06 9.99877504e-01 7.14667212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.2992541539999 meters Centerline goodness : 0.995264 Centerline is valid? [True, True] Translation: X:463.48, Y:5.00, Z:7.15 [[ 9.99552016e-01 -2.55121739e-02 -1.56491687e-02 4.63479986e+02] [ 2.55108761e-02 9.99674505e-01 -2.82587850e-04 4.99871185e+00] [ 1.56512844e-02 -1.16762748e-04 9.99877504e-01 7.14627467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.32925415399995 meters Centerline goodness : 0.999107 Centerline is valid? [True, True] Translation: X:463.51, Y:5.00, Z:7.15 [[ 9.99416585e-01 -3.03583632e-02 -1.56479572e-02 4.63509456e+02] [ 3.03566271e-02 9.99539071e-01 -3.48510605e-04 4.99631691e+00] [ 1.56513248e-02 -1.26711924e-04 9.99877502e-01 7.14661003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.3592541539999 meters Centerline goodness : 0.998984 Centerline is valid? [True, True] Translation: X:463.54, Y:4.99, Z:7.15 [[ 9.99046942e-01 -4.07472774e-02 -1.56482449e-02 4.63541263e+02] [ 4.07470627e-02 9.99169438e-01 -3.32687539e-04 4.99149632e+00] [ 1.56488042e-02 -3.05249546e-04 9.99877503e-01 7.14533868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.38925415399996 meters Centerline goodness : 0.998985 Centerline is valid? [True, True] Translation: X:463.57, Y:4.99, Z:7.15 [[ 9.98867112e-01 -4.49399472e-02 -1.56491118e-02 4.63572137e+02] [ 4.49409915e-02 9.98989603e-01 -2.85104325e-04 4.98956899e+00] [ 1.56461125e-02 -4.18505266e-04 9.99877505e-01 7.14531191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.41925415399993 meters Centerline goodness : 0.998816 Centerline is valid? [True, True] Translation: X:463.60, Y:4.99, Z:7.14 [[ 9.98720568e-01 -4.80867026e-02 -1.56491270e-02 4.63604542e+02] [ 4.80881459e-02 9.98843055e-01 -2.84268427e-04 4.98767393e+00] [ 1.56446913e-02 -4.68632777e-04 9.99877505e-01 7.14452467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.44925415399996 meters Centerline goodness : 0.998903 Centerline is valid? [True, True] Translation: X:463.64, Y:4.99, Z:7.15 [[ 9.98601030e-01 -5.05082847e-02 -1.56491470e-02 4.63640912e+02] [ 5.05100423e-02 9.98723513e-01 -2.83161502e-04 4.98571708e+00] [ 1.56434731e-02 -5.07673710e-04 9.99877505e-01 7.14612406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.47925415399993 meters Centerline goodness : 0.998795 Centerline is valid? [True, True] Translation: X:463.67, Y:4.98, Z:7.15 [[ 9.98340016e-01 -5.54274498e-02 -1.56527922e-02 4.63671644e+02] [ 5.54329704e-02 9.98462408e-01 -8.12875301e-05 4.98376805e+00] [ 1.56332302e-02 -7.86528176e-04 9.99877484e-01 7.14642548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.50925415399996 meters Centerline goodness : 0.998649 Centerline is valid? [True, True] Translation: X:463.70, Y:4.98, Z:7.15 [[ 9.98172505e-01 -5.83666635e-02 -1.56519404e-02 4.63699107e+02] [ 5.83718125e-02 9.98294904e-01 -1.28057822e-04 4.98361903e+00] [ 1.56327267e-02 -7.85808335e-04 9.99877493e-01 7.14600431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.53925415399993 meters Centerline goodness : 0.999028 Centerline is valid? [True, True] Translation: X:463.73, Y:4.98, Z:7.15 [[ 9.98157486e-01 -5.86237383e-02 -1.56489616e-02 4.63731454e+02] [ 5.86263963e-02 9.98279952e-01 -2.89236193e-04 4.98356785e+00] [ 1.56390007e-02 -6.28738953e-04 9.99877506e-01 7.14674015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.56925415399996 meters Centerline goodness : 0.999008 Centerline is valid? [True, True] Translation: X:463.76, Y:4.99, Z:7.15 [[ 9.97848531e-01 -6.36664652e-02 -1.56489816e-02 4.63758356e+02] [ 6.36697590e-02 9.97970981e-01 -2.88148382e-04 4.98918249e+00] [ 1.56355749e-02 -7.08838449e-04 9.99877506e-01 7.14803693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.59925415399994 meters Centerline goodness : 0.998878 Centerline is valid? [True, True] Translation: X:463.79, Y:4.98, Z:7.15 [[ 9.98177948e-01 -5.82753007e-02 -1.56452683e-02 4.63793490e+02] [ 5.82748082e-02 9.98300460e-01 -4.87755809e-04 4.98412917e+00] [ 1.56471026e-02 -4.24857914e-04 9.99877486e-01 7.14729638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.62925415399997 meters Centerline goodness : 0.998920 Centerline is valid? [True, True] Translation: X:463.83, Y:4.99, Z:7.15 [[ 9.98173803e-01 -5.83452562e-02 -1.56489722e-02 4.63825137e+02] [ 5.83479799e-02 9.98296265e-01 -2.82854205e-04 4.98577564e+00] [ 1.56388137e-02 -6.30748256e-04 9.99877507e-01 7.14957717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.65925415399994 meters Centerline goodness : 0.998899 Centerline is valid? [True, True] Translation: X:463.86, Y:4.99, Z:7.15 [[ 9.98321355e-01 -5.57635413e-02 -1.56492516e-02 4.63856479e+02] [ 5.57661899e-02 9.98443819e-01 -2.67418410e-04 4.98522825e+00] [ 1.56398108e-02 -6.05729628e-04 9.99877507e-01 7.14924931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.68925415399997 meters Centerline goodness : 0.999004 Centerline is valid? [True, True] Translation: X:463.89, Y:4.99, Z:7.15 [[ 9.98469943e-01 -5.30366098e-02 -1.56490099e-02 4.63889168e+02] [ 5.30387131e-02 9.98592417e-01 -2.80883864e-04 4.98629548e+00] [ 1.56418798e-02 -5.49549252e-04 9.99877507e-01 7.14948399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.71925415399994 meters Centerline goodness : 0.998772 Centerline is valid? [True, True] Translation: X:463.92, Y:4.99, Z:7.15 [[ 9.98547851e-01 -5.15489757e-02 -1.56490359e-02 4.63921056e+02] [ 5.15509193e-02 9.98670328e-01 -2.79431590e-04 4.98715519e+00] [ 1.56426322e-02 -5.27696371e-04 9.99877507e-01 7.14943533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.7492541539999 meters Centerline goodness : 0.998876 Centerline is valid? [True, True] Translation: X:463.95, Y:4.99, Z:7.15 [[ 9.98632262e-01 -4.98870009e-02 -1.56490564e-02 4.63952320e+02] [ 4.98887587e-02 9.98754742e-01 -2.78275162e-04 4.98813534e+00] [ 1.56434516e-02 -5.02817446e-04 9.99877507e-01 7.14958536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.77925415399994 meters Centerline goodness : 0.998899 Centerline is valid? [True, True] Translation: X:463.98, Y:4.99, Z:7.15 [[ 9.98773467e-01 -4.69751971e-02 -1.56490717e-02 4.63984403e+02] [ 4.69766113e-02 9.98895951e-01 -2.77413484e-04 4.99032624e+00] [ 1.56448259e-02 -4.58067131e-04 9.99877507e-01 7.14997069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.8092541539999 meters Centerline goodness : 0.998791 Centerline is valid? [True, True] Translation: X:464.02, Y:4.99, Z:7.15 [[ 9.98896199e-01 -4.42886989e-02 -1.56490920e-02 4.64016665e+02] [ 4.42898017e-02 9.99018687e-01 -2.76260935e-04 4.99218674e+00] [ 1.56459706e-02 -4.17139185e-04 9.99877507e-01 7.15013062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.83925415399995 meters Centerline goodness : 0.998814 Centerline is valid? [True, True] Translation: X:464.05, Y:4.99, Z:7.15 [[ 9.98939642e-01 -4.32977677e-02 -1.56491123e-02 4.64048081e+02] [ 4.32987670e-02 9.99062131e-01 -2.75106761e-04 4.99338794e+00] [ 1.56463470e-02 -4.02772220e-04 9.99877507e-01 7.14965509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.8692541539999 meters Centerline goodness : 0.998875 Centerline is valid? [True, True] Translation: X:464.08, Y:4.99, Z:7.15 [[ 9.98986669e-01 -4.21988202e-02 -1.56491274e-02 4.64080379e+02] [ 4.21996982e-02 9.99109158e-01 -2.74247490e-04 4.99451741e+00] [ 1.56467594e-02 -3.86418868e-04 9.99877507e-01 7.15000612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.89925415399995 meters Centerline goodness : 0.998983 Centerline is valid? [True, True] Translation: X:464.11, Y:5.00, Z:7.15 [[ 9.99030253e-01 -4.11540795e-02 -1.56491475e-02 4.64111795e+02] [ 4.11548476e-02 9.99152743e-01 -2.73093184e-04 4.99549743e+00] [ 1.56471276e-02 -3.71209929e-04 9.99877507e-01 7.14949277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.9292541539999 meters Centerline goodness : 0.998961 Centerline is valid? [True, True] Translation: X:464.14, Y:5.00, Z:7.15 [[ 9.99065783e-01 -4.02823222e-02 -1.56491625e-02 4.64143726e+02] [ 4.02829969e-02 9.99188274e-01 -2.72232708e-04 4.99657634e+00] [ 1.56474258e-02 -3.58416781e-04 9.99877507e-01 7.14943177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.95925415399995 meters Centerline goodness : 0.998813 Centerline is valid? [True, True] Translation: X:464.17, Y:5.00, Z:7.15 [[ 9.99155036e-01 -3.80041735e-02 -1.56491821e-02 4.64174937e+02] [ 3.80045865e-02 9.99277528e-01 -2.71101327e-04 4.99817665e+00] [ 1.56481790e-02 -3.23868439e-04 9.99877507e-01 7.14702660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.9892541539999 meters Centerline goodness : 0.998899 Centerline is valid? [True, True] Translation: X:464.21, Y:5.00, Z:7.15 [[ 9.99178389e-01 -3.73852084e-02 -1.56490744e-02 4.64206941e+02] [ 3.73854475e-02 9.99300881e-01 -2.77362578e-04 4.99966163e+00] [ 1.56485031e-02 -3.07912954e-04 9.99877507e-01 7.15003395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.01925415399995 meters Centerline goodness : 0.999001 Centerline is valid? [True, True] Translation: X:464.24, Y:5.00, Z:7.15 [[ 9.99264640e-01 -3.50040069e-02 -1.56492226e-02 4.64239306e+02] [ 3.50040893e-02 9.99387133e-01 -2.68729751e-04 5.00232131e+00] [ 1.56490383e-02 -2.79254648e-04 9.99877507e-01 7.15097812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.0492541539999 meters Centerline goodness : 0.998831 Centerline is valid? [True, True] Translation: X:464.27, Y:5.00, Z:7.15 [[ 9.99310803e-01 -3.36603792e-02 -1.56492420e-02 4.64270205e+02] [ 3.36603146e-02 9.99433295e-01 -2.67597762e-04 5.00384520e+00] [ 1.56493809e-02 -2.59345073e-04 9.99877507e-01 7.15180823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.07925415399995 meters Centerline goodness : 0.998854 Centerline is valid? [True, True] Translation: X:464.30, Y:5.01, Z:7.15 [[ 9.99361420e-01 -3.21224655e-02 -1.56492516e-02 4.64301707e+02] [ 3.21222212e-02 9.99483913e-01 -2.67035289e-04 5.00511231e+00] [ 1.56497530e-02 -2.35823955e-04 9.99877507e-01 7.15293288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.1092541539999 meters Centerline goodness : 0.998959 Centerline is valid? [True, True] Translation: X:464.33, Y:5.01, Z:7.15 [[ 9.99443093e-01 -2.94720865e-02 -1.56492611e-02 4.64331558e+02] [ 2.94715262e-02 9.99565585e-01 -2.66475831e-04 5.00711503e+00] [ 1.56503164e-02 -1.94880179e-04 9.99877507e-01 7.15434278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.13925415399996 meters Centerline goodness : 0.998917 Centerline is valid? [True, True] Translation: X:464.36, Y:5.01, Z:7.16 [[ 9.99472736e-01 -2.84491020e-02 -1.56492658e-02 4.64363103e+02] [ 2.84484206e-02 9.99595226e-01 -2.66198069e-04 5.00811768e+00] [ 1.56505045e-02 -1.79139184e-04 9.99877507e-01 7.15553738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.16925415399993 meters Centerline goodness : 0.998958 Centerline is valid? [True, True] Translation: X:464.39, Y:5.01, Z:7.16 [[ 9.99499167e-01 -2.75048397e-02 -1.56492751e-02 4.64393937e+02] [ 2.75040512e-02 9.99621657e-01 -2.65649104e-04 5.00875005e+00] [ 1.56506610e-02 -1.64902406e-04 9.99877507e-01 7.15733397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.19925415399996 meters Centerline goodness : 0.998832 Centerline is valid? [True, True] Translation: X:464.42, Y:5.01, Z:7.16 [[ 9.99514635e-01 -2.69368753e-02 -1.56492798e-02 4.64422987e+02] [ 2.69360215e-02 9.99637124e-01 -2.65376740e-04 5.00878966e+00] [ 1.56507494e-02 -1.56281400e-04 9.99877507e-01 7.15847216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.22925415399993 meters Centerline goodness : 0.998917 Centerline is valid? [True, True] Translation: X:464.45, Y:5.01, Z:7.16 [[ 9.99467521e-01 -2.86322458e-02 -1.56483142e-02 4.64452300e+02] [ 2.86307132e-02 9.99590005e-01 -3.22005793e-04 5.00896723e+00] [ 1.56511182e-02 -1.26188063e-04 9.99877506e-01 7.15886064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.25925415399996 meters Centerline goodness : 0.998919 Centerline is valid? [True, True] Translation: X:464.48, Y:5.01, Z:7.16 [[ 9.99396434e-01 -3.10139933e-02 -1.56492660e-02 4.64482962e+02] [ 3.10136291e-02 9.99518926e-01 -2.66011926e-04 5.00824529e+00] [ 1.56499876e-02 -2.19489160e-04 9.99877507e-01 7.15905822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.28925415399993 meters Centerline goodness : 0.999002 Centerline is valid? [True, True] Translation: X:464.51, Y:5.01, Z:7.16 [[ 9.99347203e-01 -3.25617468e-02 -1.56492813e-02 4.64513885e+02] [ 3.25615865e-02 9.99469696e-01 -2.65108314e-04 5.00843378e+00] [ 1.56496148e-02 -2.44630174e-04 9.99877507e-01 7.16032454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.31925415399996 meters Centerline goodness : 0.998876 Centerline is valid? [True, True] Translation: X:464.55, Y:5.01, Z:7.16 [[ 9.99296570e-01 -3.40802792e-02 -1.56492910e-02 4.64545465e+02] [ 3.40803140e-02 9.99419062e-01 -2.64536418e-04 5.00847955e+00] [ 1.56492152e-02 -2.68982414e-04 9.99877507e-01 7.16041456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.34925415399994 meters Centerline goodness : 0.998984 Centerline is valid? [True, True] Translation: X:464.58, Y:5.01, Z:7.16 [[ 9.99207800e-01 -3.65905916e-02 -1.56493006e-02 4.64578020e+02] [ 3.65909430e-02 9.99330292e-01 -2.63963722e-04 5.00786908e+00] [ 1.56484787e-02 -3.08868057e-04 9.99877507e-01 7.16032493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.37925415399997 meters Centerline goodness : 0.999049 Centerline is valid? [True, True] Translation: X:464.61, Y:5.01, Z:7.16 [[ 9.99170004e-01 -3.76085448e-02 -1.56493198e-02 4.64609703e+02] [ 3.76090390e-02 9.99292495e-01 -2.62819696e-04 5.00804324e+00] [ 1.56481321e-02 -3.25954324e-04 9.99877507e-01 7.15940119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.40925415399994 meters Centerline goodness : 0.998772 Centerline is valid? [True, True] Translation: X:464.64, Y:5.01, Z:7.16 [[ 9.99111784e-01 -3.91247032e-02 -1.56493341e-02 4.64641466e+02] [ 3.91253966e-02 9.99234274e-01 -2.61967199e-04 5.00804278e+00] [ 1.56476004e-02 -3.50551887e-04 9.99877507e-01 7.15836801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.43925415399997 meters Centerline goodness : 0.998963 Centerline is valid? [True, True] Translation: X:464.67, Y:5.01, Z:7.16 [[ 9.99049718e-01 -4.06787333e-02 -1.56493511e-02 4.64672572e+02] [ 4.06796332e-02 9.99172207e-01 -2.60946974e-04 5.00841788e+00] [ 1.56470117e-02 -3.75910863e-04 9.99877507e-01 7.15915734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.46925415399994 meters Centerline goodness : 0.999005 Centerline is valid? [True, True] Translation: X:464.70, Y:5.01, Z:7.16 [[ 9.99007274e-01 -4.17080836e-02 -1.56493638e-02 4.64704579e+02] [ 4.17091216e-02 9.99129762e-01 -2.60185910e-04 5.00817638e+00] [ 1.56465970e-02 -3.92793600e-04 9.99877507e-01 7.16104741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.4992541539999 meters Centerline goodness : 0.998858 Centerline is valid? [True, True] Translation: X:464.74, Y:5.01, Z:7.16 [[ 9.99027351e-01 -4.12243760e-02 -1.56493830e-02 4.64738783e+02] [ 4.12253729e-02 9.99149839e-01 -2.59025177e-04 5.00668629e+00] [ 1.56467566e-02 -3.86378413e-04 9.99877507e-01 7.16148521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.52925415399994 meters Centerline goodness : 0.998795 Centerline is valid? [True, True] Translation: X:464.77, Y:5.01, Z:7.16 [[ 9.98902652e-01 -4.41418476e-02 -1.56521459e-02 4.64766268e+02] [ 4.41458444e-02 9.99025093e-01 -9.02385869e-05 5.00810228e+00] [ 1.56408698e-02 -6.00837633e-04 9.99877494e-01 7.16183273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.5592541539999 meters Centerline goodness : 0.998943 Centerline is valid? [True, True] Translation: X:464.80, Y:5.01, Z:7.16 [[ 9.98898009e-01 -4.42477907e-02 -1.56493260e-02 4.64797300e+02] [ 4.42491432e-02 9.99020493e-01 -2.59989316e-04 5.00834858e+00] [ 1.56455013e-02 -4.32766456e-04 9.99877508e-01 7.16113905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.58925415399995 meters Centerline goodness : 0.998859 Centerline is valid? [True, True] Translation: X:464.83, Y:5.01, Z:7.16 [[ 9.98918540e-01 -4.37818241e-02 -1.56493403e-02 4.64829753e+02] [ 4.37831331e-02 9.99041025e-01 -2.59123511e-04 5.00855612e+00] [ 1.56456779e-02 -4.26333870e-04 9.99877508e-01 7.16175822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.6192541539999 meters Centerline goodness : 0.995809 Centerline is valid? [True, True] Translation: X:464.86, Y:5.01, Z:7.16 [[ 9.98966393e-01 -4.26760295e-02 -1.56493594e-02 4.64860446e+02] [ 4.26772209e-02 9.99088879e-01 -2.57966560e-04 5.00944298e+00] [ 1.56461099e-02 -4.10171244e-04 9.99877508e-01 7.16079879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.64925415399995 meters Centerline goodness : 0.997182 Centerline is valid? [True, True] Translation: X:464.89, Y:5.01, Z:7.16 [[ 9.99029100e-01 -4.11822001e-02 -1.56487438e-02 4.64892794e+02] [ 4.11826210e-02 9.99151592e-01 -2.95486644e-04 5.01052858e+00] [ 1.56476360e-02 -3.49256527e-04 9.99877507e-01 7.16210390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.6792541539999 meters Centerline goodness : 0.998858 Centerline is valid? [True, True] Translation: X:464.92, Y:5.01, Z:7.16 [[ 9.99049138e-01 -4.06932201e-02 -1.56486827e-02 4.64923775e+02] [ 4.06935219e-02 9.99171631e-01 -2.99261126e-04 5.01112795e+00] [ 1.56478977e-02 -3.37823441e-04 9.99877507e-01 7.16356063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.70925415399995 meters Centerline goodness : 0.998876 Centerline is valid? [True, True] Translation: X:464.96, Y:5.01, Z:7.16 [[ 9.99052229e-01 -4.06171271e-02 -1.56490720e-02 4.64956462e+02] [ 4.06178036e-02 9.99174719e-01 -2.74733214e-04 5.01177709e+00] [ 1.56473160e-02 -3.61158103e-04 9.99877508e-01 7.16372656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.7392541539999 meters Centerline goodness : 0.998668 Centerline is valid? [True, True] Translation: X:465.00, Y:5.00, Z:7.16 [[ 9.99315603e-01 -3.35174460e-02 -1.56495166e-02 4.64996186e+02] [ 3.35176941e-02 9.99438094e-01 -2.46506027e-04 5.00328846e+00] [ 1.56489853e-02 -2.78198392e-04 9.99877508e-01 7.15840518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.76925415399995 meters Centerline goodness : 0.998919 Centerline is valid? [True, True] Translation: X:465.02, Y:5.01, Z:7.16 [[ 9.98974998e-01 -4.24716244e-02 -1.56561261e-02 4.65018015e+02] [ 4.24797485e-02 9.99097311e-01 1.86571525e-04 5.01295403e+00] [ 1.56340695e-02 -8.51448587e-04 9.99877418e-01 7.16331709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.7992541539999 meters Centerline goodness : 0.998792 Centerline is valid? [True, True] Translation: X:465.06, Y:5.00, Z:7.16 [[ 9.99212467e-01 -3.64630269e-02 -1.56490906e-02 4.65057101e+02] [ 3.64635590e-02 9.99334952e-01 -2.51422236e-04 5.00491473e+00] [ 1.56478509e-02 -3.19397307e-04 9.99877514e-01 7.15973610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.82925415399995 meters Centerline goodness : 0.998772 Centerline is valid? [True, True] Translation: X:465.09, Y:5.01, Z:7.16 [[ 9.99006207e-01 -4.17312092e-02 -1.56557952e-02 4.65086163e+02] [ 4.17392007e-02 9.99128523e-01 1.83907645e-04 5.00772613e+00] [ 1.56344769e-02 -8.37185260e-04 9.99877424e-01 7.15992954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.8592541539999 meters Centerline goodness : 0.998898 Centerline is valid? [True, True] Translation: X:465.11, Y:5.01, Z:7.16 [[ 9.98800379e-01 -4.63977370e-02 -1.56541372e-02 4.65109732e+02] [ 4.64045131e-02 9.98922728e-01 6.97123024e-05 5.01343610e+00] [ 1.56340390e-02 -7.96051289e-04 9.99877464e-01 7.16258226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.88925415399996 meters Centerline goodness : 0.998878 Centerline is valid? [True, True] Translation: X:465.14, Y:5.01, Z:7.16 [[ 9.98711146e-01 -4.82822221e-02 -1.56484213e-02 4.65142696e+02] [ 4.82833575e-02 9.98833632e-01 -3.05457044e-04 5.01413652e+00] [ 1.56449176e-02 -4.50494965e-04 9.99877509e-01 7.16344458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.91925415399993 meters Centerline goodness : 0.998919 Centerline is valid? [True, True] Translation: X:465.18, Y:5.01, Z:7.16 [[ 9.98814988e-01 -4.60837684e-02 -1.56494634e-02 4.65177762e+02] [ 4.60857135e-02 9.98937461e-01 -2.36503158e-04 5.01099937e+00] [ 1.56437342e-02 -4.84993789e-04 9.99877512e-01 7.15975778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.94925415399996 meters Centerline goodness : 0.998919 Centerline is valid? [True, True] Translation: X:465.20, Y:5.02, Z:7.16 [[ 9.98633439e-01 -4.98623065e-02 -1.56526108e-02 4.65203756e+02] [ 4.98680628e-02 9.98755814e-01 -2.25798713e-05 5.01655036e+00] [ 1.56342619e-02 -7.58016363e-04 9.99877490e-01 7.16258320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.97925415399993 meters Centerline goodness : 0.998813 Centerline is valid? [True, True] Translation: X:465.24, Y:5.02, Z:7.16 [[ 9.98633519e-01 -4.98617309e-02 -1.56493644e-02 4.65235737e+02] [ 4.98641318e-02 9.98755982e-01 -2.36982148e-04 5.01909558e+00] [ 1.56417127e-02 -5.43683653e-04 9.99877513e-01 7.16437615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.00925415399996 meters Centerline goodness : 0.998938 Centerline is valid? [True, True] Translation: X:465.27, Y:5.02, Z:7.17 [[ 9.98669573e-01 -4.91343081e-02 -1.56493815e-02 4.65268271e+02] [ 4.91366376e-02 9.98792038e-01 -2.35844955e-04 5.02047315e+00] [ 1.56420658e-02 -5.33426810e-04 9.99877513e-01 7.16546958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.03925415399993 meters Centerline goodness : 0.998724 Centerline is valid? [True, True] Translation: X:465.30, Y:5.02, Z:7.17 [[ 9.98775753e-01 -4.69264475e-02 -1.56493988e-02 4.65302640e+02] [ 4.69285243e-02 9.98898222e-01 -2.34693377e-04 5.02070712e+00] [ 1.56431700e-02 -4.99997137e-04 9.99877513e-01 7.16677306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.06925415399996 meters Centerline goodness : 0.998896 Centerline is valid? [True, True] Translation: X:465.33, Y:5.03, Z:7.17 [[ 9.98901426e-01 -4.41700176e-02 -1.56508719e-02 4.65331449e+02] [ 4.41733042e-02 9.99023874e-01 -1.35806783e-04 5.02505780e+00] [ 1.56415933e-02 -5.55693136e-04 9.99877508e-01 7.16764561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.09925415399994 meters Centerline goodness : 0.999021 Centerline is valid? [True, True] Translation: X:465.36, Y:5.03, Z:7.17 [[ 9.99065706e-01 -4.02841353e-02 -1.56494114e-02 4.65362431e+02] [ 4.02854142e-02 9.99188186e-01 -2.33639507e-04 5.02787140e+00] [ 1.56461189e-02 -3.97021799e-04 9.99877513e-01 7.16821714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.12925415399997 meters Centerline goodness : 0.998872 Centerline is valid? [True, True] Translation: X:465.39, Y:5.03, Z:7.17 [[ 9.99134141e-01 -3.85495000e-02 -1.56494242e-02 4.65393224e+02] [ 3.85505797e-02 9.99256623e-01 -2.32774170e-04 5.02960232e+00] [ 1.56467641e-02 -3.70721757e-04 9.99877513e-01 7.16903650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.15925415399994 meters Centerline goodness : 0.998912 Centerline is valid? [True, True] Translation: X:465.42, Y:5.03, Z:7.17 [[ 9.99239051e-01 -3.57269175e-02 -1.56494524e-02 4.65423678e+02] [ 3.57276812e-02 9.99361536e-01 -2.30866614e-04 5.03126723e+00] [ 1.56477089e-02 -3.28427709e-04 9.99877513e-01 7.17059263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.18925415399997 meters Centerline goodness : 0.998912 Centerline is valid? [True, True] Translation: X:465.46, Y:5.03, Z:7.17 [[ 9.99244540e-01 -3.55736457e-02 -1.56481892e-02 4.65455554e+02] [ 3.55730538e-02 9.99367029e-01 -3.16254274e-04 5.03165229e+00] [ 1.56495347e-02 -2.40638520e-04 9.99877510e-01 7.17111845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.21925415399994 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:465.49, Y:5.03, Z:7.17 [[ 9.99308671e-01 -3.37240591e-02 -1.56482630e-02 4.65490646e+02] [ 3.37233199e-02 9.99431159e-01 -3.11186149e-04 5.03078842e+00] [ 1.56498561e-02 -2.16740361e-04 9.99877510e-01 7.16871445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.2492541539999 meters Centerline goodness : 0.999042 Centerline is valid? [True, True] Translation: X:465.51, Y:5.04, Z:7.17 [[ 9.99180802e-01 -3.73185955e-02 -1.56539691e-02 4.65514387e+02] [ 3.73237864e-02 9.99303224e-01 3.94805612e-05 5.03751431e+00] [ 1.56415884e-02 -6.23713616e-04 9.99877468e-01 7.17052644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.27925415399994 meters Centerline goodness : 0.998977 Centerline is valid? [True, True] Translation: X:465.55, Y:5.04, Z:7.17 [[ 9.99169225e-01 -3.76294136e-02 -1.56488796e-02 4.65546932e+02] [ 3.76299046e-02 9.99291710e-01 -2.63180998e-04 5.03861698e+00] [ 1.56476990e-02 -3.25903494e-04 9.99877514e-01 7.17089763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.3092541539999 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:465.58, Y:5.04, Z:7.17 [[ 9.99083037e-01 -3.98521935e-02 -1.56488989e-02 4.65577861e+02] [ 3.98529750e-02 9.99205520e-01 -2.62028960e-04 5.04039977e+00] [ 1.56469086e-02 -3.61866489e-04 9.99877514e-01 7.16996152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.33925415399995 meters Centerline goodness : 0.998953 Centerline is valid? [True, True] Translation: X:465.61, Y:5.04, Z:7.17 [[ 9.99018762e-01 -4.14321629e-02 -1.56489293e-02 4.65610210e+02] [ 4.14331667e-02 9.99141244e-01 -2.60204252e-04 5.04135972e+00] [ 1.56462715e-02 -3.88435765e-04 9.99877514e-01 7.17020076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.3692541539999 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:465.64, Y:5.04, Z:7.17 [[ 9.98951007e-01 -4.30348224e-02 -1.56489478e-02 4.65642409e+02] [ 4.30360402e-02 9.99073487e-01 -2.59085717e-04 5.04176904e+00] [ 1.56455986e-02 -4.14654809e-04 9.99877514e-01 7.17004283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.39925415399995 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:465.67, Y:5.04, Z:7.17 [[ 9.98888634e-01 -4.44590469e-02 -1.56489661e-02 4.65674272e+02] [ 4.44604567e-02 9.99011112e-01 -2.57973254e-04 5.04228386e+00] [ 1.56449603e-02 -4.38073630e-04 9.99877514e-01 7.17025311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.4292541539999 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:465.71, Y:5.04, Z:7.17 [[ 9.98827539e-01 -4.58110969e-02 -1.56489844e-02 4.65705843e+02] [ 4.58126899e-02 9.98950015e-01 -2.56859863e-04 5.04321088e+00] [ 1.56443202e-02 -4.60363365e-04 9.99877514e-01 7.16981879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.45925415399995 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:465.74, Y:5.04, Z:7.17 [[ 9.98804283e-01 -4.63153683e-02 -1.56489980e-02 4.65737989e+02] [ 4.63170361e-02 9.98926757e-01 -2.56029618e-04 5.04410453e+00] [ 1.56440609e-02 -4.69091726e-04 9.99877514e-01 7.17025666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.4892541539999 meters Centerline goodness : 0.998891 Centerline is valid? [True, True] Translation: X:465.77, Y:5.05, Z:7.17 [[ 9.98797167e-01 -4.64685579e-02 -1.56490160e-02 4.65769049e+02] [ 4.64702618e-02 9.98919641e-01 -2.54927052e-04 5.04542382e+00] [ 1.56439555e-02 -4.72593451e-04 9.99877514e-01 7.16972110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.51925415399995 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:465.80, Y:5.05, Z:7.17 [[ 9.98753146e-01 -4.74052817e-02 -1.56490293e-02 4.65801405e+02] [ 4.74071133e-02 9.98875618e-01 -2.54107114e-04 5.04709167e+00] [ 1.56434798e-02 -4.88085024e-04 9.99877514e-01 7.17107424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.5492541539999 meters Centerline goodness : 0.998909 Centerline is valid? [True, True] Translation: X:465.83, Y:5.05, Z:7.17 [[ 9.98740941e-01 -4.76617295e-02 -1.56490467e-02 4.65833665e+02] [ 4.76636095e-02 9.98863412e-01 -2.53027458e-04 5.04807799e+00] [ 1.56433199e-02 -4.93181170e-04 9.99877514e-01 7.17142887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.57925415399995 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:465.86, Y:5.05, Z:7.17 [[ 9.98738492e-01 -4.77130193e-02 -1.56490641e-02 4.65864775e+02] [ 4.77149224e-02 9.98860963e-01 -2.51950961e-04 5.04940601e+00] [ 1.56432605e-02 -4.95060754e-04 9.99877514e-01 7.17151256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.6092541539999 meters Centerline goodness : 0.999015 Centerline is valid? [True, True] Translation: X:465.90, Y:5.05, Z:7.17 [[ 9.98752472e-01 -4.74194638e-02 -1.56490769e-02 4.65897174e+02] [ 4.74213434e-02 9.98874944e-01 -2.51149930e-04 5.05069435e+00] [ 1.56433802e-02 -4.91263638e-04 9.99877514e-01 7.17225389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.63925415399996 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:465.93, Y:5.05, Z:7.17 [[ 9.98764353e-01 -4.71685499e-02 -1.56490938e-02 4.65929616e+02] [ 4.71704152e-02 9.98886825e-01 -2.50092979e-04 5.05244962e+00] [ 1.56434702e-02 -4.88390300e-04 9.99877514e-01 7.17400502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.66925415399993 meters Centerline goodness : 0.999058 Centerline is valid? [True, True] Translation: X:465.96, Y:5.06, Z:7.17 [[ 9.98789130e-01 -4.66409505e-02 -1.56491121e-02 4.65960855e+02] [ 4.66427692e-02 9.98911603e-01 -2.48944156e-04 5.05521699e+00] [ 1.56436906e-02 -4.81275205e-04 9.99877514e-01 7.17277831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.69925415399996 meters Centerline goodness : 0.998972 Centerline is valid? [True, True] Translation: X:465.99, Y:5.06, Z:7.17 [[ 9.98792268e-01 -4.65737029e-02 -1.56491257e-02 4.65992796e+02] [ 4.65755267e-02 9.98914741e-01 -2.48088012e-04 5.05676116e+00] [ 1.56436967e-02 -4.81077882e-04 9.99877514e-01 7.17284733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.72925415399993 meters Centerline goodness : 0.999142 Centerline is valid? [True, True] Translation: X:466.02, Y:5.06, Z:7.17 [[ 9.98768719e-01 -4.70760136e-02 -1.56491419e-02 4.66023845e+02] [ 4.70779152e-02 9.98891190e-01 -2.47056342e-04 5.05853648e+00] [ 1.56434204e-02 -4.89976831e-04 9.99877514e-01 7.17276725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.75925415399996 meters Centerline goodness : 0.999034 Centerline is valid? [True, True] Translation: X:466.06, Y:5.06, Z:7.18 [[ 9.98758178e-01 -4.72991153e-02 -1.56491681e-02 4.66056945e+02] [ 4.73010703e-02 9.98880648e-01 -2.45387926e-04 5.05923480e+00] [ 1.56432578e-02 -4.95139203e-04 9.99877514e-01 7.17526346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.78925415399993 meters Centerline goodness : 0.999357 Centerline is valid? [True, True] Translation: X:466.09, Y:5.06, Z:7.17 [[ 9.98727868e-01 -4.79348409e-02 -1.56491952e-02 4.66088926e+02] [ 4.79369011e-02 9.98850336e-01 -2.43646534e-04 5.06028823e+00] [ 1.56428831e-02 -5.06837340e-04 9.99877514e-01 7.17307727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.81925415399996 meters Centerline goodness : 0.999335 Centerline is valid? [True, True] Translation: X:466.12, Y:5.06, Z:7.18 [[ 9.98691357e-01 -4.86895734e-02 -1.56492175e-02 4.66121675e+02] [ 4.86917488e-02 9.98813824e-01 -2.42204351e-04 5.06172237e+00] [ 1.56424476e-02 -5.20100378e-04 9.99877514e-01 7.17621201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.84925415399994 meters Centerline goodness : 0.999334 Centerline is valid? [True, True] Translation: X:466.15, Y:5.06, Z:7.18 [[ 9.98626955e-01 -4.99930587e-02 -1.56492440e-02 4.66154836e+02] [ 4.99954208e-02 9.98749418e-01 -2.40483203e-04 5.06441088e+00] [ 1.56416958e-02 -5.42237529e-04 9.99877514e-01 7.17707134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.87925415399997 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:466.19, Y:5.07, Z:7.18 [[ 9.98598989e-01 -5.05485787e-02 -1.56492704e-02 4.66187803e+02] [ 5.05510361e-02 9.98721451e-01 -2.38749919e-04 5.06614596e+00] [ 1.56413305e-02 -5.52671407e-04 9.99877514e-01 7.17774248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.90925415399994 meters Centerline goodness : 0.999397 Centerline is valid? [True, True] Translation: X:466.22, Y:5.07, Z:7.18 [[ 9.98556050e-01 -5.13898220e-02 -1.56492968e-02 4.66218962e+02] [ 5.13924099e-02 9.98678509e-01 -2.37007763e-04 5.06848673e+00] [ 1.56407962e-02 -5.67589540e-04 9.99877514e-01 7.17792478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.9392541539999 meters Centerline goodness : 0.999441 Centerline is valid? [True, True] Translation: X:466.25, Y:5.07, Z:7.18 [[ 9.98540824e-01 -5.16848395e-02 -1.56493098e-02 4.66252425e+02] [ 5.16874770e-02 9.98663281e-01 -2.36145233e-04 5.06945022e+00] [ 1.56405962e-02 -5.73072687e-04 9.99877514e-01 7.17870383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.96925415399994 meters Centerline goodness : 0.999333 Centerline is valid? [True, True] Translation: X:466.29, Y:5.07, Z:7.18 [[ 9.98518120e-01 -5.21216206e-02 -1.56493357e-02 4.66285103e+02] [ 5.21243387e-02 9.98640575e-01 -2.34419982e-04 5.07034584e+00] [ 1.56402799e-02 -5.81638673e-04 9.99877514e-01 7.17913116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.9992541539999 meters Centerline goodness : 0.999288 Centerline is valid? [True, True] Translation: X:466.32, Y:5.07, Z:7.18 [[ 9.98424829e-01 -5.38791109e-02 -1.56493612e-02 4.66316903e+02] [ 5.38820714e-02 9.98547279e-01 -2.32700495e-04 5.07232080e+00] [ 1.56391648e-02 -6.10886049e-04 9.99877514e-01 7.17945475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.02925415399994 meters Centerline goodness : 0.999376 Centerline is valid? [True, True] Translation: X:466.35, Y:5.07, Z:7.18 [[ 9.98391741e-01 -5.44887848e-02 -1.56493823e-02 4.66348781e+02] [ 5.44918424e-02 9.98514189e-01 -2.31277115e-04 5.07274982e+00] [ 1.56387323e-02 -6.21858511e-04 9.99877514e-01 7.17919271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.0592541539999 meters Centerline goodness : 0.999376 Centerline is valid? [True, True] Translation: X:466.38, Y:5.07, Z:7.18 [[ 9.98210120e-01 -5.77204713e-02 -1.56493988e-02 4.66379851e+02] [ 5.77239428e-02 9.98332557e-01 -2.30154420e-04 5.07484250e+00] [ 1.56365889e-02 -6.73602529e-04 9.99877514e-01 7.17986384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.08925415399995 meters Centerline goodness : 0.999591 Centerline is valid? [True, True] Translation: X:466.41, Y:5.08, Z:7.18 [[ 9.98165072e-01 -5.84943077e-02 -1.56494110e-02 4.66413342e+02] [ 5.84978872e-02 9.98287506e-01 -2.29317718e-04 5.07563974e+00] [ 1.56360253e-02 -6.86560546e-04 9.99877514e-01 7.18094857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.1192541539999 meters Centerline goodness : 0.999569 Centerline is valid? [True, True] Translation: X:466.45, Y:5.08, Z:7.18 [[ 9.98094435e-01 -5.96874695e-02 -1.56494363e-02 4.66445642e+02] [ 5.96912226e-02 9.98216863e-01 -2.27580471e-04 5.07697805e+00] [ 1.56351149e-02 -7.06987185e-04 9.99877514e-01 7.18103333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.14925415399995 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:466.48, Y:5.08, Z:7.18 [[ 9.98096858e-01 -5.96469298e-02 -1.56494571e-02 4.66477483e+02] [ 5.96507005e-02 9.98219286e-01 -2.26142490e-04 5.07777390e+00] [ 1.56350786e-02 -7.07788969e-04 9.99877514e-01 7.17991014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.1792541539999 meters Centerline goodness : 0.999548 Centerline is valid? [True, True] Translation: X:466.51, Y:5.08, Z:7.18 [[ 9.98116220e-01 -5.93220530e-02 -1.56494768e-02 4.66509496e+02] [ 5.93258052e-02 9.98238648e-01 -2.24769291e-04 5.07900122e+00] [ 1.56352464e-02 -7.04071938e-04 9.99877514e-01 7.18110074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.20925415399995 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:466.54, Y:5.08, Z:7.18 [[ 9.98211561e-01 -5.76955130e-02 -1.56494934e-02 4.66540760e+02] [ 5.76990839e-02 9.98333995e-01 -2.23611197e-04 5.08167848e+00] [ 1.56363226e-02 -6.79750148e-04 9.99877514e-01 7.17980528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.2392541539999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:466.57, Y:5.08, Z:7.18 [[ 9.98235764e-01 -5.72752325e-02 -1.56495057e-02 4.66572942e+02] [ 5.72787653e-02 9.98358199e-01 -2.22747914e-04 5.08394076e+00] [ 1.56365702e-02 -6.74029427e-04 9.99877514e-01 7.18285931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.26925415399995 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:466.61, Y:5.09, Z:7.18 [[ 9.98388301e-01 -5.45517504e-02 -1.56495219e-02 4.66606098e+02] [ 5.45549671e-02 9.98510744e-01 -2.21602146e-04 5.08538845e+00] [ 1.56383045e-02 -6.32514161e-04 9.99877514e-01 7.18260473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.2992541539999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:466.64, Y:5.09, Z:7.18 [[ 9.98455185e-01 -5.33135595e-02 -1.56495459e-02 4.66639185e+02] [ 5.33166512e-02 9.98577632e-01 -2.19888895e-04 5.08666934e+00] [ 1.56390096e-02 -6.14832175e-04 9.99877514e-01 7.18351975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.32925415399995 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:466.67, Y:5.09, Z:7.18 [[ 9.98525959e-01 -5.19711432e-02 -1.56495701e-02 4.66671513e+02] [ 5.19740974e-02 9.98648409e-01 -2.18159504e-04 5.08827151e+00] [ 1.56397562e-02 -5.95534350e-04 9.99877514e-01 7.18281769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.3592541539999 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:466.70, Y:5.09, Z:7.19 [[ 9.98669205e-01 -4.91417361e-02 -1.56495898e-02 4.66703343e+02] [ 4.91443656e-02 9.98791662e-01 -2.16730754e-04 5.09112722e+00] [ 1.56413304e-02 -5.52646835e-04 9.99877514e-01 7.18632045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.38925415399996 meters Centerline goodness : 0.999632 Centerline is valid? [True, True] Translation: X:466.74, Y:5.09, Z:7.19 [[ 9.98751566e-01 -4.74383784e-02 -1.56496056e-02 4.66736318e+02] [ 4.74408169e-02 9.98874027e-01 -2.15587812e-04 5.09209486e+00] [ 1.56422117e-02 -5.27111409e-04 9.99877514e-01 7.18663717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.41925415399993 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:466.77, Y:5.09, Z:7.19 [[ 9.98828050e-01 -4.57997388e-02 -1.56496291e-02 4.66768600e+02] [ 4.58020033e-02 9.98950515e-01 -2.13869763e-04 5.09285765e+00] [ 1.56430002e-02 -5.03165244e-04 9.99877514e-01 7.18693838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.44925415399996 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:466.80, Y:5.09, Z:7.19 [[ 9.98961826e-01 -4.27826991e-02 -1.56496446e-02 4.66800686e+02] [ 4.27846116e-02 9.99084297e-01 -2.12725586e-04 5.09427314e+00] [ 1.56444152e-02 -4.57059228e-04 9.99877514e-01 7.18695776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.47925415399993 meters Centerline goodness : 0.999631 Centerline is valid? [True, True] Translation: X:466.83, Y:5.09, Z:7.19 [[ 9.99039293e-01 -4.09338307e-02 -1.56496601e-02 4.66832547e+02] [ 4.09355345e-02 9.99161767e-01 -2.11580426e-04 5.09483882e+00] [ 1.56452028e-02 -4.29250041e-04 9.99877514e-01 7.18636680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.50925415399996 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:466.86, Y:5.10, Z:7.19 [[ 9.99067579e-01 -4.02375455e-02 -1.56496754e-02 4.66864527e+02] [ 4.02391818e-02 9.99190054e-01 -2.10440659e-04 5.09654116e+00] [ 1.56454677e-02 -4.19485695e-04 9.99877514e-01 7.18752674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.53925415399993 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:466.90, Y:5.10, Z:7.19 [[ 9.99178575e-01 -3.73799645e-02 -1.56496907e-02 4.66896037e+02] [ 3.73812683e-02 9.99301054e-01 -2.09301862e-04 5.09780645e+00] [ 1.56465761e-02 -3.75875349e-04 9.99877514e-01 7.18809513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.56925415399996 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:466.93, Y:5.10, Z:7.19 [[ 9.99243220e-01 -3.56100240e-02 -1.56497020e-02 4.66927959e+02] [ 3.56111241e-02 9.99365701e-01 -2.08452879e-04 5.09777110e+00] [ 1.56471984e-02 -3.49008354e-04 9.99877514e-01 7.18847221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.59925415399994 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:466.96, Y:5.10, Z:7.19 [[ 9.99305393e-01 -3.38203778e-02 -1.56497169e-02 4.66960359e+02] [ 3.38212762e-02 9.99427875e-01 -2.07327199e-04 5.09714776e+00] [ 1.56477752e-02 -3.22110209e-04 9.99877514e-01 7.18864694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.62925415399997 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:466.99, Y:5.09, Z:7.19 [[ 9.99432117e-01 -2.98417277e-02 -1.56497319e-02 4.66992095e+02] [ 2.98421563e-02 9.99554602e-01 -2.06188400e-04 5.09498352e+00] [ 1.56489145e-02 -2.60950436e-04 9.99877514e-01 7.18672762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.65925415399994 meters Centerline goodness : 0.999630 Centerline is valid? [True, True] Translation: X:467.02, Y:5.10, Z:7.19 [[ 9.99467708e-01 -2.86249059e-02 -1.56497566e-02 4.67023203e+02] [ 2.86252150e-02 9.99590194e-01 -2.04293915e-04 5.09529807e+00] [ 1.56491911e-02 -2.43792477e-04 9.99877514e-01 7.18885070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.6892541539999 meters Centerline goodness : 0.999674 Centerline is valid? [True, True] Translation: X:467.06, Y:5.09, Z:7.19 [[ 9.99550750e-01 -2.55613601e-02 -1.56497640e-02 4.67055027e+02] [ 2.55613026e-02 9.99673236e-01 -2.03729097e-04 5.09488568e+00] [ 1.56498578e-02 -1.96390781e-04 9.99877514e-01 7.18977276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.71925415399994 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:467.09, Y:5.09, Z:7.19 [[ 9.99585475e-01 -2.41653222e-02 -1.56497713e-02 4.67086560e+02] [ 2.41651025e-02 9.99707961e-01 -2.03162418e-04 5.09489807e+00] [ 1.56501105e-02 -1.75100127e-04 9.99877514e-01 7.19033858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.7492541539999 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:467.12, Y:5.09, Z:7.19 [[ 9.99627426e-01 -2.23627670e-02 -1.56497787e-02 4.67117285e+02] [ 2.23623354e-02 9.99749911e-01 -2.02592282e-04 5.09410975e+00] [ 1.56503954e-02 -1.47448798e-04 9.99877514e-01 7.18997925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.77925415399994 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:467.15, Y:5.09, Z:7.19 [[ 9.99630961e-01 -2.22041766e-02 -1.56497824e-02 4.67148101e+02] [ 2.22037300e-02 9.99753446e-01 -2.02309407e-04 5.09388998e+00] [ 1.56504160e-02 -1.45248795e-04 9.99877514e-01 7.19062045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.8092541539999 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:467.18, Y:5.09, Z:7.19 [[ 9.99631560e-01 -2.21772146e-02 -1.56497824e-02 4.67179042e+02] [ 2.21767647e-02 9.99754045e-01 -2.02309407e-04 5.09344464e+00] [ 1.56504199e-02 -1.44826673e-04 9.99877514e-01 7.19140000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.83925415399995 meters Centerline goodness : 0.999675 Centerline is valid? [True, True] Translation: X:467.21, Y:5.09, Z:7.19 [[ 9.99622169e-01 -2.25965606e-02 -1.56497824e-02 4.67209240e+02] [ 2.25961621e-02 9.99744654e-01 -2.02309407e-04 5.09279603e+00] [ 1.56503577e-02 -1.51392051e-04 9.99877514e-01 7.19308698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.8692541539999 meters Centerline goodness : 0.999610 Centerline is valid? [True, True] Translation: X:467.24, Y:5.09, Z:7.19 [[ 9.99561865e-01 -2.51229405e-02 -1.56497824e-02 4.67238423e+02] [ 2.51228515e-02 9.99684351e-01 -2.02309407e-04 5.09080385e+00] [ 1.56499251e-02 -1.90946391e-04 9.99877514e-01 7.19421615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.89925415399995 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:467.27, Y:5.09, Z:7.20 [[ 9.99522572e-01 -2.66404214e-02 -1.56497787e-02 4.67268697e+02] [ 2.66405140e-02 9.99645058e-01 -2.02594178e-04 5.09001390e+00] [ 1.56496211e-02 -2.14420694e-04 9.99877514e-01 7.19603178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.9292541539999 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:467.30, Y:5.09, Z:7.20 [[ 9.99392142e-01 -3.11517442e-02 -1.56497787e-02 4.67298939e+02] [ 3.11523896e-02 9.99514626e-01 -2.02594178e-04 5.08868836e+00] [ 1.56484938e-02 -2.85056973e-04 9.99877514e-01 7.19712635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.95925415399995 meters Centerline goodness : 0.999439 Centerline is valid? [True, True] Translation: X:467.33, Y:5.09, Z:7.20 [[ 9.99303618e-01 -3.38727342e-02 -1.56497912e-02 4.67331026e+02] [ 3.38737284e-02 9.99426100e-01 -2.01618894e-04 5.08804702e+00] [ 1.56476392e-02 -3.28638287e-04 9.99877514e-01 7.19736154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.9892541539999 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:467.36, Y:5.09, Z:7.20 [[ 9.99050041e-01 -4.06706131e-02 -1.56498058e-02 4.67363428e+02] [ 4.06724584e-02 9.99172513e-01 -2.00481186e-04 5.08570855e+00] [ 1.56450095e-02 -4.36225339e-04 9.99877514e-01 7.19727196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.01925415399995 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:467.40, Y:5.08, Z:7.20 [[ 9.98890835e-01 -4.44092613e-02 -1.56498205e-02 4.67395535e+02] [ 4.44115829e-02 9.99013299e-01 -1.99331688e-04 5.08447037e+00] [ 1.56432309e-02 -4.95922702e-04 9.99877514e-01 7.19735978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.0492541539999 meters Centerline goodness : 0.999378 Centerline is valid? [True, True] Translation: X:467.43, Y:5.08, Z:7.20 [[ 9.98703801e-01 -4.84334658e-02 -1.56498349e-02 4.67427913e+02] [ 4.84362986e-02 9.98826254e-01 -1.98187497e-04 5.08324639e+00] [ 1.56410649e-02 -5.60089473e-04 9.99877514e-01 7.19754552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.07925415399995 meters Centerline goodness : 0.999378 Centerline is valid? [True, True] Translation: X:467.46, Y:5.08, Z:7.20 [[ 9.98709146e-01 -4.83231101e-02 -1.56498494e-02 4.67461448e+02] [ 4.83259475e-02 9.98831599e-01 -1.97039608e-04 5.08357929e+00] [ 1.56410857e-02 -5.59508542e-04 9.99877514e-01 7.19807009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.1092541539999 meters Centerline goodness : 0.999335 Centerline is valid? [True, True] Translation: X:467.49, Y:5.08, Z:7.20 [[ 9.98503740e-01 -5.23962030e-02 -1.56498710e-02 4.67494008e+02] [ 5.23995669e-02 9.98626180e-01 -1.95310389e-04 5.08241062e+00] [ 1.56386044e-02 -6.25028307e-04 9.99877514e-01 7.19716630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.13925415399996 meters Centerline goodness : 0.999314 Centerline is valid? [True, True] Translation: X:467.53, Y:5.08, Z:7.20 [[ 9.98084857e-01 -5.98472945e-02 -1.56498887e-02 4.67527539e+02] [ 5.98515945e-02 9.98207268e-01 -1.93879008e-04 5.07982631e+00] [ 1.56334358e-02 -7.43163091e-04 9.99877514e-01 7.19833734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.16925415399993 meters Centerline goodness : 0.999336 Centerline is valid? [True, True] Translation: X:467.56, Y:5.08, Z:7.20 [[ 9.97886312e-01 -6.30713028e-02 -1.56499100e-02 4.67560753e+02] [ 6.30760254e-02 9.98008706e-01 -1.92143952e-04 5.07892968e+00] [ 1.56308652e-02 -7.95396301e-04 9.99877514e-01 7.19854101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.19925415399996 meters Centerline goodness : 0.999486 Centerline is valid? [True, True] Translation: X:467.59, Y:5.08, Z:7.20 [[ 9.97494636e-01 -6.89893462e-02 -1.56499311e-02 4.67593808e+02] [ 6.89948218e-02 9.97617000e-01 -1.90409102e-04 5.07745746e+00] [ 1.56257735e-02 -8.89832151e-04 9.99877514e-01 7.19838863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.22925415399993 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:467.64, Y:5.06, Z:7.19 [[ 9.97962374e-01 -6.18561195e-02 -1.56499519e-02 4.67636109e+02] [ 6.18607470e-02 9.98084772e-01 -1.88686938e-04 5.06475076e+00] [ 1.56316501e-02 -7.79815250e-04 9.99877514e-01 7.19017642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.25925415399996 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:467.65, Y:5.08, Z:7.20 [[ 9.97149306e-01 -7.38114600e-02 -1.56566036e-02 4.67652918e+02] [ 7.38268467e-02 9.97270992e-01 4.06288309e-04 5.07692853e+00] [ 1.55838879e-02 -1.56100778e-03 9.99877345e-01 7.19864623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.28925415399993 meters Centerline goodness : 0.999210 Centerline is valid? [True, True] Translation: X:467.70, Y:5.06, Z:7.19 [[ 9.97625360e-01 -6.70727078e-02 -1.56490732e-02 4.67695739e+02] [ 6.70778633e-02 9.97747725e-01 -1.95798941e-04 5.06438610e+00] [ 1.56269599e-02 -8.54372403e-04 9.99877527e-01 7.19224268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.31925415399996 meters Centerline goodness : 0.999359 Centerline is valid? [True, True] Translation: X:467.71, Y:5.08, Z:7.20 [[ 9.96884925e-01 -7.73003832e-02 -1.56555888e-02 4.67712903e+02] [ 7.73156927e-02 9.97006592e-01 3.74113647e-04 5.07558187e+00] [ 1.55798061e-02 -1.58337094e-03 9.99877374e-01 7.20066576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.34925415399994 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:467.75, Y:5.07, Z:7.20 [[ 9.96889330e-01 -7.72450148e-02 -1.56483708e-02 4.67745376e+02] [ 7.72513889e-02 9.97011627e-01 -1.97624113e-04 5.07472423e+00] [ 1.56168731e-02 -1.01184901e-03 9.99877537e-01 7.20111285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.37925415399997 meters Centerline goodness : 0.999317 Centerline is valid? [True, True] Translation: X:467.78, Y:5.07, Z:7.20 [[ 9.96929798e-01 -7.67209671e-02 -1.56483853e-02 4.67777390e+02] [ 7.67272950e-02 9.97052097e-01 -1.96467104e-04 5.07474279e+00] [ 1.56173286e-02 -1.00479437e-03 9.99877537e-01 7.20126548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.40925415399994 meters Centerline goodness : 0.999189 Centerline is valid? [True, True] Translation: X:467.81, Y:5.08, Z:7.20 [[ 9.97142651e-01 -7.39030470e-02 -1.56483998e-02 4.67808791e+02] [ 7.39090473e-02 9.97264967e-01 -1.95309593e-04 5.07504146e+00] [ 1.56200349e-02 -9.61806795e-04 9.99877537e-01 7.20038207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.4392541539999 meters Centerline goodness : 0.999380 Centerline is valid? [True, True] Translation: X:467.84, Y:5.08, Z:7.20 [[ 9.97291034e-01 -7.18729535e-02 -1.56484105e-02 4.67841247e+02] [ 7.18787183e-02 9.97413361e-01 -1.94447483e-04 5.07595026e+00] [ 1.56219092e-02 -9.30866959e-04 9.99877537e-01 7.20088244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.46925415399994 meters Centerline goodness : 0.999423 Centerline is valid? [True, True] Translation: X:467.87, Y:5.08, Z:7.20 [[ 9.97461388e-01 -6.94687456e-02 -1.56484247e-02 4.67872735e+02] [ 6.94742335e-02 9.97583728e-01 -1.93301796e-04 5.07690378e+00] [ 1.56240422e-02 -8.94351230e-04 9.99877537e-01 7.20002335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.4992541539999 meters Centerline goodness : 0.999230 Centerline is valid? [True, True] Translation: X:467.90, Y:5.08, Z:7.20 [[ 9.97878064e-01 -6.32020318e-02 -1.56484352e-02 4.67903580e+02] [ 6.32067645e-02 9.98000435e-01 -1.92447341e-04 5.07825329e+00] [ 1.56293082e-02 -7.97047975e-04 9.99877537e-01 7.19823181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.52925415399994 meters Centerline goodness : 0.999294 Centerline is valid? [True, True] Translation: X:467.94, Y:5.08, Z:7.20 [[ 9.98101043e-01 -5.95771261e-02 -1.56484454e-02 4.67936140e+02] [ 5.95814274e-02 9.98223430e-01 -1.91608406e-04 5.07963178e+00] [ 1.56320604e-02 -7.41112166e-04 9.99877537e-01 7.19858129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.5592541539999 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:467.98, Y:5.07, Z:7.19 [[ 9.99019155e-01 -4.14228610e-02 -1.56484590e-02 4.67977481e+02] [ 4.14249541e-02 9.99141600e-01 -1.90495980e-04 5.07076332e+00] [ 1.56429172e-02 -4.57927562e-04 9.99877537e-01 7.19030536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.58925415399995 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:467.99, Y:5.08, Z:7.20 [[ 9.98810839e-01 -4.61718065e-02 -1.56547602e-02 4.67994363e+02] [ 4.61832023e-02 9.98932919e-01 3.67019427e-04 5.08414522e+00] [ 1.56211094e-02 -1.08956994e-03 9.99877389e-01 7.19803811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.6192541539999 meters Centerline goodness : 0.999441 Centerline is valid? [True, True] Translation: X:468.03, Y:5.09, Z:7.20 [[ 9.99275819e-01 -3.46841098e-02 -1.56477044e-02 4.68025288e+02] [ 3.46852888e-02 9.99398265e-01 -1.96123776e-04 5.08763909e+00] [ 1.56450910e-02 -3.46763399e-04 9.99877548e-01 7.19863342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.64925415399995 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:468.06, Y:5.09, Z:7.20 [[ 9.99472612e-01 -2.84542960e-02 -1.56477145e-02 4.68056534e+02] [ 2.84547243e-02 9.99595063e-01 -1.95314375e-04 5.08920479e+00] [ 1.56469357e-02 -2.50040033e-04 9.99877548e-01 7.19927214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.6792541539999 meters Centerline goodness : 0.995830 Centerline is valid? [True, True] Translation: X:468.09, Y:5.09, Z:7.20 [[ 9.99630309e-01 -2.22349849e-02 -1.56477212e-02 4.68086154e+02] [ 2.22346597e-02 9.99752760e-01 -1.94776550e-04 5.09196134e+00] [ 1.56481833e-02 -1.53217213e-04 9.99877548e-01 7.20042614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.70925415399995 meters Centerline goodness : 0.997403 Centerline is valid? [True, True] Translation: X:468.12, Y:5.10, Z:7.20 [[ 9.99827059e-01 -1.00517017e-02 -1.56466022e-02 4.68115039e+02] [ 1.00485020e-02 9.99949472e-01 -2.83101714e-04 5.09553375e+00] [ 1.56486573e-02 1.25827840e-04 9.99877544e-01 7.20269545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.7392541539999 meters Centerline goodness : 0.999348 Centerline is valid? [True, True] Translation: X:468.14, Y:5.10, Z:7.20 [[ 9.99868736e-01 -4.20702179e-03 -1.56464478e-02 4.68144508e+02] [ 4.20291583e-03 9.99991124e-01 -2.95294657e-04 5.09604710e+00] [ 1.56475512e-02 2.29495192e-04 9.99877543e-01 7.20379008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.76925415399995 meters Centerline goodness : 0.996619 Centerline is valid? [True, True] Translation: X:468.17, Y:5.10, Z:7.21 [[ 9.99859377e-01 6.03127047e-03 -1.56476845e-02 4.68171059e+02] [-6.03509403e-03 9.99981769e-01 -1.97143830e-04 5.09979581e+00] [ 1.56462102e-02 2.91551354e-04 9.99877548e-01 7.20796635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.7992541539999 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:468.20, Y:5.10, Z:7.21 [[ 9.99824436e-01 1.03102258e-02 -1.56459958e-02 4.68201220e+02] [-1.03165844e-02 9.99946730e-01 -3.25746204e-04 5.09973718e+00] [ 1.56418038e-02 4.87102251e-04 9.99877541e-01 7.20857935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.82925415399995 meters Centerline goodness : 0.999328 Centerline is valid? [True, True] Translation: X:468.23, Y:5.10, Z:7.21 [[ 9.99782621e-01 1.37791139e-02 -1.56475880e-02 4.68227847e+02] [-1.37839781e-02 9.99904976e-01 -2.03047186e-04 5.10161705e+00] [ 1.56433033e-02 4.18689058e-04 9.99877548e-01 7.21163899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.8592541539999 meters Centerline goodness : 0.994402 Centerline is valid? [True, True] Translation: X:468.26, Y:5.10, Z:7.21 [[ 9.99757649e-01 1.54864399e-02 -1.56465086e-02 4.68255281e+02] [-1.54927331e-02 9.99879941e-01 -2.81077549e-04 5.10201344e+00] [ 1.56402772e-02 5.23416612e-04 9.99877546e-01 7.21080823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.88925415399996 meters Centerline goodness : 0.994915 Centerline is valid? [True, True] Translation: X:468.28, Y:5.10, Z:7.21 [[ 9.99738102e-01 1.67013155e-02 -1.56458540e-02 4.68283993e+02] [-1.67084982e-02 9.99860349e-01 -3.28467725e-04 5.09991088e+00] [ 1.56381832e-02 5.89800424e-04 9.99877542e-01 7.21127309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.91925415399993 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:468.31, Y:5.10, Z:7.21 [[ 9.99766863e-01 1.48802355e-02 -1.56460016e-02 4.68312686e+02] [-1.48870285e-02 9.99889132e-01 -3.17785292e-04 5.09856852e+00] [ 1.56395382e-02 5.50633675e-04 9.99877543e-01 7.21420087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.94925415399996 meters Centerline goodness : 0.999287 Centerline is valid? [True, True] Translation: X:468.34, Y:5.10, Z:7.21 [[ 9.99789408e-01 1.32777544e-02 -1.56474122e-02 4.68340614e+02] [-1.32827479e-02 9.99911757e-01 -2.15237940e-04 5.09715858e+00] [ 1.56431736e-02 4.23033245e-04 9.99877549e-01 7.21465379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.97925415399993 meters Centerline goodness : 0.999226 Centerline is valid? [True, True] Translation: X:468.37, Y:5.09, Z:7.21 [[ 9.99837652e-01 8.93467163e-03 -1.56473888e-02 4.68369191e+02] [-8.93916004e-03 9.99960021e-01 -2.16927686e-04 5.09338521e+00] [ 1.56448251e-02 3.56766981e-04 9.99877549e-01 7.21414759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.00925415399996 meters Centerline goodness : 0.999314 Centerline is valid? [True, True] Translation: X:468.40, Y:5.09, Z:7.21 [[ 9.99856219e-01 6.53466208e-03 -1.56473731e-02 4.68398055e+02] [-6.53887436e-03 9.99978598e-01 -2.18054133e-04 5.09141150e+00] [ 1.56456133e-02 3.20338988e-04 9.99877549e-01 7.21462651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.03925415399993 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:468.43, Y:5.08, Z:7.21 [[ 9.99869280e-01 4.07213280e-03 -1.56473571e-02 4.68429257e+02] [-4.07606150e-03 9.99991669e-01 -2.19194085e-04 5.08394501e+00] [ 1.56463342e-02 2.82945022e-04 9.99877549e-01 7.21495016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.06925415399996 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:468.45, Y:5.08, Z:7.22 [[ 9.99875441e-01 -2.05583485e-03 -1.56485058e-02 4.68454628e+02] [ 2.05393597e-03 9.99997881e-01 -1.37416254e-04 5.08342849e+00] [ 1.56487551e-02 1.05258109e-04 9.99877545e-01 7.21574995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.09925415399994 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:468.48, Y:5.08, Z:7.22 [[ 9.99863556e-01 -5.29466096e-03 -1.56472521e-02 4.68483800e+02] [ 5.29179258e-03 9.99985973e-01 -2.24712813e-04 5.08062687e+00] [ 1.56482224e-02 1.41880140e-04 9.99877549e-01 7.21646588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.12925415399997 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:468.51, Y:5.07, Z:7.22 [[ 9.99845395e-01 -8.02179751e-03 -1.56472355e-02 4.68514464e+02] [ 8.01924505e-03 9.99967820e-01 -2.25862352e-04 5.07129469e+00] [ 1.56485438e-02 1.00348417e-04 9.99877549e-01 7.21772218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.15925415399994 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:468.55, Y:5.06, Z:7.21 [[ 9.99852839e-01 -7.02942874e-03 -1.56488618e-02 4.68553303e+02] [ 7.02850835e-03 9.99975293e-01 -1.13812658e-04 5.06228107e+00] [ 1.56492752e-02 3.80775351e-06 9.99877543e-01 7.21052095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.1892541539999 meters Centerline goodness : 0.998982 Centerline is valid? [True, True] Translation: X:468.57, Y:5.07, Z:7.22 [[ 9.99602943e-01 -2.34269603e-02 -1.56567263e-02 4.68568440e+02] [ 2.34355262e-02 9.99725284e-01 3.63833979e-04 5.06728388e+00] [ 1.56439016e-02 -7.30613136e-04 9.99877360e-01 7.21857511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.21925415399994 meters Centerline goodness : 0.998899 Centerline is valid? [True, True] Translation: X:468.61, Y:5.05, Z:7.21 [[ 9.99760946e-01 -1.52734465e-02 -1.56452080e-02 4.68611881e+02] [ 1.52709351e-02 9.99883353e-01 -2.79980901e-04 5.05273877e+00] [ 1.56476594e-02 4.09970141e-05 9.99877567e-01 7.21140988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.2492541539999 meters Centerline goodness : 0.999048 Centerline is valid? [True, True] Translation: X:468.64, Y:5.06, Z:7.22 [[ 9.99557512e-01 -2.52919354e-02 -1.56556030e-02 4.68636428e+02] [ 2.53000067e-02 9.99679853e-01 3.17680301e-04 5.05532744e+00] [ 1.56425561e-02 -7.13626591e-04 9.99877393e-01 7.21863331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.27925415399994 meters Centerline goodness : 0.998944 Centerline is valid? [True, True] Translation: X:468.66, Y:5.06, Z:7.22 [[ 9.99359165e-01 -3.21923421e-02 -1.56496706e-02 4.68660046e+02] [ 3.21961652e-02 9.99481569e-01 -7.65444967e-06 5.05709282e+00] [ 1.56418037e-02 -4.96209834e-04 9.99877536e-01 7.21933835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.3092541539999 meters Centerline goodness : 0.999243 Centerline is valid? [True, True] Translation: X:468.70, Y:5.04, Z:7.22 [[ 9.99290411e-01 -3.42626667e-02 -1.56442852e-02 4.68695329e+02] [ 3.42622594e-02 9.99412833e-01 -2.94129774e-04 5.04477922e+00] [ 1.56451770e-02 -2.42087494e-04 9.99877577e-01 7.21906661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.33925415399995 meters Centerline goodness : 0.998884 Centerline is valid? [True, True] Translation: X:468.72, Y:5.04, Z:7.22 [[ 9.99079447e-01 -3.99419699e-02 -1.56492336e-02 4.68720160e+02] [ 3.99466998e-02 9.99201812e-01 -1.03484062e-05 5.04479631e+00] [ 1.56371559e-02 -6.14796358e-04 9.99877543e-01 7.21730825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.3692541539999 meters Centerline goodness : 0.999286 Centerline is valid? [True, True] Translation: X:468.75, Y:5.04, Z:7.22 [[ 9.98843404e-01 -4.54655945e-02 -1.56439527e-02 4.68751468e+02] [ 4.54664272e-02 9.98965821e-01 -3.02607947e-04 5.03795008e+00] [ 1.56415323e-02 -4.09016685e-04 9.99877580e-01 7.21741929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.39925415399995 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:468.78, Y:5.04, Z:7.22 [[ 9.98747658e-01 -4.75223152e-02 -1.56443454e-02 4.68783391e+02] [ 4.75237425e-02 9.98870069e-01 -2.80724928e-04 5.03523599e+00] [ 1.56400090e-02 -4.63104477e-04 9.99877580e-01 7.21772256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.4292541539999 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:468.82, Y:5.03, Z:7.22 [[ 9.98665365e-01 -4.92213601e-02 -1.56443651e-02 4.68815525e+02] [ 4.92230129e-02 9.98787774e-01 -2.79622352e-04 5.03298171e+00] [ 1.56391640e-02 -4.90813625e-04 9.99877580e-01 7.21790894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.45925415399995 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:468.85, Y:5.03, Z:7.22 [[ 9.98599424e-01 -5.05415101e-02 -1.56443846e-02 4.68847212e+02] [ 5.05433419e-02 9.98721830e-01 -2.78527145e-04 5.02891212e+00] [ 1.56384656e-02 -5.12582432e-04 9.99877580e-01 7.21738082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.4892541539999 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:468.88, Y:5.03, Z:7.22 [[ 9.98601398e-01 -5.05024786e-02 -1.56443991e-02 4.68879569e+02] [ 5.05043183e-02 9.98723804e-01 -2.77709964e-04 5.02768642e+00] [ 1.56384588e-02 -5.12788153e-04 9.99877580e-01 7.21824841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.51925415399995 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:468.91, Y:5.03, Z:7.22 [[ 9.98621327e-01 -5.01068546e-02 -1.56444187e-02 4.68910966e+02] [ 5.01086632e-02 9.98743734e-01 -2.76599795e-04 5.02593781e+00] [ 1.56386247e-02 -5.07702455e-04 9.99877580e-01 7.21533990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.5492541539999 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:468.94, Y:5.03, Z:7.22 [[ 9.98660590e-01 -4.93180854e-02 -1.56445653e-02 4.68942147e+02] [ 4.93199272e-02 9.98782996e-01 -2.68303660e-04 5.02596371e+00] [ 1.56387581e-02 -5.03644532e-04 9.99877580e-01 7.21768708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.57925415399995 meters Centerline goodness : 0.999287 Centerline is valid? [True, True] Translation: X:468.97, Y:5.03, Z:7.22 [[ 9.98700392e-01 -4.85055211e-02 -1.56441892e-02 4.68974502e+02] [ 4.85069306e-02 9.98822804e-01 -2.89563690e-04 5.02594337e+00] [ 1.56398184e-02 -4.69664230e-04 9.99877580e-01 7.22044392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.6092541539999 meters Centerline goodness : 0.998931 Centerline is valid? [True, True] Translation: X:469.01, Y:5.03, Z:7.22 [[ 9.98707856e-01 -4.83515213e-02 -1.56444175e-02 4.69006926e+02] [ 4.83531139e-02 9.98830266e-01 -2.76655723e-04 5.02652783e+00] [ 1.56394944e-02 -4.80158056e-04 9.99877580e-01 7.22162022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.63925415399996 meters Centerline goodness : 0.997041 Centerline is valid? [True, True] Translation: X:469.04, Y:5.03, Z:7.22 [[ 9.98747927e-01 -4.75166210e-02 -1.56444376e-02 4.69036361e+02] [ 4.75181292e-02 9.98870338e-01 -2.75512053e-04 5.02647155e+00] [ 1.56398561e-02 -4.68227316e-04 9.99877580e-01 7.21768142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.66925415399993 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:469.07, Y:5.03, Z:7.22 [[ 9.98674730e-01 -4.90314616e-02 -1.56428771e-02 4.69068392e+02] [ 4.90317834e-02 9.98797153e-01 -3.63180942e-04 5.02738151e+00] [ 1.56418684e-02 -4.04298535e-04 9.99877577e-01 7.22139312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.69925415399996 meters Centerline goodness : 0.998934 Centerline is valid? [True, True] Translation: X:469.11, Y:5.02, Z:7.22 [[ 9.98925401e-01 -4.36267816e-02 -1.56444279e-02 4.69109308e+02] [ 4.36278219e-02 9.99047815e-01 -2.74943837e-04 5.02006567e+00] [ 1.56415265e-02 -4.07883933e-04 9.99877581e-01 7.21801784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.72925415399993 meters Centerline goodness : 0.999140 Centerline is valid? [True, True] Translation: X:469.14, Y:5.02, Z:7.22 [[ 9.98847925e-01 -4.53631567e-02 -1.56526872e-02 4.69141175e+02] [ 4.53719223e-02 9.98970143e-01 2.05157062e-04 5.01930831e+00] [ 1.56272606e-02 -9.15113212e-04 9.99877468e-01 7.21675201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.75925415399996 meters Centerline goodness : 0.998869 Centerline is valid? [True, True] Translation: X:469.16, Y:5.03, Z:7.22 [[ 9.98398258e-01 -5.43680382e-02 -1.56536031e-02 4.69157424e+02] [ 5.43787230e-02 9.98520349e-01 2.57440891e-04 5.02874126e+00] [ 1.56164446e-02 -1.10825148e-03 9.99877442e-01 7.22020534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.78925415399993 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:469.19, Y:5.03, Z:7.22 [[ 9.98268220e-01 -5.67084602e-02 -1.56432476e-02 4.69189772e+02] [ 5.67108071e-02 9.98390604e-01 -2.93888889e-04 5.03110416e+00] [ 1.56347374e-02 -5.93761261e-04 9.99877594e-01 7.22427955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.81925415399996 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:469.22, Y:5.03, Z:7.22 [[ 9.98246948e-01 -5.70816866e-02 -1.56432685e-02 4.69221888e+02] [ 5.70840967e-02 9.98369331e-01 -2.92772872e-04 5.03242996e+00] [ 1.56344715e-02 -6.00722227e-04 9.99877594e-01 7.22475710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.84925415399994 meters Centerline goodness : 0.999142 Centerline is valid? [True, True] Translation: X:469.25, Y:5.03, Z:7.22 [[ 9.98315203e-01 -5.58752489e-02 -1.56432892e-02 4.69253339e+02] [ 5.58775285e-02 9.98437588e-01 -2.91664746e-04 5.03334375e+00] [ 1.56351448e-02 -5.82934987e-04 9.99877594e-01 7.22149576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.87925415399997 meters Centerline goodness : 0.999287 Centerline is valid? [True, True] Translation: X:469.29, Y:5.04, Z:7.23 [[ 9.98385164e-01 -5.46111366e-02 -1.56424939e-02 4.69285413e+02] [ 5.46125948e-02 9.98507563e-01 -3.34252142e-04 5.03573529e+00] [ 1.56374024e-02 -5.20564802e-04 9.99877593e-01 7.22741091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.90925415399994 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:469.32, Y:5.04, Z:7.23 [[ 9.98497070e-01 -5.25251273e-02 -1.56432906e-02 4.69318013e+02] [ 5.25269988e-02 9.98619462e-01 -2.91496470e-04 5.03765473e+00] [ 1.56370054e-02 -5.30636738e-04 9.99877594e-01 7.22958070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.9392541539999 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:469.35, Y:5.04, Z:7.23 [[ 9.98612325e-01 -5.02863238e-02 -1.56431900e-02 4.69350423e+02] [ 5.02878357e-02 9.98734722e-01 -2.96937799e-04 5.03978186e+00] [ 1.56383290e-02 -4.90136424e-04 9.99877594e-01 7.23024645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.96925415399994 meters Centerline goodness : 0.999097 Centerline is valid? [True, True] Translation: X:469.38, Y:5.04, Z:7.23 [[ 9.98854482e-01 -4.52217916e-02 -1.56433389e-02 4.69381334e+02] [ 4.52228091e-02 9.98976884e-01 -2.88873603e-04 5.04371176e+00] [ 1.56403974e-02 -4.18893037e-04 9.99877594e-01 7.23183517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.9992541539999 meters Centerline goodness : 0.999097 Centerline is valid? [True, True] Translation: X:469.41, Y:5.04, Z:7.23 [[ 9.98857668e-01 -4.51513537e-02 -1.56433543e-02 4.69414011e+02] [ 4.51523756e-02 9.98980070e-01 -2.88039149e-04 5.04425016e+00] [ 1.56404045e-02 -4.18624496e-04 9.99877594e-01 7.23234634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.02925415399994 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:469.45, Y:5.05, Z:7.23 [[ 9.98968724e-01 -4.26236241e-02 -1.56433745e-02 4.69445747e+02] [ 4.26243535e-02 9.99091128e-01 -2.86936070e-04 5.04615228e+00] [ 1.56413870e-02 -3.80148568e-04 9.99877594e-01 7.23408103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.0592541539999 meters Centerline goodness : 0.999222 Centerline is valid? [True, True] Translation: X:469.47, Y:5.05, Z:7.23 [[ 9.99193443e-01 -3.69830822e-02 -1.56433952e-02 4.69474609e+02] [ 3.69831382e-02 9.99315849e-01 -2.85804984e-04 5.04898778e+00] [ 1.56432627e-02 -2.92967381e-04 9.99877594e-01 7.23261679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.08925415399995 meters Centerline goodness : 0.998948 Centerline is valid? [True, True] Translation: X:469.51, Y:5.05, Z:7.24 [[ 9.99180985e-01 -3.73188773e-02 -1.56416168e-02 4.69505890e+02] [ 3.73174641e-02 9.99303388e-01 -3.82311249e-04 5.05127381e+00] [ 1.56449881e-02 -2.01707345e-04 9.99877589e-01 7.23629372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.1192541539999 meters Centerline goodness : 0.997628 Centerline is valid? [True, True] Translation: X:469.54, Y:5.05, Z:7.23 [[ 9.99263970e-01 -3.50257494e-02 -1.56433683e-02 4.69536692e+02] [ 3.50255505e-02 9.99386376e-01 -2.86771184e-04 5.05223130e+00] [ 1.56438136e-02 -2.61357476e-04 9.99877594e-01 7.23415033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.14925415399995 meters Centerline goodness : 0.999032 Centerline is valid? [True, True] Translation: X:469.57, Y:5.05, Z:7.24 [[ 9.99341265e-01 -3.27467093e-02 -1.56425721e-02 4.69567701e+02] [ 3.27455420e-02 9.99463666e-01 -3.30817337e-04 5.05404747e+00] [ 1.56450157e-02 -1.81625086e-04 9.99877593e-01 7.23772085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.1792541539999 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:469.60, Y:5.06, Z:7.24 [[ 9.99307747e-01 -3.37534897e-02 -1.56437852e-02 4.69597033e+02] [ 3.37534980e-02 9.99430154e-01 -2.63579327e-04 5.05650922e+00] [ 1.56437674e-02 -2.64635608e-04 9.99877594e-01 7.23719961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.20925415399995 meters Centerline goodness : 0.999073 Centerline is valid? [True, True] Translation: X:469.63, Y:5.06, Z:7.24 [[ 9.99238321e-01 -3.57504522e-02 -1.56423409e-02 4.69627217e+02] [ 3.57494711e-02 9.99360725e-01 -3.42425855e-04 5.05793461e+00] [ 1.56445830e-02 -2.17040378e-04 9.99877592e-01 7.23842844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.2392541539999 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:469.66, Y:5.06, Z:7.24 [[ 9.99137488e-01 -3.84650974e-02 -1.56433902e-02 4.69657381e+02] [ 3.84653508e-02 9.99259894e-01 -2.84791416e-04 5.05924517e+00] [ 1.56427669e-02 -3.17182711e-04 9.99877594e-01 7.23813134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.26925415399995 meters Centerline goodness : 0.999138 Centerline is valid? [True, True] Translation: X:469.69, Y:5.06, Z:7.24 [[ 9.99065913e-01 -4.02813269e-02 -1.56433951e-02 4.69688227e+02] [ 4.02818071e-02 9.99188318e-01 -2.84520731e-04 5.06022961e+00] [ 1.56421585e-02 -3.45889259e-04 9.99877594e-01 7.23954565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.2992541539999 meters Centerline goodness : 0.999221 Centerline is valid? [True, True] Translation: X:469.72, Y:5.06, Z:7.24 [[ 9.98894824e-01 -4.43217087e-02 -1.56434051e-02 4.69719098e+02] [ 4.43226926e-02 9.99017226e-01 -2.83969813e-04 5.06166207e+00] [ 1.56406172e-02 -4.09701859e-04 9.99877594e-01 7.23888464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.32925415399995 meters Centerline goodness : 0.999011 Centerline is valid? [True, True] Translation: X:469.75, Y:5.06, Z:7.24 [[ 9.98796290e-01 -4.64892914e-02 -1.56434200e-02 4.69751584e+02] [ 4.64905538e-02 9.98918690e-01 -2.83146110e-04 5.06242083e+00] [ 1.56396679e-02 -4.44465975e-04 9.99877594e-01 7.24116285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.3592541539999 meters Centerline goodness : 0.999054 Centerline is valid? [True, True] Translation: X:469.78, Y:5.06, Z:7.24 [[ 9.98699263e-01 -4.85290203e-02 -1.56434399e-02 4.69782283e+02] [ 4.85305499e-02 9.98821659e-01 -2.82042113e-04 5.06303594e+00] [ 1.56386938e-02 -4.77509492e-04 9.99877594e-01 7.24177991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.38925415399996 meters Centerline goodness : 0.999242 Centerline is valid? [True, True] Translation: X:469.81, Y:5.06, Z:7.24 [[ 9.98529769e-01 -5.18997397e-02 -1.56434547e-02 4.69812975e+02] [ 5.19016954e-02 9.98652159e-01 -2.81218835e-04 5.06398034e+00] [ 1.56369650e-02 -5.31116443e-04 9.99877594e-01 7.24182557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.41925415399993 meters Centerline goodness : 0.999243 Centerline is valid? [True, True] Translation: X:469.85, Y:5.06, Z:7.24 [[ 9.98453234e-01 -5.33518567e-02 -1.56434883e-02 4.69845189e+02] [ 5.33540198e-02 9.98575621e-01 -2.79339777e-04 5.06495313e+00] [ 1.56361093e-02 -5.55735279e-04 9.99877594e-01 7.24296239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.44925415399996 meters Centerline goodness : 0.999285 Centerline is valid? [True, True] Translation: X:469.88, Y:5.07, Z:7.25 [[ 9.98364125e-01 -5.49941327e-02 -1.56435064e-02 4.69876947e+02] [ 5.49965130e-02 9.98486508e-01 -2.78320812e-04 5.06609834e+00] [ 1.56351361e-02 -5.82472790e-04 9.99877594e-01 7.24610814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.47925415399993 meters Centerline goodness : 0.999200 Centerline is valid? [True, True] Translation: X:469.91, Y:5.07, Z:7.25 [[ 9.98336939e-01 -5.54854524e-02 -1.56435263e-02 4.69908812e+02] [ 5.54879105e-02 9.98459321e-01 -2.77199604e-04 5.06731179e+00] [ 1.56348052e-02 -5.91287982e-04 9.99877594e-01 7.24672813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.50925415399996 meters Centerline goodness : 0.999579 Centerline is valid? [True, True] Translation: X:469.94, Y:5.07, Z:7.25 [[ 9.98334448e-01 -5.55302531e-02 -1.56435462e-02 4.69940700e+02] [ 5.55327343e-02 9.98456829e-01 -2.76072698e-04 5.06852170e+00] [ 1.56347359e-02 -5.93116008e-04 9.99877594e-01 7.24734380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.53925415399993 meters Centerline goodness : 0.999034 Centerline is valid? [True, True] Translation: X:469.97, Y:5.07, Z:7.25 [[ 9.98333884e-01 -5.55403857e-02 -1.56435658e-02 4.69972485e+02] [ 5.55428857e-02 9.98456265e-01 -2.74952549e-04 5.06970189e+00] [ 1.56346873e-02 -5.94394344e-04 9.99877594e-01 7.24719287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.56925415399996 meters Centerline goodness : 0.999030 Centerline is valid? [True, True] Translation: X:470.00, Y:5.07, Z:7.25 [[ 9.98331188e-01 -5.55888289e-02 -1.56435853e-02 4.70004577e+02] [ 5.55913522e-02 9.98453568e-01 -2.73840932e-04 5.07135300e+00] [ 1.56346161e-02 -5.96264118e-04 9.99877594e-01 7.24658454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.59925415399994 meters Centerline goodness : 0.998777 Centerline is valid? [True, True] Translation: X:470.05, Y:5.06, Z:7.24 [[ 9.98766927e-01 -4.71158450e-02 -1.56436045e-02 4.70045611e+02] [ 4.71173471e-02 9.98889324e-01 -2.72738748e-04 5.06103500e+00] [ 1.56390799e-02 -4.64682702e-04 9.99877594e-01 7.23708775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.62925415399997 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:470.06, Y:5.07, Z:7.25 [[ 9.98338317e-01 -5.54582423e-02 -1.56520680e-02 4.70063363e+02] [ 5.54686881e-02 9.98460400e-01 2.33706524e-04 5.07409880e+00] [ 1.56150091e-02 -1.10151785e-03 9.99877472e-01 7.24698177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.65925415399994 meters Centerline goodness : 0.999136 Centerline is valid? [True, True] Translation: X:470.10, Y:5.08, Z:7.25 [[ 9.98385801e-01 -5.45993866e-02 -1.56429009e-02 4.70095731e+02] [ 5.46017000e-02 9.98508175e-01 -2.79488126e-04 5.07548070e+00] [ 1.56348243e-02 -5.75092005e-04 9.99877603e-01 7.24762717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.6892541539999 meters Centerline goodness : 0.999240 Centerline is valid? [True, True] Translation: X:470.13, Y:5.08, Z:7.25 [[ 9.98460043e-01 -5.32244400e-02 -1.56429201e-02 4.70128326e+02] [ 5.32266018e-02 9.98582421e-01 -2.78406480e-04 5.07669019e+00] [ 1.56355631e-02 -5.54641735e-04 9.99877603e-01 7.24784803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.71925415399994 meters Centerline goodness : 0.999072 Centerline is valid? [True, True] Translation: X:470.16, Y:5.08, Z:7.25 [[ 9.98685012e-01 -4.88215682e-02 -1.56429392e-02 4.70160712e+02] [ 4.88232071e-02 9.98807398e-01 -2.77330516e-04 5.07991123e+00] [ 1.56378231e-02 -4.86772632e-04 9.99877603e-01 7.24804051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.7492541539999 meters Centerline goodness : 0.998987 Centerline is valid? [True, True] Translation: X:470.19, Y:5.08, Z:7.25 [[ 9.98834411e-01 -4.56630882e-02 -1.56429581e-02 4.70191809e+02] [ 4.56643569e-02 9.98956801e-01 -2.76261571e-04 5.08191156e+00] [ 1.56392543e-02 -4.38386057e-04 9.99877603e-01 7.24811968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.77925415399994 meters Centerline goodness : 0.998985 Centerline is valid? [True, True] Translation: X:470.22, Y:5.09, Z:7.25 [[ 9.99087983e-01 -3.97303317e-02 -1.56429721e-02 4.70223629e+02] [ 3.97308859e-02 9.99210379e-01 -2.75466750e-04 5.08532325e+00] [ 1.56415645e-02 -3.46293619e-04 9.99877603e-01 7.25108736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.8092541539999 meters Centerline goodness : 0.999132 Centerline is valid? [True, True] Translation: X:470.25, Y:5.09, Z:7.25 [[ 9.99180786e-01 -3.73236235e-02 -1.56429918e-02 4.70254422e+02] [ 3.73239004e-02 9.99303183e-01 -2.74346051e-04 5.08703485e+00] [ 1.56423310e-02 -3.09736163e-04 9.99877603e-01 7.24936376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.83925415399995 meters Centerline goodness : 0.999069 Centerline is valid? [True, True] Translation: X:470.29, Y:5.09, Z:7.25 [[ 9.99298770e-01 -3.40185928e-02 -1.56430063e-02 4.70285111e+02] [ 3.40184779e-02 9.99421167e-01 -2.73511962e-04 5.08890402e+00] [ 1.56432561e-02 -2.58831098e-04 9.99877603e-01 7.25043011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.8692541539999 meters Centerline goodness : 0.998942 Centerline is valid? [True, True] Translation: X:470.32, Y:5.09, Z:7.25 [[ 9.99323718e-01 -3.32776397e-02 -1.56430374e-02 4.70316604e+02] [ 3.32774621e-02 9.99446115e-01 -2.71722113e-04 5.09004093e+00] [ 1.56434153e-02 -2.49022233e-04 9.99877603e-01 7.25091805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.89925415399995 meters Centerline goodness : 0.998771 Centerline is valid? [True, True] Translation: X:470.35, Y:5.09, Z:7.25 [[ 9.99352395e-01 -3.24050413e-02 -1.56430462e-02 4.70348411e+02] [ 3.24047647e-02 9.99474791e-01 -2.71214394e-04 5.09088850e+00] [ 1.56436191e-02 -2.35870479e-04 9.99877603e-01 7.25128145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.9292541539999 meters Centerline goodness : 0.998919 Centerline is valid? [True, True] Translation: X:470.38, Y:5.09, Z:7.25 [[ 9.99371427e-01 -3.18126602e-02 -1.56430550e-02 4.70378698e+02] [ 3.18123190e-02 9.99493823e-01 -2.70710231e-04 5.09222052e+00] [ 1.56437488e-02 -2.27101784e-04 9.99877603e-01 7.25198038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.95925415399995 meters Centerline goodness : 0.998453 Centerline is valid? [True, True] Translation: X:470.41, Y:5.09, Z:7.25 [[ 9.99386518e-01 -3.13349898e-02 -1.56430683e-02 4.70407768e+02] [ 3.13346023e-02 9.99508914e-01 -2.69936235e-04 5.09439940e+00] [ 1.56438447e-02 -2.20398689e-04 9.99877603e-01 7.25328268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.9892541539999 meters Centerline goodness : 0.998876 Centerline is valid? [True, True] Translation: X:470.44, Y:5.09, Z:7.25 [[ 9.99361406e-01 -3.21268848e-02 -1.56411148e-02 4.70438647e+02] [ 3.21248461e-02 9.99483791e-01 -3.81639259e-04 5.09402983e+00] [ 1.56453016e-02 -1.21072859e-04 9.99877597e-01 7.25313223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.01925415399995 meters Centerline goodness : 0.995967 Centerline is valid? [True, True] Translation: X:470.47, Y:5.10, Z:7.26 [[ 9.99362770e-01 -3.20834771e-02 -1.56430127e-02 4.70467475e+02] [ 3.20831360e-02 9.99485166e-01 -2.72823412e-04 5.09565681e+00] [ 1.56437123e-02 -2.29227342e-04 9.99877603e-01 7.25582490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.0492541539999 meters Centerline goodness : 0.998706 Centerline is valid? [True, True] Translation: X:470.50, Y:5.09, Z:7.25 [[ 9.99461810e-01 -2.88350411e-02 -1.56406877e-02 4.70504113e+02] [ 2.88322463e-02 9.99584183e-01 -4.04201488e-04 5.09033588e+00] [ 1.56458391e-02 -4.69722074e-05 9.99877595e-01 7.25069181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.07925415399995 meters Centerline goodness : 0.999047 Centerline is valid? [True, True] Translation: X:470.53, Y:5.10, Z:7.26 [[ 9.99197273e-01 -3.68758873e-02 -1.56517846e-02 4.70525884e+02] [ 3.68826179e-02 9.99319595e-01 1.41480936e-04 5.09780336e+00] [ 1.56359178e-02 -7.18646154e-04 9.99877493e-01 7.25962955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.1092541539999 meters Centerline goodness : 0.999047 Centerline is valid? [True, True] Translation: X:470.56, Y:5.10, Z:7.26 [[ 9.98938819e-01 -4.33192239e-02 -1.56423004e-02 4.70555768e+02] [ 4.33197618e-02 9.99061212e-01 -3.04600132e-04 5.09819997e+00] [ 1.56408106e-02 -3.73343829e-04 9.99877605e-01 7.26002041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.13925415399996 meters Centerline goodness : 0.998791 Centerline is valid? [True, True] Translation: X:470.59, Y:5.10, Z:7.26 [[ 9.98833787e-01 -4.56771636e-02 -1.56417207e-02 4.70588174e+02] [ 4.56775629e-02 9.98956180e-01 -3.31917590e-04 5.09763891e+00] [ 1.56405546e-02 -3.82945178e-04 9.99877606e-01 7.26067540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.16925415399993 meters Centerline goodness : 0.998771 Centerline is valid? [True, True] Translation: X:470.62, Y:5.10, Z:7.26 [[ 9.98717136e-01 -4.81603335e-02 -1.56417453e-02 4.70619847e+02] [ 4.81610553e-02 9.98839528e-01 -3.30753488e-04 5.09721605e+00] [ 1.56395227e-02 -4.22993785e-04 9.99877606e-01 7.25983498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.19925415399996 meters Centerline goodness : 0.998879 Centerline is valid? [True, True] Translation: X:470.65, Y:5.10, Z:7.26 [[ 9.98502021e-01 -5.24313796e-02 -1.56417636e-02 4.70651933e+02] [ 5.24326385e-02 9.98624409e-01 -3.29885658e-04 5.09611677e+00] [ 1.56375433e-02 -4.90747440e-04 9.99877606e-01 7.25973095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.22925415399993 meters Centerline goodness : 0.998941 Centerline is valid? [True, True] Translation: X:470.68, Y:5.10, Z:7.26 [[ 9.98436129e-01 -5.36715158e-02 -1.56417869e-02 4.70684356e+02] [ 5.36729440e-02 9.98558515e-01 -3.28777756e-04 5.09552992e+00] [ 1.56368855e-02 -5.11277162e-04 9.99877606e-01 7.26076238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.25925415399996 meters Centerline goodness : 0.998985 Centerline is valid? [True, True] Translation: X:470.72, Y:5.10, Z:7.26 [[ 9.98371696e-01 -5.48570017e-02 -1.56418110e-02 4.70716817e+02] [ 5.48585933e-02 9.98494080e-01 -3.27626241e-04 5.09542927e+00] [ 1.56362283e-02 -5.30994983e-04 9.99877606e-01 7.26161284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.28925415399993 meters Centerline goodness : 0.998943 Centerline is valid? [True, True] Translation: X:470.75, Y:5.09, Z:7.26 [[ 9.98321464e-01 -5.57636841e-02 -1.56418352e-02 4.70747805e+02] [ 5.57654050e-02 9.98443846e-01 -3.26466571e-04 5.09450132e+00] [ 1.56356991e-02 -5.46354690e-04 9.99877606e-01 7.26087261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.31925415399996 meters Centerline goodness : 0.998668 Centerline is valid? [True, True] Translation: X:470.78, Y:5.09, Z:7.26 [[ 9.98417082e-01 -5.40246577e-02 -1.56418532e-02 4.70779717e+02] [ 5.40261789e-02 9.98539466e-01 -3.25602869e-04 5.09423179e+00] [ 1.56365983e-02 -5.19982093e-04 9.99877606e-01 7.26330429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.34925415399994 meters Centerline goodness : 0.998926 Centerline is valid? [True, True] Translation: X:470.81, Y:5.09, Z:7.26 [[ 9.98405003e-01 -5.42475093e-02 -1.56415515e-02 4.70811338e+02] [ 5.42488311e-02 9.98527390e-01 -3.40085567e-04 5.09467993e+00] [ 1.56369664e-02 -5.08992755e-04 9.99877606e-01 7.26333955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.37925415399997 meters Centerline goodness : 0.998819 Centerline is valid? [True, True] Translation: X:470.85, Y:5.09, Z:7.27 [[ 9.98632595e-01 -4.98825784e-02 -1.56419027e-02 4.70845893e+02] [ 4.98836313e-02 9.98754984e-01 -3.23084674e-04 5.09317051e+00] [ 1.56385446e-02 -4.57632021e-04 9.99877606e-01 7.26579127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.40925415399994 meters Centerline goodness : 0.998799 Centerline is valid? [True, True] Translation: X:470.88, Y:5.09, Z:7.26 [[ 9.98821868e-01 -4.59364089e-02 -1.56436085e-02 4.70881397e+02] [ 4.59382861e-02 9.98944251e-01 -2.39515190e-04 5.08944547e+00] [ 1.56380952e-02 -4.79407553e-04 9.99877603e-01 7.25849284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.4392541539999 meters Centerline goodness : 0.999091 Centerline is valid? [True, True] Translation: X:470.91, Y:5.10, Z:7.26 [[ 9.98792066e-01 -4.65782851e-02 -1.56483860e-02 4.70905083e+02] [ 4.65839313e-02 9.98914379e-01 -3.69055905e-06 5.09699733e+00] [ 1.56315697e-02 -7.25277239e-04 9.99877557e-01 7.26353459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.46925415399994 meters Centerline goodness : 0.999071 Centerline is valid? [True, True] Translation: X:470.93, Y:5.10, Z:7.26 [[ 9.98961513e-01 -4.27929022e-02 -1.56417019e-02 4.70934896e+02] [ 4.27930530e-02 9.99083905e-01 -3.25213999e-04 5.09820516e+00] [ 1.56412894e-02 -3.44479908e-04 9.99877608e-01 7.26301949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.4992541539999 meters Centerline goodness : 0.998904 Centerline is valid? [True, True] Translation: X:470.97, Y:5.10, Z:7.26 [[ 9.99088997e-01 -3.97057268e-02 -1.56407066e-02 4.70967264e+02] [ 3.97047512e-02 9.99211386e-01 -3.73020458e-04 5.09938779e+00] [ 1.56431832e-02 -2.48329729e-04 9.99877607e-01 7.26466059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.52925415399994 meters Centerline goodness : 0.998817 Centerline is valid? [True, True] Translation: X:471.00, Y:5.10, Z:7.27 [[ 9.99228182e-01 -3.60330098e-02 -1.56416934e-02 4.70999546e+02] [ 3.60323261e-02 9.99350572e-01 -3.25619834e-04 5.10061182e+00] [ 1.56432683e-02 -2.38238081e-04 9.99877608e-01 7.26589917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.5592541539999 meters Centerline goodness : 0.999068 Centerline is valid? [True, True] Translation: X:471.03, Y:5.10, Z:7.27 [[ 9.99452096e-01 -2.91692392e-02 -1.56417172e-02 4.71029417e+02] [ 2.91677329e-02 9.99574479e-01 -3.24473034e-04 5.10246067e+00] [ 1.56445259e-02 -1.31938174e-04 9.99877608e-01 7.26552914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.58925415399995 meters Centerline goodness : 0.998814 Centerline is valid? [True, True] Translation: X:471.06, Y:5.10, Z:7.27 [[ 9.99591555e-01 -2.39177693e-02 -1.56417230e-02 4.71059826e+02] [ 2.39156244e-02 9.99713928e-01 -3.24189884e-04 5.10369375e+00] [ 1.56450023e-02 -5.00241031e-05 9.99877608e-01 7.26750387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.6192541539999 meters Centerline goodness : 0.998878 Centerline is valid? [True, True] Translation: X:471.09, Y:5.10, Z:7.27 [[ 9.99678724e-01 -1.99445571e-02 -1.56417230e-02 4.71089936e+02] [ 1.99419258e-02 9.99801087e-01 -3.24189884e-04 5.10339479e+00] [ 1.56450775e-02 1.21596493e-05 9.99877608e-01 7.26909929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.64925415399995 meters Centerline goodness : 0.999003 Centerline is valid? [True, True] Translation: X:471.12, Y:5.10, Z:7.27 [[ 9.99667569e-01 -2.04958653e-02 -1.56419665e-02 4.71117581e+02] [ 2.04934850e-02 9.99789938e-01 -3.12462971e-04 5.10490633e+00] [ 1.56450849e-02 -8.19930724e-06 9.99877608e-01 7.26880755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.6792541539999 meters Centerline goodness : 0.999046 Centerline is valid? [True, True] Translation: X:471.15, Y:5.11, Z:7.27 [[ 9.99687839e-01 -1.94823757e-02 -1.56416688e-02 4.71145584e+02] [ 1.94796483e-02 9.99810200e-01 -3.26715657e-04 5.10577250e+00] [ 1.56450652e-02 2.19194613e-05 9.99877608e-01 7.26818516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.70925415399995 meters Centerline goodness : 0.998750 Centerline is valid? [True, True] Translation: X:471.17, Y:5.11, Z:7.27 [[ 9.99685752e-01 -1.95892113e-02 -1.56416389e-02 4.71174080e+02] [ 1.95864747e-02 9.99808113e-01 -3.28141412e-04 5.10678894e+00] [ 1.56450655e-02 2.16737295e-05 9.99877608e-01 7.26909737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.7392541539999 meters Centerline goodness : 0.998940 Centerline is valid? [True, True] Translation: X:471.20, Y:5.11, Z:7.27 [[ 9.99670202e-01 -2.03673277e-02 -1.56415566e-02 4.71202026e+02] [ 2.03646257e-02 9.99792564e-01 -3.32016760e-04 5.10700262e+00] [ 1.56450743e-02 1.33728147e-05 9.99877608e-01 7.26960252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.76925415399995 meters Centerline goodness : 0.998921 Centerline is valid? [True, True] Translation: X:471.23, Y:5.11, Z:7.27 [[ 9.99581627e-01 -2.43292842e-02 -1.56415274e-02 4.71230109e+02] [ 2.43270457e-02 9.99703998e-01 -3.33390269e-04 5.10562884e+00] [ 1.56450086e-02 -4.72613636e-05 9.99877608e-01 7.26959164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.7992541539999 meters Centerline goodness : 0.998898 Centerline is valid? [True, True] Translation: X:471.26, Y:5.10, Z:7.27 [[ 9.99507819e-01 -2.71930709e-02 -1.56414834e-02 4.71260095e+02] [ 2.71911509e-02 9.99630196e-01 -3.35439647e-04 5.10499006e+00] [ 1.56448208e-02 -9.00353859e-05 9.99877608e-01 7.27079071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.82925415399995 meters Centerline goodness : 0.998881 Centerline is valid? [True, True] Translation: X:471.29, Y:5.10, Z:7.27 [[ 9.99405182e-01 -3.07347882e-02 -1.56414711e-02 4.71290179e+02] [ 3.07332930e-02 9.99527564e-01 -3.36012573e-04 5.10492396e+00] [ 1.56444088e-02 -1.44901209e-04 9.99877608e-01 7.27158497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.8592541539999 meters Centerline goodness : 0.998796 Centerline is valid? [True, True] Translation: X:471.32, Y:5.10, Z:7.27 [[ 9.99123143e-01 -3.88367059e-02 -1.56414711e-02 4.71321505e+02] [ 3.88362030e-02 9.99245534e-01 -3.36012573e-04 5.10408419e+00] [ 1.56427198e-02 -2.71737410e-04 9.99877608e-01 7.27224401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.88925415399996 meters Centerline goodness : 0.998796 Centerline is valid? [True, True] Translation: X:471.35, Y:5.10, Z:7.27 [[ 9.99125987e-01 -3.87634615e-02 -1.56414833e-02 4.71354184e+02] [ 3.87629586e-02 9.99248378e-01 -3.35441945e-04 5.10472617e+00] [ 1.56427297e-02 -2.71161406e-04 9.99877608e-01 7.27275528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.91925415399993 meters Centerline goodness : 0.998990 Centerline is valid? [True, True] Translation: X:471.39, Y:5.10, Z:7.27 [[ 9.98964732e-01 -4.27177659e-02 -1.56415079e-02 4.71385326e+02] [ 4.27177654e-02 9.99087124e-01 -3.34295288e-04 5.10462011e+00] [ 1.56415094e-02 -3.34221059e-04 9.99877608e-01 7.27310518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.94925415399996 meters Centerline goodness : 0.998781 Centerline is valid? [True, True] Translation: X:471.42, Y:5.10, Z:7.27 [[ 9.98592042e-01 -5.06880217e-02 -1.56415261e-02 4.71416799e+02] [ 5.06890111e-02 9.98714430e-01 -3.33441211e-04 5.10387247e+00] [ 1.56383193e-02 -4.59881749e-04 9.99877608e-01 7.27353999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.97925415399993 meters Centerline goodness : 0.998820 Centerline is valid? [True, True] Translation: X:471.45, Y:5.10, Z:7.27 [[ 9.98397653e-01 -5.43825997e-02 -1.56415659e-02 4.71448921e+02] [ 5.43840715e-02 9.98520036e-01 -3.31559600e-04 5.10340430e+00] [ 1.56364481e-02 -5.19623714e-04 9.99877608e-01 7.27412726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.00925415399996 meters Centerline goodness : 0.998864 Centerline is valid? [True, True] Translation: X:471.48, Y:5.10, Z:7.28 [[ 9.98217018e-01 -5.76031710e-02 -1.56415896e-02 4.71480902e+02] [ 5.76050550e-02 9.98339395e-01 -3.30441122e-04 5.10271296e+00] [ 1.56346495e-02 -5.71182676e-04 9.99877608e-01 7.27513582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.03925415399993 meters Centerline goodness : 0.998697 Centerline is valid? [True, True] Translation: X:471.51, Y:5.10, Z:7.28 [[ 9.97914279e-01 -6.26293249e-02 -1.56416134e-02 4.71513119e+02] [ 6.26318429e-02 9.98036645e-01 -3.29308725e-04 5.10108480e+00] [ 1.56315277e-02 -6.51041195e-04 9.99877608e-01 7.27552180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.06925415399996 meters Centerline goodness : 0.998785 Centerline is valid? [True, True] Translation: X:471.54, Y:5.10, Z:7.28 [[ 9.97766686e-01 -6.49382798e-02 -1.56416374e-02 4.71544343e+02] [ 6.49410989e-02 9.97889045e-01 -3.28163170e-04 5.10145405e+00] [ 1.56299290e-02 -6.88354846e-04 9.99877608e-01 7.27670957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.09925415399994 meters Centerline goodness : 0.998762 Centerline is valid? [True, True] Translation: X:471.58, Y:5.10, Z:7.28 [[ 9.97652504e-01 -6.66694896e-02 -1.56416553e-02 4.71577258e+02] [ 6.66725343e-02 9.97774857e-01 -3.27308625e-04 5.10197250e+00] [ 1.56286719e-02 -7.16328532e-04 9.99877608e-01 7.27827337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.12925415399997 meters Centerline goodness : 0.998677 Centerline is valid? [True, True] Translation: X:471.62, Y:5.09, Z:7.27 [[ 9.98003146e-01 -6.11968851e-02 -1.56416916e-02 4.71616938e+02] [ 6.11992861e-02 9.98125514e-01 -3.25563879e-04 5.09278545e+00] [ 1.56322950e-02 -6.32346586e-04 9.99877608e-01 7.27209239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.15925415399994 meters Centerline goodness : 0.998928 Centerline is valid? [True, True] Translation: X:471.64, Y:5.10, Z:7.28 [[ 9.97420421e-01 -7.00539909e-02 -1.56506069e-02 4.71637298e+02] [ 7.00644304e-02 9.97542461e-01 1.19052775e-04 5.10319190e+00] [ 1.56038048e-02 -1.21529653e-03 9.99877515e-01 7.27938283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.1892541539999 meters Centerline goodness : 0.998847 Centerline is valid? [True, True] Translation: X:471.67, Y:5.10, Z:7.28 [[ 9.97391846e-01 -7.04617452e-02 -1.56412370e-02 4.71670471e+02] [ 7.04652450e-02 9.97514181e-01 -3.27932736e-04 5.10406501e+00] [ 1.56254624e-02 -7.75086161e-04 9.99877615e-01 7.27968332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.21925415399994 meters Centerline goodness : 0.998866 Centerline is valid? [True, True] Translation: X:471.71, Y:5.09, Z:7.27 [[ 9.97944310e-01 -6.21490537e-02 -1.56412730e-02 4.71711237e+02] [ 6.21515611e-02 9.98066670e-01 -3.26205209e-04 5.09485097e+00] [ 1.56313066e-02 -6.46594905e-04 9.99877615e-01 7.27324047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.2492541539999 meters Centerline goodness : 0.998910 Centerline is valid? [True, True] Translation: X:471.73, Y:5.11, Z:7.28 [[ 9.97273727e-01 -7.21120321e-02 -1.56514618e-02 4.71729501e+02] [ 7.21236794e-02 9.97395680e-01 1.80256589e-04 5.10588058e+00] [ 1.55977017e-02 -1.30860618e-03 9.99877492e-01 7.28002524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.27925415399994 meters Centerline goodness : 0.998679 Centerline is valid? [True, True] Translation: X:471.77, Y:5.10, Z:7.27 [[ 9.97806354e-01 -6.43261500e-02 -1.56405601e-02 4.71770215e+02] [ 6.43288246e-02 9.97928701e-01 -3.32559468e-04 5.09768940e+00] [ 1.56295560e-02 -6.74308894e-04 9.99877624e-01 7.27425383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.3092541539999 meters Centerline goodness : 0.998909 Centerline is valid? [True, True] Translation: X:471.79, Y:5.11, Z:7.28 [[ 9.97185547e-01 -7.33214841e-02 -1.56506840e-02 4.71789575e+02] [ 7.33329282e-02 9.97307504e-01 1.57807093e-04 5.11058200e+00] [ 1.55969739e-02 -1.30507344e-03 9.99877508e-01 7.28292998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.33925415399995 meters Centerline goodness : 0.998445 Centerline is valid? [True, True] Translation: X:471.83, Y:5.10, Z:7.28 [[ 9.97711995e-01 -6.57736108e-02 -1.56399000e-02 4.71830466e+02] [ 6.57763566e-02 9.97834333e-01 -3.39325457e-04 5.10350352e+00] [ 1.56283479e-02 -6.90186565e-04 9.99877632e-01 7.27562934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.3692541539999 meters Centerline goodness : 0.998842 Centerline is valid? [True, True] Translation: X:471.86, Y:5.10, Z:7.28 [[ 9.97776407e-01 -6.47869535e-02 -1.56490611e-02 4.71863966e+02] [ 6.47960950e-02 9.97898522e-01 7.72960697e-05 5.10313393e+00] [ 1.56111672e-02 -1.09112224e-03 9.99877543e-01 7.27589463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.39925415399995 meters Centerline goodness : 0.998549 Centerline is valid? [True, True] Translation: X:471.90, Y:5.11, Z:7.28 [[ 9.97711573e-01 -6.57773067e-02 -1.56513171e-02 4.71895279e+02] [ 6.57881617e-02 9.97833596e-01 1.79139741e-04 5.10801846e+00] [ 1.56056267e-02 -1.20840118e-03 9.99877495e-01 7.27545230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.4292541539999 meters Centerline goodness : 0.998757 Centerline is valid? [True, True] Translation: X:471.91, Y:5.12, Z:7.28 [[ 9.97114496e-01 -7.42816525e-02 -1.56498576e-02 4.71914699e+02] [ 7.42925397e-02 9.97236484e-01 1.14652164e-04 5.12099703e+00] [ 1.55980924e-02 -1.27698900e-03 9.99877527e-01 7.28259362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.45925415399995 meters Centerline goodness : 0.998779 Centerline is valid? [True, True] Translation: X:471.96, Y:5.11, Z:7.28 [[ 9.97748669e-01 -6.52152848e-02 -1.56384180e-02 4.71956189e+02] [ 6.52174889e-02 9.97871005e-01 -3.69538215e-04 5.11385477e+00] [ 1.56292234e-02 -6.51192087e-04 9.99877644e-01 7.27628231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.4892541539999 meters Centerline goodness : 0.998713 Centerline is valid? [True, True] Translation: X:471.99, Y:5.12, Z:7.28 [[ 9.97925376e-01 -6.24504287e-02 -1.56488809e-02 4.71988683e+02] [ 6.24590922e-02 9.98047523e-01 6.50164719e-05 5.11750226e+00] [ 1.56142665e-02 -1.04229648e-03 9.99877547e-01 7.27839975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.51925415399995 meters Centerline goodness : 0.998776 Centerline is valid? [True, True] Translation: X:472.02, Y:5.12, Z:7.28 [[ 9.97994131e-01 -6.13415362e-02 -1.56502441e-02 4.72018496e+02] [ 6.13509422e-02 9.98116249e-01 1.21167295e-04 5.12121220e+00] [ 1.56133303e-02 -1.08108147e-03 9.99877520e-01 7.27987243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.5492541539999 meters Centerline goodness : 0.998861 Centerline is valid? [True, True] Translation: X:472.04, Y:5.14, Z:7.29 [[ 9.97675783e-01 -6.63183794e-02 -1.56494383e-02 4.72038051e+02] [ 6.63278738e-02 9.97797878e-01 8.78752457e-05 5.13553637e+00] [ 1.56091486e-02 -1.12566497e-03 9.99877536e-01 7.28853421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.57925415399995 meters Centerline goodness : 0.998652 Centerline is valid? [True, True] Translation: X:472.08, Y:5.13, Z:7.28 [[ 9.98288384e-01 -5.63540419e-02 -1.56372691e-02 4.72078612e+02] [ 5.63547684e-02 9.98410729e-01 -3.94528565e-04 5.12839345e+00] [ 1.56346505e-02 -4.87381393e-04 9.99877653e-01 7.28195037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.6092541539999 meters Centerline goodness : 0.998838 Centerline is valid? [True, True] Translation: X:472.10, Y:5.14, Z:7.29 [[ 9.97863687e-01 -6.34286685e-02 -1.56482221e-02 4.72099091e+02] [ 6.34372741e-02 9.97985826e-01 5.36831616e-05 5.13999362e+00] [ 1.56132988e-02 -1.04624903e-03 9.99877558e-01 7.29040187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.63925415399996 meters Centerline goodness : 0.998816 Centerline is valid? [True, True] Translation: X:472.13, Y:5.14, Z:7.29 [[ 9.98033726e-01 -6.06973813e-02 -1.56367888e-02 4.72131026e+02] [ 6.06986034e-02 9.98156061e-01 -3.96864358e-04 5.14302324e+00] [ 1.56320441e-02 -5.53047225e-04 9.99877659e-01 7.29049942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.66925415399993 meters Centerline goodness : 0.996768 Centerline is valid? [True, True] Translation: X:472.16, Y:5.14, Z:7.29 [[ 9.98183680e-01 -5.81793042e-02 -1.56368178e-02 4.72160975e+02] [ 5.81802356e-02 9.98306017e-01 -3.95717425e-04 5.14457319e+00] [ 1.56333518e-02 -5.14755068e-04 9.99877659e-01 7.28747907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.69925415399996 meters Centerline goodness : 0.998943 Centerline is valid? [True, True] Translation: X:472.19, Y:5.15, Z:7.29 [[ 9.98226338e-01 -5.74431645e-02 -1.56352492e-02 4.72194814e+02] [ 5.74430340e-02 9.98348681e-01 -4.57808088e-04 5.14688136e+00] [ 1.56357284e-02 -4.41140063e-04 9.99877657e-01 7.29115290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.72925415399993 meters Centerline goodness : 0.998942 Centerline is valid? [True, True] Translation: X:472.23, Y:5.15, Z:7.29 [[ 9.98389197e-01 -5.45389665e-02 -1.56369175e-02 4.72227408e+02] [ 5.45395238e-02 9.98511536e-01 -3.91111881e-04 5.14919571e+00] [ 1.56349733e-02 -4.62348157e-04 9.99877659e-01 7.29132639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.75925415399996 meters Centerline goodness : 0.998986 Centerline is valid? [True, True] Translation: X:472.26, Y:5.15, Z:7.29 [[ 9.98445170e-01 -5.35044690e-02 -1.56369458e-02 4.72259127e+02] [ 5.35049174e-02 9.98567510e-01 -3.89978131e-04 5.15019441e+00] [ 1.56354116e-02 -4.47281710e-04 9.99877659e-01 7.29134533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.78925415399993 meters Centerline goodness : 0.998944 Centerline is valid? [True, True] Translation: X:472.29, Y:5.15, Z:7.29 [[ 9.98568222e-01 -5.11565326e-02 -1.56370122e-02 4.72291338e+02] [ 5.11567352e-02 9.98690562e-01 -3.87295457e-04 5.15193001e+00] [ 1.56363492e-02 -4.13197558e-04 9.99877659e-01 7.29318000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.81925415399996 meters Centerline goodness : 0.998921 Centerline is valid? [True, True] Translation: X:472.32, Y:5.15, Z:7.29 [[ 9.98628586e-01 -4.99642849e-02 -1.56370405e-02 4.72322441e+02] [ 4.99643594e-02 9.98750927e-01 -3.86149127e-04 5.15315048e+00] [ 1.56368024e-02 -3.95675156e-04 9.99877659e-01 7.29292748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.84925415399994 meters Centerline goodness : 0.999027 Centerline is valid? [True, True] Translation: X:472.35, Y:5.15, Z:7.29 [[ 9.98700899e-01 -4.84973798e-02 -1.56370860e-02 4.72354971e+02] [ 4.84973036e-02 9.98823240e-01 -3.84296347e-04 5.15414211e+00] [ 1.56373223e-02 -3.74559402e-04 9.99877659e-01 7.29374321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.87925415399997 meters Centerline goodness : 0.998898 Centerline is valid? [True, True] Translation: X:472.39, Y:5.16, Z:7.29 [[ 9.98880638e-01 -4.46424821e-02 -1.56371134e-02 4.72386993e+02] [ 4.46419512e-02 9.99002978e-01 -3.83181115e-04 5.15507190e+00] [ 1.56386290e-02 -3.15319055e-04 9.99877659e-01 7.29495484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.90925415399994 meters Centerline goodness : 0.998622 Centerline is valid? [True, True] Translation: X:472.43, Y:5.15, Z:7.29 [[ 9.99224082e-01 -3.61485099e-02 -1.56371417e-02 4.72425623e+02] [ 3.61469570e-02 9.99346412e-01 -3.82023433e-04 5.14873197e+00] [ 1.56407310e-02 -1.83508073e-04 9.99877659e-01 7.28989381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.9392541539999 meters Centerline goodness : 0.998621 Centerline is valid? [True, True] Translation: X:472.45, Y:5.16, Z:7.30 [[ 9.99032418e-01 -4.11018736e-02 -1.56481074e-02 4.72445786e+02] [ 4.11080331e-02 9.99154705e-01 7.20450630e-05 5.15736038e+00] [ 1.56319190e-02 -7.15238273e-04 9.99877558e-01 7.29585041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.96925415399994 meters Centerline goodness : 0.998748 Centerline is valid? [True, True] Translation: X:472.49, Y:5.15, Z:7.29 [[ 9.99443960e-01 -2.94494407e-02 -1.56365215e-02 4.72485041e+02] [ 2.94469248e-02 9.99566269e-01 -3.91162398e-04 5.15043948e+00] [ 1.56412590e-02 -6.95025779e-05 9.99877666e-01 7.29047527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.9992541539999 meters Centerline goodness : 0.998662 Centerline is valid? [True, True] Translation: X:472.50, Y:5.16, Z:7.30 [[ 9.99231735e-01 -3.59312823e-02 -1.56487556e-02 4.72502798e+02] [ 3.59373692e-02 9.99354038e-01 1.07848007e-04 5.16024745e+00] [ 1.56347720e-02 -6.70140261e-04 9.99877545e-01 7.29769837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.02925415399994 meters Centerline goodness : 0.998725 Centerline is valid? [True, True] Translation: X:472.53, Y:5.16, Z:7.30 [[ 9.99275562e-01 -3.46968899e-02 -1.56357634e-02 4.72533772e+02] [ 3.46948773e-02 9.99397871e-01 -4.00039180e-04 5.16114421e+00] [ 1.56402288e-02 -1.42731517e-04 9.99877674e-01 7.29824950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.0592541539999 meters Centerline goodness : 0.999044 Centerline is valid? [True, True] Translation: X:472.57, Y:5.16, Z:7.30 [[ 9.99296981e-01 -3.40744222e-02 -1.56357853e-02 4.72566163e+02] [ 3.40723468e-02 9.99419289e-01 -3.99181840e-04 5.16105938e+00] [ 1.56403073e-02 -1.33846692e-04 9.99877674e-01 7.29937831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.08925415399995 meters Centerline goodness : 0.998727 Centerline is valid? [True, True] Translation: X:472.60, Y:5.16, Z:7.30 [[ 9.99279791e-01 -3.45748517e-02 -1.56358141e-02 4.72598454e+02] [ 3.45728553e-02 9.99402101e-01 -3.98049863e-04 5.16127549e+00] [ 1.56402280e-02 -1.42811556e-04 9.99877674e-01 7.29985506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.1192541539999 meters Centerline goodness : 0.998961 Centerline is valid? [True, True] Translation: X:472.63, Y:5.16, Z:7.30 [[ 9.99159335e-01 -3.78964910e-02 -1.56358429e-02 4.72629692e+02] [ 3.78949189e-02 9.99281651e-01 -3.96916317e-04 5.16011978e+00] [ 1.56396526e-02 -1.95936355e-04 9.99877674e-01 7.29970321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.14925415399995 meters Centerline goodness : 0.999005 Centerline is valid? [True, True] Translation: X:472.66, Y:5.16, Z:7.30 [[ 9.99068572e-01 -4.02182605e-02 -1.56358643e-02 4.72662200e+02] [ 4.02169859e-02 9.99190891e-01 -3.96072296e-04 5.15918427e+00] [ 1.56391425e-02 -2.33123951e-04 9.99877674e-01 7.30001303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.1792541539999 meters Centerline goodness : 0.998794 Centerline is valid? [True, True] Translation: X:472.71, Y:5.15, Z:7.29 [[ 9.99358153e-01 -3.22304282e-02 -1.56358929e-02 4.72706527e+02] [ 3.22281935e-02 9.99480459e-01 -3.94939833e-04 5.14582047e+00] [ 1.56404985e-02 -1.09230241e-04 9.99877674e-01 7.29292144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.20925415399995 meters Centerline goodness : 0.999028 Centerline is valid? [True, True] Translation: X:472.72, Y:5.16, Z:7.30 [[ 9.98603362e-01 -5.04612370e-02 -1.56521102e-02 4.72720809e+02] [ 5.04717538e-02 9.98725450e-01 2.77364045e-04 5.15613056e+00] [ 1.56181647e-02 -1.06696612e-03 9.99877460e-01 7.29989336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.2392541539999 meters Centerline goodness : 0.998965 Centerline is valid? [True, True] Translation: X:472.75, Y:5.16, Z:7.30 [[ 9.98428520e-01 -5.38149144e-02 -1.56347358e-02 4.72751995e+02] [ 5.38152322e-02 9.98550830e-01 -4.00699788e-04 5.15577449e+00] [ 1.56336421e-02 -4.41316843e-04 9.99877690e-01 7.30007344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.26925415399995 meters Centerline goodness : 0.999029 Centerline is valid? [True, True] Translation: X:472.79, Y:5.15, Z:7.30 [[ 9.98674102e-01 -4.90468422e-02 -1.56347573e-02 4.72793048e+02] [ 4.90465891e-02 9.98796412e-01 -3.99859737e-04 5.14609147e+00] [ 1.56355514e-02 -3.67501954e-04 9.99877690e-01 7.29527488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.2992541539999 meters Centerline goodness : 0.998631 Centerline is valid? [True, True] Translation: X:472.82, Y:5.15, Z:7.29 [[ 9.98281329e-01 -5.64759749e-02 -1.56477869e-02 4.72823552e+02] [ 5.64847680e-02 9.98403454e-01 1.20197222e-04 5.14549643e+00] [ 1.56160163e-02 -1.00385226e-03 9.99877559e-01 7.29473087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.32925415399995 meters Centerline goodness : 0.998800 Centerline is valid? [True, True] Translation: X:472.84, Y:5.15, Z:7.30 [[ 9.97670501e-01 -6.63987588e-02 -1.56452977e-02 4.72843873e+02] [ 6.64072385e-02 9.97792603e-01 2.25321817e-05 5.15340971e+00] [ 1.56092662e-02 -1.06144071e-03 9.99877605e-01 7.29997370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.3592541539999 meters Centerline goodness : 0.998926 Centerline is valid? [True, True] Translation: X:472.88, Y:5.15, Z:7.30 [[ 9.97547168e-01 -6.82292498e-02 -1.56338224e-02 4.72876283e+02] [ 6.82311494e-02 9.97669454e-01 -4.12470780e-04 5.15327558e+00] [ 1.56255296e-02 -6.55254613e-04 9.99877699e-01 7.29929949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.38925415399996 meters Centerline goodness : 0.998886 Centerline is valid? [True, True] Translation: X:472.91, Y:5.15, Z:7.30 [[ 9.97366973e-01 -7.08145695e-02 -1.56338508e-02 4.72907258e+02] [ 7.08168030e-02 9.97489254e-01 -4.11389648e-04 5.15251451e+00] [ 1.56237306e-02 -6.96832886e-04 9.99877699e-01 7.29747213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.41925415399993 meters Centerline goodness : 0.998777 Centerline is valid? [True, True] Translation: X:472.94, Y:5.15, Z:7.30 [[ 9.97225259e-01 -7.27829898e-02 -1.56339070e-02 4.72939041e+02] [ 7.27854982e-02 9.97347534e-01 -4.09244953e-04 5.15371772e+00] [ 1.56222246e-02 -7.29812303e-04 9.99877699e-01 7.29968665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.44925415399996 meters Centerline goodness : 0.998885 Centerline is valid? [True, True] Translation: X:472.98, Y:5.15, Z:7.30 [[ 9.97687066e-01 -6.61520834e-02 -1.56339349e-02 4.72980241e+02] [ 6.61537956e-02 9.97809355e-01 -4.08175229e-04 5.14559648e+00] [ 1.56266881e-02 -6.27012987e-04 9.99877699e-01 7.29500304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.47925415399993 meters Centerline goodness : 0.998824 Centerline is valid? [True, True] Translation: X:473.00, Y:5.16, Z:7.30 [[ 9.97036927e-01 -7.53163343e-02 -1.56465660e-02 4.72998535e+02] [ 7.53269609e-02 9.97158884e-01 9.00998202e-05 5.15562968e+00] [ 1.55953263e-02 -1.26844111e-03 9.99877581e-01 7.30174933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.50925415399996 meters Centerline goodness : 0.998884 Centerline is valid? [True, True] Translation: X:473.04, Y:5.15, Z:7.30 [[ 9.97524687e-01 -6.85572731e-02 -1.56332873e-02 4.73039660e+02] [ 6.85592071e-02 9.97646964e-01 -4.12825820e-04 5.14858334e+00] [ 1.56248038e-02 -6.60001836e-04 9.99877707e-01 7.29833653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.53925415399993 meters Centerline goodness : 0.998694 Centerline is valid? [True, True] Translation: X:473.07, Y:5.15, Z:7.30 [[ 9.97518967e-01 -6.86379728e-02 -1.56441614e-02 4.73073541e+02] [ 6.86462695e-02 9.97641063e-01 -6.66625707e-06 5.14847215e+00] [ 1.56077153e-02 -1.06726360e-03 9.99877623e-01 7.29879288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.56925415399996 meters Centerline goodness : 0.999094 Centerline is valid? [True, True] Translation: X:473.09, Y:5.16, Z:7.31 [[ 9.96882201e-01 -7.73373935e-02 -1.56462568e-02 4.73091945e+02] [ 7.73479738e-02 9.97004155e-01 7.13084765e-05 5.16032922e+00] [ 1.55938682e-02 -1.28129241e-03 9.99877587e-01 7.30721452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.59925415399994 meters Centerline goodness : 0.998819 Centerline is valid? [True, True] Translation: X:473.13, Y:5.15, Z:7.30 [[ 9.97526435e-01 -6.85321098e-02 -1.56320445e-02 4.73134321e+02] [ 6.85336610e-02 9.97648709e-01 -4.37071545e-04 5.15252336e+00] [ 1.56252424e-02 -6.35330818e-04 9.99877717e-01 7.29967778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.62925415399997 meters Centerline goodness : 0.998735 Centerline is valid? [True, True] Translation: X:473.16, Y:5.16, Z:7.30 [[ 9.97392714e-01 -7.04484315e-02 -1.56458549e-02 4.73164269e+02] [ 7.04581356e-02 9.97514735e-01 6.91967121e-05 5.15586010e+00] [ 1.56020960e-02 -1.17139406e-03 9.99877594e-01 7.30156771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.65925415399994 meters Centerline goodness : 0.998921 Centerline is valid? [True, True] Translation: X:473.18, Y:5.17, Z:7.31 [[ 9.96867384e-01 -7.75288299e-02 -1.56428984e-02 4.73184872e+02] [ 7.75377300e-02 9.96989418e-01 -3.76501235e-05 5.16667021e+00] [ 1.55987232e-02 -1.17538266e-03 9.99877642e-01 7.30798315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.6892541539999 meters Centerline goodness : 0.999072 Centerline is valid? [True, True] Translation: X:473.22, Y:5.17, Z:7.31 [[ 9.96873823e-01 -7.74483395e-02 -1.56312651e-02 4.73216675e+02] [ 7.74508486e-02 9.96996072e-01 -4.45695276e-04 5.16820915e+00] [ 1.56188283e-02 -7.66352795e-04 9.99877725e-01 7.30818380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.71925415399994 meters Centerline goodness : 0.999219 Centerline is valid? [True, True] Translation: X:473.25, Y:5.17, Z:7.31 [[ 9.96894868e-01 -7.71769714e-02 -1.56313051e-02 4.73248313e+02] [ 7.71794692e-02 9.97017117e-01 -4.44289170e-04 5.17064647e+00] [ 1.56189676e-02 -7.63506236e-04 9.99877725e-01 7.30824580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.7492541539999 meters Centerline goodness : 0.999176 Centerline is valid? [True, True] Translation: X:473.28, Y:5.17, Z:7.31 [[ 9.96910492e-01 -7.69748719e-02 -1.56313668e-02 4.73281806e+02] [ 7.69773790e-02 9.97032742e-01 -4.42107149e-04 5.17238377e+00] [ 1.56190156e-02 -7.62520391e-04 9.99877725e-01 7.30885596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.77925415399994 meters Centerline goodness : 0.998796 Centerline is valid? [True, True] Translation: X:473.31, Y:5.17, Z:7.31 [[ 9.96956093e-01 -7.63819907e-02 -1.56314134e-02 4.73314135e+02] [ 7.63844510e-02 9.97078343e-01 -4.40452822e-04 5.17386531e+00] [ 1.56193865e-02 -7.54884807e-04 9.99877725e-01 7.30800594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.8092541539999 meters Centerline goodness : 0.998796 Centerline is valid? [True, True] Translation: X:473.35, Y:5.17, Z:7.31 [[ 9.96964131e-01 -7.62769855e-02 -1.56314442e-02 4.73347656e+02] [ 7.62794500e-02 9.97086382e-01 -4.39358521e-04 5.17471062e+00] [ 1.56194131e-02 -7.54333278e-04 9.99877725e-01 7.30853003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.83925415399995 meters Centerline goodness : 0.998879 Centerline is valid? [True, True] Translation: X:473.39, Y:5.17, Z:7.31 [[ 9.97450529e-01 -6.96282874e-02 -1.56314903e-02 4.73386485e+02] [ 6.96299626e-02 9.97572793e-01 -4.37712195e-04 5.17137811e+00] [ 1.56240266e-02 -6.51823823e-04 9.99877725e-01 7.30528267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.8692541539999 meters Centerline goodness : 0.998647 Centerline is valid? [True, True] Translation: X:473.42, Y:5.17, Z:7.30 [[ 9.97618806e-01 -6.71720889e-02 -1.56405854e-02 4.73420103e+02] [ 6.71786196e-02 9.97740959e-01 -1.08058599e-04 5.17190397e+00] [ 1.56125112e-02 -9.42911646e-04 9.99877673e-01 7.30428470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.89925415399995 meters Centerline goodness : 0.998707 Centerline is valid? [True, True] Translation: X:473.44, Y:5.18, Z:7.31 [[ 9.97527326e-01 -6.85166716e-02 -1.56428618e-02 4.73440440e+02] [ 6.85246524e-02 9.97649423e-01 -2.58659433e-05 5.18320506e+00] [ 1.56078643e-02 -1.04611968e-03 9.99877643e-01 7.31011196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.9292541539999 meters Centerline goodness : 0.998940 Centerline is valid? [True, True] Translation: X:473.47, Y:5.19, Z:7.31 [[ 9.97784974e-01 -6.46592679e-02 -1.56308602e-02 4.73471991e+02] [ 6.46601999e-02 9.97907240e-01 -4.46274433e-04 5.18595496e+00] [ 1.56270043e-02 -5.65408621e-04 9.99877731e-01 7.31048808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.95925415399995 meters Centerline goodness : 0.998007 Centerline is valid? [True, True] Translation: X:473.50, Y:5.19, Z:7.31 [[ 9.98101196e-01 -5.95791741e-02 -1.56308832e-02 4.73502342e+02] [ 5.95794963e-02 9.98223465e-01 -4.45468351e-04 5.18934772e+00] [ 1.56296550e-02 -4.86657651e-04 9.99877731e-01 7.31179228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.9892541539999 meters Centerline goodness : 0.999002 Centerline is valid? [True, True] Translation: X:473.54, Y:5.19, Z:7.31 [[ 9.98322239e-01 -5.57537720e-02 -1.56276811e-02 4.73535048e+02] [ 5.57518801e-02 9.98444499e-01 -5.57032659e-04 5.19151414e+00] [ 1.56344289e-02 -3.15174512e-04 9.99877725e-01 7.31317800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.01925415399995 meters Centerline goodness : 0.998896 Centerline is valid? [True, True] Translation: X:473.57, Y:5.20, Z:7.32 [[ 9.98819181e-01 -4.59991079e-02 -1.56309216e-02 4.73567437e+02] [ 4.59978122e-02 9.98941442e-01 -4.42593283e-04 5.19554877e+00] [ 1.56347342e-02 -2.76917535e-04 9.99877732e-01 7.31745325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.0492541539999 meters Centerline goodness : 0.999046 Centerline is valid? [True, True] Translation: X:473.60, Y:5.20, Z:7.32 [[ 9.98992143e-01 -4.20757766e-02 -1.56309542e-02 4.73598249e+02] [ 4.20740188e-02 9.99114399e-01 -4.41437192e-04 5.19787229e+00] [ 1.56356853e-02 -2.16664775e-04 9.99877732e-01 7.31925476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.07925415399995 meters Centerline goodness : 0.998701 Centerline is valid? [True, True] Translation: X:473.63, Y:5.20, Z:7.32 [[ 9.99262223e-01 -3.50810803e-02 -1.56309784e-02 4.73629906e+02] [ 3.50784801e-02 9.99384464e-01 -4.40578452e-04 5.20051897e+00] [ 1.56368130e-02 -1.08057562e-04 9.99877732e-01 7.32008372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.1092541539999 meters Centerline goodness : 0.998850 Centerline is valid? [True, True] Translation: X:473.67, Y:5.19, Z:7.31 [[ 9.99619816e-01 -2.27133120e-02 -1.56310106e-02 4.73674052e+02] [ 2.27092172e-02 9.99742016e-01 -4.39434040e-04 5.19110126e+00] [ 1.56369591e-02 8.42989591e-05 9.99877732e-01 7.31446040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.13925415399996 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:473.69, Y:5.20, Z:7.32 [[ 9.99367293e-01 -3.19389872e-02 -1.56497583e-02 4.73687538e+02] [ 3.19467499e-02 9.99489542e-01 2.46219040e-04 5.20338051e+00] [ 1.56339058e-02 -7.46022169e-04 9.99877505e-01 7.32092012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.16925415399993 meters Centerline goodness : 0.998934 Centerline is valid? [True, True] Translation: X:473.72, Y:5.20, Z:7.32 [[ 9.99457232e-01 -2.89992933e-02 -1.56295281e-02 4.73718945e+02] [ 2.89957617e-02 9.99579432e-01 -4.52567919e-04 5.20322627e+00] [ 1.56360789e-02 -8.67791268e-07 9.99877749e-01 7.32091152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.19925415399996 meters Centerline goodness : 0.998956 Centerline is valid? [True, True] Translation: X:473.75, Y:5.21, Z:7.32 [[ 9.99358776e-01 -3.22141739e-02 -1.56295539e-02 4.73749917e+02] [ 3.22110494e-02 9.99480987e-01 -4.51674369e-04 5.20502405e+00] [ 1.56359923e-02 -5.20595877e-05 9.99877749e-01 7.32046078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.22925415399993 meters Centerline goodness : 0.998975 Centerline is valid? [True, True] Translation: X:473.78, Y:5.20, Z:7.32 [[ 9.99317493e-01 -3.34703605e-02 -1.56295798e-02 4.73781126e+02] [ 3.34674036e-02 9.99439708e-01 -4.50775575e-04 5.20489990e+00] [ 1.56359103e-02 -7.26135391e-05 9.99877749e-01 7.31957636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.25925415399996 meters Centerline goodness : 0.998740 Centerline is valid? [True, True] Translation: X:473.81, Y:5.20, Z:7.32 [[ 9.99256534e-01 -3.52433647e-02 -1.56295960e-02 4.73813538e+02] [ 3.52406334e-02 9.99378755e-01 -4.50215289e-04 5.20491532e+00] [ 1.56357532e-02 -1.00916292e-04 9.99877749e-01 7.31895760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.28925415399993 meters Centerline goodness : 0.998994 Centerline is valid? [True, True] Translation: X:473.85, Y:5.20, Z:7.32 [[ 9.99105519e-01 -3.92921899e-02 -1.56296281e-02 4.73845791e+02] [ 3.92899714e-02 9.99227750e-01 -4.49098135e-04 5.20410032e+00] [ 1.56352041e-02 -1.65391214e-04 9.99877749e-01 7.31939205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.31925415399996 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:473.88, Y:5.20, Z:7.32 [[ 9.99037482e-01 -4.09856504e-02 -1.56296615e-02 4.73877314e+02] [ 4.09836573e-02 9.99159717e-01 -4.47932127e-04 5.20422524e+00] [ 1.56348869e-02 -1.93059705e-04 9.99877749e-01 7.31943012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.34925415399994 meters Centerline goodness : 0.998975 Centerline is valid? [True, True] Translation: X:473.91, Y:5.20, Z:7.32 [[ 9.98980021e-01 -4.23630720e-02 -1.56296863e-02 4.73909714e+02] [ 4.23612610e-02 9.99102259e-01 -4.47063740e-04 5.20446114e+00] [ 1.56345939e-02 -2.15485477e-04 9.99877749e-01 7.32039412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.37925415399997 meters Centerline goodness : 0.998829 Centerline is valid? [True, True] Translation: X:473.94, Y:5.20, Z:7.32 [[ 9.98876061e-01 -4.47473628e-02 -1.56297189e-02 4.73942017e+02] [ 4.47458614e-02 9.98998303e-01 -4.45921020e-04 5.20375427e+00] [ 1.56340165e-02 -2.53945404e-04 9.99877749e-01 7.32110591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.40925415399994 meters Centerline goodness : 0.998851 Centerline is valid? [True, True] Translation: X:473.97, Y:5.20, Z:7.32 [[ 9.98844190e-01 -4.54532254e-02 -1.56297515e-02 4.73974320e+02] [ 4.54518284e-02 9.98966433e-01 -4.44776827e-04 5.20365405e+00] [ 1.56338136e-02 -2.66138032e-04 9.99877749e-01 7.32188322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.4392541539999 meters Centerline goodness : 0.998765 Centerline is valid? [True, True] Translation: X:474.01, Y:5.20, Z:7.32 [[ 9.98811418e-01 -4.61677533e-02 -1.56297845e-02 4.74005067e+02] [ 4.61664619e-02 9.98933662e-01 -4.43614254e-04 5.20340653e+00] [ 1.56335985e-02 -2.78484867e-04 9.99877749e-01 7.32211339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.46925415399994 meters Centerline goodness : 0.998936 Centerline is valid? [True, True] Translation: X:474.04, Y:5.20, Z:7.32 [[ 9.98784037e-01 -4.67563535e-02 -1.56298390e-02 4.74037056e+02] [ 4.67551643e-02 9.98906282e-01 -4.41685997e-04 5.20334351e+00] [ 1.56333959e-02 -2.89626766e-04 9.99877749e-01 7.32287026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.4992541539999 meters Centerline goodness : 0.998663 Centerline is valid? [True, True] Translation: X:474.08, Y:5.19, Z:7.32 [[ 9.99255397e-01 -3.52754820e-02 -1.56298714e-02 4.74083252e+02] [ 3.52729062e-02 9.99377620e-01 -4.40533242e-04 5.18933585e+00] [ 1.56356838e-02 -1.11105769e-04 9.99877749e-01 7.31641303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.52925415399994 meters Centerline goodness : 0.998877 Centerline is valid? [True, True] Translation: X:474.10, Y:5.20, Z:7.32 [[ 9.98725525e-01 -4.79834457e-02 -1.56497650e-02 4.74095950e+02] [ 4.79940481e-02 9.98847576e-01 3.02394820e-04 5.20220426e+00] [ 1.56172199e-02 -1.05310500e-03 9.99877489e-01 7.32364516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.5592541539999 meters Centerline goodness : 0.999132 Centerline is valid? [True, True] Translation: X:474.13, Y:5.20, Z:7.33 [[ 9.98688028e-01 -4.87644605e-02 -1.56284938e-02 4.74127771e+02] [ 4.87634660e-02 9.98810255e-01 -4.44928239e-04 5.20313594e+00] [ 1.56315966e-02 -3.17755023e-04 9.99877769e-01 7.32519515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.58925415399995 meters Centerline goodness : 0.998772 Centerline is valid? [True, True] Translation: X:474.16, Y:5.20, Z:7.33 [[ 9.98626267e-01 -5.00132862e-02 -1.56285264e-02 4.74160483e+02] [ 5.00124625e-02 9.98748495e-01 -4.43780800e-04 5.20278086e+00] [ 1.56311622e-02 -3.38449929e-04 9.99877769e-01 7.32568674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.6192541539999 meters Centerline goodness : 0.999006 Centerline is valid? [True, True] Translation: X:474.19, Y:5.20, Z:7.32 [[ 9.98597990e-01 -5.05747221e-02 -1.56285754e-02 4.74190567e+02] [ 5.05739941e-02 9.98720219e-01 -4.42049063e-04 5.20290146e+00] [ 1.56309308e-02 -3.48970176e-04 9.99877769e-01 7.32482298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.64925415399995 meters Centerline goodness : 0.998985 Centerline is valid? [True, True] Translation: X:474.22, Y:5.20, Z:7.33 [[ 9.98502665e-01 -5.24234947e-02 -1.56270963e-02 4.74222943e+02] [ 5.24221770e-02 9.98624890e-01 -4.94219185e-04 5.20284221e+00] [ 1.56315161e-02 -3.25727237e-04 9.99877767e-01 7.32561486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.6792541539999 meters Centerline goodness : 0.998901 Centerline is valid? [True, True] Translation: X:474.26, Y:5.20, Z:7.33 [[ 9.98423426e-01 -5.39111223e-02 -1.56286253e-02 4.74256045e+02] [ 5.39108364e-02 9.98545657e-01 -4.39901017e-04 5.20298761e+00] [ 1.56296114e-02 -4.03344780e-04 9.99877769e-01 7.32724810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.70925415399995 meters Centerline goodness : 0.999025 Centerline is valid? [True, True] Translation: X:474.29, Y:5.20, Z:7.33 [[ 9.98260378e-01 -5.68503430e-02 -1.56286743e-02 4.74288772e+02] [ 5.68504443e-02 9.98382610e-01 -4.38153517e-04 5.20247263e+00] [ 1.56283058e-02 -4.51105779e-04 9.99877769e-01 7.32784342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.7392541539999 meters Centerline goodness : 0.998943 Centerline is valid? [True, True] Translation: X:474.32, Y:5.20, Z:7.33 [[ 9.98227223e-01 -5.74295517e-02 -1.56287228e-02 4.74321305e+02] [ 5.74297511e-02 9.98349454e-01 -4.36416656e-04 5.20272225e+00] [ 1.56279900e-02 -4.61910671e-04 9.99877769e-01 7.32771164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.76925415399995 meters Centerline goodness : 0.998668 Centerline is valid? [True, True] Translation: X:474.37, Y:5.19, Z:7.32 [[ 9.98758649e-01 -4.72958946e-02 -1.56287995e-02 4.74365283e+02] [ 4.72948968e-02 9.98880876e-01 -4.33649317e-04 5.19089691e+00] [ 1.56318188e-02 -3.06051455e-04 9.99877769e-01 7.32059914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.7992541539999 meters Centerline goodness : 0.996022 Centerline is valid? [True, True] Translation: X:474.39, Y:5.20, Z:7.33 [[ 9.98608833e-01 -5.03560395e-02 -1.56418630e-02 4.74385346e+02] [ 5.03655435e-02 9.98730828e-01 2.14017825e-04 5.19595895e+00] [ 1.56112336e-02 -1.00153102e-03 9.99877636e-01 7.32569670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.82925415399995 meters Centerline goodness : 0.998944 Centerline is valid? [True, True] Translation: X:474.42, Y:5.20, Z:7.33 [[ 9.98570135e-01 -5.11221303e-02 -1.56273259e-02 4.74419683e+02] [ 5.11213196e-02 9.98692348e-01 -4.51602598e-04 5.19763205e+00] [ 1.56299776e-02 -3.47932653e-04 9.99877784e-01 7.32852813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.8592541539999 meters Centerline goodness : 0.998794 Centerline is valid? [True, True] Translation: X:474.47, Y:5.18, Z:7.32 [[ 9.99172062e-01 -3.75619480e-02 -1.56298155e-02 4.74465268e+02] [ 3.75612910e-02 9.99294269e-01 -3.35690241e-04 5.18401951e+00] [ 1.56313942e-02 -2.51663737e-04 9.99877791e-01 7.31895611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.88925415399996 meters Centerline goodness : 0.999006 Centerline is valid? [True, True] Translation: X:474.48, Y:5.20, Z:7.33 [[ 9.98669597e-01 -4.91354891e-02 -1.56441653e-02 4.74478570e+02] [ 4.91473472e-02 9.98791469e-01 3.74205479e-04 5.19952046e+00] [ 1.56068721e-02 -1.14257686e-03 9.99877553e-01 7.32929735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.91925415399993 meters Centerline goodness : 0.998900 Centerline is valid? [True, True] Translation: X:474.51, Y:5.20, Z:7.33 [[ 9.98801962e-01 -4.63723015e-02 -1.56285433e-02 4.74509904e+02] [ 4.63726340e-02 9.98924152e-01 -3.41309633e-04 5.20134676e+00] [ 1.56275567e-02 -3.83835986e-04 9.99877809e-01 7.33023867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.94925415399996 meters Centerline goodness : 0.998835 Centerline is valid? [True, True] Translation: X:474.54, Y:5.20, Z:7.33 [[ 9.98865341e-01 -4.49864344e-02 -1.56285615e-02 4.74541840e+02] [ 4.49866104e-02 9.98987532e-01 -3.40471414e-04 5.20249093e+00] [ 1.56280547e-02 -3.62990915e-04 9.99877809e-01 7.33103625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.97925415399993 meters Centerline goodness : 0.999088 Centerline is valid? [True, True] Translation: X:474.57, Y:5.20, Z:7.33 [[ 9.98925353e-01 -4.36335365e-02 -1.56285853e-02 4.74572968e+02] [ 4.36335642e-02 9.99047545e-01 -3.39375733e-04 5.20362923e+00] [ 1.56285080e-02 -3.42919858e-04 9.99877809e-01 7.33168600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.00925415399996 meters Centerline goodness : 0.998876 Centerline is valid? [True, True] Translation: X:474.61, Y:5.20, Z:7.33 [[ 9.99050946e-01 -4.06565466e-02 -1.56286030e-02 4.74605474e+02] [ 4.06562230e-02 9.99173137e-01 -3.38559465e-04 5.20463581e+00] [ 1.56294450e-02 -2.97161816e-04 9.99877809e-01 7.33147385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.03925415399993 meters Centerline goodness : 0.999067 Centerline is valid? [True, True] Translation: X:474.64, Y:5.21, Z:7.33 [[ 9.99053389e-01 -4.05964570e-02 -1.56286264e-02 4.74637203e+02] [ 4.05961429e-02 9.99175580e-01 -3.37478695e-04 5.20594515e+00] [ 1.56294422e-02 -2.97302715e-04 9.99877809e-01 7.33411254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.06925415399996 meters Centerline goodness : 0.999047 Centerline is valid? [True, True] Translation: X:474.67, Y:5.21, Z:7.33 [[ 9.99108647e-01 -3.92129550e-02 -1.56286510e-02 4.74668004e+02] [ 3.92124896e-02 9.99230838e-01 -3.36332853e-04 5.20629914e+00] [ 1.56298187e-02 -2.76805253e-04 9.99877809e-01 7.33226792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.09925415399994 meters Centerline goodness : 0.998856 Centerline is valid? [True, True] Translation: X:474.70, Y:5.21, Z:7.33 [[ 9.99155552e-01 -3.79990455e-02 -1.56286924e-02 4.74699792e+02] [ 3.79984619e-02 9.99277742e-01 -3.34396853e-04 5.20616705e+00] [ 1.56301112e-02 -2.59751802e-04 9.99877809e-01 7.33354204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.12925415399997 meters Centerline goodness : 0.998983 Centerline is valid? [True, True] Translation: X:474.73, Y:5.21, Z:7.34 [[ 9.99125130e-01 -3.87906950e-02 -1.56287168e-02 4.74731625e+02] [ 3.87902262e-02 9.99247320e-01 -3.33252117e-04 5.20767799e+00] [ 1.56298805e-02 -2.73280896e-04 9.99877809e-01 7.33551540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.15925415399994 meters Centerline goodness : 0.999111 Centerline is valid? [True, True] Translation: X:474.76, Y:5.21, Z:7.34 [[ 9.99131558e-01 -3.86247698e-02 -1.56287411e-02 4.74764166e+02] [ 3.86242985e-02 9.99253748e-01 -3.32110574e-04 5.20827685e+00] [ 1.56299058e-02 -2.71827008e-04 9.99877809e-01 7.33633477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.1892541539999 meters Centerline goodness : 0.998712 Centerline is valid? [True, True] Translation: X:474.81, Y:5.19, Z:7.33 [[ 9.99573109e-01 -2.46848299e-02 -1.56287653e-02 4.74812154e+02] [ 2.46826721e-02 9.99695282e-01 -3.30968539e-04 5.19358999e+00] [ 1.56321728e-02 -5.49324380e-05 9.99877809e-01 7.32784470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.21925415399994 meters Centerline goodness : 0.998795 Centerline is valid? [True, True] Translation: X:474.84, Y:5.20, Z:7.33 [[ 9.99486080e-01 -2.79788647e-02 -1.56447516e-02 4.74839523e+02] [ 2.79899609e-02 9.99608084e-01 4.90704828e-04 5.19698722e+00] [ 1.56248908e-02 -9.28348630e-04 9.99877493e-01 7.32903722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.2492541539999 meters Centerline goodness : 0.998606 Centerline is valid? [True, True] Translation: X:474.87, Y:5.20, Z:7.33 [[ 9.99477484e-01 -2.82860654e-02 -1.56415464e-02 4.74869625e+02] [ 2.82947145e-02 9.99599569e-01 3.31889544e-04 5.19640088e+00] [ 1.56258952e-02 -7.74289217e-04 9.99877608e-01 7.32973169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.27925415399994 meters Centerline goodness : 0.998774 Centerline is valid? [True, True] Translation: X:474.88, Y:5.21, Z:7.34 [[ 9.98937235e-01 -4.33557726e-02 -1.56421959e-02 4.74883000e+02] [ 4.33667615e-02 9.99059153e-01 3.63844353e-04 5.21119146e+00] [ 1.56117042e-02 -1.04180905e-03 9.99877587e-01 7.34070582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.3092541539999 meters Centerline goodness : 0.998690 Centerline is valid? [True, True] Translation: X:474.91, Y:5.21, Z:7.34 [[ 9.98851407e-01 -4.52954240e-02 -1.56266494e-02 4.74914133e+02] [ 4.52955895e-02 9.98973569e-01 -3.43526301e-04 5.21157872e+00] [ 1.56261699e-02 -3.64686568e-04 9.99877837e-01 7.34117225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.33925415399995 meters Centerline goodness : 0.998818 Centerline is valid? [True, True] Translation: X:474.95, Y:5.21, Z:7.34 [[ 9.98687996e-01 -4.87656948e-02 -1.56266685e-02 4.74946612e+02] [ 4.87662982e-02 9.98810158e-01 -3.42656951e-04 5.21244071e+00] [ 1.56247851e-02 -4.19847392e-04 9.99877837e-01 7.34281348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.3692541539999 meters Centerline goodness : 0.998732 Centerline is valid? [True, True] Translation: X:474.98, Y:5.21, Z:7.34 [[ 9.98337617e-01 -5.54780058e-02 -1.56266939e-02 4.74977705e+02] [ 5.54794487e-02 9.98459771e-01 -3.41494984e-04 5.21257947e+00] [ 1.56215707e-02 -5.26033072e-04 9.99877837e-01 7.34364605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.39925415399995 meters Centerline goodness : 0.998967 Centerline is valid? [True, True] Translation: X:475.01, Y:5.21, Z:7.34 [[ 9.98113951e-01 -5.93662087e-02 -1.56267127e-02 4.75010723e+02] [ 5.93681409e-02 9.98236098e-01 -3.40630432e-04 5.21314136e+00] [ 1.56193707e-02 -5.87740896e-04 9.99877837e-01 7.34439249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.4292541539999 meters Centerline goodness : 0.998567 Centerline is valid? [True, True] Translation: X:475.04, Y:5.21, Z:7.34 [[ 9.97957397e-01 -6.19422166e-02 -1.56267501e-02 4.75042332e+02] [ 6.19444909e-02 9.98079539e-01 -3.38909349e-04 5.21227168e+00] [ 1.56177323e-02 -6.29773985e-04 9.99877837e-01 7.34314042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.45925415399995 meters Centerline goodness : 0.998609 Centerline is valid? [True, True] Translation: X:475.09, Y:5.19, Z:7.34 [[ 9.98590725e-01 -5.07185218e-02 -1.56267808e-02 4.75094691e+02] [ 5.07194450e-02 9.98712884e-01 -3.37483460e-04 5.19406456e+00] [ 1.56237840e-02 -4.55573800e-04 9.99877837e-01 7.33731172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.4892541539999 meters Centerline goodness : 0.998670 Centerline is valid? [True, True] Translation: X:475.12, Y:5.20, Z:7.34 [[ 9.97923478e-01 -6.24813000e-02 -1.56466931e-02 4.75118701e+02] [ 6.24979744e-02 9.98044923e-01 5.78507588e-04 5.20084660e+00] [ 1.55799567e-02 -1.55519293e-03 9.99877416e-01 7.33858968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.51925415399995 meters Centerline goodness : 0.998694 Centerline is valid? [True, True] Translation: X:475.13, Y:5.21, Z:7.34 [[ 9.96698940e-01 -7.96658264e-02 -1.56390223e-02 4.75133205e+02] [ 7.96793975e-02 9.96820512e-01 2.45613122e-04 5.21279374e+00] [ 1.55697313e-02 -1.49091021e-03 9.99877673e-01 7.34425401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.5492541539999 meters Centerline goodness : 0.998633 Centerline is valid? [True, True] Translation: X:475.16, Y:5.21, Z:7.34 [[ 9.96454081e-01 -8.26750782e-02 -1.56235577e-02 4.75164698e+02] [ 8.26791863e-02 9.96576141e-01 -3.83891256e-04 5.21403955e+00] [ 1.56018031e-02 -9.09213027e-04 9.99877871e-01 7.34442511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.57925415399995 meters Centerline goodness : 0.998842 Centerline is valid? [True, True] Translation: X:475.20, Y:5.22, Z:7.34 [[ 9.96177106e-01 -8.59481052e-02 -1.56235783e-02 4.75196241e+02] [ 8.59526274e-02 9.96299151e-01 -3.83051362e-04 5.21500447e+00] [ 1.55986803e-02 -9.61300604e-04 9.99877871e-01 7.34382803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.6092541539999 meters Centerline goodness : 0.998862 Centerline is valid? [True, True] Translation: X:475.23, Y:5.22, Z:7.34 [[ 9.96128897e-01 -8.65050406e-02 -1.56236656e-02 4.75228782e+02] [ 8.65096873e-02 9.96250937e-01 -3.79455436e-04 5.21608914e+00] [ 1.55979163e-02 -9.73611901e-04 9.99877871e-01 7.34356574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.63925415399996 meters Centerline goodness : 0.998863 Centerline is valid? [True, True] Translation: X:475.26, Y:5.22, Z:7.34 [[ 9.96115227e-01 -8.66623018e-02 -1.56236922e-02 4.75261774e+02] [ 8.66669848e-02 9.96237266e-01 -3.78358629e-04 5.21725100e+00] [ 1.55976938e-02 -9.77169500e-04 9.99877871e-01 7.34362667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.66925415399993 meters Centerline goodness : 0.998863 Centerline is valid? [True, True] Translation: X:475.30, Y:5.21, Z:7.34 [[ 9.96807378e-01 -7.83003829e-02 -1.56237319e-02 4.75304830e+02] [ 7.83040674e-02 9.96929451e-01 -3.76712446e-04 5.20898019e+00] [ 1.56052552e-02 -8.47892006e-04 9.99877871e-01 7.33812645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.69925415399996 meters Centerline goodness : 0.998863 Centerline is valid? [True, True] Translation: X:475.34, Y:5.21, Z:7.34 [[ 9.96767552e-01 -7.88034610e-02 -1.56352679e-02 4.75336338e+02] [ 7.88149069e-02 9.96889260e-01 1.16267662e-04 5.20973209e+00] [ 1.55774683e-02 -1.34818402e-03 9.99877755e-01 7.33847304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.72925415399993 meters Centerline goodness : 0.999094 Centerline is valid? [True, True] Translation: X:475.35, Y:5.22, Z:7.34 [[ 9.96298985e-01 -8.45214815e-02 -1.56349280e-02 4.75354386e+02] [ 8.45334020e-02 9.96420641e-01 1.01946664e-04 5.22180426e+00] [ 1.55703483e-02 -1.42324302e-03 9.99877762e-01 7.34474228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.75925415399996 meters Centerline goodness : 0.999007 Centerline is valid? [True, True] Translation: X:475.39, Y:5.22, Z:7.35 [[ 9.96445782e-01 -8.27751934e-02 -1.56227767e-02 4.75387220e+02] [ 8.27792532e-02 9.96567833e-01 -3.87734523e-04 5.22439554e+00] [ 1.56012516e-02 -9.06885360e-04 9.99877882e-01 7.34587207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.78925415399993 meters Centerline goodness : 0.998861 Centerline is valid? [True, True] Translation: X:475.42, Y:5.23, Z:7.35 [[ 9.96618345e-01 -8.06709548e-02 -1.56228170e-02 4.75419729e+02] [ 8.06747823e-02 9.96740403e-01 -3.86104593e-04 5.22689549e+00] [ 1.56030404e-02 -8.75568441e-04 9.99877882e-01 7.34646033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.81925415399996 meters Centerline goodness : 0.998795 Centerline is valid? [True, True] Translation: X:475.47, Y:5.21, Z:7.34 [[ 9.97741621e-01 -6.53267563e-02 -1.56228569e-02 4.75469509e+02] [ 6.53287306e-02 9.97863723e-01 -3.84483272e-04 5.21451577e+00] [ 1.56145992e-02 -6.37006448e-04 9.99877882e-01 7.34041283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.84925415399994 meters Centerline goodness : 0.999196 Centerline is valid? [True, True] Translation: X:475.48, Y:5.23, Z:7.35 [[ 9.97108669e-01 -7.43611199e-02 -1.56437410e-02 4.75478051e+02] [ 7.43782873e-02 9.97229965e-01 5.17657300e-04 5.23457837e+00] [ 1.55619137e-02 -1.67971525e-03 9.99877495e-01 7.34860366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.87925415399997 meters Centerline goodness : 0.998665 Centerline is valid? [True, True] Translation: X:475.51, Y:5.24, Z:7.35 [[ 9.97369109e-01 -7.07873934e-02 -1.56206821e-02 4.75510002e+02] [ 7.07898726e-02 9.97491172e-01 -3.94845297e-04 5.23709545e+00] [ 1.56094426e-02 -7.11979597e-04 9.99877912e-01 7.34740051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.90925415399994 meters Centerline goodness : 0.998960 Centerline is valid? [True, True] Translation: X:475.54, Y:5.24, Z:7.35 [[ 9.97638662e-01 -6.68812388e-02 -1.56205018e-02 4.75542406e+02] [ 6.68831279e-02 9.97760736e-01 -4.02027402e-04 5.24188156e+00] [ 1.56124114e-02 -6.43669938e-04 9.99877912e-01 7.35029682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.9392541539999 meters Centerline goodness : 0.998982 Centerline is valid? [True, True] Translation: X:475.59, Y:5.23, Z:7.34 [[ 9.98519887e-01 -5.20962951e-02 -1.56208460e-02 4.75590691e+02] [ 5.20965922e-02 9.98641975e-01 -3.88176708e-04 5.23058878e+00] [ 1.56198550e-02 -4.26190680e-04 9.99877912e-01 7.34406390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.96925415399994 meters Centerline goodness : 0.999107 Centerline is valid? [True, True] Translation: X:475.61, Y:5.24, Z:7.35 [[ 9.98471258e-01 -5.30141407e-02 -1.56412133e-02 4.75614566e+02] [ 5.30281575e-02 9.98592901e-01 4.82481672e-04 5.23641400e+00] [ 1.55936262e-02 -1.31116880e-03 9.99877552e-01 7.34500547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.9992541539999 meters Centerline goodness : 0.999275 Centerline is valid? [True, True] Translation: X:475.63, Y:5.25, Z:7.35 [[ 9.98126797e-01 -5.91475792e-02 -1.56352798e-02 4.75628586e+02] [ 5.91583122e-02 9.98248588e-01 2.24440582e-04 5.25175904e+00] [ 1.55946208e-02 -1.14897692e-03 9.99877736e-01 7.35084222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.02925415399994 meters Centerline goodness : 0.999277 Centerline is valid? [True, True] Translation: X:475.66, Y:5.25, Z:7.35 [[ 9.98228648e-01 -5.74070481e-02 -1.56204220e-02 4.75661982e+02] [ 5.74080834e-02 9.98350723e-01 -3.82473903e-04 5.25429700e+00] [ 1.56166163e-02 -5.14942085e-04 9.99877921e-01 7.35102027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.0592541539999 meters Centerline goodness : 0.999318 Centerline is valid? [True, True] Translation: X:475.70, Y:5.26, Z:7.35 [[ 9.98307074e-01 -5.60266649e-02 -1.56204630e-02 4.75695387e+02] [ 5.60275578e-02 9.98429150e-01 -3.80795164e-04 5.25648635e+00] [ 1.56172602e-02 -4.95025885e-04 9.99877921e-01 7.35131559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.08925415399995 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:475.73, Y:5.26, Z:7.35 [[ 9.98635684e-01 -4.98273995e-02 -1.56205034e-02 4.75733949e+02] [ 4.98275604e-02 9.98757764e-01 -3.79127504e-04 5.25562806e+00] [ 1.56199900e-02 -3.99721325e-04 9.99877921e-01 7.35000677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.1192541539999 meters Centerline goodness : 0.999190 Centerline is valid? [True, True] Translation: X:475.76, Y:5.26, Z:7.35 [[ 9.98641197e-01 -4.97148291e-02 -1.56267688e-02 4.75761260e+02] [ 4.97195051e-02 9.98763217e-01 -8.93666416e-05 5.25848358e+00] [ 1.56118847e-02 -6.87710003e-04 9.99877891e-01 7.34875001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.14925415399995 meters Centerline goodness : 0.999272 Centerline is valid? [True, True] Translation: X:475.79, Y:5.26, Z:7.35 [[ 9.98774953e-01 -4.69527008e-02 -1.56217135e-02 4.75793683e+02] [ 4.69534471e-02 9.98897028e-01 -3.19196800e-04 5.26004856e+00] [ 1.56194703e-02 -4.14687529e-04 9.99877923e-01 7.35113700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.1792541539999 meters Centerline goodness : 0.999251 Centerline is valid? [True, True] Translation: X:475.83, Y:5.26, Z:7.35 [[ 9.98874601e-01 -4.47829309e-02 -1.56211808e-02 4.75825077e+02] [ 4.47830332e-02 9.98996678e-01 -3.43427921e-04 5.26237752e+00] [ 1.56208874e-02 -3.56522430e-04 9.99877923e-01 7.35169115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.20925415399995 meters Centerline goodness : 0.999357 Centerline is valid? [True, True] Translation: X:475.86, Y:5.26, Z:7.35 [[ 9.98848426e-01 -4.53629804e-02 -1.56212009e-02 4.75858081e+02] [ 4.53631680e-02 9.98970503e-01 -3.42509323e-04 5.26426598e+00] [ 1.56206562e-02 -3.66512263e-04 9.99877923e-01 7.35088816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.2392541539999 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:475.89, Y:5.27, Z:7.35 [[ 9.98918911e-01 -4.37826968e-02 -1.56232167e-02 4.75886127e+02] [ 4.37840953e-02 9.99040985e-01 -2.52685164e-04 5.26670140e+00] [ 1.56192970e-02 -4.31636419e-04 9.99877918e-01 7.35202054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.26925415399995 meters Centerline goodness : 0.999314 Centerline is valid? [True, True] Translation: X:475.92, Y:5.27, Z:7.35 [[ 9.99019724e-01 -4.14204089e-02 -1.56186137e-02 4.75919656e+02] [ 4.14183355e-02 9.99141788e-01 -4.56333899e-04 5.26566072e+00] [ 1.56241111e-02 -1.91010416e-04 9.99877918e-01 7.35494049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.2992541539999 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:475.95, Y:5.27, Z:7.35 [[ 9.99031353e-01 -4.11380723e-02 -1.56210015e-02 4.75950649e+02] [ 4.11376317e-02 9.99153428e-01 -3.49666263e-04 5.26587571e+00] [ 1.56221618e-02 -2.93283444e-04 9.99877924e-01 7.35439845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.32925415399995 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:475.99, Y:5.27, Z:7.36 [[ 9.99042000e-01 -4.08786795e-02 -1.56210203e-02 4.75986041e+02] [ 4.08782204e-02 9.99164075e-01 -3.48821527e-04 5.26500230e+00] [ 1.56222217e-02 -2.90072156e-04 9.99877924e-01 7.35526527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.3592541539999 meters Centerline goodness : 0.997532 Centerline is valid? [True, True] Translation: X:476.01, Y:5.27, Z:7.35 [[ 9.98961962e-01 -4.27888112e-02 -1.56241898e-02 4.76014093e+02] [ 4.27909683e-02 9.99084028e-01 -1.96376325e-04 5.26717236e+00] [ 1.56182812e-02 -4.72401730e-04 9.99877916e-01 7.35384484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.38925415399996 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:476.05, Y:5.27, Z:7.36 [[ 9.98863700e-01 -4.50262756e-02 -1.56186922e-02 4.76048975e+02] [ 4.50246521e-02 9.98985772e-01 -4.55743323e-04 5.26570742e+00] [ 1.56233718e-02 -2.48000722e-04 9.99877917e-01 7.35553647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.41925415399993 meters Centerline goodness : 0.999293 Centerline is valid? [True, True] Translation: X:476.08, Y:5.27, Z:7.36 [[ 9.98741630e-01 -4.76556103e-02 -1.56236593e-02 4.76078087e+02] [ 4.76578545e-02 9.98863693e-01 -2.28858913e-04 5.26688137e+00] [ 1.56168124e-02 -5.16019156e-04 9.99877917e-01 7.35525106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.44925415399996 meters Centerline goodness : 0.996853 Centerline is valid? [True, True] Translation: X:476.11, Y:5.27, Z:7.35 [[ 9.98654498e-01 -4.94487037e-02 -1.56211196e-02 4.76110517e+02] [ 4.94493651e-02 9.98776573e-01 -3.44143345e-04 5.26688097e+00] [ 1.56190257e-02 -4.28774146e-04 9.99877924e-01 7.35256443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.47925415399993 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:476.14, Y:5.27, Z:7.36 [[ 9.98522661e-01 -5.20430205e-02 -1.56211384e-02 4.76142959e+02] [ 5.20440125e-02 9.98644733e-01 -3.43285586e-04 5.26781497e+00] [ 1.56178332e-02 -4.70208284e-04 9.99877924e-01 7.35686962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.50925415399996 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:476.17, Y:5.27, Z:7.36 [[ 9.98518321e-01 -5.21256951e-02 -1.56228771e-02 4.76172542e+02] [ 5.21278878e-02 9.98640382e-01 -2.67111263e-04 5.26826227e+00] [ 1.56155593e-02 -5.47672094e-04 9.99877920e-01 7.35694139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.53925415399993 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:476.21, Y:5.27, Z:7.36 [[ 9.98357956e-01 -5.51126644e-02 -1.56200742e-02 4.76205368e+02] [ 5.51133198e-02 9.98480030e-01 -3.88834624e-04 5.26837666e+00] [ 1.56177618e-02 -4.72678001e-04 9.99877924e-01 7.35621984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.56925415399996 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:476.24, Y:5.27, Z:7.36 [[ 9.98323084e-01 -5.57405708e-02 -1.56207856e-02 4.76237042e+02] [ 5.57417885e-02 9.98445154e-01 -3.57770339e-04 5.26919363e+00] [ 1.56164400e-02 -5.13560141e-04 9.99877924e-01 7.35790456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.59925415399994 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:476.27, Y:5.27, Z:7.36 [[ 9.98374991e-01 -5.48029929e-02 -1.56208053e-02 4.76269582e+02] [ 5.48041094e-02 9.98497062e-01 -3.56908170e-04 5.27008911e+00] [ 1.56168879e-02 -4.99756133e-04 9.99877924e-01 7.35849347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.62925415399997 meters Centerline goodness : 0.999314 Centerline is valid? [True, True] Translation: X:476.30, Y:5.27, Z:7.36 [[ 9.98463457e-01 -5.31668598e-02 -1.56208444e-02 4.76301627e+02] [ 5.31678031e-02 9.98585529e-01 -3.55188474e-04 5.27109874e+00] [ 1.56176335e-02 -4.75883271e-04 9.99877924e-01 7.35877729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.65925415399994 meters Centerline goodness : 0.999315 Centerline is valid? [True, True] Translation: X:476.33, Y:5.27, Z:7.36 [[ 9.98698226e-01 -4.85576145e-02 -1.56208767e-02 4.76333317e+02] [ 4.85580165e-02 9.98820301e-01 -3.53765711e-04 5.27218831e+00] [ 1.56196268e-02 -4.05213600e-04 9.99877924e-01 7.36013058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.6892541539999 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:476.37, Y:5.27, Z:7.36 [[ 9.98872510e-01 -4.48296439e-02 -1.56209030e-02 4.76365788e+02] [ 4.48296085e-02 9.98994586e-01 -3.52599205e-04 5.27314494e+00] [ 1.56210044e-02 -3.48077314e-04 9.99877924e-01 7.36163005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.71925415399994 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:476.40, Y:5.27, Z:7.36 [[ 9.98963353e-01 -4.27576012e-02 -1.56207409e-02 4.76397986e+02] [ 4.27571997e-02 9.99085428e-01 -3.59826478e-04 5.27388767e+00] [ 1.56218400e-02 -3.08445675e-04 9.99877924e-01 7.36112282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.7492541539999 meters Centerline goodness : 0.999443 Centerline is valid? [True, True] Translation: X:476.43, Y:5.27, Z:7.36 [[ 9.99060161e-01 -4.04324222e-02 -1.56209754e-02 4.76430479e+02] [ 4.04319004e-02 9.99182235e-01 -3.49343951e-04 5.27447403e+00] [ 1.56223259e-02 -2.82570096e-04 9.99877924e-01 7.36193532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.77925415399994 meters Centerline goodness : 0.999014 Centerline is valid? [True, True] Translation: X:476.46, Y:5.27, Z:7.36 [[ 9.99197144e-01 -3.68924401e-02 -1.56210017e-02 4.76461995e+02] [ 3.68915042e-02 9.99319216e-01 -3.48163975e-04 5.27413419e+00] [ 1.56232118e-02 -2.28397799e-04 9.99877924e-01 7.36060308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.8092541539999 meters Centerline goodness : 0.998992 Centerline is valid? [True, True] Translation: X:476.49, Y:5.27, Z:7.36 [[ 9.99216899e-01 -3.63534428e-02 -1.56210207e-02 4.76494358e+02] [ 3.63524544e-02 9.99338971e-01 -3.47305880e-04 5.27448889e+00] [ 1.56233205e-02 -2.20828540e-04 9.99877924e-01 7.36062263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.83925415399995 meters Centerline goodness : 0.999292 Centerline is valid? [True, True] Translation: X:476.53, Y:5.28, Z:7.36 [[ 9.99203645e-01 -3.67159178e-02 -1.56210457e-02 4.76526624e+02] [ 3.67149913e-02 9.99325717e-01 -3.46179521e-04 5.27533566e+00] [ 1.56232230e-02 -2.27622718e-04 9.99877924e-01 7.36126419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.8692541539999 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:476.56, Y:5.28, Z:7.36 [[ 9.99184710e-01 -3.72276421e-02 -1.56210704e-02 4.76559188e+02] [ 3.72267957e-02 9.99306783e-01 -3.45062043e-04 5.27529357e+00] [ 1.56230874e-02 -2.36741678e-04 9.99877924e-01 7.36070326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.89925415399995 meters Centerline goodness : 0.999335 Centerline is valid? [True, True] Translation: X:476.59, Y:5.27, Z:7.36 [[ 9.99101432e-01 -3.93993603e-02 -1.56210952e-02 4.76591023e+02] [ 3.93987968e-02 9.99223507e-01 -3.43936755e-04 5.27408441e+00] [ 1.56225164e-02 -2.71824650e-04 9.99877924e-01 7.35918196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.9292541539999 meters Centerline goodness : 0.999293 Centerline is valid? [True, True] Translation: X:476.62, Y:5.27, Z:7.36 [[ 9.99053345e-01 -4.06004341e-02 -1.56211201e-02 4.76621857e+02] [ 4.06000351e-02 9.99175420e-01 -3.42800522e-04 5.27409947e+00] [ 1.56221571e-02 -2.91742016e-04 9.99877924e-01 7.35848979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.95925415399995 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] Translation: X:476.65, Y:5.27, Z:7.36 [[ 9.98959174e-01 -4.28549738e-02 -1.56211386e-02 4.76654525e+02] [ 4.28548636e-02 9.99081250e-01 -3.41953088e-04 5.27421204e+00] [ 1.56214411e-02 -3.27844590e-04 9.99877924e-01 7.35936087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.9892541539999 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:476.69, Y:5.27, Z:7.36 [[ 9.98917458e-01 -4.38165702e-02 -1.56211634e-02 4.76686133e+02] [ 4.38165953e-02 9.99039534e-01 -3.40816853e-04 5.27473527e+00] [ 1.56210933e-02 -3.44018291e-04 9.99877924e-01 7.35949541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.01925415399995 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:476.72, Y:5.28, Z:7.36 [[ 9.98867589e-01 -4.49390408e-02 -1.56212048e-02 4.76717990e+02] [ 4.49392328e-02 9.98989665e-01 -3.38908275e-04 5.27539609e+00] [ 1.56206524e-02 -3.63480470e-04 9.99877924e-01 7.36075346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.0492541539999 meters Centerline goodness : 0.999274 Centerline is valid? [True, True] Translation: X:476.75, Y:5.28, Z:7.36 [[ 9.98828878e-01 -4.57913644e-02 -1.56212290e-02 4.76751257e+02] [ 4.57916781e-02 9.98950954e-01 -3.37791133e-04 5.27597112e+00] [ 1.56203095e-02 -3.77926752e-04 9.99877924e-01 7.36158953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.07925415399995 meters Centerline goodness : 0.999273 Centerline is valid? [True, True] Translation: X:476.78, Y:5.28, Z:7.36 [[ 9.98735035e-01 -4.77944109e-02 -1.56212651e-02 4.76783467e+02] [ 4.77949956e-02 9.98857110e-01 -3.36113709e-04 5.27697511e+00] [ 1.56194761e-02 -4.10929760e-04 9.99877924e-01 7.36457782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.1092541539999 meters Centerline goodness : 0.999274 Centerline is valid? [True, True] Translation: X:476.81, Y:5.28, Z:7.36 [[ 9.98725865e-01 -4.79856460e-02 -1.56212899e-02 4.76813600e+02] [ 4.79862722e-02 9.98847939e-01 -3.34957702e-04 5.27750344e+00] [ 1.56193664e-02 -4.15076548e-04 9.99877924e-01 7.36294493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.13925415399996 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:476.85, Y:5.28, Z:7.37 [[ 9.98611606e-01 -5.03078523e-02 -1.56198975e-02 4.76846520e+02] [ 5.03077505e-02 9.98733683e-01 -3.99690899e-04 5.27810839e+00] [ 1.56202253e-02 -3.86665934e-04 9.99877922e-01 7.36555253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.16925415399993 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:476.88, Y:5.28, Z:7.36 [[ 9.98406485e-01 -5.42260610e-02 -1.56213101e-02 4.76878146e+02] [ 5.42274723e-02 9.98528552e-01 -3.33531946e-04 5.27809900e+00] [ 1.56164102e-02 -5.14103701e-04 9.99877924e-01 7.36377945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.19925415399996 meters Centerline goodness : 0.999125 Centerline is valid? [True, True] Translation: X:476.91, Y:5.28, Z:7.36 [[ 9.98214384e-01 -5.76542891e-02 -1.56213691e-02 4.76909502e+02] [ 5.76561631e-02 9.98336445e-01 -3.30744796e-04 5.27897835e+00] [ 1.56144509e-02 -5.70513990e-04 9.99877924e-01 7.36472132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.22925415399993 meters Centerline goodness : 0.999317 Centerline is valid? [True, True] Translation: X:476.94, Y:5.28, Z:7.37 [[ 9.98018382e-01 -6.09531040e-02 -1.56214125e-02 4.76941536e+02] [ 6.09554137e-02 9.98140436e-01 -3.28682170e-04 5.27878538e+00] [ 1.56123976e-02 -6.24178811e-04 9.99877924e-01 7.36513807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.25925415399996 meters Centerline goodness : 0.999189 Centerline is valid? [True, True] Translation: X:476.97, Y:5.28, Z:7.37 [[ 9.97804737e-01 -6.43558723e-02 -1.56214395e-02 4.76974109e+02] [ 6.43586183e-02 9.97926781e-01 -3.27393171e-04 5.27815802e+00] [ 1.56101225e-02 -6.78699804e-04 9.99877924e-01 7.36653705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.28925415399993 meters Centerline goodness : 0.999254 Centerline is valid? [True, True] Translation: X:477.01, Y:5.28, Z:7.37 [[ 9.97301139e-01 -7.17384619e-02 -1.56214751e-02 4.77006658e+02] [ 7.17421378e-02 9.97423160e-01 -3.25683195e-04 5.27812019e+00] [ 1.56045851e-02 -7.95913800e-04 9.99877924e-01 7.36866465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.31925415399996 meters Centerline goodness : 0.999148 Centerline is valid? [True, True] Translation: X:477.04, Y:5.28, Z:7.37 [[ 9.97079386e-01 -7.47573902e-02 -1.56214988e-02 4.77039157e+02] [ 7.47614531e-02 9.97201394e-01 -3.24544869e-04 5.27850574e+00] [ 1.56020425e-02 -8.44288951e-04 9.99877924e-01 7.36982073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.34925415399994 meters Centerline goodness : 0.999319 Centerline is valid? [True, True] Translation: X:477.07, Y:5.28, Z:7.37 [[ 9.96678092e-01 -7.99296563e-02 -1.56215226e-02 4.77071373e+02] [ 7.99343702e-02 9.96800076e-01 -3.23394351e-04 5.27839257e+00] [ 1.55973837e-02 -9.26376507e-04 9.99877924e-01 7.37050067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.37925415399997 meters Centerline goodness : 0.999278 Centerline is valid? [True, True] Translation: X:477.10, Y:5.28, Z:7.37 [[ 9.96506333e-01 -8.20432477e-02 -1.56216100e-02 4.77104256e+02] [ 8.20482871e-02 9.96628304e-01 -3.19118135e-04 5.27855488e+00] [ 1.55951201e-02 -9.63723096e-04 9.99877924e-01 7.37070578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.40925415399994 meters Centerline goodness : 0.999213 Centerline is valid? [True, True] Translation: X:477.14, Y:5.28, Z:7.37 [[ 9.96344276e-01 -8.39883778e-02 -1.56216441e-02 4.77136280e+02] [ 8.39936815e-02 9.96466237e-01 -3.17437671e-04 5.27875064e+00] [ 1.55931020e-02 -9.95842193e-04 9.99877924e-01 7.37030615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.4392541539999 meters Centerline goodness : 0.999340 Centerline is valid? [True, True] Translation: X:477.17, Y:5.28, Z:7.37 [[ 9.96124712e-01 -8.65535819e-02 -1.56216667e-02 4.77168581e+02] [ 8.65592171e-02 9.96246657e-01 -3.16322142e-04 5.27877463e+00] [ 1.55904120e-02 -1.03710294e-03 9.99877924e-01 7.36844769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.46925415399994 meters Centerline goodness : 0.999192 Centerline is valid? [True, True] Translation: X:477.21, Y:5.27, Z:7.36 [[ 9.96415857e-01 -8.31348450e-02 -1.56216890e-02 4.77205882e+02] [ 8.31400790e-02 9.96537821e-01 -3.15216124e-04 5.27448994e+00] [ 1.55938094e-02 -9.84702114e-04 9.99877924e-01 7.36371163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.4992541539999 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:477.24, Y:5.27, Z:7.36 [[ 9.96411398e-01 -8.31875684e-02 -1.56254359e-02 4.77239642e+02] [ 8.31956883e-02 9.96533221e-01 -1.30767735e-04 5.27445005e+00] [ 1.55821443e-02 -1.16967044e-03 9.99877907e-01 7.36417361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.52925415399994 meters Centerline goodness : 0.999169 Centerline is valid? [True, True] Translation: X:477.26, Y:5.28, Z:7.37 [[ 9.96020777e-01 -8.77405839e-02 -1.56269266e-02 4.77263669e+02] [ 8.77504153e-02 9.96142491e-01 -5.67598852e-05 5.28024806e+00] [ 1.55716257e-02 -1.31473527e-03 9.99877891e-01 7.36885787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.5592541539999 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:477.30, Y:5.28, Z:7.37 [[ 9.96200394e-01 -8.56781530e-02 -1.56214565e-02 4.77296006e+02] [ 8.56835909e-02 9.96322347e-01 -3.22086998e-04 5.28294247e+00] [ 1.55916021e-02 -1.01763930e-03 9.99877926e-01 7.37138616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.58925415399995 meters Centerline goodness : 0.999232 Centerline is valid? [True, True] Translation: X:477.33, Y:5.28, Z:7.37 [[ 9.96414104e-01 -8.31558892e-02 -1.56214804e-02 4.77327824e+02] [ 8.31610365e-02 9.96536070e-01 -3.20925418e-04 5.28446112e+00] [ 1.55940555e-02 -9.79323889e-04 9.99877926e-01 7.37014643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.6192541539999 meters Centerline goodness : 0.999232 Centerline is valid? [True, True] Translation: X:477.36, Y:5.29, Z:7.37 [[ 9.96422817e-01 -8.30514082e-02 -1.56215677e-02 4.77361355e+02] [ 8.30566099e-02 9.96544780e-01 -3.16619198e-04 5.28504062e+00] [ 1.55938874e-02 -9.81987861e-04 9.99877926e-01 7.37066905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.64925415399995 meters Centerline goodness : 0.999359 Centerline is valid? [True, True] Translation: X:477.39, Y:5.29, Z:7.37 [[ 9.96889024e-01 -7.72543844e-02 -1.56216007e-02 4.77394078e+02] [ 7.72589023e-02 9.97011014e-01 -3.14982025e-04 5.28878858e+00] [ 1.55992417e-02 -8.92905599e-04 9.99877926e-01 7.37399551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.6792541539999 meters Centerline goodness : 0.999336 Centerline is valid? [True, True] Translation: X:477.42, Y:5.29, Z:7.37 [[ 9.97171329e-01 -7.35207796e-02 -1.56216352e-02 4.77424900e+02] [ 7.35248675e-02 9.97293335e-01 -3.13260032e-04 5.29070761e+00] [ 1.56023838e-02 -8.36204737e-04 9.99877926e-01 7.37458295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.70925415399995 meters Centerline goodness : 0.999254 Centerline is valid? [True, True] Translation: X:477.46, Y:5.29, Z:7.38 [[ 9.97756477e-01 -6.50997490e-02 -1.56216523e-02 4.77457381e+02] [ 6.51028201e-02 9.97878512e-01 -3.12408587e-04 5.29315064e+00] [ 1.56088488e-02 -7.05305926e-04 9.99877926e-01 7.37574536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.7392541539999 meters Centerline goodness : 0.999593 Centerline is valid? [True, True] Translation: X:477.49, Y:5.29, Z:7.38 [[ 9.98042530e-01 -6.05563539e-02 -1.56216745e-02 4.77489695e+02] [ 6.05588867e-02 9.98164578e-01 -3.11293990e-04 5.29468710e+00] [ 1.56118529e-02 -6.35346573e-04 9.99877926e-01 7.37567868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.76925415399995 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:477.52, Y:5.30, Z:7.38 [[ 9.98312844e-01 -5.59234124e-02 -1.56217019e-02 4.77522199e+02] [ 5.59254003e-02 9.98434902e-01 -3.09908941e-04 5.29659301e+00] [ 1.56145836e-02 -5.64263859e-04 9.99877926e-01 7.37787062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.7992541539999 meters Centerline goodness : 0.999572 Centerline is valid? [True, True] Translation: X:477.55, Y:5.30, Z:7.38 [[ 9.98552487e-01 -5.14673876e-02 -1.56217357e-02 4.77554319e+02] [ 5.14688575e-02 9.98674552e-01 -3.08198007e-04 5.29865826e+00] [ 1.56168921e-02 -4.96281002e-04 9.99877926e-01 7.37822573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.82925415399995 meters Centerline goodness : 0.999420 Centerline is valid? [True, True] Translation: X:477.59, Y:5.30, Z:7.38 [[ 9.98956470e-01 -4.29177309e-02 -1.56217635e-02 4.77587413e+02] [ 4.29181780e-02 9.99078543e-01 -3.06784230e-04 5.30135605e+00] [ 1.56205352e-02 -3.63993534e-04 9.99877926e-01 7.37976367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.8592541539999 meters Centerline goodness : 0.999334 Centerline is valid? [True, True] Translation: X:477.62, Y:5.30, Z:7.38 [[ 9.99119061e-01 -3.89494655e-02 -1.56217974e-02 4.77618415e+02] [ 3.89494548e-02 9.99241136e-01 -3.05047389e-04 5.30253573e+00] [ 1.56218240e-02 -3.03681830e-04 9.99877926e-01 7.37975242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.88925415399996 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:477.65, Y:5.30, Z:7.38 [[ 9.99248061e-01 -3.54862192e-02 -1.56218141e-02 4.77649658e+02] [ 3.54857988e-02 9.99370134e-01 -3.04188416e-04 5.30358642e+00] [ 1.56227690e-02 -2.50392868e-04 9.99877926e-01 7.37943005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.91925415399993 meters Centerline goodness : 0.999137 Centerline is valid? [True, True] Translation: X:477.68, Y:5.30, Z:7.38 [[ 9.99444796e-01 -2.94288446e-02 -1.56218504e-02 4.77682324e+02] [ 2.94277137e-02 9.99566865e-01 -3.02311970e-04 5.30451529e+00] [ 1.56239807e-02 -1.57571216e-04 9.99877926e-01 7.37834202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.94925415399996 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:477.71, Y:5.31, Z:7.38 [[ 9.99495358e-01 -2.76583840e-02 -1.56218723e-02 4.77713330e+02] [ 2.76570545e-02 9.99617425e-01 -3.01177384e-04 5.30573854e+00] [ 1.56242258e-02 -1.31029577e-04 9.99877926e-01 7.37882045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.97925415399993 meters Centerline goodness : 0.999308 Centerline is valid? [True, True] Translation: X:477.74, Y:5.31, Z:7.38 [[ 9.99538195e-01 -2.60643992e-02 -1.56218832e-02 4.77744859e+02] [ 2.60628840e-02 9.99660260e-01 -3.00610631e-04 5.30656334e+00] [ 1.56244111e-02 -1.06679522e-04 9.99877926e-01 7.37865698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.00925415399996 meters Centerline goodness : 0.999287 Centerline is valid? [True, True] Translation: X:477.78, Y:5.31, Z:7.38 [[ 9.99557345e-01 -2.53193808e-02 -1.56218941e-02 4.77775313e+02] [ 2.53177834e-02 9.99679409e-01 -3.00043635e-04 5.30748167e+00] [ 1.56244828e-02 -9.56009126e-05 9.99877926e-01 7.37900543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.03925415399993 meters Centerline goodness : 0.999309 Centerline is valid? [True, True] Translation: X:477.81, Y:5.31, Z:7.38 [[ 9.99566136e-01 -2.49698894e-02 -1.56218995e-02 4.77806244e+02] [ 2.49682537e-02 9.99688200e-01 -2.99762041e-04 5.30698957e+00] [ 1.56245136e-02 -9.04195653e-05 9.99877926e-01 7.38025897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.06925415399996 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:477.84, Y:5.31, Z:7.38 [[ 9.99555623e-01 -2.53872537e-02 -1.56219105e-02 4.77837202e+02] [ 2.53856780e-02 9.99677687e-01 -2.99189488e-04 5.30629986e+00] [ 1.56244709e-02 -9.75162535e-05 9.99877926e-01 7.38002655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.09925415399994 meters Centerline goodness : 0.999288 Centerline is valid? [True, True] Translation: X:477.87, Y:5.31, Z:7.38 [[ 9.99490761e-01 -2.78240026e-02 -1.56219214e-02 4.77867826e+02] [ 2.78227333e-02 9.99612828e-01 -2.98618838e-04 5.30544084e+00] [ 1.56241818e-02 -1.36177783e-04 9.99877926e-01 7.38071769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.12925415399997 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:477.90, Y:5.30, Z:7.38 [[ 9.99459435e-01 -2.89273775e-02 -1.56219268e-02 4.77898950e+02] [ 2.89262474e-02 9.99581504e-01 -2.98336047e-04 5.30499463e+00] [ 1.56240191e-02 -1.53708942e-04 9.99877926e-01 7.38000919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.15925415399994 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:477.93, Y:5.31, Z:7.38 [[ 9.99394038e-01 -3.11048425e-02 -1.56219372e-02 4.77930793e+02] [ 3.11039870e-02 9.99516110e-01 -2.97788096e-04 5.30503212e+00] [ 1.56236406e-02 -1.88296884e-04 9.99877926e-01 7.38196737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.1892541539999 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:477.96, Y:5.30, Z:7.38 [[ 9.99226681e-01 -3.60831527e-02 -1.56219585e-02 4.77962745e+02] [ 3.60829228e-02 9.99348755e-01 -2.96668904e-04 5.30408542e+00] [ 1.56224895e-02 -2.67246437e-04 9.99877926e-01 7.38284147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.21925415399994 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:477.99, Y:5.30, Z:7.38 [[ 9.99134617e-01 -3.85482984e-02 -1.56219808e-02 4.77994253e+02] [ 3.85483880e-02 9.99256691e-01 -2.95490689e-04 5.30324267e+00] [ 1.56217595e-02 -3.06967200e-04 9.99877926e-01 7.38143930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.2492541539999 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:478.03, Y:5.30, Z:7.38 [[ 9.99006406e-01 -4.17391265e-02 -1.56219973e-02 4.78025778e+02] [ 4.17396197e-02 9.99128479e-01 -2.94612793e-04 5.30240699e+00] [ 1.56206793e-02 -3.57736159e-04 9.99877926e-01 7.38084058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.27925415399994 meters Centerline goodness : 0.999294 Centerline is valid? [True, True] Translation: X:478.06, Y:5.30, Z:7.38 [[ 9.98643342e-01 -4.96732218e-02 -1.56220135e-02 4.78059299e+02] [ 4.96746982e-02 9.98765407e-01 -2.93749717e-04 5.30028828e+00] [ 1.56173182e-02 -4.82667610e-04 9.99877926e-01 7.38343159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.3092541539999 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:478.09, Y:5.30, Z:7.38 [[ 9.98457012e-01 -5.32873996e-02 -1.56220456e-02 4.78092849e+02] [ 5.32893446e-02 9.98579071e-01 -2.92033964e-04 5.29917170e+00] [ 1.56154095e-02 -5.40905212e-04 9.99877926e-01 7.38398682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.33925415399995 meters Centerline goodness : 0.998978 Centerline is valid? [True, True] Translation: X:478.13, Y:5.30, Z:7.38 [[ 9.98072944e-01 -6.00528809e-02 -1.56220776e-02 4.78125768e+02] [ 6.00556800e-02 9.98194986e-01 -2.90311923e-04 5.29588265e+00] [ 1.56113136e-02 -6.48442018e-04 9.99877926e-01 7.38269328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.3692541539999 meters Centerline goodness : 0.998978 Centerline is valid? [True, True] Translation: X:478.16, Y:5.30, Z:7.38 [[ 9.98079555e-01 -5.99428954e-02 -1.56221093e-02 4.78159302e+02] [ 5.99457079e-02 9.98201597e-01 -2.88594495e-04 5.29641139e+00] [ 1.56113137e-02 -6.48438138e-04 9.99877926e-01 7.38321681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.39925415399995 meters Centerline goodness : 0.999340 Centerline is valid? [True, True] Translation: X:478.19, Y:5.29, Z:7.39 [[ 9.97668789e-01 -6.64299337e-02 -1.56221409e-02 4.78192829e+02] [ 6.64335663e-02 9.97790809e-01 -2.86873184e-04 5.29473524e+00] [ 1.56066856e-02 -7.51630115e-04 9.99877926e-01 7.38596077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.4292541539999 meters Centerline goodness : 0.999212 Centerline is valid? [True, True] Translation: X:478.22, Y:5.29, Z:7.39 [[ 9.97351934e-01 -7.10286322e-02 -1.56221730e-02 4.78224954e+02] [ 7.10328548e-02 9.97473936e-01 -2.85118154e-04 5.29290966e+00] [ 1.56029619e-02 -8.25324402e-04 9.99877926e-01 7.38567119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.45925415399995 meters Centerline goodness : 0.999342 Centerline is valid? [True, True] Translation: X:478.26, Y:5.29, Z:7.39 [[ 9.97255544e-01 -7.23693824e-02 -1.56221994e-02 4.78257168e+02] [ 7.23737918e-02 9.97377538e-01 -2.83664311e-04 5.29217797e+00] [ 1.56017594e-02 -8.47751997e-04 9.99877926e-01 7.38543295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.4892541539999 meters Centerline goodness : 0.998981 Centerline is valid? [True, True] Translation: X:478.29, Y:5.29, Z:7.38 [[ 9.97191689e-01 -7.32439903e-02 -1.56222254e-02 4.78290213e+02] [ 7.32485291e-02 9.97313679e-01 -2.82226640e-04 5.29123658e+00] [ 1.56009304e-02 -8.62870968e-04 9.99877926e-01 7.38442225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.51925415399995 meters Centerline goodness : 0.998961 Centerline is valid? [True, True] Translation: X:478.32, Y:5.29, Z:7.38 [[ 9.97139557e-01 -7.39503095e-02 -1.56222567e-02 4.78323484e+02] [ 7.39549619e-02 9.97261543e-01 -2.80480617e-04 5.29076936e+00] [ 1.56002174e-02 -8.75665082e-04 9.99877926e-01 7.38413225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.5492541539999 meters Centerline goodness : 0.999088 Centerline is valid? [True, True] Translation: X:478.36, Y:5.29, Z:7.39 [[ 9.97076657e-01 -7.47936148e-02 -1.56222876e-02 4.78355624e+02] [ 7.47983974e-02 9.97198637e-01 -2.78749577e-04 5.29092069e+00] [ 1.55993726e-02 -8.90587379e-04 9.99877926e-01 7.38698112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.57925415399995 meters Centerline goodness : 0.998790 Centerline is valid? [True, True] Translation: X:478.39, Y:5.29, Z:7.39 [[ 9.97111750e-01 -7.43242822e-02 -1.56223627e-02 4.78388786e+02] [ 7.43290741e-02 9.97233731e-01 -2.74477028e-04 5.29131706e+00] [ 1.55995473e-02 -8.87511482e-04 9.99877926e-01 7.38670730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.6092541539999 meters Centerline goodness : 0.999001 Centerline is valid? [True, True] Translation: X:478.42, Y:5.29, Z:7.39 [[ 9.97118105e-01 -7.42389777e-02 -1.56223921e-02 4.78421656e+02] [ 7.42437855e-02 9.97240084e-01 -2.72790455e-04 5.29235106e+00] [ 1.55995273e-02 -8.87861227e-04 9.99877926e-01 7.38824532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.63925415399996 meters Centerline goodness : 0.999084 Centerline is valid? [True, True] Translation: X:478.45, Y:5.29, Z:7.39 [[ 9.97243162e-01 -7.25397494e-02 -1.56224215e-02 4.78453389e+02] [ 7.25443758e-02 9.97365149e-01 -2.71095270e-04 5.29355099e+00] [ 1.56009239e-02 -8.62970914e-04 9.99877926e-01 7.38867298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.66925415399993 meters Centerline goodness : 0.998786 Centerline is valid? [True, True] Translation: X:478.48, Y:5.29, Z:7.39 [[ 9.97310744e-01 -7.16045991e-02 -1.56224415e-02 4.78484719e+02] [ 7.16091292e-02 9.97432734e-01 -2.69940809e-04 5.29428630e+00] [ 1.56016635e-02 -8.49494561e-04 9.99877926e-01 7.38771909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.69925415399996 meters Centerline goodness : 0.999171 Centerline is valid? [True, True] Translation: X:478.52, Y:5.30, Z:7.39 [[ 9.97483688e-01 -6.91536724e-02 -1.56224563e-02 4.78516368e+02] [ 6.91579162e-02 9.97605689e-01 -2.69079760e-04 5.29500963e+00] [ 1.56036591e-02 -8.12013852e-04 9.99877926e-01 7.38558656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.72925415399993 meters Centerline goodness : 0.999106 Centerline is valid? [True, True] Translation: X:478.55, Y:5.30, Z:7.39 [[ 9.97586963e-01 -6.76475359e-02 -1.56224708e-02 4.78548532e+02] [ 6.76516086e-02 9.97708970e-01 -2.68237265e-04 5.29567180e+00] [ 1.56048248e-02 -7.89295279e-04 9.99877926e-01 7.38569852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.75925415399996 meters Centerline goodness : 0.999084 Centerline is valid? [True, True] Translation: X:478.58, Y:5.30, Z:7.39 [[ 9.97722453e-01 -6.56189281e-02 -1.56224898e-02 4.78580968e+02] [ 6.56227702e-02 9.97844467e-01 -2.67122610e-04 5.29629875e+00] [ 1.56063433e-02 -7.58676833e-04 9.99877926e-01 7.38530254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.78925415399993 meters Centerline goodness : 0.999169 Centerline is valid? [True, True] Translation: X:478.61, Y:5.30, Z:7.39 [[ 9.98018340e-01 -6.09535062e-02 -1.56225094e-02 4.78611758e+02] [ 6.09567956e-02 9.98140370e-01 -2.65975119e-04 5.29903819e+00] [ 1.56096694e-02 -6.86850064e-04 9.99877926e-01 7.38610178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.81925415399996 meters Centerline goodness : 0.999168 Centerline is valid? [True, True] Translation: X:478.64, Y:5.30, Z:7.39 [[ 9.98208278e-01 -5.77595957e-02 -1.56225239e-02 4.78643650e+02] [ 5.77625080e-02 9.98330317e-01 -2.65120431e-04 5.30115486e+00] [ 1.56117525e-02 -6.37750752e-04 9.99877926e-01 7.38862432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.84925415399994 meters Centerline goodness : 0.999275 Centerline is valid? [True, True] Translation: X:478.67, Y:5.30, Z:7.39 [[ 9.98427609e-01 -5.38353664e-02 -1.56225433e-02 4.78674576e+02] [ 5.38378170e-02 9.98549658e-01 -2.63971948e-04 5.30343673e+00] [ 1.56140963e-02 -5.77526744e-04 9.99877926e-01 7.38968426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.87925415399997 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:478.71, Y:5.31, Z:7.39 [[ 9.98635742e-01 -4.98256091e-02 -1.56225577e-02 4.78706455e+02] [ 4.98275829e-02 9.98757800e-01 -2.63114967e-04 5.30566584e+00] [ 1.56162612e-02 -5.15678278e-04 9.99877926e-01 7.39231182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.90925415399994 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:478.74, Y:5.31, Z:7.40 [[ 9.99001694e-01 -4.18515293e-02 -1.56225772e-02 4.78738595e+02] [ 4.18525467e-02 9.99123764e-01 -2.61954579e-04 5.30889525e+00] [ 1.56198513e-02 -3.92151572e-04 9.99877926e-01 7.39558071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.9392541539999 meters Centerline goodness : 0.999229 Centerline is valid? [True, True] Translation: X:478.77, Y:5.31, Z:7.40 [[ 9.99133075e-01 -3.85880000e-02 -1.56225965e-02 4.78770458e+02] [ 3.85886367e-02 9.99255147e-01 -2.60798476e-04 5.31034207e+00] [ 1.56210236e-02 -3.42282316e-04 9.99877926e-01 7.39682817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.96925415399994 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:478.80, Y:5.31, Z:7.40 [[ 9.99238255e-01 -3.57609258e-02 -1.56226156e-02 4.78802259e+02] [ 3.57612352e-02 9.99360329e-01 -2.59644502e-04 5.31150962e+00] [ 1.56219074e-02 -2.99237313e-04 9.99877926e-01 7.39772815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.9992541539999 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:478.83, Y:5.31, Z:7.40 [[ 9.99385734e-01 -3.13701685e-02 -1.56226347e-02 4.78834214e+02] [ 3.13699595e-02 9.99507808e-01 -2.58495390e-04 5.31313011e+00] [ 1.56230544e-02 -2.31744811e-04 9.99877926e-01 7.39874243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.02925415399994 meters Centerline goodness : 0.999254 Centerline is valid? [True, True] Translation: X:478.87, Y:5.31, Z:7.40 [[ 9.99437844e-01 -2.96635892e-02 -1.56226538e-02 4.78865509e+02] [ 2.96631899e-02 9.99559918e-01 -2.57331695e-04 5.31415814e+00] [ 1.56234119e-02 -2.06230713e-04 9.99877926e-01 7.39891887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.0592541539999 meters Centerline goodness : 0.999142 Centerline is valid? [True, True] Translation: X:478.90, Y:5.32, Z:7.40 [[ 9.99513462e-01 -2.69957841e-02 -1.56226680e-02 4.78896652e+02] [ 2.69950725e-02 9.99635534e-01 -2.56466147e-04 5.31538266e+00] [ 1.56238976e-02 -1.65393690e-04 9.99877926e-01 7.39988798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.08925415399995 meters Centerline goodness : 0.999037 Centerline is valid? [True, True] Translation: X:478.93, Y:5.32, Z:7.40 [[ 9.99563672e-01 -2.50678550e-02 -1.56226772e-02 4.78926830e+02] [ 2.50669167e-02 9.99685743e-01 -2.55908166e-04 5.31626286e+00] [ 1.56241827e-02 -1.35815842e-04 9.99877926e-01 7.39991439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.1192541539999 meters Centerline goodness : 0.999142 Centerline is valid? [True, True] Translation: X:478.96, Y:5.32, Z:7.40 [[ 9.99572883e-01 -2.46985644e-02 -1.56215560e-02 4.78958697e+02] [ 2.46965183e-02 9.99694942e-01 -3.23906262e-04 5.31695156e+00] [ 1.56247905e-02 -6.20301262e-05 9.99877924e-01 7.40059477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.14925415399995 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:478.99, Y:5.32, Z:7.40 [[ 9.99618033e-01 -2.27973866e-02 -1.56226558e-02 4.78989157e+02] [ 2.27961529e-02 9.99740101e-01 -2.57065793e-04 5.31741157e+00] [ 1.56244559e-02 -9.91688488e-05 9.99877926e-01 7.40104009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.1792541539999 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:479.02, Y:5.32, Z:7.40 [[ 9.99631576e-01 -2.21955899e-02 -1.56226604e-02 4.79019056e+02] [ 2.21942871e-02 9.99753644e-01 -2.56787866e-04 5.31751824e+00] [ 1.56245112e-02 -9.00405509e-05 9.99877926e-01 7.39951234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.20925415399995 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:479.05, Y:5.32, Z:7.40 [[ 9.99614280e-01 -2.29613372e-02 -1.56226614e-02 4.79049478e+02] [ 2.29601289e-02 9.99736349e-01 -2.56724181e-04 5.31795227e+00] [ 1.56244372e-02 -1.02073163e-04 9.99877926e-01 7.40233532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.2392541539999 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:479.08, Y:5.32, Z:7.40 [[ 9.99569876e-01 -2.48192492e-02 -1.56226614e-02 4.79079405e+02] [ 2.48182677e-02 9.99691946e-01 -2.56724181e-04 5.31593363e+00] [ 1.56242205e-02 -1.31113637e-04 9.99877926e-01 7.40163857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.26925415399995 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:479.11, Y:5.31, Z:7.40 [[ 9.99529044e-01 -2.64125379e-02 -1.56226568e-02 4.79110185e+02] [ 2.64117466e-02 9.99651116e-01 -2.57005451e-04 5.31491289e+00] [ 1.56239945e-02 -1.55737240e-04 9.99877926e-01 7.40222153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.2992541539999 meters Centerline goodness : 0.999358 Centerline is valid? [True, True] Translation: X:479.14, Y:5.31, Z:7.40 [[ 9.99474099e-01 -2.84158129e-02 -1.56226568e-02 4.79140953e+02] [ 2.84152663e-02 9.99596172e-01 -2.57005451e-04 5.31391063e+00] [ 1.56236510e-02 -1.87051661e-04 9.99877926e-01 7.40193118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.32925415399995 meters Centerline goodness : 0.998997 Centerline is valid? [True, True] Translation: X:479.17, Y:5.31, Z:7.40 [[ 9.99308987e-01 -3.37265549e-02 -1.56226614e-02 4.79172649e+02] [ 3.37266614e-02 9.99431061e-01 -2.56725358e-04 5.31185272e+00] [ 1.56224315e-02 -2.70352254e-04 9.99877926e-01 7.40245410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.3592541539999 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:479.20, Y:5.31, Z:7.40 [[ 9.99236170e-01 -3.58190982e-02 -1.56226709e-02 4.79202848e+02] [ 3.58194693e-02 9.99358244e-01 -2.56149303e-04 5.31090830e+00] [ 1.56218200e-02 -3.03642131e-04 9.99877926e-01 7.40016167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.38925415399996 meters Centerline goodness : 0.999168 Centerline is valid? [True, True] Translation: X:479.23, Y:5.31, Z:7.40 [[ 9.98957911e-01 -4.28841547e-02 -1.56218033e-02 4.79234589e+02] [ 4.28845742e-02 9.99079986e-01 -3.08288669e-04 5.30895474e+00] [ 1.56206517e-02 -3.61966976e-04 9.99877925e-01 7.40232283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.41925415399993 meters Centerline goodness : 0.999065 Centerline is valid? [True, True] Translation: X:479.27, Y:5.31, Z:7.40 [[ 9.98809911e-01 -4.62027451e-02 -1.56226585e-02 4.79266881e+02] [ 4.62043854e-02 9.98931974e-01 -2.56123365e-04 5.30791436e+00] [ 1.56178067e-02 -4.66016778e-04 9.99877926e-01 7.40392352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.44925415399996 meters Centerline goodness : 0.999195 Centerline is valid? [True, True] Translation: X:479.30, Y:5.31, Z:7.40 [[ 9.98641361e-01 -4.97128210e-02 -1.56226771e-02 4.79299082e+02] [ 4.97149081e-02 9.98763417e-01 -2.54980671e-04 5.30666665e+00] [ 1.56160342e-02 -5.22045715e-04 9.99877926e-01 7.40351904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.47925415399993 meters Centerline goodness : 0.999005 Centerline is valid? [True, True] Translation: X:479.33, Y:5.30, Z:7.41 [[ 9.98221888e-01 -5.75238607e-02 -1.56227003e-02 4.79331778e+02] [ 5.75269249e-02 9.98343923e-01 -2.53555154e-04 5.30381146e+00] [ 1.56114134e-02 -6.45621602e-04 9.99877926e-01 7.40544474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.50925415399996 meters Centerline goodness : 0.999005 Centerline is valid? [True, True] Translation: X:479.37, Y:5.30, Z:7.41 [[ 9.98228023e-01 -5.74172847e-02 -1.56227271e-02 4.79365310e+02] [ 5.74203619e-02 9.98350058e-01 -2.51888962e-04 5.30425746e+00] [ 1.56114133e-02 -6.45620026e-04 9.99877926e-01 7.40596825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.53925415399993 meters Centerline goodness : 0.999196 Centerline is valid? [True, True] Translation: X:479.40, Y:5.30, Z:7.41 [[ 9.98015584e-01 -6.09985557e-02 -1.56227539e-02 4.79398130e+02] [ 6.10020967e-02 9.98137607e-01 -2.50221194e-04 5.30274638e+00] [ 1.56089213e-02 -7.03296091e-04 9.99877926e-01 7.40765507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.56925415399996 meters Centerline goodness : 0.999112 Centerline is valid? [True, True] Translation: X:479.43, Y:5.30, Z:7.41 [[ 9.97827843e-01 -6.39962810e-02 -1.56227815e-02 4.79430686e+02] [ 6.40002157e-02 9.97949854e-01 -2.48485201e-04 5.30124038e+00] [ 1.56066546e-02 -7.51915931e-04 9.99877926e-01 7.40770127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.59925415399994 meters Centerline goodness : 0.998964 Centerline is valid? [True, True] Translation: X:479.46, Y:5.30, Z:7.41 [[ 9.97677887e-01 -6.62929953e-02 -1.56228042e-02 4.79463703e+02] [ 6.62972334e-02 9.97799888e-01 -2.47046861e-04 5.29999177e+00] [ 1.56048098e-02 -7.89275507e-04 9.99877926e-01 7.40832186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.62925415399997 meters Centerline goodness : 0.999175 Centerline is valid? [True, True] Translation: X:479.49, Y:5.30, Z:7.41 [[ 9.97609653e-01 -6.73120110e-02 -1.56228310e-02 4.79494897e+02] [ 6.73164003e-02 9.97731648e-01 -2.45342934e-04 5.29766259e+00] [ 1.56039074e-02 -8.06916263e-04 9.99877926e-01 7.40756971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.65925415399994 meters Centerline goodness : 0.998837 Centerline is valid? [True, True] Translation: X:479.53, Y:5.30, Z:7.41 [[ 9.97714536e-01 -6.57391116e-02 -1.56228442e-02 4.79528326e+02] [ 6.57433217e-02 9.97836538e-01 -2.44497291e-04 5.29710734e+00] [ 1.56051178e-02 -7.83159171e-04 9.99877926e-01 7.40785201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.6892541539999 meters Centerline goodness : 0.999029 Centerline is valid? [True, True] Translation: X:479.56, Y:5.30, Z:7.41 [[ 9.98103801e-01 -5.95376138e-02 -1.56228699e-02 4.79560053e+02] [ 5.95410915e-02 9.98225826e-01 -2.42840956e-04 5.29744160e+00] [ 1.56096104e-02 -6.87822249e-04 9.99877926e-01 7.40894751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.71925415399994 meters Centerline goodness : 0.999069 Centerline is valid? [True, True] Translation: X:479.59, Y:5.30, Z:7.41 [[ 9.98364187e-01 -5.49988654e-02 -1.56229115e-02 4.79592653e+02] [ 5.50018306e-02 9.98486225e-01 -2.40134663e-04 5.29848930e+00] [ 1.56124691e-02 -6.19546887e-04 9.99877926e-01 7.41131633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.7492541539999 meters Centerline goodness : 0.998942 Centerline is valid? [True, True] Translation: X:479.62, Y:5.30, Z:7.41 [[ 9.98889052e-01 -4.44588179e-02 -1.56229375e-02 4.79622080e+02] [ 4.44605215e-02 9.99011114e-01 -2.38436161e-04 5.30064005e+00] [ 1.56180887e-02 -4.56432676e-04 9.99877926e-01 7.41083368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.77925415399994 meters Centerline goodness : 0.998961 Centerline is valid? [True, True] Translation: X:479.66, Y:5.30, Z:7.41 [[ 9.99042757e-01 -4.08599538e-02 -1.56215609e-02 4.79655464e+02] [ 4.08598116e-02 9.99164835e-01 -3.28403758e-04 5.30186430e+00] [ 1.56219328e-02 -3.10204637e-04 9.99877922e-01 7.41362588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.8092541539999 meters Centerline goodness : 0.999067 Centerline is valid? [True, True] Translation: X:479.69, Y:5.30, Z:7.41 [[ 9.99194476e-01 -3.69638027e-02 -1.56229546e-02 4.79687858e+02] [ 3.69646248e-02 9.99316547e-01 -2.36237106e-04 5.30284826e+00] [ 1.56210093e-02 -3.41449843e-04 9.99877926e-01 7.41420560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.83925415399995 meters Centerline goodness : 0.998855 Centerline is valid? [True, True] Translation: X:479.72, Y:5.30, Z:7.41 [[ 9.99310778e-01 -3.36732947e-02 -1.56229714e-02 4.79719452e+02] [ 3.36737323e-02 9.99432851e-01 -2.35118312e-04 5.30349520e+00] [ 1.56220281e-02 -2.91127495e-04 9.99877926e-01 7.41421658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.8692541539999 meters Centerline goodness : 0.999046 Centerline is valid? [True, True] Translation: X:479.75, Y:5.30, Z:7.41 [[ 9.99425438e-01 -3.00784924e-02 -1.56229839e-02 4.79750746e+02] [ 3.00785040e-02 9.99547512e-01 -2.34284597e-04 5.30368766e+00] [ 1.56229616e-02 -2.35765998e-04 9.99877926e-01 7.41481801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.89925415399995 meters Centerline goodness : 0.999070 Centerline is valid? [True, True] Translation: X:479.78, Y:5.30, Z:7.42 [[ 9.99444168e-01 -2.94495707e-02 -1.56229963e-02 4.79782514e+02] [ 2.94495184e-02 9.99566242e-01 -2.33457966e-04 5.30368682e+00] [ 1.56230949e-02 -2.26761514e-04 9.99877926e-01 7.41656000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.9292541539999 meters Centerline goodness : 0.999005 Centerline is valid? [True, True] Translation: X:479.81, Y:5.30, Z:7.42 [[ 9.99443381e-01 -2.94762443e-02 -1.56230049e-02 4.79813049e+02] [ 2.94762043e-02 9.99565455e-01 -2.32882459e-04 5.30332718e+00] [ 1.56230805e-02 -2.27754051e-04 9.99877926e-01 7.41598795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.95925415399995 meters Centerline goodness : 0.999196 Centerline is valid? [True, True] Translation: X:479.84, Y:5.30, Z:7.42 [[ 9.99361808e-01 -3.21231865e-02 -1.56230091e-02 4.79844748e+02] [ 3.21234742e-02 9.99483881e-01 -2.32597036e-04 5.30252071e+00] [ 1.56224175e-02 -2.69416736e-04 9.99877926e-01 7.41556681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.9892541539999 meters Centerline goodness : 0.998942 Centerline is valid? [True, True] Translation: X:479.88, Y:5.30, Z:7.42 [[ 9.99293769e-01 -3.41743342e-02 -1.56230216e-02 4.79877069e+02] [ 3.41748856e-02 9.99415841e-01 -2.31756467e-04 5.30232210e+00] [ 1.56218154e-02 -3.02322182e-04 9.99877926e-01 7.41732805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.01925415399995 meters Centerline goodness : 0.998943 Centerline is valid? [True, True] Translation: X:479.91, Y:5.30, Z:7.42 [[ 9.99208671e-01 -3.65780463e-02 -1.56230383e-02 4.79909007e+02] [ 3.65789091e-02 9.99330741e-01 -2.30625291e-04 5.30203488e+00] [ 1.56210182e-02 -3.41030906e-04 9.99877926e-01 7.41768160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.0492541539999 meters Centerline goodness : 0.998210 Centerline is valid? [True, True] Translation: X:479.94, Y:5.30, Z:7.42 [[ 9.98938715e-01 -4.33285590e-02 -1.56230551e-02 4.79938192e+02] [ 4.33302644e-02 9.99060777e-01 -2.29482079e-04 5.30269254e+00] [ 1.56183247e-02 -4.47712574e-04 9.99877926e-01 7.41775547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.07925415399995 meters Centerline goodness : 0.998881 Centerline is valid? [True, True] Translation: X:479.97, Y:5.30, Z:7.42 [[ 9.98808865e-01 -4.62259391e-02 -1.56209545e-02 4.79971227e+02] [ 4.62258080e-02 9.98930948e-01 -3.69655383e-04 5.30062696e+00] [ 1.56213426e-02 -3.52876172e-04 9.99877917e-01 7.41818072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.1092541539999 meters Centerline goodness : 0.998858 Centerline is valid? [True, True] Translation: X:480.00, Y:5.30, Z:7.42 [[ 9.98648643e-01 -4.95662060e-02 -1.56230258e-02 4.80003198e+02] [ 4.95687075e-02 9.98770690e-01 -2.27308488e-04 5.30014750e+00] [ 1.56150871e-02 -5.47411883e-04 9.99877927e-01 7.41879566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.13925415399996 meters Centerline goodness : 0.998860 Centerline is valid? [True, True] Translation: X:480.04, Y:5.30, Z:7.42 [[ 9.98288834e-01 -5.63500158e-02 -1.56230422e-02 4.80035421e+02] [ 5.63533641e-02 9.98410861e-01 -2.26175870e-04 5.29869600e+00] [ 1.56109600e-02 -6.54622140e-04 9.99877927e-01 7.41967444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.16925415399993 meters Centerline goodness : 0.998925 Centerline is valid? [True, True] Translation: X:480.07, Y:5.30, Z:7.42 [[ 9.98100718e-01 -5.95892311e-02 -1.56230625e-02 4.80066605e+02] [ 5.95929975e-02 9.98222733e-01 -2.24763927e-04 5.29842568e+00] [ 1.56086897e-02 -7.06688087e-04 9.99877927e-01 7.42044748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.19925415399996 meters Centerline goodness : 0.999051 Centerline is valid? [True, True] Translation: X:480.10, Y:5.30, Z:7.42 [[ 9.97920413e-01 -6.25361442e-02 -1.56230745e-02 4.80098596e+02] [ 6.25402839e-02 9.98042415e-01 -2.23925558e-04 5.29837631e+00] [ 1.56064945e-02 -7.53611631e-04 9.99877927e-01 7.42145503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.22925415399993 meters Centerline goodness : 0.998903 Centerline is valid? [True, True] Translation: X:480.13, Y:5.30, Z:7.42 [[ 9.97558828e-01 -6.80610278e-02 -1.56231137e-02 4.80130973e+02] [ 6.80658864e-02 9.97680804e-01 -2.21156963e-04 5.29791640e+00] [ 1.56019328e-02 -8.42784001e-04 9.99877927e-01 7.42343362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.25925415399996 meters Centerline goodness : 0.998970 Centerline is valid? [True, True] Translation: X:480.16, Y:5.30, Z:7.42 [[ 9.97432074e-01 -6.98940379e-02 -1.56231294e-02 4.80164038e+02] [ 6.98991380e-02 9.97554040e-01 -2.20039685e-04 5.29741009e+00] [ 1.56002954e-02 -8.72568642e-04 9.99877927e-01 7.42284878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.28925415399993 meters Centerline goodness : 0.998736 Centerline is valid? [True, True] Translation: X:480.20, Y:5.30, Z:7.42 [[ 9.97282267e-01 -7.19999848e-02 -1.56231530e-02 4.80197424e+02] [ 7.20053687e-02 9.97404221e-01 -2.18356050e-04 5.29757937e+00] [ 1.55983203e-02 -9.07188274e-04 9.99877927e-01 7.42347641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.31925415399996 meters Centerline goodness : 0.998716 Centerline is valid? [True, True] Translation: X:480.23, Y:5.30, Z:7.43 [[ 9.96971264e-01 -7.61853953e-02 -1.56231763e-02 4.80230066e+02] [ 7.61913173e-02 9.97093193e-01 -2.16672218e-04 5.29888225e+00] [ 1.55942700e-02 -9.74334411e-04 9.99877927e-01 7.42580289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.34925415399994 meters Centerline goodness : 0.998736 Centerline is valid? [True, True] Translation: X:480.26, Y:5.30, Z:7.43 [[ 9.96847473e-01 -7.77883796e-02 -1.56231996e-02 4.80263090e+02] [ 7.77945242e-02 9.96969391e-01 -2.14978377e-04 5.29969187e+00] [ 1.55925746e-02 -1.00109873e-03 9.99877927e-01 7.42614130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.37925415399997 meters Centerline goodness : 0.998566 Centerline is valid? [True, True] Translation: X:480.30, Y:5.30, Z:7.43 [[ 9.96744383e-01 -7.90983524e-02 -1.56232226e-02 4.80295401e+02] [ 7.91046834e-02 9.96866292e-01 -2.13293127e-04 5.30032383e+00] [ 1.55911352e-02 -1.02327135e-03 9.99877927e-01 7.42537320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.40925415399994 meters Centerline goodness : 0.998736 Centerline is valid? [True, True] Translation: X:480.33, Y:5.30, Z:7.43 [[ 9.96572887e-01 -8.12305040e-02 -1.56232366e-02 4.80327772e+02] [ 8.12371120e-02 9.96694781e-01 -2.12261401e-04 5.30050467e+00] [ 1.55888405e-02 -1.05765267e-03 9.99877927e-01 7.42752755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.4392541539999 meters Centerline goodness : 0.998736 Centerline is valid? [True, True] Translation: X:480.36, Y:5.30, Z:7.43 [[ 9.96528759e-01 -8.17700818e-02 -1.56232631e-02 4.80361238e+02] [ 8.17767865e-02 9.96650647e-01 -2.10290396e-04 5.30063724e+00] [ 1.55881308e-02 -1.06805983e-03 9.99877927e-01 7.42829994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.46925415399994 meters Centerline goodness : 0.998947 Centerline is valid? [True, True] Translation: X:480.39, Y:5.30, Z:7.43 [[ 9.96520209e-01 -8.18742052e-02 -1.56232864e-02 4.80394636e+02] [ 8.18809498e-02 9.96642096e-01 -2.08548668e-04 5.30074550e+00] [ 1.55878996e-02 -1.07142657e-03 9.99877927e-01 7.42866109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.4992541539999 meters Centerline goodness : 0.998947 Centerline is valid? [True, True] Translation: X:480.43, Y:5.30, Z:7.43 [[ 9.96585260e-01 -8.10785568e-02 -1.56233095e-02 4.80428075e+02] [ 8.10852313e-02 9.96707150e-01 -2.06801979e-04 5.30152090e+00] [ 1.55886315e-02 -1.06072386e-03 9.99877927e-01 7.42956653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.52925415399994 meters Centerline goodness : 0.998842 Centerline is valid? [True, True] Translation: X:480.46, Y:5.30, Z:7.43 [[ 9.96706870e-01 -7.95696324e-02 -1.56233327e-02 4.80460661e+02] [ 7.95761500e-02 9.96828769e-01 -2.05033401e-04 5.30263567e+00] [ 1.55901020e-02 -1.03888647e-03 9.99877927e-01 7.42984239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.5592541539999 meters Centerline goodness : 0.998967 Centerline is valid? [True, True] Translation: X:480.49, Y:5.30, Z:7.43 [[ 9.96843666e-01 -7.78371013e-02 -1.56233888e-02 4.80492225e+02] [ 7.78434752e-02 9.96965573e-01 -2.00666446e-04 5.30406680e+00] [ 1.55916001e-02 -1.01614580e-03 9.99877927e-01 7.42800314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.58925415399995 meters Centerline goodness : 0.998903 Centerline is valid? [True, True] Translation: X:480.52, Y:5.31, Z:7.43 [[ 9.97254615e-01 -7.23819183e-02 -1.56234073e-02 4.80523937e+02] [ 7.23876477e-02 9.97376553e-01 -1.99216613e-04 5.30715056e+00] [ 1.55968398e-02 -9.32272017e-04 9.99877927e-01 7.42862650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.6192541539999 meters Centerline goodness : 0.999008 Centerline is valid? [True, True] Translation: X:480.56, Y:5.31, Z:7.43 [[ 9.97479242e-01 -6.92175628e-02 -1.56234217e-02 4.80557372e+02] [ 6.92229230e-02 9.97601197e-01 -1.98081790e-04 5.30952589e+00] [ 1.55996549e-02 -8.83916443e-04 9.99877927e-01 7.43020653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.64925415399995 meters Centerline goodness : 0.998815 Centerline is valid? [True, True] Translation: X:480.59, Y:5.31, Z:7.43 [[ 9.97976846e-01 -6.16289194e-02 -1.56234432e-02 4.80589003e+02] [ 6.16333787e-02 9.98098837e-01 -1.96366616e-04 5.31318978e+00] [ 1.56058424e-02 -7.66956258e-04 9.99877927e-01 7.43014221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.6792541539999 meters Centerline goodness : 0.998837 Centerline is valid? [True, True] Translation: X:480.62, Y:5.32, Z:7.43 [[ 9.98235982e-01 -5.72785388e-02 -1.56234538e-02 4.80622277e+02] [ 5.72824795e-02 9.98357992e-01 -1.95519773e-04 5.31545465e+00] [ 1.56089991e-02 -6.99775302e-04 9.99877927e-01 7.43085999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.70925415399995 meters Centerline goodness : 0.999046 Centerline is valid? [True, True] Translation: X:480.65, Y:5.32, Z:7.43 [[ 9.98477783e-01 -5.28963428e-02 -1.56234750e-02 4.80653800e+02] [ 5.28997747e-02 9.98599808e-01 -1.93812482e-04 5.31791867e+00] [ 1.56118511e-02 -6.32960851e-04 9.99877927e-01 7.43170522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.7392541539999 meters Centerline goodness : 0.999005 Centerline is valid? [True, True] Translation: X:480.69, Y:5.32, Z:7.43 [[ 9.98915735e-01 -4.38549932e-02 -1.56234924e-02 4.80686418e+02] [ 4.38573423e-02 9.99037785e-01 -1.92399906e-04 5.32272489e+00] [ 1.56168970e-02 -4.93013561e-04 9.99877927e-01 7.43295397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.76925415399995 meters Centerline goodness : 0.999065 Centerline is valid? [True, True] Translation: X:480.72, Y:5.32, Z:7.43 [[ 9.99105037e-01 -3.93068791e-02 -1.56235129e-02 4.80718930e+02] [ 3.93086988e-02 9.99227096e-01 -1.90721540e-04 5.32499848e+00] [ 1.56189341e-02 -4.23589111e-04 9.99877927e-01 7.43482192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.7992541539999 meters Centerline goodness : 0.998851 Centerline is valid? [True, True] Translation: X:480.75, Y:5.33, Z:7.44 [[ 9.99264678e-01 -3.50144182e-02 -1.56235270e-02 4.80751408e+02] [ 3.50157317e-02 9.99386743e-01 -1.89556122e-04 5.32694445e+00] [ 1.56205830e-02 -3.57652494e-04 9.99877927e-01 7.43520474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.82925415399995 meters Centerline goodness : 0.998848 Centerline is valid? [True, True] Translation: X:480.78, Y:5.33, Z:7.44 [[ 9.99506847e-01 -2.72390791e-02 -1.56235410e-02 4.80782124e+02] [ 2.72394609e-02 9.99628919e-01 -1.88400580e-04 5.32996498e+00] [ 1.56228752e-02 -2.37269165e-04 9.99877927e-01 7.43582093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.8592541539999 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:480.81, Y:5.33, Z:7.44 [[ 9.99591857e-01 -2.39170362e-02 -1.56235513e-02 4.80812937e+02] [ 2.39170258e-02 9.99713929e-01 -1.87541045e-04 5.33162492e+00] [ 1.56235673e-02 -1.86204377e-04 9.99877927e-01 7.43652671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.88925415399996 meters Centerline goodness : 0.998973 Centerline is valid? [True, True] Translation: X:480.84, Y:5.33, Z:7.44 [[ 9.99715842e-01 -1.80038726e-02 -1.56235547e-02 4.80843274e+02] [ 1.80031445e-02 9.99837913e-01 -1.87256255e-04 5.33441143e+00] [ 1.56243937e-02 -9.40700680e-05 9.99877927e-01 7.43723579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.91925415399993 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:480.87, Y:5.34, Z:7.44 [[ 9.99753165e-01 -1.57959720e-02 -1.56235547e-02 4.80871750e+02] [ 1.57949744e-02 9.99875234e-01 -1.87256256e-04 5.33562568e+00] [ 1.56245633e-02 -5.95636120e-05 9.99877927e-01 7.43731656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.94925415399996 meters Centerline goodness : 0.998993 Centerline is valid? [True, True] Translation: X:480.90, Y:5.34, Z:7.44 [[ 9.99779572e-01 -1.40253917e-02 -1.56235446e-02 4.80900971e+02] [ 1.40241647e-02 9.99901639e-01 -1.88098597e-04 5.33593959e+00] [ 1.56246460e-02 -3.10500278e-05 9.99877927e-01 7.43655916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.97925415399993 meters Centerline goodness : 0.998307 Centerline is valid? [True, True] Translation: X:480.93, Y:5.34, Z:7.44 [[ 9.99779953e-01 -1.39983111e-02 -1.56234958e-02 4.80927204e+02] [ 1.39970187e-02 9.99902019e-01 -1.92069692e-04 5.33865517e+00] [ 1.56246536e-02 -2.66549347e-05 9.99877927e-01 7.43711599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.00925415399996 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:480.96, Y:5.34, Z:7.44 [[ 9.99783923e-01 -1.37137960e-02 -1.56217493e-02 4.80957460e+02] [ 1.37103401e-02 9.99905955e-01 -3.28298501e-04 5.33689781e+00] [ 1.56247824e-02 1.14048066e-04 9.99877919e-01 7.43746632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.03925415399993 meters Centerline goodness : 0.999084 Centerline is valid? [True, True] Translation: X:480.99, Y:5.34, Z:7.44 [[ 9.99764184e-01 -1.50826049e-02 -1.56234004e-02 4.80985097e+02] [ 1.50813507e-02 9.99886250e-01 -1.98095531e-04 5.33714714e+00] [ 1.56246110e-02 -3.75731636e-05 9.99877928e-01 7.43815219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.06925415399996 meters Centerline goodness : 0.999058 Centerline is valid? [True, True] Translation: X:481.01, Y:5.34, Z:7.44 [[ 9.99741173e-01 -1.65377806e-02 -1.56233417e-02 4.81013229e+02] [ 1.65366334e-02 9.99863240e-01 -2.02618487e-04 5.33727719e+00] [ 1.56245559e-02 -5.57914302e-05 9.99877928e-01 7.43747196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.09925415399994 meters Centerline goodness : 0.998975 Centerline is valid? [True, True] Translation: X:481.04, Y:5.34, Z:7.44 [[ 9.99659990e-01 -2.08762012e-02 -1.56233141e-02 4.81041649e+02] [ 2.08755509e-02 9.99782061e-01 -2.04723614e-04 5.33635688e+00] [ 1.56241831e-02 -1.21491283e-04 9.99877928e-01 7.43891235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.12925415399997 meters Centerline goodness : 0.998975 Centerline is valid? [True, True] Translation: X:481.07, Y:5.34, Z:7.44 [[ 9.99610341e-01 -2.31317937e-02 -1.56232608e-02 4.81070802e+02] [ 2.31313564e-02 9.99732413e-01 -2.08716802e-04 5.33555916e+00] [ 1.56239082e-02 -1.52751740e-04 9.99877928e-01 7.43884110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.15925415399994 meters Centerline goodness : 0.999041 Centerline is valid? [True, True] Translation: X:481.10, Y:5.33, Z:7.44 [[ 9.99553960e-01 -2.54518308e-02 -1.56232570e-02 4.81101316e+02] [ 2.54516724e-02 9.99676032e-01 -2.08999519e-04 5.33488606e+00] [ 1.56235150e-02 -1.88731723e-04 9.99877928e-01 7.43998885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.1892541539999 meters Centerline goodness : 0.998913 Centerline is valid? [True, True] Translation: X:481.13, Y:5.33, Z:7.44 [[ 9.99506350e-01 -2.72574647e-02 -1.56232570e-02 4.81131402e+02] [ 2.72575268e-02 9.99628423e-01 -2.08999519e-04 5.33387275e+00] [ 1.56231486e-02 -2.16955000e-04 9.99877928e-01 7.43908436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.21925415399994 meters Centerline goodness : 0.998978 Centerline is valid? [True, True] Translation: X:481.16, Y:5.33, Z:7.44 [[ 9.99400559e-01 -3.08939628e-02 -1.56232608e-02 4.81162480e+02] [ 3.08944736e-02 9.99522630e-01 -2.08715130e-04 5.33221729e+00] [ 1.56222508e-02 -2.74082400e-04 9.99877928e-01 7.44099928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.2492541539999 meters Centerline goodness : 0.998894 Centerline is valid? [True, True] Translation: X:481.19, Y:5.33, Z:7.44 [[ 9.99357892e-01 -3.22446364e-02 -1.56232684e-02 4.81194552e+02] [ 3.22453211e-02 9.99479963e-01 -2.08143328e-04 5.33177646e+00] [ 1.56218552e-02 -2.95767629e-04 9.99877928e-01 7.44249759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.27925415399994 meters Centerline goodness : 0.999256 Centerline is valid? [True, True] Translation: X:481.23, Y:5.33, Z:7.44 [[ 9.99326460e-01 -3.32045021e-02 -1.56232838e-02 4.81226171e+02] [ 3.32053223e-02 9.99448530e-01 -2.06978946e-04 5.33162430e+00] [ 1.56215407e-02 -3.11936638e-04 9.99877928e-01 7.44342090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.3092541539999 meters Centerline goodness : 0.999044 Centerline is valid? [True, True] Translation: X:481.26, Y:5.33, Z:7.44 [[ 9.99311926e-01 -3.36390638e-02 -1.56232953e-02 4.81258485e+02] [ 3.36399505e-02 9.99433995e-01 -2.06110538e-04 5.32990173e+00] [ 1.56213858e-02 -3.19598163e-04 9.99877928e-01 7.44305838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.33925415399995 meters Centerline goodness : 0.999215 Centerline is valid? [True, True] Translation: X:481.29, Y:5.33, Z:7.45 [[ 9.99282747e-01 -3.44949902e-02 -1.56233104e-02 4.81289358e+02] [ 3.44959995e-02 9.99404815e-01 -2.04961376e-04 5.33008007e+00] [ 1.56210818e-02 -3.34127340e-04 9.99877928e-01 7.44513982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.3692541539999 meters Centerline goodness : 0.999151 Centerline is valid? [True, True] Translation: X:481.32, Y:5.33, Z:7.45 [[ 9.99285543e-01 -3.44138726e-02 -1.56233334e-02 4.81321393e+02] [ 3.44148996e-02 9.99407611e-01 -2.03190816e-04 5.32789936e+00] [ 1.56210709e-02 -3.34629806e-04 9.99877928e-01 7.44610556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.39925415399995 meters Centerline goodness : 0.998725 Centerline is valid? [True, True] Translation: X:481.35, Y:5.33, Z:7.44 [[ 9.99315846e-01 -3.35224066e-02 -1.56233483e-02 4.81352373e+02] [ 3.35233427e-02 9.99437914e-01 -2.02039040e-04 5.32679896e+00] [ 1.56213395e-02 -3.21846045e-04 9.99877928e-01 7.44391457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.4292541539999 meters Centerline goodness : 0.998725 Centerline is valid? [True, True] Translation: X:481.38, Y:5.33, Z:7.44 [[ 9.99319125e-01 -3.34247381e-02 -1.56228483e-02 4.81384231e+02] [ 3.34250578e-02 9.99441198e-01 -2.40722179e-04 5.32714406e+00] [ 1.56221643e-02 -2.81636331e-04 9.99877927e-01 7.44442465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.45925415399995 meters Centerline goodness : 0.999088 Centerline is valid? [True, True] Translation: X:481.42, Y:5.33, Z:7.45 [[ 9.99296849e-01 -3.40842304e-02 -1.56228599e-02 4.81416559e+02] [ 3.40846448e-02 9.99418921e-01 -2.39817114e-04 5.32655232e+00] [ 1.56219558e-02 -2.92851145e-04 9.99877927e-01 7.44678136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.4892541539999 meters Centerline goodness : 0.999000 Centerline is valid? [True, True] Translation: X:481.45, Y:5.33, Z:7.45 [[ 9.99337544e-01 -3.28691991e-02 -1.56233736e-02 4.81446756e+02] [ 3.28700934e-02 9.99459613e-01 -1.99614020e-04 5.32510487e+00] [ 1.56214921e-02 -3.14059966e-04 9.99877928e-01 7.44535441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.51925415399995 meters Centerline goodness : 0.998853 Centerline is valid? [True, True] Translation: X:481.48, Y:5.32, Z:7.45 [[ 9.99339963e-01 -3.27957975e-02 -1.56228632e-02 4.81477763e+02] [ 3.27960645e-02 9.99462036e-01 -2.39181276e-04 5.32451201e+00] [ 1.56223028e-02 -2.73345022e-04 9.99877927e-01 7.44630489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.5492541539999 meters Centerline goodness : 0.998852 Centerline is valid? [True, True] Translation: X:481.51, Y:5.32, Z:7.45 [[ 9.99400440e-01 -3.08977711e-02 -1.56233524e-02 4.81509211e+02] [ 3.08983999e-02 9.99522510e-01 -2.01195875e-04 5.32357868e+00] [ 1.56221089e-02 -2.81661343e-04 9.99877928e-01 7.44595754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.57925415399995 meters Centerline goodness : 0.998895 Centerline is valid? [True, True] Translation: X:481.54, Y:5.32, Z:7.45 [[ 9.99447449e-01 -2.93378174e-02 -1.56233596e-02 4.81540782e+02] [ 2.93382644e-02 9.99569520e-01 -2.00633742e-04 5.32333459e+00] [ 1.56225202e-02 -2.57839373e-04 9.99877928e-01 7.44635314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.6092541539999 meters Centerline goodness : 0.999049 Centerline is valid? [True, True] Translation: X:481.57, Y:5.32, Z:7.45 [[ 9.99499792e-01 -2.74968428e-02 -1.56233668e-02 4.81570846e+02] [ 2.74970738e-02 9.99621864e-01 -2.00070117e-04 5.32321321e+00] [ 1.56229604e-02 -2.29626830e-04 9.99877928e-01 7.44613657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.63925415399996 meters Centerline goodness : 0.999022 Centerline is valid? [True, True] Translation: X:481.60, Y:5.32, Z:7.45 [[ 9.99614496e-01 -2.29514658e-02 -1.56233704e-02 4.81601524e+02] [ 2.29511461e-02 9.99736568e-01 -1.99790422e-04 5.32257385e+00] [ 1.56238402e-02 -1.58860854e-04 9.99877928e-01 7.44663038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.66925415399993 meters Centerline goodness : 0.998981 Centerline is valid? [True, True] Translation: X:481.63, Y:5.32, Z:7.45 [[ 9.99667618e-01 -2.05076437e-02 -1.56233704e-02 4.81631620e+02] [ 2.05070254e-02 9.99789689e-01 -1.99790422e-04 5.32238223e+00] [ 1.56241819e-02 -1.20664839e-04 9.99877928e-01 7.44762303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.69925415399996 meters Centerline goodness : 0.999025 Centerline is valid? [True, True] Translation: X:481.66, Y:5.32, Z:7.45 [[ 9.99717754e-01 -1.78975716e-02 -1.56233631e-02 4.81660006e+02] [ 1.78966258e-02 9.99839823e-01 -2.00358465e-04 5.32215100e+00] [ 1.56244465e-02 -7.93035689e-05 9.99877928e-01 7.44732149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.72925415399993 meters Centerline goodness : 0.998832 Centerline is valid? [True, True] Translation: X:481.69, Y:5.32, Z:7.45 [[ 9.99781457e-01 -1.38906401e-02 -1.56233491e-02 4.81688108e+02] [ 1.38891881e-02 9.99903520e-01 -2.01445245e-04 5.32165286e+00] [ 1.56246400e-02 -1.55944135e-05 9.99877928e-01 7.44806816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.75925415399996 meters Centerline goodness : 0.998919 Centerline is valid? [True, True] Translation: X:481.71, Y:5.32, Z:7.45 [[ 9.99801460e-01 -1.23673440e-02 -1.56233314e-02 4.81714563e+02] [ 1.23656847e-02 9.99923521e-01 -2.02809272e-04 5.32177775e+00] [ 1.56246448e-02 9.57581635e-06 9.99877928e-01 7.44902687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.78925415399993 meters Centerline goodness : 0.998920 Centerline is valid? [True, True] Translation: X:481.74, Y:5.32, Z:7.45 [[ 9.99828473e-01 -9.94673027e-03 -1.56232902e-02 4.81743500e+02] [ 9.94472658e-03 9.99950529e-01 -2.05936306e-04 5.32062091e+00] [ 1.56245657e-02 5.05316334e-05 9.99877928e-01 7.45091715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.81925415399996 meters Centerline goodness : 0.998837 Centerline is valid? [True, True] Translation: X:481.77, Y:5.32, Z:7.45 [[ 9.99836784e-01 -9.07307827e-03 -1.56232385e-02 4.81771017e+02] [ 9.07090774e-03 9.99958836e-01 -2.09788011e-04 5.32005299e+00] [ 1.56244988e-02 6.80368159e-05 9.99877928e-01 7.45123996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.84925415399994 meters Centerline goodness : 0.998943 Centerline is valid? [True, True] Translation: X:481.80, Y:5.32, Z:7.45 [[ 9.99842087e-01 -8.46849204e-03 -1.56232200e-02 4.81800167e+02] [ 8.46622641e-03 9.99964139e-01 -2.11150772e-04 5.31828789e+00] [ 1.56244479e-02 7.88477101e-05 9.99877928e-01 7.45315693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.8792541539999 meters Centerline goodness : 0.998839 Centerline is valid? [True, True] Translation: X:481.83, Y:5.32, Z:7.45 [[ 9.99839094e-01 -8.81488426e-03 -1.56231652e-02 4.81827820e+02] [ 8.81259866e-03 9.99961145e-01 -2.15135581e-04 5.31742499e+00] [ 1.56244545e-02 7.74202805e-05 9.99877928e-01 7.45422544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.90925415399994 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:481.86, Y:5.32, Z:7.46 [[ 9.99822537e-01 -1.05268165e-02 -1.56231001e-02 4.81856270e+02] [ 1.05246676e-02 9.99944590e-01 -2.19764350e-04 5.31527351e+00] [ 1.56245478e-02 5.52974155e-05 9.99877928e-01 7.45577235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.9392541539999 meters Centerline goodness : 0.998861 Centerline is valid? [True, True] Translation: X:481.88, Y:5.31, Z:7.46 [[ 9.99805858e-01 -1.20069240e-02 -1.56230422e-02 4.81883618e+02] [ 1.20048926e-02 9.99927914e-01 -2.23802536e-04 5.31453463e+00] [ 1.56246032e-02 3.62061426e-05 9.99877928e-01 7.45649469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.96925415399994 meters Centerline goodness : 0.999198 Centerline is valid? [True, True] Translation: X:481.91, Y:5.31, Z:7.46 [[ 9.99785239e-01 -1.36160935e-02 -1.56229961e-02 4.81910153e+02] [ 1.36142090e-02 9.99907297e-01 -2.26974165e-04 5.31349701e+00] [ 1.56246383e-02 1.42306845e-05 9.99877928e-01 7.45690319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.9992541539999 meters Centerline goodness : 0.997489 Centerline is valid? [True, True] Translation: X:481.94, Y:5.31, Z:7.46 [[ 9.99784855e-01 -1.36442733e-02 -1.56229499e-02 4.81936698e+02] [ 1.36423432e-02 9.99906912e-01 -2.30113531e-04 5.31160745e+00] [ 1.56246353e-02 1.69303792e-05 9.99877928e-01 7.45710619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.02925415399994 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:481.97, Y:5.31, Z:7.46 [[ 9.99692285e-01 -1.92695888e-02 -1.56211063e-02 4.81967446e+02] [ 1.92664217e-02 9.99814323e-01 -3.53223722e-04 5.30849493e+00] [ 1.56250123e-02 5.21522083e-05 9.99877921e-01 7.45786355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.0592541539999 meters Centerline goodness : 0.998971 Centerline is valid? [True, True] Translation: X:481.99, Y:5.31, Z:7.46 [[ 9.99661032e-01 -2.08265703e-02 -1.56228878e-02 4.81994961e+02] [ 2.08254473e-02 9.99783099e-01 -2.34588201e-04 5.30683827e+00] [ 1.56243849e-02 -9.08449425e-05 9.99877928e-01 7.45649375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.08925415399995 meters Centerline goodness : 0.999032 Centerline is valid? [True, True] Translation: X:482.02, Y:5.31, Z:7.46 [[ 9.99620778e-01 -2.26765513e-02 -1.56228665e-02 4.82023251e+02] [ 2.26756321e-02 9.99742847e-01 -2.35998497e-04 5.30615519e+00] [ 1.56242007e-02 -1.18349372e-04 9.99877928e-01 7.45821395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.1192541539999 meters Centerline goodness : 0.998842 Centerline is valid? [True, True] Translation: X:482.05, Y:5.30, Z:7.46 [[ 9.99605258e-01 -2.33507153e-02 -1.56228062e-02 4.82051336e+02] [ 2.33498170e-02 9.99727327e-01 -2.39926734e-04 5.30401466e+00] [ 1.56241487e-02 -1.24957640e-04 9.99877928e-01 7.45829621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.14925415399995 meters Centerline goodness : 0.998864 Centerline is valid? [True, True] Translation: X:482.09, Y:5.30, Z:7.46 [[ 9.99640300e-01 -2.17998300e-02 -1.56217016e-02 4.82085784e+02] [ 2.17976139e-02 9.99762355e-01 -3.12136012e-04 5.29963334e+00] [ 1.56247937e-02 -2.84920835e-05 9.99877925e-01 7.45506760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.1792541539999 meters Centerline goodness : 0.998971 Centerline is valid? [True, True] Translation: X:482.11, Y:5.30, Z:7.46 [[ 9.99532776e-01 -2.62688239e-02 -1.56262383e-02 4.82111594e+02] [ 2.62717539e-02 9.99654838e-01 -1.77797597e-05 5.30133940e+00] [ 1.56213118e-02 -3.92757234e-04 9.99877903e-01 7.45990395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.20925415399995 meters Centerline goodness : 0.999095 Centerline is valid? [True, True] Translation: X:482.14, Y:5.30, Z:7.46 [[ 9.99527800e-01 -2.64595968e-02 -1.56226476e-02 4.82140998e+02] [ 2.64589845e-02 9.99649870e-01 -2.45918495e-04 5.29976050e+00] [ 1.56236845e-02 -1.67557018e-04 9.99877929e-01 7.45978925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.2392541539999 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:482.17, Y:5.30, Z:7.46 [[ 9.99496259e-01 -2.76253590e-02 -1.56226431e-02 4.82170263e+02] [ 2.76248847e-02 9.99618330e-01 -2.46201201e-04 5.29537644e+00] [ 1.56234818e-02 -1.85496535e-04 9.99877929e-01 7.46130316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.26925415399995 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:482.20, Y:5.29, Z:7.46 [[ 9.99495585e-01 -2.76497682e-02 -1.56226342e-02 4.82200921e+02] [ 2.76492881e-02 9.99617655e-01 -2.46763214e-04 5.29446814e+00] [ 1.56234839e-02 -1.85315971e-04 9.99877929e-01 7.46161389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.2992541539999 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:482.23, Y:5.29, Z:7.46 [[ 9.99505264e-01 -2.72976298e-02 -1.56226342e-02 4.82230547e+02] [ 2.72971067e-02 9.99627334e-01 -2.46763214e-04 5.29151527e+00] [ 1.56235483e-02 -1.79811582e-04 9.99877929e-01 7.46173242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.32925415399995 meters Centerline goodness : 0.999309 Centerline is valid? [True, True] Translation: X:482.26, Y:5.29, Z:7.46 [[ 9.99513138e-01 -2.70077894e-02 -1.56226297e-02 4.82260589e+02] [ 2.70072264e-02 9.99635208e-01 -2.47046461e-04 5.28997399e+00] [ 1.56236029e-02 -1.74997716e-04 9.99877929e-01 7.46216310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.3592541539999 meters Centerline goodness : 0.999309 Centerline is valid? [True, True] Translation: X:482.29, Y:5.29, Z:7.46 [[ 9.99512135e-01 -2.70448949e-02 -1.56226297e-02 4.82290735e+02] [ 2.70443365e-02 9.99634205e-01 -2.47046461e-04 5.29047928e+00] [ 1.56235964e-02 -1.75577720e-04 9.99877929e-01 7.46263425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.38925415399996 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:482.32, Y:5.29, Z:7.46 [[ 9.99547025e-01 -2.57231042e-02 -1.56226206e-02 4.82320053e+02] [ 2.57223752e-02 9.99669094e-01 -2.47626500e-04 5.28622065e+00] [ 1.56238207e-02 -1.54336577e-04 9.99877929e-01 7.46205634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.41925415399993 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:482.35, Y:5.28, Z:7.46 [[ 9.99570695e-01 -2.47862876e-02 -1.56226160e-02 4.82349560e+02] [ 2.47854398e-02 9.99692763e-01 -2.47914098e-04 5.28425320e+00] [ 1.56239610e-02 -1.39405740e-04 9.99877929e-01 7.46139383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.44925415399996 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:482.38, Y:5.28, Z:7.46 [[ 9.99605360e-01 -2.33464759e-02 -1.56226067e-02 4.82378340e+02] [ 2.33454431e-02 9.99727427e-01 -2.48496103e-04 5.28152970e+00] [ 1.56241499e-02 -1.16318640e-04 9.99877929e-01 7.46324538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.47925415399993 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:482.41, Y:5.28, Z:7.46 [[ 9.99620285e-01 -2.26984766e-02 -1.56225929e-02 4.82406814e+02] [ 2.26973512e-02 9.99742351e-01 -2.49361797e-04 5.28015726e+00] [ 1.56242279e-02 -1.05324368e-04 9.99877929e-01 7.46370249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.50925415399996 meters Centerline goodness : 0.999226 Centerline is valid? [True, True] Translation: X:482.44, Y:5.28, Z:7.46 [[ 9.99644417e-01 -2.16096392e-02 -1.56225275e-02 4.82435412e+02] [ 2.16083179e-02 9.99766481e-01 -2.53392247e-04 5.27650710e+00] [ 1.56243551e-02 -8.42743965e-05 9.99877929e-01 7.46395983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.53925415399993 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:482.46, Y:5.27, Z:7.46 [[ 9.99658758e-01 -2.09357559e-02 -1.56224611e-02 4.82462856e+02] [ 2.09342893e-02 9.99780821e-01 -2.57422680e-04 5.27180752e+00] [ 1.56244263e-02 -6.97102846e-05 9.99877929e-01 7.46399854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.56925415399996 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:482.49, Y:5.27, Z:7.46 [[ 9.99652742e-01 -2.12211056e-02 -1.56224254e-02 4.82491261e+02] [ 2.12196402e-02 9.99774804e-01 -2.59574880e-04 5.27235605e+00] [ 1.56244157e-02 -7.20175055e-05 9.99877929e-01 7.46444302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.59925415399994 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:482.52, Y:5.27, Z:7.46 [[ 9.99652803e-01 -2.12182708e-02 -1.56223500e-02 4.82519209e+02] [ 2.12167354e-02 9.99774865e-01 -2.64034268e-04 5.27011017e+00] [ 1.56244352e-02 -6.75126703e-05 9.99877929e-01 7.46496254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.6292541539999 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:482.55, Y:5.27, Z:7.46 [[ 9.99642464e-01 -2.16999841e-02 -1.56222714e-02 4.82546830e+02] [ 2.16984360e-02 9.99764525e-01 -2.68603437e-04 5.26572304e+00] [ 1.56244215e-02 -7.04714558e-05 9.99877929e-01 7.46495790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.65925415399994 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:482.57, Y:5.26, Z:7.47 [[ 9.99631362e-01 -2.22055479e-02 -1.56221922e-02 4.82574953e+02] [ 2.22039908e-02 9.99753424e-01 -2.73134620e-04 5.26380826e+00] [ 1.56244053e-02 -7.38410810e-05 9.99877929e-01 7.46525758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.6892541539999 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:482.60, Y:5.26, Z:7.47 [[ 9.99605242e-01 -2.33518857e-02 -1.56221116e-02 4.82602645e+02] [ 2.33503977e-02 9.99727304e-01 -2.77669757e-04 5.26196172e+00] [ 1.56243356e-02 -8.72223747e-05 9.99877929e-01 7.46626229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.71925415399994 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:482.63, Y:5.26, Z:7.47 [[ 9.99553789e-01 -2.54592779e-02 -1.56220291e-02 4.82630105e+02] [ 2.54579759e-02 9.99675853e-01 -2.82234817e-04 5.25621158e+00] [ 1.56241508e-02 -1.15596360e-04 9.99877929e-01 7.46541601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.7492541539999 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:482.66, Y:5.25, Z:7.47 [[ 9.99498722e-01 -2.75365050e-02 -1.56219909e-02 4.82658439e+02] [ 2.75354239e-02 9.99620788e-01 -2.84335796e-04 5.25402544e+00] [ 1.56238965e-02 -1.45964876e-04 9.99877929e-01 7.46669859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.77925415399994 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:482.69, Y:5.25, Z:7.47 [[ 9.99346674e-01 -3.25910969e-02 -1.56219655e-02 4.82687137e+02] [ 3.25906114e-02 9.99468744e-01 -2.85724354e-04 5.24835350e+00] [ 1.56229783e-02 -2.23591724e-04 9.99877929e-01 7.46730171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.8092541539999 meters Centerline goodness : 0.999562 Centerline is valid? [True, True] Translation: X:482.72, Y:5.25, Z:7.47 [[ 9.99249423e-01 -3.54477882e-02 -1.56219504e-02 4.82716416e+02] [ 3.54476387e-02 9.99371494e-01 -2.86549615e-04 5.24564112e+00] [ 1.56222894e-02 -2.67426716e-04 9.99877929e-01 7.46805571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.83925415399995 meters Centerline goodness : 0.999393 Centerline is valid? [True, True] Translation: X:482.75, Y:5.24, Z:7.47 [[ 9.99118127e-01 -3.89733774e-02 -1.56219401e-02 4.82746155e+02] [ 3.89736499e-02 9.99240197e-01 -2.87109589e-04 5.24315982e+00] [ 1.56212601e-02 -3.21987628e-04 9.99877929e-01 7.46836990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.8692541539999 meters Centerline goodness : 0.999393 Centerline is valid? [True, True] Translation: X:482.78, Y:5.24, Z:7.47 [[ 9.98990127e-01 -4.21269711e-02 -1.56219350e-02 4.82777129e+02] [ 4.21276246e-02 9.99112196e-01 -2.87387786e-04 5.24064663e+00] [ 1.56201725e-02 -3.71017451e-04 9.99877929e-01 7.46876323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.89925415399995 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:482.81, Y:5.24, Z:7.47 [[ 9.98696367e-01 -4.85954863e-02 -1.56219350e-02 4.82807682e+02] [ 4.85969303e-02 9.98818430e-01 -2.87387786e-04 5.23554915e+00] [ 1.56174423e-02 -4.72164947e-04 9.99877929e-01 7.46925386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.9292541539999 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:482.84, Y:5.23, Z:7.47 [[ 9.98553255e-01 -5.14524249e-02 -1.56219518e-02 4.82839163e+02] [ 5.14542325e-02 9.98675313e-01 -2.86467359e-04 5.23361829e+00] [ 1.56159971e-02 -5.17762628e-04 9.99877929e-01 7.46937894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.95925415399995 meters Centerline goodness : 0.999542 Centerline is valid? [True, True] Translation: X:482.87, Y:5.23, Z:7.47 [[ 9.98278367e-01 -5.65354422e-02 -1.56219619e-02 4.82869397e+02] [ 5.65378798e-02 9.98400414e-01 -2.85918163e-04 5.23022513e+00] [ 1.56131377e-02 -5.97806687e-04 9.99877929e-01 7.47029884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.9892541539999 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:482.90, Y:5.23, Z:7.47 [[ 9.98150605e-01 -5.87479657e-02 -1.56219669e-02 4.82901247e+02] [ 5.87506780e-02 9.98272646e-01 -2.85645549e-04 5.22921977e+00] [ 1.56117633e-02 -6.32683868e-04 9.99877929e-01 7.47108611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.01925415399995 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:482.93, Y:5.23, Z:7.47 [[ 9.98023260e-01 -6.08730283e-02 -1.56219767e-02 4.82931608e+02] [ 6.08760089e-02 9.98145295e-01 -2.85105061e-04 5.22816204e+00] [ 1.56103578e-02 -6.66462112e-04 9.99877929e-01 7.46993976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.0492541539999 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:482.96, Y:5.23, Z:7.47 [[ 9.97770993e-01 -6.48768054e-02 -1.56219816e-02 4.82962016e+02] [ 6.48802798e-02 9.97893014e-01 -2.84836766e-04 5.22753517e+00] [ 1.56075456e-02 -7.29356676e-04 9.99877929e-01 7.47134725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.07925415399995 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:482.99, Y:5.23, Z:7.47 [[ 9.97689611e-01 -6.61165231e-02 -1.56219865e-02 4.82993588e+02] [ 6.61201533e-02 9.97811628e-01 -2.84570566e-04 5.22691966e+00] [ 1.56066146e-02 -7.49015043e-04 9.99877929e-01 7.46891400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.1092541539999 meters Centerline goodness : 0.999562 Centerline is valid? [True, True] Translation: X:483.02, Y:5.23, Z:7.47 [[ 9.97466492e-01 -6.94013779e-02 -1.56219961e-02 4.83024888e+02] [ 6.94054181e-02 9.97588496e-01 -2.84042584e-04 5.22673366e+00] [ 1.56040365e-02 -8.00928209e-04 9.99877929e-01 7.47101749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.13925415399996 meters Centerline goodness : 0.999520 Centerline is valid? [True, True] Translation: X:483.06, Y:5.23, Z:7.47 [[ 9.97366961e-01 -7.08173606e-02 -1.56220104e-02 4.83056750e+02] [ 7.08215863e-02 9.97488959e-01 -2.83252833e-04 5.22701290e+00] [ 1.56028421e-02 -8.23868540e-04 9.99877929e-01 7.47199693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.16925415399993 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:483.09, Y:5.23, Z:7.47 [[ 9.97290105e-01 -7.18915701e-02 -1.56220310e-02 4.83089381e+02] [ 7.18959451e-02 9.97412098e-01 -2.82110676e-04 5.22731389e+00] [ 1.56018841e-02 -8.41814498e-04 9.99877929e-01 7.47221225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.19925415399996 meters Centerline goodness : 0.999645 Centerline is valid? [True, True] Translation: X:483.12, Y:5.23, Z:7.47 [[ 9.97195462e-01 -7.31926323e-02 -1.56220514e-02 4.83121896e+02] [ 7.31971841e-02 9.97317449e-01 -2.80977042e-04 5.22822959e+00] [ 1.56007099e-02 -8.63301142e-04 9.99877929e-01 7.47302731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.22925415399993 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:483.15, Y:5.23, Z:7.47 [[ 9.97046750e-01 -7.51912902e-02 -1.56220724e-02 4.83154310e+02] [ 7.51961048e-02 9.97168726e-01 -2.79803755e-04 5.23015275e+00] [ 1.55988809e-02 -8.95741570e-04 9.99877929e-01 7.47353269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.25925415399996 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:483.19, Y:5.23, Z:7.47 [[ 9.96991076e-01 -7.59259188e-02 -1.56220932e-02 4.83185930e+02] [ 7.59308415e-02 9.97113048e-01 -2.78640478e-04 5.23139064e+00] [ 1.55981490e-02 -9.08396611e-04 9.99877929e-01 7.47394062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.28925415399993 meters Centerline goodness : 0.999521 Centerline is valid? [True, True] Translation: X:483.22, Y:5.23, Z:7.47 [[ 9.96928788e-01 -7.67394430e-02 -1.56221086e-02 4.83217836e+02] [ 7.67444788e-02 9.97050755e-01 -2.77772988e-04 5.23358697e+00] [ 1.55973513e-02 -9.21990694e-04 9.99877929e-01 7.47417344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.31925415399996 meters Centerline goodness : 0.999521 Centerline is valid? [True, True] Translation: X:483.25, Y:5.23, Z:7.47 [[ 9.96934438e-01 -7.66660023e-02 -1.56221290e-02 4.83250513e+02] [ 7.66710470e-02 9.97056405e-01 -2.76622921e-04 5.23410399e+00] [ 1.55973513e-02 -9.21990068e-04 9.99877929e-01 7.47468390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.34925415399994 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:483.28, Y:5.24, Z:7.47 [[ 9.96929891e-01 -7.67250996e-02 -1.56221492e-02 4.83282528e+02] [ 7.67301695e-02 9.97051857e-01 -2.75472229e-04 5.23521717e+00] [ 1.55972285e-02 -9.24063661e-04 9.99877929e-01 7.47389270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.3792541539999 meters Centerline goodness : 0.999375 Centerline is valid? [True, True] Translation: X:483.31, Y:5.24, Z:7.48 [[ 9.96920770e-01 -7.68435141e-02 -1.56221697e-02 4.83314516e+02] [ 7.68486167e-02 9.97042735e-01 -2.74308438e-04 5.23729050e+00] [ 1.55970496e-02 -9.27078351e-04 9.99877929e-01 7.47628747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.40925415399994 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:483.35, Y:5.24, Z:7.48 [[ 9.96916766e-01 -7.68954384e-02 -1.56221899e-02 4.83346155e+02] [ 7.69005654e-02 9.97038730e-01 -2.73151361e-04 5.24124384e+00] [ 1.55969325e-02 -9.29046066e-04 9.99877929e-01 7.47768764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.4392541539999 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:483.38, Y:5.24, Z:7.48 [[ 9.96949435e-01 -7.64707206e-02 -1.56222103e-02 4.83377304e+02] [ 7.64758139e-02 9.97071400e-01 -2.71983091e-04 5.24320230e+00] [ 1.55972578e-02 -9.23567855e-04 9.99877929e-01 7.47584619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.46925415399994 meters Centerline goodness : 0.999271 Centerline is valid? [True, True] Translation: X:483.41, Y:5.25, Z:7.48 [[ 9.96943045e-01 -7.65539808e-02 -1.56222253e-02 4.83409201e+02] [ 7.65590979e-02 9.97065008e-01 -2.71113512e-04 5.24724222e+00] [ 1.55971291e-02 -9.25738749e-04 9.99877929e-01 7.47858156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.4992541539999 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:483.44, Y:5.25, Z:7.48 [[ 9.96984007e-01 -7.60186471e-02 -1.56222452e-02 4.83440750e+02] [ 7.60237167e-02 9.97105973e-01 -2.69961689e-04 5.24843657e+00] [ 1.55975562e-02 -9.18513660e-04 9.99877929e-01 7.47696030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.52925415399994 meters Centerline goodness : 0.999272 Centerline is valid? [True, True] Translation: X:483.47, Y:5.25, Z:7.48 [[ 9.97012263e-01 -7.56471595e-02 -1.56222600e-02 4.83471951e+02] [ 7.56521970e-02 9.97134230e-01 -2.69103893e-04 5.25051255e+00] [ 1.55978472e-02 -9.13558411e-04 9.99877929e-01 7.47704338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.5592541539999 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:483.50, Y:5.26, Z:7.48 [[ 9.97072433e-01 -7.48498933e-02 -1.56222925e-02 4.83503978e+02] [ 7.48548629e-02 9.97194403e-01 -2.67204635e-04 5.25557753e+00] [ 1.55984629e-02 -9.02982189e-04 9.99877929e-01 7.48002194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.58925415399995 meters Centerline goodness : 0.999333 Centerline is valid? [True, True] Translation: X:483.54, Y:5.26, Z:7.48 [[ 9.97156902e-01 -7.37160504e-02 -1.56223122e-02 4.83535154e+02] [ 7.37208994e-02 9.97278877e-01 -2.66048552e-04 5.25846938e+00] [ 1.55994140e-02 -8.86398755e-04 9.99877929e-01 7.48031961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.6192541539999 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:483.57, Y:5.26, Z:7.48 [[ 9.97275389e-01 -7.20953615e-02 -1.56223268e-02 4.83567087e+02] [ 7.21000257e-02 9.97397371e-01 -2.65187140e-04 5.26148412e+00] [ 1.56007865e-02 -8.61905557e-04 9.99877929e-01 7.48104800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.64925415399995 meters Centerline goodness : 0.998874 Centerline is valid? [True, True] Translation: X:483.60, Y:5.27, Z:7.48 [[ 9.97607580e-01 -6.73428468e-02 -1.56223458e-02 4.83598052e+02] [ 6.73469473e-02 9.97729582e-01 -2.64063307e-04 5.26689867e+00] [ 1.56046593e-02 -7.88685743e-04 9.99877929e-01 7.47928333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.6792541539999 meters Centerline goodness : 0.999041 Centerline is valid? [True, True] Translation: X:483.63, Y:5.27, Z:7.48 [[ 9.97791740e-01 -6.45568417e-02 -1.56223777e-02 4.83630419e+02] [ 6.45606312e-02 9.97913752e-01 -2.62162509e-04 5.27017689e+00] [ 1.56067099e-02 -7.47006980e-04 9.99877929e-01 7.48061592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.70925415399995 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:483.66, Y:5.28, Z:7.48 [[ 9.98224897e-01 -5.74716938e-02 -1.56223961e-02 4.83662780e+02] [ 5.74746342e-02 9.98346933e-01 -2.61063868e-04 5.27657885e+00] [ 1.56115750e-02 -6.37291046e-04 9.99877929e-01 7.48344698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.7392541539999 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:483.69, Y:5.28, Z:7.48 [[ 9.98440661e-01 -5.35927942e-02 -1.56224144e-02 4.83694806e+02] [ 5.35952777e-02 9.98562706e-01 -2.59960325e-04 5.27951091e+00] [ 1.56138924e-02 -5.77732681e-04 9.99877929e-01 7.48430479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.76925415399995 meters Centerline goodness : 0.999333 Centerline is valid? [True, True] Translation: X:483.73, Y:5.28, Z:7.48 [[ 9.98631887e-01 -4.99028399e-02 -1.56224325e-02 4.83726858e+02] [ 4.99048894e-02 9.98753941e-01 -2.58867552e-04 5.28245733e+00] [ 1.56158843e-02 -5.21122377e-04 9.99877929e-01 7.48492250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.7992541539999 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:483.76, Y:5.29, Z:7.49 [[ 9.98956707e-01 -4.29119633e-02 -1.56224505e-02 4.83757514e+02] [ 4.29131754e-02 9.99078772e-01 -2.57780028e-04 5.28754664e+00] [ 1.56191205e-02 -4.12897871e-04 9.99877929e-01 7.48598582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.82925415399995 meters Centerline goodness : 0.999210 Centerline is valid? [True, True] Translation: X:483.79, Y:5.29, Z:7.49 [[ 9.99073011e-01 -4.01130452e-02 -1.56224638e-02 4.83788193e+02] [ 4.01139280e-02 9.99195079e-01 -2.56970126e-04 5.29018913e+00] [ 1.56201968e-02 -3.69946470e-04 9.99877929e-01 7.48626754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.8592541539999 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:483.82, Y:5.29, Z:7.49 [[ 9.99177135e-01 -3.74298313e-02 -1.56224681e-02 4.83819448e+02] [ 3.74303905e-02 9.99299204e-01 -2.56706086e-04 5.29256530e+00] [ 1.56211285e-02 -3.28260231e-04 9.99877929e-01 7.48638449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.88925415399996 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:483.85, Y:5.30, Z:7.49 [[ 9.99286574e-01 -3.43843201e-02 -1.56224768e-02 4.83849604e+02] [ 3.43845154e-02 9.99408645e-01 -2.56179289e-04 5.29598661e+00] [ 1.56220469e-02 -2.81174769e-04 9.99877929e-01 7.48583260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.91925415399993 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:483.88, Y:5.30, Z:7.49 [[ 9.99301128e-01 -3.39587086e-02 -1.56224811e-02 4.83879969e+02] [ 3.39588560e-02 9.99423199e-01 -2.55918154e-04 5.29759170e+00] [ 1.56221607e-02 -2.74782285e-04 9.99877929e-01 7.48575073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.94925415399996 meters Centerline goodness : 0.998998 Centerline is valid? [True, True] Translation: X:483.91, Y:5.30, Z:7.49 [[ 9.99306532e-01 -3.37993185e-02 -1.56224811e-02 4.83910954e+02] [ 3.37994465e-02 9.99428603e-01 -2.55918154e-04 5.29900855e+00] [ 1.56222043e-02 -2.72290529e-04 9.99877929e-01 7.48572435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.97925415399993 meters Centerline goodness : 0.999063 Centerline is valid? [True, True] Translation: X:483.94, Y:5.30, Z:7.49 [[ 9.99302929e-01 -3.39056536e-02 -1.56224766e-02 4.83942055e+02] [ 3.39057903e-02 9.99425001e-01 -2.56189736e-04 5.30177938e+00] [ 1.56221800e-02 -2.73681263e-04 9.99877929e-01 7.48789019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.00925415399996 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:483.97, Y:5.30, Z:7.49 [[ 9.99308204e-01 -3.37498311e-02 -1.56224860e-02 4.83972693e+02] [ 3.37499577e-02 9.99430275e-01 -2.55616111e-04 5.30347481e+00] [ 1.56222125e-02 -2.71818965e-04 9.99877929e-01 7.48758927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.03925415399993 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:484.00, Y:5.31, Z:7.49 [[ 9.99317881e-01 -3.34620877e-02 -1.56224907e-02 4.84003331e+02] [ 3.34621836e-02 9.99439952e-01 -2.55331370e-04 5.30576846e+00] [ 1.56222852e-02 -2.67605447e-04 9.99877929e-01 7.48836342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.06925415399996 meters Centerline goodness : 0.998874 Centerline is valid? [True, True] Translation: X:484.04, Y:5.31, Z:7.49 [[ 9.99330153e-01 -3.30935343e-02 -1.56224951e-02 4.84035135e+02] [ 3.30935894e-02 9.99452225e-01 -2.55061760e-04 5.30680958e+00] [ 1.56223783e-02 -2.62113529e-04 9.99877929e-01 7.48988680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.09925415399994 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:484.07, Y:5.31, Z:7.49 [[ 9.99341109e-01 -3.27610381e-02 -1.56225045e-02 4.84065139e+02] [ 3.27610616e-02 9.99463180e-01 -2.54481311e-04 5.30812286e+00] [ 1.56224551e-02 -2.57496198e-04 9.99877929e-01 7.49036754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.1292541539999 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:484.10, Y:5.31, Z:7.49 [[ 9.99350535e-01 -3.24722384e-02 -1.56225092e-02 4.84096444e+02] [ 3.24722312e-02 9.99472606e-01 -2.54193612e-04 5.30929814e+00] [ 1.56225242e-02 -2.53269208e-04 9.99877929e-01 7.49124873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.15925415399994 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:484.13, Y:5.31, Z:7.49 [[ 9.99347574e-01 -3.25632316e-02 -1.56225185e-02 4.84126455e+02] [ 3.25632444e-02 9.99469645e-01 -2.53621096e-04 5.31097105e+00] [ 1.56224917e-02 -2.55264261e-04 9.99877929e-01 7.49166132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.1892541539999 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:484.16, Y:5.31, Z:7.49 [[ 9.99324483e-01 -3.32643029e-02 -1.56225185e-02 4.84156752e+02] [ 3.32644014e-02 9.99446555e-01 -2.53621096e-04 5.31171604e+00] [ 1.56223088e-02 -2.66223954e-04 9.99877929e-01 7.49209669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.21925415399994 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:484.19, Y:5.31, Z:7.49 [[ 9.99301532e-01 -3.39467867e-02 -1.56225185e-02 4.84188153e+02] [ 3.39469686e-02 9.99423603e-01 -2.53621096e-04 5.31197799e+00] [ 1.56221233e-02 -2.76893194e-04 9.99877929e-01 7.49251895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.2492541539999 meters Centerline goodness : 0.999146 Centerline is valid? [True, True] Translation: X:484.22, Y:5.31, Z:7.49 [[ 9.99215406e-01 -3.63938148e-02 -1.56225277e-02 4.84219890e+02] [ 3.63943045e-02 9.99337476e-01 -2.53050365e-04 5.31108842e+00] [ 1.56213869e-02 -3.15719208e-04 9.99877929e-01 7.49193831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.27925415399994 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:484.25, Y:5.31, Z:7.49 [[ 9.99165419e-01 -3.77412560e-02 -1.56225369e-02 4.84251359e+02] [ 3.77419192e-02 9.99287488e-01 -2.52482617e-04 5.31084856e+00] [ 1.56209347e-02 -3.37352625e-04 9.99877929e-01 7.49203057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.3092541539999 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:484.29, Y:5.30, Z:7.49 [[ 9.99303155e-01 -3.38989800e-02 -1.56225462e-02 4.84289003e+02] [ 3.38991828e-02 9.99425226e-01 -2.51906817e-04 5.30406612e+00] [ 1.56221061e-02 -2.77860273e-04 9.99877929e-01 7.48751880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.33925415399995 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:484.31, Y:5.31, Z:7.49 [[ 9.99046640e-01 -4.07618840e-02 -1.56294501e-02 4.84309172e+02] [ 4.07697755e-02 9.99168550e-01 1.86487719e-04 5.31051190e+00] [ 1.56088534e-02 -8.23519101e-04 9.99877835e-01 7.49173832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.3692541539999 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:484.34, Y:5.31, Z:7.49 [[ 9.99050174e-01 -4.06780491e-02 -1.56219524e-02 4.84340696e+02] [ 4.06789299e-02 9.99172236e-01 -2.61507476e-04 5.31074915e+00] [ 1.56196587e-02 -3.74225215e-04 9.99877936e-01 7.49092124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.39925415399995 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:484.37, Y:5.31, Z:7.49 [[ 9.99076491e-01 -4.00264862e-02 -1.56219668e-02 4.84371652e+02] [ 4.00273010e-02 9.99198552e-01 -2.60640745e-04 5.31040738e+00] [ 1.56198792e-02 -3.64905127e-04 9.99877936e-01 7.49097228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.4292541539999 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:484.40, Y:5.31, Z:7.49 [[ 9.99184634e-01 -3.72293129e-02 -1.56219763e-02 4.84403029e+02] [ 3.72297948e-02 9.99306697e-01 -2.60069049e-04 5.30992378e+00] [ 1.56208278e-02 -3.21745976e-04 9.99877936e-01 7.49210838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.45925415399995 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:484.43, Y:5.31, Z:7.49 [[ 9.99276498e-01 -3.46761363e-02 -1.56219858e-02 4.84434791e+02] [ 3.46763153e-02 9.99398562e-01 -2.59497846e-04 5.31002752e+00] [ 1.56215886e-02 -2.82402807e-04 9.99877936e-01 7.49265150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.4892541539999 meters Centerline goodness : 0.999079 Centerline is valid? [True, True] Translation: X:484.47, Y:5.31, Z:7.49 [[ 9.99456547e-01 -2.90269374e-02 -1.56219953e-02 4.84465671e+02] [ 2.90264354e-02 9.99578611e-01 -2.58926150e-04 5.31022056e+00] [ 1.56229282e-02 -1.94665401e-04 9.99877936e-01 7.49368158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.51925415399995 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:484.49, Y:5.31, Z:7.49 [[ 9.99539625e-01 -2.60094421e-02 -1.56219953e-02 4.84494750e+02] [ 2.60085715e-02 9.99661686e-01 -2.58926150e-04 5.31053922e+00] [ 1.56234447e-02 -1.47498836e-04 9.99877936e-01 7.49364654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.5492541539999 meters Centerline goodness : 0.999038 Centerline is valid? [True, True] Translation: X:484.52, Y:5.31, Z:7.50 [[ 9.99603065e-01 -2.34449338e-02 -1.56219906e-02 4.84524187e+02] [ 2.34437456e-02 9.99725124e-01 -2.59209385e-04 5.31106198e+00] [ 1.56237736e-02 -1.07131478e-04 9.99877936e-01 7.49516818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.57925415399995 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:484.55, Y:5.31, Z:7.50 [[ 9.99700123e-01 -1.88578532e-02 -1.56219814e-02 4.84552980e+02] [ 1.88560963e-02 9.99822174e-01 -2.59764045e-04 5.31001738e+00] [ 1.56241020e-02 -3.48834380e-05 9.99877936e-01 7.49622940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.6092541539999 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:484.58, Y:5.31, Z:7.50 [[ 9.99729507e-01 -1.72298996e-02 -1.56219137e-02 4.84580658e+02] [ 1.72278814e-02 9.99851554e-01 -2.63769912e-04 5.30919121e+00] [ 1.56241395e-02 -5.43391255e-06 9.99877936e-01 7.49635177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.63925415399996 meters Centerline goodness : 0.999288 Centerline is valid? [True, True] Translation: X:484.61, Y:5.31, Z:7.50 [[ 9.99754441e-01 -1.57167007e-02 -1.56218897e-02 4.84608271e+02] [ 1.57144756e-02 9.99876485e-01 -2.65185978e-04 5.30683848e+00] [ 1.56241280e-02 1.96310547e-05 9.99877936e-01 7.49699582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.66925415399993 meters Centerline goodness : 0.999225 Centerline is valid? [True, True] Translation: X:484.64, Y:5.31, Z:7.50 [[ 9.99752439e-01 -1.58435846e-02 -1.56218097e-02 4.84635275e+02] [ 1.58413026e-02 9.99874482e-01 -2.69819718e-04 5.30554056e+00] [ 1.56241238e-02 2.22831074e-05 9.99877936e-01 7.49674099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.69925415399996 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:484.66, Y:5.30, Z:7.50 [[ 9.99736190e-01 -1.68378195e-02 -1.56217540e-02 4.84663099e+02] [ 1.68356091e-02 9.99858234e-01 -2.73003265e-04 5.30419137e+00] [ 1.56241362e-02 9.92949945e-06 9.99877936e-01 7.49730185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.72925415399993 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:484.69, Y:5.30, Z:7.50 [[ 9.99715121e-01 -1.80455258e-02 -1.56216721e-02 4.84690035e+02] [ 1.80433908e-02 9.99837166e-01 -2.77613243e-04 5.30220426e+00] [ 1.56241380e-02 -4.33377786e-06 9.99877936e-01 7.49648189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.75925415399996 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:484.72, Y:5.30, Z:7.50 [[ 9.99602071e-01 -2.34875202e-02 -1.56216364e-02 4.84717425e+02] [ 2.34860184e-02 9.99724126e-01 -2.79609813e-04 5.29782572e+00] [ 1.56238941e-02 -8.73914911e-05 9.99877936e-01 7.49641746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.78925415399993 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:484.75, Y:5.29, Z:7.50 [[ 9.99415006e-01 -3.04238630e-02 -1.56216060e-02 4.84746015e+02] [ 3.04231819e-02 9.99537068e-01 -2.81299066e-04 5.29252188e+00] [ 1.56229324e-02 -1.94124451e-04 9.99877936e-01 7.49652083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.81925415399996 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:484.78, Y:5.29, Z:7.50 [[ 9.99307139e-01 -3.37817776e-02 -1.56215854e-02 4.84776045e+02] [ 3.37814888e-02 9.99429203e-01 -2.82436652e-04 5.29009468e+00] [ 1.56222098e-02 -2.45479450e-04 9.99877936e-01 7.49588480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.84925415399994 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:484.81, Y:5.29, Z:7.50 [[ 9.99169264e-01 -3.76397227e-02 -1.56215751e-02 4.84805609e+02] [ 3.76398962e-02 9.99291328e-01 -2.83007006e-04 5.28870312e+00] [ 1.56211568e-02 -3.05222563e-04 9.99877936e-01 7.49713203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.8792541539999 meters Centerline goodness : 0.999247 Centerline is valid? [True, True] Translation: X:484.84, Y:5.29, Z:7.50 [[ 9.99032322e-01 -4.11143173e-02 -1.56215699e-02 4.84835820e+02] [ 4.11149110e-02 9.99154384e-01 -2.83290204e-04 5.28717502e+00] [ 1.56200074e-02 -3.59263386e-04 9.99877936e-01 7.49763304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.90925415399994 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:484.87, Y:5.29, Z:7.50 [[ 9.98896893e-01 -4.42827674e-02 -1.56215699e-02 4.84867466e+02] [ 4.42837483e-02 9.99018953e-01 -2.83290204e-04 5.28603565e+00] [ 1.56187893e-02 -4.08803965e-04 9.99877936e-01 7.49865188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.9392541539999 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:484.90, Y:5.28, Z:7.50 [[ 9.98630253e-01 -4.99358068e-02 -1.56215802e-02 4.84898987e+02] [ 4.99374873e-02 9.98752305e-01 -2.82721399e-04 5.28326451e+00] [ 1.56162072e-02 -4.97768321e-04 9.99877936e-01 7.49934608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.96925415399994 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:484.93, Y:5.28, Z:7.50 [[ 9.98514882e-01 -5.21919169e-02 -1.56215904e-02 4.84930586e+02] [ 5.21938821e-02 9.98636931e-01 -2.82154715e-04 5.28206738e+00] [ 1.56150233e-02 -5.33615768e-04 9.99877936e-01 7.50013878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.9992541539999 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:484.96, Y:5.28, Z:7.50 [[ 9.98399052e-01 -5.43626554e-02 -1.56216009e-02 4.84962519e+02] [ 5.43648950e-02 9.98521096e-01 -2.81573790e-04 5.28109451e+00] [ 1.56138052e-02 -5.68143689e-04 9.99877936e-01 7.50113183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.02925415399994 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:484.99, Y:5.28, Z:7.50 [[ 9.98171111e-01 -5.83986201e-02 -1.56216217e-02 4.84993677e+02] [ 5.84013712e-02 9.98293144e-01 -2.80413847e-04 5.27889290e+00] [ 1.56113337e-02 -6.32423129e-04 9.99877936e-01 7.50277963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.0592541539999 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:485.03, Y:5.28, Z:7.50 [[ 9.98049023e-01 -6.04492463e-02 -1.56216559e-02 4.85026094e+02] [ 6.04522780e-02 9.98171050e-01 -2.78498638e-04 5.27835896e+00] [ 1.56099197e-02 -6.66409392e-04 9.99877936e-01 7.50329310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.08925415399995 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:485.06, Y:5.28, Z:7.50 [[ 9.97924414e-01 -6.24726168e-02 -1.56216765e-02 4.85057186e+02] [ 6.24759141e-02 9.98046433e-01 -2.77338185e-04 5.27811693e+00] [ 1.56084845e-02 -6.99215972e-04 9.99877936e-01 7.50383542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.1192541539999 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:485.09, Y:5.28, Z:7.50 [[ 9.97758131e-01 -6.50743715e-02 -1.56216918e-02 4.85089823e+02] [ 6.50780004e-02 9.97880142e-01 -2.76473538e-04 5.27659983e+00] [ 1.56065674e-02 -7.40774745e-04 9.99877936e-01 7.50208554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.14925415399995 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:485.12, Y:5.28, Z:7.50 [[ 9.97663092e-01 -6.65155446e-02 -1.56217119e-02 4.85121913e+02] [ 6.65193676e-02 9.97785096e-01 -2.75331530e-04 5.27692298e+00] [ 1.56054252e-02 -7.64458293e-04 9.99877936e-01 7.50322903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.1792541539999 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:485.15, Y:5.28, Z:7.50 [[ 9.97604551e-01 -6.73878486e-02 -1.56217322e-02 4.85154335e+02] [ 6.73917963e-02 9.97726551e-01 -2.74177751e-04 5.27724027e+00] [ 1.56046932e-02 -7.79255620e-04 9.99877936e-01 7.50252791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.20925415399995 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:485.18, Y:5.28, Z:7.50 [[ 9.97648341e-01 -6.67364159e-02 -1.56217524e-02 4.85184765e+02] [ 6.67403019e-02 9.97770343e-01 -2.73020576e-04 5.27807235e+00] [ 1.56051417e-02 -7.70221947e-04 9.99877936e-01 7.50142981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.2392541539999 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:485.22, Y:5.28, Z:7.50 [[ 9.97654623e-01 -6.66425785e-02 -1.56211236e-02 4.85216447e+02] [ 6.66458957e-02 9.97776643e-01 -3.08702637e-04 5.27855822e+00] [ 1.56069650e-02 -7.33105164e-04 9.99877935e-01 7.50193221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.26925415399995 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:485.25, Y:5.28, Z:7.50 [[ 9.97692938e-01 -6.60664791e-02 -1.56211732e-02 4.85249525e+02] [ 6.60697701e-02 9.97814959e-01 -3.05869258e-04 5.27903044e+00] [ 1.56072480e-02 -7.26923721e-04 9.99877935e-01 7.50184641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.2992541539999 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:485.28, Y:5.28, Z:7.50 [[ 9.97864737e-01 -6.34186663e-02 -1.56217738e-02 4.85280517e+02] [ 6.34221737e-02 9.97986751e-01 -2.71285082e-04 5.28126653e+00] [ 1.56075278e-02 -7.20061032e-04 9.99877936e-01 7.50210562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.32925415399995 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:485.31, Y:5.28, Z:7.50 [[ 9.97947681e-01 -6.20998013e-02 -1.56218073e-02 4.85312594e+02] [ 6.21031779e-02 9.98069698e-01 -2.69339995e-04 5.28384567e+00] [ 1.56083784e-02 -7.01376655e-04 9.99877936e-01 7.50394976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.3592541539999 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:485.35, Y:5.29, Z:7.50 [[ 9.98093768e-01 -5.97058446e-02 -1.56218272e-02 4.85345184e+02] [ 5.97089466e-02 9.98215793e-01 -2.68182312e-04 5.28571030e+00] [ 1.56099666e-02 -6.65091750e-04 9.99877936e-01 7.50489330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.38925415399996 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:485.38, Y:5.29, Z:7.50 [[ 9.98414109e-01 -5.40853434e-02 -1.56218469e-02 4.85377641e+02] [ 5.40877763e-02 9.98536149e-01 -2.67027895e-04 5.28830446e+00] [ 1.56134211e-02 -5.78346543e-04 9.99877936e-01 7.50415313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.41925415399993 meters Centerline goodness : 0.999335 Centerline is valid? [True, True] Translation: X:485.41, Y:5.29, Z:7.51 [[ 9.98541902e-01 -5.16723071e-02 -1.56218666e-02 4.85408536e+02] [ 5.16744632e-02 9.98663947e-01 -2.65870210e-04 5.29064712e+00] [ 1.56147331e-02 -5.41769026e-04 9.99877936e-01 7.50531988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.44925415399996 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:485.44, Y:5.29, Z:7.51 [[ 9.98696285e-01 -4.85971969e-02 -1.56218812e-02 4.85439950e+02] [ 4.85989907e-02 9.98818336e-01 -2.65009660e-04 5.29230324e+00] [ 1.56163001e-02 -4.94543496e-04 9.99877936e-01 7.50513340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.47925415399993 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:485.47, Y:5.29, Z:7.51 [[ 9.98824429e-01 -4.58880974e-02 -1.56218910e-02 4.85471361e+02] [ 4.58895691e-02 9.98946484e-01 -2.64433132e-04 5.29493412e+00] [ 1.56175674e-02 -4.52759572e-04 9.99877936e-01 7.50611213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.50925415399996 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:485.50, Y:5.30, Z:7.51 [[ 9.99030920e-01 -4.11482305e-02 -1.56219007e-02 4.85502318e+02] [ 4.11491321e-02 9.99152981e-01 -2.63854662e-04 5.29916503e+00] [ 1.56195258e-02 -3.79228691e-04 9.99877936e-01 7.50651063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.53925415399993 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:485.53, Y:5.30, Z:7.51 [[ 9.99105321e-01 -3.93003000e-02 -1.56219105e-02 4.85533571e+02] [ 3.93009848e-02 9.99227383e-01 -2.63277319e-04 5.30074778e+00] [ 1.56201876e-02 -3.50914695e-04 9.99877936e-01 7.50697346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.56925415399996 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:485.57, Y:5.30, Z:7.51 [[ 9.99172037e-01 -3.75658943e-02 -1.56219202e-02 4.85565065e+02] [ 3.75663762e-02 9.99294100e-01 -2.62696637e-04 5.30342693e+00] [ 1.56207611e-02 -3.24379799e-04 9.99877936e-01 7.50745185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.59925415399994 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:485.60, Y:5.30, Z:7.51 [[ 9.99181435e-01 -3.73150913e-02 -1.56219299e-02 4.85595465e+02] [ 3.73155517e-02 9.99303498e-01 -2.62119797e-04 5.30497122e+00] [ 1.56208302e-02 -3.21035698e-04 9.99877936e-01 7.50787262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.6292541539999 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:485.63, Y:5.31, Z:7.51 [[ 9.99169668e-01 -3.76288494e-02 -1.56219347e-02 4.85626154e+02] [ 3.76293526e-02 9.99291731e-01 -2.61833595e-04 5.30740919e+00] [ 1.56207227e-02 -3.26227103e-04 9.99877936e-01 7.50832097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.65925415399994 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:485.66, Y:5.31, Z:7.51 [[ 9.99153259e-01 -3.80620649e-02 -1.56219347e-02 4.85657502e+02] [ 3.80626210e-02 9.99275322e-01 -2.61833595e-04 5.30871803e+00] [ 1.56205797e-02 -3.32999890e-04 9.99877936e-01 7.50930765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.6892541539999 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:485.69, Y:5.31, Z:7.51 [[ 9.99133598e-01 -3.85747188e-02 -1.56219441e-02 4.85688036e+02] [ 3.85753463e-02 9.99255660e-01 -2.61270261e-04 5.30995380e+00] [ 1.56203945e-02 -3.41578009e-04 9.99877936e-01 7.51036775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.71925415399994 meters Centerline goodness : 0.999477 Centerline is valid? [True, True] Translation: X:485.72, Y:5.31, Z:7.51 [[ 9.99106876e-01 -3.92607314e-02 -1.56219488e-02 4.85719453e+02] [ 3.92614471e-02 9.99228938e-01 -2.60990563e-04 5.31146550e+00] [ 1.56201500e-02 -3.52582850e-04 9.99877936e-01 7.51175195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.7492541539999 meters Centerline goodness : 0.999274 Centerline is valid? [True, True] Translation: X:485.75, Y:5.31, Z:7.51 [[ 9.99080792e-01 -3.99189918e-02 -1.56219584e-02 4.85750165e+02] [ 3.99197969e-02 9.99202853e-01 -2.60416461e-04 5.31280465e+00] [ 1.56199009e-02 -3.63448321e-04 9.99877936e-01 7.51208800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.77925415399994 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:485.78, Y:5.32, Z:7.51 [[ 9.99020579e-01 -4.13985196e-02 -1.56219631e-02 4.85780698e+02] [ 4.13995099e-02 9.99142639e-01 -2.60131974e-04 5.31504521e+00] [ 1.56193385e-02 -3.86864421e-04 9.99877936e-01 7.51270186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.8092541539999 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:485.81, Y:5.32, Z:7.51 [[ 9.99028332e-01 -4.12109910e-02 -1.56219677e-02 4.85810915e+02] [ 4.12119627e-02 9.99150392e-01 -2.59855187e-04 5.31619008e+00] [ 1.56194041e-02 -3.84209256e-04 9.99877936e-01 7.51237845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.83925415399995 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:485.84, Y:5.32, Z:7.51 [[ 9.99055969e-01 -4.05354862e-02 -1.56219677e-02 4.85842404e+02] [ 4.05363754e-02 9.99178030e-01 -2.59855187e-04 5.32012427e+00] [ 1.56196603e-02 -3.73648071e-04 9.99877936e-01 7.51466228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.8692541539999 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:485.87, Y:5.32, Z:7.51 [[ 9.99090015e-01 -3.96874655e-02 -1.56219770e-02 4.85872760e+02] [ 3.96882599e-02 9.99212077e-01 -2.59294702e-04 5.32207324e+00] [ 1.56199588e-02 -3.60950335e-04 9.99877936e-01 7.51490166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.89925415399995 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:485.90, Y:5.32, Z:7.52 [[ 9.99137600e-01 -3.84709073e-02 -1.56219816e-02 4.85904422e+02] [ 3.84715573e-02 9.99259662e-01 -2.59016787e-04 5.32382027e+00] [ 1.56203807e-02 -3.42208551e-04 9.99877936e-01 7.51559684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.9292541539999 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:485.94, Y:5.32, Z:7.51 [[ 9.99392139e-01 -3.11657915e-02 -1.56219910e-02 4.85940595e+02] [ 3.11655580e-02 9.99514203e-01 -2.58452135e-04 5.32067143e+00] [ 1.56224567e-02 -2.28573034e-04 9.99877936e-01 7.51284582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.95925415399995 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:485.96, Y:5.33, Z:7.52 [[ 9.99254014e-01 -3.53156483e-02 -1.56275450e-02 4.85963134e+02] [ 3.53212450e-02 9.99376007e-01 8.21762965e-05 5.32861859e+00] [ 1.56148914e-02 -6.34099339e-04 9.99877879e-01 7.51548727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.9892541539999 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:485.99, Y:5.33, Z:7.52 [[ 9.99333736e-01 -3.29855993e-02 -1.56216068e-02 4.85994244e+02] [ 3.29854659e-02 9.99455796e-01 -2.66267076e-04 5.33143181e+00] [ 1.56218884e-02 -2.49196308e-04 9.99877940e-01 7.51633322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.01925415399995 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:486.02, Y:5.33, Z:7.52 [[ 9.99356679e-01 -3.22830257e-02 -1.56216167e-02 4.86024405e+02] [ 3.22828156e-02 9.99478739e-01 -2.65683983e-04 5.33249685e+00] [ 1.56220509e-02 -2.38796709e-04 9.99877940e-01 7.51642807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.0492541539999 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:486.06, Y:5.33, Z:7.52 [[ 9.99376969e-01 -3.16486851e-02 -1.56216216e-02 4.86055154e+02] [ 3.16484020e-02 9.99499029e-01 -2.65395207e-04 5.33297904e+00] [ 1.56221951e-02 -2.29169504e-04 9.99877940e-01 7.51609698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.07925415399995 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:486.09, Y:5.33, Z:7.52 [[ 9.99374078e-01 -3.17398215e-02 -1.56216216e-02 4.86085951e+02] [ 3.17395496e-02 9.99496138e-01 -2.65395207e-04 5.33395163e+00] [ 1.56221741e-02 -2.30594144e-04 9.99877940e-01 7.51664444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.1092541539999 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:486.12, Y:5.34, Z:7.52 [[ 9.99357949e-01 -3.22436687e-02 -1.56216216e-02 4.86116538e+02] [ 3.22434583e-02 9.99480009e-01 -2.65395207e-04 5.33597240e+00] [ 1.56220558e-02 -2.38470296e-04 9.99877940e-01 7.51601189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.13925415399996 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:486.15, Y:5.34, Z:7.52 [[ 9.99332274e-01 -3.30298474e-02 -1.56216216e-02 4.86146584e+02] [ 3.30297330e-02 9.99454334e-01 -2.65395207e-04 5.33696028e+00] [ 1.56218634e-02 -2.50759996e-04 9.99877940e-01 7.51578124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.16925415399993 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:486.18, Y:5.34, Z:7.52 [[ 9.99305090e-01 -3.38423179e-02 -1.56216216e-02 4.86176622e+02] [ 3.38423028e-02 9.99427150e-01 -2.65395207e-04 5.33754873e+00] [ 1.56216544e-02 -2.63460869e-04 9.99877940e-01 7.51566231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.19925415399996 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:486.21, Y:5.34, Z:7.52 [[ 9.99209948e-01 -3.65437279e-02 -1.56216216e-02 4.86206934e+02] [ 3.65440428e-02 9.99332008e-01 -2.65395207e-04 5.33849056e+00] [ 1.56208850e-02 -3.05691678e-04 9.99877940e-01 7.51538454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.22925415399993 meters Centerline goodness : 0.999500 Centerline is valid? [True, True] Translation: X:486.24, Y:5.34, Z:7.52 [[ 9.99147182e-01 -3.82213671e-02 -1.56216216e-02 4.86237485e+02] [ 3.82218869e-02 9.99269241e-01 -2.65395207e-04 5.33893109e+00] [ 1.56203498e-02 -3.31918982e-04 9.99877940e-01 7.51555662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.25925415399996 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:486.27, Y:5.34, Z:7.52 [[ 9.98978608e-01 -4.23993503e-02 -1.56216264e-02 4.86269087e+02] [ 4.24003849e-02 9.99100664e-01 -2.65111787e-04 5.33888377e+00] [ 1.56188179e-02 -3.97521970e-04 9.99877940e-01 7.51658045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.28925415399993 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:486.30, Y:5.34, Z:7.52 [[ 9.98891515e-01 -4.44038971e-02 -1.56216363e-02 4.86300110e+02] [ 4.44051858e-02 9.99013568e-01 -2.64529206e-04 5.33930656e+00] [ 1.56179728e-02 -4.29445683e-04 9.99877940e-01 7.51627551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.31925415399996 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:486.33, Y:5.34, Z:7.52 [[ 9.98792232e-01 -4.65837110e-02 -1.56216510e-02 4.86332290e+02] [ 4.65852797e-02 9.98914282e-01 -2.63658046e-04 5.34005314e+00] [ 1.56169725e-02 -4.64399374e-04 9.99877940e-01 7.51736286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.34925415399994 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:486.36, Y:5.34, Z:7.52 [[ 9.98697249e-01 -4.85774437e-02 -1.56216699e-02 4.86364349e+02] [ 4.85792736e-02 9.98819296e-01 -2.62531765e-04 5.34030557e+00] [ 1.56159785e-02 -4.96699627e-04 9.99877940e-01 7.51752773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.3792541539999 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:486.40, Y:5.34, Z:7.52 [[ 9.98441384e-01 -5.35795271e-02 -1.56216887e-02 4.86396972e+02] [ 5.35819858e-02 9.98563419e-01 -2.61409521e-04 5.34070039e+00] [ 1.56132531e-02 -5.76039019e-04 9.99877940e-01 7.51978092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.40925415399994 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:486.43, Y:5.34, Z:7.52 [[ 9.98312109e-01 -5.59365267e-02 -1.56217077e-02 4.86429242e+02] [ 5.59392914e-02 9.98434138e-01 -2.60270568e-04 5.34103807e+00] [ 1.56118049e-02 -6.14035999e-04 9.99877940e-01 7.51989963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.4392541539999 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:486.46, Y:5.34, Z:7.52 [[ 9.98145766e-01 -5.88301853e-02 -1.56217268e-02 4.86461091e+02] [ 5.88333217e-02 9.98267786e-01 -2.59116660e-04 5.34213644e+00] [ 1.56099105e-02 -6.60441883e-04 9.99877940e-01 7.52156799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.46925415399994 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:486.49, Y:5.34, Z:7.52 [[ 9.97802863e-01 -6.43848333e-02 -1.56217458e-02 4.86492446e+02] [ 6.43886668e-02 9.97924863e-01 -2.57967613e-04 5.34316144e+00] [ 1.56059377e-02 -7.48462562e-04 9.99877940e-01 7.52219177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.4992541539999 meters Centerline goodness : 0.999333 Centerline is valid? [True, True] Translation: X:486.52, Y:5.34, Z:7.52 [[ 9.97631631e-01 -6.69857397e-02 -1.56217772e-02 4.86524761e+02] [ 6.69899211e-02 9.97753619e-01 -2.56053401e-04 5.34399239e+00] [ 1.56038366e-02 -7.91054648e-04 9.99877940e-01 7.52331333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.52925415399994 meters Centerline goodness : 0.999146 Centerline is valid? [True, True] Translation: X:486.56, Y:5.34, Z:7.52 [[ 9.97460406e-01 -6.94888324e-02 -1.56217960e-02 4.86556850e+02] [ 6.94933379e-02 9.97582383e-01 -2.54900117e-04 5.34485473e+00] [ 1.56017412e-02 -8.31357974e-04 9.99877940e-01 7.52337926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.5592541539999 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:486.59, Y:5.35, Z:7.52 [[ 9.97316125e-01 -7.15297520e-02 -1.56218148e-02 4.86589164e+02] [ 7.15345252e-02 9.97438092e-01 -2.53744071e-04 5.34584857e+00] [ 1.55999434e-02 -8.64436048e-04 9.99877940e-01 7.52402121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.58925415399995 meters Centerline goodness : 0.999438 Centerline is valid? [True, True] Translation: X:486.62, Y:5.35, Z:7.53 [[ 9.97035343e-01 -7.53424425e-02 -1.56218334e-02 4.86621000e+02] [ 7.53477000e-02 9.97157290e-01 -2.52590155e-04 5.34834129e+00] [ 1.55964558e-02 -9.25227906e-04 9.99877940e-01 7.52527717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.6192541539999 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:486.65, Y:5.35, Z:7.53 [[ 9.96957804e-01 -7.63616104e-02 -1.56218565e-02 4.86653021e+02] [ 7.63670149e-02 9.97079744e-01 -2.51152693e-04 5.34987840e+00] [ 1.55954151e-02 -9.42605914e-04 9.99877940e-01 7.52534956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.64925415399995 meters Centerline goodness : 0.999333 Centerline is valid? [True, True] Translation: X:486.69, Y:5.35, Z:7.52 [[ 9.96969259e-01 -7.62119052e-02 -1.56218793e-02 4.86685587e+02] [ 7.62173136e-02 9.97091199e-01 -2.49731815e-04 5.35089680e+00] [ 1.55954709e-02 -9.41682728e-04 9.99877940e-01 7.52490611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.6792541539999 meters Centerline goodness : 0.999417 Centerline is valid? [True, True] Translation: X:486.72, Y:5.35, Z:7.53 [[ 9.97027474e-01 -7.54464850e-02 -1.56218978e-02 4.86717911e+02] [ 7.54518179e-02 9.97149418e-01 -2.48567536e-04 5.35462724e+00] [ 1.55961198e-02 -9.30871925e-04 9.99877940e-01 7.52590699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.70925415399995 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:486.75, Y:5.36, Z:7.53 [[ 9.97121463e-01 -7.41939555e-02 -1.56219418e-02 4.86750383e+02] [ 7.41991790e-02 9.97243411e-01 -2.45770730e-04 5.35670648e+00] [ 1.55971132e-02 -9.14071984e-04 9.99877940e-01 7.52657745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.7392541539999 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:486.78, Y:5.36, Z:7.53 [[ 9.97262781e-01 -7.22696277e-02 -1.56219601e-02 4.86782882e+02] [ 7.22746341e-02 9.97384739e-01 -2.44602099e-04 5.35905534e+00] [ 1.55987819e-02 -8.85138879e-04 9.99877940e-01 7.52556684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.76925415399995 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:486.82, Y:5.36, Z:7.53 [[ 9.97632153e-01 -6.69779113e-02 -1.56220040e-02 4.86815101e+02] [ 6.69823149e-02 9.97754134e-01 -2.41761216e-04 5.36427989e+00] [ 1.56031118e-02 -8.05209233e-04 9.99877940e-01 7.52622379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.7992541539999 meters Centerline goodness : 0.999351 Centerline is valid? [True, True] Translation: X:486.85, Y:5.37, Z:7.53 [[ 9.97842979e-01 -6.37600321e-02 -1.56220217e-02 4.86846061e+02] [ 6.37640602e-02 9.97964973e-01 -2.40615860e-04 5.36745343e+00] [ 1.56055721e-02 -7.56026684e-04 9.99877940e-01 7.52621866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.82925415399995 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:486.88, Y:5.37, Z:7.53 [[ 9.98288553e-01 -5.63552745e-02 -1.56220348e-02 4.86876808e+02] [ 5.63584108e-02 9.98410573e-01 -2.39762388e-04 5.37305602e+00] [ 1.56107166e-02 -6.41081007e-04 9.99877940e-01 7.52698845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.8592541539999 meters Centerline goodness : 0.999097 Centerline is valid? [True, True] Translation: X:486.91, Y:5.38, Z:7.53 [[ 9.98502111e-01 -5.24355460e-02 -1.56220475e-02 4.86908329e+02] [ 5.24382161e-02 9.98624142e-01 -2.38932796e-04 5.37625623e+00] [ 1.56130823e-02 -5.80617401e-04 9.99877940e-01 7.52764141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.88925415399996 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:486.94, Y:5.38, Z:7.53 [[ 9.98726044e-01 -4.79816584e-02 -1.56220599e-02 4.86940454e+02] [ 4.79837970e-02 9.98848086e-01 -2.38116782e-04 5.37935021e+00] [ 1.56154899e-02 -5.11792320e-04 9.99877940e-01 7.53015673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.91925415399993 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:486.97, Y:5.38, Z:7.53 [[ 9.99076378e-01 -4.00292610e-02 -1.56220771e-02 4.86972294e+02] [ 4.00304457e-02 9.99198432e-01 -2.36981089e-04 5.38479224e+00] [ 1.56190412e-02 -3.88596502e-04 9.99877940e-01 7.53249623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.94925415399996 meters Centerline goodness : 0.999370 Centerline is valid? [True, True] Translation: X:487.00, Y:5.39, Z:7.53 [[ 9.99218107e-01 -3.63197678e-02 -1.56220944e-02 4.87004046e+02] [ 3.63205172e-02 9.99340165e-01 -2.35838564e-04 5.38747531e+00] [ 1.56203520e-02 -3.31748384e-04 9.99877940e-01 7.53351408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.97925415399993 meters Centerline goodness : 0.999347 Centerline is valid? [True, True] Translation: X:487.04, Y:5.39, Z:7.53 [[ 9.99338648e-01 -3.28362157e-02 -1.56221114e-02 4.87035818e+02] [ 3.28365573e-02 9.99460707e-01 -2.34707579e-04 5.38985584e+00] [ 1.56213934e-02 -2.78424001e-04 9.99877940e-01 7.53489756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.00925415399996 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:487.07, Y:5.39, Z:7.54 [[ 9.99509776e-01 -2.71322238e-02 -1.56221286e-02 4.87065844e+02] [ 2.71318868e-02 9.99631835e-01 -2.33554769e-04 5.39326176e+00] [ 1.56227140e-02 -1.90417550e-04 9.99877940e-01 7.53505767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.03925415399993 meters Centerline goodness : 0.999243 Centerline is valid? [True, True] Translation: X:487.10, Y:5.39, Z:7.54 [[ 9.99564342e-01 -2.50414488e-02 -1.56221413e-02 4.87096143e+02] [ 2.50408698e-02 9.99686401e-01 -2.32706142e-04 5.39493341e+00] [ 1.56230695e-02 -1.58587243e-04 9.99877940e-01 7.53562599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.06925415399996 meters Centerline goodness : 0.999137 Centerline is valid? [True, True] Translation: X:487.13, Y:5.40, Z:7.54 [[ 9.99633570e-01 -2.21059675e-02 -1.56221413e-02 4.87125301e+02] [ 2.21050300e-02 9.99755627e-01 -2.32706142e-04 5.39700265e+00] [ 1.56234678e-02 -1.12707029e-04 9.99877940e-01 7.53539333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.09925415399994 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:487.16, Y:5.40, Z:7.54 [[ 9.99645191e-01 -2.15742210e-02 -1.56219184e-02 4.87155398e+02] [ 2.15729869e-02 9.99767245e-01 -2.47533614e-04 5.39763264e+00] [ 1.56236226e-02 -8.95656529e-05 9.99877940e-01 7.53656003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.1292541539999 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:487.19, Y:5.40, Z:7.54 [[ 9.99644408e-01 -2.16103916e-02 -1.56220838e-02 4.87185543e+02] [ 2.16093325e-02 9.99766463e-01 -2.36608841e-04 5.39811317e+00] [ 1.56235487e-02 -1.01058100e-04 9.99877940e-01 7.53702793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.15925415399994 meters Centerline goodness : 0.999136 Centerline is valid? [True, True] Translation: X:487.21, Y:5.40, Z:7.54 [[ 9.99653831e-01 -2.11700225e-02 -1.56220752e-02 4.87213903e+02] [ 2.11689009e-02 9.99775886e-01 -2.37176837e-04 5.39822169e+00] [ 1.56235951e-02 -9.36074278e-05 9.99877940e-01 7.53705648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.1892541539999 meters Centerline goodness : 0.999136 Centerline is valid? [True, True] Translation: X:487.24, Y:5.40, Z:7.54 [[ 9.99653842e-01 -2.11694923e-02 -1.56220623e-02 4.87242589e+02] [ 2.11683574e-02 9.99775897e-01 -2.38021863e-04 5.39822392e+00] [ 1.56236002e-02 -9.27539289e-05 9.99877940e-01 7.53754590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.21925415399994 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:487.27, Y:5.40, Z:7.54 [[ 9.99630828e-01 -2.22297027e-02 -1.56220497e-02 4.87271011e+02] [ 2.22286843e-02 9.99752884e-01 -2.38850819e-04 5.39677029e+00] [ 1.56234988e-02 -1.08494968e-04 9.99877940e-01 7.53861628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.2492541539999 meters Centerline goodness : 0.999327 Centerline is valid? [True, True] Translation: X:487.30, Y:5.40, Z:7.54 [[ 9.99610500e-01 -2.31257836e-02 -1.56219871e-02 4.87299580e+02] [ 2.31248118e-02 9.99732556e-01 -2.42873590e-04 5.39619134e+00] [ 1.56234258e-02 -1.18476520e-04 9.99877940e-01 7.53880306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.27925415399994 meters Centerline goodness : 0.999474 Centerline is valid? [True, True] Translation: X:487.33, Y:5.40, Z:7.54 [[ 9.99589150e-01 -2.40309214e-02 -1.56219738e-02 4.87327800e+02] [ 2.40300467e-02 9.99711207e-01 -2.43728762e-04 5.39554559e+00] [ 1.56233193e-02 -1.31768133e-04 9.99877940e-01 7.53907197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.3092541539999 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:487.36, Y:5.39, Z:7.54 [[ 9.99534470e-01 -2.62068365e-02 -1.56219606e-02 4.87357848e+02] [ 2.62062143e-02 9.99656528e-01 -2.44569067e-04 5.39400830e+00] [ 1.56230043e-02 -1.64937235e-04 9.99877940e-01 7.53937634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.33925415399995 meters Centerline goodness : 0.999201 Centerline is valid? [True, True] Translation: X:487.39, Y:5.39, Z:7.54 [[ 9.99502979e-01 -2.73815668e-02 -1.56219516e-02 4.87388800e+02] [ 2.73810792e-02 9.99625038e-01 -2.45140970e-04 5.39309909e+00] [ 1.56228063e-02 -1.82726765e-04 9.99877940e-01 7.53916401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.3692541539999 meters Centerline goodness : 0.999369 Centerline is valid? [True, True] Translation: X:487.42, Y:5.39, Z:7.54 [[ 9.99458710e-01 -2.89523863e-02 -1.56219516e-02 4.87419096e+02] [ 2.89520905e-02 9.99580770e-01 -2.45140970e-04 5.39189725e+00] [ 1.56224999e-02 -2.07279879e-04 9.99877940e-01 7.53889291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.39925415399995 meters Centerline goodness : 0.999389 Centerline is valid? [True, True] Translation: X:487.45, Y:5.39, Z:7.54 [[ 9.99407295e-01 -3.06759275e-02 -1.56219516e-02 4.87450122e+02] [ 3.06758422e-02 9.99529356e-01 -2.45140970e-04 5.39024942e+00] [ 1.56221192e-02 -2.34220849e-04 9.99877940e-01 7.53887143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.4292541539999 meters Centerline goodness : 0.999199 Centerline is valid? [True, True] Translation: X:487.48, Y:5.39, Z:7.54 [[ 9.99285815e-01 -3.44066159e-02 -1.56219467e-02 4.87480047e+02] [ 3.44069813e-02 9.99407874e-01 -2.45455932e-04 5.38733681e+00] [ 1.56211418e-02 -2.92223397e-04 9.99877940e-01 7.53848615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.45925415399995 meters Centerline goodness : 0.999054 Centerline is valid? [True, True] Translation: X:487.51, Y:5.39, Z:7.54 [[ 9.99220338e-01 -3.62583903e-02 -1.56219511e-02 4.87510314e+02] [ 3.62589864e-02 9.99342397e-01 -2.45172506e-04 5.38651135e+00] [ 1.56205677e-02 -3.21454759e-04 9.99877940e-01 7.53895838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.4892541539999 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:487.54, Y:5.39, Z:7.54 [[ 9.99159485e-01 -3.78982671e-02 -1.56219555e-02 4.87541268e+02] [ 3.78990678e-02 9.99281542e-01 -2.44895113e-04 5.38564315e+00] [ 1.56200129e-02 -3.47368275e-04 9.99877940e-01 7.53971406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.51925415399995 meters Centerline goodness : 0.998821 Centerline is valid? [True, True] Translation: X:487.57, Y:5.38, Z:7.54 [[ 9.99035605e-01 -4.10343051e-02 -1.56219641e-02 4.87572947e+02] [ 4.10354976e-02 9.99157659e-01 -2.44344950e-04 5.38341475e+00] [ 1.56188316e-02 -3.96945765e-04 9.99877940e-01 7.54012368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.5492541539999 meters Centerline goodness : 0.998697 Centerline is valid? [True, True] Translation: X:487.61, Y:5.38, Z:7.54 [[ 9.98974644e-01 -4.24925209e-02 -1.56219769e-02 4.87605376e+02] [ 4.24939043e-02 9.99096696e-01 -2.43522376e-04 5.38248029e+00] [ 1.56182134e-02 -4.20566113e-04 9.99877940e-01 7.54030910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.57925415399995 meters Centerline goodness : 0.998781 Centerline is valid? [True, True] Translation: X:487.64, Y:5.38, Z:7.54 [[ 9.98891915e-01 -4.43947730e-02 -1.56219938e-02 4.87636921e+02] [ 4.43964058e-02 9.99013964e-01 -2.42436884e-04 5.37984235e+00] [ 1.56173528e-02 -4.51392131e-04 9.99877940e-01 7.54005571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.6092541539999 meters Centerline goodness : 0.998658 Centerline is valid? [True, True] Translation: X:487.67, Y:5.38, Z:7.54 [[ 9.98874799e-01 -4.47782286e-02 -1.56220063e-02 4.87668963e+02] [ 4.47799209e-02 9.98996847e-01 -2.41627420e-04 5.37871291e+00] [ 1.56171547e-02 -4.58196665e-04 9.99877940e-01 7.53970036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.63925415399996 meters Centerline goodness : 0.998949 Centerline is valid? [True, True] Translation: X:487.70, Y:5.38, Z:7.54 [[ 9.98845682e-01 -4.54230757e-02 -1.56220227e-02 4.87701095e+02] [ 4.54248634e-02 9.98967729e-01 -2.40563960e-04 5.37830527e+00] [ 1.56168237e-02 -4.69341973e-04 9.99877940e-01 7.54171683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.66925415399993 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:487.73, Y:5.38, Z:7.54 [[ 9.98832581e-01 -4.57102422e-02 -1.56220403e-02 4.87733404e+02] [ 4.57120830e-02 9.98954628e-01 -2.39411783e-04 5.37782771e+00] [ 1.56166530e-02 -4.74983714e-04 9.99877940e-01 7.54287011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.69925415399996 meters Centerline goodness : 0.999097 Centerline is valid? [True, True] Translation: X:487.76, Y:5.38, Z:7.54 [[ 9.98839967e-01 -4.55485584e-02 -1.56220582e-02 4.87764104e+02] [ 4.55503978e-02 9.98962014e-01 -2.38241340e-04 5.37719716e+00] [ 1.56166942e-02 -4.73625991e-04 9.99877940e-01 7.54273498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.72925415399993 meters Centerline goodness : 0.999288 Centerline is valid? [True, True] Translation: X:487.80, Y:5.38, Z:7.54 [[ 9.98848618e-01 -4.53584608e-02 -1.56220670e-02 4.87796148e+02] [ 4.53602861e-02 9.98970664e-01 -2.37658148e-04 5.37690852e+00] [ 1.56167665e-02 -4.71236917e-04 9.99877940e-01 7.54411545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.75925415399996 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:487.83, Y:5.38, Z:7.54 [[ 9.98922445e-01 -4.37024016e-02 -1.56220845e-02 4.87828774e+02] [ 4.37040426e-02 9.99044494e-01 -2.36503214e-04 5.37601365e+00] [ 1.56174933e-02 -4.46499879e-04 9.99877940e-01 7.54471335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.78925415399993 meters Centerline goodness : 0.999498 Centerline is valid? [True, True] Translation: X:487.86, Y:5.38, Z:7.55 [[ 9.98970810e-01 -4.25825051e-02 -1.56221020e-02 4.87861320e+02] [ 4.25840274e-02 9.99092861e-01 -2.35342861e-04 5.37589703e+00] [ 1.56179521e-02 -4.30151371e-04 9.99877940e-01 7.54512031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.81925415399996 meters Centerline goodness : 0.998850 Centerline is valid? [True, True] Translation: X:487.91, Y:5.36, Z:7.54 [[ 9.99400619e-01 -3.08925784e-02 -1.56221194e-02 4.87905911e+02] [ 3.08926908e-02 9.99522680e-01 -2.34181365e-04 5.36355328e+00] [ 1.56218971e-02 -2.48568305e-04 9.99877940e-01 7.53855333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.84925415399994 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:487.92, Y:5.38, Z:7.55 [[ 9.99043898e-01 -4.08280827e-02 -1.56319497e-02 4.87918618e+02] [ 4.08404052e-02 9.99165572e-01 4.69740329e-04 5.37592305e+00] [ 1.55997274e-02 -1.10770637e-03 9.99877703e-01 7.54524377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.8792541539999 meters Centerline goodness : 0.999225 Centerline is valid? [True, True] Translation: X:487.95, Y:5.38, Z:7.55 [[ 9.99057503e-01 -4.04980846e-02 -1.56208316e-02 4.87949796e+02] [ 4.04992232e-02 9.99179540e-01 -2.43566024e-04 5.37622199e+00] [ 1.56178792e-02 -3.89295080e-04 9.99877958e-01 7.54548522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.90925415399994 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:487.98, Y:5.38, Z:7.55 [[ 9.99052005e-01 -4.06334872e-02 -1.56208448e-02 4.87981350e+02] [ 4.06346556e-02 9.99174042e-01 -2.42715802e-04 5.37620376e+00] [ 1.56178050e-02 -3.92261939e-04 9.99877958e-01 7.54647054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.9392541539999 meters Centerline goodness : 0.998828 Centerline is valid? [True, True] Translation: X:488.01, Y:5.38, Z:7.55 [[ 9.98964450e-01 -4.27319045e-02 -1.56208538e-02 4.88012759e+02] [ 4.27333384e-02 9.99086484e-01 -2.42134590e-04 5.37597720e+00] [ 1.56169308e-02 -4.25647383e-04 9.99877958e-01 7.54614973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.96925415399994 meters Centerline goodness : 0.998639 Centerline is valid? [True, True] Translation: X:488.05, Y:5.38, Z:7.55 [[ 9.98895408e-01 -4.43164927e-02 -1.56208672e-02 4.88045164e+02] [ 4.43181337e-02 9.99017440e-01 -2.41266693e-04 5.37586196e+00] [ 1.56162108e-02 -4.51287488e-04 9.99877958e-01 7.54589408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.9992541539999 meters Centerline goodness : 0.998685 Centerline is valid? [True, True] Translation: X:488.08, Y:5.38, Z:7.55 [[ 9.98806071e-01 -4.62862795e-02 -1.56208848e-02 4.88077052e+02] [ 4.62881791e-02 9.98928099e-01 -2.40117709e-04 5.37582367e+00] [ 1.56152550e-02 -4.83231290e-04 9.99877958e-01 7.54589452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.02925415399994 meters Centerline goodness : 0.998680 Centerline is valid? [True, True] Translation: X:488.11, Y:5.38, Z:7.55 [[ 9.98644773e-01 -4.96447810e-02 -1.56209025e-02 4.88108658e+02] [ 4.96471090e-02 9.98766793e-01 -2.38960598e-04 5.37525118e+00] [ 1.56135019e-02 -5.36895899e-04 9.99877958e-01 7.54507217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.0592541539999 meters Centerline goodness : 0.998596 Centerline is valid? [True, True] Translation: X:488.14, Y:5.38, Z:7.55 [[ 9.98576876e-01 -5.09922485e-02 -1.56209323e-02 4.88140431e+02] [ 5.09947718e-02 9.98698892e-01 -2.36999614e-04 5.37602120e+00] [ 1.56126929e-02 -5.59923544e-04 9.99877958e-01 7.54561039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.08925415399995 meters Centerline goodness : 0.998702 Centerline is valid? [True, True] Translation: X:488.17, Y:5.38, Z:7.54 [[ 9.98571148e-01 -5.11042906e-02 -1.56209494e-02 4.88171577e+02] [ 5.11068453e-02 9.98693163e-01 -2.35867023e-04 5.37635608e+00] [ 1.56125892e-02 -5.62807440e-04 9.99877958e-01 7.54419365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.1192541539999 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:488.20, Y:5.38, Z:7.55 [[ 9.98534891e-01 -5.18078854e-02 -1.56209621e-02 4.88203210e+02] [ 5.18105393e-02 9.98656904e-01 -2.35023096e-04 5.37795321e+00] [ 1.56121577e-02 -5.74651708e-04 9.99877958e-01 7.54699620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.14925415399995 meters Centerline goodness : 0.999392 Centerline is valid? [True, True] Translation: X:488.24, Y:5.38, Z:7.55 [[ 9.98546284e-01 -5.15878190e-02 -1.56209790e-02 4.88235617e+02] [ 5.15904636e-02 9.98668298e-01 -2.33895789e-04 5.37921919e+00] [ 1.56122427e-02 -5.72337775e-04 9.99877958e-01 7.54839522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.1792541539999 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:488.27, Y:5.38, Z:7.55 [[ 9.98634956e-01 -4.98418380e-02 -1.56209960e-02 4.88267403e+02] [ 4.98442871e-02 9.98756974e-01 -2.32753834e-04 5.38102834e+00] [ 1.56131796e-02 -5.46181294e-04 9.99877958e-01 7.54985287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.20925415399995 meters Centerline goodness : 0.998930 Centerline is valid? [True, True] Translation: X:488.30, Y:5.38, Z:7.55 [[ 9.98693709e-01 -4.86503817e-02 -1.56210128e-02 4.88298509e+02] [ 4.86527030e-02 9.98815729e-01 -2.31617735e-04 5.38190014e+00] [ 1.56137816e-02 -5.28689323e-04 9.99877958e-01 7.55020473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.2392541539999 meters Centerline goodness : 0.998994 Centerline is valid? [True, True] Translation: X:488.33, Y:5.38, Z:7.55 [[ 9.98817004e-01 -4.60497063e-02 -1.56210253e-02 4.88330639e+02] [ 4.60517231e-02 9.98939030e-01 -2.30772190e-04 5.38263772e+00] [ 1.56150789e-02 -4.88875944e-04 9.99877958e-01 7.55124159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.26925415399995 meters Centerline goodness : 0.998953 Centerline is valid? [True, True] Translation: X:488.38, Y:5.37, Z:7.55 [[ 9.99331603e-01 -3.30504333e-02 -1.56210421e-02 4.88379875e+02] [ 3.30508801e-02 9.99453644e-01 -2.29631335e-04 5.36964030e+00] [ 1.56200969e-02 -2.86811338e-04 9.99877958e-01 7.54712042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.2992541539999 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:488.39, Y:5.38, Z:7.55 [[ 9.98852903e-01 -4.52602556e-02 -1.56329036e-02 4.88388674e+02] [ 4.52759904e-02 9.98974303e-01 6.53890476e-04 5.38468852e+00] [ 1.55872737e-02 -1.36093559e-03 9.99877585e-01 7.55328912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.32925415399995 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:488.42, Y:5.39, Z:7.55 [[ 9.98934790e-01 -4.34203778e-02 -1.56190766e-02 4.88421307e+02] [ 4.34219073e-02 9.99056795e-01 -2.41346151e-04 5.38632442e+00] [ 1.56148240e-02 -4.37121031e-04 9.99877986e-01 7.55379761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.3592541539999 meters Centerline goodness : 0.998929 Centerline is valid? [True, True] Translation: X:488.47, Y:5.37, Z:7.55 [[ 9.99385087e-01 -3.13925458e-02 -1.56190945e-02 4.88467054e+02] [ 3.13926247e-02 9.99507101e-01 -2.40185891e-04 5.37395136e+00] [ 1.56189359e-02 -2.50286174e-04 9.99877986e-01 7.54880922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.38925415399996 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:488.48, Y:5.39, Z:7.55 [[ 9.99091987e-01 -3.96349120e-02 -1.56293233e-02 4.88480292e+02] [ 3.96471108e-02 9.99213633e-01 4.71308044e-04 5.38785208e+00] [ 1.55983527e-02 -1.09053760e-03 9.99877744e-01 7.55349053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.41925415399993 meters Centerline goodness : 0.999474 Centerline is valid? [True, True] Translation: X:488.51, Y:5.39, Z:7.55 [[ 9.99175095e-01 -3.74861595e-02 -1.56178663e-02 4.88511961e+02] [ 3.74868501e-02 9.99297090e-01 -2.48630229e-04 5.38902091e+00] [ 1.56162085e-02 -3.37039479e-04 9.99878003e-01 7.55447898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.44925415399996 meters Centerline goodness : 0.999432 Centerline is valid? [True, True] Translation: X:488.54, Y:5.39, Z:7.55 [[ 9.99259982e-01 -3.51506719e-02 -1.56178755e-02 4.88542777e+02] [ 3.51510864e-02 9.99381979e-01 -2.48051402e-04 5.38986707e+00] [ 1.56169424e-02 -3.01117449e-04 9.99878003e-01 7.55453035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.47925415399993 meters Centerline goodness : 0.999222 Centerline is valid? [True, True] Translation: X:488.57, Y:5.39, Z:7.55 [[ 9.99343195e-01 -3.26995435e-02 -1.56178800e-02 4.88574256e+02] [ 3.26996633e-02 9.99465192e-01 -2.47764471e-04 5.39075932e+00] [ 1.56176292e-02 -2.63097678e-04 9.99878003e-01 7.55478565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.50925415399996 meters Centerline goodness : 0.999327 Centerline is valid? [True, True] Translation: X:488.60, Y:5.39, Z:7.56 [[ 9.99488365e-01 -2.79121625e-02 -1.56178891e-02 4.88604655e+02] [ 2.79117069e-02 9.99610362e-01 -2.47191819e-04 5.39206418e+00] [ 1.56187034e-02 -1.88856595e-04 9.99878003e-01 7.55501724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.53925415399993 meters Centerline goodness : 0.998905 Centerline is valid? [True, True] Translation: X:488.63, Y:5.39, Z:7.55 [[ 9.99539779e-01 -2.60059984e-02 -1.56178891e-02 4.88633703e+02] [ 2.60053100e-02 9.99661774e-01 -2.47191819e-04 5.39294277e+00] [ 1.56190352e-02 -1.59069992e-04 9.99878003e-01 7.55461480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.56925415399996 meters Centerline goodness : 0.998757 Centerline is valid? [True, True] Translation: X:488.66, Y:5.39, Z:7.55 [[ 9.99578313e-01 -2.44801369e-02 -1.56178902e-02 4.88663574e+02] [ 2.44792634e-02 9.99700307e-01 -2.47123420e-04 5.39371143e+00] [ 1.56192592e-02 -1.35295236e-04 9.99878003e-01 7.55458725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.59925415399994 meters Centerline goodness : 0.998777 Centerline is valid? [True, True] Translation: X:488.69, Y:5.39, Z:7.55 [[ 9.99604562e-01 -2.33837953e-02 -1.56178811e-02 4.88693175e+02] [ 2.33827790e-02 9.99726555e-01 -2.47697086e-04 5.39426157e+00] [ 1.56194025e-02 -1.17590325e-04 9.99878003e-01 7.55454704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.6292541539999 meters Centerline goodness : 0.999328 Centerline is valid? [True, True] Translation: X:488.72, Y:5.39, Z:7.55 [[ 9.99623825e-01 -2.25453093e-02 -1.56178719e-02 4.88722384e+02] [ 2.25441818e-02 9.99745817e-01 -2.48270752e-04 5.39465527e+00] [ 1.56194995e-02 -1.03914786e-04 9.99878003e-01 7.55443700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.65925415399994 meters Centerline goodness : 0.999241 Centerline is valid? [True, True] Translation: X:488.75, Y:5.39, Z:7.55 [[ 9.99609882e-01 -2.31552843e-02 -1.56178073e-02 4.88751074e+02] [ 2.31541687e-02 9.99731874e-01 -2.52274638e-04 5.39488190e+00] [ 1.56194612e-02 -1.09441123e-04 9.99878003e-01 7.55471232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.6892541539999 meters Centerline goodness : 0.999473 Centerline is valid? [True, True] Translation: X:488.78, Y:5.39, Z:7.56 [[ 9.99583958e-01 -2.42486554e-02 -1.56177419e-02 4.88779912e+02] [ 2.42476109e-02 9.99705951e-01 -2.56260855e-04 5.39484573e+00] [ 1.56193634e-02 -1.22538688e-04 9.99878003e-01 7.55538436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.71925415399994 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:488.81, Y:5.39, Z:7.56 [[ 9.99585763e-01 -2.41741568e-02 -1.56176758e-02 4.88810322e+02] [ 2.41730413e-02 9.99707755e-01 -2.60224972e-04 5.39217802e+00] [ 1.56194023e-02 -1.17409545e-04 9.99878003e-01 7.55676912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.7492541539999 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:488.84, Y:5.39, Z:7.56 [[ 9.99415402e-01 -3.04119523e-02 -1.56194715e-02 4.88838100e+02] [ 3.04132719e-02 9.99537398e-01 -1.53094511e-04 5.39314490e+00] [ 1.56169018e-02 -3.22034222e-04 9.99877997e-01 7.55778857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.77925415399994 meters Centerline goodness : 0.997077 Centerline is valid? [True, True] Translation: X:488.87, Y:5.39, Z:7.56 [[ 9.99366691e-01 -3.19735702e-02 -1.56175766e-02 4.88868184e+02] [ 3.19733345e-02 9.99488687e-01 -2.64843752e-04 5.39095012e+00] [ 1.56180591e-02 -2.34669976e-04 9.99878003e-01 7.55626880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.8092541539999 meters Centerline goodness : 0.999348 Centerline is valid? [True, True] Translation: X:488.90, Y:5.39, Z:7.56 [[ 9.99099109e-01 -3.94590325e-02 -1.56190586e-02 4.88897318e+02] [ 3.94610704e-02 9.99221093e-01 -1.77812664e-04 5.39019194e+00] [ 1.56139091e-02 -4.38692298e-04 9.99877999e-01 7.55787803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.83925415399995 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:488.93, Y:5.39, Z:7.56 [[ 9.99000907e-01 -4.18722086e-02 -1.56174863e-02 4.88929764e+02] [ 4.18731153e-02 9.99122900e-01 -2.69077225e-04 5.38753346e+00] [ 1.56150550e-02 -3.85144411e-04 9.99878003e-01 7.56033156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.8692541539999 meters Centerline goodness : 0.999328 Centerline is valid? [True, True] Translation: X:488.96, Y:5.39, Z:7.56 [[ 9.98753938e-01 -4.73981424e-02 -1.56200908e-02 4.88959267e+02] [ 4.74020774e-02 9.98875883e-01 -1.18426114e-04 5.38898294e+00] [ 1.56081452e-02 -6.22146208e-04 9.99877992e-01 7.56097106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.89925415399995 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:488.99, Y:5.39, Z:7.56 [[ 9.98657192e-01 -4.93954523e-02 -1.56173499e-02 4.88992866e+02] [ 4.93971943e-02 9.98779176e-01 -2.74423462e-04 5.38669735e+00] [ 1.56118391e-02 -4.97398304e-04 9.99878004e-01 7.56149890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.9292541539999 meters Centerline goodness : 0.999349 Centerline is valid? [True, True] Translation: X:489.03, Y:5.39, Z:7.56 [[ 9.98511398e-01 -5.22592696e-02 -1.56191098e-02 4.89026450e+02] [ 5.22629197e-02 9.98633345e-01 -1.74663647e-04 5.38586217e+00] [ 1.56068916e-02 -6.41896638e-04 9.99877999e-01 7.56205835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.95925415399995 meters Centerline goodness : 0.999434 Centerline is valid? [True, True] Translation: X:489.05, Y:5.39, Z:7.56 [[ 9.98148143e-01 -5.87902045e-02 -1.56203597e-02 4.89053197e+02] [ 5.87957560e-02 9.98270028e-01 -1.03991384e-04 5.38628932e+00] [ 1.55994506e-02 -8.14612052e-04 9.99877989e-01 7.56330174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.9892541539999 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:489.08, Y:5.39, Z:7.57 [[ 9.97652359e-01 -6.66773786e-02 -1.56172076e-02 4.89078510e+02] [ 6.66811469e-02 9.97774296e-01 -2.79886727e-04 5.39231650e+00] [ 1.56011105e-02 -7.62143662e-04 9.99878005e-01 7.56542554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.01925415399995 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:489.11, Y:5.39, Z:7.57 [[ 9.97579890e-01 -6.77541266e-02 -1.56122379e-02 4.89110789e+02] [ 6.77537683e-02 9.97701920e-01 -5.52482356e-04 5.39180951e+00] [ 1.56137927e-02 -5.06642662e-04 9.99877969e-01 7.56575368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.0492541539999 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:489.14, Y:5.39, Z:7.57 [[ 9.97604938e-01 -6.73842654e-02 -1.56124389e-02 4.89142550e+02] [ 6.73840375e-02 9.97726966e-01 -5.41239157e-04 5.39214846e+00] [ 1.56134223e-02 -5.12086312e-04 9.99877972e-01 7.56624690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.07925415399995 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:489.18, Y:5.39, Z:7.57 [[ 9.97857871e-01 -6.35288938e-02 -1.56124625e-02 4.89179539e+02] [ 6.35282153e-02 9.97979897e-01 -5.39906755e-04 5.38555386e+00] [ 1.56152234e-02 -4.53081673e-04 9.99877972e-01 7.56530813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.1092541539999 meters Centerline goodness : 0.999644 Centerline is valid? [True, True] Translation: X:489.21, Y:5.39, Z:7.57 [[ 9.97846264e-01 -6.37098085e-02 -1.56171288e-02 4.89211341e+02] [ 6.37134152e-02 9.97968201e-01 -2.66991148e-04 5.38570770e+00] [ 1.56024079e-02 -7.28604495e-04 9.99878010e-01 7.56589102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.13925415399996 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:489.24, Y:5.39, Z:7.57 [[ 9.97839210e-01 -6.38201787e-02 -1.56171480e-02 4.89243676e+02] [ 6.38238165e-02 9.97961146e-01 -2.65863518e-04 5.38644372e+00] [ 1.56022744e-02 -7.31456948e-04 9.99878010e-01 7.56620787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.16925415399993 meters Centerline goodness : 0.999038 Centerline is valid? [True, True] Translation: X:489.28, Y:5.39, Z:7.57 [[ 9.97904246e-01 -6.27950677e-02 -1.56171675e-02 4.89275840e+02] [ 6.27985982e-02 9.98026185e-01 -2.64715431e-04 5.38772569e+00] [ 1.56029649e-02 -7.16575575e-04 9.99878010e-01 7.56594351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.19925415399996 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:489.30, Y:5.39, Z:7.56 [[ 9.97798442e-01 -6.44544175e-02 -1.56171870e-02 4.89300837e+02] [ 6.44581688e-02 9.97920375e-01 -2.63560358e-04 5.39283767e+00] [ 1.56016967e-02 -7.43675161e-04 9.99878010e-01 7.56304527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.22925415399993 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:489.34, Y:5.39, Z:7.57 [[ 9.98142282e-01 -5.88914474e-02 -1.56135038e-02 4.89336965e+02] [ 5.88911953e-02 9.98264294e-01 -4.76319716e-04 5.39023918e+00] [ 1.56144545e-02 -4.44063055e-04 9.99877988e-01 7.56627841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.25925415399996 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:489.37, Y:5.39, Z:7.57 [[ 9.98244067e-01 -5.71392122e-02 -1.56170957e-02 4.89367894e+02] [ 5.71420739e-02 9.98366022e-01 -2.63283445e-04 5.39119761e+00] [ 1.56066215e-02 -6.29572098e-04 9.99878011e-01 7.56577545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.28925415399993 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:489.40, Y:5.39, Z:7.57 [[ 9.98449709e-01 -5.34255116e-02 -1.56171098e-02 4.89399783e+02] [ 5.34279328e-02 9.98571674e-01 -2.62443194e-04 5.39139913e+00] [ 1.56088246e-02 -5.72353562e-04 9.99878011e-01 7.56716587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.31925415399996 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:489.43, Y:5.40, Z:7.57 [[ 9.98519473e-01 -5.21053521e-02 -1.56171287e-02 4.89430705e+02] [ 5.21076296e-02 9.98641440e-01 -2.61313529e-04 5.39535599e+00] [ 1.56095277e-02 -5.52844911e-04 9.99878011e-01 7.56718847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.34925415399994 meters Centerline goodness : 0.997284 Centerline is valid? [True, True] Translation: X:489.46, Y:5.40, Z:7.56 [[ 9.98673927e-01 -4.90560089e-02 -1.56171427e-02 4.89459662e+02] [ 4.90579272e-02 9.98795901e-01 -2.60472123e-04 5.39609159e+00] [ 1.56111159e-02 -5.06017933e-04 9.99878011e-01 7.56388847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.3792541539999 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:489.49, Y:5.39, Z:7.56 [[ 9.98772811e-01 -4.70000988e-02 -1.56160779e-02 4.89494516e+02] [ 4.70007413e-02 9.98894801e-01 -3.26059446e-04 5.39467222e+00] [ 1.56141439e-02 -4.08307928e-04 9.99878008e-01 7.56401487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.40925415399994 meters Centerline goodness : 0.998827 Centerline is valid? [True, True] Translation: X:489.52, Y:5.40, Z:7.57 [[ 9.98536768e-01 -5.17710107e-02 -1.56232421e-02 4.89517608e+02] [ 5.17780083e-02 9.98658618e-01 4.34622007e-05 5.40231333e+00] [ 1.56000353e-02 -8.52338967e-04 9.99877949e-01 7.56874963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.4392541539999 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:489.55, Y:5.40, Z:7.57 [[ 9.98540320e-01 -5.17046079e-02 -1.56161264e-02 4.89549148e+02] [ 5.17060392e-02 9.98662299e-01 -3.12345829e-04 5.40330017e+00] [ 1.56113864e-02 -4.95558142e-04 9.99878012e-01 7.56930307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.46925415399994 meters Centerline goodness : 0.998976 Centerline is valid? [True, True] Translation: X:489.59, Y:5.40, Z:7.56 [[ 9.98927290e-01 -4.35936398e-02 -1.56161432e-02 4.89590004e+02] [ 4.35940936e-02 9.99049277e-01 -3.11504830e-04 5.39534738e+00] [ 1.56148762e-02 -3.69600933e-04 9.99878012e-01 7.56490321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.4992541539999 meters Centerline goodness : 0.998912 Centerline is valid? [True, True] Translation: X:489.62, Y:5.39, Z:7.56 [[ 9.99057947e-01 -4.04851616e-02 -1.56259475e-02 4.89623156e+02] [ 4.04932758e-02 9.99179790e-01 2.03104309e-04 5.39236098e+00] [ 1.56049082e-02 -8.35658774e-04 9.99877887e-01 7.56484468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.52925415399994 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:489.64, Y:5.41, Z:7.57 [[ 9.98483876e-01 -5.27793868e-02 -1.56296485e-02 4.89635258e+02] [ 5.27920413e-02 9.98605449e-01 3.97881012e-04 5.40726999e+00] [ 1.55868523e-02 -1.22239883e-03 9.99877770e-01 7.57208648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.5592541539999 meters Centerline goodness : 0.998975 Centerline is valid? [True, True] Translation: X:489.68, Y:5.40, Z:7.57 [[ 9.98766245e-01 -4.71398882e-02 -1.56146828e-02 4.89676416e+02] [ 4.71405815e-02 9.98888212e-01 -3.23865867e-04 5.39968067e+00] [ 1.56125896e-02 -4.12618930e-04 9.99878031e-01 7.56897096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.58925415399995 meters Centerline goodness : 0.998850 Centerline is valid? [True, True] Translation: X:489.70, Y:5.41, Z:7.57 [[ 9.98294864e-01 -5.62428523e-02 -1.56239179e-02 4.89697086e+02] [ 5.62510731e-02 9.98416651e-01 8.68624931e-05 5.40928207e+00] [ 1.55942944e-02 -9.65576529e-04 9.99877935e-01 7.57440432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.6192541539999 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:489.74, Y:5.40, Z:7.57 [[ 9.98720054e-01 -4.81089949e-02 -1.56133901e-02 4.89742707e+02] [ 4.81091624e-02 9.98842017e-01 -3.65088556e-04 5.39888414e+00] [ 1.56128741e-02 -3.86525859e-04 9.99878037e-01 7.56811862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.64925415399995 meters Centerline goodness : 0.998683 Centerline is valid? [True, True] Translation: X:489.77, Y:5.40, Z:7.57 [[ 9.98578768e-01 -5.09522765e-02 -1.56304364e-02 4.89769891e+02] [ 5.09645346e-02 9.98700389e-01 3.86664795e-04 5.40045491e+00] [ 1.55904215e-02 -1.18271317e-03 9.99877763e-01 7.56644257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.6792541539999 meters Centerline goodness : 0.999038 Centerline is valid? [True, True] Translation: X:489.78, Y:5.41, Z:7.58 [[ 9.97782265e-01 -6.47020660e-02 -1.56267034e-02 4.89784732e+02] [ 6.47134189e-02 9.97903865e-01 2.21407939e-04 5.41327552e+00] [ 1.55796222e-02 -1.23217432e-03 9.99877871e-01 7.57531432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.70925415399995 meters Centerline goodness : 0.998999 Centerline is valid? [True, True] Translation: X:489.83, Y:5.40, Z:7.57 [[ 9.98253143e-01 -5.69817242e-02 -1.56123578e-02 4.89833843e+02] [ 5.69828144e-02 9.98375089e-01 -3.75369526e-04 5.39995489e+00] [ 1.56083783e-02 -5.14922279e-04 9.99878049e-01 7.56865643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.7392541539999 meters Centerline goodness : 0.998978 Centerline is valid? [True, True] Translation: X:489.86, Y:5.40, Z:7.57 [[ 9.97861634e-01 -6.34650650e-02 -1.56315191e-02 4.89858214e+02] [ 6.34804961e-02 9.97982958e-01 4.92485783e-04 5.40464809e+00] [ 1.55687340e-02 -1.48372925e-03 9.99877699e-01 7.56947780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.76925415399995 meters Centerline goodness : 0.998978 Centerline is valid? [True, True] Translation: X:489.87, Y:5.42, Z:7.58 [[ 9.96952934e-01 -7.64244199e-02 -1.56254431e-02 4.89872783e+02] [ 7.64372572e-02 9.97074368e-01 2.25127203e-04 5.41792162e+00] [ 1.55625236e-02 -1.41880724e-03 9.99877890e-01 7.57703467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.7992541539999 meters Centerline goodness : 0.998997 Centerline is valid? [True, True] Translation: X:489.91, Y:5.42, Z:7.58 [[ 9.96782452e-01 -7.86196216e-02 -1.56108709e-02 4.89906120e+02] [ 7.86233213e-02 9.96904324e-01 -3.77538146e-04 5.41948566e+00] [ 1.55922266e-02 -8.51055120e-04 9.99878072e-01 7.57787355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.82925415399995 meters Centerline goodness : 0.998600 Centerline is valid? [True, True] Translation: X:489.95, Y:5.41, Z:7.57 [[ 9.97498542e-01 -6.89417013e-02 -1.56109100e-02 4.89953253e+02] [ 6.89442434e-02 9.97620444e-01 -3.75914430e-04 5.40718970e+00] [ 1.55996791e-02 -7.01308282e-04 9.99878072e-01 7.57164314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.8592541539999 meters Centerline goodness : 0.998937 Centerline is valid? [True, True] Translation: X:489.99, Y:5.41, Z:7.57 [[ 9.97493861e-01 -6.90055367e-02 -1.56279472e-02 4.89985092e+02] [ 6.90200003e-02 9.97615201e-01 3.87401321e-04 5.40826556e+00] [ 1.55639449e-02 -1.46507136e-03 9.99877801e-01 7.57166718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.88925415399996 meters Centerline goodness : 0.998998 Centerline is valid? [True, True] Translation: X:490.01, Y:5.41, Z:7.57 [[ 9.97189776e-01 -7.32692842e-02 -1.56256937e-02 4.90014451e+02] [ 7.32828703e-02 9.97311151e-01 2.97901017e-04 5.41404693e+00] [ 1.55618516e-02 -1.44215953e-03 9.99877867e-01 7.57269765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.91925415399993 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:490.03, Y:5.43, Z:7.58 [[ 9.96317972e-01 -8.42994898e-02 -1.56235619e-02 4.90029257e+02] [ 8.43131366e-02 9.96439285e-01 2.15697709e-04 5.42868614e+00] [ 1.55497477e-02 -1.53217501e-03 9.99877921e-01 7.57917393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.94925415399996 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:490.06, Y:5.43, Z:7.58 [[ 9.96407256e-01 -8.32408342e-02 -1.56058624e-02 4.90062679e+02] [ 8.32442967e-02 9.96529078e-01 -4.28712996e-04 5.43133466e+00] [ 1.55873821e-02 -8.71926298e-04 9.99878129e-01 7.57967245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.97925415399993 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:490.09, Y:5.43, Z:7.58 [[ 9.96683138e-01 -7.98697595e-02 -1.56059050e-02 4.90091530e+02] [ 7.98728343e-02 9.96804970e-01 -4.27154411e-04 5.43327870e+00] [ 1.55901604e-02 -8.20750269e-04 9.99878129e-01 7.58024503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.00925415399996 meters Centerline goodness : 0.999247 Centerline is valid? [True, True] Translation: X:490.12, Y:5.44, Z:7.58 [[ 9.96700213e-01 -7.96571420e-02 -1.56020738e-02 4.90124916e+02] [ 7.96580192e-02 9.96822090e-01 -5.66216257e-04 5.43570592e+00] [ 1.55975950e-02 -6.78482433e-04 9.99878120e-01 7.57725986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.03925415399993 meters Centerline goodness : 0.998975 Centerline is valid? [True, True] Translation: X:490.17, Y:5.43, Z:7.57 [[ 9.97342562e-01 -7.11638454e-02 -1.56051602e-02 4.90165511e+02] [ 7.11654767e-02 9.97464421e-01 -4.51450915e-04 5.43188123e+00] [ 1.55977191e-02 -6.60297453e-04 9.99878130e-01 7.57435698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.06925415399996 meters Centerline goodness : 0.998888 Centerline is valid? [True, True] Translation: X:490.19, Y:5.43, Z:7.57 [[ 9.97680680e-01 -6.62507820e-02 -1.56235541e-02 4.90193106e+02] [ 6.62612716e-02 9.97802295e-01 1.54132202e-04 5.43388402e+00] [ 1.55790068e-02 -1.18901128e-03 9.99877933e-01 7.57426535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.09925415399994 meters Centerline goodness : 0.998951 Centerline is valid? [True, True] Translation: X:490.23, Y:5.44, Z:7.58 [[ 9.97544846e-01 -6.82671159e-02 -1.56166998e-02 4.90228217e+02] [ 6.82743992e-02 9.97666579e-01 -6.69103614e-05 5.43795324e+00] [ 1.55848272e-02 -9.99474711e-04 9.99878050e-01 7.57518236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.1292541539999 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:490.24, Y:5.45, Z:7.58 [[ 9.97110849e-01 -7.43364453e-02 -1.56220275e-02 4.90243151e+02] [ 7.43471474e-02 9.97232416e-01 1.04616723e-04 5.45492054e+00] [ 1.55710154e-02 -1.26576765e-03 9.99877963e-01 7.58392927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.15925415399994 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:490.27, Y:5.46, Z:7.58 [[ 9.97296496e-01 -7.18071779e-02 -1.56021886e-02 4.90274699e+02] [ 7.18080265e-02 9.97418343e-01 -5.06540971e-04 5.45799670e+00] [ 1.55982824e-02 -6.15190836e-04 9.99878150e-01 7.58413395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.1892541539999 meters Centerline goodness : 0.999033 Centerline is valid? [True, True] Translation: X:490.31, Y:5.46, Z:7.58 [[ 9.97468612e-01 -6.93753512e-02 -1.56022343e-02 4.90307453e+02] [ 6.93759248e-02 9.97590460e-01 -5.05128961e-04 5.46044710e+00] [ 1.55996836e-02 -5.78569150e-04 9.99878150e-01 7.58430947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.21925415399994 meters Centerline goodness : 0.999034 Centerline is valid? [True, True] Translation: X:490.34, Y:5.46, Z:7.58 [[ 9.97942350e-01 -6.21903158e-02 -1.56022894e-02 4.90340570e+02] [ 6.21900386e-02 9.98064199e-01 -5.03420884e-04 5.46159220e+00] [ 1.56033944e-02 -4.67921960e-04 9.99878150e-01 7.58110174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.2492541539999 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:490.38, Y:5.46, Z:7.58 [[ 9.98499626e-01 -5.24882769e-02 -1.56037974e-02 4.90376904e+02] [ 5.24875484e-02 9.98621474e-01 -4.56498059e-04 5.45732211e+00] [ 1.56062480e-02 -3.63191930e-04 9.99878149e-01 7.57572982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.27925415399994 meters Centerline goodness : 0.998886 Centerline is valid? [True, True] Translation: X:490.41, Y:5.46, Z:7.58 [[ 9.98638486e-01 -4.97718151e-02 -1.56186256e-02 4.90407872e+02] [ 4.97777735e-02 9.98760318e-01 -7.27183506e-06 5.46027087e+00] [ 1.55996254e-02 -7.70198473e-04 9.99878022e-01 7.57530035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.3092541539999 meters Centerline goodness : 0.999178 Centerline is valid? [True, True] Translation: X:490.43, Y:5.48, Z:7.59 [[ 9.98293982e-01 -5.62605656e-02 -1.56164598e-02 4.90425721e+02] [ 5.62663049e-02 9.98415794e-01 -7.19548177e-05 5.47563629e+00] [ 1.55957683e-02 -8.06848428e-04 9.99878053e-01 7.58544324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.33925415399995 meters Centerline goodness : 0.999032 Centerline is valid? [True, True] Translation: X:490.46, Y:5.48, Z:7.59 [[ 9.98454458e-01 -5.33415895e-02 -1.56003326e-02 4.90456375e+02] [ 5.33396781e-02 9.98576281e-01 -5.38879268e-04 5.47824280e+00] [ 1.56068668e-02 -2.94070313e-04 9.99878162e-01 7.58700699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.3692541539999 meters Centerline goodness : 0.999178 Centerline is valid? [True, True] Translation: X:490.49, Y:5.48, Z:7.59 [[ 9.98621854e-01 -5.01106268e-02 -1.55986215e-02 4.90488647e+02] [ 5.01075481e-02 9.98743655e-01 -5.88378526e-04 5.48028461e+00] [ 1.56085083e-02 -1.94041025e-04 9.99878161e-01 7.58632264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.39925415399995 meters Centerline goodness : 0.999178 Centerline is valid? [True, True] Translation: X:490.52, Y:5.48, Z:7.59 [[ 9.98625298e-01 -5.00414075e-02 -1.56004048e-02 4.90521318e+02] [ 5.00391302e-02 9.98747114e-01 -5.36526893e-04 5.48131838e+00] [ 1.56077079e-02 -2.44841360e-04 9.99878162e-01 7.58681762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.4292541539999 meters Centerline goodness : 0.999367 Centerline is valid? [True, True] Translation: X:490.55, Y:5.48, Z:7.59 [[ 9.98739956e-01 -4.76982889e-02 -1.56004415e-02 4.90553688e+02] [ 4.76957425e-02 9.98861767e-01 -5.35458065e-04 5.48228292e+00] [ 1.56082250e-02 -2.09291278e-04 9.99878162e-01 7.58713880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.45925415399995 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:490.59, Y:5.48, Z:7.59 [[ 9.98841733e-01 -4.55172304e-02 -1.56004786e-02 4.90585761e+02] [ 4.55144349e-02 9.98963538e-01 -5.34376937e-04 5.48245292e+00] [ 1.56086326e-02 -1.76288980e-04 9.99878162e-01 7.58559243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.4892541539999 meters Centerline goodness : 0.999094 Centerline is valid? [True, True] Translation: X:490.62, Y:5.48, Z:7.59 [[ 9.98813432e-01 -4.61341495e-02 -1.56002877e-02 4.90617203e+02] [ 4.61313418e-02 9.98935237e-01 -5.39973621e-04 5.48395568e+00] [ 1.56085883e-02 -1.80329301e-04 9.99878162e-01 7.58752558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.51925415399995 meters Centerline goodness : 0.999094 Centerline is valid? [True, True] Translation: X:490.65, Y:5.49, Z:7.59 [[ 9.98844090e-01 -4.54654391e-02 -1.56005723e-02 4.90649735e+02] [ 4.54626803e-02 9.98965896e-01 -5.31622964e-04 5.48550880e+00] [ 1.56086102e-02 -1.78235374e-04 9.99878162e-01 7.58849317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.5492541539999 meters Centerline goodness : 0.999368 Centerline is valid? [True, True] Translation: X:490.68, Y:5.49, Z:7.59 [[ 9.98841218e-01 -4.55284744e-02 -1.56006097e-02 4.90681505e+02] [ 4.55257404e-02 9.98963025e-01 -5.30521417e-04 5.48678998e+00] [ 1.56085861e-02 -1.80322651e-04 9.99878162e-01 7.58941483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.57925415399995 meters Centerline goodness : 0.998927 Centerline is valid? [True, True] Translation: X:490.72, Y:5.48, Z:7.59 [[ 9.98998862e-01 -4.19272439e-02 -1.56006483e-02 4.90716141e+02] [ 4.19240886e-02 9.99120659e-01 -5.29385706e-04 5.48430765e+00] [ 1.56091257e-02 -1.25187243e-04 9.99878162e-01 7.58721995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.6092541539999 meters Centerline goodness : 0.999030 Centerline is valid? [True, True] Translation: X:490.74, Y:5.49, Z:7.59 [[ 9.98756366e-01 -4.73518963e-02 -1.56051196e-02 4.90744207e+02] [ 4.73514836e-02 9.98878211e-01 -3.96138216e-04 5.48756898e+00] [ 1.56063719e-02 -3.43280002e-04 9.99878154e-01 7.58968315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.63925415399996 meters Centerline goodness : 0.999094 Centerline is valid? [True, True] Translation: X:490.78, Y:5.49, Z:7.59 [[ 9.98678400e-01 -4.89701240e-02 -1.56006719e-02 4.90776113e+02] [ 4.89678547e-02 9.98800216e-01 -5.27645290e-04 5.48810875e+00] [ 1.56077934e-02 -2.36983484e-04 9.99878163e-01 7.59018683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.66925415399993 meters Centerline goodness : 0.999095 Centerline is valid? [True, True] Translation: X:490.81, Y:5.49, Z:7.59 [[ 9.98453933e-01 -5.33512948e-02 -1.56007099e-02 4.90807387e+02] [ 5.33495776e-02 9.98575758e-01 -5.26519922e-04 5.48786221e+00] [ 1.56065813e-02 -3.06585398e-04 9.99878163e-01 7.59026444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.69925415399996 meters Centerline goodness : 0.999219 Centerline is valid? [True, True] Translation: X:490.84, Y:5.49, Z:7.59 [[ 9.98298275e-01 -5.61887059e-02 -1.56007685e-02 4.90839975e+02] [ 5.61873621e-02 9.98420104e-01 -5.24778358e-04 5.48848956e+00] [ 1.56056075e-02 -3.52680700e-04 9.99878163e-01 7.59103598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.72925415399993 meters Centerline goodness : 0.998989 Centerline is valid? [True, True] Translation: X:490.87, Y:5.49, Z:7.59 [[ 9.98131756e-01 -5.90729417e-02 -1.56008253e-02 4.90871790e+02] [ 5.90719764e-02 9.98253589e-01 -5.23082977e-04 5.48901547e+00] [ 1.56044799e-02 -3.99465857e-04 9.99878163e-01 7.59112428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.75925415399996 meters Centerline goodness : 0.999029 Centerline is valid? [True, True] Translation: X:490.90, Y:5.49, Z:7.59 [[ 9.97962946e-01 -6.18592848e-02 -1.56008724e-02 4.90903705e+02] [ 6.18586816e-02 9.98084782e-01 -5.21676332e-04 5.48930202e+00] [ 1.56032638e-02 -4.44435748e-04 9.99878163e-01 7.59149573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.78925415399993 meters Centerline goodness : 0.998966 Centerline is valid? [True, True] Translation: X:490.95, Y:5.48, Z:7.58 [[ 9.98146683e-01 -5.88201607e-02 -1.56009095e-02 4.90946243e+02] [ 5.88192039e-02 9.98268516e-01 -5.20565316e-04 5.47695724e+00] [ 1.56045165e-02 -3.98032532e-04 9.99878163e-01 7.58418761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.81925415399996 meters Centerline goodness : 0.998839 Centerline is valid? [True, True] Translation: X:490.96, Y:5.49, Z:7.59 [[ 9.97312647e-01 -7.15785832e-02 -1.56201752e-02 4.90962985e+02] [ 7.15883948e-02 9.97434257e-01 6.91799244e-05 5.48951983e+00] [ 1.55751461e-02 -1.18721729e-03 9.99877995e-01 7.59085009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.84925415399994 meters Centerline goodness : 0.998799 Centerline is valid? [True, True] Translation: X:491.01, Y:5.48, Z:7.58 [[ 9.97782539e-01 -6.47043399e-02 -1.55998107e-02 4.91007405e+02] [ 6.47039514e-02 9.97904363e-01 -5.30143032e-04 5.47683653e+00] [ 1.56014217e-02 -4.80401933e-04 9.99878175e-01 7.58404674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.8792541539999 meters Centerline goodness : 0.999220 Centerline is valid? [True, True] Translation: X:491.02, Y:5.49, Z:7.59 [[ 9.96629969e-01 -8.05276301e-02 -1.56206661e-02 4.91020723e+02] [ 8.05390366e-02 9.96751450e-01 1.01497270e-04 5.48970017e+00] [ 1.55617482e-02 -1.35922862e-03 9.99877985e-01 7.59078762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.90925415399994 meters Centerline goodness : 0.998862 Centerline is valid? [True, True] Translation: X:491.05, Y:5.49, Z:7.59 [[ 9.96387392e-01 -8.34796301e-02 -1.55986196e-02 4.91053605e+02] [ 8.34814135e-02 9.96509189e-01 -5.37910665e-04 5.49030320e+00] [ 1.55890723e-02 -7.66227407e-04 9.99878189e-01 7.59060945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.9392541539999 meters Centerline goodness : 0.998862 Centerline is valid? [True, True] Translation: X:491.09, Y:5.49, Z:7.59 [[ 9.96396012e-01 -8.33766629e-02 -1.55986750e-02 4.91087120e+02] [ 8.33784589e-02 9.96517810e-01 -5.36298246e-04 5.49135529e+00] [ 1.55890722e-02 -7.66228050e-04 9.99878189e-01 7.59113242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.96925415399994 meters Centerline goodness : 0.999031 Centerline is valid? [True, True] Translation: X:491.12, Y:5.49, Z:7.59 [[ 9.96166076e-01 -8.60803615e-02 -1.55987303e-02 4.91119911e+02] [ 8.60825132e-02 9.96287868e-01 -5.34686468e-04 5.49209864e+00] [ 1.55868517e-02 -8.10141383e-04 9.99878189e-01 7.59150952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.9992541539999 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:491.15, Y:5.49, Z:7.59 [[ 9.95926357e-01 -8.88108624e-02 -1.55987852e-02 4.91153222e+02] [ 8.88133731e-02 9.96048142e-01 -5.33078914e-04 5.49285612e+00] [ 1.55844842e-02 -8.54473389e-04 9.99878189e-01 7.59243530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.02925415399994 meters Centerline goodness : 0.998928 Centerline is valid? [True, True] Translation: X:491.19, Y:5.49, Z:7.59 [[ 9.95556436e-01 -9.28658137e-02 -1.55988437e-02 4.91185243e+02] [ 9.28688471e-02 9.95678209e-01 -5.31360906e-04 5.49310315e+00] [ 1.55807740e-02 -9.19646864e-04 9.99878189e-01 7.59193806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.0592541539999 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:491.22, Y:5.49, Z:7.59 [[ 9.95383751e-01 -9.46987832e-02 -1.55989871e-02 4.91218338e+02] [ 9.47021071e-02 9.95505516e-01 -5.27118387e-04 5.49396029e+00] [ 1.55787952e-02 -9.52571869e-04 9.99878189e-01 7.59283857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.08925415399995 meters Centerline goodness : 0.999074 Centerline is valid? [True, True] Translation: X:491.25, Y:5.50, Z:7.59 [[ 9.95306153e-01 -9.55109030e-02 -1.55990443e-02 4.91250348e+02] [ 9.55143528e-02 9.95427914e-01 -5.25418695e-04 5.49521862e+00] [ 1.55779074e-02 -9.66980165e-04 9.99878189e-01 7.59248147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.1192541539999 meters Centerline goodness : 0.998886 Centerline is valid? [True, True] Translation: X:491.28, Y:5.50, Z:7.59 [[ 9.95292545e-01 -9.56525852e-02 -1.55991381e-02 4.91283022e+02] [ 9.56560959e-02 9.95414305e-01 -5.22620255e-04 5.49649923e+00] [ 1.55775952e-02 -9.71992607e-04 9.99878189e-01 7.59264410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.14925415399995 meters Centerline goodness : 0.998927 Centerline is valid? [True, True] Translation: X:491.33, Y:5.49, Z:7.59 [[ 9.96427343e-01 -8.30013007e-02 -1.55991910e-02 4.91329363e+02] [ 8.30032891e-02 9.96549137e-01 -5.21036781e-04 5.48617162e+00] [ 1.55886071e-02 -7.75608864e-04 9.99878189e-01 7.58854149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.1792541539999 meters Centerline goodness : 0.999051 Centerline is valid? [True, True] Translation: X:491.34, Y:5.50, Z:7.59 [[ 9.95450761e-01 -9.39879687e-02 -1.56219397e-02 4.91341764e+02] [ 9.40023424e-02 9.95571959e-01 1.86735605e-04 5.50318251e+00] [ 1.55352142e-02 -1.65438503e-03 9.99877953e-01 7.59474627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.20925415399995 meters Centerline goodness : 0.998819 Centerline is valid? [True, True] Translation: X:491.37, Y:5.51, Z:7.59 [[ 9.95607776e-01 -9.23139495e-02 -1.55978057e-02 4.91373159e+02] [ 9.23169778e-02 9.95729530e-01 -5.27291806e-04 5.50634096e+00] [ 1.55798721e-02 -9.14966456e-04 9.99878208e-01 7.59487725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.2392541539999 meters Centerline goodness : 0.998880 Centerline is valid? [True, True] Translation: X:491.41, Y:5.51, Z:7.59 [[ 9.95987897e-01 -8.81181922e-02 -1.55978338e-02 4.91405026e+02] [ 8.81207205e-02 9.96109663e-01 -5.26458648e-04 5.51114282e+00] [ 1.55835435e-02 -8.50145908e-04 9.99878208e-01 7.59469083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.26925415399995 meters Centerline goodness : 0.998754 Centerline is valid? [True, True] Translation: X:491.45, Y:5.50, Z:7.59 [[ 9.97036288e-01 -7.53348954e-02 -1.55978724e-02 4.91450007e+02] [ 7.53358795e-02 9.97158076e-01 -5.25310863e-04 5.50108177e+00] [ 1.55931187e-02 -6.51325445e-04 9.99878208e-01 7.58752603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.2992541539999 meters Centerline goodness : 0.999007 Centerline is valid? [True, True] Translation: X:491.46, Y:5.52, Z:7.59 [[ 9.96321710e-01 -8.42559999e-02 -1.56197306e-02 4.91464174e+02] [ 8.42684841e-02 9.96443075e-01 1.41652281e-04 5.51768729e+00] [ 1.55522373e-02 -1.45738226e-03 9.99877995e-01 7.59421883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.32925415399995 meters Centerline goodness : 0.998856 Centerline is valid? [True, True] Translation: X:491.51, Y:5.51, Z:7.59 [[ 9.97414577e-01 -7.01491812e-02 -1.55965904e-02 4.91508860e+02] [ 7.01493936e-02 9.97536354e-01 -5.34136443e-04 5.51235876e+00] [ 1.55956352e-02 -5.61335884e-04 9.99878223e-01 7.58899195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.3592541539999 meters Centerline goodness : 0.998770 Centerline is valid? [True, True] Translation: X:491.54, Y:5.51, Z:7.59 [[ 9.97667955e-01 -6.64432311e-02 -1.56188379e-02 4.91541701e+02] [ 6.64534688e-02 9.97789516e-01 1.36820737e-04 5.51380967e+00] [ 1.55752219e-02 -1.17442762e-03 9.99878009e-01 7.58879646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.38925415399996 meters Centerline goodness : 0.998769 Centerline is valid? [True, True] Translation: X:491.58, Y:5.51, Z:7.59 [[ 9.97867486e-01 -6.33756174e-02 -1.56208733e-02 4.91575506e+02] [ 6.33864587e-02 9.97989037e-01 1.99401118e-04 5.51471355e+00] [ 1.55768232e-02 -1.18912773e-03 9.99877967e-01 7.58900106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.41925415399993 meters Centerline goodness : 0.998745 Centerline is valid? [True, True] Translation: X:491.60, Y:5.52, Z:7.59 [[ 9.98147266e-01 -5.88038313e-02 -1.56251359e-02 4.91602027e+02] [ 5.88161621e-02 9.98268776e-01 3.30404705e-04 5.52087137e+00] [ 1.55786563e-02 -1.24880308e-03 9.99877866e-01 7.59033594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.44925415399996 meters Centerline goodness : 0.999003 Centerline is valid? [True, True] Translation: X:491.62, Y:5.54, Z:7.60 [[ 9.97431888e-01 -6.98979714e-02 -1.56173608e-02 4.91623221e+02] [ 6.99081905e-02 9.97553424e-01 1.08713641e-04 5.53517129e+00] [ 1.55715529e-02 -1.20021589e-03 9.99878036e-01 7.59776222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.47925415399993 meters Centerline goodness : 0.999042 Centerline is valid? [True, True] Translation: X:491.65, Y:5.54, Z:7.60 [[ 9.97231487e-01 -7.27039045e-02 -1.56045820e-02 4.91645745e+02] [ 7.27089680e-02 9.97353171e-01 -2.43350482e-04 5.54464590e+00] [ 1.55809719e-02 -8.91916290e-04 9.99878211e-01 7.60075176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.50925415399996 meters Centerline goodness : 0.999275 Centerline is valid? [True, True] Translation: X:491.68, Y:5.55, Z:7.60 [[ 9.97600762e-01 -6.74507066e-02 -1.55923434e-02 4.91678454e+02] [ 6.74499475e-02 9.97722493e-01 -5.75157348e-04 5.54997486e+00] [ 1.55956265e-02 -4.77925338e-04 9.99878267e-01 7.60249570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.53925415399993 meters Centerline goodness : 0.999212 Centerline is valid? [True, True] Translation: X:491.71, Y:5.55, Z:7.60 [[ 9.97797657e-01 -6.44725676e-02 -1.55924050e-02 4.91710150e+02] [ 6.44714714e-02 9.97919386e-01 -5.73483023e-04 5.55289008e+00] [ 1.55969372e-02 -4.33045277e-04 9.99878267e-01 7.60162540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.56925415399996 meters Centerline goodness : 0.999275 Centerline is valid? [True, True] Translation: X:491.74, Y:5.56, Z:7.60 [[ 9.97943693e-01 -6.21712161e-02 -1.55924708e-02 4.91742993e+02] [ 6.21698671e-02 9.98065419e-01 -5.71690308e-04 5.55549056e+00] [ 1.55978485e-02 -3.98867097e-04 9.99878267e-01 7.60414254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.59925415399994 meters Centerline goodness : 0.998933 Centerline is valid? [True, True] Translation: X:491.79, Y:5.54, Z:7.60 [[ 9.98949065e-01 -4.31003189e-02 -1.55925375e-02 4.91793582e+02] [ 4.30966739e-02 9.99070744e-01 -5.69863874e-04 5.54345067e+00] [ 1.56026094e-02 -1.02721519e-04 9.99878267e-01 7.59754034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.6292541539999 meters Centerline goodness : 0.999189 Centerline is valid? [True, True] Translation: X:491.80, Y:5.56, Z:7.60 [[ 9.98271861e-01 -5.66488276e-02 -1.56269592e-02 4.91799634e+02] [ 5.66621239e-02 9.98393328e-01 4.09065546e-04 5.56085660e+00] [ 1.55786787e-02 -1.29381532e-03 9.99877808e-01 7.60439608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.65925415399994 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:491.85, Y:5.55, Z:7.60 [[ 9.99007600e-01 -4.17226123e-02 -1.55896741e-02 4.91846286e+02] [ 4.17185645e-02 9.99129231e-01 -5.84907976e-04 5.55092888e+00] [ 1.56005030e-02 -6.60513104e-05 9.99878303e-01 7.59663524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.6892541539999 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:491.86, Y:5.57, Z:7.60 [[ 9.98536989e-01 -5.17689965e-02 -1.56157867e-02 4.91858757e+02] [ 5.17773724e-02 9.98658643e-01 1.32287723e-04 5.56610247e+00] [ 1.55879919e-02 -9.40638586e-04 9.99878057e-01 7.60467927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.71925415399994 meters Centerline goodness : 0.994931 Centerline is valid? [True, True] Translation: X:491.89, Y:5.57, Z:7.60 [[ 9.98574551e-01 -5.10477744e-02 -1.55881958e-02 4.91891605e+02] [ 5.10447351e-02 9.98696192e-01 -5.93046122e-04 5.56870597e+00] [ 1.55981454e-02 -2.03494558e-04 9.99878321e-01 7.60169578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.7492541539999 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:491.92, Y:5.57, Z:7.61 [[ 9.98723502e-01 -4.80446234e-02 -1.55910690e-02 4.91924951e+02] [ 4.80423912e-02 9.98845163e-01 -5.17895860e-04 5.56866057e+00] [ 1.55979460e-02 -2.31797468e-04 9.99878318e-01 7.60509352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.77925415399994 meters Centerline goodness : 0.999594 Centerline is valid? [True, True] Translation: X:491.95, Y:5.57, Z:7.61 [[ 9.98586889e-01 -5.08039480e-02 -1.55943430e-02 4.91952466e+02] [ 5.08033298e-02 9.98708582e-01 -4.36040411e-04 5.57360478e+00] [ 1.55963568e-02 -3.56820315e-04 9.99878306e-01 7.60709146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.8092541539999 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:491.99, Y:5.57, Z:7.61 [[ 9.98574448e-01 -5.10502424e-02 -1.55866736e-02 4.91985791e+02] [ 5.10466770e-02 9.98696072e-01 -6.26771608e-04 5.57437015e+00] [ 1.55983466e-02 -1.69769781e-04 9.99878324e-01 7.60763723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.83925415399995 meters Centerline goodness : 0.999168 Centerline is valid? [True, True] Translation: X:492.03, Y:5.56, Z:7.60 [[ 9.99049098e-01 -4.07179742e-02 -1.55867426e-02 4.92031858e+02] [ 4.07131777e-02 9.99170679e-01 -6.25052523e-04 5.56210897e+00] [ 1.55992670e-02 -1.01276612e-05 9.99878324e-01 7.59992947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.8692541539999 meters Centerline goodness : 0.999190 Centerline is valid? [True, True] Translation: X:492.06, Y:5.56, Z:7.60 [[ 9.99215418e-01 -3.63968501e-02 -1.56146909e-02 4.92061028e+02] [ 3.64028254e-02 9.99337193e-01 9.85213996e-05 5.55752161e+00] [ 1.56007555e-02 -6.66862967e-04 9.99878078e-01 7.59699860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.89925415399995 meters Centerline goodness : 0.995267 Centerline is valid? [True, True] Translation: X:492.08, Y:5.57, Z:7.61 [[ 9.98569947e-01 -5.11317931e-02 -1.56076965e-02 4.92083386e+02] [ 5.11363910e-02 9.98691673e-01 -1.04615307e-04 5.56887002e+00] [ 1.55926257e-02 -6.93655569e-04 9.99878187e-01 7.60808891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.9292541539999 meters Centerline goodness : 0.999447 Centerline is valid? [True, True] Translation: X:492.12, Y:5.57, Z:7.61 [[ 9.98463183e-01 -5.31808880e-02 -1.55905493e-02 4.92115429e+02] [ 5.31781751e-02 9.98584866e-01 -5.88812299e-04 5.56868016e+00] [ 1.55998002e-02 -2.41169561e-04 9.99878287e-01 7.60722861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.95925415399995 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:492.15, Y:5.57, Z:7.61 [[ 9.98347770e-01 -5.53048136e-02 -1.55919192e-02 4.92148198e+02] [ 5.53029659e-02 9.98469468e-01 -5.49977347e-04 5.56867365e+00] [ 1.55984717e-02 -3.13210717e-04 9.99878287e-01 7.61009722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.9892541539999 meters Centerline goodness : 0.996936 Centerline is valid? [True, True] Translation: X:492.18, Y:5.57, Z:7.61 [[ 9.98096317e-01 -5.96710309e-02 -1.55919809e-02 4.92179866e+02] [ 5.96697428e-02 9.98218023e-01 -5.48223202e-04 5.56713954e+00] [ 1.55969094e-02 -3.83189930e-04 9.99878287e-01 7.60775791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.01925415399995 meters Centerline goodness : 0.999279 Centerline is valid? [True, True] Translation: X:492.22, Y:5.56, Z:7.61 [[ 9.98181587e-01 -5.82276612e-02 -1.55903652e-02 4.92217765e+02] [ 5.82254787e-02 9.98303281e-01 -5.94247711e-04 5.56324360e+00] [ 1.55985143e-02 -3.14589352e-04 9.99878286e-01 7.60611957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.0492541539999 meters Centerline goodness : 0.999151 Centerline is valid? [True, True] Translation: X:492.25, Y:5.56, Z:7.61 [[ 9.97845933e-01 -6.37159982e-02 -1.56129711e-02 4.92247136e+02] [ 6.37232076e-02 9.97967610e-01 -3.57941069e-05 5.56310806e+00] [ 1.55835201e-02 -9.59191596e-04 9.99878109e-01 7.60579554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.07925415399995 meters Centerline goodness : 0.999301 Centerline is valid? [True, True] Translation: X:492.28, Y:5.56, Z:7.61 [[ 9.97607629e-01 -6.73458050e-02 -1.56064477e-02 4.92280098e+02] [ 6.73510319e-02 9.97729323e-01 -1.91020071e-04 5.56363391e+00] [ 1.55838749e-02 -8.60547278e-04 9.99878194e-01 7.60583525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.1092541539999 meters Centerline goodness : 0.999068 Centerline is valid? [True, True] Translation: X:492.30, Y:5.57, Z:7.61 [[ 9.96822937e-01 -7.81051749e-02 -1.56081136e-02 4.92298154e+02] [ 7.81123294e-02 9.96944553e-01 -1.51657064e-04 5.57357269e+00] [ 1.55722690e-02 -1.06801087e-03 9.99878174e-01 7.61190707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.13925415399996 meters Centerline goodness : 0.998941 Centerline is valid? [True, True] Translation: X:492.34, Y:5.57, Z:7.60 [[ 9.97422914e-01 -7.00330660e-02 -1.55852605e-02 4.92339255e+02] [ 7.00310233e-02 9.97544584e-01 -6.77454759e-04 5.56554234e+00] [ 1.55944365e-02 -4.15742845e-04 9.99878313e-01 7.60481210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.16925415399993 meters Centerline goodness : 0.999112 Centerline is valid? [True, True] Translation: X:492.36, Y:5.57, Z:7.61 [[ 9.97260459e-01 -7.23057225e-02 -1.56032049e-02 4.92364490e+02] [ 7.23105063e-02 9.97382135e-01 -2.58100861e-04 5.57007273e+00] [ 1.55810200e-02 -8.70881860e-04 9.99878229e-01 7.60862040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.19925415399996 meters Centerline goodness : 0.998984 Centerline is valid? [True, True] Translation: X:492.40, Y:5.57, Z:7.61 [[ 9.97581551e-01 -6.77347579e-02 -1.55901126e-02 4.92403568e+02] [ 6.77343671e-02 9.97703237e-01 -5.53695690e-04 5.56751550e+00] [ 1.55918103e-02 -5.03629806e-04 9.99878314e-01 7.60716830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.22925415399993 meters Centerline goodness : 0.999025 Centerline is valid? [True, True] Translation: X:492.43, Y:5.57, Z:7.61 [[ 9.97661589e-01 -6.65422005e-02 -1.56041244e-02 4.92434387e+02] [ 6.65465834e-02 9.97783291e-01 -2.38760947e-04 5.56962478e+00] [ 1.55854223e-02 -8.00198543e-04 9.99878220e-01 7.60885957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.25925415399996 meters Centerline goodness : 0.998792 Centerline is valid? [True, True] Translation: X:492.46, Y:5.57, Z:7.61 [[ 9.98033706e-01 -6.07066818e-02 -1.56019391e-02 4.92464080e+02] [ 6.07095901e-02 9.98155430e-01 -2.87587074e-04 5.57041689e+00] [ 1.55906187e-02 -6.60165732e-04 9.99878241e-01 7.60638201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.28925415399993 meters Centerline goodness : 0.995906 Centerline is valid? [True, True] Translation: X:492.49, Y:5.57, Z:7.61 [[ 9.98094511e-01 -5.96990506e-02 -1.56003098e-02 4.92488016e+02] [ 5.97011897e-02 9.98216239e-01 -3.28964763e-04 5.57499745e+00] [ 1.55921214e-02 -6.03019128e-04 9.99878254e-01 7.61243993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.31925415399996 meters Centerline goodness : 0.998832 Centerline is valid? [True, True] Translation: X:492.53, Y:5.57, Z:7.61 [[ 9.98792668e-01 -4.65869491e-02 -1.55840557e-02 4.92525009e+02] [ 4.65811691e-02 9.98914239e-01 -7.33866175e-04 5.57240292e+00] [ 1.56013237e-02 7.05662050e-06 9.99878292e-01 7.60709593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.34925415399994 meters Centerline goodness : 0.998957 Centerline is valid? [True, True] Translation: X:492.55, Y:5.57, Z:7.61 [[ 9.98936105e-01 -4.33963951e-02 -1.56016347e-02 4.92554663e+02] [ 4.33965767e-02 9.99057871e-01 -3.27067182e-04 5.57446886e+00] [ 1.56011295e-02 -3.50338319e-04 9.99878234e-01 7.60866014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.3792541539999 meters Centerline goodness : 0.998894 Centerline is valid? [True, True] Translation: X:492.58, Y:5.58, Z:7.62 [[ 9.98786685e-01 -4.67104023e-02 -1.55979857e-02 4.92579700e+02] [ 4.67096828e-02 9.98908423e-01 -4.10632259e-04 5.58388538e+00] [ 1.56001401e-02 -3.18442934e-04 9.99878260e-01 7.61537625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.40925415399994 meters Centerline goodness : 0.993937 Centerline is valid? [True, True] Translation: X:492.61, Y:5.58, Z:7.61 [[ 9.98900484e-01 -4.42143574e-02 -1.55856944e-02 4.92612408e+02] [ 4.42089922e-02 9.99022067e-01 -6.88775119e-04 5.58410878e+00] [ 1.56009064e-02 -1.01004434e-06 9.99878298e-01 7.61305094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.4392541539999 meters Centerline goodness : 0.994016 Centerline is valid? [True, True] Translation: X:492.64, Y:5.58, Z:7.62 [[ 9.98997793e-01 -4.19583400e-02 -1.55854962e-02 4.92643075e+02] [ 4.19526299e-02 9.99119360e-01 -6.93284684e-04 5.58462682e+00] [ 1.56008600e-02 3.87373172e-05 9.99878298e-01 7.61669089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.46925415399994 meters Centerline goodness : 0.993754 Centerline is valid? [True, True] Translation: X:492.67, Y:5.58, Z:7.62 [[ 9.99031770e-01 -4.11426157e-02 -1.55822930e-02 4.92674818e+02] [ 4.11356699e-02 9.99153276e-01 -7.66137354e-04 5.58433987e+00] [ 1.56006200e-02 1.24407495e-04 9.99878295e-01 7.61700321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.4992541539999 meters Centerline goodness : 0.998771 Centerline is valid? [True, True] Translation: X:492.71, Y:5.58, Z:7.62 [[ 9.98905899e-01 -4.40929839e-02 -1.55824608e-02 4.92707540e+02] [ 4.40864567e-02 9.99027429e-01 -7.62308530e-04 5.58242213e+00] [ 1.56009182e-02 7.44990029e-05 9.99878295e-01 7.61757609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.52925415399994 meters Centerline goodness : 0.998710 Centerline is valid? [True, True] Translation: X:492.75, Y:5.57, Z:7.61 [[ 9.99333981e-01 -3.29950185e-02 -1.55860173e-02 4.92751531e+02] [ 3.29884111e-02 9.99455502e-01 -6.80901356e-04 5.56855734e+00] [ 1.55999971e-02 1.66289917e-04 9.99878299e-01 7.61170101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.5592541539999 meters Centerline goodness : 0.998834 Centerline is valid? [True, True] Translation: X:492.77, Y:5.58, Z:7.62 [[ 9.98642451e-01 -4.96940697e-02 -1.56126309e-02 4.92766228e+02] [ 4.96992999e-02 9.98764225e-01 -5.30563217e-05 5.58043660e+00] [ 1.55959738e-02 -7.22952529e-04 9.99878114e-01 7.61733912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.58925415399995 meters Centerline goodness : 0.998857 Centerline is valid? [True, True] Translation: X:492.80, Y:5.58, Z:7.62 [[ 9.98169741e-01 -5.84317942e-02 -1.55850237e-02 4.92798139e+02] [ 5.84282499e-02 9.98291377e-01 -6.83042607e-04 5.57684440e+00] [ 1.55983061e-02 -2.28813195e-04 9.99878313e-01 7.61645478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.6192541539999 meters Centerline goodness : 0.998860 Centerline is valid? [True, True] Translation: X:492.83, Y:5.58, Z:7.62 [[ 9.97871155e-01 -6.33266412e-02 -1.55850729e-02 4.92830669e+02] [ 6.33237111e-02 9.97992807e-01 -6.81918490e-04 5.57566876e+00] [ 1.55969742e-02 -3.06437858e-04 9.99878313e-01 7.61638106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.64925415399995 meters Centerline goodness : 0.998967 Centerline is valid? [True, True] Translation: X:492.86, Y:5.57, Z:7.62 [[ 9.97174348e-01 -7.34875701e-02 -1.55851215e-02 4.92863160e+02] [ 7.34858966e-02 9.97296024e-01 -6.80804518e-04 5.57235194e+00] [ 1.55930104e-02 -4.66405826e-04 9.99878313e-01 7.61640219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.6792541539999 meters Centerline goodness : 0.998904 Centerline is valid? [True, True] Translation: X:492.89, Y:5.57, Z:7.62 [[ 9.96668454e-01 -8.00568185e-02 -1.55851821e-02 4.92894523e+02] [ 8.00559685e-02 9.96790139e-01 -6.79415181e-04 5.57132602e+00] [ 1.55895476e-02 -5.70535167e-04 9.99878313e-01 7.61826132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.70925415399995 meters Centerline goodness : 0.998863 Centerline is valid? [True, True] Translation: X:492.93, Y:5.57, Z:7.62 [[ 9.96479994e-01 -8.23694314e-02 -1.55852179e-02 4.92926928e+02] [ 8.23688767e-02 9.96601680e-01 -6.78592765e-04 5.57071917e+00] [ 1.55881496e-02 -6.07532776e-04 9.99878313e-01 7.61811719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.7392541539999 meters Centerline goodness : 0.998674 Centerline is valid? [True, True] Translation: X:492.96, Y:5.57, Z:7.62 [[ 9.96164073e-01 -8.61059808e-02 -1.55852656e-02 4.92959189e+02] [ 8.61058995e-02 9.96285760e-01 -6.77495831e-04 5.57016797e+00] [ 1.55857146e-02 -6.67086305e-04 9.99878313e-01 7.61838530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.76925415399995 meters Centerline goodness : 0.998722 Centerline is valid? [True, True] Translation: X:492.99, Y:5.57, Z:7.62 [[ 9.95563611e-01 -9.27911301e-02 -1.55853128e-02 4.92990480e+02] [ 9.27918827e-02 9.95685296e-01 -6.76408560e-04 5.56906214e+00] [ 1.55808315e-02 -7.72782765e-04 9.99878313e-01 7.62055307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.7992541539999 meters Centerline goodness : 0.998530 Centerline is valid? [True, True] Translation: X:493.03, Y:5.56, Z:7.61 [[ 9.95905106e-01 -8.90512028e-02 -1.55853479e-02 4.93032486e+02] [ 8.90515110e-02 9.96026793e-01 -6.75597786e-04 5.56017649e+00] [ 1.55835869e-02 -7.15067495e-04 9.99878313e-01 7.61436097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.82925415399995 meters Centerline goodness : 0.998909 Centerline is valid? [True, True] Translation: X:493.06, Y:5.57, Z:7.62 [[ 9.95274361e-01 -9.58409303e-02 -1.56033151e-02 4.93055400e+02] [ 9.58490722e-02 9.95395853e-01 -2.26905885e-04 5.56681317e+00] [ 1.55532221e-02 -1.26972967e-03 9.99878235e-01 7.62023914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.8592541539999 meters Centerline goodness : 0.998909 Centerline is valid? [True, True] Translation: X:493.09, Y:5.57, Z:7.62 [[ 9.95279772e-01 -9.57871611e-02 -1.55882872e-02 4.93088885e+02] [ 9.57895504e-02 9.95401431e-01 -5.95015369e-04 5.56828187e+00] [ 1.55735982e-02 -9.00988262e-04 9.99878318e-01 7.62086639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.88925415399996 meters Centerline goodness : 0.998846 Centerline is valid? [True, True] Translation: X:493.12, Y:5.57, Z:7.62 [[ 9.95060096e-01 -9.80428855e-02 -1.55884020e-02 4.93120153e+02] [ 9.80455945e-02 9.95181748e-01 -5.92197822e-04 5.56806566e+00] [ 1.55713539e-02 -9.39101720e-04 9.99878318e-01 7.62277451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.91925415399993 meters Centerline goodness : 0.998866 Centerline is valid? [True, True] Translation: X:493.15, Y:5.57, Z:7.62 [[ 9.95001680e-01 -9.86342280e-02 -1.55867351e-02 4.93152955e+02] [ 9.86363688e-02 9.95123342e-01 -6.33227702e-04 5.56877497e+00] [ 1.55731819e-02 -9.07356328e-04 9.99878319e-01 7.62352630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.94925415399996 meters Centerline goodness : 0.998781 Centerline is valid? [True, True] Translation: X:493.19, Y:5.57, Z:7.62 [[ 9.94993112e-01 -9.87206058e-02 -1.55867996e-02 4.93185137e+02] [ 9.87227820e-02 9.95114774e-01 -6.31637438e-04 5.56901465e+00] [ 1.55730102e-02 -9.10297316e-04 9.99878319e-01 7.62269874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.97925415399993 meters Centerline goodness : 0.998762 Centerline is valid? [True, True] Translation: X:493.23, Y:5.56, Z:7.62 [[ 9.95820014e-01 -8.99974933e-02 -1.55868524e-02 4.93228322e+02] [ 8.99986236e-02 9.95941690e-01 -6.30332191e-04 5.56055094e+00] [ 1.55803244e-02 -7.75097847e-04 9.99878319e-01 7.61950758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.00925415399996 meters Centerline goodness : 0.998700 Centerline is valid? [True, True] Translation: X:493.25, Y:5.57, Z:7.63 [[ 9.95003221e-01 -9.86153185e-02 -1.56079551e-02 4.93246639e+02] [ 9.86258108e-02 9.95124585e-01 -9.79294594e-05 5.57163319e+00] [ 1.55415172e-02 -1.44190710e-03 9.99878184e-01 7.62546981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.03925415399993 meters Centerline goodness : 0.998742 Centerline is valid? [True, True] Translation: X:493.28, Y:5.57, Z:7.63 [[ 9.95095079e-01 -9.76875579e-02 -1.55860500e-02 4.93278479e+02] [ 9.76895493e-02 9.95216734e-01 -6.35350190e-04 5.57351959e+00] [ 1.55735636e-02 -8.90360349e-04 9.99878328e-01 7.62577432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.06925415399996 meters Centerline goodness : 0.998910 Centerline is valid? [True, True] Translation: X:493.31, Y:5.58, Z:7.63 [[ 9.95316535e-01 -9.54047613e-02 -1.55861077e-02 4.93310594e+02] [ 9.54064958e-02 9.95438194e-01 -6.33929820e-04 5.57570130e+00] [ 1.55754869e-02 -8.56055090e-04 9.99878328e-01 7.62557792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.09925415399994 meters Centerline goodness : 0.998824 Centerline is valid? [True, True] Translation: X:493.34, Y:5.58, Z:7.62 [[ 9.95478918e-01 -9.36952225e-02 -1.55861541e-02 4.93341459e+02] [ 9.36967659e-02 9.95600580e-01 -6.32787095e-04 5.57741763e+00] [ 1.55768732e-02 -8.30446021e-04 9.99878328e-01 7.62493371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.1292541539999 meters Centerline goodness : 0.998865 Centerline is valid? [True, True] Translation: X:493.37, Y:5.58, Z:7.62 [[ 9.95797695e-01 -9.02442288e-02 -1.55861887e-02 4.93373809e+02] [ 9.02453638e-02 9.95919362e-01 -6.31935218e-04 5.58031937e+00] [ 1.55796156e-02 -7.77301633e-04 9.99878328e-01 7.62327909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.15925415399994 meters Centerline goodness : 0.998950 Centerline is valid? [True, True] Translation: X:493.41, Y:5.58, Z:7.62 [[ 9.95990462e-01 -8.80912568e-02 -1.55862334e-02 4.93405703e+02] [ 8.80921460e-02 9.96112130e-01 -6.30831134e-04 5.58257073e+00] [ 1.55812068e-02 -7.44722951e-04 9.99878328e-01 7.62302722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.1892541539999 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:493.44, Y:5.59, Z:7.62 [[ 9.96221297e-01 -8.54411811e-02 -1.55862778e-02 4.93438059e+02] [ 8.54417638e-02 9.96342967e-01 -6.29731627e-04 5.58504202e+00] [ 1.55830833e-02 -7.04367005e-04 9.99878328e-01 7.62337550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.21925415399994 meters Centerline goodness : 0.998883 Centerline is valid? [True, True] Translation: X:493.47, Y:5.59, Z:7.62 [[ 9.96438562e-01 -8.28689305e-02 -1.55863218e-02 4.93470395e+02] [ 8.28692161e-02 9.96560233e-01 -6.28640371e-04 5.58831202e+00] [ 1.55848032e-02 -6.65224761e-04 9.99878328e-01 7.62371527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.2492541539999 meters Centerline goodness : 0.998734 Centerline is valid? [True, True] Translation: X:493.50, Y:5.59, Z:7.63 [[ 9.96932243e-01 -7.67018140e-02 -1.55863766e-02 4.93502603e+02] [ 7.67013681e-02 9.97053914e-01 -6.27278899e-04 5.59362157e+00] [ 1.55885712e-02 -5.70141848e-04 9.99878328e-01 7.62634479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.27925415399994 meters Centerline goodness : 0.998753 Centerline is valid? [True, True] Translation: X:493.54, Y:5.60, Z:7.63 [[ 9.97204204e-01 -7.30810500e-02 -1.55864215e-02 4.93535033e+02] [ 7.30801796e-02 9.97325872e-01 -6.26160253e-04 5.59668856e+00] [ 1.55905019e-02 -5.14648848e-04 9.99878328e-01 7.62804332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.3092541539999 meters Centerline goodness : 0.998543 Centerline is valid? [True, True] Translation: X:493.57, Y:5.60, Z:7.63 [[ 9.97477218e-01 -6.92550485e-02 -1.55864910e-02 4.93566930e+02] [ 6.92537385e-02 9.97598882e-01 -6.24425090e-04 5.59963203e+00] [ 1.55923106e-02 -4.56572972e-04 9.99878328e-01 7.62845277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.33925415399995 meters Centerline goodness : 0.998945 Centerline is valid? [True, True] Translation: X:493.60, Y:5.60, Z:7.63 [[ 9.97760739e-01 -6.50428144e-02 -1.55865484e-02 4.93599376e+02] [ 6.50410131e-02 9.97882397e-01 -6.22991012e-04 5.60237759e+00] [ 1.55940633e-02 -3.92168924e-04 9.99878328e-01 7.63025582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.3692541539999 meters Centerline goodness : 0.998670 Centerline is valid? [True, True] Translation: X:493.63, Y:5.61, Z:7.63 [[ 9.98233234e-01 -5.73364444e-02 -1.55866173e-02 4.93631007e+02] [ 5.73337308e-02 9.98354875e-01 -6.21260533e-04 5.60706164e+00] [ 1.55965963e-02 -2.73476011e-04 9.99878328e-01 7.63168143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.39925415399995 meters Centerline goodness : 0.999029 Centerline is valid? [True, True] Translation: X:493.66, Y:5.61, Z:7.63 [[ 9.98437135e-01 -5.36688312e-02 -1.55866631e-02 4.93663583e+02] [ 5.36656887e-02 9.98558766e-01 -6.20110966e-04 5.60960334e+00] [ 1.55974797e-02 -2.17327192e-04 9.99878328e-01 7.63272103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.4292541539999 meters Centerline goodness : 0.998772 Centerline is valid? [True, True] Translation: X:493.70, Y:5.61, Z:7.63 [[ 9.98625107e-01 -5.00494846e-02 -1.55867091e-02 4.93695064e+02] [ 5.00459193e-02 9.98746726e-01 -6.18952607e-04 5.61134307e+00] [ 1.55981529e-02 -1.61949570e-04 9.99878328e-01 7.63233286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.45925415399995 meters Centerline goodness : 0.998643 Centerline is valid? [True, True] Translation: X:493.73, Y:5.61, Z:7.63 [[ 9.98877454e-01 -4.47312611e-02 -1.55867433e-02 4.93725899e+02] [ 4.47270617e-02 9.98999053e-01 -6.18090365e-04 5.61415346e+00] [ 1.55987897e-02 -7.97526969e-05 9.99878328e-01 7.63325132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.4892541539999 meters Centerline goodness : 0.998711 Centerline is valid? [True, True] Translation: X:493.76, Y:5.62, Z:7.63 [[ 9.98956855e-01 -4.29214946e-02 -1.55867770e-02 4.93756718e+02] [ 4.29170881e-02 9.99078447e-01 -6.17238819e-04 5.61640469e+00] [ 1.55989057e-02 -5.23441322e-05 9.99878328e-01 7.63475026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.51925415399995 meters Centerline goodness : 0.998772 Centerline is valid? [True, True] Translation: X:493.79, Y:5.62, Z:7.64 [[ 9.99062234e-01 -4.03943563e-02 -1.55868103e-02 4.93789145e+02] [ 4.03896554e-02 9.99183815e-01 -6.16395933e-04 5.61815535e+00] [ 1.55989875e-02 -1.37280001e-05 9.99878328e-01 7.63500179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.5492541539999 meters Centerline goodness : 0.998816 Centerline is valid? [True, True] Translation: X:493.82, Y:5.62, Z:7.63 [[ 9.99085142e-01 -3.98237256e-02 -1.55868549e-02 4.93820580e+02] [ 3.98189729e-02 9.99206721e-01 -6.15267378e-04 5.61910821e+00] [ 1.55989924e-02 -5.94805580e-06 9.99878328e-01 7.63467584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.57925415399995 meters Centerline goodness : 0.998984 Centerline is valid? [True, True] Translation: X:493.85, Y:5.62, Z:7.64 [[ 9.99087689e-01 -3.97597625e-02 -1.55868880e-02 4.93852393e+02] [ 3.97550151e-02 9.99209268e-01 -6.14427156e-04 5.62003755e+00] [ 1.55989924e-02 -5.79035958e-06 9.99878328e-01 7.63561247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.6092541539999 meters Centerline goodness : 0.998920 Centerline is valid? [True, True] Translation: X:493.88, Y:5.62, Z:7.63 [[ 9.99059211e-01 -4.04690101e-02 -1.55869336e-02 4.93883368e+02] [ 4.04643671e-02 9.99180794e-01 -6.13268145e-04 5.61962789e+00] [ 1.55989830e-02 -1.80242138e-05 9.99878328e-01 7.63473104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.63925415399996 meters Centerline goodness : 0.998730 Centerline is valid? [True, True] Translation: X:493.92, Y:5.62, Z:7.64 [[ 9.99015900e-01 -4.15244289e-02 -1.55869675e-02 4.93915253e+02] [ 4.15199279e-02 9.99137488e-01 -6.12404675e-04 5.62010145e+00] [ 1.55989533e-02 -3.53677593e-05 9.99878328e-01 7.63555445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.66925415399993 meters Centerline goodness : 0.998751 Centerline is valid? [True, True] Translation: X:493.95, Y:5.62, Z:7.64 [[ 9.98989080e-01 -4.21647088e-02 -1.55870116e-02 4.93947744e+02] [ 4.21603032e-02 9.99110672e-01 -6.11280893e-04 5.62056138e+00] [ 1.55989241e-02 -4.64901968e-05 9.99878328e-01 7.63617089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.69925415399996 meters Centerline goodness : 0.998879 Centerline is valid? [True, True] Translation: X:493.98, Y:5.62, Z:7.64 [[ 9.98922241e-01 -4.37195612e-02 -1.55870561e-02 4.93979538e+02] [ 4.37153626e-02 9.99043840e-01 -6.10142882e-04 5.62066614e+00] [ 1.55988276e-02 -7.19085153e-05 9.99878328e-01 7.63697224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.72925415399993 meters Centerline goodness : 0.998879 Centerline is valid? [True, True] Translation: X:494.01, Y:5.62, Z:7.64 [[ 9.98925477e-01 -4.36455573e-02 -1.55871012e-02 4.94012204e+02] [ 4.36413678e-02 9.99047076e-01 -6.08988404e-04 5.62188495e+00] [ 1.55988275e-02 -7.19083852e-05 9.99878328e-01 7.63748186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.75925415399996 meters Centerline goodness : 0.998923 Centerline is valid? [True, True] Translation: X:494.04, Y:5.62, Z:7.64 [[ 9.98874184e-01 -4.48040819e-02 -1.55871463e-02 4.94043181e+02] [ 4.48000513e-02 9.98995789e-01 -6.07833793e-04 5.62057775e+00] [ 1.55987269e-02 -9.11554683e-05 9.99878328e-01 7.63765840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.78925415399993 meters Centerline goodness : 0.998797 Centerline is valid? [True, True] Translation: X:494.08, Y:5.62, Z:7.64 [[ 9.98854966e-01 -4.52304740e-02 -1.55871797e-02 4.94075028e+02] [ 4.52265088e-02 9.98976574e-01 -6.06973851e-04 5.62028664e+00] [ 1.55986811e-02 -9.86748764e-05 9.99878328e-01 7.63806631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.81925415399996 meters Centerline goodness : 0.998819 Centerline is valid? [True, True] Translation: X:494.11, Y:5.62, Z:7.64 [[ 9.98802417e-01 -4.63763969e-02 -1.55872237e-02 4.94107061e+02] [ 4.63725889e-02 9.98924029e-01 -6.05843350e-04 5.62032582e+00] [ 1.55985491e-02 -1.17702113e-04 9.99878328e-01 7.63879995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.84925415399994 meters Centerline goodness : 0.998862 Centerline is valid? [True, True] Translation: X:494.14, Y:5.62, Z:7.64 [[ 9.98671575e-01 -4.91133721e-02 -1.55872683e-02 4.94138385e+02] [ 4.91099153e-02 9.98793197e-01 -6.04693113e-04 5.61868989e+00] [ 1.55981561e-02 -1.61599603e-04 9.99878328e-01 7.63888411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.8792541539999 meters Centerline goodness : 0.998924 Centerline is valid? [True, True] Translation: X:494.17, Y:5.62, Z:7.64 [[ 9.98586089e-01 -5.08218319e-02 -1.55873015e-02 4.94170412e+02] [ 5.08185965e-02 9.98707718e-01 -6.03836870e-04 5.61838323e+00] [ 1.55978464e-02 -1.89141686e-04 9.99878328e-01 7.63989209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.90925415399994 meters Centerline goodness : 0.998886 Centerline is valid? [True, True] Translation: X:494.20, Y:5.62, Z:7.64 [[ 9.98397416e-01 -5.44025201e-02 -1.55873452e-02 4.94202848e+02] [ 5.43997386e-02 9.98519056e-01 -6.02706236e-04 5.61611807e+00] [ 1.55970499e-02 -2.46207155e-04 9.99878328e-01 7.63994165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.9392541539999 meters Centerline goodness : 0.998992 Centerline is valid? [True, True] Translation: X:494.23, Y:5.62, Z:7.64 [[ 9.98303493e-01 -5.60996413e-02 -1.55873996e-02 4.94234878e+02] [ 5.60970886e-02 9.98425137e-01 -6.01296331e-04 5.61536451e+00] [ 1.55965841e-02 -2.74131508e-04 9.99878328e-01 7.64042568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.96925415399994 meters Centerline goodness : 0.998952 Centerline is valid? [True, True] Translation: X:494.27, Y:5.61, Z:7.64 [[ 9.98214909e-01 -5.76543680e-02 -1.55874423e-02 4.94266677e+02] [ 5.76520220e-02 9.98336559e-01 -6.00187200e-04 5.61495254e+00] [ 1.55961169e-02 -2.99531754e-04 9.99878328e-01 7.64056232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.9992541539999 meters Centerline goodness : 0.998802 Centerline is valid? [True, True] Translation: X:494.30, Y:5.61, Z:7.64 [[ 9.98144853e-01 -5.88547566e-02 -1.55874847e-02 4.94298845e+02] [ 5.88525742e-02 9.98266505e-01 -5.99084637e-04 5.61449546e+00] [ 1.55957228e-02 -3.19390350e-04 9.99878328e-01 7.64103806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.02925415399994 meters Centerline goodness : 0.998781 Centerline is valid? [True, True] Translation: X:494.33, Y:5.61, Z:7.64 [[ 9.98116178e-01 -5.93390564e-02 -1.55875278e-02 4.94330946e+02] [ 5.93369505e-02 9.98237832e-01 -5.97960220e-04 5.61319441e+00] [ 1.55955423e-02 -3.28082595e-04 9.99878328e-01 7.64098181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.0592541539999 meters Centerline goodness : 0.998887 Centerline is valid? [True, True] Translation: X:494.36, Y:5.61, Z:7.64 [[ 9.98143483e-01 -5.88779671e-02 -1.55875715e-02 4.94363033e+02] [ 5.88758228e-02 9.98265136e-01 -5.96819115e-04 5.61363107e+00] [ 1.55956687e-02 -3.22019987e-04 9.99878328e-01 7.64151645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.08925415399995 meters Centerline goodness : 0.998890 Centerline is valid? [True, True] Translation: X:494.39, Y:5.61, Z:7.64 [[ 9.98195641e-01 -5.79869626e-02 -1.55876149e-02 4.94393965e+02] [ 5.79847274e-02 9.98317293e-01 -5.95684353e-04 5.61409930e+00] [ 1.55959274e-02 -3.09234073e-04 9.99878328e-01 7.64122707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.1192541539999 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] Translation: X:494.43, Y:5.61, Z:7.64 [[ 9.98277410e-01 -5.65618041e-02 -1.55876471e-02 4.94426469e+02] [ 5.65594085e-02 9.98399058e-01 -5.94838736e-04 5.61439857e+00] [ 1.55963374e-02 -2.87814028e-04 9.99878328e-01 7.64275894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.14925415399995 meters Centerline goodness : 0.998907 Centerline is valid? [True, True] Translation: X:494.46, Y:5.61, Z:7.64 [[ 9.98401418e-01 -5.43289313e-02 -1.55876913e-02 4.94457976e+02] [ 5.43262817e-02 9.98523061e-01 -5.93679164e-04 5.61440789e+00] [ 1.55969232e-02 -2.54091189e-04 9.99878328e-01 7.64218633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.1792541539999 meters Centerline goodness : 0.998825 Centerline is valid? [True, True] Translation: X:494.49, Y:5.61, Z:7.64 [[ 9.98453940e-01 -5.33549759e-02 -1.55877241e-02 4.94490049e+02] [ 5.33522211e-02 9.98575580e-01 -5.92816024e-04 5.61484792e+00] [ 1.55971503e-02 -2.39740208e-04 9.99878328e-01 7.64300526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.20925415399995 meters Centerline goodness : 0.998887 Centerline is valid? [True, True] Translation: X:494.52, Y:5.62, Z:7.64 [[ 9.98502351e-01 -5.24411702e-02 -1.55877672e-02 4.94521342e+02] [ 5.24383218e-02 9.98623989e-01 -5.91681735e-04 5.61507026e+00] [ 1.55973467e-02 -2.26600747e-04 9.99878328e-01 7.64320422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.2392541539999 meters Centerline goodness : 0.999076 Centerline is valid? [True, True] Translation: X:494.56, Y:5.60, Z:7.64 [[ 9.98944749e-01 -4.32019486e-02 -1.55877992e-02 4.94564081e+02] [ 4.31979882e-02 9.99066357e-01 -5.90837182e-04 5.60401568e+00] [ 1.55987710e-02 -8.31478640e-05 9.99878328e-01 7.63689316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.26925415399995 meters Centerline goodness : 0.998907 Centerline is valid? [True, True] Translation: X:494.60, Y:5.60, Z:7.64 [[ 9.98917826e-01 -4.38122324e-02 -1.56098033e-02 4.94596343e+02] [ 4.38175536e-02 9.99039550e-01 -1.12414708e-06 5.60418361e+00] [ 1.55948601e-02 -6.82860462e-04 9.99878160e-01 7.63683717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.2992541539999 meters Centerline goodness : 0.998993 Centerline is valid? [True, True] Translation: X:494.61, Y:5.62, Z:7.64 [[ 9.98430956e-01 -5.37771584e-02 -1.56090764e-02 4.94612023e+02] [ 5.37833933e-02 9.98552626e-01 -2.03672870e-05 5.61612441e+00] [ 1.55875795e-02 -8.19173764e-04 9.99878171e-01 7.64266901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.32925415399995 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:494.64, Y:5.62, Z:7.65 [[ 9.98381673e-01 -5.46910117e-02 -1.55861550e-02 4.94644586e+02] [ 5.46881823e-02 9.98503296e-01 -6.08014710e-04 5.61664864e+00] [ 1.55960801e-02 -2.45347741e-04 9.99878344e-01 7.64526474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.3592541539999 meters Centerline goodness : 0.998971 Centerline is valid? [True, True] Translation: X:494.68, Y:5.62, Z:7.65 [[ 9.98351608e-01 -5.52371091e-02 -1.55861984e-02 4.94676449e+02] [ 5.52343636e-02 9.98473233e-01 -6.06900194e-04 5.61728479e+00] [ 1.55959253e-02 -2.54993964e-04 9.99878344e-01 7.64664670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.38925415399996 meters Centerline goodness : 0.998869 Centerline is valid? [True, True] Translation: X:494.72, Y:5.61, Z:7.64 [[ 9.98736836e-01 -4.77682022e-02 -1.55862430e-02 4.94717396e+02] [ 4.77645649e-02 9.98858438e-01 -6.05752147e-04 5.60892793e+00] [ 1.55973860e-02 -1.39483133e-04 9.99878344e-01 7.64017144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.41925415399993 meters Centerline goodness : 0.998953 Centerline is valid? [True, True] Translation: X:494.74, Y:5.62, Z:7.65 [[ 9.98172257e-01 -5.83831137e-02 -1.56063267e-02 4.94735117e+02] [ 5.83889618e-02 9.98293906e-01 -8.10415031e-05 5.61888690e+00] [ 1.55844323e-02 -8.30343833e-04 9.99878211e-01 7.64769330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.44925415399996 meters Centerline goodness : 0.998870 Centerline is valid? [True, True] Translation: X:494.77, Y:5.62, Z:7.65 [[ 9.98109072e-01 -5.94590571e-02 -1.55852810e-02 4.94766688e+02] [ 5.94567040e-02 9.98230696e-01 -6.14697360e-04 5.61992467e+00] [ 1.55942553e-02 -3.13114431e-04 9.99878353e-01 7.64697331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.47925415399993 meters Centerline goodness : 0.995640 Centerline is valid? [True, True] Translation: X:494.80, Y:5.62, Z:7.65 [[ 9.98114673e-01 -5.93649357e-02 -1.55853537e-02 4.94798600e+02] [ 5.93626000e-02 9.98236298e-01 -6.12850593e-04 5.62005243e+00] [ 1.55942476e-02 -3.13491946e-04 9.99878353e-01 7.64743365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.50925415399996 meters Centerline goodness : 0.999037 Centerline is valid? [True, True] Translation: X:494.83, Y:5.62, Z:7.65 [[ 9.97932542e-01 -6.23519566e-02 -1.55844614e-02 4.94830073e+02] [ 6.23496306e-02 9.98054167e-01 -6.35552087e-04 5.62020156e+00] [ 1.55937646e-02 -3.37447303e-04 9.99878353e-01 7.65004192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.53925415399993 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:494.86, Y:5.62, Z:7.65 [[ 9.97884547e-01 -6.31151710e-02 -1.55854664e-02 4.94861388e+02] [ 6.31133389e-02 9.98006180e-01 -6.09870280e-04 5.62069159e+00] [ 1.55928838e-02 -3.75070693e-04 9.99878353e-01 7.65051626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.56925415399996 meters Centerline goodness : 0.998954 Centerline is valid? [True, True] Translation: X:494.89, Y:5.62, Z:7.65 [[ 9.97834247e-01 -6.39054665e-02 -1.55854995e-02 4.94894031e+02] [ 6.39037439e-02 9.97955881e-01 -6.09023156e-04 5.62138313e+00] [ 1.55925608e-02 -3.88267605e-04 9.99878353e-01 7.65129137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.59925415399994 meters Centerline goodness : 0.998809 Centerline is valid? [True, True] Translation: X:494.93, Y:5.62, Z:7.65 [[ 9.97792536e-01 -6.45534392e-02 -1.55855429e-02 4.94925450e+02] [ 6.45518130e-02 9.97914172e-01 -6.07909741e-04 5.62213837e+00] [ 1.55922768e-02 -3.99507248e-04 9.99878353e-01 7.65288239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.6292541539999 meters Centerline goodness : 0.998807 Centerline is valid? [True, True] Translation: X:494.96, Y:5.62, Z:7.65 [[ 9.97756486e-01 -6.51082356e-02 -1.55856188e-02 4.94957941e+02] [ 6.51067076e-02 9.97878124e-01 -6.05957336e-04 5.62336429e+00] [ 1.55920009e-02 -4.10130463e-04 9.99878353e-01 7.65426728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.65925415399994 meters Centerline goodness : 0.998974 Centerline is valid? [True, True] Translation: X:494.99, Y:5.62, Z:7.66 [[ 9.97741587e-01 -6.53361490e-02 -1.55856735e-02 4.94991366e+02] [ 6.53346707e-02 9.97863225e-01 -6.04548329e-04 5.62458438e+00] [ 1.55918692e-02 -4.15101834e-04 9.99878353e-01 7.65577907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.6892541539999 meters Centerline goodness : 0.998953 Centerline is valid? [True, True] Translation: X:495.02, Y:5.63, Z:7.66 [[ 9.97714748e-01 -6.57447028e-02 -1.55857414e-02 4.95021724e+02] [ 6.57433017e-02 9.97836387e-01 -6.02791601e-04 5.62559441e+00] [ 1.55916502e-02 -4.23244029e-04 9.99878353e-01 7.65575297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.71925415399994 meters Centerline goodness : 0.998912 Centerline is valid? [True, True] Translation: X:495.06, Y:5.63, Z:7.66 [[ 9.97624359e-01 -6.71029286e-02 -1.55832043e-02 4.95056310e+02] [ 6.71006675e-02 9.97745986e-01 -6.68495768e-04 5.62607432e+00] [ 1.55929376e-02 -3.78735753e-04 9.99878351e-01 7.65548219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.7492541539999 meters Centerline goodness : 0.998912 Centerline is valid? [True, True] Translation: X:495.09, Y:5.63, Z:7.66 [[ 9.97631842e-01 -6.69909638e-02 -1.55858564e-02 4.95089821e+02] [ 6.69897652e-02 9.97753483e-01 -5.99554806e-04 5.62724131e+00] [ 1.55910073e-02 -4.45957895e-04 9.99878353e-01 7.65598688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.77925415399994 meters Centerline goodness : 0.998808 Centerline is valid? [True, True] Translation: X:495.13, Y:5.62, Z:7.65 [[ 9.98183810e-01 -5.81907259e-02 -1.55859229e-02 4.95134133e+02] [ 5.81884817e-02 9.98305436e-01 -5.97822163e-04 5.61610727e+00] [ 1.55942992e-02 -3.10184783e-04 9.99878353e-01 7.64846929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.8092541539999 meters Centerline goodness : 0.998975 Centerline is valid? [True, True] Translation: X:495.15, Y:5.63, Z:7.66 [[ 9.97386442e-01 -7.05452435e-02 -1.56094068e-02 4.95149434e+02] [ 7.05542873e-02 9.97507941e-01 2.87637199e-05 5.62924951e+00] [ 1.55684781e-02 -1.12999912e-03 9.99878165e-01 7.65658014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.83925415399995 meters Centerline goodness : 0.998934 Centerline is valid? [True, True] Translation: X:495.18, Y:5.63, Z:7.66 [[ 9.97146314e-01 -7.38670763e-02 -1.55847484e-02 4.95180565e+02] [ 7.38666193e-02 9.97267946e-01 -6.05739915e-04 5.63045616e+00] [ 1.55869142e-02 -5.47181352e-04 9.99878367e-01 7.65618517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.8692541539999 meters Centerline goodness : 0.998847 Centerline is valid? [True, True] Translation: X:495.22, Y:5.62, Z:7.65 [[ 9.97582388e-01 -6.77236509e-02 -1.55847818e-02 4.95220939e+02] [ 6.77224581e-02 9.97704016e-01 -6.04879735e-04 5.62291824e+00] [ 1.55899640e-02 -4.52022359e-04 9.99878367e-01 7.65003290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.89925415399995 meters Centerline goodness : 0.998849 Centerline is valid? [True, True] Translation: X:495.24, Y:5.63, Z:7.66 [[ 9.96678608e-01 -7.99265066e-02 -1.56046850e-02 4.95238876e+02] [ 7.99349033e-02 9.96800082e-01 -8.58853469e-05 5.63297435e+00] [ 1.55616158e-02 -1.16175889e-03 9.99878236e-01 7.65637514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.9292541539999 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:495.27, Y:5.63, Z:7.66 [[ 9.96569959e-01 -8.12739860e-02 -1.55838565e-02 4.95270923e+02] [ 8.12742986e-02 9.96691583e-01 -6.14314802e-04 5.63483845e+00] [ 1.55822264e-02 -6.54359327e-04 9.99878376e-01 7.65667780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.95925415399995 meters Centerline goodness : 0.998893 Centerline is valid? [True, True] Translation: X:495.30, Y:5.64, Z:7.66 [[ 9.96487533e-01 -8.22784235e-02 -1.55839129e-02 4.95304302e+02] [ 8.22788810e-02 9.96609156e-01 -6.12878814e-04 5.63646666e+00] [ 1.55814970e-02 -6.71500822e-04 9.99878376e-01 7.65747488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.9892541539999 meters Centerline goodness : 0.998975 Centerline is valid? [True, True] Translation: X:495.33, Y:5.64, Z:7.66 [[ 9.96481659e-01 -8.23495172e-02 -1.55839813e-02 4.95334371e+02] [ 8.23500106e-02 9.96603282e-01 -6.11136313e-04 5.63891085e+00] [ 1.55813737e-02 -6.74354897e-04 9.99878376e-01 7.65710231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.01925415399995 meters Centerline goodness : 0.998871 Centerline is valid? [True, True] Translation: X:495.37, Y:5.64, Z:7.66 [[ 9.96476376e-01 -8.24137619e-02 -1.55821403e-02 4.95367390e+02] [ 8.24135317e-02 9.96598002e-01 -6.57991248e-04 5.64095370e+00] [ 1.55833575e-02 -6.28506482e-04 9.99878375e-01 7.65901860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.0492541539999 meters Centerline goodness : 0.998830 Centerline is valid? [True, True] Translation: X:495.40, Y:5.64, Z:7.66 [[ 9.96526381e-01 -8.18065336e-02 -1.55840741e-02 4.95398310e+02] [ 8.18070025e-02 9.96648004e-01 -6.08463440e-04 5.64330494e+00] [ 1.55816127e-02 -6.68536520e-04 9.99878376e-01 7.66009348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.07925415399995 meters Centerline goodness : 0.998807 Centerline is valid? [True, True] Translation: X:495.43, Y:5.65, Z:7.66 [[ 9.96714121e-01 -7.94864509e-02 -1.55841073e-02 4.95430797e+02] [ 7.94866499e-02 9.96835745e-01 -6.07612861e-04 5.64676365e+00] [ 1.55830922e-02 -6.33112161e-04 9.99878376e-01 7.66271137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.1092541539999 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] Translation: X:495.46, Y:5.65, Z:7.66 [[ 9.96868604e-01 -7.75249667e-02 -1.55841528e-02 4.95462905e+02] [ 7.75249446e-02 9.96990228e-01 -6.06442423e-04 5.64876100e+00] [ 1.55842625e-02 -6.03617173e-04 9.99878376e-01 7.66288753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.13925415399996 meters Centerline goodness : 0.999058 Centerline is valid? [True, True] Translation: X:495.50, Y:5.65, Z:7.66 [[ 9.97017213e-01 -7.55897500e-02 -1.55842094e-02 4.95495052e+02] [ 7.55895146e-02 9.97138837e-01 -6.04984456e-04 5.65106743e+00] [ 1.55853511e-02 -5.74822910e-04 9.99878376e-01 7.66393200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.16925415399993 meters Centerline goodness : 0.998994 Centerline is valid? [True, True] Translation: X:495.53, Y:5.65, Z:7.66 [[ 9.97173360e-01 -7.35011627e-02 -1.55842646e-02 4.95527738e+02] [ 7.35006948e-02 9.97294983e-01 -6.03559684e-04 5.65347041e+00] [ 1.55864712e-02 -5.43600639e-04 9.99878376e-01 7.66449177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.19925415399996 meters Centerline goodness : 0.998026 Centerline is valid? [True, True] Translation: X:495.56, Y:5.65, Z:7.66 [[ 9.97514384e-01 -6.87181324e-02 -1.55843308e-02 4.95556258e+02] [ 6.87171080e-02 9.97636004e-01 -6.01846612e-04 5.65481654e+00] [ 1.55888472e-02 -4.70559487e-04 9.99878376e-01 7.66252483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.22925415399993 meters Centerline goodness : 0.999014 Centerline is valid? [True, True] Translation: X:495.59, Y:5.65, Z:7.66 [[ 9.97935462e-01 -6.23066079e-02 -1.55788295e-02 4.95593438e+02] [ 6.23025543e-02 9.98057030e-01 -7.45869937e-04 5.65483317e+00] [ 1.55950329e-02 -2.26270809e-04 9.99878364e-01 7.65879975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.25925415399996 meters Centerline goodness : 0.998826 Centerline is valid? [True, True] Translation: X:495.62, Y:5.66, Z:7.66 [[ 9.97782168e-01 -6.47115204e-02 -1.55937478e-02 4.95618281e+02] [ 6.47135891e-02 9.97903809e-01 -3.72423375e-04 5.66330944e+00] [ 1.55851604e-02 -6.37529988e-04 9.99878341e-01 7.66412641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.28925415399993 meters Centerline goodness : 0.998928 Centerline is valid? [True, True] Translation: X:495.65, Y:5.67, Z:7.66 [[ 9.98178673e-01 -5.82794478e-02 -1.55833836e-02 4.95649646e+02] [ 5.82767252e-02 9.98300269e-01 -6.29147371e-04 5.66705560e+00] [ 1.55935624e-02 -2.80147077e-04 9.99878374e-01 7.66413612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.31925415399996 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:495.68, Y:5.67, Z:7.66 [[ 9.98289998e-01 -5.63411782e-02 -1.55805064e-02 4.95684231e+02] [ 5.63371048e-02 9.98411558e-01 -7.00574552e-04 5.66905778e+00] [ 1.55952289e-02 -1.78384054e-04 9.99878371e-01 7.66390237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.34925415399994 meters Centerline goodness : 0.999137 Centerline is valid? [True, True] Translation: X:495.72, Y:5.67, Z:7.66 [[ 9.98408323e-01 -5.42030688e-02 -1.55836088e-02 4.95715445e+02] [ 5.41999461e-02 9.98529908e-01 -6.22967893e-04 5.67135047e+00] [ 1.55944663e-02 -2.22654429e-04 9.99878374e-01 7.66449935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.3792541539999 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:495.75, Y:5.67, Z:7.66 [[ 9.98602401e-01 -5.05014323e-02 -1.55836431e-02 4.95746319e+02] [ 5.04978722e-02 9.98723975e-01 -6.22108614e-04 5.67441761e+00] [ 1.55951754e-02 -1.65701664e-04 9.99878374e-01 7.66451563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.40925415399994 meters Centerline goodness : 0.998947 Centerline is valid? [True, True] Translation: X:495.78, Y:5.68, Z:7.67 [[ 9.98664748e-01 -4.92531206e-02 -1.55836769e-02 4.95778760e+02] [ 4.92494218e-02 9.98786318e-01 -6.21261949e-04 5.67625932e+00] [ 1.55953623e-02 -1.47054669e-04 9.99878374e-01 7.66501209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.4392541539999 meters Centerline goodness : 0.999220 Centerline is valid? [True, True] Translation: X:495.81, Y:5.68, Z:7.67 [[ 9.98722005e-01 -4.80781114e-02 -1.55837217e-02 4.95810631e+02] [ 4.80742872e-02 9.98843571e-01 -6.20134701e-04 5.67763862e+00] [ 1.55955152e-02 -1.29834143e-04 9.99878374e-01 7.66580473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.46925415399994 meters Centerline goodness : 0.999012 Centerline is valid? [True, True] Translation: X:495.85, Y:5.67, Z:7.66 [[ 9.98982734e-01 -4.23159840e-02 -1.55837670e-02 4.95846619e+02] [ 4.23114763e-02 9.99104277e-01 -6.18996568e-04 5.67348347e+00] [ 1.55960017e-02 -4.10053011e-05 9.99878374e-01 7.66136842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.4992541539999 meters Centerline goodness : 0.998968 Centerline is valid? [True, True] Translation: X:495.87, Y:5.68, Z:7.67 [[ 9.98690157e-01 -4.87312161e-02 -1.55961242e-02 4.95869640e+02] [ 4.87323879e-02 9.98811825e-01 -3.05122892e-04 5.68097792e+00] [ 1.55924622e-02 -4.55313143e-04 9.99878327e-01 7.66689690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.52925415399994 meters Centerline goodness : 0.999158 Centerline is valid? [True, True] Translation: X:495.90, Y:5.68, Z:7.67 [[ 9.98535739e-01 -5.18028471e-02 -1.55834466e-02 4.95900343e+02] [ 5.17994393e-02 9.98657314e-01 -6.22505710e-04 5.68177430e+00] [ 1.55947705e-02 -1.85619596e-04 9.99878377e-01 7.66693901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.5592541539999 meters Centerline goodness : 0.999095 Centerline is valid? [True, True] Translation: X:495.93, Y:5.68, Z:7.67 [[ 9.98496370e-01 -5.25562008e-02 -1.55834798e-02 4.95930056e+02] [ 5.25528977e-02 9.98617948e-01 -6.21672534e-04 5.68251084e+00] [ 1.55946154e-02 -1.98219252e-04 9.99878377e-01 7.66909817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.58925415399995 meters Centerline goodness : 0.998842 Centerline is valid? [True, True] Translation: X:495.96, Y:5.68, Z:7.67 [[ 9.98401070e-01 -5.43376237e-02 -1.55796687e-02 4.95964539e+02] [ 5.43330192e-02 9.98522612e-01 -7.18977824e-04 5.68176998e+00] [ 1.55957190e-02 -1.28662210e-04 9.99878371e-01 7.66821858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.6192541539999 meters Centerline goodness : 0.999032 Centerline is valid? [True, True] Translation: X:496.00, Y:5.68, Z:7.67 [[ 9.98105826e-01 -5.95136941e-02 -1.55845936e-02 4.95995669e+02] [ 5.95116942e-02 9.98227433e-01 -5.92469455e-04 5.68286434e+00] [ 1.55922289e-02 -3.36118353e-04 9.99878377e-01 7.66836678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.64925415399995 meters Centerline goodness : 0.998991 Centerline is valid? [True, True] Translation: X:496.03, Y:5.68, Z:7.67 [[ 9.97704367e-01 -6.59024396e-02 -1.55841271e-02 4.96026605e+02] [ 6.59010305e-02 9.97825981e-01 -6.04497117e-04 5.68275165e+00] [ 1.55900847e-02 -4.23900619e-04 9.99878377e-01 7.66995792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.6792541539999 meters Centerline goodness : 0.999079 Centerline is valid? [True, True] Translation: X:496.06, Y:5.68, Z:7.67 [[ 9.97547146e-01 -6.82409341e-02 -1.55841602e-02 4.96059372e+02] [ 6.82398234e-02 9.97668764e-01 -6.03642608e-04 5.68323291e+00] [ 1.55890229e-02 -4.61298376e-04 9.99878377e-01 7.67099645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.70925415399995 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:496.09, Y:5.68, Z:7.67 [[ 9.97530550e-01 -6.84830919e-02 -1.55842249e-02 4.96091187e+02] [ 6.84820369e-02 9.97652168e-01 -6.01967065e-04 5.68350246e+00] [ 1.55888603e-02 -4.66758925e-04 9.99878377e-01 7.67006374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.7392541539999 meters Centerline goodness : 0.998952 Centerline is valid? [True, True] Translation: X:496.12, Y:5.68, Z:7.67 [[ 9.97382520e-01 -7.06065123e-02 -1.55829687e-02 4.96123276e+02] [ 7.06052072e-02 9.97504136e-01 -6.34575627e-04 5.68376484e+00] [ 1.55888809e-02 -4.67324096e-04 9.99878377e-01 7.67276202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.76925415399995 meters Centerline goodness : 0.998906 Centerline is valid? [True, True] Translation: X:496.16, Y:5.68, Z:7.67 [[ 9.97463764e-01 -6.94490061e-02 -1.55844477e-02 4.96155689e+02] [ 6.94481637e-02 9.97585384e-01 -5.95895649e-04 5.68466982e+00] [ 1.55882016e-02 -4.87926959e-04 9.99878378e-01 7.67328589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.7992541539999 meters Centerline goodness : 0.998829 Centerline is valid? [True, True] Translation: X:496.19, Y:5.69, Z:7.67 [[ 9.97638637e-01 -6.68900108e-02 -1.55845026e-02 4.96186363e+02] [ 6.68888788e-02 9.97760254e-01 -5.94456170e-04 5.68619796e+00] [ 1.55893605e-02 -4.49377465e-04 9.99878378e-01 7.66879347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.82925415399995 meters Centerline goodness : 0.997817 Centerline is valid? [True, True] Translation: X:496.22, Y:5.69, Z:7.67 [[ 9.98003209e-01 -6.12114655e-02 -1.55804918e-02 4.96218533e+02] [ 6.12080160e-02 9.98124787e-01 -6.98601968e-04 5.68866578e+00] [ 1.55940375e-02 -2.56443984e-04 9.99878373e-01 7.67217335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.8592541539999 meters Centerline goodness : 0.999098 Centerline is valid? [True, True] Translation: X:496.25, Y:5.69, Z:7.68 [[ 9.98204488e-01 -5.78365652e-02 -1.55798721e-02 4.96251664e+02] [ 5.78324538e-02 9.98326047e-01 -7.14683077e-04 5.68943388e+00] [ 1.55951269e-02 -1.87622378e-04 9.99878371e-01 7.67558094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.88925415399996 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:496.28, Y:5.69, Z:7.67 [[ 9.98434082e-01 -5.37262427e-02 -1.55844480e-02 4.96282997e+02] [ 5.37235016e-02 9.98555673e-01 -5.94789595e-04 5.69107718e+00] [ 1.55938948e-02 -2.43392914e-04 9.99878378e-01 7.67456894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.91925415399993 meters Centerline goodness : 0.999095 Centerline is valid? [True, True] Translation: X:496.31, Y:5.69, Z:7.68 [[ 9.98830573e-01 -4.57668983e-02 -1.55845185e-02 4.96314952e+02] [ 4.57632171e-02 9.98952139e-01 -5.92937265e-04 5.69274193e+00] [ 1.55953250e-02 -1.20953834e-04 9.99878378e-01 7.67642324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.94925415399996 meters Centerline goodness : 0.999139 Centerline is valid? [True, True] Translation: X:496.35, Y:5.69, Z:7.68 [[ 9.98978071e-01 -4.24256415e-02 -1.55845606e-02 4.96346458e+02] [ 4.24215709e-02 9.99099625e-01 -5.91829382e-04 5.69392732e+00] [ 1.55956373e-02 -6.98969658e-05 9.99878378e-01 7.67650475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.97925415399993 meters Centerline goodness : 0.999097 Centerline is valid? [True, True] Translation: X:496.38, Y:5.69, Z:7.68 [[ 9.99159297e-01 -3.79185959e-02 -1.55845918e-02 4.96378072e+02] [ 3.79139899e-02 9.99280831e-01 -5.91004442e-04 5.69449038e+00] [ 1.55957939e-02 -3.66474715e-07 9.99878378e-01 7.67608661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.00925415399996 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:496.41, Y:5.69, Z:7.68 [[ 9.99263013e-01 -3.50796545e-02 -1.55835726e-02 4.96408316e+02] [ 3.50742839e-02 9.99384517e-01 -6.17886676e-04 5.69473220e+00] [ 1.55956565e-02 7.08486509e-05 9.99878378e-01 7.67771508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.03925415399993 meters Centerline goodness : 0.999095 Centerline is valid? [True, True] Translation: X:496.44, Y:5.69, Z:7.68 [[ 9.99284259e-01 -3.44691779e-02 -1.55834811e-02 4.96440779e+02] [ 3.44636952e-02 9.99405758e-01 -6.20314193e-04 5.69472188e+00] [ 1.55956024e-02 8.28058666e-05 9.99878378e-01 7.67758237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.06925415399996 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:496.47, Y:5.69, Z:7.68 [[ 9.99303294e-01 -3.39122606e-02 -1.55847458e-02 4.96470914e+02] [ 3.39072341e-02 9.99424812e-01 -5.86719348e-04 5.69356618e+00] [ 1.55956786e-02 5.78749520e-05 9.99878378e-01 7.67737473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.09925415399994 meters Centerline goodness : 0.999327 Centerline is valid? [True, True] Translation: X:496.50, Y:5.69, Z:7.68 [[ 9.99293040e-01 -3.42130915e-02 -1.55847821e-02 4.96501309e+02] [ 3.42081167e-02 9.99414559e-01 -5.85754300e-04 5.69311606e+00] [ 1.55956986e-02 5.22141504e-05 9.99878378e-01 7.67750976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.1292541539999 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:496.53, Y:5.69, Z:7.68 [[ 9.99268604e-01 -3.49194826e-02 -1.55848173e-02 4.96532618e+02] [ 3.49146083e-02 9.99390128e-01 -5.84815550e-04 5.69266987e+00] [ 1.55957340e-02 4.02500256e-05 9.99878378e-01 7.67791276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.15925415399994 meters Centerline goodness : 0.999287 Centerline is valid? [True, True] Translation: X:496.56, Y:5.69, Z:7.68 [[ 9.99252974e-01 -3.53639228e-02 -1.55848383e-02 4.96563028e+02] [ 3.53591113e-02 9.99374500e-01 -5.84257106e-04 5.69206604e+00] [ 1.55957516e-02 3.27546198e-05 9.99878378e-01 7.67886035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.1892541539999 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:496.59, Y:5.69, Z:7.68 [[ 9.99180825e-01 -3.73472801e-02 -1.55839830e-02 4.96594743e+02] [ 3.73423543e-02 9.99302347e-01 -6.07051940e-04 5.68920210e+00] [ 1.55957825e-02 2.46120442e-05 9.99878378e-01 7.67890826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.21925415399994 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:496.63, Y:5.69, Z:7.68 [[ 9.99144548e-01 -3.83051371e-02 -1.55848784e-02 4.96626030e+02] [ 3.83007010e-02 9.99266089e-01 -5.83121159e-04 5.68848579e+00] [ 1.55957770e-02 -1.42894415e-05 9.99878378e-01 7.67976799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.2492541539999 meters Centerline goodness : 0.999393 Centerline is valid? [True, True] Translation: X:496.66, Y:5.69, Z:7.68 [[ 9.99057985e-01 -4.05000323e-02 -1.55848988e-02 4.96657049e+02] [ 4.04958718e-02 9.99179536e-01 -5.82575968e-04 5.68536310e+00] [ 1.55957063e-02 -4.90968897e-05 9.99878378e-01 7.68095545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.27925415399994 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:496.69, Y:5.68, Z:7.68 [[ 9.98992767e-01 -4.20780557e-02 -1.55849190e-02 4.96688395e+02] [ 4.20740956e-02 9.99114324e-01 -5.82035060e-04 5.68400103e+00] [ 1.55956067e-02 -7.42725567e-05 9.99878378e-01 7.68164045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.3092541539999 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:496.72, Y:5.68, Z:7.68 [[ 9.98927430e-01 -4.36015885e-02 -1.55849492e-02 4.96721076e+02] [ 4.35978265e-02 9.99048994e-01 -5.81225379e-04 5.68240422e+00] [ 1.55954701e-02 -9.88679352e-05 9.99878378e-01 7.68264997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.33925415399995 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:496.75, Y:5.68, Z:7.68 [[ 9.98758877e-01 -4.73055321e-02 -1.55849893e-02 4.96753382e+02] [ 4.73022377e-02 9.98880454e-01 -5.80147740e-04 5.67831011e+00] [ 1.55949854e-02 -1.57777162e-04 9.99878378e-01 7.68374252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.3692541539999 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:496.79, Y:5.68, Z:7.68 [[ 9.98688258e-01 -4.87736684e-02 -1.55850291e-02 4.96785898e+02] [ 4.87705694e-02 9.98809840e-01 -5.79077598e-04 5.67662770e+00] [ 1.55947241e-02 -1.81772744e-04 9.99878378e-01 7.68364130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.39925415399995 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:496.82, Y:5.67, Z:7.68 [[ 9.98565431e-01 -5.12268092e-02 -1.55850688e-02 4.96818237e+02] [ 5.12240256e-02 9.98687021e-01 -5.78006590e-04 5.67270869e+00] [ 1.55942153e-02 -2.21152562e-04 9.99878378e-01 7.68400600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.4292541539999 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:496.85, Y:5.67, Z:7.68 [[ 9.98451014e-01 -5.34104498e-02 -1.55851110e-02 4.96849866e+02] [ 5.34079499e-02 9.98572610e-01 -5.76865665e-04 5.67265723e+00] [ 1.55936756e-02 -2.56396719e-04 9.99878378e-01 7.68490222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.45925415399995 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:496.88, Y:5.67, Z:7.69 [[ 9.98398006e-01 -5.43923212e-02 -1.55851794e-02 4.96882460e+02] [ 5.43899699e-02 9.98519605e-01 -5.75011250e-04 5.67109368e+00] [ 1.55933834e-02 -2.73587354e-04 9.99878378e-01 7.68592944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.4892541539999 meters Centerline goodness : 0.995512 Centerline is valid? [True, True] Translation: X:496.91, Y:5.67, Z:7.69 [[ 9.98319839e-01 -5.58086063e-02 -1.55852217e-02 4.96914691e+02] [ 5.58064453e-02 9.98441441e-01 -5.73862782e-04 5.67005489e+00] [ 1.55929577e-02 -2.96857223e-04 9.99878378e-01 7.68686130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.51925415399995 meters Centerline goodness : 0.997309 Centerline is valid? [True, True] Translation: X:496.95, Y:5.67, Z:7.69 [[ 9.98220772e-01 -5.75531768e-02 -1.55859848e-02 4.96945314e+02] [ 5.75515518e-02 9.98342383e-01 -5.53137394e-04 5.66626428e+00] [ 1.55919841e-02 -3.44844378e-04 9.99878378e-01 7.68516029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.5492541539999 meters Centerline goodness : 0.999229 Centerline is valid? [True, True] Translation: X:496.98, Y:5.67, Z:7.69 [[ 9.98137708e-01 -5.89768458e-02 -1.55835463e-02 4.96977612e+02] [ 5.89743599e-02 9.98259306e-01 -6.19416808e-04 5.66558914e+00] [ 1.55929514e-02 -3.00766395e-04 9.99878377e-01 7.68735803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.57925415399995 meters Centerline goodness : 0.999063 Centerline is valid? [True, True] Translation: X:497.01, Y:5.67, Z:7.69 [[ 9.98095828e-01 -5.96809725e-02 -1.55852618e-02 4.97008766e+02] [ 5.96793009e-02 9.98217438e-01 -5.72737035e-04 5.66506963e+00] [ 1.55916616e-02 -3.58471081e-04 9.99878378e-01 7.68756896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.6092541539999 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:497.04, Y:5.66, Z:7.69 [[ 9.98080978e-01 -5.99287973e-02 -1.55852934e-02 4.97041020e+02] [ 5.99271693e-02 9.98202588e-01 -5.71873558e-04 5.66470762e+00] [ 1.55915519e-02 -3.63206399e-04 9.99878378e-01 7.68835418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.63925415399996 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:497.07, Y:5.66, Z:7.69 [[ 9.98117829e-01 -5.93118554e-02 -1.55853352e-02 4.97073916e+02] [ 5.93101700e-02 9.98239439e-01 -5.70733595e-04 5.66185462e+00] [ 1.55917475e-02 -3.54709502e-04 9.99878378e-01 7.68780814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.66925415399993 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:497.11, Y:5.66, Z:7.69 [[ 9.98115698e-01 -5.93469834e-02 -1.55881181e-02 4.97105554e+02] [ 5.93464903e-02 9.98237321e-01 -4.94616061e-04 5.66296587e+00] [ 1.55899952e-02 -4.31416044e-04 9.99878376e-01 7.68828482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.69925415399996 meters Centerline goodness : 0.999292 Centerline is valid? [True, True] Translation: X:497.14, Y:5.66, Z:7.69 [[ 9.98061081e-01 -6.02585230e-02 -1.55881357e-02 4.97135140e+02] [ 6.02581485e-02 9.98182704e-01 -4.94135707e-04 5.66340273e+00] [ 1.55895833e-02 -4.46134576e-04 9.99878376e-01 7.68948905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.72925415399993 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:497.17, Y:5.66, Z:7.69 [[ 9.98082754e-01 -5.98992139e-02 -1.55852606e-02 4.97166989e+02] [ 5.98975739e-02 9.98204364e-01 -5.72415399e-04 5.66290696e+00] [ 1.55915624e-02 -3.62201363e-04 9.99878379e-01 7.68983963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.75925415399996 meters Centerline goodness : 0.999456 Centerline is valid? [True, True] Translation: X:497.20, Y:5.66, Z:7.69 [[ 9.98204964e-01 -5.78268743e-02 -1.55853021e-02 4.97197985e+02] [ 5.78249994e-02 9.98326571e-01 -5.71284914e-04 5.66126969e+00] [ 1.55922568e-02 -3.30960647e-04 9.99878379e-01 7.68987196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.78925415399993 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:497.23, Y:5.66, Z:7.69 [[ 9.98276141e-01 -5.65848353e-02 -1.55853664e-02 4.97229498e+02] [ 5.65828366e-02 9.98397746e-01 -5.69524646e-04 5.66157306e+00] [ 1.55926211e-02 -3.13321375e-04 9.99878379e-01 7.69033526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.8192541539999 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:497.26, Y:5.66, Z:7.69 [[ 9.98338193e-01 -5.54792472e-02 -1.55853960e-02 4.97261437e+02] [ 5.54771265e-02 9.98459796e-01 -5.68713870e-04 5.66220410e+00] [ 1.55929431e-02 -2.96864207e-04 9.99878379e-01 7.69151785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.84925415399994 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:497.29, Y:5.66, Z:7.69 [[ 9.98436083e-01 -5.36887513e-02 -1.55854347e-02 4.97293413e+02] [ 5.36864290e-02 9.98557682e-01 -5.67651630e-04 5.66146562e+00] [ 1.55934320e-02 -2.69962464e-04 9.99878379e-01 7.69399113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.8792541539999 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:497.32, Y:5.66, Z:7.69 [[ 9.98465478e-01 -5.31392650e-02 -1.55854762e-02 4.97324487e+02] [ 5.31368937e-02 9.98587077e-01 -5.66510552e-04 5.66109164e+00] [ 1.55935590e-02 -2.62522560e-04 9.99878379e-01 7.69423865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.90925415399994 meters Centerline goodness : 0.999520 Centerline is valid? [True, True] Translation: X:497.36, Y:5.66, Z:7.69 [[ 9.98472277e-01 -5.30113517e-02 -1.55855070e-02 4.97355721e+02] [ 5.30089781e-02 9.98593876e-01 -5.65660258e-04 5.66092021e+00] [ 1.55935783e-02 -2.61375714e-04 9.99878379e-01 7.69472245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.9392541539999 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:497.39, Y:5.66, Z:7.69 [[ 9.98466770e-01 -5.31149837e-02 -1.55855273e-02 4.97387269e+02] [ 5.31126314e-02 9.98588368e-01 -5.65100076e-04 5.65927320e+00] [ 1.55935416e-02 -2.63554722e-04 9.99878379e-01 7.69470923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.96925415399994 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:497.42, Y:5.66, Z:7.70 [[ 9.98432332e-01 -5.37584331e-02 -1.55855478e-02 4.97419677e+02] [ 5.37561679e-02 9.98553932e-01 -5.64536021e-04 5.65971343e+00] [ 1.55933586e-02 -2.74168307e-04 9.99878379e-01 7.69587368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.9992541539999 meters Centerline goodness : 0.996761 Centerline is valid? [True, True] Translation: X:497.45, Y:5.66, Z:7.69 [[ 9.98344925e-01 -5.53579325e-02 -1.55855885e-02 4.97451331e+02] [ 5.53558798e-02 9.98466529e-01 -5.63408159e-04 5.66109278e+00] [ 1.55928776e-02 -3.00278290e-04 9.99878379e-01 7.69318321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.02925415399994 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:497.48, Y:5.66, Z:7.70 [[ 9.98204600e-01 -5.78332003e-02 -1.55851614e-02 4.97481583e+02] [ 5.78312650e-02 9.98326206e-01 -5.75205269e-04 5.66080445e+00] [ 1.55923411e-02 -3.27137056e-04 9.99878379e-01 7.69680703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.0592541539999 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:497.51, Y:5.66, Z:7.70 [[ 9.98297877e-01 -5.62008672e-02 -1.55823963e-02 4.97514340e+02] [ 5.61975076e-02 9.98419457e-01 -6.53736651e-04 5.65731470e+00] [ 1.55945082e-02 -2.23067922e-04 9.99878373e-01 7.69711608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.08925415399995 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:497.55, Y:5.66, Z:7.70 [[ 9.98227873e-01 -5.74298210e-02 -1.55862150e-02 4.97546136e+02] [ 5.74283171e-02 9.98349484e-01 -5.44411483e-04 5.65719114e+00] [ 1.55917552e-02 -3.51643381e-04 9.99878379e-01 7.69740258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.1192541539999 meters Centerline goodness : 0.999372 Centerline is valid? [True, True] Translation: X:497.58, Y:5.66, Z:7.70 [[ 9.98027322e-01 -6.08155616e-02 -1.55862552e-02 4.97577126e+02] [ 6.08144882e-02 9.98148938e-01 -5.43258699e-04 5.65622766e+00] [ 1.55904426e-02 -4.05683108e-04 9.99878379e-01 7.69709951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.14925415399995 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:497.61, Y:5.66, Z:7.70 [[ 9.97878513e-01 -6.32102929e-02 -1.55862851e-02 4.97609341e+02] [ 6.32095248e-02 9.98000131e-01 -5.42400012e-04 5.65689844e+00] [ 1.55893998e-02 -4.43952355e-04 9.99878379e-01 7.69824368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.1792541539999 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:497.64, Y:5.66, Z:7.70 [[ 9.97732563e-01 -6.54736458e-02 -1.55863250e-02 4.97640389e+02] [ 6.54731716e-02 9.97854183e-01 -5.41248849e-04 5.65703905e+00] [ 1.55883172e-02 -4.80464532e-04 9.99878379e-01 7.69832428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.20925415399995 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:497.67, Y:5.66, Z:7.70 [[ 9.97353243e-01 -7.10181229e-02 -1.55863548e-02 4.97672418e+02] [ 7.10183380e-02 9.97474864e-01 -5.40391459e-04 5.65718830e+00] [ 1.55853747e-02 -5.67955836e-04 9.99878379e-01 7.69954890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.2392541539999 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:497.70, Y:5.66, Z:7.70 [[ 9.97132787e-01 -7.40491046e-02 -1.55863942e-02 4.97704747e+02] [ 7.40497072e-02 9.97254406e-01 -5.39250314e-04 5.65776007e+00] [ 1.55835313e-02 -6.16463761e-04 9.99878379e-01 7.70004723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.26925415399995 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:497.74, Y:5.66, Z:7.70 [[ 9.96633970e-01 -8.04847355e-02 -1.55864335e-02 4.97736148e+02] [ 8.04861409e-02 9.96755583e-01 -5.38112349e-04 5.65763081e+00] [ 1.55791745e-02 -7.18190839e-04 9.99878379e-01 7.69997513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.2992541539999 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:497.77, Y:5.66, Z:7.70 [[ 9.96348730e-01 -8.39420614e-02 -1.55865005e-02 4.97768311e+02] [ 8.39439192e-02 9.96470336e-01 -5.36164974e-04 5.65831936e+00] [ 1.55764922e-02 -7.74184649e-04 9.99878379e-01 7.70091485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.32925415399995 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:497.80, Y:5.66, Z:7.70 [[ 9.96039686e-01 -8.75328735e-02 -1.55865397e-02 4.97799122e+02] [ 8.75351874e-02 9.96161285e-01 -5.35022220e-04 5.65949747e+00] [ 1.55735395e-02 -8.31467313e-04 9.99878379e-01 7.70088816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.3592541539999 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:497.83, Y:5.66, Z:7.70 [[ 9.95738669e-01 -9.08931345e-02 -1.55865690e-02 4.97831431e+02] [ 9.08958720e-02 9.95860259e-01 -5.34169596e-04 5.66078052e+00] [ 1.55705970e-02 -8.84861455e-04 9.99878379e-01 7.70262575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.38925415399996 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:497.86, Y:5.66, Z:7.70 [[ 9.95161152e-01 -9.70120533e-02 -1.55866086e-02 4.97863212e+02] [ 9.70155562e-02 9.95282723e-01 -5.33010104e-04 5.66287483e+00] [ 1.55647907e-02 -9.81712554e-04 9.99878379e-01 7.70395298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.41925415399993 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:497.90, Y:5.66, Z:7.70 [[ 9.95257747e-01 -9.60160034e-02 -1.55866484e-02 4.97899525e+02] [ 9.60194028e-02 9.95379320e-01 -5.31842960e-04 5.66043773e+00] [ 1.55656930e-02 -9.67299849e-04 9.99878379e-01 7.70205057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.44925415399996 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:497.92, Y:5.67, Z:7.70 [[ 9.94487671e-01 -1.03687462e-01 -1.55942975e-02 4.97924215e+02] [ 1.03695331e-01 9.94609061e-01 -3.05319342e-04 5.66760031e+00] [ 1.55418874e-02 -1.31341952e-03 9.99878355e-01 7.70317421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.47925415399993 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:497.96, Y:5.67, Z:7.70 [[ 9.94759901e-01 -1.01043553e-01 -1.55865220e-02 4.97961328e+02] [ 1.01047552e-01 9.94881454e-01 -5.32796533e-04 5.66580856e+00] [ 1.55605774e-02 -1.04497527e-03 9.99878381e-01 7.70235637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.50925415399996 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:497.99, Y:5.67, Z:7.70 [[ 9.94687825e-01 -1.01749441e-01 -1.55942971e-02 4.97993833e+02] [ 1.01757094e-01 9.94809229e-01 -3.03976041e-04 5.66814669e+00] [ 1.55442801e-02 -1.28446909e-03 9.99878355e-01 7.70270332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.53925415399993 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:498.02, Y:5.68, Z:7.71 [[ 9.94227228e-01 -1.06155624e-01 -1.55949795e-02 4.98018213e+02] [ 1.06164128e-01 9.94348579e-01 -2.83875904e-04 5.67792165e+00] [ 1.55369807e-02 -1.37339025e-03 9.99878351e-01 7.70669471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.5692541539999 meters Centerline goodness : 0.999396 Centerline is valid? [True, True] Translation: X:498.05, Y:5.68, Z:7.71 [[ 9.94284711e-01 -1.05617142e-01 -1.55862833e-02 4.98050736e+02] [ 1.05621641e-01 9.94406246e-01 -5.36521065e-04 5.68119859e+00] [ 1.55557633e-02 -1.11279413e-03 9.99878383e-01 7.70709444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.59925415399994 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:498.08, Y:5.69, Z:7.71 [[ 9.94466928e-01 -1.03887416e-01 -1.55863408e-02 4.98082018e+02] [ 1.03891730e-01 9.94588469e-01 -5.34845295e-04 5.68668837e+00] [ 1.55575585e-02 -1.08740596e-03 9.99878383e-01 7.70698449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.6292541539999 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:498.11, Y:5.69, Z:7.71 [[ 9.94625273e-01 -1.02360294e-01 -1.55864126e-02 4.98114922e+02] [ 1.02364454e-01 9.94746819e-01 -5.32744500e-04 5.69016080e+00] [ 1.55590663e-02 -1.06561347e-03 9.99878383e-01 7.70717407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.65925415399994 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:498.15, Y:5.69, Z:7.71 [[ 9.94773308e-01 -1.00911489e-01 -1.55864688e-02 4.98147736e+02] [ 1.00915498e-01 9.94894859e-01 -5.31095796e-04 5.69382568e+00] [ 1.55604913e-02 -1.04459634e-03 9.99878383e-01 7.70952576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.6892541539999 meters Centerline goodness : 0.999333 Centerline is valid? [True, True] Translation: X:498.18, Y:5.70, Z:7.71 [[ 9.94964057e-01 -9.90130568e-02 -1.55865282e-02 4.98180020e+02] [ 9.90168611e-02 9.95085615e-01 -5.29345536e-04 5.69751351e+00] [ 1.55623421e-02 -1.01664932e-03 9.99878383e-01 7.70938885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.71925415399994 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:498.21, Y:5.70, Z:7.71 [[ 9.95380664e-01 -9.47332667e-02 -1.55865772e-02 4.98212346e+02] [ 9.47365707e-02 9.95502237e-01 -5.27899121e-04 5.70435407e+00] [ 1.55664821e-02 -9.51158297e-04 9.99878383e-01 7.71072787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.7492541539999 meters Centerline goodness : 0.999396 Centerline is valid? [True, True] Translation: X:498.24, Y:5.71, Z:7.71 [[ 9.95642275e-01 -9.19430102e-02 -1.55866165e-02 4.98244327e+02] [ 9.19459916e-02 9.95763856e-01 -5.26735816e-04 5.70835361e+00] [ 1.55690191e-02 -9.08686466e-04 9.99878383e-01 7.70841385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.77925415399994 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:498.28, Y:5.71, Z:7.71 [[ 9.96156805e-01 -8.61897692e-02 -1.55866653e-02 4.98276449e+02] [ 8.61920709e-02 9.96278400e-01 -5.25287340e-04 5.71489839e+00] [ 1.55739324e-02 -8.20178406e-04 9.99878383e-01 7.71120642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.8092541539999 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:498.31, Y:5.72, Z:7.71 [[ 9.96166181e-01 -8.60813263e-02 -1.55867033e-02 4.98309956e+02] [ 8.60836324e-02 9.96287776e-01 -5.24158441e-04 5.71593215e+00] [ 1.55739622e-02 -8.19611126e-04 9.99878383e-01 7.71172903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.83925415399995 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:498.34, Y:5.72, Z:7.71 [[ 9.96731803e-01 -7.92639017e-02 -1.55867602e-02 4.98342517e+02] [ 7.92654023e-02 9.96853411e-01 -5.22461723e-04 5.72195641e+00] [ 1.55791274e-02 -7.14736600e-04 9.99878383e-01 7.71288082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.8692541539999 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:498.37, Y:5.73, Z:7.71 [[ 9.97012002e-01 -7.56579045e-02 -1.55868173e-02 4.98373946e+02] [ 7.56589918e-02 9.97133615e-01 -5.20752959e-04 5.72558203e+00] [ 1.55815385e-02 -6.60085930e-04 9.99878383e-01 7.71333449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.89925415399995 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:498.41, Y:5.73, Z:7.71 [[ 9.97527932e-01 -6.85206210e-02 -1.55868454e-02 4.98405185e+02] [ 6.85208512e-02 9.97649549e-01 -5.19908552e-04 5.73199085e+00] [ 1.55858338e-02 -5.49400613e-04 9.99878383e-01 7.71413644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.9292541539999 meters Centerline goodness : 0.999037 Centerline is valid? [True, True] Translation: X:498.44, Y:5.74, Z:7.72 [[ 9.97773379e-01 -6.48485508e-02 -1.55868732e-02 4.98436967e+02] [ 6.48483463e-02 9.97894996e-01 -5.19074407e-04 5.73503977e+00] [ 1.55877240e-02 -4.92864328e-04 9.99878383e-01 7.71522870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.95925415399995 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:498.47, Y:5.74, Z:7.72 [[ 9.98006216e-01 -6.11607729e-02 -1.55869103e-02 4.98468169e+02] [ 6.11601364e-02 9.98127832e-01 -5.17957257e-04 5.73805180e+00] [ 1.55894077e-02 -4.36373000e-04 9.99878383e-01 7.71556755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.9892541539999 meters Centerline goodness : 0.999098 Centerline is valid? [True, True] Translation: X:498.50, Y:5.74, Z:7.72 [[ 9.98428184e-01 -5.38350052e-02 -1.55869670e-02 4.98499956e+02] [ 5.38335029e-02 9.98549792e-01 -5.16246086e-04 5.74212489e+00] [ 1.55921548e-02 -3.23666391e-04 9.99878383e-01 7.71800708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.01925415399995 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:498.53, Y:5.74, Z:7.72 [[ 9.98604111e-01 -5.04665613e-02 -1.55870050e-02 4.98531030e+02] [ 5.04646667e-02 9.98725714e-01 -5.15095868e-04 5.74450320e+00] [ 1.55931378e-02 -2.72216161e-04 9.99878383e-01 7.71798506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.0492541539999 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:498.56, Y:5.75, Z:7.72 [[ 9.98756719e-01 -4.73504044e-02 -1.55870332e-02 4.98563001e+02] [ 4.73481438e-02 9.98878315e-01 -5.14240373e-04 5.74639404e+00] [ 1.55938990e-02 -2.24416063e-04 9.99878383e-01 7.71835098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.07925415399995 meters Centerline goodness : 0.999097 Centerline is valid? [True, True] Translation: X:498.59, Y:5.75, Z:7.72 [[ 9.98948242e-01 -4.31213651e-02 -1.55870708e-02 4.98593929e+02] [ 4.31186074e-02 9.99069829e-01 -5.13100410e-04 5.75022938e+00] [ 1.55946977e-02 -1.59532033e-04 9.99878383e-01 7.71712256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.1092541539999 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:498.63, Y:5.75, Z:7.72 [[ 9.98994107e-01 -4.20454000e-02 -1.55870987e-02 4.98625901e+02] [ 4.20425246e-02 9.99115691e-01 -5.12252025e-04 5.75230902e+00] [ 1.55948527e-02 -1.43584224e-04 9.99878383e-01 7.71839828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.13925415399996 meters Centerline goodness : 0.999306 Centerline is valid? [True, True] Translation: X:498.66, Y:5.75, Z:7.72 [[ 9.99004202e-01 -4.18048442e-02 -1.55871352e-02 4.98658059e+02] [ 4.18019569e-02 9.99125785e-01 -5.11137909e-04 5.75388983e+00] [ 1.55948767e-02 -1.40943834e-04 9.99878383e-01 7.71912018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.16925415399993 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:498.69, Y:5.75, Z:7.72 [[ 9.98929316e-01 -4.35575682e-02 -1.55871726e-02 4.98690109e+02] [ 4.35549121e-02 9.99050904e-01 -5.09993634e-04 5.75486998e+00] [ 1.55945930e-02 -1.69450342e-04 9.99878383e-01 7.71916113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.19925415399996 meters Centerline goodness : 0.999013 Centerline is valid? [True, True] Translation: X:498.72, Y:5.76, Z:7.72 [[ 9.98854543e-01 -4.52398148e-02 -1.55872099e-02 4.98721857e+02] [ 4.52373813e-02 9.98976136e-01 -5.08852066e-04 5.75546039e+00] [ 1.55942711e-02 -1.96855359e-04 9.99878383e-01 7.71919147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.22925415399993 meters Centerline goodness : 0.999054 Centerline is valid? [True, True] Translation: X:498.75, Y:5.76, Z:7.72 [[ 9.98636499e-01 -4.98214857e-02 -1.55872468e-02 4.98754012e+02] [ 4.98196277e-02 9.98758102e-01 -5.07718423e-04 5.75661664e+00] [ 1.55931843e-02 -2.69524685e-04 9.99878383e-01 7.72004388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.25925415399996 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:498.79, Y:5.76, Z:7.72 [[ 9.98534846e-01 -5.18189046e-02 -1.55872842e-02 4.98786088e+02] [ 5.18173078e-02 9.98656452e-01 -5.06569307e-04 5.75716970e+00] [ 1.55925918e-02 -3.01863996e-04 9.99878383e-01 7.72066705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.28925415399993 meters Centerline goodness : 0.999034 Centerline is valid? [True, True] Translation: X:498.82, Y:5.76, Z:7.72 [[ 9.98397349e-01 -5.44037573e-02 -1.55873217e-02 4.98817671e+02] [ 5.44024934e-02 9.98518960e-01 -5.05410903e-04 5.75815192e+00] [ 1.55917325e-02 -3.43388261e-04 9.99878383e-01 7.72112872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.3192541539999 meters Centerline goodness : 0.998992 Centerline is valid? [True, True] Translation: X:498.85, Y:5.76, Z:7.72 [[ 9.98280311e-01 -5.65106635e-02 -1.55873497e-02 4.98849641e+02] [ 5.65096697e-02 9.98401924e-01 -5.04547411e-04 5.75898283e+00] [ 1.55909522e-02 -3.77156234e-04 9.99878383e-01 7.72146317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.34925415399994 meters Centerline goodness : 0.998949 Centerline is valid? [True, True] Translation: X:498.88, Y:5.76, Z:7.72 [[ 9.98033171e-01 -6.07192083e-02 -1.55873864e-02 4.98881571e+02] [ 6.07187450e-02 9.98154788e-01 -5.03411086e-04 5.75968025e+00] [ 1.55891911e-02 -4.44025576e-04 9.99878383e-01 7.72147984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.3792541539999 meters Centerline goodness : 0.999139 Centerline is valid? [True, True] Translation: X:498.91, Y:5.76, Z:7.72 [[ 9.97911321e-01 -6.26899292e-02 -1.55874230e-02 4.98912701e+02] [ 6.26897238e-02 9.98032938e-01 -5.02273048e-04 5.76043303e+00] [ 1.55882491e-02 -4.75947285e-04 9.99878383e-01 7.72128078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.40925415399994 meters Centerline goodness : 0.998993 Centerline is valid? [True, True] Translation: X:498.95, Y:5.76, Z:7.72 [[ 9.97812901e-01 -6.42374178e-02 -1.55874504e-02 4.98945285e+02] [ 6.42374143e-02 9.97934518e-01 -5.01423467e-04 5.76130763e+00] [ 1.55874649e-02 -5.00970704e-04 9.99878383e-01 7.72152360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.4392541539999 meters Centerline goodness : 0.998824 Centerline is valid? [True, True] Translation: X:498.98, Y:5.76, Z:7.72 [[ 9.97642604e-01 -6.68301187e-02 -1.55874854e-02 4.98976953e+02] [ 6.68304483e-02 9.97764221e-01 -5.00331232e-04 5.76279911e+00] [ 1.55860725e-02 -5.42566886e-04 9.99878383e-01 7.72246292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.46925415399994 meters Centerline goodness : 0.998761 Centerline is valid? [True, True] Translation: X:499.01, Y:5.76, Z:7.72 [[ 9.97592051e-01 -6.75805303e-02 -1.55875221e-02 4.99009343e+02] [ 6.75809692e-02 9.97713668e-01 -4.99186311e-04 5.76372072e+00] [ 1.55856191e-02 -5.55435555e-04 9.99878383e-01 7.72254303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.4992541539999 meters Centerline goodness : 0.998679 Centerline is valid? [True, True] Translation: X:499.04, Y:5.77, Z:7.72 [[ 9.97518660e-01 -6.86553006e-02 -1.55875677e-02 4.99042229e+02] [ 6.86558928e-02 9.97640276e-01 -4.97759244e-04 5.76511083e+00] [ 1.55849591e-02 -5.73654240e-04 9.99878383e-01 7.72291575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.52925415399994 meters Centerline goodness : 0.998931 Centerline is valid? [True, True] Translation: X:499.07, Y:5.77, Z:7.72 [[ 9.97389868e-01 -7.05016069e-02 -1.55876220e-02 4.99074890e+02] [ 7.05024509e-02 9.97511483e-01 -4.96050593e-04 5.76692329e+00] [ 1.55838043e-02 -6.04209721e-04 9.99878383e-01 7.72330992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.5592541539999 meters Centerline goodness : 0.998931 Centerline is valid? [True, True] Translation: X:499.11, Y:5.77, Z:7.72 [[ 9.97397726e-01 -7.03903395e-02 -1.55876772e-02 4.99108408e+02] [ 7.03911971e-02 9.97519341e-01 -4.94312627e-04 5.76789696e+00] [ 1.55838043e-02 -6.04208965e-04 9.99878383e-01 7.72383247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.58925415399995 meters Centerline goodness : 0.998827 Centerline is valid? [True, True] Translation: X:499.14, Y:5.77, Z:7.72 [[ 9.97337235e-01 -7.12422799e-02 -1.55877321e-02 4.99140455e+02] [ 7.12432684e-02 9.97458848e-01 -4.92573901e-04 5.76922019e+00] [ 1.55832134e-02 -6.19258690e-04 9.99878383e-01 7.72376094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.6192541539999 meters Centerline goodness : 0.998744 Centerline is valid? [True, True] Translation: X:499.17, Y:5.77, Z:7.72 [[ 9.97275985e-01 -7.20945965e-02 -1.55877774e-02 4.99173270e+02] [ 7.20957114e-02 9.97397597e-01 -4.91134738e-04 5.77060842e+00] [ 1.55826199e-02 -6.34015026e-04 9.99878383e-01 7.72367588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.64925415399995 meters Centerline goodness : 0.998951 Centerline is valid? [True, True] Translation: X:499.20, Y:5.77, Z:7.72 [[ 9.97141701e-01 -7.39286600e-02 -1.55878303e-02 4.99204931e+02] [ 7.39300249e-02 9.97263311e-01 -4.89450288e-04 5.77225189e+00] [ 1.55813557e-02 -6.64357393e-04 9.99878383e-01 7.72304321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.6792541539999 meters Centerline goodness : 0.998909 Centerline is valid? [True, True] Translation: X:499.24, Y:5.77, Z:7.72 [[ 9.97101026e-01 -7.44752465e-02 -1.55878741e-02 4.99238421e+02] [ 7.44766999e-02 9.97222635e-01 -4.88053847e-04 5.77389715e+00] [ 1.55809288e-02 -6.74294426e-04 9.99878383e-01 7.72337001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.70925415399995 meters Centerline goodness : 0.998931 Centerline is valid? [True, True] Translation: X:499.27, Y:5.78, Z:7.72 [[ 9.97097987e-01 -7.45159056e-02 -1.55879281e-02 4.99270067e+02] [ 7.45173909e-02 9.97219596e-01 -4.86321521e-04 5.77706340e+00] [ 1.55808261e-02 -6.76661522e-04 9.99878383e-01 7.72329867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.7392541539999 meters Centerline goodness : 0.999055 Centerline is valid? [True, True] Translation: X:499.30, Y:5.78, Z:7.72 [[ 9.97150503e-01 -7.38098149e-02 -1.55879727e-02 4.99302657e+02] [ 7.38112365e-02 9.97272112e-01 -4.84887002e-04 5.77923888e+00] [ 1.55812399e-02 -6.67062224e-04 9.99878383e-01 7.72380726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.76925415399995 meters Centerline goodness : 0.998865 Centerline is valid? [True, True] Translation: X:499.34, Y:5.78, Z:7.72 [[ 9.97234343e-01 -7.26682743e-02 -1.55880242e-02 4.99335795e+02] [ 7.26695826e-02 9.97355954e-01 -4.83226956e-04 5.78141638e+00] [ 1.55819240e-02 -6.50884696e-04 9.99878383e-01 7.72422108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.7992541539999 meters Centerline goodness : 0.998845 Centerline is valid? [True, True] Translation: X:499.37, Y:5.78, Z:7.72 [[ 9.97342613e-01 -7.11668767e-02 -1.55880753e-02 4.99368295e+02] [ 7.11680277e-02 9.97464225e-01 -4.81571393e-04 5.78366292e+00] [ 1.55828194e-02 -6.29080906e-04 9.99878383e-01 7.72460259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.82925415399995 meters Centerline goodness : 0.999054 Centerline is valid? [True, True] Translation: X:499.40, Y:5.79, Z:7.73 [[ 9.97494766e-01 -6.90014627e-02 -1.55881260e-02 4.99400283e+02] [ 6.90023754e-02 9.97616380e-01 -4.79926757e-04 5.78731189e+00] [ 1.55840855e-02 -5.96893291e-04 9.99878383e-01 7.72524154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.8592541539999 meters Centerline goodness : 0.998634 Centerline is valid? [True, True] Translation: X:499.43, Y:5.79, Z:7.73 [[ 9.97553461e-01 -6.81476497e-02 -1.55881678e-02 4.99433617e+02] [ 6.81484795e-02 9.97675075e-01 -4.78565128e-04 5.78965390e+00] [ 1.55845395e-02 -5.84915633e-04 9.99878383e-01 7.72566708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.88925415399996 meters Centerline goodness : 0.998801 Centerline is valid? [True, True] Translation: X:499.47, Y:5.79, Z:7.73 [[ 9.97613222e-01 -6.72671248e-02 -1.55882185e-02 4.99466758e+02] [ 6.72678731e-02 9.97734837e-01 -4.76905748e-04 5.79177161e+00] [ 1.55849888e-02 -5.72818827e-04 9.99878383e-01 7.72543661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.91925415399993 meters Centerline goodness : 0.998864 Centerline is valid? [True, True] Translation: X:499.50, Y:5.79, Z:7.73 [[ 9.97617308e-01 -6.72064859e-02 -1.55882688e-02 4.99499238e+02] [ 6.72072526e-02 9.97738923e-01 -4.75257344e-04 5.79408028e+00] [ 1.55849629e-02 -5.73519766e-04 9.99878383e-01 7.72614161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.94925415399996 meters Centerline goodness : 0.999010 Centerline is valid? [True, True] Translation: X:499.53, Y:5.80, Z:7.73 [[ 9.97629881e-01 -6.70195910e-02 -1.55883186e-02 4.99530724e+02] [ 6.70203605e-02 9.97751496e-01 -4.73619473e-04 5.79753049e+00] [ 1.55850099e-02 -5.72237791e-04 9.99878383e-01 7.72584102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.97925415399993 meters Centerline goodness : 0.998884 Centerline is valid? [True, True] Translation: X:499.56, Y:5.80, Z:7.73 [[ 9.97617877e-01 -6.71980185e-02 -1.55883596e-02 4.99562688e+02] [ 6.71988308e-02 9.97739492e-01 -4.72264354e-04 5.79983600e+00] [ 1.55848572e-02 -5.76380179e-04 9.99878383e-01 7.72603079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.00925415399996 meters Centerline goodness : 0.998841 Centerline is valid? [True, True] Translation: X:499.60, Y:5.80, Z:7.73 [[ 9.97596405e-01 -6.75160325e-02 -1.55884002e-02 4.99595659e+02] [ 6.75169046e-02 9.97718019e-01 -4.70921713e-04 5.80194990e+00] [ 1.55846225e-02 -5.82690720e-04 9.99878383e-01 7.72662743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.03925415399993 meters Centerline goodness : 0.998906 Centerline is valid? [True, True] Translation: X:499.63, Y:5.80, Z:7.73 [[ 9.97570501e-01 -6.78976824e-02 -1.55884502e-02 4.99627309e+02] [ 6.78986269e-02 9.97692115e-01 -4.69260744e-04 5.80449510e+00] [ 1.55843355e-02 -5.90313687e-04 9.99878383e-01 7.72701230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.0692541539999 meters Centerline goodness : 0.998886 Centerline is valid? [True, True] Translation: X:499.66, Y:5.81, Z:7.73 [[ 9.97569526e-01 -6.79119933e-02 -1.55884915e-02 4.99660306e+02] [ 6.79129611e-02 9.97691140e-01 -4.67884960e-04 5.80653205e+00] [ 1.55842748e-02 -5.91912837e-04 9.99878383e-01 7.72824668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.09925415399994 meters Centerline goodness : 0.998904 Centerline is valid? [True, True] Translation: X:499.69, Y:5.81, Z:7.73 [[ 9.97569484e-01 -6.79126121e-02 -1.55885429e-02 4.99693253e+02] [ 6.79136067e-02 9.97691097e-01 -4.66166412e-04 5.80890516e+00] [ 1.55842090e-02 -5.93640783e-04 9.99878383e-01 7.72926408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.1292541539999 meters Centerline goodness : 0.998966 Centerline is valid? [True, True] Translation: X:499.73, Y:5.81, Z:7.73 [[ 9.97601125e-01 -6.74462074e-02 -1.55885941e-02 4.99726118e+02] [ 6.74471721e-02 9.97722739e-01 -4.64446385e-04 5.81259873e+00] [ 1.55844200e-02 -5.88074353e-04 9.99878383e-01 7.73111419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.15925415399994 meters Centerline goodness : 0.998608 Centerline is valid? [True, True] Translation: X:499.76, Y:5.81, Z:7.73 [[ 9.97640162e-01 -6.68662954e-02 -1.55886455e-02 4.99758633e+02] [ 6.68672163e-02 9.97761776e-01 -4.62714934e-04 5.81479800e+00] [ 1.55846947e-02 -5.80746329e-04 9.99878383e-01 7.73190625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.1892541539999 meters Centerline goodness : 0.998818 Centerline is valid? [True, True] Translation: X:499.79, Y:5.82, Z:7.73 [[ 9.97718821e-01 -6.56821622e-02 -1.55886973e-02 4.99790903e+02] [ 6.56829661e-02 9.97840436e-01 -4.60962137e-04 5.81794476e+00] [ 1.55853095e-02 -5.64001280e-04 9.99878383e-01 7.73343500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.21925415399994 meters Centerline goodness : 0.998924 Centerline is valid? [True, True] Translation: X:499.82, Y:5.82, Z:7.73 [[ 9.97771043e-01 -6.48840239e-02 -1.55887401e-02 4.99824221e+02] [ 6.48847532e-02 9.97892658e-01 -4.59511229e-04 5.81988806e+00] [ 1.55857042e-02 -5.52984557e-04 9.99878383e-01 7.73448150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.2492541539999 meters Centerline goodness : 0.998904 Centerline is valid? [True, True] Translation: X:499.86, Y:5.82, Z:7.74 [[ 9.97849263e-01 -6.36697562e-02 -1.55887904e-02 4.99856203e+02] [ 6.36703643e-02 9.97970879e-01 -4.57798196e-04 5.82175902e+00] [ 1.55863068e-02 -5.35730371e-04 9.99878383e-01 7.73533582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.27925415399994 meters Centerline goodness : 0.999261 Centerline is valid? [True, True] Translation: X:499.89, Y:5.82, Z:7.74 [[ 9.98068064e-01 -6.01425555e-02 -1.55888725e-02 4.99888114e+02] [ 6.01427776e-02 9.98189681e-01 -4.54986129e-04 5.82464380e+00] [ 1.55880157e-02 -4.83450966e-04 9.99878383e-01 7.73621177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.3092541539999 meters Centerline goodness : 0.999028 Centerline is valid? [True, True] Translation: X:499.92, Y:5.83, Z:7.74 [[ 9.98206581e-01 -5.77979967e-02 -1.55889133e-02 4.99921373e+02] [ 5.77979550e-02 9.98328198e-01 -4.53583838e-04 5.82663099e+00] [ 1.55890679e-02 -4.48236936e-04 9.99878383e-01 7.73647660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.33925415399995 meters Centerline goodness : 0.998902 Centerline is valid? [True, True] Translation: X:499.95, Y:5.83, Z:7.74 [[ 9.98348795e-01 -5.52871319e-02 -1.55889619e-02 4.99954086e+02] [ 5.52868104e-02 9.98470412e-01 -4.51908485e-04 5.82864527e+00] [ 1.55901019e-02 -4.10701687e-04 9.99878383e-01 7.73638445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.3692541539999 meters Centerline goodness : 0.999008 Centerline is valid? [True, True] Translation: X:499.99, Y:5.83, Z:7.74 [[ 9.98498880e-01 -5.25068515e-02 -1.55890117e-02 4.99986500e+02] [ 5.25062183e-02 9.98620496e-01 -4.50183566e-04 5.83079023e+00] [ 1.55911443e-02 -3.69012263e-04 9.99878383e-01 7.73669972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.39925415399995 meters Centerline goodness : 0.998964 Centerline is valid? [True, True] Translation: X:500.02, Y:5.83, Z:7.74 [[ 9.98755669e-01 -4.73718737e-02 -1.55890884e-02 5.00018759e+02] [ 4.73706569e-02 9.98877280e-01 -4.47509009e-04 5.83407494e+00] [ 1.55927856e-02 -2.91513200e-04 9.99878383e-01 7.73642582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.4292541539999 meters Centerline goodness : 0.999112 Centerline is valid? [True, True] Translation: X:500.05, Y:5.84, Z:7.74 [[ 9.98856831e-01 -4.51886187e-02 -1.55891215e-02 5.00051052e+02] [ 4.51871541e-02 9.98978439e-01 -4.46354883e-04 5.83569932e+00] [ 1.55933664e-02 -2.58583411e-04 9.99878383e-01 7.73679650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.45925415399995 meters Centerline goodness : 0.998901 Centerline is valid? [True, True] Translation: X:500.08, Y:5.84, Z:7.74 [[ 9.98947597e-01 -4.31355607e-02 -1.55891548e-02 5.00082184e+02] [ 4.31338644e-02 9.99069203e-01 -4.45188707e-04 5.83703654e+00] [ 1.55938479e-02 -2.27700299e-04 9.99878383e-01 7.73686839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.4892541539999 meters Centerline goodness : 0.998858 Centerline is valid? [True, True] Translation: X:500.11, Y:5.84, Z:7.74 [[ 9.99020074e-01 -4.14230500e-02 -1.55891795e-02 5.00114580e+02] [ 4.14211588e-02 9.99141677e-01 -4.44320590e-04 5.83822841e+00] [ 1.55942041e-02 -2.01836691e-04 9.99878383e-01 7.73694290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.51925415399995 meters Centerline goodness : 0.998983 Centerline is valid? [True, True] Translation: X:500.15, Y:5.84, Z:7.74 [[ 9.99094404e-01 -3.95897436e-02 -1.55892122e-02 5.00147247e+02] [ 3.95876470e-02 9.99216004e-01 -4.43171332e-04 5.83958617e+00] [ 1.55945354e-02 -1.74370233e-04 9.99878383e-01 7.73663626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.5492541539999 meters Centerline goodness : 0.998858 Centerline is valid? [True, True] Translation: X:500.18, Y:5.84, Z:7.74 [[ 9.99088497e-01 -3.97385333e-02 -1.55892449e-02 5.00178988e+02] [ 3.97364729e-02 9.99210097e-01 -4.42019325e-04 5.84070365e+00] [ 1.55944961e-02 -1.77845183e-04 9.99878383e-01 7.73696352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.57925415399995 meters Centerline goodness : 0.998623 Centerline is valid? [True, True] Translation: X:500.21, Y:5.84, Z:7.74 [[ 9.99085823e-01 -3.98056995e-02 -1.55892773e-02 5.00210857e+02] [ 3.98036651e-02 9.99207423e-01 -4.40872795e-04 5.84107821e+00] [ 1.55944708e-02 -1.80040614e-04 9.99878383e-01 7.73583494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.6092541539999 meters Centerline goodness : 0.998879 Centerline is valid? [True, True] Translation: X:500.24, Y:5.84, Z:7.74 [[ 9.98938264e-01 -4.33510925e-02 -1.55893094e-02 5.00243276e+02] [ 4.33495074e-02 9.99059872e-01 -4.39735844e-04 5.84229174e+00] [ 1.55937164e-02 -2.36519921e-04 9.99878383e-01 7.73697819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.63925415399996 meters Centerline goodness : 0.998816 Centerline is valid? [True, True] Translation: X:500.28, Y:5.84, Z:7.74 [[ 9.98854982e-01 -4.52293823e-02 -1.55893411e-02 5.00275898e+02] [ 4.52280435e-02 9.98976592e-01 -4.38606629e-04 5.84265941e+00] [ 1.55932248e-02 -2.66970982e-04 9.99878383e-01 7.73712188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.66925415399993 meters Centerline goodness : 0.999050 Centerline is valid? [True, True] Translation: X:500.31, Y:5.84, Z:7.74 [[ 9.98596600e-01 -5.06142422e-02 -1.55893727e-02 5.00307663e+02] [ 5.06135767e-02 9.98718216e-01 -4.37481604e-04 5.84239868e+00] [ 1.55915333e-02 -3.52166269e-04 9.99878383e-01 7.73780733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.69925415399996 meters Centerline goodness : 0.998841 Centerline is valid? [True, True] Translation: X:500.34, Y:5.84, Z:7.74 [[ 9.98461054e-01 -5.32211862e-02 -1.55894044e-02 5.00340895e+02] [ 5.32208559e-02 9.98582671e-01 -4.36350340e-04 5.84267055e+00] [ 1.55905321e-02 -3.94002624e-04 9.99878383e-01 7.73837426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.72925415399993 meters Centerline goodness : 0.998822 Centerline is valid? [True, True] Translation: X:500.37, Y:5.84, Z:7.74 [[ 9.98295366e-01 -5.62435005e-02 -1.55894517e-02 5.00373443e+02] [ 5.62435648e-02 9.98416983e-01 -4.34653130e-04 5.84352754e+00] [ 1.55892197e-02 -4.42894131e-04 9.99878383e-01 7.73927763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.75925415399996 meters Centerline goodness : 0.998925 Centerline is valid? [True, True] Translation: X:500.41, Y:5.84, Z:7.74 [[ 9.97939036e-01 -6.22466650e-02 -1.55894987e-02 5.00405614e+02] [ 6.22474871e-02 9.98060651e-01 -4.32959893e-04 5.84345562e+00] [ 1.55862155e-02 -5.38339542e-04 9.99878383e-01 7.73998101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.78925415399993 meters Centerline goodness : 0.998926 Centerline is valid? [True, True] Translation: X:500.44, Y:5.84, Z:7.74 [[ 9.97776596e-01 -6.47983868e-02 -1.55895375e-02 5.00438580e+02] [ 6.47995418e-02 9.97898208e-01 -4.31558133e-04 5.84376119e+00] [ 1.55847358e-02 -5.79596284e-04 9.99878383e-01 7.74060508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.8192541539999 meters Centerline goodness : 0.998695 Centerline is valid? [True, True] Translation: X:500.47, Y:5.84, Z:7.74 [[ 9.97636108e-01 -6.69265363e-02 -1.55895835e-02 5.00471786e+02] [ 6.69279767e-02 9.97757717e-01 -4.29891140e-04 5.84417637e+00] [ 1.55833984e-02 -6.14504357e-04 9.99878383e-01 7.74096024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.84925415399994 meters Centerline goodness : 0.998781 Centerline is valid? [True, True] Translation: X:500.50, Y:5.84, Z:7.74 [[ 9.97386520e-01 -7.05485151e-02 -1.55896291e-02 5.00503826e+02] [ 7.05504230e-02 9.97508123e-01 -4.28230045e-04 5.84438340e+00] [ 1.55809927e-02 -6.72744054e-04 9.99878383e-01 7.74103674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.8792541539999 meters Centerline goodness : 0.998989 Centerline is valid? [True, True] Translation: X:500.54, Y:5.85, Z:7.74 [[ 9.97300612e-01 -7.17527129e-02 -1.55896668e-02 5.00536779e+02] [ 7.17547891e-02 9.97422212e-01 -4.26852299e-04 5.84508518e+00] [ 1.55801078e-02 -6.92933198e-04 9.99878383e-01 7.74156425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.90925415399994 meters Centerline goodness : 0.998927 Centerline is valid? [True, True] Translation: X:500.57, Y:5.85, Z:7.74 [[ 9.97223931e-01 -7.28106590e-02 -1.55897113e-02 5.00570262e+02] [ 7.28128896e-02 9.97345528e-01 -4.25221492e-04 5.84606752e+00] [ 1.55792895e-02 -7.11090883e-04 9.99878383e-01 7.74194357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.9392541539999 meters Centerline goodness : 0.998694 Centerline is valid? [True, True] Translation: X:500.60, Y:5.85, Z:7.74 [[ 9.97159679e-01 -7.36853737e-02 -1.55897556e-02 5.00603659e+02] [ 7.36877364e-02 9.97281273e-01 -4.23591342e-04 5.84712650e+00] [ 1.55785838e-02 -7.26385596e-04 9.99878383e-01 7.74102759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.96925415399994 meters Centerline goodness : 0.998864 Centerline is valid? [True, True] Translation: X:500.64, Y:5.85, Z:7.74 [[ 9.97108708e-01 -7.43719205e-02 -1.55897995e-02 5.00637033e+02] [ 7.43743923e-02 9.97230300e-01 -4.21969166e-04 5.84846817e+00] [ 1.55780031e-02 -7.38732736e-04 9.99878383e-01 7.74336216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.9992541539999 meters Centerline goodness : 0.998903 Centerline is valid? [True, True] Translation: X:500.67, Y:5.85, Z:7.74 [[ 9.97125409e-01 -7.41476548e-02 -1.55898446e-02 5.00669297e+02] [ 7.41501253e-02 9.97247002e-01 -4.20297595e-04 5.84920899e+00] [ 1.55780899e-02 -7.36899519e-04 9.99878383e-01 7.74374445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.02925415399994 meters Centerline goodness : 0.998946 Centerline is valid? [True, True] Translation: X:500.70, Y:5.85, Z:7.74 [[ 9.97173929e-01 -7.34922413e-02 -1.55899184e-02 5.00702380e+02] [ 7.34946749e-02 9.97295522e-01 -4.17542343e-04 5.85007208e+00] [ 1.55784419e-02 -7.29413644e-04 9.99878383e-01 7.74403037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.0592541539999 meters Centerline goodness : 0.998969 Centerline is valid? [True, True] Translation: X:500.74, Y:5.85, Z:7.74 [[ 9.97299623e-01 -7.17663969e-02 -1.55899604e-02 5.00735143e+02] [ 7.17686447e-02 9.97421219e-01 -4.15966707e-04 5.85126186e+00] [ 1.55796098e-02 -7.04026890e-04 9.99878383e-01 7.74470334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.08925415399995 meters Centerline goodness : 0.998861 Centerline is valid? [True, True] Translation: X:500.77, Y:5.85, Z:7.75 [[ 9.97405600e-01 -7.02781672e-02 -1.55900022e-02 5.00768568e+02] [ 7.02802580e-02 9.97527199e-01 -4.14395112e-04 5.85209680e+00] [ 1.55805742e-02 -6.82349371e-04 9.99878383e-01 7.74533679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.1192541539999 meters Centerline goodness : 0.999009 Centerline is valid? [True, True] Translation: X:500.80, Y:5.85, Z:7.75 [[ 9.97628125e-01 -6.70453248e-02 -1.55900436e-02 5.00800353e+02] [ 6.70470458e-02 9.97749730e-01 -4.12831540e-04 5.85387013e+00] [ 1.55826402e-02 -6.33414014e-04 9.99878383e-01 7.74574825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.14925415399995 meters Centerline goodness : 0.998924 Centerline is valid? [True, True] Translation: X:500.83, Y:5.86, Z:7.75 [[ 9.97764008e-01 -6.49917952e-02 -1.55900778e-02 5.00832969e+02] [ 6.49932861e-02 9.97885616e-01 -4.11537110e-04 5.85543318e+00] [ 1.55838609e-02 -6.02633469e-04 9.99878383e-01 7.74599236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.1792541539999 meters Centerline goodness : 0.998923 Centerline is valid? [True, True] Translation: X:500.87, Y:5.86, Z:7.75 [[ 9.97901153e-01 -6.28509071e-02 -1.55901197e-02 5.00866208e+02] [ 6.28521620e-02 9.98022764e-01 -4.09941556e-04 5.85713884e+00] [ 1.55850596e-02 -5.70791580e-04 9.99878383e-01 7.74600638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.20925415399995 meters Centerline goodness : 0.999007 Centerline is valid? [True, True] Translation: X:500.90, Y:5.86, Z:7.74 [[ 9.98409017e-01 -5.41883837e-02 -1.55901625e-02 5.00904548e+02] [ 5.41886087e-02 9.98530634e-01 -4.08307678e-04 5.85544683e+00] [ 1.55893804e-02 -4.37151149e-04 9.99878383e-01 7.74169468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.2392541539999 meters Centerline goodness : 0.998943 Centerline is valid? [True, True] Translation: X:500.93, Y:5.86, Z:7.74 [[ 9.98274218e-01 -5.66154792e-02 -1.55972376e-02 5.00929891e+02] [ 5.66202878e-02 9.98395776e-01 -1.33471044e-04 5.86242630e+00] [ 1.55797727e-02 -7.49879380e-04 9.99878347e-01 7.74470303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.26925415399995 meters Centerline goodness : 0.998961 Centerline is valid? [True, True] Translation: X:500.96, Y:5.86, Z:7.74 [[ 9.98386130e-01 -5.46084863e-02 -1.55900011e-02 5.00961688e+02] [ 5.46087486e-02 9.98507745e-01 -4.09197422e-04 5.86432655e+00] [ 1.55890825e-02 -4.42813419e-04 9.99878385e-01 7.74420586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.2992541539999 meters Centerline goodness : 0.999005 Centerline is valid? [True, True] Translation: X:500.99, Y:5.87, Z:7.75 [[ 9.98551798e-01 -5.14903616e-02 -1.55900722e-02 5.00994544e+02] [ 5.14902865e-02 9.98673413e-01 -4.06471583e-04 5.86733006e+00] [ 1.55903199e-02 -3.96854353e-04 9.99878385e-01 7.74551116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.32925415399995 meters Centerline goodness : 0.999174 Centerline is valid? [True, True] Translation: X:501.03, Y:5.87, Z:7.75 [[ 9.98619838e-01 -5.01534481e-02 -1.55901152e-02 5.01026953e+02] [ 5.01532361e-02 9.98741453e-01 -4.04812687e-04 5.86910004e+00] [ 1.55907971e-02 -3.77640751e-04 9.99878385e-01 7.74680960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.3592541539999 meters Centerline goodness : 0.998939 Centerline is valid? [True, True] Translation: X:501.06, Y:5.87, Z:7.75 [[ 9.98674399e-01 -4.90549875e-02 -1.55901448e-02 5.01057708e+02] [ 4.90546596e-02 9.98796014e-01 -4.03670286e-04 5.87057573e+00] [ 1.55911765e-02 -3.61634066e-04 9.99878385e-01 7.74705857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.38925415399996 meters Centerline goodness : 0.998939 Centerline is valid? [True, True] Translation: X:501.09, Y:5.87, Z:7.75 [[ 9.98735627e-01 -4.77921970e-02 -1.55901668e-02 5.01090114e+02] [ 4.77917286e-02 9.98857241e-01 -4.02819014e-04 5.87198711e+00] [ 1.55916026e-02 -3.42771320e-04 9.99878385e-01 7.74801943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.41925415399993 meters Centerline goodness : 0.999066 Centerline is valid? [True, True] Translation: X:501.12, Y:5.87, Z:7.75 [[ 9.98796414e-01 -4.65045147e-02 -1.55901947e-02 5.01121905e+02] [ 4.65039064e-02 9.98918027e-01 -4.01737607e-04 5.87361946e+00] [ 1.55920091e-02 -3.23750872e-04 9.99878385e-01 7.74937232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.44925415399996 meters Centerline goodness : 0.998856 Centerline is valid? [True, True] Translation: X:501.15, Y:5.88, Z:7.75 [[ 9.98884286e-01 -4.45772110e-02 -1.55902241e-02 5.01153798e+02] [ 4.45763859e-02 9.99005899e-01 -4.00590880e-04 5.87622310e+00] [ 1.55925831e-02 -2.94811912e-04 9.99878385e-01 7.75082743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.47925415399993 meters Centerline goodness : 0.998856 Centerline is valid? [True, True] Translation: X:501.19, Y:5.88, Z:7.75 [[ 9.98887576e-01 -4.45034187e-02 -1.55902537e-02 5.01186479e+02] [ 4.45026026e-02 9.99009189e-01 -3.99437800e-04 5.87700184e+00] [ 1.55925830e-02 -2.94813409e-04 9.99878385e-01 7.75133694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.50925415399996 meters Centerline goodness : 0.999108 Centerline is valid? [True, True] Translation: X:501.22, Y:5.88, Z:7.75 [[ 9.98914908e-01 -4.38856469e-02 -1.55902831e-02 5.01218910e+02] [ 4.38847736e-02 9.99036520e-01 -3.98286215e-04 5.87805351e+00] [ 1.55927412e-02 -2.86322006e-04 9.99878385e-01 7.75187623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.53925415399993 meters Centerline goodness : 0.999021 Centerline is valid? [True, True] Translation: X:501.25, Y:5.88, Z:7.75 [[ 9.98927672e-01 -4.35941428e-02 -1.55903122e-02 5.01250916e+02] [ 4.35932518e-02 9.99049283e-01 -3.97143803e-04 5.87910892e+00] [ 1.55928034e-02 -2.82914471e-04 9.99878385e-01 7.75239689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.5692541539999 meters Centerline goodness : 0.998871 Centerline is valid? [True, True] Translation: X:501.28, Y:5.88, Z:7.75 [[ 9.98926336e-01 -4.36247190e-02 -1.55903414e-02 5.01281694e+02] [ 4.36238497e-02 9.99047948e-01 -3.95992342e-04 5.88039897e+00] [ 1.55927737e-02 -2.84543532e-04 9.99878385e-01 7.75303328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.59925415399994 meters Centerline goodness : 0.998936 Centerline is valid? [True, True] Translation: X:501.31, Y:5.88, Z:7.75 [[ 9.98928634e-01 -4.35720644e-02 -1.55903632e-02 5.01313466e+02] [ 4.35712021e-02 9.99050246e-01 -3.95134635e-04 5.88114497e+00] [ 1.55927730e-02 -2.84579564e-04 9.99878385e-01 7.75363958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.6292541539999 meters Centerline goodness : 0.999127 Centerline is valid? [True, True] Translation: X:501.35, Y:5.88, Z:7.75 [[ 9.98940070e-01 -4.33090826e-02 -1.55903920e-02 5.01345093e+02] [ 4.33082061e-02 9.99061682e-01 -3.93994302e-04 5.88153395e+00] [ 1.55928268e-02 -2.81615214e-04 9.99878385e-01 7.75252012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.65925415399994 meters Centerline goodness : 0.999148 Centerline is valid? [True, True] Translation: X:501.38, Y:5.88, Z:7.75 [[ 9.98900334e-01 -4.42160887e-02 -1.55904134e-02 5.01377111e+02] [ 4.42153358e-02 9.99021946e-01 -3.93145016e-04 5.88259495e+00] [ 1.55925485e-02 -2.96622677e-04 9.99878385e-01 7.75427073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.6892541539999 meters Centerline goodness : 0.999085 Centerline is valid? [True, True] Translation: X:501.41, Y:5.88, Z:7.75 [[ 9.98893401e-01 -4.43724303e-02 -1.55904418e-02 5.01408920e+02] [ 4.43717141e-02 9.99015014e-01 -3.92015846e-04 5.88341769e+00] [ 1.55924801e-02 -3.00192585e-04 9.99878385e-01 7.75477295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.71925415399994 meters Centerline goodness : 0.999191 Centerline is valid? [True, True] Translation: X:501.44, Y:5.88, Z:7.76 [[ 9.98875347e-01 -4.47769960e-02 -1.55904702e-02 5.01441544e+02] [ 4.47763467e-02 9.98996960e-01 -3.90882327e-04 5.88383748e+00] [ 1.55923349e-02 -3.07641581e-04 9.99878385e-01 7.75515969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.7492541539999 meters Centerline goodness : 0.999106 Centerline is valid? [True, True] Translation: X:501.47, Y:5.88, Z:7.76 [[ 9.98870404e-01 -4.48871078e-02 -1.55904991e-02 5.01473830e+02] [ 4.48864899e-02 9.98992018e-01 -3.89726464e-04 5.88436539e+00] [ 1.55922779e-02 -3.10516551e-04 9.99878385e-01 7.75545191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.77925415399994 meters Centerline goodness : 0.998914 Centerline is valid? [True, True] Translation: X:501.51, Y:5.88, Z:7.76 [[ 9.98871588e-01 -4.48607371e-02 -1.55905350e-02 5.01506240e+02] [ 4.48601385e-02 9.98993202e-01 -3.88286428e-04 5.88481742e+00] [ 1.55922573e-02 -3.11545279e-04 9.99878385e-01 7.75533848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.8092541539999 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:501.54, Y:5.89, Z:7.76 [[ 9.98877844e-01 -4.47212150e-02 -1.55905701e-02 5.01537938e+02] [ 4.47206215e-02 9.98999458e-01 -3.86872328e-04 5.88536548e+00] [ 1.55922725e-02 -3.10781786e-04 9.99878385e-01 7.75575694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.83925415399995 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:501.57, Y:5.89, Z:7.76 [[ 9.98893863e-01 -4.43619618e-02 -1.55905983e-02 5.01569383e+02] [ 4.43613423e-02 9.99015477e-01 -3.85733571e-04 5.88603075e+00] [ 1.55923608e-02 -3.06312969e-04 9.99878385e-01 7.75540974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.8692541539999 meters Centerline goodness : 0.998997 Centerline is valid? [True, True] Translation: X:501.60, Y:5.89, Z:7.76 [[ 9.98897002e-01 -4.42912272e-02 -1.55906192e-02 5.01601084e+02] [ 4.42906123e-02 9.99018615e-01 -3.84885810e-04 5.88691453e+00] [ 1.55923659e-02 -3.06056788e-04 9.99878385e-01 7.75564847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.89925415399995 meters Centerline goodness : 0.998931 Centerline is valid? [True, True] Translation: X:501.63, Y:5.89, Z:7.76 [[ 9.98903440e-01 -4.41457627e-02 -1.55906471e-02 5.01632804e+02] [ 4.41451478e-02 9.99025054e-01 -3.83752278e-04 5.88751314e+00] [ 1.55923881e-02 -3.04919949e-04 9.99878385e-01 7.75566728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.9292541539999 meters Centerline goodness : 0.999339 Centerline is valid? [True, True] Translation: X:501.66, Y:5.89, Z:7.76 [[ 9.98896064e-01 -4.43123559e-02 -1.55906748e-02 5.01664476e+02] [ 4.43117789e-02 9.99017677e-01 -3.82620922e-04 5.88778175e+00] [ 1.55923146e-02 -3.08652005e-04 9.99878385e-01 7.75541658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.95925415399995 meters Centerline goodness : 0.999189 Centerline is valid? [True, True] Translation: X:501.70, Y:5.89, Z:7.76 [[ 9.98873288e-01 -4.48228099e-02 -1.55906955e-02 5.01696847e+02] [ 4.48223083e-02 9.98994902e-01 -3.81777019e-04 5.88843960e+00] [ 1.55921377e-02 -3.17464094e-04 9.99878385e-01 7.75581980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.9892541539999 meters Centerline goodness : 0.999363 Centerline is valid? [True, True] Translation: X:501.73, Y:5.89, Z:7.76 [[ 9.98848555e-01 -4.53706208e-02 -1.55907225e-02 5.01728618e+02] [ 4.53702031e-02 9.98970170e-01 -3.80672159e-04 5.88867680e+00] [ 1.55919380e-02 -3.27120410e-04 9.99878385e-01 7.75672975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.01925415399995 meters Centerline goodness : 0.999573 Centerline is valid? [True, True] Translation: X:501.76, Y:5.89, Z:7.76 [[ 9.98807695e-01 -4.62613884e-02 -1.55907498e-02 5.01761139e+02] [ 4.62610966e-02 9.98929310e-01 -3.79549531e-04 5.88900326e+00] [ 1.55916155e-02 -3.42148192e-04 9.99878385e-01 7.75743188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.0492541539999 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:501.79, Y:5.89, Z:7.76 [[ 9.98686389e-01 -4.88100865e-02 -1.55907838e-02 5.01793435e+02] [ 4.88101269e-02 9.98808004e-01 -3.78150332e-04 5.88907297e+00] [ 1.55906572e-02 -3.83334545e-04 9.99878385e-01 7.75847179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.07925415399995 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:501.82, Y:5.89, Z:7.76 [[ 9.98626394e-01 -5.00225076e-02 -1.55908166e-02 5.01824697e+02] [ 5.00227168e-02 9.98748009e-01 -3.76791941e-04 5.88900643e+00] [ 1.55901451e-02 -4.03620626e-04 9.99878385e-01 7.75904806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.1092541539999 meters Centerline goodness : 0.999319 Centerline is valid? [True, True] Translation: X:501.86, Y:5.89, Z:7.76 [[ 9.98559752e-01 -5.13356304e-02 -1.55908360e-02 5.01857015e+02] [ 5.13360122e-02 9.98681367e-01 -3.75987925e-04 5.88895740e+00] [ 1.55895790e-02 -4.24924937e-04 9.99878385e-01 7.75940554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.13925415399996 meters Centerline goodness : 0.999383 Centerline is valid? [True, True] Translation: X:501.89, Y:5.89, Z:7.76 [[ 9.98457704e-01 -5.32835657e-02 -1.55908617e-02 5.01888020e+02] [ 5.32842014e-02 9.98579318e-01 -3.74919324e-04 5.88814206e+00] [ 1.55886890e-02 -4.56405527e-04 9.99878385e-01 7.76013083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.16925415399993 meters Centerline goodness : 0.999660 Centerline is valid? [True, True] Translation: X:501.92, Y:5.89, Z:7.76 [[ 9.98422620e-01 -5.39369585e-02 -1.55909031e-02 5.01920608e+02] [ 5.39377007e-02 9.98544233e-01 -3.73188810e-04 5.88832218e+00] [ 1.55883350e-02 -4.68337316e-04 9.99878385e-01 7.76197745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.19925415399996 meters Centerline goodness : 0.999405 Centerline is valid? [True, True] Translation: X:501.95, Y:5.89, Z:7.76 [[ 9.98368522e-01 -5.49292092e-02 -1.55909302e-02 5.01952421e+02] [ 5.49300900e-02 9.98490134e-01 -3.72053197e-04 5.88800849e+00] [ 1.55878266e-02 -4.84965000e-04 9.99878385e-01 7.76205333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.22925415399993 meters Centerline goodness : 0.999490 Centerline is valid? [True, True] Translation: X:501.98, Y:5.89, Z:7.76 [[ 9.98376775e-01 -5.47789789e-02 -1.55909572e-02 5.01983754e+02] [ 5.47798591e-02 9.98498387e-01 -3.70919767e-04 5.88828394e+00] [ 1.55878642e-02 -4.83752755e-04 9.99878385e-01 7.76077028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.25925415399996 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:502.02, Y:5.89, Z:7.76 [[ 9.98390058e-01 -5.45363437e-02 -1.55910076e-02 5.02015696e+02] [ 5.45372276e-02 9.98511670e-01 -3.68786520e-04 5.88901226e+00] [ 1.55879153e-02 -4.82097537e-04 9.99878385e-01 7.76236351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.28925415399993 meters Centerline goodness : 0.999575 Centerline is valid? [True, True] Translation: X:502.05, Y:5.89, Z:7.76 [[ 9.98490522e-01 -5.26649583e-02 -1.55910339e-02 5.02048024e+02] [ 5.26656317e-02 9.98612135e-01 -3.67671191e-04 5.89004247e+00] [ 1.55887591e-02 -4.53995451e-04 9.99878385e-01 7.76336083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.3192541539999 meters Centerline goodness : 0.999640 Centerline is valid? [True, True] Translation: X:502.08, Y:5.89, Z:7.76 [[ 9.98563617e-01 -5.12603242e-02 -1.55910603e-02 5.02080512e+02] [ 5.12608440e-02 9.98685231e-01 -3.66549732e-04 5.89091032e+00] [ 1.55893511e-02 -4.33187684e-04 9.99878385e-01 7.76230416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.34925415399994 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:502.11, Y:5.89, Z:7.76 [[ 9.98632938e-01 -4.98916085e-02 -1.55910930e-02 5.02112558e+02] [ 4.98919833e-02 9.98754553e-01 -3.65154912e-04 5.89181456e+00] [ 1.55898932e-02 -4.13214828e-04 9.99878385e-01 7.76495546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.3792541539999 meters Centerline goodness : 0.999426 Centerline is valid? [True, True] Translation: X:502.14, Y:5.89, Z:7.77 [[ 9.98793327e-01 -4.65704468e-02 -1.55911184e-02 5.02144874e+02] [ 4.65704343e-02 9.98914942e-01 -3.64063435e-04 5.89328415e+00] [ 1.55911558e-02 -3.62461028e-04 9.99878385e-01 7.76741367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.40925415399994 meters Centerline goodness : 0.999596 Centerline is valid? [True, True] Translation: X:502.18, Y:5.89, Z:7.77 [[ 9.98867224e-01 -4.49575851e-02 -1.55911442e-02 5.02175543e+02] [ 4.49573935e-02 9.98988839e-01 -3.62956126e-04 5.89421221e+00] [ 1.55916967e-02 -3.38392228e-04 9.99878385e-01 7.76788523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.4392541539999 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:502.21, Y:5.89, Z:7.77 [[ 9.99058651e-01 -4.04811912e-02 -1.55911570e-02 5.02212118e+02] [ 4.04804633e-02 9.99180264e-01 -3.62404975e-04 5.89311695e+00] [ 1.55930470e-02 -2.69073434e-04 9.99878385e-01 7.76674585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.46925415399994 meters Centerline goodness : 0.999469 Centerline is valid? [True, True] Translation: X:502.24, Y:5.90, Z:7.77 [[ 9.99013268e-01 -4.15837836e-02 -1.55973941e-02 5.02236682e+02] [ 4.15874151e-02 9.99134865e-01 -9.15872725e-05 5.89528848e+00] [ 1.55877088e-02 -5.57158405e-04 9.99878349e-01 7.77016826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.4992541539999 meters Centerline goodness : 0.999511 Centerline is valid? [True, True] Translation: X:502.27, Y:5.89, Z:7.77 [[ 9.99153238e-01 -3.80753275e-02 -1.55909309e-02 5.02272287e+02] [ 3.80742423e-02 9.99274846e-01 -3.66534509e-04 5.89478222e+00] [ 1.55935810e-02 -2.27388738e-04 9.99878387e-01 7.76735774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.52925415399994 meters Centerline goodness : 0.999680 Centerline is valid? [True, True] Translation: X:502.30, Y:5.90, Z:7.77 [[ 9.99157550e-01 -3.79601141e-02 -1.55955358e-02 5.02298558e+02] [ 3.79620977e-02 9.99279166e-01 -1.68933156e-04 5.89645015e+00] [ 1.55907067e-02 -4.23248414e-04 9.99878368e-01 7.77084646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.5592541539999 meters Centerline goodness : 0.999617 Centerline is valid? [True, True] Translation: X:502.33, Y:5.90, Z:7.77 [[ 9.99184513e-01 -3.72456055e-02 -1.55908281e-02 5.02330660e+02] [ 3.72443924e-02 9.99306119e-01 -3.68255430e-04 5.89670629e+00] [ 1.55937258e-02 -2.12715797e-04 9.99878388e-01 7.77112922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.58925415399995 meters Centerline goodness : 0.999595 Centerline is valid? [True, True] Translation: X:502.36, Y:5.90, Z:7.77 [[ 9.99185064e-01 -3.72308118e-02 -1.55908549e-02 5.02362183e+02] [ 3.72296146e-02 9.99306670e-01 -3.67118366e-04 5.89599014e+00] [ 1.55937134e-02 -2.13622330e-04 9.99878388e-01 7.77093255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.6192541539999 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:502.39, Y:5.90, Z:7.77 [[ 9.99160895e-01 -3.78738628e-02 -1.55909011e-02 5.02394016e+02] [ 3.78727747e-02 9.99282502e-01 -3.65145667e-04 5.89581245e+00] [ 1.55935441e-02 -2.25631412e-04 9.99878388e-01 7.77203784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.64925415399995 meters Centerline goodness : 0.999574 Centerline is valid? [True, True] Translation: X:502.43, Y:5.89, Z:7.77 [[ 9.99055928e-01 -4.05484481e-02 -1.55909272e-02 5.02425041e+02] [ 4.05477030e-02 9.99177537e-01 -3.64024217e-04 5.89419652e+00] [ 1.55928649e-02 -2.68495735e-04 9.99878388e-01 7.77241551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.6792541539999 meters Centerline goodness : 0.999660 Centerline is valid? [True, True] Translation: X:502.46, Y:5.89, Z:7.77 [[ 9.98989530e-01 -4.21525870e-02 -1.55909467e-02 5.02456417e+02] [ 4.21520502e-02 9.99111141e-01 -3.63188365e-04 5.89347678e+00] [ 1.55923979e-02 -2.94368994e-04 9.99878388e-01 7.77298792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.70925415399995 meters Centerline goodness : 0.999300 Centerline is valid? [True, True] Translation: X:502.49, Y:5.89, Z:7.78 [[ 9.98894876e-01 -4.43390143e-02 -1.55909658e-02 5.02488854e+02] [ 4.43387565e-02 9.99016488e-01 -3.62365646e-04 5.89291253e+00] [ 1.55916989e-02 -3.29318851e-04 9.99878388e-01 7.77534198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.7392541539999 meters Centerline goodness : 0.999362 Centerline is valid? [True, True] Translation: X:502.52, Y:5.89, Z:7.78 [[ 9.98670745e-01 -4.91290501e-02 -1.55909926e-02 5.02521227e+02] [ 4.91293936e-02 9.98792357e-01 -3.61210248e-04 5.89052728e+00] [ 1.55899102e-02 -4.05245904e-04 9.99878388e-01 7.77641019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.76925415399995 meters Centerline goodness : 0.999533 Centerline is valid? [True, True] Translation: X:502.55, Y:5.89, Z:7.78 [[ 9.98553255e-01 -5.14618107e-02 -1.55910191e-02 5.02553404e+02] [ 5.14624562e-02 9.98674865e-01 -3.60062345e-04 5.88948744e+00] [ 1.55888884e-02 -4.42810712e-04 9.99878388e-01 7.77720168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.7992541539999 meters Centerline goodness : 0.999682 Centerline is valid? [True, True] Translation: X:502.59, Y:5.89, Z:7.78 [[ 9.98414593e-01 -5.40853079e-02 -1.55910456e-02 5.02585054e+02] [ 5.40862908e-02 9.98536201e-01 -3.58912951e-04 5.88855491e+00] [ 1.55876353e-02 -4.84917897e-04 9.99878388e-01 7.77699286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.82925415399995 meters Centerline goodness : 0.999300 Centerline is valid? [True, True] Translation: X:502.62, Y:5.89, Z:7.78 [[ 9.98250290e-01 -5.70374997e-02 -1.55911078e-02 5.02617973e+02] [ 5.70388848e-02 9.98371894e-01 -3.56187927e-04 5.88766285e+00] [ 1.55860399e-02 -5.33734702e-04 9.99878388e-01 7.77822966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.8592541539999 meters Centerline goodness : 0.999321 Centerline is valid? [True, True] Translation: X:502.65, Y:5.89, Z:7.78 [[ 9.97856246e-01 -6.35596379e-02 -1.55911464e-02 5.02651151e+02] [ 6.35618441e-02 9.97977839e-01 -3.54490732e-04 5.88508505e+00] [ 1.55821499e-02 -6.37271226e-04 9.99878388e-01 7.77928675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.88925415399996 meters Centerline goodness : 0.999322 Centerline is valid? [True, True] Translation: X:502.68, Y:5.88, Z:7.78 [[ 9.97639414e-01 -6.68768653e-02 -1.55911857e-02 5.02684448e+02] [ 6.68795028e-02 9.97760997e-01 -3.52755047e-04 5.88413899e+00] [ 1.55798681e-02 -6.90808408e-04 9.99878388e-01 7.77972317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.91925415399993 meters Centerline goodness : 0.999239 Centerline is valid? [True, True] Translation: X:502.72, Y:5.88, Z:7.78 [[ 9.97168565e-01 -7.35647064e-02 -1.55912247e-02 5.02716591e+02] [ 7.35681861e-02 9.97290128e-01 -3.51021814e-04 5.88198352e+00] [ 1.55747973e-02 -7.96990202e-04 9.99878388e-01 7.77986137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.94925415399996 meters Centerline goodness : 0.999069 Centerline is valid? [True, True] Translation: X:502.75, Y:5.88, Z:7.78 [[ 9.96946239e-01 -7.65186913e-02 -1.55912569e-02 5.02748459e+02] [ 7.65225535e-02 9.97067789e-01 -3.49584357e-04 5.88138284e+00] [ 1.55722898e-02 -8.44565984e-04 9.99878388e-01 7.78017731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.97925415399993 meters Centerline goodness : 0.999070 Centerline is valid? [True, True] Translation: X:502.78, Y:5.88, Z:7.78 [[ 9.96730424e-01 -7.92803485e-02 -1.55912826e-02 5.02781890e+02] [ 7.92845654e-02 9.96851963e-01 -3.48437679e-04 5.88107509e+00] [ 1.55698249e-02 -8.88849626e-04 9.99878388e-01 7.78096091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.00925415399996 meters Centerline goodness : 0.999052 Centerline is valid? [True, True] Translation: X:502.81, Y:5.88, Z:7.78 [[ 9.96416841e-01 -8.31287537e-02 -1.55913210e-02 5.02814209e+02] [ 8.31334669e-02 9.96538362e-01 -3.46707424e-04 5.87988383e+00] [ 1.55661709e-02 -9.50695455e-04 9.99878388e-01 7.78158667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.03925415399993 meters Centerline goodness : 0.999262 Centerline is valid? [True, True] Translation: X:502.85, Y:5.88, Z:7.78 [[ 9.96338146e-01 -8.40667501e-02 -1.55910664e-02 5.02845830e+02] [ 8.40713978e-02 9.96459669e-01 -3.58241250e-04 5.87884179e+00] [ 1.55659851e-02 -9.53833327e-04 9.99878388e-01 7.78141540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.0692541539999 meters Centerline goodness : 0.999346 Centerline is valid? [True, True] Translation: X:502.88, Y:5.88, Z:7.78 [[ 9.96285875e-01 -8.46838963e-02 -1.55914293e-02 5.02877303e+02] [ 8.46888774e-02 9.96407385e-01 -3.41682346e-04 5.87857893e+00] [ 1.55643503e-02 -9.80007352e-04 9.99878388e-01 7.78124875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.09925415399994 meters Centerline goodness : 0.998736 Centerline is valid? [True, True] Translation: X:502.91, Y:5.88, Z:7.78 [[ 9.96328858e-01 -8.41766747e-02 -1.55914480e-02 5.02909582e+02] [ 8.41816073e-02 9.96450370e-01 -3.40826243e-04 5.87821337e+00] [ 1.55647938e-02 -9.72938136e-04 9.99878388e-01 7.78200529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.1292541539999 meters Centerline goodness : 0.998990 Centerline is valid? [True, True] Translation: X:502.94, Y:5.88, Z:7.78 [[ 9.96457188e-01 -8.26436781e-02 -1.55914731e-02 5.02940943e+02] [ 8.26484417e-02 9.96578707e-01 -3.39674570e-04 5.87856130e+00] [ 1.55662021e-02 -9.50139792e-04 9.99878388e-01 7.78091682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.15925415399994 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:502.98, Y:5.88, Z:7.78 [[ 9.96644176e-01 -8.03572710e-02 -1.55914918e-02 5.02975964e+02] [ 8.03617692e-02 9.96765705e-01 -3.38816432e-04 5.87968755e+00] [ 1.55682907e-02 -9.15280441e-04 9.99878388e-01 7.78334731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.1892541539999 meters Centerline goodness : 0.999074 Centerline is valid? [True, True] Translation: X:503.01, Y:5.88, Z:7.78 [[ 9.96799900e-01 -7.84015108e-02 -1.55936827e-02 5.03005265e+02] [ 7.84073648e-02 9.96921376e-01 -2.36545406e-04 5.88073623e+00] [ 1.55642212e-02 -9.86871133e-04 9.99878383e-01 7.78218717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.21925415399994 meters Centerline goodness : 0.999515 Centerline is valid? [True, True] Translation: X:503.04, Y:5.88, Z:7.78 [[ 9.97306536e-01 -7.16699053e-02 -1.55915793e-02 5.03035544e+02] [ 7.16734105e-02 9.97428098e-01 -3.34570677e-04 5.88318253e+00] [ 1.55754580e-02 -7.83832143e-04 9.99878388e-01 7.78171326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.2492541539999 meters Centerline goodness : 0.999220 Centerline is valid? [True, True] Translation: X:503.07, Y:5.88, Z:7.78 [[ 9.97692137e-01 -6.60858525e-02 -1.55903543e-02 5.03074868e+02] [ 6.60877721e-02 9.97813736e-01 -3.92600978e-04 5.88195662e+00] [ 1.55822151e-02 -6.38636875e-04 9.99878386e-01 7.78017711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.27925415399994 meters Centerline goodness : 0.999325 Centerline is valid? [True, True] Translation: X:503.11, Y:5.88, Z:7.78 [[ 9.98200952e-01 -5.78927914e-02 -1.55975509e-02 5.03108306e+02] [ 5.78991590e-02 9.98322436e-01 -4.33952245e-05 5.88216207e+00] [ 1.55738973e-02 -8.59767927e-04 9.99878350e-01 7.77794397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.3092541539999 meters Centerline goodness : 0.999429 Centerline is valid? [True, True] Translation: X:503.13, Y:5.89, Z:7.78 [[ 9.98113337e-01 -5.93836666e-02 -1.55995416e-02 5.03129812e+02] [ 5.93917690e-02 9.98234749e-01 5.62370020e-05 5.88800527e+00] [ 1.55686649e-02 -9.82615270e-04 9.99878318e-01 7.78408803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.33925415399995 meters Centerline goodness : 0.999430 Centerline is valid? [True, True] Translation: X:503.16, Y:5.89, Z:7.79 [[ 9.98415105e-01 -5.40756720e-02 -1.55916532e-02 5.03160284e+02] [ 5.40772025e-02 9.98536705e-01 -3.23734953e-04 5.88958512e+00] [ 1.55863442e-02 -5.19931119e-04 9.99878390e-01 7.78528566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.3692541539999 meters Centerline goodness : 0.999430 Centerline is valid? [True, True] Translation: X:503.19, Y:5.89, Z:7.79 [[ 9.98425765e-01 -5.38791147e-02 -1.55895144e-02 5.03193000e+02] [ 5.38790169e-02 9.98547380e-01 -4.26582068e-04 5.89016583e+00] [ 1.55898526e-02 -4.14037182e-04 9.99878385e-01 7.78582586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.39925415399995 meters Centerline goodness : 0.999260 Centerline is valid? [True, True] Translation: X:503.23, Y:5.89, Z:7.78 [[ 9.98869430e-01 -4.49089908e-02 -1.55898840e-02 5.03230049e+02] [ 4.49080877e-02 9.98991040e-01 -4.08176584e-04 5.89031243e+00] [ 1.55924852e-02 -2.92396766e-04 9.99878387e-01 7.78328677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.4292541539999 meters Centerline goodness : 0.999493 Centerline is valid? [True, True] Translation: X:503.25, Y:5.90, Z:7.79 [[ 9.98881492e-01 -4.46378048e-02 -1.55958716e-02 5.03253979e+02] [ 4.46415517e-02 9.99003063e-01 -1.07971781e-04 5.89638147e+00] [ 1.55851431e-02 -5.88372896e-04 9.99878371e-01 7.78802447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.45925415399995 meters Centerline goodness : 0.999492 Centerline is valid? [True, True] Translation: X:503.29, Y:5.90, Z:7.79 [[ 9.99060239e-01 -4.04426588e-02 -1.55894430e-02 5.03288744e+02] [ 4.04410387e-02 9.99181839e-01 -4.19287799e-04 5.89699900e+00] [ 1.55936455e-02 -2.11559501e-04 9.99878389e-01 7.78853119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.4892541539999 meters Centerline goodness : 0.999447 Centerline is valid? [True, True] Translation: X:503.32, Y:5.90, Z:7.79 [[ 9.99339392e-01 -3.28281029e-02 -1.55915271e-02 5.03321381e+02] [ 3.28271566e-02 9.99460994e-01 -3.16688335e-04 5.89895673e+00] [ 1.55935194e-02 -1.95346373e-04 9.99878395e-01 7.78861645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.51925415399995 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:503.36, Y:5.89, Z:7.78 [[ 9.99629251e-01 -2.23218395e-02 -1.55915506e-02 5.03357601e+02] [ 2.23196332e-02 9.99750836e-01 -3.15526318e-04 5.89268106e+00] [ 1.55947089e-02 -3.25883525e-05 9.99878395e-01 7.78127832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.5492541539999 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:503.38, Y:5.90, Z:7.79 [[ 9.99535369e-01 -2.61870109e-02 -1.55976771e-02 5.03381014e+02] [ 2.61900991e-02 9.99656981e-01 -6.27602661e-06 5.90018189e+00] [ 1.55924911e-02 -4.02231598e-04 9.99878349e-01 7.78873168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.57925415399995 meters Centerline goodness : 0.999382 Centerline is valid? [True, True] Translation: X:503.42, Y:5.89, Z:7.78 [[ 9.99771662e-01 -1.46128880e-02 -1.55912905e-02 5.03418092e+02] [ 1.46096942e-02 9.99893222e-01 -3.18728195e-04 5.89345379e+00] [ 1.55942832e-02 9.08714311e-05 9.99878398e-01 7.78082802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.6092541539999 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:503.44, Y:5.90, Z:7.79 [[ 9.99653273e-01 -2.12138960e-02 -1.55981974e-02 5.03439522e+02] [ 2.12169103e-02 9.99774896e-01 2.77718185e-05 5.90190615e+00] [ 1.55940970e-02 -3.58707743e-04 9.99878340e-01 7.78915869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.63925415399996 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:503.47, Y:5.90, Z:7.79 [[ 9.99667391e-01 -2.05433775e-02 -1.55909278e-02 5.03469326e+02] [ 2.05408370e-02 9.99788963e-01 -3.23081703e-04 5.90180646e+00] [ 1.55942747e-02 2.72353689e-06 9.99878402e-01 7.78996851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.66925415399993 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:503.50, Y:5.90, Z:7.79 [[ 9.99648802e-01 -2.14288807e-02 -1.55909160e-02 5.03497941e+02] [ 2.14264391e-02 9.99770375e-01 -3.23648265e-04 5.90146046e+00] [ 1.55942714e-02 -1.05232124e-05 9.99878402e-01 7.79056349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.69925415399996 meters Centerline goodness : 0.999639 Centerline is valid? [True, True] Translation: X:503.53, Y:5.90, Z:7.79 [[ 9.99622492e-01 -2.26230023e-02 -1.55908323e-02 5.03527820e+02] [ 2.26206437e-02 9.99744067e-01 -3.27634082e-04 5.90074205e+00] [ 1.55942541e-02 -2.51642645e-05 9.99878402e-01 7.79114262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.72925415399993 meters Centerline goodness : 0.999173 Centerline is valid? [True, True] Translation: X:503.56, Y:5.90, Z:7.79 [[ 9.99538749e-01 -2.60617739e-02 -1.55908202e-02 5.03556504e+02] [ 2.60598247e-02 9.99660331e-01 -3.28205645e-04 5.89758619e+00] [ 1.55940781e-02 -7.82397816e-05 9.99878402e-01 7.79098665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.75925415399996 meters Centerline goodness : 0.999172 Centerline is valid? [True, True] Translation: X:503.59, Y:5.90, Z:7.79 [[ 9.99470164e-01 -2.85712699e-02 -1.55908023e-02 5.03586552e+02] [ 2.85696127e-02 9.99591751e-01 -3.29055556e-04 5.89668648e+00] [ 1.55938389e-02 -1.16541973e-04 9.99878402e-01 7.79192152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.78925415399993 meters Centerline goodness : 0.999300 Centerline is valid? [True, True] Translation: X:503.62, Y:5.90, Z:7.79 [[ 9.99431819e-01 -2.98825508e-02 -1.55908023e-02 5.03615183e+02] [ 2.98810531e-02 9.99553407e-01 -3.29055556e-04 5.89605211e+00] [ 1.55936726e-02 -1.37000999e-04 9.99878402e-01 7.79380514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.8192541539999 meters Centerline goodness : 0.999196 Centerline is valid? [True, True] Translation: X:503.65, Y:5.90, Z:7.79 [[ 9.99285925e-01 -3.44186425e-02 -1.55883631e-02 5.03646809e+02] [ 3.44159164e-02 9.99407499e-01 -4.43184685e-04 5.89520148e+00] [ 1.55943808e-02 -9.36195844e-05 9.99878396e-01 7.79285211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.84925415399994 meters Centerline goodness : 0.999556 Centerline is valid? [True, True] Translation: X:503.68, Y:5.89, Z:7.79 [[ 9.99162744e-01 -3.78251209e-02 -1.55907472e-02 5.03677802e+02] [ 3.78245618e-02 9.99284340e-01 -3.30835853e-04 5.89408338e+00] [ 1.55921035e-02 -2.59154324e-04 9.99878402e-01 7.79344605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.8792541539999 meters Centerline goodness : 0.999471 Centerline is valid? [True, True] Translation: X:503.71, Y:5.89, Z:7.79 [[ 9.98840156e-01 -4.55551300e-02 -1.55907654e-02 5.03709060e+02] [ 4.55555253e-02 9.98961754e-01 -3.29976920e-04 5.89091120e+00] [ 1.55896105e-02 -3.80651310e-04 9.99878402e-01 7.79335041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.90925415399994 meters Centerline goodness : 0.999135 Centerline is valid? [True, True] Translation: X:503.74, Y:5.89, Z:7.79 [[ 9.98639222e-01 -4.97657671e-02 -1.55908037e-02 5.03740929e+02] [ 4.97667034e-02 9.98760816e-01 -3.28158881e-04 5.88959015e+00] [ 1.55878149e-02 -4.48190573e-04 9.99878402e-01 7.79387491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.9392541539999 meters Centerline goodness : 0.999304 Centerline is valid? [True, True] Translation: X:503.77, Y:5.89, Z:7.79 [[ 9.98233626e-01 -5.73284773e-02 -1.55908280e-02 5.03772183e+02] [ 5.73303526e-02 9.98355209e-01 -3.26999712e-04 5.88641238e+00] [ 1.55839307e-02 -5.67405559e-04 9.99878402e-01 7.79409786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.96925415399994 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:503.81, Y:5.89, Z:7.80 [[ 9.98049099e-01 -6.04559514e-02 -1.55908461e-02 5.03805433e+02] [ 6.04582211e-02 9.98170675e-01 -3.26135927e-04 5.88545355e+00] [ 1.55820422e-02 -6.17095150e-04 9.99878402e-01 7.79521310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.9992541539999 meters Centerline goodness : 0.999284 Centerline is valid? [True, True] Translation: X:503.84, Y:5.88, Z:7.79 [[ 9.97916668e-01 -6.26038921e-02 -1.55908820e-02 5.03837159e+02] [ 6.26064504e-02 9.98038239e-01 -3.24408162e-04 5.88454931e+00] [ 1.55806057e-02 -6.52357470e-04 9.99878402e-01 7.79436672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.02925415399994 meters Centerline goodness : 0.999474 Centerline is valid? [True, True] Translation: X:503.87, Y:5.88, Z:7.79 [[ 9.97731978e-01 -6.54814744e-02 -1.55908998e-02 5.03872905e+02] [ 6.54843967e-02 9.97853541e-01 -3.23552455e-04 5.88098646e+00] [ 1.55786212e-02 -6.98142035e-04 9.99878402e-01 7.79450837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.0592541539999 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:503.90, Y:5.88, Z:7.80 [[ 9.97454568e-01 -6.95787324e-02 -1.55944130e-02 5.03901049e+02] [ 6.95848426e-02 9.97576026e-01 -1.51098007e-04 5.88289778e+00] [ 1.55671257e-02 -9.34421373e-04 9.99878388e-01 7.79554671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.08925415399995 meters Centerline goodness : 0.999328 Centerline is valid? [True, True] Translation: X:503.93, Y:5.88, Z:7.80 [[ 9.97266396e-01 -7.22264530e-02 -1.55908901e-02 5.03932696e+02] [ 7.22302246e-02 9.97387934e-01 -3.21791892e-04 5.88205440e+00] [ 1.55734076e-02 -8.05221254e-04 9.99878403e-01 7.79513950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.1192541539999 meters Centerline goodness : 0.999243 Centerline is valid? [True, True] Translation: X:503.97, Y:5.88, Z:7.79 [[ 9.97436948e-01 -6.98316344e-02 -1.55909198e-02 5.03970270e+02] [ 6.98351366e-02 9.97558495e-01 -3.20346322e-04 5.87864025e+00] [ 1.55752248e-02 -7.69268758e-04 9.99878403e-01 7.79215035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.14925415399995 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:504.00, Y:5.88, Z:7.79 [[ 9.97410126e-01 -7.02125316e-02 -1.55961711e-02 5.03999485e+02] [ 7.02201347e-02 9.97531518e-01 -6.02632573e-05 5.88004724e+00] [ 1.55619035e-02 -1.03505805e-03 9.99878371e-01 7.79189558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.1792541539999 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:504.03, Y:5.88, Z:7.79 [[ 9.97159268e-01 -7.36901509e-02 -1.55934577e-02 5.04032372e+02] [ 7.36961553e-02 9.97280723e-01 -1.89995733e-04 5.88161258e+00] [ 1.55650556e-02 -9.59721872e-04 9.99878397e-01 7.79352142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.20925415399995 meters Centerline goodness : 0.999220 Centerline is valid? [True, True] Translation: X:504.06, Y:5.89, Z:7.80 [[ 9.96846565e-01 -7.78058431e-02 -1.55941336e-02 5.04059754e+02] [ 7.78128529e-02 9.96967971e-01 -1.57650721e-04 5.88501339e+00] [ 1.55591179e-02 -1.05627045e-03 9.99878392e-01 7.79540640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.2392541539999 meters Centerline goodness : 0.999221 Centerline is valid? [True, True] Translation: X:504.09, Y:5.89, Z:7.80 [[ 9.96805106e-01 -7.83359257e-02 -1.55905019e-02 5.04093139e+02] [ 7.83403217e-02 9.96926620e-01 -3.29497500e-04 5.88565564e+00] [ 1.55683979e-02 -8.92920146e-04 9.99878406e-01 7.79560414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.26925415399995 meters Centerline goodness : 0.999347 Centerline is valid? [True, True] Translation: X:504.12, Y:5.89, Z:7.80 [[ 9.96681932e-01 -7.98878001e-02 -1.55905393e-02 5.04124268e+02] [ 7.98924130e-02 9.96803438e-01 -3.27718030e-04 5.88660235e+00] [ 1.55668839e-02 -9.18935168e-04 9.99878406e-01 7.79561951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.2992541539999 meters Centerline goodness : 0.999241 Centerline is valid? [True, True] Translation: X:504.16, Y:5.89, Z:7.80 [[ 9.96463649e-01 -8.25659120e-02 -1.55905577e-02 5.04157773e+02] [ 8.25708651e-02 9.96585142e-01 -3.26840261e-04 5.88794041e+00] [ 1.55643041e-02 -9.61641401e-04 9.99878406e-01 7.79612624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.32925415399995 meters Centerline goodness : 0.999325 Centerline is valid? [True, True] Translation: X:504.19, Y:5.89, Z:7.80 [[ 9.96338239e-01 -8.40657337e-02 -1.55905948e-02 5.04190810e+02] [ 8.40708974e-02 9.96459723e-01 -3.25060785e-04 5.88888457e+00] [ 1.55627263e-02 -9.86844809e-04 9.99878406e-01 7.79621522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.3592541539999 meters Centerline goodness : 0.999282 Centerline is valid? [True, True] Translation: X:504.22, Y:5.89, Z:7.80 [[ 9.96041310e-01 -8.75136663e-02 -1.55906320e-02 5.04221584e+02] [ 8.75192783e-02 9.96162774e-01 -3.23269304e-04 5.89154023e+00] [ 1.55590977e-02 -1.04249128e-03 9.99878406e-01 7.79552849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.38925415399996 meters Centerline goodness : 0.999282 Centerline is valid? [True, True] Translation: X:504.26, Y:5.89, Z:7.79 [[ 9.96150614e-01 -8.62605708e-02 -1.55906503e-02 5.04257080e+02] [ 8.62660438e-02 9.96272084e-01 -3.22383129e-04 5.89107987e+00] [ 1.55603386e-02 -1.02380157e-03 9.99878406e-01 7.79484724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.41925415399993 meters Centerline goodness : 0.999472 Centerline is valid? [True, True] Translation: X:504.29, Y:5.89, Z:7.79 [[ 9.96149465e-01 -8.62733561e-02 -1.55933179e-02 5.04291416e+02] [ 8.62808788e-02 9.96270833e-01 -1.90924290e-04 5.89237498e+00] [ 1.55516395e-02 -1.15521604e-03 9.99878399e-01 7.79233116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.44925415399996 meters Centerline goodness : 0.999430 Centerline is valid? [True, True] Translation: X:504.32, Y:5.90, Z:7.80 [[ 9.95676115e-01 -9.15742283e-02 -1.55959655e-02 5.04316547e+02] [ 9.15844884e-02 9.95797308e-01 -5.65821277e-05 5.89950829e+00] [ 1.55356019e-02 -1.37201105e-03 9.99878374e-01 7.79717992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.47925415399993 meters Centerline goodness : 0.999280 Centerline is valid? [True, True] Translation: X:504.35, Y:5.90, Z:7.79 [[ 9.95884230e-01 -8.92834126e-02 -1.55907858e-02 5.04352524e+02] [ 8.92893866e-02 9.96005676e-01 -3.13886704e-04 5.89788600e+00] [ 1.55565360e-02 -1.07949688e-03 9.99878407e-01 7.79459940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.50925415399996 meters Centerline goodness : 0.999324 Centerline is valid? [True, True] Translation: X:504.38, Y:5.90, Z:7.80 [[ 9.95490440e-01 -9.35714249e-02 -1.55939772e-02 5.04380295e+02] [ 9.35804210e-02 9.95611712e-01 -1.53393933e-04 5.90352194e+00] [ 1.55398996e-02 -1.30658876e-03 9.99878395e-01 7.79959629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.53925415399993 meters Centerline goodness : 0.999366 Centerline is valid? [True, True] Translation: X:504.41, Y:5.91, Z:7.80 [[ 9.95338469e-01 -9.51748894e-02 -1.55908092e-02 5.04412334e+02] [ 9.51816143e-02 9.95459875e-01 -3.11808345e-04 5.90688816e+00] [ 1.55497013e-02 -1.17360355e-03 9.99878407e-01 7.80163428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.5692541539999 meters Centerline goodness : 0.999366 Centerline is valid? [True, True] Translation: X:504.44, Y:5.91, Z:7.80 [[ 9.95306496e-01 -9.55086631e-02 -1.55908322e-02 5.04444651e+02] [ 9.55154466e-02 9.95427899e-01 -3.10655222e-04 5.90921408e+00] [ 1.55492196e-02 -1.17996814e-03 9.99878407e-01 7.80295524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.59925415399994 meters Centerline goodness : 0.999662 Centerline is valid? [True, True] Translation: X:504.48, Y:5.91, Z:7.80 [[ 9.95685554e-01 -9.14724122e-02 -1.55908886e-02 5.04480735e+02] [ 9.14787480e-02 9.95806981e-01 -3.07795561e-04 5.90861853e+00] [ 1.55536705e-02 -1.11976738e-03 9.99878407e-01 7.80118477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.6292541539999 meters Centerline goodness : 0.999620 Centerline is valid? [True, True] Translation: X:504.51, Y:5.92, Z:7.81 [[ 9.95345566e-01 -9.51000017e-02 -1.55946537e-02 5.04507626e+02] [ 9.51098139e-02 9.95466780e-01 -1.12920069e-04 5.91519276e+00] [ 1.55346984e-02 -1.37081012e-03 9.99878390e-01 7.80506036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.65925415399994 meters Centerline goodness : 0.999535 Centerline is valid? [True, True] Translation: X:504.54, Y:5.92, Z:7.81 [[ 9.95311756e-01 -9.54538129e-02 -1.55909369e-02 5.04540526e+02] [ 9.54606977e-02 9.95433153e-01 -3.03724250e-04 5.91767888e+00] [ 1.55487271e-02 -1.18602140e-03 9.99878408e-01 7.80695006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.6892541539999 meters Centerline goodness : 0.999620 Centerline is valid? [True, True] Translation: X:504.57, Y:5.92, Z:7.81 [[ 9.95346344e-01 -9.50924660e-02 -1.55909701e-02 5.04573328e+02] [ 9.50993334e-02 9.95467742e-01 -3.02010246e-04 5.92103792e+00] [ 1.55490267e-02 -1.18208607e-03 9.99878408e-01 7.80769214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.71925415399994 meters Centerline goodness : 0.999514 Centerline is valid? [True, True] Translation: X:504.61, Y:5.92, Z:7.81 [[ 9.95354800e-01 -9.50039042e-02 -1.55910036e-02 5.04605484e+02] [ 9.50107879e-02 9.95476198e-01 -3.00272870e-04 5.92288989e+00] [ 1.55490001e-02 -1.18243549e-03 9.99878408e-01 7.80815698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.7492541539999 meters Centerline goodness : 0.999683 Centerline is valid? [True, True] Translation: X:504.64, Y:5.93, Z:7.81 [[ 9.95286552e-01 -9.57162458e-02 -1.55910312e-02 5.04637354e+02] [ 9.57232388e-02 9.95407943e-01 -2.98831373e-04 5.92576760e+00] [ 1.55480393e-02 -1.19500116e-03 9.99878408e-01 7.80797706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.77925415399994 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:504.67, Y:5.92, Z:7.80 [[ 9.95729921e-01 -9.09881444e-02 -1.55911112e-02 5.04673104e+02] [ 9.09946267e-02 9.95851340e-01 -2.94596862e-04 5.92173812e+00] [ 1.55532338e-02 -1.12536843e-03 9.99878408e-01 7.80269919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.8092541539999 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:504.70, Y:5.93, Z:7.81 [[ 9.95314620e-01 -9.54232922e-02 -1.55949343e-02 5.04699798e+02] [ 9.54336800e-02 9.95435787e-01 -7.84270974e-05 5.92721745e+00] [ 1.55312394e-02 -1.41022233e-03 9.99878389e-01 7.80725132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.83925415399995 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:504.74, Y:5.93, Z:7.80 [[ 9.95334642e-01 -9.52149183e-02 -1.55906829e-02 5.04735660e+02] [ 9.52215473e-02 9.95456054e-01 -3.18273398e-04 5.92675448e+00] [ 1.55501441e-02 -1.16778041e-03 9.99878407e-01 7.80428093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.8692541539999 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:504.76, Y:5.93, Z:7.81 [[ 9.94744541e-01 -1.01193405e-01 -1.55946217e-02 5.04762913e+02] [ 1.01204148e-01 9.94865675e-01 -1.00783475e-04 5.93184845e+00] [ 1.55247525e-02 -1.47798659e-03 9.99878391e-01 7.80703260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.89925415399995 meters Centerline goodness : 0.999577 Centerline is valid? [True, True] Translation: X:504.79, Y:5.93, Z:7.81 [[ 9.94667335e-01 -1.01950019e-01 -1.55911980e-02 5.04794909e+02] [ 1.01957959e-01 9.94788667e-01 -2.86873894e-04 5.93317930e+00] [ 1.55391939e-02 -1.30430263e-03 9.99878409e-01 7.80698973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.9292541539999 meters Centerline goodness : 0.999683 Centerline is valid? [True, True] Translation: X:504.83, Y:5.93, Z:7.81 [[ 9.94607955e-01 -1.02527690e-01 -1.55912738e-02 5.04828088e+02] [ 1.02535765e-01 9.94729278e-01 -2.82693402e-04 5.93451642e+00] [ 1.55380804e-02 -1.31749408e-03 9.99878409e-01 7.80719005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.95925415399995 meters Centerline goodness : 0.999514 Centerline is valid? [True, True] Translation: X:504.86, Y:5.94, Z:7.81 [[ 9.94662873e-01 -1.01993536e-01 -1.55913041e-02 5.04860536e+02] [ 1.02001572e-01 9.94784198e-01 -2.81009990e-04 5.93687644e+00] [ 1.55386442e-02 -1.31082732e-03 9.99878409e-01 7.80709823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.9892541539999 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:504.89, Y:5.94, Z:7.81 [[ 9.94776848e-01 -1.00875818e-01 -1.55913779e-02 5.04893961e+02] [ 1.00883783e-01 9.94898179e-01 -2.76857818e-04 5.93853297e+00] [ 1.55397617e-02 -1.29750543e-03 9.99878409e-01 7.80861022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.01925415399995 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:504.93, Y:5.94, Z:7.81 [[ 9.95112700e-01 -9.75070368e-02 -1.55914071e-02 5.04926710e+02] [ 9.75146160e-02 9.95234055e-01 -2.75202397e-04 5.94135323e+00] [ 1.55439335e-02 -1.24653267e-03 9.99878409e-01 7.80887549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.0492541539999 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:504.96, Y:5.94, Z:7.81 [[ 9.95298498e-01 -9.55918766e-02 -1.55914382e-02 5.04958248e+02] [ 9.55992499e-02 9.95419866e-01 -2.73427981e-04 5.94304971e+00] [ 1.55461648e-02 -1.21838734e-03 9.99878409e-01 7.81129250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.07925415399995 meters Centerline goodness : 0.999492 Centerline is valid? [True, True] Translation: X:504.99, Y:5.94, Z:7.81 [[ 9.95508020e-01 -9.33846322e-02 -1.55914537e-02 5.04991585e+02] [ 9.33917501e-02 9.95629402e-01 -2.72542545e-04 5.94491951e+00] [ 1.55487610e-02 -1.18479486e-03 9.99878409e-01 7.81245715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.1092541539999 meters Centerline goodness : 0.999577 Centerline is valid? [True, True] Translation: X:505.02, Y:5.95, Z:7.81 [[ 9.95937928e-01 -8.86822969e-02 -1.55914818e-02 5.05023510e+02] [ 8.86888667e-02 9.96059341e-01 -2.70922161e-04 5.94724216e+00] [ 1.55540671e-02 -1.11296920e-03 9.99878409e-01 7.81408133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.13925415399996 meters Centerline goodness : 0.999555 Centerline is valid? [True, True] Translation: X:505.06, Y:5.95, Z:7.82 [[ 9.96056735e-01 -8.73378579e-02 -1.55910025e-02 5.05056110e+02] [ 8.73438324e-02 9.96178180e-01 -2.98622828e-04 5.94864056e+00] [ 1.55574976e-02 -1.06433263e-03 9.99878408e-01 7.81556256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.16925415399993 meters Centerline goodness : 0.999154 Centerline is valid? [True, True] Translation: X:505.10, Y:5.94, Z:7.81 [[ 9.96664175e-01 -8.01088457e-02 -1.55915351e-02 5.05095382e+02] [ 8.01144224e-02 9.96785638e-01 -2.67592511e-04 5.94366087e+00] [ 1.55628548e-02 -9.82406960e-04 9.99878409e-01 7.81184639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.19925415399996 meters Centerline goodness : 0.999407 Centerline is valid? [True, True] Translation: X:505.12, Y:5.95, Z:7.82 [[ 9.96525405e-01 -8.18159816e-02 -1.55968472e-02 5.05117709e+02] [ 8.18269888e-02 9.96646547e-01 6.78083897e-05 5.95071517e+00] [ 1.55389961e-02 -1.34381583e-03 9.99878359e-01 7.81588669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.22925415399993 meters Centerline goodness : 0.999364 Centerline is valid? [True, True] Translation: X:505.15, Y:5.95, Z:7.82 [[ 9.96695485e-01 -7.97185081e-02 -1.55907219e-02 5.05149377e+02] [ 7.97235432e-02 9.96816968e-01 -2.99280015e-04 5.95163083e+00] [ 1.55649543e-02 -9.44656549e-04 9.99878413e-01 7.81616351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.25925415399996 meters Centerline goodness : 0.998983 Centerline is valid? [True, True] Translation: X:505.18, Y:5.95, Z:7.81 [[ 9.96770133e-01 -7.87797892e-02 -1.55899375e-02 5.05181890e+02] [ 7.87839756e-02 9.96891652e-01 -3.46401851e-04 5.95294517e+00] [ 1.55687680e-02 -8.82954237e-04 9.99878410e-01 7.81379878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.28925415399993 meters Centerline goodness : 0.998983 Centerline is valid? [True, True] Translation: X:505.21, Y:5.95, Z:7.81 [[ 9.96781769e-01 -7.86323137e-02 -1.55905364e-02 5.05214438e+02] [ 7.86370442e-02 9.96903265e-01 -3.10326815e-04 5.95328941e+00] [ 1.55666584e-02 -9.16665591e-04 9.99878412e-01 7.81429498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.3192541539999 meters Centerline goodness : 0.999217 Centerline is valid? [True, True] Translation: X:505.25, Y:5.96, Z:7.82 [[ 9.96990163e-01 -7.59443452e-02 -1.55907246e-02 5.05248252e+02] [ 7.59489298e-02 9.97111664e-01 -2.98674729e-04 5.95529057e+00] [ 1.55683760e-02 -8.86323078e-04 9.99878413e-01 7.81627214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.34925415399994 meters Centerline goodness : 0.999048 Centerline is valid? [True, True] Translation: X:505.28, Y:5.96, Z:7.82 [[ 9.97168067e-01 -7.35713885e-02 -1.55915364e-02 5.05280341e+02] [ 7.35764808e-02 9.97289547e-01 -2.47543266e-04 5.95650480e+00] [ 1.55674884e-02 -9.00328136e-04 9.99878414e-01 7.81616762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.3792541539999 meters Centerline goodness : 0.998981 Centerline is valid? [True, True] Translation: X:505.32, Y:5.95, Z:7.81 [[ 9.98002687e-01 -6.12171583e-02 -1.55915582e-02 5.05320595e+02] [ 6.12207673e-02 9.98124219e-01 -2.46159749e-04 5.95060769e+00] [ 1.55773811e-02 -7.08859067e-04 9.99878414e-01 7.81018778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.40925415399994 meters Centerline goodness : 0.999299 Centerline is valid? [True, True] Translation: X:505.34, Y:5.96, Z:7.82 [[ 9.97744557e-01 -6.52880144e-02 -1.55972715e-02 5.05341911e+02] [ 6.52980402e-02 9.97865797e-01 1.33845163e-04 5.96002398e+00] [ 1.55552453e-02 -1.15201454e-03 9.99878346e-01 7.81613773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.4392541539999 meters Centerline goodness : 0.999106 Centerline is valid? [True, True] Translation: X:505.37, Y:5.96, Z:7.82 [[ 9.97945072e-01 -6.21493722e-02 -1.55912824e-02 5.05374842e+02] [ 6.21530983e-02 9.98066597e-01 -2.45924499e-04 5.96183459e+00] [ 1.55764222e-02 -7.23627367e-04 9.99878418e-01 7.81681694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.46925415399994 meters Centerline goodness : 0.999299 Centerline is valid? [True, True] Translation: X:505.41, Y:5.96, Z:7.82 [[ 9.98357491e-01 -5.51292186e-02 -1.55913078e-02 5.05407197e+02] [ 5.51321151e-02 9.98479038e-01 -2.44306453e-04 5.96421656e+00] [ 1.55810624e-02 -6.15676597e-04 9.99878418e-01 7.81783087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.4992541539999 meters Centerline goodness : 0.999489 Centerline is valid? [True, True] Translation: X:505.44, Y:5.96, Z:7.82 [[ 9.98677817e-01 -4.89849715e-02 -1.55913286e-02 5.05436119e+02] [ 4.89871409e-02 9.98799380e-01 -2.42967621e-04 5.96461870e+00] [ 1.55845111e-02 -5.21128240e-04 9.99878418e-01 7.81701302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.52925415399994 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:505.47, Y:5.97, Z:7.82 [[ 9.98893647e-01 -4.43672683e-02 -1.55893112e-02 5.05471144e+02] [ 4.43668409e-02 9.99015237e-01 -3.73428430e-04 5.96708204e+00] [ 1.55905274e-02 -3.18633202e-04 9.99878410e-01 7.81941308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.5592541539999 meters Centerline goodness : 0.999616 Centerline is valid? [True, True] Translation: X:505.50, Y:5.97, Z:7.82 [[ 9.99036563e-01 -4.10226111e-02 -1.55913985e-02 5.05502916e+02] [ 4.10239377e-02 9.99158136e-01 -2.34875172e-04 5.96815526e+00] [ 1.55879079e-02 -4.04971676e-04 9.99878419e-01 7.82000122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.58925415399995 meters Centerline goodness : 0.998891 Centerline is valid? [True, True] Translation: X:505.53, Y:5.97, Z:7.82 [[ 9.99230323e-01 -3.59954003e-02 -1.55914148e-02 5.05532790e+02] [ 3.59961320e-02 9.99351902e-01 -2.33786585e-04 5.96859499e+00] [ 1.55897253e-02 -3.27623983e-04 9.99878419e-01 7.81899809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.6192541539999 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:505.57, Y:5.97, Z:7.82 [[ 9.99238541e-01 -3.57673921e-02 -1.55894966e-02 5.05566281e+02] [ 3.57661250e-02 9.99360123e-01 -3.60160909e-04 5.97008490e+00] [ 1.55924033e-02 -1.97689224e-04 9.99878412e-01 7.82040320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.64925415399995 meters Centerline goodness : 0.999466 Centerline is valid? [True, True] Translation: X:505.60, Y:5.97, Z:7.82 [[ 9.99331519e-01 -3.30669495e-02 -1.55913942e-02 5.05597926e+02] [ 3.30673308e-02 9.99453099e-01 -2.33413963e-04 5.97093645e+00] [ 1.55905856e-02 -2.82307860e-04 9.99878420e-01 7.81987109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.6792541539999 meters Centerline goodness : 0.999273 Centerline is valid? [True, True] Translation: X:505.63, Y:5.97, Z:7.82 [[ 9.99335026e-01 -3.29608083e-02 -1.55914063e-02 5.05629925e+02] [ 3.29611893e-02 9.99456605e-01 -2.32603948e-04 5.97060842e+00] [ 1.55906009e-02 -2.81462023e-04 9.99878420e-01 7.82113657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.70925415399995 meters Centerline goodness : 0.999615 Centerline is valid? [True, True] Translation: X:505.66, Y:5.97, Z:7.82 [[ 9.99315931e-01 -3.35347364e-02 -1.55914229e-02 5.05662347e+02] [ 3.35352047e-02 9.99437510e-01 -2.31485535e-04 5.97025125e+00] [ 1.55904157e-02 -2.91534377e-04 9.99878420e-01 7.82209269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.7392541539999 meters Centerline goodness : 0.999530 Centerline is valid? [True, True] Translation: X:505.69, Y:5.97, Z:7.82 [[ 9.99273584e-01 -3.47737041e-02 -1.55914395e-02 5.05693045e+02] [ 3.47743406e-02 9.99395163e-01 -2.30367121e-04 5.97004077e+00] [ 1.55900199e-02 -3.11982247e-04 9.99878420e-01 7.82250576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.76925415399995 meters Centerline goodness : 0.999360 Centerline is valid? [True, True] Translation: X:505.73, Y:5.97, Z:7.82 [[ 9.99165117e-01 -3.77620942e-02 -1.55914517e-02 5.05725651e+02] [ 3.77631072e-02 9.99286693e-01 -2.29534305e-04 5.96830101e+00] [ 1.55889979e-02 -3.59438993e-04 9.99878420e-01 7.82415113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.7992541539999 meters Centerline goodness : 0.999126 Centerline is valid? [True, True] Translation: X:505.77, Y:5.95, Z:7.82 [[ 9.99490948e-01 -2.78343465e-02 -1.55914681e-02 5.05770936e+02] [ 2.78341692e-02 9.99612528e-01 -2.28415297e-04 5.95373980e+00] [ 1.55917846e-02 -2.05676540e-04 9.99878420e-01 7.81642867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.82925415399995 meters Centerline goodness : 0.999128 Centerline is valid? [True, True] Translation: X:505.78, Y:5.96, Z:7.82 [[ 9.98973666e-01 -4.25230578e-02 -1.56014103e-02 5.05783510e+02] [ 4.25359875e-02 9.99094811e-01 4.97707000e-04 5.96442525e+00] [ 1.55661241e-02 -1.16081758e-03 9.99878167e-01 7.82439134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.8592541539999 meters Centerline goodness : 0.998958 Centerline is valid? [True, True] Translation: X:505.83, Y:5.95, Z:7.82 [[ 9.99398521e-01 -3.09765541e-02 -1.55900340e-02 5.05827520e+02] [ 3.09765721e-02 9.99520082e-01 -2.40381430e-04 5.95027891e+00] [ 1.55899983e-02 -2.42688968e-04 9.99878439e-01 7.81635156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.88925415399996 meters Centerline goodness : 0.999066 Centerline is valid? [True, True] Translation: X:505.84, Y:5.96, Z:7.83 [[ 9.98885869e-01 -4.45385692e-02 -1.55992683e-02 5.05840101e+02] [ 4.45509295e-02 9.99007015e-01 4.45592143e-04 5.96397643e+00] [ 1.55639324e-02 -1.14005760e-03 9.99878225e-01 7.82710515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.91925415399993 meters Centerline goodness : 0.999191 Centerline is valid? [True, True] Translation: X:505.89, Y:5.95, Z:7.82 [[ 9.99337737e-01 -3.28795911e-02 -1.55890903e-02 5.05887666e+02] [ 3.28799450e-02 9.99459281e-01 -2.33669222e-04 5.95032901e+00] [ 1.55883439e-02 -2.79053959e-04 9.99878455e-01 7.82152897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.94925415399996 meters Centerline goodness : 0.999320 Centerline is valid? [True, True] Translation: X:505.92, Y:5.95, Z:7.82 [[ 9.99286958e-01 -3.43831628e-02 -1.56004314e-02 5.05915898e+02] [ 3.43968187e-02 9.99408070e-01 6.07802278e-04 5.94992486e+00] [ 1.55702988e-02 -1.14397410e-03 9.99878121e-01 7.82388466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.97925415399993 meters Centerline goodness : 0.999216 Centerline is valid? [True, True] Translation: X:505.94, Y:5.96, Z:7.83 [[ 9.98971991e-01 -4.25633610e-02 -1.55987377e-02 5.05935395e+02] [ 4.25760974e-02 9.99093109e-01 4.85173187e-04 5.95748399e+00] [ 1.55639407e-02 -1.14880780e-03 9.99878215e-01 7.83035368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.00925415399996 meters Centerline goodness : 0.999024 Centerline is valid? [True, True] Translation: X:505.96, Y:5.96, Z:7.83 [[ 9.98778199e-01 -4.68934915e-02 -1.55919812e-02 5.05960014e+02] [ 4.68997795e-02 9.98899599e-01 3.76712420e-05 5.96169966e+00] [ 1.55730572e-02 -7.68885693e-04 9.99878437e-01 7.83284466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.03925415399993 meters Centerline goodness : 0.999025 Centerline is valid? [True, True] Translation: X:506.00, Y:5.96, Z:7.83 [[ 9.98904558e-01 -4.41215570e-02 -1.55875532e-02 5.05995265e+02] [ 4.41231078e-02 9.99026072e-01 -2.44574120e-04 5.95603469e+00] [ 1.55831631e-02 -4.43465088e-04 9.99878477e-01 7.83351099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.0692541539999 meters Centerline goodness : 0.998856 Centerline is valid? [True, True] Translation: X:506.03, Y:5.96, Z:7.83 [[ 9.98886839e-01 -4.45198906e-02 -1.55904837e-02 5.06026518e+02] [ 4.45244344e-02 9.99008294e-01 -5.57001170e-05 5.95532238e+00] [ 1.55775023e-02 -6.38519354e-04 9.99878459e-01 7.83324207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.09925415399994 meters Centerline goodness : 0.999026 Centerline is valid? [True, True] Translation: X:506.05, Y:5.96, Z:7.83 [[ 9.98777508e-01 -4.69089449e-02 -1.55897677e-02 5.06054474e+02] [ 4.69130236e-02 9.98898973e-01 -1.04176997e-04 5.95673796e+00] [ 1.55774898e-02 -6.27313499e-04 9.99878467e-01 7.83183967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.1292541539999 meters Centerline goodness : 0.998772 Centerline is valid? [True, True] Translation: X:506.09, Y:5.95, Z:7.83 [[ 9.98740831e-01 -4.76843767e-02 -1.55869718e-02 5.06087127e+02] [ 4.76856746e-02 9.98862349e-01 -2.88589488e-04 5.95445695e+00] [ 1.55830004e-02 -4.55049158e-04 9.99878474e-01 7.83242177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.15925415399994 meters Centerline goodness : 0.998859 Centerline is valid? [True, True] Translation: X:506.12, Y:5.95, Z:7.83 [[ 9.98762245e-01 -4.72334473e-02 -1.55877947e-02 5.06119592e+02] [ 4.72355462e-02 9.98883751e-01 -2.33698639e-04 5.95373593e+00] [ 1.55814333e-02 -5.02888620e-04 9.99878476e-01 7.83315673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.1892541539999 meters Centerline goodness : 0.998902 Centerline is valid? [True, True] Translation: X:506.15, Y:5.95, Z:7.83 [[ 9.98875753e-01 -4.47688568e-02 -1.55878112e-02 5.06152038e+02] [ 4.47706731e-02 9.98997264e-01 -2.32595478e-04 5.95269939e+00] [ 1.55825937e-02 -4.65542815e-04 9.99878476e-01 7.83292950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.21925415399994 meters Centerline goodness : 0.998923 Centerline is valid? [True, True] Translation: X:506.18, Y:5.95, Z:7.83 [[ 9.98952720e-01 -4.30172370e-02 -1.55878277e-02 5.06184076e+02] [ 4.30188575e-02 9.99074234e-01 -2.31485857e-04 5.95268274e+00] [ 1.55833549e-02 -4.39327111e-04 9.99878476e-01 7.83333655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.2492541539999 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:506.22, Y:5.95, Z:7.83 [[ 9.99043282e-01 -4.08600001e-02 -1.55878439e-02 5.06215432e+02] [ 4.08613754e-02 9.99164799e-01 -2.30384182e-04 5.95286333e+00] [ 1.55842385e-02 -4.06776974e-04 9.99878476e-01 7.83397374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.27925415399994 meters Centerline goodness : 0.999026 Centerline is valid? [True, True] Translation: X:506.25, Y:5.95, Z:7.84 [[ 9.99275504e-01 -3.47201026e-02 -1.55878560e-02 5.06252156e+02] [ 3.47207440e-02 9.99397027e-01 -2.29563405e-04 5.94904283e+00] [ 1.55864274e-02 -3.11824870e-04 9.99878476e-01 7.84086800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.3092541539999 meters Centerline goodness : 0.999007 Centerline is valid? [True, True] Translation: X:506.27, Y:5.95, Z:7.83 [[ 9.99294396e-01 -3.41695786e-02 -1.55932814e-02 5.06273964e+02] [ 3.41760252e-02 9.99415818e-01 1.47058703e-04 5.95294968e+00] [ 1.55791472e-02 -6.79871317e-04 9.99878407e-01 7.83476806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.33925415399995 meters Centerline goodness : 0.998880 Centerline is valid? [True, True] Translation: X:506.31, Y:5.95, Z:7.84 [[ 9.99371762e-01 -3.18294213e-02 -1.55874926e-02 5.06305257e+02] [ 3.18296145e-02 9.99493282e-01 -2.35756458e-04 5.95314217e+00] [ 1.55870981e-02 -2.60535534e-04 9.99878480e-01 7.83517209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.3692541539999 meters Centerline goodness : 0.998984 Centerline is valid? [True, True] Translation: X:506.34, Y:5.95, Z:7.84 [[ 9.99480831e-01 -2.81974873e-02 -1.55875047e-02 5.06337347e+02] [ 2.81972513e-02 9.99602351e-01 -2.34957537e-04 5.95187805e+00] [ 1.55879315e-02 -2.04689232e-04 9.99878480e-01 7.84008869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.39925415399995 meters Centerline goodness : 0.999114 Centerline is valid? [True, True] Translation: X:506.37, Y:5.95, Z:7.84 [[ 9.99502855e-01 -2.74050856e-02 -1.55885983e-02 5.06366611e+02] [ 2.74058847e-02 9.99624375e-01 -1.62401352e-04 5.95258579e+00] [ 1.55871935e-02 -2.64898714e-04 9.99878477e-01 7.83649974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.4292541539999 meters Centerline goodness : 0.999367 Centerline is valid? [True, True] Translation: X:506.40, Y:5.95, Z:7.84 [[ 9.99557475e-01 -2.53354565e-02 -1.55874508e-02 5.06396808e+02] [ 2.53348303e-02 9.99678993e-01 -2.37666358e-04 5.95124523e+00] [ 1.55884685e-02 -1.57344237e-04 9.99878480e-01 7.83985265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.45925415399995 meters Centerline goodness : 0.998967 Centerline is valid? [True, True] Translation: X:506.43, Y:5.95, Z:7.84 [[ 9.99559663e-01 -2.52489995e-02 -1.55874508e-02 5.06427083e+02] [ 2.52483628e-02 9.99681181e-01 -2.37666357e-04 5.95068163e+00] [ 1.55884821e-02 -1.55995909e-04 9.99878480e-01 7.84028303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.4892541539999 meters Centerline goodness : 0.999009 Centerline is valid? [True, True] Translation: X:506.46, Y:5.95, Z:7.84 [[ 9.99555467e-01 -2.54145692e-02 -1.55874508e-02 5.06457991e+02] [ 2.54139527e-02 9.99676985e-01 -2.37666358e-04 5.94985759e+00] [ 1.55884560e-02 -1.58578030e-04 9.99878480e-01 7.84000731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.51925415399995 meters Centerline goodness : 0.999032 Centerline is valid? [True, True] Translation: X:506.49, Y:5.95, Z:7.84 [[ 9.99500193e-01 -2.75026519e-02 -1.55874508e-02 5.06488335e+02] [ 2.75022892e-02 9.99621712e-01 -2.37666358e-04 5.94732276e+00] [ 1.55880907e-02 -1.91143009e-04 9.99878480e-01 7.83953104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.5492541539999 meters Centerline goodness : 0.999054 Centerline is valid? [True, True] Translation: X:506.52, Y:5.95, Z:7.84 [[ 9.99453479e-01 -2.91508917e-02 -1.55874508e-02 5.06518505e+02] [ 2.91507294e-02 9.99574999e-01 -2.37666358e-04 5.94624807e+00] [ 1.55877543e-02 -2.16849093e-04 9.99878480e-01 7.83983397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.57925415399995 meters Centerline goodness : 0.996758 Centerline is valid? [True, True] Translation: X:506.55, Y:5.95, Z:7.83 [[ 9.99406332e-01 -3.07248188e-02 -1.55874508e-02 5.06548447e+02] [ 3.07248479e-02 9.99527852e-01 -2.37666357e-04 5.94519654e+00] [ 1.55873935e-02 -2.41396792e-04 9.99878480e-01 7.83450837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.6092541539999 meters Centerline goodness : 0.999076 Centerline is valid? [True, True] Translation: X:506.58, Y:5.94, Z:7.84 [[ 9.99229107e-01 -3.60308676e-02 -1.55874508e-02 5.06579412e+02] [ 3.60315419e-02 9.99350625e-01 -2.37666358e-04 5.94270940e+00] [ 1.55858920e-02 -3.24156745e-04 9.99878480e-01 7.83829251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.63925415399996 meters Centerline goodness : 0.998906 Centerline is valid? [True, True] Translation: X:506.61, Y:5.94, Z:7.84 [[ 9.99058610e-01 -4.04837016e-02 -1.55873136e-02 5.06610470e+02] [ 4.04847776e-02 9.99180125e-01 -2.46636241e-04 5.94318078e+00] [ 1.55845187e-02 -3.84644864e-04 9.99878480e-01 7.84207282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.66925415399993 meters Centerline goodness : 0.998992 Centerline is valid? [True, True] Translation: X:506.64, Y:5.94, Z:7.84 [[ 9.98982385e-01 -4.23229975e-02 -1.55871445e-02 5.06642072e+02] [ 4.23241258e-02 9.99103900e-01 -2.57633836e-04 5.94101649e+00] [ 1.55840807e-02 -4.02340600e-04 9.99878480e-01 7.83984864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.69925415399996 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:506.67, Y:5.94, Z:7.84 [[ 9.98720251e-01 -4.81132504e-02 -1.55876724e-02 5.06674849e+02] [ 4.81156224e-02 9.98841748e-01 -2.23038772e-04 5.93830615e+00] [ 1.55803491e-02 -5.27257223e-04 9.99878480e-01 7.84464680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.72925415399993 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:506.71, Y:5.94, Z:7.85 [[ 9.98591249e-01 -5.07198806e-02 -1.55888164e-02 5.06706703e+02] [ 5.07236936e-02 9.98712714e-01 -1.50948060e-04 5.93705937e+00] [ 1.55764052e-02 -6.39986936e-04 9.99878476e-01 7.84507629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.75925415399996 meters Centerline goodness : 0.998447 Centerline is valid? [True, True] Translation: X:506.74, Y:5.94, Z:7.84 [[ 9.98475280e-01 -5.29538067e-02 -1.55887757e-02 5.06736539e+02] [ 5.29578491e-02 9.98596737e-01 -1.53656667e-04 5.93602237e+00] [ 1.55750373e-02 -6.72125650e-04 9.99878476e-01 7.84098072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.78925415399993 meters Centerline goodness : 0.999287 Centerline is valid? [True, True] Translation: X:506.77, Y:5.93, Z:7.85 [[ 9.98145864e-01 -5.88376731e-02 -1.55872747e-02 5.06768286e+02] [ 5.88408850e-02 9.98267342e-01 -2.52870051e-04 5.93463370e+00] [ 1.55751455e-02 -6.64767839e-04 9.99878479e-01 7.84512053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.8192541539999 meters Centerline goodness : 0.999225 Centerline is valid? [True, True] Translation: X:506.80, Y:5.94, Z:7.84 [[ 9.97964197e-01 -6.18424724e-02 -1.55875288e-02 5.06799003e+02] [ 6.18463115e-02 9.98085657e-01 -2.36091139e-04 5.93540891e+00] [ 1.55722894e-02 -7.28420657e-04 9.99878479e-01 7.84474922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.84925415399994 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:506.83, Y:5.93, Z:7.85 [[ 9.97915281e-01 -6.26269266e-02 -1.55871773e-02 5.06830930e+02] [ 6.26304994e-02 9.98036749e-01 -2.59308663e-04 5.93276883e+00] [ 1.55728155e-02 -7.17464623e-04 9.99878479e-01 7.84875207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.8792541539999 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:506.87, Y:5.93, Z:7.85 [[ 9.97684719e-01 -6.61984072e-02 -1.55875623e-02 5.06869872e+02] [ 6.62028150e-02 9.97806160e-01 -2.33625769e-04 5.92764774e+00] [ 1.55688313e-02 -7.98855641e-04 9.99878479e-01 7.84549958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.90925415399994 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:506.90, Y:5.93, Z:7.85 [[ 9.97370402e-01 -7.07752706e-02 -1.55930476e-02 5.06900013e+02] [ 7.07860663e-02 9.97491510e-01 1.40819807e-04 5.92835233e+00] [ 1.55439660e-02 -1.24422001e-03 9.99878411e-01 7.84873346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.9392541539999 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:506.93, Y:5.93, Z:7.84 [[ 9.97110389e-01 -7.43490383e-02 -1.55914592e-02 5.06932864e+02] [ 7.43585994e-02 9.97231567e-01 3.36090319e-05 5.92524183e+00] [ 1.55457965e-02 -1.19287098e-03 9.99878445e-01 7.84313783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.96925415399994 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:506.96, Y:5.93, Z:7.85 [[ 9.96595900e-01 -8.09536428e-02 -1.55923318e-02 5.06956065e+02] [ 8.09649561e-02 9.96716944e-01 9.46489009e-05 5.93026681e+00] [ 1.55334791e-02 -1.35675917e-03 9.99878428e-01 7.84594381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.9992541539999 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:506.99, Y:5.93, Z:7.85 [[ 9.96467922e-01 -8.25149308e-02 -1.55874190e-02 5.06988336e+02] [ 8.25213278e-02 9.96589271e-01 -2.33444742e-04 5.93113265e+00] [ 1.55535172e-02 -1.05367431e-03 9.99878482e-01 7.84734553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.02925415399994 meters Centerline goodness : 0.998784 Centerline is valid? [True, True] Translation: X:507.02, Y:5.93, Z:7.85 [[ 9.96556825e-01 -8.14341851e-02 -1.55874361e-02 5.07024473e+02] [ 8.14404684e-02 9.96678181e-01 -2.32293866e-04 5.92931967e+00] [ 1.55545741e-02 -1.03795406e-03 9.99878482e-01 7.84875827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.0592541539999 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:507.05, Y:5.93, Z:7.85 [[ 9.96365020e-01 -8.37478302e-02 -1.55900233e-02 5.07051327e+02] [ 8.37571495e-02 9.96486195e-01 -5.53388680e-05 5.93344365e+00] [ 1.55398775e-02 -1.25063820e-03 9.99878467e-01 7.84768262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.08925415399995 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:507.08, Y:5.94, Z:7.85 [[ 9.96584524e-01 -8.10945105e-02 -1.55874008e-02 5.07083868e+02] [ 8.11007609e-02 9.96705881e-01 -2.31745069e-04 5.93536884e+00] [ 1.55548473e-02 -1.03319652e-03 9.99878482e-01 7.84831049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.1192541539999 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:507.12, Y:5.94, Z:7.85 [[ 9.96758450e-01 -7.89279761e-02 -1.55874257e-02 5.07116905e+02] [ 7.89339890e-02 9.96879818e-01 -2.30056015e-04 5.93681776e+00] [ 1.55569480e-02 -1.00106741e-03 9.99878482e-01 7.84870155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.14925415399995 meters Centerline goodness : 0.998150 Centerline is valid? [True, True] Translation: X:507.15, Y:5.94, Z:7.85 [[ 9.96911724e-01 -7.69678222e-02 -1.55874503e-02 5.07150427e+02] [ 7.69736226e-02 9.97033103e-01 -2.28377634e-04 5.93893418e+00] [ 1.55587817e-02 -9.72150177e-04 9.99878482e-01 7.84703285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.1792541539999 meters Centerline goodness : 0.998150 Centerline is valid? [True, True] Translation: X:507.18, Y:5.94, Z:7.85 [[ 9.96914925e-01 -7.69262538e-02 -1.55879419e-02 5.07183100e+02] [ 7.69325773e-02 9.97036279e-01 -1.94464079e-04 5.93933936e+00] [ 1.55567030e-02 -1.00535640e-03 9.99878482e-01 7.84753302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.20925415399995 meters Centerline goodness : 0.998994 Centerline is valid? [True, True] Translation: X:507.21, Y:5.94, Z:7.85 [[ 9.97361643e-01 -7.08997148e-02 -1.55879597e-02 5.07213293e+02] [ 7.09053239e-02 9.97483031e-01 -1.93230637e-04 5.94285592e+00] [ 1.55624253e-02 -9.12548507e-04 9.99878482e-01 7.84962777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.2392541539999 meters Centerline goodness : 0.999096 Centerline is valid? [True, True] Translation: X:507.25, Y:5.95, Z:7.85 [[ 9.97503330e-01 -6.88777984e-02 -1.55870235e-02 5.07246370e+02] [ 6.88821390e-02 9.97624771e-01 -2.58862845e-04 5.94501266e+00] [ 1.55678306e-02 -8.15450967e-04 9.99878481e-01 7.85083125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.26925415399995 meters Centerline goodness : 0.999328 Centerline is valid? [True, True] Translation: X:507.28, Y:5.95, Z:7.85 [[ 9.97680083e-01 -6.62682473e-02 -1.55875622e-02 5.07278906e+02] [ 6.62728626e-02 9.97801513e-01 -2.20842748e-04 5.94704015e+00] [ 1.55679280e-02 -8.12701954e-04 9.99878482e-01 7.85132729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.2992541539999 meters Centerline goodness : 0.999075 Centerline is valid? [True, True] Translation: X:507.31, Y:5.95, Z:7.85 [[ 9.97847115e-01 -6.37037024e-02 -1.55875861e-02 5.07311071e+02] [ 6.37080320e-02 9.97968556e-01 -2.19142666e-04 5.94925711e+00] [ 1.55698810e-02 -7.74383554e-04 9.99878482e-01 7.85113831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.32925415399995 meters Centerline goodness : 0.999094 Centerline is valid? [True, True] Translation: X:507.34, Y:5.95, Z:7.85 [[ 9.98221390e-01 -5.75420159e-02 -1.55876057e-02 5.07342816e+02] [ 5.75456176e-02 9.98342854e-01 -2.17736038e-04 5.95336513e+00] [ 1.55743037e-02 -6.79649627e-04 9.99878482e-01 7.85094715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.3592541539999 meters Centerline goodness : 0.999178 Centerline is valid? [True, True] Translation: X:507.38, Y:5.96, Z:7.85 [[ 9.98421034e-01 -5.39672631e-02 -1.55876247e-02 5.07375021e+02] [ 5.39704513e-02 9.98542510e-01 -2.16364592e-04 5.95564657e+00] [ 1.55765825e-02 -6.25248183e-04 9.99878482e-01 7.85188285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.38925415399996 meters Centerline goodness : 0.999073 Centerline is valid? [True, True] Translation: X:507.41, Y:5.96, Z:7.85 [[ 9.98849212e-01 -4.53572202e-02 -1.55876400e-02 5.07405002e+02] [ 4.53593781e-02 9.98970711e-01 -2.15262018e-04 5.96050182e+00] [ 1.55813595e-02 -4.92031357e-04 9.99878482e-01 7.85145885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.41925415399993 meters Centerline goodness : 0.996778 Centerline is valid? [True, True] Translation: X:507.44, Y:5.96, Z:7.85 [[ 9.99072077e-01 -4.01500822e-02 -1.55870536e-02 5.07436086e+02] [ 4.01509523e-02 9.99193592e-01 -2.57233773e-04 5.96315078e+00] [ 1.55848121e-02 -3.68839968e-04 9.99878481e-01 7.85103162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.44925415399996 meters Centerline goodness : 0.999030 Centerline is valid? [True, True] Translation: X:507.47, Y:5.97, Z:7.85 [[ 9.99184771e-01 -3.72405579e-02 -1.55863645e-02 5.07469123e+02] [ 3.72402989e-02 9.99306292e-01 -3.06953067e-04 5.96635659e+00] [ 1.55869832e-02 -2.73738044e-04 9.99878478e-01 7.85468889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.47925415399993 meters Centerline goodness : 0.998840 Centerline is valid? [True, True] Translation: X:507.52, Y:5.96, Z:7.85 [[ 9.99748766e-01 -1.61068364e-02 -1.55876543e-02 5.07515529e+02] [ 1.61054850e-02 9.99870276e-01 -2.12233251e-04 5.95590254e+00] [ 1.55890506e-02 -3.88668004e-05 9.99878483e-01 7.84902908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.50925415399996 meters Centerline goodness : 0.998964 Centerline is valid? [True, True] Translation: X:507.54, Y:5.96, Z:7.85 [[ 9.99796326e-01 -1.28077514e-02 -1.55970640e-02 5.07541453e+02] [ 1.28181765e-02 9.99917682e-01 5.68616587e-04 5.95937251e+00] [ 1.55884973e-02 -7.68426694e-04 9.99878197e-01 7.85095889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.53925415399993 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:507.56, Y:5.97, Z:7.86 [[ 9.99632372e-01 -2.21793742e-02 -1.55947810e-02 5.07557228e+02] [ 2.21879002e-02 9.99753748e-01 3.73890698e-04 5.97417758e+00] [ 1.55826481e-02 -7.19768689e-04 9.99878324e-01 7.85940682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.5692541539999 meters Centerline goodness : 0.997777 Centerline is valid? [True, True] Translation: X:507.58, Y:5.98, Z:7.86 [[ 9.99734111e-01 -1.69925113e-02 -1.55872074e-02 5.07584778e+02] [ 1.69913919e-02 9.99855615e-01 -2.04258392e-04 5.97649313e+00] [ 1.55884277e-02 -6.06442670e-05 9.99878491e-01 7.85955399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.59925415399994 meters Centerline goodness : 0.998941 Centerline is valid? [True, True] Translation: X:507.63, Y:5.97, Z:7.85 [[ 9.99818428e-01 -1.09632805e-02 -1.55858372e-02 5.07626775e+02] [ 1.09598390e-02 9.99939892e-01 -3.06210391e-04 5.97075489e+00] [ 1.55882574e-02 1.35336526e-04 9.99878487e-01 7.85142891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.6292541539999 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:507.64, Y:5.99, Z:7.86 [[ 9.99550503e-01 -2.56011478e-02 -1.56004311e-02 5.07639891e+02] [ 2.56105566e-02 9.99671914e-01 4.03602095e-04 5.98669981e+00] [ 1.55849802e-02 -8.02956402e-04 9.99878224e-01 7.86045985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.65925415399994 meters Centerline goodness : 0.996169 Centerline is valid? [True, True] Translation: X:507.67, Y:5.99, Z:7.86 [[ 9.99531052e-01 -2.63594958e-02 -1.55837426e-02 5.07669151e+02] [ 2.63572938e-02 9.99652526e-01 -3.46707329e-04 5.98577485e+00] [ 1.55874667e-02 -6.42005426e-05 9.99878506e-01 7.85800738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.6892541539999 meters Centerline goodness : 0.998837 Centerline is valid? [True, True] Translation: X:507.71, Y:5.98, Z:7.85 [[ 9.99524220e-01 -2.66184477e-02 -1.55817680e-02 5.07709606e+02] [ 2.66149077e-02 9.99645666e-01 -4.34547893e-04 5.98112546e+00] [ 1.55878138e-02 1.96338271e-05 9.99878502e-01 7.85173361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.71925415399994 meters Centerline goodness : 0.998839 Centerline is valid? [True, True] Translation: X:507.74, Y:5.98, Z:7.85 [[ 9.99248925e-01 -3.54698065e-02 -1.56038373e-02 5.07736181e+02] [ 3.54789820e-02 9.99370374e-01 3.11513464e-04 5.98120434e+00] [ 1.55829634e-02 -8.64887758e-04 9.99878204e-01 7.85113582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.7492541539999 meters Centerline goodness : 0.998838 Centerline is valid? [True, True] Translation: X:507.75, Y:5.99, Z:7.86 [[ 9.98834775e-01 -4.56700557e-02 -1.55992772e-02 5.07750197e+02] [ 4.56778950e-02 9.98956210e-01 1.46432792e-04 5.98951029e+00] [ 1.55763072e-02 -8.58804310e-04 9.99878313e-01 7.85795963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.77925415399994 meters Centerline goodness : 0.999048 Centerline is valid? [True, True] Translation: X:507.78, Y:5.99, Z:7.86 [[ 9.98624725e-01 -5.00596171e-02 -1.55786258e-02 5.07782930e+02] [ 5.00570366e-02 9.98746206e-01 -5.55779396e-04 5.98901884e+00] [ 1.55869155e-02 -2.24804797e-04 9.99878491e-01 7.85810944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.8092541539999 meters Centerline goodness : 0.998988 Centerline is valid? [True, True] Translation: X:507.81, Y:5.99, Z:7.86 [[ 9.98376357e-01 -5.47892574e-02 -1.55815994e-02 5.07814844e+02] [ 5.47888452e-02 9.98497860e-01 -4.53649501e-04 5.98683968e+00] [ 1.55830487e-02 -4.00784898e-04 9.99878497e-01 7.85791484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.83925415399995 meters Centerline goodness : 0.998818 Centerline is valid? [True, True] Translation: X:507.85, Y:5.98, Z:7.86 [[ 9.98584639e-01 -5.08520584e-02 -1.55816327e-02 5.07853015e+02] [ 5.08511850e-02 9.98706139e-01 -4.52501298e-04 5.98025432e+00] [ 1.55844829e-02 -3.40483642e-04 9.99878497e-01 7.85683951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.8692541539999 meters Centerline goodness : 0.998884 Centerline is valid? [True, True] Translation: X:507.87, Y:5.98, Z:7.86 [[ 9.98287851e-01 -5.63757830e-02 -1.55928656e-02 5.07874429e+02] [ 5.63816687e-02 9.98409287e-01 -6.22334420e-05 5.98488558e+00] [ 1.55715703e-02 -8.17024894e-04 9.99878422e-01 7.85885673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.89925415399995 meters Centerline goodness : 0.998990 Centerline is valid? [True, True] Translation: X:507.91, Y:5.98, Z:7.86 [[ 9.98324796e-01 -5.57210168e-02 -1.55810922e-02 5.07906038e+02] [ 5.57206099e-02 9.98446294e-01 -4.60570588e-04 5.98491165e+00] [ 1.55825472e-02 -4.08388920e-04 9.99878501e-01 7.85976268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.9292541539999 meters Centerline goodness : 0.999074 Centerline is valid? [True, True] Translation: X:507.94, Y:5.98, Z:7.86 [[ 9.98376034e-01 -5.47952861e-02 -1.55811176e-02 5.07938000e+02] [ 5.47947800e-02 9.98497532e-01 -4.59708657e-04 5.98482475e+00] [ 1.55828973e-02 -3.94801805e-04 9.99878501e-01 7.86059439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.95925415399995 meters Centerline goodness : 0.998863 Centerline is valid? [True, True] Translation: X:507.97, Y:5.98, Z:7.86 [[ 9.98495497e-01 -5.25734727e-02 -1.55811512e-02 5.07970657e+02] [ 5.25727140e-02 9.98616993e-01 -4.58567533e-04 5.98291745e+00] [ 1.55837108e-02 -3.61265789e-04 9.99878501e-01 7.86112889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.9892541539999 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:508.00, Y:5.98, Z:7.86 [[ 9.98559916e-01 -5.13353747e-02 -1.55811847e-02 5.08002765e+02] [ 5.13344831e-02 9.98681411e-01 -4.57426280e-04 5.98179671e+00] [ 1.55841217e-02 -3.43084515e-04 9.99878501e-01 7.86139570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.01925415399995 meters Centerline goodness : 0.997440 Centerline is valid? [True, True] Translation: X:508.03, Y:5.98, Z:7.86 [[ 9.98527666e-01 -5.19588938e-02 -1.55812184e-02 5.08034377e+02] [ 5.19580960e-02 9.98649162e-01 -4.56275863e-04 5.98221696e+00] [ 1.55838783e-02 -3.53966369e-04 9.99878501e-01 7.86271392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.0492541539999 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:508.07, Y:5.98, Z:7.86 [[ 9.98549988e-01 -5.15281081e-02 -1.55812572e-02 5.08067152e+02] [ 5.15272787e-02 9.98671484e-01 -4.54946842e-04 5.97978919e+00] [ 1.55839998e-02 -3.48572617e-04 9.99878501e-01 7.85983323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.07925415399995 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:508.10, Y:5.98, Z:7.86 [[ 9.98543839e-01 -5.16471203e-02 -1.55812941e-02 5.08098937e+02] [ 5.16463252e-02 9.98665335e-01 -4.53677162e-04 5.97869733e+00] [ 1.55839295e-02 -3.51700049e-04 9.99878501e-01 7.86041490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.1092541539999 meters Centerline goodness : 0.998994 Centerline is valid? [True, True] Translation: X:508.13, Y:5.98, Z:7.86 [[ 9.98495101e-01 -5.25809414e-02 -1.55813304e-02 5.08130154e+02] [ 5.25802794e-02 9.98616598e-01 -4.52428848e-04 5.97632094e+00] [ 1.55835643e-02 -3.67522716e-04 9.99878501e-01 7.85855825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.13925415399996 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:508.16, Y:5.98, Z:7.86 [[ 9.98430814e-01 -5.37878203e-02 -1.55813857e-02 5.08160513e+02] [ 5.37873349e-02 9.98552312e-01 -4.50517436e-04 5.97675323e+00] [ 1.55830610e-02 -3.88270718e-04 9.99878501e-01 7.85910023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.16925415399993 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:508.19, Y:5.97, Z:7.86 [[ 9.98466979e-01 -5.31124538e-02 -1.55807041e-02 5.08191312e+02] [ 5.31115193e-02 9.98588475e-01 -4.74049230e-04 5.97484923e+00] [ 1.55838895e-02 -3.54192364e-04 9.99878501e-01 7.85871383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.19925415399996 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:508.22, Y:5.97, Z:7.86 [[ 9.98445834e-01 -5.35082903e-02 -1.55814087e-02 5.08222029e+02] [ 5.35077847e-02 9.98567331e-01 -4.49632529e-04 5.97408899e+00] [ 1.55831448e-02 -3.84792938e-04 9.99878501e-01 7.85945256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.22925415399993 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:508.25, Y:5.97, Z:7.86 [[ 9.98394643e-01 -5.44550808e-02 -1.55814251e-02 5.08251580e+02] [ 5.44546993e-02 9.98516141e-01 -4.49064379e-04 5.97473445e+00] [ 1.55827583e-02 -4.00138347e-04 9.99878501e-01 7.86067416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.25925415399996 meters Centerline goodness : 0.999372 Centerline is valid? [True, True] Translation: X:508.28, Y:5.97, Z:7.86 [[ 9.98498730e-01 -5.25123901e-02 -1.55799293e-02 5.08283779e+02] [ 5.25109661e-02 9.98620222e-01 -5.00750327e-04 5.97291059e+00] [ 1.55847281e-02 -3.18118575e-04 9.99878500e-01 7.86029723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.28925415399993 meters Centerline goodness : 0.999226 Centerline is valid? [True, True] Translation: X:508.31, Y:5.97, Z:7.86 [[ 9.98473469e-01 -5.29900875e-02 -1.55814484e-02 5.08312791e+02] [ 5.29895458e-02 9.98594967e-01 -4.47907149e-04 5.97479730e+00] [ 1.55832906e-02 -3.78430468e-04 9.99878502e-01 7.86174816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.3192541539999 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:508.35, Y:5.97, Z:7.86 [[ 9.98538439e-01 -5.17520631e-02 -1.55791583e-02 5.08346078e+02] [ 5.17501342e-02 9.98659925e-01 -5.27194409e-04 5.97442072e+00] [ 1.55855645e-02 -2.79799652e-04 9.99878499e-01 7.86154014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.34925415399994 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:508.38, Y:5.97, Z:7.86 [[ 9.98683256e-01 -4.88777434e-02 -1.55794794e-02 5.08377198e+02] [ 4.88756387e-02 9.98804739e-01 -5.16044350e-04 5.97191428e+00] [ 1.55860809e-02 -2.46092155e-04 9.99878499e-01 7.85992119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.3792541539999 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:508.41, Y:5.97, Z:7.86 [[ 9.98744259e-01 -4.76144730e-02 -1.55809879e-02 5.08408990e+02] [ 4.76130329e-02 9.98865749e-01 -4.63575291e-04 5.97052808e+00] [ 1.55853880e-02 -2.78864930e-04 9.99878502e-01 7.86029516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.40925415399994 meters Centerline goodness : 0.999247 Centerline is valid? [True, True] Translation: X:508.44, Y:5.97, Z:7.86 [[ 9.98655106e-01 -4.94489350e-02 -1.55814980e-02 5.08437853e+02] [ 4.94479962e-02 9.98776600e-01 -4.45745588e-04 5.97247122e+00] [ 1.55844772e-02 -3.25327744e-04 9.99878502e-01 7.86192639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.4392541539999 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:508.47, Y:5.97, Z:7.86 [[ 9.98718169e-01 -4.81591438e-02 -1.55793368e-02 5.08469954e+02] [ 4.81568728e-02 9.98839649e-01 -5.21103900e-04 5.97002929e+00] [ 1.55863552e-02 -2.29816206e-04 9.99878499e-01 7.86253440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.46925415399994 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:508.50, Y:5.97, Z:7.86 [[ 9.98592446e-01 -5.06985371e-02 -1.55815471e-02 5.08499072e+02] [ 5.06977862e-02 9.98713942e-01 -4.43438963e-04 5.97262070e+00] [ 1.55839900e-02 -3.47135146e-04 9.99878502e-01 7.85931667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.4992541539999 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:508.53, Y:5.97, Z:7.86 [[ 9.98583322e-01 -5.08788351e-02 -1.55785936e-02 5.08531888e+02] [ 5.08764994e-02 9.98704803e-01 -5.46467826e-04 5.97009584e+00] [ 1.55862199e-02 -2.46890648e-04 9.99878497e-01 7.86387861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.52925415399994 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:508.56, Y:5.97, Z:7.86 [[ 9.98390471e-01 -5.45314840e-02 -1.55815574e-02 5.08564555e+02] [ 5.45312222e-02 9.98511968e-01 -4.41984913e-04 5.96872007e+00] [ 1.55824736e-02 -4.08407843e-04 9.99878502e-01 7.86495605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.5592541539999 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:508.60, Y:5.97, Z:7.87 [[ 9.98287041e-01 -5.63932486e-02 -1.55815889e-02 5.08597153e+02] [ 5.63932308e-02 9.98408538e-01 -4.40871661e-04 5.96837768e+00] [ 1.55816536e-02 -4.38579673e-04 9.99878502e-01 7.86597959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.58925415399995 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:508.63, Y:5.96, Z:7.87 [[ 9.98211991e-01 -5.77064510e-02 -1.55816207e-02 5.08632127e+02] [ 5.77066105e-02 9.98333488e-01 -4.39746119e-04 5.96466128e+00] [ 1.55810299e-02 -4.60202665e-04 9.99878502e-01 7.86776510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.6192541539999 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:508.66, Y:5.97, Z:7.87 [[ 9.97986358e-01 -6.14839858e-02 -1.55868248e-02 5.08659661e+02] [ 6.14874930e-02 9.98107822e-01 -2.54573040e-04 5.96797081e+00] [ 1.55729839e-02 -7.04334357e-04 9.99878486e-01 7.86855171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.64925415399995 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:508.69, Y:5.97, Z:7.87 [[ 9.97909889e-01 -6.27141895e-02 -1.55815124e-02 5.08690622e+02] [ 6.27149250e-02 9.98031384e-01 -4.41897824e-04 5.96844404e+00] [ 1.55785517e-02 -5.36219175e-04 9.99878503e-01 7.86879776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.6792541539999 meters Centerline goodness : 0.998937 Centerline is valid? [True, True] Translation: X:508.73, Y:5.97, Z:7.87 [[ 9.97895384e-01 -6.29445733e-02 -1.55815368e-02 5.08726854e+02] [ 6.29453503e-02 9.98016878e-01 -4.41036613e-04 5.96589701e+00] [ 1.55783976e-02 -5.40676892e-04 9.99878503e-01 7.86932091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.70925415399995 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:508.76, Y:5.97, Z:7.87 [[ 9.97771002e-01 -6.48851152e-02 -1.55868148e-02 5.08760071e+02] [ 6.48890052e-02 9.97892455e-01 -2.56569148e-04 5.96740019e+00] [ 1.55706124e-02 -7.55415649e-04 9.99878485e-01 7.87019811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.7392541539999 meters Centerline goodness : 0.999041 Centerline is valid? [True, True] Translation: X:508.79, Y:5.97, Z:7.87 [[ 9.97677007e-01 -6.63146259e-02 -1.55871625e-02 5.08791669e+02] [ 6.63188788e-02 9.97798450e-01 -2.44455865e-04 5.96856853e+00] [ 1.55690576e-02 -7.89835148e-04 9.99878483e-01 7.86961071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.76925415399995 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:508.82, Y:5.97, Z:7.87 [[ 9.97449335e-01 -6.96552368e-02 -1.55875880e-02 5.08818049e+02] [ 6.96601298e-02 9.97570756e-01 -2.29481613e-04 5.97289452e+00] [ 1.55657065e-02 -8.56937121e-04 9.99878480e-01 7.87007976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.7992541539999 meters Centerline goodness : 0.998915 Centerline is valid? [True, True] Translation: X:508.85, Y:5.97, Z:7.87 [[ 9.97396704e-01 -7.04062421e-02 -1.55812843e-02 5.08849725e+02] [ 7.04078114e-02 9.97518190e-01 -4.48492809e-04 5.97426615e+00] [ 1.55741912e-02 -6.49718879e-04 9.99878504e-01 7.86988181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.82925415399995 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:508.89, Y:5.97, Z:7.87 [[ 9.97482034e-01 -6.91867935e-02 -1.55813655e-02 5.08886982e+02] [ 6.91882586e-02 9.97603522e-01 -4.45654777e-04 5.97290434e+00] [ 1.55748585e-02 -6.33514913e-04 9.99878504e-01 7.87036308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.8592541539999 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:508.92, Y:5.97, Z:7.87 [[ 9.97335514e-01 -7.12662365e-02 -1.55883439e-02 5.08917705e+02] [ 7.12717880e-02 9.97456913e-01 -1.99818730e-04 5.97406816e+00] [ 1.55629417e-02 -9.11722828e-04 9.99878474e-01 7.86996255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.88925415399996 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:508.94, Y:5.98, Z:7.87 [[ 9.97219851e-01 -7.28669291e-02 -1.55878099e-02 5.08942808e+02] [ 7.28723684e-02 9.97341250e-01 -2.19522138e-04 5.97697687e+00] [ 1.55623617e-02 -9.17008788e-04 9.99878479e-01 7.86944881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.91925415399993 meters Centerline goodness : 0.999146 Centerline is valid? [True, True] Translation: X:508.98, Y:5.98, Z:7.87 [[ 9.97069719e-01 -7.48949010e-02 -1.55797866e-02 5.08976793e+02] [ 7.48960724e-02 9.97191215e-01 -5.09090931e-04 5.97859787e+00] [ 1.55741546e-02 -6.59265670e-04 9.99878498e-01 7.87100807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.94925415399996 meters Centerline goodness : 0.998977 Centerline is valid? [True, True] Translation: X:509.01, Y:5.98, Z:7.87 [[ 9.97058941e-01 -7.50377810e-02 -1.55820278e-02 5.09009552e+02] [ 7.50402440e-02 9.97180415e-01 -4.27377655e-04 5.98014916e+00] [ 1.55701624e-02 -7.43158456e-04 9.99878501e-01 7.87152620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.97925415399993 meters Centerline goodness : 0.998956 Centerline is valid? [True, True] Translation: X:509.04, Y:5.98, Z:7.87 [[ 9.97064112e-01 -7.49690294e-02 -1.55820752e-02 5.09041346e+02] [ 7.49715111e-02 9.97185585e-01 -4.25641274e-04 5.98163830e+00] [ 1.55701307e-02 -7.43820087e-04 9.99878501e-01 7.87142807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.00925415399996 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:509.07, Y:5.98, Z:7.87 [[ 9.97174156e-01 -7.34908237e-02 -1.55821144e-02 5.09073487e+02] [ 7.34931477e-02 9.97295632e-01 -4.24201397e-04 5.98484035e+00] [ 1.55711496e-02 -7.22175968e-04 9.99878502e-01 7.87237962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.03925415399993 meters Centerline goodness : 0.998998 Centerline is valid? [True, True] Translation: X:509.11, Y:5.99, Z:7.87 [[ 9.97294412e-01 -7.18404722e-02 -1.55821457e-02 5.09105769e+02] [ 7.18426131e-02 9.97415891e-01 -4.23051538e-04 5.98713926e+00] [ 1.55722719e-02 -6.97555128e-04 9.99878502e-01 7.87314171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.0692541539999 meters Centerline goodness : 0.998978 Centerline is valid? [True, True] Translation: X:509.14, Y:5.99, Z:7.87 [[ 9.97600887e-01 -6.74512032e-02 -1.55822212e-02 5.09137775e+02] [ 6.74528532e-02 9.97722374e-01 -4.20248813e-04 5.99063438e+00] [ 1.55750771e-02 -6.31824694e-04 9.99878502e-01 7.87464306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.09925415399994 meters Centerline goodness : 0.998978 Centerline is valid? [True, True] Translation: X:509.17, Y:5.99, Z:7.88 [[ 9.97608326e-01 -6.73410771e-02 -1.55822520e-02 5.09171296e+02] [ 6.73427315e-02 9.97729814e-01 -4.19105391e-04 5.99144526e+00] [ 1.55751004e-02 -6.31248385e-04 9.99878502e-01 7.87516549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.1292541539999 meters Centerline goodness : 0.999001 Centerline is valid? [True, True] Translation: X:509.20, Y:5.99, Z:7.88 [[ 9.97807689e-01 -6.43195774e-02 -1.55822981e-02 5.09204493e+02] [ 6.43208907e-02 9.97929180e-01 -4.17385322e-04 5.99377833e+00] [ 1.55768760e-02 -5.85797008e-04 9.99878502e-01 7.87603561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.15925415399994 meters Centerline goodness : 0.998913 Centerline is valid? [True, True] Translation: X:509.24, Y:6.00, Z:7.88 [[ 9.98221808e-01 -5.75361821e-02 -1.55823440e-02 5.09235354e+02] [ 5.75366965e-02 9.98343306e-01 -4.15665248e-04 5.99868429e+00] [ 1.55804446e-02 -4.81630479e-04 9.99878502e-01 7.87749466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.1892541539999 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:509.27, Y:6.00, Z:7.88 [[ 9.98424788e-01 -5.38992874e-02 -1.55823666e-02 5.09266948e+02] [ 5.38993724e-02 9.98546286e-01 -4.14815126e-04 6.00170814e+00] [ 1.55820725e-02 -4.25718076e-04 9.99878502e-01 7.87843734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.21925415399994 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:509.30, Y:6.00, Z:7.88 [[ 9.98588451e-01 -5.07768976e-02 -1.55824149e-02 5.09298626e+02] [ 5.07766311e-02 9.98709949e-01 -4.12992286e-04 6.00496406e+00] [ 1.55832833e-02 -3.78813205e-04 9.99878502e-01 7.87909801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.2492541539999 meters Centerline goodness : 0.998556 Centerline is valid? [True, True] Translation: X:509.33, Y:6.01, Z:7.88 [[ 9.98841066e-01 -4.55380391e-02 -1.55824444e-02 5.09329710e+02] [ 4.55371527e-02 9.98962561e-01 -4.11875926e-04 6.00866542e+00] [ 1.55850346e-02 -2.98181562e-04 9.99878502e-01 7.87787902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.27925415399994 meters Centerline goodness : 0.997109 Centerline is valid? [True, True] Translation: X:509.36, Y:6.01, Z:7.88 [[ 9.98884986e-01 -4.45642321e-02 -1.55824663e-02 5.09362079e+02] [ 4.45632402e-02 9.99006481e-01 -4.11044374e-04 6.01161171e+00] [ 1.55853027e-02 -2.83819137e-04 9.99878502e-01 7.87836977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.3092541539999 meters Centerline goodness : 0.999015 Centerline is valid? [True, True] Translation: X:509.39, Y:6.01, Z:7.88 [[ 9.98952860e-01 -4.30158410e-02 -1.55826814e-02 5.09394293e+02] [ 4.30147885e-02 9.99074354e-01 -4.02851058e-04 6.01497721e+00] [ 1.55855863e-02 -2.67856527e-04 9.99878501e-01 7.87756661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.33925415399995 meters Centerline goodness : 0.999076 Centerline is valid? [True, True] Translation: X:509.43, Y:6.02, Z:7.88 [[ 9.98932243e-01 -4.34920308e-02 -1.55825708e-02 5.09426827e+02] [ 4.34909703e-02 9.99053737e-01 -4.07081708e-04 6.01680619e+00] [ 1.55855304e-02 -2.71054082e-04 9.99878502e-01 7.87734019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.3692541539999 meters Centerline goodness : 0.998971 Centerline is valid? [True, True] Translation: X:509.46, Y:6.02, Z:7.88 [[ 9.98891874e-01 -4.44095219e-02 -1.55826013e-02 5.09457619e+02] [ 4.44085912e-02 9.99013369e-01 -4.05914222e-04 6.01860296e+00] [ 1.55852534e-02 -2.86536952e-04 9.99878502e-01 7.87695495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.39925415399995 meters Centerline goodness : 0.999077 Centerline is valid? [True, True] Translation: X:509.49, Y:6.02, Z:7.88 [[ 9.98783036e-01 -4.67934742e-02 -1.55826239e-02 5.09490017e+02] [ 4.67928471e-02 9.98904533e-01 -4.05043523e-04 6.02135380e+00] [ 1.55845070e-02 -3.24604737e-04 9.99878502e-01 7.87737734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.4292541539999 meters Centerline goodness : 0.998909 Centerline is valid? [True, True] Translation: X:509.52, Y:6.02, Z:7.88 [[ 9.98725415e-01 -4.80075641e-02 -1.55826537e-02 5.09521857e+02] [ 4.80071026e-02 9.98846913e-01 -4.03894620e-04 6.02266099e+00] [ 1.55840755e-02 -3.44698231e-04 9.99878502e-01 7.87773770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.45925415399995 meters Centerline goodness : 0.998679 Centerline is valid? [True, True] Translation: X:509.55, Y:6.02, Z:7.88 [[ 9.98602721e-01 -5.04953999e-02 -1.55826833e-02 5.09553353e+02] [ 5.04952589e-02 9.98724220e-01 -4.02746963e-04 6.02453031e+00] [ 1.55831401e-02 -3.84667415e-04 9.99878502e-01 7.87850850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.4892541539999 meters Centerline goodness : 0.998761 Centerline is valid? [True, True] Translation: X:509.59, Y:6.03, Z:7.88 [[ 9.98555087e-01 -5.14287682e-02 -1.55827054e-02 5.09585403e+02] [ 5.14287542e-02 9.98676585e-01 -4.01891706e-04 6.02556404e+00] [ 1.55827518e-02 -4.00088117e-04 9.99878502e-01 7.87944743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.51925415399995 meters Centerline goodness : 0.998846 Centerline is valid? [True, True] Translation: X:509.62, Y:6.03, Z:7.88 [[ 9.98486892e-01 -5.27361841e-02 -1.55827347e-02 5.09617153e+02] [ 5.27363469e-02 9.98608390e-01 -4.00753036e-04 6.02703073e+00] [ 1.55821838e-02 -4.21629848e-04 9.99878502e-01 7.88062037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.5492541539999 meters Centerline goodness : 0.998783 Centerline is valid? [True, True] Translation: X:509.65, Y:6.03, Z:7.88 [[ 9.98409572e-01 -5.41802957e-02 -1.55827638e-02 5.09650125e+02] [ 5.41806519e-02 9.98531070e-01 -3.99618018e-04 6.02876720e+00] [ 1.55815252e-02 -4.45301846e-04 9.99878502e-01 7.88161832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.57925415399995 meters Centerline goodness : 0.998781 Centerline is valid? [True, True] Translation: X:509.68, Y:6.03, Z:7.88 [[ 9.98331507e-01 -5.55996514e-02 -1.55846168e-02 5.09679571e+02] [ 5.56013160e-02 9.98452997e-01 -3.26792243e-04 6.02960489e+00] [ 1.55786769e-02 -5.40278211e-04 9.99878499e-01 7.88142131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.6092541539999 meters Centerline goodness : 0.998805 Centerline is valid? [True, True] Translation: X:509.71, Y:6.03, Z:7.88 [[ 9.98273691e-01 -5.66287399e-02 -1.55828103e-02 5.09711975e+02] [ 5.66294257e-02 9.98395187e-01 -3.97595118e-04 6.03098411e+00] [ 1.55803181e-02 -4.85536852e-04 9.99878502e-01 7.88261493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.63925415399996 meters Centerline goodness : 0.998823 Centerline is valid? [True, True] Translation: X:509.74, Y:6.03, Z:7.88 [[ 9.98223160e-01 -5.75125924e-02 -1.55828388e-02 5.09743980e+02] [ 5.75134032e-02 9.98344656e-01 -3.96474251e-04 6.03242118e+00] [ 1.55798461e-02 -5.00452314e-04 9.99878502e-01 7.88334172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.66925415399993 meters Centerline goodness : 0.998760 Centerline is valid? [True, True] Translation: X:509.78, Y:6.03, Z:7.88 [[ 9.98255165e-01 -5.69543629e-02 -1.55828681e-02 5.09775103e+02] [ 5.69551237e-02 9.98376661e-01 -3.95322216e-04 6.03366662e+00] [ 1.55800871e-02 -4.92891733e-04 9.99878502e-01 7.88253328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.69925415399996 meters Centerline goodness : 0.998928 Centerline is valid? [True, True] Translation: X:509.81, Y:6.04, Z:7.88 [[ 9.98364029e-01 -5.50130842e-02 -1.55828898e-02 5.09807117e+02] [ 5.50136221e-02 9.98485526e-01 -3.94463717e-04 6.03685923e+00] [ 1.55809906e-02 -4.63452824e-04 9.99878502e-01 7.88428414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.72925415399993 meters Centerline goodness : 0.999075 Centerline is valid? [True, True] Translation: X:509.84, Y:6.04, Z:7.88 [[ 9.98478192e-01 -5.29006014e-02 -1.55829188e-02 5.09838832e+02] [ 5.29009002e-02 9.98599690e-01 -3.93314923e-04 6.03839150e+00] [ 1.55819045e-02 -4.31634059e-04 9.99878502e-01 7.88459610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.75925415399996 meters Centerline goodness : 0.998842 Centerline is valid? [True, True] Translation: X:509.87, Y:6.04, Z:7.88 [[ 9.98592756e-01 -5.06920020e-02 -1.55829475e-02 5.09870846e+02] [ 5.06920499e-02 9.98714255e-01 -3.92172433e-04 6.04006253e+00] [ 1.55827918e-02 -3.98311004e-04 9.99878502e-01 7.88485227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.78925415399993 meters Centerline goodness : 0.998862 Centerline is valid? [True, True] Translation: X:509.90, Y:6.04, Z:7.89 [[ 9.98736481e-01 -4.77766900e-02 -1.55829762e-02 5.09903081e+02] [ 4.77764010e-02 9.98857979e-01 -3.91028958e-04 6.04140945e+00] [ 1.55838622e-02 -3.53963636e-04 9.99878502e-01 7.88529190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.8192541539999 meters Centerline goodness : 0.995423 Centerline is valid? [True, True] Translation: X:509.93, Y:6.04, Z:7.88 [[ 9.99082845e-01 -3.98828186e-02 -1.55830046e-02 5.09931259e+02] [ 3.98815872e-02 9.99204337e-01 -3.89895015e-04 6.04451098e+00] [ 1.55861559e-02 -2.31937535e-04 9.99878502e-01 7.88392810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.84925415399994 meters Centerline goodness : 0.999071 Centerline is valid? [True, True] Translation: X:509.96, Y:6.04, Z:7.89 [[ 9.99157023e-01 -3.79813249e-02 -1.55776224e-02 5.09964383e+02] [ 3.79765452e-02 9.99278449e-01 -6.02633687e-04 6.04467453e+00] [ 1.55892712e-02 1.05413994e-05 9.99878480e-01 7.88647917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.8792541539999 meters Centerline goodness : 0.998879 Centerline is valid? [True, True] Translation: X:510.00, Y:6.05, Z:7.89 [[ 9.99370375e-01 -3.18751524e-02 -1.55829766e-02 5.09995693e+02] [ 3.18729905e-02 9.99491852e-01 -3.87130382e-04 6.04645158e+00] [ 1.55873979e-02 -1.09789429e-04 9.99878503e-01 7.88678539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.90925415399994 meters Centerline goodness : 0.998865 Centerline is valid? [True, True] Translation: X:510.03, Y:6.05, Z:7.89 [[ 9.99449148e-01 -2.93013715e-02 -1.55829906e-02 5.10025683e+02] [ 2.92989056e-02 9.99570620e-01 -3.86564857e-04 6.04759231e+00] [ 1.55876265e-02 -7.02126535e-05 9.99878503e-01 7.88625518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.9392541539999 meters Centerline goodness : 0.995389 Centerline is valid? [True, True] Translation: X:510.06, Y:6.05, Z:7.88 [[ 9.99537161e-01 -2.61272802e-02 -1.55829975e-02 5.10055427e+02] [ 2.61244330e-02 9.99658624e-01 -3.86284350e-04 6.04809876e+00] [ 1.55877704e-02 -2.09914119e-05 9.99878503e-01 7.88496472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.96925415399994 meters Centerline goodness : 0.998944 Centerline is valid? [True, True] Translation: X:510.09, Y:6.05, Z:7.89 [[ 9.99504630e-01 -2.73451204e-02 -1.55801075e-02 5.10086303e+02] [ 2.73406118e-02 9.99626049e-01 -5.02347457e-04 6.04931347e+00] [ 1.55880181e-02 7.61289374e-05 9.99878497e-01 7.88811636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.9992541539999 meters Centerline goodness : 0.998859 Centerline is valid? [True, True] Translation: X:510.11, Y:6.05, Z:7.89 [[ 9.99461613e-01 -2.88730940e-02 -1.55829572e-02 5.10114637e+02] [ 2.88705558e-02 9.99583083e-01 -3.87860471e-04 6.04893643e+00] [ 1.55876592e-02 -6.22369849e-05 9.99878503e-01 7.88558129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.02925415399994 meters Centerline goodness : 0.998648 Centerline is valid? [True, True] Translation: X:510.15, Y:6.05, Z:7.89 [[ 9.99359752e-01 -3.22076872e-02 -1.55804937e-02 5.10146091e+02] [ 3.22040193e-02 9.99481198e-01 -4.86316882e-04 6.04917919e+00] [ 1.55880736e-02 -1.57490000e-05 9.99878498e-01 7.88920700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.0592541539999 meters Centerline goodness : 0.998883 Centerline is valid? [True, True] Translation: X:510.18, Y:6.05, Z:7.89 [[ 9.99271254e-01 -3.48444141e-02 -1.55829393e-02 5.10176869e+02] [ 3.48425975e-02 9.99392737e-01 -3.88131067e-04 6.04913380e+00] [ 1.55870006e-02 -1.55101865e-04 9.99878503e-01 7.88903677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.08925415399995 meters Centerline goodness : 0.998820 Centerline is valid? [True, True] Translation: X:510.22, Y:6.04, Z:7.89 [[ 9.99223629e-01 -3.61843737e-02 -1.55829862e-02 5.10215110e+02] [ 3.61827495e-02 9.99345115e-01 -3.86238938e-04 6.04105759e+00] [ 1.55867570e-02 -1.77896214e-04 9.99878503e-01 7.88549796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.1192541539999 meters Centerline goodness : 0.998884 Centerline is valid? [True, True] Translation: X:510.24, Y:6.05, Z:7.89 [[ 9.98791120e-01 -4.66171236e-02 -1.55929946e-02 5.10236439e+02] [ 4.66231520e-02 9.98912549e-01 2.31178279e-05 6.04768009e+00] [ 1.55749603e-02 -7.50084438e-04 9.99878422e-01 7.89028146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.14925415399995 meters Centerline goodness : 0.998970 Centerline is valid? [True, True] Translation: X:510.27, Y:6.05, Z:7.89 [[ 9.98409583e-01 -5.41801715e-02 -1.55824494e-02 5.10269110e+02] [ 5.41806151e-02 9.98531074e-01 -3.93995703e-04 6.04576388e+00] [ 1.55809067e-02 -4.50897607e-04 9.99878509e-01 7.89217910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.1792541539999 meters Centerline goodness : 0.998633 Centerline is valid? [True, True] Translation: X:510.31, Y:6.04, Z:7.89 [[ 9.98354176e-01 -5.51917234e-02 -1.55824787e-02 5.10305076e+02] [ 5.51923083e-02 9.98475666e-01 -3.92831558e-04 6.04289351e+00] [ 1.55804069e-02 -4.67847944e-04 9.99878509e-01 7.89249299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.20925415399995 meters Centerline goodness : 0.998447 Centerline is valid? [True, True] Translation: X:510.33, Y:6.04, Z:7.89 [[ 9.98252174e-01 -5.70057022e-02 -1.55867393e-02 5.10331715e+02] [ 5.70093192e-02 9.98373624e-01 -2.12530108e-04 6.04408854e+00] [ 1.55735048e-02 -6.76430751e-04 9.99878497e-01 7.89100536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.2392541539999 meters Centerline goodness : 0.998677 Centerline is valid? [True, True] Translation: X:510.37, Y:6.04, Z:7.89 [[ 9.98125598e-01 -5.91821927e-02 -1.55807382e-02 5.10367487e+02] [ 5.91821485e-02 9.98247093e-01 -4.64320316e-04 6.04389490e+00] [ 1.55809061e-02 -4.58651567e-04 9.99878505e-01 7.89488135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.26925415399995 meters Centerline goodness : 0.998743 Centerline is valid? [True, True] Translation: X:510.40, Y:6.04, Z:7.90 [[ 9.97975068e-01 -6.16669522e-02 -1.55868673e-02 5.10400295e+02] [ 6.16709747e-02 9.98096509e-01 -2.22915185e-04 6.04463548e+00] [ 1.55709444e-02 -7.38793504e-04 9.99878493e-01 7.89725768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.2992541539999 meters Centerline goodness : 0.998867 Centerline is valid? [True, True] Translation: X:510.43, Y:6.05, Z:7.90 [[ 9.97812089e-01 -6.42501101e-02 -1.55870934e-02 5.10427544e+02] [ 6.42545853e-02 9.97933516e-01 -2.14044476e-04 6.04756462e+00] [ 1.55686353e-02 -7.87966053e-04 9.99878491e-01 7.89718273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.32925415399995 meters Centerline goodness : 0.998784 Centerline is valid? [True, True] Translation: X:510.47, Y:6.04, Z:7.89 [[ 9.98119503e-01 -5.92844861e-02 -1.55822649e-02 5.10466542e+02] [ 5.92854345e-02 9.98240991e-01 -4.01465425e-04 6.04215975e+00] [ 1.55786562e-02 -5.23090873e-04 9.99878509e-01 7.89483111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.3592541539999 meters Centerline goodness : 0.998763 Centerline is valid? [True, True] Translation: X:510.49, Y:6.05, Z:7.90 [[ 9.97794444e-01 -6.45224191e-02 -1.55918456e-02 5.10488479e+02] [ 6.45298988e-02 9.97915774e-01 -2.34331755e-05 6.04884589e+00] [ 1.55608606e-02 -9.82758725e-04 9.99878440e-01 7.89846746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.38925415399996 meters Centerline goodness : 0.998719 Centerline is valid? [True, True] Translation: X:510.52, Y:6.05, Z:7.90 [[ 9.97820608e-01 -6.41189531e-02 -1.55818479e-02 5.10521924e+02] [ 6.41204096e-02 9.97942086e-01 -4.06606957e-04 6.04971275e+00] [ 1.55758530e-02 -5.93393666e-04 9.99878513e-01 7.89976671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.41925415399993 meters Centerline goodness : 0.998887 Centerline is valid? [True, True] Translation: X:510.55, Y:6.05, Z:7.90 [[ 9.97889505e-01 -6.30376170e-02 -1.55818936e-02 5.10553581e+02] [ 6.30389694e-02 9.98010984e-01 -4.04845393e-04 6.05041884e+00] [ 1.55764215e-02 -5.78275546e-04 9.99878513e-01 7.89896213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.44925415399996 meters Centerline goodness : 0.998741 Centerline is valid? [True, True] Translation: X:510.59, Y:6.05, Z:7.90 [[ 9.97907243e-01 -6.27561604e-02 -1.55819685e-02 5.10586410e+02] [ 6.27575238e-02 9.98028723e-01 -4.01942631e-04 6.05149236e+00] [ 1.55764765e-02 -5.76784296e-04 9.99878513e-01 7.89953372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.47925415399993 meters Centerline goodness : 0.998803 Centerline is valid? [True, True] Translation: X:510.62, Y:6.05, Z:7.90 [[ 9.98028854e-01 -6.07915084e-02 -1.55820116e-02 5.10616997e+02] [ 6.07926588e-02 9.98150336e-01 -4.00264835e-04 6.05226996e+00] [ 1.55775228e-02 -5.47796060e-04 9.99878513e-01 7.89983195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.50925415399996 meters Centerline goodness : 0.998782 Centerline is valid? [True, True] Translation: X:510.65, Y:6.05, Z:7.90 [[ 9.97992835e-01 -6.13806149e-02 -1.55795315e-02 5.10651703e+02] [ 6.13803233e-02 9.98114326e-01 -4.97338703e-04 6.05293561e+00] [ 1.55806805e-02 -4.59936215e-04 9.99878508e-01 7.89955392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.53925415399993 meters Centerline goodness : 0.998697 Centerline is valid? [True, True] Translation: X:510.69, Y:6.05, Z:7.90 [[ 9.98329901e-01 -5.56291792e-02 -1.55821732e-02 5.10691599e+02] [ 5.56298230e-02 9.98451385e-01 -3.92455579e-04 6.04749475e+00] [ 1.55798744e-02 -4.75033396e-04 9.99878514e-01 7.89610191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.5692541539999 meters Centerline goodness : 0.999055 Centerline is valid? [True, True] Translation: X:510.71, Y:6.06, Z:7.90 [[ 9.98059153e-01 -6.02892770e-02 -1.55926062e-02 5.10713278e+02] [ 6.02970745e-02 9.98180476e-01 3.00092596e-05 6.05538351e+00] [ 1.55624258e-02 -9.70139552e-04 9.99878427e-01 7.89910867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.59925415399994 meters Centerline goodness : 0.998823 Centerline is valid? [True, True] Translation: X:510.74, Y:6.06, Z:7.90 [[ 9.98094230e-01 -5.97086084e-02 -1.55817469e-02 5.10744089e+02] [ 5.97096833e-02 9.98215706e-01 -3.96642395e-04 6.05646410e+00] [ 1.55776275e-02 -5.34494688e-04 9.99878519e-01 7.89702101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.6292541539999 meters Centerline goodness : 0.998845 Centerline is valid? [True, True] Translation: X:510.78, Y:6.06, Z:7.90 [[ 9.98143187e-01 -5.88845265e-02 -1.55817689e-02 5.10776267e+02] [ 5.88855146e-02 9.98264664e-01 -3.95778367e-04 6.05863160e+00] [ 1.55780345e-02 -5.22496998e-04 9.99878519e-01 7.89957238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.65925415399994 meters Centerline goodness : 0.998720 Centerline is valid? [True, True] Translation: X:510.81, Y:6.06, Z:7.90 [[ 9.98168477e-01 -5.84542462e-02 -1.55817975e-02 5.10808294e+02] [ 5.84551995e-02 9.98289955e-01 -3.94646692e-04 6.06009617e+00] [ 1.55782207e-02 -5.16913196e-04 9.99878519e-01 7.90028079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.6892541539999 meters Centerline goodness : 0.998863 Centerline is valid? [True, True] Translation: X:510.84, Y:6.06, Z:7.90 [[ 9.98219879e-01 -5.75697910e-02 -1.55818261e-02 5.10839044e+02] [ 5.75706544e-02 9.98341357e-01 -3.93513926e-04 6.06201583e+00] [ 1.55786360e-02 -5.04242503e-04 9.99878519e-01 7.90130860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.71925415399994 meters Centerline goodness : 0.998990 Centerline is valid? [True, True] Translation: X:510.87, Y:6.06, Z:7.90 [[ 9.98248777e-01 -5.70664902e-02 -1.55818474e-02 5.10871153e+02] [ 5.70673054e-02 9.98370256e-01 -3.92670147e-04 6.06370208e+00] [ 1.55788613e-02 -4.97231551e-04 9.99878519e-01 7.90243447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.7492541539999 meters Centerline goodness : 0.998948 Centerline is valid? [True, True] Translation: X:510.90, Y:6.07, Z:7.90 [[ 9.98295758e-01 -5.62386479e-02 -1.55818758e-02 5.10903735e+02] [ 5.62393801e-02 9.98417237e-01 -3.91539910e-04 6.06505879e+00] [ 1.55792331e-02 -4.85442405e-04 9.99878519e-01 7.90349648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.77925415399994 meters Centerline goodness : 0.998885 Centerline is valid? [True, True] Translation: X:510.93, Y:6.07, Z:7.90 [[ 9.98396778e-01 -5.44157860e-02 -1.55819044e-02 5.10934004e+02] [ 5.44163141e-02 9.98518258e-01 -3.90397623e-04 6.06651719e+00] [ 1.55800599e-02 -4.58138077e-04 9.99878519e-01 7.90266205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.8092541539999 meters Centerline goodness : 0.998863 Centerline is valid? [True, True] Translation: X:510.97, Y:6.07, Z:7.90 [[ 9.98453441e-01 -5.33665923e-02 -1.55799168e-02 5.10967750e+02] [ 5.33657552e-02 9.98574922e-01 -4.69762455e-04 6.06866937e+00] [ 1.55827839e-02 -3.62398088e-04 9.99878515e-01 7.90470160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.83925415399995 meters Centerline goodness : 0.998843 Centerline is valid? [True, True] Translation: X:511.00, Y:6.07, Z:7.91 [[ 9.98504943e-01 -5.23935204e-02 -1.55819970e-02 5.10999993e+02] [ 5.23938752e-02 9.98626423e-01 -3.85735684e-04 6.07038887e+00] [ 1.55808040e-02 -4.31242219e-04 9.99878519e-01 7.90519689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.8692541539999 meters Centerline goodness : 0.998823 Centerline is valid? [True, True] Translation: X:511.03, Y:6.07, Z:7.91 [[ 9.98541374e-01 -5.16945295e-02 -1.55820249e-02 5.11031657e+02] [ 5.16948169e-02 9.98662855e-01 -3.84605560e-04 6.07205649e+00] [ 1.55810715e-02 -4.21465359e-04 9.99878519e-01 7.90566576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.89925415399995 meters Centerline goodness : 0.998717 Centerline is valid? [True, True] Translation: X:511.06, Y:6.07, Z:7.91 [[ 9.98586561e-01 -5.08141580e-02 -1.55820936e-02 5.11063853e+02] [ 5.08143820e-02 9.98708042e-01 -3.81802496e-04 6.07375071e+00] [ 1.55813631e-02 -4.10531613e-04 9.99878519e-01 7.90649265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.9292541539999 meters Centerline goodness : 0.998736 Centerline is valid? [True, True] Translation: X:511.10, Y:6.07, Z:7.91 [[ 9.98576403e-01 -5.10133817e-02 -1.55821216e-02 5.11096201e+02] [ 5.10136479e-02 9.98697884e-01 -3.80653264e-04 6.07499723e+00] [ 1.55812503e-02 -4.14789499e-04 9.99878519e-01 7.90748751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.95925415399995 meters Centerline goodness : 0.998820 Centerline is valid? [True, True] Translation: X:511.13, Y:6.08, Z:7.91 [[ 9.98516819e-01 -5.21666543e-02 -1.55821494e-02 5.11129524e+02] [ 5.21670785e-02 9.98638299e-01 -3.79512067e-04 6.07674191e+00] [ 1.55807291e-02 -4.33926031e-04 9.99878519e-01 7.90881262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.9892541539999 meters Centerline goodness : 0.998820 Centerline is valid? [True, True] Translation: X:511.16, Y:6.08, Z:7.91 [[ 9.98520669e-01 -5.20928884e-02 -1.55821914e-02 5.11162203e+02] [ 5.20933306e-02 9.98642149e-01 -3.77779838e-04 6.07747482e+00] [ 1.55807128e-02 -4.34507274e-04 9.99878519e-01 7.90932166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.01925415399995 meters Centerline goodness : 0.999009 Centerline is valid? [True, True] Translation: X:511.19, Y:6.08, Z:7.91 [[ 9.98469451e-01 -5.30655309e-02 -1.55822193e-02 5.11194499e+02] [ 5.30661095e-02 9.98590930e-01 -3.76628978e-04 6.07847833e+00] [ 1.55802488e-02 -4.50835224e-04 9.99878519e-01 7.90984928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.0492541539999 meters Centerline goodness : 0.998820 Centerline is valid? [True, True] Translation: X:511.23, Y:6.08, Z:7.91 [[ 9.98413733e-01 -5.41037112e-02 -1.55822468e-02 5.11227429e+02] [ 5.41044339e-02 9.98535212e-01 -3.75487647e-04 6.07935718e+00] [ 1.55797373e-02 -4.68176616e-04 9.99878519e-01 7.91035912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.07925415399995 meters Centerline goodness : 0.998947 Centerline is valid? [True, True] Translation: X:511.26, Y:6.08, Z:7.91 [[ 9.98277474e-01 -5.65621620e-02 -1.55822883e-02 5.11259126e+02] [ 5.65632108e-02 9.98398950e-01 -3.73756155e-04 6.08028266e+00] [ 1.55784807e-02 -5.08271907e-04 9.99878519e-01 7.91064703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.1092541539999 meters Centerline goodness : 0.998820 Centerline is valid? [True, True] Translation: X:511.29, Y:6.08, Z:7.91 [[ 9.98199216e-01 -5.79268144e-02 -1.55823225e-02 5.11291573e+02] [ 5.79280516e-02 9.98320691e-01 -3.72324170e-04 6.08115429e+00] [ 1.55777225e-02 -5.30999887e-04 9.99878519e-01 7.91085224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.13925415399996 meters Centerline goodness : 0.998861 Centerline is valid? [True, True] Translation: X:511.32, Y:6.08, Z:7.91 [[ 9.98128438e-01 -5.91338416e-02 -1.55823497e-02 5.11324903e+02] [ 5.91352435e-02 9.98249911e-01 -3.71181360e-04 6.08170735e+00] [ 1.55770286e-02 -5.50979374e-04 9.99878519e-01 7.91117501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.16925415399993 meters Centerline goodness : 0.998986 Centerline is valid? [True, True] Translation: X:511.36, Y:6.08, Z:7.91 [[ 9.97970365e-01 -6.17441535e-02 -1.55823912e-02 5.11357262e+02] [ 6.17459004e-02 9.98091833e-01 -3.69430036e-04 6.08274232e+00] [ 1.55754676e-02 -5.93468550e-04 9.99878519e-01 7.91045314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.19925415399996 meters Centerline goodness : 0.998885 Centerline is valid? [True, True] Translation: X:511.40, Y:6.08, Z:7.91 [[ 9.98204810e-01 -5.78303118e-02 -1.55824186e-02 5.11396399e+02] [ 5.78316004e-02 9.98326285e-01 -3.68274271e-04 6.07732515e+00] [ 1.55776354e-02 -5.33543055e-04 9.99878519e-01 7.90590821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.22925415399993 meters Centerline goodness : 0.998818 Centerline is valid? [True, True] Translation: X:511.42, Y:6.08, Z:7.91 [[ 9.97750385e-01 -6.52003721e-02 -1.55910769e-02 5.11418174e+02] [ 6.52083840e-02 9.97871668e-01 5.52376300e-06 6.08484917e+00] [ 1.55575337e-02 -1.02218026e-03 9.99878452e-01 7.90976798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.25925415399996 meters Centerline goodness : 0.998921 Centerline is valid? [True, True] Translation: X:511.45, Y:6.09, Z:7.91 [[ 9.97530490e-01 -6.84844644e-02 -1.55820454e-02 5.11451483e+02] [ 6.84869852e-02 9.97651940e-01 -3.72409572e-04 6.08633345e+00] [ 1.55709621e-02 -6.95677410e-04 9.99878523e-01 7.91074343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.28925415399993 meters Centerline goodness : 0.998966 Centerline is valid? [True, True] Translation: X:511.48, Y:6.09, Z:7.91 [[ 9.97435971e-01 -6.98475678e-02 -1.55820870e-02 5.11484829e+02] [ 6.98502818e-02 9.97557417e-01 -3.70660023e-04 6.08746117e+00] [ 1.55699162e-02 -7.18703530e-04 9.99878523e-01 7.91145723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.3192541539999 meters Centerline goodness : 0.999009 Centerline is valid? [True, True] Translation: X:511.52, Y:6.09, Z:7.91 [[ 9.97262642e-01 -7.22801458e-02 -1.55821284e-02 5.11516050e+02] [ 7.22831833e-02 9.97384081e-01 -3.68912966e-04 6.08904201e+00] [ 1.55680319e-02 -7.58422723e-04 9.99878523e-01 7.91229860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.34925415399994 meters Centerline goodness : 0.998903 Centerline is valid? [True, True] Translation: X:511.55, Y:6.09, Z:7.91 [[ 9.97220950e-01 -7.28531001e-02 -1.55821488e-02 5.11548749e+02] [ 7.28562209e-02 9.97342386e-01 -3.68047695e-04 6.09024798e+00] [ 1.55675509e-02 -7.68231604e-04 9.99878523e-01 7.91338200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.3792541539999 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:511.58, Y:6.09, Z:7.91 [[ 9.97220500e-01 -7.28592503e-02 -1.55821893e-02 5.11581629e+02] [ 7.28623986e-02 9.97341936e-01 -3.66325752e-04 6.09170108e+00] [ 1.55674611e-02 -7.70048138e-04 9.99878523e-01 7.91446069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.40925415399994 meters Centerline goodness : 0.998879 Centerline is valid? [True, True] Translation: X:511.61, Y:6.09, Z:7.92 [[ 9.97251812e-01 -7.24293976e-02 -1.55822298e-02 5.11614295e+02] [ 7.24325205e-02 9.97373249e-01 -3.64595760e-04 6.09340835e+00] [ 1.55677066e-02 -7.65066396e-04 9.99878523e-01 7.91501828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.4392541539999 meters Centerline goodness : 0.999090 Centerline is valid? [True, True] Translation: X:511.65, Y:6.10, Z:7.92 [[ 9.97382083e-01 -7.06128451e-02 -1.55822702e-02 5.11647731e+02] [ 7.06157739e-02 9.97503524e-01 -3.62861068e-04 6.09610339e+00] [ 1.55689921e-02 -7.38442940e-04 9.99878523e-01 7.91590392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.46925415399994 meters Centerline goodness : 0.998879 Centerline is valid? [True, True] Translation: X:511.68, Y:6.10, Z:7.92 [[ 9.97473239e-01 -6.93132648e-02 -1.55823105e-02 5.11680173e+02] [ 6.93160626e-02 9.97594684e-01 -3.61119510e-04 6.09776922e+00] [ 1.55698605e-02 -7.19897364e-04 9.99878523e-01 7.91630599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.4992541539999 meters Centerline goodness : 0.998728 Centerline is valid? [True, True] Translation: X:511.71, Y:6.10, Z:7.92 [[ 9.97666765e-01 -6.64696721e-02 -1.55823438e-02 5.11712650e+02] [ 6.64721461e-02 9.97788216e-01 -3.59677400e-04 6.10075872e+00] [ 1.55717867e-02 -6.76953647e-04 9.99878523e-01 7.91730544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.52925415399994 meters Centerline goodness : 0.998832 Centerline is valid? [True, True] Translation: X:511.75, Y:6.10, Z:7.92 [[ 9.97769793e-01 -6.49047818e-02 -1.55823700e-02 5.11745667e+02] [ 6.49070830e-02 9.97891248e-01 -3.58538269e-04 6.10244196e+00] [ 1.55727815e-02 -6.53667532e-04 9.99878523e-01 7.91786075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.5592541539999 meters Centerline goodness : 0.998792 Centerline is valid? [True, True] Translation: X:511.78, Y:6.10, Z:7.92 [[ 9.97873929e-01 -6.32835660e-02 -1.55824092e-02 5.11777490e+02] [ 6.32856966e-02 9.97995387e-01 -3.56829988e-04 6.10415034e+00] [ 1.55737539e-02 -6.30072276e-04 9.99878523e-01 7.91802461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.58925415399995 meters Centerline goodness : 0.998939 Centerline is valid? [True, True] Translation: X:511.81, Y:6.11, Z:7.92 [[ 9.97992739e-01 -6.13814354e-02 -1.55824351e-02 5.11809413e+02] [ 6.13833521e-02 9.98114201e-01 -3.55694509e-04 6.10574929e+00] [ 1.55748828e-02 -6.01521562e-04 9.99878523e-01 7.91834566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.6192541539999 meters Centerline goodness : 0.999193 Centerline is valid? [True, True] Translation: X:511.84, Y:6.11, Z:7.92 [[ 9.98209164e-01 -5.77551051e-02 -1.55824609e-02 5.11841081e+02] [ 5.77565983e-02 9.98330631e-01 -3.54559638e-04 6.10877033e+00] [ 1.55769257e-02 -5.46065255e-04 9.99878523e-01 7.91902649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.64925415399995 meters Centerline goodness : 0.999109 Centerline is valid? [True, True] Translation: X:511.87, Y:6.11, Z:7.92 [[ 9.98310618e-01 -5.59740740e-02 -1.55824872e-02 5.11872703e+02] [ 5.59753685e-02 9.98432087e-01 -3.53400453e-04 6.11067909e+00] [ 1.55778365e-02 -5.19432038e-04 9.99878523e-01 7.91817542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.6792541539999 meters Centerline goodness : 0.999087 Centerline is valid? [True, True] Translation: X:511.90, Y:6.11, Z:7.92 [[ 9.98500308e-01 -5.24816245e-02 -1.55825067e-02 5.11904743e+02] [ 5.24825076e-02 9.98621781e-01 -3.52537230e-04 6.11356607e+00] [ 1.55795323e-02 -4.65800494e-04 9.99878523e-01 7.91778396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.70925415399995 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:511.94, Y:6.11, Z:7.92 [[ 9.98596709e-01 -5.06142102e-02 -1.55825315e-02 5.11937092e+02] [ 5.06148832e-02 9.98718184e-01 -3.51437415e-04 6.11494274e+00] [ 1.55803453e-02 -4.37763766e-04 9.99878523e-01 7.91794588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.7392541539999 meters Centerline goodness : 0.999129 Centerline is valid? [True, True] Translation: X:511.97, Y:6.12, Z:7.92 [[ 9.98758092e-01 -4.73229068e-02 -1.55825562e-02 5.11969286e+02] [ 4.73231965e-02 9.98879568e-01 -3.50341125e-04 6.11766156e+00] [ 1.55816761e-02 -3.87510335e-04 9.99878523e-01 7.91995330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.76925415399995 meters Centerline goodness : 0.999193 Centerline is valid? [True, True] Translation: X:512.00, Y:6.12, Z:7.92 [[ 9.98842043e-01 -4.55165395e-02 -1.55825821e-02 5.12000613e+02] [ 4.55166276e-02 9.98963520e-01 -3.49185217e-04 6.11929065e+00] [ 1.55823247e-02 -3.60485709e-04 9.99878523e-01 7.91909390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.7992541539999 meters Centerline goodness : 0.999193 Centerline is valid? [True, True] Translation: X:512.03, Y:6.12, Z:7.92 [[ 9.98915409e-01 -4.38769682e-02 -1.55826013e-02 5.12032819e+02] [ 4.38768703e-02 9.99036886e-01 -3.48323947e-04 6.12096611e+00] [ 1.55828769e-02 -3.35769619e-04 9.99878523e-01 7.92162648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.82925415399995 meters Centerline goodness : 0.999002 Centerline is valid? [True, True] Translation: X:512.07, Y:6.12, Z:7.92 [[ 9.99022455e-01 -4.13680543e-02 -1.55826270e-02 5.12065167e+02] [ 4.13676693e-02 9.99143931e-01 -3.47172430e-04 6.12400148e+00] [ 1.55836490e-02 -2.97783906e-04 9.99878523e-01 7.92341787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.8592541539999 meters Centerline goodness : 0.999234 Centerline is valid? [True, True] Translation: X:512.10, Y:6.13, Z:7.92 [[ 9.99060749e-01 -4.04326683e-02 -1.55826525e-02 5.12096003e+02] [ 4.04321875e-02 9.99182225e-01 -3.46024775e-04 6.12546591e+00] [ 1.55839001e-02 -2.84340955e-04 9.99878523e-01 7.92419332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.88925415399996 meters Centerline goodness : 0.999170 Centerline is valid? [True, True] Translation: X:512.13, Y:6.13, Z:7.93 [[ 9.99076400e-01 -4.00440669e-02 -1.55826714e-02 5.12128253e+02] [ 4.00435522e-02 9.99197876e-01 -3.45169520e-04 6.12637805e+00] [ 1.55839942e-02 -2.79134794e-04 9.99878523e-01 7.92503109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.91925415399993 meters Centerline goodness : 0.999299 Centerline is valid? [True, True] Translation: X:512.16, Y:6.13, Z:7.93 [[ 9.99076118e-01 -4.00510938e-02 -1.55826968e-02 5.12160335e+02] [ 4.00505978e-02 9.99197594e-01 -3.44017498e-04 6.12670496e+00] [ 1.55839715e-02 -2.80396658e-04 9.99878523e-01 7.92544305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.94925415399996 meters Centerline goodness : 0.999109 Centerline is valid? [True, True] Translation: X:512.19, Y:6.13, Z:7.93 [[ 9.99034398e-01 -4.10785914e-02 -1.55827221e-02 5.12192957e+02] [ 4.10782383e-02 9.99155874e-01 -3.42871450e-04 6.12676472e+00] [ 1.55836530e-02 -2.97570397e-04 9.99878523e-01 7.92620651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.97925415399993 meters Centerline goodness : 0.999045 Centerline is valid? [True, True] Translation: X:512.22, Y:6.13, Z:7.93 [[ 9.99022608e-01 -4.13643195e-02 -1.55827470e-02 5.12224992e+02] [ 4.13640189e-02 9.99144084e-01 -3.41733879e-04 6.12730749e+00] [ 1.55835451e-02 -3.03165170e-04 9.99878523e-01 7.92728792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.0092541539999 meters Centerline goodness : 0.999129 Centerline is valid? [True, True] Translation: X:512.26, Y:6.13, Z:7.93 [[ 9.99014997e-01 -4.15477140e-02 -1.55827719e-02 5.12256201e+02] [ 4.15474535e-02 9.99136474e-01 -3.40594719e-04 6.12826365e+00] [ 1.55834667e-02 -3.07165258e-04 9.99878523e-01 7.92806603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.03925415399993 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:512.29, Y:6.13, Z:7.93 [[ 9.99042947e-01 -4.08701129e-02 -1.55827904e-02 5.12288057e+02] [ 4.08697832e-02 9.99164424e-01 -3.39745753e-04 6.12893002e+00] [ 1.55836552e-02 -2.97444667e-04 9.99878523e-01 7.92862948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.0692541539999 meters Centerline goodness : 0.999151 Centerline is valid? [True, True] Translation: X:512.32, Y:6.13, Z:7.93 [[ 9.99091736e-01 -3.96595420e-02 -1.55828144e-02 5.12320632e+02] [ 3.96590823e-02 9.99213212e-01 -3.38640416e-04 6.12933364e+00] [ 1.55839844e-02 -2.79667279e-04 9.99878523e-01 7.92962524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.09925415399994 meters Centerline goodness : 0.999087 Centerline is valid? [True, True] Translation: X:512.35, Y:6.13, Z:7.93 [[ 9.99197443e-01 -3.69004880e-02 -1.55828390e-02 5.12351951e+02] [ 3.68997106e-02 9.99318917e-01 -3.37504907e-04 6.12901998e+00] [ 1.55846799e-02 -2.37768210e-04 9.99878523e-01 7.92904504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.1292541539999 meters Centerline goodness : 0.999044 Centerline is valid? [True, True] Translation: X:512.38, Y:6.13, Z:7.93 [[ 9.99246477e-01 -3.55478964e-02 -1.55828573e-02 5.12384272e+02] [ 3.55469677e-02 9.99367950e-01 -3.36658740e-04 6.12915711e+00] [ 1.55849757e-02 -2.17518266e-04 9.99878523e-01 7.92900294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.15925415399994 meters Centerline goodness : 0.998937 Centerline is valid? [True, True] Translation: X:512.42, Y:6.13, Z:7.93 [[ 9.99294862e-01 -3.41606773e-02 -1.55828814e-02 5.12416941e+02] [ 3.41595974e-02 9.99416334e-01 -3.35540819e-04 6.12912447e+00] [ 1.55852485e-02 -1.97000737e-04 9.99878523e-01 7.92912383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.1892541539999 meters Centerline goodness : 0.999149 Centerline is valid? [True, True] Translation: X:512.45, Y:6.13, Z:7.93 [[ 9.99354850e-01 -3.23582704e-02 -1.55829052e-02 5.12449438e+02] [ 3.23569887e-02 9.99476320e-01 -3.34430965e-04 6.12883598e+00] [ 1.55855663e-02 -1.70000680e-04 9.99878523e-01 7.92853092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.21925415399994 meters Centerline goodness : 0.999085 Centerline is valid? [True, True] Translation: X:512.48, Y:6.13, Z:7.93 [[ 9.99357539e-01 -3.22750801e-02 -1.55829289e-02 5.12480424e+02] [ 3.22738056e-02 9.99479009e-01 -3.33323660e-04 6.12839812e+00] [ 1.55855684e-02 -1.69810905e-04 9.99878523e-01 7.92840850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.2492541539999 meters Centerline goodness : 0.998936 Centerline is valid? [True, True] Translation: X:512.53, Y:6.11, Z:7.92 [[ 9.99692030e-01 -1.93136390e-02 -1.55829465e-02 5.12528678e+02] [ 1.93108023e-02 9.99813474e-01 -3.32498036e-04 6.11061932e+00] [ 1.55864616e-02 3.14764366e-05 9.99878523e-01 7.91878198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.27925415399994 meters Centerline goodness : 0.998744 Centerline is valid? [True, True] Translation: X:512.56, Y:6.11, Z:7.92 [[ 9.99703248e-01 -1.87112627e-02 -1.55982050e-02 5.12557803e+02] [ 1.87206386e-02 9.99824650e-01 4.55277611e-04 6.10851866e+00] [ 1.55869510e-02 -7.47150865e-04 9.99878237e-01 7.91776381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.3092541539999 meters Centerline goodness : 0.999063 Centerline is valid? [True, True] Translation: X:512.57, Y:6.13, Z:7.93 [[ 9.99170829e-01 -3.76083437e-02 -1.55970461e-02 5.12567999e+02] [ 3.76191688e-02 9.99292068e-01 4.01130170e-04 6.12773946e+00] [ 1.55709186e-02 -9.87545474e-04 9.99878278e-01 7.92923134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.33925415399995 meters Centerline goodness : 0.998938 Centerline is valid? [True, True] Translation: X:512.60, Y:6.13, Z:7.93 [[ 9.99013829e-01 -4.15771095e-02 -1.55792734e-02 5.12598805e+02] [ 4.15765081e-02 9.99135257e-01 -3.62624919e-04 6.12695464e+00] [ 1.55808783e-02 -2.85464479e-04 9.99878570e-01 7.92950984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.3692541539999 meters Centerline goodness : 0.998874 Centerline is valid? [True, True] Translation: X:512.65, Y:6.11, Z:7.92 [[ 9.99423831e-01 -3.01544535e-02 -1.55792930e-02 5.12646351e+02] [ 3.01524772e-02 9.99545245e-01 -3.61783598e-04 6.11135302e+00] [ 1.55831176e-02 -1.08179126e-04 9.99878570e-01 7.92127318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.39925415399995 meters Centerline goodness : 0.999004 Centerline is valid? [True, True] Translation: X:512.66, Y:6.13, Z:7.93 [[ 9.98653215e-01 -4.94821206e-02 -1.55972847e-02 5.12656520e+02] [ 4.94953262e-02 9.98774249e-01 4.61541389e-04 6.12647210e+00] [ 1.55553282e-02 -1.23291248e-03 9.99878248e-01 7.93093126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.4292541539999 meters Centerline goodness : 0.998876 Centerline is valid? [True, True] Translation: X:512.69, Y:6.13, Z:7.93 [[ 9.98506563e-01 -5.23639801e-02 -1.55774668e-02 5.12688239e+02] [ 5.23645599e-02 9.98627966e-01 -3.70936547e-04 6.12693506e+00] [ 1.55755177e-02 -4.45324615e-04 9.99878595e-01 7.93201162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.45925415399995 meters Centerline goodness : 0.999196 Centerline is valid? [True, True] Translation: X:512.72, Y:6.13, Z:7.93 [[ 9.98146732e-01 -5.88255359e-02 -1.55774926e-02 5.12719861e+02] [ 5.88269185e-02 9.98268129e-01 -3.69847365e-04 6.12606611e+00] [ 1.55722709e-02 -5.47213951e-04 9.99878595e-01 7.93317311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.4892541539999 meters Centerline goodness : 0.999048 Centerline is valid? [True, True] Translation: X:512.75, Y:6.13, Z:7.93 [[ 9.97939088e-01 -6.22488392e-02 -1.55775355e-02 5.12752663e+02] [ 6.22506664e-02 9.98060479e-01 -3.68033413e-04 6.12597518e+00] [ 1.55702322e-02 -6.02437037e-04 9.99878595e-01 7.93366712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.51925415399995 meters Centerline goodness : 0.998963 Centerline is valid? [True, True] Translation: X:512.79, Y:6.13, Z:7.93 [[ 9.97729643e-01 -6.55202188e-02 -1.55775735e-02 5.12785567e+02] [ 6.55224691e-02 9.97851027e-01 -3.66419576e-04 6.12575012e+00] [ 1.55681056e-02 -6.55093402e-04 9.99878595e-01 7.93433931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.5492541539999 meters Centerline goodness : 0.998837 Centerline is valid? [True, True] Translation: X:512.83, Y:6.11, Z:7.93 [[ 9.98319802e-01 -5.58113850e-02 -1.55776117e-02 5.12833561e+02] [ 5.58124799e-02 9.98441202e-01 -3.64784166e-04 6.11028387e+00] [ 1.55736885e-02 -5.05253887e-04 9.99878595e-01 7.92768374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.57925415399995 meters Centerline goodness : 0.998923 Centerline is valid? [True, True] Translation: X:512.84, Y:6.12, Z:7.93 [[ 9.97184440e-01 -7.33484238e-02 -1.55948981e-02 5.12844257e+02] [ 7.33638990e-02 9.97305149e-01 4.21792213e-04 6.12463362e+00] [ 1.55219344e-02 -1.56470716e-03 9.99878303e-01 7.93484928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.6092541539999 meters Centerline goodness : 0.998860 Centerline is valid? [True, True] Translation: X:512.88, Y:6.13, Z:7.94 [[ 9.97077423e-01 -7.47930495e-02 -1.55759975e-02 5.12877608e+02] [ 7.47963510e-02 9.97198761e-01 -3.71297538e-04 6.12555482e+00] [ 1.55601359e-02 -7.94815381e-04 9.99878618e-01 7.93578107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.63925415399996 meters Centerline goodness : 0.998923 Centerline is valid? [True, True] Translation: X:512.92, Y:6.11, Z:7.93 [[ 9.97734767e-01 -6.54425037e-02 -1.55760384e-02 5.12921359e+02] [ 6.54446945e-02 9.97856130e-01 -3.69570881e-04 6.11431512e+00] [ 1.55668311e-02 -6.50635360e-04 9.99878618e-01 7.93049144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.66925415399993 meters Centerline goodness : 0.998943 Centerline is valid? [True, True] Translation: X:512.96, Y:6.11, Z:7.93 [[ 9.97837618e-01 -6.38515857e-02 -1.55905145e-02 5.12955565e+02] [ 6.38632187e-02 9.97958630e-01 2.48936937e-04 6.11277044e+00] [ 1.55427934e-02 -1.24405907e-03 9.99878430e-01 7.93030031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.69925415399996 meters Centerline goodness : 0.998755 Centerline is valid? [True, True] Translation: X:512.99, Y:6.11, Z:7.93 [[ 9.97895321e-01 -6.29424514e-02 -1.55941293e-02 5.12987158e+02] [ 6.29563828e-02 9.98016198e-01 4.03599438e-04 6.11374604e+00] [ 1.55377901e-02 -1.38449997e-03 9.99878323e-01 7.93080026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.72925415399993 meters Centerline goodness : 0.999050 Centerline is valid? [True, True] Translation: X:513.00, Y:6.13, Z:7.94 [[ 9.97106383e-01 -7.44020452e-02 -1.55947541e-02 5.12996198e+02] [ 7.44177781e-02 9.97227060e-01 4.30192128e-04 6.13087915e+00] [ 1.55195036e-02 -1.58947426e-03 9.99878302e-01 7.93816510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.7592541539999 meters Centerline goodness : 0.998817 Centerline is valid? [True, True] Translation: X:513.05, Y:6.12, Z:7.93 [[ 9.98159084e-01 -5.86165900e-02 -1.55736213e-02 5.13045093e+02] [ 5.86175120e-02 9.98280436e-01 -3.97654079e-04 6.11771510e+00] [ 1.55701506e-02 -5.15964904e-04 9.99878645e-01 7.93252578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.78925415399993 meters Centerline goodness : 0.999006 Centerline is valid? [True, True] Translation: X:513.05, Y:6.13, Z:7.94 [[ 9.97605193e-01 -6.73844465e-02 -1.55953401e-02 5.13054138e+02] [ 6.74005352e-02 9.97725869e-01 5.07743832e-04 6.13476896e+00] [ 1.55256602e-02 -1.55766215e-03 9.99878256e-01 7.93828454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.8192541539999 meters Centerline goodness : 0.998773 Centerline is valid? [True, True] Translation: X:513.10, Y:6.12, Z:7.93 [[ 9.98637650e-01 -4.98033364e-02 -1.55714770e-02 5.13104741e+02] [ 4.98030481e-02 9.98758976e-01 -4.06534490e-04 6.12102082e+00] [ 1.55723992e-02 -3.69526369e-04 9.99878675e-01 7.93148351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.84925415399994 meters Centerline goodness : 0.998984 Centerline is valid? [True, True] Translation: X:513.11, Y:6.14, Z:7.94 [[ 9.98009513e-01 -6.11050364e-02 -1.55944412e-02 5.13112736e+02] [ 6.11207503e-02 9.98130237e-01 5.32610704e-04 6.13929247e+00] [ 1.55327381e-02 -1.48469449e-03 9.99878257e-01 7.93848542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.8792541539999 meters Centerline goodness : 0.999003 Centerline is valid? [True, True] Translation: X:513.15, Y:6.14, Z:7.94 [[ 9.98241379e-01 -5.71992222e-02 -1.55691564e-02 5.13145780e+02] [ 5.71996937e-02 9.98362671e-01 -4.15376429e-04 6.14248490e+00] [ 1.55674238e-02 -4.75905038e-04 9.99878707e-01 7.93912791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.90925415399994 meters Centerline goodness : 0.999003 Centerline is valid? [True, True] Translation: X:513.18, Y:6.14, Z:7.94 [[ 9.98247720e-01 -5.70884412e-02 -1.55692023e-02 5.13179307e+02] [ 5.70889263e-02 9.98369012e-01 -4.13647138e-04 6.14328675e+00] [ 1.55674236e-02 -4.75906732e-04 9.99878707e-01 7.93964976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.9392541539999 meters Centerline goodness : 0.999001 Centerline is valid? [True, True] Translation: X:513.21, Y:6.15, Z:7.94 [[ 9.98656264e-01 -4.94293952e-02 -1.55692480e-02 5.13211444e+02] [ 4.94289768e-02 9.98777556e-01 -4.11919540e-04 6.14796345e+00] [ 1.55705764e-02 -3.58205972e-04 9.99878707e-01 7.94008901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.96925415399994 meters Centerline goodness : 0.998852 Centerline is valid? [True, True] Translation: X:513.24, Y:6.15, Z:7.94 [[ 9.98831217e-01 -4.57580394e-02 -1.55692857e-02 5.13243411e+02] [ 4.57571974e-02 9.98952507e-01 -4.10489538e-04 6.15025644e+00] [ 1.55717602e-02 -3.02397116e-04 9.99878707e-01 7.94116578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.9992541539999 meters Centerline goodness : 0.999233 Centerline is valid? [True, True] Translation: X:513.27, Y:6.15, Z:7.94 [[ 9.99092195e-01 -3.96532680e-02 -1.55693158e-02 5.13274876e+02] [ 3.96517026e-02 9.99213478e-01 -4.09345955e-04 6.15338952e+00] [ 1.55733021e-02 -2.08375531e-04 9.99878707e-01 7.94191214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.02925415399994 meters Centerline goodness : 0.999147 Centerline is valid? [True, True] Translation: X:513.31, Y:6.16, Z:7.94 [[ 9.99214117e-01 -3.64519360e-02 -1.55693382e-02 5.13306057e+02] [ 3.64499953e-02 9.99335395e-01 -4.08494177e-04 6.15605694e+00] [ 1.55738811e-02 -1.59329154e-04 9.99878707e-01 7.94219243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.0592541539999 meters Centerline goodness : 0.999169 Centerline is valid? [True, True] Translation: X:513.34, Y:6.16, Z:7.94 [[ 9.99355036e-01 -3.23598477e-02 -1.55676741e-02 5.13336949e+02] [ 3.23564210e-02 9.99476282e-01 -4.72004172e-04 6.15983640e+00] [ 1.55747950e-02 -3.20144719e-05 9.99878705e-01 7.94228039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.08925415399995 meters Centerline goodness : 0.999038 Centerline is valid? [True, True] Translation: X:513.37, Y:6.16, Z:7.94 [[ 9.99431280e-01 -2.99129617e-02 -1.55670149e-02 5.13368261e+02] [ 2.99088447e-02 9.99552507e-01 -4.97263469e-04 6.16077450e+00] [ 1.55749234e-02 3.13892353e-05 9.99878703e-01 7.94319634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.1192541539999 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:513.40, Y:6.16, Z:7.94 [[ 9.99458274e-01 -2.89963333e-02 -1.55682561e-02 5.13399645e+02] [ 2.89928461e-02 9.99579518e-01 -4.49695104e-04 6.16160945e+00] [ 1.55747494e-02 -1.91656092e-06 9.99878706e-01 7.94450289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.14925415399995 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:513.43, Y:6.16, Z:7.95 [[ 9.99534991e-01 -2.62182109e-02 -1.55694016e-02 5.13431363e+02] [ 2.62150714e-02 9.99656244e-01 -4.05738548e-04 6.16250293e+00] [ 1.55746873e-02 -2.60309847e-06 9.99878707e-01 7.94528793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.1792541539999 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:513.46, Y:6.16, Z:7.95 [[ 9.99552842e-01 -2.55285902e-02 -1.55694164e-02 5.13462521e+02] [ 2.55253758e-02 9.99674092e-01 -4.05170609e-04 6.16335789e+00] [ 1.55746857e-02 7.57422868e-06 9.99878707e-01 7.94588684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.20925415399995 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:513.49, Y:6.16, Z:7.95 [[ 9.99587490e-01 -2.41338603e-02 -1.55694313e-02 5.13491711e+02] [ 2.41304856e-02 9.99708736e-01 -4.04598933e-04 6.16371582e+00] [ 1.55746610e-02 2.87340943e-05 9.99878707e-01 7.94598871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.2392541539999 meters Centerline goodness : 0.999315 Centerline is valid? [True, True] Translation: X:513.52, Y:6.16, Z:7.95 [[ 9.99554770e-01 -2.54540907e-02 -1.55676330e-02 5.13522565e+02] [ 2.54498055e-02 9.99675989e-01 -4.73344053e-04 6.16445464e+00] [ 1.55746375e-02 7.69400743e-05 9.99878705e-01 7.94671773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.26925415399995 meters Centerline goodness : 0.998931 Centerline is valid? [True, True] Translation: X:513.55, Y:6.17, Z:7.95 [[ 9.99528011e-01 -2.64830069e-02 -1.55693653e-02 5.13552469e+02] [ 2.64798784e-02 9.99649264e-01 -4.07092338e-04 6.16604356e+00] [ 1.55746856e-02 -5.37470477e-06 9.99878707e-01 7.94508373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.2992541539999 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:513.58, Y:6.16, Z:7.95 [[ 9.99445818e-01 -2.94230107e-02 -1.55673723e-02 5.13582938e+02] [ 2.94190614e-02 9.99567049e-01 -4.82683006e-04 6.16385474e+00] [ 1.55748344e-02 2.44380308e-05 9.99878705e-01 7.94778038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.32925415399995 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:513.61, Y:6.16, Z:7.95 [[ 9.99397538e-01 -3.10186726e-02 -1.55692908e-02 5.13614017e+02] [ 3.10160523e-02 9.99518803e-01 -4.09792682e-04 6.16337524e+00] [ 1.55745102e-02 -7.33521409e-05 9.99878707e-01 7.94796954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.3592541539999 meters Centerline goodness : 0.995102 Centerline is valid? [True, True] Translation: X:513.64, Y:6.16, Z:7.95 [[ 9.99352234e-01 -3.24454552e-02 -1.55693380e-02 5.13644075e+02] [ 3.24430361e-02 9.99473503e-01 -4.07992256e-04 6.16367931e+00] [ 1.55743783e-02 -9.73886231e-05 9.99878707e-01 7.94776267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.38925415399996 meters Centerline goodness : 0.998981 Centerline is valid? [True, True] Translation: X:513.68, Y:6.16, Z:7.95 [[ 9.99239657e-01 -3.57457693e-02 -1.55675259e-02 5.13675740e+02] [ 3.57426775e-02 9.99360913e-01 -4.76883234e-04 6.16106992e+00] [ 1.55746235e-02 -7.99044188e-05 9.99878705e-01 7.94925054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.41925415399993 meters Centerline goodness : 0.999000 Centerline is valid? [True, True] Translation: X:513.71, Y:6.16, Z:7.95 [[ 9.99178676e-01 -3.74109415e-02 -1.55690551e-02 5.13707955e+02] [ 3.74089671e-02 9.99299952e-01 -4.18128990e-04 6.16077140e+00] [ 1.55737987e-02 -1.64636701e-04 9.99878707e-01 7.95024808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.44925415399996 meters Centerline goodness : 0.998980 Centerline is valid? [True, True] Translation: X:513.74, Y:6.16, Z:7.95 [[ 9.99125109e-01 -3.88150935e-02 -1.55693923e-02 5.13739686e+02] [ 3.88134913e-02 9.99246390e-01 -4.05173705e-04 6.15911298e+00] [ 1.55733859e-02 -1.99483250e-04 9.99878708e-01 7.95104751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.47925415399993 meters Centerline goodness : 0.998939 Centerline is valid? [True, True] Translation: X:513.77, Y:6.16, Z:7.95 [[ 9.99154699e-01 -3.80457827e-02 -1.55694149e-02 5.13771720e+02] [ 3.80441007e-02 9.99275979e-01 -4.04303365e-04 6.15820352e+00] [ 1.55735243e-02 -1.88362781e-04 9.99878708e-01 7.94998939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.5092541539999 meters Centerline goodness : 0.998834 Centerline is valid? [True, True] Translation: X:513.80, Y:6.16, Z:7.95 [[ 9.99076785e-01 -4.00395778e-02 -1.55695332e-02 5.13802638e+02] [ 4.00382091e-02 9.99198069e-01 -3.99732060e-04 6.15788113e+00] [ 1.55730526e-02 -2.24013203e-04 9.99878708e-01 7.95127457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.53925415399993 meters Centerline goodness : 0.997646 Centerline is valid? [True, True] Translation: X:513.83, Y:6.16, Z:7.95 [[ 9.99084326e-01 -3.98509748e-02 -1.55694844e-02 5.13833996e+02] [ 3.98495537e-02 9.99205610e-01 -4.01624825e-04 6.15569953e+00] [ 1.55731213e-02 -2.19179935e-04 9.99878708e-01 7.94859851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.5692541539999 meters Centerline goodness : 0.998985 Centerline is valid? [True, True] Translation: X:513.87, Y:6.16, Z:7.95 [[ 9.99008820e-01 -4.17012318e-02 -1.55687119e-02 5.13865365e+02] [ 4.16995684e-02 9.99130102e-01 -4.31594401e-04 6.15527700e+00] [ 1.55731667e-02 -2.18041952e-04 9.99878707e-01 7.95121969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.59925415399994 meters Centerline goodness : 0.998964 Centerline is valid? [True, True] Translation: X:513.90, Y:6.15, Z:7.95 [[ 9.98961546e-01 -4.28184338e-02 -1.55695353e-02 5.13897255e+02] [ 4.28174060e-02 9.99082834e-01 -3.99502571e-04 6.15348723e+00] [ 1.55723616e-02 -2.67559410e-04 9.99878708e-01 7.95082754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.6292541539999 meters Centerline goodness : 0.998900 Centerline is valid? [True, True] Translation: X:513.93, Y:6.15, Z:7.95 [[ 9.98932985e-01 -4.34796581e-02 -1.55695646e-02 5.13928754e+02] [ 4.34787284e-02 9.99054274e-01 -3.98359097e-04 6.15295472e+00] [ 1.55721606e-02 -2.79010829e-04 9.99878708e-01 7.95081215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.65925415399994 meters Centerline goodness : 0.999049 Centerline is valid? [True, True] Translation: X:513.96, Y:6.15, Z:7.95 [[ 9.98912414e-01 -4.39497182e-02 -1.55695863e-02 5.13960764e+02] [ 4.39488589e-02 9.99033703e-01 -3.97507305e-04 6.15229931e+00] [ 1.55720118e-02 -2.87190571e-04 9.99878708e-01 7.95125055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.6892541539999 meters Centerline goodness : 0.998922 Centerline is valid? [True, True] Translation: X:514.01, Y:6.14, Z:7.94 [[ 9.99388772e-01 -3.12996710e-02 -1.55696156e-02 5.14007516e+02] [ 3.12972941e-02 9.99510041e-01 -3.96357247e-04 6.13656097e+00] [ 1.55743930e-02 -9.11718558e-05 9.99878708e-01 7.94322990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.71925415399994 meters Centerline goodness : 0.998943 Centerline is valid? [True, True] Translation: X:514.02, Y:6.15, Z:7.95 [[ 9.98907808e-01 -4.40478036e-02 -1.55879064e-02 5.14020086e+02] [ 4.40587922e-02 9.99028874e-01 3.62067316e-04 6.14975821e+00] [ 1.55568203e-02 -1.04845620e-03 9.99878436e-01 7.95165263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.7492541539999 meters Centerline goodness : 0.998964 Centerline is valid? [True, True] Translation: X:514.05, Y:6.15, Z:7.95 [[ 9.98956601e-01 -4.29341557e-02 -1.55681370e-02 5.14052284e+02] [ 4.29330935e-02 9.99077869e-01 -4.02589960e-04 6.14991007e+00] [ 1.55710660e-02 -2.66218385e-04 9.99878728e-01 7.95300192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.77925415399994 meters Centerline goodness : 0.998921 Centerline is valid? [True, True] Translation: X:514.08, Y:6.15, Z:7.95 [[ 9.99075212e-01 -4.00793436e-02 -1.55681668e-02 5.14083210e+02] [ 4.00779529e-02 9.99196475e-01 -4.01434117e-04 6.14947076e+00] [ 1.55717466e-02 -2.22877381e-04 9.99878728e-01 7.95333955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.8092541539999 meters Centerline goodness : 0.999133 Centerline is valid? [True, True] Translation: X:514.12, Y:6.15, Z:7.95 [[ 9.99144511e-01 -3.83128820e-02 -1.55681890e-02 5.14115737e+02] [ 3.83112903e-02 9.99265773e-01 -4.00573644e-04 6.14978854e+00] [ 1.55721055e-02 -1.96206450e-04 9.99878728e-01 7.95381060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.83925415399995 meters Centerline goodness : 0.998942 Centerline is valid? [True, True] Translation: X:514.15, Y:6.15, Z:7.95 [[ 9.99260411e-01 -3.51605148e-02 -1.55682180e-02 5.14146843e+02] [ 3.51585582e-02 9.99381667e-01 -3.99442350e-04 6.14918540e+00] [ 1.55726362e-02 -1.48209171e-04 9.99878728e-01 7.95456585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.8692541539999 meters Centerline goodness : 0.998900 Centerline is valid? [True, True] Translation: X:514.18, Y:6.15, Z:7.95 [[ 9.99304637e-01 -3.38802604e-02 -1.55682395e-02 5.14178873e+02] [ 3.38781615e-02 9.99425891e-01 -3.98601178e-04 6.14872710e+00] [ 1.55728064e-02 -1.29099328e-04 9.99878728e-01 7.95447021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.89925415399995 meters Centerline goodness : 0.998901 Centerline is valid? [True, True] Translation: X:514.21, Y:6.15, Z:7.96 [[ 9.99318086e-01 -3.34812243e-02 -1.55682680e-02 5.14210669e+02] [ 3.34790944e-02 9.99439339e-01 -3.97484775e-04 6.14870238e+00] [ 1.55728478e-02 -1.23997791e-04 9.99878728e-01 7.95545101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.9292541539999 meters Centerline goodness : 0.998691 Centerline is valid? [True, True] Translation: X:514.24, Y:6.15, Z:7.96 [[ 9.99299757e-01 -3.40238796e-02 -1.55682823e-02 5.14242306e+02] [ 3.40218243e-02 9.99421011e-01 -3.96925212e-04 6.14713595e+00] [ 1.55727734e-02 -1.33014097e-04 9.99878728e-01 7.95529934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.95925415399995 meters Centerline goodness : 0.998988 Centerline is valid? [True, True] Translation: X:514.27, Y:6.15, Z:7.96 [[ 9.99266257e-01 -3.49939522e-02 -1.55682966e-02 5.14273437e+02] [ 3.49920234e-02 9.99387513e-01 -3.96364109e-04 6.14673708e+00] [ 1.55726316e-02 -1.48692918e-04 9.99878728e-01 7.95516433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.9892541539999 meters Centerline goodness : 0.999113 Centerline is valid? [True, True] Translation: X:514.31, Y:6.14, Z:7.95 [[ 9.99180004e-01 -3.73757673e-02 -1.55683179e-02 5.14305060e+02] [ 3.73741405e-02 9.99301264e-01 -3.95526039e-04 6.14489852e+00] [ 1.55722228e-02 -1.86650791e-04 9.99878728e-01 7.95499318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.01925415399995 meters Centerline goodness : 0.999030 Centerline is valid? [True, True] Translation: X:514.34, Y:6.14, Z:7.96 [[ 9.99136832e-01 -3.85125801e-02 -1.55683318e-02 5.14337179e+02] [ 3.85110998e-02 9.99258094e-01 -3.94978447e-04 6.14410351e+00] [ 1.55719932e-02 -2.04916064e-04 9.99878728e-01 7.95563080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.0492541539999 meters Centerline goodness : 0.998923 Centerline is valid? [True, True] Translation: X:514.37, Y:6.14, Z:7.96 [[ 9.99087711e-01 -3.97664564e-02 -1.55683608e-02 5.14369737e+02] [ 3.97651462e-02 9.99208976e-01 -3.93830726e-04 6.14356429e+00] [ 1.55717071e-02 -2.25606704e-04 9.99878728e-01 7.95596645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.07925415399995 meters Centerline goodness : 0.998884 Centerline is valid? [True, True] Translation: X:514.40, Y:6.14, Z:7.96 [[ 9.99059660e-01 -4.04650488e-02 -1.55683897e-02 5.14399486e+02] [ 4.04638412e-02 9.99180926e-01 -3.92684617e-04 6.14124851e+00] [ 1.55715281e-02 -2.37641489e-04 9.99878728e-01 7.95505596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.1092541539999 meters Centerline goodness : 0.999284 Centerline is valid? [True, True] Translation: X:514.43, Y:6.14, Z:7.96 [[ 9.98977644e-01 -4.24424883e-02 -1.55660783e-02 5.14432225e+02] [ 4.24400933e-02 9.99098896e-01 -4.84307482e-04 6.14072674e+00] [ 1.55726069e-02 -1.76813468e-04 9.99878724e-01 7.95663387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.13925415399996 meters Centerline goodness : 0.999138 Centerline is valid? [True, True] Translation: X:514.46, Y:6.14, Z:7.96 [[ 9.98930059e-01 -4.35472353e-02 -1.55684405e-02 5.14462985e+02] [ 4.35464435e-02 9.99051328e-01 -3.90015819e-04 6.14032541e+00] [ 1.55706553e-02 -2.88351690e-04 9.99878728e-01 7.95727182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.16925415399993 meters Centerline goodness : 0.998909 Centerline is valid? [True, True] Translation: X:514.49, Y:6.14, Z:7.96 [[ 9.98827877e-01 -4.58311674e-02 -1.55684617e-02 5.14494947e+02] [ 4.58306660e-02 9.98949147e-01 -3.89167273e-04 6.13858426e+00] [ 1.55699376e-02 -3.24801849e-04 9.99878728e-01 7.95886610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.19925415399996 meters Centerline goodness : 0.999034 Centerline is valid? [True, True] Translation: X:514.53, Y:6.14, Z:7.96 [[ 9.98769247e-01 -4.70915409e-02 -1.55684905e-02 5.14526755e+02] [ 4.70912106e-02 9.98890518e-01 -3.88012541e-04 6.13783895e+00] [ 1.55694897e-02 -3.45604072e-04 9.99878728e-01 7.95989057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.22925415399993 meters Centerline goodness : 0.998972 Centerline is valid? [True, True] Translation: X:514.56, Y:6.14, Z:7.96 [[ 9.98649860e-01 -4.95588329e-02 -1.55685194e-02 5.14559309e+02] [ 4.95588203e-02 9.98771132e-01 -3.86850588e-04 6.13539035e+00] [ 1.55685596e-02 -3.85229170e-04 9.99878728e-01 7.96063369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.2592541539999 meters Centerline goodness : 0.998784 Centerline is valid? [True, True] Translation: X:514.60, Y:6.12, Z:7.96 [[ 9.99083203e-01 -3.98794993e-02 -1.55685482e-02 5.14603699e+02] [ 3.98783297e-02 9.99204469e-01 -3.85686464e-04 6.12267351e+00] [ 1.55715439e-02 -2.35514831e-04 9.99878728e-01 7.95557146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.28925415399993 meters Centerline goodness : 0.998952 Centerline is valid? [True, True] Translation: X:514.62, Y:6.13, Z:7.96 [[ 9.98480573e-01 -5.28551156e-02 -1.55846544e-02 5.14617739e+02] [ 5.28660882e-02 9.98601568e-01 2.92640770e-04 6.13408999e+00] [ 1.55473927e-02 -1.11609584e-03 9.99878509e-01 7.96096763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.3192541539999 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:514.65, Y:6.13, Z:7.96 [[ 9.98406665e-01 -5.42382751e-02 -1.55672837e-02 5.14649836e+02] [ 5.42387199e-02 9.98527920e-01 -3.93939436e-04 6.13368453e+00] [ 1.55657340e-02 -4.51037782e-04 9.99878745e-01 7.96164908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.34925415399994 meters Centerline goodness : 0.998938 Centerline is valid? [True, True] Translation: X:514.70, Y:6.12, Z:7.96 [[ 9.98805717e-01 -4.63119748e-02 -1.55673131e-02 5.14695031e+02] [ 4.63114752e-02 9.98926971e-01 -3.92775273e-04 6.11818799e+00] [ 1.55687991e-02 -3.28639047e-04 9.99878745e-01 7.95547330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.3792541539999 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:514.71, Y:6.13, Z:7.96 [[ 9.97903318e-01 -6.28180399e-02 -1.55840243e-02 5.14708560e+02] [ 6.28301920e-02 9.98024189e-01 2.90915417e-04 6.13004836e+00] [ 1.55349585e-02 -1.26945270e-03 9.99878519e-01 7.96063514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.40925415399994 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:514.74, Y:6.13, Z:7.96 [[ 9.97801529e-01 -6.44190357e-02 -1.55658875e-02 5.14740849e+02] [ 6.44205368e-02 9.97922758e-01 -4.05479572e-04 6.13000743e+00] [ 1.55596740e-02 -5.98174691e-04 9.99878762e-01 7.96084506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.4392541539999 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:514.79, Y:6.12, Z:7.95 [[ 9.98365175e-01 -5.49970911e-02 -1.55659176e-02 5.14786264e+02] [ 5.49974658e-02 9.98486412e-01 -4.04322125e-04 6.11757184e+00] [ 1.55645937e-02 -4.52424890e-04 9.99878762e-01 7.95476280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.46925415399994 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:514.80, Y:6.13, Z:7.96 [[ 9.97607414e-01 -6.73543911e-02 -1.55830946e-02 5.14799683e+02] [ 6.73669694e-02 9.97728225e-01 2.83067303e-04 6.12939114e+00] [ 1.55286275e-02 -1.33217590e-03 9.99878536e-01 7.96015422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.4992541539999 meters Centerline goodness : 0.998746 Centerline is valid? [True, True] Translation: X:514.83, Y:6.13, Z:7.96 [[ 9.97569767e-01 -6.79139536e-02 -1.55645241e-02 5.14831794e+02] [ 6.79157387e-02 9.97690975e-01 -4.14462245e-04 6.12947133e+00] [ 1.55567330e-02 -6.43621149e-04 9.99878780e-01 7.95859825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.52925415399994 meters Centerline goodness : 0.998871 Centerline is valid? [True, True] Translation: X:514.86, Y:6.13, Z:7.96 [[ 9.97637501e-01 -6.69115886e-02 -1.55645544e-02 5.14864810e+02] [ 6.69132696e-02 9.97758710e-01 -4.13322826e-04 6.13003335e+00] [ 1.55573258e-02 -6.29128874e-04 9.99878780e-01 7.96005504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.5592541539999 meters Centerline goodness : 0.998956 Centerline is valid? [True, True] Translation: X:514.90, Y:6.13, Z:7.96 [[ 9.97693659e-01 -6.60689487e-02 -1.55646003e-02 5.14897623e+02] [ 6.60705544e-02 9.97814869e-01 -4.11585720e-04 6.13108283e+00] [ 1.55577827e-02 -6.17725310e-04 9.99878780e-01 7.96122561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.58925415399995 meters Centerline goodness : 0.997763 Centerline is valid? [True, True] Translation: X:514.93, Y:6.13, Z:7.96 [[ 9.97793953e-01 -6.45365669e-02 -1.55646459e-02 5.14929543e+02] [ 6.45380134e-02 9.97915165e-01 -4.09853739e-04 6.13206153e+00] [ 1.55586468e-02 -5.95561746e-04 9.99878780e-01 7.95981628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.6192541539999 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:514.96, Y:6.13, Z:7.96 [[ 9.97928318e-01 -6.24244868e-02 -1.55645924e-02 5.14960542e+02] [ 6.24256450e-02 9.98049532e-01 -4.11895392e-04 6.13317290e+00] [ 1.55599466e-02 -5.60587647e-04 9.99878780e-01 7.96211574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.64925415399995 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:514.99, Y:6.14, Z:7.96 [[ 9.98178563e-01 -5.82863275e-02 -1.55647163e-02 5.14991203e+02] [ 5.82870569e-02 9.98299781e-01 -4.07160210e-04 6.13513241e+00] [ 1.55619848e-02 -5.00802912e-04 9.99878780e-01 7.96338134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.6792541539999 meters Centerline goodness : 0.998972 Centerline is valid? [True, True] Translation: X:515.02, Y:6.14, Z:7.96 [[ 9.98310439e-01 -5.59821946e-02 -1.55647629e-02 5.15023512e+02] [ 5.59826721e-02 9.98431658e-01 -4.05370234e-04 6.13635624e+00] [ 1.55630456e-02 -4.66671683e-04 9.99878780e-01 7.96436232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.70925415399995 meters Centerline goodness : 0.998992 Centerline is valid? [True, True] Translation: X:515.05, Y:6.14, Z:7.97 [[ 9.98488420e-01 -5.27125543e-02 -1.55647919e-02 5.15054368e+02] [ 5.27126521e-02 9.98609640e-01 -4.04256783e-04 6.13821142e+00] [ 1.55644606e-02 -4.16815742e-04 9.99878780e-01 7.96558083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.7392541539999 meters Centerline goodness : 0.999055 Centerline is valid? [True, True] Translation: X:515.09, Y:6.14, Z:7.97 [[ 9.98566687e-01 -5.12084838e-02 -1.55648133e-02 5.15086983e+02] [ 5.12084120e-02 9.98687907e-01 -4.03428333e-04 6.13969005e+00] [ 1.55650498e-02 -3.94199279e-04 9.99878780e-01 7.96654516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.76925415399995 meters Centerline goodness : 0.999139 Centerline is valid? [True, True] Translation: X:515.12, Y:6.14, Z:7.97 [[ 9.98710731e-01 -4.83178208e-02 -1.55648418e-02 5.15117742e+02] [ 4.83174152e-02 9.98831951e-01 -4.02326916e-04 6.14141724e+00] [ 1.55661009e-02 -3.50244716e-04 9.99878780e-01 7.96739144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.7992541539999 meters Centerline goodness : 0.999139 Centerline is valid? [True, True] Translation: X:515.15, Y:6.14, Z:7.97 [[ 9.98714096e-01 -4.82482081e-02 -1.55648630e-02 5.15150418e+02] [ 4.82478068e-02 9.98835316e-01 -4.01506339e-04 6.14219592e+00] [ 1.55661068e-02 -3.49980461e-04 9.99878780e-01 7.96790019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.82925415399995 meters Centerline goodness : 0.999138 Centerline is valid? [True, True] Translation: X:515.18, Y:6.14, Z:7.97 [[ 9.98793771e-01 -4.65697127e-02 -1.55648909e-02 5.15182451e+02] [ 4.65691246e-02 9.98914990e-01 -4.00421495e-04 6.14326594e+00] [ 1.55666503e-02 -3.24904848e-04 9.99878780e-01 7.96859084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.8592541539999 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:515.21, Y:6.14, Z:7.97 [[ 9.98869119e-01 -4.49245629e-02 -1.55649186e-02 5.15213490e+02] [ 4.49237919e-02 9.98990337e-01 -3.99342394e-04 6.14457455e+00] [ 1.55671435e-02 -3.00344378e-04 9.99878780e-01 7.96894765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.88925415399996 meters Centerline goodness : 0.999014 Centerline is valid? [True, True] Translation: X:515.24, Y:6.15, Z:7.97 [[ 9.99022562e-01 -4.13721276e-02 -1.55649621e-02 5.15244517e+02] [ 4.13709521e-02 9.99143777e-01 -3.97639032e-04 6.14646403e+00] [ 1.55680862e-02 -2.46686936e-04 9.99878780e-01 7.96961556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.91925415399993 meters Centerline goodness : 0.998844 Centerline is valid? [True, True] Translation: X:515.28, Y:6.15, Z:7.97 [[ 9.99096094e-01 -3.95566124e-02 -1.55650044e-02 5.15276661e+02] [ 3.95552426e-02 9.99217307e-01 -3.95976479e-04 6.14767812e+00] [ 1.55684852e-02 -2.20058970e-04 9.99878780e-01 7.97074625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.94925415399996 meters Centerline goodness : 0.999035 Centerline is valid? [True, True] Translation: X:515.31, Y:6.15, Z:7.97 [[ 9.99224694e-01 -3.61627017e-02 -1.55650329e-02 5.15307808e+02] [ 3.61609377e-02 9.99345901e-01 -3.94852136e-04 6.14934798e+00] [ 1.55691307e-02 -1.68300179e-04 9.99878780e-01 7.97033001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.97925415399993 meters Centerline goodness : 0.999012 Centerline is valid? [True, True] Translation: X:515.34, Y:6.15, Z:7.97 [[ 9.99393006e-01 -3.11664794e-02 -1.55650541e-02 5.15342419e+02] [ 3.11641224e-02 9.99514203e-01 -3.94014242e-04 6.14600118e+00] [ 1.55697727e-02 -9.12961744e-05 9.99878780e-01 7.97126950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.0092541539999 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:515.37, Y:6.15, Z:7.97 [[ 9.99298229e-01 -3.40668183e-02 -1.55724713e-02 5.15366054e+02] [ 3.40693983e-02 9.99419465e-01 -9.96567375e-05 6.15146793e+00] [ 1.55668260e-02 -4.30957928e-04 9.99878737e-01 7.97026371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.03925415399993 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:515.40, Y:6.15, Z:7.97 [[ 9.99332272e-01 -3.30567788e-02 -1.55646891e-02 5.15397709e+02] [ 3.30545356e-02 9.99453469e-01 -4.01428644e-04 6.15224474e+00] [ 1.55694524e-02 -1.13322970e-04 9.99878782e-01 7.97225537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.0692541539999 meters Centerline goodness : 0.998972 Centerline is valid? [True, True] Translation: X:515.43, Y:6.15, Z:7.97 [[ 9.99331568e-01 -3.30780397e-02 -1.55647039e-02 5.15428722e+02] [ 3.30758080e-02 9.99452765e-01 -4.00851787e-04 6.15256789e+00] [ 1.55694458e-02 -1.14231313e-04 9.99878782e-01 7.97291819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.09925415399994 meters Centerline goodness : 0.998973 Centerline is valid? [True, True] Translation: X:515.46, Y:6.15, Z:7.97 [[ 9.99303007e-01 -3.39299167e-02 -1.55647189e-02 5.15459469e+02] [ 3.39277974e-02 9.99424206e-01 -4.00268323e-04 6.15233980e+00] [ 1.55693379e-02 -1.28087291e-04 9.99878782e-01 7.97266819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.1292541539999 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:515.49, Y:6.15, Z:7.97 [[ 9.99237078e-01 -3.58189563e-02 -1.55648368e-02 5.15489669e+02] [ 3.58171376e-02 9.99358282e-01 -3.95680589e-04 6.15219558e+00] [ 1.55690214e-02 -1.62109186e-04 9.99878782e-01 7.97318225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.15925415399994 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] Translation: X:515.52, Y:6.15, Z:7.97 [[ 9.99175824e-01 -3.74888097e-02 -1.55647418e-02 5.15519968e+02] [ 3.74871359e-02 9.99297031e-01 -3.99382642e-04 6.15234366e+00] [ 1.55687726e-02 -1.84424111e-04 9.99878782e-01 7.97336124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.1892541539999 meters Centerline goodness : 0.995524 Centerline is valid? [True, True] Translation: X:515.55, Y:6.15, Z:7.97 [[ 9.99021295e-01 -4.14027770e-02 -1.55647492e-02 5.15550254e+02] [ 4.14015826e-02 9.99142507e-01 -3.99095728e-04 6.15248743e+00] [ 1.55679262e-02 -2.45700116e-04 9.99878782e-01 7.96966282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.21925415399994 meters Centerline goodness : 0.999058 Centerline is valid? [True, True] Translation: X:515.58, Y:6.15, Z:7.97 [[ 9.98920695e-01 -4.37634035e-02 -1.55630926e-02 5.15581162e+02] [ 4.37614921e-02 9.99041900e-01 -4.63512262e-04 6.15152083e+00] [ 1.55684664e-02 -2.18052162e-04 9.99878780e-01 7.97288442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.2492541539999 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:515.61, Y:6.15, Z:7.97 [[ 9.98739664e-01 -4.77160616e-02 -1.55647678e-02 5.15610542e+02] [ 4.77156503e-02 9.98860880e-01 -3.97999987e-04 6.15374523e+00] [ 1.55660286e-02 -3.45184643e-04 9.99878782e-01 7.97356970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.27925415399994 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:515.64, Y:6.15, Z:7.98 [[ 9.98558433e-01 -5.13698207e-02 -1.55626978e-02 5.15639837e+02] [ 5.13685991e-02 9.98679647e-01 -4.78494417e-04 6.15492266e+00] [ 1.55667297e-02 -3.21629347e-04 9.99878779e-01 7.97519636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.3092541539999 meters Centerline goodness : 0.996921 Centerline is valid? [True, True] Translation: X:515.67, Y:6.15, Z:7.97 [[ 9.98285246e-01 -5.64305625e-02 -1.55614600e-02 5.15671802e+02] [ 5.64292308e-02 9.98406463e-01 -5.25001126e-04 6.15273415e+00] [ 1.55662883e-02 -3.54020339e-04 9.99878775e-01 7.97334366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.33925415399995 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:515.71, Y:6.15, Z:7.98 [[ 9.98180039e-01 -5.82614521e-02 -1.55632145e-02 5.15705143e+02] [ 5.82613780e-02 9.98301258e-01 -4.58539090e-04 6.15241145e+00] [ 1.55634917e-02 -4.49029754e-04 9.99878781e-01 7.97678595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.3692541539999 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:515.74, Y:6.15, Z:7.98 [[ 9.97831702e-01 -6.39495250e-02 -1.55676988e-02 5.15737380e+02] [ 6.39526662e-02 9.97952889e-01 -2.96474788e-04 6.15179654e+00] [ 1.55547894e-02 -6.99763903e-04 9.99878772e-01 7.97773491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.39925415399995 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:515.76, Y:6.15, Z:7.98 [[ 9.97637310e-01 -6.69137571e-02 -1.55674950e-02 5.15764778e+02] [ 6.69171421e-02 9.97758490e-01 -3.03939565e-04 6.15270069e+00] [ 1.55529380e-02 -7.38510823e-04 9.99878773e-01 7.97646111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.4292541539999 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:515.80, Y:6.16, Z:7.98 [[ 9.97207833e-01 -7.30365530e-02 -1.55627430e-02 5.15795425e+02] [ 7.30380050e-02 9.97329045e-01 -4.75812182e-04 6.15590389e+00] [ 1.55559273e-02 -6.62188065e-04 9.99878780e-01 7.97681531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.45925415399995 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:515.83, Y:6.15, Z:7.98 [[ 9.96960842e-01 -7.63340998e-02 -1.55623022e-02 5.15828997e+02] [ 7.63357001e-02 9.97082052e-01 -4.92024146e-04 6.15479254e+00] [ 1.55544505e-02 -6.97430429e-04 9.99878779e-01 7.97592395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.4892541539999 meters Centerline goodness : 0.999146 Centerline is valid? [True, True] Translation: X:515.86, Y:6.15, Z:7.98 [[ 9.96987117e-01 -7.59898057e-02 -1.55640071e-02 5.15859291e+02] [ 7.59923470e-02 9.97108309e-01 -4.28916590e-04 6.15354869e+00] [ 1.55515941e-02 -7.55121118e-04 9.99878782e-01 7.97609497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.51925415399995 meters Centerline goodness : 0.998892 Centerline is valid? [True, True] Translation: X:515.89, Y:6.15, Z:7.98 [[ 9.96824844e-01 -7.80895762e-02 -1.55643058e-02 5.15891148e+02] [ 7.80925460e-02 9.96946026e-01 -4.17792194e-04 6.15441382e+00] [ 1.55493980e-02 -7.98990625e-04 9.99878782e-01 7.97673296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.5492541539999 meters Centerline goodness : 0.998955 Centerline is valid? [True, True] Translation: X:515.92, Y:6.16, Z:7.98 [[ 9.96557343e-01 -8.14322687e-02 -1.55643354e-02 5.15922744e+02] [ 8.14356622e-02 9.96678514e-01 -4.16684708e-04 6.15574594e+00] [ 1.55465703e-02 -8.52241756e-04 9.99878782e-01 7.97757090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.57925415399995 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:515.96, Y:6.16, Z:7.98 [[ 9.96455880e-01 -8.26645605e-02 -1.55643575e-02 5.15955804e+02] [ 8.26681167e-02 9.96577046e-01 -4.15859637e-04 6.15728500e+00] [ 1.55454582e-02 -8.72290338e-04 9.99878782e-01 7.97920954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.6092541539999 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:515.99, Y:6.16, Z:7.98 [[ 9.96390772e-01 -8.34456600e-02 -1.55644027e-02 5.15989031e+02] [ 8.34493376e-02 9.96511935e-01 -4.14158803e-04 6.15882252e+00] [ 1.55446728e-02 -8.86175087e-04 9.99878782e-01 7.98024904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.63925415399996 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:516.02, Y:6.16, Z:7.98 [[ 9.96311709e-01 -8.43843983e-02 -1.55644489e-02 5.16020947e+02] [ 8.43882173e-02 9.96432867e-01 -4.12416216e-04 6.16177347e+00] [ 1.55437299e-02 -9.02560989e-04 9.99878782e-01 7.98033497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.66925415399993 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:516.05, Y:6.16, Z:7.98 [[ 9.96292717e-01 -8.46083135e-02 -1.55645244e-02 5.16053064e+02] [ 8.46122043e-02 9.96413873e-01 -4.09545302e-04 6.16388085e+00] [ 1.55433590e-02 -9.08921719e-04 9.99878782e-01 7.98056844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.69925415399996 meters Centerline goodness : 0.998933 Centerline is valid? [True, True] Translation: X:516.09, Y:6.17, Z:7.98 [[ 9.96326775e-01 -8.42063030e-02 -1.55645612e-02 5.16085599e+02] [ 8.42101668e-02 9.96447932e-01 -4.08144450e-04 6.16730133e+00] [ 1.55436431e-02 -9.04049049e-04 9.99878782e-01 7.97990195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.72925415399993 meters Centerline goodness : 0.998933 Centerline is valid? [True, True] Translation: X:516.11, Y:6.17, Z:7.98 [[ 9.96260386e-01 -8.49881515e-02 -1.55645900e-02 5.16114884e+02] [ 8.49921275e-02 9.96381540e-01 -4.07042932e-04 6.17168046e+00] [ 1.55428639e-02 -9.17346867e-04 9.99878782e-01 7.97922075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.7592541539999 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:516.15, Y:6.17, Z:7.98 [[ 9.96454599e-01 -8.26804700e-02 -1.55618775e-02 5.16148438e+02] [ 8.26825542e-02 9.96575805e-01 -5.10513036e-04 6.17210160e+00] [ 1.55508001e-02 -7.77992717e-04 9.99878776e-01 7.98011001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.78925415399993 meters Centerline goodness : 0.998868 Centerline is valid? [True, True] Translation: X:516.18, Y:6.18, Z:7.98 [[ 9.96333564e-01 -8.41259135e-02 -1.55646869e-02 5.16179218e+02] [ 8.41298686e-02 9.96454717e-01 -4.01645713e-04 6.17683727e+00] [ 1.55432945e-02 -9.09281960e-04 9.99878782e-01 7.97968855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.8192541539999 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:516.21, Y:6.18, Z:7.98 [[ 9.96724992e-01 -7.93537982e-02 -1.55648588e-02 5.16210378e+02] [ 7.93572767e-02 9.96846160e-01 -3.94992761e-04 6.17968748e+00] [ 1.55471139e-02 -8.41485647e-04 9.99878782e-01 7.98189846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.84925415399994 meters Centerline goodness : 0.998951 Centerline is valid? [True, True] Translation: X:516.24, Y:6.18, Z:7.98 [[ 9.96844405e-01 -7.78394007e-02 -1.55647022e-02 5.16241659e+02] [ 7.78426005e-02 9.96965581e-01 -4.01067856e-04 6.18296128e+00] [ 1.55486913e-02 -8.11794648e-04 9.99878782e-01 7.98067199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.8792541539999 meters Centerline goodness : 0.998931 Centerline is valid? [True, True] Translation: X:516.27, Y:6.19, Z:7.98 [[ 9.97006872e-01 -7.57300186e-02 -1.55647244e-02 5.16272760e+02] [ 7.57329755e-02 9.97128054e-01 -4.00203079e-04 6.18645498e+00] [ 1.55503308e-02 -7.79757675e-04 9.99878782e-01 7.98102696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.90925415399994 meters Centerline goodness : 0.998716 Centerline is valid? [True, True] Translation: X:516.30, Y:6.20, Z:7.98 [[ 9.97267741e-01 -7.22135125e-02 -1.55647451e-02 5.16301602e+02] [ 7.22160545e-02 9.97388932e-01 -3.99396497e-04 6.19546693e+00] [ 1.55529464e-02 -7.25719242e-04 9.99878782e-01 7.98112047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.9392541539999 meters Centerline goodness : 0.999075 Centerline is valid? [True, True] Translation: X:516.33, Y:6.20, Z:7.98 [[ 9.97609836e-01 -6.73235350e-02 -1.55613927e-02 5.16334800e+02] [ 6.73234625e-02 9.97731062e-01 -5.29107206e-04 6.19680515e+00] [ 1.55617063e-02 -5.19804289e-04 9.99878774e-01 7.98432510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.96925415399994 meters Centerline goodness : 0.999031 Centerline is valid? [True, True] Translation: X:516.37, Y:6.20, Z:7.98 [[ 9.97838935e-01 -6.38372649e-02 -1.55647848e-02 5.16365680e+02] [ 6.38388471e-02 9.97960142e-01 -3.95682700e-04 6.20037498e+00] [ 1.55582941e-02 -5.98810310e-04 9.99878783e-01 7.98467093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.9992541539999 meters Centerline goodness : 0.998799 Centerline is valid? [True, True] Translation: X:516.40, Y:6.21, Z:7.99 [[ 9.98311243e-01 -5.59678403e-02 -1.55648064e-02 5.16398531e+02] [ 5.59684801e-02 9.98432458e-01 -3.94830806e-04 6.20672982e+00] [ 1.55625057e-02 -4.76974523e-04 9.99878783e-01 7.98584053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.02925415399994 meters Centerline goodness : 0.998882 Centerline is valid? [True, True] Translation: X:516.43, Y:6.21, Z:7.99 [[ 9.98536234e-01 -5.17988878e-02 -1.55648488e-02 5.16430234e+02] [ 5.17990476e-02 9.98657451e-01 -3.93151298e-04 6.21022796e+00] [ 1.55643170e-02 -4.13668527e-04 9.99878783e-01 7.98661293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.0592541539999 meters Centerline goodness : 0.999070 Centerline is valid? [True, True] Translation: X:516.46, Y:6.22, Z:7.99 [[ 9.98670908e-01 -4.91340275e-02 -1.55648770e-02 5.16455305e+02] [ 4.91338813e-02 9.98792125e-01 -3.92032073e-04 6.22260781e+00] [ 1.55653387e-02 -3.73251792e-04 9.99878783e-01 7.98940540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.08925415399995 meters Centerline goodness : 0.998919 Centerline is valid? [True, True] Translation: X:516.49, Y:6.22, Z:7.99 [[ 9.99055884e-01 -4.05619363e-02 -1.55585707e-02 5.16490808e+02] [ 4.05569275e-02 9.99177026e-01 -6.37447962e-04 6.21921770e+00] [ 1.55716226e-02 5.83831149e-06 9.99878755e-01 7.98941953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.1192541539999 meters Centerline goodness : 0.998815 Centerline is valid? [True, True] Translation: X:516.52, Y:6.22, Z:7.99 [[ 9.99222763e-01 -3.62161278e-02 -1.55647592e-02 5.16524878e+02] [ 3.62144252e-02 9.99343966e-01 -3.91321892e-04 6.22054198e+00] [ 1.55687203e-02 -1.72651065e-04 9.99878785e-01 7.99268337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.14925415399995 meters Centerline goodness : 0.998917 Centerline is valid? [True, True] Translation: X:516.55, Y:6.22, Z:7.99 [[ 9.99263937e-01 -3.50598280e-02 -1.55689977e-02 5.16552568e+02] [ 3.50606220e-02 9.99385163e-01 -2.22029153e-04 6.22466123e+00] [ 1.55672096e-02 -3.23993018e-04 9.99878771e-01 7.99004158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.1792541539999 meters Centerline goodness : 0.999063 Centerline is valid? [True, True] Translation: X:516.58, Y:6.23, Z:7.99 [[ 9.99388822e-01 -3.13005442e-02 -1.55646709e-02 5.16583652e+02] [ 3.12982149e-02 9.99510014e-01 -3.93279440e-04 6.22783184e+00] [ 1.55693543e-02 -9.41073373e-05 9.99878786e-01 7.98929612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.20925415399995 meters Centerline goodness : 0.994913 Centerline is valid? [True, True] Translation: X:516.61, Y:6.23, Z:7.99 [[ 9.99451238e-01 -2.92397484e-02 -1.55646923e-02 5.16613369e+02] [ 2.92371825e-02 9.99572425e-01 -3.92428738e-04 6.22900493e+00] [ 1.55695118e-02 -6.28543613e-05 9.99878786e-01 7.98616093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.2392541539999 meters Centerline goodness : 0.995882 Centerline is valid? [True, True] Translation: X:516.64, Y:6.23, Z:7.98 [[ 9.99378234e-01 -3.16377284e-02 -1.55627702e-02 5.16640328e+02] [ 3.16342561e-02 9.99499402e-01 -4.69303645e-04 6.23454970e+00] [ 1.55698272e-02 -2.33048110e-05 9.99878783e-01 7.98384989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.26925415399995 meters Centerline goodness : 0.999125 Centerline is valid? [True, True] Translation: X:516.68, Y:6.23, Z:7.99 [[ 9.99523789e-01 -2.66481239e-02 -1.55586757e-02 5.16675492e+02] [ 2.66413927e-02 9.99644850e-01 -6.39770593e-04 6.22981081e+00] [ 1.55701987e-02 2.24961139e-04 9.99878752e-01 7.99357560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.2992541539999 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:516.70, Y:6.24, Z:7.99 [[ 9.99254139e-01 -3.53396766e-02 -1.55651160e-02 5.16698535e+02] [ 3.53382681e-02 9.99375341e-01 -3.65605900e-04 6.24023451e+00] [ 1.55683136e-02 -1.84711035e-04 9.99878789e-01 7.98900128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.32925415399995 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:516.73, Y:6.23, Z:7.99 [[ 9.99432667e-01 -2.98721150e-02 -1.55563679e-02 5.16734557e+02] [ 2.98642684e-02 9.99553692e-01 -7.36507265e-04 6.23435581e+00] [ 1.55714260e-02 2.71509874e-04 9.99878721e-01 7.98999654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.3592541539999 meters Centerline goodness : 0.998888 Centerline is valid? [True, True] Translation: X:516.76, Y:6.24, Z:7.99 [[ 9.99241570e-01 -3.56944734e-02 -1.55624401e-02 5.16759014e+02] [ 3.56914208e-02 9.99362746e-01 -4.73936244e-04 6.24074067e+00] [ 1.55694398e-02 -8.18688019e-05 9.99878786e-01 7.98900178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.38925415399996 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] Translation: X:516.80, Y:6.23, Z:7.99 [[ 9.99419067e-01 -3.03237786e-02 -1.55562675e-02 5.16795704e+02] [ 3.03161068e-02 9.99540096e-01 -7.28795495e-04 6.23442811e+00] [ 1.55712130e-02 2.56766645e-04 9.99878728e-01 7.99227597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.41925415399993 meters Centerline goodness : 0.998505 Centerline is valid? [True, True] Translation: X:516.82, Y:6.24, Z:7.99 [[ 9.99212272e-01 -3.65044100e-02 -1.55647997e-02 5.16819053e+02] [ 3.65031665e-02 9.99333471e-01 -3.64080209e-04 6.24208208e+00] [ 1.55677159e-02 -2.04371062e-04 9.99878795e-01 7.98688756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.44925415399996 meters Centerline goodness : 0.999445 Centerline is valid? [True, True] Translation: X:516.85, Y:6.24, Z:7.99 [[ 9.99211998e-01 -3.65154809e-02 -1.55564382e-02 5.16849662e+02] [ 3.65086557e-02 9.99333076e-01 -7.22598969e-04 6.24228655e+00] [ 1.55724493e-02 1.54084913e-04 9.99878730e-01 7.98906867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.47925415399993 meters Centerline goodness : 0.999338 Centerline is valid? [True, True] Translation: X:516.88, Y:6.24, Z:7.99 [[ 9.99185854e-01 -3.72244237e-02 -1.55554229e-02 5.16882275e+02] [ 3.72169630e-02 9.99306913e-01 -7.68925675e-04 6.24164447e+00] [ 1.55732645e-02 1.89374058e-04 9.99878711e-01 7.98817399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.5092541539999 meters Centerline goodness : 0.999210 Centerline is valid? [True, True] Translation: X:516.92, Y:6.23, Z:7.99 [[ 9.99331451e-01 -3.30855342e-02 -1.55563008e-02 5.16920863e+02] [ 3.30781864e-02 9.99452501e-01 -7.29470245e-04 6.23332797e+00] [ 1.55719186e-02 2.14408341e-04 9.99878727e-01 7.99264259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.53925415399993 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:516.95, Y:6.23, Z:7.99 [[ 9.99231005e-01 -3.59880124e-02 -1.55647837e-02 5.16953185e+02] [ 3.59871922e-02 9.99352196e-01 -3.32868911e-04 6.23230108e+00] [ 1.55666801e-02 -2.27519928e-04 9.99878806e-01 7.99293029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.5692541539999 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:516.98, Y:6.23, Z:7.99 [[ 9.99177652e-01 -3.74400495e-02 -1.55648080e-02 5.16984440e+02] [ 3.74394231e-02 9.99298844e-01 -3.31732650e-04 6.23213019e+00] [ 1.55663147e-02 -2.51277580e-04 9.99878806e-01 7.99334077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.59925415399994 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:517.02, Y:6.23, Z:7.99 [[ 9.99131966e-01 -3.86400213e-02 -1.55648259e-02 5.17017142e+02] [ 3.86395536e-02 9.99253159e-01 -3.30886651e-04 6.23249000e+00] [ 1.55659870e-02 -2.70818497e-04 9.99878806e-01 7.99363307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.6292541539999 meters Centerline goodness : 0.999320 Centerline is valid? [True, True] Translation: X:517.05, Y:6.23, Z:7.99 [[ 9.99176958e-01 -3.74585416e-02 -1.55648554e-02 5.17049638e+02] [ 3.74579523e-02 9.99298150e-01 -3.29494131e-04 6.23180804e+00] [ 1.55662736e-02 -2.53804668e-04 9.99878806e-01 7.99469582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.65925415399994 meters Centerline goodness : 0.999341 Centerline is valid? [True, True] Translation: X:517.08, Y:6.23, Z:7.99 [[ 9.99135404e-01 -3.85509960e-02 -1.55648799e-02 5.17079442e+02] [ 3.85505572e-02 9.99256597e-01 -3.28334740e-04 6.23285512e+00] [ 1.55659665e-02 -2.71983930e-04 9.99878806e-01 7.99257116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.6892541539999 meters Centerline goodness : 0.999512 Centerline is valid? [True, True] Translation: X:517.11, Y:6.24, Z:7.99 [[ 9.99151471e-01 -3.81330922e-02 -1.55629348e-02 5.17106459e+02] [ 3.81311701e-02 9.99272654e-01 -4.20324699e-04 6.23661038e+00] [ 1.55676435e-02 -1.73464876e-04 9.99878802e-01 7.99169197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.71925415399994 meters Centerline goodness : 0.999512 Centerline is valid? [True, True] Translation: X:517.14, Y:6.24, Z:7.99 [[ 9.99169783e-01 -3.76518878e-02 -1.55589156e-02 5.17138275e+02] [ 3.76468544e-02 9.99290916e-01 -6.16371042e-04 6.23700566e+00] [ 1.55710905e-02 3.01150910e-05 9.99878763e-01 7.99224969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.7492541539999 meters Centerline goodness : 0.999275 Centerline is valid? [True, True] Translation: X:517.17, Y:6.24, Z:8.00 [[ 9.99325267e-01 -3.32704494e-02 -1.55591713e-02 5.17172371e+02] [ 3.32650872e-02 9.99446382e-01 -6.03384759e-04 6.23580824e+00] [ 1.55706323e-02 8.54004458e-05 9.99878767e-01 7.99763462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.77925415399994 meters Centerline goodness : 0.999573 Centerline is valid? [True, True] Translation: X:517.20, Y:6.24, Z:8.00 [[ 9.99411853e-01 -3.05583772e-02 -1.55606336e-02 5.17203463e+02] [ 3.05539943e-02 9.99532983e-01 -5.19380267e-04 6.23655700e+00] [ 1.55692379e-02 4.36352849e-05 9.99878791e-01 7.99848190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.8092541539999 meters Centerline goodness : 0.999424 Centerline is valid? [True, True] Translation: X:517.23, Y:6.24, Z:8.00 [[ 9.99571876e-01 -2.47779054e-02 -1.55601835e-02 5.17234672e+02] [ 2.47724150e-02 9.99692968e-01 -5.45522549e-04 6.23720266e+00] [ 1.55689230e-02 1.59825675e-04 9.99878784e-01 7.99835141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.83925415399995 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:517.27, Y:6.23, Z:8.00 [[ 9.99714566e-01 -1.81293646e-02 -1.55599765e-02 5.17270764e+02] [ 1.81228893e-02 9.99835612e-01 -5.57065096e-04 6.23136504e+00] [ 1.55675178e-02 2.74914359e-04 9.99878781e-01 7.99897860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.8692541539999 meters Centerline goodness : 0.999488 Centerline is valid? [True, True] Translation: X:517.30, Y:6.23, Z:8.00 [[ 9.99744806e-01 -1.63723634e-02 -1.55649586e-02 5.17299235e+02] [ 1.63701136e-02 9.99865964e-01 -2.71950138e-04 6.23151423e+00] [ 1.55673248e-02 1.70805981e-05 9.99878822e-01 7.99972325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.89925415399995 meters Centerline goodness : 0.999254 Centerline is valid? [True, True] Translation: X:517.32, Y:6.24, Z:8.00 [[ 9.99673516e-01 -2.02631730e-02 -1.55648873e-02 5.17320193e+02] [ 2.02613321e-02 9.99794680e-01 -2.75971375e-04 6.23972364e+00] [ 1.55672836e-02 -3.94840768e-05 9.99878822e-01 7.99836425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.9292541539999 meters Centerline goodness : 0.998976 Centerline is valid? [True, True] Translation: X:517.35, Y:6.24, Z:7.99 [[ 9.99611845e-01 -2.31122290e-02 -1.55558224e-02 5.17347765e+02] [ 2.31037634e-02 9.99732810e-01 -7.23723721e-04 6.24281075e+00] [ 1.55683929e-02 3.64044765e-04 9.99878739e-01 7.99483085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.95925415399995 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:517.38, Y:6.24, Z:8.00 [[ 9.99639678e-01 -2.18760631e-02 -1.55547864e-02 5.17377486e+02] [ 2.18666327e-02 9.99760595e-01 -7.76109211e-04 6.24312949e+00] [ 1.55680408e-02 4.35698760e-04 9.99878716e-01 7.99566953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.9892541539999 meters Centerline goodness : 0.999192 Centerline is valid? [True, True] Translation: X:517.41, Y:6.24, Z:7.99 [[ 9.99620094e-01 -2.27549270e-02 -1.55525100e-02 5.17405627e+02] [ 2.27438301e-02 9.99740929e-01 -8.90035049e-04 6.24376194e+00] [ 1.55687335e-02 5.35973274e-04 9.99878656e-01 7.99495096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.01925415399995 meters Centerline goodness : 0.999532 Centerline is valid? [True, True] Translation: X:517.44, Y:6.24, Z:8.00 [[ 9.99606304e-01 -2.33529672e-02 -1.55523661e-02 5.17435932e+02] [ 2.33418249e-02 9.99727140e-01 -8.97601573e-04 6.24121514e+00] [ 1.55690842e-02 5.34227584e-04 9.99878652e-01 7.99509451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.0492541539999 meters Centerline goodness : 0.999171 Centerline is valid? [True, True] Translation: X:517.48, Y:6.23, Z:8.00 [[ 9.99738000e-01 -1.67947100e-02 -1.55521177e-02 5.17478364e+02] [ 1.67825585e-02 9.99858747e-01 -9.11534533e-04 6.22854194e+00] [ 1.55652299e-02 6.50291387e-04 9.99878643e-01 7.99863733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.07925415399995 meters Centerline goodness : 0.998979 Centerline is valid? [True, True] Translation: X:517.51, Y:6.23, Z:8.00 [[ 9.99696592e-01 -1.90924341e-02 -1.55628757e-02 5.17506119e+02] [ 1.90907794e-02 9.99817722e-01 -2.54893191e-04 6.22720250e+00] [ 1.55649055e-02 -4.22915724e-05 9.99878859e-01 7.99898980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.1092541539999 meters Centerline goodness : 0.999279 Centerline is valid? [True, True] Translation: X:517.53, Y:6.22, Z:8.00 [[ 9.99583231e-01 -2.43138673e-02 -1.55628019e-02 5.17534997e+02] [ 2.43127764e-02 9.99704367e-01 -2.59325109e-04 6.22420526e+00] [ 1.55645062e-02 -1.19157891e-04 9.99878859e-01 8.00069729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.13925415399996 meters Centerline goodness : 0.999067 Centerline is valid? [True, True] Translation: X:517.56, Y:6.22, Z:8.00 [[ 9.99511410e-01 -2.71061236e-02 -1.55627830e-02 5.17564495e+02] [ 2.71053534e-02 9.99632548e-01 -2.60452623e-04 6.22322822e+00] [ 1.55641243e-02 -1.61509366e-04 9.99878859e-01 8.00172162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.16925415399993 meters Centerline goodness : 0.999007 Centerline is valid? [True, True] Translation: X:517.59, Y:6.23, Z:8.00 [[ 9.99273941e-01 -3.47762851e-02 -1.55627735e-02 5.17587693e+02] [ 3.47764359e-02 9.99395083e-01 -2.61016596e-04 6.22717411e+00] [ 1.55624365e-02 -2.80390715e-04 9.99878859e-01 8.00188811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.19925415399996 meters Centerline goodness : 0.999135 Centerline is valid? [True, True] Translation: X:517.62, Y:6.22, Z:8.01 [[ 9.99328599e-01 -3.31719711e-02 -1.55554629e-02 5.17624292e+02] [ 3.31654628e-02 9.99449646e-01 -6.76246898e-04 6.21930105e+00] [ 1.55693344e-02 1.59888738e-04 9.99878778e-01 8.00502846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.22925415399993 meters Centerline goodness : 0.999178 Centerline is valid? [True, True] Translation: X:517.66, Y:6.21, Z:8.00 [[ 9.99450531e-01 -2.92651209e-02 -1.55624269e-02 5.17662251e+02] [ 2.92646063e-02 9.99571666e-01 -2.60844665e-04 6.21260274e+00] [ 1.55633946e-02 -1.94726958e-04 9.99878864e-01 8.00074362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.2592541539999 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:517.68, Y:6.22, Z:8.01 [[ 9.99272821e-01 -3.48058001e-02 -1.55687147e-02 5.17683883e+02] [ 3.48118963e-02 9.99393875e-01 1.20653384e-04 6.21644306e+00] [ 1.55550787e-02 -6.62542130e-04 9.99878793e-01 8.00654337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.28925415399993 meters Centerline goodness : 0.999347 Centerline is valid? [True, True] Translation: X:517.72, Y:6.21, Z:8.01 [[ 9.99329126e-01 -3.31530127e-02 -1.55619917e-02 5.17715309e+02] [ 3.31528464e-02 9.99450257e-01 -2.68733651e-04 6.21309741e+00] [ 1.55623460e-02 -2.47370957e-04 9.99878869e-01 8.00721008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.3192541539999 meters Centerline goodness : 0.999474 Centerline is valid? [True, True] Translation: X:517.75, Y:6.21, Z:8.01 [[ 9.99359606e-01 -3.22211334e-02 -1.55620240e-02 5.17746252e+02] [ 3.22208835e-02 9.99480737e-01 -2.66850119e-04 6.21208513e+00] [ 1.55625415e-02 -2.34742934e-04 9.99878869e-01 8.00914077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.34925415399994 meters Centerline goodness : 0.999222 Centerline is valid? [True, True] Translation: X:517.78, Y:6.21, Z:8.01 [[ 9.99453871e-01 -2.91510481e-02 -1.55620338e-02 5.17778049e+02] [ 2.91504350e-02 9.99575000e-01 -2.66278219e-04 6.20926498e+00] [ 1.55631822e-02 -1.87507258e-04 9.99878869e-01 8.01030589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.3792541539999 meters Centerline goodness : 0.999432 Centerline is valid? [True, True] Translation: X:517.81, Y:6.21, Z:8.01 [[ 9.99493268e-01 -2.77674408e-02 -1.55620435e-02 5.17808586e+02] [ 2.77666688e-02 9.99614396e-01 -2.65711037e-04 6.20813274e+00] [ 1.55634208e-02 -1.66529716e-04 9.99878869e-01 8.01088160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.40925415399994 meters Centerline goodness : 0.999222 Centerline is valid? [True, True] Translation: X:517.84, Y:6.21, Z:8.01 [[ 9.99520523e-01 -2.67683914e-02 -1.55620435e-02 5.17838577e+02] [ 2.67674983e-02 9.99641651e-01 -2.65711037e-04 6.20686900e+00] [ 1.55635795e-02 -1.50973339e-04 9.99878869e-01 8.01077775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.4392541539999 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:517.87, Y:6.21, Z:8.01 [[ 9.99542582e-01 -2.59316469e-02 -1.55620387e-02 5.17869278e+02] [ 2.59306480e-02 9.99663709e-01 -2.65993819e-04 6.20531262e+00] [ 1.55637029e-02 -1.37661599e-04 9.99878869e-01 8.01118447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.46925415399994 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:517.90, Y:6.20, Z:8.01 [[ 9.99559535e-01 -2.52697360e-02 -1.55620387e-02 5.17899065e+02] [ 2.52686570e-02 9.99680661e-01 -2.65993819e-04 6.20105783e+00] [ 1.55637907e-02 -1.27355159e-04 9.99878869e-01 8.00934809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.4992541539999 meters Centerline goodness : 0.999349 Centerline is valid? [True, True] Translation: X:517.93, Y:6.20, Z:8.01 [[ 9.99560411e-01 -2.52350721e-02 -1.55620338e-02 5.17928293e+02] [ 2.52339844e-02 9.99681537e-01 -2.66277661e-04 6.19931001e+00] [ 1.55637974e-02 -1.26531511e-04 9.99878869e-01 8.00951160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.52925415399994 meters Centerline goodness : 0.999327 Centerline is valid? [True, True] Translation: X:517.96, Y:6.20, Z:8.01 [[ 9.99496202e-01 -2.76616450e-02 -1.55620240e-02 5.17955287e+02] [ 2.76608425e-02 9.99617330e-01 -2.66846388e-04 6.20164528e+00] [ 1.55634503e-02 -1.63746745e-04 9.99878869e-01 8.00573147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.5592541539999 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:517.99, Y:6.20, Z:8.01 [[ 9.99511031e-01 -2.71222385e-02 -1.55590158e-02 5.17989236e+02] [ 2.71186912e-02 9.99632124e-01 -4.38966002e-04 6.19540193e+00] [ 1.55651978e-02 1.68112156e-05 9.99878855e-01 8.00944020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.58925415399995 meters Centerline goodness : 0.999539 Centerline is valid? [True, True] Translation: X:518.02, Y:6.19, Z:8.01 [[ 9.99470344e-01 -2.85806993e-02 -1.55619614e-02 5.18019106e+02] [ 2.85799930e-02 9.99591473e-01 -2.67828618e-04 6.19418045e+00] [ 1.55632586e-02 -1.77073986e-04 9.99878869e-01 8.01032372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.6192541539999 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:518.05, Y:6.19, Z:8.01 [[ 9.99407435e-01 -3.07018699e-02 -1.55619565e-02 5.18048934e+02] [ 3.07014162e-02 9.99528564e-01 -2.68109956e-04 6.19315121e+00] [ 1.55628516e-02 -2.09823021e-04 9.99878869e-01 8.01054864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.64925415399995 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:518.08, Y:6.19, Z:8.01 [[ 9.99225228e-01 -3.61492762e-02 -1.55619518e-02 5.18079117e+02] [ 3.61494785e-02 9.99346358e-01 -2.68387085e-04 6.19001275e+00] [ 1.55614818e-02 -2.94377296e-04 9.99878869e-01 8.01269015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.6792541539999 meters Centerline goodness : 0.999139 Centerline is valid? [True, True] Translation: X:518.11, Y:6.19, Z:8.01 [[ 9.99106195e-01 -3.93018765e-02 -1.55619518e-02 5.18110756e+02] [ 3.93024610e-02 9.99227324e-01 -2.68387085e-04 6.18852288e+00] [ 1.55604755e-02 -3.43475804e-04 9.99878869e-01 8.01311115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.70925415399995 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:518.14, Y:6.19, Z:8.01 [[ 9.99035389e-01 -4.10623589e-02 -1.55619617e-02 5.18139929e+02] [ 4.10631658e-02 9.99156517e-01 -2.67810522e-04 6.18732470e+00] [ 1.55598324e-02 -3.71471224e-04 9.99878869e-01 8.01384544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.7392541539999 meters Centerline goodness : 0.999308 Centerline is valid? [True, True] Translation: X:518.17, Y:6.18, Z:8.01 [[ 9.98653903e-01 -4.94799038e-02 -1.55602379e-02 5.18172898e+02] [ 4.94801787e-02 9.98775038e-01 -3.67555907e-04 6.18459630e+00] [ 1.55593638e-02 -4.02862210e-04 9.99878865e-01 8.01476880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.76925415399995 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:518.21, Y:6.17, Z:8.01 [[ 9.98940498e-01 -4.33094166e-02 -1.55619851e-02 5.18212020e+02] [ 4.33105409e-02 9.99061623e-01 -2.64924478e-04 6.17406378e+00] [ 1.55588559e-02 -4.09354205e-04 9.99878870e-01 8.00977167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.7992541539999 meters Centerline goodness : 0.999434 Centerline is valid? [True, True] Translation: X:518.23, Y:6.18, Z:8.02 [[ 9.98209174e-01 -5.77584087e-02 -1.55695345e-02 5.18232307e+02] [ 5.77682135e-02 9.98330006e-01 1.80362365e-04 6.18277498e+00] [ 1.55331160e-02 -1.07946356e-03 9.99878771e-01 8.01631459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.82925415399995 meters Centerline goodness : 0.999309 Centerline is valid? [True, True] Translation: X:518.26, Y:6.18, Z:8.02 [[ 9.97778319e-01 -6.47786510e-02 -1.55612694e-02 5.18263595e+02] [ 6.47821500e-02 9.97899391e-01 -2.79646643e-04 6.18042714e+00] [ 1.55466964e-02 -7.29067133e-04 9.99878877e-01 8.01655853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.8592541539999 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:518.29, Y:6.18, Z:8.02 [[ 9.97615515e-01 -6.72393557e-02 -1.55612848e-02 5.18293447e+02] [ 6.72431667e-02 9.97736578e-01 -2.78788597e-04 6.17979369e+00] [ 1.55448086e-02 -7.68266239e-04 9.99878877e-01 8.01721021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.88925415399996 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:518.33, Y:6.18, Z:8.02 [[ 9.97295737e-01 -7.18269124e-02 -1.55598327e-02 5.18327403e+02] [ 7.18300179e-02 9.97416823e-01 -3.59911068e-04 6.17893250e+00] [ 1.55454902e-02 -7.58725286e-04 9.99878874e-01 8.01712892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.91925415399993 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:518.36, Y:6.18, Z:8.02 [[ 9.96881134e-01 -7.73682750e-02 -1.55613318e-02 5.18358695e+02] [ 7.73733724e-02 9.97002149e-01 -2.75121436e-04 6.17788717e+00] [ 1.55359669e-02 -9.29769353e-04 9.99878877e-01 8.01728741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.94925415399996 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:518.40, Y:6.17, Z:8.02 [[ 9.97011535e-01 -7.56692978e-02 -1.55613466e-02 5.18395885e+02] [ 7.56742021e-02 9.97132559e-01 -2.74279927e-04 6.17425768e+00] [ 1.55374800e-02 -9.04132239e-04 9.99878877e-01 8.01747627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.97925415399993 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:518.42, Y:6.18, Z:8.02 [[ 9.96652955e-01 -8.02533194e-02 -1.55657080e-02 5.18420703e+02] [ 8.02627352e-02 9.96773742e-01 -1.98679489e-05 6.17924850e+00] [ 1.55170835e-02 -1.22954485e-03 9.99878847e-01 8.01765254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.0092541539999 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:518.45, Y:6.18, Z:8.02 [[ 9.96602357e-01 -8.08801002e-02 -1.55612088e-02 5.18452809e+02] [ 8.08856298e-02 9.96723352e-01 -2.74733432e-04 6.18100190e+00] [ 1.55324407e-02 -9.84878191e-04 9.99878879e-01 8.01781412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.03925415399993 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:518.49, Y:6.18, Z:8.02 [[ 9.96667280e-01 -8.00760943e-02 -1.55612280e-02 5.18485294e+02] [ 8.00815433e-02 9.96788278e-01 -2.73641576e-04 6.18224220e+00] [ 1.55331618e-02 -9.73437551e-04 9.99878879e-01 8.01894828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.0692541539999 meters Centerline goodness : 0.999058 Centerline is valid? [True, True] Translation: X:518.52, Y:6.18, Z:8.02 [[ 9.97196688e-01 -7.31888827e-02 -1.55612481e-02 5.18524612e+02] [ 7.31935135e-02 9.97317720e-01 -2.72495498e-04 6.17642992e+00] [ 1.55394521e-02 -8.67250814e-04 9.99878879e-01 8.01570253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.09925415399994 meters Centerline goodness : 0.998764 Centerline is valid? [True, True] Translation: X:518.56, Y:6.18, Z:8.02 [[ 9.97376295e-01 -7.06977598e-02 -1.55676945e-02 5.18556488e+02] [ 7.07079270e-02 9.97497057e-01 1.02966077e-04 6.17892137e+00] [ 1.55214500e-02 -1.20345533e-03 9.99878811e-01 8.01523014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.1292541539999 meters Centerline goodness : 0.998933 Centerline is valid? [True, True] Translation: X:518.59, Y:6.18, Z:8.02 [[ 9.97403591e-01 -7.03117010e-02 -1.55673473e-02 5.18587156e+02] [ 7.03215130e-02 9.97524375e-01 8.31226667e-05 6.18253825e+00] [ 1.55229639e-02 -1.17762626e-03 9.99878818e-01 8.01736703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.15925415399994 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:518.61, Y:6.19, Z:8.02 [[ 9.97229327e-01 -7.27417525e-02 -1.55662324e-02 5.18609916e+02] [ 7.27508821e-02 9.97350144e-01 2.02887535e-05 6.19067176e+00] [ 1.55235083e-02 -1.15268968e-03 9.99878839e-01 8.01923892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.1892541539999 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:518.65, Y:6.19, Z:8.02 [[ 9.97780164e-01 -6.47503796e-02 -1.55606389e-02 5.18647503e+02] [ 6.47537904e-02 9.97901230e-01 -2.85072984e-04 6.19094150e+00] [ 1.55464392e-02 -7.23170178e-04 9.99878885e-01 8.02040370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.21925415399994 meters Centerline goodness : 0.999225 Centerline is valid? [True, True] Translation: X:518.67, Y:6.20, Z:8.02 [[ 9.97644709e-01 -6.68038031e-02 -1.55655304e-02 5.18671316e+02] [ 6.68117382e-02 9.97765600e-01 -1.02513853e-05 6.19816106e+00] [ 1.55314357e-02 -1.02973290e-03 9.99878850e-01 8.02124379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.2492541539999 meters Centerline goodness : 0.998993 Centerline is valid? [True, True] Translation: X:518.70, Y:6.20, Z:8.02 [[ 9.97785739e-01 -6.46644330e-02 -1.55605356e-02 5.18703683e+02] [ 6.46678503e-02 9.97906804e-01 -2.83976715e-04 6.20050965e+00] [ 1.55463275e-02 -7.22918471e-04 9.99878887e-01 8.02167248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.27925415399994 meters Centerline goodness : 0.998824 Centerline is valid? [True, True] Translation: X:518.74, Y:6.20, Z:8.02 [[ 9.97962152e-01 -6.18822437e-02 -1.55605566e-02 5.18735705e+02] [ 6.18853414e-02 9.98083225e-01 -2.82819162e-04 6.20223784e+00] [ 1.55482320e-02 -6.80727541e-04 9.99878887e-01 8.02150993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.3092541539999 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:518.77, Y:6.21, Z:8.02 [[ 9.98185526e-01 -5.81680652e-02 -1.55605775e-02 5.18767535e+02] [ 5.81707303e-02 9.98306610e-01 -2.81666020e-04 6.20680957e+00] [ 1.55506113e-02 -6.24015214e-04 9.99878887e-01 8.02458515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.33925415399995 meters Centerline goodness : 0.998868 Centerline is valid? [True, True] Translation: X:518.80, Y:6.21, Z:8.03 [[ 9.98315502e-01 -5.58929899e-02 -1.55605982e-02 5.18799838e+02] [ 5.58953969e-02 9.98436591e-01 -2.80520357e-04 6.20940141e+00] [ 1.55519497e-02 -5.89717990e-04 9.99878887e-01 8.02580131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.3692541539999 meters Centerline goodness : 0.999015 Centerline is valid? [True, True] Translation: X:518.83, Y:6.21, Z:8.03 [[ 9.98467942e-01 -5.31002460e-02 -1.55606186e-02 5.18831827e+02] [ 5.31023320e-02 9.98589037e-01 -2.79380121e-04 6.21165018e+00] [ 1.55534983e-02 -5.47353043e-04 9.99878887e-01 8.02627486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.39925415399995 meters Centerline goodness : 0.999077 Centerline is valid? [True, True] Translation: X:518.86, Y:6.22, Z:8.03 [[ 9.98680047e-01 -4.89492587e-02 -1.55606389e-02 5.18862724e+02] [ 4.89508590e-02 9.98801149e-01 -2.78245621e-04 6.21625657e+00] [ 1.55556040e-02 -4.83828292e-04 9.99878887e-01 8.02732976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.4292541539999 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:518.90, Y:6.22, Z:8.03 [[ 9.98780290e-01 -4.68593444e-02 -1.55606707e-02 5.18895236e+02] [ 4.68607191e-02 9.98901395e-01 -2.76457952e-04 6.21876044e+00] [ 1.55565303e-02 -4.53063464e-04 9.99878887e-01 8.02810340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.45925415399995 meters Centerline goodness : 0.998910 Centerline is valid? [True, True] Translation: X:518.93, Y:6.22, Z:8.03 [[ 9.98872384e-01 -4.48533756e-02 -1.55606904e-02 5.18927055e+02] [ 4.48545245e-02 9.98993491e-01 -2.75343271e-04 6.22098101e+00] [ 1.55573785e-02 -4.22934579e-04 9.99878887e-01 8.02881522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.4892541539999 meters Centerline goodness : 0.999098 Centerline is valid? [True, True] Translation: X:518.96, Y:6.22, Z:8.03 [[ 9.99095085e-01 -3.95837840e-02 -1.55607100e-02 5.18961720e+02] [ 3.95843112e-02 9.99216196e-01 -2.74234073e-04 6.21884925e+00] [ 1.55593686e-02 -3.41974071e-04 9.99878887e-01 8.02863467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.51925415399995 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:518.99, Y:6.22, Z:8.03 [[ 9.99228739e-01 -3.60508220e-02 -1.55648927e-02 5.18992841e+02] [ 3.60546636e-02 9.99349819e-01 -3.38175485e-05 6.22193540e+00] [ 1.55559919e-02 -5.27395505e-04 9.99878859e-01 8.02907353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.5492541539999 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:519.02, Y:6.23, Z:8.03 [[ 9.99148735e-01 -3.82038862e-02 -1.55649922e-02 5.19017988e+02] [ 3.82080779e-02 9.99269804e-01 -2.80876210e-05 6.22883785e+00] [ 1.55546998e-02 -5.66644723e-04 9.99878858e-01 8.03089957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.57925415399995 meters Centerline goodness : 0.999031 Centerline is valid? [True, True] Translation: X:519.05, Y:6.23, Z:8.03 [[ 9.99203655e-01 -3.67413360e-02 -1.55605584e-02 5.19049044e+02] [ 3.67414741e-02 9.99324766e-01 -2.77096514e-04 6.23126313e+00] [ 1.55602323e-02 -2.94842004e-04 9.99878889e-01 8.03155944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.6092541539999 meters Centerline goodness : 0.999031 Centerline is valid? [True, True] Translation: X:519.08, Y:6.23, Z:8.03 [[ 9.99204903e-01 -3.67073683e-02 -1.55605727e-02 5.19080880e+02] [ 3.67075148e-02 9.99326014e-01 -2.76292680e-04 6.23179543e+00] [ 1.55602271e-02 -2.95116953e-04 9.99878889e-01 8.03205481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.63925415399996 meters Centerline goodness : 0.998884 Centerline is valid? [True, True] Translation: X:519.11, Y:6.23, Z:8.03 [[ 9.99262043e-01 -3.51174894e-02 -1.55605821e-02 5.19111903e+02] [ 3.51174515e-02 9.99383154e-01 -2.75763834e-04 6.23405072e+00] [ 1.55606677e-02 -2.70887654e-04 9.99878889e-01 8.03257151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.66925415399993 meters Centerline goodness : 0.998989 Centerline is valid? [True, True] Translation: X:519.14, Y:6.24, Z:8.03 [[ 9.99352211e-01 -3.24503580e-02 -1.55605914e-02 5.19143151e+02] [ 3.24500051e-02 9.99473322e-01 -2.75234987e-04 6.23695140e+00] [ 1.55613275e-02 -2.29884578e-04 9.99878889e-01 8.03336069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.69925415399996 meters Centerline goodness : 0.998946 Centerline is valid? [True, True] Translation: X:519.17, Y:6.24, Z:8.03 [[ 9.99384390e-01 -3.14437410e-02 -1.55606013e-02 5.19174155e+02] [ 3.14432748e-02 9.99505500e-01 -2.74673388e-04 6.23827540e+00] [ 1.55615434e-02 -2.14771968e-04 9.99878889e-01 8.03364489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.72925415399993 meters Centerline goodness : 0.998966 Centerline is valid? [True, True] Translation: X:519.20, Y:6.24, Z:8.03 [[ 9.99428681e-01 -3.00029831e-02 -1.55606112e-02 5.19204310e+02] [ 3.00023510e-02 9.99549791e-01 -2.74113807e-04 6.23977880e+00] [ 1.55618299e-02 -1.92897718e-04 9.99878889e-01 8.03346441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.7592541539999 meters Centerline goodness : 0.998903 Centerline is valid? [True, True] Translation: X:519.23, Y:6.24, Z:8.03 [[ 9.99434210e-01 -2.98182237e-02 -1.55606274e-02 5.19234563e+02] [ 2.98175835e-02 9.99555320e-01 -2.73193268e-04 6.24082151e+00] [ 1.55618540e-02 -1.90941608e-04 9.99878889e-01 8.03276044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.78925415399993 meters Centerline goodness : 0.999154 Centerline is valid? [True, True] Translation: X:519.27, Y:6.24, Z:8.03 [[ 9.99431413e-01 -2.99118166e-02 -1.55606322e-02 5.19265950e+02] [ 2.99111921e-02 9.99552523e-01 -2.72918313e-04 6.24216537e+00] [ 1.55618326e-02 -1.92673922e-04 9.99878889e-01 8.03459384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.8192541539999 meters Centerline goodness : 0.999006 Centerline is valid? [True, True] Translation: X:519.30, Y:6.24, Z:8.04 [[ 9.99422542e-01 -3.02067850e-02 -1.55606417e-02 5.19297108e+02] [ 3.02062046e-02 9.99543651e-01 -2.72374644e-04 6.24324991e+00] [ 1.55617682e-02 -1.97810568e-04 9.99878889e-01 8.03528237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.84925415399994 meters Centerline goodness : 0.999028 Centerline is valid? [True, True] Translation: X:519.33, Y:6.24, Z:8.04 [[ 9.99376107e-01 -3.17058792e-02 -1.55606511e-02 5.19328113e+02] [ 3.17054889e-02 9.99497218e-01 -2.71833364e-04 6.24406286e+00] [ 1.55614462e-02 -2.21694283e-04 9.99878889e-01 8.03562419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.8792541539999 meters Centerline goodness : 0.998839 Centerline is valid? [True, True] Translation: X:519.36, Y:6.24, Z:8.04 [[ 9.99342162e-01 -3.27583569e-02 -1.55606606e-02 5.19358615e+02] [ 3.27581027e-02 9.99463273e-01 -2.71292634e-04 6.24448279e+00] [ 1.55611958e-02 -2.38623549e-04 9.99878889e-01 8.03545945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.90925415399994 meters Centerline goodness : 0.999070 Centerline is valid? [True, True] Translation: X:519.39, Y:6.24, Z:8.04 [[ 9.99313298e-01 -3.36273299e-02 -1.55606653e-02 5.19389537e+02] [ 3.36271851e-02 9.99434410e-01 -2.71024092e-04 6.24460855e+00] [ 1.55609781e-02 -2.52423392e-04 9.99878889e-01 8.03548640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.9392541539999 meters Centerline goodness : 0.998753 Centerline is valid? [True, True] Translation: X:519.42, Y:6.24, Z:8.03 [[ 9.99413606e-01 -3.05009815e-02 -1.55606745e-02 5.19424843e+02] [ 3.05004662e-02 9.99534716e-01 -2.70490444e-04 6.23858480e+00] [ 1.55616846e-02 -2.04275997e-04 9.99878889e-01 8.03244287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.96925415399994 meters Centerline goodness : 0.999008 Centerline is valid? [True, True] Translation: X:519.45, Y:6.25, Z:8.03 [[ 9.99210890e-01 -3.65417216e-02 -1.55659663e-02 5.19447842e+02] [ 3.65467682e-02 9.99331943e-01 3.97752697e-05 6.24527945e+00] [ 1.55541139e-02 -6.08629647e-04 9.99878842e-01 8.03487072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.9992541539999 meters Centerline goodness : 0.998989 Centerline is valid? [True, True] Translation: X:519.48, Y:6.25, Z:8.04 [[ 9.99196938e-01 -3.69236100e-02 -1.55604192e-02 5.19478885e+02] [ 3.69238091e-02 9.99318046e-01 -2.74599692e-04 6.24617870e+00] [ 1.55599470e-02 -3.00170777e-04 9.99878892e-01 8.03545685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.02925415399994 meters Centerline goodness : 0.999029 Centerline is valid? [True, True] Translation: X:519.51, Y:6.25, Z:8.04 [[ 9.99202468e-01 -3.67736437e-02 -1.55604501e-02 5.19510499e+02] [ 3.67738519e-02 9.99323576e-01 -2.72841453e-04 6.24697951e+00] [ 1.55599580e-02 -2.99593833e-04 9.99878892e-01 8.03575976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.0592541539999 meters Centerline goodness : 0.998798 Centerline is valid? [True, True] Translation: X:519.54, Y:6.25, Z:8.04 [[ 9.99233707e-01 -3.59147579e-02 -1.55604800e-02 5.19542784e+02] [ 3.59148888e-02 9.99354816e-01 -2.71122130e-04 6.24736754e+00] [ 1.55601779e-02 -2.87938538e-04 9.99878892e-01 8.03667375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.08925415399995 meters Centerline goodness : 0.999009 Centerline is valid? [True, True] Translation: X:519.57, Y:6.25, Z:8.04 [[ 9.99248806e-01 -3.54921625e-02 -1.55604999e-02 5.19574071e+02] [ 3.54922599e-02 9.99369915e-01 -2.69978703e-04 6.24760428e+00] [ 1.55602776e-02 -2.82501409e-04 9.99878892e-01 8.03648875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.1192541539999 meters Centerline goodness : 0.998820 Centerline is valid? [True, True] Translation: X:519.60, Y:6.25, Z:8.04 [[ 9.99285837e-01 -3.44337903e-02 -1.55605146e-02 5.19604941e+02] [ 3.44337728e-02 9.99406946e-01 -2.69126317e-04 6.24805740e+00] [ 1.55605534e-02 -2.66873108e-04 9.99878892e-01 8.03665057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.14925415399995 meters Centerline goodness : 0.998948 Centerline is valid? [True, True] Translation: X:519.64, Y:6.25, Z:8.04 [[ 9.99373429e-01 -3.17902501e-02 -1.55605234e-02 5.19635846e+02] [ 3.17899200e-02 9.99494537e-01 -2.68619243e-04 6.24884222e+00] [ 1.55611976e-02 -2.26216859e-04 9.99878892e-01 8.03855267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.1792541539999 meters Centerline goodness : 0.999032 Centerline is valid? [True, True] Translation: X:519.67, Y:6.25, Z:8.04 [[ 9.99419255e-01 -3.03153789e-02 -1.55605329e-02 5.19666704e+02] [ 3.03148788e-02 9.99540363e-01 -2.68064473e-04 6.24949264e+00] [ 1.55615072e-02 -2.03806875e-04 9.99878892e-01 8.03895620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.20925415399995 meters Centerline goodness : 0.999095 Centerline is valid? [True, True] Translation: X:519.70, Y:6.25, Z:8.04 [[ 9.99511083e-01 -2.71194452e-02 -1.55605424e-02 5.19698349e+02] [ 2.71185664e-02 9.99632188e-01 -2.67511441e-04 6.25040605e+00] [ 1.55620738e-02 -1.54598954e-04 9.99878892e-01 8.04028004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.2392541539999 meters Centerline goodness : 0.999159 Centerline is valid? [True, True] Translation: X:519.73, Y:6.25, Z:8.04 [[ 9.99551712e-01 -2.55781887e-02 -1.55605523e-02 5.19728540e+02] [ 2.55771322e-02 9.99672816e-01 -2.66938235e-04 6.25087181e+00] [ 1.55622889e-02 -1.31175732e-04 9.99878892e-01 8.04072268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.26925415399995 meters Centerline goodness : 0.998970 Centerline is valid? [True, True] Translation: X:519.76, Y:6.25, Z:8.04 [[ 9.99593167e-01 -2.39033240e-02 -1.55605571e-02 5.19759237e+02] [ 2.39020690e-02 9.99714269e-01 -2.66653831e-04 6.25101217e+00] [ 1.55624849e-02 -1.05384163e-04 9.99878892e-01 8.04110928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.2992541539999 meters Centerline goodness : 0.999222 Centerline is valid? [True, True] Translation: X:519.79, Y:6.25, Z:8.04 [[ 9.99627228e-01 -2.24337662e-02 -1.55605571e-02 5.19788886e+02] [ 2.24323331e-02 9.99748328e-01 -2.66653830e-04 6.25114249e+00] [ 1.55626230e-02 -8.25051713e-05 9.99878892e-01 8.04111272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.32925415399995 meters Centerline goodness : 0.999328 Centerline is valid? [True, True] Translation: X:519.82, Y:6.25, Z:8.04 [[ 9.99672879e-01 -2.02978965e-02 -1.55605523e-02 5.19817336e+02] [ 2.02962003e-02 9.99793975e-01 -2.66934756e-04 6.25103825e+00] [ 1.55627647e-02 -4.89726506e-05 9.99878892e-01 8.04171646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.3592541539999 meters Centerline goodness : 0.999286 Centerline is valid? [True, True] Translation: X:519.85, Y:6.25, Z:8.04 [[ 9.99682426e-01 -1.98221249e-02 -1.55605382e-02 5.19845668e+02] [ 1.98203583e-02 9.99803522e-01 -2.67753888e-04 6.25129825e+00] [ 1.55627884e-02 -4.07465865e-05 9.99878892e-01 8.04223573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.38925415399996 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:519.87, Y:6.25, Z:8.04 [[ 9.99678386e-01 -2.00249088e-02 -1.55604698e-02 5.19873793e+02] [ 2.00231058e-02 9.99799481e-01 -2.71672715e-04 6.25145720e+00] [ 1.55627898e-02 -3.99835920e-05 9.99878892e-01 8.04290204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.41925415399993 meters Centerline goodness : 0.999308 Centerline is valid? [True, True] Translation: X:519.90, Y:6.25, Z:8.04 [[ 9.99668462e-01 -2.05143438e-02 -1.55604330e-02 5.19902623e+02] [ 2.05125675e-02 9.99789558e-01 -2.73763601e-04 6.25143168e+00] [ 1.55627745e-02 -4.55115951e-05 9.99878892e-01 8.04340615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.44925415399996 meters Centerline goodness : 0.998846 Centerline is valid? [True, True] Translation: X:519.93, Y:6.25, Z:8.04 [[ 9.99641979e-01 -2.17667090e-02 -1.55603642e-02 5.19931247e+02] [ 2.17650243e-02 9.99763075e-01 -2.77622316e-04 6.25001089e+00] [ 1.55627205e-02 -6.11487836e-05 9.99878892e-01 8.04191289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.47925415399993 meters Centerline goodness : 0.998993 Centerline is valid? [True, True] Translation: X:519.96, Y:6.25, Z:8.04 [[ 9.99601249e-01 -2.35630704e-02 -1.55603468e-02 5.19960096e+02] [ 2.35615883e-02 9.99722348e-01 -2.78592707e-04 6.24936046e+00] [ 1.55625909e-02 -8.81448664e-05 9.99878892e-01 8.04335014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.5092541539999 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:519.99, Y:6.25, Z:8.04 [[ 9.99571568e-01 -2.47903019e-02 -1.55602753e-02 5.19989272e+02] [ 2.47889072e-02 9.99692668e-01 -2.82532243e-04 6.24855941e+00] [ 1.55624972e-02 -1.03311022e-04 9.99878892e-01 8.04318316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.53925415399993 meters Centerline goodness : 0.999015 Centerline is valid? [True, True] Translation: X:520.02, Y:6.25, Z:8.04 [[ 9.99495724e-01 -2.76798818e-02 -1.55602651e-02 5.20018820e+02] [ 2.76788285e-02 9.99616828e-01 -2.83089714e-04 6.24689695e+00] [ 1.55621388e-02 -1.47742951e-04 9.99878892e-01 8.04414762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.5692541539999 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:520.05, Y:6.25, Z:8.04 [[ 9.99449827e-01 -2.92902945e-02 -1.55602549e-02 5.20048766e+02] [ 2.92894275e-02 9.99570932e-01 -2.83651321e-04 6.24624663e+00] [ 1.55618867e-02 -1.72255693e-04 9.99878892e-01 8.04391315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.59925415399994 meters Centerline goodness : 0.999392 Centerline is valid? [True, True] Translation: X:520.08, Y:6.25, Z:8.04 [[ 9.99408600e-01 -3.06647822e-02 -1.55602498e-02 5.20079029e+02] [ 3.06640774e-02 9.99529706e-01 -2.83930082e-04 6.24544377e+00] [ 1.55616386e-02 -1.93378539e-04 9.99878892e-01 8.04432332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.6292541539999 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:520.11, Y:6.24, Z:8.05 [[ 9.99295434e-01 -3.41542846e-02 -1.55602498e-02 5.20109239e+02] [ 3.41540027e-02 9.99416542e-01 -2.83930082e-04 6.24344760e+00] [ 1.55608685e-02 -2.47714780e-04 9.99878892e-01 8.04625163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.65925415399994 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:520.14, Y:6.24, Z:8.05 [[ 9.99260927e-01 -3.51493783e-02 -1.55602498e-02 5.20140101e+02] [ 3.51492170e-02 9.99382035e-01 -2.83930082e-04 6.24274383e+00] [ 1.55606141e-02 -2.63210361e-04 9.99878892e-01 8.04631361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.6892541539999 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:520.17, Y:6.24, Z:8.05 [[ 9.99081520e-01 -3.99252270e-02 -1.55592968e-02 5.20171205e+02] [ 3.99248326e-02 9.99202630e-01 -3.36088761e-04 6.24083112e+00] [ 1.55603087e-02 -2.85422250e-04 9.99878890e-01 8.04732256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.71925415399994 meters Centerline goodness : 0.999079 Centerline is valid? [True, True] Translation: X:520.20, Y:6.24, Z:8.05 [[ 9.99003134e-01 -4.18403623e-02 -1.55602697e-02 5.20203348e+02] [ 4.18410343e-02 9.99124241e-01 -2.82500133e-04 6.23999092e+00] [ 1.55584626e-02 -3.68839263e-04 9.99878892e-01 8.04828924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.7492541539999 meters Centerline goodness : 0.998870 Centerline is valid? [True, True] Translation: X:520.24, Y:6.24, Z:8.05 [[ 9.98916387e-01 -4.38626117e-02 -1.55602892e-02 5.20235383e+02] [ 4.38635456e-02 9.99037492e-01 -2.81423765e-04 6.23927423e+00] [ 1.55576563e-02 -4.01410644e-04 9.99878892e-01 8.04929136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.77925415399994 meters Centerline goodness : 0.998953 Centerline is valid? [True, True] Translation: X:520.27, Y:6.24, Z:8.05 [[ 9.98721014e-01 -4.81062713e-02 -1.55603086e-02 5.20266205e+02] [ 4.81077366e-02 9.98842113e-01 -2.80347721e-04 6.23720729e+00] [ 1.55557780e-02 -4.68582066e-04 9.99878892e-01 8.05020683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.8092541539999 meters Centerline goodness : 0.999037 Centerline is valid? [True, True] Translation: X:520.30, Y:6.24, Z:8.05 [[ 9.98617402e-01 -5.02111522e-02 -1.55603230e-02 5.20298759e+02] [ 5.02128852e-02 9.98738498e-01 -2.79544224e-04 6.23629906e+00] [ 1.55547299e-02 -5.02170987e-04 9.99878892e-01 8.05116664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.83925415399995 meters Centerline goodness : 0.998893 Centerline is valid? [True, True] Translation: X:520.33, Y:6.24, Z:8.05 [[ 9.98518178e-01 -5.21471446e-02 -1.55603421e-02 5.20330482e+02] [ 5.21491289e-02 9.98639270e-01 -2.78477715e-04 6.23533674e+00] [ 1.55536905e-02 -5.33393226e-04 9.99878892e-01 8.05123235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.8692541539999 meters Centerline goodness : 0.998976 Centerline is valid? [True, True] Translation: X:520.36, Y:6.23, Z:8.05 [[ 9.98437939e-01 -5.36615138e-02 -1.55603612e-02 5.20362160e+02] [ 5.36636985e-02 9.98559027e-01 -2.77405047e-04 6.23452830e+00] [ 1.55528252e-02 -5.58054810e-04 9.99878892e-01 8.04987810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.89925415399995 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:520.39, Y:6.23, Z:8.05 [[ 9.98247737e-01 -5.70905444e-02 -1.55603929e-02 5.20393110e+02] [ 5.70931728e-02 9.98368816e-01 -2.75617354e-04 6.23301550e+00] [ 1.55507462e-02 -6.13257801e-04 9.99878892e-01 8.05102662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.9292541539999 meters Centerline goodness : 0.998976 Centerline is valid? [True, True] Translation: X:520.42, Y:6.23, Z:8.05 [[ 9.98196806e-01 -5.79742252e-02 -1.55604068e-02 5.20423997e+02] [ 5.79769730e-02 9.98317883e-01 -2.74832120e-04 6.23264501e+00] [ 1.55501655e-02 -6.27808739e-04 9.99878892e-01 8.05124038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.95925415399995 meters Centerline goodness : 0.998912 Centerline is valid? [True, True] Translation: X:520.46, Y:6.23, Z:8.05 [[ 9.98160693e-01 -5.85926926e-02 -1.55604204e-02 5.20456313e+02] [ 5.85955275e-02 9.98281768e-01 -2.74057449e-04 6.23248265e+00] [ 1.55497418e-02 -6.38217668e-04 9.99878892e-01 8.05166404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.9892541539999 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:520.49, Y:6.23, Z:8.05 [[ 9.98151243e-01 -5.87534636e-02 -1.55604384e-02 5.20487082e+02] [ 5.87563339e-02 9.98272317e-01 -2.73033709e-04 6.23234129e+00] [ 1.55495965e-02 -6.41745377e-04 9.99878892e-01 8.05200057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.01925415399995 meters Centerline goodness : 0.998914 Centerline is valid? [True, True] Translation: X:520.52, Y:6.23, Z:8.05 [[ 9.98177015e-01 -5.83139678e-02 -1.55604517e-02 5.20518906e+02] [ 5.83167967e-02 9.98298090e-01 -2.72269767e-04 6.23247743e+00] [ 1.55498464e-02 -6.35662277e-04 9.99878892e-01 8.05319225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.0492541539999 meters Centerline goodness : 0.998914 Centerline is valid? [True, True] Translation: X:520.55, Y:6.23, Z:8.05 [[ 9.98219308e-01 -5.75854561e-02 -1.55604694e-02 5.20550969e+02] [ 5.75882124e-02 9.98340385e-01 -2.71258728e-04 6.23317416e+00] [ 1.55502655e-02 -6.25323916e-04 9.99878892e-01 8.05355114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.07925415399995 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:520.58, Y:6.23, Z:8.05 [[ 9.98266074e-01 -5.67689756e-02 -1.55604869e-02 5.20582595e+02] [ 5.67716485e-02 9.98387153e-01 -2.70251819e-04 6.23393927e+00] [ 1.55507321e-02 -6.13611268e-04 9.99878892e-01 8.05455862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.1092541539999 meters Centerline goodness : 0.998999 Centerline is valid? [True, True] Translation: X:520.61, Y:6.24, Z:8.06 [[ 9.98382753e-01 -5.46785951e-02 -1.55604999e-02 5.20614971e+02] [ 5.46810261e-02 9.98503837e-01 -2.69500375e-04 6.23525682e+00] [ 1.55519547e-02 -5.81799573e-04 9.99878892e-01 8.05710598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.13925415399996 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:520.65, Y:6.24, Z:8.05 [[ 9.98438640e-01 -5.36484092e-02 -1.55605191e-02 5.20646628e+02] [ 5.36507327e-02 9.98559726e-01 -2.68385118e-04 6.23610822e+00] [ 1.55525061e-02 -5.66867179e-04 9.99878892e-01 8.05437997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.16925415399993 meters Centerline goodness : 0.998935 Centerline is valid? [True, True] Translation: X:520.68, Y:6.24, Z:8.05 [[ 9.98488176e-01 -5.27184238e-02 -1.55605334e-02 5.20678931e+02] [ 5.27206474e-02 9.98609264e-01 -2.67554299e-04 6.23685647e+00] [ 1.55529978e-02 -5.53211590e-04 9.99878892e-01 8.05433860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.19925415399996 meters Centerline goodness : 0.999038 Centerline is valid? [True, True] Translation: X:520.71, Y:6.24, Z:8.06 [[ 9.98569167e-01 -5.11613915e-02 -1.55605501e-02 5.20711135e+02] [ 5.11634415e-02 9.98690258e-01 -2.66576843e-04 6.23790775e+00] [ 1.55538083e-02 -5.29935881e-04 9.99878892e-01 8.05874655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.22925415399993 meters Centerline goodness : 0.998850 Centerline is valid? [True, True] Translation: X:520.75, Y:6.23, Z:8.05 [[ 9.99000694e-01 -4.18984717e-02 -1.55605695e-02 5.20752429e+02] [ 4.18994163e-02 9.99121799e-01 -2.65439793e-04 6.22861748e+00] [ 1.55580257e-02 -3.86804244e-04 9.99878892e-01 8.05366907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.2592541539999 meters Centerline goodness : 0.998997 Centerline is valid? [True, True] Translation: X:520.77, Y:6.24, Z:8.06 [[ 9.98634136e-01 -4.98744108e-02 -1.55694032e-02 5.20770708e+02] [ 4.98847248e-02 9.98754944e-01 2.74553864e-04 6.23907899e+00] [ 1.55363252e-02 -1.05085425e-03 9.99878752e-01 8.06013287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.28925415399993 meters Centerline goodness : 0.998743 Centerline is valid? [True, True] Translation: X:520.81, Y:6.23, Z:8.05 [[ 9.99140069e-01 -3.84319530e-02 -1.55597865e-02 5.20811472e+02] [ 3.84323560e-02 9.99261167e-01 -2.73228100e-04 6.22916675e+00] [ 1.55587911e-02 -3.25006114e-04 9.99878902e-01 8.05298252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.3192541539999 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:520.83, Y:6.24, Z:8.06 [[ 9.98715587e-01 -4.82160352e-02 -1.55688759e-02 5.20827871e+02] [ 4.82262847e-02 9.98836396e-01 2.83347194e-04 6.24144185e+00] [ 1.55370980e-02 -1.03381230e-03 9.99878758e-01 8.05754329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.34925415399994 meters Centerline goodness : 0.998828 Centerline is valid? [True, True] Translation: X:520.86, Y:6.24, Z:8.06 [[ 9.98761129e-01 -4.72664971e-02 -1.55590980e-02 5.20860218e+02] [ 4.72679688e-02 9.98882207e-01 -2.73349657e-04 6.24267284e+00] [ 1.55546264e-02 -4.62435945e-04 9.99878913e-01 8.06241937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.3792541539999 meters Centerline goodness : 0.998934 Centerline is valid? [True, True] Translation: X:520.89, Y:6.24, Z:8.06 [[ 9.98808213e-01 -4.62608679e-02 -1.55591175e-02 5.20892246e+02] [ 4.62622351e-02 9.98929293e-01 -2.72230846e-04 6.24355465e+00] [ 1.55550519e-02 -4.47893148e-04 9.99878913e-01 8.06340020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.40925415399994 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:520.92, Y:6.24, Z:8.06 [[ 9.98875646e-01 -4.47812099e-02 -1.55591372e-02 5.20924577e+02] [ 4.47824153e-02 9.98996728e-01 -2.71102862e-04 6.24446761e+00] [ 1.55556675e-02 -4.25977697e-04 9.99878913e-01 8.06459259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.4392541539999 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:520.96, Y:6.25, Z:8.07 [[ 9.98912302e-01 -4.39559535e-02 -1.55591570e-02 5.20956464e+02] [ 4.39570767e-02 9.99033384e-01 -2.69960025e-04 6.24521272e+00] [ 1.55559836e-02 -4.14268668e-04 9.99878913e-01 8.06512335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.46925415399994 meters Centerline goodness : 0.999247 Centerline is valid? [True, True] Translation: X:520.99, Y:6.25, Z:8.06 [[ 9.98951125e-01 -4.30646191e-02 -1.55591766e-02 5.20987955e+02] [ 4.30656519e-02 9.99072208e-01 -2.68825632e-04 6.24586758e+00] [ 1.55563178e-02 -4.01522417e-04 9.99878913e-01 8.06438512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.4992541539999 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:521.02, Y:6.25, Z:8.06 [[ 9.98960439e-01 -4.28482836e-02 -1.55584569e-02 5.21019524e+02] [ 4.28486459e-02 9.99081527e-01 -3.10216524e-04 6.24673901e+00] [ 1.55574591e-02 -3.56764775e-04 9.99878912e-01 8.06438774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.52925415399994 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:521.05, Y:6.25, Z:8.06 [[ 9.98964600e-01 -4.27511672e-02 -1.55584325e-02 5.21051376e+02] [ 4.27514957e-02 9.99085688e-01 -3.11631434e-04 6.24720267e+00] [ 1.55575298e-02 -3.53837488e-04 9.99878912e-01 8.06488388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.5592541539999 meters Centerline goodness : 0.998832 Centerline is valid? [True, True] Translation: X:521.08, Y:6.25, Z:8.07 [[ 9.99018989e-01 -4.14607682e-02 -1.55584436e-02 5.21082256e+02] [ 4.14609504e-02 9.99140077e-01 -3.10985605e-04 6.24736403e+00] [ 1.55579582e-02 -3.34387332e-04 9.99878912e-01 8.06680580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.58925415399995 meters Centerline goodness : 0.998998 Centerline is valid? [True, True] Translation: X:521.11, Y:6.25, Z:8.07 [[ 9.98977922e-01 -4.24388954e-02 -1.55580302e-02 5.21114881e+02] [ 4.24388090e-02 9.99099011e-01 -3.35850287e-04 6.24819859e+00] [ 1.55582658e-02 -3.24757252e-04 9.99878910e-01 8.06718561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.6192541539999 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:521.15, Y:6.25, Z:8.07 [[ 9.98976467e-01 -4.24726483e-02 -1.55593469e-02 5.21147484e+02] [ 4.24738128e-02 9.99097548e-01 -2.55752044e-04 6.24949623e+00] [ 1.55561678e-02 -4.05374514e-04 9.99878913e-01 8.06751514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.64925415399995 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:521.18, Y:6.25, Z:8.07 [[ 9.98998168e-01 -4.19591055e-02 -1.55593655e-02 5.21178993e+02] [ 4.19602254e-02 9.99119249e-01 -2.54616055e-04 6.24981871e+00] [ 1.55563450e-02 -3.98513510e-04 9.99878913e-01 8.06688341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.6792541539999 meters Centerline goodness : 0.999226 Centerline is valid? [True, True] Translation: X:521.21, Y:6.25, Z:8.07 [[ 9.99016021e-01 -4.15318709e-02 -1.55593793e-02 5.21210818e+02] [ 4.15329522e-02 9.99137102e-01 -2.53768460e-04 6.25055181e+00] [ 1.55564926e-02 -3.92708200e-04 9.99878913e-01 8.06779943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.70925415399995 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:521.24, Y:6.25, Z:8.07 [[ 9.99102878e-01 -3.93870991e-02 -1.55593974e-02 5.21243308e+02] [ 3.93879378e-02 9.99223962e-01 -2.52656793e-04 6.25104549e+00] [ 1.55572741e-02 -3.60422446e-04 9.99878913e-01 8.06859992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.7392541539999 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:521.27, Y:6.25, Z:8.07 [[ 9.99194826e-01 -3.69811458e-02 -1.55594156e-02 5.21274208e+02] [ 3.69817104e-02 9.99315911e-01 -2.51529870e-04 6.25125754e+00] [ 1.55580734e-02 -3.24086456e-04 9.99878913e-01 8.06698865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.76925415399995 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:521.31, Y:6.25, Z:8.07 [[ 9.99249081e-01 -3.54849012e-02 -1.55594291e-02 5.21305472e+02] [ 3.54852977e-02 9.99370167e-01 -2.50690330e-04 6.25235374e+00] [ 1.55585250e-02 -3.01628891e-04 9.99878913e-01 8.06983299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.7992541539999 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:521.34, Y:6.25, Z:8.07 [[ 9.99303707e-01 -3.39117284e-02 -1.55594380e-02 5.21335316e+02] [ 3.39119428e-02 9.99424793e-01 -2.50133379e-04 6.25394259e+00] [ 1.55589706e-02 -2.77691560e-04 9.99878913e-01 8.07047463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.82925415399995 meters Centerline goodness : 0.998973 Centerline is valid? [True, True] Translation: X:521.37, Y:6.26, Z:8.07 [[ 9.99430316e-01 -2.99490808e-02 -1.55594425e-02 5.21366621e+02] [ 2.99488195e-02 9.99551402e-01 -2.49857068e-04 6.25569835e+00] [ 1.55599455e-02 -2.16272205e-04 9.99878913e-01 8.07277720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.8592541539999 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:521.40, Y:6.26, Z:8.07 [[ 9.99477413e-01 -2.83338207e-02 -1.55594516e-02 5.21397435e+02] [ 2.83333725e-02 9.99598498e-01 -2.49287907e-04 6.25593023e+00] [ 1.55602677e-02 -1.91694106e-04 9.99878913e-01 8.07271208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.88925415399996 meters Centerline goodness : 0.999372 Centerline is valid? [True, True] Translation: X:521.43, Y:6.26, Z:8.07 [[ 9.99508847e-01 -2.72023703e-02 -1.55594516e-02 5.21426834e+02] [ 2.72017850e-02 9.99629932e-01 -2.49287907e-04 6.25587594e+00] [ 1.55604748e-02 -1.74079389e-04 9.99878913e-01 8.07202407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.91925415399993 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:521.46, Y:6.26, Z:8.07 [[ 9.99530086e-01 -2.64104209e-02 -1.55594527e-02 5.21457096e+02] [ 2.64097408e-02 9.99651171e-01 -2.49217993e-04 6.25549265e+00] [ 1.55606071e-02 -1.61820231e-04 9.99878913e-01 8.07292501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.94925415399996 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:521.49, Y:6.26, Z:8.07 [[ 9.99523241e-01 -2.66682398e-02 -1.55594527e-02 5.21486852e+02] [ 2.66675909e-02 9.99644326e-01 -2.49217993e-04 6.25568001e+00] [ 1.55605648e-02 -1.65833944e-04 9.99878913e-01 8.07329537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.97925415399993 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:521.52, Y:6.26, Z:8.07 [[ 9.99519723e-01 -2.67997670e-02 -1.55594437e-02 5.21516027e+02] [ 2.67991253e-02 9.99640808e-01 -2.49780288e-04 6.25594480e+00] [ 1.55605489e-02 -1.67319157e-04 9.99878913e-01 8.07455500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.0092541539999 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:521.55, Y:6.26, Z:8.08 [[ 9.99506163e-01 -2.73008240e-02 -1.55594344e-02 5.21545666e+02] [ 2.73002340e-02 9.99627248e-01 -2.50357223e-04 6.25640895e+00] [ 1.55604696e-02 -1.74542613e-04 9.99878913e-01 8.07509356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.03925415399993 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] Translation: X:521.58, Y:6.26, Z:8.07 [[ 9.99508710e-01 -2.72073900e-02 -1.55594252e-02 5.21575070e+02] [ 2.72067798e-02 9.99629796e-01 -2.50930658e-04 6.25579140e+00] [ 1.55604922e-02 -1.72514476e-04 9.99878913e-01 8.07419490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.0692541539999 meters Centerline goodness : 0.999434 Centerline is valid? [True, True] Translation: X:521.61, Y:6.26, Z:8.07 [[ 9.99494282e-01 -2.77323675e-02 -1.55594268e-02 5.21605014e+02] [ 2.77318225e-02 9.99615368e-01 -2.50827153e-04 6.25635790e+00] [ 1.55603982e-02 -1.80790957e-04 9.99878913e-01 8.07462120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.09925415399994 meters Centerline goodness : 0.999077 Centerline is valid? [True, True] Translation: X:521.63, Y:6.26, Z:8.08 [[ 9.99484916e-01 -2.80682139e-02 -1.55588897e-02 5.21634413e+02] [ 2.80671945e-02 9.99605998e-01 -2.83919647e-04 6.25539363e+00] [ 1.55607286e-02 -1.52920979e-04 9.99878913e-01 8.07564155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.1292541539999 meters Centerline goodness : 0.999142 Centerline is valid? [True, True] Translation: X:521.66, Y:6.25, Z:8.08 [[ 9.99490150e-01 -2.78808982e-02 -1.55593980e-02 5.21664292e+02] [ 2.78803434e-02 9.99611236e-01 -2.52611386e-04 6.25403275e+00] [ 1.55603921e-02 -1.81318767e-04 9.99878913e-01 8.07590118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.15925415399994 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:521.69, Y:6.25, Z:8.08 [[ 9.99500611e-01 -2.75033334e-02 -1.55593975e-02 5.21693626e+02] [ 2.75027323e-02 9.99621696e-01 -2.52644125e-04 6.25395167e+00] [ 1.55604598e-02 -1.75407986e-04 9.99878913e-01 8.07642189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.1892541539999 meters Centerline goodness : 0.999142 Centerline is valid? [True, True] Translation: X:521.72, Y:6.25, Z:8.08 [[ 9.99521280e-01 -2.67416677e-02 -1.55593929e-02 5.21722953e+02] [ 2.67409700e-02 9.99642364e-01 -2.52922724e-04 6.25404286e+00] [ 1.55605919e-02 -1.63271615e-04 9.99878913e-01 8.07720429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.21925415399994 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:521.75, Y:6.25, Z:8.08 [[ 9.99568372e-01 -2.49193581e-02 -1.55593839e-02 5.21751444e+02] [ 2.49184311e-02 9.99689456e-01 -2.53478174e-04 6.25403966e+00] [ 1.55608685e-02 -1.34346669e-04 9.99878913e-01 8.07852719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.2492541539999 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:521.78, Y:6.25, Z:8.08 [[ 9.99646295e-01 -2.15687465e-02 -1.55587014e-02 5.21781048e+02] [ 2.15667664e-02 9.99767367e-01 -2.95061335e-04 6.25390913e+00] [ 1.55614460e-02 -4.05939067e-05 9.99878913e-01 8.07730959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.27925415399994 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:521.81, Y:6.25, Z:8.08 [[ 9.99681515e-01 -1.98689601e-02 -1.55593341e-02 5.21809595e+02] [ 1.98673710e-02 9.99802591e-01 -2.56713272e-04 6.25426800e+00] [ 1.55613632e-02 -5.24915496e-05 9.99878913e-01 8.07882664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.3092541539999 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:521.84, Y:6.25, Z:8.08 [[ 9.99723203e-01 -1.76472601e-02 -1.55592694e-02 5.21836954e+02] [ 1.76453418e-02 9.99844275e-01 -2.60576944e-04 6.25424375e+00] [ 1.55614449e-02 -1.40438090e-05 9.99878913e-01 8.07908677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.33925415399995 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:521.87, Y:6.25, Z:8.08 [[ 9.99816503e-01 -1.11744921e-02 -1.55592464e-02 5.21865325e+02] [ 1.11717687e-02 9.99937560e-01 -2.61943928e-04 6.25176141e+00] [ 1.55612019e-02 8.80715610e-05 9.99878913e-01 8.08035827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.3692541539999 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:521.89, Y:6.25, Z:8.08 [[ 9.99809075e-01 -1.18211980e-02 -1.55587180e-02 5.21894158e+02] [ 1.18180698e-02 9.99930121e-01 -2.92984894e-04 6.25197877e+00] [ 1.55610942e-02 1.09054940e-04 9.99878913e-01 8.08108160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.39925415399995 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:521.92, Y:6.25, Z:8.08 [[ 9.99822860e-01 -1.05906246e-02 -1.55591407e-02 5.21922475e+02] [ 1.05877285e-02 9.99943912e-01 -2.68493344e-04 6.25129155e+00] [ 1.55611115e-02 1.03709826e-04 9.99878913e-01 8.08167058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.4292541539999 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:521.95, Y:6.25, Z:8.08 [[ 9.99840465e-01 -8.77267294e-03 -1.55590607e-02 5.21949426e+02] [ 8.76948593e-03 9.99961510e-01 -2.73049218e-04 6.25061722e+00] [ 1.55608572e-02 1.36560693e-04 9.99878913e-01 8.08176775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.45925415399995 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:521.98, Y:6.25, Z:8.08 [[ 9.99839632e-01 -8.86951316e-03 -1.55577018e-02 5.21978945e+02] [ 8.86515371e-03 9.99960643e-01 -3.49155410e-04 6.24761235e+00] [ 1.55601863e-02 2.11177999e-04 9.99878911e-01 8.08148086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.4892541539999 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:522.01, Y:6.25, Z:8.08 [[ 9.99835919e-01 -9.27655813e-03 -1.55589626e-02 5.22005782e+02] [ 9.27334272e-03 9.99956963e-01 -2.78794543e-04 6.24620578e+00] [ 1.55608792e-02 1.34465206e-04 9.99878913e-01 8.08132682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.51925415399995 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:522.03, Y:6.24, Z:8.08 [[ 9.99828498e-01 -1.00446220e-02 -1.55589272e-02 5.22033497e+02] [ 1.00414690e-02 9.99949544e-01 -2.80755542e-04 6.24447287e+00] [ 1.55609622e-02 1.24472907e-04 9.99878913e-01 8.08100703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.5492541539999 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:522.06, Y:6.24, Z:8.08 [[ 9.99814631e-01 -1.13413193e-02 -1.55588458e-02 5.22061421e+02] [ 1.13382543e-02 9.99935679e-01 -2.85194581e-04 6.24276530e+00] [ 1.55610795e-02 1.08731564e-04 9.99878913e-01 8.08051804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.57925415399995 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:522.09, Y:6.24, Z:8.08 [[ 9.99785542e-01 -1.36673027e-02 -1.55587630e-02 5.22088285e+02] [ 1.36644500e-02 9.99906595e-01 -2.89641874e-04 6.23884911e+00] [ 1.55612684e-02 7.69778181e-05 9.99878913e-01 8.07975485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.6092541539999 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:522.12, Y:6.24, Z:8.08 [[ 9.99757567e-01 -1.55798842e-02 -1.55587269e-02 5.22116165e+02] [ 1.55772332e-02 9.99878625e-01 -2.91568593e-04 6.23788133e+00] [ 1.55613811e-02 4.91359897e-05 9.99878913e-01 8.08027662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.63925415399996 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:522.14, Y:6.24, Z:8.08 [[ 9.99730354e-01 -1.72379941e-02 -1.55586443e-02 5.22144084e+02] [ 1.72354763e-02 9.99851414e-01 -2.95912892e-04 6.23665718e+00] [ 1.55614334e-02 2.76724558e-05 9.99878913e-01 8.08112167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.66925415399993 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:522.17, Y:6.24, Z:8.08 [[ 9.99691287e-01 -1.93716159e-02 -1.55586186e-02 5.22172029e+02] [ 1.93693355e-02 9.99812353e-01 -2.97258152e-04 6.23535605e+00] [ 1.55614574e-02 -4.19371847e-06 9.99878913e-01 8.08247896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.69925415399996 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:522.20, Y:6.23, Z:8.08 [[ 9.99582598e-01 -2.43425957e-02 -1.55585357e-02 5.22199559e+02] [ 2.43408508e-02 9.99703672e-01 -3.01532991e-04 6.23139676e+00] [ 1.55612654e-02 -7.73008668e-05 9.99878913e-01 8.08438306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.72925415399993 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:522.23, Y:6.23, Z:8.09 [[ 9.99506381e-01 -2.72933680e-02 -1.55585100e-02 5.22227758e+02] [ 2.72919600e-02 9.99627459e-01 -3.02856060e-04 6.22969034e+00] [ 1.55609798e-02 -1.21915668e-04 9.99878913e-01 8.08522409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.7592541539999 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:522.26, Y:6.23, Z:8.09 [[ 9.99405376e-01 -3.07705862e-02 -1.55584844e-02 5.22256163e+02] [ 3.07695790e-02 9.99526458e-01 -3.04167203e-04 6.22784303e+00] [ 1.55604762e-02 -1.74741676e-04 9.99878913e-01 8.08634173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.78925415399993 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:522.29, Y:6.23, Z:8.09 [[ 9.99305323e-01 -3.38645505e-02 -1.55584123e-02 5.22285809e+02] [ 3.38638615e-02 9.99426408e-01 -3.07807066e-04 6.22594437e+00] [ 1.55599119e-02 -2.19274681e-04 9.99878913e-01 8.08773614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.8192541539999 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:522.31, Y:6.22, Z:8.09 [[ 9.99098483e-01 -3.94988243e-02 -1.55584021e-02 5.22314914e+02] [ 3.94988100e-02 9.99219570e-01 -3.08325455e-04 6.22173887e+00] [ 1.55584383e-02 -3.06490872e-04 9.99878913e-01 8.08878268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.84925415399994 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:522.35, Y:6.22, Z:8.09 [[ 9.98989169e-01 -4.21731751e-02 -1.55584031e-02 5.22345473e+02] [ 4.21734858e-02 9.99110255e-01 -3.08274188e-04 6.22012665e+00] [ 1.55575610e-02 -3.48189516e-04 9.99878913e-01 8.08923931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.8792541539999 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:522.38, Y:6.22, Z:8.09 [[ 9.98874886e-01 -4.47984109e-02 -1.55584081e-02 5.22376813e+02] [ 4.47990437e-02 9.98995971e-01 -3.08018692e-04 6.21863533e+00] [ 1.55565858e-02 -3.89329671e-04 9.99878913e-01 8.09012998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.90925415399994 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:522.41, Y:6.21, Z:8.09 [[ 9.98666403e-01 -4.92275445e-02 -1.55584195e-02 5.22407012e+02] [ 4.92287232e-02 9.98787484e-01 -3.07443135e-04 6.21459560e+00] [ 1.55546894e-02 -4.58887999e-04 9.99878913e-01 8.08953743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.9392541539999 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:522.44, Y:6.21, Z:8.09 [[ 9.98544974e-01 -5.16320607e-02 -1.55584252e-02 5.22437328e+02] [ 5.16335354e-02 9.98666052e-01 -3.07157420e-04 6.21289863e+00] [ 1.55535302e-02 -4.96625998e-04 9.99878913e-01 8.08901634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.96925415399994 meters Centerline goodness : 0.999372 Centerline is valid? [True, True] Translation: X:522.47, Y:6.21, Z:8.09 [[ 9.98459657e-01 -5.32564471e-02 -1.55584437e-02 5.22468705e+02] [ 5.32581335e-02 9.98580732e-01 -3.06213712e-04 6.21093236e+00] [ 1.55526700e-02 -5.22871636e-04 9.99878913e-01 8.08851807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.9992541539999 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:522.50, Y:6.21, Z:8.09 [[ 9.98336137e-01 -5.55237896e-02 -1.55584550e-02 5.22499749e+02] [ 5.55257599e-02 9.98457208e-01 -3.05642745e-04 6.21021946e+00] [ 1.55514219e-02 -5.58760836e-04 9.99878913e-01 8.09018881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.02925415399994 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:522.53, Y:6.21, Z:8.09 [[ 9.98220462e-01 -5.75659885e-02 -1.55584661e-02 5.22530513e+02] [ 5.75682153e-02 9.98341529e-01 -3.05074903e-04 6.20861186e+00] [ 1.55502248e-02 -5.91141114e-04 9.99878913e-01 8.09049755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.0592541539999 meters Centerline goodness : 0.999498 Centerline is valid? [True, True] Translation: X:522.56, Y:6.21, Z:8.09 [[ 9.98227665e-01 -5.74409388e-02 -1.55585026e-02 5.22561534e+02] [ 5.74431795e-02 9.98348731e-01 -3.03202167e-04 6.20832386e+00] [ 1.55502275e-02 -5.91065066e-04 9.99878913e-01 8.09121537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.08925415399995 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:522.59, Y:6.21, Z:8.09 [[ 9.98367136e-01 -5.49635694e-02 -1.55585136e-02 5.22592951e+02] [ 5.49655186e-02 9.98488207e-01 -3.02634079e-04 6.20765800e+00] [ 1.55516262e-02 -5.53041851e-04 9.99878913e-01 8.09186889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.1192541539999 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:522.62, Y:6.21, Z:8.09 [[ 9.98468732e-01 -5.30860068e-02 -1.55585301e-02 5.22624492e+02] [ 5.30877415e-02 9.98589806e-01 -3.01785257e-04 6.20812655e+00] [ 1.55526101e-02 -5.24644081e-04 9.99878913e-01 8.09233577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.14925415399995 meters Centerline goodness : 0.999686 Centerline is valid? [True, True] Translation: X:522.66, Y:6.21, Z:8.09 [[ 9.98603198e-01 -5.04934142e-02 -1.55585407e-02 5.22655458e+02] [ 5.04948430e-02 9.98724276e-01 -3.01237556e-04 6.20856289e+00] [ 1.55539028e-02 -4.84809284e-04 9.99878913e-01 8.09341599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.1792541539999 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:522.69, Y:6.21, Z:8.09 [[ 9.98735825e-01 -4.77983717e-02 -1.55585518e-02 5.22685373e+02] [ 4.77994828e-02 9.98856906e-01 -3.00660928e-04 6.20933488e+00] [ 1.55551381e-02 -4.43409891e-04 9.99878913e-01 8.09347688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.20925415399995 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:522.72, Y:6.21, Z:8.09 [[ 9.98885975e-01 -4.45504326e-02 -1.55585574e-02 5.22715675e+02] [ 4.45511544e-02 9.99007059e-01 -3.00374933e-04 6.21032838e+00] [ 1.55564905e-02 -3.93111384e-04 9.99878913e-01 8.09459066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.2392541539999 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:522.75, Y:6.21, Z:8.09 [[ 9.99104834e-01 -3.93380567e-02 -1.55578748e-02 5.22745598e+02] [ 3.93375982e-02 9.99225921e-01 -3.35613155e-04 6.21158824e+00] [ 1.55590341e-02 -2.76696700e-04 9.99878913e-01 8.09391287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.26925415399995 meters Centerline goodness : 0.999687 Centerline is valid? [True, True] Translation: X:522.78, Y:6.21, Z:8.09 [[ 9.99197993e-01 -3.68958375e-02 -1.55585517e-02 5.22776224e+02] [ 3.68956285e-02 9.99319079e-01 -3.00571789e-04 6.21262181e+00] [ 1.55590474e-02 -2.73711816e-04 9.99878913e-01 8.09469588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.2992541539999 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:522.81, Y:6.21, Z:8.10 [[ 9.99266510e-01 -3.49910598e-02 -1.55585517e-02 5.22806864e+02] [ 3.49906199e-02 9.99387596e-01 -3.00571789e-04 6.21333834e+00] [ 1.55595409e-02 -2.44052047e-04 9.99878913e-01 8.09543395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.32925415399995 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:522.84, Y:6.21, Z:8.10 [[ 9.99313811e-01 -3.36130784e-02 -1.55585517e-02 5.22836415e+02] [ 3.36124715e-02 9.99434896e-01 -3.00571789e-04 6.21383782e+00] [ 1.55598627e-02 -2.22595837e-04 9.99878913e-01 8.09609034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.3592541539999 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:522.86, Y:6.21, Z:8.10 [[ 9.99342237e-01 -3.27570569e-02 -1.55585464e-02 5.22864874e+02] [ 3.27563421e-02 9.99463322e-01 -3.00849234e-04 6.21406649e+00] [ 1.55600514e-02 -2.08989720e-04 9.99878913e-01 8.09657986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.38925415399996 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:522.89, Y:6.21, Z:8.10 [[ 9.99372379e-01 -3.18242040e-02 -1.55585304e-02 5.22894429e+02] [ 3.18233632e-02 9.99493463e-01 -3.01672594e-04 6.21319321e+00] [ 1.55602499e-02 -1.93641507e-04 9.99878913e-01 8.09652718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.41925415399993 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:522.92, Y:6.21, Z:8.10 [[ 9.99364490e-01 -3.20710076e-02 -1.55585197e-02 5.22923688e+02] [ 3.20701883e-02 9.99485574e-01 -3.02220769e-04 6.21381195e+00] [ 1.55602086e-02 -1.96935953e-04 9.99878913e-01 8.09698276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.44925415399996 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:522.95, Y:6.21, Z:8.10 [[ 9.99348924e-01 -3.25524659e-02 -1.55584442e-02 5.22951999e+02] [ 3.25516451e-02 9.99470008e-01 -3.06063409e-04 6.21390561e+00] [ 1.55601614e-02 -2.00588814e-04 9.99878913e-01 8.09920401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.47925415399993 meters Centerline goodness : 0.999562 Centerline is valid? [True, True] Translation: X:522.98, Y:6.21, Z:8.10 [[ 9.99341477e-01 -3.27803008e-02 -1.55584231e-02 5.22980352e+02] [ 3.27794909e-02 9.99462561e-01 -3.07132466e-04 6.21336259e+00] [ 1.55601292e-02 -2.03066975e-04 9.99878913e-01 8.09847577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.5092541539999 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:523.01, Y:6.21, Z:8.10 [[ 9.99305949e-01 -3.38460529e-02 -1.55584071e-02 5.23009674e+02] [ 3.38453597e-02 9.99427034e-01 -3.07936321e-04 6.21254211e+00] [ 1.55599151e-02 -2.18857288e-04 9.99878913e-01 8.09969997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.53925415399993 meters Centerline goodness : 0.999667 Centerline is valid? [True, True] Translation: X:523.04, Y:6.21, Z:8.10 [[ 9.99302291e-01 -3.39539047e-02 -1.55583966e-02 5.23039090e+02] [ 3.39532163e-02 9.99423376e-01 -3.08468944e-04 6.21261868e+00] [ 1.55598990e-02 -2.20003881e-04 9.99878913e-01 8.09998391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.5692541539999 meters Centerline goodness : 0.999625 Centerline is valid? [True, True] Translation: X:523.07, Y:6.21, Z:8.10 [[ 9.99304875e-01 -3.38777870e-02 -1.55583861e-02 5.23067719e+02] [ 3.38770811e-02 9.99425959e-01 -3.08998320e-04 6.21242100e+00] [ 1.55599231e-02 -2.18289179e-04 9.99878913e-01 8.10003128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.59925415399994 meters Centerline goodness : 0.999604 Centerline is valid? [True, True] Translation: X:523.10, Y:6.21, Z:8.10 [[ 9.99308648e-01 -3.37663148e-02 -1.55583667e-02 5.23097347e+02] [ 3.37655802e-02 9.99429732e-01 -3.09969356e-04 6.21236406e+00] [ 1.55599608e-02 -2.15582222e-04 9.99878913e-01 8.09996839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.6292541539999 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:523.13, Y:6.21, Z:8.10 [[ 9.99340612e-01 -3.28066887e-02 -1.55583563e-02 5.23126682e+02] [ 3.28058298e-02 9.99461696e-01 -3.10490651e-04 6.21091591e+00] [ 1.55601674e-02 -2.00118871e-04 9.99878913e-01 8.10100330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.65925415399994 meters Centerline goodness : 0.999521 Centerline is valid? [True, True] Translation: X:523.16, Y:6.21, Z:8.10 [[ 9.99370679e-01 -3.18776426e-02 -1.55583452e-02 5.23155302e+02] [ 3.18766625e-02 9.99491762e-01 -3.11046298e-04 6.21024798e+00] [ 1.55603533e-02 -1.85097569e-04 9.99878913e-01 8.09999063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.6892541539999 meters Centerline goodness : 0.999625 Centerline is valid? [True, True] Translation: X:523.18, Y:6.21, Z:8.10 [[ 9.99386351e-01 -3.13824849e-02 -1.55583287e-02 5.23183931e+02] [ 3.13814319e-02 9.99507433e-01 -3.11871528e-04 6.20997659e+00] [ 1.55604525e-02 -1.76562484e-04 9.99878913e-01 8.10247525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.71925415399994 meters Centerline goodness : 0.999604 Centerline is valid? [True, True] Translation: X:523.21, Y:6.21, Z:8.10 [[ 9.99454178e-01 -2.91425254e-02 -1.55582500e-02 5.23212717e+02] [ 2.91411407e-02 9.99575257e-01 -3.15748935e-04 6.20881563e+00] [ 1.55608434e-02 -1.37808560e-04 9.99878913e-01 8.10362658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.7492541539999 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:523.24, Y:6.21, Z:8.10 [[ 9.99483642e-01 -2.81139009e-02 -1.55582332e-02 5.23241292e+02] [ 2.81123788e-02 9.99604719e-01 -3.16571594e-04 6.20885457e+00] [ 1.55609834e-02 -1.20970816e-04 9.99878913e-01 8.10490301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.77925415399994 meters Centerline goodness : 0.999562 Centerline is valid? [True, True] Translation: X:523.27, Y:6.21, Z:8.11 [[ 9.99523649e-01 -2.66536999e-02 -1.55581535e-02 5.23268918e+02] [ 2.66519407e-02 9.99644723e-01 -3.20441100e-04 6.20893644e+00] [ 1.55611670e-02 -9.43665276e-05 9.99878913e-01 8.10538444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.8092541539999 meters Centerline goodness : 0.999479 Centerline is valid? [True, True] Translation: X:523.30, Y:6.21, Z:8.11 [[ 9.99559749e-01 -2.52636891e-02 -1.55581114e-02 5.23297308e+02] [ 2.52617298e-02 9.99680820e-01 -3.22475901e-04 6.20891602e+00] [ 1.55612925e-02 -7.06908746e-05 9.99878913e-01 8.10697968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.83925415399995 meters Centerline goodness : 0.999521 Centerline is valid? [True, True] Translation: X:523.33, Y:6.21, Z:8.11 [[ 9.99650464e-01 -2.13751946e-02 -1.55580152e-02 5.23325006e+02] [ 2.13726931e-02 9.99771524e-01 -3.27050655e-04 6.20712925e+00] [ 1.55614513e-02 -5.58034575e-06 9.99878913e-01 8.10528547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.8692541539999 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:523.35, Y:6.21, Z:8.11 [[ 9.99679117e-01 -1.99902909e-02 -1.55579854e-02 5.23352635e+02] [ 1.99875997e-02 9.99800174e-01 -3.28464238e-04 6.20704088e+00] [ 1.55614426e-02 1.73920560e-05 9.99878913e-01 8.10702931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.89925415399995 meters Centerline goodness : 0.999604 Centerline is valid? [True, True] Translation: X:523.38, Y:6.21, Z:8.11 [[ 9.99713661e-01 -1.81810056e-02 -1.55578891e-02 5.23380209e+02] [ 1.81780254e-02 9.99834711e-01 -3.32960369e-04 6.20660501e+00] [ 1.55613711e-02 5.00533257e-05 9.99878913e-01 8.10747171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.9292541539999 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:523.41, Y:6.20, Z:8.11 [[ 9.99768000e-01 -1.48963239e-02 -1.55577917e-02 5.23408074e+02] [ 1.48928761e-02 9.99889038e-01 -3.37453063e-04 6.20451694e+00] [ 1.55610922e-02 1.05674509e-04 9.99878913e-01 8.10850087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.95925415399995 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:523.44, Y:6.20, Z:8.11 [[ 9.99781673e-01 -1.39486650e-02 -1.55576925e-02 5.23435513e+02] [ 1.39450323e-02 9.99902705e-01 -3.41963243e-04 6.20398769e+00] [ 1.55609488e-02 1.24936059e-04 9.99878913e-01 8.10881587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.9892541539999 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:523.46, Y:6.20, Z:8.11 [[ 9.99786215e-01 -1.36192770e-02 -1.55576494e-02 5.23463804e+02] [ 1.36155740e-02 9.99907245e-01 -3.43914374e-04 6.20335090e+00] [ 1.55608902e-02 1.32014523e-04 9.99878913e-01 8.10996235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.01925415399995 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:523.49, Y:6.20, Z:8.11 [[ 9.99774440e-01 -1.44579540e-02 -1.55575481e-02 5.23490354e+02] [ 1.44542822e-02 9.99895471e-01 -3.48439334e-04 6.20116230e+00] [ 1.55609596e-02 1.23487550e-04 9.99878913e-01 8.10982794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.0492541539999 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:523.52, Y:6.20, Z:8.11 [[ 9.99751501e-01 -1.59656338e-02 -1.55574780e-02 5.23518298e+02] [ 1.59620962e-02 9.99872536e-01 -3.51538215e-04 6.19983499e+00] [ 1.55611076e-02 1.03120896e-04 9.99878913e-01 8.11007501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.07925415399995 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:523.55, Y:6.20, Z:8.11 [[ 9.99717416e-01 -1.79737733e-02 -1.55573787e-02 5.23546574e+02] [ 1.79704113e-02 9.99838456e-01 -3.55880038e-04 6.19851918e+00] [ 1.55612620e-02 7.62069776e-05 9.99878913e-01 8.11093636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.1092541539999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:523.57, Y:6.19, Z:8.11 [[ 9.99635049e-01 -2.20848485e-02 -1.55572770e-02 5.23574616e+02] [ 2.20819160e-02 9.99756100e-01 -3.60270782e-04 6.19446965e+00] [ 1.55614392e-02 1.66048156e-05 9.99878913e-01 8.10968128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.13925415399996 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:523.60, Y:6.19, Z:8.11 [[ 9.99576953e-01 -2.45741281e-02 -1.55572454e-02 5.23601262e+02] [ 2.45714759e-02 9.99698010e-01 -3.61630157e-04 6.19325517e+00] [ 1.55614341e-02 -2.07873122e-05 9.99878913e-01 8.11087761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.16925415399993 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:523.63, Y:6.19, Z:8.11 [[ 9.99510270e-01 -2.71513011e-02 -1.55572022e-02 5.23629100e+02] [ 2.71489323e-02 9.99631334e-01 -3.63479223e-04 6.19197862e+00] [ 1.55613358e-02 -5.90602147e-05 9.99878913e-01 8.11229197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.19925415399996 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:523.66, Y:6.19, Z:8.11 [[ 9.99438636e-01 -2.96713757e-02 -1.55570986e-02 5.23656938e+02] [ 2.96692439e-02 9.99559703e-01 -3.67864007e-04 6.19078304e+00] [ 1.55611639e-02 -9.39098499e-05 9.99878913e-01 8.11332395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.22925415399993 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:523.68, Y:6.19, Z:8.11 [[ 9.99279044e-01 -3.46319564e-02 -1.55569910e-02 5.23683770e+02] [ 3.46303555e-02 9.99400120e-01 -3.72359878e-04 6.18753065e+00] [ 1.55605542e-02 -1.66652704e-04 9.99878913e-01 8.11308669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.2592541539999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:523.71, Y:6.19, Z:8.11 [[ 9.99175569e-01 -3.74988724e-02 -1.55569164e-02 5.23712166e+02] [ 3.74975708e-02 9.99296648e-01 -3.75450704e-04 6.18593574e+00] [ 1.55600534e-02 -2.08205402e-04 9.99878913e-01 8.11388447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.28925415399993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:523.74, Y:6.18, Z:8.12 [[ 9.99054382e-01 -4.05996139e-02 -1.55568047e-02 5.23740702e+02] [ 4.05986170e-02 9.99175464e-01 -3.80019862e-04 6.18490745e+00] [ 1.55594063e-02 -2.51924248e-04 9.99878913e-01 8.11681032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.3192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:523.77, Y:6.18, Z:8.12 [[ 9.98928861e-01 -4.35788937e-02 -1.55567054e-02 5.23769134e+02] [ 4.35781952e-02 9.99049945e-01 -3.84044658e-04 6.18394707e+00] [ 1.55586619e-02 -2.94299850e-04 9.99878913e-01 8.11718877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.34925415399994 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:523.80, Y:6.18, Z:8.12 [[ 9.98620631e-01 -5.01480293e-02 -1.55566784e-02 5.23798193e+02] [ 5.01481103e-02 9.98741718e-01 -3.85133420e-04 6.18122505e+00] [ 1.55564174e-02 -3.95535847e-04 9.99878913e-01 8.11521822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.3792541539999 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:523.83, Y:6.18, Z:8.12 [[ 9.98427525e-01 -5.38560218e-02 -1.55565803e-02 5.23828152e+02] [ 5.38564914e-02 9.98548610e-01 -3.89055765e-04 6.18073289e+00] [ 1.55549547e-02 -4.49378851e-04 9.99878913e-01 8.11616350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.40925415399994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:523.86, Y:6.18, Z:8.12 [[ 9.98192103e-01 -5.80561763e-02 -1.55565662e-02 5.23858141e+02] [ 5.80571465e-02 9.98313185e-01 -3.89620352e-04 6.18076179e+00] [ 1.55529450e-02 -5.14253885e-04 9.99878913e-01 8.11896676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.4392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:523.89, Y:6.18, Z:8.12 [[ 9.97616560e-01 -6.72249398e-02 -1.55565521e-02 5.23888923e+02] [ 6.72270137e-02 9.97737629e-01 -3.90182065e-04 6.17884912e+00] [ 1.55475874e-02 -6.56568452e-04 9.99878913e-01 8.11917879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.46925415399994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:523.92, Y:6.18, Z:8.12 [[ 9.97275180e-01 -7.21124734e-02 -1.55565521e-02 5.23919051e+02] [ 7.21151405e-02 9.97396237e-01 -3.90182065e-04 6.17854032e+00] [ 1.55441835e-02 -7.32744052e-04 9.99878913e-01 8.11947071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.4992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:523.95, Y:6.18, Z:8.12 [[ 9.96926311e-01 -7.67849218e-02 -1.55565521e-02 5.23948949e+02] [ 7.67881561e-02 9.97047354e-01 -3.90182065e-04 6.17842509e+00] [ 1.55405792e-02 -8.05576186e-04 9.99878913e-01 8.11979194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.52925415399994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:523.98, Y:6.18, Z:8.12 [[ 9.96230369e-01 -8.53407584e-02 -1.55565449e-02 5.23979414e+02] [ 8.53450273e-02 9.96351381e-01 -3.90468323e-04 6.17935613e+00] [ 1.55331079e-02 -9.38677350e-04 9.99878913e-01 8.12076132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.5592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:524.01, Y:6.18, Z:8.12 [[ 9.95914369e-01 -8.89525971e-02 -1.55565449e-02 5.24010403e+02] [ 8.89573048e-02 9.96035364e-01 -3.90468323e-04 6.18085277e+00] [ 1.55296021e-02 -9.94995296e-04 9.99878913e-01 8.12180332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.58925415399995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:524.04, Y:6.18, Z:8.12 [[ 9.95645886e-01 -9.19089973e-02 -1.55565595e-02 5.24041488e+02] [ 9.19140733e-02 9.95766866e-01 -3.89887914e-04 6.18267965e+00] [ 1.55265407e-02 -1.04167645e-03 9.99878913e-01 8.12234437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.6192541539999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:524.07, Y:6.19, Z:8.12 [[ 9.95342666e-01 -9.51365923e-02 -1.55565740e-02 5.24072573e+02] [ 9.51420695e-02 9.95463628e-01 -3.89306933e-04 6.18594296e+00] [ 1.55230409e-02 -1.09259085e-03 9.99878913e-01 8.12134613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.64925415399995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:524.10, Y:6.19, Z:8.12 [[ 9.95286760e-01 -9.57196794e-02 -1.55565957e-02 5.24104944e+02] [ 9.57252410e-02 9.95407719e-01 -3.88437310e-04 6.18904156e+00] [ 1.55223366e-02 -1.10255236e-03 9.99878913e-01 8.12352491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.6792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:524.14, Y:6.19, Z:8.12 [[ 9.95335655e-01 -9.52099064e-02 -1.55566245e-02 5.24136681e+02] [ 9.52154240e-02 9.95456615e-01 -3.87283458e-04 6.19191484e+00] [ 1.55228179e-02 -1.09575356e-03 9.99878913e-01 8.12384849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.70925415399995 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:524.17, Y:6.20, Z:8.13 [[ 9.95437344e-01 -9.41407723e-02 -1.55566387e-02 5.24169108e+02] [ 9.41461689e-02 9.95558310e-01 -3.86710645e-04 6.19507564e+00] [ 1.55239462e-02 -1.07965172e-03 9.99878913e-01 8.12508505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.7392541539999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:524.20, Y:6.20, Z:8.12 [[ 9.95743273e-01 -9.08478109e-02 -1.55566678e-02 5.24200230e+02] [ 9.08528256e-02 9.95864256e-01 -3.85536704e-04 6.20135185e+00] [ 1.55273545e-02 -1.02947165e-03 9.99878913e-01 8.12480571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.76925415399995 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:524.23, Y:6.21, Z:8.13 [[ 9.95943113e-01 -8.86301639e-02 -1.55566894e-02 5.24232693e+02] [ 8.86349227e-02 9.96064106e-01 -3.84663830e-04 6.20551287e+00] [ 1.55295527e-02 -9.95762668e-04 9.99878913e-01 8.12626118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.7992541539999 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:524.26, Y:6.21, Z:8.13 [[ 9.96142549e-01 -8.63597702e-02 -1.55567181e-02 5.24263531e+02] [ 8.63642713e-02 9.96263552e-01 -3.83499948e-04 6.20911141e+00] [ 1.55317102e-02 -9.61524003e-04 9.99878913e-01 8.12658897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.82925415399995 meters Centerline goodness : 0.999645 Centerline is valid? [True, True] Translation: X:524.30, Y:6.21, Z:8.13 [[ 9.96332401e-01 -8.41411557e-02 -1.55567394e-02 5.24296079e+02] [ 8.41454009e-02 9.96453413e-01 -3.82633263e-04 6.21317565e+00] [ 1.55337613e-02 -9.27798153e-04 9.99878913e-01 8.12696256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.8592541539999 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:524.33, Y:6.22, Z:8.13 [[ 9.96685110e-01 -7.98547280e-02 -1.55567674e-02 5.24326634e+02] [ 7.98584704e-02 9.96806139e-01 -3.81489124e-04 6.21988100e+00] [ 1.55375450e-02 -8.62115121e-04 9.99878913e-01 8.12664937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.88925415399996 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:524.36, Y:6.22, Z:8.13 [[ 9.96825255e-01 -7.80858278e-02 -1.55567883e-02 5.24358871e+02] [ 7.80893687e-02 9.96946290e-01 -3.80637670e-04 6.22380835e+00] [ 1.55390048e-02 -8.35390532e-04 9.99878913e-01 8.12731019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.91925415399993 meters Centerline goodness : 0.999583 Centerline is valid? [True, True] Translation: X:524.39, Y:6.23, Z:8.13 [[ 9.96944877e-01 -7.65434343e-02 -1.55568163e-02 5.24390246e+02] [ 7.65468057e-02 9.97065917e-01 -3.79486934e-04 6.22788898e+00] [ 1.55402186e-02 -8.12497043e-04 9.99878913e-01 8.12749503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.94925415399996 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:524.42, Y:6.23, Z:8.13 [[ 9.97046627e-01 -7.52064370e-02 -1.55568372e-02 5.24422588e+02] [ 7.52096595e-02 9.97167671e-01 -3.78629968e-04 6.23166598e+00] [ 1.55412505e-02 -7.92512696e-04 9.99878913e-01 8.12805021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.97925415399993 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:524.45, Y:6.24, Z:8.13 [[ 9.97196814e-01 -7.31880979e-02 -1.55568644e-02 5.24454375e+02] [ 7.31910928e-02 9.97317864e-01 -3.77510847e-04 6.23790158e+00] [ 1.55427680e-02 -7.62171289e-04 9.99878913e-01 8.12705868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.0092541539999 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:524.49, Y:6.24, Z:8.13 [[ 9.97198485e-01 -7.31653293e-02 -1.55568921e-02 5.24486541e+02] [ 7.31683393e-02 9.97319534e-01 -3.76365457e-04 6.24211553e+00] [ 1.55427292e-02 -7.62960893e-04 9.99878913e-01 8.12908125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.03925415399993 meters Centerline goodness : 0.999500 Centerline is valid? [True, True] Translation: X:524.52, Y:6.25, Z:8.13 [[ 9.97200919e-01 -7.31321301e-02 -1.55569198e-02 5.24517404e+02] [ 7.31351540e-02 9.97321968e-01 -3.75214843e-04 6.24533402e+00] [ 1.55426981e-02 -7.63593139e-04 9.99878913e-01 8.12935577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.0692541539999 meters Centerline goodness : 0.999438 Centerline is valid? [True, True] Translation: X:524.55, Y:6.25, Z:8.13 [[ 9.97156741e-01 -7.37320479e-02 -1.55569405e-02 5.24548401e+02] [ 7.37351580e-02 9.97277788e-01 -3.74357037e-04 6.25158774e+00] [ 1.55421933e-02 -7.73800819e-04 9.99878913e-01 8.12972411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.09925415399994 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:524.58, Y:6.25, Z:8.13 [[ 9.97151707e-01 -7.38001007e-02 -1.55569606e-02 5.24580563e+02] [ 7.38032321e-02 9.97272753e-01 -3.73516568e-04 6.25452360e+00] [ 1.55420985e-02 -7.75701293e-04 9.99878913e-01 8.12871696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.1292541539999 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:524.61, Y:6.26, Z:8.13 [[ 9.97084181e-01 -7.47068617e-02 -1.55569875e-02 5.24611561e+02] [ 7.47101206e-02 9.97205224e-01 -3.72393405e-04 6.25835830e+00] [ 1.55413296e-02 -7.90956841e-04 9.99878913e-01 8.13141127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.15925415399994 meters Centerline goodness : 0.999396 Centerline is valid? [True, True] Translation: X:524.64, Y:6.26, Z:8.13 [[ 9.97044397e-01 -7.52359632e-02 -1.55570075e-02 5.24644101e+02] [ 7.52392994e-02 9.97165438e-01 -3.71556388e-04 6.26157939e+00] [ 1.55408646e-02 -8.00040130e-04 9.99878913e-01 8.13235578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.1892541539999 meters Centerline goodness : 0.999375 Centerline is valid? [True, True] Translation: X:524.68, Y:6.27, Z:8.13 [[ 9.96929752e-01 -7.67401358e-02 -1.55570347e-02 5.24676156e+02] [ 7.67436724e-02 9.97050787e-01 -3.70412723e-04 6.26725969e+00] [ 1.55395793e-02 -8.24628513e-04 9.99878913e-01 8.13305462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.21925415399994 meters Centerline goodness : 0.999562 Centerline is valid? [True, True] Translation: X:524.71, Y:6.27, Z:8.13 [[ 9.96892642e-01 -7.72207139e-02 -1.55570621e-02 5.24706725e+02] [ 7.72243268e-02 9.97013674e-01 -3.69260842e-04 6.27060092e+00] [ 1.55391182e-02 -8.33270230e-04 9.99878913e-01 8.13397231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.2492541539999 meters Centerline goodness : 0.999479 Centerline is valid? [True, True] Translation: X:524.74, Y:6.28, Z:8.13 [[ 9.96576913e-01 -8.11940595e-02 -1.55557456e-02 5.24739118e+02] [ 8.11972950e-02 9.96697958e-01 -4.24516706e-04 6.27582284e+00] [ 1.55388481e-02 -8.40020914e-04 9.99878912e-01 8.13430735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.27925415399994 meters Centerline goodness : 0.999418 Centerline is valid? [True, True] Translation: X:524.78, Y:6.28, Z:8.13 [[ 9.96538999e-01 -8.16578240e-02 -1.55570786e-02 5.24775138e+02] [ 8.16619922e-02 9.96660014e-01 -3.68195231e-04 6.27654470e+00] [ 1.55351842e-02 -9.03501122e-04 9.99878914e-01 8.13257389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.3092541539999 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:524.80, Y:6.28, Z:8.14 [[ 9.96229565e-01 -8.53491505e-02 -1.55620447e-02 5.24801640e+02] [ 8.53570582e-02 9.96350414e-01 -1.56568494e-04 6.28142524e+00] [ 1.55186126e-02 -1.17235219e-03 9.99878892e-01 8.13579327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.33925415399995 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:524.84, Y:6.28, Z:8.14 [[ 9.96238515e-01 -8.52455323e-02 -1.55570050e-02 5.24835155e+02] [ 8.52501230e-02 9.96359514e-01 -3.69036150e-04 6.28222448e+00] [ 1.55318286e-02 -9.58588561e-04 9.99878914e-01 8.13636194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.3692541539999 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:524.87, Y:6.28, Z:8.14 [[ 9.96080846e-01 -8.70685112e-02 -1.55570444e-02 5.24867246e+02] [ 8.70733494e-02 9.96201835e-01 -3.67366320e-04 6.28485648e+00] [ 1.55299422e-02 -9.88677406e-04 9.99878914e-01 8.13658710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.39925415399995 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:524.91, Y:6.29, Z:8.14 [[ 9.96008030e-01 -8.78975539e-02 -1.55571061e-02 5.24905189e+02] [ 8.79025337e-02 9.96129014e-01 -3.64734915e-04 6.28546554e+00] [ 1.55289440e-02 -1.00423014e-03 9.99878914e-01 8.13741429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.4292541539999 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:524.93, Y:6.29, Z:8.14 [[ 9.95624218e-01 -9.21422957e-02 -1.55632348e-02 5.24929632e+02] [ 9.21519186e-02 9.95744954e-01 -9.92152190e-05 6.29331350e+00] [ 1.55061545e-02 -1.33540087e-03 9.99878881e-01 8.13802195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.45925415399995 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:524.96, Y:6.30, Z:8.14 [[ 9.95561176e-01 -9.28220092e-02 -1.55569589e-02 5.24961651e+02] [ 9.28275674e-02 9.95682132e-01 -3.65998311e-04 6.29643033e+00] [ 1.55237588e-02 -1.07974095e-03 9.99878916e-01 8.13818578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.4892541539999 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:524.99, Y:6.30, Z:8.14 [[ 9.95535209e-01 -9.31000932e-02 -1.55569844e-02 5.24993231e+02] [ 9.31057021e-02 9.95656163e-01 -3.64915017e-04 6.29939439e+00] [ 1.55233810e-02 -1.08515820e-03 9.99878916e-01 8.13818847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.51925415399995 meters Centerline goodness : 0.999229 Centerline is valid? [True, True] Translation: X:525.03, Y:6.30, Z:8.14 [[ 9.95789055e-01 -9.03445544e-02 -1.55570033e-02 5.25030330e+02] [ 9.03498411e-02 9.95910023e-01 -3.64107771e-04 6.30022627e+00] [ 1.55262706e-02 -1.04299824e-03 9.99878916e-01 8.13820427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.5492541539999 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:525.06, Y:6.31, Z:8.14 [[ 9.95563575e-01 -9.27954469e-02 -1.55618889e-02 5.25056793e+02] [ 9.28042698e-02 9.95684359e-01 -1.55792674e-04 6.30753675e+00] [ 1.55091862e-02 -1.28910822e-03 9.99878894e-01 8.13864859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.57925415399995 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:525.09, Y:6.31, Z:8.14 [[ 9.95688430e-01 -9.14468999e-02 -1.55568084e-02 5.25089019e+02] [ 9.14522345e-02 9.95809396e-01 -3.69631428e-04 6.31338790e+00] [ 1.55254176e-02 -1.05466715e-03 9.99878917e-01 8.14042562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.6092541539999 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:525.13, Y:6.31, Z:8.14 [[ 9.96101195e-01 -8.68354437e-02 -1.55568354e-02 5.25128124e+02] [ 8.68402359e-02 9.96222183e-01 -3.68489381e-04 6.31181110e+00] [ 1.55300625e-02 -9.83906547e-04 9.99878917e-01 8.14145013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.63925415399996 meters Centerline goodness : 0.999105 Centerline is valid? [True, True] Translation: X:525.15, Y:6.32, Z:8.14 [[ 9.95850216e-01 -8.96667120e-02 -1.55636613e-02 5.25152080e+02] [ 8.96763907e-02 9.95970953e-01 -7.63055993e-05 6.31957934e+00] [ 1.55077967e-02 -1.31970403e-03 9.99878876e-01 8.14101007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.66925415399993 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:525.19, Y:6.32, Z:8.14 [[ 9.95974021e-01 -8.82821587e-02 -1.55566679e-02 5.25185221e+02] [ 8.82870997e-02 9.96095001e-01 -3.70208816e-04 6.32250299e+00] [ 1.55286019e-02 -1.00473472e-03 9.99878919e-01 8.14222758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.69925415399996 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:525.22, Y:6.33, Z:8.14 [[ 9.96262114e-01 -8.49693388e-02 -1.55567089e-02 5.25217528e+02] [ 8.49739044e-02 9.96383109e-01 -3.68477718e-04 6.32718365e+00] [ 1.55317513e-02 -9.54813901e-04 9.99878919e-01 8.14274224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.72925415399993 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:525.25, Y:6.33, Z:8.14 [[ 9.96427192e-01 -8.30110688e-02 -1.55567759e-02 5.25250689e+02] [ 8.30154410e-02 9.96548194e-01 -3.65624316e-04 6.32997944e+00] [ 1.55334278e-02 -9.27134605e-04 9.99878919e-01 8.14396218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.7592541539999 meters Centerline goodness : 0.998974 Centerline is valid? [True, True] Translation: X:525.28, Y:6.33, Z:8.14 [[ 9.96599728e-01 -8.09133375e-02 -1.55568164e-02 5.25282371e+02] [ 8.09174819e-02 9.96720738e-01 -3.63894701e-04 6.33272905e+00] [ 1.55352454e-02 -8.96161048e-04 9.99878919e-01 8.14379734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.78925415399993 meters Centerline goodness : 0.998913 Centerline is valid? [True, True] Translation: X:525.31, Y:6.34, Z:8.14 [[ 9.96782146e-01 -7.86342048e-02 -1.55568497e-02 5.25314367e+02] [ 7.86380947e-02 9.96903164e-01 -3.62463222e-04 6.33521872e+00] [ 1.55371747e-02 -8.62064155e-04 9.99878919e-01 8.14463598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.8192541539999 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:525.35, Y:6.34, Z:8.15 [[ 9.97143799e-01 -7.39068790e-02 -1.55568765e-02 5.25347451e+02] [ 7.39102129e-02 9.97264834e-01 -3.61313110e-04 6.34039637e+00] [ 1.55410293e-02 -7.89530925e-04 9.99878919e-01 8.14546625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.84925415399994 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:525.38, Y:6.34, Z:8.14 [[ 9.97345808e-01 -7.11289070e-02 -1.55569165e-02 5.25379738e+02] [ 7.11319307e-02 9.97466851e-01 -3.59579325e-04 6.34301023e+00] [ 1.55430850e-02 -7.47968577e-04 9.99878919e-01 8.14498955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.8792541539999 meters Centerline goodness : 0.998953 Centerline is valid? [True, True] Translation: X:525.41, Y:6.35, Z:8.14 [[ 9.97544424e-01 -6.82869158e-02 -1.55569496e-02 5.25412481e+02] [ 6.82896170e-02 9.97665475e-01 -3.58144416e-04 6.34579909e+00] [ 1.55450881e-02 -7.05113162e-04 9.99878919e-01 8.14131159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.90925415399994 meters Centerline goodness : 0.998997 Centerline is valid? [True, True] Translation: X:525.44, Y:6.35, Z:8.14 [[ 9.97896308e-01 -6.29355873e-02 -1.55586321e-02 5.25441392e+02] [ 6.29387728e-02 9.98017349e-01 -2.85307412e-04 6.35148855e+00] [ 1.55457407e-02 -6.94533996e-04 9.99878916e-01 8.14350940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.9392541539999 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:525.47, Y:6.35, Z:8.14 [[ 9.98136251e-01 -5.90086921e-02 -1.55563319e-02 5.25472743e+02] [ 5.90098551e-02 9.98257326e-01 -3.84644749e-04 6.35380862e+00] [ 1.55519196e-02 -5.34049022e-04 9.99878919e-01 8.14283361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.96925415399994 meters Centerline goodness : 0.998951 Centerline is valid? [True, True] Translation: X:525.50, Y:6.36, Z:8.15 [[ 9.98420094e-01 -5.39935443e-02 -1.55567720e-02 5.25502750e+02] [ 5.39943968e-02 9.98541172e-01 -3.65515664e-04 6.35521626e+00] [ 1.55538128e-02 -4.75040338e-04 9.99878919e-01 8.14885432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.9992541539999 meters Centerline goodness : 0.998951 Centerline is valid? [True, True] Translation: X:525.53, Y:6.36, Z:8.15 [[ 9.98610064e-01 -5.03579157e-02 -1.55569950e-02 5.25533832e+02] [ 5.03584791e-02 9.98731144e-01 -3.55766329e-04 6.35726797e+00] [ 1.55551710e-02 -4.28154769e-04 9.99878919e-01 8.14848572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.0292541539999 meters Centerline goodness : 0.998951 Centerline is valid? [True, True] Translation: X:525.57, Y:6.36, Z:8.15 [[ 9.98895120e-01 -4.43454567e-02 -1.55570145e-02 5.25566210e+02] [ 4.43453046e-02 9.99016200e-01 -3.54908150e-04 6.36046928e+00] [ 1.55574481e-02 -3.35364529e-04 9.99878919e-01 8.14937315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.059254154 meters Centerline goodness : 0.998804 Centerline is valid? [True, True] Translation: X:525.60, Y:6.36, Z:8.15 [[ 9.98998105e-01 -4.19614648e-02 -1.55570392e-02 5.25598024e+02] [ 4.19610407e-02 9.99119185e-01 -3.53821849e-04 6.36227390e+00] [ 1.55581833e-02 -2.99322200e-04 9.99878919e-01 8.15089587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.089254154 meters Centerline goodness : 0.999012 Centerline is valid? [True, True] Translation: X:525.63, Y:6.36, Z:8.15 [[ 9.99091578e-01 -3.96736368e-02 -1.55570647e-02 5.25630491e+02] [ 3.96729529e-02 9.99212656e-01 -3.52698680e-04 6.36372031e+00] [ 1.55588088e-02 -2.64816415e-04 9.99878919e-01 8.15203255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.1192541539999 meters Centerline goodness : 0.998972 Centerline is valid? [True, True] Translation: X:525.66, Y:6.36, Z:8.15 [[ 9.99158896e-01 -3.79404380e-02 -1.55570907e-02 5.25661913e+02] [ 3.79395619e-02 9.99279974e-01 -3.51549548e-04 6.36454410e+00] [ 1.55592271e-02 -2.38975347e-04 9.99878919e-01 8.14989853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.1492541539999 meters Centerline goodness : 0.998868 Centerline is valid? [True, True] Translation: X:525.69, Y:6.37, Z:8.15 [[ 9.99119020e-01 -3.89763962e-02 -1.55571100e-02 5.25690621e+02] [ 3.89756590e-02 9.99240099e-01 -3.50693670e-04 6.36859677e+00] [ 1.55589569e-02 -2.55963897e-04 9.99878919e-01 8.15035872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.179254154 meters Centerline goodness : 0.998951 Centerline is valid? [True, True] Translation: X:525.72, Y:6.37, Z:8.15 [[ 9.99137697e-01 -3.84953553e-02 -1.55553579e-02 5.25721977e+02] [ 3.84933614e-02 9.99258764e-01 -4.27679976e-04 6.36689940e+00] [ 1.55602914e-02 -1.71466827e-04 9.99878917e-01 8.15280089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.209254154 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] Translation: X:525.75, Y:6.37, Z:8.15 [[ 9.99147659e-01 -3.82352209e-02 -1.55570986e-02 5.25749913e+02] [ 3.82343985e-02 9.99268737e-01 -3.50398306e-04 6.36704653e+00] [ 1.55591198e-02 -2.44716660e-04 9.99878920e-01 8.15237185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.2392541539999 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:525.78, Y:6.37, Z:8.15 [[ 9.98886181e-01 -4.45473759e-02 -1.55540567e-02 5.25783622e+02] [ 4.45452386e-02 9.99007251e-01 -4.84011425e-04 6.36608888e+00] [ 1.55601769e-02 -2.09386845e-04 9.99878911e-01 8.15381435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.2692541539999 meters Centerline goodness : 0.998975 Centerline is valid? [True, True] Translation: X:525.81, Y:6.37, Z:8.15 [[ 9.98724103e-01 -4.80431635e-02 -1.55570421e-02 5.25814353e+02] [ 4.80435029e-02 9.98845182e-01 -3.52124526e-04 6.36567934e+00] [ 1.55559937e-02 -3.95739545e-04 9.99878920e-01 8.15436999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.299254154 meters Centerline goodness : 0.998996 Centerline is valid? [True, True] Translation: X:525.85, Y:6.36, Z:8.16 [[ 9.98575506e-01 -5.10385780e-02 -1.55570606e-02 5.25846489e+02] [ 5.10392935e-02 9.98696584e-01 -3.51303933e-04 6.36433196e+00] [ 1.55547133e-02 -4.43217878e-04 9.99878920e-01 8.15591174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.329254154 meters Centerline goodness : 0.998997 Centerline is valid? [True, True] Translation: X:525.88, Y:6.36, Z:8.16 [[ 9.98428508e-01 -5.38376484e-02 -1.55570867e-02 5.25884250e+02] [ 5.38387213e-02 9.98549583e-01 -3.50144992e-04 6.35647669e+00] [ 1.55533734e-02 -4.87978912e-04 9.99878920e-01 8.15524577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.3592541539999 meters Centerline goodness : 0.996910 Centerline is valid? [True, True] Translation: X:525.91, Y:6.36, Z:8.15 [[ 9.98139997e-01 -5.89431957e-02 -1.55642253e-02 5.25909824e+02] [ 5.89510053e-02 9.98260876e-01 4.30551433e-05 6.35738093e+00] [ 1.55346194e-02 -9.60501790e-04 9.99878869e-01 8.15412077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.3892541539999 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:525.95, Y:6.35, Z:8.16 [[ 9.97999285e-01 -6.12811876e-02 -1.55577078e-02 5.25945462e+02] [ 6.12838421e-02 9.98120332e-01 -3.06515627e-04 6.35470417e+00] [ 1.55472481e-02 -6.47533731e-04 9.99878925e-01 8.15562330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.419254154 meters Centerline goodness : 0.998833 Centerline is valid? [True, True] Translation: X:525.97, Y:6.36, Z:8.16 [[ 9.97443304e-01 -6.97466620e-02 -1.55646503e-02 5.25967267e+02] [ 6.97552682e-02 9.97564135e-01 1.00693090e-05 6.35985852e+00] [ 1.55260346e-02 -1.09575992e-03 9.99878863e-01 8.15698410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.449254154 meters Centerline goodness : 0.998709 Centerline is valid? [True, True] Translation: X:526.00, Y:6.35, Z:8.16 [[ 9.97241399e-01 -7.25781632e-02 -1.55564320e-02 5.26004246e+02] [ 7.25814712e-02 9.97362424e-01 -3.52580872e-04 6.35494415e+00] [ 1.55409904e-02 -7.77500479e-04 9.99878929e-01 8.15891993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.4792541539999 meters Centerline goodness : 0.998936 Centerline is valid? [True, True] Translation: X:526.03, Y:6.36, Z:8.16 [[ 9.96963263e-01 -7.63027812e-02 -1.55607807e-02 5.26033659e+02] [ 7.63095615e-02 9.97084162e-01 -1.58425481e-04 6.35649988e+00] [ 1.55274963e-02 -1.02949196e-03 9.99878911e-01 8.15746925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.5092541539999 meters Centerline goodness : 0.999001 Centerline is valid? [True, True] Translation: X:526.07, Y:6.36, Z:8.16 [[ 9.96835120e-01 -7.79594425e-02 -1.55585955e-02 5.26067125e+02] [ 7.79649270e-02 9.96956070e-01 -2.54654601e-04 6.35618577e+00] [ 1.55310889e-02 -9.59176110e-04 9.99878925e-01 8.15819194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.5392541539999 meters Centerline goodness : 0.998643 Centerline is valid? [True, True] Translation: X:526.10, Y:6.36, Z:8.16 [[ 9.96706233e-01 -7.95902824e-02 -1.55586481e-02 5.26098872e+02] [ 7.95960008e-02 9.96827173e-01 -2.52340842e-04 6.35662586e+00] [ 1.55293670e-02 -9.86896472e-04 9.99878925e-01 8.15841815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.569254154 meters Centerline goodness : 0.999062 Centerline is valid? [True, True] Translation: X:526.13, Y:6.36, Z:8.16 [[ 9.96515112e-01 -8.19485782e-02 -1.55583354e-02 5.26127628e+02] [ 8.19543678e-02 9.96636047e-01 -2.66165025e-04 6.35672836e+00] [ 1.55278097e-02 -1.00983607e-03 9.99878926e-01 8.15935427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.5992541539999 meters Centerline goodness : 0.998916 Centerline is valid? [True, True] Translation: X:526.16, Y:6.36, Z:8.16 [[ 9.96442331e-01 -8.28292193e-02 -1.55563895e-02 5.26159983e+02] [ 8.28337786e-02 9.96563315e-01 -3.52134258e-04 6.35662435e+00] [ 1.55320941e-02 -9.37713039e-04 9.99878930e-01 8.15958612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.6292541539999 meters Centerline goodness : 0.998935 Centerline is valid? [True, True] Translation: X:526.19, Y:6.36, Z:8.16 [[ 9.96369353e-01 -8.37025087e-02 -1.55564210e-02 5.26193126e+02] [ 8.37071958e-02 9.96490332e-01 -3.50736226e-04 6.35661050e+00] [ 1.55311806e-02 -9.52721549e-04 9.99878930e-01 8.16081499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.6592541539999 meters Centerline goodness : 0.999125 Centerline is valid? [True, True] Translation: X:526.22, Y:6.36, Z:8.16 [[ 9.96214532e-01 -8.55254490e-02 -1.55564599e-02 5.26223916e+02] [ 8.55303845e-02 9.96335502e-01 -3.49000990e-04 6.35640705e+00] [ 1.55293017e-02 -9.82870138e-04 9.99878930e-01 8.15978850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.689254154 meters Centerline goodness : 0.998916 Centerline is valid? [True, True] Translation: X:526.26, Y:6.36, Z:8.16 [[ 9.96122222e-01 -8.65939647e-02 -1.55564791e-02 5.26255925e+02] [ 8.65990432e-02 9.96243185e-01 -3.48142373e-04 6.35677831e+00] [ 1.55281833e-02 -1.00038385e-03 9.99878930e-01 8.16065207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.7192541539999 meters Centerline goodness : 0.998916 Centerline is valid? [True, True] Translation: X:526.29, Y:6.36, Z:8.16 [[ 9.96048683e-01 -8.74357892e-02 -1.55565042e-02 5.26287950e+02] [ 8.74409874e-02 9.96169641e-01 -3.47017571e-04 6.35714939e+00] [ 1.55272590e-02 -1.01462969e-03 9.99878930e-01 8.15985256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.7492541539999 meters Centerline goodness : 0.998915 Centerline is valid? [True, True] Translation: X:526.32, Y:6.36, Z:8.16 [[ 9.95972461e-01 -8.82997818e-02 -1.55565354e-02 5.26320121e+02] [ 8.83051068e-02 9.96093414e-01 -3.45613580e-04 6.35757565e+00] [ 1.55262801e-02 -1.02949991e-03 9.99878930e-01 8.16075818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.7792541539999 meters Centerline goodness : 0.998855 Centerline is valid? [True, True] Translation: X:526.35, Y:6.36, Z:8.16 [[ 9.95842059e-01 -8.97584963e-02 -1.55565601e-02 5.26351321e+02] [ 8.97640158e-02 9.95963003e-01 -3.44498138e-04 6.35779578e+00] [ 1.55246799e-02 -1.05335357e-03 9.99878930e-01 8.15979619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.809254154 meters Centerline goodness : 0.998770 Centerline is valid? [True, True] Translation: X:526.38, Y:6.36, Z:8.16 [[ 9.95810716e-01 -9.01055541e-02 -1.55565785e-02 5.26383431e+02] [ 9.01111287e-02 9.95931658e-01 -3.43665614e-04 6.35856628e+00] [ 1.55242552e-02 -1.05959495e-03 9.99878930e-01 8.16009478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.839254154 meters Centerline goodness : 0.998708 Centerline is valid? [True, True] Translation: X:526.41, Y:6.36, Z:8.16 [[ 9.95786822e-01 -9.03692224e-02 -1.55566029e-02 5.26414826e+02] [ 9.03748462e-02 9.95907762e-01 -3.42555661e-04 6.35982856e+00] [ 1.55238981e-02 -1.06481319e-03 9.99878930e-01 8.16001143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.8692541539999 meters Centerline goodness : 0.998727 Centerline is valid? [True, True] Translation: X:526.45, Y:6.36, Z:8.16 [[ 9.95791498e-01 -9.03176802e-02 -1.55566211e-02 5.26447762e+02] [ 9.03233107e-02 9.95912437e-01 -3.41728768e-04 6.36119114e+00] [ 1.55238966e-02 -1.06483492e-03 9.99878930e-01 8.16086521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.8992541539999 meters Centerline goodness : 0.998873 Centerline is valid? [True, True] Translation: X:526.48, Y:6.36, Z:8.16 [[ 9.96063474e-01 -8.72671026e-02 -1.55566574e-02 5.26481641e+02] [ 8.72723884e-02 9.96184428e-01 -3.40070312e-04 6.36107343e+00] [ 1.55269768e-02 -1.01893503e-03 9.99878930e-01 8.16451108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.929254154 meters Centerline goodness : 0.998809 Centerline is valid? [True, True] Translation: X:526.51, Y:6.37, Z:8.16 [[ 9.95965674e-01 -8.83758989e-02 -1.55588360e-02 5.26510540e+02] [ 8.83828818e-02 9.96086547e-01 -2.39580639e-04 6.36536052e+00] [ 1.55191203e-02 -1.13652067e-03 9.99878925e-01 8.16333050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.959254154 meters Centerline goodness : 0.998812 Centerline is valid? [True, True] Translation: X:526.54, Y:6.37, Z:8.17 [[ 9.96224487e-01 -8.54093810e-02 -1.55566287e-02 5.26542551e+02] [ 8.54144353e-02 9.96345451e-01 -3.40445056e-04 6.36861822e+00] [ 1.55288535e-02 -9.89600955e-04 9.99878930e-01 8.16579204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.9892541539999 meters Centerline goodness : 0.998851 Centerline is valid? [True, True] Translation: X:526.58, Y:6.37, Z:8.17 [[ 9.96364657e-01 -8.37583478e-02 -1.55566536e-02 5.26575158e+02] [ 8.37632195e-02 9.96485629e-01 -3.39302404e-04 6.37073568e+00] [ 1.55304012e-02 -9.65006470e-04 9.99878930e-01 8.16712115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.0192541539999 meters Centerline goodness : 0.998703 Centerline is valid? [True, True] Translation: X:526.61, Y:6.37, Z:8.17 [[ 9.96518762e-01 -8.19044928e-02 -1.55566785e-02 5.26607277e+02] [ 8.19091572e-02 9.96639742e-01 -3.38158765e-04 6.37274976e+00] [ 1.55321008e-02 -9.37252871e-04 9.99878930e-01 8.16880880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.049254154 meters Centerline goodness : 0.998809 Centerline is valid? [True, True] Translation: X:526.64, Y:6.37, Z:8.17 [[ 9.96643589e-01 -8.03712992e-02 -1.55567037e-02 5.26638195e+02] [ 8.03757956e-02 9.96764575e-01 -3.36993731e-04 6.37462085e+00] [ 1.55334558e-02 -9.14519797e-04 9.99878930e-01 8.16871347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.079254154 meters Centerline goodness : 0.998954 Centerline is valid? [True, True] Translation: X:526.67, Y:6.38, Z:8.17 [[ 9.96744272e-01 -7.91128641e-02 -1.55567224e-02 5.26670781e+02] [ 7.91172211e-02 9.96865263e-01 -3.36128274e-04 6.37622401e+00] [ 1.55345483e-02 -8.95770717e-04 9.99878930e-01 8.17041197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.1092541539999 meters Centerline goodness : 0.998787 Centerline is valid? [True, True] Translation: X:526.70, Y:6.38, Z:8.17 [[ 9.96905648e-01 -7.70526933e-02 -1.55567471e-02 5.26703062e+02] [ 7.70568181e-02 9.97026647e-01 -3.34983516e-04 6.37877099e+00] [ 1.55363028e-02 -8.64806472e-04 9.99878930e-01 8.17069611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.1392541539999 meters Centerline goodness : 0.998893 Centerline is valid? [True, True] Translation: X:526.74, Y:6.38, Z:8.17 [[ 9.96977208e-01 -7.61211758e-02 -1.55567776e-02 5.26735337e+02] [ 7.61252098e-02 9.97098210e-01 -3.33559268e-04 6.38053267e+00] [ 1.55370260e-02 -8.51711971e-04 9.99878930e-01 8.17143774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.169254154 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:526.77, Y:6.38, Z:8.17 [[ 9.97028777e-01 -7.54427220e-02 -1.55568020e-02 5.26767157e+02] [ 7.54466914e-02 9.97149781e-01 -3.32420290e-04 6.38239992e+00] [ 1.55375404e-02 -8.42276640e-04 9.99878930e-01 8.17140659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.199254154 meters Centerline goodness : 0.998869 Centerline is valid? [True, True] Translation: X:526.80, Y:6.38, Z:8.17 [[ 9.97067983e-01 -7.49227723e-02 -1.55568261e-02 5.26798391e+02] [ 7.49266961e-02 9.97188989e-01 -3.31287646e-04 6.38419803e+00] [ 1.55379167e-02 -8.35305274e-04 9.99878930e-01 8.17038598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.2292541539999 meters Centerline goodness : 0.998869 Centerline is valid? [True, True] Translation: X:526.83, Y:6.38, Z:8.17 [[ 9.97075851e-01 -7.48179877e-02 -1.55568730e-02 5.26831915e+02] [ 7.48219333e-02 9.97196856e-01 -3.29070901e-04 6.38480906e+00] [ 1.55378852e-02 -8.35886663e-04 9.99878930e-01 8.17090715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.2592541539999 meters Centerline goodness : 0.999098 Centerline is valid? [True, True] Translation: X:526.86, Y:6.39, Z:8.17 [[ 9.97223407e-01 -7.28248497e-02 -1.55569074e-02 5.26864587e+02] [ 7.28285788e-02 9.97344419e-01 -3.27436331e-04 6.38730940e+00] [ 1.55394402e-02 -8.06460281e-04 9.99878930e-01 8.17089409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.2892541539999 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:526.90, Y:6.39, Z:8.17 [[ 9.97337137e-01 -7.12503779e-02 -1.55569356e-02 5.26897702e+02] [ 7.12539369e-02 9.97458155e-01 -3.26087491e-04 6.38892517e+00] [ 1.55406262e-02 -7.83273746e-04 9.99878930e-01 8.17324338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.319254154 meters Centerline goodness : 0.998931 Centerline is valid? [True, True] Translation: X:526.93, Y:6.39, Z:8.17 [[ 9.97669054e-01 -6.64412415e-02 -1.55569718e-02 5.26930043e+02] [ 6.64442441e-02 9.97790087e-01 -3.24351237e-04 6.39165743e+00] [ 1.55441426e-02 -7.10076043e-04 9.99878930e-01 8.17389834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.3492541539999 meters Centerline goodness : 0.998867 Centerline is valid? [True, True] Translation: X:526.96, Y:6.39, Z:8.17 [[ 9.97874741e-01 -6.32770154e-02 -1.55570017e-02 5.26961842e+02] [ 6.32796565e-02 9.97995782e-01 -3.22914299e-04 6.39361660e+00] [ 1.55462551e-02 -6.62213700e-04 9.99878930e-01 8.17438546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.3792541539999 meters Centerline goodness : 0.998971 Centerline is valid? [True, True] Translation: X:527.00, Y:6.40, Z:8.18 [[ 9.98123235e-01 -5.92282563e-02 -1.55570310e-02 5.26995056e+02] [ 5.92304285e-02 9.98244285e-01 -3.21494775e-04 6.39561575e+00] [ 1.55487589e-02 -6.00558207e-04 9.99878930e-01 8.17597587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.4092541539999 meters Centerline goodness : 0.999012 Centerline is valid? [True, True] Translation: X:527.03, Y:6.40, Z:8.18 [[ 9.98368908e-01 -5.49317842e-02 -1.55570659e-02 5.27026751e+02] [ 5.49334618e-02 9.98489966e-01 -3.19798023e-04 6.39764502e+00] [ 1.55511413e-02 -5.35327081e-04 9.99878930e-01 8.17586175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.439254154 meters Centerline goodness : 0.999096 Centerline is valid? [True, True] Translation: X:527.06, Y:6.40, Z:8.18 [[ 9.98799813e-01 -4.64425541e-02 -1.55570947e-02 5.27058971e+02] [ 4.64432244e-02 9.98920881e-01 -3.18392211e-04 6.40039394e+00] [ 1.55550936e-02 -4.04511556e-04 9.99878930e-01 8.17746341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.4692541539999 meters Centerline goodness : 0.999054 Centerline is valid? [True, True] Translation: X:527.09, Y:6.40, Z:8.18 [[ 9.98984587e-01 -4.22820390e-02 -1.55571172e-02 5.27090699e+02] [ 4.22822221e-02 9.99105657e-01 -3.17287779e-04 6.40163588e+00] [ 1.55566193e-02 -3.40823883e-04 9.99878930e-01 8.17811155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.4992541539999 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:527.12, Y:6.40, Z:8.18 [[ 9.99134557e-01 -3.85760538e-02 -1.55571395e-02 5.27121974e+02] [ 3.85758050e-02 9.99255627e-01 -3.16190212e-04 6.40249352e+00] [ 1.55577565e-02 -2.84212611e-04 9.99878930e-01 8.17833891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.5292541539999 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:527.15, Y:6.40, Z:8.18 [[ 9.99257869e-01 -3.52375710e-02 -1.55571561e-02 5.27153678e+02] [ 3.52369304e-02 9.99378937e-01 -3.15371477e-04 6.40293449e+00] [ 1.55586070e-02 -2.33048996e-04 9.99878930e-01 8.17912726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.559254154 meters Centerline goodness : 0.999179 Centerline is valid? [True, True] Translation: X:527.19, Y:6.40, Z:8.18 [[ 9.99408888e-01 -3.06569689e-02 -1.55571779e-02 5.27185568e+02] [ 3.06557902e-02 9.99529951e-01 -3.14289608e-04 6.40235866e+00] [ 1.55595005e-02 -1.62813756e-04 9.99878930e-01 8.18048211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.589254154 meters Centerline goodness : 0.999055 Centerline is valid? [True, True] Translation: X:527.22, Y:6.40, Z:8.18 [[ 9.99443080e-01 -2.95212366e-02 -1.55572008e-02 5.27217392e+02] [ 2.95199380e-02 9.99564143e-01 -3.13152317e-04 6.40223318e+00] [ 1.55596648e-02 -1.46269687e-04 9.99878930e-01 8.18083114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.6192541539999 meters Centerline goodness : 0.999328 Centerline is valid? [True, True] Translation: X:527.25, Y:6.40, Z:8.18 [[ 9.99475341e-01 -2.84080312e-02 -1.55572121e-02 5.27248379e+02] [ 2.84066066e-02 9.99596402e-01 -3.12590247e-04 6.40154220e+00] [ 1.55598133e-02 -1.29501360e-04 9.99878930e-01 8.18049184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.6492541539999 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:527.28, Y:6.40, Z:8.18 [[ 9.99503890e-01 -2.73851507e-02 -1.55572233e-02 5.27280240e+02] [ 2.73836108e-02 9.99624950e-01 -3.12032849e-04 6.39934915e+00] [ 1.55599336e-02 -1.14134901e-04 9.99878930e-01 8.18220366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.679254154 meters Centerline goodness : 0.999308 Centerline is valid? [True, True] Translation: X:527.31, Y:6.40, Z:8.18 [[ 9.99513315e-01 -2.70389639e-02 -1.55572349e-02 5.27310291e+02] [ 2.70373910e-02 9.99634374e-01 -3.11455139e-04 6.39835685e+00] [ 1.55599682e-02 -1.09323484e-04 9.99878930e-01 8.18238937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.709254154 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:527.34, Y:6.40, Z:8.18 [[ 9.99514053e-01 -2.70116794e-02 -1.55572406e-02 5.27340474e+02] [ 2.70101077e-02 9.99635112e-01 -3.11168797e-04 6.39713340e+00] [ 1.55599691e-02 -1.09185160e-04 9.99878930e-01 8.18289627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.7392541539999 meters Centerline goodness : 0.999309 Centerline is valid? [True, True] Translation: X:527.37, Y:6.40, Z:8.18 [[ 9.99520471e-01 -2.67731230e-02 -1.55572406e-02 5.27371337e+02] [ 2.67715224e-02 9.99641530e-01 -3.11168797e-04 6.39559384e+00] [ 1.55599948e-02 -1.05471433e-04 9.99878930e-01 8.18345903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.7692541539999 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:527.40, Y:6.39, Z:8.19 [[ 9.99525744e-01 -2.65755392e-02 -1.55572463e-02 5.27401684e+02] [ 2.65739191e-02 9.99646803e-01 -3.10885094e-04 6.39262696e+00] [ 1.55600134e-02 -1.02679349e-04 9.99878930e-01 8.18517314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.799254154 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:527.43, Y:6.39, Z:8.19 [[ 9.99532350e-01 -2.63259187e-02 -1.55572463e-02 5.27430892e+02] [ 2.63242684e-02 9.99653408e-01 -3.10885094e-04 6.39155770e+00] [ 1.55600386e-02 -9.87934180e-05 9.99878930e-01 8.18552777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.829254154 meters Centerline goodness : 0.998765 Centerline is valid? [True, True] Translation: X:527.46, Y:6.39, Z:8.19 [[ 9.99540446e-01 -2.60167055e-02 -1.55572406e-02 5.27461831e+02] [ 2.60150133e-02 9.99661504e-01 -3.11170562e-04 6.39059216e+00] [ 1.55600701e-02 -9.36942568e-05 9.99878930e-01 8.18656467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.8592541539999 meters Centerline goodness : 0.999288 Centerline is valid? [True, True] Translation: X:527.49, Y:6.39, Z:8.19 [[ 9.99547294e-01 -2.57522827e-02 -1.55572406e-02 5.27491957e+02] [ 2.57505585e-02 9.99668351e-01 -3.11170562e-04 6.38924647e+00] [ 1.55600944e-02 -8.95779399e-05 9.99878930e-01 8.18777892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.8892541539999 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:527.52, Y:6.39, Z:8.19 [[ 9.99560282e-01 -2.52430972e-02 -1.55572406e-02 5.27521984e+02] [ 2.52413113e-02 9.99681339e-01 -3.11170562e-04 6.38558375e+00] [ 1.55601380e-02 -8.16514165e-05 9.99878930e-01 8.18821244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.919254154 meters Centerline goodness : 0.998893 Centerline is valid? [True, True] Translation: X:527.55, Y:6.38, Z:8.19 [[ 9.99570487e-01 -2.48357412e-02 -1.55572349e-02 5.27551827e+02] [ 2.48339016e-02 9.99691543e-01 -3.11452354e-04 6.38390850e+00] [ 1.55601713e-02 -7.50282599e-05 9.99878930e-01 8.18881149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.949254154 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:527.58, Y:6.38, Z:8.19 [[ 9.99601857e-01 -2.35393508e-02 -1.55572236e-02 5.27580922e+02] [ 2.35373454e-02 9.99722910e-01 -3.12014866e-04 6.37948923e+00] [ 1.55602575e-02 -5.42851065e-05 9.99878930e-01 8.18895080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.9792541539999 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:527.61, Y:6.38, Z:8.19 [[ 9.99613337e-01 -2.30466880e-02 -1.55572180e-02 5.27610767e+02] [ 2.30446186e-02 9.99734389e-01 -3.12293572e-04 6.37790886e+00] [ 1.55602832e-02 -4.63373363e-05 9.99878930e-01 8.18902440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.0092541539999 meters Centerline goodness : 0.998976 Centerline is valid? [True, True] Translation: X:527.64, Y:6.38, Z:8.19 [[ 9.99622641e-01 -2.26395239e-02 -1.55572071e-02 5.27639357e+02] [ 2.26373968e-02 9.99743692e-01 -3.12838038e-04 6.37626799e+00] [ 1.55603022e-02 -3.94546842e-05 9.99878930e-01 8.18897132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.0392541539999 meters Centerline goodness : 0.999372 Centerline is valid? [True, True] Translation: X:527.67, Y:6.37, Z:8.19 [[ 9.99634794e-01 -2.20964407e-02 -1.55571864e-02 5.27667738e+02] [ 2.20942319e-02 9.99755843e-01 -3.13864288e-04 6.37460148e+00] [ 1.55603233e-02 -2.99744201e-05 9.99878930e-01 8.18859866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.069254154 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:527.70, Y:6.37, Z:8.19 [[ 9.99657468e-01 -2.10457538e-02 -1.55571095e-02 5.27696393e+02] [ 2.10433591e-02 9.99778514e-01 -3.17627966e-04 6.37050718e+00] [ 1.55603486e-02 -9.85467489e-06 9.99878930e-01 8.19041277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.0992541539999 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:527.72, Y:6.37, Z:8.19 [[ 9.99668902e-01 -2.04954911e-02 -1.55570270e-02 5.27724553e+02] [ 2.04929676e-02 9.99789945e-01 -3.21620927e-04 6.36886907e+00] [ 1.55603509e-02 2.70478813e-06 9.99878930e-01 8.19058690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.1292541539999 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:527.75, Y:6.37, Z:8.19 [[ 9.99670035e-01 -2.04401781e-02 -1.55569977e-02 5.27752803e+02] [ 2.04376259e-02 9.99791078e-01 -3.23033210e-04 6.36759555e+00] [ 1.55603503e-02 4.97852165e-06 9.99878930e-01 8.19039568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.1592541539999 meters Centerline goodness : 0.999058 Centerline is valid? [True, True] Translation: X:527.78, Y:6.37, Z:8.19 [[ 9.99667959e-01 -2.05414771e-02 -1.55569687e-02 5.27781529e+02] [ 2.05389156e-02 9.99789002e-01 -3.24424268e-04 6.36606979e+00] [ 1.55603503e-02 4.79327949e-06 9.99878930e-01 8.19200094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.189254154 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:527.81, Y:6.36, Z:8.19 [[ 9.99670391e-01 -2.04228660e-02 -1.55568847e-02 5.27809095e+02] [ 2.04202282e-02 9.99791431e-01 -3.28400486e-04 6.36282367e+00] [ 1.55603469e-02 1.06171059e-05 9.99878930e-01 8.19269807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.2192541539999 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:527.84, Y:6.36, Z:8.19 [[ 9.99663912e-01 -2.07375760e-02 -1.55568549e-02 5.27838179e+02] [ 2.07349544e-02 9.99784953e-01 -3.29806905e-04 6.36136194e+00] [ 1.55603489e-02 7.12538285e-06 9.99878930e-01 8.19344278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.2492541539999 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:527.87, Y:6.36, Z:8.19 [[ 9.99655892e-01 -2.11207191e-02 -1.55567706e-02 5.27866975e+02] [ 2.11180828e-02 9.99776933e-01 -3.33735597e-04 6.36002439e+00] [ 1.55603492e-02 5.09158535e-06 9.99878930e-01 8.19494203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.2792541539999 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:527.89, Y:6.36, Z:8.19 [[ 9.99649845e-01 -2.14050580e-02 -1.55566830e-02 5.27894484e+02] [ 2.14023934e-02 9.99770886e-01 -3.37769891e-04 6.35663089e+00] [ 1.55603488e-02 4.70136939e-06 9.99878930e-01 8.19495799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.309254154 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:527.92, Y:6.36, Z:8.20 [[ 9.99647897e-01 -2.14958561e-02 -1.55566519e-02 5.27923213e+02] [ 2.14931803e-02 9.99768937e-01 -3.39196605e-04 6.35516607e+00] [ 1.55603487e-02 4.71524875e-06 9.99878930e-01 8.19665165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.339254154 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:527.95, Y:6.35, Z:8.20 [[ 9.99648120e-01 -2.14855526e-02 -1.55565649e-02 5.27950906e+02] [ 2.14828141e-02 9.99769159e-01 -3.43142458e-04 6.35402305e+00] [ 1.55603464e-02 8.82292257e-06 9.99878930e-01 8.19667286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.3692541539999 meters Centerline goodness : 0.999041 Centerline is valid? [True, True] Translation: X:527.98, Y:6.35, Z:8.20 [[ 9.99648548e-01 -2.14656878e-02 -1.55565340e-02 5.27979439e+02] [ 2.14629252e-02 9.99769586e-01 -3.44539060e-04 6.35303852e+00] [ 1.55603453e-02 1.05292466e-05 9.99878930e-01 8.19726397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.3992541539999 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:528.01, Y:6.35, Z:8.19 [[ 9.99649906e-01 -2.14023910e-02 -1.55564494e-02 5.28007808e+02] [ 2.13995619e-02 9.99770942e-01 -3.48315054e-04 6.34974243e+00] [ 1.55603409e-02 1.52919088e-05 9.99878930e-01 8.19387671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.429254154 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:528.04, Y:6.35, Z:8.20 [[ 9.99655841e-01 -2.11230913e-02 -1.55568385e-02 5.28036879e+02] [ 2.11204954e-02 9.99776883e-01 -3.31162683e-04 6.34781270e+00] [ 1.55603627e-02 2.48057442e-06 9.99878930e-01 8.20149463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.459254154 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:528.06, Y:6.35, Z:8.20 [[ 9.99660464e-01 -2.09035613e-02 -1.55562940e-02 5.28064304e+02] [ 2.09005674e-02 9.99781496e-01 -3.55022702e-04 6.34602765e+00] [ 1.55603162e-02 2.97667869e-05 9.99878931e-01 8.20026531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.4892541539999 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:528.09, Y:6.34, Z:8.20 [[ 9.99661471e-01 -2.08553811e-02 -1.55562615e-02 5.28093382e+02] [ 2.08523593e-02 9.99782502e-01 -3.56441429e-04 6.34426612e+00] [ 1.55603118e-02 3.19360079e-05 9.99878931e-01 8.20106399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.5192541539999 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:528.12, Y:6.34, Z:8.20 [[ 9.99671614e-01 -2.03634340e-02 -1.55561768e-02 5.28120985e+02] [ 2.03602958e-02 9.99792643e-01 -3.60099448e-04 6.33984418e+00] [ 1.55602840e-02 4.32528342e-05 9.99878931e-01 8.20458558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.549254154 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:528.15, Y:6.34, Z:8.21 [[ 9.99669690e-01 -2.04577552e-02 -1.55560700e-02 5.28150272e+02] [ 2.04545575e-02 9.99790717e-01 -3.64655612e-04 6.33843994e+00] [ 1.55602745e-02 4.63426346e-05 9.99878931e-01 8.20542907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.579254154 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:528.18, Y:6.34, Z:8.21 [[ 9.99660744e-01 -2.08904092e-02 -1.55559826e-02 5.28178025e+02] [ 2.08872064e-02 9.99781771e-01 -3.68348839e-04 6.33654457e+00] [ 1.55602828e-02 4.33028552e-05 9.99878931e-01 8.20575455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.6092541539999 meters Centerline goodness : 0.999792 Centerline is valid? [True, True] Translation: X:528.21, Y:6.33, Z:8.21 [[ 9.99624605e-01 -2.25535579e-02 -1.55558745e-02 5.28206225e+02] [ 2.25504862e-02 9.99745636e-01 -3.72858492e-04 6.33259472e+00] [ 1.55603269e-02 2.19259893e-05 9.99878931e-01 8.20654181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.6392541539999 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:528.23, Y:6.33, Z:8.21 [[ 9.99572270e-01 -2.47648123e-02 -1.55557653e-02 5.28233947e+02] [ 2.47619384e-02 9.99693305e-01 -3.77360220e-04 6.33104397e+00] [ 1.55603397e-02 -7.99208945e-06 9.99878931e-01 8.20742330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.669254154 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:528.26, Y:6.33, Z:8.21 [[ 9.99520677e-01 -2.67663628e-02 -1.55556536e-02 5.28262102e+02] [ 2.67636604e-02 9.99641716e-01 -3.81909901e-04 6.32904989e+00] [ 1.55603026e-02 -3.45993878e-05 9.99878931e-01 8.20752368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.699254154 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:528.29, Y:6.32, Z:8.21 [[ 9.99345959e-01 -3.26447113e-02 -1.55556011e-02 5.28290478e+02] [ 3.26426878e-02 9.99467012e-01 -3.84036947e-04 6.32474440e+00] [ 1.55598469e-02 -1.23990859e-04 9.99878931e-01 8.20835974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.7292541539999 meters Centerline goodness : 0.999687 Centerline is valid? [True, True] Translation: X:528.32, Y:6.32, Z:8.21 [[ 9.99227889e-01 -3.60783772e-02 -1.55555669e-02 5.28320283e+02] [ 3.60767482e-02 9.99348948e-01 -3.85414566e-04 6.32299326e+00] [ 1.55593446e-02 -1.76077288e-04 9.99878931e-01 8.20908063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.7592541539999 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:528.35, Y:6.32, Z:8.21 [[ 9.99086278e-01 -3.98074509e-02 -1.55555533e-02 5.28350069e+02] [ 3.98062652e-02 9.99207342e-01 -3.85963375e-04 6.32130105e+00] [ 1.55585873e-02 -2.33597768e-04 9.99878931e-01 8.20912891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.7892541539999 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:528.38, Y:6.32, Z:8.21 [[ 9.98949972e-01 -4.30926663e-02 -1.55555548e-02 5.28380559e+02] [ 4.30918796e-02 9.99071039e-01 -3.85904451e-04 6.31967338e+00] [ 1.55577339e-02 -2.84818853e-04 9.99878931e-01 8.20935692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.819254154 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] Translation: X:528.41, Y:6.32, Z:8.21 [[ 9.98657953e-01 -4.93995636e-02 -1.55555548e-02 5.28411368e+02] [ 4.93995414e-02 9.98779023e-01 -3.85904451e-04 6.31596546e+00] [ 1.55556253e-02 -3.83050723e-04 9.99878931e-01 8.20901081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.8492541539999 meters Centerline goodness : 0.999604 Centerline is valid? [True, True] Translation: X:528.44, Y:6.31, Z:8.21 [[ 9.98513827e-01 -5.22318036e-02 -1.55555548e-02 5.28443171e+02] [ 5.22321248e-02 9.98634896e-01 -3.85904451e-04 6.31452730e+00] [ 1.55544763e-02 -4.27168749e-04 9.99878931e-01 8.21078992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.8792541539999 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:528.47, Y:6.31, Z:8.21 [[ 9.98403784e-01 -5.42946503e-02 -1.55555688e-02 5.28473904e+02] [ 5.42952304e-02 9.98524852e-01 -3.85337563e-04 6.31344973e+00] [ 1.55535438e-02 -4.59870712e-04 9.99878931e-01 8.20907166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.9092541539999 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:528.50, Y:6.31, Z:8.21 [[ 9.98299193e-01 -5.61849189e-02 -1.55555758e-02 5.28504542e+02] [ 5.61857326e-02 9.98420260e-01 -3.85056242e-04 6.31241445e+00] [ 1.55526364e-02 -4.89600086e-04 9.99878931e-01 8.21150968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.939254154 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:528.54, Y:6.31, Z:8.21 [[ 9.98118047e-01 -5.93159964e-02 -1.55555758e-02 5.28535528e+02] [ 5.93171899e-02 9.98239111e-01 -3.85056242e-04 6.31026812e+00] [ 1.55510241e-02 -5.38381458e-04 9.99878931e-01 8.21316271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.9692541539999 meters Centerline goodness : 0.999792 Centerline is valid? [True, True] Translation: X:528.57, Y:6.31, Z:8.21 [[ 9.98029099e-01 -6.07942562e-02 -1.55555901e-02 5.28566633e+02] [ 6.07956380e-02 9.98150160e-01 -3.84479159e-04 6.31005082e+00] [ 1.55501888e-02 -5.61990632e-04 9.99878931e-01 8.21420266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.9992541539999 meters Centerline goodness : 0.999625 Centerline is valid? [True, True] Translation: X:528.60, Y:6.31, Z:8.22 [[ 9.97947834e-01 -6.21139636e-02 -1.55556043e-02 5.28598374e+02] [ 6.21155145e-02 9.98068893e-01 -3.83901763e-04 6.30981402e+00] [ 1.55494104e-02 -5.83130432e-04 9.99878931e-01 8.21513220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.0292541539999 meters Centerline goodness : 0.999375 Centerline is valid? [True, True] Translation: X:528.63, Y:6.31, Z:8.21 [[ 9.97866732e-01 -6.34035352e-02 -1.55556186e-02 5.28628296e+02] [ 6.34052515e-02 9.97987789e-01 -3.83323546e-04 6.30886655e+00] [ 1.55486214e-02 -6.03802093e-04 9.99878931e-01 8.21490386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.059254154 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:528.66, Y:6.31, Z:8.22 [[ 9.97824583e-01 -6.40634382e-02 -1.55556256e-02 5.28659609e+02] [ 6.40652390e-02 9.97945639e-01 -3.83036800e-04 6.30826049e+00] [ 1.55482074e-02 -6.14371338e-04 9.99878931e-01 8.21534958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.089254154 meters Centerline goodness : 0.999645 Centerline is valid? [True, True] Translation: X:528.69, Y:6.31, Z:8.22 [[ 9.97856283e-01 -6.35677563e-02 -1.55556396e-02 5.28691459e+02] [ 6.35695059e-02 9.97977340e-01 -3.82467533e-04 6.30837592e+00] [ 1.55484884e-02 -6.07216693e-04 9.99878931e-01 8.21555459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.1192541539999 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:528.72, Y:6.31, Z:8.22 [[ 9.97911742e-01 -6.26911221e-02 -1.55556606e-02 5.28721468e+02] [ 6.26927786e-02 9.98032800e-01 -3.81611841e-04 6.30855713e+00] [ 1.55489832e-02 -5.94412648e-04 9.99878931e-01 8.21540573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.1492541539999 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:528.75, Y:6.31, Z:8.22 [[ 9.97914020e-01 -6.26548526e-02 -1.55556675e-02 5.28753294e+02] [ 6.26565091e-02 9.98035078e-01 -3.81328713e-04 6.30930703e+00] [ 1.55489940e-02 -5.94130557e-04 9.99878931e-01 8.21590110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.179254154 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:528.78, Y:6.31, Z:8.22 [[ 9.98027997e-01 -6.08123192e-02 -1.55556814e-02 5.28784326e+02] [ 6.08137610e-02 9.98149058e-01 -3.80763337e-04 6.30956510e+00] [ 1.55500438e-02 -5.65987020e-04 9.99878931e-01 8.21599151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.209254154 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:528.82, Y:6.31, Z:8.22 [[ 9.98327980e-01 -5.56710338e-02 -1.55556951e-02 5.28815689e+02] [ 5.56718608e-02 9.98449047e-01 -3.80201618e-04 6.31022801e+00] [ 1.55527352e-02 -4.86448580e-04 9.99878931e-01 8.21636963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.2392541539999 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:528.85, Y:6.31, Z:8.22 [[ 9.98448563e-01 -5.34648227e-02 -1.55557089e-02 5.28846399e+02] [ 5.34653909e-02 9.98569631e-01 -3.79638586e-04 6.31067221e+00] [ 1.55537558e-02 -4.52642454e-04 9.99878931e-01 8.21663057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.2692541539999 meters Centerline goodness : 0.999583 Centerline is valid? [True, True] Translation: X:528.88, Y:6.31, Z:8.22 [[ 9.98697378e-01 -4.85959565e-02 -1.55557089e-02 5.28877570e+02] [ 4.85959344e-02 9.98818448e-01 -3.79638586e-04 6.30973512e+00] [ 1.55557779e-02 -3.76800146e-04 9.99878931e-01 8.21856779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.299254154 meters Centerline goodness : 0.999687 Centerline is valid? [True, True] Translation: X:528.91, Y:6.31, Z:8.22 [[ 9.98742501e-01 -4.76590682e-02 -1.55573352e-02 5.28906768e+02] [ 4.76599696e-02 9.98863569e-01 -3.13018151e-04 6.31196538e+00] [ 1.55545735e-02 -4.28837592e-04 9.99878928e-01 8.21744952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.329254154 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:528.94, Y:6.31, Z:8.22 [[ 9.98990887e-01 -4.21334880e-02 -1.55556186e-02 5.28936072e+02] [ 4.21326337e-02 9.99111953e-01 -3.82777802e-04 6.31272877e+00] [ 1.55579323e-02 -2.73007647e-04 9.99878931e-01 8.21810920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.3592541539999 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:528.97, Y:6.31, Z:8.22 [[ 9.99029525e-01 -4.12071197e-02 -1.55557430e-02 5.28965702e+02] [ 4.12062317e-02 9.99150591e-01 -3.77737736e-04 6.31310780e+00] [ 1.55580953e-02 -2.63622399e-04 9.99878931e-01 8.21846047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.3892541539999 meters Centerline goodness : 0.997404 Centerline is valid? [True, True] Translation: X:528.99, Y:6.31, Z:8.22 [[ 9.99091794e-01 -3.96687588e-02 -1.55555983e-02 5.28993761e+02] [ 3.96675930e-02 9.99212858e-01 -3.83605679e-04 6.31317354e+00] [ 1.55585710e-02 -2.33795856e-04 9.99878931e-01 8.21609407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.419254154 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:529.02, Y:6.31, Z:8.22 [[ 9.99096781e-01 -3.95433104e-02 -1.55547344e-02 5.29022548e+02] [ 3.95415922e-02 9.99217838e-01 -4.18112726e-04 6.31358945e+00] [ 1.55591017e-02 -1.97323887e-04 9.99878930e-01 8.21962786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.449254154 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:529.05, Y:6.31, Z:8.22 [[ 9.99058036e-01 -4.05101039e-02 -1.55554467e-02 5.29051440e+02] [ 4.05089455e-02 9.99179100e-01 -3.89679506e-04 6.31292556e+00] [ 1.55584632e-02 -2.40822301e-04 9.99878931e-01 8.22014173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.4792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:529.08, Y:6.31, Z:8.22 [[ 9.98982950e-01 -4.23213142e-02 -1.55554268e-02 5.29081054e+02] [ 4.23203629e-02 9.99104016e-01 -3.90472770e-04 6.31265920e+00] [ 1.55580147e-02 -2.68235668e-04 9.99878931e-01 8.22142591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.5092541539999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:529.11, Y:6.31, Z:8.22 [[ 9.98929877e-01 -4.35560532e-02 -1.55554128e-02 5.29109181e+02] [ 4.35552428e-02 9.99050944e-01 -3.91030831e-04 6.31261657e+00] [ 1.55576816e-02 -2.86907401e-04 9.99878931e-01 8.22195343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.5392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:529.14, Y:6.31, Z:8.22 [[ 9.98705653e-01 -4.84262572e-02 -1.55536399e-02 5.29138039e+02] [ 4.84249524e-02 9.98826718e-01 -4.60714085e-04 6.31182322e+00] [ 1.55577018e-02 -2.93066513e-04 9.99878929e-01 8.22090750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.569254154 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:529.17, Y:6.31, Z:8.22 [[ 9.98636651e-01 -4.98284250e-02 -1.55552698e-02 5.29167062e+02] [ 4.98282848e-02 9.98757721e-01 -3.96827305e-04 6.31200567e+00] [ 1.55557191e-02 -3.78806121e-04 9.99878931e-01 8.22346629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.5992541539999 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:529.20, Y:6.31, Z:8.22 [[ 9.98597202e-01 -5.06131263e-02 -1.55544282e-02 5.29198301e+02] [ 5.06125691e-02 9.98718270e-01 -4.29719818e-04 6.31083108e+00] [ 1.55562411e-02 -3.58132562e-04 9.99878930e-01 8.22405390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.6292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:529.23, Y:6.31, Z:8.22 [[ 9.98554416e-01 -5.14495673e-02 -1.55570010e-02 5.29229163e+02] [ 5.14506700e-02 9.98675483e-01 -3.29608784e-04 6.30832072e+00] [ 1.55533537e-02 -4.71285818e-04 9.99878928e-01 8.22149053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.6592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:529.26, Y:6.31, Z:8.22 [[ 9.98227603e-01 -5.74418839e-02 -1.55590144e-02 5.29255862e+02] [ 5.74449301e-02 9.98348645e-01 -2.51435084e-04 6.31143898e+00] [ 1.55477638e-02 -6.42797053e-04 9.99878920e-01 8.22499515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.689254154 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:529.29, Y:6.31, Z:8.23 [[ 9.98153519e-01 -5.87162297e-02 -1.55549786e-02 5.29286430e+02] [ 5.87170236e-02 9.98274585e-01 -4.06046121e-04 6.31186060e+00] [ 1.55519813e-02 -5.08045683e-04 9.99878932e-01 8.22603890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.7192541539999 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:529.32, Y:6.31, Z:8.23 [[ 9.98215601e-01 -5.76511556e-02 -1.55549786e-02 5.29316554e+02] [ 5.76518204e-02 9.98336668e-01 -4.06046121e-04 6.31148128e+00] [ 1.55525146e-02 -4.91451261e-04 9.99878932e-01 8.22690341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.7492541539999 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:529.35, Y:6.31, Z:8.23 [[ 9.98153431e-01 -5.87177198e-02 -1.55549786e-02 5.29347324e+02] [ 5.87185139e-02 9.98274497e-01 -4.06046121e-04 6.31201105e+00] [ 1.55519806e-02 -5.08068900e-04 9.99878932e-01 8.22711545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.7792541539999 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:529.38, Y:6.31, Z:8.23 [[ 9.98135468e-01 -5.90222913e-02 -1.55549786e-02 5.29376452e+02] [ 5.90231224e-02 9.98256533e-01 -4.06046121e-04 6.31249326e+00] [ 1.55518248e-02 -5.12814372e-04 9.99878932e-01 8.22624846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.809254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:529.41, Y:6.31, Z:8.23 [[ 9.98105808e-01 -5.95217558e-02 -1.55549712e-02 5.29407210e+02] [ 5.95226430e-02 9.98226873e-01 -4.06330352e-04 6.31397915e+00] [ 1.55515758e-02 -5.20312313e-04 9.99878932e-01 8.22587461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.839254154 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:529.44, Y:6.31, Z:8.22 [[ 9.98238951e-01 -5.72454247e-02 -1.55549712e-02 5.29438541e+02] [ 5.72460359e-02 9.98360018e-01 -4.06330352e-04 6.31321097e+00] [ 1.55527219e-02 -4.84845655e-04 9.99878932e-01 8.22386775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.8692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:529.47, Y:6.32, Z:8.23 [[ 9.98372588e-01 -5.48647951e-02 -1.55573171e-02 5.29466881e+02] [ 5.48665210e-02 9.98493648e-01 -3.16172396e-04 6.31691309e+00] [ 1.55512290e-02 -5.37918012e-04 9.99878928e-01 8.22615299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.8992541539999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:529.50, Y:6.32, Z:8.23 [[ 9.98562368e-01 -5.12956132e-02 -1.55549473e-02 5.29496279e+02] [ 5.12954957e-02 9.98683437e-01 -4.06791182e-04 6.31763392e+00] [ 1.55553348e-02 -3.91692367e-04 9.99878932e-01 8.22688092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.929254154 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:529.53, Y:6.32, Z:8.23 [[ 9.98680493e-01 -4.89419666e-02 -1.55549400e-02 5.29526695e+02] [ 4.89415594e-02 9.98801561e-01 -4.07068941e-04 6.31893634e+00] [ 1.55562211e-02 -3.54751210e-04 9.99878932e-01 8.22746169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.959254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:529.56, Y:6.32, Z:8.23 [[ 9.98773014e-01 -4.70160646e-02 -1.55549400e-02 5.29557029e+02] [ 4.70154240e-02 9.98894081e-01 -4.07068941e-04 6.32040699e+00] [ 1.55568763e-02 -3.24752627e-04 9.99878932e-01 8.22792959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.9892541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:529.59, Y:6.32, Z:8.23 [[ 9.99003651e-01 -4.18300068e-02 -1.55549400e-02 5.29585880e+02] [ 4.18287376e-02 9.99124712e-01 -4.07068941e-04 6.32174121e+00] [ 1.55583527e-02 -2.43980147e-04 9.99878932e-01 8.22886946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.0192541539999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:529.62, Y:6.32, Z:8.23 [[ 9.99112530e-01 -3.91432823e-02 -1.55549179e-02 5.29615627e+02] [ 3.91416744e-02 9.99233588e-01 -4.07913739e-04 6.32231530e+00] [ 1.55589635e-02 -2.01293804e-04 9.99878932e-01 8.22927886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.049254154 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:529.64, Y:6.32, Z:8.23 [[ 9.99215038e-01 -3.64328521e-02 -1.55549034e-02 5.29643934e+02] [ 3.64309073e-02 9.99336091e-01 -4.08464523e-04 6.32266935e+00] [ 1.55594579e-02 -1.58535350e-04 9.99878932e-01 8.22945034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.079254154 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:529.67, Y:6.32, Z:8.23 [[ 9.99248657e-01 -3.54988330e-02 -1.55548818e-02 5.29672970e+02] [ 3.54967622e-02 9.99369708e-01 -4.09284035e-04 6.32335258e+00] [ 1.55596068e-02 -1.43171419e-04 9.99878932e-01 8.22907438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.1092541539999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:529.70, Y:6.32, Z:8.23 [[ 9.99288031e-01 -3.43726644e-02 -1.55547757e-02 5.29700363e+02] [ 3.43703951e-02 9.99409078e-01 -4.13278271e-04 6.32304642e+00] [ 1.55597895e-02 -1.21639757e-04 9.99878932e-01 8.22847564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.1392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:529.73, Y:6.32, Z:8.23 [[ 9.99260954e-01 -3.51510370e-02 -1.55547380e-02 5.29729308e+02] [ 3.51488400e-02 9.99382003e-01 -4.14691559e-04 6.32329351e+00] [ 1.55597021e-02 -1.32345915e-04 9.99878932e-01 8.22859666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.169254154 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:529.76, Y:6.32, Z:8.23 [[ 9.99233658e-01 -3.59186709e-02 -1.55546336e-02 5.29756734e+02] [ 3.59165064e-02 9.99354706e-01 -4.18572468e-04 6.32281527e+00] [ 1.55596309e-02 -1.40416399e-04 9.99878932e-01 8.22945087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.199254154 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:529.78, Y:6.32, Z:8.23 [[ 9.98969711e-01 -4.26329846e-02 -1.55545787e-02 5.29784729e+02] [ 4.26316020e-02 9.99090771e-01 -4.20604789e-04 6.32368899e+00] [ 1.55583676e-02 -2.42945162e-04 9.99878932e-01 8.23030240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.2292541539999 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:529.82, Y:6.32, Z:8.23 [[ 9.98939536e-01 -4.33354132e-02 -1.55513867e-02 5.29815116e+02] [ 4.33323017e-02 9.99060570e-01 -5.37138987e-04 6.32031368e+00] [ 1.55600544e-02 -1.37308010e-04 9.99878926e-01 8.23027379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.2592541539999 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:529.84, Y:6.32, Z:8.23 [[ 9.98780487e-01 -4.68571927e-02 -1.55544646e-02 5.29844544e+02] [ 4.68562644e-02 9.98901552e-01 -4.24309772e-04 6.31957623e+00] [ 1.55572608e-02 -3.05031786e-04 9.99878932e-01 8.23084002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.2892541539999 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:529.87, Y:6.32, Z:8.24 [[ 9.98461275e-01 -5.32272697e-02 -1.55544492e-02 5.29872882e+02] [ 5.32271048e-02 9.98582343e-01 -4.24875008e-04 6.32186083e+00] [ 1.55550133e-02 -4.03697056e-04 9.99878932e-01 8.23598841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.319254154 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:529.90, Y:6.32, Z:8.24 [[ 9.97832402e-01 -6.39426129e-02 -1.55512068e-02 5.29900100e+02] [ 6.39419182e-02 9.97953474e-01 -5.42390519e-04 6.32366662e+00] [ 1.55540627e-02 -4.53159159e-04 9.99878926e-01 8.23756900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.3492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:529.93, Y:6.32, Z:8.23 [[ 9.97524990e-01 -6.85725711e-02 -1.55466340e-02 5.29930609e+02] [ 6.85698795e-02 9.97646066e-01 -7.06740744e-04 6.32439406e+00] [ 1.55585012e-02 -3.61039264e-04 9.99878894e-01 8.23472449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.3792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:529.97, Y:6.32, Z:8.24 [[ 9.97586395e-01 -6.76737832e-02 -1.55448921e-02 5.29965283e+02] [ 6.76700085e-02 9.97707461e-01 -7.69291883e-04 6.31981269e+00] [ 1.55613157e-02 -2.84487861e-04 9.99878875e-01 8.23579054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.4092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:529.99, Y:6.32, Z:8.23 [[ 9.97174769e-01 -7.34891926e-02 -1.55505132e-02 5.29993044e+02] [ 7.34893289e-02 9.97295844e-01 -5.63438626e-04 6.32281995e+00] [ 1.55498688e-02 -5.80949996e-04 9.99878925e-01 8.23453531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.439254154 meters Centerline goodness : 0.997852 Centerline is valid? [True, True] Translation: X:530.03, Y:6.32, Z:8.23 [[ 9.96932887e-01 -7.67016367e-02 -1.55459998e-02 5.30026971e+02] [ 7.66998828e-02 9.97053972e-01 -7.09894160e-04 6.32088219e+00] [ 1.55546509e-02 -4.84659529e-04 9.99878902e-01 8.23091369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.4692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:530.05, Y:6.32, Z:8.23 [[ 9.96864633e-01 -7.75818159e-02 -1.55552605e-02 5.30054145e+02] [ 7.75849296e-02 9.96985665e-01 -4.04104180e-04 6.32090167e+00] [ 1.55397228e-02 -8.04016624e-04 9.99878928e-01 8.23144629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.4992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:530.08, Y:6.33, Z:8.24 [[ 9.96202429e-01 -8.56669182e-02 -1.55531427e-02 5.30076573e+02] [ 8.56699314e-02 9.96323461e-01 -4.73646728e-04 6.32942743e+00] [ 1.55365368e-02 -8.60588647e-04 9.99878930e-01 8.23873191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.5292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:530.11, Y:6.33, Z:8.24 [[ 9.95979264e-01 -8.82253978e-02 -1.55429826e-02 5.30107526e+02] [ 8.82236202e-02 9.96100372e-01 -8.01343659e-04 6.32916503e+00] [ 1.55530697e-02 -5.73136529e-04 9.99878879e-01 8.23717384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.559254154 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:530.14, Y:6.32, Z:8.23 [[ 9.96254333e-01 -8.50628975e-02 -1.55437117e-02 5.30144913e+02] [ 8.50611014e-02 9.96375433e-01 -7.77838329e-04 6.32441360e+00] [ 1.55535376e-02 -5.47240427e-04 9.99878887e-01 8.23337366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.589254154 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:530.18, Y:6.33, Z:8.23 [[ 9.96124348e-01 -8.65701372e-02 -1.55529888e-02 5.30175512e+02] [ 8.65732781e-02 9.96245374e-01 -4.72482607e-04 6.32583253e+00] [ 1.55354960e-02 -8.75821792e-04 9.99878933e-01 8.23384479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.6192541539999 meters Centerline goodness : 0.997352 Centerline is valid? [True, True] Translation: X:530.20, Y:6.33, Z:8.23 [[ 9.95970885e-01 -8.83181825e-02 -1.55529969e-02 5.30204606e+02] [ 8.83215400e-02 9.96091905e-01 -4.72214197e-04 6.32845664e+00] [ 1.55339194e-02 -9.03353046e-04 9.99878933e-01 8.23402316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.6492541539999 meters Centerline goodness : 0.999813 Centerline is valid? [True, True] Translation: X:530.23, Y:6.33, Z:8.24 [[ 9.95740918e-01 -9.08744992e-02 -1.55515240e-02 5.30233707e+02] [ 9.08774171e-02 9.95861950e-01 -5.20419530e-04 6.33077506e+00] [ 1.55344639e-02 -8.95079315e-04 9.99878932e-01 8.23553000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.679254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:530.26, Y:6.33, Z:8.24 [[ 9.95534078e-01 -9.31128774e-02 -1.55528549e-02 5.30264689e+02] [ 9.31167426e-02 9.95655083e-01 -4.77030014e-04 6.33413906e+00] [ 1.55296966e-02 -9.73331548e-04 9.99878933e-01 8.23780984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.709254154 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:530.29, Y:6.34, Z:8.23 [[ 9.95563431e-01 -9.27983003e-02 -1.55540834e-02 5.30293365e+02] [ 9.28027504e-02 9.95684417e-01 -4.36985951e-04 6.33606313e+00] [ 1.55275100e-02 -1.00841448e-03 9.99878932e-01 8.23494716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.7392541539999 meters Centerline goodness : 0.999709 Centerline is valid? [True, True] Translation: X:530.32, Y:6.34, Z:8.23 [[ 9.95147929e-01 -9.71532326e-02 -1.55514639e-02 5.30323136e+02] [ 9.71568946e-02 9.95268941e-01 -5.21651468e-04 6.34308453e+00] [ 1.55285691e-02 -9.91811557e-04 9.99878933e-01 8.23383751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.7692541539999 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] Translation: X:530.35, Y:6.35, Z:8.23 [[ 9.95086340e-01 -9.77820166e-02 -1.55516025e-02 5.30354141e+02] [ 9.77858250e-02 9.95207348e-01 -5.17161867e-04 6.34650589e+00] [ 1.55276382e-02 -1.00610557e-03 9.99878933e-01 8.23427073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.799254154 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:530.39, Y:6.35, Z:8.24 [[ 9.95173634e-01 -9.68894380e-02 -1.55523510e-02 5.30385646e+02] [ 9.68935160e-02 9.95294632e-01 -4.92860124e-04 6.34835173e+00] [ 1.55269244e-02 -1.01644057e-03 9.99878933e-01 8.23539090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.829254154 meters Centerline goodness : 0.999482 Centerline is valid? [True, True] Translation: X:530.42, Y:6.35, Z:8.24 [[ 9.95212753e-01 -9.64867259e-02 -1.55527563e-02 5.30416575e+02] [ 9.64909593e-02 9.95333745e-01 -4.79722792e-04 6.35194156e+00] [ 1.55264700e-02 -1.02327413e-03 9.99878933e-01 8.23590756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.8592541539999 meters Centerline goodness : 0.999730 Centerline is valid? [True, True] Translation: X:530.45, Y:6.36, Z:8.24 [[ 9.95193408e-01 -9.66860509e-02 -1.55527719e-02 5.30447834e+02] [ 9.66903165e-02 9.95314399e-01 -4.79214221e-04 6.36107712e+00] [ 1.55262312e-02 -1.02689161e-03 9.99878933e-01 8.23664518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.8892541539999 meters Centerline goodness : 0.999667 Centerline is valid? [True, True] Translation: X:530.48, Y:6.37, Z:8.24 [[ 9.95311503e-01 -9.54626326e-02 -1.55530698e-02 5.30479613e+02] [ 9.54668998e-02 9.95432494e-01 -4.69552729e-04 6.36549461e+00] [ 1.55268558e-02 -1.01745212e-03 9.99878933e-01 8.23792003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.919254154 meters Centerline goodness : 0.999667 Centerline is valid? [True, True] Translation: X:530.51, Y:6.37, Z:8.24 [[ 9.95506155e-01 -9.34108666e-02 -1.55533086e-02 5.30510657e+02] [ 9.34150050e-02 9.95627151e-01 -4.61804413e-04 6.36905659e+00] [ 1.55284339e-02 -9.93183266e-04 9.99878933e-01 8.23937207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.949254154 meters Centerline goodness : 0.999689 Centerline is valid? [True, True] Translation: X:530.54, Y:6.38, Z:8.24 [[ 9.95557591e-01 -9.28611572e-02 -1.55527540e-02 5.30541377e+02] [ 9.28649489e-02 9.95678598e-01 -4.79782897e-04 6.37506732e+00] [ 1.55300975e-02 -9.66654202e-04 9.99878933e-01 8.23980366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.9792541539999 meters Centerline goodness : 0.999605 Centerline is valid? [True, True] Translation: X:530.57, Y:6.38, Z:8.24 [[ 9.95925484e-01 -8.88286834e-02 -1.55530113e-02 5.30571717e+02] [ 8.88321148e-02 9.96046502e-01 -4.71445372e-04 6.38183052e+00] [ 1.55334004e-02 -9.12082426e-04 9.99878933e-01 8.24018535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.0092541539999 meters Centerline goodness : 0.999502 Centerline is valid? [True, True] Translation: X:530.60, Y:6.39, Z:8.24 [[ 9.95979320e-01 -8.82230420e-02 -1.55527575e-02 5.30603573e+02] [ 8.82262718e-02 9.96100344e-01 -4.79674621e-04 6.38727850e+00] [ 1.55344254e-02 -8.94415807e-04 9.99878933e-01 8.23882176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.0392541539999 meters Centerline goodness : 0.999502 Centerline is valid? [True, True] Translation: X:530.64, Y:6.39, Z:8.24 [[ 9.95981871e-01 -8.81941395e-02 -1.55533566e-02 5.30635231e+02] [ 8.81976689e-02 9.96102886e-01 -4.60196076e-04 6.38818842e+00] [ 1.55333299e-02 -9.13422843e-04 9.99878933e-01 8.23931101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.069254154 meters Centerline goodness : 0.999522 Centerline is valid? [True, True] Translation: X:530.67, Y:6.39, Z:8.24 [[ 9.96180333e-01 -8.59234369e-02 -1.55533751e-02 5.30668081e+02] [ 8.59266998e-02 9.96301356e-01 -4.59593499e-04 6.39103499e+00] [ 1.55353385e-02 -8.78612185e-04 9.99878933e-01 8.24088976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.0992541539999 meters Centerline goodness : 0.999585 Centerline is valid? [True, True] Translation: X:530.70, Y:6.40, Z:8.24 [[ 9.96198643e-01 -8.57105808e-02 -1.55550385e-02 5.30697826e+02] [ 8.57146623e-02 9.96319644e-01 -4.05339014e-04 6.39660918e+00] [ 1.55325323e-02 -9.29496696e-04 9.99878931e-01 8.23943321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.1292541539999 meters Centerline goodness : 0.999481 Centerline is valid? [True, True] Translation: X:530.73, Y:6.40, Z:8.24 [[ 9.96465274e-01 -8.25533184e-02 -1.55533615e-02 5.30729528e+02] [ 8.25561699e-02 9.96586307e-01 -4.59720370e-04 6.40192396e+00] [ 1.55382186e-02 -8.25930574e-04 9.99878933e-01 8.24062491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.1592541539999 meters Centerline goodness : 0.999275 Centerline is valid? [True, True] Translation: X:530.76, Y:6.41, Z:8.24 [[ 9.96493528e-01 -8.22111430e-02 -1.55555987e-02 5.30759568e+02] [ 8.22150848e-02 9.96614534e-01 -3.86999569e-04 6.40727427e+00] [ 1.55347514e-02 -8.93262299e-04 9.99878929e-01 8.23956080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.189254154 meters Centerline goodness : 0.999232 Centerline is valid? [True, True] Translation: X:530.79, Y:6.41, Z:8.24 [[ 9.96616651e-01 -8.07052923e-02 -1.55533272e-02 5.30792358e+02] [ 8.07079271e-02 9.96737688e-01 -4.59221986e-04 6.41120478e+00] [ 1.55396490e-02 -7.97608520e-04 9.99878934e-01 8.24468275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.2192541539999 meters Centerline goodness : 0.999295 Centerline is valid? [True, True] Translation: X:530.82, Y:6.41, Z:8.24 [[ 9.96820669e-01 -7.81447316e-02 -1.55548663e-02 5.30823373e+02] [ 7.81478217e-02 9.96941698e-01 -4.09998590e-04 6.41499979e+00] [ 1.55393341e-02 -8.06883851e-04 9.99878932e-01 8.24200924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.2492541539999 meters Centerline goodness : 0.999172 Centerline is valid? [True, True] Translation: X:530.85, Y:6.42, Z:8.24 [[ 9.97157320e-01 -7.37247201e-02 -1.55545999e-02 5.30852975e+02] [ 7.37271376e-02 9.97278363e-01 -4.18736583e-04 6.42273884e+00] [ 1.55431371e-02 -7.29249877e-04 9.99878932e-01 8.24179903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.2792541539999 meters Centerline goodness : 0.999129 Centerline is valid? [True, True] Translation: X:530.89, Y:6.43, Z:8.24 [[ 9.97355570e-01 -7.09927857e-02 -1.55528473e-02 5.30885042e+02] [ 7.09939800e-02 9.97476630e-01 -4.76001080e-04 6.42676995e+00] [ 1.55473944e-02 -6.29416203e-04 9.99878934e-01 8.24181415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.309254154 meters Centerline goodness : 0.999213 Centerline is valid? [True, True] Translation: X:530.92, Y:6.43, Z:8.24 [[ 9.97547319e-01 -6.82455516e-02 -1.55528756e-02 5.30916997e+02] [ 6.82464270e-02 9.97668382e-01 -4.75074551e-04 6.43072901e+00] [ 1.55490340e-02 -5.87518845e-04 9.99878934e-01 8.24217950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.339254154 meters Centerline goodness : 0.999066 Centerline is valid? [True, True] Translation: X:530.95, Y:6.43, Z:8.25 [[ 9.97784827e-01 -6.46803365e-02 -1.55529037e-02 5.30949069e+02] [ 6.46807935e-02 9.97905892e-01 -4.74154541e-04 6.43358475e+00] [ 1.55510027e-02 -5.32869944e-04 9.99878934e-01 8.24763915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.3692541539999 meters Centerline goodness : 0.999128 Centerline is valid? [True, True] Translation: X:530.98, Y:6.44, Z:8.24 [[ 9.98046678e-01 -6.05056551e-02 -1.55529387e-02 5.30980220e+02] [ 6.05056237e-02 9.98167744e-01 -4.73001964e-04 6.44075466e+00] [ 1.55530610e-02 -4.68962217e-04 9.99878934e-01 8.24496439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.3992541539999 meters Centerline goodness : 0.999150 Centerline is valid? [True, True] Translation: X:531.01, Y:6.44, Z:8.24 [[ 9.98164186e-01 -5.85351365e-02 -1.55529646e-02 5.31011764e+02] [ 5.85348793e-02 9.98285252e-01 -4.72147511e-04 6.44385850e+00] [ 1.55539325e-02 -4.39110172e-04 9.99878934e-01 8.24282457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.429254154 meters Centerline goodness : 0.999233 Centerline is valid? [True, True] Translation: X:531.04, Y:6.45, Z:8.25 [[ 9.98249219e-01 -5.70666421e-02 -1.55529881e-02 5.31043974e+02] [ 5.70662189e-02 9.98370284e-01 -4.71372609e-04 6.44653163e+00] [ 1.55545408e-02 -4.17002886e-04 9.99878934e-01 8.24517781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.459254154 meters Centerline goodness : 0.999356 Centerline is valid? [True, True] Translation: X:531.08, Y:6.45, Z:8.25 [[ 9.98329327e-01 -5.56476245e-02 -1.55530191e-02 5.31075876e+02] [ 5.56470452e-02 9.98450392e-01 -4.70348069e-04 6.45055295e+00] [ 1.55550918e-02 -3.95917286e-04 9.99878934e-01 8.24671539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.4892541539999 meters Centerline goodness : 0.999148 Centerline is valid? [True, True] Translation: X:531.11, Y:6.45, Z:8.25 [[ 9.98344042e-01 -5.53830063e-02 -1.55530520e-02 5.31107882e+02] [ 5.53824119e-02 9.98465106e-01 -4.69258133e-04 6.45300050e+00] [ 1.55551686e-02 -3.92884471e-04 9.99878934e-01 8.24738458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.5192541539999 meters Centerline goodness : 0.999086 Centerline is valid? [True, True] Translation: X:531.14, Y:6.46, Z:8.25 [[ 9.98353778e-01 -5.52072120e-02 -1.55530846e-02 5.31139666e+02] [ 5.52066130e-02 9.98474842e-01 -4.68175994e-04 6.45543367e+00] [ 1.55552104e-02 -3.91227850e-04 9.99878934e-01 8.24810189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.549254154 meters Centerline goodness : 0.999168 Centerline is valid? [True, True] Translation: X:531.17, Y:6.46, Z:8.25 [[ 9.98366150e-01 -5.49830135e-02 -1.55531169e-02 5.31170322e+02] [ 5.49824042e-02 9.98487214e-01 -4.67099024e-04 6.45733128e+00] [ 1.55552709e-02 -3.88811906e-04 9.99878934e-01 8.24877439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.579254154 meters Centerline goodness : 0.999231 Centerline is valid? [True, True] Translation: X:531.20, Y:6.46, Z:8.25 [[ 9.98370579e-01 -5.49025050e-02 -1.55531727e-02 5.31201371e+02] [ 5.49019149e-02 9.98491644e-01 -4.65233263e-04 6.45957689e+00] [ 1.55552555e-02 -3.89423764e-04 9.99878934e-01 8.25011407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.6092541539999 meters Centerline goodness : 0.999232 Centerline is valid? [True, True] Translation: X:531.23, Y:6.46, Z:8.25 [[ 9.98374861e-01 -5.48245928e-02 -1.55531965e-02 5.31233852e+02] [ 5.48240057e-02 9.98495925e-01 -4.64437140e-04 6.46081971e+00] [ 1.55552659e-02 -3.89006168e-04 9.99878934e-01 8.25035519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.6392541539999 meters Centerline goodness : 0.999002 Centerline is valid? [True, True] Translation: X:531.26, Y:6.46, Z:8.25 [[ 9.98379409e-01 -5.47415315e-02 -1.55538018e-02 5.31264729e+02] [ 5.47412511e-02 9.98500475e-01 -4.44090148e-04 6.46179153e+00] [ 1.55547887e-02 -4.08064114e-04 9.99878934e-01 8.25159702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.669254154 meters Centerline goodness : 0.999168 Centerline is valid? [True, True] Translation: X:531.30, Y:6.46, Z:8.25 [[ 9.98368517e-01 -5.49399780e-02 -1.55532284e-02 5.31296249e+02] [ 5.49394220e-02 9.98489582e-01 -4.63339616e-04 6.46297472e+00] [ 1.55551924e-02 -3.91901693e-04 9.99878934e-01 8.25230302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.699254154 meters Centerline goodness : 0.998958 Centerline is valid? [True, True] Translation: X:531.33, Y:6.46, Z:8.26 [[ 9.98418653e-01 -5.40212006e-02 -1.55532515e-02 5.31330410e+02] [ 5.40205453e-02 9.98539717e-01 -4.62562729e-04 6.46163254e+00] [ 1.55555275e-02 -3.78363870e-04 9.99878934e-01 8.25531488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.7292541539999 meters Centerline goodness : 0.999129 Centerline is valid? [True, True] Translation: X:531.36, Y:6.47, Z:8.25 [[ 9.98325103e-01 -5.57221993e-02 -1.55571691e-02 5.31357900e+02] [ 5.57238121e-02 9.98446167e-01 -3.30127417e-04 6.46513364e+00] [ 1.55513913e-02 -5.37330279e-04 9.99878925e-01 8.25365146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.7592541539999 meters Centerline goodness : 0.999105 Centerline is valid? [True, True] Translation: X:531.39, Y:6.46, Z:8.26 [[ 9.98245358e-01 -5.71340731e-02 -1.55532241e-02 5.31391288e+02] [ 5.71337926e-02 9.98366424e-01 -4.62730345e-04 6.46439410e+00] [ 1.55542544e-02 -4.26696261e-04 9.99878934e-01 8.25554291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.7892541539999 meters Centerline goodness : 0.999168 Centerline is valid? [True, True] Translation: X:531.42, Y:6.47, Z:8.25 [[ 9.98082519e-01 -5.99108033e-02 -1.55557116e-02 5.31421639e+02] [ 5.99121614e-02 9.98203581e-01 -3.79113142e-04 6.46658325e+00] [ 1.55504800e-02 -5.53590102e-04 9.99878931e-01 8.25451539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.819254154 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:531.45, Y:6.47, Z:8.25 [[ 9.97974659e-01 -6.16820941e-02 -1.55531287e-02 5.31453348e+02] [ 6.16823233e-02 9.98095724e-01 -4.65426177e-04 6.46689130e+00] [ 1.55522197e-02 -4.94869583e-04 9.99878934e-01 8.25497288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.8492541539999 meters Centerline goodness : 0.999064 Centerline is valid? [True, True] Translation: X:531.49, Y:6.47, Z:8.26 [[ 9.97848969e-01 -6.36830796e-02 -1.55531589e-02 5.31485164e+02] [ 6.36835672e-02 9.97970033e-01 -4.64415711e-04 6.46722293e+00] [ 1.55511619e-02 -5.27063901e-04 9.99878934e-01 8.25535214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.8792541539999 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:531.52, Y:6.47, Z:8.26 [[ 9.97743346e-01 -6.53170301e-02 -1.55531889e-02 5.31516228e+02] [ 6.53177317e-02 9.97864409e-01 -4.63409373e-04 6.46748458e+00] [ 1.55502421e-02 -5.53535400e-04 9.99878934e-01 8.25556456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.9092541539999 meters Centerline goodness : 0.999271 Centerline is valid? [True, True] Translation: X:531.55, Y:6.47, Z:8.26 [[ 9.97468989e-01 -6.93809233e-02 -1.55532434e-02 5.31548031e+02] [ 6.93821466e-02 9.97590048e-01 -4.61572537e-04 6.46739060e+00] [ 1.55477851e-02 -6.18713120e-04 9.99878934e-01 8.25660854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.939254154 meters Centerline goodness : 0.999125 Centerline is valid? [True, True] Translation: X:531.58, Y:6.47, Z:8.26 [[ 9.97337933e-01 -7.12400451e-02 -1.55532726e-02 5.31580635e+02] [ 7.12415094e-02 9.97458989e-01 -4.60585703e-04 6.46773950e+00] [ 1.55465637e-02 -6.48679023e-04 9.99878934e-01 8.25784133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.9692541539999 meters Centerline goodness : 0.999251 Centerline is valid? [True, True] Translation: X:531.61, Y:6.47, Z:8.26 [[ 9.97144125e-01 -7.39032416e-02 -1.55533023e-02 5.31612630e+02] [ 7.39050449e-02 9.97265177e-01 -4.59581839e-04 6.46764138e+00] [ 1.55447313e-02 -6.91198171e-04 9.99878934e-01 8.26138153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.9992541539999 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:531.64, Y:6.47, Z:8.26 [[ 9.97106697e-01 -7.44065158e-02 -1.55533343e-02 5.31644715e+02] [ 7.44083971e-02 9.97227747e-01 -4.58496355e-04 6.46797579e+00] [ 1.55443316e-02 -7.00128886e-04 9.99878934e-01 8.26193263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.0292541539999 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:531.68, Y:6.47, Z:8.26 [[ 9.97084835e-01 -7.46988944e-02 -1.55533660e-02 5.31677276e+02] [ 7.47008280e-02 9.97205885e-01 -4.57417942e-04 6.46855713e+00] [ 1.55440767e-02 -7.05764822e-04 9.99878934e-01 8.26217899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.059254154 meters Centerline goodness : 0.999106 Centerline is valid? [True, True] Translation: X:531.71, Y:6.47, Z:8.26 [[ 9.97168267e-01 -7.35767623e-02 -1.55533975e-02 5.31710228e+02] [ 7.35785764e-02 9.97289319e-01 -4.56343795e-04 6.46931908e+00] [ 1.55448135e-02 -6.89345295e-04 9.99878934e-01 8.26309573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.089254154 meters Centerline goodness : 0.999229 Centerline is valid? [True, True] Translation: X:531.74, Y:6.47, Z:8.26 [[ 9.97287539e-01 -7.19420291e-02 -1.55534445e-02 5.31741244e+02] [ 7.19436697e-02 9.97408593e-01 -4.54737343e-04 6.47044924e+00] [ 1.55458539e-02 -6.65467986e-04 9.99878934e-01 8.26366936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.1192541539999 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:531.77, Y:6.47, Z:8.26 [[ 9.97631049e-01 -6.70102963e-02 -1.55534953e-02 5.31772734e+02] [ 6.70113656e-02 9.97752109e-01 -4.52990530e-04 6.47191995e+00] [ 1.55488878e-02 -5.90343544e-04 9.99878934e-01 8.26417606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.1492541539999 meters Centerline goodness : 0.999229 Centerline is valid? [True, True] Translation: X:531.80, Y:6.47, Z:8.26 [[ 9.97846211e-01 -6.37261857e-02 -1.55535182e-02 5.31804489e+02] [ 6.37268687e-02 9.97967275e-01 -4.52202918e-04 6.47323409e+00] [ 1.55507194e-02 -5.39948047e-04 9.99878934e-01 8.26480162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.179254154 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:531.84, Y:6.47, Z:8.26 [[ 9.98029831e-01 -6.07827532e-02 -1.55535483e-02 5.31837078e+02] [ 6.07830953e-02 9.98150896e-01 -4.51165394e-04 6.47437286e+00] [ 1.55522113e-02 -4.95116288e-04 9.99878934e-01 8.26497749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.209254154 meters Centerline goodness : 0.999417 Centerline is valid? [True, True] Translation: X:531.87, Y:6.48, Z:8.27 [[ 9.98418869e-01 -5.40171049e-02 -1.55535782e-02 5.31868932e+02] [ 5.40166426e-02 9.98539934e-01 -4.50132623e-04 6.47517361e+00] [ 1.55551838e-02 -3.90731171e-04 9.99878934e-01 8.26793010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.2392541539999 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:531.90, Y:6.48, Z:8.27 [[ 9.98591352e-01 -5.07286592e-02 -1.55536093e-02 5.31900213e+02] [ 5.07278149e-02 9.98712415e-01 -4.49056718e-04 6.47594697e+00] [ 1.55563627e-02 -3.40576457e-04 9.99878934e-01 8.26648617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.2692541539999 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:531.93, Y:6.48, Z:8.27 [[ 9.98739738e-01 -4.77181330e-02 -1.55536324e-02 5.31931535e+02] [ 4.77169363e-02 9.98860798e-01 -4.48256079e-04 6.47686469e+00] [ 1.55573036e-02 -2.94480525e-04 9.99878934e-01 8.26684181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.299254154 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:531.96, Y:6.48, Z:8.27 [[ 9.98990576e-01 -4.21415807e-02 -1.55536540e-02 5.31964091e+02] [ 4.21397198e-02 9.99111627e-01 -4.47502470e-04 6.47791904e+00] [ 1.55586951e-02 -2.08375873e-04 9.99878934e-01 8.26886163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.329254154 meters Centerline goodness : 0.999168 Centerline is valid? [True, True] Translation: X:532.00, Y:6.48, Z:8.27 [[ 9.99094751e-01 -3.95949578e-02 -1.55536840e-02 5.31995982e+02] [ 3.95928046e-02 9.99215798e-01 -4.46458286e-04 6.47847316e+00] [ 1.55591643e-02 -1.69759842e-04 9.99878934e-01 8.27102909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.3592541539999 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:532.03, Y:6.48, Z:8.27 [[ 9.99201976e-01 -3.67898508e-02 -1.55537155e-02 5.32026511e+02] [ 3.67873749e-02 9.99323016e-01 -4.45358568e-04 6.47836372e+00] [ 1.55595706e-02 -1.27177201e-04 9.99878934e-01 8.26766015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.3892541539999 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:532.06, Y:6.48, Z:8.27 [[ 9.99246409e-01 -3.55625757e-02 -1.55537233e-02 5.32057302e+02] [ 3.55599554e-02 9.99367446e-01 -4.45086784e-04 6.47845887e+00] [ 1.55597131e-02 -1.08338336e-04 9.99878934e-01 8.26924509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.419254154 meters Centerline goodness : 0.999479 Centerline is valid? [True, True] Translation: X:532.09, Y:6.48, Z:8.27 [[ 9.99299990e-01 -3.40236900e-02 -1.55537233e-02 5.32088187e+02] [ 3.40208833e-02 9.99421023e-01 -4.45086784e-04 6.47833461e+00] [ 1.55598615e-02 -8.43761857e-05 9.99878934e-01 8.27011006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.449254154 meters Centerline goodness : 0.999583 Centerline is valid? [True, True] Translation: X:532.12, Y:6.48, Z:8.27 [[ 9.99386749e-01 -3.13720825e-02 -1.55537233e-02 5.32117960e+02] [ 3.13689546e-02 9.99507774e-01 -4.45086784e-04 6.47695213e+00] [ 1.55600306e-02 -4.30902059e-05 9.99878934e-01 8.27102800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.4792541539999 meters Centerline goodness : 0.999456 Centerline is valid? [True, True] Translation: X:532.15, Y:6.48, Z:8.27 [[ 9.99412504e-01 -3.05405967e-02 -1.55537212e-02 5.32148603e+02] [ 3.05373671e-02 9.99533527e-01 -4.45158263e-04 6.47698030e+00] [ 1.55600612e-02 -3.00729600e-05 9.99878934e-01 8.27188744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.5092541539999 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:532.18, Y:6.48, Z:8.27 [[ 9.99441116e-01 -2.95894919e-02 -1.55537212e-02 5.32178839e+02] [ 2.95861470e-02 9.99562135e-01 -4.45158263e-04 6.47662271e+00] [ 1.55600828e-02 -1.52652120e-05 9.99878934e-01 8.27269811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.5392541539999 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:532.21, Y:6.47, Z:8.28 [[ 9.99467301e-01 -2.86913804e-02 -1.55537212e-02 5.32208885e+02] [ 2.86879268e-02 9.99588318e-01 -4.45158263e-04 6.47443311e+00] [ 1.55600902e-02 -1.28288806e-06 9.99878934e-01 8.27796971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.569254154 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:532.24, Y:6.47, Z:8.28 [[ 9.99476201e-01 -2.83796551e-02 -1.55537212e-02 5.32238418e+02] [ 2.83761637e-02 9.99597216e-01 -4.45158263e-04 6.47309657e+00] [ 1.55600899e-02 3.57014949e-06 9.99878934e-01 8.27678633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.5992541539999 meters Centerline goodness : 0.999520 Centerline is valid? [True, True] Translation: X:532.27, Y:6.47, Z:8.28 [[ 9.99465002e-01 -2.87713887e-02 -1.55537130e-02 5.32268359e+02] [ 2.87679404e-02 9.99586018e-01 -4.45446621e-04 6.47174284e+00] [ 1.55600901e-02 -2.23997953e-06 9.99878934e-01 8.27735102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.6292541539999 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:532.30, Y:6.47, Z:8.28 [[ 9.99419904e-01 -3.02974833e-02 -1.55537054e-02 5.32298447e+02] [ 3.02942155e-02 9.99540926e-01 -4.45712420e-04 6.46807417e+00] [ 1.55600690e-02 -2.57334385e-05 9.99878934e-01 8.27934436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.6592541539999 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:532.33, Y:6.47, Z:8.28 [[ 9.99400162e-01 -3.09418554e-02 -1.55537052e-02 5.32327645e+02] [ 3.09386656e-02 9.99521186e-01 -4.45718176e-04 6.46633160e+00] [ 1.55600492e-02 -3.57600668e-05 9.99878934e-01 8.27822117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.689254154 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:532.36, Y:6.47, Z:8.28 [[ 9.99334346e-01 -3.29991896e-02 -1.55536970e-02 5.32357787e+02] [ 3.29962446e-02 9.99455376e-01 -4.46003702e-04 6.46509096e+00] [ 1.55599439e-02 -6.75067718e-05 9.99878934e-01 8.27951399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.7192541539999 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:532.39, Y:6.46, Z:8.28 [[ 9.99282682e-01 -3.45283182e-02 -1.55536808e-02 5.32387805e+02] [ 3.45255495e-02 9.99403716e-01 -4.46569754e-04 6.46343824e+00] [ 1.55598256e-02 -9.07499528e-05 9.99878934e-01 8.27825039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.7492541539999 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:532.42, Y:6.46, Z:8.28 [[ 9.99148094e-01 -3.82252480e-02 -1.55536727e-02 5.32417939e+02] [ 3.82229228e-02 9.99269137e-01 -4.46850704e-04 6.45942164e+00] [ 1.55593861e-02 -1.48036801e-04 9.99878934e-01 8.27930146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.7792541539999 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:532.45, Y:6.46, Z:8.28 [[ 9.99084277e-01 -3.98583952e-02 -1.55536727e-02 5.32448003e+02] [ 3.98562679e-02 9.99205323e-01 -4.46850704e-04 6.45728114e+00] [ 1.55591233e-02 -1.73469833e-04 9.99878934e-01 8.27916337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.809254154 meters Centerline goodness : 0.999686 Centerline is valid? [True, True] Translation: X:532.48, Y:6.46, Z:8.28 [[ 9.99015659e-01 -4.15426915e-02 -1.55536807e-02 5.32479879e+02] [ 4.15407725e-02 9.99136710e-01 -4.46572609e-04 6.45541625e+00] [ 1.55588052e-02 -1.99978882e-04 9.99878934e-01 8.27957686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.839254154 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:532.51, Y:6.45, Z:8.28 [[ 9.98899969e-01 -4.42372411e-02 -1.55536965e-02 5.32510630e+02] [ 4.42356572e-02 9.99021025e-01 -4.46019356e-04 6.45114469e+00] [ 1.55582005e-02 -2.42499267e-04 9.99878934e-01 8.28010763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.8692541539999 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:532.54, Y:6.45, Z:8.28 [[ 9.98832363e-01 -4.57383087e-02 -1.55537044e-02 5.32541795e+02] [ 4.57369111e-02 9.98953420e-01 -4.45744894e-04 6.44979125e+00] [ 1.55578138e-02 -2.66153968e-04 9.99878934e-01 8.28053288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.8992541539999 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:532.57, Y:6.45, Z:8.28 [[ 9.98705245e-01 -4.84346427e-02 -1.55537199e-02 5.32572345e+02] [ 4.84335803e-02 9.98826306e-01 -4.45201744e-04 6.44912892e+00] [ 1.55570278e-02 -3.08697027e-04 9.99878934e-01 8.28082336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.929254154 meters Centerline goodness : 0.999498 Centerline is valid? [True, True] Translation: X:532.60, Y:6.45, Z:8.28 [[ 9.98679125e-01 -4.89702698e-02 -1.55537277e-02 5.32603098e+02] [ 4.89692765e-02 9.98800186e-01 -4.44932256e-04 6.44764686e+00] [ 1.55568545e-02 -3.17310235e-04 9.99878934e-01 8.28178196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.959254154 meters Centerline goodness : 0.999498 Centerline is valid? [True, True] Translation: X:532.63, Y:6.45, Z:8.28 [[ 9.98680818e-01 -4.89357358e-02 -1.55537277e-02 5.32634924e+02] [ 4.89347384e-02 9.98801879e-01 -4.44932256e-04 6.44852529e+00] [ 1.55568655e-02 -3.16772285e-04 9.99878934e-01 8.28227741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.9892541539999 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:532.67, Y:6.45, Z:8.28 [[ 9.98445417e-01 -5.35241193e-02 -1.55537430e-02 5.32665320e+02] [ 5.35236865e-02 9.98566481e-01 -4.44394349e-04 6.44576116e+00] [ 1.55552323e-02 -3.88790165e-04 9.99878934e-01 8.28135278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.0192541539999 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:532.70, Y:6.44, Z:8.28 [[ 9.98341123e-01 -5.54353910e-02 -1.55537506e-02 5.32696602e+02] [ 5.54351941e-02 9.98462189e-01 -4.44127441e-04 6.44440713e+00] [ 1.55544523e-02 -4.18834497e-04 9.99878934e-01 8.28160113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.049254154 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:532.73, Y:6.44, Z:8.28 [[ 9.98249609e-01 -5.70595983e-02 -1.55537657e-02 5.32727785e+02] [ 5.70596066e-02 9.98370675e-01 -4.43601087e-04 6.44293702e+00] [ 1.55537352e-02 -4.44667137e-04 9.99878934e-01 8.28175326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.079254154 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:532.76, Y:6.44, Z:8.28 [[ 9.98021214e-01 -6.09240154e-02 -1.55537806e-02 5.32758213e+02] [ 6.09245006e-02 9.98142279e-01 -4.43077905e-04 6.43981503e+00] [ 1.55518801e-02 -5.05405163e-04 9.99878934e-01 8.28194472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.1092541539999 meters Centerline goodness : 0.999644 Centerline is valid? [True, True] Translation: X:532.79, Y:6.44, Z:8.28 [[ 9.97945890e-01 -6.21456440e-02 -1.55537880e-02 5.32788543e+02] [ 6.21462814e-02 9.98066953e-01 -4.42818046e-04 6.43874762e+00] [ 1.55512410e-02 -5.24701635e-04 9.99878934e-01 8.28239620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.1392541539999 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:532.82, Y:6.44, Z:8.28 [[ 9.97808520e-01 -6.43135793e-02 -1.55537953e-02 5.32819387e+02] [ 6.43144837e-02 9.97929582e-01 -4.42560712e-04 6.43837450e+00] [ 1.55500551e-02 -5.58743464e-04 9.99878934e-01 8.28244234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.169254154 meters Centerline goodness : 0.999623 Centerline is valid? [True, True] Translation: X:532.85, Y:6.44, Z:8.28 [[ 9.97771253e-01 -6.48891844e-02 -1.55538025e-02 5.32850676e+02] [ 6.48901627e-02 9.97892314e-01 -4.42305931e-04 6.43709057e+00] [ 1.55497209e-02 -5.67968633e-04 9.99878934e-01 8.28305917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.199254154 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:532.88, Y:6.44, Z:8.28 [[ 9.97600035e-01 -6.74703614e-02 -1.55538169e-02 5.32880808e+02] [ 6.74716607e-02 9.97721093e-01 -4.41799706e-04 6.43541414e+00] [ 1.55481796e-02 -6.08702454e-04 9.99878934e-01 8.28288630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.2292541539999 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:532.91, Y:6.43, Z:8.28 [[ 9.97616734e-01 -6.72229925e-02 -1.55538240e-02 5.32911112e+02] [ 6.72242657e-02 9.97737793e-01 -4.41548502e-04 6.43476360e+00] [ 1.55483203e-02 -6.05098225e-04 9.99878934e-01 8.28331123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.2592541539999 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:532.94, Y:6.43, Z:8.28 [[ 9.97671962e-01 -6.63983075e-02 -1.55538311e-02 5.32941378e+02] [ 6.63994845e-02 9.97793021e-01 -4.41299144e-04 6.43443827e+00] [ 1.55488057e-02 -5.92494585e-04 9.99878934e-01 8.28417004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.2892541539999 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:532.97, Y:6.43, Z:8.28 [[ 9.97680796e-01 -6.62654338e-02 -1.55538311e-02 5.32971827e+02] [ 6.62665947e-02 9.97801856e-01 -4.41299144e-04 6.43497260e+00] [ 1.55488844e-02 -5.90423741e-04 9.99878934e-01 8.28391217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.319254154 meters Centerline goodness : 0.999688 Centerline is valid? [True, True] Translation: X:533.00, Y:6.44, Z:8.28 [[ 9.97764939e-01 -6.49861901e-02 -1.55538381e-02 5.33002390e+02] [ 6.49871996e-02 9.97886000e-01 -4.41051210e-04 6.43538730e+00] [ 1.55496196e-02 -5.70734951e-04 9.99878934e-01 8.28403683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.3492541539999 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:533.03, Y:6.44, Z:8.28 [[ 9.97864365e-01 -6.34412080e-02 -1.55538381e-02 5.33033884e+02] [ 6.34420301e-02 9.97985428e-01 -4.41051210e-04 6.43589710e+00] [ 1.55504846e-02 -5.46657781e-04 9.99878934e-01 8.28492870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.3792541539999 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:533.06, Y:6.44, Z:8.28 [[ 9.98066218e-01 -6.01822330e-02 -1.55538546e-02 5.33064016e+02] [ 6.01826688e-02 9.98187283e-01 -4.40470902e-04 6.43620902e+00] [ 1.55521684e-02 -4.96453350e-04 9.99878934e-01 8.28360963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.4092541539999 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:533.10, Y:6.44, Z:8.29 [[ 9.98159933e-01 -5.86073791e-02 -1.55538627e-02 5.33095006e+02] [ 5.86076283e-02 9.98280999e-01 -4.40183535e-04 6.43667040e+00] [ 1.55529236e-02 -4.72201437e-04 9.99878934e-01 8.28532839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.439254154 meters Centerline goodness : 0.999644 Centerline is valid? [True, True] Translation: X:533.13, Y:6.44, Z:8.28 [[ 9.98196999e-01 -5.79726460e-02 -1.55538788e-02 5.33125826e+02] [ 5.79728271e-02 9.98318065e-01 -4.39615616e-04 6.43745998e+00] [ 1.55532038e-02 -4.62879336e-04 9.99878934e-01 8.28465720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.4692541539999 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:533.16, Y:6.44, Z:8.29 [[ 9.98266501e-01 -5.67632727e-02 -1.55538867e-02 5.33157557e+02] [ 5.67633115e-02 9.98387567e-01 -4.39333936e-04 6.43775699e+00] [ 1.55537451e-02 -4.44317766e-04 9.99878934e-01 8.28595267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.4992541539999 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:533.19, Y:6.44, Z:8.29 [[ 9.98235155e-01 -5.73118756e-02 -1.55539027e-02 5.33187753e+02] [ 5.73119898e-02 9.98356221e-01 -4.38768382e-04 6.43823683e+00] [ 1.55534821e-02 -4.53431087e-04 9.99878934e-01 8.28567951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.5292541539999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:533.22, Y:6.44, Z:8.29 [[ 9.98201232e-01 -5.78997067e-02 -1.55539295e-02 5.33217649e+02] [ 5.78999070e-02 9.98322297e-01 -4.37815538e-04 6.43853878e+00] [ 1.55531840e-02 -4.63543061e-04 9.99878934e-01 8.28621955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.559254154 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:533.25, Y:6.44, Z:8.29 [[ 9.98098404e-01 -5.96460484e-02 -1.55539373e-02 5.33247978e+02] [ 5.96464648e-02 9.98219469e-01 -4.37539469e-04 6.43892746e+00] [ 1.55523405e-02 -4.91029925e-04 9.99878934e-01 8.28697129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.589254154 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:533.28, Y:6.44, Z:8.29 [[ 9.98015327e-01 -6.10203359e-02 -1.55539450e-02 5.33278350e+02] [ 6.10209233e-02 9.98136391e-01 -4.37265486e-04 6.43961427e+00] [ 1.55516406e-02 -5.12718425e-04 9.99878934e-01 8.28805036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.6192541539999 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:533.31, Y:6.44, Z:8.29 [[ 9.97956591e-01 -6.19735104e-02 -1.55539705e-02 5.33307600e+02] [ 6.19742275e-02 9.98077655e-01 -4.36354964e-04 6.43977120e+00] [ 1.55511128e-02 -5.28481994e-04 9.99878934e-01 8.28802247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.6492541539999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:533.34, Y:6.44, Z:8.29 [[ 9.97906502e-01 -6.27748971e-02 -1.55539641e-02 5.33339294e+02] [ 6.27757079e-02 9.98027565e-01 -4.36584589e-04 6.44018156e+00] [ 1.55506914e-02 -5.40740504e-04 9.99878934e-01 8.28711646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.679254154 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:533.37, Y:6.44, Z:8.29 [[ 9.97878247e-01 -6.32224476e-02 -1.55539790e-02 5.33369741e+02] [ 6.32233210e-02 9.97999309e-01 -4.36051387e-04 6.44094983e+00] [ 1.55504285e-02 -5.48248013e-04 9.99878934e-01 8.28782609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.709254154 meters Centerline goodness : 0.999686 Centerline is valid? [True, True] Translation: X:533.40, Y:6.44, Z:8.29 [[ 9.97879931e-01 -6.31958554e-02 -1.55539864e-02 5.33399566e+02] [ 6.31967297e-02 9.98000994e-01 -4.35786796e-04 6.44218228e+00] [ 1.55504338e-02 -5.48098176e-04 9.99878934e-01 8.28717705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.7392541539999 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:533.43, Y:6.44, Z:8.29 [[ 9.97857595e-01 -6.35475666e-02 -1.55539877e-02 5.33430032e+02] [ 6.35484842e-02 9.97978657e-01 -4.35742075e-04 6.44379747e+00] [ 1.55502381e-02 -5.53623801e-04 9.99878934e-01 8.28772925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.7692541539999 meters Centerline goodness : 0.999477 Centerline is valid? [True, True] Translation: X:533.46, Y:6.45, Z:8.29 [[ 9.97877607e-01 -6.32325395e-02 -1.55539877e-02 5.33460002e+02] [ 6.32334189e-02 9.97998670e-01 -4.35742075e-04 6.44552074e+00] [ 1.55504121e-02 -5.48714560e-04 9.99878934e-01 8.28791538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.799254154 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:533.49, Y:6.45, Z:8.29 [[ 9.97995899e-01 -6.13372568e-02 -1.55539877e-02 5.33489765e+02] [ 6.13379063e-02 9.98116963e-01 -4.35742075e-04 6.44782956e+00] [ 1.55514262e-02 -5.19180235e-04 9.99878934e-01 8.28879171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.829254154 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:533.52, Y:6.45, Z:8.29 [[ 9.98094829e-01 -5.97058246e-02 -1.55539815e-02 5.33521097e+02] [ 5.97062728e-02 9.98215894e-01 -4.35962026e-04 6.44938780e+00] [ 1.55522610e-02 -4.93538819e-04 9.99878934e-01 8.28727527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.8592541539999 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:533.55, Y:6.45, Z:8.29 [[ 9.98255755e-01 -5.69519208e-02 -1.55539976e-02 5.33551218e+02] [ 5.69520439e-02 9.98376820e-01 -4.35388194e-04 6.45081694e+00] [ 1.55535468e-02 -4.51203182e-04 9.99878934e-01 8.28876930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.8892541539999 meters Centerline goodness : 0.999750 Centerline is valid? [True, True] Translation: X:533.58, Y:6.45, Z:8.29 [[ 9.98440279e-01 -5.36200326e-02 -1.55531511e-02 5.33582465e+02] [ 5.36192804e-02 9.98561343e-01 -4.65654626e-04 6.45439090e+00] [ 1.55557439e-02 -3.69020438e-04 9.99878934e-01 8.29000501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.919254154 meters Centerline goodness : 0.996647 Centerline is valid? [True, True] Translation: X:533.61, Y:6.46, Z:8.29 [[ 9.98581457e-01 -5.09229509e-02 -1.55540282e-02 5.33611082e+02] [ 5.09223608e-02 9.98702521e-01 -4.34241170e-04 6.45676075e+00] [ 1.55559600e-02 -3.58422653e-04 9.99878934e-01 8.29448516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.949254154 meters Centerline goodness : 0.997164 Centerline is valid? [True, True] Translation: X:533.64, Y:6.46, Z:8.29 [[ 9.98692747e-01 -4.86920834e-02 -1.55524382e-02 5.33641315e+02] [ 4.86903380e-02 9.98813801e-01 -4.91080758e-04 6.45921206e+00] [ 1.55579017e-02 -2.66814682e-04 9.99878933e-01 8.29345070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.9792541539999 meters Centerline goodness : 0.996501 Centerline is valid? [True, True] Translation: X:533.67, Y:6.46, Z:8.29 [[ 9.98800968e-01 -4.64192811e-02 -1.55524035e-02 5.33669421e+02] [ 4.64172409e-02 9.98922018e-01 -4.92318518e-04 6.46141633e+00] [ 1.55584913e-02 -2.30171448e-04 9.99878933e-01 8.29444495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.0092541539999 meters Centerline goodness : 0.999729 Centerline is valid? [True, True] Translation: X:533.70, Y:6.46, Z:8.29 [[ 9.98786438e-01 -4.67312748e-02 -1.55511717e-02 5.33700205e+02] [ 4.67285954e-02 9.98907479e-01 -5.35815397e-04 6.46499904e+00] [ 1.55592211e-02 -1.91519260e-04 9.99878930e-01 8.29427694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.0392541539999 meters Centerline goodness : 0.999375 Centerline is valid? [True, True] Translation: X:533.73, Y:6.47, Z:8.29 [[ 9.98933775e-01 -4.34669922e-02 -1.55542259e-02 5.33730530e+02] [ 4.34655881e-02 9.99054833e-01 -4.28477279e-04 6.46722700e+00] [ 1.55581491e-02 -2.48053148e-04 9.99878934e-01 8.29135291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.069254154 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:533.76, Y:6.47, Z:8.29 [[ 9.98958084e-01 -4.29048521e-02 -1.55537792e-02 5.33760250e+02] [ 4.29031364e-02 9.99079138e-01 -4.44120829e-04 6.46915529e+00] [ 1.55585112e-02 -2.23647817e-04 9.99878934e-01 8.29176435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.0992541539999 meters Centerline goodness : 0.998959 Centerline is valid? [True, True] Translation: X:533.79, Y:6.47, Z:8.29 [[ 9.99023796e-01 -4.13465322e-02 -1.55537711e-02 5.33791012e+02] [ 4.13446232e-02 9.99144847e-01 -4.44402019e-04 6.46894486e+00] [ 1.55588448e-02 -1.99096615e-04 9.99878934e-01 8.29121328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.1292541539999 meters Centerline goodness : 0.999085 Centerline is valid? [True, True] Translation: X:533.82, Y:6.47, Z:8.29 [[ 9.98961002e-01 -4.28360027e-02 -1.55561333e-02 5.33818970e+02] [ 4.28355623e-02 9.99082071e-01 -3.61658943e-04 6.47202186e+00] [ 1.55573459e-02 -3.05072537e-04 9.99878931e-01 8.29215141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.1592541539999 meters Centerline goodness : 0.995478 Centerline is valid? [True, True] Translation: X:533.85, Y:6.47, Z:8.29 [[ 9.98972019e-01 -4.25791804e-02 -1.55537150e-02 5.33847533e+02] [ 4.25773960e-02 9.99093072e-01 -4.45996100e-04 6.47301530e+00] [ 1.55585991e-02 -2.16699058e-04 9.99878934e-01 8.29388018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.189254154 meters Centerline goodness : 0.998774 Centerline is valid? [True, True] Translation: X:533.88, Y:6.48, Z:8.29 [[ 9.98848968e-01 -4.53748602e-02 -1.55518861e-02 5.33876810e+02] [ 4.53724265e-02 9.98970011e-01 -5.09468193e-04 6.47532932e+00] [ 1.55589848e-02 -1.96745029e-04 9.99878932e-01 8.29317092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.2192541539999 meters Centerline goodness : 0.997125 Centerline is valid? [True, True] Translation: X:533.91, Y:6.48, Z:8.30 [[ 9.98845958e-01 -4.54404888e-02 -1.55535824e-02 5.33906187e+02] [ 4.54389738e-02 9.98967015e-01 -4.50964069e-04 6.47616077e+00] [ 1.55580078e-02 -2.56295185e-04 9.99878934e-01 8.29502498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.2492541539999 meters Centerline goodness : 0.998257 Centerline is valid? [True, True] Translation: X:533.94, Y:6.48, Z:8.29 [[ 9.98825221e-01 -4.58946878e-02 -1.55517158e-02 5.33935778e+02] [ 4.58922316e-02 9.98946264e-01 -5.14964175e-04 6.47601649e+00] [ 1.55589625e-02 -1.99343739e-04 9.99878932e-01 8.29328938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.2792541539999 meters Centerline goodness : 0.996691 Centerline is valid? [True, True] Translation: X:533.97, Y:6.48, Z:8.29 [[ 9.98631281e-01 -4.99360226e-02 -1.55550346e-02 5.33965494e+02] [ 4.99358289e-02 9.98752348e-01 -4.01099275e-04 6.47846096e+00] [ 1.55556566e-02 -3.76203264e-04 9.99878933e-01 8.29421398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.309254154 meters Centerline goodness : 0.999126 Centerline is valid? [True, True] Translation: X:534.00, Y:6.48, Z:8.29 [[ 9.98522000e-01 -5.20758150e-02 -1.55539378e-02 5.33995703e+02] [ 5.20752994e-02 9.98643065e-01 -4.38433118e-04 6.47910412e+00] [ 1.55556639e-02 -3.72190855e-04 9.99878934e-01 8.29274932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.339254154 meters Centerline goodness : 0.996690 Centerline is valid? [True, True] Translation: X:534.02, Y:6.48, Z:8.30 [[ 9.98484660e-01 -5.27861629e-02 -1.55565315e-02 5.34024474e+02] [ 5.27870646e-02 9.98605729e-01 -3.52936100e-04 6.48088996e+00] [ 1.55534717e-02 -4.68782354e-04 9.99878928e-01 8.29552877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.3692541539999 meters Centerline goodness : 0.997562 Centerline is valid? [True, True] Translation: X:534.06, Y:6.48, Z:8.30 [[ 9.98421182e-01 -5.39748509e-02 -1.55518270e-02 5.34055317e+02] [ 5.39734978e-02 9.98542240e-01 -5.07019970e-04 6.48200390e+00] [ 1.55565225e-02 -3.33167023e-04 9.99878934e-01 8.29596891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.3992541539999 meters Centerline goodness : 0.999647 Centerline is valid? [True, True] Translation: X:534.09, Y:6.48, Z:8.30 [[ 9.98316349e-01 -5.58802003e-02 -1.55521590e-02 5.34085631e+02] [ 5.58792474e-02 9.98437411e-01 -4.96152934e-04 6.48274292e+00] [ 1.55555825e-02 -3.73725354e-04 9.99878935e-01 8.29504736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.429254154 meters Centerline goodness : 0.996758 Centerline is valid? [True, True] Translation: X:534.12, Y:6.48, Z:8.30 [[ 9.98256847e-01 -5.69330832e-02 -1.55528569e-02 5.34115964e+02] [ 5.69326150e-02 9.98377911e-01 -4.73216892e-04 6.48389175e+00] [ 1.55545704e-02 -4.13072810e-04 9.99878935e-01 8.29788804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.459254154 meters Centerline goodness : 0.999231 Centerline is valid? [True, True] Translation: X:534.15, Y:6.48, Z:8.30 [[ 9.98255502e-01 -5.69567235e-02 -1.55526380e-02 5.34146572e+02] [ 5.69561464e-02 9.98376566e-01 -4.80397405e-04 6.48435028e+00] [ 1.55547512e-02 -4.06258976e-04 9.99878935e-01 8.29620022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.4892541539999 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:534.18, Y:6.49, Z:8.30 [[ 9.98250572e-01 -5.70430036e-02 -1.55528801e-02 5.34178037e+02] [ 5.70425611e-02 9.98371636e-01 -4.72427434e-04 6.48528412e+00] [ 1.55545031e-02 -4.15575159e-04 9.99878935e-01 8.29601360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.5192541539999 meters Centerline goodness : 0.999418 Centerline is valid? [True, True] Translation: X:534.21, Y:6.49, Z:8.30 [[ 9.98235395e-01 -5.73079749e-02 -1.55528976e-02 5.34209328e+02] [ 5.73075735e-02 9.98356459e-01 -4.71850955e-04 6.48704649e+00] [ 1.55543766e-02 -4.20280499e-04 9.99878935e-01 8.29779569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.549254154 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:534.25, Y:6.48, Z:8.30 [[ 9.98633557e-01 -4.98911260e-02 -1.55529237e-02 5.34247330e+02] [ 4.98898387e-02 9.98754616e-01 -4.70988899e-04 6.48141620e+00] [ 1.55570525e-02 -3.05587536e-04 9.99878935e-01 8.29820826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.579254154 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:534.27, Y:6.49, Z:8.30 [[ 9.98388205e-01 -5.45779347e-02 -1.55640743e-02 5.34268662e+02] [ 5.45830425e-02 9.98509230e-01 -9.67397593e-05 6.48970004e+00] [ 1.55461517e-02 -7.52950697e-04 9.99878868e-01 8.29650943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.6092541539999 meters Centerline goodness : 0.999231 Centerline is valid? [True, True] Translation: X:534.30, Y:6.49, Z:8.30 [[ 9.98600458e-01 -5.05494304e-02 -1.55525328e-02 5.34299403e+02] [ 5.05481633e-02 9.98721512e-01 -4.74816905e-04 6.49159445e+00] [ 1.55566508e-02 -3.11999589e-04 9.99878939e-01 8.29568952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.6392541539999 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:534.33, Y:6.49, Z:8.30 [[ 9.98720023e-01 -4.81293383e-02 -1.55525414e-02 5.34331945e+02] [ 4.81277822e-02 9.98841074e-01 -4.74534226e-04 6.49222903e+00] [ 1.55573562e-02 -2.74582493e-04 9.99878939e-01 8.29654223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.669254154 meters Centerline goodness : 0.999542 Centerline is valid? [True, True] Translation: X:534.36, Y:6.50, Z:8.30 [[ 9.98729281e-01 -4.79359606e-02 -1.55553093e-02 5.34360722e+02] [ 4.79357963e-02 9.98850345e-01 -3.83627618e-04 6.49585633e+00] [ 1.55558156e-02 -3.62516000e-04 9.99878935e-01 8.29731741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.699254154 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:534.39, Y:6.50, Z:8.30 [[ 9.98826817e-01 -4.58596790e-02 -1.55524997e-02 5.34391130e+02] [ 4.58578324e-02 9.98947863e-01 -4.75520711e-04 6.49725306e+00] [ 1.55579435e-02 -2.38241086e-04 9.99878939e-01 8.29634163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.7292541539999 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:534.42, Y:6.50, Z:8.30 [[ 9.98892676e-01 -4.44020520e-02 -1.55524997e-02 5.34420354e+02] [ 4.44000288e-02 9.99013719e-01 -4.75520711e-04 6.49833147e+00] [ 1.55582746e-02 -2.15537278e-04 9.99878939e-01 8.29557687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.7592541539999 meters Centerline goodness : 0.999500 Centerline is valid? [True, True] Translation: X:534.45, Y:6.50, Z:8.30 [[ 9.98889681e-01 -4.44693829e-02 -1.55524910e-02 5.34450018e+02] [ 4.44673635e-02 9.99010724e-01 -4.75802657e-04 6.49990075e+00] [ 1.55582640e-02 -2.16303908e-04 9.99878939e-01 8.29567663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.7892541539999 meters Centerline goodness : 0.999520 Centerline is valid? [True, True] Translation: X:534.48, Y:6.50, Z:8.30 [[ 9.98800843e-01 -4.64219311e-02 -1.55524825e-02 5.34480681e+02] [ 4.64201439e-02 9.98921891e-01 -4.76081778e-04 6.50137044e+00] [ 1.55578159e-02 -2.46437594e-04 9.99878939e-01 8.29792640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.819254154 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:534.51, Y:6.50, Z:8.30 [[ 9.98788799e-01 -4.66803526e-02 -1.55524909e-02 5.34512439e+02] [ 4.66786011e-02 9.98909847e-01 -4.75806852e-04 6.50139117e+00] [ 1.55577471e-02 -2.50737965e-04 9.99878939e-01 8.29606662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.8492541539999 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:534.54, Y:6.50, Z:8.30 [[ 9.98790553e-01 -4.66427956e-02 -1.55525088e-02 5.34544263e+02] [ 4.66410486e-02 9.98911601e-01 -4.75222109e-04 6.50233518e+00] [ 1.55577471e-02 -2.50737965e-04 9.99878939e-01 8.29656197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.8792541539999 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:534.57, Y:6.50, Z:8.30 [[ 9.98697992e-01 -4.85843503e-02 -1.55525266e-02 5.34574259e+02] [ 4.85828477e-02 9.98819044e-01 -4.74637366e-04 6.50307201e+00] [ 1.55572197e-02 -2.81566647e-04 9.99878939e-01 8.29779463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.9092541539999 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:534.61, Y:6.50, Z:8.30 [[ 9.98614614e-01 -5.02689812e-02 -1.55525355e-02 5.34605800e+02] [ 5.02676874e-02 9.98735668e-01 -4.74347411e-04 6.50369494e+00] [ 1.55567169e-02 -3.08099734e-04 9.99878939e-01 8.29814405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.939254154 meters Centerline goodness : 0.999563 Centerline is valid? [True, True] Translation: X:534.64, Y:6.50, Z:8.30 [[ 9.98375820e-01 -5.48072980e-02 -1.55525527e-02 5.34637447e+02] [ 5.48065632e-02 9.98496878e-01 -4.73780331e-04 6.50472706e+00] [ 1.55551420e-02 -3.79371138e-04 9.99878939e-01 8.30143078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.9692541539999 meters Centerline goodness : 0.999500 Centerline is valid? [True, True] Translation: X:534.67, Y:6.50, Z:8.30 [[ 9.98298375e-01 -5.62002855e-02 -1.55525699e-02 5.34668528e+02] [ 5.61997284e-02 9.98419434e-01 -4.73215310e-04 6.50492770e+00] [ 1.55545829e-02 -4.01640132e-04 9.99878939e-01 8.30143476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.9992541539999 meters Centerline goodness : 0.997647 Centerline is valid? [True, True] Translation: X:534.70, Y:6.51, Z:8.30 [[ 9.98145624e-01 -5.88509221e-02 -1.55525871e-02 5.34699130e+02] [ 5.88506953e-02 9.98266684e-01 -4.72649561e-04 6.50525800e+00] [ 1.55534454e-02 -4.43507475e-04 9.99878939e-01 8.30426170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.0292541539999 meters Centerline goodness : 0.999271 Centerline is valid? [True, True] Translation: X:534.73, Y:6.51, Z:8.30 [[ 9.98037366e-01 -6.06595419e-02 -1.55510664e-02 5.34730191e+02] [ 6.06587558e-02 9.98158425e-01 -5.22663433e-04 6.50544550e+00] [ 1.55541325e-02 -4.21670705e-04 9.99878938e-01 8.30165032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.059254154 meters Centerline goodness : 0.999564 Centerline is valid? [True, True] Translation: X:534.76, Y:6.51, Z:8.31 [[ 9.97935028e-01 -6.23201136e-02 -1.55525701e-02 5.34760534e+02] [ 6.23202983e-02 9.98056089e-01 -4.73248883e-04 6.50627680e+00] [ 1.55518302e-02 -4.96969169e-04 9.99878939e-01 8.30506145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.089254154 meters Centerline goodness : 0.999584 Centerline is valid? [True, True] Translation: X:534.79, Y:6.51, Z:8.30 [[ 9.97854560e-01 -6.35957680e-02 -1.55516911e-02 5.34793137e+02] [ 6.35956566e-02 9.97975621e-01 -5.02203132e-04 6.50621210e+00] [ 1.55521465e-02 -4.87894320e-04 9.99878939e-01 8.30268193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.1192541539999 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:534.82, Y:6.51, Z:8.30 [[ 9.97739576e-01 -6.53747168e-02 -1.55526440e-02 5.34824233e+02] [ 6.53753114e-02 9.97860635e-01 -4.70718741e-04 6.50750426e+00] [ 1.55501443e-02 -5.47104226e-04 9.99878940e-01 8.30379796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.1492541539999 meters Centerline goodness : 0.999501 Centerline is valid? [True, True] Translation: X:534.86, Y:6.51, Z:8.31 [[ 9.97726255e-01 -6.55776914e-02 -1.55526698e-02 5.34856424e+02] [ 6.55783240e-02 9.97847314e-01 -4.69863205e-04 6.50908613e+00] [ 1.55500024e-02 -5.51123165e-04 9.99878940e-01 8.30500455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.179254154 meters Centerline goodness : 0.999542 Centerline is valid? [True, True] Translation: X:534.89, Y:6.51, Z:8.31 [[ 9.97789626e-01 -6.46063178e-02 -1.55527043e-02 5.34887795e+02] [ 6.46068504e-02 9.97910685e-01 -4.68718250e-04 6.51021262e+00] [ 1.55504920e-02 -5.37129034e-04 9.99878940e-01 8.30563585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.209254154 meters Centerline goodness : 0.999604 Centerline is valid? [True, True] Translation: X:534.92, Y:6.51, Z:8.31 [[ 9.97882396e-01 -6.31572407e-02 -1.55527300e-02 5.34919785e+02] [ 6.31576107e-02 9.98003456e-01 -4.67865101e-04 6.51143202e+00] [ 1.55512274e-02 -5.15398919e-04 9.99878940e-01 8.30628709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.2392541539999 meters Centerline goodness : 0.999375 Centerline is valid? [True, True] Translation: X:534.95, Y:6.51, Z:8.31 [[ 9.98029507e-01 -6.07882749e-02 -1.55527628e-02 5.34951106e+02] [ 6.07883746e-02 9.98150568e-01 -4.66772259e-04 6.51253642e+00] [ 1.55523733e-02 -4.79574683e-04 9.99878940e-01 8.30538099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.2692541539999 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:534.98, Y:6.52, Z:8.31 [[ 9.98327413e-01 -5.56820190e-02 -1.55527794e-02 5.34982112e+02] [ 5.56815080e-02 9.98448473e-01 -4.66218519e-04 6.51538049e+00] [ 1.55546088e-02 -4.00563482e-04 9.99878940e-01 8.30680924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.299254154 meters Centerline goodness : 0.999625 Centerline is valid? [True, True] Translation: X:535.01, Y:6.52, Z:8.31 [[ 9.98496222e-01 -5.25681034e-02 -1.55528042e-02 5.35013001e+02] [ 5.25672278e-02 9.98617279e-01 -4.65390021e-04 6.51663037e+00] [ 1.55557637e-02 -3.52877622e-04 9.99878940e-01 8.30590754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.329254154 meters Centerline goodness : 0.999562 Centerline is valid? [True, True] Translation: X:535.04, Y:6.52, Z:8.31 [[ 9.98741988e-01 -4.76712732e-02 -1.55528204e-02 5.35043896e+02] [ 4.76698123e-02 9.98863040e-01 -4.64848072e-04 6.51941533e+00] [ 1.55572974e-02 -2.77136741e-04 9.99878940e-01 8.30849466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.3592541539999 meters Centerline goodness : 0.999563 Centerline is valid? [True, True] Translation: X:535.07, Y:6.52, Z:8.31 [[ 9.98836870e-01 -4.56400733e-02 -1.55528371e-02 5.35074299e+02] [ 4.56383750e-02 9.98957919e-01 -4.64286753e-04 6.52115592e+00] [ 1.55578199e-02 -2.46059486e-04 9.99878940e-01 8.30920502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.3892541539999 meters Centerline goodness : 0.999292 Centerline is valid? [True, True] Translation: X:535.10, Y:6.52, Z:8.31 [[ 9.98935021e-01 -4.34388242e-02 -1.55528655e-02 5.35104225e+02] [ 4.34368739e-02 9.99056066e-01 -4.63335864e-04 6.52191771e+00] [ 1.55583114e-02 -2.12725435e-04 9.99878940e-01 8.30683438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.4192541539999 meters Centerline goodness : 0.999687 Centerline is valid? [True, True] Translation: X:535.13, Y:6.52, Z:8.31 [[ 9.98954968e-01 -4.29776703e-02 -1.55528574e-02 5.35134150e+02] [ 4.29756600e-02 9.99076012e-01 -4.63607180e-04 6.52368080e+00] [ 1.55584115e-02 -2.05271614e-04 9.99878940e-01 8.31006018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.449254154 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:535.16, Y:6.52, Z:8.31 [[ 9.98944003e-01 -4.32317966e-02 -1.55528574e-02 5.35163770e+02] [ 4.32298171e-02 9.99065047e-01 -4.63607180e-04 6.52377942e+00] [ 1.55583588e-02 -2.09229567e-04 9.99878940e-01 8.30889840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.4792541539999 meters Centerline goodness : 0.999209 Centerline is valid? [True, True] Translation: X:535.19, Y:6.52, Z:8.31 [[ 9.98881000e-01 -4.46638225e-02 -1.55528492e-02 5.35194618e+02] [ 4.46620122e-02 9.99002047e-01 -4.63883049e-04 6.52409683e+00] [ 1.55580469e-02 -2.31257575e-04 9.99878940e-01 8.30816878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.5092541539999 meters Centerline goodness : 0.999646 Centerline is valid? [True, True] Translation: X:535.23, Y:6.53, Z:8.31 [[ 9.98755514e-01 -4.73870464e-02 -1.55528492e-02 5.35226327e+02] [ 4.73855661e-02 9.98876565e-01 -4.63883049e-04 6.52526871e+00] [ 1.55573586e-02 -2.73674809e-04 9.99878940e-01 8.31179922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.5392541539999 meters Centerline goodness : 0.999521 Centerline is valid? [True, True] Translation: X:535.26, Y:6.53, Z:8.31 [[ 9.98615972e-01 -5.02419068e-02 -1.55528661e-02 5.35256521e+02] [ 5.02407814e-02 9.98737027e-01 -4.63315655e-04 6.52576722e+00] [ 1.55565011e-02 -3.18713730e-04 9.99878940e-01 8.31235065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.569254154 meters Centerline goodness : 0.999604 Centerline is valid? [True, True] Translation: X:535.29, Y:6.52, Z:8.31 [[ 9.98237393e-01 -5.72731727e-02 -1.55528744e-02 5.35287505e+02] [ 5.72729043e-02 9.98358453e-01 -4.63033873e-04 6.52497478e+00] [ 1.55538631e-02 -4.28540563e-04 9.99878940e-01 8.31313371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.5992541539999 meters Centerline goodness : 0.999667 Centerline is valid? [True, True] Translation: X:535.32, Y:6.52, Z:8.31 [[ 9.98021475e-01 -6.09199781e-02 -1.55528912e-02 5.35318835e+02] [ 6.09201607e-02 9.98142535e-01 -4.62471001e-04 6.52473944e+00] [ 1.55521760e-02 -4.85928640e-04 9.99878940e-01 8.31362677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.6292541539999 meters Centerline goodness : 0.997746 Centerline is valid? [True, True] Translation: X:535.35, Y:6.53, Z:8.31 [[ 9.97729442e-01 -6.55291358e-02 -1.55529162e-02 5.35350386e+02] [ 6.55298907e-02 9.97850500e-01 -4.61627269e-04 6.52566520e+00] [ 1.55497353e-02 -5.58601782e-04 9.99878940e-01 8.31320982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.6592541539999 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:535.38, Y:6.52, Z:8.31 [[ 9.97355336e-01 -7.09961650e-02 -1.55524616e-02 5.35381302e+02] [ 7.09973455e-02 9.97476390e-01 -4.76903932e-04 6.52388372e+00] [ 1.55470716e-02 -6.28540805e-04 9.99878939e-01 8.31163021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.689254154 meters Centerline goodness : 0.999562 Centerline is valid? [True, True] Translation: X:535.41, Y:6.53, Z:8.31 [[ 9.97131212e-01 -7.40773614e-02 -1.55528542e-02 5.35412361e+02] [ 7.40791209e-02 9.97252259e-01 -4.63734534e-04 6.52502642e+00] [ 1.55444712e-02 -6.89737591e-04 9.99878940e-01 8.31402418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.7192541539999 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:535.44, Y:6.53, Z:8.31 [[ 9.96940863e-01 -7.65965008e-02 -1.55528790e-02 5.35443083e+02] [ 7.65985792e-02 9.97061906e-01 -4.62901165e-04 6.52588096e+00] [ 1.55426398e-02 -7.29843349e-04 9.99878940e-01 8.31428412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.7492541539999 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:535.47, Y:6.53, Z:8.31 [[ 9.96766842e-01 -7.88287353e-02 -1.55529036e-02 5.35474928e+02] [ 7.88310976e-02 9.96887880e-01 -4.62075678e-04 6.52665047e+00] [ 1.55409259e-02 -7.65470743e-04 9.99878940e-01 8.31460005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.7792541539999 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:535.51, Y:6.53, Z:8.32 [[ 9.96559496e-01 -8.14080882e-02 -1.55529358e-02 5.35507217e+02] [ 8.14107807e-02 9.96680527e-01 -4.60986312e-04 6.52779679e+00] [ 1.55388363e-02 -8.06776362e-04 9.99878940e-01 8.31510720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.809254154 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:535.54, Y:6.53, Z:8.32 [[ 9.96152245e-01 -8.62485416e-02 -1.55529680e-02 5.35538618e+02] [ 8.62518390e-02 9.96273260e-01 -4.59899405e-04 6.52908782e+00] [ 1.55346718e-02 -8.83342265e-04 9.99878940e-01 8.31596005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.839254154 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:535.57, Y:6.53, Z:8.32 [[ 9.95865683e-01 -8.94966230e-02 -1.55529919e-02 5.35570582e+02] [ 8.95003276e-02 9.95986687e-01 -4.59088826e-04 6.53170527e+00] [ 1.55316598e-02 -9.34807063e-04 9.99878940e-01 8.31739462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.8692541539999 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:535.60, Y:6.53, Z:8.32 [[ 9.95805130e-01 -9.01677832e-02 -1.55535826e-02 5.35600802e+02] [ 9.01718821e-02 9.95926121e-01 -4.38984023e-04 6.53185072e+00] [ 1.55298014e-02 -9.65353273e-04 9.99878939e-01 8.31575333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.8992541539999 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:535.63, Y:6.54, Z:8.32 [[ 9.95450031e-01 -9.40071217e-02 -1.55530275e-02 5.35631390e+02] [ 9.40113938e-02 9.95571016e-01 -4.57841088e-04 6.53627098e+00] [ 1.55271837e-02 -1.00640387e-03 9.99878940e-01 8.31646649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.929254154 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:535.66, Y:6.54, Z:8.32 [[ 9.95352060e-01 -9.50389508e-02 -1.55523055e-02 5.35662307e+02] [ 9.50429668e-02 9.95473054e-01 -4.82364076e-04 6.53843530e+00] [ 1.55277445e-02 -9.98015183e-04 9.99878939e-01 8.31832966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.959254154 meters Centerline goodness : 0.999188 Centerline is valid? [True, True] Translation: X:535.69, Y:6.55, Z:8.32 [[ 9.94869248e-01 -9.99663989e-02 -1.55530743e-02 5.35688093e+02] [ 9.99714217e-02 9.94990204e-01 -4.56151544e-04 6.54571847e+00] [ 1.55207564e-02 -1.10105181e-03 9.99878940e-01 8.31893090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.9892541539999 meters Centerline goodness : 0.999334 Centerline is valid? [True, True] Translation: X:535.72, Y:6.55, Z:8.32 [[ 9.94850893e-01 -1.00149679e-01 -1.55480459e-02 5.35720275e+02] [ 1.00152066e-01 9.94971945e-01 -6.26995909e-04 6.54860108e+00] [ 1.55326629e-02 -9.33401476e-04 9.99878925e-01 8.31911803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.0192541539999 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:535.75, Y:6.55, Z:8.32 [[ 9.94849815e-01 -1.00160393e-01 -1.55480105e-02 5.35750121e+02] [ 1.00162763e-01 9.94970867e-01 -6.28206664e-04 6.55181884e+00] [ 1.55327389e-02 -9.32360401e-04 9.99878925e-01 8.31945936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.049254154 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:535.79, Y:6.55, Z:8.32 [[ 9.95451037e-01 -9.39974461e-02 -1.55470929e-02 5.35786091e+02] [ 9.39985763e-02 9.95572113e-01 -6.59656327e-04 6.55152814e+00] [ 1.55402581e-02 -8.04749020e-04 9.99878919e-01 8.31818572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.079254154 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:535.82, Y:6.56, Z:8.32 [[ 9.95555610e-01 -9.28823184e-02 -1.55532108e-02 5.35817770e+02] [ 9.28866284e-02 9.95676591e-01 -4.46612641e-04 6.55532211e+00] [ 1.55274503e-02 -1.00005759e-03 9.99878942e-01 8.31927097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.1092541539999 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:535.85, Y:6.56, Z:8.32 [[ 9.95684210e-01 -9.14934446e-02 -1.55532426e-02 5.35848969e+02] [ 9.14976031e-02 9.95805197e-01 -4.45501413e-04 6.55915491e+00] [ 1.55287603e-02 -9.79505697e-04 9.99878942e-01 8.32005034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.1392541539999 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:535.88, Y:6.56, Z:8.32 [[ 9.95805936e-01 -9.01589347e-02 -1.55532949e-02 5.35880890e+02] [ 9.01629595e-02 9.95926927e-01 -4.43667739e-04 6.56309965e+00] [ 1.55299458e-02 -9.60524132e-04 9.99878942e-01 8.32089640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.1692541539999 meters Centerline goodness : 0.999273 Centerline is valid? [True, True] Translation: X:535.91, Y:6.57, Z:8.32 [[ 9.96070180e-01 -8.71911124e-02 -1.55533264e-02 5.35911408e+02] [ 8.71947939e-02 9.96191183e-01 -4.42561616e-04 6.57016161e+00] [ 1.55326741e-02 -9.15346660e-04 9.99878942e-01 8.32174768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.199254154 meters Centerline goodness : 0.999396 Centerline is valid? [True, True] Translation: X:535.94, Y:6.57, Z:8.32 [[ 9.96173991e-01 -8.59969418e-02 -1.55533498e-02 5.35944389e+02] [ 8.60004910e-02 9.96294997e-01 -4.41736015e-04 6.57405758e+00] [ 1.55337126e-02 -8.97549795e-04 9.99878942e-01 8.32296441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.2292541539999 meters Centerline goodness : 0.999230 Centerline is valid? [True, True] Translation: X:535.98, Y:6.58, Z:8.32 [[ 9.96266771e-01 -8.49153258e-02 -1.55533996e-02 5.35977156e+02] [ 8.49187710e-02 9.96387780e-01 -4.39978660e-04 6.57788209e+00] [ 1.55345782e-02 -8.82439457e-04 9.99878942e-01 8.32333490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.2592541539999 meters Centerline goodness : 0.999377 Centerline is valid? [True, True] Translation: X:536.01, Y:6.58, Z:8.32 [[ 9.96395358e-01 -8.33929325e-02 -1.55534493e-02 5.36008951e+02] [ 8.33962203e-02 9.96516371e-01 -4.38214460e-04 6.58470059e+00] [ 1.55358108e-02 -8.60464027e-04 9.99878942e-01 8.32351303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.2892541539999 meters Centerline goodness : 0.999086 Centerline is valid? [True, True] Translation: X:536.04, Y:6.59, Z:8.32 [[ 9.96390054e-01 -8.34562723e-02 -1.55534903e-02 5.36041914e+02] [ 8.34595906e-02 9.96511067e-01 -4.36752464e-04 6.58876890e+00] [ 1.55356750e-02 -8.62912123e-04 9.99878942e-01 8.32410957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.319254154 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:536.07, Y:6.59, Z:8.32 [[ 9.96385063e-01 -8.35158317e-02 -1.55535385e-02 5.36074481e+02] [ 8.35191840e-02 9.96506075e-01 -4.35031266e-04 6.59286831e+00] [ 1.55355276e-02 -8.65560184e-04 9.99878942e-01 8.32478154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.3492541539999 meters Centerline goodness : 0.999108 Centerline is valid? [True, True] Translation: X:536.11, Y:6.60, Z:8.33 [[ 9.96361345e-01 -8.37983020e-02 -1.55535867e-02 5.36106779e+02] [ 8.38017155e-02 9.96482355e-01 -4.33299560e-04 6.59630691e+00] [ 1.55351845e-02 -8.71694316e-04 9.99878942e-01 8.32513476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.3792541539999 meters Centerline goodness : 0.999045 Centerline is valid? [True, True] Translation: X:536.14, Y:6.60, Z:8.33 [[ 9.96274628e-01 -8.48230518e-02 -1.55536265e-02 5.36139198e+02] [ 8.48266120e-02 9.96395634e-01 -4.31866188e-04 6.60234782e+00] [ 1.55341977e-02 -8.89104116e-04 9.99878942e-01 8.32556709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.4092541539999 meters Centerline goodness : 0.999064 Centerline is valid? [True, True] Translation: X:536.17, Y:6.61, Z:8.32 [[ 9.96276550e-01 -8.48004692e-02 -1.55536737e-02 5.36170796e+02] [ 8.48040533e-02 9.96397555e-01 -4.30159403e-04 6.60529663e+00] [ 1.55341202e-02 -8.90456848e-04 9.99878942e-01 8.32401366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.439254154 meters Centerline goodness : 0.999045 Centerline is valid? [True, True] Translation: X:536.20, Y:6.61, Z:8.33 [[ 9.96258774e-01 -8.50090497e-02 -1.55536970e-02 5.36202029e+02] [ 8.50126723e-02 9.96379778e-01 -4.29314008e-04 6.60924915e+00] [ 1.55338848e-02 -8.94553503e-04 9.99878942e-01 8.32627916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.4692541539999 meters Centerline goodness : 0.999025 Centerline is valid? [True, True] Translation: X:536.23, Y:6.61, Z:8.33 [[ 9.96309996e-01 -8.44065990e-02 -1.55537201e-02 5.36234569e+02] [ 8.44101614e-02 9.96431002e-01 -4.28475927e-04 6.61311064e+00] [ 1.55343751e-02 -8.85997177e-04 9.99878942e-01 8.32714333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.4992541539999 meters Centerline goodness : 0.999044 Centerline is valid? [True, True] Translation: X:536.27, Y:6.62, Z:8.33 [[ 9.96560041e-01 -8.14012629e-02 -1.55537665e-02 5.36266414e+02] [ 8.14044867e-02 9.96681056e-01 -4.26784233e-04 6.61963832e+00] [ 1.55368852e-02 -8.40830270e-04 9.99878942e-01 8.32769975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.5292541539999 meters Centerline goodness : 0.998960 Centerline is valid? [True, True] Translation: X:536.30, Y:6.62, Z:8.33 [[ 9.96740189e-01 -7.91648634e-02 -1.55538049e-02 5.36298796e+02] [ 7.91678374e-02 9.96861210e-01 -4.25382588e-04 6.62328764e+00] [ 1.55386601e-02 -8.07365175e-04 9.99878942e-01 8.32836814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.559254154 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:536.33, Y:6.63, Z:8.33 [[ 9.96928684e-01 -7.67546524e-02 -1.55538422e-02 5.36331837e+02] [ 7.67573551e-02 9.97049712e-01 -4.24014674e-04 6.62728644e+00] [ 1.55404990e-02 -7.71159396e-04 9.99878942e-01 8.32942390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.589254154 meters Centerline goodness : 0.999042 Centerline is valid? [True, True] Translation: X:536.36, Y:6.63, Z:8.33 [[ 9.97319899e-01 -7.14919229e-02 -1.55538874e-02 5.36363302e+02] [ 7.14940127e-02 9.97440940e-01 -4.22347653e-04 6.63392892e+00] [ 1.55442785e-02 -6.90794107e-04 9.99878942e-01 8.32901473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.6192541539999 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:536.40, Y:6.64, Z:8.33 [[ 9.97516766e-01 -6.86904362e-02 -1.55539248e-02 5.36395875e+02] [ 6.86922076e-02 9.97637812e-01 -4.20968616e-04 6.63743766e+00] [ 1.55461000e-02 -6.48510176e-04 9.99878942e-01 8.32930754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.6492541539999 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:536.43, Y:6.64, Z:8.33 [[ 9.97678550e-01 -6.62992040e-02 -1.55539680e-02 5.36429312e+02] [ 6.63007102e-02 9.97799599e-01 -4.19366324e-04 6.64088955e+00] [ 1.55475467e-02 -6.12846336e-04 9.99878942e-01 8.32989328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.679254154 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:536.46, Y:6.64, Z:8.33 [[ 9.97813338e-01 -6.42387335e-02 -1.55540116e-02 5.36462316e+02] [ 6.42400149e-02 9.97934390e-01 -4.17742734e-04 6.64424459e+00] [ 1.55487183e-02 -5.82360663e-04 9.99878942e-01 8.32972807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.709254154 meters Centerline goodness : 0.998721 Centerline is valid? [True, True] Translation: X:536.49, Y:6.65, Z:8.33 [[ 9.98046239e-01 -6.05126060e-02 -1.55540548e-02 5.36494711e+02] [ 6.05134606e-02 9.98167295e-01 -4.16128376e-04 6.64976737e+00] [ 1.55507298e-02 -5.25914318e-04 9.99878942e-01 8.33021462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.7392541539999 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:536.53, Y:6.65, Z:8.33 [[ 9.98160300e-01 -5.86010832e-02 -1.55540846e-02 5.36526724e+02] [ 5.86017234e-02 9.98281356e-01 -4.15008983e-04 6.65257493e+00] [ 1.55516727e-02 -4.97250674e-04 9.99878942e-01 8.33091245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.7692541539999 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:536.56, Y:6.65, Z:8.33 [[ 9.98164459e-01 -5.85301791e-02 -1.55541217e-02 5.36559400e+02] [ 5.85308323e-02 9.98285516e-01 -4.13616147e-04 6.65338075e+00] [ 1.55516634e-02 -4.97538748e-04 9.99878942e-01 8.33142071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.799254154 meters Centerline goodness : 0.998995 Centerline is valid? [True, True] Translation: X:536.59, Y:6.66, Z:8.33 [[ 9.98238656e-01 -5.72508024e-02 -1.55541510e-02 5.36590901e+02] [ 5.72513176e-02 9.98359713e-01 -4.12511466e-04 6.65595143e+00] [ 1.55522543e-02 -4.78710745e-04 9.99878942e-01 8.33117630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.829254154 meters Centerline goodness : 0.999014 Centerline is valid? [True, True] Translation: X:536.62, Y:6.66, Z:8.33 [[ 9.98304258e-01 -5.60952332e-02 -1.55541873e-02 5.36623129e+02] [ 5.60956297e-02 9.98425316e-01 -4.11134998e-04 6.65841720e+00] [ 1.55527571e-02 -4.62084114e-04 9.99878942e-01 8.33222137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.8592541539999 meters Centerline goodness : 0.998931 Centerline is valid? [True, True] Translation: X:536.66, Y:6.66, Z:8.33 [[ 9.98455317e-01 -5.33389745e-02 -1.55542151e-02 5.36655083e+02] [ 5.33390532e-02 9.98576375e-01 -4.10081215e-04 6.66183921e+00] [ 1.55539451e-02 -4.20199339e-04 9.99878942e-01 8.33226011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.8892541539999 meters Centerline goodness : 0.998888 Centerline is valid? [True, True] Translation: X:536.69, Y:6.66, Z:8.33 [[ 9.98547183e-01 -5.15905848e-02 -1.55542822e-02 5.36687237e+02] [ 5.15904915e-02 9.98668241e-01 -4.07519805e-04 6.66394112e+00] [ 1.55545919e-02 -3.95525312e-04 9.99878942e-01 8.33265661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.9192541539999 meters Centerline goodness : 0.998781 Centerline is valid? [True, True] Translation: X:536.72, Y:6.67, Z:8.33 [[ 9.98737701e-01 -4.77605335e-02 -1.55543103e-02 5.36718774e+02] [ 4.77599926e-02 9.98858758e-01 -4.06445159e-04 6.66695898e+00] [ 1.55559711e-02 -3.36941643e-04 9.99878942e-01 8.33110854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.949254154 meters Centerline goodness : 0.998821 Centerline is valid? [True, True] Translation: X:536.75, Y:6.67, Z:8.33 [[ 9.98854430e-01 -4.52536191e-02 -1.55543312e-02 5.36751190e+02] [ 4.52527869e-02 9.98975486e-01 -4.05643755e-04 6.66802358e+00] [ 1.55567524e-02 -2.98697774e-04 9.99878942e-01 8.32938806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.9792541539999 meters Centerline goodness : 0.998907 Centerline is valid? [True, True] Translation: X:536.78, Y:6.67, Z:8.33 [[ 9.98921165e-01 -4.37557717e-02 -1.55543586e-02 5.36783064e+02] [ 4.37547743e-02 9.99042219e-01 -4.04592789e-04 6.67046154e+00] [ 1.55571642e-02 -2.76421148e-04 9.99878942e-01 8.33073361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.0092541539999 meters Centerline goodness : 0.998716 Centerline is valid? [True, True] Translation: X:536.81, Y:6.68, Z:8.33 [[ 9.98890605e-01 -4.44479483e-02 -1.55543856e-02 5.36810761e+02] [ 4.44470509e-02 9.99011660e-01 -4.03548863e-04 6.67530422e+00] [ 1.55569495e-02 -2.88245403e-04 9.99878942e-01 8.32749128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.0392541539999 meters Centerline goodness : 0.999054 Centerline is valid? [True, True] Translation: X:536.84, Y:6.67, Z:8.33 [[ 9.99160945e-01 -3.78888156e-02 -1.55513113e-02 5.36844194e+02] [ 3.78852929e-02 9.99281959e-01 -5.21166124e-04 6.67325736e+00] [ 1.55598912e-02 -6.84371466e-05 9.99878935e-01 8.33088296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.069254154 meters Centerline goodness : 0.998950 Centerline is valid? [True, True] Translation: X:536.88, Y:6.67, Z:8.33 [[ 9.99210241e-01 -3.65644052e-02 -1.55543863e-02 5.36876441e+02] [ 3.65625725e-02 9.99331285e-01 -4.02273753e-04 6.67409639e+00] [ 1.55586937e-02 -1.66752322e-04 9.99878942e-01 8.33283563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.0992541539999 meters Centerline goodness : 0.999096 Centerline is valid? [True, True] Translation: X:536.91, Y:6.68, Z:8.33 [[ 9.99235601e-01 -3.58646588e-02 -1.55544125e-02 5.36907429e+02] [ 3.58627571e-02 9.99356644e-01 -4.01258066e-04 6.67532932e+00] [ 1.55587964e-02 -1.56872771e-04 9.99878942e-01 8.33249406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.1292541539999 meters Centerline goodness : 0.999032 Centerline is valid? [True, True] Translation: X:536.94, Y:6.67, Z:8.33 [[ 9.99317838e-01 -3.34951819e-02 -1.55541517e-02 5.36940138e+02] [ 3.34928364e-02 9.99438873e-01 -4.11336550e-04 6.67450758e+00] [ 1.55592016e-02 -1.09896707e-04 9.99878942e-01 8.33237572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.1592541539999 meters Centerline goodness : 0.999053 Centerline is valid? [True, True] Translation: X:536.97, Y:6.68, Z:8.33 [[ 9.99352771e-01 -3.24360988e-02 -1.55543884e-02 5.36971296e+02] [ 3.24337675e-02 9.99473806e-01 -4.02183006e-04 6.67513806e+00] [ 1.55592490e-02 -1.02564714e-04 9.99878942e-01 8.33468620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.189254154 meters Centerline goodness : 0.999349 Centerline is valid? [True, True] Translation: X:537.00, Y:6.68, Z:8.33 [[ 9.99382456e-01 -3.15082195e-02 -1.55544077e-02 5.37001305e+02] [ 3.15057874e-02 9.99503489e-01 -4.01434617e-04 6.67512637e+00] [ 1.55593333e-02 -8.88671494e-05 9.99878942e-01 8.33439670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.2192541539999 meters Centerline goodness : 0.999031 Centerline is valid? [True, True] Translation: X:537.03, Y:6.67, Z:8.33 [[ 9.99400647e-01 -3.09258377e-02 -1.55544141e-02 5.37032991e+02] [ 3.09233390e-02 9.99521679e-01 -4.01188451e-04 6.67490277e+00] [ 1.55593811e-02 -8.00464218e-05 9.99878942e-01 8.33416418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.2492541539999 meters Centerline goodness : 0.999199 Centerline is valid? [True, True] Translation: X:537.06, Y:6.67, Z:8.34 [[ 9.99405583e-01 -3.07659125e-02 -1.55544267e-02 5.37064709e+02] [ 3.07634020e-02 9.99526614e-01 -4.00698828e-04 6.67347386e+00] [ 1.55593913e-02 -7.80464349e-05 9.99878942e-01 8.33675575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.2792541539999 meters Centerline goodness : 0.999220 Centerline is valid? [True, True] Translation: X:537.10, Y:6.67, Z:8.34 [[ 9.99405585e-01 -3.07658172e-02 -1.55544409e-02 5.37096556e+02] [ 3.07633154e-02 9.99526617e-01 -4.00143574e-04 6.67300199e+00] [ 1.55593885e-02 -7.86004495e-05 9.99878942e-01 8.33708857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.309254154 meters Centerline goodness : 0.999178 Centerline is valid? [True, True] Translation: X:537.13, Y:6.67, Z:8.34 [[ 9.99403184e-01 -3.08437067e-02 -1.55544551e-02 5.37127952e+02] [ 3.08412228e-02 9.99524216e-01 -3.99592311e-04 6.67231270e+00] [ 1.55593795e-02 -8.03645886e-05 9.99878942e-01 8.33788742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.339254154 meters Centerline goodness : 0.999221 Centerline is valid? [True, True] Translation: X:537.16, Y:6.68, Z:8.34 [[ 9.99251385e-01 -3.54221468e-02 -1.55544695e-02 5.37155077e+02] [ 3.54202263e-02 9.99372427e-01 -3.99030158e-04 6.67636010e+00] [ 1.55588425e-02 -1.52211392e-04 9.99878942e-01 8.33525313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.3692541539999 meters Centerline goodness : 0.999010 Centerline is valid? [True, True] Translation: X:537.19, Y:6.67, Z:8.34 [[ 9.99413072e-01 -3.05232998e-02 -1.55512240e-02 5.37189042e+02] [ 3.05188275e-02 9.99534054e-01 -5.24877095e-04 6.66904309e+00] [ 1.55599990e-02 4.99639069e-05 9.99878935e-01 8.33813262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.3992541539999 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:537.22, Y:6.67, Z:8.34 [[ 9.99411849e-01 -3.05616568e-02 -1.55544926e-02 5.37219961e+02] [ 3.05591832e-02 9.99532880e-01 -3.96734916e-04 6.66825185e+00] [ 1.55593516e-02 -7.88310123e-05 9.99878943e-01 8.33927021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.429254154 meters Centerline goodness : 0.999178 Centerline is valid? [True, True] Translation: X:537.25, Y:6.67, Z:8.34 [[ 9.99416694e-01 -3.04027731e-02 -1.55545068e-02 5.37251784e+02] [ 3.04002890e-02 9.99537726e-01 -3.96177323e-04 6.66725993e+00] [ 1.55593612e-02 -7.69152704e-05 9.99878943e-01 8.33970207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.459254154 meters Centerline goodness : 0.999579 Centerline is valid? [True, True] Translation: X:537.28, Y:6.67, Z:8.34 [[ 9.99302373e-01 -3.39532767e-02 -1.55545209e-02 5.37278929e+02] [ 3.39512313e-02 9.99423412e-01 -3.95619494e-04 6.67030028e+00] [ 1.55589850e-02 -1.32751639e-04 9.99878943e-01 8.33757709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.4892541539999 meters Centerline goodness : 0.999032 Centerline is valid? [True, True] Translation: X:537.31, Y:6.66, Z:8.34 [[ 9.99461270e-01 -2.89016591e-02 -1.55519856e-02 5.37312127e+02] [ 2.88974375e-02 9.99582259e-01 -4.96147475e-04 6.66271363e+00] [ 1.55598284e-02 4.64676523e-05 9.99878937e-01 8.33969115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.5192541539999 meters Centerline goodness : 0.998972 Centerline is valid? [True, True] Translation: X:537.34, Y:6.66, Z:8.34 [[ 9.99470365e-01 -2.85839586e-02 -1.55546680e-02 5.37342384e+02] [ 2.85813682e-02 9.99591394e-01 -3.88853715e-04 6.66141966e+00] [ 1.55594272e-02 -5.59259281e-05 9.99878943e-01 8.33761585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.549254154 meters Centerline goodness : 0.999076 Centerline is valid? [True, True] Translation: X:537.37, Y:6.66, Z:8.34 [[ 9.99465977e-01 -2.87369635e-02 -1.55546751e-02 5.37372465e+02] [ 2.87343961e-02 9.99587006e-01 -3.88568992e-04 6.66042339e+00] [ 1.55594174e-02 -5.85927083e-05 9.99878943e-01 8.33890993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.579254154 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:537.40, Y:6.66, Z:8.34 [[ 9.99461066e-01 -2.89072667e-02 -1.55546751e-02 5.37402777e+02] [ 2.89047199e-02 9.99582096e-01 -3.88568992e-04 6.65918649e+00] [ 1.55594072e-02 -6.12439483e-05 9.99878943e-01 8.34087329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.6092541539999 meters Centerline goodness : 0.999393 Centerline is valid? [True, True] Translation: X:537.43, Y:6.66, Z:8.34 [[ 9.99417615e-01 -3.03724189e-02 -1.55546751e-02 5.37433287e+02] [ 3.03700495e-02 9.99538648e-01 -3.88568992e-04 6.65545294e+00] [ 1.55593007e-02 -8.40535580e-05 9.99878943e-01 8.34039038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.6392541539999 meters Centerline goodness : 0.999247 Centerline is valid? [True, True] Translation: X:537.46, Y:6.65, Z:8.34 [[ 9.99348065e-01 -3.25806196e-02 -1.55546821e-02 5.37463962e+02] [ 3.25785221e-02 9.99469104e-01 -3.88286907e-04 6.65442201e+00] [ 1.55590748e-02 -1.18714786e-04 9.99878943e-01 8.34187441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.6692541539999 meters Centerline goodness : 0.999418 Centerline is valid? [True, True] Translation: X:537.50, Y:6.65, Z:8.34 [[ 9.99274208e-01 -3.47722379e-02 -1.55546821e-02 5.37495409e+02] [ 3.47704058e-02 9.99395251e-01 -3.88286907e-04 6.65274670e+00] [ 1.55587771e-02 -1.52837518e-04 9.99878943e-01 8.34209667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.699254154 meters Centerline goodness : 0.998978 Centerline is valid? [True, True] Translation: X:537.53, Y:6.65, Z:8.34 [[ 9.99053852e-01 -4.06134459e-02 -1.55546962e-02 5.37526826e+02] [ 4.06123302e-02 9.99174904e-01 -3.87723969e-04 6.64804867e+00] [ 1.55576089e-02 -2.44355332e-04 9.99878943e-01 8.34105500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.7292541539999 meters Centerline goodness : 0.999042 Centerline is valid? [True, True] Translation: X:537.56, Y:6.65, Z:8.34 [[ 9.98807403e-01 -4.62798214e-02 -1.55547102e-02 5.37558073e+02] [ 4.62794012e-02 9.98928459e-01 -3.87160492e-04 6.64872703e+00] [ 1.55559604e-02 -3.33163907e-04 9.99878943e-01 8.34319711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.7592541539999 meters Centerline goodness : 0.996315 Centerline is valid? [True, True] Translation: X:537.59, Y:6.65, Z:8.34 [[ 9.98698750e-01 -4.85683779e-02 -1.55537478e-02 5.37589793e+02] [ 4.85676461e-02 9.98819805e-01 -4.24999703e-04 6.64556093e+00] [ 1.55560329e-02 -3.30962246e-04 9.99878943e-01 8.34261818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.7892541539999 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:537.62, Y:6.64, Z:8.34 [[ 9.98356390e-01 -5.51594481e-02 -1.55548845e-02 5.37621412e+02] [ 5.51602135e-02 9.98477444e-01 -3.80150703e-04 6.64082974e+00] [ 1.55521703e-02 -4.78484868e-04 9.99878943e-01 8.34213754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.819254154 meters Centerline goodness : 0.998982 Centerline is valid? [True, True] Translation: X:537.65, Y:6.64, Z:8.34 [[ 9.98193135e-01 -5.80389830e-02 -1.55544860e-02 5.37652999e+02] [ 5.80398538e-02 9.98314188e-01 -3.95811443e-04 6.63904081e+00] [ 1.55512366e-02 -5.07683829e-04 9.99878943e-01 8.34159351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.8492541539999 meters Centerline goodness : 0.999126 Centerline is valid? [True, True] Translation: X:537.68, Y:6.64, Z:8.34 [[ 9.97997163e-01 -6.13165615e-02 -1.55545079e-02 5.37684762e+02] [ 6.13178432e-02 9.98118213e-01 -3.94949771e-04 6.63823404e+00] [ 1.55494546e-02 -5.59610125e-04 9.99878943e-01 8.34296917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.8792541539999 meters Centerline goodness : 0.998980 Centerline is valid? [True, True] Translation: X:537.72, Y:6.64, Z:8.34 [[ 9.97818963e-01 -6.41511808e-02 -1.55545368e-02 5.37717050e+02] [ 6.41528241e-02 9.97940008e-01 -3.93807401e-04 6.63748865e+00] [ 1.55477578e-02 -6.04918972e-04 9.99878943e-01 8.34343637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.9092541539999 meters Centerline goodness : 0.999146 Centerline is valid? [True, True] Translation: X:537.75, Y:6.64, Z:8.34 [[ 9.97503396e-01 -6.88841829e-02 -1.55545661e-02 5.37749012e+02] [ 6.88864186e-02 9.97624432e-01 -3.92645473e-04 6.63507778e+00] [ 1.55446623e-02 -6.79833161e-04 9.99878943e-01 8.34335083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.939254154 meters Centerline goodness : 0.999189 Centerline is valid? [True, True] Translation: X:537.78, Y:6.63, Z:8.34 [[ 9.97348339e-01 -7.10939128e-02 -1.55546026e-02 5.37780382e+02] [ 7.10964391e-02 9.97469370e-01 -3.91197117e-04 6.63446613e+00] [ 1.55430514e-02 -7.15717060e-04 9.99878943e-01 8.34382791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.9692541539999 meters Centerline goodness : 0.998896 Centerline is valid? [True, True] Translation: X:537.81, Y:6.63, Z:8.34 [[ 9.97230310e-01 -7.27307589e-02 -1.55546238e-02 5.37811242e+02] [ 7.27334970e-02 9.97351335e-01 -3.90351672e-04 6.63376653e+00] [ 1.55418154e-02 -7.42071664e-04 9.99878943e-01 8.34427073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.9992541539999 meters Centerline goodness : 0.999146 Centerline is valid? [True, True] Translation: X:537.84, Y:6.64, Z:8.35 [[ 9.96679251e-01 -7.99282396e-02 -1.55546447e-02 5.37837852e+02] [ 7.99318643e-02 9.96800254e-01 -3.89515834e-04 6.63776575e+00] [ 1.55360071e-02 -8.55089402e-04 9.99878943e-01 8.34922717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.0292541539999 meters Centerline goodness : 0.998730 Centerline is valid? [True, True] Translation: X:537.87, Y:6.63, Z:8.34 [[ 9.96982116e-01 -7.60582243e-02 -1.55501207e-02 5.37872846e+02] [ 7.60585804e-02 9.97103188e-01 -5.69356073e-04 6.63288736e+00] [ 1.55483791e-02 -6.15082282e-04 9.99878927e-01 8.34455839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.059254154 meters Centerline goodness : 0.998814 Centerline is valid? [True, True] Translation: X:537.90, Y:6.63, Z:8.34 [[ 9.96945864e-01 -7.65310131e-02 -1.55547005e-02 5.37904402e+02] [ 7.65343157e-02 9.97066874e-01 -3.83711793e-04 6.63300181e+00] [ 1.55384425e-02 -8.07928477e-04 9.99878945e-01 8.34397023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.089254154 meters Centerline goodness : 0.999000 Centerline is valid? [True, True] Translation: X:537.94, Y:6.63, Z:8.34 [[ 9.96899982e-01 -7.71263616e-02 -1.55547343e-02 5.37937689e+02] [ 7.71297578e-02 9.97020990e-01 -3.82339552e-04 6.63401341e+00] [ 1.55378850e-02 -8.18578594e-04 9.99878945e-01 8.34474440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.1192541539999 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:537.96, Y:6.64, Z:8.35 [[ 9.96468814e-01 -8.25103168e-02 -1.55547748e-02 5.37963306e+02] [ 8.25143923e-02 9.96589800e-01 -3.80685786e-04 6.64081605e+00] [ 1.55331404e-02 -9.04151273e-04 9.99878945e-01 8.34836895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.1492541539999 meters Centerline goodness : 0.998789 Centerline is valid? [True, True] Translation: X:538.00, Y:6.64, Z:8.34 [[ 9.96970741e-01 -7.62073739e-02 -1.55491786e-02 5.37998674e+02] [ 7.62071578e-02 9.97091821e-01 -6.07274541e-04 6.63592830e+00] [ 1.55502376e-02 -5.79523755e-04 9.99878920e-01 8.34261615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.179254154 meters Centerline goodness : 0.998771 Centerline is valid? [True, True] Translation: X:538.03, Y:6.64, Z:8.34 [[ 9.97022989e-01 -7.55195858e-02 -1.55547659e-02 5.38030429e+02] [ 7.55228795e-02 9.97143998e-01 -3.76389058e-04 6.63776285e+00] [ 1.55387662e-02 -7.99472164e-04 9.99878946e-01 8.34354921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.209254154 meters Centerline goodness : 0.999147 Centerline is valid? [True, True] Translation: X:538.06, Y:6.65, Z:8.35 [[ 9.96846778e-01 -7.78109849e-02 -1.55548005e-02 5.38056192e+02] [ 7.78145790e-02 9.96967778e-01 -3.74951530e-04 6.64594556e+00] [ 1.55368103e-02 -8.36621030e-04 9.99878946e-01 8.34606683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.2392541539999 meters Centerline goodness : 0.999063 Centerline is valid? [True, True] Translation: X:538.09, Y:6.64, Z:8.34 [[ 9.97348694e-01 -7.10901373e-02 -1.55491157e-02 5.38092431e+02] [ 7.10892907e-02 9.97469771e-01 -6.07862503e-04 6.64294248e+00] [ 1.55529859e-02 -4.99124735e-04 9.99878920e-01 8.34494939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.2692541539999 meters Centerline goodness : 0.998791 Centerline is valid? [True, True] Translation: X:538.12, Y:6.64, Z:8.34 [[ 9.97522214e-01 -6.86110899e-02 -1.55547694e-02 5.38124414e+02] [ 6.86136358e-02 9.97643239e-01 -3.70563350e-04 6.64423863e+00] [ 1.55435353e-02 -6.97624108e-04 9.99878949e-01 8.34400655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.299254154 meters Centerline goodness : 0.998855 Centerline is valid? [True, True] Translation: X:538.16, Y:6.65, Z:8.35 [[ 9.97639933e-01 -6.68775956e-02 -1.55547963e-02 5.38157019e+02] [ 6.68799488e-02 9.97760961e-01 -3.69430853e-04 6.64677048e+00] [ 1.55446751e-02 -6.71745007e-04 9.99878949e-01 8.34538190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.329254154 meters Centerline goodness : 0.998916 Centerline is valid? [True, True] Translation: X:538.19, Y:6.65, Z:8.35 [[ 9.97856910e-01 -6.35581216e-02 -1.55548235e-02 5.38188135e+02] [ 6.35600901e-02 9.97977945e-01 -3.68280764e-04 6.65051633e+00] [ 1.55467780e-02 -6.21174479e-04 9.99878949e-01 8.34725076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.3592541539999 meters Centerline goodness : 0.998687 Centerline is valid? [True, True] Translation: X:538.22, Y:6.65, Z:8.35 [[ 9.97873242e-01 -6.33011857e-02 -1.55548437e-02 5.38219708e+02] [ 6.33031363e-02 9.97994278e-01 -3.67424275e-04 6.65397316e+00] [ 1.55469034e-02 -6.18027540e-04 9.99878949e-01 8.35054799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.3892541539999 meters Centerline goodness : 0.998853 Centerline is valid? [True, True] Translation: X:538.25, Y:6.66, Z:8.35 [[ 9.97989434e-01 -6.14420573e-02 -1.55551566e-02 5.38252292e+02] [ 6.14439885e-02 9.98110470e-01 -3.54188158e-04 6.65594532e+00] [ 1.55475267e-02 -6.02294820e-04 9.99878949e-01 8.35094283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.4192541539999 meters Centerline goodness : 0.998728 Centerline is valid? [True, True] Translation: X:538.28, Y:6.66, Z:8.35 [[ 9.98194569e-01 -5.80139244e-02 -1.55559502e-02 5.38282297e+02] [ 5.80159644e-02 9.98315604e-01 -3.20481455e-04 6.65601266e+00] [ 1.55483403e-02 -5.82590608e-04 9.99878948e-01 8.34604990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.449254154 meters Centerline goodness : 0.999125 Centerline is valid? [True, True] Translation: X:538.31, Y:6.66, Z:8.35 [[ 9.98354656e-01 -5.51908329e-02 -1.55548363e-02 5.38313596e+02] [ 5.51917970e-02 9.98475703e-01 -3.67615453e-04 6.66030022e+00] [ 1.55514151e-02 -4.91488769e-04 9.99878949e-01 8.34806777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.4792541539999 meters Centerline goodness : 0.998999 Centerline is valid? [True, True] Translation: X:538.35, Y:6.66, Z:8.35 [[ 9.98447008e-01 -5.34940983e-02 -1.55548566e-02 5.38345592e+02] [ 5.34948701e-02 9.98568057e-01 -3.66753762e-04 6.66217537e+00] [ 1.55522021e-02 -4.65920840e-04 9.99878949e-01 8.34798543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.5092541539999 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:538.38, Y:6.66, Z:8.35 [[ 9.98549067e-01 -5.15539184e-02 -1.55548838e-02 5.38376693e+02] [ 5.15544730e-02 9.98670117e-01 -3.65596631e-04 6.66374428e+00] [ 1.55530456e-02 -4.36857663e-04 9.99878949e-01 8.34792548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.5392541539999 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:538.40, Y:6.67, Z:8.35 [[ 9.98439639e-01 -5.36314551e-02 -1.55549041e-02 5.38400102e+02] [ 5.36322750e-02 9.98560687e-01 -3.64734093e-04 6.67113352e+00] [ 1.55520769e-02 -4.70079916e-04 9.99878949e-01 8.35154639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.569254154 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:538.44, Y:6.67, Z:8.35 [[ 9.98721095e-01 -4.81083844e-02 -1.55485827e-02 5.38435755e+02] [ 4.81043483e-02 9.98842115e-01 -6.33691769e-04 6.66661448e+00] [ 1.55610651e-02 -1.15073100e-04 9.99878913e-01 8.34830269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.5992541539999 meters Centerline goodness : 0.998872 Centerline is valid? [True, True] Translation: X:538.47, Y:6.67, Z:8.35 [[ 9.98883688e-01 -4.46029396e-02 -1.55549288e-02 5.38467820e+02] [ 4.46027709e-02 9.99004737e-01 -3.57931337e-04 6.66756662e+00] [ 1.55554123e-02 -3.36261150e-04 9.99878951e-01 8.34693412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.6292541539999 meters Centerline goodness : 0.999084 Centerline is valid? [True, True] Translation: X:538.50, Y:6.67, Z:8.35 [[ 9.98930103e-01 -4.35510403e-02 -1.55549549e-02 5.38500101e+02] [ 4.35507620e-02 9.99051152e-01 -3.56789428e-04 6.66951503e+00] [ 1.55557342e-02 -3.21022441e-04 9.99878951e-01 8.34923358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.6592541539999 meters Centerline goodness : 0.999084 Centerline is valid? [True, True] Translation: X:538.53, Y:6.67, Z:8.35 [[ 9.98933303e-01 -4.34775558e-02 -1.55549811e-02 5.38532780e+02] [ 4.34772863e-02 9.99054352e-01 -3.55645293e-04 6.67020296e+00] [ 1.55557342e-02 -3.21022440e-04 9.99878951e-01 8.34974191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.689254154 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:538.57, Y:6.67, Z:8.35 [[ 9.98995987e-01 -4.20126071e-02 -1.55550072e-02 5.38565067e+02] [ 4.20121780e-02 9.99117036e-01 -3.54501157e-04 6.67112807e+00] [ 1.55561662e-02 -2.99354497e-04 9.99878951e-01 8.35024954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.7192541539999 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:538.60, Y:6.67, Z:8.35 [[ 9.99046338e-01 -4.07977446e-02 -1.55550332e-02 5.38597019e+02] [ 4.07971861e-02 9.99167386e-01 -3.53355537e-04 6.67209607e+00] [ 1.55564980e-02 -2.81583030e-04 9.99878951e-01 8.35084354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.7492541539999 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:538.63, Y:6.67, Z:8.35 [[ 9.99128954e-01 -3.87217489e-02 -1.55550590e-02 5.38627750e+02] [ 3.87209566e-02 9.99250001e-01 -3.52214729e-04 6.67264667e+00] [ 1.55570311e-02 -2.50398833e-04 9.99878951e-01 8.35120413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.7792541539999 meters Centerline goodness : 0.998895 Centerline is valid? [True, True] Translation: X:538.66, Y:6.67, Z:8.35 [[ 9.99161502e-01 -3.78725746e-02 -1.55550782e-02 5.38658747e+02] [ 3.78716927e-02 9.99282548e-01 -3.51365011e-04 6.67230662e+00] [ 1.55572253e-02 -2.38026751e-04 9.99878951e-01 8.35005219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.809254154 meters Centerline goodness : 0.998915 Centerline is valid? [True, True] Translation: X:538.69, Y:6.67, Z:8.35 [[ 9.99134992e-01 -3.85656097e-02 -1.55550909e-02 5.38689212e+02] [ 3.85648205e-02 9.99256039e-01 -3.50802241e-04 6.67287637e+00] [ 1.55570474e-02 -2.49380496e-04 9.99878951e-01 8.35147828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.839254154 meters Centerline goodness : 0.999022 Centerline is valid? [True, True] Translation: X:538.72, Y:6.67, Z:8.35 [[ 9.99056262e-01 -4.05539749e-02 -1.55551117e-02 5.38720012e+02] [ 4.05534410e-02 9.99177310e-01 -3.49877022e-04 6.67185278e+00] [ 1.55565036e-02 -2.81266476e-04 9.99878951e-01 8.35159758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.8692541539999 meters Centerline goodness : 0.998979 Centerline is valid? [True, True] Translation: X:538.75, Y:6.67, Z:8.35 [[ 9.98987049e-01 -4.22245677e-02 -1.55551179e-02 5.38751160e+02] [ 4.22242405e-02 9.99108098e-01 -3.49600557e-04 6.67121485e+00] [ 1.55560060e-02 -3.07556613e-04 9.99878951e-01 8.35112667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.8992541539999 meters Centerline goodness : 0.998811 Centerline is valid? [True, True] Translation: X:538.78, Y:6.67, Z:8.35 [[ 9.98905956e-01 -4.41013523e-02 -1.55551365e-02 5.38782305e+02] [ 4.41012654e-02 9.99027005e-01 -3.48774519e-04 6.67072522e+00] [ 1.55553828e-02 -3.37608257e-04 9.99878951e-01 8.35064155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.929254154 meters Centerline goodness : 0.998978 Centerline is valid? [True, True] Translation: X:538.81, Y:6.67, Z:8.35 [[ 9.98792557e-01 -4.65989807e-02 -1.55551545e-02 5.38813980e+02] [ 4.65992090e-02 9.98913606e-01 -3.47967368e-04 6.67063846e+00] [ 1.55544704e-02 -3.77310680e-04 9.99878951e-01 8.35265653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.959254154 meters Centerline goodness : 0.999000 Centerline is valid? [True, True] Translation: X:538.84, Y:6.67, Z:8.35 [[ 9.98579220e-01 -5.09664475e-02 -1.55551731e-02 5.38844867e+02] [ 5.09672182e-02 9.98700266e-01 -3.47133784e-04 6.66869389e+00] [ 1.55526477e-02 -4.46163320e-04 9.99878951e-01 8.35299061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.9892541539999 meters Centerline goodness : 0.998934 Centerline is valid? [True, True] Translation: X:538.88, Y:6.67, Z:8.35 [[ 9.98470408e-01 -5.30554544e-02 -1.55551915e-02 5.38876996e+02] [ 5.30564912e-02 9.98591452e-01 -3.46306281e-04 6.66810174e+00] [ 1.55516548e-02 -4.79527310e-04 9.99878951e-01 8.35341156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.0192541539999 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:538.91, Y:6.67, Z:8.35 [[ 9.98392667e-01 -5.44987786e-02 -1.55552169e-02 5.38909418e+02] [ 5.45000082e-02 9.98513710e-01 -3.45162256e-04 6.66744723e+00] [ 1.55509083e-02 -5.03151984e-04 9.99878951e-01 8.35382492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.049254154 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:538.94, Y:6.67, Z:8.35 [[ 9.98338464e-01 -5.54828449e-02 -1.55552426e-02 5.38940271e+02] [ 5.54842119e-02 9.98459505e-01 -3.44000786e-04 6.66681472e+00] [ 1.55503660e-02 -5.19641161e-04 9.99878951e-01 8.35365935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.079254154 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:538.97, Y:6.67, Z:8.35 [[ 9.98355426e-01 -5.51767778e-02 -1.55552617e-02 5.38972062e+02] [ 5.51781212e-02 9.98476468e-01 -3.43135311e-04 6.66580844e+00] [ 1.55504959e-02 -5.15739116e-04 9.99878951e-01 8.35407996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.1092541539999 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:539.00, Y:6.67, Z:8.35 [[ 9.98439245e-01 -5.36386710e-02 -1.55552869e-02 5.39004331e+02] [ 5.36398457e-02 9.98560289e-01 -3.41991154e-04 6.66595308e+00] [ 1.55512357e-02 -4.92925797e-04 9.99878951e-01 8.35471868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.1392541539999 meters Centerline goodness : 0.999333 Centerline is valid? [True, True] Translation: X:539.04, Y:6.67, Z:8.36 [[ 9.98680807e-01 -4.89354514e-02 -1.55553118e-02 5.39036996e+02] [ 4.89360737e-02 9.98801854e-01 -3.40853875e-04 6.66596504e+00] [ 1.55533541e-02 -4.20811661e-04 9.99878951e-01 8.35607607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.1692541539999 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:539.07, Y:6.67, Z:8.36 [[ 9.98832855e-01 -4.57270156e-02 -1.55553365e-02 5.39069213e+02] [ 4.57272666e-02 9.98953904e-01 -3.39724479e-04 6.66633088e+00] [ 1.55545987e-02 -3.71975045e-04 9.99878951e-01 8.35700299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.199254154 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:539.10, Y:6.67, Z:8.36 [[ 9.98987796e-01 -4.22067924e-02 -1.55553609e-02 5.39101845e+02] [ 4.22066343e-02 9.99108846e-01 -3.38599883e-04 6.66662975e+00] [ 1.55557899e-02 -3.18282279e-04 9.99878951e-01 8.35775378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.2292541539999 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:539.13, Y:6.67, Z:8.36 [[ 9.99147107e-01 -3.82503301e-02 -1.55553855e-02 5.39133039e+02] [ 3.82497103e-02 9.99268155e-01 -3.37466985e-04 6.66669030e+00] [ 1.55569096e-02 -2.57809827e-04 9.99878951e-01 8.35831834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.2592541539999 meters Centerline goodness : 0.999271 Centerline is valid? [True, True] Translation: X:539.16, Y:6.67, Z:8.36 [[ 9.99289134e-01 -3.43403017e-02 -1.55554038e-02 5.39163911e+02] [ 3.43392213e-02 9.99410178e-01 -3.36623475e-04 6.66688014e+00] [ 1.55577886e-02 -1.97776272e-04 9.99878951e-01 8.35899727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.2892541539999 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:539.19, Y:6.67, Z:8.36 [[ 9.99497876e-01 -2.76047959e-02 -1.55554038e-02 5.39193721e+02] [ 2.76028998e-02 9.99618911e-01 -3.36623475e-04 6.66610359e+00] [ 1.55587682e-02 -9.29198035e-05 9.99878951e-01 8.35862801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.319254154 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:539.22, Y:6.67, Z:8.36 [[ 9.99564972e-01 -2.50578635e-02 -1.55553979e-02 5.39223852e+02] [ 2.50556547e-02 9.99686001e-01 -3.36895085e-04 6.66561734e+00] [ 1.55589554e-02 -5.30021513e-05 9.99878951e-01 8.35922659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.3492541539999 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:539.25, Y:6.66, Z:8.36 [[ 9.99605863e-01 -2.33698158e-02 -1.55553855e-02 5.39252142e+02] [ 2.33673938e-02 9.99726888e-01 -3.37465961e-04 6.66490269e+00] [ 1.55590237e-02 -2.61558649e-05 9.99878951e-01 8.35859718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.3792541539999 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:539.28, Y:6.66, Z:8.36 [[ 9.99628165e-01 -2.23956441e-02 -1.55552984e-02 5.39280932e+02] [ 2.23930424e-02 9.99749186e-01 -3.41432542e-04 6.66380567e+00] [ 1.55590435e-02 -7.02487115e-06 9.99878951e-01 8.35875457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.4092541539999 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:539.31, Y:6.66, Z:8.36 [[ 9.99627245e-01 -2.24367265e-02 -1.55552094e-02 5.39308876e+02] [ 2.24340673e-02 9.99748265e-01 -3.45443750e-04 6.66021253e+00] [ 1.55590442e-02 -3.65162986e-06 9.99878951e-01 8.35740824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.439254154 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:539.34, Y:6.66, Z:8.36 [[ 9.99600161e-01 -2.36125979e-02 -1.55551777e-02 5.39337962e+02] [ 2.36100590e-02 9.99721184e-01 -3.46861768e-04 6.65851209e+00] [ 1.55590310e-02 -2.05355848e-05 9.99878951e-01 8.35804731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.4692541539999 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:539.37, Y:6.66, Z:8.36 [[ 9.99565585e-01 -2.50335758e-02 -1.55550859e-02 5.39365418e+02] [ 2.50311457e-02 9.99686610e-01 -3.50930189e-04 6.65662175e+00] [ 1.55589962e-02 -3.85838821e-05 9.99878951e-01 8.35649698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.4992541539999 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:539.39, Y:6.65, Z:8.36 [[ 9.99513652e-01 -2.70277611e-02 -1.55550372e-02 5.39393862e+02] [ 2.70255390e-02 9.99634681e-01 -3.53077168e-04 6.65454745e+00] [ 1.55588975e-02 -6.74778156e-05 9.99878951e-01 8.35785338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.5292541539999 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:539.42, Y:6.65, Z:8.36 [[ 9.99445716e-01 -2.94330398e-02 -1.55549458e-02 5.39422433e+02] [ 2.94310471e-02 9.99566749e-01 -3.57058443e-04 6.65254079e+00] [ 1.55587159e-02 -1.00937812e-04 9.99878951e-01 8.35809768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.559254154 meters Centerline goodness : 0.999456 Centerline is valid? [True, True] Translation: X:539.45, Y:6.65, Z:8.36 [[ 9.99311744e-01 -3.36761859e-02 -1.55548535e-02 5.39452628e+02] [ 3.36746452e-02 9.99432783e-01 -3.61035060e-04 6.64772270e+00] [ 1.55581888e-02 -1.63017597e-04 9.99878951e-01 8.35867799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.589254154 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:539.48, Y:6.65, Z:8.36 [[ 9.99229073e-01 -3.60459002e-02 -1.55548404e-02 5.39482271e+02] [ 3.60446377e-02 9.99350116e-01 -3.61598987e-04 6.64566277e+00] [ 1.55577657e-02 -1.99348367e-04 9.99878951e-01 8.35916524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.6192541539999 meters Centerline goodness : 0.999584 Centerline is valid? [True, True] Translation: X:539.51, Y:6.64, Z:8.36 [[ 9.99147160e-01 -3.82491890e-02 -1.55548273e-02 5.39512302e+02] [ 3.82481847e-02 9.99268205e-01 -3.62162133e-04 6.64358082e+00] [ 1.55572968e-02 -2.33090641e-04 9.99878951e-01 8.35976272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.6492541539999 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:539.54, Y:6.64, Z:8.36 [[ 9.98945889e-01 -4.31874705e-02 -1.55548208e-02 5.39543291e+02] [ 4.31870601e-02 9.99066938e-01 -3.62441679e-04 6.63888537e+00] [ 1.55559601e-02 -3.09707355e-04 9.99878951e-01 8.36214178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.679254154 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:539.57, Y:6.64, Z:8.36 [[ 9.98823655e-01 -4.59277085e-02 -1.55548208e-02 5.39573488e+02] [ 4.59276302e-02 9.98944704e-01 -3.62441679e-04 6.63722019e+00] [ 1.55550520e-02 -3.52380734e-04 9.99878951e-01 8.36266347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.709254154 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:539.60, Y:6.64, Z:8.36 [[ 9.98674633e-01 -4.90614342e-02 -1.55548274e-02 5.39604441e+02] [ 4.90617401e-02 9.98795682e-01 -3.62158930e-04 6.63544558e+00] [ 1.55538625e-02 -4.01467962e-04 9.99878951e-01 8.36339987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.7392541539999 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:539.64, Y:6.63, Z:8.36 [[ 9.98506382e-01 -5.23741635e-02 -1.55548403e-02 5.39635932e+02] [ 5.23748796e-02 9.98627429e-01 -3.61603896e-04 6.63358650e+00] [ 1.55524288e-02 -4.53619090e-04 9.99878951e-01 8.36424467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.7692541539999 meters Centerline goodness : 0.999729 Centerline is valid? [True, True] Translation: X:539.67, Y:6.63, Z:8.36 [[ 9.98057566e-01 -6.03252946e-02 -1.55548533e-02 5.39666526e+02] [ 6.03269835e-02 9.98178604e-01 -3.61042686e-04 6.62895789e+00] [ 1.55483018e-02 -5.78035994e-04 9.99878951e-01 8.36444914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.799254154 meters Centerline goodness : 0.999562 Centerline is valid? [True, True] Translation: X:539.70, Y:6.63, Z:8.36 [[ 9.97764993e-01 -6.49851160e-02 -1.55548598e-02 5.39697310e+02] [ 6.49873745e-02 9.97886021e-01 -3.60764218e-04 6.62715990e+00] [ 1.55454214e-02 -6.50911589e-04 9.99878951e-01 8.36430444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.829254154 meters Centerline goodness : 0.999625 Centerline is valid? [True, True] Translation: X:539.73, Y:6.63, Z:8.36 [[ 9.97458595e-01 -6.95298281e-02 -1.55548790e-02 5.39728749e+02] [ 6.95326508e-02 9.97579611e-01 -3.59933355e-04 6.62560980e+00] [ 1.55422562e-02 -7.22553350e-04 9.99878951e-01 8.36392063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.8592541539999 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:539.76, Y:6.62, Z:8.36 [[ 9.96782864e-01 -7.86254917e-02 -1.55548915e-02 5.39761492e+02] [ 7.86294266e-02 9.96903849e-01 -3.59391111e-04 6.62226874e+00] [ 1.55349885e-02 -8.64837300e-04 9.99878951e-01 8.36453407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.8892541539999 meters Centerline goodness : 0.999708 Centerline is valid? [True, True] Translation: X:539.80, Y:6.62, Z:8.36 [[ 9.96561072e-01 -8.13884163e-02 -1.55549179e-02 5.39795797e+02] [ 8.13927044e-02 9.96682045e-01 -3.58243758e-04 6.61959205e+00] [ 1.55324643e-02 -9.09045055e-04 9.99878951e-01 8.36450472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.9192541539999 meters Centerline goodness : 0.999708 Centerline is valid? [True, True] Translation: X:539.82, Y:6.62, Z:8.37 [[ 9.96136577e-01 -8.64284346e-02 -1.55578300e-02 5.39824303e+02] [ 8.64353073e-02 9.96257439e-01 -2.31380002e-04 6.62082183e+00] [ 1.55196017e-02 -1.11425974e-03 9.99878943e-01 8.36507035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.949254154 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:539.86, Y:6.62, Z:8.37 [[ 9.95872539e-01 -8.94199901e-02 -1.55548183e-02 5.39856938e+02] [ 8.94252087e-02 9.95993475e-01 -3.61115130e-04 6.62093014e+00] [ 1.55247884e-02 -1.03136823e-03 9.99878951e-01 8.36528004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.9792541539999 meters Centerline goodness : 0.999750 Centerline is valid? [True, True] Translation: X:539.89, Y:6.62, Z:8.37 [[ 9.95582349e-01 -9.25949986e-02 -1.55548448e-02 5.39889250e+02] [ 9.26006206e-02 9.95703267e-01 -3.59971005e-04 6.62139820e+00] [ 1.55213413e-02 -1.08200750e-03 9.99878951e-01 8.36536800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.0092541539999 meters Centerline goodness : 0.999750 Centerline is valid? [True, True] Translation: X:539.92, Y:6.62, Z:8.37 [[ 9.95536162e-01 -9.30902536e-02 -1.55548710e-02 5.39921869e+02] [ 9.30959533e-02 9.95657077e-01 -3.58834858e-04 6.62264600e+00] [ 1.55207214e-02 -1.09086247e-03 9.99878951e-01 8.36537897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.0392541539999 meters Centerline goodness : 0.999645 Centerline is valid? [True, True] Translation: X:539.95, Y:6.62, Z:8.37 [[ 9.95550654e-01 -9.29351456e-02 -1.55548970e-02 5.39954369e+02] [ 9.29408441e-02 9.95671568e-01 -3.57704533e-04 6.62430423e+00] [ 1.55208120e-02 -1.08957227e-03 9.99878951e-01 8.36585637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.069254154 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:539.99, Y:6.63, Z:8.37 [[ 9.95704516e-01 -9.12719135e-02 -1.55549229e-02 5.39985418e+02] [ 9.12774276e-02 9.95825439e-01 -3.56572634e-04 6.62793275e+00] [ 1.55225330e-02 -1.06477237e-03 9.99878951e-01 8.36578323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.0992541539999 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:540.02, Y:6.63, Z:8.37 [[ 9.95815401e-01 -9.00540415e-02 -1.55549422e-02 5.40017101e+02] [ 9.00594208e-02 9.95936330e-01 -3.55728792e-04 6.63083644e+00] [ 1.55237669e-02 -1.04662888e-03 9.99878951e-01 8.36611855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.1292541539999 meters Centerline goodness : 0.999687 Centerline is valid? [True, True] Translation: X:540.05, Y:6.63, Z:8.37 [[ 9.95997271e-01 -8.80197698e-02 -1.55549675e-02 5.40048737e+02] [ 8.80249193e-02 9.96118210e-01 -3.54621510e-04 6.63343004e+00] [ 1.55258000e-02 -1.01602270e-03 9.99878951e-01 8.36661338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.1592541539999 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:540.08, Y:6.64, Z:8.37 [[ 9.96176935e-01 -8.59625321e-02 -1.55549927e-02 5.40080560e+02] [ 8.59674491e-02 9.96297884e-01 -3.53511672e-04 6.63630226e+00] [ 1.55277951e-02 -9.85062868e-04 9.99878951e-01 8.36728446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.189254154 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:540.11, Y:6.64, Z:8.37 [[ 9.96345344e-01 -8.39880787e-02 -1.55550177e-02 5.40112194e+02] [ 8.39927731e-02 9.96466301e-01 -3.52406930e-04 6.63919444e+00] [ 1.55296490e-02 -9.55390070e-04 9.99878951e-01 8.36829052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.2192541539999 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:540.15, Y:6.65, Z:8.37 [[ 9.96640537e-01 -8.04094613e-02 -1.55550442e-02 5.40145079e+02] [ 8.04137396e-02 9.96761510e-01 -3.51233764e-04 6.64504076e+00] [ 1.55329119e-02 -9.00785467e-04 9.99878951e-01 8.36948358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.2492541539999 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:540.17, Y:6.65, Z:8.37 [[ 9.96836443e-01 -7.79429384e-02 -1.55564785e-02 5.40174687e+02] [ 7.79479086e-02 9.96957392e-01 -2.87506985e-04 6.64790725e+00] [ 1.55315553e-02 -9.25997523e-04 9.99878949e-01 8.37019699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.2792541539999 meters Centerline goodness : 0.999583 Centerline is valid? [True, True] Translation: X:540.21, Y:6.65, Z:8.37 [[ 9.96993624e-01 -7.59062210e-02 -1.55550654e-02 5.40206429e+02] [ 7.59099678e-02 9.97114614e-01 -3.50264484e-04 6.65101622e+00] [ 1.55367702e-02 -8.31573053e-04 9.99878951e-01 8.37078733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.309254154 meters Centerline goodness : 0.999500 Centerline is valid? [True, True] Translation: X:540.24, Y:6.65, Z:8.37 [[ 9.97119112e-01 -7.42395833e-02 -1.55550914e-02 5.40238702e+02] [ 7.42431459e-02 9.97240108e-01 -3.49103533e-04 6.65421520e+00] [ 1.55380783e-02 -8.06761116e-04 9.99878951e-01 8.37116208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.339254154 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:540.27, Y:6.66, Z:8.37 [[ 9.97354635e-01 -7.10054194e-02 -1.55551173e-02 5.40269482e+02] [ 7.10086076e-02 9.97475642e-01 -3.47944738e-04 6.65957846e+00] [ 1.55405566e-02 -7.57522925e-04 9.99878951e-01 8.37114618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.3692541539999 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:540.30, Y:6.66, Z:8.37 [[ 9.97436196e-01 -6.98503570e-02 -1.55551366e-02 5.40300742e+02] [ 6.98534185e-02 9.97557206e-01 -3.47081814e-04 6.66280360e+00] [ 1.55413824e-02 -7.40387501e-04 9.99878951e-01 8.37131715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.3992541539999 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:540.33, Y:6.67, Z:8.37 [[ 9.97542443e-01 -6.83162617e-02 -1.55551556e-02 5.40333342e+02] [ 6.83191504e-02 9.97663457e-01 -3.46229625e-04 6.66559052e+00] [ 1.55424634e-02 -7.17336266e-04 9.99878951e-01 8.37188356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.429254154 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:540.37, Y:6.67, Z:8.37 [[ 9.97778447e-01 -6.47781392e-02 -1.55551809e-02 5.40365635e+02] [ 6.47806165e-02 9.97899470e-01 -3.45088808e-04 6.67114812e+00] [ 1.55448610e-02 -6.63352031e-04 9.99878951e-01 8.37246678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.459254154 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:540.40, Y:6.67, Z:8.37 [[ 9.97931756e-01 -6.23718397e-02 -1.55552063e-02 5.40396389e+02] [ 6.23740430e-02 9.98052784e-01 -3.43940312e-04 6.67407437e+00] [ 1.55463691e-02 -6.27012144e-04 9.99878951e-01 8.37261316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.4892541539999 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:540.43, Y:6.68, Z:8.37 [[ 9.98237100e-01 -5.72776311e-02 -1.55552251e-02 5.40428923e+02] [ 5.72792299e-02 9.98358138e-01 -3.43085002e-04 6.67944807e+00] [ 1.55493367e-02 -5.48511138e-04 9.99878951e-01 8.37429139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.5192541539999 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:540.46, Y:6.68, Z:8.37 [[ 9.98363426e-01 -5.50318420e-02 -1.55552507e-02 5.40461323e+02] [ 5.50331866e-02 9.98484467e-01 -3.41921873e-04 6.68269926e+00] [ 1.55504928e-02 -5.14692722e-04 9.99878951e-01 8.37479669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.549254154 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:540.49, Y:6.69, Z:8.38 [[ 9.98489179e-01 -5.27009676e-02 -1.55552761e-02 5.40493666e+02] [ 5.27020477e-02 9.98610223e-01 -3.40759892e-04 6.68611664e+00] [ 1.55516162e-02 -4.79549841e-04 9.99878951e-01 8.37554924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.579254154 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:540.53, Y:6.69, Z:8.38 [[ 9.98493123e-01 -5.26261820e-02 -1.55553016e-02 5.40526344e+02] [ 5.26272712e-02 9.98614167e-01 -3.39593294e-04 6.68677203e+00] [ 1.55516161e-02 -4.79551507e-04 9.99878951e-01 8.37605756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.6092541539999 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:540.56, Y:6.69, Z:8.38 [[ 9.98607591e-01 -5.04074570e-02 -1.55553270e-02 5.40558537e+02] [ 5.04082954e-02 9.98728636e-01 -3.38428364e-04 6.68987860e+00] [ 1.55526098e-02 -4.46160383e-04 9.99878951e-01 8.37603754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.6392541539999 meters Centerline goodness : 0.999211 Centerline is valid? [True, True] Translation: X:540.59, Y:6.69, Z:8.38 [[ 9.98711583e-01 -4.83032694e-02 -1.55553523e-02 5.40590108e+02] [ 4.83038710e-02 9.98832630e-01 -3.37258029e-04 6.69258795e+00] [ 1.55534841e-02 -4.14560233e-04 9.99878951e-01 8.37613943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.6692541539999 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:540.62, Y:6.70, Z:8.38 [[ 9.98798361e-01 -4.64743506e-02 -1.55553712e-02 5.40622199e+02] [ 4.64747440e-02 9.98919409e-01 -3.36386474e-04 6.69501336e+00] [ 1.55541955e-02 -3.86949635e-04 9.99878951e-01 8.37631511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.699254154 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:540.65, Y:6.70, Z:8.38 [[ 9.98866969e-01 -4.49756334e-02 -1.55553960e-02 5.40654415e+02] [ 4.49758631e-02 9.98988018e-01 -3.35235973e-04 6.69738351e+00] [ 1.55547316e-02 -3.64761220e-04 9.99878951e-01 8.37671069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.7292541539999 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:540.69, Y:6.70, Z:8.38 [[ 9.98946865e-01 -4.31646864e-02 -1.55554206e-02 5.40686758e+02] [ 4.31647145e-02 9.99067914e-01 -3.34089079e-04 6.70110893e+00] [ 1.55553425e-02 -3.37708052e-04 9.99878951e-01 8.37733975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.7592541539999 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:540.72, Y:6.70, Z:8.38 [[ 9.98969488e-01 -4.26378854e-02 -1.55554451e-02 5.40718137e+02] [ 4.26378675e-02 9.99090537e-01 -3.32945403e-04 6.70284130e+00] [ 1.55554941e-02 -3.30648708e-04 9.99878951e-01 8.37804941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.7892541539999 meters Centerline goodness : 0.999292 Centerline is valid? [True, True] Translation: X:540.75, Y:6.70, Z:8.38 [[ 9.98981274e-01 -4.23608570e-02 -1.55554571e-02 5.40749577e+02] [ 4.23608143e-02 9.99102323e-01 -3.32381359e-04 6.70457221e+00] [ 1.55555733e-02 -3.26899078e-04 9.99878951e-01 8.37855454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.819254154 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:540.78, Y:6.71, Z:8.38 [[ 9.98979969e-01 -4.23916236e-02 -1.55554695e-02 5.40781064e+02] [ 4.23915937e-02 9.99101017e-01 -3.31801756e-04 6.70632207e+00] [ 1.55555510e-02 -3.27957834e-04 9.99878951e-01 8.37914750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.8492541539999 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:540.81, Y:6.71, Z:8.38 [[ 9.98972905e-01 -4.25577588e-02 -1.55554880e-02 5.40812004e+02] [ 4.25577626e-02 9.99093953e-01 -3.30933909e-04 6.70776176e+00] [ 1.55554778e-02 -3.31412755e-04 9.99878951e-01 8.37958550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.8792541539999 meters Centerline goodness : 0.998873 Centerline is valid? [True, True] Translation: X:540.84, Y:6.71, Z:8.38 [[ 9.98938290e-01 -4.33626544e-02 -1.55555054e-02 5.40842858e+02] [ 4.33627684e-02 9.99059338e-01 -3.30111618e-04 6.70912951e+00] [ 1.55551875e-02 -3.44768644e-04 9.99878951e-01 8.37889820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.9092541539999 meters Centerline goodness : 0.998998 Centerline is valid? [True, True] Translation: X:540.87, Y:6.71, Z:8.38 [[ 9.98919947e-01 -4.37831669e-02 -1.55555175e-02 5.40874618e+02] [ 4.37833408e-02 9.99040995e-01 -3.29539898e-04 6.71005693e+00] [ 1.55550280e-02 -3.51888547e-04 9.99878951e-01 8.37919178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.939254154 meters Centerline goodness : 0.999229 Centerline is valid? [True, True] Translation: X:540.91, Y:6.71, Z:8.38 [[ 9.98887846e-01 -4.45095133e-02 -1.55555416e-02 5.40907045e+02] [ 4.45097930e-02 9.99008894e-01 -3.28399545e-04 6.71130528e+00] [ 1.55547413e-02 -3.64339622e-04 9.99878951e-01 8.37938511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.9692541539999 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:540.94, Y:6.71, Z:8.38 [[ 9.98855864e-01 -4.52215323e-02 -1.55555655e-02 5.40939575e+02] [ 4.52219159e-02 9.98976912e-01 -3.27264930e-04 6.71241377e+00] [ 1.55544502e-02 -3.76561979e-04 9.99878951e-01 8.37912190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.9992541539999 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:540.97, Y:6.71, Z:8.38 [[ 9.98767530e-01 -4.71322051e-02 -1.55555898e-02 5.40970838e+02] [ 4.71328383e-02 9.98888577e-01 -3.26102925e-04 6.71347951e+00] [ 1.55536709e-02 -4.07478087e-04 9.99878951e-01 8.37867743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.0292541539999 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:541.00, Y:6.71, Z:8.38 [[ 9.98714606e-01 -4.82406374e-02 -1.55556300e-02 5.41001850e+02] [ 4.82414350e-02 9.98835652e-01 -3.24175068e-04 6.71430800e+00] [ 1.55531562e-02 -4.26667539e-04 9.99878951e-01 8.37912183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.059254154 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:541.03, Y:6.72, Z:8.38 [[ 9.98666626e-01 -4.92238926e-02 -1.55556476e-02 5.41033962e+02] [ 4.92248226e-02 9.98787671e-01 -3.23328850e-04 6.71521746e+00] [ 1.55527045e-02 -4.42826261e-04 9.99878951e-01 8.37907677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.089254154 meters Centerline goodness : 0.998998 Centerline is valid? [True, True] Translation: X:541.07, Y:6.72, Z:8.38 [[ 9.98558922e-01 -5.13624381e-02 -1.55556716e-02 5.41065836e+02] [ 5.13636453e-02 9.98679965e-01 -3.22170145e-04 6.71634190e+00] [ 1.55516850e-02 -4.77290125e-04 9.99878951e-01 8.37891595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.1192541539999 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:541.10, Y:6.72, Z:8.38 [[ 9.98520213e-01 -5.21095418e-02 -1.55556955e-02 5.41096836e+02] [ 5.21108576e-02 9.98641255e-01 -3.21013085e-04 6.71721611e+00] [ 1.55512871e-02 -4.90082577e-04 9.99878951e-01 8.37923220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.1492541539999 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:541.13, Y:6.72, Z:8.38 [[ 9.98478574e-01 -5.29013956e-02 -1.55557132e-02 5.41128867e+02] [ 5.29028207e-02 9.98599614e-01 -3.20151247e-04 6.71839961e+00] [ 1.55508657e-02 -5.03276947e-04 9.99878951e-01 8.37964488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.179254154 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:541.16, Y:6.72, Z:8.38 [[ 9.98410006e-01 -5.41800615e-02 -1.55557370e-02 5.41160498e+02] [ 5.41816597e-02 9.98531044e-01 -3.18989100e-04 6.72006435e+00] [ 1.55501692e-02 -5.24353742e-04 9.99878951e-01 8.37973153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.209254154 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:541.19, Y:6.72, Z:8.38 [[ 9.98387672e-01 -5.45900565e-02 -1.55557548e-02 5.41193019e+02] [ 5.45917180e-02 9.98508710e-01 -3.18121992e-04 6.72101094e+00] [ 1.55499229e-02 -5.31606302e-04 9.99878951e-01 8.38001324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.2392541539999 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:541.22, Y:6.72, Z:8.38 [[ 9.98363148e-01 -5.50367297e-02 -1.55557783e-02 5.41224062e+02] [ 5.50384633e-02 9.98484185e-01 -3.16967572e-04 6.72172012e+00] [ 1.55496435e-02 -5.39717390e-04 9.99878951e-01 8.37993063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.2692541539999 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:541.26, Y:6.72, Z:8.38 [[ 9.98355474e-01 -5.51757552e-02 -1.55557958e-02 5.41256420e+02] [ 5.51775190e-02 9.98476510e-01 -3.16107413e-04 6.72250386e+00] [ 1.55495381e-02 -5.42742651e-04 9.99878951e-01 8.38022177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.299254154 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:541.29, Y:6.72, Z:8.38 [[ 9.98351184e-01 -5.52533224e-02 -1.55558187e-02 5.41288556e+02] [ 5.52551133e-02 9.98472220e-01 -3.14972905e-04 6.72390451e+00] [ 1.55494562e-02 -5.45084955e-04 9.99878951e-01 8.37995677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.329254154 meters Centerline goodness : 0.998955 Centerline is valid? [True, True] Translation: X:541.32, Y:6.73, Z:8.38 [[ 9.98352177e-01 -5.52353696e-02 -1.55558418e-02 5.41321114e+02] [ 5.52371761e-02 9.98473212e-01 -3.13828214e-04 6.72508775e+00] [ 1.55494258e-02 -5.45949695e-04 9.99878951e-01 8.38003167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.3592541539999 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:541.35, Y:6.73, Z:8.38 [[ 9.98368887e-01 -5.49325168e-02 -1.55558648e-02 5.41352800e+02] [ 5.49343044e-02 9.98489922e-01 -3.12686111e-04 6.72630433e+00] [ 1.55495509e-02 -5.42374528e-04 9.99878951e-01 8.38019244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.3892541539999 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:541.38, Y:6.73, Z:8.38 [[ 9.98383192e-01 -5.46718988e-02 -1.55558875e-02 5.41384943e+02] [ 5.46736724e-02 9.98504228e-01 -3.11551472e-04 6.72776676e+00] [ 1.55496526e-02 -5.39449745e-04 9.99878951e-01 8.38060211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.4192541539999 meters Centerline goodness : 0.999247 Centerline is valid? [True, True] Translation: X:541.42, Y:6.73, Z:8.38 [[ 9.98436956e-01 -5.36810817e-02 -1.55559100e-02 5.41416132e+02] [ 5.36827527e-02 9.98557993e-01 -3.10425282e-04 6.73031823e+00] [ 1.55501422e-02 -5.25143997e-04 9.99878951e-01 8.38086897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.449254154 meters Centerline goodness : 0.999142 Centerline is valid? [True, True] Translation: X:541.45, Y:6.73, Z:8.38 [[ 9.98498053e-01 -5.25323811e-02 -1.55559267e-02 5.41448550e+02] [ 5.25339260e-02 9.98619092e-01 -3.09585930e-04 6.73171800e+00] [ 1.55507087e-02 -5.08092954e-04 9.99878951e-01 8.38119035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.4792541539999 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:541.48, Y:6.73, Z:8.38 [[ 9.98573766e-01 -5.10729584e-02 -1.55559486e-02 5.41479360e+02] [ 5.10743436e-02 9.98694806e-01 -3.08479040e-04 6.73295146e+00] [ 1.55514001e-02 -4.86470789e-04 9.99878951e-01 8.38162096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.5092541539999 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:541.51, Y:6.73, Z:8.38 [[ 9.98650680e-01 -4.95462432e-02 -1.55559832e-02 5.41511423e+02] [ 4.95474707e-02 9.98771723e-01 -3.06724388e-04 6.73406492e+00] [ 1.55520732e-02 -4.64449104e-04 9.99878951e-01 8.38193469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.5392541539999 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:541.54, Y:6.74, Z:8.38 [[ 9.98809656e-01 -4.62307390e-02 -1.55560045e-02 5.41542418e+02] [ 4.62315815e-02 9.98930702e-01 -3.05641163e-04 6.73608226e+00] [ 1.55535005e-02 -4.13901347e-04 9.99878951e-01 8.38227087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.569254154 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:541.58, Y:6.73, Z:8.38 [[ 9.99005514e-01 -4.17850820e-02 -1.55560203e-02 5.41577344e+02] [ 4.17853983e-02 9.99126562e-01 -3.04834053e-04 6.73435603e+00] [ 1.55551706e-02 -3.45483606e-04 9.99878951e-01 8.38233416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.5992541539999 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:541.61, Y:6.74, Z:8.38 [[ 9.99075205e-01 -4.00830115e-02 -1.55591451e-02 5.41605461e+02] [ 4.00856369e-02 9.99196238e-01 -1.43218557e-04 6.74020523e+00] [ 1.55523799e-02 -4.80612133e-04 9.99878939e-01 8.38330018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.6292541539999 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:541.64, Y:6.74, Z:8.38 [[ 9.99160299e-01 -3.79039489e-02 -1.55559728e-02 5.41637089e+02] [ 3.79037921e-02 9.99281347e-01 -3.05017987e-04 6.74163888e+00] [ 1.55563548e-02 -2.84868497e-04 9.99878952e-01 8.38385555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.6592541539999 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:541.67, Y:6.74, Z:8.38 [[ 9.99236266e-01 -3.58454591e-02 -1.55559831e-02 5.41668033e+02] [ 3.58450611e-02 9.99357313e-01 -3.04494058e-04 6.74285828e+00] [ 1.55569002e-02 -2.53343659e-04 9.99878952e-01 8.38433704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.689254154 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:541.70, Y:6.74, Z:8.38 [[ 9.99309198e-01 -3.37511310e-02 -1.55559942e-02 5.41699303e+02] [ 3.37504882e-02 9.99430244e-01 -3.03922073e-04 6.74371566e+00] [ 1.55573888e-02 -2.21310277e-04 9.99878952e-01 8.38495941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.7192541539999 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:541.73, Y:6.74, Z:8.39 [[ 9.99359319e-01 -3.22329234e-02 -1.55560055e-02 5.41730018e+02] [ 3.22321057e-02 9.99480365e-01 -3.03346042e-04 6.74471548e+00] [ 1.55576998e-02 -1.98251118e-04 9.99878952e-01 8.38512376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.7492541539999 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:541.76, Y:6.75, Z:8.39 [[ 9.99432778e-01 -2.98685795e-02 -1.55560110e-02 5.41760871e+02] [ 2.98674799e-02 9.99553821e-01 -3.03060496e-04 6.74526527e+00] [ 1.55581223e-02 -1.61730254e-04 9.99878952e-01 8.38546423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.7792541539999 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:541.79, Y:6.75, Z:8.39 [[ 9.99427961e-01 -3.00293498e-02 -1.55560221e-02 5.41791328e+02] [ 3.00282785e-02 9.99549004e-01 -3.02490605e-04 6.74622994e+00] [ 1.55580900e-02 -1.64802997e-04 9.99878952e-01 8.38645794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.809254154 meters Centerline goodness : 0.999247 Centerline is valid? [True, True] Translation: X:541.82, Y:6.75, Z:8.39 [[ 9.99424116e-01 -3.01570467e-02 -1.55560221e-02 5.41821378e+02] [ 3.01559909e-02 9.99545159e-01 -3.02490605e-04 6.74668100e+00] [ 1.55580688e-02 -1.66790856e-04 9.99878952e-01 8.38697785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.839254154 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:541.85, Y:6.75, Z:8.39 [[ 9.99368562e-01 -3.19450602e-02 -1.55560221e-02 5.41851365e+02] [ 3.19442209e-02 9.99489607e-01 -3.02490605e-04 6.74655867e+00] [ 1.55577455e-02 -1.94625406e-04 9.99878952e-01 8.38758032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.8692541539999 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:541.88, Y:6.75, Z:8.39 [[ 9.99316259e-01 -3.35413798e-02 -1.55560276e-02 5.41882293e+02] [ 3.35407383e-02 9.99437305e-01 -3.02207863e-04 6.74628646e+00] [ 1.55574108e-02 -2.19759420e-04 9.99878952e-01 8.38805636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.8992541539999 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] Translation: X:541.91, Y:6.75, Z:8.39 [[ 9.99236024e-01 -3.58521852e-02 -1.55560276e-02 5.41913739e+02] [ 3.58518236e-02 9.99357071e-01 -3.02207863e-04 6.74611705e+00] [ 1.55568610e-02 -2.55734974e-04 9.99878952e-01 8.38856192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.929254154 meters Centerline goodness : 0.999226 Centerline is valid? [True, True] Translation: X:541.94, Y:6.75, Z:8.39 [[ 9.99140405e-01 -3.84247357e-02 -1.55560383e-02 5.41944882e+02] [ 3.84246943e-02 9.99261453e-01 -3.01657288e-04 6.74571890e+00] [ 1.55561405e-02 -2.96338031e-04 9.99878952e-01 8.38886223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.959254154 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:541.98, Y:6.74, Z:8.39 [[ 9.98874679e-01 -4.48038498e-02 -1.55560493e-02 5.41977421e+02] [ 4.48045903e-02 9.98995725e-01 -3.01086597e-04 6.74437620e+00] [ 1.55539166e-02 -3.96234638e-04 9.99878952e-01 8.38857924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.9892541539999 meters Centerline goodness : 0.999604 Centerline is valid? [True, True] Translation: X:542.01, Y:6.74, Z:8.39 [[ 9.98717195e-01 -4.81868615e-02 -1.55560714e-02 5.42009003e+02] [ 4.81880297e-02 9.98838237e-01 -2.99943003e-04 6.74399680e+00] [ 1.55524522e-02 -4.50058196e-04 9.99878952e-01 8.38915521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.0192541539999 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:542.04, Y:6.74, Z:8.39 [[ 9.98546813e-01 -5.15971870e-02 -1.55560878e-02 5.42041604e+02] [ 5.15987818e-02 9.98667851e-01 -2.99090399e-04 6.74361437e+00] [ 1.55507970e-02 -5.04019414e-04 9.99878952e-01 8.38936611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.049254154 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:542.07, Y:6.74, Z:8.39 [[ 9.98362253e-01 -5.50528790e-02 -1.55561093e-02 5.42073707e+02] [ 5.50549103e-02 9.98483284e-01 -2.97967176e-04 6.74339165e+00] [ 1.55489190e-02 -5.58961020e-04 9.99878952e-01 8.38935336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.079254154 meters Centerline goodness : 0.999396 Centerline is valid? [True, True] Translation: X:542.11, Y:6.74, Z:8.39 [[ 9.97939067e-01 -6.22545204e-02 -1.55561313e-02 5.42105548e+02] [ 6.22574428e-02 9.98060080e-01 -2.96814993e-04 6.74269397e+00] [ 1.55444317e-02 -6.72281675e-04 9.99878952e-01 8.38874950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.1092541539999 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:542.14, Y:6.74, Z:8.39 [[ 9.97726271e-01 -6.55765564e-02 -1.55564358e-02 5.42137878e+02] [ 6.55801317e-02 9.97847267e-01 -2.80739491e-04 6.74260615e+00] [ 1.55413568e-02 -7.40091941e-04 9.99878952e-01 8.38889723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.1392541539999 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:542.17, Y:6.74, Z:8.39 [[ 9.97499983e-01 -6.89332204e-02 -1.55561632e-02 5.42169708e+02] [ 6.89369792e-02 9.97620973e-01 -2.95109889e-04 6.74310365e+00] [ 1.55394975e-02 -7.78022787e-04 9.99878952e-01 8.38881821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.1692541539999 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:542.20, Y:6.74, Z:8.39 [[ 9.97080934e-01 -7.47503488e-02 -1.55562160e-02 5.42201564e+02] [ 7.47548571e-02 9.97201898e-01 -2.92296015e-04 6.74415794e+00] [ 1.55345374e-02 -8.71459922e-04 9.99878952e-01 8.38885241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.199254154 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:542.23, Y:6.75, Z:8.39 [[ 9.96913489e-01 -7.69512732e-02 -1.55562368e-02 5.42234648e+02] [ 7.69560658e-02 9.97034442e-01 -2.91184694e-04 6.74532901e+00] [ 1.55325109e-02 -9.06860836e-04 9.99878952e-01 8.38947355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.2292541539999 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:542.28, Y:6.74, Z:8.39 [[ 9.97317907e-01 -7.15191865e-02 -1.55562679e-02 5.42275078e+02] [ 7.15233461e-02 9.97438884e-01 -2.89514443e-04 6.73879416e+00] [ 1.55371323e-02 -8.23898395e-04 9.99878952e-01 8.38503914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.2592541539999 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:542.29, Y:6.75, Z:8.39 [[ 9.96625471e-01 -8.05941679e-02 -1.55644008e-02 5.42294447e+02] [ 8.06064503e-02 9.96745993e-01 1.62400271e-04 6.74879152e+00] [ 1.55006656e-02 -1.41644334e-03 9.99878854e-01 8.39014263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.2892541539999 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:542.33, Y:6.75, Z:8.39 [[ 9.96597208e-01 -8.09445667e-02 -1.55557637e-02 5.42327241e+02] [ 8.09497955e-02 9.96718137e-01 -2.94266001e-04 6.75021553e+00] [ 1.55285311e-02 -9.65971217e-04 9.99878958e-01 8.38996871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.319254154 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:542.37, Y:6.74, Z:8.39 [[ 9.97205615e-01 -7.30683091e-02 -1.55557947e-02 5.42367797e+02] [ 7.30726078e-02 9.97326581e-01 -2.92621032e-04 6.74488049e+00] [ 1.55355888e-02 -8.44899146e-04 9.99878958e-01 8.38814704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.3492541539999 meters Centerline goodness : 0.999142 Centerline is valid? [True, True] Translation: X:542.39, Y:6.76, Z:8.39 [[ 9.96550815e-01 -8.15120308e-02 -1.55647508e-02 5.42385443e+02] [ 8.15251851e-02 9.96671260e-01 2.11458407e-04 6.75753153e+00] [ 1.54957034e-02 -1.47964824e-03 9.99878840e-01 8.39290177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.3792541539999 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:542.42, Y:6.76, Z:8.39 [[ 9.96601595e-01 -8.08906336e-02 -1.55552645e-02 5.42418638e+02] [ 8.08958791e-02 9.96722515e-01 -2.92732434e-04 6.76058381e+00] [ 1.55279616e-02 -9.66619184e-04 9.99878967e-01 8.39440348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.4092541539999 meters Centerline goodness : 0.998995 Centerline is valid? [True, True] Translation: X:542.45, Y:6.76, Z:8.40 [[ 9.96670265e-01 -8.00400880e-02 -1.55552949e-02 5.42450992e+02] [ 8.00452556e-02 9.96791188e-01 -2.91107391e-04 6.76340045e+00] [ 1.55286811e-02 -9.54989474e-04 9.99878967e-01 8.39531480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.439254154 meters Centerline goodness : 0.999098 Centerline is valid? [True, True] Translation: X:542.49, Y:6.76, Z:8.39 [[ 9.97608672e-01 -6.73421897e-02 -1.55553200e-02 5.42494910e+02] [ 6.73458380e-02 9.97729650e-01 -2.89761208e-04 6.75554752e+00] [ 1.55395171e-02 -7.58517765e-04 9.99878967e-01 8.39152819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.4692541539999 meters Centerline goodness : 0.999098 Centerline is valid? [True, True] Translation: X:542.53, Y:6.76, Z:8.39 [[ 9.97565331e-01 -6.79787637e-02 -1.55659190e-02 5.42526405e+02] [ 6.79918520e-02 9.97685828e-01 3.12554555e-04 6.75615189e+00] [ 1.55086497e-02 -1.37014924e-03 9.99878795e-01 8.39186132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.4992541539999 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:542.54, Y:6.77, Z:8.40 [[ 9.96820570e-01 -7.81438777e-02 -1.55655374e-02 5.42541906e+02] [ 7.81578651e-02 9.96940953e-01 2.91394913e-04 6.77174344e+00] [ 1.54951509e-02 -1.50703761e-03 9.99878807e-01 8.39653134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.5292541539999 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:542.58, Y:6.76, Z:8.39 [[ 9.97526508e-01 -6.85488135e-02 -1.55539660e-02 5.42582705e+02] [ 6.85524028e-02 9.97647471e-01 -3.02912507e-04 6.76493134e+00] [ 1.55381392e-02 -7.64098488e-04 9.99878984e-01 8.39163535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.559254154 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:542.61, Y:6.77, Z:8.39 [[ 9.97580513e-01 -6.77562675e-02 -1.55630154e-02 5.42614238e+02] [ 6.77671917e-02 9.97701146e-01 1.75035552e-04 6.76794127e+00] [ 1.55153785e-02 -1.22927390e-03 9.99878874e-01 8.39121238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.589254154 meters Centerline goodness : 0.999095 Centerline is valid? [True, True] Translation: X:542.63, Y:6.78, Z:8.40 [[ 9.97226526e-01 -7.27808619e-02 -1.55628188e-02 5.42632559e+02] [ 7.27922351e-02 9.97347113e-01 1.64832290e-04 6.78368505e+00] [ 1.55095358e-02 -1.29722750e-03 9.99878878e-01 8.39586596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.6192541539999 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:542.66, Y:6.79, Z:8.40 [[ 9.97403368e-01 -7.03180466e-02 -1.55529631e-02 5.42664467e+02] [ 7.03216196e-02 9.97524320e-01 -3.17716814e-04 6.78756336e+00] [ 1.55368002e-02 -7.76817735e-04 9.99878995e-01 8.39647495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.6492541539999 meters Centerline goodness : 0.999032 Centerline is valid? [True, True] Translation: X:542.70, Y:6.79, Z:8.40 [[ 9.97609538e-01 -6.73298812e-02 -1.55530194e-02 5.42697313e+02] [ 6.73331351e-02 9.97730500e-01 -3.14934276e-04 6.79129570e+00] [ 1.55389264e-02 -7.33052122e-04 9.99878995e-01 8.39737031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.679254154 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:542.73, Y:6.80, Z:8.40 [[ 9.98075708e-01 -6.00248578e-02 -1.55530530e-02 5.42729248e+02] [ 6.00272520e-02 9.98196689e-01 -3.13268732e-04 6.79796383e+00] [ 1.55438099e-02 -6.20941120e-04 9.99878995e-01 8.39860125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.709254154 meters Centerline goodness : 0.999262 Centerline is valid? [True, True] Translation: X:542.76, Y:6.80, Z:8.40 [[ 9.98325962e-01 -5.57079524e-02 -1.55530806e-02 5.42762344e+02] [ 5.57098448e-02 9.98446952e-01 -3.11890499e-04 6.80169412e+00] [ 1.55463007e-02 -5.55091327e-04 9.99878995e-01 8.39997303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.7392541539999 meters Centerline goodness : 0.999431 Centerline is valid? [True, True] Translation: X:542.79, Y:6.81, Z:8.40 [[ 9.98577716e-01 -5.09965278e-02 -1.55531156e-02 5.42793987e+02] [ 5.09978766e-02 9.98698714e-01 -3.10134717e-04 6.80548715e+00] [ 1.55486924e-02 -4.83482255e-04 9.99878995e-01 8.40095530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.7692541539999 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:542.83, Y:6.81, Z:8.40 [[ 9.98991347e-01 -4.21234828e-02 -1.55531728e-02 5.42825812e+02] [ 4.21238017e-02 9.99112352e-01 -3.07241437e-04 6.81152802e+00] [ 1.55523091e-02 -3.48227230e-04 9.99878995e-01 8.40294509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.799254154 meters Centerline goodness : 0.999409 Centerline is valid? [True, True] Translation: X:542.86, Y:6.81, Z:8.40 [[ 9.99150716e-01 -3.81568569e-02 -1.55531942e-02 5.42856917e+02] [ 3.81567123e-02 9.99271721e-01 -3.06153062e-04 6.81423346e+00] [ 1.55535490e-02 -2.87565706e-04 9.99878995e-01 8.40395706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.829254154 meters Centerline goodness : 0.999259 Centerline is valid? [True, True] Translation: X:542.89, Y:6.82, Z:8.40 [[ 9.99263577e-01 -3.50770687e-02 -1.55532101e-02 5.42888077e+02] [ 3.50765637e-02 9.99384581e-01 -3.05342888e-04 6.81657748e+00] [ 1.55543489e-02 -2.40435140e-04 9.99878995e-01 8.40469120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.8592541539999 meters Centerline goodness : 0.998813 Centerline is valid? [True, True] Translation: X:542.92, Y:6.82, Z:8.40 [[ 9.99412031e-01 -3.05563340e-02 -1.55532259e-02 5.42919916e+02] [ 3.05552942e-02 9.99533032e-01 -3.04539433e-04 6.81971050e+00] [ 1.55552686e-02 -1.70873018e-04 9.99878995e-01 8.40388829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.8892541539999 meters Centerline goodness : 0.999110 Centerline is valid? [True, True] Translation: X:542.95, Y:6.82, Z:8.40 [[ 9.99435547e-01 -2.97772266e-02 -1.55532480e-02 5.42950815e+02] [ 2.97761100e-02 9.99556547e-01 -3.03406081e-04 6.82105631e+00] [ 1.55553854e-02 -1.59880400e-04 9.99878995e-01 8.40339763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.9192541539999 meters Centerline goodness : 0.999237 Centerline is valid? [True, True] Translation: X:542.98, Y:6.82, Z:8.40 [[ 9.99436121e-01 -2.97579465e-02 -1.55532591e-02 5.42982599e+02] [ 2.97568365e-02 9.99557121e-01 -3.02836045e-04 6.82194899e+00] [ 1.55553826e-02 -1.60150504e-04 9.99878995e-01 8.40313802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.949254154 meters Centerline goodness : 0.999469 Centerline is valid? [True, True] Translation: X:543.01, Y:6.82, Z:8.40 [[ 9.99399842e-01 -3.09524246e-02 -1.55532701e-02 5.43014847e+02] [ 3.09514680e-02 9.99520843e-01 -3.02268393e-04 6.82281689e+00] [ 1.55551736e-02 -1.79309558e-04 9.99878995e-01 8.40300519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.9792541539999 meters Centerline goodness : 0.999575 Centerline is valid? [True, True] Translation: X:543.05, Y:6.82, Z:8.40 [[ 9.99277592e-01 -3.46754957e-02 -1.55532926e-02 5.43046506e+02] [ 3.46750080e-02 9.99398596e-01 -3.01104768e-04 6.82259342e+00] [ 1.55543798e-02 -2.38423300e-04 9.99878995e-01 8.40202140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.0092541539999 meters Centerline goodness : 0.999365 Centerline is valid? [True, True] Translation: X:543.08, Y:6.82, Z:8.40 [[ 9.99185754e-01 -3.72280021e-02 -1.55533094e-02 5.43077582e+02] [ 3.72278370e-02 9.99306759e-01 -3.00238173e-04 6.82236781e+00] [ 1.55537044e-02 -2.79022361e-04 9.99878995e-01 8.40189648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.0392541539999 meters Centerline goodness : 0.999449 Centerline is valid? [True, True] Translation: X:543.11, Y:6.82, Z:8.40 [[ 9.99102904e-01 -3.93888487e-02 -1.55533257e-02 5.43110220e+02] [ 3.93889585e-02 9.99223909e-01 -2.99388093e-04 6.82204496e+00] [ 1.55530475e-02 -3.13509789e-04 9.99878995e-01 8.40237803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.069254154 meters Centerline goodness : 0.999174 Centerline is valid? [True, True] Translation: X:543.14, Y:6.82, Z:8.40 [[ 9.98959097e-01 -4.28814181e-02 -1.55533474e-02 5.43142295e+02] [ 4.28819686e-02 9.99080101e-01 -2.98256916e-04 6.82121460e+00] [ 1.55518296e-02 -3.69011696e-04 9.99878995e-01 8.40368583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.0992541539999 meters Centerline goodness : 0.999174 Centerline is valid? [True, True] Translation: X:543.17, Y:6.82, Z:8.40 [[ 9.98933367e-01 -4.34766803e-02 -1.55533690e-02 5.43173866e+02] [ 4.34773205e-02 9.99054370e-01 -2.97127663e-04 6.82101514e+00] [ 1.55515794e-02 -3.79408071e-04 9.99878995e-01 8.40435091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.1292541539999 meters Centerline goodness : 0.999428 Centerline is valid? [True, True] Translation: X:543.21, Y:6.82, Z:8.41 [[ 9.98929277e-01 -4.35705419e-02 -1.55534045e-02 5.43206340e+02] [ 4.35712226e-02 9.99050280e-01 -2.95254588e-04 6.82069220e+00] [ 1.55514976e-02 -3.82742399e-04 9.99878995e-01 8.40520221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.1592541539999 meters Centerline goodness : 0.999323 Centerline is valid? [True, True] Translation: X:543.24, Y:6.82, Z:8.41 [[ 9.98974850e-01 -4.25128124e-02 -1.55534256e-02 5.43238371e+02] [ 4.25133824e-02 9.99095854e-01 -2.94138901e-04 6.81909723e+00] [ 1.55518677e-02 -3.67391367e-04 9.99878995e-01 8.40583187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.189254154 meters Centerline goodness : 0.999322 Centerline is valid? [True, True] Translation: X:543.27, Y:6.82, Z:8.41 [[ 9.99007329e-01 -4.17426163e-02 -1.55534466e-02 5.43270426e+02] [ 4.17431103e-02 9.99128334e-01 -2.93024151e-04 6.81839764e+00] [ 1.55521208e-02 -3.56515965e-04 9.99878995e-01 8.40636151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.2192541539999 meters Centerline goodness : 0.998943 Centerline is valid? [True, True] Translation: X:543.30, Y:6.82, Z:8.41 [[ 9.99039075e-01 -4.09758119e-02 -1.55534677e-02 5.43301827e+02] [ 4.09762305e-02 9.99160079e-01 -2.91901119e-04 6.81759126e+00] [ 1.55523649e-02 -3.45701854e-04 9.99878995e-01 8.40660017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.2492541539999 meters Centerline goodness : 0.999111 Centerline is valid? [True, True] Translation: X:543.33, Y:6.82, Z:8.41 [[ 9.99081390e-01 -3.99307510e-02 -1.55534834e-02 5.43333573e+02] [ 3.99310560e-02 9.99202395e-01 -2.91063144e-04 6.81636060e+00] [ 1.55527002e-02 -3.30271246e-04 9.99878995e-01 8.40706170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.2792541539999 meters Centerline goodness : 0.999028 Centerline is valid? [True, True] Translation: X:543.37, Y:6.82, Z:8.41 [[ 9.99100455e-01 -3.94508436e-02 -1.55535041e-02 5.43365624e+02] [ 3.94511078e-02 9.99221460e-01 -2.89955042e-04 6.81539027e+00] [ 1.55528340e-02 -3.23908750e-04 9.99878995e-01 8.40743186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.309254154 meters Centerline goodness : 0.999154 Centerline is valid? [True, True] Translation: X:543.40, Y:6.81, Z:8.41 [[ 9.99146925e-01 -3.82558611e-02 -1.55535249e-02 5.43396513e+02] [ 3.82559980e-02 9.99267930e-01 -2.88833553e-04 6.81266461e+00] [ 1.55531882e-02 -3.06428460e-04 9.99878995e-01 8.40780349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.339254154 meters Centerline goodness : 0.999050 Centerline is valid? [True, True] Translation: X:543.43, Y:6.81, Z:8.41 [[ 9.99170528e-01 -3.76343415e-02 -1.55535404e-02 5.43428262e+02] [ 3.76344162e-02 9.99291533e-01 -2.87997074e-04 6.81160918e+00] [ 1.55533598e-02 -2.97590223e-04 9.99878995e-01 8.40753549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.3692541539999 meters Centerline goodness : 0.999197 Centerline is valid? [True, True] Translation: X:543.46, Y:6.81, Z:8.41 [[ 9.99209110e-01 -3.65956330e-02 -1.55535604e-02 5.43460751e+02] [ 3.65955987e-02 9.99330116e-01 -2.86912576e-04 6.81024616e+00] [ 1.55536410e-02 -2.82506194e-04 9.99878995e-01 8.40765293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.3992541539999 meters Centerline goodness : 0.998965 Centerline is valid? [True, True] Translation: X:543.49, Y:6.81, Z:8.41 [[ 9.99255860e-01 -3.52960545e-02 -1.55535811e-02 5.43493303e+02] [ 3.52958804e-02 9.99376865e-01 -2.85782952e-04 6.80927505e+00] [ 1.55539762e-02 -2.63407050e-04 9.99878995e-01 8.40764516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.429254154 meters Centerline goodness : 0.999091 Centerline is valid? [True, True] Translation: X:543.52, Y:6.81, Z:8.41 [[ 9.99361490e-01 -3.21667272e-02 -1.55536020e-02 5.43524437e+02] [ 3.21661919e-02 9.99482494e-01 -2.84641015e-04 6.80694344e+00] [ 1.55547089e-02 -2.15840879e-04 9.99878995e-01 8.40729334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.459254154 meters Centerline goodness : 0.998965 Centerline is valid? [True, True] Translation: X:543.55, Y:6.81, Z:8.41 [[ 9.99422970e-01 -3.01962208e-02 -1.55536176e-02 5.43554371e+02] [ 3.01954603e-02 9.99543973e-01 -2.83790556e-04 6.80603583e+00] [ 1.55550941e-02 -1.86021840e-04 9.99878995e-01 8.40693394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.4892541539999 meters Centerline goodness : 0.999197 Centerline is valid? [True, True] Translation: X:543.59, Y:6.81, Z:8.41 [[ 9.99486634e-01 -2.80098615e-02 -1.55536343e-02 5.43585359e+02] [ 2.80088505e-02 9.99607635e-01 -2.82869010e-04 6.80510607e+00] [ 1.55554547e-02 -1.52915624e-04 9.99878995e-01 8.40775348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.5192541539999 meters Centerline goodness : 0.998983 Centerline is valid? [True, True] Translation: X:543.62, Y:6.80, Z:8.41 [[ 9.99590581e-01 -2.40157134e-02 -1.55536446e-02 5.43615735e+02] [ 2.40142278e-02 9.99711577e-01 -2.82300796e-04 6.80326598e+00] [ 1.55559383e-02 -9.13235473e-05 9.99878995e-01 8.40840677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.549254154 meters Centerline goodness : 0.999006 Centerline is valid? [True, True] Translation: X:543.65, Y:6.80, Z:8.41 [[ 9.99630897e-01 -2.22744955e-02 -1.55536446e-02 5.43645539e+02] [ 2.22727992e-02 9.99751891e-01 -2.82300796e-04 6.80270132e+00] [ 1.55560737e-02 -6.42266046e-05 9.99878995e-01 8.40876827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.579254154 meters Centerline goodness : 0.998922 Centerline is valid? [True, True] Translation: X:543.67, Y:6.80, Z:8.41 [[ 9.99655426e-01 -2.11450772e-02 -1.55536343e-02 5.43674779e+02] [ 2.11432354e-02 9.99776417e-01 -2.82866245e-04 6.80189968e+00] [ 1.55561380e-02 -4.60853750e-05 9.99878995e-01 8.40928683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.6092541539999 meters Centerline goodness : 0.998775 Centerline is valid? [True, True] Translation: X:543.72, Y:6.79, Z:8.40 [[ 9.99838649e-01 -8.98665200e-03 -1.55536240e-02 5.43720588e+02] [ 8.98333006e-03 9.99959609e-01 -2.83433873e-04 6.78772814e+00] [ 1.55555429e-02 1.43664803e-04 9.99878995e-01 8.40198577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.6392541539999 meters Centerline goodness : 0.999346 Centerline is valid? [True, True] Translation: X:543.73, Y:6.80, Z:8.41 [[ 9.99642774e-01 -2.17261101e-02 -1.55659772e-02 5.43732698e+02] [ 2.17357083e-02 9.99763651e-01 4.47682502e-04 6.79710504e+00] [ 1.55525718e-02 -7.85860118e-04 9.99878743e-01 8.40938443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.6692541539999 meters Centerline goodness : 0.999136 Centerline is valid? [True, True] Translation: X:543.76, Y:6.80, Z:8.41 [[ 9.99604584e-01 -2.34265637e-02 -1.55522341e-02 5.43761073e+02] [ 2.34248888e-02 9.99725558e-01 -2.89876702e-04 6.79596996e+00] [ 1.55547567e-02 -7.45472751e-05 9.99879015e-01 8.41031261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.699254154 meters Centerline goodness : 0.999010 Centerline is valid? [True, True] Translation: X:543.79, Y:6.79, Z:8.41 [[ 9.99564637e-01 -2.50732271e-02 -1.55521589e-02 5.43790700e+02] [ 2.50716896e-02 9.99685613e-01 -2.93855388e-04 6.79396317e+00] [ 1.55546374e-02 -9.61914473e-05 9.99879015e-01 8.41048119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.7292541539999 meters Centerline goodness : 0.998969 Centerline is valid? [True, True] Translation: X:543.82, Y:6.79, Z:8.41 [[ 9.99424418e-01 -3.01490276e-02 -1.55521480e-02 5.43819425e+02] [ 3.01480954e-02 9.99545400e-01 -2.94432870e-04 6.78996932e+00] [ 1.55539549e-02 -1.74604243e-04 9.99879015e-01 8.41048750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.7592541539999 meters Centerline goodness : 0.999327 Centerline is valid? [True, True] Translation: X:543.85, Y:6.79, Z:8.41 [[ 9.99343149e-01 -3.27322845e-02 -1.55521317e-02 5.43850322e+02] [ 3.27316517e-02 9.99464132e-01 -2.95292980e-04 6.78802116e+00] [ 1.55534634e-02 -2.13947941e-04 9.99879015e-01 8.41137286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.7892541539999 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:543.88, Y:6.79, Z:8.41 [[ 9.99250193e-01 -3.54567664e-02 -1.55521317e-02 5.43881176e+02] [ 3.54564635e-02 9.99371178e-01 -2.95292980e-04 6.78612239e+00] [ 1.55528223e-02 -2.56352022e-04 9.99879015e-01 8.41145856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.819254154 meters Centerline goodness : 0.999267 Centerline is valid? [True, True] Translation: X:543.91, Y:6.78, Z:8.41 [[ 9.99057685e-01 -4.05200405e-02 -1.55521483e-02 5.43913028e+02] [ 4.05203643e-02 9.99178669e-01 -2.94416493e-04 6.78209373e+00] [ 1.55513046e-02 -3.36039654e-04 9.99879015e-01 8.41345300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.8492541539999 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:543.94, Y:6.78, Z:8.41 [[ 9.98981544e-01 -4.23556945e-02 -1.55521590e-02 5.43944514e+02] [ 4.23562495e-02 9.99102528e-01 -2.93846004e-04 6.78060469e+00] [ 1.55506475e-02 -3.65184394e-04 9.99879015e-01 8.41354558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.8792541539999 meters Centerline goodness : 0.999226 Centerline is valid? [True, True] Translation: X:543.98, Y:6.78, Z:8.42 [[ 9.98918422e-01 -4.38191373e-02 -1.55521751e-02 5.43976425e+02] [ 4.38198828e-02 9.99039405e-01 -2.92992423e-04 6.77980007e+00] [ 1.55500745e-02 -3.88818963e-04 9.99879015e-01 8.41507966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.9092541539999 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:544.01, Y:6.78, Z:8.42 [[ 9.98884385e-01 -4.45882763e-02 -1.55521969e-02 5.44007849e+02] [ 4.45891329e-02 9.99005367e-01 -2.91833846e-04 6.77883509e+00] [ 1.55497405e-02 -4.01950702e-04 9.99879015e-01 8.41555549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.939254154 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:544.04, Y:6.78, Z:8.42 [[ 9.98887746e-01 -4.45129171e-02 -1.55522130e-02 5.44040399e+02] [ 4.45137780e-02 9.99008728e-01 -2.90970612e-04 6.77672029e+00] [ 1.55497485e-02 -4.01640780e-04 9.99879015e-01 8.41685463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.9692541539999 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:544.07, Y:6.78, Z:8.42 [[ 9.98930198e-01 -4.35498369e-02 -1.55522343e-02 5.44072141e+02] [ 4.35505990e-02 9.99051181e-01 -2.89829393e-04 6.77603342e+00] [ 1.55501000e-02 -3.87789786e-04 9.99879015e-01 8.41710618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.9992541539999 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:544.10, Y:6.78, Z:8.42 [[ 9.99001103e-01 -4.18917982e-02 -1.55522555e-02 5.44104675e+02] [ 4.18923773e-02 9.99122087e-01 -2.88686572e-04 6.77542688e+00] [ 1.55506956e-02 -3.63122752e-04 9.99879015e-01 8.41800615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.0292541539999 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:544.14, Y:6.77, Z:8.42 [[ 9.99185159e-01 -3.72443974e-02 -1.55522765e-02 5.44136586e+02] [ 3.72444314e-02 9.99306144e-01 -2.87549515e-04 6.77457990e+00] [ 1.55521951e-02 -2.91920488e-04 9.99879015e-01 8.41974845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.059254154 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:544.17, Y:6.77, Z:8.42 [[ 9.99282721e-01 -3.45277971e-02 -1.55522979e-02 5.44167072e+02] [ 3.45275203e-02 9.99403706e-01 -2.86385965e-04 6.77464885e+00] [ 1.55529125e-02 -2.50801737e-04 9.99879015e-01 8.42010019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.089254154 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:544.20, Y:6.77, Z:8.42 [[ 9.99478966e-01 -2.82828768e-02 -1.55523149e-02 5.44197944e+02] [ 2.82818584e-02 9.99599947e-01 -2.85460397e-04 6.77391152e+00] [ 1.55541668e-02 -1.54536707e-04 9.99879015e-01 8.42116173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.1192541539999 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:544.23, Y:6.77, Z:8.42 [[ 9.99560755e-01 -2.52274285e-02 -1.55523149e-02 5.44226962e+02] [ 2.52260403e-02 9.99681732e-01 -2.85460397e-04 6.77396801e+00] [ 1.55545666e-02 -1.06988313e-04 9.99879015e-01 8.42147553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.1492541539999 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:544.26, Y:6.77, Z:8.42 [[ 9.99615960e-01 -2.29359655e-02 -1.55523098e-02 5.44255947e+02] [ 2.29342956e-02 9.99736934e-01 -2.85742099e-04 6.77403899e+00] [ 1.55547722e-02 -7.10489065e-05 9.99879015e-01 8.42144255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.179254154 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:544.28, Y:6.77, Z:8.42 [[ 9.99657430e-01 -2.10511560e-02 -1.55522361e-02 5.44284627e+02] [ 2.10491964e-02 9.99778399e-01 -2.89697803e-04 6.77400850e+00] [ 1.55548882e-02 -3.77635107e-05 9.99879015e-01 8.42131355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.209254154 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:544.31, Y:6.77, Z:8.42 [[ 9.99704390e-01 -1.86886035e-02 -1.55521607e-02 5.44312321e+02] [ 1.86862960e-02 9.99825353e-01 -2.93687629e-04 6.77271355e+00] [ 1.55549332e-02 2.98853273e-06 9.99879015e-01 8.42022203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.2392541539999 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:544.34, Y:6.77, Z:8.42 [[ 9.99709305e-01 -1.84238436e-02 -1.55520735e-02 5.44339759e+02] [ 1.84214332e-02 9.99830267e-01 -2.98238591e-04 6.77248879e+00] [ 1.55549285e-02 1.16604121e-05 9.99879015e-01 8.42007969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.2692541539999 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:544.37, Y:6.77, Z:8.42 [[ 9.99701884e-01 -1.88223231e-02 -1.55519847e-02 5.44366510e+02] [ 1.88198901e-02 9.99822844e-01 -3.02797598e-04 6.77206762e+00] [ 1.55549289e-02 1.00206861e-05 9.99879015e-01 8.41964543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.299254154 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:544.39, Y:6.77, Z:8.42 [[ 9.99687655e-01 -1.95634747e-02 -1.55519460e-02 5.44393940e+02] [ 1.95611006e-02 9.99808617e-01 -3.04771492e-04 6.77145416e+00] [ 1.55549320e-02 4.63117749e-07 9.99879015e-01 8.41970843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.329254154 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:544.42, Y:6.77, Z:8.42 [[ 9.99631984e-01 -2.22269061e-02 -1.55519077e-02 5.44421137e+02] [ 2.22248240e-02 9.99752951e-01 -3.06713927e-04 6.76916250e+00] [ 1.55548829e-02 -3.90373607e-05 9.99879015e-01 8.42001264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.3592541539999 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:544.45, Y:6.77, Z:8.42 [[ 9.99574544e-01 -2.46752943e-02 -1.55518703e-02 5.44448563e+02] [ 2.46734792e-02 9.99695516e-01 -3.08598082e-04 6.76853308e+00] [ 1.55547498e-02 -7.52519617e-05 9.99879015e-01 8.42081295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.3892541539999 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:544.48, Y:6.77, Z:8.42 [[ 9.99568483e-01 -2.49196821e-02 -1.55517830e-02 5.44477812e+02] [ 2.49178291e-02 9.99689454e-01 -3.12939404e-04 6.76917589e+00] [ 1.55547518e-02 -7.47123049e-05 9.99879015e-01 8.42126912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.4192541539999 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:544.51, Y:6.77, Z:8.42 [[ 9.99482423e-01 -2.81608041e-02 -1.55517055e-02 5.44506489e+02] [ 2.81592842e-02 9.99603399e-01 -3.16741091e-04 6.76871442e+00] [ 1.55544574e-02 -1.21347743e-04 9.99879015e-01 8.42249694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.449254154 meters Centerline goodness : 0.999520 Centerline is valid? [True, True] Translation: X:544.54, Y:6.77, Z:8.42 [[ 9.99241144e-01 -3.57111059e-02 -1.55516242e-02 5.44536058e+02] [ 3.57104386e-02 9.99362127e-01 -3.20686595e-04 6.76570059e+00] [ 1.55531563e-02 -2.34912081e-04 9.99879015e-01 8.42429618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.4792541539999 meters Centerline goodness : 0.999375 Centerline is valid? [True, True] Translation: X:544.57, Y:6.77, Z:8.42 [[ 9.99058719e-01 -4.04943841e-02 -1.55524990e-02 5.44566637e+02] [ 4.04949589e-02 9.99179704e-01 -2.78090004e-04 6.76505410e+00] [ 1.55510024e-02 -3.51969564e-04 9.99879014e-01 8.42409009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.5092541539999 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:544.60, Y:6.76, Z:8.43 [[ 9.98852215e-01 -4.53034067e-02 -1.55516450e-02 5.44597554e+02] [ 4.53039174e-02 9.98973199e-01 -3.19641114e-04 6.76400751e+00] [ 1.55501574e-02 -3.85276205e-04 9.99879015e-01 8.42513052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.5392541539999 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:544.63, Y:6.76, Z:8.43 [[ 9.98607726e-01 -5.04059100e-02 -1.55516564e-02 5.44628560e+02] [ 5.04070474e-02 9.98728706e-01 -3.19083680e-04 6.76280256e+00] [ 1.55479694e-02 -4.65273655e-04 9.99879015e-01 8.42623001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.569254154 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:544.66, Y:6.76, Z:8.43 [[ 9.98070009e-01 -6.01199086e-02 -1.55516680e-02 5.44662191e+02] [ 6.01222319e-02 9.98190972e-01 -3.18517421e-04 6.75960692e+00] [ 1.55426838e-02 -6.17098305e-04 9.99879015e-01 8.42678596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.5992541539999 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:544.69, Y:6.76, Z:8.43 [[ 9.97749737e-01 -6.52192516e-02 -1.55534827e-02 5.44691641e+02] [ 6.52235802e-02 9.97870649e-01 -2.29334295e-04 6.75946036e+00] [ 1.55353209e-02 -7.85635596e-04 9.99879011e-01 8.42853018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.6292541539999 meters Centerline goodness : 0.999479 Centerline is valid? [True, True] Translation: X:544.73, Y:6.76, Z:8.43 [[ 9.97502810e-01 -6.88933200e-02 -1.55516729e-02 5.44725588e+02] [ 6.88967167e-02 9.97623747e-01 -3.17878974e-04 6.75781217e+00] [ 1.55366180e-02 -7.54374034e-04 9.99879015e-01 8.42929552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.6592541539999 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:544.76, Y:6.76, Z:8.43 [[ 9.97187342e-01 -7.33176489e-02 -1.55539940e-02 5.44757524e+02] [ 7.33233420e-02 9.97308200e-01 -2.04699335e-04 6.75739842e+00] [ 1.55271339e-02 -9.36347239e-04 9.99879008e-01 8.43032048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.689254154 meters Centerline goodness : 0.999479 Centerline is valid? [True, True] Translation: X:544.79, Y:6.76, Z:8.43 [[ 9.96653904e-01 -8.02439122e-02 -1.55534388e-02 5.44791076e+02] [ 8.02500236e-02 9.96774739e-01 -2.31799348e-04 6.75661429e+00] [ 1.55218754e-02 -1.01714010e-03 9.99879011e-01 8.42896953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.7192541539999 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:544.82, Y:6.76, Z:8.43 [[ 9.96394912e-01 -8.33979313e-02 -1.55552263e-02 5.44823497e+02] [ 8.34057887e-02 9.96515657e-01 -1.44051618e-04 6.75683826e+00] [ 1.55130402e-02 -1.15386362e-03 9.99879000e-01 8.42902901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.7492541539999 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:544.85, Y:6.76, Z:8.43 [[ 9.95909576e-01 -8.90064907e-02 -1.55551217e-02 5.44850877e+02] [ 8.90149479e-02 9.96030279e-01 -1.49194712e-04 6.76017006e+00] [ 1.55066515e-02 -1.23605391e-03 9.99879001e-01 8.43051900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.7792541539999 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:544.88, Y:6.76, Z:8.43 [[ 9.95817146e-01 -9.00353185e-02 -1.55516134e-02 5.44883546e+02] [ 9.00412496e-02 9.95937986e-01 -3.19808518e-04 6.76137246e+00] [ 1.55172366e-02 -1.08181590e-03 9.99879015e-01 8.43093052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.809254154 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:544.92, Y:6.76, Z:8.43 [[ 9.95904359e-01 -8.90654480e-02 -1.55516491e-02 5.44918938e+02] [ 8.90712886e-02 9.96025203e-01 -3.18060651e-04 6.76112205e+00] [ 1.55181627e-02 -1.06844744e-03 9.99879015e-01 8.43118268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.839254154 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:544.95, Y:6.76, Z:8.43 [[ 9.95808351e-01 -9.01320531e-02 -1.55544878e-02 5.44947247e+02] [ 9.01402051e-02 9.95929070e-01 -1.77620300e-04 6.76442003e+00] [ 1.55071759e-02 -1.22520894e-03 9.99879006e-01 8.43168226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.8692541539999 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:544.99, Y:6.76, Z:8.43 [[ 9.96555033e-01 -8.14629517e-02 -1.55516598e-02 5.44987798e+02] [ 8.14678932e-02 9.96675916e-01 -3.16561360e-04 6.75980026e+00] [ 1.55257528e-02 -9.51490141e-04 9.99879016e-01 8.42703889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.8992541539999 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:545.01, Y:6.77, Z:8.43 [[ 9.96109941e-01 -8.67342271e-02 -1.55614859e-02 5.45006442e+02] [ 8.67475003e-02 9.96230314e-01 1.78713832e-04 6.76988249e+00] [ 1.54873234e-02 -1.52793863e-03 9.99878897e-01 8.43138321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.929254154 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:545.04, Y:6.77, Z:8.43 [[ 9.96308550e-01 -8.44241688e-02 -1.55510076e-02 5.45039097e+02] [ 8.44293515e-02 9.96429415e-01 -3.24119086e-04 6.77238503e+00] [ 1.55228449e-02 -9.90038874e-04 9.99879023e-01 8.43163684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.959254154 meters Centerline goodness : 0.999498 Centerline is valid? [True, True] Translation: X:545.07, Y:6.77, Z:8.43 [[ 9.96516024e-01 -8.19388743e-02 -1.55510427e-02 5.45070866e+02] [ 8.19437818e-02 9.96636901e-01 -3.22426826e-04 6.77483944e+00] [ 1.55251623e-02 -9.53007753e-04 9.99879023e-01 8.43136903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.9892541539999 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:545.11, Y:6.77, Z:8.43 [[ 9.97416486e-01 -7.01321414e-02 -1.55510724e-02 5.45109708e+02] [ 7.01356395e-02 9.97537412e-01 -3.20987611e-04 6.77192327e+00] [ 1.55352881e-02 -7.70526075e-04 9.99879023e-01 8.42563431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.0192541539999 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:545.13, Y:6.78, Z:8.43 [[ 9.97151970e-01 -7.37961844e-02 -1.55586455e-02 5.45131486e+02] [ 7.38059833e-02 9.97272618e-01 5.57705677e-05 6.78271938e+00] [ 1.55120955e-02 -1.20393286e-03 9.99878955e-01 8.43132315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.049254154 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:545.16, Y:6.79, Z:8.43 [[ 9.97392196e-01 -7.04768188e-02 -1.55507477e-02 5.45164326e+02] [ 7.04803164e-02 9.97513118e-01 -3.23698333e-04 6.78596713e+00] [ 1.55348881e-02 -7.73167429e-04 9.99879027e-01 8.43246404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.079254154 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:545.20, Y:6.79, Z:8.43 [[ 9.97850160e-01 -6.36649968e-02 -1.55507820e-02 5.45195917e+02] [ 6.36676944e-02 9.97971102e-01 -3.22044496e-04 6.79153675e+00] [ 1.55397340e-02 -6.68730283e-04 9.99879027e-01 8.43493717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.1092541539999 meters Centerline goodness : 0.999247 Centerline is valid? [True, True] Translation: X:545.23, Y:6.79, Z:8.44 [[ 9.98089713e-01 -5.97921100e-02 -1.55508059e-02 5.45227463e+02] [ 5.97943563e-02 9.98210665e-01 -3.20886023e-04 6.79481555e+00] [ 1.55421667e-02 -6.09577389e-04 9.99879027e-01 8.43587988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.1392541539999 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:545.26, Y:6.80, Z:8.44 [[ 9.98344642e-01 -5.53727998e-02 -1.55508439e-02 5.45259822e+02] [ 5.53745394e-02 9.98465602e-01 -3.19033430e-04 6.79780037e+00] [ 1.55446485e-02 -5.42615502e-04 9.99879027e-01 8.43616559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.1692541539999 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:545.29, Y:6.80, Z:8.44 [[ 9.98573413e-01 -5.10813972e-02 -1.55508674e-02 5.45290910e+02] [ 5.10826347e-02 9.98694379e-01 -3.17885383e-04 6.80119189e+00] [ 1.55468019e-02 -4.76947385e-04 9.99879027e-01 8.43752640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.199254154 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:545.33, Y:6.80, Z:8.43 [[ 9.99280986e-01 -3.45786275e-02 -1.55508848e-02 5.45332214e+02] [ 3.45778799e-02 9.99401956e-01 -3.17031507e-04 6.79788047e+00] [ 1.55525472e-02 -2.20913068e-04 9.99879027e-01 8.43344145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.2292541539999 meters Centerline goodness : 0.998911 Centerline is valid? [True, True] Translation: X:545.35, Y:6.81, Z:8.44 [[ 9.99105334e-01 -3.93241994e-02 -1.55608226e-02 5.45349866e+02] [ 3.93318901e-02 9.99226184e-01 1.88391563e-04 6.80996711e+00] [ 1.55413731e-02 -8.00259581e-04 9.99878905e-01 8.44020149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.2592541539999 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:545.38, Y:6.81, Z:8.44 [[ 9.99224896e-01 -3.61635191e-02 -1.55501489e-02 5.45381467e+02] [ 3.61628548e-02 9.99345858e-01 -3.23993636e-04 6.81290741e+00] [ 1.55516936e-02 -2.38595270e-04 9.99879037e-01 8.44132742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.2892541539999 meters Centerline goodness : 0.998974 Centerline is valid? [True, True] Translation: X:545.41, Y:6.81, Z:8.44 [[ 9.99302682e-01 -3.39461800e-02 -1.55501608e-02 5.45411585e+02] [ 3.39452562e-02 9.99423641e-01 -3.23422420e-04 6.81492250e+00] [ 1.55521773e-02 -2.04657301e-04 9.99879037e-01 8.44087591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.319254154 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:545.44, Y:6.82, Z:8.44 [[ 9.99360056e-01 -3.22128991e-02 -1.55501667e-02 5.45443107e+02] [ 3.22117699e-02 9.99481014e-01 -3.23139363e-04 6.81781594e+00] [ 1.55525056e-02 -1.77965819e-04 9.99879037e-01 8.44206341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.3492541539999 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:545.47, Y:6.82, Z:8.44 [[ 9.99340304e-01 -3.28199580e-02 -1.55501784e-02 5.45474610e+02] [ 3.28189112e-02 9.99461262e-01 -3.22573158e-04 6.81962313e+00] [ 1.55523878e-02 -1.87979566e-04 9.99879037e-01 8.44259589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.3792541539999 meters Centerline goodness : 0.999267 Centerline is valid? [True, True] Translation: X:545.51, Y:6.82, Z:8.44 [[ 9.99319881e-01 -3.34360190e-02 -1.55501902e-02 5.45505246e+02] [ 3.34350556e-02 9.99440840e-01 -3.22004335e-04 6.82115785e+00] [ 1.55522617e-02 -1.98136139e-04 9.99879037e-01 8.44260240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.4092541539999 meters Centerline goodness : 0.999328 Centerline is valid? [True, True] Translation: X:545.54, Y:6.82, Z:8.44 [[ 9.99214632e-01 -3.64460091e-02 -1.55501960e-02 5.45537041e+02] [ 3.64454144e-02 9.99335593e-01 -3.21722062e-04 6.82301864e+00] [ 1.55515899e-02 -2.45263947e-04 9.99879037e-01 8.44254897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.439254154 meters Centerline goodness : 0.998912 Centerline is valid? [True, True] Translation: X:545.58, Y:6.81, Z:8.44 [[ 9.99529937e-01 -2.64214900e-02 -1.55502076e-02 5.45584087e+02] [ 2.64196907e-02 9.99650887e-01 -3.21162381e-04 6.81023607e+00] [ 1.55532644e-02 -8.98202602e-05 9.99879037e-01 8.43579260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.4692541539999 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:545.60, Y:6.82, Z:8.44 [[ 9.99047764e-01 -4.07589770e-02 -1.55650788e-02 5.45595216e+02] [ 4.07707600e-02 9.99168430e-01 4.40314599e-04 6.82451460e+00] [ 1.55341886e-02 -1.07449541e-03 9.99878760e-01 8.44288035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.4992541539999 meters Centerline goodness : 0.999329 Centerline is valid? [True, True] Translation: X:545.63, Y:6.83, Z:8.44 [[ 9.98993466e-01 -4.20748699e-02 -1.55486626e-02 5.45627681e+02] [ 4.20748116e-02 9.99114408e-01 -3.31016338e-04 6.82546487e+00] [ 1.55488203e-02 -3.23523889e-04 9.99879057e-01 8.44352534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.5292541539999 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:545.66, Y:6.83, Z:8.44 [[ 9.98923187e-01 -4.37116177e-02 -1.55486865e-02 5.45659850e+02] [ 4.37117752e-02 9.99044129e-01 -3.29889591e-04 6.82613841e+00] [ 1.55482439e-02 -3.50126326e-04 9.99879057e-01 8.44280314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.559254154 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:545.69, Y:6.83, Z:8.44 [[ 9.98943044e-01 -4.32554270e-02 -1.55487103e-02 5.45691256e+02] [ 4.32555467e-02 9.99063987e-01 -3.28763444e-04 6.82730211e+00] [ 1.55483773e-02 -3.44152009e-04 9.99879057e-01 8.44455362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.589254154 meters Centerline goodness : 0.998950 Centerline is valid? [True, True] Translation: X:545.72, Y:6.83, Z:8.45 [[ 9.98919181e-01 -4.38034756e-02 -1.55474908e-02 5.45724480e+02] [ 4.38027616e-02 9.99040124e-01 -3.86619886e-04 6.82804000e+00] [ 1.55495024e-02 -2.94821013e-04 9.99879056e-01 8.44506020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.6192541539999 meters Centerline goodness : 0.999097 Centerline is valid? [True, True] Translation: X:545.76, Y:6.83, Z:8.45 [[ 9.98952550e-01 -4.30353268e-02 -1.55487695e-02 5.45756579e+02] [ 4.30354698e-02 9.99073492e-01 -3.25550559e-04 6.82875057e+00] [ 1.55483736e-02 -3.43939037e-04 9.99879058e-01 8.44558628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.6492541539999 meters Centerline goodness : 0.998784 Centerline is valid? [True, True] Translation: X:545.79, Y:6.82, Z:8.44 [[ 9.99274583e-01 -3.47640946e-02 -1.55487930e-02 5.45793648e+02] [ 3.47632540e-02 9.99395523e-01 -3.24421639e-04 6.82195237e+00] [ 1.55506723e-02 -2.16340343e-04 9.99879058e-01 8.44096783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.679254154 meters Centerline goodness : 0.999098 Centerline is valid? [True, True] Translation: X:545.82, Y:6.83, Z:8.45 [[ 9.99023495e-01 -4.13529036e-02 -1.55561527e-02 5.45815772e+02] [ 4.13584538e-02 9.99144373e-01 3.51075386e-05 6.83060698e+00] [ 1.55413906e-02 -6.78451679e-04 9.99878995e-01 8.44624065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.709254154 meters Centerline goodness : 0.998973 Centerline is valid? [True, True] Translation: X:545.85, Y:6.83, Z:8.45 [[ 9.99048291e-01 -4.07523974e-02 -1.55484823e-02 5.45848149e+02] [ 4.07522218e-02 9.99169229e-01 -3.28261018e-04 6.83113284e+00] [ 1.55489425e-02 -3.05686589e-04 9.99879061e-01 8.44662987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.7392541539999 meters Centerline goodness : 0.998867 Centerline is valid? [True, True] Translation: X:545.88, Y:6.83, Z:8.45 [[ 9.99040673e-01 -4.09387000e-02 -1.55485056e-02 5.45880747e+02] [ 4.09385642e-02 9.99161612e-01 -3.27150129e-04 6.83165990e+00] [ 1.55488630e-02 -3.09697211e-04 9.99879061e-01 8.44679650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.7692541539999 meters Centerline goodness : 0.998995 Centerline is valid? [True, True] Translation: X:545.91, Y:6.83, Z:8.45 [[ 9.99046415e-01 -4.07983226e-02 -1.55485294e-02 5.45912468e+02] [ 4.07981875e-02 9.99167354e-01 -3.26017121e-04 6.83206177e+00] [ 1.55488839e-02 -3.08645581e-04 9.99879061e-01 8.44636549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.799254154 meters Centerline goodness : 0.998890 Centerline is valid? [True, True] Translation: X:545.95, Y:6.83, Z:8.44 [[ 9.99260189e-01 -3.51755328e-02 -1.55485529e-02 5.45949466e+02] [ 3.51747346e-02 9.99381125e-01 -3.24889905e-04 6.82589110e+00] [ 1.55503585e-02 -2.22266675e-04 9.99879061e-01 8.44280039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.829254154 meters Centerline goodness : 0.998805 Centerline is valid? [True, True] Translation: X:545.97, Y:6.83, Z:8.45 [[ 9.99047121e-01 -4.07781527e-02 -1.55561266e-02 5.45971586e+02] [ 4.07837516e-02 9.99167996e-01 4.27197064e-05 6.83334646e+00] [ 1.55414418e-02 -6.77116205e-04 9.99878995e-01 8.44706201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.8592541539999 meters Centerline goodness : 0.998869 Centerline is valid? [True, True] Translation: X:546.00, Y:6.83, Z:8.45 [[ 9.99150994e-01 -3.81516306e-02 -1.55481456e-02 5.46003360e+02] [ 3.81510886e-02 9.99271927e-01 -3.31575655e-04 6.83398959e+00] [ 1.55494756e-02 -2.61884535e-04 9.99879065e-01 8.44754992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.8892541539999 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:546.04, Y:6.83, Z:8.45 [[ 9.99229917e-01 -3.60253679e-02 -1.55481698e-02 5.46035139e+02] [ 3.60245862e-02 9.99350849e-01 -3.30435715e-04 6.83453491e+00] [ 1.55499808e-02 -2.29935133e-04 9.99879065e-01 8.44785617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.9192541539999 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:546.07, Y:6.84, Z:8.45 [[ 9.99310693e-01 -3.37104208e-02 -1.55481818e-02 5.46066927e+02] [ 3.37093678e-02 9.99431623e-01 -3.29871395e-04 6.83534034e+00] [ 1.55504647e-02 -1.94475366e-04 9.99879065e-01 8.44804997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.949254154 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:546.10, Y:6.84, Z:8.45 [[ 9.99387857e-01 -3.13395243e-02 -1.55481938e-02 5.46098563e+02] [ 3.13381932e-02 9.99508784e-01 -3.29304474e-04 6.83633515e+00] [ 1.55508765e-02 -1.58149408e-04 9.99879065e-01 8.44837434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.9792541539999 meters Centerline goodness : 0.998974 Centerline is valid? [True, True] Translation: X:546.13, Y:6.84, Z:8.45 [[ 9.99517317e-01 -2.68958546e-02 -1.55482058e-02 5.46128668e+02] [ 2.68939947e-02 9.99638237e-01 -3.28735665e-04 6.83768945e+00] [ 1.55514227e-02 -8.95763746e-05 9.99879065e-01 8.44865869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.0092541539999 meters Centerline goodness : 0.999140 Centerline is valid? [True, True] Translation: X:546.16, Y:6.84, Z:8.45 [[ 9.99562645e-01 -2.51549774e-02 -1.55482058e-02 5.46158326e+02] [ 2.51529069e-02 9.99683562e-01 -3.28735665e-04 6.83843253e+00] [ 1.55515551e-02 -6.24906825e-05 9.99879065e-01 8.44883807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.0392541539999 meters Centerline goodness : 0.999076 Centerline is valid? [True, True] Translation: X:546.19, Y:6.84, Z:8.45 [[ 9.99587983e-01 -2.41271340e-02 -1.55481939e-02 5.46186952e+02] [ 2.41249305e-02 9.99708897e-01 -3.29298870e-04 6.83877784e+00] [ 1.55516128e-02 -4.59359041e-05 9.99879065e-01 8.44836820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.069254154 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:546.22, Y:6.84, Z:8.45 [[ 9.99604438e-01 -2.34354695e-02 -1.55481761e-02 5.46216721e+02] [ 2.34331692e-02 9.99725351e-01 -3.30136792e-04 6.83891027e+00] [ 1.55516427e-02 -3.43368394e-05 9.99879065e-01 8.44860516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.0992541539999 meters Centerline goodness : 0.999097 Centerline is valid? [True, True] Translation: X:546.25, Y:6.84, Z:8.45 [[ 9.99582703e-01 -2.43448904e-02 -1.55481650e-02 5.46245417e+02] [ 2.43426919e-02 9.99703618e-01 -3.30661776e-04 6.83786485e+00] [ 1.55516067e-02 -4.79603972e-05 9.99879065e-01 8.44963185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.1292541539999 meters Centerline goodness : 0.999033 Centerline is valid? [True, True] Translation: X:546.27, Y:6.84, Z:8.45 [[ 9.99546039e-01 -2.58064570e-02 -1.55480813e-02 5.46274346e+02] [ 2.58043749e-02 9.99666956e-01 -3.34549883e-04 6.83762150e+00] [ 1.55515366e-02 -6.68105082e-05 9.99879065e-01 8.44993915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.1592541539999 meters Centerline goodness : 0.998992 Centerline is valid? [True, True] Translation: X:546.30, Y:6.84, Z:8.45 [[ 9.99504306e-01 -2.73751660e-02 -1.55480635e-02 5.46304458e+02] [ 2.73732608e-02 9.99625226e-01 -3.35375339e-04 6.83719698e+00] [ 1.55514174e-02 -9.03921012e-05 9.99879065e-01 8.44985824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.189254154 meters Centerline goodness : 0.999285 Centerline is valid? [True, True] Translation: X:546.33, Y:6.84, Z:8.45 [[ 9.99444450e-01 -2.94796607e-02 -1.55480516e-02 5.46334203e+02] [ 2.94780016e-02 9.99565373e-01 -3.35924340e-04 6.83684518e+00] [ 1.55511970e-02 -1.22587774e-04 9.99879065e-01 8.45023733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.2192541539999 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:546.37, Y:6.84, Z:8.45 [[ 9.99365218e-01 -3.20533798e-02 -1.55480457e-02 5.46365072e+02] [ 3.20520279e-02 9.99486145e-01 -3.36196436e-04 6.83639167e+00] [ 1.55508325e-02 -1.62363371e-04 9.99879065e-01 8.45039746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.2492541539999 meters Centerline goodness : 0.998950 Centerline is valid? [True, True] Translation: X:546.40, Y:6.83, Z:8.45 [[ 9.99139941e-01 -3.84400442e-02 -1.55480457e-02 5.46395761e+02] [ 3.84394652e-02 9.99260874e-01 -3.36196436e-04 6.83475505e+00] [ 1.55494772e-02 -2.61751276e-04 9.99879065e-01 8.44972982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.2792541539999 meters Centerline goodness : 0.998950 Centerline is valid? [True, True] Translation: X:546.43, Y:6.84, Z:8.45 [[ 9.99141269e-01 -3.84055043e-02 -1.55480516e-02 5.46427592e+02] [ 3.84049253e-02 9.99262202e-01 -3.35925501e-04 6.83541090e+00] [ 1.55494817e-02 -2.61484729e-04 9.99879065e-01 8.45022494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.309254154 meters Centerline goodness : 0.998909 Centerline is valid? [True, True] Translation: X:546.46, Y:6.83, Z:8.45 [[ 9.99010658e-01 -4.16648825e-02 -1.55480632e-02 5.46459221e+02] [ 4.16647064e-02 9.99131593e-01 -3.35388010e-04 6.83466220e+00] [ 1.55485350e-02 -3.12749291e-04 9.99879065e-01 8.45129834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.339254154 meters Centerline goodness : 0.999139 Centerline is valid? [True, True] Translation: X:546.49, Y:6.83, Z:8.45 [[ 9.98723413e-01 -4.80603862e-02 -1.55480751e-02 5.46491741e+02] [ 4.80609931e-02 9.98844347e-01 -3.34835189e-04 6.83237996e+00] [ 1.55461992e-02 -4.12848187e-04 9.99879065e-01 8.45296903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.3692541539999 meters Centerline goodness : 0.998998 Centerline is valid? [True, True] Translation: X:546.52, Y:6.83, Z:8.45 [[ 9.98571830e-01 -5.11131864e-02 -1.55480994e-02 5.46522920e+02] [ 5.11141805e-02 9.98692760e-01 -3.33703180e-04 6.83190614e+00] [ 1.55448309e-02 -4.61501765e-04 9.99879065e-01 8.45245773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.3992541539999 meters Centerline goodness : 0.999037 Centerline is valid? [True, True] Translation: X:546.55, Y:6.83, Z:8.45 [[ 9.98417910e-01 -5.40364060e-02 -1.55481392e-02 5.46553729e+02] [ 5.40377832e-02 9.98538836e-01 -3.31839905e-04 6.83160168e+00] [ 1.55433522e-02 -5.08872069e-04 9.99879065e-01 8.45322718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.429254154 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:546.59, Y:6.83, Z:8.45 [[ 9.98282388e-01 -5.64847682e-02 -1.55481560e-02 5.46585939e+02] [ 5.64864542e-02 9.98403311e-01 -3.31046741e-04 6.83143197e+00] [ 1.55420296e-02 -5.47782073e-04 9.99879065e-01 8.45425567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.459254154 meters Centerline goodness : 0.999079 Centerline is valid? [True, True] Translation: X:546.62, Y:6.83, Z:8.45 [[ 9.97942388e-01 -6.22032491e-02 -1.55481782e-02 5.46617136e+02] [ 6.22056441e-02 9.98063299e-01 -3.30004264e-04 6.83066659e+00] [ 1.55385933e-02 -6.37859195e-04 9.99879065e-01 8.45484003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.4892541539999 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:546.65, Y:6.83, Z:8.46 [[ 9.97761626e-01 -6.50383912e-02 -1.55481946e-02 5.46648440e+02] [ 6.50411418e-02 9.97882529e-01 -3.29226641e-04 6.83067013e+00] [ 1.55366842e-02 -6.82782625e-04 9.99879065e-01 8.45512400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.5192541539999 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:546.68, Y:6.83, Z:8.46 [[ 9.97553738e-01 -6.81527167e-02 -1.55482108e-02 5.46680610e+02] [ 6.81558567e-02 9.97674632e-01 -3.28459464e-04 6.83120516e+00] [ 1.55344409e-02 -7.32045664e-04 9.99879065e-01 8.45572670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.549254154 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:546.71, Y:6.83, Z:8.46 [[ 9.97359406e-01 -7.09398879e-02 -1.55482324e-02 5.46712791e+02] [ 7.09433815e-02 9.97480290e-01 -3.27438305e-04 6.83168413e+00] [ 1.55322838e-02 -7.76470507e-04 9.99879065e-01 8.45808424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.579254154 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:546.74, Y:6.83, Z:8.46 [[ 9.96919169e-01 -7.68792764e-02 -1.55482557e-02 5.46744720e+02] [ 7.68835073e-02 9.97040029e-01 -3.26327554e-04 6.83242499e+00] [ 1.55273211e-02 -8.70082234e-04 9.99879065e-01 8.45886703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.6092541539999 meters Centerline goodness : 0.998955 Centerline is valid? [True, True] Translation: X:546.78, Y:6.83, Z:8.46 [[ 9.96717044e-01 -7.94568168e-02 -1.55482846e-02 5.46777503e+02] [ 7.94613817e-02 9.96837892e-01 -3.24943392e-04 6.83302811e+00] [ 1.55249382e-02 -9.11611560e-04 9.99879065e-01 8.45954224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.6392541539999 meters Centerline goodness : 0.998997 Centerline is valid? [True, True] Translation: X:546.81, Y:6.83, Z:8.46 [[ 9.96514459e-01 -8.19584246e-02 -1.55483188e-02 5.46809481e+02] [ 8.19633184e-02 9.96635294e-01 -3.23298724e-04 6.83420782e+00] [ 1.55225003e-02 -9.52219951e-04 9.99879065e-01 8.46056826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.6692541539999 meters Centerline goodness : 0.998977 Centerline is valid? [True, True] Translation: X:546.84, Y:6.84, Z:8.46 [[ 9.96234897e-01 -8.52893829e-02 -1.55483417e-02 5.46841768e+02] [ 8.52946979e-02 9.96355715e-01 -3.22191452e-04 6.83569230e+00] [ 1.55191587e-02 -1.00521274e-03 9.99879065e-01 8.45916732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.699254154 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:546.88, Y:6.84, Z:8.46 [[ 9.96181694e-01 -8.59085632e-02 -1.55483645e-02 5.46877269e+02] [ 8.59139703e-02 9.96302508e-01 -3.21091084e-04 6.83613509e+00] [ 1.55184590e-02 -1.01595666e-03 9.99879065e-01 8.46441479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.7292541539999 meters Centerline goodness : 0.998937 Centerline is valid? [True, True] Translation: X:546.91, Y:6.84, Z:8.47 [[ 9.96102166e-01 -8.68253266e-02 -1.55511355e-02 5.46909998e+02] [ 8.68329514e-02 9.96222869e-01 -1.85514275e-04 6.83737897e+00] [ 1.55085042e-02 -1.16555982e-03 9.99879057e-01 8.46531982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.7592541539999 meters Centerline goodness : 0.998897 Centerline is valid? [True, True] Translation: X:546.94, Y:6.84, Z:8.46 [[ 9.95931239e-01 -8.87643646e-02 -1.55516968e-02 5.46938532e+02] [ 8.87726491e-02 9.96051902e-01 -1.58171767e-04 6.84041498e+00] [ 1.55043372e-02 -1.22303712e-03 9.99879053e-01 8.46269443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.7892541539999 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:546.97, Y:6.85, Z:8.46 [[ 9.95819417e-01 -9.00107787e-02 -1.55482588e-02 5.46968979e+02] [ 9.00166468e-02 9.95940208e-01 -3.23446718e-04 6.84580258e+00] [ 1.55142498e-02 -1.07750760e-03 9.99879066e-01 8.46335374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.819254154 meters Centerline goodness : 0.998914 Centerline is valid? [True, True] Translation: X:547.00, Y:6.85, Z:8.46 [[ 9.96022388e-01 -8.77364097e-02 -1.55474791e-02 5.47000973e+02] [ 8.77414179e-02 9.96143219e-01 -3.61016581e-04 6.84672277e+00] [ 1.55191902e-02 -1.00457726e-03 9.99879065e-01 8.46265927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.8492541539999 meters Centerline goodness : 0.998894 Centerline is valid? [True, True] Translation: X:547.03, Y:6.85, Z:8.46 [[ 9.96148514e-01 -8.62924560e-02 -1.55483442e-02 5.47032871e+02] [ 8.62979449e-02 9.96269323e-01 -3.18826680e-04 6.84924983e+00] [ 1.55178507e-02 -1.02419143e-03 9.99879066e-01 8.46301764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.8792541539999 meters Centerline goodness : 0.998933 Centerline is valid? [True, True] Translation: X:547.07, Y:6.85, Z:8.46 [[ 9.96325398e-01 -8.42255869e-02 -1.55483669e-02 5.47065576e+02] [ 8.42308423e-02 9.96446217e-01 -3.17715801e-04 6.85181745e+00] [ 1.55198712e-02 -9.93103721e-04 9.99879066e-01 8.46365602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.9092541539999 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:547.10, Y:6.86, Z:8.46 [[ 9.96788029e-01 -7.85612618e-02 -1.55484006e-02 5.47096653e+02] [ 7.85658561e-02 9.96908876e-01 -3.16061345e-04 6.85628591e+00] [ 1.55251687e-02 -9.06527236e-04 9.99879066e-01 8.46435568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.939254154 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] Translation: X:547.13, Y:6.86, Z:8.47 [[ 9.97037482e-01 -7.53293154e-02 -1.55484440e-02 5.47129251e+02] [ 7.53335514e-02 9.97158341e-01 -3.13908122e-04 6.85916404e+00] [ 1.55279071e-02 -8.58341344e-04 9.99879066e-01 8.46506139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.9692541539999 meters Centerline goodness : 0.998850 Centerline is valid? [True, True] Translation: X:547.16, Y:6.86, Z:8.47 [[ 9.97302567e-01 -7.17344738e-02 -1.55484658e-02 5.47162549e+02] [ 7.17382909e-02 9.97423441e-01 -3.12825863e-04 6.86225528e+00] [ 1.55308446e-02 -8.03438326e-04 9.99879066e-01 8.46628139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.9992541539999 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:547.19, Y:6.87, Z:8.47 [[ 9.97802881e-01 -6.44022911e-02 -1.55484983e-02 5.47193461e+02] [ 6.44052449e-02 9.97923778e-01 -3.11201531e-04 6.86766951e+00] [ 1.55362583e-02 -6.90887058e-04 9.99879066e-01 8.46758891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.0292541539999 meters Centerline goodness : 0.998994 Centerline is valid? [True, True] Translation: X:547.23, Y:6.87, Z:8.47 [[ 9.98026463e-01 -6.08393269e-02 -1.55485143e-02 5.47226727e+02] [ 6.08418615e-02 9.98147370e-01 -3.10398319e-04 6.87067290e+00] [ 1.55385931e-02 -6.36214820e-04 9.99879066e-01 8.47040369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.059254154 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:547.26, Y:6.87, Z:8.47 [[ 9.98241621e-01 -5.72005949e-02 -1.55485486e-02 5.47257645e+02] [ 5.72027156e-02 9.98362536e-01 -3.08673018e-04 6.87344379e+00] [ 1.55407447e-02 -5.81288950e-04 9.99879066e-01 8.46888666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.089254154 meters Centerline goodness : 0.998932 Centerline is valid? [True, True] Translation: X:547.29, Y:6.88, Z:8.47 [[ 9.98442023e-01 -5.35888742e-02 -1.55485886e-02 5.47289609e+02] [ 5.35905890e-02 9.98562945e-01 -3.06646017e-04 6.87595437e+00] [ 1.55426772e-02 -5.27089749e-04 9.99879066e-01 8.47147006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.1192541539999 meters Centerline goodness : 0.998675 Centerline is valid? [True, True] Translation: X:547.32, Y:6.88, Z:8.47 [[ 9.98770142e-01 -4.70791349e-02 -1.55486108e-02 5.47321921e+02] [ 4.70800791e-02 9.98891072e-01 -3.05512519e-04 6.88009123e+00] [ 1.55457518e-02 -4.26893046e-04 9.99879066e-01 8.47240932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.1492541539999 meters Centerline goodness : 0.998991 Centerline is valid? [True, True] Translation: X:547.35, Y:6.88, Z:8.47 [[ 9.98935470e-01 -4.34300143e-02 -1.55486333e-02 5.47352681e+02] [ 4.34305345e-02 9.99056403e-01 -3.04366253e-04 6.88185457e+00] [ 1.55471803e-02 -3.71243208e-04 9.99879066e-01 8.47242208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.179254154 meters Centerline goodness : 0.999326 Centerline is valid? [True, True] Translation: X:547.39, Y:6.88, Z:8.47 [[ 9.99065784e-01 -4.03211844e-02 -1.55486693e-02 5.47385218e+02] [ 4.03213570e-02 9.99186718e-01 -3.02514070e-04 6.88406343e+00] [ 1.55482216e-02 -3.24711990e-04 9.99879066e-01 8.47396269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.209254154 meters Centerline goodness : 0.999052 Centerline is valid? [True, True] Translation: X:547.42, Y:6.89, Z:8.47 [[ 9.99178347e-01 -3.74281917e-02 -1.55486915e-02 5.47417055e+02] [ 3.74280320e-02 9.99299280e-01 -3.01369411e-04 6.88640776e+00] [ 1.55490759e-02 -2.80835133e-04 9.99879066e-01 8.47441554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.2392541539999 meters Centerline goodness : 0.999050 Centerline is valid? [True, True] Translation: X:547.45, Y:6.89, Z:8.47 [[ 9.99390423e-01 -3.12573192e-02 -1.55487135e-02 5.47448382e+02] [ 3.12564305e-02 9.99511353e-01 -3.00230048e-04 6.88974972e+00] [ 1.55505001e-02 -1.85950248e-04 9.99879066e-01 8.47451800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.2692541539999 meters Centerline goodness : 0.999012 Centerline is valid? [True, True] Translation: X:547.48, Y:6.89, Z:8.47 [[ 9.99484966e-01 -2.80720467e-02 -1.55487298e-02 5.47479877e+02] [ 2.80707858e-02 9.99605893e-01 -2.99381400e-04 6.89135002e+00] [ 1.55510062e-02 -1.37237856e-04 9.99879066e-01 8.47457410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.299254154 meters Centerline goodness : 0.999239 Centerline is valid? [True, True] Translation: X:547.51, Y:6.89, Z:8.47 [[ 9.99570584e-01 -2.48371387e-02 -1.55487406e-02 5.47508943e+02] [ 2.48354951e-02 9.99691507e-01 -2.98821772e-04 6.89283671e+00] [ 1.55513658e-02 -8.74672174e-05 9.99879066e-01 8.47373111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.329254154 meters Centerline goodness : 0.999215 Centerline is valid? [True, True] Translation: X:547.54, Y:6.89, Z:8.48 [[ 9.99702688e-01 -1.87824397e-02 -1.55484614e-02 5.47539764e+02] [ 1.87798386e-02 9.99823594e-01 -3.13294754e-04 6.89473854e+00] [ 1.55516030e-02 2.12040122e-05 9.99879066e-01 8.47548078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.3592541539999 meters Centerline goodness : 0.998788 Centerline is valid? [True, True] Translation: X:547.57, Y:6.90, Z:8.48 [[ 9.99747801e-01 -1.62041063e-02 -1.55486967e-02 5.47568592e+02] [ 1.62013824e-02 9.99868704e-01 -3.01144613e-04 6.89565759e+00] [ 1.55515350e-02 4.91582838e-05 9.99879066e-01 8.47625857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.3892541539999 meters Centerline goodness : 0.999149 Centerline is valid? [True, True] Translation: X:547.60, Y:6.90, Z:8.48 [[ 9.99779147e-01 -1.41385342e-02 -1.55486189e-02 5.47596407e+02] [ 1.41354988e-02 9.99900042e-01 -3.05108577e-04 6.89655022e+00] [ 1.55513785e-02 8.52537084e-05 9.99879066e-01 8.47684511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.4192541539999 meters Centerline goodness : 0.998958 Centerline is valid? [True, True] Translation: X:547.62, Y:6.90, Z:8.48 [[ 9.99801483e-01 -1.24594237e-02 -1.55485294e-02 5.47624269e+02] [ 1.24561153e-02 9.99922372e-01 -3.09603658e-04 6.89725375e+00] [ 1.55511799e-02 1.15867920e-04 9.99879066e-01 8.47718357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.449254154 meters Centerline goodness : 0.999173 Centerline is valid? [True, True] Translation: X:547.65, Y:6.90, Z:8.48 [[ 9.99810955e-01 -1.16746885e-02 -1.55485016e-02 5.47651674e+02] [ 1.16712637e-02 9.99931840e-01 -3.10993232e-04 6.89718567e+00] [ 1.55510726e-02 1.29463777e-04 9.99879066e-01 8.47848564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.4792541539999 meters Centerline goodness : 0.998918 Centerline is valid? [True, True] Translation: X:547.68, Y:6.90, Z:8.48 [[ 9.99796498e-01 -1.28534151e-02 -1.55484119e-02 5.47679156e+02] [ 1.28500640e-02 9.99917385e-01 -3.15418342e-04 6.89703388e+00] [ 1.55511815e-02 1.15556066e-04 9.99879066e-01 8.47902291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.5092541539999 meters Centerline goodness : 0.999130 Centerline is valid? [True, True] Translation: X:547.71, Y:6.90, Z:8.48 [[ 9.99769360e-01 -1.48147140e-02 -1.55483190e-02 5.47707387e+02] [ 1.48115299e-02 9.99890252e-01 -3.19932052e-04 6.89692984e+00] [ 1.55513523e-02 8.95638718e-05 9.99879066e-01 8.47918004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.5392541539999 meters Centerline goodness : 0.999004 Centerline is valid? [True, True] Translation: X:547.74, Y:6.90, Z:8.48 [[ 9.99664421e-01 -2.07194662e-02 -1.55482901e-02 5.47736660e+02] [ 2.07169744e-02 9.99785329e-01 -3.21328646e-04 6.89502177e+00] [ 1.55516101e-02 -8.92713198e-07 9.99879066e-01 8.47946181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.569254154 meters Centerline goodness : 0.998688 Centerline is valid? [True, True] Translation: X:547.77, Y:6.89, Z:8.48 [[ 9.99565982e-01 -2.50219618e-02 -1.55482669e-02 5.47765180e+02] [ 2.50199731e-02 9.99686899e-01 -3.22446307e-04 6.89406472e+00] [ 1.55514670e-02 -6.67108605e-05 9.99879066e-01 8.48023198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.5992541539999 meters Centerline goodness : 0.998794 Centerline is valid? [True, True] Translation: X:547.80, Y:6.89, Z:8.48 [[ 9.99454985e-01 -2.91202262e-02 -1.55481830e-02 5.47795099e+02] [ 2.91186710e-02 9.99575908e-01 -3.26445381e-04 6.89275796e+00] [ 1.55510953e-02 -1.26474962e-04 9.99879066e-01 8.48032565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.6292541539999 meters Centerline goodness : 0.998838 Centerline is valid? [True, True] Translation: X:547.83, Y:6.89, Z:8.48 [[ 9.99331682e-01 -3.30823771e-02 -1.55481770e-02 5.47826711e+02] [ 3.30812969e-02 9.99452611e-01 -3.26728454e-04 6.89128554e+00] [ 1.55504751e-02 -1.87843766e-04 9.99879066e-01 8.48190486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.6592541539999 meters Centerline goodness : 0.999241 Centerline is valid? [True, True] Translation: X:547.86, Y:6.89, Z:8.48 [[ 9.99216067e-01 -3.64074777e-02 -1.55481891e-02 5.47857966e+02] [ 3.64068089e-02 9.99336999e-01 -3.26152462e-04 6.88940914e+00] [ 1.55497550e-02 -2.40163170e-04 9.99879066e-01 8.48195462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.689254154 meters Centerline goodness : 0.999053 Centerline is valid? [True, True] Translation: X:547.89, Y:6.89, Z:8.48 [[ 9.98997335e-01 -4.19830586e-02 -1.55482071e-02 5.47890266e+02] [ 4.19830781e-02 9.99118269e-01 -3.25291040e-04 6.88645316e+00] [ 1.55481545e-02 -3.27796712e-04 9.99879066e-01 8.48392019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.7192541539999 meters Centerline goodness : 0.999200 Centerline is valid? [True, True] Translation: X:547.92, Y:6.89, Z:8.48 [[ 9.98916556e-01 -4.38630516e-02 -1.55482311e-02 5.47921115e+02] [ 4.38633165e-02 9.99037489e-01 -3.24143188e-04 6.88566305e+00] [ 1.55474836e-02 -3.58204984e-04 9.99879066e-01 8.48344723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.7492541539999 meters Centerline goodness : 0.998989 Centerline is valid? [True, True] Translation: X:547.95, Y:6.88, Z:8.48 [[ 9.98863100e-01 -4.50639553e-02 -1.55482489e-02 5.47953580e+02] [ 4.50643789e-02 9.98984033e-01 -3.23287063e-04 6.88462132e+00] [ 1.55470209e-02 -3.77752661e-04 9.99879066e-01 8.48489444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.7792541539999 meters Centerline goodness : 0.998822 Centerline is valid? [True, True] Translation: X:547.99, Y:6.88, Z:8.49 [[ 9.98781289e-01 -4.68421698e-02 -1.55482724e-02 5.47985837e+02] [ 4.68428264e-02 9.98902220e-01 -3.22149811e-04 6.88195516e+00] [ 1.55462941e-02 -4.06567823e-04 9.99879066e-01 8.48507293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.809254154 meters Centerline goodness : 0.999097 Centerline is valid? [True, True] Translation: X:548.02, Y:6.88, Z:8.49 [[ 9.98758624e-01 -4.73229455e-02 -1.55482960e-02 5.48017680e+02] [ 4.73236781e-02 9.98879556e-01 -3.21009499e-04 6.88107956e+00] [ 1.55460661e-02 -4.15191547e-04 9.99879066e-01 8.48573331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.839254154 meters Centerline goodness : 0.999096 Centerline is valid? [True, True] Translation: X:548.05, Y:6.88, Z:8.49 [[ 9.98746041e-01 -4.75877568e-02 -1.55483195e-02 5.48049259e+02] [ 4.75885393e-02 9.98866972e-01 -3.19864246e-04 6.88016713e+00] [ 1.55459245e-02 -4.20458666e-04 9.99879066e-01 8.48601169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.8692541539999 meters Centerline goodness : 0.999055 Centerline is valid? [True, True] Translation: X:548.08, Y:6.88, Z:8.49 [[ 9.98759442e-01 -4.73056524e-02 -1.55483581e-02 5.48081614e+02] [ 4.73064301e-02 9.98880374e-01 -3.17976573e-04 6.87825498e+00] [ 1.55459919e-02 -4.17955213e-04 9.99879066e-01 8.48718637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.8992541539999 meters Centerline goodness : 0.998930 Centerline is valid? [True, True] Translation: X:548.11, Y:6.88, Z:8.49 [[ 9.98800077e-01 -4.64397949e-02 -1.55483811e-02 5.48113722e+02] [ 4.64404852e-02 9.98921008e-01 -3.16850449e-04 6.87785674e+00] [ 1.55463190e-02 -4.05604109e-04 9.99879066e-01 8.48721783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.929254154 meters Centerline goodness : 0.998889 Centerline is valid? [True, True] Translation: X:548.14, Y:6.88, Z:8.49 [[ 9.98848571e-01 -4.53847907e-02 -1.55484038e-02 5.48144421e+02] [ 4.53853707e-02 9.98969503e-01 -3.15732059e-04 6.87780804e+00] [ 1.55467107e-02 -3.90301554e-04 9.99879066e-01 8.48778121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.959254154 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:548.17, Y:6.88, Z:8.49 [[ 9.98843929e-01 -4.54868433e-02 -1.55484207e-02 5.48171564e+02] [ 4.54874487e-02 9.98964861e-01 -3.14898929e-04 6.88192992e+00] [ 1.55466496e-02 -3.92723105e-04 9.99879066e-01 8.48995337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.9892541539999 meters Centerline goodness : 0.999034 Centerline is valid? [True, True] Translation: X:548.21, Y:6.87, Z:8.49 [[ 9.99170782e-01 -3.76315161e-02 -1.55440311e-02 5.48210807e+02] [ 3.76278242e-02 9.99291682e-01 -5.30007163e-04 6.87465944e+00] [ 1.55529660e-02 -5.53203989e-05 9.99879044e-01 8.48549722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.0192541539999 meters Centerline goodness : 0.998977 Centerline is valid? [True, True] Translation: X:548.23, Y:6.88, Z:8.49 [[ 9.98984624e-01 -4.22829428e-02 -1.55523205e-02 5.48232512e+02] [ 4.22861963e-02 9.99105532e-01 -1.19731968e-04 6.88049425e+00] [ 1.55434721e-02 -5.38038084e-04 9.99879048e-01 8.48936881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.049254154 meters Centerline goodness : 0.999034 Centerline is valid? [True, True] Translation: X:548.27, Y:6.88, Z:8.49 [[ 9.99068766e-01 -4.02491674e-02 -1.55436866e-02 5.48266643e+02] [ 4.02457710e-02 9.99189669e-01 -5.31369470e-04 6.87623884e+00] [ 1.55524783e-02 -9.46930120e-05 9.99879048e-01 8.48798071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.079254154 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:548.30, Y:6.88, Z:8.49 [[ 9.99078784e-01 -3.99980172e-02 -1.55480403e-02 5.48298396e+02] [ 3.99978854e-02 9.99199713e-01 -3.19564928e-04 6.87559827e+00] [ 1.55483793e-02 -3.02618193e-04 9.99879071e-01 8.48805011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.1092541539999 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:548.33, Y:6.88, Z:8.49 [[ 9.99077488e-01 -4.00303773e-02 -1.55480638e-02 5.48329839e+02] [ 4.00302673e-02 9.99198417e-01 -3.18414840e-04 6.87502697e+00] [ 1.55483470e-02 -3.04272052e-04 9.99879071e-01 8.48575899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.1392541539999 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:548.36, Y:6.87, Z:8.49 [[ 9.99029748e-01 -4.12046039e-02 -1.55480813e-02 5.48361385e+02] [ 4.12046493e-02 9.99150677e-01 -3.17557891e-04 6.87372481e+00] [ 1.55479608e-02 -3.23403459e-04 9.99879071e-01 8.48727801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.1692541539999 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:548.39, Y:6.87, Z:8.49 [[ 9.98990086e-01 -4.21552453e-02 -1.55480925e-02 5.48393392e+02] [ 4.21554144e-02 9.99111015e-01 -3.17007597e-04 6.87388017e+00] [ 1.55476340e-02 -3.38748837e-04 9.99879071e-01 8.48837159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.199254154 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:548.43, Y:6.87, Z:8.49 [[ 9.98993119e-01 -4.20833110e-02 -1.55481153e-02 5.48426067e+02] [ 4.20834888e-02 9.99114048e-01 -3.15888162e-04 6.87448315e+00] [ 1.55476340e-02 -3.38748836e-04 9.99879071e-01 8.48887958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.2292541539999 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:548.46, Y:6.87, Z:8.49 [[ 9.98953880e-01 -4.30046660e-02 -1.55481379e-02 5.48458476e+02] [ 4.30049727e-02 9.99074809e-01 -3.14768725e-04 6.87456151e+00] [ 1.55472895e-02 -3.54207809e-04 9.99879071e-01 8.49002715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.2592541539999 meters Centerline goodness : 0.999456 Centerline is valid? [True, True] Translation: X:548.49, Y:6.87, Z:8.49 [[ 9.98873525e-01 -4.48323137e-02 -1.55481607e-02 5.48490539e+02] [ 4.48328593e-02 9.98994453e-01 -3.13637926e-04 6.87427640e+00] [ 1.55465875e-02 -3.83783884e-04 9.99879071e-01 8.49185792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.2892541539999 meters Centerline goodness : 0.999391 Centerline is valid? [True, True] Translation: X:548.52, Y:6.87, Z:8.49 [[ 9.98832557e-01 -4.57359453e-02 -1.55481836e-02 5.48522577e+02] [ 4.57366180e-02 9.98953484e-01 -3.12501294e-04 6.87435701e+00] [ 1.55462047e-02 -3.98984867e-04 9.99879071e-01 8.49296461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.319254154 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:548.56, Y:6.87, Z:8.49 [[ 9.98802749e-01 -4.63823550e-02 -1.55482063e-02 5.48555183e+02] [ 4.63831236e-02 9.98923675e-01 -3.11369402e-04 6.87434296e+00] [ 1.55459134e-02 -4.10177758e-04 9.99879071e-01 8.49385224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.3492541539999 meters Centerline goodness : 0.999375 Centerline is valid? [True, True] Translation: X:548.59, Y:6.87, Z:8.49 [[ 9.98768340e-01 -4.71174762e-02 -1.55482287e-02 5.48587612e+02] [ 4.71183513e-02 9.98889266e-01 -3.10243166e-04 6.87443805e+00] [ 1.55455767e-02 -4.22745852e-04 9.99879071e-01 8.49473793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.3792541539999 meters Centerline goodness : 0.999396 Centerline is valid? [True, True] Translation: X:548.62, Y:6.87, Z:8.50 [[ 9.98716227e-01 -4.82094297e-02 -1.55482510e-02 5.48619999e+02] [ 4.82104544e-02 9.98837152e-01 -3.09123126e-04 6.87383141e+00] [ 1.55450734e-02 -4.40861963e-04 9.99879071e-01 8.49671266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.4092541539999 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] Translation: X:548.65, Y:6.87, Z:8.50 [[ 9.98684403e-01 -4.88642364e-02 -1.55482735e-02 5.48651714e+02] [ 4.88653580e-02 9.98805327e-01 -3.07988073e-04 6.87393003e+00] [ 1.55447480e-02 -4.52189066e-04 9.99879071e-01 8.49736558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.439254154 meters Centerline goodness : 0.999539 Centerline is valid? [True, True] Translation: X:548.68, Y:6.87, Z:8.50 [[ 9.98678091e-01 -4.89930658e-02 -1.55482958e-02 5.48683812e+02] [ 4.89942207e-02 9.98799015e-01 -3.06857621e-04 6.87370211e+00] [ 1.55446564e-02 -4.55324652e-04 9.99879071e-01 8.49879596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.4692541539999 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:548.71, Y:6.87, Z:8.50 [[ 9.98691351e-01 -4.87220217e-02 -1.55483185e-02 5.48714755e+02] [ 4.87231617e-02 9.98812275e-01 -3.05702116e-04 6.87342215e+00] [ 1.55447458e-02 -4.52261177e-04 9.99879071e-01 8.49874089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.4992541539999 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:548.75, Y:6.87, Z:8.50 [[ 9.98741756e-01 -4.76776018e-02 -1.55483354e-02 5.48747261e+02] [ 4.76786287e-02 9.98862681e-01 -3.04842370e-04 6.87268738e+00] [ 1.55451861e-02 -4.36864505e-04 9.99879071e-01 8.49970878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.5292541539999 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:548.78, Y:6.87, Z:8.50 [[ 9.98807761e-01 -4.62742284e-02 -1.55483576e-02 5.48778780e+02] [ 4.62751030e-02 9.98928687e-01 -3.03706699e-04 6.87272898e+00] [ 1.55457542e-02 -4.16157239e-04 9.99879071e-01 8.50003560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.559254154 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:548.81, Y:6.87, Z:8.50 [[ 9.98889235e-01 -4.44808216e-02 -1.55483740e-02 5.48810767e+02] [ 4.44814923e-02 9.99010163e-01 -3.02860782e-04 6.87304116e+00] [ 1.55464552e-02 -3.89090505e-04 9.99879071e-01 8.50030479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.589254154 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:548.84, Y:6.87, Z:8.50 [[ 9.99081261e-01 -3.99359743e-02 -1.55483957e-02 5.48842198e+02] [ 3.99361121e-02 9.99202190e-01 -3.01745925e-04 6.87319499e+00] [ 1.55480415e-02 -3.19473774e-04 9.99879071e-01 8.50097897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.6192541539999 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:548.87, Y:6.87, Z:8.50 [[ 9.99186664e-01 -3.72056085e-02 -1.55484117e-02 5.48873361e+02] [ 3.72054288e-02 9.99307593e-01 -3.00914971e-04 6.87353550e+00] [ 1.55488416e-02 -2.77815101e-04 9.99879071e-01 8.50183889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.6492541539999 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:548.90, Y:6.87, Z:8.50 [[ 9.99293926e-01 -3.42037334e-02 -1.55484224e-02 5.48904693e+02] [ 3.42031991e-02 9.99414854e-01 -3.00361386e-04 6.87393596e+00] [ 1.55495978e-02 -2.31656480e-04 9.99879071e-01 8.50240666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.679254154 meters Centerline goodness : 0.999308 Centerline is valid? [True, True] Translation: X:548.94, Y:6.87, Z:8.50 [[ 9.99392919e-01 -3.11775608e-02 -1.55484331e-02 5.48935546e+02] [ 3.11766689e-02 9.99513845e-01 -2.99806525e-04 6.87432113e+00] [ 1.55502214e-02 -1.85123834e-04 9.99879071e-01 8.50385150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.709254154 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:548.97, Y:6.87, Z:8.50 [[ 9.99563733e-01 -2.51115282e-02 -1.55484442e-02 5.48965155e+02] [ 2.51099114e-02 9.99684652e-01 -2.99232648e-04 6.87369893e+00] [ 1.55510552e-02 -9.13179524e-05 9.99879071e-01 8.50335138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.7392541539999 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:548.99, Y:6.87, Z:8.50 [[ 9.99619140e-01 -2.27995636e-02 -1.55484439e-02 5.48993538e+02] [ 2.27976668e-02 9.99740055e-01 -2.99249367e-04 6.87376451e+00] [ 1.55512249e-02 -5.53328470e-05 9.99879071e-01 8.50304454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.7692541539999 meters Centerline goodness : 0.999309 Centerline is valid? [True, True] Translation: X:549.02, Y:6.87, Z:8.50 [[ 9.99664720e-01 -2.07049511e-02 -1.55484281e-02 5.49022445e+02] [ 2.07027882e-02 9.99785629e-01 -3.00068540e-04 6.87371571e+00] [ 1.55513078e-02 -2.19278806e-05 9.99879071e-01 8.50303436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.799254154 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:549.05, Y:6.87, Z:8.50 [[ 9.99672901e-01 -2.03061303e-02 -1.55483545e-02 5.49051585e+02] [ 2.03038607e-02 9.99793809e-01 -3.03830922e-04 6.87351066e+00] [ 1.55513182e-02 -1.19600850e-05 9.99879071e-01 8.50446172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.829254154 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:549.08, Y:6.87, Z:8.50 [[ 9.99668212e-01 -2.05357737e-02 -1.55482778e-02 5.49080031e+02] [ 2.05334714e-02 9.99789119e-01 -3.07710244e-04 6.87194989e+00] [ 1.55513180e-02 -1.16519678e-05 9.99879071e-01 8.50450542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.8592541539999 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:549.11, Y:6.87, Z:8.51 [[ 9.99630808e-01 -2.22822956e-02 -1.55481885e-02 5.49107827e+02] [ 2.22801355e-02 9.99751718e-01 -3.12156134e-04 6.87168462e+00] [ 1.55512837e-02 -3.43748588e-05 9.99879071e-01 8.50558652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.8892541539999 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:549.14, Y:6.87, Z:8.51 [[ 9.99545324e-01 -2.58341311e-02 -1.55480949e-02 5.49135608e+02] [ 2.58323291e-02 9.99666240e-01 -3.16750867e-04 6.86914932e+00] [ 1.55510885e-02 -8.50366568e-05 9.99879071e-01 8.50533120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.9192541539999 meters Centerline goodness : 0.999251 Centerline is valid? [True, True] Translation: X:549.17, Y:6.87, Z:8.51 [[ 9.99430898e-01 -2.99355467e-02 -1.55480658e-02 5.49165201e+02] [ 2.99342188e-02 9.99551820e-01 -3.18174037e-04 6.86848484e+00] [ 1.55506222e-02 -1.47426239e-04 9.99879071e-01 8.50654090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.949254154 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:549.19, Y:6.87, Z:8.50 [[ 9.99338462e-01 -3.28769755e-02 -1.55480541e-02 5.49194427e+02] [ 3.28759946e-02 9.99459388e-01 -3.18743844e-04 6.86712104e+00] [ 1.55501280e-02 -1.92624760e-04 9.99879071e-01 8.50441311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.9792541539999 meters Centerline goodness : 0.999147 Centerline is valid? [True, True] Translation: X:549.23, Y:6.87, Z:8.51 [[ 9.99156533e-01 -3.80063145e-02 -1.55480483e-02 5.49225300e+02] [ 3.80059500e-02 9.99277462e-01 -3.19026886e-04 6.86628797e+00] [ 1.55489393e-02 -2.72160549e-04 9.99879071e-01 8.50552165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.0092541539999 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:549.26, Y:6.86, Z:8.51 [[ 9.98797413e-01 -4.64971678e-02 -1.55480483e-02 5.49256745e+02] [ 4.64978311e-02 9.98918340e-01 -3.19026886e-04 6.86315446e+00] [ 1.55460644e-02 -4.04307295e-04 9.99879071e-01 8.50876165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.0392541539999 meters Centerline goodness : 0.999251 Centerline is valid? [True, True] Translation: X:549.29, Y:6.86, Z:8.51 [[ 9.98601862e-01 -5.05230608e-02 -1.55480602e-02 5.49288381e+02] [ 5.05242206e-02 9.98722785e-01 -3.18445966e-04 6.86197423e+00] [ 1.55442908e-02 -4.67552888e-04 9.99879071e-01 8.50905783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.069254154 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:549.32, Y:6.86, Z:8.51 [[ 9.98437698e-01 -5.36695438e-02 -1.55480780e-02 5.49320322e+02] [ 5.36710982e-02 9.98558617e-01 -3.17576061e-04 6.86058324e+00] [ 1.55427114e-02 -5.17402507e-04 9.99879071e-01 8.50947048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.0992541539999 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:549.35, Y:6.86, Z:8.51 [[ 9.98211278e-01 -5.77278211e-02 -1.55481014e-02 5.49352616e+02] [ 5.77298849e-02 9.98332189e-01 -3.16424344e-04 6.85990464e+00] [ 1.55404366e-02 -5.81731756e-04 9.99879071e-01 8.51011987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.1292541539999 meters Centerline goodness : 0.999168 Centerline is valid? [True, True] Translation: X:549.38, Y:6.86, Z:8.51 [[ 9.97855783e-01 -6.35774461e-02 -1.55481249e-02 5.49383359e+02] [ 6.35802366e-02 9.97976680e-01 -3.15264927e-04 6.85808038e+00] [ 1.55367098e-02 -6.73964529e-04 9.99879071e-01 8.50977302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.1592541539999 meters Centerline goodness : 0.998834 Centerline is valid? [True, True] Translation: X:549.43, Y:6.85, Z:8.50 [[ 9.98282802e-01 -5.64774523e-02 -1.55481424e-02 5.49426027e+02] [ 5.64793962e-02 9.98403715e-01 -3.14399948e-04 6.84608760e+00] [ 1.55410796e-02 -5.64289634e-04 9.99879071e-01 8.50349050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.189254154 meters Centerline goodness : 0.998938 Centerline is valid? [True, True] Translation: X:549.44, Y:6.86, Z:8.51 [[ 9.97594727e-01 -6.75475108e-02 -1.55593574e-02 5.49442500e+02] [ 6.75597488e-02 9.97715196e-01 2.61656732e-04 6.85739025e+00] [ 1.55061330e-02 -1.31221365e-03 9.99878912e-01 8.50921884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.2192541539999 meters Centerline goodness : 0.999085 Centerline is valid? [True, True] Translation: X:549.47, Y:6.86, Z:8.51 [[ 9.97402599e-01 -7.03302172e-02 -1.55472457e-02 5.49474267e+02] [ 7.03337137e-02 9.97523466e-01 -3.22449009e-04 6.85858959e+00] [ 1.55314203e-02 -7.71884049e-04 9.99879082e-01 8.51024081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.2492541539999 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:549.51, Y:6.86, Z:8.51 [[ 9.97283419e-01 -7.20004500e-02 -1.55472694e-02 5.49506421e+02] [ 7.20041668e-02 9.97404280e-01 -3.21302220e-04 6.85900825e+00] [ 1.55300469e-02 -7.99038802e-04 9.99879082e-01 8.51059354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.2792541539999 meters Centerline goodness : 0.998917 Centerline is valid? [True, True] Translation: X:549.55, Y:6.85, Z:8.50 [[ 9.97724128e-01 -6.56113298e-02 -1.55472931e-02 5.49546946e+02] [ 6.56142903e-02 9.97845009e-01 -3.20149562e-04 6.84714866e+00] [ 1.55347943e-02 -7.00703663e-04 9.99879082e-01 8.50393071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.309254154 meters Centerline goodness : 0.999021 Centerline is valid? [True, True] Translation: X:549.57, Y:6.86, Z:8.51 [[ 9.97032791e-01 -7.53895064e-02 -1.55574767e-02 5.49566210e+02] [ 7.54017483e-02 9.97153216e-01 2.00989356e-04 6.85895854e+00] [ 1.54980354e-02 -1.37345392e-03 9.99878955e-01 8.51000015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.339254154 meters Centerline goodness : 0.999271 Centerline is valid? [True, True] Translation: X:549.60, Y:6.86, Z:8.51 [[ 9.96859805e-01 -7.76455271e-02 -1.55467641e-02 5.49597344e+02] [ 7.76499504e-02 9.96980633e-01 -3.19835765e-04 6.86051612e+00] [ 1.55246566e-02 -8.88374045e-04 9.99879091e-01 8.51095881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.3692541539999 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:549.63, Y:6.86, Z:8.51 [[ 9.96763638e-01 -7.88704474e-02 -1.55467814e-02 5.49629869e+02] [ 7.88750322e-02 9.96884460e-01 -3.18995398e-04 6.86148927e+00] [ 1.55235041e-02 -9.08289867e-04 9.99879091e-01 8.51144677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.3992541539999 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:549.66, Y:6.86, Z:8.51 [[ 9.96654084e-01 -8.02429689e-02 -1.55468042e-02 5.49662597e+02] [ 8.02477375e-02 9.96774899e-01 -3.17878536e-04 6.86367037e+00] [ 1.55221717e-02 -9.30780922e-04 9.99879091e-01 8.51252882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.429254154 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:549.69, Y:6.87, Z:8.51 [[ 9.96758426e-01 -7.89362803e-02 -1.55468382e-02 5.49692748e+02] [ 7.89409164e-02 9.96879246e-01 -3.16207013e-04 6.86540346e+00] [ 1.55232806e-02 -9.12099651e-04 9.99879091e-01 8.51205338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.459254154 meters Centerline goodness : 0.998975 Centerline is valid? [True, True] Translation: X:549.73, Y:6.86, Z:8.51 [[ 9.97098681e-01 -7.45156622e-02 -1.55446705e-02 5.49732392e+02] [ 7.45181143e-02 9.97219571e-01 -4.22219473e-04 6.85794642e+00] [ 1.55329116e-02 -7.37365051e-04 9.99879085e-01 8.50780839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.4892541539999 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:549.75, Y:6.87, Z:8.51 [[ 9.96641047e-01 -8.04032102e-02 -1.55546608e-02 5.49751585e+02] [ 8.04137999e-02 9.96761565e-01 5.55546687e-05 6.87104592e+00] [ 1.54998213e-02 -1.30617744e-03 9.99879017e-01 8.51270471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.5192541539999 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:549.79, Y:6.87, Z:8.51 [[ 9.96519953e-01 -8.18925757e-02 -1.55431479e-02 5.49787219e+02] [ 8.18951795e-02 9.96640837e-01 -4.69966649e-04 6.87338532e+00] [ 1.55294228e-02 -8.04577748e-04 9.99879088e-01 8.51314991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.549254154 meters Centerline goodness : 0.998933 Centerline is valid? [True, True] Translation: X:549.83, Y:6.86, Z:8.51 [[ 9.97341937e-01 -7.11855375e-02 -1.55460464e-02 5.49829135e+02] [ 7.11889297e-02 9.97462793e-01 -3.35779603e-04 6.86405930e+00] [ 1.55305055e-02 -7.71819323e-04 9.99879097e-01 8.50799441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.579254154 meters Centerline goodness : 0.998786 Centerline is valid? [True, True] Translation: X:549.86, Y:6.87, Z:8.51 [[ 9.97242333e-01 -7.25649809e-02 -1.55580212e-02 5.49857012e+02] [ 7.25775734e-02 9.97362740e-01 2.45560015e-04 6.86938848e+00] [ 1.54991716e-02 -1.37404627e-03 9.99878937e-01 8.50775211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.6092541539999 meters Centerline goodness : 0.998829 Centerline is valid? [True, True] Translation: X:549.89, Y:6.87, Z:8.51 [[ 9.97428247e-01 -6.99638271e-02 -1.55548767e-02 5.49889190e+02] [ 6.99738070e-02 9.97548824e-01 9.76030015e-05 6.87323114e+00] [ 1.55099203e-02 -1.18578593e-03 9.99879011e-01 8.50948027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.6392541539999 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:549.92, Y:6.88, Z:8.51 [[ 9.97466555e-01 -6.94153690e-02 -1.55556461e-02 5.49921454e+02] [ 6.94258501e-02 9.97587106e-01 1.34132333e-04 6.87592131e+00] [ 1.55088011e-02 -1.21375647e-03 9.99878995e-01 8.51101596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.6692541539999 meters Centerline goodness : 0.998853 Centerline is valid? [True, True] Translation: X:549.94, Y:6.89, Z:8.52 [[ 9.96928059e-01 -7.67623809e-02 -1.55557787e-02 5.49939770e+02] [ 7.67738462e-02 9.97048523e-01 1.40328411e-04 6.88866499e+00] [ 1.54990943e-02 -1.33417429e-03 9.99878992e-01 8.51698573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.699254154 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:549.98, Y:6.88, Z:8.51 [[ 9.97889294e-01 -6.30501295e-02 -1.55447421e-02 5.49983602e+02] [ 6.30523146e-02 9.98010162e-01 -3.49971909e-04 6.88010283e+00] [ 1.55358763e-02 -6.30898747e-04 9.99879112e-01 8.51241073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.7292541539999 meters Centerline goodness : 0.998787 Centerline is valid? [True, True] Translation: X:550.01, Y:6.88, Z:8.51 [[ 9.97869564e-01 -6.33583266e-02 -1.55581555e-02 5.50012717e+02] [ 6.33701338e-02 9.97990058e-01 2.66596008e-04 6.88427224e+00] [ 1.55099934e-02 -1.25195044e-03 9.99878929e-01 8.51259565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.7592541539999 meters Centerline goodness : 0.998854 Centerline is valid? [True, True] Translation: X:550.05, Y:6.89, Z:8.51 [[ 9.97939065e-01 -6.22547389e-02 -1.55554111e-02 5.50046950e+02] [ 6.22645255e-02 9.98059671e-01 1.45162174e-04 6.88645514e+00] [ 1.55161915e-02 -1.11341330e-03 9.99878997e-01 8.51282265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.7892541539999 meters Centerline goodness : 0.998727 Centerline is valid? [True, True] Translation: X:550.06, Y:6.90, Z:8.52 [[ 9.97444052e-01 -6.97375210e-02 -1.55576877e-02 5.50060697e+02] [ 6.97497686e-02 9.97564489e-01 2.45368576e-04 6.90019153e+00] [ 1.55026854e-02 -1.32988654e-03 9.99878942e-01 8.51780667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.819254154 meters Centerline goodness : 0.998976 Centerline is valid? [True, True] Translation: X:550.09, Y:6.90, Z:8.52 [[ 9.97535671e-01 -6.84182388e-02 -1.55412158e-02 5.50094845e+02] [ 6.84198183e-02 9.97656526e-01 -4.30661734e-04 6.90448327e+00] [ 1.55342605e-02 -6.33726719e-04 9.99879135e-01 8.51904255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.8492541539999 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:550.13, Y:6.91, Z:8.52 [[ 9.97627031e-01 -6.70726152e-02 -1.55425451e-02 5.50128291e+02] [ 6.70748870e-02 9.97747873e-01 -3.75666813e-04 6.90651581e+00] [ 1.55327382e-02 -6.67739086e-04 9.99879137e-01 8.51932490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.8792541539999 meters Centerline goodness : 0.998956 Centerline is valid? [True, True] Translation: X:550.17, Y:6.90, Z:8.51 [[ 9.98355027e-01 -5.51875741e-02 -1.55425858e-02 5.50171726e+02] [ 5.51884329e-02 9.98475887e-01 -3.73975422e-04 6.89693998e+00] [ 1.55395359e-02 -4.84410708e-04 9.99879137e-01 8.51365739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.9092541539999 meters Centerline goodness : 0.999042 Centerline is valid? [True, True] Translation: X:550.20, Y:6.90, Z:8.51 [[ 9.98501645e-01 -5.24636606e-02 -1.55572858e-02 5.50201533e+02] [ 5.24741239e-02 9.98622249e-01 2.64845785e-04 6.90074846e+00] [ 1.55219569e-02 -1.08080389e-03 9.99878943e-01 8.51438175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.939254154 meters Centerline goodness : 0.998869 Centerline is valid? [True, True] Translation: X:550.23, Y:6.90, Z:8.52 [[ 9.98499248e-01 -5.25097912e-02 -1.55554786e-02 5.50232489e+02] [ 5.25190429e-02 9.98619905e-01 1.86571187e-04 6.90416042e+00] [ 1.55242138e-02 -1.00325004e-03 9.99878989e-01 8.51594596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.9692541539999 meters Centerline goodness : 0.998829 Centerline is valid? [True, True] Translation: X:550.26, Y:6.90, Z:8.52 [[ 9.98641936e-01 -4.97225737e-02 -1.55547461e-02 5.50264011e+02] [ 4.97310006e-02 9.98762636e-01 1.55189985e-04 6.90462760e+00] [ 1.55277828e-02 -9.28532317e-04 9.99879006e-01 8.51630162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.9992541539999 meters Centerline goodness : 0.998931 Centerline is valid? [True, True] Translation: X:550.30, Y:6.91, Z:8.52 [[ 9.98705517e-01 -4.84285274e-02 -1.55553023e-02 5.50295325e+02] [ 4.84371651e-02 9.98826216e-01 1.78793991e-04 6.90614260e+00] [ 1.55283850e-02 -9.32017291e-04 9.99878993e-01 8.51692090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.0292541539999 meters Centerline goodness : 0.998995 Centerline is valid? [True, True] Translation: X:550.33, Y:6.91, Z:8.52 [[ 9.98748862e-01 -4.75265305e-02 -1.55543840e-02 5.50327233e+02] [ 4.75344782e-02 9.98869588e-01 1.41451080e-04 6.90805026e+00] [ 1.55300785e-02 -8.80643636e-04 9.99879013e-01 8.51758269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.059254154 meters Centerline goodness : 0.998974 Centerline is valid? [True, True] Translation: X:550.34, Y:6.92, Z:8.52 [[ 9.98372542e-01 -5.48662492e-02 -1.55551268e-02 5.50342382e+02] [ 5.48755473e-02 9.98493187e-01 1.71239861e-04 6.92309041e+00] [ 1.55222929e-02 -1.02455727e-03 9.99878997e-01 8.52354348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.089254154 meters Centerline goodness : 0.998974 Centerline is valid? [True, True] Translation: X:550.38, Y:6.92, Z:8.52 [[ 9.98376344e-01 -5.48013537e-02 -1.55398709e-02 5.50375049e+02] [ 5.48016234e-02 9.98497178e-01 -4.08795008e-04 6.92416939e+00] [ 1.55389198e-02 -4.43478887e-04 9.99879165e-01 8.52420725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.1192541539999 meters Centerline goodness : 0.998620 Centerline is valid? [True, True] Translation: X:550.41, Y:6.93, Z:8.52 [[ 9.98516986e-01 -5.21760415e-02 -1.55399011e-02 5.50405783e+02] [ 5.21760114e-02 9.98637821e-01 -4.07644398e-04 6.92507469e+00] [ 1.55400022e-02 -4.03770201e-04 9.99879165e-01 8.52353686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.1492541539999 meters Centerline goodness : 0.998913 Centerline is valid? [True, True] Translation: X:550.44, Y:6.93, Z:8.52 [[ 9.98619780e-01 -5.01701599e-02 -1.55399495e-02 5.50437519e+02] [ 5.01699159e-02 9.98740614e-01 -4.05791121e-04 6.92649715e+00] [ 1.55407373e-02 -3.74406918e-04 9.99879165e-01 8.52453022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.179254154 meters Centerline goodness : 0.998957 Centerline is valid? [True, True] Translation: X:550.47, Y:6.93, Z:8.53 [[ 9.98823863e-01 -4.59281963e-02 -1.55399788e-02 5.50469964e+02] [ 4.59274565e-02 9.98944696e-01 -4.04667161e-04 6.92808318e+00] [ 1.55421650e-02 -3.09520481e-04 9.99879165e-01 8.52527190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.209254154 meters Centerline goodness : 0.998916 Centerline is valid? [True, True] Translation: X:550.50, Y:6.93, Z:8.53 [[ 9.98915933e-01 -4.38801388e-02 -1.55400081e-02 5.50502168e+02] [ 4.38791689e-02 9.99036764e-01 -4.03535741e-04 6.92922538e+00] [ 1.55427466e-02 -2.78784360e-04 9.99879165e-01 8.52592677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.2392541539999 meters Centerline goodness : 0.998831 Centerline is valid? [True, True] Translation: X:550.54, Y:6.93, Z:8.52 [[ 9.99097807e-01 -3.95231487e-02 -1.55400373e-02 5.50536036e+02] [ 3.95216693e-02 9.99218633e-01 -4.02408540e-04 6.92686037e+00] [ 1.55437993e-02 -2.12122726e-04 9.99879165e-01 8.52397945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.2692541539999 meters Centerline goodness : 0.998915 Centerline is valid? [True, True] Translation: X:550.57, Y:6.93, Z:8.53 [[ 9.99120052e-01 -3.89556302e-02 -1.55428766e-02 5.50566506e+02] [ 3.89557564e-02 9.99240893e-01 -2.94756354e-04 6.92807506e+00] [ 1.55425603e-02 -3.10987531e-04 9.99879159e-01 8.52644331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.299254154 meters Centerline goodness : 0.998957 Centerline is valid? [True, True] Translation: X:550.60, Y:6.93, Z:8.53 [[ 9.99130238e-01 -3.86940160e-02 -1.55415888e-02 5.50598487e+02] [ 3.86933578e-02 9.99251073e-01 -3.43151921e-04 6.92791970e+00] [ 1.55432272e-02 -2.58502797e-04 9.99879163e-01 8.52689417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.329254154 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:550.63, Y:6.93, Z:8.53 [[ 9.99021531e-01 -4.14057003e-02 -1.55418430e-02 5.50627584e+02] [ 4.14055186e-02 9.99142368e-01 -3.33606133e-04 6.92968130e+00] [ 1.55423270e-02 -3.10238361e-04 9.99879163e-01 8.52843896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.3592541539999 meters Centerline goodness : 0.998853 Centerline is valid? [True, True] Translation: X:550.66, Y:6.93, Z:8.53 [[ 9.99029014e-01 -4.12255841e-02 -1.55396299e-02 5.50658760e+02] [ 4.12240956e-02 9.99149839e-01 -4.16232130e-04 6.92891687e+00] [ 1.55435782e-02 -2.24779216e-04 9.99879166e-01 8.52644572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.3892541539999 meters Centerline goodness : 0.996685 Centerline is valid? [True, True] Translation: X:550.69, Y:6.93, Z:8.53 [[ 9.98875845e-01 -4.47835316e-02 -1.55396813e-02 5.50689579e+02] [ 4.47825034e-02 9.98996675e-01 -4.14304051e-04 6.92792998e+00] [ 1.55426440e-02 -2.82067524e-04 9.99879166e-01 8.52778139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.4192541539999 meters Centerline goodness : 0.998999 Centerline is valid? [True, True] Translation: X:550.72, Y:6.93, Z:8.53 [[ 9.98786426e-01 -4.67355007e-02 -1.55392293e-02 5.50721561e+02] [ 4.67344455e-02 9.98907256e-01 -4.31227966e-04 6.92757787e+00] [ 1.55424025e-02 -2.95512624e-04 9.99879166e-01 8.52942390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.449254154 meters Centerline goodness : 0.998814 Centerline is valid? [True, True] Translation: X:550.76, Y:6.92, Z:8.52 [[ 9.99072955e-01 -4.01466179e-02 -1.55396293e-02 5.50762569e+02] [ 4.01449989e-02 9.99193778e-01 -4.16237918e-04 6.91737432e+00] [ 1.55438114e-02 -2.07986353e-04 9.99879166e-01 8.52339782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.4792541539999 meters Centerline goodness : 0.999021 Centerline is valid? [True, True] Translation: X:550.78, Y:6.93, Z:8.53 [[ 9.98414882e-01 -5.40904848e-02 -1.55545445e-02 5.50779968e+02] [ 5.40991409e-02 9.98535560e-01 1.35958680e-04 6.92605204e+00] [ 1.55244117e-02 -9.77230661e-04 9.99879012e-01 8.52926322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.5092541539999 meters Centerline goodness : 0.998897 Centerline is valid? [True, True] Translation: X:550.82, Y:6.92, Z:8.52 [[ 9.98761958e-01 -4.72558021e-02 -1.55383343e-02 5.50821159e+02] [ 4.72546962e-02 9.98882777e-01 -4.38517907e-04 6.91529220e+00] [ 1.55416971e-02 -2.96284265e-04 9.99879177e-01 8.52438450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.5392541539999 meters Centerline goodness : 0.999021 Centerline is valid? [True, True] Translation: X:550.84, Y:6.93, Z:8.53 [[ 9.98175042e-01 -5.83495900e-02 -1.55535018e-02 5.50838766e+02] [ 5.83583624e-02 9.98295692e-01 1.10355940e-04 6.92550262e+00] [ 1.55205547e-02 -1.01783144e-03 9.99879031e-01 8.53104233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.569254154 meters Centerline goodness : 0.998894 Centerline is valid? [True, True] Translation: X:550.87, Y:6.93, Z:8.53 [[ 9.98096909e-01 -5.96753565e-02 -1.55374414e-02 5.50871372e+02] [ 5.96756146e-02 9.98217722e-01 -4.47435002e-04 6.92540843e+00] [ 1.55364502e-02 -4.80622875e-04 9.99879187e-01 8.53112616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.5992541539999 meters Centerline goodness : 0.998748 Centerline is valid? [True, True] Translation: X:550.91, Y:6.92, Z:8.53 [[ 9.98433310e-01 -5.37541892e-02 -1.55374741e-02 5.50908432e+02] [ 5.37537484e-02 9.98554122e-01 -4.46298540e-04 6.91575622e+00] [ 1.55389992e-02 -3.89598143e-04 9.99879187e-01 8.52559307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.6292541539999 meters Centerline goodness : 0.995919 Centerline is valid? [True, True] Translation: X:550.93, Y:6.92, Z:8.53 [[ 9.98151822e-01 -5.87473346e-02 -1.55463955e-02 5.50934266e+02] [ 5.87531801e-02 9.98272537e-01 -8.08546754e-05 6.91940439e+00] [ 1.55242896e-02 -8.32694931e-04 9.99879144e-01 8.53199430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.6592541539999 meters Centerline goodness : 0.998977 Centerline is valid? [True, True] Translation: X:550.97, Y:6.92, Z:8.53 [[ 9.98308609e-01 -5.60221235e-02 -1.55384109e-02 5.50970404e+02] [ 5.60226610e-02 9.98429417e-01 -4.01030678e-04 6.91518816e+00] [ 1.55364732e-02 -4.70150750e-04 9.99879191e-01 8.52729178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.689254154 meters Centerline goodness : 0.999000 Centerline is valid? [True, True] Translation: X:550.99, Y:6.92, Z:8.53 [[ 9.97717198e-01 -6.57160106e-02 -1.55499015e-02 5.50990455e+02] [ 6.57236348e-02 9.97837864e-01 -2.07688999e-05 6.92358335e+00] [ 1.55176453e-02 -1.00127456e-03 9.99879093e-01 8.53282566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.7192541539999 meters Centerline goodness : 0.998830 Centerline is valid? [True, True] Translation: X:551.02, Y:6.92, Z:8.53 [[ 9.97727906e-01 -6.55566541e-02 -1.55354870e-02 5.51022073e+02] [ 6.55570590e-02 9.97848705e-01 -4.83743520e-04 6.92335701e+00] [ 1.55337782e-02 -5.35816432e-04 9.99879200e-01 8.53280176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.7492541539999 meters Centerline goodness : 0.998936 Centerline is valid? [True, True] Translation: X:551.05, Y:6.92, Z:8.53 [[ 9.97746267e-01 -6.52765946e-02 -1.55355443e-02 5.51054120e+02] [ 6.52769943e-02 9.97867066e-01 -4.81897318e-04 6.92319040e+00] [ 1.55338646e-02 -5.33302388e-04 9.99879200e-01 8.53340466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.7792541539999 meters Centerline goodness : 0.998996 Centerline is valid? [True, True] Translation: X:551.09, Y:6.92, Z:8.53 [[ 9.97814227e-01 -6.42293868e-02 -1.55355792e-02 5.51085832e+02] [ 6.42296773e-02 9.97935027e-01 -4.80768876e-04 6.92265367e+00] [ 1.55343782e-02 -5.18127216e-04 9.99879200e-01 8.53213756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.809254154 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:551.13, Y:6.91, Z:8.53 [[ 9.98391623e-01 -5.45235015e-02 -1.55356052e-02 5.51127831e+02] [ 5.45226304e-02 9.98512420e-01 -4.79927957e-04 6.91324693e+00] [ 1.55386621e-02 -3.67886010e-04 9.99879200e-01 8.52882641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.839254154 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:551.15, Y:6.92, Z:8.54 [[ 9.98001782e-01 -6.12420519e-02 -1.55516377e-02 5.51145372e+02] [ 6.12501950e-02 9.98122443e-01 4.74096588e-05 6.92283661e+00] [ 1.55195351e-02 -9.99855764e-04 9.99879065e-01 8.53523939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.8692541539999 meters Centerline goodness : 0.998997 Centerline is valid? [True, True] Translation: X:551.18, Y:6.92, Z:8.54 [[ 9.98141788e-01 -5.89206728e-02 -1.55346689e-02 5.51176425e+02] [ 5.89201722e-02 9.98262577e-01 -4.90301106e-04 6.92330873e+00] [ 1.55365674e-02 -4.25915342e-04 9.99879210e-01 8.53577122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.8992541539999 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:551.21, Y:6.92, Z:8.54 [[ 9.98290104e-01 -5.63519518e-02 -1.55346954e-02 5.51209005e+02] [ 5.63511535e-02 9.98410891e-01 -4.89457197e-04 6.92349773e+00] [ 1.55375910e-02 -3.86777731e-04 9.99879210e-01 8.53647035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.929254154 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:551.24, Y:6.92, Z:8.54 [[ 9.98584690e-01 -5.08653965e-02 -1.55347312e-02 5.51241115e+02] [ 5.08639521e-02 9.98705472e-01 -4.88319473e-04 6.92236374e+00] [ 1.55394596e-02 -3.02529475e-04 9.99879210e-01 8.53782641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.959254154 meters Centerline goodness : 0.996240 Centerline is valid? [True, True] Translation: X:551.27, Y:6.92, Z:8.54 [[ 9.98790075e-01 -4.66589545e-02 -1.55347668e-02 5.51269541e+02] [ 4.66570191e-02 9.98910850e-01 -4.87183697e-04 6.92183226e+00] [ 1.55405786e-02 -2.38211671e-04 9.99879210e-01 8.53517924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.9892541539999 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:551.30, Y:6.92, Z:8.54 [[ 9.98864356e-01 -4.50422824e-02 -1.55303067e-02 5.51301973e+02] [ 4.50379583e-02 9.98985079e-01 -6.28242360e-04 6.92280565e+00] [ 1.55428422e-02 -7.19244058e-05 9.99879200e-01 8.53770086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.0192541539999 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:551.33, Y:6.92, Z:8.54 [[ 9.99035768e-01 -4.10637044e-02 -1.55340574e-02 5.51331719e+02] [ 4.10607678e-02 9.99156522e-01 -5.08071137e-04 6.92474645e+00] [ 1.55418180e-02 -1.30259083e-04 9.99879210e-01 8.53638151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.049254154 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:551.36, Y:6.92, Z:8.54 [[ 9.99183283e-01 -3.73033651e-02 -1.55314294e-02 5.51363093e+02] [ 3.72986715e-02 9.99303987e-01 -5.91855222e-04 6.92282187e+00] [ 1.55426975e-02 1.20701602e-05 9.99879205e-01 8.53921231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.079254154 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:551.39, Y:6.92, Z:8.54 [[ 9.99241743e-01 -3.57020608e-02 -1.55339045e-02 5.51394451e+02] [ 3.56984092e-02 9.99362477e-01 -5.12385617e-04 6.92275929e+00] [ 1.55422945e-02 -4.25385840e-05 9.99879210e-01 8.54003591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.1092541539999 meters Centerline goodness : 0.996464 Centerline is valid? [True, True] Translation: X:551.42, Y:6.92, Z:8.54 [[ 9.99318975e-01 -3.34702137e-02 -1.55348189e-02 5.51424283e+02] [ 3.34667496e-02 9.99439715e-01 -4.82977236e-04 6.92253906e+00] [ 1.55422803e-02 -3.72515761e-05 9.99879211e-01 8.53507211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.1392541539999 meters Centerline goodness : 0.999351 Centerline is valid? [True, True] Translation: X:551.45, Y:6.92, Z:8.54 [[ 9.99340274e-01 -3.28287699e-02 -1.55334520e-02 5.51453447e+02] [ 3.28245471e-02 9.99460991e-01 -5.26798988e-04 6.92198507e+00] [ 1.55423734e-02 1.65729200e-05 9.99879210e-01 8.54115393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.1692541539999 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:551.48, Y:6.92, Z:8.54 [[ 9.99339829e-01 -3.28416956e-02 -1.55347951e-02 5.51482683e+02] [ 3.28381449e-02 9.99460566e-01 -4.83659308e-04 6.92192346e+00] [ 1.55422993e-02 -2.67938413e-05 9.99879211e-01 8.54200373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.199254154 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:551.51, Y:6.92, Z:8.54 [[ 9.99353193e-01 -3.24324765e-02 -1.55347967e-02 5.51512188e+02] [ 3.24288772e-02 9.99473929e-01 -4.83605709e-04 6.92223499e+00] [ 1.55423089e-02 -2.04831060e-05 9.99879211e-01 8.54226786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.2292541539999 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:551.54, Y:6.92, Z:8.54 [[ 9.99290237e-01 -3.43184223e-02 -1.55328224e-02 5.51541797e+02] [ 3.43140716e-02 9.99410949e-01 -5.46598426e-04 6.92161692e+00] [ 1.55424312e-02 1.32160905e-05 9.99879209e-01 8.54394226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.2592541539999 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:551.57, Y:6.92, Z:8.55 [[ 9.99213569e-01 -3.64823942e-02 -1.55331401e-02 5.51572034e+02] [ 3.64784622e-02 9.99334295e-01 -5.36487810e-04 6.92114119e+00] [ 1.55423720e-02 -3.05591631e-05 9.99879210e-01 8.54506790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.2892541539999 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:551.60, Y:6.92, Z:8.55 [[ 9.99171681e-01 -3.76115240e-02 -1.55346156e-02 5.51602633e+02] [ 3.76084561e-02 9.99292432e-01 -4.89678436e-04 6.92054462e+00] [ 1.55420414e-02 -9.49600830e-05 9.99879211e-01 8.54532497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.319254154 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:551.63, Y:6.92, Z:8.55 [[ 9.99052566e-01 -4.06527589e-02 -1.55346156e-02 5.51632677e+02] [ 4.06500586e-02 9.99173325e-01 -4.89678436e-04 6.91863977e+00] [ 1.55416803e-02 -1.42268536e-04 9.99879211e-01 8.54521303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.3492541539999 meters Centerline goodness : 0.999375 Centerline is valid? [True, True] Translation: X:551.66, Y:6.92, Z:8.54 [[ 9.98988794e-01 -4.21908186e-02 -1.55346240e-02 5.51662988e+02] [ 4.21883083e-02 9.99109557e-01 -4.89413009e-04 6.91821338e+00] [ 1.55414400e-02 -1.66461394e-04 9.99879211e-01 8.54467789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.3792541539999 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:551.69, Y:6.92, Z:8.54 [[ 9.98920407e-01 -4.37800888e-02 -1.55346322e-02 5.51693768e+02] [ 4.37777747e-02 9.99041174e-01 -4.89150219e-04 6.91784557e+00] [ 1.55411523e-02 -1.91449495e-04 9.99879211e-01 8.54474475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.4092541539999 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:551.73, Y:6.92, Z:8.55 [[ 9.98837272e-01 -4.56374872e-02 -1.55346322e-02 5.51725254e+02] [ 4.56353977e-02 9.98958043e-01 -4.89150219e-04 6.91740591e+00] [ 1.55407694e-02 -2.20347650e-04 9.99879211e-01 8.54540667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.439254154 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:551.76, Y:6.92, Z:8.54 [[ 9.98757205e-01 -4.73573621e-02 -1.55346492e-02 5.51756120e+02] [ 4.73554890e-02 9.98877980e-01 -4.88609622e-04 6.91693751e+00] [ 1.55403583e-02 -2.47648530e-04 9.99879211e-01 8.54464821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.4692541539999 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:551.79, Y:6.92, Z:8.55 [[ 9.98569219e-01 -5.11682536e-02 -1.55346577e-02 5.51787154e+02] [ 5.11668456e-02 9.98690000e-01 -4.88341174e-04 6.91574522e+00] [ 1.55392948e-02 -3.07216966e-04 9.99879211e-01 8.54629105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.4992541539999 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:551.82, Y:6.92, Z:8.55 [[ 9.98510428e-01 -5.23026459e-02 -1.55357392e-02 5.51817311e+02] [ 5.23019103e-02 9.98631215e-01 -4.53918481e-04 6.91565502e+00] [ 1.55382152e-02 -3.59306501e-04 9.99879210e-01 8.54578269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.5292541539999 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:551.85, Y:6.92, Z:8.55 [[ 9.98484190e-01 -5.28014999e-02 -1.55345948e-02 5.51847331e+02] [ 5.28002608e-02 9.98604973e-01 -4.90184561e-04 6.91576253e+00] [ 1.55388061e-02 -3.30789124e-04 9.99879211e-01 8.54635465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.559254154 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:551.88, Y:6.92, Z:8.55 [[ 9.98523845e-01 -5.20462001e-02 -1.55346028e-02 5.51878181e+02] [ 5.20448734e-02 9.98644627e-01 -4.89932303e-04 6.91607812e+00] [ 1.55390467e-02 -3.19287349e-04 9.99879211e-01 8.54917029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.589254154 meters Centerline goodness : 0.999396 Centerline is valid? [True, True] Translation: X:551.91, Y:6.92, Z:8.55 [[ 9.98585259e-01 -5.08542661e-02 -1.55346200e-02 5.51910472e+02] [ 5.08528038e-02 9.98706039e-01 -4.89385390e-04 6.91709694e+00] [ 1.55394062e-02 -3.01285948e-04 9.99879211e-01 8.55085251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.6192541539999 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:551.94, Y:6.92, Z:8.55 [[ 9.98682081e-01 -4.89160087e-02 -1.55346559e-02 5.51941653e+02] [ 4.89143298e-02 9.98802858e-01 -4.88242258e-04 6.91759412e+00] [ 1.55399416e-02 -2.72268490e-04 9.99879211e-01 8.55097441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.6492541539999 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:551.97, Y:6.92, Z:8.55 [[ 9.98903949e-01 -4.41539641e-02 -1.55347129e-02 5.51972904e+02] [ 4.41517376e-02 9.99024718e-01 -4.86423044e-04 6.91804881e+00] [ 1.55410397e-02 -1.99994669e-04 9.99879211e-01 8.55175229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.679254154 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:552.00, Y:6.92, Z:8.55 [[ 9.99025296e-01 -4.13174333e-02 -1.55347302e-02 5.52003670e+02] [ 4.13148725e-02 9.99146058e-01 -4.85868727e-04 6.91888929e+00] [ 1.55415393e-02 -1.56420250e-04 9.99879211e-01 8.55200973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.709254154 meters Centerline goodness : 0.999419 Centerline is valid? [True, True] Translation: X:552.03, Y:6.92, Z:8.55 [[ 9.99155742e-01 -3.80325546e-02 -1.55347302e-02 5.52032941e+02] [ 3.80295968e-02 9.99276495e-01 -4.85868727e-04 6.92003912e+00] [ 1.55419696e-02 -1.05320999e-04 9.99879211e-01 8.55265909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.7392541539999 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:552.06, Y:6.92, Z:8.55 [[ 9.99234835e-01 -3.58951311e-02 -1.55333134e-02 5.52063650e+02] [ 3.58912136e-02 9.99355562e-01 -5.30985415e-04 6.92057661e+00] [ 1.55423630e-02 -2.69303468e-05 9.99879210e-01 8.55296358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.7692541539999 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:552.09, Y:6.92, Z:8.55 [[ 9.99351590e-01 -3.24818687e-02 -1.55347264e-02 5.52094529e+02] [ 3.24782413e-02 9.99472325e-01 -4.85801968e-04 6.92123001e+00] [ 1.55423089e-02 -1.90536242e-05 9.99879211e-01 8.55352749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.799254154 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:552.12, Y:6.92, Z:8.55 [[ 9.99373481e-01 -3.18012089e-02 -1.55347264e-02 5.52124103e+02] [ 3.17974992e-02 9.99494214e-01 -4.85801968e-04 6.92192118e+00] [ 1.55423183e-02 -8.46784816e-06 9.99879211e-01 8.55379902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.829254154 meters Centerline goodness : 0.999520 Centerline is valid? [True, True] Translation: X:552.15, Y:6.92, Z:8.55 [[ 9.99380192e-01 -3.15896189e-02 -1.55347178e-02 5.52153782e+02] [ 3.15858793e-02 9.99500923e-01 -4.86077371e-04 6.92215197e+00] [ 1.55423198e-02 -4.90162531e-06 9.99879211e-01 8.55300911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.8592541539999 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:552.18, Y:6.92, Z:8.55 [[ 9.99352864e-01 -3.24426661e-02 -1.55347008e-02 5.52182237e+02] [ 3.24390212e-02 9.99473598e-01 -4.86621777e-04 6.92215018e+00] [ 1.55423106e-02 -1.76236208e-05 9.99879211e-01 8.55371586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.8892541539999 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:552.21, Y:6.92, Z:8.56 [[ 9.99243598e-01 -3.56497734e-02 -1.55346753e-02 5.52212217e+02] [ 3.56465034e-02 9.99364343e-01 -4.87431866e-04 6.92055210e+00] [ 1.55421774e-02 -6.66936855e-05 9.99879211e-01 8.55540810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.9192541539999 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:552.24, Y:6.92, Z:8.56 [[ 9.99158208e-01 -3.79677370e-02 -1.55346582e-02 5.52242213e+02] [ 3.79647386e-02 9.99278960e-01 -4.87977505e-04 6.92024410e+00] [ 1.55419845e-02 -1.02202508e-04 9.99879211e-01 8.55589490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.949254154 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:552.27, Y:6.92, Z:8.56 [[ 9.99056151e-01 -4.05645456e-02 -1.55346497e-02 5.52272555e+02] [ 4.05618568e-02 9.99176910e-01 -4.88248281e-04 6.91997837e+00] [ 1.55416688e-02 -1.42326789e-04 9.99879211e-01 8.55704343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.9792541539999 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:552.30, Y:6.92, Z:8.56 [[ 9.98832784e-01 -4.57356004e-02 -1.55346497e-02 5.52303361e+02] [ 4.57335368e-02 9.98953555e-01 -4.88248281e-04 6.91795592e+00] [ 1.55407239e-02 -2.22776083e-04 9.99879211e-01 8.55809942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.0092541539999 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:552.34, Y:6.92, Z:8.56 [[ 9.98834479e-01 -4.56985500e-02 -1.55346497e-02 5.52335184e+02] [ 4.56964819e-02 9.98955251e-01 -4.88248281e-04 6.91892751e+00] [ 1.55407321e-02 -2.22199621e-04 9.99879211e-01 8.55859432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.0392541539999 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:552.37, Y:6.92, Z:8.56 [[ 9.98709244e-01 -4.83582571e-02 -1.55346678e-02 5.52365323e+02] [ 4.83565196e-02 9.98830020e-01 -4.87671974e-04 6.91850162e+00] [ 1.55400755e-02 -2.64159958e-04 9.99879211e-01 8.55952404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.069254154 meters Centerline goodness : 0.999645 Centerline is valid? [True, True] Translation: X:552.40, Y:6.92, Z:8.56 [[ 9.98500089e-01 -5.24999581e-02 -1.55346767e-02 5.52395998e+02] [ 5.24987260e-02 9.98620872e-01 -4.87386171e-04 6.91605684e+00] [ 1.55388402e-02 -3.28895602e-04 9.99879211e-01 8.55913267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.0992541539999 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:552.43, Y:6.92, Z:8.56 [[ 9.98390598e-01 -5.45425327e-02 -1.55346856e-02 5.52427704e+02] [ 5.45415521e-02 9.98511383e-01 -4.87102636e-04 6.91539992e+00] [ 1.55381283e-02 -3.60967174e-04 9.99879211e-01 8.55833153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.1292541539999 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:552.46, Y:6.92, Z:8.56 [[ 9.98271309e-01 -5.66839156e-02 -1.55347034e-02 5.52458866e+02] [ 5.66832028e-02 9.98392096e-01 -4.86535964e-04 6.91501205e+00] [ 1.55373038e-02 -3.94861849e-04 9.99879211e-01 8.55998753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.1592541539999 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:552.49, Y:6.91, Z:8.56 [[ 9.98181071e-01 -5.82513748e-02 -1.55347210e-02 5.52491490e+02] [ 5.82508605e-02 9.98301859e-01 -4.85972431e-04 6.91436299e+00] [ 1.55366494e-02 -4.19822384e-04 9.99879211e-01 8.55893445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.189254154 meters Centerline goodness : 0.999750 Centerline is valid? [True, True] Translation: X:552.52, Y:6.91, Z:8.56 [[ 9.97968135e-01 -6.17921779e-02 -1.55347561e-02 5.52524037e+02] [ 6.17921096e-02 9.98088924e-01 -4.84847171e-04 6.91296914e+00] [ 1.55350278e-02 -4.76063327e-04 9.99879211e-01 8.56146661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.2192541539999 meters Centerline goodness : 0.999708 Centerline is valid? [True, True] Translation: X:552.56, Y:6.91, Z:8.56 [[ 9.97881937e-01 -6.31689074e-02 -1.55347912e-02 5.52555077e+02] [ 6.31690233e-02 9.98002726e-01 -4.83722033e-04 6.91258120e+00] [ 1.55343201e-02 -4.98620106e-04 9.99879211e-01 8.56222320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.2492541539999 meters Centerline goodness : 0.999646 Centerline is valid? [True, True] Translation: X:552.59, Y:6.91, Z:8.56 [[ 9.97780270e-01 -6.47549344e-02 -1.55348172e-02 5.52586223e+02] [ 6.47552553e-02 9.97901059e-01 -4.82883114e-04 6.91238004e+00] [ 1.55334796e-02 -5.24149813e-04 9.99879211e-01 8.56300946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.2792541539999 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:552.62, Y:6.91, Z:8.56 [[ 9.97718332e-01 -6.57023483e-02 -1.55348344e-02 5.52617714e+02] [ 6.57027924e-02 9.97839121e-01 -4.82331283e-04 6.91209619e+00] [ 1.55329558e-02 -5.39451236e-04 9.99879211e-01 8.56229143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.309254154 meters Centerline goodness : 0.999750 Centerline is valid? [True, True] Translation: X:552.65, Y:6.91, Z:8.56 [[ 9.97649623e-01 -6.67375296e-02 -1.55348600e-02 5.52649382e+02] [ 6.67381119e-02 9.97770411e-01 -4.81505638e-04 6.91236943e+00] [ 1.55323581e-02 -5.56393306e-04 9.99879211e-01 8.56470807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.339254154 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:552.68, Y:6.91, Z:8.57 [[ 9.97589230e-01 -6.76342864e-02 -1.55348769e-02 5.52680325e+02] [ 6.76349858e-02 9.97710017e-01 -4.80958715e-04 6.91220466e+00] [ 1.55318316e-02 -5.70901945e-04 9.99879211e-01 8.56546034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.3692541539999 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:552.71, Y:6.91, Z:8.57 [[ 9.97594961e-01 -6.75496785e-02 -1.55349334e-02 5.52712881e+02] [ 6.75503961e-02 9.97715748e-01 -4.79128464e-04 6.91264748e+00] [ 1.55318126e-02 -5.71414760e-04 9.99879211e-01 8.56590659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.3992541539999 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:552.74, Y:6.91, Z:8.57 [[ 9.97616721e-01 -6.72275438e-02 -1.55349664e-02 5.52744862e+02] [ 6.72282391e-02 9.97737508e-01 -4.78053849e-04 6.91314932e+00] [ 1.55319571e-02 -5.67473924e-04 9.99879211e-01 8.56627865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.429254154 meters Centerline goodness : 0.999686 Centerline is valid? [True, True] Translation: X:552.78, Y:6.91, Z:8.57 [[ 9.97639864e-01 -6.68832288e-02 -1.55349998e-02 5.52775627e+02] [ 6.68838993e-02 9.97760651e-01 -4.76966186e-04 6.91388118e+00] [ 1.55321126e-02 -5.63200883e-04 9.99879211e-01 8.56518227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.459254154 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:552.81, Y:6.91, Z:8.57 [[ 9.97647575e-01 -6.67680902e-02 -1.55350558e-02 5.52807174e+02] [ 6.67687752e-02 9.97768362e-01 -4.75137099e-04 6.91474761e+00] [ 1.55321111e-02 -5.63237271e-04 9.99879211e-01 8.56606919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.4892541539999 meters Centerline goodness : 0.999750 Centerline is valid? [True, True] Translation: X:552.84, Y:6.92, Z:8.57 [[ 9.97644269e-01 -6.68174671e-02 -1.55350719e-02 5.52837869e+02] [ 6.68181664e-02 9.97765056e-01 -4.74607533e-04 6.91561840e+00] [ 1.55320640e-02 -5.64535536e-04 9.99879211e-01 8.56617170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.5192541539999 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:552.87, Y:6.92, Z:8.57 [[ 9.97626957e-01 -6.70754411e-02 -1.55350961e-02 5.52869531e+02] [ 6.70761840e-02 9.97747744e-01 -4.73815749e-04 6.91642275e+00] [ 1.55318885e-02 -5.69343599e-04 9.99879211e-01 8.56804125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.549254154 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:552.90, Y:6.92, Z:8.57 [[ 9.97566943e-01 -6.79621454e-02 -1.55351309e-02 5.52901371e+02] [ 6.79630134e-02 9.97687729e-01 -4.72670973e-04 6.91730900e+00] [ 1.55313332e-02 -5.84293372e-04 9.99879211e-01 8.56917743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.579254154 meters Centerline goodness : 0.999686 Centerline is valid? [True, True] Translation: X:552.93, Y:6.92, Z:8.57 [[ 9.97530113e-01 -6.85006066e-02 -1.55351658e-02 5.52933018e+02] [ 6.85015576e-02 9.97650898e-01 -4.71520214e-04 6.91838081e+00] [ 1.55309716e-02 -5.93827446e-04 9.99879211e-01 8.56967867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.6092541539999 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:552.96, Y:6.92, Z:8.57 [[ 9.97509768e-01 -6.87962180e-02 -1.55351918e-02 5.52964893e+02] [ 6.87972182e-02 9.97630553e-01 -4.70663141e-04 6.91932208e+00] [ 1.55307618e-02 -5.99286901e-04 9.99879211e-01 8.57010551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.6392541539999 meters Centerline goodness : 0.999686 Centerline is valid? [True, True] Translation: X:553.00, Y:6.92, Z:8.57 [[ 9.97455924e-01 -6.95725233e-02 -1.55352262e-02 5.52996482e+02] [ 6.95736352e-02 9.97576708e-01 -4.69523661e-04 6.92072398e+00] [ 1.55302458e-02 -6.12513008e-04 9.99879211e-01 8.57159070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.6692541539999 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:553.03, Y:6.92, Z:8.57 [[ 9.97469575e-01 -6.93765332e-02 -1.55352519e-02 5.53028274e+02] [ 6.93776346e-02 9.97590359e-01 -4.68673748e-04 6.92192540e+00] [ 1.55303325e-02 -6.10311225e-04 9.99879211e-01 8.57215070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.699254154 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:553.06, Y:6.92, Z:8.57 [[ 9.97493942e-01 -6.90252950e-02 -1.55352857e-02 5.53060442e+02] [ 6.90263713e-02 9.97614726e-01 -4.67551555e-04 6.92307070e+00] [ 1.55305026e-02 -6.05964554e-04 9.99879211e-01 8.57222757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.7292541539999 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:553.09, Y:6.92, Z:8.57 [[ 9.97493920e-01 -6.90256022e-02 -1.55353192e-02 5.53091503e+02] [ 6.90266960e-02 9.97614704e-01 -4.66434106e-04 6.92496961e+00] [ 1.55304588e-02 -6.07086572e-04 9.99879211e-01 8.57295953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.7592541539999 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:553.12, Y:6.93, Z:8.57 [[ 9.97501470e-01 -6.89163968e-02 -1.55353441e-02 5.53123524e+02] [ 6.89174903e-02 9.97622255e-01 -4.65602371e-04 6.92672364e+00] [ 1.55304927e-02 -6.06217879e-04 9.99879211e-01 8.57270458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.7892541539999 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:553.16, Y:6.93, Z:8.57 [[ 9.97469237e-01 -6.93813612e-02 -1.55353769e-02 5.53156105e+02] [ 6.93825280e-02 9.97590021e-01 -4.64506456e-04 6.92898120e+00] [ 1.55301651e-02 -6.14552824e-04 9.99879211e-01 8.57376456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.819254154 meters Centerline goodness : 0.999520 Centerline is valid? [True, True] Translation: X:553.19, Y:6.93, Z:8.57 [[ 9.97416609e-01 -7.01338707e-02 -1.55354094e-02 5.53187175e+02] [ 7.01351456e-02 9.97537391e-01 -4.63415964e-04 6.93165613e+00] [ 1.55296530e-02 -6.27359424e-04 9.99879211e-01 8.57407695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.8492541539999 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:553.22, Y:6.93, Z:8.57 [[ 9.97367005e-01 -7.08357821e-02 -1.55354336e-02 5.53218090e+02] [ 7.08371546e-02 9.97487786e-01 -4.62603814e-04 6.93354274e+00] [ 1.55291742e-02 -6.39100133e-04 9.99879211e-01 8.57440231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.8792541539999 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:553.25, Y:6.94, Z:8.57 [[ 9.97335966e-01 -7.12714595e-02 -1.55354575e-02 5.53250473e+02] [ 7.12728972e-02 9.97456746e-01 -4.61801923e-04 6.93517416e+00] [ 1.55288601e-02 -6.46685395e-04 9.99879211e-01 8.57382248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.9092541539999 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:553.28, Y:6.94, Z:8.58 [[ 9.97276548e-01 -7.20981014e-02 -1.55354892e-02 5.53281135e+02] [ 7.20996559e-02 9.97397327e-01 -4.60732921e-04 6.93713056e+00] [ 1.55282733e-02 -6.60625286e-04 9.99879211e-01 8.57546246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.939254154 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:553.31, Y:6.94, Z:8.58 [[ 9.97232250e-01 -7.27082386e-02 -1.55355127e-02 5.53313313e+02] [ 7.27098793e-02 9.97353028e-01 -4.59936666e-04 6.94027134e+00] [ 1.55278318e-02 -6.70921580e-04 9.99879211e-01 8.57705932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.9692541539999 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:553.35, Y:6.94, Z:8.58 [[ 9.97272101e-01 -7.21595734e-02 -1.55355466e-02 5.53345518e+02] [ 7.21611655e-02 9.97392879e-01 -4.58791237e-04 6.94229288e+00] [ 1.55281497e-02 -6.63523446e-04 9.99879211e-01 8.57648135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.9992541539999 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:553.38, Y:6.94, Z:8.58 [[ 9.97304674e-01 -7.17079740e-02 -1.55355806e-02 5.53377869e+02] [ 7.17095294e-02 9.97425453e-01 -4.57634029e-04 6.94495970e+00] [ 1.55283996e-02 -6.57648622e-04 9.99879211e-01 8.57927720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.0292541539999 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:553.41, Y:6.95, Z:8.58 [[ 9.97464543e-01 -6.94487527e-02 -1.55356145e-02 5.53408504e+02] [ 6.94500524e-02 9.97585326e-01 -4.56483236e-04 6.94863879e+00] [ 1.55298032e-02 -6.23623396e-04 9.99879211e-01 8.58024195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.059254154 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:553.44, Y:6.95, Z:8.58 [[ 9.97591929e-01 -6.75942865e-02 -1.55356396e-02 5.53441074e+02] [ 6.75953750e-02 9.97712713e-01 -4.55626138e-04 6.95033075e+00] [ 1.55309029e-02 -5.95608426e-04 9.99879211e-01 8.57977054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.089254154 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:553.47, Y:6.95, Z:8.58 [[ 9.97711871e-01 -6.58001941e-02 -1.55356725e-02 5.53473727e+02] [ 6.58010828e-02 9.97832657e-01 -4.54502490e-04 6.95231944e+00] [ 1.55319077e-02 -5.68801541e-04 9.99879211e-01 8.57961762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.1192541539999 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:553.51, Y:6.96, Z:8.58 [[ 9.97875778e-01 -6.32658994e-02 -1.55357131e-02 5.53505375e+02] [ 6.32665030e-02 9.97996565e-01 -4.53110090e-04 6.95666469e+00] [ 1.55332547e-02 -5.30742655e-04 9.99879211e-01 8.58169794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.1492541539999 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:553.54, Y:6.96, Z:8.58 [[ 9.97976733e-01 -6.16529033e-02 -1.55357453e-02 5.53536069e+02] [ 6.16533289e-02 9.98097522e-01 -4.52004177e-04 6.95901021e+00] [ 1.55340562e-02 -5.06740761e-04 9.99879211e-01 8.58198447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.179254154 meters Centerline goodness : 0.999226 Centerline is valid? [True, True] Translation: X:553.57, Y:6.96, Z:8.58 [[ 9.98066609e-01 -6.01804308e-02 -1.55357692e-02 5.53567708e+02] [ 6.01806910e-02 9.98187398e-01 -4.51180622e-04 6.96137492e+00] [ 1.55347612e-02 -4.84645011e-04 9.99879211e-01 8.58255455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.209254154 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:553.60, Y:6.96, Z:8.58 [[ 9.98219379e-01 -5.75908822e-02 -1.55358007e-02 5.53598850e+02] [ 5.75908459e-02 9.98340168e-01 -4.50092010e-04 6.96462110e+00] [ 1.55359351e-02 -4.45429339e-04 9.99879211e-01 8.58329250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.2392541539999 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:553.63, Y:6.97, Z:8.58 [[ 9.98283222e-01 -5.64734159e-02 -1.55358242e-02 5.53630700e+02] [ 5.64732570e-02 9.98404011e-01 -4.49281249e-04 6.96598038e+00] [ 1.55364016e-02 -4.28848658e-04 9.99879211e-01 8.58414830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.2692541539999 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:553.66, Y:6.97, Z:8.58 [[ 9.98327104e-01 -5.56922792e-02 -1.55358550e-02 5.53661382e+02] [ 5.56920424e-02 9.98447893e-01 -4.48211679e-04 6.96740664e+00] [ 1.55367036e-02 -4.17761630e-04 9.99879211e-01 8.58474788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.299254154 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:553.69, Y:6.97, Z:8.59 [[ 9.98364603e-01 -5.50159524e-02 -1.55358779e-02 5.53693803e+02] [ 5.50156462e-02 9.98485392e-01 -4.47415405e-04 6.96881696e+00] [ 1.55369622e-02 -4.08032662e-04 9.99879211e-01 8.58573894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.329254154 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:553.73, Y:6.97, Z:8.59 [[ 9.98445542e-01 -5.35269649e-02 -1.55359083e-02 5.53725877e+02] [ 5.35264950e-02 9.98566330e-01 -4.46357917e-04 6.97106384e+00] [ 1.55375271e-02 -3.85918647e-04 9.99879211e-01 8.58794070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.3592541539999 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:553.76, Y:6.97, Z:8.59 [[ 9.98481836e-01 -5.28455942e-02 -1.55359412e-02 5.53758327e+02] [ 5.28450597e-02 9.98602624e-01 -4.45210476e-04 6.97238472e+00] [ 1.55377591e-02 -3.76463168e-04 9.99879211e-01 8.58884827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.3892541539999 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:553.79, Y:6.97, Z:8.59 [[ 9.98512718e-01 -5.22588309e-02 -1.55359742e-02 5.53789776e+02] [ 5.22582434e-02 9.98633506e-01 -4.44058026e-04 6.97372303e+00] [ 1.55379503e-02 -3.68485131e-04 9.99879211e-01 8.58902875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.4192541539999 meters Centerline goodness : 0.999393 Centerline is valid? [True, True] Translation: X:553.82, Y:6.98, Z:8.59 [[ 9.98534195e-01 -5.18468311e-02 -1.55359986e-02 5.53821714e+02] [ 5.18462071e-02 9.98654983e-01 -4.43200171e-04 6.97513020e+00] [ 1.55380810e-02 -3.62932077e-04 9.99879211e-01 8.58966029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.449254154 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:553.85, Y:6.98, Z:8.59 [[ 9.98569733e-01 -5.11578056e-02 -1.55360315e-02 5.53852969e+02] [ 5.11571162e-02 9.98690520e-01 -4.42044946e-04 6.97569151e+00] [ 1.55383014e-02 -3.53365864e-04 9.99879211e-01 8.58753243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.4792541539999 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:553.89, Y:6.98, Z:8.59 [[ 9.98592187e-01 -5.07176090e-02 -1.55360560e-02 5.53885301e+02] [ 5.07168797e-02 9.98712974e-01 -4.41183454e-04 6.97569707e+00] [ 1.55384364e-02 -3.47377932e-04 9.99879211e-01 8.58789847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.5092541539999 meters Centerline goodness : 0.999292 Centerline is valid? [True, True] Translation: X:553.92, Y:6.98, Z:8.59 [[ 9.98575997e-01 -5.10353608e-02 -1.55360888e-02 5.53916951e+02] [ 5.10346881e-02 9.98696784e-01 -4.40022906e-04 6.97638738e+00] [ 1.55382987e-02 -3.53483135e-04 9.99879211e-01 8.58766514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.5392541539999 meters Centerline goodness : 0.999272 Centerline is valid? [True, True] Translation: X:553.95, Y:6.98, Z:8.59 [[ 9.98527229e-01 -5.19807770e-02 -1.55361133e-02 5.53949214e+02] [ 5.19802320e-02 9.98648017e-01 -4.39158970e-04 6.97728012e+00] [ 1.55379365e-02 -3.69058582e-04 9.99879211e-01 8.59138636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.569254154 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:553.98, Y:6.98, Z:8.59 [[ 9.98497663e-01 -5.25456513e-02 -1.55361453e-02 5.53981422e+02] [ 5.25451923e-02 9.98618451e-01 -4.38023094e-04 6.97794515e+00] [ 1.55376975e-02 -3.78984706e-04 9.99879211e-01 8.59201998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.5992541539999 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:554.01, Y:6.98, Z:8.59 [[ 9.98469662e-01 -5.30750507e-02 -1.55361771e-02 5.54013671e+02] [ 5.30746734e-02 9.98590451e-01 -4.36890502e-04 6.97849153e+00] [ 1.55374661e-02 -3.88355615e-04 9.99879211e-01 8.59283777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.6292541539999 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:554.04, Y:6.98, Z:8.59 [[ 9.98414358e-01 -5.41054099e-02 -1.55362097e-02 5.54044471e+02] [ 5.41051753e-02 9.98535147e-01 -4.35729306e-04 6.97798589e+00] [ 1.55370267e-02 -4.05550953e-04 9.99879211e-01 8.59265907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.6592541539999 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:554.08, Y:6.98, Z:8.59 [[ 9.98413001e-01 -5.41304297e-02 -1.55362639e-02 5.54076410e+02] [ 5.41302283e-02 9.98533790e-01 -4.33787705e-04 6.97781076e+00] [ 1.55369656e-02 -4.07882228e-04 9.99879211e-01 8.59232036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.689254154 meters Centerline goodness : 0.999520 Centerline is valid? [True, True] Translation: X:554.11, Y:6.98, Z:8.59 [[ 9.98393326e-01 -5.44921102e-02 -1.55362964e-02 5.54109000e+02] [ 5.44919706e-02 9.98514115e-01 -4.32622154e-04 6.97841206e+00] [ 1.55367857e-02 -4.14676334e-04 9.99879211e-01 8.59413311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.7192541539999 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:554.14, Y:6.98, Z:8.59 [[ 9.98401402e-01 -5.43439418e-02 -1.55363286e-02 5.54140547e+02] [ 5.43438024e-02 9.98522191e-01 -4.31459798e-04 6.97860490e+00] [ 1.55368161e-02 -4.13533106e-04 9.99879211e-01 8.59407141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.7492541539999 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:554.17, Y:6.98, Z:8.59 [[ 9.98461372e-01 -5.32307257e-02 -1.55363526e-02 5.54171659e+02] [ 5.32304651e-02 9.98582161e-01 -4.30594149e-04 6.97906293e+00] [ 1.55372454e-02 -3.97075652e-04 9.99879211e-01 8.59445852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.7792541539999 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:554.20, Y:6.98, Z:8.60 [[ 9.98490465e-01 -5.26825220e-02 -1.55352208e-02 5.54204426e+02] [ 5.26815605e-02 9.98611251e-01 -4.71405942e-04 6.97966547e+00] [ 1.55384812e-02 -3.47725337e-04 9.99879210e-01 8.59557186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.809254154 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:554.24, Y:6.98, Z:8.60 [[ 9.98549781e-01 -5.15456740e-02 -1.55363622e-02 5.54237046e+02] [ 5.15452159e-02 9.98670569e-01 -4.30186453e-04 6.98020181e+00] [ 1.55378819e-02 -3.71262554e-04 9.99879211e-01 8.59614225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.839254154 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:554.27, Y:6.98, Z:8.60 [[ 9.98605694e-01 -5.04508509e-02 -1.55363941e-02 5.54268714e+02] [ 5.04502783e-02 9.98726482e-01 -4.29030698e-04 6.98067059e+00] [ 1.55382532e-02 -3.55382908e-04 9.99879211e-01 8.59670752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.8692541539999 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:554.30, Y:6.98, Z:8.60 [[ 9.98700208e-01 -4.85439351e-02 -1.55364178e-02 5.54298715e+02] [ 4.85431453e-02 9.98820995e-01 -4.28169557e-04 6.98095667e+00] [ 1.55388853e-02 -3.26573561e-04 9.99879211e-01 8.59668946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.8992541539999 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:554.33, Y:6.98, Z:8.60 [[ 9.98701967e-01 -4.85077412e-02 -1.55364256e-02 5.54330542e+02] [ 4.85069514e-02 9.98822753e-01 -4.27887021e-04 6.98180317e+00] [ 1.55388912e-02 -3.26293031e-04 9.99879211e-01 8.59718430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.929254154 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:554.36, Y:6.98, Z:8.60 [[ 9.98746372e-01 -4.75847016e-02 -1.55364411e-02 5.54361442e+02] [ 4.75838089e-02 9.98867158e-01 -4.27323966e-04 6.98182673e+00] [ 1.55391748e-02 -3.12494784e-04 9.99879211e-01 8.59651970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.959254154 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:554.39, Y:6.98, Z:8.60 [[ 9.98757006e-01 -4.73609607e-02 -1.55364565e-02 5.54393141e+02] [ 4.73600498e-02 9.98877792e-01 -4.26761150e-04 6.98171411e+00] [ 1.55392332e-02 -3.09576666e-04 9.99879211e-01 8.59785710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.9892541539999 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:554.42, Y:6.98, Z:8.60 [[ 9.98747658e-01 -4.75576854e-02 -1.55364725e-02 5.54423379e+02] [ 4.75568073e-02 9.98868444e-01 -4.26180090e-04 6.98184937e+00] [ 1.55391602e-02 -3.13218660e-04 9.99879211e-01 8.59758149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.0192541539999 meters Centerline goodness : 0.999520 Centerline is valid? [True, True] Translation: X:554.45, Y:6.98, Z:8.60 [[ 9.98712107e-01 -4.82985042e-02 -1.55364983e-02 5.54454866e+02] [ 4.82977303e-02 9.98832893e-01 -4.25234988e-04 6.98172710e+00] [ 1.55389038e-02 -3.25690277e-04 9.99879211e-01 8.59813258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.049254154 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:554.48, Y:6.98, Z:8.60 [[ 9.98602589e-01 -5.05122367e-02 -1.55365139e-02 5.54484884e+02] [ 5.05117394e-02 9.98723377e-01 -4.24664767e-04 6.98029535e+00] [ 1.55381304e-02 -3.60705007e-04 9.99879211e-01 8.59750832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.079254154 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:554.52, Y:6.98, Z:8.60 [[ 9.98502049e-01 -5.24621275e-02 -1.55365217e-02 5.54515916e+02] [ 5.24618705e-02 9.98622838e-01 -4.24381715e-04 6.98094391e+00] [ 1.55373893e-02 -3.91328976e-04 9.99879211e-01 8.59942114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.1092541539999 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:554.55, Y:6.98, Z:8.60 [[ 9.98401499e-01 -5.43420923e-02 -1.55365372e-02 5.54547042e+02] [ 5.43420716e-02 9.98522288e-01 -4.23811799e-04 6.98086791e+00] [ 1.55366095e-02 -4.21153282e-04 9.99879211e-01 8.59986600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.1392541539999 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:554.58, Y:6.98, Z:8.60 [[ 9.98148919e-01 -5.87992399e-02 -1.55365604e-02 5.54579518e+02] [ 5.87997718e-02 9.98269707e-01 -4.22959440e-04 6.98035365e+00] [ 1.55345473e-02 -4.91369699e-04 9.99879211e-01 8.60034395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.1692541539999 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:554.61, Y:6.98, Z:8.60 [[ 9.98009602e-01 -6.11183231e-02 -1.55365913e-02 5.54610240e+02] [ 6.11191534e-02 9.98130388e-01 -4.21821454e-04 6.98045730e+00] [ 1.55333249e-02 -5.28601446e-04 9.99879211e-01 8.60069144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.199254154 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:554.64, Y:6.98, Z:8.60 [[ 9.97859899e-01 -6.35156307e-02 -1.55366143e-02 5.54642467e+02] [ 6.35167643e-02 9.97980683e-01 -4.20973828e-04 6.98045729e+00] [ 1.55319793e-02 -5.66762565e-04 9.99879211e-01 8.60131352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.2292541539999 meters Centerline goodness : 0.999479 Centerline is valid? [True, True] Translation: X:554.67, Y:6.98, Z:8.60 [[ 9.97712623e-01 -6.57885558e-02 -1.55366457e-02 5.54674671e+02] [ 6.57899826e-02 9.97833404e-01 -4.19811959e-04 6.98046088e+00] [ 1.55306029e-02 -6.03303957e-04 9.99879211e-01 8.60177551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.2592541539999 meters Centerline goodness : 0.999604 Centerline is valid? [True, True] Translation: X:554.71, Y:6.98, Z:8.60 [[ 9.97450571e-01 -6.96489023e-02 -1.55366771e-02 5.54705620e+02] [ 6.96508145e-02 9.97571345e-01 -4.18646246e-04 6.97942093e+00] [ 1.55281021e-02 -6.64563276e-04 9.99879211e-01 8.60101684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.2892541539999 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:554.74, Y:6.98, Z:8.60 [[ 9.97297930e-01 -7.18014548e-02 -1.55367004e-02 5.54737940e+02] [ 7.18036412e-02 9.97418700e-01 -4.17777357e-04 6.98091223e+00] [ 1.55265926e-02 -6.98943171e-04 9.99879211e-01 8.60313854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.319254154 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:554.77, Y:6.98, Z:8.60 [[ 9.97186137e-01 -7.33377061e-02 -1.55367308e-02 5.54770465e+02] [ 7.33400962e-02 9.97306902e-01 -4.16643631e-04 6.98193530e+00] [ 1.55254446e-02 -7.23994082e-04 9.99879211e-01 8.60366003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.3492541539999 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:554.80, Y:6.98, Z:8.60 [[ 9.97098990e-01 -7.45131728e-02 -1.55367614e-02 5.54802500e+02] [ 7.45157230e-02 9.97219752e-01 -4.15502567e-04 6.98298120e+00] [ 1.55245257e-02 -7.43435815e-04 9.99879211e-01 8.60464118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.3792541539999 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:554.84, Y:6.98, Z:8.60 [[ 9.97044987e-01 -7.52323185e-02 -1.55367922e-02 5.54837401e+02] [ 7.52349738e-02 9.97165747e-01 -4.14345643e-04 6.98242771e+00] [ 1.55239292e-02 -7.55788909e-04 9.99879211e-01 8.60425433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.4092541539999 meters Centerline goodness : 0.999271 Centerline is valid? [True, True] Translation: X:554.86, Y:6.99, Z:8.61 [[ 9.96785240e-01 -7.85978203e-02 -1.55424276e-02 5.54863670e+02] [ 7.86041841e-02 9.96905884e-01 -2.01959288e-04 6.98637577e+00] [ 1.55102111e-02 -1.02038981e-03 9.99879189e-01 8.60504532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.439254154 meters Centerline goodness : 0.999333 Centerline is valid? [True, True] Translation: X:554.89, Y:6.99, Z:8.60 [[ 9.96438052e-01 -8.28843912e-02 -1.55365885e-02 5.54893148e+02] [ 8.28879064e-02 9.96558789e-01 -4.18662417e-04 6.99142188e+00] [ 1.55178244e-02 -8.70624132e-04 9.99879212e-01 8.60245196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.4692541539999 meters Centerline goodness : 0.999398 Centerline is valid? [True, True] Translation: X:554.92, Y:6.99, Z:8.60 [[ 9.96580618e-01 -8.11524414e-02 -1.55355277e-02 5.54924060e+02] [ 8.11551335e-02 9.96701377e-01 -4.58107234e-04 6.99035116e+00] [ 1.55214583e-02 -8.04247033e-04 9.99879211e-01 8.60495497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.4992541539999 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:554.96, Y:6.99, Z:8.60 [[ 9.96557414e-01 -8.14366922e-02 -1.55366112e-02 5.54956729e+02] [ 8.14400450e-02 9.96678155e-01 -4.17815618e-04 6.99132673e+00] [ 1.55190265e-02 -8.48925066e-04 9.99879212e-01 8.60352894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.5292541539999 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:554.99, Y:6.99, Z:8.60 [[ 9.96538457e-01 -8.16683366e-02 -1.55366418e-02 5.54988223e+02] [ 8.16717353e-02 9.96659197e-01 -4.16676034e-04 6.99315313e+00] [ 1.55187662e-02 -8.53670804e-04 9.99879212e-01 8.60431870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.559254154 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:555.02, Y:7.00, Z:8.61 [[ 9.96526456e-01 -8.18146335e-02 -1.55366645e-02 5.55019742e+02] [ 8.18180631e-02 9.96647195e-01 -4.15826502e-04 6.99709115e+00] [ 1.55185938e-02 -8.56797687e-04 9.99879212e-01 8.60608837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.589254154 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:555.05, Y:7.00, Z:8.61 [[ 9.96566247e-01 -8.13285070e-02 -1.55366867e-02 5.55051921e+02] [ 8.13318906e-02 9.96686988e-01 -4.14996612e-04 6.99894450e+00] [ 1.55189645e-02 -8.50056486e-04 9.99879212e-01 8.60629831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.6192541539999 meters Centerline goodness : 0.999375 Centerline is valid? [True, True] Translation: X:555.08, Y:7.01, Z:8.61 [[ 9.96293932e-01 -8.45991230e-02 -1.55367175e-02 5.55080189e+02] [ 8.46029208e-02 9.96414660e-01 -4.13841337e-04 7.00567970e+00] [ 1.55160237e-02 -9.02144065e-04 9.99879212e-01 8.60810416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.6492541539999 meters Centerline goodness : 0.999333 Centerline is valid? [True, True] Translation: X:555.11, Y:7.00, Z:8.61 [[ 9.96666780e-01 -8.00874973e-02 -1.55345611e-02 5.55112685e+02] [ 8.00894956e-02 9.96787554e-01 -4.94436486e-04 7.00402962e+00] [ 1.55242553e-02 -7.51366739e-04 9.99879209e-01 8.60750378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.679254154 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:555.14, Y:7.01, Z:8.61 [[ 9.96832757e-01 -7.79940077e-02 -1.55367372e-02 5.55144694e+02] [ 7.79970266e-02 9.96953506e-01 -4.12470179e-04 7.00849893e+00] [ 1.55215748e-02 -8.00655515e-04 9.99879213e-01 8.60816260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.709254154 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:555.18, Y:7.01, Z:8.61 [[ 9.96927331e-01 -7.67756812e-02 -1.55367654e-02 5.55176762e+02] [ 7.67785691e-02 9.97048084e-01 -4.11402811e-04 7.01122088e+00] [ 1.55224879e-02 -7.82751910e-04 9.99879213e-01 8.60958340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.7392541539999 meters Centerline goodness : 0.999271 Centerline is valid? [True, True] Translation: X:555.21, Y:7.01, Z:8.61 [[ 9.97040213e-01 -7.52955678e-02 -1.55367957e-02 5.55207674e+02] [ 7.52982942e-02 9.97160969e-01 -4.10255178e-04 7.01373292e+00] [ 1.55235767e-02 -7.60853306e-04 9.99879213e-01 8.60934554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.7692541539999 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:555.24, Y:7.02, Z:8.61 [[ 9.97226077e-01 -7.27925713e-02 -1.55368182e-02 5.55239440e+02] [ 7.27950079e-02 9.97346840e-01 -4.09400514e-04 7.01898059e+00] [ 1.55253979e-02 -7.22737938e-04 9.99879213e-01 8.61068896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.799254154 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:555.27, Y:7.02, Z:8.61 [[ 9.97350043e-01 -7.10738856e-02 -1.55368483e-02 5.55271658e+02] [ 7.10761319e-02 9.97470810e-01 -4.08257221e-04 7.02127729e+00] [ 1.55265691e-02 -6.97123722e-04 9.99879213e-01 8.61049359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.829254154 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:555.30, Y:7.02, Z:8.61 [[ 9.97441875e-01 -6.97732883e-02 -1.55368785e-02 5.55303907e+02] [ 6.97753950e-02 9.97562644e-01 -4.07102566e-04 7.02486864e+00] [ 1.55274145e-02 -6.78030691e-04 9.99879213e-01 8.61236803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.8592541539999 meters Centerline goodness : 0.999188 Centerline is valid? [True, True] Translation: X:555.34, Y:7.03, Z:8.61 [[ 9.97581504e-01 -6.77476796e-02 -1.55369085e-02 5.55335316e+02] [ 6.77495589e-02 9.97702276e-01 -4.05956542e-04 7.02800956e+00] [ 1.55287116e-02 -6.47643959e-04 9.99879213e-01 8.61304944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.8892541539999 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:555.37, Y:7.03, Z:8.61 [[ 9.97853675e-01 -6.36132495e-02 -1.55369556e-02 5.55366986e+02] [ 6.36146565e-02 9.97974455e-01 -4.04145031e-04 7.03388009e+00] [ 1.55311938e-02 -5.85100489e-04 9.99879213e-01 8.61409215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.9192541539999 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:555.40, Y:7.04, Z:8.61 [[ 9.97989611e-01 -6.14437830e-02 -1.55369858e-02 5.55397915e+02] [ 6.14449456e-02 9.98110393e-01 -4.02979940e-04 7.03710687e+00] [ 1.55323876e-02 -5.52499454e-04 9.99879213e-01 8.61422071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.949254154 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:555.43, Y:7.04, Z:8.61 [[ 9.98142494e-01 -5.89080941e-02 -1.55370082e-02 5.55429178e+02] [ 5.89089633e-02 9.98263278e-01 -4.02113501e-04 7.03987731e+00] [ 1.55337125e-02 -5.13902475e-04 9.99879213e-01 8.61335391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.9792541539999 meters Centerline goodness : 0.999191 Centerline is valid? [True, True] Translation: X:555.46, Y:7.04, Z:8.61 [[ 9.98273109e-01 -5.66515765e-02 -1.55370302e-02 5.55461129e+02] [ 5.66521859e-02 9.98393895e-01 -4.01263128e-04 7.04347865e+00] [ 1.55348083e-02 -4.79636533e-04 9.99879213e-01 8.61456982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.0092541539999 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:555.49, Y:7.05, Z:8.62 [[ 9.98536408e-01 -5.18038799e-02 -1.55370586e-02 5.55493254e+02] [ 5.18039199e-02 9.98657195e-01 -4.00161156e-04 7.04911330e+00] [ 1.55369253e-02 -4.05305055e-04 9.99879213e-01 8.61613957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.0392541539999 meters Centerline goodness : 0.998936 Centerline is valid? [True, True] Translation: X:555.52, Y:7.05, Z:8.62 [[ 9.98674510e-01 -4.90695623e-02 -1.55370882e-02 5.55523965e+02] [ 4.90692895e-02 9.98795297e-01 -3.99007491e-04 7.05160131e+00] [ 1.55379498e-02 -3.63915268e-04 9.99879213e-01 8.61514148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.069254154 meters Centerline goodness : 0.998977 Centerline is valid? [True, True] Translation: X:555.56, Y:7.05, Z:8.62 [[ 9.98804724e-01 -4.63435262e-02 -1.55371102e-02 5.55556212e+02] [ 4.63429371e-02 9.98925510e-01 -3.98149205e-04 7.05423849e+00] [ 1.55388674e-02 -3.22362015e-04 9.99879213e-01 8.61583584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.0992541539999 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:555.59, Y:7.06, Z:8.62 [[ 9.98959002e-01 -4.28894945e-02 -1.55371398e-02 5.55587498e+02] [ 4.28885057e-02 9.99079786e-01 -3.96990738e-04 7.06009786e+00] [ 1.55398690e-02 -2.69787237e-04 9.99879213e-01 8.61844102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.1292541539999 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:555.62, Y:7.06, Z:8.62 [[ 9.99020211e-01 -4.14392814e-02 -1.55371618e-02 5.55618969e+02] [ 4.14381307e-02 9.99140993e-01 -3.96127966e-04 7.06264392e+00] [ 1.55402305e-02 -2.48091098e-04 9.99879213e-01 8.61863336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.1592541539999 meters Centerline goodness : 0.998914 Centerline is valid? [True, True] Translation: X:555.65, Y:7.06, Z:8.62 [[ 9.99059357e-01 -4.04845278e-02 -1.55371835e-02 5.55650775e+02] [ 4.04832750e-02 9.99180138e-01 -3.95275208e-04 7.06467855e+00] [ 1.55404477e-02 -2.34092677e-04 9.99879213e-01 8.61876881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.189254154 meters Centerline goodness : 0.998913 Centerline is valid? [True, True] Translation: X:555.68, Y:7.07, Z:8.62 [[ 9.99086497e-01 -3.98091263e-02 -1.55372124e-02 5.55683180e+02] [ 3.98078095e-02 9.99207277e-01 -3.94136072e-04 7.06777451e+00] [ 1.55405859e-02 -2.24726364e-04 9.99879213e-01 8.61838598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.2192541539999 meters Centerline goodness : 0.998811 Centerline is valid? [True, True] Translation: X:555.71, Y:7.07, Z:8.62 [[ 9.99072178e-01 -4.01668736e-02 -1.55372412e-02 5.55714297e+02] [ 4.01656177e-02 9.99192959e-01 -3.92997549e-04 7.06952363e+00] [ 1.55404875e-02 -2.31429973e-04 9.99879213e-01 8.61863066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.2492541539999 meters Centerline goodness : 0.998790 Centerline is valid? [True, True] Translation: X:555.75, Y:7.07, Z:8.62 [[ 9.99040503e-01 -4.09471261e-02 -1.55372626e-02 5.55746192e+02] [ 4.09459777e-02 9.99161285e-01 -3.92149984e-04 7.07089786e+00] [ 1.55402887e-02 -2.44414691e-04 9.99879213e-01 8.61954792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.2792541539999 meters Centerline goodness : 0.998810 Centerline is valid? [True, True] Translation: X:555.78, Y:7.07, Z:8.62 [[ 9.98916233e-01 -4.38742755e-02 -1.55372914e-02 5.55777961e+02] [ 4.38734988e-02 9.99037018e-01 -3.91007150e-04 7.07288807e+00] [ 1.55394844e-02 -2.91091944e-04 9.99879213e-01 8.61987737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.309254154 meters Centerline goodness : 0.998541 Centerline is valid? [True, True] Translation: X:555.82, Y:7.07, Z:8.61 [[ 9.99144436e-01 -3.83273686e-02 -1.55373199e-02 5.55818628e+02] [ 3.83259390e-02 9.99265215e-01 -3.89868622e-04 7.06531467e+00] [ 1.55408460e-02 -2.05947311e-04 9.99879213e-01 8.61431673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.339254154 meters Centerline goodness : 0.998832 Centerline is valid? [True, True] Translation: X:555.84, Y:7.08, Z:8.62 [[ 9.98696573e-01 -4.86142379e-02 -1.55502504e-02 5.55836936e+02] [ 4.86222115e-02 9.98817232e-01 1.34887394e-04 7.07517216e+00] [ 1.55253006e-02 -8.90799141e-04 9.99879078e-01 8.62058284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.3692541539999 meters Centerline goodness : 0.998769 Centerline is valid? [True, True] Translation: X:555.88, Y:7.07, Z:8.62 [[ 9.98758191e-01 -4.73359575e-02 -1.55365283e-02 5.55875520e+02] [ 4.73354715e-02 9.98878969e-01 -3.99221894e-04 7.06948001e+00] [ 1.55380089e-02 -3.36702755e-04 9.99879221e-01 8.61680553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.3992541539999 meters Centerline goodness : 0.998874 Centerline is valid? [True, True] Translation: X:555.90, Y:7.08, Z:8.62 [[ 9.98327550e-01 -5.56809622e-02 -1.55477883e-02 5.55895447e+02] [ 5.56883946e-02 9.98448196e-01 4.51673842e-05 7.07675660e+00] [ 1.55211462e-02 -9.10923215e-04 9.99879125e-01 8.61974791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.429254154 meters Centerline goodness : 0.998686 Centerline is valid? [True, True] Translation: X:555.93, Y:7.08, Z:8.62 [[ 9.98261020e-01 -5.68644992e-02 -1.55359067e-02 5.55927369e+02] [ 5.68650341e-02 9.98381792e-01 -4.07678856e-04 7.07719400e+00] [ 1.55339489e-02 -4.76479956e-04 9.99879227e-01 8.62043851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.459254154 meters Centerline goodness : 0.998831 Centerline is valid? [True, True] Translation: X:555.96, Y:7.08, Z:8.62 [[ 9.98111800e-01 -5.94261760e-02 -1.55359370e-02 5.55959881e+02] [ 5.94270388e-02 9.98232569e-01 -4.06520479e-04 7.07919646e+00] [ 1.55326363e-02 -5.17501847e-04 9.99879227e-01 8.62258200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.4892541539999 meters Centerline goodness : 0.998685 Centerline is valid? [True, True] Translation: X:555.99, Y:7.08, Z:8.62 [[ 9.98088728e-01 -5.98124152e-02 -1.55359672e-02 5.55990918e+02] [ 5.98133427e-02 9.98209497e-01 -4.05365389e-04 7.08068839e+00] [ 1.55323959e-02 -5.24667504e-04 9.99879227e-01 8.62234964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.5192541539999 meters Centerline goodness : 0.998811 Centerline is valid? [True, True] Translation: X:556.02, Y:7.08, Z:8.62 [[ 9.98120088e-01 -5.92867832e-02 -1.55359896e-02 5.56022212e+02] [ 5.92876605e-02 9.98240858e-01 -4.04503528e-04 7.08200625e+00] [ 1.55326413e-02 -5.17349381e-04 9.99879227e-01 8.62292576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.549254154 meters Centerline goodness : 0.998792 Centerline is valid? [True, True] Translation: X:556.05, Y:7.08, Z:8.62 [[ 9.98180303e-01 -5.82641918e-02 -1.55360110e-02 5.56054468e+02] [ 5.82649581e-02 9.98301073e-01 -4.03682267e-04 7.08335734e+00] [ 1.55331366e-02 -5.02257341e-04 9.99879227e-01 8.62383022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.579254154 meters Centerline goodness : 0.998811 Centerline is valid? [True, True] Translation: X:556.09, Y:7.08, Z:8.62 [[ 9.98413048e-01 -5.41296271e-02 -1.55360403e-02 5.56086534e+02] [ 5.41299109e-02 9.98533821e-01 -4.02549202e-04 7.08411196e+00] [ 1.55350515e-02 -4.39054102e-04 9.99879227e-01 8.62354189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.6092541539999 meters Centerline goodness : 0.998918 Centerline is valid? [True, True] Translation: X:556.12, Y:7.09, Z:8.63 [[ 9.98514658e-01 -5.22217269e-02 -1.55360703e-02 5.56117862e+02] [ 5.22217980e-02 9.98635430e-01 -4.01387507e-04 7.08635376e+00] [ 1.55358314e-02 -4.10530218e-04 9.99879227e-01 8.62538851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.6392541539999 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:556.15, Y:7.09, Z:8.63 [[ 9.98649859e-01 -4.95690328e-02 -1.55360926e-02 5.56149623e+02] [ 4.95687965e-02 9.98770631e-01 -4.00523098e-04 7.08771304e+00] [ 1.55368466e-02 -3.70123077e-04 9.99879227e-01 8.62629068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.6692541539999 meters Centerline goodness : 0.998933 Centerline is valid? [True, True] Translation: X:556.18, Y:7.09, Z:8.63 [[ 9.98864606e-01 -4.50347329e-02 -1.55361221e-02 5.56182229e+02] [ 4.50339661e-02 9.98985376e-01 -3.99377627e-04 7.08990702e+00] [ 1.55383446e-02 -3.00729018e-04 9.99879227e-01 8.62594158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.699254154 meters Centerline goodness : 0.998829 Centerline is valid? [True, True] Translation: X:556.21, Y:7.09, Z:8.63 [[ 9.98956190e-01 -4.29553059e-02 -1.55361514e-02 5.56214259e+02] [ 4.29543055e-02 9.99076959e-01 -3.98233398e-04 7.09153968e+00] [ 1.55389171e-02 -2.69526875e-04 9.99879227e-01 8.62631550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.7292541539999 meters Centerline goodness : 0.998744 Centerline is valid? [True, True] Translation: X:556.25, Y:7.09, Z:8.63 [[ 9.99091649e-01 -3.96800144e-02 -1.55361805e-02 5.56248968e+02] [ 3.96786357e-02 9.99212414e-01 -3.97094953e-04 7.09084610e+00] [ 1.55397012e-02 -2.19720194e-04 9.99879227e-01 8.62699275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.7592541539999 meters Centerline goodness : 0.998639 Centerline is valid? [True, True] Translation: X:556.28, Y:7.09, Z:8.63 [[ 9.99076888e-01 -4.00482010e-02 -1.55407354e-02 5.56275863e+02] [ 4.00496530e-02 9.99197667e-01 -2.17899378e-04 7.09396054e+00] [ 1.55369930e-02 -4.04702828e-04 9.99879212e-01 8.62512513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.7892541539999 meters Centerline goodness : 0.998974 Centerline is valid? [True, True] Translation: X:556.31, Y:7.10, Z:8.63 [[ 9.99142860e-01 -3.83689323e-02 -1.55361139e-02 5.56307162e+02] [ 3.83673778e-02 9.99263622e-01 -3.98215622e-04 7.09544827e+00] [ 1.55399525e-02 -1.98205654e-04 9.99879228e-01 8.62614568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.819254154 meters Centerline goodness : 0.998974 Centerline is valid? [True, True] Translation: X:556.34, Y:7.10, Z:8.63 [[ 9.99145587e-01 -3.82978410e-02 -1.55361353e-02 5.56339838e+02] [ 3.82962910e-02 9.99266349e-01 -3.97375478e-04 7.09622246e+00] [ 1.55399559e-02 -1.97940405e-04 9.99879228e-01 8.62665348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.8492541539999 meters Centerline goodness : 0.998827 Centerline is valid? [True, True] Translation: X:556.37, Y:7.10, Z:8.63 [[ 9.99188247e-01 -3.71681892e-02 -1.55361635e-02 5.56372464e+02] [ 3.71665197e-02 9.99309008e-01 -3.96270115e-04 7.09686499e+00] [ 1.55401568e-02 -1.81476687e-04 9.99879228e-01 8.62683426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.8792541539999 meters Centerline goodness : 0.998911 Centerline is valid? [True, True] Translation: X:556.40, Y:7.10, Z:8.63 [[ 9.99229251e-01 -3.60490116e-02 -1.55361917e-02 5.56403167e+02] [ 3.60472241e-02 9.99350010e-01 -3.95164750e-04 7.09764720e+00] [ 1.55403386e-02 -1.65176405e-04 9.99879228e-01 8.62703634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.9092541539999 meters Centerline goodness : 0.998911 Centerline is valid? [True, True] Translation: X:556.43, Y:7.10, Z:8.63 [[ 9.99278282e-01 -3.46632646e-02 -1.55362125e-02 5.56434078e+02] [ 3.46613225e-02 9.99399038e-01 -3.94341603e-04 7.09871706e+00] [ 1.55405450e-02 -1.44448674e-04 9.99879228e-01 8.62800858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.939254154 meters Centerline goodness : 0.999035 Centerline is valid? [True, True] Translation: X:556.46, Y:7.10, Z:8.63 [[ 9.99394223e-01 -3.11418004e-02 -1.55362267e-02 5.56464538e+02] [ 3.11394414e-02 9.99514972e-01 -3.93783136e-04 7.09972123e+00] [ 1.55409543e-02 -9.02448300e-05 9.99879228e-01 8.62826829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.9692541539999 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:556.50, Y:7.10, Z:8.63 [[ 9.99446590e-01 -2.94132532e-02 -1.55362337e-02 5.56495484e+02] [ 2.94106897e-02 9.99567335e-01 -3.93505994e-04 7.10067988e+00] [ 1.55410860e-02 -6.36431250e-05 9.99879228e-01 8.63030502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.9992541539999 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:556.53, Y:7.10, Z:8.63 [[ 9.99496640e-01 -2.76602733e-02 -1.55362481e-02 5.56526590e+02] [ 2.76575068e-02 9.99617381e-01 -3.92937681e-04 7.10101345e+00] [ 1.55411724e-02 -3.69539953e-05 9.99879228e-01 8.63096409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.0292541539999 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:556.56, Y:7.10, Z:8.63 [[ 9.99565271e-01 -2.50577966e-02 -1.55362624e-02 5.56557428e+02] [ 2.50547246e-02 9.99686004e-01 -3.92370161e-04 7.10031890e+00] [ 1.55412160e-02 2.94281059e-06 9.99879228e-01 8.63208354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.059254154 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:556.59, Y:7.10, Z:8.63 [[ 9.99578648e-01 -2.45183894e-02 -1.55362624e-02 5.56587335e+02] [ 2.45152523e-02 9.99699379e-01 -3.92370161e-04 7.10025601e+00] [ 1.55412122e-02 1.13294425e-05 9.99879228e-01 8.63245729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.089254154 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:556.62, Y:7.10, Z:8.63 [[ 9.99573733e-01 -2.47179463e-02 -1.55362552e-02 5.56617263e+02] [ 2.47148288e-02 9.99694465e-01 -3.92656200e-04 7.09998935e+00] [ 1.55412140e-02 8.51293535e-06 9.99879228e-01 8.63380685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.1192541539999 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:556.65, Y:7.10, Z:8.63 [[ 9.99524174e-01 -2.66467851e-02 -1.55362408e-02 5.56646407e+02] [ 2.66438917e-02 9.99644911e-01 -3.93223437e-04 7.09787942e+00] [ 1.55412022e-02 -2.09095876e-05 9.99879228e-01 8.63467003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.1492541539999 meters Centerline goodness : 0.998995 Centerline is valid? [True, True] Translation: X:556.68, Y:7.10, Z:8.64 [[ 9.99473865e-01 -2.84713580e-02 -1.55362337e-02 5.56676517e+02] [ 2.84686807e-02 9.99594608e-01 -3.93504848e-04 7.09669455e+00] [ 1.55411391e-02 -4.89982657e-05 9.99879228e-01 8.63526420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.179254154 meters Centerline goodness : 0.998911 Centerline is valid? [True, True] Translation: X:556.71, Y:7.10, Z:8.64 [[ 9.99405041e-01 -3.07926946e-02 -1.55362337e-02 5.56707280e+02] [ 3.07902978e-02 9.99525789e-01 -3.93504848e-04 7.09525349e+00] [ 1.55409833e-02 -8.50945340e-05 9.99879228e-01 8.63531477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.209254154 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:556.74, Y:7.09, Z:8.64 [[ 9.99317102e-01 -3.35254326e-02 -1.55362337e-02 5.56738041e+02] [ 3.35233660e-02 9.99437857e-01 -3.93504848e-04 7.09333738e+00] [ 1.55406925e-02 -1.27590724e-04 9.99879228e-01 8.63527088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.2392541539999 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:556.77, Y:7.09, Z:8.63 [[ 9.99219271e-01 -3.63245462e-02 -1.55362572e-02 5.56769601e+02] [ 3.63228323e-02 9.99340031e-01 -3.92573844e-04 7.09092055e+00] [ 1.55402639e-02 -1.72053516e-04 9.99879228e-01 8.63411662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.2692541539999 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:556.80, Y:7.08, Z:8.63 [[ 9.99026173e-01 -4.12956298e-02 -1.55362715e-02 5.56802123e+02] [ 4.12945255e-02 9.99146940e-01 -3.92009173e-04 7.08398156e+00] [ 1.55392064e-02 -2.49935535e-04 9.99879228e-01 8.63446959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.299254154 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:556.83, Y:7.09, Z:8.63 [[ 9.98754784e-01 -4.74064707e-02 -1.55405098e-02 5.56829285e+02] [ 4.74087262e-02 9.98875549e-01 -2.23439214e-04 7.08609205e+00] [ 1.55336277e-02 -5.13594791e-04 9.99879214e-01 8.63480118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.329254154 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:556.86, Y:7.08, Z:8.63 [[ 9.98443777e-01 -5.35597854e-02 -1.55361738e-02 5.56860672e+02] [ 5.35601285e-02 9.98564548e-01 -3.94297246e-04 7.08178761e+00] [ 1.55349908e-02 -4.38435832e-04 9.99879229e-01 8.63376764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.3592541539999 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:556.89, Y:7.08, Z:8.63 [[ 9.98270099e-01 -5.67048093e-02 -1.55361952e-02 5.56892886e+02] [ 5.67055461e-02 9.98390868e-01 -3.93450460e-04 7.08055353e+00] [ 1.55335060e-02 -4.88218604e-04 9.99879229e-01 8.63440864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.3892541539999 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:556.92, Y:7.08, Z:8.64 [[ 9.98127235e-01 -5.91662857e-02 -1.55362230e-02 5.56924852e+02] [ 5.91673374e-02 9.98248001e-01 -3.92350494e-04 7.07944954e+00] [ 1.55322175e-02 -5.27621234e-04 9.99879229e-01 8.63567638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.4192541539999 meters Centerline goodness : 0.999333 Centerline is valid? [True, True] Translation: X:556.96, Y:7.08, Z:8.64 [[ 9.97991371e-01 -6.14153717e-02 -1.55362510e-02 5.56955730e+02] [ 6.14167128e-02 9.98112135e-01 -3.91237911e-04 7.07815679e+00] [ 1.55309487e-02 -5.63733408e-04 9.99879229e-01 8.63590238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.449254154 meters Centerline goodness : 0.999521 Centerline is valid? [True, True] Translation: X:556.99, Y:7.08, Z:8.64 [[ 9.97738682e-01 -6.53922488e-02 -1.55362719e-02 5.56987166e+02] [ 6.53940841e-02 9.97859440e-01 -3.90408043e-04 7.07533521e+00] [ 1.55285452e-02 -6.26455063e-04 9.99879229e-01 8.63594089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.4792541539999 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:557.02, Y:7.07, Z:8.64 [[ 9.97611650e-01 -6.73024537e-02 -1.55362922e-02 5.57019864e+02] [ 6.73045328e-02 9.97732403e-01 -3.89597675e-04 7.07461406e+00] [ 1.55272830e-02 -6.56995708e-04 9.99879229e-01 8.63654840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.5092541539999 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:557.05, Y:7.07, Z:8.64 [[ 9.97477668e-01 -6.92598375e-02 -1.55363195e-02 5.57051584e+02] [ 6.92621705e-02 9.97598417e-01 -3.88507003e-04 7.07412978e+00] [ 1.55259156e-02 -6.88552148e-04 9.99879229e-01 8.63761694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.5392541539999 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:557.08, Y:7.07, Z:8.64 [[ 9.97233502e-01 -7.26908839e-02 -1.55363646e-02 5.57083494e+02] [ 7.26936604e-02 9.97354241e-01 -3.86694276e-04 7.07171665e+00] [ 1.55233683e-02 -7.43770724e-04 9.99879229e-01 8.63622268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.569254154 meters Centerline goodness : 0.999542 Centerline is valid? [True, True] Translation: X:557.12, Y:7.07, Z:8.64 [[ 9.97041562e-01 -7.52777817e-02 -1.55363937e-02 5.57115080e+02] [ 7.52808897e-02 9.97162293e-01 -3.85520827e-04 7.07257076e+00] [ 1.55213271e-02 -7.85213252e-04 9.99879229e-01 8.63873671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.5992541539999 meters Centerline goodness : 0.999375 Centerline is valid? [True, True] Translation: X:557.15, Y:7.07, Z:8.64 [[ 9.96880081e-01 -7.73868369e-02 -1.55364299e-02 5.57146908e+02] [ 7.73902230e-02 9.97000805e-01 -3.84057511e-04 7.07249733e+00] [ 1.55195541e-02 -8.19508490e-04 9.99879229e-01 8.63799643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.6292541539999 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:557.18, Y:7.07, Z:8.64 [[ 9.96526909e-01 -8.18091555e-02 -1.55364653e-02 5.57179750e+02] [ 8.18130996e-02 9.96647616e-01 -3.82617612e-04 7.07186842e+00] [ 1.55156828e-02 -8.89797640e-04 9.99879229e-01 8.63893010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.6592541539999 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:557.21, Y:7.07, Z:8.64 [[ 9.96336696e-01 -8.40940274e-02 -1.55365076e-02 5.57212302e+02] [ 8.40982751e-02 9.96457393e-01 -3.80893441e-04 7.07294671e+00] [ 1.55134987e-02 -9.27095378e-04 9.99879229e-01 8.64063188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.689254154 meters Centerline goodness : 0.999397 Centerline is valid? [True, True] Translation: X:557.25, Y:7.07, Z:8.64 [[ 9.96246548e-01 -8.51553370e-02 -1.55365503e-02 5.57245017e+02] [ 8.51597404e-02 9.96367239e-01 -3.79144005e-04 7.07285897e+00] [ 1.55123959e-02 -9.45367685e-04 9.99879229e-01 8.63901529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.7192541539999 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:557.28, Y:7.07, Z:8.64 [[ 9.96053315e-01 -8.73865482e-02 -1.55365785e-02 5.57277441e+02] [ 8.73912400e-02 9.96173995e-01 -3.77984943e-04 7.07449353e+00] [ 1.55101663e-02 -9.81267705e-04 9.99879229e-01 8.63819444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.7492541539999 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:557.31, Y:7.08, Z:8.64 [[ 9.95919639e-01 -8.88970534e-02 -1.55365942e-02 5.57308165e+02] [ 8.89019382e-02 9.96040312e-01 -3.77339315e-04 7.07607598e+00] [ 1.55086184e-02 -1.00543370e-03 9.99879229e-01 8.64179505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.7792541539999 meters Centerline goodness : 0.998958 Centerline is valid? [True, True] Translation: X:557.34, Y:7.08, Z:8.64 [[ 9.95953821e-01 -8.85132681e-02 -1.55366568e-02 5.57340511e+02] [ 8.85181467e-02 9.96074494e-01 -3.74741764e-04 7.07668263e+00] [ 1.55088372e-02 -1.00205057e-03 9.99879229e-01 8.64007503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.809254154 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:557.37, Y:7.08, Z:8.64 [[ 9.95971974e-01 -8.83087710e-02 -1.55366845e-02 5.57372469e+02] [ 8.83136427e-02 9.96092647e-01 -3.73591521e-04 7.07865026e+00] [ 1.55089686e-02 -1.00001452e-03 9.99879229e-01 8.64068151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.839254154 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:557.41, Y:7.08, Z:8.64 [[ 9.95993518e-01 -8.80654450e-02 -1.55367188e-02 5.57405427e+02] [ 8.80703095e-02 9.96114191e-01 -3.72158479e-04 7.08173111e+00] [ 1.55091204e-02 -9.97656201e-04 9.99879229e-01 8.64320097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.8692541539999 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:557.44, Y:7.09, Z:8.64 [[ 9.96242015e-01 -8.52083135e-02 -1.55367593e-02 5.57437834e+02] [ 8.52128583e-02 9.96362701e-01 -3.70460449e-04 7.08583079e+00] [ 1.55118137e-02 -9.54863403e-04 9.99879229e-01 8.64380067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.8992541539999 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:557.47, Y:7.09, Z:8.64 [[ 9.96406839e-01 -8.32587501e-02 -1.55367863e-02 5.57468984e+02] [ 8.32630764e-02 9.96527533e-01 -3.69321960e-04 7.08845925e+00] [ 1.55135846e-02 -9.25645701e-04 9.99879229e-01 8.64370157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.929254154 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:557.50, Y:7.09, Z:8.65 [[ 9.96599583e-01 -8.09189613e-02 -1.55368065e-02 5.57502043e+02] [ 8.09230174e-02 9.96720287e-01 -3.68473601e-04 7.09101510e+00] [ 1.55156667e-02 -8.90064622e-04 9.99879229e-01 8.64546308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.959254154 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:557.53, Y:7.10, Z:8.65 [[ 9.97007461e-01 -7.57280003e-02 -1.55368474e-02 5.57534665e+02] [ 7.57314546e-02 9.97128182e-01 -3.66741304e-04 7.09536161e+00] [ 1.55200009e-02 -8.10984235e-04 9.99879229e-01 8.64696718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.9892541539999 meters Centerline goodness : 0.999146 Centerline is valid? [True, True] Translation: X:557.57, Y:7.10, Z:8.65 [[ 9.97240805e-01 -7.25905151e-02 -1.55368880e-02 5.57567667e+02] [ 7.25936165e-02 9.97361536e-01 -3.65009210e-04 7.09796764e+00] [ 1.55223907e-02 -7.63876815e-04 9.99879229e-01 8.64841109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.0192541539999 meters Centerline goodness : 0.999021 Centerline is valid? [True, True] Translation: X:557.60, Y:7.10, Z:8.65 [[ 9.97455382e-01 -6.95799169e-02 -1.55369289e-02 5.57599413e+02] [ 6.95826810e-02 9.97576122e-01 -3.63262235e-04 7.10071240e+00] [ 1.55245450e-02 -7.18763295e-04 9.99879229e-01 8.64932035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.049254154 meters Centerline goodness : 0.999168 Centerline is valid? [True, True] Translation: X:557.63, Y:7.10, Z:8.65 [[ 9.97677946e-01 -6.63122834e-02 -1.55369625e-02 5.57631225e+02] [ 6.63146745e-02 9.97798694e-01 -3.61816952e-04 7.10329436e+00] [ 1.55267538e-02 -6.69351821e-04 9.99879229e-01 8.65020829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.079254154 meters Centerline goodness : 0.998892 Centerline is valid? [True, True] Translation: X:557.66, Y:7.11, Z:8.65 [[ 9.98049572e-01 -6.04620059e-02 -1.55369957e-02 5.57664365e+02] [ 6.04637112e-02 9.98170331e-01 -3.60387911e-04 7.10754046e+00] [ 1.55303579e-02 -5.79739420e-04 9.99879229e-01 8.65137374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.1092541539999 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:557.70, Y:7.11, Z:8.65 [[ 9.98248414e-01 -5.70850583e-02 -1.55370357e-02 5.57695580e+02] [ 5.70863820e-02 9.98369178e-01 -3.58653339e-04 7.10948969e+00] [ 1.55321713e-02 -5.28928030e-04 9.99879229e-01 8.65147396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.1392541539999 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:557.73, Y:7.11, Z:8.65 [[ 9.98407699e-01 -5.42279095e-02 -1.55370555e-02 5.57727401e+02] [ 5.42289009e-02 9.98528466e-01 -3.57795794e-04 7.11145152e+00] [ 1.55335947e-02 -4.85331367e-04 9.99879229e-01 8.65217954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.1692541539999 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:557.76, Y:7.11, Z:8.65 [[ 9.98552210e-01 -5.14983768e-02 -1.55370817e-02 5.57759074e+02] [ 5.14990558e-02 9.98672980e-01 -3.56654579e-04 7.11334464e+00] [ 1.55348308e-02 -4.44006819e-04 9.99879229e-01 8.65237891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.199254154 meters Centerline goodness : 0.999226 Centerline is valid? [True, True] Translation: X:557.79, Y:7.12, Z:8.65 [[ 9.98767541e-01 -4.71380627e-02 -1.55371081e-02 5.57790189e+02] [ 4.71382324e-02 9.98888312e-01 -3.55499405e-04 7.11619704e+00] [ 1.55365933e-02 -3.77330546e-04 9.99879229e-01 8.65265885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.2292541539999 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:557.82, Y:7.12, Z:8.65 [[ 9.98840967e-01 -4.55556907e-02 -1.55371277e-02 5.57821685e+02] [ 4.55556825e-02 9.98961738e-01 -3.54639439e-04 7.11768160e+00] [ 1.55371520e-02 -3.53576058e-04 9.99879229e-01 8.65278545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.2592541539999 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:557.85, Y:7.12, Z:8.65 [[ 9.98900768e-01 -4.42250357e-02 -1.55371471e-02 5.57853804e+02] [ 4.42248798e-02 9.99021539e-01 -3.53790243e-04 7.11894362e+00] [ 1.55375910e-02 -3.33727116e-04 9.99879229e-01 8.65428467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.2892541539999 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:557.88, Y:7.12, Z:8.66 [[ 9.98997560e-01 -4.19817899e-02 -1.55371731e-02 5.57884938e+02] [ 4.19813806e-02 9.99118331e-01 -3.52644199e-04 7.11995731e+00] [ 1.55382791e-02 -2.99981282e-04 9.99879229e-01 8.65504574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.319254154 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:557.92, Y:7.12, Z:8.66 [[ 9.99026195e-01 -4.12947642e-02 -1.55371924e-02 5.57916853e+02] [ 4.12942851e-02 9.99146965e-01 -3.51791075e-04 7.12066929e+00] [ 1.55384658e-02 -2.90148754e-04 9.99879229e-01 8.65577985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.3492541539999 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:557.95, Y:7.12, Z:8.66 [[ 9.99050255e-01 -4.07085163e-02 -1.55372178e-02 5.57949228e+02] [ 4.07079838e-02 9.99171025e-01 -3.50665159e-04 7.12092006e+00] [ 1.55386129e-02 -2.82156695e-04 9.99879229e-01 8.65606973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.3792541539999 meters Centerline goodness : 0.999375 Centerline is valid? [True, True] Translation: X:557.98, Y:7.12, Z:8.66 [[ 9.99055074e-01 -4.05900617e-02 -1.55372436e-02 5.57979974e+02] [ 4.05895328e-02 9.99175844e-01 -3.49517493e-04 7.12182042e+00] [ 1.55386255e-02 -2.81462235e-04 9.99879229e-01 8.65693061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.4092541539999 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:558.01, Y:7.12, Z:8.66 [[ 9.99058777e-01 -4.04988123e-02 -1.55372849e-02 5.58012307e+02] [ 4.04983010e-02 9.99179547e-01 -3.47672477e-04 7.12212467e+00] [ 1.55386176e-02 -2.81888402e-04 9.99879229e-01 8.65830032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.439254154 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:558.04, Y:7.12, Z:8.66 [[ 9.99050383e-01 -4.07053319e-02 -1.55373107e-02 5.58043796e+02] [ 4.07048635e-02 9.99171154e-01 -3.46516149e-04 7.12255333e+00] [ 1.55385377e-02 -2.86257019e-04 9.99879229e-01 8.65847736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.4692541539999 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:558.08, Y:7.12, Z:8.66 [[ 9.99040496e-01 -4.09472781e-02 -1.55373298e-02 5.58076443e+02] [ 4.09468523e-02 9.99161266e-01 -3.45656543e-04 7.12284082e+00] [ 1.55384518e-02 -2.90879866e-04 9.99879229e-01 8.65905932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.4992541539999 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:558.11, Y:7.12, Z:8.66 [[ 9.99001681e-01 -4.18835412e-02 -1.55373554e-02 5.58107578e+02] [ 4.18832466e-02 9.99122452e-01 -3.44501220e-04 7.12237326e+00] [ 1.55381496e-02 -3.06597591e-04 9.99879229e-01 8.65844294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.5292541539999 meters Centerline goodness : 0.998978 Centerline is valid? [True, True] Translation: X:558.14, Y:7.12, Z:8.66 [[ 9.98989326e-01 -4.21772052e-02 -1.55373745e-02 5.58139541e+02] [ 4.21769594e-02 9.99110097e-01 -3.43640869e-04 7.12218681e+00] [ 1.55380415e-02 -3.12025653e-04 9.99879229e-01 8.65882724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.559254154 meters Centerline goodness : 0.999125 Centerline is valid? [True, True] Translation: X:558.17, Y:7.12, Z:8.66 [[ 9.98988415e-01 -4.21987713e-02 -1.55373988e-02 5.58171757e+02] [ 4.21985453e-02 9.99109186e-01 -3.42538415e-04 7.12167561e+00] [ 1.55380125e-02 -3.13463719e-04 9.99879229e-01 8.65936096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.589254154 meters Centerline goodness : 0.999085 Centerline is valid? [True, True] Translation: X:558.20, Y:7.12, Z:8.66 [[ 9.98961308e-01 -4.28356547e-02 -1.55374235e-02 5.58204186e+02] [ 4.28355233e-02 9.99082079e-01 -3.41411403e-04 7.12211942e+00] [ 1.55377860e-02 -3.24496886e-04 9.99879229e-01 8.66059628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.6192541539999 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:558.24, Y:7.12, Z:8.66 [[ 9.98930109e-01 -4.35571536e-02 -1.55374487e-02 5.58235292e+02] [ 4.35571273e-02 9.99050880e-01 -3.40260974e-04 7.12147410e+00] [ 1.55375226e-02 -3.36869700e-04 9.99879229e-01 8.65996240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.6492541539999 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:558.27, Y:7.12, Z:8.66 [[ 9.98928646e-01 -4.35906886e-02 -1.55374675e-02 5.58267717e+02] [ 4.35906796e-02 9.99049417e-01 -3.39403775e-04 7.12106543e+00] [ 1.55374927e-02 -3.38248612e-04 9.99879229e-01 8.66075310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.679254154 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:558.30, Y:7.12, Z:8.66 [[ 9.98925052e-01 -4.36729432e-02 -1.55374926e-02 5.58298804e+02] [ 4.36729621e-02 9.99045824e-01 -3.38251343e-04 7.12073370e+00] [ 1.55374395e-02 -3.40680583e-04 9.99879229e-01 8.66051651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.709254154 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:558.33, Y:7.12, Z:8.66 [[ 9.98928238e-01 -4.36000152e-02 -1.55375112e-02 5.58331480e+02] [ 4.36000386e-02 9.99049009e-01 -3.37393404e-04 7.12138374e+00] [ 1.55374455e-02 -3.40404289e-04 9.99879229e-01 8.66102428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.7392541539999 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:558.36, Y:7.12, Z:8.66 [[ 9.98941144e-01 -4.33032941e-02 -1.55375357e-02 5.58362996e+02] [ 4.33032992e-02 9.99061916e-01 -3.36259134e-04 7.11970320e+00] [ 1.55375213e-02 -3.36923474e-04 9.99879229e-01 8.66010269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.7692541539999 meters Centerline goodness : 0.999021 Centerline is valid? [True, True] Translation: X:558.39, Y:7.12, Z:8.66 [[ 9.98965225e-01 -4.27441752e-02 -1.55375540e-02 5.58394718e+02] [ 4.27441259e-02 9.99085996e-01 -3.35414259e-04 7.11934038e+00] [ 1.55376896e-02 -3.29071982e-04 9.99879229e-01 8.66039464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.799254154 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:558.43, Y:7.12, Z:8.66 [[ 9.99005999e-01 -4.17803518e-02 -1.55375774e-02 5.58426834e+02] [ 4.17802030e-02 9.99126770e-01 -3.34323615e-04 7.11898232e+00] [ 1.55379777e-02 -3.15171841e-04 9.99879229e-01 8.66135708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.829254154 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:558.46, Y:7.12, Z:8.66 [[ 9.99050009e-01 -4.07143940e-02 -1.55376013e-02 5.58457667e+02] [ 4.07141335e-02 9.99170780e-01 -3.33213041e-04 7.11885284e+00] [ 1.55382837e-02 -2.99703480e-04 9.99879229e-01 8.66129035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.8592541539999 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:558.49, Y:7.12, Z:8.66 [[ 9.99156136e-01 -3.80210359e-02 -1.55376190e-02 5.58488539e+02] [ 3.80204628e-02 9.99276906e-01 -3.32384917e-04 7.11893934e+00] [ 1.55390214e-02 -2.58643034e-04 9.99879229e-01 8.66232344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.8892541539999 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:558.52, Y:7.12, Z:8.66 [[ 9.99204965e-01 -3.67153839e-02 -1.55376308e-02 5.58519756e+02] [ 3.67146615e-02 9.99325734e-01 -3.31832755e-04 7.11938687e+00] [ 1.55393376e-02 -2.38889918e-04 9.99879229e-01 8.66373399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.9192541539999 meters Centerline goodness : 0.999247 Centerline is valid? [True, True] Translation: X:558.55, Y:7.12, Z:8.66 [[ 9.99251468e-01 -3.54271720e-02 -1.55376430e-02 5.58550262e+02] [ 3.54263028e-02 9.99372237e-01 -3.31257716e-04 7.11910654e+00] [ 1.55396246e-02 -2.19431488e-04 9.99879229e-01 8.66300233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.949254154 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:558.58, Y:7.12, Z:8.66 [[ 9.99275342e-01 -3.47472513e-02 -1.55376491e-02 5.58581656e+02] [ 3.47463044e-02 9.99396110e-01 -3.30973058e-04 7.11888931e+00] [ 1.55397665e-02 -2.09142668e-04 9.99879229e-01 8.66348583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.9792541539999 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:558.61, Y:7.12, Z:8.66 [[ 9.99268539e-01 -3.49423506e-02 -1.55376607e-02 5.58611769e+02] [ 3.49414357e-02 9.99389307e-01 -3.30429018e-04 7.11703869e+00] [ 1.55397179e-02 -2.12720849e-04 9.99879229e-01 8.66381666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.0092541539999 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:558.64, Y:7.12, Z:8.66 [[ 9.99224021e-01 -3.61930629e-02 -1.55376664e-02 5.58643413e+02] [ 3.61923034e-02 9.99344789e-01 -3.30159204e-04 7.11643978e+00] [ 1.55394354e-02 -2.32440929e-04 9.99879229e-01 8.66409018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.0392541539999 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] Translation: X:558.68, Y:7.12, Z:8.67 [[ 9.99175933e-01 -3.74971409e-02 -1.55376777e-02 5.58675058e+02] [ 3.74965473e-02 9.99296703e-01 -3.29623756e-04 7.11527528e+00] [ 1.55391101e-02 -2.53257145e-04 9.99879229e-01 8.66566327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.069254154 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:558.71, Y:7.11, Z:8.67 [[ 9.99003473e-01 -4.18406573e-02 -1.55376896e-02 5.58706163e+02] [ 4.18405975e-02 9.99124245e-01 -3.29063937e-04 7.11373021e+00] [ 1.55378506e-02 -3.21370201e-04 9.99879229e-01 8.66527375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.0992541539999 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:558.74, Y:7.11, Z:8.66 [[ 9.98926242e-01 -4.36456485e-02 -1.55377073e-02 5.58737672e+02] [ 4.36458199e-02 9.99047013e-01 -3.28226812e-04 7.11324193e+00] [ 1.55372257e-02 -3.50281598e-04 9.99879229e-01 8.66473796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.1292541539999 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:558.77, Y:7.11, Z:8.67 [[ 9.98835406e-01 -4.56772411e-02 -1.55377247e-02 5.58768539e+02] [ 4.56776710e-02 9.98956177e-01 -3.27398774e-04 7.11296139e+00] [ 1.55364608e-02 -3.82709592e-04 9.99879229e-01 8.66644973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.1592541539999 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:558.80, Y:7.11, Z:8.67 [[ 9.98763578e-01 -4.72217552e-02 -1.55377367e-02 5.58801068e+02] [ 4.72223808e-02 9.98884348e-01 -3.26828508e-04 7.11241867e+00] [ 1.55358354e-02 -4.07304510e-04 9.99879229e-01 8.66673882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.189254154 meters Centerline goodness : 0.999604 Centerline is valid? [True, True] Translation: X:558.83, Y:7.11, Z:8.67 [[ 9.98641201e-01 -4.97426269e-02 -1.55377606e-02 5.58833368e+02] [ 4.97435750e-02 9.98761969e-01 -3.25690925e-04 7.11095374e+00] [ 1.55347251e-02 -4.47655382e-04 9.99879229e-01 8.66750426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.2192541539999 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:558.87, Y:7.11, Z:8.67 [[ 9.98591176e-01 -5.07369649e-02 -1.55377844e-02 5.58866046e+02] [ 5.07380509e-02 9.98711943e-01 -3.24549786e-04 7.11094699e+00] [ 1.55342375e-02 -4.64264345e-04 9.99879229e-01 8.66820525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.2492541539999 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:558.90, Y:7.11, Z:8.67 [[ 9.98556410e-01 -5.14166491e-02 -1.55378081e-02 5.58898534e+02] [ 5.14178350e-02 9.98677176e-01 -3.23413913e-04 7.11093068e+00] [ 1.55338831e-02 -4.75973415e-04 9.99879229e-01 8.66956395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.2792541539999 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:558.93, Y:7.11, Z:8.67 [[ 9.98509676e-01 -5.23163682e-02 -1.55378318e-02 5.58930422e+02] [ 5.23176807e-02 9.98630440e-01 -3.22271040e-04 7.11046734e+00] [ 1.55334118e-02 -4.91112569e-04 9.99879229e-01 8.67126421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.309254154 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:558.96, Y:7.11, Z:8.67 [[ 9.98500419e-01 -5.24927510e-02 -1.55378553e-02 5.58962120e+02] [ 5.24941025e-02 9.98621182e-01 -3.21134063e-04 7.11062778e+00] [ 1.55332886e-02 -4.94993270e-04 9.99879229e-01 8.67198977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.339254154 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:558.99, Y:7.11, Z:8.67 [[ 9.98491711e-01 -5.26581207e-02 -1.55378787e-02 5.58994013e+02] [ 5.26595099e-02 9.98612474e-01 -3.19996109e-04 7.11084594e+00] [ 1.55331699e-02 -4.98703614e-04 9.99879229e-01 8.67284842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.3692541539999 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:559.03, Y:7.11, Z:8.67 [[ 9.98509819e-01 -5.23136216e-02 -1.55379023e-02 5.59026670e+02] [ 5.23149871e-02 9.98630583e-01 -3.18844018e-04 7.10993941e+00] [ 1.55333043e-02 -4.94496277e-04 9.99879229e-01 8.67308018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.3992541539999 meters Centerline goodness : 0.999333 Centerline is valid? [True, True] Translation: X:559.06, Y:7.11, Z:8.67 [[ 9.98514056e-01 -5.22326757e-02 -1.55379259e-02 5.59057666e+02] [ 5.22340492e-02 9.98634820e-01 -3.17691553e-04 7.11042752e+00] [ 1.55333077e-02 -4.94389305e-04 9.99879229e-01 8.67301766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.429254154 meters Centerline goodness : 0.998999 Centerline is valid? [True, True] Translation: X:559.09, Y:7.11, Z:8.67 [[ 9.98532227e-01 -5.18841380e-02 -1.55379434e-02 5.59089404e+02] [ 5.18854827e-02 9.98652991e-01 -3.16833221e-04 7.11058894e+00] [ 1.55334523e-02 -4.89825513e-04 9.99879229e-01 8.67370756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.459254154 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:559.12, Y:7.11, Z:8.67 [[ 9.98520578e-01 -5.21078466e-02 -1.55379665e-02 5.59121954e+02] [ 5.21092361e-02 9.98641341e-01 -3.15694645e-04 7.11167685e+00] [ 1.55333059e-02 -4.94443967e-04 9.99879229e-01 8.67413191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.4892541539999 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:559.15, Y:7.11, Z:8.67 [[ 9.98535738e-01 -5.18165082e-02 -1.55379897e-02 5.59153266e+02] [ 5.18178803e-02 9.98656502e-01 -3.14550281e-04 7.11245344e+00] [ 1.55334133e-02 -4.91055993e-04 9.99879229e-01 8.67328880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.5192541539999 meters Centerline goodness : 0.999333 Centerline is valid? [True, True] Translation: X:559.19, Y:7.11, Z:8.67 [[ 9.98543932e-01 -5.16583516e-02 -1.55380273e-02 5.59185423e+02] [ 5.16597336e-02 9.98664696e-01 -3.12681659e-04 7.11301181e+00] [ 1.55334319e-02 -4.90463978e-04 9.99879229e-01 8.67391892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.549254154 meters Centerline goodness : 0.999146 Centerline is valid? [True, True] Translation: X:559.22, Y:7.11, Z:8.67 [[ 9.98546756e-01 -5.16037369e-02 -1.55380498e-02 5.59217851e+02] [ 5.16051297e-02 9.98667519e-01 -3.11559389e-04 7.11367832e+00] [ 1.55334233e-02 -4.90736458e-04 9.99879229e-01 8.67479276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.579254154 meters Centerline goodness : 0.999125 Centerline is valid? [True, True] Translation: X:559.25, Y:7.11, Z:8.67 [[ 9.98560747e-01 -5.13322787e-02 -1.55380726e-02 5.59249421e+02] [ 5.13336565e-02 9.98681510e-01 -3.10419827e-04 7.11394602e+00] [ 1.55335203e-02 -4.87653025e-04 9.99879229e-01 8.67400579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.6092541539999 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:559.28, Y:7.11, Z:8.68 [[ 9.98584066e-01 -5.08766310e-02 -1.55380895e-02 5.59281436e+02] [ 5.08779668e-02 9.98704830e-01 -3.09572121e-04 7.11446465e+00] [ 1.55337150e-02 -4.81412613e-04 9.99879229e-01 8.67551172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.6392541539999 meters Centerline goodness : 0.999479 Centerline is valid? [True, True] Translation: X:559.31, Y:7.12, Z:8.68 [[ 9.98614957e-01 -5.02666316e-02 -1.55381120e-02 5.59313204e+02] [ 5.02679113e-02 9.98735722e-01 -3.08434150e-04 7.11534585e+00] [ 1.55339715e-02 -4.73061483e-04 9.99879229e-01 8.67612138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.6692541539999 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:559.35, Y:7.12, Z:8.68 [[ 9.98648301e-01 -4.95997692e-02 -1.55381344e-02 5.59345518e+02] [ 4.96009858e-02 9.98769066e-01 -3.07301899e-04 7.11623709e+00] [ 1.55342501e-02 -4.63820266e-04 9.99879229e-01 8.67735991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.699254154 meters Centerline goodness : 0.999333 Centerline is valid? [True, True] Translation: X:559.38, Y:7.12, Z:8.68 [[ 9.98710029e-01 -4.83409146e-02 -1.55381574e-02 5.59376439e+02] [ 4.83419972e-02 9.98830795e-01 -3.06138387e-04 7.11747799e+00] [ 1.55347891e-02 -4.45402082e-04 9.99879229e-01 8.67736880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.7292541539999 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:559.41, Y:7.12, Z:8.68 [[ 9.98749325e-01 -4.75221094e-02 -1.55381744e-02 5.59408746e+02] [ 4.75231064e-02 9.98870092e-01 -3.05272260e-04 7.11835052e+00] [ 1.55351249e-02 -4.33531851e-04 9.99879229e-01 8.67783477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.7592541539999 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:559.44, Y:7.12, Z:8.68 [[ 9.98795543e-01 -4.65405948e-02 -1.55381968e-02 5.59440828e+02] [ 4.65414909e-02 9.98916311e-01 -3.04128374e-04 7.11896522e+00] [ 1.55355125e-02 -4.19408779e-04 9.99879229e-01 8.67842898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.7892541539999 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:559.47, Y:7.12, Z:8.68 [[ 9.98828065e-01 -4.58373262e-02 -1.55382190e-02 5.59472156e+02] [ 4.58381549e-02 9.98948833e-01 -3.02990883e-04 7.11955297e+00] [ 1.55357740e-02 -4.09607491e-04 9.99879229e-01 8.67872176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.819254154 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:559.50, Y:7.12, Z:8.68 [[ 9.98881306e-01 -4.46620628e-02 -1.55382354e-02 5.59504234e+02] [ 4.46627626e-02 9.99002075e-01 -3.02143624e-04 7.12038810e+00] [ 1.55362238e-02 -3.92174902e-04 9.99879229e-01 8.67987788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.8492541539999 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:559.54, Y:7.12, Z:8.68 [[ 9.98899312e-01 -4.42575178e-02 -1.55382570e-02 5.59536688e+02] [ 4.42581861e-02 9.99020081e-01 -3.01029026e-04 7.12132171e+00] [ 1.55363536e-02 -3.86997383e-04 9.99879229e-01 8.68101007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.8792541539999 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:559.57, Y:7.12, Z:8.68 [[ 9.98913759e-01 -4.39302166e-02 -1.55382788e-02 5.59568175e+02] [ 4.39308627e-02 9.99034529e-01 -2.99903033e-04 7.12223490e+00] [ 1.55364518e-02 -3.83032724e-04 9.99879229e-01 8.68171896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.9092541539999 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:559.60, Y:7.12, Z:8.68 [[ 9.98909667e-01 -4.40231520e-02 -1.55382895e-02 5.59599234e+02] [ 4.40238181e-02 9.99030437e-01 -2.99344729e-04 7.12301966e+00] [ 1.55364023e-02 -3.85036487e-04 9.99879229e-01 8.68225797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.939254154 meters Centerline goodness : 0.999271 Centerline is valid? [True, True] Translation: X:559.63, Y:7.12, Z:8.68 [[ 9.98872042e-01 -4.48687415e-02 -1.55383056e-02 5.59630624e+02] [ 4.48695228e-02 9.98992811e-01 -2.98509770e-04 7.12319175e+00] [ 1.55360493e-02 -3.99023291e-04 9.99879229e-01 8.68294239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.9692541539999 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:559.66, Y:7.12, Z:8.68 [[ 9.98839940e-01 -4.55777869e-02 -1.55383161e-02 5.59661784e+02] [ 4.55786624e-02 9.98960708e-01 -2.97959309e-04 7.12363071e+00] [ 1.55357476e-02 -4.10602007e-04 9.99879229e-01 8.68344479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.9992541539999 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:559.69, Y:7.12, Z:8.68 [[ 9.98803932e-01 -4.63601783e-02 -1.55383266e-02 5.59693610e+02] [ 4.63611570e-02 9.98924699e-01 -2.97410844e-04 7.12422321e+00] [ 1.55354062e-02 -4.23319678e-04 9.99879229e-01 8.68397745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.0292541539999 meters Centerline goodness : 0.999479 Centerline is valid? [True, True] Translation: X:559.73, Y:7.12, Z:8.68 [[ 9.98752786e-01 -4.74492684e-02 -1.55383478e-02 5.59725678e+02] [ 4.74503960e-02 9.98873552e-01 -2.96299164e-04 7.12495381e+00] [ 1.55349038e-02 -4.41371141e-04 9.99879229e-01 8.68474796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.059254154 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:559.76, Y:7.13, Z:8.68 [[ 9.98651620e-01 -4.95328174e-02 -1.55383697e-02 5.59757167e+02] [ 4.95342150e-02 9.98772384e-01 -2.95148168e-04 7.12614095e+00] [ 1.55339140e-02 -4.74930747e-04 9.99879229e-01 8.68376765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.089254154 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:559.79, Y:7.13, Z:8.68 [[ 9.98583343e-01 -5.08907309e-02 -1.55383859e-02 5.59789244e+02] [ 5.08923060e-02 9.98704104e-01 -2.94289713e-04 7.12727173e+00] [ 1.55332264e-02 -4.96911486e-04 9.99879229e-01 8.68398671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.1192541539999 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:559.82, Y:7.13, Z:8.69 [[ 9.98506630e-01 -5.23742973e-02 -1.55384060e-02 5.59821255e+02] [ 5.23760683e-02 9.98627389e-01 -2.93225136e-04 7.12836183e+00] [ 1.55324353e-02 -5.21053373e-04 9.99879229e-01 8.68516205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.1492541539999 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:559.85, Y:7.13, Z:8.69 [[ 9.98419685e-01 -5.40063830e-02 -1.55384278e-02 5.59852878e+02] [ 5.40083695e-02 9.98540440e-01 -2.92066573e-04 7.12899439e+00] [ 1.55315220e-02 -5.47600133e-04 9.99879229e-01 8.68503072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.179254154 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:559.88, Y:7.13, Z:8.69 [[ 9.98309606e-01 -5.60043398e-02 -1.55384638e-02 5.59883614e+02] [ 5.60065979e-02 9.98430357e-01 -2.90139013e-04 7.12950774e+00] [ 1.55303230e-02 -5.80607929e-04 9.99879229e-01 8.68562695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.209254154 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:559.91, Y:7.13, Z:8.69 [[ 9.98045377e-01 -6.05308307e-02 -1.55384793e-02 5.59914369e+02] [ 6.05336492e-02 9.98166115e-01 -2.89306323e-04 7.13066400e+00] [ 1.55274955e-02 -6.51860016e-04 9.99879229e-01 8.68632961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.2392541539999 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:559.95, Y:7.13, Z:8.69 [[ 9.97929164e-01 -6.24174629e-02 -1.55384946e-02 5.59946988e+02] [ 6.24205225e-02 9.98049896e-01 -2.88481169e-04 7.13162888e+00] [ 1.55261992e-02 -6.82037181e-04 9.99879229e-01 8.68700059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.2692541539999 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:559.98, Y:7.13, Z:8.69 [[ 9.97819123e-01 -6.41525704e-02 -1.55385154e-02 5.59979069e+02] [ 6.41558574e-02 9.97939850e-01 -2.87357192e-04 7.13262710e+00] [ 1.55249384e-02 -7.10156277e-04 9.99879229e-01 8.68749101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.299254154 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:560.01, Y:7.13, Z:8.69 [[ 9.97629803e-01 -6.70323023e-02 -1.55385364e-02 5.60009761e+02] [ 6.70359554e-02 9.97750519e-01 -2.86218085e-04 7.13488388e+00] [ 1.55227686e-02 -7.56100940e-04 9.99879229e-01 8.68790318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.329254154 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:560.04, Y:7.14, Z:8.69 [[ 9.97592803e-01 -6.75807076e-02 -1.55385702e-02 5.60041500e+02] [ 6.75844558e-02 9.97713516e-01 -2.84367212e-04 7.13623974e+00] [ 1.55222593e-02 -7.66483130e-04 9.99879229e-01 8.68828439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.3592541539999 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:560.07, Y:7.14, Z:8.69 [[ 9.97489509e-01 -6.90885817e-02 -1.55385909e-02 5.60072527e+02] [ 6.90925300e-02 9.97610216e-01 -2.83235412e-04 7.13818204e+00] [ 1.55210253e-02 -7.91076204e-04 9.99879229e-01 8.68867171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.3892541539999 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:560.10, Y:7.14, Z:8.69 [[ 9.97382451e-01 -7.06172696e-02 -1.55386062e-02 5.60104017e+02] [ 7.06214160e-02 9.97503151e-01 -2.82392005e-04 7.14138089e+00] [ 1.55197504e-02 -8.15705543e-04 9.99879229e-01 8.68865289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.4192541539999 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:560.14, Y:7.14, Z:8.69 [[ 9.97353557e-01 -7.10241811e-02 -1.55386212e-02 5.60136624e+02] [ 7.10283896e-02 9.97474255e-01 -2.81562703e-04 7.14359382e+00] [ 1.55193724e-02 -8.22865680e-04 9.99879229e-01 8.68934610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.449254154 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:560.17, Y:7.15, Z:8.69 [[ 9.97338424e-01 -7.12363618e-02 -1.55386417e-02 5.60168826e+02] [ 7.12406136e-02 9.97459120e-01 -2.80429448e-04 7.14574544e+00] [ 1.55191366e-02 -8.27299305e-04 9.99879229e-01 8.68968752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.4792541539999 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:560.20, Y:7.15, Z:8.69 [[ 9.97324258e-01 -7.14344023e-02 -1.55386670e-02 5.60202230e+02] [ 7.14387000e-02 9.97444953e-01 -2.79018101e-04 7.14795335e+00] [ 1.55188965e-02 -8.31790652e-04 9.99879229e-01 8.69074029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.5092541539999 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:560.23, Y:7.15, Z:8.69 [[ 9.97326147e-01 -7.14080262e-02 -1.55386975e-02 5.60234467e+02] [ 7.14123472e-02 9.97446841e-01 -2.77312233e-04 7.15014649e+00] [ 1.55188270e-02 -8.33084119e-04 9.99879229e-01 8.69128069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.5392541539999 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:560.27, Y:7.15, Z:8.69 [[ 9.97332188e-01 -7.13235915e-02 -1.55387226e-02 5.60266732e+02] [ 7.13279242e-02 9.97452882e-01 -2.75898920e-04 7.15441948e+00] [ 1.55188217e-02 -8.33181952e-04 9.99879229e-01 8.69165259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.569254154 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:560.30, Y:7.16, Z:8.69 [[ 9.97373905e-01 -7.07378307e-02 -1.55387463e-02 5.60299587e+02] [ 7.07421134e-02 9.97494601e-01 -2.74557565e-04 7.15700861e+00] [ 1.55192371e-02 -8.25407199e-04 9.99879229e-01 8.69248138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.5992541539999 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:560.33, Y:7.16, Z:8.69 [[ 9.97439770e-01 -6.98029496e-02 -1.55387761e-02 5.60331869e+02] [ 6.98071455e-02 9.97560468e-01 -2.72858811e-04 7.15974720e+00] [ 1.55199151e-02 -8.12557374e-04 9.99879229e-01 8.69271192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.6292541539999 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:560.37, Y:7.16, Z:8.69 [[ 9.97447329e-01 -6.96948453e-02 -1.55388007e-02 5.60365396e+02] [ 6.96990501e-02 9.97568027e-01 -2.71450002e-04 7.16023857e+00] [ 1.55199294e-02 -8.12282568e-04 9.99879229e-01 8.69323272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.6592541539999 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:560.40, Y:7.17, Z:8.69 [[ 9.97667225e-01 -6.64729446e-02 -1.55388299e-02 5.60398075e+02] [ 6.64767857e-02 9.97787936e-01 -2.69766020e-04 7.16598392e+00] [ 1.55223892e-02 -7.63834750e-04 9.99879229e-01 8.69377371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.689254154 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:560.43, Y:7.17, Z:8.69 [[ 9.97827513e-01 -6.40218620e-02 -1.55388601e-02 5.60431051e+02] [ 6.40254337e-02 9.97948231e-01 -2.68017852e-04 7.16909383e+00] [ 1.55241369e-02 -7.27446669e-04 9.99879229e-01 8.69436265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.7192541539999 meters Centerline goodness : 0.999062 Centerline is valid? [True, True] Translation: X:560.46, Y:7.17, Z:8.69 [[ 9.98009476e-01 -6.11197886e-02 -1.55388898e-02 5.60464426e+02] [ 6.11230362e-02 9.98130204e-01 -2.66282111e-04 7.17231602e+00] [ 1.55261104e-02 -6.84032056e-04 9.99879229e-01 8.69490494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.7492541539999 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:560.50, Y:7.18, Z:8.70 [[ 9.98349980e-01 -5.52798237e-02 -1.55389197e-02 5.60497375e+02] [ 5.52823922e-02 9.98470724e-01 -2.64527933e-04 7.17859215e+00] [ 1.55297795e-02 -5.94937197e-04 9.99879229e-01 8.69557741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.7792541539999 meters Centerline goodness : 0.998936 Centerline is valid? [True, True] Translation: X:560.53, Y:7.18, Z:8.70 [[ 9.98494457e-01 -5.26057123e-02 -1.55389495e-02 5.60528653e+02] [ 5.26079848e-02 9.98615207e-01 -2.62767145e-04 7.18197743e+00] [ 1.55312543e-02 -5.55101280e-04 9.99879229e-01 8.69606898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.809254154 meters Centerline goodness : 0.998765 Centerline is valid? [True, True] Translation: X:560.56, Y:7.19, Z:8.70 [[ 9.98755760e-01 -4.73864273e-02 -1.55389642e-02 5.60560645e+02] [ 4.73880822e-02 9.98876519e-01 -2.61896028e-04 7.18795614e+00] [ 1.55339168e-02 -4.74791544e-04 9.99879229e-01 8.69701463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.839254154 meters Centerline goodness : 0.998848 Centerline is valid? [True, True] Translation: X:560.59, Y:7.19, Z:8.70 [[ 9.98861941e-01 -4.50928233e-02 -1.55389833e-02 5.60592173e+02] [ 4.50942186e-02 9.98982704e-01 -2.60753690e-04 7.19082524e+00] [ 1.55349337e-02 -4.40261374e-04 9.99879229e-01 8.69781941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.8692541539999 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:560.62, Y:7.19, Z:8.70 [[ 9.98970857e-01 -4.26118213e-02 -1.55389976e-02 5.60624571e+02] [ 4.26129299e-02 9.99091623e-01 -2.59901658e-04 7.19338331e+00] [ 1.55359572e-02 -4.02528033e-04 9.99879229e-01 8.69860595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.8992541539999 meters Centerline goodness : 0.999015 Centerline is valid? [True, True] Translation: X:560.66, Y:7.20, Z:8.70 [[ 9.99061803e-01 -4.04234094e-02 -1.55390163e-02 5.60656426e+02] [ 4.04242709e-02 9.99182572e-01 -2.58776691e-04 7.19590423e+00] [ 1.55367749e-02 -3.69619497e-04 9.99879229e-01 8.69931852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.929254154 meters Centerline goodness : 0.998928 Centerline is valid? [True, True] Translation: X:560.69, Y:7.20, Z:8.70 [[ 9.99148835e-01 -3.82118401e-02 -1.55390348e-02 5.60688209e+02] [ 3.82124517e-02 9.99269604e-01 -2.57660387e-04 7.19842192e+00] [ 1.55375309e-02 -3.36343542e-04 9.99879229e-01 8.69992603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.959254154 meters Centerline goodness : 0.998885 Centerline is valid? [True, True] Translation: X:560.71, Y:7.21, Z:8.70 [[ 9.99066434e-01 -4.03087946e-02 -1.55390533e-02 5.60713949e+02] [ 4.03096770e-02 9.99187202e-01 -2.56541132e-04 7.20637819e+00] [ 1.55367640e-02 -3.70072587e-04 9.99879229e-01 8.70374099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.9892541539999 meters Centerline goodness : 0.998610 Centerline is valid? [True, True] Translation: X:560.75, Y:7.20, Z:8.70 [[ 9.99344971e-01 -3.26845695e-02 -1.55353789e-02 5.60747927e+02] [ 3.26811690e-02 9.99465716e-01 -4.72778121e-04 7.20478182e+00] [ 1.55425312e-02 -3.52459062e-05 9.99879207e-01 8.70052462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.0192541539999 meters Centerline goodness : 0.998692 Centerline is valid? [True, True] Translation: X:560.78, Y:7.21, Z:8.70 [[ 9.99386105e-01 -3.13999112e-02 -1.55389494e-02 5.60779148e+02] [ 3.13997177e-02 9.99506874e-01 -2.56485965e-04 7.20660184e+00] [ 1.55393404e-02 -2.31590116e-04 9.99879230e-01 8.70117865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.049254154 meters Centerline goodness : 0.998903 Centerline is valid? [True, True] Translation: X:560.81, Y:7.21, Z:8.70 [[ 9.99410403e-01 -3.06167928e-02 -1.55389587e-02 5.60809778e+02] [ 3.06165134e-02 9.99531172e-01 -2.55923299e-04 7.20814964e+00] [ 1.55395091e-02 -2.19976330e-04 9.99879230e-01 8.70113649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.079254154 meters Centerline goodness : 0.998838 Centerline is valid? [True, True] Translation: X:560.84, Y:7.21, Z:8.70 [[ 9.99398769e-01 -3.09942032e-02 -1.55389633e-02 5.60840155e+02] [ 3.09939738e-02 9.99519539e-01 -2.55644324e-04 7.21025027e+00] [ 1.55394209e-02 -2.26123597e-04 9.99879230e-01 8.70080489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.1092541539999 meters Centerline goodness : 0.998689 Centerline is valid? [True, True] Translation: X:560.87, Y:7.21, Z:8.70 [[ 9.99375003e-01 -3.17512875e-02 -1.55389676e-02 5.60871329e+02] [ 3.17511537e-02 9.99495772e-01 -2.55378715e-04 7.21093723e+00] [ 1.55392411e-02 -2.38161046e-04 9.99879230e-01 8.70132818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.1392541539999 meters Centerline goodness : 0.998816 Centerline is valid? [True, True] Translation: X:560.90, Y:7.21, Z:8.70 [[ 9.99339591e-01 -3.28469418e-02 -1.55389767e-02 5.60902904e+02] [ 3.28469490e-02 9.99460361e-01 -2.54824769e-04 7.21153839e+00] [ 1.55389615e-02 -2.55751496e-04 9.99879230e-01 8.70151473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.1692541539999 meters Centerline goodness : 0.998801 Centerline is valid? [True, True] Translation: X:560.93, Y:7.21, Z:8.70 [[ 9.99229527e-01 -3.60401566e-02 -1.55389858e-02 5.60934298e+02] [ 3.60405583e-02 9.99350296e-01 -2.54271056e-04 7.21217509e+00] [ 1.55380540e-02 -3.05958577e-04 9.99879230e-01 8.70101927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.199254154 meters Centerline goodness : 0.998838 Centerline is valid? [True, True] Translation: X:560.97, Y:7.21, Z:8.70 [[ 9.99156735e-01 -3.80047033e-02 -1.55389993e-02 5.60966224e+02] [ 3.80053553e-02 9.99277503e-01 -2.53442858e-04 7.21252992e+00] [ 1.55374044e-02 -3.37336050e-04 9.99879230e-01 8.70304755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.2292541539999 meters Centerline goodness : 0.998713 Centerline is valid? [True, True] Translation: X:561.00, Y:7.21, Z:8.70 [[ 9.99077945e-01 -4.00224758e-02 -1.55390176e-02 5.60997684e+02] [ 4.00233892e-02 9.99198711e-01 -2.52315731e-04 7.21249252e+00] [ 1.55366646e-02 -3.69841067e-04 9.99879230e-01 8.70356982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.2592541539999 meters Centerline goodness : 0.998713 Centerline is valid? [True, True] Translation: X:561.03, Y:7.21, Z:8.70 [[ 9.98988540e-01 -4.21952168e-02 -1.55390312e-02 5.61029979e+02] [ 4.21964059e-02 9.99109303e-01 -2.51475783e-04 7.21266840e+00] [ 1.55358017e-02 -4.04469842e-04 9.99879230e-01 8.70450817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.2892541539999 meters Centerline goodness : 0.998780 Centerline is valid? [True, True] Translation: X:561.06, Y:7.21, Z:8.71 [[ 9.98717049e-01 -4.81953722e-02 -1.55390491e-02 5.61060662e+02] [ 4.81973041e-02 9.98837803e-01 -2.50362653e-04 7.21375953e+00] [ 1.55330560e-02 -4.98898825e-04 9.99879230e-01 8.70588509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.319254154 meters Centerline goodness : 0.998777 Centerline is valid? [True, True] Translation: X:561.09, Y:7.21, Z:8.71 [[ 9.98693168e-01 -4.86878715e-02 -1.55385546e-02 5.61093286e+02] [ 4.86893847e-02 9.98813929e-01 -2.81128150e-04 7.21222939e+00] [ 1.55338123e-02 -4.75801899e-04 9.99879230e-01 8.70512306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.3492541539999 meters Centerline goodness : 0.998903 Centerline is valid? [True, True] Translation: X:561.13, Y:7.21, Z:8.71 [[ 9.98576674e-01 -5.10212028e-02 -1.55391004e-02 5.61125293e+02] [ 5.10235324e-02 9.98697421e-01 -2.46758158e-04 7.21207999e+00] [ 1.55314494e-02 -5.46452851e-04 9.99879230e-01 8.70545777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.3792541539999 meters Centerline goodness : 0.998902 Centerline is valid? [True, True] Translation: X:561.16, Y:7.21, Z:8.71 [[ 9.98463721e-01 -5.31858429e-02 -1.55391173e-02 5.61157852e+02] [ 5.31884508e-02 9.98584462e-01 -2.45689337e-04 7.21196332e+00] [ 1.55301883e-02 -5.81189685e-04 9.99879230e-01 8.70563369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.4092541539999 meters Centerline goodness : 0.998840 Centerline is valid? [True, True] Translation: X:561.19, Y:7.21, Z:8.71 [[ 9.98236038e-01 -5.73005005e-02 -1.55391342e-02 5.61191189e+02] [ 5.73036227e-02 9.98356767e-01 -2.44615739e-04 7.21121798e+00] [ 1.55276164e-02 -6.46264435e-04 9.99879230e-01 8.70634664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.439254154 meters Centerline goodness : 0.999052 Centerline is valid? [True, True] Translation: X:561.22, Y:7.21, Z:8.71 [[ 9.98148982e-01 -5.87974811e-02 -1.55391614e-02 5.61224710e+02] [ 5.88008114e-02 9.98269706e-01 -2.42875774e-04 7.21110107e+00] [ 1.55265545e-02 -6.71289090e-04 9.99879230e-01 8.70695213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.4692541539999 meters Centerline goodness : 0.998696 Centerline is valid? [True, True] Translation: X:561.26, Y:7.21, Z:8.71 [[ 9.98077251e-01 -6.00027940e-02 -1.55391886e-02 5.61257389e+02] [ 6.00062974e-02 9.98197969e-01 -2.41119040e-04 7.21131822e+00] [ 1.55256543e-02 -6.91793744e-04 9.99879230e-01 8.70744966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.4992541539999 meters Centerline goodness : 0.998884 Centerline is valid? [True, True] Translation: X:561.29, Y:7.21, Z:8.71 [[ 9.97994306e-01 -6.13669090e-02 -1.55392156e-02 5.61289331e+02] [ 6.13706046e-02 9.98115019e-01 -2.39367346e-04 7.21191846e+00] [ 1.55246137e-02 -7.14763809e-04 9.99879230e-01 8.70807718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.5292541539999 meters Centerline goodness : 0.998786 Centerline is valid? [True, True] Translation: X:561.32, Y:7.21, Z:8.71 [[ 9.97984561e-01 -6.15251894e-02 -1.55392378e-02 5.61321578e+02] [ 6.15289267e-02 9.98105272e-01 -2.37916922e-04 7.21273954e+00] [ 1.55244331e-02 -7.18675209e-04 9.99879230e-01 8.70845629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.559254154 meters Centerline goodness : 0.998908 Centerline is valid? [True, True] Translation: X:561.35, Y:7.22, Z:8.71 [[ 9.97888430e-01 -6.30651422e-02 -1.55392801e-02 5.61352547e+02] [ 6.30691092e-02 9.98009134e-01 -2.35121562e-04 7.21573695e+00] [ 1.55231715e-02 -7.45423468e-04 9.99879230e-01 8.70887150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.589254154 meters Centerline goodness : 0.998908 Centerline is valid? [True, True] Translation: X:561.38, Y:7.21, Z:8.71 [[ 9.98030706e-01 -6.07720617e-02 -1.55392044e-02 5.61384049e+02] [ 6.07756733e-02 9.98151421e-01 -2.40146264e-04 7.21433298e+00] [ 1.55250732e-02 -7.04732266e-04 9.99879230e-01 8.70888238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.6192541539999 meters Centerline goodness : 0.998800 Centerline is valid? [True, True] Translation: X:561.42, Y:7.22, Z:8.71 [[ 9.98118312e-01 -5.93157934e-02 -1.55393437e-02 5.61417075e+02] [ 5.93193745e-02 9.98239029e-01 -2.30766377e-04 7.21578187e+00] [ 1.55256675e-02 -6.91452004e-04 9.99879230e-01 8.70915391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.6492541539999 meters Centerline goodness : 0.998552 Centerline is valid? [True, True] Translation: X:561.45, Y:7.22, Z:8.71 [[ 9.98186270e-01 -5.81609709e-02 -1.55393690e-02 5.61449540e+02] [ 5.81644391e-02 9.98306990e-01 -2.29050844e-04 7.21668473e+00] [ 1.55263825e-02 -6.75203275e-04 9.99879230e-01 8.70946546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.679254154 meters Centerline goodness : 0.998927 Centerline is valid? [True, True] Translation: X:561.48, Y:7.22, Z:8.71 [[ 9.98264179e-01 -5.68080623e-02 -1.55393898e-02 5.61482026e+02] [ 5.68113889e-02 9.98384903e-01 -2.27631555e-04 7.21761152e+00] [ 1.55272235e-02 -6.55577891e-04 9.99879230e-01 8.70950441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.709254154 meters Centerline goodness : 0.998779 Centerline is valid? [True, True] Translation: X:561.52, Y:7.22, Z:8.71 [[ 9.98351616e-01 -5.52501341e-02 -1.55394103e-02 5.61515031e+02] [ 5.52532941e-02 9.98472344e-01 -2.26227341e-04 7.21854230e+00] [ 1.55281705e-02 -6.32749173e-04 9.99879230e-01 8.71033835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.7392541539999 meters Centerline goodness : 0.999096 Centerline is valid? [True, True] Translation: X:561.55, Y:7.22, Z:8.71 [[ 9.98562814e-01 -5.12916431e-02 -1.55394348e-02 5.61548203e+02] [ 5.12943509e-02 9.98683553e-01 -2.24529436e-04 7.22053696e+00] [ 1.55304944e-02 -5.72878475e-04 9.99879230e-01 8.71095794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.7692541539999 meters Centerline goodness : 0.999137 Centerline is valid? [True, True] Translation: X:561.58, Y:7.22, Z:8.71 [[ 9.98692628e-01 -4.86986606e-02 -1.55394592e-02 5.61579071e+02] [ 4.87010813e-02 9.98813373e-01 -2.22827515e-04 7.22179414e+00] [ 1.55318711e-02 -5.34252268e-04 9.99879230e-01 8.71116388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.799254154 meters Centerline goodness : 0.999094 Centerline is valid? [True, True] Translation: X:561.61, Y:7.22, Z:8.71 [[ 9.98834382e-01 -4.56990439e-02 -1.55394712e-02 5.61611519e+02] [ 4.57011151e-02 9.98955134e-01 -2.21985676e-04 7.22309532e+00] [ 1.55333791e-02 -4.88444237e-04 9.99879230e-01 8.71162257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.829254154 meters Centerline goodness : 0.999030 Centerline is valid? [True, True] Translation: X:561.64, Y:7.23, Z:8.71 [[ 9.99083959e-01 -3.98718975e-02 -1.55394875e-02 5.61642453e+02] [ 3.98732821e-02 9.99204720e-01 -2.20840084e-04 7.22559050e+00] [ 1.55359346e-02 -3.98972583e-04 9.99879230e-01 8.71055565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.8592541539999 meters Centerline goodness : 0.999241 Centerline is valid? [True, True] Translation: X:561.67, Y:7.23, Z:8.71 [[ 9.99195811e-01 -3.69628787e-02 -1.55395131e-02 5.61674505e+02] [ 3.69639399e-02 9.99316576e-01 -2.19020402e-04 7.22714055e+00] [ 1.55369887e-02 -3.55557362e-04 9.99879230e-01 8.71114103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.8892541539999 meters Centerline goodness : 0.998988 Centerline is valid? [True, True] Translation: X:561.71, Y:7.23, Z:8.71 [[ 9.99300660e-01 -3.40104920e-02 -1.55395286e-02 5.61707078e+02] [ 3.40112136e-02 9.99421428e-01 -2.17916301e-04 7.22835258e+00] [ 1.55379493e-02 -3.10754324e-04 9.99879230e-01 8.71143870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.9192541539999 meters Centerline goodness : 0.998902 Centerline is valid? [True, True] Translation: X:561.74, Y:7.23, Z:8.71 [[ 9.99380040e-01 -3.15920622e-02 -1.55395441e-02 5.61738750e+02] [ 3.15925086e-02 9.99500809e-01 -2.16811158e-04 7.22965643e+00] [ 1.55386364e-02 -2.74256436e-04 9.99879230e-01 8.71207971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.949254154 meters Centerline goodness : 0.998859 Centerline is valid? [True, True] Translation: X:561.77, Y:7.23, Z:8.71 [[ 9.99507882e-01 -2.72491484e-02 -1.55395594e-02 5.61769944e+02] [ 2.72490872e-02 9.99628651e-01 -2.15708432e-04 7.23102292e+00] [ 1.55396666e-02 -2.07836531e-04 9.99879230e-01 8.71357319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.9792541539999 meters Centerline goodness : 0.998860 Centerline is valid? [True, True] Translation: X:561.80, Y:7.23, Z:8.71 [[ 9.99554941e-01 -2.54645019e-02 -1.55395673e-02 5.61800081e+02] [ 2.54642340e-02 9.99675711e-01 -2.15132508e-04 7.23165416e+00] [ 1.55400063e-02 -1.80666417e-04 9.99879230e-01 8.71389926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.0092541539999 meters Centerline goodness : 0.998965 Centerline is valid? [True, True] Translation: X:561.83, Y:7.23, Z:8.71 [[ 9.99592161e-01 -2.39590041e-02 -1.55395713e-02 5.61830452e+02] [ 2.39585588e-02 9.99712929e-01 -2.14847263e-04 7.23208900e+00] [ 1.55402578e-02 -1.57546092e-04 9.99879230e-01 8.71481670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.0392541539999 meters Centerline goodness : 0.998796 Centerline is valid? [True, True] Translation: X:561.85, Y:7.24, Z:8.71 [[ 9.99493746e-01 -2.77628082e-02 -1.55395713e-02 5.61851017e+02] [ 2.77628225e-02 9.99614515e-01 -2.14847263e-04 7.24189646e+00] [ 1.55395458e-02 -2.16683862e-04 9.99879230e-01 8.71425716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.069254154 meters Centerline goodness : 0.998815 Centerline is valid? [True, True] Translation: X:561.89, Y:7.23, Z:8.71 [[ 9.99691534e-01 -1.93799912e-02 -1.55322898e-02 5.61888934e+02] [ 1.93713834e-02 9.99812109e-01 -7.04457166e-04 7.23298113e+00] [ 1.55430238e-02 4.03357924e-04 9.99879119e-01 8.71497833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.0992541539999 meters Centerline goodness : 0.999112 Centerline is valid? [True, True] Translation: X:561.92, Y:7.23, Z:8.72 [[ 9.99686232e-01 -1.96469022e-02 -1.55382391e-02 5.61918476e+02] [ 1.96449413e-02 9.99806981e-01 -2.78834819e-04 7.23324436e+00] [ 1.55407182e-02 -2.65004651e-05 9.99879235e-01 8.71589156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.1292541539999 meters Centerline goodness : 0.999131 Centerline is valid? [True, True] Translation: X:561.95, Y:7.23, Z:8.72 [[ 9.99725387e-01 -1.75409893e-02 -1.55391031e-02 5.61947518e+02] [ 1.75397358e-02 9.99846143e-01 -2.16957383e-04 7.23279989e+00] [ 1.55405179e-02 -5.56539587e-05 9.99879237e-01 8.71518312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.1592541539999 meters Centerline goodness : 0.999005 Centerline is valid? [True, True] Translation: X:561.98, Y:7.23, Z:8.72 [[ 9.99694799e-01 -1.92063241e-02 -1.55378813e-02 5.61977183e+02] [ 1.92039201e-02 9.99815542e-01 -3.03924363e-04 7.23344633e+00] [ 1.55408525e-02 5.44337399e-06 9.99879234e-01 8.71654599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.189254154 meters Centerline goodness : 0.998920 Centerline is valid? [True, True] Translation: X:562.01, Y:7.23, Z:8.72 [[ 9.99690712e-01 -1.94169389e-02 -1.55390673e-02 5.62005641e+02] [ 1.94158607e-02 9.99811470e-01 -2.20261090e-04 7.23203703e+00] [ 1.55404145e-02 -8.15113993e-05 9.99879237e-01 8.71669125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.2192541539999 meters Centerline goodness : 0.998857 Centerline is valid? [True, True] Translation: X:562.03, Y:7.23, Z:8.72 [[ 9.99685873e-01 -1.96645721e-02 -1.55390097e-02 5.62033353e+02] [ 1.96634618e-02 9.99806630e-01 -2.24253129e-04 7.23149039e+00] [ 1.55404147e-02 -8.13680379e-05 9.99879237e-01 8.71629916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.2492541539999 meters Centerline goodness : 0.998962 Centerline is valid? [True, True] Translation: X:562.06, Y:7.23, Z:8.72 [[ 9.99674607e-01 -2.02292163e-02 -1.55389345e-02 5.62061637e+02] [ 2.02280946e-02 9.99795365e-01 -2.29365175e-04 7.23127802e+00] [ 1.55403946e-02 -8.50324970e-05 9.99879237e-01 8.71664422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.2792541539999 meters Centerline goodness : 0.999089 Centerline is valid? [True, True] Translation: X:562.09, Y:7.23, Z:8.72 [[ 9.99664493e-01 -2.07230433e-02 -1.55388720e-02 5.62091061e+02] [ 2.07219164e-02 9.99785251e-01 -2.33544625e-04 7.23113214e+00] [ 1.55403748e-02 -8.85289377e-05 9.99879237e-01 8.71761553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.309254154 meters Centerline goodness : 0.998688 Centerline is valid? [True, True] Translation: X:562.12, Y:7.23, Z:8.72 [[ 9.99639224e-01 -2.19080856e-02 -1.55388774e-02 5.62119290e+02] [ 2.19071074e-02 9.99759983e-01 -2.33186209e-04 7.23004163e+00] [ 1.55402564e-02 -1.07309774e-04 9.99879237e-01 8.71612717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.339254154 meters Centerline goodness : 0.998708 Centerline is valid? [True, True] Translation: X:562.14, Y:7.24, Z:8.72 [[ 9.99442332e-01 -2.95562815e-02 -1.55387083e-02 5.62139508e+02] [ 2.95560536e-02 9.99563095e-01 -2.44365623e-04 7.23896202e+00] [ 1.55391419e-02 -2.15033546e-04 9.99879237e-01 8.71705060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.3692541539999 meters Centerline goodness : 0.998900 Centerline is valid? [True, True] Translation: X:562.17, Y:7.24, Z:8.72 [[ 9.99453664e-01 -2.91748536e-02 -1.55306789e-02 5.62171382e+02] [ 2.91665273e-02 9.99574276e-01 -7.62401857e-04 7.23793682e+00] [ 1.55463101e-02 3.09009358e-04 9.99879101e-01 8.71706262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.3992541539999 meters Centerline goodness : 0.998796 Centerline is valid? [True, True] Translation: X:562.21, Y:7.23, Z:8.72 [[ 9.99615518e-01 -2.29698803e-02 -1.55306572e-02 5.62211474e+02] [ 2.29607836e-02 9.99736075e-01 -7.63806802e-04 7.22619462e+00] [ 1.55441028e-02 4.06917072e-04 9.99879100e-01 8.71688577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.429254154 meters Centerline goodness : 0.998902 Centerline is valid? [True, True] Translation: X:562.24, Y:7.23, Z:8.72 [[ 9.99612342e-01 -2.31024950e-02 -1.55383801e-02 5.62241235e+02] [ 2.31018502e-02 9.99733092e-01 -2.21015705e-04 7.22521129e+00] [ 1.55393388e-02 -1.38035302e-04 9.99879248e-01 8.71682468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.459254154 meters Centerline goodness : 0.994851 Centerline is valid? [True, True] Translation: X:562.27, Y:7.22, Z:8.71 [[ 9.99648846e-01 -2.14649206e-02 -1.55383761e-02 5.62269567e+02] [ 2.14640736e-02 9.99769596e-01 -2.21295487e-04 7.22344618e+00] [ 1.55395461e-02 -1.12299071e-04 9.99879248e-01 8.71454583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.4892541539999 meters Centerline goodness : 0.998668 Centerline is valid? [True, True] Translation: X:562.30, Y:7.22, Z:8.72 [[ 9.99628308e-01 -2.24014008e-02 -1.55377949e-02 5.62299350e+02] [ 2.24000412e-02 9.99749053e-01 -2.61554616e-04 7.22331650e+00] [ 1.55397549e-02 -8.65898474e-05 9.99879247e-01 8.71848237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.5192541539999 meters Centerline goodness : 0.998668 Centerline is valid? [True, True] Translation: X:562.33, Y:7.22, Z:8.72 [[ 9.99627510e-01 -2.24366219e-02 -1.55383250e-02 5.62329497e+02] [ 2.24358358e-02 9.99748260e-01 -2.24934857e-04 7.22376578e+00] [ 1.55394602e-02 -1.23764237e-04 9.99879248e-01 8.71894022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.549254154 meters Centerline goodness : 0.998648 Centerline is valid? [True, True] Translation: X:562.36, Y:7.22, Z:8.72 [[ 9.99647110e-01 -2.15456908e-02 -1.55383169e-02 5.62359540e+02] [ 2.15447884e-02 9.99767859e-01 -2.25491250e-04 7.22309982e+00] [ 1.55395682e-02 -1.09358074e-04 9.99879248e-01 8.71939383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.579254154 meters Centerline goodness : 0.994605 Centerline is valid? [True, True] Translation: X:562.38, Y:7.23, Z:8.72 [[ 9.99665768e-01 -2.06619009e-02 -1.55383088e-02 5.62383349e+02] [ 2.06608830e-02 9.99786516e-01 -2.26050998e-04 7.22516888e+00] [ 1.55396623e-02 -9.50597350e-05 9.99879248e-01 8.71575303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.6092541539999 meters Centerline goodness : 0.998714 Centerline is valid? [True, True] Translation: X:562.42, Y:7.22, Z:8.72 [[ 9.99699929e-01 -1.89406202e-02 -1.55340029e-02 5.62418692e+02] [ 1.89348800e-02 9.99820586e-01 -5.16529704e-04 7.22167779e+00] [ 1.55409993e-02 2.22240226e-04 9.99879207e-01 8.72004196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.6392541539999 meters Centerline goodness : 0.994888 Centerline is valid? [True, True] Translation: X:562.44, Y:7.22, Z:8.72 [[ 9.99746473e-01 -1.62958379e-02 -1.55382138e-02 5.62443048e+02] [ 1.62943485e-02 9.99867214e-01 -2.22458225e-04 7.22317430e+00] [ 1.55397757e-02 -3.07832443e-05 9.99879250e-01 8.71651585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.6692541539999 meters Centerline goodness : 0.998737 Centerline is valid? [True, True] Translation: X:562.48, Y:7.22, Z:8.72 [[ 9.99765107e-01 -1.51141577e-02 -1.55335880e-02 5.62477396e+02] [ 1.51078198e-02 9.99885732e-01 -5.25285250e-04 7.21986650e+00] [ 1.55397523e-02 2.90483216e-04 9.99879209e-01 8.71987702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.699254154 meters Centerline goodness : 0.998819 Centerline is valid? [True, True] Translation: X:562.51, Y:7.22, Z:8.72 [[ 9.99781538e-01 -1.39803018e-02 -1.55379607e-02 5.62505708e+02] [ 1.39784117e-02 9.99902271e-01 -2.30244314e-04 7.21910935e+00] [ 1.55396610e-02 1.29980026e-05 9.99879252e-01 8.72027945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.7292541539999 meters Centerline goodness : 0.998988 Centerline is valid? [True, True] Translation: X:562.53, Y:7.22, Z:8.72 [[ 9.99794409e-01 -1.30274462e-02 -1.55378944e-02 5.62533120e+02] [ 1.30253729e-02 9.99915139e-01 -2.34631753e-04 7.21854676e+00] [ 1.55396325e-02 3.21966455e-05 9.99879252e-01 8.72134979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.7592541539999 meters Centerline goodness : 0.999028 Centerline is valid? [True, True] Translation: X:562.56, Y:7.22, Z:8.72 [[ 9.99826028e-01 -1.03193837e-02 -1.55378250e-02 5.62561008e+02] [ 1.03169133e-02 9.99946751e-01 -2.39142416e-04 7.21645265e+00] [ 1.55394654e-02 7.87984187e-05 9.99879252e-01 8.72141910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.7892541539999 meters Centerline goodness : 0.998944 Centerline is valid? [True, True] Translation: X:562.59, Y:7.22, Z:8.72 [[ 9.99835305e-01 -9.37758334e-03 -1.55378034e-02 5.62589118e+02] [ 9.37497754e-03 9.99956025e-01 -2.40537335e-04 7.21605426e+00] [ 1.55393758e-02 9.48311617e-05 9.99879252e-01 8.72235384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.819254154 meters Centerline goodness : 0.998818 Centerline is valid? [True, True] Translation: X:562.62, Y:7.21, Z:8.72 [[ 9.99866736e-01 -5.00884058e-03 -1.55377327e-02 5.62623541e+02] [ 5.00563772e-03 9.99987442e-01 -2.45018057e-04 7.21205334e+00] [ 1.55387649e-02 1.67209144e-04 9.99879252e-01 8.72225287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.8492541539999 meters Centerline goodness : 0.998988 Centerline is valid? [True, True] Translation: X:562.65, Y:7.21, Z:8.72 [[ 9.99851038e-01 -7.50624630e-03 -1.55421520e-02 5.62647415e+02] [ 7.50774597e-03 9.99971816e-01 3.81450186e-05 7.21404381e+00] [ 1.55414276e-02 -1.54825865e-04 9.99879213e-01 8.72227296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.8792541539999 meters Centerline goodness : 0.998903 Centerline is valid? [True, True] Translation: X:562.68, Y:7.21, Z:8.72 [[ 9.99848078e-01 -7.89988198e-03 -1.55374570e-02 5.62675093e+02] [ 7.89692424e-03 9.99968787e-01 -2.51706675e-04 7.21322589e+00] [ 1.55389605e-02 1.28970314e-04 9.99879255e-01 8.72228131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.9092541539999 meters Centerline goodness : 0.999071 Centerline is valid? [True, True] Translation: X:562.70, Y:7.21, Z:8.72 [[ 9.99841551e-01 -8.68687226e-03 -1.55373820e-02 5.62702593e+02] [ 8.68393881e-03 9.99962261e-01 -2.56257364e-04 7.21215723e+00] [ 1.55390217e-02 1.21291086e-04 9.99879255e-01 8.72244442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.939254154 meters Centerline goodness : 0.999052 Centerline is valid? [True, True] Translation: X:562.73, Y:7.21, Z:8.72 [[ 9.99831617e-01 -9.76372901e-03 -1.55373060e-02 5.62730361e+02] [ 9.76085523e-03 9.99952328e-01 -2.60783873e-04 7.21101269e+00] [ 1.55391115e-02 1.09082567e-04 9.99879255e-01 8.72280420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.9692541539999 meters Centerline goodness : 0.998948 Centerline is valid? [True, True] Translation: X:562.76, Y:7.21, Z:8.72 [[ 9.99793272e-01 -1.31152073e-02 -1.55372285e-02 5.62759083e+02] [ 1.31126677e-02 9.99913990e-01 -2.65321827e-04 7.20779598e+00] [ 1.55393719e-02 6.15324637e-05 9.99879255e-01 8.72327050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.9992541539999 meters Centerline goodness : 0.998822 Centerline is valid? [True, True] Translation: X:562.79, Y:7.21, Z:8.73 [[ 9.99763621e-01 -1.52084371e-02 -1.55372091e-02 5.62787518e+02] [ 1.52061327e-02 9.99884345e-01 -2.66453150e-04 7.20714217e+00] [ 1.55394645e-02 3.01293030e-05 9.99879255e-01 8.72637366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.0292541539999 meters Centerline goodness : 0.999033 Centerline is valid? [True, True] Translation: X:562.82, Y:7.21, Z:8.72 [[ 9.99716325e-01 -1.80519249e-02 -1.55369788e-02 5.62815955e+02] [ 1.80497576e-02 9.99837051e-01 -2.79718641e-04 7.20504255e+00] [ 1.55394965e-02 -7.99409075e-07 9.99879255e-01 8.72443932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.059254154 meters Centerline goodness : 0.999140 Centerline is valid? [True, True] Translation: X:562.84, Y:7.21, Z:8.72 [[ 9.99608282e-01 -2.32783173e-02 -1.55371439e-02 5.62839016e+02] [ 2.32769288e-02 9.99729019e-01 -2.70223311e-04 7.20949103e+00] [ 1.55392240e-02 -9.15395329e-05 9.99879255e-01 8.72411450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.089254154 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] Translation: X:562.88, Y:7.20, Z:8.73 [[ 9.99581570e-01 -2.44007996e-02 -1.55333859e-02 5.62877032e+02] [ 2.43959796e-02 9.99702249e-01 -4.99738592e-04 7.19965067e+00] [ 1.55409548e-02 1.20577322e-04 9.99879225e-01 8.72696016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.1192541539999 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:562.91, Y:7.20, Z:8.73 [[ 9.99499184e-01 -2.75666754e-02 -1.55389862e-02 5.62905498e+02] [ 2.75677858e-02 9.99619926e-01 -1.42782636e-04 7.19799947e+00] [ 1.55370163e-02 -2.85664314e-04 9.99879252e-01 8.72543001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.1492541539999 meters Centerline goodness : 0.998914 Centerline is valid? [True, True] Translation: X:562.93, Y:7.20, Z:8.73 [[ 9.99410879e-01 -3.06020758e-02 -1.55373170e-02 5.62934700e+02] [ 3.06019244e-02 9.99531621e-01 -2.47551251e-04 7.19629745e+00] [ 1.55376153e-02 -2.28066388e-04 9.99879258e-01 8.72554752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.179254154 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:562.97, Y:7.19, Z:8.73 [[ 9.99215688e-01 -3.64225438e-02 -1.55373081e-02 5.62965081e+02] [ 3.64230869e-02 9.99336428e-01 -2.48110194e-04 7.19254555e+00] [ 1.55360348e-02 -3.18001125e-04 9.99879258e-01 8.72603307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.209254154 meters Centerline goodness : 0.998937 Centerline is valid? [True, True] Translation: X:563.00, Y:7.19, Z:8.73 [[ 9.99163014e-01 -3.78399718e-02 -1.55373081e-02 5.62995779e+02] [ 3.78406863e-02 9.99283754e-01 -2.48110194e-04 7.19094594e+00] [ 1.55355681e-02 -3.40039872e-04 9.99879258e-01 8.72628977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.2392541539999 meters Centerline goodness : 0.998875 Centerline is valid? [True, True] Translation: X:563.03, Y:7.19, Z:8.73 [[ 9.98973433e-01 -4.25518963e-02 -1.55375672e-02 5.63027947e+02] [ 4.25534303e-02 9.99094166e-01 -2.32017251e-04 7.18950587e+00] [ 1.55333656e-02 -4.29397715e-04 9.99879258e-01 8.72702603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.2692541539999 meters Centerline goodness : 0.999229 Centerline is valid? [True, True] Translation: X:563.06, Y:7.19, Z:8.73 [[ 9.98727327e-01 -4.79820169e-02 -1.55387499e-02 5.63059868e+02] [ 4.79853406e-02 9.98848027e-01 -1.59082475e-04 7.18588983e+00] [ 1.55284828e-02 -5.86752192e-04 9.99879254e-01 8.72836547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.299254154 meters Centerline goodness : 0.999125 Centerline is valid? [True, True] Translation: X:563.09, Y:7.18, Z:8.73 [[ 9.98690735e-01 -4.87375987e-02 -1.55390360e-02 5.63091122e+02] [ 4.87412865e-02 9.98811427e-01 -1.41533886e-04 7.18402796e+00] [ 1.55274648e-02 -6.16044027e-04 9.99879252e-01 8.72961702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.329254154 meters Centerline goodness : 0.999168 Centerline is valid? [True, True] Translation: X:563.12, Y:7.18, Z:8.73 [[ 9.98538637e-01 -5.17603017e-02 -1.55390232e-02 5.63122825e+02] [ 5.17643424e-02 9.98659318e-01 -1.42327968e-04 7.18343935e+00] [ 1.55255572e-02 -6.62247340e-04 9.99879252e-01 8.72837565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.3592541539999 meters Centerline goodness : 0.999044 Centerline is valid? [True, True] Translation: X:563.15, Y:7.18, Z:8.73 [[ 9.98431625e-01 -5.37849537e-02 -1.55392439e-02 5.63151473e+02] [ 5.37894514e-02 9.98552291e-01 -1.28665671e-04 7.18341808e+00] [ 1.55236678e-02 -7.07383529e-04 9.99879250e-01 8.72873460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.3892541539999 meters Centerline goodness : 0.999251 Centerline is valid? [True, True] Translation: X:563.18, Y:7.18, Z:8.73 [[ 9.98332338e-01 -5.55980245e-02 -1.55371640e-02 5.63182656e+02] [ 5.56007742e-02 9.98453048e-01 -2.55267432e-04 7.18177846e+00] [ 1.55273211e-02 -6.09036614e-04 9.99879258e-01 8.72845172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.4192541539999 meters Centerline goodness : 0.999252 Centerline is valid? [True, True] Translation: X:563.21, Y:7.18, Z:8.73 [[ 9.98331284e-01 -5.56169427e-02 -1.55371778e-02 5.63214850e+02] [ 5.56197078e-02 9.98451994e-01 -2.54423293e-04 7.18152083e+00] [ 1.55272764e-02 -6.10174557e-04 9.99879258e-01 8.72918246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.449254154 meters Centerline goodness : 0.999190 Centerline is valid? [True, True] Translation: X:563.25, Y:7.18, Z:8.73 [[ 9.98357714e-01 -5.51404557e-02 -1.55371961e-02 5.63246205e+02] [ 5.51431806e-02 9.98478425e-01 -2.53301437e-04 7.18178838e+00] [ 1.55275223e-02 -6.03884967e-04 9.99879258e-01 8.72917495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.4792541539999 meters Centerline goodness : 0.999231 Centerline is valid? [True, True] Translation: X:563.28, Y:7.18, Z:8.73 [[ 9.98414030e-01 -5.41111753e-02 -1.55372097e-02 5.63278344e+02] [ 5.41137888e-02 9.98534744e-01 -2.52464246e-04 7.18200544e+00] [ 1.55281049e-02 -5.88713439e-04 9.99879258e-01 8.72954409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.5092541539999 meters Centerline goodness : 0.999168 Centerline is valid? [True, True] Translation: X:563.31, Y:7.18, Z:8.73 [[ 9.98576017e-01 -5.10346201e-02 -1.55372274e-02 5.63311223e+02] [ 5.10368786e-02 9.98696738e-01 -2.51372612e-04 7.18236629e+00] [ 1.55298070e-02 -5.41956925e-04 9.99879258e-01 8.73123682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.5392541539999 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:563.34, Y:7.18, Z:8.73 [[ 9.98620428e-01 -5.01578005e-02 -1.55382258e-02 5.63340799e+02] [ 5.01609162e-02 9.98741131e-01 -1.89392534e-04 7.18352816e+00] [ 1.55281647e-02 -5.90280389e-04 9.99879257e-01 8.73063206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.569254154 meters Centerline goodness : 0.996379 Centerline is valid? [True, True] Translation: X:563.37, Y:7.19, Z:8.73 [[ 9.98632527e-01 -4.99166409e-02 -1.55372365e-02 5.63370675e+02] [ 4.99187746e-02 9.98753249e-01 -2.50705044e-04 7.18624669e+00] [ 1.55303798e-02 -5.25237596e-04 9.99879258e-01 8.72859256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.5992541539999 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:563.40, Y:7.19, Z:8.73 [[ 9.98781549e-01 -4.68407869e-02 -1.55357141e-02 5.63404314e+02] [ 4.68410905e-02 9.98902294e-01 -3.44537966e-04 7.18518190e+00] [ 1.55347989e-02 -3.83591626e-04 9.99879254e-01 8.73401137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.6292541539999 meters Centerline goodness : 0.999085 Centerline is valid? [True, True] Translation: X:563.43, Y:7.19, Z:8.73 [[ 9.98796162e-01 -4.65269620e-02 -1.55392448e-02 5.63432460e+02] [ 4.65303899e-02 9.98916865e-01 -1.41069098e-04 7.18836411e+00] [ 1.55289772e-02 -5.82147845e-04 9.99879249e-01 8.73165890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.6592541539999 meters Centerline goodness : 0.999105 Centerline is valid? [True, True] Translation: X:563.46, Y:7.19, Z:8.73 [[ 9.98872689e-01 -4.48548251e-02 -1.55369226e-02 5.63459076e+02] [ 4.48559980e-02 9.98993426e-01 -2.73161121e-04 7.19070380e+00] [ 1.55335361e-02 -4.24070984e-04 9.99879257e-01 8.73387483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.689254154 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:563.49, Y:7.19, Z:8.73 [[ 9.98843093e-01 -4.55100316e-02 -1.55342530e-02 5.63492698e+02] [ 4.55089636e-02 9.98963841e-01 -4.22420508e-04 7.19013725e+00] [ 1.55373814e-02 -2.85015947e-04 9.99879247e-01 8.73274105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.7192541539999 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:563.52, Y:7.19, Z:8.73 [[ 9.98843669e-01 -4.54964954e-02 -1.55368823e-02 5.63524336e+02] [ 4.54977554e-02 9.98964404e-01 -2.72542145e-04 7.19076889e+00] [ 1.55331921e-02 -4.34666274e-04 9.99879258e-01 8.73277947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.7492541539999 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:563.56, Y:7.19, Z:8.73 [[ 9.98832342e-01 -4.57444762e-02 -1.55368967e-02 5.63556871e+02] [ 4.57457790e-02 9.98953077e-01 -2.71718531e-04 7.19141770e+00] [ 1.55330604e-02 -4.39346186e-04 9.99879258e-01 8.73314450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.7792541539999 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:563.59, Y:7.19, Z:8.73 [[ 9.98825732e-01 -4.58885821e-02 -1.55369153e-02 5.63588944e+02] [ 4.58899189e-02 9.98946466e-01 -2.70649751e-04 7.19184858e+00] [ 1.55329664e-02 -4.42655849e-04 9.99879258e-01 8.73389784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.809254154 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:563.62, Y:7.19, Z:8.73 [[ 9.98835619e-01 -4.56728514e-02 -1.55369342e-02 5.63621591e+02] [ 4.56741791e-02 9.98956354e-01 -2.69558137e-04 7.19101082e+00] [ 1.55330307e-02 -4.40392448e-04 9.99879258e-01 8.73459855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.839254154 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:563.65, Y:7.19, Z:8.73 [[ 9.98636759e-01 -4.98316499e-02 -1.55380383e-02 5.63650146e+02] [ 4.98344528e-02 9.98757470e-01 -2.06985905e-04 7.19403335e+00] [ 1.55290463e-02 -5.67625903e-04 9.99879256e-01 8.73463762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.8692541539999 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:563.68, Y:7.19, Z:8.73 [[ 9.98711806e-01 -4.83048429e-02 -1.55361257e-02 5.63678779e+02] [ 4.83057943e-02 9.98832544e-01 -3.14237427e-04 7.19340445e+00] [ 1.55331671e-02 -4.36652262e-04 9.99879258e-01 8.73188264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.8992541539999 meters Centerline goodness : 0.999292 Centerline is valid? [True, True] Translation: X:563.71, Y:7.19, Z:8.74 [[ 9.98761630e-01 -4.72640720e-02 -1.55342999e-02 5.63707164e+02] [ 4.72633684e-02 9.98882377e-01 -4.12616814e-04 7.19376288e+00] [ 1.55364403e-02 -3.22097497e-04 9.99879250e-01 8.73603937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.929254154 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:563.74, Y:7.20, Z:8.74 [[ 9.98481193e-01 -5.28587460e-02 -1.55325351e-02 5.63741994e+02] [ 5.28570641e-02 9.98601953e-01 -5.19072992e-04 7.19583552e+00] [ 1.55382575e-02 -3.02719584e-04 9.99879228e-01 8.73583979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.959254154 meters Centerline goodness : 0.999396 Centerline is valid? [True, True] Translation: X:563.77, Y:7.19, Z:8.74 [[ 9.98313385e-01 -5.59375387e-02 -1.55363181e-02 5.63772494e+02] [ 5.59398631e-02 9.98434099e-01 -2.85265887e-04 7.19447303e+00] [ 1.55279468e-02 -5.84314753e-04 9.99879263e-01 8.73713211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.9892541539999 meters Centerline goodness : 0.999107 Centerline is valid? [True, True] Translation: X:563.80, Y:7.19, Z:8.74 [[ 9.98228182e-01 -5.74378194e-02 -1.55368722e-02 5.63802083e+02] [ 5.74408582e-02 9.98348879e-01 -2.50959879e-04 7.19493248e+00] [ 1.55256336e-02 -6.41936051e-04 9.99879264e-01 8.73648434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.0192541539999 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:563.84, Y:7.20, Z:8.74 [[ 9.98025055e-01 -6.08656560e-02 -1.55358190e-02 5.63835174e+02] [ 6.08681043e-02 9.98145768e-01 -3.15647460e-04 7.19549126e+00] [ 1.55262241e-02 -6.30611777e-04 9.99879262e-01 8.73813729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.049254154 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:563.87, Y:7.20, Z:8.74 [[ 9.97853995e-01 -6.36082676e-02 -1.55368577e-02 5.63870110e+02] [ 6.36120447e-02 9.97974671e-01 -2.51471246e-04 7.19511585e+00] [ 1.55213862e-02 -7.37399702e-04 9.99879264e-01 8.74032688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.079254154 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:563.90, Y:7.20, Z:8.74 [[ 9.97674549e-01 -6.63626696e-02 -1.55399360e-02 5.63896197e+02] [ 6.63697908e-02 9.97795093e-01 -5.75904009e-05 7.19761956e+00] [ 1.55094937e-02 -9.73925825e-04 9.99879246e-01 8.73957582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.1092541539999 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:563.93, Y:7.20, Z:8.74 [[ 9.97555456e-01 -6.81301765e-02 -1.55367949e-02 5.63929365e+02] [ 6.81344986e-02 9.97676113e-01 -2.51588408e-04 7.19878946e+00] [ 1.55178299e-02 -8.07618339e-04 9.99879265e-01 8.73926857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.1392541539999 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:563.96, Y:7.20, Z:8.74 [[ 9.97426166e-01 -6.99972015e-02 -1.55381810e-02 5.63957665e+02] [ 7.00030919e-02 9.97546761e-01 -1.65148087e-04 7.20052140e+00] [ 1.55116220e-02 -9.22997690e-04 9.99879262e-01 8.74206521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.1692541539999 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:563.99, Y:7.20, Z:8.74 [[ 9.97381621e-01 -7.06293779e-02 -1.55367998e-02 5.63991849e+02] [ 7.06340155e-02 9.97502267e-01 -2.50736641e-04 7.20096953e+00] [ 1.55157024e-02 -8.47346442e-04 9.99879265e-01 8.74276881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.199254154 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:564.02, Y:7.20, Z:8.74 [[ 9.97162310e-01 -7.36605170e-02 -1.55388458e-02 5.64018644e+02] [ 7.36675115e-02 9.97282850e-01 -1.22559584e-04 7.20496211e+00] [ 1.55056522e-02 -1.02249630e-03 9.99879257e-01 8.74268844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.2292541539999 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:564.06, Y:7.20, Z:8.75 [[ 9.97294453e-01 -7.18498651e-02 -1.55361248e-02 5.64055046e+02] [ 7.18540412e-02 9.97415116e-01 -2.89961004e-04 7.20344881e+00] [ 1.55167994e-02 -8.27156852e-04 9.99879265e-01 8.74656514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.2592541539999 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:564.08, Y:7.21, Z:8.74 [[ 9.96911545e-01 -7.69798244e-02 -1.55395695e-02 5.64081550e+02] [ 7.69879338e-02 9.97032022e-01 -7.65759579e-05 7.20982777e+00] [ 1.54993432e-02 -1.12001989e-03 9.99879251e-01 8.74406797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.2892541539999 meters Centerline goodness : 0.999229 Centerline is valid? [True, True] Translation: X:564.11, Y:7.21, Z:8.74 [[ 9.96957891e-01 -7.63779631e-02 -1.55361184e-02 5.64113329e+02] [ 7.63827436e-02 9.97078530e-01 -2.86317050e-04 7.21056480e+00] [ 1.55125984e-02 -9.01245309e-04 9.99879266e-01 8.74422070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.319254154 meters Centerline goodness : 0.999064 Centerline is valid? [True, True] Translation: X:564.14, Y:7.21, Z:8.75 [[ 9.96875434e-01 -7.74465997e-02 -1.55368434e-02 5.64144308e+02] [ 7.74522007e-02 9.96996037e-01 -2.41795277e-04 7.21310978e+00] [ 1.55088975e-02 -9.62322939e-04 9.99879267e-01 8.74505182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.3492541539999 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:564.18, Y:7.21, Z:8.74 [[ 9.96923445e-01 -7.68261996e-02 -1.55363840e-02 5.64176441e+02] [ 7.68312873e-02 9.97044071e-01 -2.70028845e-04 7.21428739e+00] [ 1.55112048e-02 -9.24482294e-04 9.99879267e-01 8.74470180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.3792541539999 meters Centerline goodness : 0.998938 Centerline is valid? [True, True] Translation: X:564.21, Y:7.22, Z:8.75 [[ 9.96993113e-01 -7.59166261e-02 -1.55370272e-02 5.64206257e+02] [ 7.59222254e-02 9.97113716e-01 -2.29987050e-04 7.21654008e+00] [ 1.55096428e-02 -9.50310178e-04 9.99879267e-01 8.74640606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.4092541539999 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:564.24, Y:7.22, Z:8.75 [[ 9.97002347e-01 -7.57953290e-02 -1.55366919e-02 5.64237999e+02] [ 7.58005910e-02 9.97122965e-01 -2.50761380e-04 7.21856035e+00] [ 1.55109989e-02 -9.27680747e-04 9.99879267e-01 8.74629312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.439254154 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:564.27, Y:7.22, Z:8.75 [[ 9.97010779e-01 -7.56843198e-02 -1.55367104e-02 5.64271526e+02] [ 7.56895863e-02 9.97131398e-01 -2.49612759e-04 7.21900829e+00] [ 1.55110335e-02 -9.27100570e-04 9.99879267e-01 8.74681390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.4692541539999 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:564.30, Y:7.22, Z:8.74 [[ 9.96909851e-01 -7.70023263e-02 -1.55367380e-02 5.64302439e+02] [ 7.70077791e-02 9.97030461e-01 -2.47882929e-04 7.22251903e+00] [ 1.55096886e-02 -9.49332753e-04 9.99879267e-01 8.74433422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.4992541539999 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:564.33, Y:7.23, Z:8.75 [[ 9.97044466e-01 -7.52391787e-02 -1.55370372e-02 5.64332538e+02] [ 7.52447110e-02 9.97165072e-01 -2.29025444e-04 7.22619846e+00] [ 1.55102225e-02 -9.40731322e-04 9.99879267e-01 8.74660970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.5292541539999 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:564.36, Y:7.23, Z:8.75 [[ 9.97096703e-01 -7.45437702e-02 -1.55367866e-02 5.64364541e+02] [ 7.45489715e-02 9.97217324e-01 -2.44922662e-04 7.22849747e+00] [ 1.55118102e-02 -9.14039882e-04 9.99879267e-01 8.74702532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.559254154 meters Centerline goodness : 0.998853 Centerline is valid? [True, True] Translation: X:564.40, Y:7.23, Z:8.75 [[ 9.97073600e-01 -7.48521445e-02 -1.55368042e-02 5.64395464e+02] [ 7.48574005e-02 9.97194219e-01 -2.43803569e-04 7.23121849e+00] [ 1.55114605e-02 -9.19954669e-04 9.99879267e-01 8.74769009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.589254154 meters Centerline goodness : 0.998850 Centerline is valid? [True, True] Translation: X:564.43, Y:7.23, Z:8.75 [[ 9.97102413e-01 -7.44673499e-02 -1.55368172e-02 5.64428083e+02] [ 7.44725723e-02 9.97223033e-01 -2.42969923e-04 7.23387609e+00] [ 1.55117653e-02 -9.14800845e-04 9.99879267e-01 8.74850071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.6192541539999 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:564.46, Y:7.24, Z:8.75 [[ 9.97250043e-01 -7.24634987e-02 -1.55368431e-02 5.64459029e+02] [ 7.24685046e-02 9.97370672e-01 -2.41303845e-04 7.23921774e+00] [ 1.55134773e-02 -8.85291514e-04 9.99879267e-01 8.74982333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.6492541539999 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:564.49, Y:7.24, Z:8.75 [[ 9.97374580e-01 -7.07287301e-02 -1.55368558e-02 5.64491110e+02] [ 7.07335390e-02 9.97495217e-01 -2.40478778e-04 7.24239202e+00] [ 1.55149482e-02 -8.59129379e-04 9.99879267e-01 8.75108090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.679254154 meters Centerline goodness : 0.998912 Centerline is valid? [True, True] Translation: X:564.52, Y:7.25, Z:8.75 [[ 9.97529982e-01 -6.85021218e-02 -1.55368725e-02 5.64523087e+02] [ 6.85066781e-02 9.97650629e-01 -2.39399202e-04 7.24540153e+00] [ 1.55167700e-02 -8.25571641e-04 9.99879267e-01 8.75235062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.709254154 meters Centerline goodness : 0.998890 Centerline is valid? [True, True] Translation: X:564.56, Y:7.25, Z:8.75 [[ 9.97696905e-01 -6.60264335e-02 -1.55368890e-02 5.64555533e+02] [ 6.60307071e-02 9.97817563e-01 -2.38324889e-04 7.24868780e+00] [ 1.55187164e-02 -7.88135760e-04 9.99879267e-01 8.75454124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.7392541539999 meters Centerline goodness : 0.998719 Centerline is valid? [True, True] Translation: X:564.59, Y:7.25, Z:8.76 [[ 9.98083156e-01 -5.99050843e-02 -1.55369066e-02 5.64586642e+02] [ 5.99086357e-02 9.98203836e-01 -2.37165803e-04 7.25418009e+00] [ 1.55232073e-02 -6.94083688e-04 9.99879267e-01 8.75538467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.7692541539999 meters Centerline goodness : 0.998845 Centerline is valid? [True, True] Translation: X:564.62, Y:7.26, Z:8.75 [[ 9.98283295e-01 -5.64718170e-02 -1.55369198e-02 5.64618271e+02] [ 5.64749667e-02 9.98403988e-01 -2.36302670e-04 7.25691720e+00] [ 1.55254671e-02 -6.41550018e-04 9.99879267e-01 8.75480816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.799254154 meters Centerline goodness : 0.998738 Centerline is valid? [True, True] Translation: X:564.65, Y:7.26, Z:8.76 [[ 9.98449386e-01 -5.34548983e-02 -1.55369412e-02 5.64650756e+02] [ 5.34577053e-02 9.98570087e-01 -2.34884980e-04 7.25956750e+00] [ 1.55272805e-02 -5.96048460e-04 9.99879267e-01 8.75603183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.829254154 meters Centerline goodness : 0.998801 Centerline is valid? [True, True] Translation: X:564.68, Y:7.26, Z:8.76 [[ 9.98732276e-01 -4.78794754e-02 -1.55369584e-02 5.64682540e+02] [ 4.78816262e-02 9.98852990e-01 -2.33741679e-04 7.26375826e+00] [ 1.55303288e-02 -5.10489476e-04 9.99879267e-01 8.75606148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.8592541539999 meters Centerline goodness : 0.998674 Centerline is valid? [True, True] Translation: X:564.72, Y:7.26, Z:8.75 [[ 9.99010267e-01 -4.16783934e-02 -1.55369756e-02 5.64718949e+02] [ 4.16798126e-02 9.99130992e-01 -2.32594161e-04 7.26111200e+00] [ 1.55331680e-02 -4.15214275e-04 9.99879267e-01 8.75346261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.8892541539999 meters Centerline goodness : 0.998734 Centerline is valid? [True, True] Translation: X:564.75, Y:7.26, Z:8.75 [[ 9.99018561e-01 -4.14775467e-02 -1.55411578e-02 5.64749417e+02] [ 4.14832530e-02 9.99139198e-01 4.48440172e-05 7.26441419e+00] [ 1.55259199e-02 -6.89497786e-04 9.99879228e-01 8.75439187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.9192541539999 meters Centerline goodness : 0.998799 Centerline is valid? [True, True] Translation: X:564.78, Y:7.27, Z:8.76 [[ 9.98907799e-01 -4.40648398e-02 -1.55402453e-02 5.64775044e+02] [ 4.40699323e-02 9.99028448e-01 -1.47638415e-05 7.27054630e+00] [ 1.55257977e-02 -6.70109841e-04 9.99879243e-01 8.75655454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.949254154 meters Centerline goodness : 0.998882 Centerline is valid? [True, True] Translation: X:564.81, Y:7.27, Z:8.76 [[ 9.98951450e-01 -4.30652266e-02 -1.55366354e-02 5.64807252e+02] [ 4.30666308e-02 9.99072172e-01 -2.44335191e-04 7.27345525e+00] [ 1.55327424e-02 -4.25031546e-04 9.99879269e-01 8.75628847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.9792541539999 meters Centerline goodness : 0.998860 Centerline is valid? [True, True] Translation: X:564.84, Y:7.27, Z:8.75 [[ 9.98938036e-01 -4.33752515e-02 -1.55366534e-02 5.64838594e+02] [ 4.33767112e-02 9.99058758e-01 -2.43180553e-04 7.27490597e+00] [ 1.55325777e-02 -4.31006625e-04 9.99879269e-01 8.75422065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.0092541539999 meters Centerline goodness : 0.998923 Centerline is valid? [True, True] Translation: X:564.87, Y:7.28, Z:8.76 [[ 9.98961924e-01 -4.28215251e-02 -1.55367502e-02 5.64871014e+02] [ 4.28230142e-02 9.99082646e-01 -2.36984034e-04 7.27598986e+00] [ 1.55326455e-02 -4.28592447e-04 9.99879269e-01 8.75684825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.0392541539999 meters Centerline goodness : 0.998775 Centerline is valid? [True, True] Translation: X:564.90, Y:7.28, Z:8.76 [[ 9.98960387e-01 -4.28574023e-02 -1.55366912e-02 5.64902426e+02] [ 4.28588365e-02 9.99081109e-01 -2.40788597e-04 7.27736182e+00] [ 1.55327343e-02 -4.25346239e-04 9.99879269e-01 8.75683385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.069254154 meters Centerline goodness : 0.998882 Centerline is valid? [True, True] Translation: X:564.93, Y:7.28, Z:8.76 [[ 9.98944699e-01 -4.32215021e-02 -1.55367211e-02 5.64934994e+02] [ 4.32230106e-02 9.99065420e-01 -2.38846505e-04 7.27952796e+00] [ 1.55325241e-02 -4.32949408e-04 9.99879269e-01 8.75773422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.0992541539999 meters Centerline goodness : 0.999012 Centerline is valid? [True, True] Translation: X:564.97, Y:7.28, Z:8.76 [[ 9.98941085e-01 -4.33049569e-02 -1.55367388e-02 5.64967321e+02] [ 4.33064935e-02 9.99061805e-01 -2.37688575e-04 7.28064895e+00] [ 1.55324554e-02 -4.35404794e-04 9.99879269e-01 8.75820838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.1292541539999 meters Centerline goodness : 0.998799 Centerline is valid? [True, True] Translation: X:565.00, Y:7.28, Z:8.76 [[ 9.98898778e-01 -4.42700822e-02 -1.55367563e-02 5.64999740e+02] [ 4.42717533e-02 9.99019497e-01 -2.36538197e-04 7.28241260e+00] [ 1.55319940e-02 -4.51561726e-04 9.99879269e-01 8.75873119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.1592541539999 meters Centerline goodness : 0.998884 Centerline is valid? [True, True] Translation: X:565.04, Y:7.28, Z:8.76 [[ 9.99082036e-01 -3.99211058e-02 -1.55367737e-02 5.65037718e+02] [ 3.99222692e-02 9.99202761e-01 -2.35386819e-04 7.27793720e+00] [ 1.55337841e-02 -3.85092522e-04 9.99879269e-01 8.75729139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.189254154 meters Centerline goodness : 0.998610 Centerline is valid? [True, True] Translation: X:565.06, Y:7.28, Z:8.76 [[ 9.98811215e-01 -4.62015198e-02 -1.55427055e-02 5.65059048e+02] [ 4.62096884e-02 9.98931748e-01 1.66647734e-04 7.28449750e+00] [ 1.55184026e-02 -8.84673204e-04 9.99879191e-01 8.75947103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.2192541539999 meters Centerline goodness : 0.995069 Centerline is valid? [True, True] Translation: X:565.09, Y:7.29, Z:8.76 [[ 9.98737854e-01 -4.77631803e-02 -1.55363263e-02 5.65090783e+02] [ 4.77651828e-02 9.98858563e-01 -2.42363626e-04 7.28554600e+00] [ 1.55301686e-02 -5.00037738e-04 9.99879275e-01 8.75565139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.2492541539999 meters Centerline goodness : 0.999009 Centerline is valid? [True, True] Translation: X:565.12, Y:7.29, Z:8.76 [[ 9.98647733e-01 -4.96117669e-02 -1.55363529e-02 5.65123088e+02] [ 4.96140196e-02 9.98768437e-01 -2.40644728e-04 7.28570709e+00] [ 1.55291577e-02 -5.30501606e-04 9.99879275e-01 8.76061295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.2792541539999 meters Centerline goodness : 0.998948 Centerline is valid? [True, True] Translation: X:565.16, Y:7.29, Z:8.76 [[ 9.98601600e-01 -5.05318345e-02 -1.55363742e-02 5.65155591e+02] [ 5.05342198e-02 9.98722301e-01 -2.39261841e-04 7.28605783e+00] [ 1.55286138e-02 -5.46191292e-04 9.99879275e-01 8.76117151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.309254154 meters Centerline goodness : 0.998987 Centerline is valid? [True, True] Translation: X:565.19, Y:7.29, Z:8.76 [[ 9.98544584e-01 -5.16462433e-02 -1.55363959e-02 5.65187741e+02] [ 5.16487853e-02 9.98665282e-01 -2.37847373e-04 7.28653484e+00] [ 1.55279431e-02 -5.64934768e-04 9.99879275e-01 8.76158459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.339254154 meters Centerline goodness : 0.998946 Centerline is valid? [True, True] Translation: X:565.22, Y:7.28, Z:8.76 [[ 9.98566036e-01 -5.12297826e-02 -1.55364172e-02 5.65222647e+02] [ 5.12322961e-02 9.98686736e-01 -2.36445198e-04 7.28487782e+00] [ 1.55281268e-02 -5.59860183e-04 9.99879275e-01 8.76250934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.3692541539999 meters Centerline goodness : 0.998860 Centerline is valid? [True, True] Translation: X:565.25, Y:7.29, Z:8.76 [[ 9.98464042e-01 -5.31800766e-02 -1.55382384e-02 5.65251505e+02] [ 5.31847074e-02 9.98584685e-01 -1.15338814e-04 7.28706223e+00] [ 1.55223807e-02 -7.11235006e-04 9.99879268e-01 8.76238062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.3992541539999 meters Centerline goodness : 0.999009 Centerline is valid? [True, True] Translation: X:565.28, Y:7.29, Z:8.76 [[ 9.98495798e-01 -5.25809936e-02 -1.55364298e-02 5.65282739e+02] [ 5.25836936e-02 9.98616493e-01 -2.34947196e-04 7.28770059e+00] [ 1.55272888e-02 -5.82369077e-04 9.99879275e-01 8.76164757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.429254154 meters Centerline goodness : 0.999010 Centerline is valid? [True, True] Translation: X:565.31, Y:7.29, Z:8.76 [[ 9.98553151e-01 -5.14803286e-02 -1.55364473e-02 5.65314927e+02] [ 5.14829138e-02 9.98673848e-01 -2.33782145e-04 7.28797206e+00] [ 1.55278788e-02 -5.66417680e-04 9.99879275e-01 8.76286421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.459254154 meters Centerline goodness : 0.998990 Centerline is valid? [True, True] Translation: X:565.34, Y:7.29, Z:8.76 [[ 9.98647682e-01 -4.96127621e-02 -1.55364646e-02 5.65344607e+02] [ 4.96151395e-02 9.98768383e-01 -2.32626516e-04 7.28871733e+00] [ 1.55288709e-02 -5.38531929e-04 9.99879275e-01 8.76007615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.4892541539999 meters Centerline goodness : 0.999050 Centerline is valid? [True, True] Translation: X:565.38, Y:7.29, Z:8.77 [[ 9.98792786e-01 -4.66005300e-02 -1.55358237e-02 5.65377754e+02] [ 4.66018696e-02 9.98913505e-01 -2.75978990e-04 7.28989060e+00] [ 1.55318048e-02 -4.48352605e-04 9.99879274e-01 8.76535986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.5192541539999 meters Centerline goodness : 0.998859 Centerline is valid? [True, True] Translation: X:565.41, Y:7.29, Z:8.76 [[ 9.99036778e-01 -4.10381828e-02 -1.55365201e-02 5.65413694e+02] [ 4.10395856e-02 9.99157495e-01 -2.28661029e-04 7.28675633e+00] [ 1.55328143e-02 -4.09171570e-04 9.99879275e-01 8.76405154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.549254154 meters Centerline goodness : 0.998984 Centerline is valid? [True, True] Translation: X:565.44, Y:7.29, Z:8.77 [[ 9.98976660e-01 -4.24751869e-02 -1.55399694e-02 5.65438880e+02] [ 4.24804808e-02 9.99097297e-01 1.05808320e-05 7.29150025e+00] [ 1.55254920e-02 -6.70715378e-04 9.99879247e-01 8.76663156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.579254154 meters Centerline goodness : 0.998944 Centerline is valid? [True, True] Translation: X:565.47, Y:7.29, Z:8.77 [[ 9.99066546e-01 -4.03070277e-02 -1.55364098e-02 5.65470742e+02] [ 4.03083221e-02 9.99187263e-01 -2.29950374e-04 7.29216870e+00] [ 1.55330514e-02 -3.96510885e-04 9.99879276e-01 8.76723150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.6092541539999 meters Centerline goodness : 0.998942 Centerline is valid? [True, True] Translation: X:565.50, Y:7.29, Z:8.77 [[ 9.99193859e-01 -3.70169074e-02 -1.55364266e-02 5.65499500e+02] [ 3.70178219e-02 9.99314579e-01 -2.28809825e-04 7.29302404e+00] [ 1.55342475e-02 -3.46499302e-04 9.99879276e-01 8.76558374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.6392541539999 meters Centerline goodness : 0.998985 Centerline is valid? [True, True] Translation: X:565.53, Y:7.29, Z:8.77 [[ 9.99254582e-01 -3.53405155e-02 -1.55347350e-02 5.65533315e+02] [ 3.53394666e-02 9.99375307e-01 -3.42107613e-04 7.29397724e+00] [ 1.55371208e-02 -2.07136649e-04 9.99879270e-01 8.76759004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.6692541539999 meters Centerline goodness : 0.998963 Centerline is valid? [True, True] Translation: X:565.56, Y:7.30, Z:8.77 [[ 9.99251957e-01 -3.54139347e-02 -1.55364057e-02 5.65563011e+02] [ 3.54146599e-02 9.99372678e-01 -2.28530200e-04 7.29670609e+00] [ 1.55347526e-02 -3.21857277e-04 9.99879277e-01 8.76770288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.699254154 meters Centerline goodness : 0.998879 Centerline is valid? [True, True] Translation: X:565.60, Y:7.30, Z:8.77 [[ 9.99316227e-01 -3.35523216e-02 -1.55345035e-02 5.65595879e+02] [ 3.35508339e-02 9.99436949e-01 -3.56448422e-04 7.29522277e+00] [ 1.55377165e-02 -1.64990856e-04 9.99879269e-01 8.76900194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.7292541539999 meters Centerline goodness : 0.999176 Centerline is valid? [True, True] Translation: X:565.63, Y:7.30, Z:8.77 [[ 9.99324648e-01 -3.32996593e-02 -1.55364018e-02 5.65628419e+02] [ 3.33001698e-02 9.99445370e-01 -2.25909058e-04 7.29533144e+00] [ 1.55353075e-02 -2.91608328e-04 9.99879277e-01 8.76935594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.7592541539999 meters Centerline goodness : 0.999006 Centerline is valid? [True, True] Translation: X:565.66, Y:7.30, Z:8.77 [[ 9.99302452e-01 -3.39592403e-02 -1.55364181e-02 5.65659132e+02] [ 3.39598480e-02 9.99423173e-01 -2.24781640e-04 7.29532019e+00] [ 1.55350897e-02 -3.02989554e-04 9.99879277e-01 8.76939996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.7892541539999 meters Centerline goodness : 0.998880 Centerline is valid? [True, True] Translation: X:565.69, Y:7.30, Z:8.77 [[ 9.99275700e-01 -3.47375188e-02 -1.55364302e-02 5.65691046e+02] [ 3.47382337e-02 9.99396420e-01 -2.23941125e-04 7.29523303e+00] [ 1.55348319e-02 -3.15929219e-04 9.99879277e-01 8.77003716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.819254154 meters Centerline goodness : 0.999070 Centerline is valid? [True, True] Translation: X:565.72, Y:7.29, Z:8.77 [[ 9.99237350e-01 -3.58236851e-02 -1.55364460e-02 5.65722935e+02] [ 3.58245482e-02 9.99358070e-01 -2.22841717e-04 7.29492135e+00] [ 1.55344557e-02 -3.33914391e-04 9.99879277e-01 8.77168636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.8492541539999 meters Centerline goodness : 0.999072 Centerline is valid? [True, True] Translation: X:565.75, Y:7.29, Z:8.77 [[ 9.99180488e-01 -3.73760615e-02 -1.55364624e-02 5.65754651e+02] [ 3.73771300e-02 9.99301206e-01 -2.21691491e-04 7.29409245e+00] [ 1.55338916e-02 -3.59198564e-04 9.99879277e-01 8.77012776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.8792541539999 meters Centerline goodness : 0.998967 Centerline is valid? [True, True] Translation: X:565.79, Y:7.29, Z:8.77 [[ 9.99077254e-01 -4.00407028e-02 -1.55364803e-02 5.65786609e+02] [ 4.00421129e-02 9.99197969e-01 -2.20428791e-04 7.29394252e+00] [ 1.55328457e-02 -4.01888108e-04 9.99879277e-01 8.77331961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.9092541539999 meters Centerline goodness : 0.998863 Centerline is valid? [True, True] Translation: X:565.82, Y:7.29, Z:8.77 [[ 9.99014290e-01 -4.15820405e-02 -1.55364984e-02 5.65818130e+02] [ 4.15836568e-02 9.99135002e-01 -2.19144157e-04 7.29391386e+00] [ 1.55321719e-02 -4.27136274e-04 9.99879277e-01 8.77346260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.939254154 meters Centerline goodness : 0.998862 Centerline is valid? [True, True] Translation: X:565.85, Y:7.29, Z:8.77 [[ 9.98951413e-01 -4.30661245e-02 -1.55365105e-02 5.65850389e+02] [ 4.30679334e-02 9.99072122e-01 -2.18288214e-04 7.29400837e+00] [ 1.55314953e-02 -4.51066078e-04 9.99879277e-01 8.77475502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.9692541539999 meters Centerline goodness : 0.998988 Centerline is valid? [True, True] Translation: X:565.88, Y:7.29, Z:8.78 [[ 9.98836394e-01 -4.56560483e-02 -1.55365266e-02 5.65882294e+02] [ 4.56581881e-02 9.98957098e-01 -2.17136354e-04 7.29367831e+00] [ 1.55302371e-02 -4.92485960e-04 9.99879277e-01 8.77631553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.9992541539999 meters Centerline goodness : 0.998610 Centerline is valid? [True, True] Translation: X:565.91, Y:7.29, Z:8.78 [[ 9.98788415e-01 -4.66938759e-02 -1.55365426e-02 5.65914714e+02] [ 4.66961591e-02 9.98909116e-01 -2.15981092e-04 7.29365947e+00] [ 1.55296791e-02 -5.09777454e-04 9.99879277e-01 8.77666876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.0292541539999 meters Centerline goodness : 0.998904 Centerline is valid? [True, True] Translation: X:565.95, Y:7.29, Z:8.78 [[ 9.98745743e-01 -4.75978517e-02 -1.55365803e-02 5.65946953e+02] [ 4.76002867e-02 9.98866441e-01 -2.13239382e-04 7.29370725e+00] [ 1.55291184e-02 -5.26573750e-04 9.99879277e-01 8.77799049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.059254154 meters Centerline goodness : 0.998907 Centerline is valid? [True, True] Translation: X:565.98, Y:7.29, Z:8.78 [[ 9.98724432e-01 -4.80429355e-02 -1.55365959e-02 5.65979679e+02] [ 4.80454422e-02 9.98845128e-01 -2.12092260e-04 7.29332085e+00] [ 1.55288427e-02 -5.34640899e-04 9.99879277e-01 8.77907042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.089254154 meters Centerline goodness : 0.998821 Centerline is valid? [True, True] Translation: X:566.01, Y:7.29, Z:8.78 [[ 9.98799802e-01 -4.64496447e-02 -1.55366192e-02 5.66014331e+02] [ 4.64519855e-02 9.98920502e-01 -2.10371456e-04 7.29168630e+00] [ 1.55296191e-02 -5.11587842e-04 9.99879277e-01 8.78205430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.1192541539999 meters Centerline goodness : 0.998694 Centerline is valid? [True, True] Translation: X:566.05, Y:7.29, Z:8.78 [[ 9.98985231e-01 -4.22736659e-02 -1.55384907e-02 5.66049321e+02] [ 4.22776968e-02 9.99105896e-01 -6.91308800e-05 7.28863395e+00] [ 1.55275201e-02 -5.87870868e-04 9.99879268e-01 8.77708286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.1492541539999 meters Centerline goodness : 0.998883 Centerline is valid? [True, True] Translation: X:566.07, Y:7.29, Z:8.78 [[ 9.98773854e-01 -4.70024985e-02 -1.55419989e-02 5.66070472e+02] [ 4.70113110e-02 9.98894337e-01 2.01950372e-04 7.29489469e+00] [ 1.55153225e-02 -9.32352495e-04 9.99879195e-01 8.78248795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.179254154 meters Centerline goodness : 0.998824 Centerline is valid? [True, True] Translation: X:566.10, Y:7.30, Z:8.78 [[ 9.98822220e-01 -4.59651703e-02 -1.55362519e-02 5.66102726e+02] [ 4.59673888e-02 9.98942918e-01 -2.14466135e-04 7.29527961e+00] [ 1.55296868e-02 -4.99947391e-04 9.99879282e-01 8.78317459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.209254154 meters Centerline goodness : 0.998886 Centerline is valid? [True, True] Translation: X:566.13, Y:7.30, Z:8.78 [[ 9.98878813e-01 -4.47184693e-02 -1.55362719e-02 5.66134407e+02] [ 4.47205598e-02 9.98999513e-01 -2.13004936e-04 7.29544687e+00] [ 1.55302533e-02 -4.82024661e-04 9.99879282e-01 8.78325393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.2392541539999 meters Centerline goodness : 0.999030 Centerline is valid? [True, True] Translation: X:566.17, Y:7.30, Z:8.78 [[ 9.99005807e-01 -4.17854188e-02 -1.55362876e-02 5.66167093e+02] [ 4.17871728e-02 9.99126512e-01 -2.11856217e-04 7.29565711e+00] [ 1.55315693e-02 -4.37571943e-04 9.99879282e-01 8.78394350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.2692541539999 meters Centerline goodness : 0.998927 Centerline is valid? [True, True] Translation: X:566.20, Y:7.30, Z:8.78 [[ 9.99071228e-01 -4.01908580e-02 -1.55363070e-02 5.66198782e+02] [ 4.01924416e-02 9.99191935e-01 -2.10422538e-04 7.29625552e+00] [ 1.55322097e-02 -4.14215009e-04 9.99879282e-01 8.78444830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.2992541539999 meters Centerline goodness : 0.999092 Centerline is valid? [True, True] Translation: X:566.23, Y:7.30, Z:8.78 [[ 9.99143897e-01 -3.83418197e-02 -1.55363225e-02 5.66231070e+02] [ 3.83431978e-02 9.99264607e-01 -2.09271193e-04 7.29674120e+00] [ 1.55329211e-02 -3.86620252e-04 9.99879282e-01 8.78465066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.329254154 meters Centerline goodness : 0.999092 Centerline is valid? [True, True] Translation: X:566.26, Y:7.30, Z:8.79 [[ 9.99146718e-01 -3.82682478e-02 -1.55363379e-02 5.66263753e+02] [ 3.82696348e-02 9.99267428e-01 -2.08125339e-04 7.29712013e+00] [ 1.55329210e-02 -3.86622228e-04 9.99879282e-01 8.78515822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.3592541539999 meters Centerline goodness : 0.998734 Centerline is valid? [True, True] Translation: X:566.30, Y:7.30, Z:8.79 [[ 9.99200282e-01 -3.68431437e-02 -1.55363531e-02 5.66295624e+02] [ 3.68443763e-02 9.99320994e-01 -2.06981461e-04 7.29789185e+00] [ 1.55334297e-02 -3.65611306e-04 9.99879282e-01 8.78575558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.3892541539999 meters Centerline goodness : 0.998882 Centerline is valid? [True, True] Translation: X:566.33, Y:7.30, Z:8.79 [[ 9.99290795e-01 -3.43005674e-02 -1.55363682e-02 5.66326335e+02] [ 3.43015106e-02 9.99411509e-01 -2.05843491e-04 7.29826649e+00] [ 1.55342857e-02 -3.27223392e-04 9.99879282e-01 8.78585788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.4192541539999 meters Centerline goodness : 0.998987 Centerline is valid? [True, True] Translation: X:566.36, Y:7.30, Z:8.79 [[ 9.99317980e-01 -3.34992012e-02 -1.55363794e-02 5.66357737e+02] [ 3.35000608e-02 9.99438694e-01 -2.04994338e-04 7.29838179e+00] [ 1.55345259e-02 -3.15615127e-04 9.99879282e-01 8.78616955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.449254154 meters Centerline goodness : 0.999092 Centerline is valid? [True, True] Translation: X:566.39, Y:7.30, Z:8.79 [[ 9.99332981e-01 -3.30486489e-02 -1.55363904e-02 5.66389776e+02] [ 3.30494670e-02 9.99453696e-01 -2.04157986e-04 7.29820972e+00] [ 1.55346499e-02 -3.09447612e-04 9.99879282e-01 8.78704592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.4792541539999 meters Centerline goodness : 0.999070 Centerline is valid? [True, True] Translation: X:566.42, Y:7.30, Z:8.79 [[ 9.99330117e-01 -3.31351437e-02 -1.55364051e-02 5.66420741e+02] [ 3.31359897e-02 9.99450832e-01 -2.03035835e-04 7.29822801e+00] [ 1.55346006e-02 -3.11914333e-04 9.99879282e-01 8.78736809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.5092541539999 meters Centerline goodness : 0.999091 Centerline is valid? [True, True] Translation: X:566.45, Y:7.30, Z:8.79 [[ 9.99297824e-01 -3.40951301e-02 -1.55364123e-02 5.66453031e+02] [ 3.40961007e-02 9.99418538e-01 -2.02479887e-04 7.29741029e+00] [ 1.55342820e-02 -3.27393367e-04 9.99879282e-01 8.78950390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.5392541539999 meters Centerline goodness : 0.999093 Centerline is valid? [True, True] Translation: X:566.48, Y:7.30, Z:8.79 [[ 9.99257150e-01 -3.52670800e-02 -1.55364273e-02 5.66483975e+02] [ 3.52682102e-02 9.99377863e-01 -2.01324260e-04 7.29747282e+00] [ 1.55338616e-02 -3.46767276e-04 9.99879282e-01 8.78844439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.569254154 meters Centerline goodness : 0.998924 Centerline is valid? [True, True] Translation: X:566.52, Y:7.30, Z:8.79 [[ 9.99218818e-01 -3.63369371e-02 -1.55364384e-02 5.66515778e+02] [ 3.63382099e-02 9.99339529e-01 -2.00463961e-04 7.29759771e+00] [ 1.55334613e-02 -3.64258996e-04 9.99879282e-01 8.78934145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.5992541539999 meters Centerline goodness : 0.999114 Centerline is valid? [True, True] Translation: X:566.55, Y:7.30, Z:8.79 [[ 9.99169361e-01 -3.76723623e-02 -1.55364523e-02 5.66548122e+02] [ 3.76738132e-02 9.99290070e-01 -1.99379542e-04 7.29775779e+00] [ 1.55329336e-02 -3.86103472e-04 9.99879282e-01 8.78997055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.6292541539999 meters Centerline goodness : 0.998754 Centerline is valid? [True, True] Translation: X:566.58, Y:7.30, Z:8.79 [[ 9.99033257e-01 -4.11238250e-02 -1.55364661e-02 5.66579272e+02] [ 4.11257098e-02 9.99153960e-01 -1.98298005e-04 7.29743374e+00] [ 1.55314764e-02 -4.40841893e-04 9.99879282e-01 8.79038058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.6592541539999 meters Centerline goodness : 0.998966 Centerline is valid? [True, True] Translation: X:566.61, Y:7.30, Z:8.79 [[ 9.98982221e-01 -4.23454831e-02 -1.55364763e-02 5.66611973e+02] [ 4.23475280e-02 9.99102922e-01 -1.97491498e-04 7.29645638e+00] [ 1.55309018e-02 -4.60640871e-04 9.99879282e-01 8.79027738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.689254154 meters Centerline goodness : 0.998944 Centerline is valid? [True, True] Translation: X:566.64, Y:7.30, Z:8.79 [[ 9.98875210e-01 -4.47988042e-02 -1.55364897e-02 5.66644519e+02] [ 4.48011620e-02 9.98995905e-01 -1.96433862e-04 7.29652956e+00] [ 1.55296896e-02 -4.99839877e-04 9.99879282e-01 8.79357752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.7192541539999 meters Centerline goodness : 0.998819 Centerline is valid? [True, True] Translation: X:566.68, Y:7.30, Z:8.79 [[ 9.98694977e-01 -4.86514059e-02 -1.55365042e-02 5.66676277e+02] [ 4.86542472e-02 9.98815662e-01 -1.95278099e-04 7.29594644e+00] [ 1.55276043e-02 -5.60893661e-04 9.99879282e-01 8.79439493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.7492541539999 meters Centerline goodness : 0.998925 Centerline is valid? [True, True] Translation: X:566.71, Y:7.30, Z:8.79 [[ 9.98618635e-01 -5.01940028e-02 -1.55365188e-02 5.66707878e+02] [ 5.01970486e-02 9.98739315e-01 -1.94114066e-04 7.29589116e+00] [ 1.55266755e-02 -5.86041464e-04 9.99879282e-01 8.79474299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.7792541539999 meters Centerline goodness : 0.998904 Centerline is valid? [True, True] Translation: X:566.74, Y:7.30, Z:8.80 [[ 9.98539954e-01 -5.17356422e-02 -1.55365368e-02 5.66740088e+02] [ 5.17388968e-02 9.98660628e-01 -1.92662004e-04 7.29602925e+00] [ 1.55256951e-02 -6.11462564e-04 9.99879282e-01 8.79534736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.809254154 meters Centerline goodness : 0.998968 Centerline is valid? [True, True] Translation: X:566.77, Y:7.30, Z:8.80 [[ 9.98471583e-01 -5.30387974e-02 -1.55365510e-02 5.66773286e+02] [ 5.30422273e-02 9.98592252e-01 -1.91511642e-04 7.29624196e+00] [ 1.55248370e-02 -6.32874336e-04 9.99879282e-01 8.79625869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.839254154 meters Centerline goodness : 0.998966 Centerline is valid? [True, True] Translation: X:566.81, Y:7.30, Z:8.80 [[ 9.98393876e-01 -5.44819482e-02 -1.55365720e-02 5.66805095e+02] [ 5.44855793e-02 9.98514540e-01 -1.89787464e-04 7.29649157e+00] [ 1.55238331e-02 -6.57036486e-04 9.99879282e-01 8.79713416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.8692541539999 meters Centerline goodness : 0.999033 Centerline is valid? [True, True] Translation: X:566.84, Y:7.30, Z:8.80 [[ 9.98395123e-01 -5.44591025e-02 -1.55365858e-02 5.66837484e+02] [ 5.44627485e-02 9.98515785e-01 -1.88649967e-04 7.29677908e+00] [ 1.55237999e-02 -6.57817961e-04 9.99879282e-01 8.79776809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.8992541539999 meters Centerline goodness : 0.999009 Centerline is valid? [True, True] Translation: X:566.87, Y:7.30, Z:8.80 [[ 9.98420129e-01 -5.39987097e-02 -1.55365997e-02 5.66869265e+02] [ 5.40023179e-02 9.98540793e-01 -1.87503965e-04 7.29693959e+00] [ 1.55240535e-02 -6.51804662e-04 9.99879282e-01 8.79708294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.929254154 meters Centerline goodness : 0.999094 Centerline is valid? [True, True] Translation: X:566.90, Y:7.30, Z:8.80 [[ 9.98419698e-01 -5.40066722e-02 -1.55366168e-02 5.66901365e+02] [ 5.40103036e-02 9.98540361e-01 -1.86075570e-04 7.29796720e+00] [ 1.55239883e-02 -6.53355874e-04 9.99879282e-01 8.79807981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.959254154 meters Centerline goodness : 0.999134 Centerline is valid? [True, True] Translation: X:566.93, Y:7.30, Z:8.80 [[ 9.98494332e-01 -5.26087564e-02 -1.55366304e-02 5.66932399e+02] [ 5.26122366e-02 9.98615000e-01 -1.84930190e-04 7.29907200e+00] [ 1.55248411e-02 -6.32765129e-04 9.99879282e-01 8.79657743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.9892541539999 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:566.96, Y:7.30, Z:8.80 [[ 9.98543660e-01 -5.16640246e-02 -1.55366405e-02 5.66964063e+02] [ 5.16674039e-02 9.98664331e-01 -1.84076731e-04 7.30001396e+00] [ 1.55253989e-02 -6.18929229e-04 9.99879282e-01 8.79650582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.0192541539999 meters Centerline goodness : 0.999048 Centerline is valid? [True, True] Translation: X:567.00, Y:7.30, Z:8.80 [[ 9.98617673e-01 -5.02131078e-02 -1.55366502e-02 5.66996329e+02] [ 5.02163245e-02 9.98738348e-01 -1.83257215e-04 7.30084071e+00] [ 1.55262503e-02 -5.97189575e-04 9.99879282e-01 8.79700762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.0492541539999 meters Centerline goodness : 0.998985 Centerline is valid? [True, True] Translation: X:567.03, Y:7.30, Z:8.80 [[ 9.98752436e-01 -4.74571719e-02 -1.55366631e-02 5.67027851e+02] [ 4.74600726e-02 9.98873119e-01 -1.82159614e-04 7.30276837e+00] [ 1.55277999e-02 -5.55438799e-04 9.99879282e-01 8.79683496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.079254154 meters Centerline goodness : 0.999195 Centerline is valid? [True, True] Translation: X:567.06, Y:7.30, Z:8.80 [[ 9.98840076e-01 -4.55753599e-02 -1.55366726e-02 5.67060315e+02] [ 4.55780460e-02 9.98960764e-01 -1.81340860e-04 7.30393248e+00] [ 1.55287910e-02 -5.27000661e-04 9.99879282e-01 8.79903136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.1092541539999 meters Centerline goodness : 0.999218 Centerline is valid? [True, True] Translation: X:567.09, Y:7.31, Z:8.80 [[ 9.98923343e-01 -4.37123079e-02 -1.55366858e-02 5.67092649e+02] [ 4.37147866e-02 9.99044036e-01 -1.80201273e-04 7.30539730e+00] [ 1.55297103e-02 -4.99175648e-04 9.99879282e-01 8.80006781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.1392541539999 meters Centerline goodness : 0.998918 Centerline is valid? [True, True] Translation: X:567.13, Y:7.31, Z:8.80 [[ 9.99104547e-01 -3.93537295e-02 -1.55366991e-02 5.67125250e+02] [ 3.93556994e-02 9.99225248e-01 -1.79054144e-04 7.30818785e+00] [ 1.55317084e-02 -4.32563849e-04 9.99879282e-01 8.80108730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.1692541539999 meters Centerline goodness : 0.998834 Centerline is valid? [True, True] Translation: X:567.16, Y:7.31, Z:8.80 [[ 9.99189473e-01 -3.71349919e-02 -1.55367122e-02 5.67157655e+02] [ 3.71367116e-02 9.99310179e-01 -1.77905523e-04 7.30990836e+00] [ 1.55326012e-02 -3.99221076e-04 9.99879282e-01 8.80175362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.199254154 meters Centerline goodness : 0.998940 Centerline is valid? [True, True] Translation: X:567.19, Y:7.31, Z:8.80 [[ 9.99267503e-01 -3.49723941e-02 -1.55367253e-02 5.67189994e+02] [ 3.49738704e-02 9.99388211e-01 -1.76758520e-04 7.31172176e+00] [ 1.55334017e-02 -3.66750371e-04 9.99879282e-01 8.80249333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.2292541539999 meters Centerline goodness : 0.999089 Centerline is valid? [True, True] Translation: X:567.22, Y:7.31, Z:8.80 [[ 9.99390429e-01 -3.12630694e-02 -1.55367382e-02 5.67221957e+02] [ 3.12641155e-02 9.99511143e-01 -1.75614741e-04 7.31471146e+00] [ 1.55346332e-02 -3.10234685e-04 9.99879282e-01 8.80347941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.2592541539999 meters Centerline goodness : 0.999110 Centerline is valid? [True, True] Translation: X:567.25, Y:7.32, Z:8.80 [[ 9.99436716e-01 -2.97465961e-02 -1.55367509e-02 5.67253533e+02] [ 2.97474766e-02 9.99557431e-01 -1.74480044e-04 7.31599314e+00] [ 1.55350650e-02 -2.87797372e-04 9.99879282e-01 8.80426792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.2892541539999 meters Centerline goodness : 0.998940 Centerline is valid? [True, True] Translation: X:567.29, Y:7.32, Z:8.80 [[ 9.99481047e-01 -2.82178251e-02 -1.55367572e-02 5.67285209e+02] [ 2.82185297e-02 9.99601763e-01 -1.73917755e-04 7.31725976e+00] [ 1.55354775e-02 -2.64596945e-04 9.99879282e-01 8.80491366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.319254154 meters Centerline goodness : 0.999044 Centerline is valid? [True, True] Translation: X:567.32, Y:7.32, Z:8.81 [[ 9.99555828e-01 -2.54313891e-02 -1.55367634e-02 5.67315620e+02] [ 2.54317659e-02 9.99676545e-01 -1.73360092e-04 7.31930051e+00] [ 1.55361468e-02 -2.21844240e-04 9.99879282e-01 8.80527898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.3492541539999 meters Centerline goodness : 0.998875 Centerline is valid? [True, True] Translation: X:567.35, Y:7.32, Z:8.81 [[ 9.99592188e-01 -2.39596731e-02 -1.55367665e-02 5.67347278e+02] [ 2.39598763e-02 9.99712906e-01 -1.73083693e-04 7.32056806e+00] [ 1.55364530e-02 -1.99245897e-04 9.99879282e-01 8.80570620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.3792541539999 meters Centerline goodness : 0.998895 Centerline is valid? [True, True] Translation: X:567.38, Y:7.32, Z:8.81 [[ 9.99616981e-01 -2.29019504e-02 -1.55367726e-02 5.67377928e+02] [ 2.29020344e-02 9.99737699e-01 -1.72538171e-04 7.32187933e+00] [ 1.55366487e-02 -1.83351614e-04 9.99879282e-01 8.80642557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.4092541539999 meters Centerline goodness : 0.998917 Centerline is valid? [True, True] Translation: X:567.41, Y:7.32, Z:8.81 [[ 9.99645107e-01 -2.16395219e-02 -1.55367726e-02 5.67407340e+02] [ 2.16394535e-02 9.99765825e-01 -1.72538171e-04 7.32273335e+00] [ 1.55368679e-02 -1.63730329e-04 9.99879282e-01 8.80706940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.439254154 meters Centerline goodness : 0.999128 Centerline is valid? [True, True] Translation: X:567.44, Y:7.32, Z:8.81 [[ 9.99694761e-01 -1.92092012e-02 -1.55367723e-02 5.67438055e+02] [ 1.92088389e-02 9.99815478e-01 -1.72562059e-04 7.32329402e+00] [ 1.55372202e-02 -1.25933971e-04 9.99879282e-01 8.80913082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.4692541539999 meters Centerline goodness : 0.999001 Centerline is valid? [True, True] Translation: X:567.47, Y:7.32, Z:8.81 [[ 9.99702871e-01 -1.87823926e-02 -1.55367723e-02 5.67466737e+02] [ 1.87819788e-02 9.99823588e-01 -1.72562059e-04 7.32381500e+00] [ 1.55372726e-02 -1.19300542e-04 9.99879282e-01 8.80805627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.4992541539999 meters Centerline goodness : 0.999044 Centerline is valid? [True, True] Translation: X:567.50, Y:7.32, Z:8.81 [[ 9.99728718e-01 -1.73522435e-02 -1.55367628e-02 5.67496031e+02] [ 1.73516437e-02 9.99849434e-01 -1.73414942e-04 7.32307909e+00] [ 1.55374326e-02 -9.62204746e-05 9.99879282e-01 8.80903366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.5292541539999 meters Centerline goodness : 0.998873 Centerline is valid? [True, True] Translation: X:567.52, Y:7.32, Z:8.81 [[ 9.99725260e-01 -1.75503415e-02 -1.55367566e-02 5.67524291e+02] [ 1.75497570e-02 9.99845976e-01 -1.73972569e-04 7.32312920e+00] [ 1.55374168e-02 -9.87415299e-05 9.99879282e-01 8.80954947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.559254154 meters Centerline goodness : 0.998770 Centerline is valid? [True, True] Translation: X:567.55, Y:7.32, Z:8.81 [[ 9.99723949e-01 -1.76248907e-02 -1.55367121e-02 5.67553441e+02] [ 1.76242548e-02 9.99844665e-01 -1.77855167e-04 7.32323953e+00] [ 1.55374334e-02 -9.60169040e-05 9.99879282e-01 8.80997017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.589254154 meters Centerline goodness : 0.998959 Centerline is valid? [True, True] Translation: X:567.58, Y:7.32, Z:8.81 [[ 9.99721700e-01 -1.77520469e-02 -1.55366669e-02 5.67582460e+02] [ 1.77513663e-02 9.99842416e-01 -1.81723707e-04 7.32303398e+00] [ 1.55374445e-02 -9.41239310e-05 9.99879282e-01 8.81024023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.6192541539999 meters Centerline goodness : 0.999067 Centerline is valid? [True, True] Translation: X:567.61, Y:7.32, Z:8.81 [[ 9.99689736e-01 -1.94690737e-02 -1.55366572e-02 5.67611231e+02] [ 1.94685876e-02 9.99810452e-01 -1.82544462e-04 7.32234003e+00] [ 1.55372663e-02 -1.19988948e-04 9.99879282e-01 8.80915495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.6492541539999 meters Centerline goodness : 0.999173 Centerline is valid? [True, True] Translation: X:567.64, Y:7.32, Z:8.81 [[ 9.99661348e-01 -2.08758626e-02 -1.55366447e-02 5.67641093e+02] [ 2.08755300e-02 9.99782066e-01 -1.83601240e-04 7.32197000e+00] [ 1.55370916e-02 -1.40796631e-04 9.99879282e-01 8.81050490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.679254154 meters Centerline goodness : 0.999005 Centerline is valid? [True, True] Translation: X:567.67, Y:7.32, Z:8.81 [[ 9.99629545e-01 -2.23469171e-02 -1.55366384e-02 5.67670897e+02] [ 2.23467539e-02 9.99750263e-01 -1.84139232e-04 7.32156853e+00] [ 1.55368732e-02 -1.63122416e-04 9.99879282e-01 8.81189080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.709254154 meters Centerline goodness : 0.998898 Centerline is valid? [True, True] Translation: X:567.70, Y:7.32, Z:8.81 [[ 9.99585399e-01 -2.42413739e-02 -1.55366316e-02 5.67700570e+02] [ 2.42414307e-02 9.99706116e-01 -1.84703279e-04 7.32111861e+00] [ 1.55365431e-02 -1.92003478e-04 9.99879282e-01 8.81214962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.7392541539999 meters Centerline goodness : 0.999132 Centerline is valid? [True, True] Translation: X:567.73, Y:7.32, Z:8.81 [[ 9.99465791e-01 -2.87531918e-02 -1.55366323e-02 5.67731458e+02] [ 2.87537943e-02 9.99586507e-01 -1.84644987e-04 7.31993113e+00] [ 1.55355172e-02 -2.62190783e-04 9.99879282e-01 8.81327330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.7692541539999 meters Centerline goodness : 0.999047 Centerline is valid? [True, True] Translation: X:567.76, Y:7.32, Z:8.81 [[ 9.99397570e-01 -3.10340121e-02 -1.55366323e-02 5.67762881e+02] [ 3.10348902e-02 9.99518285e-01 -1.84644987e-04 7.31930120e+00] [ 1.55348784e-02 -2.97643926e-04 9.99879282e-01 8.81346495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.7992541539999 meters Centerline goodness : 0.998965 Centerline is valid? [True, True] Translation: X:567.80, Y:7.32, Z:8.81 [[ 9.99335552e-01 -3.29706886e-02 -1.55366424e-02 5.67795528e+02] [ 3.29718138e-02 9.99456265e-01 -1.83792720e-04 7.31850424e+00] [ 1.55342544e-02 -3.28600682e-04 9.99879282e-01 8.81375947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.829254154 meters Centerline goodness : 0.998923 Centerline is valid? [True, True] Translation: X:567.83, Y:7.32, Z:8.81 [[ 9.99267653e-01 -3.49681367e-02 -1.55366558e-02 5.67827414e+02] [ 3.49695208e-02 9.99388363e-01 -1.82658515e-04 7.31748330e+00] [ 1.55335402e-02 -3.60784660e-04 9.99879282e-01 8.81416864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.8592541539999 meters Centerline goodness : 0.998754 Centerline is valid? [True, True] Translation: X:567.86, Y:7.32, Z:8.81 [[ 9.99080526e-01 -3.99589000e-02 -1.55366690e-02 5.67858872e+02] [ 3.99609047e-02 9.99201228e-01 -1.81522113e-04 7.31561224e+00] [ 1.55315122e-02 -4.39504142e-04 9.99879282e-01 8.81439834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.8892541539999 meters Centerline goodness : 0.999027 Centerline is valid? [True, True] Translation: X:567.89, Y:7.32, Z:8.82 [[ 9.98952879e-01 -4.30320486e-02 -1.55366905e-02 5.67891531e+02] [ 4.30344534e-02 9.99073573e-01 -1.79667572e-04 7.31531719e+00] [ 1.55300283e-02 -4.89133544e-04 9.99879282e-01 8.81594888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.9192541539999 meters Centerline goodness : 0.998964 Centerline is valid? [True, True] Translation: X:567.92, Y:7.31, Z:8.82 [[ 9.98829036e-01 -4.58166790e-02 -1.55367036e-02 5.67922479e+02] [ 4.58194380e-02 9.98949722e-01 -1.78524910e-04 7.31487434e+00] [ 1.55285652e-02 -5.33567164e-04 9.99879282e-01 8.81629911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.949254154 meters Centerline goodness : 0.998945 Centerline is valid? [True, True] Translation: X:567.95, Y:7.31, Z:8.82 [[ 9.98518749e-01 -5.21432371e-02 -1.55367242e-02 5.67954062e+02] [ 5.21467887e-02 9.98639415e-01 -1.76713288e-04 7.31309856e+00] [ 1.55247996e-02 -6.33738745e-04 9.99879282e-01 8.81608242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.9792541539999 meters Centerline goodness : 0.998986 Centerline is valid? [True, True] Translation: X:567.99, Y:7.31, Z:8.82 [[ 9.98332333e-01 -5.55982309e-02 -1.55367336e-02 5.67987476e+02] [ 5.56022130e-02 9.98452985e-01 -1.75882611e-04 7.31245335e+00] [ 1.55224768e-02 -6.88287474e-04 9.99879282e-01 8.81641051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.0092541539999 meters Centerline goodness : 0.998946 Centerline is valid? [True, True] Translation: X:568.02, Y:7.31, Z:8.82 [[ 9.98156489e-01 -5.86705387e-02 -1.55367524e-02 5.68019044e+02] [ 5.86749180e-02 9.98277128e-01 -1.74211980e-04 7.31180305e+00] [ 1.55202056e-02 -7.37726852e-04 9.99879282e-01 8.81642944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.0392541539999 meters Centerline goodness : 0.998967 Centerline is valid? [True, True] Translation: X:568.05, Y:7.31, Z:8.82 [[ 9.97796204e-01 -6.45084861e-02 -1.55367678e-02 5.68050020e+02] [ 6.45135925e-02 9.97916813e-01 -1.72826386e-04 7.31120805e+00] [ 1.55155505e-02 -8.29887193e-04 9.99879282e-01 8.81670761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.069254154 meters Centerline goodness : 0.998967 Centerline is valid? [True, True] Translation: X:568.08, Y:7.31, Z:8.82 [[ 9.97660078e-01 -6.65806015e-02 -1.55367768e-02 5.68082990e+02] [ 6.65859711e-02 9.97780677e-01 -1.72009059e-04 7.31096729e+00] [ 1.55137482e-02 -8.62924801e-04 9.99879282e-01 8.81713825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.0992541539999 meters Centerline goodness : 0.998736 Centerline is valid? [True, True] Translation: X:568.12, Y:7.31, Z:8.82 [[ 9.97532993e-01 -6.84582744e-02 -1.55367944e-02 5.68116489e+02] [ 6.84638959e-02 9.97653580e-01 -1.70401568e-04 7.31103063e+00] [ 1.55120040e-02 -8.93728291e-04 9.99879282e-01 8.81759409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.1292541539999 meters Centerline goodness : 0.998780 Centerline is valid? [True, True] Translation: X:568.15, Y:7.31, Z:8.82 [[ 9.97441325e-01 -6.97811563e-02 -1.55368120e-02 5.68149653e+02] [ 6.97869628e-02 9.97561904e-01 -1.68787698e-04 7.31113374e+00] [ 1.55107099e-02 -9.15911094e-04 9.99879282e-01 8.81796712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.1592541539999 meters Centerline goodness : 0.998989 Centerline is valid? [True, True] Translation: X:568.18, Y:7.31, Z:8.82 [[ 9.97345164e-01 -7.11423348e-02 -1.55368293e-02 5.68181357e+02] [ 7.11483308e-02 9.97465732e-01 -1.67182318e-04 7.31105060e+00] [ 1.55093485e-02 -9.38680990e-04 9.99879282e-01 8.81786917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.189254154 meters Centerline goodness : 0.998825 Centerline is valid? [True, True] Translation: X:568.21, Y:7.31, Z:8.82 [[ 9.97331772e-01 -7.13298169e-02 -1.55368434e-02 5.68214566e+02] [ 7.13358562e-02 9.97452339e-01 -1.65852336e-04 7.31128779e+00] [ 1.55090911e-02 -9.42924226e-04 9.99879282e-01 8.81772855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.2192541539999 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:568.25, Y:7.31, Z:8.82 [[ 9.97358931e-01 -7.09490611e-02 -1.55368602e-02 5.68247237e+02] [ 7.09550790e-02 9.97479498e-01 -1.64264477e-04 7.31196540e+00] [ 1.55093540e-02 -9.38588502e-04 9.99879282e-01 8.81797551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.2492541539999 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:568.28, Y:7.31, Z:8.82 [[ 9.97366780e-01 -7.08386293e-02 -1.55368782e-02 5.68280772e+02] [ 7.08446606e-02 9.97487347e-01 -1.62542903e-04 7.31222479e+00] [ 1.55093538e-02 -9.38589974e-04 9.99879282e-01 8.81849613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.2792541539999 meters Centerline goodness : 0.999011 Centerline is valid? [True, True] Translation: X:568.31, Y:7.31, Z:8.82 [[ 9.97652336e-01 -6.66964857e-02 -1.55368961e-02 5.68309389e+02] [ 6.67020430e-02 9.97772926e-01 -1.60822808e-04 7.31383797e+00] [ 1.55130205e-02 -8.75897458e-04 9.99879282e-01 8.81668678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.309254154 meters Centerline goodness : 0.998927 Centerline is valid? [True, True] Translation: X:568.34, Y:7.31, Z:8.82 [[ 9.97679551e-01 -6.62884263e-02 -1.55357220e-02 5.68344711e+02] [ 6.62921711e-02 9.97800217e-01 -2.74378619e-04 7.31496220e+00] [ 1.55197349e-02 -7.56154803e-04 9.99879276e-01 8.81727665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.339254154 meters Centerline goodness : 0.998904 Centerline is valid? [True, True] Translation: X:568.38, Y:7.32, Z:8.82 [[ 9.97859655e-01 -6.35193925e-02 -1.55369118e-02 5.68377372e+02] [ 6.35246478e-02 9.97980258e-01 -1.55539845e-04 7.31601591e+00] [ 1.55154110e-02 -8.31769912e-04 9.99879283e-01 8.81732651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.3692541539999 meters Centerline goodness : 0.998799 Centerline is valid? [True, True] Translation: X:568.41, Y:7.32, Z:8.82 [[ 9.98068259e-01 -6.01527545e-02 -1.55369289e-02 5.68410875e+02] [ 6.01576297e-02 9.98188878e-01 -1.53810202e-04 7.31748916e+00] [ 1.55180417e-02 -7.81151736e-04 9.99879283e-01 8.81775023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.3992541539999 meters Centerline goodness : 0.998968 Centerline is valid? [True, True] Translation: X:568.44, Y:7.32, Z:8.82 [[ 9.98590270e-01 -5.07550624e-02 -1.55369462e-02 5.68440738e+02] [ 5.07588295e-02 9.98710928e-01 -1.52039423e-04 7.32115017e+00] [ 1.55246348e-02 -6.36812116e-04 9.99879283e-01 8.81879278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.429254154 meters Centerline goodness : 0.999071 Centerline is valid? [True, True] Translation: X:568.47, Y:7.32, Z:8.82 [[ 9.98783719e-01 -4.67943472e-02 -1.55361249e-02 5.68474681e+02] [ 4.67963453e-02 9.98904423e-01 -2.35100533e-04 7.32344342e+00] [ 1.55301052e-02 -4.92219280e-04 9.99879279e-01 8.81938923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.459254154 meters Centerline goodness : 0.999072 Centerline is valid? [True, True] Translation: X:568.51, Y:7.33, Z:8.82 [[ 9.99018348e-01 -4.14842554e-02 -1.55369522e-02 5.68506117e+02] [ 4.14869556e-02 9.99139035e-01 -1.48620134e-04 7.32557568e+00] [ 1.55297408e-02 -4.96106604e-04 9.99879283e-01 8.82033318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.4892541539999 meters Centerline goodness : 0.998860 Centerline is valid? [True, True] Translation: X:568.54, Y:7.33, Z:8.82 [[ 9.99235378e-01 -3.58784340e-02 -1.55369603e-02 5.68538167e+02] [ 3.58804703e-02 9.99356078e-01 -1.47761017e-04 7.32777505e+00] [ 1.55322572e-02 -4.09825409e-04 9.99879283e-01 8.82109276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.5192541539999 meters Centerline goodness : 0.998756 Centerline is valid? [True, True] Translation: X:568.57, Y:7.33, Z:8.82 [[ 9.99573408e-01 -2.47306486e-02 -1.55369712e-02 5.68569733e+02] [ 2.47313564e-02 9.99694122e-01 -1.46610124e-04 7.33156678e+00] [ 1.55358446e-02 -2.37702791e-04 9.99879283e-01 8.82199024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.5492541539999 meters Centerline goodness : 0.998837 Centerline is valid? [True, True] Translation: X:568.60, Y:7.33, Z:8.82 [[ 9.99699560e-01 -1.89576389e-02 -1.55369792e-02 5.68597891e+02] [ 1.89576628e-02 9.99820277e-01 -1.45753787e-04 7.33352090e+00] [ 1.55369500e-02 -1.48834817e-04 9.99879283e-01 8.82267182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.579254154 meters Centerline goodness : 0.999025 Centerline is valid? [True, True] Translation: X:568.63, Y:7.34, Z:8.82 [[ 9.99763325e-01 -1.52289011e-02 -1.55362353e-02 5.68627548e+02] [ 1.52272721e-02 9.99884033e-01 -2.23147007e-04 7.33512309e+00] [ 1.55378319e-02 -1.34802879e-05 9.99879281e-01 8.82263283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.6092541539999 meters Centerline goodness : 0.998769 Centerline is valid? [True, True] Translation: X:568.66, Y:7.34, Z:8.82 [[ 9.99846328e-01 -8.11931839e-03 -1.55369405e-02 5.68656188e+02] [ 8.11796450e-03 9.99967038e-01 -1.50207003e-04 7.33757559e+00] [ 1.55376479e-02 2.40555889e-05 9.99879283e-01 8.82212124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.6392541539999 meters Centerline goodness : 0.999003 Centerline is valid? [True, True] Translation: X:568.68, Y:7.34, Z:8.82 [[ 9.99863137e-01 -5.68433149e-03 -1.55369012e-02 5.68683629e+02] [ 5.68262214e-03 9.99983842e-01 -1.54165209e-04 7.33866727e+00] [ 1.55375265e-02 6.58537705e-05 9.99879283e-01 8.82225551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.6692541539999 meters Centerline goodness : 0.998832 Centerline is valid? [True, True] Translation: X:568.71, Y:7.34, Z:8.82 [[ 9.99871355e-01 -3.98497477e-03 -1.55368553e-02 5.68710994e+02] [ 3.98299040e-03 9.99992055e-01 -1.58661463e-04 7.33940903e+00] [ 1.55373641e-02 9.67579062e-05 9.99879283e-01 8.82220784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.699254154 meters Centerline goodness : 0.999000 Centerline is valid? [True, True] Translation: X:568.74, Y:7.34, Z:8.82 [[ 9.99874361e-01 -3.14148320e-03 -1.55368352e-02 5.68738772e+02] [ 3.13936678e-03 9.99995059e-01 -1.60607319e-04 7.33996444e+00] [ 1.55372630e-02 1.11811316e-04 9.99879283e-01 8.82187952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.7292541539999 meters Centerline goodness : 0.998790 Centerline is valid? [True, True] Translation: X:568.77, Y:7.34, Z:8.82 [[ 9.99875467e-01 -2.76752271e-03 -1.55367873e-02 5.68766576e+02] [ 2.76529119e-03 9.99996163e-01 -1.65109774e-04 7.33955727e+00] [ 1.55371847e-02 1.22125471e-04 9.99879283e-01 8.82105865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.7592541539999 meters Centerline goodness : 0.998959 Centerline is valid? [True, True] Translation: X:568.79, Y:7.34, Z:8.82 [[ 9.99873294e-01 -3.46485812e-03 -1.55367380e-02 5.68794849e+02] [ 3.46264058e-03 9.99993991e-01 -1.69627530e-04 7.33956379e+00] [ 1.55372324e-02 1.15807898e-04 9.99879283e-01 8.82129866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.7892541539999 meters Centerline goodness : 0.999108 Centerline is valid? [True, True] Translation: X:568.82, Y:7.34, Z:8.82 [[ 9.99869321e-01 -4.46677044e-03 -1.55366872e-02 5.68823013e+02] [ 4.46460337e-03 9.99990018e-01 -1.74163008e-04 7.33951539e+00] [ 1.55373100e-02 1.04775102e-04 9.99879283e-01 8.82171782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.819254154 meters Centerline goodness : 0.999216 Centerline is valid? [True, True] Translation: X:568.85, Y:7.34, Z:8.82 [[ 9.99863202e-01 -5.67350129e-03 -1.55366680e-02 5.68851357e+02] [ 5.67145363e-03 9.99983902e-01 -1.75852407e-04 7.33914750e+00] [ 1.55374156e-02 8.77128585e-05 9.99879283e-01 8.82229237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.8492541539999 meters Centerline goodness : 0.999152 Centerline is valid? [True, True] Translation: X:568.88, Y:7.34, Z:8.82 [[ 9.99846224e-01 -8.13274548e-03 -1.55366150e-02 5.68879084e+02] [ 8.13092378e-03 9.99966927e-01 -1.80416807e-04 7.33742701e+00] [ 1.55375685e-02 5.40620307e-05 9.99879283e-01 8.82283282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.8792541539999 meters Centerline goodness : 0.999023 Centerline is valid? [True, True] Translation: X:568.91, Y:7.34, Z:8.82 [[ 9.99836623e-01 -9.23806972e-03 -1.55365930e-02 5.68905925e+02] [ 9.23635227e-03 9.99957327e-01 -1.82295284e-04 7.33640188e+00] [ 1.55376141e-02 3.87640556e-05 9.99879283e-01 8.82338378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.9092541539999 meters Centerline goodness : 0.998833 Centerline is valid? [True, True] Translation: X:568.93, Y:7.34, Z:8.82 [[ 9.99820833e-01 -1.08128082e-02 -1.55365698e-02 5.68933638e+02] [ 1.08112505e-02 9.99941540e-01 -1.84251804e-04 7.33559365e+00] [ 1.55376538e-02 1.62490448e-05 9.99879283e-01 8.82365425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.939254154 meters Centerline goodness : 0.999067 Centerline is valid? [True, True] Translation: X:568.96, Y:7.33, Z:8.82 [[ 9.99794425e-01 -1.30278022e-02 -1.55365145e-02 5.68960601e+02] [ 1.30264412e-02 9.99915135e-01 -1.88801074e-04 7.33301108e+00] [ 1.55376557e-02 -1.36232312e-05 9.99879283e-01 8.82392829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.9692541539999 meters Centerline goodness : 0.998685 Centerline is valid? [True, True] Translation: X:568.99, Y:7.33, Z:8.82 [[ 9.99774732e-01 -1.44604000e-02 -1.55364759e-02 5.68988653e+02] [ 1.44591634e-02 9.99895442e-01 -1.91927033e-04 7.33162416e+00] [ 1.55376268e-02 -3.27606457e-05 9.99879283e-01 8.82431347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.9992541539999 meters Centerline goodness : 0.998900 Centerline is valid? [True, True] Translation: X:569.02, Y:7.33, Z:8.83 [[ 9.99759140e-01 -1.55010285e-02 -1.55364202e-02 5.69016494e+02] [ 1.54998491e-02 9.99879851e-01 -1.96333463e-04 7.33093903e+00] [ 1.55375969e-02 -4.45259947e-05 9.99879283e-01 8.82527835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.0292541539999 meters Centerline goodness : 0.998899 Centerline is valid? [True, True] Translation: X:569.05, Y:7.33, Z:8.83 [[ 9.99739266e-01 -1.67348380e-02 -1.55352738e-02 5.69045183e+02] [ 1.67324332e-02 9.99859963e-01 -2.84775744e-04 7.32978151e+00] [ 1.55378640e-02 2.47585626e-05 9.99879280e-01 8.82577681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.059254154 meters Centerline goodness : 0.999048 Centerline is valid? [True, True] Translation: X:569.07, Y:7.33, Z:8.83 [[ 9.99707153e-01 -1.85543263e-02 -1.55353081e-02 5.69074829e+02] [ 1.85521820e-02 9.99827854e-01 -2.82145408e-04 7.32528420e+00] [ 1.55378687e-02 -6.15107905e-06 9.99879280e-01 8.82504855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.089254154 meters Centerline goodness : 0.998773 Centerline is valid? [True, True] Translation: X:569.10, Y:7.32, Z:8.83 [[ 9.99701633e-01 -1.88485164e-02 -1.55363574e-02 5.69102976e+02] [ 1.88476675e-02 9.99822347e-01 -2.01070796e-04 7.32397277e+00] [ 1.55373872e-02 -9.18132942e-05 9.99879283e-01 8.82565908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.1192541539999 meters Centerline goodness : 0.998923 Centerline is valid? [True, True] Translation: X:569.13, Y:7.32, Z:8.83 [[ 9.99695728e-01 -1.91598997e-02 -1.55354251e-02 5.69131466e+02] [ 1.91579834e-02 9.99816432e-01 -2.72178567e-04 7.32204590e+00] [ 1.55377883e-02 -2.55316661e-05 9.99879281e-01 8.82578622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.1492541539999 meters Centerline goodness : 0.998883 Centerline is valid? [True, True] Translation: X:569.16, Y:7.32, Z:8.82 [[ 9.99701566e-01 -1.88529184e-02 -1.55353081e-02 5.69160474e+02] [ 1.88508286e-02 9.99822268e-01 -2.80956256e-04 7.31755341e+00] [ 1.55378438e-02 -1.19810206e-05 9.99879280e-01 8.82395453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.179254154 meters Centerline goodness : 0.998776 Centerline is valid? [True, True] Translation: X:569.19, Y:7.32, Z:8.82 [[ 9.99715285e-01 -1.81099960e-02 -1.55362901e-02 5.69189695e+02] [ 1.81089596e-02 9.99835998e-01 -2.07398211e-04 7.31552110e+00] [ 1.55374981e-02 -7.40068868e-05 9.99879283e-01 8.82372140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.209254154 meters Centerline goodness : 0.998861 Centerline is valid? [True, True] Translation: X:569.22, Y:7.31, Z:8.82 [[ 9.99742641e-01 -1.65311037e-02 -1.55362366e-02 5.69218194e+02] [ 1.65298155e-02 9.99863351e-01 -2.11330760e-04 7.31391680e+00] [ 1.55376071e-02 -4.55347529e-05 9.99879283e-01 8.82391052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.2392541539999 meters Centerline goodness : 0.998718 Centerline is valid? [True, True] Translation: X:569.25, Y:7.31, Z:8.82 [[ 9.99776870e-01 -1.43126783e-02 -1.55356592e-02 5.69246652e+02] [ 1.43104723e-02 9.99897568e-01 -2.53155300e-04 7.30968964e+00] [ 1.55376911e-02 3.07761933e-05 9.99879282e-01 8.82342281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.2692541539999 meters Centerline goodness : 0.999075 Centerline is valid? [True, True] Translation: X:569.27, Y:7.31, Z:8.82 [[ 9.99792135e-01 -1.32028239e-02 -1.55361835e-02 5.69274197e+02] [ 1.32010719e-02 9.99912839e-01 -2.15321730e-04 7.30801555e+00] [ 1.55376722e-02 1.01826969e-05 9.99879283e-01 8.82352850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.2992541539999 meters Centerline goodness : 0.998996 Centerline is valid? [True, True] Translation: X:569.30, Y:7.31, Z:8.82 [[ 9.99804991e-01 -1.21905250e-02 -1.55361197e-02 5.69301348e+02] [ 1.21885807e-02 9.99925692e-01 -2.19830230e-04 7.30621763e+00] [ 1.55376451e-02 3.04241123e-05 9.99879283e-01 8.82397231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.329254154 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:569.33, Y:7.30, Z:8.83 [[ 9.99844657e-01 -8.32412783e-03 -1.55360918e-02 5.69334195e+02] [ 8.32168647e-03 9.99965350e-01 -2.21782978e-04 7.30006030e+00] [ 1.55373997e-02 9.24620406e-05 9.99879283e-01 8.82503093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.3592541539999 meters Centerline goodness : 0.998870 Centerline is valid? [True, True] Translation: X:569.36, Y:7.30, Z:8.82 [[ 9.99810420e-01 -1.17333802e-02 -1.55387517e-02 5.69358744e+02] [ 1.17342682e-02 9.99931151e-01 -3.40307014e-05 7.29900975e+00] [ 1.55380811e-02 -1.48311629e-04 9.99879266e-01 8.82373911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.3892541539999 meters Centerline goodness : 0.998953 Centerline is valid? [True, True] Translation: X:569.39, Y:7.30, Z:8.82 [[ 9.99795808e-01 -1.29219514e-02 -1.55359669e-02 5.69387111e+02] [ 1.29200039e-02 9.99916508e-01 -2.25720426e-04 7.29677109e+00] [ 1.55375865e-02 2.49495817e-05 9.99879284e-01 8.82372307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.4192541539999 meters Centerline goodness : 0.998849 Centerline is valid? [True, True] Translation: X:569.42, Y:7.29, Z:8.82 [[ 9.99837129e-01 -9.18433877e-03 -1.55359029e-02 5.69422747e+02] [ 9.18187294e-03 9.99957819e-01 -2.30041093e-04 7.28799179e+00] [ 1.55373604e-02 8.73549395e-05 9.99879284e-01 8.82289524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.449254154 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:569.45, Y:7.29, Z:8.82 [[ 9.99725453e-01 -1.75361889e-02 -1.55402851e-02 5.69446480e+02] [ 1.75393847e-02 9.99846171e-01 6.93697799e-05 7.28880647e+00] [ 1.55366780e-02 -3.41917773e-04 9.99879240e-01 8.82298593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.4792541539999 meters Centerline goodness : 0.998935 Centerline is valid? [True, True] Translation: X:569.48, Y:7.28, Z:8.82 [[ 9.99753711e-01 -1.58480693e-02 -1.55356283e-02 5.69480134e+02] [ 1.58463070e-02 9.99874411e-01 -2.36534271e-04 7.28119625e+00] [ 1.55374258e-02 -9.70632087e-06 9.99879287e-01 8.82311511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.5092541539999 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:569.51, Y:7.28, Z:8.82 [[ 9.99623963e-01 -2.25934379e-02 -1.55392649e-02 5.69505398e+02] [ 2.25962082e-02 9.99744673e-01 2.70227699e-06 7.28370054e+00] [ 1.55352362e-02 -3.53829726e-04 9.99879258e-01 8.82313432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.5392541539999 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:569.54, Y:7.28, Z:8.83 [[ 9.99613490e-01 -2.30547384e-02 -1.55354035e-02 5.69536800e+02] [ 2.30537366e-02 9.99734198e-01 -2.43590811e-04 7.27816795e+00] [ 1.55368901e-02 -1.14652439e-04 9.99879289e-01 8.82603700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.569254154 meters Centerline goodness : 0.999209 Centerline is valid? [True, True] Translation: X:569.56, Y:7.27, Z:8.82 [[ 9.99394954e-01 -3.11177079e-02 -1.55374891e-02 5.69564538e+02] [ 3.11197392e-02 9.99515657e-01 -1.11084012e-04 7.27425084e+00] [ 1.55334203e-02 -3.72505807e-04 9.99879280e-01 8.82346272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.5992541539999 meters Centerline goodness : 0.999147 Centerline is valid? [True, True] Translation: X:569.59, Y:7.27, Z:8.82 [[ 9.99311111e-01 -3.37039664e-02 -1.55353167e-02 5.69594202e+02] [ 3.37041905e-02 9.99431822e-01 -2.47467902e-04 7.27164704e+00] [ 1.55348305e-02 -2.76307850e-04 9.99879289e-01 8.82400652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.6292541539999 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:569.63, Y:7.27, Z:8.83 [[ 9.99314885e-01 -3.35918967e-02 -1.55353122e-02 5.69626445e+02] [ 3.35921029e-02 9.99435595e-01 -2.47749027e-04 7.26663972e+00] [ 1.55348664e-02 -2.74284517e-04 9.99879289e-01 8.82719065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.6592541539999 meters Centerline goodness : 0.999064 Centerline is valid? [True, True] Translation: X:569.65, Y:7.27, Z:8.83 [[ 9.99151133e-01 -3.81522190e-02 -1.55377306e-02 5.69653812e+02] [ 3.81553345e-02 9.99271816e-01 -9.59903849e-05 7.26706011e+00] [ 1.55300785e-02 -4.96938406e-04 9.99879278e-01 8.82539674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.689254154 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:569.68, Y:7.26, Z:8.83 [[ 9.99067372e-01 -4.02870321e-02 -1.55351736e-02 5.69684841e+02] [ 4.02879653e-02 9.99188078e-01 -2.53008143e-04 7.26298948e+00] [ 1.55327532e-02 -3.73108354e-04 9.99879290e-01 8.82544446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.7192541539999 meters Centerline goodness : 0.999148 Centerline is valid? [True, True] Translation: X:569.72, Y:7.26, Z:8.83 [[ 9.99067794e-01 -4.02765489e-02 -1.55351828e-02 5.69715639e+02] [ 4.02774897e-02 9.99188501e-01 -2.52438523e-04 7.26119612e+00] [ 1.55327434e-02 -3.73514968e-04 9.99879290e-01 8.82582212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.7492541539999 meters Centerline goodness : 0.999334 Centerline is valid? [True, True] Translation: X:569.75, Y:7.26, Z:8.83 [[ 9.99125541e-01 -3.88176642e-02 -1.55351874e-02 5.69747070e+02] [ 3.88184332e-02 9.99246249e-01 -2.52155617e-04 7.25744459e+00] [ 1.55332658e-02 -3.51116517e-04 9.99879290e-01 8.82574194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.7792541539999 meters Centerline goodness : 0.999084 Centerline is valid? [True, True] Translation: X:569.78, Y:7.26, Z:8.83 [[ 9.99181555e-01 -3.73480715e-02 -1.55351966e-02 5.69777184e+02] [ 3.73486718e-02 9.99302263e-01 -2.51587891e-04 7.25615596e+00] [ 1.55337534e-02 -3.28836978e-04 9.99879290e-01 8.82640947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.809254154 meters Centerline goodness : 0.999253 Centerline is valid? [True, True] Translation: X:569.81, Y:7.25, Z:8.83 [[ 9.99245763e-01 -3.55889067e-02 -1.55349286e-02 5.69807393e+02] [ 3.55890387e-02 9.99366474e-01 -2.68040226e-04 7.25498286e+00] [ 1.55346261e-02 -2.85035116e-04 9.99879290e-01 8.82652039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.839254154 meters Centerline goodness : 0.999189 Centerline is valid? [True, True] Translation: X:569.84, Y:7.25, Z:8.83 [[ 9.99313111e-01 -3.36446815e-02 -1.55351805e-02 5.69837160e+02] [ 3.36448194e-02 9.99433821e-01 -2.52546813e-04 7.25412449e+00] [ 1.55348817e-02 -2.70305002e-04 9.99879290e-01 8.82716024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.8692541539999 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:569.87, Y:7.25, Z:8.83 [[ 9.99395206e-01 -3.11108034e-02 -1.55351502e-02 5.69867238e+02] [ 3.11106064e-02 9.99515916e-01 -2.54410692e-04 7.25253455e+00] [ 1.55355448e-02 -2.29051116e-04 9.99879290e-01 8.82667412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.8992541539999 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:569.90, Y:7.25, Z:8.83 [[ 9.99522259e-01 -2.67191506e-02 -1.55351764e-02 5.69896318e+02] [ 2.67184482e-02 9.99642967e-01 -2.52801851e-04 7.25083889e+00] [ 1.55363844e-02 -1.62394727e-04 9.99879290e-01 8.82915037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.929254154 meters Centerline goodness : 0.999521 Centerline is valid? [True, True] Translation: X:569.93, Y:7.25, Z:8.83 [[ 9.99565094e-01 -2.50656242e-02 -1.55350691e-02 5.69925275e+02] [ 2.50646207e-02 9.99685799e-01 -2.59324861e-04 7.24958466e+00] [ 1.55366881e-02 -1.30168535e-04 9.99879290e-01 8.82648837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.959254154 meters Centerline goodness : 0.999396 Centerline is valid? [True, True] Translation: X:569.95, Y:7.25, Z:8.83 [[ 9.99607843e-01 -2.32985121e-02 -1.55351089e-02 5.69954500e+02] [ 2.32973326e-02 9.99728547e-01 -2.56914943e-04 7.24857005e+00] [ 1.55368776e-02 -1.05112409e-04 9.99879290e-01 8.82647031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.9892541539999 meters Centerline goodness : 0.999480 Centerline is valid? [True, True] Translation: X:569.98, Y:7.25, Z:8.83 [[ 9.99662821e-01 -2.08064129e-02 -1.55350434e-02 5.69981579e+02] [ 2.08048719e-02 9.99783521e-01 -2.60816641e-04 7.24563618e+00] [ 1.55371071e-02 -6.24758893e-05 9.99879290e-01 8.82641715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.0192541539999 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:570.01, Y:7.24, Z:8.83 [[ 9.99670029e-01 -2.04575229e-02 -1.55345884e-02 5.70010006e+02] [ 2.04555262e-02 9.99790723e-01 -2.87432290e-04 7.24386389e+00] [ 1.55372175e-02 -3.04307350e-05 9.99879290e-01 8.82546055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.0492541539999 meters Centerline goodness : 0.999646 Centerline is valid? [True, True] Translation: X:570.04, Y:7.24, Z:8.83 [[ 9.99654098e-01 -2.12214749e-02 -1.55349130e-02 5.70037475e+02] [ 2.12198621e-02 9.99774797e-01 -2.68662828e-04 7.24333393e+00] [ 1.55371159e-02 -6.10788154e-05 9.99879290e-01 8.82636709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.079254154 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:570.07, Y:7.24, Z:8.83 [[ 9.99614042e-01 -2.30311792e-02 -1.55348347e-02 5.70065262e+02] [ 2.30297158e-02 9.99734744e-01 -2.73115433e-04 7.23987365e+00] [ 1.55370042e-02 -8.47528060e-05 9.99879290e-01 8.82644551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.1092541539999 meters Centerline goodness : 0.999708 Centerline is valid? [True, True] Translation: X:570.09, Y:7.24, Z:8.83 [[ 9.99566154e-01 -2.50234778e-02 -1.55347556e-02 5.70093334e+02] [ 2.50221860e-02 9.99686858e-01 -2.77546491e-04 7.23858800e+00] [ 1.55368362e-02 -1.11287465e-04 9.99879290e-01 8.82690253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.1392541539999 meters Centerline goodness : 0.999708 Centerline is valid? [True, True] Translation: X:570.12, Y:7.24, Z:8.83 [[ 9.99558978e-01 -2.53085513e-02 -1.55346753e-02 5.70121751e+02] [ 2.53072252e-02 9.99679681e-01 -2.81968792e-04 7.23918346e+00] [ 1.55368355e-02 -1.11295089e-04 9.99879290e-01 8.82734508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.1692541539999 meters Centerline goodness : 0.999687 Centerline is valid? [True, True] Translation: X:570.15, Y:7.24, Z:8.83 [[ 9.99497118e-01 -2.76439404e-02 -1.55345936e-02 5.70149532e+02] [ 2.76428275e-02 9.99617823e-01 -2.86398697e-04 7.23796094e+00] [ 1.55365739e-02 -1.43165420e-04 9.99879290e-01 8.82793408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.199254154 meters Centerline goodness : 0.999562 Centerline is valid? [True, True] Translation: X:570.18, Y:7.24, Z:8.83 [[ 9.99432022e-01 -2.99050674e-02 -1.55345114e-02 5.70177617e+02] [ 2.99041593e-02 9.99552728e-01 -2.90792685e-04 7.23581897e+00] [ 1.55362594e-02 -1.73918981e-04 9.99879290e-01 8.82748514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.2292541539999 meters Centerline goodness : 0.999562 Centerline is valid? [True, True] Translation: X:570.21, Y:7.23, Z:8.83 [[ 9.99244240e-01 -3.56318418e-02 -1.55344727e-02 5.70205061e+02] [ 3.56315935e-02 9.99364950e-01 -2.92842653e-04 7.23231562e+00] [ 1.55350421e-02 -2.60896684e-04 9.99879290e-01 8.82845860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.2592541539999 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:570.23, Y:7.23, Z:8.83 [[ 9.99128743e-01 -3.87354573e-02 -1.55344472e-02 5.70234231e+02] [ 3.87355630e-02 9.99249453e-01 -2.94190483e-04 7.23168022e+00] [ 1.55341835e-02 -3.07801391e-04 9.99879290e-01 8.83058833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.2892541539999 meters Centerline goodness : 0.997687 Centerline is valid? [True, True] Translation: X:570.26, Y:7.23, Z:8.83 [[ 9.98994627e-01 -4.20525382e-02 -1.55344365e-02 5.70263149e+02] [ 4.20530360e-02 9.99115336e-01 -2.94753969e-04 7.23052593e+00] [ 1.55330889e-02 -3.58812587e-04 9.99879290e-01 8.82967134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.319254154 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:570.29, Y:7.23, Z:8.83 [[ 9.98899373e-01 -4.42573620e-02 -1.55347811e-02 5.70292077e+02] [ 4.42584063e-02 9.99020078e-01 -2.76732699e-04 7.22920170e+00] [ 1.55318057e-02 -4.11116535e-04 9.99879290e-01 8.83233438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.3492541539999 meters Centerline goodness : 0.999729 Centerline is valid? [True, True] Translation: X:570.32, Y:7.23, Z:8.83 [[ 9.98671085e-01 -4.91400944e-02 -1.55343424e-02 5.70322203e+02] [ 4.91413751e-02 9.98791788e-01 -2.99488130e-04 7.22690246e+00] [ 1.55302905e-02 -4.64288812e-04 9.99879290e-01 8.83354213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.3792541539999 meters Centerline goodness : 0.999750 Centerline is valid? [True, True] Translation: X:570.35, Y:7.23, Z:8.83 [[ 9.98549171e-01 -5.15580976e-02 -1.55343424e-02 5.70351378e+02] [ 5.15596706e-02 9.98669871e-01 -2.99488130e-04 7.22606453e+00] [ 1.55291208e-02 -5.01891954e-04 9.99879290e-01 8.83401170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.4092541539999 meters Centerline goodness : 0.999687 Centerline is valid? [True, True] Translation: X:570.38, Y:7.22, Z:8.83 [[ 9.98379462e-01 -5.47460865e-02 -1.55343372e-02 5.70382207e+02] [ 5.47480406e-02 9.98500156e-01 -2.99759596e-04 7.22461582e+00] [ 1.55274488e-02 -5.51200699e-04 9.99879290e-01 8.83371450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.439254154 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:570.41, Y:7.22, Z:8.83 [[ 9.98119635e-01 -5.92945514e-02 -1.55354428e-02 5.70411121e+02] [ 5.92979477e-02 9.98240299e-01 -2.42330926e-04 7.22365934e+00] [ 1.55224739e-02 -6.79344617e-04 9.99879288e-01 8.83359174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.4692541539999 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:570.44, Y:7.22, Z:8.83 [[ 9.97995978e-01 -6.13409494e-02 -1.55343347e-02 5.70442322e+02] [ 6.13437009e-02 9.98116657e-01 -2.99755121e-04 7.22272871e+00] [ 1.55234655e-02 -6.53779177e-04 9.99879290e-01 8.83318660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.4992541539999 meters Centerline goodness : 0.999645 Centerline is valid? [True, True] Translation: X:570.47, Y:7.22, Z:8.83 [[ 9.97851185e-01 -6.36529412e-02 -1.55343455e-02 5.70473266e+02] [ 6.36559810e-02 9.97971857e-01 -2.99194947e-04 7.22298042e+00] [ 1.55218843e-02 -6.90301970e-04 9.99879290e-01 8.83372611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.5292541539999 meters Centerline goodness : 0.999750 Centerline is valid? [True, True] Translation: X:570.51, Y:7.22, Z:8.84 [[ 9.97717275e-01 -6.57185155e-02 -1.55343563e-02 5.70505490e+02] [ 6.57218139e-02 9.97837940e-01 -2.98631187e-04 7.22401650e+00] [ 1.55203957e-02 -7.22996583e-04 9.99879290e-01 8.83524671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.559254154 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:570.54, Y:7.22, Z:8.84 [[ 9.97546198e-01 -6.82661336e-02 -1.55343781e-02 5.70536556e+02] [ 6.82697578e-02 9.97666854e-01 -2.97492385e-04 7.22492872e+00] [ 1.55184428e-02 -7.63765836e-04 9.99879290e-01 8.83515583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.589254154 meters Centerline goodness : 0.999729 Centerline is valid? [True, True] Translation: X:570.57, Y:7.23, Z:8.84 [[ 9.97507192e-01 -6.88337539e-02 -1.55343890e-02 5.70567685e+02] [ 6.88374557e-02 9.97627845e-01 -2.96923100e-04 7.22606766e+00] [ 1.55179774e-02 -7.73164889e-04 9.99879290e-01 8.83536219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.6192541539999 meters Centerline goodness : 0.999686 Centerline is valid? [True, True] Translation: X:570.60, Y:7.23, Z:8.84 [[ 9.97505501e-01 -6.88582390e-02 -1.55344052e-02 5.70598919e+02] [ 6.88619569e-02 9.97626154e-01 -2.96072048e-04 7.22704623e+00] [ 1.55179160e-02 -7.74396048e-04 9.99879290e-01 8.83521202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.6492541539999 meters Centerline goodness : 0.999708 Centerline is valid? [True, True] Translation: X:570.63, Y:7.23, Z:8.84 [[ 9.97617362e-01 -6.72181533e-02 -1.55344159e-02 5.70630508e+02] [ 6.72216815e-02 9.97738021e-01 -2.95511098e-04 7.23078397e+00] [ 1.55191411e-02 -7.49442557e-04 9.99879290e-01 8.83612643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.679254154 meters Centerline goodness : 0.999750 Centerline is valid? [True, True] Translation: X:570.66, Y:7.23, Z:8.84 [[ 9.97703178e-01 -6.59321602e-02 -1.55344318e-02 5.70661484e+02] [ 6.59355459e-02 9.97823841e-01 -2.94672553e-04 7.23303361e+00] [ 1.55200548e-02 -7.30275500e-04 9.99879290e-01 8.83649807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.709254154 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:570.69, Y:7.23, Z:8.84 [[ 9.97805945e-01 -6.43582013e-02 -1.55344475e-02 5.70692553e+02] [ 6.43614095e-02 9.97926612e-01 -2.93844690e-04 7.23482875e+00] [ 1.55211499e-02 -7.06618958e-04 9.99879290e-01 8.83596789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.7392541539999 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:570.72, Y:7.24, Z:8.84 [[ 9.97893674e-01 -6.29833027e-02 -1.55344579e-02 5.70723362e+02] [ 6.29863533e-02 9.98014345e-01 -2.93294824e-04 7.23779639e+00] [ 1.55220845e-02 -6.85781801e-04 9.99879290e-01 8.83765530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.7692541539999 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:570.75, Y:7.24, Z:8.84 [[ 9.98080293e-01 -5.99533938e-02 -1.55344684e-02 5.70754923e+02] [ 5.99560867e-02 9.98200973e-01 -2.92735178e-04 7.24163465e+00] [ 1.55240719e-02 -6.39212723e-04 9.99879290e-01 8.83763785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.7992541539999 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:570.79, Y:7.24, Z:8.84 [[ 9.98154167e-01 -5.87106455e-02 -1.55344790e-02 5.70786436e+02] [ 5.87131968e-02 9.98274850e-01 -2.92173748e-04 7.24449644e+00] [ 1.55248334e-02 -6.20444477e-04 9.99879290e-01 8.83864637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.829254154 meters Centerline goodness : 0.999375 Centerline is valid? [True, True] Translation: X:570.82, Y:7.25, Z:8.84 [[ 9.98231208e-01 -5.73858330e-02 -1.55345112e-02 5.70817791e+02] [ 5.73882509e-02 9.98351894e-01 -2.90449681e-04 7.24697166e+00] [ 1.55255764e-02 -6.01562491e-04 9.99879290e-01 8.83920459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.8592541539999 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:570.85, Y:7.25, Z:8.84 [[ 9.98374763e-01 -5.48316550e-02 -1.55345214e-02 5.70849101e+02] [ 5.48337726e-02 9.98495455e-01 -2.89904797e-04 7.25170830e+00] [ 1.55270449e-02 -5.62382779e-04 9.99879290e-01 8.84021218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.8892541539999 meters Centerline goodness : 0.999500 Centerline is valid? [True, True] Translation: X:570.88, Y:7.25, Z:8.84 [[ 9.98495192e-01 -5.25930656e-02 -1.55345315e-02 5.70881604e+02] [ 5.25949211e-02 9.98615887e-01 -2.89359408e-04 7.25347805e+00] [ 1.55282483e-02 -5.28113483e-04 9.99879290e-01 8.84134570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.9192541539999 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:570.91, Y:7.26, Z:8.84 [[ 9.98316089e-01 -5.58892121e-02 -1.55364938e-02 5.70905654e+02] [ 5.58930856e-02 9.98436742e-01 -1.85125907e-04 7.26158219e+00] [ 1.55225528e-02 -6.83568408e-04 9.99879284e-01 8.84274879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.949254154 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:570.94, Y:7.26, Z:8.84 [[ 9.98638958e-01 -4.97897654e-02 -1.55309799e-02 5.70938800e+02] [ 4.97884605e-02 9.98759675e-01 -4.70905629e-04 7.26030354e+00] [ 1.55351627e-02 -3.02998874e-04 9.99879276e-01 8.84204858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.9792541539999 meters Centerline goodness : 0.997683 Centerline is valid? [True, True] Translation: X:570.97, Y:7.27, Z:8.84 [[ 9.98892566e-01 -4.44108813e-02 -1.55343259e-02 5.70969401e+02] [ 4.44116709e-02 9.99013272e-01 -2.94311589e-04 7.26536697e+00] [ 1.55320684e-02 -3.95919711e-04 9.99879292e-01 8.84250752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.0092541539999 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:571.00, Y:7.27, Z:8.84 [[ 9.98950828e-01 -4.30809977e-02 -1.55329249e-02 5.71000066e+02] [ 4.30804904e-02 9.99071537e-01 -3.67417969e-04 7.26778527e+00] [ 1.55343319e-02 -3.02133536e-04 9.99879289e-01 8.84290406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.0392541539999 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:571.03, Y:7.27, Z:8.84 [[ 9.99071553e-01 -4.01835501e-02 -1.55342718e-02 5.71031013e+02] [ 4.01837878e-02 9.99192261e-01 -2.96960454e-04 7.27000373e+00] [ 1.55336571e-02 -3.27541139e-04 9.99879292e-01 8.84355433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.069254154 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:571.06, Y:7.27, Z:8.84 [[ 9.99179316e-01 -3.74083001e-02 -1.55342657e-02 5.71060540e+02] [ 3.74081975e-02 9.99300024e-01 -2.97279232e-04 7.27266255e+00] [ 1.55345128e-02 -2.84073620e-04 9.99879292e-01 8.84416452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.0992541539999 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:571.09, Y:7.28, Z:8.85 [[ 9.99351132e-01 -3.24961728e-02 -1.55342602e-02 5.71089600e+02] [ 3.24954724e-02 9.99471838e-01 -2.97564401e-04 7.27821626e+00] [ 1.55357253e-02 -2.07421803e-04 9.99879292e-01 8.84554750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.1292541539999 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:571.12, Y:7.28, Z:8.85 [[ 9.99424844e-01 -3.01441260e-02 -1.55342548e-02 5.71119685e+02] [ 3.01431371e-02 9.99545548e-01 -2.97845387e-04 7.28053049e+00] [ 1.55361736e-02 -1.70577094e-04 9.99879292e-01 8.84620193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.1592541539999 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] Translation: X:571.15, Y:7.28, Z:8.85 [[ 9.99515483e-01 -2.69719651e-02 -1.55342440e-02 5.71149225e+02] [ 2.69705844e-02 9.99636183e-01 -2.98408625e-04 7.28373071e+00] [ 1.55366411e-02 -1.20703598e-04 9.99879292e-01 8.84678439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.189254154 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:571.18, Y:7.29, Z:8.85 [[ 9.99531138e-01 -2.63854348e-02 -1.55342332e-02 5.71178365e+02] [ 2.63839745e-02 9.99651838e-01 -2.98970546e-04 7.28509744e+00] [ 1.55367132e-02 -1.11024443e-04 9.99879292e-01 8.84717282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.2192541539999 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:571.21, Y:7.29, Z:8.85 [[ 9.99534792e-01 -2.62467180e-02 -1.55341570e-02 5.71207098e+02] [ 2.62451803e-02 9.99655490e-01 -3.02877376e-04 7.28607424e+00] [ 1.55367549e-02 -1.04960278e-04 9.99879292e-01 8.84796010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.2492541539999 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:571.24, Y:7.29, Z:8.85 [[ 9.99535011e-01 -2.62384283e-02 -1.55340774e-02 5.71236164e+02] [ 2.62368269e-02 9.99655708e-01 -3.06910567e-04 7.28686064e+00] [ 1.55367820e-02 -1.00797042e-04 9.99879292e-01 8.84772853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.2792541539999 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:571.26, Y:7.29, Z:8.85 [[ 9.99519536e-01 -2.68214337e-02 -1.55340604e-02 5.71264544e+02] [ 2.68198894e-02 9.99640235e-01 -3.07766152e-04 7.28766786e+00] [ 1.55367265e-02 -1.09003500e-04 9.99879292e-01 8.84850109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.309254154 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:571.29, Y:7.29, Z:8.85 [[ 9.99486863e-01 -2.80125950e-02 -1.55339803e-02 5.71293285e+02] [ 2.80111325e-02 9.99607563e-01 -3.11756899e-04 7.28844322e+00] [ 1.55366173e-02 -1.23527456e-04 9.99879292e-01 8.84857731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.339254154 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:571.32, Y:7.29, Z:8.85 [[ 9.99460788e-01 -2.89280195e-02 -1.55338990e-02 5.71321585e+02] [ 2.89266055e-02 9.99581488e-01 -3.15755121e-04 7.28911927e+00] [ 1.55365321e-02 -1.33758107e-04 9.99879292e-01 8.84868353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.3692541539999 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:571.35, Y:7.29, Z:8.85 [[ 9.99443633e-01 -2.95148038e-02 -1.55338773e-02 5.71351394e+02] [ 2.95134440e-02 9.99564333e-01 -3.16823035e-04 7.28912704e+00] [ 1.55364606e-02 -1.41811452e-04 9.99879292e-01 8.84859731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.3992541539999 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:571.38, Y:7.29, Z:8.85 [[ 9.99408894e-01 -3.06685738e-02 -1.55338656e-02 5.71380826e+02] [ 3.06673445e-02 9.99529596e-01 -3.17392815e-04 7.29008876e+00] [ 1.55362924e-02 -1.59177206e-04 9.99879292e-01 8.84962440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.429254154 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:571.41, Y:7.29, Z:8.85 [[ 9.99339722e-01 -3.28453829e-02 -1.55338539e-02 5.71410709e+02] [ 3.28444076e-02 9.99460426e-01 -3.17967174e-04 7.28947377e+00] [ 1.55359160e-02 -1.92443000e-04 9.99879292e-01 8.84956927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.459254154 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:571.44, Y:7.29, Z:8.85 [[ 9.99292444e-01 -3.42536224e-02 -1.55338420e-02 5.71439755e+02] [ 3.42528082e-02 9.99413150e-01 -3.18545363e-04 7.28936748e+00] [ 1.55356373e-02 -2.13757737e-04 9.99879292e-01 8.84846894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.4892541539999 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:571.47, Y:7.29, Z:8.85 [[ 9.99142734e-01 -3.83731304e-02 -1.55338434e-02 5.71470047e+02] [ 3.83728149e-02 9.99263442e-01 -3.18476822e-04 7.28968816e+00] [ 1.55346228e-02 -2.77873495e-04 9.99879292e-01 8.84916235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.5192541539999 meters Centerline goodness : 0.999375 Centerline is valid? [True, True] Translation: X:571.50, Y:7.29, Z:8.85 [[ 9.99081194e-01 -3.99433060e-02 -1.55338434e-02 5.71501439e+02] [ 3.99431802e-02 9.99201902e-01 -3.18476822e-04 7.28977999e+00] [ 1.55341669e-02 -3.02286903e-04 9.99879292e-01 8.84966886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.5492541539999 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:571.53, Y:7.29, Z:8.85 [[ 9.99001669e-01 -4.18851491e-02 -1.55338551e-02 5.71531471e+02] [ 4.18852668e-02 9.99122377e-01 -3.17904600e-04 7.28989736e+00] [ 1.55335377e-02 -3.33052440e-04 9.99879292e-01 8.84949335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.579254154 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:571.56, Y:7.29, Z:8.85 [[ 9.98935965e-01 -4.34239171e-02 -1.55338609e-02 5.71563213e+02] [ 4.34242251e-02 9.99056673e-01 -3.17620684e-04 7.29026210e+00] [ 1.55329998e-02 -3.57263150e-04 9.99879292e-01 8.85060469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.6092541539999 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:571.59, Y:7.29, Z:8.85 [[ 9.98881901e-01 -4.46502703e-02 -1.55338726e-02 5.71594113e+02] [ 4.46507354e-02 9.99002608e-01 -3.17049760e-04 7.29061030e+00] [ 1.55325356e-02 -3.76903567e-04 9.99879292e-01 8.85110575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.6392541539999 meters Centerline goodness : 0.999625 Centerline is valid? [True, True] Translation: X:571.62, Y:7.29, Z:8.85 [[ 9.98807171e-01 -4.62918366e-02 -1.55338842e-02 5.71624422e+02] [ 4.62925089e-02 9.98927877e-01 -3.16480985e-04 7.29030399e+00] [ 1.55318804e-02 -4.02998994e-04 9.99879292e-01 8.85113223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.6692541539999 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:571.66, Y:7.29, Z:8.85 [[ 9.98786398e-01 -4.67378807e-02 -1.55339036e-02 5.71655586e+02] [ 4.67386218e-02 9.98907104e-01 -3.15523636e-04 7.29123029e+00] [ 1.55316736e-02 -4.10892530e-04 9.99879292e-01 8.85267452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.699254154 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:571.69, Y:7.29, Z:8.85 [[ 9.98777993e-01 -4.69171330e-02 -1.55339151e-02 5.71687382e+02] [ 4.69179045e-02 9.98898699e-01 -3.14957780e-04 7.29181193e+00] [ 1.55315845e-02 -4.14245845e-04 9.99879292e-01 8.85338243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.7292541539999 meters Centerline goodness : 0.999500 Centerline is valid? [True, True] Translation: X:571.72, Y:7.29, Z:8.86 [[ 9.98797216e-01 -4.65061178e-02 -1.55339267e-02 5.71718139e+02] [ 4.65068486e-02 9.98917922e-01 -3.14383881e-04 7.29355206e+00] [ 1.55317385e-02 -4.08428233e-04 9.99879292e-01 8.85513020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.7592541539999 meters Centerline goodness : 0.999520 Centerline is valid? [True, True] Translation: X:571.75, Y:7.29, Z:8.86 [[ 9.98809848e-01 -4.62340108e-02 -1.55339441e-02 5.71748901e+02] [ 4.62347222e-02 9.98930554e-01 -3.13524091e-04 7.29438385e+00] [ 1.55318268e-02 -4.05056638e-04 9.99879292e-01 8.85602577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.7892541539999 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:571.78, Y:7.30, Z:8.86 [[ 9.98809447e-01 -4.62426727e-02 -1.55339611e-02 5.71780523e+02] [ 4.62433982e-02 9.98930153e-01 -3.12678240e-04 7.29558511e+00] [ 1.55318012e-02 -4.06037168e-04 9.99879292e-01 8.85634049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.819254154 meters Centerline goodness : 0.999687 Centerline is valid? [True, True] Translation: X:571.81, Y:7.30, Z:8.86 [[ 9.98798351e-01 -4.64817064e-02 -1.55339975e-02 5.71811472e+02] [ 4.64824891e-02 9.98919057e-01 -3.10859503e-04 7.29708305e+00] [ 1.55316554e-02 -4.11572909e-04 9.99879292e-01 8.85760971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.8492541539999 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:571.84, Y:7.30, Z:8.86 [[ 9.98787976e-01 -4.67041171e-02 -1.55340087e-02 5.71842997e+02] [ 4.67049354e-02 9.98908681e-01 -3.10296478e-04 7.29813695e+00] [ 1.55315483e-02 -4.15594483e-04 9.99879292e-01 8.85831875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.8792541539999 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:571.87, Y:7.30, Z:8.86 [[ 9.98764754e-01 -4.71980952e-02 -1.55340199e-02 5.71874016e+02] [ 4.71989819e-02 9.98885459e-01 -3.09734231e-04 7.29957708e+00] [ 1.55313255e-02 -4.23838292e-04 9.99879292e-01 8.85869167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.9092541539999 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:571.91, Y:7.30, Z:8.86 [[ 9.98752102e-01 -4.74650722e-02 -1.55340311e-02 5.71906122e+02] [ 4.74659999e-02 9.98872806e-01 -3.09174068e-04 7.30071736e+00] [ 1.55311962e-02 -4.28550068e-04 9.99879292e-01 8.85938948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.939254154 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:571.94, Y:7.30, Z:8.86 [[ 9.98701812e-01 -4.85116849e-02 -1.55340537e-02 5.71937301e+02] [ 4.85127568e-02 9.98822516e-01 -3.08034800e-04 7.30317123e+00] [ 1.55307059e-02 -4.45964855e-04 9.99879292e-01 8.86023474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.9692541539999 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:571.97, Y:7.30, Z:8.86 [[ 9.98675769e-01 -4.90448933e-02 -1.55340704e-02 5.71968418e+02] [ 4.90460428e-02 9.98796471e-01 -3.07186592e-04 7.30488473e+00] [ 1.55304407e-02 -4.55104878e-04 9.99879292e-01 8.86048069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.9992541539999 meters Centerline goodness : 0.999584 Centerline is valid? [True, True] Translation: X:572.00, Y:7.31, Z:8.86 [[ 9.98635704e-01 -4.98540120e-02 -1.55340870e-02 5.72000378e+02] [ 4.98552724e-02 9.98756406e-01 -3.06345044e-04 7.30633492e+00] [ 1.55300415e-02 -4.68529043e-04 9.99879292e-01 8.86057914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.0292541539999 meters Centerline goodness : 0.999645 Centerline is valid? [True, True] Translation: X:572.03, Y:7.31, Z:8.86 [[ 9.98398862e-01 -5.43912079e-02 -1.55341090e-02 5.72028519e+02] [ 5.43930341e-02 9.98519557e-01 -3.05229093e-04 7.31163392e+00] [ 1.55277134e-02 -5.40206939e-04 9.99879292e-01 8.86002490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.059254154 meters Centerline goodness : 0.999645 Centerline is valid? [True, True] Translation: X:572.06, Y:7.31, Z:8.86 [[ 9.98422056e-01 -5.39650592e-02 -1.55296440e-02 5.72061285e+02] [ 5.39633482e-02 9.98542777e-01 -5.29499408e-04 7.31211307e+00] [ 1.55355884e-02 -3.09367702e-04 9.99879268e-01 8.86058693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.089254154 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:572.09, Y:7.31, Z:8.86 [[ 9.98423760e-01 -5.39335392e-02 -1.55296096e-02 5.72094566e+02] [ 5.39317972e-02 9.98544480e-01 -5.31246172e-04 7.31046789e+00] [ 1.55356580e-02 -3.07130958e-04 9.99879267e-01 8.86239669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.1192541539999 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:572.12, Y:7.31, Z:8.86 [[ 9.98399172e-01 -5.43855391e-02 -1.55340745e-02 5.72124457e+02] [ 5.43874404e-02 9.98519863e-01 -3.00340694e-04 7.31205492e+00] [ 1.55274161e-02 -5.44998649e-04 9.99879294e-01 8.86323992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.1492541539999 meters Centerline goodness : 0.999292 Centerline is valid? [True, True] Translation: X:572.16, Y:7.31, Z:8.86 [[ 9.98265417e-01 -5.67880375e-02 -1.55330790e-02 5.72156454e+02] [ 5.67894265e-02 9.98386116e-01 -3.52006329e-04 7.31477785e+00] [ 1.55280002e-02 -5.30718904e-04 9.99879292e-01 8.86368519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.179254154 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:572.19, Y:7.32, Z:8.87 [[ 9.98148052e-01 -5.88148595e-02 -1.55331556e-02 5.72188349e+02] [ 5.88165555e-02 9.98268747e-01 -3.48018993e-04 7.31717161e+00] [ 1.55267325e-02 -5.66232229e-04 9.99879293e-01 8.86591233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.209254154 meters Centerline goodness : 0.999520 Centerline is valid? [True, True] Translation: X:572.22, Y:7.32, Z:8.87 [[ 9.98058364e-01 -6.03174307e-02 -1.55341558e-02 5.72219592e+02] [ 6.03201256e-02 9.98179040e-01 -2.95428154e-04 7.31904654e+00] [ 1.55236882e-02 -6.42167689e-04 9.99879294e-01 8.86636194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.2392541539999 meters Centerline goodness : 0.999625 Centerline is valid? [True, True] Translation: X:572.25, Y:7.32, Z:8.87 [[ 9.97822345e-01 -6.41034959e-02 -1.55341713e-02 5.72252149e+02] [ 6.41066612e-02 9.97943009e-01 -2.94612392e-04 7.32272121e+00] [ 1.55211033e-02 -7.01873027e-04 9.99879294e-01 8.86785051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.2692541539999 meters Centerline goodness : 0.999625 Centerline is valid? [True, True] Translation: X:572.28, Y:7.32, Z:8.87 [[ 9.97678280e-01 -6.63079029e-02 -1.55341922e-02 5.72284404e+02] [ 6.63113520e-02 9.97798937e-01 -2.93502991e-04 7.32480472e+00] [ 1.55194621e-02 -7.37271731e-04 9.99879294e-01 8.86852295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.2992541539999 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:572.32, Y:7.33, Z:8.87 [[ 9.97533203e-01 -6.84558110e-02 -1.55342140e-02 5.72316315e+02] [ 6.84595380e-02 9.97653851e-01 -2.92346259e-04 7.32674350e+00] [ 1.55177812e-02 -7.71840013e-04 9.99879294e-01 8.86830940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.329254154 meters Centerline goodness : 0.998938 Centerline is valid? [True, True] Translation: X:572.35, Y:7.33, Z:8.87 [[ 9.97203197e-01 -7.31058859e-02 -1.55342357e-02 5.72348188e+02] [ 7.31101932e-02 9.97323826e-01 -2.91188515e-04 7.33132601e+00] [ 1.55139510e-02 -8.45336856e-04 9.99879294e-01 8.86945677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.3592541539999 meters Centerline goodness : 0.999105 Centerline is valid? [True, True] Translation: X:572.38, Y:7.33, Z:8.87 [[ 9.97077531e-01 -7.48002946e-02 -1.55342627e-02 5.72381522e+02] [ 7.48048294e-02 9.97198152e-01 -2.89743483e-04 7.33400058e+00] [ 1.55124109e-02 -8.73141152e-04 9.99879294e-01 8.87107482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.3892541539999 meters Centerline goodness : 0.999125 Centerline is valid? [True, True] Translation: X:572.42, Y:7.34, Z:8.87 [[ 9.97012015e-01 -7.56685377e-02 -1.55342949e-02 5.72415020e+02] [ 7.56732045e-02 9.97132631e-01 -2.88002338e-04 7.33612435e+00] [ 1.55115451e-02 -8.88388086e-04 9.99879294e-01 8.87103736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.4192541539999 meters Centerline goodness : 0.999125 Centerline is valid? [True, True] Translation: X:572.45, Y:7.34, Z:8.87 [[ 9.96929179e-01 -7.67521775e-02 -1.55343269e-02 5.72448385e+02] [ 7.67570023e-02 9.97049788e-01 -2.86268820e-04 7.33922165e+00] [ 1.55104691e-02 -9.06978626e-04 9.99879294e-01 8.87240845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.449254154 meters Centerline goodness : 0.998767 Centerline is valid? [True, True] Translation: X:572.48, Y:7.35, Z:8.87 [[ 9.96646737e-01 -8.03365761e-02 -1.55343585e-02 5.72476455e+02] [ 8.03418614e-02 9.96767327e-01 -2.84544351e-04 7.34840559e+00] [ 1.55070003e-02 -9.64469076e-04 9.99879294e-01 8.87369318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.4792541539999 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:572.51, Y:7.35, Z:8.87 [[ 9.96974521e-01 -7.61614754e-02 -1.55317098e-02 5.72510983e+02] [ 7.61640224e-02 9.97095210e-01 -4.28320421e-04 7.34664146e+00] [ 1.55192150e-02 -7.55932950e-04 9.99879284e-01 8.87306911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.5092541539999 meters Centerline goodness : 0.998955 Centerline is valid? [True, True] Translation: X:572.54, Y:7.35, Z:8.88 [[ 9.96705167e-01 -7.96083681e-02 -1.55343963e-02 5.72537804e+02] [ 7.96136596e-02 9.96825756e-01 -2.78466237e-04 7.35448663e+00] [ 1.55072545e-02 -9.59201399e-04 9.99879295e-01 8.87536010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.5392541539999 meters Centerline goodness : 0.999372 Centerline is valid? [True, True] Translation: X:572.57, Y:7.35, Z:8.87 [[ 9.97243061e-01 -7.25607467e-02 -1.55310797e-02 5.72573696e+02] [ 7.25623245e-02 9.97363773e-01 -4.62648114e-04 7.35407496e+00] [ 1.55237064e-02 -6.65598625e-04 9.99879278e-01 8.87317023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.569254154 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:572.61, Y:7.36, Z:8.87 [[ 9.97363522e-01 -7.08850246e-02 -1.55344160e-02 5.72606471e+02] [ 7.08893549e-02 9.97484148e-01 -2.72406471e-04 7.35699559e+00] [ 1.55146433e-02 -8.29536454e-04 9.99879297e-01 8.87301681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.5992541539999 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:572.64, Y:7.36, Z:8.87 [[ 9.97502824e-01 -6.88969982e-02 -1.55344459e-02 5.72638427e+02] [ 6.89011147e-02 9.97623458e-01 -2.70694092e-04 7.36019008e+00] [ 1.55161776e-02 -8.00322515e-04 9.99879297e-01 8.87330442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.6292541539999 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:572.67, Y:7.37, Z:8.87 [[ 9.97438725e-01 -6.98188325e-02 -1.55344704e-02 5.72667426e+02] [ 6.98230824e-02 9.97559354e-01 -2.69278430e-04 7.36724899e+00] [ 1.55153570e-02 -8.16075874e-04 9.99879297e-01 8.87330091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.6592541539999 meters Centerline goodness : 0.999242 Centerline is valid? [True, True] Translation: X:572.70, Y:7.37, Z:8.87 [[ 9.97962518e-01 -6.18832848e-02 -1.55329006e-02 5.72700789e+02] [ 6.18851688e-02 9.98083211e-01 -3.59797724e-04 7.36885551e+00] [ 1.55253928e-02 -6.02191531e-04 9.99879292e-01 8.87410060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.689254154 meters Centerline goodness : 0.999095 Centerline is valid? [True, True] Translation: X:572.73, Y:7.37, Z:8.87 [[ 9.98118907e-01 -5.93070519e-02 -1.55345207e-02 5.72732111e+02] [ 5.93101015e-02 9.98239571e-01 -2.64728613e-04 7.37147366e+00] [ 1.55228736e-02 -6.57123368e-04 9.99879297e-01 8.87330036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.7192541539999 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:572.77, Y:7.37, Z:8.87 [[ 9.98256428e-01 -5.69454237e-02 -1.55345354e-02 5.72765535e+02] [ 5.69482012e-02 9.98377099e-01 -2.63864765e-04 7.37414005e+00] [ 1.55243503e-02 -6.21259150e-04 9.99879297e-01 8.87475816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.7492541539999 meters Centerline goodness : 0.998926 Centerline is valid? [True, True] Translation: X:572.80, Y:7.38, Z:8.87 [[ 9.98479553e-01 -5.28891186e-02 -1.55345645e-02 5.72798099e+02] [ 5.28914326e-02 9.98600234e-01 -2.62141016e-04 7.37858622e+00] [ 1.55266842e-02 -5.59902927e-04 9.99879297e-01 8.87493092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.7792541539999 meters Centerline goodness : 0.998926 Centerline is valid? [True, True] Translation: X:572.83, Y:7.38, Z:8.88 [[ 9.98595400e-01 -5.06547488e-02 -1.55345839e-02 5.72830050e+02] [ 5.06568106e-02 9.98716086e-01 -2.60988800e-04 7.38065893e+00] [ 1.55278591e-02 -5.26310258e-04 9.99879297e-01 8.87543024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.809254154 meters Centerline goodness : 0.998863 Centerline is valid? [True, True] Translation: X:572.86, Y:7.38, Z:8.88 [[ 9.98709008e-01 -4.83631420e-02 -1.55346031e-02 5.72861136e+02] [ 4.83649447e-02 9.98829698e-01 -2.59841329e-04 7.38286234e+00] [ 1.55289896e-02 -4.91824342e-04 9.99879297e-01 8.87546345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.839254154 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:572.89, Y:7.39, Z:8.88 [[ 9.98811766e-01 -4.61923218e-02 -1.55346341e-02 5.72893742e+02] [ 4.61938912e-02 9.98932459e-01 -2.57972951e-04 7.38506954e+00] [ 1.55299666e-02 -4.59938778e-04 9.99879297e-01 8.87574098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.8692541539999 meters Centerline goodness : 0.999093 Centerline is valid? [True, True] Translation: X:572.93, Y:7.39, Z:8.88 [[ 9.99015275e-01 -4.15590644e-02 -1.55346529e-02 5.72925718e+02] [ 4.15600917e-02 9.99135973e-01 -2.56832406e-04 7.38744236e+00] [ 1.55319043e-02 -3.89042104e-04 9.99879297e-01 8.87533145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.8992541539999 meters Centerline goodness : 0.999620 Centerline is valid? [True, True] Translation: X:572.96, Y:7.39, Z:8.88 [[ 9.99043347e-01 -4.08786518e-02 -1.55346718e-02 5.72956182e+02] [ 4.08796147e-02 9.99164046e-01 -2.55687664e-04 7.39010664e+00] [ 1.55321377e-02 -3.79608338e-04 9.99879297e-01 8.87660736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.929254154 meters Centerline goodness : 0.999599 Centerline is valid? [True, True] Translation: X:572.99, Y:7.39, Z:8.88 [[ 9.99186479e-01 -3.72167272e-02 -1.55336980e-02 5.72988880e+02] [ 3.72163292e-02 9.99307183e-01 -3.14796001e-04 7.38895372e+00] [ 1.55346517e-02 -2.63567312e-04 9.99879295e-01 8.87637600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.959254154 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:573.02, Y:7.39, Z:8.88 [[ 9.99264436e-01 -3.50608189e-02 -1.55346950e-02 5.73021234e+02] [ 3.50611088e-02 9.99385138e-01 -2.53768995e-04 7.38910030e+00] [ 1.55340406e-02 -2.91081300e-04 9.99879297e-01 8.87693455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.9892541539999 meters Centerline goodness : 0.999641 Centerline is valid? [True, True] Translation: X:573.05, Y:7.39, Z:8.88 [[ 9.99380671e-01 -3.15744775e-02 -1.55347139e-02 5.73052507e+02] [ 3.15743644e-02 9.99501374e-01 -2.52607910e-04 7.38885577e+00] [ 1.55349438e-02 -2.38047254e-04 9.99879297e-01 8.87690147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.0192541539999 meters Centerline goodness : 0.999535 Centerline is valid? [True, True] Translation: X:573.08, Y:7.39, Z:8.88 [[ 9.99429478e-01 -2.99898571e-02 -1.55347279e-02 5.73083756e+02] [ 2.99895660e-02 9.99550180e-01 -2.51744800e-04 7.38851562e+00] [ 1.55352898e-02 -2.14278572e-04 9.99879297e-01 8.87687508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.0492541539999 meters Centerline goodness : 0.999536 Centerline is valid? [True, True] Translation: X:573.11, Y:7.39, Z:8.88 [[ 9.99488620e-01 -2.79494339e-02 -1.55347370e-02 5.73114685e+02] [ 2.79489052e-02 9.99609322e-01 -2.51177033e-04 7.38604754e+00] [ 1.55356882e-02 -1.83130307e-04 9.99879297e-01 8.87567914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.079254154 meters Centerline goodness : 0.999324 Centerline is valid? [True, True] Translation: X:573.14, Y:7.38, Z:8.87 [[ 9.99512623e-01 -2.70774536e-02 -1.55347464e-02 5.73144853e+02] [ 2.70768286e-02 9.99633324e-01 -2.50594693e-04 7.38449442e+00] [ 1.55358357e-02 -1.70159108e-04 9.99879297e-01 8.87488414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.1092541539999 meters Centerline goodness : 0.999452 Centerline is valid? [True, True] Translation: X:573.18, Y:7.38, Z:8.87 [[ 9.99528795e-01 -2.64737434e-02 -1.55347511e-02 5.73175345e+02] [ 2.64730500e-02 9.99649496e-01 -2.50306301e-04 7.38266286e+00] [ 1.55359326e-02 -1.61063887e-04 9.99879297e-01 8.87487303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.1392541539999 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:573.21, Y:7.38, Z:8.87 [[ 9.99531465e-01 -2.63727626e-02 -1.55347511e-02 5.73205645e+02] [ 2.63720570e-02 9.99652166e-01 -2.50306301e-04 7.38067869e+00] [ 1.55359488e-02 -1.59494318e-04 9.99879297e-01 8.87494174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.1692541539999 meters Centerline goodness : 0.999032 Centerline is valid? [True, True] Translation: X:573.24, Y:7.38, Z:8.87 [[ 9.99517438e-01 -2.68991106e-02 -1.55347511e-02 5.73235802e+02] [ 2.68984686e-02 9.99638139e-01 -2.50306301e-04 7.37613806e+00] [ 1.55358627e-02 -1.67675500e-04 9.99879297e-01 8.87472120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.199254154 meters Centerline goodness : 0.999201 Centerline is valid? [True, True] Translation: X:573.27, Y:7.37, Z:8.87 [[ 9.99498670e-01 -2.75876974e-02 -1.55347511e-02 5.73265104e+02] [ 2.75871385e-02 9.99619371e-01 -2.50306301e-04 7.37413700e+00] [ 1.55357435e-02 -1.78378515e-04 9.99879297e-01 8.87461238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.2292541539999 meters Centerline goodness : 0.999349 Centerline is valid? [True, True] Translation: X:573.30, Y:7.37, Z:8.87 [[ 9.99429881e-01 -2.99763879e-02 -1.55347465e-02 5.73296184e+02] [ 2.99761132e-02 9.99550584e-01 -2.50588587e-04 7.36921562e+00] [ 1.55352767e-02 -2.15225598e-04 9.99879297e-01 8.87369142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.2592541539999 meters Centerline goodness : 0.998953 Centerline is valid? [True, True] Translation: X:573.33, Y:7.37, Z:8.87 [[ 9.99378403e-01 -3.16461659e-02 -1.55347465e-02 5.73326667e+02] [ 3.16460929e-02 9.99499106e-01 -2.50588587e-04 7.36669270e+00] [ 1.55348954e-02 -2.41181209e-04 9.99879297e-01 8.87282332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.2892541539999 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:573.36, Y:7.36, Z:8.87 [[ 9.99311476e-01 -3.36934140e-02 -1.55347465e-02 5.73358511e+02] [ 3.36935882e-02 9.99432178e-01 -2.50588587e-04 7.36379165e+00] [ 1.55343687e-02 -2.73005302e-04 9.99879297e-01 8.87306983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.319254154 meters Centerline goodness : 0.998974 Centerline is valid? [True, True] Translation: X:573.39, Y:7.36, Z:8.87 [[ 9.99239378e-01 -3.57678156e-02 -1.55347554e-02 5.73390349e+02] [ 3.57682489e-02 9.99360080e-01 -2.50037506e-04 7.36101095e+00] [ 1.55337577e-02 -3.05803676e-04 9.99879297e-01 8.87271851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.3492541539999 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:573.42, Y:7.36, Z:8.87 [[ 9.99165732e-01 -3.77691811e-02 -1.55347642e-02 5.73421519e+02] [ 3.77698646e-02 9.99286433e-01 -2.49490641e-04 7.35810788e+00] [ 1.55331021e-02 -3.37463441e-04 9.99879297e-01 8.87286419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.3792541539999 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:573.45, Y:7.35, Z:8.87 [[ 9.99006148e-01 -4.17778215e-02 -1.55347729e-02 5.73452925e+02] [ 4.17789978e-02 9.99126846e-01 -2.48943268e-04 7.35273295e+00] [ 1.55316090e-02 -4.00331390e-04 9.99879297e-01 8.87339284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.4092541539999 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:573.48, Y:7.35, Z:8.87 [[ 9.98936988e-01 -4.34001141e-02 -1.55346028e-02 5.73484266e+02] [ 4.34013222e-02 9.99057685e-01 -2.59512896e-04 7.35053839e+00] [ 1.55312272e-02 -4.14985272e-04 9.99879297e-01 8.87397894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.439254154 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:573.52, Y:7.35, Z:8.87 [[ 9.98840158e-01 -4.55742315e-02 -1.55347551e-02 5.73515232e+02] [ 4.55758493e-02 9.98960850e-01 -2.50055042e-04 7.34569232e+00] [ 1.55300082e-02 -4.58244638e-04 9.99879297e-01 8.87433733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.4692541539999 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:573.55, Y:7.34, Z:8.87 [[ 9.98804133e-01 -4.63570272e-02 -1.55347682e-02 5.73547318e+02] [ 4.63587523e-02 9.98924824e-01 -2.49233080e-04 7.34332377e+00] [ 1.55296193e-02 -4.71237444e-04 9.99879297e-01 8.87466910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.4992541539999 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:573.58, Y:7.34, Z:8.88 [[ 9.98770104e-01 -4.70844942e-02 -1.55347855e-02 5.73579753e+02] [ 4.70863240e-02 9.98890793e-01 -2.48154527e-04 7.34128391e+00] [ 1.55292384e-02 -4.83626619e-04 9.99879297e-01 8.87512570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.5292541539999 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:573.61, Y:7.34, Z:8.88 [[ 9.98741009e-01 -4.76976696e-02 -1.55348026e-02 5.73610807e+02] [ 4.76995902e-02 9.98861696e-01 -2.47078502e-04 7.33727092e+00] [ 1.55289043e-02 -4.94236284e-04 9.99879297e-01 8.87534380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.559254154 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:573.64, Y:7.34, Z:8.88 [[ 9.98757304e-01 -4.73552225e-02 -1.55348153e-02 5.73643196e+02] [ 4.73571142e-02 9.98877992e-01 -2.46276645e-04 7.33592592e+00] [ 1.55290476e-02 -4.89713423e-04 9.99879297e-01 8.87665529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.589254154 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:573.67, Y:7.34, Z:8.88 [[ 9.98765629e-01 -4.71793073e-02 -1.55348335e-02 5.73674170e+02] [ 4.71811957e-02 9.98886317e-01 -2.45121510e-04 7.33504329e+00] [ 1.55290973e-02 -4.88133081e-04 9.99879297e-01 8.87607941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.6192541539999 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:573.71, Y:7.33, Z:8.88 [[ 9.98788571e-01 -4.66910972e-02 -1.55348471e-02 5.73706707e+02] [ 4.66929400e-02 9.98909260e-01 -2.44260928e-04 7.33425384e+00] [ 1.55293074e-02 -4.81402658e-04 9.99879297e-01 8.87784187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.6492541539999 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:573.74, Y:7.33, Z:8.88 [[ 9.98839749e-01 -4.55831564e-02 -1.55348649e-02 5.73738264e+02] [ 4.55848830e-02 9.98960439e-01 -2.43121601e-04 7.33204981e+00] [ 1.55297977e-02 -4.65315480e-04 9.99879297e-01 8.87812504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.679254154 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:573.77, Y:7.33, Z:8.88 [[ 9.98861353e-01 -4.51072555e-02 -1.55348781e-02 5.73769177e+02] [ 4.51089377e-02 9.98982044e-01 -2.42273709e-04 7.33133218e+00] [ 1.55299926e-02 -4.58764005e-04 9.99879297e-01 8.87881411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.709254154 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:573.80, Y:7.33, Z:8.88 [[ 9.98884006e-01 -4.46027916e-02 -1.55348871e-02 5.73800702e+02] [ 4.46044219e-02 9.99004698e-01 -2.41697646e-04 7.33037613e+00] [ 1.55302056e-02 -4.51496744e-04 9.99879297e-01 8.87908319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.7392541539999 meters Centerline goodness : 0.999247 Centerline is valid? [True, True] Translation: X:573.83, Y:7.33, Z:8.88 [[ 9.98887938e-01 -4.45146455e-02 -1.55348960e-02 5.73832254e+02] [ 4.45162741e-02 9.99008630e-01 -2.41123521e-04 7.32970417e+00] [ 1.55302287e-02 -4.50700310e-04 9.99879297e-01 8.87900212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.7692541539999 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:573.86, Y:7.33, Z:8.88 [[ 9.98887525e-01 -4.45239085e-02 -1.55349048e-02 5.73863574e+02] [ 4.45255470e-02 9.99008217e-01 -2.40552559e-04 7.32827666e+00] [ 1.55302079e-02 -4.51415185e-04 9.99879297e-01 8.87899727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.7992541539999 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:573.90, Y:7.32, Z:8.88 [[ 9.99001222e-01 -4.18953991e-02 -1.55349136e-02 5.73897796e+02] [ 4.18967289e-02 9.99121918e-01 -2.39983746e-04 7.32449257e+00] [ 1.55313269e-02 -4.11118008e-04 9.99879297e-01 8.88113240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.829254154 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:573.92, Y:7.33, Z:8.88 [[ 9.98844149e-01 -4.54854240e-02 -1.55383890e-02 5.73924485e+02] [ 4.54907120e-02 9.98964762e-01 -1.31408581e-05 7.32820251e+00] [ 1.55229007e-02 -6.93726708e-04 9.99879272e-01 8.87969131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.8592541539999 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:573.96, Y:7.33, Z:8.88 [[ 9.98830499e-01 -4.57854401e-02 -1.55347479e-02 5.73955556e+02] [ 4.57871696e-02 9.98951188e-01 -2.44503946e-04 7.32686883e+00] [ 1.55296496e-02 -4.67074139e-04 9.99879299e-01 8.88027408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.8892541539999 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:573.99, Y:7.33, Z:8.88 [[ 9.98832943e-01 -4.57320844e-02 -1.55347569e-02 5.73987197e+02] [ 4.57338163e-02 9.98953632e-01 -2.43930825e-04 7.32635451e+00] [ 1.55296573e-02 -4.66817576e-04 9.99879299e-01 8.88116253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.9192541539999 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:574.02, Y:7.32, Z:8.88 [[ 9.98959224e-01 -4.28851960e-02 -1.55347659e-02 5.74019897e+02] [ 4.28865929e-02 9.99079917e-01 -2.43359373e-04 7.32274254e+00] [ 1.55309091e-02 -4.23127089e-04 9.99879299e-01 8.88189866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.949254154 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:574.05, Y:7.32, Z:8.88 [[ 9.98951101e-01 -4.30729128e-02 -1.55377583e-02 5.74051682e+02] [ 4.30773025e-02 9.99071741e-01 -5.22087400e-05 7.32324117e+00] [ 1.55255840e-02 -6.17170735e-04 9.99879280e-01 8.88235129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.9792541539999 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:574.08, Y:7.33, Z:8.88 [[ 9.98836278e-01 -4.56581822e-02 -1.55377275e-02 5.74079096e+02] [ 4.56628537e-02 9.98956906e-01 -5.41618346e-05 7.32658254e+00] [ 1.55239931e-02 -6.55398173e-04 9.99879281e-01 8.88409547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.0092541539999 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:574.11, Y:7.33, Z:8.89 [[ 9.98870543e-01 -4.49033836e-02 -1.55346035e-02 5.74109003e+02] [ 4.49049359e-02 9.98991234e-01 -2.49046837e-04 7.32700624e+00] [ 1.55301157e-02 -4.48814823e-04 9.99879300e-01 8.88582647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.0392541539999 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:574.14, Y:7.33, Z:8.89 [[ 9.98837742e-01 -4.56274728e-02 -1.55337858e-02 5.74140007e+02] [ 4.56283234e-02 9.98958441e-01 -2.99834179e-04 7.32737131e+00] [ 1.55312871e-02 -4.09294909e-04 9.99879299e-01 8.88678544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.069254154 meters Centerline goodness : 0.999271 Centerline is valid? [True, True] Translation: X:574.17, Y:7.33, Z:8.89 [[ 9.98844889e-01 -4.54704590e-02 -1.55346123e-02 5.74170927e+02] [ 4.54720949e-02 9.98965579e-01 -2.48080668e-04 7.32759277e+00] [ 1.55298233e-02 -4.58597257e-04 9.99879300e-01 8.88758710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.0992541539999 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:574.20, Y:7.33, Z:8.89 [[ 9.98770304e-01 -4.70803045e-02 -1.55346212e-02 5.74201324e+02] [ 4.70821436e-02 9.98890990e-01 -2.47519232e-04 7.32699844e+00] [ 1.55290465e-02 -4.84188410e-04 9.99879300e-01 8.88912345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.1292541539999 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:574.23, Y:7.33, Z:8.89 [[ 9.98708414e-01 -4.83754005e-02 -1.55346257e-02 5.74232009e+02] [ 4.83774004e-02 9.98829098e-01 -2.47240364e-04 7.32640113e+00] [ 1.55283965e-02 -5.04603775e-04 9.99879300e-01 8.88954612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.1592541539999 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:574.26, Y:7.33, Z:8.89 [[ 9.98628920e-01 -4.99895574e-02 -1.55346301e-02 5.74263451e+02] [ 4.99917566e-02 9.98749600e-01 -2.46965011e-04 7.32610707e+00] [ 1.55275512e-02 -5.29977043e-04 9.99879300e-01 8.89017309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.189254154 meters Centerline goodness : 0.999271 Centerline is valid? [True, True] Translation: X:574.29, Y:7.33, Z:8.89 [[ 9.98521929e-01 -5.20829378e-02 -1.55346392e-02 5.74294588e+02] [ 5.20853989e-02 9.98642604e-01 -2.46391704e-04 7.32631521e+00] [ 1.55263853e-02 -5.63100358e-04 9.99879300e-01 8.88992624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.2192541539999 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:574.33, Y:7.33, Z:8.89 [[ 9.98255262e-01 -5.69658385e-02 -1.55346527e-02 5.74326787e+02] [ 5.69689031e-02 9.98375923e-01 -2.45535127e-04 7.32665072e+00] [ 1.55234103e-02 -6.39885391e-04 9.99879300e-01 8.89022735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.2492541539999 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:574.36, Y:7.33, Z:8.89 [[ 9.98090483e-01 -5.97834614e-02 -1.55346700e-02 5.74358672e+02] [ 5.97868837e-02 9.98211134e-01 -2.44434240e-04 7.32727198e+00] [ 1.55214937e-02 -6.84802021e-04 9.99879300e-01 8.89068421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.2792541539999 meters Centerline goodness : 0.999563 Centerline is valid? [True, True] Translation: X:574.39, Y:7.33, Z:8.89 [[ 9.97910162e-01 -6.27214620e-02 -1.55346873e-02 5.74389414e+02] [ 6.27252566e-02 9.98030803e-01 -2.43330823e-04 7.32811202e+00] [ 1.55193585e-02 -7.31594946e-04 9.99879300e-01 8.89065742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.309254154 meters Centerline goodness : 0.999500 Centerline is valid? [True, True] Translation: X:574.42, Y:7.33, Z:8.89 [[ 9.97566284e-01 -6.79719187e-02 -1.55347001e-02 5.74420723e+02] [ 6.79763609e-02 9.97686903e-01 -2.42507755e-04 7.32940388e+00] [ 1.55152506e-02 -8.14074823e-04 9.99879300e-01 8.89025817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.339254154 meters Centerline goodness : 0.999562 Centerline is valid? [True, True] Translation: X:574.45, Y:7.33, Z:8.89 [[ 9.97387706e-01 -7.05438666e-02 -1.55347124e-02 5.74452860e+02] [ 7.05486320e-02 9.97508312e-01 -2.41720785e-04 7.33066521e+00] [ 1.55130567e-02 -8.54863369e-04 9.99879300e-01 8.89211551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.3692541539999 meters Centerline goodness : 0.999314 Centerline is valid? [True, True] Translation: X:574.48, Y:7.33, Z:8.89 [[ 9.97244805e-01 -7.25360044e-02 -1.55347299e-02 5.74483913e+02] [ 7.25410282e-02 9.97365400e-01 -2.40592885e-04 7.33181709e+00] [ 1.55112537e-02 -8.86975272e-04 9.99879300e-01 8.89267025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.3992541539999 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:574.51, Y:7.33, Z:8.89 [[ 9.97187423e-01 -7.33206307e-02 -1.55347428e-02 5.74514971e+02] [ 7.33257625e-02 9.97308014e-01 -2.39751302e-04 7.33270988e+00] [ 1.55105023e-02 -9.00019881e-04 9.99879300e-01 8.89144436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.429254154 meters Centerline goodness : 0.999292 Centerline is valid? [True, True] Translation: X:574.55, Y:7.34, Z:8.90 [[ 9.97073547e-01 -7.48532829e-02 -1.55347556e-02 5.74547139e+02] [ 7.48586130e-02 9.97194129e-01 -2.38919599e-04 7.33717610e+00] [ 1.55090510e-02 -9.24689848e-04 9.99879300e-01 8.89503911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.459254154 meters Centerline goodness : 0.999105 Centerline is valid? [True, True] Translation: X:574.58, Y:7.34, Z:8.90 [[ 9.97074037e-01 -7.48467479e-02 -1.55347729e-02 5.74579023e+02] [ 7.48520947e-02 9.97194619e-01 -2.37789167e-04 7.33968122e+00] [ 1.55089897e-02 -9.25716890e-04 9.99879300e-01 8.89588578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.4892541539999 meters Centerline goodness : 0.999021 Centerline is valid? [True, True] Translation: X:574.61, Y:7.34, Z:8.90 [[ 9.97102460e-01 -7.44671410e-02 -1.55347906e-02 5.74610348e+02] [ 7.44724599e-02 9.97223043e-01 -2.36630876e-04 7.34193663e+00] [ 1.55092724e-02 -9.20968840e-04 9.99879300e-01 8.89527241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.5192541539999 meters Centerline goodness : 0.999396 Centerline is valid? [True, True] Translation: X:574.64, Y:7.34, Z:8.90 [[ 9.97094421e-01 -7.45747007e-02 -1.55348037e-02 5.74642381e+02] [ 7.45800459e-02 9.97215002e-01 -2.35768608e-04 7.34448116e+00] [ 1.55091217e-02 -9.23502808e-04 9.99879300e-01 8.89625899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.5492541539999 meters Centerline goodness : 0.999271 Centerline is valid? [True, True] Translation: X:574.67, Y:7.35, Z:8.89 [[ 9.97088991e-01 -7.46472595e-02 -1.55348204e-02 5.74674649e+02] [ 7.46526307e-02 9.97209572e-01 -2.34661718e-04 7.34774558e+00] [ 1.55089884e-02 -9.25736594e-04 9.99879300e-01 8.89447883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.579254154 meters Centerline goodness : 0.998854 Centerline is valid? [True, True] Translation: X:574.71, Y:7.35, Z:8.90 [[ 9.96994546e-01 -7.58982445e-02 -1.55348372e-02 5.74707228e+02] [ 7.59037843e-02 9.97115119e-01 -2.33545715e-04 7.35030662e+00] [ 1.55077467e-02 -9.46309126e-04 9.99879300e-01 8.89545502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.6092541539999 meters Centerline goodness : 0.999188 Centerline is valid? [True, True] Translation: X:574.74, Y:7.35, Z:8.90 [[ 9.96938288e-01 -7.66336578e-02 -1.55348542e-02 5.74738846e+02] [ 7.66393043e-02 9.97058856e-01 -2.32404173e-04 7.35253427e+00] [ 1.55069740e-02 -9.58887804e-04 9.99879300e-01 8.89538235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.6392541539999 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:574.77, Y:7.36, Z:8.90 [[ 9.96795295e-01 -7.84716932e-02 -1.55348960e-02 5.74769794e+02] [ 7.84776058e-02 9.96915850e-01 -2.29582411e-04 7.35543925e+00] [ 1.55049997e-02 -9.90294773e-04 9.99879300e-01 8.89520285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.6692541539999 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:574.80, Y:7.36, Z:8.90 [[ 9.96547794e-01 -8.15547364e-02 -1.55344603e-02 5.74801284e+02] [ 8.15605626e-02 9.96668354e-01 -2.59177519e-04 7.36077666e+00] [ 1.55038421e-02 -1.00871654e-03 9.99879299e-01 8.89623203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.699254154 meters Centerline goodness : 0.999251 Centerline is valid? [True, True] Translation: X:574.83, Y:7.36, Z:8.90 [[ 9.96406531e-01 -8.32629556e-02 -1.55340162e-02 5.74834513e+02] [ 8.32685163e-02 9.96527105e-01 -2.89593940e-04 7.36451944e+00] [ 1.55041806e-02 -1.00494119e-03 9.99879298e-01 8.89726767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.7292541539999 meters Centerline goodness : 0.998918 Centerline is valid? [True, True] Translation: X:574.87, Y:7.36, Z:8.90 [[ 9.96482133e-01 -8.23530910e-02 -1.55347312e-02 5.74866267e+02] [ 8.23593141e-02 9.96602672e-01 -2.39827159e-04 7.36464791e+00] [ 1.55017051e-02 -1.04044632e-03 9.99879300e-01 8.89888032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.7592541539999 meters Centerline goodness : 0.998958 Centerline is valid? [True, True] Translation: X:574.89, Y:7.37, Z:8.90 [[ 9.96098205e-01 -8.68736403e-02 -1.55350061e-02 5.74894526e+02] [ 8.68807108e-02 9.96218698e-01 -2.20455124e-04 7.37363831e+00] [ 1.54954152e-02 -1.13009742e-03 9.99879300e-01 8.90010286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.7892541539999 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:574.93, Y:7.37, Z:8.90 [[ 9.96490473e-01 -8.22523996e-02 -1.55331986e-02 5.74927632e+02] [ 8.22569513e-02 9.96611095e-01 -3.46722955e-04 7.37183257e+00] [ 1.55090769e-02 -9.32207441e-04 9.99879292e-01 8.89935601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.819254154 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:574.96, Y:7.38, Z:8.90 [[ 9.96230105e-01 -8.53477722e-02 -1.55350118e-02 5.74955056e+02] [ 8.53547143e-02 9.96350604e-01 -2.16824729e-04 7.38043303e+00] [ 1.54968239e-02 -1.10997917e-03 9.99879301e-01 8.90104477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.8492541539999 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:574.99, Y:7.38, Z:8.90 [[ 9.96390392e-01 -8.34560323e-02 -1.55330895e-02 5.74986198e+02] [ 8.34606250e-02 9.96511013e-01 -3.53466521e-04 7.38442320e+00] [ 1.55083936e-02 -9.44210709e-04 9.99879292e-01 8.90114725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.8792541539999 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:575.02, Y:7.39, Z:8.90 [[ 9.97225496e-01 -7.28013992e-02 -1.55327244e-02 5.75020242e+02] [ 7.28042968e-02 9.97346174e-01 -3.79580875e-04 7.38513727e+00] [ 1.55191372e-02 -7.52321349e-04 9.99879288e-01 8.90188453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.9092541539999 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:575.05, Y:7.39, Z:8.90 [[ 9.97464443e-01 -6.94503317e-02 -1.55350118e-02 5.75053413e+02] [ 6.94554281e-02 9.97585033e-01 -2.11883663e-04 7.38866996e+00] [ 1.55122107e-02 -8.67644478e-04 9.99879302e-01 8.90294640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.939254154 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:575.09, Y:7.39, Z:8.90 [[ 9.97684272e-01 -6.62174927e-02 -1.55350346e-02 5.75086779e+02] [ 6.62222244e-02 9.97804877e-01 -2.10200996e-04 7.39214963e+00] [ 1.55148523e-02 -8.19050320e-04 9.99879302e-01 8.90396570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.9692541539999 meters Centerline goodness : 0.998889 Centerline is valid? [True, True] Translation: X:575.12, Y:7.40, Z:8.90 [[ 9.98033728e-01 -6.07234645e-02 -1.55350571e-02 5.75118808e+02] [ 6.07275581e-02 9.98154357e-01 -2.08526857e-04 7.39828844e+00] [ 1.55190474e-02 -7.35289245e-04 9.99879302e-01 8.90455519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.9992541539999 meters Centerline goodness : 0.998951 Centerline is valid? [True, True] Translation: X:575.15, Y:7.40, Z:8.91 [[ 9.98145189e-01 -5.88629212e-02 -1.55350755e-02 5.75151075e+02] [ 5.88668113e-02 9.98265824e-01 -2.07141988e-04 7.40146030e+00] [ 1.55203280e-02 -7.07742583e-04 9.99879302e-01 8.90515829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.0292541539999 meters Centerline goodness : 0.998762 Centerline is valid? [True, True] Translation: X:575.18, Y:7.40, Z:8.90 [[ 9.98243313e-01 -5.71747286e-02 -1.55350901e-02 5.75183246e+02] [ 5.71784318e-02 9.98363954e-01 -2.06046546e-04 7.40407403e+00] [ 1.55214546e-02 -6.82587501e-04 9.99879302e-01 8.90475397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.059254154 meters Centerline goodness : 0.998763 Centerline is valid? [True, True] Translation: X:575.22, Y:7.41, Z:8.91 [[ 9.98314955e-01 -5.59098559e-02 -1.55351048e-02 5.75215774e+02] [ 5.59134236e-02 9.98435600e-01 -2.04931115e-04 7.40692866e+00] [ 1.55222593e-02 -6.64035098e-04 9.99879302e-01 8.90515379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.089254154 meters Centerline goodness : 0.998802 Centerline is valid? [True, True] Translation: X:575.25, Y:7.41, Z:8.91 [[ 9.98369361e-01 -5.49298719e-02 -1.55347293e-02 5.75247820e+02] [ 5.49328771e-02 9.98490022e-01 -2.33517991e-04 7.41143810e+00] [ 1.55240994e-02 -6.20230170e-04 9.99879302e-01 8.90537641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.1192541539999 meters Centerline goodness : 0.998971 Centerline is valid? [True, True] Translation: X:575.28, Y:7.41, Z:8.91 [[ 9.98414753e-01 -5.40984324e-02 -1.55351372e-02 5.75279921e+02] [ 5.41018239e-02 9.98535403e-01 -2.02177365e-04 7.41375979e+00] [ 1.55233220e-02 -6.38622395e-04 9.99879302e-01 8.90552754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.1492541539999 meters Centerline goodness : 0.998823 Centerline is valid? [True, True] Translation: X:575.31, Y:7.42, Z:8.91 [[ 9.98454824e-01 -5.33537581e-02 -1.55351513e-02 5.75311348e+02] [ 5.33570765e-02 9.98575476e-01 -2.01088798e-04 7.41611582e+00] [ 1.55237500e-02 -6.28132177e-04 9.99879302e-01 8.90541004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.179254154 meters Centerline goodness : 0.999076 Centerline is valid? [True, True] Translation: X:575.34, Y:7.42, Z:8.91 [[ 9.98503856e-01 -5.24281255e-02 -1.55351618e-02 5.75342176e+02] [ 5.24313447e-02 9.98624511e-01 -2.00279148e-04 7.41834933e+00] [ 1.55242936e-02 -6.14549918e-04 9.99879302e-01 8.90578596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.209254154 meters Centerline goodness : 0.998989 Centerline is valid? [True, True] Translation: X:575.37, Y:7.42, Z:8.91 [[ 9.98572298e-01 -5.11079630e-02 -1.55351721e-02 5.75373040e+02] [ 5.11110351e-02 9.98692957e-01 -1.99476950e-04 7.42256387e+00] [ 1.55250618e-02 -5.94826569e-04 9.99879302e-01 8.90592969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.2392541539999 meters Centerline goodness : 0.999158 Centerline is valid? [True, True] Translation: X:575.41, Y:7.42, Z:8.91 [[ 9.98584022e-01 -5.08783828e-02 -1.55351822e-02 5.75405118e+02] [ 5.08814396e-02 9.98704681e-01 -1.98681348e-04 7.42464309e+00] [ 1.55251678e-02 -5.92052416e-04 9.99879302e-01 8.90665785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.2692541539999 meters Centerline goodness : 0.998965 Centerline is valid? [True, True] Translation: X:575.44, Y:7.43, Z:8.91 [[ 9.98544657e-01 -5.16451902e-02 -1.55351956e-02 5.75436564e+02] [ 5.16483559e-02 9.98665313e-01 -1.97629796e-04 7.42863244e+00] [ 1.55246676e-02 -6.05025135e-04 9.99879302e-01 8.90757577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.2992541539999 meters Centerline goodness : 0.998817 Centerline is valid? [True, True] Translation: X:575.47, Y:7.43, Z:8.91 [[ 9.98506955e-01 -5.23690627e-02 -1.55352055e-02 5.75468927e+02] [ 5.23723281e-02 9.98627609e-01 -1.96846143e-04 7.43073674e+00] [ 1.55241938e-02 -6.17062639e-04 9.99879302e-01 8.90843901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.329254154 meters Centerline goodness : 0.998985 Centerline is valid? [True, True] Translation: X:575.50, Y:7.43, Z:8.91 [[ 9.98452220e-01 -5.34024498e-02 -1.55352185e-02 5.75501348e+02] [ 5.34058561e-02 9.98572870e-01 -1.95814086e-04 7.43272291e+00] [ 1.55235047e-02 -6.34160637e-04 9.99879302e-01 8.90925869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.3592541539999 meters Centerline goodness : 0.999028 Centerline is valid? [True, True] Translation: X:575.53, Y:7.43, Z:8.91 [[ 9.98409164e-01 -5.42014555e-02 -1.55352315e-02 5.75533585e+02] [ 5.42049744e-02 9.98529811e-01 -1.94782936e-04 7.43432779e+00] [ 1.55229493e-02 -6.47613756e-04 9.99879302e-01 8.91107682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.3892541539999 meters Centerline goodness : 0.999027 Centerline is valid? [True, True] Translation: X:575.57, Y:7.44, Z:8.91 [[ 9.98292633e-01 -5.63069635e-02 -1.55352457e-02 5.75566713e+02] [ 5.63107545e-02 9.98413272e-01 -1.93644070e-04 7.43697412e+00] [ 1.55214990e-02 -6.81487956e-04 9.99879302e-01 8.91155019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.4192541539999 meters Centerline goodness : 0.999260 Centerline is valid? [True, True] Translation: X:575.60, Y:7.44, Z:8.91 [[ 9.98285135e-01 -5.64397479e-02 -1.55352667e-02 5.75597673e+02] [ 5.64435813e-02 9.98405772e-01 -1.91944978e-04 7.43860938e+00] [ 1.55213332e-02 -6.85250269e-04 9.99879302e-01 8.91152757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.449254154 meters Centerline goodness : 0.998963 Centerline is valid? [True, True] Translation: X:575.63, Y:7.44, Z:8.91 [[ 9.98169988e-01 -5.84410841e-02 -1.55343309e-02 5.75630464e+02] [ 5.84439900e-02 9.98290653e-01 -2.67230717e-04 7.44027175e+00] [ 1.55233946e-02 -6.41146599e-04 9.99879299e-01 8.91132797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.4792541539999 meters Centerline goodness : 0.999111 Centerline is valid? [True, True] Translation: X:575.66, Y:7.44, Z:8.91 [[ 9.98039713e-01 -6.06249690e-02 -1.55352835e-02 5.75662491e+02] [ 6.06293557e-02 9.98160331e-01 -1.88885231e-04 7.44283277e+00] [ 1.55181549e-02 -7.53379269e-04 9.99879302e-01 8.91276174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.5092541539999 meters Centerline goodness : 0.999131 Centerline is valid? [True, True] Translation: X:575.70, Y:7.44, Z:8.91 [[ 9.97964073e-01 -6.18576043e-02 -1.55352968e-02 5.75695023e+02] [ 6.18621569e-02 9.98084685e-01 -1.87789775e-04 7.44430114e+00] [ 1.55171580e-02 -7.73639519e-04 9.99879302e-01 8.91308180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.5392541539999 meters Centerline goodness : 0.998983 Centerline is valid? [True, True] Translation: X:575.73, Y:7.45, Z:8.91 [[ 9.97891250e-01 -6.30214777e-02 -1.55353101e-02 5.75726583e+02] [ 6.30261882e-02 9.98011856e-01 -1.86683893e-04 7.44555403e+00] [ 1.55161887e-02 -7.92841153e-04 9.99879302e-01 8.91112620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.569254154 meters Centerline goodness : 0.999387 Centerline is valid? [True, True] Translation: X:575.76, Y:7.45, Z:8.91 [[ 9.97777003e-01 -6.48051366e-02 -1.55353199e-02 5.75757943e+02] [ 6.48100755e-02 9.97897600e-01 -1.85859680e-04 7.44745132e+00] [ 1.55147031e-02 -8.21398743e-04 9.99879302e-01 8.91086439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.5992541539999 meters Centerline goodness : 0.999132 Centerline is valid? [True, True] Translation: X:575.79, Y:7.45, Z:8.91 [[ 9.97883190e-01 -6.31489687e-02 -1.55353286e-02 5.75794436e+02] [ 6.31537187e-02 9.98003794e-01 -1.85131491e-04 7.44564952e+00] [ 1.55160078e-02 -7.96374170e-04 9.99879302e-01 8.91486152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.6292541539999 meters Centerline goodness : 0.999026 Centerline is valid? [True, True] Translation: X:575.82, Y:7.45, Z:8.91 [[ 9.97791394e-01 -6.45827349e-02 -1.55372224e-02 5.75820459e+02] [ 6.45901936e-02 9.97911873e-01 -2.17980452e-05 7.44901766e+00] [ 1.55061865e-02 -9.81802299e-04 9.99879290e-01 8.91355438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.6592541539999 meters Centerline goodness : 0.999005 Centerline is valid? [True, True] Translation: X:575.85, Y:7.45, Z:8.92 [[ 9.97773239e-01 -6.48633099e-02 -1.55342891e-02 5.75853958e+02] [ 6.48670152e-02 9.97893882e-01 -2.65752780e-04 7.45013895e+00] [ 1.55188097e-02 -7.42501958e-04 9.99879300e-01 8.91510198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.689254154 meters Centerline goodness : 0.999068 Centerline is valid? [True, True] Translation: X:575.89, Y:7.45, Z:8.92 [[ 9.97967657e-01 -6.17997695e-02 -1.55352704e-02 5.75885019e+02] [ 6.18044051e-02 9.98088264e-01 -1.81993317e-04 7.45238211e+00] [ 1.55168182e-02 -7.78524703e-04 9.99879304e-01 8.91637717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.7192541539999 meters Centerline goodness : 0.999343 Centerline is valid? [True, True] Translation: X:575.92, Y:7.45, Z:8.92 [[ 9.98115220e-01 -5.93688664e-02 -1.55352796e-02 5.75918194e+02] [ 5.93732204e-02 9.98235838e-01 -1.81206006e-04 7.45365321e+00] [ 1.55186309e-02 -7.41515108e-04 9.99879304e-01 8.91777423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.7492541539999 meters Centerline goodness : 0.999024 Centerline is valid? [True, True] Translation: X:575.95, Y:7.46, Z:8.92 [[ 9.98287055e-01 -5.64057636e-02 -1.55352986e-02 5.75949826e+02] [ 5.64097851e-02 9.98407684e-01 -1.79560500e-04 7.45549192e+00] [ 1.55206898e-02 -6.97089935e-04 9.99879304e-01 8.91649020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.7792541539999 meters Centerline goodness : 0.999193 Centerline is valid? [True, True] Translation: X:575.98, Y:7.46, Z:8.92 [[ 9.98400326e-01 -5.43641258e-02 -1.55348525e-02 5.75983400e+02] [ 5.43673035e-02 9.98520981e-01 -2.18010001e-04 7.45683045e+00] [ 1.55237281e-02 -6.26926785e-04 9.99879303e-01 8.91871444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.809254154 meters Centerline goodness : 0.999127 Centerline is valid? [True, True] Translation: X:576.02, Y:7.46, Z:8.92 [[ 9.98843279e-01 -4.55055814e-02 -1.55353027e-02 5.76021591e+02] [ 4.55082958e-02 9.98963945e-01 -1.78928886e-04 7.45523625e+00] [ 1.55273495e-02 -5.28263233e-04 9.99879304e-01 8.91870043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.839254154 meters Centerline goodness : 0.999127 Centerline is valid? [True, True] Translation: X:576.05, Y:7.46, Z:8.92 [[ 9.98939209e-01 -4.33475272e-02 -1.55385909e-02 5.76053048e+02] [ 4.33545553e-02 9.99059743e-01 1.15575158e-04 7.45656482e+00] [ 1.55189707e-02 -7.89121255e-04 9.99879262e-01 8.91864107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.8692541539999 meters Centerline goodness : 0.999127 Centerline is valid? [True, True] Translation: X:576.09, Y:7.46, Z:8.92 [[ 9.98928932e-01 -4.35838387e-02 -1.55382801e-02 5.76085633e+02] [ 4.35904656e-02 9.99049480e-01 8.78974376e-05 7.45706401e+00] [ 1.55196798e-02 -7.65124158e-04 9.99879270e-01 8.91915644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.8992541539999 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:576.11, Y:7.46, Z:8.92 [[ 9.98857141e-01 -4.51992523e-02 -1.55382996e-02 5.76109579e+02] [ 4.52061009e-02 9.98977678e-01 8.96217480e-05 7.46259793e+00] [ 1.55183636e-02 -7.91945264e-04 9.99879269e-01 8.91882515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.929254154 meters Centerline goodness : 0.999148 Centerline is valid? [True, True] Translation: X:576.14, Y:7.46, Z:8.92 [[ 9.98959638e-01 -4.28754387e-02 -1.55350496e-02 5.76139473e+02] [ 4.28777513e-02 9.99080309e-01 -1.84332819e-04 7.46497745e+00] [ 1.55286655e-02 -4.81966945e-04 9.99879307e-01 8.91815870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.959254154 meters Centerline goodness : 0.999573 Centerline is valid? [True, True] Translation: X:576.17, Y:7.47, Z:8.92 [[ 9.99152119e-01 -3.81279876e-02 -1.55338476e-02 5.76172939e+02] [ 3.81281682e-02 9.99272817e-01 -2.84641847e-04 7.46620728e+00] [ 1.55334045e-02 -3.07876651e-04 9.99879302e-01 8.91945686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.9892541539999 meters Centerline goodness : 0.999530 Centerline is valid? [True, True] Translation: X:576.20, Y:7.47, Z:8.92 [[ 9.99266471e-01 -3.50025895e-02 -1.55350563e-02 5.76204710e+02] [ 3.50040062e-02 9.99387156e-01 -1.80792478e-04 7.46774628e+00] [ 1.55318639e-02 -3.63129345e-04 9.99879307e-01 8.92050364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.0192541539999 meters Centerline goodness : 0.999315 Centerline is valid? [True, True] Translation: X:576.24, Y:7.47, Z:8.92 [[ 9.99361476e-01 -3.21761982e-02 -1.55348598e-02 5.76236340e+02] [ 3.21770113e-02 9.99482166e-01 -1.97670733e-04 7.46895775e+00] [ 1.55331757e-02 -3.02320845e-04 9.99879307e-01 8.92040276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.0492541539999 meters Centerline goodness : 0.999443 Centerline is valid? [True, True] Translation: X:576.27, Y:7.47, Z:8.92 [[ 9.99544816e-01 -2.58615975e-02 -1.55350710e-02 5.76268696e+02] [ 2.58619322e-02 9.99665508e-01 -1.79381152e-04 7.47115750e+00] [ 1.55345138e-02 -2.22467453e-04 9.99879307e-01 8.92277679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.079254154 meters Centerline goodness : 0.999464 Centerline is valid? [True, True] Translation: X:576.30, Y:7.47, Z:8.92 [[ 9.99613021e-01 -2.30752859e-02 -1.55350839e-02 5.76299730e+02] [ 2.30753017e-02 9.99733714e-01 -1.78255391e-04 7.47211539e+00] [ 1.55350605e-02 -1.80290339e-04 9.99879307e-01 8.92395023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.1092541539999 meters Centerline goodness : 0.999506 Centerline is valid? [True, True] Translation: X:576.33, Y:7.47, Z:8.92 [[ 9.99722043e-01 -1.77340962e-02 -1.55350906e-02 5.76329202e+02] [ 1.77334761e-02 9.99842734e-01 -1.77677937e-04 7.47052056e+00] [ 1.55357984e-02 -9.78626068e-05 9.99879307e-01 8.92488201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.1392541539999 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:576.36, Y:7.47, Z:8.92 [[ 9.99717566e-01 -1.79843114e-02 -1.55355204e-02 5.76358131e+02] [ 1.79843085e-02 9.99838259e-01 -1.39904594e-04 7.47288109e+00] [ 1.55355237e-02 -1.39530510e-04 9.99879307e-01 8.92464633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.1692541539999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:576.39, Y:7.47, Z:8.93 [[ 9.99711414e-01 -1.83235280e-02 -1.55350485e-02 5.76386614e+02] [ 1.83229349e-02 9.99832105e-01 -1.80517473e-04 7.47285604e+00] [ 1.55357479e-02 -1.04182304e-04 9.99879308e-01 8.92569286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.199254154 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:576.42, Y:7.47, Z:8.93 [[ 9.99694715e-01 -1.92130498e-02 -1.55350016e-02 5.76416534e+02] [ 1.92125028e-02 9.99815406e-01 -1.84466069e-04 7.47231406e+00] [ 1.55356781e-02 -1.14056507e-04 9.99879308e-01 8.92608339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.2292541539999 meters Centerline goodness : 0.997041 Centerline is valid? [True, True] Translation: X:576.45, Y:7.47, Z:8.92 [[ 9.99664199e-01 -2.07401575e-02 -1.55349948e-02 5.76445135e+02] [ 2.07397861e-02 9.99784890e-01 -1.85033202e-04 7.47186612e+00] [ 1.55354907e-02 -1.37221401e-04 9.99879308e-01 8.92476936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.2592541539999 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:576.47, Y:7.47, Z:8.93 [[ 9.99530024e-01 -2.64275593e-02 -1.55343375e-02 5.76474506e+02] [ 2.64270315e-02 9.99650716e-01 -2.39289607e-04 7.46968847e+00] [ 1.55352354e-02 -1.71349279e-04 9.99879306e-01 8.92510229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.2892541539999 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:576.51, Y:7.47, Z:8.93 [[ 9.99428872e-01 -3.00099326e-02 -1.55349423e-02 5.76506125e+02] [ 3.00106066e-02 9.99549562e-01 -1.89786284e-04 7.46873182e+00] [ 1.55336402e-02 -2.76535150e-04 9.99879307e-01 8.92684109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.319254154 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:576.54, Y:7.47, Z:8.93 [[ 9.99310819e-01 -3.37127961e-02 -1.55349491e-02 5.76537999e+02] [ 3.37139260e-02 9.99431506e-01 -1.89228921e-04 7.46720344e+00] [ 1.55324970e-02 -3.34645614e-04 9.99879307e-01 8.92686373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.3492541539999 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:576.57, Y:7.46, Z:8.93 [[ 9.99013427e-01 -4.16033377e-02 -1.55349627e-02 5.76569616e+02] [ 4.16054380e-02 9.99134101e-01 -1.88101005e-04 7.46444404e+00] [ 1.55293366e-02 -4.58423499e-04 9.99879307e-01 8.92508592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.3792541539999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:576.60, Y:7.46, Z:8.93 [[ 9.98850850e-01 -4.53392172e-02 -1.55349858e-02 5.76601550e+02] [ 4.53417988e-02 9.98971514e-01 -1.86176703e-04 7.46336803e+00] [ 1.55274494e-02 -5.18421441e-04 9.99879307e-01 8.92564767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.4092541539999 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:576.63, Y:7.46, Z:8.93 [[ 9.98670090e-01 -4.91600896e-02 -1.55349985e-02 5.76633765e+02] [ 4.91631494e-02 9.98790744e-01 -1.85105240e-04 7.46239543e+00] [ 1.55253125e-02 -5.78890388e-04 9.99879307e-01 8.92581389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.439254154 meters Centerline goodness : 0.998979 Centerline is valid? [True, True] Translation: X:576.67, Y:7.46, Z:8.92 [[ 9.98498871e-01 -5.25230263e-02 -1.55350112e-02 5.76666412e+02] [ 5.25265090e-02 9.98619513e-01 -1.84033342e-04 7.46138789e+00] [ 1.55232313e-02 -6.32242824e-04 9.99879307e-01 8.92363974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.4692541539999 meters Centerline goodness : 0.999596 Centerline is valid? [True, True] Translation: X:576.70, Y:7.46, Z:8.93 [[ 9.98125250e-01 -5.92000730e-02 -1.55350056e-02 5.76698557e+02] [ 5.92043551e-02 9.98245867e-01 -1.84511791e-04 7.45913145e+00] [ 1.55186783e-02 -7.35574113e-04 9.99879307e-01 8.92671342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.4992541539999 meters Centerline goodness : 0.999617 Centerline is valid? [True, True] Translation: X:576.73, Y:7.46, Z:8.93 [[ 9.97983378e-01 -6.15454330e-02 -1.55350441e-02 5.76730281e+02] [ 6.15500498e-02 9.98103982e-01 -1.81210744e-04 7.45831959e+00] [ 1.55167421e-02 -7.75337430e-04 9.99879307e-01 8.92733495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.5292541539999 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:576.77, Y:7.45, Z:8.93 [[ 9.98071073e-01 -6.01065371e-02 -1.55350566e-02 5.76767068e+02] [ 6.01109967e-02 9.98191683e-01 -1.80137429e-04 7.45347007e+00] [ 1.55177917e-02 -7.54037778e-04 9.99879308e-01 8.92572536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.559254154 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:576.79, Y:7.46, Z:8.93 [[ 9.97781603e-01 -6.47337244e-02 -1.55376317e-02 5.76792583e+02] [ 6.47423001e-02 9.97902015e-01 4.90380733e-05 7.45756407e+00] [ 1.55018595e-02 -1.05487130e-03 9.99879283e-01 8.92811959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.589254154 meters Centerline goodness : 0.999575 Centerline is valid? [True, True] Translation: X:576.82, Y:7.46, Z:8.93 [[ 9.97724664e-01 -6.56060978e-02 -1.55349655e-02 5.76824514e+02] [ 6.56112165e-02 9.97845246e-01 -1.80484919e-04 7.45827789e+00] [ 1.55133324e-02 -8.39193730e-04 9.99879309e-01 8.93053650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.6192541539999 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:576.86, Y:7.46, Z:8.93 [[ 9.97750338e-01 -6.52144741e-02 -1.55349786e-02 5.76856389e+02] [ 6.52195631e-02 9.97870922e-01 -1.79351321e-04 7.45892830e+00] [ 1.55135997e-02 -8.34236675e-04 9.99879309e-01 8.93085491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.6492541539999 meters Centerline goodness : 0.999470 Centerline is valid? [True, True] Translation: X:576.89, Y:7.46, Z:8.93 [[ 9.97811983e-01 -6.42643854e-02 -1.55349948e-02 5.76889255e+02] [ 6.42693815e-02 9.97932570e-01 -1.77938348e-04 7.45948545e+00] [ 1.55143124e-02 -8.20875490e-04 9.99879309e-01 8.93171521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.679254154 meters Centerline goodness : 0.999449 Centerline is valid? [True, True] Translation: X:576.92, Y:7.46, Z:8.93 [[ 9.98017100e-01 -6.09961608e-02 -1.55350139e-02 5.76921700e+02] [ 6.10007882e-02 9.98137702e-01 -1.76251179e-04 7.46135705e+00] [ 1.55168337e-02 -7.71746402e-04 9.99879309e-01 8.93232088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.709254154 meters Centerline goodness : 0.999341 Centerline is valid? [True, True] Translation: X:576.95, Y:7.46, Z:8.93 [[ 9.98130879e-01 -5.91050948e-02 -1.55350296e-02 5.76954081e+02] [ 5.91095154e-02 9.98251489e-01 -1.74852985e-04 7.46281097e+00] [ 1.55182012e-02 -7.43741911e-04 9.99879309e-01 8.93258233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.7392541539999 meters Centerline goodness : 0.999192 Centerline is valid? [True, True] Translation: X:576.99, Y:7.46, Z:8.93 [[ 9.98249666e-01 -5.70637064e-02 -1.55350597e-02 5.76987010e+02] [ 5.70679224e-02 9.98370283e-01 -1.72143956e-04 7.46428842e+00] [ 1.55195651e-02 -7.14710932e-04 9.99879309e-01 8.93325939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.7692541539999 meters Centerline goodness : 0.999405 Centerline is valid? [True, True] Translation: X:577.02, Y:7.47, Z:8.93 [[ 9.98359831e-01 -5.51027137e-02 -1.55350774e-02 5.77019591e+02] [ 5.51067178e-02 9.98480456e-01 -1.70526822e-04 7.46556031e+00] [ 1.55208677e-02 -6.85839998e-04 9.99879309e-01 8.93405645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.7992541539999 meters Centerline goodness : 0.999212 Centerline is valid? [True, True] Translation: X:577.05, Y:7.47, Z:8.93 [[ 9.98566579e-01 -5.12195998e-02 -1.55350893e-02 5.77050535e+02] [ 5.12231517e-02 9.98687218e-01 -1.69438144e-04 7.46759141e+00] [ 1.55233737e-02 -6.26560966e-04 9.99879309e-01 8.93220140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.829254154 meters Centerline goodness : 0.999276 Centerline is valid? [True, True] Translation: X:577.08, Y:7.47, Z:8.93 [[ 9.98602939e-01 -5.05057527e-02 -1.55350981e-02 5.77082357e+02] [ 5.05092310e-02 9.98723580e-01 -1.68626674e-04 7.46956054e+00] [ 1.55237854e-02 -6.16274766e-04 9.99879309e-01 8.93336938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.8592541539999 meters Centerline goodness : 0.999190 Centerline is valid? [True, True] Translation: X:577.11, Y:7.47, Z:8.93 [[ 9.98660658e-01 -4.93512895e-02 -1.55351096e-02 5.77114647e+02] [ 4.93546449e-02 9.98781303e-01 -1.67556723e-04 7.47116123e+00] [ 1.55244462e-02 -5.99397512e-04 9.99879309e-01 8.93368001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.8892541539999 meters Centerline goodness : 0.999232 Centerline is valid? [True, True] Translation: X:577.15, Y:7.47, Z:8.93 [[ 9.98909893e-01 -4.40191509e-02 -1.55351213e-02 5.77150333e+02] [ 4.40218792e-02 9.99030553e-01 -1.66466585e-04 7.47184433e+00] [ 1.55273886e-02 -5.17600115e-04 9.99879309e-01 8.93289005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.9192541539999 meters Centerline goodness : 0.999317 Centerline is valid? [True, True] Translation: X:577.18, Y:7.48, Z:8.94 [[ 9.98931614e-01 -4.35229038e-02 -1.55366793e-02 5.77180927e+02] [ 4.35278202e-02 9.99052215e-01 -2.17418551e-05 7.47509028e+00] [ 1.55229001e-02 -6.54559157e-04 9.99879298e-01 8.93729007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.949254154 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:577.21, Y:7.48, Z:8.93 [[ 9.99067256e-01 -4.02896172e-02 -1.55359081e-02 5.77209503e+02] [ 4.02930516e-02 9.99187901e-01 -9.20177423e-05 7.47949382e+00] [ 1.55269987e-02 -5.34057231e-04 9.99879306e-01 8.93365951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.9792541539999 meters Centerline goodness : 0.999251 Centerline is valid? [True, True] Translation: X:577.24, Y:7.48, Z:8.94 [[ 9.99165074e-01 -3.77864918e-02 -1.55350052e-02 5.77241366e+02] [ 3.77883647e-02 9.99285750e-01 -1.73062904e-04 7.48136834e+00] [ 1.55304488e-02 -4.14124035e-04 9.99879310e-01 8.93620317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.0092541539999 meters Centerline goodness : 0.999273 Centerline is valid? [True, True] Translation: X:577.27, Y:7.48, Z:8.94 [[ 9.99267666e-01 -3.49684814e-02 -1.55350176e-02 5.77272936e+02] [ 3.49700313e-02 9.99388347e-01 -1.71949942e-04 7.48304951e+00] [ 1.55315283e-02 -3.71436032e-04 9.99879310e-01 8.93633841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.0392541539999 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:577.31, Y:7.48, Z:8.94 [[ 9.99432844e-01 -2.98772904e-02 -1.55350267e-02 5.77306895e+02] [ 2.98782384e-02 9.99553531e-01 -1.71120486e-04 7.48272828e+00] [ 1.55332034e-02 -2.93135796e-04 9.99879310e-01 8.93923848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.069254154 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:577.33, Y:7.49, Z:8.94 [[ 9.99573275e-01 -2.47363017e-02 -1.55365051e-02 5.77334270e+02] [ 2.47387559e-02 9.99693950e-01 -3.42311285e-05 7.48714248e+00] [ 1.55325969e-02 -3.50137285e-04 9.99879301e-01 8.94133255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.0992541539999 meters Centerline goodness : 0.999398 Centerline is valid? [True, True] Translation: X:577.37, Y:7.49, Z:8.94 [[ 9.99663869e-01 -2.07560644e-02 -1.55349863e-02 5.77365385e+02] [ 2.07559024e-02 9.99784558e-01 -1.71678270e-04 7.48860750e+00] [ 1.55352028e-02 -1.50822096e-04 9.99879310e-01 8.94291004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.1292541539999 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:577.39, Y:7.49, Z:8.94 [[ 9.99730972e-01 -1.72234693e-02 -1.55349922e-02 5.77394884e+02] [ 1.72228892e-02 9.99851660e-01 -1.71138600e-04 7.48995302e+00] [ 1.55356354e-02 -9.64648904e-05 9.99879310e-01 8.94420493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.1592541539999 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:577.42, Y:7.49, Z:8.95 [[ 9.99819927e-01 -1.08985175e-02 -1.55349928e-02 5.77423855e+02] [ 1.08971747e-02 9.99940609e-01 -1.71089348e-04 7.49097590e+00] [ 1.55359347e-02 1.77101053e-06 9.99879310e-01 8.94535929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.189254154 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:577.45, Y:7.49, Z:8.94 [[ 9.99839067e-01 -8.97238727e-03 -1.55349819e-02 5.77452434e+02] [ 8.97079667e-03 9.99959747e-01 -1.72071341e-04 7.49051008e+00] [ 1.55359004e-02 3.26824854e-05 9.99879310e-01 8.94433595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.2192541539999 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:577.48, Y:7.49, Z:8.95 [[ 9.99848574e-01 -7.84083656e-03 -1.55354309e-02 5.77479954e+02] [ 7.83973620e-03 9.99969260e-01 -1.31729307e-04 7.49029345e+00] [ 1.55359862e-02 9.91568011e-06 9.99879309e-01 8.94608464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.2492541539999 meters Centerline goodness : 0.999397 Centerline is valid? [True, True] Translation: X:577.51, Y:7.49, Z:8.95 [[ 9.99846187e-01 -8.14052087e-03 -1.55349285e-02 5.77507963e+02] [ 8.13876789e-03 9.99966864e-01 -1.76060302e-04 7.48818618e+00] [ 1.55358469e-02 4.95980446e-05 9.99879310e-01 8.94637310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.2792541539999 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:577.54, Y:7.49, Z:8.94 [[ 9.99830323e-01 -9.89915503e-03 -1.55348804e-02 5.77535614e+02] [ 9.89754985e-03 9.99951002e-01 -1.80208912e-04 7.48717491e+00] [ 1.55359031e-02 2.64210814e-05 9.99879310e-01 8.94351720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.309254154 meters Centerline goodness : 0.999226 Centerline is valid? [True, True] Translation: X:577.56, Y:7.49, Z:8.95 [[ 9.99812023e-01 -1.16011590e-02 -1.55348279e-02 5.77563218e+02] [ 1.15996908e-02 9.99932704e-01 -1.84620065e-04 7.48590932e+00] [ 1.55359243e-02 4.38616075e-06 9.99879310e-01 8.94657368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.339254154 meters Centerline goodness : 0.999356 Centerline is valid? [True, True] Translation: X:577.59, Y:7.48, Z:8.95 [[ 9.99747082e-01 -1.62616915e-02 -1.55348104e-02 5.77591987e+02] [ 1.62607630e-02 9.99867768e-01 -1.86087315e-04 7.48204382e+00] [ 1.55357823e-02 -6.65676204e-05 9.99879310e-01 8.94743008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.3692541539999 meters Centerline goodness : 0.999614 Centerline is valid? [True, True] Translation: X:577.62, Y:7.48, Z:8.95 [[ 9.99706813e-01 -1.85730566e-02 -1.55347977e-02 5.77619459e+02] [ 1.85723908e-02 9.99827501e-01 -1.87140919e-04 7.47960305e+00] [ 1.55355937e-02 -1.01432281e-04 9.99879310e-01 8.94607965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.3992541539999 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:577.65, Y:7.48, Z:8.95 [[ 9.99675083e-01 -2.02088848e-02 -1.55347818e-02 5.77647757e+02] [ 2.02083961e-02 9.99795772e-01 -1.88449419e-04 7.47733151e+00] [ 1.55354175e-02 -1.25544834e-04 9.99879310e-01 8.94580456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.429254154 meters Centerline goodness : 0.998974 Centerline is valid? [True, True] Translation: X:577.68, Y:7.47, Z:8.94 [[ 9.99659615e-01 -2.09604629e-02 -1.55342789e-02 5.77682069e+02] [ 2.09594137e-02 9.99780301e-01 -2.30356163e-04 7.47264313e+00] [ 1.55356944e-02 -9.53116249e-05 9.99879309e-01 8.94430944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.459254154 meters Centerline goodness : 0.999064 Centerline is valid? [True, True] Translation: X:577.71, Y:7.47, Z:8.95 [[ 9.99449637e-01 -2.93089641e-02 -1.55372863e-02 5.77707821e+02] [ 2.93125993e-02 9.99570293e-01 6.23552202e-06 7.47152799e+00] [ 1.55304270e-02 -4.61670337e-04 9.99879289e-01 8.94880835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.4892541539999 meters Centerline goodness : 0.999042 Centerline is valid? [True, True] Translation: X:577.74, Y:7.47, Z:8.95 [[ 9.99386242e-01 -3.13977360e-02 -1.55345165e-02 5.77738811e+02] [ 3.13983512e-02 9.99506929e-01 -2.04346318e-04 7.46912915e+00] [ 1.55332729e-02 -2.83537308e-04 9.99879311e-01 8.94980484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.5192541539999 meters Centerline goodness : 0.999001 Centerline is valid? [True, True] Translation: X:577.77, Y:7.47, Z:8.95 [[ 9.99329024e-01 -3.31689793e-02 -1.55345232e-02 5.77768785e+02] [ 3.31698164e-02 9.99449709e-01 -2.03836921e-04 7.46656879e+00] [ 1.55327358e-02 -3.11577131e-04 9.99879311e-01 8.94912601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.5492541539999 meters Centerline goodness : 0.999088 Centerline is valid? [True, True] Translation: X:577.80, Y:7.46, Z:8.95 [[ 9.99289667e-01 -3.43342243e-02 -1.55345341e-02 5.77800586e+02] [ 3.43352150e-02 9.99410352e-01 -2.03001575e-04 7.46400466e+00] [ 1.55323441e-02 -3.30524194e-04 9.99879311e-01 8.95129304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.579254154 meters Centerline goodness : 0.999067 Centerline is valid? [True, True] Translation: X:577.83, Y:7.46, Z:8.95 [[ 9.99255178e-01 -3.53237422e-02 -1.55345407e-02 5.77832745e+02] [ 3.53248603e-02 9.99375862e-01 -2.02498863e-04 7.45930610e+00] [ 1.55319980e-02 -3.46407443e-04 9.99879311e-01 8.95270314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.6092541539999 meters Centerline goodness : 0.999365 Centerline is valid? [True, True] Translation: X:577.87, Y:7.46, Z:8.96 [[ 9.99274200e-01 -3.47814843e-02 -1.55345538e-02 5.77865344e+02] [ 3.47825527e-02 9.99394884e-01 -2.01486610e-04 7.45737230e+00] [ 1.55321616e-02 -3.38991066e-04 9.99879311e-01 8.95608923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.6392541539999 meters Centerline goodness : 0.999259 Centerline is valid? [True, True] Translation: X:577.90, Y:7.46, Z:8.95 [[ 9.99311798e-01 -3.36839367e-02 -1.55345682e-02 5.77896656e+02] [ 3.36848898e-02 9.99432483e-01 -2.00375787e-04 7.45536637e+00] [ 1.55325015e-02 -3.23042328e-04 9.99879311e-01 8.95316725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.6692541539999 meters Centerline goodness : 0.999074 Centerline is valid? [True, True] Translation: X:577.93, Y:7.45, Z:8.96 [[ 9.99424731e-01 -3.01476960e-02 -1.55345918e-02 5.77928421e+02] [ 3.01482508e-02 9.99545418e-01 -1.98525488e-04 7.45073695e+00] [ 1.55335151e-02 -2.69929487e-04 9.99879311e-01 8.95571685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.699254154 meters Centerline goodness : 0.998884 Centerline is valid? [True, True] Translation: X:577.96, Y:7.45, Z:8.95 [[ 9.99477529e-01 -2.83433515e-02 -1.55345986e-02 5.77959248e+02] [ 2.83436966e-02 9.99598217e-01 -1.97994821e-04 7.44851731e+00] [ 1.55339689e-02 -2.42416575e-04 9.99879311e-01 8.95341262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.7292541539999 meters Centerline goodness : 0.998882 Centerline is valid? [True, True] Translation: X:577.99, Y:7.45, Z:8.96 [[ 9.99534084e-01 -2.62733821e-02 -1.55346019e-02 5.77990204e+02] [ 2.62734813e-02 9.99654773e-01 -1.97731822e-04 7.44653745e+00] [ 1.55344340e-02 -2.10508378e-04 9.99879311e-01 8.95809554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.7592541539999 meters Centerline goodness : 0.998882 Centerline is valid? [True, True] Translation: X:578.02, Y:7.45, Z:8.96 [[ 9.99534084e-01 -2.62733731e-02 -1.55346092e-02 5.78021195e+02] [ 2.62734813e-02 9.99654773e-01 -1.97156333e-04 7.44693049e+00] [ 1.55344262e-02 -2.11083791e-04 9.99879311e-01 8.95857693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.7892541539999 meters Centerline goodness : 0.998989 Centerline is valid? [True, True] Translation: X:578.05, Y:7.44, Z:8.96 [[ 9.99588614e-01 -2.41097217e-02 -1.55346092e-02 5.78051890e+02] [ 2.41095687e-02 9.99709303e-01 -1.97156333e-04 7.44486747e+00] [ 1.55348467e-02 -1.77457503e-04 9.99879311e-01 8.95843460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.819254154 meters Centerline goodness : 0.998988 Centerline is valid? [True, True] Translation: X:578.08, Y:7.44, Z:8.96 [[ 9.99691811e-01 -1.93638748e-02 -1.55346128e-02 5.78081106e+02] [ 1.93631532e-02 9.99812497e-01 -1.96870932e-04 7.44038143e+00] [ 1.55355122e-02 -1.03988830e-04 9.99879311e-01 8.95919737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.8492541539999 meters Centerline goodness : 0.998526 Centerline is valid? [True, True] Translation: X:578.11, Y:7.44, Z:8.96 [[ 9.99735180e-01 -1.69778061e-02 -1.55346055e-02 5.78108986e+02] [ 1.69767875e-02 9.99855864e-01 -1.97444759e-04 7.43859331e+00] [ 1.55357186e-02 -6.63352266e-05 9.99879311e-01 8.95909623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.8792541539999 meters Centerline goodness : 0.999032 Centerline is valid? [True, True] Translation: X:578.14, Y:7.44, Z:8.96 [[ 9.99776940e-01 -1.43089776e-02 -1.55345873e-02 5.78136710e+02] [ 1.43076148e-02 9.99897621e-01 -1.98868833e-04 7.43699402e+00] [ 1.55358425e-02 -2.34384177e-05 9.99879311e-01 8.95947578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.9092541539999 meters Centerline goodness : 0.999201 Centerline is valid? [True, True] Translation: X:578.17, Y:7.43, Z:8.96 [[ 9.99846808e-01 -8.06470740e-03 -1.55345283e-02 5.78165269e+02] [ 8.06252082e-03 9.99967477e-01 -2.03379684e-04 7.43325347e+00] [ 1.55356632e-02 7.81010705e-05 9.99879311e-01 8.95942777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.939254154 meters Centerline goodness : 0.999097 Centerline is valid? [True, True] Translation: X:578.19, Y:7.43, Z:8.96 [[ 9.99865015e-01 -5.35090551e-03 -1.55344753e-02 5.78192995e+02] [ 5.34832976e-03 9.99985676e-01 -2.07348305e-04 7.43143921e+00] [ 1.55353623e-02 1.24236820e-04 9.99879311e-01 8.95886880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.9692541539999 meters Centerline goodness : 0.998970 Centerline is valid? [True, True] Translation: X:578.22, Y:7.43, Z:8.96 [[ 9.99874746e-01 -3.02883248e-03 -1.55344138e-02 5.78220753e+02] [ 3.02590654e-03 9.99995400e-01 -2.11852878e-04 7.42966409e+00] [ 1.55349841e-02 1.64820659e-04 9.99879311e-01 8.95899549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.9992541539999 meters Centerline goodness : 0.998784 Centerline is valid? [True, True] Translation: X:578.25, Y:7.43, Z:8.96 [[ 9.99878133e-01 -1.55029152e-03 -1.55343517e-02 5.78248950e+02] [ 1.54711780e-03 9.99998780e-01 -2.16319200e-04 7.42795042e+00] [ 1.55346681e-02 1.92259366e-04 9.99879311e-01 8.95867776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.0292541539999 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:578.28, Y:7.42, Z:8.96 [[ 9.99878729e-01 -1.10150532e-03 -1.55342885e-02 5.78276765e+02] [ 1.09820844e-03 9.99999373e-01 -2.20761113e-04 7.42220921e+00] [ 1.55345220e-02 2.03674455e-04 9.99879311e-01 8.95794942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.059254154 meters Centerline goodness : 0.999225 Centerline is valid? [True, True] Translation: X:578.31, Y:7.42, Z:8.96 [[ 9.99876138e-01 -2.52869432e-03 -1.55342689e-02 5.78305565e+02] [ 2.52554831e-03 9.99996786e-01 -2.22134987e-04 7.41945173e+00] [ 1.55347807e-02 1.82874926e-04 9.99879311e-01 8.95834042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.089254154 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:578.33, Y:7.42, Z:8.96 [[ 9.99866175e-01 -5.13012943e-03 -1.55342533e-02 5.78333987e+02] [ 5.12728044e-03 9.99986831e-01 -2.23222249e-04 7.41657228e+00] [ 1.55351938e-02 1.43543903e-04 9.99879311e-01 8.95880479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.1192541539999 meters Centerline goodness : 0.999038 Centerline is valid? [True, True] Translation: X:578.36, Y:7.41, Z:8.96 [[ 9.99806499e-01 -1.20686098e-02 -1.55342377e-02 5.78362121e+02] [ 1.20665813e-02 9.99927171e-01 -2.24303284e-04 7.41018434e+00] [ 1.55358133e-02 3.68147388e-05 9.99879311e-01 8.95910418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.1492541539999 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:578.39, Y:7.41, Z:8.96 [[ 9.99773745e-01 -1.45308971e-02 -1.55342182e-02 5.78388733e+02] [ 1.45291450e-02 9.99894421e-01 -2.25644662e-04 7.40733105e+00] [ 1.55358569e-02 -1.05300116e-07 9.99879311e-01 8.96145594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.179254154 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:578.42, Y:7.40, Z:8.96 [[ 9.99670860e-01 -2.04183141e-02 -1.55327116e-02 5.78418972e+02] [ 2.04156970e-02 9.99791524e-01 -3.27055770e-04 7.40408729e+00] [ 1.55361513e-02 9.83698914e-06 9.99879307e-01 8.96060050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.209254154 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:578.45, Y:7.40, Z:8.96 [[ 9.99478616e-01 -2.83052146e-02 -1.55341581e-02 5.78446985e+02] [ 2.83050751e-02 9.99599305e-01 -2.28889326e-04 7.39728492e+00] [ 1.55344124e-02 -2.10925524e-04 9.99879311e-01 8.96172453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.2392541539999 meters Centerline goodness : 0.999042 Centerline is valid? [True, True] Translation: X:578.48, Y:7.39, Z:8.96 [[ 9.99372151e-01 -3.18432888e-02 -1.55341385e-02 5.78476531e+02] [ 3.18435560e-02 9.99492839e-01 -2.30212041e-04 7.39478126e+00] [ 1.55335909e-02 -2.64594706e-04 9.99879311e-01 8.96368317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.2692541539999 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:578.51, Y:7.39, Z:8.97 [[ 9.99205312e-01 -3.67074331e-02 -1.55341306e-02 5.78506288e+02] [ 3.67082794e-02 9.99325997e-01 -2.30742925e-04 7.38903621e+00] [ 1.55321306e-02 -3.39671650e-04 9.99879311e-01 8.96538834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.2992541539999 meters Centerline goodness : 0.999002 Centerline is valid? [True, True] Translation: X:578.54, Y:7.39, Z:8.97 [[ 9.99146017e-01 -3.82874427e-02 -1.55341267e-02 5.78536447e+02] [ 3.82884757e-02 9.99266701e-01 -2.31006643e-04 7.38698940e+00] [ 1.55315802e-02 -3.63968666e-04 9.99879311e-01 8.96582106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.329254154 meters Centerline goodness : 0.999251 Centerline is valid? [True, True] Translation: X:578.57, Y:7.39, Z:8.97 [[ 9.99115224e-01 -3.90827301e-02 -1.55341306e-02 5.78566550e+02] [ 3.90838633e-02 9.99235907e-01 -2.30745109e-04 7.38522219e+00] [ 1.55312792e-02 -3.76592884e-04 9.99879311e-01 8.96684946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.3592541539999 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:578.60, Y:7.38, Z:8.97 [[ 9.99104205e-01 -3.93634202e-02 -1.55341306e-02 5.78597959e+02] [ 3.93645873e-02 9.99224888e-01 -2.30745109e-04 7.38188489e+00] [ 1.55311728e-02 -3.80956230e-04 9.99879311e-01 8.96814340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.3892541539999 meters Centerline goodness : 0.999334 Centerline is valid? [True, True] Translation: X:578.63, Y:7.38, Z:8.97 [[ 9.99116112e-01 -3.90600184e-02 -1.55341386e-02 5.78627156e+02] [ 3.90611572e-02 9.99236795e-01 -2.30203589e-04 7.38024544e+00] [ 1.55312746e-02 -3.76781316e-04 9.99879311e-01 8.96795193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.4192541539999 meters Centerline goodness : 0.999397 Centerline is valid? [True, True] Translation: X:578.66, Y:7.38, Z:8.97 [[ 9.99134632e-01 -3.85833944e-02 -1.55341346e-02 5.78657267e+02] [ 3.85844715e-02 9.99255315e-01 -2.30472538e-04 7.37895366e+00] [ 1.55314590e-02 -3.69103280e-04 9.99879311e-01 8.96829230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.449254154 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:578.69, Y:7.38, Z:8.97 [[ 9.99152127e-01 -3.81276521e-02 -1.55341346e-02 5.78687155e+02] [ 3.81286742e-02 9.99272811e-01 -2.30472538e-04 7.37768751e+00] [ 1.55316257e-02 -3.62018830e-04 9.99879311e-01 8.96837720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.4792541539999 meters Centerline goodness : 0.999477 Centerline is valid? [True, True] Translation: X:578.72, Y:7.38, Z:8.97 [[ 9.99182276e-01 -3.73292195e-02 -1.55341307e-02 5.78716740e+02] [ 3.73301411e-02 9.99302961e-01 -2.30737418e-04 7.37642198e+00] [ 1.55319160e-02 -3.49342551e-04 9.99879311e-01 8.96859676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.5092541539999 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:578.75, Y:7.37, Z:8.97 [[ 9.99256910e-01 -3.52749039e-02 -1.55341268e-02 5.78747681e+02] [ 3.52755733e-02 9.99377597e-01 -2.30999125e-04 7.37399816e+00] [ 1.55326068e-02 -3.17147756e-04 9.99879311e-01 8.96896092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.5392541539999 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:578.78, Y:7.37, Z:8.97 [[ 9.99302557e-01 -3.39571903e-02 -1.55341268e-02 5.78777312e+02] [ 3.39577005e-02 9.99423244e-01 -2.30999125e-04 7.37322970e+00] [ 1.55330115e-02 -2.96665209e-04 9.99879311e-01 8.96916305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.569254154 meters Centerline goodness : 0.999393 Centerline is valid? [True, True] Translation: X:578.81, Y:7.37, Z:8.97 [[ 9.99354003e-01 -3.24078419e-02 -1.55341190e-02 5.78806631e+02] [ 3.24081569e-02 9.99474691e-01 -2.31518483e-04 7.37260268e+00] [ 1.55334618e-02 -2.72063245e-04 9.99879311e-01 8.96874313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.5992541539999 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:578.84, Y:7.37, Z:8.97 [[ 9.99483154e-01 -2.81445614e-02 -1.55341152e-02 5.78835974e+02] [ 2.81443576e-02 9.99603842e-01 -2.31775984e-04 7.37083230e+00] [ 1.55344845e-02 -2.05541502e-04 9.99879311e-01 8.96773302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.6292541539999 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:578.86, Y:7.37, Z:8.97 [[ 9.99546710e-01 -2.57888716e-02 -1.55341076e-02 5.78864464e+02] [ 2.57883754e-02 9.99667398e-01 -2.32285139e-04 7.37020404e+00] [ 1.55349313e-02 -1.68419552e-04 9.99879311e-01 8.96957194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.6592541539999 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:578.89, Y:7.37, Z:8.97 [[ 9.99612655e-01 -2.30918648e-02 -1.55340502e-02 5.78892784e+02] [ 2.30909843e-02 9.99733340e-01 -2.36061526e-04 7.36966528e+00] [ 1.55353590e-02 -1.22726421e-04 9.99879311e-01 8.97045349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.689254154 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:578.92, Y:7.37, Z:8.97 [[ 9.99719273e-01 -1.78904999e-02 -1.55339907e-02 5.78920251e+02] [ 1.78889316e-02 9.99839951e-01 -2.39915427e-04 7.36859807e+00] [ 1.55357967e-02 -3.80384201e-05 9.99879312e-01 8.97160703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.7192541539999 meters Centerline goodness : 0.999685 Centerline is valid? [True, True] Translation: X:578.95, Y:7.37, Z:8.97 [[ 9.99753531e-01 -1.58611034e-02 -1.55339203e-02 5.78946976e+02] [ 1.58592206e-02 9.99874205e-01 -2.44388890e-04 7.36815341e+00] [ 1.55358425e-02 -2.02721284e-06 9.99879312e-01 8.97181726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.7492541539999 meters Centerline goodness : 0.999644 Centerline is valid? [True, True] Translation: X:578.98, Y:7.37, Z:8.97 [[ 9.99778210e-01 -1.42207652e-02 -1.55338713e-02 5.78975374e+02] [ 1.42186366e-02 9.99898879e-01 -2.47463543e-04 7.36764472e+00] [ 1.55358196e-02 2.65381861e-05 9.99879312e-01 8.97347214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.7792541539999 meters Centerline goodness : 0.999664 Centerline is valid? [True, True] Translation: X:579.00, Y:7.37, Z:8.97 [[ 9.99793010e-01 -1.31392200e-02 -1.55337991e-02 5.79003407e+02] [ 1.31368917e-02 9.99913676e-01 -2.51918595e-04 7.36702253e+00] [ 1.55357681e-02 4.78006144e-05 9.99879312e-01 8.97439031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.809254154 meters Centerline goodness : 0.999477 Centerline is valid? [True, True] Translation: X:579.03, Y:7.36, Z:8.97 [[ 9.99807296e-01 -1.20030537e-02 -1.55337260e-02 5.79030518e+02] [ 1.20005196e-02 9.99927958e-01 -2.56344437e-04 7.36468912e+00] [ 1.55356839e-02 6.98822546e-05 9.99879312e-01 8.97459896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.839254154 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:579.06, Y:7.36, Z:8.98 [[ 9.99792735e-01 -1.31601850e-02 -1.55336942e-02 5.79058844e+02] [ 1.31577607e-02 9.99913400e-01 -2.58261881e-04 7.36397480e+00] [ 1.55357477e-02 5.38197216e-05 9.99879312e-01 8.97582931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.8692541539999 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:579.09, Y:7.36, Z:8.98 [[ 9.99777661e-01 -1.42595569e-02 -1.55336298e-02 5.79085930e+02] [ 1.42572061e-02 9.99898327e-01 -2.62076096e-04 7.36274496e+00] [ 1.55357875e-02 4.05516654e-05 9.99879312e-01 8.97597716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.8992541539999 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:579.11, Y:7.36, Z:8.98 [[ 9.99708723e-01 -1.84709668e-02 -1.55335977e-02 5.79113122e+02] [ 1.84690949e-02 9.99829397e-01 -2.63964757e-04 7.35919532e+00] [ 1.55358233e-02 -2.30036205e-05 9.99879312e-01 8.97572870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.929254154 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:579.14, Y:7.36, Z:8.98 [[ 9.99639550e-01 -2.18970042e-02 -1.55335657e-02 5.79140731e+02] [ 2.18955168e-02 9.99760229e-01 -2.65835093e-04 7.35768624e+00] [ 1.55356622e-02 -7.43761761e-05 9.99879312e-01 8.97607080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.959254154 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:579.17, Y:7.36, Z:8.98 [[ 9.99540026e-01 -2.60470179e-02 -1.55334917e-02 5.79168693e+02] [ 2.60459654e-02 9.99660710e-01 -2.70090860e-04 7.35608752e+00] [ 1.55352564e-02 -1.34618162e-04 9.99879312e-01 8.97678312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.9892541539999 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:579.20, Y:7.35, Z:8.98 [[ 9.99418253e-01 -3.03622782e-02 -1.55334160e-02 5.79196142e+02] [ 3.03616802e-02 9.99538940e-01 -2.74374623e-04 7.35436227e+00] [ 1.55345848e-02 -1.97405604e-04 9.99879312e-01 8.97696494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.0192541539999 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:579.22, Y:7.35, Z:8.98 [[ 9.99081826e-01 -3.99276728e-02 -1.55333814e-02 5.79224018e+02] [ 3.99281998e-02 9.99202513e-01 -2.76324231e-04 7.35104084e+00] [ 1.55320267e-02 -3.44149438e-04 9.99879312e-01 8.97713681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.0492541539999 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:579.25, Y:7.35, Z:8.98 [[ 9.98863657e-01 -4.50567406e-02 -1.55333580e-02 5.79253857e+02] [ 4.50578669e-02 9.98984340e-01 -2.77629894e-04 7.34954197e+00] [ 1.55300905e-02 -4.22585568e-04 9.99879312e-01 8.97984983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.079254154 meters Centerline goodness : 0.999686 Centerline is valid? [True, True] Translation: X:579.28, Y:7.35, Z:8.98 [[ 9.98631856e-01 -4.99312628e-02 -1.55333478e-02 5.79284247e+02] [ 4.99329693e-02 9.98752533e-01 -2.78201563e-04 7.34769497e+00] [ 1.55278614e-02 -4.97805235e-04 9.99879312e-01 8.98003754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.1092541539999 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:579.31, Y:7.34, Z:8.98 [[ 9.98122426e-01 -5.92480998e-02 -1.55333478e-02 5.79314340e+02] [ 5.92509323e-02 9.98243081e-01 -2.78201563e-04 7.34418073e+00] [ 1.55225399e-02 -6.42686120e-04 9.99879312e-01 8.98099805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.1392541539999 meters Centerline goodness : 0.999729 Centerline is valid? [True, True] Translation: X:579.35, Y:7.34, Z:8.98 [[ 9.97882570e-01 -6.31592559e-02 -1.55333637e-02 5.79345314e+02] [ 6.31625750e-02 9.98003213e-01 -2.77310419e-04 7.34346801e+00] [ 1.55198616e-02 -7.04404016e-04 9.99879312e-01 8.98229465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.1692541539999 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:579.38, Y:7.34, Z:8.98 [[ 9.97659807e-01 -6.65854680e-02 -1.55333738e-02 5.79376382e+02] [ 6.65892103e-02 9.97780437e-01 -2.76740561e-04 7.34292244e+00] [ 1.55173234e-02 -7.58262163e-04 9.99879312e-01 8.98305478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.199254154 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:579.41, Y:7.34, Z:8.98 [[ 9.97321448e-01 -7.14747744e-02 -1.55333839e-02 5.79407813e+02] [ 7.14791167e-02 9.97442058e-01 -2.76174423e-04 7.34230989e+00] [ 1.55133899e-02 -8.34877885e-04 9.99879312e-01 8.98354476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.2292541539999 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:579.44, Y:7.34, Z:8.98 [[ 9.97199509e-01 -7.31563583e-02 -1.55333940e-02 5.79437694e+02] [ 7.31609128e-02 9.97320112e-01 -2.75607740e-04 7.34256076e+00] [ 1.55119287e-02 -8.61601378e-04 9.99879312e-01 8.98323429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.2592541539999 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:579.47, Y:7.34, Z:8.98 [[ 9.97110311e-01 -7.43622352e-02 -1.55333989e-02 5.79468988e+02] [ 7.43669399e-02 9.97230907e-01 -2.75326432e-04 7.34342618e+00] [ 1.55108594e-02 -8.80640522e-04 9.99879312e-01 8.98379451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.2892541539999 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:579.50, Y:7.35, Z:8.98 [[ 9.96983171e-01 -7.60478202e-02 -1.55334091e-02 5.79500111e+02] [ 7.60527377e-02 9.97103759e-01 -2.74751550e-04 7.34565451e+00] [ 1.55093149e-02 -9.07435618e-04 9.99879312e-01 8.98403057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.319254154 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:579.53, Y:7.35, Z:8.98 [[ 9.96977206e-01 -7.61259701e-02 -1.55334243e-02 5.79530984e+02] [ 7.61309103e-02 9.97097793e-01 -2.73891789e-04 7.34696393e+00] [ 1.55091933e-02 -9.09509861e-04 9.99879312e-01 8.98402180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.3492541539999 meters Centerline goodness : 0.999645 Centerline is valid? [True, True] Translation: X:579.56, Y:7.35, Z:8.98 [[ 9.96978477e-01 -7.61093247e-02 -1.55334393e-02 5.79563329e+02] [ 7.61142762e-02 9.97099064e-01 -2.73039236e-04 7.34863280e+00] [ 1.55091586e-02 -9.10102245e-04 9.99879312e-01 8.98472286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.3792541539999 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:579.60, Y:7.35, Z:8.99 [[ 9.96991409e-01 -7.59397248e-02 -1.55334591e-02 5.79595263e+02] [ 7.59446734e-02 9.97111996e-01 -2.71906359e-04 7.35160054e+00] [ 1.55092469e-02 -9.08595173e-04 9.99879312e-01 8.98519703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.4092541539999 meters Centerline goodness : 0.999688 Centerline is valid? [True, True] Translation: X:579.63, Y:7.35, Z:8.99 [[ 9.96988136e-01 -7.59826798e-02 -1.55334788e-02 5.79627578e+02] [ 7.59876512e-02 9.97108722e-01 -2.70776628e-04 7.35354908e+00] [ 1.55091415e-02 -9.10391482e-04 9.99879312e-01 8.98538369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.439254154 meters Centerline goodness : 0.999750 Centerline is valid? [True, True] Translation: X:579.66, Y:7.36, Z:8.99 [[ 9.96948786e-01 -7.64972463e-02 -1.55334983e-02 5.79659522e+02] [ 7.65022973e-02 9.97069369e-01 -2.69651937e-04 7.35573653e+00] [ 1.55086030e-02 -9.19519134e-04 9.99879312e-01 8.98567663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.4692541539999 meters Centerline goodness : 0.999625 Centerline is valid? [True, True] Translation: X:579.69, Y:7.36, Z:8.99 [[ 9.96923952e-01 -7.68201989e-02 -1.55335177e-02 5.79692084e+02] [ 7.68253063e-02 9.97044533e-01 -2.68530943e-04 7.35813312e+00] [ 1.55082375e-02 -9.25662326e-04 9.99879312e-01 8.98574958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.4992541539999 meters Centerline goodness : 0.999584 Centerline is valid? [True, True] Translation: X:579.72, Y:7.36, Z:8.98 [[ 9.96845575e-01 -7.78306370e-02 -1.55335372e-02 5.79722933e+02] [ 7.78358843e-02 9.96966150e-01 -2.67396966e-04 7.36240058e+00] [ 1.55072225e-02 -9.42513122e-04 9.99879312e-01 8.98433336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.5292541539999 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:579.76, Y:7.37, Z:8.98 [[ 9.96802093e-01 -7.83855596e-02 -1.55335517e-02 5.79755429e+02] [ 7.83908872e-02 9.96922664e-01 -2.66552308e-04 7.36506047e+00] [ 1.55066436e-02 -9.51989000e-04 9.99879312e-01 8.98475718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.559254154 meters Centerline goodness : 0.999583 Centerline is valid? [True, True] Translation: X:579.79, Y:7.37, Z:8.99 [[ 9.96761492e-01 -7.89001658e-02 -1.55335710e-02 5.79787325e+02] [ 7.89055731e-02 9.96882059e-01 -2.65420999e-04 7.36778558e+00] [ 1.55060800e-02 -9.61123894e-04 9.99879312e-01 8.98535114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.589254154 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:579.82, Y:7.37, Z:8.99 [[ 9.96705474e-01 -7.96046799e-02 -1.55335908e-02 5.79819892e+02] [ 7.96101906e-02 9.96826037e-01 -2.64257697e-04 7.37352287e+00] [ 1.55053239e-02 -9.73245033e-04 9.99879312e-01 8.98537639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.6192541539999 meters Centerline goodness : 0.999521 Centerline is valid? [True, True] Translation: X:579.85, Y:7.38, Z:8.99 [[ 9.96684051e-01 -7.98724620e-02 -1.55336104e-02 5.79851143e+02] [ 7.98780229e-02 9.96804611e-01 -2.63103285e-04 7.37656600e+00] [ 1.55049892e-02 -9.78563238e-04 9.99879312e-01 8.98538913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.6492541539999 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:579.88, Y:7.38, Z:8.99 [[ 9.96701985e-01 -7.96483501e-02 -1.55336249e-02 5.79883462e+02] [ 7.96538972e-02 9.96822546e-01 -2.62243513e-04 7.37957988e+00] [ 1.55051548e-02 -9.75935131e-04 9.99879312e-01 8.98706914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.679254154 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:579.92, Y:7.38, Z:8.99 [[ 9.96707830e-01 -7.95751637e-02 -1.55336441e-02 5.79916138e+02] [ 7.95807197e-02 9.96828391e-01 -2.61102060e-04 7.38006761e+00] [ 1.55051547e-02 -9.75936109e-04 9.99879312e-01 8.98757668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.709254154 meters Centerline goodness : 0.999417 Centerline is valid? [True, True] Translation: X:579.95, Y:7.39, Z:8.99 [[ 9.96813171e-01 -7.82445384e-02 -1.55336632e-02 5.79946853e+02] [ 7.82499512e-02 9.96933738e-01 -2.59961587e-04 7.38586687e+00] [ 1.55063735e-02 -9.56375251e-04 9.99879312e-01 8.98887563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.7392541539999 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:579.98, Y:7.39, Z:8.99 [[ 9.96894102e-01 -7.72065675e-02 -1.55336939e-02 5.79979043e+02] [ 7.72118834e-02 9.97014673e-01 -2.58113189e-04 7.38912489e+00] [ 1.55072488e-02 -9.42074245e-04 9.99879312e-01 8.99059529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.7692541539999 meters Centerline goodness : 0.999646 Centerline is valid? [True, True] Translation: X:580.01, Y:7.39, Z:8.99 [[ 9.97031868e-01 -7.54066144e-02 -1.55337131e-02 5.80011493e+02] [ 7.54117307e-02 9.97152448e-01 -2.56949878e-04 7.39211051e+00] [ 1.55088558e-02 -9.15236974e-04 9.99879312e-01 8.99124217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.7992541539999 meters Centerline goodness : 0.999523 Centerline is valid? [True, True] Translation: X:580.04, Y:7.40, Z:8.99 [[ 9.97181217e-01 -7.34051989e-02 -1.55337321e-02 5.80043122e+02] [ 7.34100911e-02 9.97301806e-01 -2.55795960e-04 7.39544595e+00] [ 1.55105959e-02 -8.85257764e-04 9.99879312e-01 8.99072757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.829254154 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:580.08, Y:7.40, Z:8.99 [[ 9.97550502e-01 -6.82033577e-02 -1.55337462e-02 5.80075469e+02] [ 6.82076343e-02 9.97671115e-01 -2.54936651e-04 7.40201853e+00] [ 1.55149575e-02 -8.05207898e-04 9.99879312e-01 8.99257971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.8592541539999 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:580.11, Y:7.41, Z:8.99 [[ 9.97747994e-01 -6.52506116e-02 -1.55337648e-02 5.80107567e+02] [ 6.52545488e-02 9.97868618e-01 -2.53797894e-04 7.40522344e+00] [ 1.55172169e-02 -7.60422476e-04 9.99879312e-01 8.99294069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.8892541539999 meters Centerline goodness : 0.999271 Centerline is valid? [True, True] Translation: X:580.14, Y:7.41, Z:8.99 [[ 9.97922784e-01 -6.25205464e-02 -1.55337833e-02 5.80139374e+02] [ 6.25241712e-02 9.98043418e-01 -2.52663899e-04 7.40833521e+00] [ 1.55191868e-02 -7.19097863e-04 9.99879312e-01 8.99341027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.9192541539999 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:580.17, Y:7.41, Z:8.99 [[ 9.98096898e-01 -5.96764833e-02 -1.55338016e-02 5.80171116e+02] [ 5.96797818e-02 9.98217542e-01 -2.51534501e-04 7.41134848e+00] [ 1.55211239e-02 -6.75998083e-04 9.99879312e-01 8.99397858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.949254154 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:580.20, Y:7.42, Z:8.99 [[ 9.98358217e-01 -5.51322963e-02 -1.55338197e-02 5.80201921e+02] [ 5.51350631e-02 9.98478874e-01 -2.50409787e-04 7.41670522e+00] [ 1.55239965e-02 -6.06459461e-04 9.99879312e-01 8.99484860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.9792541539999 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:580.23, Y:7.42, Z:9.00 [[ 9.98453699e-01 -5.33751852e-02 -1.55338332e-02 5.80233872e+02] [ 5.33777527e-02 9.98574360e-01 -2.49572073e-04 7.41927401e+00] [ 1.55250085e-02 -5.79974944e-04 9.99879312e-01 8.99504058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.0092541539999 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:580.26, Y:7.42, Z:8.99 [[ 9.98542871e-01 -5.16801209e-02 -1.55338511e-02 5.80264562e+02] [ 5.16825009e-02 9.98663536e-01 -2.48450581e-04 7.42150717e+00] [ 1.55259306e-02 -5.54739717e-04 9.99879312e-01 8.99454969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.0392541539999 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:580.30, Y:7.42, Z:8.99 [[ 9.98667128e-01 -4.92205941e-02 -1.55338793e-02 5.80296985e+02] [ 4.92227046e-02 9.98787798e-01 -2.46674954e-04 7.42495759e+00] [ 1.55271906e-02 -5.18273383e-04 9.99879312e-01 8.99426786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.069254154 meters Centerline goodness : 0.999226 Centerline is valid? [True, True] Translation: X:580.33, Y:7.43, Z:8.99 [[ 9.98700152e-01 -4.85458979e-02 -1.55338966e-02 5.80329506e+02] [ 4.85479438e-02 9.98820823e-01 -2.45578573e-04 7.42635039e+00] [ 1.55275012e-02 -5.08879383e-04 9.99879312e-01 8.99429972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.0992541539999 meters Centerline goodness : 0.999372 Centerline is valid? [True, True] Translation: X:580.36, Y:7.43, Z:9.00 [[ 9.98726809e-01 -4.79943684e-02 -1.55339139e-02 5.80361584e+02] [ 4.79963648e-02 9.98847480e-01 -2.44482644e-04 7.42775597e+00] [ 1.55277445e-02 -5.01400026e-04 9.99879312e-01 8.99510383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.1292541539999 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:580.39, Y:7.43, Z:9.00 [[ 9.98773539e-01 -4.70118577e-02 -1.55339319e-02 5.80392488e+02] [ 4.70137532e-02 9.98894213e-01 -2.43333602e-04 7.43068848e+00] [ 1.55281942e-02 -4.87273277e-04 9.99879312e-01 8.99543936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.1592541539999 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:580.42, Y:7.43, Z:9.00 [[ 9.98794373e-01 -4.65671129e-02 -1.55339611e-02 5.80424844e+02] [ 4.65689839e-02 9.98915047e-01 -2.41451384e-04 7.43209499e+00] [ 1.55283512e-02 -4.82240501e-04 9.99879312e-01 8.99610379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.189254154 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:580.46, Y:7.43, Z:9.00 [[ 9.98812108e-01 -4.61851491e-02 -1.55339786e-02 5.80456524e+02] [ 4.61869914e-02 9.98932783e-01 -2.40324746e-04 7.43349963e+00] [ 1.55284999e-02 -4.77428469e-04 9.99879312e-01 8.99693987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.2192541539999 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:580.49, Y:7.44, Z:9.00 [[ 9.98843863e-01 -4.54932028e-02 -1.55339964e-02 5.80487533e+02] [ 4.54949795e-02 9.98964539e-01 -2.39167656e-04 7.43503027e+00] [ 1.55287920e-02 -4.67827701e-04 9.99879312e-01 8.99674689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.2492541539999 meters Centerline goodness : 0.998831 Centerline is valid? [True, True] Translation: X:580.52, Y:7.44, Z:9.00 [[ 9.98859474e-01 -4.51491417e-02 -1.55340096e-02 5.80519848e+02] [ 4.51508903e-02 9.98980150e-01 -2.38305432e-04 7.43593548e+00] [ 1.55289265e-02 -4.63340724e-04 9.99879312e-01 8.99728654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.2792541539999 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:580.55, Y:7.44, Z:9.00 [[ 9.98869419e-01 -4.49285889e-02 -1.55340263e-02 5.80551957e+02] [ 4.49303278e-02 9.98990095e-01 -2.37213574e-04 7.43672865e+00] [ 1.55289960e-02 -4.61003508e-04 9.99879312e-01 8.99788918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.309254154 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:580.58, Y:7.44, Z:9.00 [[ 9.98837348e-01 -4.56360053e-02 -1.55340428e-02 5.80582898e+02] [ 4.56378466e-02 9.98958023e-01 -2.36125085e-04 7.43748641e+00] [ 1.55286325e-02 -4.73089709e-04 9.99879312e-01 8.99892831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.339254154 meters Centerline goodness : 0.998811 Centerline is valid? [True, True] Translation: X:580.62, Y:7.44, Z:9.00 [[ 9.98802907e-01 -4.63836862e-02 -1.55340551e-02 5.80615007e+02] [ 4.63856303e-02 9.98923580e-01 -2.35314747e-04 7.43758312e+00] [ 1.55282487e-02 -4.85523884e-04 9.99879312e-01 8.99972027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.3692541539999 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:580.65, Y:7.44, Z:9.00 [[ 9.98765348e-01 -4.71855133e-02 -1.55340711e-02 5.80646934e+02] [ 4.71875709e-02 9.98886019e-01 -2.34252284e-04 7.43759966e+00] [ 1.55278198e-02 -4.99052018e-04 9.99879312e-01 8.99991840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.3992541539999 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:580.68, Y:7.44, Z:9.00 [[ 9.98673472e-01 -4.90916379e-02 -1.55340870e-02 5.80679338e+02] [ 4.90939423e-02 9.98794138e-01 -2.33191740e-04 7.43709918e+00] [ 1.55268028e-02 -5.29747168e-04 9.99879312e-01 9.00030677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.429254154 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:580.71, Y:7.44, Z:9.00 [[ 9.98626958e-01 -5.00289018e-02 -1.55341039e-02 5.80710417e+02] [ 5.00313369e-02 9.98747622e-01 -2.32061838e-04 7.43684517e+00] [ 1.55262591e-02 -5.45448779e-04 9.99879312e-01 8.99990079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.459254154 meters Centerline goodness : 0.998998 Centerline is valid? [True, True] Translation: X:580.74, Y:7.44, Z:9.00 [[ 9.98596190e-01 -5.06393219e-02 -1.55341165e-02 5.80741944e+02] [ 5.06418439e-02 9.98716852e-01 -2.31219126e-04 7.43675907e+00] [ 1.55258927e-02 -5.55781762e-04 9.99879312e-01 8.99962533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.4892541539999 meters Centerline goodness : 0.999084 Centerline is valid? [True, True] Translation: X:580.77, Y:7.44, Z:9.00 [[ 9.98556597e-01 -5.14141360e-02 -1.55341280e-02 5.80774409e+02] [ 5.14167637e-02 9.98677257e-01 -2.30441904e-04 7.43713405e+00] [ 1.55254283e-02 -5.68605305e-04 9.99879312e-01 8.99984573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.5192541539999 meters Centerline goodness : 0.998916 Centerline is valid? [True, True] Translation: X:580.81, Y:7.44, Z:9.00 [[ 9.98530477e-01 -5.19189435e-02 -1.55341446e-02 5.80806577e+02] [ 5.19216496e-02 9.98651135e-01 -2.29318842e-04 7.43764918e+00] [ 1.55250971e-02 -5.77576559e-04 9.99879312e-01 8.99949466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.5492541539999 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:580.84, Y:7.44, Z:9.00 [[ 9.98530137e-01 -5.19254875e-02 -1.55341615e-02 5.80837982e+02] [ 5.19282124e-02 9.98650794e-01 -2.28164892e-04 7.43797191e+00] [ 1.55250503e-02 -5.78831717e-04 9.99879312e-01 8.99799064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.579254154 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:580.87, Y:7.44, Z:9.00 [[ 9.98547823e-01 -5.15842492e-02 -1.55341741e-02 5.80869868e+02] [ 5.15869462e-02 9.98668481e-01 -2.27305090e-04 7.43854376e+00] [ 1.55252154e-02 -5.74385601e-04 9.99879312e-01 8.99977389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.6092541539999 meters Centerline goodness : 0.999001 Centerline is valid? [True, True] Translation: X:580.90, Y:7.44, Z:9.00 [[ 9.98554014e-01 -5.14642665e-02 -1.55341909e-02 5.80900948e+02] [ 5.14669669e-02 9.98674672e-01 -2.26149629e-04 7.43919829e+00] [ 1.55252416e-02 -5.73675071e-04 9.99879312e-01 9.00014096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.6392541539999 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:580.93, Y:7.44, Z:9.00 [[ 9.98566449e-01 -5.12224060e-02 -1.55342034e-02 5.80933194e+02] [ 5.12250906e-02 9.98687108e-01 -2.25288984e-04 7.43996772e+00] [ 1.55253485e-02 -5.70774956e-04 9.99879312e-01 9.00055590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.6692541539999 meters Centerline goodness : 0.998875 Centerline is valid? [True, True] Translation: X:580.97, Y:7.44, Z:9.00 [[ 9.98582624e-01 -5.09060983e-02 -1.55342199e-02 5.80965767e+02] [ 5.09087625e-02 9.98703283e-01 -2.24144275e-04 7.44086355e+00] [ 1.55254867e-02 -5.67001334e-04 9.99879312e-01 9.00096354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.699254154 meters Centerline goodness : 0.998981 Centerline is valid? [True, True] Translation: X:581.00, Y:7.44, Z:9.00 [[ 9.98592417e-01 -5.07136253e-02 -1.55342363e-02 5.80997532e+02] [ 5.07162839e-02 9.98713076e-01 -2.23003760e-04 7.44171436e+00] [ 1.55255542e-02 -5.65148873e-04 9.99879312e-01 9.00094593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.7292541539999 meters Centerline goodness : 0.999251 Centerline is valid? [True, True] Translation: X:581.03, Y:7.44, Z:9.00 [[ 9.98596661e-01 -5.06299843e-02 -1.55342528e-02 5.81029565e+02] [ 5.06326508e-02 9.98717320e-01 -2.21847661e-04 7.44194642e+00] [ 1.55255595e-02 -5.65004064e-04 9.99879312e-01 9.00146886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.7592541539999 meters Centerline goodness : 0.999062 Centerline is valid? [True, True] Translation: X:581.06, Y:7.44, Z:9.00 [[ 9.98570617e-01 -5.11410757e-02 -1.55342692e-02 5.81060387e+02] [ 5.11438219e-02 9.98691274e-01 -2.20695968e-04 7.44234477e+00] [ 1.55252257e-02 -5.74101386e-04 9.99879312e-01 9.00117563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.7892541539999 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:581.09, Y:7.44, Z:9.00 [[ 9.98525728e-01 -5.20101630e-02 -1.55342813e-02 5.81092983e+02] [ 5.20130275e-02 9.98646382e-01 -2.19837739e-04 7.44283870e+00] [ 1.55246876e-02 -5.88471362e-04 9.99879312e-01 9.00194744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.819254154 meters Centerline goodness : 0.999001 Centerline is valid? [True, True] Translation: X:581.13, Y:7.44, Z:9.00 [[ 9.98514627e-01 -5.22228518e-02 -1.55342973e-02 5.81125115e+02] [ 5.22257595e-02 9.98635280e-01 -2.18705161e-04 7.44334530e+00] [ 1.55245187e-02 -5.92910171e-04 9.99879312e-01 9.00177181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.8492541539999 meters Centerline goodness : 0.999271 Centerline is valid? [True, True] Translation: X:581.16, Y:7.44, Z:9.00 [[ 9.98504709e-01 -5.24121234e-02 -1.55343131e-02 5.81156620e+02] [ 5.24150716e-02 9.98625362e-01 -2.17574280e-04 7.44398224e+00] [ 1.55243626e-02 -5.96983190e-04 9.99879312e-01 9.00170152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.8792541539999 meters Centerline goodness : 0.999043 Centerline is valid? [True, True] Translation: X:581.19, Y:7.44, Z:9.00 [[ 9.98510744e-01 -5.22970148e-02 -1.55343387e-02 5.81189070e+02] [ 5.22999777e-02 9.98631396e-01 -2.15730054e-04 7.44482708e+00] [ 1.55243604e-02 -5.97036792e-04 9.99879312e-01 9.00228835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.9092541539999 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:581.22, Y:7.45, Z:9.00 [[ 9.98532031e-01 -5.18889810e-02 -1.55343543e-02 5.81220158e+02] [ 5.18919121e-02 9.98652684e-01 -2.14601702e-04 7.44527204e+00] [ 1.55245601e-02 -5.91820675e-04 9.99879312e-01 9.00285528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.939254154 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:581.25, Y:7.45, Z:9.00 [[ 9.98554771e-01 -5.14495200e-02 -1.55343659e-02 5.81251035e+02] [ 5.14524111e-02 9.98675425e-01 -2.13761204e-04 7.44571865e+00] [ 1.55247873e-02 -5.85828308e-04 9.99879312e-01 9.00350738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.9692541539999 meters Centerline goodness : 0.998894 Centerline is valid? [True, True] Translation: X:581.28, Y:7.45, Z:9.01 [[ 9.98662206e-01 -4.93201877e-02 -1.55343771e-02 5.81282711e+02] [ 4.93228343e-02 9.98782866e-01 -2.12941134e-04 7.44684274e+00] [ 1.55259720e-02 -5.53543245e-04 9.99879312e-01 9.00544959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.9992541539999 meters Centerline goodness : 0.999126 Centerline is valid? [True, True] Translation: X:581.31, Y:7.45, Z:9.01 [[ 9.98753160e-01 -4.74426875e-02 -1.55343928e-02 5.81314999e+02] [ 4.74451252e-02 9.98873824e-01 -2.11789432e-04 7.44774588e+00] [ 1.55269462e-02 -5.25505847e-04 9.99879312e-01 9.00573029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.0292541539999 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:581.35, Y:7.45, Z:9.01 [[ 9.98861632e-01 -4.51012393e-02 -1.55344083e-02 5.81347662e+02] [ 4.51034119e-02 9.98982301e-01 -2.10643096e-04 7.44852599e+00] [ 1.55280993e-02 -4.90251511e-04 9.99879312e-01 9.00598403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.059254154 meters Centerline goodness : 0.997369 Centerline is valid? [True, True] Translation: X:581.38, Y:7.45, Z:9.01 [[ 9.99162118e-01 -3.78647955e-02 -1.55344237e-02 5.81376497e+02] [ 3.78661117e-02 9.99282800e-01 -2.09503675e-04 7.44918593e+00] [ 1.55312152e-02 -3.78900088e-04 9.99879312e-01 9.00501247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.089254154 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:581.41, Y:7.45, Z:9.01 [[ 9.99221034e-01 -3.62773065e-02 -1.55332522e-02 5.81408146e+02] [ 3.62770993e-02 9.99341726e-01 -2.95201826e-04 7.45040333e+00] [ 1.55337362e-02 -2.68529460e-04 9.99879308e-01 9.00586768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.1192541539999 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:581.44, Y:7.45, Z:9.01 [[ 9.99329204e-01 -3.31636094e-02 -1.55343827e-02 5.81438262e+02] [ 3.31643095e-02 9.99449890e-01 -2.12610021e-04 7.45095752e+00] [ 1.55328880e-02 -3.02719672e-04 9.99879312e-01 9.00602392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.1492541539999 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:581.47, Y:7.45, Z:9.01 [[ 9.99408579e-01 -3.06785931e-02 -1.55343827e-02 5.81469043e+02] [ 3.06789931e-02 9.99529266e-01 -2.12610021e-04 7.45166478e+00] [ 1.55335927e-02 -2.64094940e-04 9.99879312e-01 9.00638952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.179254154 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:581.50, Y:7.45, Z:9.01 [[ 9.99509341e-01 -2.71985194e-02 -1.55343827e-02 5.81498115e+02] [ 2.71984992e-02 9.99630030e-01 -2.12610021e-04 7.45168194e+00] [ 1.55344181e-02 -2.10006191e-04 9.99879312e-01 9.00672165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.209254154 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:581.53, Y:7.45, Z:9.01 [[ 9.99524484e-01 -2.66362377e-02 -1.55343831e-02 5.81528006e+02] [ 2.66361500e-02 9.99645172e-01 -2.12581267e-04 7.45170651e+00] [ 1.55345334e-02 -2.01295977e-04 9.99879312e-01 9.00705644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.2392541539999 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:581.56, Y:7.45, Z:9.01 [[ 9.99520402e-01 -2.67889590e-02 -1.55343752e-02 5.81557795e+02] [ 2.67888808e-02 9.99641091e-01 -2.13156147e-04 7.45152669e+00] [ 1.55345100e-02 -2.03094607e-04 9.99879312e-01 9.00717712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.2692541539999 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:581.59, Y:7.45, Z:9.01 [[ 9.99494017e-01 -2.77559595e-02 -1.55343673e-02 5.81586563e+02] [ 2.77559892e-02 9.99614705e-01 -2.13727546e-04 7.45122427e+00] [ 1.55343142e-02 -2.17552327e-04 9.99879312e-01 9.00661743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.2992541539999 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:581.62, Y:7.45, Z:9.01 [[ 9.99407093e-01 -3.07269724e-02 -1.55343556e-02 5.81616620e+02] [ 3.07273476e-02 9.99527781e-01 -2.14578286e-04 7.44911858e+00] [ 1.55336133e-02 -2.62878483e-04 9.99879312e-01 9.00511099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.329254154 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:581.65, Y:7.45, Z:9.00 [[ 9.99324382e-01 -3.33086244e-02 -1.55343476e-02 5.81646314e+02] [ 3.33093026e-02 9.99445068e-01 -2.15149377e-04 7.44824997e+00] [ 1.55328935e-02 -3.02434267e-04 9.99879312e-01 9.00475222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.3592541539999 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:581.68, Y:7.45, Z:9.00 [[ 9.99127493e-01 -3.87677408e-02 -1.55343437e-02 5.81677081e+02] [ 3.87690738e-02 9.99248174e-01 -2.15432714e-04 7.44607813e+00] [ 1.55310164e-02 -3.87007371e-04 9.99879312e-01 9.00348173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.3892541539999 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:581.71, Y:7.45, Z:9.00 [[ 9.99019734e-01 -4.14518354e-02 -1.55343437e-02 5.81708351e+02] [ 4.14534927e-02 9.99140411e-01 -2.15432714e-04 7.44542979e+00] [ 1.55299207e-02 -4.28731271e-04 9.99879312e-01 9.00336883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.4192541539999 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:581.74, Y:7.44, Z:9.00 [[ 9.98910675e-01 -4.40016835e-02 -1.55343515e-02 5.81738427e+02] [ 4.40036576e-02 9.99031347e-01 -2.14867387e-04 7.44499746e+00] [ 1.55287587e-02 -4.68934960e-04 9.99879312e-01 9.00345017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.449254154 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:581.77, Y:7.44, Z:9.00 [[ 9.98721188e-01 -4.81110471e-02 -1.55343554e-02 5.81769616e+02] [ 4.81135220e-02 9.98841851e-01 -2.14587343e-04 7.44357742e+00] [ 1.55266883e-02 -5.33099625e-04 9.99879312e-01 9.00436438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.4792541539999 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:581.80, Y:7.44, Z:9.01 [[ 9.98695849e-01 -4.86341961e-02 -1.55343669e-02 5.81801050e+02] [ 4.86367471e-02 9.98816510e-01 -2.13753736e-04 7.44372882e+00] [ 1.55263779e-02 -5.42066105e-04 9.99879312e-01 9.00581577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.5092541539999 meters Centerline goodness : 0.999125 Centerline is valid? [True, True] Translation: X:581.83, Y:7.44, Z:9.01 [[ 9.98636164e-01 -4.98449659e-02 -1.55335854e-02 5.81831935e+02] [ 4.98467797e-02 9.98756840e-01 -2.70628766e-04 7.44414830e+00] [ 1.55277641e-02 -5.04039534e-04 9.99879310e-01 9.00594912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.5392541539999 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:581.86, Y:7.44, Z:9.01 [[ 9.98627109e-01 -5.00259315e-02 -1.55339477e-02 5.81861607e+02] [ 5.00281745e-02 9.98747777e-01 -2.44406825e-04 7.44480768e+00] [ 1.55267224e-02 -5.33063764e-04 9.99879311e-01 9.00732332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.569254154 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:581.89, Y:7.45, Z:9.01 [[ 9.98632893e-01 -4.99104978e-02 -1.55334537e-02 5.81893464e+02] [ 4.99121754e-02 9.98753571e-01 -2.79901842e-04 7.44516436e+00] [ 1.55280624e-02 -4.95789280e-04 9.99879309e-01 9.00782666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.5992541539999 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:581.93, Y:7.45, Z:9.01 [[ 9.98653119e-01 -4.95041200e-02 -1.55334868e-02 5.81925416e+02] [ 4.95057858e-02 9.98773798e-01 -2.77502099e-04 7.44522659e+00] [ 1.55281771e-02 -4.91869131e-04 9.99879310e-01 9.00898490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.6292541539999 meters Centerline goodness : 0.994835 Centerline is valid? [True, True] Translation: X:581.96, Y:7.45, Z:9.01 [[ 9.98684539e-01 -4.88660748e-02 -1.55337892e-02 5.81955403e+02] [ 4.88680010e-02 9.98805213e-01 -2.55777276e-04 7.44580935e+00] [ 1.55277284e-02 -5.03664414e-04 9.99879311e-01 9.00985819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.6592541539999 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:581.99, Y:7.45, Z:9.01 [[ 9.98764129e-01 -4.72116717e-02 -1.55329865e-02 5.81986689e+02] [ 4.72125085e-02 9.98884819e-01 -3.13026228e-04 7.44720164e+00] [ 1.55304429e-02 -4.20711892e-04 9.99879307e-01 9.01086204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.689254154 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:582.02, Y:7.45, Z:9.01 [[ 9.98850972e-01 -4.53368418e-02 -1.55340639e-02 5.82017897e+02] [ 4.53386793e-02 9.98971646e-01 -2.34038267e-04 7.44786692e+00] [ 1.55287000e-02 -4.70524594e-04 9.99879312e-01 9.01079281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.7192541539999 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:582.05, Y:7.45, Z:9.01 [[ 9.98921481e-01 -4.37558855e-02 -1.55337546e-02 5.82049953e+02] [ 4.37571783e-02 9.99042163e-01 -2.56805107e-04 7.44837609e+00] [ 1.55301125e-02 -4.23185133e-04 9.99879311e-01 9.01119192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.7492541539999 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:582.08, Y:7.45, Z:9.01 [[ 9.99008849e-01 -4.17133498e-02 -1.55343763e-02 5.82080927e+02] [ 4.17151069e-02 9.99129524e-01 -2.11042842e-04 7.44933968e+00] [ 1.55296573e-02 -4.37184503e-04 9.99879312e-01 9.01116685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.7792541539999 meters Centerline goodness : 0.998852 Centerline is valid? [True, True] Translation: X:582.12, Y:7.44, Z:9.01 [[ 9.99368564e-01 -3.19555345e-02 -1.55343840e-02 5.82115413e+02] [ 3.19561219e-02 9.99489251e-01 -2.10473802e-04 7.44434739e+00] [ 1.55331757e-02 -2.86077769e-04 9.99879312e-01 9.00816156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.809254154 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:582.14, Y:7.45, Z:9.01 [[ 9.99249332e-01 -3.54870919e-02 -1.55383076e-02 5.82140890e+02] [ 3.54927262e-02 9.99369931e-01 8.69048077e-05 7.45108092e+00] [ 1.55254334e-02 -6.38336470e-04 9.99879269e-01 9.01067141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.839254154 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:582.17, Y:7.45, Z:9.01 [[ 9.99328206e-01 -3.31937616e-02 -1.55342075e-02 5.82170016e+02] [ 3.31944646e-02 9.99448889e-01 -2.12655618e-04 7.45157323e+00] [ 1.55327053e-02 -3.03136943e-04 9.99879314e-01 9.01038322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.8692541539999 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:582.20, Y:7.45, Z:9.01 [[ 9.99416958e-01 -3.04049873e-02 -1.55332452e-02 5.82199292e+02] [ 3.04042742e-02 9.99537643e-01 -2.82116278e-04 7.45092360e+00] [ 1.55346410e-02 -1.90325254e-04 9.99879312e-01 9.00969817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.8992541539999 meters Centerline goodness : 0.999396 Centerline is valid? [True, True] Translation: X:582.23, Y:7.45, Z:9.01 [[ 9.99408969e-01 -3.06666567e-02 -1.55328458e-02 5.82228085e+02] [ 3.06655318e-02 9.99529654e-01 -3.10649838e-04 7.45130597e+00] [ 1.55350665e-02 -1.65856741e-04 9.99879310e-01 9.00954784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.929254154 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:582.26, Y:7.45, Z:9.01 [[ 9.99389983e-01 -3.12791284e-02 -1.55331371e-02 5.82258128e+02] [ 3.12783965e-02 9.99510669e-01 -2.90112276e-04 7.45139616e+00] [ 1.55346107e-02 -1.95916320e-04 9.99879311e-01 9.00998162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.959254154 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:582.29, Y:7.45, Z:9.01 [[ 9.99392824e-01 -3.11877277e-02 -1.55341319e-02 5.82287963e+02] [ 3.11880772e-02 9.99513509e-01 -2.19810603e-04 7.45056575e+00] [ 1.55334301e-02 -2.64802568e-04 9.99879314e-01 9.00954010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.9892541539999 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:582.32, Y:7.45, Z:9.01 [[ 9.99424654e-01 -3.01504902e-02 -1.55341281e-02 5.82317081e+02] [ 3.01507103e-02 9.99545340e-01 -2.20078843e-04 7.44999067e+00] [ 1.55337009e-02 -2.48412777e-04 9.99879314e-01 9.00953493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.0192541539999 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:582.35, Y:7.45, Z:9.01 [[ 9.99344153e-01 -3.27105811e-02 -1.55332249e-02 5.82346492e+02] [ 3.27101265e-02 9.99464840e-01 -2.83392081e-04 7.44974145e+00] [ 1.55341821e-02 -2.24887534e-04 9.99879312e-01 9.00992082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.0492541539999 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:582.38, Y:7.45, Z:9.01 [[ 9.99249394e-01 -3.54871968e-02 -1.55340992e-02 5.82377465e+02] [ 3.54880268e-02 9.99370077e-01 -2.22304603e-04 7.44846008e+00] [ 1.55322029e-02 -3.29136789e-04 9.99879314e-01 9.01100139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.079254154 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:582.41, Y:7.45, Z:9.01 [[ 9.99183290e-01 -3.73020811e-02 -1.55340992e-02 5.82408363e+02] [ 3.73031303e-02 9.99303971e-01 -2.22304603e-04 7.44800352e+00] [ 1.55315794e-02 -3.57347481e-04 9.99879314e-01 9.01205707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.1092541539999 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:582.44, Y:7.45, Z:9.01 [[ 9.99112994e-01 -3.91397170e-02 -1.55340992e-02 5.82438465e+02] [ 3.91409881e-02 9.99233673e-01 -2.22304603e-04 7.44742199e+00] [ 1.55308959e-02 -3.85912574e-04 9.99879314e-01 9.01296580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.1392541539999 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:582.47, Y:7.44, Z:9.01 [[ 9.98810017e-01 -4.62303062e-02 -1.55341032e-02 5.82469671e+02] [ 4.62324383e-02 9.98930684e-01 -2.22019735e-04 7.44484141e+00] [ 1.55277564e-02 -4.96423935e-04 9.99879314e-01 9.01451260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.1692541539999 meters Centerline goodness : 0.999479 Centerline is valid? [True, True] Translation: X:582.50, Y:7.44, Z:9.02 [[ 9.98618467e-01 -5.01980858e-02 -1.55341114e-02 5.82501021e+02] [ 5.02007062e-02 9.98739125e-01 -2.21445017e-04 7.44404433e+00] [ 1.55256410e-02 -5.58684281e-04 9.99879314e-01 9.01530475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.199254154 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:582.53, Y:7.44, Z:9.02 [[ 9.98426091e-01 -5.38890628e-02 -1.55341196e-02 5.82532215e+02] [ 5.38921381e-02 9.98546738e-01 -2.20870920e-04 7.44309352e+00] [ 1.55234470e-02 -6.16643630e-04 9.99879314e-01 9.01621135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.2292541539999 meters Centerline goodness : 0.999334 Centerline is valid? [True, True] Translation: X:582.56, Y:7.44, Z:9.02 [[ 9.98218079e-01 -5.76138575e-02 -1.55341318e-02 5.82563254e+02] [ 5.76173963e-02 9.98338714e-01 -2.20011960e-04 7.44261288e+00] [ 1.55210009e-02 -6.75416310e-04 9.99879314e-01 9.01708883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.2592541539999 meters Centerline goodness : 0.999397 Centerline is valid? [True, True] Translation: X:582.60, Y:7.44, Z:9.02 [[ 9.97787142e-01 -6.46491301e-02 -1.55341580e-02 5.82595725e+02] [ 6.46535482e-02 9.97907747e-01 -2.18142956e-04 7.44145120e+00] [ 1.55157594e-02 -7.86678198e-04 9.99879314e-01 9.01910019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.2892541539999 meters Centerline goodness : 0.999396 Centerline is valid? [True, True] Translation: X:582.63, Y:7.44, Z:9.02 [[ 9.97584381e-01 -6.77059260e-02 -1.55341738e-02 5.82627500e+02] [ 6.77107311e-02 9.97704971e-01 -2.17015221e-04 7.44139490e+00] [ 1.55132156e-02 -8.35339268e-04 9.99879314e-01 9.01997841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.319254154 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:582.66, Y:7.44, Z:9.02 [[ 9.97402584e-01 -7.03333028e-02 -1.55341895e-02 5.82659665e+02] [ 7.03384431e-02 9.97523161e-01 -2.15885795e-04 7.44165767e+00] [ 1.55108977e-02 -8.77325651e-04 9.99879314e-01 9.02091153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.3492541539999 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:582.69, Y:7.44, Z:9.02 [[ 9.97241493e-01 -7.25816335e-02 -1.55342051e-02 5.82690475e+02] [ 7.25870631e-02 9.97362057e-01 -2.14756492e-04 7.44219618e+00] [ 1.55088141e-02 -9.13418240e-04 9.99879314e-01 9.02140785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.3792541539999 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:582.72, Y:7.44, Z:9.02 [[ 9.97068428e-01 -7.49215426e-02 -1.55342167e-02 5.82722825e+02] [ 7.49272682e-02 9.97188978e-01 -2.13914487e-04 7.44226182e+00] [ 1.55065765e-02 -9.50649037e-04 9.99879314e-01 9.02130126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.4092541539999 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:582.75, Y:7.44, Z:9.02 [[ 9.96979690e-01 -7.60932702e-02 -1.55342319e-02 5.82753988e+02] [ 7.60991548e-02 9.97100232e-01 -2.12799588e-04 7.44310625e+00] [ 1.55053789e-02 -9.69985054e-04 9.99879314e-01 9.02206924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.439254154 meters Centerline goodness : 0.999168 Centerline is valid? [True, True] Translation: X:582.79, Y:7.45, Z:9.02 [[ 9.96966437e-01 -7.62667057e-02 -1.55342433e-02 5.82786592e+02] [ 7.62726241e-02 9.97086978e-01 -2.11969391e-04 7.44546626e+00] [ 1.55051579e-02 -9.73511129e-04 9.99879314e-01 9.02374075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.4692541539999 meters Centerline goodness : 0.999064 Centerline is valid? [True, True] Translation: X:582.82, Y:7.45, Z:9.02 [[ 9.97037864e-01 -7.53271865e-02 -1.55342587e-02 5.82818067e+02] [ 7.53330090e-02 9.97158409e-01 -2.10830598e-04 7.44703050e+00] [ 1.55059980e-02 -9.60036363e-04 9.99879314e-01 9.02376897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.4992541539999 meters Centerline goodness : 0.999229 Centerline is valid? [True, True] Translation: X:582.85, Y:7.45, Z:9.02 [[ 9.97126374e-01 -7.41463409e-02 -1.55342702e-02 5.82849802e+02] [ 7.41520338e-02 9.97246926e-01 -2.09983100e-04 7.44837747e+00] [ 1.55070727e-02 -9.42518041e-04 9.99879314e-01 9.02485965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.5292541539999 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:582.88, Y:7.45, Z:9.03 [[ 9.97251195e-01 -7.24481837e-02 -1.55342855e-02 5.82881646e+02] [ 7.24536890e-02 9.97371756e-01 -2.08843199e-04 7.44975940e+00] [ 1.55085879e-02 -9.17247160e-04 9.99879314e-01 9.02518096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.559254154 meters Centerline goodness : 0.999376 Centerline is valid? [True, True] Translation: X:582.91, Y:7.45, Z:9.02 [[ 9.97512883e-01 -6.87512517e-02 -1.55343007e-02 5.82912634e+02] [ 6.87563277e-02 9.97633462e-01 -2.07705507e-04 7.45324406e+00] [ 1.55118182e-02 -8.60892552e-04 9.99879314e-01 9.02437173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.589254154 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:582.95, Y:7.45, Z:9.03 [[ 9.97647106e-01 -6.67752659e-02 -1.55343266e-02 5.82945277e+02] [ 6.67801334e-02 9.97767694e-01 -2.05752361e-04 7.45495850e+00] [ 1.55133884e-02 -8.32116155e-04 9.99879314e-01 9.02501221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.6192541539999 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:582.98, Y:7.46, Z:9.03 [[ 9.97764474e-01 -6.49979932e-02 -1.55343410e-02 5.82977678e+02] [ 6.50026629e-02 9.97885070e-01 -2.04656066e-04 7.45672229e+00] [ 1.55147892e-02 -8.05574982e-04 9.99879314e-01 9.02605691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.6492541539999 meters Centerline goodness : 0.998936 Centerline is valid? [True, True] Translation: X:583.01, Y:7.46, Z:9.03 [[ 9.97963796e-01 -6.18623173e-02 -1.55343560e-02 5.83010207e+02] [ 6.18666258e-02 9.98084405e-01 -2.03512335e-04 7.45963920e+00] [ 1.55171882e-02 -7.57960248e-04 9.99879314e-01 9.02657193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.679254154 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:583.04, Y:7.46, Z:9.03 [[ 9.98058356e-01 -6.03175018e-02 -1.55343709e-02 5.83042103e+02] [ 6.03216413e-02 9.98178971e-01 -2.02370209e-04 7.46108136e+00] [ 1.55182888e-02 -7.35081471e-04 9.99879314e-01 9.02702263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.709254154 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:583.07, Y:7.46, Z:9.03 [[ 9.98146269e-01 -5.88447852e-02 -1.55343856e-02 5.83074682e+02] [ 5.88487643e-02 9.98266889e-01 -2.01237265e-04 7.46261858e+00] [ 1.55193045e-02 -7.13315171e-04 9.99879314e-01 9.02767918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.7392541539999 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:583.11, Y:7.47, Z:9.03 [[ 9.98292398e-01 -5.63113721e-02 -1.55344001e-02 5.83105828e+02] [ 5.63150626e-02 9.98413028e-01 -2.00112154e-04 7.46537443e+00] [ 1.55210160e-02 -6.75050270e-04 9.99879314e-01 9.02856834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.7692541539999 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:583.14, Y:7.47, Z:9.03 [[ 9.98382794e-01 -5.46852763e-02 -1.55344108e-02 5.83138130e+02] [ 5.46887834e-02 9.98503429e-01 -1.99274057e-04 7.46661827e+00] [ 1.55220598e-02 -6.50606238e-04 9.99879314e-01 9.02952989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.7992541539999 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:583.17, Y:7.47, Z:9.03 [[ 9.98480742e-01 -5.28667193e-02 -1.55344248e-02 5.83170424e+02] [ 5.28700237e-02 9.98601383e-01 -1.98174793e-04 7.46798452e+00] [ 1.55231750e-02 -6.23431695e-04 9.99879314e-01 9.03078578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.829254154 meters Centerline goodness : 0.999041 Centerline is valid? [True, True] Translation: X:583.20, Y:7.47, Z:9.03 [[ 9.98697659e-01 -4.85969876e-02 -1.55344390e-02 5.83201198e+02] [ 4.85997935e-02 9.98818312e-01 -1.97056343e-04 7.46998772e+00] [ 1.55256585e-02 -5.58170821e-04 9.99879314e-01 9.03071113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.8592541539999 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:583.23, Y:7.47, Z:9.03 [[ 9.98810728e-01 -4.62148247e-02 -1.55344627e-02 5.83233227e+02] [ 4.62173720e-02 9.98931387e-01 -1.95173734e-04 7.47115273e+00] [ 1.55268823e-02 -5.23020422e-04 9.99879314e-01 9.03234336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.8892541539999 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:583.26, Y:7.47, Z:9.03 [[ 9.98925133e-01 -4.36721795e-02 -1.55344767e-02 5.83263933e+02] [ 4.36744371e-02 9.99045798e-01 -1.94052671e-04 7.47254586e+00] [ 1.55281284e-02 -4.84615434e-04 9.99879314e-01 9.03259321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.9192541539999 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:583.29, Y:7.47, Z:9.03 [[ 9.99146969e-01 -3.82624472e-02 -1.55344871e-02 5.83294597e+02] [ 3.82640644e-02 9.99267644e-01 -1.93217567e-04 7.47474097e+00] [ 1.55305033e-02 -4.01359867e-04 9.99879314e-01 9.03183081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.949254154 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:583.33, Y:7.48, Z:9.03 [[ 9.99238127e-01 -3.58028709e-02 -1.55344905e-02 5.83325272e+02] [ 3.58041953e-02 9.99358806e-01 -1.92943216e-04 7.47580555e+00] [ 1.55314378e-02 -3.63403713e-04 9.99879314e-01 9.03188698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.9792541539999 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:583.36, Y:7.48, Z:9.03 [[ 9.99316930e-01 -3.35313673e-02 -1.55344905e-02 5.83355768e+02] [ 3.35324173e-02 9.99437612e-01 -1.92943216e-04 7.47657030e+00] [ 1.55322237e-02 -3.28097596e-04 9.99879314e-01 9.03327761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.0092541539999 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:583.39, Y:7.48, Z:9.03 [[ 9.99359675e-01 -3.22322824e-02 -1.55344905e-02 5.83386564e+02] [ 3.22331756e-02 9.99480358e-01 -1.92943216e-04 7.47748007e+00] [ 1.55326371e-02 -3.07906289e-04 9.99879314e-01 9.03422654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.0392541539999 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:583.42, Y:7.48, Z:9.03 [[ 9.99397861e-01 -3.10257146e-02 -1.55344905e-02 5.83417255e+02] [ 3.10264621e-02 9.99518545e-01 -1.92943216e-04 7.47774030e+00] [ 1.55329975e-02 -2.89153242e-04 9.99879314e-01 9.03423298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.069254154 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:583.45, Y:7.48, Z:9.03 [[ 9.99380170e-01 -3.15904350e-02 -1.55344905e-02 5.83446986e+02] [ 3.15912506e-02 9.99500853e-01 -1.92943216e-04 7.47777614e+00] [ 1.55328316e-02 -2.97930358e-04 9.99879314e-01 9.03433351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.0992541539999 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:583.48, Y:7.48, Z:9.03 [[ 9.99359863e-01 -3.22264632e-02 -1.55344870e-02 5.83477535e+02] [ 3.22273513e-02 9.99480545e-01 -1.93224206e-04 7.47768720e+00] [ 1.55326445e-02 -3.07534852e-04 9.99879314e-01 9.03494452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.1292541539999 meters Centerline goodness : 0.999247 Centerline is valid? [True, True] Translation: X:583.51, Y:7.48, Z:9.04 [[ 9.99257487e-01 -3.52583821e-02 -1.55344870e-02 5.83508297e+02] [ 3.52596364e-02 9.99378167e-01 -1.93224206e-04 7.47718902e+00] [ 1.55316399e-02 -3.54659627e-04 9.99879314e-01 9.03564153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.1592541539999 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:583.54, Y:7.48, Z:9.04 [[ 9.99185871e-01 -3.72327164e-02 -1.55344870e-02 5.83539882e+02] [ 3.72342091e-02 9.99306548e-01 -1.93224206e-04 7.47667800e+00] [ 1.55309088e-02 -3.85347439e-04 9.99879314e-01 9.03624626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.189254154 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:583.57, Y:7.48, Z:9.04 [[ 9.99097834e-01 -3.95246333e-02 -1.55344941e-02 5.83570241e+02] [ 3.95264117e-02 9.99218507e-01 -1.92649475e-04 7.47604829e+00] [ 1.55299684e-02 -4.21547137e-04 9.99879314e-01 9.03660939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.2192541539999 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:583.60, Y:7.47, Z:9.04 [[ 9.98859186e-01 -4.51553594e-02 -1.55344976e-02 5.83601350e+02] [ 4.51578224e-02 9.98979847e-01 -1.92364323e-04 7.47442062e+00] [ 1.55273364e-02 -5.09359214e-04 9.99879314e-01 9.03657922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.2492541539999 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:583.63, Y:7.47, Z:9.04 [[ 9.98735550e-01 -4.78119257e-02 -1.55345046e-02 5.83632765e+02] [ 4.78147184e-02 9.98856204e-01 -1.91803370e-04 7.47351230e+00] [ 1.55259068e-02 -5.51217117e-04 9.99879314e-01 9.03656331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.2792541539999 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:583.67, Y:7.47, Z:9.04 [[ 9.98584627e-01 -5.08667008e-02 -1.55345149e-02 5.83665052e+02] [ 5.08698755e-02 9.98705272e-01 -1.90963667e-04 7.47289132e+00] [ 1.55241156e-02 -5.99545457e-04 9.99879314e-01 9.03732016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.309254154 meters Centerline goodness : 0.998872 Centerline is valid? [True, True] Translation: X:583.70, Y:7.47, Z:9.04 [[ 9.98275147e-01 -5.66163293e-02 -1.55345288e-02 5.83696883e+02] [ 5.66202165e-02 9.98395771e-01 -1.89821530e-04 7.47148988e+00] [ 1.55203549e-02 -6.90074271e-04 9.99879314e-01 9.03730127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.339254154 meters Centerline goodness : 0.998870 Centerline is valid? [True, True] Translation: X:583.73, Y:7.47, Z:9.04 [[ 9.98117837e-01 -5.93250471e-02 -1.55345427e-02 5.83728884e+02] [ 5.93292793e-02 9.98238449e-01 -1.88682100e-04 7.47148807e+00] [ 1.55183714e-02 -7.33326252e-04 9.99879314e-01 9.03818919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.3692541539999 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:583.76, Y:7.47, Z:9.04 [[ 9.97989154e-01 -6.14518235e-02 -1.55345566e-02 5.83760621e+02] [ 6.14563306e-02 9.98109756e-01 -1.87532014e-04 7.47119736e+00] [ 1.55167166e-02 -7.67541928e-04 9.99879314e-01 9.03880678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.3992541539999 meters Centerline goodness : 0.999229 Centerline is valid? [True, True] Translation: X:583.79, Y:7.47, Z:9.04 [[ 9.97750398e-01 -6.52136546e-02 -1.55345704e-02 5.83792265e+02] [ 6.52186342e-02 9.97870981e-01 -1.86375387e-04 7.47047300e+00] [ 1.55136513e-02 -8.27187352e-04 9.99879314e-01 9.03944780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.429254154 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:583.82, Y:7.47, Z:9.04 [[ 9.97705263e-01 -6.59005750e-02 -1.55345808e-02 5.83824176e+02] [ 6.59056511e-02 9.97825842e-01 -1.85512285e-04 7.47024601e+00] [ 1.55130315e-02 -8.38730076e-04 9.99879314e-01 9.04026371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.459254154 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:583.86, Y:7.47, Z:9.04 [[ 9.97690887e-01 -6.61178573e-02 -1.55345939e-02 5.83856801e+02] [ 6.61229768e-02 9.97811464e-01 -1.84404366e-04 7.47053692e+00] [ 1.55127883e-02 -8.43215037e-04 9.99879314e-01 9.04156513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.4892541539999 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:583.89, Y:7.47, Z:9.04 [[ 9.97695809e-01 -6.60435326e-02 -1.55346076e-02 5.83889483e+02] [ 6.60486610e-02 9.97816386e-01 -1.83247100e-04 7.47086271e+00] [ 1.55127883e-02 -8.43215165e-04 9.99879314e-01 9.04207268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.5192541539999 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:583.92, Y:7.47, Z:9.04 [[ 9.97706933e-01 -6.58752690e-02 -1.55346211e-02 5.83921133e+02] [ 6.58803951e-02 9.97827510e-01 -1.82089964e-04 7.47150263e+00] [ 1.55128675e-02 -8.41754558e-04 9.99879314e-01 9.04263656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.5492541539999 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:583.95, Y:7.47, Z:9.04 [[ 9.97832927e-01 -6.39384413e-02 -1.55346312e-02 5.83953002e+02] [ 6.39433467e-02 9.97953514e-01 -1.81228178e-04 7.47308111e+00] [ 1.55144272e-02 -8.12500865e-04 9.99879314e-01 9.04361100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.579254154 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:583.98, Y:7.47, Z:9.04 [[ 9.97899714e-01 -6.28874834e-02 -1.55346445e-02 5.83984201e+02] [ 6.28922797e-02 9.98020305e-01 -1.80075827e-04 7.47434383e+00] [ 1.55152152e-02 -7.97311592e-04 9.99879314e-01 9.04404323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.6092541539999 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:584.02, Y:7.48, Z:9.04 [[ 9.97980796e-01 -6.15873858e-02 -1.55346544e-02 5.84015921e+02] [ 6.15920383e-02 9.98101392e-01 -1.79218784e-04 7.47535662e+00] [ 1.55161978e-02 -7.77954126e-04 9.99879314e-01 9.04475278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.6392541539999 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:584.05, Y:7.48, Z:9.04 [[ 9.98151129e-01 -5.87622191e-02 -1.55346675e-02 5.84048256e+02] [ 5.87665480e-02 9.98271737e-01 -1.78079961e-04 7.47660788e+00] [ 1.55182839e-02 -7.35168067e-04 9.99879314e-01 9.04428357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.6692541539999 meters Centerline goodness : 0.999126 Centerline is valid? [True, True] Translation: X:584.08, Y:7.48, Z:9.04 [[ 9.98190608e-01 -5.80877323e-02 -1.55346804e-02 5.84079520e+02] [ 5.80919973e-02 9.98311218e-01 -1.76941010e-04 7.47786093e+00] [ 1.55187239e-02 -7.25819760e-04 9.99879314e-01 9.04452082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.699254154 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:584.11, Y:7.48, Z:9.04 [[ 9.98295497e-01 -5.62563145e-02 -1.55347007e-02 5.84110703e+02] [ 5.62603862e-02 9.98416115e-01 -1.75141191e-04 7.47815748e+00] [ 1.55199484e-02 -6.99145601e-04 9.99879314e-01 9.04384385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.7292541539999 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:584.14, Y:7.48, Z:9.05 [[ 9.98325447e-01 -5.57222948e-02 -1.55347100e-02 5.84142742e+02] [ 5.57263148e-02 9.98446066e-01 -1.74314001e-04 7.48003152e+00] [ 1.55202833e-02 -6.91670038e-04 9.99879314e-01 9.04603597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.7592541539999 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:584.17, Y:7.48, Z:9.05 [[ 9.98424700e-01 -5.39146596e-02 -1.55347229e-02 5.84173647e+02] [ 5.39184792e-02 9.98545326e-01 -1.73155208e-04 7.48280202e+00] [ 1.55214606e-02 -6.64726198e-04 9.99879314e-01 9.04523188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.7892541539999 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:584.21, Y:7.48, Z:9.05 [[ 9.98481152e-01 -5.28588686e-02 -1.55347440e-02 5.84205324e+02] [ 5.28625903e-02 9.98601781e-01 -1.71244206e-04 7.48397742e+00] [ 1.55220748e-02 -6.50222696e-04 9.99879314e-01 9.04682596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.819254154 meters Centerline goodness : 0.999125 Centerline is valid? [True, True] Translation: X:584.24, Y:7.48, Z:9.05 [[ 9.98528965e-01 -5.19478342e-02 -1.55347568e-02 5.84236050e+02] [ 5.19514640e-02 9.98649596e-01 -1.70078125e-04 7.48495459e+00] [ 1.55226138e-02 -6.37225422e-04 9.99879314e-01 9.04602102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.8492541539999 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:584.27, Y:7.49, Z:9.05 [[ 9.98608021e-01 -5.04052722e-02 -1.55347662e-02 5.84268034e+02] [ 5.04087291e-02 9.98728658e-01 -1.69209344e-04 7.48699814e+00] [ 1.55235453e-02 -6.14114015e-04 9.99879314e-01 9.04577370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.8792541539999 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:584.30, Y:7.49, Z:9.05 [[ 9.98650645e-01 -4.95536124e-02 -1.55347781e-02 5.84300364e+02] [ 4.95569835e-02 9.98771284e-01 -1.68112901e-04 7.48797356e+00] [ 1.55240209e-02 -6.01970685e-04 9.99879314e-01 9.04710514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.9092541539999 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:584.33, Y:7.49, Z:9.05 [[ 9.98701680e-01 -4.85141652e-02 -1.55347904e-02 5.84332727e+02] [ 4.85174284e-02 9.98822322e-01 -1.66969759e-04 7.48890530e+00] [ 1.55245958e-02 -5.86955102e-04 9.99879314e-01 9.04809362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.939254154 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:584.37, Y:7.49, Z:9.05 [[ 9.98818199e-01 -4.60529581e-02 -1.55348028e-02 5.84365301e+02] [ 4.60559420e-02 9.98938848e-01 -1.65810322e-04 7.49108489e+00] [ 1.55259540e-02 -5.49855608e-04 9.99879314e-01 9.04967776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.9692541539999 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:584.40, Y:7.49, Z:9.05 [[ 9.98882097e-01 -4.46455518e-02 -1.55348150e-02 5.84397628e+02] [ 4.46483836e-02 9.99002750e-01 -1.64656956e-04 7.49210095e+00] [ 1.55266741e-02 -5.29131494e-04 9.99879314e-01 9.05075021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.9992541539999 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:584.43, Y:7.49, Z:9.05 [[ 9.98945886e-01 -4.31947481e-02 -1.55348271e-02 5.84429173e+02] [ 4.31974226e-02 9.99066542e-01 -1.63508474e-04 7.49265684e+00] [ 1.55273887e-02 -5.07728372e-04 9.99879314e-01 9.05143335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.0292541539999 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:584.46, Y:7.49, Z:9.05 [[ 9.98995171e-01 -4.20394565e-02 -1.55348468e-02 5.84461498e+02] [ 4.20420209e-02 9.99115830e-01 -1.61614571e-04 7.49308437e+00] [ 1.55279055e-02 -4.91664176e-04 9.99879314e-01 9.05210277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.059254154 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:584.49, Y:7.49, Z:9.05 [[ 9.98996484e-01 -4.20082486e-02 -1.55348586e-02 5.84492252e+02] [ 4.20108269e-02 9.99117143e-01 -1.60470931e-04 7.49411298e+00] [ 1.55278846e-02 -4.92322360e-04 9.99879314e-01 9.05261853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.089254154 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:584.52, Y:7.49, Z:9.05 [[ 9.98987449e-01 -4.22225580e-02 -1.55348673e-02 5.84524071e+02] [ 4.22251755e-02 9.99108107e-01 -1.59618762e-04 7.49435814e+00] [ 1.55277514e-02 -4.96505360e-04 9.99879314e-01 9.05301208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.1192541539999 meters Centerline goodness : 0.998955 Centerline is valid? [True, True] Translation: X:584.55, Y:7.49, Z:9.05 [[ 9.98984534e-01 -4.22914761e-02 -1.55348789e-02 5.84554985e+02] [ 4.22941195e-02 9.99105191e-01 -1.58488322e-04 7.49391544e+00] [ 1.55276808e-02 -4.98706641e-04 9.99879314e-01 9.05265896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.1492541539999 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:584.59, Y:7.49, Z:9.05 [[ 9.98893890e-01 -4.43808899e-02 -1.55348874e-02 5.84586702e+02] [ 4.43837987e-02 9.99014541e-01 -1.57645925e-04 7.49426903e+00] [ 1.55265749e-02 -5.32025766e-04 9.99879314e-01 9.05377691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.179254154 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:584.62, Y:7.49, Z:9.05 [[ 9.98857359e-01 -4.51956014e-02 -1.55348987e-02 5.84618224e+02] [ 4.51986259e-02 9.98978008e-01 -1.56531447e-04 7.49437223e+00] [ 1.55260966e-02 -5.45803485e-04 9.99879314e-01 9.05414678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.209254154 meters Centerline goodness : 0.998997 Centerline is valid? [True, True] Translation: X:584.65, Y:7.49, Z:9.05 [[ 9.98819538e-01 -4.60238812e-02 -1.55349171e-02 5.84650005e+02] [ 4.60270345e-02 9.98940182e-01 -1.54677041e-04 7.49459652e+00] [ 1.55255718e-02 -5.60531717e-04 9.99879314e-01 9.05497735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.2392541539999 meters Centerline goodness : 0.998974 Centerline is valid? [True, True] Translation: X:584.68, Y:7.49, Z:9.05 [[ 9.98785890e-01 -4.67483931e-02 -1.55349281e-02 5.84681141e+02] [ 4.67516513e-02 9.98906532e-01 -1.53564553e-04 7.49481851e+00] [ 1.55251201e-02 -5.72905434e-04 9.99879314e-01 9.05479258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.2692541539999 meters Centerline goodness : 0.998975 Centerline is valid? [True, True] Translation: X:584.71, Y:7.49, Z:9.06 [[ 9.98732013e-01 -4.78856165e-02 -1.55349363e-02 5.84713673e+02] [ 4.78890249e-02 9.98852651e-01 -1.52734756e-04 7.49497865e+00] [ 1.55244261e-02 -5.91411860e-04 9.99879314e-01 9.05526333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.2992541539999 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:584.75, Y:7.50, Z:9.06 [[ 9.98734231e-01 -4.78393200e-02 -1.55349471e-02 5.84745370e+02] [ 4.78427401e-02 9.98854869e-01 -1.51627857e-04 7.49504418e+00] [ 1.55244113e-02 -5.91798504e-04 9.99879314e-01 9.05529534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.329254154 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:584.78, Y:7.50, Z:9.06 [[ 9.98728035e-01 -4.79685033e-02 -1.55349577e-02 5.84777510e+02] [ 4.79719560e-02 9.98848672e-01 -1.50530038e-04 7.49569172e+00] [ 1.55242926e-02 -5.94903739e-04 9.99879314e-01 9.05548086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.3592541539999 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:584.81, Y:7.50, Z:9.06 [[ 9.98766897e-01 -4.71524173e-02 -1.55349683e-02 5.84809197e+02] [ 4.71557885e-02 9.98887536e-01 -1.49427638e-04 7.49603501e+00] [ 1.55247321e-02 -5.83320302e-04 9.99879314e-01 9.05551499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.3892541539999 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:584.84, Y:7.50, Z:9.06 [[ 9.98812385e-01 -4.61788261e-02 -1.55349787e-02 5.84840785e+02] [ 4.61820967e-02 9.98933027e-01 -1.48336046e-04 7.49760910e+00] [ 1.55252533e-02 -5.69278010e-04 9.99879314e-01 9.05544787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.4192541539999 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:584.87, Y:7.50, Z:9.06 [[ 9.98842524e-01 -4.55222533e-02 -1.55349865e-02 5.84872835e+02] [ 4.55254572e-02 9.98963168e-01 -1.47522085e-04 7.49828703e+00] [ 1.55255948e-02 -5.59886030e-04 9.99879314e-01 9.05589718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.449254154 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:584.90, Y:7.50, Z:9.06 [[ 9.98875812e-01 -4.47858986e-02 -1.55349967e-02 5.84904577e+02] [ 4.47890304e-02 9.98996457e-01 -1.46440209e-04 7.49891644e+00] [ 1.55259651e-02 -5.49521856e-04 9.99879314e-01 9.05630720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.4792541539999 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:584.94, Y:7.50, Z:9.06 [[ 9.98949116e-01 -4.31199102e-02 -1.55350067e-02 5.84936724e+02] [ 4.31228575e-02 9.99069766e-01 -1.45365043e-04 7.50000943e+00] [ 1.55268237e-02 -5.24701601e-04 9.99879314e-01 9.05720448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.5092541539999 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:584.97, Y:7.50, Z:9.06 [[ 9.98980388e-01 -4.23892345e-02 -1.55350169e-02 5.84968183e+02] [ 4.23921104e-02 9.99101040e-01 -1.44272998e-04 7.50057437e+00] [ 1.55271671e-02 -5.14436255e-04 9.99879314e-01 9.05763888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.5392541539999 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:585.00, Y:7.50, Z:9.06 [[ 9.99014977e-01 -4.15660698e-02 -1.55350244e-02 5.85000647e+02] [ 4.15688590e-02 9.99135631e-01 -1.43458281e-04 7.50128245e+00] [ 1.55275594e-02 -5.02456267e-04 9.99879314e-01 9.05842338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.569254154 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:585.03, Y:7.50, Z:9.06 [[ 9.99022086e-01 -4.13948631e-02 -1.55350343e-02 5.85032740e+02] [ 4.13976484e-02 9.99142740e-01 -1.42380702e-04 7.50269960e+00] [ 1.55276105e-02 -5.00872422e-04 9.99879314e-01 9.05950528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.5992541539999 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:585.06, Y:7.50, Z:9.06 [[ 9.99047671e-01 -4.07726953e-02 -1.55350440e-02 5.85064439e+02] [ 4.07754221e-02 9.99168327e-01 -1.41310755e-04 7.50451782e+00] [ 1.55278855e-02 -4.92271796e-04 9.99879314e-01 9.06014664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.6292541539999 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:585.10, Y:7.50, Z:9.06 [[ 9.99027477e-01 -4.12646312e-02 -1.55348411e-02 5.85096057e+02] [ 4.12670705e-02 9.99148138e-01 -1.63642502e-04 7.50485756e+00] [ 1.55283602e-02 -4.77594027e-04 9.99879314e-01 9.06064208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.6592541539999 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:585.13, Y:7.51, Z:9.06 [[ 9.99010019e-01 -4.16850627e-02 -1.55350565e-02 5.85128411e+02] [ 4.16879249e-02 9.99130671e-01 -1.39689906e-04 7.50535259e+00] [ 1.55273744e-02 -5.08072653e-04 9.99879314e-01 9.06070924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.689254154 meters Centerline goodness : 0.998997 Centerline is valid? [True, True] Translation: X:585.16, Y:7.51, Z:9.06 [[ 9.98995882e-01 -4.20224953e-02 -1.55350658e-02 5.85159747e+02] [ 4.20254144e-02 9.99116532e-01 -1.38643359e-04 7.50548925e+00] [ 1.55271672e-02 -5.14363436e-04 9.99879314e-01 9.06057143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.7192541539999 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:585.19, Y:7.51, Z:9.06 [[ 9.98903286e-01 -4.41688354e-02 -1.55350728e-02 5.85191622e+02] [ 4.41720259e-02 9.99023930e-01 -1.37863106e-04 7.50629182e+00] [ 1.55259987e-02 -5.48503725e-04 9.99879314e-01 9.06282886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.7492541539999 meters Centerline goodness : 0.998912 Centerline is valid? [True, True] Translation: X:585.22, Y:7.51, Z:9.06 [[ 9.98874713e-01 -4.48103655e-02 -1.55350827e-02 5.85223452e+02] [ 4.48136510e-02 9.98995354e-01 -1.36738901e-04 7.50617048e+00] [ 1.55256027e-02 -5.59598741e-04 9.99879314e-01 9.06291590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.7792541539999 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:585.25, Y:7.51, Z:9.06 [[ 9.98787164e-01 -4.67211152e-02 -1.55350925e-02 5.85254872e+02] [ 4.67246489e-02 9.98907798e-01 -1.35611579e-04 7.50808265e+00] [ 1.55244610e-02 -5.90424639e-04 9.99879314e-01 9.06359406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.809254154 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:585.29, Y:7.51, Z:9.06 [[ 9.98790112e-01 -4.66580424e-02 -1.55350998e-02 5.85287190e+02] [ 4.66615816e-02 9.98910746e-01 -1.34770687e-04 7.50915601e+00] [ 1.55244663e-02 -5.90284697e-04 9.99879314e-01 9.06484694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.839254154 meters Centerline goodness : 0.999037 Centerline is valid? [True, True] Translation: X:585.32, Y:7.51, Z:9.06 [[ 9.98815384e-01 -4.61138724e-02 -1.55351096e-02 5.85317917e+02] [ 4.61173635e-02 9.98936019e-01 -1.33630235e-04 7.51029799e+00] [ 1.55247428e-02 -5.82966363e-04 9.99879314e-01 9.06494462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.8692541539999 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:585.35, Y:7.51, Z:9.07 [[ 9.98961363e-01 -4.28352025e-02 -1.55351169e-02 5.85349966e+02] [ 4.28383109e-02 9.99082009e-01 -1.32781150e-04 7.51243415e+00] [ 1.55265435e-02 -5.32854927e-04 9.99879314e-01 9.06653686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.8992541539999 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:585.38, Y:7.51, Z:9.07 [[ 9.99063392e-01 -4.03856306e-02 -1.55351263e-02 5.85382163e+02] [ 4.03884604e-02 9.99184045e-01 -1.31672266e-04 7.51369744e+00] [ 1.55277680e-02 -4.95890890e-04 9.99879314e-01 9.06820449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.929254154 meters Centerline goodness : 0.999350 Centerline is valid? [True, True] Translation: X:585.41, Y:7.52, Z:9.07 [[ 9.99168905e-01 -3.76849831e-02 -1.55351357e-02 5.85413559e+02] [ 3.76875043e-02 9.99289565e-01 -1.30543377e-04 7.51508113e+00] [ 1.55290186e-02 -4.55045612e-04 9.99879314e-01 9.06831064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.959254154 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:585.45, Y:7.52, Z:9.07 [[ 9.99355413e-01 -3.23638207e-02 -1.55351428e-02 5.85445011e+02] [ 3.23657123e-02 9.99476085e-01 -1.29702931e-04 7.51709287e+00] [ 1.55312013e-02 -3.73186635e-04 9.99879314e-01 9.07212057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.9892541539999 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:585.48, Y:7.52, Z:9.07 [[ 9.99420850e-01 -3.02757807e-02 -1.55351475e-02 5.85476333e+02] [ 3.02774291e-02 9.99541525e-01 -1.29133066e-04 7.51842060e+00] [ 1.55319346e-02 -3.41306048e-04 9.99879314e-01 9.07335991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.0192541539999 meters Centerline goodness : 0.999644 Centerline is valid? [True, True] Translation: X:585.51, Y:7.52, Z:9.07 [[ 9.99479780e-01 -2.82635430e-02 -1.55351522e-02 5.85507837e+02] [ 2.82649572e-02 9.99600458e-01 -1.28563202e-04 7.51893979e+00] [ 1.55325789e-02 -3.10604092e-04 9.99879314e-01 9.07419394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.0492541539999 meters Centerline goodness : 0.999498 Centerline is valid? [True, True] Translation: X:585.54, Y:7.52, Z:9.07 [[ 9.99525919e-01 -2.65818956e-02 -1.55351569e-02 5.85538682e+02] [ 2.65831156e-02 9.99646598e-01 -1.27997544e-04 7.51850353e+00] [ 1.55330691e-02 -2.85036008e-04 9.99879314e-01 9.07408843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.079254154 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:585.57, Y:7.52, Z:9.07 [[ 9.99527030e-01 -2.65400828e-02 -1.55351569e-02 5.85568514e+02] [ 2.65412978e-02 9.99647710e-01 -1.27997544e-04 7.51811918e+00] [ 1.55330811e-02 -2.84386220e-04 9.99879314e-01 9.07391750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.1092541539999 meters Centerline goodness : 0.999372 Centerline is valid? [True, True] Translation: X:585.60, Y:7.52, Z:9.07 [[ 9.99503550e-01 -2.74100615e-02 -1.55351576e-02 5.85597674e+02] [ 2.74113829e-02 9.99624229e-01 -1.27906001e-04 7.51787209e+00] [ 1.55328259e-02 -2.97997652e-04 9.99879314e-01 9.07332439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.1392541539999 meters Centerline goodness : 0.999498 Centerline is valid? [True, True] Translation: X:585.63, Y:7.52, Z:9.07 [[ 9.99467276e-01 -2.87023086e-02 -1.55351553e-02 5.85628259e+02] [ 2.87037817e-02 9.99587953e-01 -1.28184311e-04 7.51737930e+00] [ 1.55324333e-02 -3.17801683e-04 9.99879314e-01 9.07299043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.1692541539999 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:585.66, Y:7.52, Z:9.07 [[ 9.99347977e-01 -3.25926431e-02 -1.55351553e-02 5.85658194e+02] [ 3.25945859e-02 9.99468647e-01 -1.28184311e-04 7.51605620e+00] [ 1.55310785e-02 -3.78261223e-04 9.99879314e-01 9.07212740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.199254154 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:585.69, Y:7.52, Z:9.07 [[ 9.99273595e-01 -3.47985704e-02 -1.55351531e-02 5.85690000e+02] [ 3.48007754e-02 9.99394261e-01 -1.28457616e-04 7.51539066e+00] [ 1.55302130e-02 -4.12271068e-04 9.99879314e-01 9.07291864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.2292541539999 meters Centerline goodness : 0.999393 Centerline is valid? [True, True] Translation: X:585.72, Y:7.51, Z:9.07 [[ 9.99186002e-01 -3.72289071e-02 -1.55351576e-02 5.85720656e+02] [ 3.72314142e-02 9.99306662e-01 -1.27904736e-04 7.51470120e+00] [ 1.55291483e-02 -4.50595266e-04 9.99879314e-01 9.07310358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.2592541539999 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:585.75, Y:7.51, Z:9.08 [[ 9.99007602e-01 -4.17429106e-02 -1.55351599e-02 5.85753174e+02] [ 4.17459670e-02 9.99128249e-01 -1.27630601e-04 7.51263734e+00] [ 1.55269448e-02 -5.21026331e-04 9.99879314e-01 9.07515410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.2892541539999 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:585.78, Y:7.51, Z:9.08 [[ 9.98909541e-01 -4.40271173e-02 -1.55351692e-02 5.85783945e+02] [ 4.40304674e-02 9.99030181e-01 -1.26484210e-04 7.51169718e+00] [ 1.55256716e-02 -5.57674477e-04 9.99879314e-01 9.07548723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.319254154 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:585.81, Y:7.51, Z:9.08 [[ 9.98801764e-01 -4.64079217e-02 -1.55351761e-02 5.85814963e+02] [ 4.64115726e-02 9.98922394e-01 -1.25629636e-04 7.51114499e+00] [ 1.55242655e-02 -5.95532852e-04 9.99879314e-01 9.07550787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.3492541539999 meters Centerline goodness : 0.999562 Centerline is valid? [True, True] Translation: X:585.85, Y:7.51, Z:9.08 [[ 9.98568804e-01 -5.11761887e-02 -1.55351829e-02 5.85845819e+02] [ 5.11804286e-02 9.98689415e-01 -1.24788384e-04 7.50985706e+00] [ 1.55212089e-02 -6.70487530e-04 9.99879314e-01 9.07651543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.3792541539999 meters Centerline goodness : 0.999562 Centerline is valid? [True, True] Translation: X:585.88, Y:7.51, Z:9.08 [[ 9.98572372e-01 -5.11065068e-02 -1.55351969e-02 5.85878498e+02] [ 5.11107658e-02 9.98692983e-01 -1.23016032e-04 7.51005086e+00] [ 1.55211791e-02 -6.71175400e-04 9.99879314e-01 9.07702274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.4092541539999 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:585.91, Y:7.51, Z:9.08 [[ 9.98443813e-01 -5.35594128e-02 -1.55352054e-02 5.85910306e+02] [ 5.35639849e-02 9.98564412e-01 -1.21932257e-04 7.50973718e+00] [ 1.55194339e-02 -7.10385001e-04 9.99879314e-01 9.07880588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.439254154 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:585.94, Y:7.51, Z:9.08 [[ 9.98311029e-01 -5.59798751e-02 -1.55352141e-02 5.85941232e+02] [ 5.59847569e-02 9.98431616e-01 -1.20819281e-04 7.50964015e+00] [ 1.55176123e-02 -7.49119962e-04 9.99879314e-01 9.07939618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.4692541539999 meters Centerline goodness : 0.999372 Centerline is valid? [True, True] Translation: X:585.97, Y:7.51, Z:9.08 [[ 9.98166806e-01 -5.84951660e-02 -1.55352205e-02 5.85973014e+02] [ 5.85003644e-02 9.98287380e-01 -1.19989032e-04 7.50945198e+00] [ 1.55156333e-02 -7.89046991e-04 9.99879314e-01 9.08056556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.4992541539999 meters Centerline goodness : 0.999105 Centerline is valid? [True, True] Translation: X:586.01, Y:7.51, Z:9.08 [[ 9.97845432e-01 -6.37428508e-02 -1.55352289e-02 5.86005333e+02] [ 6.37487003e-02 9.97965976e-01 -1.18886154e-04 7.50896912e+00] [ 1.55112080e-02 -8.71720646e-04 9.99879314e-01 9.08194997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.5292541539999 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:586.04, Y:7.51, Z:9.08 [[ 9.97679129e-01 -6.62948863e-02 -1.55352373e-02 5.86036435e+02] [ 6.63010612e-02 9.97799657e-01 -1.17785227e-04 7.50864437e+00] [ 1.55088630e-02 -9.12490855e-04 9.99879314e-01 9.08244210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.559254154 meters Centerline goodness : 0.999309 Centerline is valid? [True, True] Translation: X:586.07, Y:7.51, Z:9.08 [[ 9.97558733e-01 -6.80825275e-02 -1.55352435e-02 5.86068895e+02] [ 6.80889311e-02 9.97679249e-01 -1.16962900e-04 7.50798446e+00] [ 1.55071532e-02 -9.41100759e-04 9.99879314e-01 9.08310588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.589254154 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:586.10, Y:7.51, Z:9.08 [[ 9.97386757e-01 -7.05571580e-02 -1.55352516e-02 5.86100844e+02] [ 7.05638776e-02 9.97507256e-01 -1.15867447e-04 7.50891053e+00] [ 1.55047015e-02 -9.80662937e-04 9.99879314e-01 9.08410551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.6192541539999 meters Centerline goodness : 0.998996 Centerline is valid? [True, True] Translation: X:586.13, Y:7.51, Z:9.08 [[ 9.97166274e-01 -7.36075925e-02 -1.55352597e-02 5.86131604e+02] [ 7.36146975e-02 9.97286751e-01 -1.14778425e-04 7.50960352e+00] [ 1.55015572e-02 -1.02917027e-03 9.99879314e-01 9.08482878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.6492541539999 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] Translation: X:586.16, Y:7.51, Z:9.09 [[ 9.97093072e-01 -7.45926348e-02 -1.55352735e-02 5.86164293e+02] [ 7.45998884e-02 9.97213540e-01 -1.12875941e-04 7.50986559e+00] [ 1.55004048e-02 -1.04638185e-03 9.99879314e-01 9.08510580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.679254154 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:586.20, Y:7.51, Z:9.08 [[ 9.97044049e-01 -7.52450576e-02 -1.55352850e-02 5.86197532e+02] [ 7.52524149e-02 9.97164511e-01 -1.11265838e-04 7.51007528e+00] [ 1.54996071e-02 -1.05813077e-03 9.99879314e-01 9.08496874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.709254154 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:586.23, Y:7.51, Z:9.08 [[ 9.97075908e-01 -7.48217080e-02 -1.55352963e-02 5.86229205e+02] [ 7.48290390e-02 9.97196371e-01 -1.09665470e-04 7.51092243e+00] [ 1.54999465e-02 -1.05314650e-03 9.99879314e-01 9.08384851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.7392541539999 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:586.26, Y:7.51, Z:9.08 [[ 9.97189817e-01 -7.32879504e-02 -1.55353085e-02 5.86261437e+02] [ 7.32951233e-02 9.97310289e-01 -1.07912303e-04 7.51156991e+00] [ 1.55014317e-02 -1.03105330e-03 9.99879314e-01 9.08360858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.7692541539999 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:586.29, Y:7.51, Z:9.08 [[ 9.97286606e-01 -7.19588772e-02 -1.55353157e-02 5.86292643e+02] [ 7.19659058e-02 9.97407087e-01 -1.06863870e-04 7.51381467e+00] [ 1.55027238e-02 -1.01143916e-03 9.99879314e-01 9.08360648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.7992541539999 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:586.32, Y:7.52, Z:9.08 [[ 9.97602863e-01 -6.74327989e-02 -1.55353272e-02 5.86324093e+02] [ 6.74393070e-02 9.97723373e-01 -1.05170062e-04 7.51797589e+00] [ 1.55070510e-02 -9.42773745e-04 9.99879314e-01 9.08305409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.829254154 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:586.36, Y:7.52, Z:9.08 [[ 9.97785829e-01 -6.46691018e-02 -1.55353324e-02 5.86355242e+02] [ 6.46752881e-02 9.97906356e-01 -1.04394070e-04 7.52058402e+00] [ 1.55095580e-02 -9.00589175e-04 9.99879314e-01 9.08355746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.8592541539999 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:586.39, Y:7.52, Z:9.09 [[ 9.97979600e-01 -6.16065793e-02 -1.55353375e-02 5.86387944e+02] [ 6.16124076e-02 9.98100146e-01 -1.03625223e-04 7.52302463e+00] [ 1.55122066e-02 -8.53753690e-04 9.99879314e-01 9.08671462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.8892541539999 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:586.42, Y:7.53, Z:9.09 [[ 9.98353573e-01 -5.52159119e-02 -1.55353489e-02 5.86419087e+02] [ 5.52209952e-02 9.98474152e-01 -1.01892342e-04 7.52676379e+00] [ 1.55172704e-02 -7.56152844e-04 9.99879314e-01 9.08694630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.9192541539999 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:586.45, Y:7.53, Z:9.09 [[ 9.98478071e-01 -5.29168670e-02 -1.55353545e-02 5.86450968e+02] [ 5.29216860e-02 9.98598661e-01 -1.01034891e-04 7.52939026e+00] [ 1.55189306e-02 -7.21276028e-04 9.99879314e-01 9.08843564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.949254154 meters Centerline goodness : 0.999308 Centerline is valid? [True, True] Translation: X:586.48, Y:7.53, Z:9.09 [[ 9.98623247e-01 -5.01025297e-02 -1.55353618e-02 5.86483498e+02] [ 5.01070264e-02 9.98743849e-01 -9.98954013e-05 7.53163965e+00] [ 1.55208521e-02 -6.78672915e-04 9.99879314e-01 9.08955614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.9792541539999 meters Centerline goodness : 0.999664 Centerline is valid? [True, True] Translation: X:586.52, Y:7.54, Z:9.09 [[ 9.98905411e-01 -4.41206623e-02 -1.55353691e-02 5.86515206e+02] [ 4.41244544e-02 9.99026037e-01 -9.87548036e-05 7.53616027e+00] [ 1.55245953e-02 -5.86842975e-04 9.99879314e-01 9.09131971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.0092541539999 meters Centerline goodness : 0.999643 Centerline is valid? [True, True] Translation: X:586.55, Y:7.54, Z:9.09 [[ 9.99037001e-01 -4.10331870e-02 -1.55353763e-02 5.86547730e+02] [ 4.10366240e-02 9.99157638e-01 -9.76072756e-05 7.53868949e+00] [ 1.55262950e-02 -5.40006115e-04 9.99879314e-01 9.09226411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.0392541539999 meters Centerline goodness : 0.999349 Centerline is valid? [True, True] Translation: X:586.58, Y:7.54, Z:9.09 [[ 9.99169081e-01 -3.76802344e-02 -1.55353834e-02 5.86579927e+02] [ 3.76832845e-02 9.99289728e-01 -9.64576275e-05 7.54092660e+00] [ 1.55279836e-02 -4.89046793e-04 9.99879314e-01 9.09287952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.069254154 meters Centerline goodness : 0.999537 Centerline is valid? [True, True] Translation: X:586.61, Y:7.54, Z:9.09 [[ 9.99283474e-01 -3.45136126e-02 -1.55353904e-02 5.86611691e+02] [ 3.45162981e-02 9.99404131e-01 -9.53134547e-05 7.54259232e+00] [ 1.55294230e-02 -4.40979007e-04 9.99879314e-01 9.09335071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.0992541539999 meters Centerline goodness : 0.999347 Centerline is valid? [True, True] Translation: X:586.64, Y:7.54, Z:9.09 [[ 9.99438784e-01 -2.96777453e-02 -1.55353973e-02 5.86642898e+02] [ 2.96798647e-02 9.99559451e-01 -9.41712534e-05 7.54415240e+00] [ 1.55313480e-02 -3.66970088e-04 9.99879314e-01 9.09281145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.1292541539999 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:586.67, Y:7.54, Z:9.09 [[ 9.99492992e-01 -2.77922707e-02 -1.55354008e-02 5.86673337e+02] [ 2.77941712e-02 9.99613663e-01 -9.36024225e-05 7.54457101e+00] [ 1.55320003e-02 -3.38238623e-04 9.99879314e-01 9.09180417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.1592541539999 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:586.70, Y:7.55, Z:9.09 [[ 9.99545414e-01 -2.58382882e-02 -1.55354025e-02 5.86703486e+02] [ 2.58399572e-02 9.99666088e-01 -9.33204178e-05 7.54601922e+00] [ 1.55326262e-02 -3.08156139e-04 9.99879314e-01 9.09241839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.189254154 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:586.73, Y:7.55, Z:9.09 [[ 9.99564238e-01 -2.50995154e-02 -1.55354025e-02 5.86733537e+02] [ 2.51010953e-02 9.99684914e-01 -9.33204178e-05 7.54620117e+00] [ 1.55328498e-02 -2.96675865e-04 9.99879314e-01 9.09254609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.2192541539999 meters Centerline goodness : 0.999515 Centerline is valid? [True, True] Translation: X:586.76, Y:7.55, Z:9.09 [[ 9.99570612e-01 -2.48443703e-02 -1.55354025e-02 5.86764035e+02] [ 2.48459193e-02 9.99691288e-01 -9.33204178e-05 7.54660805e+00] [ 1.55329250e-02 -2.92711009e-04 9.99879314e-01 9.09301312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.2492541539999 meters Centerline goodness : 0.999282 Centerline is valid? [True, True] Translation: X:586.79, Y:7.55, Z:9.09 [[ 9.99565407e-01 -2.50529210e-02 -1.55354025e-02 5.86793460e+02] [ 2.50544952e-02 9.99686083e-01 -9.33204178e-05 7.54652735e+00] [ 1.55328636e-02 -2.95951805e-04 9.99879314e-01 9.09343379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.2792541539999 meters Centerline goodness : 0.999240 Centerline is valid? [True, True] Translation: X:586.82, Y:7.55, Z:9.09 [[ 9.99556790e-01 -2.53944029e-02 -1.55354008e-02 5.86822524e+02] [ 2.53960140e-02 9.99677465e-01 -9.35993784e-05 7.54667511e+00] [ 1.55327670e-02 -3.00979362e-04 9.99879314e-01 9.09386233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.309254154 meters Centerline goodness : 0.999324 Centerline is valid? [True, True] Translation: X:586.85, Y:7.55, Z:9.09 [[ 9.99530895e-01 -2.63939483e-02 -1.55354011e-02 5.86852542e+02] [ 2.63956810e-02 9.99651569e-01 -9.35391830e-05 7.54603255e+00] [ 1.55324570e-02 -3.16572189e-04 9.99879314e-01 9.09369651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.339254154 meters Centerline goodness : 0.998859 Centerline is valid? [True, True] Translation: X:586.88, Y:7.55, Z:9.09 [[ 9.99518664e-01 -2.68531645e-02 -1.55354011e-02 5.86882989e+02] [ 2.68549526e-02 9.99639336e-01 -9.35391830e-05 7.54574595e+00] [ 1.55323099e-02 -3.23708302e-04 9.99879314e-01 9.09382630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.3692541539999 meters Centerline goodness : 0.998880 Centerline is valid? [True, True] Translation: X:586.91, Y:7.55, Z:9.09 [[ 9.99489162e-01 -2.79296661e-02 -1.55354011e-02 5.86913488e+02] [ 2.79315842e-02 9.99609833e-01 -9.35391830e-05 7.54524104e+00] [ 1.55319523e-02 -3.40436966e-04 9.99879314e-01 9.09415903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.3992541539999 meters Centerline goodness : 0.998923 Centerline is valid? [True, True] Translation: X:586.94, Y:7.54, Z:9.09 [[ 9.99475637e-01 -2.84095461e-02 -1.55354028e-02 5.86943519e+02] [ 2.84115263e-02 9.99596307e-01 -9.32683299e-05 7.54496247e+00] [ 1.55317809e-02 -3.48165081e-04 9.99879314e-01 9.09455823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.429254154 meters Centerline goodness : 0.999113 Centerline is valid? [True, True] Translation: X:586.97, Y:7.54, Z:9.10 [[ 9.99430217e-01 -2.99648495e-02 -1.55354028e-02 5.86973387e+02] [ 2.99670175e-02 9.99550884e-01 -9.32683299e-05 7.54452401e+00] [ 1.55312203e-02 -3.72334500e-04 9.99879314e-01 9.09571224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.459254154 meters Centerline goodness : 0.999094 Centerline is valid? [True, True] Translation: X:587.00, Y:7.54, Z:9.10 [[ 9.99412352e-01 -3.05549062e-02 -1.55354044e-02 5.87004422e+02] [ 3.05571496e-02 9.99533017e-01 -9.30014957e-05 7.54406424e+00] [ 1.55309913e-02 -3.81770832e-04 9.99879314e-01 9.09644800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.4892541539999 meters Centerline goodness : 0.998863 Centerline is valid? [True, True] Translation: X:587.03, Y:7.54, Z:9.10 [[ 9.99385592e-01 -3.14179922e-02 -1.55354076e-02 5.87034669e+02] [ 3.14203481e-02 9.99506255e-01 -9.24644945e-05 7.54331494e+00] [ 1.55306421e-02 -3.95720231e-04 9.99879314e-01 9.09711092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.5192541539999 meters Centerline goodness : 0.999011 Centerline is valid? [True, True] Translation: X:587.07, Y:7.54, Z:9.10 [[ 9.99352949e-01 -3.24397117e-02 -1.55354091e-02 5.87066479e+02] [ 3.24421952e-02 9.99473609e-01 -9.21976862e-05 7.54248303e+00] [ 1.55302223e-02 -4.11864747e-04 9.99879314e-01 9.09744335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.5492541539999 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:587.10, Y:7.54, Z:9.10 [[ 9.99274509e-01 -3.47722043e-02 -1.55354123e-02 5.87097057e+02] [ 3.47749776e-02 9.99395163e-01 -9.16657656e-05 7.54005018e+00] [ 1.55292033e-02 -4.48644352e-04 9.99879314e-01 9.09727004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.579254154 meters Centerline goodness : 0.999034 Centerline is valid? [True, True] Translation: X:587.13, Y:7.54, Z:9.10 [[ 9.99219086e-01 -3.63299978e-02 -1.55354138e-02 5.87128234e+02] [ 3.63329633e-02 9.99339736e-01 -9.14015971e-05 7.53891821e+00] [ 1.55284770e-02 -4.73117401e-04 9.99879314e-01 9.09756302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.6092541539999 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:587.16, Y:7.54, Z:9.10 [[ 9.99165023e-01 -3.77876726e-02 -1.55354172e-02 5.87159548e+02] [ 3.77908231e-02 9.99285668e-01 -9.08263294e-05 7.53766564e+00] [ 1.55277519e-02 -4.96345712e-04 9.99879314e-01 9.09747684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.6392541539999 meters Centerline goodness : 0.999098 Centerline is valid? [True, True] Translation: X:587.19, Y:7.54, Z:9.10 [[ 9.99062996e-01 -4.03953138e-02 -1.55354222e-02 5.87190274e+02] [ 4.03987925e-02 9.99183632e-01 -8.99660866e-05 7.53514641e+00] [ 1.55263738e-02 -5.37730510e-04 9.99879314e-01 9.09800584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.6692541539999 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:587.22, Y:7.53, Z:9.10 [[ 9.99031329e-01 -4.11710343e-02 -1.55354319e-02 5.87222544e+02] [ 4.11746332e-02 9.99151961e-01 -8.82591946e-05 7.53413531e+00] [ 1.55258910e-02 -5.51492008e-04 9.99879314e-01 9.09878759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.699254154 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:587.25, Y:7.53, Z:9.10 [[ 9.99018031e-01 -4.14924617e-02 -1.55354382e-02 5.87254707e+02] [ 4.14961168e-02 9.99138661e-01 -8.71340092e-05 7.53297181e+00] [ 1.55256723e-02 -5.57611912e-04 9.99879314e-01 9.09913859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.7292541539999 meters Centerline goodness : 0.999393 Centerline is valid? [True, True] Translation: X:587.29, Y:7.53, Z:9.10 [[ 9.99011534e-01 -4.16485883e-02 -1.55354445e-02 5.87286780e+02] [ 4.16522800e-02 9.99132164e-01 -8.59962335e-05 7.53172901e+00] [ 1.55255439e-02 -5.61175455e-04 9.99879314e-01 9.09973481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.7592541539999 meters Centerline goodness : 0.998974 Centerline is valid? [True, True] Translation: X:587.32, Y:7.53, Z:9.10 [[ 9.99045928e-01 -4.08152270e-02 -1.55354507e-02 5.87317953e+02] [ 4.08188357e-02 9.99166560e-01 -8.48632114e-05 7.52966156e+00] [ 1.55259665e-02 -5.49356763e-04 9.99879314e-01 9.09985501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.7892541539999 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:587.35, Y:7.53, Z:9.10 [[ 9.99073613e-01 -4.01318480e-02 -1.55354607e-02 5.87350407e+02] [ 4.01354034e-02 9.99194247e-01 -8.29822107e-05 7.52930305e+00] [ 1.55262732e-02 -5.40616646e-04 9.99879314e-01 9.10028843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.819254154 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:587.38, Y:7.53, Z:9.10 [[ 9.99106350e-01 -3.93083989e-02 -1.55354666e-02 5.87383050e+02] [ 3.93118722e-02 9.99226986e-01 -8.18635646e-05 7.52890651e+00] [ 1.55266754e-02 -5.28937872e-04 9.99879314e-01 9.10090285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.8492541539999 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:587.41, Y:7.53, Z:9.10 [[ 9.99160584e-01 -3.79047869e-02 -1.55355957e-02 5.87413667e+02] [ 3.79084798e-02 9.99281214e-01 -5.68133284e-05 7.52736302e+00] [ 1.55265824e-02 -5.32165178e-04 9.99879314e-01 9.10042298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.8792541539999 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:587.45, Y:7.53, Z:9.10 [[ 9.99206098e-01 -3.66854649e-02 -1.55354723e-02 5.87445473e+02] [ 3.66886412e-02 9.99326742e-01 -8.05958827e-05 7.52642777e+00] [ 1.55279696e-02 -4.89443473e-04 9.99879314e-01 9.09906176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.9092541539999 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:587.48, Y:7.53, Z:9.10 [[ 9.99219147e-01 -3.63282866e-02 -1.55354752e-02 5.87476257e+02] [ 3.63314286e-02 9.99339793e-01 -8.00307569e-05 7.52602235e+00] [ 1.55281260e-02 -4.84457745e-04 9.99879314e-01 9.10048875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.939254154 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:587.51, Y:7.53, Z:9.10 [[ 9.99251338e-01 -3.54318132e-02 -1.55354767e-02 5.87507901e+02] [ 3.54348513e-02 9.99371985e-01 -7.97499191e-05 7.52523096e+00] [ 1.55285459e-02 -4.70807093e-04 9.99879314e-01 9.10079652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.9692541539999 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:587.54, Y:7.52, Z:9.10 [[ 9.99339126e-01 -3.28627573e-02 -1.55354794e-02 5.87538849e+02] [ 3.28654935e-02 9.99459781e-01 -7.92135712e-05 7.52360416e+00] [ 1.55296900e-02 -4.31419977e-04 9.99879314e-01 9.10100302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.9992541539999 meters Centerline goodness : 0.999267 Centerline is valid? [True, True] Translation: X:587.57, Y:7.52, Z:9.10 [[ 9.99388852e-01 -3.13140633e-02 -1.55354822e-02 5.87569591e+02] [ 3.13166212e-02 9.99509511e-01 -7.86568959e-05 7.52346769e+00] [ 1.55303253e-02 -4.07909988e-04 9.99879314e-01 9.10156867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.0292541539999 meters Centerline goodness : 0.999058 Centerline is valid? [True, True] Translation: X:587.60, Y:7.52, Z:9.10 [[ 9.99445288e-01 -2.94578423e-02 -1.55354836e-02 5.87600914e+02] [ 2.94601804e-02 9.99565952e-01 -7.83806638e-05 7.52298571e+00] [ 1.55310494e-02 -3.79340966e-04 9.99879314e-01 9.10069488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.059254154 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:587.63, Y:7.52, Z:9.10 [[ 9.99491008e-01 -2.78634944e-02 -1.55354864e-02 5.87631074e+02] [ 2.78656487e-02 9.99611674e-01 -7.78191974e-05 7.52263241e+00] [ 1.55316219e-02 -3.55126820e-04 9.99879314e-01 9.10257193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.089254154 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:587.66, Y:7.52, Z:9.10 [[ 9.99509075e-01 -2.72076597e-02 -1.55354864e-02 5.87660910e+02] [ 2.72097349e-02 9.99629744e-01 -7.78191974e-05 7.52202646e+00] [ 1.55318516e-02 -3.44935474e-04 9.99879314e-01 9.10304164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.1192541539999 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:587.69, Y:7.52, Z:9.10 [[ 9.99506856e-01 -2.72890564e-02 -1.55354850e-02 5.87690472e+02] [ 2.72911369e-02 9.99627525e-01 -7.81043897e-05 7.51984051e+00] [ 1.55318298e-02 -3.45915176e-04 9.99879314e-01 9.10359113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.1492541539999 meters Centerline goodness : 0.998998 Centerline is valid? [True, True] Translation: X:587.72, Y:7.52, Z:9.10 [[ 9.99473153e-01 -2.84967547e-02 -1.55354836e-02 5.87719713e+02] [ 2.84989767e-02 9.99593819e-01 -7.83846236e-05 7.51856038e+00] [ 1.55314071e-02 -3.64402058e-04 9.99879314e-01 9.10418948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.179254154 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:587.75, Y:7.52, Z:9.10 [[ 9.99426498e-01 -3.00885921e-02 -1.55354807e-02 5.87750530e+02] [ 3.00909975e-02 9.99547160e-01 -7.89525667e-05 7.51690848e+00] [ 1.55308212e-02 -3.88570823e-04 9.99879314e-01 9.10403728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.209254154 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:587.78, Y:7.51, Z:9.11 [[ 9.99238440e-01 -3.57937028e-02 -1.55354807e-02 5.87779770e+02] [ 3.57967970e-02 9.99359086e-01 -7.89525667e-05 7.51389920e+00] [ 1.55283498e-02 -4.77228010e-04 9.99879314e-01 9.10593342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.2392541539999 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:587.81, Y:7.51, Z:9.11 [[ 9.99107106e-01 -3.92891689e-02 -1.55354810e-02 5.87810731e+02] [ 3.92926861e-02 9.99227741e-01 -7.88884439e-05 7.51189674e+00] [ 1.55265831e-02 -5.31612775e-04 9.99879314e-01 9.10606716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.2692541539999 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:587.84, Y:7.51, Z:9.11 [[ 9.98946865e-01 -4.31718627e-02 -1.55354839e-02 5.87840650e+02] [ 4.31758575e-02 9.99067485e-01 -7.83193644e-05 7.50996226e+00] [ 1.55243780e-02 -5.92520957e-04 9.99879314e-01 9.10666341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.2992541539999 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:587.87, Y:7.51, Z:9.11 [[ 9.98949916e-01 -4.31011999e-02 -1.55354853e-02 5.87873335e+02] [ 4.31051906e-02 9.99070536e-01 -7.80369666e-05 7.51006296e+00] [ 1.55244091e-02 -5.91705035e-04 9.99879314e-01 9.10717118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.329254154 meters Centerline goodness : 0.999230 Centerline is valid? [True, True] Translation: X:587.91, Y:7.51, Z:9.11 [[ 9.98758933e-01 -4.73206357e-02 -1.55354908e-02 5.87906023e+02] [ 4.73251530e-02 9.98879534e-01 -7.69379652e-05 7.50812717e+00] [ 1.55217245e-02 -6.58376998e-04 9.99879314e-01 9.10686746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.3592541539999 meters Centerline goodness : 0.998897 Centerline is valid? [True, True] Translation: X:587.94, Y:7.50, Z:9.11 [[ 9.98356935e-01 -5.51550368e-02 -1.55354964e-02 5.87936735e+02] [ 5.51605180e-02 9.98477497e-01 -7.57883088e-05 7.50466658e+00] [ 1.55160236e-02 -7.81282243e-04 9.99879314e-01 9.10688513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.3892541539999 meters Centerline goodness : 0.998875 Centerline is valid? [True, True] Translation: X:587.97, Y:7.50, Z:9.11 [[ 9.98166128e-01 -5.85066529e-02 -1.55355005e-02 5.87969445e+02] [ 5.85125522e-02 9.98286670e-01 -7.49313166e-05 7.50313087e+00] [ 1.55132671e-02 -8.34227882e-04 9.99879314e-01 9.10615776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.4192541539999 meters Centerline goodness : 0.999084 Centerline is valid? [True, True] Translation: X:588.00, Y:7.50, Z:9.11 [[ 9.98012513e-01 -6.10710346e-02 -1.55355057e-02 5.88001451e+02] [ 6.10772606e-02 9.98133039e-01 -7.38284193e-05 7.50179670e+00] [ 1.55110103e-02 -8.75184447e-04 9.99879314e-01 9.10780611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.449254154 meters Centerline goodness : 0.998937 Centerline is valid? [True, True] Translation: X:588.03, Y:7.50, Z:9.11 [[ 9.97893171e-01 -6.29910137e-02 -1.55355111e-02 5.88033568e+02] [ 6.29974893e-02 9.98013683e-01 -7.26846036e-05 7.50086681e+00] [ 1.55092311e-02 -9.06166725e-04 9.99879314e-01 9.10844771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.4792541539999 meters Centerline goodness : 0.998898 Centerline is valid? [True, True] Translation: X:588.06, Y:7.50, Z:9.11 [[ 9.97799012e-01 -6.44653399e-02 -1.55355164e-02 5.88064926e+02] [ 6.44720113e-02 9.97919513e-01 -7.15414081e-05 7.49965228e+00] [ 1.55078069e-02 -9.30222041e-04 9.99879314e-01 9.10934838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.5092541539999 meters Centerline goodness : 0.998941 Centerline is valid? [True, True] Translation: X:588.10, Y:7.50, Z:9.11 [[ 9.97831247e-01 -6.39644394e-02 -1.55355202e-02 5.88096017e+02] [ 6.39710636e-02 9.97951751e-01 -7.06895672e-05 7.49911397e+00] [ 1.55082213e-02 -9.23287494e-04 9.99879314e-01 9.10987006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.5392541539999 meters Centerline goodness : 0.998938 Centerline is valid? [True, True] Translation: X:588.13, Y:7.50, Z:9.11 [[ 9.97894779e-01 -6.29655335e-02 -1.55355240e-02 5.88127873e+02] [ 6.29720500e-02 9.98015288e-01 -6.98486521e-05 7.49866709e+00] [ 1.55090885e-02 -9.08602191e-04 9.99879314e-01 9.10945176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.569254154 meters Centerline goodness : 0.999084 Centerline is valid? [True, True] Translation: X:588.16, Y:7.50, Z:9.11 [[ 9.98076696e-01 -6.00129622e-02 -1.55355290e-02 5.88159748e+02] [ 6.00191397e-02 9.98197224e-01 -6.87203388e-05 7.49858284e+00] [ 1.55116460e-02 -8.63840918e-04 9.99879314e-01 9.10989338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.5992541539999 meters Centerline goodness : 0.999085 Centerline is valid? [True, True] Translation: X:588.19, Y:7.50, Z:9.11 [[ 9.98198636e-01 -5.79493848e-02 -1.55355340e-02 5.88190471e+02] [ 5.79553310e-02 9.98319175e-01 -6.75652816e-05 7.49915997e+00] [ 1.55133369e-02 -8.32923446e-04 9.99879314e-01 9.10983461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.6292541539999 meters Centerline goodness : 0.998876 Centerline is valid? [True, True] Translation: X:588.22, Y:7.50, Z:9.11 [[ 9.98466667e-01 -5.31315530e-02 -1.55355377e-02 5.88222756e+02] [ 5.31369308e-02 9.98587233e-01 -6.67041901e-05 7.50075833e+00] [ 1.55171337e-02 -7.58908883e-04 9.99879314e-01 9.10961173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.6592541539999 meters Centerline goodness : 0.999064 Centerline is valid? [True, True] Translation: X:588.25, Y:7.50, Z:9.11 [[ 9.98608532e-01 -5.03949013e-02 -1.55355426e-02 5.88253768e+02] [ 5.03999667e-02 9.98729112e-01 -6.55402305e-05 7.50200974e+00] [ 1.55191016e-02 -7.17541799e-04 9.99879314e-01 9.11009804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.689254154 meters Centerline goodness : 0.999084 Centerline is valid? [True, True] Translation: X:588.29, Y:7.50, Z:9.11 [[ 9.98740121e-01 -4.77160014e-02 -1.55355463e-02 5.88285720e+02] [ 4.77207569e-02 9.98860714e-01 -6.46738732e-05 7.50357190e+00] [ 1.55209328e-02 -6.76775633e-04 9.99879314e-01 9.11057628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.7192541539999 meters Centerline goodness : 0.999335 Centerline is valid? [True, True] Translation: X:588.32, Y:7.51, Z:9.11 [[ 9.98975839e-01 -4.24961131e-02 -1.55355510e-02 5.88316435e+02] [ 4.25002562e-02 9.99096454e-01 -6.35176768e-05 7.50587882e+00] [ 1.55242131e-02 -5.96812272e-04 9.99879314e-01 9.11068605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.7492541539999 meters Centerline goodness : 0.998999 Centerline is valid? [True, True] Translation: X:588.35, Y:7.51, Z:9.11 [[ 9.99059347e-01 -4.04854136e-02 -1.55355544e-02 5.88347887e+02] [ 4.04893273e-02 9.99179969e-01 -6.26570551e-05 7.50688169e+00] [ 1.55253515e-02 -5.66426033e-04 9.99879314e-01 9.11098848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.7792541539999 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:588.38, Y:7.51, Z:9.11 [[ 9.99147328e-01 -3.82526315e-02 -1.55355567e-02 5.88378951e+02] [ 3.82562845e-02 9.99267958e-01 -6.20898051e-05 7.50795792e+00] [ 1.55265591e-02 -5.32295815e-04 9.99879314e-01 9.11171570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.809254154 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:588.41, Y:7.51, Z:9.11 [[ 9.99221595e-01 -3.62608642e-02 -1.55355589e-02 5.88409409e+02] [ 3.62642854e-02 9.99342233e-01 -6.15264832e-05 7.50966444e+00] [ 1.55275712e-02 -5.01907353e-04 9.99879314e-01 9.11227762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.839254154 meters Centerline goodness : 0.998935 Centerline is valid? [True, True] Translation: X:588.44, Y:7.51, Z:9.11 [[ 9.99376819e-01 -3.16957483e-02 -1.55355600e-02 5.88439845e+02] [ 3.16986227e-02 9.99497471e-01 -6.12470683e-05 7.51312998e+00] [ 1.55296942e-02 -4.31246956e-04 9.99879314e-01 9.11219459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.8692541539999 meters Centerline goodness : 0.997746 Centerline is valid? [True, True] Translation: X:588.47, Y:7.51, Z:9.11 [[ 9.99438630e-01 -2.96828610e-02 -1.55355600e-02 5.88469007e+02] [ 2.96854924e-02 9.99559287e-01 -6.12470683e-05 7.51488174e+00] [ 1.55305313e-02 -3.99968064e-04 9.99879314e-01 9.11157060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.8992541539999 meters Centerline goodness : 0.998978 Centerline is valid? [True, True] Translation: X:588.50, Y:7.52, Z:9.11 [[ 9.99542285e-01 -2.59590591e-02 -1.55353970e-02 5.88498682e+02] [ 2.59606361e-02 9.99662961e-01 -1.00183826e-04 7.51764669e+00] [ 1.55327617e-02 -3.03170819e-04 9.99879313e-01 9.11293699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.929254154 meters Centerline goodness : 0.998997 Centerline is valid? [True, True] Translation: X:588.53, Y:7.52, Z:9.11 [[ 9.99596811e-01 -2.37668509e-02 -1.55355439e-02 5.88527821e+02] [ 2.37687065e-02 9.99717482e-01 -6.52154204e-05 7.51910079e+00] [ 1.55327047e-02 -3.04070656e-04 9.99879314e-01 9.11324117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.959254154 meters Centerline goodness : 0.998935 Centerline is valid? [True, True] Translation: X:588.56, Y:7.52, Z:9.11 [[ 9.99619725e-01 -2.27828184e-02 -1.55353772e-02 5.88556160e+02] [ 2.27839570e-02 9.99740407e-01 -1.03717398e-04 7.52020827e+00] [ 1.55337073e-02 -2.50279409e-04 9.99879313e-01 9.11280499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.9892541539999 meters Centerline goodness : 0.998998 Centerline is valid? [True, True] Translation: X:588.59, Y:7.52, Z:9.11 [[ 9.99641072e-01 -2.18259886e-02 -1.55355349e-02 5.88585229e+02] [ 2.18275770e-02 9.99761748e-01 -6.73338564e-05 7.52125074e+00] [ 1.55333032e-02 -2.71793396e-04 9.99879314e-01 9.11384665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.0192541539999 meters Centerline goodness : 0.995504 Centerline is valid? [True, True] Translation: X:588.61, Y:7.53, Z:9.11 [[ 9.99619126e-01 -2.28090192e-02 -1.55355170e-02 5.88612224e+02] [ 2.28106656e-02 9.99739800e-01 -7.12392527e-05 7.52576427e+00] [ 1.55330996e-02 -2.83163363e-04 9.99879314e-01 9.11061863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.0492541539999 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:588.64, Y:7.52, Z:9.12 [[ 9.99656735e-01 -2.10971242e-02 -1.55345849e-02 5.88643811e+02] [ 2.10956970e-02 9.99777428e-01 -2.55754571e-04 7.52377282e+00] [ 1.55365230e-02 -7.20461156e-05 9.99879298e-01 9.11537805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.079254154 meters Centerline goodness : 0.998894 Centerline is valid? [True, True] Translation: X:588.67, Y:7.52, Z:9.11 [[ 9.99644472e-01 -2.16697785e-02 -1.55354615e-02 5.88672065e+02] [ 2.16712203e-02 9.99765149e-01 -7.55523659e-05 7.52419217e+00] [ 1.55334502e-02 -2.61146904e-04 9.99879315e-01 9.11451960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.1092541539999 meters Centerline goodness : 0.998809 Centerline is valid? [True, True] Translation: X:588.70, Y:7.52, Z:9.12 [[ 9.99595537e-01 -2.38204031e-02 -1.55354545e-02 5.88699433e+02] [ 2.38220828e-02 9.99716211e-01 -7.69555092e-05 7.52399837e+00] [ 1.55328789e-02 -2.93162501e-04 9.99879315e-01 9.11509183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.1392541539999 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:588.73, Y:7.52, Z:9.12 [[ 9.99558063e-01 -2.53442029e-02 -1.55354480e-02 5.88728646e+02] [ 2.53460464e-02 9.99678734e-01 -7.82507311e-05 7.52370739e+00] [ 1.55324402e-02 -3.15546037e-04 9.99879315e-01 9.11822890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.1692541539999 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:588.76, Y:7.52, Z:9.12 [[ 9.99441163e-01 -2.95975003e-02 -1.55354452e-02 5.88757494e+02] [ 2.95998485e-02 9.99561825e-01 -7.88161192e-05 7.52295095e+00] [ 1.55309707e-02 -3.81074749e-04 9.99879315e-01 9.11782650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.199254154 meters Centerline goodness : 0.998955 Centerline is valid? [True, True] Translation: X:588.79, Y:7.52, Z:9.12 [[ 9.99360687e-01 -3.22004544e-02 -1.55353942e-02 5.88788434e+02] [ 3.22029658e-02 9.99481346e-01 -8.85412727e-05 7.52241695e+00] [ 1.55301878e-02 -4.11801100e-04 9.99879315e-01 9.11987452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.2292541539999 meters Centerline goodness : 0.998999 Centerline is valid? [True, True] Translation: X:588.82, Y:7.52, Z:9.12 [[ 9.99271115e-01 -3.48696118e-02 -1.55354285e-02 5.88819038e+02] [ 3.48725465e-02 9.99391764e-01 -8.20359315e-05 7.52190305e+00] [ 1.55288399e-02 -4.59783818e-04 9.99879315e-01 9.11989120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.2592541539999 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:588.85, Y:7.52, Z:9.12 [[ 9.99168406e-01 -3.76980895e-02 -1.55354285e-02 5.88849262e+02] [ 3.77013657e-02 9.99289047e-01 -8.20359315e-05 7.52139849e+00] [ 1.55274762e-02 -5.03739161e-04 9.99879315e-01 9.11968418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.2892541539999 meters Centerline goodness : 0.998873 Centerline is valid? [True, True] Translation: X:588.88, Y:7.52, Z:9.12 [[ 9.98953990e-01 -4.30067037e-02 -1.55354300e-02 5.88881031e+02] [ 4.30106253e-02 9.99074612e-01 -8.17543168e-05 7.52032412e+00] [ 1.55245697e-02 -5.86519759e-04 9.99879315e-01 9.12045758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.319254154 meters Centerline goodness : 0.998998 Centerline is valid? [True, True] Translation: X:588.91, Y:7.52, Z:9.12 [[ 9.98848577e-01 -4.53890967e-02 -1.55354360e-02 5.88912165e+02] [ 4.53933237e-02 9.98969189e-01 -8.06084008e-05 7.51978764e+00] [ 1.55230806e-02 -6.24689487e-04 9.99879315e-01 9.11980314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.3492541539999 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:588.94, Y:7.52, Z:9.12 [[ 9.98631078e-01 -4.99461653e-02 -1.55354458e-02 5.88944066e+02] [ 4.99509727e-02 9.98751668e-01 -7.86706007e-05 7.51894414e+00] [ 1.55199817e-02 -6.97447722e-04 9.99879315e-01 9.12127068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.3792541539999 meters Centerline goodness : 0.998873 Centerline is valid? [True, True] Translation: X:588.98, Y:7.52, Z:9.12 [[ 9.98529661e-01 -5.19342552e-02 -1.55354515e-02 5.88975472e+02] [ 5.19393205e-02 9.98650240e-01 -7.75220727e-05 7.51859365e+00] [ 1.55185084e-02 -7.29492706e-04 9.99879315e-01 9.12124092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.4092541539999 meters Centerline goodness : 0.998853 Centerline is valid? [True, True] Translation: X:589.00, Y:7.52, Z:9.12 [[ 9.98264322e-01 -5.68066327e-02 -1.55354557e-02 5.89001563e+02] [ 5.68122996e-02 9.98384874e-01 -7.66654514e-05 7.52246083e+00] [ 1.55147191e-02 -8.06072582e-04 9.99879315e-01 9.11789913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.439254154 meters Centerline goodness : 0.998852 Centerline is valid? [True, True] Translation: X:589.04, Y:7.52, Z:9.12 [[ 9.98293695e-01 -5.62884453e-02 -1.55341445e-02 5.89036040e+02] [ 5.62903550e-02 9.98414391e-01 -3.14618605e-04 7.51841201e+00] [ 1.55272228e-02 -5.60340738e-04 9.99879288e-01 9.12262819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.4692541539999 meters Centerline goodness : 0.998914 Centerline is valid? [True, True] Translation: X:589.07, Y:7.52, Z:9.12 [[ 9.98076139e-01 -6.00222761e-02 -1.55353403e-02 5.89067520e+02] [ 6.00282993e-02 9.98196673e-01 -7.87291602e-05 7.51817059e+00] [ 1.55120505e-02 -8.53982364e-04 9.99879316e-01 9.12282580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.4992541539999 meters Centerline goodness : 0.998873 Centerline is valid? [True, True] Translation: X:589.10, Y:7.52, Z:9.12 [[ 9.97970463e-01 -6.17544251e-02 -1.55353447e-02 5.89098311e+02] [ 6.17606709e-02 9.98090985e-01 -7.78644181e-05 7.51848468e+00] [ 1.55104959e-02 -8.81766920e-04 9.99879316e-01 9.12203162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.5292541539999 meters Centerline goodness : 0.998976 Centerline is valid? [True, True] Translation: X:589.13, Y:7.52, Z:9.12 [[ 9.97795931e-01 -6.45130471e-02 -1.55353489e-02 5.89130135e+02] [ 6.45196393e-02 9.97916435e-01 -7.70086362e-05 7.51908374e+00] [ 1.55079481e-02 -9.25496205e-04 9.99879316e-01 9.12338708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.559254154 meters Centerline goodness : 0.999000 Centerline is valid? [True, True] Translation: X:589.16, Y:7.52, Z:9.12 [[ 9.97706785e-01 -6.58773473e-02 -1.55353545e-02 5.89161222e+02] [ 6.58841219e-02 9.97827278e-01 -7.58724562e-05 7.51983427e+00] [ 1.55065987e-02 -9.47834723e-04 9.99879316e-01 9.12341772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.589254154 meters Centerline goodness : 0.998873 Centerline is valid? [True, True] Translation: X:589.19, Y:7.52, Z:9.12 [[ 9.97624913e-01 -6.71057836e-02 -1.55353586e-02 5.89193427e+02] [ 6.71127197e-02 9.97745397e-01 -7.50260748e-05 7.52050774e+00] [ 1.55053672e-02 -9.67772284e-04 9.99879316e-01 9.12404670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.6192541539999 meters Centerline goodness : 0.998997 Centerline is valid? [True, True] Translation: X:589.23, Y:7.52, Z:9.12 [[ 9.97571487e-01 -6.78953622e-02 -1.55353639e-02 5.89225204e+02] [ 6.79024111e-02 9.97691965e-01 -7.39038759e-05 7.52132999e+00] [ 1.55045255e-02 -9.81164266e-04 9.99879316e-01 9.12460308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.6492541539999 meters Centerline goodness : 0.998872 Centerline is valid? [True, True] Translation: X:589.26, Y:7.52, Z:9.13 [[ 9.97511379e-01 -6.87728163e-02 -1.55353692e-02 5.89257692e+02] [ 6.87799885e-02 9.97631850e-01 -7.27832226e-05 7.52355204e+00] [ 1.55035846e-02 -9.95920419e-04 9.99879316e-01 9.12854809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.679254154 meters Centerline goodness : 0.998977 Centerline is valid? [True, True] Translation: X:589.29, Y:7.52, Z:9.13 [[ 9.97510087e-01 -6.87915546e-02 -1.55353747e-02 5.89288749e+02] [ 6.87987479e-02 9.97630556e-01 -7.15690330e-05 7.52461219e+00] [ 1.55034879e-02 -9.97423498e-04 9.99879316e-01 9.12507125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.709254154 meters Centerline goodness : 0.998914 Centerline is valid? [True, True] Translation: X:589.32, Y:7.53, Z:9.13 [[ 9.97545318e-01 -6.82787765e-02 -1.55353788e-02 5.89321728e+02] [ 6.82859219e-02 9.97665790e-01 -7.06676301e-05 7.52605819e+00] [ 1.55039411e-02 -9.90353502e-04 9.99879316e-01 9.12586266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.7392541539999 meters Centerline goodness : 0.998855 Centerline is valid? [True, True] Translation: X:589.35, Y:7.53, Z:9.13 [[ 9.97715781e-01 -6.57409496e-02 -1.55353863e-02 5.89354209e+02] [ 6.57478144e-02 9.97836269e-01 -6.89964480e-05 7.52812599e+00] [ 1.55063078e-02 -9.52578847e-04 9.99879316e-01 9.12870817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.7692541539999 meters Centerline goodness : 0.998522 Centerline is valid? [True, True] Translation: X:589.38, Y:7.53, Z:9.12 [[ 9.97803366e-01 -6.43979338e-02 -1.55353914e-02 5.89384442e+02] [ 6.44046545e-02 9.97923863e-01 -6.78291594e-05 7.53009584e+00] [ 1.55075058e-02 -9.32871350e-04 9.99879316e-01 9.12436994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.7992541539999 meters Centerline goodness : 0.998806 Centerline is valid? [True, True] Translation: X:589.42, Y:7.53, Z:9.13 [[ 9.97970394e-01 -6.17555860e-02 -1.55351218e-02 5.89417232e+02] [ 6.17610375e-02 9.98090957e-01 -1.29059188e-04 7.53352388e+00] [ 1.55134347e-02 -8.30667991e-04 9.99879314e-01 9.12903879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.829254154 meters Centerline goodness : 0.998658 Centerline is valid? [True, True] Translation: X:589.45, Y:7.54, Z:9.13 [[ 9.98133903e-01 -5.90539077e-02 -1.55353898e-02 5.89449472e+02] [ 5.90600181e-02 9.98254431e-01 -6.55723072e-05 7.53523341e+00] [ 1.55121440e-02 -8.52070460e-04 9.99879316e-01 9.12927531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.8592541539999 meters Centerline goodness : 0.998785 Centerline is valid? [True, True] Translation: X:589.48, Y:7.54, Z:9.13 [[ 9.98319330e-01 -5.58315885e-02 -1.55353945e-02 5.89480392e+02] [ 5.58373275e-02 9.98439877e-01 -6.44334310e-05 7.53731551e+00] [ 1.55147548e-02 -8.03129772e-04 9.99879316e-01 9.12806270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.8892541539999 meters Centerline goodness : 0.998635 Centerline is valid? [True, True] Translation: X:589.51, Y:7.54, Z:9.13 [[ 9.98719026e-01 -4.81555600e-02 -1.55354021e-02 5.89512745e+02] [ 4.81604013e-02 9.98839613e-01 -6.25538910e-05 7.54184130e+00] [ 1.55203873e-02 -6.85717438e-04 9.99879316e-01 9.13075407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.9192541539999 meters Centerline goodness : 0.998676 Centerline is valid? [True, True] Translation: X:589.55, Y:7.54, Z:9.13 [[ 9.98927772e-01 -4.36114373e-02 -1.55354065e-02 5.89545188e+02] [ 4.36157474e-02 9.99048379e-01 -6.14255866e-05 7.54408101e+00] [ 1.55233016e-02 -6.16228644e-04 9.99879316e-01 9.13207932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.949254154 meters Centerline goodness : 0.998592 Centerline is valid? [True, True] Translation: X:589.58, Y:7.55, Z:9.13 [[ 9.99127870e-01 -3.87575929e-02 -1.55354110e-02 5.89576966e+02] [ 3.87613348e-02 9.99248495e-01 -6.02833843e-05 7.54654311e+00] [ 1.55260725e-02 -5.41942456e-04 9.99879316e-01 9.13328090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.9792541539999 meters Centerline goodness : 0.998801 Centerline is valid? [True, True] Translation: X:589.61, Y:7.55, Z:9.13 [[ 9.99440995e-01 -2.96031919e-02 -1.55354153e-02 5.89607689e+02] [ 2.96058463e-02 9.99561649e-01 -5.91422920e-05 7.55087994e+00] [ 1.55303562e-02 -4.00829887e-04 9.99879316e-01 9.13454550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.0092541539999 meters Centerline goodness : 0.998760 Centerline is valid? [True, True] Translation: X:589.64, Y:7.55, Z:9.14 [[ 9.99586723e-01 -2.41874786e-02 -1.55354226e-02 5.89637994e+02] [ 2.41895099e-02 9.99707389e-01 -5.71647523e-05 7.55265823e+00] [ 1.55322594e-02 -3.18653132e-04 9.99879316e-01 9.13596182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.0392541539999 meters Centerline goodness : 0.998863 Centerline is valid? [True, True] Translation: X:589.67, Y:7.55, Z:9.14 [[ 9.99647981e-01 -2.15075274e-02 -1.55351503e-02 5.89667889e+02] [ 2.15081127e-02 9.99768665e-01 -1.29418787e-04 7.55413541e+00] [ 1.55343399e-02 -2.04758534e-04 9.99879314e-01 9.13621933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.069254154 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:589.70, Y:7.56, Z:9.14 [[ 9.99712494e-01 -1.82641515e-02 -1.55354184e-02 5.89697492e+02] [ 1.82654246e-02 9.99833171e-01 -5.99494249e-05 7.55539093e+00] [ 1.55339216e-02 -2.23828824e-04 9.99879316e-01 9.13678941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.0992541539999 meters Centerline goodness : 0.998923 Centerline is valid? [True, True] Translation: X:589.73, Y:7.56, Z:9.14 [[ 9.99782254e-01 -1.39318388e-02 -1.55354162e-02 5.89726065e+02] [ 1.39325804e-02 9.99902935e-01 -6.05002086e-05 7.55649191e+00] [ 1.55347512e-02 -1.55961401e-04 9.99879316e-01 9.13708176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.1292541539999 meters Centerline goodness : 0.998884 Centerline is valid? [True, True] Translation: X:589.75, Y:7.56, Z:9.14 [[ 9.99798994e-01 -1.26736730e-02 -1.55354001e-02 5.89752815e+02] [ 1.26742023e-02 9.99919677e-01 -6.43913317e-05 7.55705521e+00] [ 1.55349683e-02 -1.32520415e-04 9.99879316e-01 9.13677831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.1592541539999 meters Centerline goodness : 0.998946 Centerline is valid? [True, True] Translation: X:589.78, Y:7.56, Z:9.14 [[ 9.99803079e-01 -1.23472327e-02 -1.55353919e-02 5.89780880e+02] [ 1.23476926e-02 9.99923762e-01 -6.63201805e-05 7.55740006e+00] [ 1.55350264e-02 -1.25519123e-04 9.99879316e-01 9.13803934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.189254154 meters Centerline goodness : 0.998946 Centerline is valid? [True, True] Translation: X:589.81, Y:7.56, Z:9.14 [[ 9.99799362e-01 -1.26446714e-02 -1.55353708e-02 5.89809271e+02] [ 1.26450955e-02 9.99920045e-01 -7.09348096e-05 7.55759324e+00] [ 1.55350256e-02 -1.25525670e-04 9.99879316e-01 9.13848181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.2192541539999 meters Centerline goodness : 0.999050 Centerline is valid? [True, True] Translation: X:589.84, Y:7.56, Z:9.14 [[ 9.99795578e-01 -1.29404249e-02 -1.55353483e-02 5.89836775e+02] [ 1.29408129e-02 9.99916261e-01 -7.55559858e-05 7.55689556e+00] [ 1.55350252e-02 -1.25499496e-04 9.99879316e-01 9.13772108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.2492541539999 meters Centerline goodness : 0.999220 Centerline is valid? [True, True] Translation: X:589.86, Y:7.56, Z:9.14 [[ 9.99775891e-01 -1.43812763e-02 -1.55353413e-02 5.89864260e+02] [ 1.43818160e-02 9.99896573e-01 -7.69847491e-05 7.55639473e+00] [ 1.55348416e-02 -1.46458924e-04 9.99879316e-01 9.13833804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.2792541539999 meters Centerline goodness : 0.999114 Centerline is valid? [True, True] Translation: X:589.89, Y:7.55, Z:9.14 [[ 9.99727192e-01 -1.74411830e-02 -1.55353299e-02 5.89892634e+02] [ 1.74420576e-02 9.99847873e-01 -7.92044762e-05 7.55488248e+00] [ 1.55343480e-02 -1.91785251e-04 9.99879316e-01 9.13989973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.309254154 meters Centerline goodness : 0.999221 Centerline is valid? [True, True] Translation: X:589.92, Y:7.55, Z:9.14 [[ 9.99693407e-01 -1.92807121e-02 -1.55353084e-02 5.89920528e+02] [ 1.92817461e-02 9.99814086e-01 -8.32332253e-05 7.55368459e+00] [ 1.55340249e-02 -2.16340165e-04 9.99879316e-01 9.14044980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.339254154 meters Centerline goodness : 0.999243 Centerline is valid? [True, True] Translation: X:589.95, Y:7.55, Z:9.14 [[ 9.99652758e-01 -2.12842520e-02 -1.55352825e-02 5.89949134e+02] [ 2.12854568e-02 9.99773435e-01 -8.78088935e-05 7.55246334e+00] [ 1.55336317e-02 -2.42897182e-04 9.99879316e-01 9.14094195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.3692541539999 meters Centerline goodness : 0.998970 Centerline is valid? [True, True] Translation: X:589.98, Y:7.55, Z:9.14 [[ 9.99587348e-01 -2.41617375e-02 -1.55352588e-02 5.89978206e+02] [ 2.41632274e-02 9.99708022e-01 -9.18205999e-05 7.55040915e+00] [ 1.55329414e-02 -2.83599281e-04 9.99879316e-01 9.14086423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.3992541539999 meters Centerline goodness : 0.998990 Centerline is valid? [True, True] Translation: X:590.01, Y:7.55, Z:9.14 [[ 9.99561976e-01 -2.51895175e-02 -1.55352537e-02 5.90007618e+02] [ 2.51911182e-02 9.99682649e-01 -9.26714769e-05 7.54917150e+00] [ 1.55326579e-02 -2.98719528e-04 9.99879316e-01 9.14152327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.429254154 meters Centerline goodness : 0.999221 Centerline is valid? [True, True] Translation: X:590.04, Y:7.55, Z:9.14 [[ 9.99540773e-01 -2.60172855e-02 -1.55352503e-02 5.90037201e+02] [ 2.60189774e-02 9.99661445e-01 -9.32345100e-05 7.54757575e+00] [ 1.55324165e-02 -3.11019633e-04 9.99879316e-01 9.14157716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.459254154 meters Centerline goodness : 0.998991 Centerline is valid? [True, True] Translation: X:590.07, Y:7.55, Z:9.14 [[ 9.99524078e-01 -2.66509687e-02 -1.55352469e-02 5.90067621e+02] [ 2.66527284e-02 9.99644749e-01 -9.37954532e-05 7.54572493e+00] [ 1.55322278e-02 -3.20305903e-04 9.99879316e-01 9.14192268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.4892541539999 meters Centerline goodness : 0.999139 Centerline is valid? [True, True] Translation: X:590.10, Y:7.54, Z:9.14 [[ 9.99500050e-01 -2.75373612e-02 -1.55352469e-02 5.90098369e+02] [ 2.75392279e-02 9.99620719e-01 -9.37954532e-05 7.54251458e+00] [ 1.55319376e-02 -3.34080145e-04 9.99879316e-01 9.14298814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.5192541539999 meters Centerline goodness : 0.998952 Centerline is valid? [True, True] Translation: X:590.13, Y:7.54, Z:9.14 [[ 9.99497194e-01 -2.76408340e-02 -1.55352469e-02 5.90128958e+02] [ 2.76427132e-02 9.99617863e-01 -9.37954532e-05 7.54110154e+00] [ 1.55319029e-02 -3.35688083e-04 9.99879316e-01 9.14338498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.5492541539999 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:590.16, Y:7.54, Z:9.14 [[ 9.99446382e-01 -2.94208252e-02 -1.55352469e-02 5.90158809e+02] [ 2.94229193e-02 9.99567048e-01 -9.37954532e-05 7.53841644e+00] [ 1.55312805e-02 -3.63348791e-04 9.99879316e-01 9.14412713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.579254154 meters Centerline goodness : 0.999306 Centerline is valid? [True, True] Translation: X:590.19, Y:7.54, Z:9.15 [[ 9.99431792e-01 -2.99123564e-02 -1.55352452e-02 5.90189714e+02] [ 2.99145054e-02 9.99552457e-01 -9.40778979e-05 7.53696968e+00] [ 1.55311066e-02 -3.70704736e-04 9.99879316e-01 9.14506000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.6092541539999 meters Centerline goodness : 0.999013 Centerline is valid? [True, True] Translation: X:590.22, Y:7.54, Z:9.14 [[ 9.99442197e-01 -2.95626699e-02 -1.55352452e-02 5.90218469e+02] [ 2.95647767e-02 9.99562862e-01 -9.40778979e-05 7.53567434e+00] [ 1.55312354e-02 -3.65270636e-04 9.99879316e-01 9.14493867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.6392541539999 meters Centerline goodness : 0.999349 Centerline is valid? [True, True] Translation: X:590.25, Y:7.53, Z:9.14 [[ 9.99382346e-01 -3.15213947e-02 -1.55347680e-02 5.90248781e+02] [ 3.15225561e-02 9.99503026e-01 -1.70159522e-04 7.53241246e+00] [ 1.55324113e-02 -3.19641174e-04 9.99879314e-01 9.14492781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.6692541539999 meters Centerline goodness : 0.999097 Centerline is valid? [True, True] Translation: X:590.28, Y:7.53, Z:9.15 [[ 9.99388960e-01 -3.13107575e-02 -1.55352234e-02 5.90278981e+02] [ 3.13130155e-02 9.99509623e-01 -9.79357987e-05 7.53057390e+00] [ 1.55306717e-02 -3.88578734e-04 9.99879316e-01 9.14506738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.699254154 meters Centerline goodness : 0.999329 Centerline is valid? [True, True] Translation: X:590.31, Y:7.53, Z:9.15 [[ 9.99410999e-01 -3.05991996e-02 -1.55352234e-02 5.90309503e+02] [ 3.06013717e-02 9.99531664e-01 -9.79357987e-05 7.52909288e+00] [ 1.55309444e-02 -3.77521030e-04 9.99879316e-01 9.14588192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.7292541539999 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:590.34, Y:7.53, Z:9.15 [[ 9.99509477e-01 -2.71930386e-02 -1.55352234e-02 5.90339401e+02] [ 2.71947994e-02 9.99630148e-01 -9.79357987e-05 7.52612903e+00] [ 1.55321408e-02 -3.24589525e-04 9.99879316e-01 9.14594900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.7592541539999 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:590.37, Y:7.52, Z:9.15 [[ 9.99573875e-01 -2.47128751e-02 -1.55352251e-02 5.90368865e+02] [ 2.47143408e-02 9.99694549e-01 -9.76576542e-05 7.52492913e+00] [ 1.55328933e-02 -2.86326808e-04 9.99879316e-01 9.14632659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.7892541539999 meters Centerline goodness : 0.999077 Centerline is valid? [True, True] Translation: X:590.40, Y:7.52, Z:9.15 [[ 9.99638398e-01 -2.19483444e-02 -1.55352217e-02 5.90397477e+02] [ 2.19494678e-02 9.99759077e-01 -9.82069433e-05 7.52381910e+00] [ 1.55336343e-02 -2.42818416e-04 9.99879316e-01 9.14608294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.819254154 meters Centerline goodness : 0.998970 Centerline is valid? [True, True] Translation: X:590.43, Y:7.52, Z:9.15 [[ 9.99684741e-01 -1.97250092e-02 -1.55352164e-02 5.90426165e+02] [ 1.97258515e-02 9.99805422e-01 -9.90250808e-05 7.52284923e+00] [ 1.55341469e-02 -2.07451511e-04 9.99879316e-01 9.14704926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.8492541539999 meters Centerline goodness : 0.999076 Centerline is valid? [True, True] Translation: X:590.45, Y:7.52, Z:9.15 [[ 9.99765165e-01 -1.51086886e-02 -1.55351909e-02 5.90453811e+02] [ 1.51089138e-02 9.99885849e-01 -1.02880144e-04 7.52025726e+00] [ 1.55349719e-02 -1.31863876e-04 9.99879316e-01 9.14695956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.8792541539999 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:590.48, Y:7.52, Z:9.15 [[ 9.99787833e-01 -1.35257872e-02 -1.55351818e-02 5.90481936e+02] [ 1.35258001e-02 9.99908517e-01 -1.04243748e-04 7.51884722e+00] [ 1.55351705e-02 -1.05904132e-04 9.99879316e-01 9.14728298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.9092541539999 meters Centerline goodness : 0.998997 Centerline is valid? [True, True] Translation: X:590.51, Y:7.52, Z:9.15 [[ 9.99818560e-01 -1.10230107e-02 -1.55351512e-02 5.90509710e+02] [ 1.10226535e-02 9.99939243e-01 -1.08620187e-04 7.51540884e+00] [ 1.55354046e-02 -6.26381091e-05 9.99879316e-01 9.14721092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.939254154 meters Centerline goodness : 0.998953 Centerline is valid? [True, True] Translation: X:590.54, Y:7.51, Z:9.15 [[ 9.99820561e-01 -1.08399938e-02 -1.55351189e-02 5.90537728e+02] [ 1.08395456e-02 9.99941244e-01 -1.13054668e-04 7.51341843e+00] [ 1.55354316e-02 -5.53592482e-05 9.99879316e-01 9.14782227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.9692541539999 meters Centerline goodness : 0.999371 Centerline is valid? [True, True] Translation: X:590.56, Y:7.51, Z:9.15 [[ 9.99809793e-01 -1.17915075e-02 -1.55350845e-02 5.90564261e+02] [ 1.17911036e-02 9.99930476e-01 -1.17598331e-04 7.51177562e+00] [ 1.55353911e-02 -6.55998272e-05 9.99879316e-01 9.14809180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.9992541539999 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:590.59, Y:7.51, Z:9.15 [[ 9.99782821e-01 -1.38914733e-02 -1.55350694e-02 5.90591373e+02] [ 1.38912923e-02 9.99903504e-01 -1.19564435e-04 7.50750082e+00] [ 1.55352312e-02 -9.62637209e-05 9.99879316e-01 9.14858575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.0292541539999 meters Centerline goodness : 0.998997 Centerline is valid? [True, True] Translation: X:590.62, Y:7.51, Z:9.15 [[ 9.99741096e-01 -1.66253964e-02 -1.55350544e-02 5.90619272e+02] [ 1.66255157e-02 9.99861779e-01 -1.21472559e-04 7.50525095e+00] [ 1.55349267e-02 -1.36837183e-04 9.99879316e-01 9.15051320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.059254154 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:590.65, Y:7.50, Z:9.15 [[ 9.99683814e-01 -1.97720942e-02 -1.55350170e-02 5.90647624e+02] [ 1.97725217e-02 9.99804497e-01 -1.26087083e-04 7.50260861e+00] [ 1.55344728e-02 -1.81119245e-04 9.99879316e-01 9.15111883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.089254154 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:590.68, Y:7.50, Z:9.15 [[ 9.99601362e-01 -2.35750202e-02 -1.55349783e-02 5.90675868e+02] [ 2.35758353e-02 9.99722043e-01 -1.30690930e-04 7.49996290e+00] [ 1.55337412e-02 -2.35611257e-04 9.99879316e-01 9.15177841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.1192541539999 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:590.70, Y:7.49, Z:9.15 [[ 9.99371329e-01 -3.18686909e-02 -1.55349382e-02 5.90704715e+02] [ 3.18704358e-02 9.99491999e-01 -1.35292380e-04 7.49493500e+00] [ 1.55313580e-02 -3.59897925e-04 9.99879316e-01 9.15270431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.1492541539999 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:590.73, Y:7.49, Z:9.15 [[ 9.99214104e-01 -3.64669862e-02 -1.55349280e-02 5.90734061e+02] [ 3.64692685e-02 9.99334766e-01 -1.36448262e-04 7.49284611e+00] [ 1.55295695e-02 -4.30206434e-04 9.99879316e-01 9.15266802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.179254154 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:590.76, Y:7.49, Z:9.15 [[ 9.98834120e-01 -4.57063011e-02 -1.55349255e-02 5.90764803e+02] [ 4.57096947e-02 9.98954756e-01 -1.36735332e-04 7.48800127e+00] [ 1.55249374e-02 -5.73520786e-04 9.99879316e-01 9.15349048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.209254154 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:590.80, Y:7.49, Z:9.15 [[ 9.98602750e-01 -5.05095381e-02 -1.55349255e-02 5.90796222e+02] [ 5.05135119e-02 9.98723368e-01 -1.36735332e-04 7.48577200e+00] [ 1.55219996e-02 -6.48179365e-04 9.99879316e-01 9.15420401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.2392541539999 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:590.83, Y:7.48, Z:9.15 [[ 9.98384518e-01 -5.46536375e-02 -1.55349305e-02 5.90827352e+02] [ 5.46581207e-02 9.98505118e-01 -1.36163874e-04 7.48361904e+00] [ 1.55191495e-02 -7.13166202e-04 9.99879316e-01 9.15462969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.2692541539999 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:590.86, Y:7.48, Z:9.16 [[ 9.97936758e-01 -6.22968115e-02 -1.55349380e-02 5.90859319e+02] [ 6.23022313e-02 9.98057320e-01 -1.35309314e-04 7.48009137e+00] [ 1.55131879e-02 -8.32831159e-04 9.99879316e-01 9.15596356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.2992541539999 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:590.89, Y:7.48, Z:9.16 [[ 9.97726295e-01 -6.55812958e-02 -1.55349477e-02 5.90891608e+02] [ 6.55871300e-02 9.97846837e-01 -1.34175718e-04 7.47841367e+00] [ 1.55102979e-02 -8.85021995e-04 9.99879316e-01 9.15649034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.329254154 meters Centerline goodness : 0.999335 Centerline is valid? [True, True] Translation: X:590.92, Y:7.48, Z:9.16 [[ 9.97380340e-01 -7.06478829e-02 -1.55349574e-02 5.90924214e+02] [ 7.06543468e-02 9.97500850e-01 -1.33043700e-04 7.47527922e+00] [ 1.55055325e-02 -9.64917100e-04 9.99879316e-01 9.15745406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.3592541539999 meters Centerline goodness : 0.999397 Centerline is valid? [True, True] Translation: X:590.96, Y:7.47, Z:9.16 [[ 9.97253781e-01 -7.24124356e-02 -1.55349673e-02 5.90955409e+02] [ 7.24191307e-02 9.97374279e-01 -1.31886912e-04 7.47440039e+00] [ 1.55037270e-02 -9.93504102e-04 9.99879316e-01 9.15705997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.3892541539999 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:590.99, Y:7.47, Z:9.16 [[ 9.97147572e-01 -7.38605761e-02 -1.55349745e-02 5.90987920e+02] [ 7.38674595e-02 9.97268059e-01 -1.31023888e-04 7.47388672e+00] [ 1.55022114e-02 -1.01687895e-03 9.99879316e-01 9.15796548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.4192541539999 meters Centerline goodness : 0.999479 Centerline is valid? [True, True] Translation: X:591.02, Y:7.47, Z:9.16 [[ 9.97087542e-01 -7.46665829e-02 -1.55349841e-02 5.91020565e+02] [ 7.46735813e-02 9.97208022e-01 -1.29884915e-04 7.47341146e+00] [ 1.55013088e-02 -1.03054627e-03 9.99879316e-01 9.15848131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.449254154 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:591.05, Y:7.47, Z:9.16 [[ 9.97051117e-01 -7.51514022e-02 -1.55349936e-02 5.91052361e+02] [ 7.51584771e-02 9.97171593e-01 -1.28738040e-04 7.47302005e+00] [ 1.55007291e-02 -1.03922805e-03 9.99879316e-01 9.15830969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.4792541539999 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:591.08, Y:7.47, Z:9.16 [[ 9.97047265e-01 -7.52024913e-02 -1.55350029e-02 5.91084971e+02] [ 7.52095900e-02 9.97167740e-01 -1.27600659e-04 7.47324267e+00] [ 1.55005996e-02 -1.04115731e-03 9.99879316e-01 9.15874931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.5092541539999 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:591.12, Y:7.47, Z:9.16 [[ 9.97084549e-01 -7.47065349e-02 -1.55350121e-02 5.91116884e+02] [ 7.47135912e-02 9.97205026e-01 -1.26470692e-04 7.47364657e+00] [ 1.55010403e-02 -1.03457457e-03 9.99879316e-01 9.15878445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.5392541539999 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:591.15, Y:7.48, Z:9.16 [[ 9.97236506e-01 -7.26499422e-02 -1.55350211e-02 5.91149172e+02] [ 7.26567673e-02 9.97356997e-01 -1.25350186e-04 7.47544623e+00] [ 1.55030687e-02 -1.00372064e-03 9.99879316e-01 9.15917297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.569254154 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:591.18, Y:7.48, Z:9.16 [[ 9.97328162e-01 -7.13806729e-02 -1.55350301e-02 5.91181800e+02] [ 7.13873620e-02 9.97448660e-01 -1.24234291e-04 7.47658417e+00] [ 1.55042629e-02 -9.85102459e-04 9.99879316e-01 9.16020030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.5992541539999 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:591.21, Y:7.48, Z:9.16 [[ 9.97418460e-01 -7.01076243e-02 -1.55350392e-02 5.91214357e+02] [ 7.01141775e-02 9.97538965e-01 -1.23079140e-04 7.47789009e+00] [ 1.55054357e-02 -9.66465091e-04 9.99879316e-01 9.16075026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.6292541539999 meters Centerline goodness : 0.999292 Centerline is valid? [True, True] Translation: X:591.25, Y:7.48, Z:9.16 [[ 9.97526249e-01 -6.85568773e-02 -1.55350484e-02 5.91245299e+02] [ 6.85632614e-02 9.97646763e-01 -1.21904619e-04 7.48073237e+00] [ 1.55068482e-02 -9.43530530e-04 9.99879316e-01 9.15997341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.6592541539999 meters Centerline goodness : 0.999396 Centerline is valid? [True, True] Translation: X:591.28, Y:7.48, Z:9.16 [[ 9.97556019e-01 -6.81223315e-02 -1.55350552e-02 5.91277405e+02] [ 6.81286766e-02 9.97676535e-01 -1.21031610e-04 7.48238820e+00] [ 1.55072050e-02 -9.37646944e-04 9.99879316e-01 9.16120285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.689254154 meters Centerline goodness : 0.999333 Centerline is valid? [True, True] Translation: X:591.31, Y:7.48, Z:9.16 [[ 9.97588437e-01 -6.76459320e-02 -1.55350642e-02 5.91308866e+02] [ 6.76522376e-02 9.97708956e-01 -1.19871140e-04 7.48401592e+00] [ 1.55075815e-02 -9.31399791e-04 9.99879316e-01 9.16144391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.7192541539999 meters Centerline goodness : 0.999479 Centerline is valid? [True, True] Translation: X:591.34, Y:7.49, Z:9.16 [[ 9.97616188e-01 -6.72354296e-02 -1.55350708e-02 5.91340979e+02] [ 6.72416990e-02 9.97736709e-01 -1.19005661e-04 7.48723886e+00] [ 1.55079118e-02 -9.25882583e-04 9.99879316e-01 9.16216934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.7492541539999 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:591.37, Y:7.49, Z:9.16 [[ 9.97625687e-01 -6.70943340e-02 -1.55350795e-02 5.91372267e+02] [ 6.71006042e-02 9.97746208e-01 -1.17858652e-04 7.48885382e+00] [ 1.55079743e-02 -9.24834404e-04 9.99879316e-01 9.16289183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.7792541539999 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:591.40, Y:7.49, Z:9.16 [[ 9.97626718e-01 -6.70789985e-02 -1.55350860e-02 5.91404397e+02] [ 6.70852801e-02 9.97747238e-01 -1.17002787e-04 7.49067474e+00] [ 1.55079376e-02 -9.25450487e-04 9.99879316e-01 9.16362076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.809254154 meters Centerline goodness : 0.999333 Centerline is valid? [True, True] Translation: X:591.44, Y:7.49, Z:9.16 [[ 9.97634747e-01 -6.69594894e-02 -1.55350944e-02 5.91436272e+02] [ 6.69657741e-02 9.97755266e-01 -1.15873419e-04 7.49414663e+00] [ 1.55079811e-02 -9.24720272e-04 9.99879316e-01 9.16438155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.839254154 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:591.47, Y:7.50, Z:9.17 [[ 9.97653332e-01 -6.66820088e-02 -1.55351028e-02 5.91468357e+02] [ 6.66882777e-02 9.97773852e-01 -1.14732477e-04 7.49603946e+00] [ 1.55081700e-02 -9.21546013e-04 9.99879316e-01 9.16509326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.8692541539999 meters Centerline goodness : 0.999542 Centerline is valid? [True, True] Translation: X:591.50, Y:7.50, Z:9.16 [[ 9.97673189e-01 -6.63842408e-02 -1.55351114e-02 5.91499767e+02] [ 6.63904919e-02 9.97793711e-01 -1.13561333e-04 7.49781688e+00] [ 1.55083751e-02 -9.18086589e-04 9.99879316e-01 9.16497770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.8992541539999 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:591.53, Y:7.50, Z:9.17 [[ 9.97786896e-01 -6.46526855e-02 -1.55351177e-02 5.91532058e+02] [ 6.46587409e-02 9.97907428e-01 -1.12689670e-04 7.50092970e+00] [ 1.55098950e-02 -8.92040875e-04 9.99879316e-01 9.16500078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.929254154 meters Centerline goodness : 0.999292 Centerline is valid? [True, True] Translation: X:591.56, Y:7.50, Z:9.17 [[ 9.97843297e-01 -6.37762791e-02 -1.55351260e-02 5.91563169e+02] [ 6.37822465e-02 9.97963833e-01 -1.11538914e-04 7.50316435e+00] [ 1.55106074e-02 -8.79566877e-04 9.99879316e-01 9.16532231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.959254154 meters Centerline goodness : 0.999334 Centerline is valid? [True, True] Translation: X:591.59, Y:7.51, Z:9.17 [[ 9.97940588e-01 -6.22353799e-02 -1.55351321e-02 5.91594041e+02] [ 6.22411745e-02 9.98061132e-01 -1.10681106e-04 7.50514422e+00] [ 1.55118998e-02 -8.56471699e-04 9.99879316e-01 9.16563935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.9892541539999 meters Centerline goodness : 0.999375 Centerline is valid? [True, True] Translation: X:591.63, Y:7.51, Z:9.17 [[ 9.98051413e-01 -6.04320790e-02 -1.55351380e-02 5.91625775e+02] [ 6.04376688e-02 9.98171967e-01 -1.09841015e-04 7.50708742e+00] [ 1.55133772e-02 -8.29280547e-04 9.99879316e-01 9.16596795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.0192541539999 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:591.66, Y:7.50, Z:9.16 [[ 9.98600606e-01 -5.05518372e-02 -1.55351458e-02 5.91663243e+02] [ 5.05562509e-02 9.98721209e-01 -1.08730030e-04 7.50299535e+00] [ 1.55207761e-02 -6.76820855e-04 9.99879316e-01 9.16362073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.0492541539999 meters Centerline goodness : 0.999271 Centerline is valid? [True, True] Translation: X:591.68, Y:7.51, Z:9.17 [[ 9.98409237e-01 -5.41993411e-02 -1.55379456e-02 5.91683175e+02] [ 5.42106395e-02 9.98529475e-01 3.06580060e-04 7.51277987e+00] [ 1.54984803e-02 -1.14841433e-03 9.99879232e-01 9.16712866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.079254154 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:591.72, Y:7.51, Z:9.17 [[ 9.98501937e-01 -5.24648560e-02 -1.55344717e-02 5.91715855e+02] [ 5.24688649e-02 9.98622549e-01 -1.49667939e-04 7.51496259e+00] [ 1.55209260e-02 -6.65632370e-04 9.99879322e-01 9.16786201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.1092541539999 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:591.75, Y:7.52, Z:9.17 [[ 9.98505803e-01 -5.23911627e-02 -1.55347165e-02 5.91748539e+02] [ 5.23956662e-02 9.98626397e-01 -1.17237528e-04 7.51513350e+00] [ 1.55195201e-02 -6.96889467e-04 9.99879322e-01 9.16836223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.1392541539999 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:591.78, Y:7.52, Z:9.17 [[ 9.98726498e-01 -4.80005726e-02 -1.55347250e-02 5.91779959e+02] [ 4.80045635e-02 9.98847110e-01 -1.16098701e-04 7.51852546e+00] [ 1.55223879e-02 -6.29786843e-04 9.99879322e-01 9.16881898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.1692541539999 meters Centerline goodness : 0.999271 Centerline is valid? [True, True] Translation: X:591.81, Y:7.52, Z:9.17 [[ 9.98824637e-01 -4.59131531e-02 -1.55347313e-02 5.91812085e+02] [ 4.59169051e-02 9.98945256e-01 -1.15250456e-04 7.52046645e+00] [ 1.55236376e-02 -5.98191787e-04 9.99879322e-01 9.16952487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.199254154 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:591.84, Y:7.52, Z:9.17 [[ 9.98997613e-01 -4.19814311e-02 -1.55347395e-02 5.91844010e+02] [ 4.19847259e-02 9.99118246e-01 -1.14125198e-04 7.52486951e+00] [ 1.55258329e-02 -5.38210981e-04 9.99879322e-01 9.17076247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.2292541539999 meters Centerline goodness : 0.999230 Centerline is valid? [True, True] Translation: X:591.88, Y:7.53, Z:9.17 [[ 9.99065735e-01 -4.03277620e-02 -1.55347480e-02 5.91875453e+02] [ 4.03308752e-02 9.99186373e-01 -1.12959117e-04 7.52692346e+00] [ 1.55266639e-02 -5.13676400e-04 9.99879322e-01 9.17056058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.2592541539999 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:591.91, Y:7.53, Z:9.17 [[ 9.99125190e-01 -3.88268732e-02 -1.55347543e-02 5.91907179e+02] [ 3.88298186e-02 9.99245832e-01 -1.12091572e-04 7.52848869e+00] [ 1.55273906e-02 -4.91218177e-04 9.99879322e-01 9.17117734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.2892541539999 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:591.94, Y:7.53, Z:9.17 [[ 9.99174167e-01 -3.75453900e-02 -1.55347584e-02 5.91937378e+02] [ 3.75481896e-02 9.99294812e-01 -1.11516891e-04 7.52995886e+00] [ 1.55279904e-02 -4.71877258e-04 9.99879322e-01 9.17112760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.319254154 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:591.97, Y:7.53, Z:9.17 [[ 9.99224659e-01 -3.61766776e-02 -1.55347604e-02 5.91968404e+02] [ 3.61793164e-02 9.99345308e-01 -1.11232163e-04 7.53235703e+00] [ 1.55286140e-02 -4.50891092e-04 9.99879322e-01 9.17129603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.3492541539999 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:592.00, Y:7.53, Z:9.17 [[ 9.99314085e-01 -3.36159356e-02 -1.55347645e-02 5.92000167e+02] [ 3.36182740e-02 9.99434740e-01 -1.10662254e-04 7.53062938e+00] [ 1.55297033e-02 -4.11665620e-04 9.99879322e-01 9.17073789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.3792541539999 meters Centerline goodness : 0.999230 Centerline is valid? [True, True] Translation: X:592.03, Y:7.53, Z:9.17 [[ 9.99248257e-01 -3.55185288e-02 -1.55355968e-02 5.92028208e+02] [ 3.55229239e-02 9.99368862e-01 6.95700123e-06 7.53429719e+00] [ 1.55255446e-02 -5.58821594e-04 9.99879315e-01 9.17107260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.4092541539999 meters Centerline goodness : 0.999189 Centerline is valid? [True, True] Translation: X:592.06, Y:7.54, Z:9.17 [[ 9.99275796e-01 -3.47354955e-02 -1.55347406e-02 5.92059530e+02] [ 3.47379497e-02 9.99396449e-01 -1.11911667e-04 7.53688841e+00] [ 1.55292519e-02 -4.27814416e-04 9.99879322e-01 9.17200519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.439254154 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:592.09, Y:7.54, Z:9.17 [[ 9.99314255e-01 -3.36108193e-02 -1.55348649e-02 5.92089768e+02] [ 3.36134030e-02 9.99434905e-01 -9.48327327e-05 7.53805500e+00] [ 1.55292736e-02 -4.27411973e-04 9.99879322e-01 9.17192224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.4692541539999 meters Centerline goodness : 0.999230 Centerline is valid? [True, True] Translation: X:592.12, Y:7.54, Z:9.17 [[ 9.99377854e-01 -3.16635043e-02 -1.55347247e-02 5.92120041e+02] [ 3.16655561e-02 9.99498514e-01 -1.13942604e-04 7.53908202e+00] [ 1.55305421e-02 -3.78043982e-04 9.99879322e-01 9.17152429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.4992541539999 meters Centerline goodness : 0.999375 Centerline is valid? [True, True] Translation: X:592.15, Y:7.54, Z:9.17 [[ 9.99403613e-01 -3.08397410e-02 -1.55347312e-02 5.92150387e+02] [ 3.08417071e-02 9.99524275e-01 -1.13048109e-04 7.53941451e+00] [ 1.55308273e-02 -3.66136943e-04 9.99879322e-01 9.17187925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.5292541539999 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:592.18, Y:7.54, Z:9.17 [[ 9.99424652e-01 -3.01502310e-02 -1.55347312e-02 5.92181280e+02] [ 3.01521139e-02 9.99545315e-01 -1.13048109e-04 7.53989520e+00] [ 1.55310763e-02 -3.55421919e-04 9.99879322e-01 9.17241630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.559254154 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:592.21, Y:7.54, Z:9.17 [[ 9.99460846e-01 -2.89255680e-02 -1.55347312e-02 5.92210934e+02] [ 2.89273031e-02 9.99581512e-01 -1.13048109e-04 7.54068072e+00] [ 1.55315001e-02 -3.36390720e-04 9.99879322e-01 9.17312746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.589254154 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:592.24, Y:7.54, Z:9.17 [[ 9.99476128e-01 -2.83926454e-02 -1.55347293e-02 5.92241539e+02] [ 2.83943120e-02 9.99596794e-01 -1.13315679e-04 7.54136359e+00] [ 1.55316829e-02 -3.27841633e-04 9.99879322e-01 9.17391966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.6192541539999 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:592.27, Y:7.54, Z:9.18 [[ 9.99488847e-01 -2.79413145e-02 -1.55347293e-02 5.92271838e+02] [ 2.79429266e-02 9.99609514e-01 -1.13315679e-04 7.54194516e+00] [ 1.55318294e-02 -3.20828042e-04 9.99879322e-01 9.17528861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.6492541539999 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:592.30, Y:7.54, Z:9.17 [[ 9.99524816e-01 -2.66235560e-02 -1.55347293e-02 5.92301274e+02] [ 2.66250090e-02 9.99645485e-01 -1.13315679e-04 7.54241319e+00] [ 1.55322389e-02 -3.00350474e-04 9.99879322e-01 9.17421948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.679254154 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:592.33, Y:7.54, Z:9.17 [[ 9.99551688e-01 -2.55948422e-02 -1.55347273e-02 5.92330572e+02] [ 2.55961667e-02 9.99672358e-01 -1.13592467e-04 7.54259588e+00] [ 1.55325448e-02 -2.84087926e-04 9.99879322e-01 9.17477830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.709254154 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:592.36, Y:7.54, Z:9.18 [[ 9.99579902e-01 -2.44681890e-02 -1.55347234e-02 5.92360428e+02] [ 2.44693695e-02 9.99700574e-01 -1.14110979e-04 7.54287014e+00] [ 1.55328640e-02 -2.66061846e-04 9.99879322e-01 9.17600258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.7392541539999 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:592.39, Y:7.54, Z:9.18 [[ 9.99636205e-01 -2.20483645e-02 -1.55347193e-02 5.92388594e+02] [ 2.20492442e-02 9.99756879e-01 -1.14667065e-04 7.54344276e+00] [ 1.55334708e-02 -2.27903471e-04 9.99879322e-01 9.17631781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.7692541539999 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:592.42, Y:7.54, Z:9.18 [[ 9.99654982e-01 -2.11799474e-02 -1.55347132e-02 5.92417102e+02] [ 2.11807094e-02 9.99775657e-01 -1.15494740e-04 7.54393192e+00] [ 1.55336743e-02 -2.13581353e-04 9.99879322e-01 9.17763879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.7992541539999 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:592.45, Y:7.54, Z:9.18 [[ 9.99687951e-01 -1.95620624e-02 -1.55346825e-02 5.92445327e+02] [ 1.95625671e-02 9.99808628e-01 -1.19483815e-04 7.54410276e+00] [ 1.55340469e-02 -1.84451738e-04 9.99879322e-01 9.17832856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.829254154 meters Centerline goodness : 0.999225 Centerline is valid? [True, True] Translation: X:592.47, Y:7.54, Z:9.18 [[ 9.99693762e-01 -1.92628424e-02 -1.55346654e-02 5.92473602e+02] [ 1.92632769e-02 9.99814438e-01 -1.21672710e-04 7.54404406e+00] [ 1.55341265e-02 -1.77613112e-04 9.99879322e-01 9.17852544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.8592541539999 meters Centerline goodness : 0.999226 Centerline is valid? [True, True] Translation: X:592.50, Y:7.54, Z:9.18 [[ 9.99687762e-01 -1.95717374e-02 -1.55346487e-02 5.92501835e+02] [ 1.95721767e-02 9.99808439e-01 -1.23767755e-04 7.54411736e+00] [ 1.55340952e-02 -1.80317779e-04 9.99879322e-01 9.17924465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.8892541539999 meters Centerline goodness : 0.998995 Centerline is valid? [True, True] Translation: X:592.53, Y:7.54, Z:9.18 [[ 9.99671925e-01 -2.03646505e-02 -1.55346119e-02 5.92529322e+02] [ 2.03651164e-02 9.99792601e-01 -1.28220296e-04 7.54390270e+00] [ 1.55340012e-02 -1.88185950e-04 9.99879322e-01 9.17956835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.9192541539999 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:592.56, Y:7.54, Z:9.18 [[ 9.99623604e-01 -2.26125359e-02 -1.55345738e-02 5.92557564e+02] [ 2.26132039e-02 9.99744280e-01 -1.32678927e-04 7.54243240e+00] [ 1.55336015e-02 -2.18657498e-04 9.99879322e-01 9.18013114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.949254154 meters Centerline goodness : 0.999079 Centerline is valid? [True, True] Translation: X:592.59, Y:7.54, Z:9.18 [[ 9.99576071e-01 -2.46244212e-02 -1.55343817e-02 5.92586685e+02] [ 2.46249876e-02 9.99696747e-01 -1.54840007e-04 7.54163463e+00] [ 1.55334837e-02 -2.27759593e-04 9.99879322e-01 9.17996508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.9792541539999 meters Centerline goodness : 0.998994 Centerline is valid? [True, True] Translation: X:592.62, Y:7.54, Z:9.18 [[ 9.99522309e-01 -2.67176159e-02 -1.55345574e-02 5.92616675e+02] [ 2.67187502e-02 9.99642981e-01 -1.34560179e-04 7.54108691e+00] [ 1.55326064e-02 -2.80568058e-04 9.99879322e-01 9.18061077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.0092541539999 meters Centerline goodness : 0.999079 Centerline is valid? [True, True] Translation: X:592.65, Y:7.54, Z:9.18 [[ 9.99383209e-01 -3.14941218e-02 -1.55345527e-02 5.92645543e+02] [ 3.14958242e-02 9.99503874e-01 -1.35106041e-04 7.53934847e+00] [ 1.55311006e-02 -3.54250831e-04 9.99879322e-01 9.18111169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.0392541539999 meters Centerline goodness : 0.999038 Centerline is valid? [True, True] Translation: X:592.68, Y:7.54, Z:9.18 [[ 9.99310661e-01 -3.37176496e-02 -1.55345435e-02 5.92675143e+02] [ 3.37196044e-02 9.99431323e-01 -1.36151851e-04 7.53808178e+00] [ 1.55303001e-02 -3.87760665e-04 9.99879322e-01 9.18040648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.069254154 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:592.71, Y:7.54, Z:9.18 [[ 9.99209644e-01 -3.65891392e-02 -1.55345411e-02 5.92706815e+02] [ 3.65914365e-02 9.99330300e-01 -1.36419418e-04 7.53721959e+00] [ 1.55291291e-02 -4.32119578e-04 9.99879322e-01 9.18256240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.0992541539999 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:592.74, Y:7.54, Z:9.18 [[ 9.99008587e-01 -4.17195541e-02 -1.55345459e-02 5.92737849e+02] [ 4.17224795e-02 9.99129229e-01 -1.35870063e-04 7.53534850e+00] [ 1.55266874e-02 -5.12404415e-04 9.99879322e-01 9.18301819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.1292541539999 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:592.77, Y:7.53, Z:9.18 [[ 9.98906883e-01 -4.40875964e-02 -1.55345507e-02 5.92768925e+02] [ 4.40908163e-02 9.99027518e-01 -1.35321220e-04 7.53443732e+00] [ 1.55254096e-02 -5.49757724e-04 9.99879322e-01 9.18401295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.1592541539999 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:592.80, Y:7.53, Z:9.18 [[ 9.98708908e-01 -4.83652238e-02 -1.55345556e-02 5.92801333e+02] [ 4.83689691e-02 9.98829527e-01 -1.34755283e-04 7.53293430e+00] [ 1.55228903e-02 -6.16809140e-04 9.99879322e-01 9.18454995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.189254154 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:592.83, Y:7.53, Z:9.19 [[ 9.98616882e-01 -5.02294669e-02 -1.55345654e-02 5.92833448e+02] [ 5.02334550e-02 9.98737494e-01 -1.33614253e-04 7.53257790e+00] [ 1.55216643e-02 -6.46925446e-04 9.99879322e-01 9.18537235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.2192541539999 meters Centerline goodness : 0.999148 Centerline is valid? [True, True] Translation: X:592.86, Y:7.53, Z:9.19 [[ 9.98517014e-01 -5.21770917e-02 -1.55345752e-02 5.92864686e+02] [ 5.21813328e-02 9.98637617e-01 -1.32473223e-04 7.53228170e+00] [ 1.55203232e-02 -6.78338071e-04 9.99879322e-01 9.18573229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.2492541539999 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:592.90, Y:7.53, Z:9.19 [[ 9.98417607e-01 -5.40458944e-02 -1.55345824e-02 5.92896955e+02] [ 5.40503744e-02 9.98538201e-01 -1.31622984e-04 7.53173568e+00] [ 1.55189876e-02 -7.08235289e-04 9.99879322e-01 9.18638127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.2792541539999 meters Centerline goodness : 0.999232 Centerline is valid? [True, True] Translation: X:592.93, Y:7.53, Z:9.19 [[ 9.98179230e-01 -5.82829360e-02 -1.55345918e-02 5.92928700e+02] [ 5.82879453e-02 9.98299804e-01 -1.30500365e-04 7.53066823e+00] [ 1.55157859e-02 -7.75216683e-04 9.99879322e-01 9.18749689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.309254154 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:592.96, Y:7.53, Z:9.19 [[ 9.98042258e-01 -6.05832317e-02 -1.55346015e-02 5.92960070e+02] [ 6.05885368e-02 9.98162819e-01 -1.29339289e-04 7.53023518e+00] [ 1.55138974e-02 -8.12132698e-04 9.99879322e-01 9.18790734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.339254154 meters Centerline goodness : 0.999188 Centerline is valid? [True, True] Translation: X:592.99, Y:7.53, Z:9.19 [[ 9.97896664e-01 -6.29358679e-02 -1.55346086e-02 5.92990811e+02] [ 6.29414706e-02 9.98017212e-01 -1.28473737e-04 7.52989763e+00] [ 1.55118924e-02 -8.49567600e-04 9.99879322e-01 9.18802387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.3692541539999 meters Centerline goodness : 0.999021 Centerline is valid? [True, True] Translation: X:593.02, Y:7.53, Z:9.19 [[ 9.97744547e-01 -6.53031031e-02 -1.55346242e-02 5.93023254e+02] [ 6.53090214e-02 9.97865079e-01 -1.26569846e-04 7.53001306e+00] [ 1.55097244e-02 -8.88266727e-04 9.99879322e-01 9.18881200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.3992541539999 meters Centerline goodness : 0.999147 Centerline is valid? [True, True] Translation: X:593.05, Y:7.53, Z:9.19 [[ 9.97451945e-01 -6.96296844e-02 -1.55346335e-02 5.93054301e+02] [ 6.96361433e-02 9.97572449e-01 -1.25415991e-04 7.53081069e+00] [ 1.55056550e-02 -9.56675537e-04 9.99879322e-01 9.18900589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.429254154 meters Centerline goodness : 0.999125 Centerline is valid? [True, True] Translation: X:593.09, Y:7.53, Z:9.19 [[ 9.97318762e-01 -7.15119669e-02 -1.55346488e-02 5.93085809e+02] [ 7.15186831e-02 9.97439253e-01 -1.23489298e-04 7.53122514e+00] [ 1.55036994e-02 -9.87859430e-04 9.99879322e-01 9.18882623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.459254154 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:593.12, Y:7.53, Z:9.19 [[ 9.97166010e-01 -7.36112985e-02 -1.55346555e-02 5.93118320e+02] [ 7.36182814e-02 9.97286485e-01 -1.22644222e-04 7.53175357e+00] [ 1.55015299e-02 -1.02133799e-03 9.99879322e-01 9.19004984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.4892541539999 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:593.15, Y:7.53, Z:9.19 [[ 9.97141987e-01 -7.39359958e-02 -1.55346644e-02 5.93150351e+02] [ 7.39430358e-02 9.97262459e-01 -1.21494627e-04 7.53246167e+00] [ 1.55011205e-02 -1.02753285e-03 9.99879322e-01 9.19021744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.5192541539999 meters Centerline goodness : 0.999127 Centerline is valid? [True, True] Translation: X:593.18, Y:7.53, Z:9.19 [[ 9.97151105e-01 -7.38129169e-02 -1.55346755e-02 5.93182368e+02] [ 7.38199642e-02 9.97271577e-01 -1.20063002e-04 7.53487542e+00] [ 1.55011525e-02 -1.02704823e-03 9.99879322e-01 9.19096767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.5492541539999 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:593.21, Y:7.54, Z:9.19 [[ 9.97015440e-01 -7.56233094e-02 -1.55346964e-02 5.93211881e+02] [ 7.56306182e-02 9.97135896e-01 -1.17302725e-04 7.53837784e+00] [ 1.54990742e-02 -1.05794606e-03 9.99879322e-01 9.18810957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.579254154 meters Centerline goodness : 0.999292 Centerline is valid? [True, True] Translation: X:593.24, Y:7.54, Z:9.19 [[ 9.97207224e-01 -7.30509398e-02 -1.55342594e-02 5.93243393e+02] [ 7.30570445e-02 9.97327748e-01 -1.74889491e-04 7.53811504e+00] [ 1.55055238e-02 -9.60486016e-04 9.99879321e-01 9.19247013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.6092541539999 meters Centerline goodness : 0.999314 Centerline is valid? [True, True] Translation: X:593.27, Y:7.54, Z:9.19 [[ 9.97089441e-01 -7.46412741e-02 -1.55346982e-02 5.93273302e+02] [ 7.46484804e-02 9.97209903e-01 -1.16258423e-04 7.54214532e+00] [ 1.55000326e-02 -1.04372157e-03 9.99879323e-01 9.19069996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.6392541539999 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:593.30, Y:7.54, Z:9.19 [[ 9.97374844e-01 -7.07255761e-02 -1.55342709e-02 5.93304645e+02] [ 7.07314269e-02 9.97495381e-01 -1.73140355e-04 7.54377174e+00] [ 1.55076089e-02 -9.26075309e-04 9.99879321e-01 9.19394340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.6692541539999 meters Centerline goodness : 0.998979 Centerline is valid? [True, True] Translation: X:593.34, Y:7.55, Z:9.19 [[ 9.97462709e-01 -6.94752982e-02 -1.55347008e-02 5.93336733e+02] [ 6.94818980e-02 9.97583206e-01 -1.15133047e-04 7.54565987e+00] [ 1.55051555e-02 -9.64539575e-04 9.99879323e-01 9.19404932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.699254154 meters Centerline goodness : 0.998957 Centerline is valid? [True, True] Translation: X:593.37, Y:7.55, Z:9.20 [[ 9.97593731e-01 -6.75678913e-02 -1.55347111e-02 5.93369985e+02] [ 6.75742824e-02 9.97714239e-01 -1.13729848e-04 7.54764038e+00] [ 1.55068869e-02 -9.36290769e-04 9.99879323e-01 9.19575456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.7292541539999 meters Centerline goodness : 0.998873 Centerline is valid? [True, True] Translation: X:593.40, Y:7.55, Z:9.20 [[ 9.97817244e-01 -6.41827014e-02 -1.55347235e-02 5.93401806e+02] [ 6.41887103e-02 9.97937772e-01 -1.12007566e-04 7.55350423e+00] [ 1.55098763e-02 -8.85390785e-04 9.99879323e-01 9.19851559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.7592541539999 meters Centerline goodness : 0.998895 Centerline is valid? [True, True] Translation: X:593.43, Y:7.56, Z:9.20 [[ 9.97957234e-01 -6.19679884e-02 -1.55347316e-02 5.93433552e+02] [ 6.19737475e-02 9.98077774e-01 -1.10865414e-04 7.55619955e+00] [ 1.55117405e-02 -8.52106595e-04 9.99879323e-01 9.19945325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.7892541539999 meters Centerline goodness : 0.998934 Centerline is valid? [True, True] Translation: X:593.47, Y:7.56, Z:9.20 [[ 9.98243343e-01 -5.71743023e-02 -1.55347397e-02 5.93465902e+02] [ 5.71795001e-02 9.98363908e-01 -1.09731833e-04 7.56171412e+00] [ 1.55155972e-02 -7.78729575e-04 9.99879323e-01 9.20043787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.819254154 meters Centerline goodness : 0.998704 Centerline is valid? [True, True] Translation: X:593.50, Y:7.56, Z:9.20 [[ 9.98374697e-01 -5.48327985e-02 -1.55347588e-02 5.93496658e+02] [ 5.48377565e-02 9.98495272e-01 -1.06956478e-04 7.56484442e+00] [ 1.55172479e-02 -7.45108677e-04 9.99879323e-01 9.20099028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.8492541539999 meters Centerline goodness : 0.998911 Centerline is valid? [True, True] Translation: X:593.53, Y:7.57, Z:9.20 [[ 9.98505146e-01 -5.24036669e-02 -1.55347644e-02 5.93528880e+02] [ 5.24083445e-02 9.98625733e-01 -1.06124774e-04 7.56764927e+00] [ 1.55189769e-02 -7.08185153e-04 9.99879323e-01 9.20170252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.8792541539999 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:593.56, Y:7.57, Z:9.20 [[ 9.98738166e-01 -4.77571621e-02 -1.55347720e-02 5.93560390e+02] [ 4.77612960e-02 9.98858773e-01 -1.05001191e-04 7.57294798e+00] [ 1.55220579e-02 -6.37092149e-04 9.99879323e-01 9.20122200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.9092541539999 meters Centerline goodness : 0.998993 Centerline is valid? [True, True] Translation: X:593.59, Y:7.58, Z:9.20 [[ 9.98851928e-01 -4.53155298e-02 -1.55347776e-02 5.93591261e+02] [ 4.53193819e-02 9.98972544e-01 -1.04164131e-04 7.57581698e+00] [ 1.55235366e-02 -5.99981977e-04 9.99879323e-01 9.20136240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.939254154 meters Centerline goodness : 0.998851 Centerline is valid? [True, True] Translation: X:593.62, Y:7.58, Z:9.20 [[ 9.98978371e-01 -4.24368225e-02 -1.55347893e-02 5.93623691e+02] [ 4.24403544e-02 9.99098997e-01 -1.02397178e-04 7.57827196e+00] [ 1.55251378e-02 -5.57009397e-04 9.99879323e-01 9.20177662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.9692541539999 meters Centerline goodness : 0.998780 Centerline is valid? [True, True] Translation: X:593.66, Y:7.58, Z:9.20 [[ 9.99192804e-01 -3.70460612e-02 -1.55347964e-02 5.93655785e+02] [ 3.70489590e-02 9.99313447e-01 -1.01309083e-04 7.58266914e+00] [ 1.55278840e-02 -4.74320728e-04 9.99879323e-01 9.20384533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.9992541539999 meters Centerline goodness : 0.998780 Centerline is valid? [True, True] Translation: X:593.69, Y:7.58, Z:9.20 [[ 9.99195552e-01 -3.69718597e-02 -1.55348038e-02 5.93688470e+02] [ 3.69747666e-02 9.99316195e-01 -1.00154583e-04 7.58282123e+00] [ 1.55278840e-02 -4.74321731e-04 9.99879323e-01 9.20435283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.0292541539999 meters Centerline goodness : 0.998717 Centerline is valid? [True, True] Translation: X:593.72, Y:7.59, Z:9.21 [[ 9.99284328e-01 -3.44891589e-02 -1.55348112e-02 5.93720659e+02] [ 3.44917839e-02 9.99404977e-01 -9.90010879e-05 7.58512817e+00] [ 1.55289821e-02 -4.36893114e-04 9.99879323e-01 9.20502578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.059254154 meters Centerline goodness : 0.998674 Centerline is valid? [True, True] Translation: X:593.75, Y:7.59, Z:9.21 [[ 9.99432600e-01 -2.98855776e-02 -1.55348184e-02 5.93753067e+02] [ 2.98876646e-02 9.99553259e-01 -9.78537297e-05 7.58901133e+00] [ 1.55308028e-02 -3.66501234e-04 9.99879323e-01 9.20607573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.089254154 meters Centerline goodness : 0.999075 Centerline is valid? [True, True] Translation: X:593.78, Y:7.59, Z:9.21 [[ 9.99492434e-01 -2.78126578e-02 -1.55348255e-02 5.93784902e+02] [ 2.78145122e-02 9.99613097e-01 -9.67174623e-05 7.59058602e+00] [ 1.55315050e-02 -3.35425222e-04 9.99879323e-01 9.20633353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.1192541539999 meters Centerline goodness : 0.998990 Centerline is valid? [True, True] Translation: X:593.82, Y:7.59, Z:9.21 [[ 9.99536232e-01 -2.61913997e-02 -1.55348290e-02 5.93816605e+02] [ 2.61930671e-02 9.99656898e-01 -9.61523600e-05 7.59176342e+00] [ 1.55320173e-02 -3.10797051e-04 9.99879323e-01 9.20664566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.1492541539999 meters Centerline goodness : 0.999012 Centerline is valid? [True, True] Translation: X:593.85, Y:7.59, Z:9.21 [[ 9.99577358e-01 -2.45718263e-02 -1.55348325e-02 5.93847017e+02] [ 2.45733070e-02 9.99698026e-01 -9.55871995e-05 7.59383399e+00] [ 1.55324901e-02 -2.86195407e-04 9.99879323e-01 9.20656875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.179254154 meters Centerline goodness : 0.998715 Centerline is valid? [True, True] Translation: X:593.88, Y:7.59, Z:9.21 [[ 9.99573815e-01 -2.47155452e-02 -1.55348342e-02 5.93877275e+02] [ 2.47170476e-02 9.99694483e-01 -9.53065218e-05 7.59484427e+00] [ 1.55324436e-02 -2.88709333e-04 9.99879323e-01 9.20660040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.209254154 meters Centerline goodness : 0.998735 Centerline is valid? [True, True] Translation: X:593.91, Y:7.60, Z:9.21 [[ 9.99568861e-01 -2.49150811e-02 -1.55348342e-02 5.93905672e+02] [ 2.49166076e-02 9.99689529e-01 -9.53065218e-05 7.59636410e+00] [ 1.55323856e-02 -2.91809936e-04 9.99879323e-01 9.20576994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.2392541539999 meters Centerline goodness : 0.998671 Centerline is valid? [True, True] Translation: X:593.94, Y:7.60, Z:9.21 [[ 9.99510388e-01 -2.71599816e-02 -1.55344513e-02 5.93936808e+02] [ 2.71607993e-02 9.99631065e-01 -1.58372508e-04 7.59724168e+00] [ 1.55330215e-02 -2.63633146e-04 9.99879321e-01 9.20831587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.2692541539999 meters Centerline goodness : 0.998692 Centerline is valid? [True, True] Translation: X:593.97, Y:7.60, Z:9.21 [[ 9.99471938e-01 -2.85397027e-02 -1.55348407e-02 5.93967272e+02] [ 2.85416861e-02 9.99592599e-01 -9.40631543e-05 7.59780179e+00] [ 1.55311963e-02 -3.49377064e-04 9.99879323e-01 9.20743415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.2992541539999 meters Centerline goodness : 0.998926 Centerline is valid? [True, True] Translation: X:594.00, Y:7.60, Z:9.21 [[ 9.99363912e-01 -3.21004750e-02 -1.55348461e-02 5.93998418e+02] [ 3.21029024e-02 9.99484565e-01 -9.31552325e-05 7.59829089e+00] [ 1.55298293e-02 -4.05617673e-04 9.99879323e-01 9.20880602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.329254154 meters Centerline goodness : 0.998927 Centerline is valid? [True, True] Translation: X:594.03, Y:7.59, Z:9.21 [[ 9.99450919e-01 -2.92665091e-02 -1.55348495e-02 5.94032938e+02] [ 2.92686031e-02 9.99571578e-01 -9.25906137e-05 7.59319001e+00] [ 1.55309038e-02 -3.62143571e-04 9.99879323e-01 9.20568783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.3592541539999 meters Centerline goodness : 0.998928 Centerline is valid? [True, True] Translation: X:594.06, Y:7.60, Z:9.21 [[ 9.99236425e-01 -3.58495534e-02 -1.55363285e-02 5.94056898e+02] [ 3.58565201e-02 9.99356934e-01 1.69999129e-04 7.59895061e+00] [ 1.55202432e-02 -7.26947997e-04 9.99879290e-01 9.20855113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.3892541539999 meters Centerline goodness : 0.998923 Centerline is valid? [True, True] Translation: X:594.09, Y:7.60, Z:9.21 [[ 9.99229026e-01 -3.60558788e-02 -1.55347188e-02 5.94089190e+02] [ 3.60587619e-02 9.99349667e-01 -9.45568132e-05 7.59921176e+00] [ 1.55280254e-02 -4.65678813e-04 9.99879325e-01 9.21061927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.4192541539999 meters Centerline goodness : 0.998674 Centerline is valid? [True, True] Translation: X:594.12, Y:7.60, Z:9.21 [[ 9.99208422e-01 -3.66224188e-02 -1.55347256e-02 5.94120857e+02] [ 3.66253879e-02 9.99329061e-01 -9.34237187e-05 7.59984953e+00] [ 1.55277241e-02 -4.75615584e-04 9.99879325e-01 9.21142737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.449254154 meters Centerline goodness : 0.999011 Centerline is valid? [True, True] Translation: X:594.15, Y:7.60, Z:9.21 [[ 9.99235682e-01 -3.58709458e-02 -1.55347306e-02 5.94152991e+02] [ 3.58738374e-02 9.99356322e-01 -9.25762913e-05 7.60007697e+00] [ 1.55280521e-02 -4.64784867e-04 9.99879325e-01 9.21273468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.4792541539999 meters Centerline goodness : 0.998754 Centerline is valid? [True, True] Translation: X:594.18, Y:7.60, Z:9.21 [[ 9.99282450e-01 -3.45435646e-02 -1.55347374e-02 5.94184702e+02] [ 3.45463137e-02 9.99403094e-01 -9.14325326e-05 7.60043235e+00] [ 1.55286230e-02 -4.45300984e-04 9.99879325e-01 9.21343855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.5092541539999 meters Centerline goodness : 0.998860 Centerline is valid? [True, True] Translation: X:594.22, Y:7.60, Z:9.21 [[ 9.99334722e-01 -3.29967492e-02 -1.55347440e-02 5.94215816e+02] [ 3.29993292e-02 9.99455370e-01 -9.02889009e-05 7.60094508e+00] [ 1.55292626e-02 -4.22407299e-04 9.99879325e-01 9.21393644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.5392541539999 meters Centerline goodness : 0.998924 Centerline is valid? [True, True] Translation: X:594.25, Y:7.60, Z:9.22 [[ 9.99475659e-01 -2.84091279e-02 -1.55347489e-02 5.94247674e+02] [ 2.84111674e-02 9.99596317e-01 -8.94355460e-05 7.60184038e+00] [ 1.55310186e-02 -3.51971702e-04 9.99879325e-01 9.21560409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.569254154 meters Centerline goodness : 0.998691 Centerline is valid? [True, True] Translation: X:594.28, Y:7.60, Z:9.22 [[ 9.99536285e-01 -2.61894373e-02 -1.55347554e-02 5.94279340e+02] [ 2.61912266e-02 9.99656947e-01 -8.82987964e-05 7.60255495e+00] [ 1.55317386e-02 -3.18616447e-04 9.99879325e-01 9.21655628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.5992541539999 meters Centerline goodness : 0.998818 Centerline is valid? [True, True] Translation: X:594.31, Y:7.60, Z:9.22 [[ 9.99643981e-01 -2.16929048e-02 -1.55347586e-02 5.94308920e+02] [ 2.16941600e-02 9.99764650e-01 -8.77336967e-05 7.60354617e+00] [ 1.55330057e-02 -2.49311076e-04 9.99879325e-01 9.21583686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.6292541539999 meters Centerline goodness : 0.999029 Centerline is valid? [True, True] Translation: X:594.34, Y:7.60, Z:9.22 [[ 9.99664458e-01 -2.07280109e-02 -1.55344982e-02 5.94339074e+02] [ 2.07284508e-02 9.99785134e-01 -1.32714630e-04 7.60364615e+00] [ 1.55339113e-02 -1.89335983e-04 9.99879324e-01 9.21732789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.6592541539999 meters Centerline goodness : 0.998966 Centerline is valid? [True, True] Translation: X:594.37, Y:7.60, Z:9.22 [[ 9.99689243e-01 -1.94958673e-02 -1.55347417e-02 5.94368828e+02] [ 1.94968020e-02 9.99809915e-01 -9.12882327e-05 7.60328626e+00] [ 1.55335685e-02 -2.11617919e-04 9.99879324e-01 9.21760731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.689254154 meters Centerline goodness : 0.998923 Centerline is valid? [True, True] Translation: X:594.40, Y:7.60, Z:9.22 [[ 9.99716771e-01 -1.80291337e-02 -1.55347383e-02 5.94396410e+02] [ 1.80298825e-02 9.99837444e-01 -9.18615648e-05 7.60256072e+00] [ 1.55338692e-02 -1.88253959e-04 9.99879324e-01 9.21565311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.7192541539999 meters Centerline goodness : 0.998966 Centerline is valid? [True, True] Translation: X:594.43, Y:7.60, Z:9.22 [[ 9.99680955e-01 -1.99168108e-02 -1.55341047e-02 5.94427735e+02] [ 1.99161859e-02 9.99801634e-01 -1.94938285e-04 7.60073716e+00] [ 1.55349058e-02 -1.14504026e-04 9.99879320e-01 9.21693162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.7492541539999 meters Centerline goodness : 0.998883 Centerline is valid? [True, True] Translation: X:594.46, Y:7.60, Z:9.22 [[ 9.99727882e-01 -1.74021543e-02 -1.55347159e-02 5.94462707e+02] [ 1.74027806e-02 9.99848556e-01 -9.48763267e-05 7.59557231e+00] [ 1.55340143e-02 -1.75496744e-04 9.99879325e-01 9.21648448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.7792541539999 meters Centerline goodness : 0.998862 Centerline is valid? [True, True] Translation: X:594.49, Y:7.60, Z:9.22 [[ 9.99581141e-01 -2.44165736e-02 -1.55362257e-02 5.94488076e+02] [ 2.44219516e-02 9.99701727e-01 1.56498942e-04 7.59839011e+00] [ 1.55277705e-02 -5.35858344e-04 9.99879293e-01 9.21627740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.809254154 meters Centerline goodness : 0.998883 Centerline is valid? [True, True] Translation: X:594.52, Y:7.60, Z:9.22 [[ 9.99540739e-01 -2.60190062e-02 -1.55345752e-02 5.94517334e+02] [ 2.60205931e-02 9.99661402e-01 -9.99961906e-05 7.59779764e+00] [ 1.55319170e-02 -3.04268594e-04 9.99879326e-01 9.21555998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.839254154 meters Centerline goodness : 0.998863 Centerline is valid? [True, True] Translation: X:594.55, Y:7.60, Z:9.22 [[ 9.99487697e-01 -2.79824946e-02 -1.55345734e-02 5.94547454e+02] [ 2.79843142e-02 9.99608357e-01 -1.00272976e-04 7.59742868e+00] [ 1.55312953e-02 -3.34502778e-04 9.99879326e-01 9.21695632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.8692541539999 meters Centerline goodness : 0.999097 Centerline is valid? [True, True] Translation: X:594.58, Y:7.60, Z:9.22 [[ 9.99384393e-01 -3.14565106e-02 -1.55345734e-02 5.94577619e+02] [ 3.14587496e-02 9.99505046e-01 -1.00272976e-04 7.59606596e+00] [ 1.55300387e-02 -3.88487008e-04 9.99879326e-01 9.21566014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.8992541539999 meters Centerline goodness : 0.998925 Centerline is valid? [True, True] Translation: X:594.61, Y:7.60, Z:9.22 [[ 9.99311829e-01 -3.36830134e-02 -1.55345752e-02 5.94608455e+02] [ 3.36855256e-02 9.99432477e-01 -9.99904732e-05 7.59566292e+00] [ 1.55291270e-02 -4.23368669e-04 9.99879326e-01 9.21682158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.929254154 meters Centerline goodness : 0.998800 Centerline is valid? [True, True] Translation: X:594.64, Y:7.59, Z:9.22 [[ 9.99136023e-01 -3.85471681e-02 -1.55345807e-02 5.94640956e+02] [ 3.85502810e-02 9.99256657e-01 -9.91275922e-05 7.59485112e+00] [ 1.55268543e-02 -4.99820504e-04 9.99879326e-01 9.21924232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.959254154 meters Centerline goodness : 0.998780 Centerline is valid? [True, True] Translation: X:594.67, Y:7.59, Z:9.22 [[ 9.99024636e-01 -4.13334462e-02 -1.55345877e-02 5.94671673e+02] [ 4.13369127e-02 9.99145260e-01 -9.80163021e-05 7.59475586e+00] [ 1.55253611e-02 -5.44231197e-04 9.99879326e-01 9.21985447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.9892541539999 meters Centerline goodness : 0.998696 Centerline is valid? [True, True] Translation: X:594.70, Y:7.59, Z:9.22 [[ 9.98723892e-01 -4.80548005e-02 -1.55345929e-02 5.94703631e+02] [ 4.80590915e-02 9.98844490e-01 -9.71868692e-05 7.59427349e+00] [ 1.55213128e-02 -6.49515575e-04 9.99879326e-01 9.22182334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.0192541539999 meters Centerline goodness : 0.998676 Centerline is valid? [True, True] Translation: X:594.74, Y:7.59, Z:9.22 [[ 9.98587526e-01 -5.08097291e-02 -1.55345999e-02 5.94735892e+02] [ 5.08143701e-02 9.98708111e-01 -9.60673403e-05 7.59338092e+00] [ 1.55194120e-02 -6.93449259e-04 9.99879326e-01 9.22222090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.0492541539999 meters Centerline goodness : 0.998720 Centerline is valid? [True, True] Translation: X:594.77, Y:7.59, Z:9.22 [[ 9.98360516e-01 -5.50904415e-02 -1.55346069e-02 5.94768480e+02] [ 5.50956173e-02 9.98481078e-01 -9.49204939e-05 7.59387554e+00] [ 1.55162402e-02 -7.61123881e-04 9.99879326e-01 9.22376768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.079254154 meters Centerline goodness : 0.998740 Centerline is valid? [True, True] Translation: X:594.80, Y:7.59, Z:9.22 [[ 9.98118309e-01 -5.93170848e-02 -1.55346172e-02 5.94803309e+02] [ 5.93227978e-02 9.98238848e-01 -9.31940941e-05 7.59113633e+00] [ 1.55127864e-02 -8.28538225e-04 9.99879326e-01 9.22242208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.1092541539999 meters Centerline goodness : 0.998825 Centerline is valid? [True, True] Translation: X:594.83, Y:7.59, Z:9.22 [[ 9.97873929e-01 -6.32951632e-02 -1.55352543e-02 5.94833880e+02] [ 6.33030290e-02 9.97994352e-01 1.46025300e-05 7.59298617e+00] [ 1.55031717e-02 -9.98000135e-04 9.99879321e-01 9.22459911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.1392541539999 meters Centerline goodness : 0.998887 Centerline is valid? [True, True] Translation: X:594.86, Y:7.59, Z:9.22 [[ 9.97665137e-01 -6.65051826e-02 -1.55349435e-02 5.94863663e+02] [ 6.65126339e-02 9.97785582e-01 -3.70976238e-05 7.59492426e+00] [ 1.55030099e-02 -9.96259006e-04 9.99879325e-01 9.22467228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.1692541539999 meters Centerline goodness : 0.998929 Centerline is valid? [True, True] Translation: X:594.90, Y:7.60, Z:9.22 [[ 9.97471394e-01 -6.93505228e-02 -1.55346119e-02 5.94896188e+02] [ 6.93574554e-02 9.97591868e-01 -9.26885442e-05 7.59641664e+00] [ 1.55036305e-02 -9.84986979e-04 9.99879326e-01 9.22464915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.199254154 meters Centerline goodness : 0.999033 Centerline is valid? [True, True] Translation: X:594.93, Y:7.60, Z:9.23 [[ 9.97410760e-01 -7.02171756e-02 -1.55346281e-02 5.94929077e+02] [ 7.02242565e-02 9.97531225e-01 -8.98785757e-05 7.59759195e+00] [ 1.55025877e-02 -1.00126185e-03 9.99879326e-01 9.22515175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.2292541539999 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:594.96, Y:7.60, Z:9.22 [[ 9.97416979e-01 -7.01287703e-02 -1.55346379e-02 5.94961585e+02] [ 7.01358672e-02 9.97537444e-01 -8.81548186e-05 7.59970736e+00] [ 1.55025652e-02 -1.00160819e-03 9.99879326e-01 9.22395144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.2592541539999 meters Centerline goodness : 0.998905 Centerline is valid? [True, True] Translation: X:594.99, Y:7.60, Z:9.22 [[ 9.97490637e-01 -6.90731753e-02 -1.55346535e-02 5.94994600e+02] [ 6.90801888e-02 9.97611107e-01 -8.53134368e-05 7.60120737e+00] [ 1.55034358e-02 -9.88037444e-04 9.99879326e-01 9.22457531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.2892541539999 meters Centerline goodness : 0.998672 Centerline is valid? [True, True] Translation: X:595.03, Y:7.61, Z:9.22 [[ 9.97751324e-01 -6.51994675e-02 -1.55346627e-02 5.95026664e+02] [ 6.52060398e-02 9.97871818e-01 -8.36032309e-05 7.60584486e+00] [ 1.55070530e-02 -9.29538601e-04 9.99879326e-01 9.22478552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.319254154 meters Centerline goodness : 0.998798 Centerline is valid? [True, True] Translation: X:595.06, Y:7.61, Z:9.23 [[ 9.97956783e-01 -6.19752689e-02 -1.55346774e-02 5.95058289e+02] [ 6.19814955e-02 9.98077295e-01 -8.07854666e-05 7.60865253e+00] [ 1.55098155e-02 -8.82242131e-04 9.99879326e-01 9.22505534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.3492541539999 meters Centerline goodness : 0.998965 Centerline is valid? [True, True] Translation: X:595.09, Y:7.61, Z:9.23 [[ 9.98178169e-01 -5.83010937e-02 -1.55346844e-02 5.95091003e+02] [ 5.83068981e-02 9.98298702e-01 -7.94013691e-05 7.61191546e+00] [ 1.55128845e-02 -8.26522550e-04 9.99879326e-01 9.22569419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.3792541539999 meters Centerline goodness : 0.999301 Centerline is valid? [True, True] Translation: X:595.12, Y:7.62, Z:9.23 [[ 9.98642738e-01 -4.97127285e-02 -1.55346927e-02 5.95123671e+02] [ 4.97175214e-02 9.98763316e-01 -7.77537055e-05 7.61847770e+00] [ 1.55193465e-02 -6.94698244e-04 9.99879326e-01 9.22710627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.4092541539999 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:595.16, Y:7.62, Z:9.23 [[ 9.98845575e-01 -4.54553749e-02 -1.55347009e-02 5.95156289e+02] [ 4.54596799e-02 9.98966171e-01 -7.60701711e-05 7.62162596e+00] [ 1.55220985e-02 -6.30220178e-04 9.99879326e-01 9.22794567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.439254154 meters Centerline goodness : 0.999362 Centerline is valid? [True, True] Translation: X:595.19, Y:7.63, Z:9.23 [[ 9.99195846e-01 -3.69639687e-02 -1.55347064e-02 5.95188654e+02] [ 3.69672663e-02 9.99316474e-01 -7.49296220e-05 7.62731303e+00] [ 1.55268578e-02 -4.99406262e-04 9.99879326e-01 9.22897493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.4692541539999 meters Centerline goodness : 0.999277 Centerline is valid? [True, True] Translation: X:595.22, Y:7.63, Z:9.23 [[ 9.99338789e-01 -3.28733643e-02 -1.55347118e-02 5.95219496e+02] [ 3.28761857e-02 9.99459429e-01 -7.37919000e-05 7.63008685e+00] [ 1.55287400e-02 -4.36978963e-04 9.99879326e-01 9.22957809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.4992541539999 meters Centerline goodness : 0.999021 Centerline is valid? [True, True] Translation: X:595.25, Y:7.63, Z:9.23 [[ 9.99461614e-01 -2.88990578e-02 -1.55347205e-02 5.95251764e+02] [ 2.89014285e-02 9.99582264e-01 -7.19183986e-05 7.63273864e+00] [ 1.55303095e-02 -3.77095936e-04 9.99879326e-01 9.23059420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.5292541539999 meters Centerline goodness : 0.999317 Centerline is valid? [True, True] Translation: X:595.28, Y:7.64, Z:9.23 [[ 9.99557537e-01 -2.53653670e-02 -1.55347256e-02 5.95283446e+02] [ 2.53673285e-02 9.99678195e-01 -7.07993334e-05 7.63546537e+00] [ 1.55315223e-02 -3.23306481e-04 9.99879326e-01 9.23179115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.559254154 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:595.31, Y:7.64, Z:9.23 [[ 9.99692440e-01 -1.93312867e-02 -1.55347282e-02 5.95313794e+02] [ 1.93325286e-02 9.99813107e-01 -7.02378944e-05 7.63987253e+00] [ 1.55331826e-02 -2.30109284e-04 9.99879326e-01 9.23263764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.589254154 meters Centerline goodness : 0.999422 Centerline is valid? [True, True] Translation: X:595.34, Y:7.64, Z:9.23 [[ 9.99735485e-01 -1.69597315e-02 -1.55347294e-02 5.95343624e+02] [ 1.69606915e-02 9.99856155e-01 -6.99596413e-05 7.64149976e+00] [ 1.55336813e-02 -1.93538618e-04 9.99879326e-01 9.23285999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.6192541539999 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:595.37, Y:7.64, Z:9.23 [[ 9.99795424e-01 -1.29530626e-02 -1.55347269e-02 5.95372689e+02] [ 1.29535304e-02 9.99916097e-01 -7.05099405e-05 7.64428376e+00] [ 1.55343368e-02 -1.30734042e-04 9.99879326e-01 9.23276055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.6492541539999 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:595.40, Y:7.65, Z:9.23 [[ 9.99813303e-01 -1.14905197e-02 -1.55347086e-02 5.95400684e+02] [ 1.14907515e-02 9.99933976e-01 -7.43364037e-05 7.64575468e+00] [ 1.55345371e-02 -1.04182951e-04 9.99879326e-01 9.23277381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.679254154 meters Centerline goodness : 0.999076 Centerline is valid? [True, True] Translation: X:595.43, Y:7.65, Z:9.23 [[ 9.99825431e-01 -1.03817680e-02 -1.55346866e-02 5.95428477e+02] [ 1.03817984e-02 9.99946105e-01 -7.86856071e-05 7.64693429e+00] [ 1.55346662e-02 -8.26061136e-05 9.99879326e-01 9.23319410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.709254154 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:595.46, Y:7.65, Z:9.23 [[ 9.99839962e-01 -8.87268220e-03 -1.55346622e-02 5.95456030e+02] [ 8.87245993e-03 9.99960636e-01 -8.32291465e-05 7.64863248e+00] [ 1.55347892e-02 -5.46148414e-05 9.99879326e-01 9.23342065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.7392541539999 meters Centerline goodness : 0.999222 Centerline is valid? [True, True] Translation: X:595.48, Y:7.65, Z:9.23 [[ 9.99838738e-01 -9.00966260e-03 -1.55346365e-02 5.95482813e+02] [ 9.00938617e-03 9.99959411e-01 -8.77790318e-05 7.64945120e+00] [ 1.55347968e-02 -5.21926631e-05 9.99879326e-01 9.23388844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.7692541539999 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:595.51, Y:7.65, Z:9.23 [[ 9.99825795e-01 -1.03467227e-02 -1.55346251e-02 5.95509833e+02] [ 1.03465770e-02 9.99946469e-01 -8.97496831e-05 7.65003318e+00] [ 1.55347222e-02 -7.09961465e-05 9.99879326e-01 9.23438744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.7992541539999 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:595.54, Y:7.65, Z:9.23 [[ 9.99808635e-01 -1.18898396e-02 -1.55346137e-02 5.95537886e+02] [ 1.18898500e-02 9.99929309e-01 -9.16944405e-05 7.65041650e+00] [ 1.55346057e-02 -9.30273320e-05 9.99879326e-01 9.23494632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.829254154 meters Centerline goodness : 0.999440 Centerline is valid? [True, True] Translation: X:595.57, Y:7.65, Z:9.24 [[ 9.99783093e-01 -1.38723878e-02 -1.55345862e-02 5.95565638e+02] [ 1.38725685e-02 9.99903767e-01 -9.61303833e-05 7.65065622e+00] [ 1.55344248e-02 -1.19395079e-04 9.99879326e-01 9.23574150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.8592541539999 meters Centerline goodness : 0.999225 Centerline is valid? [True, True] Translation: X:595.59, Y:7.65, Z:9.24 [[ 9.99726624e-01 -1.74743864e-02 -1.55345575e-02 5.95593442e+02] [ 1.74749331e-02 9.99847297e-01 -1.00557565e-04 7.65062005e+00] [ 1.55339426e-02 -1.70935279e-04 9.99879326e-01 9.23663785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.8892541539999 meters Centerline goodness : 0.999334 Centerline is valid? [True, True] Translation: X:595.62, Y:7.65, Z:9.24 [[ 9.99672002e-01 -2.03610592e-02 -1.55343606e-02 5.95621748e+02] [ 2.03614976e-02 9.99792675e-01 -1.29958114e-04 7.65035844e+00] [ 1.55337860e-02 -1.86387358e-04 9.99879326e-01 9.23761642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.9192541539999 meters Centerline goodness : 0.999334 Centerline is valid? [True, True] Translation: X:595.65, Y:7.65, Z:9.24 [[ 9.99672007e-01 -2.03606696e-02 -1.55345299e-02 5.95652743e+02] [ 2.03614976e-02 9.99792678e-01 -1.04876270e-04 7.65055594e+00] [ 1.55334446e-02 -2.11464424e-04 9.99879326e-01 9.23808932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.949254154 meters Centerline goodness : 0.999292 Centerline is valid? [True, True] Translation: X:595.68, Y:7.65, Z:9.24 [[ 9.99553320e-01 -2.55311367e-02 -1.55345299e-02 5.95683430e+02] [ 2.55325888e-02 9.99673985e-01 -1.04876270e-04 7.64900365e+00] [ 1.55321430e-02 -2.91807341e-04 9.99879326e-01 9.23967918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.9792541539999 meters Centerline goodness : 0.999379 Centerline is valid? [True, True] Translation: X:595.71, Y:7.65, Z:9.24 [[ 9.99418764e-01 -3.03445557e-02 -1.55351829e-02 5.95713881e+02] [ 3.03480126e-02 9.99539393e-01 -1.32321736e-05 7.65030727e+00] [ 1.55284288e-02 -4.58237443e-04 9.99879322e-01 9.24078666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.0092541539999 meters Centerline goodness : 0.999251 Centerline is valid? [True, True] Translation: X:595.75, Y:7.65, Z:9.24 [[ 9.99339285e-01 -3.28583572e-02 -1.55345581e-02 5.95745324e+02] [ 3.28607732e-02 9.99459934e-01 -9.97754490e-05 7.64871219e+00] [ 1.55294469e-02 -4.10768065e-04 9.99879326e-01 9.24143002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.0392541539999 meters Centerline goodness : 0.999444 Centerline is valid? [True, True] Translation: X:595.78, Y:7.65, Z:9.24 [[ 9.99105839e-01 -3.93217856e-02 -1.55344846e-02 5.95778166e+02] [ 3.93248208e-02 9.99226474e-01 -1.10150548e-04 7.64808092e+00] [ 1.55267995e-02 -5.00838765e-04 9.99879327e-01 9.24168462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.069254154 meters Centerline goodness : 0.999423 Centerline is valid? [True, True] Translation: X:595.81, Y:7.65, Z:9.24 [[ 9.98978739e-01 -4.24282705e-02 -1.55345387e-02 5.95810174e+02] [ 4.24318005e-02 9.99099360e-01 -1.02439340e-04 7.64774841e+00] [ 1.55248940e-02 -5.56823725e-04 9.99879327e-01 9.24227879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.0992541539999 meters Centerline goodness : 0.999318 Centerline is valid? [True, True] Translation: X:595.84, Y:7.65, Z:9.24 [[ 9.98769825e-01 -4.70905134e-02 -1.55344863e-02 5.95842251e+02] [ 4.70944881e-02 9.98890433e-01 -1.10054501e-04 7.64510210e+00] [ 1.55224322e-02 -6.21669564e-04 9.99879327e-01 9.24369417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.1292541539999 meters Centerline goodness : 0.999339 Centerline is valid? [True, True] Translation: X:595.87, Y:7.64, Z:9.24 [[ 9.98665252e-01 -4.92584437e-02 -1.55345155e-02 5.95874645e+02] [ 4.92627469e-02 9.98785848e-01 -1.05758236e-04 7.64456844e+00] [ 1.55208637e-02 -6.59655831e-04 9.99879327e-01 9.24405651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.1592541539999 meters Centerline goodness : 0.999211 Centerline is valid? [True, True] Translation: X:595.91, Y:7.64, Z:9.24 [[ 9.98571734e-01 -5.11191740e-02 -1.55345225e-02 5.95907769e+02] [ 5.11237180e-02 9.98692322e-01 -1.04723704e-04 7.64428459e+00] [ 1.55195617e-02 -6.89608417e-04 9.99879327e-01 9.24342814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.189254154 meters Centerline goodness : 0.999212 Centerline is valid? [True, True] Translation: X:595.94, Y:7.64, Z:9.24 [[ 9.98476447e-01 -5.29477323e-02 -1.55345340e-02 5.95939451e+02] [ 5.29525242e-02 9.98597026e-01 -1.02982532e-04 7.64401281e+00] [ 1.55181922e-02 -7.19767156e-04 9.99879327e-01 9.24408260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.2192541539999 meters Centerline goodness : 0.999382 Centerline is valid? [True, True] Translation: X:595.98, Y:7.64, Z:9.25 [[ 9.98584987e-01 -5.08596239e-02 -1.55345525e-02 5.95975760e+02] [ 5.08642082e-02 9.98705573e-01 -1.00113105e-04 7.64237187e+00] [ 1.55195359e-02 -6.90181270e-04 9.99879327e-01 9.24542954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.2492541539999 meters Centerline goodness : 0.999191 Centerline is valid? [True, True] Translation: X:596.00, Y:7.65, Z:9.25 [[ 9.98511874e-01 -5.22750678e-02 -1.55356156e-02 5.96003036e+02] [ 5.22825031e-02 9.98632332e-01 7.25650706e-05 7.64561670e+00] [ 1.55105747e-02 -8.84697958e-04 9.99879312e-01 9.24510573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.2792541539999 meters Centerline goodness : 0.999168 Centerline is valid? [True, True] Translation: X:596.04, Y:7.64, Z:9.25 [[ 9.98644093e-01 -4.96855579e-02 -1.55345078e-02 5.96039239e+02] [ 4.96900046e-02 9.98764684e-01 -9.98398757e-05 7.64496986e+00] [ 1.55202784e-02 -6.72205263e-04 9.99879327e-01 9.24589318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.309254154 meters Centerline goodness : 0.999298 Centerline is valid? [True, True] Translation: X:596.07, Y:7.65, Z:9.25 [[ 9.98616365e-01 -5.02394585e-02 -1.55355383e-02 5.96066755e+02] [ 5.02465816e-02 9.98736840e-01 6.82718671e-05 7.64765980e+00] [ 1.55124845e-02 -8.48785098e-04 9.99879314e-01 9.24644973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.339254154 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:596.10, Y:7.65, Z:9.25 [[ 9.98746487e-01 -4.75829215e-02 -1.55344605e-02 5.96100272e+02] [ 4.75871165e-02 9.98867086e-01 -9.96983306e-05 7.64969142e+00] [ 1.55216053e-02 -6.39666825e-04 9.99879328e-01 9.24728868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.3692541539999 meters Centerline goodness : 0.999253 Centerline is valid? [True, True] Translation: X:596.13, Y:7.65, Z:9.25 [[ 9.98825975e-01 -4.58841202e-02 -1.55344712e-02 5.96133634e+02] [ 4.58881362e-02 9.98946580e-01 -9.80143079e-05 7.65065683e+00] [ 1.55226041e-02 -6.14948691e-04 9.99879328e-01 9.24737669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.3992541539999 meters Centerline goodness : 0.999252 Centerline is valid? [True, True] Translation: X:596.17, Y:7.65, Z:9.25 [[ 9.98984995e-01 -4.22807327e-02 -1.55344820e-02 5.96165282e+02] [ 4.22843407e-02 9.99105613e-01 -9.62673961e-05 7.65265325e+00] [ 1.55246584e-02 -5.60695645e-04 9.99879328e-01 9.24821759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.429254154 meters Centerline goodness : 0.999272 Centerline is valid? [True, True] Translation: X:596.20, Y:7.65, Z:9.25 [[ 9.99068168e-01 -4.02675541e-02 -1.55344908e-02 5.96196790e+02] [ 4.02709414e-02 9.99188792e-01 -9.48258165e-05 7.65380283e+00] [ 1.55257075e-02 -5.30851114e-04 9.99879328e-01 9.24854127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.459254154 meters Centerline goodness : 0.999294 Centerline is valid? [True, True] Translation: X:596.23, Y:7.66, Z:9.25 [[ 9.99149824e-01 -3.81878051e-02 -1.55344960e-02 5.96228264e+02] [ 3.81909546e-02 9.99270455e-01 -9.39724755e-05 7.65506417e+00] [ 1.55267514e-02 -4.99384647e-04 9.99879328e-01 9.24911629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.4892541539999 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:596.26, Y:7.66, Z:9.25 [[ 9.99319135e-01 -3.34655970e-02 -1.55345010e-02 5.96260839e+02] [ 3.34681894e-02 9.99439779e-01 -9.31304553e-05 7.65720636e+00] [ 1.55289149e-02 -4.26844576e-04 9.99879328e-01 9.24821186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.5192541539999 meters Centerline goodness : 0.999442 Centerline is valid? [True, True] Translation: X:596.29, Y:7.66, Z:9.25 [[ 9.99404192e-01 -3.08211082e-02 -1.55345076e-02 5.96292384e+02] [ 3.08233988e-02 9.99524842e-01 -9.20118782e-05 7.65818739e+00] [ 1.55299622e-02 -3.86869267e-04 9.99879328e-01 9.24827453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.5492541539999 meters Centerline goodness : 0.999140 Centerline is valid? [True, True] Translation: X:596.32, Y:7.66, Z:9.25 [[ 9.99572910e-01 -2.47523234e-02 -1.55345125e-02 5.96324978e+02] [ 2.47538943e-02 9.99693571e-01 -9.11794011e-05 7.66038248e+00] [ 1.55320092e-02 -2.93399222e-04 9.99879328e-01 9.24588246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.579254154 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:596.36, Y:7.66, Z:9.25 [[ 9.99652423e-01 -2.13004922e-02 -1.55345191e-02 5.96356708e+02] [ 2.13016642e-02 9.99773090e-01 -9.00362790e-05 7.66130269e+00] [ 1.55329120e-02 -2.40906126e-04 9.99879328e-01 9.24564362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.6092541539999 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:596.39, Y:7.66, Z:9.25 [[ 9.99687761e-01 -1.95717316e-02 -1.55347002e-02 5.96386753e+02] [ 1.95731834e-02 9.99808425e-01 -5.85966536e-05 7.66327057e+00] [ 1.55328710e-02 -2.45485178e-04 9.99879328e-01 9.24698971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.6392541539999 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] Translation: X:596.42, Y:7.67, Z:9.25 [[ 9.99777252e-01 -1.42872079e-02 -1.55345237e-02 5.96416180e+02] [ 1.42875449e-02 9.99897924e-01 -8.92917541e-05 7.66503189e+00] [ 1.55342138e-02 -1.32678341e-04 9.99879328e-01 9.24669145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.6692541539999 meters Centerline goodness : 0.999329 Centerline is valid? [True, True] Translation: X:596.45, Y:7.67, Z:9.25 [[ 9.99818909e-01 -1.09921379e-02 -1.55345221e-02 5.96445547e+02] [ 1.09920729e-02 9.99939581e-01 -8.95708171e-05 7.66506777e+00] [ 1.55345681e-02 -8.12020026e-05 9.99879328e-01 9.24559725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.699254154 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:596.47, Y:7.67, Z:9.25 [[ 9.99829648e-01 -9.96726087e-03 -1.55347602e-02 5.96472671e+02] [ 9.96770191e-03 9.99950320e-01 -4.90387018e-05 7.66662493e+00] [ 1.55344772e-02 -1.05815510e-04 9.99879327e-01 9.24699047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.7292541539999 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:596.50, Y:7.67, Z:9.25 [[ 9.99859043e-01 -6.36983194e-03 -1.55344843e-02 5.96500534e+02] [ 6.36913366e-03 9.99979712e-01 -9.44237325e-05 7.66714642e+00] [ 1.55347706e-02 -4.53078416e-06 9.99879328e-01 9.24602421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.7592541539999 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:596.53, Y:7.67, Z:9.24 [[ 9.99868620e-01 -4.62849291e-03 -1.55344566e-02 5.96528076e+02] [ 4.62751687e-03 9.99989288e-01 -9.87750037e-05 7.66727529e+00] [ 1.55347474e-02 2.68760664e-05 9.99879328e-01 9.24475419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.7892541539999 meters Centerline goodness : 0.999480 Centerline is valid? [True, True] Translation: X:596.56, Y:7.67, Z:9.25 [[ 9.99873982e-01 -3.27135225e-03 -1.55344280e-02 5.96556267e+02] [ 3.27014540e-03 9.99994648e-01 -1.03089532e-04 7.66717330e+00] [ 1.55346821e-02 5.22767027e-05 9.99879328e-01 9.24501795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.819254154 meters Centerline goodness : 0.999545 Centerline is valid? [True, True] Translation: X:596.58, Y:7.67, Z:9.24 [[ 9.99875349e-01 -2.82311113e-03 -1.55343980e-02 5.96584421e+02] [ 2.82178272e-03 9.99996013e-01 -1.07431787e-04 7.66624013e+00] [ 1.55346393e-02 6.35836994e-05 9.99879328e-01 9.24442017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.8492541539999 meters Centerline goodness : 0.999589 Centerline is valid? [True, True] Translation: X:596.61, Y:7.66, Z:9.24 [[ 9.99871618e-01 -3.92820940e-03 -1.55343663e-02 5.96613202e+02] [ 3.92694591e-03 9.99992283e-01 -1.11837633e-04 7.66428580e+00] [ 1.55346857e-02 5.08206594e-05 9.99879328e-01 9.24472154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.8792541539999 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:596.64, Y:7.66, Z:9.25 [[ 9.99866277e-01 -5.10995122e-03 -1.55343580e-02 5.96641064e+02] [ 5.10881271e-03 9.99986944e-01 -1.12972998e-04 7.66318003e+00] [ 1.55347325e-02 3.35957651e-05 9.99879328e-01 9.24556318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.9092541539999 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:596.67, Y:7.66, Z:9.25 [[ 9.99860548e-01 -6.12937277e-03 -1.55343476e-02 5.96669219e+02] [ 6.12833541e-03 9.99981215e-01 -1.14380525e-04 7.66179146e+00] [ 1.55347569e-02 1.91648817e-05 9.99879328e-01 9.24523387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.939254154 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:596.70, Y:7.66, Z:9.24 [[ 9.99848838e-01 -7.80933436e-03 -1.55343131e-02 5.96697617e+02] [ 7.80842963e-03 9.99969507e-01 -1.18893607e-04 7.65836343e+00] [ 1.55347679e-02 -2.42295586e-06 9.99879328e-01 9.24347611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.9692541539999 meters Centerline goodness : 0.999676 Centerline is valid? [True, True] Translation: X:596.73, Y:7.66, Z:9.24 [[ 9.99843746e-01 -8.43621186e-03 -1.55343045e-02 5.96726591e+02] [ 8.43536543e-03 9.99964414e-01 -1.20010737e-04 7.65624694e+00] [ 1.55347641e-02 -1.10455499e-05 9.99879328e-01 9.24357400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.9992541539999 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:596.76, Y:7.65, Z:9.24 [[ 9.99843495e-01 -8.46595199e-03 -1.55342735e-02 5.96755872e+02] [ 8.46504875e-03 9.99964163e-01 -1.23898026e-04 7.65412185e+00] [ 1.55347657e-02 -7.61974739e-06 9.99879328e-01 9.24245493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.0292541539999 meters Centerline goodness : 0.999612 Centerline is valid? [True, True] Translation: X:596.78, Y:7.65, Z:9.24 [[ 9.99837461e-01 -9.15091912e-03 -1.55342434e-02 5.96783817e+02] [ 9.15004165e-03 9.99958129e-01 -1.27560541e-04 7.64940528e+00] [ 1.55347603e-02 -1.45991663e-05 9.99879328e-01 9.24334056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.059254154 meters Centerline goodness : 0.999570 Centerline is valid? [True, True] Translation: X:596.81, Y:7.65, Z:9.24 [[ 9.99836579e-01 -9.24683655e-03 -1.55342053e-02 5.96812209e+02] [ 9.24590102e-03 9.99957247e-01 -1.32042508e-04 7.64697479e+00] [ 1.55347621e-02 -1.16067950e-05 9.99879328e-01 9.24325447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.089254154 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:596.84, Y:7.64, Z:9.24 [[ 9.99836318e-01 -9.27510853e-03 -1.55341661e-02 5.96840428e+02] [ 9.27410705e-03 9.99956985e-01 -1.36507140e-04 7.64180623e+00] [ 1.55347640e-02 -7.58072239e-06 9.99879328e-01 9.24300485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.1192541539999 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:596.87, Y:7.64, Z:9.24 [[ 9.99832992e-01 -9.62690525e-03 -1.55341538e-02 5.96868073e+02] [ 9.62592477e-03 9.99953660e-01 -1.37888469e-04 7.63909639e+00] [ 1.55347614e-02 -1.16651547e-05 9.99879328e-01 9.24385505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.1492541539999 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:596.90, Y:7.64, Z:9.24 [[ 9.99826839e-01 -1.02461054e-02 -1.55341126e-02 5.96896015e+02] [ 1.02451299e-02 9.99947507e-01 -1.42381654e-04 7.63627850e+00] [ 1.55347560e-02 -1.67920022e-05 9.99879328e-01 9.24433132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.1792541539999 meters Centerline goodness : 0.999466 Centerline is valid? [True, True] Translation: X:596.92, Y:7.63, Z:9.24 [[ 9.99808481e-01 -1.19035552e-02 -1.55340701e-02 5.96924525e+02] [ 1.19027098e-02 9.99929149e-01 -1.46882180e-04 7.63014483e+00] [ 1.55347179e-02 -3.80434781e-05 9.99879328e-01 9.24416897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.209254154 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:596.95, Y:7.63, Z:9.24 [[ 9.99796017e-01 -1.29080611e-02 -1.55340320e-02 5.96951852e+02] [ 1.29072760e-02 9.99916686e-01 -1.50799731e-04 7.62676862e+00] [ 1.55346844e-02 -4.97330688e-05 9.99879328e-01 9.24334223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.2392541539999 meters Centerline goodness : 0.999595 Centerline is valid? [True, True] Translation: X:596.98, Y:7.62, Z:9.24 [[ 9.99780084e-01 -1.40882209e-02 -1.55340129e-02 5.96981030e+02] [ 1.40875481e-02 9.99900754e-01 -1.52741563e-04 7.62328131e+00] [ 1.55346231e-02 -6.61281816e-05 9.99879328e-01 9.24278163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.2692541539999 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:597.01, Y:7.62, Z:9.24 [[ 9.99725050e-01 -1.75647550e-02 -1.55339742e-02 5.97009867e+02] [ 1.75644420e-02 9.99845721e-01 -1.56588527e-04 7.61631256e+00] [ 1.55343280e-02 -1.16300115e-04 9.99879328e-01 9.24426428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.2992541539999 meters Centerline goodness : 0.999661 Centerline is valid? [True, True] Translation: X:597.04, Y:7.61, Z:9.24 [[ 9.99694195e-01 -1.92409440e-02 -1.55339329e-02 5.97037919e+02] [ 1.92407713e-02 9.99814866e-01 -1.60583006e-04 7.61295852e+00] [ 1.55341468e-02 -1.38350951e-04 9.99879328e-01 9.24264810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.329254154 meters Centerline goodness : 0.999493 Centerline is valid? [True, True] Translation: X:597.07, Y:7.61, Z:9.24 [[ 9.99634496e-01 -2.21262587e-02 -1.55339181e-02 5.97066268e+02] [ 2.21264124e-02 9.99755168e-01 -1.61997117e-04 7.60625630e+00] [ 1.55336993e-02 -1.81771972e-04 9.99879328e-01 9.24237517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.3592541539999 meters Centerline goodness : 0.999072 Centerline is valid? [True, True] Translation: X:597.10, Y:7.60, Z:9.24 [[ 9.99602149e-01 -2.35423510e-02 -1.55339038e-02 5.97096124e+02] [ 2.35426544e-02 9.99722820e-01 -1.63358085e-04 7.60331736e+00] [ 1.55334440e-02 -2.02416236e-04 9.99879328e-01 9.24364420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.3892541539999 meters Centerline goodness : 0.999535 Centerline is valid? [True, True] Translation: X:597.13, Y:7.60, Z:9.25 [[ 9.99571319e-01 -2.48168605e-02 -1.55338979e-02 5.97125850e+02] [ 2.48173091e-02 9.99691990e-01 -1.63919994e-04 7.60039830e+00] [ 1.55331813e-02 -2.21659820e-04 9.99879328e-01 9.24508338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.4192541539999 meters Centerline goodness : 0.999600 Centerline is valid? [True, True] Translation: X:597.16, Y:7.59, Z:9.25 [[ 9.99581522e-01 -2.44024610e-02 -1.55338919e-02 5.97156006e+02] [ 2.44028509e-02 9.99702193e-01 -1.64480115e-04 7.59434185e+00] [ 1.55332796e-02 -2.14659965e-04 9.99879328e-01 9.24560893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.449254154 meters Centerline goodness : 0.999389 Centerline is valid? [True, True] Translation: X:597.18, Y:7.59, Z:9.25 [[ 9.99602166e-01 -2.35416397e-02 -1.55338860e-02 5.97184434e+02] [ 2.35419169e-02 9.99722837e-01 -1.65040475e-04 7.59225077e+00] [ 1.55334659e-02 -2.00722636e-04 9.99879328e-01 9.24591463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.4792541539999 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:597.21, Y:7.59, Z:9.25 [[ 9.99677622e-01 -2.00836174e-02 -1.55338747e-02 5.97213365e+02] [ 2.00834607e-02 9.99798293e-01 -1.66095072e-04 7.58872555e+00] [ 1.55340772e-02 -1.45932437e-04 9.99879328e-01 9.24675716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.5092541539999 meters Centerline goodness : 0.999327 Centerline is valid? [True, True] Translation: X:597.24, Y:7.59, Z:9.25 [[ 9.99730994e-01 -1.72231811e-02 -1.55338642e-02 5.97242249e+02] [ 1.72226641e-02 9.99851665e-01 -1.67068511e-04 7.58711790e+00] [ 1.55344375e-02 -1.00510957e-04 9.99879328e-01 9.24603176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.5392541539999 meters Centerline goodness : 0.999369 Centerline is valid? [True, True] Translation: X:597.27, Y:7.58, Z:9.25 [[ 9.99786066e-01 -1.36573318e-02 -1.55338222e-02 5.97271261e+02] [ 1.36563250e-02 9.99906733e-01 -1.70893021e-04 7.58463015e+00] [ 1.55347073e-02 -4.12784618e-05 9.99879328e-01 9.25037601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.569254154 meters Centerline goodness : 0.999370 Centerline is valid? [True, True] Translation: X:597.30, Y:7.58, Z:9.25 [[ 9.99808987e-01 -1.18612998e-02 -1.55337789e-02 5.97299486e+02] [ 1.18600165e-02 9.99929652e-01 -1.74736464e-04 7.58341555e+00] [ 1.55347588e-02 -9.52778776e-06 9.99879328e-01 9.25142290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.5992541539999 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:597.33, Y:7.58, Z:9.25 [[ 9.99824183e-01 -1.05026659e-02 -1.55337635e-02 5.97327196e+02] [ 1.05011975e-02 9.99944845e-01 -1.76095040e-04 7.58194306e+00] [ 1.55347562e-02 1.29409612e-05 9.99879328e-01 9.25375951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.6292541539999 meters Centerline goodness : 0.999392 Centerline is valid? [True, True] Translation: X:597.36, Y:7.58, Z:9.26 [[ 9.99830859e-01 -9.84665372e-03 -1.55337102e-02 5.97355385e+02] [ 9.84503497e-03 9.99951520e-01 -1.80676688e-04 7.57957649e+00] [ 1.55347362e-02 2.77162077e-05 9.99879328e-01 9.25542318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.6592541539999 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:597.38, Y:7.58, Z:9.25 [[ 9.99824077e-01 -1.05128283e-02 -1.55336841e-02 5.97382530e+02] [ 1.05112554e-02 9.99944739e-01 -1.82901269e-04 7.57906585e+00] [ 1.55347484e-02 1.95905726e-05 9.99879328e-01 9.25477698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.689254154 meters Centerline goodness : 0.998993 Centerline is valid? [True, True] Translation: X:597.41, Y:7.58, Z:9.26 [[ 9.99793247e-01 -1.31212899e-02 -1.55336609e-02 5.97410652e+02] [ 1.31200016e-02 9.99913912e-01 -1.84849391e-04 7.57700843e+00] [ 1.55347491e-02 -1.89904824e-05 9.99879328e-01 9.25558190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.7192541539999 meters Centerline goodness : 0.999077 Centerline is valid? [True, True] Translation: X:597.44, Y:7.57, Z:9.25 [[ 9.99781295e-01 -1.40024866e-02 -1.55336090e-02 5.97439145e+02] [ 1.40012383e-02 9.99901960e-01 -1.89110763e-04 7.57497866e+00] [ 1.55347341e-02 -2.84203579e-05 9.99879328e-01 9.25448014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.7492541539999 meters Centerline goodness : 0.999014 Centerline is valid? [True, True] Translation: X:597.47, Y:7.57, Z:9.26 [[ 9.99735910e-01 -1.69357189e-02 -1.55335630e-02 5.97467544e+02] [ 1.69347671e-02 9.99856578e-01 -1.92814956e-04 7.57427033e+00] [ 1.55346006e-02 -7.02932367e-05 9.99879328e-01 9.25701109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.7792541539999 meters Centerline goodness : 0.999287 Centerline is valid? [True, True] Translation: X:597.50, Y:7.57, Z:9.26 [[ 9.99663631e-01 -2.07686044e-02 -1.55335161e-02 5.97496498e+02] [ 2.07680576e-02 9.99784301e-01 -1.96526396e-04 7.57315368e+00] [ 1.55342471e-02 -1.26140666e-04 9.99879328e-01 9.26092039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.809254154 meters Centerline goodness : 0.999287 Centerline is valid? [True, True] Translation: X:597.53, Y:7.57, Z:9.26 [[ 9.99658435e-01 -2.10172623e-02 -1.55334663e-02 5.97525744e+02] [ 2.10166856e-02 9.99779105e-01 -2.00386257e-04 7.57357861e+00] [ 1.55342466e-02 -1.26144164e-04 9.99879328e-01 9.26137579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.839254154 meters Centerline goodness : 0.998933 Centerline is valid? [True, True] Translation: X:597.55, Y:7.57, Z:9.26 [[ 9.99631755e-01 -2.22501145e-02 -1.55334155e-02 5.97554620e+02] [ 2.22496265e-02 9.99752426e-01 -2.04249609e-04 7.57328533e+00] [ 1.55341144e-02 -1.41438298e-04 9.99879328e-01 9.26210053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.8692541539999 meters Centerline goodness : 0.999309 Centerline is valid? [True, True] Translation: X:597.58, Y:7.57, Z:9.27 [[ 9.99511176e-01 -2.71315951e-02 -1.55333623e-02 5.97583370e+02] [ 2.71316349e-02 9.99631848e-01 -2.08215199e-04 7.57303671e+00] [ 1.55332929e-02 -2.13332096e-04 9.99879328e-01 9.26548292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.8992541539999 meters Centerline goodness : 0.999539 Centerline is valid? [True, True] Translation: X:597.61, Y:7.57, Z:9.27 [[ 9.99454349e-01 -2.91499748e-02 -1.55333080e-02 5.97613021e+02] [ 2.91501964e-02 9.99575020e-01 -2.12192774e-04 7.57307856e+00] [ 1.55328920e-02 -2.40721987e-04 9.99879328e-01 9.26575118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.9292541539999 meters Centerline goodness : 0.999371 Centerline is valid? [True, True] Translation: X:597.64, Y:7.57, Z:9.27 [[ 9.99395430e-01 -3.11045198e-02 -1.55333082e-02 5.97643148e+02] [ 3.11049777e-02 9.99516101e-01 -2.12176504e-04 7.57270841e+00] [ 1.55323913e-02 -2.71114977e-04 9.99879328e-01 9.26654202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.959254154 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:597.67, Y:7.57, Z:9.27 [[ 9.99223486e-01 -3.62096889e-02 -1.55333082e-02 5.97672709e+02] [ 3.62107633e-02 9.99344153e-01 -2.12176504e-04 7.57170428e+00] [ 1.55308036e-02 -3.50461200e-04 9.99879328e-01 9.26588134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.9892541539999 meters Centerline goodness : 0.998871 Centerline is valid? [True, True] Translation: X:597.70, Y:7.57, Z:9.27 [[ 9.99084226e-01 -3.98678334e-02 -1.55326930e-02 5.97704030e+02] [ 3.98686499e-02 9.99204896e-01 -2.57202706e-04 7.57156126e+00] [ 1.55305971e-02 -3.62300335e-04 9.99879327e-01 9.26729399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.0192541539999 meters Centerline goodness : 0.998789 Centerline is valid? [True, True] Translation: X:597.74, Y:7.57, Z:9.27 [[ 9.98865832e-01 -4.50085024e-02 -1.55333017e-02 5.97735133e+02] [ 4.50106302e-02 9.98986485e-01 -2.12767297e-04 7.57224827e+00] [ 1.55271348e-02 -4.86637716e-04 9.99879328e-01 9.26784154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.0492541539999 meters Centerline goodness : 0.999038 Centerline is valid? [True, True] Translation: X:597.77, Y:7.57, Z:9.27 [[ 9.98761893e-01 -4.72588273e-02 -1.55333134e-02 5.97767374e+02] [ 4.72612403e-02 9.98882541e-01 -2.11913192e-04 7.57240209e+00] [ 1.55259703e-02 -5.22472834e-04 9.99879328e-01 9.26926423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.079254154 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:597.80, Y:7.57, Z:9.27 [[ 9.98668124e-01 -4.92005414e-02 -1.55333287e-02 5.97798716e+02] [ 4.92032065e-02 9.98788766e-01 -2.10780325e-04 7.57239148e+00] [ 1.55248848e-02 -5.53789990e-04 9.99879328e-01 9.26945208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.1092541539999 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:597.83, Y:7.57, Z:9.27 [[ 9.98523328e-01 -5.20564964e-02 -1.55333401e-02 5.97829849e+02] [ 5.20595196e-02 9.98643962e-01 -2.09936490e-04 7.57314681e+00] [ 1.55232049e-02 -5.99031744e-04 9.99879328e-01 9.27065597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.1392541539999 meters Centerline goodness : 0.998916 Centerline is valid? [True, True] Translation: X:597.86, Y:7.57, Z:9.27 [[ 9.98507968e-01 -5.23502868e-02 -1.55333513e-02 5.97861331e+02] [ 5.23533583e-02 9.98628601e-01 -2.09107469e-04 7.57387554e+00] [ 1.55229957e-02 -6.04427633e-04 9.99879328e-01 9.27141373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.1692541539999 meters Centerline goodness : 0.999001 Centerline is valid? [True, True] Translation: X:597.89, Y:7.58, Z:9.27 [[ 9.98587599e-01 -5.08086792e-02 -1.55333623e-02 5.97893863e+02] [ 5.08115773e-02 9.98708236e-01 -2.08287025e-04 7.57558251e+00] [ 1.55238796e-02 -5.81281799e-04 9.99879328e-01 9.27320703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.199254154 meters Centerline goodness : 0.998874 Centerline is valid? [True, True] Translation: X:597.92, Y:7.58, Z:9.27 [[ 9.98685836e-01 -4.88396806e-02 -1.55333772e-02 5.97924531e+02] [ 4.88423582e-02 9.98806478e-01 -2.07167584e-04 7.57728319e+00] [ 1.55249558e-02 -5.51791443e-04 9.99879328e-01 9.27362180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.2292541539999 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:597.96, Y:7.58, Z:9.27 [[ 9.98805594e-01 -4.63260179e-02 -1.55333883e-02 5.97956533e+02] [ 4.63284048e-02 9.98926242e-01 -2.06334819e-04 7.57919106e+00] [ 1.55262679e-02 -5.13548730e-04 9.99879328e-01 9.27461320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.2592541539999 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:597.99, Y:7.58, Z:9.27 [[ 9.98917591e-01 -4.38447242e-02 -1.55334030e-02 5.97987283e+02] [ 4.38468288e-02 9.99038244e-01 -2.05219389e-04 7.58107975e+00] [ 1.55274615e-02 -4.76093205e-04 9.99879328e-01 9.27386276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.2892541539999 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:598.02, Y:7.58, Z:9.27 [[ 9.99118761e-01 -3.89924958e-02 -1.55334140e-02 5.98018447e+02] [ 3.89940272e-02 9.99239423e-01 -2.04387410e-04 7.58280909e+00] [ 1.55295692e-02 -4.01503071e-04 9.99879328e-01 9.27394139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.319254154 meters Centerline goodness : 0.999288 Centerline is valid? [True, True] Translation: X:598.05, Y:7.58, Z:9.28 [[ 9.99204532e-01 -3.67289528e-02 -1.55334212e-02 5.98049507e+02] [ 3.67302194e-02 9.99325197e-01 -2.03837407e-04 7.58387762e+00] [ 1.55304259e-02 -3.66870707e-04 9.99879328e-01 9.27529994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.3492541539999 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:598.08, Y:7.59, Z:9.28 [[ 9.99292352e-01 -3.42565038e-02 -1.55334286e-02 5.98080423e+02] [ 3.42574807e-02 9.99413020e-01 -2.03268344e-04 7.58568447e+00] [ 1.55312741e-02 -3.29011630e-04 9.99879328e-01 9.27587666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.3792541539999 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:598.11, Y:7.59, Z:9.28 [[ 9.99299845e-01 -3.40372246e-02 -1.55334361e-02 5.98112237e+02] [ 3.40381839e-02 9.99420513e-01 -2.02697990e-04 7.58672023e+00] [ 1.55313339e-02 -3.26173884e-04 9.99879328e-01 9.27639310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.4092541539999 meters Centerline goodness : 0.998850 Centerline is valid? [True, True] Translation: X:598.14, Y:7.59, Z:9.28 [[ 9.99290192e-01 -3.43194434e-02 -1.55334435e-02 5.98143330e+02] [ 3.43204457e-02 9.99410860e-01 -2.02125474e-04 7.58779191e+00] [ 1.55312290e-02 -3.31132701e-04 9.99879328e-01 9.27660884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.439254154 meters Centerline goodness : 0.998851 Centerline is valid? [True, True] Translation: X:598.17, Y:7.59, Z:9.28 [[ 9.99227983e-01 -3.60853186e-02 -1.55334510e-02 5.98173547e+02] [ 3.60865430e-02 9.99348648e-01 -2.01552461e-04 7.58903654e+00] [ 1.55306063e-02 -3.59151688e-04 9.99879328e-01 9.27513863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.4692541539999 meters Centerline goodness : 0.998912 Centerline is valid? [True, True] Translation: X:598.20, Y:7.59, Z:9.28 [[ 9.99178093e-01 -3.74412993e-02 -1.55334546e-02 5.98204761e+02] [ 3.74426919e-02 9.99298756e-01 -2.01268523e-04 7.58927858e+00] [ 1.55300977e-02 -3.80511257e-04 9.99879328e-01 9.27503324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.4992541539999 meters Centerline goodness : 0.998724 Centerline is valid? [True, True] Translation: X:598.24, Y:7.59, Z:9.27 [[ 9.99142332e-01 -3.83837504e-02 -1.55334619e-02 5.98235180e+02] [ 3.83852654e-02 9.99262994e-01 -2.00710392e-04 7.58897308e+00] [ 1.55297176e-02 -3.95717807e-04 9.99879328e-01 9.27445555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.5292541539999 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:598.27, Y:7.59, Z:9.27 [[ 9.99086450e-01 -3.98117599e-02 -1.55334654e-02 5.98266348e+02] [ 3.98134517e-02 9.99207110e-01 -2.00433444e-04 7.58852528e+00] [ 1.55291287e-02 -4.18190537e-04 9.99879328e-01 9.27491563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.559254154 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:598.30, Y:7.59, Z:9.28 [[ 9.99087366e-01 -3.97887689e-02 -1.55334728e-02 5.98297600e+02] [ 3.97904667e-02 9.99208026e-01 -1.99864192e-04 7.58888297e+00] [ 1.55291230e-02 -4.18402342e-04 9.99879328e-01 9.27550694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.589254154 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:598.33, Y:7.59, Z:9.27 [[ 9.99226345e-01 -3.61306383e-02 -1.55334800e-02 5.98331644e+02] [ 3.61319032e-02 9.99347010e-01 -1.99297808e-04 7.58624470e+00] [ 1.55305376e-02 -3.62110577e-04 9.99879328e-01 9.27302746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.6192541539999 meters Centerline goodness : 0.999077 Centerline is valid? [True, True] Translation: X:598.36, Y:7.59, Z:9.28 [[ 9.99134682e-01 -3.85812324e-02 -1.55362516e-02 5.98357694e+02] [ 3.85861629e-02 9.99255277e-01 1.76053624e-05 7.59035421e+00] [ 1.55240022e-02 -6.17074464e-04 9.99879305e-01 9.27620962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.6492541539999 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:598.39, Y:7.59, Z:9.28 [[ 9.99209350e-01 -3.65976808e-02 -1.55333392e-02 5.98389515e+02] [ 3.65989276e-02 9.99330014e-01 -2.04089595e-04 7.59103673e+00] [ 1.55304013e-02 -3.64575326e-04 9.99879330e-01 9.27637322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.6792541539999 meters Centerline goodness : 0.999600 Centerline is valid? [True, True] Translation: X:598.42, Y:7.59, Z:9.28 [[ 9.99240328e-01 -3.57418791e-02 -1.55333467e-02 5.98419952e+02] [ 3.57430315e-02 9.99360993e-01 -2.03517332e-04 7.59109964e+00] [ 1.55306949e-02 -3.51846175e-04 9.99879330e-01 9.27642402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.709254154 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] Translation: X:598.45, Y:7.59, Z:9.27 [[ 9.99368983e-01 -3.19429245e-02 -1.55333504e-02 5.98453061e+02] [ 3.19436225e-02 9.99489652e-01 -2.03233547e-04 7.58756750e+00] [ 1.55319149e-02 -2.93086179e-04 9.99879330e-01 9.27444675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.7392541539999 meters Centerline goodness : 0.999013 Centerline is valid? [True, True] Translation: X:598.48, Y:7.59, Z:9.28 [[ 9.99331363e-01 -3.30978040e-02 -1.55358333e-02 5.98480061e+02] [ 3.31016337e-02 9.99451991e-01 -1.06480548e-05 7.59140807e+00] [ 1.55276720e-02 -5.03620529e-04 9.99879312e-01 9.27687725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.7692541539999 meters Centerline goodness : 0.998846 Centerline is valid? [True, True] Translation: X:598.51, Y:7.59, Z:9.28 [[ 9.99375483e-01 -3.17389464e-02 -1.55332727e-02 5.98511604e+02] [ 3.17395948e-02 9.99496151e-01 -2.04842487e-04 7.59188992e+00] [ 1.55319478e-02 -2.88305222e-04 9.99879330e-01 9.27759839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.7992541539999 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:598.54, Y:7.59, Z:9.28 [[ 9.99477711e-01 -2.83376508e-02 -1.55332802e-02 5.98541951e+02] [ 2.83378973e-02 9.99598380e-01 -2.04276597e-04 7.59173711e+00] [ 1.55328304e-02 -2.36010593e-04 9.99879330e-01 9.27800644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.829254154 meters Centerline goodness : 0.999226 Centerline is valid? [True, True] Translation: X:598.57, Y:7.59, Z:9.28 [[ 9.99562877e-01 -2.51549488e-02 -1.55332839e-02 5.98570178e+02] [ 2.51548155e-02 9.99683547e-01 -2.03995679e-04 7.59179508e+00] [ 1.55334998e-02 -1.86830381e-04 9.99879330e-01 9.27781449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.8592541539999 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:598.60, Y:7.59, Z:9.28 [[ 9.99634716e-01 -2.21175460e-02 -1.55321712e-02 5.98600162e+02] [ 2.21157284e-02 9.99755376e-01 -2.88797542e-04 7.59242925e+00] [ 1.55347591e-02 -5.48132297e-05 9.99879327e-01 9.27665093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.8892541539999 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:598.63, Y:7.59, Z:9.28 [[ 9.99647478e-01 -2.15326254e-02 -1.55327422e-02 5.98628625e+02] [ 2.15314246e-02 9.99768142e-01 -2.44553581e-04 7.59268475e+00] [ 1.55344066e-02 -8.99746967e-05 9.99879330e-01 9.27675390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.9192541539999 meters Centerline goodness : 0.998913 Centerline is valid? [True, True] Translation: X:598.66, Y:7.59, Z:9.28 [[ 9.99664741e-01 -2.07152752e-02 -1.55332891e-02 5.98657270e+02] [ 2.07146272e-02 9.99785409e-01 -2.02628908e-04 7.59284018e+00] [ 1.55341533e-02 -1.19205318e-04 9.99879331e-01 9.27651353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.949254154 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:598.68, Y:7.59, Z:9.28 [[ 9.99690946e-01 -1.94095372e-02 -1.55332363e-02 5.98684646e+02] [ 1.94086698e-02 9.99811613e-01 -2.06599080e-04 7.59262483e+00] [ 1.55343200e-02 -9.49442243e-05 9.99879331e-01 9.27513014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.9792541539999 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:598.71, Y:7.59, Z:9.27 [[ 9.99668652e-01 -2.05264102e-02 -1.55323175e-02 5.98714152e+02] [ 2.05246424e-02 9.99789310e-01 -2.73229931e-04 7.59263251e+00] [ 1.55346534e-02 -4.56558644e-05 9.99879329e-01 9.27453374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.0092541539999 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:598.74, Y:7.59, Z:9.27 [[ 9.99625278e-01 -2.25394261e-02 -1.55331308e-02 5.98742894e+02] [ 2.25388174e-02 9.99745946e-01 -2.14269568e-04 7.59213052e+00] [ 1.55340141e-02 -1.35909124e-04 9.99879331e-01 9.27442372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.0392541539999 meters Centerline goodness : 0.999041 Centerline is valid? [True, True] Translation: X:598.77, Y:7.59, Z:9.27 [[ 9.99592011e-01 -2.39694762e-02 -1.55330764e-02 5.98771897e+02] [ 2.39689799e-02 9.99712679e-01 -2.18145096e-04 7.59191012e+00] [ 1.55338423e-02 -1.54255901e-04 9.99879331e-01 9.27456014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.069254154 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:598.80, Y:7.59, Z:9.27 [[ 9.99547529e-01 -2.57577497e-02 -1.55330210e-02 5.98800517e+02] [ 2.57574091e-02 9.99668198e-01 -2.22019738e-04 7.59148828e+00] [ 1.55335859e-02 -1.78171097e-04 9.99879331e-01 9.27486577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.0992541539999 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:598.83, Y:7.59, Z:9.28 [[ 9.99441461e-01 -2.95887441e-02 -1.55329631e-02 5.98830243e+02] [ 2.95888041e-02 9.99562130e-01 -2.26002790e-04 7.59055841e+00] [ 1.55328488e-02 -2.33725244e-04 9.99879331e-01 9.27501479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.1292541539999 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:598.86, Y:7.59, Z:9.28 [[ 9.99378195e-01 -3.16535910e-02 -1.55329549e-02 5.98860907e+02] [ 3.16538915e-02 9.99498864e-01 -2.26567003e-04 7.59009669e+00] [ 1.55323424e-02 -2.65252345e-04 9.99879331e-01 9.27560363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.1592541539999 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:598.89, Y:7.59, Z:9.28 [[ 9.99301866e-01 -3.39780605e-02 -1.55329549e-02 5.98891576e+02] [ 3.39786417e-02 9.99422534e-01 -2.26567003e-04 7.58993105e+00] [ 1.55316834e-02 -3.01379878e-04 9.99879331e-01 9.27556587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.189254154 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:598.92, Y:7.59, Z:9.28 [[ 9.99087469e-01 -3.97866015e-02 -1.55324192e-02 5.98920841e+02] [ 3.97873265e-02 9.99208136e-01 -2.62454718e-04 7.58903877e+00] [ 1.55305618e-02 -3.55778215e-04 9.99879330e-01 9.27656970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.2192541539999 meters Centerline goodness : 0.994695 Centerline is valid? [True, True] Translation: X:598.95, Y:7.59, Z:9.28 [[ 9.98983577e-01 -4.23148622e-02 -1.55327150e-02 5.98951041e+02] [ 4.23161968e-02 9.99104239e-01 -2.42874849e-04 7.58882747e+00] [ 1.55290786e-02 -4.14657440e-04 9.99879331e-01 9.27797096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.2492541539999 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:598.98, Y:7.59, Z:9.28 [[ 9.98885568e-01 -4.45686804e-02 -1.55323944e-02 5.98982926e+02] [ 4.45699583e-02 9.99006231e-01 -2.64045786e-04 7.58844036e+00] [ 1.55287270e-02 -4.28526647e-04 9.99879330e-01 9.27917636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.2792541539999 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:599.01, Y:7.59, Z:9.28 [[ 9.98516815e-01 -5.21815438e-02 -1.55324552e-02 5.99013747e+02] [ 5.21838060e-02 9.98637463e-01 -2.59892584e-04 7.59019442e+00] [ 1.55248532e-02 -5.51035513e-04 9.99879330e-01 9.28336053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.309254154 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:599.05, Y:7.59, Z:9.28 [[ 9.98553698e-01 -5.14713206e-02 -1.55311060e-02 5.99046570e+02] [ 5.14719698e-02 9.98674375e-01 -3.58196768e-04 7.58607511e+00] [ 1.55289545e-02 -4.41737911e-04 9.99879321e-01 9.28142892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.339254154 meters Centerline goodness : 0.998960 Centerline is valid? [True, True] Translation: X:599.08, Y:7.59, Z:9.28 [[ 9.98386527e-01 -5.46176555e-02 -1.55323447e-02 5.99079101e+02] [ 5.46200889e-02 9.98507173e-01 -2.67817835e-04 7.58577284e+00] [ 1.55237851e-02 -5.80992328e-04 9.99879330e-01 9.28215590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.3692541539999 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:599.11, Y:7.58, Z:9.28 [[ 9.97983760e-01 -6.15399598e-02 -1.55321866e-02 5.99112654e+02] [ 6.15430506e-02 9.98104391e-01 -2.79360989e-04 7.58450498e+00] [ 1.55199356e-02 -6.77100419e-04 9.99879329e-01 9.28221174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.3992541539999 meters Centerline goodness : 0.998852 Centerline is valid? [True, True] Translation: X:599.15, Y:7.58, Z:9.28 [[ 9.97844000e-01 -6.37657777e-02 -1.55331149e-02 5.99146988e+02] [ 6.37701985e-02 9.97964587e-01 -2.11037742e-04 7.58350097e+00] [ 1.55149556e-02 -7.79967078e-04 9.99879332e-01 9.28337961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.4292541539999 meters Centerline goodness : 0.999038 Centerline is valid? [True, True] Translation: X:599.18, Y:7.58, Z:9.28 [[ 9.97589619e-01 -6.76285806e-02 -1.55346885e-02 5.99176403e+02] [ 6.76352898e-02 9.97710108e-01 -9.36868856e-05 7.58438780e+00] [ 1.55054516e-02 -9.57232092e-04 9.99879325e-01 9.28326487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.459254154 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:599.21, Y:7.58, Z:9.28 [[ 9.97530851e-01 -6.84903227e-02 -1.55331094e-02 5.99209344e+02] [ 6.84953256e-02 9.97651415e-01 -2.10318671e-04 7.58181710e+00] [ 1.55110333e-02 -8.54146022e-04 9.99879332e-01 9.28493229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.4892541539999 meters Centerline goodness : 0.996883 Centerline is valid? [True, True] Translation: X:599.24, Y:7.58, Z:9.28 [[ 9.97351319e-01 -7.10565520e-02 -1.55342382e-02 5.99237637e+02] [ 7.10632545e-02 9.97471804e-01 -1.20795726e-04 7.58469382e+00] [ 1.55035479e-02 -9.83437744e-04 9.99879329e-01 9.28271186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.5192541539999 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:599.27, Y:7.59, Z:9.28 [[ 9.97230769e-01 -7.27292857e-02 -1.55320710e-02 5.99273831e+02] [ 7.27334214e-02 9.97351372e-01 -2.99201475e-04 7.58648447e+00] [ 1.55126931e-02 -8.31327751e-04 9.99879325e-01 9.28443199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.5492541539999 meters Centerline goodness : 0.998914 Centerline is valid? [True, True] Translation: X:599.30, Y:7.59, Z:9.28 [[ 9.97159838e-01 -7.36947275e-02 -1.55352787e-02 5.99301966e+02] [ 7.37027405e-02 9.97280253e-01 -5.68823797e-05 7.59144809e+00] [ 1.54972186e-02 -1.08827179e-03 9.99879319e-01 9.28448337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.579254154 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:599.33, Y:7.59, Z:9.29 [[ 9.97250572e-01 -7.24569798e-02 -1.55332471e-02 5.99334961e+02] [ 7.24624928e-02 9.97371116e-01 -2.08355330e-04 7.59372055e+00] [ 1.55075088e-02 -9.17795331e-04 9.99879330e-01 9.28509558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.6092541539999 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:599.37, Y:7.60, Z:9.29 [[ 9.97539705e-01 -6.83612048e-02 -1.55332703e-02 5.99366399e+02] [ 6.83662499e-02 9.97660269e-01 -2.06605285e-04 7.59882036e+00] [ 1.55110505e-02 -8.55854467e-04 9.99879330e-01 9.28507826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.6392541539999 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:599.40, Y:7.60, Z:9.29 [[ 9.97807937e-01 -6.43275911e-02 -1.55332818e-02 5.99402467e+02] [ 6.43321621e-02 9.97928520e-01 -2.05740657e-04 7.59944320e+00] [ 1.55143397e-02 -7.93999942e-04 9.99879330e-01 9.28588770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.6692541539999 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:599.44, Y:7.60, Z:9.29 [[ 9.98082567e-01 -5.99153218e-02 -1.55352376e-02 5.99437897e+02] [ 5.99216360e-02 9.98203083e-01 -5.91327899e-05 7.59961548e+00] [ 1.55108650e-02 -8.71877448e-04 9.99879319e-01 9.28618987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.699254154 meters Centerline goodness : 0.999038 Centerline is valid? [True, True] Translation: X:599.46, Y:7.61, Z:9.29 [[ 9.97948270e-01 -6.21116026e-02 -1.55370350e-02 5.99462146e+02] [ 6.21203114e-02 9.98068665e-01 7.80702150e-05 7.60712247e+00] [ 1.55021787e-02 -1.04307549e-03 9.99879290e-01 9.28657134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.7292541539999 meters Centerline goodness : 0.999038 Centerline is valid? [True, True] Translation: X:599.49, Y:7.61, Z:9.29 [[ 9.97952527e-01 -6.20441531e-02 -1.55330813e-02 5.99494826e+02] [ 6.20483531e-02 9.98073122e-01 -2.11857173e-04 7.60764521e+00] [ 1.55162955e-02 -7.52378715e-04 9.99879332e-01 9.28715505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.7592541539999 meters Centerline goodness : 0.998975 Centerline is valid? [True, True] Translation: X:599.53, Y:7.61, Z:9.29 [[ 9.98133855e-01 -5.90553087e-02 -1.55330965e-02 5.99526643e+02] [ 5.90591650e-02 9.98254462e-01 -2.10737157e-04 7.61171531e+00] [ 1.55184281e-02 -7.07027819e-04 9.99879332e-01 9.28780910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.7892541539999 meters Centerline goodness : 0.998995 Centerline is valid? [True, True] Translation: X:599.56, Y:7.61, Z:9.29 [[ 9.98177624e-01 -5.83108341e-02 -1.55331120e-02 5.99558619e+02] [ 5.83146182e-02 9.98298233e-01 -2.09590293e-04 7.61392249e+00] [ 1.55188996e-02 -6.96599156e-04 9.99879332e-01 9.28804685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.819254154 meters Centerline goodness : 0.998995 Centerline is valid? [True, True] Translation: X:599.59, Y:7.62, Z:9.29 [[ 9.98269519e-01 -5.67158709e-02 -1.55331277e-02 5.99589628e+02] [ 5.67194804e-02 9.98390133e-01 -2.08421497e-04 7.61755295e+00] [ 1.55199422e-02 -6.72970103e-04 9.99879332e-01 9.28759747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.8492541539999 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:599.62, Y:7.62, Z:9.29 [[ 9.98306845e-01 -5.60550163e-02 -1.55331524e-02 5.99621786e+02] [ 5.60585749e-02 9.98427460e-01 -2.06563148e-04 7.61970206e+00] [ 1.55203048e-02 -6.64552982e-04 9.99879332e-01 9.28833385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.8792541539999 meters Centerline goodness : 0.998892 Centerline is valid? [True, True] Translation: X:599.65, Y:7.62, Z:9.29 [[ 9.98388425e-01 -5.45827142e-02 -1.55331676e-02 5.99653605e+02] [ 5.45861127e-02 9.98509046e-01 -2.05414162e-04 7.62198122e+00] [ 1.55212204e-02 -6.42812114e-04 9.99879332e-01 9.28909327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.9092541539999 meters Centerline goodness : 0.999038 Centerline is valid? [True, True] Translation: X:599.69, Y:7.63, Z:9.29 [[ 9.98500814e-01 -5.24866182e-02 -1.55331828e-02 5.99685338e+02] [ 5.24897814e-02 9.98621440e-01 -2.04259150e-04 7.62656415e+00] [ 1.55224902e-02 -6.11380442e-04 9.99879332e-01 9.29038188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.939254154 meters Centerline goodness : 0.999076 Centerline is valid? [True, True] Translation: X:599.72, Y:7.63, Z:9.29 [[ 9.98589296e-01 -5.07753604e-02 -1.55331978e-02 5.99717324e+02] [ 5.07783348e-02 9.98709928e-01 -2.03108666e-04 7.62885302e+00] [ 1.55234718e-02 -5.85927779e-04 9.99879332e-01 9.29140486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.9692541539999 meters Centerline goodness : 0.998888 Centerline is valid? [True, True] Translation: X:599.75, Y:7.63, Z:9.29 [[ 9.98669756e-01 -4.91674454e-02 -1.55332128e-02 5.99749073e+02] [ 4.91702435e-02 9.98790392e-01 -2.01953651e-04 7.63105601e+00] [ 1.55243533e-02 -5.62086854e-04 9.99879332e-01 9.29197233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.9992541539999 meters Centerline goodness : 0.999096 Centerline is valid? [True, True] Translation: X:599.78, Y:7.63, Z:9.29 [[ 9.98854279e-01 -4.52642035e-02 -1.55332277e-02 5.99779753e+02] [ 4.52665479e-02 9.98974924e-01 -2.00806907e-04 7.63423634e+00] [ 1.55263943e-02 -5.02558755e-04 9.99879332e-01 9.29194416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.0292541539999 meters Centerline goodness : 0.998864 Centerline is valid? [True, True] Translation: X:599.81, Y:7.64, Z:9.29 [[ 9.98955986e-01 -4.29611144e-02 -1.55332386e-02 5.99810556e+02] [ 4.29631940e-02 9.99076636e-01 -1.99953538e-04 7.63595003e+00] [ 1.55274860e-02 -4.67612761e-04 9.99879332e-01 9.29214817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.059254154 meters Centerline goodness : 0.998989 Centerline is valid? [True, True] Translation: X:599.84, Y:7.64, Z:9.29 [[ 9.99041904e-01 -4.09144578e-02 -1.55332492e-02 5.99842868e+02] [ 4.09163029e-02 9.99162558e-01 -1.99130887e-04 7.63800971e+00] [ 1.55283883e-02 -4.36623029e-04 9.99879332e-01 9.29341540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.089254154 meters Centerline goodness : 0.998672 Centerline is valid? [True, True] Translation: X:599.87, Y:7.64, Z:9.29 [[ 9.99209340e-01 -3.65979980e-02 -1.55332637e-02 5.99873623e+02] [ 3.65993395e-02 9.99330000e-01 -1.97995833e-04 7.64155447e+00] [ 1.55301026e-02 -3.70667904e-04 9.99879332e-01 9.29281794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.1192541539999 meters Centerline goodness : 0.998629 Centerline is valid? [True, True] Translation: X:599.91, Y:7.64, Z:9.29 [[ 9.99285639e-01 -3.44518437e-02 -1.55332744e-02 5.99905888e+02] [ 3.44529391e-02 9.99406302e-01 -1.97150379e-04 7.64294295e+00] [ 1.55308445e-02 -3.38157415e-04 9.99879332e-01 9.29338452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.1492541539999 meters Centerline goodness : 0.998439 Centerline is valid? [True, True] Translation: X:599.94, Y:7.64, Z:9.29 [[ 9.99348092e-01 -3.25900140e-02 -1.55332880e-02 5.99937682e+02] [ 3.25909014e-02 9.99468756e-01 -1.96068735e-04 7.64413082e+00] [ 1.55314260e-02 -3.10302943e-04 9.99879332e-01 9.29465632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.1792541539999 meters Centerline goodness : 0.998207 Centerline is valid? [True, True] Translation: X:599.97, Y:7.65, Z:9.29 [[ 9.99439832e-01 -2.96435228e-02 -1.55332953e-02 5.99967907e+02] [ 2.96440634e-02 9.99560499e-01 -1.95495728e-04 7.64652915e+00] [ 1.55322635e-02 -2.65083773e-04 9.99879332e-01 9.29394902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.209254154 meters Centerline goodness : 0.998543 Centerline is valid? [True, True] Translation: X:600.00, Y:7.65, Z:9.29 [[ 9.99483171e-01 -2.81443882e-02 -1.55332988e-02 5.99999699e+02] [ 2.81447522e-02 9.99603839e-01 -1.95211425e-04 7.64744663e+00] [ 1.55326392e-02 -2.42070313e-04 9.99879332e-01 9.29416484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.2392541539999 meters Centerline goodness : 0.998142 Centerline is valid? [True, True] Translation: X:600.03, Y:7.65, Z:9.29 [[ 9.99502928e-01 -2.74337904e-02 -1.55333057e-02 6.00031334e+02] [ 2.74340771e-02 9.99623596e-01 -1.94666079e-04 7.64882265e+00] [ 1.55327993e-02 -2.31572589e-04 9.99879332e-01 9.29469965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.2692541539999 meters Centerline goodness : 0.998524 Centerline is valid? [True, True] Translation: X:600.06, Y:7.65, Z:9.30 [[ 9.99499490e-01 -2.75587866e-02 -1.55333126e-02 6.00061565e+02] [ 2.75590969e-02 9.99620157e-01 -1.94113551e-04 7.64936934e+00] [ 1.55327619e-02 -2.34067671e-04 9.99879332e-01 9.29526621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.2992541539999 meters Centerline goodness : 0.998524 Centerline is valid? [True, True] Translation: X:600.09, Y:7.65, Z:9.30 [[ 9.99480248e-01 -2.82480017e-02 -1.55333126e-02 6.00091617e+02] [ 2.82483953e-02 9.99600916e-01 -1.94113551e-04 7.64966905e+00] [ 1.55325968e-02 -2.44778493e-04 9.99879332e-01 9.29566049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.329254154 meters Centerline goodness : 0.998696 Centerline is valid? [True, True] Translation: X:600.12, Y:7.65, Z:9.30 [[ 9.99405631e-01 -3.07750191e-02 -1.55333126e-02 6.00121950e+02] [ 3.07757178e-02 9.99526297e-01 -1.94113551e-04 7.64914383e+00] [ 1.55319282e-02 -2.84050668e-04 9.99879332e-01 9.29641450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.3592541539999 meters Centerline goodness : 0.998696 Centerline is valid? [True, True] Translation: X:600.15, Y:7.65, Z:9.30 [[ 9.99348178e-01 -3.25873482e-02 -1.55333160e-02 6.00153325e+02] [ 3.25882699e-02 9.99468842e-01 -1.93842374e-04 7.64890310e+00] [ 1.55313821e-02 -3.12487871e-04 9.99879332e-01 9.29741819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.3892541539999 meters Centerline goodness : 0.998613 Centerline is valid? [True, True] Translation: X:600.19, Y:7.65, Z:9.30 [[ 9.99275930e-01 -3.47322899e-02 -1.55333228e-02 6.00185073e+02] [ 3.47334792e-02 9.99396592e-01 -1.93289326e-04 7.64856865e+00] [ 1.55306633e-02 -3.46376974e-04 9.99879332e-01 9.29809736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.4192541539999 meters Centerline goodness : 0.998404 Centerline is valid? [True, True] Translation: X:600.22, Y:7.65, Z:9.30 [[ 9.99088258e-01 -3.97664119e-02 -1.55333297e-02 6.00215956e+02] [ 3.97682177e-02 9.99208913e-01 -1.92736567e-04 7.64743023e+00] [ 1.55287059e-02 -4.25171995e-04 9.99879332e-01 9.29792519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.449254154 meters Centerline goodness : 0.998660 Centerline is valid? [True, True] Translation: X:600.25, Y:7.65, Z:9.30 [[ 9.98987155e-01 -4.22300886e-02 -1.55333399e-02 6.00247941e+02] [ 4.22322047e-02 9.99107804e-01 -1.91910227e-04 7.64725881e+00] [ 1.55275855e-02 -4.64291339e-04 9.99879332e-01 9.29931998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.4792541539999 meters Centerline goodness : 0.998806 Centerline is valid? [True, True] Translation: X:600.28, Y:7.65, Z:9.30 [[ 9.98874864e-01 -4.48075977e-02 -1.55333540e-02 6.00279390e+02] [ 4.48100431e-02 9.98995507e-01 -1.90761726e-04 7.64707517e+00] [ 1.55262984e-02 -5.05503169e-04 9.99879332e-01 9.29929695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.5092541539999 meters Centerline goodness : 0.998977 Centerline is valid? [True, True] Translation: X:600.31, Y:7.65, Z:9.30 [[ 9.98653193e-01 -4.95026761e-02 -1.55333645e-02 6.00310399e+02] [ 4.95057018e-02 9.98773823e-01 -1.89904851e-04 7.64572549e+00] [ 1.55237186e-02 -5.79341024e-04 9.99879332e-01 9.29905179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.5392541539999 meters Centerline goodness : 0.998578 Centerline is valid? [True, True] Translation: X:600.34, Y:7.64, Z:9.30 [[ 9.98534647e-01 -5.18389078e-02 -1.55333748e-02 6.00342871e+02] [ 5.18422289e-02 9.98655270e-01 -1.89059750e-04 7.64484255e+00] [ 1.55222872e-02 -6.16502059e-04 9.99879332e-01 9.30049154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.569254154 meters Centerline goodness : 0.998702 Centerline is valid? [True, True] Translation: X:600.38, Y:7.64, Z:9.30 [[ 9.98292871e-01 -5.63032636e-02 -1.55333886e-02 6.00375741e+02] [ 5.63071418e-02 9.98413477e-01 -1.87916711e-04 7.64363315e+00] [ 1.55193248e-02 -6.87044801e-04 9.99879332e-01 9.30120839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.5992541539999 meters Centerline goodness : 0.998767 Centerline is valid? [True, True] Translation: X:600.41, Y:7.64, Z:9.30 [[ 9.98179281e-01 -5.82823826e-02 -1.55334092e-02 6.00408324e+02] [ 5.82865266e-02 9.98299878e-01 -1.86195522e-04 7.64330823e+00] [ 1.55178525e-02 -7.19531957e-04 9.99879332e-01 9.30144943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.6292541539999 meters Centerline goodness : 0.998933 Centerline is valid? [True, True] Translation: X:600.44, Y:7.64, Z:9.30 [[ 9.98030241e-01 -6.07811770e-02 -1.55334295e-02 6.00440781e+02] [ 6.07856495e-02 9.98150826e-01 -1.84484720e-04 7.64218722e+00] [ 1.55159187e-02 -7.60088274e-04 9.99879332e-01 9.30159584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.6592541539999 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:600.47, Y:7.64, Z:9.30 [[ 9.97994093e-01 -6.13718258e-02 -1.55334613e-02 6.00473749e+02] [ 6.13764117e-02 9.98114674e-01 -1.81775520e-04 7.64200323e+00] [ 1.55153315e-02 -7.71977217e-04 9.99879332e-01 9.30285938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.689254154 meters Centerline goodness : 0.998808 Centerline is valid? [True, True] Translation: X:600.51, Y:7.64, Z:9.30 [[ 9.98004733e-01 -6.11985555e-02 -1.55334813e-02 6.00505828e+02] [ 6.12031473e-02 9.98125314e-01 -1.80044555e-04 7.64219116e+00] [ 1.55153794e-02 -7.71012626e-04 9.99879332e-01 9.30298530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.7192541539999 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:600.54, Y:7.64, Z:9.30 [[ 9.98064268e-01 -6.02198176e-02 -1.55334978e-02 6.00538898e+02] [ 6.02243134e-02 9.98184853e-01 -1.78613039e-04 7.64247450e+00] [ 1.55160582e-02 -7.57226946e-04 9.99879332e-01 9.30386643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.7492541539999 meters Centerline goodness : 0.998764 Centerline is valid? [True, True] Translation: X:600.57, Y:7.64, Z:9.31 [[ 9.98311528e-01 -5.59714394e-02 -1.55335171e-02 6.00572010e+02] [ 5.59754482e-02 9.98432130e-01 -1.76919573e-04 7.64146983e+00] [ 1.55190650e-02 -6.92874730e-04 9.99879332e-01 9.30650467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.7792541539999 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:600.60, Y:7.64, Z:9.31 [[ 9.98366679e-01 -5.49789344e-02 -1.55335369e-02 6.00603067e+02] [ 5.49828506e-02 9.98487284e-01 -1.75156856e-04 7.64404695e+00] [ 1.55196690e-02 -6.79207373e-04 9.99879332e-01 9.30674211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.809254154 meters Centerline goodness : 0.999013 Centerline is valid? [True, True] Translation: X:600.63, Y:7.65, Z:9.31 [[ 9.98671007e-01 -4.91419234e-02 -1.55335467e-02 6.00634938e+02] [ 4.91451481e-02 9.98791632e-01 -1.74291363e-04 7.64581414e+00] [ 1.55233414e-02 -5.89338719e-04 9.99879332e-01 9.30877600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.839254154 meters Centerline goodness : 0.999285 Centerline is valid? [True, True] Translation: X:600.67, Y:7.65, Z:9.31 [[ 9.98835663e-01 -4.56730527e-02 -1.55335590e-02 6.00667284e+02] [ 4.56758756e-02 9.98956298e-01 -1.73188027e-04 7.64678838e+00] [ 1.55252566e-02 -5.36522528e-04 9.99879332e-01 9.30838575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.8692541539999 meters Centerline goodness : 0.999095 Centerline is valid? [True, True] Translation: X:600.70, Y:7.65, Z:9.31 [[ 9.98975408e-01 -4.25070244e-02 -1.55333976e-02 6.00699522e+02] [ 4.25092404e-02 9.99096056e-01 -1.87642446e-04 7.64787383e+00] [ 1.55273324e-02 -4.72862744e-04 9.99879332e-01 9.31068819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.8992541539999 meters Centerline goodness : 0.999327 Centerline is valid? [True, True] Translation: X:600.73, Y:7.65, Z:9.31 [[ 9.99245691e-01 -3.55915317e-02 -1.55335564e-02 6.00731061e+02] [ 3.55931334e-02 9.99366349e-01 -1.73424095e-04 7.64928834e+00] [ 1.55298859e-02 -3.79594665e-04 9.99879332e-01 9.30994397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.9292541539999 meters Centerline goodness : 0.999431 Centerline is valid? [True, True] Translation: X:600.76, Y:7.65, Z:9.31 [[ 9.99330719e-01 -3.31185185e-02 -1.55331080e-02 6.00762433e+02] [ 3.31192023e-02 9.99451386e-01 -2.13285707e-04 7.65017657e+00] [ 1.55316501e-02 -3.01301189e-04 9.99879331e-01 9.31058136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.959254154 meters Centerline goodness : 0.999325 Centerline is valid? [True, True] Translation: X:600.79, Y:7.65, Z:9.31 [[ 9.99372699e-01 -3.18265158e-02 -1.55332199e-02 6.00793572e+02] [ 3.18271982e-02 9.99493366e-01 -2.03328809e-04 7.65094791e+00] [ 1.55318215e-02 -2.91177607e-04 9.99879332e-01 9.31019979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.9892541539999 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:600.82, Y:7.65, Z:9.31 [[ 9.99521920e-01 -2.67325432e-02 -1.55338892e-02 6.00824211e+02] [ 2.67335480e-02 9.99642585e-01 -1.43004862e-04 7.65055753e+00] [ 1.55321601e-02 -2.72339478e-04 9.99879332e-01 9.30727906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.0192541539999 meters Centerline goodness : 0.999536 Centerline is valid? [True, True] Translation: X:600.85, Y:7.65, Z:9.31 [[ 9.99553479e-01 -2.55256250e-02 -1.55333385e-02 6.00854174e+02] [ 2.55257168e-02 9.99674147e-01 -1.92383496e-04 7.65115188e+00] [ 1.55331877e-02 -2.04202008e-04 9.99879332e-01 9.31018780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.0492541539999 meters Centerline goodness : 0.999620 Centerline is valid? [True, True] Translation: X:600.88, Y:7.65, Z:9.31 [[ 9.99589559e-01 -2.40711936e-02 -1.55335351e-02 6.00884550e+02] [ 2.40713811e-02 9.99710227e-01 -1.74926787e-04 7.65108438e+00] [ 1.55332446e-02 -1.99058654e-04 9.99879332e-01 9.31061603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.079254154 meters Centerline goodness : 0.999281 Centerline is valid? [True, True] Translation: X:600.91, Y:7.65, Z:9.31 [[ 9.99644987e-01 -2.16473625e-02 -1.55335351e-02 6.00914299e+02] [ 2.16472574e-02 9.99765655e-01 -1.74926787e-04 7.65051167e+00] [ 1.55336816e-02 -1.61393747e-04 9.99879332e-01 9.31075697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.1092541539999 meters Centerline goodness : 0.999238 Centerline is valid? [True, True] Translation: X:600.94, Y:7.65, Z:9.31 [[ 9.99644362e-01 -2.16762511e-02 -1.55335291e-02 6.00943523e+02] [ 2.16761412e-02 9.99765029e-01 -1.75459255e-04 7.65061363e+00] [ 1.55336825e-02 -1.61310116e-04 9.99879332e-01 9.30963997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.1392541539999 meters Centerline goodness : 0.999492 Centerline is valid? [True, True] Translation: X:600.97, Y:7.65, Z:9.31 [[ 9.99665016e-01 -2.07016422e-02 -1.55337803e-02 6.00972622e+02] [ 2.07017501e-02 9.99785684e-01 -1.53864160e-04 7.65038218e+00] [ 1.55336365e-02 -1.67763822e-04 9.99879332e-01 9.31380407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.1692541539999 meters Centerline goodness : 0.999304 Centerline is valid? [True, True] Translation: X:601.00, Y:7.65, Z:9.32 [[ 9.99654162e-01 -2.12195293e-02 -1.55334485e-02 6.01001140e+02] [ 2.12192602e-02 9.99774830e-01 -1.82158692e-04 7.64953031e+00] [ 1.55338162e-02 -1.47512592e-04 9.99879332e-01 9.31573646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.199254154 meters Centerline goodness : 0.999472 Centerline is valid? [True, True] Translation: X:601.03, Y:7.65, Z:9.32 [[ 9.99638999e-01 -2.19222351e-02 -1.55334017e-02 6.01030599e+02] [ 2.19219900e-02 9.99759667e-01 -1.86071591e-04 7.64838743e+00] [ 1.55337476e-02 -1.54518658e-04 9.99879332e-01 9.31628458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.2292541539999 meters Centerline goodness : 0.999368 Centerline is valid? [True, True] Translation: X:601.06, Y:7.65, Z:9.32 [[ 9.99606828e-01 -2.33431741e-02 -1.55333950e-02 6.01060729e+02] [ 2.33430919e-02 9.99727496e-01 -1.86626870e-04 7.64777926e+00] [ 1.55335185e-02 -1.76043974e-04 9.99879332e-01 9.31699350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.2592541539999 meters Centerline goodness : 0.999389 Centerline is valid? [True, True] Translation: X:601.09, Y:7.64, Z:9.32 [[ 9.99515511e-01 -2.69714066e-02 -1.55333883e-02 6.01089842e+02] [ 2.69717538e-02 9.99636179e-01 -1.87183087e-04 7.64486678e+00] [ 1.55327855e-02 -2.31870326e-04 9.99879332e-01 9.31702672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.2892541539999 meters Centerline goodness : 0.999515 Centerline is valid? [True, True] Translation: X:601.12, Y:7.64, Z:9.32 [[ 9.99449995e-01 -2.92988448e-02 -1.55333783e-02 6.01119758e+02] [ 2.92994601e-02 9.99570661e-01 -1.88010691e-04 7.64358371e+00] [ 1.55322177e-02 -2.67212313e-04 9.99879332e-01 9.31733295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.319254154 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:601.15, Y:7.64, Z:9.32 [[ 9.99355644e-01 -3.23575373e-02 -1.55333750e-02 6.01150733e+02] [ 3.23585176e-02 9.99476308e-01 -1.88284332e-04 7.64254484e+00] [ 1.55313327e-02 -3.14473978e-04 9.99879332e-01 9.31795068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.3492541539999 meters Centerline goodness : 0.999516 Centerline is valid? [True, True] Translation: X:601.18, Y:7.64, Z:9.32 [[ 9.99165782e-01 -3.77684364e-02 -1.55333750e-02 6.01181605e+02] [ 3.77700701e-02 9.99286439e-01 -1.88284332e-04 7.64018821e+00] [ 1.55294022e-02 -3.98569400e-04 9.99879332e-01 9.31811526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.3792541539999 meters Centerline goodness : 0.999158 Centerline is valid? [True, True] Translation: X:601.21, Y:7.64, Z:9.32 [[ 9.99076950e-01 -4.00494920e-02 -1.55333852e-02 6.01214162e+02] [ 4.00514143e-02 9.99197603e-01 -1.87436978e-04 7.63805447e+00] [ 1.55284280e-02 -4.34870081e-04 9.99879332e-01 9.31852184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.4092541539999 meters Centerline goodness : 0.999306 Centerline is valid? [True, True] Translation: X:601.25, Y:7.64, Z:9.32 [[ 9.98849589e-01 -4.53675225e-02 -1.55333990e-02 6.01246717e+02] [ 4.53701050e-02 9.98970229e-01 -1.86285350e-04 7.63706449e+00] [ 1.55258545e-02 -5.18680898e-04 9.99879332e-01 9.31758950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.439254154 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:601.28, Y:7.64, Z:9.32 [[ 9.98752679e-01 -4.74531226e-02 -1.55334126e-02 6.01278685e+02] [ 4.74559748e-02 9.98873313e-01 -1.85141816e-04 7.63658239e+00] [ 1.55246969e-02 -5.52242353e-04 9.99879332e-01 9.31732518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.4692541539999 meters Centerline goodness : 0.999580 Centerline is valid? [True, True] Translation: X:601.31, Y:7.64, Z:9.32 [[ 9.98610987e-01 -5.03468806e-02 -1.55334262e-02 6.01311160e+02] [ 5.03501001e-02 9.98731612e-01 -1.83999395e-04 7.63747137e+00] [ 1.55229876e-02 -5.98365744e-04 9.99879332e-01 9.31720814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.4992541539999 meters Centerline goodness : 0.999349 Centerline is valid? [True, True] Translation: X:601.34, Y:7.64, Z:9.32 [[ 9.98571303e-01 -5.11278891e-02 -1.55335919e-02 6.01342042e+02] [ 5.11314197e-02 9.98691919e-01 -1.70034018e-04 7.63577010e+00] [ 1.55219662e-02 -6.24463515e-04 9.99879332e-01 9.31771772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.5292541539999 meters Centerline goodness : 0.999370 Centerline is valid? [True, True] Translation: X:601.37, Y:7.64, Z:9.32 [[ 9.98566033e-01 -5.12307583e-02 -1.55334503e-02 6.01374707e+02] [ 5.12341138e-02 9.98686654e-01 -1.82108809e-04 7.63616859e+00] [ 1.55223791e-02 -6.13994891e-04 9.99879332e-01 9.31841255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.559254154 meters Centerline goodness : 0.999371 Centerline is valid? [True, True] Translation: X:601.41, Y:7.64, Z:9.32 [[ 9.98587010e-01 -5.08202315e-02 -1.55334633e-02 6.01406729e+02] [ 5.08235548e-02 9.98707632e-01 -1.80994434e-04 7.63690259e+00] [ 1.55225865e-02 -6.08727133e-04 9.99879332e-01 9.31917881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.589254154 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:601.44, Y:7.64, Z:9.32 [[ 9.98630509e-01 -4.99581549e-02 -1.55334764e-02 6.01437607e+02] [ 4.99613916e-02 9.98751134e-01 -1.79861430e-04 7.63761932e+00] [ 1.55230627e-02 -5.96458987e-04 9.99879332e-01 9.31934904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.6192541539999 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:601.47, Y:7.64, Z:9.32 [[ 9.98634066e-01 -4.98869956e-02 -1.55334861e-02 6.01470291e+02] [ 4.98902369e-02 9.98754691e-01 -1.79017944e-04 7.63793309e+00] [ 1.55230728e-02 -5.96195885e-04 9.99879332e-01 9.31985664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.6492541539999 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:601.50, Y:7.64, Z:9.32 [[ 9.98706198e-01 -4.84214814e-02 -1.55334988e-02 6.01502492e+02] [ 4.84245628e-02 9.98826827e-01 -1.77911149e-04 7.63886590e+00] [ 1.55238901e-02 -5.74521922e-04 9.99879332e-01 9.32043766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.6792541539999 meters Centerline goodness : 0.998993 Centerline is valid? [True, True] Translation: X:601.53, Y:7.64, Z:9.32 [[ 9.98871261e-01 -4.48877847e-02 -1.55335115e-02 6.01534636e+02] [ 4.48904565e-02 9.98991900e-01 -1.76800281e-04 7.64124935e+00] [ 1.55257883e-02 -5.20705701e-04 9.99879332e-01 9.32125320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.709254154 meters Centerline goodness : 0.998930 Centerline is valid? [True, True] Translation: X:601.57, Y:7.64, Z:9.32 [[ 9.98942386e-01 -4.32760887e-02 -1.55335240e-02 6.01566694e+02] [ 4.32785831e-02 9.99063028e-01 -1.75694526e-04 7.64285391e+00] [ 1.55265729e-02 -4.96760199e-04 9.99879332e-01 9.32188341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.7392541539999 meters Centerline goodness : 0.998949 Centerline is valid? [True, True] Translation: X:601.60, Y:7.65, Z:9.32 [[ 9.99046684e-01 -4.07974485e-02 -1.55335363e-02 6.01598142e+02] [ 4.07996607e-02 9.99167332e-01 -1.74594177e-04 7.64561337e+00] [ 1.55277251e-02 -4.59335278e-04 9.99879332e-01 9.32215649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.7692541539999 meters Centerline goodness : 0.999140 Centerline is valid? [True, True] Translation: X:601.63, Y:7.65, Z:9.32 [[ 9.99082184e-01 -3.99186552e-02 -1.55335455e-02 6.01628854e+02] [ 3.99207739e-02 9.99202833e-01 -1.73774488e-04 7.64676363e+00] [ 1.55280995e-02 -4.46496164e-04 9.99879332e-01 9.32197139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.7992541539999 meters Centerline goodness : 0.998824 Centerline is valid? [True, True] Translation: X:601.66, Y:7.65, Z:9.32 [[ 9.99088683e-01 -3.97556628e-02 -1.55335545e-02 6.01661473e+02] [ 3.97577745e-02 9.99209332e-01 -1.72962436e-04 7.64845993e+00] [ 1.55281489e-02 -4.44774747e-04 9.99879332e-01 9.32127046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.829254154 meters Centerline goodness : 0.999012 Centerline is valid? [True, True] Translation: X:601.69, Y:7.65, Z:9.32 [[ 9.99091661e-01 -3.96807364e-02 -1.55335664e-02 6.01693529e+02] [ 3.96828557e-02 9.99212311e-01 -1.71891071e-04 7.64941250e+00] [ 1.55281515e-02 -4.44681338e-04 9.99879332e-01 9.32135994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.8592541539999 meters Centerline goodness : 0.998929 Centerline is valid? [True, True] Translation: X:601.72, Y:7.65, Z:9.32 [[ 9.99082182e-01 -3.99186923e-02 -1.55335781e-02 6.01724779e+02] [ 3.99208569e-02 9.99202830e-01 -1.70824033e-04 7.65044507e+00] [ 1.55280143e-02 -4.49446503e-04 9.99879332e-01 9.32139073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.8892541539999 meters Centerline goodness : 0.998930 Centerline is valid? [True, True] Translation: X:601.76, Y:7.65, Z:9.32 [[ 9.99088215e-01 -3.97674133e-02 -1.55335868e-02 6.01756606e+02] [ 3.97695720e-02 9.99208863e-01 -1.70028914e-04 7.65261498e+00] [ 1.55280593e-02 -4.47890216e-04 9.99879332e-01 9.32149343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.9192541539999 meters Centerline goodness : 0.999035 Centerline is valid? [True, True] Translation: X:601.79, Y:7.65, Z:9.32 [[ 9.99111741e-01 -3.91718776e-02 -1.55335984e-02 6.01789219e+02] [ 3.91739808e-02 9.99232391e-01 -1.68970631e-04 7.65425082e+00] [ 1.55282935e-02 -4.39692343e-04 9.99879332e-01 9.32209286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.949254154 meters Centerline goodness : 0.998888 Centerline is valid? [True, True] Translation: X:601.82, Y:7.66, Z:9.32 [[ 9.99151741e-01 -3.81379716e-02 -1.55336097e-02 6.01821322e+02] [ 3.81399663e-02 9.99272393e-01 -1.67919711e-04 7.65581926e+00] [ 1.55287115e-02 -4.24674080e-04 9.99879332e-01 9.32267662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.9792541539999 meters Centerline goodness : 0.998929 Centerline is valid? [True, True] Translation: X:601.85, Y:7.66, Z:9.32 [[ 9.99213502e-01 -3.64840272e-02 -1.55336209e-02 6.01852215e+02] [ 3.64858384e-02 9.99334156e-01 -1.66874087e-04 7.65717330e+00] [ 1.55293662e-02 -4.00014342e-04 9.99879332e-01 9.32336022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.0092541539999 meters Centerline goodness : 0.999055 Centerline is valid? [True, True] Translation: X:601.88, Y:7.66, Z:9.32 [[ 9.99363693e-01 -3.21078619e-02 -1.55336386e-02 6.01882600e+02] [ 3.21091705e-02 9.99484354e-01 -1.65210080e-04 7.65995736e+00] [ 1.55309333e-02 -3.33667296e-04 9.99879332e-01 9.32426425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.0392541539999 meters Centerline goodness : 0.999034 Centerline is valid? [True, True] Translation: X:601.91, Y:7.66, Z:9.33 [[ 9.99450244e-01 -2.92901810e-02 -1.55336478e-02 6.01914143e+02] [ 2.92911629e-02 9.99570908e-01 -1.64343924e-04 7.66164804e+00] [ 1.55317961e-02 -2.90745034e-04 9.99879332e-01 9.32504483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.069254154 meters Centerline goodness : 0.999053 Centerline is valid? [True, True] Translation: X:601.94, Y:7.66, Z:9.33 [[ 9.99526505e-01 -2.65607124e-02 -1.55336532e-02 6.01943849e+02] [ 2.65613728e-02 9.99647171e-01 -1.63833277e-04 7.66321304e+00] [ 1.55325240e-02 -2.48839451e-04 9.99879332e-01 9.32565479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.0992541539999 meters Centerline goodness : 0.998989 Centerline is valid? [True, True] Translation: X:601.97, Y:7.67, Z:9.33 [[ 9.99638098e-01 -2.19631345e-02 -1.55336505e-02 6.01974260e+02] [ 2.19632359e-02 9.99758766e-01 -1.64086794e-04 7.66551107e+00] [ 1.55335071e-02 -1.77141820e-04 9.99879332e-01 9.32690573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.1292541539999 meters Centerline goodness : 0.998969 Centerline is valid? [True, True] Translation: X:602.00, Y:7.67, Z:9.33 [[ 9.99675024e-01 -2.02126595e-02 -1.55336505e-02 6.02004166e+02] [ 2.02125496e-02 9.99795692e-01 -1.64086794e-04 7.66673749e+00] [ 1.55337935e-02 -1.49941212e-04 9.99879332e-01 9.32753615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.1592541539999 meters Centerline goodness : 0.998988 Centerline is valid? [True, True] Translation: X:602.03, Y:7.67, Z:9.33 [[ 9.99690485e-01 -1.94329866e-02 -1.55336449e-02 6.02032645e+02] [ 1.94327743e-02 9.99811152e-01 -1.64621149e-04 7.66809252e+00] [ 1.55339104e-02 -1.37291617e-04 9.99879332e-01 9.32809430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.189254154 meters Centerline goodness : 0.998841 Centerline is valid? [True, True] Translation: X:602.06, Y:7.67, Z:9.33 [[ 9.99695252e-01 -1.91862077e-02 -1.55336045e-02 6.02061563e+02] [ 1.91859077e-02 9.99815919e-01 -1.68347183e-04 7.66935247e+00] [ 1.55339750e-02 -1.29730422e-04 9.99879332e-01 9.32820122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.2192541539999 meters Centerline goodness : 0.998797 Centerline is valid? [True, True] Translation: X:602.09, Y:7.67, Z:9.33 [[ 9.99683094e-01 -1.98095821e-02 -1.55335959e-02 6.02090303e+02] [ 1.98093450e-02 9.99803761e-01 -1.69138307e-04 7.66950383e+00] [ 1.55338981e-02 -1.38625654e-04 9.99879332e-01 9.32813599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.2492541539999 meters Centerline goodness : 0.998882 Centerline is valid? [True, True] Translation: X:602.12, Y:7.67, Z:9.33 [[ 9.99654829e-01 -2.11879677e-02 -1.55335873e-02 6.02119081e+02] [ 2.11878849e-02 9.99775497e-01 -1.69920377e-04 7.66988310e+00] [ 1.55337002e-02 -1.59262135e-04 9.99879332e-01 9.32853424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.2792541539999 meters Centerline goodness : 0.999051 Centerline is valid? [True, True] Translation: X:602.15, Y:7.67, Z:9.33 [[ 9.99586154e-01 -2.42121798e-02 -1.55335465e-02 6.02147418e+02] [ 2.42124053e-02 9.99706822e-01 -1.73569970e-04 7.66950005e+00] [ 1.55331949e-02 -2.02606387e-04 9.99879332e-01 9.32815072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.309254154 meters Centerline goodness : 0.999158 Centerline is valid? [True, True] Translation: X:602.18, Y:7.67, Z:9.33 [[ 9.99529732e-01 -2.64390670e-02 -1.55335378e-02 6.02176944e+02] [ 2.64395493e-02 9.99650399e-01 -1.74345386e-04 7.66981353e+00] [ 1.55327168e-02 -2.36436343e-04 9.99879332e-01 9.32819300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.339254154 meters Centerline goodness : 0.999391 Centerline is valid? [True, True] Translation: X:602.21, Y:7.67, Z:9.33 [[ 9.99475279e-01 -2.84231428e-02 -1.55335350e-02 6.02207106e+02] [ 2.84238607e-02 9.99595945e-01 -1.74600393e-04 7.66969936e+00] [ 1.55322212e-02 -2.67014258e-04 9.99879332e-01 9.32829179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.3692541539999 meters Centerline goodness : 0.999140 Centerline is valid? [True, True] Translation: X:602.24, Y:7.67, Z:9.33 [[ 9.99339992e-01 -3.28373202e-02 -1.55335350e-02 6.02237216e+02] [ 3.28385710e-02 9.99460653e-01 -1.74600393e-04 7.66971370e+00] [ 1.55308904e-02 -3.35613936e-04 9.99879332e-01 9.32850399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.3992541539999 meters Centerline goodness : 0.999285 Centerline is valid? [True, True] Translation: X:602.27, Y:7.67, Z:9.33 [[ 9.99272672e-01 -3.48258077e-02 -1.55335378e-02 6.02268142e+02] [ 3.48273026e-02 9.99393330e-01 -1.74348992e-04 7.66953348e+00] [ 1.55301859e-02 -3.66769037e-04 9.99879332e-01 9.32907775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.4292541539999 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:602.30, Y:7.67, Z:9.33 [[ 9.99147604e-01 -3.82462227e-02 -1.55335434e-02 6.02299735e+02] [ 3.82481384e-02 9.99268257e-01 -1.73847743e-04 7.66946733e+00] [ 1.55288258e-02 -4.20429561e-04 9.99879332e-01 9.32991981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.459254154 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:602.33, Y:7.67, Z:9.33 [[ 9.99092355e-01 -3.96632658e-02 -1.55335489e-02 6.02331735e+02] [ 3.96653603e-02 9.99213005e-01 -1.73349752e-04 7.67004164e+00] [ 1.55281997e-02 -4.42951405e-04 9.99879332e-01 9.33046996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.4892541539999 meters Centerline goodness : 0.999034 Centerline is valid? [True, True] Translation: X:602.36, Y:7.67, Z:9.33 [[ 9.99035549e-01 -4.10692203e-02 -1.55335600e-02 6.02363065e+02] [ 4.10715000e-02 9.99156195e-01 -1.72356856e-04 7.67045271e+00] [ 1.55275312e-02 -4.65795982e-04 9.99879332e-01 9.33101804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.5192541539999 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:602.39, Y:7.67, Z:9.33 [[ 9.98906120e-01 -4.41052245e-02 -1.55335774e-02 6.02394605e+02] [ 4.41078954e-02 9.99026759e-01 -1.70774079e-04 7.67067427e+00] [ 1.55259915e-02 -5.14566133e-04 9.99879332e-01 9.33128563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.5492541539999 meters Centerline goodness : 0.999286 Centerline is valid? [True, True] Translation: X:602.43, Y:7.67, Z:9.33 [[ 9.98793818e-01 -4.65791530e-02 -1.55335854e-02 6.02426559e+02] [ 4.65821342e-02 9.98914449e-01 -1.70038137e-04 7.67109599e+00] [ 1.55246431e-02 -5.53754520e-04 9.99879332e-01 9.33154797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.579254154 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:602.46, Y:7.67, Z:9.33 [[ 9.98672251e-01 -4.91166298e-02 -1.55335960e-02 6.02458997e+02] [ 4.91199326e-02 9.98792873e-01 -1.69065067e-04 7.67127049e+00] [ 1.55231489e-02 -5.94168597e-04 9.99879332e-01 9.33185438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.6092541539999 meters Centerline goodness : 0.999013 Centerline is valid? [True, True] Translation: X:602.49, Y:7.67, Z:9.33 [[ 9.98343627e-01 -5.53959289e-02 -1.55336065e-02 6.02490151e+02] [ 5.54000052e-02 9.98464226e-01 -1.68097076e-04 7.67108581e+00] [ 1.55190623e-02 -6.92743235e-04 9.99879332e-01 9.33183586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.6392541539999 meters Centerline goodness : 0.998847 Centerline is valid? [True, True] Translation: X:602.52, Y:7.67, Z:9.33 [[ 9.98159653e-01 -5.86175209e-02 -1.55336236e-02 6.02523437e+02] [ 5.86220111e-02 9.98280237e-01 -1.66501900e-04 7.67118499e+00] [ 1.55166694e-02 -7.44416776e-04 9.99879332e-01 9.33387330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.6692541539999 meters Centerline goodness : 0.998846 Centerline is valid? [True, True] Translation: X:602.56, Y:7.67, Z:9.33 [[ 9.97965077e-01 -6.18418250e-02 -1.55336416e-02 6.02555327e+02] [ 6.18467312e-02 9.98085645e-01 -1.64799692e-04 7.67156236e+00] [ 1.55140962e-02 -7.96240622e-04 9.99879332e-01 9.33246261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.699254154 meters Centerline goodness : 0.998891 Centerline is valid? [True, True] Translation: X:602.59, Y:7.67, Z:9.33 [[ 9.97790483e-01 -6.45976556e-02 -1.55336565e-02 6.02587069e+02] [ 6.46029167e-02 9.97911036e-01 -1.63387438e-04 7.67187426e+00] [ 1.55117617e-02 -8.40493085e-04 9.99879332e-01 9.33261612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.7292541539999 meters Centerline goodness : 0.998824 Centerline is valid? [True, True] Translation: X:602.62, Y:7.67, Z:9.33 [[ 9.97501108e-01 -6.89220189e-02 -1.55336689e-02 6.02619016e+02] [ 6.89278209e-02 9.97621636e-01 -1.62201911e-04 7.67372291e+00] [ 1.55079034e-02 -9.08905360e-04 9.99879332e-01 9.33468231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.7592541539999 meters Centerline goodness : 0.998869 Centerline is valid? [True, True] Translation: X:602.65, Y:7.68, Z:9.33 [[ 9.97443805e-01 -6.97464014e-02 -1.55336806e-02 6.02650785e+02] [ 6.97523206e-02 9.97564328e-01 -1.61071076e-04 7.67527861e+00] [ 1.55070798e-02 -9.22850922e-04 9.99879332e-01 9.33275834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.7892541539999 meters Centerline goodness : 0.998993 Centerline is valid? [True, True] Translation: X:602.68, Y:7.68, Z:9.34 [[ 9.97470618e-01 -6.93618827e-02 -1.55336951e-02 6.02684212e+02] [ 6.93677772e-02 9.97591142e-01 -1.59661542e-04 7.67810909e+00] [ 1.55073510e-02 -9.18280203e-04 9.99879332e-01 9.33587768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.819254154 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:602.72, Y:7.68, Z:9.33 [[ 9.97557236e-01 -6.81048127e-02 -1.55337124e-02 6.02716351e+02] [ 6.81105818e-02 9.97677765e-01 -1.57958601e-04 7.67990394e+00] [ 1.55083972e-02 -9.00437444e-04 9.99879332e-01 9.33436133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.8492541539999 meters Centerline goodness : 0.998952 Centerline is valid? [True, True] Translation: X:602.75, Y:7.68, Z:9.34 [[ 9.97778444e-01 -6.47833301e-02 -1.55337266e-02 6.02748824e+02] [ 6.47887198e-02 9.97898992e-01 -1.56548299e-04 7.68420290e+00] [ 1.55112318e-02 -8.50209743e-04 9.99879332e-01 9.33707690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.8792541539999 meters Centerline goodness : 0.998949 Centerline is valid? [True, True] Translation: X:602.78, Y:7.69, Z:9.34 [[ 9.97911411e-01 -6.27018181e-02 -1.55337426e-02 6.02781474e+02] [ 6.27069811e-02 9.98031969e-01 -1.54945990e-04 7.68646835e+00] [ 1.55128871e-02 -8.19451733e-04 9.99879332e-01 9.33821963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.9092541539999 meters Centerline goodness : 0.998950 Centerline is valid? [True, True] Translation: X:602.81, Y:7.69, Z:9.34 [[ 9.98057219e-01 -6.03364786e-02 -1.55337590e-02 6.02814897e+02] [ 6.03413817e-02 9.98177787e-01 -1.53282704e-04 7.68892423e+00] [ 1.55147017e-02 -7.84343573e-04 9.99879332e-01 9.33882216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.939254154 meters Centerline goodness : 0.998928 Centerline is valid? [True, True] Translation: X:602.85, Y:7.69, Z:9.34 [[ 9.98201469e-01 -5.79010289e-02 -1.55337752e-02 6.02847829e+02] [ 5.79056635e-02 9.98322048e-01 -1.51626687e-04 7.69131723e+00] [ 1.55164896e-02 -7.48139577e-04 9.99879332e-01 9.33968042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.9692541539999 meters Centerline goodness : 0.999179 Centerline is valid? [True, True] Translation: X:602.88, Y:7.69, Z:9.34 [[ 9.98331039e-01 -5.56222782e-02 -1.55337913e-02 6.02880707e+02] [ 5.56266635e-02 9.98451627e-01 -1.49956375e-04 7.69390823e+00] [ 1.55180801e-02 -7.14386878e-04 9.99879332e-01 9.34070590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.9992541539999 meters Centerline goodness : 0.998650 Centerline is valid? [True, True] Translation: X:602.93, Y:7.68, Z:9.33 [[ 9.99112648e-01 -3.91486693e-02 -1.55338073e-02 6.02926759e+02] [ 3.91510911e-02 9.99233291e-01 -1.48281476e-04 7.68387932e+00] [ 1.55277024e-02 -4.60015607e-04 9.99879332e-01 9.33391487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.0292541539999 meters Centerline goodness : 0.998964 Centerline is valid? [True, True] Translation: X:602.94, Y:7.70, Z:9.34 [[ 9.98679450e-01 -4.89680820e-02 -1.55397568e-02 6.02939111e+02] [ 4.89825955e-02 9.98799478e-01 5.54495648e-04 7.70078808e+00] [ 1.54939484e-02 -1.31494103e-03 9.99879097e-01 9.34255211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.059254154 meters Centerline goodness : 0.999051 Centerline is valid? [True, True] Translation: X:602.97, Y:7.71, Z:9.34 [[ 9.98929378e-01 -4.35756436e-02 -1.55326017e-02 6.02970136e+02] [ 4.35784730e-02 9.99049995e-01 -1.56416436e-04 7.70542557e+00] [ 1.55246616e-02 -5.20638092e-04 9.99879350e-01 9.34322679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.089254154 meters Centerline goodness : 0.999091 Centerline is valid? [True, True] Translation: X:603.00, Y:7.71, Z:9.34 [[ 9.99053778e-01 -4.06237299e-02 -1.55326103e-02 6.03001922e+02] [ 4.06262162e-02 9.99174402e-01 -1.55562369e-04 7.70778700e+00] [ 1.55261061e-02 -4.75616009e-04 9.99879350e-01 9.34418989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.1192541539999 meters Centerline goodness : 0.999026 Centerline is valid? [True, True] Translation: X:603.03, Y:7.71, Z:9.34 [[ 9.99164055e-01 -3.78144023e-02 -1.55326209e-02 6.03033564e+02] [ 3.78165661e-02 9.99284686e-01 -1.54488787e-04 7.70986997e+00] [ 1.55273521e-02 -4.33030743e-04 9.99879350e-01 9.34493641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.1492541539999 meters Centerline goodness : 0.999065 Centerline is valid? [True, True] Translation: X:603.07, Y:7.71, Z:9.35 [[ 9.99347438e-01 -3.26103534e-02 -1.55326289e-02 6.03065528e+02] [ 3.26119013e-02 9.99468079e-01 -1.53688181e-04 7.71255301e+00] [ 1.55293786e-02 -3.52960670e-04 9.99879350e-01 9.34626639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.1792541539999 meters Centerline goodness : 0.998917 Centerline is valid? [True, True] Translation: X:603.11, Y:7.70, Z:9.34 [[ 9.99731511e-01 -1.71942794e-02 -1.55326400e-02 6.03109828e+02] [ 1.71939842e-02 9.99852161e-01 -1.52559472e-04 7.69813220e+00] [ 1.55329668e-02 -1.14549453e-04 9.99879350e-01 9.34069757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.209254154 meters Centerline goodness : 0.998897 Centerline is valid? [True, True] Translation: X:603.15, Y:7.70, Z:9.34 [[ 9.99781759e-01 -1.39636658e-02 -1.55386951e-02 6.03145413e+02] [ 1.39718091e-02 9.99902303e-01 4.15627346e-04 7.69588545e+00] [ 1.55313733e-02 -6.32640320e-04 9.99879181e-01 9.33934252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.2392541539999 meters Centerline goodness : 0.999320 Centerline is valid? [True, True] Translation: X:603.15, Y:7.71, Z:9.35 [[ 9.99468792e-01 -2.86457709e-02 -1.55419867e-02 6.03152346e+02] [ 2.86604977e-02 9.99588940e-01 7.25599023e-04 7.71439894e+00] [ 1.55148127e-02 -1.17065465e-03 9.99878953e-01 9.34649542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.2692541539999 meters Centerline goodness : 0.999150 Centerline is valid? [True, True] Translation: X:603.20, Y:7.70, Z:9.34 [[ 9.99783426e-01 -1.38534747e-02 -1.55300747e-02 6.03202344e+02] [ 1.38520396e-02 9.99904036e-01 -1.99980985e-04 7.69771427e+00] [ 1.55313548e-02 -1.51855350e-05 9.99879381e-01 9.33929097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.2992541539999 meters Centerline goodness : 0.999299 Centerline is valid? [True, True] Translation: X:603.21, Y:7.72, Z:9.35 [[ 9.99481695e-01 -2.81928354e-02 -1.55404334e-02 6.03210191e+02] [ 2.82071541e-02 9.99601852e-01 7.02924669e-04 7.71500522e+00] [ 1.55144285e-02 -1.14091174e-03 9.99878993e-01 9.34597420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.329254154 meters Centerline goodness : 0.999256 Centerline is valid? [True, True] Translation: X:603.24, Y:7.71, Z:9.34 [[ 9.99591204e-01 -2.40064288e-02 -1.55279512e-02 6.03243430e+02] [ 2.40060321e-02 9.99711791e-01 -2.11964130e-04 7.71079049e+00] [ 1.55285644e-02 -1.60887016e-04 9.99879412e-01 9.34195510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.3592541539999 meters Centerline goodness : 0.999126 Centerline is valid? [True, True] Translation: X:603.29, Y:7.70, Z:9.34 [[ 9.99733058e-01 -1.71063595e-02 -1.55301630e-02 6.03286924e+02] [ 1.71075646e-02 9.99853653e-01 -5.52581637e-05 7.70152936e+00] [ 1.55288355e-02 -2.10439855e-04 9.99879398e-01 9.33730194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.3892541539999 meters Centerline goodness : 0.999212 Centerline is valid? [True, True] Translation: X:603.30, Y:7.71, Z:9.34 [[ 9.99583918e-01 -2.43004547e-02 -1.55395969e-02 6.03302005e+02] [ 2.43133826e-02 9.99704179e-01 6.43523741e-04 7.70992979e+00] [ 1.55193620e-02 -1.02107615e-03 9.99879046e-01 9.34302606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.4192541539999 meters Centerline goodness : 0.999106 Centerline is valid? [True, True] Translation: X:603.33, Y:7.71, Z:9.35 [[ 9.99462184e-01 -2.88818066e-02 -1.55300836e-02 6.03328634e+02] [ 2.88848497e-02 9.99582745e-01 -2.83660431e-05 7.71470858e+00] [ 1.55244229e-02 -4.20233344e-04 9.99879401e-01 9.34726991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.449254154 meters Centerline goodness : 0.998744 Centerline is valid? [True, True] Translation: X:603.38, Y:7.70, Z:9.34 [[ 9.99748993e-01 -1.61510830e-02 -1.55271929e-02 6.03378260e+02] [ 1.61495126e-02 9.99869562e-01 -2.26529153e-04 7.69757481e+00] [ 1.55288262e-02 -2.42843043e-05 9.99879420e-01 9.34038880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.4792541539999 meters Centerline goodness : 0.998809 Centerline is valid? [True, True] Translation: X:603.41, Y:7.70, Z:9.34 [[ 9.99661276e-01 -2.08782828e-02 -1.55380249e-02 6.03406188e+02] [ 2.08901531e-02 9.99781596e-01 6.02019324e-04 7.69648004e+00] [ 1.55220622e-02 -9.26407125e-04 9.99879096e-01 9.34200096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.5092541539999 meters Centerline goodness : 0.998764 Centerline is valid? [True, True] Translation: X:603.42, Y:7.71, Z:9.35 [[ 9.99294852e-01 -3.41821259e-02 -1.55364591e-02 6.03417005e+02] [ 3.41938656e-02 9.99415098e-01 4.90529969e-04 7.71167948e+00] [ 1.55106045e-02 -1.02143567e-03 9.99879182e-01 9.34913810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.5392541539999 meters Centerline goodness : 0.998764 Centerline is valid? [True, True] Translation: X:603.45, Y:7.71, Z:9.35 [[ 9.99297009e-01 -3.41243246e-02 -1.55247757e-02 6.03449682e+02] [ 3.41246152e-02 9.99417555e-01 -2.46266768e-04 7.71248597e+00] [ 1.55241370e-02 -2.83683350e-04 9.99879453e-01 9.34988323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.569254154 meters Centerline goodness : 0.999043 Centerline is valid? [True, True] Translation: X:603.48, Y:7.71, Z:9.35 [[ 9.99254403e-01 -3.53499371e-02 -1.55247926e-02 6.03482080e+02] [ 3.53503922e-02 9.99374950e-01 -2.45190887e-04 7.71173053e+00] [ 1.55237563e-02 -3.03799435e-04 9.99879453e-01 9.35059239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.5992541539999 meters Centerline goodness : 0.999065 Centerline is valid? [True, True] Translation: X:603.51, Y:7.71, Z:9.35 [[ 9.99195915e-01 -3.69662449e-02 -1.55248095e-02 6.03514037e+02] [ 3.69669116e-02 9.99316460e-01 -2.44118826e-04 7.71183583e+00] [ 1.55232218e-02 -3.29981728e-04 9.99879453e-01 9.35122771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.6292541539999 meters Centerline goodness : 0.999068 Centerline is valid? [True, True] Translation: X:603.55, Y:7.71, Z:9.35 [[ 9.99074893e-01 -4.01040812e-02 -1.55248265e-02 6.03546513e+02] [ 4.01051433e-02 9.99195436e-01 -2.43035333e-04 7.70989241e+00] [ 1.55220825e-02 -3.79814892e-04 9.99879453e-01 9.35163251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.6592541539999 meters Centerline goodness : 0.998940 Centerline is valid? [True, True] Translation: X:603.58, Y:7.71, Z:9.35 [[ 9.98995124e-01 -4.20442767e-02 -1.55248442e-02 6.03578971e+02] [ 4.20455906e-02 9.99115664e-01 -2.41897230e-04 7.70922613e+00] [ 1.55212854e-02 -4.11097090e-04 9.99879453e-01 9.35209710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.689254154 meters Centerline goodness : 0.999004 Centerline is valid? [True, True] Translation: X:603.62, Y:7.70, Z:9.35 [[ 9.99229988e-01 -3.60334470e-02 -1.55248619e-02 6.03622161e+02] [ 3.60340535e-02 9.99350534e-01 -2.40754326e-04 7.69504525e+00] [ 1.55234543e-02 -3.18854763e-04 9.99879453e-01 9.34640086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.7192541539999 meters Centerline goodness : 0.999178 Centerline is valid? [True, True] Translation: X:603.64, Y:7.71, Z:9.35 [[ 9.98674638e-01 -4.90679466e-02 -1.55339896e-02 6.03638261e+02] [ 4.90798907e-02 9.98794780e-01 3.88380680e-04 7.70675873e+00] [ 1.54962107e-02 -1.15027244e-03 9.99879265e-01 9.35183855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.7492541539999 meters Centerline goodness : 0.998942 Centerline is valid? [True, True] Translation: X:603.69, Y:7.69, Z:9.35 [[ 9.99215440e-01 -3.64350494e-02 -1.55238896e-02 6.03686179e+02] [ 3.64356088e-02 9.99335972e-01 -2.46886687e-04 7.68923579e+00] [ 1.55225767e-02 -3.18929379e-04 9.99879467e-01 9.34541370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.7792541539999 meters Centerline goodness : 0.999071 Centerline is valid? [True, True] Translation: X:603.70, Y:7.70, Z:9.35 [[ 9.98296483e-01 -5.62384500e-02 -1.55360480e-02 6.03695943e+02] [ 5.62547533e-02 9.98416259e-01 6.14021146e-04 7.70478142e+00] [ 1.54769113e-02 -1.48695170e-03 9.99879120e-01 9.35146212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.809254154 meters Centerline goodness : 0.999030 Centerline is valid? [True, True] Translation: X:603.73, Y:7.70, Z:9.35 [[ 9.98172847e-01 -5.83954761e-02 -1.55221031e-02 6.03727435e+02] [ 5.83986285e-02 9.98293312e-01 -2.50483697e-04 7.70490271e+00] [ 1.55102388e-02 -6.56443506e-04 9.99879494e-01 9.35081847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.839254154 meters Centerline goodness : 0.996333 Centerline is valid? [True, True] Translation: X:603.76, Y:7.70, Z:9.35 [[ 9.98003776e-01 -6.12170502e-02 -1.55221169e-02 6.03759276e+02] [ 6.12205565e-02 9.98124231e-01 -2.49624562e-04 7.70334039e+00] [ 1.55082823e-02 -7.01146379e-04 9.99879494e-01 9.34844304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.8692541539999 meters Centerline goodness : 0.999031 Centerline is valid? [True, True] Translation: X:603.79, Y:7.70, Z:9.35 [[ 9.97803968e-01 -6.43918302e-02 -1.55220464e-02 6.03790199e+02] [ 6.43956509e-02 9.97924414e-01 -2.54049682e-04 7.70363405e+00] [ 1.55061878e-02 -7.46060503e-04 9.99879494e-01 9.35070649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.8992541539999 meters Centerline goodness : 0.998926 Centerline is valid? [True, True] Translation: X:603.82, Y:7.70, Z:9.35 [[ 9.97684057e-01 -6.62237438e-02 -1.55221635e-02 6.03822540e+02] [ 6.62279000e-02 9.97804492e-01 -2.46683986e-04 7.70366330e+00] [ 1.55044208e-02 -7.81887612e-04 9.99879494e-01 9.35085290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.9292541539999 meters Centerline goodness : 0.998904 Centerline is valid? [True, True] Translation: X:603.86, Y:7.70, Z:9.35 [[ 9.97468869e-01 -6.93896029e-02 -1.55221865e-02 6.03855054e+02] [ 6.93941639e-02 9.97589289e-01 -2.45231011e-04 7.70384606e+00] [ 1.55017834e-02 -8.32538852e-04 9.99879494e-01 9.35085567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.959254154 meters Centerline goodness : 0.998947 Centerline is valid? [True, True] Translation: X:603.89, Y:7.70, Z:9.35 [[ 9.97380361e-01 -7.06503792e-02 -1.55222091e-02 6.03887993e+02] [ 7.06551147e-02 9.97500775e-01 -2.43791813e-04 7.70447952e+00] [ 1.55006395e-02 -8.53570295e-04 9.99879494e-01 9.35101675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.9892541539999 meters Centerline goodness : 0.998840 Centerline is valid? [True, True] Translation: X:603.93, Y:7.69, Z:9.34 [[ 9.97981782e-01 -6.15745286e-02 -1.55222356e-02 6.03929839e+02] [ 6.15781949e-02 9.98102233e-01 -2.42087752e-04 7.69288295e+00] [ 1.55076845e-02 -7.14232086e-04 9.99879494e-01 9.34418557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.0192541539999 meters Centerline goodness : 0.998966 Centerline is valid? [True, True] Translation: X:603.95, Y:7.70, Z:9.35 [[ 9.97399735e-01 -7.03749883e-02 -1.55283196e-02 6.03951711e+02] [ 7.03878661e-02 9.97519658e-01 2.83663571e-04 7.70248631e+00] [ 1.54698412e-02 -1.37593125e-03 9.99879388e-01 9.34890215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.0492541539999 meters Centerline goodness : 0.999030 Centerline is valid? [True, True] Translation: X:603.98, Y:7.70, Z:9.35 [[ 9.97318052e-01 -7.15246725e-02 -1.55217505e-02 6.03984292e+02] [ 7.15295735e-02 9.97438451e-01 -2.39894421e-04 7.70271873e+00] [ 1.54991491e-02 -8.71013158e-04 9.99879502e-01 9.35056173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.079254154 meters Centerline goodness : 0.999260 Centerline is valid? [True, True] Translation: X:604.02, Y:7.70, Z:9.35 [[ 9.97276079e-01 -7.21074103e-02 -1.55223552e-02 6.04016524e+02] [ 7.21131452e-02 9.97396440e-01 -1.90663871e-04 7.70339650e+00] [ 1.54956901e-02 -9.29221340e-04 9.99879503e-01 9.35086789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.1092541539999 meters Centerline goodness : 0.999029 Centerline is valid? [True, True] Translation: X:604.05, Y:7.70, Z:9.35 [[ 9.97286655e-01 -7.19609942e-02 -1.55223692e-02 6.04049420e+02] [ 7.19667291e-02 9.97407015e-01 -1.89524227e-04 7.70462242e+00] [ 1.54957582e-02 -9.28084153e-04 9.99879503e-01 9.35127784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.1392541539999 meters Centerline goodness : 0.999010 Centerline is valid? [True, True] Translation: X:604.08, Y:7.71, Z:9.35 [[ 9.97340570e-01 -7.12098547e-02 -1.55223900e-02 6.04081670e+02] [ 7.12155257e-02 9.97460933e-01 -1.87804054e-04 7.70585634e+00] [ 1.54963511e-02 -9.18130559e-04 9.99879503e-01 9.35150365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.1692541539999 meters Centerline goodness : 0.998989 Centerline is valid? [True, True] Translation: X:604.13, Y:7.69, Z:9.34 [[ 9.98261493e-01 -5.68598818e-02 -1.55224071e-02 6.04129763e+02] [ 5.68638434e-02 9.98381925e-01 -1.86378359e-04 7.69204284e+00] [ 1.55078881e-02 -6.96609385e-04 9.99879503e-01 9.34284534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.199254154 meters Centerline goodness : 0.999069 Centerline is valid? [True, True] Translation: X:604.16, Y:7.70, Z:9.35 [[ 9.98393104e-01 -5.44974661e-02 -1.55317881e-02 6.04163476e+02] [ 5.45113198e-02 9.98513042e-01 4.69686980e-04 7.69592086e+00] [ 1.54830962e-02 -1.31559051e-03 9.99879264e-01 9.34572634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.2292541539999 meters Centerline goodness : 0.999026 Centerline is valid? [True, True] Translation: X:604.18, Y:7.71, Z:9.35 [[ 9.98122222e-01 -5.92515097e-02 -1.55334553e-02 6.04179696e+02] [ 5.92680845e-02 9.98241917e-01 6.08463118e-04 7.70753574e+00] [ 1.54700938e-02 -1.52795870e-03 9.99879163e-01 9.35066939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.2592541539999 meters Centerline goodness : 0.999259 Centerline is valid? [True, True] Translation: X:604.21, Y:7.71, Z:9.36 [[ 9.98155696e-01 -5.86874880e-02 -1.55236908e-02 6.04208945e+02] [ 5.86930125e-02 9.98276074e-01 -9.98699754e-05 7.71306111e+00] [ 1.55027902e-02 -8.11446392e-04 9.99879495e-01 9.35593589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.2892541539999 meters Centerline goodness : 0.998940 Centerline is valid? [True, True] Translation: X:604.26, Y:7.70, Z:9.35 [[ 9.99242332e-01 -3.56907158e-02 -1.55220693e-02 6.04257711e+02] [ 3.56916602e-02 9.99362826e-01 -2.16257140e-04 7.70181680e+00] [ 1.55198975e-02 -3.37915136e-04 9.99879502e-01 9.34989280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.319254154 meters Centerline goodness : 0.999195 Centerline is valid? [True, True] Translation: X:604.27, Y:7.72, Z:9.36 [[ 9.98842483e-01 -4.55237369e-02 -1.55332900e-02 6.04266231e+02] [ 4.55396449e-02 9.98962306e-01 6.71769811e-04 7.71899392e+00] [ 1.54865898e-02 -1.37837274e-03 9.99879126e-01 9.35876645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.3492541539999 meters Centerline goodness : 0.999150 Centerline is valid? [True, True] Translation: X:604.30, Y:7.72, Z:9.36 [[ 9.99362752e-01 -3.21437425e-02 -1.55199610e-02 6.04301007e+02] [ 3.21440514e-02 9.99483220e-01 -2.29609026e-04 7.71938434e+00] [ 1.55193210e-02 -2.69411715e-04 9.99879532e-01 9.35742396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.3792541539999 meters Centerline goodness : 0.998466 Centerline is valid? [True, True] Translation: X:604.33, Y:7.72, Z:9.36 [[ 9.99433947e-01 -2.98472449e-02 -1.55218303e-02 6.04328610e+02] [ 2.98494440e-02 9.99554402e-01 -9.00233452e-05 7.72311757e+00] [ 1.55176007e-02 -3.73345617e-04 9.99879525e-01 9.36174240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.4092541539999 meters Centerline goodness : 0.998487 Centerline is valid? [True, True] Translation: X:604.36, Y:7.72, Z:9.36 [[ 9.99562752e-01 -2.51685752e-02 -1.55192358e-02 6.04360254e+02] [ 2.51672707e-02 9.99683215e-01 -2.79381478e-04 7.72492320e+00] [ 1.55213512e-02 -1.11317489e-04 9.99879530e-01 9.35950588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.439254154 meters Centerline goodness : 0.998211 Centerline is valid? [True, True] Translation: X:604.39, Y:7.73, Z:9.36 [[ 9.99645623e-01 -2.16282142e-02 -1.55192954e-02 6.04391318e+02] [ 2.16265525e-02 9.99766081e-01 -2.74910791e-04 7.72608082e+00] [ 1.55216110e-02 -6.08154891e-05 9.99879531e-01 9.36065088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.4692541539999 meters Centerline goodness : 0.995002 Centerline is valid? [True, True] Translation: X:604.42, Y:7.73, Z:9.36 [[ 9.99726256e-01 -1.75083671e-02 -1.55199872e-02 6.04420823e+02] [ 1.75070091e-02 9.99846716e-01 -2.23374056e-04 7.72873720e+00] [ 1.55215191e-02 -4.83956477e-05 9.99879533e-01 9.36195341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.4992541539999 meters Centerline goodness : 0.999210 Centerline is valid? [True, True] Translation: X:604.45, Y:7.73, Z:9.36 [[ 9.99765535e-01 -1.50995578e-02 -1.55202812e-02 6.04449046e+02] [ 1.50982467e-02 9.99885995e-01 -2.01646541e-04 7.72959868e+00] [ 1.55215566e-02 -3.27297733e-05 9.99879533e-01 9.36293102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.5292541539999 meters Centerline goodness : 0.996121 Centerline is valid? [True, True] Translation: X:604.48, Y:7.73, Z:9.36 [[ 9.99801752e-01 -1.24732781e-02 -1.55201083e-02 6.04475644e+02] [ 1.24714562e-02 9.99922205e-01 -2.14174592e-04 7.73027877e+00] [ 1.55215724e-02 2.05737810e-05 9.99879533e-01 9.36151373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.559254154 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:604.50, Y:7.73, Z:9.36 [[ 9.99821376e-01 -1.07872313e-02 -1.55193748e-02 6.04504924e+02] [ 1.07843916e-02 9.99941811e-01 -2.66653948e-04 7.73113973e+00] [ 1.55213482e-02 9.92393014e-05 9.99879532e-01 9.36190684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.589254154 meters Centerline goodness : 0.999357 Centerline is valid? [True, True] Translation: X:604.53, Y:7.73, Z:9.36 [[ 9.99840187e-01 -8.87286783e-03 -1.55200434e-02 6.04533015e+02] [ 8.87053187e-03 9.99960632e-01 -2.19347142e-04 7.73120542e+00] [ 1.55213787e-02 8.16410473e-05 9.99879533e-01 9.35990501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.6192541539999 meters Centerline goodness : 0.999035 Centerline is valid? [True, True] Translation: X:604.56, Y:7.73, Z:9.36 [[ 9.99840025e-01 -8.89171280e-03 -1.55197473e-02 6.04561290e+02] [ 8.88905624e-03 9.99960463e-01 -2.40147754e-04 7.73227583e+00] [ 1.55212690e-02 1.02153430e-04 9.99879533e-01 9.36158608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.6492541539999 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:604.59, Y:7.73, Z:9.36 [[ 9.99821741e-01 -1.07529154e-02 -1.55196707e-02 6.04588849e+02] [ 1.07504011e-02 9.99942183e-01 -2.45425287e-04 7.73279897e+00] [ 1.55214124e-02 7.85388526e-05 9.99879533e-01 9.36238662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.6792541539999 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:604.62, Y:7.73, Z:9.36 [[ 9.99815139e-01 -1.13498838e-02 -1.55199158e-02 6.04616465e+02] [ 1.13476996e-02 9.99935587e-01 -2.28797634e-04 7.73272501e+00] [ 1.55215129e-02 5.26399963e-05 9.99879533e-01 9.36303712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.709254154 meters Centerline goodness : 0.999209 Centerline is valid? [True, True] Translation: X:604.64, Y:7.73, Z:9.36 [[ 9.99799767e-01 -1.26316868e-02 -1.55198479e-02 6.04644677e+02] [ 1.26295869e-02 9.99920216e-01 -2.33311626e-04 7.73209681e+00] [ 1.55215568e-02 3.72556416e-05 9.99879533e-01 9.36308119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.7392541539999 meters Centerline goodness : 0.999229 Centerline is valid? [True, True] Translation: X:604.67, Y:7.73, Z:9.37 [[ 9.99801765e-01 -1.24725670e-02 -1.55198268e-02 6.04671503e+02] [ 1.24704262e-02 9.99922214e-01 -2.34708906e-04 7.73206874e+00] [ 1.55215470e-02 4.11235243e-05 9.99879533e-01 9.36558807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.7692541539999 meters Centerline goodness : 0.996106 Centerline is valid? [True, True] Translation: X:604.70, Y:7.73, Z:9.36 [[ 9.99763701e-01 -1.52226940e-02 -1.55181296e-02 6.04700044e+02] [ 1.52192627e-02 9.99884123e-01 -3.39190760e-04 7.73284362e+00] [ 1.55214948e-02 1.02936117e-04 9.99879529e-01 9.36355418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.7992541539999 meters Centerline goodness : 0.999209 Centerline is valid? [True, True] Translation: X:604.73, Y:7.73, Z:9.36 [[ 9.99696159e-01 -1.91508616e-02 -1.55188353e-02 6.04728718e+02] [ 1.91485787e-02 9.99816605e-01 -2.95691361e-04 7.73101273e+00] [ 1.55216520e-02 -1.56212156e-06 9.99879532e-01 9.36482015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.829254154 meters Centerline goodness : 0.999125 Centerline is valid? [True, True] Translation: X:604.76, Y:7.73, Z:9.36 [[ 9.99703273e-01 -1.87752759e-02 -1.55195229e-02 6.04758419e+02] [ 1.87736010e-02 9.99823728e-01 -2.53617678e-04 7.72839927e+00] [ 1.55215490e-02 -3.78149073e-05 9.99879533e-01 9.36355503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.8592541539999 meters Centerline goodness : 0.999295 Centerline is valid? [True, True] Translation: X:604.79, Y:7.73, Z:9.36 [[ 9.99597283e-01 -2.37568146e-02 -1.55205140e-02 6.04787262e+02] [ 2.37566842e-02 9.99717752e-01 -1.92798269e-04 7.72873755e+00] [ 1.55207137e-02 -1.75995325e-04 9.99879531e-01 9.36485536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.8892541539999 meters Centerline goodness : 0.999212 Centerline is valid? [True, True] Translation: X:604.82, Y:7.73, Z:9.36 [[ 9.99441842e-01 -2.95829142e-02 -1.55194949e-02 6.04817841e+02] [ 2.95825224e-02 9.99562309e-01 -2.54859134e-04 7.72550812e+00] [ 1.55202416e-02 -2.04388924e-04 9.99879533e-01 9.36446654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.9192541539999 meters Centerline goodness : 0.999022 Centerline is valid? [True, True] Translation: X:604.85, Y:7.72, Z:9.36 [[ 9.99350225e-01 -3.25311249e-02 -1.55194949e-02 6.04850562e+02] [ 3.25310885e-02 9.99470692e-01 -2.54859134e-04 7.72426262e+00] [ 1.55195712e-02 -2.50172529e-04 9.99879533e-01 9.36450325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.949254154 meters Centerline goodness : 0.999084 Centerline is valid? [True, True] Translation: X:604.88, Y:7.72, Z:9.36 [[ 9.99255879e-01 -3.53105276e-02 -1.55195133e-02 6.04882856e+02] [ 3.53108437e-02 9.99376346e-01 -2.53734979e-04 7.72332748e+00] [ 1.55187940e-02 -2.94460939e-04 9.99879533e-01 9.36467523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.9792541539999 meters Centerline goodness : 0.999191 Centerline is valid? [True, True] Translation: X:604.92, Y:7.72, Z:9.36 [[ 9.99173761e-01 -3.75624642e-02 -1.55195316e-02 6.04916609e+02] [ 3.75630693e-02 9.99294227e-01 -2.52608786e-04 7.71816976e+00] [ 1.55180670e-02 -3.30561171e-04 9.99879533e-01 9.36073888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.0092541539999 meters Centerline goodness : 0.998959 Centerline is valid? [True, True] Translation: X:604.95, Y:7.72, Z:9.36 [[ 9.98924548e-01 -4.36901228e-02 -1.55216450e-02 6.04945564e+02] [ 4.36934750e-02 9.99044977e-01 -1.23244552e-04 7.71958982e+00] [ 1.55122060e-02 -5.55082597e-04 9.99879524e-01 9.36455888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.0392541539999 meters Centerline goodness : 0.999343 Centerline is valid? [True, True] Translation: X:604.98, Y:7.72, Z:9.36 [[ 9.98827282e-01 -4.58607551e-02 -1.55194343e-02 6.04976554e+02] [ 4.58622953e-02 9.98947738e-01 -2.56834523e-04 7.71880741e+00] [ 1.55148824e-02 -4.55223549e-04 9.99879533e-01 9.36427883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.069254154 meters Centerline goodness : 0.998854 Centerline is valid? [True, True] Translation: X:605.02, Y:7.70, Z:9.36 [[ 9.99231818e-01 -3.59850058e-02 -1.55194484e-02 6.05024152e+02] [ 3.59853684e-02 9.99352284e-01 -2.55977213e-04 7.70286022e+00] [ 1.55186076e-02 -3.02692494e-04 9.99879533e-01 9.35776001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.0992541539999 meters Centerline goodness : 0.999110 Centerline is valid? [True, True] Translation: X:605.05, Y:7.70, Z:9.36 [[ 9.99119988e-01 -3.89617828e-02 -1.55315577e-02 6.05054445e+02] [ 3.89747844e-02 9.99240051e-01 5.35190043e-04 7.70444019e+00] [ 1.54989026e-02 -1.14005818e-03 9.99879235e-01 9.35819662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.1292541539999 meters Centerline goodness : 0.999027 Centerline is valid? [True, True] Translation: X:605.07, Y:7.72, Z:9.37 [[ 9.98548256e-01 -5.15771095e-02 -1.55300322e-02 6.05066875e+02] [ 5.15901754e-02 9.98668243e-01 4.41622264e-04 7.71745872e+00] [ 1.54865724e-02 -1.24217823e-03 9.99879304e-01 9.36540699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.1592541539999 meters Centerline goodness : 0.998899 Centerline is valid? [True, True] Translation: X:605.10, Y:7.72, Z:9.37 [[ 9.98570726e-01 -5.11441902e-02 -1.55169661e-02 6.05098645e+02] [ 5.11459951e-02 9.98691148e-01 -2.80752888e-04 7.71836325e+00] [ 1.55110156e-02 -5.13279058e-04 9.99879565e-01 9.36574978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.189254154 meters Centerline goodness : 0.998813 Centerline is valid? [True, True] Translation: X:605.13, Y:7.72, Z:9.37 [[ 9.98599826e-01 -5.05728263e-02 -1.55169920e-02 6.05131189e+02] [ 5.05745846e-02 9.98720248e-01 -2.79316209e-04 7.71916897e+00] [ 1.55112599e-02 -5.05840306e-04 9.99879565e-01 9.36659404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.2192541539999 meters Centerline goodness : 0.998773 Centerline is valid? [True, True] Translation: X:605.16, Y:7.72, Z:9.37 [[ 9.98685587e-01 -4.88499896e-02 -1.55170124e-02 6.05162047e+02] [ 4.88515579e-02 9.98806011e-01 -2.78174996e-04 7.71976161e+00] [ 1.55120741e-02 -4.80220873e-04 9.99879565e-01 9.36705574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.2492541539999 meters Centerline goodness : 0.999302 Centerline is valid? [True, True] Translation: X:605.19, Y:7.72, Z:9.37 [[ 9.98724473e-01 -4.80484053e-02 -1.55170276e-02 6.05194593e+02] [ 4.80498901e-02 9.98844898e-01 -2.77325355e-04 7.72057209e+00] [ 1.55124289e-02 -4.68619853e-04 9.99879565e-01 9.36757147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.2792541539999 meters Centerline goodness : 0.998901 Centerline is valid? [True, True] Translation: X:605.23, Y:7.72, Z:9.37 [[ 9.98744666e-01 -4.76268244e-02 -1.55170476e-02 6.05226695e+02] [ 4.76282759e-02 9.98865092e-01 -2.76204602e-04 7.72139631e+00] [ 1.55125919e-02 -4.63192349e-04 9.99879565e-01 9.36785277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.309254154 meters Centerline goodness : 0.999406 Centerline is valid? [True, True] Translation: X:605.26, Y:7.72, Z:9.37 [[ 9.98748707e-01 -4.75420001e-02 -1.55170673e-02 6.05258960e+02] [ 4.75434586e-02 9.98869133e-01 -2.75093514e-04 7.72263485e+00] [ 1.55125980e-02 -4.62985754e-04 9.99879565e-01 9.36802064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.339254154 meters Centerline goodness : 0.998940 Centerline is valid? [True, True] Translation: X:605.30, Y:7.71, Z:9.36 [[ 9.99185765e-01 -3.72428229e-02 -1.55170876e-02 6.05301381e+02] [ 3.72430576e-02 9.99306199e-01 -2.73940833e-04 7.71263990e+00] [ 1.55165242e-02 -3.04186008e-04 9.99879565e-01 9.36076192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.3692541539999 meters Centerline goodness : 0.998919 Centerline is valid? [True, True] Translation: X:605.32, Y:7.72, Z:9.37 [[ 9.98666702e-01 -4.92315171e-02 -1.55265997e-02 6.05318071e+02] [ 4.92419847e-02 9.98786835e-01 2.92360048e-04 7.72430872e+00] [ 1.54933700e-02 -1.05653083e-03 9.99879412e-01 9.36695023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.3992541539999 meters Centerline goodness : 0.999047 Centerline is valid? [True, True] Translation: X:605.35, Y:7.73, Z:9.37 [[ 9.98566939e-01 -5.12183020e-02 -1.55162412e-02 6.05349056e+02] [ 5.12201180e-02 9.98687349e-01 -2.80590630e-04 7.72509604e+00] [ 1.55102451e-02 -5.14555179e-04 9.99879577e-01 9.36665964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.4292541539999 meters Centerline goodness : 0.999047 Centerline is valid? [True, True] Translation: X:605.38, Y:7.73, Z:9.37 [[ 9.98570609e-01 -5.11466901e-02 -1.55162563e-02 6.05381741e+02] [ 5.11485106e-02 9.98691019e-01 -2.79751914e-04 7.72562361e+00] [ 1.55102542e-02 -5.14281360e-04 9.99879577e-01 9.36716673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.459254154 meters Centerline goodness : 0.999067 Centerline is valid? [True, True] Translation: X:605.41, Y:7.73, Z:9.37 [[ 9.98519285e-01 -5.21390794e-02 -1.55162763e-02 6.05414226e+02] [ 5.21410368e-02 9.98639692e-01 -2.78639240e-04 7.72629094e+00] [ 1.55096974e-02 -5.30808078e-04 9.99879577e-01 9.36740809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.4892541539999 meters Centerline goodness : 0.995727 Centerline is valid? [True, True] Translation: X:605.44, Y:7.73, Z:9.37 [[ 9.98494063e-01 -5.26198660e-02 -1.55162961e-02 6.05444224e+02] [ 5.26218986e-02 9.98614470e-01 -2.77529724e-04 7.72833964e+00] [ 1.55094014e-02 -5.39385180e-04 9.99879577e-01 9.36739041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.5192541539999 meters Centerline goodness : 0.999152 Centerline is valid? [True, True] Translation: X:605.48, Y:7.73, Z:9.37 [[ 9.98378425e-01 -5.47707706e-02 -1.55139447e-02 6.05477013e+02] [ 5.47710357e-02 9.98498857e-01 -4.08108752e-04 7.72938548e+00] [ 1.55130085e-02 -4.42267848e-04 9.99879568e-01 9.36923462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.5492541539999 meters Centerline goodness : 0.998877 Centerline is valid? [True, True] Translation: X:605.51, Y:7.73, Z:9.37 [[ 9.98327480e-01 -5.56909974e-02 -1.55163084e-02 6.05509641e+02] [ 5.56934472e-02 9.98447878e-01 -2.74514270e-04 7.73075521e+00] [ 1.55075132e-02 -5.90101563e-04 9.99879577e-01 9.36981130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.579254154 meters Centerline goodness : 0.999110 Centerline is valid? [True, True] Translation: X:605.54, Y:7.73, Z:9.37 [[ 9.98303197e-01 -5.61245994e-02 -1.55163372e-02 6.05542076e+02] [ 5.61271268e-02 9.98423593e-01 -2.72878065e-04 7.73212766e+00] [ 1.55071923e-02 -5.98472380e-04 9.99879577e-01 9.37094928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.6092541539999 meters Centerline goodness : 0.999003 Centerline is valid? [True, True] Translation: X:605.58, Y:7.73, Z:9.37 [[ 9.98494465e-01 -5.26122236e-02 -1.55163609e-02 6.05580755e+02] [ 5.26143484e-02 9.98614869e-01 -2.71525066e-04 7.72795030e+00] [ 1.55091542e-02 -5.45266941e-04 9.99879577e-01 9.36770972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.6392541539999 meters Centerline goodness : 0.999023 Centerline is valid? [True, True] Translation: X:605.61, Y:7.74, Z:9.37 [[ 9.98198479e-01 -5.79559438e-02 -1.55211013e-02 6.05606278e+02] [ 5.79630368e-02 9.98318730e-01 7.15099862e-06 7.73571570e+00] [ 1.54945917e-02 -9.06788283e-04 9.99879540e-01 9.37251176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.6692541539999 meters Centerline goodness : 0.999108 Centerline is valid? [True, True] Translation: X:605.64, Y:7.74, Z:9.37 [[ 9.98148110e-01 -5.88183435e-02 -1.55161952e-02 6.05638754e+02] [ 5.88212036e-02 9.98268497e-01 -2.72370491e-04 7.73758772e+00] [ 1.55053493e-02 -6.40815188e-04 9.99879579e-01 9.37256375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.699254154 meters Centerline goodness : 0.998981 Centerline is valid? [True, True] Translation: X:605.67, Y:7.74, Z:9.37 [[ 9.98132871e-01 -5.90763806e-02 -1.55162187e-02 6.05671686e+02] [ 5.90792926e-02 9.98253256e-01 -2.71026998e-04 7.73912928e+00] [ 1.55051271e-02 -6.46166269e-04 9.99879580e-01 9.37267297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.7292541539999 meters Centerline goodness : 0.998791 Centerline is valid? [True, True] Translation: X:605.70, Y:7.74, Z:9.37 [[ 9.98108372e-01 -5.94888498e-02 -1.55162464e-02 6.05704781e+02] [ 5.94918363e-02 9.98228756e-01 -2.69432949e-04 7.74107440e+00] [ 1.55047916e-02 -6.54166706e-04 9.99879580e-01 9.37306395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.7592541539999 meters Centerline goodness : 0.999065 Centerline is valid? [True, True] Translation: X:605.74, Y:7.74, Z:9.37 [[ 9.98112023e-01 -5.94275673e-02 -1.55162740e-02 6.05736697e+02] [ 5.94305712e-02 9.98232406e-01 -2.67834717e-04 7.74400057e+00] [ 1.55047642e-02 -6.54811973e-04 9.99879580e-01 9.37434252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.7892541539999 meters Centerline goodness : 0.999085 Centerline is valid? [True, True] Translation: X:605.76, Y:7.75, Z:9.38 [[ 9.98326399e-01 -5.57103759e-02 -1.55162966e-02 6.05763714e+02] [ 5.57129521e-02 9.98446792e-01 -2.66513930e-04 7.74553313e+00] [ 1.55070442e-02 -5.98390800e-04 9.99879580e-01 9.37645663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.819254154 meters Centerline goodness : 0.999191 Centerline is valid? [True, True] Translation: X:605.80, Y:7.75, Z:9.38 [[ 9.98162162e-01 -5.85802422e-02 -1.55129964e-02 6.05799358e+02] [ 5.85802422e-02 9.98282599e-01 -4.54793843e-04 7.74756971e+00] [ 1.55129963e-02 -4.54797079e-04 9.99879563e-01 9.37645093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.8492541539999 meters Centerline goodness : 0.999147 Centerline is valid? [True, True] Translation: X:605.83, Y:7.75, Z:9.38 [[ 9.98239737e-01 -5.72422316e-02 -1.55162441e-02 6.05832356e+02] [ 5.72450354e-02 9.98360124e-01 -2.63746300e-04 7.75054867e+00] [ 1.55058968e-02 -6.24945904e-04 9.99879581e-01 9.37824206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.8792541539999 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:605.87, Y:7.75, Z:9.37 [[ 9.98639273e-01 -4.97880272e-02 -1.55162733e-02 6.05867564e+02] [ 4.97899590e-02 9.98759676e-01 -2.62014589e-04 7.74695813e+00] [ 1.55100733e-02 -5.10896553e-04 9.99879581e-01 9.37406508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.9092541539999 meters Centerline goodness : 0.999127 Centerline is valid? [True, True] Translation: X:605.90, Y:7.75, Z:9.38 [[ 9.98537676e-01 -5.17846560e-02 -1.55196126e-02 6.05901832e+02] [ 5.17902758e-02 9.98657982e-01 -3.98489819e-05 7.75158121e+00] [ 1.55008485e-02 -7.63974306e-04 9.99879563e-01 9.37601302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.939254154 meters Centerline goodness : 0.998997 Centerline is valid? [True, True] Translation: X:605.93, Y:7.76, Z:9.38 [[ 9.98407774e-01 -5.42312717e-02 -1.55204954e-02 6.05926635e+02] [ 5.42379958e-02 9.98528037e-01 1.23311901e-05 7.75812419e+00] [ 1.54969811e-02 -8.54112121e-04 9.99879550e-01 9.37866935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.9692541539999 meters Centerline goodness : 0.999295 Centerline is valid? [True, True] Translation: X:605.96, Y:7.76, Z:9.38 [[ 9.98465030e-01 -5.31681452e-02 -1.55155523e-02 6.05960122e+02] [ 5.31703469e-02 9.98585420e-01 -2.70858254e-04 7.76029987e+00] [ 1.55080054e-02 -5.54524805e-04 9.99879590e-01 9.37925876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.9992541539999 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:605.99, Y:7.76, Z:9.38 [[ 9.98562607e-01 -5.13028938e-02 -1.55155815e-02 6.05991697e+02] [ 5.13048967e-02 9.98683000e-01 -2.69179109e-04 7.76338839e+00] [ 1.55089571e-02 -5.27233112e-04 9.99879590e-01 9.37911254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.0292541539999 meters Centerline goodness : 0.999230 Centerline is valid? [True, True] Translation: X:606.02, Y:7.77, Z:9.38 [[ 9.98605415e-01 -5.04627644e-02 -1.55156055e-02 6.06024718e+02] [ 5.04646877e-02 9.98725810e-01 -2.67786659e-04 7.76505340e+00] [ 1.55093489e-02 -5.15576978e-04 9.99879590e-01 9.37982116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.059254154 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:606.06, Y:7.77, Z:9.38 [[ 9.98638753e-01 -4.97986540e-02 -1.55156346e-02 6.06056533e+02] [ 4.98005235e-02 9.98759149e-01 -2.66088271e-04 7.76673039e+00] [ 1.55096329e-02 -5.06960668e-04 9.99879590e-01 9.38017766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.089254154 meters Centerline goodness : 0.999356 Centerline is valid? [True, True] Translation: X:606.09, Y:7.77, Z:9.38 [[ 9.98665407e-01 -4.92612412e-02 -1.55156586e-02 6.06089524e+02] [ 4.92630678e-02 9.98785803e-01 -2.64682915e-04 7.76869874e+00] [ 1.55098581e-02 -5.00019270e-04 9.99879590e-01 9.38085516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.1192541539999 meters Centerline goodness : 0.999292 Centerline is valid? [True, True] Translation: X:606.12, Y:7.77, Z:9.38 [[ 9.98724569e-01 -4.80468414e-02 -1.55156863e-02 6.06121197e+02] [ 4.80485469e-02 9.98844967e-01 -2.63051160e-04 7.77215345e+00] [ 1.55104039e-02 -4.82790523e-04 9.99879590e-01 9.38175326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.1492541539999 meters Centerline goodness : 0.999376 Centerline is valid? [True, True] Translation: X:606.15, Y:7.78, Z:9.38 [[ 9.98789572e-01 -4.66760345e-02 -1.55157292e-02 6.06153125e+02] [ 4.66776145e-02 9.98909972e-01 -2.60491033e-04 7.77558849e+00] [ 1.55109754e-02 -4.64061501e-04 9.99879590e-01 9.38273245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.1792541539999 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:606.19, Y:7.78, Z:9.38 [[ 9.98840725e-01 -4.55682790e-02 -1.55157481e-02 6.06185571e+02] [ 4.55697430e-02 9.98961126e-01 -2.59361504e-04 7.77756359e+00] [ 1.55114479e-02 -4.47987822e-04 9.99879590e-01 9.38296950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.209254154 meters Centerline goodness : 0.999397 Centerline is valid? [True, True] Translation: X:606.22, Y:7.78, Z:9.38 [[ 9.98899627e-01 -4.42582794e-02 -1.55157669e-02 6.06218112e+02] [ 4.42596030e-02 9.99020030e-01 -2.58231973e-04 7.77935686e+00] [ 1.55119908e-02 -4.28773863e-04 9.99879590e-01 9.38342828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.2392541539999 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:606.25, Y:7.78, Z:9.38 [[ 9.98959979e-01 -4.28744791e-02 -1.55157951e-02 6.06251139e+02] [ 4.28756624e-02 9.99080383e-01 -2.56528620e-04 7.78079164e+00] [ 1.55125250e-02 -4.08988167e-04 9.99879590e-01 9.38355314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.2692541539999 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:606.28, Y:7.78, Z:9.38 [[ 9.99099490e-01 -3.94901145e-02 -1.55158232e-02 6.06282101e+02] [ 3.94909164e-02 9.99219897e-01 -2.54819026e-04 7.78404042e+00] [ 1.55137821e-02 -3.58144517e-04 9.99879590e-01 9.38317638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.2992541539999 meters Centerline goodness : 0.999632 Centerline is valid? [True, True] Translation: X:606.31, Y:7.79, Z:9.38 [[ 9.99174089e-01 -3.75552718e-02 -1.55158529e-02 6.06314240e+02] [ 3.75558687e-02 9.99294498e-01 -2.52998053e-04 7.78660604e+00] [ 1.55144078e-02 -3.29922234e-04 9.99879590e-01 9.38362475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.329254154 meters Centerline goodness : 0.998656 Centerline is valid? [True, True] Translation: X:606.35, Y:7.79, Z:9.38 [[ 9.99284965e-01 -3.44791875e-02 -1.55159087e-02 6.06346455e+02] [ 3.44794673e-02 9.99405375e-01 -2.49551706e-04 7.78882278e+00] [ 1.55152869e-02 -2.85607000e-04 9.99879590e-01 9.38324199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.3592541539999 meters Centerline goodness : 0.999630 Centerline is valid? [True, True] Translation: X:606.38, Y:7.79, Z:9.39 [[ 9.99428991e-01 -3.00158239e-02 -1.55159028e-02 6.06377100e+02] [ 3.00155602e-02 9.99549400e-01 -2.49918716e-04 7.79204848e+00] [ 1.55164129e-02 -2.15942506e-04 9.99879590e-01 9.38585106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.3892541539999 meters Centerline goodness : 0.999433 Centerline is valid? [True, True] Translation: X:606.41, Y:7.79, Z:9.39 [[ 9.99494643e-01 -2.77437097e-02 -1.55159387e-02 6.06409028e+02] [ 2.77432072e-02 9.99615052e-01 -2.47672151e-04 7.79389223e+00] [ 1.55168372e-02 -1.82914914e-04 9.99879590e-01 9.38788049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.4192541539999 meters Centerline goodness : 0.999498 Centerline is valid? [True, True] Translation: X:606.44, Y:7.80, Z:9.39 [[ 9.99570532e-01 -2.48597255e-02 -1.55159565e-02 6.06440341e+02] [ 2.48588929e-02 9.99690940e-01 -2.46549806e-04 7.79672293e+00] [ 1.55172903e-02 -1.39265581e-04 9.99879590e-01 9.38814424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.449254154 meters Centerline goodness : 0.999586 Centerline is valid? [True, True] Translation: X:606.47, Y:7.80, Z:9.39 [[ 9.99585166e-01 -2.42641680e-02 -1.55159654e-02 6.06471571e+02] [ 2.42632724e-02 9.99705573e-01 -2.45989761e-04 7.79752193e+00] [ 1.55173658e-02 -1.30580379e-04 9.99879590e-01 9.38821961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.4792541539999 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:606.50, Y:7.80, Z:9.39 [[ 9.99583595e-01 -2.43288116e-02 -1.55159742e-02 6.06502607e+02] [ 2.43279325e-02 9.99704002e-01 -2.45431493e-04 7.79798578e+00] [ 1.55173526e-02 -1.32142279e-04 9.99879590e-01 9.38837992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.5092541539999 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:606.53, Y:7.80, Z:9.39 [[ 9.99537555e-01 -2.61520824e-02 -1.55159830e-02 6.06534039e+02] [ 2.61514316e-02 9.99657963e-01 -2.44873281e-04 7.79887303e+00] [ 1.55170799e-02 -1.61005128e-04 9.99879590e-01 9.38845337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.5392541539999 meters Centerline goodness : 0.999520 Centerline is valid? [True, True] Translation: X:606.57, Y:7.80, Z:9.39 [[ 9.99496307e-01 -2.76836847e-02 -1.55159918e-02 6.06566506e+02] [ 2.76832270e-02 9.99616716e-01 -2.44314244e-04 7.79927376e+00] [ 1.55168083e-02 -1.85341540e-04 9.99879590e-01 9.38893097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.569254154 meters Centerline goodness : 0.999279 Centerline is valid? [True, True] Translation: X:606.60, Y:7.80, Z:9.39 [[ 9.99438574e-01 -2.96949421e-02 -1.55160097e-02 6.06597921e+02] [ 2.96947445e-02 9.99558984e-01 -2.43174577e-04 7.79920120e+00] [ 1.55163879e-02 -2.17705891e-04 9.99879590e-01 9.38772227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.5992541539999 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:606.63, Y:7.80, Z:9.39 [[ 9.99280325e-01 -3.46133730e-02 -1.55160229e-02 6.06630065e+02] [ 3.46137812e-02 9.99400734e-01 -2.42325716e-04 7.79964015e+00] [ 1.55151124e-02 -2.94916902e-04 9.99879590e-01 9.38868838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.6292541539999 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:606.66, Y:7.80, Z:9.39 [[ 9.99196081e-01 -3.69654446e-02 -1.55160404e-02 6.06661194e+02] [ 3.69661536e-02 9.99316489e-01 -2.41203841e-04 7.79982233e+00] [ 1.55143512e-02 -3.32558399e-04 9.99879590e-01 9.38864996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.6592541539999 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:606.69, Y:7.80, Z:9.39 [[ 9.98999370e-01 -4.19465322e-02 -1.55160534e-02 6.06693186e+02] [ 4.19478545e-02 9.99119772e-01 -2.40365490e-04 7.79945597e+00] [ 1.55124782e-02 -4.10740177e-04 9.99879590e-01 9.38934214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.689254154 meters Centerline goodness : 0.999543 Centerline is valid? [True, True] Translation: X:606.73, Y:7.80, Z:9.39 [[ 9.98884425e-01 -4.45999698e-02 -1.55160709e-02 6.06725601e+02] [ 4.46016295e-02 9.99004824e-01 -2.39229133e-04 7.79966504e+00] [ 1.55112993e-02 -4.53079791e-04 9.99879590e-01 9.38911890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.7192541539999 meters Centerline goodness : 0.999543 Centerline is valid? [True, True] Translation: X:606.76, Y:7.80, Z:9.39 [[ 9.98766055e-01 -4.71764639e-02 -1.55160926e-02 6.06757439e+02] [ 4.71784561e-02 9.98886448e-01 -2.37813346e-04 7.79993875e+00] [ 1.55100338e-02 -4.94505396e-04 9.99879590e-01 9.39086178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.7492541539999 meters Centerline goodness : 0.999543 Centerline is valid? [True, True] Translation: X:606.79, Y:7.80, Z:9.39 [[ 9.98631261e-01 -4.99485326e-02 -1.55161098e-02 6.06790441e+02] [ 4.99508766e-02 9.98751648e-01 -2.36684273e-04 7.80052141e+00] [ 1.55085623e-02 -5.38682972e-04 9.99879590e-01 9.39177638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.7792541539999 meters Centerline goodness : 0.999565 Centerline is valid? [True, True] Translation: X:606.82, Y:7.80, Z:9.39 [[ 9.98360398e-01 -5.50977829e-02 -1.55161356e-02 6.06822786e+02] [ 5.51007740e-02 9.98480771e-01 -2.34983460e-04 7.80029743e+00] [ 1.55055101e-02 -6.20352900e-04 9.99879590e-01 9.39202749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.809254154 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:606.86, Y:7.80, Z:9.39 [[ 9.98231053e-01 -5.73935028e-02 -1.55161527e-02 6.06855753e+02] [ 5.73967884e-02 9.98351418e-01 -2.33847459e-04 7.80057306e+00] [ 1.55039944e-02 -6.57143538e-04 9.99879590e-01 9.39260445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.839254154 meters Centerline goodness : 0.999566 Centerline is valid? [True, True] Translation: X:606.89, Y:7.80, Z:9.39 [[ 9.98054696e-01 -6.03827112e-02 -1.55161783e-02 6.06887757e+02] [ 6.03863838e-02 9.98175050e-01 -2.32137624e-04 7.80162277e+00] [ 1.55018791e-02 -7.05279851e-04 9.99879590e-01 9.39400145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.8692541539999 meters Centerline goodness : 0.999675 Centerline is valid? [True, True] Translation: X:606.92, Y:7.80, Z:9.39 [[ 9.98042194e-01 -6.05890066e-02 -1.55161951e-02 6.06920012e+02] [ 6.05927216e-02 9.98162546e-01 -2.31004787e-04 7.80223315e+00] [ 1.55016812e-02 -7.09615968e-04 9.99879590e-01 9.39494959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.8992541539999 meters Centerline goodness : 0.999631 Centerline is valid? [True, True] Translation: X:606.95, Y:7.80, Z:9.40 [[ 9.98059308e-01 -6.03064305e-02 -1.55162161e-02 6.06952079e+02] [ 6.03101333e-02 9.98179661e-01 -2.29591110e-04 7.80313723e+00] [ 1.55018171e-02 -7.06639515e-04 9.99879590e-01 9.39591381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.9292541539999 meters Centerline goodness : 0.999631 Centerline is valid? [True, True] Translation: X:606.99, Y:7.81, Z:9.40 [[ 9.98183047e-01 -5.82224337e-02 -1.55162326e-02 6.06985176e+02] [ 5.82259027e-02 9.98303407e-01 -2.28467793e-04 7.80556238e+00] [ 1.55032098e-02 -6.75393972e-04 9.99879590e-01 9.39789670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.959254154 meters Centerline goodness : 0.999631 Centerline is valid? [True, True] Translation: X:607.02, Y:7.81, Z:9.40 [[ 9.98264450e-01 -5.68096231e-02 -1.55162574e-02 6.07018068e+02] [ 5.68129480e-02 9.98384814e-01 -2.26774057e-04 7.80749080e+00] [ 1.55040787e-02 -6.55143843e-04 9.99879590e-01 9.39867075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.9892541539999 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:607.05, Y:7.81, Z:9.40 [[ 9.98462746e-01 -5.32108138e-02 -1.55162819e-02 6.07050574e+02] [ 5.32137311e-02 9.98583120e-01 -2.25080839e-04 7.81040938e+00] [ 1.55062739e-02 -6.00944422e-04 9.99879590e-01 9.39969851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.0192541539999 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:607.08, Y:7.81, Z:9.40 [[ 9.98548211e-01 -5.15821213e-02 -1.55162981e-02 6.07082873e+02] [ 5.15848596e-02 9.98668590e-01 -2.23960614e-04 7.81197074e+00] [ 1.55071919e-02 -5.76770588e-04 9.99879590e-01 9.40028988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.0492541539999 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:607.12, Y:7.81, Z:9.40 [[ 9.98632997e-01 -4.99137440e-02 -1.55163180e-02 6.07115833e+02] [ 4.99163028e-02 9.98753380e-01 -2.22569261e-04 7.81340120e+00] [ 1.55080844e-02 -5.52252222e-04 9.99879590e-01 9.40130724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.079254154 meters Centerline goodness : 0.999650 Centerline is valid? [True, True] Translation: X:607.15, Y:7.82, Z:9.40 [[ 9.98784594e-01 -4.67822461e-02 -1.55163419e-02 6.07149027e+02] [ 4.67844535e-02 9.98904984e-01 -2.20892344e-04 7.81595836e+00] [ 1.55096851e-02 -5.05299706e-04 9.99879590e-01 9.40277604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.1092541539999 meters Centerline goodness : 0.999672 Centerline is valid? [True, True] Translation: X:607.18, Y:7.82, Z:9.40 [[ 9.98846118e-01 -4.54496878e-02 -1.55163659e-02 6.07181347e+02] [ 4.54517608e-02 9.98966511e-01 -2.19196040e-04 7.81748445e+00] [ 1.55102923e-02 -4.86303037e-04 9.99879590e-01 9.40327958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.1392541539999 meters Centerline goodness : 0.999694 Centerline is valid? [True, True] Translation: X:607.21, Y:7.82, Z:9.40 [[ 9.98948879e-01 -4.31321101e-02 -1.55163856e-02 6.07214778e+02] [ 4.31339257e-02 9.99069275e-01 -2.17790026e-04 7.81972356e+00] [ 1.55113379e-02 -4.51721521e-04 9.99879590e-01 9.40389397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.1692541539999 meters Centerline goodness : 0.999716 Centerline is valid? [True, True] Translation: X:607.25, Y:7.82, Z:9.40 [[ 9.98996678e-01 -4.20104517e-02 -1.55164093e-02 6.07246525e+02] [ 4.20121585e-02 9.99117076e-01 -2.16091553e-04 7.82055767e+00] [ 1.55117876e-02 -4.36003101e-04 9.99879590e-01 9.40334222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.199254154 meters Centerline goodness : 0.999628 Centerline is valid? [True, True] Translation: X:607.28, Y:7.82, Z:9.40 [[ 9.99028331e-01 -4.12508606e-02 -1.55164287e-02 6.07278489e+02] [ 4.12524976e-02 9.99148730e-01 -2.14684774e-04 7.82148757e+00] [ 1.55120760e-02 -4.25615268e-04 9.99879590e-01 9.40314541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.2292541539999 meters Centerline goodness : 0.999627 Centerline is valid? [True, True] Translation: X:607.31, Y:7.82, Z:9.40 [[ 9.99044081e-01 -4.08676373e-02 -1.55164438e-02 6.07310285e+02] [ 4.08692452e-02 9.99164481e-01 -2.13589625e-04 7.82253800e+00] [ 1.55122084e-02 -4.20759896e-04 9.99879590e-01 9.40375734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.2592541539999 meters Centerline goodness : 0.999671 Centerline is valid? [True, True] Translation: X:607.34, Y:7.82, Z:9.40 [[ 9.99059410e-01 -4.04911628e-02 -1.55164590e-02 6.07342361e+02] [ 4.04927425e-02 9.99179810e-01 -2.12480097e-04 7.82473634e+00] [ 1.55123361e-02 -4.16023739e-04 9.99879590e-01 9.40425554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.2892541539999 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:607.37, Y:7.83, Z:9.41 [[ 9.99065435e-01 -4.03422406e-02 -1.55164740e-02 6.07374908e+02] [ 4.03438195e-02 9.99185834e-01 -2.11375556e-04 7.82575787e+00] [ 1.55123684e-02 -4.14815817e-04 9.99879590e-01 9.40520429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.319254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:607.41, Y:7.83, Z:9.40 [[ 9.99079455e-01 -3.99935198e-02 -1.55164968e-02 6.07407517e+02] [ 3.99950827e-02 9.99199855e-01 -2.09693995e-04 7.82666769e+00] [ 1.55124677e-02 -4.11082610e-04 9.99879590e-01 9.40371230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.3492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:607.44, Y:7.83, Z:9.40 [[ 9.99083792e-01 -3.98851264e-02 -1.55161992e-02 6.07440221e+02] [ 3.98863332e-02 9.99204197e-01 -2.31800177e-04 7.82701585e+00] [ 1.55130968e-02 -3.87296493e-04 9.99879590e-01 9.40422841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.3792541539999 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:607.47, Y:7.83, Z:9.41 [[ 9.99027597e-01 -4.12687289e-02 -1.55162169e-02 6.07473012e+02] [ 4.12701230e-02 9.99147999e-01 -2.30479458e-04 7.82797085e+00] [ 1.55125087e-02 -4.10100840e-04 9.99879590e-01 9.40722136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.4092541539999 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:607.50, Y:7.83, Z:9.41 [[ 9.99006140e-01 -4.17847961e-02 -1.55165586e-02 6.07504785e+02] [ 4.17866546e-02 9.99126535e-01 -2.04559471e-04 7.82839898e+00] [ 1.55115529e-02 -4.44028908e-04 9.99879590e-01 9.40858993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.439254154 meters Centerline goodness : 0.999649 Centerline is valid? [True, True] Translation: X:607.54, Y:7.83, Z:9.41 [[ 9.98989192e-01 -4.21880274e-02 -1.55165734e-02 6.07537266e+02] [ 4.21899520e-02 9.99109587e-01 -2.03434095e-04 7.82887788e+00] [ 1.55113397e-02 -4.51415022e-04 9.99879590e-01 9.41026892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.4692541539999 meters Centerline goodness : 0.999648 Centerline is valid? [True, True] Translation: X:607.57, Y:7.83, Z:9.41 [[ 9.99127959e-01 -3.87628356e-02 -1.55165881e-02 6.07574836e+02] [ 3.87643649e-02 9.99248359e-01 -2.02302324e-04 7.82623161e+00] [ 1.55127670e-02 -3.99364776e-04 9.99879590e-01 9.41002293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.4992541539999 meters Centerline goodness : 0.999670 Centerline is valid? [True, True] Translation: X:607.60, Y:7.83, Z:9.41 [[ 9.98980116e-01 -4.24011387e-02 -1.55200499e-02 6.07598770e+02] [ 4.24073415e-02 9.99100402e-01 7.06374228e-05 7.83084453e+00] [ 1.55030930e-02 -7.28729438e-04 9.99879554e-01 9.41225006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.5292541539999 meters Centerline goodness : 0.999715 Centerline is valid? [True, True] Translation: X:607.63, Y:7.83, Z:9.41 [[ 9.99002647e-01 -4.18682837e-02 -1.55164083e-02 6.07631416e+02] [ 4.18701450e-02 9.99123040e-01 -2.05018543e-04 7.83170555e+00] [ 1.55113848e-02 -4.44860197e-04 9.99879592e-01 9.41361388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.559254154 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:607.66, Y:7.83, Z:9.41 [[ 9.99027717e-01 -4.12657447e-02 -1.55164305e-02 6.07664267e+02] [ 4.12675598e-02 9.99148111e-01 -2.03320068e-04 7.83252301e+00] [ 1.55116024e-02 -4.37202841e-04 9.99879592e-01 9.41499923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.589254154 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:607.70, Y:7.83, Z:9.42 [[ 9.99043664e-01 -4.08778301e-02 -1.55164528e-02 6.07696013e+02] [ 4.08796251e-02 9.99164058e-01 -2.01603918e-04 7.83283886e+00] [ 1.55117231e-02 -4.32895657e-04 9.99879592e-01 9.41517669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.6192541539999 meters Centerline goodness : 0.999714 Centerline is valid? [True, True] Translation: X:607.73, Y:7.83, Z:9.41 [[ 9.99052373e-01 -4.06644094e-02 -1.55164711e-02 6.07727612e+02] [ 4.06662007e-02 9.99172768e-01 -2.00183966e-04 7.83273750e+00] [ 1.55117758e-02 -4.31001662e-04 9.99879592e-01 9.41473603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.6492541539999 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] Translation: X:607.76, Y:7.83, Z:9.41 [[ 9.99061221e-01 -4.04464527e-02 -1.55164819e-02 6.07759085e+02] [ 4.04482308e-02 9.99181616e-01 -1.99345685e-04 7.83264957e+00] [ 1.55118463e-02 -4.28455697e-04 9.99879592e-01 9.41413616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.6792541539999 meters Centerline goodness : 0.999714 Centerline is valid? [True, True] Translation: X:607.79, Y:7.83, Z:9.41 [[ 9.99068748e-01 -4.02601021e-02 -1.55164925e-02 6.07791571e+02] [ 4.02618706e-02 9.99189142e-01 -1.98516874e-04 7.83240551e+00] [ 1.55119031e-02 -4.26391008e-04 9.99879592e-01 9.41413231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.709254154 meters Centerline goodness : 0.999737 Centerline is valid? [True, True] Translation: X:607.82, Y:7.83, Z:9.41 [[ 9.99074769e-01 -4.01103894e-02 -1.55165066e-02 6.07823438e+02] [ 4.01121570e-02 9.99195164e-01 -1.97411408e-04 7.83201620e+00] [ 1.55119366e-02 -4.25171790e-04 9.99879592e-01 9.41390796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.7392541539999 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:607.86, Y:7.83, Z:9.41 [[ 9.99075000e-01 -4.01046491e-02 -1.55165204e-02 6.07856121e+02] [ 4.01064330e-02 9.99195394e-01 -1.96315347e-04 7.83201269e+00] [ 1.55119089e-02 -4.26178533e-04 9.99879592e-01 9.41428508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.7692541539999 meters Centerline goodness : 0.999737 Centerline is valid? [True, True] Translation: X:607.89, Y:7.83, Z:9.41 [[ 9.99068944e-01 -4.02552107e-02 -1.55165410e-02 6.07887128e+02] [ 4.02570382e-02 9.99189338e-01 -1.94674716e-04 7.83152549e+00] [ 1.55117990e-02 -4.30156522e-04 9.99879592e-01 9.41493159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.7992541539999 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:607.93, Y:7.82, Z:9.41 [[ 9.99308913e-01 -3.37776996e-02 -1.55165628e-02 6.07928328e+02] [ 3.37787738e-02 9.99429316e-01 -1.92920671e-04 7.82203450e+00] [ 1.55142242e-02 -3.31343120e-04 9.99879592e-01 9.40999862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.829254154 meters Centerline goodness : 0.999672 Centerline is valid? [True, True] Translation: X:607.95, Y:7.83, Z:9.42 [[ 9.99054590e-01 -4.06075970e-02 -1.55225341e-02 6.07945967e+02] [ 4.06173583e-02 9.99174725e-01 3.13975180e-04 7.83028237e+00] [ 1.54969739e-02 -9.44162673e-04 9.99879469e-01 9.41586933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.8592541539999 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:607.99, Y:7.82, Z:9.41 [[ 9.99283393e-01 -3.45247333e-02 -1.55159240e-02 6.07986146e+02] [ 3.45257918e-02 9.99403787e-01 -1.99717062e-04 7.82105735e+00] [ 1.55135684e-02 -3.36125619e-04 9.99879601e-01 9.41170135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.8892541539999 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:608.00, Y:7.83, Z:9.42 [[ 9.99050006e-01 -4.07205938e-02 -1.55215393e-02 6.08004970e+02] [ 4.07295717e-02 9.99170172e-01 2.62613462e-04 7.82929868e+00] [ 1.54979653e-02 -8.94549628e-04 9.99879499e-01 9.41675554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.9192541539999 meters Centerline goodness : 0.999518 Centerline is valid? [True, True] Translation: X:608.04, Y:7.82, Z:9.41 [[ 9.99189898e-01 -3.71324606e-02 -1.55154144e-02 6.08041113e+02] [ 3.71337698e-02 9.99310283e-01 -2.03801281e-04 7.82368090e+00] [ 1.55122808e-02 -3.72509646e-04 9.99879608e-01 9.41498930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.949254154 meters Centerline goodness : 0.999650 Centerline is valid? [True, True] Translation: X:608.08, Y:7.82, Z:9.42 [[ 9.99250745e-01 -3.54558365e-02 -1.55187736e-02 6.08075012e+02] [ 3.54610381e-02 9.99371058e-01 6.00546413e-05 7.82190851e+00] [ 1.55068839e-02 -6.10321467e-04 9.99879575e-01 9.41501717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.9792541539999 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:608.10, Y:7.83, Z:9.42 [[ 9.99106455e-01 -3.93119291e-02 -1.55197630e-02 6.08097202e+02] [ 3.93187913e-02 9.99226708e-01 1.37163716e-04 7.82839661e+00] [ 1.55023695e-02 -7.47259475e-04 9.99879552e-01 9.41956047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.0092541539999 meters Centerline goodness : 0.999584 Centerline is valid? [True, True] Translation: X:608.13, Y:7.83, Z:9.42 [[ 9.99155487e-01 -3.80472546e-02 -1.55150990e-02 6.08128613e+02] [ 3.80485924e-02 9.99275868e-01 -2.09050830e-04 7.82773426e+00] [ 1.55118178e-02 -3.81453394e-04 9.99879612e-01 9.42061870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.0392541539999 meters Centerline goodness : 0.999629 Centerline is valid? [True, True] Translation: X:608.16, Y:7.83, Z:9.42 [[ 9.99180365e-01 -3.73882317e-02 -1.55151092e-02 6.08160923e+02] [ 3.73895020e-02 9.99300746e-01 -2.08287129e-04 7.82738383e+00] [ 1.55120477e-02 -3.71985798e-04 9.99879612e-01 9.42126031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.069254154 meters Centerline goodness : 0.999629 Centerline is valid? [True, True] Translation: X:608.19, Y:7.83, Z:9.42 [[ 9.99211358e-01 -3.65505450e-02 -1.55151227e-02 6.08192090e+02] [ 3.65517300e-02 9.99331741e-01 -2.07281532e-04 7.82609565e+00] [ 1.55123308e-02 -3.59986514e-04 9.99879612e-01 9.42149635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.0992541539999 meters Centerline goodness : 0.999520 Centerline is valid? [True, True] Translation: X:608.23, Y:7.82, Z:9.42 [[ 9.99317950e-01 -3.35099369e-02 -1.55151446e-02 6.08228112e+02] [ 3.35107812e-02 9.99438335e-01 -2.05629768e-04 7.82176854e+00] [ 1.55133209e-02 -3.14435096e-04 9.99879612e-01 9.41919079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.1292541539999 meters Centerline goodness : 0.999521 Centerline is valid? [True, True] Translation: X:608.25, Y:7.83, Z:9.42 [[ 9.99244122e-01 -3.56424035e-02 -1.55178729e-02 6.08254102e+02] [ 3.56467478e-02 9.99364453e-01 3.35590857e-06 7.82503972e+00] [ 1.55078909e-02 -5.56515072e-04 9.99879591e-01 9.42255361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.1592541539999 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:608.29, Y:7.82, Z:9.42 [[ 9.99257978e-01 -3.52530615e-02 -1.55150244e-02 6.08287463e+02] [ 3.52540702e-02 9.99378360e-01 -2.08565692e-04 7.82470631e+00] [ 1.55127322e-02 -3.38556828e-04 9.99879613e-01 9.42446361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.189254154 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:608.32, Y:7.82, Z:9.42 [[ 9.99293699e-01 -3.42253898e-02 -1.55153170e-02 6.08319745e+02] [ 3.42266176e-02 9.99414080e-01 -1.86471498e-04 7.82353668e+00] [ 1.55126084e-02 -3.44697030e-04 9.99879613e-01 9.42430409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.2192541539999 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:608.35, Y:7.82, Z:9.42 [[ 9.99300184e-01 -3.40356381e-02 -1.55150634e-02 6.08351981e+02] [ 3.40365460e-02 9.99420568e-01 -2.05613284e-04 7.82344420e+00] [ 1.55130716e-02 -3.22609775e-04 9.99879613e-01 9.42429933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.2492541539999 meters Centerline goodness : 0.999521 Centerline is valid? [True, True] Translation: X:608.38, Y:7.82, Z:9.42 [[ 9.99305080e-01 -3.38915881e-02 -1.55150780e-02 6.08384684e+02] [ 3.38924958e-02 9.99425463e-01 -2.04501284e-04 7.82325958e+00] [ 1.55130949e-02 -3.21485545e-04 9.99879613e-01 9.42430398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.2792541539999 meters Centerline goodness : 0.999522 Centerline is valid? [True, True] Translation: X:608.42, Y:7.82, Z:9.42 [[ 9.99307192e-01 -3.38292336e-02 -1.55150961e-02 6.08416395e+02] [ 3.38301552e-02 9.99427576e-01 -2.03121342e-04 7.82199723e+00] [ 1.55130863e-02 -3.21897492e-04 9.99879613e-01 9.42387501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.309254154 meters Centerline goodness : 0.999500 Centerline is valid? [True, True] Translation: X:608.45, Y:7.82, Z:9.42 [[ 9.99296432e-01 -3.41456042e-02 -1.55151104e-02 6.08447220e+02] [ 3.41465810e-02 9.99416815e-01 -2.02024809e-04 7.82168017e+00] [ 1.55129604e-02 -3.27905302e-04 9.99879613e-01 9.42115754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.339254154 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:608.48, Y:7.82, Z:9.43 [[ 9.99254662e-01 -3.53468801e-02 -1.55151338e-02 6.08479848e+02] [ 3.53480298e-02 9.99375043e-01 -2.00208375e-04 7.82062596e+00] [ 1.55125143e-02 -3.48370259e-04 9.99879613e-01 9.42527163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.3692541539999 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:608.51, Y:7.82, Z:9.43 [[ 9.99253856e-01 -3.53696442e-02 -1.55151483e-02 6.08511606e+02] [ 3.53708143e-02 9.99374237e-01 -1.99075256e-04 7.82039684e+00] [ 1.55124808e-02 -3.49856713e-04 9.99879613e-01 9.42524690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.3992541539999 meters Centerline goodness : 0.999566 Centerline is valid? [True, True] Translation: X:608.54, Y:7.82, Z:9.43 [[ 9.99211937e-01 -3.65349292e-02 -1.55146376e-02 6.08544094e+02] [ 3.65356253e-02 9.99332323e-01 -2.38662123e-04 7.82028184e+00] [ 1.55129983e-02 -3.28362942e-04 9.99879612e-01 9.42543300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.4292541539999 meters Centerline goodness : 0.999369 Centerline is valid? [True, True] Translation: X:608.58, Y:7.82, Z:9.42 [[ 9.99196189e-01 -3.69629559e-02 -1.55150013e-02 6.08579261e+02] [ 3.69641510e-02 9.99316570e-01 -2.09828488e-04 7.81893673e+00] [ 1.55121538e-02 -3.63839025e-04 9.99879613e-01 9.42377906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.459254154 meters Centerline goodness : 0.999456 Centerline is valid? [True, True] Translation: X:608.60, Y:7.82, Z:9.43 [[ 9.99070743e-01 -4.02101097e-02 -1.55176791e-02 6.08604171e+02] [ 4.02148574e-02 9.99191055e-01 -6.08758182e-06 7.82230782e+00] [ 1.55053710e-02 -6.17959330e-04 9.99879594e-01 9.42716085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.4892541539999 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:608.64, Y:7.82, Z:9.43 [[ 9.98952006e-01 -4.30604737e-02 -1.55140577e-02 6.08636729e+02] [ 4.30615035e-02 9.99072387e-01 -2.67819710e-04 7.82301306e+00] [ 1.55111991e-02 -4.00519614e-04 9.99879614e-01 9.42771651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.5192541539999 meters Centerline goodness : 0.999542 Centerline is valid? [True, True] Translation: X:608.67, Y:7.82, Z:9.43 [[ 9.98901261e-01 -4.42217130e-02 -1.55148321e-02 6.08669816e+02] [ 4.42237670e-02 9.99021628e-01 -2.10837776e-04 7.82364738e+00] [ 1.55089764e-02 -4.75518200e-04 9.99879616e-01 9.42953424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.5492541539999 meters Centerline goodness : 0.999434 Centerline is valid? [True, True] Translation: X:608.70, Y:7.82, Z:9.43 [[ 9.98858442e-01 -4.51785673e-02 -1.55148551e-02 6.08700606e+02] [ 4.51807630e-02 9.98978806e-01 -2.09135404e-04 7.82404721e+00] [ 1.55084598e-02 -4.92076325e-04 9.99879616e-01 9.42986557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.579254154 meters Centerline goodness : 0.999434 Centerline is valid? [True, True] Translation: X:608.73, Y:7.82, Z:9.43 [[ 9.98733921e-01 -4.78523075e-02 -1.55148664e-02 6.08732280e+02] [ 4.78548384e-02 9.98854279e-01 -2.08292478e-04 7.82499569e+00] [ 1.55070579e-02 -5.34432661e-04 9.99879616e-01 9.43227690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.6092541539999 meters Centerline goodness : 0.999543 Centerline is valid? [True, True] Translation: X:608.76, Y:7.83, Z:9.43 [[ 9.98673353e-01 -4.91001316e-02 -1.55148947e-02 6.08764664e+02] [ 4.91028460e-02 9.98793706e-01 -2.06159958e-04 7.82579591e+00] [ 1.55063017e-02 -5.55939029e-04 9.99879616e-01 9.43328150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.6392541539999 meters Centerline goodness : 0.999651 Centerline is valid? [True, True] Translation: X:608.80, Y:7.83, Z:9.44 [[ 9.98591431e-01 -5.07389535e-02 -1.55149131e-02 6.08797023e+02] [ 5.07418870e-02 9.98711780e-01 -2.04768150e-04 7.82692530e+00] [ 1.55053162e-02 -5.82776246e-04 9.99879616e-01 9.43521122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.6692541539999 meters Centerline goodness : 0.999543 Centerline is valid? [True, True] Translation: X:608.83, Y:7.83, Z:9.44 [[ 9.98656580e-01 -4.94400840e-02 -1.55149277e-02 6.08830306e+02] [ 4.94428784e-02 9.98776932e-01 -2.03650512e-04 7.82669579e+00] [ 1.55060204e-02 -5.63725762e-04 9.99879616e-01 9.43540469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.699254154 meters Centerline goodness : 0.999498 Centerline is valid? [True, True] Translation: X:608.86, Y:7.83, Z:9.44 [[ 9.98718971e-01 -4.81633057e-02 -1.55149496e-02 6.08862596e+02] [ 4.81659723e-02 9.98839326e-01 -2.01969118e-04 7.82723959e+00] [ 1.55066693e-02 -5.45582245e-04 9.99879616e-01 9.43593233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.7292541539999 meters Centerline goodness : 0.999565 Centerline is valid? [True, True] Translation: X:608.89, Y:7.83, Z:9.44 [[ 9.98906047e-01 -4.41134322e-02 -1.55149676e-02 6.08894937e+02] [ 4.41156323e-02 9.99026411e-01 -2.00577306e-04 7.82860330e+00] [ 1.55087106e-02 -4.84094724e-04 9.99879616e-01 9.43826914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.7592541539999 meters Centerline goodness : 0.999543 Centerline is valid? [True, True] Translation: X:608.93, Y:7.83, Z:9.44 [[ 9.98991715e-01 -4.21288361e-02 -1.55149823e-02 6.08926649e+02] [ 4.21308148e-02 9.99112083e-01 -1.99439311e-04 7.82983635e+00] [ 1.55096084e-02 -4.54420624e-04 9.99879616e-01 9.43982366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.7892541539999 meters Centerline goodness : 0.999500 Centerline is valid? [True, True] Translation: X:608.96, Y:7.83, Z:9.44 [[ 9.99083218e-01 -3.98999894e-02 -1.55150003e-02 6.08958540e+02] [ 3.99017215e-02 9.99203590e-01 -1.98022250e-04 7.83081575e+00] [ 1.55105451e-02 -4.21234516e-04 9.99879616e-01 9.44172902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.819254154 meters Centerline goodness : 0.999477 Centerline is valid? [True, True] Translation: X:608.99, Y:7.83, Z:9.44 [[ 9.99253406e-01 -3.53824032e-02 -1.55150137e-02 6.08991048e+02] [ 3.53836074e-02 9.99373785e-01 -1.96967556e-04 7.83272468e+00] [ 1.55122672e-02 -3.52156654e-04 9.99879616e-01 9.44409673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.8492541539999 meters Centerline goodness : 0.999521 Centerline is valid? [True, True] Translation: X:609.02, Y:7.83, Z:9.45 [[ 9.99336551e-01 -3.29505975e-02 -1.55150281e-02 6.09021969e+02] [ 3.29515264e-02 9.99456932e-01 -1.95826852e-04 7.83354852e+00] [ 1.55130550e-02 -3.15546928e-04 9.99879616e-01 9.44573185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.8792541539999 meters Centerline goodness : 0.999477 Centerline is valid? [True, True] Translation: X:609.05, Y:7.84, Z:9.45 [[ 9.99453405e-01 -2.91920441e-02 -1.55150388e-02 6.09053009e+02] [ 2.91925335e-02 9.99573788e-01 -1.94975771e-04 7.83525201e+00] [ 1.55141179e-02 -2.58054093e-04 9.99879616e-01 9.44831034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.9092541539999 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:609.09, Y:7.84, Z:9.45 [[ 9.99505754e-01 -2.73410029e-02 -1.55150494e-02 6.09085454e+02] [ 2.73412825e-02 9.99626138e-01 -1.94131762e-04 7.83612410e+00] [ 1.55145567e-02 -2.30165535e-04 9.99879616e-01 9.44980243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.939254154 meters Centerline goodness : 0.999476 Centerline is valid? [True, True] Translation: X:609.12, Y:7.84, Z:9.45 [[ 9.99558576e-01 -2.53364425e-02 -1.55150632e-02 6.09116687e+02] [ 2.53364979e-02 9.99678961e-01 -1.93018828e-04 7.83696111e+00] [ 1.55149727e-02 -2.00163742e-04 9.99879616e-01 9.45077801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.9692541539999 meters Centerline goodness : 0.999694 Centerline is valid? [True, True] Translation: X:609.15, Y:7.84, Z:9.45 [[ 9.99667125e-01 -2.06136179e-02 -1.55150735e-02 6.09147735e+02] [ 2.06131175e-02 9.99787509e-01 -1.92188617e-04 7.83842661e+00] [ 1.55157384e-02 -1.27689390e-04 9.99879616e-01 9.45111040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.9992541539999 meters Centerline goodness : 0.999520 Centerline is valid? [True, True] Translation: X:609.18, Y:7.84, Z:9.45 [[ 9.99719371e-01 -1.79014129e-02 -1.55150805e-02 6.09178272e+02] [ 1.79005946e-02 9.99839753e-01 -1.91623992e-04 7.83925222e+00] [ 1.55160246e-02 -8.61589492e-05 9.99879616e-01 9.45090296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.0292541539999 meters Centerline goodness : 0.999585 Centerline is valid? [True, True] Translation: X:609.21, Y:7.84, Z:9.45 [[ 9.99801288e-01 -1.25166945e-02 -1.55150805e-02 6.09207317e+02] [ 1.25152279e-02 9.99921663e-01 -1.91623992e-04 7.83951808e+00] [ 1.55162636e-02 -2.58885457e-06 9.99879616e-01 9.45070236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.059254154 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:609.23, Y:7.84, Z:9.45 [[ 9.99826269e-01 -1.03302155e-02 -1.55150813e-02 6.09234853e+02] [ 1.03284867e-02 9.99946641e-01 -1.91554879e-04 7.83956783e+00] [ 1.55162323e-02 3.12742889e-05 9.99879616e-01 9.45057654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.089254154 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:609.26, Y:7.84, Z:9.45 [[ 9.99845868e-01 -8.21729682e-03 -1.55150242e-02 6.09261834e+02] [ 8.21524341e-03 9.99966235e-01 -1.96080035e-04 7.83948189e+00] [ 1.55161115e-02 6.85901130e-05 9.99879616e-01 9.45104876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.1192541539999 meters Centerline goodness : 0.999584 Centerline is valid? [True, True] Translation: X:609.29, Y:7.84, Z:9.45 [[ 9.99858204e-01 -6.54647940e-03 -1.55149992e-02 6.09289823e+02] [ 6.54419446e-03 9.99978567e-01 -1.98038189e-04 7.83930370e+00] [ 1.55159631e-02 9.64769369e-05 9.99879616e-01 9.45123261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.1492541539999 meters Centerline goodness : 0.999562 Centerline is valid? [True, True] Translation: X:609.32, Y:7.84, Z:9.45 [[ 9.99872521e-01 -3.77210323e-03 -1.55149405e-02 6.09318276e+02] [ 3.76941460e-03 9.99992875e-01 -2.02532033e-04 7.83836884e+00] [ 1.55155939e-02 1.44023971e-04 9.99879616e-01 9.45087237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.1792541539999 meters Centerline goodness : 0.999474 Centerline is valid? [True, True] Translation: X:609.35, Y:7.84, Z:9.45 [[ 9.99876049e-01 -2.67862171e-03 -1.55148870e-02 6.09346084e+02] [ 2.67573916e-03 9.99996399e-01 -2.06547920e-04 7.83774118e+00] [ 1.55153844e-02 1.65008528e-04 9.99879616e-01 9.45147547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.209254154 meters Centerline goodness : 0.999452 Centerline is valid? [True, True] Translation: X:609.37, Y:7.84, Z:9.45 [[ 9.99878264e-01 -1.65700226e-03 -1.55148680e-02 6.09374475e+02] [ 1.65397472e-03 9.99998611e-01 -2.07967438e-04 7.83506814e+00] [ 1.55151911e-02 1.82280921e-04 9.99879616e-01 9.45049543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.2392541539999 meters Centerline goodness : 0.999452 Centerline is valid? [True, True] Translation: X:609.40, Y:7.84, Z:9.45 [[ 9.99877747e-01 -1.94490966e-03 -1.55148067e-02 6.09402842e+02] [ 1.94184728e-03 9.99998092e-01 -2.12446584e-04 7.83552957e+00] [ 1.55151903e-02 1.82293226e-04 9.99879616e-01 9.45093735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.2692541539999 meters Centerline goodness : 0.999584 Centerline is valid? [True, True] Translation: X:609.43, Y:7.83, Z:9.45 [[ 9.99877478e-01 -2.07886517e-03 -1.55147442e-02 6.09430703e+02] [ 2.07574961e-03 9.99997822e-01 -2.16913398e-04 7.83396347e+00] [ 1.55151614e-02 1.84682097e-04 9.99879616e-01 9.45028186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.2992541539999 meters Centerline goodness : 0.999542 Centerline is valid? [True, True] Translation: X:609.46, Y:7.83, Z:9.45 [[ 9.99873424e-01 -3.52559542e-03 -1.55146798e-02 6.09459618e+02] [ 3.52258396e-03 9.99993771e-01 -2.21427035e-04 7.82967841e+00] [ 1.55153638e-02 1.66747246e-04 9.99879616e-01 9.44819177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.329254154 meters Centerline goodness : 0.999475 Centerline is valid? [True, True] Translation: X:609.49, Y:7.83, Z:9.45 [[ 9.99866637e-01 -5.09941542e-03 -1.55146637e-02 6.09488034e+02] [ 5.09657601e-03 9.99986988e-01 -2.22547369e-04 7.82725954e+00] [ 1.55155967e-02 1.43446026e-04 9.99879616e-01 9.44667602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.3592541539999 meters Centerline goodness : 0.999260 Centerline is valid? [True, True] Translation: X:609.52, Y:7.82, Z:9.44 [[ 9.99852664e-01 -7.34485276e-03 -1.55146475e-02 6.09516588e+02] [ 7.34226619e-03 9.99973020e-01 -2.23672355e-04 7.82493429e+00] [ 1.55158718e-02 1.09726728e-04 9.99879616e-01 9.44499115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.3892541539999 meters Centerline goodness : 0.999501 Centerline is valid? [True, True] Translation: X:609.55, Y:7.82, Z:9.44 [[ 9.99798982e-01 -1.27000435e-02 -1.55146310e-02 6.09547316e+02] [ 1.26980839e-02 9.99919351e-01 -2.24813257e-04 7.81932623e+00] [ 1.55162349e-02 2.77619790e-05 9.99879616e-01 9.44227058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.4192541539999 meters Centerline goodness : 0.999134 Centerline is valid? [True, True] Translation: X:609.57, Y:7.82, Z:9.44 [[ 9.99731168e-01 -1.72293336e-02 -1.55158588e-02 6.09574568e+02] [ 1.72292353e-02 9.99851556e-01 -1.40012063e-04 7.81685463e+00] [ 1.55159679e-02 -1.27351960e-04 9.99879612e-01 9.43923933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.449254154 meters Centerline goodness : 0.999287 Centerline is valid? [True, True] Translation: X:609.60, Y:7.81, Z:9.43 [[ 9.99560929e-01 -2.52437527e-02 -1.55145738e-02 6.09603666e+02] [ 2.52432602e-02 9.99681312e-01 -2.27606875e-04 7.80984826e+00] [ 1.55153752e-02 -1.64131485e-04 9.99879616e-01 9.43356965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.4792541539999 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:609.63, Y:7.81, Z:9.43 [[ 9.99454258e-01 -2.91630595e-02 -1.55145573e-02 6.09633889e+02] [ 2.91630216e-02 9.99574642e-01 -2.28730300e-04 7.80617598e+00] [ 1.55146285e-02 -2.23845897e-04 9.99879616e-01 9.43100778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.5092541539999 meters Centerline goodness : 0.999398 Centerline is valid? [True, True] Translation: X:609.67, Y:7.80, Z:9.43 [[ 9.99345472e-01 -3.26791524e-02 -1.55145614e-02 6.09665761e+02] [ 3.26795424e-02 9.99465855e-01 -2.28450997e-04 7.80231088e+00] [ 1.55137399e-02 -2.78707297e-04 9.99879616e-01 9.42919549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.5392541539999 meters Centerline goodness : 0.999254 Centerline is valid? [True, True] Translation: X:609.70, Y:7.79, Z:9.42 [[ 9.99102023e-01 -3.94264490e-02 -1.55145776e-02 6.09697422e+02] [ 3.94276690e-02 9.99222401e-01 -2.27345088e-04 7.79439343e+00] [ 1.55114769e-02 -3.84562693e-04 9.99879616e-01 9.42449526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.569254154 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:609.73, Y:7.79, Z:9.42 [[ 9.98990027e-01 -4.21689938e-02 -1.55145896e-02 6.09729497e+02] [ 4.21705571e-02 9.99110401e-01 -2.26520430e-04 7.79071766e+00] [ 1.55103400e-02 -4.27967237e-04 9.99879616e-01 9.42379724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.5992541539999 meters Centerline goodness : 0.999382 Centerline is valid? [True, True] Translation: X:609.76, Y:7.79, Z:9.42 [[ 9.98893091e-01 -4.44059596e-02 -1.55146061e-02 6.09760368e+02] [ 4.44078101e-02 9.99013461e-01 -2.25384181e-04 7.78721974e+00] [ 1.55093088e-02 -4.63834981e-04 9.99879616e-01 9.42184626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.6292541539999 meters Centerline goodness : 0.998999 Centerline is valid? [True, True] Translation: X:609.79, Y:7.78, Z:9.42 [[ 9.98724448e-01 -4.80496898e-02 -1.55146184e-02 6.09793205e+02] [ 4.80519924e-02 9.98844811e-01 -2.24537756e-04 7.77960077e+00] [ 1.55074850e-02 -5.21256979e-04 9.99879616e-01 9.41823043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.6592541539999 meters Centerline goodness : 0.998979 Centerline is valid? [True, True] Translation: X:609.83, Y:7.78, Z:9.42 [[ 9.98652524e-01 -4.95220383e-02 -1.55146386e-02 6.09825683e+02] [ 4.95245403e-02 9.98772882e-01 -2.23129294e-04 7.77528318e+00] [ 1.55066502e-02 -5.45526714e-04 9.99879616e-01 9.41651648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.689254154 meters Centerline goodness : 0.999089 Centerline is valid? [True, True] Translation: X:609.86, Y:7.77, Z:9.41 [[ 9.98558450e-01 -5.13840208e-02 -1.55146548e-02 6.09856626e+02] [ 5.13867647e-02 9.98678803e-01 -2.22000932e-04 7.76578390e+00] [ 1.55055642e-02 -5.75567008e-04 9.99879616e-01 9.41320046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.7192541539999 meters Centerline goodness : 0.998961 Centerline is valid? [True, True] Translation: X:609.89, Y:7.76, Z:9.41 [[ 9.98517935e-01 -5.21654021e-02 -1.55146668e-02 6.09888747e+02] [ 5.21682532e-02 9.98638285e-01 -2.21161147e-04 7.76142524e+00] [ 1.55050772e-02 -5.88539693e-04 9.99879616e-01 9.41210452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.7492541539999 meters Centerline goodness : 0.998940 Centerline is valid? [True, True] Translation: X:609.92, Y:7.76, Z:9.41 [[ 9.98499511e-01 -5.25168568e-02 -1.55146827e-02 6.09920533e+02] [ 5.25197677e-02 9.98619860e-01 -2.20036864e-04 7.75716888e+00] [ 1.55048259e-02 -5.95120831e-04 9.99879616e-01 9.41032565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.7792541539999 meters Centerline goodness : 0.998884 Centerline is valid? [True, True] Translation: X:609.95, Y:7.75, Z:9.41 [[ 9.98481464e-01 -5.28588744e-02 -1.55146984e-02 6.09952976e+02] [ 5.28618439e-02 9.98601811e-01 -2.18921248e-04 7.74853543e+00] [ 1.55045779e-02 -6.01546759e-04 9.99879616e-01 9.40807423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.809254154 meters Centerline goodness : 0.998838 Centerline is valid? [True, True] Translation: X:609.99, Y:7.74, Z:9.41 [[ 9.98467792e-01 -5.31165039e-02 -1.55147142e-02 6.09985417e+02] [ 5.31195218e-02 9.98588138e-01 -2.17799116e-04 7.74440266e+00] [ 1.55043783e-02 -6.06668797e-04 9.99879616e-01 9.40682363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.839254154 meters Centerline goodness : 0.999158 Centerline is valid? [True, True] Translation: X:610.02, Y:7.73, Z:9.40 [[ 9.98453335e-01 -5.33875563e-02 -1.55147300e-02 6.10017941e+02] [ 5.33906244e-02 9.98573680e-01 -2.16669537e-04 7.73493796e+00] [ 1.55041685e-02 -6.12006699e-04 9.99879616e-01 9.40371039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.8692541539999 meters Centerline goodness : 0.999031 Centerline is valid? [True, True] Translation: X:610.05, Y:7.73, Z:9.40 [[ 9.98442098e-01 -5.35972985e-02 -1.55147456e-02 6.10050074e+02] [ 5.36004093e-02 9.98562442e-01 -2.15544772e-04 7.73041651e+00] [ 1.55039949e-02 -6.16387740e-04 9.99879616e-01 9.40309945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.8992541539999 meters Centerline goodness : 0.999033 Centerline is valid? [True, True] Translation: X:610.08, Y:7.73, Z:9.40 [[ 9.98445667e-01 -5.35307604e-02 -1.55147611e-02 6.10081390e+02] [ 5.35338806e-02 9.98566011e-01 -2.14424536e-04 7.72596309e+00] [ 1.55039914e-02 -6.16474118e-04 9.99879616e-01 9.40113255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.9292541539999 meters Centerline goodness : 0.998992 Centerline is valid? [True, True] Translation: X:610.11, Y:7.72, Z:9.40 [[ 9.98482219e-01 -5.28445873e-02 -1.55147726e-02 6.10113989e+02] [ 5.28476377e-02 9.98602564e-01 -2.13589792e-04 7.71806455e+00] [ 1.55043787e-02 -6.06653471e-04 9.99879616e-01 9.40276219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.959254154 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:610.14, Y:7.71, Z:9.40 [[ 9.98519430e-01 -5.21367384e-02 -1.55147881e-02 6.10144813e+02] [ 5.21397211e-02 9.98639777e-01 -2.12458761e-04 7.71472880e+00] [ 1.55047614e-02 -5.96792522e-04 9.99879616e-01 9.40179056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.9892541539999 meters Centerline goodness : 0.999392 Centerline is valid? [True, True] Translation: X:610.18, Y:7.71, Z:9.40 [[ 9.98574338e-01 -5.10742791e-02 -1.55147996e-02 6.10176557e+02] [ 5.10771468e-02 9.98694688e-01 -2.11616290e-04 7.71155133e+00] [ 1.55053561e-02 -5.81137098e-04 9.99879616e-01 9.40205044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.0192541539999 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:610.21, Y:7.71, Z:9.40 [[ 9.98750293e-01 -4.75094031e-02 -1.55148070e-02 6.10206695e+02] [ 4.75118496e-02 9.98870652e-01 -2.11070807e-04 7.70587397e+00] [ 1.55073132e-02 -5.26330145e-04 9.99879616e-01 9.40258480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.0492541539999 meters Centerline goodness : 0.999349 Centerline is valid? [True, True] Translation: X:610.24, Y:7.70, Z:9.40 [[ 9.98843961e-01 -4.54976058e-02 -1.55148194e-02 6.10238047e+02] [ 4.54998242e-02 9.98964325e-01 -2.10153491e-04 7.70365085e+00] [ 1.55083126e-02 -4.96011009e-04 9.99879616e-01 9.40318891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.079254154 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:610.27, Y:7.70, Z:9.41 [[ 9.99054149e-01 -4.06213958e-02 -1.55148267e-02 6.10268174e+02] [ 4.06230350e-02 9.99174522e-01 -2.09612368e-04 7.69954719e+00] [ 1.55105343e-02 -4.20845243e-04 9.99879616e-01 9.40517369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.1092541539999 meters Centerline goodness : 0.999477 Centerline is valid? [True, True] Translation: X:610.30, Y:7.70, Z:9.41 [[ 9.99151108e-01 -3.81622044e-02 -1.55148267e-02 6.10298461e+02] [ 3.81635473e-02 9.99271485e-01 -2.09612368e-04 7.69806060e+00] [ 1.55115232e-02 -3.82666394e-04 9.99879616e-01 9.40800876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.1392541539999 meters Centerline goodness : 0.999580 Centerline is valid? [True, True] Translation: X:610.33, Y:7.70, Z:9.41 [[ 9.99262346e-01 -3.51291030e-02 -1.55148267e-02 6.10329364e+02] [ 3.51300805e-02 9.99382726e-01 -2.09612368e-04 7.69694899e+00] [ 1.55126133e-02 -3.35579365e-04 9.99879616e-01 9.40977419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.1692541539999 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:610.36, Y:7.70, Z:9.41 [[ 9.99346676e-01 -3.26421837e-02 -1.55148267e-02 6.10358692e+02] [ 3.26428616e-02 9.99467058e-01 -2.09612368e-04 7.69603621e+00] [ 1.55134004e-02 -2.96972918e-04 9.99879616e-01 9.41239332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.199254154 meters Centerline goodness : 0.999350 Centerline is valid? [True, True] Translation: X:610.39, Y:7.70, Z:9.42 [[ 9.99491322e-01 -2.78637375e-02 -1.55148193e-02 6.10387326e+02] [ 2.78638313e-02 9.99611706e-01 -2.10157762e-04 7.69507385e+00] [ 1.55146508e-02 -2.22251450e-04 9.99879616e-01 9.41730003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.2292541539999 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:610.42, Y:7.70, Z:9.42 [[ 9.99535083e-01 -2.62470838e-02 -1.55148040e-02 6.10415605e+02] [ 2.62469655e-02 9.99655467e-01 -2.11281414e-04 7.69587885e+00] [ 1.55150042e-02 -1.96033340e-04 9.99879616e-01 9.42010353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.2592541539999 meters Centerline goodness : 0.999225 Centerline is valid? [True, True] Translation: X:610.44, Y:7.70, Z:9.42 [[ 9.99578348e-01 -2.45442244e-02 -1.55147758e-02 6.10444571e+02] [ 2.45438691e-02 9.99698731e-01 -2.13334263e-04 7.69741446e+00] [ 1.55153378e-02 -1.67548317e-04 9.99879616e-01 9.42407323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.2892541539999 meters Centerline goodness : 0.999372 Centerline is valid? [True, True] Translation: X:610.47, Y:7.70, Z:9.43 [[ 9.99576023e-01 -2.46387528e-02 -1.55147217e-02 6.10473758e+02] [ 2.46383490e-02 9.99696406e-01 -2.17198208e-04 7.69752136e+00] [ 1.55153630e-02 -1.65151007e-04 9.99879616e-01 9.42674558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.319254154 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:610.50, Y:7.70, Z:9.43 [[ 9.99563483e-01 -2.51423617e-02 -1.55146649e-02 6.10501069e+02] [ 2.51419567e-02 9.99683867e-01 -2.21181217e-04 7.69720621e+00] [ 1.55153212e-02 -1.68984367e-04 9.99879616e-01 9.42710977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.3492541539999 meters Centerline goodness : 0.999477 Centerline is valid? [True, True] Translation: X:610.53, Y:7.70, Z:9.43 [[ 9.99491339e-01 -2.78632145e-02 -1.55146406e-02 6.10530074e+02] [ 2.78631109e-02 9.99611723e-01 -2.22874500e-04 7.69709607e+00] [ 1.55148266e-02 -2.09525019e-04 9.99879616e-01 9.43059161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.3792541539999 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:610.56, Y:7.70, Z:9.43 [[ 9.99437810e-01 -2.97213888e-02 -1.55145831e-02 6.10558599e+02] [ 2.97214480e-02 9.99558194e-01 -2.26809702e-04 7.69844553e+00] [ 1.55144697e-02 -2.34433682e-04 9.99879616e-01 9.43237711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.4092541539999 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:610.59, Y:7.70, Z:9.43 [[ 9.99377780e-01 -3.16757307e-02 -1.55145245e-02 6.10586782e+02] [ 3.16759642e-02 9.99498164e-01 -2.30748534e-04 7.70040376e+00] [ 1.55140479e-02 -2.60832564e-04 9.99879616e-01 9.43275567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.439254154 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:610.62, Y:7.70, Z:9.43 [[ 9.99375133e-01 -3.17596423e-02 -1.55135215e-02 6.10618015e+02] [ 3.17588307e-02 9.99495516e-01 -2.98731250e-04 7.69914950e+00] [ 1.55151828e-02 -1.94146720e-04 9.99879613e-01 9.43372795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.4692541539999 meters Centerline goodness : 0.999477 Centerline is valid? [True, True] Translation: X:610.65, Y:7.70, Z:9.44 [[ 9.99203830e-01 -3.67556133e-02 -1.55154808e-02 6.10646010e+02] [ 3.67574322e-02 9.99324203e-01 -1.68019898e-04 7.70199856e+00] [ 1.55111711e-02 -4.02423106e-04 9.99879614e-01 9.43628634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.4992541539999 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:610.68, Y:7.70, Z:9.44 [[ 9.99154956e-01 -3.80614594e-02 -1.55144651e-02 6.10676080e+02] [ 3.80623953e-02 9.99275337e-01 -2.35059487e-04 7.70282263e+00] [ 1.55121690e-02 -3.55656851e-04 9.99879616e-01 9.43834902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.5292541539999 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:610.71, Y:7.70, Z:9.44 [[ 9.99099917e-01 -3.94798301e-02 -1.55144651e-02 6.10706461e+02] [ 3.94809369e-02 9.99220296e-01 -2.35059487e-04 7.70404253e+00] [ 1.55116485e-02 -3.77677702e-04 9.99879616e-01 9.43961856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.559254154 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:610.74, Y:7.71, Z:9.44 [[ 9.98982414e-01 -4.23489998e-02 -1.55144651e-02 6.10736459e+02] [ 4.23504522e-02 9.99102789e-01 -2.35059487e-04 7.70628272e+00] [ 1.55104999e-02 -4.22224318e-04 9.99879616e-01 9.44104885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.589254154 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:610.77, Y:7.71, Z:9.44 [[ 9.98921899e-01 -4.37531862e-02 -1.55144693e-02 6.10766603e+02] [ 4.37548122e-02 9.99042272e-01 -2.34778521e-04 7.70745830e+00] [ 1.55098830e-02 -4.44307285e-04 9.99879616e-01 9.44122213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.6192541539999 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:610.80, Y:7.71, Z:9.44 [[ 9.98770215e-01 -4.70888364e-02 -1.55144735e-02 6.10797696e+02] [ 4.70908686e-02 9.98890582e-01 -2.34501506e-04 7.70863258e+00] [ 1.55083039e-02 -4.96376914e-04 9.99879616e-01 9.44416517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.6492541539999 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:610.83, Y:7.71, Z:9.45 [[ 9.98685079e-01 -4.88611621e-02 -1.55144820e-02 6.10829256e+02] [ 4.88634167e-02 9.98805442e-01 -2.33939966e-04 7.70900557e+00] [ 1.55073796e-02 -5.24458244e-04 9.99879616e-01 9.44594686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.6792541539999 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:610.86, Y:7.71, Z:9.45 [[ 9.98609142e-01 -5.03893115e-02 -1.55144906e-02 6.10860196e+02] [ 5.03917592e-02 9.98729501e-01 -2.33364348e-04 7.70955216e+00] [ 1.55065386e-02 -5.48762705e-04 9.99879616e-01 9.44529547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.709254154 meters Centerline goodness : 0.998979 Centerline is valid? [True, True] Translation: X:610.89, Y:7.71, Z:9.45 [[ 9.98453259e-01 -5.33890505e-02 -1.55145035e-02 6.10892329e+02] [ 5.33918731e-02 9.98573610e-01 -2.32502835e-04 7.71134381e+00] [ 1.55047869e-02 -5.96205192e-04 9.99879616e-01 9.44780185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.7392541539999 meters Centerline goodness : 0.999230 Centerline is valid? [True, True] Translation: X:610.92, Y:7.71, Z:9.45 [[ 9.98376002e-01 -5.48147675e-02 -1.55145200e-02 6.10923991e+02] [ 5.48177791e-02 9.98496348e-01 -2.31401886e-04 7.71272212e+00] [ 1.55038758e-02 -6.19445438e-04 9.99879616e-01 9.44932782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.7692541539999 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:610.96, Y:7.71, Z:9.45 [[ 9.98244148e-01 -5.71657245e-02 -1.55145363e-02 6.10956161e+02] [ 5.71690366e-02 9.98364487e-01 -2.30301054e-04 7.71474804e+00] [ 1.55023274e-02 -6.57054415e-04 9.99879616e-01 9.45192144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.7992541539999 meters Centerline goodness : 0.999146 Centerline is valid? [True, True] Translation: X:610.99, Y:7.72, Z:9.45 [[ 9.98194162e-01 -5.80320015e-02 -1.55145529e-02 6.10988085e+02] [ 5.80354354e-02 9.98314497e-01 -2.29178334e-04 7.71557021e+00] [ 1.55017028e-02 -6.71629357e-04 9.99879616e-01 9.45310044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.829254154 meters Centerline goodness : 0.999126 Centerline is valid? [True, True] Translation: X:611.02, Y:7.72, Z:9.45 [[ 9.98155052e-01 -5.87008548e-02 -1.55145695e-02 6.11020243e+02] [ 5.87043869e-02 9.98275384e-01 -2.28046710e-04 7.71636480e+00] [ 1.55011994e-02 -6.83147316e-04 9.99879616e-01 9.45390767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.8592541539999 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:611.05, Y:7.72, Z:9.46 [[ 9.98110839e-01 -5.94478875e-02 -1.55145862e-02 6.11051090e+02] [ 5.94515273e-02 9.98231168e-01 -2.26906657e-04 7.71827903e+00] [ 1.55006326e-02 -6.95887852e-04 9.99879616e-01 9.45505881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.8892541539999 meters Centerline goodness : 0.999146 Centerline is valid? [True, True] Translation: X:611.08, Y:7.72, Z:9.46 [[ 9.98104649e-01 -5.95517213e-02 -1.55145986e-02 6.11082909e+02] [ 5.95553868e-02 9.98224977e-01 -2.26056787e-04 7.72046832e+00] [ 1.55005219e-02 -6.98349590e-04 9.99879616e-01 9.45579755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.9192541539999 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:611.11, Y:7.72, Z:9.46 [[ 9.98074191e-01 -6.00600170e-02 -1.55146148e-02 6.11114302e+02] [ 6.00637612e-02 9.98194517e-01 -2.24936087e-04 7.72420624e+00] [ 1.55001131e-02 -7.07363216e-04 9.99879616e-01 9.45641379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.949254154 meters Centerline goodness : 0.999002 Centerline is valid? [True, True] Translation: X:611.14, Y:7.73, Z:9.46 [[ 9.98160691e-01 -5.86048739e-02 -1.55146269e-02 6.11144371e+02] [ 5.86084556e-02 9.98281022e-01 -2.24100908e-04 7.72638015e+00] [ 1.55010910e-02 -6.85599605e-04 9.99879616e-01 9.45700811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.9792541539999 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:611.18, Y:7.73, Z:9.46 [[ 9.98002576e-01 -6.12389076e-02 -1.55130344e-02 6.11177237e+02] [ 6.12411042e-02 9.98122946e-01 -3.33851407e-04 7.72814666e+00] [ 1.55043603e-02 -6.16850792e-04 9.99879610e-01 9.45673080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.0092541539999 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:611.21, Y:7.73, Z:9.46 [[ 9.97818626e-01 -6.41660780e-02 -1.55146370e-02 6.11209796e+02] [ 6.41703673e-02 9.97938933e-01 -2.21711759e-04 7.73021186e+00] [ 1.54968867e-02 -7.74351833e-04 9.99879616e-01 9.45662136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.0392541539999 meters Centerline goodness : 0.999170 Centerline is valid? [True, True] Translation: X:611.24, Y:7.73, Z:9.46 [[ 9.97707099e-01 -6.58774689e-02 -1.55146527e-02 6.11241987e+02] [ 6.58819816e-02 9.97827398e-01 -2.20607348e-04 7.73171178e+00] [ 1.54954786e-02 -8.02034549e-04 9.99879616e-01 9.45788801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.069254154 meters Centerline goodness : 0.998855 Centerline is valid? [True, True] Translation: X:611.27, Y:7.74, Z:9.46 [[ 9.97462283e-01 -6.94858884e-02 -1.55146688e-02 6.11274345e+02] [ 6.94908537e-02 9.97582565e-01 -2.19474264e-04 7.73589908e+00] [ 1.54924134e-02 -8.59210277e-04 9.99879616e-01 9.45932797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.0992541539999 meters Centerline goodness : 0.999022 Centerline is valid? [True, True] Translation: X:611.31, Y:7.74, Z:9.46 [[ 9.97346085e-01 -7.11342551e-02 -1.55146846e-02 6.11306858e+02] [ 7.11394368e-02 9.97466357e-01 -2.18346380e-04 7.73815189e+00] [ 1.54909079e-02 -8.85939019e-04 9.99879616e-01 9.46017718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.1292541539999 meters Centerline goodness : 0.999105 Centerline is valid? [True, True] Translation: X:611.34, Y:7.74, Z:9.46 [[ 9.97299588e-01 -7.17831930e-02 -1.55147004e-02 6.11339940e+02] [ 7.17884704e-02 9.97419856e-01 -2.17221141e-04 7.73993856e+00] [ 1.54902630e-02 -8.97142055e-04 9.99879616e-01 9.46133573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.1592541539999 meters Centerline goodness : 0.999105 Centerline is valid? [True, True] Translation: X:611.37, Y:7.74, Z:9.46 [[ 9.97307515e-01 -7.16729707e-02 -1.55147242e-02 6.11373467e+02] [ 7.16782614e-02 9.97427782e-01 -2.15506123e-04 7.74031255e+00] [ 1.54902629e-02 -8.97142581e-04 9.99879616e-01 9.46185561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.189254154 meters Centerline goodness : 0.999042 Centerline is valid? [True, True] Translation: X:611.41, Y:7.74, Z:9.46 [[ 9.97242124e-01 -7.25771206e-02 -1.55147478e-02 6.11405254e+02] [ 7.25825469e-02 9.97362386e-01 -2.13791635e-04 7.74407179e+00] [ 1.54893423e-02 -9.12897888e-04 9.99879616e-01 9.46265154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.2192541539999 meters Centerline goodness : 0.999084 Centerline is valid? [True, True] Translation: X:611.44, Y:7.75, Z:9.46 [[ 9.97234386e-01 -7.26833578e-02 -1.55147863e-02 6.11438511e+02] [ 7.26888407e-02 9.97354645e-01 -2.10965733e-04 7.74553576e+00] [ 1.54890778e-02 -9.17369545e-04 9.99879616e-01 9.46311827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.2492541539999 meters Centerline goodness : 0.998811 Centerline is valid? [True, True] Translation: X:611.47, Y:7.75, Z:9.46 [[ 9.97264824e-01 -7.22645214e-02 -1.55148093e-02 6.11471717e+02] [ 7.22699802e-02 9.97385084e-01 -2.09257915e-04 7.74805885e+00] [ 1.54893613e-02 -9.12569403e-04 9.99879616e-01 9.46403632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.2792541539999 meters Centerline goodness : 0.999063 Centerline is valid? [True, True] Translation: X:611.50, Y:7.75, Z:9.46 [[ 9.97304977e-01 -7.17082429e-02 -1.55148326e-02 6.11503864e+02] [ 7.17136616e-02 9.97425239e-01 -2.07518406e-04 7.75035650e+00] [ 1.54897664e-02 -9.05666314e-04 9.99879616e-01 9.46440529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.309254154 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:611.54, Y:7.75, Z:9.47 [[ 9.97351828e-01 -7.10536369e-02 -1.55148704e-02 6.11535636e+02] [ 7.10590212e-02 9.97472092e-01 -2.04652615e-04 7.75261411e+00] [ 1.54901915e-02 -8.98360842e-04 9.99879616e-01 9.46529467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.339254154 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:611.57, Y:7.76, Z:9.47 [[ 9.97441229e-01 -6.97874153e-02 -1.55149051e-02 6.11568888e+02] [ 6.97926882e-02 9.97561497e-01 -2.01987691e-04 7.75559979e+00] [ 1.54911681e-02 -8.81356080e-04 9.99879616e-01 9.46613537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.3692541539999 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:611.60, Y:7.76, Z:9.47 [[ 9.97500178e-01 -6.89397053e-02 -1.55149261e-02 6.11601902e+02] [ 6.89449012e-02 9.97620449e-01 -2.00356683e-04 7.75717429e+00] [ 1.54918201e-02 -8.69819222e-04 9.99879616e-01 9.46674952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.3992541539999 meters Centerline goodness : 0.998784 Centerline is valid? [True, True] Translation: X:611.63, Y:7.76, Z:9.47 [[ 9.97660464e-01 -6.65799137e-02 -1.55149469e-02 6.11634073e+02] [ 6.65848504e-02 9.97780747e-01 -1.98730872e-04 7.76026336e+00] [ 1.54937468e-02 -8.34794487e-04 9.99879616e-01 9.46798919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.4292541539999 meters Centerline goodness : 0.998908 Centerline is valid? [True, True] Translation: X:611.67, Y:7.76, Z:9.47 [[ 9.97760727e-01 -6.50601048e-02 -1.55149616e-02 6.11665330e+02] [ 6.50648761e-02 9.97881016e-01 -1.97576208e-04 7.76179891e+00] [ 1.54949400e-02 -8.12345276e-04 9.99879616e-01 9.46760201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.459254154 meters Centerline goodness : 0.999034 Centerline is valid? [True, True] Translation: X:611.70, Y:7.76, Z:9.47 [[ 9.97870431e-01 -6.33552566e-02 -1.55149726e-02 6.11697271e+02] [ 6.33598357e-02 9.97990728e-01 -1.96716257e-04 7.76345746e+00] [ 1.54962618e-02 -7.86728776e-04 9.99879616e-01 9.46793245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.4892541539999 meters Centerline goodness : 0.998864 Centerline is valid? [True, True] Translation: X:611.73, Y:7.77, Z:9.47 [[ 9.98158224e-01 -5.86467885e-02 -1.55149870e-02 6.11728866e+02] [ 5.86508178e-02 9.98278540e-01 -1.95570235e-04 7.76784748e+00] [ 1.54997481e-02 -7.14756637e-04 9.99879616e-01 9.46845548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.5192541539999 meters Centerline goodness : 0.999033 Centerline is valid? [True, True] Translation: X:611.76, Y:7.77, Z:9.47 [[ 9.98319417e-01 -5.58357013e-02 -1.55149977e-02 6.11759728e+02] [ 5.58394050e-02 9.98439744e-01 -1.94715942e-04 7.76997810e+00] [ 1.55016625e-02 -6.71959536e-04 9.99879616e-01 9.46811453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.5492541539999 meters Centerline goodness : 0.998843 Centerline is valid? [True, True] Translation: X:611.79, Y:7.77, Z:9.47 [[ 9.98659680e-01 -4.93774080e-02 -1.55150083e-02 6.11791481e+02] [ 4.93803465e-02 9.98780028e-01 -1.93871482e-04 7.77256595e+00] [ 1.55056533e-02 -5.72524853e-04 9.99879616e-01 9.46956144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.579254154 meters Centerline goodness : 0.998843 Centerline is valid? [True, True] Translation: X:611.82, Y:7.78, Z:9.47 [[ 9.98755328e-01 -4.74033707e-02 -1.55150221e-02 6.11823305e+02] [ 4.74060886e-02 9.98875681e-01 -1.92756433e-04 7.77516349e+00] [ 1.55067156e-02 -5.42989999e-04 9.99879616e-01 9.47088827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.6092541539999 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:611.86, Y:7.78, Z:9.47 [[ 9.98888302e-01 -4.45134054e-02 -1.55150358e-02 6.11855408e+02] [ 4.45157922e-02 9.99008662e-01 -1.91648401e-04 7.77747925e+00] [ 1.55081861e-02 -4.99228765e-04 9.99879616e-01 9.47203860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.6392541539999 meters Centerline goodness : 0.998882 Centerline is valid? [True, True] Translation: X:611.89, Y:7.78, Z:9.47 [[ 9.99150499e-01 -3.81780609e-02 -1.55150494e-02 6.11887591e+02] [ 3.81797016e-02 9.99270871e-01 -1.90543500e-04 7.78226159e+00] [ 1.55110115e-02 -4.01978322e-04 9.99879616e-01 9.47322307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.6692541539999 meters Centerline goodness : 0.999030 Centerline is valid? [True, True] Translation: X:611.92, Y:7.78, Z:9.47 [[ 9.99266214e-01 -3.50187887e-02 -1.55150633e-02 6.11919142e+02] [ 3.50200664e-02 9.99386591e-01 -1.89407092e-04 7.78472849e+00] [ 1.55121790e-02 -3.54070439e-04 9.99879616e-01 9.47267787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.699254154 meters Centerline goodness : 0.998881 Centerline is valid? [True, True] Translation: X:611.95, Y:7.79, Z:9.47 [[ 9.99441176e-01 -2.96077505e-02 -1.55150735e-02 6.11950201e+02] [ 2.96083896e-02 9.99561558e-01 -1.88561456e-04 7.78802201e+00] [ 1.55138539e-02 -2.70920258e-04 9.99879616e-01 9.47271896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.7292541539999 meters Centerline goodness : 0.998925 Centerline is valid? [True, True] Translation: X:611.98, Y:7.79, Z:9.47 [[ 9.99498396e-01 -2.76086786e-02 -1.55150801e-02 6.11981227e+02] [ 2.76090853e-02 9.99618779e-01 -1.88016975e-04 7.78912625e+00] [ 1.55143564e-02 -2.40434506e-04 9.99879616e-01 9.47348437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.7592541539999 meters Centerline goodness : 0.999134 Centerline is valid? [True, True] Translation: X:612.01, Y:7.79, Z:9.47 [[ 9.99557955e-01 -2.53609355e-02 -1.55150868e-02 6.12012147e+02] [ 2.53610800e-02 9.99678339e-01 -1.87467850e-04 7.79162815e+00] [ 1.55148505e-02 -2.06094375e-04 9.99879616e-01 9.47464918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.7892541539999 meters Centerline goodness : 0.999027 Centerline is valid? [True, True] Translation: X:612.04, Y:7.79, Z:9.48 [[ 9.99559330e-01 -2.53066695e-02 -1.55150868e-02 6.12042777e+02] [ 2.53068075e-02 9.99679714e-01 -1.87467850e-04 7.79309734e+00] [ 1.55148617e-02 -2.05252074e-04 9.99879616e-01 9.47624494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.819254154 meters Centerline goodness : 0.998988 Centerline is valid? [True, True] Translation: X:612.07, Y:7.79, Z:9.48 [[ 9.99547949e-01 -2.57522799e-02 -1.55150868e-02 6.12072043e+02] [ 2.57524716e-02 9.99668333e-01 -1.87467850e-04 7.79396011e+00] [ 1.55147686e-02 -2.12168726e-04 9.99879616e-01 9.47516495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.8492541539999 meters Centerline goodness : 0.998903 Centerline is valid? [True, True] Translation: X:612.10, Y:7.79, Z:9.48 [[ 9.99455425e-01 -2.91227746e-02 -1.55150874e-02 6.12102635e+02] [ 2.91233731e-02 9.99575807e-01 -1.87412403e-04 7.79448369e+00] [ 1.55139640e-02 -2.64541338e-04 9.99879616e-01 9.47568712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.8792541539999 meters Centerline goodness : 0.999283 Centerline is valid? [True, True] Translation: X:612.13, Y:7.79, Z:9.47 [[ 9.99384134e-01 -3.14743381e-02 -1.55150874e-02 6.12133151e+02] [ 3.14752198e-02 9.99504515e-01 -1.87412403e-04 7.79446025e+00] [ 1.55132986e-02 -3.01043805e-04 9.99879616e-01 9.47330224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.9092541539999 meters Centerline goodness : 0.999051 Centerline is valid? [True, True] Translation: X:612.16, Y:7.79, Z:9.48 [[ 9.99163883e-01 -3.78261476e-02 -1.55150909e-02 6.12164850e+02] [ 3.78277989e-02 9.99284255e-01 -1.87129074e-04 7.79384201e+00] [ 1.55110644e-02 -3.99929125e-04 9.99879616e-01 9.47504669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.939254154 meters Centerline goodness : 0.999032 Centerline is valid? [True, True] Translation: X:612.20, Y:7.79, Z:9.48 [[ 9.99043410e-01 -4.08845431e-02 -1.55150977e-02 6.12196701e+02] [ 4.08865717e-02 9.99163777e-01 -1.86558593e-04 7.79361482e+00] [ 1.55097510e-02 -4.47979021e-04 9.99879616e-01 9.47546034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.9692541539999 meters Centerline goodness : 0.999283 Centerline is valid? [True, True] Translation: X:612.23, Y:7.79, Z:9.48 [[ 9.98812130e-01 -4.61910175e-02 -1.55151051e-02 6.12228018e+02] [ 4.61936951e-02 9.98932484e-01 -1.85940484e-04 7.79390254e+00] [ 1.55071313e-02 -5.30980424e-04 9.99879616e-01 9.47707150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.9992541539999 meters Centerline goodness : 0.998926 Centerline is valid? [True, True] Translation: X:612.26, Y:7.79, Z:9.48 [[ 9.98743940e-01 -4.76426670e-02 -1.55151153e-02 6.12259355e+02] [ 4.76455327e-02 9.98864290e-01 -1.85090125e-04 7.79431941e+00] [ 1.55063128e-02 -5.54368291e-04 9.99879616e-01 9.47802498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.0292541539999 meters Centerline goodness : 0.998968 Centerline is valid? [True, True] Translation: X:612.29, Y:7.79, Z:9.48 [[ 9.98721129e-01 -4.81184742e-02 -1.55151252e-02 6.12291348e+02] [ 4.81214102e-02 9.98841477e-01 -1.84249511e-04 7.79482921e+00] [ 1.55060164e-02 -5.62595827e-04 9.99879616e-01 9.47947968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.059254154 meters Centerline goodness : 0.998946 Centerline is valid? [True, True] Translation: X:612.32, Y:7.80, Z:9.48 [[ 9.98793765e-01 -4.65864352e-02 -1.55151384e-02 6.12322452e+02] [ 4.65892039e-02 9.98914117e-01 -1.83135045e-04 7.79551618e+00] [ 1.55068224e-02 -5.39923805e-04 9.99879616e-01 9.48034569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.089254154 meters Centerline goodness : 0.998840 Centerline is valid? [True, True] Translation: X:612.35, Y:7.80, Z:9.48 [[ 9.98901261e-01 -4.42216047e-02 -1.55151481e-02 6.12354800e+02] [ 4.42241014e-02 9.99021619e-01 -1.82305869e-04 7.79620249e+00] [ 1.55080303e-02 -5.04037922e-04 9.99879616e-01 9.48068789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.1192541539999 meters Centerline goodness : 0.999089 Centerline is valid? [True, True] Translation: X:612.39, Y:7.80, Z:9.48 [[ 9.99116648e-01 -3.90538565e-02 -1.55151610e-02 6.12385951e+02] [ 3.90557475e-02 9.99237017e-01 -1.81207850e-04 7.79851594e+00] [ 1.55104000e-02 -4.24908430e-04 9.99879616e-01 9.48070937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.1492541539999 meters Centerline goodness : 0.999173 Centerline is valid? [True, True] Translation: X:612.42, Y:7.80, Z:9.48 [[ 9.99218695e-01 -3.63494131e-02 -1.55151705e-02 6.12417720e+02] [ 3.63509911e-02 9.99339068e-01 -1.80389468e-04 7.79946623e+00] [ 1.55114731e-02 -3.83743295e-04 9.99879616e-01 9.48104247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.1792541539999 meters Centerline goodness : 0.999279 Centerline is valid? [True, True] Translation: X:612.45, Y:7.80, Z:9.48 [[ 9.99288869e-01 -3.43662083e-02 -1.55151767e-02 6.12450317e+02] [ 3.43675557e-02 9.99409245e-01 -1.79852405e-04 7.80097098e+00] [ 1.55121919e-02 -3.53494193e-04 9.99879616e-01 9.48156779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.209254154 meters Centerline goodness : 0.999299 Centerline is valid? [True, True] Translation: X:612.48, Y:7.80, Z:9.48 [[ 9.99409617e-01 -3.06544788e-02 -1.55151890e-02 6.12481363e+02] [ 3.06553957e-02 9.99529997e-01 -1.78783395e-04 7.80103138e+00] [ 1.55133774e-02 -2.96946415e-04 9.99879616e-01 9.48187878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.2392541539999 meters Centerline goodness : 0.999258 Centerline is valid? [True, True] Translation: X:612.51, Y:7.80, Z:9.48 [[ 9.99467488e-01 -2.87057248e-02 -1.55151952e-02 6.12512589e+02] [ 2.87064152e-02 9.99587870e-01 -1.78248453e-04 7.80050756e+00] [ 1.55139176e-02 -2.67232101e-04 9.99879616e-01 9.48416746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.2692541539999 meters Centerline goodness : 0.999322 Centerline is valid? [True, True] Translation: X:612.54, Y:7.80, Z:9.48 [[ 9.99479689e-01 -2.82777304e-02 -1.55152017e-02 6.12542621e+02] [ 2.82783781e-02 9.99600071e-01 -1.77680116e-04 7.80069054e+00] [ 1.55140211e-02 -2.61157072e-04 9.99879616e-01 9.48265038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.2992541539999 meters Centerline goodness : 0.999172 Centerline is valid? [True, True] Translation: X:612.57, Y:7.80, Z:9.48 [[ 9.99507414e-01 -2.72801736e-02 -1.55152124e-02 6.12574274e+02] [ 2.72807157e-02 9.99627796e-01 -1.76739555e-04 7.80089052e+00] [ 1.55142591e-02 -2.46613603e-04 9.99879616e-01 9.48425718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.329254154 meters Centerline goodness : 0.999173 Centerline is valid? [True, True] Translation: X:612.60, Y:7.80, Z:9.48 [[ 9.99524047e-01 -2.66637772e-02 -1.55152188e-02 6.12604291e+02] [ 2.66642539e-02 9.99644430e-01 -1.76172804e-04 7.80099706e+00] [ 1.55143995e-02 -2.37612780e-04 9.99879616e-01 9.48297308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.3592541539999 meters Centerline goodness : 0.999575 Centerline is valid? [True, True] Translation: X:612.64, Y:7.80, Z:9.48 [[ 9.99569538e-01 -2.49001528e-02 -1.55152220e-02 6.12635064e+02] [ 2.49004214e-02 9.99689921e-01 -1.75892093e-04 7.79955801e+00] [ 1.55147908e-02 -2.10519188e-04 9.99879616e-01 9.48200769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.3892541539999 meters Centerline goodness : 0.999278 Centerline is valid? [True, True] Translation: X:612.66, Y:7.80, Z:9.48 [[ 9.99594559e-01 -2.38745883e-02 -1.55152220e-02 6.12664219e+02] [ 2.38747334e-02 9.99714942e-01 -1.75892093e-04 7.79904938e+00] [ 1.55149986e-02 -1.94601010e-04 9.99879616e-01 9.48174713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.4192541539999 meters Centerline goodness : 0.999364 Centerline is valid? [True, True] Translation: X:612.69, Y:7.80, Z:9.48 [[ 9.99657688e-01 -2.10662143e-02 -1.55152157e-02 6.12693431e+02] [ 2.10660127e-02 9.99778071e-01 -1.76443886e-04 7.79890115e+00] [ 1.55154895e-02 -1.50460245e-04 9.99879616e-01 9.48342139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.449254154 meters Centerline goodness : 0.999174 Centerline is valid? [True, True] Translation: X:612.72, Y:7.80, Z:9.48 [[ 9.99693307e-01 -1.93020659e-02 -1.55152093e-02 6.12722466e+02] [ 1.93016431e-02 9.99813690e-01 -1.77008237e-04 7.79945494e+00] [ 1.55157353e-02 -1.22515082e-04 9.99879616e-01 9.48440234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.4792541539999 meters Centerline goodness : 0.999385 Centerline is valid? [True, True] Translation: X:612.75, Y:7.80, Z:9.49 [[ 9.99732734e-01 -1.71388784e-02 -1.55151635e-02 6.12751286e+02] [ 1.71381342e-02 9.99853115e-01 -1.80936349e-04 7.79981535e+00] [ 1.55159856e-02 -8.50129634e-05 9.99879616e-01 9.48545969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.5092541539999 meters Centerline goodness : 0.999364 Centerline is valid? [True, True] Translation: X:612.78, Y:7.80, Z:9.49 [[ 9.99757606e-01 -1.56208325e-02 -1.55151151e-02 6.12778689e+02] [ 1.56198425e-02 9.99877986e-01 -1.84993353e-04 7.80023908e+00] [ 1.55161118e-02 -5.73951425e-05 9.99879616e-01 9.48622787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.5392541539999 meters Centerline goodness : 0.999343 Centerline is valid? [True, True] Translation: X:612.81, Y:7.80, Z:9.49 [[ 9.99810905e-01 -1.17232930e-02 -1.55150978e-02 6.12805244e+02] [ 1.17218114e-02 9.99931280e-01 -1.86431757e-04 7.79856804e+00] [ 1.55162172e-02 4.53145298e-06 9.99879616e-01 9.48617378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.569254154 meters Centerline goodness : 0.999407 Centerline is valid? [True, True] Translation: X:612.83, Y:7.80, Z:9.49 [[ 9.99834453e-01 -9.50525546e-03 -1.55150744e-02 6.12833189e+02] [ 9.50347686e-03 9.99954823e-01 -1.88362508e-04 7.79796267e+00] [ 1.55161639e-02 4.08841745e-05 9.99879616e-01 9.48716413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.5992541539999 meters Centerline goodness : 0.999493 Centerline is valid? [True, True] Translation: X:612.86, Y:7.80, Z:9.49 [[ 9.99837471e-01 -9.18226303e-03 -1.55150578e-02 6.12860957e+02] [ 9.18042448e-03 9.99957841e-01 -1.89720008e-04 7.79792576e+00] [ 1.55161458e-02 4.72543562e-05 9.99879616e-01 9.48775190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.6292541539999 meters Centerline goodness : 0.999449 Centerline is valid? [True, True] Translation: X:612.89, Y:7.80, Z:9.49 [[ 9.99838188e-01 -9.10393734e-03 -1.55150036e-02 6.12889169e+02] [ 9.10202217e-03 9.99958557e-01 -1.94050002e-04 7.79768159e+00] [ 1.55161273e-02 5.28006953e-05 9.99879616e-01 9.48836259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.6592541539999 meters Centerline goodness : 0.999387 Centerline is valid? [True, True] Translation: X:612.92, Y:7.80, Z:9.49 [[ 9.99824921e-01 -1.04601367e-02 -1.55149486e-02 6.12917054e+02] [ 1.04583180e-02 9.99945291e-01 -1.98353412e-04 7.79687117e+00] [ 1.55161746e-02 3.60584178e-05 9.99879616e-01 9.49053555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.689254154 meters Centerline goodness : 0.999494 Centerline is valid? [True, True] Translation: X:612.95, Y:7.80, Z:9.49 [[ 9.99809644e-01 -1.18306191e-02 -1.55148894e-02 6.12945097e+02] [ 1.18288952e-02 9.99930016e-01 -2.02880840e-04 7.79623403e+00] [ 1.55162038e-02 1.93182197e-05 9.99879616e-01 9.49101031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.7192541539999 meters Centerline goodness : 0.999199 Centerline is valid? [True, True] Translation: X:612.97, Y:7.79, Z:9.49 [[ 9.99758887e-01 -1.55389445e-02 -1.55148287e-02 6.12972724e+02] [ 1.55375965e-02 9.99879263e-01 -2.07423759e-04 7.79282981e+00] [ 1.55161786e-02 -3.36894019e-05 9.99879616e-01 9.48934664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.7492541539999 meters Centerline goodness : 0.999242 Centerline is valid? [True, True] Translation: X:613.00, Y:7.79, Z:9.49 [[ 9.99717552e-01 -1.80029642e-02 -1.55148098e-02 6.13000163e+02] [ 1.80018911e-02 9.99837931e-01 -2.08828915e-04 7.79126935e+00] [ 1.55160548e-02 -7.05259847e-05 9.99879616e-01 9.48994195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.7792541539999 meters Centerline goodness : 0.999179 Centerline is valid? [True, True] Translation: X:613.03, Y:7.79, Z:9.49 [[ 9.99672420e-01 -2.03554569e-02 -1.55147518e-02 6.13028388e+02] [ 2.03546015e-02 9.99792801e-01 -2.13052933e-04 7.79025556e+00] [ 1.55158739e-02 -1.02813449e-04 9.99879616e-01 9.49044412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.809254154 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:613.06, Y:7.79, Z:9.49 [[ 9.99567756e-01 -2.49718691e-02 -1.55147337e-02 6.13056329e+02] [ 2.49715494e-02 9.99688139e-01 -2.14360907e-04 7.78803044e+00] [ 1.55152482e-02 -1.73158687e-04 9.99879616e-01 9.49072266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.839254154 meters Centerline goodness : 0.999055 Centerline is valid? [True, True] Translation: X:613.09, Y:7.79, Z:9.49 [[ 9.99505049e-01 -2.73669569e-02 -1.55147157e-02 6.13085731e+02] [ 2.73669056e-02 9.99625433e-01 -2.15652877e-04 7.78657730e+00] [ 1.55148062e-02 -2.09043622e-04 9.99879616e-01 9.49232560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.8692541539999 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:613.12, Y:7.78, Z:9.49 [[ 9.99352587e-01 -3.24607446e-02 -1.55147079e-02 6.13115648e+02] [ 3.24612982e-02 9.99472970e-01 -2.16211300e-04 7.78328925e+00] [ 1.55135496e-02 -2.87556239e-04 9.99879616e-01 9.49069537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.8992541539999 meters Centerline goodness : 0.999225 Centerline is valid? [True, True] Translation: X:613.15, Y:7.78, Z:9.49 [[ 9.99273779e-01 -3.48024181e-02 -1.55147041e-02 6.13146508e+02] [ 3.48032495e-02 9.99394160e-01 -2.16488719e-04 7.78153627e+00] [ 1.55128390e-02 -3.23630617e-04 9.99879616e-01 9.49269625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.9292541539999 meters Centerline goodness : 0.998913 Centerline is valid? [True, True] Translation: X:613.18, Y:7.78, Z:9.49 [[ 9.99203391e-01 -3.67678727e-02 -1.55147118e-02 6.13177300e+02] [ 3.67689495e-02 9.99323770e-01 -2.15934128e-04 7.77990209e+00] [ 1.55121597e-02 -3.54697541e-04 9.99879616e-01 9.49068020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.959254154 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:613.21, Y:7.78, Z:9.49 [[ 9.99089547e-01 -3.97412858e-02 -1.55147156e-02 6.13209470e+02] [ 3.97427251e-02 9.99209923e-01 -2.15658870e-04 7.77766052e+00] [ 1.55110284e-02 -4.01134555e-04 9.99879616e-01 9.49427535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.9892541539999 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:613.24, Y:7.78, Z:9.49 [[ 9.99052772e-01 -4.06552751e-02 -1.55147314e-02 6.13240547e+02] [ 4.06568422e-02 9.99173146e-01 -2.14519424e-04 7.77731738e+00] [ 1.55106243e-02 -4.16463759e-04 9.99879616e-01 9.49407647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.0192541539999 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] Translation: X:613.27, Y:7.78, Z:9.50 [[ 9.99022923e-01 -4.13822576e-02 -1.55147431e-02 6.13272641e+02] [ 4.13839255e-02 9.99143296e-01 -2.13670634e-04 7.77589787e+00] [ 1.55102937e-02 -4.28599109e-04 9.99879616e-01 9.49562432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.0492541539999 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] Translation: X:613.31, Y:7.78, Z:9.50 [[ 9.99025973e-01 -4.13085675e-02 -1.55147587e-02 6.13305323e+02] [ 4.13102443e-02 9.99146345e-01 -2.12526243e-04 7.77628630e+00] [ 1.55102936e-02 -4.28599236e-04 9.99879616e-01 9.49613121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.079254154 meters Centerline goodness : 0.999351 Centerline is valid? [True, True] Translation: X:613.34, Y:7.78, Z:9.50 [[ 9.99031839e-01 -4.11664594e-02 -1.55147743e-02 6.13336497e+02] [ 4.11681368e-02 9.99152211e-01 -2.11381980e-04 7.77569398e+00] [ 1.55103229e-02 -4.27537025e-04 9.99879616e-01 9.49635900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.1092541539999 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:613.37, Y:7.78, Z:9.50 [[ 9.99044590e-01 -4.08558215e-02 -1.55147859e-02 6.13368578e+02] [ 4.08574747e-02 9.99164963e-01 -2.10529722e-04 7.77528018e+00] [ 1.55104318e-02 -4.23566393e-04 9.99879616e-01 9.49684652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.1392541539999 meters Centerline goodness : 0.999309 Centerline is valid? [True, True] Translation: X:613.40, Y:7.77, Z:9.50 [[ 9.99097773e-01 -3.95339237e-02 -1.55148012e-02 6.13400255e+02] [ 3.95354351e-02 9.99218147e-01 -2.09397597e-04 7.77380054e+00] [ 1.55109492e-02 -4.04175743e-04 9.99879616e-01 9.49752138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.1692541539999 meters Centerline goodness : 0.999392 Centerline is valid? [True, True] Translation: X:613.43, Y:7.77, Z:9.50 [[ 9.99129820e-01 -3.87155293e-02 -1.55148264e-02 6.13431685e+02] [ 3.87169714e-02 9.99250195e-01 -2.07513145e-04 7.77323470e+00] [ 1.55112273e-02 -3.93354518e-04 9.99879616e-01 9.49847134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.199254154 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:613.46, Y:7.77, Z:9.50 [[ 9.99169960e-01 -3.76653780e-02 -1.55148338e-02 6.13461732e+02] [ 3.76667022e-02 9.99290337e-01 -2.06954974e-04 7.77323216e+00] [ 1.55116186e-02 -3.77609432e-04 9.99879616e-01 9.50059370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.2292541539999 meters Centerline goodness : 0.999097 Centerline is valid? [True, True] Translation: X:613.49, Y:7.77, Z:9.50 [[ 9.99196579e-01 -3.69524837e-02 -1.55148375e-02 6.13492606e+02] [ 3.69537264e-02 9.99316956e-01 -2.06678097e-04 7.77355628e+00] [ 1.55118775e-02 -3.66819013e-04 9.99879616e-01 9.50190122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.2592541539999 meters Centerline goodness : 0.999518 Centerline is valid? [True, True] Translation: X:613.52, Y:7.77, Z:9.50 [[ 9.99207061e-01 -3.66679449e-02 -1.55148448e-02 6.13523856e+02] [ 3.66691618e-02 9.99327439e-01 -2.06131653e-04 7.77387450e+00] [ 1.55119685e-02 -3.62948149e-04 9.99879616e-01 9.50319613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.2892541539999 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:613.55, Y:7.77, Z:9.50 [[ 9.99185264e-01 -3.72571865e-02 -1.55148524e-02 6.13554354e+02] [ 3.72584832e-02 9.99305641e-01 -2.05558458e-04 7.77331627e+00] [ 1.55117380e-02 -3.72668885e-04 9.99879616e-01 9.50151853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.319254154 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:613.59, Y:7.77, Z:9.50 [[ 9.99167078e-01 -3.77417574e-02 -1.55148561e-02 6.13585572e+02] [ 3.77431169e-02 9.99287454e-01 -2.05274066e-04 7.77290519e+00] [ 1.55115485e-02 -3.80475940e-04 9.99879616e-01 9.50115711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.3492541539999 meters Centerline goodness : 0.998887 Centerline is valid? [True, True] Translation: X:613.62, Y:7.77, Z:9.50 [[ 9.99136954e-01 -3.85309768e-02 -1.55148632e-02 6.13617403e+02] [ 3.85324398e-02 9.99257329e-01 -2.04736083e-04 7.77230537e+00] [ 1.55112295e-02 -3.93266148e-04 9.99879616e-01 9.50284400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.3792541539999 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:613.65, Y:7.77, Z:9.50 [[ 9.99113412e-01 -3.91366685e-02 -1.55148745e-02 6.13648325e+02] [ 3.91382178e-02 9.99233786e-01 -2.03876527e-04 7.77258355e+00] [ 1.55109659e-02 -4.03528766e-04 9.99879616e-01 9.50372376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.4092541539999 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:613.68, Y:7.77, Z:9.50 [[ 9.99083128e-01 -3.99022852e-02 -1.55148821e-02 6.13678516e+02] [ 3.99039356e-02 9.99203500e-01 -2.03302331e-04 7.77287850e+00] [ 1.55106367e-02 -4.15988926e-04 9.99879616e-01 9.50196028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.439254154 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:613.71, Y:7.77, Z:9.51 [[ 9.99004582e-01 -4.18226353e-02 -1.55148858e-02 6.13709493e+02] [ 4.18245215e-02 9.99124951e-01 -2.03017815e-04 7.77291967e+00] [ 1.55098002e-02 -4.46086947e-04 9.99879616e-01 9.50564200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.4692541539999 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:613.74, Y:7.77, Z:9.50 [[ 9.98927893e-01 -4.36159763e-02 -1.55148933e-02 6.13740600e+02] [ 4.36180875e-02 9.99048258e-01 -2.02444619e-04 7.77225774e+00] [ 1.55089569e-02 -4.74502395e-04 9.99879616e-01 9.50328380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.4992541539999 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:613.78, Y:7.77, Z:9.51 [[ 9.99022323e-01 -4.13966862e-02 -1.55149180e-02 6.13776135e+02] [ 4.13985597e-02 9.99142692e-01 -2.00532715e-04 7.76862812e+00] [ 1.55099183e-02 -4.41958599e-04 9.99879616e-01 9.50963439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.5292541539999 meters Centerline goodness : 0.999142 Centerline is valid? [True, True] Translation: X:613.80, Y:7.77, Z:9.51 [[ 9.98842867e-01 -4.55202137e-02 -1.55189101e-02 6.13798962e+02] [ 4.55274777e-02 9.98963080e-01 1.14921564e-04 7.77139377e+00] [ 1.54975870e-02 -8.21325418e-04 9.99879568e-01 9.50625585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.559254154 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:613.83, Y:7.77, Z:9.51 [[ 9.98831184e-01 -4.57772909e-02 -1.55146797e-02 6.13832029e+02] [ 4.57796209e-02 9.98951543e-01 -2.05119224e-04 7.76960991e+00] [ 1.55078030e-02 -5.05376676e-04 9.99879619e-01 9.51044219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.589254154 meters Centerline goodness : 0.999142 Centerline is valid? [True, True] Translation: X:613.86, Y:7.77, Z:9.51 [[ 9.98755597e-01 -4.73971824e-02 -1.55165650e-02 6.13860447e+02] [ 4.74019406e-02 9.98875894e-01 -6.11899240e-05 7.77158345e+00] [ 1.55020229e-02 -6.74401510e-04 9.99879609e-01 9.50766766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.6192541539999 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:613.89, Y:7.77, Z:9.51 [[ 9.98787177e-01 -4.67276399e-02 -1.55146197e-02 6.13892405e+02] [ 4.67300553e-02 9.98907533e-01 -2.06998448e-04 7.77218002e+00] [ 1.55073431e-02 -5.18251641e-04 9.99879620e-01 9.50918876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.6492541539999 meters Centerline goodness : 0.999372 Centerline is valid? [True, True] Translation: X:613.92, Y:7.77, Z:9.51 [[ 9.98821065e-01 -4.59975615e-02 -1.55146349e-02 6.13924870e+02] [ 4.59999067e-02 9.98941423e-01 -2.05851331e-04 7.77246417e+00] [ 1.55076802e-02 -5.08063114e-04 9.99879620e-01 9.51007625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.6792541539999 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:613.96, Y:7.77, Z:9.51 [[ 9.98969290e-01 -4.26573997e-02 -1.55146501e-02 6.13956112e+02] [ 4.26593603e-02 9.99089654e-01 -2.04700593e-04 7.77293171e+00] [ 1.55092584e-02 -4.57355444e-04 9.99879620e-01 9.51154608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.709254154 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:613.99, Y:7.77, Z:9.51 [[ 9.99072032e-01 -4.01792151e-02 -1.55146614e-02 6.13988622e+02] [ 4.01808904e-02 9.99192401e-01 -2.03844653e-04 7.77347340e+00] [ 1.55103221e-02 -4.19737416e-04 9.99879620e-01 9.51292224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.7392541539999 meters Centerline goodness : 0.998952 Centerline is valid? [True, True] Translation: X:614.02, Y:7.77, Z:9.51 [[ 9.99163273e-01 -3.78424173e-02 -1.55146762e-02 6.14019632e+02] [ 3.78438287e-02 9.99283645e-01 -2.02711568e-04 7.77442433e+00] [ 1.55112333e-02 -3.84592793e-04 9.99879620e-01 9.51455943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.7692541539999 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:614.05, Y:7.78, Z:9.52 [[ 9.99341124e-01 -3.28117739e-02 -1.55146836e-02 6.14051376e+02] [ 3.28125882e-02 9.99461502e-01 -2.02138938e-04 7.77567127e+00] [ 1.55129615e-02 -3.07071170e-04 9.99879620e-01 9.51576931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.7992541539999 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:614.08, Y:7.78, Z:9.52 [[ 9.99415477e-01 -3.04630600e-02 -1.55146910e-02 6.14082404e+02] [ 3.04636001e-02 9.99535857e-01 -2.01568473e-04 7.77631451e+00] [ 1.55136304e-02 -2.71182693e-04 9.99879620e-01 9.51626701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.829254154 meters Centerline goodness : 0.999517 Centerline is valid? [True, True] Translation: X:614.11, Y:7.78, Z:9.52 [[ 9.99489078e-01 -2.79441756e-02 -1.55146984e-02 6.14112289e+02] [ 2.79444212e-02 9.99609458e-01 -2.01001682e-04 7.77659537e+00] [ 1.55142561e-02 -2.32650280e-04 9.99879620e-01 9.51529511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.8592541539999 meters Centerline goodness : 0.999434 Centerline is valid? [True, True] Translation: X:614.14, Y:7.78, Z:9.51 [[ 9.99502083e-01 -2.74750845e-02 -1.55146947e-02 6.14142039e+02] [ 2.74752692e-02 9.99622463e-01 -2.01282823e-04 7.77626710e+00] [ 1.55143676e-02 -2.25087814e-04 9.99879620e-01 9.51392031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.8892541539999 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] Translation: X:614.17, Y:7.78, Z:9.52 [[ 9.99502989e-01 -2.74421158e-02 -1.55146912e-02 6.14171826e+02] [ 2.74422922e-02 9.99623369e-01 -2.01558360e-04 7.77560944e+00] [ 1.55143790e-02 -2.24300506e-04 9.99879620e-01 9.51539234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.9192541539999 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:614.20, Y:7.77, Z:9.51 [[ 9.99466884e-01 -2.87270227e-02 -1.55146839e-02 6.14201546e+02] [ 2.87273452e-02 9.99587264e-01 -2.02116015e-04 7.77394924e+00] [ 1.55140866e-02 -2.43687416e-04 9.99879620e-01 9.51491439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.949254154 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:614.23, Y:7.77, Z:9.52 [[ 9.99386931e-01 -3.13856076e-02 -1.55146836e-02 6.14231054e+02] [ 3.13862501e-02 9.99507310e-01 -2.02134900e-04 7.77343711e+00] [ 1.55133838e-02 -2.84936764e-04 9.99879620e-01 9.51553002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.9792541539999 meters Centerline goodness : 0.999351 Centerline is valid? [True, True] Translation: X:614.26, Y:7.77, Z:9.52 [[ 9.99335060e-01 -3.29959445e-02 -1.55146765e-02 6.14260671e+02] [ 3.29967725e-02 9.99455438e-01 -2.02682039e-04 7.77355182e+00] [ 1.55129155e-02 -3.09386983e-04 9.99879620e-01 9.51573276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.0092541539999 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:614.29, Y:7.77, Z:9.52 [[ 9.99274736e-01 -3.47749578e-02 -1.55146773e-02 6.14291680e+02] [ 3.47760009e-02 9.99395111e-01 -2.02623270e-04 7.77352726e+00] [ 1.55123388e-02 -3.37062117e-04 9.99879620e-01 9.51625985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.0392541539999 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:614.32, Y:7.77, Z:9.52 [[ 9.99109279e-01 -3.92421197e-02 -1.55146808e-02 6.14321883e+02] [ 3.92437052e-02 9.99229649e-01 -2.02353591e-04 7.77127649e+00] [ 1.55106698e-02 -4.06680209e-04 9.99879620e-01 9.51615818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.069254154 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:614.35, Y:7.77, Z:9.52 [[ 9.99030212e-01 -4.12059512e-02 -1.55146843e-02 6.14353166e+02] [ 4.12077775e-02 9.99150578e-01 -2.02085842e-04 7.76962073e+00] [ 1.55098329e-02 -4.37435797e-04 9.99879620e-01 9.51666787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.0992541539999 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:614.38, Y:7.77, Z:9.52 [[ 9.98830124e-01 -4.58004166e-02 -1.55146912e-02 6.14384764e+02] [ 4.58028047e-02 9.98950481e-01 -2.01554201e-04 7.76769969e+00] [ 1.55076395e-02 -5.09297962e-04 9.99879620e-01 9.51931905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.1292541539999 meters Centerline goodness : 0.997060 Centerline is valid? [True, True] Translation: X:614.42, Y:7.77, Z:9.52 [[ 9.98752951e-01 -4.74535249e-02 -1.55146984e-02 6.14415376e+02] [ 4.74561208e-02 9.98873303e-01 -2.00998271e-04 7.76755134e+00] [ 1.55067561e-02 -5.35519784e-04 9.99879620e-01 9.51569011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.1592541539999 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:614.45, Y:7.77, Z:9.52 [[ 9.98706606e-01 -4.84190828e-02 -1.55147280e-02 6.14446432e+02] [ 4.84218307e-02 9.98826955e-01 -1.98710109e-04 7.76753915e+00] [ 1.55061499e-02 -5.52798433e-04 9.99879620e-01 9.52195000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.189254154 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:614.48, Y:7.77, Z:9.52 [[ 9.98691228e-01 -4.87352448e-02 -1.55147137e-02 6.14478611e+02] [ 4.87380135e-02 9.98811577e-01 -1.99815762e-04 7.76754617e+00] [ 1.55060138e-02 -5.56602079e-04 9.99879620e-01 9.52258248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.2192541539999 meters Centerline goodness : 0.999333 Centerline is valid? [True, True] Translation: X:614.51, Y:7.77, Z:9.52 [[ 9.98729952e-01 -4.79351269e-02 -1.55147286e-02 6.14509452e+02] [ 4.79378172e-02 9.98850302e-01 -1.98656679e-04 7.76638352e+00] [ 1.55064140e-02 -5.45337847e-04 9.99879620e-01 9.52159242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.2492541539999 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:614.54, Y:7.76, Z:9.52 [[ 9.98817275e-01 -4.60797508e-02 -1.55147396e-02 6.14541647e+02] [ 4.60822309e-02 9.98937630e-01 -1.97793084e-04 7.76488832e+00] [ 1.55073715e-02 -5.17394663e-04 9.99879620e-01 9.52217671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.2792541539999 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:614.57, Y:7.76, Z:9.52 [[ 9.98851766e-01 -4.53259524e-02 -1.55147541e-02 6.14573215e+02] [ 4.53283594e-02 9.98972122e-01 -1.96649189e-04 7.76472546e+00] [ 1.55077201e-02 -5.06834960e-04 9.99879620e-01 9.52034326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.309254154 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:614.60, Y:7.76, Z:9.52 [[ 9.98928879e-01 -4.35932618e-02 -1.55152031e-02 6.14604106e+02] [ 4.35960095e-02 9.99049229e-01 -1.61243674e-04 7.76454108e+00] [ 1.55074808e-02 -5.15329979e-04 9.99879619e-01 9.52320141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.339254154 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:614.64, Y:7.77, Z:9.52 [[ 9.99090027e-01 -3.97292368e-02 -1.55147219e-02 6.14635702e+02] [ 3.97309362e-02 9.99210395e-01 -1.98800688e-04 7.76527411e+00] [ 1.55103696e-02 -4.17794640e-04 9.99879620e-01 9.52286422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.3692541539999 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:614.67, Y:7.77, Z:9.52 [[ 9.99173741e-01 -3.75649953e-02 -1.55147328e-02 6.14666304e+02] [ 3.75664471e-02 9.99294112e-01 -1.97945577e-04 7.76610460e+00] [ 1.55112169e-02 -3.85051366e-04 9.99879620e-01 9.52408965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.3992541539999 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:614.70, Y:7.77, Z:9.52 [[ 9.99261765e-01 -3.51456755e-02 -1.55147328e-02 6.14696434e+02] [ 3.51468359e-02 9.99382140e-01 -1.97945577e-04 7.76640138e+00] [ 1.55121038e-02 -3.47494321e-04 9.99879620e-01 9.52290431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.4292541539999 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:614.73, Y:7.77, Z:9.52 [[ 9.99416424e-01 -3.04319606e-02 -1.55147364e-02 6.14726736e+02] [ 3.04325577e-02 9.99536803e-01 -1.97661339e-04 7.76548115e+00] [ 1.55135652e-02 -2.74607122e-04 9.99879620e-01 9.52312692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.459254154 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:614.76, Y:7.77, Z:9.52 [[ 9.99470245e-01 -2.86098390e-02 -1.55147364e-02 6.14755858e+02] [ 2.86102165e-02 9.99590624e-01 -1.97661339e-04 7.76512456e+00] [ 1.55140401e-02 -2.46323341e-04 9.99879620e-01 9.52319992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.4892541539999 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:614.78, Y:7.77, Z:9.52 [[ 9.99542758e-01 -2.59531946e-02 -1.55147328e-02 6.14784256e+02] [ 2.59532478e-02 9.99663138e-01 -1.97942092e-04 7.76560149e+00] [ 1.55146437e-02 -2.04806121e-04 9.99879620e-01 9.52420461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.5192541539999 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:614.81, Y:7.77, Z:9.53 [[ 9.99561006e-01 -2.52406266e-02 -1.55147222e-02 6.14812960e+02] [ 2.52405812e-02 9.99681386e-01 -1.98769908e-04 7.76611038e+00] [ 1.55147961e-02 -1.92917956e-04 9.99879620e-01 9.52505108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.5492541539999 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:614.84, Y:7.77, Z:9.53 [[ 9.99575416e-01 -2.46633906e-02 -1.55146715e-02 6.14841504e+02] [ 2.46632154e-02 9.99695796e-01 -2.02654080e-04 7.76602498e+00] [ 1.55149500e-02 -1.80073649e-04 9.99879620e-01 9.52636523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.579254154 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:614.87, Y:7.77, Z:9.53 [[ 9.99543810e-01 -2.59126963e-02 -1.55146185e-02 6.14870658e+02] [ 2.59126097e-02 9.99664191e-01 -2.06634272e-04 7.76662469e+00] [ 1.55147630e-02 -1.95484246e-04 9.99879620e-01 9.52789265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.6092541539999 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:614.90, Y:7.77, Z:9.53 [[ 9.99520377e-01 -2.68013289e-02 -1.55146670e-02 6.14899722e+02] [ 2.68014056e-02 9.99640757e-01 -2.03013056e-04 7.76589964e+00] [ 1.55145345e-02 -2.12899197e-04 9.99879620e-01 9.52641249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.6392541539999 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:614.93, Y:7.77, Z:9.53 [[ 9.99390143e-01 -3.12832143e-02 -1.55145943e-02 6.14928933e+02] [ 3.12837467e-02 9.99510522e-01 -2.08430302e-04 7.76509095e+00] [ 1.55135206e-02 -2.77051448e-04 9.99879620e-01 9.52721398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.6692541539999 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:614.96, Y:7.76, Z:9.53 [[ 9.99304078e-01 -3.39213478e-02 -1.55145408e-02 6.14958199e+02] [ 3.39221375e-02 9.99424456e-01 -2.12333085e-04 7.76468115e+00] [ 1.55128142e-02 -3.14101070e-04 9.99879620e-01 9.52679069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.699254154 meters Centerline goodness : 0.999562 Centerline is valid? [True, True] Translation: X:614.99, Y:7.76, Z:9.53 [[ 9.99095717e-01 -3.95859594e-02 -1.55145371e-02 6.14988268e+02] [ 3.95874272e-02 9.99216088e-01 -2.12609396e-04 7.76380574e+00] [ 1.55107914e-02 -4.01763469e-04 9.99879620e-01 9.52775716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.7292541539999 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:615.02, Y:7.77, Z:9.53 [[ 9.98907555e-01 -4.40794280e-02 -1.55145371e-02 6.15018113e+02] [ 4.40814372e-02 9.99027918e-01 -2.12609396e-04 7.76568593e+00] [ 1.55088274e-02 -4.71525959e-04 9.99879620e-01 9.52889830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.7592541539999 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:615.05, Y:7.76, Z:9.53 [[ 9.98890413e-01 -4.44664879e-02 -1.55137076e-02 6.15049649e+02] [ 4.44676053e-02 9.99010790e-01 -2.73089172e-04 7.76377101e+00] [ 1.55105045e-02 -4.17071268e-04 9.99879618e-01 9.52994501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.7892541539999 meters Centerline goodness : 0.999438 Centerline is valid? [True, True] Translation: X:615.08, Y:7.76, Z:9.53 [[ 9.98735107e-01 -4.78276591e-02 -1.55145487e-02 6.15080367e+02] [ 4.78301396e-02 9.98855462e-01 -2.11345621e-04 7.76366545e+00] [ 1.55068998e-02 -5.30984737e-04 9.99879620e-01 9.52969702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.819254154 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:615.11, Y:7.76, Z:9.53 [[ 9.98675783e-01 -4.90507861e-02 -1.55145525e-02 6.15112531e+02] [ 4.90534184e-02 9.98796134e-01 -2.11062180e-04 7.76380015e+00] [ 1.55062279e-02 -5.50259149e-04 9.99879620e-01 9.53110859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.8492541539999 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:615.14, Y:7.76, Z:9.53 [[ 9.98567294e-01 -5.12118870e-02 -1.55145678e-02 6.15143868e+02] [ 5.12147972e-02 9.98687639e-01 -2.09932131e-04 7.76389949e+00] [ 1.55049581e-02 -5.84944086e-04 9.99879620e-01 9.53046574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.8792541539999 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:615.18, Y:7.76, Z:9.53 [[ 9.98694237e-01 -4.86736527e-02 -1.55144149e-02 6.15176753e+02] [ 4.86760814e-02 9.98814592e-01 -2.21254800e-04 7.76036347e+00] [ 1.55067933e-02 -5.34215029e-04 9.99879620e-01 9.52761017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.9092541539999 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:615.20, Y:7.77, Z:9.53 [[ 9.98417128e-01 -5.40592783e-02 -1.55187886e-02 6.15199642e+02] [ 5.40669002e-02 9.98537313e-01 7.16979353e-05 7.76752477e+00] [ 1.54922135e-02 -9.10637240e-04 9.99879574e-01 9.53301913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.939254154 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:615.23, Y:7.77, Z:9.53 [[ 9.98418745e-01 -5.40308103e-02 -1.55139262e-02 6.15231883e+02] [ 5.40335758e-02 9.98539090e-01 -2.41154477e-04 7.76841712e+00] [ 1.55042916e-02 -5.97499760e-04 9.99879623e-01 9.53387113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.9692541539999 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:615.26, Y:7.77, Z:9.53 [[ 9.98422525e-01 -5.39609062e-02 -1.55139430e-02 6.15264562e+02] [ 5.39636801e-02 9.98542870e-01 -2.40068850e-04 7.76885834e+00] [ 1.55042916e-02 -5.97499313e-04 9.99879623e-01 9.53437804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.9992541539999 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:615.30, Y:7.77, Z:9.54 [[ 9.98430643e-01 -5.38104924e-02 -1.55139598e-02 6.15297222e+02] [ 5.38132650e-02 9.98550988e-01 -2.38982776e-04 7.76962300e+00] [ 1.55043396e-02 -5.96249103e-04 9.99879623e-01 9.53575800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.0292541539999 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:615.33, Y:7.77, Z:9.54 [[ 9.98458412e-01 -5.32927481e-02 -1.55139769e-02 6.15329111e+02] [ 5.32954756e-02 9.98578758e-01 -2.37867332e-04 7.77028800e+00] [ 1.55046044e-02 -5.89324138e-04 9.99879623e-01 9.53630236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.059254154 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:615.37, Y:7.76, Z:9.53 [[ 9.98773933e-01 -4.70100614e-02 -1.55139939e-02 6.15366948e+02] [ 4.70120490e-02 9.98894294e-01 -2.36754943e-04 7.76373519e+00] [ 1.55079698e-02 -4.92879974e-04 9.99879623e-01 9.53155681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.089254154 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:615.39, Y:7.77, Z:9.54 [[ 9.98409039e-01 -5.42082154e-02 -1.55196603e-02 6.15387924e+02] [ 5.42169750e-02 9.98529168e-01 1.43931434e-04 7.77356664e+00] [ 1.54890312e-02 -9.85131479e-04 9.99879552e-01 9.53518200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.1192541539999 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:615.42, Y:7.77, Z:9.53 [[ 9.98376783e-01 -5.48008041e-02 -1.55135776e-02 6.15419056e+02] [ 5.48036248e-02 9.98497122e-01 -2.43567420e-04 7.77465500e+00] [ 1.55036103e-02 -6.07028230e-04 9.99879628e-01 9.53383749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.1492541539999 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:615.45, Y:7.78, Z:9.53 [[ 9.98347308e-01 -5.53351734e-02 -1.55135910e-02 6.15451393e+02] [ 5.53380717e-02 9.98467645e-01 -2.42712372e-04 7.77515018e+00] [ 1.55032492e-02 -6.16180968e-04 9.99879628e-01 9.53383993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.1792541539999 meters Centerline goodness : 0.999376 Centerline is valid? [True, True] Translation: X:615.48, Y:7.78, Z:9.53 [[ 9.98229461e-01 -5.74218648e-02 -1.55136079e-02 6.15482833e+02] [ 5.74250315e-02 9.98349792e-01 -2.41628661e-04 7.77763002e+00] [ 1.55018820e-02 -6.49668573e-04 9.99879628e-01 9.53494748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.209254154 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:615.51, Y:7.78, Z:9.54 [[ 9.98200466e-01 -5.79237267e-02 -1.55136204e-02 6.15514925e+02] [ 5.79269664e-02 9.98320794e-01 -2.40822274e-04 7.77881860e+00] [ 1.55015192e-02 -6.58268061e-04 9.99879628e-01 9.53659051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.2392541539999 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:615.55, Y:7.78, Z:9.54 [[ 9.98050053e-01 -6.04600547e-02 -1.55136378e-02 6.15547506e+02] [ 6.04636176e-02 9.98170373e-01 -2.39695551e-04 7.78081083e+00] [ 1.54997456e-02 -6.98782507e-04 9.99879628e-01 9.53781818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.2692541539999 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:615.58, Y:7.78, Z:9.53 [[ 9.98325647e-01 -5.57245850e-02 -1.55136553e-02 6.15584539e+02] [ 5.57275948e-02 9.98445982e-01 -2.38554584e-04 7.77501238e+00] [ 1.55028402e-02 -6.26383540e-04 9.99879628e-01 9.53281930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.2992541539999 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:615.62, Y:7.78, Z:9.53 [[ 9.98295583e-01 -5.62590600e-02 -1.55192820e-02 6.15617959e+02] [ 5.62677830e-02 9.98415705e-01 1.25657573e-04 7.77587733e+00] [ 1.54876255e-02 -9.98678994e-04 9.99879561e-01 9.53355172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.329254154 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:615.65, Y:7.78, Z:9.53 [[ 9.98372069e-01 -5.48848918e-02 -1.55196859e-02 6.15651411e+02] [ 5.48938476e-02 9.98492185e-01 1.51334902e-04 7.77566125e+00] [ 1.54879791e-02 -1.00302381e-03 9.99879551e-01 9.53411995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.3592541539999 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:615.68, Y:7.78, Z:9.53 [[ 9.98544975e-01 -5.16433864e-02 -1.55207549e-02 6.15677855e+02] [ 5.16529950e-02 9.98665069e-01 2.18582039e-04 7.77731195e+00] [ 1.54887475e-02 -1.01995747e-03 9.99879522e-01 9.53371641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.3892541539999 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:615.70, Y:7.79, Z:9.54 [[ 9.98315644e-01 -5.59022594e-02 -1.55181476e-02 6.15702309e+02] [ 5.59098026e-02 9.98435822e-01 5.23365947e-05 7.78880594e+00] [ 1.54909487e-02 -9.19865011e-04 9.99879585e-01 9.54343251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.4192541539999 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:615.73, Y:7.79, Z:9.54 [[ 9.98446321e-01 -5.35190319e-02 -1.55131488e-02 6.15733989e+02] [ 5.35215430e-02 9.98566663e-01 -2.53551347e-04 7.79144262e+00] [ 1.55044831e-02 -5.77130252e-04 9.99879632e-01 9.54460506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.449254154 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:615.77, Y:7.79, Z:9.54 [[ 9.98756465e-01 -4.73800104e-02 -1.55131671e-02 6.15766295e+02] [ 4.73817990e-02 9.98876820e-01 -2.52428728e-04 7.79414489e+00] [ 1.55077031e-02 -4.82926942e-04 9.99879632e-01 9.54453706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.4792541539999 meters Centerline goodness : 0.999084 Centerline is valid? [True, True] Translation: X:615.80, Y:7.80, Z:9.54 [[ 9.98892734e-01 -4.44144936e-02 -1.55131852e-02 6.15797561e+02] [ 4.44159423e-02 9.99013093e-01 -2.51313221e-04 7.79521970e+00] [ 1.55090371e-02 -4.37997787e-04 9.99879632e-01 9.54405523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.5092541539999 meters Centerline goodness : 0.999147 Centerline is valid? [True, True] Translation: X:615.83, Y:7.80, Z:9.54 [[ 9.99004039e-01 -4.18362372e-02 -1.55131941e-02 6.15827834e+02] [ 4.18373838e-02 9.99124402e-01 -2.50757635e-04 7.79632991e+00] [ 1.55101016e-02 -3.98523568e-04 9.99879632e-01 9.54382060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.5392541539999 meters Centerline goodness : 0.999084 Centerline is valid? [True, True] Translation: X:615.86, Y:7.80, Z:9.54 [[ 9.99155886e-01 -3.80375512e-02 -1.55131986e-02 6.15859167e+02] [ 3.80382444e-02 9.99276253e-01 -2.50482404e-04 7.79830982e+00] [ 1.55114987e-02 -3.39823871e-04 9.99879632e-01 9.54399749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.569254154 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:615.89, Y:7.80, Z:9.54 [[ 9.99191542e-01 -3.70891202e-02 -1.55132077e-02 6.15890386e+02] [ 3.70897080e-02 9.99311909e-01 -2.49917060e-04 7.79937698e+00] [ 1.55118024e-02 -3.25665331e-04 9.99879632e-01 9.54407386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.5992541539999 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:615.92, Y:7.80, Z:9.54 [[ 9.99339577e-01 -3.28595563e-02 -1.55132168e-02 6.15922683e+02] [ 3.28596433e-02 9.99459945e-01 -2.49353527e-04 7.79625479e+00] [ 1.55130324e-02 -2.60569920e-04 9.99879632e-01 9.54297301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.6292541539999 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:615.95, Y:7.80, Z:9.54 [[ 9.99243103e-01 -3.56718727e-02 -1.55157278e-02 6.15950176e+02] [ 3.56747623e-02 9.99363449e-01 -9.05846956e-05 7.80127289e+00] [ 1.55090825e-02 -4.63003768e-04 9.99879620e-01 9.54478267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.6592541539999 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:615.98, Y:7.80, Z:9.55 [[ 9.99251649e-01 -3.54328141e-02 -1.55131531e-02 6.15981476e+02] [ 3.54331976e-02 9.99372016e-01 -2.50221727e-04 7.80216035e+00] [ 1.55122771e-02 -2.99646145e-04 9.99879632e-01 9.54508049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.689254154 meters Centerline goodness : 0.999105 Centerline is valid? [True, True] Translation: X:616.01, Y:7.80, Z:9.54 [[ 9.99248464e-01 -3.55225023e-02 -1.55131620e-02 6.16013287e+02] [ 3.55229052e-02 9.99368831e-01 -2.49666377e-04 7.80210192e+00] [ 1.55122394e-02 -3.01593840e-04 9.99879632e-01 9.54479843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.7192541539999 meters Centerline goodness : 0.999396 Centerline is valid? [True, True] Translation: X:616.04, Y:7.80, Z:9.54 [[ 9.99236991e-01 -3.58438040e-02 -1.55131709e-02 6.16044081e+02] [ 3.58442541e-02 9.99357357e-01 -2.49114798e-04 7.80224603e+00] [ 1.55121307e-02 -3.07133318e-04 9.99879632e-01 9.54484890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.7492541539999 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:616.08, Y:7.80, Z:9.55 [[ 9.99222934e-01 -3.62335517e-02 -1.55131854e-02 6.16075596e+02] [ 3.62340629e-02 9.99343300e-01 -2.48206422e-04 7.80224753e+00] [ 1.55119913e-02 -3.14092187e-04 9.99879632e-01 9.54524537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.7792541539999 meters Centerline goodness : 0.999146 Centerline is valid? [True, True] Translation: X:616.11, Y:7.80, Z:9.55 [[ 9.99180349e-01 -3.73894375e-02 -1.55131941e-02 6.16106425e+02] [ 3.73900965e-02 9.99300715e-01 -2.47658562e-04 7.80194271e+00] [ 1.55116058e-02 -3.32584257e-04 9.99879632e-01 9.54626824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.809254154 meters Centerline goodness : 0.998959 Centerline is valid? [True, True] Translation: X:616.14, Y:7.79, Z:9.55 [[ 9.99209558e-01 -3.66005446e-02 -1.55132082e-02 6.16142172e+02] [ 3.66011223e-02 9.99329924e-01 -2.46773185e-04 7.79463405e+00] [ 1.55118452e-02 -3.21222706e-04 9.99879632e-01 9.54664149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.839254154 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:616.16, Y:7.80, Z:9.55 [[ 9.98980981e-01 -4.23813855e-02 -1.55182846e-02 6.16164854e+02] [ 4.23876856e-02 9.99101235e-01 7.71445544e-05 7.79977647e+00] [ 1.55010678e-02 -7.34850109e-04 9.99879581e-01 9.54797250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.8692541539999 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:616.20, Y:7.80, Z:9.55 [[ 9.98792590e-01 -4.66123534e-02 -1.55128916e-02 6.16196589e+02] [ 4.66140367e-02 9.98912943e-01 -2.53251866e-04 7.79792867e+00] [ 1.55078329e-02 -4.70172411e-04 9.99879636e-01 9.54854715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.8992541539999 meters Centerline goodness : 0.999147 Centerline is valid? [True, True] Translation: X:616.23, Y:7.80, Z:9.55 [[ 9.98683509e-01 -4.88937487e-02 -1.55129003e-02 6.16227966e+02] [ 4.88957152e-02 9.98803857e-01 -2.52718460e-04 7.79695858e+00] [ 1.55067010e-02 -5.06128596e-04 9.99879636e-01 9.54890613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.9292541539999 meters Centerline goodness : 0.999480 Centerline is valid? [True, True] Translation: X:616.26, Y:7.80, Z:9.55 [[ 9.98578562e-01 -5.09921989e-02 -1.55129132e-02 6.16260068e+02] [ 5.09944306e-02 9.98698906e-01 -2.51920963e-04 7.79637840e+00] [ 1.55055755e-02 -5.39509305e-04 9.99879636e-01 9.54930493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.959254154 meters Centerline goodness : 0.999146 Centerline is valid? [True, True] Translation: X:616.29, Y:7.79, Z:9.55 [[ 9.98375874e-01 -5.48175476e-02 -1.55129303e-02 6.16291554e+02] [ 5.48202567e-02 9.98496208e-01 -2.50865040e-04 7.79499657e+00] [ 1.55033539e-02 -5.99965220e-04 9.99879636e-01 9.54851225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.9892541539999 meters Centerline goodness : 0.999252 Centerline is valid? [True, True] Translation: X:616.32, Y:7.79, Z:9.55 [[ 9.98315091e-01 -5.59135672e-02 -1.55129583e-02 6.16324072e+02] [ 5.59164355e-02 9.98435421e-01 -2.49121614e-04 7.79440887e+00] [ 1.55026164e-02 -6.18727466e-04 9.99879636e-01 9.54834899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.0192541539999 meters Centerline goodness : 0.999252 Centerline is valid? [True, True] Translation: X:616.36, Y:7.79, Z:9.55 [[ 9.98291011e-01 -5.63418618e-02 -1.55129749e-02 6.16356479e+02] [ 5.63447978e-02 9.98411339e-01 -2.48082723e-04 7.79385790e+00] [ 1.55023075e-02 -6.26416684e-04 9.99879636e-01 9.54859189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.0492541539999 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:616.39, Y:7.79, Z:9.55 [[ 9.98366885e-01 -5.49809965e-02 -1.55129914e-02 6.16388311e+02] [ 5.49837846e-02 9.98487217e-01 -2.47046075e-04 7.79313146e+00] [ 1.55031065e-02 -6.06320359e-04 9.99879636e-01 9.54987452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.079254154 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:616.42, Y:7.79, Z:9.55 [[ 9.98451780e-01 -5.34171272e-02 -1.55130096e-02 6.16419810e+02] [ 5.34197446e-02 9.98572116e-01 -2.45898710e-04 7.79331965e+00] [ 1.55039941e-02 -5.83183008e-04 9.99879636e-01 9.55040185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.1092541539999 meters Centerline goodness : 0.999189 Centerline is valid? [True, True] Translation: X:616.45, Y:7.79, Z:9.55 [[ 9.98589475e-01 -5.07780039e-02 -1.55130384e-02 6.16452363e+02] [ 5.07803316e-02 9.98709817e-01 -2.44070398e-04 7.79401879e+00] [ 1.55054171e-02 -5.44031104e-04 9.99879636e-01 9.55032569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.1392541539999 meters Centerline goodness : 0.999479 Centerline is valid? [True, True] Translation: X:616.48, Y:7.79, Z:9.55 [[ 9.98674092e-01 -4.90856612e-02 -1.55130559e-02 6.16484112e+02] [ 4.90878024e-02 9.98794438e-01 -2.42950408e-04 7.79479564e+00] [ 1.55062794e-02 -5.18873546e-04 9.99879636e-01 9.55049534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.1692541539999 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:616.51, Y:7.80, Z:9.55 [[ 9.98828163e-01 -4.58437106e-02 -1.55130733e-02 6.16514913e+02] [ 4.58454784e-02 9.98948514e-01 -2.41835499e-04 7.79766758e+00] [ 1.55078482e-02 -4.69652160e-04 9.99879636e-01 9.55079766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.199254154 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:616.54, Y:7.80, Z:9.55 [[ 9.98915617e-01 -4.38968582e-02 -1.55130819e-02 6.16544973e+02] [ 4.38984000e-02 9.99035971e-01 -2.41284210e-04 7.79903262e+00] [ 1.55087185e-02 -4.39976908e-04 9.99879636e-01 9.55104123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.2292541539999 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:616.58, Y:7.80, Z:9.55 [[ 9.98922111e-01 -4.37490953e-02 -1.55123454e-02 6.16576704e+02] [ 4.37498880e-02 9.99042474e-01 -2.88414661e-04 7.79984069e+00] [ 1.55101098e-02 -3.90559591e-04 9.99879635e-01 9.55193980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.2592541539999 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:616.61, Y:7.80, Z:9.55 [[ 9.98851445e-01 -4.53335861e-02 -1.55130927e-02 6.16606613e+02] [ 4.53353187e-02 9.98971797e-01 -2.40141035e-04 7.80303488e+00] [ 1.55080285e-02 -4.63425781e-04 9.99879636e-01 9.55179941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.2892541539999 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:616.64, Y:7.80, Z:9.55 [[ 9.98873007e-01 -4.48561558e-02 -1.55126232e-02 6.16637294e+02] [ 4.48573605e-02 9.98993365e-01 -2.70459028e-04 7.80274531e+00] [ 1.55091394e-02 -4.25701107e-04 9.99879635e-01 9.55212758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.319254154 meters Centerline goodness : 0.999333 Centerline is valid? [True, True] Translation: X:616.67, Y:7.81, Z:9.55 [[ 9.98772943e-01 -4.70313911e-02 -1.55130996e-02 6.16668754e+02] [ 4.70333365e-02 9.98893292e-01 -2.39617613e-04 7.80529235e+00] [ 1.55072006e-02 -4.90309243e-04 9.99879636e-01 9.55306506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.3492541539999 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:616.70, Y:7.81, Z:9.55 [[ 9.98720947e-01 -4.81229025e-02 -1.55131271e-02 6.16701082e+02] [ 4.81250072e-02 9.98841292e-01 -2.37822381e-04 7.80683919e+00] [ 1.55065966e-02 -5.09051160e-04 9.99879636e-01 9.55427965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.3792541539999 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:616.73, Y:7.81, Z:9.55 [[ 9.98556106e-01 -5.14300104e-02 -1.55131436e-02 6.16733844e+02] [ 5.14325304e-02 9.98676444e-01 -2.36742468e-04 7.80938025e+00] [ 1.55047867e-02 -5.61479591e-04 9.99879636e-01 9.55326166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.4092541539999 meters Centerline goodness : 0.999271 Centerline is valid? [True, True] Translation: X:616.76, Y:7.81, Z:9.56 [[ 9.98554961e-01 -5.14518740e-02 -1.55143324e-02 6.16763080e+02] [ 5.14556168e-02 9.98675270e-01 -1.58090299e-04 7.81044480e+00] [ 1.55019141e-02 -6.40437690e-04 9.99879633e-01 9.55525389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.439254154 meters Centerline goodness : 0.999375 Centerline is valid? [True, True] Translation: X:616.79, Y:7.81, Z:9.56 [[ 9.98487793e-01 -5.27396393e-02 -1.55131487e-02 6.16794415e+02] [ 5.27423298e-02 9.98608127e-01 -2.35927457e-04 7.81164186e+00] [ 1.55039991e-02 -5.82628918e-04 9.99879636e-01 9.55554594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.4692541539999 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:616.82, Y:7.82, Z:9.56 [[ 9.98217974e-01 -5.76213396e-02 -1.55131607e-02 6.16822118e+02] [ 5.76246307e-02 9.98338293e-01 -2.35137105e-04 7.81703147e+00] [ 1.55009312e-02 -6.59222068e-04 9.99879636e-01 9.55760612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.4992541539999 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:616.86, Y:7.82, Z:9.56 [[ 9.98311136e-01 -5.59846806e-02 -1.55110253e-02 6.16855652e+02] [ 5.59856199e-02 9.98431505e-01 -3.73998348e-04 7.81540933e+00] [ 1.55076345e-02 -4.95027651e-04 9.99879627e-01 9.55739815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.5292541539999 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:616.89, Y:7.82, Z:9.56 [[ 9.98352778e-01 -5.52365269e-02 -1.55131431e-02 6.16888194e+02] [ 5.52395635e-02 9.98473102e-01 -2.33013372e-04 7.81848009e+00] [ 1.55023269e-02 -6.24309704e-04 9.99879637e-01 9.55819170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.559254154 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:616.92, Y:7.82, Z:9.56 [[ 9.98390782e-01 -5.45452948e-02 -1.55131601e-02 6.16919675e+02] [ 5.45482657e-02 9.98511108e-01 -2.31876127e-04 7.82135122e+00] [ 1.55027104e-02 -6.14712991e-04 9.99879637e-01 9.55941175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.589254154 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:616.95, Y:7.82, Z:9.56 [[ 9.98465059e-01 -5.31683026e-02 -1.55131727e-02 6.16950985e+02] [ 5.31711206e-02 9.98585389e-01 -2.31029875e-04 7.82400009e+00] [ 1.55035110e-02 -5.94177518e-04 9.99879637e-01 9.56003211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.6192541539999 meters Centerline goodness : 0.998937 Centerline is valid? [True, True] Translation: X:616.98, Y:7.83, Z:9.56 [[ 9.98645693e-01 -4.96600643e-02 -1.55131849e-02 6.16983195e+02] [ 4.96624724e-02 9.98766032e-01 -2.30204950e-04 7.82772774e+00] [ 1.55054741e-02 -5.40529935e-04 9.99879637e-01 9.56083423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.6492541539999 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:617.02, Y:7.83, Z:9.56 [[ 9.98756940e-01 -4.73699948e-02 -1.55132010e-02 6.17015744e+02] [ 4.73721438e-02 9.98877284e-01 -2.29116913e-04 7.82928089e+00] [ 1.55066373e-02 -5.06061481e-04 9.99879637e-01 9.56183344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.6792541539999 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:617.05, Y:7.83, Z:9.56 [[ 9.98930438e-01 -4.35582325e-02 -1.55132173e-02 6.17046531e+02] [ 4.35599395e-02 9.99050789e-01 -2.28007497e-04 7.83233506e+00] [ 1.55084236e-02 -4.47991178e-04 9.99879637e-01 9.56097136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.709254154 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:617.08, Y:7.83, Z:9.56 [[ 9.98989066e-01 -4.21921262e-02 -1.55135729e-02 6.17079154e+02] [ 4.21940473e-02 9.99109414e-01 -2.03603580e-04 7.83427790e+00] [ 1.55083472e-02 -4.51182678e-04 9.99879637e-01 9.56183729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.7392541539999 meters Centerline goodness : 0.998955 Centerline is valid? [True, True] Translation: X:617.11, Y:7.84, Z:9.56 [[ 9.99070599e-01 -4.02151799e-02 -1.55137556e-02 6.17110305e+02] [ 4.02170544e-02 9.99190949e-01 -1.91257873e-04 7.83611265e+00] [ 1.55088957e-02 -4.32837435e-04 9.99879636e-01 9.56431120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.7692541539999 meters Centerline goodness : 0.998975 Centerline is valid? [True, True] Translation: X:617.14, Y:7.84, Z:9.56 [[ 9.99116046e-01 -3.90700398e-02 -1.55131535e-02 6.17141254e+02] [ 3.90711504e-02 9.99236404e-01 -2.31594534e-04 7.83786899e+00] [ 1.55103561e-02 -3.74726937e-04 9.99879637e-01 9.56351886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.7992541539999 meters Centerline goodness : 0.999288 Centerline is valid? [True, True] Translation: X:617.17, Y:7.84, Z:9.56 [[ 9.99164899e-01 -3.78000859e-02 -1.55131662e-02 6.17172655e+02] [ 3.78010568e-02 9.99285258e-01 -2.30739877e-04 7.83960563e+00] [ 1.55108002e-02 -3.55866890e-04 9.99879637e-01 9.56313310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.829254154 meters Centerline goodness : 0.999038 Centerline is valid? [True, True] Translation: X:617.21, Y:7.84, Z:9.56 [[ 9.99138785e-01 -3.84841442e-02 -1.55131740e-02 6.17205372e+02] [ 3.84852057e-02 9.99259144e-01 -2.30208984e-04 7.84012694e+00] [ 1.55105404e-02 -3.67016970e-04 9.99879637e-01 9.56327529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.8592541539999 meters Centerline goodness : 0.999038 Centerline is valid? [True, True] Translation: X:617.24, Y:7.84, Z:9.56 [[ 9.99137769e-01 -3.85101957e-02 -1.55139839e-02 6.17237192e+02] [ 3.85121139e-02 9.99258118e-01 -1.75205070e-04 7.84057852e+00] [ 1.55092215e-02 -4.22422312e-04 9.99879636e-01 9.56375441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.8892541539999 meters Centerline goodness : 0.998911 Centerline is valid? [True, True] Translation: X:617.27, Y:7.84, Z:9.57 [[ 9.99144225e-01 -3.83423567e-02 -1.55139137e-02 6.17268748e+02] [ 3.83441815e-02 9.99264575e-01 -1.79918363e-04 7.84139588e+00] [ 1.55094029e-02 -4.15103930e-04 9.99879636e-01 9.56593919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.9192541539999 meters Centerline goodness : 0.998953 Centerline is valid? [True, True] Translation: X:617.30, Y:7.84, Z:9.57 [[ 9.99120710e-01 -3.89506087e-02 -1.55131394e-02 6.17300268e+02] [ 3.89517025e-02 9.99241068e-01 -2.31750393e-04 7.84281638e+00] [ 1.55103928e-02 -3.72716574e-04 9.99879637e-01 9.56642477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.949254154 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:617.33, Y:7.84, Z:9.57 [[ 9.99098717e-01 -3.95106932e-02 -1.55131523e-02 6.17332224e+02] [ 3.95118678e-02 9.99219075e-01 -2.30888109e-04 7.84442857e+00] [ 1.55101602e-02 -3.82273608e-04 9.99879637e-01 9.56732641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.9792541539999 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:617.36, Y:7.85, Z:9.57 [[ 9.99021097e-01 -4.14269174e-02 -1.55131689e-02 6.17364369e+02] [ 4.14283403e-02 9.99141451e-01 -2.29766564e-04 7.84675412e+00] [ 1.55093686e-02 -4.13143195e-04 9.99879637e-01 9.56795925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.0092541539999 meters Centerline goodness : 0.998997 Centerline is valid? [True, True] Translation: X:617.40, Y:7.85, Z:9.57 [[ 9.98987933e-01 -4.22190867e-02 -1.55131855e-02 6.17395793e+02] [ 4.22206225e-02 9.99108286e-01 -2.28640353e-04 7.84763768e+00] [ 1.55090051e-02 -4.26567395e-04 9.99879637e-01 9.56784860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.0392541539999 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:617.43, Y:7.85, Z:9.57 [[ 9.98862966e-01 -4.50791428e-02 -1.55127714e-02 6.17427628e+02] [ 4.50805862e-02 9.98983321e-01 -2.56804232e-04 7.84728361e+00] [ 1.55085764e-02 -4.42812592e-04 9.99879637e-01 9.56876956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.069254154 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:617.46, Y:7.85, Z:9.57 [[ 9.98815737e-01 -4.61135998e-02 -1.55132169e-02 6.17459491e+02] [ 4.61156417e-02 9.98936082e-01 -2.26262460e-04 7.84724719e+00] [ 1.55071459e-02 -4.89407445e-04 9.99879637e-01 9.56918705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.0992541539999 meters Centerline goodness : 0.998767 Centerline is valid? [True, True] Translation: X:617.49, Y:7.84, Z:9.57 [[ 9.98936768e-01 -4.34128317e-02 -1.55132326e-02 6.17494229e+02] [ 4.34145650e-02 9.99057118e-01 -2.25181659e-04 7.84312217e+00] [ 1.55083812e-02 -4.48558004e-04 9.99879637e-01 9.56650801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.1292541539999 meters Centerline goodness : 0.998789 Centerline is valid? [True, True] Translation: X:617.52, Y:7.85, Z:9.57 [[ 9.98673587e-01 -4.90948758e-02 -1.55164364e-02 6.17520479e+02] [ 4.91007559e-02 9.98793830e-01 -2.00169975e-06 7.84951566e+00] [ 1.54978192e-02 -7.59869711e-04 9.99879613e-01 9.57024645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.1592541539999 meters Centerline goodness : 0.998786 Centerline is valid? [True, True] Translation: X:617.55, Y:7.85, Z:9.57 [[ 9.98674371e-01 -4.90799933e-02 -1.55130781e-02 6.17553089e+02] [ 4.90823461e-02 9.98794709e-01 -2.29264616e-04 7.85097932e+00] [ 1.55056327e-02 -5.32457573e-04 9.99879639e-01 9.57063649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.189254154 meters Centerline goodness : 0.998872 Centerline is valid? [True, True] Translation: X:617.58, Y:7.85, Z:9.57 [[ 9.98708111e-01 -4.83885578e-02 -1.55130943e-02 6.17584775e+02] [ 4.83908443e-02 9.98828451e-01 -2.28164226e-04 7.85225913e+00] [ 1.55059605e-02 -5.22822268e-04 9.99879639e-01 9.57147131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.2192541539999 meters Centerline goodness : 0.998934 Centerline is valid? [True, True] Translation: X:617.62, Y:7.85, Z:9.57 [[ 9.98826866e-01 -4.58719528e-02 -1.55131104e-02 6.17615568e+02] [ 4.58739531e-02 9.98947210e-01 -2.27067380e-04 7.85388506e+00] [ 1.55071943e-02 -4.84846698e-04 9.99879639e-01 9.57213236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.2492541539999 meters Centerline goodness : 0.996321 Centerline is valid? [True, True] Translation: X:617.65, Y:7.85, Z:9.57 [[ 9.98952035e-01 -4.30601295e-02 -1.55131223e-02 6.17646585e+02] [ 4.30618037e-02 9.99072385e-01 -2.26249868e-04 7.85423643e+00] [ 1.55084744e-02 -4.42010261e-04 9.99879639e-01 9.56914323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.2792541539999 meters Centerline goodness : 0.998829 Centerline is valid? [True, True] Translation: X:617.68, Y:7.86, Z:9.57 [[ 9.99006003e-01 -4.17895975e-02 -1.55124564e-02 6.17678829e+02] [ 4.17904139e-02 9.99126362e-01 -2.71658779e-04 7.85553167e+00] [ 1.55102567e-02 -3.76883224e-04 9.99879638e-01 9.57288843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.309254154 meters Centerline goodness : 0.998660 Centerline is valid? [True, True] Translation: X:617.71, Y:7.86, Z:9.57 [[ 9.99258134e-01 -3.52494622e-02 -1.55131099e-02 6.17710280e+02] [ 3.52501838e-02 9.99378493e-01 -2.27003573e-04 7.85774661e+00] [ 1.55114701e-02 -3.20004808e-04 9.99879639e-01 9.57434429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.339254154 meters Centerline goodness : 0.998936 Centerline is valid? [True, True] Translation: X:617.74, Y:7.86, Z:9.58 [[ 9.99335569e-01 -3.29814375e-02 -1.55127366e-02 6.17742053e+02] [ 3.29814882e-02 9.99455931e-01 -2.52632676e-04 7.86011585e+00] [ 1.55126288e-02 -2.59168320e-04 9.99879638e-01 9.57673878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.3692541539999 meters Centerline goodness : 0.998996 Centerline is valid? [True, True] Translation: X:617.77, Y:7.86, Z:9.58 [[ 9.99515462e-01 -2.69848974e-02 -1.55131397e-02 6.17772229e+02] [ 2.69846575e-02 9.99635823e-01 -2.24821240e-04 7.86241318e+00] [ 1.55135569e-02 -1.93904455e-04 9.99879639e-01 9.57684260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.3992541539999 meters Centerline goodness : 0.998803 Centerline is valid? [True, True] Translation: X:617.80, Y:7.86, Z:9.58 [[ 9.99578818e-01 -2.45260884e-02 -1.55131438e-02 6.17802357e+02] [ 2.45255568e-02 9.99699178e-01 -2.24537825e-04 7.86349681e+00] [ 1.55139841e-02 -1.56025235e-04 9.99879639e-01 9.57673036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.4292541539999 meters Centerline goodness : 0.998950 Centerline is valid? [True, True] Translation: X:617.83, Y:7.86, Z:9.58 [[ 9.99631499e-01 -2.22757504e-02 -1.55131438e-02 6.17831958e+02] [ 2.22749479e-02 9.99751857e-01 -2.24537825e-04 7.86447715e+00] [ 1.55142960e-02 -1.21099387e-04 9.99879639e-01 9.57537532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.459254154 meters Centerline goodness : 0.998968 Centerline is valid? [True, True] Translation: X:617.86, Y:7.87, Z:9.58 [[ 9.99685980e-01 -1.96795100e-02 -1.55131398e-02 6.17861630e+02] [ 1.96783907e-02 9.99806336e-01 -2.24811478e-04 7.86538060e+00] [ 1.55145597e-02 -8.05327424e-05 9.99879639e-01 9.57678368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.4892541539999 meters Centerline goodness : 0.998946 Centerline is valid? [True, True] Translation: X:617.91, Y:7.85, Z:9.57 [[ 9.99865429e-01 -5.33549874e-03 -1.55131317e-02 6.17910964e+02] [ 5.33264416e-03 9.99985756e-01 -2.25370794e-04 7.85073323e+00] [ 1.55141132e-02 1.42614455e-04 9.99879639e-01 9.56723181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.5192541539999 meters Centerline goodness : 0.998905 Centerline is valid? [True, True] Translation: X:617.92, Y:7.87, Z:9.58 [[ 9.99660527e-01 -2.09234978e-02 -1.55254159e-02 6.17919026e+02] [ 2.09368135e-02 9.99780559e-01 6.95609590e-04 7.86585129e+00] [ 1.55074544e-02 -1.02042619e-03 9.99879232e-01 9.57634647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.5492541539999 meters Centerline goodness : 0.999135 Centerline is valid? [True, True] Translation: X:617.95, Y:7.87, Z:9.58 [[ 9.99640271e-01 -2.18801442e-02 -1.55108665e-02 6.17947775e+02] [ 2.18790377e-02 9.99760596e-01 -2.41048663e-04 7.86642212e+00] [ 1.55124273e-02 -9.84008810e-05 9.99879670e-01 9.57859252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.579254154 meters Centerline goodness : 0.998987 Centerline is valid? [True, True] Translation: X:617.98, Y:7.86, Z:9.58 [[ 9.99589666e-01 -2.40814291e-02 -1.55108049e-02 6.17977795e+02] [ 2.40805270e-02 9.99709992e-01 -2.44948732e-04 7.86494287e+00] [ 1.55122054e-02 -1.28660135e-04 9.99879670e-01 9.57978924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.6092541539999 meters Centerline goodness : 0.998733 Centerline is valid? [True, True] Translation: X:618.01, Y:7.86, Z:9.58 [[ 9.99553440e-01 -2.55408740e-02 -1.55107960e-02 6.18007945e+02] [ 2.55401389e-02 9.99673767e-01 -2.45510044e-04 7.86397600e+00] [ 1.55120064e-02 -1.50747476e-04 9.99879670e-01 9.58012262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.6392541539999 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:618.04, Y:7.86, Z:9.58 [[ 9.99515204e-01 -2.69957701e-02 -1.55107872e-02 6.18037150e+02] [ 2.69952015e-02 9.99635533e-01 -2.46068033e-04 7.86271022e+00] [ 1.55117768e-02 -1.72768084e-04 9.99879670e-01 9.58066742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.6692541539999 meters Centerline goodness : 0.998838 Centerline is valid? [True, True] Translation: X:618.07, Y:7.86, Z:9.58 [[ 9.99431196e-01 -2.99449438e-02 -1.55107783e-02 6.18066464e+02] [ 2.99447216e-02 9.99551526e-01 -2.46624963e-04 7.85852981e+00] [ 1.55112073e-02 -2.17981256e-04 9.99879670e-01 9.57990970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.699254154 meters Centerline goodness : 0.999052 Centerline is valid? [True, True] Translation: X:618.10, Y:7.86, Z:9.58 [[ 9.99380612e-01 -3.15881131e-02 -1.55107739e-02 6.18097203e+02] [ 3.15880845e-02 9.99500941e-01 -2.46901324e-04 7.85708314e+00] [ 1.55108323e-02 -2.43207240e-04 9.99879670e-01 9.58143419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.7292541539999 meters Centerline goodness : 0.999137 Centerline is valid? [True, True] Translation: X:618.13, Y:7.85, Z:9.58 [[ 9.99320153e-01 -3.34461774e-02 -1.55107739e-02 6.18127565e+02] [ 3.34463725e-02 9.99440483e-01 -2.46901324e-04 7.85368024e+00] [ 1.55103533e-02 -2.72045652e-04 9.99879670e-01 9.58166431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.7592541539999 meters Centerline goodness : 0.999052 Centerline is valid? [True, True] Translation: X:618.16, Y:7.85, Z:9.58 [[ 9.99295076e-01 -3.41872279e-02 -1.55107783e-02 6.18158870e+02] [ 3.41875165e-02 9.99415406e-01 -2.46626021e-04 7.85252079e+00] [ 1.55101422e-02 -2.83822820e-04 9.99879670e-01 9.58223460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.7892541539999 meters Centerline goodness : 0.999158 Centerline is valid? [True, True] Translation: X:618.19, Y:7.85, Z:9.58 [[ 9.99268688e-01 -3.49500289e-02 -1.55107871e-02 6.18189147e+02] [ 3.49504179e-02 9.99389017e-01 -2.46073312e-04 7.85104839e+00] [ 1.55099105e-02 -2.96215133e-04 9.99879670e-01 9.58203788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.819254154 meters Centerline goodness : 0.999055 Centerline is valid? [True, True] Translation: X:618.22, Y:7.85, Z:9.58 [[ 9.99207344e-01 -3.66619533e-02 -1.55107914e-02 6.18220866e+02] [ 3.66625528e-02 9.99327672e-01 -2.45799010e-04 7.84808835e+00] [ 1.55093745e-02 -3.23061032e-04 9.99879670e-01 9.58205122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.8492541539999 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:618.25, Y:7.85, Z:9.58 [[ 9.99160646e-01 -3.79133031e-02 -1.55107999e-02 6.18251951e+02] [ 3.79140615e-02 9.99280973e-01 -2.45262859e-04 7.84671638e+00] [ 1.55089459e-02 -3.43020423e-04 9.99879670e-01 9.58314223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.8792541539999 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:618.28, Y:7.84, Z:9.58 [[ 9.99081698e-01 -3.99396586e-02 -1.55108089e-02 6.18282015e+02] [ 3.99406699e-02 9.99202023e-01 -2.44692536e-04 7.84208025e+00] [ 1.55082045e-02 -3.75044262e-04 9.99879670e-01 9.58237691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.9092541539999 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:618.31, Y:7.84, Z:9.58 [[ 9.99052379e-01 -4.06664221e-02 -1.55108237e-02 6.18313075e+02] [ 4.06675355e-02 9.99172704e-01 -2.43751717e-04 7.83992303e+00] [ 1.55079041e-02 -3.87266239e-04 9.99879670e-01 9.58297051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.939254154 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:618.34, Y:7.84, Z:9.58 [[ 9.99034936e-01 -4.10926985e-02 -1.55108326e-02 6.18344522e+02] [ 4.10938721e-02 9.99155260e-01 -2.43183541e-04 7.83834424e+00] [ 1.55077230e-02 -3.94451317e-04 9.99879670e-01 9.58345680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.9692541539999 meters Centerline goodness : 0.999288 Centerline is valid? [True, True] Translation: X:618.38, Y:7.84, Z:9.58 [[ 9.99037560e-01 -4.10288642e-02 -1.55108414e-02 6.18375589e+02] [ 4.10300389e-02 9.99157884e-01 -2.42620036e-04 7.83507029e+00] [ 1.55077339e-02 -3.94023896e-04 9.99879670e-01 9.58411844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.9992541539999 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:618.41, Y:7.83, Z:9.58 [[ 9.99067921e-01 -4.02827954e-02 -1.55108504e-02 6.18407143e+02] [ 4.02838891e-02 9.99188245e-01 -2.42043797e-04 7.83379339e+00] [ 1.55080096e-02 -3.83019184e-04 9.99879670e-01 9.58471750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.0292541539999 meters Centerline goodness : 0.999038 Centerline is valid? [True, True] Translation: X:618.44, Y:7.83, Z:9.58 [[ 9.99128479e-01 -3.87517074e-02 -1.55108595e-02 6.18438017e+02] [ 3.87526258e-02 9.99248806e-01 -2.41459003e-04 7.83131303e+00] [ 1.55085648e-02 -3.59837967e-04 9.99879670e-01 9.58486248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.059254154 meters Centerline goodness : 0.999226 Centerline is valid? [True, True] Translation: X:618.47, Y:7.83, Z:9.58 [[ 9.99155062e-01 -3.80601477e-02 -1.55108640e-02 6.18468031e+02] [ 3.80609874e-02 9.99275389e-01 -2.41169412e-04 7.83029992e+00] [ 1.55088036e-02 -3.49393159e-04 9.99879670e-01 9.58458983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.089254154 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:618.50, Y:7.83, Z:9.58 [[ 9.99188273e-01 -3.71780700e-02 -1.55108684e-02 6.18499484e+02] [ 3.71788079e-02 9.99308600e-01 -2.40882964e-04 7.82930080e+00] [ 1.55090998e-02 -3.35988164e-04 9.99879670e-01 9.58444798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.1192541539999 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:618.53, Y:7.83, Z:9.58 [[ 9.99213893e-01 -3.64830003e-02 -1.55108773e-02 6.18529986e+02] [ 3.64836633e-02 9.99334221e-01 -2.40312886e-04 7.82736567e+00] [ 1.55093178e-02 -3.25769649e-04 9.99879670e-01 9.58441517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.1492541539999 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:618.56, Y:7.83, Z:9.59 [[ 9.99203729e-01 -3.67603154e-02 -1.55108816e-02 6.18561828e+02] [ 3.67610162e-02 9.99324057e-01 -2.40030300e-04 7.82641158e+00] [ 1.55092207e-02 -3.30356600e-04 9.99879670e-01 9.58500895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.1792541539999 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:618.59, Y:7.82, Z:9.59 [[ 9.99125751e-01 -3.88219711e-02 -1.55108903e-02 6.18592225e+02] [ 3.88229288e-02 9.99246077e-01 -2.39470200e-04 7.82332532e+00] [ 1.55084930e-02 -3.62917345e-04 9.99879670e-01 9.58567530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.209254154 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:618.62, Y:7.82, Z:9.59 [[ 9.99081296e-01 -3.99496646e-02 -1.55108946e-02 6.18623304e+02] [ 3.99507625e-02 9.99201621e-01 -2.39192140e-04 7.82215337e+00] [ 1.55080666e-02 -3.80699672e-04 9.99879670e-01 9.58617655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.2392541539999 meters Centerline goodness : 0.999247 Centerline is valid? [True, True] Translation: X:618.65, Y:7.82, Z:9.59 [[ 9.98982717e-01 -4.23431623e-02 -1.55109031e-02 6.18653653e+02] [ 4.23445570e-02 9.99103039e-01 -2.38636110e-04 7.81956140e+00] [ 1.55070950e-02 -4.18408972e-04 9.99879670e-01 9.58619584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.2692541539999 meters Centerline goodness : 0.999393 Centerline is valid? [True, True] Translation: X:618.68, Y:7.82, Z:9.59 [[ 9.98949530e-01 -4.31190015e-02 -1.55109074e-02 6.18683611e+02] [ 4.31204940e-02 9.99069851e-01 -2.38360287e-04 7.81846123e+00] [ 1.55067578e-02 -4.30728090e-04 9.99879670e-01 9.58633834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.2992541539999 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:618.72, Y:7.82, Z:9.59 [[ 9.98901915e-01 -4.42083219e-02 -1.55109116e-02 6.18715035e+02] [ 4.42099498e-02 9.99022234e-01 -2.38086694e-04 7.81808522e+00] [ 1.55062709e-02 -4.47911366e-04 9.99879670e-01 9.58705821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.329254154 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:618.75, Y:7.82, Z:9.59 [[ 9.98831499e-01 -4.57716865e-02 -1.55109199e-02 6.18745588e+02] [ 4.57735112e-02 9.98951815e-01 -2.37541629e-04 7.81607925e+00] [ 1.55055343e-02 -4.72725205e-04 9.99879670e-01 9.58694725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.3592541539999 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:618.78, Y:7.82, Z:9.59 [[ 9.98782504e-01 -4.68286350e-02 -1.55109241e-02 6.18777297e+02] [ 4.68305912e-02 9.98902818e-01 -2.37270842e-04 7.81562705e+00] [ 1.55050168e-02 -4.89403777e-04 9.99879670e-01 9.58708876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.3892541539999 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:618.81, Y:7.82, Z:9.59 [[ 9.98740725e-01 -4.77113731e-02 -1.55109323e-02 6.18807664e+02] [ 4.77134440e-02 9.98861037e-01 -2.36732995e-04 7.81519342e+00] [ 1.55045607e-02 -5.03645115e-04 9.99879670e-01 9.58707235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.4192541539999 meters Centerline goodness : 0.999375 Centerline is valid? [True, True] Translation: X:618.84, Y:7.82, Z:9.59 [[ 9.98601067e-01 -5.05501720e-02 -1.55109363e-02 6.18838621e+02] [ 5.05525890e-02 9.98721372e-01 -2.36466123e-04 7.81526729e+00] [ 1.55030570e-02 -5.47982667e-04 9.99879670e-01 9.58855763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.449254154 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:618.87, Y:7.82, Z:9.59 [[ 9.98518456e-01 -5.21565336e-02 -1.55109450e-02 6.18869707e+02] [ 5.21591530e-02 9.98638757e-01 -2.35896595e-04 7.81550179e+00] [ 1.55021344e-02 -5.73490649e-04 9.99879670e-01 9.58841546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.4792541539999 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:618.90, Y:7.82, Z:9.59 [[ 9.98350586e-01 -5.52767401e-02 -1.55109579e-02 6.18900290e+02] [ 5.52797486e-02 9.98470878e-01 -2.35044912e-04 7.81506754e+00] [ 1.55002323e-02 -6.22784628e-04 9.99879670e-01 9.58991013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.5092541539999 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:618.93, Y:7.82, Z:9.59 [[ 9.98222230e-01 -5.75482986e-02 -1.55104244e-02 6.18931309e+02] [ 5.75510352e-02 9.98342529e-01 -2.70221219e-04 7.81530550e+00] [ 1.55002671e-02 -6.22900152e-04 9.99879670e-01 9.58840657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.5392541539999 meters Centerline goodness : 0.999188 Centerline is valid? [True, True] Translation: X:618.96, Y:7.82, Z:9.59 [[ 9.98131433e-01 -5.91020477e-02 -1.55109744e-02 6.18963223e+02] [ 5.91055378e-02 9.98251712e-01 -2.33716639e-04 7.81571169e+00] [ 1.54976699e-02 -6.83504562e-04 9.99879670e-01 9.58971226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.569254154 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:619.00, Y:7.82, Z:9.59 [[ 9.97947936e-01 -6.21234774e-02 -1.55109914e-02 6.18995708e+02] [ 6.21273491e-02 9.98068203e-01 -2.32585401e-04 7.81589857e+00] [ 1.54954763e-02 -7.31548656e-04 9.99879670e-01 9.59070572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.5992541539999 meters Centerline goodness : 0.999356 Centerline is valid? [True, True] Translation: X:619.03, Y:7.81, Z:9.59 [[ 9.97953401e-01 -6.20356190e-02 -1.55110085e-02 6.19030636e+02] [ 6.20394979e-02 9.98073668e-01 -2.31441782e-04 7.81475493e+00] [ 1.54954867e-02 -7.31327064e-04 9.99879670e-01 9.59069361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.6292541539999 meters Centerline goodness : 0.999417 Centerline is valid? [True, True] Translation: X:619.06, Y:7.82, Z:9.59 [[ 9.97852354e-01 -6.36395786e-02 -1.55139951e-02 6.19056558e+02] [ 6.36467919e-02 9.97972487e-01 -2.88372620e-05 7.81669345e+00] [ 1.54843755e-02 -9.58640687e-04 9.99879650e-01 9.59185293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.6592541539999 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:619.09, Y:7.82, Z:9.59 [[ 9.97913685e-01 -6.26712789e-02 -1.55109243e-02 6.19087262e+02] [ 6.26752078e-02 9.98033949e-01 -2.33151991e-04 7.81973775e+00] [ 1.54950409e-02 -7.39484839e-04 9.99879671e-01 9.59241760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.689254154 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:619.12, Y:7.82, Z:9.59 [[ 9.97958875e-01 -6.19475111e-02 -1.55109528e-02 6.19119751e+02] [ 6.19513825e-02 9.98079142e-01 -2.31238879e-04 7.82159194e+00] [ 1.54954831e-02 -7.30158077e-04 9.99879671e-01 9.59251649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.7192541539999 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:619.15, Y:7.82, Z:9.59 [[ 9.98111973e-01 -5.94297860e-02 -1.55109691e-02 6.19152336e+02] [ 5.94333710e-02 9.98232248e-01 -2.30140246e-04 7.82362661e+00] [ 1.54972267e-02 -6.92163446e-04 9.99879671e-01 9.59258504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.7492541539999 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:619.18, Y:7.83, Z:9.59 [[ 9.98175255e-01 -5.83572535e-02 -1.55109854e-02 6.19184921e+02] [ 5.83607265e-02 9.98295534e-01 -2.29033549e-04 7.82504373e+00] [ 1.54979132e-02 -6.76616756e-04 9.99879671e-01 9.59346276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.7792541539999 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:619.22, Y:7.83, Z:9.59 [[ 9.98179400e-01 -5.82863157e-02 -1.55110016e-02 6.19217600e+02] [ 5.82897972e-02 9.98299678e-01 -2.27931933e-04 7.82546038e+00] [ 1.54979132e-02 -6.76616178e-04 9.99879671e-01 9.59396957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.809254154 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:619.25, Y:7.83, Z:9.60 [[ 9.98247566e-01 -5.71069591e-02 -1.55110177e-02 6.19249343e+02] [ 5.71103156e-02 9.98367848e-01 -2.26829739e-04 7.82689193e+00] [ 1.54986550e-02 -6.59406883e-04 9.99879671e-01 9.59505145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.839254154 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:619.28, Y:7.83, Z:9.60 [[ 9.98318975e-01 -5.58447074e-02 -1.55110343e-02 6.19281251e+02] [ 5.58479294e-02 9.98439261e-01 -2.25693137e-04 7.82820049e+00] [ 1.54994294e-02 -6.40945406e-04 9.99879671e-01 9.59597976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.8692541539999 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:619.31, Y:7.83, Z:9.60 [[ 9.98466014e-01 -5.31509715e-02 -1.55110511e-02 6.19312263e+02] [ 5.31538870e-02 9.98586308e-01 -2.24528324e-04 7.83034722e+00] [ 1.55010572e-02 -6.00288758e-04 9.99879671e-01 9.59643075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.8992541539999 meters Centerline goodness : 0.999417 Centerline is valid? [True, True] Translation: X:619.34, Y:7.83, Z:9.60 [[ 9.98524759e-01 -5.20356820e-02 -1.55110636e-02 6.19344112e+02] [ 5.20384766e-02 9.98645056e-01 -2.23660869e-04 7.83219325e+00] [ 1.55016854e-02 -5.83841207e-04 9.99879671e-01 9.59833318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.9292541539999 meters Centerline goodness : 0.999439 Centerline is valid? [True, True] Translation: X:619.38, Y:7.84, Z:9.60 [[ 9.98631470e-01 -4.99458998e-02 -1.55110799e-02 6.19376748e+02] [ 4.99484602e-02 9.98751772e-01 -2.22524264e-04 7.83515739e+00] [ 1.55028328e-02 -5.52534827e-04 9.99879671e-01 9.59868024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.959254154 meters Centerline goodness : 0.999273 Centerline is valid? [True, True] Translation: X:619.41, Y:7.84, Z:9.60 [[ 9.98665012e-01 -4.92706749e-02 -1.55110961e-02 6.19408212e+02] [ 4.92731716e-02 9.98785315e-01 -2.21394591e-04 7.83635783e+00] [ 1.55031632e-02 -5.43181866e-04 9.99879671e-01 9.59797510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.9892541539999 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:619.44, Y:7.84, Z:9.60 [[ 9.98685561e-01 -4.88523906e-02 -1.55111080e-02 6.19439569e+02] [ 4.88548499e-02 9.98805865e-01 -2.20553034e-04 7.83792110e+00] [ 1.55033602e-02 -5.37529725e-04 9.99879671e-01 9.59698745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.0192541539999 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:619.47, Y:7.84, Z:9.60 [[ 9.98676811e-01 -4.90309350e-02 -1.55111159e-02 6.19471681e+02] [ 4.90334244e-02 9.98797114e-01 -2.20000314e-04 7.83915905e+00] [ 1.55032446e-02 -5.40853915e-04 9.99879671e-01 9.59812229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.0492541539999 meters Centerline goodness : 0.999293 Centerline is valid? [True, True] Translation: X:619.50, Y:7.84, Z:9.60 [[ 9.98673153e-01 -4.91053811e-02 -1.55111322e-02 6.19502732e+02] [ 4.91078974e-02 9.98793455e-01 -2.18844292e-04 7.84067437e+00] [ 1.55031637e-02 -5.43165169e-04 9.99879671e-01 9.59871379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.079254154 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:619.54, Y:7.84, Z:9.60 [[ 9.98719348e-01 -4.81567038e-02 -1.55111443e-02 6.19536549e+02] [ 4.81591191e-02 9.98839653e-01 -2.17984553e-04 7.84145780e+00] [ 1.55036434e-02 -5.29297654e-04 9.99879671e-01 9.59988767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.1092541539999 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:619.57, Y:7.84, Z:9.60 [[ 9.98876372e-01 -4.47808575e-02 -1.55134808e-02 6.19569277e+02] [ 4.47854257e-02 9.98996628e-01 -5.29916008e-05 7.84206782e+00] [ 1.55002880e-02 -6.41845782e-04 9.99879657e-01 9.60312758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.1392541539999 meters Centerline goodness : 0.998956 Centerline is valid? [True, True] Translation: X:619.60, Y:7.85, Z:9.60 [[ 9.99001547e-01 -4.18952780e-02 -1.55143233e-02 6.19595472e+02] [ 4.19004229e-02 9.99121792e-01 6.58316885e-06 7.84699610e+00] [ 1.55004227e-02 -6.56633303e-04 9.99879646e-01 9.60320840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.1692541539999 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:619.63, Y:7.85, Z:9.60 [[ 9.99144160e-01 -3.83452718e-02 -1.55109104e-02 6.19626977e+02] [ 3.83463682e-02 9.99264482e-01 -2.26826445e-04 7.84936585e+00] [ 1.55081996e-02 -3.68154763e-04 9.99879673e-01 9.60387824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.199254154 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:619.66, Y:7.85, Z:9.60 [[ 9.99290692e-01 -3.43150754e-02 -1.55109364e-02 6.19658727e+02] [ 3.43157144e-02 9.99411017e-01 -2.25034716e-04 7.85161625e+00] [ 1.55095228e-02 -3.07393766e-04 9.99879673e-01 9.60430297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.2292541539999 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:619.69, Y:7.85, Z:9.60 [[ 9.99417021e-01 -3.04142788e-02 -1.55109444e-02 6.19689663e+02] [ 3.04144566e-02 9.99537348e-01 -2.24481947e-04 7.85379959e+00] [ 1.55105957e-02 -2.47405867e-04 9.99879673e-01 9.60415569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.2592541539999 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:619.72, Y:7.86, Z:9.60 [[ 9.99614966e-01 -2.30071933e-02 -1.55109444e-02 6.19720446e+02] [ 2.30064794e-02 9.99735291e-01 -2.24481947e-04 7.85729896e+00] [ 1.55120032e-02 -1.32456710e-04 9.99879673e-01 9.60383102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.2892541539999 meters Centerline goodness : 0.999247 Centerline is valid? [True, True] Translation: X:619.75, Y:7.86, Z:9.60 [[ 9.99669555e-01 -2.04985599e-02 -1.55109444e-02 6.19749209e+02] [ 2.04975441e-02 9.99789878e-01 -2.24481947e-04 7.85915041e+00] [ 1.55122868e-02 -9.35284990e-05 9.99879673e-01 9.60481496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.319254154 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:619.77, Y:7.87, Z:9.61 [[ 9.99635421e-01 -2.21006084e-02 -1.55108861e-02 6.19773914e+02] [ 2.20997240e-02 9.99755745e-01 -2.28439024e-04 7.86772914e+00] [ 1.55121462e-02 -1.14430562e-04 9.99879673e-01 9.60711366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.3492541539999 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:619.81, Y:7.86, Z:9.61 [[ 9.99733594e-01 -1.70964268e-02 -1.55065785e-02 6.19809443e+02] [ 1.70905250e-02 9.99853815e-01 -5.13042523e-04 7.86147217e+00] [ 1.55130829e-02 2.47890277e-04 9.99879634e-01 9.60611772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.3792541539999 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:619.84, Y:7.86, Z:9.61 [[ 9.99710663e-01 -1.83849779e-02 -1.55107611e-02 6.19838595e+02] [ 1.83836860e-02 9.99830980e-01 -2.25879328e-04 7.86186166e+00] [ 1.55122922e-02 -5.93309883e-05 9.99879675e-01 9.60569815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.4092541539999 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:619.87, Y:7.86, Z:9.61 [[ 9.99703442e-01 -1.87725080e-02 -1.55119496e-02 6.19866651e+02] [ 1.87725364e-02 9.99823770e-01 -1.43788739e-04 7.86317112e+00] [ 1.55119152e-02 -1.47452541e-04 9.99879672e-01 9.60694581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.439254154 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:619.89, Y:7.86, Z:9.61 [[ 9.99604142e-01 -2.34729053e-02 -1.55106756e-02 6.19894779e+02] [ 2.34721651e-02 9.99724464e-01 -2.29788511e-04 7.86417131e+00] [ 1.55117956e-02 -1.34371591e-04 9.99879676e-01 9.60698988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.4692541539999 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:619.92, Y:7.86, Z:9.61 [[ 9.99484232e-01 -2.81192179e-02 -1.55106104e-02 6.19923745e+02] [ 2.81189700e-02 9.99604556e-01 -2.34105773e-04 7.86382619e+00] [ 1.55110597e-02 -2.02157360e-04 9.99879676e-01 9.60501750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.4992541539999 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:619.95, Y:7.86, Z:9.60 [[ 9.99406831e-01 -3.07474879e-02 -1.55105982e-02 6.19953187e+02] [ 3.07475440e-02 9.99527155e-01 -2.34912135e-04 7.86366780e+00] [ 1.55104870e-02 -2.42140008e-04 9.99879676e-01 9.60480433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.5292541539999 meters Centerline goodness : 0.998979 Centerline is valid? [True, True] Translation: X:619.98, Y:7.86, Z:9.60 [[ 9.99330119e-01 -3.31471821e-02 -1.55105902e-02 6.19984118e+02] [ 3.31475189e-02 9.99450442e-01 -2.35440621e-04 7.86343580e+00] [ 1.55098704e-02 -2.78854676e-04 9.99879676e-01 9.60492740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.559254154 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:620.01, Y:7.86, Z:9.61 [[ 9.99168740e-01 -3.76994777e-02 -1.55105902e-02 6.20014490e+02] [ 3.77003626e-02 9.99289061e-01 -2.35440621e-04 7.86367452e+00] [ 1.55084391e-02 -3.49509964e-04 9.99879676e-01 9.60560106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.589254154 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:620.04, Y:7.86, Z:9.61 [[ 9.99098587e-01 -3.95150054e-02 -1.55105942e-02 6.20044688e+02] [ 3.95161131e-02 9.99218906e-01 -2.35173538e-04 7.86438928e+00] [ 1.55077719e-02 -3.77956845e-04 9.99879676e-01 9.60640765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.6192541539999 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:620.08, Y:7.87, Z:9.61 [[ 9.98947331e-01 -4.31700331e-02 -1.55106073e-02 6.20076653e+02] [ 4.31715945e-02 9.99067645e-01 -2.34304286e-04 7.86537101e+00] [ 1.55062609e-02 -4.35560010e-04 9.99879676e-01 9.60973528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.6492541539999 meters Centerline goodness : 0.999062 Centerline is valid? [True, True] Translation: X:620.11, Y:7.87, Z:9.61 [[ 9.98879691e-01 -4.47077578e-02 -1.55106246e-02 6.20108376e+02] [ 4.47095222e-02 9.99000002e-01 -2.33155475e-04 7.86557120e+00] [ 1.55055379e-02 -4.60578347e-04 9.99879676e-01 9.60949689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.6792541539999 meters Centerline goodness : 0.999229 Centerline is valid? [True, True] Translation: X:620.14, Y:7.87, Z:9.61 [[ 9.98764457e-01 -4.72120696e-02 -1.55106419e-02 6.20140072e+02] [ 4.72141536e-02 9.98884763e-01 -2.31998348e-04 7.86614713e+00] [ 1.55042970e-02 -5.00610126e-04 9.99879676e-01 9.61079498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.709254154 meters Centerline goodness : 0.999125 Centerline is valid? [True, True] Translation: X:620.17, Y:7.87, Z:9.61 [[ 9.98536588e-01 -5.18083169e-02 -1.55106592e-02 6.20171258e+02] [ 5.18109726e-02 9.98656883e-01 -2.30838045e-04 7.86570393e+00] [ 1.55017859e-02 -5.73122104e-04 9.99879676e-01 9.61016508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.7392541539999 meters Centerline goodness : 0.999042 Centerline is valid? [True, True] Translation: X:620.20, Y:7.87, Z:9.61 [[ 9.98319058e-01 -5.58433321e-02 -1.55106720e-02 6.20203368e+02] [ 5.58464874e-02 9.98439341e-01 -2.29973827e-04 7.86704987e+00] [ 1.54993076e-02 -6.36629294e-04 9.99879676e-01 9.61288801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.7692541539999 meters Centerline goodness : 0.999042 Centerline is valid? [True, True] Translation: X:620.24, Y:7.87, Z:9.61 [[ 9.98323168e-01 -5.57697975e-02 -1.55106888e-02 6.20236050e+02] [ 5.57729616e-02 9.98443451e-01 -2.28832459e-04 7.86747181e+00] [ 1.54993076e-02 -6.36628308e-04 9.99879676e-01 9.61339481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.7992541539999 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:620.27, Y:7.87, Z:9.61 [[ 9.98090745e-01 -5.97853079e-02 -1.55107056e-02 6.20267518e+02] [ 5.97889736e-02 9.98211013e-01 -2.27690105e-04 7.86923735e+00] [ 1.54965697e-02 -7.00113781e-04 9.99879676e-01 9.61344005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.829254154 meters Centerline goodness : 0.999063 Centerline is valid? [True, True] Translation: X:620.30, Y:7.87, Z:9.61 [[ 9.98164004e-01 -5.85494535e-02 -1.55107180e-02 6.20304731e+02] [ 5.85529834e-02 9.98284277e-01 -2.26839260e-04 7.86702544e+00] [ 1.54973873e-02 -6.81776033e-04 9.99879676e-01 9.61110912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.8592541539999 meters Centerline goodness : 0.998854 Centerline is valid? [True, True] Translation: X:620.33, Y:7.87, Z:9.61 [[ 9.97848138e-01 -6.37052620e-02 -1.55156069e-02 6.20334393e+02] [ 6.37145422e-02 9.97968159e-01 1.04033195e-04 7.86841064e+00] [ 1.54774542e-02 -1.09237912e-03 9.99879620e-01 9.61209785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.8892541539999 meters Centerline goodness : 0.998960 Centerline is valid? [True, True] Translation: X:620.36, Y:7.87, Z:9.61 [[ 9.97635868e-01 -6.69476254e-02 -1.55142229e-02 6.20364710e+02] [ 6.69558613e-02 9.97755938e-01 1.14726298e-05 7.87070200e+00] [ 1.54786400e-02 -1.05021366e-03 9.99879647e-01 9.61475160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.9192541539999 meters Centerline goodness : 0.998979 Centerline is valid? [True, True] Translation: X:620.39, Y:7.87, Z:9.61 [[ 9.97341052e-01 -7.12050084e-02 -1.55136553e-02 6.20391142e+02] [ 7.12131732e-02 9.97461119e-01 -2.61872242e-05 7.87428494e+00] [ 1.54761326e-02 -1.07865903e-03 9.99879656e-01 9.61349200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.949254154 meters Centerline goodness : 0.998978 Centerline is valid? [True, True] Translation: X:620.42, Y:7.88, Z:9.62 [[ 9.97149767e-01 -7.38361077e-02 -1.55103380e-02 6.20423951e+02] [ 7.38412710e-02 9.97269978e-01 -2.40314528e-04 7.87690252e+00] [ 1.54857383e-02 -9.05673495e-04 9.99879679e-01 9.61575456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.9792541539999 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:620.46, Y:7.88, Z:9.62 [[ 9.97129840e-01 -7.41047334e-02 -1.55103645e-02 6.20456535e+02] [ 7.41099557e-02 9.97250048e-01 -2.38590824e-04 7.87838852e+00] [ 1.54853925e-02 -9.11566397e-04 9.99879679e-01 9.61635492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.0092541539999 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:620.49, Y:7.88, Z:9.62 [[ 9.97166586e-01 -7.36086073e-02 -1.55103907e-02 6.20489962e+02] [ 7.36137963e-02 9.97286796e-01 -2.36878491e-04 7.88219894e+00] [ 1.54857441e-02 -9.05571423e-04 9.99879679e-01 9.61744400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.0392541539999 meters Centerline goodness : 0.998892 Centerline is valid? [True, True] Translation: X:620.53, Y:7.88, Z:9.62 [[ 9.97327132e-01 -7.14004072e-02 -1.55104168e-02 6.20525146e+02] [ 7.14053568e-02 9.97447352e-01 -2.35154244e-04 7.88338325e+00] [ 1.54876143e-02 -8.73001139e-04 9.99879679e-01 9.61771831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.069254154 meters Centerline goodness : 0.998724 Centerline is valid? [True, True] Translation: X:620.55, Y:7.89, Z:9.62 [[ 9.97342606e-01 -7.11835889e-02 -1.55120293e-02 6.20554177e+02] [ 7.11901872e-02 9.97462752e-01 -1.27100902e-04 7.88796614e+00] [ 1.54817189e-02 -9.77541123e-04 9.99879673e-01 9.61903983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.0992541539999 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:620.59, Y:7.89, Z:9.62 [[ 9.97809766e-01 -6.43047191e-02 -1.55104217e-02 6.20588774e+02] [ 6.43088350e-02 9.97930017e-01 -2.33769614e-04 7.89029412e+00] [ 1.54933478e-02 -7.64199543e-04 9.99879679e-01 9.62017135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.1292541539999 meters Centerline goodness : 0.999226 Centerline is valid? [True, True] Translation: X:620.62, Y:7.89, Z:9.62 [[ 9.97932559e-01 -6.23697002e-02 -1.55121701e-02 6.20617544e+02] [ 6.23753995e-02 9.98052752e-01 -1.16607828e-04 7.89448708e+00] [ 1.54892369e-02 -8.51211061e-04 9.99879672e-01 9.62082794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.1592541539999 meters Centerline goodness : 0.998976 Centerline is valid? [True, True] Translation: X:620.65, Y:7.90, Z:9.62 [[ 9.98383794e-01 -5.46738229e-02 -1.55104310e-02 6.20650119e+02] [ 5.46767965e-02 9.98504078e-01 -2.32590792e-04 7.90005723e+00] [ 1.54999452e-02 -6.15845803e-04 9.99879679e-01 9.62176361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.189254154 meters Centerline goodness : 0.998747 Centerline is valid? [True, True] Translation: X:620.68, Y:7.90, Z:9.62 [[ 9.98675333e-01 -4.90612325e-02 -1.55104556e-02 6.20682617e+02] [ 4.90635557e-02 9.98795632e-01 -2.30935015e-04 7.90315158e+00] [ 1.55031053e-02 -5.30369002e-04 9.99879679e-01 9.62251970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.2192541539999 meters Centerline goodness : 0.998994 Centerline is valid? [True, True] Translation: X:620.71, Y:7.91, Z:9.62 [[ 9.98792895e-01 -4.66067136e-02 -1.55102020e-02 6.20714291e+02] [ 4.66084767e-02 9.98913204e-01 -2.47978822e-04 7.90745685e+00] [ 1.55049030e-02 -4.75227403e-04 9.99879679e-01 9.62299741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.2492541539999 meters Centerline goodness : 0.998889 Centerline is valid? [True, True] Translation: X:620.75, Y:7.91, Z:9.62 [[ 9.99119684e-01 -3.89779678e-02 -1.55104957e-02 6.20745225e+02] [ 3.89791222e-02 9.99239999e-01 -2.27996541e-04 7.91367948e+00] [ 1.55075946e-02 -3.76789676e-04 9.99879679e-01 9.62446343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.2792541539999 meters Centerline goodness : 0.998908 Centerline is valid? [True, True] Translation: X:620.78, Y:7.92, Z:9.63 [[ 9.99251008e-01 -3.54520416e-02 -1.55105076e-02 6.20777813e+02] [ 3.54527839e-02 9.99371327e-01 -2.27188919e-04 7.91580294e+00] [ 1.55088108e-02 -3.22871916e-04 9.99879679e-01 9.62509443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.309254154 meters Centerline goodness : 0.999034 Centerline is valid? [True, True] Translation: X:620.81, Y:7.92, Z:9.63 [[ 9.99390977e-01 -3.12585660e-02 -1.55105232e-02 6.20809117e+02] [ 3.12588200e-02 9.99511298e-01 -2.26119144e-04 7.91719977e+00] [ 1.55100113e-02 -2.58859219e-04 9.99879679e-01 9.62602375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.339254154 meters Centerline goodness : 0.998969 Centerline is valid? [True, True] Translation: X:620.84, Y:7.92, Z:9.62 [[ 9.99606409e-01 -2.33764049e-02 -1.55103416e-02 6.20842243e+02] [ 2.33755178e-02 9.99726727e-01 -2.38506091e-04 7.91567662e+00] [ 1.55116785e-02 -1.24150050e-04 9.99879679e-01 9.62217398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.3692541539999 meters Centerline goodness : 0.998821 Centerline is valid? [True, True] Translation: X:620.87, Y:7.92, Z:9.63 [[ 9.99546108e-01 -2.58240808e-02 -1.55143163e-02 6.20866311e+02] [ 2.58278070e-02 9.99666406e-01 3.98284436e-05 7.92350209e+00] [ 1.55081123e-02 -4.40511134e-04 9.99879645e-01 9.62585320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.3992541539999 meters Centerline goodness : 0.998967 Centerline is valid? [True, True] Translation: X:620.90, Y:7.93, Z:9.63 [[ 9.99621798e-01 -2.27098541e-02 -1.55088052e-02 6.20896470e+02] [ 2.27075125e-02 9.99742098e-01 -3.27085031e-04 7.92830274e+00] [ 1.55122335e-02 -2.52050601e-05 9.99879678e-01 9.62551979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.4292541539999 meters Centerline goodness : 0.998944 Centerline is valid? [True, True] Translation: X:620.93, Y:7.93, Z:9.63 [[ 9.99671874e-01 -2.03857005e-02 -1.55102320e-02 6.20925672e+02] [ 2.03845624e-02 9.99792186e-01 -2.31488394e-04 7.93018138e+00] [ 1.55117278e-02 -8.47568546e-05 9.99879682e-01 9.62787888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.459254154 meters Centerline goodness : 0.998668 Centerline is valid? [True, True] Translation: X:620.96, Y:7.93, Z:9.63 [[ 9.99713179e-01 -1.82482844e-02 -1.55099625e-02 6.20955810e+02] [ 1.82466099e-02 9.99833486e-01 -2.49478149e-04 7.92984300e+00] [ 1.55119325e-02 -3.35976425e-05 9.99879682e-01 9.62974808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.4892541539999 meters Centerline goodness : 0.999302 Centerline is valid? [True, True] Translation: X:620.98, Y:7.93, Z:9.63 [[ 9.99658637e-01 -2.10248466e-02 -1.55101895e-02 6.20984036e+02] [ 2.10237392e-02 9.99778949e-01 -2.34463842e-04 7.93215265e+00] [ 1.55116905e-02 -9.16983747e-05 9.99879682e-01 9.62775060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.5192541539999 meters Centerline goodness : 0.998877 Centerline is valid? [True, True] Translation: X:621.01, Y:7.93, Z:9.63 [[ 9.99681269e-01 -1.99197448e-02 -1.55101255e-02 6.21013959e+02] [ 1.99184398e-02 9.99801580e-01 -2.38625437e-04 7.93163776e+00] [ 1.55118013e-02 -7.03881208e-05 9.99879682e-01 9.63066317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.5492541539999 meters Centerline goodness : 0.998877 Centerline is valid? [True, True] Translation: X:621.04, Y:7.93, Z:9.63 [[ 9.99571222e-01 -2.48356161e-02 -1.55101164e-02 6.21042804e+02] [ 2.48348937e-02 9.99691538e-01 -2.39215852e-04 7.93460578e+00] [ 1.55112732e-02 -1.46078809e-04 9.99879682e-01 9.63003755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.579254154 meters Centerline goodness : 0.998727 Centerline is valid? [True, True] Translation: X:621.07, Y:7.94, Z:9.63 [[ 9.99523877e-01 -2.66731200e-02 -1.55101028e-02 6.21072824e+02] [ 2.66726052e-02 9.99644194e-01 -2.40090889e-04 7.93530337e+00] [ 1.55109882e-02 -1.73718273e-04 9.99879682e-01 9.63223427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.6092541539999 meters Centerline goodness : 0.998709 Centerline is valid? [True, True] Translation: X:621.10, Y:7.93, Z:9.63 [[ 9.99407157e-01 -3.07371354e-02 -1.55101028e-02 6.21102752e+02] [ 3.07371098e-02 9.99527475e-01 -2.40090889e-04 7.93371591e+00] [ 1.55101536e-02 -2.36787181e-04 9.99879682e-01 9.63298706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.6392541539999 meters Centerline goodness : 0.998860 Centerline is valid? [True, True] Translation: X:621.14, Y:7.93, Z:9.63 [[ 9.99493003e-01 -2.78059950e-02 -1.55101073e-02 6.21137772e+02] [ 2.78056209e-02 9.99613320e-01 -2.39804205e-04 7.92729487e+00] [ 1.55107778e-02 -1.91585538e-04 9.99879682e-01 9.63100554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.6692541539999 meters Centerline goodness : 0.998860 Centerline is valid? [True, True] Translation: X:621.17, Y:7.93, Z:9.63 [[ 9.99485025e-01 -2.80890445e-02 -1.55142226e-02 6.21168515e+02] [ 2.80928743e-02 9.99605317e-01 2.89371548e-05 7.92777539e+00] [ 1.55072866e-02 -4.64761360e-04 9.99879647e-01 9.63140259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.699254154 meters Centerline goodness : 0.998924 Centerline is valid? [True, True] Translation: X:621.19, Y:7.93, Z:9.63 [[ 9.99206936e-01 -3.66716814e-02 -1.55140803e-02 6.21193593e+02] [ 3.66764030e-02 9.99327194e-01 1.98346274e-05 7.93281047e+00] [ 1.55029150e-02 -5.88819557e-04 9.99879649e-01 9.63408931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.7292541539999 meters Centerline goodness : 0.998650 Centerline is valid? [True, True] Translation: X:621.23, Y:7.93, Z:9.63 [[ 9.99010141e-01 -4.16915650e-02 -1.55097142e-02 6.21225571e+02] [ 4.16926965e-02 9.99130450e-01 -2.50514325e-04 7.93066002e+00] [ 1.55066720e-02 -3.96375454e-04 9.99879686e-01 9.63399186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.7592541539999 meters Centerline goodness : 0.998732 Centerline is valid? [True, True] Translation: X:621.26, Y:7.93, Z:9.63 [[ 9.98928063e-01 -4.36139048e-02 -1.55097325e-02 6.21257416e+02] [ 4.36152856e-02 9.99048370e-01 -2.49372042e-04 7.92984161e+00] [ 1.55058491e-02 -4.27356681e-04 9.99879686e-01 9.63471221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.7892541539999 meters Centerline goodness : 0.998756 Centerline is valid? [True, True] Translation: X:621.29, Y:7.93, Z:9.63 [[ 9.98950739e-01 -4.30913963e-02 -1.55097510e-02 6.21292752e+02] [ 4.30927320e-02 9.99071046e-01 -2.48218270e-04 7.92568737e+00] [ 1.55060392e-02 -4.20399719e-04 9.99879686e-01 9.63402105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.819254154 meters Centerline goodness : 0.998503 Centerline is valid? [True, True] Translation: X:621.32, Y:7.93, Z:9.63 [[ 9.98851361e-01 -4.53355211e-02 -1.55128663e-02 6.21319450e+02] [ 4.53401921e-02 9.98971603e-01 -5.06415409e-05 7.92728217e+00] [ 1.54992088e-02 -6.52772965e-04 9.99879667e-01 9.63341670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.8492541539999 meters Centerline goodness : 0.998798 Centerline is valid? [True, True] Translation: X:621.35, Y:7.93, Z:9.63 [[ 9.98837845e-01 -4.56334184e-02 -1.55096824e-02 6.21350408e+02] [ 4.56350484e-02 9.98958147e-01 -2.48986972e-04 7.92657281e+00] [ 1.55048857e-02 -4.59087498e-04 9.99879687e-01 9.63433609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.8792541539999 meters Centerline goodness : 0.998589 Centerline is valid? [True, True] Translation: X:621.38, Y:7.92, Z:9.63 [[ 9.98920195e-01 -4.37937630e-02 -1.55096963e-02 6.21382551e+02] [ 4.37951848e-02 9.99040500e-01 -2.48120449e-04 7.92473174e+00] [ 1.55056809e-02 -4.31397488e-04 9.99879687e-01 9.63316500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.9092541539999 meters Centerline goodness : 0.998779 Centerline is valid? [True, True] Translation: X:621.42, Y:7.92, Z:9.63 [[ 9.99036477e-01 -4.10556482e-02 -1.55097146e-02 6.21416634e+02] [ 4.10567582e-02 9.99156785e-01 -2.46970078e-04 7.92341826e+00] [ 1.55067761e-02 -3.90046486e-04 9.99879687e-01 9.63306850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.939254154 meters Centerline goodness : 0.998819 Centerline is valid? [True, True] Translation: X:621.44, Y:7.93, Z:9.63 [[ 9.99181797e-01 -3.73511809e-02 -1.55121034e-02 6.21444583e+02] [ 3.73541843e-02 9.99302084e-01 -9.61803670e-05 7.92605998e+00] [ 1.55048697e-02 -4.83340297e-04 9.99879675e-01 9.63372099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.9692541539999 meters Centerline goodness : 0.998863 Centerline is valid? [True, True] Translation: X:621.48, Y:7.93, Z:9.64 [[ 9.99300197e-01 -3.40377521e-02 -1.55096135e-02 6.21476850e+02] [ 3.40379637e-02 9.99420509e-01 -2.50410374e-04 7.92715137e+00] [ 1.55091492e-02 -2.77680524e-04 9.99879687e-01 9.63501187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.9992541539999 meters Centerline goodness : 0.999033 Centerline is valid? [True, True] Translation: X:621.51, Y:7.93, Z:9.64 [[ 9.99522156e-01 -2.67378272e-02 -1.55096319e-02 6.21508181e+02] [ 2.67371777e-02 9.99642467e-01 -2.49265244e-04 7.92828489e+00] [ 1.55107515e-02 -1.65537650e-04 9.99879687e-01 9.63525584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.0292541539999 meters Centerline goodness : 0.998885 Centerline is valid? [True, True] Translation: X:621.54, Y:7.93, Z:9.64 [[ 9.99603684e-01 -2.34931087e-02 -1.55096410e-02 6.21538605e+02] [ 2.34920775e-02 9.99723992e-01 -2.48694469e-04 7.92883121e+00] [ 1.55112029e-02 -1.15757782e-04 9.99879687e-01 9.63524314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.059254154 meters Centerline goodness : 0.998674 Centerline is valid? [True, True] Translation: X:621.57, Y:7.93, Z:9.63 [[ 9.99682206e-01 -1.98730481e-02 -1.55096456e-02 6.21568218e+02] [ 1.98715856e-02 9.99802510e-01 -2.48411785e-04 7.92890353e+00] [ 1.55115193e-02 -5.98684086e-05 9.99879687e-01 9.63474866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.089254154 meters Centerline goodness : 0.999012 Centerline is valid? [True, True] Translation: X:621.60, Y:7.93, Z:9.64 [[ 9.99778340e-01 -1.42380826e-02 -1.55096366e-02 6.21596323e+02] [ 1.42359334e-02 9.99898633e-01 -2.48970500e-04 7.92901249e+00] [ 1.55116093e-02 2.81211596e-05 9.99879687e-01 9.63759904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.1192541539999 meters Centerline goodness : 0.998844 Centerline is valid? [True, True] Translation: X:621.62, Y:7.93, Z:9.64 [[ 9.99806743e-01 -1.20800935e-02 -1.55096253e-02 6.21624277e+02] [ 1.20776737e-02 9.99927031e-01 -2.49672837e-04 7.92912346e+00] [ 1.55115096e-02 6.23043922e-05 9.99879687e-01 9.63840098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.1492541539999 meters Centerline goodness : 0.999074 Centerline is valid? [True, True] Translation: X:621.65, Y:7.93, Z:9.64 [[ 9.99804783e-01 -1.22413128e-02 -1.55095534e-02 6.21650747e+02] [ 1.22388445e-02 9.99925070e-01 -2.54059764e-04 7.93239665e+00] [ 1.55115013e-02 6.41911556e-05 9.99879687e-01 9.63933125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.1792541539999 meters Centerline goodness : 0.999031 Centerline is valid? [True, True] Translation: X:621.68, Y:7.93, Z:9.64 [[ 9.99851229e-01 -7.55472830e-03 -1.55063301e-02 6.21684165e+02] [ 7.54873324e-03 9.99971409e-01 -4.45114755e-04 7.92739807e+00] [ 1.55092495e-02 3.27995385e-04 9.99879671e-01 9.63848957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.209254154 meters Centerline goodness : 0.998925 Centerline is valid? [True, True] Translation: X:621.71, Y:7.93, Z:9.64 [[ 9.99851288e-01 -7.54043036e-03 -1.55094854e-02 6.21710737e+02] [ 7.53740326e-03 9.99971561e-01 -2.53622748e-04 7.92618488e+00] [ 1.55109568e-02 1.36683785e-04 9.99879689e-01 9.63790477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.2392541539999 meters Centerline goodness : 0.999095 Centerline is valid? [True, True] Translation: X:621.74, Y:7.93, Z:9.64 [[ 9.99795820e-01 -1.29528584e-02 -1.55093802e-02 6.21736520e+02] [ 1.29503850e-02 9.99916106e-01 -2.59902658e-04 7.92642273e+00] [ 1.55114456e-02 5.89971466e-05 9.99879689e-01 9.63756232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.2692541539999 meters Centerline goodness : 0.999076 Centerline is valid? [True, True] Translation: X:621.76, Y:7.92, Z:9.64 [[ 9.99775951e-01 -1.44083123e-02 -1.55063850e-02 6.21764888e+02] [ 1.44032949e-02 9.99896172e-01 -4.35210126e-04 7.92438927e+00] [ 1.55110457e-02 2.11769582e-04 9.99879674e-01 9.63657073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.2992541539999 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:621.79, Y:7.92, Z:9.64 [[ 9.99721380e-01 -1.77960860e-02 -1.55068562e-02 6.21793475e+02] [ 1.77919063e-02 9.99841629e-01 -4.07461983e-04 7.92300526e+00] [ 1.55116516e-02 1.31451923e-04 9.99879678e-01 9.63925364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.329254154 meters Centerline goodness : 0.998845 Centerline is valid? [True, True] Translation: X:621.83, Y:7.92, Z:9.64 [[ 9.99779304e-01 -1.41746682e-02 -1.55055316e-02 6.21827359e+02] [ 1.41688605e-02 9.99899499e-01 -4.84354679e-04 7.91709815e+00] [ 1.55108388e-02 2.64552070e-04 9.99879665e-01 9.63937086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.3592541539999 meters Centerline goodness : 0.998932 Centerline is valid? [True, True] Translation: X:621.86, Y:7.92, Z:9.64 [[ 9.99741798e-01 -1.66072244e-02 -1.55092912e-02 6.21855669e+02] [ 1.66051766e-02 9.99862091e-01 -2.60809284e-04 7.91589576e+00] [ 1.55114836e-02 3.20742276e-06 9.99879690e-01 9.64080066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.3892541539999 meters Centerline goodness : 0.998932 Centerline is valid? [True, True] Translation: X:621.88, Y:7.92, Z:9.64 [[ 9.99642643e-01 -2.17726915e-02 -1.55092228e-02 6.21881373e+02] [ 2.17712032e-02 9.99762944e-01 -2.64814266e-04 7.91993891e+00] [ 1.55113120e-02 -7.29348084e-05 9.99879690e-01 9.63967609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.4192541539999 meters Centerline goodness : 0.995421 Centerline is valid? [True, True] Translation: X:621.91, Y:7.92, Z:9.64 [[ 9.99611968e-01 -2.31406368e-02 -1.55056129e-02 6.21912803e+02] [ 2.31364028e-02 9.99732215e-01 -4.52416096e-04 7.91662880e+00] [ 1.55119300e-02 9.34964380e-05 9.99879678e-01 9.63694810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.449254154 meters Centerline goodness : 0.998890 Centerline is valid? [True, True] Translation: X:621.94, Y:7.92, Z:9.64 [[ 9.99600536e-01 -2.36279508e-02 -1.55077191e-02 6.21943322e+02] [ 2.36254847e-02 9.99720821e-01 -3.42228719e-04 7.91501215e+00] [ 1.55114758e-02 -2.42853701e-05 9.99879690e-01 9.64392383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.4792541539999 meters Centerline goodness : 0.998995 Centerline is valid? [True, True] Translation: X:621.97, Y:7.92, Z:9.64 [[ 9.99559677e-01 -2.52969414e-02 -1.55085885e-02 6.21972564e+02] [ 2.52953810e-02 9.99679977e-01 -2.96800361e-04 7.91528568e+00] [ 1.55111335e-02 -9.56259822e-05 9.99879691e-01 9.64493157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.5092541539999 meters Centerline goodness : 0.998936 Centerline is valid? [True, True] Translation: X:622.00, Y:7.92, Z:9.65 [[ 9.99444527e-01 -2.94978296e-02 -1.55085775e-02 6.22001842e+02] [ 2.94967659e-02 9.99564832e-01 -2.97372419e-04 7.91504228e+00] [ 1.55106005e-02 -1.60245646e-04 9.99879691e-01 9.64611818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.5392541539999 meters Centerline goodness : 0.998913 Centerline is valid? [True, True] Translation: X:622.03, Y:7.91, Z:9.65 [[ 9.99288330e-01 -3.43848551e-02 -1.55085773e-02 6.22032251e+02] [ 3.43843795e-02 9.99408638e-01 -2.97382801e-04 7.91471967e+00] [ 1.55096316e-02 -2.36081647e-04 9.99879691e-01 9.64584969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.569254154 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:622.06, Y:7.91, Z:9.65 [[ 9.99198400e-01 -3.69058550e-02 -1.55085827e-02 6.22063232e+02] [ 3.69056874e-02 9.99318709e-01 -2.97102091e-04 7.91480064e+00] [ 1.55089817e-02 -2.75490972e-04 9.99879691e-01 9.64560982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.5992541539999 meters Centerline goodness : 0.998809 Centerline is valid? [True, True] Translation: X:622.09, Y:7.91, Z:9.64 [[ 9.99083877e-01 -3.98859751e-02 -1.55085935e-02 6.22094022e+02] [ 3.98861750e-02 9.99204186e-01 -2.96538426e-04 7.91484463e+00] [ 1.55080793e-02 -3.22311714e-04 9.99879691e-01 9.64465378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.6292541539999 meters Centerline goodness : 0.998891 Centerline is valid? [True, True] Translation: X:622.13, Y:7.92, Z:9.64 [[ 9.98936974e-01 -4.34097414e-02 -1.55086096e-02 6.22125445e+02] [ 4.34103788e-02 9.99057281e-01 -2.95695483e-04 7.91504548e+00] [ 1.55068254e-02 -3.77853465e-04 9.99879691e-01 9.64396603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.6592541539999 meters Centerline goodness : 0.998807 Centerline is valid? [True, True] Translation: X:622.16, Y:7.92, Z:9.64 [[ 9.98609995e-01 -5.03741330e-02 -1.55088301e-02 6.22156350e+02] [ 5.03757886e-02 9.98730294e-01 -2.84134847e-04 7.91599596e+00] [ 1.55034515e-02 -4.97529651e-04 9.99879690e-01 9.64381365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.689254154 meters Centerline goodness : 0.998829 Centerline is valid? [True, True] Translation: X:622.19, Y:7.92, Z:9.65 [[ 9.98411738e-01 -5.41616467e-02 -1.55086436e-02 6.22188333e+02] [ 5.41636059e-02 9.98532031e-01 -2.93975718e-04 7.91709135e+00] [ 1.55017996e-02 -5.46495253e-04 9.99879691e-01 9.64605610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.7192541539999 meters Centerline goodness : 0.998913 Centerline is valid? [True, True] Translation: X:622.22, Y:7.92, Z:9.65 [[ 9.97982211e-01 -6.15709963e-02 -1.55086651e-02 6.22220251e+02] [ 6.15738660e-02 9.98102486e-01 -2.92838801e-04 7.91854183e+00] [ 1.54972675e-02 -6.62680550e-04 9.99879691e-01 9.64692099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.7492541539999 meters Centerline goodness : 0.998786 Centerline is valid? [True, True] Translation: X:622.25, Y:7.92, Z:9.65 [[ 9.97795142e-01 -6.45316541e-02 -1.55086864e-02 6.22252674e+02] [ 6.45348983e-02 9.97915408e-01 -2.91706029e-04 7.91941600e+00] [ 1.54951814e-02 -7.09788638e-04 9.99879691e-01 9.64711657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.7792541539999 meters Centerline goodness : 0.997012 Centerline is valid? [True, True] Translation: X:622.28, Y:7.92, Z:9.64 [[ 9.97579543e-01 -6.77830077e-02 -1.55087128e-02 6.22284515e+02] [ 6.77866657e-02 9.97699796e-01 -2.90292885e-04 7.92093227e+00] [ 1.54927165e-02 -7.61693687e-04 9.99879691e-01 9.64265437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.809254154 meters Centerline goodness : 0.998683 Centerline is valid? [True, True] Translation: X:622.32, Y:7.92, Z:9.65 [[ 9.97449567e-01 -6.96695054e-02 -1.55087432e-02 6.22316325e+02] [ 6.96734161e-02 9.97569813e-01 -2.88662476e-04 7.92479161e+00] [ 1.54911650e-02 -7.92620854e-04 9.99879691e-01 9.64900041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.839254154 meters Centerline goodness : 0.998745 Centerline is valid? [True, True] Translation: X:622.35, Y:7.93, Z:9.65 [[ 9.97426260e-01 -7.00023839e-02 -1.55087684e-02 6.22350607e+02] [ 7.00063557e-02 9.97546504e-01 -2.87302664e-04 7.92813027e+00] [ 1.54908295e-02 -7.99149133e-04 9.99879691e-01 9.65166638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.8692541539999 meters Centerline goodness : 0.998829 Centerline is valid? [True, True] Translation: X:622.38, Y:7.93, Z:9.65 [[ 9.97507047e-01 -6.88412732e-02 -1.55103114e-02 6.22380228e+02] [ 6.88464092e-02 9.97627250e-01 -2.03200011e-04 7.93293582e+00] [ 1.54874979e-02 -8.65135805e-04 9.99879687e-01 9.64951979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.8992541539999 meters Centerline goodness : 0.998511 Centerline is valid? [True, True] Translation: X:622.41, Y:7.94, Z:9.65 [[ 9.97556966e-01 -6.81144465e-02 -1.55087805e-02 6.22413217e+02] [ 6.81182083e-02 9.97677216e-01 -2.86171869e-04 7.93575819e+00] [ 1.54922494e-02 -7.70957598e-04 9.99879691e-01 9.65065674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.9292541539999 meters Centerline goodness : 0.998595 Centerline is valid? [True, True] Translation: X:622.45, Y:7.94, Z:9.65 [[ 9.97604539e-01 -6.74140993e-02 -1.55088125e-02 6.22445954e+02] [ 6.74178039e-02 9.97724791e-01 -2.84422836e-04 7.93837625e+00] [ 1.54927009e-02 -7.61828570e-04 9.99879691e-01 9.65096997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.959254154 meters Centerline goodness : 0.998845 Centerline is valid? [True, True] Translation: X:622.48, Y:7.94, Z:9.65 [[ 9.97683265e-01 -6.62387927e-02 -1.55088442e-02 6.22476762e+02] [ 6.62423825e-02 9.97803521e-01 -2.82687985e-04 7.94308049e+00] [ 1.54935042e-02 -7.45309715e-04 9.99879691e-01 9.65170052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.9892541539999 meters Centerline goodness : 0.998760 Centerline is valid? [True, True] Translation: X:622.51, Y:7.95, Z:9.65 [[ 9.97803486e-01 -6.44024800e-02 -1.55088598e-02 6.22509676e+02] [ 6.44058618e-02 9.97923747e-01 -2.81829584e-04 7.94708170e+00] [ 1.54948100e-02 -7.17650937e-04 9.99879691e-01 9.65209519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.0192541539999 meters Centerline goodness : 0.998653 Centerline is valid? [True, True] Translation: X:622.54, Y:7.95, Z:9.65 [[ 9.97809598e-01 -6.43077048e-02 -1.55088901e-02 6.22541727e+02] [ 6.43111011e-02 9.97929859e-01 -2.80152063e-04 7.95031161e+00] [ 1.54948004e-02 -7.17855380e-04 9.99879691e-01 9.65338440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.0492541539999 meters Centerline goodness : 0.998549 Centerline is valid? [True, True] Translation: X:622.57, Y:7.95, Z:9.65 [[ 9.97869456e-01 -6.33720942e-02 -1.55089102e-02 6.22574933e+02] [ 6.33753951e-02 9.97989720e-01 -2.79033319e-04 7.95326813e+00] [ 1.54954159e-02 -7.04444485e-04 9.99879691e-01 9.65386233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.079254154 meters Centerline goodness : 0.998822 Centerline is valid? [True, True] Translation: X:622.61, Y:7.96, Z:9.65 [[ 9.97944263e-01 -6.21829566e-02 -1.55089405e-02 6.22607514e+02] [ 6.21861405e-02 9.98064531e-01 -2.77340382e-04 7.95630920e+00] [ 1.54961692e-02 -6.87670907e-04 9.99879691e-01 9.65479346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.1092541539999 meters Centerline goodness : 0.998698 Centerline is valid? [True, True] Translation: X:622.64, Y:7.96, Z:9.65 [[ 9.98033083e-01 -6.07407326e-02 -1.55089712e-02 6.22639660e+02] [ 6.07437695e-02 9.98153354e-01 -2.75608944e-04 7.95932711e+00] [ 1.54970724e-02 -6.67006530e-04 9.99879691e-01 9.65483932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.1392541539999 meters Centerline goodness : 0.998858 Centerline is valid? [True, True] Translation: X:622.67, Y:7.96, Z:9.66 [[ 9.98269405e-01 -5.67244762e-02 -1.55089966e-02 6.22672480e+02] [ 5.67270514e-02 9.98389687e-01 -2.74177056e-04 7.96496444e+00] [ 1.54995748e-02 -6.06077077e-04 9.99879691e-01 9.65596144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.1692541539999 meters Centerline goodness : 0.998814 Centerline is valid? [True, True] Translation: X:622.70, Y:7.97, Z:9.65 [[ 9.98587365e-01 -5.08207038e-02 -1.55090266e-02 6.22703764e+02] [ 5.08225942e-02 9.98707660e-01 -2.72464139e-04 7.96943004e+00] [ 1.55028305e-02 -5.16129721e-04 9.99879691e-01 9.65497155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.199254154 meters Centerline goodness : 0.998704 Centerline is valid? [True, True] Translation: X:622.74, Y:7.97, Z:9.66 [[ 9.98710448e-01 -4.83417550e-02 -1.55085588e-02 6.22737194e+02] [ 4.83429327e-02 9.98830752e-01 -2.99157576e-04 7.97202857e+00] [ 1.55048872e-02 -4.50957417e-04 9.99879690e-01 9.65730875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.2292541539999 meters Centerline goodness : 0.998791 Centerline is valid? [True, True] Translation: X:622.77, Y:7.97, Z:9.66 [[ 9.98870525e-01 -4.49126072e-02 -1.55090742e-02 6.22767945e+02] [ 4.49138320e-02 9.98990828e-01 -2.69496606e-04 7.97466729e+00] [ 1.55055267e-02 -4.27379737e-04 9.99879691e-01 9.65711580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.2592541539999 meters Centerline goodness : 0.998979 Centerline is valid? [True, True] Translation: X:622.80, Y:7.98, Z:9.66 [[ 9.99099916e-01 -3.94819530e-02 -1.55091072e-02 6.22800458e+02] [ 3.94825535e-02 9.99220224e-01 -2.67585618e-04 7.98047854e+00] [ 1.55075783e-02 -3.44994384e-04 9.99879691e-01 9.65714612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.2892541539999 meters Centerline goodness : 0.998828 Centerline is valid? [True, True] Translation: X:622.83, Y:7.98, Z:9.66 [[ 9.99231156e-01 -3.60078325e-02 -1.55091260e-02 6.22831880e+02] [ 3.60080317e-02 9.99351465e-01 -2.66488600e-04 7.98312380e+00] [ 1.55086635e-02 -2.92169390e-04 9.99879691e-01 9.65742474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.319254154 meters Centerline goodness : 0.998913 Centerline is valid? [True, True] Translation: X:622.86, Y:7.99, Z:9.66 [[ 9.99341112e-01 -3.28147717e-02 -1.55091400e-02 6.22864349e+02] [ 3.28145992e-02 9.99461421e-01 -2.65671633e-04 7.98586835e+00] [ 1.55095051e-02 -2.43429628e-04 9.99879691e-01 9.65818840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.3492541539999 meters Centerline goodness : 0.998888 Centerline is valid? [True, True] Translation: X:622.90, Y:7.98, Z:9.65 [[ 9.99691470e-01 -1.94018489e-02 -1.55091587e-02 6.22904647e+02] [ 1.94000790e-02 9.99811766e-01 -2.64576545e-04 7.98312506e+00] [ 1.55113726e-02 -3.63839883e-05 9.99879691e-01 9.65440990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.3792541539999 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:622.92, Y:7.99, Z:9.66 [[ 9.99610090e-01 -2.32135525e-02 -1.55177052e-02 6.22922410e+02] [ 2.32202010e-02 9.99730344e-01 2.48381686e-04 7.99266756e+00] [ 1.55077549e-02 -6.08609072e-04 9.99879562e-01 9.66017821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.4092541539999 meters Centerline goodness : 0.998883 Centerline is valid? [True, True] Translation: X:622.95, Y:8.00, Z:9.66 [[ 9.99705981e-01 -1.86397954e-02 -1.55083502e-02 6.22952806e+02] [ 1.86377491e-02 9.99826264e-01 -2.76479734e-04 7.99660417e+00] [ 1.55108093e-02 -1.26422948e-05 9.99879700e-01 9.66116113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.439254154 meters Centerline goodness : 0.998819 Centerline is valid? [True, True] Translation: X:623.00, Y:7.99, Z:9.65 [[ 9.99856872e-01 -6.76211712e-03 -1.55083502e-02 6.22996269e+02] [ 6.75864202e-03 9.99977122e-01 -2.76479734e-04 7.98699677e+00] [ 1.55098650e-02 1.71624775e-04 9.99879700e-01 9.65321843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.4692541539999 meters Centerline goodness : 0.998946 Centerline is valid? [True, True] Translation: X:623.02, Y:7.99, Z:9.66 [[ 9.99828847e-01 -1.00767681e-02 -1.55156397e-02 6.23015537e+02] [ 1.00832747e-02 9.99949104e-01 3.41178167e-04 7.99299357e+00] [ 1.55114121e-02 -4.97568230e-04 9.99879567e-01 9.66052543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.4992541539999 meters Centerline goodness : 0.998968 Centerline is valid? [True, True] Translation: X:623.04, Y:8.00, Z:9.66 [[ 9.99815801e-01 -1.13074766e-02 -1.55082022e-02 6.23043471e+02] [ 1.13051855e-02 9.99936067e-01 -2.35397907e-04 7.99529255e+00] [ 1.55098725e-02 6.00314436e-05 9.99879713e-01 9.66181391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.5292541539999 meters Centerline goodness : 0.999053 Centerline is valid? [True, True] Translation: X:623.07, Y:8.00, Z:9.66 [[ 9.99791542e-01 -1.32804651e-02 -1.55081130e-02 6.23071746e+02] [ 1.32783060e-02 9.99911810e-01 -2.42186686e-04 7.99631650e+00] [ 1.55099617e-02 3.62147302e-05 9.99879713e-01 9.66193572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.559254154 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:623.10, Y:8.00, Z:9.66 [[ 9.99733174e-01 -1.71191460e-02 -1.55085952e-02 6.23099935e+02] [ 1.71180122e-02 9.99853455e-01 -2.05860735e-04 7.99644643e+00] [ 1.55098466e-02 -5.96705145e-05 9.99879713e-01 9.66204373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.589254154 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:623.13, Y:8.00, Z:9.66 [[ 9.99728988e-01 -1.73618999e-02 -1.55085368e-02 6.23129164e+02] [ 1.73607285e-02 9.99849269e-01 -2.10168071e-04 7.99689787e+00] [ 1.55098481e-02 -5.91283840e-05 9.99879713e-01 9.66249863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.6192541539999 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:623.16, Y:8.00, Z:9.66 [[ 9.99679650e-01 -2.00021052e-02 -1.55084849e-02 6.23157948e+02] [ 2.00011931e-02 9.99799933e-01 -2.13933246e-04 7.99659103e+00] [ 1.55096612e-02 -9.63234866e-05 9.99879713e-01 9.66201708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.6492541539999 meters Centerline goodness : 0.999038 Centerline is valid? [True, True] Translation: X:623.18, Y:8.00, Z:9.66 [[ 9.99663538e-01 -2.07917865e-02 -1.55084738e-02 6.23184981e+02] [ 2.07909569e-02 9.99783822e-01 -2.14732496e-04 7.99564652e+00] [ 1.55095859e-02 -1.07775764e-04 9.99879713e-01 9.66237241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.6792541539999 meters Centerline goodness : 0.999125 Centerline is valid? [True, True] Translation: X:623.22, Y:7.99, Z:9.66 [[ 9.99464313e-01 -2.88205578e-02 -1.55068463e-02 6.23216052e+02] [ 2.88188907e-02 9.99584595e-01 -3.30997269e-04 7.99492946e+00] [ 1.55099442e-02 -1.16070150e-04 9.99879707e-01 9.66341778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.709254154 meters Centerline goodness : 0.999211 Centerline is valid? [True, True] Translation: X:623.25, Y:7.99, Z:9.66 [[ 9.99381982e-01 -3.15458810e-02 -1.55084516e-02 6.23246922e+02] [ 3.15463345e-02 9.99502267e-01 -2.15446291e-04 7.99419885e+00] [ 1.55075290e-02 -2.73921662e-04 9.99879714e-01 9.66357426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.7392541539999 meters Centerline goodness : 0.999256 Centerline is valid? [True, True] Translation: X:623.28, Y:7.99, Z:9.66 [[ 9.99225271e-01 -3.61710694e-02 -1.55084627e-02 6.23278607e+02] [ 3.61720921e-02 9.99345553e-01 -2.14646845e-04 7.99239512e+00] [ 1.55060772e-02 -3.46492989e-04 9.99879714e-01 9.66348143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.7692541539999 meters Centerline goodness : 0.999319 Centerline is valid? [True, True] Translation: X:623.31, Y:8.00, Z:9.66 [[ 9.99169117e-01 -3.76903632e-02 -1.55084735e-02 6.23305439e+02] [ 3.76915809e-02 9.99289397e-01 -2.13864848e-04 7.99615426e+00] [ 1.55055138e-02 -3.70851730e-04 9.99879714e-01 9.66144437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.7992541539999 meters Centerline goodness : 0.999213 Centerline is valid? [True, True] Translation: X:623.34, Y:7.99, Z:9.66 [[ 9.99119806e-01 -3.89767420e-02 -1.55056988e-02 6.23340211e+02] [ 3.89750328e-02 9.99240100e-01 -4.12515417e-04 7.99240849e+00] [ 1.55099945e-02 -1.92182794e-04 9.99879694e-01 9.66379804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.829254154 meters Centerline goodness : 0.999192 Centerline is valid? [True, True] Translation: X:623.37, Y:7.99, Z:9.66 [[ 9.99071920e-01 -4.01844224e-02 -1.55084411e-02 6.23372926e+02] [ 4.01859919e-02 9.99192195e-01 -2.10542142e-04 7.99099952e+00] [ 1.55043738e-02 -4.12875344e-04 9.99879715e-01 9.66330520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.8592541539999 meters Centerline goodness : 0.999192 Centerline is valid? [True, True] Translation: X:623.40, Y:7.99, Z:9.66 [[ 9.99078318e-01 -4.00250181e-02 -1.55084549e-02 6.23404995e+02] [ 4.00265843e-02 9.99198593e-01 -2.09514472e-04 7.99066394e+00] [ 1.55044122e-02 -4.11429113e-04 9.99879715e-01 9.66484059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.8892541539999 meters Centerline goodness : 0.998914 Centerline is valid? [True, True] Translation: X:623.44, Y:7.99, Z:9.67 [[ 9.99103372e-01 -3.93946641e-02 -1.55084705e-02 6.23437033e+02] [ 3.93961724e-02 9.99223648e-01 -2.08354710e-04 7.99068592e+00] [ 1.55046386e-02 -4.02806485e-04 9.99879715e-01 9.66554372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.9192541539999 meters Centerline goodness : 0.998874 Centerline is valid? [True, True] Translation: X:623.47, Y:7.99, Z:9.67 [[ 9.99154522e-01 -3.80752976e-02 -1.55084860e-02 6.23469006e+02] [ 3.80766651e-02 9.99274799e-01 -2.07195586e-04 7.99175327e+00] [ 1.55051283e-02 -3.83491021e-04 9.99879715e-01 9.66531856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.949254154 meters Centerline goodness : 0.998936 Centerline is valid? [True, True] Translation: X:623.50, Y:8.00, Z:9.66 [[ 9.99104353e-01 -3.93696763e-02 -1.55087045e-02 6.23495429e+02] [ 3.93714543e-02 9.99224626e-01 -1.90770383e-04 7.99505587e+00] [ 1.55041900e-02 -4.20000731e-04 9.99879715e-01 9.66275045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.9792541539999 meters Centerline goodness : 0.998980 Centerline is valid? [True, True] Translation: X:623.53, Y:7.99, Z:9.66 [[ 9.99225311e-01 -3.61713622e-02 -1.55051763e-02 6.23529675e+02] [ 3.61688041e-02 9.99345595e-01 -4.45463780e-04 7.99113273e+00] [ 1.55111427e-02 -1.15685000e-04 9.99879688e-01 9.66448756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.0092541539999 meters Centerline goodness : 0.999107 Centerline is valid? [True, True] Translation: X:623.56, Y:7.99, Z:9.67 [[ 9.99282962e-01 -3.45406037e-02 -1.55083608e-02 6.23561959e+02] [ 3.45415398e-02 9.99403241e-01 -2.07572426e-04 7.99132822e+00] [ 1.55062758e-02 -3.28259074e-04 9.99879717e-01 9.66685440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.0392541539999 meters Centerline goodness : 0.998998 Centerline is valid? [True, True] Translation: X:623.59, Y:7.99, Z:9.67 [[ 9.99347567e-01 -3.26179448e-02 -1.55083760e-02 6.23593120e+02] [ 3.26186672e-02 9.99467848e-01 -2.06433937e-04 7.99162238e+00] [ 1.55068566e-02 -2.99563302e-04 9.99879717e-01 9.66642606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.069254154 meters Centerline goodness : 0.999191 Centerline is valid? [True, True] Translation: X:623.63, Y:7.99, Z:9.67 [[ 9.99484675e-01 -2.81047210e-02 -1.55083872e-02 6.23625095e+02] [ 2.81049134e-02 9.99604958e-01 -2.05587131e-04 7.99221104e+00] [ 1.55080387e-02 -2.30380692e-04 9.99879717e-01 9.66661793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.0992541539999 meters Centerline goodness : 0.998998 Centerline is valid? [True, True] Translation: X:623.66, Y:7.99, Z:9.67 [[ 9.99550807e-01 -2.56451641e-02 -1.55084020e-02 6.23656321e+02] [ 2.56450778e-02 9.99671090e-01 -2.04466406e-04 7.99273049e+00] [ 1.55085447e-02 -1.93339614e-04 9.99879717e-01 9.66674378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.1292541539999 meters Centerline goodness : 0.998719 Centerline is valid? [True, True] Translation: X:623.69, Y:7.99, Z:9.67 [[ 9.99668332e-01 -2.05600282e-02 -1.55084093e-02 6.23686571e+02] [ 2.05593386e-02 9.99788614e-01 -2.03912740e-04 7.99301437e+00] [ 1.55093234e-02 -1.14997528e-04 9.99879717e-01 9.66691624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.1592541539999 meters Centerline goodness : 0.998914 Centerline is valid? [True, True] Translation: X:623.72, Y:7.99, Z:9.67 [[ 9.99722787e-01 -1.77154728e-02 -1.55084093e-02 6.23716081e+02] [ 1.77144410e-02 9.99843066e-01 -2.03912740e-04 7.99326861e+00] [ 1.55095879e-02 -7.08665873e-05 9.99879717e-01 9.66724291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.189254154 meters Centerline goodness : 0.998931 Centerline is valid? [True, True] Translation: X:623.74, Y:7.99, Z:9.67 [[ 9.99761851e-01 -1.53535467e-02 -1.55084021e-02 6.23744879e+02] [ 1.53522223e-02 9.99882127e-01 -2.04458189e-04 7.99388407e+00] [ 1.55097132e-02 -3.36789384e-05 9.99879717e-01 9.66764124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.2192541539999 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:623.77, Y:7.99, Z:9.67 [[ 9.99827089e-01 -1.02607284e-02 -1.55083508e-02 6.23772654e+02] [ 1.02587321e-02 9.99947356e-01 -2.08273031e-04 7.99452217e+00] [ 1.55096715e-02 4.91410018e-05 9.99879717e-01 9.66913814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.2492541539999 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:623.80, Y:7.99, Z:9.67 [[ 9.99845111e-01 -8.32297977e-03 -1.55074861e-02 6.23801325e+02] [ 8.31977559e-03 9.99965353e-01 -2.71124611e-04 7.99369230e+00] [ 1.55092054e-02 1.42063813e-04 9.99879715e-01 9.66775004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.2792541539999 meters Centerline goodness : 0.999146 Centerline is valid? [True, True] Translation: X:623.83, Y:7.99, Z:9.67 [[ 9.99852842e-01 -7.33403021e-03 -1.55082783e-02 6.23829543e+02] [ 7.33159905e-03 9.99973101e-01 -2.13613660e-04 7.99325774e+00] [ 1.55094278e-02 9.98817463e-05 9.99879717e-01 9.66765209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.309254154 meters Centerline goodness : 0.999273 Centerline is valid? [True, True] Translation: X:623.85, Y:8.00, Z:9.67 [[ 9.99806730e-01 -1.20836257e-02 -1.55077088e-02 6.23854462e+02] [ 1.20811231e-02 9.99926988e-01 -2.55051963e-04 7.99891558e+00] [ 1.55096585e-02 6.76521290e-05 9.99879716e-01 9.66625475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.339254154 meters Centerline goodness : 0.999038 Centerline is valid? [True, True] Translation: X:623.89, Y:7.99, Z:9.67 [[ 9.99845873e-01 -8.23826394e-03 -1.55036081e-02 6.23888942e+02] [ 8.23073043e-03 9.99965976e-01 -5.49664790e-04 7.99125603e+00] [ 1.55076089e-02 4.21974052e-04 9.99879661e-01 9.67136972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.3692541539999 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:623.91, Y:8.00, Z:9.67 [[ 9.99773975e-01 -1.45435316e-02 -1.55075837e-02 6.23913962e+02] [ 1.45414337e-02 9.99894237e-01 -2.48034703e-04 7.99647054e+00] [ 1.55095508e-02 2.24761405e-05 9.99879719e-01 9.66915154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.3992541539999 meters Centerline goodness : 0.994753 Centerline is valid? [True, True] Translation: X:623.94, Y:7.99, Z:9.67 [[ 9.99703669e-01 -1.87667599e-02 -1.55043116e-02 6.23942834e+02] [ 1.87617959e-02 9.99823874e-01 -4.65569612e-04 7.99386376e+00] [ 1.55103181e-02 1.74542918e-04 9.99879693e-01 9.67073026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.4292541539999 meters Centerline goodness : 0.999022 Centerline is valid? [True, True] Translation: X:623.97, Y:7.99, Z:9.67 [[ 9.99636475e-01 -2.20573991e-02 -1.55044670e-02 6.23971797e+02] [ 2.20529893e-02 9.99756700e-01 -4.55354571e-04 7.99273495e+00] [ 1.55107387e-02 1.13269193e-04 9.99879695e-01 9.67163772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.459254154 meters Centerline goodness : 0.999128 Centerline is valid? [True, True] Translation: X:624.00, Y:7.99, Z:9.67 [[ 9.99598405e-01 -2.37194173e-02 -1.55054211e-02 6.24002830e+02] [ 2.37162614e-02 9.99718655e-01 -3.87405612e-04 7.98936062e+00] [ 1.55102478e-02 1.95194123e-05 9.99879709e-01 9.67158344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.4892541539999 meters Centerline goodness : 0.999048 Centerline is valid? [True, True] Translation: X:624.03, Y:7.99, Z:9.67 [[ 9.99527042e-01 -2.65564960e-02 -1.55062937e-02 6.24033245e+02] [ 2.65546674e-02 9.99647310e-01 -3.23847664e-04 7.98564281e+00] [ 1.55094250e-02 -8.80699734e-05 9.99879718e-01 9.67240648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.5192541539999 meters Centerline goodness : 0.998812 Centerline is valid? [True, True] Translation: X:624.06, Y:7.98, Z:9.67 [[ 9.99262688e-01 -3.51224751e-02 -1.55078315e-02 6.24064919e+02] [ 3.51234336e-02 9.99382960e-01 -2.10633136e-04 7.98281899e+00] [ 1.55056605e-02 -3.34210456e-04 9.99879724e-01 9.67305568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.5492541539999 meters Centerline goodness : 0.998793 Centerline is valid? [True, True] Translation: X:624.10, Y:7.98, Z:9.67 [[ 9.99098878e-01 -3.95087113e-02 -1.55078391e-02 6.24097397e+02] [ 3.95102065e-02 9.99219145e-01 -2.10068231e-04 7.98220363e+00] [ 1.55040293e-02 -4.02838993e-04 9.99879724e-01 9.67417679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.579254154 meters Centerline goodness : 0.998964 Centerline is valid? [True, True] Translation: X:624.13, Y:7.98, Z:9.67 [[ 9.98923811e-01 -4.37118446e-02 -1.55078548e-02 6.24128829e+02] [ 4.37138638e-02 9.99044070e-01 -2.08905325e-04 7.98164053e+00] [ 1.55021620e-02 -4.69227749e-04 9.99879724e-01 9.67436598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.6092541539999 meters Centerline goodness : 0.998985 Centerline is valid? [True, True] Translation: X:624.16, Y:7.98, Z:9.67 [[ 9.98560379e-01 -5.13485669e-02 -1.55078664e-02 6.24161072e+02] [ 5.13515191e-02 9.98680619e-01 -2.08037671e-04 7.97963843e+00] [ 1.54980881e-02 -5.88614324e-04 9.99879724e-01 9.67468433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.6392541539999 meters Centerline goodness : 0.998858 Centerline is valid? [True, True] Translation: X:624.19, Y:7.98, Z:9.68 [[ 9.98384386e-01 -5.46637205e-02 -1.55079018e-02 6.24193732e+02] [ 5.46671133e-02 9.98504614e-01 -2.05368975e-04 7.97895697e+00] [ 1.54959377e-02 -6.42735046e-04 9.99879724e-01 9.67547548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.6692541539999 meters Centerline goodness : 0.998733 Centerline is valid? [True, True] Translation: X:624.23, Y:7.98, Z:9.67 [[ 9.98118496e-01 -5.93209334e-02 -1.55079247e-02 6.24225644e+02] [ 5.93249141e-02 9.98238705e-01 -2.03624288e-04 7.97822997e+00] [ 1.54926899e-02 -7.16765133e-04 9.99879724e-01 9.67426473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.699254154 meters Centerline goodness : 0.998859 Centerline is valid? [True, True] Translation: X:624.26, Y:7.98, Z:9.68 [[ 9.98004185e-01 -6.12139790e-02 -1.55079435e-02 6.24258017e+02] [ 6.12182100e-02 9.98124386e-01 -2.02178847e-04 7.97868253e+00] [ 1.54912328e-02 -7.47593209e-04 9.99879724e-01 9.67536098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.7292541539999 meters Centerline goodness : 0.998776 Centerline is valid? [True, True] Translation: X:624.30, Y:7.98, Z:9.68 [[ 9.98120743e-01 -5.92830947e-02 -1.55079602e-02 6.24295556e+02] [ 5.92871132e-02 9.98240952e-01 -2.00890100e-04 7.97606662e+00] [ 1.54925904e-02 -7.18909618e-04 9.99879724e-01 9.67617358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.7592541539999 meters Centerline goodness : 0.998925 Centerline is valid? [True, True] Translation: X:624.32, Y:7.98, Z:9.68 [[ 9.97943847e-01 -6.21890394e-02 -1.55113686e-02 6.24320611e+02] [ 6.21975895e-02 9.98063853e-01 6.89408133e-05 7.98107651e+00] [ 1.54770489e-02 -1.03356880e-03 9.99879689e-01 9.67731417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.7892541539999 meters Centerline goodness : 0.998774 Centerline is valid? [True, True] Translation: X:624.35, Y:7.98, Z:9.68 [[ 9.98020459e-01 -6.09480933e-02 -1.55078413e-02 6.24353555e+02] [ 6.09522957e-02 9.98140660e-01 -2.01957439e-04 7.98282206e+00] [ 1.54913158e-02 -7.43680870e-04 9.99879726e-01 9.67812417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.819254154 meters Centerline goodness : 0.998900 Centerline is valid? [True, True] Translation: X:624.39, Y:7.98, Z:9.68 [[ 9.98229788e-01 -5.74177405e-02 -1.55078635e-02 6.24385173e+02] [ 5.74215445e-02 9.98350002e-01 -2.00233268e-04 7.98476185e+00] [ 1.54937725e-02 -6.90606662e-04 9.99879726e-01 9.67861323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.8492541539999 meters Centerline goodness : 0.998816 Centerline is valid? [True, True] Translation: X:624.42, Y:7.99, Z:9.68 [[ 9.98364191e-01 -5.50313222e-02 -1.55078993e-02 6.24416842e+02] [ 5.50348823e-02 9.98484413e-01 -1.97424323e-04 7.98560162e+00] [ 1.54952602e-02 -6.56374038e-04 9.99879726e-01 9.67801234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.8792541539999 meters Centerline goodness : 0.998900 Centerline is valid? [True, True] Translation: X:624.45, Y:7.99, Z:9.68 [[ 9.98552370e-01 -5.15040758e-02 -1.55079166e-02 6.24453162e+02] [ 5.15072325e-02 9.98672602e-01 -1.96051385e-04 7.98550494e+00] [ 1.54974289e-02 -6.03002294e-04 9.99879726e-01 9.67921039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.9092541539999 meters Centerline goodness : 0.998982 Centerline is valid? [True, True] Translation: X:624.48, Y:7.99, Z:9.68 [[ 9.98743458e-01 -4.76544015e-02 -1.55100691e-02 6.24479963e+02] [ 4.76597748e-02 9.98863627e-01 -2.32154949e-05 7.99171101e+00] [ 1.54935502e-02 -7.16020078e-04 9.99879711e-01 9.68042361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.939254154 meters Centerline goodness : 0.999111 Centerline is valid? [True, True] Translation: X:624.51, Y:7.99, Z:9.68 [[ 9.98870249e-01 -4.49191606e-02 -1.55078797e-02 6.24511259e+02] [ 4.49215214e-02 9.98990500e-01 -1.96248641e-04 7.99418401e+00] [ 1.55010398e-02 -5.00610619e-04 9.99879726e-01 9.67927563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.9692541539999 meters Centerline goodness : 0.999192 Centerline is valid? [True, True] Translation: X:624.54, Y:8.00, Z:9.68 [[ 9.99103900e-01 -3.93815089e-02 -1.55078903e-02 6.24542996e+02] [ 3.93832162e-02 9.99224161e-01 -1.95402223e-04 7.99759252e+00] [ 1.55035539e-02 -4.15523475e-04 9.99879726e-01 9.68048043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.9992541539999 meters Centerline goodness : 0.999002 Centerline is valid? [True, True] Translation: X:624.57, Y:8.00, Z:9.68 [[ 9.99217095e-01 -3.63964472e-02 -1.55079043e-02 6.24574105e+02] [ 3.63978126e-02 9.99337361e-01 -1.94285090e-04 7.99932136e+00] [ 1.55046995e-02 -3.70320811e-04 9.99879726e-01 9.68009876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.0292541539999 meters Centerline goodness : 0.999043 Centerline is valid? [True, True] Translation: X:624.61, Y:8.00, Z:9.68 [[ 9.99313164e-01 -3.36556764e-02 -1.55079273e-02 6.24606152e+02] [ 3.36567406e-02 9.99433433e-01 -1.92433578e-04 8.00161134e+00] [ 1.55056175e-02 -3.29644880e-04 9.99879726e-01 9.68055453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.059254154 meters Centerline goodness : 0.999062 Centerline is valid? [True, True] Translation: X:624.64, Y:8.01, Z:9.68 [[ 9.99483895e-01 -2.81326770e-02 -1.55079409e-02 6.24636827e+02] [ 2.81330936e-02 9.99604168e-01 -1.91333671e-04 8.00601579e+00] [ 1.55071851e-02 -2.45051429e-04 9.99879726e-01 9.68147741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.089254154 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:624.67, Y:8.01, Z:9.68 [[ 9.99551591e-01 -2.56148287e-02 -1.55079509e-02 6.24667757e+02] [ 2.56149550e-02 9.99671865e-01 -1.90514996e-04 8.00799438e+00] [ 1.55077422e-02 -2.06805898e-04 9.99879726e-01 9.68311150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.1192541539999 meters Centerline goodness : 0.999273 Centerline is valid? [True, True] Translation: X:624.70, Y:8.01, Z:9.68 [[ 9.99615695e-01 -2.29774926e-02 -1.55079579e-02 6.24697983e+02] [ 2.29773105e-02 9.99735969e-01 -1.89942923e-04 8.00952081e+00] [ 1.55082278e-02 -1.66461237e-04 9.99879726e-01 9.68313294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.1492541539999 meters Centerline goodness : 0.998887 Centerline is valid? [True, True] Translation: X:624.73, Y:8.01, Z:9.68 [[ 9.99707740e-01 -1.85455575e-02 -1.55079614e-02 6.24728049e+02] [ 1.85448466e-02 9.99828012e-01 -1.89659481e-04 8.01365180e+00] [ 1.55088116e-02 -9.79887139e-05 9.99879726e-01 9.68443258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.1792541539999 meters Centerline goodness : 0.999293 Centerline is valid? [True, True] Translation: X:624.76, Y:8.02, Z:9.68 [[ 9.99739489e-01 -1.67468778e-02 -1.55079614e-02 6.24756840e+02] [ 1.67459504e-02 9.99859759e-01 -1.89659481e-04 8.01754579e+00] [ 1.55089628e-02 -7.00854807e-05 9.99879726e-01 9.68415202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.209254154 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:624.79, Y:8.02, Z:9.69 [[ 9.99806792e-01 -1.20793237e-02 -1.55070837e-02 6.24786660e+02] [ 1.20767396e-02 9.99927040e-01 -2.60272378e-04 8.01877559e+00] [ 1.55090962e-02 7.29470796e-05 9.99879724e-01 9.68561813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.2392541539999 meters Centerline goodness : 0.999015 Centerline is valid? [True, True] Translation: X:624.81, Y:8.02, Z:9.69 [[ 9.99810744e-01 -1.17465305e-02 -1.55079182e-02 6.24812747e+02] [ 1.17449446e-02 9.99931007e-01 -1.93339572e-04 8.02292462e+00] [ 1.55091193e-02 1.11633418e-05 9.99879726e-01 9.68549589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.2692541539999 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:624.84, Y:8.02, Z:9.69 [[ 9.99855467e-01 -6.97237782e-03 -1.55058283e-02 6.24843544e+02] [ 6.96765510e-03 9.99975661e-01 -3.58580078e-04 8.02176179e+00] [ 1.55079511e-02 2.50488988e-04 9.99879713e-01 9.68780042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.2992541539999 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:624.87, Y:8.02, Z:9.69 [[ 9.99857842e-01 -6.61898475e-03 -1.55076057e-02 6.24870513e+02] [ 6.61643549e-03 9.99978088e-01 -2.15688126e-04 8.02295240e+00] [ 1.55086935e-02 1.13052391e-04 9.99879727e-01 9.68834532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.329254154 meters Centerline goodness : 0.998968 Centerline is valid? [True, True] Translation: X:624.90, Y:8.02, Z:9.69 [[ 9.99857688e-01 -6.64300341e-03 -1.55072552e-02 6.24900666e+02] [ 6.64002957e-03 9.99977925e-01 -2.43250990e-04 8.02265330e+00] [ 1.55085288e-02 1.40247739e-04 9.99879726e-01 9.68890025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.3592541539999 meters Centerline goodness : 0.997015 Centerline is valid? [True, True] Translation: X:624.93, Y:8.02, Z:9.69 [[ 9.99845356e-01 -8.29287133e-03 -1.55078232e-02 6.24926224e+02] [ 8.29078231e-03 9.99965611e-01 -1.98993729e-04 8.02451015e+00] [ 1.55089401e-02 7.03909694e-05 9.99879727e-01 9.68939112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.3892541539999 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:624.96, Y:8.02, Z:9.69 [[ 9.99838093e-01 -9.13010894e-03 -1.55057951e-02 6.24956269e+02] [ 9.12577296e-03 9.99958298e-01 -3.50370000e-04 8.02289341e+00] [ 1.55083474e-02 2.08810907e-04 9.99879717e-01 9.68932800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.4192541539999 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:624.98, Y:8.02, Z:9.69 [[ 9.99801773e-01 -1.24870003e-02 -1.55077110e-02 6.24983008e+02] [ 1.24852991e-02 9.99922034e-01 -2.06512499e-04 8.02099972e+00] [ 1.55090806e-02 1.28531527e-05 9.99879727e-01 9.68818362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.449254154 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:625.01, Y:8.02, Z:9.69 [[ 9.99764917e-01 -1.51532829e-02 -1.55076850e-02 6.25011198e+02] [ 1.51518726e-02 9.99885182e-01 -2.08441521e-04 8.02014379e+00] [ 1.55090630e-02 -2.65779478e-05 9.99879727e-01 9.68876186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.4792541539999 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:625.04, Y:8.02, Z:9.69 [[ 9.99760945e-01 -1.54132038e-02 -1.55076217e-02 6.25040421e+02] [ 1.54117532e-02 9.99881209e-01 -2.13050301e-04 8.02057802e+00] [ 1.55090633e-02 -2.60002685e-05 9.99879727e-01 9.68921674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.5092541539999 meters Centerline goodness : 0.998801 Centerline is valid? [True, True] Translation: X:625.07, Y:8.02, Z:9.69 [[ 9.99723942e-01 -1.76509462e-02 -1.55075653e-02 6.25067822e+02] [ 1.76497023e-02 9.99844208e-01 -2.17081373e-04 8.01950204e+00] [ 1.55089810e-02 -5.66824653e-05 9.99879727e-01 9.68803048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.5392541539999 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:625.10, Y:8.02, Z:9.69 [[ 9.99646248e-01 -2.16077572e-02 -1.55075360e-02 6.25096264e+02] [ 2.16069571e-02 9.99766518e-01 -2.19155888e-04 8.01915957e+00] [ 1.55086507e-02 -1.15992303e-04 9.99879727e-01 9.68920547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.569254154 meters Centerline goodness : 0.998996 Centerline is valid? [True, True] Translation: X:625.13, Y:8.02, Z:9.69 [[ 9.99516279e-01 -2.69578653e-02 -1.55074787e-02 6.25125721e+02] [ 2.69576472e-02 9.99636552e-01 -2.23137976e-04 8.01637640e+00] [ 1.55078578e-02 -1.95015100e-04 9.99879727e-01 9.68849934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.5992541539999 meters Centerline goodness : 0.998914 Centerline is valid? [True, True] Translation: X:625.16, Y:8.02, Z:9.69 [[ 9.99447949e-01 -2.93822234e-02 -1.55074746e-02 6.25157014e+02] [ 2.93822926e-02 9.99568222e-01 -2.23420036e-04 8.01590724e+00] [ 1.55073434e-02 -2.32348459e-04 9.99879727e-01 9.68905018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.6292541539999 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:625.19, Y:8.02, Z:9.69 [[ 9.99358064e-01 -3.22951466e-02 -1.55075008e-02 6.25188943e+02] [ 3.22955948e-02 9.99478337e-01 -2.21588074e-04 8.01605875e+00] [ 1.55065673e-02 -2.79378132e-04 9.99879727e-01 9.69134887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.6592541539999 meters Centerline goodness : 0.999191 Centerline is valid? [True, True] Translation: X:625.22, Y:8.02, Z:9.69 [[ 9.99284966e-01 -3.44829524e-02 -1.55075171e-02 6.25220655e+02] [ 3.44836817e-02 9.99405237e-01 -2.20442604e-04 8.01574906e+00] [ 1.55058953e-02 -3.14471303e-04 9.99879727e-01 9.69195308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.689254154 meters Centerline goodness : 0.999106 Centerline is valid? [True, True] Translation: X:625.25, Y:8.01, Z:9.69 [[ 9.99122597e-01 -3.89044117e-02 -1.55075431e-02 6.25251574e+02] [ 3.89057018e-02 9.99242863e-01 -2.18599140e-04 8.01332479e+00] [ 1.55043062e-02 -3.84924505e-04 9.99879727e-01 9.69136859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.7192541539999 meters Centerline goodness : 0.998937 Centerline is valid? [True, True] Translation: X:625.28, Y:8.01, Z:9.69 [[ 9.99039152e-01 -4.09913157e-02 -1.55075549e-02 6.25283530e+02] [ 4.09928700e-02 9.99159415e-01 -2.17757775e-04 8.01213762e+00] [ 1.55034456e-02 -4.18150638e-04 9.99879727e-01 9.69103626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.7492541539999 meters Centerline goodness : 0.999068 Centerline is valid? [True, True] Translation: X:625.32, Y:8.01, Z:9.69 [[ 9.98852908e-01 -4.53032423e-02 -1.55075704e-02 6.25315742e+02] [ 4.53053330e-02 9.98973163e-01 -2.16643732e-04 8.01048356e+00] [ 1.55014613e-02 -4.86180421e-04 9.99879727e-01 9.69154082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.7792541539999 meters Centerline goodness : 0.999067 Centerline is valid? [True, True] Translation: X:625.35, Y:8.01, Z:9.69 [[ 9.98753162e-01 -4.74513992e-02 -1.55075861e-02 6.25348520e+02] [ 4.74537661e-02 9.98873412e-01 -2.15512617e-04 8.00999457e+00] [ 1.55003419e-02 -5.20649458e-04 9.99879727e-01 9.69199896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.809254154 meters Centerline goodness : 0.999151 Centerline is valid? [True, True] Translation: X:625.38, Y:8.01, Z:9.69 [[ 9.98644196e-01 -4.96918833e-02 -1.55076095e-02 6.25381551e+02] [ 4.96945462e-02 9.98764440e-01 -2.13818190e-04 8.00972781e+00] [ 1.54990740e-02 -5.57115323e-04 9.99879727e-01 9.69248452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.839254154 meters Centerline goodness : 0.998984 Centerline is valid? [True, True] Translation: X:625.41, Y:8.01, Z:9.69 [[ 9.98428354e-01 -5.38547627e-02 -1.55076326e-02 6.25413357e+02] [ 5.38579530e-02 9.98548585e-01 -2.12129176e-04 8.00908021e+00] [ 1.54965488e-02 -6.23413565e-04 9.99879727e-01 9.69264182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.8692541539999 meters Centerline goodness : 0.999109 Centerline is valid? [True, True] Translation: X:625.45, Y:8.01, Z:9.69 [[ 9.98215492e-01 -5.76657966e-02 -1.55076516e-02 6.25445222e+02] [ 5.76694677e-02 9.98335709e-01 -2.10729010e-04 8.00812591e+00] [ 1.54939943e-02 -6.83965053e-04 9.99879727e-01 9.69167726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.8992541539999 meters Centerline goodness : 0.999132 Centerline is valid? [True, True] Translation: X:625.48, Y:8.01, Z:9.69 [[ 9.98102344e-01 -5.95921325e-02 -1.55076665e-02 6.25477557e+02] [ 5.95960526e-02 9.98222554e-01 -2.09629580e-04 8.00781552e+00] [ 1.54925947e-02 -7.14963934e-04 9.99879727e-01 9.69176865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.9292541539999 meters Centerline goodness : 0.998961 Centerline is valid? [True, True] Translation: X:625.51, Y:8.01, Z:9.69 [[ 9.97975890e-01 -6.16736133e-02 -1.55076816e-02 6.25510127e+02] [ 6.16778015e-02 9.98096090e-01 -2.08507834e-04 8.00810976e+00] [ 1.54910158e-02 -7.48393915e-04 9.99879727e-01 9.69150631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.959254154 meters Centerline goodness : 0.998876 Centerline is valid? [True, True] Translation: X:625.54, Y:8.01, Z:9.69 [[ 9.97851364e-01 -6.36566363e-02 -1.55077040e-02 6.25543051e+02] [ 6.36610894e-02 9.97971554e-01 -2.06826518e-04 8.00857867e+00] [ 1.54894134e-02 -7.80855208e-04 9.99879727e-01 9.69208973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.9892541539999 meters Centerline goodness : 0.999088 Centerline is valid? [True, True] Translation: X:625.57, Y:8.01, Z:9.69 [[ 9.97619884e-01 -6.71868789e-02 -1.55077263e-02 6.25574800e+02] [ 6.71917833e-02 9.97740057e-01 -2.05142875e-04 8.00927260e+00] [ 1.54864626e-02 -8.37337173e-04 9.99879727e-01 9.69244456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.0192541539999 meters Centerline goodness : 0.999045 Centerline is valid? [True, True] Translation: X:625.61, Y:8.01, Z:9.69 [[ 9.97525075e-01 -6.85801334e-02 -1.55077625e-02 6.25608188e+02] [ 6.85852488e-02 9.97645239e-01 -2.02364639e-04 8.00953244e+00] [ 1.54851237e-02 -8.61739950e-04 9.99879727e-01 9.69264464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.0492541539999 meters Centerline goodness : 0.999109 Centerline is valid? [True, True] Translation: X:625.64, Y:8.01, Z:9.69 [[ 9.97357694e-01 -7.09728105e-02 -1.55077837e-02 6.25641425e+02] [ 7.09782395e-02 9.97477844e-01 -2.00726281e-04 8.01005555e+00] [ 1.54829168e-02 -9.00519288e-04 9.99879727e-01 9.69288876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.079254154 meters Centerline goodness : 0.999109 Centerline is valid? [True, True] Translation: X:625.67, Y:8.01, Z:9.69 [[ 9.97303838e-01 -7.17256075e-02 -1.55078049e-02 6.25673332e+02] [ 7.17311527e-02 9.97423983e-01 -1.99075463e-04 8.01093261e+00] [ 1.54821354e-02 -9.13854001e-04 9.99879727e-01 9.69311847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.1092541539999 meters Centerline goodness : 0.999024 Centerline is valid? [True, True] Translation: X:625.71, Y:8.01, Z:9.69 [[ 9.97274725e-01 -7.21292673e-02 -1.55078223e-02 6.25705901e+02] [ 7.21348823e-02 9.97394866e-01 -1.97709921e-04 8.01238101e+00] [ 1.54816831e-02 -9.21483832e-04 9.99879727e-01 9.69382596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.1392541539999 meters Centerline goodness : 0.999129 Centerline is valid? [True, True] Translation: X:625.74, Y:8.02, Z:9.69 [[ 9.97334285e-01 -7.13009932e-02 -1.55078437e-02 6.25738065e+02] [ 7.13065346e-02 9.97454430e-01 -1.96018539e-04 8.01535261e+00] [ 1.54823437e-02 -9.10314587e-04 9.99879727e-01 9.69455993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.1692541539999 meters Centerline goodness : 0.998895 Centerline is valid? [True, True] Translation: X:625.77, Y:8.02, Z:9.70 [[ 9.97408761e-01 -7.02514742e-02 -1.55078581e-02 6.25769966e+02] [ 7.02569069e-02 9.97528911e-01 -1.94876394e-04 8.01720389e+00] [ 1.54832271e-02 -8.95162718e-04 9.99879727e-01 9.69501563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.199254154 meters Centerline goodness : 0.999149 Centerline is valid? [True, True] Translation: X:625.80, Y:8.02, Z:9.70 [[ 9.97583477e-01 -6.77252691e-02 -1.55078758e-02 6.25802581e+02] [ 6.77304195e-02 9.97703640e-01 -1.93455242e-04 8.02027097e+00] [ 1.54853659e-02 -8.57367180e-04 9.99879727e-01 9.69625241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.2292541539999 meters Centerline goodness : 0.999235 Centerline is valid? [True, True] Translation: X:625.84, Y:8.02, Z:9.70 [[ 9.97675415e-01 -6.63571586e-02 -1.55078898e-02 6.25835249e+02] [ 6.63621618e-02 9.97795584e-01 -1.92324589e-04 8.02206760e+00] [ 1.54864661e-02 -8.37259579e-04 9.99879727e-01 9.69753540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.2592541539999 meters Centerline goodness : 0.999107 Centerline is valid? [True, True] Translation: X:625.87, Y:8.02, Z:9.70 [[ 9.97766875e-01 -6.49674379e-02 -1.55079110e-02 6.25867401e+02] [ 6.49723004e-02 9.97887050e-01 -1.90598923e-04 8.02392825e+00] [ 1.54875263e-02 -8.17411363e-04 9.99879727e-01 9.69779834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.2892541539999 meters Centerline goodness : 0.999106 Centerline is valid? [True, True] Translation: X:625.90, Y:8.03, Z:9.70 [[ 9.97926404e-01 -6.24691694e-02 -1.55079284e-02 6.25900009e+02] [ 6.24737532e-02 9.98046589e-01 -1.89171772e-04 8.02717004e+00] [ 1.54894525e-02 -7.80058987e-04 9.99879727e-01 9.70043874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.319254154 meters Centerline goodness : 0.999149 Centerline is valid? [True, True] Translation: X:625.93, Y:8.03, Z:9.70 [[ 9.98027317e-01 -6.08356613e-02 -1.55079423e-02 6.25931642e+02] [ 6.08400661e-02 9.98147510e-01 -1.88025775e-04 8.02875549e+00] [ 1.54906527e-02 -7.55849377e-04 9.99879727e-01 9.70093344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.3492541539999 meters Centerline goodness : 0.999126 Centerline is valid? [True, True] Translation: X:625.96, Y:8.03, Z:9.70 [[ 9.98225963e-01 -5.74841641e-02 -1.55079595e-02 6.25963392e+02] [ 5.74881874e-02 9.98346169e-01 -1.86597399e-04 8.03171590e+00] [ 1.54930384e-02 -7.05258115e-04 9.99879727e-01 9.70123954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.3792541539999 meters Centerline goodness : 0.999064 Centerline is valid? [True, True] Translation: X:626.00, Y:8.03, Z:9.70 [[ 9.98332232e-01 -5.56080608e-02 -1.55079761e-02 6.25996319e+02] [ 5.56118798e-02 9.98452445e-01 -1.85206214e-04 8.03341367e+00] [ 1.54942756e-02 -6.77530372e-04 9.99879727e-01 9.70146403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.4092541539999 meters Centerline goodness : 0.999230 Centerline is valid? [True, True] Translation: X:626.03, Y:8.04, Z:9.70 [[ 9.98430799e-01 -5.38093140e-02 -1.55079955e-02 6.26029344e+02] [ 5.38129416e-02 9.98551017e-01 -1.83574417e-04 8.03512662e+00] [ 1.54954026e-02 -6.51244502e-04 9.99879727e-01 9.70204421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.439254154 meters Centerline goodness : 0.999079 Centerline is valid? [True, True] Translation: X:626.06, Y:8.04, Z:9.70 [[ 9.98598479e-01 -5.06021693e-02 -1.55080158e-02 6.26061122e+02] [ 5.06054377e-02 9.98718707e-01 -1.81840412e-04 8.03762749e+00] [ 1.54973470e-02 -6.03204368e-04 9.99879727e-01 9.70210311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.4692541539999 meters Centerline goodness : 0.998971 Centerline is valid? [True, True] Translation: X:626.09, Y:8.04, Z:9.70 [[ 9.98706692e-01 -4.84194693e-02 -1.55080325e-02 6.26094159e+02] [ 4.84224973e-02 9.98826927e-01 -1.80402529e-04 8.03816129e+00] [ 1.54985754e-02 -5.70768449e-04 9.99879727e-01 9.70123055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.4992541539999 meters Centerline goodness : 0.999230 Centerline is valid? [True, True] Translation: X:626.13, Y:8.04, Z:9.70 [[ 9.98807914e-01 -4.62844509e-02 -1.55080523e-02 6.26125726e+02] [ 4.62872484e-02 9.98928155e-01 -1.78685629e-04 8.04060041e+00] [ 1.54997004e-02 -5.39352449e-04 9.99879727e-01 9.70301769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.5292541539999 meters Centerline goodness : 0.999335 Centerline is valid? [True, True] Translation: X:626.16, Y:8.04, Z:9.70 [[ 9.98881362e-01 -4.46712899e-02 -1.55080685e-02 6.26158573e+02] [ 4.46739153e-02 9.99001607e-01 -1.77263853e-04 8.04174747e+00] [ 1.55005040e-02 -5.15740581e-04 9.99879727e-01 9.70335327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.559254154 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:626.19, Y:8.04, Z:9.70 [[ 9.99043831e-01 -4.08769362e-02 -1.55080881e-02 6.26190775e+02] [ 4.08791316e-02 9.99164084e-01 -1.75540402e-04 8.04399845e+00] [ 1.55023001e-02 -4.58584617e-04 9.99879727e-01 9.70271880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.589254154 meters Centerline goodness : 0.999292 Centerline is valid? [True, True] Translation: X:626.22, Y:8.05, Z:9.70 [[ 9.99109360e-01 -3.92426486e-02 -1.55081009e-02 6.26223353e+02] [ 3.92446649e-02 9.99229616e-01 -1.74400826e-04 8.04560822e+00] [ 1.55029976e-02 -4.34364725e-04 9.99879727e-01 9.70378453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.6192541539999 meters Centerline goodness : 0.999463 Centerline is valid? [True, True] Translation: X:626.26, Y:8.05, Z:9.70 [[ 9.99165484e-01 -3.77866814e-02 -1.55081135e-02 6.26255641e+02] [ 3.77885401e-02 9.99285743e-01 -1.73269673e-04 8.04660075e+00] [ 1.55035840e-02 -4.12903892e-04 9.99879727e-01 9.70460438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.6492541539999 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:626.29, Y:8.05, Z:9.70 [[ 9.99316800e-01 -3.35474535e-02 -1.55081260e-02 6.26287981e+02] [ 3.35488194e-02 9.99437065e-01 -1.72143350e-04 8.04614102e+00] [ 1.55051709e-02 -3.48253578e-04 9.99879727e-01 9.70327985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.6792541539999 meters Centerline goodness : 0.999356 Centerline is valid? [True, True] Translation: X:626.32, Y:8.05, Z:9.70 [[ 9.99368539e-01 -3.19690620e-02 -1.55081386e-02 6.26319277e+02] [ 3.19702556e-02 9.99488806e-01 -1.71001550e-04 8.04670287e+00] [ 1.55056777e-02 -3.24905586e-04 9.99879727e-01 9.70452633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.709254154 meters Centerline goodness : 0.999334 Centerline is valid? [True, True] Translation: X:626.35, Y:8.05, Z:9.70 [[ 9.99445575e-01 -2.94625193e-02 -1.55081479e-02 6.26351475e+02] [ 2.94634246e-02 9.99565845e-01 -1.70150022e-04 8.04712605e+00] [ 1.55064280e-02 -2.86867461e-04 9.99879727e-01 9.70487602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.7392541539999 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:626.38, Y:8.05, Z:9.71 [[ 9.99595145e-01 -2.38546449e-02 -1.55081603e-02 6.26383244e+02] [ 2.38548929e-02 9.99715417e-01 -1.69019349e-04 8.04910231e+00] [ 1.55077788e-02 -2.00994581e-04 9.99879727e-01 9.70605386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.7692541539999 meters Centerline goodness : 0.999375 Centerline is valid? [True, True] Translation: X:626.41, Y:8.05, Z:9.71 [[ 9.99656111e-01 -2.11460916e-02 -1.55081726e-02 6.26414223e+02] [ 2.11460313e-02 9.99776384e-01 -1.67882469e-04 8.05024065e+00] [ 1.55082548e-02 -1.60111567e-04 9.99879727e-01 9.70703285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.7992541539999 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:626.44, Y:8.05, Z:9.71 [[ 9.99730387e-01 -1.72815032e-02 -1.55081787e-02 6.26444750e+02] [ 1.72809868e-02 9.99850659e-01 -1.67314331e-04 8.05060058e+00] [ 1.55087541e-02 -1.00727411e-04 9.99879727e-01 9.70741416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.829254154 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:626.47, Y:8.05, Z:9.71 [[ 9.99743686e-01 -1.64942167e-02 -1.55081787e-02 6.26473478e+02] [ 1.64936056e-02 9.99863957e-01 -1.67314331e-04 8.05053677e+00] [ 1.55088286e-02 -8.85143366e-05 9.99879727e-01 9.70759046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.8592541539999 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:626.50, Y:8.05, Z:9.71 [[ 9.99750982e-01 -1.60459059e-02 -1.55081694e-02 6.26502459e+02] [ 1.60452275e-02 9.99871253e-01 -1.68170803e-04 8.05001420e+00] [ 1.55088712e-02 -8.07031822e-05 9.99879727e-01 9.70786669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.8892541539999 meters Centerline goodness : 0.999309 Centerline is valid? [True, True] Translation: X:626.53, Y:8.05, Z:9.71 [[ 9.99737410e-01 -1.68703565e-02 -1.55081602e-02 6.26531117e+02] [ 1.68697643e-02 9.99857681e-01 -1.69012342e-04 8.04899696e+00] [ 1.55088044e-02 -9.26510475e-05 9.99879727e-01 9.70818599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.9192541539999 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:626.56, Y:8.05, Z:9.71 [[ 9.99716076e-01 -1.80904626e-02 -1.55081167e-02 6.26560189e+02] [ 1.80899565e-02 9.99836348e-01 -1.72918870e-04 8.04869304e+00] [ 1.55087069e-02 -1.07671383e-04 9.99879727e-01 9.70863232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.949254154 meters Centerline goodness : 0.999136 Centerline is valid? [True, True] Translation: X:626.59, Y:8.05, Z:9.71 [[ 9.99679692e-01 -2.00003217e-02 -1.55080724e-02 6.26588787e+02] [ 1.99999853e-02 9.99799965e-01 -1.76799600e-04 8.04685676e+00] [ 1.55085063e-02 -1.33418251e-04 9.99879727e-01 9.70865890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.9792541539999 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:626.62, Y:8.05, Z:9.71 [[ 9.99657407e-01 -2.10848151e-02 -1.55080630e-02 6.26618668e+02] [ 2.10845963e-02 9.99777679e-01 -1.77624391e-04 8.04580657e+00] [ 1.55083604e-02 -1.49417710e-04 9.99879727e-01 9.70818112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.0092541539999 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:626.65, Y:8.04, Z:9.71 [[ 9.99635147e-01 -2.21150069e-02 -1.55080568e-02 6.26648756e+02] [ 2.21149037e-02 9.99755420e-01 -1.78168087e-04 8.04478597e+00] [ 1.55082040e-02 -1.64856100e-04 9.99879727e-01 9.70807219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.0392541539999 meters Centerline goodness : 0.999444 Centerline is valid? [True, True] Translation: X:626.68, Y:8.04, Z:9.71 [[ 9.99581180e-01 -2.44328488e-02 -1.55080568e-02 6.26678684e+02] [ 2.44330245e-02 9.99701453e-01 -1.78168087e-04 8.04304973e+00] [ 1.55077800e-02 -2.00815263e-04 9.99879727e-01 9.70713016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.069254154 meters Centerline goodness : 0.999442 Centerline is valid? [True, True] Translation: X:626.71, Y:8.04, Z:9.71 [[ 9.99542566e-01 -2.59645889e-02 -1.55080536e-02 6.26709035e+02] [ 2.59649446e-02 9.99662838e-01 -1.78443276e-04 8.04260620e+00] [ 1.55074581e-02 -2.24304102e-04 9.99879727e-01 9.70705521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.0992541539999 meters Centerline goodness : 0.999335 Centerline is valid? [True, True] Translation: X:626.74, Y:8.04, Z:9.71 [[ 9.99462851e-01 -2.88705776e-02 -1.55080567e-02 6.26740420e+02] [ 2.88712871e-02 9.99583122e-01 -1.78174112e-04 8.04128171e+00] [ 1.55067357e-02 -2.69659151e-04 9.99879727e-01 9.70786021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.1292541539999 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:626.77, Y:8.04, Z:9.71 [[ 9.99409981e-01 -3.06462085e-02 -1.55080630e-02 6.26772921e+02] [ 3.06471403e-02 9.99530250e-01 -1.77619179e-04 8.04075778e+00] [ 1.55062215e-02 -2.97763404e-04 9.99879727e-01 9.70827689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.1592541539999 meters Centerline goodness : 0.999272 Centerline is valid? [True, True] Translation: X:626.81, Y:8.04, Z:9.71 [[ 9.99350356e-01 -3.25325338e-02 -1.55080761e-02 6.26805365e+02] [ 3.25337104e-02 9.99470623e-01 -1.76472179e-04 8.03984584e+00] [ 1.55056076e-02 -3.28177722e-04 9.99879727e-01 9.70858864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.189254154 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:626.84, Y:8.04, Z:9.71 [[ 9.99269904e-01 -3.49164514e-02 -1.55080892e-02 6.26836791e+02] [ 3.49179329e-02 9.99390168e-01 -1.75315243e-04 8.03892982e+00] [ 1.55047532e-02 -3.66323171e-04 9.99879727e-01 9.70855610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.2192541539999 meters Centerline goodness : 0.999230 Centerline is valid? [True, True] Translation: X:626.87, Y:8.04, Z:9.71 [[ 9.99110780e-01 -3.92064719e-02 -1.55080989e-02 6.26867893e+02] [ 3.92084831e-02 9.99231037e-01 -1.74452865e-04 8.03689846e+00] [ 1.55030134e-02 -4.33751293e-04 9.99879727e-01 9.70773869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.2492541539999 meters Centerline goodness : 0.999295 Centerline is valid? [True, True] Translation: X:626.90, Y:8.04, Z:9.71 [[ 9.99031254e-01 -4.11831488e-02 -1.55081081e-02 6.26900038e+02] [ 4.11854107e-02 9.99151506e-01 -1.73631975e-04 8.03651219e+00] [ 1.55021002e-02 -4.65244029e-04 9.99879727e-01 9.70849111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.2792541539999 meters Centerline goodness : 0.999209 Centerline is valid? [True, True] Translation: X:626.93, Y:8.04, Z:9.71 [[ 9.98954842e-01 -4.29967605e-02 -1.55081207e-02 6.26931781e+02] [ 4.29992582e-02 9.99075089e-01 -1.72497788e-04 8.03610737e+00] [ 1.55011939e-02 -4.94520185e-04 9.99879727e-01 9.70884725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.309254154 meters Centerline goodness : 0.999337 Centerline is valid? [True, True] Translation: X:626.96, Y:8.04, Z:9.71 [[ 9.98817099e-01 -4.60858020e-02 -1.55081333e-02 6.26963412e+02] [ 4.60886893e-02 9.98937337e-01 -1.71357718e-04 8.03527151e+00] [ 1.54995505e-02 -5.43594517e-04 9.99879727e-01 9.70894942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.339254154 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:627.00, Y:8.04, Z:9.71 [[ 9.98752876e-01 -4.74572335e-02 -1.55081640e-02 6.26996837e+02] [ 4.74603297e-02 9.98873109e-01 -1.68529087e-04 8.03512445e+00] [ 1.54986859e-02 -5.67703667e-04 9.99879727e-01 9.70915475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.3692541539999 meters Centerline goodness : 0.999230 Centerline is valid? [True, True] Translation: X:627.03, Y:8.03, Z:9.71 [[ 9.98609072e-01 -5.03926295e-02 -1.55081822e-02 6.27029011e+02] [ 5.03961054e-02 9.98729295e-01 -1.66837668e-04 8.03482672e+00] [ 1.54968833e-02 -6.14946376e-04 9.99879727e-01 9.70824083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.3992541539999 meters Centerline goodness : 0.999230 Centerline is valid? [True, True] Translation: X:627.06, Y:8.04, Z:9.71 [[ 9.98612666e-01 -5.03213663e-02 -1.55081971e-02 6.27061700e+02] [ 5.03248552e-02 9.98732888e-01 -1.65438040e-04 8.03511260e+00] [ 1.54968716e-02 -6.15239253e-04 9.99879727e-01 9.70874743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.4292541539999 meters Centerline goodness : 0.999273 Centerline is valid? [True, True] Translation: X:627.09, Y:8.04, Z:9.71 [[ 9.98556531e-01 -5.14232371e-02 -1.55082089e-02 6.27093786e+02] [ 5.14268759e-02 9.98676749e-01 -1.64331541e-04 8.03518386e+00] [ 1.54961381e-02 -6.33444398e-04 9.99879727e-01 9.70864245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.459254154 meters Centerline goodness : 0.999275 Centerline is valid? [True, True] Translation: X:627.13, Y:8.04, Z:9.71 [[ 9.98504493e-01 -5.24239620e-02 -1.55082205e-02 6.27125912e+02] [ 5.24277384e-02 9.98624707e-01 -1.63223652e-04 8.03546922e+00] [ 1.54954490e-02 -6.50081379e-04 9.99879727e-01 9.70871569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.4892541539999 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:627.16, Y:8.04, Z:9.71 [[ 9.98409674e-01 -5.41997996e-02 -1.55082349e-02 6.27158286e+02] [ 5.42038112e-02 9.98529880e-01 -1.61843218e-04 8.03639390e+00] [ 1.54942078e-02 -6.79019604e-04 9.99879727e-01 9.70897197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.5192541539999 meters Centerline goodness : 0.999423 Centerline is valid? [True, True] Translation: X:627.19, Y:8.04, Z:9.71 [[ 9.98347454e-01 -5.53340308e-02 -1.55082463e-02 6.27190551e+02] [ 5.53381959e-02 9.98467655e-01 -1.60750573e-04 8.03784305e+00] [ 1.54933772e-02 -6.97713444e-04 9.99879727e-01 9.70883211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.5492541539999 meters Centerline goodness : 0.999189 Centerline is valid? [True, True] Translation: X:627.22, Y:8.04, Z:9.71 [[ 9.98326325e-01 -5.57139441e-02 -1.55082575e-02 6.27223478e+02] [ 5.57181718e-02 9.98446523e-01 -1.59661987e-04 8.03873774e+00] [ 1.54930611e-02 -7.04696989e-04 9.99879727e-01 9.70950121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.579254154 meters Centerline goodness : 0.999318 Centerline is valid? [True, True] Translation: X:627.26, Y:8.04, Z:9.71 [[ 9.98312201e-01 -5.59664347e-02 -1.55082748e-02 6.27256184e+02] [ 5.59707193e-02 9.98432398e-01 -1.57955417e-04 8.03948443e+00] [ 1.54928042e-02 -7.10320478e-04 9.99879727e-01 9.71021079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.6092541539999 meters Centerline goodness : 0.999383 Centerline is valid? [True, True] Translation: X:627.29, Y:8.04, Z:9.71 [[ 9.98315417e-01 -5.59090346e-02 -1.55082924e-02 6.27289077e+02] [ 5.59133393e-02 9.98435613e-01 -1.56209926e-04 8.03995349e+00] [ 1.54927650e-02 -7.11173639e-04 9.99879727e-01 9.71040224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.6392541539999 meters Centerline goodness : 0.999340 Centerline is valid? [True, True] Translation: X:627.32, Y:8.04, Z:9.71 [[ 9.98378456e-01 -5.47718137e-02 -1.55083097e-02 6.27320011e+02] [ 5.47760084e-02 9.98498656e-01 -1.54476098e-04 8.04153293e+00] [ 1.54934873e-02 -6.95257694e-04 9.99879727e-01 9.71086224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.6692541539999 meters Centerline goodness : 0.999253 Centerline is valid? [True, True] Translation: X:627.35, Y:8.04, Z:9.71 [[ 9.98452281e-01 -5.34091170e-02 -1.55083182e-02 6.27352325e+02] [ 5.34131609e-02 9.98572486e-01 -1.53618097e-04 8.04293947e+00] [ 1.54943845e-02 -6.74967956e-04 9.99879727e-01 9.71171757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.699254154 meters Centerline goodness : 0.999359 Centerline is valid? [True, True] Translation: X:627.39, Y:8.05, Z:9.71 [[ 9.98634337e-01 -4.98894075e-02 -1.55083317e-02 6.27385544e+02] [ 4.98930491e-02 9.98754555e-01 -1.52242535e-04 8.04625005e+00] [ 1.54966122e-02 -6.21723331e-04 9.99879727e-01 9.71351070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.7292541539999 meters Centerline goodness : 0.999594 Centerline is valid? [True, True] Translation: X:627.42, Y:8.05, Z:9.71 [[ 9.98733479e-01 -4.78636450e-02 -1.55083485e-02 6.27417680e+02] [ 4.78670696e-02 9.98853704e-01 -1.50507740e-04 8.04815326e+00] [ 1.54977752e-02 -5.92022081e-04 9.99879727e-01 9.71455973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.7592541539999 meters Centerline goodness : 0.999401 Centerline is valid? [True, True] Translation: X:627.45, Y:8.05, Z:9.72 [[ 9.98831897e-01 -4.57638852e-02 -1.55083623e-02 6.27450273e+02] [ 4.57670792e-02 9.98952127e-01 -1.49072654e-04 8.05003737e+00] [ 1.54989337e-02 -5.60873926e-04 9.99879727e-01 9.71535974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.7892541539999 meters Centerline goodness : 0.999528 Centerline is valid? [True, True] Translation: X:627.48, Y:8.05, Z:9.72 [[ 9.98979508e-01 -4.24197223e-02 -1.55083732e-02 6.27482277e+02] [ 4.24225316e-02 9.99099748e-01 -1.47931949e-04 8.05234916e+00] [ 1.55006870e-02 -5.10123467e-04 9.99879727e-01 9.71526233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.819254154 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:627.51, Y:8.05, Z:9.72 [[ 9.99058747e-01 -4.05106276e-02 -1.55083840e-02 6.27514437e+02] [ 4.05132246e-02 9.99178992e-01 -1.46796029e-04 8.05351078e+00] [ 1.55015982e-02 -4.81636786e-04 9.99879727e-01 9.71562120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.8492541539999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:627.55, Y:8.05, Z:9.72 [[ 9.99142413e-01 -3.83917841e-02 -1.55083946e-02 6.27545202e+02] [ 3.83941437e-02 9.99262662e-01 -1.45661821e-04 8.05498822e+00] [ 1.55025519e-02 -4.49894629e-04 9.99879727e-01 9.71564377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.8792541539999 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:627.58, Y:8.06, Z:9.72 [[ 9.99298178e-01 -3.40975193e-02 -1.55084025e-02 6.27577701e+02] [ 3.40993752e-02 9.99418437e-01 -1.44818889e-04 8.05767922e+00] [ 1.55043213e-02 -3.84109583e-04 9.99879727e-01 9.71593663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.9092541539999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:627.61, Y:8.06, Z:9.72 [[ 9.99370838e-01 -3.18969650e-02 -1.55084127e-02 6.27610351e+02] [ 3.18985731e-02 9.99491101e-01 -1.43721349e-04 8.05910320e+00] [ 1.55051047e-02 -3.51065311e-04 9.99879727e-01 9.71644521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.939254154 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:627.64, Y:8.06, Z:9.72 [[ 9.99525340e-01 -2.66192287e-02 -1.55084230e-02 6.27642592e+02] [ 2.66202192e-02 9.99645609e-01 -1.42594401e-04 8.06169601e+00] [ 1.55067227e-02 -2.70310904e-04 9.99879727e-01 9.71682194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.9692541539999 meters Centerline goodness : 0.999675 Centerline is valid? [True, True] Translation: X:627.67, Y:8.06, Z:9.72 [[ 9.99593669e-01 -2.39162314e-02 -1.55084334e-02 6.27672736e+02] [ 2.39169144e-02 9.99713940e-01 -1.41453199e-04 8.06304466e+00] [ 1.55073801e-02 -2.29518153e-04 9.99879727e-01 9.71697013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.9992541539999 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:627.70, Y:8.06, Z:9.72 [[ 9.99663702e-01 -2.07839119e-02 -1.55084360e-02 6.27703955e+02] [ 2.07842224e-02 9.99783975e-01 -1.41171442e-04 8.06455454e+00] [ 1.55080199e-02 -1.81206816e-04 9.99879727e-01 9.71776359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.0292541539999 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:627.73, Y:8.07, Z:9.72 [[ 9.99763979e-01 -1.52142859e-02 -1.55084411e-02 6.27734152e+02] [ 1.52139351e-02 9.99884252e-01 -1.40610657e-04 8.06688923e+00] [ 1.55087853e-02 -9.53669454e-05 9.99879727e-01 9.71820866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.0592541539999 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:627.76, Y:8.07, Z:9.72 [[ 9.99820181e-01 -1.09130008e-02 -1.55084411e-02 6.27762829e+02] [ 1.09121325e-02 9.99940451e-01 -1.40610657e-04 8.06990720e+00] [ 1.55090521e-02 -2.86447918e-05 9.99879727e-01 9.71904355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.089254154 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:627.79, Y:8.07, Z:9.72 [[ 9.99837208e-01 -9.22211160e-03 -1.55084042e-02 6.27790391e+02] [ 9.22097856e-03 9.99957475e-01 -1.44565278e-04 8.07132022e+00] [ 1.55090779e-02 1.53908073e-06 9.99879727e-01 9.72016611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.1192541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:627.82, Y:8.07, Z:9.72 [[ 9.99859156e-01 -6.41548800e-03 -1.55083601e-02 6.27818479e+02] [ 6.41394620e-03 9.99979419e-01 -1.49153553e-04 8.07305005e+00] [ 1.55089978e-02 4.96627584e-05 9.99879727e-01 9.72128866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.1492541539999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:627.85, Y:8.07, Z:9.72 [[ 9.99862250e-01 -5.91368073e-03 -1.55083463e-02 6.27846385e+02] [ 5.91205659e-03 9.99982512e-01 -1.50571103e-04 8.07382356e+00] [ 1.55089655e-02 5.88641413e-05 9.99879727e-01 9.72210703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.1792541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:627.87, Y:8.07, Z:9.72 [[ 9.99862540e-01 -5.86455678e-03 -1.55083008e-02 6.27874292e+02] [ 5.86285618e-03 9.99982801e-01 -1.55119634e-04 8.07469813e+00] [ 1.55089438e-02 6.41753739e-05 9.99879727e-01 9.72274731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.209254154 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:627.90, Y:8.08, Z:9.72 [[ 9.99859895e-01 -6.29957983e-03 -1.55082542e-02 6.27900841e+02] [ 6.29786126e-03 9.99980156e-01 -1.59651439e-04 8.07659338e+00] [ 1.55089522e-02 6.19602380e-05 9.99879727e-01 9.72355978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.2392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:627.93, Y:8.08, Z:9.72 [[ 9.99857074e-01 -6.73243213e-03 -1.55082337e-02 6.27928084e+02] [ 6.73073516e-03 9.99977335e-01 -1.61616022e-04 8.07775239e+00] [ 1.55089703e-02 5.72111092e-05 9.99879727e-01 9.72370036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.2692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:627.96, Y:8.08, Z:9.72 [[ 9.99855507e-01 -6.96139430e-03 -1.55082132e-02 6.27955429e+02] [ 6.95969470e-03 9.99975768e-01 -1.63560951e-04 8.07821201e+00] [ 1.55089760e-02 5.56048885e-05 9.99879727e-01 9.72418880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.2992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:627.98, Y:8.08, Z:9.72 [[ 9.99843258e-01 -8.54138348e-03 -1.55081929e-02 6.27983597e+02] [ 8.53984437e-03 9.99963521e-01 -1.65465964e-04 8.07800948e+00] [ 1.55090405e-02 3.30024748e-05 9.99879727e-01 9.72446013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.329254154 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:628.01, Y:8.08, Z:9.72 [[ 9.99833059e-01 -9.66187982e-03 -1.55081452e-02 6.28011293e+02] [ 9.66040800e-03 9.99953323e-01 -1.69817235e-04 8.07822439e+00] [ 1.55090621e-02 1.99738755e-05 9.99879727e-01 9.72464807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.3592541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:628.04, Y:8.08, Z:9.73 [[ 9.99824646e-01 -1.04964868e-02 -1.55080963e-02 6.28038151e+02] [ 1.04950479e-02 9.99944910e-01 -1.74168493e-04 8.07861164e+00] [ 1.55090702e-02 1.13797376e-05 9.99879727e-01 9.72518306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.3892541539999 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:628.06, Y:8.08, Z:9.73 [[ 9.99813994e-01 -1.14663947e-02 -1.55080622e-02 6.28064801e+02] [ 1.14650261e-02 9.99934259e-01 -1.77159562e-04 8.07897648e+00] [ 1.55090740e-02 -6.73727814e-07 9.99879727e-01 9.72623749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.4192541539999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:628.09, Y:8.08, Z:9.73 [[ 9.99804405e-01 -1.22741031e-02 -1.55080278e-02 6.28092615e+02] [ 1.22727857e-02 9.99924670e-01 -1.80118219e-04 8.07932871e+00] [ 1.55090704e-02 -1.02437136e-05 9.99879727e-01 9.72776736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.449254154 meters Centerline goodness : 0.999674 Centerline is valid? [True, True] Translation: X:628.12, Y:8.08, Z:9.73 [[ 9.99798289e-01 -1.27625736e-02 -1.55079752e-02 6.28119525e+02] [ 1.27612464e-02 9.99918555e-01 -1.84542740e-04 8.07936032e+00] [ 1.55090674e-02 -1.33955756e-05 9.99879727e-01 9.72807890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.4792541539999 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:628.15, Y:8.08, Z:9.73 [[ 9.99797718e-01 -1.28072842e-02 -1.55079521e-02 6.28147141e+02] [ 1.28059326e-02 9.99917983e-01 -1.86458790e-04 8.07949208e+00] [ 1.55090682e-02 -1.21727159e-05 9.99879727e-01 9.72872800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.5092541539999 meters Centerline goodness : 0.999587 Centerline is valid? [True, True] Translation: X:628.17, Y:8.08, Z:9.73 [[ 9.99809433e-01 -1.18575937e-02 -1.55078985e-02 6.28174873e+02] [ 1.18560603e-02 9.99929696e-01 -1.90816901e-04 8.07870647e+00] [ 1.55090709e-02 6.91795829e-06 9.99879727e-01 9.73017993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.5392541539999 meters Centerline goodness : 0.999587 Centerline is valid? [True, True] Translation: X:628.20, Y:8.08, Z:9.73 [[ 9.99822223e-01 -1.07251540e-02 -1.55078420e-02 6.28202177e+02] [ 1.07234147e-02 9.99942483e-01 -1.95306412e-04 8.07814150e+00] [ 1.55090447e-02 2.89746702e-05 9.99879727e-01 9.72984152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.569254154 meters Centerline goodness : 0.999674 Centerline is valid? [True, True] Translation: X:628.23, Y:8.08, Z:9.73 [[ 9.99829092e-01 -1.00645522e-02 -1.55078173e-02 6.28229599e+02] [ 1.00627034e-02 9.99949350e-01 -1.97244970e-04 8.07795436e+00] [ 1.55090170e-02 4.11606932e-05 9.99879727e-01 9.73111170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.5992541539999 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:628.26, Y:8.08, Z:9.73 [[ 9.99845386e-01 -8.28933043e-03 -1.55077598e-02 6.28256928e+02] [ 8.28719949e-03 9.99965640e-01 -2.01669429e-04 8.07738068e+00] [ 1.55088986e-02 7.31223496e-05 9.99879727e-01 9.72992912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.6292541539999 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:628.28, Y:8.08, Z:9.73 [[ 9.99851130e-01 -7.56485953e-03 -1.55077346e-02 6.28284662e+02] [ 7.56261175e-03 9.99971382e-01 -2.03584464e-04 8.07745362e+00] [ 1.55088309e-02 8.62751808e-05 9.99879727e-01 9.73310398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.6592541539999 meters Centerline goodness : 0.999631 Centerline is valid? [True, True] Translation: X:628.31, Y:8.08, Z:9.73 [[ 9.99852522e-01 -7.37875041e-03 -1.55076764e-02 6.28312723e+02] [ 7.37641289e-03 9.99972772e-01 -2.07927168e-04 8.07752279e+00] [ 1.55087884e-02 9.35054793e-05 9.99879727e-01 9.73336261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.689254154 meters Centerline goodness : 0.999588 Centerline is valid? [True, True] Translation: X:628.34, Y:8.08, Z:9.73 [[ 9.99852845e-01 -7.33500129e-03 -1.55076172e-02 6.28340957e+02] [ 7.33259141e-03 9.99973094e-01 -2.12253562e-04 8.07716552e+00] [ 1.55087568e-02 9.85113076e-05 9.99879727e-01 9.73319489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.7192541539999 meters Centerline goodness : 0.999502 Centerline is valid? [True, True] Translation: X:628.37, Y:8.07, Z:9.73 [[ 9.99849648e-01 -7.75863181e-03 -1.55075649e-02 6.28368723e+02] [ 7.75621469e-03 9.99969897e-01 -2.16005251e-04 8.07459327e+00] [ 1.55087740e-02 9.56927715e-05 9.99879727e-01 9.73263257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.7492541539999 meters Centerline goodness : 0.999502 Centerline is valid? [True, True] Translation: X:628.40, Y:8.07, Z:9.73 [[ 9.99826904e-01 -1.02800617e-02 -1.55075045e-02 6.28397599e+02] [ 1.02778818e-02 9.99947157e-01 -2.20261505e-04 8.07188225e+00] [ 1.55089493e-02 6.08390800e-05 9.99879727e-01 9.73249597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.7792541539999 meters Centerline goodness : 0.999178 Centerline is valid? [True, True] Translation: X:628.43, Y:8.07, Z:9.73 [[ 9.99803989e-01 -1.23085754e-02 -1.55074893e-02 6.28425696e+02] [ 1.23066230e-02 9.99924246e-01 -2.21326092e-04 8.07107814e+00] [ 1.55090387e-02 3.04378862e-05 9.99879727e-01 9.73254467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.8092541539999 meters Centerline goodness : 0.999417 Centerline is valid? [True, True] Translation: X:628.45, Y:8.07, Z:9.73 [[ 9.99777430e-01 -1.43041529e-02 -1.55074703e-02 6.28453708e+02] [ 1.43024200e-02 9.99897690e-01 -2.22646536e-04 8.07030223e+00] [ 1.55090685e-02 8.02627345e-07 9.99879727e-01 9.73311210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.839254154 meters Centerline goodness : 0.998985 Centerline is valid? [True, True] Translation: X:628.48, Y:8.07, Z:9.73 [[ 9.99740046e-01 -1.67141139e-02 -1.55074090e-02 6.28481812e+02] [ 1.67126060e-02 9.99860309e-01 -2.26837862e-04 8.06974614e+00] [ 1.55090342e-02 -3.23903217e-05 9.99879727e-01 9.73395686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.8692541539999 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:628.51, Y:8.07, Z:9.74 [[ 9.99661232e-01 -2.09032020e-02 -1.55073467e-02 6.28510431e+02] [ 2.09021332e-02 9.99781500e-01 -2.31018383e-04 8.06668751e+00] [ 1.55087874e-02 -9.31965054e-05 9.99879727e-01 9.73695439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.8992541539999 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:628.54, Y:8.07, Z:9.74 [[ 9.99618038e-01 -2.28758017e-02 -1.55072872e-02 6.28540669e+02] [ 2.28749092e-02 9.99738307e-01 -2.34945398e-04 8.06534873e+00] [ 1.55086037e-02 -1.19872129e-04 9.99879727e-01 9.73724831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.9292541539999 meters Centerline goodness : 0.999335 Centerline is valid? [True, True] Translation: X:628.57, Y:8.06, Z:9.74 [[ 9.99524649e-01 -2.66458387e-02 -1.55072872e-02 6.28571537e+02] [ 2.66453999e-02 9.99644921e-01 -2.34945398e-04 8.06280464e+00] [ 1.55080412e-02 -1.78364152e-04 9.99879727e-01 9.73796822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.959254154 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:628.60, Y:8.06, Z:9.74 [[ 9.99474767e-01 -2.84554673e-02 -1.55072915e-02 6.28602543e+02] [ 2.84552506e-02 9.99595040e-01 -2.34666992e-04 8.06159572e+00] [ 1.55076892e-02 -2.06720126e-04 9.99879727e-01 9.73900280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.9892541539999 meters Centerline goodness : 0.999400 Centerline is valid? [True, True] Translation: X:628.63, Y:8.06, Z:9.74 [[ 9.99424621e-01 -3.01653833e-02 -1.55072999e-02 6.28633937e+02] [ 3.01653810e-02 9.99544894e-01 -2.34108563e-04 8.06021149e+00] [ 1.55073044e-02 -2.33809747e-04 9.99879727e-01 9.73947046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.0192541539999 meters Centerline goodness : 0.999125 Centerline is valid? [True, True] Translation: X:628.67, Y:8.06, Z:9.74 [[ 9.99359892e-01 -3.22386333e-02 -1.55073125e-02 6.28665648e+02] [ 3.22388934e-02 9.99480165e-01 -2.33271482e-04 8.05731980e+00] [ 1.55067716e-02 -2.66816431e-04 9.99879727e-01 9.74013096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.0492541539999 meters Centerline goodness : 0.999232 Centerline is valid? [True, True] Translation: X:628.70, Y:8.06, Z:9.74 [[ 9.99339505e-01 -3.28645214e-02 -1.55073383e-02 6.28698060e+02] [ 3.28648838e-02 9.99459777e-01 -2.31538890e-04 8.05651893e+00] [ 1.55065703e-02 -2.78260913e-04 9.99879727e-01 9.74121416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.079254154 meters Centerline goodness : 0.999253 Centerline is valid? [True, True] Translation: X:628.73, Y:8.05, Z:9.74 [[ 9.99366256e-01 -3.20407184e-02 -1.55073547e-02 6.28728871e+02] [ 3.20409987e-02 9.99486529e-01 -2.30436497e-04 8.05472817e+00] [ 1.55067755e-02 -2.66580673e-04 9.99879727e-01 9.74174698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.1092541539999 meters Centerline goodness : 0.999125 Centerline is valid? [True, True] Translation: X:628.76, Y:8.05, Z:9.74 [[ 9.99403345e-01 -3.08621911e-02 -1.55073669e-02 6.28760654e+02] [ 3.08623423e-02 9.99523618e-01 -2.29614449e-04 8.05468711e+00] [ 1.55070659e-02 -2.49116218e-04 9.99879727e-01 9.74248428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.1392541539999 meters Centerline goodness : 0.998846 Centerline is valid? [True, True] Translation: X:628.79, Y:8.05, Z:9.74 [[ 9.99446822e-01 -2.94205986e-02 -1.55073829e-02 6.28792005e+02] [ 2.94205932e-02 9.99567095e-01 -2.28528274e-04 8.05442377e+00] [ 1.55073931e-02 -2.27834546e-04 9.99879727e-01 9.74438555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.1692541539999 meters Centerline goodness : 0.996667 Centerline is valid? [True, True] Translation: X:628.82, Y:8.05, Z:9.74 [[ 9.99581938e-01 -2.44022606e-02 -1.55073913e-02 6.28821362e+02] [ 2.44016602e-02 9.99702209e-01 -2.27958630e-04 8.05310129e+00] [ 1.55083360e-02 -1.50542763e-04 9.99879727e-01 9.74033092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.199254154 meters Centerline goodness : 0.998998 Centerline is valid? [True, True] Translation: X:628.85, Y:8.05, Z:9.74 [[ 9.99598353e-01 -2.37212805e-02 -1.55059298e-02 6.28851477e+02] [ 2.37190714e-02 9.99718610e-01 -3.26382346e-04 8.05284328e+00] [ 1.55093088e-02 -4.15350015e-05 9.99879723e-01 9.74435058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.2292541539999 meters Centerline goodness : 0.998889 Centerline is valid? [True, True] Translation: X:628.88, Y:8.05, Z:9.74 [[ 9.99648653e-01 -2.14963158e-02 -1.55073765e-02 6.28881798e+02] [ 2.14953653e-02 9.99768922e-01 -2.27984105e-04 8.05303591e+00] [ 1.55086939e-02 -1.05432721e-04 9.99879727e-01 9.74414281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.2592541539999 meters Centerline goodness : 0.998978 Centerline is valid? [True, True] Translation: X:628.91, Y:8.05, Z:9.74 [[ 9.99692158e-01 -1.93677636e-02 -1.55073806e-02 6.28911437e+02] [ 1.93665615e-02 9.99812425e-01 -2.27703028e-04 8.05324090e+00] [ 1.55088819e-02 -7.26917095e-05 9.99879727e-01 9.74449953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.2892541539999 meters Centerline goodness : 0.998978 Centerline is valid? [True, True] Translation: X:628.94, Y:8.05, Z:9.74 [[ 9.99691463e-01 -1.94035986e-02 -1.55073725e-02 6.28941577e+02] [ 1.94023921e-02 9.99811730e-01 -2.28258894e-04 8.05371448e+00] [ 1.55088819e-02 -7.26916533e-05 9.99879727e-01 9.74496726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.319254154 meters Centerline goodness : 0.998954 Centerline is valid? [True, True] Translation: X:628.97, Y:8.05, Z:9.75 [[ 9.99758917e-01 -1.55444409e-02 -1.55073643e-02 6.28971258e+02] [ 1.55427615e-02 9.99879178e-01 -2.28814704e-04 8.05324772e+00] [ 1.55090474e-02 -1.22677239e-05 9.99879727e-01 9.74661240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.3492541539999 meters Centerline goodness : 0.998912 Centerline is valid? [True, True] Translation: X:629.00, Y:8.05, Z:9.75 [[ 9.99788140e-01 -1.35350277e-02 -1.55073559e-02 6.28999263e+02] [ 1.35330979e-02 9.99908397e-01 -2.29378287e-04 8.05360079e+00] [ 1.55090401e-02 1.94671249e-05 9.99879727e-01 9.74639005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.3792541539999 meters Centerline goodness : 0.999210 Centerline is valid? [True, True] Translation: X:629.03, Y:8.05, Z:9.75 [[ 9.99821252e-01 -1.08160157e-02 -1.55073351e-02 6.29028303e+02] [ 1.08137372e-02 9.99941503e-01 -2.30776960e-04 8.05387216e+00] [ 1.55089241e-02 6.30434623e-05 9.99879727e-01 9.74896256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.4092541539999 meters Centerline goodness : 0.998998 Centerline is valid? [True, True] Translation: X:629.06, Y:8.05, Z:9.75 [[ 9.99825271e-01 -1.04380189e-02 -1.55072758e-02 6.29056076e+02] [ 1.04356341e-02 9.99945520e-01 -2.34697657e-04 8.05366565e+00] [ 1.55088807e-02 7.28283931e-05 9.99879727e-01 9.74983875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.439254154 meters Centerline goodness : 0.998914 Centerline is valid? [True, True] Translation: X:629.08, Y:8.05, Z:9.75 [[ 9.99824696e-01 -1.04930471e-02 -1.55072069e-02 6.29084860e+02] [ 1.04905997e-02 9.99944944e-01 -2.39163426e-04 8.05175452e+00] [ 1.55088627e-02 7.64416005e-05 9.99879727e-01 9.75128269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.4692541539999 meters Centerline goodness : 0.998874 Centerline is valid? [True, True] Translation: X:629.11, Y:8.05, Z:9.75 [[ 9.99812962e-01 -1.15572619e-02 -1.55071453e-02 6.29112509e+02] [ 1.15548815e-02 9.99933211e-01 -2.43095839e-04 8.05106711e+00] [ 1.55089191e-02 6.38671450e-05 9.99879727e-01 9.75224261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.4992541539999 meters Centerline goodness : 0.999000 Centerline is valid? [True, True] Translation: X:629.14, Y:8.05, Z:9.75 [[ 9.99790986e-01 -1.33234623e-02 -1.55070733e-02 6.29140330e+02] [ 1.33212245e-02 9.99911238e-01 -2.47601006e-04 8.04999934e+00] [ 1.55089958e-02 4.09760492e-05 9.99879727e-01 9.75277853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.5292541539999 meters Centerline goodness : 0.999088 Centerline is valid? [True, True] Translation: X:629.17, Y:8.05, Z:9.75 [[ 9.99734356e-01 -1.70513986e-02 -1.55070004e-02 6.29168306e+02] [ 1.70495395e-02 9.99854614e-01 -2.52087482e-04 8.04700713e+00] [ 1.55090443e-02 -1.23666995e-05 9.99879727e-01 9.75297065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.5592541539999 meters Centerline goodness : 0.998962 Centerline is valid? [True, True] Translation: X:629.20, Y:8.05, Z:9.75 [[ 9.99694127e-01 -1.92662116e-02 -1.55069777e-02 6.29197506e+02] [ 1.92645975e-02 9.99814388e-01 -2.53475239e-04 8.04608264e+00] [ 1.55089829e-02 -4.53379756e-05 9.99879727e-01 9.75366192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.589254154 meters Centerline goodness : 0.999027 Centerline is valid? [True, True] Translation: X:629.23, Y:8.04, Z:9.75 [[ 9.99591292e-01 -2.40163333e-02 -1.55069137e-02 6.29226366e+02] [ 2.40152309e-02 9.99711560e-01 -2.57331131e-04 8.04255826e+00] [ 1.55086210e-02 -1.15176155e-04 9.99879727e-01 9.75457196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.6192541539999 meters Centerline goodness : 0.998929 Centerline is valid? [True, True] Translation: X:629.26, Y:8.04, Z:9.75 [[ 9.99531603e-01 -2.63839563e-02 -1.55068480e-02 6.29256589e+02] [ 2.63830782e-02 9.99651872e-01 -2.61230205e-04 8.04051935e+00] [ 1.55083420e-02 -1.48010540e-04 9.99879727e-01 9.75464346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.6492541539999 meters Centerline goodness : 0.998968 Centerline is valid? [True, True] Translation: X:629.29, Y:8.04, Z:9.75 [[ 9.99478930e-01 -2.83091278e-02 -1.55068480e-02 6.29286824e+02] [ 2.83084814e-02 9.99599201e-01 -2.61230205e-04 8.03824642e+00] [ 1.55080281e-02 -1.77881233e-04 9.99879727e-01 9.75385047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.6792541539999 meters Centerline goodness : 0.998904 Centerline is valid? [True, True] Translation: X:629.32, Y:8.04, Z:9.76 [[ 9.99307152e-01 -3.38342097e-02 -1.55068480e-02 6.29317866e+02] [ 3.38342282e-02 9.99427424e-01 -2.61230205e-04 8.03582406e+00] [ 1.55068077e-02 -2.63613023e-04 9.99879727e-01 9.75600558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.709254154 meters Centerline goodness : 0.998949 Centerline is valid? [True, True] Translation: X:629.35, Y:8.03, Z:9.76 [[ 9.99241919e-01 -3.57088870e-02 -1.55068576e-02 6.29349545e+02] [ 3.57091400e-02 9.99362191e-01 -2.60662664e-04 8.03456862e+00] [ 1.55062751e-02 -2.93271487e-04 9.99879727e-01 9.75673984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.7392541539999 meters Centerline goodness : 0.998905 Centerline is valid? [True, True] Translation: X:629.38, Y:8.03, Z:9.76 [[ 9.99185739e-01 -3.72477627e-02 -1.55068670e-02 6.29382090e+02] [ 3.72482096e-02 9.99306011e-01 -2.60097794e-04 8.03312830e+00] [ 1.55057935e-02 -3.17717027e-04 9.99879727e-01 9.75771359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.7692541539999 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:629.41, Y:8.03, Z:9.76 [[ 9.99121870e-01 -3.89233386e-02 -1.55068861e-02 6.29414800e+02] [ 3.89240048e-02 9.99242140e-01 -2.58957690e-04 8.02985371e+00] [ 1.55052135e-02 -3.44859818e-04 9.99879727e-01 9.75834700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.7992541539999 meters Centerline goodness : 0.994291 Centerline is valid? [True, True] Translation: X:629.44, Y:8.03, Z:9.75 [[ 9.99172826e-01 -3.75925447e-02 -1.55069050e-02 6.29444084e+02] [ 3.75930684e-02 9.99293098e-01 -2.57819182e-04 8.02800085e+00] [ 1.55056352e-02 -3.25346220e-04 9.99879727e-01 9.75345972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.829254154 meters Centerline goodness : 0.999140 Centerline is valid? [True, True] Translation: X:629.48, Y:8.03, Z:9.76 [[ 9.99124970e-01 -3.88443330e-02 -1.55052255e-02 6.29476783e+02] [ 3.88434388e-02 9.99245244e-01 -3.58937550e-04 8.02630182e+00] [ 1.55074656e-02 -2.43652809e-04 9.99879722e-01 9.75893981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.8592541539999 meters Centerline goodness : 0.998828 Centerline is valid? [True, True] Translation: X:629.51, Y:8.03, Z:9.76 [[ 9.99149553e-01 -3.82061036e-02 -1.55069357e-02 6.29509281e+02] [ 3.82067464e-02 9.99269823e-01 -2.54903423e-04 8.02584788e+00] [ 1.55053518e-02 -3.37782920e-04 9.99879728e-01 9.75979184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.8892541539999 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:629.54, Y:8.03, Z:9.76 [[ 9.99161707e-01 -3.78869106e-02 -1.55069542e-02 6.29540522e+02] [ 3.78875325e-02 9.99281977e-01 -2.53777186e-04 8.02556573e+00] [ 1.55054346e-02 -3.33955783e-04 9.99879728e-01 9.75994469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.9192541539999 meters Centerline goodness : 0.998893 Centerline is valid? [True, True] Translation: X:629.57, Y:8.02, Z:9.76 [[ 9.99182764e-01 -3.73274436e-02 -1.55069678e-02 6.29572391e+02] [ 3.73280112e-02 9.99303035e-01 -2.52938265e-04 8.02300173e+00] [ 1.55056016e-02 -3.26112714e-04 9.99879728e-01 9.76164392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.949254154 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:629.60, Y:8.02, Z:9.76 [[ 9.99177811e-01 -3.74597858e-02 -1.55069864e-02 6.29604598e+02] [ 3.74603870e-02 9.99298082e-01 -2.51794576e-04 8.02142089e+00] [ 1.55055339e-02 -3.29310159e-04 9.99879728e-01 9.76187036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.9792541539999 meters Centerline goodness : 0.998849 Centerline is valid? [True, True] Translation: X:629.64, Y:8.02, Z:9.76 [[ 9.99164824e-01 -3.78046023e-02 -1.55070048e-02 6.29637155e+02] [ 3.78052627e-02 9.99285094e-01 -2.50655571e-04 8.02005563e+00] [ 1.55053947e-02 -3.35800162e-04 9.99879728e-01 9.76311214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.0092541539999 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:629.67, Y:8.02, Z:9.76 [[ 9.99153504e-01 -3.81026025e-02 -1.55070234e-02 6.29668031e+02] [ 3.81033167e-02 9.99273774e-01 -2.49499220e-04 8.01903898e+00] [ 1.55052684e-02 -3.41581005e-04 9.99879728e-01 9.76330350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.0392541539999 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:629.70, Y:8.02, Z:9.76 [[ 9.99122076e-01 -3.89179765e-02 -1.55070539e-02 6.29698815e+02] [ 3.89188184e-02 9.99242345e-01 -2.47591625e-04 8.01722976e+00] [ 1.55049407e-02 -3.56141957e-04 9.99879728e-01 9.76270890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.069254154 meters Centerline goodness : 0.998788 Centerline is valid? [True, True] Translation: X:629.73, Y:8.02, Z:9.76 [[ 9.99113595e-01 -3.91350844e-02 -1.55070674e-02 6.29730979e+02] [ 3.91359656e-02 9.99233864e-01 -2.46744530e-04 8.01606270e+00] [ 1.55048432e-02 -3.60358241e-04 9.99879728e-01 9.76239349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.0992541539999 meters Centerline goodness : 0.998913 Centerline is valid? [True, True] Translation: X:629.76, Y:8.01, Z:9.76 [[ 9.99056870e-01 -4.05573691e-02 -1.55070848e-02 6.29762720e+02] [ 4.05584386e-02 9.99177138e-01 -2.45644566e-04 8.01370981e+00] [ 1.55042873e-02 -3.83530254e-04 9.99879728e-01 9.76396604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.1292541539999 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:629.79, Y:8.01, Z:9.76 [[ 9.99085101e-01 -3.98558781e-02 -1.55071029e-02 6.29794826e+02] [ 3.98568810e-02 9.99205369e-01 -2.44497012e-04 8.01135904e+00] [ 1.55045251e-02 -3.73791432e-04 9.99879728e-01 9.76440570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.1592541539999 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:629.82, Y:8.01, Z:9.76 [[ 9.98969695e-01 -4.26503305e-02 -1.55080233e-02 6.29823760e+02] [ 4.26525841e-02 9.99089947e-01 -1.85555382e-04 8.01127118e+00] [ 1.55018242e-02 -4.76093064e-04 9.99879726e-01 9.76487379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.189254154 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:629.86, Y:8.01, Z:9.77 [[ 9.98938994e-01 -4.33637469e-02 -1.55071260e-02 6.29856027e+02] [ 4.33651975e-02 9.99059258e-01 -2.42855838e-04 8.01030847e+00] [ 1.55030689e-02 -4.29871414e-04 9.99879728e-01 9.76602274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.2192541539999 meters Centerline goodness : 0.998997 Centerline is valid? [True, True] Translation: X:629.89, Y:8.01, Z:9.77 [[ 9.98905165e-01 -4.41361582e-02 -1.55071436e-02 6.29888535e+02] [ 4.41377194e-02 9.99025427e-01 -2.41723662e-04 8.00901732e+00] [ 1.55026995e-02 -4.42990938e-04 9.99879728e-01 9.76787750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.2492541539999 meters Centerline goodness : 0.998873 Centerline is valid? [True, True] Translation: X:629.92, Y:8.01, Z:9.77 [[ 9.98897138e-01 -4.43174416e-02 -1.55071612e-02 6.29920495e+02] [ 4.43190423e-02 9.99017400e-01 -2.40587959e-04 8.00897317e+00] [ 1.55025861e-02 -4.46939910e-04 9.99879728e-01 9.76900655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.2792541539999 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:629.95, Y:8.01, Z:9.77 [[ 9.98932693e-01 -4.35086566e-02 -1.55071787e-02 6.29951809e+02] [ 4.35101774e-02 9.99052955e-01 -2.39454200e-04 8.00728972e+00] [ 1.55029111e-02 -4.35521468e-04 9.99879728e-01 9.76913920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.3092541539999 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:629.98, Y:8.01, Z:9.77 [[ 9.98940042e-01 -4.33395920e-02 -1.55071917e-02 6.29984217e+02] [ 4.33411056e-02 9.99060304e-01 -2.38608994e-04 8.00657269e+00] [ 1.55029609e-02 -4.33742755e-04 9.99879728e-01 9.77001918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.339254154 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:630.02, Y:8.01, Z:9.77 [[ 9.98950524e-01 -4.30972898e-02 -1.55072092e-02 6.30016535e+02] [ 4.30987919e-02 9.99070787e-01 -2.37467882e-04 8.00581964e+00] [ 1.55030339e-02 -4.31123317e-04 9.99879728e-01 9.77009824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.3692541539999 meters Centerline goodness : 0.998934 Centerline is valid? [True, True] Translation: X:630.05, Y:8.00, Z:9.77 [[ 9.98923720e-01 -4.37141641e-02 -1.55072265e-02 6.30048110e+02] [ 4.37157581e-02 9.99043981e-01 -2.36335701e-04 8.00486926e+00] [ 1.55027325e-02 -4.41828823e-04 9.99879728e-01 9.76891753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.3992541539999 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:630.08, Y:8.00, Z:9.77 [[ 9.98901680e-01 -4.42149077e-02 -1.55072560e-02 6.30079887e+02] [ 4.42165922e-02 9.99021941e-01 -2.34382819e-04 8.00499959e+00] [ 1.55024522e-02 -4.51552623e-04 9.99879728e-01 9.76985587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.4292541539999 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:630.11, Y:8.00, Z:9.77 [[ 9.98851482e-01 -4.53347789e-02 -1.55072728e-02 6.30110609e+02] [ 4.53366156e-02 9.98971740e-01 -2.33266796e-04 8.00485509e+00] [ 1.55019024e-02 -4.70048380e-04 9.99879728e-01 9.77055878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.459254154 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:630.14, Y:8.00, Z:9.77 [[ 9.98832132e-01 -4.57591152e-02 -1.55072852e-02 6.30142838e+02] [ 4.57610158e-02 9.98952389e-01 -2.32437002e-04 8.00468068e+00] [ 1.55016757e-02 -4.77463577e-04 9.99879728e-01 9.77075302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.4892541539999 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:630.18, Y:8.00, Z:9.77 [[ 9.98804598e-01 -4.63562042e-02 -1.55073015e-02 6.30175351e+02] [ 4.63581937e-02 9.98924854e-01 -2.31342615e-04 8.00437922e+00] [ 1.55013531e-02 -4.87824420e-04 9.99879728e-01 9.77285923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.5192541539999 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:630.21, Y:8.00, Z:9.77 [[ 9.98754654e-01 -4.74200803e-02 -1.55073186e-02 6.30206660e+02] [ 4.74222157e-02 9.98874907e-01 -2.30192292e-04 8.00410101e+00] [ 1.55007872e-02 -5.05485786e-04 9.99879728e-01 9.77260664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.5492541539999 meters Centerline goodness : 0.998977 Centerline is valid? [True, True] Translation: X:630.24, Y:8.00, Z:9.77 [[ 9.98784418e-01 -4.67889795e-02 -1.55073313e-02 6.30235425e+02] [ 4.67910522e-02 9.98904673e-01 -2.29335184e-04 8.00471012e+00] [ 1.55010760e-02 -4.96547939e-04 9.99879728e-01 9.77165290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.579254154 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:630.27, Y:8.01, Z:9.77 [[ 9.98706504e-01 -4.84241188e-02 -1.55055816e-02 6.30268267e+02] [ 4.84245974e-02 9.98826782e-01 -3.44800695e-04 8.00540906e+00] [ 1.55040869e-02 -4.06496850e-04 9.99879722e-01 9.77307212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.6092541539999 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:630.30, Y:8.01, Z:9.78 [[ 9.98675454e-01 -4.90597879e-02 -1.55072714e-02 6.30300728e+02] [ 4.90620969e-02 9.98795703e-01 -2.31726659e-04 8.00563861e+00] [ 1.54999645e-02 -5.29399527e-04 9.99879728e-01 9.77537515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.6392541539999 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:630.33, Y:8.01, Z:9.77 [[ 9.98658690e-01 -4.93998446e-02 -1.55072880e-02 6.30332354e+02] [ 4.94022119e-02 9.98778939e-01 -2.30611226e-04 8.00599208e+00] [ 1.54997448e-02 -5.35792421e-04 9.99879728e-01 9.77364105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.6692541539999 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:630.37, Y:8.01, Z:9.77 [[ 9.98618594e-01 -5.02038601e-02 -1.55073003e-02 6.30365266e+02] [ 5.02063371e-02 9.98738840e-01 -2.29780300e-04 8.00573286e+00] [ 1.54992790e-02 -5.49101866e-04 9.99879728e-01 9.77385921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.699254154 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:630.40, Y:8.01, Z:9.78 [[ 9.98619300e-01 -5.01896077e-02 -1.55079726e-02 6.30395780e+02] [ 5.01927771e-02 9.98739531e-01 -1.85020683e-04 8.00576343e+00] [ 1.54977114e-02 -5.93622985e-04 9.99879727e-01 9.77862109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.7292541539999 meters Centerline goodness : 0.999309 Centerline is valid? [True, True] Translation: X:630.43, Y:8.01, Z:9.78 [[ 9.98585691e-01 -5.08542215e-02 -1.55069754e-02 6.30427793e+02] [ 5.08564463e-02 9.98705942e-01 -2.51084590e-04 8.00644037e+00] [ 1.54996772e-02 -5.37900183e-04 9.99879728e-01 9.78053854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.7592541539999 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:630.46, Y:8.01, Z:9.78 [[ 9.98561575e-01 -5.13254983e-02 -1.55072266e-02 6.30458668e+02] [ 5.13280377e-02 9.98681820e-01 -2.34467356e-04 8.00690953e+00] [ 1.54988195e-02 -5.61825420e-04 9.99879728e-01 9.78104892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.7892541539999 meters Centerline goodness : 0.999539 Centerline is valid? [True, True] Translation: X:630.49, Y:8.01, Z:9.78 [[ 9.98503781e-01 -5.24378128e-02 -1.55072394e-02 6.30490749e+02] [ 5.24404992e-02 9.98624023e-01 -2.33617793e-04 8.00650801e+00] [ 1.54981522e-02 -5.79939128e-04 9.99879728e-01 9.78271758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.819254154 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:630.52, Y:8.01, Z:9.78 [[ 9.98482666e-01 -5.28383379e-02 -1.55072566e-02 6.30522319e+02] [ 5.28410904e-02 9.98602907e-01 -2.32472838e-04 8.00627040e+00] [ 1.54978750e-02 -5.87300248e-04 9.99879728e-01 9.78198345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.8492541539999 meters Centerline goodness : 0.999226 Centerline is valid? [True, True] Translation: X:630.55, Y:8.01, Z:9.78 [[ 9.98399526e-01 -5.43866863e-02 -1.55072738e-02 6.30553375e+02] [ 5.43896432e-02 9.98519761e-01 -2.31319250e-04 8.00544557e+00] [ 1.54969000e-02 -6.12486059e-04 9.99879728e-01 9.78294941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.8792541539999 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:630.59, Y:8.01, Z:9.78 [[ 9.98335671e-01 -5.55466767e-02 -1.55066040e-02 6.30585314e+02] [ 5.55490797e-02 9.98455920e-01 -2.76034923e-04 8.00525648e+00] [ 1.54979934e-02 -5.85802071e-04 9.99879727e-01 9.78356169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.9092541539999 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:630.62, Y:8.01, Z:9.79 [[ 9.98315438e-01 -5.59089373e-02 -1.55072925e-02 6.30617529e+02] [ 5.59121054e-02 9.98435668e-01 -2.29515821e-04 8.00509231e+00] [ 1.54958659e-02 -6.37916186e-04 9.99879728e-01 9.78505539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.939254154 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:630.65, Y:8.01, Z:9.79 [[ 9.98303979e-01 -5.61131749e-02 -1.55073091e-02 6.30648777e+02] [ 5.61163850e-02 9.98424208e-01 -2.28392673e-04 8.00515099e+00] [ 1.54956886e-02 -6.42208811e-04 9.99879728e-01 9.78569571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.9692541539999 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:630.68, Y:8.00, Z:9.79 [[ 9.98306123e-01 -5.60750138e-02 -1.55073356e-02 6.30680757e+02] [ 5.60782476e-02 9.98426351e-01 -2.26572909e-04 8.00472277e+00] [ 1.54956376e-02 -6.43435085e-04 9.99879728e-01 9.78608724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.9992541539999 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:630.71, Y:8.00, Z:9.79 [[ 9.98340773e-01 -5.54546880e-02 -1.55073518e-02 6.30712053e+02] [ 5.54578643e-02 9.98461003e-01 -2.25461930e-04 8.00435978e+00] [ 1.54959889e-02 -6.34916774e-04 9.99879728e-01 9.78512575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.0292541539999 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:630.74, Y:8.00, Z:9.79 [[ 9.98372420e-01 -5.48819849e-02 -1.55073638e-02 6.30743637e+02] [ 5.48851051e-02 9.98492651e-01 -2.24633951e-04 8.00486581e+00] [ 1.54963171e-02 -6.26854949e-04 9.99879728e-01 9.78671453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.0592541539999 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:630.78, Y:8.00, Z:9.79 [[ 9.98405539e-01 -5.42761561e-02 -1.55073755e-02 6.30775089e+02] [ 5.42792158e-02 9.98525772e-01 -2.23823268e-04 8.00490013e+00] [ 1.54966623e-02 -6.18261790e-04 9.99879728e-01 9.78701586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.089254154 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:630.81, Y:8.00, Z:9.79 [[ 9.98431573e-01 -5.37951214e-02 -1.55073870e-02 6.30806908e+02] [ 5.37981357e-02 9.98551807e-01 -2.23019744e-04 8.00478955e+00] [ 1.54969267e-02 -6.11598558e-04 9.99879728e-01 9.78773784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.1192541539999 meters Centerline goodness : 0.999041 Centerline is valid? [True, True] Translation: X:630.84, Y:8.00, Z:9.79 [[ 9.98471787e-01 -5.30434842e-02 -1.55074024e-02 6.30839152e+02] [ 5.30464246e-02 9.98592023e-01 -2.21945069e-04 8.00442823e+00] [ 1.54973411e-02 -6.01006364e-04 9.99879728e-01 9.78915229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.1492541539999 meters Centerline goodness : 0.998811 Centerline is valid? [True, True] Translation: X:630.87, Y:8.00, Z:9.79 [[ 9.98560087e-01 -5.13543837e-02 -1.55074182e-02 6.30870845e+02] [ 5.13571378e-02 9.98680327e-01 -2.20839670e-04 8.00442983e+00] [ 1.54982945e-02 -5.75894932e-04 9.99879728e-01 9.79168157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.1792541539999 meters Centerline goodness : 0.998979 Centerline is valid? [True, True] Translation: X:630.90, Y:8.00, Z:9.79 [[ 9.98625355e-01 -5.00691488e-02 -1.55074346e-02 6.30902386e+02] [ 5.00717662e-02 9.98745598e-01 -2.19677306e-04 8.00482851e+00] [ 1.54989811e-02 -5.57109314e-04 9.99879728e-01 9.79224734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.209254154 meters Centerline goodness : 0.998979 Centerline is valid? [True, True] Translation: X:630.94, Y:8.01, Z:9.79 [[ 9.98629034e-01 -4.99957146e-02 -1.55074615e-02 6.30935064e+02] [ 4.99983529e-02 9.98749277e-01 -2.17767232e-04 8.00522721e+00] [ 1.54989533e-02 -5.57878850e-04 9.99879728e-01 9.79275377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.2392541539999 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:630.97, Y:8.01, Z:9.79 [[ 9.98755442e-01 -4.74034413e-02 -1.55074774e-02 6.30967489e+02] [ 4.74057851e-02 9.98875690e-01 -2.16627210e-04 8.00582708e+00] [ 1.55003110e-02 -5.18786535e-04 9.99879728e-01 9.79497205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.2692541539999 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:631.00, Y:8.01, Z:9.80 [[ 9.98843960e-01 -4.55001313e-02 -1.55074933e-02 6.30999280e+02] [ 4.55022637e-02 9.98964212e-01 -2.15481871e-04 8.00612628e+00] [ 1.55012353e-02 -4.90393284e-04 9.99879728e-01 9.79534358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.2992541539999 meters Centerline goodness : 0.998875 Centerline is valid? [True, True] Translation: X:631.03, Y:8.01, Z:9.80 [[ 9.98926883e-01 -4.36417080e-02 -1.55075092e-02 6.31030294e+02] [ 4.36436345e-02 9.99047140e-01 -2.14329902e-04 8.00676490e+00] [ 1.55020864e-02 -4.62704164e-04 9.99879728e-01 9.79657580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.329254154 meters Centerline goodness : 0.999251 Centerline is valid? [True, True] Translation: X:631.06, Y:8.01, Z:9.80 [[ 9.99112091e-01 -3.91732966e-02 -1.55075210e-02 6.31061452e+02] [ 3.91746986e-02 9.99232354e-01 -2.13471945e-04 8.00710555e+00] [ 1.55039791e-02 -3.94220061e-04 9.99879728e-01 9.79584727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.3592541539999 meters Centerline goodness : 0.998878 Centerline is valid? [True, True] Translation: X:631.09, Y:8.01, Z:9.80 [[ 9.99226502e-01 -3.61374448e-02 -1.55075327e-02 6.31092718e+02] [ 3.61384945e-02 9.99346769e-01 -2.12622366e-04 8.00748602e+00] [ 1.55050863e-02 -3.47960982e-04 9.99879728e-01 9.79624133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.3892541539999 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:631.12, Y:8.01, Z:9.80 [[ 9.99408711e-01 -3.06878423e-02 -1.55075403e-02 6.31123304e+02] [ 3.06882448e-02 9.99528982e-01 -2.12065459e-04 8.01012225e+00] [ 1.55067438e-02 -2.63959125e-04 9.99879728e-01 9.79919058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.4192541539999 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:631.15, Y:8.01, Z:9.80 [[ 9.99500108e-01 -2.75508761e-02 -1.55075441e-02 6.31154074e+02] [ 2.75509054e-02 9.99620379e-01 -2.11789465e-04 8.01104652e+00] [ 1.55074921e-02 -2.15563287e-04 9.99879728e-01 9.80043287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.449254154 meters Centerline goodness : 0.999438 Centerline is valid? [True, True] Translation: X:631.18, Y:8.01, Z:9.80 [[ 9.99571645e-01 -2.48202152e-02 -1.55075441e-02 6.31184339e+02] [ 2.48199159e-02 9.99691916e-01 -2.11789465e-04 8.01170962e+00] [ 1.55080231e-02 -1.73197196e-04 9.99879728e-01 9.80173790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.4792541539999 meters Centerline goodness : 0.998958 Centerline is valid? [True, True] Translation: X:631.21, Y:8.01, Z:9.80 [[ 9.99627398e-01 -2.24628802e-02 -1.55075441e-02 6.31213216e+02] [ 2.24622973e-02 9.99747668e-01 -2.11789465e-04 8.01219153e+00] [ 1.55083884e-02 -1.36624513e-04 9.99879728e-01 9.80219577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.5092541539999 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:631.24, Y:8.01, Z:9.80 [[ 9.99718400e-01 -1.79620877e-02 -1.55075293e-02 6.31241635e+02] [ 1.79609466e-02 9.99838667e-01 -2.12865875e-04 8.01226631e+00] [ 1.55088509e-02 -6.57239739e-05 9.99879728e-01 9.80339712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.5392541539999 meters Centerline goodness : 0.999562 Centerline is valid? [True, True] Translation: X:631.27, Y:8.01, Z:9.80 [[ 9.99756955e-01 -1.56699917e-02 -1.55075183e-02 6.31269084e+02] [ 1.56685625e-02 9.99877218e-01 -2.13662982e-04 8.01248332e+00] [ 1.55089624e-02 -2.93694669e-05 9.99879728e-01 9.80477934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.569254154 meters Centerline goodness : 0.999562 Centerline is valid? [True, True] Translation: X:631.30, Y:8.01, Z:9.81 [[ 9.99752561e-01 -1.59479301e-02 -1.55074577e-02 6.31297486e+02] [ 1.59464674e-02 9.99872823e-01 -2.17976787e-04 8.01296771e+00] [ 1.55089618e-02 -2.93663176e-05 9.99879728e-01 9.80522103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.5992541539999 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:631.32, Y:8.01, Z:9.80 [[ 9.99749922e-01 -1.61125174e-02 -1.55073959e-02 6.31324897e+02] [ 1.61110077e-02 9.99870185e-01 -2.22287427e-04 8.01296187e+00] [ 1.55089644e-02 -2.76079366e-05 9.99879728e-01 9.80421701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.6292541539999 meters Centerline goodness : 0.998851 Centerline is valid? [True, True] Translation: X:631.35, Y:8.01, Z:9.80 [[ 9.99732447e-01 -1.71626279e-02 -1.55073529e-02 6.31352157e+02] [ 1.71611986e-02 9.99852710e-01 -2.25249530e-04 8.01284658e+00] [ 1.55089347e-02 -4.09354980e-05 9.99879728e-01 9.80392231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.6592541539999 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:631.38, Y:8.01, Z:9.81 [[ 9.99682890e-01 -1.98403961e-02 -1.55073264e-02 6.31381098e+02] [ 1.98392609e-02 9.99803157e-01 -2.27056610e-04 8.01136572e+00] [ 1.55087788e-02 -8.06692850e-05 9.99879728e-01 9.80792551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.689254154 meters Centerline goodness : 0.998767 Centerline is valid? [True, True] Translation: X:631.41, Y:8.01, Z:9.81 [[ 9.99650154e-01 -2.14264980e-02 -1.55072668e-02 6.31409598e+02] [ 2.14254915e-02 9.99770421e-01 -2.31055452e-04 8.01002189e+00] [ 1.55086574e-02 -1.01276195e-04 9.99879728e-01 9.80694601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.7192541539999 meters Centerline goodness : 0.999064 Centerline is valid? [True, True] Translation: X:631.44, Y:8.01, Z:9.81 [[ 9.99594381e-01 -2.38872540e-02 -1.55072064e-02 6.31438337e+02] [ 2.38864817e-02 9.99714650e-01 -2.35042131e-04 8.00943846e+00] [ 1.55083959e-02 -1.35465809e-04 9.99879728e-01 9.80871539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.7492541539999 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:631.47, Y:8.01, Z:9.81 [[ 9.99493898e-01 -2.77754490e-02 -1.55071452e-02 6.31468162e+02] [ 2.77750830e-02 9.99614169e-01 -2.39014844e-04 8.00722627e+00] [ 1.55078008e-02 -1.91818366e-04 9.99879728e-01 9.81084317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.7792541539999 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:631.50, Y:8.01, Z:9.81 [[ 9.99446910e-01 -2.94177354e-02 -1.55071363e-02 6.31497614e+02] [ 2.94175580e-02 9.99567181e-01 -2.39588715e-04 8.00680400e+00] [ 1.55074727e-02 -2.16725881e-04 9.99879728e-01 9.80981128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.8092541539999 meters Centerline goodness : 0.998832 Centerline is valid? [True, True] Translation: X:631.53, Y:8.00, Z:9.81 [[ 9.99362546e-01 -3.21563527e-02 -1.55071319e-02 6.31527793e+02] [ 3.21565005e-02 9.99482817e-01 -2.39873663e-04 8.00492868e+00] [ 1.55068253e-02 -2.58934339e-04 9.99879728e-01 9.81033344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.839254154 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:631.56, Y:8.00, Z:9.81 [[ 9.99328334e-01 -3.32025625e-02 -1.55071319e-02 6.31557711e+02] [ 3.32028363e-02 9.99448605e-01 -2.39873663e-04 8.00357409e+00] [ 1.55065457e-02 -2.75168213e-04 9.99879728e-01 9.80904738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.8692541539999 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:631.59, Y:8.00, Z:9.81 [[ 9.99285898e-01 -3.44560910e-02 -1.55071463e-02 6.31588575e+02] [ 3.44565301e-02 9.99406169e-01 -2.38939582e-04 8.00279460e+00] [ 1.55061706e-02 -2.95553497e-04 9.99879728e-01 9.80988447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.8992541539999 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:631.62, Y:8.00, Z:9.81 [[ 9.99271864e-01 -3.48607177e-02 -1.55071463e-02 6.31620302e+02] [ 3.48612055e-02 9.99392135e-01 -2.38939582e-04 8.00194819e+00] [ 1.55060496e-02 -3.01832211e-04 9.99879728e-01 9.81213989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.9292541539999 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:631.65, Y:8.00, Z:9.81 [[ 9.99301139e-01 -3.40111951e-02 -1.55071549e-02 6.31650516e+02] [ 3.40115893e-02 9.99421410e-01 -2.38380920e-04 8.00081626e+00] [ 1.55062902e-02 -2.89208657e-04 9.99879728e-01 9.81297582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.959254154 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:631.68, Y:8.00, Z:9.81 [[ 9.99353963e-01 -3.24219871e-02 -1.55071591e-02 6.31681039e+02] [ 3.24221944e-02 9.99474234e-01 -2.38103658e-04 8.00043607e+00] [ 1.55067258e-02 -2.64826293e-04 9.99879728e-01 9.81263298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.9892541539999 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:631.71, Y:8.00, Z:9.81 [[ 9.99408395e-01 -3.06983323e-02 -1.55071633e-02 6.31711659e+02] [ 3.06983363e-02 9.99528667e-01 -2.37831961e-04 8.00040244e+00] [ 1.55071553e-02 -2.38352855e-04 9.99879728e-01 9.81322969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.0192541539999 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:631.74, Y:8.00, Z:9.81 [[ 9.99509740e-01 -2.71994168e-02 -1.55071633e-02 6.31740948e+02] [ 2.71989998e-02 9.99630010e-01 -2.37831961e-04 7.99999429e+00] [ 1.55078947e-02 -1.84063969e-04 9.99879728e-01 9.81495016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.0492541539999 meters Centerline goodness : 0.999393 Centerline is valid? [True, True] Translation: X:631.77, Y:8.00, Z:9.82 [[ 9.99560397e-01 -2.52693823e-02 -1.55071592e-02 6.31769126e+02] [ 2.52687289e-02 9.99680666e-01 -2.38099166e-04 7.99973866e+00] [ 1.55082238e-02 -1.53851706e-04 9.99879728e-01 9.81580349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.079254154 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:631.80, Y:8.00, Z:9.82 [[ 9.99617704e-01 -2.28904973e-02 -1.55071470e-02 6.31799006e+02] [ 2.28895454e-02 9.99737972e-01 -2.38891708e-04 7.99937763e+00] [ 1.55085520e-02 -1.16151164e-04 9.99879728e-01 9.81562480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.1092541539999 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:631.83, Y:8.00, Z:9.82 [[ 9.99658586e-01 -2.10294922e-02 -1.55071388e-02 6.31827744e+02] [ 2.10283082e-02 9.99778852e-01 -2.39420239e-04 7.99950047e+00] [ 1.55087443e-02 -8.67503965e-05 9.99879728e-01 9.81689621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.1392541539999 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:631.86, Y:8.00, Z:9.82 [[ 9.99750539e-01 -1.60745127e-02 -1.55070809e-02 6.31856892e+02] [ 1.60726753e-02 9.99870797e-01 -2.43116521e-04 7.99843483e+00] [ 1.55089853e-02 -6.18440252e-06 9.99879728e-01 9.81886126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.1692541539999 meters Centerline goodness : 0.999393 Centerline is valid? [True, True] Translation: X:631.89, Y:8.00, Z:9.82 [[ 9.99786460e-01 -1.36589375e-02 -1.55070186e-02 6.31885443e+02] [ 1.36567490e-02 9.99906712e-01 -2.47021883e-04 7.99829668e+00] [ 1.55089461e-02 3.51936730e-05 9.99879728e-01 9.82048259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.199254154 meters Centerline goodness : 0.999539 Centerline is valid? [True, True] Translation: X:631.91, Y:8.00, Z:9.82 [[ 9.99834684e-01 -9.49418831e-03 -1.55069550e-02 6.31913780e+02] [ 9.49143789e-03 9.99954924e-01 -2.50955150e-04 7.99710495e+00] [ 1.55086386e-02 1.03730363e-04 9.99879728e-01 9.82254956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.2292541539999 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:631.94, Y:8.00, Z:9.82 [[ 9.99847910e-01 -7.98080355e-03 -1.55068905e-02 6.31942873e+02] [ 7.97781024e-03 9.99968144e-01 -2.54881166e-04 7.99638895e+00] [ 1.55084306e-02 1.31131372e-04 9.99879728e-01 9.82298568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.2592541539999 meters Centerline goodness : 0.999351 Centerline is valid? [True, True] Translation: X:631.97, Y:8.00, Z:9.82 [[ 9.99855707e-01 -6.93561928e-03 -1.55068249e-02 6.31970944e+02] [ 6.93243940e-03 9.99975937e-01 -2.58807166e-04 7.99557660e+00] [ 1.55082468e-02 1.51269698e-04 9.99879728e-01 9.82344726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.2892541539999 meters Centerline goodness : 0.999686 Centerline is valid? [True, True] Translation: X:632.00, Y:7.99, Z:9.82 [[ 9.99866356e-01 -5.17789460e-03 -1.55067480e-02 6.31999153e+02] [ 5.17443312e-03 9.99986578e-01 -2.63337373e-04 7.99296477e+00] [ 1.55079034e-02 1.83063549e-04 9.99879728e-01 9.82386424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.319254154 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:632.03, Y:7.99, Z:9.82 [[ 9.99867346e-01 -4.98319409e-03 -1.55067241e-02 6.32027368e+02] [ 4.97968749e-03 9.99987566e-01 -2.64737921e-04 7.99197835e+00] [ 1.55078505e-02 1.87484162e-04 9.99879728e-01 9.82355053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.3492541539999 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:632.05, Y:7.99, Z:9.82 [[ 9.99869752e-01 -4.47472934e-03 -1.55066462e-02 6.32053917e+02] [ 4.47109203e-03 9.99989968e-01 -2.69224294e-04 7.98913909e+00] [ 1.55076954e-02 1.99857586e-04 9.99879728e-01 9.82363942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.3792541539999 meters Centerline goodness : 0.999476 Centerline is valid? [True, True] Translation: X:632.08, Y:7.99, Z:9.83 [[ 9.99867850e-01 -4.88137042e-03 -1.55066122e-02 6.32082363e+02] [ 4.87775187e-03 9.99988067e-01 -2.71168201e-04 7.98778269e+00] [ 1.55077508e-02 1.95494960e-04 9.99879728e-01 9.82519165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.4092541539999 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:632.11, Y:7.99, Z:9.83 [[ 9.99866539e-01 -5.14316616e-03 -1.55065414e-02 6.32110164e+02] [ 5.13951720e-03 9.99986755e-01 -2.75159380e-04 7.98626214e+00] [ 1.55077512e-02 1.95426521e-04 9.99879728e-01 9.82686799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.439254154 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:632.14, Y:7.98, Z:9.83 [[ 9.99866996e-01 -5.05364518e-03 -1.55064587e-02 6.32138831e+02] [ 5.04991437e-03 9.99987210e-01 -2.79743533e-04 7.98199624e+00] [ 1.55076741e-02 2.01400037e-04 9.99879729e-01 9.82821207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.4692541539999 meters Centerline goodness : 0.999686 Centerline is valid? [True, True] Translation: X:632.17, Y:7.98, Z:9.83 [[ 9.99868049e-01 -4.84109112e-03 -1.55063860e-02 6.32166643e+02] [ 4.83727312e-03 9.99988260e-01 -2.83718847e-04 7.98007352e+00] [ 1.55075774e-02 2.08672786e-04 9.99879729e-01 9.82845437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.4992541539999 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:632.20, Y:7.98, Z:9.83 [[ 9.99871197e-01 -4.14029901e-03 -1.55063601e-02 6.32195001e+02] [ 4.13637496e-03 9.99991405e-01 -2.85124583e-04 7.97828195e+00] [ 1.55074073e-02 2.20947738e-04 9.99879729e-01 9.82822819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.5292541539999 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:632.22, Y:7.98, Z:9.83 [[ 9.99876407e-01 -2.59334184e-03 -1.55062761e-02 6.32223225e+02] [ 2.58916208e-03 9.99996606e-01 -2.89622136e-04 7.97542961e+00] [ 1.55069746e-02 2.49438079e-04 9.99879729e-01 9.82925438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.5592541539999 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:632.25, Y:7.97, Z:9.83 [[ 9.99877977e-01 -1.89447930e-03 -1.55061903e-02 6.32251099e+02] [ 1.89014538e-03 9.99998170e-01 -2.94147025e-04 7.97375415e+00] [ 1.55067192e-02 2.64802178e-04 9.99879729e-01 9.83062498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.589254154 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:632.28, Y:7.97, Z:9.83 [[ 9.99878069e-01 -1.84605368e-03 -1.55061020e-02 6.32279452e+02] [ 1.84164286e-03 9.99998260e-01 -2.98731072e-04 7.97190257e+00] [ 1.55066264e-02 2.70137946e-04 9.99879729e-01 9.83158575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.6192541539999 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] Translation: X:632.31, Y:7.97, Z:9.83 [[ 9.99878252e-01 -1.74521496e-03 -1.55060130e-02 6.32307203e+02] [ 1.74072151e-03 9.99998439e-01 -3.03278932e-04 7.96968037e+00] [ 1.55065181e-02 2.76250358e-04 9.99879729e-01 9.83080391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.6492541539999 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:632.34, Y:7.96, Z:9.83 [[ 9.99877530e-01 -2.11923558e-03 -1.55059220e-02 6.32335329e+02] [ 2.11471608e-03 9.99997717e-01 -3.07860015e-04 7.96440571e+00] [ 1.55065391e-02 2.75031689e-04 9.99879729e-01 9.83118659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.6792541539999 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:632.36, Y:7.96, Z:9.83 [[ 9.99874954e-01 -3.10575292e-03 -1.55058301e-02 6.32363129e+02] [ 3.10128123e-03 9.99995142e-01 -3.12424654e-04 7.96221413e+00] [ 1.55067251e-02 2.64297647e-04 9.99879729e-01 9.83277036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.709254154 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:632.39, Y:7.96, Z:9.83 [[ 9.99868851e-01 -4.67445688e-03 -1.55058015e-02 6.32390891e+02] [ 4.67015189e-03 9.99989046e-01 -3.13835453e-04 7.95747004e+00] [ 1.55070987e-02 2.41379846e-04 9.99879729e-01 9.83336111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.7392541539999 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:632.42, Y:7.96, Z:9.83 [[ 9.99860519e-01 -6.20590098e-03 -1.55057732e-02 6.32420199e+02] [ 6.20175848e-03 9.99980719e-01 -3.15229408e-04 7.95582589e+00] [ 1.55074305e-02 2.19022380e-04 9.99879729e-01 9.83374097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.7692541539999 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] Translation: X:632.45, Y:7.95, Z:9.83 [[ 9.99849567e-01 -7.77268115e-03 -1.55057505e-02 6.32446826e+02] [ 7.76870978e-03 9.99969773e-01 -3.16340491e-04 7.95375661e+00] [ 1.55077406e-02 1.95833227e-04 9.99879729e-01 9.83198661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.7992541539999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:632.48, Y:7.95, Z:9.83 [[ 9.99809048e-01 -1.18928509e-02 -1.55057109e-02 6.32475290e+02] [ 1.18893450e-02 9.99929269e-01 -3.18269267e-04 7.94814159e+00] [ 1.55083993e-02 1.33855747e-04 9.99879729e-01 9.83291209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.829254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:632.50, Y:7.95, Z:9.84 [[ 9.99776469e-01 -1.43730867e-02 -1.55056772e-02 6.32503673e+02] [ 1.43698537e-02 9.99896697e-01 -3.19901592e-04 7.94559906e+00] [ 1.55086734e-02 9.70157704e-05 9.99879729e-01 9.83524514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.8592541539999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:632.53, Y:7.94, Z:9.84 [[ 9.99712932e-01 -1.82655488e-02 -1.55055831e-02 6.32531431e+02] [ 1.82627141e-02 9.99833170e-01 -3.24401228e-04 7.94115017e+00] [ 1.55089217e-02 4.11340706e-05 9.99879729e-01 9.83619370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.8892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:632.56, Y:7.94, Z:9.84 [[ 9.99661863e-01 -2.08743366e-02 -1.55055539e-02 6.32559504e+02] [ 2.08717941e-02 9.99782107e-01 -3.25793393e-04 7.93950532e+00] [ 1.55089760e-02 2.05450207e-06 9.99879729e-01 9.83797976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.9192541539999 meters Centerline goodness : 0.999834 Centerline is valid? [True, True] Translation: X:632.59, Y:7.94, Z:9.84 [[ 9.99617077e-01 -2.29190112e-02 -1.55054596e-02 6.32586680e+02] [ 2.29166461e-02 9.99737325e-01 -3.30218301e-04 7.93777115e+00] [ 1.55089550e-02 -2.52412782e-05 9.99879729e-01 9.83632291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.949254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:632.61, Y:7.93, Z:9.84 [[ 9.99482967e-01 -2.81670037e-02 -1.55054185e-02 6.32614647e+02] [ 2.81652402e-02 9.99603226e-01 -3.32136625e-04 7.93405941e+00] [ 1.55086217e-02 -1.04748938e-04 9.99879729e-01 9.83830120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.9792541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:632.64, Y:7.93, Z:9.84 [[ 9.99415222e-01 -3.04761566e-02 -1.55053894e-02 6.32642482e+02] [ 3.04746500e-02 9.99535484e-01 -3.33489104e-04 7.93247518e+00] [ 1.55083504e-02 -1.39227228e-04 9.99879729e-01 9.83814987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.0092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:632.67, Y:7.93, Z:9.84 [[ 9.99304636e-01 -3.39091503e-02 -1.55052961e-02 6.32670157e+02] [ 3.39079903e-02 9.99424902e-01 -3.37772819e-04 7.92860975e+00] [ 1.55078326e-02 -1.88215487e-04 9.99879729e-01 9.83922422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.0392541539999 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:632.70, Y:7.93, Z:9.84 [[ 9.99259966e-01 -3.52009535e-02 -1.55052671e-02 6.32698568e+02] [ 3.51999284e-02 9.99380233e-01 -3.39101053e-04 7.92729366e+00] [ 1.55075941e-02 -2.06934184e-04 9.99879729e-01 9.83873459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.069254154 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:632.73, Y:7.93, Z:9.84 [[ 9.99196340e-01 -3.69630130e-02 -1.55051849e-02 6.32726097e+02] [ 3.69621423e-02 9.99316608e-01 -3.42818627e-04 7.92662808e+00] [ 1.55072604e-02 -2.30561732e-04 9.99879729e-01 9.84039789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.0992541539999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:632.76, Y:7.93, Z:9.84 [[ 9.99187443e-01 -3.72027769e-02 -1.55050904e-02 6.32755369e+02] [ 3.72018696e-02 9.99307711e-01 -3.47040014e-04 7.92735138e+00] [ 1.55072672e-02 -2.30060327e-04 9.99879729e-01 9.84085264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.1292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:632.78, Y:7.93, Z:9.84 [[ 9.99122286e-01 -3.89133950e-02 -1.55050062e-02 6.32784127e+02] [ 3.89126359e-02 9.99242555e-01 -3.50759993e-04 7.92683840e+00] [ 1.55069113e-02 -2.52888537e-04 9.99879729e-01 9.84306473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.1592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:632.81, Y:7.92, Z:9.85 [[ 9.99065185e-01 -4.03528520e-02 -1.55049218e-02 6.32813395e+02] [ 4.03522089e-02 9.99185455e-01 -3.54452549e-04 7.92475829e+00] [ 1.55065955e-02 -2.71536642e-04 9.99879729e-01 9.84552491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.189254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:632.84, Y:7.92, Z:9.85 [[ 9.99036214e-01 -4.10638898e-02 -1.55048300e-02 6.32842399e+02] [ 4.10632707e-02 9.99156484e-01 -3.58423750e-04 7.92423704e+00] [ 1.55064697e-02 -2.78600726e-04 9.99879729e-01 9.84635060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.2192541539999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:632.87, Y:7.92, Z:9.85 [[ 9.99024226e-01 -4.13545554e-02 -1.55047372e-02 6.32870639e+02] [ 4.13539097e-02 9.99144495e-01 -3.62393089e-04 7.92258270e+00] [ 1.55064595e-02 -2.79142029e-04 9.99879729e-01 9.84628117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.2492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:632.90, Y:7.92, Z:9.85 [[ 9.99004022e-01 -4.18397982e-02 -1.55047175e-02 6.32899650e+02] [ 4.18391978e-02 9.99124291e-01 -3.63235160e-04 7.92236538e+00] [ 1.55063376e-02 -2.85831558e-04 9.99879729e-01 9.84820057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.2792541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:632.93, Y:7.92, Z:9.85 [[ 9.98978343e-01 -4.24485138e-02 -1.55046238e-02 6.32928527e+02] [ 4.24479253e-02 9.99098613e-01 -3.67192498e-04 7.92259862e+00] [ 1.55062349e-02 -2.91321759e-04 9.99879729e-01 9.84852943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.3092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:632.96, Y:7.92, Z:9.85 [[ 9.98933738e-01 -4.34856020e-02 -1.55045291e-02 6.32957346e+02] [ 4.34850770e-02 9.99054008e-01 -3.71149813e-04 7.92219688e+00] [ 1.55060016e-02 -3.03461571e-04 9.99879729e-01 9.85022189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.339254154 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:632.99, Y:7.92, Z:9.85 [[ 9.98907621e-01 -4.40814854e-02 -1.55044336e-02 6.32986121e+02] [ 4.40809709e-02 9.99027891e-01 -3.75097927e-04 7.92222997e+00] [ 1.55058964e-02 -3.08762306e-04 9.99879729e-01 9.84954602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.3692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:633.02, Y:7.92, Z:9.85 [[ 9.98807614e-01 -4.62921620e-02 -1.55044132e-02 6.33015365e+02] [ 4.62919006e-02 9.98927885e-01 -3.75936146e-04 7.92098559e+00] [ 1.55051936e-02 -3.42240871e-04 9.99879729e-01 9.85161584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.3992541539999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:633.04, Y:7.92, Z:9.85 [[ 9.98722354e-01 -4.80965189e-02 -1.55043170e-02 6.33044101e+02] [ 4.80964138e-02 9.98842626e-01 -3.79862409e-04 7.92089664e+00] [ 1.55046428e-02 -3.66324969e-04 9.99879729e-01 9.85057114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.4292541539999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:633.07, Y:7.92, Z:9.85 [[ 9.98641993e-01 -4.97372080e-02 -1.55042201e-02 6.33072572e+02] [ 4.97372399e-02 9.98762264e-01 -3.83776934e-04 7.92069952e+00] [ 1.55041180e-02 -3.87881354e-04 9.99879729e-01 9.85145212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.459254154 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:633.10, Y:7.92, Z:9.85 [[ 9.98434661e-01 -5.37387236e-02 -1.55041230e-02 6.33102331e+02] [ 5.37391771e-02 9.98554931e-01 -3.87661101e-04 7.92057673e+00] [ 1.55025509e-02 -4.46124533e-04 9.99879729e-01 9.85317240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.4892541539999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:633.13, Y:7.92, Z:9.85 [[ 9.98305815e-01 -5.60813921e-02 -1.55041087e-02 6.33131319e+02] [ 5.60821189e-02 9.98426084e-01 -3.88234920e-04 7.92059408e+00] [ 1.55014792e-02 -4.81926087e-04 9.99879729e-01 9.85337171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.5192541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:633.16, Y:7.92, Z:9.85 [[ 9.98160953e-01 -5.86032064e-02 -1.55040872e-02 6.33161388e+02] [ 5.86042238e-02 9.98281220e-01 -3.89089594e-04 7.92059126e+00] [ 1.55002410e-02 -5.20230956e-04 9.99879729e-01 9.85474046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.5492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:633.19, Y:7.92, Z:9.86 [[ 9.97899619e-01 -6.28965296e-02 -1.55040735e-02 6.33191394e+02] [ 6.28980559e-02 9.98019881e-01 -3.89634890e-04 7.91944181e+00] [ 1.54978803e-02 -5.86359573e-04 9.99879729e-01 9.85616129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.579254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:633.22, Y:7.92, Z:9.86 [[ 9.97756478e-01 -6.51278396e-02 -1.55040594e-02 6.33220936e+02] [ 6.51296262e-02 9.97876736e-01 -3.90196255e-04 7.91963788e+00] [ 1.54965528e-02 -6.20452750e-04 9.99879729e-01 9.85702999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.6092541539999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:633.25, Y:7.92, Z:9.86 [[ 9.97651693e-01 -6.67137399e-02 -1.55040452e-02 6.33250412e+02] [ 6.67157089e-02 9.97771949e-01 -3.90757084e-04 7.91986225e+00] [ 1.54955703e-02 -6.44523902e-04 9.99879729e-01 9.85573033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.6392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:633.28, Y:7.92, Z:9.86 [[ 9.97502792e-01 -6.89043154e-02 -1.55040312e-02 6.33279608e+02] [ 6.89065398e-02 9.97623043e-01 -3.91313536e-04 7.92026356e+00] [ 1.54941420e-02 -6.77992797e-04 9.99879729e-01 9.85790229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.6692541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:633.31, Y:7.92, Z:9.86 [[ 9.97234834e-01 -7.26795167e-02 -1.55040172e-02 6.33307989e+02] [ 7.26821877e-02 9.97355075e-01 -3.91867709e-04 7.92048422e+00] [ 1.54914910e-02 -7.36081757e-04 9.99879729e-01 9.85922011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.699254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:633.34, Y:7.92, Z:9.86 [[ 9.97035624e-01 -7.53630613e-02 -1.55039963e-02 6.33337250e+02] [ 7.53660431e-02 9.97155858e-01 -3.92692628e-04 7.92079361e+00] [ 1.54894952e-02 -7.76946312e-04 9.99879729e-01 9.86086005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.7292541539999 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:633.37, Y:7.92, Z:9.86 [[ 9.96968491e-01 -7.62460125e-02 -1.55039822e-02 6.33366576e+02] [ 7.62490921e-02 9.97088723e-01 -3.93248317e-04 7.92142760e+00] [ 1.54888294e-02 -7.90108385e-04 9.99879729e-01 9.85922449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.7592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:633.40, Y:7.92, Z:9.86 [[ 9.96906153e-01 -7.70567868e-02 -1.55039681e-02 6.33396307e+02] [ 7.70599556e-02 9.97026383e-01 -3.93801789e-04 7.92207162e+00] [ 1.54882104e-02 -8.02151671e-04 9.99879729e-01 9.86045100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.7892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:633.43, Y:7.92, Z:9.86 [[ 9.96880872e-01 -7.73831613e-02 -1.55039612e-02 6.33427115e+02] [ 7.73863652e-02 9.97001101e-01 -3.94076418e-04 7.92390088e+00] [ 1.54879612e-02 -8.06947957e-04 9.99879729e-01 9.86167469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.819254154 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:633.46, Y:7.93, Z:9.86 [[ 9.96933015e-01 -7.67084771e-02 -1.55039612e-02 6.33456919e+02] [ 7.67115996e-02 9.97053246e-01 -3.94076418e-04 7.92557250e+00] [ 1.54885038e-02 -7.96465869e-04 9.99879729e-01 9.86061736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.8492541539999 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:633.49, Y:7.93, Z:9.86 [[ 9.96963566e-01 -7.63103857e-02 -1.55039540e-02 6.33487743e+02] [ 7.63134559e-02 9.97083798e-01 -3.94356707e-04 7.92754447e+00] [ 1.54888349e-02 -7.90001042e-04 9.99879729e-01 9.86274320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.8792541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:633.52, Y:7.93, Z:9.86 [[ 9.97047482e-01 -7.52060218e-02 -1.55039540e-02 6.33518062e+02] [ 7.52089588e-02 9.97167718e-01 -3.94356707e-04 7.92918945e+00] [ 1.54897005e-02 -7.72843877e-04 9.99879729e-01 9.86270509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.9092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:633.55, Y:7.93, Z:9.86 [[ 9.97277378e-01 -7.20933987e-02 -1.55039540e-02 6.33547206e+02] [ 7.20959604e-02 9.97397622e-01 -3.94356707e-04 7.93203907e+00] [ 1.54920374e-02 -7.24489432e-04 9.99879729e-01 9.86359648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.939254154 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:633.58, Y:7.93, Z:9.86 [[ 9.97430724e-01 -6.99398160e-02 -1.55039470e-02 6.33577336e+02] [ 6.99421138e-02 9.97550974e-01 -3.94631680e-04 7.93406331e+00] [ 1.54935779e-02 -6.90761064e-04 9.99879729e-01 9.86232143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.9692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:633.61, Y:7.94, Z:9.86 [[ 9.97719012e-01 -6.56993280e-02 -1.55039470e-02 6.33606428e+02] [ 6.57011146e-02 9.97839270e-01 -3.94631680e-04 7.93750917e+00] [ 1.54963742e-02 -6.24895071e-04 9.99879729e-01 9.86448053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.9992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:633.64, Y:7.94, Z:9.87 [[ 9.97849257e-01 -6.36905717e-02 -1.55039472e-02 6.33636156e+02] [ 6.36921163e-02 9.97969518e-01 -3.94625288e-04 7.94019651e+00] [ 1.54976006e-02 -5.93702658e-04 9.99879729e-01 9.86505155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.0292541539999 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:633.67, Y:7.94, Z:9.86 [[ 9.98024474e-01 -6.08833018e-02 -1.55039336e-02 6.33666070e+02] [ 6.08844998e-02 9.98144740e-01 -3.95157869e-04 7.94283494e+00] [ 1.54992283e-02 -5.49572019e-04 9.99879729e-01 9.86376390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.0592541539999 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:633.70, Y:7.95, Z:9.86 [[ 9.98276812e-01 -5.65953634e-02 -1.55039201e-02 6.33695820e+02] [ 5.65960366e-02 9.98397081e-01 -3.95687456e-04 7.94667987e+00] [ 1.55014627e-02 -4.82454817e-04 9.99879729e-01 9.86437335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.089254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:633.72, Y:7.95, Z:9.87 [[ 9.98322135e-01 -5.57901677e-02 -1.55039134e-02 6.33724924e+02] [ 5.57907397e-02 9.98442405e-01 -3.95950110e-04 7.94865571e+00] [ 1.55018547e-02 -4.69689038e-04 9.99879729e-01 9.86650052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.1192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:633.75, Y:7.95, Z:9.87 [[ 9.98375768e-01 -5.48220347e-02 -1.55038934e-02 6.33754515e+02] [ 5.48224781e-02 9.98496038e-01 -3.96730302e-04 7.95035970e+00] [ 1.55023257e-02 -4.53875938e-04 9.99879729e-01 9.86701598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.1492541539999 meters Centerline goodness : 0.999855 Centerline is valid? [True, True] Translation: X:633.78, Y:7.95, Z:9.87 [[ 9.98473933e-01 -5.30041041e-02 -1.55038802e-02 6.33783778e+02] [ 5.30043205e-02 9.98594204e-01 -3.97247532e-04 7.95311358e+00] [ 1.55031406e-02 -4.25131327e-04 9.99879729e-01 9.86560316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.1792541539999 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] Translation: X:633.81, Y:7.96, Z:9.87 [[ 9.98482905e-01 -5.28348173e-02 -1.55038670e-02 6.33812753e+02] [ 5.28350053e-02 9.98603176e-01 -3.97761287e-04 7.95665846e+00] [ 1.55032265e-02 -4.21989050e-04 9.99879729e-01 9.86533665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.209254154 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:633.84, Y:7.96, Z:9.87 [[ 9.98466303e-01 -5.31476395e-02 -1.55038473e-02 6.33842388e+02] [ 5.31478533e-02 9.98586575e-01 -3.98526170e-04 7.95846290e+00] [ 1.55031145e-02 -4.26081251e-04 9.99879729e-01 9.86596114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.2392541539999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:633.87, Y:7.96, Z:9.87 [[ 9.98434534e-01 -5.37411692e-02 -1.55038344e-02 6.33872518e+02] [ 5.37414467e-02 9.98554805e-01 -3.99027003e-04 7.95993612e+00] [ 1.55028726e-02 -4.34796153e-04 9.99879729e-01 9.86939002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.2692541539999 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:633.90, Y:7.96, Z:9.87 [[ 9.98429318e-01 -5.38379848e-02 -1.55038344e-02 6.33902307e+02] [ 5.38382740e-02 9.98549589e-01 -3.99027003e-04 7.96117908e+00] [ 1.55028303e-02 -4.36299429e-04 9.99879729e-01 9.86698653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.2992541539999 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:633.93, Y:7.96, Z:9.87 [[ 9.98374072e-01 -5.48529346e-02 -1.55038273e-02 6.33933094e+02] [ 5.48533417e-02 9.98494342e-01 -3.99302749e-04 7.96367046e+00] [ 1.55023868e-02 -4.51783228e-04 9.99879729e-01 9.86960185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.329254154 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:633.96, Y:7.97, Z:9.87 [[ 9.98295517e-01 -5.62644886e-02 -1.55038273e-02 6.33963582e+02] [ 5.62650658e-02 9.98415787e-01 -3.99302749e-04 7.96536882e+00] [ 1.55017325e-02 -4.73701722e-04 9.99879729e-01 9.87159772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.3592541539999 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:633.99, Y:7.97, Z:9.87 [[ 9.98250423e-01 -5.70589486e-02 -1.55038273e-02 6.33994412e+02] [ 5.70596215e-02 9.98370693e-01 -3.99302749e-04 7.96668651e+00] [ 1.55013506e-02 -4.86038382e-04 9.99879729e-01 9.87221289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.3892541539999 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:634.02, Y:7.97, Z:9.87 [[ 9.98098203e-01 -5.96624623e-02 -1.55038273e-02 6.34024088e+02] [ 5.96634489e-02 9.98218470e-01 -3.99302749e-04 7.96890893e+00] [ 1.55000302e-02 -5.26468454e-04 9.99879729e-01 9.87244335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.4192541539999 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:634.05, Y:7.97, Z:9.87 [[ 9.97993290e-01 -6.13923867e-02 -1.55038202e-02 6.34054975e+02] [ 6.13935775e-02 9.98113555e-01 -3.99580352e-04 7.97054933e+00] [ 1.54991043e-02 -5.53056476e-04 9.99879729e-01 9.87263733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.449254154 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:634.09, Y:7.97, Z:9.87 [[ 9.97730355e-01 -6.55268661e-02 -1.55038202e-02 6.34085120e+02] [ 6.55285552e-02 9.97850614e-01 -3.99580352e-04 7.97227343e+00] [ 1.54966797e-02 -6.17269490e-04 9.99879729e-01 9.87154191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.4792541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:634.12, Y:7.97, Z:9.87 [[ 9.97530894e-01 -6.84963213e-02 -1.55038272e-02 6.34115301e+02] [ 6.84983725e-02 9.97651148e-01 -3.99307025e-04 7.97373058e+00] [ 1.54947621e-02 -6.63665838e-04 9.99879729e-01 9.87437789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.5092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:634.15, Y:7.97, Z:9.87 [[ 9.97344471e-01 -7.11592796e-02 -1.55036585e-02 6.34145895e+02] [ 7.11615504e-02 9.97464721e-01 -4.05850971e-04 7.97496202e+00] [ 1.54932324e-02 -6.98491151e-04 9.99879729e-01 9.87406002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.5392541539999 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:634.18, Y:7.98, Z:9.88 [[ 9.97147538e-01 -7.38675700e-02 -1.55038410e-02 6.34177163e+02] [ 7.38702774e-02 9.97267779e-01 -3.98755535e-04 7.97655395e+00] [ 1.54909361e-02 -7.47654932e-04 9.99879729e-01 9.87543340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.569254154 meters Centerline goodness : 0.999792 Centerline is valid? [True, True] Translation: X:634.21, Y:7.98, Z:9.88 [[ 9.96816114e-01 -7.82129502e-02 -1.55038554e-02 6.34208298e+02] [ 7.82161903e-02 9.96936342e-01 -3.98193363e-04 7.97931048e+00] [ 1.54875008e-02 -8.15726944e-04 9.99879729e-01 9.87516985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.5992541539999 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:634.24, Y:7.98, Z:9.87 [[ 9.96456865e-01 -8.26640546e-02 -1.55038697e-02 6.34239618e+02] [ 8.26678403e-02 9.96577077e-01 -3.97635351e-04 7.98213016e+00] [ 1.54836713e-02 -8.85444951e-04 9.99879729e-01 9.87488472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.6292541539999 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:634.27, Y:7.98, Z:9.88 [[ 9.96285542e-01 -8.47038912e-02 -1.55038911e-02 6.34271932e+02] [ 8.47079359e-02 9.96405745e-01 -3.96800399e-04 7.98454849e+00] [ 1.54817767e-02 -9.17976112e-04 9.99879729e-01 9.87688516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.6592541539999 meters Centerline goodness : 0.999708 Centerline is valid? [True, True] Translation: X:634.30, Y:7.99, Z:9.88 [[ 9.96194762e-01 -8.57649417e-02 -1.55039196e-02 6.34303923e+02] [ 8.57691318e-02 9.96314960e-01 -3.95680946e-04 7.98699223e+00] [ 1.54807226e-02 -9.35582442e-04 9.99879729e-01 9.87735710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.689254154 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:634.34, Y:7.99, Z:9.88 [[ 9.96123398e-01 -8.65898620e-02 -1.55039492e-02 6.34335566e+02] [ 8.65941697e-02 9.96243592e-01 -3.94519996e-04 7.98976587e+00] [ 1.54798715e-02 -9.49561009e-04 9.99879729e-01 9.87738600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.7192541539999 meters Centerline goodness : 0.999687 Centerline is valid? [True, True] Translation: X:634.37, Y:7.99, Z:9.88 [[ 9.96015857e-01 -8.78182162e-02 -1.55039785e-02 6.34366548e+02] [ 8.78226900e-02 9.96136045e-01 -3.93364002e-04 7.99431915e+00] [ 1.54786164e-02 -9.69804316e-04 9.99879729e-01 9.87708637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.7492541539999 meters Centerline goodness : 0.999750 Centerline is valid? [True, True] Translation: X:634.40, Y:8.00, Z:9.88 [[ 9.95912920e-01 -8.89779894e-02 -1.55040003e-02 6.34398533e+02] [ 8.89826165e-02 9.96033102e-01 -3.92502699e-04 7.99985499e+00] [ 1.54774216e-02 -9.88688007e-04 9.99879729e-01 9.87935347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.7792541539999 meters Centerline goodness : 0.999792 Centerline is valid? [True, True] Translation: X:634.43, Y:8.00, Z:9.88 [[ 9.95940194e-01 -8.86721790e-02 -1.55040291e-02 6.34430621e+02] [ 8.86767869e-02 9.96060377e-01 -3.91362931e-04 8.00272429e+00] [ 1.54776521e-02 -9.85073411e-04 9.99879729e-01 9.87926337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.8092541539999 meters Centerline goodness : 0.999687 Centerline is valid? [True, True] Translation: X:634.46, Y:8.01, Z:9.88 [[ 9.95813703e-01 -9.00815869e-02 -1.55040578e-02 6.34462271e+02] [ 9.00863825e-02 9.95933879e-01 -3.90221432e-04 8.00929461e+00] [ 1.54761682e-02 -1.00811663e-03 9.99879729e-01 9.88074186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.839254154 meters Centerline goodness : 0.999687 Centerline is valid? [True, True] Translation: X:634.49, Y:8.01, Z:9.88 [[ 9.95820355e-01 -9.00080215e-02 -1.55040865e-02 6.34494942e+02] [ 9.00128261e-02 9.95940530e-01 -3.89077334e-04 8.01005287e+00] [ 1.54761682e-02 -1.00811552e-03 9.99879729e-01 9.88124855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.8692541539999 meters Centerline goodness : 0.999688 Centerline is valid? [True, True] Translation: X:634.53, Y:8.02, Z:9.88 [[ 9.95772879e-01 -9.05317351e-02 -1.55041152e-02 6.34526407e+02] [ 9.05366206e-02 9.95893051e-01 -3.87932116e-04 8.01604163e+00] [ 1.54755608e-02 -1.01739791e-03 9.99879729e-01 9.88093594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.8992541539999 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:634.56, Y:8.02, Z:9.88 [[ 9.95816831e-01 -9.00469885e-02 -1.55041365e-02 6.34558566e+02] [ 9.00518287e-02 9.95937005e-01 -3.87079153e-04 8.01890477e+00] [ 1.54759986e-02 -1.01071591e-03 9.99879729e-01 9.87990392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.9292541539999 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:634.59, Y:8.03, Z:9.88 [[ 9.95775987e-01 -9.04975388e-02 -1.55041647e-02 6.34589128e+02] [ 9.05024509e-02 9.95896158e-01 -3.85945615e-04 8.02540332e+00] [ 1.54754652e-02 -1.01884953e-03 9.99879729e-01 9.88107743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.959254154 meters Centerline goodness : 0.999583 Centerline is valid? [True, True] Translation: X:634.62, Y:8.03, Z:9.88 [[ 9.95736300e-01 -9.09331663e-02 -1.55041857e-02 6.34620828e+02] [ 9.09381442e-02 9.95856468e-01 -3.85101027e-04 8.02968686e+00] [ 1.54749621e-02 -1.02646280e-03 9.99879729e-01 9.88282308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.9892541539999 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:634.65, Y:8.03, Z:9.88 [[ 9.95769265e-01 -9.05714705e-02 -1.55042137e-02 6.34652568e+02] [ 9.05764222e-02 9.95889434e-01 -3.83970158e-04 8.03342453e+00] [ 1.54752593e-02 -1.02197052e-03 9.99879729e-01 9.88259440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.0192541539999 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:634.69, Y:8.03, Z:9.88 [[ 9.95779077e-01 -9.04635143e-02 -1.55042485e-02 6.34686084e+02] [ 9.04684748e-02 9.95899246e-01 -3.82561174e-04 8.03415570e+00] [ 1.54752772e-02 -1.02169930e-03 9.99879729e-01 9.88311410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.0492541539999 meters Centerline goodness : 0.999396 Centerline is valid? [True, True] Translation: X:634.72, Y:8.04, Z:9.88 [[ 9.95740035e-01 -9.08922386e-02 -1.55042897e-02 6.34717947e+02] [ 9.08972769e-02 9.95860201e-01 -3.80880424e-04 8.04108119e+00] [ 1.54747242e-02 -1.03003983e-03 9.99879729e-01 9.88332835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.079254154 meters Centerline goodness : 0.999042 Centerline is valid? [True, True] Translation: X:634.75, Y:8.04, Z:9.88 [[ 9.95822342e-01 -8.99859952e-02 -1.55043238e-02 6.34750439e+02] [ 8.99909457e-02 9.95942511e-01 -3.79488986e-04 8.04437232e+00] [ 1.54755639e-02 -1.01734515e-03 9.99879729e-01 9.88241067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.1092541539999 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:634.78, Y:8.05, Z:9.89 [[ 9.95853468e-01 -8.96408657e-02 -1.55043505e-02 6.34782931e+02] [ 8.96457915e-02 9.95973639e-01 -3.78396616e-04 8.05200944e+00] [ 1.54758441e-02 -1.01307219e-03 9.99879729e-01 9.88513652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.1392541539999 meters Centerline goodness : 0.998916 Centerline is valid? [True, True] Translation: X:634.81, Y:8.06, Z:9.88 [[ 9.95959495e-01 -8.84550669e-02 -1.55043908e-02 6.34814717e+02] [ 8.84598753e-02 9.96079670e-01 -3.76738545e-04 8.05579707e+00] [ 1.54769329e-02 -9.96300143e-04 9.99879729e-01 9.88466701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.1692541539999 meters Centerline goodness : 0.999229 Centerline is valid? [True, True] Translation: X:634.85, Y:8.06, Z:9.88 [[ 9.96022411e-01 -8.77437753e-02 -1.55044240e-02 6.34846476e+02] [ 8.77485192e-02 9.96142588e-01 -3.75364057e-04 8.06000878e+00] [ 1.54775529e-02 -9.86619237e-04 9.99879729e-01 9.88478703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.199254154 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:634.88, Y:8.07, Z:9.89 [[ 9.96134459e-01 -8.64624237e-02 -1.55044566e-02 6.34879724e+02] [ 8.64670340e-02 9.96254642e-01 -3.74013193e-04 8.06771289e+00] [ 1.54787250e-02 -9.68056947e-04 9.99879729e-01 9.88589820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.2292541539999 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:634.91, Y:8.07, Z:9.89 [[ 9.96232132e-01 -8.53296537e-02 -1.55044970e-02 6.34912793e+02] [ 8.53341533e-02 9.96352319e-01 -3.72330807e-04 8.07202811e+00] [ 1.54797124e-02 -9.52135212e-04 9.99879729e-01 9.88639642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.2592541539999 meters Centerline goodness : 0.998939 Centerline is valid? [True, True] Translation: X:634.95, Y:8.08, Z:9.89 [[ 9.96483893e-01 -8.23374741e-02 -1.55045381e-02 6.34945060e+02] [ 8.23416395e-02 9.96604092e-01 -3.70613556e-04 8.08021775e+00] [ 1.54824015e-02 -9.07358644e-04 9.99879729e-01 9.88601661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.2892541539999 meters Centerline goodness : 0.999146 Centerline is valid? [True, True] Translation: X:634.98, Y:8.08, Z:9.89 [[ 9.96655125e-01 -8.02382041e-02 -1.55045719e-02 6.34978124e+02] [ 8.02421383e-02 9.96775332e-01 -3.69192707e-04 8.08440822e+00] [ 1.54841982e-02 -8.76162198e-04 9.99879729e-01 9.88583671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.319254154 meters Centerline goodness : 0.998834 Centerline is valid? [True, True] Translation: X:635.01, Y:8.09, Z:9.89 [[ 9.96890764e-01 -7.72555000e-02 -1.55046127e-02 6.35011275e+02] [ 7.72591011e-02 9.97010981e-01 -3.67471335e-04 8.08821068e+00] [ 1.54866583e-02 -8.31543661e-04 9.99879729e-01 9.88543871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.3492541539999 meters Centerline goodness : 0.998918 Centerline is valid? [True, True] Translation: X:635.04, Y:8.09, Z:9.89 [[ 9.97071999e-01 -7.48801346e-02 -1.55046530e-02 6.35044492e+02] [ 7.48834758e-02 9.97192224e-01 -3.65762038e-04 8.09261596e+00] [ 1.54885077e-02 -7.96351223e-04 9.99879729e-01 9.88567145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.3792541539999 meters Centerline goodness : 0.998851 Centerline is valid? [True, True] Translation: X:635.08, Y:8.10, Z:9.89 [[ 9.97492866e-01 -6.90477157e-02 -1.55046931e-02 6.35080205e+02] [ 6.90503803e-02 9.97613108e-01 -3.64055132e-04 8.09860416e+00] [ 1.54928222e-02 -7.07462557e-04 9.99879729e-01 9.88746501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.4092541539999 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:635.11, Y:8.11, Z:9.89 [[ 9.97492178e-01 -6.90565354e-02 -1.55096992e-02 6.35107312e+02] [ 6.90625536e-02 9.97612320e-01 -1.47879339e-04 8.10634296e+00] [ 1.54828791e-02 -9.23630952e-04 9.99879706e-01 9.88822319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.439254154 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:635.14, Y:8.11, Z:9.89 [[ 9.97784670e-01 -6.46943460e-02 -1.55046236e-02 6.35143047e+02] [ 6.46964857e-02 9.97904921e-01 -3.64059049e-04 8.10701951e+00] [ 1.54956927e-02 -6.39842119e-04 9.99879730e-01 9.88828188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.4692541539999 meters Centerline goodness : 0.998888 Centerline is valid? [True, True] Translation: X:635.17, Y:8.12, Z:9.89 [[ 9.97878876e-01 -6.32235126e-02 -1.55092444e-02 6.35168853e+02] [ 6.32285750e-02 9.97999058e-01 -1.64206142e-04 8.11641174e+00] [ 1.54885930e-02 -8.16769585e-04 9.99879711e-01 9.89004496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.4992541539999 meters Centerline goodness : 0.998955 Centerline is valid? [True, True] Translation: X:635.20, Y:8.12, Z:9.89 [[ 9.98000164e-01 -6.12803617e-02 -1.55045347e-02 6.35200413e+02] [ 6.12820826e-02 9.98120420e-01 -3.64536584e-04 8.12023660e+00] [ 1.54977316e-02 -5.86342603e-04 9.99879731e-01 9.89122006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.5292541539999 meters Centerline goodness : 0.998577 Centerline is valid? [True, True] Translation: X:635.23, Y:8.13, Z:9.89 [[ 9.98278911e-01 -5.65581495e-02 -1.55045665e-02 6.35233593e+02] [ 5.65593225e-02 9.98399174e-01 -3.63178636e-04 8.12666921e+00] [ 1.55002871e-02 -5.14374202e-04 9.99879731e-01 9.88993207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.5592541539999 meters Centerline goodness : 0.998472 Centerline is valid? [True, True] Translation: X:635.27, Y:8.13, Z:9.89 [[ 9.98377326e-01 -5.47934495e-02 -1.55046040e-02 6.35265593e+02] [ 5.47944349e-02 9.98497591e-01 -3.61567462e-04 8.13003498e+00] [ 1.55011213e-02 -4.88585262e-04 9.99879731e-01 9.88979354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.589254154 meters Centerline goodness : 0.998785 Centerline is valid? [True, True] Translation: X:635.30, Y:8.13, Z:9.89 [[ 9.98427491e-01 -5.38716260e-02 -1.55046288e-02 6.35297741e+02] [ 5.38725169e-02 9.98547756e-01 -3.60503698e-04 8.13374087e+00] [ 1.55015332e-02 -4.75336573e-04 9.99879731e-01 9.89117418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.6192541539999 meters Centerline goodness : 0.998996 Centerline is valid? [True, True] Translation: X:635.33, Y:8.14, Z:9.89 [[ 9.98399005e-01 -5.43969948e-02 -1.55046534e-02 6.35326447e+02] [ 5.43979654e-02 9.98519270e-01 -3.59443782e-04 8.13893036e+00] [ 1.55012478e-02 -4.84553282e-04 9.99879731e-01 9.89352031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.6492541539999 meters Centerline goodness : 0.998892 Centerline is valid? [True, True] Translation: X:635.36, Y:8.14, Z:9.89 [[ 9.98540329e-01 -5.17382395e-02 -1.55037248e-02 6.35358787e+02] [ 5.17382669e-02 9.98660599e-01 -3.99591416e-04 8.14355824e+00] [ 1.55036332e-02 -4.03127705e-04 9.99879730e-01 9.89409349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.6792541539999 meters Centerline goodness : 0.998726 Centerline is valid? [True, True] Translation: X:635.39, Y:8.14, Z:9.89 [[ 9.98695783e-01 -4.86451899e-02 -1.55041664e-02 6.35390117e+02] [ 4.86451432e-02 9.98816052e-01 -3.80362090e-04 8.14362163e+00] [ 1.55043131e-02 -3.74336381e-04 9.99879731e-01 9.89173243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.709254154 meters Centerline goodness : 0.998703 Centerline is valid? [True, True] Translation: X:635.42, Y:8.15, Z:9.90 [[ 9.98675089e-01 -4.90680118e-02 -1.55047559e-02 6.35419378e+02] [ 4.90684158e-02 9.98795357e-01 -3.54588431e-04 8.14978009e+00] [ 1.55034771e-02 -4.06675176e-04 9.99879731e-01 9.89874768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.7392541539999 meters Centerline goodness : 0.997181 Centerline is valid? [True, True] Translation: X:635.46, Y:8.15, Z:9.89 [[ 9.98642257e-01 -4.97317944e-02 -1.55045391e-02 6.35455179e+02] [ 4.97321315e-02 9.98762526e-01 -3.64056552e-04 8.15123060e+00] [ 1.55034578e-02 -4.07511521e-04 9.99879731e-01 9.89305363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.7692541539999 meters Centerline goodness : 0.998874 Centerline is valid? [True, True] Translation: X:635.48, Y:8.15, Z:9.89 [[ 9.98854140e-01 -4.52750832e-02 -1.55104750e-02 6.35480307e+02] [ 4.52789942e-02 9.98974375e-01 -9.91017376e-05 8.15204884e+00] [ 1.54990539e-02 -6.03310527e-04 9.99879700e-01 9.89360404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.7992541539999 meters Centerline goodness : 0.998622 Centerline is valid? [True, True] Translation: X:635.51, Y:8.15, Z:9.89 [[ 9.98955248e-01 -4.29885932e-02 -1.55046227e-02 6.35512261e+02] [ 4.29882613e-02 9.99075514e-01 -3.54838502e-04 8.15450892e+00] [ 1.55055429e-02 -3.12048989e-04 9.99879733e-01 9.89263130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.829254154 meters Centerline goodness : 0.998911 Centerline is valid? [True, True] Translation: X:635.54, Y:8.16, Z:9.89 [[ 9.98987554e-01 -4.22311950e-02 -1.55046459e-02 6.35544022e+02] [ 4.22307876e-02 9.99107820e-01 -3.53824901e-04 8.15576998e+00] [ 1.55057554e-02 -3.01306733e-04 9.99879733e-01 9.89333475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.8592541539999 meters Centerline goodness : 0.998891 Centerline is valid? [True, True] Translation: X:635.58, Y:8.16, Z:9.89 [[ 9.99057055e-01 -4.05537517e-02 -1.55046688e-02 6.35576298e+02] [ 4.05531580e-02 9.99177320e-01 -3.52817488e-04 8.15632291e+00] [ 1.55062215e-02 -2.76278482e-04 9.99879733e-01 9.89286292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.8892541539999 meters Centerline goodness : 0.999034 Centerline is valid? [True, True] Translation: X:635.61, Y:8.16, Z:9.89 [[ 9.99120290e-01 -3.89647357e-02 -1.55046943e-02 6.35607096e+02] [ 3.89639682e-02 9.99240554e-01 -3.51694407e-04 8.15842327e+00] [ 1.55066230e-02 -2.52739396e-04 9.99879733e-01 9.89302617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.9192541539999 meters Centerline goodness : 0.998804 Centerline is valid? [True, True] Translation: X:635.64, Y:8.16, Z:9.89 [[ 9.99181136e-01 -3.73719148e-02 -1.55047364e-02 6.35638993e+02] [ 3.73709845e-02 9.99301400e-01 -3.49827533e-04 8.15932324e+00] [ 1.55069785e-02 -2.29886192e-04 9.99879733e-01 9.89356917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.949254154 meters Centerline goodness : 0.998849 Centerline is valid? [True, True] Translation: X:635.67, Y:8.16, Z:9.90 [[ 9.99248281e-01 -3.55313274e-02 -1.55047615e-02 6.35670882e+02] [ 3.55301929e-02 9.99368543e-01 -3.48712161e-04 8.16180586e+00] [ 1.55073611e-02 -2.02437138e-04 9.99879733e-01 9.89553359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.9792541539999 meters Centerline goodness : 0.998742 Centerline is valid? [True, True] Translation: X:635.70, Y:8.16, Z:9.90 [[ 9.99309805e-01 -3.37566923e-02 -1.55047864e-02 6.35703387e+02] [ 3.37553614e-02 9.99430065e-01 -3.47600898e-04 8.16233397e+00] [ 1.55076835e-02 -1.76008682e-04 9.99879733e-01 9.89559462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.0092541539999 meters Centerline goodness : 0.998785 Centerline is valid? [True, True] Translation: X:635.74, Y:8.16, Z:9.90 [[ 9.99420558e-01 -3.03009743e-02 -1.55048123e-02 6.35736690e+02] [ 3.02992457e-02 9.99540812e-01 -3.46442049e-04 8.16014571e+00] [ 1.55081902e-02 -1.23542810e-04 9.99879733e-01 9.89701432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.0392541539999 meters Centerline goodness : 0.998951 Centerline is valid? [True, True] Translation: X:635.76, Y:8.16, Z:9.90 [[ 9.99441994e-01 -2.95839284e-02 -1.55077760e-02 6.35764638e+02] [ 2.95841947e-02 9.99562269e-01 -2.12283524e-04 8.16309456e+00] [ 1.55072679e-02 -2.46619996e-04 9.99879725e-01 9.89755482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.069254154 meters Centerline goodness : 0.998745 Centerline is valid? [True, True] Translation: X:635.80, Y:8.16, Z:9.90 [[ 9.99497800e-01 -2.76359882e-02 -1.55048200e-02 6.35796333e+02] [ 2.76339598e-02 9.99618050e-01 -3.45096130e-04 8.16326731e+00] [ 1.55084350e-02 -8.35367505e-05 9.99879733e-01 9.89769810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.0992541539999 meters Centerline goodness : 0.998745 Centerline is valid? [True, True] Translation: X:635.83, Y:8.16, Z:9.90 [[ 9.99522124e-01 -2.67417881e-02 -1.55048327e-02 6.35828063e+02] [ 2.67396609e-02 9.99642372e-01 -3.44526827e-04 8.16379096e+00] [ 1.55085010e-02 -7.02317826e-05 9.99879733e-01 9.89826320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.1292541539999 meters Centerline goodness : 0.998873 Centerline is valid? [True, True] Translation: X:635.86, Y:8.16, Z:9.90 [[ 9.99666094e-01 -2.06712370e-02 -1.55048453e-02 6.35862378e+02] [ 2.06683884e-02 9.99786327e-01 -3.43958565e-04 8.15837216e+00] [ 1.55086424e-02 2.33835505e-05 9.99879733e-01 9.89619325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.1592541539999 meters Centerline goodness : 0.998811 Centerline is valid? [True, True] Translation: X:635.89, Y:8.16, Z:9.90 [[ 9.99566260e-01 -2.50345919e-02 -1.55100259e-02 6.35888465e+02] [ 2.50359155e-02 9.99686546e-01 -1.08850018e-04 8.16308210e+00] [ 1.55078892e-02 -2.79504892e-04 9.99879706e-01 9.89866750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.189254154 meters Centerline goodness : 0.998686 Centerline is valid? [True, True] Translation: X:635.92, Y:8.16, Z:9.90 [[ 9.99559143e-01 -2.53204188e-02 -1.55047149e-02 6.35919338e+02] [ 2.53180898e-02 9.99679386e-01 -3.46511510e-04 8.16272252e+00] [ 1.55085177e-02 -4.61910150e-05 9.99879735e-01 9.89938239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.2192541539999 meters Centerline goodness : 0.998709 Centerline is valid? [True, True] Translation: X:635.95, Y:8.16, Z:9.90 [[ 9.99505363e-01 -2.73611688e-02 -1.55047272e-02 6.35949960e+02] [ 2.73590939e-02 9.99625610e-01 -3.45959769e-04 8.16032150e+00] [ 1.55083882e-02 -7.84066427e-05 9.99879735e-01 9.89954805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.2492541539999 meters Centerline goodness : 0.998625 Centerline is valid? [True, True] Translation: X:635.98, Y:8.16, Z:9.90 [[ 9.99481044e-01 -2.82355645e-02 -1.55047272e-02 6.35981112e+02] [ 2.82335948e-02 9.99601293e-01 -3.45959769e-04 8.15879257e+00] [ 1.55083137e-02 -9.19739533e-05 9.99879735e-01 9.89947091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.2792541539999 meters Centerline goodness : 0.998835 Centerline is valid? [True, True] Translation: X:636.01, Y:8.16, Z:9.90 [[ 9.99373135e-01 -3.18267302e-02 -1.55047397e-02 6.36012825e+02] [ 3.18252013e-02 9.99493390e-01 -3.45399118e-04 8.15574185e+00] [ 1.55078777e-02 -1.48258862e-04 9.99879735e-01 9.90043549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.3092541539999 meters Centerline goodness : 0.998648 Centerline is valid? [True, True] Translation: X:636.04, Y:8.15, Z:9.90 [[ 9.99313926e-01 -3.36345070e-02 -1.55047583e-02 6.36044405e+02] [ 3.36332086e-02 9.99434184e-01 -3.44560670e-04 8.15447531e+00] [ 1.55075746e-02 -1.77150495e-04 9.99879735e-01 9.90134209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.339254154 meters Centerline goodness : 0.998897 Centerline is valid? [True, True] Translation: X:636.08, Y:8.15, Z:9.90 [[ 9.99258098e-01 -3.52541677e-02 -1.55047766e-02 6.36076259e+02] [ 3.52530770e-02 9.99378358e-01 -3.43734388e-04 8.15338765e+00] [ 1.55072563e-02 -2.03111714e-04 9.99879735e-01 9.90261370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.3692541539999 meters Centerline goodness : 0.998689 Centerline is valid? [True, True] Translation: X:636.11, Y:8.15, Z:9.90 [[ 9.99229291e-01 -3.60614121e-02 -1.55047889e-02 6.36107878e+02] [ 3.60604272e-02 9.99349552e-01 -3.43179628e-04 8.15178898e+00] [ 1.55070794e-02 -2.16194175e-04 9.99879735e-01 9.90235046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.3992541539999 meters Centerline goodness : 0.998875 Centerline is valid? [True, True] Translation: X:636.14, Y:8.15, Z:9.90 [[ 9.99126436e-01 -3.88067698e-02 -1.55048072e-02 6.36139698e+02] [ 3.88061282e-02 9.99246700e-01 -3.42349967e-04 8.14885068e+00] [ 1.55064129e-02 -2.59630635e-04 9.99879735e-01 9.90408347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.4292541539999 meters Centerline goodness : 0.998708 Centerline is valid? [True, True] Translation: X:636.17, Y:8.15, Z:9.90 [[ 9.99130432e-01 -3.87037573e-02 -1.55048322e-02 6.36171491e+02] [ 3.87031210e-02 9.99250695e-01 -3.41213820e-04 8.14707034e+00] [ 1.55064206e-02 -2.59168286e-04 9.99879735e-01 9.90380436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.459254154 meters Centerline goodness : 0.998502 Centerline is valid? [True, True] Translation: X:636.20, Y:8.14, Z:9.90 [[ 9.99093096e-01 -3.96558239e-02 -1.55048576e-02 6.36202358e+02] [ 3.96553201e-02 9.99213361e-01 -3.40056619e-04 8.14439178e+00] [ 1.55061461e-02 -2.75101871e-04 9.99879735e-01 9.90386047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.4892541539999 meters Centerline goodness : 0.998503 Centerline is valid? [True, True] Translation: X:636.23, Y:8.14, Z:9.90 [[ 9.99098167e-01 -3.95278700e-02 -1.55048765e-02 6.36234045e+02] [ 3.95273642e-02 9.99218431e-01 -3.39194047e-04 8.14315173e+00] [ 1.55061660e-02 -2.73978748e-04 9.99879735e-01 9.90398140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.5192541539999 meters Centerline goodness : 0.996651 Centerline is valid? [True, True] Translation: X:636.27, Y:8.14, Z:9.90 [[ 9.99093403e-01 -3.96480793e-02 -1.55048949e-02 6.36265600e+02] [ 3.96476010e-02 9.99213667e-01 -3.38350948e-04 8.14306853e+00] [ 1.55061178e-02 -2.76687685e-04 9.99879735e-01 9.90483691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.5492541539999 meters Centerline goodness : 0.998814 Centerline is valid? [True, True] Translation: X:636.30, Y:8.14, Z:9.91 [[ 9.99092591e-01 -3.96690935e-02 -1.55034971e-02 6.36298314e+02] [ 3.96676236e-02 9.99212849e-01 -4.02429301e-04 8.14077347e+00] [ 1.55072575e-02 -2.12922754e-04 9.99879733e-01 9.90551943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.579254154 meters Centerline goodness : 0.999044 Centerline is valid? [True, True] Translation: X:636.33, Y:8.14, Z:9.91 [[ 9.99129860e-01 -3.87184574e-02 -1.55049443e-02 6.36330555e+02] [ 3.87179105e-02 9.99250124e-01 -3.35561769e-04 8.13833582e+00] [ 1.55063099e-02 -2.65049260e-04 9.99879735e-01 9.90590307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.6092541539999 meters Centerline goodness : 0.998837 Centerline is valid? [True, True] Translation: X:636.36, Y:8.14, Z:9.91 [[ 9.99148727e-01 -3.82284917e-02 -1.55049682e-02 6.36362084e+02] [ 3.82279030e-02 9.99268991e-01 -3.34452013e-04 8.13710404e+00] [ 1.55064195e-02 -2.58555118e-04 9.99879735e-01 9.90555889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.6392541539999 meters Centerline goodness : 0.998926 Centerline is valid? [True, True] Translation: X:636.39, Y:8.14, Z:9.90 [[ 9.99193898e-01 -3.70290502e-02 -1.55049860e-02 6.36392139e+02] [ 3.70283300e-02 9.99314161e-01 -3.33625629e-04 8.13581660e+00] [ 1.55067059e-02 -2.40767045e-04 9.99879735e-01 9.90484792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.6692541539999 meters Centerline goodness : 0.998709 Centerline is valid? [True, True] Translation: X:636.42, Y:8.14, Z:9.91 [[ 9.99205706e-01 -3.67093878e-02 -1.55041014e-02 6.36423737e+02] [ 3.67079911e-02 9.99325964e-01 -3.74753056e-04 8.13516516e+00] [ 1.55074080e-02 -1.94669023e-04 9.99879734e-01 9.90504002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.699254154 meters Centerline goodness : 0.998920 Centerline is valid? [True, True] Translation: X:636.46, Y:8.14, Z:9.91 [[ 9.99205468e-01 -3.67155103e-02 -1.55049858e-02 6.36455041e+02] [ 3.67147519e-02 9.99325731e-01 -3.33653821e-04 8.13503837e+00] [ 1.55067815e-02 -2.35872985e-04 9.99879735e-01 9.90685852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.7292541539999 meters Centerline goodness : 0.998835 Centerline is valid? [True, True] Translation: X:636.49, Y:8.13, Z:9.91 [[ 9.99239952e-01 -3.57646965e-02 -1.55049975e-02 6.36486452e+02] [ 3.57638320e-02 9.99360214e-01 -3.33111596e-04 8.13400386e+00] [ 1.55069912e-02 -2.21659710e-04 9.99879735e-01 9.90575015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.7592541539999 meters Centerline goodness : 0.998982 Centerline is valid? [True, True] Translation: X:636.52, Y:8.13, Z:9.91 [[ 9.99213834e-01 -3.64870889e-02 -1.55050363e-02 6.36517650e+02] [ 3.64863396e-02 9.99334097e-01 -3.31294740e-04 8.13419813e+00] [ 1.55067994e-02 -2.34687733e-04 9.99879735e-01 9.90802032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.7892541539999 meters Centerline goodness : 0.998898 Centerline is valid? [True, True] Translation: X:636.55, Y:8.13, Z:9.91 [[ 9.99176786e-01 -3.74879166e-02 -1.55050477e-02 6.36548943e+02] [ 3.74872961e-02 9.99297050e-01 -3.30757097e-04 8.13255033e+00] [ 1.55065479e-02 -2.50757502e-04 9.99879735e-01 9.90856871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.819254154 meters Centerline goodness : 0.999021 Centerline is valid? [True, True] Translation: X:636.58, Y:8.13, Z:9.91 [[ 9.99145928e-01 -3.83015456e-02 -1.55050648e-02 6.36580260e+02] [ 3.83010355e-02 9.99266192e-01 -3.29953283e-04 8.13219534e+00] [ 1.55063248e-02 -2.64188561e-04 9.99879735e-01 9.90949430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.8492541539999 meters Centerline goodness : 0.999003 Centerline is valid? [True, True] Translation: X:636.61, Y:8.13, Z:9.91 [[ 9.99129902e-01 -3.87173327e-02 -1.55050763e-02 6.36611371e+02] [ 3.87168810e-02 9.99250166e-01 -3.29415366e-04 8.13153981e+00] [ 1.55062041e-02 -2.71179451e-04 9.99879735e-01 9.90899691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.8792541539999 meters Centerline goodness : 0.998917 Centerline is valid? [True, True] Translation: X:636.64, Y:8.13, Z:9.91 [[ 9.99001590e-01 -4.18976776e-02 -1.55050876e-02 6.36642981e+02] [ 4.18976171e-02 9.99121855e-01 -3.28879579e-04 8.13207412e+00] [ 1.55052512e-02 -3.21075002e-04 9.99879735e-01 9.91085122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.9092541539999 meters Centerline goodness : 0.998917 Centerline is valid? [True, True] Translation: X:636.68, Y:8.13, Z:9.91 [[ 9.99004538e-01 -4.18273286e-02 -1.55050992e-02 6.36675659e+02] [ 4.18272681e-02 9.99124803e-01 -3.28335953e-04 8.13270323e+00] [ 1.55052626e-02 -3.20526832e-04 9.99879735e-01 9.91135803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.939254154 meters Centerline goodness : 0.999085 Centerline is valid? [True, True] Translation: X:636.71, Y:8.12, Z:9.91 [[ 9.99216404e-01 -3.64166193e-02 -1.55051222e-02 6.36714081e+02] [ 3.64159244e-02 9.99336667e-01 -3.27244094e-04 8.12426824e+00] [ 1.55067543e-02 -2.37645690e-04 9.99879735e-01 9.90601866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.9692541539999 meters Centerline goodness : 0.998958 Centerline is valid? [True, True] Translation: X:636.73, Y:8.13, Z:9.91 [[ 9.98785515e-01 -4.67634015e-02 -1.55138406e-02 6.36734406e+02] [ 4.67704963e-02 9.98905657e-01 9.46158909e-05 8.13087112e+00] [ 1.54924386e-02 -8.20091005e-04 9.99879649e-01 9.91154408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.9992541539999 meters Centerline goodness : 0.998999 Centerline is valid? [True, True] Translation: X:636.77, Y:8.13, Z:9.91 [[ 9.98706665e-01 -4.84211394e-02 -1.55045567e-02 6.36765507e+02] [ 4.84217683e-02 9.98826922e-01 -3.35056929e-04 8.13109767e+00] [ 1.55025925e-02 -4.16134465e-04 9.99879741e-01 9.91210774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.0292541539999 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:636.80, Y:8.13, Z:9.91 [[ 9.98622419e-01 -5.01285584e-02 -1.55045743e-02 6.36797969e+02] [ 5.01294055e-02 9.98742675e-01 -3.34240538e-04 8.13113681e+00] [ 1.55018350e-02 -4.43454998e-04 9.99879741e-01 9.91301352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.0592541539999 meters Centerline goodness : 0.998958 Centerline is valid? [True, True] Translation: X:636.83, Y:8.13, Z:9.91 [[ 9.98419591e-01 -5.40178449e-02 -1.55045978e-02 6.36829807e+02] [ 5.40191775e-02 9.98539843e-01 -3.33144749e-04 8.13119212e+00] [ 1.54999545e-02 -5.04927379e-04 9.99879741e-01 9.91338665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.089254154 meters Centerline goodness : 0.998857 Centerline is valid? [True, True] Translation: X:636.86, Y:8.13, Z:9.91 [[ 9.98321384e-01 -5.58034225e-02 -1.55046216e-02 6.36860588e+02] [ 5.58049873e-02 9.98441632e-01 -3.32034431e-04 8.13171577e+00] [ 1.54989884e-02 -5.33758140e-04 9.99879741e-01 9.91366964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.1192541539999 meters Centerline goodness : 0.998792 Centerline is valid? [True, True] Translation: X:636.89, Y:8.13, Z:9.91 [[ 9.98213365e-01 -5.77034079e-02 -1.55046393e-02 6.36892769e+02] [ 5.77052144e-02 9.98333611e-01 -3.31206253e-04 8.13209771e+00] [ 1.54979143e-02 -5.64084028e-04 9.99879741e-01 9.91345507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.1492541539999 meters Centerline goodness : 0.999022 Centerline is valid? [True, True] Translation: X:636.92, Y:8.13, Z:9.92 [[ 9.98054614e-01 -6.03870326e-02 -1.55046627e-02 6.36924856e+02] [ 6.03891795e-02 9.98174853e-01 -3.30106579e-04 8.13298597e+00] [ 1.54962986e-02 -6.06849466e-04 9.99879741e-01 9.91538542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.1792541539999 meters Centerline goodness : 0.999063 Centerline is valid? [True, True] Translation: X:636.96, Y:8.13, Z:9.92 [[ 9.97692548e-01 -6.60998059e-02 -1.55046859e-02 6.36956014e+02] [ 6.61026580e-02 9.97812773e-01 -3.29014301e-04 8.13361153e+00] [ 1.54925214e-02 -6.96645834e-04 9.99879741e-01 9.91618416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.209254154 meters Centerline goodness : 0.998793 Centerline is valid? [True, True] Translation: X:636.99, Y:8.13, Z:9.92 [[ 9.97506197e-01 -6.88548511e-02 -1.55047031e-02 6.36987786e+02] [ 6.88580479e-02 9.97626414e-01 -3.28200841e-04 8.13416187e+00] [ 1.54904996e-02 -7.40241217e-04 9.99879741e-01 9.91578875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.2392541539999 meters Centerline goodness : 0.999065 Centerline is valid? [True, True] Translation: X:637.02, Y:8.14, Z:9.92 [[ 9.97034045e-01 -7.53837975e-02 -1.55047258e-02 6.37019186e+02] [ 7.53877980e-02 9.97154237e-01 -3.27125365e-04 8.13594371e+00] [ 1.54852630e-02 -8.42712011e-04 9.99879741e-01 9.91767805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.2692541539999 meters Centerline goodness : 0.998939 Centerline is valid? [True, True] Translation: X:637.05, Y:8.14, Z:9.92 [[ 9.96821245e-01 -7.81473553e-02 -1.55047427e-02 6.37052519e+02] [ 7.81517013e-02 9.96941425e-01 -3.26322951e-04 8.13720160e+00] [ 1.54828216e-02 -8.86436370e-04 9.99879741e-01 9.91855314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.2992541539999 meters Centerline goodness : 0.998878 Centerline is valid? [True, True] Translation: X:637.08, Y:8.14, Z:9.92 [[ 9.96667868e-01 -8.00797232e-02 -1.55047761e-02 6.37084761e+02] [ 8.00843269e-02 9.96788039e-01 -3.24730081e-04 8.13823718e+00] [ 1.54809796e-02 -9.18041517e-04 9.99879741e-01 9.91852152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.329254154 meters Centerline goodness : 0.998814 Centerline is valid? [True, True] Translation: X:637.12, Y:8.14, Z:9.92 [[ 9.96404375e-01 -8.32941914e-02 -1.55048036e-02 6.37116510e+02] [ 8.32992032e-02 9.96524530e-01 -3.23410942e-04 8.14085981e+00] [ 1.54778553e-02 -9.69289705e-04 9.99879741e-01 9.92015158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.3592541539999 meters Centerline goodness : 0.999004 Centerline is valid? [True, True] Translation: X:637.15, Y:8.14, Z:9.92 [[ 9.96374380e-01 -8.36522305e-02 -1.55048308e-02 6.37149770e+02] [ 8.36573057e-02 9.96494532e-01 -3.22103037e-04 8.14265393e+00] [ 1.54774237e-02 -9.76157153e-04 9.99879741e-01 9.92003032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.3892541539999 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:637.18, Y:8.14, Z:9.92 [[ 9.96340359e-01 -8.40564591e-02 -1.55048630e-02 6.37182918e+02] [ 8.40616072e-02 9.96460508e-01 -3.20542641e-04 8.14495503e+00] [ 1.54769273e-02 -9.83994135e-04 9.99879741e-01 9.92121916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.4192541539999 meters Centerline goodness : 0.998899 Centerline is valid? [True, True] Translation: X:637.22, Y:8.15, Z:9.92 [[ 9.96439086e-01 -8.28778954e-02 -1.55048950e-02 6.37215168e+02] [ 8.28829255e-02 9.96559240e-01 -3.18986396e-04 8.14888108e+00] [ 1.54779833e-02 -9.67240546e-04 9.99879741e-01 9.92310776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.449254154 meters Centerline goodness : 0.998917 Centerline is valid? [True, True] Translation: X:637.25, Y:8.15, Z:9.92 [[ 9.96548082e-01 -8.15568337e-02 -1.55049214e-02 6.37248626e+02] [ 8.15617245e-02 9.96668242e-01 -3.17699039e-04 8.15116904e+00] [ 1.54791733e-02 -9.48005761e-04 9.99879741e-01 9.92438789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.4792541539999 meters Centerline goodness : 0.998775 Centerline is valid? [True, True] Translation: X:637.28, Y:8.15, Z:9.92 [[ 9.96691850e-01 -7.97806530e-02 -1.55049526e-02 6.37281527e+02] [ 7.97853534e-02 9.96812017e-01 -3.16171312e-04 8.15340698e+00] [ 1.54807474e-02 -9.21942749e-04 9.99879741e-01 9.92479242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.5092541539999 meters Centerline goodness : 0.998690 Centerline is valid? [True, True] Translation: X:637.31, Y:8.16, Z:9.93 [[ 9.96959786e-01 -7.63595453e-02 -1.55049834e-02 6.37314448e+02] [ 7.63638567e-02 9.97079968e-01 -3.14652525e-04 8.15788229e+00] [ 1.54837351e-02 -8.70324415e-04 9.99879741e-01 9.92629695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.5392541539999 meters Centerline goodness : 0.998567 Centerline is valid? [True, True] Translation: X:637.35, Y:8.16, Z:9.93 [[ 9.97136011e-01 -7.40227664e-02 -1.55050139e-02 6.37347929e+02] [ 7.40268196e-02 9.97256202e-01 -3.13142576e-04 8.16051793e+00] [ 1.54856509e-02 -8.35541126e-04 9.99879741e-01 9.92555444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.569254154 meters Centerline goodness : 0.998650 Centerline is valid? [True, True] Translation: X:637.38, Y:8.17, Z:9.93 [[ 9.97417450e-01 -7.01286275e-02 -1.55050440e-02 6.37379936e+02] [ 7.01322345e-02 9.97537655e-01 -3.11646177e-04 8.16624045e+00] [ 1.54887205e-02 -7.76562044e-04 9.99879741e-01 9.92718199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.5992541539999 meters Centerline goodness : 0.998628 Centerline is valid? [True, True] Translation: X:637.41, Y:8.17, Z:9.93 [[ 9.97547357e-01 -6.82558740e-02 -1.55050688e-02 6.37413103e+02] [ 6.82592745e-02 9.97667567e-01 -3.10404945e-04 8.16906648e+00] [ 1.54900912e-02 -7.48721116e-04 9.99879741e-01 9.92642296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.6292541539999 meters Centerline goodness : 0.998587 Centerline is valid? [True, True] Translation: X:637.45, Y:8.17, Z:9.93 [[ 9.97645791e-01 -6.68017011e-02 -1.55050982e-02 6.37445535e+02] [ 6.68049493e-02 9.97766006e-01 -3.08931920e-04 8.17137502e+00] [ 1.54910970e-02 -7.27612667e-04 9.99879741e-01 9.92620399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.6592541539999 meters Centerline goodness : 0.998816 Centerline is valid? [True, True] Translation: X:637.48, Y:8.17, Z:9.93 [[ 9.97748855e-01 -6.52442617e-02 -1.55051175e-02 6.37478031e+02] [ 6.52473374e-02 9.97869075e-01 -3.07958397e-04 8.17346321e+00] [ 1.54921698e-02 -7.04402494e-04 9.99879741e-01 9.92595324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.689254154 meters Centerline goodness : 0.998671 Centerline is valid? [True, True] Translation: X:637.51, Y:8.18, Z:9.93 [[ 9.97941187e-01 -6.22332514e-02 -1.55051367e-02 6.37511390e+02] [ 6.22359793e-02 9.98061415e-01 -3.06989428e-04 8.17785892e+00] [ 1.54941836e-02 -6.58619971e-04 9.99879741e-01 9.92632864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.7192541539999 meters Centerline goodness : 0.998898 Centerline is valid? [True, True] Translation: X:637.54, Y:8.18, Z:9.93 [[ 9.98056960e-01 -6.03481080e-02 -1.55051705e-02 6.37543851e+02] [ 6.03506355e-02 9.98177193e-01 -3.05268942e-04 8.18017623e+00] [ 1.54953300e-02 -6.31071104e-04 9.99879741e-01 9.92613126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.7492541539999 meters Centerline goodness : 0.998693 Centerline is valid? [True, True] Translation: X:637.58, Y:8.18, Z:9.93 [[ 9.98217803e-01 -5.76264343e-02 -1.55051984e-02 6.37576990e+02] [ 5.76286560e-02 9.98338042e-01 -3.03846216e-04 8.18434027e+00] [ 1.54969390e-02 -5.90239044e-04 9.99879741e-01 9.92707751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.7792541539999 meters Centerline goodness : 0.998464 Centerline is valid? [True, True] Translation: X:637.61, Y:8.19, Z:9.93 [[ 9.98339157e-01 -5.54843672e-02 -1.55052313e-02 6.37609608e+02] [ 5.54863571e-02 9.98459400e-01 -3.02157464e-04 8.18645908e+00] [ 1.54981090e-02 -5.58673175e-04 9.99879741e-01 9.92665944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.8092541539999 meters Centerline goodness : 0.998877 Centerline is valid? [True, True] Translation: X:637.64, Y:8.19, Z:9.93 [[ 9.98413839e-01 -5.41238672e-02 -1.55052638e-02 6.37642912e+02] [ 5.41257192e-02 9.98534084e-01 -3.00484047e-04 8.18939858e+00] [ 1.54987977e-02 -5.39226122e-04 9.99879741e-01 9.92840965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.839254154 meters Centerline goodness : 0.998541 Centerline is valid? [True, True] Translation: X:637.68, Y:8.19, Z:9.93 [[ 9.98632062e-01 -4.99358628e-02 -1.55052960e-02 6.37675402e+02] [ 4.99372363e-02 9.98752313e-01 -2.98812222e-04 8.19378534e+00] [ 1.55008717e-02 -4.75888164e-04 9.99879741e-01 9.92865158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.8692541539999 meters Centerline goodness : 0.998750 Centerline is valid? [True, True] Translation: X:637.71, Y:8.20, Z:9.93 [[ 9.98749993e-01 -4.75188091e-02 -1.55053279e-02 6.37706799e+02] [ 4.75199175e-02 9.98870246e-01 -2.97144971e-04 8.19554698e+00] [ 1.55019307e-02 -4.40038367e-04 9.99879741e-01 9.92884199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.8992541539999 meters Centerline goodness : 0.998496 Centerline is valid? [True, True] Translation: X:637.74, Y:8.20, Z:9.93 [[ 9.98844526e-01 -4.54884278e-02 -1.55053437e-02 6.37739251e+02] [ 4.54893045e-02 9.98964782e-01 -2.96320805e-04 8.19732191e+00] [ 1.55027714e-02 -4.09348886e-04 9.99879741e-01 9.92901192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.9292541539999 meters Centerline goodness : 0.998535 Centerline is valid? [True, True] Translation: X:637.77, Y:8.20, Z:9.93 [[ 9.99004439e-01 -4.18295909e-02 -1.55053643e-02 6.37771598e+02] [ 4.18300439e-02 9.99124697e-01 -2.95239555e-04 8.20046365e+00] [ 1.55041421e-02 -3.53644443e-04 9.99879741e-01 9.92893732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.959254154 meters Centerline goodness : 0.998616 Centerline is valid? [True, True] Translation: X:637.80, Y:8.20, Z:9.93 [[ 9.99102454e-01 -3.94191598e-02 -1.55053848e-02 6.37803427e+02] [ 3.94193395e-02 9.99222713e-01 -2.94156418e-04 8.20176837e+00] [ 1.55049281e-02 -3.17319629e-04 9.99879741e-01 9.92767921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.9892541539999 meters Centerline goodness : 0.998406 Centerline is valid? [True, True] Translation: X:637.84, Y:8.20, Z:9.93 [[ 9.99162608e-01 -3.78637822e-02 -1.55054052e-02 6.37835830e+02] [ 3.78637914e-02 9.99282867e-01 -2.93077157e-04 8.20333870e+00] [ 1.55053828e-02 -2.94261692e-04 9.99879741e-01 9.92753897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.0192541539999 meters Centerline goodness : 0.998617 Centerline is valid? [True, True] Translation: X:637.87, Y:8.21, Z:9.93 [[ 9.99226442e-01 -3.61400071e-02 -1.55054254e-02 6.37867260e+02] [ 3.61398254e-02 9.99346700e-01 -2.92005455e-04 8.20573038e+00] [ 1.55058488e-02 -2.68583795e-04 9.99879741e-01 9.92834854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.0492541539999 meters Centerline goodness : 0.998511 Centerline is valid? [True, True] Translation: X:637.90, Y:8.21, Z:9.93 [[ 9.99260834e-01 -3.51762237e-02 -1.55054404e-02 6.37899589e+02] [ 3.51759385e-02 9.99381093e-01 -2.91206250e-04 8.20615143e+00] [ 1.55060875e-02 -2.54427418e-04 9.99879741e-01 9.92814786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.079254154 meters Centerline goodness : 0.998553 Centerline is valid? [True, True] Translation: X:637.93, Y:8.21, Z:9.93 [[ 9.99269986e-01 -3.49152645e-02 -1.55054610e-02 6.37930970e+02] [ 3.49149650e-02 9.99390245e-01 -2.90105944e-04 8.20587039e+00] [ 1.55061356e-02 -2.51478465e-04 9.99879741e-01 9.92661802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.1092541539999 meters Centerline goodness : 0.998655 Centerline is valid? [True, True] Translation: X:637.96, Y:8.21, Z:9.93 [[ 9.99232500e-01 -3.59720954e-02 -1.55054763e-02 6.37963179e+02] [ 3.59719357e-02 9.99352759e-01 -2.89286209e-04 8.20655939e+00] [ 1.55058467e-02 -2.68697815e-04 9.99879741e-01 9.92833400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.1392541539999 meters Centerline goodness : 0.998908 Centerline is valid? [True, True] Translation: X:637.99, Y:8.21, Z:9.93 [[ 9.99212505e-01 -3.65232744e-02 -1.55054965e-02 6.37993944e+02] [ 3.65231979e-02 9.99332764e-01 -2.88197817e-04 8.20719196e+00] [ 1.55056766e-02 -2.78339456e-04 9.99879741e-01 9.92891100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.1692541539999 meters Centerline goodness : 0.998843 Centerline is valid? [True, True] Translation: X:638.03, Y:8.21, Z:9.93 [[ 9.99152718e-01 -3.81238240e-02 -1.55055116e-02 6.38026157e+02] [ 3.81239527e-02 9.99272977e-01 -2.87386483e-04 8.20707325e+00] [ 1.55051950e-02 -3.03988405e-04 9.99879741e-01 9.92839531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.199254154 meters Centerline goodness : 0.998638 Centerline is valid? [True, True] Translation: X:638.06, Y:8.21, Z:9.93 [[ 9.99120019e-01 -3.89713620e-02 -1.55055319e-02 6.38057613e+02] [ 3.89716099e-02 9.99240277e-01 -2.86283181e-04 8.20636410e+00] [ 1.55049089e-02 -3.18244284e-04 9.99879741e-01 9.92742637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.2292541539999 meters Centerline goodness : 0.998531 Centerline is valid? [True, True] Translation: X:638.09, Y:8.20, Z:9.93 [[ 9.99009814e-01 -4.17009379e-02 -1.55055657e-02 6.38089194e+02] [ 4.17015429e-02 9.99130072e-01 -2.84440742e-04 8.20392540e+00] [ 1.55039384e-02 -3.62446922e-04 9.99879741e-01 9.92609704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.2592541539999 meters Centerline goodness : 0.998531 Centerline is valid? [True, True] Translation: X:638.12, Y:8.20, Z:9.93 [[ 9.99012626e-01 -4.16335199e-02 -1.55055806e-02 6.38121877e+02] [ 4.16341295e-02 9.99132883e-01 -2.83626570e-04 8.20445623e+00] [ 1.55039439e-02 -3.62214826e-04 9.99879741e-01 9.92660377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.2892541539999 meters Centerline goodness : 0.998552 Centerline is valid? [True, True] Translation: X:638.15, Y:8.20, Z:9.93 [[ 9.98910149e-01 -4.40237516e-02 -1.55055997e-02 6.38152866e+02] [ 4.40246651e-02 9.99030404e-01 -2.82580250e-04 8.20234034e+00] [ 1.55030058e-02 -4.00356555e-04 9.99879741e-01 9.92653742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.319254154 meters Centerline goodness : 0.998636 Centerline is valid? [True, True] Translation: X:638.19, Y:8.20, Z:9.93 [[ 9.98938059e-01 -4.33858273e-02 -1.55056139e-02 6.38189488e+02] [ 4.33866762e-02 9.99058315e-01 -2.81800480e-04 8.19717716e+00] [ 1.55032386e-02 -3.91235823e-04 9.99879741e-01 9.92593306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.3492541539999 meters Centerline goodness : 0.998490 Centerline is valid? [True, True] Translation: X:638.21, Y:8.20, Z:9.93 [[ 9.98662652e-01 -4.93183214e-02 -1.55116113e-02 6.38212311e+02] [ 4.93250718e-02 9.98782776e-01 5.26754725e-05 8.20153029e+00] [ 1.54901323e-02 -8.17716366e-04 9.99879686e-01 9.92847229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.3792541539999 meters Centerline goodness : 0.998660 Centerline is valid? [True, True] Translation: X:638.24, Y:8.20, Z:9.93 [[ 9.98627170e-01 -5.00335999e-02 -1.55052684e-02 6.38244672e+02] [ 5.00351468e-02 9.98747416e-01 -2.88392011e-04 8.20052754e+00] [ 1.55002761e-02 -4.87812284e-04 9.99879745e-01 9.92690558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.4092541539999 meters Centerline goodness : 0.998744 Centerline is valid? [True, True] Translation: X:638.28, Y:8.20, Z:9.93 [[ 9.98503650e-01 -5.24408884e-02 -1.55052898e-02 6.38278041e+02] [ 5.24427430e-02 9.98623891e-01 -2.87239073e-04 8.19998707e+00] [ 1.54990159e-02 -5.26330665e-04 9.99879745e-01 9.92817934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.439254154 meters Centerline goodness : 0.998431 Centerline is valid? [True, True] Translation: X:638.31, Y:8.20, Z:9.92 [[ 9.98344805e-01 -5.53826228e-02 -1.55053218e-02 6.38309579e+02] [ 5.53848587e-02 9.98465040e-01 -2.85500630e-04 8.19681115e+00] [ 1.54973335e-02 -5.73731986e-04 9.99879745e-01 9.92429484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.4692541539999 meters Centerline goodness : 0.998558 Centerline is valid? [True, True] Translation: X:638.35, Y:8.19, Z:9.92 [[ 9.98399914e-01 -5.43800965e-02 -1.55053572e-02 6.38346590e+02] [ 5.43822417e-02 9.98520151e-01 -2.83563352e-04 8.19248216e+00] [ 1.54978318e-02 -5.60106458e-04 9.99879745e-01 9.92314470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.4992541539999 meters Centerline goodness : 0.998869 Centerline is valid? [True, True] Translation: X:638.37, Y:8.20, Z:9.93 [[ 9.98035329e-01 -6.07035394e-02 -1.55100636e-02 6.38371975e+02] [ 6.07105140e-02 9.98155415e-01 -2.12012147e-05 8.19622658e+00] [ 1.54827409e-02 -9.20464369e-04 9.99879712e-01 9.92697512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.5292541539999 meters Centerline goodness : 0.998706 Centerline is valid? [True, True] Translation: X:638.40, Y:8.20, Z:9.93 [[ 9.97819649e-01 -6.41524398e-02 -1.55052335e-02 6.38404432e+02] [ 6.41557477e-02 9.97939857e-01 -2.84484670e-04 8.19579177e+00] [ 1.54915409e-02 -7.10885452e-04 9.99879746e-01 9.92634772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.5592541539999 meters Centerline goodness : 0.998623 Centerline is valid? [True, True] Translation: X:638.44, Y:8.20, Z:9.93 [[ 9.97757010e-01 -6.51193927e-02 -1.55052596e-02 6.38437150e+02] [ 6.51228393e-02 9.97877215e-01 -2.83051105e-04 8.19593009e+00] [ 1.54907774e-02 -7.27330307e-04 9.99879746e-01 9.92731011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.589254154 meters Centerline goodness : 0.998561 Centerline is valid? [True, True] Translation: X:638.47, Y:8.20, Z:9.93 [[ 9.97560466e-01 -6.80639533e-02 -1.55052911e-02 6.38470416e+02] [ 6.80677816e-02 9.97680659e-01 -2.81315143e-04 8.19556405e+00] [ 1.54884765e-02 -7.74781905e-04 9.99879746e-01 9.92785993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.6192541539999 meters Centerline goodness : 0.998600 Centerline is valid? [True, True] Translation: X:638.50, Y:8.20, Z:9.93 [[ 9.97411657e-01 -7.02109018e-02 -1.55053226e-02 6.38502476e+02] [ 7.02150159e-02 9.97531841e-01 -2.79569987e-04 8.19562769e+00] [ 1.54866818e-02 -8.09860108e-04 9.99879746e-01 9.92874129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.6492541539999 meters Centerline goodness : 0.998895 Centerline is valid? [True, True] Translation: X:638.54, Y:8.20, Z:9.93 [[ 9.97307021e-01 -7.16818629e-02 -1.55053485e-02 6.38535865e+02] [ 7.16861765e-02 9.97427198e-01 -2.78124788e-04 8.19548598e+00] [ 1.54853928e-02 -8.34143347e-04 9.99879746e-01 9.92929029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.6792541539999 meters Centerline goodness : 0.998831 Centerline is valid? [True, True] Translation: X:638.57, Y:8.20, Z:9.93 [[ 9.97089444e-01 -7.46473260e-02 -1.55053792e-02 6.38568606e+02] [ 7.46520237e-02 9.97209606e-01 -2.76405019e-04 8.19632504e+00] [ 1.54827460e-02 -8.81907407e-04 9.99879746e-01 9.93115297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.709254154 meters Centerline goodness : 0.998687 Centerline is valid? [True, True] Translation: X:638.60, Y:8.20, Z:9.93 [[ 9.97023919e-01 -7.55174662e-02 -1.55054096e-02 6.38601637e+02] [ 7.55222954e-02 9.97144076e-01 -2.74689149e-04 8.19718042e+00] [ 1.54818711e-02 -8.97132470e-04 9.99879746e-01 9.93129798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.7392541539999 meters Centerline goodness : 0.998770 Centerline is valid? [True, True] Translation: X:638.63, Y:8.20, Z:9.93 [[ 9.96811206e-01 -7.82751608e-02 -1.55054399e-02 6.38632658e+02] [ 7.82803491e-02 9.96931348e-01 -2.72963757e-04 8.19898448e+00] [ 1.54792254e-02 -9.41677919e-04 9.99879746e-01 9.93335152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.7692541539999 meters Centerline goodness : 0.998748 Centerline is valid? [True, True] Translation: X:638.66, Y:8.20, Z:9.93 [[ 9.96777277e-01 -7.87060389e-02 -1.55054549e-02 6.38664382e+02] [ 7.87112923e-02 9.96897416e-01 -2.72109158e-04 8.19971419e+00] [ 1.54787646e-02 -9.49222170e-04 9.99879746e-01 9.93415019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.7992541539999 meters Centerline goodness : 0.998688 Centerline is valid? [True, True] Translation: X:638.70, Y:8.20, Z:9.93 [[ 9.96785322e-01 -7.86040776e-02 -1.55054796e-02 6.38697747e+02] [ 7.86093407e-02 9.96905461e-01 -2.70694340e-04 8.20059811e+00] [ 1.54787750e-02 -9.49051387e-04 9.99879746e-01 9.93450650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.829254154 meters Centerline goodness : 0.998688 Centerline is valid? [True, True] Translation: X:638.73, Y:8.20, Z:9.94 [[ 9.96793945e-01 -7.84946479e-02 -1.55055092e-02 6.38731278e+02] [ 7.84999242e-02 9.96914083e-01 -2.68992116e-04 8.20108679e+00] [ 1.54787749e-02 -9.49051582e-04 9.99879746e-01 9.93502612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.8592541539999 meters Centerline goodness : 0.998291 Centerline is valid? [True, True] Translation: X:638.76, Y:8.20, Z:9.93 [[ 9.96899143e-01 -7.71471086e-02 -1.55055385e-02 6.38764370e+02] [ 7.71522488e-02 9.97019287e-01 -2.67290090e-04 8.20289443e+00] [ 1.54799416e-02 -9.29825903e-04 9.99879746e-01 9.93352590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.8892541539999 meters Centerline goodness : 0.998601 Centerline is valid? [True, True] Translation: X:638.80, Y:8.21, Z:9.94 [[ 9.96917271e-01 -7.69125022e-02 -1.55055675e-02 6.38795892e+02] [ 7.69176404e-02 9.97037415e-01 -2.65600586e-04 8.20500651e+00] [ 1.54800589e-02 -9.27869850e-04 9.99879746e-01 9.93565930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.9192541539999 meters Centerline goodness : 0.998707 Centerline is valid? [True, True] Translation: X:638.83, Y:8.21, Z:9.94 [[ 9.97189902e-01 -7.32930819e-02 -1.55056146e-02 6.38828497e+02] [ 7.32978269e-02 9.97310062e-01 -2.62818928e-04 8.20860011e+00] [ 1.54831683e-02 -8.74447475e-04 9.99879746e-01 9.93560379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.949254154 meters Centerline goodness : 0.998663 Centerline is valid? [True, True] Translation: X:638.86, Y:8.21, Z:9.94 [[ 9.97341676e-01 -7.11980028e-02 -1.55056431e-02 6.38860802e+02] [ 7.12025217e-02 9.97461845e-01 -2.61128502e-04 8.21096625e+00] [ 1.54848792e-02 -8.43606548e-04 9.99879746e-01 9.93649319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.9792541539999 meters Centerline goodness : 0.998602 Centerline is valid? [True, True] Translation: X:638.89, Y:8.21, Z:9.94 [[ 9.97499575e-01 -6.89505078e-02 -1.55056665e-02 6.38894269e+02] [ 6.89547776e-02 9.97619753e-01 -2.59729103e-04 8.21331635e+00] [ 1.54866676e-02 -8.10110115e-04 9.99879746e-01 9.93682081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.0092541539999 meters Centerline goodness : 0.998766 Centerline is valid? [True, True] Translation: X:638.93, Y:8.22, Z:9.94 [[ 9.97769642e-01 -6.49254551e-02 -1.55056942e-02 6.38926197e+02] [ 6.49292658e-02 9.97889836e-01 -2.58062702e-04 8.21771727e+00] [ 1.54897295e-02 -7.49286213e-04 9.99879746e-01 9.93847532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.0392541539999 meters Centerline goodness : 0.998764 Centerline is valid? [True, True] Translation: X:638.96, Y:8.22, Z:9.94 [[ 9.97963633e-01 -6.18721214e-02 -1.55057394e-02 6.38958946e+02] [ 6.18756068e-02 9.98083836e-01 -2.55318626e-04 8.21997448e+00] [ 1.54918250e-02 -7.04628333e-04 9.99879746e-01 9.93824078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.069254154 meters Centerline goodness : 0.998741 Centerline is valid? [True, True] Translation: X:638.99, Y:8.22, Z:9.94 [[ 9.98091924e-01 -5.97669028e-02 -1.55057663e-02 6.38992144e+02] [ 5.97701601e-02 9.98212134e-01 -2.53678275e-04 8.22306217e+00] [ 1.54932056e-02 -6.73587895e-04 9.99879746e-01 9.93987201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.0992541539999 meters Centerline goodness : 0.998761 Centerline is valid? [True, True] Translation: X:639.02, Y:8.23, Z:9.94 [[ 9.98468590e-01 -5.31040982e-02 -1.55057928e-02 6.39023938e+02] [ 5.31065785e-02 9.98588818e-01 -2.52047377e-04 8.22768285e+00] [ 1.54972960e-02 -5.71798211e-04 9.99879746e-01 9.93986769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.1292541539999 meters Centerline goodness : 0.998825 Centerline is valid? [True, True] Translation: X:639.06, Y:8.23, Z:9.94 [[ 9.98599326e-01 -5.05861231e-02 -1.55058146e-02 6.39056753e+02] [ 5.05883210e-02 9.98719560e-01 -2.50699981e-04 8.23063634e+00] [ 1.54986422e-02 -5.34064292e-04 9.99879746e-01 9.94200399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.1592541539999 meters Centerline goodness : 0.998695 Centerline is valid? [True, True] Translation: X:639.09, Y:8.23, Z:9.94 [[ 9.98782806e-01 -4.68238863e-02 -1.55058403e-02 6.39088974e+02] [ 4.68256561e-02 9.98903046e-01 -2.49097804e-04 8.23277387e+00] [ 1.55004948e-02 -4.77276541e-04 9.99879746e-01 9.94163678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.189254154 meters Centerline goodness : 0.998947 Centerline is valid? [True, True] Translation: X:639.12, Y:8.24, Z:9.94 [[ 9.99070088e-01 -4.02309171e-02 -1.55058588e-02 6.39120551e+02] [ 4.02319113e-02 9.99190338e-01 -2.47941166e-04 8.23701318e+00] [ 1.55032792e-02 -3.76119733e-04 9.99879746e-01 9.94271323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.2192541539999 meters Centerline goodness : 0.998607 Centerline is valid? [True, True] Translation: X:639.15, Y:8.24, Z:9.94 [[ 9.99248197e-01 -3.55331935e-02 -1.55058725e-02 6.39152160e+02] [ 3.55336356e-02 9.99368450e-01 -2.47080975e-04 8.23863684e+00] [ 1.55048593e-02 -3.04084803e-04 9.99879746e-01 9.94187769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.2492541539999 meters Centerline goodness : 0.998880 Centerline is valid? [True, True] Translation: X:639.18, Y:8.24, Z:9.94 [[ 9.99447377e-01 -2.94025148e-02 -1.55059020e-02 6.39184055e+02] [ 2.94022481e-02 9.99567630e-01 -2.45212514e-04 8.24280434e+00] [ 1.55064076e-02 -2.10831376e-04 9.99879746e-01 9.94331417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.2792541539999 meters Centerline goodness : 0.998880 Centerline is valid? [True, True] Translation: X:639.22, Y:8.24, Z:9.94 [[ 9.99542509e-01 -2.59680357e-02 -1.55059198e-02 6.39215644e+02] [ 2.59673733e-02 9.99662761e-01 -2.44086351e-04 8.24441814e+00] [ 1.55070290e-02 -1.58673323e-04 9.99879746e-01 9.94370366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.3092541539999 meters Centerline goodness : 0.998813 Centerline is valid? [True, True] Translation: X:639.25, Y:8.25, Z:9.94 [[ 9.99632175e-01 -2.22503900e-02 -1.55059329e-02 6.39247095e+02] [ 2.22492934e-02 9.99752424e-01 -2.43248547e-04 8.24550268e+00] [ 1.55075064e-02 -1.01836977e-04 9.99879746e-01 9.94259102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.339254154 meters Centerline goodness : 0.998814 Centerline is valid? [True, True] Translation: X:639.28, Y:8.25, Z:9.94 [[ 9.99713555e-01 -1.82311390e-02 -1.55059415e-02 6.39277474e+02] [ 1.82295674e-02 9.99833798e-01 -2.42697972e-04 8.24777176e+00] [ 1.55077891e-02 -4.00381541e-05 9.99879746e-01 9.94306092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.3692541539999 meters Centerline goodness : 0.998687 Centerline is valid? [True, True] Translation: X:639.31, Y:8.25, Z:9.94 [[ 9.99745028e-01 -1.64147752e-02 -1.55059415e-02 6.39307351e+02] [ 1.64129852e-02 9.99865268e-01 -2.42697973e-04 8.24816012e+00] [ 1.55078362e-02 -1.18626974e-05 9.99879746e-01 9.94179198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.3992541539999 meters Centerline goodness : 0.998982 Centerline is valid? [True, True] Translation: X:639.34, Y:8.25, Z:9.94 [[ 9.99721891e-01 -1.77681243e-02 -1.55059326e-02 6.39335975e+02] [ 1.77664882e-02 9.99842134e-01 -2.43270182e-04 8.24889763e+00] [ 1.55078072e-02 -3.22834426e-05 9.99879746e-01 9.94278812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.4292541539999 meters Centerline goodness : 0.998835 Centerline is valid? [True, True] Translation: X:639.37, Y:8.25, Z:9.94 [[ 9.99696015e-01 -1.91688069e-02 -1.55059192e-02 6.39365622e+02] [ 1.91673261e-02 9.99816260e-01 -2.44120638e-04 8.24859256e+00] [ 1.55077496e-02 -5.31605808e-05 9.99879746e-01 9.94182901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.459254154 meters Centerline goodness : 0.998835 Centerline is valid? [True, True] Translation: X:639.40, Y:8.25, Z:9.94 [[ 9.99643614e-01 -2.17304316e-02 -1.55059103e-02 6.39395047e+02] [ 2.17292502e-02 9.99763862e-01 -2.44684409e-04 8.24833038e+00] [ 1.55075658e-02 -9.23345968e-05 9.99879746e-01 9.94206626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.4892541539999 meters Centerline goodness : 0.998920 Centerline is valid? [True, True] Translation: X:639.43, Y:8.25, Z:9.94 [[ 9.99477940e-01 -2.83445499e-02 -1.55059059e-02 6.39425994e+02] [ 2.83441599e-02 9.99598194e-01 -2.44964347e-04 8.24646335e+00] [ 1.55066189e-02 -1.94665413e-04 9.99879746e-01 9.94143662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.5192541539999 meters Centerline goodness : 0.998944 Centerline is valid? [True, True] Translation: X:639.46, Y:8.24, Z:9.94 [[ 9.99216157e-01 -3.64230621e-02 -1.55059059e-02 6.39456765e+02] [ 3.64236441e-02 9.99336409e-01 -2.44964347e-04 8.24443748e+00] [ 1.55045386e-02 -3.20009263e-04 9.99879746e-01 9.94217582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.5492541539999 meters Centerline goodness : 0.998753 Centerline is valid? [True, True] Translation: X:639.49, Y:8.24, Z:9.94 [[ 9.99080104e-01 -3.99813928e-02 -1.55059193e-02 6.39488981e+02] [ 3.99824163e-02 9.99200354e-01 -2.44112576e-04 8.24322011e+00] [ 1.55032800e-02 -3.76076101e-04 9.99879746e-01 9.94196648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.579254154 meters Centerline goodness : 0.998648 Centerline is valid? [True, True] Translation: X:639.52, Y:8.24, Z:9.94 [[ 9.98915222e-01 -4.39083629e-02 -1.55059369e-02 6.39520469e+02] [ 4.39098765e-02 9.99035467e-01 -2.42989405e-04 8.24225239e+00] [ 1.55016501e-02 -4.38137957e-04 9.99879746e-01 9.94324845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.6092541539999 meters Centerline goodness : 0.998735 Centerline is valid? [True, True] Translation: X:639.55, Y:8.24, Z:9.94 [[ 9.98729960e-01 -4.79377925e-02 -1.55059665e-02 6.39553039e+02] [ 4.79398207e-02 9.98850197e-01 -2.41086111e-04 8.24127495e+00] [ 1.54996948e-02 -5.02573329e-04 9.99879746e-01 9.94336256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.6392541539999 meters Centerline goodness : 0.998842 Centerline is valid? [True, True] Translation: X:639.59, Y:8.24, Z:9.94 [[ 9.98372975e-01 -5.48722757e-02 -1.55059844e-02 6.39585271e+02] [ 5.48751568e-02 9.98493195e-01 -2.39923856e-04 8.23870772e+00] [ 1.54957851e-02 -6.11359834e-04 9.99879746e-01 9.94336955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.6692541539999 meters Centerline goodness : 0.999033 Centerline is valid? [True, True] Translation: X:639.62, Y:8.24, Z:9.94 [[ 9.98222185e-01 -5.75502637e-02 -1.55060022e-02 6.39617395e+02] [ 5.75534853e-02 9.98342396e-01 -2.38768721e-04 8.23747978e+00] [ 1.54940406e-02 -6.54080236e-04 9.99879746e-01 9.94346057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.699254154 meters Centerline goodness : 0.998990 Centerline is valid? [True, True] Translation: X:639.65, Y:8.24, Z:9.94 [[ 9.98069619e-01 -6.01381676e-02 -1.55060243e-02 6.39650896e+02] [ 6.01417232e-02 9.98189820e-01 -2.37327563e-04 8.23677549e+00] [ 1.54922280e-02 -6.95689589e-04 9.99879746e-01 9.94329349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.7292541539999 meters Centerline goodness : 0.998760 Centerline is valid? [True, True] Translation: X:639.68, Y:8.24, Z:9.94 [[ 9.97949779e-01 -6.20951006e-02 -1.55060506e-02 6.39683069e+02] [ 6.20989186e-02 9.98069972e-01 -2.35596993e-04 8.23660265e+00] [ 1.54907529e-02 -7.27795006e-04 9.99879746e-01 9.94281050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.7592541539999 meters Centerline goodness : 0.998716 Centerline is valid? [True, True] Translation: X:639.71, Y:8.24, Z:9.94 [[ 9.97817594e-01 -6.41841890e-02 -1.55060679e-02 6.39713899e+02] [ 6.41882764e-02 9.97937779e-01 -2.34448519e-04 8.23571677e+00] [ 1.54891389e-02 -7.61370918e-04 9.99879746e-01 9.94123335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.7892541539999 meters Centerline goodness : 0.998569 Centerline is valid? [True, True] Translation: X:639.75, Y:8.24, Z:9.94 [[ 9.97828203e-01 -6.40190490e-02 -1.55060808e-02 6.39746467e+02] [ 6.40231298e-02 9.97948388e-01 -2.33593518e-04 8.23528370e+00] [ 1.54892228e-02 -7.59661626e-04 9.99879746e-01 9.93880933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.819254154 meters Centerline goodness : 0.998611 Centerline is valid? [True, True] Translation: X:639.79, Y:8.23, Z:9.94 [[ 9.98044634e-01 -6.05513721e-02 -1.55060977e-02 6.39785310e+02] [ 6.05550527e-02 9.98164832e-01 -2.32469257e-04 8.22936837e+00] [ 1.54917177e-02 -7.06957867e-04 9.99879746e-01 9.94295301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.8492541539999 meters Centerline goodness : 0.998758 Centerline is valid? [True, True] Translation: X:639.81, Y:8.24, Z:9.94 [[ 9.97685618e-01 -6.62027544e-02 -1.55113860e-02 6.39806540e+02] [ 6.62127835e-02 9.97805517e-01 1.33340078e-04 8.23763448e+00] [ 1.54685190e-02 -1.16008352e-03 9.99879682e-01 9.94072932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.8792541539999 meters Centerline goodness : 0.998779 Centerline is valid? [True, True] Translation: X:639.84, Y:8.24, Z:9.94 [[ 9.97681625e-01 -6.62642080e-02 -1.55058039e-02 6.39839903e+02] [ 6.62685370e-02 9.97801797e-01 -2.35019205e-04 8.23889453e+00] [ 1.54872923e-02 -7.93072593e-04 9.99879750e-01 9.94100592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.9092541539999 meters Centerline goodness : 0.998780 Centerline is valid? [True, True] Translation: X:639.87, Y:8.24, Z:9.94 [[ 9.97705550e-01 -6.59029945e-02 -1.55058288e-02 6.39872271e+02] [ 6.59073057e-02 9.97825723e-01 -2.33358911e-04 8.24074160e+00] [ 1.54874939e-02 -7.89123922e-04 9.99879750e-01 9.94103767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.939254154 meters Centerline goodness : 0.998653 Centerline is valid? [True, True] Translation: X:639.91, Y:8.24, Z:9.94 [[ 9.97730306e-01 -6.55271324e-02 -1.55058494e-02 6.39905607e+02] [ 6.55314196e-02 9.97850479e-01 -2.31984297e-04 8.24191060e+00] [ 1.54877205e-02 -7.84662560e-04 9.99879750e-01 9.94164891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.9692541539999 meters Centerline goodness : 0.998758 Centerline is valid? [True, True] Translation: X:639.94, Y:8.24, Z:9.94 [[ 9.97740532e-01 -6.53712387e-02 -1.55058736e-02 6.39938191e+02] [ 6.53755325e-02 9.97860705e-01 -2.30354907e-04 8.24345515e+00] [ 1.54877606e-02 -7.83870316e-04 9.99879750e-01 9.94235439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.9992541539999 meters Centerline goodness : 0.998715 Centerline is valid? [True, True] Translation: X:639.97, Y:8.25, Z:9.94 [[ 9.97844387e-01 -6.37663479e-02 -1.55058974e-02 6.39970531e+02] [ 6.37704734e-02 9.97964566e-01 -2.28739144e-04 8.24606792e+00] [ 1.54889221e-02 -7.60572350e-04 9.99879750e-01 9.94155680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.0292541539999 meters Centerline goodness : 0.998947 Centerline is valid? [True, True] Translation: X:640.00, Y:8.25, Z:9.94 [[ 9.97815975e-01 -6.42094005e-02 -1.55059171e-02 6.40003043e+02] [ 6.42136000e-02 9.97936151e-01 -2.27400624e-04 8.24815650e+00] [ 1.54885165e-02 -7.68786783e-04 9.99879750e-01 9.94396052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.0592541539999 meters Centerline goodness : 0.998757 Centerline is valid? [True, True] Translation: X:640.04, Y:8.25, Z:9.94 [[ 9.97848940e-01 -6.36950416e-02 -1.55059402e-02 6.40036122e+02] [ 6.36992039e-02 9.97969118e-01 -2.25812423e-04 8.24957591e+00] [ 1.54888326e-02 -7.62389360e-04 9.99879750e-01 9.94413662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.089254154 meters Centerline goodness : 0.998841 Centerline is valid? [True, True] Translation: X:640.07, Y:8.25, Z:9.94 [[ 9.97918493e-01 -6.25958913e-02 -1.55059631e-02 6.40069842e+02] [ 6.25999456e-02 9.98038675e-01 -2.24232289e-04 8.25122090e+00] [ 1.54895868e-02 -7.46906896e-04 9.99879750e-01 9.94339867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.1192541539999 meters Centerline goodness : 0.998864 Centerline is valid? [True, True] Translation: X:640.10, Y:8.25, Z:9.94 [[ 9.97914142e-01 -6.26648769e-02 -1.55073969e-02 6.40100332e+02] [ 6.26704953e-02 9.98034265e-01 -1.23862356e-04 8.25427818e+00] [ 1.54846753e-02 -8.48252247e-04 9.99879745e-01 9.94251542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.1492541539999 meters Centerline goodness : 0.998987 Centerline is valid? [True, True] Translation: X:640.13, Y:8.26, Z:9.94 [[ 9.97857091e-01 -6.35672207e-02 -1.55059691e-02 6.40131530e+02] [ 6.35714095e-02 9.97977267e-01 -2.23103814e-04 8.25685682e+00] [ 1.54887867e-02 -7.63110586e-04 9.99879750e-01 9.94240938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.1792541539999 meters Centerline goodness : 0.998687 Centerline is valid? [True, True] Translation: X:640.16, Y:8.26, Z:9.94 [[ 9.97809191e-01 -6.43147176e-02 -1.55059801e-02 6.40163344e+02] [ 6.43190084e-02 9.97929364e-01 -2.22331254e-04 8.25817284e+00] [ 1.54881721e-02 -7.75485097e-04 9.99879750e-01 9.94267742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.209254154 meters Centerline goodness : 0.998901 Centerline is valid? [True, True] Translation: X:640.20, Y:8.26, Z:9.94 [[ 9.97848615e-01 -6.37001235e-02 -1.55059984e-02 6.40197258e+02] [ 6.37043602e-02 9.97968790e-01 -2.21050799e-04 8.25923956e+00] [ 1.54885834e-02 -7.67224473e-04 9.99879750e-01 9.94327546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.2392541539999 meters Centerline goodness : 0.998942 Centerline is valid? [True, True] Translation: X:640.23, Y:8.26, Z:9.94 [[ 9.97868044e-01 -6.33946703e-02 -1.55075306e-02 6.40226575e+02] [ 6.34005662e-02 9.97988154e-01 -1.11626066e-04 8.26278431e+00] [ 1.54834084e-02 -8.71798138e-04 9.99879745e-01 9.94480043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.2692541539999 meters Centerline goodness : 0.998943 Centerline is valid? [True, True] Translation: X:640.26, Y:8.27, Z:9.95 [[ 9.98088413e-01 -5.98254387e-02 -1.55060311e-02 6.40257375e+02] [ 5.98292530e-02 9.98208602e-01 -2.18196059e-04 8.26737973e+00] [ 1.54913073e-02 -7.09935300e-04 9.99879750e-01 9.94714814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.2992541539999 meters Centerline goodness : 0.998919 Centerline is valid? [True, True] Translation: X:640.29, Y:8.27, Z:9.95 [[ 9.98256364e-01 -5.69543229e-02 -1.55060416e-02 6.40289631e+02] [ 5.69578031e-02 9.98376563e-01 -2.17447527e-04 8.26988857e+00] [ 1.54932531e-02 -6.66121685e-04 9.99879750e-01 9.94870277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.329254154 meters Centerline goodness : 0.999047 Centerline is valid? [True, True] Translation: X:640.32, Y:8.27, Z:9.95 [[ 9.98452566e-01 -5.34044469e-02 -1.55060554e-02 6.40321257e+02] [ 5.34075150e-02 9.98572777e-01 -2.16458434e-04 8.27231397e+00] [ 1.54954846e-02 -6.12016407e-04 9.99879750e-01 9.94972573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.3592541539999 meters Centerline goodness : 0.999107 Centerline is valid? [True, True] Translation: X:640.35, Y:8.27, Z:9.95 [[ 9.98648653e-01 -4.96027238e-02 -1.55060725e-02 6.40353923e+02] [ 4.96053533e-02 9.98768873e-01 -2.15222706e-04 8.27454697e+00] [ 1.54976582e-02 -5.54252342e-04 9.99879750e-01 9.95027006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.3892541539999 meters Centerline goodness : 0.999085 Centerline is valid? [True, True] Translation: X:640.38, Y:8.28, Z:9.95 [[ 9.99013183e-01 -4.16199569e-02 -1.55060929e-02 6.40384581e+02] [ 4.16216484e-02 9.99133421e-01 -2.13749734e-04 8.27836878e+00] [ 1.55015519e-02 -4.31850344e-04 9.99879750e-01 9.95043696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.4192541539999 meters Centerline goodness : 0.999317 Centerline is valid? [True, True] Translation: X:640.42, Y:8.28, Z:9.95 [[ 9.99310180e-01 -3.37450087e-02 -1.55061029e-02 6.40415876e+02] [ 3.37457639e-02 9.99430427e-01 -2.13020373e-04 8.28257529e+00] [ 1.55044594e-02 -3.10391859e-04 9.99879750e-01 9.95237429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.449254154 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:640.45, Y:8.28, Z:9.95 [[ 9.99442785e-01 -2.95580755e-02 -1.55061127e-02 6.40447723e+02] [ 2.95583380e-02 9.99563034e-01 -2.12301867e-04 8.28433588e+00] [ 1.55056123e-02 -2.46151352e-04 9.99879750e-01 9.95145615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.4792541539999 meters Centerline goodness : 0.999230 Centerline is valid? [True, True] Translation: X:640.48, Y:8.29, Z:9.95 [[ 9.99514953e-01 -2.70077546e-02 -1.55061256e-02 6.40479249e+02] [ 2.70077250e-02 9.99635203e-01 -2.11353983e-04 8.28651750e+00] [ 1.55061772e-02 -2.07533710e-04 9.99879750e-01 9.95357856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.5092541539999 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:640.51, Y:8.29, Z:9.95 [[ 9.99626100e-01 -2.25215360e-02 -1.55061320e-02 6.40509509e+02] [ 2.25209739e-02 9.99746348e-01 -2.10883756e-04 8.28851071e+00] [ 1.55069483e-02 -1.38408289e-04 9.99879750e-01 9.95277822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.5392541539999 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:640.54, Y:8.29, Z:9.95 [[ 9.99653944e-01 -2.12497449e-02 -1.55061424e-02 6.40540868e+02] [ 2.12490418e-02 9.99774192e-01 -2.10116405e-04 8.28932031e+00] [ 1.55071059e-02 -1.19446975e-04 9.99879750e-01 9.95178726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.569254154 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:640.57, Y:8.29, Z:9.95 [[ 9.99675586e-01 -2.02060125e-02 -1.55061487e-02 6.40571342e+02] [ 2.02051910e-02 9.99795832e-01 -2.09653883e-04 8.28979107e+00] [ 1.55072191e-02 -1.03718828e-04 9.99879750e-01 9.95127032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.5992541539999 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:640.60, Y:8.29, Z:9.95 [[ 9.99685835e-01 -1.96923824e-02 -1.55061487e-02 6.40601470e+02] [ 1.96914991e-02 9.99806082e-01 -2.09653883e-04 8.29008848e+00] [ 1.55072703e-02 -9.57512957e-05 9.99879750e-01 9.94634766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.6292541539999 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:640.63, Y:8.29, Z:9.95 [[ 9.99681747e-01 -1.98988689e-02 -1.55061487e-02 6.40630725e+02] [ 1.98980105e-02 9.99801993e-01 -2.09653883e-04 8.29014776e+00] [ 1.55072502e-02 -9.89543496e-05 9.99879750e-01 9.94770050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.6592541539999 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:640.66, Y:8.29, Z:9.94 [[ 9.99674142e-01 -2.02772946e-02 -1.55061448e-02 6.40661226e+02] [ 2.02764773e-02 9.99794389e-01 -2.09938689e-04 8.29030443e+00] [ 1.55072136e-02 -1.04539715e-04 9.99879750e-01 9.94457935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.689254154 meters Centerline goodness : 0.999038 Centerline is valid? [True, True] Translation: X:640.69, Y:8.29, Z:9.95 [[ 9.99627686e-01 -2.24510534e-02 -1.55061448e-02 6.40690614e+02] [ 2.24504976e-02 9.99747934e-01 -2.09938689e-04 8.29052239e+00] [ 1.55069496e-02 -1.38260140e-04 9.99879750e-01 9.94715235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.7192541539999 meters Centerline goodness : 0.999038 Centerline is valid? [True, True] Translation: X:640.72, Y:8.29, Z:9.95 [[ 9.99627686e-01 -2.24510578e-02 -1.55061410e-02 6.40721607e+02] [ 2.24504976e-02 9.99747934e-01 -2.10222150e-04 8.29094270e+00] [ 1.55069521e-02 -1.37976699e-04 9.99879750e-01 9.94763318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.7492541539999 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:640.75, Y:8.29, Z:9.95 [[ 9.99594817e-01 -2.38696696e-02 -1.55061410e-02 6.40752359e+02] [ 2.38692800e-02 9.99715066e-01 -2.10222150e-04 8.29081212e+00] [ 1.55067407e-02 -1.59983449e-04 9.99879750e-01 9.94709312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.7792541539999 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:640.78, Y:8.29, Z:9.95 [[ 9.99529977e-01 -2.64458962e-02 -1.55061410e-02 6.40783042e+02] [ 2.64458165e-02 9.99650226e-01 -2.10222150e-04 8.28932902e+00] [ 1.55062768e-02 -1.99949219e-04 9.99879750e-01 9.94780904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.8092541539999 meters Centerline goodness : 0.999273 Centerline is valid? [True, True] Translation: X:640.82, Y:8.29, Z:9.95 [[ 9.99470530e-01 -2.86045173e-02 -1.55061448e-02 6.40815454e+02] [ 2.86047017e-02 9.99590780e-01 -2.09941872e-04 8.28906630e+00] [ 1.55058046e-02 -2.33717932e-04 9.99879750e-01 9.94977467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.839254154 meters Centerline goodness : 0.999041 Centerline is valid? [True, True] Translation: X:640.85, Y:8.29, Z:9.95 [[ 9.99424127e-01 -3.01823240e-02 -1.55061597e-02 6.40847944e+02] [ 3.01827153e-02 9.99544376e-01 -2.08835056e-04 8.28820662e+00] [ 1.55053978e-02 -2.59303210e-04 9.99879750e-01 9.95032415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.8692541539999 meters Centerline goodness : 0.999084 Centerline is valid? [True, True] Translation: X:640.88, Y:8.29, Z:9.95 [[ 9.99319178e-01 -3.34774478e-02 -1.55061748e-02 6.40878822e+02] [ 3.34782532e-02 9.99439425e-01 -2.07704044e-04 8.28574453e+00] [ 1.55044359e-02 -3.11557012e-04 9.99879750e-01 9.95144243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.8992541539999 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:640.91, Y:8.28, Z:9.95 [[ 9.99264180e-01 -3.50807041e-02 -1.55062002e-02 6.40911025e+02] [ 3.50817320e-02 9.99384425e-01 -2.05793673e-04 8.28458790e+00] [ 1.55038743e-02 -3.38342114e-04 9.99879750e-01 9.95156419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.9292541539999 meters Centerline goodness : 0.999298 Centerline is valid? [True, True] Translation: X:640.94, Y:8.28, Z:9.95 [[ 9.99209028e-01 -3.66179665e-02 -1.55062154e-02 6.40942616e+02] [ 3.66191974e-02 9.99329271e-01 -2.04640293e-04 8.28378803e+00] [ 1.55033085e-02 -3.63346734e-04 9.99879750e-01 9.95265360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.959254154 meters Centerline goodness : 0.999174 Centerline is valid? [True, True] Translation: X:640.98, Y:8.28, Z:9.95 [[ 9.99109989e-01 -3.92273822e-02 -1.55062267e-02 6.40975263e+02] [ 3.92289403e-02 9.99230228e-01 -2.03781198e-04 8.28133545e+00] [ 1.55022842e-02 -4.04693011e-04 9.99879750e-01 9.95205202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.9892541539999 meters Centerline goodness : 0.998982 Centerline is valid? [True, True] Translation: X:641.01, Y:8.28, Z:9.95 [[ 9.99087000e-01 -3.98085874e-02 -1.55062414e-02 6.41007400e+02] [ 3.98102330e-02 9.99207238e-01 -2.02653805e-04 8.27959185e+00] [ 1.55020160e-02 -4.14838303e-04 9.99879750e-01 9.94963876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.0192541539999 meters Centerline goodness : 0.999151 Centerline is valid? [True, True] Translation: X:641.04, Y:8.28, Z:9.95 [[ 9.98995953e-01 -4.20314316e-02 -1.55062562e-02 6.41038851e+02] [ 4.20333623e-02 9.99116187e-01 -2.01518041e-04 8.27722483e+00] [ 1.55010217e-02 -4.50464377e-04 9.99879750e-01 9.95088877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.0492541539999 meters Centerline goodness : 0.999131 Centerline is valid? [True, True] Translation: X:641.07, Y:8.28, Z:9.95 [[ 9.98998228e-01 -4.19773253e-02 -1.55062671e-02 6.41071429e+02] [ 4.19792627e-02 9.99118462e-01 -2.00671711e-04 8.27652918e+00] [ 1.55010214e-02 -4.50470978e-04 9.99879750e-01 9.95007277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.079254154 meters Centerline goodness : 0.999008 Centerline is valid? [True, True] Translation: X:641.10, Y:8.28, Z:9.95 [[ 9.99088846e-01 -3.97622040e-02 -1.55062819e-02 6.41102418e+02] [ 3.97638926e-02 9.99209084e-01 -1.99521594e-04 8.27549975e+00] [ 1.55019512e-02 -4.17250330e-04 9.99879750e-01 9.95022442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.1092541539999 meters Centerline goodness : 0.998961 Centerline is valid? [True, True] Translation: X:641.13, Y:8.28, Z:9.95 [[ 9.99206104e-01 -3.66976274e-02 -1.55062929e-02 6.41134857e+02] [ 3.66989605e-02 9.99326347e-01 -1.98665748e-04 8.27510077e+00] [ 1.55031376e-02 -3.70556802e-04 9.99879750e-01 9.94829288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.1392541539999 meters Centerline goodness : 0.998859 Centerline is valid? [True, True] Translation: X:641.17, Y:8.28, Z:9.95 [[ 9.99418674e-01 -3.03623027e-02 -1.55063070e-02 6.41166246e+02] [ 3.03628906e-02 9.99538922e-01 -1.97562391e-04 8.27579066e+00] [ 1.55051558e-02 -2.73368759e-04 9.99879750e-01 9.95006759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.1692541539999 meters Centerline goodness : 0.998897 Centerline is valid? [True, True] Translation: X:641.20, Y:8.28, Z:9.95 [[ 9.99537086e-01 -2.61756939e-02 -1.55063174e-02 6.41198065e+02] [ 2.61757909e-02 9.99657336e-01 -1.96741167e-04 8.27622629e+00] [ 1.55061538e-02 -2.09240028e-04 9.99879750e-01 9.95027967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.199254154 meters Centerline goodness : 0.998728 Centerline is valid? [True, True] Translation: X:641.23, Y:8.28, Z:9.95 [[ 9.99737366e-01 -1.68746071e-02 -1.55063242e-02 6.41228796e+02] [ 1.68735935e-02 9.99857612e-01 -1.96201778e-04 8.27694881e+00] [ 1.55074271e-02 -6.54971626e-05 9.99879750e-01 9.94976002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.2292541539999 meters Centerline goodness : 0.999023 Centerline is valid? [True, True] Translation: X:641.26, Y:8.28, Z:9.95 [[ 9.99793977e-01 -1.30979550e-02 -1.55063276e-02 6.41257083e+02] [ 1.30964914e-02 9.99914218e-01 -1.95934173e-04 8.27753207e+00] [ 1.55075638e-02 -7.18467978e-06 9.99879750e-01 9.95096850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.2592541539999 meters Centerline goodness : 0.998768 Centerline is valid? [True, True] Translation: X:641.29, Y:8.28, Z:9.95 [[ 9.99830476e-01 -9.92842771e-03 -1.55062797e-02 6.41285117e+02] [ 9.92652524e-03 9.99950711e-01 -1.99653651e-04 8.27806526e+00] [ 1.55074977e-02 4.56963286e-05 9.99879750e-01 9.95143328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.2892541539999 meters Centerline goodness : 0.999149 Centerline is valid? [True, True] Translation: X:641.31, Y:8.28, Z:9.95 [[ 9.99863029e-01 -5.78623335e-03 -1.55062240e-02 6.41313064e+02] [ 5.78376706e-03 9.99983253e-01 -2.03891874e-04 8.27753611e+00] [ 1.55071441e-02 1.14179559e-04 9.99879750e-01 9.95121315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.319254154 meters Centerline goodness : 0.998808 Centerline is valid? [True, True] Translation: X:641.34, Y:8.28, Z:9.95 [[ 9.99866693e-01 -5.11418991e-03 -1.55061632e-02 6.41341183e+02] [ 5.11157269e-03 9.99986914e-01 -2.08414446e-04 8.27699991e+00] [ 1.55070261e-02 1.29125782e-04 9.99879751e-01 9.95063703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.3492541539999 meters Centerline goodness : 0.998892 Centerline is valid? [True, True] Translation: X:641.37, Y:8.28, Z:9.95 [[ 9.99863654e-01 -5.67760047e-03 -1.55061007e-02 6.41369470e+02] [ 5.67498040e-03 9.99983875e-01 -2.12966369e-04 8.27606330e+00] [ 1.55070598e-02 1.24940514e-04 9.99879751e-01 9.95120136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.3792541539999 meters Centerline goodness : 0.998980 Centerline is valid? [True, True] Translation: X:641.40, Y:8.27, Z:9.95 [[ 9.99849882e-01 -7.73145704e-03 -1.55060366e-02 6.41397196e+02] [ 7.72901314e-03 9.99970107e-01 -2.17531068e-04 8.27291010e+00] [ 1.55072549e-02 9.76520521e-05 9.99879751e-01 9.95046573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.4092541539999 meters Centerline goodness : 0.998875 Centerline is valid? [True, True] Translation: X:641.42, Y:8.27, Z:9.95 [[ 9.99835147e-01 -9.44678435e-03 -1.55060167e-02 6.41424700e+02] [ 9.44452485e-03 9.99955376e-01 -2.18940677e-04 8.27116655e+00] [ 1.55073931e-02 7.24576241e-05 9.99879751e-01 9.95004760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.439254154 meters Centerline goodness : 0.999005 Centerline is valid? [True, True] Translation: X:641.45, Y:8.27, Z:9.95 [[ 9.99791004e-01 -1.33234187e-02 -1.55059510e-02 6.41453011e+02] [ 1.33215547e-02 9.99911239e-01 -2.23498945e-04 8.26793025e+00] [ 1.55075525e-02 1.68888602e-05 9.99879751e-01 9.95007112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.4692541539999 meters Centerline goodness : 0.998773 Centerline is valid? [True, True] Translation: X:641.48, Y:8.27, Z:9.95 [[ 9.99757005e-01 -1.56683629e-02 -1.55059306e-02 6.41480961e+02] [ 1.56667590e-02 9.99877244e-01 -2.24907798e-04 8.26654643e+00] [ 1.55075511e-02 -1.80745317e-05 9.99879751e-01 9.95021646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.4992541539999 meters Centerline goodness : 0.998797 Centerline is valid? [True, True] Translation: X:641.51, Y:8.27, Z:9.95 [[ 9.99722172e-01 -1.77524081e-02 -1.55058643e-02 6.41508478e+02] [ 1.77509854e-02 9.99842413e-01 -2.29391675e-04 8.26503157e+00] [ 1.55074930e-02 -4.59164270e-05 9.99879751e-01 9.95071088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.5292541539999 meters Centerline goodness : 0.998775 Centerline is valid? [True, True] Translation: X:641.54, Y:8.26, Z:9.95 [[ 9.99690573e-01 -1.94506203e-02 -1.55058331e-02 6.41537062e+02] [ 1.94493695e-02 9.99810816e-01 -2.31479050e-04 8.26292221e+00] [ 1.55074021e-02 -7.01712521e-05 9.99879751e-01 9.94960452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.5592541539999 meters Centerline goodness : 0.998988 Centerline is valid? [True, True] Translation: X:641.57, Y:8.26, Z:9.95 [[ 9.99586151e-01 -2.42300966e-02 -1.55057755e-02 6.41565377e+02] [ 2.42293618e-02 9.99706398e-01 -2.35275409e-04 8.25955240e+00] [ 1.55069237e-02 -1.40517004e-04 9.99879751e-01 9.95134087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.589254154 meters Centerline goodness : 0.998777 Centerline is valid? [True, True] Translation: X:641.60, Y:8.26, Z:9.95 [[ 9.99533284e-01 -2.63208484e-02 -1.55057155e-02 6.41595181e+02] [ 2.63203047e-02 9.99653532e-01 -2.39163529e-04 8.25807247e+00] [ 1.55066383e-02 -1.69063251e-04 9.99879751e-01 9.95188491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.6192541539999 meters Centerline goodness : 0.998801 Centerline is valid? [True, True] Translation: X:641.63, Y:8.25, Z:9.95 [[ 9.99427539e-01 -3.00693890e-02 -1.55057113e-02 6.41625495e+02] [ 3.00692921e-02 9.99547788e-01 -2.39438561e-04 8.25476521e+00] [ 1.55058992e-02 -2.26944270e-04 9.99879751e-01 9.95227555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.6492541539999 meters Centerline goodness : 0.998802 Centerline is valid? [True, True] Translation: X:641.66, Y:8.25, Z:9.95 [[ 9.99377249e-01 -3.16967956e-02 -1.55057113e-02 6.41656945e+02] [ 3.16968945e-02 9.99497499e-01 -2.39438561e-04 8.25324396e+00] [ 1.55055091e-02 -2.52193444e-04 9.99879751e-01 9.95244264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.6792541539999 meters Centerline goodness : 0.998758 Centerline is valid? [True, True] Translation: X:641.69, Y:8.25, Z:9.95 [[ 9.99266032e-01 -3.50281435e-02 -1.55057200e-02 6.41689523e+02] [ 3.50286520e-02 9.99386280e-01 -2.38875242e-04 8.25010615e+00] [ 1.55045711e-02 -3.04444553e-04 9.99879751e-01 9.95280718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.709254154 meters Centerline goodness : 0.998799 Centerline is valid? [True, True] Translation: X:641.72, Y:8.25, Z:9.95 [[ 9.99216173e-01 -3.64226790e-02 -1.55057373e-02 6.41722147e+02] [ 3.64233728e-02 9.99336421e-01 -2.37746442e-04 8.24892795e+00] [ 1.55041073e-02 -3.27211159e-04 9.99879751e-01 9.95307932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.7392541539999 meters Centerline goodness : 0.998906 Centerline is valid? [True, True] Translation: X:641.75, Y:8.25, Z:9.95 [[ 9.99180069e-01 -3.74000051e-02 -1.55057546e-02 6.41754250e+02] [ 3.74008342e-02 9.99300316e-01 -2.36609125e-04 8.24784729e+00] [ 1.55037547e-02 -3.43513036e-04 9.99879751e-01 9.95318610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.7692541539999 meters Centerline goodness : 0.998633 Centerline is valid? [True, True] Translation: X:641.79, Y:8.25, Z:9.95 [[ 9.99147464e-01 -3.82611572e-02 -1.55057718e-02 6.41785567e+02] [ 3.82621076e-02 9.99267710e-01 -2.35474983e-04 8.24518942e+00] [ 1.55034267e-02 -3.58009278e-04 9.99879751e-01 9.95157625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.7992541539999 meters Centerline goodness : 0.998785 Centerline is valid? [True, True] Translation: X:641.82, Y:8.24, Z:9.95 [[ 9.99114337e-01 -3.91166619e-02 -1.55057846e-02 6.41817662e+02] [ 3.91177283e-02 9.99234581e-01 -2.34629135e-04 8.24492073e+00] [ 1.55030941e-02 -3.72129738e-04 9.99879751e-01 9.95283113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.829254154 meters Centerline goodness : 0.998740 Centerline is valid? [True, True] Translation: X:641.85, Y:8.24, Z:9.95 [[ 9.99098710e-01 -3.95137800e-02 -1.55058017e-02 6.41848961e+02] [ 3.95149118e-02 9.99218954e-01 -2.33495477e-04 8.24434484e+00] [ 1.55029172e-02 -3.79425356e-04 9.99879751e-01 9.95289383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.8592541539999 meters Centerline goodness : 0.998762 Centerline is valid? [True, True] Translation: X:641.88, Y:8.24, Z:9.95 [[ 9.99074719e-01 -4.01157736e-02 -1.55058144e-02 6.41880701e+02] [ 4.01169909e-02 9.99194962e-01 -2.32650346e-04 8.24295036e+00] [ 1.55026646e-02 -3.89611535e-04 9.99879751e-01 9.95092213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.8892541539999 meters Centerline goodness : 0.998803 Centerline is valid? [True, True] Translation: X:641.91, Y:8.24, Z:9.95 [[ 9.99060474e-01 -4.04689891e-02 -1.55058270e-02 6.41913114e+02] [ 4.04702620e-02 9.99180716e-01 -2.31807912e-04 8.24260611e+00] [ 1.55025043e-02 -3.95934759e-04 9.99879751e-01 9.95136210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.9192541539999 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] Translation: X:641.95, Y:8.24, Z:9.95 [[ 9.99060645e-01 -4.04647443e-02 -1.55058439e-02 6.41945404e+02] [ 4.04660344e-02 9.99180888e-01 -2.30670098e-04 8.24112444e+00] [ 1.55024769e-02 -3.97006596e-04 9.99879751e-01 9.95102484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.949254154 meters Centerline goodness : 0.998846 Centerline is valid? [True, True] Translation: X:641.98, Y:8.24, Z:9.95 [[ 9.99075142e-01 -4.01052165e-02 -1.55058608e-02 6.41976883e+02] [ 4.01064810e-02 9.99195385e-01 -2.29530196e-04 8.24063631e+00] [ 1.55025899e-02 -3.92567598e-04 9.99879751e-01 9.95070764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.9792541539999 meters Centerline goodness : 0.998847 Centerline is valid? [True, True] Translation: X:642.01, Y:8.24, Z:9.95 [[ 9.99084869e-01 -3.98621786e-02 -1.55058733e-02 6.42008844e+02] [ 3.98634270e-02 9.99205112e-01 -2.28681528e-04 8.24041710e+00] [ 1.55026636e-02 -3.89644994e-04 9.99879751e-01 9.95126065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.0092541539999 meters Centerline goodness : 0.998994 Centerline is valid? [True, True] Translation: X:642.04, Y:8.24, Z:9.95 [[ 9.99100275e-01 -3.94741495e-02 -1.55058903e-02 6.42039567e+02] [ 3.94753692e-02 9.99220518e-01 -2.27520301e-04 8.24034236e+00] [ 1.55027849e-02 -3.84785151e-04 9.99879751e-01 9.95166096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.0392541539999 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:642.07, Y:8.24, Z:9.95 [[ 9.99152066e-01 -3.81407421e-02 -1.55059030e-02 6.42071960e+02] [ 3.81418147e-02 9.99272311e-01 -2.26655121e-04 8.24052659e+00] [ 1.55032643e-02 -3.64960346e-04 9.99879751e-01 9.95191381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.069254154 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:642.10, Y:8.24, Z:9.95 [[ 9.99191193e-01 -3.71015783e-02 -1.55059194e-02 6.42104351e+02] [ 3.71025434e-02 9.99311438e-01 -2.25526183e-04 8.24089160e+00] [ 1.55036100e-02 -3.49965272e-04 9.99879751e-01 9.95216248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.0992541539999 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:642.14, Y:8.24, Z:9.95 [[ 9.99239364e-01 -3.57807206e-02 -1.55059359e-02 6.42136378e+02] [ 3.57815444e-02 9.99359610e-01 -2.24388363e-04 8.24068215e+00] [ 1.55040348e-02 -3.30608647e-04 9.99879751e-01 9.95173887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.1292541539999 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:642.17, Y:8.24, Z:9.95 [[ 9.99249965e-01 -3.54834052e-02 -1.55059522e-02 6.42167589e+02] [ 3.54842107e-02 9.99370212e-01 -2.23257368e-04 8.24035304e+00] [ 1.55041086e-02 -3.27126556e-04 9.99879751e-01 9.95167464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.1592541539999 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:642.20, Y:8.24, Z:9.95 [[ 9.99245473e-01 -3.56096969e-02 -1.55059604e-02 6.42198726e+02] [ 3.56105265e-02 9.99365719e-01 -2.22684312e-04 8.24018918e+00] [ 1.55040550e-02 -3.29659123e-04 9.99879751e-01 9.95162521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.189254154 meters Centerline goodness : 0.999142 Centerline is valid? [True, True] Translation: X:642.23, Y:8.24, Z:9.95 [[ 9.99189396e-01 -3.71499109e-02 -1.55059687e-02 6.42229826e+02] [ 3.71509349e-02 9.99309641e-01 -2.22106361e-04 8.23948661e+00] [ 1.55035152e-02 -3.54134911e-04 9.99879751e-01 9.95178911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.2192541539999 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] Translation: X:642.26, Y:8.24, Z:9.95 [[ 9.99074637e-01 -4.01177622e-02 -1.55059810e-02 6.42260711e+02] [ 4.01191568e-02 9.99194878e-01 -2.21243727e-04 8.23894383e+00] [ 1.55023726e-02 -4.01047885e-04 9.99879751e-01 9.95178805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.2492541539999 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:642.29, Y:8.24, Z:9.95 [[ 9.99009247e-01 -4.17143619e-02 -1.55059891e-02 6.42292886e+02] [ 4.17159574e-02 9.99129486e-01 -2.20675178e-04 8.23860652e+00] [ 1.55016962e-02 -4.26390635e-04 9.99879751e-01 9.95182746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.2792541539999 meters Centerline goodness : 0.999643 Centerline is valid? [True, True] Translation: X:642.32, Y:8.24, Z:9.95 [[ 9.98921541e-01 -4.37643510e-02 -1.55060051e-02 6.42324086e+02] [ 4.37662108e-02 9.99041776e-01 -2.19541631e-04 8.23836734e+00] [ 1.55007550e-02 -4.59334224e-04 9.99879751e-01 9.95271776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.3092541539999 meters Centerline goodness : 0.999225 Centerline is valid? [True, True] Translation: X:642.36, Y:8.24, Z:9.95 [[ 9.98813141e-01 -4.61722070e-02 -1.55060316e-02 6.42355221e+02] [ 4.61743859e-02 9.98933371e-01 -2.17652275e-04 8.23799410e+00] [ 1.54995419e-02 -4.98587536e-04 9.99879751e-01 9.95270256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.339254154 meters Centerline goodness : 0.999371 Centerline is valid? [True, True] Translation: X:642.39, Y:8.24, Z:9.95 [[ 9.98577852e-01 -5.10082064e-02 -1.55060433e-02 6.42386124e+02] [ 5.10109804e-02 9.98698069e-01 -2.16815615e-04 8.23708012e+00] [ 1.54969149e-02 -5.74471201e-04 9.99879751e-01 9.95288140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.3692541539999 meters Centerline goodness : 0.999391 Centerline is valid? [True, True] Translation: X:642.42, Y:8.24, Z:9.95 [[ 9.98351884e-01 -5.52546685e-02 -1.55060548e-02 6.42418316e+02] [ 5.52579667e-02 9.98472088e-01 -2.15989174e-04 8.23622225e+00] [ 1.54942974e-02 -6.41199862e-04 9.99879751e-01 9.95242806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.3992541539999 meters Centerline goodness : 0.999391 Centerline is valid? [True, True] Translation: X:642.45, Y:8.24, Z:9.95 [[ 9.98355800e-01 -5.51838514e-02 -1.55060701e-02 6.42451000e+02] [ 5.51871581e-02 9.98476004e-01 -2.14889858e-04 8.23661149e+00] [ 1.54942973e-02 -6.41199404e-04 9.99879751e-01 9.95293470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.4292541539999 meters Centerline goodness : 0.999393 Centerline is valid? [True, True] Translation: X:642.48, Y:8.24, Z:9.95 [[ 9.98156008e-01 -5.86868406e-02 -1.55060852e-02 6.42481838e+02] [ 5.86905861e-02 9.98276199e-01 -2.13790083e-04 8.23776115e+00] [ 1.54919025e-02 -6.96665376e-04 9.99879751e-01 9.95445859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.459254154 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:642.51, Y:8.24, Z:9.95 [[ 9.98113187e-01 -5.94106646e-02 -1.55060965e-02 6.42513559e+02] [ 5.94145100e-02 9.98233375e-01 -2.12970742e-04 8.23871959e+00] [ 1.54913558e-02 -7.08718218e-04 9.99879751e-01 9.95430421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.4892541539999 meters Centerline goodness : 0.999391 Centerline is valid? [True, True] Translation: X:642.54, Y:8.24, Z:9.96 [[ 9.98083968e-01 -5.98995239e-02 -1.55061123e-02 6.42544764e+02] [ 5.99034460e-02 9.98204154e-01 -2.11815095e-04 8.24002977e+00] [ 1.54909533e-02 -7.17460310e-04 9.99879751e-01 9.95531682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.5192541539999 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:642.58, Y:8.24, Z:9.96 [[ 9.98118765e-01 -5.93168729e-02 -1.55061240e-02 6.42576969e+02] [ 5.93207382e-02 9.98238952e-01 -2.10954046e-04 8.24104477e+00] [ 1.54913301e-02 -7.09277530e-04 9.99879751e-01 9.95614746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.5492541539999 meters Centerline goodness : 0.999391 Centerline is valid? [True, True] Translation: X:642.61, Y:8.24, Z:9.96 [[ 9.98147446e-01 -5.88322759e-02 -1.55061384e-02 6.42609311e+02] [ 5.88360993e-02 9.98267634e-01 -2.09889861e-04 8.24250874e+00] [ 1.54916244e-02 -7.02819670e-04 9.99879751e-01 9.95634985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.579254154 meters Centerline goodness : 0.998888 Centerline is valid? [True, True] Translation: X:642.64, Y:8.24, Z:9.96 [[ 9.98186294e-01 -5.81694239e-02 -1.55061541e-02 6.42640953e+02] [ 5.81731856e-02 9.98306484e-01 -2.08727083e-04 8.24375019e+00] [ 1.54920357e-02 -6.93693865e-04 9.99879751e-01 9.95660753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.6092541539999 meters Centerline goodness : 0.998953 Centerline is valid? [True, True] Translation: X:642.67, Y:8.25, Z:9.96 [[ 9.98329209e-01 -5.56628161e-02 -1.55061657e-02 6.42672165e+02] [ 5.56662894e-02 9.98449408e-01 -2.07860757e-04 8.24551198e+00] [ 1.54936920e-02 -6.55657240e-04 9.99879751e-01 9.95552429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.6392541539999 meters Centerline goodness : 0.998953 Centerline is valid? [True, True] Translation: X:642.70, Y:8.25, Z:9.96 [[ 9.98333248e-01 -5.55903357e-02 -1.55061771e-02 6.42704850e+02] [ 5.55938136e-02 9.98453447e-01 -2.07005383e-04 8.24588688e+00] [ 1.54937035e-02 -6.55387161e-04 9.99879751e-01 9.95603101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.6692541539999 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:642.74, Y:8.25, Z:9.96 [[ 9.98346708e-01 -5.53480681e-02 -1.55061920e-02 6.42737485e+02] [ 5.53515342e-02 9.98466907e-01 -2.05879680e-04 8.24830970e+00] [ 1.54938146e-02 -6.52752217e-04 9.99879751e-01 9.95735180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.699254154 meters Centerline goodness : 0.998826 Centerline is valid? [True, True] Translation: X:642.77, Y:8.25, Z:9.96 [[ 9.98399763e-01 -5.43826328e-02 -1.55062072e-02 6.42768554e+02] [ 5.43860006e-02 9.98519965e-01 -2.04727306e-04 8.25018663e+00] [ 1.54943911e-02 -6.38920903e-04 9.99879751e-01 9.95702312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.7292541539999 meters Centerline goodness : 0.998929 Centerline is valid? [True, True] Translation: X:642.80, Y:8.25, Z:9.96 [[ 9.98481242e-01 -5.28655584e-02 -1.55062185e-02 6.42800945e+02] [ 5.28687569e-02 9.98601449e-01 -2.03869051e-04 8.25292913e+00] [ 1.54953099e-02 -6.16235074e-04 9.99879751e-01 9.95659355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.7592541539999 meters Centerline goodness : 0.999497 Centerline is valid? [True, True] Translation: X:642.83, Y:8.25, Z:9.96 [[ 9.98510086e-01 -5.23179307e-02 -1.55062336e-02 6.42832707e+02] [ 5.23210810e-02 9.98630294e-01 -2.02718808e-04 8.25475052e+00] [ 1.54956004e-02 -6.08886128e-04 9.99879751e-01 9.95791820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.7892541539999 meters Centerline goodness : 0.998845 Centerline is valid? [True, True] Translation: X:642.86, Y:8.26, Z:9.96 [[ 9.98536986e-01 -5.18019706e-02 -1.55062484e-02 6.42864381e+02] [ 5.18050765e-02 9.98657195e-01 -2.01576655e-04 8.25699781e+00] [ 1.54958686e-02 -6.02020640e-04 9.99879751e-01 9.95866542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.819254154 meters Centerline goodness : 0.998887 Centerline is valid? [True, True] Translation: X:642.90, Y:8.26, Z:9.96 [[ 9.98580497e-01 -5.09563256e-02 -1.55062632e-02 6.42896431e+02] [ 5.09593475e-02 9.98700708e-01 -2.00429660e-04 8.26081431e+00] [ 1.54963292e-02 -5.90043907e-04 9.99879751e-01 9.95919662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.8492541539999 meters Centerline goodness : 0.999076 Centerline is valid? [True, True] Translation: X:642.93, Y:8.26, Z:9.96 [[ 9.98587383e-01 -5.08211981e-02 -1.55062782e-02 6.42928431e+02] [ 5.08242218e-02 9.98707594e-01 -1.99265072e-04 8.26276578e+00] [ 1.54963647e-02 -5.89110937e-04 9.99879751e-01 9.95981124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.8792541539999 meters Centerline goodness : 0.998907 Centerline is valid? [True, True] Translation: X:642.96, Y:8.27, Z:9.96 [[ 9.98620890e-01 -5.01584739e-02 -1.55062930e-02 6.42960630e+02] [ 5.01614357e-02 9.98741103e-01 -1.98107258e-04 8.26548774e+00] [ 1.54967089e-02 -5.79983874e-04 9.99879751e-01 9.95942539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.9092541539999 meters Centerline goodness : 0.999054 Centerline is valid? [True, True] Translation: X:642.99, Y:8.27, Z:9.96 [[ 9.98639909e-01 -4.97783694e-02 -1.55063077e-02 6.42993278e+02] [ 4.97813035e-02 9.98760123e-01 -1.96947657e-04 8.26679444e+00] [ 1.54968855e-02 -5.75244420e-04 9.99879751e-01 9.95938974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.939254154 meters Centerline goodness : 0.998970 Centerline is valid? [True, True] Translation: X:643.03, Y:8.27, Z:9.96 [[ 9.98676446e-01 -4.90398807e-02 -1.55063223e-02 6.43025845e+02] [ 4.90427438e-02 9.98796661e-01 -1.95791489e-04 8.26811203e+00] [ 1.54972646e-02 -5.64940244e-04 9.99879751e-01 9.96023275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.9692541539999 meters Centerline goodness : 0.999159 Centerline is valid? [True, True] Translation: X:643.06, Y:8.27, Z:9.96 [[ 9.98724578e-01 -4.80496758e-02 -1.55063369e-02 6.43057048e+02] [ 4.80524378e-02 9.98844795e-01 -1.94629718e-04 8.26964915e+00] [ 1.54977758e-02 -5.50735806e-04 9.99879751e-01 9.96128040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.9992541539999 meters Centerline goodness : 0.999011 Centerline is valid? [True, True] Translation: X:643.09, Y:8.27, Z:9.96 [[ 9.98858244e-01 -4.51858522e-02 -1.55063477e-02 6.43088057e+02] [ 4.51882829e-02 9.98978469e-01 -1.93763383e-04 8.27331812e+00] [ 1.54992629e-02 -5.07163076e-04 9.99879751e-01 9.96194435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.0292541539999 meters Centerline goodness : 0.999094 Centerline is valid? [True, True] Translation: X:643.12, Y:8.28, Z:9.96 [[ 9.98957953e-01 -4.29250663e-02 -1.55063583e-02 6.43120039e+02] [ 4.29272381e-02 9.99078183e-01 -1.92911953e-04 8.27526090e+00] [ 1.55003451e-02 -4.72934206e-04 9.99879751e-01 9.96181926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.0592541539999 meters Centerline goodness : 0.998968 Centerline is valid? [True, True] Translation: X:643.15, Y:8.28, Z:9.96 [[ 9.99048473e-01 -4.07639686e-02 -1.55063726e-02 6.43151739e+02] [ 4.07658982e-02 9.99168707e-01 -1.91760699e-04 8.27707359e+00] [ 1.55012991e-02 -4.40552972e-04 9.99879751e-01 9.96162519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.089254154 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:643.18, Y:8.28, Z:9.96 [[ 9.99180309e-01 -3.73933546e-02 -1.55063866e-02 6.43182766e+02] [ 3.73948963e-02 9.99300548e-01 -1.90615808e-04 8.28015665e+00] [ 1.55026684e-02 -3.89400158e-04 9.99879751e-01 9.96312660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.1192541539999 meters Centerline goodness : 0.999092 Centerline is valid? [True, True] Translation: X:643.21, Y:8.28, Z:9.96 [[ 9.99242868e-01 -3.56825141e-02 -1.55064097e-02 6.43214984e+02] [ 3.56838793e-02 9.99363110e-01 -1.88723254e-04 8.28123321e+00] [ 1.55032679e-02 -3.64748485e-04 9.99879751e-01 9.96378542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.1492541539999 meters Centerline goodness : 0.999303 Centerline is valid? [True, True] Translation: X:643.25, Y:8.28, Z:9.96 [[ 9.99295910e-01 -3.41648225e-02 -1.55064234e-02 6.43246903e+02] [ 3.41660227e-02 9.99416153e-01 -1.87584908e-04 8.28194065e+00] [ 1.55037789e-02 -3.42339983e-04 9.99879751e-01 9.96409597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.1792541539999 meters Centerline goodness : 0.999028 Centerline is valid? [True, True] Translation: X:643.28, Y:8.28, Z:9.96 [[ 9.99345191e-01 -3.26915744e-02 -1.55064371e-02 6.43278347e+02] [ 3.26926149e-02 9.99465436e-01 -1.86452300e-04 8.28367647e+00] [ 1.55042433e-02 -3.20615766e-04 9.99879751e-01 9.96427949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.209254154 meters Centerline goodness : 0.999133 Centerline is valid? [True, True] Translation: X:643.31, Y:8.28, Z:9.96 [[ 9.99355252e-01 -3.23825757e-02 -1.55064472e-02 6.43309878e+02] [ 3.23835921e-02 9.99475497e-01 -1.85608306e-04 8.28475501e+00] [ 1.55043245e-02 -3.16665824e-04 9.99879751e-01 9.96480204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.2392541539999 meters Centerline goodness : 0.998963 Centerline is valid? [True, True] Translation: X:643.34, Y:8.29, Z:9.97 [[ 9.99341069e-01 -3.28173432e-02 -1.55064538e-02 6.43340916e+02] [ 3.28184205e-02 9.99461313e-01 -1.85050910e-04 8.28626011e+00] [ 1.55041736e-02 -3.23968348e-04 9.99879751e-01 9.96528233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.2692541539999 meters Centerline goodness : 0.998876 Centerline is valid? [True, True] Translation: X:643.37, Y:8.29, Z:9.97 [[ 9.99325041e-01 -3.33018419e-02 -1.55064605e-02 6.43372572e+02] [ 3.33029863e-02 9.99445285e-01 -1.84487565e-04 8.28702861e+00] [ 1.55040026e-02 -3.32048399e-04 9.99879751e-01 9.96562155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.2992541539999 meters Centerline goodness : 0.998856 Centerline is valid? [True, True] Translation: X:643.41, Y:8.28, Z:9.96 [[ 9.99574967e-01 -2.46867386e-02 -1.55064673e-02 6.43409487e+02] [ 2.46868553e-02 9.99695216e-01 -1.83916599e-04 8.27875954e+00] [ 1.55062815e-02 -1.98967485e-04 9.99879751e-01 9.96049708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.329254154 meters Centerline goodness : 0.999364 Centerline is valid? [True, True] Translation: X:643.43, Y:8.29, Z:9.97 [[ 9.99274950e-01 -3.47707554e-02 -1.55103151e-02 6.43432378e+02] [ 3.47773001e-02 9.99395075e-01 1.52356662e-04 8.28842186e+00] [ 1.54956350e-02 -6.91653081e-04 9.99879696e-01 9.96622111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.3592541539999 meters Centerline goodness : 0.999342 Centerline is valid? [True, True] Translation: X:643.46, Y:8.29, Z:9.97 [[ 9.99195455e-01 -3.69864942e-02 -1.55062176e-02 6.43463460e+02] [ 3.69880401e-02 9.99315691e-01 -1.87175107e-04 8.28963712e+00] [ 1.55025295e-02 -3.86520082e-04 9.99879754e-01 9.96618478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.3892541539999 meters Centerline goodness : 0.999618 Centerline is valid? [True, True] Translation: X:643.50, Y:8.29, Z:9.97 [[ 9.99140262e-01 -3.84485948e-02 -1.55062278e-02 6.43495594e+02] [ 3.84503299e-02 9.99260495e-01 -1.86326782e-04 8.28990189e+00] [ 1.55019248e-02 -4.10052982e-04 9.99879754e-01 9.96606995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.4192541539999 meters Centerline goodness : 0.999534 Centerline is valid? [True, True] Translation: X:643.53, Y:8.29, Z:9.97 [[ 9.98983983e-01 -4.23149833e-02 -1.55062410e-02 6.43526617e+02] [ 4.23172009e-02 9.99104209e-01 -1.85217865e-04 8.28983466e+00] [ 1.55001881e-02 -4.71151035e-04 9.99879754e-01 9.96556799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.449254154 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:643.56, Y:8.29, Z:9.97 [[ 9.98891299e-01 -4.44491828e-02 -1.55062508e-02 6.43557867e+02] [ 4.44516700e-02 9.99011519e-01 -1.84391414e-04 8.28965354e+00] [ 1.54991192e-02 -5.05091766e-04 9.99879754e-01 9.96586129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.4792541539999 meters Centerline goodness : 0.999576 Centerline is valid? [True, True] Translation: X:643.59, Y:8.29, Z:9.97 [[ 9.98791317e-01 -4.66418329e-02 -1.55062605e-02 6.43589999e+02] [ 4.66445966e-02 9.98911532e-01 -1.83578626e-04 8.28969332e+00] [ 1.54979448e-02 -5.39926527e-04 9.99879754e-01 9.96677652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.5092541539999 meters Centerline goodness : 0.999025 Centerline is valid? [True, True] Translation: X:643.62, Y:8.29, Z:9.97 [[ 9.98631400e-01 -4.99488060e-02 -1.55062738e-02 6.43622051e+02] [ 4.99519853e-02 9.98751604e-01 -1.82448215e-04 8.29012972e+00] [ 1.54960288e-02 -5.92370642e-04 9.99879754e-01 9.96751856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.5392541539999 meters Centerline goodness : 0.999407 Centerline is valid? [True, True] Translation: X:643.65, Y:8.29, Z:9.97 [[ 9.98607736e-01 -5.04196767e-02 -1.55062902e-02 6.43654494e+02] [ 5.04229345e-02 9.98727938e-01 -1.81038449e-04 8.29075841e+00] [ 1.54956932e-02 -6.01086260e-04 9.99879754e-01 9.96853828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.569254154 meters Centerline goodness : 0.999428 Centerline is valid? [True, True] Translation: X:643.69, Y:8.29, Z:9.97 [[ 9.98604547e-01 -5.04827945e-02 -1.55063033e-02 6.43687131e+02] [ 5.04860774e-02 9.98724749e-01 -1.79911175e-04 8.29197023e+00] [ 1.54956113e-02 -6.03192311e-04 9.99879754e-01 9.96914057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.5992541539999 meters Centerline goodness : 0.999301 Centerline is valid? [True, True] Translation: X:643.72, Y:8.29, Z:9.97 [[ 9.98644572e-01 -4.96847300e-02 -1.55063229e-02 6.43718566e+02] [ 4.96879434e-02 9.98764775e-01 -1.78201897e-04 8.29268949e+00] [ 1.54960231e-02 -5.92516939e-04 9.99879754e-01 9.96936781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.6292541539999 meters Centerline goodness : 0.999174 Centerline is valid? [True, True] Translation: X:643.75, Y:8.29, Z:9.97 [[ 9.98743460e-01 -4.76555885e-02 -1.55063326e-02 6.43751238e+02] [ 4.76585707e-02 9.98863669e-01 -1.77355564e-04 8.29243933e+00] [ 1.54971643e-02 -5.61876941e-04 9.99879754e-01 9.96772816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.6592541539999 meters Centerline goodness : 0.999024 Centerline is valid? [True, True] Translation: X:643.78, Y:8.29, Z:9.97 [[ 9.98738784e-01 -4.77534816e-02 -1.55063454e-02 6.43784186e+02] [ 4.77564931e-02 9.98858992e-01 -1.76230931e-04 8.29435606e+00] [ 1.54970682e-02 -5.64520012e-04 9.99879754e-01 9.97012724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.689254154 meters Centerline goodness : 0.999173 Centerline is valid? [True, True] Translation: X:643.82, Y:8.30, Z:9.97 [[ 9.98805730e-01 -4.63321320e-02 -1.55063649e-02 6.43816389e+02] [ 4.63349993e-02 9.98925942e-01 -1.74493883e-04 8.29633326e+00] [ 1.54977949e-02 -5.44201918e-04 9.99879754e-01 9.97055576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.7192541539999 meters Centerline goodness : 0.999301 Centerline is valid? [True, True] Translation: X:643.85, Y:8.30, Z:9.97 [[ 9.98829521e-01 -4.58163730e-02 -1.55063780e-02 6.43848404e+02] [ 4.58191963e-02 9.98949734e-01 -1.73329288e-04 8.29734073e+00] [ 1.54980335e-02 -5.37363366e-04 9.99879754e-01 9.97072159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.7492541539999 meters Centerline goodness : 0.999321 Centerline is valid? [True, True] Translation: X:643.88, Y:8.30, Z:9.97 [[ 9.98814101e-01 -4.61513004e-02 -1.55063940e-02 6.43880382e+02] [ 4.61541866e-02 9.98934313e-01 -1.71879864e-04 8.29899745e+00] [ 1.54978015e-02 -5.44008971e-04 9.99879754e-01 9.96971588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.7792541539999 meters Centerline goodness : 0.999322 Centerline is valid? [True, True] Translation: X:643.91, Y:8.30, Z:9.97 [[ 9.98792107e-01 -4.66248772e-02 -1.55064061e-02 6.43912927e+02] [ 4.66278373e-02 9.98912316e-01 -1.70782920e-04 8.29998938e+00] [ 1.54975028e-02 -5.52453548e-04 9.99879754e-01 9.96970717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.8092541539999 meters Centerline goodness : 0.999363 Centerline is valid? [True, True] Translation: X:643.94, Y:8.30, Z:9.97 [[ 9.98777658e-01 -4.69333597e-02 -1.55064248e-02 6.43943762e+02] [ 4.69363835e-02 9.98897866e-01 -1.69068820e-04 8.30064578e+00] [ 1.54972696e-02 -5.58953341e-04 9.99879754e-01 9.96922420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.839254154 meters Centerline goodness : 0.999406 Centerline is valid? [True, True] Translation: X:643.98, Y:8.30, Z:9.97 [[ 9.98773090e-01 -4.70304654e-02 -1.55064446e-02 6.43976405e+02] [ 4.70335294e-02 9.98893297e-01 -1.67231456e-04 8.30218402e+00] [ 1.54971486e-02 -5.62296540e-04 9.99879754e-01 9.97010605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.8692541539999 meters Centerline goodness : 0.999363 Centerline is valid? [True, True] Translation: X:644.01, Y:8.30, Z:9.97 [[ 9.98805570e-01 -4.63355574e-02 -1.55064631e-02 6.44008632e+02] [ 4.63385646e-02 9.98925778e-01 -1.65499338e-04 8.30340308e+00] [ 1.54974742e-02 -5.53245581e-04 9.99879754e-01 9.97051067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.8992541539999 meters Centerline goodness : 0.999110 Centerline is valid? [True, True] Translation: X:644.04, Y:8.30, Z:9.97 [[ 9.98861033e-01 -4.51241279e-02 -1.55064752e-02 6.44040033e+02] [ 4.51270071e-02 9.98981244e-01 -1.64354441e-04 8.30487462e+00] [ 1.54980943e-02 -5.35593571e-04 9.99879754e-01 9.97099262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.9292541539999 meters Centerline goodness : 0.999533 Centerline is valid? [True, True] Translation: X:644.07, Y:8.31, Z:9.97 [[ 9.99003274e-01 -4.18569816e-02 -1.55064842e-02 6.44072646e+02] [ 4.18594808e-02 9.99123494e-01 -1.63501349e-04 8.30784354e+00] [ 1.54997364e-02 -4.85754996e-04 9.99879754e-01 9.97252201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.959254154 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:644.10, Y:8.31, Z:9.97 [[ 9.99073876e-01 -4.01365025e-02 -1.55064963e-02 6.44103964e+02] [ 4.01388126e-02 9.99194100e-01 -1.62345168e-04 8.30915515e+00] [ 1.55005156e-02 -4.60217534e-04 9.99879754e-01 9.97255469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.9892541539999 meters Centerline goodness : 0.999021 Centerline is valid? [True, True] Translation: X:644.14, Y:8.31, Z:9.97 [[ 9.99176772e-01 -3.74876799e-02 -1.55065053e-02 6.44136408e+02] [ 3.74896846e-02 9.99297002e-01 -1.61484943e-04 8.30982027e+00] [ 1.55016579e-02 -4.19981989e-04 9.99879754e-01 9.97240543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.0192541539999 meters Centerline goodness : 0.999212 Centerline is valid? [True, True] Translation: X:644.17, Y:8.31, Z:9.97 [[ 9.99293962e-01 -3.42217004e-02 -1.55065172e-02 6.44167092e+02] [ 3.42233300e-02 9.99414197e-01 -1.60335807e-04 8.31297610e+00] [ 1.55029204e-02 -3.70462050e-04 9.99879754e-01 9.97422320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.0492541539999 meters Centerline goodness : 0.999296 Centerline is valid? [True, True] Translation: X:644.20, Y:8.31, Z:9.98 [[ 9.99350064e-01 -3.25422247e-02 -1.55065260e-02 6.44199419e+02] [ 3.25436654e-02 9.99470302e-01 -1.59479948e-04 8.31441352e+00] [ 1.55035020e-02 -3.45262897e-04 9.99879754e-01 9.97535687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.079254154 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:644.23, Y:8.32, Z:9.98 [[ 9.99396978e-01 -3.10680992e-02 -1.55065377e-02 6.44231508e+02] [ 3.10693805e-02 9.99517218e-01 -1.58330312e-04 8.31563484e+00] [ 1.55039705e-02 -3.23543685e-04 9.99879754e-01 9.97580727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.1092541539999 meters Centerline goodness : 0.999105 Centerline is valid? [True, True] Translation: X:644.26, Y:8.32, Z:9.98 [[ 9.99474250e-01 -2.84740308e-02 -1.55065493e-02 6.44262654e+02] [ 2.84750177e-02 9.99594492e-01 -1.57185042e-04 8.31704495e+00] [ 1.55047370e-02 -2.84446865e-04 9.99879754e-01 9.97612758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.1392541539999 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:644.29, Y:8.32, Z:9.98 [[ 9.99491991e-01 -2.78443110e-02 -1.55065579e-02 6.44294370e+02] [ 2.78452354e-02 9.99612234e-01 -1.56332043e-04 8.31783106e+00] [ 1.55048980e-02 -2.75531131e-04 9.99879754e-01 9.97705636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.1692541539999 meters Centerline goodness : 0.998934 Centerline is valid? [True, True] Translation: X:644.33, Y:8.32, Z:9.98 [[ 9.99528497e-01 -2.65015114e-02 -1.55065635e-02 6.44326121e+02] [ 2.65022828e-02 9.99648741e-01 -1.55779197e-04 8.31740068e+00] [ 1.55052450e-02 -2.55253583e-04 9.99879754e-01 9.97736873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.199254154 meters Centerline goodness : 0.999148 Centerline is valid? [True, True] Translation: X:644.36, Y:8.32, Z:9.98 [[ 9.99502200e-01 -2.74754010e-02 -1.55065692e-02 6.44357585e+02] [ 2.74762984e-02 9.99622443e-01 -1.55207672e-04 8.31837169e+00] [ 1.55049790e-02 -2.70932713e-04 9.99879754e-01 9.97956634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.2292541539999 meters Centerline goodness : 0.999190 Centerline is valid? [True, True] Translation: X:644.39, Y:8.32, Z:9.98 [[ 9.99509378e-01 -2.72130335e-02 -1.55065749e-02 6.44389212e+02] [ 2.72139082e-02 9.99629621e-01 -1.54637199e-04 8.31787576e+00] [ 1.55050397e-02 -2.67433175e-04 9.99879754e-01 9.97967282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.2592541539999 meters Centerline goodness : 0.998914 Centerline is valid? [True, True] Translation: X:644.43, Y:8.31, Z:9.98 [[ 9.99625579e-01 -2.25443526e-02 -1.55065805e-02 6.44426788e+02] [ 2.25446745e-02 9.99745825e-01 -1.54067525e-04 8.31047491e+00] [ 1.55061125e-02 -1.95580972e-04 9.99879754e-01 9.97750313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.2892541539999 meters Centerline goodness : 0.999147 Centerline is valid? [True, True] Translation: X:644.45, Y:8.32, Z:9.98 [[ 9.99427177e-01 -3.00790446e-02 -1.55102963e-02 6.44449544e+02] [ 3.00863190e-02 9.99547276e-01 2.35826999e-04 8.31742410e+00] [ 1.54961809e-02 -7.02339634e-04 9.99879680e-01 9.97945384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.319254154 meters Centerline goodness : 0.999231 Centerline is valid? [True, True] Translation: X:644.48, Y:8.32, Z:9.98 [[ 9.99363686e-01 -3.21213107e-02 -1.55062509e-02 6.44481281e+02] [ 3.21227090e-02 9.99483920e-01 -1.58946288e-04 8.31571532e+00] [ 1.55033540e-02 -3.39257637e-04 9.99879758e-01 9.97890627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.3492541539999 meters Centerline goodness : 0.999487 Centerline is valid? [True, True] Translation: X:644.51, Y:8.32, Z:9.98 [[ 9.99318788e-01 -3.34890490e-02 -1.55062626e-02 6.44513604e+02] [ 3.34906296e-02 9.99439019e-01 -1.57797171e-04 8.31522265e+00] [ 1.55028483e-02 -3.61624819e-04 9.99879758e-01 9.97922635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.3792541539999 meters Centerline goodness : 0.999274 Centerline is valid? [True, True] Translation: X:644.55, Y:8.31, Z:9.98 [[ 9.99279889e-01 -3.46303138e-02 -1.55062741e-02 6.44545587e+02] [ 3.46320495e-02 9.99400118e-01 -1.56655143e-04 8.31440690e+00] [ 1.55023972e-02 -3.80471718e-04 9.99879758e-01 9.97964993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.4092541539999 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:644.58, Y:8.31, Z:9.98 [[ 9.99180076e-01 -3.73996158e-02 -1.55062855e-02 6.44577118e+02] [ 3.74017024e-02 9.99300299e-01 -1.55513607e-04 8.31288128e+00] [ 1.55012519e-02 -4.24575380e-04 9.99879758e-01 9.97986980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.439254154 meters Centerline goodness : 0.998786 Centerline is valid? [True, True] Translation: X:644.62, Y:8.30, Z:9.98 [[ 9.99381206e-01 -3.15714985e-02 -1.55062940e-02 6.44616478e+02] [ 3.15728971e-02 9.99501440e-01 -1.54662545e-04 8.30436926e+00] [ 1.55034461e-02 -3.35011786e-04 9.99879758e-01 9.97712126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.4692541539999 meters Centerline goodness : 0.999318 Centerline is valid? [True, True] Translation: X:644.64, Y:8.31, Z:9.98 [[ 9.99019597e-01 -4.14640657e-02 -1.55105152e-02 6.44636304e+02] [ 4.14737305e-02 9.99139549e-01 3.01837873e-04 8.31177333e+00] [ 1.54846537e-02 -9.44820878e-04 9.99879659e-01 9.98006686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.4992541539999 meters Centerline goodness : 0.999191 Centerline is valid? [True, True] Translation: X:644.67, Y:8.31, Z:9.98 [[ 9.98969745e-01 -4.26499333e-02 -1.55058316e-02 6.44668548e+02] [ 4.26526130e-02 9.99089951e-01 -1.57989322e-04 8.31185010e+00] [ 1.54984588e-02 -5.03537684e-04 9.99879765e-01 9.98057055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.5292541539999 meters Centerline goodness : 0.999191 Centerline is valid? [True, True] Translation: X:644.70, Y:8.31, Z:9.98 [[ 9.98972895e-01 -4.25761029e-02 -1.55058433e-02 6.44701238e+02] [ 4.25787916e-02 9.99093100e-01 -1.56840735e-04 8.31212162e+00] [ 1.54984587e-02 -5.03540426e-04 9.99879765e-01 9.98107717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.5592541539999 meters Centerline goodness : 0.999190 Centerline is valid? [True, True] Translation: X:644.73, Y:8.31, Z:9.98 [[ 9.98829581e-01 -4.58152349e-02 -1.55058548e-02 6.44732518e+02] [ 4.58183311e-02 9.98949777e-01 -1.55694892e-04 8.31149421e+00] [ 1.54967034e-02 -5.54939724e-04 9.99879765e-01 9.98081137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.589254154 meters Centerline goodness : 0.999041 Centerline is valid? [True, True] Translation: X:644.76, Y:8.31, Z:9.98 [[ 9.98742530e-01 -4.76752168e-02 -1.55058633e-02 6.44764143e+02] [ 4.76785501e-02 9.98862719e-01 -1.54841468e-04 8.31137646e+00] [ 1.54956109e-02 -5.84650320e-04 9.99879765e-01 9.98071894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.6192541539999 meters Centerline goodness : 0.999256 Centerline is valid? [True, True] Translation: X:644.80, Y:8.31, Z:9.98 [[ 9.98631318e-01 -4.99505666e-02 -1.55058771e-02 6.44796846e+02] [ 4.99541953e-02 9.98751498e-01 -1.53445899e-04 8.31151286e+00] [ 1.54941827e-02 -6.21347734e-04 9.99879765e-01 9.98113294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.6492541539999 meters Centerline goodness : 0.999107 Centerline is valid? [True, True] Translation: X:644.83, Y:8.31, Z:9.98 [[ 9.98509146e-01 -5.23359687e-02 -1.55058935e-02 6.44829446e+02] [ 5.23399104e-02 9.98629316e-01 -1.51774203e-04 8.31156442e+00] [ 1.54925830e-02 -6.60029145e-04 9.99879765e-01 9.98130733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.6792541539999 meters Centerline goodness : 0.999087 Centerline is valid? [True, True] Translation: X:644.86, Y:8.31, Z:9.98 [[ 9.98382628e-01 -5.46963826e-02 -1.55059102e-02 6.44861720e+02] [ 5.47006351e-02 9.98502788e-01 -1.50047806e-04 8.31165000e+00] [ 1.54909016e-02 -6.98378011e-04 9.99879765e-01 9.98170227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.709254154 meters Centerline goodness : 0.998960 Centerline is valid? [True, True] Translation: X:644.89, Y:8.31, Z:9.98 [[ 9.98260525e-01 -5.68813702e-02 -1.55059369e-02 6.44894787e+02] [ 5.68859294e-02 9.98380674e-01 -1.47231422e-04 8.31162715e+00] [ 1.54892025e-02 -7.35094315e-04 9.99879765e-01 9.98202517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.7392541539999 meters Centerline goodness : 0.999067 Centerline is valid? [True, True] Translation: X:644.93, Y:8.31, Z:9.98 [[ 9.98035199e-01 -6.07067350e-02 -1.55059529e-02 6.44926625e+02] [ 6.07117810e-02 9.98155328e-01 -1.45525108e-04 8.31126641e+00] [ 1.54861839e-02 -7.96154839e-04 9.99879765e-01 9.98163226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.7692541539999 meters Centerline goodness : 0.999109 Centerline is valid? [True, True] Translation: X:644.96, Y:8.31, Z:9.98 [[ 9.97936922e-01 -6.23014028e-02 -1.55059661e-02 6.44959771e+02] [ 6.23066627e-02 9.98057042e-01 -1.44111445e-04 8.31148343e+00] [ 1.54848170e-02 -8.22310866e-04 9.99879765e-01 9.98188503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.7992541539999 meters Centerline goodness : 0.999237 Centerline is valid? [True, True] Translation: X:644.99, Y:8.31, Z:9.98 [[ 9.97785233e-01 -6.46853350e-02 -1.55059810e-02 6.44992749e+02] [ 6.46909072e-02 9.97905339e-01 -1.42480711e-04 8.31247898e+00] [ 1.54827177e-02 -8.60930831e-04 9.99879765e-01 9.98203673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.829254154 meters Centerline goodness : 0.999216 Centerline is valid? [True, True] Translation: X:645.03, Y:8.31, Z:9.98 [[ 9.97770659e-01 -6.49097507e-02 -1.55059961e-02 6.45025529e+02] [ 6.49153755e-02 9.97890763e-01 -1.40824036e-04 8.31321220e+00] [ 1.54824311e-02 -8.66067468e-04 9.99879765e-01 9.98238175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.8592541539999 meters Centerline goodness : 0.999172 Centerline is valid? [True, True] Translation: X:645.06, Y:8.31, Z:9.98 [[ 9.97894520e-01 -6.29769031e-02 -1.55060114e-02 6.45057817e+02] [ 6.29823217e-02 9.98014633e-01 -1.39119576e-04 8.31400114e+00] [ 1.54839876e-02 -8.37777935e-04 9.99879765e-01 9.98260309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.8892541539999 meters Centerline goodness : 0.999212 Centerline is valid? [True, True] Translation: X:645.09, Y:8.31, Z:9.98 [[ 9.98030468e-01 -6.07844453e-02 -1.55060239e-02 6.45089977e+02] [ 6.07896218e-02 9.98150591e-01 -1.37707874e-04 8.31453293e+00] [ 1.54857174e-02 -8.05168677e-04 9.99879765e-01 9.98275274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.9192541539999 meters Centerline goodness : 0.999086 Centerline is valid? [True, True] Translation: X:645.12, Y:8.32, Z:9.98 [[ 9.98198841e-01 -5.79537459e-02 -1.55060362e-02 6.45122612e+02] [ 5.79586033e-02 9.98318978e-01 -1.36312290e-04 8.31569934e+00] [ 1.54878700e-02 -7.62641431e-04 9.99879765e-01 9.98338468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.949254154 meters Centerline goodness : 0.998871 Centerline is valid? [True, True] Translation: X:645.15, Y:8.32, Z:9.98 [[ 9.98655590e-01 -4.94628657e-02 -1.55060509e-02 6.45152991e+02] [ 4.94667276e-02 9.98775763e-01 -1.34614951e-04 8.31926485e+00] [ 1.54937263e-02 -6.32599624e-04 9.99879765e-01 9.98359781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.9792541539999 meters Centerline goodness : 0.999125 Centerline is valid? [True, True] Translation: X:645.19, Y:8.32, Z:9.98 [[ 9.98816227e-01 -4.61055651e-02 -1.55055547e-02 6.45186673e+02] [ 4.61081298e-02 9.98936436e-01 -1.92232481e-04 8.32172821e+00] [ 1.54979265e-02 -5.22927205e-04 9.99879763e-01 9.98433332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.0092541539999 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:645.22, Y:8.33, Z:9.98 [[ 9.99191569e-01 -3.70913656e-02 -1.55060746e-02 6.45218065e+02] [ 3.70938041e-02 9.99311780e-01 -1.30418761e-04 8.32575558e+00] [ 1.55002404e-02 -4.44865967e-04 9.99879765e-01 9.98423079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.0392541539999 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:645.25, Y:8.33, Z:9.98 [[ 9.99359166e-01 -3.22617164e-02 -1.55060816e-02 6.45250446e+02] [ 3.22635869e-02 9.99479387e-01 -1.29580241e-04 8.32771955e+00] [ 1.55021894e-02 -3.70784608e-04 9.99879765e-01 9.98426245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.069254154 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:645.28, Y:8.33, Z:9.98 [[ 9.99488761e-01 -2.79603702e-02 -1.55059514e-02 6.45281658e+02] [ 2.79614818e-02 9.99608991e-01 -1.45150093e-04 8.32956522e+00] [ 1.55039469e-02 -2.88493491e-04 9.99879765e-01 9.98467716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.0992541539999 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:645.31, Y:8.33, Z:9.98 [[ 9.99607618e-01 -2.33274638e-02 -1.55060989e-02 6.45312609e+02] [ 2.33282971e-02 9.99727850e-01 -1.27160774e-04 8.33114405e+00] [ 1.55048453e-02 -2.34620004e-04 9.99879765e-01 9.98447475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.1292541539999 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:645.34, Y:8.34, Z:9.99 [[ 9.99749730e-01 -1.61257015e-02 -1.55061035e-02 6.45341965e+02] [ 1.61256773e-02 9.99869965e-01 -1.26600608e-04 8.33593890e+00] [ 1.55061287e-02 -1.23477497e-04 9.99879765e-01 9.98547758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.1592541539999 meters Centerline goodness : 0.999287 Centerline is valid? [True, True] Translation: X:645.37, Y:8.34, Z:9.99 [[ 9.99822830e-01 -1.06709470e-02 -1.55061012e-02 6.45370909e+02] [ 1.06702625e-02 9.99943063e-01 -1.26878633e-04 8.33955336e+00] [ 1.55065723e-02 -3.85980166e-05 9.99879765e-01 9.98653038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.189254154 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:645.40, Y:8.34, Z:9.99 [[ 9.99839931e-01 -8.92602247e-03 -1.55060689e-02 6.45398518e+02] [ 8.92506860e-03 9.99960162e-01 -1.30716935e-04 8.34076255e+00] [ 1.55066179e-02 -7.69671750e-06 9.99879765e-01 9.98656804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.2192541539999 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] Translation: X:645.43, Y:8.34, Z:9.99 [[ 9.99849849e-01 -7.73574025e-03 -1.55060308e-02 6.45426519e+02] [ 7.73457543e-03 9.99970079e-01 -1.35089479e-04 8.34156046e+00] [ 1.55066118e-02 1.51366308e-05 9.99879765e-01 9.98663645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.2492541539999 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:645.45, Y:8.34, Z:9.99 [[ 9.99856157e-01 -6.87237719e-03 -1.55059918e-02 6.45452971e+02] [ 6.87104127e-03 9.99976384e-01 -1.39428521e-04 8.34262516e+00] [ 1.55065838e-02 3.28661558e-05 9.99879765e-01 9.98690308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.2792541539999 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] Translation: X:645.48, Y:8.34, Z:9.99 [[ 9.99853274e-01 -7.27979872e-03 -1.55059746e-02 6.45480930e+02] [ 7.27848262e-03 9.99973502e-01 -1.41309601e-04 8.34304286e+00] [ 1.55065924e-02 2.84289008e-05 9.99879765e-01 9.98854912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.3092541539999 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:645.51, Y:8.34, Z:9.99 [[ 9.99846792e-01 -8.12144241e-03 -1.55059318e-02 6.45509033e+02] [ 8.12015688e-03 9.99967020e-01 -1.45863814e-04 8.34318123e+00] [ 1.55066050e-02 1.99308682e-05 9.99879765e-01 9.98964694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.339254154 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:645.54, Y:8.34, Z:9.99 [[ 9.99825867e-01 -1.03828227e-02 -1.55058870e-02 6.45536812e+02] [ 1.03817376e-02 9.99946097e-01 -1.50473825e-04 8.34295882e+00] [ 1.55066136e-02 -1.05304279e-05 9.99879765e-01 9.99025746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.3692541539999 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:645.56, Y:8.34, Z:9.99 [[ 9.99806646e-01 -1.20929073e-02 -1.55058731e-02 6.45564389e+02] [ 1.20920058e-02 9.99926878e-01 -1.51899878e-04 8.34237982e+00] [ 1.55065762e-02 -3.56265995e-05 9.99879765e-01 9.99089962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.3992541539999 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:645.59, Y:8.34, Z:9.99 [[ 9.99781959e-01 -1.39858433e-02 -1.55058275e-02 6.45592650e+02] [ 1.39850993e-02 9.99902192e-01 -1.56422351e-04 8.34174128e+00] [ 1.55064986e-02 -6.04622915e-05 9.99879765e-01 9.99138815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.4292541539999 meters Centerline goodness : 0.999356 Centerline is valid? [True, True] Translation: X:645.62, Y:8.34, Z:9.99 [[ 9.99720656e-01 -1.78376302e-02 -1.55057808e-02 6.45620997e+02] [ 1.78372796e-02 9.99840890e-01 -1.60919761e-04 8.33942823e+00] [ 1.55061841e-02 -1.15706139e-04 9.99879765e-01 9.99243416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.459254154 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:645.65, Y:8.34, Z:9.99 [[ 9.99685362e-01 -1.97167107e-02 -1.55057689e-02 6.45649841e+02] [ 1.97165685e-02 9.99805596e-01 -1.62054130e-04 8.33786656e+00] [ 1.55059497e-02 -1.43717414e-04 9.99879765e-01 9.99282214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.4892541539999 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:645.68, Y:8.33, Z:9.99 [[ 9.99610076e-01 -2.32221426e-02 -1.55057600e-02 6.45678139e+02] [ 2.32224089e-02 9.99730310e-01 -1.62899403e-04 8.33477158e+00] [ 1.55053612e-02 -1.97245215e-04 9.99879765e-01 9.99343922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.5192541539999 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:645.71, Y:8.33, Z:9.99 [[ 9.99582100e-01 -2.43966667e-02 -1.55057512e-02 6.45708854e+02] [ 2.43970613e-02 9.99702334e-01 -1.63737338e-04 8.33350900e+00] [ 1.55051303e-02 -2.14625850e-04 9.99879765e-01 9.99404852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.5492541539999 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:645.74, Y:8.33, Z:9.99 [[ 9.99562530e-01 -2.51857113e-02 -1.55057512e-02 6.45738993e+02] [ 2.51862008e-02 9.99682764e-01 -1.63737338e-04 8.33212115e+00] [ 1.55049561e-02 -2.26865255e-04 9.99879765e-01 9.99424146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.579254154 meters Centerline goodness : 0.999126 Centerline is valid? [True, True] Translation: X:645.77, Y:8.33, Z:9.99 [[ 9.99550703e-01 -2.56508136e-02 -1.55057512e-02 6.45769265e+02] [ 2.56513590e-02 9.99670936e-01 -1.63737338e-04 8.32940690e+00] [ 1.55048488e-02 -2.34079819e-04 9.99879765e-01 9.99362707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.6092541539999 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:645.80, Y:8.33, Z:9.99 [[ 9.99561528e-01 -2.52254450e-02 -1.55057542e-02 6.45800750e+02] [ 2.52259437e-02 9.99681762e-01 -1.63456530e-04 8.32838874e+00] [ 1.55049429e-02 -2.27762422e-04 9.99879765e-01 9.99366592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.6392541539999 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:645.83, Y:8.33, Z:9.99 [[ 9.99576191e-01 -2.46375849e-02 -1.55057601e-02 6.45831053e+02] [ 2.46380216e-02 9.99696425e-01 -1.62891943e-04 8.32748497e+00] [ 1.55050662e-02 -2.19208344e-04 9.99879765e-01 9.99345694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.6692541539999 meters Centerline goodness : 0.998954 Centerline is valid? [True, True] Translation: X:645.86, Y:8.33, Z:9.99 [[ 9.99598351e-01 -2.37214673e-02 -1.55057630e-02 6.45861603e+02] [ 2.37217982e-02 9.99718585e-01 -1.62611523e-04 8.32648637e+00] [ 1.55052569e-02 -2.05278371e-04 9.99879765e-01 9.99358374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.699254154 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:645.89, Y:8.32, Z:9.99 [[ 9.99651488e-01 -2.13652360e-02 -1.55057630e-02 6.45891700e+02] [ 2.13652834e-02 9.99771723e-01 -1.62611523e-04 8.32386583e+00] [ 1.55056977e-02 -1.68730171e-04 9.99879765e-01 9.99319366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.7292541539999 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:645.92, Y:8.32, Z:9.99 [[ 9.99675824e-01 -2.01944965e-02 -1.55057630e-02 6.45920751e+02] [ 2.01944032e-02 9.99796059e-01 -1.62611523e-04 8.32289468e+00] [ 1.55058846e-02 -1.50570822e-04 9.99879765e-01 9.99294850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.7592541539999 meters Centerline goodness : 0.998933 Centerline is valid? [True, True] Translation: X:645.95, Y:8.32, Z:9.99 [[ 9.99723396e-01 -1.76833455e-02 -1.55058086e-02 6.45950809e+02] [ 1.76830170e-02 9.99843631e-01 -1.58294547e-04 8.32102098e+00] [ 1.55061831e-02 -1.15938716e-04 9.99879765e-01 9.99254910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.7892541539999 meters Centerline goodness : 0.998933 Centerline is valid? [True, True] Translation: X:645.98, Y:8.32, Z:9.99 [[ 9.99736111e-01 -1.69493878e-02 -1.55057163e-02 6.45979084e+02] [ 1.69488381e-02 9.99856344e-01 -1.66870114e-04 8.32016130e+00] [ 1.55063172e-02 -9.59777964e-05 9.99879765e-01 9.99194746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.819254154 meters Centerline goodness : 0.998677 Centerline is valid? [True, True] Translation: X:646.01, Y:8.32, Z:9.99 [[ 9.99739489e-01 -1.67489571e-02 -1.55056935e-02 6.46007640e+02] [ 1.67483509e-02 9.99859722e-01 -1.68961252e-04 8.31920018e+00] [ 1.55063483e-02 -9.07775598e-05 9.99879765e-01 9.99310443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.8492541539999 meters Centerline goodness : 0.998805 Centerline is valid? [True, True] Translation: X:646.04, Y:8.32, Z:9.99 [[ 9.99722547e-01 -1.77314263e-02 -1.55056498e-02 6.46035569e+02] [ 1.77308775e-02 9.99842781e-01 -1.72881538e-04 8.31627739e+00] [ 1.55062775e-02 -1.02095205e-04 9.99879765e-01 9.99288488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.8792541539999 meters Centerline goodness : 0.998849 Centerline is valid? [True, True] Translation: X:646.06, Y:8.31, Z:9.99 [[ 9.99700606e-01 -1.89281249e-02 -1.55055986e-02 6.46063198e+02] [ 1.89276505e-02 9.99820840e-01 -1.77360288e-04 8.31493192e+00] [ 1.55061777e-02 -1.16177362e-04 9.99879765e-01 9.99291658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.9092541539999 meters Centerline goodness : 0.998830 Centerline is valid? [True, True] Translation: X:646.09, Y:8.31, Z:9.99 [[ 9.99634156e-01 -2.21614941e-02 -1.55055826e-02 6.46091537e+02] [ 2.21613871e-02 9.99754390e-01 -1.78746026e-04 8.31134401e+00] [ 1.55057356e-02 -1.64944586e-04 9.99879765e-01 9.99303540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.939254154 meters Centerline goodness : 0.998832 Centerline is valid? [True, True] Translation: X:646.12, Y:8.31, Z:9.99 [[ 9.99595398e-01 -2.38457375e-02 -1.55055357e-02 6.46121229e+02] [ 2.38457713e-02 9.99715632e-01 -1.82722965e-04 8.31002732e+00] [ 1.55054836e-02 -1.87092425e-04 9.99879765e-01 9.99352109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.9692541539999 meters Centerline goodness : 0.999002 Centerline is valid? [True, True] Translation: X:646.15, Y:8.31, Z:9.99 [[ 9.99551980e-01 -2.56011424e-02 -1.55055290e-02 6.46150921e+02] [ 2.56013786e-02 9.99672214e-01 -1.83293303e-04 8.30924348e+00] [ 1.55051390e-02 -2.13751734e-04 9.99879765e-01 9.99378465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.9992541539999 meters Centerline goodness : 0.997625 Centerline is valid? [True, True] Translation: X:646.18, Y:8.31, Z:9.99 [[ 9.99472271e-01 -2.85439735e-02 -1.55055257e-02 6.46180869e+02] [ 2.85445593e-02 9.99592504e-01 -1.83575993e-04 8.30718715e+00] [ 1.55044472e-02 -2.59119282e-04 9.99879765e-01 9.99324751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.0292541539999 meters Centerline goodness : 0.999090 Centerline is valid? [True, True] Translation: X:646.21, Y:8.31, Z:9.99 [[ 9.99429540e-01 -3.00028820e-02 -1.55055068e-02 6.46211230e+02] [ 3.00036186e-02 9.99549773e-01 -1.85172161e-04 8.30621825e+00] [ 1.55040815e-02 -2.80154784e-04 9.99879765e-01 9.99427793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.0592541539999 meters Centerline goodness : 0.998920 Centerline is valid? [True, True] Translation: X:646.24, Y:8.30, Z:9.99 [[ 9.99353168e-01 -3.24472541e-02 -1.55055253e-02 6.46242730e+02] [ 3.24483089e-02 9.99473398e-01 -1.83607624e-04 8.30404765e+00] [ 1.55033176e-02 -3.19639215e-04 9.99879765e-01 9.99418168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.089254154 meters Centerline goodness : 0.998942 Centerline is valid? [True, True] Translation: X:646.27, Y:8.30, Z:9.99 [[ 9.99314242e-01 -3.36247648e-02 -1.55055318e-02 6.46274109e+02] [ 3.36259698e-02 9.99434470e-01 -1.83060772e-04 8.30355875e+00] [ 1.55029183e-02 -3.38453306e-04 9.99879765e-01 9.99451246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.1192541539999 meters Centerline goodness : 0.998943 Centerline is valid? [True, True] Translation: X:646.31, Y:8.30, Z:10.00 [[ 9.99278160e-01 -3.46805162e-02 -1.55055384e-02 6.46305647e+02] [ 3.46818569e-02 9.99398387e-01 -1.82500388e-04 8.30340992e+00] [ 1.55025392e-02 -3.55392211e-04 9.99879765e-01 9.99512991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.1492541539999 meters Centerline goodness : 0.998775 Centerline is valid? [True, True] Translation: X:646.34, Y:8.30, Z:10.00 [[ 9.99233296e-01 -3.59499333e-02 -1.55055449e-02 6.46336536e+02] [ 3.59514355e-02 9.99353522e-01 -1.81941015e-04 8.30272580e+00] [ 1.55020617e-02 -3.75645078e-04 9.99879765e-01 9.99602200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.1792541539999 meters Centerline goodness : 0.998984 Centerline is valid? [True, True] Translation: X:646.37, Y:8.30, Z:10.00 [[ 9.99217321e-01 -3.63912652e-02 -1.55055516e-02 6.46367961e+02] [ 3.63928293e-02 9.99337545e-01 -1.81372177e-04 8.30260624e+00] [ 1.55018802e-02 -3.83060670e-04 9.99879765e-01 9.99564339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.209254154 meters Centerline goodness : 0.998900 Centerline is valid? [True, True] Translation: X:646.40, Y:8.30, Z:10.00 [[ 9.99190750e-01 -3.71136521e-02 -1.55055615e-02 6.46400528e+02] [ 3.71153163e-02 9.99310973e-01 -1.80521155e-04 8.30165132e+00] [ 1.55015775e-02 -3.95118751e-04 9.99879765e-01 9.99582189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.2392541539999 meters Centerline goodness : 0.998921 Centerline is valid? [True, True] Translation: X:646.43, Y:8.30, Z:10.00 [[ 9.99190462e-01 -3.71213880e-02 -1.55055746e-02 6.46432861e+02] [ 3.71230707e-02 9.99310685e-01 -1.79390670e-04 8.30120379e+00] [ 1.55015456e-02 -3.96369093e-04 9.99879765e-01 9.99574446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.2692541539999 meters Centerline goodness : 0.998899 Centerline is valid? [True, True] Translation: X:646.46, Y:8.30, Z:10.00 [[ 9.99167771e-01 -3.77271969e-02 -1.55055876e-02 6.46464207e+02] [ 3.77289700e-02 9.99287993e-01 -1.78255082e-04 8.30152474e+00] [ 1.55012726e-02 -4.06903118e-04 9.99879765e-01 9.99585319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.2992541539999 meters Centerline goodness : 0.998880 Centerline is valid? [True, True] Translation: X:646.50, Y:8.30, Z:10.00 [[ 9.99142620e-01 -3.83875051e-02 -1.55055973e-02 6.46496699e+02] [ 3.83893708e-02 9.99262841e-01 -1.77409963e-04 8.30100443e+00] [ 1.55009775e-02 -4.17992268e-04 9.99879765e-01 9.99741975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.329254154 meters Centerline goodness : 0.998880 Centerline is valid? [True, True] Translation: X:646.53, Y:8.30, Z:10.00 [[ 9.99120390e-01 -3.89617975e-02 -1.55056101e-02 6.46529375e+02] [ 3.89637498e-02 9.99240609e-01 -1.76280566e-04 8.30095096e+00] [ 1.55007035e-02 -4.28031206e-04 9.99879765e-01 9.99821291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.3592541539999 meters Centerline goodness : 0.998819 Centerline is valid? [True, True] Translation: X:646.56, Y:8.30, Z:10.00 [[ 9.99101222e-01 -3.94502605e-02 -1.55056228e-02 6.46561890e+02] [ 3.94522889e-02 9.99221440e-01 -1.75159567e-04 8.30064943e+00] [ 1.55004608e-02 -4.36730173e-04 9.99879765e-01 9.99871883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.3892541539999 meters Centerline goodness : 0.998562 Centerline is valid? [True, True] Translation: X:646.59, Y:8.30, Z:10.00 [[ 9.99077166e-01 -4.00548565e-02 -1.55056353e-02 6.46594347e+02] [ 4.00569751e-02 9.99197382e-01 -1.74041654e-04 8.30023366e+00] [ 1.55001614e-02 -4.47227806e-04 9.99879765e-01 9.99910127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.4192541539999 meters Centerline goodness : 0.998775 Centerline is valid? [True, True] Translation: X:646.63, Y:8.30, Z:10.00 [[ 9.98928515e-01 -4.36050148e-02 -1.55056479e-02 6.46626997e+02] [ 4.36075780e-02 9.99048722e-01 -1.72915990e-04 8.30078883e+00] [ 1.54984377e-02 -5.03433037e-04 9.99879765e-01 9.99994204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.449254154 meters Centerline goodness : 0.998775 Centerline is valid? [True, True] Translation: X:646.66, Y:8.30, Z:10.00 [[ 9.98931722e-01 -4.35314671e-02 -1.55056605e-02 6.46659684e+02] [ 4.35340392e-02 9.99051930e-01 -1.71775975e-04 8.30109132e+00] [ 1.54984377e-02 -5.03431561e-04 9.99879765e-01 1.00004486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.4792541539999 meters Centerline goodness : 0.999028 Centerline is valid? [True, True] Translation: X:646.69, Y:8.30, Z:10.00 [[ 9.98822883e-01 -4.59611072e-02 -1.55056731e-02 6.46690906e+02] [ 4.59639894e-02 9.98943083e-01 -1.70634484e-04 8.30148834e+00] [ 1.54971274e-02 -5.42268965e-04 9.99879765e-01 1.00005419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.5092541539999 meters Centerline goodness : 0.998647 Centerline is valid? [True, True] Translation: X:646.72, Y:8.30, Z:10.00 [[ 9.98540419e-01 -5.17359270e-02 -1.55056824e-02 6.46722464e+02] [ 5.17395173e-02 9.98660600e-01 -1.69784280e-04 8.30089880e+00] [ 1.54936980e-02 -6.32720056e-04 9.99879765e-01 1.00003981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.5392541539999 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:646.76, Y:8.30, Z:10.00 [[ 9.98359878e-01 -5.51101307e-02 -1.55057008e-02 6.46755860e+02] [ 5.51141535e-02 9.98480046e-01 -1.68082166e-04 8.30089837e+00] [ 1.54913959e-02 -6.86777086e-04 9.99879765e-01 1.00014638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.569254154 meters Centerline goodness : 0.998670 Centerline is valid? [True, True] Translation: X:646.79, Y:8.30, Z:10.00 [[ 9.97961812e-01 -6.19014851e-02 -1.55057193e-02 6.46787640e+02] [ 6.19063520e-02 9.98081949e-01 -1.66365523e-04 8.30119396e+00] [ 1.54862768e-02 -7.93876076e-04 9.99879765e-01 1.00014214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.5992541539999 meters Centerline goodness : 0.998713 Centerline is valid? [True, True] Translation: X:646.82, Y:8.30, Z:10.00 [[ 9.97731719e-01 -6.55056396e-02 -1.55057344e-02 6.46820204e+02] [ 6.55109624e-02 9.97851836e-01 -1.64943962e-04 8.30223891e+00] [ 1.54832303e-02 -8.51225760e-04 9.99879765e-01 1.00020899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.6292541539999 meters Centerline goodness : 0.998649 Centerline is valid? [True, True] Translation: X:646.85, Y:8.30, Z:10.00 [[ 9.97473916e-01 -6.93206880e-02 -1.55057523e-02 6.46853748e+02] [ 6.93264965e-02 9.97594011e-01 -1.63241711e-04 8.30259260e+00] [ 1.54797617e-02 -9.12130134e-04 9.99879765e-01 1.00025226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.6592541539999 meters Centerline goodness : 0.998776 Centerline is valid? [True, True] Translation: X:646.89, Y:8.30, Z:10.00 [[ 9.97385884e-01 -7.05759862e-02 -1.55057733e-02 6.46886099e+02] [ 7.05819771e-02 9.97505969e-01 -1.61219664e-04 8.30349386e+00] [ 1.54784797e-02 -9.33629921e-04 9.99879765e-01 1.00022747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.689254154 meters Centerline goodness : 0.998779 Centerline is valid? [True, True] Translation: X:646.92, Y:8.30, Z:10.00 [[ 9.97379187e-01 -7.06705651e-02 -1.55057881e-02 6.46917837e+02] [ 7.06765897e-02 9.97499270e-01 -1.59782609e-04 8.30426560e+00] [ 1.54783043e-02 -9.36532377e-04 9.99879765e-01 1.00021373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.7192541539999 meters Centerline goodness : 0.998756 Centerline is valid? [True, True] Translation: X:646.95, Y:8.31, Z:10.00 [[ 9.97420862e-01 -7.00799087e-02 -1.55058023e-02 6.46951260e+02] [ 7.00858837e-02 9.97540948e-01 -1.58395421e-04 8.30556143e+00] [ 1.54787731e-02 -9.28750960e-04 9.99879765e-01 1.00028834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.7492541539999 meters Centerline goodness : 0.998986 Centerline is valid? [True, True] Translation: X:646.98, Y:8.31, Z:10.00 [[ 9.97651296e-01 -6.67192705e-02 -1.55058196e-02 6.46982230e+02] [ 6.67248674e-02 9.97771400e-01 -1.56687661e-04 8.30800290e+00] [ 1.54817174e-02 -8.78304106e-04 9.99879765e-01 1.00024257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.7792541539999 meters Centerline goodness : 0.999029 Centerline is valid? [True, True] Translation: X:647.02, Y:8.31, Z:10.00 [[ 9.97768215e-01 -6.49474728e-02 -1.55053368e-02 6.47015047e+02] [ 6.49521138e-02 9.97888361e-01 -2.04606081e-04 8.30929523e+00] [ 1.54858838e-02 -8.02954956e-04 9.99879764e-01 1.00034918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.8092541539999 meters Centerline goodness : 0.998860 Centerline is valid? [True, True] Translation: X:647.05, Y:8.31, Z:10.00 [[ 9.97939142e-01 -6.22658545e-02 -1.55058515e-02 6.47047598e+02] [ 6.22709855e-02 9.98059267e-01 -1.52151061e-04 8.31072398e+00] [ 1.54852326e-02 -8.13727157e-04 9.99879765e-01 1.00036499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.839254154 meters Centerline goodness : 0.998861 Centerline is valid? [True, True] Translation: X:647.08, Y:8.31, Z:10.00 [[ 9.98323611e-01 -5.57632152e-02 -1.55058683e-02 6.47080292e+02] [ 5.57675903e-02 9.98443766e-01 -1.50423922e-04 8.31418511e+00] [ 1.54901256e-02 -7.14553157e-04 9.99879765e-01 1.00040824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.8692541539999 meters Centerline goodness : 0.999071 Centerline is valid? [True, True] Translation: X:647.11, Y:8.32, Z:10.00 [[ 9.98527887e-01 -5.19771667e-02 -1.55058848e-02 6.47112769e+02] [ 5.19811128e-02 9.98648057e-01 -1.48704838e-04 8.31612656e+00] [ 1.54926510e-02 -6.57527218e-04 9.99879765e-01 1.00043623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.8992541539999 meters Centerline goodness : 0.998834 Centerline is valid? [True, True] Translation: X:647.14, Y:8.32, Z:10.00 [[ 9.98936616e-01 -4.34189459e-02 -1.55058983e-02 6.47144529e+02] [ 4.34218841e-02 9.99056814e-01 -1.47283867e-04 8.31857559e+00] [ 1.54976682e-02 -5.26168070e-04 9.99879765e-01 1.00048327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.9292541539999 meters Centerline goodness : 0.998877 Centerline is valid? [True, True] Translation: X:647.18, Y:8.31, Z:10.00 [[ 9.99319019e-01 -3.34823038e-02 -1.55059089e-02 6.47183308e+02] [ 3.34840640e-02 9.99439241e-01 -1.46157102e-04 8.31280023e+00] [ 1.55021075e-02 -3.73143273e-04 9.99879765e-01 1.00006370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.959254154 meters Centerline goodness : 0.999043 Centerline is valid? [True, True] Translation: X:647.20, Y:8.33, Z:10.01 [[ 9.99317750e-01 -3.35183653e-02 -1.55097676e-02 6.47204057e+02] [ 3.35268175e-02 9.99437778e-01 2.85195702e-04 8.32552428e+00] [ 1.54914884e-02 -8.04994275e-04 9.99879676e-01 1.00058268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.9892541539999 meters Centerline goodness : 0.998682 Centerline is valid? [True, True] Translation: X:647.24, Y:8.33, Z:10.01 [[ 9.99454778e-01 -2.91501075e-02 -1.55054383e-02 6.47235307e+02] [ 2.91512375e-02 9.99575001e-01 -1.53181787e-04 8.32645858e+00] [ 1.55033137e-02 -2.98904444e-04 9.99879772e-01 1.00061874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.0192541539999 meters Centerline goodness : 0.999234 Centerline is valid? [True, True] Translation: X:647.27, Y:8.33, Z:10.01 [[ 9.99530089e-01 -2.64420616e-02 -1.55054437e-02 6.47266253e+02] [ 2.64428744e-02 9.99650314e-01 -1.52632720e-04 8.32919937e+00] [ 1.55040576e-02 -2.57447503e-04 9.99879772e-01 1.00068349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.0492541539999 meters Centerline goodness : 0.998787 Centerline is valid? [True, True] Translation: X:647.30, Y:8.33, Z:10.01 [[ 9.99724843e-01 -1.76016742e-02 -1.55054490e-02 6.47298857e+02] [ 1.76014322e-02 9.99845071e-01 -1.52086607e-04 8.32744615e+00] [ 1.55057238e-02 -1.20873351e-04 9.99879772e-01 1.00063194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.079254154 meters Centerline goodness : 0.999189 Centerline is valid? [True, True] Translation: X:647.33, Y:8.33, Z:10.01 [[ 9.99709710e-01 -1.84396379e-02 -1.55072688e-02 6.47325457e+02] [ 1.84423862e-02 9.99829924e-01 3.42280713e-05 8.33255989e+00] [ 1.55040003e-02 -3.20209176e-04 9.99879754e-01 1.00067029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.1092541539999 meters Centerline goodness : 0.999190 Centerline is valid? [True, True] Translation: X:647.35, Y:8.33, Z:10.01 [[ 9.99767076e-01 -1.50126146e-02 -1.55053200e-02 6.47354028e+02] [ 1.50119762e-02 9.99887302e-01 -1.57571466e-04 8.33415868e+00] [ 1.55059381e-02 -7.52307305e-05 9.99879773e-01 1.00065658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.1392541539999 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:647.38, Y:8.33, Z:10.01 [[ 9.99782505e-01 -1.39473562e-02 -1.55052794e-02 6.47381423e+02] [ 1.39465292e-02 9.99902729e-01 -1.61470145e-04 8.33499914e+00] [ 1.55060233e-02 -5.48098064e-05 9.99879773e-01 1.00061429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.1692541539999 meters Centerline goodness : 0.999253 Centerline is valid? [True, True] Translation: X:647.41, Y:8.34, Z:10.01 [[ 9.99785761e-01 -1.37120154e-02 -1.55052590e-02 6.47409307e+02] [ 1.37111302e-02 9.99905985e-01 -1.63401487e-04 8.33556359e+00] [ 1.55060419e-02 -4.92281454e-05 9.99879773e-01 1.00057361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.199254154 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:647.45, Y:8.33, Z:10.00 [[ 9.99843324e-01 -8.53906383e-03 -1.55052120e-02 6.47446118e+02] [ 8.53748914e-03 9.99963541e-01 -1.67749313e-04 8.32946629e+00] [ 1.55060791e-02 3.53474518e-05 9.99879773e-01 1.00037695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.2292541539999 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:647.47, Y:8.34, Z:10.01 [[ 9.99752800e-01 -1.59313963e-02 -1.55090446e-02 6.47468310e+02] [ 1.59363673e-02 9.99872989e-01 1.96978318e-04 8.33538669e+00] [ 1.55039366e-02 -4.44087455e-04 9.99879708e-01 1.00059789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.2592541539999 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:647.50, Y:8.33, Z:10.01 [[ 9.99753891e-01 -1.58668528e-02 -1.55048621e-02 6.47501023e+02] [ 1.58660533e-02 9.99874111e-01 -1.74576136e-04 8.33306963e+00] [ 1.55056802e-02 -7.14677980e-05 9.99879777e-01 1.00067645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.2892541539999 meters Centerline goodness : 0.998979 Centerline is valid? [True, True] Translation: X:647.53, Y:8.33, Z:10.01 [[ 9.99670569e-01 -2.04521531e-02 -1.55068757e-02 6.47527476e+02] [ 2.04546867e-02 9.99790781e-01 4.78252174e-06 8.33282113e+00] [ 1.55035335e-02 -3.21969230e-04 9.99879761e-01 1.00073585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.319254154 meters Centerline goodness : 0.998979 Centerline is valid? [True, True] Translation: X:647.56, Y:8.33, Z:10.01 [[ 9.99626999e-01 -2.24825505e-02 -1.55047878e-02 6.47556131e+02] [ 2.24825004e-02 9.99747221e-01 -1.77556909e-04 8.33187919e+00] [ 1.55048605e-02 -1.71095718e-04 9.99879778e-01 1.00094718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.3492541539999 meters Centerline goodness : 0.999235 Centerline is valid? [True, True] Translation: X:647.59, Y:8.33, Z:10.01 [[ 9.99595539e-01 -2.38403416e-02 -1.55047414e-02 6.47586149e+02] [ 2.38403933e-02 9.99715761e-01 -1.81523461e-04 8.33065162e+00] [ 1.55046619e-02 -1.88189091e-04 9.99879778e-01 1.00103257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.3792541539999 meters Centerline goodness : 0.998959 Centerline is valid? [True, True] Translation: X:647.62, Y:8.33, Z:10.01 [[ 9.99523408e-01 -2.66938173e-02 -1.55047347e-02 6.47615339e+02] [ 2.66942034e-02 9.99643630e-01 -1.82092664e-04 8.32768551e+00] [ 1.55040700e-02 -2.31880661e-04 9.99879778e-01 1.00110973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.4092541539999 meters Centerline goodness : 0.999151 Centerline is valid? [True, True] Translation: X:647.65, Y:8.33, Z:10.01 [[ 9.99484763e-01 -2.81035786e-02 -1.55047314e-02 6.47646108e+02] [ 2.81041299e-02 9.99604984e-01 -1.82374917e-04 8.32580901e+00] [ 1.55037322e-02 -2.53466033e-04 9.99879778e-01 1.00115488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.439254154 meters Centerline goodness : 0.999110 Centerline is valid? [True, True] Translation: X:647.68, Y:8.32, Z:10.01 [[ 9.99432825e-01 -2.98936650e-02 -1.55047346e-02 6.47676296e+02] [ 2.98944358e-02 9.99553045e-01 -1.82101205e-04 8.32386901e+00] [ 1.55032484e-02 -2.81507371e-04 9.99879778e-01 1.00114844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.4692541539999 meters Centerline goodness : 0.998987 Centerline is valid? [True, True] Translation: X:647.71, Y:8.32, Z:10.01 [[ 9.99307873e-01 -3.38138878e-02 -1.55047346e-02 6.47707077e+02] [ 3.38151301e-02 9.99428088e-01 -1.82101205e-04 8.31960848e+00] [ 1.55020248e-02 -3.42319450e-04 9.99879778e-01 1.00103990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.4992541539999 meters Centerline goodness : 0.998984 Centerline is valid? [True, True] Translation: X:647.74, Y:8.32, Z:10.01 [[ 9.99234366e-01 -3.59205273e-02 -1.55047450e-02 6.47738599e+02] [ 3.59220369e-02 9.99354579e-01 -1.81212289e-04 8.31738913e+00] [ 1.55012471e-02 -3.75888474e-04 9.99879778e-01 1.00098680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.5292541539999 meters Centerline goodness : 0.998922 Centerline is valid? [True, True] Translation: X:647.77, Y:8.32, Z:10.01 [[ 9.99169301e-01 -3.76869977e-02 -1.55047514e-02 6.47770081e+02] [ 3.76887283e-02 9.99289511e-01 -1.80661813e-04 8.31550949e+00] [ 1.55005441e-02 -4.03842626e-04 9.99879778e-01 1.00093957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.5592541539999 meters Centerline goodness : 0.998880 Centerline is valid? [True, True] Translation: X:647.80, Y:8.32, Z:10.01 [[ 9.99009137e-01 -4.17174646e-02 -1.55047579e-02 6.47799219e+02] [ 4.17196889e-02 9.99129339e-01 -1.80102467e-04 8.31629286e+00] [ 1.54987719e-02 -4.66929665e-04 9.99879778e-01 1.00114482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.589254154 meters Centerline goodness : 0.998987 Centerline is valid? [True, True] Translation: X:647.83, Y:8.31, Z:10.01 [[ 9.99126271e-01 -3.88115173e-02 -1.55035486e-02 6.47831597e+02] [ 3.88118126e-02 9.99246498e-01 -2.81944682e-04 8.31237479e+00] [ 1.55028094e-02 -3.20022485e-04 9.99879773e-01 1.00088400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.6192541539999 meters Centerline goodness : 0.999071 Centerline is valid? [True, True] Translation: X:647.86, Y:8.31, Z:10.01 [[ 9.99155804e-01 -3.80431728e-02 -1.55047376e-02 6.47863997e+02] [ 3.80449734e-02 9.99276012e-01 -1.78918471e-04 8.31194581e+00] [ 1.55003190e-02 -4.11109900e-04 9.99879778e-01 1.00089411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.6492541539999 meters Centerline goodness : 0.998693 Centerline is valid? [True, True] Translation: X:647.89, Y:8.31, Z:10.01 [[ 9.99211899e-01 -3.65401526e-02 -1.55047504e-02 6.47894334e+02] [ 3.65417897e-02 9.99332110e-01 -1.77798484e-04 8.31260143e+00] [ 1.55008917e-02 -3.88912968e-04 9.99879778e-01 1.00086167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.6792541539999 meters Centerline goodness : 0.998881 Centerline is valid? [True, True] Translation: X:647.92, Y:8.31, Z:10.01 [[ 9.99299077e-01 -3.40729572e-02 -1.55044584e-02 6.47924489e+02] [ 3.40739047e-02 9.99419295e-01 -2.03125873e-04 8.31071478e+00] [ 1.55023760e-02 -3.25313941e-04 9.99879778e-01 1.00078894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.709254154 meters Centerline goodness : 0.998902 Centerline is valid? [True, True] Translation: X:647.96, Y:8.31, Z:10.01 [[ 9.99331952e-01 -3.30946022e-02 -1.55047521e-02 6.47955555e+02] [ 3.30958299e-02 9.99452167e-01 -1.77471484e-04 8.31071228e+00] [ 1.55021314e-02 -3.35789713e-04 9.99879778e-01 1.00089345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.7392541539999 meters Centerline goodness : 0.999240 Centerline is valid? [True, True] Translation: X:647.99, Y:8.31, Z:10.01 [[ 9.99369011e-01 -3.19559545e-02 -1.55047585e-02 6.47986615e+02] [ 3.19570539e-02 9.99489227e-01 -1.76911605e-04 8.30981207e+00] [ 1.55024924e-02 -3.18686426e-04 9.99879778e-01 1.00092861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.7692541539999 meters Centerline goodness : 0.999092 Centerline is valid? [True, True] Translation: X:648.02, Y:8.31, Z:10.01 [[ 9.99376017e-01 -3.17360844e-02 -1.55047650e-02 6.48016946e+02] [ 3.17371661e-02 9.99496234e-01 -1.76339401e-04 8.30895541e+00] [ 1.55025505e-02 -3.15847934e-04 9.99879778e-01 1.00088707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.7992541539999 meters Centerline goodness : 0.998798 Centerline is valid? [True, True] Translation: X:648.05, Y:8.31, Z:10.01 [[ 9.99338527e-01 -3.28954560e-02 -1.55047757e-02 6.48048787e+02] [ 3.28966919e-02 9.99458742e-01 -1.75390257e-04 8.30726439e+00] [ 1.55021532e-02 -3.34781589e-04 9.99879778e-01 1.00082841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.829254154 meters Centerline goodness : 0.998925 Centerline is valid? [True, True] Translation: X:648.08, Y:8.31, Z:10.01 [[ 9.99303503e-01 -3.39427463e-02 -1.55047822e-02 6.48080528e+02] [ 3.39441171e-02 9.99423717e-01 -1.74819602e-04 8.30688614e+00] [ 1.55017809e-02 -3.51598301e-04 9.99879778e-01 1.00083257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.8592541539999 meters Centerline goodness : 0.998989 Centerline is valid? [True, True] Translation: X:648.11, Y:8.31, Z:10.01 [[ 9.99263375e-01 -3.51042646e-02 -1.55047885e-02 6.48111831e+02] [ 3.51057840e-02 9.99383587e-01 -1.74251097e-04 8.30675594e+00] [ 1.55013481e-02 -3.70185018e-04 9.99879778e-01 1.00085404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.8892541539999 meters Centerline goodness : 0.998903 Centerline is valid? [True, True] Translation: X:648.14, Y:8.31, Z:10.01 [[ 9.99206853e-01 -3.66778750e-02 -1.55047949e-02 6.48142890e+02] [ 3.66795924e-02 9.99327062e-01 -1.73683691e-04 8.30651245e+00] [ 1.55007315e-02 -3.95163624e-04 9.99879778e-01 1.00087941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.9192541539999 meters Centerline goodness : 0.998969 Centerline is valid? [True, True] Translation: X:648.17, Y:8.30, Z:10.01 [[ 9.99062509e-01 -4.04191057e-02 -1.55048012e-02 6.48174653e+02] [ 4.04212821e-02 9.99182711e-01 -1.73118109e-04 8.30475549e+00] [ 1.54991266e-02 -4.53768131e-04 9.99879778e-01 1.00083080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.949254154 meters Centerline goodness : 0.998259 Centerline is valid? [True, True] Translation: X:648.21, Y:8.30, Z:10.00 [[ 9.98965195e-01 -4.27567578e-02 -1.55048075e-02 6.48205743e+02] [ 4.27592241e-02 9.99085391e-01 -1.72555662e-04 8.30392992e+00] [ 1.54980046e-02 -4.90596437e-04 9.99879778e-01 1.00045148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.9792541539999 meters Centerline goodness : 0.998613 Centerline is valid? [True, True] Translation: X:648.24, Y:8.30, Z:10.00 [[ 9.98890056e-01 -4.44775887e-02 -1.55048462e-02 6.48237116e+02] [ 4.44803162e-02 9.99010247e-01 -1.69061185e-04 8.30297176e+00] [ 1.54970197e-02 -5.20786926e-04 9.99879778e-01 1.00047809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.0092541539999 meters Centerline goodness : 0.998949 Centerline is valid? [True, True] Translation: X:648.27, Y:8.30, Z:10.01 [[ 9.98694706e-01 -4.86670820e-02 -1.55048249e-02 6.48268688e+02] [ 4.86702837e-02 9.98814885e-01 -1.70993160e-04 8.30147402e+00] [ 1.54947716e-02 -5.83854264e-04 9.99879778e-01 1.00065573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.0392541539999 meters Centerline goodness : 0.999034 Centerline is valid? [True, True] Translation: X:648.30, Y:8.30, Z:10.01 [[ 9.98610883e-01 -5.03577577e-02 -1.55048485e-02 6.48300692e+02] [ 5.03611964e-02 9.98731056e-01 -1.68828022e-04 8.30136833e+00] [ 1.54936755e-02 -6.12249219e-04 9.99879778e-01 1.00070599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.069254154 meters Centerline goodness : 0.998842 Centerline is valid? [True, True] Translation: X:648.33, Y:8.30, Z:10.01 [[ 9.98507468e-01 -5.23682704e-02 -1.55048604e-02 6.48331640e+02] [ 5.23719681e-02 9.98627633e-01 -1.67726266e-04 8.30142472e+00] [ 1.54923656e-02 -6.44544126e-04 9.99879778e-01 1.00066087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.0992541539999 meters Centerline goodness : 0.998863 Centerline is valid? [True, True] Translation: X:648.36, Y:8.30, Z:10.01 [[ 9.98501694e-01 -5.24782524e-02 -1.55048692e-02 6.48363828e+02] [ 5.24819762e-02 9.98621858e-01 -1.66905458e-04 8.30179984e+00] [ 1.54922602e-02 -6.47070796e-04 9.99879778e-01 1.00083770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.1292541539999 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:648.40, Y:8.30, Z:10.01 [[ 9.98678928e-01 -4.89897648e-02 -1.55048814e-02 6.48395742e+02] [ 4.89930863e-02 9.98799104e-01 -1.65770408e-04 8.29954973e+00] [ 1.54943827e-02 -5.94080579e-04 9.99879778e-01 1.00102209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.1592541539999 meters Centerline goodness : 0.999010 Centerline is valid? [True, True] Translation: X:648.43, Y:8.30, Z:10.01 [[ 9.98596584e-01 -5.06403249e-02 -1.55054768e-02 6.48425828e+02] [ 5.06447207e-02 9.98716727e-01 -1.09280424e-04 8.30434348e+00] [ 1.54911131e-02 -6.76143486e-04 9.99879777e-01 1.00113273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.189254154 meters Centerline goodness : 0.998862 Centerline is valid? [True, True] Translation: X:648.46, Y:8.31, Z:10.01 [[ 9.98669100e-01 -4.91897093e-02 -1.55048931e-02 6.48457172e+02] [ 4.91930768e-02 9.98789274e-01 -1.64351414e-04 8.30540932e+00] [ 1.54942053e-02 -5.98600720e-04 9.99879778e-01 1.00120053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.2192541539999 meters Centerline goodness : 0.998859 Centerline is valid? [True, True] Translation: X:648.49, Y:8.31, Z:10.01 [[ 9.98749523e-01 -4.75288095e-02 -1.55049020e-02 6.48489504e+02] [ 4.75319902e-02 9.98869703e-01 -1.63512156e-04 8.30617552e+00] [ 1.54951484e-02 -5.73671160e-04 9.99879778e-01 1.00141560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.2492541539999 meters Centerline goodness : 0.998759 Centerline is valid? [True, True] Translation: X:648.52, Y:8.31, Z:10.02 [[ 9.98898584e-01 -4.42856238e-02 -1.55049139e-02 6.48521699e+02] [ 4.42884319e-02 9.99018773e-01 -1.62372815e-04 8.30795902e+00] [ 1.54968908e-02 -5.24494349e-04 9.99879778e-01 1.00162054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.2792541539999 meters Centerline goodness : 0.998902 Centerline is valid? [True, True] Translation: X:648.55, Y:8.31, Z:10.02 [[ 9.98961812e-01 -4.28356727e-02 -1.55049257e-02 6.48554254e+02] [ 4.28383239e-02 9.99082005e-01 -1.61238861e-04 8.30875306e+00] [ 1.54975990e-02 -5.03133565e-04 9.99879778e-01 1.00175201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.3092541539999 meters Centerline goodness : 0.999053 Centerline is valid? [True, True] Translation: X:648.59, Y:8.31, Z:10.02 [[ 9.99014182e-01 -4.15964110e-02 -1.55049376e-02 6.48585137e+02] [ 4.15989310e-02 9.99134377e-01 -1.60090470e-04 8.30940695e+00] [ 1.54981753e-02 -4.85056177e-04 9.99879778e-01 1.00156329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.339254154 meters Centerline goodness : 0.999053 Centerline is valid? [True, True] Translation: X:648.62, Y:8.31, Z:10.02 [[ 9.99016930e-01 -4.15303473e-02 -1.55049463e-02 6.48617819e+02] [ 4.15328726e-02 9.99137125e-01 -1.59235164e-04 8.30967383e+00] [ 1.54981806e-02 -4.84886336e-04 9.99879778e-01 1.00161395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.3692541539999 meters Centerline goodness : 0.998988 Centerline is valid? [True, True] Translation: X:648.65, Y:8.31, Z:10.02 [[ 9.99049336e-01 -4.07433433e-02 -1.55049568e-02 6.48649501e+02] [ 4.07457898e-02 9.99169533e-01 -1.58209922e-04 8.31026671e+00] [ 1.54985264e-02 -4.73702193e-04 9.99879778e-01 1.00189107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.3992541539999 meters Centerline goodness : 0.999091 Centerline is valid? [True, True] Translation: X:648.68, Y:8.31, Z:10.02 [[ 9.99073436e-01 -4.01480561e-02 -1.55049680e-02 6.48682004e+02] [ 4.01504481e-02 9.99193633e-01 -1.57106661e-04 8.31175112e+00] [ 1.54987728e-02 -4.65570321e-04 9.99879778e-01 1.00199898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.4292541539999 meters Centerline goodness : 0.998963 Centerline is valid? [True, True] Translation: X:648.71, Y:8.31, Z:10.02 [[ 9.99067430e-01 -4.02972088e-02 -1.55049792e-02 6.48714451e+02] [ 4.02996361e-02 9.99187628e-01 -1.55990332e-04 8.31233889e+00] [ 1.54986694e-02 -4.69000159e-04 9.99879778e-01 1.00205163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.459254154 meters Centerline goodness : 0.998709 Centerline is valid? [True, True] Translation: X:648.75, Y:8.31, Z:10.02 [[ 9.99234013e-01 -3.59302403e-02 -1.55049906e-02 6.48747555e+02] [ 3.59321599e-02 9.99354219e-01 -1.54845544e-04 8.30926030e+00] [ 1.55005415e-02 -4.02400869e-04 9.99879778e-01 1.00195190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.4892541539999 meters Centerline goodness : 0.998901 Centerline is valid? [True, True] Translation: X:648.77, Y:8.31, Z:10.02 [[ 9.99014391e-01 -4.15907945e-02 -1.55065174e-02 6.48774272e+02] [ 4.15958227e-02 9.99134519e-01 1.74104526e-06 8.31272119e+00] [ 1.54930244e-02 -6.46745678e-04 9.99879767e-01 1.00194282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.5192541539999 meters Centerline goodness : 0.999132 Centerline is valid? [True, True] Translation: X:648.81, Y:8.31, Z:10.02 [[ 9.98972102e-01 -4.25950449e-02 -1.55049192e-02 6.48806325e+02] [ 4.25977398e-02 9.99092292e-01 -1.56558360e-04 8.31344301e+00] [ 1.54975139e-02 -5.04077079e-04 9.99879779e-01 1.00198761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.5492541539999 meters Centerline goodness : 0.999069 Centerline is valid? [True, True] Translation: X:648.84, Y:8.31, Z:10.02 [[ 9.98917114e-01 -4.38656543e-02 -1.55049302e-02 6.48838082e+02] [ 4.38685190e-02 9.99037301e-01 -1.55459699e-04 8.31415827e+00] [ 1.54968230e-02 -5.24886972e-04 9.99879779e-01 1.00208625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.579254154 meters Centerline goodness : 0.999048 Centerline is valid? [True, True] Translation: X:648.87, Y:8.32, Z:10.02 [[ 9.98804152e-01 -4.63666091e-02 -1.55049414e-02 6.48869790e+02] [ 4.63697922e-02 9.98924331e-01 -1.54338274e-04 8.31525928e+00] [ 1.54954193e-02 -5.64807200e-04 9.99879779e-01 1.00216472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.6092541539999 meters Centerline goodness : 0.998963 Centerline is valid? [True, True] Translation: X:648.90, Y:8.32, Z:10.02 [[ 9.98781507e-01 -4.68518648e-02 -1.55049526e-02 6.48901912e+02] [ 4.68551239e-02 9.98901684e-01 -1.53197328e-04 8.31612811e+00] [ 1.54951009e-02 -5.73475819e-04 9.99879779e-01 1.00219546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.6392541539999 meters Centerline goodness : 0.999006 Centerline is valid? [True, True] Translation: X:648.93, Y:8.32, Z:10.02 [[ 9.98783244e-01 -4.68148247e-02 -1.55049638e-02 6.48933559e+02] [ 4.68180970e-02 9.98903420e-01 -1.52061171e-04 8.31692353e+00] [ 1.54950801e-02 -5.74036749e-04 9.99879779e-01 1.00214569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.6692541539999 meters Centerline goodness : 0.998943 Centerline is valid? [True, True] Translation: X:648.97, Y:8.32, Z:10.02 [[ 9.98838396e-01 -4.56229656e-02 -1.55049720e-02 6.48965614e+02] [ 4.56261077e-02 9.98958575e-01 -1.51214552e-04 8.31797433e+00] [ 1.54957236e-02 -5.56392623e-04 9.99879779e-01 1.00211824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.699254154 meters Centerline goodness : 0.998899 Centerline is valid? [True, True] Translation: X:649.00, Y:8.32, Z:10.02 [[ 9.98886870e-01 -4.45490449e-02 -1.55049830e-02 6.48997332e+02] [ 4.45520753e-02 9.99007052e-01 -1.50077291e-04 8.31923868e+00] [ 1.54962732e-02 -5.40868937e-04 9.99879779e-01 1.00220312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.7292541539999 meters Centerline goodness : 0.998986 Centerline is valid? [True, True] Translation: X:649.03, Y:8.32, Z:10.02 [[ 9.98986699e-01 -4.22512808e-02 -1.55049939e-02 6.49028864e+02] [ 4.22540524e-02 9.99106888e-01 -1.48941619e-04 8.32131338e+00] [ 1.54974392e-02 -5.06358130e-04 9.99879779e-01 1.00234016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.7592541539999 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:649.06, Y:8.32, Z:10.03 [[ 9.99023050e-01 -4.13828505e-02 -1.55050111e-02 6.49061416e+02] [ 4.13855456e-02 9.99143240e-01 -1.47131607e-04 8.32209486e+00] [ 1.54978158e-02 -4.94695479e-04 9.99879779e-01 1.00251294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.7892541539999 meters Centerline goodness : 0.999176 Centerline is valid? [True, True] Translation: X:649.09, Y:8.32, Z:10.03 [[ 9.99060016e-01 -4.04805877e-02 -1.55050218e-02 6.49093797e+02] [ 4.04831918e-02 9.99180209e-01 -1.45999712e-04 8.32286550e+00] [ 1.54982211e-02 -4.81830297e-04 9.99879779e-01 1.00261212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.819254154 meters Centerline goodness : 0.999091 Centerline is valid? [True, True] Translation: X:649.12, Y:8.32, Z:10.03 [[ 9.99107154e-01 -3.92999870e-02 -1.55050323e-02 6.49124801e+02] [ 3.93024667e-02 9.99227349e-01 -1.44872406e-04 8.32418927e+00] [ 1.54987458e-02 -4.64642958e-04 9.99879779e-01 1.00271332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.8492541539999 meters Centerline goodness : 0.999111 Centerline is valid? [True, True] Translation: X:649.16, Y:8.32, Z:10.03 [[ 9.99108540e-01 -3.92647194e-02 -1.55050401e-02 6.49156160e+02] [ 3.92672078e-02 9.99228735e-01 -1.44032787e-04 8.32459921e+00] [ 1.54987370e-02 -4.64935244e-04 9.99879779e-01 1.00263413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.8792541539999 meters Centerline goodness : 0.999198 Centerline is valid? [True, True] Translation: X:649.19, Y:8.32, Z:10.03 [[ 9.99112879e-01 -3.91541693e-02 -1.55050478e-02 6.49188617e+02] [ 3.91566573e-02 9.99233074e-01 -1.43206056e-04 8.32466169e+00] [ 1.54987636e-02 -4.64046826e-04 9.99879779e-01 1.00288691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.9092541539999 meters Centerline goodness : 0.999217 Centerline is valid? [True, True] Translation: X:649.22, Y:8.32, Z:10.03 [[ 9.99096439e-01 -3.95714281e-02 -1.55050582e-02 6.49221024e+02] [ 3.95739839e-02 9.99216633e-01 -1.42065722e-04 8.32490000e+00] [ 1.54985338e-02 -4.71659567e-04 9.99879779e-01 1.00292710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.939254154 meters Centerline goodness : 0.998924 Centerline is valid? [True, True] Translation: X:649.25, Y:8.33, Z:10.03 [[ 9.99101542e-01 -3.94423912e-02 -1.55050685e-02 6.49251965e+02] [ 3.94449490e-02 9.99221735e-01 -1.40932728e-04 8.32504403e+00] [ 1.54985602e-02 -4.70790530e-04 9.99879779e-01 1.00289664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.9692541539999 meters Centerline goodness : 0.998941 Centerline is valid? [True, True] Translation: X:649.28, Y:8.33, Z:10.03 [[ 9.99117759e-01 -3.90294395e-02 -1.55050761e-02 6.49284584e+02] [ 3.90319607e-02 9.99237953e-01 -1.40088451e-04 8.32553860e+00] [ 1.54987281e-02 -4.65228663e-04 9.99879779e-01 1.00314105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.9992541539999 meters Centerline goodness : 0.998901 Centerline is valid? [True, True] Translation: X:649.32, Y:8.33, Z:10.03 [[ 9.99135610e-01 -3.85697500e-02 -1.55050863e-02 6.49315365e+02] [ 3.85722337e-02 9.99255805e-01 -1.38947987e-04 8.32548946e+00] [ 1.54989067e-02 -4.59237932e-04 9.99879779e-01 1.00310277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.0292541539999 meters Centerline goodness : 0.999008 Centerline is valid? [True, True] Translation: X:649.35, Y:8.33, Z:10.03 [[ 9.99129522e-01 -3.87271340e-02 -1.55051030e-02 6.49346115e+02] [ 3.87296657e-02 9.99249716e-01 -1.37067937e-04 8.32578366e+00] [ 1.54987780e-02 -4.63558833e-04 9.99879779e-01 1.00316745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.0592541539999 meters Centerline goodness : 0.999176 Centerline is valid? [True, True] Translation: X:649.38, Y:8.33, Z:10.03 [[ 9.99116954e-01 -3.90500117e-02 -1.55051101e-02 6.49378242e+02] [ 3.90525948e-02 9.99237147e-01 -1.36255541e-04 8.32620122e+00] [ 1.54986028e-02 -4.69379561e-04 9.99879779e-01 1.00339232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.089254154 meters Centerline goodness : 0.998987 Centerline is valid? [True, True] Translation: X:649.41, Y:8.33, Z:10.03 [[ 9.99108485e-01 -3.92661078e-02 -1.55051201e-02 6.49409404e+02] [ 3.92687348e-02 9.99228677e-01 -1.35105881e-04 8.32680259e+00] [ 1.54984657e-02 -4.73881018e-04 9.99879779e-01 1.00328965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.1192541539999 meters Centerline goodness : 0.998964 Centerline is valid? [True, True] Translation: X:649.44, Y:8.33, Z:10.03 [[ 9.99102689e-01 -3.94132881e-02 -1.55051276e-02 6.49441937e+02] [ 3.94159461e-02 9.99222881e-01 -1.34248155e-04 8.32764495e+00] [ 1.54983694e-02 -4.77021579e-04 9.99879779e-01 1.00331354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.1492541539999 meters Centerline goodness : 0.999070 Centerline is valid? [True, True] Translation: X:649.47, Y:8.33, Z:10.03 [[ 9.99115037e-01 -3.90990248e-02 -1.55051373e-02 6.49473659e+02] [ 3.91016625e-02 9.99235229e-01 -1.33117703e-04 8.32826958e+00] [ 1.54984841e-02 -4.73276745e-04 9.99879779e-01 1.00335821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.1792541539999 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:649.51, Y:8.33, Z:10.03 [[ 9.99147358e-01 -3.82641717e-02 -1.55051469e-02 6.49506206e+02] [ 3.82667265e-02 9.99267552e-01 -1.31989427e-04 8.32926065e+00] [ 1.54988406e-02 -4.61454327e-04 9.99879779e-01 1.00341901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.209254154 meters Centerline goodness : 0.998985 Centerline is valid? [True, True] Translation: X:649.54, Y:8.33, Z:10.04 [[ 9.99239429e-01 -3.57792314e-02 -1.55051563e-02 6.49538116e+02] [ 3.57815047e-02 9.99359628e-01 -1.30865358e-04 8.33161562e+00] [ 1.54999095e-02 -4.24032000e-04 9.99879779e-01 1.00361622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.2392541539999 meters Centerline goodness : 0.999109 Centerline is valid? [True, True] Translation: X:649.57, Y:8.33, Z:10.04 [[ 9.99360703e-01 -3.22145090e-02 -1.55051659e-02 6.49569924e+02] [ 3.22163711e-02 9.99480910e-01 -1.29728210e-04 8.33360934e+00] [ 1.55012964e-02 -3.69874902e-04 9.99879779e-01 1.00380045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.2692541539999 meters Centerline goodness : 0.999004 Centerline is valid? [True, True] Translation: X:649.60, Y:8.33, Z:10.04 [[ 9.99396847e-01 -3.10729931e-02 -1.55051754e-02 6.49600124e+02] [ 3.10747358e-02 9.99517056e-01 -1.28577545e-04 8.33462551e+00] [ 1.55016826e-02 -3.53319235e-04 9.99879779e-01 1.00383857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.2992541539999 meters Centerline goodness : 0.998959 Centerline is valid? [True, True] Translation: X:649.63, Y:8.34, Z:10.04 [[ 9.99430356e-01 -2.99758769e-02 -1.55051778e-02 6.49631225e+02] [ 2.99774920e-02 9.99550566e-01 -1.28292932e-04 8.33513346e+00] [ 1.55020549e-02 -3.36586491e-04 9.99879779e-01 1.00386701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.329254154 meters Centerline goodness : 0.999089 Centerline is valid? [True, True] Translation: X:649.66, Y:8.34, Z:10.04 [[ 9.99446983e-01 -2.94162871e-02 -1.55051824e-02 6.49661518e+02] [ 2.94178437e-02 9.99567193e-01 -1.27727093e-04 8.33562059e+00] [ 1.55022289e-02 -3.28472575e-04 9.99879779e-01 1.00377656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.3592541539999 meters Centerline goodness : 0.998881 Centerline is valid? [True, True] Translation: X:649.69, Y:8.34, Z:10.04 [[ 9.99476494e-01 -2.83958987e-02 -1.55051847e-02 6.49693087e+02] [ 2.83973369e-02 9.99596706e-01 -1.27446176e-04 8.33601897e+00] [ 1.55025505e-02 -3.12926497e-04 9.99879779e-01 1.00400068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.3892541539999 meters Centerline goodness : 0.998984 Centerline is valid? [True, True] Translation: X:649.72, Y:8.34, Z:10.04 [[ 9.99475942e-01 -2.84153160e-02 -1.55051893e-02 6.49723424e+02] [ 2.84167653e-02 9.99596154e-01 -1.26881852e-04 8.33640300e+00] [ 1.55025330e-02 -3.13791968e-04 9.99879779e-01 1.00405905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.4192541539999 meters Centerline goodness : 0.999109 Centerline is valid? [True, True] Translation: X:649.75, Y:8.34, Z:10.04 [[ 9.99471427e-01 -2.85736743e-02 -1.55051893e-02 6.49753702e+02] [ 2.85751426e-02 9.99591639e-01 -1.26881852e-04 8.33659674e+00] [ 1.55024831e-02 -3.16248211e-04 9.99879779e-01 1.00396208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.449254154 meters Centerline goodness : 0.998919 Centerline is valid? [True, True] Translation: X:649.78, Y:8.34, Z:10.04 [[ 9.99438047e-01 -2.97183296e-02 -1.55051973e-02 6.49784583e+02] [ 2.97199507e-02 9.99558257e-01 -1.25906740e-04 8.33702585e+00] [ 1.55020897e-02 -3.34977712e-04 9.99879779e-01 1.00415199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.4792541539999 meters Centerline goodness : 0.999153 Centerline is valid? [True, True] Translation: X:649.81, Y:8.34, Z:10.04 [[ 9.99409340e-01 -3.06685590e-02 -1.55051973e-02 6.49814713e+02] [ 3.06702944e-02 9.99529548e-01 -1.25906740e-04 8.33730308e+00] [ 1.55017642e-02 -3.49716593e-04 9.99879779e-01 1.00414683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.5092541539999 meters Centerline goodness : 0.999217 Centerline is valid? [True, True] Translation: X:649.85, Y:8.34, Z:10.04 [[ 9.99290358e-01 -3.43273890e-02 -1.55051996e-02 6.49845896e+02] [ 3.43295689e-02 9.99410559e-01 -1.25624259e-04 8.33660826e+00] [ 1.55003725e-02 -4.06751706e-04 9.99879779e-01 1.00412057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.5392541539999 meters Centerline goodness : 0.999236 Centerline is valid? [True, True] Translation: X:649.88, Y:8.34, Z:10.04 [[ 9.99197019e-01 -3.69446463e-02 -1.55052041e-02 6.49877463e+02] [ 3.69471499e-02 9.99317213e-01 -1.25058419e-04 8.33618648e+00] [ 1.54992376e-02 -4.47915100e-04 9.99879779e-01 1.00407412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.569254154 meters Centerline goodness : 0.999110 Centerline is valid? [True, True] Translation: X:649.91, Y:8.34, Z:10.04 [[ 9.99093827e-01 -3.96372641e-02 -1.55052109e-02 6.49909927e+02] [ 3.96401046e-02 9.99214014e-01 -1.24212603e-04 8.33603700e+00] [ 1.54979475e-02 -4.90528137e-04 9.99879779e-01 1.00419770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.5992541539999 meters Centerline goodness : 0.999153 Centerline is valid? [True, True] Translation: X:649.94, Y:8.34, Z:10.04 [[ 9.98981691e-01 -4.23694323e-02 -1.55052200e-02 6.49942594e+02] [ 4.23726192e-02 9.99101870e-01 -1.23070031e-04 8.33594309e+00] [ 1.54965087e-02 -5.34052073e-04 9.99879779e-01 1.00420997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.6292541539999 meters Centerline goodness : 0.999090 Centerline is valid? [True, True] Translation: X:649.97, Y:8.34, Z:10.04 [[ 9.98746374e-01 -4.75948344e-02 -1.55052289e-02 6.49974024e+02] [ 4.75986676e-02 9.98866534e-01 -1.21935929e-04 8.33606825e+00] [ 1.54934577e-02 -6.16245168e-04 9.99879779e-01 1.00418824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.6592541539999 meters Centerline goodness : 0.998944 Centerline is valid? [True, True] Translation: X:650.01, Y:8.34, Z:10.04 [[ 9.98648761e-01 -4.96007959e-02 -1.55052355e-02 6.50005738e+02] [ 4.96048835e-02 9.98768913e-01 -1.21088935e-04 8.33656843e+00] [ 1.54921533e-02 -6.48210085e-04 9.99879779e-01 1.00426926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.689254154 meters Centerline goodness : 0.998983 Centerline is valid? [True, True] Translation: X:650.04, Y:8.34, Z:10.04 [[ 9.98504334e-01 -5.24278709e-02 -1.55052443e-02 6.50038323e+02] [ 5.24323161e-02 9.98624473e-01 -1.19957023e-04 8.33809898e+00] [ 1.54902055e-02 -6.93198261e-04 9.99879779e-01 1.00442114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.7192541539999 meters Centerline goodness : 0.999068 Centerline is valid? [True, True] Translation: X:650.07, Y:8.34, Z:10.05 [[ 9.98453184e-01 -5.33931403e-02 -1.55052530e-02 6.50070534e+02] [ 5.33977194e-02 9.98573317e-01 -1.18811849e-04 8.33931598e+00] [ 1.54894757e-02 -7.09317082e-04 9.99879779e-01 1.00454423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.7492541539999 meters Centerline goodness : 0.999067 Centerline is valid? [True, True] Translation: X:650.10, Y:8.34, Z:10.05 [[ 9.98442121e-01 -5.35996116e-02 -1.55052618e-02 6.50101935e+02] [ 5.36042335e-02 9.98562253e-01 -1.17656770e-04 8.34041031e+00] [ 1.54892755e-02 -7.13674198e-04 9.99879779e-01 1.00463574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.7792541539999 meters Centerline goodness : 0.999173 Centerline is valid? [True, True] Translation: X:650.13, Y:8.34, Z:10.05 [[ 9.98466308e-01 -5.31471364e-02 -1.55052753e-02 6.50133797e+02] [ 5.31517318e-02 9.98586441e-01 -1.15855682e-04 8.34253114e+00] [ 1.54895150e-02 -7.08454237e-04 9.99879779e-01 1.00484627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.8092541539999 meters Centerline goodness : 0.999150 Centerline is valid? [True, True] Translation: X:650.17, Y:8.34, Z:10.05 [[ 9.98493456e-01 -5.26346257e-02 -1.55052837e-02 6.50166102e+02] [ 5.26391772e-02 9.98613591e-01 -1.14711001e-04 8.34415591e+00] [ 1.54898248e-02 -7.01647193e-04 9.99879779e-01 1.00499831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.839254154 meters Centerline goodness : 0.999256 Centerline is valid? [True, True] Translation: X:650.20, Y:8.35, Z:10.05 [[ 9.98525593e-01 -5.20213922e-02 -1.55052921e-02 6.50196940e+02] [ 5.20258876e-02 9.98645730e-01 -1.13572122e-04 8.34566055e+00] [ 1.54902019e-02 -6.93271911e-04 9.99879779e-01 1.00506743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.8692541539999 meters Centerline goodness : 0.999300 Centerline is valid? [True, True] Translation: X:650.23, Y:8.35, Z:10.05 [[ 9.98556838e-01 -5.14181625e-02 -1.55052982e-02 6.50229477e+02] [ 5.14225984e-02 9.98676977e-01 -1.12723944e-04 8.34732638e+00] [ 1.54905804e-02 -6.84761459e-04 9.99879779e-01 1.00513869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.8992541539999 meters Centerline goodness : 0.999217 Centerline is valid? [True, True] Translation: X:650.26, Y:8.35, Z:10.05 [[ 9.98563937e-01 -5.12801112e-02 -1.55053063e-02 6.50261790e+02] [ 5.12845479e-02 9.98684076e-01 -1.11604391e-04 8.34755376e+00] [ 1.54906256e-02 -6.83738503e-04 9.99879779e-01 1.00515218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.9292541539999 meters Centerline goodness : 0.999002 Centerline is valid? [True, True] Translation: X:650.31, Y:8.33, Z:10.04 [[ 9.99203580e-01 -3.67667154e-02 -1.55053142e-02 6.50313547e+02] [ 3.67694234e-02 9.99323770e-01 -1.10491099e-04 8.33069601e+00] [ 1.54988915e-02 -4.59718361e-04 9.99879779e-01 1.00429496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.959254154 meters Centerline goodness : 0.999128 Centerline is valid? [True, True] Translation: X:650.32, Y:8.35, Z:10.05 [[ 9.98515264e-01 -5.22177162e-02 -1.55105397e-02 6.50318463e+02] [ 5.22378848e-02 9.98634266e-01 8.97757287e-04 8.34904879e+00] [ 1.54424776e-02 -1.70666214e-03 9.99879301e-01 1.00504292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.9892541539999 meters Centerline goodness : 0.998980 Centerline is valid? [True, True] Translation: X:650.35, Y:8.35, Z:10.05 [[ 9.98520544e-01 -5.21189700e-02 -1.55028104e-02 6.50350642e+02] [ 5.21234055e-02 9.98640644e-01 -1.18080352e-04 8.34992874e+00] [ 1.54878908e-02 -6.90153616e-04 9.99879817e-01 1.00503179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.0192541539999 meters Centerline goodness : 0.999256 Centerline is valid? [True, True] Translation: X:650.39, Y:8.35, Z:10.05 [[ 9.98733356e-01 -4.78680137e-02 -1.55028187e-02 6.50387625e+02] [ 4.78719550e-02 9.98853474e-01 -1.16977362e-04 8.34647392e+00] [ 1.54906438e-02 -6.25321047e-04 9.99879817e-01 1.00498990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.0492541539999 meters Centerline goodness : 0.999362 Centerline is valid? [True, True] Translation: X:650.41, Y:8.35, Z:10.05 [[ 9.98620338e-01 -5.01699334e-02 -1.55047952e-02 6.50412333e+02] [ 5.01783163e-02 9.98740263e-01 1.51865545e-04 8.35128949e+00] [ 1.54776442e-02 -9.29660541e-04 9.99879782e-01 1.00491950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.079254154 meters Centerline goodness : 0.999254 Centerline is valid? [True, True] Translation: X:650.44, Y:8.35, Z:10.05 [[ 9.98773378e-01 -4.70256074e-02 -1.55026301e-02 6.50444856e+02] [ 4.70293632e-02 9.98893500e-01 -1.22409441e-04 8.35412278e+00] [ 1.54912329e-02 -6.06819532e-04 9.99879820e-01 1.00497474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.1092541539999 meters Centerline goodness : 0.999211 Centerline is valid? [True, True] Translation: X:650.48, Y:8.36, Z:10.05 [[ 9.98884239e-01 -4.46087935e-02 -1.55026387e-02 6.50476857e+02] [ 4.46122756e-02 9.99004369e-01 -1.21309335e-04 8.35569758e+00] [ 1.54926153e-02 -5.70434009e-04 9.99879820e-01 1.00503216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.1392541539999 meters Centerline goodness : 0.999147 Centerline is valid? [True, True] Translation: X:650.51, Y:8.35, Z:10.05 [[ 9.99106367e-01 -3.93209156e-02 -1.55026475e-02 6.50513319e+02] [ 3.93237793e-02 9.99226514e-01 -1.20182807e-04 8.35383655e+00] [ 1.54953821e-02 -4.89547280e-04 9.99879820e-01 1.00504064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.1692541539999 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:650.54, Y:8.36, Z:10.05 [[ 9.99231394e-01 -3.60030616e-02 -1.55048643e-02 6.50536662e+02] [ 3.60101452e-02 9.99351409e-01 1.77833220e-04 8.36084796e+00] [ 1.54884054e-02 -7.36028951e-04 9.99879777e-01 1.00502949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.199254154 meters Centerline goodness : 0.999210 Centerline is valid? [True, True] Translation: X:650.57, Y:8.36, Z:10.05 [[ 9.99357645e-01 -3.23105608e-02 -1.55024522e-02 6.50567690e+02] [ 3.23125231e-02 9.99477806e-01 -1.23947613e-04 8.36257732e+00] [ 1.54983617e-02 -3.77055348e-04 9.99879822e-01 1.00499088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.2292541539999 meters Centerline goodness : 0.999316 Centerline is valid? [True, True] Translation: X:650.60, Y:8.36, Z:10.05 [[ 9.99489288e-01 -2.79434607e-02 -1.55024587e-02 6.50599248e+02] [ 2.79449106e-02 9.99609457e-01 -1.23127022e-04 8.36406445e+00] [ 1.54998449e-02 -3.10150682e-04 9.99879822e-01 1.00529455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.2592541539999 meters Centerline goodness : 0.999316 Centerline is valid? [True, True] Translation: X:650.63, Y:8.36, Z:10.05 [[ 9.99490304e-01 -2.79070791e-02 -1.55024631e-02 6.50631087e+02] [ 2.79085334e-02 9.99610474e-01 -1.22562012e-04 8.36428642e+00] [ 1.54998449e-02 -3.10151467e-04 9.99879822e-01 1.00534390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.2892541539999 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:650.67, Y:8.36, Z:10.05 [[ 9.99777960e-01 -1.42724998e-02 -1.55024676e-02 6.50668957e+02] [ 1.42723238e-02 9.99898138e-01 -1.21997787e-04 8.36243490e+00] [ 1.55026297e-02 -9.92855376e-05 9.99879822e-01 1.00549084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.319254154 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:650.69, Y:8.37, Z:10.06 [[ 9.99770360e-01 -1.47923102e-02 -1.55053083e-02 6.50690662e+02] [ 1.47979331e-02 9.99890474e-01 2.47967782e-04 8.37062252e+00] [ 1.54999420e-02 -4.77357354e-04 9.99879755e-01 1.00570456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.3492541539999 meters Centerline goodness : 0.999293 Centerline is valid? [True, True] Translation: X:650.72, Y:8.37, Z:10.06 [[ 9.99853628e-01 -7.23919772e-03 -1.55021333e-02 6.50719349e+02] [ 7.23804915e-03 9.99973797e-01 -1.30196979e-04 8.37358608e+00] [ 1.55026696e-02 1.79727190e-05 9.99879826e-01 1.00583854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.3792541539999 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] Translation: X:650.75, Y:8.37, Z:10.06 [[ 9.99867423e-01 -4.98210593e-03 -1.55021002e-02 6.50747062e+02] [ 4.98062660e-03 9.99987588e-01 -1.34033440e-04 8.37492689e+00] [ 1.55025755e-02 5.68054974e-05 9.99879826e-01 1.00590075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.4092541539999 meters Centerline goodness : 0.996204 Centerline is valid? [True, True] Translation: X:650.78, Y:8.38, Z:10.06 [[ 9.99869796e-01 -4.48076159e-03 -1.55020608e-02 6.50775354e+02] [ 4.47915372e-03 9.99989959e-01 -1.38438273e-04 8.37632397e+00] [ 1.55025255e-02 6.89841340e-05 9.99879826e-01 1.00562140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.439254154 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:650.80, Y:8.38, Z:10.06 [[ 9.99867064e-01 -5.05294245e-03 -1.55022960e-02 6.50802698e+02] [ 5.05179548e-03 9.99987233e-01 -1.13146324e-04 8.37659901e+00] [ 1.55026698e-02 3.48168536e-05 9.99879826e-01 1.00599217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.4692541539999 meters Centerline goodness : 0.995404 Centerline is valid? [True, True] Translation: X:650.83, Y:8.38, Z:10.06 [[ 9.99849169e-01 -7.83128656e-03 -1.55019371e-02 6.50829891e+02] [ 7.82989920e-03 9.99969335e-01 -1.50188018e-04 8.37779829e+00] [ 1.55026379e-02 2.87867596e-05 9.99879826e-01 1.00561267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.4992541539999 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:650.86, Y:8.38, Z:10.06 [[ 9.99826205e-01 -1.03573768e-02 -1.55011188e-02 6.50858434e+02] [ 1.03550429e-02 9.99946358e-01 -2.30820147e-04 8.37559851e+00] [ 1.55026780e-02 7.02652808e-05 9.99879824e-01 1.00602738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.5292541539999 meters Centerline goodness : 0.996460 Centerline is valid? [True, True] Translation: X:650.89, Y:8.38, Z:10.06 [[ 9.99691964e-01 -1.93821759e-02 -1.55018632e-02 6.50885219e+02] [ 1.93820619e-02 9.99812138e-01 -1.57606618e-04 8.37560578e+00] [ 1.55020058e-02 -1.42900004e-04 9.99879826e-01 1.00581532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.5592541539999 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:650.92, Y:8.37, Z:10.06 [[ 9.99614838e-01 -2.30192576e-02 -1.55012851e-02 6.50915362e+02] [ 2.30187066e-02 9.99735012e-01 -2.13987612e-04 8.37311290e+00] [ 1.55021032e-02 -1.42914341e-04 9.99879825e-01 1.00609779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.589254154 meters Centerline goodness : 0.998974 Centerline is valid? [True, True] Translation: X:650.94, Y:8.37, Z:10.06 [[ 9.99370591e-01 -3.19079008e-02 -1.55018342e-02 6.50944785e+02] [ 3.19092374e-02 9.99490758e-01 -1.61173958e-04 8.37197260e+00] [ 1.54990827e-02 -3.33579194e-04 9.99879826e-01 1.00590547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.6192541539999 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:650.97, Y:8.38, Z:10.06 [[ 9.99131364e-01 -3.86808746e-02 -1.55018313e-02 6.50972432e+02] [ 3.86830213e-02 9.99251519e-01 -1.61454209e-04 8.37561378e+00] [ 1.54964736e-02 -4.38343705e-04 9.99879826e-01 1.00567539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.6492541539999 meters Centerline goodness : 0.999105 Centerline is valid? [True, True] Translation: X:651.01, Y:8.37, Z:10.06 [[ 9.99104516e-01 -3.93690035e-02 -1.54999352e-02 6.51006220e+02] [ 3.93685139e-02 9.99224703e-01 -3.36827037e-04 8.37098876e+00] [ 1.55011787e-02 -2.73684000e-04 9.99879812e-01 1.00602362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.6792541539999 meters Centerline goodness : 0.998251 Centerline is valid? [True, True] Translation: X:651.03, Y:8.37, Z:10.06 [[ 9.98901672e-01 -4.42170203e-02 -1.55017606e-02 6.51034666e+02] [ 4.42198537e-02 9.99021811e-01 -1.60107305e-04 8.37351908e+00] [ 1.54936765e-02 -5.25554133e-04 9.99879828e-01 1.00551985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.709254154 meters Centerline goodness : 0.999297 Centerline is valid? [True, True] Translation: X:651.07, Y:8.37, Z:10.06 [[ 9.98770585e-01 -4.70856819e-02 -1.55002415e-02 6.51067980e+02] [ 4.70866475e-02 9.98890763e-01 -3.02852227e-04 8.36940618e+00] [ 1.54973081e-02 -4.27374512e-04 9.99879818e-01 1.00591720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.7392541539999 meters Centerline goodness : 0.999125 Centerline is valid? [True, True] Translation: X:651.09, Y:8.37, Z:10.05 [[ 9.98529211e-01 -5.19529809e-02 -1.55017175e-02 6.51093705e+02] [ 5.19567669e-02 9.98649322e-01 -1.58673182e-04 8.37498387e+00] [ 1.54890232e-02 -6.46979315e-04 9.99879829e-01 1.00529299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.7692541539999 meters Centerline goodness : 0.999340 Centerline is valid? [True, True] Translation: X:651.13, Y:8.37, Z:10.06 [[ 9.98585298e-01 -5.08642745e-02 -1.54993274e-02 6.51128807e+02] [ 5.08644793e-02 9.98705492e-01 -3.81246692e-04 8.37020667e+00] [ 1.54986553e-02 -4.07657878e-04 9.99879806e-01 1.00604070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.7992541539999 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:651.16, Y:8.37, Z:10.06 [[ 9.98544129e-01 -5.16654980e-02 -1.55016031e-02 6.51160772e+02] [ 5.16692604e-02 9.98664239e-01 -1.57963920e-04 8.37083375e+00] [ 1.54890580e-02 -6.43222422e-04 9.99879830e-01 1.00595226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.829254154 meters Centerline goodness : 0.999297 Centerline is valid? [True, True] Translation: X:651.19, Y:8.37, Z:10.06 [[ 9.98415660e-01 -5.40913007e-02 -1.55016176e-02 6.51191937e+02] [ 5.40953772e-02 9.98535761e-01 -1.56524703e-04 8.37210425e+00] [ 1.54873862e-02 -6.82289138e-04 9.99879830e-01 1.00623358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.8592541539999 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:651.23, Y:8.37, Z:10.06 [[ 9.98351968e-01 -5.52543836e-02 -1.55016263e-02 6.51225078e+02] [ 5.52586134e-02 9.98472063e-01 -1.55658631e-04 8.37230026e+00] [ 1.54865417e-02 -7.01196275e-04 9.99879830e-01 1.00608293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.8892541539999 meters Centerline goodness : 0.999190 Centerline is valid? [True, True] Translation: X:651.26, Y:8.37, Z:10.06 [[ 9.98278761e-01 -5.65615741e-02 -1.55017370e-02 6.51257492e+02] [ 5.65661331e-02 9.98398844e-01 -1.44559597e-04 8.37223917e+00] [ 1.54850928e-02 -7.32562542e-04 9.99879830e-01 1.00619062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.9192541539999 meters Centerline goodness : 0.998594 Centerline is valid? [True, True] Translation: X:651.29, Y:8.37, Z:10.06 [[ 9.98254707e-01 -5.69845466e-02 -1.55016278e-02 6.51289431e+02] [ 5.69889878e-02 9.98374795e-01 -1.55448392e-04 8.37188463e+00] [ 1.54852926e-02 -7.28244989e-04 9.99879830e-01 1.00635190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.949254154 meters Centerline goodness : 0.999212 Centerline is valid? [True, True] Translation: X:651.32, Y:8.37, Z:10.06 [[ 9.98098309e-01 -5.96613328e-02 -1.55013413e-02 6.51321264e+02] [ 5.96656501e-02 9.98218401e-01 -1.84226240e-04 8.37275660e+00] [ 1.54847153e-02 -7.41021707e-04 9.99879830e-01 1.00648983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.9792541539999 meters Centerline goodness : 0.999211 Centerline is valid? [True, True] Translation: X:651.35, Y:8.37, Z:10.07 [[ 9.98034018e-01 -6.07272341e-02 -1.55016561e-02 6.51354701e+02] [ 6.07321766e-02 9.98154086e-01 -1.52147619e-04 8.37352399e+00] [ 1.54822809e-02 -7.89600820e-04 9.99879831e-01 1.00650998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.0092541539999 meters Centerline goodness : 0.998934 Centerline is valid? [True, True] Translation: X:651.39, Y:8.37, Z:10.06 [[ 9.97945799e-01 -6.21601147e-02 -1.55016723e-02 6.51385668e+02] [ 6.21652553e-02 9.98065859e-01 -1.50488460e-04 8.37439019e+00] [ 1.54810442e-02 -8.13486088e-04 9.99879831e-01 1.00624347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.0392541539999 meters Centerline goodness : 0.999232 Centerline is valid? [True, True] Translation: X:651.42, Y:8.37, Z:10.06 [[ 9.97888436e-01 -6.30743010e-02 -1.55016840e-02 6.51417695e+02] [ 6.30795704e-02 9.98008490e-01 -1.49273207e-04 8.37433377e+00] [ 1.54802275e-02 -8.28881558e-04 9.99879831e-01 1.00648117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.069254154 meters Centerline goodness : 0.999232 Centerline is valid? [True, True] Translation: X:651.45, Y:8.37, Z:10.06 [[ 9.97838615e-01 -6.38576267e-02 -1.55016968e-02 6.51449605e+02] [ 6.38630113e-02 9.97958663e-01 -1.47922441e-04 8.37452637e+00] [ 1.54794986e-02 -8.42382317e-04 9.99879831e-01 1.00641281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.0992541539999 meters Centerline goodness : 0.999209 Centerline is valid? [True, True] Translation: X:651.48, Y:8.38, Z:10.06 [[ 9.97785938e-01 -6.46754931e-02 -1.55017074e-02 6.51481290e+02] [ 6.46809935e-02 9.97905981e-01 -1.46803148e-04 8.37554554e+00] [ 1.54787411e-02 -8.56187721e-04 9.99879831e-01 1.00629796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.1292541539999 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:651.51, Y:8.38, Z:10.06 [[ 9.97778795e-01 -6.47855830e-02 -1.55017281e-02 6.51513002e+02] [ 6.47911309e-02 9.97898837e-01 -1.44586581e-04 8.37685249e+00] [ 1.54785236e-02 -8.60109072e-04 9.99879831e-01 1.00627771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.1592541539999 meters Centerline goodness : 0.999315 Centerline is valid? [True, True] Translation: X:651.56, Y:8.37, Z:10.06 [[ 9.98464070e-01 -5.31901917e-02 -1.55017384e-02 6.51560496e+02] [ 5.31943619e-02 9.98584167e-01 -1.43479154e-04 8.36573077e+00] [ 1.54874222e-02 -6.81346301e-04 9.99879831e-01 1.00572877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.189254154 meters Centerline goodness : 0.999336 Centerline is valid? [True, True] Translation: X:651.57, Y:8.38, Z:10.06 [[ 9.97776527e-01 -6.48190014e-02 -1.55080212e-02 6.51571707e+02] [ 6.48374144e-02 9.97895605e-01 6.86973876e-04 8.38059291e+00] [ 1.54308572e-02 -1.69094640e-03 9.99879507e-01 1.00626216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.2192541539999 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:651.60, Y:8.38, Z:10.06 [[ 9.97800781e-01 -6.44464707e-02 -1.55001491e-02 6.51603321e+02] [ 6.44519469e-02 9.97920801e-01 -1.46497741e-04 8.38272054e+00] [ 1.54773625e-02 -8.52839227e-04 9.99879855e-01 1.00632357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.2492541539999 meters Centerline goodness : 0.999485 Centerline is valid? [True, True] Translation: X:651.64, Y:8.39, Z:10.06 [[ 9.97902510e-01 -6.28516143e-02 -1.55001621e-02 6.51635834e+02] [ 6.28569201e-02 9.98022538e-01 -1.45110316e-04 8.38586231e+00] [ 1.54786315e-02 -8.29486503e-04 9.99879855e-01 1.00647707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.2792541539999 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:651.67, Y:8.39, Z:10.07 [[ 9.97956607e-01 -6.19867281e-02 -1.55001723e-02 6.51668292e+02] [ 6.19919470e-02 9.98076639e-01 -1.44008434e-04 8.38740921e+00] [ 1.54792865e-02 -8.17171695e-04 9.99879855e-01 1.00663799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.3092541539999 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:651.70, Y:8.39, Z:10.07 [[ 9.98092757e-01 -5.97544381e-02 -1.55001826e-02 6.51700060e+02] [ 5.97594057e-02 9.98212799e-01 -1.42895390e-04 8.39028318e+00] [ 1.54810193e-02 -7.83658847e-04 9.99879855e-01 1.00695088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.339254154 meters Centerline goodness : 0.999505 Centerline is valid? [True, True] Translation: X:651.73, Y:8.39, Z:10.07 [[ 9.98144825e-01 -5.88782822e-02 -1.55001928e-02 6.51730729e+02] [ 5.88831618e-02 9.98264871e-01 -1.41777870e-04 8.39155233e+00] [ 1.54816456e-02 -7.71185515e-04 9.99879855e-01 1.00703366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.3692541539999 meters Centerline goodness : 0.999462 Centerline is valid? [True, True] Translation: X:651.76, Y:8.39, Z:10.07 [[ 9.98232709e-01 -5.73690096e-02 -1.55001979e-02 6.51763338e+02] [ 5.73737163e-02 9.98352762e-01 -1.41220911e-04 8.39187469e+00] [ 1.54827671e-02 -7.48332624e-04 9.99879855e-01 1.00729582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.3992541539999 meters Centerline goodness : 0.999376 Centerline is valid? [True, True] Translation: X:651.79, Y:8.39, Z:10.07 [[ 9.98218807e-01 -5.76103923e-02 -1.55002134e-02 6.51794838e+02] [ 5.76151546e-02 9.98338858e-01 -1.39503196e-04 8.39293616e+00] [ 1.54825021e-02 -7.53792475e-04 9.99879855e-01 1.00727249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.4292541539999 meters Centerline goodness : 0.999419 Centerline is valid? [True, True] Translation: X:651.83, Y:8.39, Z:10.07 [[ 9.98306255e-01 -5.60746392e-02 -1.55002209e-02 6.51829930e+02] [ 5.60792300e-02 9.98426312e-01 -1.38657652e-04 8.39307899e+00] [ 1.54836036e-02 -7.30817653e-04 9.99879855e-01 1.00723457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.459254154 meters Centerline goodness : 0.999397 Centerline is valid? [True, True] Translation: X:651.86, Y:8.39, Z:10.07 [[ 9.98266609e-01 -5.67757485e-02 -1.55013278e-02 6.51862664e+02] [ 5.67822916e-02 9.98386584e-01 -1.80572801e-05 8.39390773e+00] [ 1.54773429e-02 -8.62174935e-04 9.99879847e-01 1.00722464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.4892541539999 meters Centerline goodness : 0.999505 Centerline is valid? [True, True] Translation: X:651.88, Y:8.40, Z:10.07 [[ 9.97834843e-01 -6.39165444e-02 -1.55016516e-02 6.51884901e+02] [ 6.39244901e-02 9.97954738e-01 1.71091768e-05 8.40108506e+00] [ 1.54688531e-02 -1.00800731e-03 9.99879842e-01 1.00667829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.5192541539999 meters Centerline goodness : 0.999418 Centerline is valid? [True, True] Translation: X:651.92, Y:8.40, Z:10.07 [[ 9.98077750e-01 -6.00051494e-02 -1.54979456e-02 6.51918807e+02] [ 6.00071632e-02 9.98197890e-01 -3.35466343e-04 8.39514916e+00] [ 1.54901464e-02 -5.95166261e-04 9.99879843e-01 1.00711576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.5492541539999 meters Centerline goodness : 0.999440 Centerline is valid? [True, True] Translation: X:651.95, Y:8.40, Z:10.07 [[ 9.98000470e-01 -6.12765824e-02 -1.54997537e-02 6.51951022e+02] [ 6.12815134e-02 9.98120510e-01 -1.57065914e-04 8.39556933e+00] [ 1.54802465e-02 -7.93096507e-04 9.99879859e-01 1.00713304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.579254154 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:651.98, Y:8.40, Z:10.07 [[ 9.97854173e-01 -6.36145163e-02 -1.54997647e-02 6.51981813e+02] [ 6.36197454e-02 9.97974200e-01 -1.55972964e-04 8.39603639e+00] [ 1.54782874e-02 -8.30452812e-04 9.99879859e-01 1.00710062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.6092541539999 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:652.01, Y:8.40, Z:10.07 [[ 9.97397633e-01 -7.04110653e-02 -1.54997861e-02 6.52007025e+02] [ 7.04171454e-02 9.97517620e-01 -1.53820604e-04 8.40415427e+00] [ 1.54721404e-02 -9.38030382e-04 9.99879859e-01 1.00657853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.6392541539999 meters Centerline goodness : 0.999464 Centerline is valid? [True, True] Translation: X:652.04, Y:8.40, Z:10.07 [[ 9.97813736e-01 -6.42462711e-02 -1.54972305e-02 6.52043255e+02] [ 6.42477526e-02 9.97933898e-01 -4.02755938e-04 8.39712579e+00] [ 1.54910872e-02 -5.93786826e-04 9.99879830e-01 1.00721001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.6692541539999 meters Centerline goodness : 0.999613 Centerline is valid? [True, True] Translation: X:652.07, Y:8.41, Z:10.07 [[ 9.97427183e-01 -6.99912502e-02 -1.54996761e-02 6.52067503e+02] [ 6.99973411e-02 9.97547167e-01 -1.49849000e-04 8.40711242e+00] [ 1.54721461e-02 -9.35472648e-04 9.99879862e-01 1.00679008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.699254154 meters Centerline goodness : 0.999591 Centerline is valid? [True, True] Translation: X:652.10, Y:8.40, Z:10.07 [[ 9.97968296e-01 -6.17991224e-02 -1.54967384e-02 6.52104799e+02] [ 6.17997025e-02 9.98088474e-01 -4.41893760e-04 8.40004181e+00] [ 1.54944246e-02 -5.16697860e-04 9.99879821e-01 1.00740843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.7292541539999 meters Centerline goodness : 0.999482 Centerline is valid? [True, True] Translation: X:652.14, Y:8.40, Z:10.08 [[ 9.98223505e-01 -5.75291144e-02 -1.54995147e-02 6.52136873e+02] [ 5.75337842e-02 9.98343549e-01 -1.44812639e-04 8.40388282e+00] [ 1.54821715e-02 -7.47190356e-04 9.99879865e-01 1.00765371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.7592541539999 meters Centerline goodness : 0.999481 Centerline is valid? [True, True] Translation: X:652.16, Y:8.41, Z:10.08 [[ 9.97951760e-01 -6.20648811e-02 -1.54995245e-02 6.52161823e+02] [ 6.20701127e-02 9.98071781e-01 -1.43760364e-04 8.41327942e+00] [ 1.54785605e-02 -8.18591322e-04 9.99879865e-01 1.00772797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.7892541539999 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:652.20, Y:8.41, Z:10.08 [[ 9.98504711e-01 -5.24231688e-02 -1.54968655e-02 6.52198950e+02] [ 5.24229638e-02 9.98624883e-01 -4.19726746e-04 8.40668771e+00] [ 1.54975589e-02 -3.93292488e-04 9.99879828e-01 1.00783381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.819254154 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:652.23, Y:8.41, Z:10.08 [[ 9.98680220e-01 -4.89651755e-02 -1.54993691e-02 6.52230007e+02] [ 4.89689300e-02 9.98800293e-01 -1.37413736e-04 8.40717315e+00] [ 1.54875029e-02 -6.21755139e-04 9.99879868e-01 1.00782754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.8492541539999 meters Centerline goodness : 0.999480 Centerline is valid? [True, True] Translation: X:652.26, Y:8.41, Z:10.08 [[ 9.98741553e-01 -4.76980314e-02 -1.54986738e-02 6.52262764e+02] [ 4.77004277e-02 9.98861664e-01 -2.15229687e-04 8.40926674e+00] [ 1.54912971e-02 -5.24334537e-04 9.99879865e-01 1.00787074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.8792541539999 meters Centerline goodness : 0.999523 Centerline is valid? [True, True] Translation: X:652.29, Y:8.41, Z:10.08 [[ 9.98788262e-01 -4.67094983e-02 -1.54993752e-02 6.52294475e+02] [ 4.67130303e-02 9.98908342e-01 -1.34271928e-04 8.41031074e+00] [ 1.54887269e-02 -5.89913556e-04 9.99879868e-01 1.00799622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.9092541539999 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:652.33, Y:8.41, Z:10.08 [[ 9.98824704e-01 -4.59236231e-02 -1.54993844e-02 6.52327556e+02] [ 4.59270773e-02 9.98944786e-01 -1.33197372e-04 8.41177874e+00] [ 1.54891462e-02 -5.78800601e-04 9.99879868e-01 1.00758860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.939254154 meters Centerline goodness : 0.999523 Centerline is valid? [True, True] Translation: X:652.36, Y:8.41, Z:10.08 [[ 9.98851885e-01 -4.53284126e-02 -1.54999140e-02 6.52358871e+02] [ 4.53327678e-02 9.98971939e-01 -7.04288476e-05 8.41224216e+00] [ 1.54871715e-02 -6.32306013e-04 9.99879867e-01 1.00796827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.9692541539999 meters Centerline goodness : 0.999565 Centerline is valid? [True, True] Translation: X:652.39, Y:8.41, Z:10.08 [[ 9.98853945e-01 -4.52831762e-02 -1.54994041e-02 6.52390964e+02] [ 4.52865901e-02 9.98974028e-01 -1.30830336e-04 8.41294058e+00] [ 1.54894266e-02 -5.71234765e-04 9.99879868e-01 1.00799824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.9992541539999 meters Centerline goodness : 0.999479 Centerline is valid? [True, True] Translation: X:652.42, Y:8.41, Z:10.08 [[ 9.98879497e-01 -4.47159769e-02 -1.54994133e-02 6.52422247e+02] [ 4.47193396e-02 9.98999582e-01 -1.29735937e-04 8.41426702e+00] [ 1.54897087e-02 -5.63532959e-04 9.99879868e-01 1.00801467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.0292541539999 meters Centerline goodness : 0.999325 Centerline is valid? [True, True] Translation: X:652.45, Y:8.41, Z:10.08 [[ 9.98911906e-01 -4.39860458e-02 -1.54994201e-02 6.52454750e+02] [ 4.39893333e-02 9.99031992e-01 -1.28920910e-04 8.41498699e+00] [ 1.54900873e-02 -5.53028524e-04 9.99879868e-01 1.00820024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.0592541539999 meters Centerline goodness : 0.999392 Centerline is valid? [True, True] Translation: X:652.49, Y:8.42, Z:10.08 [[ 9.98948092e-01 -4.31564302e-02 -1.54994290e-02 6.52486768e+02] [ 4.31596347e-02 9.99068181e-01 -1.27841625e-04 8.41551430e+00] [ 1.54905035e-02 -5.41242546e-04 9.99879868e-01 1.00832742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.089254154 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:652.52, Y:8.42, Z:10.08 [[ 9.99067421e-01 -4.02995791e-02 -1.54994378e-02 6.52518322e+02] [ 4.03024569e-02 9.99187518e-01 -1.26760902e-04 8.41535889e+00] [ 1.54919532e-02 -4.98022737e-04 9.99879868e-01 1.00842451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.1192541539999 meters Centerline goodness : 0.999369 Centerline is valid? [True, True] Translation: X:652.55, Y:8.42, Z:10.09 [[ 9.99132050e-01 -3.86641081e-02 -1.54994512e-02 6.52550667e+02] [ 3.86668149e-02 9.99252151e-01 -1.25109081e-04 8.41543124e+00] [ 1.54926971e-02 -4.74313917e-04 9.99879868e-01 1.00870880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.1492541539999 meters Centerline goodness : 0.999369 Centerline is valid? [True, True] Translation: X:652.58, Y:8.42, Z:10.09 [[ 9.99134841e-01 -3.85919269e-02 -1.54994601e-02 6.52583355e+02] [ 3.85946424e-02 9.99254942e-01 -1.23987454e-04 8.41563214e+00] [ 1.54926970e-02 -4.74315937e-04 9.99879868e-01 1.00875943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.1792541539999 meters Centerline goodness : 0.999456 Centerline is valid? [True, True] Translation: X:652.61, Y:8.42, Z:10.09 [[ 9.99188097e-01 -3.71875296e-02 -1.54994690e-02 6.52614326e+02] [ 3.71900936e-02 9.99308202e-01 -1.22867848e-04 8.41590405e+00] [ 1.54933157e-02 -4.53658612e-04 9.99879868e-01 1.00866369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.209254154 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:652.65, Y:8.42, Z:10.09 [[ 9.99290612e-01 -3.43225736e-02 -1.54994756e-02 6.52646866e+02] [ 3.43248063e-02 9.99410723e-01 -1.22033835e-04 8.41723186e+00] [ 1.54945306e-02 -4.10069230e-04 9.99879868e-01 1.00909687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.2392541539999 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:652.68, Y:8.42, Z:10.09 [[ 9.99335913e-01 -3.29772597e-02 -1.54994842e-02 6.52678006e+02] [ 3.29793478e-02 9.99456026e-01 -1.20924006e-04 8.41807664e+00] [ 1.54950407e-02 -3.90319179e-04 9.99879868e-01 1.00894523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.2692541539999 meters Centerline goodness : 0.999565 Centerline is valid? [True, True] Translation: X:652.71, Y:8.42, Z:10.09 [[ 9.99380865e-01 -3.15856326e-02 -1.54994906e-02 6.52710068e+02] [ 3.15875662e-02 9.99500981e-01 -1.20098692e-04 8.41826993e+00] [ 1.54955495e-02 -3.69566852e-04 9.99879868e-01 1.00929165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.2992541539999 meters Centerline goodness : 0.999673 Centerline is valid? [True, True] Translation: X:652.74, Y:8.42, Z:10.09 [[ 9.99360461e-01 -3.22247594e-02 -1.54994992e-02 6.52737643e+02] [ 3.22267873e-02 9.99480575e-01 -1.18979207e-04 8.42265432e+00] [ 1.54952825e-02 -3.80595949e-04 9.99879868e-01 1.00903858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.329254154 meters Centerline goodness : 0.999521 Centerline is valid? [True, True] Translation: X:652.77, Y:8.42, Z:10.09 [[ 9.99454748e-01 -2.91550313e-02 -1.54981175e-02 6.52770986e+02] [ 2.91539943e-02 9.99574889e-01 -2.92888389e-04 8.41810687e+00] [ 1.55000683e-02 -1.59103339e-04 9.99879854e-01 1.00920963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.3592541539999 meters Centerline goodness : 0.999542 Centerline is valid? [True, True] Translation: X:652.80, Y:8.42, Z:10.09 [[ 9.99384825e-01 -3.14601108e-02 -1.54994502e-02 6.52798526e+02] [ 3.14620576e-02 9.99504940e-01 -1.18280670e-04 8.42230384e+00] [ 1.54954982e-02 -3.69436689e-04 9.99879869e-01 1.00866013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.3892541539999 meters Centerline goodness : 0.999522 Centerline is valid? [True, True] Translation: X:652.83, Y:8.42, Z:10.09 [[ 9.99458021e-01 -2.90427448e-02 -1.54978392e-02 6.52832369e+02] [ 2.90412740e-02 9.99578162e-01 -3.19994560e-04 8.41779632e+00] [ 1.55005951e-02 -1.30255865e-04 9.99879850e-01 1.00913569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.4192541539999 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:652.86, Y:8.42, Z:10.09 [[ 9.99449238e-01 -2.93426297e-02 -1.54993807e-02 6.52863629e+02] [ 2.93443167e-02 9.99569356e-01 -1.18618120e-04 8.41781624e+00] [ 1.54961865e-02 -3.36265945e-04 9.99879870e-01 1.00919796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.449254154 meters Centerline goodness : 0.999477 Centerline is valid? [True, True] Translation: X:652.89, Y:8.42, Z:10.09 [[ 9.99416857e-01 -3.04255524e-02 -1.54993848e-02 6.52894776e+02] [ 3.04273780e-02 9.99536973e-01 -1.18077536e-04 8.41694667e+00] [ 1.54958007e-02 -3.53596959e-04 9.99879870e-01 1.00924366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.4792541539999 meters Centerline goodness : 0.999433 Centerline is valid? [True, True] Translation: X:652.93, Y:8.42, Z:10.09 [[ 9.99388905e-01 -3.13302671e-02 -1.54993976e-02 6.52926925e+02] [ 3.13322279e-02 9.99509018e-01 -1.16364431e-04 8.41659540e+00] [ 1.54954335e-02 -3.69337339e-04 9.99879870e-01 1.00939428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.5092541539999 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:652.96, Y:8.42, Z:10.10 [[ 9.99311114e-01 -3.37204023e-02 -1.54994057e-02 6.52958912e+02] [ 3.37226671e-02 9.99431222e-01 -1.15283710e-04 8.41599523e+00] [ 1.54944774e-02 -4.07477006e-04 9.99879870e-01 1.00964423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.5392541539999 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:652.99, Y:8.42, Z:10.10 [[ 9.99280799e-01 -3.46071217e-02 -1.54994137e-02 6.52990589e+02] [ 3.46095099e-02 9.99400905e-01 -1.14199989e-04 8.41532589e+00] [ 1.54940802e-02 -4.22309255e-04 9.99879870e-01 1.00980939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.569254154 meters Centerline goodness : 0.999479 Centerline is valid? [True, True] Translation: X:653.02, Y:8.41, Z:10.10 [[ 9.99243218e-01 -3.56757503e-02 -1.54994196e-02 6.53022116e+02] [ 3.56782796e-02 9.99363321e-01 -1.13382863e-04 8.41449994e+00] [ 1.54935965e-02 -4.39695571e-04 9.99879870e-01 1.00989993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.5992541539999 meters Centerline goodness : 0.999589 Centerline is valid? [True, True] Translation: X:653.05, Y:8.41, Z:10.10 [[ 9.99169171e-01 -3.76926331e-02 -1.54994255e-02 6.53053140e+02] [ 3.76954174e-02 9.99289269e-01 -1.12571097e-04 8.41289000e+00] [ 1.54926527e-02 -4.71779746e-04 9.99879870e-01 1.01015025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.6292541539999 meters Centerline goodness : 0.999351 Centerline is valid? [True, True] Translation: X:653.09, Y:8.41, Z:10.11 [[ 9.99132786e-01 -3.86450943e-02 -1.54994313e-02 6.53085612e+02] [ 3.86480054e-02 9.99252881e-01 -1.11779391e-04 8.41236227e+00] [ 1.54921710e-02 -4.87339648e-04 9.99879870e-01 1.01058721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.6592541539999 meters Centerline goodness : 0.999438 Centerline is valid? [True, True] Translation: X:653.12, Y:8.41, Z:10.11 [[ 9.99097812e-01 -3.95389636e-02 -1.54994394e-02 6.53116395e+02] [ 3.95419998e-02 9.99217903e-01 -1.10643639e-04 8.41180623e+00] [ 1.54916920e-02 -5.02335009e-04 9.99879870e-01 1.01063370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.689254154 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:653.15, Y:8.41, Z:10.11 [[ 9.99018633e-01 -4.14914287e-02 -1.54994521e-02 6.53148317e+02] [ 4.14947275e-02 9.99138717e-01 -1.08836256e-04 8.40995576e+00] [ 1.54906184e-02 -5.34416091e-04 9.99879870e-01 1.01064699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.7192541539999 meters Centerline goodness : 0.999438 Centerline is valid? [True, True] Translation: X:653.18, Y:8.41, Z:10.11 [[ 9.98975683e-01 -4.25129460e-02 -1.54994598e-02 6.53179062e+02] [ 4.25163849e-02 9.99095764e-01 -1.07722795e-04 8.40898750e+00] [ 1.54900242e-02 -5.51368545e-04 9.99879870e-01 1.01062940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.7492541539999 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:653.21, Y:8.41, Z:10.11 [[ 9.98940069e-01 -4.33417284e-02 -1.54994655e-02 6.53209989e+02] [ 4.33452798e-02 9.99060146e-01 -1.06892635e-04 8.40777659e+00] [ 1.54895312e-02 -5.65049332e-04 9.99879870e-01 1.01054160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.7792541539999 meters Centerline goodness : 0.999396 Centerline is valid? [True, True] Translation: X:653.24, Y:8.41, Z:10.11 [[ 9.98892975e-01 -4.44138514e-02 -1.54994711e-02 6.53242058e+02] [ 4.44175443e-02 9.99013048e-01 -1.06069895e-04 8.40526855e+00] [ 1.54888849e-02 -5.82495974e-04 9.99879870e-01 1.01051170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.8092541539999 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:653.27, Y:8.40, Z:10.11 [[ 9.98881727e-01 -4.46661202e-02 -1.54994785e-02 6.53273866e+02] [ 4.46698603e-02 9.99001798e-01 -1.04983714e-04 8.40430588e+00] [ 1.54886961e-02 -5.87493227e-04 9.99879870e-01 1.01065625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.839254154 meters Centerline goodness : 0.999376 Centerline is valid? [True, True] Translation: X:653.31, Y:8.40, Z:10.11 [[ 9.98936553e-01 -4.34226856e-02 -1.54994860e-02 6.53306176e+02] [ 4.34262935e-02 9.99056628e-01 -1.03870841e-04 8.40201009e+00] [ 1.54893745e-02 -5.69324846e-04 9.99879870e-01 1.01069729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.8692541539999 meters Centerline goodness : 0.999506 Centerline is valid? [True, True] Translation: X:653.34, Y:8.40, Z:10.11 [[ 9.98994997e-01 -4.20566419e-02 -1.54994933e-02 6.53337607e+02] [ 4.20601028e-02 9.99115077e-01 -1.02762526e-04 8.40124346e+00] [ 1.54900993e-02 -5.49251032e-04 9.99879870e-01 1.01073461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.8992541539999 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:653.37, Y:8.40, Z:10.11 [[ 9.99073517e-01 -4.01481343e-02 -1.54994987e-02 6.53369734e+02] [ 4.01513786e-02 9.99193603e-01 -1.01935403e-04 8.40103956e+00] [ 1.54910925e-02 -5.20485281e-04 9.99879870e-01 1.01098044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.9292541539999 meters Centerline goodness : 0.999527 Centerline is valid? [True, True] Translation: X:653.40, Y:8.40, Z:10.11 [[ 9.99304488e-01 -3.39161629e-02 -1.54995061e-02 6.53400470e+02] [ 3.39186757e-02 9.99424591e-01 -1.00804878e-04 8.40067314e+00] [ 1.54940065e-02 -4.24987953e-04 9.99879870e-01 1.01115882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.959254154 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:653.43, Y:8.40, Z:10.11 [[ 9.99434962e-01 -2.98248699e-02 -1.54995115e-02 6.53432847e+02] [ 2.98269040e-02 9.99555074e-01 -9.99612621e-05 8.40022488e+00] [ 1.54955967e-02 -3.62397663e-04 9.99879870e-01 1.01136237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.9892541539999 meters Centerline goodness : 0.999440 Centerline is valid? [True, True] Translation: X:653.46, Y:8.40, Z:10.11 [[ 9.99553440e-01 -2.55476985e-02 -1.54995188e-02 6.53464076e+02] [ 2.55492362e-02 9.99673560e-01 -9.88229339e-05 8.39980288e+00] [ 1.54969838e-02 -2.97222064e-04 9.99879870e-01 1.01141200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.0192541539999 meters Centerline goodness : 0.999095 Centerline is valid? [True, True] Translation: X:653.50, Y:8.40, Z:10.11 [[ 9.99733229e-01 -1.71241426e-02 -1.54995242e-02 6.53495020e+02] [ 1.71246813e-02 9.99853357e-01 -9.79757949e-05 8.39918275e+00] [ 1.54989290e-02 -1.67474754e-04 9.99879870e-01 1.01149388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.0492541539999 meters Centerline goodness : 0.998987 Centerline is valid? [True, True] Translation: X:653.52, Y:8.40, Z:10.12 [[ 9.99783021e-01 -1.39167302e-02 -1.54995242e-02 6.53524060e+02] [ 1.39168834e-02 9.99903151e-01 -9.79757949e-05 8.39890112e+00] [ 1.54993865e-02 -1.17750535e-04 9.99879870e-01 1.01151515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.079254154 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:653.55, Y:8.40, Z:10.12 [[ 9.99839006e-01 -9.04038879e-03 -1.54994985e-02 6.53552211e+02] [ 9.03989564e-03 9.99959134e-01 -1.01879263e-04 8.39737976e+00] [ 1.54997861e-02 -3.82509883e-05 9.99879870e-01 1.01154168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.1092541539999 meters Centerline goodness : 0.999030 Centerline is valid? [True, True] Translation: X:653.58, Y:8.40, Z:10.12 [[ 9.99848567e-01 -7.91256556e-03 -1.54994893e-02 6.53580250e+02] [ 7.91191554e-03 9.99968695e-01 -1.03257647e-04 8.39607331e+00] [ 1.54998211e-02 -1.93886397e-05 9.99879870e-01 1.01154917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.1392541539999 meters Centerline goodness : 0.999096 Centerline is valid? [True, True] Translation: X:653.61, Y:8.39, Z:10.12 [[ 9.99850479e-01 -7.66728303e-03 -1.54994589e-02 6.53607859e+02] [ 7.66653554e-03 9.99970606e-01 -1.07643889e-04 8.39449948e+00] [ 1.54998286e-02 -1.11993578e-05 9.99879870e-01 1.01168171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.1692541539999 meters Centerline goodness : 0.999226 Centerline is valid? [True, True] Translation: X:653.64, Y:8.39, Z:10.12 [[ 9.99848213e-01 -7.95735483e-03 -1.54994267e-02 6.53635665e+02] [ 7.95657321e-03 9.99968340e-01 -1.12094058e-04 8.39249076e+00] [ 1.54998279e-02 -1.12452793e-05 9.99879870e-01 1.01161374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.199254154 meters Centerline goodness : 0.999014 Centerline is valid? [True, True] Translation: X:653.66, Y:8.39, Z:10.12 [[ 9.99826894e-01 -1.02931652e-02 -1.54994166e-02 6.53663927e+02] [ 1.02926429e-02 9.99947023e-01 -1.13471143e-04 8.38795097e+00] [ 1.54997634e-02 -4.60784588e-05 9.99879870e-01 1.01161940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.2292541539999 meters Centerline goodness : 0.998822 Centerline is valid? [True, True] Translation: X:653.69, Y:8.39, Z:10.12 [[ 9.99798799e-01 -1.27330626e-02 -1.54994066e-02 6.53691938e+02] [ 1.27328126e-02 9.99918928e-01 -1.14815382e-04 8.38614873e+00] [ 1.54996120e-02 -8.25587590e-05 9.99879870e-01 1.01193520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.2592541539999 meters Centerline goodness : 0.999210 Centerline is valid? [True, True] Translation: X:653.72, Y:8.38, Z:10.12 [[ 9.99721949e-01 -1.77706255e-02 -1.54993717e-02 6.53721153e+02] [ 1.77709106e-02 9.99842078e-01 -1.19346278e-04 8.38182859e+00] [ 1.54990449e-02 -1.56124855e-04 9.99879870e-01 1.01196580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.2892541539999 meters Centerline goodness : 0.999041 Centerline is valid? [True, True] Translation: X:653.75, Y:8.38, Z:10.12 [[ 9.99668887e-01 -2.05398722e-02 -1.54993629e-02 6.53749193e+02] [ 2.05404725e-02 9.99789015e-01 -1.20478109e-04 8.37953193e+00] [ 1.54985674e-02 -1.97926021e-04 9.99879870e-01 1.01192229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.319254154 meters Centerline goodness : 0.998916 Centerline is valid? [True, True] Translation: X:653.78, Y:8.37, Z:10.12 [[ 9.99527386e-01 -2.65476019e-02 -1.54993519e-02 6.53777490e+02] [ 2.65489024e-02 9.99647508e-01 -1.21881865e-04 8.37433263e+00] [ 1.54971242e-02 -2.89666518e-04 9.99879870e-01 1.01199675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.3492541539999 meters Centerline goodness : 0.998979 Centerline is valid? [True, True] Translation: X:653.81, Y:8.37, Z:10.12 [[ 9.99441586e-01 -2.96021308e-02 -1.54993453e-02 6.53807805e+02] [ 2.96037856e-02 9.99561704e-01 -1.22710682e-04 8.37211399e+00] [ 1.54961845e-02 -3.36197137e-04 9.99879870e-01 1.01213630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.3792541539999 meters Centerline goodness : 0.998962 Centerline is valid? [True, True] Translation: X:653.84, Y:8.37, Z:10.12 [[ 9.99344502e-01 -3.27159924e-02 -1.54993453e-02 6.53838532e+02] [ 3.27180214e-02 9.99464615e-01 -1.22710682e-04 8.37018117e+00] [ 1.54950618e-02 -3.84477666e-04 9.99879870e-01 1.01211687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.4092541539999 meters Centerline goodness : 0.999026 Centerline is valid? [True, True] Translation: X:653.87, Y:8.37, Z:10.12 [[ 9.99094350e-01 -3.96263875e-02 -1.54993604e-02 6.53870629e+02] [ 3.96292771e-02 9.99214444e-01 -1.20775808e-04 8.36655173e+00] [ 1.54919707e-02 -4.93562022e-04 9.99879870e-01 1.01229486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.439254154 meters Centerline goodness : 0.999090 Centerline is valid? [True, True] Translation: X:653.90, Y:8.36, Z:10.12 [[ 9.98943246e-01 -4.32684652e-02 -1.54993689e-02 6.53901912e+02] [ 4.32718096e-02 9.99063329e-01 -1.19676966e-04 8.36470534e+00] [ 1.54900293e-02 -5.51135243e-04 9.99879870e-01 1.01231050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.4692541539999 meters Centerline goodness : 0.998944 Centerline is valid? [True, True] Translation: X:653.93, Y:8.36, Z:10.13 [[ 9.98594151e-01 -5.06901492e-02 -1.54993816e-02 6.53934317e+02] [ 5.06944116e-02 9.98714205e-01 -1.18010702e-04 8.36073227e+00] [ 1.54854345e-02 -6.67887233e-04 9.99879870e-01 1.01250575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.4992541539999 meters Centerline goodness : 0.998969 Centerline is valid? [True, True] Translation: X:653.97, Y:8.36, Z:10.13 [[ 9.98413286e-01 -5.41357495e-02 -1.54993899e-02 6.53966071e+02] [ 5.41404432e-02 9.98533324e-01 -1.16915398e-04 8.35864443e+00] [ 1.54829866e-02 -7.22413949e-04 9.99879870e-01 1.01271120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.5292541539999 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:654.00, Y:8.36, Z:10.13 [[ 9.98225972e-01 -5.74863272e-02 -1.54993983e-02 6.53997220e+02] [ 5.74914412e-02 9.98345993e-01 -1.15786453e-04 8.35667287e+00] [ 1.54804183e-02 -7.75501700e-04 9.99879870e-01 1.01269258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.5592541539999 meters Centerline goodness : 0.998843 Centerline is valid? [True, True] Translation: X:654.03, Y:8.35, Z:10.13 [[ 9.97936206e-01 -6.23144950e-02 -1.54994045e-02 6.54029020e+02] [ 6.23202026e-02 9.98056200e-01 -1.14944368e-04 8.35258917e+00] [ 1.54764395e-02 -8.51218884e-04 9.99879870e-01 1.01293575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.589254154 meters Centerline goodness : 0.998864 Centerline is valid? [True, True] Translation: X:654.06, Y:8.35, Z:10.13 [[ 9.97797131e-01 -6.45031297e-02 -1.54994129e-02 6.54061397e+02] [ 6.45091181e-02 9.97917111e-01 -1.13801603e-04 8.35128483e+00] [ 1.54744699e-02 -8.86302546e-04 9.99879870e-01 1.01299040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.6192541539999 meters Centerline goodness : 0.998907 Centerline is valid? [True, True] Translation: X:654.09, Y:8.35, Z:10.13 [[ 9.97617901e-01 -6.72182397e-02 -1.54994332e-02 6.54094702e+02] [ 6.72245986e-02 9.97737862e-01 -1.10962699e-04 8.34799491e+00] [ 1.54718301e-02 -9.31244803e-04 9.99879870e-01 1.01302770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.6492541539999 meters Centerline goodness : 0.998821 Centerline is valid? [True, True] Translation: X:654.13, Y:8.35, Z:10.13 [[ 9.97581320e-01 -6.77589666e-02 -1.54994453e-02 6.54127452e+02] [ 6.77654169e-02 9.97701276e-01 -1.09251574e-04 8.34621807e+00] [ 1.54712191e-02 -9.41339044e-04 9.99879870e-01 1.01299276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.6792541539999 meters Centerline goodness : 0.998927 Centerline is valid? [True, True] Translation: X:654.16, Y:8.35, Z:10.13 [[ 9.97538860e-01 -6.83812154e-02 -1.54994571e-02 6.54158917e+02] [ 6.83877669e-02 9.97658810e-01 -1.07553313e-04 8.34537183e+00] [ 1.54705245e-02 -9.52684649e-04 9.99879870e-01 1.01296900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.709254154 meters Centerline goodness : 0.999096 Centerline is valid? [True, True] Translation: X:654.19, Y:8.34, Z:10.13 [[ 9.97596058e-01 -6.75416345e-02 -1.54994713e-02 6.54190888e+02] [ 6.75481172e-02 9.97716012e-01 -1.05470787e-04 8.34399568e+00] [ 1.54711943e-02 -9.41742861e-04 9.99879870e-01 1.01295081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.7392541539999 meters Centerline goodness : 0.999074 Centerline is valid? [True, True] Translation: X:654.22, Y:8.34, Z:10.13 [[ 9.97679669e-01 -6.62951296e-02 -1.54994789e-02 6.54224171e+02] [ 6.63014801e-02 9.97799631e-01 -1.04335032e-04 8.34360366e+00] [ 1.54722912e-02 -9.23545452e-04 9.99879870e-01 1.01300072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.7692541539999 meters Centerline goodness : 0.998826 Centerline is valid? [True, True] Translation: X:654.26, Y:8.34, Z:10.13 [[ 9.97798440e-01 -6.44828565e-02 -1.54994902e-02 6.54256345e+02] [ 6.44890155e-02 9.97918412e-01 -1.02624066e-04 8.34347017e+00] [ 1.54738442e-02 -8.97148733e-04 9.99879870e-01 1.01300298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.7992541539999 meters Centerline goodness : 0.998823 Centerline is valid? [True, True] Translation: X:654.29, Y:8.34, Z:10.13 [[ 9.98105451e-01 -5.95422116e-02 -1.54994976e-02 6.54289697e+02] [ 5.95477941e-02 9.98225450e-01 -1.01494150e-04 8.34305391e+00] [ 1.54780362e-02 -8.21659030e-04 9.99879870e-01 1.01299305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.829254154 meters Centerline goodness : 0.998841 Centerline is valid? [True, True] Translation: X:654.32, Y:8.34, Z:10.13 [[ 9.98329117e-01 -5.56663209e-02 -1.54995085e-02 6.54320729e+02] [ 5.56714635e-02 9.98449137e-01 -9.98069325e-05 8.34294577e+00] [ 1.54810268e-02 -7.63240155e-04 9.99879870e-01 1.01301200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.8592541539999 meters Centerline goodness : 0.998841 Centerline is valid? [True, True] Translation: X:654.35, Y:8.35, Z:10.13 [[ 9.98771727e-01 -4.70616778e-02 -1.54995138e-02 6.54352455e+02] [ 4.70657990e-02 9.98891786e-01 -9.89729173e-05 8.34511737e+00] [ 1.54869949e-02 -6.30645650e-04 9.99879870e-01 1.01318443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.8892541539999 meters Centerline goodness : 0.998882 Centerline is valid? [True, True] Translation: X:654.38, Y:8.35, Z:10.13 [[ 9.99006546e-01 -4.17813974e-02 -1.54995210e-02 6.54383805e+02] [ 4.17849016e-02 9.99126625e-01 -9.78328629e-05 8.34684575e+00] [ 1.54900717e-02 -5.49910290e-04 9.99879870e-01 1.01324955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.9192541539999 meters Centerline goodness : 0.999136 Centerline is valid? [True, True] Translation: X:654.42, Y:8.35, Z:10.13 [[ 9.99231231e-01 -3.60098920e-02 -1.54995263e-02 6.54415945e+02] [ 3.60127157e-02 9.99351327e-01 -9.69838185e-05 8.34861714e+00] [ 1.54929646e-02 -4.61270774e-04 9.99879870e-01 1.01339457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.949254154 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:654.45, Y:8.35, Z:10.13 [[ 9.99584672e-01 -2.42950100e-02 -1.54995333e-02 6.54446057e+02] [ 2.42964432e-02 9.99704793e-01 -9.58517145e-05 8.35100311e+00] [ 1.54972865e-02 -2.80771627e-04 9.99879870e-01 1.01349293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.9792541539999 meters Centerline goodness : 0.999323 Centerline is valid? [True, True] Translation: X:654.48, Y:8.35, Z:10.14 [[ 9.99706730e-01 -1.86069605e-02 -1.54995351e-02 6.54475460e+02] [ 1.86077146e-02 9.99826857e-01 -9.55719417e-05 8.35196832e+00] [ 1.54986297e-02 -1.92867012e-04 9.99879870e-01 1.01359626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.0092541539999 meters Centerline goodness : 0.999239 Centerline is valid? [True, True] Translation: X:654.50, Y:8.35, Z:10.14 [[ 9.99843234e-01 -8.55991782e-03 -1.54995317e-02 6.54504004e+02] [ 8.55945625e-03 9.99963363e-01 -9.61187742e-05 8.35305797e+00] [ 1.54997866e-02 -3.65638571e-05 9.99879870e-01 1.01377842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.0392541539999 meters Centerline goodness : 0.999198 Centerline is valid? [True, True] Translation: X:654.53, Y:8.35, Z:10.14 [[ 9.99869610e-01 -4.53076165e-03 -1.54995060e-02 6.54531316e+02] [ 4.52975439e-03 9.99989736e-01 -1.00092324e-04 8.35353722e+00] [ 1.54998004e-02 2.98703178e-05 9.99879870e-01 1.01379009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.069254154 meters Centerline goodness : 0.999198 Centerline is valid? [True, True] Translation: X:654.56, Y:8.35, Z:10.14 [[ 9.99868259e-01 -4.81989444e-03 -1.54994922e-02 6.54559711e+02] [ 4.81888943e-03 9.99988384e-01 -1.02188448e-04 8.35379382e+00] [ 1.54998047e-02 2.74846468e-05 9.99879870e-01 1.01383417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.0992541539999 meters Centerline goodness : 0.999303 Centerline is valid? [True, True] Translation: X:654.59, Y:8.35, Z:10.14 [[ 9.99878344e-01 -1.75031517e-03 -1.54994613e-02 6.54587164e+02] [ 1.74887191e-03 9.99998465e-01 -1.06670473e-04 8.35412662e+00] [ 1.54996243e-02 7.95509236e-05 9.99879870e-01 1.01388806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.1292541539999 meters Centerline goodness : 0.999430 Centerline is valid? [True, True] Translation: X:654.62, Y:8.35, Z:10.14 [[ 9.99879546e-01 8.13107188e-04 -1.54994293e-02 6.54615390e+02] [-8.14927683e-04 9.99999662e-01 -1.11140147e-04 8.35432153e+00] [ 1.54993337e-02 1.23757674e-04 9.99879870e-01 1.01388973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.1592541539999 meters Centerline goodness : 0.999302 Centerline is valid? [True, True] Translation: X:654.64, Y:8.35, Z:10.14 [[ 9.99877477e-01 2.19084865e-03 -1.54994193e-02 6.54642947e+02] [-2.19285607e-03 9.99997589e-01 -1.12522281e-04 8.35405029e+00] [ 1.54991354e-02 1.46496490e-04 9.99879870e-01 1.01399525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.189254154 meters Centerline goodness : 0.999408 Centerline is valid? [True, True] Translation: X:654.67, Y:8.35, Z:10.14 [[ 9.99875709e-01 2.88714112e-03 -1.54993846e-02 6.54670631e+02] [-2.88930337e-03 9.99995819e-01 -1.17114387e-04 8.35205368e+00] [ 1.54989816e-02 1.61882255e-04 9.99879870e-01 1.01386205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.2192541539999 meters Centerline goodness : 0.999492 Centerline is valid? [True, True] Translation: X:654.70, Y:8.35, Z:10.14 [[ 9.99877668e-01 2.10184568e-03 -1.54993737e-02 6.54699503e+02] [-2.10393561e-03 9.99997780e-01 -1.18535085e-04 8.35027622e+00] [ 1.54990901e-02 1.51130269e-04 9.99879870e-01 1.01383354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.2492541539999 meters Centerline goodness : 0.999368 Centerline is valid? [True, True] Translation: X:654.73, Y:8.35, Z:10.14 [[ 9.99879374e-01 -1.00343450e-03 -1.54993649e-02 6.54727283e+02] [ 1.00169986e-03 9.99999491e-01 -1.19679567e-04 8.34569794e+00] [ 1.54994771e-02 1.04139419e-04 9.99879870e-01 1.01373168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.2792541539999 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:654.75, Y:8.34, Z:10.14 [[ 9.99873783e-01 -3.49116229e-03 -1.54993538e-02 6.54754611e+02] [ 3.48970451e-03 9.99993904e-01 -1.21099036e-04 8.34384726e+00] [ 1.54996821e-02 6.69955864e-05 9.99879870e-01 1.01378019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.3092541539999 meters Centerline goodness : 0.999242 Centerline is valid? [True, True] Translation: X:654.78, Y:8.34, Z:10.14 [[ 9.99859067e-01 -6.45106263e-03 -1.54993383e-02 6.54782878e+02] [ 6.44993032e-03 9.99979191e-01 -1.23042852e-04 8.34197989e+00] [ 1.54998096e-02 2.30558586e-05 9.99879870e-01 1.01381861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.339254154 meters Centerline goodness : 0.999286 Centerline is valid? [True, True] Translation: X:654.81, Y:8.34, Z:10.14 [[ 9.99797357e-01 -1.28458854e-02 -1.54993247e-02 6.54810689e+02] [ 1.28454952e-02 9.99917485e-01 -1.24731972e-04 8.33754074e+00] [ 1.54996481e-02 -7.43898063e-05 9.99879870e-01 1.01381213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.3692541539999 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:654.84, Y:8.34, Z:10.14 [[ 9.99743563e-01 -1.65100096e-02 -1.54993125e-02 6.54838748e+02] [ 1.65100363e-02 9.99863692e-01 -1.26237939e-04 8.33535713e+00] [ 1.54992840e-02 -1.29688645e-04 9.99879870e-01 1.01382623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.3992541539999 meters Centerline goodness : 0.999392 Centerline is valid? [True, True] Translation: X:654.87, Y:8.33, Z:10.14 [[ 9.99591049e-01 -2.40313529e-02 -1.54992987e-02 6.54866593e+02] [ 2.40322577e-02 9.99711175e-01 -1.27905349e-04 8.33012561e+00] [ 1.54978959e-02 -2.44630099e-04 9.99879870e-01 1.01378093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.4292541539999 meters Centerline goodness : 0.999476 Centerline is valid? [True, True] Translation: X:654.90, Y:8.33, Z:10.14 [[ 9.99483485e-01 -2.81520217e-02 -1.54992872e-02 6.54895787e+02] [ 2.81534002e-02 9.99603606e-01 -1.29284872e-04 8.32736094e+00] [ 1.54967830e-02 -3.07139542e-04 9.99879870e-01 1.01376582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.459254154 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:654.93, Y:8.32, Z:10.14 [[ 9.99375389e-01 -3.17585535e-02 -1.54992542e-02 6.54925840e+02] [ 3.17603060e-02 9.99495505e-01 -1.33129291e-04 8.32438956e+00] [ 1.54956629e-02 -3.59214918e-04 9.99879870e-01 1.01370165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.4892541539999 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:654.96, Y:8.32, Z:10.14 [[ 9.99135584e-01 -3.85727677e-02 -1.54992493e-02 6.54956674e+02] [ 3.85753304e-02 9.99255686e-01 -1.33694089e-04 8.31963886e+00] [ 1.54928700e-02 -4.64310142e-04 9.99879870e-01 1.01367499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.5192541539999 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:654.99, Y:8.32, Z:10.14 [[ 9.99018631e-01 -4.14915332e-02 -1.54992493e-02 6.54988066e+02] [ 4.14944468e-02 9.99138726e-01 -1.33694089e-04 8.31829680e+00] [ 1.54914474e-02 -5.09569891e-04 9.99879870e-01 1.01373013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.5492541539999 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:655.02, Y:8.32, Z:10.14 [[ 9.98803055e-01 -4.63921470e-02 -1.54992542e-02 6.55019725e+02] [ 4.63956585e-02 9.98923133e-01 -1.33126278e-04 8.31564478e+00] [ 1.54887396e-02 -5.86131171e-04 9.99879870e-01 1.01383651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.579254154 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:655.05, Y:8.31, Z:10.14 [[ 9.98762718e-01 -4.72525867e-02 -1.54992590e-02 6.55053043e+02] [ 4.72562105e-02 9.98882792e-01 -1.32559261e-04 8.31235557e+00] [ 1.54882069e-02 -6.00041001e-04 9.99879870e-01 1.01379975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.6092541539999 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:655.09, Y:8.31, Z:10.14 [[ 9.98645553e-01 -4.96668773e-02 -1.55003778e-02 6.55085355e+02] [ 4.96727927e-02 9.98765545e-01 -3.36827076e-06 8.31121407e+00] [ 1.54814106e-02 -7.66583345e-04 9.99879862e-01 1.01386175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.6392541539999 meters Centerline goodness : 0.999522 Centerline is valid? [True, True] Translation: X:655.11, Y:8.31, Z:10.14 [[ 9.98366388e-01 -5.49936002e-02 -1.55003284e-02 6.55114026e+02] [ 5.50000672e-02 9.98486351e-01 -9.08742672e-06 8.31099974e+00] [ 1.54773661e-02 -8.43446523e-04 9.99879863e-01 1.01392470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.6692541539999 meters Centerline goodness : 0.999563 Centerline is valid? [True, True] Translation: X:655.15, Y:8.31, Z:10.14 [[ 9.98302465e-01 -5.61423519e-02 -1.54991829e-02 6.55145289e+02] [ 5.61469621e-02 9.98422506e-01 -1.37877053e-04 8.31091503e+00] [ 1.54824737e-02 -7.32589031e-04 9.99879871e-01 1.01399549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.699254154 meters Centerline goodness : 0.999376 Centerline is valid? [True, True] Translation: X:655.18, Y:8.31, Z:10.14 [[ 9.98258193e-01 -5.69241231e-02 -1.54991904e-02 6.55177392e+02] [ 5.69288406e-02 9.98378229e-01 -1.37019187e-04 8.31114241e+00] [ 1.54818540e-02 -7.45570417e-04 9.99879871e-01 1.01390280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.7292541539999 meters Centerline goodness : 0.999585 Centerline is valid? [True, True] Translation: X:655.21, Y:8.31, Z:10.14 [[ 9.98244810e-01 -5.71583323e-02 -1.54992006e-02 6.55208361e+02] [ 5.71630959e-02 9.98364844e-01 -1.35857951e-04 8.31182079e+00] [ 1.54816224e-02 -7.50362798e-04 9.99879871e-01 1.01395352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.7592541539999 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:655.24, Y:8.31, Z:10.14 [[ 9.98261395e-01 -5.68679249e-02 -1.54992168e-02 6.55240952e+02] [ 5.68726826e-02 9.98381430e-01 -1.33987341e-04 8.31244155e+00] [ 1.54817498e-02 -7.47727647e-04 9.99879871e-01 1.01394245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.7892541539999 meters Centerline goodness : 0.999294 Centerline is valid? [True, True] Translation: X:655.27, Y:8.31, Z:10.14 [[ 9.98259219e-01 -5.69061106e-02 -1.54992265e-02 6.55272235e+02] [ 5.69108904e-02 9.98379253e-01 -1.32861061e-04 8.31310142e+00] [ 1.54816667e-02 -7.49444998e-04 9.99879871e-01 1.01393244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.819254154 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:655.30, Y:8.31, Z:10.14 [[ 9.98269558e-01 -5.67244522e-02 -1.54992336e-02 6.55304367e+02] [ 5.67292231e-02 9.98389592e-01 -1.32022465e-04 8.31408914e+00] [ 1.54817624e-02 -7.47465472e-04 9.99879871e-01 1.01378042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.8492541539999 meters Centerline goodness : 0.998873 Centerline is valid? [True, True] Translation: X:655.34, Y:8.31, Z:10.14 [[ 9.98271800e-01 -5.66849970e-02 -1.54991964e-02 6.55335928e+02] [ 5.66896945e-02 9.98391837e-01 -1.36453246e-04 8.31491302e+00] [ 1.54820061e-02 -7.42427285e-04 9.99879871e-01 1.01367086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.8792541539999 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:655.37, Y:8.32, Z:10.14 [[ 9.98251648e-01 -5.70387667e-02 -1.54992536e-02 6.55370066e+02] [ 5.70436125e-02 9.98371679e-01 -1.29624686e-04 8.31654439e+00] [ 1.54814094e-02 -7.54735358e-04 9.99879871e-01 1.01371299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.9092541539999 meters Centerline goodness : 0.996950 Centerline is valid? [True, True] Translation: X:655.40, Y:8.32, Z:10.14 [[ 9.98224738e-01 -5.75076122e-02 -1.54998857e-02 6.55400404e+02] [ 5.75138582e-02 9.98344707e-01 -4.28558780e-05 8.31854460e+00] [ 1.54766934e-02 -8.48678432e-04 9.99879869e-01 1.01355117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.939254154 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:655.43, Y:8.32, Z:10.14 [[ 9.98269336e-01 -5.67283744e-02 -1.54991967e-02 6.55431925e+02] [ 5.67330987e-02 9.98389372e-01 -1.35061475e-04 8.31930633e+00] [ 1.54818951e-02 -7.44489729e-04 9.99879871e-01 1.01368720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.9692541539999 meters Centerline goodness : 0.997973 Centerline is valid? [True, True] Translation: X:655.46, Y:8.32, Z:10.14 [[ 9.98248112e-01 -5.71006483e-02 -1.54991509e-02 6.55464015e+02] [ 5.71053194e-02 9.98368150e-01 -1.41383095e-04 8.32278727e+00] [ 1.54819317e-02 -7.43948554e-04 9.99879871e-01 1.01368857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.9992541539999 meters Centerline goodness : 0.998977 Centerline is valid? [True, True] Translation: X:655.50, Y:8.33, Z:10.14 [[ 9.98276414e-01 -5.66036620e-02 -1.54992479e-02 6.55495008e+02] [ 5.66084815e-02 9.98396446e-01 -1.27939519e-04 8.32504258e+00] [ 1.54816359e-02 -7.49669887e-04 9.99879871e-01 1.01383850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.0292541539999 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:655.53, Y:8.33, Z:10.14 [[ 9.98475249e-01 -5.29806238e-02 -1.54993808e-02 6.55527630e+02] [ 5.29853004e-02 9.98595286e-01 -1.09052136e-04 8.32958055e+00] [ 1.54833863e-02 -7.12353490e-04 9.99879871e-01 1.01405858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.0592541539999 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:655.56, Y:8.33, Z:10.14 [[ 9.98718742e-01 -4.81730645e-02 -1.54993888e-02 6.55562493e+02] [ 4.81771809e-02 9.98838800e-01 -1.07901901e-04 8.32921133e+00] [ 1.54865889e-02 -6.38953210e-04 9.99879871e-01 1.01420367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.089254154 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:655.59, Y:8.34, Z:10.14 [[ 9.98763415e-01 -4.72374311e-02 -1.55005069e-02 6.55589475e+02] [ 4.72440206e-02 9.98883376e-01 5.90111730e-05 8.33500615e+00] [ 1.54804112e-02 -7.91244470e-04 9.99879858e-01 1.01428996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.1192541539999 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:655.62, Y:8.34, Z:10.14 [[ 9.98925728e-01 -4.36710412e-02 -1.54993403e-02 6.55620805e+02] [ 4.36746122e-02 9.99045803e-01 -1.08173815e-04 8.33810279e+00] [ 1.54892750e-02 -5.68870071e-04 9.99879872e-01 1.01447949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.1492541539999 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:655.65, Y:8.34, Z:10.15 [[ 9.99218024e-01 -3.63746037e-02 -1.54993462e-02 6.55653049e+02] [ 3.63773109e-02 9.99338121e-01 -1.07323498e-04 8.34329814e+00] [ 1.54929914e-02 -4.56584962e-04 9.99879872e-01 1.01474206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.1792541539999 meters Centerline goodness : 0.998786 Centerline is valid? [True, True] Translation: X:655.68, Y:8.35, Z:10.15 [[ 9.99334137e-01 -3.30310865e-02 -1.54993542e-02 6.55683393e+02] [ 3.30334098e-02 9.99454242e-01 -1.06164418e-04 8.34557540e+00] [ 1.54944020e-02 -4.05902790e-04 9.99879872e-01 1.01487016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.209254154 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:655.71, Y:8.35, Z:10.15 [[ 9.99478265e-01 -2.83366896e-02 -1.54993561e-02 6.55713257e+02] [ 2.83384531e-02 9.99598380e-01 -1.05878307e-04 8.35113116e+00] [ 1.54961315e-02 -3.33404710e-04 9.99879872e-01 1.01533131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.2392541539999 meters Centerline goodness : 0.998932 Centerline is valid? [True, True] Translation: X:655.74, Y:8.35, Z:10.15 [[ 9.99528432e-01 -2.65085084e-02 -1.54987770e-02 6.55743422e+02] [ 2.65087597e-02 9.99648563e-01 -1.89255822e-04 8.35046468e+00] [ 1.54983471e-02 -2.21686782e-04 9.99879869e-01 1.01498295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.2692541539999 meters Centerline goodness : 0.998993 Centerline is valid? [True, True] Translation: X:655.77, Y:8.35, Z:10.15 [[ 9.99514651e-01 -2.70228036e-02 -1.54993453e-02 6.55772869e+02] [ 2.70243951e-02 9.99634769e-01 -1.06788672e-04 8.35174729e+00] [ 1.54965702e-02 -3.12123589e-04 9.99879872e-01 1.01491722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.2992541539999 meters Centerline goodness : 0.998742 Centerline is valid? [True, True] Translation: X:655.80, Y:8.35, Z:10.15 [[ 9.99495545e-01 -2.77204849e-02 -1.54993413e-02 6.55802648e+02] [ 2.77221514e-02 9.99615662e-01 -1.07361695e-04 8.35241072e+00] [ 1.54963604e-02 -3.22367551e-04 9.99879872e-01 1.01486637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.329254154 meters Centerline goodness : 0.998888 Centerline is valid? [True, True] Translation: X:655.83, Y:8.35, Z:10.15 [[ 9.99441178e-01 -2.96159209e-02 -1.54993418e-02 6.55832680e+02] [ 2.96178161e-02 9.99561291e-01 -1.07298231e-04 8.35372915e+00] [ 1.54957198e-02 -3.51818384e-04 9.99879872e-01 1.01489176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.3592541539999 meters Centerline goodness : 0.999034 Centerline is valid? [True, True] Translation: X:655.86, Y:8.35, Z:10.15 [[ 9.99331189e-01 -3.31201699e-02 -1.54993418e-02 6.55862842e+02] [ 3.31224863e-02 9.99451294e-01 -1.07298231e-04 8.35451612e+00] [ 1.54943909e-02 -4.06150267e-04 9.99879872e-01 1.01475365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.3892541539999 meters Centerline goodness : 0.999074 Centerline is valid? [True, True] Translation: X:655.89, Y:8.36, Z:10.15 [[ 9.99257368e-01 -3.52772169e-02 -1.54993483e-02 6.55893764e+02] [ 3.52798073e-02 9.99377468e-01 -1.06348119e-04 8.35508618e+00] [ 1.54934511e-02 -4.40544879e-04 9.99879872e-01 1.01482725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.4192541539999 meters Centerline goodness : 0.998760 Centerline is valid? [True, True] Translation: X:655.93, Y:8.35, Z:10.15 [[ 9.99319949e-01 -3.34575703e-02 -1.54993522e-02 6.55930370e+02] [ 3.34599510e-02 9.99440053e-01 -1.05769845e-04 8.34868632e+00] [ 1.54942122e-02 -4.12909649e-04 9.99879872e-01 1.01458443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.449254154 meters Centerline goodness : 0.998865 Centerline is valid? [True, True] Translation: X:655.95, Y:8.36, Z:10.15 [[ 9.99041215e-01 -4.09432506e-02 -1.55016515e-02 6.55952235e+02] [ 4.09521328e-02 9.99161077e-01 2.55854905e-04 8.35657059e+00] [ 1.54781713e-02 -8.90435288e-04 9.99879809e-01 1.01496208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.4792541539999 meters Centerline goodness : 0.998634 Centerline is valid? [True, True] Translation: X:655.98, Y:8.36, Z:10.15 [[ 9.98966105e-01 -4.27375552e-02 -1.54990807e-02 6.55984058e+02] [ 4.27409980e-02 9.99086180e-01 -1.09196212e-04 8.35741331e+00] [ 1.54895841e-02 -5.53362861e-04 9.99879876e-01 1.01507776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.5092541539999 meters Centerline goodness : 0.998803 Centerline is valid? [True, True] Translation: X:656.01, Y:8.36, Z:10.15 [[ 9.98859230e-01 -4.51665547e-02 -1.54990888e-02 6.56014305e+02] [ 4.51703075e-02 9.98979295e-01 -1.08036775e-04 8.35847474e+00] [ 1.54881484e-02 -5.92185074e-04 9.99879876e-01 1.01516713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.5392541539999 meters Centerline goodness : 0.998739 Centerline is valid? [True, True] Translation: X:656.05, Y:8.36, Z:10.15 [[ 9.98849670e-01 -4.53776572e-02 -1.54985693e-02 6.56046458e+02] [ 4.53803036e-02 9.98969767e-01 -1.81077883e-04 8.35825819e+00] [ 1.54908191e-02 -5.22460198e-04 9.99879874e-01 1.01533745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.569254154 meters Centerline goodness : 0.998616 Centerline is valid? [True, True] Translation: X:656.08, Y:8.36, Z:10.15 [[ 9.98720067e-01 -4.81458861e-02 -1.54984273e-02 6.56079897e+02] [ 4.81485333e-02 9.98840166e-01 -2.02501381e-04 8.35824287e+00] [ 1.54902013e-02 -5.43984350e-04 9.99879872e-01 1.01531587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.5992541539999 meters Centerline goodness : 0.998595 Centerline is valid? [True, True] Translation: X:656.12, Y:8.35, Z:10.15 [[ 9.98819476e-01 -4.60373016e-02 -1.54990881e-02 6.56115038e+02] [ 4.60413151e-02 9.98939532e-01 -9.79601192e-05 8.35462470e+00] [ 1.54871616e-02 -6.15753925e-04 9.99879877e-01 1.01523852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.6292541539999 meters Centerline goodness : 0.998641 Centerline is valid? [True, True] Translation: X:656.14, Y:8.36, Z:10.15 [[ 9.98655518e-01 -4.94661578e-02 -1.55001548e-02 6.56142471e+02] [ 4.94733284e-02 9.98775442e-01 7.92806504e-05 8.35872138e+00] [ 1.54772522e-02 -8.46018308e-04 9.99879862e-01 1.01527708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.6592541539999 meters Centerline goodness : 0.998912 Centerline is valid? [True, True] Translation: X:656.17, Y:8.36, Z:10.15 [[ 9.98628869e-01 -5.00016149e-02 -1.54990434e-02 6.56174214e+02] [ 5.00061124e-02 9.98748907e-01 -9.74739219e-05 8.35991888e+00] [ 1.54845265e-02 -6.77706634e-04 9.99879878e-01 1.01549669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.689254154 meters Centerline goodness : 0.998744 Centerline is valid? [True, True] Translation: X:656.21, Y:8.36, Z:10.16 [[ 9.98716271e-01 -4.82243648e-02 -1.54990506e-02 6.56205762e+02] [ 4.82286665e-02 9.98836316e-01 -9.63209456e-05 8.36107546e+00] [ 1.54856596e-02 -6.51301247e-04 9.99879878e-01 1.01552986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.7192541539999 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:656.24, Y:8.36, Z:10.16 [[ 9.98789006e-01 -4.66936989e-02 -1.54990559e-02 6.56237468e+02] [ 4.66978300e-02 9.98909057e-01 -9.54623463e-05 8.36220781e+00] [ 1.54866048e-02 -6.28425534e-04 9.99879878e-01 1.01562108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.7492541539999 meters Centerline goodness : 0.998872 Centerline is valid? [True, True] Translation: X:656.27, Y:8.36, Z:10.16 [[ 9.98857055e-01 -4.52146332e-02 -1.54990627e-02 6.56269824e+02] [ 4.52186039e-02 9.98977111e-01 -9.43382412e-05 8.36344784e+00] [ 1.54874744e-02 -6.06615560e-04 9.99879878e-01 1.01566847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.7792541539999 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:656.30, Y:8.36, Z:10.16 [[ 9.99004583e-01 -4.18284940e-02 -1.54990695e-02 6.56301410e+02] [ 4.18320751e-02 9.99124651e-01 -9.32171181e-05 8.36490277e+00] [ 1.54894015e-02 -5.55233909e-04 9.99879878e-01 1.01562941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.8092541539999 meters Centerline goodness : 0.998892 Centerline is valid? [True, True] Translation: X:656.33, Y:8.37, Z:10.16 [[ 9.99152426e-01 -3.81340866e-02 -1.54990744e-02 6.56333790e+02] [ 3.81372366e-02 9.99272507e-01 -9.23831265e-05 8.36626816e+00] [ 1.54913219e-02 -4.98787044e-04 9.99879878e-01 1.01560437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.839254154 meters Centerline goodness : 0.998870 Centerline is valid? [True, True] Translation: X:656.37, Y:8.37, Z:10.16 [[ 9.99212145e-01 -3.65358511e-02 -1.54990810e-02 6.56366422e+02] [ 3.65388264e-02 9.99332230e-01 -9.12584183e-05 8.36732327e+00] [ 1.54920654e-02 -4.75131712e-04 9.99879878e-01 1.01565659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.8692541539999 meters Centerline goodness : 0.998703 Centerline is valid? [True, True] Translation: X:656.40, Y:8.37, Z:10.16 [[ 9.99269078e-01 -3.49440754e-02 -1.54990877e-02 6.56397290e+02] [ 3.49468772e-02 9.99389167e-01 -9.01104614e-05 8.36828005e+00] [ 1.54927692e-02 -4.51600118e-04 9.99879878e-01 1.01563778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.8992541539999 meters Centerline goodness : 0.998953 Centerline is valid? [True, True] Translation: X:656.43, Y:8.37, Z:10.16 [[ 9.99321155e-01 -3.34216633e-02 -1.54990926e-02 6.56428895e+02] [ 3.34242955e-02 9.99441248e-01 -8.92554780e-05 8.36928234e+00] [ 1.54934156e-02 -4.28851364e-04 9.99879878e-01 1.01566436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.9292541539999 meters Centerline goodness : 0.998952 Centerline is valid? [True, True] Translation: X:656.46, Y:8.37, Z:10.16 [[ 9.99389569e-01 -3.13092153e-02 -1.54990959e-02 6.56459133e+02] [ 3.13116023e-02 9.99509668e-01 -8.86882216e-05 8.37144815e+00] [ 1.54942729e-02 -3.96667443e-04 9.99879878e-01 1.01561299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.959254154 meters Centerline goodness : 0.998952 Centerline is valid? [True, True] Translation: X:656.49, Y:8.37, Z:10.16 [[ 9.99390699e-01 -3.12731271e-02 -1.54990975e-02 6.56490973e+02] [ 3.12755142e-02 9.99510798e-01 -8.84070253e-05 8.37159956e+00] [ 1.54942801e-02 -3.96389085e-04 9.99879878e-01 1.01566234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.9892541539999 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:656.52, Y:8.37, Z:10.16 [[ 9.99416865e-01 -3.04254551e-02 -1.54991007e-02 6.56522231e+02] [ 3.04277489e-02 9.99536965e-01 -8.78473511e-05 8.37289596e+00] [ 1.54945968e-02 -3.83806620e-04 9.99879878e-01 1.01572408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.0192541539999 meters Centerline goodness : 0.999054 Centerline is valid? [True, True] Translation: X:656.55, Y:8.37, Z:10.16 [[ 9.99426185e-01 -3.01177429e-02 -1.54991038e-02 6.56553509e+02] [ 3.01200085e-02 9.99546286e-01 -8.72902192e-05 8.37418883e+00] [ 1.54947006e-02 -3.79593007e-04 9.99879878e-01 1.01577881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.0492541539999 meters Centerline goodness : 0.998949 Centerline is valid? [True, True] Translation: X:656.58, Y:8.38, Z:10.16 [[ 9.99443662e-01 -2.95320880e-02 -1.54991069e-02 6.56584158e+02] [ 2.95342917e-02 9.99563764e-01 -8.67351383e-05 8.37522227e+00] [ 1.54949071e-02 -3.71068261e-04 9.99879878e-01 1.01582950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.079254154 meters Centerline goodness : 0.999032 Centerline is valid? [True, True] Translation: X:656.62, Y:8.38, Z:10.16 [[ 9.99446754e-01 -2.94272522e-02 -1.54991084e-02 6.56615765e+02] [ 2.94294476e-02 9.99566856e-01 -8.64591784e-05 8.37563342e+00] [ 1.54949394e-02 -3.69718855e-04 9.99879878e-01 1.01587896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.1092541539999 meters Centerline goodness : 0.998947 Centerline is valid? [True, True] Translation: X:656.65, Y:8.38, Z:10.16 [[ 9.99451509e-01 -2.92653263e-02 -1.54991115e-02 6.56645904e+02] [ 2.92675108e-02 9.99571611e-01 -8.59113597e-05 8.37662390e+00] [ 1.54949861e-02 -3.67756175e-04 9.99879878e-01 1.01593432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.1392541539999 meters Centerline goodness : 0.998715 Centerline is valid? [True, True] Translation: X:656.68, Y:8.38, Z:10.16 [[ 9.99457199e-01 -2.90703429e-02 -1.54991130e-02 6.56677170e+02] [ 2.90725082e-02 9.99577302e-01 -8.56394405e-05 8.37716087e+00] [ 1.54950511e-02 -3.65005134e-04 9.99879878e-01 1.01604277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.1692541539999 meters Centerline goodness : 0.998925 Centerline is valid? [True, True] Translation: X:656.71, Y:8.38, Z:10.16 [[ 9.99462069e-01 -2.89024219e-02 -1.54991160e-02 6.56708957e+02] [ 2.89045753e-02 9.99582172e-01 -8.50996379e-05 8.37753541e+00] [ 1.54950996e-02 -3.62941504e-04 9.99879878e-01 1.01620169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.199254154 meters Centerline goodness : 0.998840 Centerline is valid? [True, True] Translation: X:656.74, Y:8.38, Z:10.16 [[ 9.99531675e-01 -2.63857380e-02 -1.54991189e-02 6.56740537e+02] [ 2.63875975e-02 9.99651783e-01 -8.45535211e-05 8.37775144e+00] [ 1.54959529e-02 -3.24470589e-04 9.99879878e-01 1.01638366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.2292541539999 meters Centerline goodness : 0.998923 Centerline is valid? [True, True] Translation: X:656.77, Y:8.38, Z:10.17 [[ 9.99563161e-01 -2.51647462e-02 -1.54991219e-02 6.56769661e+02] [ 2.51664676e-02 9.99683271e-01 -8.39991980e-05 8.37852514e+00] [ 1.54963267e-02 -3.06095645e-04 9.99879878e-01 1.01654524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.2592541539999 meters Centerline goodness : 0.998712 Centerline is valid? [True, True] Translation: X:656.80, Y:8.38, Z:10.17 [[ 9.99655688e-01 -2.11726845e-02 -1.54991204e-02 6.56798852e+02] [ 2.11739220e-02 9.99775804e-01 -8.42738557e-05 8.37893599e+00] [ 1.54974299e-02 -2.43932328e-04 9.99879878e-01 1.01661451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.2892541539999 meters Centerline goodness : 0.998966 Centerline is valid? [True, True] Translation: X:656.83, Y:8.38, Z:10.17 [[ 9.99686013e-01 -1.96888886e-02 -1.54991190e-02 6.56828029e+02] [ 1.96899437e-02 9.99806131e-01 -8.45390681e-05 8.37915903e+00] [ 1.54977787e-02 -2.20664256e-04 9.99879878e-01 1.01673731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.319254154 meters Centerline goodness : 0.998736 Centerline is valid? [True, True] Translation: X:656.86, Y:8.38, Z:10.17 [[ 9.99700091e-01 -1.89606294e-02 -1.54991160e-02 6.56856548e+02] [ 1.89615883e-02 9.99820209e-01 -8.50928323e-05 8.37955240e+00] [ 1.54979428e-02 -2.08820544e-04 9.99879878e-01 1.01671485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.3492541539999 meters Centerline goodness : 0.999071 Centerline is valid? [True, True] Translation: X:656.89, Y:8.38, Z:10.17 [[ 9.99693483e-01 -1.93058840e-02 -1.54991114e-02 6.56885489e+02] [ 1.93068716e-02 9.99813601e-01 -8.59168026e-05 8.37926688e+00] [ 1.54978811e-02 -2.13348886e-04 9.99879878e-01 1.01669680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.3792541539999 meters Centerline goodness : 0.998883 Centerline is valid? [True, True] Translation: X:656.91, Y:8.38, Z:10.17 [[ 9.99632741e-01 -2.22297200e-02 -1.54990904e-02 6.56914080e+02] [ 2.22310027e-02 9.99752857e-01 -8.95458818e-05 8.37788348e+00] [ 1.54972505e-02 -2.55047326e-04 9.99879878e-01 1.01667698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.4092541539999 meters Centerline goodness : 0.998948 Centerline is valid? [True, True] Translation: X:656.94, Y:8.38, Z:10.17 [[ 9.99595119e-01 -2.38616156e-02 -1.54990665e-02 6.56943245e+02] [ 2.38630330e-02 9.99715233e-01 -9.35082336e-05 8.37639617e+00] [ 1.54968841e-02 -2.76384362e-04 9.99879878e-01 1.01651181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.439254154 meters Centerline goodness : 0.999075 Centerline is valid? [True, True] Translation: X:656.97, Y:8.38, Z:10.16 [[ 9.99523453e-01 -2.66954464e-02 -1.54990606e-02 6.56971603e+02] [ 2.66971891e-02 9.99643562e-01 -9.44853055e-05 8.37548397e+00] [ 1.54960584e-02 -3.19341073e-04 9.99879878e-01 1.01643211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.4692541539999 meters Centerline goodness : 0.999053 Centerline is valid? [True, True] Translation: X:657.00, Y:8.37, Z:10.16 [[ 9.99451828e-01 -2.92544634e-02 -1.54990546e-02 6.57001107e+02] [ 2.92564987e-02 9.99571932e-01 -9.54549938e-05 8.37426006e+00] [ 1.54952124e-02 -3.58045402e-04 9.99879878e-01 1.01637608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.4992541539999 meters Centerline goodness : 0.998929 Centerline is valid? [True, True] Translation: X:657.03, Y:8.37, Z:10.17 [[ 9.99288709e-01 -3.43781279e-02 -1.54990550e-02 6.57031947e+02] [ 3.43807799e-02 9.99408802e-01 -9.53881814e-05 8.37308368e+00] [ 1.54931713e-02 -4.37549266e-04 9.99879878e-01 1.01656329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.5292541539999 meters Centerline goodness : 0.998760 Centerline is valid? [True, True] Translation: X:657.06, Y:8.37, Z:10.17 [[ 9.99226525e-01 -3.61404273e-02 -1.54990550e-02 6.57062997e+02] [ 3.61432911e-02 9.99346613e-01 -9.53881814e-05 8.37234837e+00] [ 1.54923755e-02 -4.64872456e-04 9.99879878e-01 1.01650363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.5592541539999 meters Centerline goodness : 0.998844 Centerline is valid? [True, True] Translation: X:657.09, Y:8.37, Z:10.17 [[ 9.99123918e-01 -3.88738353e-02 -1.54990584e-02 6.57094872e+02] [ 3.88770364e-02 9.99243998e-01 -9.48264235e-05 8.37236966e+00] [ 1.54910274e-02 -5.07814110e-04 9.99879878e-01 1.01671810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.589254154 meters Centerline goodness : 0.998823 Centerline is valid? [True, True] Translation: X:657.13, Y:8.37, Z:10.17 [[ 9.99051774e-01 -4.06857593e-02 -1.54990655e-02 6.57126355e+02] [ 4.06891961e-02 9.99171847e-01 -9.36613520e-05 8.37143163e+00] [ 1.54900406e-02 -5.37071975e-04 9.99879878e-01 1.01672576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.6192541539999 meters Centerline goodness : 0.998929 Centerline is valid? [True, True] Translation: X:657.16, Y:8.37, Z:10.17 [[ 9.98918331e-01 -4.38400209e-02 -1.54990707e-02 6.57157329e+02] [ 4.38438503e-02 9.99038392e-01 -9.27924719e-05 8.36990324e+00] [ 1.54882347e-02 -5.86846833e-04 9.99879878e-01 1.01674721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.6492541539999 meters Centerline goodness : 0.998783 Centerline is valid? [True, True] Translation: X:657.19, Y:8.37, Z:10.17 [[ 9.98859976e-01 -4.51500447e-02 -1.54990812e-02 6.57189734e+02] [ 4.51540592e-02 9.98980031e-01 -9.10074157e-05 8.36961253e+00] [ 1.54873816e-02 -6.08942763e-04 9.99879878e-01 1.01686926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.6792541539999 meters Centerline goodness : 0.998909 Centerline is valid? [True, True] Translation: X:657.22, Y:8.37, Z:10.17 [[ 9.98734975e-01 -4.78354296e-02 -1.54990878e-02 6.57220737e+02] [ 4.78397846e-02 9.98855018e-01 -8.98641815e-05 8.36938421e+00] [ 1.54856403e-02 -6.51722521e-04 9.99879878e-01 1.01696466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.709254154 meters Centerline goodness : 0.998763 Centerline is valid? [True, True] Translation: X:657.25, Y:8.37, Z:10.17 [[ 9.98663659e-01 -4.93018781e-02 -1.54990927e-02 6.57253347e+02] [ 4.93064225e-02 9.98783695e-01 -8.90114961e-05 8.36954685e+00] [ 1.54846295e-02 -6.75312266e-04 9.99879878e-01 1.01712016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.7392541539999 meters Centerline goodness : 0.998788 Centerline is valid? [True, True] Translation: X:657.29, Y:8.37, Z:10.17 [[ 9.98607102e-01 -5.04344516e-02 -1.54990991e-02 6.57285354e+02] [ 5.04391497e-02 9.98727132e-01 -8.78814840e-05 8.36940788e+00] [ 1.54838030e-02 -6.94002305e-04 9.99879878e-01 1.01721039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.7692541539999 meters Centerline goodness : 0.998746 Centerline is valid? [True, True] Translation: X:657.32, Y:8.37, Z:10.17 [[ 9.98480872e-01 -5.28746299e-02 -1.54991054e-02 6.57316478e+02] [ 5.28796388e-02 9.98600889e-01 -8.67500209e-05 8.36837972e+00] [ 1.54820073e-02 -7.32968861e-04 9.99879878e-01 1.01720916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.7992541539999 meters Centerline goodness : 0.998784 Centerline is valid? [True, True] Translation: X:657.35, Y:8.37, Z:10.17 [[ 9.98416675e-01 -5.40732896e-02 -1.54991157e-02 6.57349114e+02] [ 5.40784717e-02 9.98536685e-01 -8.48734219e-05 8.36782349e+00] [ 1.54810250e-02 -7.53429450e-04 9.99879878e-01 1.01722266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.829254154 meters Centerline goodness : 0.998929 Centerline is valid? [True, True] Translation: X:657.38, Y:8.37, Z:10.17 [[ 9.98306557e-01 -5.60695567e-02 -1.54991217e-02 6.57381211e+02] [ 5.60749961e-02 9.98426556e-01 -8.37589259e-05 8.36750303e+00] [ 1.54794311e-02 -7.85496104e-04 9.99879878e-01 1.01725141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.8592541539999 meters Centerline goodness : 0.998866 Centerline is valid? [True, True] Translation: X:657.41, Y:8.37, Z:10.17 [[ 9.98266661e-01 -5.67754458e-02 -1.54991277e-02 6.57412528e+02] [ 5.67809872e-02 9.98386655e-01 -8.26430185e-05 8.36798377e+00] [ 1.54788143e-02 -7.97556000e-04 9.99879878e-01 1.01729648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.8892541539999 meters Centerline goodness : 0.998991 Centerline is valid? [True, True] Translation: X:657.44, Y:8.37, Z:10.17 [[ 9.98233001e-01 -5.73642102e-02 -1.54991321e-02 6.57444248e+02] [ 5.73698353e-02 9.98352991e-01 -8.18102572e-05 8.36870893e+00] [ 1.54782978e-02 -8.07516956e-04 9.99879878e-01 1.01727789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.9192541539999 meters Centerline goodness : 0.998820 Centerline is valid? [True, True] Translation: X:657.48, Y:8.37, Z:10.17 [[ 9.98246319e-01 -5.71319759e-02 -1.54991379e-02 6.57476052e+02] [ 5.71375904e-02 9.98366310e-01 -8.06902015e-05 8.36885637e+00] [ 1.54784271e-02 -8.05034696e-04 9.99879878e-01 1.01728318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.949254154 meters Centerline goodness : 0.998946 Centerline is valid? [True, True] Translation: X:657.51, Y:8.37, Z:10.17 [[ 9.98299237e-01 -5.61997380e-02 -1.54991436e-02 6.57507770e+02] [ 5.62052578e-02 9.98419232e-01 -7.95738219e-05 8.36888231e+00] [ 1.54791151e-02 -7.91694878e-04 9.99879878e-01 1.01729712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.9792541539999 meters Centerline goodness : 0.999034 Centerline is valid? [True, True] Translation: X:657.54, Y:8.37, Z:10.17 [[ 9.98471981e-01 -5.30422509e-02 -1.54991493e-02 6.57538937e+02] [ 5.30474084e-02 9.98591992e-01 -7.84629639e-05 8.37051803e+00] [ 1.54814882e-02 -7.43846629e-04 9.99879878e-01 1.01735900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.0092541539999 meters Centerline goodness : 0.999075 Centerline is valid? [True, True] Translation: X:657.57, Y:8.37, Z:10.17 [[ 9.98599280e-01 -5.05890635e-02 -1.54991534e-02 6.57571536e+02] [ 5.05939389e-02 9.98719304e-01 -7.76339513e-05 8.37140085e+00] [ 1.54832311e-02 -7.06638012e-04 9.99879878e-01 1.01746651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.0392541539999 meters Centerline goodness : 0.998715 Centerline is valid? [True, True] Translation: X:657.60, Y:8.37, Z:10.18 [[ 9.98894332e-01 -4.43834350e-02 -1.54991588e-02 6.57603469e+02] [ 4.43875815e-02 9.99014383e-01 -7.65419465e-05 8.37340940e+00] [ 1.54872798e-02 -6.11512858e-04 9.99879878e-01 1.01755044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.069254154 meters Centerline goodness : 0.998800 Centerline is valid? [True, True] Translation: X:657.63, Y:8.37, Z:10.18 [[ 9.99041299e-01 -4.09421518e-02 -1.54991642e-02 6.57634479e+02] [ 4.09459020e-02 9.99161362e-01 -7.54269775e-05 8.37471499e+00] [ 1.54892542e-02 -5.59272594e-04 9.99879878e-01 1.01754357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.0992541539999 meters Centerline goodness : 0.998756 Centerline is valid? [True, True] Translation: X:657.67, Y:8.38, Z:10.18 [[ 9.99192486e-01 -3.70695442e-02 -1.54991682e-02 6.57666962e+02] [ 3.70728419e-02 9.99312563e-01 -7.45975267e-05 8.37571038e+00] [ 1.54912788e-02 -5.00060924e-04 9.99879878e-01 1.01774966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.1292541539999 meters Centerline goodness : 0.998968 Centerline is valid? [True, True] Translation: X:657.70, Y:8.37, Z:10.18 [[ 9.99503113e-01 -2.74463441e-02 -1.54991737e-02 6.57700355e+02] [ 2.74485031e-02 9.99623216e-01 -7.34489356e-05 8.37398600e+00] [ 1.54953497e-02 -3.52016677e-04 9.99879878e-01 1.01777611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.1592541539999 meters Centerline goodness : 0.998863 Centerline is valid? [True, True] Translation: X:657.73, Y:8.38, Z:10.18 [[ 9.99522038e-01 -2.67477097e-02 -1.55001947e-02 6.57726100e+02] [ 2.67531435e-02 9.99642060e-01 1.43276642e-04 8.37837958e+00] [ 1.54908143e-02 -5.57887095e-04 9.99879854e-01 1.01772197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.189254154 meters Centerline goodness : 0.998754 Centerline is valid? [True, True] Translation: X:657.76, Y:8.38, Z:10.18 [[ 9.99609735e-01 -2.32412763e-02 -1.54990550e-02 6.57756961e+02] [ 2.32428383e-02 9.99729846e-01 -7.93705911e-05 8.37974266e+00] [ 1.54967125e-02 -2.80902412e-04 9.99879879e-01 1.01780987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.2192541539999 meters Centerline goodness : 0.998923 Centerline is valid? [True, True] Translation: X:657.79, Y:8.38, Z:10.18 [[ 9.99743777e-01 -1.64972586e-02 -1.54990550e-02 6.57786572e+02] [ 1.64980103e-02 9.99863895e-01 -7.93705911e-05 8.38077367e+00] [ 1.54982549e-02 -1.76353313e-04 9.99879879e-01 1.01781737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.2492541539999 meters Centerline goodness : 0.996367 Centerline is valid? [True, True] Translation: X:657.81, Y:8.38, Z:10.18 [[ 9.99765160e-01 -1.51460776e-02 -1.54990521e-02 6.57814174e+02] [ 1.51466583e-02 9.99885280e-01 -7.99241199e-05 8.38328167e+00] [ 1.54984846e-02 -1.54853496e-04 9.99879879e-01 1.01772455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.2792541539999 meters Centerline goodness : 0.999028 Centerline is valid? [True, True] Translation: X:657.84, Y:8.38, Z:10.18 [[ 9.99827131e-01 -1.02717876e-02 -1.54983600e-02 6.57843922e+02] [ 1.02698234e-02 9.99947243e-01 -2.06315564e-04 8.38111376e+00] [ 1.54996616e-02 4.71144771e-05 9.99879872e-01 1.01801001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.3092541539999 meters Centerline goodness : 0.998816 Centerline is valid? [True, True] Translation: X:657.87, Y:8.38, Z:10.18 [[ 9.99832861e-01 -9.69692663e-03 -1.54990183e-02 6.57872113e+02] [ 9.69681781e-03 9.99952981e-01 -8.21726863e-05 8.38058976e+00] [ 1.54990864e-02 -6.81322052e-05 9.99879880e-01 1.01814716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.339254154 meters Centerline goodness : 0.998671 Centerline is valid? [True, True] Translation: X:657.90, Y:8.38, Z:10.18 [[ 9.99826261e-01 -1.03551851e-02 -1.54989934e-02 6.57898671e+02] [ 1.03550861e-02 9.99946381e-01 -8.66394657e-05 8.37781073e+00] [ 1.54990595e-02 -7.38689980e-05 9.99879880e-01 1.01805660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.3692541539999 meters Centerline goodness : 0.998988 Centerline is valid? [True, True] Translation: X:657.93, Y:8.38, Z:10.18 [[ 9.99809529e-01 -1.18611978e-02 -1.54989823e-02 6.57926777e+02] [ 1.18612497e-02 9.99929649e-01 -8.85742791e-05 8.37655944e+00] [ 1.54989425e-02 -9.52798918e-05 9.99879880e-01 1.01814802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.3992541539999 meters Centerline goodness : 0.999009 Centerline is valid? [True, True] Translation: X:657.95, Y:8.37, Z:10.18 [[ 9.99756863e-01 -1.56843274e-02 -1.54989549e-02 6.57954514e+02] [ 1.56847680e-02 9.99876982e-01 -9.31368933e-05 8.37441805e+00] [ 1.54985090e-02 -1.49983263e-04 9.99879880e-01 1.01810122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.4292541539999 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:657.98, Y:8.37, Z:10.18 [[ 9.99714001e-01 -1.82126154e-02 -1.54989463e-02 6.57982353e+02] [ 1.82133379e-02 9.99834119e-01 -9.45478192e-05 8.37350507e+00] [ 1.54980973e-02 -1.87766767e-04 9.99879880e-01 1.01816368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.459254154 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:658.01, Y:8.37, Z:10.18 [[ 9.99653877e-01 -2.12581613e-02 -1.54989183e-02 6.58010242e+02] [ 2.12591819e-02 9.99773993e-01 -9.89279902e-05 8.37260114e+00] [ 1.54975185e-02 -2.30600574e-04 9.99879880e-01 1.01828531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.4892541539999 meters Centerline goodness : 0.998763 Centerline is valid? [True, True] Translation: X:658.04, Y:8.37, Z:10.18 [[ 9.99583380e-01 -2.43485397e-02 -1.54988880e-02 6.58039438e+02] [ 2.43498612e-02 9.99703493e-01 -1.03467403e-04 8.37117892e+00] [ 1.54968118e-02 -2.73971477e-04 9.99879880e-01 1.01830872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.5192541539999 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:658.07, Y:8.37, Z:10.18 [[ 9.99505619e-01 -2.73551112e-02 -1.54988602e-02 6.58069398e+02] [ 2.73567317e-02 9.99625729e-01 -1.07485756e-04 8.36975659e+00] [ 1.54959997e-02 -3.16565542e-04 9.99879880e-01 1.01835366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.5492541539999 meters Centerline goodness : 0.998722 Centerline is valid? [True, True] Translation: X:658.10, Y:8.37, Z:10.18 [[ 9.99298629e-01 -3.40886428e-02 -1.54988562e-02 6.58099961e+02] [ 3.40910636e-02 9.99418725e-01 -1.08058761e-04 8.36679285e+00] [ 1.54935306e-02 -4.20389521e-04 9.99879880e-01 1.01837472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.579254154 meters Centerline goodness : 0.998720 Centerline is valid? [True, True] Translation: X:658.13, Y:8.37, Z:10.18 [[ 9.99189206e-01 -3.71579855e-02 -1.54988562e-02 6.58130793e+02] [ 3.71607752e-02 9.99309294e-01 -1.08058761e-04 8.36525549e+00] [ 1.54921663e-02 -4.67978364e-04 9.99879880e-01 1.01832283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.6092541539999 meters Centerline goodness : 0.999098 Centerline is valid? [True, True] Translation: X:658.16, Y:8.36, Z:10.18 [[ 9.98935997e-01 -4.34356784e-02 -1.54988692e-02 6.58162816e+02] [ 4.34392521e-02 9.99056065e-01 -1.06156775e-04 8.36256866e+00] [ 1.54888503e-02 -5.67215463e-04 9.99879880e-01 1.01840926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.6392541539999 meters Centerline goodness : 0.998804 Centerline is valid? [True, True] Translation: X:658.19, Y:8.36, Z:10.18 [[ 9.98807068e-01 -4.63057802e-02 -1.54988769e-02 6.58194560e+02] [ 4.63097165e-02 9.98927124e-01 -1.05013684e-04 8.36179537e+00] [ 1.54871113e-02 -6.12860188e-04 9.99879880e-01 1.01847172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.6692541539999 meters Centerline goodness : 0.999015 Centerline is valid? [True, True] Translation: X:658.23, Y:8.36, Z:10.19 [[ 9.98560051e-01 -5.13576670e-02 -1.54988847e-02 6.58226183e+02] [ 5.13622285e-02 9.98680084e-01 -1.03859210e-04 8.35994064e+00] [ 1.54837614e-02 -6.92347598e-04 9.99879880e-01 1.01853430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.699254154 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:658.26, Y:8.36, Z:10.19 [[ 9.98429734e-01 -5.38316805e-02 -1.54988904e-02 6.58258148e+02] [ 5.38365528e-02 9.98549756e-01 -1.02998564e-04 8.35874276e+00] [ 1.54819578e-02 -7.31570002e-04 9.99879880e-01 1.01855107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.7292541539999 meters Centerline goodness : 0.998851 Centerline is valid? [True, True] Translation: X:658.29, Y:8.36, Z:10.19 [[ 9.98201129e-01 -5.79162372e-02 -1.54988979e-02 6.58290795e+02] [ 5.79216182e-02 9.98321129e-01 -1.01852611e-04 8.35652611e+00] [ 1.54787762e-02 -7.96051857e-04 9.99879880e-01 1.01851020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.7592541539999 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:658.32, Y:8.36, Z:10.19 [[ 9.98103126e-01 -5.95813213e-02 -1.54989054e-02 6.58322683e+02] [ 5.95869202e-02 9.98223116e-01 -1.00707281e-04 8.35646791e+00] [ 1.54773659e-02 -8.23015785e-04 9.99879880e-01 1.01852465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.7892541539999 meters Centerline goodness : 0.998848 Centerline is valid? [True, True] Translation: X:658.36, Y:8.36, Z:10.19 [[ 9.98003776e-01 -6.12229328e-02 -1.54989127e-02 6.58355036e+02] [ 6.12287467e-02 9.98123755e-01 -9.95688708e-05 8.35673469e+00] [ 1.54759288e-02 -8.49608890e-04 9.99879880e-01 1.01856508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.819254154 meters Centerline goodness : 0.998828 Centerline is valid? [True, True] Translation: X:658.39, Y:8.36, Z:10.19 [[ 9.97842845e-01 -6.37921700e-02 -1.54989200e-02 6.58386474e+02] [ 6.37983106e-02 9.97962808e-01 -9.84193003e-05 8.35636724e+00] [ 1.54736241e-02 -8.90597917e-04 9.99879880e-01 1.01858013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.8492541539999 meters Centerline goodness : 0.998768 Centerline is valid? [True, True] Translation: X:658.42, Y:8.36, Z:10.19 [[ 9.97778924e-01 -6.47842765e-02 -1.54989315e-02 6.58418888e+02] [ 6.47905649e-02 9.97898879e-01 -9.65748781e-05 8.35660146e+00] [ 1.54726229e-02 -9.07824147e-04 9.99879880e-01 1.01866853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.8792541539999 meters Centerline goodness : 0.998768 Centerline is valid? [True, True] Translation: X:658.45, Y:8.36, Z:10.19 [[ 9.97783706e-01 -6.47105743e-02 -1.54989385e-02 6.58451572e+02] [ 6.47168716e-02 9.97903661e-01 -9.54316548e-05 8.35674227e+00] [ 1.54726229e-02 -9.07822663e-04 9.99879880e-01 1.01871916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.9092541539999 meters Centerline goodness : 0.998872 Centerline is valid? [True, True] Translation: X:658.48, Y:8.36, Z:10.19 [[ 9.97756154e-01 -6.51340155e-02 -1.54989455e-02 6.58483659e+02] [ 6.51403813e-02 9.97876105e-01 -9.42869467e-05 8.35711659e+00] [ 1.54721686e-02 -9.15531837e-04 9.99879880e-01 1.01875984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.9392541539999 meters Centerline goodness : 0.998889 Centerline is valid? [True, True] Translation: X:658.52, Y:8.35, Z:10.19 [[ 9.97998919e-01 -6.13020443e-02 -1.54989540e-02 6.58520639e+02] [ 6.13079716e-02 9.98118893e-01 -9.28607963e-05 8.35305068e+00] [ 1.54754914e-02 -8.57534458e-04 9.99879880e-01 1.01851053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.9692541539999 meters Centerline goodness : 0.998848 Centerline is valid? [True, True] Translation: X:658.54, Y:8.36, Z:10.19 [[ 9.97752335e-01 -6.51921512e-02 -1.55003904e-02 6.58544874e+02] [ 6.52025603e-02 9.97872035e-01 1.66589065e-04 8.35977348e+00] [ 1.54565459e-02 -1.17687977e-03 9.99879848e-01 1.01881996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.9992541539999 meters Centerline goodness : 0.998724 Centerline is valid? [True, True] Translation: X:658.58, Y:8.36, Z:10.19 [[ 9.97852690e-01 -6.36380064e-02 -1.54988334e-02 6.58575688e+02] [ 6.36442122e-02 9.97972648e-01 -9.29967554e-05 8.36265538e+00] [ 1.54733299e-02 -8.93613979e-04 9.99879882e-01 1.01876258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.0292541539999 meters Centerline goodness : 0.998742 Centerline is valid? [True, True] Translation: X:658.61, Y:8.36, Z:10.19 [[ 9.97925973e-01 -6.24783020e-02 -1.54988384e-02 6.58608153e+02] [ 6.24843814e-02 9.98045938e-01 -9.21601327e-05 8.36415112e+00] [ 1.54743107e-02 -8.76466338e-04 9.99879882e-01 1.01879324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.0592541539999 meters Centerline goodness : 0.998722 Centerline is valid? [True, True] Translation: X:658.64, Y:8.37, Z:10.19 [[ 9.98021404e-01 -6.09349143e-02 -1.54988450e-02 6.58639827e+02] [ 6.09408255e-02 9.98141377e-01 -9.10380744e-05 8.36562427e+00] [ 1.54755858e-02 -8.53654460e-04 9.99879882e-01 1.01877786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.089254154 meters Centerline goodness : 0.998616 Centerline is valid? [True, True] Translation: X:658.67, Y:8.37, Z:10.19 [[ 9.98166606e-01 -5.85082185e-02 -1.54988608e-02 6.58672431e+02] [ 5.85138810e-02 9.98286591e-01 -8.82614337e-05 8.36856832e+00] [ 1.54774689e-02 -8.18798879e-04 9.99879882e-01 1.01875059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.1192541539999 meters Centerline goodness : 0.998763 Centerline is valid? [True, True] Translation: X:658.71, Y:8.37, Z:10.19 [[ 9.98235517e-01 -5.73204828e-02 -1.54988669e-02 6.58705114e+02] [ 5.73260195e-02 9.98355508e-01 -8.71700163e-05 8.37032020e+00] [ 1.54783758e-02 -8.01472140e-04 9.99879882e-01 1.01877028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.1492541539999 meters Centerline goodness : 0.998827 Centerline is valid? [True, True] Translation: X:658.74, Y:8.37, Z:10.19 [[ 9.98346384e-01 -5.53559531e-02 -1.54988751e-02 6.58735879e+02] [ 5.53612765e-02 9.98466385e-01 -8.56926677e-05 8.37475889e+00] [ 1.54798494e-02 -7.72486543e-04 9.99879882e-01 1.01877551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.1792541539999 meters Centerline goodness : 0.998637 Centerline is valid? [True, True] Translation: X:658.77, Y:8.38, Z:10.19 [[ 9.98402781e-01 -5.43292803e-02 -1.54988795e-02 6.58767869e+02] [ 5.43344928e-02 9.98522787e-01 -8.48841650e-05 8.37717566e+00] [ 1.54805960e-02 -7.57375171e-04 9.99879882e-01 1.01879974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.209254154 meters Centerline goodness : 0.998949 Centerline is valid? [True, True] Translation: X:658.80, Y:8.38, Z:10.19 [[ 9.98482374e-01 -5.28463108e-02 -1.54988853e-02 6.58800102e+02] [ 5.28513616e-02 9.98602387e-01 -8.38165990e-05 8.37915704e+00] [ 1.54816532e-02 -7.35447793e-04 9.99879882e-01 1.01902799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.2392541539999 meters Centerline goodness : 0.998806 Centerline is valid? [True, True] Translation: X:658.83, Y:8.38, Z:10.19 [[ 9.98675069e-01 -4.90702743e-02 -1.54988913e-02 6.58831694e+02] [ 4.90748887e-02 9.98795098e-01 -8.26887787e-05 8.38230003e+00] [ 1.54842742e-02 -6.78027143e-04 9.99879882e-01 1.01890695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.2692541539999 meters Centerline goodness : 0.998929 Centerline is valid? [True, True] Translation: X:658.86, Y:8.38, Z:10.19 [[ 9.98774513e-01 -4.70027240e-02 -1.54989004e-02 6.58863880e+02] [ 4.70071171e-02 9.98894551e-01 -8.09385893e-05 8.38463731e+00] [ 1.54855715e-02 -6.47719227e-04 9.99879882e-01 1.01914275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.2992541539999 meters Centerline goodness : 0.998718 Centerline is valid? [True, True] Translation: X:658.90, Y:8.39, Z:10.19 [[ 9.98879873e-01 -4.47077586e-02 -1.54989061e-02 6.58896011e+02] [ 4.47118928e-02 9.98999920e-01 -7.98388667e-05 8.38723659e+00] [ 1.54869754e-02 -6.13235991e-04 9.99879882e-01 1.01935444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.329254154 meters Centerline goodness : 0.998885 Centerline is valid? [True, True] Translation: X:658.93, Y:8.39, Z:10.19 [[ 9.99111217e-01 -3.91989794e-02 -1.54989119e-02 6.58927553e+02] [ 3.92024693e-02 9.99231285e-01 -7.86989844e-05 8.39217532e+00] [ 1.54900826e-02 -5.28966579e-04 9.99879882e-01 1.01928307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.3592541539999 meters Centerline goodness : 0.998925 Centerline is valid? [True, True] Translation: X:658.96, Y:8.39, Z:10.20 [[ 9.99237583e-01 -3.58334497e-02 -1.54989161e-02 6.58959915e+02] [ 3.58365483e-02 9.99357662e-01 -7.78511559e-05 8.39440430e+00] [ 1.54917503e-02 -4.77635856e-04 9.99879882e-01 1.01958707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.3892541539999 meters Centerline goodness : 0.998861 Centerline is valid? [True, True] Translation: X:658.99, Y:8.40, Z:10.20 [[ 9.99472814e-01 -2.85285343e-02 -1.54989217e-02 6.58991575e+02] [ 2.85307724e-02 9.99592912e-01 -7.67286159e-05 8.39775724e+00] [ 1.54948012e-02 -3.65508042e-04 9.99879882e-01 1.01968070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.4192541539999 meters Centerline goodness : 0.999029 Centerline is valid? [True, True] Translation: X:659.02, Y:8.40, Z:10.20 [[ 9.99570175e-01 -2.48846941e-02 -1.54989259e-02 6.59022088e+02] [ 2.48865077e-02 9.99690280e-01 -7.58767675e-05 8.39986110e+00] [ 1.54960137e-02 -3.09869983e-04 9.99879882e-01 1.01950765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.449254154 meters Centerline goodness : 0.998940 Centerline is valid? [True, True] Translation: X:659.05, Y:8.40, Z:10.20 [[ 9.99672254e-01 -2.03756657e-02 -1.54989272e-02 6.59050921e+02] [ 2.03769418e-02 9.99792366e-01 -7.55968579e-05 8.40301424e+00] [ 1.54972495e-02 -2.40248656e-04 9.99879882e-01 1.01959652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.4792541539999 meters Centerline goodness : 0.998897 Centerline is valid? [True, True] Translation: X:659.08, Y:8.41, Z:10.20 [[ 9.99749093e-01 -1.61725543e-02 -1.54983979e-02 6.59080968e+02] [ 1.61717273e-02 9.99869213e-01 -1.78688779e-04 8.40647583e+00] [ 1.54992607e-02 -7.19919193e-05 9.99879877e-01 1.01991556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.5092541539999 meters Centerline goodness : 0.999067 Centerline is valid? [True, True] Translation: X:659.11, Y:8.41, Z:10.20 [[ 9.99770905e-01 -1.47621390e-02 -1.54989072e-02 6.59109161e+02] [ 1.47626746e-02 9.99891023e-01 -7.98576759e-05 8.40816320e+00] [ 1.54983970e-02 -1.48965942e-04 9.99879882e-01 1.01995284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.5392541539999 meters Centerline goodness : 0.998917 Centerline is valid? [True, True] Translation: X:659.14, Y:8.41, Z:10.20 [[ 9.99784337e-01 -1.38225792e-02 -1.54988832e-02 6.59136657e+02] [ 1.38229336e-02 9.99904455e-01 -8.42686866e-05 8.40922208e+00] [ 1.54985671e-02 -1.29989519e-04 9.99879882e-01 1.01991523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.569254154 meters Centerline goodness : 0.999001 Centerline is valid? [True, True] Translation: X:659.16, Y:8.41, Z:10.20 [[ 9.99771214e-01 -1.47412970e-02 -1.54988578e-02 6.59164407e+02] [ 1.47416929e-02 9.99891331e-01 -8.87076373e-05 8.40939522e+00] [ 1.54984812e-02 -1.39792059e-04 9.99879882e-01 1.01995100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.5992541539999 meters Centerline goodness : 0.999024 Centerline is valid? [True, True] Translation: X:659.19, Y:8.41, Z:10.20 [[ 9.99755447e-01 -1.57744010e-02 -1.54988312e-02 6.59191023e+02] [ 1.57748524e-02 9.99875565e-01 -9.31366877e-05 8.40931738e+00] [ 1.54983717e-02 -1.51377863e-04 9.99879882e-01 1.01992972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.6292541539999 meters Centerline goodness : 0.999108 Centerline is valid? [True, True] Translation: X:659.22, Y:8.41, Z:10.20 [[ 9.99698429e-01 -1.90483024e-02 -1.54988194e-02 6.59219123e+02] [ 1.90491173e-02 9.99818545e-01 -9.50609947e-05 8.40976980e+00] [ 1.54978178e-02 -2.00206501e-04 9.99879882e-01 1.01994654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.6592541539999 meters Centerline goodness : 0.999044 Centerline is valid? [True, True] Translation: X:659.25, Y:8.41, Z:10.20 [[ 9.99656306e-01 -2.11436996e-02 -1.54988109e-02 6.59247458e+02] [ 2.11447452e-02 9.99776420e-01 -9.64170725e-05 8.40984694e+00] [ 1.54973843e-02 -2.31334473e-04 9.99879882e-01 1.01998972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.6892541539999 meters Centerline goodness : 0.998981 Centerline is valid? [True, True] Translation: X:659.28, Y:8.41, Z:10.20 [[ 9.99563651e-01 -2.51455005e-02 -1.54987864e-02 6.59276913e+02] [ 2.51469682e-02 9.99683760e-01 -1.00211719e-04 8.40929908e+00] [ 1.54964049e-02 -2.89579497e-04 9.99879882e-01 1.02000389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.7192541539999 meters Centerline goodness : 0.999044 Centerline is valid? [True, True] Translation: X:659.31, Y:8.41, Z:10.20 [[ 9.99507917e-01 -2.72710605e-02 -1.54987828e-02 6.59307415e+02] [ 2.72727752e-02 9.99628024e-01 -1.00754812e-04 8.40917807e+00] [ 1.54957654e-02 -3.21989588e-04 9.99879882e-01 1.02009158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.7492541539999 meters Centerline goodness : 0.998938 Centerline is valid? [True, True] Translation: X:659.34, Y:8.41, Z:10.20 [[ 9.99458777e-01 -2.90162257e-02 -1.54987828e-02 6.59337575e+02] [ 2.90181501e-02 9.99578880e-01 -1.00754812e-04 8.40877767e+00] [ 1.54951795e-02 -3.49045726e-04 9.99879882e-01 1.02005481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.7792541539999 meters Centerline goodness : 0.999002 Centerline is valid? [True, True] Translation: X:659.37, Y:8.41, Z:10.20 [[ 9.99405511e-01 -3.07962992e-02 -1.54987847e-02 6.59369160e+02] [ 3.07984419e-02 9.99525610e-01 -1.00475794e-04 8.40854091e+00] [ 1.54945265e-02 -3.76922356e-04 9.99879882e-01 1.02015944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.8092541539999 meters Centerline goodness : 0.998981 Centerline is valid? [True, True] Translation: X:659.40, Y:8.41, Z:10.20 [[ 9.99321786e-01 -3.34029176e-02 -1.54987883e-02 6.59400987e+02] [ 3.34053822e-02 9.99441880e-01 -9.99109176e-05 8.40761842e+00] [ 1.54934754e-02 -4.17899790e-04 9.99879882e-01 1.02017946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.839254154 meters Centerline goodness : 0.999003 Centerline is valid? [True, True] Translation: X:659.43, Y:8.41, Z:10.20 [[ 9.99301201e-01 -3.40131787e-02 -1.54987955e-02 6.59431951e+02] [ 3.40157342e-02 9.99421293e-01 -9.87777722e-05 8.40770270e+00] [ 1.54931860e-02 -4.28494163e-04 9.99879882e-01 1.02022491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.8692541539999 meters Centerline goodness : 0.998897 Centerline is valid? [True, True] Translation: X:659.46, Y:8.41, Z:10.20 [[ 9.99300870e-01 -3.40229018e-02 -1.54988009e-02 6.59462680e+02] [ 3.40254716e-02 9.99420961e-01 -9.79323053e-05 8.40715223e+00] [ 1.54931584e-02 -4.29490171e-04 9.99879882e-01 1.02030988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.8992541539999 meters Centerline goodness : 0.998769 Centerline is valid? [True, True] Translation: X:659.49, Y:8.41, Z:10.20 [[ 9.99308084e-01 -3.38103546e-02 -1.54988127e-02 6.59494305e+02] [ 3.38129286e-02 9.99428175e-01 -9.60153476e-05 8.40684536e+00] [ 1.54931964e-02 -4.28111335e-04 9.99879882e-01 1.02034057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.9292541539999 meters Centerline goodness : 0.998960 Centerline is valid? [True, True] Translation: X:659.53, Y:8.41, Z:10.20 [[ 9.99336862e-01 -3.29487902e-02 -1.54988161e-02 6.59525277e+02] [ 3.29512690e-02 9.99456955e-01 -9.54731155e-05 8.40691446e+00] [ 1.54935452e-02 -4.15295855e-04 9.99879882e-01 1.02042310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.959254154 meters Centerline goodness : 0.998812 Centerline is valid? [True, True] Translation: X:659.57, Y:8.40, Z:10.20 [[ 9.99649600e-01 -2.14584113e-02 -1.54988195e-02 6.59567520e+02] [ 2.14595179e-02 9.99769714e-01 -9.49215288e-05 8.39631980e+00] [ 1.54972872e-02 -2.37708926e-04 9.99879882e-01 1.01980088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.9892541539999 meters Centerline goodness : 0.999025 Centerline is valid? [True, True] Translation: X:659.58, Y:8.41, Z:10.20 [[ 9.99456428e-01 -2.90952822e-02 -1.55020142e-02 6.59582680e+02] [ 2.91066067e-02 9.99576185e-01 5.05355900e-04 8.40800309e+00] [ 1.54807408e-02 -9.56292235e-04 9.99879709e-01 1.02046953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.0192541539999 meters Centerline goodness : 0.999192 Centerline is valid? [True, True] Translation: X:659.61, Y:8.41, Z:10.20 [[ 9.99577845e-01 -2.45753028e-02 -1.54979602e-02 6.59613172e+02] [ 2.45766539e-02 9.99697943e-01 -1.03298861e-04 8.40909387e+00] [ 1.54958176e-02 -2.77632752e-04 9.99879894e-01 1.02049554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.0492541539999 meters Centerline goodness : 0.998811 Centerline is valid? [True, True] Translation: X:659.64, Y:8.41, Z:10.21 [[ 9.99635526e-01 -2.21049207e-02 -1.54979602e-02 6.59643666e+02] [ 2.21059750e-02 9.99755628e-01 -1.03298861e-04 8.40965842e+00] [ 1.54964564e-02 -2.39336310e-04 9.99879894e-01 1.02054893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.079254154 meters Centerline goodness : 0.998957 Centerline is valid? [True, True] Translation: X:659.67, Y:8.41, Z:10.21 [[ 9.99727170e-01 -1.74756924e-02 -1.54979602e-02 6.59673077e+02] [ 1.74761905e-02 9.99847274e-01 -1.03298861e-04 8.41066053e+00] [ 1.54973985e-02 -1.67574627e-04 9.99879894e-01 1.02064184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.1092541539999 meters Centerline goodness : 0.998978 Centerline is valid? [True, True] Translation: X:659.70, Y:8.41, Z:10.21 [[ 9.99761864e-01 -1.53632561e-02 -1.54979565e-02 6.59701938e+02] [ 1.53634917e-02 9.99881969e-01 -1.03863369e-04 8.41098336e+00] [ 1.54977229e-02 -1.34264090e-04 9.99879894e-01 1.02072084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.1392541539999 meters Centerline goodness : 0.998764 Centerline is valid? [True, True] Translation: X:659.73, Y:8.41, Z:10.21 [[ 9.99818238e-01 -1.11043230e-02 -1.54979287e-02 6.59729305e+02] [ 1.11039851e-02 9.99938343e-01 -1.07853258e-04 8.41142145e+00] [ 1.54981708e-02 -6.42551147e-05 9.99879894e-01 1.02071876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.1692541539999 meters Centerline goodness : 0.998975 Centerline is valid? [True, True] Translation: X:659.76, Y:8.41, Z:10.21 [[ 9.99835121e-01 -9.46280877e-03 -1.54979187e-02 6.59757066e+02] [ 9.46225183e-03 9.99955226e-01 -1.09264697e-04 8.41157591e+00] [ 1.54982588e-02 -3.73985287e-05 9.99879894e-01 1.02075496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.199254154 meters Centerline goodness : 0.998889 Centerline is valid? [True, True] Translation: X:659.78, Y:8.41, Z:10.21 [[ 9.99847243e-01 -8.08117517e-03 -1.54978860e-02 6.59784764e+02] [ 8.08038318e-03 9.99967347e-01 -1.13721652e-04 8.41148668e+00] [ 1.54982990e-02 -1.15245769e-05 9.99879894e-01 1.02072449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.2292541539999 meters Centerline goodness : 0.998867 Centerline is valid? [True, True] Translation: X:659.81, Y:8.41, Z:10.21 [[ 9.99861248e-01 -6.10738616e-03 -1.54978758e-02 6.59812979e+02] [ 6.10633572e-03 9.99981350e-01 -1.15099755e-04 8.41014561e+00] [ 1.54982897e-02 2.04485521e-05 9.99879894e-01 1.02074317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.2592541539999 meters Centerline goodness : 0.998846 Centerline is valid? [True, True] Translation: X:659.84, Y:8.41, Z:10.21 [[ 9.99860321e-01 -6.25740752e-03 -1.54978416e-02 6.59841145e+02] [ 6.25630636e-03 9.99980422e-01 -1.19534573e-04 8.40976469e+00] [ 1.54982862e-02 2.25586318e-05 9.99879894e-01 1.02079327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.2892541539999 meters Centerline goodness : 0.998932 Centerline is valid? [True, True] Translation: X:659.87, Y:8.41, Z:10.21 [[ 9.99860232e-01 -6.27167513e-03 -1.54978063e-02 6.59869364e+02] [ 6.27050722e-03 9.99980333e-01 -1.23951279e-04 8.40870176e+00] [ 1.54982788e-02 2.67548482e-05 9.99879894e-01 1.02086782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.319254154 meters Centerline goodness : 0.998810 Centerline is valid? [True, True] Translation: X:659.90, Y:8.41, Z:10.21 [[ 9.99854943e-01 -7.06480737e-03 -1.54977696e-02 6.59896868e+02] [ 7.06366616e-03 9.99975044e-01 -1.28375096e-04 8.40694308e+00] [ 1.54982898e-02 1.88854038e-05 9.99879894e-01 1.02087922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.3492541539999 meters Centerline goodness : 0.999000 Centerline is valid? [True, True] Translation: X:659.92, Y:8.41, Z:10.21 [[ 9.99849689e-01 -7.77297589e-03 -1.54977582e-02 6.59924840e+02] [ 7.77189854e-03 9.99969790e-01 -1.29743321e-04 8.40567759e+00] [ 1.54982985e-02 9.27681470e-06 9.99879894e-01 1.02093652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.3792541539999 meters Centerline goodness : 0.998876 Centerline is valid? [True, True] Translation: X:659.95, Y:8.40, Z:10.21 [[ 9.99840732e-01 -8.85054706e-03 -1.54977206e-02 6.59952330e+02] [ 8.84953180e-03 9.99960833e-01 -1.34087980e-04 8.40337588e+00] [ 1.54983003e-02 -3.08094747e-06 9.99879894e-01 1.02112458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.4092541539999 meters Centerline goodness : 0.998981 Centerline is valid? [True, True] Translation: X:659.98, Y:8.40, Z:10.21 [[ 9.99827451e-01 -1.02424106e-02 -1.54971625e-02 6.59980740e+02] [ 1.02406045e-02 9.99947544e-01 -1.95898350e-04 8.40180423e+00] [ 1.54983560e-02 3.71642368e-05 9.99879893e-01 1.02110272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.4392541539999 meters Centerline goodness : 0.999002 Centerline is valid? [True, True] Translation: X:660.01, Y:8.40, Z:10.21 [[ 9.99813047e-01 -1.15625995e-02 -1.54976694e-02 6.60008256e+02] [ 1.15618240e-02 9.99933150e-01 -1.39642069e-04 8.40067482e+00] [ 1.54982480e-02 -3.95653630e-05 9.99879894e-01 1.02134104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.4692541539999 meters Centerline goodness : 0.998919 Centerline is valid? [True, True] Translation: X:660.04, Y:8.40, Z:10.21 [[ 9.99781932e-01 -1.39968254e-02 -1.54976274e-02 6.60036008e+02] [ 1.39962723e-02 9.99902037e-01 -1.44157015e-04 8.39800891e+00] [ 1.54981269e-02 -7.27834340e-05 9.99879894e-01 1.02141563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.4992541539999 meters Centerline goodness : 0.998836 Centerline is valid? [True, True] Translation: X:660.06, Y:8.40, Z:10.22 [[ 9.99757520e-01 -1.56437170e-02 -1.54975841e-02 6.60063966e+02] [ 1.56432917e-02 9.99877625e-01 -1.48673100e-04 8.39694768e+00] [ 1.54980133e-02 -9.37961784e-05 9.99879894e-01 1.02152457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.5292541539999 meters Centerline goodness : 0.998943 Centerline is valid? [True, True] Translation: X:660.09, Y:8.39, Z:10.22 [[ 9.99706107e-01 -1.86420690e-02 -1.54975392e-02 6.60091899e+02] [ 1.86419335e-02 9.99826212e-01 -1.53214445e-04 8.39433593e+00] [ 1.54977021e-02 -1.35734679e-04 9.99879894e-01 1.02155724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.5592541539999 meters Centerline goodness : 0.999134 Centerline is valid? [True, True] Translation: X:660.12, Y:8.39, Z:10.22 [[ 9.99675751e-01 -2.02044609e-02 -1.54974928e-02 6.60120714e+02] [ 2.02044426e-02 9.99795857e-01 -1.57763841e-04 8.39293242e+00] [ 1.54975167e-02 -1.55405519e-04 9.99879894e-01 1.02160309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.589254154 meters Centerline goodness : 0.998861 Centerline is valid? [True, True] Translation: X:660.15, Y:8.39, Z:10.22 [[ 9.99639433e-01 -2.19279237e-02 -1.54974510e-02 6.60149776e+02] [ 2.19280503e-02 9.99759538e-01 -1.61770492e-04 8.39140677e+00] [ 1.54972718e-02 -1.78116723e-04 9.99879894e-01 1.02160584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.6192541539999 meters Centerline goodness : 0.999138 Centerline is valid? [True, True] Translation: X:660.18, Y:8.39, Z:10.22 [[ 9.99573229e-01 -2.47626626e-02 -1.54974084e-02 6.60178882e+02] [ 2.47630681e-02 9.99693334e-01 -1.65757430e-04 8.38891668e+00] [ 1.54967605e-02 -2.18076690e-04 9.99879894e-01 1.02173372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.6492541539999 meters Centerline goodness : 0.999137 Centerline is valid? [True, True] Translation: X:660.22, Y:8.37, Z:10.21 [[ 9.99762511e-01 -1.53216824e-02 -1.54973650e-02 6.60221159e+02] [ 1.53208922e-02 9.99882614e-01 -1.69715654e-04 8.37497966e+00] [ 1.54981462e-02 -6.77581110e-05 9.99879894e-01 1.02087587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.6792541539999 meters Centerline goodness : 0.999137 Centerline is valid? [True, True] Translation: X:660.24, Y:8.38, Z:10.22 [[ 9.99478305e-01 -2.83331556e-02 -1.55032255e-02 6.60237288e+02] [ 2.83428745e-02 9.99598177e-01 4.07496029e-04 8.38346187e+00] [ 1.54854503e-02 -8.46689414e-04 9.99879735e-01 1.02185787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.709254154 meters Centerline goodness : 0.999035 Centerline is valid? [True, True] Translation: X:660.27, Y:8.38, Z:10.22 [[ 9.99574167e-01 -2.47253299e-02 -1.54965597e-02 6.60269821e+02] [ 2.47255589e-02 9.99694261e-01 -1.76844938e-04 8.37756873e+00] [ 1.54961943e-02 -2.06391467e-04 9.99879905e-01 1.02175788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.7392541539999 meters Centerline goodness : 0.999076 Centerline is valid? [True, True] Translation: X:660.30, Y:8.38, Z:10.22 [[ 9.99522492e-01 -2.67318431e-02 -1.54983079e-02 6.60298459e+02] [ 2.67348385e-02 9.99642560e-01 -1.39160493e-05 8.37732570e+00] [ 1.54931402e-02 -4.00435353e-04 9.99879894e-01 1.02165998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.7692541539999 meters Centerline goodness : 0.999076 Centerline is valid? [True, True] Translation: X:660.33, Y:8.38, Z:10.22 [[ 9.99518161e-01 -2.68939624e-02 -1.54971398e-02 6.60328569e+02] [ 2.68953289e-02 9.99638248e-01 -1.20262309e-04 8.37779045e+00] [ 1.54947681e-02 -2.96596311e-04 9.99879905e-01 1.02170955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.7992541539999 meters Centerline goodness : 0.999055 Centerline is valid? [True, True] Translation: X:660.36, Y:8.38, Z:10.22 [[ 9.99482747e-01 -2.81793635e-02 -1.54971277e-02 6.60357505e+02] [ 2.81808676e-02 9.99602833e-01 -1.21354818e-04 8.37517389e+00] [ 1.54943925e-02 -3.15430457e-04 9.99879905e-01 1.02201137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.829254154 meters Centerline goodness : 0.999309 Centerline is valid? [True, True] Translation: X:660.39, Y:8.37, Z:10.22 [[ 9.99517123e-01 -2.69328456e-02 -1.54965268e-02 6.60387344e+02] [ 2.69333736e-02 9.99637216e-01 -1.74665995e-04 8.37337331e+00] [ 1.54956092e-02 -2.42792093e-04 9.99879906e-01 1.02193672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.8592541539999 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:660.42, Y:8.37, Z:10.22 [[ 9.99547990e-01 -2.57622539e-02 -1.54958873e-02 6.60417043e+02] [ 2.57617699e-02 9.99668084e-01 -2.30881775e-04 8.37017868e+00] [ 1.54966920e-02 -1.68424069e-04 9.99879905e-01 1.02214377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.8892541539999 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:660.45, Y:8.37, Z:10.22 [[ 9.99568156e-01 -2.49671642e-02 -1.54965160e-02 6.60446473e+02] [ 2.49674460e-02 9.99688249e-01 -1.75312694e-04 8.36875834e+00] [ 1.54960620e-02 -2.11671440e-04 9.99879906e-01 1.02227939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.9192541539999 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:660.48, Y:8.37, Z:10.22 [[ 9.99591350e-01 -2.40206616e-02 -1.54965095e-02 6.60475081e+02] [ 2.40208208e-02 9.99711443e-01 -1.75885921e-04 8.36706837e+00] [ 1.54962628e-02 -1.96424831e-04 9.99879906e-01 1.02218259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.949254154 meters Centerline goodness : 0.999309 Centerline is valid? [True, True] Translation: X:660.50, Y:8.36, Z:10.22 [[ 9.99599460e-01 -2.36807607e-02 -1.54964998e-02 6.60503567e+02] [ 2.36808658e-02 9.99719553e-01 -1.76738241e-04 8.36448558e+00] [ 1.54963391e-02 -1.90303081e-04 9.99879906e-01 1.02220153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.9792541539999 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:660.53, Y:8.36, Z:10.22 [[ 9.99592595e-01 -2.39688253e-02 -1.54964541e-02 6.60532608e+02] [ 2.39689044e-02 9.99712688e-01 -1.80651698e-04 8.36318687e+00] [ 1.54963318e-02 -1.90854929e-04 9.99879906e-01 1.02221640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.0092541539999 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:660.56, Y:8.36, Z:10.22 [[ 9.99550121e-01 -2.56791073e-02 -1.54964071e-02 6.60561268e+02] [ 2.56793307e-02 9.99670215e-01 -1.84596860e-04 8.36018585e+00] [ 1.54960369e-02 -2.13423551e-04 9.99879906e-01 1.02218587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.0392541539999 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:660.59, Y:8.36, Z:10.22 [[ 9.99524300e-01 -2.66652660e-02 -1.54963593e-02 6.60590813e+02] [ 2.66655470e-02 9.99644393e-01 -1.88528339e-04 8.35884441e+00] [ 1.54958759e-02 -2.24780241e-04 9.99879906e-01 1.02223929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.069254154 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:660.62, Y:8.36, Z:10.22 [[ 9.99472254e-01 -2.85495405e-02 -1.54963523e-02 6.60619291e+02] [ 2.85500390e-02 9.99592347e-01 -1.89099638e-04 8.35839475e+00] [ 1.54954339e-02 -2.53421623e-04 9.99879906e-01 1.02225547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.0992541539999 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:660.65, Y:8.36, Z:10.23 [[ 9.99352424e-01 -3.24745526e-02 -1.54963419e-02 6.60649295e+02] [ 3.24755095e-02 9.99472514e-01 -1.89948749e-04 8.35692971e+00] [ 1.54943363e-02 -3.13425858e-04 9.99879906e-01 1.02253734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.1292541539999 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:660.68, Y:8.36, Z:10.23 [[ 9.99323780e-01 -3.33443538e-02 -1.54963349e-02 6.60677585e+02] [ 3.33454065e-02 9.99443869e-01 -1.90518749e-04 8.35642895e+00] [ 1.54940697e-02 -3.26341671e-04 9.99879906e-01 1.02265010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.1592541539999 meters Centerline goodness : 0.999041 Centerline is valid? [True, True] Translation: X:660.71, Y:8.36, Z:10.23 [[ 9.99213062e-01 -3.65123879e-02 -1.54952649e-02 6.60708718e+02] [ 3.65124945e-02 9.99333158e-01 -2.76115804e-04 8.35585133e+00] [ 1.54950136e-02 -2.89872256e-04 9.99879903e-01 1.02273333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.1892541539999 meters Centerline goodness : 0.999021 Centerline is valid? [True, True] Translation: X:660.74, Y:8.35, Z:10.23 [[ 9.99037184e-01 -4.10435163e-02 -1.54963065e-02 6.60740476e+02] [ 4.10454700e-02 9.99157261e-01 -1.92085245e-04 8.35467122e+00] [ 1.54911311e-02 -4.44152883e-04 9.99879907e-01 1.02281545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.2192541539999 meters Centerline goodness : 0.998976 Centerline is valid? [True, True] Translation: X:660.77, Y:8.35, Z:10.23 [[ 9.98927438e-01 -4.36330025e-02 -1.54963137e-02 6.60771332e+02] [ 4.36352763e-02 9.99047509e-01 -1.91509486e-04 8.35435023e+00] [ 1.54899097e-02 -4.84881849e-04 9.99879907e-01 1.02285840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.2492541539999 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:660.80, Y:8.35, Z:10.23 [[ 9.98654606e-01 -4.94857761e-02 -1.54963207e-02 6.60803820e+02] [ 4.94887624e-02 9.98774662e-01 -1.90935165e-04 8.35335537e+00] [ 1.54867811e-02 -5.76215454e-04 9.99879907e-01 1.02295438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.2792541539999 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:660.85, Y:8.34, Z:10.22 [[ 9.98980280e-01 -4.24059526e-02 -1.54963348e-02 6.60846463e+02] [ 4.24081056e-02 9.99100354e-01 -1.89790025e-04 8.34184080e+00] [ 1.54904418e-02 -4.67573709e-04 9.99879907e-01 1.02240432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.3092541539999 meters Centerline goodness : 0.998996 Centerline is valid? [True, True] Translation: X:660.86, Y:8.35, Z:10.23 [[ 9.98037982e-01 -6.06617044e-02 -1.55030202e-02 6.60863570e+02] [ 6.06751305e-02 9.98157488e-01 3.96718013e-04 8.35102967e+00] [ 1.54503901e-02 -1.33658742e-03 9.99879742e-01 1.02297132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.339254154 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:660.90, Y:8.35, Z:10.23 [[ 9.97827816e-01 -6.40276582e-02 -1.54954534e-02 6.60896170e+02] [ 6.40322920e-02 9.97947808e-01 -1.97418274e-04 8.35006395e+00] [ 1.54762940e-02 -7.95219954e-04 9.99879919e-01 1.02292832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.3692541539999 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:660.93, Y:8.35, Z:10.23 [[ 9.97566005e-01 -6.79849740e-02 -1.54954678e-02 6.60927381e+02] [ 6.79901011e-02 9.97685976e-01 -1.96287560e-04 8.35041979e+00] [ 1.54729555e-02 -8.57728623e-04 9.99879919e-01 1.02305881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.3992541539999 meters Centerline goodness : 0.999146 Centerline is valid? [True, True] Translation: X:660.96, Y:8.35, Z:10.23 [[ 9.97124297e-01 -7.41823847e-02 -1.54954912e-02 6.60959754e+02] [ 7.41882862e-02 9.97244233e-01 -1.94417007e-04 8.35089925e+00] [ 1.54672116e-02 -9.55726017e-04 9.99879919e-01 1.02310941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.4292541539999 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:660.99, Y:8.35, Z:10.23 [[ 9.96948138e-01 -7.65133923e-02 -1.54955053e-02 6.60991784e+02] [ 7.65195917e-02 9.97068059e-01 -1.93290394e-04 8.35160079e+00] [ 1.54648627e-02 -9.93009238e-04 9.99879919e-01 1.02311000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.459254154 meters Centerline goodness : 0.999084 Centerline is valid? [True, True] Translation: X:661.02, Y:8.35, Z:10.23 [[ 9.96761010e-01 -7.89137405e-02 -1.54955227e-02 6.61022710e+02] [ 7.89202504e-02 9.96880914e-01 -1.91884325e-04 8.35265288e+00] [ 1.54623331e-02 -1.03164772e-03 9.99879919e-01 1.02306035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.4892541539999 meters Centerline goodness : 0.998875 Centerline is valid? [True, True] Translation: X:661.07, Y:8.34, Z:10.23 [[ 9.97509299e-01 -6.88119748e-02 -1.54955328e-02 6.61065249e+02] [ 6.88172823e-02 9.97629262e-01 -1.91065204e-04 8.34160904e+00] [ 1.54719445e-02 -8.75771136e-04 9.99879919e-01 1.02250332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.5192541539999 meters Centerline goodness : 0.998833 Centerline is valid? [True, True] Translation: X:661.09, Y:8.35, Z:10.23 [[ 9.97380941e-01 -7.06466407e-02 -1.55019903e-02 6.61092311e+02] [ 7.06611086e-02 9.97500305e-01 3.86875452e-04 8.34676928e+00] [ 1.54359086e-02 -1.48125002e-03 9.99879762e-01 1.02253939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.5492541539999 meters Centerline goodness : 0.998729 Centerline is valid? [True, True] Translation: X:661.13, Y:8.35, Z:10.23 [[ 9.97454481e-01 -6.96011277e-02 -1.54996926e-02 6.61125096e+02] [ 6.96126868e-02 9.97574073e-01 2.06841680e-04 8.34769008e+00] [ 1.54476950e-02 -1.28529040e-03 9.99879851e-01 1.02257979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.579254154 meters Centerline goodness : 0.999147 Centerline is valid? [True, True] Translation: X:661.14, Y:8.36, Z:10.23 [[ 9.96799359e-01 -7.84268266e-02 -1.55006710e-02 6.61143989e+02] [ 7.84406128e-02 9.96918748e-01 2.82489964e-04 8.36152083e+00] [ 1.54307547e-02 -1.49746794e-03 9.99879817e-01 1.02323492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.6092541539999 meters Centerline goodness : 0.998915 Centerline is valid? [True, True] Translation: X:661.18, Y:8.36, Z:10.23 [[ 9.97532662e-01 -6.84728757e-02 -1.54936858e-02 6.61183810e+02] [ 6.84777424e-02 9.97652621e-01 -2.16813465e-04 8.35783343e+00] [ 1.54721621e-02 -8.44694112e-04 9.99879942e-01 1.02277244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.6392541539999 meters Centerline goodness : 0.999021 Centerline is valid? [True, True] Translation: X:661.22, Y:8.36, Z:10.23 [[ 9.97619772e-01 -6.71904558e-02 -1.54994823e-02 6.61215080e+02] [ 6.72019590e-02 9.97739369e-01 2.21940904e-04 8.36002099e+00] [ 1.54495314e-02 -1.26300821e-03 9.99879851e-01 1.02280041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.6692541539999 meters Centerline goodness : 0.998810 Centerline is valid? [True, True] Translation: X:661.25, Y:8.36, Z:10.23 [[ 9.97938803e-01 -6.22728960e-02 -1.54993904e-02 6.61247782e+02] [ 6.22837029e-02 9.98058462e-01 2.15052728e-04 8.36207629e+00] [ 1.54559058e-02 -1.17996889e-03 9.99879854e-01 1.02280989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.699254154 meters Centerline goodness : 0.998936 Centerline is valid? [True, True] Translation: X:661.26, Y:8.38, Z:10.24 [[ 9.97348055e-01 -7.11095891e-02 -1.55011066e-02 6.61264246e+02] [ 7.11234816e-02 9.97467458e-01 3.46095195e-04 8.37650340e+00] [ 1.54372387e-02 -1.44767004e-03 9.99879791e-01 1.02362764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.7292541539999 meters Centerline goodness : 0.998896 Centerline is valid? [True, True] Translation: X:661.30, Y:8.38, Z:10.24 [[ 9.97461216e-01 -6.95060650e-02 -1.54929035e-02 6.61295883e+02] [ 6.95109553e-02 9.97581163e-01 -2.23278139e-04 8.37912874e+00] [ 1.54709479e-02 -8.54215241e-04 9.99879953e-01 1.02369080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.7592541539999 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:661.33, Y:8.38, Z:10.24 [[ 9.97737368e-01 -6.54225753e-02 -1.54929243e-02 6.61328353e+02] [ 6.54269970e-02 9.97857334e-01 -2.21828084e-04 8.38418482e+00] [ 1.54742407e-02 -7.92329343e-04 9.99879953e-01 1.02387951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.7892541539999 meters Centerline goodness : 0.998916 Centerline is valid? [True, True] Translation: X:661.36, Y:8.39, Z:10.24 [[ 9.97910119e-01 -6.27324688e-02 -1.54929487e-02 6.61361130e+02] [ 6.27365936e-02 9.98030095e-01 -2.20113593e-04 8.38676689e+00] [ 1.54762373e-02 -7.52321242e-04 9.99879953e-01 1.02397364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.819254154 meters Centerline goodness : 0.998998 Centerline is valid? [True, True] Translation: X:661.39, Y:8.39, Z:10.24 [[ 9.98084939e-01 -5.98867493e-02 -1.54929728e-02 6.61393374e+02] [ 5.98905585e-02 9.98204926e-01 -2.18400980e-04 8.38904754e+00] [ 1.54782411e-02 -7.09900065e-04 9.99879953e-01 1.02403939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.8492541539999 meters Centerline goodness : 0.998787 Centerline is valid? [True, True] Translation: X:661.43, Y:8.38, Z:10.23 [[ 9.98877583e-01 -4.47609406e-02 -1.54929926e-02 6.61434297e+02] [ 4.47629538e-02 9.98997613e-01 -2.16985328e-04 8.38231575e+00] [ 1.54871751e-02 -4.76770333e-04 9.99879953e-01 1.02346098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.8792541539999 meters Centerline goodness : 0.998954 Centerline is valid? [True, True] Translation: X:661.45, Y:8.40, Z:10.24 [[ 9.98558361e-01 -5.13901482e-02 -1.55000626e-02 6.61453127e+02] [ 5.14011637e-02 9.98678037e-01 3.12861748e-04 8.39529072e+00] [ 1.54634941e-02 -1.10913197e-03 9.99879818e-01 1.02414526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.9092541539999 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:661.49, Y:8.40, Z:10.24 [[ 9.98852041e-01 -4.53275520e-02 -1.54923309e-02 6.61485548e+02] [ 4.53295333e-02 9.98972063e-01 -2.23421131e-04 8.39965087e+00] [ 1.54865329e-02 -4.79095477e-04 9.99879962e-01 1.02420763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.9392541539999 meters Centerline goodness : 0.997457 Centerline is valid? [True, True] Translation: X:661.52, Y:8.40, Z:10.24 [[ 9.99001998e-01 -4.18926704e-02 -1.54923472e-02 6.61515769e+02] [ 4.18942566e-02 9.99122026e-01 -2.22285899e-04 8.40246851e+00] [ 1.54880575e-02 -4.26976312e-04 9.99879962e-01 1.02390588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.9692541539999 meters Centerline goodness : 0.998908 Centerline is valid? [True, True] Translation: X:661.55, Y:8.40, Z:10.24 [[ 9.99073784e-01 -4.01447374e-02 -1.54910983e-02 6.61547820e+02] [ 4.01447763e-02 9.99193826e-01 -3.08577218e-04 8.40391065e+00] [ 1.54909975e-02 -3.13595267e-04 9.99879958e-01 1.02423430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.9992541539999 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:661.58, Y:8.41, Z:10.24 [[ 9.99214441e-01 -3.64758462e-02 -1.54923544e-02 6.61580104e+02] [ 3.64768138e-02 9.99334475e-01 -2.20208890e-04 8.40648478e+00] [ 1.54900762e-02 -3.45075825e-04 9.99879962e-01 1.02429779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.0292541539999 meters Centerline goodness : 0.998887 Centerline is valid? [True, True] Translation: X:661.61, Y:8.41, Z:10.24 [[ 9.99260403e-01 -3.51942117e-02 -1.54923705e-02 6.61610952e+02] [ 3.51950429e-02 9.99380439e-01 -2.19071450e-04 8.40789742e+00] [ 1.54904821e-02 -3.26345220e-04 9.99879962e-01 1.02426383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.0592541539999 meters Centerline goodness : 0.998759 Centerline is valid? [True, True] Translation: X:661.65, Y:8.40, Z:10.24 [[ 9.99516645e-01 -2.69529721e-02 -1.54923968e-02 6.61649938e+02] [ 2.69528424e-02 9.99636683e-01 -2.17198911e-04 8.40030935e+00] [ 1.54926223e-02 -2.00470203e-04 9.99879962e-01 1.02373028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.089254154 meters Centerline goodness : 0.998736 Centerline is valid? [True, True] Translation: X:661.67, Y:8.41, Z:10.24 [[ 9.99246970e-01 -3.55708443e-02 -1.54986776e-02 6.61669112e+02] [ 3.55789224e-02 9.99366840e-01 2.45704570e-04 8.41107716e+00] [ 1.54801245e-02 -7.96945794e-04 9.99879858e-01 1.02447911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.1192541539999 meters Centerline goodness : 0.998800 Centerline is valid? [True, True] Translation: X:661.70, Y:8.41, Z:10.24 [[ 9.99230200e-01 -3.60418123e-02 -1.54917883e-02 6.61700757e+02] [ 3.60426345e-02 9.99350228e-01 -2.26213135e-04 8.41202204e+00] [ 1.54898753e-02 -3.32325868e-04 9.99879969e-01 1.02443413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.1492541539999 meters Centerline goodness : 0.999034 Centerline is valid? [True, True] Translation: X:661.73, Y:8.41, Z:10.25 [[ 9.99131712e-01 -3.86759008e-02 -1.54918007e-02 6.61732433e+02] [ 3.86770527e-02 9.99251737e-01 -2.25358554e-04 8.41448630e+00] [ 1.54889247e-02 -3.74014316e-04 9.99879969e-01 1.02462024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.1792541539999 meters Centerline goodness : 0.998843 Centerline is valid? [True, True] Translation: X:661.76, Y:8.42, Z:10.25 [[ 9.99062894e-01 -4.04145681e-02 -1.54918088e-02 6.61764644e+02] [ 4.04159375e-02 9.99182917e-01 -2.24801155e-04 8.41510559e+00] [ 1.54882360e-02 -4.01525485e-04 9.99879969e-01 1.02465751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.209254154 meters Centerline goodness : 0.999011 Centerline is valid? [True, True] Translation: X:661.80, Y:8.42, Z:10.25 [[ 9.98986755e-01 -4.22547934e-02 -1.54918254e-02 6.61795461e+02] [ 4.22564017e-02 9.99106774e-01 -2.23652610e-04 8.41524108e+00] [ 1.54874381e-02 -4.31202803e-04 9.99879969e-01 1.02466094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.2392541539999 meters Centerline goodness : 0.998715 Centerline is valid? [True, True] Translation: X:661.83, Y:8.41, Z:10.25 [[ 9.98756907e-01 -4.73776744e-02 -1.54918377e-02 6.61827709e+02] [ 4.73799114e-02 9.98876917e-01 -2.22796358e-04 8.41468157e+00] [ 1.54849947e-02 -5.11482498e-04 9.99879969e-01 1.02463872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.2692541539999 meters Centerline goodness : 0.998946 Centerline is valid? [True, True] Translation: X:661.86, Y:8.41, Z:10.25 [[ 9.98613872e-01 -5.03024475e-02 -1.54918541e-02 6.61859008e+02] [ 5.03050537e-02 9.98733875e-01 -2.21651550e-04 8.41454806e+00] [ 1.54833891e-02 -5.57974240e-04 9.99879969e-01 1.02463829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.2992541539999 meters Centerline goodness : 0.998758 Centerline is valid? [True, True] Translation: X:661.89, Y:8.41, Z:10.25 [[ 9.98294306e-01 -5.62892509e-02 -1.54918663e-02 6.61890918e+02] [ 5.62925898e-02 9.98414291e-01 -2.20798164e-04 8.41345402e+00] [ 1.54797292e-02 -6.51655724e-04 9.99879969e-01 1.02466396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.329254154 meters Centerline goodness : 0.998991 Centerline is valid? [True, True] Translation: X:661.92, Y:8.41, Z:10.25 [[ 9.98151062e-01 -5.87746453e-02 -1.54918820e-02 6.61922737e+02] [ 5.87783002e-02 9.98271037e-01 -2.19686305e-04 8.41310479e+00] [ 1.54780091e-02 -6.91306374e-04 9.99879969e-01 1.02471596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.3592541539999 meters Centerline goodness : 0.998928 Centerline is valid? [True, True] Translation: X:661.95, Y:8.41, Z:10.25 [[ 9.98019670e-01 -6.09650623e-02 -1.54919207e-02 6.61954800e+02] [ 6.09690233e-02 9.98139635e-01 -2.16922256e-04 8.41305636e+00] [ 1.54763248e-02 -7.28034598e-04 9.99879969e-01 1.02478395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.3892541539999 meters Centerline goodness : 0.998951 Centerline is valid? [True, True] Translation: X:661.99, Y:8.41, Z:10.25 [[ 9.97844760e-01 -6.37639007e-02 -1.54919364e-02 6.61987605e+02] [ 6.37682155e-02 9.97964713e-01 -2.15799622e-04 8.41329792e+00] [ 1.54741661e-02 -7.72558615e-04 9.99879969e-01 1.02487213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.4192541539999 meters Centerline goodness : 0.998781 Centerline is valid? [True, True] Translation: X:662.02, Y:8.41, Z:10.25 [[ 9.97811060e-01 -6.42891004e-02 -1.54919605e-02 6.62020170e+02] [ 6.42935053e-02 9.97931009e-01 -2.14054995e-04 8.41370368e+00] [ 1.54736692e-02 -7.82446002e-04 9.99879969e-01 1.02479839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.449254154 meters Centerline goodness : 0.998890 Centerline is valid? [True, True] Translation: X:662.05, Y:8.41, Z:10.25 [[ 9.97814218e-01 -6.42400566e-02 -1.54919997e-02 6.62053296e+02] [ 6.42445002e-02 9.97934166e-01 -2.11181265e-04 8.41494257e+00] [ 1.54735620e-02 -7.84556106e-04 9.99879969e-01 1.02490129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.4792541539999 meters Centerline goodness : 0.998866 Centerline is valid? [True, True] Translation: X:662.09, Y:8.42, Z:10.25 [[ 9.97837884e-01 -6.38713960e-02 -1.54920229e-02 6.62086025e+02] [ 6.38758218e-02 9.97957833e-01 -2.09464663e-04 8.41583018e+00] [ 1.54737644e-02 -7.80553916e-04 9.99879969e-01 1.02486032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.5092541539999 meters Centerline goodness : 0.998742 Centerline is valid? [True, True] Translation: X:662.12, Y:8.42, Z:10.25 [[ 9.97860094e-01 -6.35234605e-02 -1.54920458e-02 6.62119334e+02] [ 6.35278710e-02 9.97980043e-01 -2.07753621e-04 8.41848936e+00] [ 1.54739498e-02 -7.76867639e-04 9.99879969e-01 1.02499161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.5392541539999 meters Centerline goodness : 0.998909 Centerline is valid? [True, True] Translation: X:662.15, Y:8.42, Z:10.25 [[ 9.97875800e-01 -6.32762435e-02 -1.54920688e-02 6.62152116e+02] [ 6.32806510e-02 9.97995750e-01 -2.06027066e-04 8.42013167e+00] [ 1.54740554e-02 -7.74758774e-04 9.99879969e-01 1.02507330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.569254154 meters Centerline goodness : 0.998592 Centerline is valid? [True, True] Translation: X:662.19, Y:8.42, Z:10.25 [[ 9.98024702e-01 -6.08825881e-02 -1.54920916e-02 6.62188310e+02] [ 6.08867348e-02 9.98144661e-01 -2.04293127e-04 8.41879512e+00] [ 1.54757864e-02 -7.39373288e-04 9.99879969e-01 1.02513760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.5992541539999 meters Centerline goodness : 0.998823 Centerline is valid? [True, True] Translation: X:662.23, Y:8.42, Z:10.25 [[ 9.98257492e-01 -5.69376963e-02 -1.54944483e-02 6.62225040e+02] [ 5.69442122e-02 9.98377362e-01 -2.06880624e-05 8.41686112e+00] [ 1.54704843e-02 -8.61667136e-04 9.99879954e-01 1.02461377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.6292541539999 meters Centerline goodness : 0.999055 Centerline is valid? [True, True] Translation: X:662.24, Y:8.43, Z:10.25 [[ 9.97814334e-01 -6.42368246e-02 -1.54978846e-02 6.62244700e+02] [ 6.42484640e-02 9.97933901e-01 2.53800272e-04 8.42684586e+00] [ 1.54495612e-02 -1.24896083e-03 9.99879868e-01 1.02521600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.6592541539999 meters Centerline goodness : 0.998990 Centerline is valid? [True, True] Translation: X:662.28, Y:8.43, Z:10.25 [[ 9.97785820e-01 -6.46797212e-02 -1.54916157e-02 6.62276912e+02] [ 6.46842414e-02 9.97905760e-01 -2.09620333e-04 8.42884075e+00] [ 1.54727307e-02 -7.92907213e-04 9.99879976e-01 1.02525145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.6892541539999 meters Centerline goodness : 0.998990 Centerline is valid? [True, True] Translation: X:662.31, Y:8.43, Z:10.25 [[ 9.97793076e-01 -6.45676856e-02 -1.54916312e-02 6.62310444e+02] [ 6.45722103e-02 9.97913015e-01 -2.08464756e-04 8.42920308e+00] [ 1.54727605e-02 -7.92324179e-04 9.99879976e-01 1.02530338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.7192541539999 meters Centerline goodness : 0.998861 Centerline is valid? [True, True] Translation: X:662.34, Y:8.43, Z:10.25 [[ 9.97737781e-01 -6.54165763e-02 -1.54916544e-02 6.62341772e+02] [ 6.54212300e-02 9.97857715e-01 -2.06725363e-04 8.43227575e+00] [ 1.54719902e-02 -8.07225383e-04 9.99879976e-01 1.02531298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.7492541539999 meters Centerline goodness : 0.998800 Centerline is valid? [True, True] Translation: X:662.37, Y:8.43, Z:10.25 [[ 9.97737509e-01 -6.54207235e-02 -1.54916659e-02 6.62374802e+02] [ 6.54253911e-02 9.97857443e-01 -2.05864745e-04 8.43424740e+00] [ 1.54719419e-02 -8.08149320e-04 9.99879976e-01 1.02537843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.7792541539999 meters Centerline goodness : 0.998861 Centerline is valid? [True, True] Translation: X:662.42, Y:8.42, Z:10.25 [[ 9.98429741e-01 -5.38336229e-02 -1.54916886e-02 6.62419761e+02] [ 5.38369245e-02 9.98549720e-01 -2.04143117e-04 8.42490980e+00] [ 1.54802110e-02 -6.30202308e-04 9.99879976e-01 1.02461051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.8092541539999 meters Centerline goodness : 0.998755 Centerline is valid? [True, True] Translation: X:662.43, Y:8.44, Z:10.25 [[ 9.97792213e-01 -6.45789779e-02 -1.55001634e-02 6.62431573e+02] [ 6.45949014e-02 9.97911429e-01 5.28350311e-04 8.44078703e+00] [ 1.54336699e-02 -1.52841535e-03 9.99879726e-01 1.02549959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.839254154 meters Centerline goodness : 0.998924 Centerline is valid? [True, True] Translation: X:662.46, Y:8.44, Z:10.26 [[ 9.97863558e-01 -6.34694063e-02 -1.54904332e-02 6.62464967e+02] [ 6.34738442e-02 9.97983481e-01 -2.05483307e-04 8.44355057e+00] [ 1.54722383e-02 -7.78193038e-04 9.99879995e-01 1.02561627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.8692541539999 meters Centerline goodness : 0.998859 Centerline is valid? [True, True] Translation: X:662.50, Y:8.45, Z:10.26 [[ 9.98060874e-01 -6.02871217e-02 -1.54904551e-02 6.62498004e+02] [ 6.02912030e-02 9.98180810e-01 -2.03816070e-04 8.44835169e+00] [ 1.54745625e-02 -7.30517328e-04 9.99879995e-01 1.02578410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.8992541539999 meters Centerline goodness : 0.999132 Centerline is valid? [True, True] Translation: X:662.53, Y:8.45, Z:10.26 [[ 9.98315639e-01 -5.59100231e-02 -1.54904772e-02 6.62529370e+02] [ 5.59136047e-02 9.98435590e-01 -2.02123515e-04 8.45365231e+00] [ 1.54775445e-02 -6.64345352e-04 9.99879995e-01 1.02584378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.9292541539999 meters Centerline goodness : 0.999152 Centerline is valid? [True, True] Translation: X:662.56, Y:8.46, Z:10.26 [[ 9.98450969e-01 -5.34388268e-02 -1.54904881e-02 6.62561208e+02] [ 5.34421244e-02 9.98570928e-01 -2.01287343e-04 8.45637776e+00] [ 1.54791076e-02 -6.26869046e-04 9.99879995e-01 1.02594768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.959254154 meters Centerline goodness : 0.999152 Centerline is valid? [True, True] Translation: X:662.59, Y:8.46, Z:10.26 [[ 9.98597176e-01 -5.06332258e-02 -1.54905231e-02 6.62594390e+02] [ 5.06362286e-02 9.98717144e-01 -1.98553353e-04 8.45915977e+00] [ 1.54807044e-02 -5.86106852e-04 9.99879995e-01 1.02604105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.9892541539999 meters Centerline goodness : 0.998450 Centerline is valid? [True, True] Translation: X:662.63, Y:8.46, Z:10.26 [[ 9.98801652e-01 -4.64252517e-02 -1.54905439e-02 6.62626171e+02] [ 4.64277744e-02 9.98921630e-01 -1.96917489e-04 8.46177458e+00] [ 1.54829813e-02 -5.22509965e-04 9.99879995e-01 1.02596213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.0192541539999 meters Centerline goodness : 0.999212 Centerline is valid? [True, True] Translation: X:662.66, Y:8.47, Z:10.26 [[ 9.99044510e-01 -4.08672279e-02 -1.54898790e-02 6.62658301e+02] [ 4.08682542e-02 9.99164513e-01 -2.50410521e-04 8.46753734e+00] [ 1.54871710e-02 -3.82873056e-04 9.99879993e-01 1.02616322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.0492541539999 meters Centerline goodness : 0.999211 Centerline is valid? [True, True] Translation: X:662.69, Y:8.47, Z:10.26 [[ 9.99125624e-01 -3.88335771e-02 -1.54900256e-02 6.62691634e+02] [ 3.88345448e-02 9.99245626e-01 -2.38431459e-04 8.47044503e+00] [ 1.54875995e-02 -3.63325113e-04 9.99879994e-01 1.02641424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.079254154 meters Centerline goodness : 0.996940 Centerline is valid? [True, True] Translation: X:662.72, Y:8.47, Z:10.26 [[ 9.99370940e-01 -3.19024285e-02 -1.54906301e-02 6.62724184e+02] [ 3.19033321e-02 9.99490941e-01 -1.88844759e-04 8.47496014e+00] [ 1.54887691e-02 -3.05476753e-04 9.99879995e-01 1.02611443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.1092541539999 meters Centerline goodness : 0.999336 Centerline is valid? [True, True] Translation: X:662.75, Y:8.48, Z:10.27 [[ 9.99407036e-01 -3.07509038e-02 -1.54905941e-02 6.62754896e+02] [ 3.07516228e-02 9.99527039e-01 -1.91836623e-04 8.47810819e+00] [ 1.54891668e-02 -2.84638035e-04 9.99879995e-01 1.02651599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.1392541539999 meters Centerline goodness : 0.995387 Centerline is valid? [True, True] Translation: X:662.78, Y:8.48, Z:10.26 [[ 9.99536995e-01 -2.61884702e-02 -1.54906600e-02 6.62783675e+02] [ 2.61887262e-02 9.99656999e-01 -1.86359670e-04 8.47980500e+00] [ 1.54902272e-02 -2.19407269e-04 9.99879995e-01 1.02629227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.1692541539999 meters Centerline goodness : 0.999226 Centerline is valid? [True, True] Translation: X:662.81, Y:8.48, Z:10.27 [[ 9.99593325e-01 -2.39433012e-02 -1.54888208e-02 6.62814988e+02] [ 2.39409615e-02 9.99713317e-01 -3.36484566e-04 8.48445082e+00] [ 1.54924369e-02 -3.44695360e-05 9.99879984e-01 1.02661367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.199254154 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:662.85, Y:8.49, Z:10.27 [[ 9.99639556e-01 -2.19271107e-02 -1.54906198e-02 6.62846514e+02] [ 2.19268111e-02 9.99759561e-01 -1.89201872e-04 8.48648241e+00] [ 1.54910439e-02 -1.50526219e-04 9.99879995e-01 1.02665750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.2292541539999 meters Centerline goodness : 0.999267 Centerline is valid? [True, True] Translation: X:662.88, Y:8.49, Z:10.27 [[ 9.99728220e-01 -1.74220345e-02 -1.54906264e-02 6.62877226e+02] [ 1.74212025e-02 9.99848222e-01 -1.88661371e-04 8.48916441e+00] [ 1.54915621e-02 -8.12552435e-05 9.99879995e-01 1.02677110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.2592541539999 meters Centerline goodness : 0.999267 Centerline is valid? [True, True] Translation: X:662.92, Y:8.48, Z:10.26 [[ 9.99876420e-01 -2.68054353e-03 -1.54906264e-02 6.62922794e+02] [ 2.67794233e-03 9.99996397e-01 -1.88661371e-04 8.47634447e+00] [ 1.54910763e-02 1.47155052e-04 9.99879995e-01 1.02599076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.2892541539999 meters Centerline goodness : 0.999222 Centerline is valid? [True, True] Translation: X:662.93, Y:8.49, Z:10.27 [[ 9.99775685e-01 -1.44346175e-02 -1.54991015e-02 6.62934918e+02] [ 1.44452538e-02 9.99895497e-01 5.74515758e-04 8.49147264e+00] [ 1.54891889e-02 -7.98275341e-04 9.99879717e-01 1.02692581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.319254154 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:662.98, Y:8.48, Z:10.26 [[ 9.99877083e-01 2.43015949e-03 -1.54891014e-02 6.62983261e+02] [-2.43355017e-03 9.99997019e-01 -2.00063013e-04 8.47607970e+00] [ 1.54885691e-02 2.37731927e-04 9.99880017e-01 1.02610305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.3492541539999 meters Centerline goodness : 0.996283 Centerline is valid? [True, True] Translation: X:663.00, Y:8.48, Z:10.27 [[ 9.99878203e-01 -1.89818385e-03 -1.54911380e-02 6.63003203e+02] [ 1.90856538e-03 9.99997964e-01 6.55402904e-04 8.48143939e+00] [ 1.54898624e-02 -6.84888928e-04 9.99879790e-01 1.02670350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.3792541539999 meters Centerline goodness : 0.999178 Centerline is valid? [True, True] Translation: X:663.04, Y:8.47, Z:10.26 [[ 9.99876604e-01 2.62469079e-03 -1.54882927e-02 6.63041501e+02] [-2.62599087e-03 9.99996550e-01 -6.36031854e-05 8.47445072e+00] [ 1.54880723e-02 1.04267452e-04 9.99880047e-01 1.02590621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.4092541539999 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:663.05, Y:8.49, Z:10.27 [[ 9.99774456e-01 -1.45234359e-02 -1.54953629e-02 6.63050004e+02] [ 1.45352696e-02 9.99894145e-01 6.51343649e-04 8.49147298e+00] [ 1.54842628e-02 -8.76426019e-04 9.99879728e-01 1.02698286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.4392541539999 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:663.08, Y:8.49, Z:10.27 [[ 9.99740704e-01 -1.66951197e-02 -1.54854305e-02 6.63078083e+02] [ 1.66942694e-02 9.99860624e-01 -1.84182934e-04 8.49051799e+00] [ 1.54863472e-02 -7.43827733e-05 9.99880077e-01 1.02696002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.4692541539999 meters Centerline goodness : 0.999482 Centerline is valid? [True, True] Translation: X:663.11, Y:8.49, Z:10.27 [[ 9.99641636e-01 -2.18357939e-02 -1.54853768e-02 6.63107254e+02] [ 2.18354920e-02 9.99761559e-01 -1.88594996e-04 8.48761222e+00] [ 1.54858026e-02 -1.49603411e-04 9.99880077e-01 1.02696727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.4992541539999 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:663.14, Y:8.49, Z:10.27 [[ 9.99571626e-01 -2.48348051e-02 -1.54853634e-02 6.63136941e+02] [ 2.48348460e-02 9.99691550e-01 -1.89690094e-04 8.48611116e+00] [ 1.54852979e-02 -1.94967780e-04 9.99880077e-01 1.02692752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.5292541539999 meters Centerline goodness : 0.999334 Centerline is valid? [True, True] Translation: X:663.17, Y:8.48, Z:10.27 [[ 9.99500530e-01 -2.75480507e-02 -1.54853601e-02 6.63167474e+02] [ 2.75484129e-02 9.99620452e-01 -1.89962157e-04 8.48466035e+00] [ 1.54847157e-02 -2.36729816e-04 9.99880077e-01 1.02697925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.5592541539999 meters Centerline goodness : 0.997366 Centerline is valid? [True, True] Translation: X:663.20, Y:8.48, Z:10.27 [[ 9.99367587e-01 -3.20098483e-02 -1.54853634e-02 6.63198667e+02] [ 3.20107500e-02 9.99487507e-01 -1.89692672e-04 8.48147700e+00] [ 1.54834993e-02 -3.06125387e-04 9.99880077e-01 1.02704990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.589254154 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:663.23, Y:8.48, Z:10.27 [[ 9.99323317e-01 -3.33633442e-02 -1.54853484e-02 6.63228563e+02] [ 3.33643893e-02 9.99443236e-01 -1.90921028e-04 8.47901299e+00] [ 1.54830965e-02 -3.25867358e-04 9.99880077e-01 1.02707426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.6192541539999 meters Centerline goodness : 0.999296 Centerline is valid? [True, True] Translation: X:663.26, Y:8.48, Z:10.27 [[ 9.99182699e-01 -3.73384735e-02 -1.54846176e-02 6.63262011e+02] [ 3.73390481e-02 9.99302623e-01 -2.52099043e-04 8.47599313e+00] [ 1.54832320e-02 -3.26287880e-04 9.99880074e-01 1.02722571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.6492541539999 meters Centerline goodness : 0.999212 Centerline is valid? [True, True] Translation: X:663.29, Y:8.47, Z:10.27 [[ 9.99175940e-01 -3.75185609e-02 -1.54854327e-02 6.63290412e+02] [ 3.75202242e-02 9.99295852e-01 -1.83206555e-04 8.47469034e+00] [ 1.54814023e-02 -3.97961324e-04 9.99880077e-01 1.02743307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.6792541539999 meters Centerline goodness : 0.999191 Centerline is valid? [True, True] Translation: X:663.32, Y:8.47, Z:10.27 [[ 9.99090272e-01 -3.97351199e-02 -1.54837961e-02 6.63324258e+02] [ 3.97350080e-02 9.99210203e-01 -3.14996700e-04 8.47363582e+00] [ 1.54840834e-02 -3.00538621e-04 9.99880069e-01 1.02722631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.709254154 meters Centerline goodness : 0.996035 Centerline is valid? [True, True] Translation: X:663.36, Y:8.47, Z:10.27 [[ 9.99035396e-01 -4.10911450e-02 -1.54853412e-02 6.63355359e+02] [ 4.10931754e-02 9.99155301e-01 -1.87187661e-04 8.47189864e+00] [ 1.54799525e-02 -4.49334741e-04 9.99880077e-01 1.02722674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.7392541539999 meters Centerline goodness : 0.999126 Centerline is valid? [True, True] Translation: X:663.39, Y:8.47, Z:10.27 [[ 9.99020745e-01 -4.14459710e-02 -1.54849026e-02 6.63386891e+02] [ 4.14474794e-02 9.99140659e-01 -2.23641340e-04 8.46992200e+00] [ 1.54808648e-02 -4.18387842e-04 9.99880077e-01 1.02745503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.7692541539999 meters Centerline goodness : 0.999042 Centerline is valid? [True, True] Translation: X:663.42, Y:8.47, Z:10.27 [[ 9.98907407e-01 -4.40931121e-02 -1.54851469e-02 6.63419131e+02] [ 4.40952615e-02 9.99027310e-01 -2.02766176e-04 8.46709493e+00] [ 1.54790253e-02 -4.80276968e-04 9.99880077e-01 1.02732295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.7992541539999 meters Centerline goodness : 0.999170 Centerline is valid? [True, True] Translation: X:663.45, Y:8.47, Z:10.27 [[ 9.98828765e-01 -4.58399459e-02 -1.54854196e-02 6.63451233e+02] [ 4.58426699e-02 9.98948656e-01 -1.79202663e-04 8.46617601e+00] [ 1.54773538e-02 -5.30900206e-04 9.99880078e-01 1.02740085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.829254154 meters Centerline goodness : 0.999086 Centerline is valid? [True, True] Translation: X:663.48, Y:8.46, Z:10.27 [[ 9.98731780e-01 -4.79065012e-02 -1.54854325e-02 6.63483479e+02] [ 4.79094905e-02 9.98851665e-01 -1.78086678e-04 8.46488405e+00] [ 1.54761815e-02 -5.64038355e-04 9.99880078e-01 1.02733081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.8592541539999 meters Centerline goodness : 0.998833 Centerline is valid? [True, True] Translation: X:663.53, Y:8.45, Z:10.27 [[ 9.98962013e-01 -4.28380493e-02 -1.54854483e-02 6.63526809e+02] [ 4.28404518e-02 9.99081911e-01 -1.76695027e-04 8.44919360e+00] [ 1.54788006e-02 -4.86891984e-04 9.99880078e-01 1.02665625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.8892541539999 meters Centerline goodness : 0.999046 Centerline is valid? [True, True] Translation: X:663.54, Y:8.46, Z:10.27 [[ 9.98287810e-01 -5.64041996e-02 -1.54924080e-02 6.63543511e+02] [ 5.64166466e-02 9.98407245e-01 3.67215272e-04 8.46073005e+00] [ 1.54470199e-02 -1.24061624e-03 9.99879918e-01 1.02739062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.9192541539999 meters Centerline goodness : 0.998921 Centerline is valid? [True, True] Translation: X:663.58, Y:8.46, Z:10.28 [[ 9.98127586e-01 -5.91739968e-02 -1.54842050e-02 6.63576253e+02] [ 5.91777305e-02 9.98247439e-01 -2.17352404e-04 8.45983830e+00] [ 1.54699296e-02 -6.99374682e-04 9.99880089e-01 1.02751339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.949254154 meters Centerline goodness : 0.999068 Centerline is valid? [True, True] Translation: X:663.61, Y:8.46, Z:10.27 [[ 9.98082651e-01 -5.99271320e-02 -1.54842290e-02 6.63607728e+02] [ 5.99309827e-02 9.98202500e-01 -2.15631811e-04 8.45878114e+00] [ 1.54693183e-02 -7.12766691e-04 9.99880089e-01 1.02738849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.9792541539999 meters Centerline goodness : 0.999048 Centerline is valid? [True, True] Translation: X:663.64, Y:8.46, Z:10.28 [[ 9.98010618e-01 -6.11150128e-02 -1.54842408e-02 6.63640664e+02] [ 6.11190193e-02 9.98130462e-01 -2.14781231e-04 8.45914612e+00] [ 1.54684188e-02 -7.32027663e-04 9.99880089e-01 1.02750716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.0092541539999 meters Centerline goodness : 0.998922 Centerline is valid? [True, True] Translation: X:663.67, Y:8.46, Z:10.28 [[ 9.97894533e-01 -6.29820535e-02 -1.54842631e-02 6.63673313e+02] [ 6.29863094e-02 9.98014368e-01 -2.13157793e-04 8.45806055e+00] [ 1.54669422e-02 -7.62587593e-04 9.99880089e-01 1.02752465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.0392541539999 meters Centerline goodness : 0.999028 Centerline is valid? [True, True] Translation: X:663.71, Y:8.46, Z:10.28 [[ 9.97861277e-01 -6.35067696e-02 -1.54842786e-02 6.63705963e+02] [ 6.35111059e-02 9.97981109e-01 -2.12030555e-04 8.45794524e+00] [ 1.54664829e-02 -7.71846576e-04 9.99880089e-01 1.02750309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.069254154 meters Centerline goodness : 0.998921 Centerline is valid? [True, True] Translation: X:663.74, Y:8.46, Z:10.27 [[ 9.97833739e-01 -6.39379837e-02 -1.54842939e-02 6.63737824e+02] [ 6.39423892e-02 9.97953569e-01 -2.10907999e-04 8.45820997e+00] [ 1.54660914e-02 -7.79651628e-04 9.99880089e-01 1.02749868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.0992541539999 meters Centerline goodness : 0.999047 Centerline is valid? [True, True] Translation: X:663.77, Y:8.46, Z:10.28 [[ 9.97847244e-01 -6.37268747e-02 -1.54843090e-02 6.63769818e+02] [ 6.37312722e-02 9.97967074e-01 -2.09787468e-04 8.45879836e+00] [ 1.54661997e-02 -7.77498867e-04 9.99880089e-01 1.02753394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.1292541539999 meters Centerline goodness : 0.999197 Centerline is valid? [True, True] Translation: X:663.81, Y:8.46, Z:10.28 [[ 9.98054727e-01 -6.03903834e-02 -1.54843243e-02 6.63807981e+02] [ 6.03943977e-02 9.98174571e-01 -2.08658658e-04 8.45634217e+00] [ 1.54686597e-02 -7.26913677e-04 9.99880089e-01 1.02768223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.1592541539999 meters Centerline goodness : 0.998644 Centerline is valid? [True, True] Translation: X:663.83, Y:8.46, Z:10.27 [[ 9.98085340e-01 -5.98815502e-02 -1.54872515e-02 6.63833630e+02] [ 5.98896562e-02 9.98205002e-01 5.97171320e-05 8.45840681e+00] [ 1.54558759e-02 -9.87128959e-04 9.99880064e-01 1.02737786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.1892541539999 meters Centerline goodness : 0.999048 Centerline is valid? [True, True] Translation: X:663.87, Y:8.46, Z:10.28 [[ 9.98222140e-01 -5.75570223e-02 -1.54838110e-02 6.63869576e+02] [ 5.75602062e-02 9.98342008e-01 -2.40314768e-04 8.46069385e+00] [ 1.54719708e-02 -6.51363835e-04 9.99880090e-01 1.02792187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.2192541539999 meters Centerline goodness : 0.999154 Centerline is valid? [True, True] Translation: X:663.90, Y:8.46, Z:10.28 [[ 9.98190392e-01 -5.81040645e-02 -1.54873517e-02 6.63895934e+02] [ 5.81115499e-02 9.98310095e-01 3.33591902e-05 8.46490861e+00] [ 1.54592412e-02 -9.33292832e-04 9.99880063e-01 1.02796377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.2492541539999 meters Centerline goodness : 0.999111 Centerline is valid? [True, True] Translation: X:663.93, Y:8.47, Z:10.28 [[ 9.98314388e-01 -5.59340807e-02 -1.54842161e-02 6.63928874e+02] [ 5.59376271e-02 9.98434244e-01 -2.04310844e-04 8.46744781e+00] [ 1.54713995e-02 -6.62183851e-04 9.99880091e-01 1.02822669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.2792541539999 meters Centerline goodness : 0.998962 Centerline is valid? [True, True] Translation: X:663.96, Y:8.47, Z:10.28 [[ 9.98596365e-01 -5.06511474e-02 -1.54842469e-02 6.63959796e+02] [ 5.06540963e-02 9.98716237e-01 -2.01945137e-04 8.46935318e+00] [ 1.54745976e-02 -5.82678855e-04 9.99880091e-01 1.02829043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.3092541539999 meters Centerline goodness : 0.999130 Centerline is valid? [True, True] Translation: X:664.00, Y:8.47, Z:10.28 [[ 9.98902711e-01 -4.41996860e-02 -1.54842601e-02 6.63996368e+02] [ 4.42018761e-02 9.99022599e-01 -2.00931515e-04 8.46897912e+00] [ 1.54780069e-02 -4.83722312e-04 9.99880091e-01 1.02844389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.339254154 meters Centerline goodness : 0.999149 Centerline is valid? [True, True] Translation: X:664.03, Y:8.47, Z:10.28 [[ 9.99075316e-01 -4.01082933e-02 -1.54867252e-02 6.64028030e+02] [ 4.01130084e-02 9.99195149e-01 -6.16996905e-06 8.47308846e+00] [ 1.54745081e-02 -6.15054873e-04 9.99880073e-01 1.02844848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.3692541539999 meters Centerline goodness : 0.999191 Centerline is valid? [True, True] Translation: X:664.05, Y:8.48, Z:10.28 [[ 9.99086148e-01 -3.98374048e-02 -1.54870982e-02 6.64054289e+02] [ 3.98425568e-02 9.99205970e-01 2.41474961e-05 8.47711500e+00] [ 1.54738390e-02 -6.41171018e-04 9.99880067e-01 1.02844626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.3992541539999 meters Centerline goodness : 0.999149 Centerline is valid? [True, True] Translation: X:664.09, Y:8.48, Z:10.28 [[ 9.99176850e-01 -3.74947778e-02 -1.54843144e-02 6.64086490e+02] [ 3.74962411e-02 9.99296750e-01 -1.95909363e-04 8.47800059e+00] [ 1.54807706e-02 -3.84855484e-04 9.99880092e-01 1.02841728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.4292541539999 meters Centerline goodness : 0.999147 Centerline is valid? [True, True] Translation: X:664.12, Y:8.48, Z:10.29 [[ 9.99274493e-01 -3.47954626e-02 -1.54843283e-02 6.64118728e+02] [ 3.47966191e-02 9.99394395e-01 -1.94803180e-04 8.48070427e+00] [ 1.54817292e-02 -3.44140424e-04 9.99880092e-01 1.02857451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.459254154 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:664.15, Y:8.48, Z:10.29 [[ 9.99299668e-01 -3.40647702e-02 -1.54843427e-02 6.64150201e+02] [ 3.40658568e-02 9.99419572e-01 -1.93653062e-04 8.48184496e+00] [ 1.54819518e-02 -3.33969959e-04 9.99880092e-01 1.02857778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.4892541539999 meters Centerline goodness : 0.999319 Centerline is valid? [True, True] Translation: X:664.18, Y:8.48, Z:10.28 [[ 9.99332110e-01 -3.30993755e-02 -1.54843533e-02 6.64179340e+02] [ 3.31003596e-02 9.99452014e-01 -1.92796486e-04 8.48314959e+00] [ 1.54822496e-02 -3.19869944e-04 9.99880092e-01 1.02846807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.5192541539999 meters Centerline goodness : 0.999146 Centerline is valid? [True, True] Translation: X:664.21, Y:8.48, Z:10.29 [[ 9.99293474e-01 -3.42464685e-02 -1.54833156e-02 6.64211900e+02] [ 3.42463088e-02 9.99413385e-01 -2.75534798e-04 8.48383544e+00] [ 1.54836690e-02 -2.54906281e-04 9.99880088e-01 1.02858786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.5492541539999 meters Centerline goodness : 0.999231 Centerline is valid? [True, True] Translation: X:664.24, Y:8.48, Z:10.29 [[ 9.99276209e-01 -3.47461213e-02 -1.54843596e-02 6.64244329e+02] [ 3.47473335e-02 9.99396111e-01 -1.90825602e-04 8.48477573e+00] [ 1.54816392e-02 -3.47352722e-04 9.99880092e-01 1.02870847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.579254154 meters Centerline goodness : 0.999231 Centerline is valid? [True, True] Translation: X:664.28, Y:8.49, Z:10.29 [[ 9.99278758e-01 -3.46727146e-02 -1.54843735e-02 6.64277017e+02] [ 3.46739356e-02 9.99398660e-01 -1.89688260e-04 8.48511717e+00] [ 1.54816392e-02 -3.47352721e-04 9.99880092e-01 1.02875906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.6092541539999 meters Centerline goodness : 0.998889 Centerline is valid? [True, True] Translation: X:664.33, Y:8.47, Z:10.28 [[ 9.99616778e-01 -2.29462550e-02 -1.54843874e-02 6.64325408e+02] [ 2.29460867e-02 9.99736686e-01 -1.88550917e-04 8.47170002e+00] [ 1.54846367e-02 -1.66827436e-04 9.99880092e-01 1.02806754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.6392541539999 meters Centerline goodness : 0.999295 Centerline is valid? [True, True] Translation: X:664.34, Y:8.49, Z:10.29 [[ 9.99218573e-01 -3.63620094e-02 -1.54934618e-02 6.64335132e+02] [ 3.63766097e-02 9.99337933e-01 6.61482707e-04 8.48541762e+00] [ 1.54591512e-02 -1.22456542e-03 9.99879750e-01 1.02880374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.6692541539999 meters Centerline goodness : 0.999188 Centerline is valid? [True, True] Translation: X:664.37, Y:8.49, Z:10.29 [[ 9.99188533e-01 -3.71828680e-02 -1.54825466e-02 6.64366714e+02] [ 3.71842768e-02 9.99308406e-01 -1.96964210e-04 8.48646980e+00] [ 1.54791627e-02 -3.78902918e-04 9.99880119e-01 1.02883843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.699254154 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:664.40, Y:8.49, Z:10.29 [[ 9.99171051e-01 -3.76497258e-02 -1.54825690e-02 6.64399098e+02] [ 3.76512181e-02 9.99290922e-01 -1.95188966e-04 8.48681265e+00] [ 1.54789394e-02 -3.87910417e-04 9.99880119e-01 1.02895955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.7292541539999 meters Centerline goodness : 0.999251 Centerline is valid? [True, True] Translation: X:664.43, Y:8.49, Z:10.29 [[ 9.99145555e-01 -3.83203498e-02 -1.54825833e-02 6.64430981e+02] [ 3.83219403e-02 9.99265426e-01 -1.94044219e-04 8.48713575e+00] [ 1.54786461e-02 -3.99444214e-04 9.99880119e-01 1.02903123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.7592541539999 meters Centerline goodness : 0.998867 Centerline is valid? [True, True] Translation: X:664.48, Y:8.47, Z:10.29 [[ 9.99463384e-01 -2.88657690e-02 -1.54825975e-02 6.64476174e+02] [ 2.88662430e-02 9.99583265e-01 -1.92904300e-04 8.47464508e+00] [ 1.54817137e-02 -2.54123638e-04 9.99880119e-01 1.02851150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.7892541539999 meters Centerline goodness : 0.999252 Centerline is valid? [True, True] Translation: X:664.49, Y:8.49, Z:10.29 [[ 9.99008710e-01 -4.17329623e-02 -1.54905655e-02 6.64489981e+02] [ 4.17459876e-02 9.99128122e-01 5.18314490e-04 8.48635074e+00] [ 1.54554288e-02 -1.16446965e-03 9.99879880e-01 1.02915229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.819254154 meters Centerline goodness : 0.999125 Centerline is valid? [True, True] Translation: X:664.52, Y:8.49, Z:10.29 [[ 9.98901544e-01 -4.42270715e-02 -1.54813332e-02 6.64522208e+02] [ 4.42292893e-02 9.99021386e-01 -1.99267988e-04 8.48590739e+00] [ 1.54749959e-02 -4.85679261e-04 9.99880137e-01 1.02919730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.8492541539999 meters Centerline goodness : 0.999168 Centerline is valid? [True, True] Translation: X:664.55, Y:8.49, Z:10.29 [[ 9.98853288e-01 -4.53038260e-02 -1.54813475e-02 6.64554629e+02] [ 4.53061902e-02 9.98973128e-01 -1.98150288e-04 8.48581903e+00] [ 1.54744271e-02 -5.03477807e-04 9.99880137e-01 1.02925108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.8792541539999 meters Centerline goodness : 0.999126 Centerline is valid? [True, True] Translation: X:664.59, Y:8.49, Z:10.29 [[ 9.98813707e-01 -4.61682429e-02 -1.54813619e-02 6.64586260e+02] [ 4.61707285e-02 9.98933544e-01 -1.97013656e-04 8.48589428e+00] [ 1.54739475e-02 -5.18005818e-04 9.99880137e-01 1.02923535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.9092541539999 meters Centerline goodness : 0.997419 Centerline is valid? [True, True] Translation: X:664.61, Y:8.48, Z:10.29 [[ 9.98912974e-01 -4.39681426e-02 -1.54813954e-02 6.64613125e+02] [ 4.39704054e-02 9.99032815e-01 -1.94349379e-04 8.48455279e+00] [ 1.54749672e-02 -4.86585115e-04 9.99880137e-01 1.02913276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.9392541539999 meters Centerline goodness : 0.999084 Centerline is valid? [True, True] Translation: X:664.65, Y:8.49, Z:10.29 [[ 9.98681650e-01 -4.89424839e-02 -1.54788645e-02 6.64648497e+02] [ 4.89423113e-02 9.98801531e-01 -3.90188258e-04 8.48583381e+00] [ 1.54794103e-02 -3.67897550e-04 9.99880119e-01 1.02921684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.9692541539999 meters Centerline goodness : 0.999212 Centerline is valid? [True, True] Translation: X:664.68, Y:8.49, Z:10.29 [[ 9.98658526e-01 -4.94113069e-02 -1.54813233e-02 6.64681289e+02] [ 4.94142143e-02 9.98778353e-01 -1.94900965e-04 8.48593009e+00] [ 1.54720409e-02 -5.70357917e-04 9.99880138e-01 1.02932029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.9992541539999 meters Centerline goodness : 0.999021 Centerline is valid? [True, True] Translation: X:664.71, Y:8.49, Z:10.29 [[ 9.98612764e-01 -5.03276883e-02 -1.54813448e-02 6.64713718e+02] [ 5.03307323e-02 9.98732587e-01 -1.93175065e-04 8.48607073e+00] [ 1.54714456e-02 -5.86280338e-04 9.99880138e-01 1.02928663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.0292541539999 meters Centerline goodness : 0.999063 Centerline is valid? [True, True] Translation: X:664.75, Y:8.49, Z:10.29 [[ 9.98603005e-01 -5.05209488e-02 -1.54813625e-02 6.64746796e+02] [ 5.05240381e-02 9.98722827e-01 -1.91746343e-04 8.48629495e+00] [ 1.54712774e-02 -5.90702477e-04 9.99880138e-01 1.02939880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.0592541539999 meters Centerline goodness : 0.998808 Centerline is valid? [True, True] Translation: X:664.79, Y:8.47, Z:10.29 [[ 9.99115965e-01 -3.90847187e-02 -1.54813838e-02 6.64791844e+02] [ 3.90864628e-02 9.99235814e-01 -1.90016068e-04 8.47402381e+00] [ 1.54769799e-02 -4.15264444e-04 9.99880138e-01 1.02874386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.089254154 meters Centerline goodness : 0.999045 Centerline is valid? [True, True] Translation: X:664.82, Y:8.48, Z:10.29 [[ 9.99051171e-01 -4.07044846e-02 -1.54887680e-02 6.64820764e+02] [ 4.07171369e-02 9.99170587e-01 5.02272243e-04 8.47594224e+00] [ 1.54554767e-02 -1.13245396e-03 9.99879916e-01 1.02872082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.1192541539999 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:664.84, Y:8.49, Z:10.29 [[ 9.98520463e-01 -5.21250456e-02 -1.54875960e-02 6.64836462e+02] [ 5.21373277e-02 9.98639848e-01 3.90051187e-04 8.48882654e+00] [ 1.54461991e-02 -1.19695596e-03 9.99879984e-01 1.02942738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.1492541539999 meters Centerline goodness : 0.999129 Centerline is valid? [True, True] Translation: X:664.87, Y:8.49, Z:10.29 [[ 9.98508339e-01 -5.23587738e-02 -1.54808362e-02 6.64869601e+02] [ 5.23622224e-02 9.98628141e-01 -1.82758972e-04 8.48944191e+00] [ 1.54691677e-02 -6.28124632e-04 9.99880148e-01 1.02946791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.1792541539999 meters Centerline goodness : 0.999213 Centerline is valid? [True, True] Translation: X:664.91, Y:8.48, Z:10.29 [[ 9.98985897e-01 -4.22790931e-02 -1.54808564e-02 6.64911365e+02] [ 4.22813592e-02 9.99105727e-01 -1.81031215e-04 8.47840149e+00] [ 1.54746661e-02 -4.73704021e-04 9.99880148e-01 1.02875064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.209254154 meters Centerline goodness : 0.998999 Centerline is valid? [True, True] Translation: X:664.93, Y:8.49, Z:10.29 [[ 9.98425303e-01 -5.39172167e-02 -1.54870035e-02 6.64928146e+02] [ 5.39298798e-02 9.98544645e-01 4.00892569e-04 8.48990678e+00] [ 1.54428494e-02 -1.23547352e-03 9.99879989e-01 1.02940548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.2392541539999 meters Centerline goodness : 0.998744 Centerline is valid? [True, True] Translation: X:664.97, Y:8.48, Z:10.29 [[ 9.98862961e-01 -4.50904705e-02 -1.54801390e-02 6.64969480e+02] [ 4.50930541e-02 9.98982774e-01 -1.82285022e-04 8.47992474e+00] [ 1.54726115e-02 -5.15968989e-04 9.99880159e-01 1.02863467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.2692541539999 meters Centerline goodness : 0.999298 Centerline is valid? [True, True] Translation: X:664.99, Y:8.49, Z:10.30 [[ 9.98416618e-01 -5.40781882e-02 -1.54856885e-02 6.64988529e+02] [ 5.40897199e-02 9.98536026e-01 3.26500767e-04 8.49175188e+00] [ 1.54453613e-02 -1.16360035e-03 9.99880036e-01 1.02954419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.2992541539999 meters Centerline goodness : 0.999277 Centerline is valid? [True, True] Translation: X:665.02, Y:8.49, Z:10.30 [[ 9.98466644e-01 -5.31483193e-02 -1.54795778e-02 6.65020741e+02] [ 5.31518273e-02 9.98586425e-01 -1.84991775e-04 8.49275876e+00] [ 1.54675283e-02 -6.38059731e-04 9.99880167e-01 1.02957361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.329254154 meters Centerline goodness : 0.999002 Centerline is valid? [True, True] Translation: X:665.06, Y:8.48, Z:10.29 [[ 9.98999515e-01 -4.19565366e-02 -1.54795913e-02 6.65063986e+02] [ 4.19587197e-02 9.99119328e-01 -1.83855889e-04 8.48158558e+00] [ 1.54736728e-02 -4.65831890e-04 9.99880167e-01 1.02870859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.3592541539999 meters Centerline goodness : 0.999106 Centerline is valid? [True, True] Translation: X:665.08, Y:8.49, Z:10.30 [[ 9.98658571e-01 -4.94088775e-02 -1.54861737e-02 6.65079398e+02] [ 4.94212344e-02 9.98777938e-01 4.16015454e-04 8.49496836e+00] [ 1.54466937e-02 -1.18080322e-03 9.99879995e-01 1.02957793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.3892541539999 meters Centerline goodness : 0.999041 Centerline is valid? [True, True] Translation: X:665.11, Y:8.50, Z:10.30 [[ 9.98770096e-01 -4.71031191e-02 -1.54787497e-02 6.65110739e+02] [ 4.71058275e-02 9.98889886e-01 -1.89767468e-04 8.49601991e+00] [ 1.54705052e-02 -5.39605241e-04 9.99880179e-01 1.02956942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.4192541539999 meters Centerline goodness : 0.999232 Centerline is valid? [True, True] Translation: X:665.14, Y:8.50, Z:10.30 [[ 9.98870059e-01 -4.49334361e-02 -1.54787601e-02 6.65142929e+02] [ 4.49358976e-02 9.98989855e-01 -1.88912406e-04 8.49764585e+00] [ 1.54716128e-02 -5.06853034e-04 9.99880179e-01 1.02971539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.449254154 meters Centerline goodness : 0.999359 Centerline is valid? [True, True] Translation: X:665.17, Y:8.50, Z:10.30 [[ 9.99083516e-01 -3.99065922e-02 -1.54787738e-02 6.65173633e+02] [ 3.99084683e-02 9.99203322e-01 -1.87785445e-04 8.50038767e+00] [ 1.54739361e-02 -4.30120811e-04 9.99880179e-01 1.02982790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.4792541539999 meters Centerline goodness : 0.999337 Centerline is valid? [True, True] Translation: X:665.21, Y:8.50, Z:10.30 [[ 9.99191475e-01 -3.71052976e-02 -1.54787839e-02 6.65206154e+02] [ 3.71068508e-02 9.99311286e-01 -1.86945642e-04 8.50116906e+00] [ 1.54750602e-02 -3.87574435e-04 9.99880179e-01 1.02993552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.5092541539999 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:665.24, Y:8.50, Z:10.30 [[ 9.99284172e-01 -3.45188401e-02 -1.54787975e-02 6.65238431e+02] [ 3.45201006e-02 9.99403986e-01 -1.85813959e-04 8.50191065e+00] [ 1.54759860e-02 -3.48648700e-04 9.99880179e-01 1.03000008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.5392541539999 meters Centerline goodness : 0.998948 Centerline is valid? [True, True] Translation: X:665.27, Y:8.50, Z:10.30 [[ 9.99464270e-01 -2.88371098e-02 -1.54788112e-02 6.65269233e+02] [ 2.88377068e-02 9.99584090e-01 -1.84671727e-04 8.50367630e+00] [ 1.54776988e-02 -2.61800626e-04 9.99880179e-01 1.02999581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.569254154 meters Centerline goodness : 0.999011 Centerline is valid? [True, True] Translation: X:665.30, Y:8.51, Z:10.30 [[ 9.99536042e-01 -2.62317941e-02 -1.54788327e-02 6.65299392e+02] [ 2.62321071e-02 9.99655862e-01 -1.82847389e-04 8.50518526e+00] [ 1.54783023e-02 -2.23279842e-04 9.99880179e-01 1.03009280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.5992541539999 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:665.33, Y:8.51, Z:10.30 [[ 9.99673672e-01 -2.03212901e-02 -1.54788360e-02 6.65329354e+02] [ 2.03208990e-02 9.99793493e-01 -1.82567990e-04 8.50677689e+00] [ 1.54793495e-02 -1.32035449e-04 9.99880179e-01 1.03020763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.6292541539999 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:665.36, Y:8.51, Z:10.30 [[ 9.99726320e-01 -1.75411233e-02 -1.54788392e-02 6.65358720e+02] [ 1.75404031e-02 9.99846139e-01 -1.82293741e-04 8.50757066e+00] [ 1.54796553e-02 -8.92612298e-05 9.99880179e-01 1.03032520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.6592541539999 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:665.39, Y:8.51, Z:10.30 [[ 9.99785085e-01 -1.37908990e-02 -1.54788326e-02 6.65387765e+02] [ 1.37897207e-02 9.99904901e-01 -1.82853361e-04 8.50824473e+00] [ 1.54798823e-02 -3.06347160e-05 9.99880179e-01 1.03031124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.6892541539999 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:665.42, Y:8.51, Z:10.30 [[ 9.99796222e-01 -1.29584600e-02 -1.54787857e-02 6.65415813e+02] [ 1.29571218e-02 9.99916036e-01 -1.86740927e-04 8.50841069e+00] [ 1.54799059e-02 -1.38576383e-05 9.99880179e-01 1.03041013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.7192541539999 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:665.44, Y:8.51, Z:10.30 [[ 9.99797967e-01 -1.28231626e-02 -1.54787298e-02 6.65443458e+02] [ 1.28217382e-02 9.99917780e-01 -1.91264102e-04 8.50846165e+00] [ 1.54799098e-02 -7.23876090e-06 9.99880179e-01 1.03041240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.7492541539999 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:665.47, Y:8.51, Z:10.30 [[ 9.99783275e-01 -1.39216870e-02 -1.54786731e-02 6.65469974e+02] [ 1.39203248e-02 9.99903088e-01 -1.95751369e-04 8.50687399e+00] [ 1.54798982e-02 -1.97592110e-05 9.99880179e-01 1.03036981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.7792541539999 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:665.50, Y:8.51, Z:10.30 [[ 9.99758470e-01 -1.56017230e-02 -1.54786482e-02 6.65497668e+02] [ 1.56005320e-02 9.99878285e-01 -1.97696896e-04 8.50567176e+00] [ 1.54798487e-02 -4.38260005e-05 9.99880179e-01 1.03034187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.8092541539999 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:665.53, Y:8.50, Z:10.30 [[ 9.99676542e-01 -2.01797990e-02 -1.54785903e-02 6.65525690e+02] [ 2.01790880e-02 9.99796361e-01 -2.02131152e-04 8.50280648e+00] [ 1.54795172e-02 -1.10278065e-04 9.99880179e-01 1.03018174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.839254154 meters Centerline goodness : 0.999142 Centerline is valid? [True, True] Translation: X:665.56, Y:8.50, Z:10.30 [[ 9.99621452e-01 -2.27457146e-02 -1.54785723e-02 6.65555715e+02] [ 2.27452899e-02 9.99741272e-01 -2.03502661e-04 8.50196517e+00] [ 1.54791964e-02 -1.48638989e-04 9.99880179e-01 1.03022382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.8692541539999 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:665.59, Y:8.50, Z:10.30 [[ 9.99554837e-01 -2.55057221e-02 -1.54785648e-02 6.65585703e+02] [ 2.55056195e-02 9.99674658e-01 -2.04072007e-04 8.50135334e+00] [ 1.54787340e-02 -1.90809222e-04 9.99880179e-01 1.03020739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.8992541539999 meters Centerline goodness : 0.998951 Centerline is valid? [True, True] Translation: X:665.62, Y:8.50, Z:10.30 [[ 9.99410428e-01 -3.06465339e-02 -1.54785611e-02 6.65615828e+02] [ 3.06470432e-02 9.99530248e-01 -2.04354569e-04 8.50007013e+00] [ 1.54775527e-02 -2.70138042e-04 9.99880179e-01 1.03023846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.9292541539999 meters Centerline goodness : 0.998976 Centerline is valid? [True, True] Translation: X:665.65, Y:8.50, Z:10.30 [[ 9.99234344e-01 -3.59324230e-02 -1.54785611e-02 6.65648387e+02] [ 3.59335660e-02 9.99354160e-01 -2.04354569e-04 8.49807170e+00] [ 1.54759073e-02 -3.52001791e-04 9.99880179e-01 1.03034027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.959254154 meters Centerline goodness : 0.999041 Centerline is valid? [True, True] Translation: X:665.68, Y:8.50, Z:10.30 [[ 9.99134307e-01 -3.86141277e-02 -1.54785759e-02 6.65680513e+02] [ 3.86156097e-02 9.99254119e-01 -2.03224480e-04 8.49720218e+00] [ 1.54748780e-02 -3.94666096e-04 9.99880179e-01 1.03040965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.9892541539999 meters Centerline goodness : 0.999084 Centerline is valid? [True, True] Translation: X:665.71, Y:8.50, Z:10.30 [[ 9.99041184e-01 -4.09527203e-02 -1.54785907e-02 6.65712393e+02] [ 4.09545004e-02 9.99160992e-01 -2.02086456e-04 8.49626618e+00] [ 1.54738801e-02 -4.32025259e-04 9.99880179e-01 1.03046930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.0192541539999 meters Centerline goodness : 0.999217 Centerline is valid? [True, True] Translation: X:665.74, Y:8.49, Z:10.31 [[ 9.98844626e-01 -4.54953383e-02 -1.54786055e-02 6.65743213e+02] [ 4.54976808e-02 9.98964424e-01 -2.00951257e-04 8.49450359e+00] [ 1.54717186e-02 -5.03521569e-04 9.99880179e-01 1.03057755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.0492541539999 meters Centerline goodness : 0.998769 Centerline is valid? [True, True] Translation: X:665.78, Y:8.48, Z:10.30 [[ 9.99150624e-01 -3.81895722e-02 -1.54786164e-02 6.65784110e+02] [ 3.81910517e-02 9.99270436e-01 -2.00104082e-04 8.48301895e+00] [ 1.54749657e-02 -3.91210522e-04 9.99880179e-01 1.03009449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.079254154 meters Centerline goodness : 0.999045 Centerline is valid? [True, True] Translation: X:665.80, Y:8.49, Z:10.31 [[ 9.98680158e-01 -4.89710468e-02 -1.54847940e-02 6.65803031e+02] [ 4.89816286e-02 9.98799633e-01 3.04624518e-04 8.49325876e+00] [ 1.54512888e-02 -1.06269289e-03 9.99880057e-01 1.03070972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.1092541539999 meters Centerline goodness : 0.998983 Centerline is valid? [True, True] Translation: X:665.84, Y:8.49, Z:10.31 [[ 9.98634608e-01 -4.98933968e-02 -1.54779795e-02 6.65835676e+02] [ 4.98961815e-02 9.98754388e-01 -2.06442376e-04 8.49265018e+00] [ 1.54690000e-02 -5.66131572e-04 9.99880188e-01 1.03077004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.1392541539999 meters Centerline goodness : 0.996628 Centerline is valid? [True, True] Translation: X:665.87, Y:8.49, Z:10.31 [[ 9.98713370e-01 -4.82911571e-02 -1.54779941e-02 6.65867166e+02] [ 4.82937667e-02 9.98833154e-01 -2.05341612e-04 8.49209382e+00] [ 1.54698498e-02 -5.42413222e-04 9.99880188e-01 1.03071239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.1692541539999 meters Centerline goodness : 0.998560 Centerline is valid? [True, True] Translation: X:665.91, Y:8.49, Z:10.30 [[ 9.98889821e-01 -4.44924948e-02 -1.54772044e-02 6.65906328e+02] [ 4.44937165e-02 9.99009629e-01 -2.65566495e-04 8.48760117e+00] [ 1.54736920e-02 -4.23366676e-04 9.99880186e-01 1.03019952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.199254154 meters Centerline goodness : 0.998641 Centerline is valid? [True, True] Translation: X:665.94, Y:8.49, Z:10.30 [[ 9.98987908e-01 -4.22289691e-02 -1.54878810e-02 6.65938879e+02] [ 4.22380535e-02 9.99107541e-01 2.59762017e-04 8.48765702e+00] [ 1.54630892e-02 -9.13677059e-04 9.99880022e-01 1.03023354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.2292541539999 meters Centerline goodness : 0.998877 Centerline is valid? [True, True] Translation: X:665.95, Y:8.50, Z:10.31 [[ 9.98565586e-01 -5.12529425e-02 -1.54889310e-02 6.65952809e+02] [ 5.12638904e-02 9.98685094e-01 3.10349695e-04 8.50103732e+00] [ 1.54526582e-02 -1.10392739e-03 9.99879991e-01 1.03090218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.2592541539999 meters Centerline goodness : 0.999066 Centerline is valid? [True, True] Translation: X:665.98, Y:8.50, Z:10.31 [[ 9.98707420e-01 -4.84152358e-02 -1.54743300e-02 6.65984540e+02] [ 4.84156992e-02 9.98827213e-01 -3.44896670e-04 8.50235461e+00] [ 1.54728801e-02 -4.04749642e-04 9.99880206e-01 1.03101105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.2892541539999 meters Centerline goodness : 0.998747 Centerline is valid? [True, True] Translation: X:666.03, Y:8.49, Z:10.30 [[ 9.99335046e-01 -3.30153166e-02 -1.54743554e-02 6.66025499e+02] [ 3.30139512e-02 9.99454832e-01 -3.43753650e-04 8.49218563e+00] [ 1.54772684e-02 -1.67344543e-04 9.99880206e-01 1.03036391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.319254154 meters Centerline goodness : 0.999043 Centerline is valid? [True, True] Translation: X:666.06, Y:8.49, Z:10.31 [[ 9.99389048e-01 -3.13324810e-02 -1.54857139e-02 6.66056174e+02] [ 3.13391580e-02 9.99508790e-01 1.88630898e-04 8.49317048e+00] [ 1.54721968e-02 -6.73824887e-04 9.99880071e-01 1.03050721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.3492541539999 meters Centerline goodness : 0.998767 Centerline is valid? [True, True] Translation: X:666.07, Y:8.50, Z:10.31 [[ 9.99232025e-01 -3.59941179e-02 -1.54849754e-02 6.66074515e+02] [ 3.60008242e-02 9.99351748e-01 1.54455878e-04 8.50419191e+00] [ 1.54693778e-02 -7.11809137e-04 9.99880089e-01 1.03103799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.3792541539999 meters Centerline goodness : 0.998979 Centerline is valid? [True, True] Translation: X:666.11, Y:8.51, Z:10.31 [[ 9.99288071e-01 -3.44081355e-02 -1.54735651e-02 6.66106393e+02] [ 3.44068395e-02 9.99407848e-01 -3.50035222e-04 8.50504102e+00] [ 1.54764464e-02 -1.82610448e-04 9.99880216e-01 1.03109434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.4092541539999 meters Centerline goodness : 0.998809 Centerline is valid? [True, True] Translation: X:666.15, Y:8.50, Z:10.30 [[ 9.99585946e-01 -2.42590979e-02 -1.54735907e-02 6.66146195e+02] [ 2.42566033e-02 9.99705704e-01 -3.48897693e-04 8.49622856e+00] [ 1.54775009e-02 -2.65835219e-05 9.99880216e-01 1.03044321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.4392541539999 meters Centerline goodness : 0.998833 Centerline is valid? [True, True] Translation: X:666.17, Y:8.51, Z:10.31 [[ 9.99331815e-01 -3.31082905e-02 -1.54843483e-02 6.66165405e+02] [ 3.31144675e-02 9.99451555e-01 1.42626931e-04 8.50654847e+00] [ 1.54711339e-02 -6.55287578e-04 9.99880100e-01 1.03091723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.4692541539999 meters Centerline goodness : 0.998977 Centerline is valid? [True, True] Translation: X:666.20, Y:8.51, Z:10.31 [[ 9.99311179e-01 -3.37306269e-02 -1.54729778e-02 6.66197322e+02] [ 3.37291854e-02 9.99430946e-01 -3.54186472e-04 8.50728750e+00] [ 1.54761198e-02 -1.67948438e-04 9.99880224e-01 1.03098914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.4992541539999 meters Centerline goodness : 0.998977 Centerline is valid? [True, True] Translation: X:666.23, Y:8.51, Z:10.31 [[ 9.99313609e-01 -3.36585323e-02 -1.54730033e-02 6.66230003e+02] [ 3.36570995e-02 9.99433377e-01 -3.53069374e-04 8.50797302e+00] [ 1.54761198e-02 -1.67949382e-04 9.99880224e-01 1.03103970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.5292541539999 meters Centerline goodness : 0.999000 Centerline is valid? [True, True] Translation: X:666.26, Y:8.51, Z:10.31 [[ 9.99206203e-01 -3.67089754e-02 -1.54730287e-02 6.66261495e+02] [ 3.67079255e-02 9.99325975e-01 -3.51953218e-04 8.50813346e+00] [ 1.54755194e-02 -2.16308947e-04 9.99880224e-01 1.03101321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.5592541539999 meters Centerline goodness : 0.999022 Centerline is valid? [True, True] Translation: X:666.29, Y:8.51, Z:10.31 [[ 9.99133275e-01 -3.86430268e-02 -1.54730476e-02 6.66292303e+02] [ 3.86422216e-02 9.99253049e-01 -3.51121767e-04 8.50855353e+00] [ 1.54750584e-02 -2.47095493e-04 9.99880224e-01 1.03105223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.589254154 meters Centerline goodness : 0.998853 Centerline is valid? [True, True] Translation: X:666.33, Y:8.51, Z:10.31 [[ 9.99019011e-01 -4.14921611e-02 -1.54730658e-02 6.66325030e+02] [ 4.14917099e-02 9.99138787e-01 -3.50318962e-04 8.50689198e+00] [ 1.54742757e-02 -2.92028653e-04 9.99880224e-01 1.03134186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.6192541539999 meters Centerline goodness : 0.999066 Centerline is valid? [True, True] Translation: X:666.35, Y:8.51, Z:10.31 [[ 9.98777726e-01 -4.69424537e-02 -1.54744810e-02 6.66354976e+02] [ 4.69436287e-02 9.98897499e-01 -2.87493049e-04 8.50879962e+00] [ 1.54709160e-02 -4.39286637e-04 9.99880222e-01 1.03128425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.6492541539999 meters Centerline goodness : 0.999045 Centerline is valid? [True, True] Translation: X:666.39, Y:8.51, Z:10.31 [[ 9.98640274e-01 -4.97813871e-02 -1.54730997e-02 6.66387708e+02] [ 4.97819538e-02 9.98760049e-01 -3.48774561e-04 8.50924695e+00] [ 1.54712763e-02 -4.21980812e-04 9.99880224e-01 1.03145629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.6792541539999 meters Centerline goodness : 0.999025 Centerline is valid? [True, True] Translation: X:666.42, Y:8.51, Z:10.32 [[ 9.98350932e-01 -5.52810805e-02 -1.54731383e-02 6.66418970e+02] [ 5.52823335e-02 9.98470702e-01 -3.47055201e-04 8.50907886e+00] [ 1.54686608e-02 -5.08908307e-04 9.99880224e-01 1.03152528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.709254154 meters Centerline goodness : 0.999173 Centerline is valid? [True, True] Translation: X:666.45, Y:8.51, Z:10.32 [[ 9.98202666e-01 -5.78966312e-02 -1.54731573e-02 6.66450116e+02] [ 5.78982112e-02 9.98322432e-01 -3.46203943e-04 8.50908850e+00] [ 1.54672441e-02 -5.50286432e-04 9.99880224e-01 1.03155800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.7392541539999 meters Centerline goodness : 0.999004 Centerline is valid? [True, True] Translation: X:666.48, Y:8.51, Z:10.32 [[ 9.97938843e-01 -6.22787859e-02 -1.54731761e-02 6.66482666e+02] [ 6.22809048e-02 9.98058600e-01 -3.45364088e-04 8.50855032e+00] [ 1.54646453e-02 -6.19031166e-04 9.99880224e-01 1.03168779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.7692541539999 meters Centerline goodness : 0.999027 Centerline is valid? [True, True] Translation: X:666.52, Y:8.50, Z:10.31 [[ 9.98193809e-01 -5.80491188e-02 -1.54732008e-02 6.66522136e+02] [ 5.80507473e-02 9.98313574e-01 -3.44252514e-04 8.50215603e+00] [ 1.54670899e-02 -5.54600140e-04 9.99880224e-01 1.03139374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.7992541539999 meters Centerline goodness : 0.998961 Centerline is valid? [True, True] Translation: X:666.55, Y:8.51, Z:10.32 [[ 9.97733568e-01 -6.54832937e-02 -1.54811273e-02 6.66546350e+02] [ 6.54918586e-02 9.97853103e-01 4.63779105e-05 8.50806051e+00] [ 1.54448539e-02 -1.06016060e-03 9.99880159e-01 1.03173016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.829254154 meters Centerline goodness : 0.999175 Centerline is valid? [True, True] Translation: X:666.58, Y:8.51, Z:10.32 [[ 9.97463403e-01 -6.94789996e-02 -1.54734639e-02 6.66578641e+02] [ 6.94823933e-02 9.97583127e-01 -3.18816197e-04 8.50878636e+00] [ 1.54582175e-02 -7.57125816e-04 9.99880228e-01 1.03193714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.8592541539999 meters Centerline goodness : 0.999217 Centerline is valid? [True, True] Translation: X:666.61, Y:8.51, Z:10.32 [[ 9.97347009e-01 -7.11302908e-02 -1.54733766e-02 6.66610392e+02] [ 7.11338180e-02 9.97466729e-01 -3.23000109e-04 8.50915385e+00] [ 1.54571534e-02 -7.78537160e-04 9.99880228e-01 1.03194254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.8892541539999 meters Centerline goodness : 0.998795 Centerline is valid? [True, True] Translation: X:666.64, Y:8.51, Z:10.32 [[ 9.97167134e-01 -7.36089696e-02 -1.54734060e-02 6.66642244e+02] [ 7.36128162e-02 9.97286844e-01 -3.21584873e-04 8.50899997e+00] [ 1.54550958e-02 -8.18367125e-04 9.99880228e-01 1.03177621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.9192541539999 meters Centerline goodness : 0.999029 Centerline is valid? [True, True] Translation: X:666.67, Y:8.51, Z:10.32 [[ 9.97061502e-01 -7.50262296e-02 -1.54734292e-02 6.66674437e+02] [ 7.50302638e-02 9.97181206e-01 -3.20461425e-04 8.50995621e+00] [ 1.54538558e-02 -8.41455728e-04 9.99880228e-01 1.03184846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.949254154 meters Centerline goodness : 0.998900 Centerline is valid? [True, True] Translation: X:666.71, Y:8.51, Z:10.32 [[ 9.97032423e-01 -7.54116736e-02 -1.54734581e-02 6.66707388e+02] [ 7.54157757e-02 9.97152124e-01 -3.19061240e-04 8.51071470e+00] [ 1.54534526e-02 -8.48828445e-04 9.99880228e-01 1.03187540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.9792541539999 meters Centerline goodness : 0.998899 Centerline is valid? [True, True] Translation: X:666.74, Y:8.51, Z:10.32 [[ 9.97038932e-01 -7.53255565e-02 -1.54734926e-02 6.66739370e+02] [ 7.53296743e-02 9.97158633e-01 -3.17380606e-04 8.51218910e+00] [ 1.54534336e-02 -8.49172337e-04 9.99880228e-01 1.03194495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.0092541539999 meters Centerline goodness : 0.998940 Centerline is valid? [True, True] Translation: X:666.77, Y:8.52, Z:10.32 [[ 9.97187209e-01 -7.33364921e-02 -1.54735161e-02 6.66772674e+02] [ 7.33403889e-02 9.97306917e-01 -3.16230161e-04 8.51507047e+00] [ 1.54550359e-02 -8.19493017e-04 9.99880228e-01 1.03200527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.0392541539999 meters Centerline goodness : 0.999087 Centerline is valid? [True, True] Translation: X:666.80, Y:8.52, Z:10.32 [[ 9.97453676e-01 -6.96184906e-02 -1.54735516e-02 6.66803433e+02] [ 6.96219680e-02 9.97573397e-01 -3.14485870e-04 8.51845277e+00] [ 1.54578974e-02 -7.63614025e-04 9.99880228e-01 1.03202749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.069254154 meters Centerline goodness : 0.998917 Centerline is valid? [True, True] Translation: X:666.84, Y:8.52, Z:10.32 [[ 9.97644358e-01 -6.68304033e-02 -1.54735973e-02 6.66835750e+02] [ 6.68335812e-02 9.97764088e-01 -3.12220188e-04 8.52038371e+00] [ 1.54598655e-02 -7.22671210e-04 9.99880228e-01 1.03200251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.0992541539999 meters Centerline goodness : 0.998980 Centerline is valid? [True, True] Translation: X:666.87, Y:8.52, Z:10.32 [[ 9.97998386e-01 -6.13171086e-02 -1.54736539e-02 6.66867780e+02] [ 6.13196687e-02 9.98118131e-01 -3.09389966e-04 8.52419257e+00] [ 1.54635054e-02 -6.40068641e-04 9.99880228e-01 1.03207279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.1292541539999 meters Centerline goodness : 0.999150 Centerline is valid? [True, True] Translation: X:666.90, Y:8.53, Z:10.32 [[ 9.98189045e-01 -5.81308473e-02 -1.54736763e-02 6.66900225e+02] [ 5.81330427e-02 9.98308797e-01 -3.08261450e-04 8.52610289e+00] [ 1.54654267e-02 -5.91828684e-04 9.99880228e-01 1.03210645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.1592541539999 meters Centerline goodness : 0.999107 Centerline is valid? [True, True] Translation: X:666.93, Y:8.53, Z:10.32 [[ 9.98353486e-01 -5.52347781e-02 -1.54736989e-02 6.66931821e+02] [ 5.52366436e-02 9.98473244e-01 -3.07126611e-04 8.52822824e+00] [ 1.54670384e-02 -5.48094266e-04 9.99880228e-01 1.03209115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.1892541539999 meters Centerline goodness : 0.999275 Centerline is valid? [True, True] Translation: X:666.96, Y:8.54, Z:10.32 [[ 9.98489818e-01 -5.27128775e-02 -1.54737156e-02 6.66960288e+02] [ 5.27144536e-02 9.98609580e-01 -3.06282058e-04 8.53621290e+00] [ 1.54683456e-02 -5.09868945e-04 9.99880228e-01 1.03211417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.2192541539999 meters Centerline goodness : 0.999275 Centerline is valid? [True, True] Translation: X:667.00, Y:8.53, Z:10.32 [[ 9.98730236e-01 -4.79436222e-02 -1.54701277e-02 6.66995887e+02] [ 4.79418629e-02 9.98850010e-01 -4.84765849e-04 8.53455424e+00] [ 1.54755787e-02 -2.57516433e-04 9.99880213e-01 1.03226163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.2492541539999 meters Centerline goodness : 0.999148 Centerline is valid? [True, True] Translation: X:667.03, Y:8.54, Z:10.32 [[ 9.98824929e-01 -4.59274115e-02 -1.54736895e-02 6.67027786e+02] [ 4.59282290e-02 9.98944696e-01 -3.02714317e-04 8.53659671e+00] [ 1.54712629e-02 -4.08320547e-04 9.99880229e-01 1.03244130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.2792541539999 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:667.06, Y:8.54, Z:10.33 [[ 9.99051268e-01 -4.07078320e-02 -1.54737115e-02 6.67059535e+02] [ 4.07080412e-02 9.99171039e-01 -3.01583006e-04 8.53936443e+00] [ 1.54731612e-02 -3.28607602e-04 9.99880229e-01 1.03264128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.3092541539999 meters Centerline goodness : 0.999338 Centerline is valid? [True, True] Translation: X:667.09, Y:8.54, Z:10.33 [[ 9.99159677e-01 -3.79539586e-02 -1.54737339e-02 6.67091055e+02] [ 3.79538555e-02 9.99279448e-01 -3.00429772e-04 8.54100200e+00] [ 1.54739868e-02 -2.87110547e-04 9.99880229e-01 1.03265050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.339254154 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:667.12, Y:8.54, Z:10.33 [[ 9.99374839e-01 -3.17882655e-02 -1.54737505e-02 6.67123548e+02] [ 3.17874367e-02 9.99494607e-01 -2.99572477e-04 8.54456636e+00] [ 1.54754531e-02 -1.92485670e-04 9.99880229e-01 1.03277641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.3692541539999 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:667.16, Y:8.55, Z:10.33 [[ 9.99488644e-01 -2.79823645e-02 -1.54737726e-02 6.67155176e+02] [ 2.79810973e-02 9.99608408e-01 -2.98427886e-04 8.54635212e+00] [ 1.54760639e-02 -1.34697853e-04 9.99880229e-01 1.03277819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.3992541539999 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:667.19, Y:8.55, Z:10.33 [[ 9.99663846e-01 -2.08028128e-02 -1.54737890e-02 6.67186052e+02] [ 2.08006987e-02 9.99783598e-01 -2.97577419e-04 8.54904781e+00] [ 1.54766308e-02 -2.43882338e-05 9.99880229e-01 1.03286314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.4292541539999 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:667.22, Y:8.55, Z:10.33 [[ 9.99719851e-01 -1.79103725e-02 -1.54737995e-02 6.67215683e+02] [ 1.79079203e-02 9.99839596e-01 -2.97027296e-04 8.55050920e+00] [ 1.54766373e-02 1.98405146e-05 9.99880229e-01 1.03298413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.459254154 meters Centerline goodness : 0.997674 Centerline is valid? [True, True] Translation: X:667.24, Y:8.55, Z:10.33 [[ 9.99756705e-01 -1.57192091e-02 -1.54737885e-02 6.67243755e+02] [ 1.57164857e-02 9.99876444e-01 -2.97600493e-04 8.55164397e+00] [ 1.54765547e-02 5.43345129e-05 9.99880229e-01 1.03271716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.4892541539999 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:667.27, Y:8.55, Z:10.33 [[ 9.99809211e-01 -1.19208593e-02 -1.54736969e-02 6.67272729e+02] [ 1.19176084e-02 9.99928937e-01 -3.02291405e-04 8.55210205e+00] [ 1.54762008e-02 1.17824272e-04 9.99880229e-01 1.03293511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.5192541539999 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:667.30, Y:8.55, Z:10.33 [[ 9.99819541e-01 -1.10205809e-02 -1.54736049e-02 6.67300989e+02] [ 1.10171504e-02 9.99939262e-01 -3.06926086e-04 8.55267916e+00] [ 1.54760476e-02 1.36395666e-04 9.99880230e-01 1.03298180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.5492541539999 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:667.33, Y:8.55, Z:10.33 [[ 9.99823194e-01 -1.06841492e-02 -1.54735144e-02 6.67327658e+02] [ 1.06806088e-02 9.99942912e-01 -3.11425454e-04 8.55323655e+00] [ 1.54759583e-02 1.46103839e-04 9.99880230e-01 1.03298918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.579254154 meters Centerline goodness : 0.993906 Centerline is valid? [True, True] Translation: X:667.35, Y:8.55, Z:10.33 [[ 9.99819131e-01 -1.10578986e-02 -1.54734749e-02 6.67354960e+02] [ 1.10543728e-02 9.99938849e-01 -3.13372176e-04 8.55386432e+00] [ 1.54759940e-02 1.42265936e-04 9.99880230e-01 1.03287035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.6092541539999 meters Centerline goodness : 0.999096 Centerline is valid? [True, True] Translation: X:667.38, Y:8.55, Z:10.33 [[ 9.99810902e-01 -1.17807002e-02 -1.54717751e-02 6.67383500e+02] [ 1.17759832e-02 9.99930582e-01 -3.95947801e-04 8.55359005e+00] [ 1.54753657e-02 2.13677565e-04 9.99880227e-01 1.03303203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.6392541539999 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:667.41, Y:8.55, Z:10.33 [[ 9.99755383e-01 -1.58048417e-02 -1.54719677e-02 6.67412056e+02] [ 1.58007539e-02 9.99875086e-01 -3.86418290e-04 8.55136502e+00] [ 1.54761424e-02 1.41855011e-04 9.99880227e-01 1.03296954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.6692541539999 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:667.44, Y:8.55, Z:10.33 [[ 9.99716056e-01 -1.81212833e-02 -1.54734437e-02 6.67440505e+02] [ 1.81186000e-02 9.99835796e-01 -3.13595328e-04 8.55048856e+00] [ 1.54765856e-02 3.31491472e-05 9.99880230e-01 1.03301566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.699254154 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:667.47, Y:8.55, Z:10.33 [[ 9.99611854e-01 -2.31671114e-02 -1.54733867e-02 6.67468796e+02] [ 2.31649894e-02 9.99731606e-01 -3.16379025e-04 8.54770221e+00] [ 1.54765634e-02 -4.21846169e-05 9.99880230e-01 1.03304442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.7292541539999 meters Centerline goodness : 0.999271 Centerline is valid? [True, True] Translation: X:667.50, Y:8.55, Z:10.33 [[ 9.99557615e-01 -2.53997676e-02 -1.54733698e-02 6.67499535e+02] [ 2.53979003e-02 9.99677371e-01 -3.17208013e-04 8.54646876e+00] [ 1.54764346e-02 -7.59234168e-05 9.99880230e-01 1.03317111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.7592541539999 meters Centerline goodness : 0.999378 Centerline is valid? [True, True] Translation: X:667.53, Y:8.55, Z:10.33 [[ 9.99506461e-01 -2.73387995e-02 -1.54733698e-02 6.67530448e+02] [ 2.73371645e-02 9.99626220e-01 -3.17208013e-04 8.54562288e+00] [ 1.54762582e-02 -1.05946596e-04 9.99880230e-01 1.03329030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.7892541539999 meters Centerline goodness : 0.999079 Centerline is valid? [True, True] Translation: X:667.56, Y:8.54, Z:10.33 [[ 9.99422914e-01 -3.02392590e-02 -1.54733810e-02 6.67561958e+02] [ 3.02379801e-02 9.99542678e-01 -3.16656582e-04 8.54346869e+00] [ 1.54758802e-02 -1.51409943e-04 9.99880230e-01 1.03341971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.819254154 meters Centerline goodness : 0.999037 Centerline is valid? [True, True] Translation: X:667.59, Y:8.54, Z:10.34 [[ 9.99399659e-01 -3.09983129e-02 -1.54733979e-02 6.67593158e+02] [ 3.09971377e-02 9.99519423e-01 -3.15831882e-04 8.54067581e+00] [ 1.54757520e-02 -1.63988769e-04 9.99880230e-01 1.03354265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.8492541539999 meters Centerline goodness : 0.998889 Centerline is valid? [True, True] Translation: X:667.62, Y:8.54, Z:10.34 [[ 9.99399357e-01 -3.10080454e-02 -1.54734094e-02 6.67624233e+02] [ 3.10068802e-02 9.99519121e-01 -3.15265018e-04 8.53971578e+00] [ 1.54757443e-02 -1.64706495e-04 9.99880230e-01 1.03356531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.8792541539999 meters Centerline goodness : 0.998847 Centerline is valid? [True, True] Translation: X:667.66, Y:8.54, Z:10.34 [[ 9.99410178e-01 -3.06572776e-02 -1.54734209e-02 6.67655623e+02] [ 3.06560790e-02 9.99529942e-01 -3.14700038e-04 8.53873847e+00] [ 1.54757954e-02 -1.59839993e-04 9.99880230e-01 1.03351266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.9092541539999 meters Centerline goodness : 0.998953 Centerline is valid? [True, True] Translation: X:667.69, Y:8.54, Z:10.34 [[ 9.99415933e-01 -3.04690877e-02 -1.54734324e-02 6.67686207e+02] [ 3.04678754e-02 9.99535697e-01 -3.14131887e-04 8.53798132e+00] [ 1.54758194e-02 -1.57494199e-04 9.99880230e-01 1.03356940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.9392541539999 meters Centerline goodness : 0.998849 Centerline is valid? [True, True] Translation: X:667.72, Y:8.54, Z:10.34 [[ 9.99462508e-01 -2.89009904e-02 -1.54734382e-02 6.67717467e+02] [ 2.88995946e-02 9.99582270e-01 -3.13850106e-04 8.53576999e+00] [ 1.54760450e-02 -1.33494676e-04 9.99880230e-01 1.03358702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.9692541539999 meters Centerline goodness : 0.998848 Centerline is valid? [True, True] Translation: X:667.75, Y:8.54, Z:10.34 [[ 9.99492008e-01 -2.78621422e-02 -1.54734495e-02 6.67748916e+02] [ 2.78606305e-02 9.99611768e-01 -3.13288498e-04 8.53536352e+00] [ 1.54761711e-02 -1.17970710e-04 9.99880230e-01 1.03366067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.9992541539999 meters Centerline goodness : 0.999063 Centerline is valid? [True, True] Translation: X:667.78, Y:8.53, Z:10.34 [[ 9.99584747e-01 -2.43085647e-02 -1.54734611e-02 6.67779534e+02] [ 2.43066362e-02 9.99704501e-01 -3.12716335e-04 8.53384964e+00] [ 1.54764904e-02 -6.35213110e-05 9.99880230e-01 1.03369579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.0292541539999 meters Centerline goodness : 0.998873 Centerline is valid? [True, True] Translation: X:667.81, Y:8.53, Z:10.34 [[ 9.99632499e-01 -2.22584326e-02 -1.54734668e-02 6.67809658e+02] [ 2.22562629e-02 9.99752250e-01 -3.12432701e-04 8.53372189e+00] [ 1.54765875e-02 -3.20636631e-05 9.99880230e-01 1.03370761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.0592541539999 meters Centerline goodness : 0.998850 Centerline is valid? [True, True] Translation: X:667.84, Y:8.53, Z:10.34 [[ 9.99716093e-01 -1.81191778e-02 -1.54734668e-02 6.67839232e+02] [ 1.81165122e-02 9.99835834e-01 -3.12432701e-04 8.53286024e+00] [ 1.54765876e-02 3.20187494e-05 9.99880230e-01 1.03373442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.089254154 meters Centerline goodness : 0.998893 Centerline is valid? [True, True] Translation: X:667.87, Y:8.53, Z:10.34 [[ 9.99748254e-01 -1.62480916e-02 -1.54734554e-02 6.67867504e+02] [ 1.62451932e-02 9.99867989e-01 -3.12995833e-04 8.53247186e+00] [ 1.54764984e-02 6.15477640e-05 9.99880230e-01 1.03374611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.1192541539999 meters Centerline goodness : 0.998935 Centerline is valid? [True, True] Translation: X:667.90, Y:8.53, Z:10.34 [[ 9.99774756e-01 -1.45262617e-02 -1.54733747e-02 6.67895296e+02] [ 1.45230961e-02 9.99894484e-01 -3.16936944e-04 8.53182490e+00] [ 1.54763459e-02 9.21442474e-05 9.99880230e-01 1.03383747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.1492541539999 meters Centerline goodness : 0.998852 Centerline is valid? [True, True] Translation: X:667.92, Y:8.53, Z:10.34 [[ 9.99809561e-01 -1.18920228e-02 -1.54732794e-02 6.67923347e+02] [ 1.18884708e-02 9.99929278e-01 -3.21522502e-04 8.52913335e+00] [ 1.54760087e-02 1.37507641e-04 9.99880230e-01 1.03385849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.1792541539999 meters Centerline goodness : 0.998681 Centerline is valid? [True, True] Translation: X:667.95, Y:8.53, Z:10.34 [[ 9.99805154e-01 -1.22569494e-02 -1.54732498e-02 6.67951544e+02] [ 1.22534192e-02 9.99924872e-01 -3.22942180e-04 8.52833278e+00] [ 1.54760456e-02 1.33279040e-04 9.99880230e-01 1.03391136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.209254154 meters Centerline goodness : 0.998618 Centerline is valid? [True, True] Translation: X:667.98, Y:8.53, Z:10.34 [[ 9.99792773e-01 -1.32284672e-02 -1.54731548e-02 6.67979358e+02] [ 1.32249838e-02 9.99912492e-01 -3.27430124e-04 8.52744268e+00] [ 1.54761322e-02 1.22730050e-04 9.99880230e-01 1.03396325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.2392541539999 meters Centerline goodness : 0.998708 Centerline is valid? [True, True] Translation: X:668.01, Y:8.52, Z:10.34 [[ 9.99741870e-01 -1.66366256e-02 -1.54730582e-02 6.68007425e+02] [ 1.66334806e-02 9.99861599e-01 -3.31935614e-04 8.52470997e+00] [ 1.54764390e-02 7.44791189e-05 9.99880230e-01 1.03400791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.2692541539999 meters Centerline goodness : 0.998688 Centerline is valid? [True, True] Translation: X:668.04, Y:8.52, Z:10.34 [[ 9.99692022e-01 -1.94023057e-02 -1.54729600e-02 6.68035061e+02] [ 1.93994221e-02 9.99811757e-01 -3.36449651e-04 8.52326883e+00] [ 1.54765752e-02 3.61795492e-05 9.99880230e-01 1.03403531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.2992541539999 meters Centerline goodness : 0.998776 Centerline is valid? [True, True] Translation: X:668.06, Y:8.52, Z:10.34 [[ 9.99543806e-01 -2.59378084e-02 -1.54728603e-02 6.68063460e+02] [ 2.59356376e-02 9.99663557e-01 -3.40973953e-04 8.51864646e+00] [ 1.54764987e-02 -6.04800951e-05 9.99880230e-01 1.03396175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.329254154 meters Centerline goodness : 0.998841 Centerline is valid? [True, True] Translation: X:668.09, Y:8.52, Z:10.34 [[ 9.99437126e-01 -2.97661411e-02 -1.54728293e-02 6.68093834e+02] [ 2.97644073e-02 9.99556883e-01 -3.42373967e-04 8.51635886e+00] [ 1.54761642e-02 -1.18358341e-04 9.99880230e-01 1.03406865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.3592541539999 meters Centerline goodness : 0.998947 Centerline is valid? [True, True] Translation: X:668.12, Y:8.51, Z:10.34 [[ 9.99311256e-01 -3.37284057e-02 -1.54728293e-02 6.68124413e+02] [ 3.37271467e-02 9.99431019e-01 -3.42373967e-04 8.51398083e+00] [ 1.54755733e-02 -1.79716226e-04 9.99880230e-01 1.03406923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.3892541539999 meters Centerline goodness : 0.998947 Centerline is valid? [True, True] Translation: X:668.16, Y:8.51, Z:10.34 [[ 9.99312469e-01 -3.36924501e-02 -1.54728356e-02 6.68156245e+02] [ 3.36911913e-02 9.99432232e-01 -3.42091532e-04 8.51465461e+00] [ 1.54755765e-02 -1.79441930e-04 9.99880230e-01 1.03411851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.4192541539999 meters Centerline goodness : 0.998716 Centerline is valid? [True, True] Translation: X:668.19, Y:8.51, Z:10.34 [[ 9.99010367e-01 -4.16998589e-02 -1.54728479e-02 6.68187778e+02] [ 4.16995685e-02 9.99130136e-01 -3.41534816e-04 8.50963680e+00] [ 1.54736306e-02 -3.04014258e-04 9.99880230e-01 1.03413757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.449254154 meters Centerline goodness : 0.998781 Centerline is valid? [True, True] Translation: X:668.22, Y:8.51, Z:10.34 [[ 9.98869085e-01 -4.49570895e-02 -1.54728885e-02 6.68219924e+02] [ 4.49572183e-02 9.98988855e-01 -3.39683422e-04 8.50765186e+00] [ 1.54725144e-02 -3.56318756e-04 9.99880230e-01 1.03420126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.4792541539999 meters Centerline goodness : 0.998972 Centerline is valid? [True, True] Translation: X:668.25, Y:8.51, Z:10.34 [[ 9.98735861e-01 -4.78254059e-02 -1.54729124e-02 6.68252047e+02] [ 4.78258955e-02 9.98855630e-01 -3.38592366e-04 8.50600928e+00] [ 1.54713990e-02 -4.01841553e-04 9.99880230e-01 1.03428214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.5092541539999 meters Centerline goodness : 0.998845 Centerline is valid? [True, True] Translation: X:668.28, Y:8.50, Z:10.34 [[ 9.98504772e-01 -5.24290851e-02 -1.54729362e-02 6.68284674e+02] [ 5.24301438e-02 9.98624537e-01 -3.37500856e-04 8.50290810e+00] [ 1.54693486e-02 -4.74252054e-04 9.99880230e-01 1.03437766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.5392541539999 meters Centerline goodness : 0.998721 Centerline is valid? [True, True] Translation: X:668.32, Y:8.50, Z:10.34 [[ 9.98440748e-01 -5.36345076e-02 -1.54729597e-02 6.68316920e+02] [ 5.36357275e-02 9.98560512e-01 -3.36418097e-04 8.50199096e+00] [ 1.54687302e-02 -4.94009916e-04 9.99880230e-01 1.03446266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.569254154 meters Centerline goodness : 0.998952 Centerline is valid? [True, True] Translation: X:668.35, Y:8.50, Z:10.35 [[ 9.98398216e-01 -5.44204803e-02 -1.54729832e-02 6.68347953e+02] [ 5.44218113e-02 9.98517979e-01 -3.35336338e-04 8.50131429e+00] [ 1.54683011e-02 -5.07268569e-04 9.99880230e-01 1.03453866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.5992541539999 meters Centerline goodness : 0.998742 Centerline is valid? [True, True] Translation: X:668.38, Y:8.50, Z:10.35 [[ 9.98387193e-01 -5.46223243e-02 -1.54730006e-02 6.68380291e+02] [ 5.46236920e-02 9.98506956e-01 -3.34529601e-04 8.49998851e+00] [ 1.54681715e-02 -5.11202351e-04 9.99880230e-01 1.03465469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.6292541539999 meters Centerline goodness : 0.998846 Centerline is valid? [True, True] Translation: X:668.41, Y:8.50, Z:10.35 [[ 9.98393607e-01 -5.45049545e-02 -1.54730463e-02 6.68412669e+02] [ 5.45063410e-02 9.98513369e-01 -3.32406166e-04 8.49993389e+00] [ 1.54681614e-02 -5.11506949e-04 9.99880230e-01 1.03479476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.6592541539999 meters Centerline goodness : 0.999287 Centerline is valid? [True, True] Translation: X:668.44, Y:8.50, Z:10.35 [[ 9.98463959e-01 -5.32006349e-02 -1.54730598e-02 6.68443908e+02] [ 5.32018747e-02 9.98583722e-01 -3.31776117e-04 8.49972932e+00] [ 1.54687964e-02 -4.91929296e-04 9.99880230e-01 1.03485709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.6892541539999 meters Centerline goodness : 0.998722 Centerline is valid? [True, True] Translation: X:668.48, Y:8.50, Z:10.35 [[ 9.98490475e-01 -5.27006194e-02 -1.54730781e-02 6.68476238e+02] [ 5.27018124e-02 9.98610239e-01 -3.30922472e-04 8.50058429e+00] [ 1.54690140e-02 -4.85036324e-04 9.99880230e-01 1.03491212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.7192541539999 meters Centerline goodness : 0.998909 Centerline is valid? [True, True] Translation: X:668.51, Y:8.50, Z:10.35 [[ 9.98585929e-01 -5.08598672e-02 -1.54731020e-02 6.68507575e+02] [ 5.08608568e-02 9.98705695e-01 -3.29801203e-04 8.50067065e+00] [ 1.54698487e-02 -4.57640385e-04 9.99880230e-01 1.03499396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.7492541539999 meters Centerline goodness : 0.998784 Centerline is valid? [True, True] Translation: X:668.54, Y:8.50, Z:10.35 [[ 9.98616581e-01 -5.02544208e-02 -1.54731197e-02 6.68540068e+02] [ 5.02553508e-02 9.98736347e-01 -3.28966414e-04 8.50134741e+00] [ 1.54700991e-02 -4.49095745e-04 9.99880230e-01 1.03508032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.7792541539999 meters Centerline goodness : 0.998973 Centerline is valid? [True, True] Translation: X:668.57, Y:8.50, Z:10.35 [[ 9.98632806e-01 -4.99309497e-02 -1.54731432e-02 6.68571113e+02] [ 4.99318580e-02 9.98752573e-01 -3.27858936e-04 8.50188696e+00] [ 1.54702119e-02 -4.45192101e-04 9.99880230e-01 1.03507942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.8092541539999 meters Centerline goodness : 0.998930 Centerline is valid? [True, True] Translation: X:668.60, Y:8.50, Z:10.35 [[ 9.98632784e-01 -4.99313924e-02 -1.54731606e-02 6.68603281e+02] [ 4.99323135e-02 9.98752551e-01 -3.27034681e-04 8.50213189e+00] [ 1.54701879e-02 -4.46023154e-04 9.99880230e-01 1.03507212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.839254154 meters Centerline goodness : 0.998909 Centerline is valid? [True, True] Translation: X:668.63, Y:8.50, Z:10.35 [[ 9.98627845e-01 -5.00300627e-02 -1.54731845e-02 6.68634337e+02] [ 5.00310132e-02 9.98747612e-01 -3.25903049e-04 8.50252237e+00] [ 1.54701110e-02 -4.48683236e-04 9.99880230e-01 1.03503330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.8692541539999 meters Centerline goodness : 0.998928 Centerline is valid? [True, True] Translation: X:668.67, Y:8.50, Z:10.35 [[ 9.98607342e-01 -5.04376555e-02 -1.54732022e-02 6.68666630e+02] [ 5.04386679e-02 9.98727107e-01 -3.25060055e-04 8.50358689e+00] [ 1.54699017e-02 -4.55840348e-04 9.99880230e-01 1.03498182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.8992541539999 meters Centerline goodness : 0.999139 Centerline is valid? [True, True] Translation: X:668.69, Y:8.51, Z:10.35 [[ 9.98521318e-01 -5.21129277e-02 -1.54732250e-02 6.68692629e+02] [ 5.21141579e-02 9.98641081e-01 -3.23967505e-04 8.50823675e+00] [ 1.54690811e-02 -4.82885634e-04 9.99880230e-01 1.03468296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.9292541539999 meters Centerline goodness : 0.998994 Centerline is valid? [True, True] Translation: X:668.73, Y:8.50, Z:10.35 [[ 9.98640607e-01 -4.97764854e-02 -1.54673546e-02 6.68727820e+02] [ 4.97732010e-02 9.98760367e-01 -5.97463619e-04 8.50472879e+00] [ 1.54779204e-02 -1.73208319e-04 9.99880195e-01 1.03508391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.959254154 meters Centerline goodness : 0.999159 Centerline is valid? [True, True] Translation: X:668.76, Y:8.51, Z:10.35 [[ 9.98751053e-01 -4.75070188e-02 -1.54730871e-02 6.68759519e+02] [ 4.75077239e-02 9.98870819e-01 -3.22199532e-04 8.50551038e+00] [ 1.54709219e-02 -4.13294029e-04 9.99880233e-01 1.03516279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.9892541539999 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:668.79, Y:8.51, Z:10.35 [[ 9.98837384e-01 -4.56559288e-02 -1.54731111e-02 6.68790721e+02] [ 4.56564299e-02 9.98957150e-01 -3.21042546e-04 8.50676953e+00] [ 1.54716325e-02 -3.85777717e-04 9.99880233e-01 1.03522713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.0192541539999 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:668.82, Y:8.51, Z:10.35 [[ 9.99065521e-01 -4.03567425e-02 -1.54731289e-02 6.68821880e+02] [ 4.03566216e-02 9.99185288e-01 -3.20180519e-04 8.50898867e+00] [ 1.54734443e-02 -3.04561893e-04 9.99880233e-01 1.03540323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.0492541539999 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:668.85, Y:8.51, Z:10.36 [[ 9.99159381e-01 -3.79619987e-02 -1.54731464e-02 6.68854274e+02] [ 3.79616038e-02 9.99279148e-01 -3.19333282e-04 8.51023842e+00] [ 1.54741151e-02 -2.68320611e-04 9.99880233e-01 1.03560762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.079254154 meters Centerline goodness : 0.999077 Centerline is valid? [True, True] Translation: X:668.89, Y:8.51, Z:10.36 [[ 9.99314731e-01 -3.36251317e-02 -1.54731697e-02 6.68885943e+02] [ 3.36242345e-02 9.99434495e-01 -3.18203104e-04 8.51195660e+00] [ 1.54751191e-02 -2.02288437e-04 9.99880233e-01 1.03572582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.1092541539999 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:668.92, Y:8.51, Z:10.36 [[ 9.99381269e-01 -3.15857390e-02 -1.54731812e-02 6.68915506e+02] [ 3.15846062e-02 9.99501031e-01 -3.17641507e-04 8.51372605e+00] [ 1.54754935e-02 -1.71269362e-04 9.99880233e-01 1.03569033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.1392541539999 meters Centerline goodness : 0.999433 Centerline is valid? [True, True] Translation: X:668.95, Y:8.51, Z:10.36 [[ 9.99427056e-01 -3.01031545e-02 -1.54712504e-02 6.68946404e+02] [ 3.01004078e-02 9.99546796e-01 -4.10420419e-04 8.51351258e+00] [ 1.54765937e-02 -5.55056758e-05 9.99880229e-01 1.03587801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.1692541539999 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:668.98, Y:8.51, Z:10.36 [[ 9.99499082e-01 -2.76073753e-02 -1.54731109e-02 6.68976820e+02] [ 2.76057193e-02 9.99618838e-01 -3.20640304e-04 8.51470204e+00] [ 1.54760652e-02 -1.06666668e-04 9.99880233e-01 1.03597145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.199254154 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:669.01, Y:8.52, Z:10.36 [[ 9.99526800e-01 -2.65849408e-02 -1.54731109e-02 6.69005890e+02] [ 2.65831623e-02 9.99646554e-01 -3.20640304e-04 8.51512721e+00] [ 1.54761662e-02 -9.08356425e-05 9.99880233e-01 1.03592436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.2292541539999 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:669.04, Y:8.52, Z:10.36 [[ 9.99532415e-01 -2.63729749e-02 -1.54731051e-02 6.69035781e+02] [ 2.63711667e-02 9.99652169e-01 -3.20920303e-04 8.51541301e+00] [ 1.54761867e-02 -8.72735892e-05 9.99880233e-01 1.03598039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.2592541539999 meters Centerline goodness : 0.998969 Centerline is valid? [True, True] Translation: X:669.07, Y:8.52, Z:10.36 [[ 9.99526837e-01 -2.65835526e-02 -1.54730934e-02 6.69065074e+02] [ 2.65817609e-02 9.99646591e-01 -3.21484147e-04 8.51522202e+00] [ 1.54761713e-02 -8.99700373e-05 9.99880233e-01 1.03598816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.2892541539999 meters Centerline goodness : 0.999074 Centerline is valid? [True, True] Translation: X:669.09, Y:8.51, Z:10.36 [[ 9.99495668e-01 -2.77307134e-02 -1.54730818e-02 6.69094830e+02] [ 2.77290505e-02 9.99615424e-01 -3.22043560e-04 8.51397012e+00] [ 1.54760617e-02 -1.07172723e-04 9.99880233e-01 1.03604535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.319254154 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:669.13, Y:8.51, Z:10.36 [[ 9.99428837e-01 -3.00430458e-02 -1.54730701e-02 6.69125110e+02] [ 3.00416513e-02 9.99548596e-01 -3.22605116e-04 8.51201933e+00] [ 1.54757775e-02 -1.42415719e-04 9.99880233e-01 1.03605365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.3492541539999 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:669.16, Y:8.51, Z:10.36 [[ 9.99428837e-01 -3.00430458e-02 -1.54730701e-02 6.69156099e+02] [ 3.00416513e-02 9.99548596e-01 -3.22605116e-04 8.51266542e+00] [ 1.54757775e-02 -1.42415719e-04 9.99880233e-01 1.03610162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.3792541539999 meters Centerline goodness : 0.999035 Centerline is valid? [True, True] Translation: X:669.19, Y:8.51, Z:10.36 [[ 9.99318212e-01 -3.35215702e-02 -1.54730701e-02 6.69185622e+02] [ 3.35205925e-02 9.99437975e-01 -3.22605116e-04 8.51035071e+00] [ 1.54751880e-02 -1.96281310e-04 9.99880233e-01 1.03601432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.4092541539999 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:669.22, Y:8.51, Z:10.36 [[ 9.99246398e-01 -3.55980452e-02 -1.54730643e-02 6.69215723e+02] [ 3.55973121e-02 9.99366163e-01 -3.22882548e-04 8.50956090e+00] [ 1.54747509e-02 -2.28160275e-04 9.99880233e-01 1.03599010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.4392541539999 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:669.25, Y:8.51, Z:10.36 [[ 9.99146349e-01 -3.83034904e-02 -1.54730700e-02 6.69247437e+02] [ 3.83030858e-02 9.99266115e-01 -3.22607914e-04 8.50666304e+00] [ 1.54740716e-02 -2.70333809e-04 9.99880233e-01 1.03590278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.4692541539999 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] Translation: X:669.28, Y:8.51, Z:10.36 [[ 9.99028541e-01 -4.12620603e-02 -1.54730824e-02 6.69278497e+02] [ 4.12620196e-02 9.99148308e-01 -3.22014172e-04 8.50671866e+00] [ 1.54731910e-02 -3.16749279e-04 9.99880233e-01 1.03593210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.4992541539999 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:669.31, Y:8.51, Z:10.36 [[ 9.98908699e-01 -4.40680605e-02 -1.54730941e-02 6.69310263e+02] [ 4.40683649e-02 9.99028466e-01 -3.21449747e-04 8.50536876e+00] [ 1.54722271e-02 -3.60775007e-04 9.99880233e-01 1.03600196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.5292541539999 meters Centerline goodness : 0.999140 Centerline is valid? [True, True] Translation: X:669.34, Y:8.50, Z:10.36 [[ 9.98846689e-01 -4.54518902e-02 -1.54731057e-02 6.69341167e+02] [ 4.54523692e-02 9.98966455e-01 -3.20889170e-04 8.50492331e+00] [ 1.54716986e-02 -3.82770228e-04 9.99880233e-01 1.03592934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.5592541539999 meters Centerline goodness : 0.998993 Centerline is valid? [True, True] Translation: X:669.37, Y:8.50, Z:10.36 [[ 9.98671476e-01 -4.91514577e-02 -1.54731231e-02 6.69373649e+02] [ 4.91523934e-02 9.98791239e-01 -3.20049768e-04 8.50400532e+00] [ 1.54701507e-02 -4.40916458e-04 9.99880233e-01 1.03606366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.589254154 meters Centerline goodness : 0.998994 Centerline is valid? [True, True] Translation: X:669.41, Y:8.50, Z:10.36 [[ 9.98580179e-01 -5.09726291e-02 -1.54731450e-02 6.69405579e+02] [ 5.09737996e-02 9.98699940e-01 -3.18988274e-04 8.50368960e+00] [ 1.54692886e-02 -4.70189622e-04 9.99880233e-01 1.03619188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.6192541539999 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:669.44, Y:8.50, Z:10.36 [[ 9.98460514e-01 -5.32652161e-02 -1.54731670e-02 6.69436931e+02] [ 5.32666781e-02 9.98580272e-01 -3.17914114e-04 8.50372294e+00] [ 1.54681331e-02 -5.06779519e-04 9.99880233e-01 1.03628153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.6492541539999 meters Centerline goodness : 0.998889 Centerline is valid? [True, True] Translation: X:669.47, Y:8.50, Z:10.36 [[ 9.98358694e-01 -5.51407127e-02 -1.54732026e-02 6.69469108e+02] [ 5.51424266e-02 9.98478449e-01 -3.16175709e-04 8.50360613e+00] [ 1.54670934e-02 -5.37573168e-04 9.99880233e-01 1.03636322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.6792541539999 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:669.50, Y:8.50, Z:10.36 [[ 9.98124634e-01 -5.92266369e-02 -1.54732238e-02 6.69501133e+02] [ 5.92288571e-02 9.98244381e-01 -3.15134258e-04 8.50311480e+00] [ 1.54647230e-02 -6.01918093e-04 9.99880233e-01 1.03638806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.709254154 meters Centerline goodness : 0.998953 Centerline is valid? [True, True] Translation: X:669.53, Y:8.50, Z:10.36 [[ 9.98020902e-01 -6.09496387e-02 -1.54732448e-02 6.69533098e+02] [ 6.09520817e-02 9.98140644e-01 -3.14100267e-04 8.50325841e+00] [ 1.54636188e-02 -6.29647846e-04 9.99880233e-01 1.03648223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.7392541539999 meters Centerline goodness : 0.998808 Centerline is valid? [True, True] Translation: X:669.56, Y:8.50, Z:10.37 [[ 9.97783802e-01 -6.47152438e-02 -1.54732671e-02 6.69564912e+02] [ 6.47181557e-02 9.97903534e-01 -3.12993708e-04 8.50383228e+00] [ 1.54610834e-02 -6.89101260e-04 9.99880233e-01 1.03651078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.7692541539999 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:669.60, Y:8.50, Z:10.37 [[ 9.97686352e-01 -6.62006036e-02 -1.54732900e-02 6.69595908e+02] [ 6.62037113e-02 9.97806079e-01 -3.11858284e-04 8.50485573e+00] [ 1.54599881e-02 -7.13252472e-04 9.99880233e-01 1.03651881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.7992541539999 meters Centerline goodness : 0.998935 Centerline is valid? [True, True] Translation: X:669.63, Y:8.51, Z:10.37 [[ 9.97604595e-01 -6.74214217e-02 -1.54733070e-02 6.69627845e+02] [ 6.74246890e-02 9.97724318e-01 -3.11011857e-04 8.50623122e+00] [ 1.54590636e-02 -7.33016056e-04 9.99880233e-01 1.03661462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.829254154 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:669.66, Y:8.51, Z:10.37 [[ 9.97401500e-01 -7.03620906e-02 -1.54733297e-02 6.69658644e+02] [ 7.03657283e-02 9.97521212e-01 -3.09882276e-04 8.50897827e+00] [ 1.54567785e-02 -7.79715064e-04 9.99880233e-01 1.03653880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.8592541539999 meters Centerline goodness : 0.999022 Centerline is valid? [True, True] Translation: X:669.69, Y:8.51, Z:10.37 [[ 9.97509112e-01 -6.88196106e-02 -1.54736276e-02 6.69686511e+02] [ 6.88232956e-02 9.97628822e-01 -2.94865333e-04 8.50860314e+00] [ 1.54572294e-02 -7.70815187e-04 9.99880233e-01 1.03654506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.8892541539999 meters Centerline goodness : 0.998935 Centerline is valid? [True, True] Translation: X:669.72, Y:8.51, Z:10.37 [[ 9.97368216e-01 -7.08329395e-02 -1.54705023e-02 6.69721677e+02] [ 7.08344739e-02 9.97487983e-01 -4.49444709e-04 8.50971815e+00] [ 1.54634756e-02 -6.47583020e-04 9.99880224e-01 1.03670593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.9192541539999 meters Centerline goodness : 0.998727 Centerline is valid? [True, True] Translation: X:669.75, Y:8.51, Z:10.37 [[ 9.97427087e-01 -6.99984402e-02 -1.54733306e-02 6.69753468e+02] [ 7.00020817e-02 9.97546798e-01 -3.06814534e-04 8.51178746e+00] [ 1.54568479e-02 -7.77140223e-04 9.99880234e-01 1.03668061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.949254154 meters Centerline goodness : 0.998914 Centerline is valid? [True, True] Translation: X:669.79, Y:8.51, Z:10.37 [[ 9.97569330e-01 -6.79412013e-02 -1.54733581e-02 6.69790279e+02] [ 6.79446174e-02 9.97689048e-01 -3.05421892e-04 8.51135277e+00] [ 1.54583506e-02 -7.46651881e-04 9.99880234e-01 1.03683914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.9792541539999 meters Centerline goodness : 0.998769 Centerline is valid? [True, True] Translation: X:669.82, Y:8.52, Z:10.37 [[ 9.97553242e-01 -6.81760404e-02 -1.54776064e-02 6.69815965e+02] [ 6.81828795e-02 9.97672836e-01 -8.59997096e-05 8.51745701e+00] [ 1.54474506e-02 -9.69518482e-04 9.99880211e-01 1.03683894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.0092541539999 meters Centerline goodness : 0.998708 Centerline is valid? [True, True] Translation: X:669.85, Y:8.52, Z:10.37 [[ 9.97714753e-01 -6.57711857e-02 -1.54732635e-02 6.69847111e+02] [ 6.57743358e-02 9.97834477e-01 -3.05778824e-04 8.51893113e+00] [ 1.54598673e-02 -7.12663588e-04 9.99880235e-01 1.03671004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.0392541539999 meters Centerline goodness : 0.998954 Centerline is valid? [True, True] Translation: X:669.88, Y:8.52, Z:10.37 [[ 9.97873938e-01 -6.33102028e-02 -1.54732798e-02 6.69879333e+02] [ 6.33130704e-02 9.97993668e-01 -3.04953009e-04 8.52258553e+00] [ 1.54615419e-02 -6.75356193e-04 9.99880235e-01 1.03682398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.069254154 meters Centerline goodness : 0.998996 Centerline is valid? [True, True] Translation: X:669.91, Y:8.52, Z:10.37 [[ 9.97983858e-01 -6.15532015e-02 -1.54733020e-02 6.69910208e+02] [ 6.15558758e-02 9.98103593e-01 -3.03823306e-04 8.52483042e+00] [ 1.54626596e-02 -6.49261901e-04 9.99880235e-01 1.03683387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.0992541539999 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:669.94, Y:8.53, Z:10.37 [[ 9.98081765e-01 -5.99446877e-02 -1.54733381e-02 6.69941080e+02] [ 5.99471978e-02 9.98201504e-01 -3.01970804e-04 8.52734681e+00] [ 1.54636109e-02 -6.26191708e-04 9.99880235e-01 1.03685951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.1292541539999 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:669.97, Y:8.53, Z:10.37 [[ 9.98317834e-01 -5.58755625e-02 -1.54733543e-02 6.69973456e+02] [ 5.58775972e-02 9.98437581e-01 -3.01142827e-04 8.53211316e+00] [ 1.54660049e-02 -5.63977602e-04 9.99880235e-01 1.03702426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.1592541539999 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:670.00, Y:8.53, Z:10.37 [[ 9.98461322e-01 -5.32499974e-02 -1.54733758e-02 6.70004426e+02] [ 5.32517344e-02 9.98581075e-01 -3.00032296e-04 8.53474009e+00] [ 1.54673969e-02 -5.24413454e-04 9.99880235e-01 1.03713349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.1892541539999 meters Centerline goodness : 0.999035 Centerline is valid? [True, True] Translation: X:670.04, Y:8.54, Z:10.37 [[ 9.98782800e-01 -4.68347312e-02 -1.54733918e-02 6.70035453e+02] [ 4.68357116e-02 9.98902561e-01 -2.99205788e-04 8.53982155e+00] [ 1.54704239e-02 -4.25865720e-04 9.99880235e-01 1.03730921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.2192541539999 meters Centerline goodness : 0.999054 Centerline is valid? [True, True] Translation: X:670.06, Y:8.55, Z:10.37 [[ 9.98850595e-01 -4.53658573e-02 -1.54734265e-02 6.70064839e+02] [ 4.53666896e-02 9.98970357e-01 -2.97398613e-04 8.54540771e+00] [ 1.54709861e-02 -4.04921356e-04 9.99880235e-01 1.03728972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.2492541539999 meters Centerline goodness : 0.998991 Centerline is valid? [True, True] Translation: X:670.10, Y:8.54, Z:10.37 [[ 9.99128424e-01 -3.87691353e-02 -1.54708141e-02 6.70097442e+02] [ 3.87671061e-02 9.99248180e-01 -4.31151107e-04 8.54465787e+00] [ 1.54758982e-02 -1.68983367e-04 9.99880227e-01 1.03736866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.2792541539999 meters Centerline goodness : 0.999138 Centerline is valid? [True, True] Translation: X:670.13, Y:8.55, Z:10.38 [[ 9.99320633e-01 -3.34500172e-02 -1.54715748e-02 6.70129867e+02] [ 3.34479487e-02 9.99440384e-01 -3.92512334e-04 8.54871099e+00] [ 1.54760462e-02 -1.25246767e-04 9.99880231e-01 1.03750017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.3092541539999 meters Centerline goodness : 0.999138 Centerline is valid? [True, True] Translation: X:670.16, Y:8.55, Z:10.38 [[ 9.99321785e-01 -3.34147582e-02 -1.54733330e-02 6.70161704e+02] [ 3.34140771e-02 9.99441548e-01 -3.02613741e-04 8.54925720e+00] [ 1.54748037e-02 -2.14618639e-04 9.99880235e-01 1.03754692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.339254154 meters Centerline goodness : 0.999050 Centerline is valid? [True, True] Translation: X:670.19, Y:8.55, Z:10.38 [[ 9.99402999e-01 -3.08904607e-02 -1.54733433e-02 6.70192809e+02] [ 3.08894853e-02 9.99522760e-01 -3.02089273e-04 8.55143690e+00] [ 1.54752904e-02 -1.76054684e-04 9.99880235e-01 1.03759094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.3692541539999 meters Centerline goodness : 0.998983 Centerline is valid? [True, True] Translation: X:670.22, Y:8.55, Z:10.38 [[ 9.99489425e-01 -2.79546943e-02 -1.54733537e-02 6.70224346e+02] [ 2.79533754e-02 9.99609183e-01 -3.01555825e-04 8.55468915e+00] [ 1.54757363e-02 -1.31130605e-04 9.99880235e-01 1.03752253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.3992541539999 meters Centerline goodness : 0.999045 Centerline is valid? [True, True] Translation: X:670.25, Y:8.56, Z:10.37 [[ 9.99467592e-01 -2.87246740e-02 -1.54733645e-02 6.70254738e+02] [ 2.87234559e-02 9.99587351e-01 -3.00998854e-04 8.55626069e+00] [ 1.54756255e-02 -1.43609903e-04 9.99880235e-01 1.03733005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.4292541539999 meters Centerline goodness : 0.998812 Centerline is valid? [True, True] Translation: X:670.29, Y:8.55, Z:10.37 [[ 9.99563204e-01 -2.51787486e-02 -1.54736170e-02 6.70292247e+02] [ 2.51773055e-02 9.99682960e-01 -2.88092367e-04 8.55106894e+00] [ 1.54759650e-02 -1.01617452e-04 9.99880235e-01 1.03695837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.459254154 meters Centerline goodness : 0.999130 Centerline is valid? [True, True] Translation: X:670.31, Y:8.56, Z:10.37 [[ 9.99318774e-01 -3.35008081e-02 -1.54816972e-02 6.70311997e+02] [ 3.35066356e-02 9.99438488e-01 1.17107897e-04 8.55971289e+00] [ 1.54690808e-02 -6.35767705e-04 9.99880144e-01 1.03736693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.4892541539999 meters Centerline goodness : 0.998921 Centerline is valid? [True, True] Translation: X:670.34, Y:8.56, Z:10.37 [[ 9.99148469e-01 -3.82483580e-02 -1.54725381e-02 6.70342808e+02] [ 3.82479490e-02 9.99268227e-01 -3.22451656e-04 8.56029424e+00] [ 1.54735490e-02 -2.69615770e-04 9.99880241e-01 1.03746681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.5192541539999 meters Centerline goodness : 0.998985 Centerline is valid? [True, True] Translation: X:670.37, Y:8.56, Z:10.38 [[ 9.99052545e-01 -4.06769271e-02 -1.54725551e-02 6.70374630e+02] [ 4.06768219e-02 9.99172304e-01 -3.21635858e-04 8.56060842e+00] [ 1.54728317e-02 -3.08043244e-04 9.99880241e-01 1.03754955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.5492541539999 meters Centerline goodness : 0.998944 Centerline is valid? [True, True] Translation: X:670.41, Y:8.56, Z:10.38 [[ 9.98964540e-01 -4.27837340e-02 -1.54725774e-02 6.70406481e+02] [ 4.27838980e-02 9.99084298e-01 -3.20557009e-04 8.56141611e+00] [ 1.54721238e-02 -3.41752090e-04 9.99880241e-01 1.03763272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.579254154 meters Centerline goodness : 0.998902 Centerline is valid? [True, True] Translation: X:670.44, Y:8.56, Z:10.38 [[ 9.98800123e-01 -4.64641108e-02 -1.54725997e-02 6.70438953e+02] [ 4.64647328e-02 9.98919880e-01 -3.19477047e-04 8.56213386e+00] [ 1.54707317e-02 -3.99836498e-04 9.99880241e-01 1.03776621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.6092541539999 meters Centerline goodness : 0.998797 Centerline is valid? [True, True] Translation: X:670.47, Y:8.56, Z:10.38 [[ 9.98717821e-01 -4.82007413e-02 -1.54726220e-02 6.70470496e+02] [ 4.82015883e-02 9.98837577e-01 -3.18392749e-04 8.56260140e+00] [ 1.54699831e-02 -4.27820445e-04 9.99880241e-01 1.03780478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.6392541539999 meters Centerline goodness : 0.999009 Centerline is valid? [True, True] Translation: X:670.50, Y:8.56, Z:10.38 [[ 9.98589470e-01 -5.07904261e-02 -1.54726386e-02 6.70502263e+02] [ 5.07915961e-02 9.98709223e-01 -3.17585286e-04 8.56249044e+00] [ 1.54687972e-02 -4.68742689e-04 9.99880241e-01 1.03786145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.6692541539999 meters Centerline goodness : 0.998946 Centerline is valid? [True, True] Translation: X:670.53, Y:8.56, Z:10.38 [[ 9.98551753e-01 -5.15266338e-02 -1.54726602e-02 6.70534423e+02] [ 5.15279085e-02 9.98671505e-01 -3.16528937e-04 8.56255788e+00] [ 1.54684145e-02 -4.81203295e-04 9.99880241e-01 1.03787792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.699254154 meters Centerline goodness : 0.998779 Centerline is valid? [True, True] Translation: X:670.57, Y:8.56, Z:10.38 [[ 9.98473645e-01 -5.30186476e-02 -1.54726818e-02 6.70566830e+02] [ 5.30201176e-02 9.98593395e-01 -3.15472586e-04 8.56297076e+00] [ 1.54676437e-02 -5.05372344e-04 9.99880241e-01 1.03792187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.7292541539999 meters Centerline goodness : 0.999012 Centerline is valid? [True, True] Translation: X:670.60, Y:8.56, Z:10.38 [[ 9.98373265e-01 -5.48764045e-02 -1.54727032e-02 6.70598494e+02] [ 5.48781136e-02 9.98493011e-01 -3.14418452e-04 8.56326275e+00] [ 1.54666401e-02 -5.35205786e-04 9.99880241e-01 1.03788228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.7592541539999 meters Centerline goodness : 0.998825 Centerline is valid? [True, True] Translation: X:670.63, Y:8.56, Z:10.38 [[ 9.98327389e-01 -5.57047442e-02 -1.54727191e-02 6.70630387e+02] [ 5.57065649e-02 9.98447134e-01 -3.13632595e-04 8.56365024e+00] [ 1.54661629e-02 -5.48824021e-04 9.99880241e-01 1.03788878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.7892541539999 meters Centerline goodness : 0.998782 Centerline is valid? [True, True] Translation: X:670.66, Y:8.56, Z:10.38 [[ 9.98299898e-01 -5.61952729e-02 -1.54727401e-02 6.70661724e+02] [ 5.61971685e-02 9.98419642e-01 -3.12595177e-04 8.56369010e+00] [ 1.54658540e-02 -5.57460447e-04 9.99880241e-01 1.03786978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.819254154 meters Centerline goodness : 0.998993 Centerline is valid? [True, True] Translation: X:670.69, Y:8.56, Z:10.38 [[ 9.98336442e-01 -5.55422616e-02 -1.54727556e-02 6.70693508e+02] [ 5.55440908e-02 9.98456187e-01 -3.11821931e-04 8.56401683e+00] [ 1.54661879e-02 -5.48116948e-04 9.99880241e-01 1.03787624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.8492541539999 meters Centerline goodness : 0.998909 Centerline is valid? [True, True] Translation: X:670.73, Y:8.56, Z:10.38 [[ 9.98455768e-01 -5.33542199e-02 -1.54727762e-02 6.70725943e+02] [ 5.33558025e-02 9.98575516e-01 -3.10796626e-04 8.56394122e+00] [ 1.54673178e-02 -5.15245710e-04 9.99880241e-01 1.03792500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.8792541539999 meters Centerline goodness : 0.999076 Centerline is valid? [True, True] Translation: X:670.76, Y:8.57, Z:10.38 [[ 9.98697783e-01 -4.86140966e-02 -1.54727980e-02 6.70757638e+02] [ 4.86151276e-02 9.98817538e-01 -3.09711869e-04 8.56534470e+00] [ 1.54695583e-02 -4.42903490e-04 9.99880241e-01 1.03799167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.9092541539999 meters Centerline goodness : 0.999201 Centerline is valid? [True, True] Translation: X:670.79, Y:8.57, Z:10.38 [[ 9.98870897e-01 -4.49168414e-02 -1.54728195e-02 6.70790248e+02] [ 4.49174457e-02 9.98990655e-01 -3.08633443e-04 8.56684214e+00] [ 1.54710649e-02 -3.86714565e-04 9.99880241e-01 1.03813977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.9392541539999 meters Centerline goodness : 0.999037 Centerline is valid? [True, True] Translation: X:670.82, Y:8.57, Z:10.38 [[ 9.99213780e-01 -3.65022465e-02 -1.54728420e-02 6.70820934e+02] [ 3.65018598e-02 9.99333538e-01 -3.07498052e-04 8.56977860e+00] [ 1.54737543e-02 -2.57531220e-04 9.99880241e-01 1.03820837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.9692541539999 meters Centerline goodness : 0.998821 Centerline is valid? [True, True] Translation: X:670.85, Y:8.57, Z:10.38 [[ 9.99360773e-01 -3.22278621e-02 -1.54728588e-02 6.70853381e+02] [ 3.22269762e-02 9.99480529e-01 -3.06652826e-04 8.57141704e+00] [ 1.54747038e-02 -1.92186646e-04 9.99880241e-01 1.03827100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.9992541539999 meters Centerline goodness : 0.999092 Centerline is valid? [True, True] Translation: X:670.88, Y:8.57, Z:10.38 [[ 9.99557709e-01 -2.53964005e-02 -1.54728806e-02 6.70884744e+02] [ 2.53947132e-02 9.99677456e-01 -3.05547342e-04 8.57312742e+00] [ 1.54756497e-02 -8.75171647e-05 9.99880241e-01 1.03832991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.0292541539999 meters Centerline goodness : 0.998925 Centerline is valid? [True, True] Translation: X:670.91, Y:8.57, Z:10.38 [[ 9.99613505e-01 -2.30960888e-02 -1.54728916e-02 6.70914046e+02] [ 2.30941345e-02 9.99733248e-01 -3.04990388e-04 8.57396279e+00] [ 1.54758083e-02 -5.24605292e-05 9.99880241e-01 1.03830333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.0592541539999 meters Centerline goodness : 0.998904 Centerline is valid? [True, True] Translation: X:670.94, Y:8.57, Z:10.38 [[ 9.99606861e-01 -2.33818856e-02 -1.54728861e-02 6.70943670e+02] [ 2.33799613e-02 9.99726605e-01 -3.05266826e-04 8.57478145e+00] [ 1.54757936e-02 -5.66086656e-05 9.99880241e-01 1.03835088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.089254154 meters Centerline goodness : 0.998945 Centerline is valid? [True, True] Translation: X:670.97, Y:8.57, Z:10.38 [[ 9.99556027e-01 -2.54624925e-02 -1.54728749e-02 6.70972455e+02] [ 2.54608087e-02 9.99675774e-01 -3.05833027e-04 8.57483547e+00] [ 1.54756455e-02 -8.82546643e-05 9.99880241e-01 1.03832411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.1192541539999 meters Centerline goodness : 0.998904 Centerline is valid? [True, True] Translation: X:671.00, Y:8.57, Z:10.38 [[ 9.99483443e-01 -2.81680205e-02 -1.54728583e-02 6.71002177e+02] [ 2.81666478e-02 9.99603194e-01 -3.06674977e-04 8.57403965e+00] [ 1.54753570e-02 -1.29301988e-04 9.99880241e-01 1.03824924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.1492541539999 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:671.03, Y:8.57, Z:10.38 [[ 9.99216913e-01 -3.64163585e-02 -1.54728472e-02 6.71033011e+02] [ 3.64159656e-02 9.99336672e-01 -3.07230310e-04 8.57095745e+00] [ 1.54737719e-02 -2.56468951e-04 9.99880241e-01 1.03817251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.1792541539999 meters Centerline goodness : 0.998993 Centerline is valid? [True, True] Translation: X:671.06, Y:8.57, Z:10.38 [[ 9.99047628e-01 -4.07973956e-02 -1.54728650e-02 6.71063960e+02] [ 4.07975417e-02 9.99167387e-01 -3.06333910e-04 8.56968786e+00] [ 1.54724797e-02 -3.25212688e-04 9.99880241e-01 1.03819771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.209254154 meters Centerline goodness : 0.998950 Centerline is valid? [True, True] Translation: X:671.09, Y:8.57, Z:10.38 [[ 9.98655718e-01 -4.94706743e-02 -1.54728755e-02 6.71093467e+02] [ 4.94718685e-02 9.98775471e-01 -3.05803703e-04 8.56910975e+00] [ 1.54690568e-02 -4.60079444e-04 9.99880241e-01 1.03823449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.2392541539999 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:671.13, Y:8.57, Z:10.38 [[ 9.98509529e-01 -5.23391257e-02 -1.54705255e-02 6.71126594e+02] [ 5.23388321e-02 9.98629294e-01 -4.24132933e-04 8.56594191e+00] [ 1.54715187e-02 -3.86208460e-04 9.99880234e-01 1.03839623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.2692541539999 meters Centerline goodness : 0.998784 Centerline is valid? [True, True] Translation: X:671.16, Y:8.56, Z:10.38 [[ 9.98387017e-01 -5.46255751e-02 -1.54728870e-02 6.71161770e+02] [ 5.46274169e-02 9.98506762e-01 -3.03908407e-04 8.56155149e+00] [ 1.54663834e-02 -5.41825637e-04 9.99880242e-01 1.03835471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.2992541539999 meters Centerline goodness : 0.998849 Centerline is valid? [True, True] Translation: X:671.19, Y:8.56, Z:10.39 [[ 9.98111137e-01 -5.94529475e-02 -1.54759549e-02 6.71188479e+02] [ 5.94578088e-02 9.98230809e-01 -1.46205529e-04 8.56414721e+00] [ 1.54572673e-02 -7.74237002e-04 9.99880230e-01 1.03860592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.329254154 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:671.22, Y:8.56, Z:10.39 [[ 9.98193656e-01 -5.80518539e-02 -1.54728235e-02 6.71224498e+02] [ 5.80540889e-02 9.98313393e-01 -3.05047776e-04 8.55854923e+00] [ 1.54644355e-02 -5.93763918e-04 9.99880242e-01 1.03850693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.3592541539999 meters Centerline goodness : 0.998786 Centerline is valid? [True, True] Translation: X:671.25, Y:8.56, Z:10.39 [[ 9.97927740e-01 -6.24553536e-02 -1.54775272e-02 6.71250593e+02] [ 6.24620122e-02 9.98047341e-01 -5.32910686e-05 8.56216480e+00] [ 1.54506332e-02 -9.13576859e-04 9.99880214e-01 1.03880647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.3892541539999 meters Centerline goodness : 0.998912 Centerline is valid? [True, True] Translation: X:671.28, Y:8.56, Z:10.39 [[ 9.97778798e-01 -6.47924306e-02 -1.54729469e-02 6.71282228e+02] [ 6.47956420e-02 9.97898511e-01 -2.94203715e-04 8.56179194e+00] [ 1.54594929e-02 -7.09029302e-04 9.99880244e-01 1.03893696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.4192541539999 meters Centerline goodness : 0.998808 Centerline is valid? [True, True] Translation: X:671.32, Y:8.56, Z:10.39 [[ 9.97929447e-01 -6.24292073e-02 -1.54729620e-02 6.71319774e+02] [ 6.24321475e-02 9.98049168e-01 -2.93410667e-04 8.55854973e+00] [ 1.54610942e-02 -6.73207099e-04 9.99880244e-01 1.03886970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.449254154 meters Centerline goodness : 0.998641 Centerline is valid? [True, True] Translation: X:671.35, Y:8.56, Z:10.39 [[ 9.97639390e-01 -6.69034818e-02 -1.54780845e-02 6.71345118e+02] [ 6.69112254e-02 9.97758933e-01 -1.76060716e-05 8.56293861e+00] [ 1.54445749e-02 -1.01809309e-03 9.99880207e-01 1.03894404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.4792541539999 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:671.38, Y:8.56, Z:10.39 [[ 9.97668555e-01 -6.64683946e-02 -1.54727981e-02 6.71383034e+02] [ 6.64717954e-02 9.97788261e-01 -2.94953304e-04 8.55954433e+00] [ 1.54581813e-02 -7.34239031e-04 9.99880246e-01 1.03874509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.5092541539999 meters Centerline goodness : 0.998741 Centerline is valid? [True, True] Translation: X:671.41, Y:8.56, Z:10.39 [[ 9.97306986e-01 -7.16882143e-02 -1.54781994e-02 6.71407347e+02] [ 7.16967082e-02 9.97426480e-01 -6.15406534e-06 8.56443881e+00] [ 1.54388072e-02 -1.10359846e-03 9.99880205e-01 1.03889493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.5392541539999 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] Translation: X:671.44, Y:8.57, Z:10.39 [[ 9.97229348e-01 -7.27614289e-02 -1.54726362e-02 6.71439803e+02] [ 7.27655608e-02 9.97349029e-01 -2.96500150e-04 8.56580321e+00] [ 1.54531925e-02 -8.30196401e-04 9.99880248e-01 1.03885312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.569254154 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:671.48, Y:8.56, Z:10.39 [[ 9.97506591e-01 -6.88563532e-02 -1.54726579e-02 6.71476731e+02] [ 6.88600340e-02 9.97626287e-01 -2.95367335e-04 8.56284731e+00] [ 1.54562681e-02 -7.70816883e-04 9.99880248e-01 1.03856897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.5992541539999 meters Centerline goodness : 0.998888 Centerline is valid? [True, True] Translation: X:671.50, Y:8.57, Z:10.39 [[ 9.97374433e-01 -7.07439060e-02 -1.54770596e-02 6.71502994e+02] [ 7.07514398e-02 9.97493975e-01 -6.09198868e-05 8.56993694e+00] [ 1.54425834e-02 -1.03426431e-03 9.99880221e-01 1.03886999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.6292541539999 meters Centerline goodness : 0.998931 Centerline is valid? [True, True] Translation: X:671.53, Y:8.57, Z:10.39 [[ 9.97522511e-01 -6.86253550e-02 -1.54725865e-02 6.71534042e+02] [ 6.86290090e-02 9.97642206e-01 -2.95308665e-04 8.57180096e+00] [ 1.54563710e-02 -7.67291234e-04 9.99880249e-01 1.03885895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.6592541539999 meters Centerline goodness : 0.998867 Centerline is valid? [True, True] Translation: X:671.56, Y:8.57, Z:10.39 [[ 9.97667200e-01 -6.64887712e-02 -1.54726027e-02 6.71564896e+02] [ 6.64921820e-02 9.97786903e-01 -2.94457072e-04 8.57409748e+00] [ 1.54579384e-02 -7.35036951e-04 9.99880249e-01 1.03882897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.6892541539999 meters Centerline goodness : 0.998780 Centerline is valid? [True, True] Translation: X:671.60, Y:8.58, Z:10.39 [[ 9.98083339e-01 -5.99186643e-02 -1.54726185e-02 6.71597156e+02] [ 5.99212999e-02 9.98203061e-01 -2.93622309e-04 8.57833132e+00] [ 1.54624086e-02 -6.34079878e-04 9.99880249e-01 1.03882172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.7192541539999 meters Centerline goodness : 0.998946 Centerline is valid? [True, True] Translation: X:671.63, Y:8.58, Z:10.39 [[ 9.98274515e-01 -5.66444237e-02 -1.54726396e-02 6.71628996e+02] [ 5.66466838e-02 9.98394245e-01 -2.92504642e-04 8.58151089e+00] [ 1.54643631e-02 -5.84473795e-04 9.99880249e-01 1.03893871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.7492541539999 meters Centerline goodness : 0.998609 Centerline is valid? [True, True] Translation: X:671.66, Y:8.59, Z:10.39 [[ 9.98686505e-01 -4.88452770e-02 -1.54726605e-02 6.71661150e+02] [ 4.88466190e-02 9.98806249e-01 -2.91396615e-04 8.58627422e+00] [ 1.54684234e-02 -4.64773286e-04 9.99880249e-01 1.03902665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.7792541539999 meters Centerline goodness : 0.998585 Centerline is valid? [True, True] Translation: X:671.69, Y:8.59, Z:10.39 [[ 9.98913312e-01 -4.39635167e-02 -1.54726820e-02 6.71690515e+02] [ 4.39642911e-02 9.99033061e-01 -2.90253718e-04 8.58874000e+00] [ 1.54704814e-02 -3.90307190e-04 9.99880249e-01 1.03902531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.8092541539999 meters Centerline goodness : 0.998861 Centerline is valid? [True, True] Translation: X:671.72, Y:8.59, Z:10.39 [[ 9.98984920e-01 -4.23057091e-02 -1.54711475e-02 6.71723861e+02] [ 4.23050211e-02 9.99104673e-01 -3.71886640e-04 8.59142730e+00] [ 1.54730287e-02 -2.82998076e-04 9.99880245e-01 1.03921003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.839254154 meters Centerline goodness : 0.998921 Centerline is valid? [True, True] Translation: X:671.76, Y:8.60, Z:10.39 [[ 9.99223045e-01 -3.62477736e-02 -1.54727108e-02 6.71755657e+02] [ 3.62476602e-02 9.99342796e-01 -2.87865245e-04 8.59528014e+00] [ 1.54729765e-02 -2.73207976e-04 9.99880249e-01 1.03932217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.8692541539999 meters Centerline goodness : 0.998941 Centerline is valid? [True, True] Translation: X:671.79, Y:8.60, Z:10.39 [[ 9.99320817e-01 -3.34439726e-02 -1.54727316e-02 6.71788032e+02] [ 3.34435405e-02 9.99440567e-01 -2.86740891e-04 8.59756086e+00] [ 1.54736654e-02 -2.30916785e-04 9.99880249e-01 1.03942690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.8992541539999 meters Centerline goodness : 0.998601 Centerline is valid? [True, True] Translation: X:671.82, Y:8.60, Z:10.39 [[ 9.99466475e-01 -2.87638659e-02 -1.54727523e-02 6.71818639e+02] [ 2.87628904e-02 9.99586222e-01 -2.85619048e-04 8.60115485e+00] [ 1.54745655e-02 -1.59574416e-04 9.99880249e-01 1.03949574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.9292541539999 meters Centerline goodness : 0.998960 Centerline is valid? [True, True] Translation: X:671.85, Y:8.60, Z:10.40 [[ 9.99524229e-01 -2.66816400e-02 -1.54727626e-02 6.71848818e+02] [ 2.66804238e-02 9.99643974e-01 -2.85060007e-04 8.60259641e+00] [ 1.54748598e-02 -1.27895480e-04 9.99880249e-01 1.03951037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.959254154 meters Centerline goodness : 0.998960 Centerline is valid? [True, True] Translation: X:671.88, Y:8.60, Z:10.40 [[ 9.99582251e-01 -2.44114244e-02 -1.54727676e-02 6.71879093e+02] [ 2.44099404e-02 9.99701992e-01 -2.84786974e-04 8.60452046e+00] [ 1.54751087e-02 -9.30213319e-05 9.99880249e-01 1.03954410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.9892541539999 meters Centerline goodness : 0.998982 Centerline is valid? [True, True] Translation: X:671.91, Y:8.61, Z:10.40 [[ 9.99567402e-01 -2.50120539e-02 -1.54727350e-02 6.71908417e+02] [ 2.50106144e-02 9.99687145e-01 -2.86561540e-04 8.60566402e+00] [ 1.54750618e-02 -1.00545035e-04 9.99880249e-01 1.03958788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.0192541539999 meters Centerline goodness : 0.998876 Centerline is valid? [True, True] Translation: X:671.94, Y:8.61, Z:10.40 [[ 9.99555101e-01 -2.54988903e-02 -1.54727625e-02 6.71938436e+02] [ 2.54975322e-02 9.99674844e-01 -2.85070936e-04 8.60676202e+00] [ 1.54750004e-02 -1.09573150e-04 9.99880249e-01 1.03968494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.0492541539999 meters Centerline goodness : 0.998896 Centerline is valid? [True, True] Translation: X:671.97, Y:8.61, Z:10.40 [[ 9.99507118e-01 -2.73151029e-02 -1.54727625e-02 6.71968191e+02] [ 2.73139623e-02 9.99626864e-01 -2.85070936e-04 8.60766510e+00] [ 1.54747757e-02 -1.37692021e-04 9.99880249e-01 1.03964096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.079254154 meters Centerline goodness : 0.999172 Centerline is valid? [True, True] Translation: X:672.00, Y:8.61, Z:10.40 [[ 9.99463862e-01 -2.88544961e-02 -1.54727573e-02 6.71998470e+02] [ 2.88535357e-02 9.99583609e-01 -2.85351706e-04 8.60792474e+00] [ 1.54745482e-02 -1.61245036e-04 9.99880249e-01 1.03972923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.1092541539999 meters Centerline goodness : 0.999172 Centerline is valid? [True, True] Translation: X:672.03, Y:8.61, Z:10.40 [[ 9.99413359e-01 -3.05537623e-02 -1.54727573e-02 6.72029645e+02] [ 3.05530054e-02 9.99533107e-01 -2.85351706e-04 8.60802195e+00] [ 1.54742517e-02 -1.87554931e-04 9.99880249e-01 1.03978676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.1392541539999 meters Centerline goodness : 0.999001 Centerline is valid? [True, True] Translation: X:672.06, Y:8.61, Z:10.40 [[ 9.99289693e-01 -3.43613527e-02 -1.54727677e-02 6.72061167e+02] [ 3.43610609e-02 9.99409444e-01 -2.84785716e-04 8.60790846e+00] [ 1.54734158e-02 -2.47077282e-04 9.99880249e-01 1.03979253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.1692541539999 meters Centerline goodness : 0.998960 Centerline is valid? [True, True] Translation: X:672.09, Y:8.61, Z:10.40 [[ 9.99248112e-01 -3.55500272e-02 -1.54727782e-02 6.72091941e+02] [ 3.55498866e-02 9.99367863e-01 -2.84215189e-04 8.60718189e+00] [ 1.54731011e-02 -2.66054019e-04 9.99880249e-01 1.03964414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.199254154 meters Centerline goodness : 0.998960 Centerline is valid? [True, True] Translation: X:672.12, Y:8.61, Z:10.40 [[ 9.99250675e-01 -3.54779107e-02 -1.54727938e-02 6.72124625e+02] [ 3.54777747e-02 9.99370425e-01 -2.83361559e-04 8.60771988e+00] [ 1.54731056e-02 -2.65791064e-04 9.99880249e-01 1.03969471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.2292541539999 meters Centerline goodness : 0.999237 Centerline is valid? [True, True] Translation: X:672.16, Y:8.61, Z:10.40 [[ 9.99097206e-01 -3.95646849e-02 -1.54728142e-02 6.72157257e+02] [ 3.95650560e-02 9.99216957e-01 -2.82244947e-04 8.60654325e+00] [ 1.54718652e-02 -3.30192621e-04 9.99880249e-01 1.03993240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.2592541539999 meters Centerline goodness : 0.999301 Centerline is valid? [True, True] Translation: X:672.19, Y:8.61, Z:10.40 [[ 9.99033086e-01 -4.11519664e-02 -1.54728349e-02 6.72189515e+02] [ 4.11525454e-02 9.99152836e-01 -2.81104270e-04 8.60612937e+00] [ 1.54712949e-02 -3.55914074e-04 9.99880249e-01 1.03997307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.2892541539999 meters Centerline goodness : 0.999449 Centerline is valid? [True, True] Translation: X:672.22, Y:8.61, Z:10.40 [[ 9.98967506e-01 -4.27143231e-02 -1.54728556e-02 6.72220487e+02] [ 4.27151071e-02 9.99087254e-01 -2.79962478e-04 8.60608721e+00] [ 1.54706912e-02 -3.81251264e-04 9.99880249e-01 1.04000168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.319254154 meters Centerline goodness : 0.999513 Centerline is valid? [True, True] Translation: X:672.25, Y:8.61, Z:10.40 [[ 9.98867963e-01 -4.49820302e-02 -1.54728709e-02 6.72252502e+02] [ 4.49830992e-02 9.98987709e-01 -2.79111332e-04 8.60538357e+00] [ 1.54697629e-02 -4.17222319e-04 9.99880249e-01 1.03998843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.3492541539999 meters Centerline goodness : 0.999619 Centerline is valid? [True, True] Translation: X:672.29, Y:8.61, Z:10.40 [[ 9.98827851e-01 -4.58640825e-02 -1.54728912e-02 6.72285155e+02] [ 4.58652747e-02 9.98947596e-01 -2.77983356e-04 8.60554677e+00] [ 1.54693569e-02 -4.32010886e-04 9.99880249e-01 1.04009534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.3792541539999 meters Centerline goodness : 0.999448 Centerline is valid? [True, True] Translation: X:672.32, Y:8.61, Z:10.40 [[ 9.98779590e-01 -4.69033043e-02 -1.54729115e-02 6.72316187e+02] [ 4.69046387e-02 9.98899333e-01 -2.76849548e-04 8.60507345e+00] [ 1.54688661e-02 -4.49239643e-04 9.99880249e-01 1.04009131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.4092541539999 meters Centerline goodness : 0.999534 Centerline is valid? [True, True] Translation: X:672.35, Y:8.61, Z:10.40 [[ 9.98772493e-01 -4.70541835e-02 -1.54729265e-02 6.72347660e+02] [ 4.70555490e-02 9.98892236e-01 -2.76004679e-04 8.60517449e+00] [ 1.54687734e-02 -4.52421172e-04 9.99880249e-01 1.04013803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.4392541539999 meters Centerline goodness : 0.999682 Centerline is valid? [True, True] Translation: X:672.38, Y:8.61, Z:10.40 [[ 9.98760375e-01 -4.73106848e-02 -1.54729413e-02 6.72379851e+02] [ 4.73120939e-02 9.98880118e-01 -2.75175940e-04 8.60561983e+00] [ 1.54686322e-02 -4.57222425e-04 9.99880249e-01 1.04019885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.4692541539999 meters Centerline goodness : 0.999576 Centerline is valid? [True, True] Translation: X:672.41, Y:8.61, Z:10.40 [[ 9.98788844e-01 -4.67058147e-02 -1.54729614e-02 6.72412122e+02] [ 4.67071689e-02 9.98908587e-01 -2.74040052e-04 8.60583951e+00] [ 1.54688733e-02 -4.48990074e-04 9.99880249e-01 1.04005307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.4992541539999 meters Centerline goodness : 0.999534 Centerline is valid? [True, True] Translation: X:672.44, Y:8.61, Z:10.40 [[ 9.98812146e-01 -4.62047991e-02 -1.54729816e-02 6.72443133e+02] [ 4.62061109e-02 9.98931890e-01 -2.72894526e-04 8.60620317e+00] [ 1.54690638e-02 -4.42375937e-04 9.99880249e-01 1.04008574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.5292541539999 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:672.48, Y:8.61, Z:10.40 [[ 9.98840446e-01 -4.55889206e-02 -1.54729966e-02 6.72475625e+02] [ 4.55901717e-02 9.98960191e-01 -2.72041716e-04 8.60719202e+00] [ 1.54693097e-02 -4.33690303e-04 9.99880249e-01 1.04022694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.5592541539999 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:672.51, Y:8.61, Z:10.40 [[ 9.98869548e-01 -4.49467605e-02 -1.54730156e-02 6.72507545e+02] [ 4.49479514e-02 9.98989293e-01 -2.70958839e-04 8.60814700e+00] [ 1.54695556e-02 -4.24827819e-04 9.99880249e-01 1.04017593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.589254154 meters Centerline goodness : 0.999660 Centerline is valid? [True, True] Translation: X:672.54, Y:8.61, Z:10.40 [[ 9.98919989e-01 -4.38114311e-02 -1.54730349e-02 6.72539845e+02] [ 4.38125032e-02 9.99039735e-01 -2.69847277e-04 8.60896345e+00] [ 1.54699991e-02 -4.08356554e-04 9.99880249e-01 1.04015536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.6192541539999 meters Centerline goodness : 0.999512 Centerline is valid? [True, True] Translation: X:672.57, Y:8.61, Z:10.40 [[ 9.99020412e-01 -4.14584331e-02 -1.54730545e-02 6.72571974e+02] [ 4.14592405e-02 9.99140160e-01 -2.68720857e-04 8.61035676e+00] [ 1.54708909e-02 -3.73043467e-04 9.99880249e-01 1.04025799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.6492541539999 meters Centerline goodness : 0.999597 Centerline is valid? [True, True] Translation: X:672.60, Y:8.61, Z:10.40 [[ 9.99102030e-01 -3.94425822e-02 -1.54730740e-02 6.72603844e+02] [ 3.94431655e-02 9.99221780e-01 -2.67592260e-04 8.61149681e+00] [ 1.54715871e-02 -3.42955049e-04 9.99880249e-01 1.04034868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.6792541539999 meters Centerline goodness : 0.999406 Centerline is valid? [True, True] Translation: X:672.64, Y:8.61, Z:10.40 [[ 9.99185715e-01 -3.72624655e-02 -1.54730936e-02 6.72636074e+02] [ 3.72628051e-02 9.99305465e-01 -2.66454150e-04 8.61278187e+00] [ 1.54722758e-02 -3.10333692e-04 9.99880249e-01 1.04042339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.709254154 meters Centerline goodness : 0.999577 Centerline is valid? [True, True] Translation: X:672.67, Y:8.62, Z:10.41 [[ 9.99353653e-01 -3.24477979e-02 -1.54731130e-02 6.72667762e+02] [ 3.24475780e-02 9.99473404e-01 -2.65321301e-04 8.61505659e+00] [ 1.54735740e-02 -2.36915232e-04 9.99880249e-01 1.04056891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.7392541539999 meters Centerline goodness : 0.999469 Centerline is valid? [True, True] Translation: X:672.70, Y:8.62, Z:10.41 [[ 9.99429928e-01 -3.00066930e-02 -1.54731323e-02 6.72698675e+02] [ 3.00061981e-02 9.99549678e-01 -2.64193307e-04 8.61650362e+00] [ 1.54740920e-02 -2.00247175e-04 9.99880249e-01 1.04066417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.7692541539999 meters Centerline goodness : 0.999130 Centerline is valid? [True, True] Translation: X:672.73, Y:8.62, Z:10.41 [[ 9.99555579e-01 -2.54799338e-02 -1.54731419e-02 6.72728735e+02] [ 2.54789053e-02 9.99675325e-01 -2.63631769e-04 8.61804787e+00] [ 1.54748355e-02 -1.30724111e-04 9.99880249e-01 1.04074074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.7992541539999 meters Centerline goodness : 0.999429 Centerline is valid? [True, True] Translation: X:672.76, Y:8.62, Z:10.41 [[ 9.99607070e-01 -2.33727839e-02 -1.54731419e-02 6.72759089e+02] [ 2.33715030e-02 9.99726814e-01 -2.63631769e-04 8.61858848e+00] [ 1.54750766e-02 -9.81024015e-05 9.99880249e-01 1.04082153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.829254154 meters Centerline goodness : 0.999470 Centerline is valid? [True, True] Translation: X:672.79, Y:8.62, Z:10.41 [[ 9.99641565e-01 -2.18477318e-02 -1.54731419e-02 6.72788383e+02] [ 2.18462682e-02 9.99761307e-01 -2.63631769e-04 8.61883490e+00] [ 1.54752083e-02 -7.44931332e-05 9.99880249e-01 1.04088170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.8592541539999 meters Centerline goodness : 0.999576 Centerline is valid? [True, True] Translation: X:672.82, Y:8.62, Z:10.41 [[ 9.99663380e-01 -2.08256827e-02 -1.54731323e-02 6.72816588e+02] [ 2.08240880e-02 9.99783120e-01 -2.64189936e-04 8.61925228e+00] [ 1.54752785e-02 -5.81128653e-05 9.99880249e-01 1.04095249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.8892541539999 meters Centerline goodness : 0.999533 Centerline is valid? [True, True] Translation: X:672.85, Y:8.62, Z:10.41 [[ 9.99685996e-01 -1.97101884e-02 -1.54731181e-02 6.72845583e+02] [ 1.97084473e-02 9.99805735e-01 -2.65020043e-04 8.61934011e+00] [ 1.54753358e-02 -4.00143064e-05 9.99880249e-01 1.04101709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.9192541539999 meters Centerline goodness : 0.999259 Centerline is valid? [True, True] Translation: X:672.87, Y:8.62, Z:10.41 [[ 9.99682893e-01 -1.98669947e-02 -1.54731040e-02 6.72874570e+02] [ 1.98652596e-02 9.99802631e-01 -2.65839986e-04 8.61910498e+00] [ 1.54753316e-02 -4.16215420e-05 9.99880249e-01 1.04106243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.949254154 meters Centerline goodness : 0.999217 Centerline is valid? [True, True] Translation: X:672.90, Y:8.62, Z:10.41 [[ 9.99640518e-01 -2.18956324e-02 -1.54730901e-02 6.72903273e+02] [ 2.18941278e-02 9.99760259e-01 -2.66649757e-04 8.61720960e+00] [ 1.54752190e-02 -7.22159109e-05 9.99880249e-01 1.04117273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.9792541539999 meters Centerline goodness : 0.999535 Centerline is valid? [True, True] Translation: X:672.93, Y:8.62, Z:10.41 [[ 9.99606945e-01 -2.33782356e-02 -1.54730216e-02 6.72931988e+02] [ 2.33768479e-02 9.99726688e-01 -2.70567196e-04 8.61608933e+00] [ 1.54751180e-02 -9.12496243e-05 9.99880249e-01 1.04120232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.0092541539999 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:672.96, Y:8.62, Z:10.41 [[ 9.99551062e-01 -2.56565713e-02 -1.54730070e-02 6.72962111e+02] [ 2.56554436e-02 9.99670808e-01 -2.71399135e-04 8.61503051e+00] [ 1.54748766e-02 -1.25689565e-04 9.99880249e-01 1.04131241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.0392541539999 meters Centerline goodness : 0.999367 Centerline is valid? [True, True] Translation: X:672.99, Y:8.61, Z:10.41 [[ 9.99386028e-01 -3.14348980e-02 -1.54729973e-02 6.72992792e+02] [ 3.14344541e-02 9.99505778e-01 -2.71952255e-04 8.61220798e+00] [ 1.54738990e-02 -2.14599939e-04 9.99880249e-01 1.04145404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.069254154 meters Centerline goodness : 0.999325 Centerline is valid? [True, True] Translation: X:673.02, Y:8.61, Z:10.42 [[ 9.99276092e-01 -3.47545416e-02 -1.54729973e-02 6.73024044e+02] [ 3.47544955e-02 9.99395843e-01 -2.71952255e-04 8.61095444e+00] [ 1.54731007e-02 -2.66000828e-04 9.99880249e-01 1.04151026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.0992541539999 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:673.05, Y:8.61, Z:10.42 [[ 9.99150077e-01 -3.82061602e-02 -1.54730072e-02 6.73054791e+02] [ 3.82065366e-02 9.99269827e-01 -2.71387289e-04 8.60989004e+00] [ 1.54720779e-02 -3.20013383e-04 9.99880249e-01 1.04150786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.1292541539999 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:673.09, Y:8.61, Z:10.42 [[ 9.98866275e-01 -4.50194427e-02 -1.54730219e-02 6.73086813e+02] [ 4.50206488e-02 9.98986020e-01 -2.70542775e-04 8.60717508e+00] [ 1.54695123e-02 -4.26369434e-04 9.99880249e-01 1.04161667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.1592541539999 meters Centerline goodness : 0.999390 Centerline is valid? [True, True] Translation: X:673.12, Y:8.61, Z:10.42 [[ 9.98716163e-01 -4.82349501e-02 -1.54730409e-02 6.73117687e+02] [ 4.82365586e-02 9.98835903e-01 -2.69451709e-04 8.60617734e+00] [ 1.54680258e-02 -4.77260469e-04 9.99880249e-01 1.04177050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.1892541539999 meters Centerline goodness : 0.999220 Centerline is valid? [True, True] Translation: X:673.15, Y:8.60, Z:10.42 [[ 9.98367792e-01 -5.49757844e-02 -1.54730721e-02 6.73150048e+02] [ 5.49782291e-02 9.98487518e-01 -2.67652282e-04 8.60326279e+00] [ 1.54643837e-02 -5.83466683e-04 9.99880249e-01 1.04203537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.2192541539999 meters Centerline goodness : 0.999304 Centerline is valid? [True, True] Translation: X:673.18, Y:8.60, Z:10.42 [[ 9.98178320e-01 -5.83148753e-02 -1.54730916e-02 6.73183277e+02] [ 5.83177379e-02 9.98298037e-01 -2.66518461e-04 8.60206504e+00] [ 1.54622990e-02 -6.36322751e-04 9.99880249e-01 1.04212117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.2492541539999 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:673.21, Y:8.60, Z:10.42 [[ 9.97995458e-01 -6.13648787e-02 -1.54731208e-02 6.73214384e+02] [ 6.13681336e-02 9.98115165e-01 -2.64813372e-04 8.60085089e+00] [ 1.54602067e-02 -6.85274001e-04 9.99880249e-01 1.04189755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.2792541539999 meters Centerline goodness : 0.999159 Centerline is valid? [True, True] Translation: X:673.25, Y:8.60, Z:10.42 [[ 9.97626370e-01 -6.70984972e-02 -1.54731352e-02 6.73246277e+02] [ 6.71024529e-02 9.97746055e-01 -2.63967675e-04 8.59903841e+00] [ 1.54559715e-02 -7.74944213e-04 9.99880249e-01 1.04194366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.3092541539999 meters Centerline goodness : 0.999369 Centerline is valid? [True, True] Translation: X:673.28, Y:8.60, Z:10.42 [[ 9.97433321e-01 -6.99096035e-02 -1.54731542e-02 6.73279420e+02] [ 6.99139137e-02 9.97552994e-01 -2.62851039e-04 8.59891766e+00] [ 1.54536671e-02 -8.19612382e-04 9.99880249e-01 1.04209606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.339254154 meters Centerline goodness : 0.999432 Centerline is valid? [True, True] Translation: X:673.31, Y:8.60, Z:10.42 [[ 9.97145485e-01 -7.39017092e-02 -1.54731826e-02 6.73311835e+02] [ 7.39065245e-02 9.97265139e-01 -2.61167203e-04 8.59856273e+00] [ 1.54501663e-02 -8.83147452e-04 9.99880249e-01 1.04231522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.3692541539999 meters Centerline goodness : 0.999140 Centerline is valid? [True, True] Translation: X:673.34, Y:8.60, Z:10.42 [[ 9.97068662e-01 -7.49310542e-02 -1.54732020e-02 6.73343451e+02] [ 7.49360109e-02 9.97188311e-01 -2.60011223e-04 8.59780548e+00] [ 1.54491791e-02 -9.00250993e-04 9.99880249e-01 1.04206310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.3992541539999 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:673.38, Y:8.60, Z:10.42 [[ 9.96978607e-01 -7.61198856e-02 -1.54732260e-02 6.73375353e+02] [ 7.61250071e-02 9.97098248e-01 -2.58575153e-04 8.59824350e+00] [ 1.54480093e-02 -9.20105545e-04 9.99880249e-01 1.04227339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.4292541539999 meters Centerline goodness : 0.998715 Centerline is valid? [True, True] Translation: X:673.41, Y:8.60, Z:10.42 [[ 9.96949858e-01 -7.64954867e-02 -1.54732444e-02 6.73407951e+02] [ 7.65006704e-02 9.97069497e-01 -2.57468717e-04 8.59907128e+00] [ 1.54475952e-02 -9.27030172e-04 9.99880249e-01 1.04221290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.459254154 meters Centerline goodness : 0.998358 Centerline is valid? [True, True] Translation: X:673.44, Y:8.60, Z:10.42 [[ 9.97024365e-01 -7.55181652e-02 -1.54732633e-02 6.73439946e+02] [ 7.55232492e-02 9.97144008e-01 -2.56330721e-04 8.60129673e+00] [ 1.54484294e-02 -9.13023145e-04 9.99880249e-01 1.04195703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.4892541539999 meters Centerline goodness : 0.998358 Centerline is valid? [True, True] Translation: X:673.47, Y:8.60, Z:10.42 [[ 9.97037659e-01 -7.53425435e-02 -1.54727807e-02 6.73473490e+02] [ 7.53471532e-02 9.97157322e-01 -2.85644484e-04 8.60169167e+00] [ 1.54503177e-02 -8.81031669e-04 9.99880249e-01 1.04200976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.5192541539999 meters Centerline goodness : 0.999241 Centerline is valid? [True, True] Translation: X:673.51, Y:8.60, Z:10.43 [[ 9.97171806e-01 -7.35457772e-02 -1.54728406e-02 6.73508287e+02] [ 7.35502282e-02 9.97291474e-01 -2.81961588e-04 8.60389524e+00] [ 1.54516690e-02 -8.56866808e-04 9.99880249e-01 1.04253923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.5492541539999 meters Centerline goodness : 0.999134 Centerline is valid? [True, True] Translation: X:673.53, Y:8.61, Z:10.43 [[ 9.96983958e-01 -7.60492487e-02 -1.54757343e-02 6.73534651e+02] [ 7.60565550e-02 9.97103499e-01 -1.16744256e-04 8.60967570e+00] [ 1.54397871e-02 -1.06063889e-03 9.99880237e-01 1.04250420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.579254154 meters Centerline goodness : 0.998987 Centerline is valid? [True, True] Translation: X:673.57, Y:8.61, Z:10.43 [[ 9.97300991e-01 -7.17729315e-02 -1.54719049e-02 6.73568210e+02] [ 7.17764130e-02 9.97420692e-01 -3.30874347e-04 8.61213511e+00] [ 1.54557459e-02 -7.80536518e-04 9.99880248e-01 1.04260931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.6092541539999 meters Centerline goodness : 0.999008 Centerline is valid? [True, True] Translation: X:673.60, Y:8.61, Z:10.42 [[ 9.97471245e-01 -6.93665079e-02 -1.54726484e-02 6.73599505e+02] [ 6.93703537e-02 9.97590934e-01 -2.88657725e-04 8.61422897e+00] [ 1.54553970e-02 -7.85415314e-04 9.99880250e-01 1.04245452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.6392541539999 meters Centerline goodness : 0.999536 Centerline is valid? [True, True] Translation: X:673.63, Y:8.62, Z:10.42 [[ 9.97645297e-01 -6.68165246e-02 -1.54729635e-02 6.73631290e+02] [ 6.68203432e-02 9.97764987e-01 -2.70644425e-04 8.61711426e+00] [ 1.54564648e-02 -7.63901595e-04 9.99880250e-01 1.04248832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.6692541539999 meters Centerline goodness : 0.999534 Centerline is valid? [True, True] Translation: X:673.66, Y:8.62, Z:10.43 [[ 9.97906118e-01 -6.28010108e-02 -1.54729827e-02 6.73663450e+02] [ 6.28043646e-02 9.98025821e-01 -2.69546424e-04 8.62319973e+00] [ 1.54593640e-02 -7.02788818e-04 9.99880250e-01 1.04276352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.699254154 meters Centerline goodness : 0.999152 Centerline is valid? [True, True] Translation: X:673.69, Y:8.63, Z:10.43 [[ 9.98012171e-01 -6.10924944e-02 -1.54730024e-02 6.73693661e+02] [ 6.10956609e-02 9.98131879e-01 -2.68408811e-04 8.62713331e+00] [ 1.54604947e-02 -6.77458046e-04 9.99880250e-01 1.04271946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.7292541539999 meters Centerline goodness : 0.999215 Centerline is valid? [True, True] Translation: X:673.73, Y:8.63, Z:10.43 [[ 9.98311908e-01 -5.59818759e-02 -1.54714120e-02 6.73727757e+02] [ 5.59829960e-02 9.98431657e-01 -3.61023892e-04 8.63034204e+00] [ 1.54673583e-02 -5.05721545e-04 9.99880245e-01 1.04324316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.7592541539999 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:673.76, Y:8.63, Z:10.43 [[ 9.98387415e-01 -5.46183645e-02 -1.54726546e-02 6.73759469e+02] [ 5.46204645e-02 9.98507147e-01 -2.87148829e-04 8.63266223e+00] [ 1.54652398e-02 -5.58437804e-04 9.99880250e-01 1.04284700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.7892541539999 meters Centerline goodness : 0.999618 Centerline is valid? [True, True] Translation: X:673.79, Y:8.64, Z:10.43 [[ 9.98428607e-01 -5.38599948e-02 -1.54731319e-02 6.73791023e+02] [ 5.38624459e-02 9.98548331e-01 -2.58586185e-04 8.63521506e+00] [ 1.54645975e-02 -5.75240888e-04 9.99880250e-01 1.04303426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.819254154 meters Centerline goodness : 0.999575 Centerline is valid? [True, True] Translation: X:673.82, Y:8.64, Z:10.43 [[ 9.98487500e-01 -5.27569281e-02 -1.54731459e-02 6.73822324e+02] [ 5.27592598e-02 9.98607227e-01 -2.57751394e-04 8.63982109e+00] [ 1.54651934e-02 -5.58990176e-04 9.99880250e-01 1.04313135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.8492541539999 meters Centerline goodness : 0.999660 Centerline is valid? [True, True] Translation: X:673.85, Y:8.64, Z:10.43 [[ 9.98491726e-01 -5.26768952e-02 -1.54731596e-02 6.73854258e+02] [ 5.26792302e-02 9.98611452e-01 -2.56922297e-04 8.64223557e+00] [ 1.54652083e-02 -5.58579349e-04 9.99880250e-01 1.04311641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.8792541539999 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:673.89, Y:8.64, Z:10.43 [[ 9.98452637e-01 -5.34126549e-02 -1.54731776e-02 6.73886874e+02] [ 5.34150949e-02 9.98572362e-01 -2.55833255e-04 8.64438595e+00] [ 1.54647523e-02 -5.71063863e-04 9.99880250e-01 1.04320420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.9092541539999 meters Centerline goodness : 0.999213 Centerline is valid? [True, True] Translation: X:673.91, Y:8.65, Z:10.43 [[ 9.98339415e-01 -5.54886762e-02 -1.54731955e-02 6.73912363e+02] [ 5.54913820e-02 9.98459134e-01 -2.54749476e-04 8.65078947e+00] [ 1.54634891e-02 -6.04302558e-04 9.99880250e-01 1.04269360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.9392541539999 meters Centerline goodness : 0.999575 Centerline is valid? [True, True] Translation: X:673.95, Y:8.65, Z:10.43 [[ 9.98231979e-01 -5.73904163e-02 -1.54678878e-02 6.73949528e+02] [ 5.73885303e-02 9.98351760e-01 -5.66140254e-04 8.64971637e+00] [ 1.54748841e-02 -3.22540042e-04 9.99880205e-01 1.04311874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.9692541539999 meters Centerline goodness : 0.999235 Centerline is valid? [True, True] Translation: X:673.98, Y:8.65, Z:10.43 [[ 9.98028087e-01 -6.08319244e-02 -1.54730029e-02 6.73982202e+02] [ 6.08353205e-02 9.98147785e-01 -2.51536729e-04 8.65281965e+00] [ 1.54596451e-02 -6.90264372e-04 9.99880254e-01 1.04312451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.9992541539999 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:674.02, Y:8.65, Z:10.43 [[ 9.97908344e-01 -6.27656129e-02 -1.54730288e-02 6.74015397e+02] [ 6.27692657e-02 9.98028034e-01 -2.49935193e-04 8.65465072e+00] [ 1.54582039e-02 -7.21818242e-04 9.99880254e-01 1.04339406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.0292541539999 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:674.05, Y:8.66, Z:10.43 [[ 9.97790193e-01 -6.46166875e-02 -1.54730565e-02 6.74046969e+02] [ 6.46205891e-02 9.97909875e-01 -2.48207557e-04 8.65651947e+00] [ 1.54567543e-02 -7.52218961e-04 9.99880254e-01 1.04341956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.0592541539999 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:674.08, Y:8.66, Z:10.43 [[ 9.97579269e-01 -6.77951798e-02 -1.54730794e-02 6.74077723e+02] [ 6.77994848e-02 9.97698937e-01 -2.46776353e-04 8.65855550e+00] [ 1.54542051e-02 -8.02887834e-04 9.99880254e-01 1.04317012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.089254154 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:674.11, Y:8.66, Z:10.44 [[ 9.97434825e-01 -6.98881494e-02 -1.54730926e-02 6.74109364e+02] [ 6.98927183e-02 9.97554483e-01 -2.45944992e-04 8.65991272e+00] [ 1.54524415e-02 -8.36142401e-04 9.99880254e-01 1.04364494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.1192541539999 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:674.14, Y:8.66, Z:10.44 [[ 9.97442516e-01 -6.97782949e-02 -1.54731061e-02 6.74142897e+02] [ 6.97828638e-02 9.97562174e-01 -2.45093736e-04 8.66035304e+00] [ 1.54524875e-02 -8.35290739e-04 9.99880254e-01 1.04369681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.1492541539999 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:674.17, Y:8.66, Z:10.44 [[ 9.97322632e-01 -7.14713271e-02 -1.54731329e-02 6.74173701e+02] [ 7.14761255e-02 9.97442281e-01 -2.43389577e-04 8.66163352e+00] [ 1.54509523e-02 -8.63221653e-04 9.99880254e-01 1.04376439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.1792541539999 meters Centerline goodness : 0.999638 Centerline is valid? [True, True] Translation: X:674.21, Y:8.66, Z:10.44 [[ 9.97127043e-01 -7.41501270e-02 -1.54731461e-02 6.74205356e+02] [ 7.41552598e-02 9.97246679e-01 -2.42546227e-04 8.66359999e+00] [ 1.54485284e-02 -9.05565764e-04 9.99880254e-01 1.04395639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.209254154 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:674.24, Y:8.66, Z:10.44 [[ 9.97065953e-01 -7.49671048e-02 -1.54731592e-02 6.74237894e+02] [ 7.49723486e-02 9.97185584e-01 -2.41704403e-04 8.66467016e+00] [ 1.54477312e-02 -9.19063857e-04 9.99880254e-01 1.04406107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.2392541539999 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:674.27, Y:8.67, Z:10.44 [[ 9.97033071e-01 -7.54031632e-02 -1.54731765e-02 6.74270076e+02] [ 7.54084766e-02 9.97152698e-01 -2.40591894e-04 8.66568570e+00] [ 1.54472611e-02 -9.26930594e-04 9.99880254e-01 1.04409912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.2692541539999 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:674.30, Y:8.67, Z:10.44 [[ 9.97010109e-01 -7.57061576e-02 -1.54731937e-02 6.74303062e+02] [ 7.57115245e-02 9.97129735e-01 -2.39482310e-04 8.66751910e+00] [ 1.54469118e-02 -9.32732799e-04 9.99880254e-01 1.04414528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.2992541539999 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:674.34, Y:8.67, Z:10.44 [[ 9.97035672e-01 -7.53687469e-02 -1.54732196e-02 6.74336360e+02] [ 7.53740993e-02 9.97155298e-01 -2.37797045e-04 8.66851136e+00] [ 1.54471254e-02 -9.29187853e-04 9.99880254e-01 1.04413539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.329254154 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:674.37, Y:8.67, Z:10.44 [[ 9.97309227e-01 -7.16581113e-02 -1.54732452e-02 6.74372348e+02] [ 7.16630445e-02 9.97428871e-01 -2.36117856e-04 8.66751215e+00] [ 1.54503813e-02 -8.73377345e-04 9.99880254e-01 1.04379461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.3592541539999 meters Centerline goodness : 0.999617 Centerline is valid? [True, True] Translation: X:674.40, Y:8.67, Z:10.44 [[ 9.97398623e-01 -7.04023760e-02 -1.54755216e-02 6.74404700e+02] [ 7.04095399e-02 9.97518165e-01 -8.21144238e-05 8.66840346e+00] [ 1.54428949e-02 -1.00772354e-03 9.99880244e-01 1.04376187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.3892541539999 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:674.44, Y:8.67, Z:10.44 [[ 9.97476236e-01 -6.92940026e-02 -1.54757596e-02 6.74438302e+02] [ 6.93012869e-02 9.97595774e-01 -6.57369908e-05 8.66924786e+00] [ 1.54431075e-02 -1.00691897e-03 9.99880241e-01 1.04376496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.4192541539999 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:674.46, Y:8.67, Z:10.44 [[ 9.97294470e-01 -7.18625313e-02 -1.54763511e-02 6.74464884e+02] [ 7.18707593e-02 9.97413953e-01 -2.45936005e-05 8.67466725e+00] [ 1.54380959e-02 -1.08777004e-03 9.99880234e-01 1.04430061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.449254154 meters Centerline goodness : 0.999637 Centerline is valid? [True, True] Translation: X:674.50, Y:8.68, Z:10.44 [[ 9.97453475e-01 -6.96214012e-02 -1.54733910e-02 6.74496071e+02] [ 6.96262361e-02 9.97573123e-01 -2.26675973e-04 8.67710977e+00] [ 1.54516205e-02 -8.51255241e-04 9.99880254e-01 1.04424829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.4792541539999 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:674.53, Y:8.68, Z:10.44 [[ 9.97522974e-01 -6.86184410e-02 -1.54734233e-02 6.74528626e+02] [ 6.86231901e-02 9.97642625e-01 -2.24448551e-04 8.67855926e+00] [ 1.54523480e-02 -8.37943085e-04 9.99880254e-01 1.04428903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.5092541539999 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:674.56, Y:8.68, Z:10.44 [[ 9.97617754e-01 -6.72264096e-02 -1.54734397e-02 6.74561992e+02] [ 6.72310092e-02 9.97737411e-01 -2.23315191e-04 8.67976017e+00] [ 1.54534423e-02 -8.17511768e-04 9.99880254e-01 1.04432512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.5392541539999 meters Centerline goodness : 0.999486 Centerline is valid? [True, True] Translation: X:674.59, Y:8.68, Z:10.44 [[ 9.97853246e-01 -6.36354512e-02 -1.54734642e-02 6.74594222e+02] [ 6.36396466e-02 9.97972919e-01 -2.21606936e-04 8.68208131e+00] [ 1.54562003e-02 -7.63594591e-04 9.99880254e-01 1.04428494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.569254154 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:674.63, Y:8.68, Z:10.44 [[ 9.97958303e-01 -6.19660899e-02 -1.54734803e-02 6.74626400e+02] [ 6.19701026e-02 9.98077982e-01 -2.20473699e-04 8.68406839e+00] [ 1.54574019e-02 -7.38869603e-04 9.99880254e-01 1.04439930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.5992541539999 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:674.66, Y:8.68, Z:10.44 [[ 9.98189773e-01 -5.81183822e-02 -1.54735198e-02 6.74660039e+02] [ 5.81219769e-02 9.98309465e-01 -2.17667031e-04 8.68433697e+00] [ 1.54600117e-02 -6.82078556e-04 9.99880254e-01 1.04441771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.6292541539999 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:674.69, Y:8.69, Z:10.45 [[ 9.98321379e-01 -5.58118562e-02 -1.54745362e-02 6.74689525e+02] [ 5.58163144e-02 9.98441044e-01 -1.43983119e-04 8.68878901e+00] [ 1.54584481e-02 -7.19990152e-04 9.99880252e-01 1.04466105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.6592541539999 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:674.72, Y:8.69, Z:10.45 [[ 9.98416077e-01 -5.40916433e-02 -1.54735789e-02 6.74722453e+02] [ 5.40948213e-02 9.98535780e-01 -2.13400186e-04 8.69062255e+00] [ 1.54624654e-02 -6.23978309e-04 9.99880254e-01 1.04483782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.6892541539999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:674.75, Y:8.69, Z:10.45 [[ 9.98544865e-01 -5.16596544e-02 -1.54736025e-02 6.74754398e+02] [ 5.16625675e-02 9.98664576e-01 -2.11674194e-04 8.69308805e+00] [ 1.54638737e-02 -5.88039854e-04 9.99880254e-01 1.04486980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.7192541539999 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:674.79, Y:8.69, Z:10.45 [[ 9.98594273e-01 -5.06956017e-02 -1.54736219e-02 6.74787376e+02] [ 5.06984213e-02 9.98713986e-01 -2.10249592e-04 8.69369126e+00] [ 1.54643813e-02 -5.74534162e-04 9.99880254e-01 1.04484825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.7492541539999 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:674.82, Y:8.69, Z:10.45 [[ 9.98607048e-01 -5.04433309e-02 -1.54736445e-02 6.74819574e+02] [ 5.04461463e-02 9.98726761e-01 -2.08567522e-04 8.69452622e+00] [ 1.54644637e-02 -5.72308739e-04 9.99880254e-01 1.04488487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.7792541539999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:674.85, Y:8.70, Z:10.45 [[ 9.98634672e-01 -4.98934678e-02 -1.54736598e-02 6.74850453e+02] [ 4.98962348e-02 9.98754386e-01 -2.07431456e-04 8.69534585e+00] [ 1.54647350e-02 -5.64929117e-04 9.99880254e-01 1.04483798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.8092541539999 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:674.88, Y:8.70, Z:10.45 [[ 9.98684196e-01 -4.88921447e-02 -1.54736711e-02 6.74882903e+02] [ 4.88948047e-02 9.98803912e-01 -2.06585009e-04 8.69759883e+00] [ 1.54652636e-02 -5.50268942e-04 9.99880254e-01 1.04495335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.839254154 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:674.91, Y:8.70, Z:10.45 [[ 9.98747225e-01 -4.75872509e-02 -1.54736863e-02 6.74914639e+02] [ 4.75897723e-02 9.98866944e-01 -2.05437809e-04 8.69853330e+00] [ 1.54659300e-02 -5.31208767e-04 9.99880254e-01 1.04498574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.8692541539999 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:674.95, Y:8.70, Z:10.45 [[ 9.98835963e-01 -4.56868056e-02 -1.54737052e-02 6.74946872e+02] [ 4.56891214e-02 9.98955686e-01 -2.04003904e-04 8.69960149e+00] [ 1.54668661e-02 -5.03213560e-04 9.99880254e-01 1.04514001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.8992541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:674.98, Y:8.70, Z:10.45 [[ 9.99035080e-01 -4.11031961e-02 -1.54737201e-02 6.74978903e+02] [ 4.11049801e-02 9.99154813e-01 -2.02864766e-04 8.70230931e+00] [ 1.54689803e-02 -4.33377941e-04 9.99880254e-01 1.04539583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.9292541539999 meters Centerline goodness : 0.999631 Centerline is valid? [True, True] Translation: X:675.01, Y:8.70, Z:10.46 [[ 9.99142762e-01 -3.83966724e-02 -1.54737350e-02 6.75010553e+02] [ 3.83981497e-02 9.99262499e-01 -2.01728332e-04 8.70379075e+00] [ 1.54700688e-02 -3.92607389e-04 9.99880254e-01 1.04555972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.959254154 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:675.04, Y:8.71, Z:10.46 [[ 9.99229314e-01 -3.60741101e-02 -1.54737460e-02 6.75043057e+02] [ 3.60753222e-02 9.99349054e-01 -2.00878329e-04 8.70545954e+00] [ 1.54709199e-02 -3.57496858e-04 9.99880254e-01 1.04571100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.9892541539999 meters Centerline goodness : 0.999564 Centerline is valid? [True, True] Translation: X:675.07, Y:8.71, Z:10.46 [[ 9.99315037e-01 -3.36157584e-02 -1.54737607e-02 6.75073986e+02] [ 3.36166936e-02 9.99434779e-01 -1.99738568e-04 8.70682117e+00] [ 1.54717290e-02 -3.20574917e-04 9.99880254e-01 1.04579385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.0192541539999 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:675.11, Y:8.71, Z:10.46 [[ 9.99429223e-01 -3.00298271e-02 -1.54737716e-02 6.75105035e+02] [ 3.00303457e-02 9.99548968e-01 -1.98888564e-04 8.70769066e+00] [ 1.54727651e-02 -2.65907669e-04 9.99880254e-01 1.04583017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.0492541539999 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:675.14, Y:8.71, Z:10.46 [[ 9.99457213e-01 -2.90833435e-02 -1.54737824e-02 6.75135822e+02] [ 2.90837617e-02 9.99576958e-01 -1.98047965e-04 8.70779745e+00] [ 1.54729962e-02 -2.52095333e-04 9.99880254e-01 1.04580935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.079254154 meters Centerline goodness : 0.999388 Centerline is valid? [True, True] Translation: X:675.17, Y:8.71, Z:10.46 [[ 9.99458765e-01 -2.90299719e-02 -1.54737929e-02 6.75168322e+02] [ 2.90303966e-02 9.99578510e-01 -1.97223677e-04 8.70736778e+00] [ 1.54729962e-02 -2.52093412e-04 9.99880254e-01 1.04566353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.1092541539999 meters Centerline goodness : 0.999302 Centerline is valid? [True, True] Translation: X:675.20, Y:8.71, Z:10.46 [[ 9.99478098e-01 -2.83565240e-02 -1.54738067e-02 6.75198369e+02] [ 2.83568848e-02 9.99597843e-01 -1.96134474e-04 8.70718638e+00] [ 1.54731455e-02 -2.42756843e-04 9.99880254e-01 1.04571008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.1392541539999 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:675.23, Y:8.71, Z:10.46 [[ 9.99384699e-01 -3.14773374e-02 -1.54725484e-02 6.75230474e+02] [ 3.14765404e-02 9.99504447e-01 -2.95095958e-04 8.70781669e+00] [ 1.54741697e-02 -1.92107909e-04 9.99880249e-01 1.04576554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.1692541539999 meters Centerline goodness : 0.999630 Centerline is valid? [True, True] Translation: X:675.26, Y:8.71, Z:10.46 [[ 9.99337143e-01 -3.29520267e-02 -1.54738076e-02 6.75262993e+02] [ 3.29529500e-02 9.99456885e-01 -1.95367480e-04 8.70785352e+00] [ 1.54718413e-02 -3.14669629e-04 9.99880254e-01 1.04574800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.199254154 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:675.29, Y:8.71, Z:10.46 [[ 9.99203976e-01 -3.67692035e-02 -1.54738214e-02 6.75294872e+02] [ 3.67706011e-02 9.99323714e-01 -1.94271362e-04 8.70673274e+00] [ 1.54704998e-02 -3.74864996e-04 9.99880254e-01 1.04565838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.2292541539999 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:675.33, Y:8.71, Z:10.46 [[ 9.99112922e-01 -3.91654054e-02 -1.54738352e-02 6.75326327e+02] [ 3.91671073e-02 9.99232656e-01 -1.93162904e-04 8.70625055e+00] [ 1.54695267e-02 -4.13073810e-04 9.99880254e-01 1.04566476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.2592541539999 meters Centerline goodness : 0.999480 Centerline is valid? [True, True] Translation: X:675.36, Y:8.71, Z:10.46 [[ 9.99034548e-01 -4.11160694e-02 -1.54738455e-02 6.75358222e+02] [ 4.11180179e-02 9.99154278e-01 -1.92337060e-04 8.70564230e+00] [ 1.54686670e-02 -4.44102487e-04 9.99880254e-01 1.04568130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.2892541539999 meters Centerline goodness : 0.999372 Centerline is valid? [True, True] Translation: X:675.39, Y:8.70, Z:10.46 [[ 9.98849127e-01 -4.53980407e-02 -1.54738590e-02 6.75390557e+02] [ 4.54005194e-02 9.98968847e-01 -1.91237048e-04 8.70499274e+00] [ 1.54665849e-02 -5.11504280e-04 9.99880254e-01 1.04569371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.319254154 meters Centerline goodness : 0.999417 Centerline is valid? [True, True] Translation: X:675.42, Y:8.71, Z:10.46 [[ 9.98770783e-01 -4.70901439e-02 -1.54738726e-02 6.75423037e+02] [ 4.70928425e-02 9.98890499e-01 -1.90136000e-04 8.70511472e+00] [ 1.54656578e-02 -5.38806363e-04 9.99880254e-01 1.04571779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.3492541539999 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:675.46, Y:8.71, Z:10.46 [[ 9.98641766e-01 -4.97511999e-02 -1.54738893e-02 6.75455374e+02] [ 4.97542387e-02 9.98761473e-01 -1.88763494e-04 8.70542706e+00] [ 1.54641157e-02 -5.81384473e-04 9.99880254e-01 1.04580376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.3792541539999 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:675.49, Y:8.71, Z:10.46 [[ 9.98596711e-01 -5.06474819e-02 -1.54739212e-02 6.75488035e+02] [ 5.06506691e-02 9.98716414e-01 -1.86115292e-04 8.70594963e+00] [ 1.54634853e-02 -5.97910342e-04 9.99880254e-01 1.04589070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.4092541539999 meters Centerline goodness : 0.999396 Centerline is valid? [True, True] Translation: X:675.52, Y:8.71, Z:10.46 [[ 9.98559179e-01 -5.13821305e-02 -1.54739340e-02 6.75520471e+02] [ 5.13854224e-02 9.98678879e-01 -1.85040966e-04 8.70659693e+00] [ 1.54629989e-02 -6.10360281e-04 9.99880254e-01 1.04600370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.4392541539999 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:675.55, Y:8.71, Z:10.46 [[ 9.98524172e-01 -5.20579972e-02 -1.54739468e-02 6.75552477e+02] [ 5.20613867e-02 9.98643870e-01 -1.83966639e-04 8.70730728e+00] [ 1.54625390e-02 -6.21899992e-04 9.99880254e-01 1.04617866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.4692541539999 meters Centerline goodness : 0.999505 Centerline is valid? [True, True] Translation: X:675.59, Y:8.71, Z:10.46 [[ 9.98506611e-01 -5.23937512e-02 -1.54739600e-02 6.75585029e+02] [ 5.23971983e-02 9.98626307e-01 -1.82850416e-04 8.70776697e+00] [ 1.54622837e-02 -6.28214800e-04 9.99880254e-01 1.04629755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.4992541539999 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:675.62, Y:8.71, Z:10.46 [[ 9.98428698e-01 -5.38580554e-02 -1.54739922e-02 6.75617248e+02] [ 5.38617208e-02 9.98548388e-01 -1.80082020e-04 8.70862936e+00] [ 1.54612288e-02 -6.53656790e-04 9.99880254e-01 1.04637241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.5292541539999 meters Centerline goodness : 0.999397 Centerline is valid? [True, True] Translation: X:675.65, Y:8.71, Z:10.46 [[ 9.98383975e-01 -5.46808346e-02 -1.54740233e-02 6.75650356e+02] [ 5.46846406e-02 9.98503660e-01 -1.77372859e-04 8.70919411e+00] [ 1.54605677e-02 -6.69105180e-04 9.99880254e-01 1.04641639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.5592541539999 meters Centerline goodness : 0.999547 Centerline is valid? [True, True] Translation: X:675.68, Y:8.71, Z:10.46 [[ 9.98279692e-01 -5.65527243e-02 -1.54740419e-02 6.75683406e+02] [ 5.65567800e-02 9.98399369e-01 -1.75730766e-04 8.70981870e+00] [ 1.54592117e-02 -6.99733530e-04 9.99880254e-01 1.04641586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.589254154 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:675.72, Y:8.71, Z:10.46 [[ 9.98243315e-01 -5.71912417e-02 -1.54740603e-02 6.75715932e+02] [ 5.71953993e-02 9.98362988e-01 -1.74091561e-04 8.71025595e+00] [ 1.54586856e-02 -7.11259323e-04 9.99880254e-01 1.04640264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.6192541539999 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:675.75, Y:8.71, Z:10.46 [[ 9.98198152e-01 -5.79741409e-02 -1.54740904e-02 6.75749044e+02] [ 5.79784343e-02 9.98317821e-01 -1.71382388e-04 8.71068306e+00] [ 1.54579959e-02 -7.26089949e-04 9.99880254e-01 1.04638786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.6492541539999 meters Centerline goodness : 0.999438 Centerline is valid? [True, True] Translation: X:675.78, Y:8.71, Z:10.46 [[ 9.98177136e-01 -5.83348785e-02 -1.54741080e-02 6.75782467e+02] [ 5.83392402e-02 9.98296802e-01 -1.69769284e-04 8.71110010e+00] [ 1.54576560e-02 -7.33287888e-04 9.99880254e-01 1.04640315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.6792541539999 meters Centerline goodness : 0.999482 Centerline is valid? [True, True] Translation: X:675.81, Y:8.71, Z:10.46 [[ 9.98188679e-01 -5.81370164e-02 -1.54741257e-02 6.75813951e+02] [ 5.81413795e-02 9.98308345e-01 -1.68143414e-04 8.71171896e+00] [ 1.54577242e-02 -7.31848163e-04 9.99880254e-01 1.04631270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.709254154 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:675.85, Y:8.71, Z:10.46 [[ 9.98225451e-01 -5.75021792e-02 -1.54741344e-02 6.75845830e+02] [ 5.75064786e-02 9.98345119e-01 -1.67339818e-04 8.71225991e+00] [ 1.54581490e-02 -7.22820114e-04 9.99880254e-01 1.04631225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.7392541539999 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:675.88, Y:8.71, Z:10.46 [[ 9.98285329e-01 -5.64531080e-02 -1.54741457e-02 6.75876864e+02] [ 5.64572979e-02 9.98405001e-01 -1.66284743e-04 8.71309662e+00] [ 1.54588518e-02 -7.07628837e-04 9.99880254e-01 1.04629281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.7692541539999 meters Centerline goodness : 0.999438 Centerline is valid? [True, True] Translation: X:675.91, Y:8.72, Z:10.46 [[ 9.98469763e-01 -5.30912630e-02 -1.54741542e-02 6.75907671e+02] [ 5.30950621e-02 9.98589449e-01 -1.65498502e-04 8.71537766e+00] [ 1.54611136e-02 -6.56355926e-04 9.99880254e-01 1.04626036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.7992541539999 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] Translation: X:675.94, Y:8.72, Z:10.46 [[ 9.98596216e-01 -5.06571531e-02 -1.54741758e-02 6.75940494e+02] [ 5.06606921e-02 9.98715909e-01 -1.63453648e-04 8.71695093e+00] [ 1.54625856e-02 -6.20708259e-04 9.99880254e-01 1.04630846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.829254154 meters Centerline goodness : 0.999566 Centerline is valid? [True, True] Translation: X:675.97, Y:8.72, Z:10.46 [[ 9.98735510e-01 -4.78323111e-02 -1.54741919e-02 6.75973801e+02] [ 4.78355355e-02 9.98855212e-01 -1.61906855e-04 8.71882078e+00] [ 1.54642217e-02 -5.78514132e-04 9.99880254e-01 1.04637551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.8592541539999 meters Centerline goodness : 0.999327 Centerline is valid? [True, True] Translation: X:676.01, Y:8.72, Z:10.47 [[ 9.99011079e-01 -4.16822880e-02 -1.54742079e-02 6.76006132e+02] [ 4.16847991e-02 9.99130798e-01 -1.60364150e-04 8.72238778e+00] [ 1.54674421e-02 -4.84833686e-04 9.99880254e-01 1.04654487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.8892541539999 meters Centerline goodness : 0.999369 Centerline is valid? [True, True] Translation: X:676.04, Y:8.72, Z:10.47 [[ 9.99138638e-01 -3.85036420e-02 -1.54742186e-02 6.76038043e+02] [ 3.85057883e-02 9.99258364e-01 -1.59326527e-04 8.72398688e+00] [ 1.54688770e-02 -4.36657697e-04 9.99880254e-01 1.04666715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.9192541539999 meters Centerline goodness : 0.999586 Centerline is valid? [True, True] Translation: X:676.07, Y:8.73, Z:10.47 [[ 9.99248749e-01 -3.55314702e-02 -1.54742291e-02 6.76069789e+02] [ 3.55332763e-02 9.99368481e-01 -1.58298626e-04 8.72542493e+00] [ 1.54700814e-02 -3.91670355e-04 9.99880254e-01 1.04674958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.949254154 meters Centerline goodness : 0.999564 Centerline is valid? [True, True] Translation: X:676.10, Y:8.73, Z:10.47 [[ 9.99435204e-01 -2.98298753e-02 -1.54742395e-02 6.76101741e+02] [ 2.98310141e-02 9.99554944e-01 -1.57276706e-04 8.72801729e+00] [ 1.54720441e-02 -3.04424379e-04 9.99880254e-01 1.04691872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.9792541539999 meters Centerline goodness : 0.999542 Centerline is valid? [True, True] Translation: X:676.13, Y:8.73, Z:10.47 [[ 9.99513090e-01 -2.70948590e-02 -1.54742497e-02 6.76133545e+02] [ 2.70956857e-02 9.99632832e-01 -1.56262851e-04 8.72957614e+00] [ 1.54728020e-02 -2.63098643e-04 9.99880254e-01 1.04701639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.0092541539999 meters Centerline goodness : 0.999542 Centerline is valid? [True, True] Translation: X:676.17, Y:8.73, Z:10.47 [[ 9.99513969e-01 -2.70623942e-02 -1.54742598e-02 6.76165386e+02] [ 2.70632326e-02 9.99633712e-01 -1.55256165e-04 8.72986050e+00] [ 1.54727934e-02 -2.63602788e-04 9.99880254e-01 1.04706564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.0392541539999 meters Centerline goodness : 0.999564 Centerline is valid? [True, True] Translation: X:676.20, Y:8.73, Z:10.47 [[ 9.99580450e-01 -2.44840866e-02 -1.54742649e-02 6.76196654e+02] [ 2.44846239e-02 9.99700195e-01 -1.54753733e-04 8.73148716e+00] [ 1.54734146e-02 -2.24192750e-04 9.99880254e-01 1.04715689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.069254154 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:676.23, Y:8.73, Z:10.47 [[ 9.99637260e-01 -2.20430362e-02 -1.54742699e-02 6.76228033e+02] [ 2.20432889e-02 9.99757005e-01 -1.54252352e-04 8.73298059e+00] [ 1.54739099e-02 -1.86907403e-04 9.99880254e-01 1.04722983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.0992541539999 meters Centerline goodness : 0.999495 Centerline is valid? [True, True] Translation: X:676.26, Y:8.74, Z:10.47 [[ 9.99735310e-01 -1.70251857e-02 -1.54742748e-02 6.76258247e+02] [ 1.70248450e-02 9.99855055e-01 -1.53754289e-04 8.73505932e+00] [ 1.54746496e-02 -1.09733539e-04 9.99880254e-01 1.04725339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.1292541539999 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:676.29, Y:8.74, Z:10.47 [[ 9.99767751e-01 -1.49997013e-02 -1.54742748e-02 6.76288125e+02] [ 1.49991180e-02 9.99887495e-01 -1.53754289e-04 8.73612602e+00] [ 1.54748402e-02 -7.83818948e-05 9.99880254e-01 1.04744888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.1592541539999 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:676.32, Y:8.74, Z:10.47 [[ 9.99795982e-01 -1.29823601e-02 -1.54742693e-02 6.76315368e+02] [ 1.29815268e-02 9.99915725e-01 -1.54304449e-04 8.73718885e+00] [ 1.54749685e-02 -4.66066732e-05 9.99880254e-01 1.04690223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.1892541539999 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] Translation: X:676.34, Y:8.74, Z:10.47 [[ 9.99816685e-01 -1.12764224e-02 -1.54738235e-02 6.76344246e+02] [ 1.12747280e-02 9.99936419e-01 -1.96738053e-04 8.73803715e+00] [ 1.54750581e-02 2.22388379e-05 9.99880254e-01 1.04731120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.2192541539999 meters Centerline goodness : 0.999493 Centerline is valid? [True, True] Translation: X:676.37, Y:8.74, Z:10.48 [[ 9.99820867e-01 -1.08987803e-02 -1.54741830e-02 6.76372440e+02] [ 1.08975703e-02 9.99940607e-01 -1.62509897e-04 8.73832550e+00] [ 1.54750351e-02 -6.15021128e-06 9.99880254e-01 1.04759366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.2492541539999 meters Centerline goodness : 0.999515 Centerline is valid? [True, True] Translation: X:676.40, Y:8.74, Z:10.47 [[ 9.99823948e-01 -1.06124179e-02 -1.54741355e-02 6.76399237e+02] [ 1.06111056e-02 9.99943687e-01 -1.66910575e-04 8.73839431e+00] [ 1.54750354e-02 2.68350422e-06 9.99880254e-01 1.04740359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.2792541539999 meters Centerline goodness : 0.999407 Centerline is valid? [True, True] Translation: X:676.43, Y:8.74, Z:10.48 [[ 9.99813304e-01 -1.15719202e-02 -1.54741147e-02 6.76427389e+02] [ 1.15706933e-02 9.99933043e-01 -1.68816510e-04 8.73719696e+00] [ 1.54750321e-02 -1.02612417e-05 9.99880254e-01 1.04764890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.3092541539999 meters Centerline goodness : 0.999473 Centerline is valid? [True, True] Translation: X:676.46, Y:8.74, Z:10.48 [[ 9.99799935e-01 -1.26745530e-02 -1.54740656e-02 6.76455268e+02] [ 1.26733903e-02 9.99919674e-01 -1.73201489e-04 8.73656842e+00] [ 1.54750179e-02 -2.29420351e-05 9.99880254e-01 1.04760486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.339254154 meters Centerline goodness : 0.999539 Centerline is valid? [True, True] Translation: X:676.48, Y:8.74, Z:10.48 [[ 9.99778131e-01 -1.42913820e-02 -1.54740155e-02 6.76483306e+02] [ 1.42903454e-02 9.99897872e-01 -1.77567650e-04 8.73617529e+00] [ 1.54749729e-02 -4.36007729e-05 9.99880254e-01 1.04764337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.3692541539999 meters Centerline goodness : 0.999452 Centerline is valid? [True, True] Translation: X:676.51, Y:8.74, Z:10.48 [[ 9.99774988e-01 -1.45096437e-02 -1.54739647e-02 6.76510797e+02] [ 1.45085662e-02 9.99894729e-01 -1.81893008e-04 8.73555149e+00] [ 1.54749749e-02 -4.26529611e-05 9.99880254e-01 1.04756314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.3992541539999 meters Centerline goodness : 0.999476 Centerline is valid? [True, True] Translation: X:676.54, Y:8.73, Z:10.48 [[ 9.99703783e-01 -1.87863938e-02 -1.54731055e-02 6.76540086e+02] [ 1.87847166e-02 9.99823519e-01 -2.53738031e-04 8.73347029e+00] [ 1.54751416e-02 -3.69950314e-05 9.99880252e-01 1.04770540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.4292541539999 meters Centerline goodness : 0.999498 Centerline is valid? [True, True] Translation: X:676.57, Y:8.73, Z:10.48 [[ 9.99671800e-01 -2.04168986e-02 -1.54739172e-02 6.76570052e+02] [ 2.04164600e-02 9.99791545e-01 -1.86335682e-04 8.73247255e+00] [ 1.54744960e-02 -1.29648083e-04 9.99880254e-01 1.04778971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.459254154 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:676.60, Y:8.73, Z:10.48 [[ 9.99629155e-01 -2.24078459e-02 -1.54739106e-02 6.76600085e+02] [ 2.24076373e-02 9.99748900e-01 -1.86878181e-04 8.73166913e+00] [ 1.54742127e-02 -1.59924899e-04 9.99880254e-01 1.04789558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.4892541539999 meters Centerline goodness : 0.999391 Centerline is valid? [True, True] Translation: X:676.63, Y:8.73, Z:10.48 [[ 9.99581396e-01 -2.44456625e-02 -1.54739106e-02 6.76631554e+02] [ 2.44456981e-02 9.99701142e-01 -1.86878181e-04 8.73065597e+00] [ 1.54738545e-02 -1.91470594e-04 9.99880254e-01 1.04800423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.5192541539999 meters Centerline goodness : 0.999328 Centerline is valid? [True, True] Translation: X:676.66, Y:8.73, Z:10.48 [[ 9.99468134e-01 -2.87055213e-02 -1.54739173e-02 6.76662943e+02] [ 2.87060757e-02 9.99587878e-01 -1.86327305e-04 8.72783622e+00] [ 1.54728887e-02 -2.57967237e-04 9.99880254e-01 1.04803257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.5492541539999 meters Centerline goodness : 0.999480 Centerline is valid? [True, True] Translation: X:676.69, Y:8.73, Z:10.48 [[ 9.99396534e-01 -3.10986330e-02 -1.54739239e-02 6.76694438e+02] [ 3.10994827e-02 9.99516277e-01 -1.85774638e-04 8.72630802e+00] [ 1.54722161e-02 -2.95568498e-04 9.99880254e-01 1.04804606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.579254154 meters Centerline goodness : 0.999372 Centerline is valid? [True, True] Translation: X:676.73, Y:8.72, Z:10.48 [[ 9.99306808e-01 -3.38594264e-02 -1.54739338e-02 6.76726397e+02] [ 3.38606196e-02 9.99426548e-01 -1.84947665e-04 8.72467763e+00] [ 1.54713224e-02 -3.39137525e-04 9.99880254e-01 1.04805360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.6092541539999 meters Centerline goodness : 0.999247 Centerline is valid? [True, True] Translation: X:676.76, Y:8.72, Z:10.48 [[ 9.99145888e-01 -3.83151649e-02 -1.54739468e-02 6.76757734e+02] [ 3.83169092e-02 9.99265621e-01 -1.83847189e-04 8.72003490e+00] [ 1.54696272e-02 -4.09223653e-04 9.99880254e-01 1.04778283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.6392541539999 meters Centerline goodness : 0.999247 Centerline is valid? [True, True] Translation: X:676.79, Y:8.72, Z:10.48 [[ 9.99020198e-01 -4.14632474e-02 -1.54739686e-02 6.76788494e+02] [ 4.14653975e-02 9.99139924e-01 -1.81997524e-04 8.71862188e+00] [ 1.54682060e-02 -4.59815058e-04 9.99880254e-01 1.04788239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.6692541539999 meters Centerline goodness : 0.999399 Centerline is valid? [True, True] Translation: X:676.82, Y:8.72, Z:10.48 [[ 9.98931765e-01 -4.35417682e-02 -1.54739775e-02 6.76820268e+02] [ 4.35441792e-02 9.99051486e-01 -1.81235555e-04 8.71687121e+00] [ 1.54671916e-02 -4.92759698e-04 9.99880254e-01 1.04789188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.699254154 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:676.85, Y:8.72, Z:10.48 [[ 9.98861357e-01 -4.51281076e-02 -1.54739893e-02 6.76852285e+02] [ 4.51307244e-02 9.98981074e-01 -1.80228118e-04 8.71527935e+00] [ 1.54663558e-02 -5.18329442e-04 9.99880254e-01 1.04791525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.7292541539999 meters Centerline goodness : 0.999399 Centerline is valid? [True, True] Translation: X:676.88, Y:8.71, Z:10.48 [[ 9.98758050e-01 -4.73594103e-02 -1.54740011e-02 6.76884395e+02] [ 4.73623103e-02 9.98877760e-01 -1.79204129e-04 8.71254743e+00] [ 1.54651226e-02 -5.53902876e-04 9.99880254e-01 1.04802835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.7592541539999 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:676.92, Y:8.71, Z:10.48 [[ 9.98748820e-01 -4.75536516e-02 -1.54740132e-02 6.76916670e+02] [ 4.75565912e-02 9.98868529e-01 -1.78154423e-04 8.71103195e+00] [ 1.54649767e-02 -5.57959801e-04 9.99880254e-01 1.04804794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.7892541539999 meters Centerline goodness : 0.999271 Centerline is valid? [True, True] Translation: X:676.95, Y:8.71, Z:10.48 [[ 9.98711308e-01 -4.83350495e-02 -1.54740256e-02 6.76949393e+02] [ 4.83380994e-02 9.98831015e-01 -1.77073034e-04 8.70970590e+00] [ 1.54644955e-02 -5.71140145e-04 9.99880254e-01 1.04817103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.819254154 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:676.98, Y:8.71, Z:10.48 [[ 9.98641996e-01 -4.97465272e-02 -1.54740441e-02 6.76982827e+02] [ 4.97497715e-02 9.98761698e-01 -1.75443295e-04 8.70609191e+00] [ 1.54636102e-02 -5.94625114e-04 9.99880254e-01 1.04823169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.8492541539999 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:677.01, Y:8.70, Z:10.48 [[ 9.98639355e-01 -4.97995155e-02 -1.54740626e-02 6.77014710e+02] [ 4.98027918e-02 9.98759056e-01 -1.73788658e-04 8.70448446e+00] [ 1.54635148e-02 -5.97099327e-04 9.99880254e-01 1.04812259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.8792541539999 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:677.05, Y:8.70, Z:10.48 [[ 9.98609267e-01 -5.03992573e-02 -1.54740748e-02 6.77046798e+02] [ 5.04026224e-02 9.98728965e-01 -1.72697068e-04 8.70378761e+00] [ 1.54631105e-02 -6.07477058e-04 9.99880254e-01 1.04814600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.9092541539999 meters Centerline goodness : 0.999211 Centerline is valid? [True, True] Translation: X:677.08, Y:8.70, Z:10.48 [[ 9.98571372e-01 -5.11445771e-02 -1.54741032e-02 6.77079461e+02] [ 5.11480714e-02 9.98691066e-01 -1.70117215e-04 8.70178781e+00] [ 1.54625492e-02 -6.21596353e-04 9.99880254e-01 1.04823031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.9392541539999 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:677.11, Y:8.70, Z:10.48 [[ 9.98593563e-01 -5.07094390e-02 -1.54741149e-02 6.77110894e+02] [ 5.07128977e-02 9.98713259e-01 -1.69043975e-04 8.70035144e+00] [ 1.54627759e-02 -6.15930982e-04 9.99880254e-01 1.04820011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.9692541539999 meters Centerline goodness : 0.999041 Centerline is valid? [True, True] Translation: X:677.14, Y:8.70, Z:10.48 [[ 9.98602624e-01 -5.05306923e-02 -1.54741236e-02 6.77142891e+02] [ 5.05341420e-02 9.98722320e-01 -1.68243878e-04 8.69915328e+00] [ 1.54628541e-02 -6.13962782e-04 9.99880254e-01 1.04822735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.9992541539999 meters Centerline goodness : 0.998998 Centerline is valid? [True, True] Translation: X:677.17, Y:8.70, Z:10.48 [[ 9.98592342e-01 -5.07334678e-02 -1.54741354e-02 6.77174585e+02] [ 5.07369587e-02 9.98712037e-01 -1.67152167e-04 8.69760780e+00] [ 1.54626855e-02 -6.18193695e-04 9.99880254e-01 1.04821459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.0292541539999 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:677.21, Y:8.70, Z:10.48 [[ 9.98597174e-01 -5.06382704e-02 -1.54741500e-02 6.77206675e+02] [ 5.06417709e-02 9.98716869e-01 -1.65793247e-04 8.69711507e+00] [ 1.54626901e-02 -6.18077690e-04 9.99880254e-01 1.04831753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.0592541539999 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:677.24, Y:8.70, Z:10.48 [[ 9.98649886e-01 -4.95878579e-02 -1.54741611e-02 6.77237849e+02] [ 4.95912488e-02 9.98769584e-01 -1.64744055e-04 8.69551547e+00] [ 1.54632908e-02 -6.02861342e-04 9.99880254e-01 1.04817244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.089254154 meters Centerline goodness : 0.999127 Centerline is valid? [True, True] Translation: X:677.27, Y:8.70, Z:10.48 [[ 9.98629046e-01 -5.00057766e-02 -1.54741799e-02 6.77269780e+02] [ 5.00092452e-02 9.98748742e-01 -1.62959117e-04 8.69566340e+00] [ 1.54629666e-02 -6.11116350e-04 9.99880254e-01 1.04836566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.1192541539999 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:677.30, Y:8.70, Z:10.48 [[ 9.98644680e-01 -4.96925771e-02 -1.54741909e-02 6.77301543e+02] [ 4.96960244e-02 9.98764376e-01 -1.61908037e-04 8.69514281e+00] [ 1.54631163e-02 -6.07317170e-04 9.99880254e-01 1.04842949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.1492541539999 meters Centerline goodness : 0.999213 Centerline is valid? [True, True] Translation: X:677.33, Y:8.69, Z:10.48 [[ 9.98664435e-01 -4.92939615e-02 -1.54742020e-02 6.77334035e+02] [ 4.92973774e-02 9.98784132e-01 -1.60844968e-04 8.69482666e+00] [ 1.54633161e-02 -6.02207426e-04 9.99880254e-01 1.04848512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.1792541539999 meters Centerline goodness : 0.998917 Centerline is valid? [True, True] Translation: X:677.36, Y:8.69, Z:10.49 [[ 9.98758216e-01 -4.73558325e-02 -1.54742129e-02 6.77364724e+02] [ 4.73590324e-02 9.98877919e-01 -1.59790310e-04 8.69438781e+00] [ 1.54644165e-02 -5.73251864e-04 9.99880254e-01 1.04861932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.209254154 meters Centerline goodness : 0.998854 Centerline is valid? [True, True] Translation: X:677.40, Y:8.69, Z:10.49 [[ 9.98834451e-01 -4.57196747e-02 -1.54742315e-02 6.77397289e+02] [ 4.57227069e-02 9.98954158e-01 -1.57962730e-04 8.69475403e+00] [ 1.54652699e-02 -5.49745135e-04 9.99880254e-01 1.04877686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.2392541539999 meters Centerline goodness : 0.998811 Centerline is valid? [True, True] Translation: X:677.43, Y:8.70, Z:10.49 [[ 9.98933979e-01 -4.34908501e-02 -1.54742421e-02 6.77429155e+02] [ 4.34936313e-02 9.99053692e-01 -1.56919352e-04 8.69514055e+00] [ 1.54664233e-02 -5.16278909e-04 9.99880254e-01 1.04893962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.2692541539999 meters Centerline goodness : 0.998898 Centerline is valid? [True, True] Translation: X:677.46, Y:8.70, Z:10.49 [[ 9.99161119e-01 -3.79157853e-02 -1.54742526e-02 6.77461551e+02] [ 3.79179145e-02 9.99280845e-01 -1.55879168e-04 8.69627432e+00] [ 1.54690345e-02 -4.31002982e-04 9.99880254e-01 1.04926927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.2992541539999 meters Centerline goodness : 0.998789 Centerline is valid? [True, True] Translation: X:677.49, Y:8.70, Z:10.49 [[ 9.99294680e-01 -3.42153477e-02 -1.54742632e-02 6.77493067e+02] [ 3.42170499e-02 9.99414413e-01 -1.54821645e-04 8.69655271e+00] [ 1.54704989e-02 -3.74771188e-04 9.99880254e-01 1.04931709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.329254154 meters Centerline goodness : 0.998896 Centerline is valid? [True, True] Translation: X:677.53, Y:8.70, Z:10.49 [[ 9.99394789e-01 -3.11544872e-02 -1.54742795e-02 6.77525004e+02] [ 3.11558482e-02 9.99514527e-01 -1.53166465e-04 8.69703544e+00] [ 1.54715390e-02 -3.29040538e-04 9.99880254e-01 1.04944331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.3592541539999 meters Centerline goodness : 0.999256 Centerline is valid? [True, True] Translation: X:677.56, Y:8.70, Z:10.49 [[ 9.99555965e-01 -2.54640934e-02 -1.54742898e-02 6.77556470e+02] [ 2.54647889e-02 9.99675708e-01 -1.52122564e-04 8.69698733e+00] [ 1.54731453e-02 -2.41994507e-04 9.99880254e-01 1.04949783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.3892541539999 meters Centerline goodness : 0.999107 Centerline is valid? [True, True] Translation: X:677.59, Y:8.70, Z:10.49 [[ 9.99627277e-01 -2.24911653e-02 -1.54742950e-02 6.77586227e+02] [ 2.24915129e-02 9.99747022e-01 -1.51592094e-04 8.69662559e+00] [ 1.54737898e-02 -1.96504712e-04 9.99880254e-01 1.04941024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.4192541539999 meters Centerline goodness : 0.999085 Centerline is valid? [True, True] Translation: X:677.62, Y:8.70, Z:10.49 [[ 9.99659424e-01 -2.10141248e-02 -1.54739626e-02 6.77616809e+02] [ 2.10137820e-02 9.99779169e-01 -1.84764316e-04 8.69681252e+00] [ 1.54744281e-02 -1.40465088e-04 9.99880254e-01 1.04948769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.449254154 meters Centerline goodness : 0.998979 Centerline is valid? [True, True] Translation: X:677.65, Y:8.70, Z:10.49 [[ 9.99744530e-01 -1.64749132e-02 -1.54742597e-02 6.77646485e+02] [ 1.64744854e-02 9.99864274e-01 -1.55128641e-04 8.69602734e+00] [ 1.54747152e-02 -9.98414554e-05 9.99880254e-01 1.04944865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.4792541539999 meters Centerline goodness : 0.999065 Centerline is valid? [True, True] Translation: X:677.67, Y:8.70, Z:10.49 [[ 9.99712232e-01 -1.83306406e-02 -1.54738700e-02 6.77673179e+02] [ 1.83298172e-02 9.99831976e-01 -1.95044215e-04 8.70042612e+00] [ 1.54748453e-02 -8.86451215e-05 9.99880253e-01 1.04946910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.5092541539999 meters Centerline goodness : 0.998958 Centerline is valid? [True, True] Translation: X:677.71, Y:8.69, Z:10.50 [[ 9.99775123e-01 -1.45030504e-02 -1.54714084e-02 6.77707004e+02] [ 1.44980988e-02 9.99894804e-01 -4.32166015e-04 8.69412120e+00] [ 1.54760486e-02 2.07762824e-04 9.99880217e-01 1.04957294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.5392541539999 meters Centerline goodness : 0.998852 Centerline is valid? [True, True] Translation: X:677.73, Y:8.69, Z:10.49 [[ 9.99795171e-01 -1.30447935e-02 -1.54741617e-02 6.77734916e+02] [ 1.30440019e-02 9.99914912e-01 -1.52087068e-04 8.69111317e+00] [ 1.54748290e-02 -4.97890794e-05 9.99880256e-01 1.04945058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.569254154 meters Centerline goodness : 0.998960 Centerline is valid? [True, True] Translation: X:677.76, Y:8.69, Z:10.50 [[ 9.99789226e-01 -1.34927916e-02 -1.54740991e-02 6.77763396e+02] [ 1.34919574e-02 9.99908967e-01 -1.58307930e-04 8.68976323e+00] [ 1.54748265e-02 -5.05013235e-05 9.99880256e-01 1.04969341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.5992541539999 meters Centerline goodness : 0.998918 Centerline is valid? [True, True] Translation: X:677.79, Y:8.69, Z:10.50 [[ 9.99785254e-01 -1.37840403e-02 -1.54740787e-02 6.77790677e+02] [ 1.37832105e-02 9.99904994e-01 -1.60278448e-04 8.68831898e+00] [ 1.54748179e-02 -5.30384554e-05 9.99880256e-01 1.04973076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.6292541539999 meters Centerline goodness : 0.999024 Centerline is valid? [True, True] Translation: X:677.82, Y:8.68, Z:10.50 [[ 9.99771649e-01 -1.47377996e-02 -1.54740590e-02 6.77818291e+02] [ 1.47370548e-02 9.99891391e-01 -1.62162368e-04 8.68468201e+00] [ 1.54747682e-02 -6.59167172e-05 9.99880256e-01 1.04983244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.6592541539999 meters Centerline goodness : 0.998897 Centerline is valid? [True, True] Translation: X:677.85, Y:8.68, Z:10.50 [[ 9.99757344e-01 -1.56782445e-02 -1.54740122e-02 6.77845394e+02] [ 1.56775451e-02 9.99877086e-01 -1.66508329e-04 8.68278051e+00] [ 1.54747208e-02 -7.61265995e-05 9.99880256e-01 1.04978352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.6892541539999 meters Centerline goodness : 0.998855 Centerline is valid? [True, True] Translation: X:677.87, Y:8.68, Z:10.50 [[ 9.99730413e-01 -1.73106287e-02 -1.54739795e-02 6.77873222e+02] [ 1.73100786e-02 9.99850155e-01 -1.69496468e-04 8.68101003e+00] [ 1.54745949e-02 -9.84050268e-05 9.99880256e-01 1.04983316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.7192541539999 meters Centerline goodness : 0.998646 Centerline is valid? [True, True] Translation: X:677.90, Y:8.68, Z:10.50 [[ 9.99659900e-01 -2.09914515e-02 -1.54739650e-02 6.77901507e+02] [ 2.09913220e-02 9.99779643e-01 -1.70805021e-04 8.67565370e+00] [ 1.54741407e-02 -1.54072053e-04 9.99880256e-01 1.04978389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.7492541539999 meters Centerline goodness : 0.998775 Centerline is valid? [True, True] Translation: X:677.93, Y:8.67, Z:10.50 [[ 9.99594965e-01 -2.38843866e-02 -1.54739181e-02 6.77930056e+02] [ 2.38845394e-02 9.99714708e-01 -1.74958530e-04 8.67309205e+00] [ 1.54736823e-02 -1.94699740e-04 9.99880256e-01 1.04983667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.7792541539999 meters Centerline goodness : 0.998671 Centerline is valid? [True, True] Translation: X:677.96, Y:8.67, Z:10.50 [[ 9.99427309e-01 -3.00934070e-02 -1.54738763e-02 6.77960122e+02] [ 3.00942476e-02 9.99547050e-01 -1.78576316e-04 8.66706918e+00] [ 1.54722414e-02 -2.87200618e-04 9.99880256e-01 1.04979070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.8092541539999 meters Centerline goodness : 0.998862 Centerline is valid? [True, True] Translation: X:677.99, Y:8.66, Z:10.50 [[ 9.99302981e-01 -3.39722073e-02 -1.54738733e-02 6.77991523e+02] [ 3.39735086e-02 9.99422718e-01 -1.78832693e-04 8.66473719e+00] [ 1.54710159e-02 -3.46993727e-04 9.99880256e-01 1.04989779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.839254154 meters Centerline goodness : 0.998948 Centerline is valid? [True, True] Translation: X:678.02, Y:8.66, Z:10.50 [[ 9.99188143e-01 -3.71969548e-02 -1.54738792e-02 6.78023352e+02] [ 3.71986504e-02 9.99307875e-01 -1.78326116e-04 8.66200282e+00] [ 1.54698025e-02 -3.97426082e-04 9.99880256e-01 1.04984263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.8692541539999 meters Centerline goodness : 0.999094 Centerline is valid? [True, True] Translation: X:678.06, Y:8.66, Z:10.50 [[ 9.99048931e-01 -4.07650994e-02 -1.54738850e-02 6.78055777e+02] [ 4.07672304e-02 9.99168655e-01 -1.77822879e-04 8.65990697e+00] [ 1.54682698e-02 -4.53173677e-04 9.99880256e-01 1.05002191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.8992541539999 meters Centerline goodness : 0.998759 Centerline is valid? [True, True] Translation: X:678.09, Y:8.65, Z:10.50 [[ 9.98781432e-01 -4.68637435e-02 -1.54738980e-02 6.78086652e+02] [ 4.68666231e-02 9.98901140e-01 -1.76679893e-04 8.65466249e+00] [ 1.54651743e-02 -5.48744749e-04 9.99880256e-01 1.04984990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.9292541539999 meters Centerline goodness : 0.998759 Centerline is valid? [True, True] Translation: X:678.12, Y:8.65, Z:10.50 [[ 9.98784852e-01 -4.67907868e-02 -1.54739077e-02 6.78119337e+02] [ 4.67936708e-02 9.98904561e-01 -1.75828228e-04 8.65497345e+00] [ 1.54651841e-02 -5.48466372e-04 9.99880256e-01 1.04990047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.959254154 meters Centerline goodness : 0.998760 Centerline is valid? [True, True] Translation: X:678.15, Y:8.65, Z:10.50 [[ 9.98659367e-01 -4.93966203e-02 -1.54739205e-02 6.78150817e+02] [ 4.93998342e-02 9.98779068e-01 -1.74697996e-04 8.65239526e+00] [ 1.54636573e-02 -5.89945315e-04 9.99880256e-01 1.04985451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.9892541539999 meters Centerline goodness : 0.999077 Centerline is valid? [True, True] Translation: X:678.18, Y:8.65, Z:10.50 [[ 9.98518625e-01 -5.21642839e-02 -1.54739299e-02 6.78183095e+02] [ 5.21678425e-02 9.98638316e-01 -1.73856130e-04 8.65059206e+00] [ 1.54619284e-02 -6.33642955e-04 9.99880256e-01 1.05000573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.0192541539999 meters Centerline goodness : 0.998972 Centerline is valid? [True, True] Translation: X:678.22, Y:8.65, Z:10.50 [[ 9.98413152e-01 -5.41455061e-02 -1.54739423e-02 6.78215562e+02] [ 5.41493194e-02 9.98532834e-01 -1.72748010e-04 8.64890989e+00] [ 1.54605930e-02 -6.65429558e-04 9.99880256e-01 1.05005773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.0492541539999 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:678.25, Y:8.65, Z:10.50 [[ 9.98245105e-01 -5.71600089e-02 -1.54739547e-02 6.78246875e+02] [ 5.71642008e-02 9.98364775e-01 -1.71630843e-04 8.64667182e+00] [ 1.54584617e-02 -7.13226604e-04 9.99880256e-01 1.05014604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.079254154 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:678.28, Y:8.65, Z:10.50 [[ 9.98208330e-01 -5.77986755e-02 -1.54739639e-02 6.78279046e+02] [ 5.78029569e-02 9.98327997e-01 -1.70797853e-04 8.64563813e+00] [ 1.54579632e-02 -7.23949026e-04 9.99880256e-01 1.05009042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.1092541539999 meters Centerline goodness : 0.999142 Centerline is valid? [True, True] Translation: X:678.31, Y:8.65, Z:10.50 [[ 9.98149005e-01 -5.88142814e-02 -1.54739759e-02 6.78310221e+02] [ 5.88187015e-02 9.98268667e-01 -1.69698292e-04 8.64516608e+00] [ 1.54571660e-02 -7.40774990e-04 9.99880256e-01 1.05008896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.1392541539999 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:678.34, Y:8.64, Z:10.50 [[ 9.98009987e-01 -6.11279160e-02 -1.54739849e-02 6.78341508e+02] [ 6.11326261e-02 9.98129638e-01 -1.68879209e-04 8.64434182e+00] [ 1.54553661e-02 -7.77422194e-04 9.99880256e-01 1.05016863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.1692541539999 meters Centerline goodness : 0.998955 Centerline is valid? [True, True] Translation: X:678.37, Y:8.64, Z:10.50 [[ 9.97940372e-01 -6.22540720e-02 -1.54740039e-02 6.78373376e+02] [ 6.22589444e-02 9.98060016e-01 -1.67113839e-04 8.64404857e+00] [ 1.54543881e-02 -7.96625504e-04 9.99880256e-01 1.05010974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.199254154 meters Centerline goodness : 0.998913 Centerline is valid? [True, True] Translation: X:678.41, Y:8.64, Z:10.50 [[ 9.97901522e-01 -6.28737386e-02 -1.54740154e-02 6.78405255e+02] [ 6.28787019e-02 9.98021163e-01 -1.66045719e-04 8.64355764e+00] [ 1.54538348e-02 -8.07288725e-04 9.99880256e-01 1.04997501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.2292541539999 meters Centerline goodness : 0.999038 Centerline is valid? [True, True] Translation: X:678.44, Y:8.64, Z:10.50 [[ 9.97809977e-01 -6.43102269e-02 -1.54740267e-02 6.78437286e+02] [ 6.43153788e-02 9.97929609e-01 -1.64984165e-04 8.64386260e+00] [ 1.54525996e-02 -8.30595044e-04 9.99880256e-01 1.05003113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.2592541539999 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:678.47, Y:8.64, Z:10.50 [[ 9.97725849e-01 -6.56024758e-02 -1.54740379e-02 6.78468621e+02] [ 6.56077990e-02 9.97845474e-01 -1.63926233e-04 8.64388908e+00] [ 1.54514527e-02 -8.51664130e-04 9.99880256e-01 1.04981362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.2892541539999 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:678.50, Y:8.64, Z:10.50 [[ 9.97659132e-01 -6.66093926e-02 -1.54740462e-02 6.78499691e+02] [ 6.66148487e-02 9.97778751e-01 -1.63137248e-04 8.64459050e+00] [ 1.54505410e-02 -8.68045884e-04 9.99880256e-01 1.04997439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.319254154 meters Centerline goodness : 0.998934 Centerline is valid? [True, True] Translation: X:678.53, Y:8.65, Z:10.50 [[ 9.97632487e-01 -6.70072689e-02 -1.54740544e-02 6.78532362e+02] [ 6.70127849e-02 9.97752104e-01 -1.62355059e-04 8.64505502e+00] [ 1.54501493e-02 -8.74988800e-04 9.99880256e-01 1.04999102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.3492541539999 meters Centerline goodness : 0.999038 Centerline is valid? [True, True] Translation: X:678.56, Y:8.65, Z:10.50 [[ 9.97651515e-01 -6.67233648e-02 -1.54740652e-02 6.78563462e+02] [ 6.67288627e-02 9.97771133e-01 -1.61320202e-04 8.64556313e+00] [ 1.54503394e-02 -8.71625430e-04 9.99880256e-01 1.05002589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.3792541539999 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:678.60, Y:8.65, Z:10.50 [[ 9.97707882e-01 -6.58751491e-02 -1.54740732e-02 6.78595872e+02] [ 6.58805572e-02 9.97827503e-01 -1.60549532e-04 8.64593753e+00] [ 1.54510321e-02 -8.59259033e-04 9.99880256e-01 1.05006560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.4092541539999 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:678.63, Y:8.65, Z:10.50 [[ 9.97802187e-01 -6.44309534e-02 -1.54740837e-02 6.78628029e+02] [ 6.44362042e-02 9.97921816e-01 -1.59531474e-04 8.64691777e+00] [ 1.54522045e-02 -8.37910364e-04 9.99880256e-01 1.05008847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.4392541539999 meters Centerline goodness : 0.999079 Centerline is valid? [True, True] Translation: X:678.66, Y:8.65, Z:10.50 [[ 9.98089742e-01 -5.98115378e-02 -1.54740941e-02 6.78658992e+02] [ 5.98162504e-02 9.98209392e-01 -1.58519384e-04 8.64914676e+00] [ 1.54558674e-02 -7.67385716e-04 9.99880256e-01 1.05019903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.4692541539999 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:678.69, Y:8.65, Z:10.50 [[ 9.98276596e-01 -5.66073395e-02 -1.54741018e-02 6.78690909e+02] [ 5.66116796e-02 9.98396260e-01 -1.57764326e-04 8.65075093e+00] [ 1.54582160e-02 -7.18522459e-04 9.99880256e-01 1.05029486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.4992541539999 meters Centerline goodness : 0.999287 Centerline is valid? [True, True] Translation: X:678.72, Y:8.65, Z:10.50 [[ 9.98494575e-01 -5.26225838e-02 -1.54741119e-02 6.78722968e+02] [ 5.26264617e-02 9.98614255e-01 -1.56767180e-04 8.65230972e+00] [ 1.54609182e-02 -6.57816578e-04 9.99880256e-01 1.05038560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.5292541539999 meters Centerline goodness : 0.999159 Centerline is valid? [True, True] Translation: X:678.75, Y:8.65, Z:10.50 [[ 9.98912584e-01 -4.39795574e-02 -1.54741219e-02 6.78754319e+02] [ 4.39824148e-02 9.99032293e-01 -1.55776876e-04 8.65494784e+00] [ 1.54659984e-02 -5.24981764e-04 9.99880256e-01 1.05047699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.5592541539999 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:678.79, Y:8.66, Z:10.51 [[ 9.99107343e-01 -3.93073551e-02 -1.54741293e-02 6.78786032e+02] [ 3.93096640e-02 9.99227064e-01 -1.55038956e-04 8.65639142e+00] [ 1.54682629e-02 -4.53382261e-04 9.99880256e-01 1.05055273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.589254154 meters Centerline goodness : 0.999200 Centerline is valid? [True, True] Translation: X:678.82, Y:8.66, Z:10.51 [[ 9.99275336e-01 -3.47757780e-02 -1.54741390e-02 6.78815979e+02] [ 3.47775590e-02 9.99395066e-01 -1.54062604e-04 8.65813244e+00] [ 1.54701358e-02 -3.84201821e-04 9.99880256e-01 1.05060285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.6192541539999 meters Centerline goodness : 0.999283 Centerline is valid? [True, True] Translation: X:678.85, Y:8.66, Z:10.51 [[ 9.99538875e-01 -2.61263841e-02 -1.54741414e-02 6.78846314e+02] [ 2.61271326e-02 9.99658616e-01 -1.53820833e-04 8.66180698e+00] [ 1.54728775e-02 -2.50545041e-04 9.99880256e-01 1.05066795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.6492541539999 meters Centerline goodness : 0.999220 Centerline is valid? [True, True] Translation: X:678.88, Y:8.66, Z:10.51 [[ 9.99632344e-01 -2.22649614e-02 -1.54741437e-02 6.78875718e+02] [ 2.22652510e-02 9.99752087e-01 -1.53582001e-04 8.66355930e+00] [ 1.54737270e-02 -1.91010159e-04 9.99880256e-01 1.05070174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.6792541539999 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:678.90, Y:8.67, Z:10.51 [[ 9.99694118e-01 -1.92930263e-02 -1.54741391e-02 6.78904465e+02] [ 1.92929526e-02 9.99813862e-01 -1.54053925e-04 8.66534193e+00] [ 1.54742309e-02 -1.44535029e-04 9.99880256e-01 1.05075154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.709254154 meters Centerline goodness : 0.999135 Centerline is valid? [True, True] Translation: X:678.93, Y:8.67, Z:10.51 [[ 9.99776258e-01 -1.44217152e-02 -1.54741055e-02 6.78932572e+02] [ 1.44210070e-02 9.99896000e-01 -1.57353272e-04 8.66714806e+00] [ 1.54747655e-02 -6.58341185e-05 9.99880256e-01 1.05075241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.7392541539999 meters Centerline goodness : 0.999220 Centerline is valid? [True, True] Translation: X:678.96, Y:8.67, Z:10.51 [[ 9.99799981e-01 -1.26708648e-02 -1.54740935e-02 6.78960861e+02] [ 1.26699288e-02 9.99919721e-01 -1.58521370e-04 8.66763039e+00] [ 1.54748599e-02 -3.75660005e-05 9.99880256e-01 1.05077277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.7692541539999 meters Centerline goodness : 0.999179 Centerline is valid? [True, True] Translation: X:678.99, Y:8.67, Z:10.51 [[ 9.99816358e-01 -1.13050254e-02 -1.54740546e-02 6.78988802e+02] [ 1.13038684e-02 9.99936096e-01 -1.62234938e-04 8.66837141e+00] [ 1.54748998e-02 -1.27115324e-05 9.99880256e-01 1.05124867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.7992541539999 meters Centerline goodness : 0.999347 Centerline is valid? [True, True] Translation: X:679.02, Y:8.67, Z:10.51 [[ 9.99821216e-01 -1.08675123e-02 -1.54736224e-02 6.79018531e+02] [ 1.08656799e-02 9.99940946e-01 -2.02494342e-04 8.66872837e+00] [ 1.54749092e-02 3.43267127e-05 9.99880256e-01 1.05123946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.829254154 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:679.05, Y:8.67, Z:10.51 [[ 9.99827617e-01 -1.02611515e-02 -1.54740038e-02 6.79045732e+02] [ 1.02597928e-02 9.99947353e-01 -1.67191252e-04 8.66917194e+00] [ 1.54749047e-02 8.40235860e-06 9.99880256e-01 1.05126967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.8592541539999 meters Centerline goodness : 0.999137 Centerline is valid? [True, True] Translation: X:679.07, Y:8.67, Z:10.51 [[ 9.99824375e-01 -1.05723692e-02 -1.54739830e-02 6.79074042e+02] [ 1.05710183e-02 9.99944111e-01 -1.69094424e-04 8.66924807e+00] [ 1.54749059e-02 5.48896873e-06 9.99880256e-01 1.05134429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.8892541539999 meters Centerline goodness : 0.999304 Centerline is valid? [True, True] Translation: X:679.10, Y:8.67, Z:10.51 [[ 9.99820101e-01 -1.09692067e-02 -1.54739333e-02 6.79101822e+02] [ 1.09678347e-02 9.99939836e-01 -1.73531190e-04 8.66891010e+00] [ 1.54749058e-02 3.78442982e-06 9.99880256e-01 1.05140952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.9192541539999 meters Centerline goodness : 0.999221 Centerline is valid? [True, True] Translation: X:679.13, Y:8.67, Z:10.51 [[ 9.99812318e-01 -1.16570682e-02 -1.54738820e-02 6.79129395e+02] [ 1.16557095e-02 9.99932054e-01 -1.77990730e-04 8.66707885e+00] [ 1.54749054e-02 -2.40174905e-06 9.99880256e-01 1.05147188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.949254154 meters Centerline goodness : 0.999285 Centerline is valid? [True, True] Translation: X:679.16, Y:8.67, Z:10.51 [[ 9.99807711e-01 -1.20458443e-02 -1.54738284e-02 6.79156023e+02] [ 1.20444618e-02 9.99927446e-01 -1.82536680e-04 8.66612173e+00] [ 1.54749045e-02 -3.87235372e-06 9.99880256e-01 1.05143232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.9792541539999 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:679.18, Y:8.67, Z:10.52 [[ 9.99795948e-01 -1.29855350e-02 -1.54738049e-02 6.79183455e+02] [ 1.29842346e-02 9.99915684e-01 -1.84506955e-04 8.66510289e+00] [ 1.54748961e-02 -1.64462055e-05 9.99880256e-01 1.05156716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.0092541539999 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:679.21, Y:8.66, Z:10.52 [[ 9.99773690e-01 -1.45990315e-02 -1.54737667e-02 6.79211030e+02] [ 1.45978756e-02 9.99893428e-01 -1.87650866e-04 8.66425918e+00] [ 1.54748572e-02 -3.82757240e-05 9.99880256e-01 1.05182784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.0392541539999 meters Centerline goodness : 0.999142 Centerline is valid? [True, True] Translation: X:679.24, Y:8.66, Z:10.52 [[ 9.99732577e-01 -1.71853955e-02 -1.54737419e-02 6.79238936e+02] [ 1.71845180e-02 9.99852317e-01 -1.89675289e-04 8.66103743e+00] [ 1.54747164e-02 -7.62842316e-05 9.99880256e-01 1.05175959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.069254154 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:679.27, Y:8.66, Z:10.52 [[ 9.99696595e-01 -1.91646102e-02 -1.54736866e-02 6.79265847e+02] [ 1.91639016e-02 9.99816337e-01 -1.94086219e-04 8.65930281e+00] [ 1.54745642e-02 -1.02508875e-04 9.99880257e-01 1.05188987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.0992541539999 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:679.29, Y:8.66, Z:10.52 [[ 9.99656852e-01 -2.11363241e-02 -1.54736624e-02 6.79293703e+02] [ 2.11358220e-02 9.99776594e-01 -1.95998828e-04 8.65719503e+00] [ 1.54743482e-02 -1.31117002e-04 9.99880257e-01 1.05190913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.1292541539999 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:679.32, Y:8.66, Z:10.52 [[ 9.99608668e-01 -2.33040223e-02 -1.54736452e-02 6.79322916e+02] [ 2.33037590e-02 9.99728411e-01 -1.97348538e-04 8.65516030e+00] [ 1.54740417e-02 -1.63322789e-04 9.99880257e-01 1.05192052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.1592541539999 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:679.35, Y:8.65, Z:10.52 [[ 9.99515483e-01 -2.70067951e-02 -1.54735952e-02 6.79351833e+02] [ 2.70069159e-02 9.99635227e-01 -2.01193519e-04 8.65105341e+00] [ 1.54733844e-02 -2.16798045e-04 9.99880257e-01 1.05184614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.1892541539999 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:679.38, Y:8.65, Z:10.52 [[ 9.99464537e-01 -2.88306823e-02 -1.54735818e-02 6.79381091e+02] [ 2.88310057e-02 9.99584280e-01 -2.02216283e-04 8.64920047e+00] [ 1.54729791e-02 -2.44010922e-04 9.99880257e-01 1.05191070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.2192541539999 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:679.41, Y:8.65, Z:10.52 [[ 9.99354267e-01 -3.24286611e-02 -1.54735746e-02 6.79410942e+02] [ 3.24294071e-02 9.99474008e-01 -2.02764415e-04 8.64538582e+00] [ 1.54720110e-02 -2.99165367e-04 9.99880257e-01 1.05191206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.2492541539999 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:679.44, Y:8.64, Z:10.52 [[ 9.99302762e-01 -3.39787836e-02 -1.54735675e-02 6.79441095e+02] [ 3.39797069e-02 9.99422502e-01 -2.03308864e-04 8.64358201e+00] [ 1.54715397e-02 -3.22620177e-04 9.99880257e-01 1.05201320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.2792541539999 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:679.47, Y:8.64, Z:10.52 [[ 9.99269150e-01 -3.49533206e-02 -1.54735675e-02 6.79471956e+02] [ 3.49543607e-02 9.99388889e-01 -2.03308864e-04 8.64163330e+00] [ 1.54712177e-02 -3.37708382e-04 9.99880257e-01 1.05177683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.3092541539999 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:679.50, Y:8.64, Z:10.52 [[ 9.99202859e-01 -3.67996527e-02 -1.54735711e-02 6.79503295e+02] [ 3.68009184e-02 9.99322596e-01 -2.03029413e-04 8.64040952e+00] [ 1.54705607e-02 -3.66574058e-04 9.99880257e-01 1.05214257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.339254154 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:679.54, Y:8.64, Z:10.52 [[ 9.99107055e-01 -3.93148907e-02 -1.54735786e-02 6.79535157e+02] [ 3.93164666e-02 9.99226788e-01 -2.02458300e-04 8.63734011e+00] [ 1.54695739e-02 -4.06088920e-04 9.99880257e-01 1.05217175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.3692541539999 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:679.57, Y:8.64, Z:10.52 [[ 9.99066173e-01 -4.03404317e-02 -1.54735860e-02 6.79565224e+02] [ 4.03421394e-02 9.99185904e-01 -2.01887247e-04 8.63609255e+00] [ 1.54691333e-02 -4.22538846e-04 9.99880257e-01 1.05216484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.3992541539999 meters Centerline goodness : 0.999393 Centerline is valid? [True, True] Translation: X:679.60, Y:8.64, Z:10.52 [[ 9.99032462e-01 -4.11668373e-02 -1.54735897e-02 6.79596803e+02] [ 4.11686484e-02 9.99152192e-01 -2.01603641e-04 8.63516768e+00] [ 1.54687705e-02 -4.35618194e-04 9.99880257e-01 1.05218844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.4292541539999 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:679.63, Y:8.63, Z:10.52 [[ 9.98975884e-01 -4.25176496e-02 -1.54735971e-02 6.79628213e+02] [ 4.25196314e-02 9.99095611e-01 -2.01037318e-04 8.63453339e+00] [ 1.54681506e-02 -4.57100212e-04 9.99880257e-01 1.05228100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.459254154 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:679.66, Y:8.63, Z:10.52 [[ 9.98877690e-01 -4.47652653e-02 -1.54736044e-02 6.79659806e+02] [ 4.47675252e-02 9.98997412e-01 -2.00475224e-04 8.63216479e+00] [ 1.54670651e-02 -4.92464745e-04 9.99880257e-01 1.05217977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.4892541539999 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:679.69, Y:8.63, Z:10.52 [[ 9.98811441e-01 -4.62198325e-02 -1.54736116e-02 6.79690841e+02] [ 4.62222754e-02 9.98931159e-01 -1.99914447e-04 8.63097601e+00] [ 1.54663128e-02 -5.15548701e-04 9.99880257e-01 1.05218276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.5192541539999 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:679.72, Y:8.63, Z:10.52 [[ 9.98701597e-01 -4.85354307e-02 -1.54736224e-02 6.79723070e+02] [ 4.85381641e-02 9.98821309e-01 -1.99075727e-04 8.63033150e+00] [ 1.54650460e-02 -5.52243978e-04 9.99880257e-01 1.05230021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.5492541539999 meters Centerline goodness : 0.999562 Centerline is valid? [True, True] Translation: X:679.75, Y:8.63, Z:10.52 [[ 9.98441034e-01 -5.36289960e-02 -1.54736367e-02 6.79754352e+02] [ 5.36323572e-02 9.98560730e-01 -1.97959528e-04 8.62889956e+00] [ 1.54619823e-02 -6.32236696e-04 9.99880257e-01 1.05242115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.579254154 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:679.79, Y:8.63, Z:10.52 [[ 9.98303281e-01 -5.61348830e-02 -1.54736473e-02 6.79786213e+02] [ 5.61385576e-02 9.98422968e-01 -1.97127346e-04 8.62864964e+00] [ 1.54603106e-02 -6.71875364e-04 9.99880257e-01 1.05244236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.6092541539999 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:679.82, Y:8.63, Z:10.52 [[ 9.98169840e-01 -5.84597047e-02 -1.54736611e-02 6.79818186e+02] [ 5.84636749e-02 9.98289517e-01 -1.96034197e-04 8.62855916e+00] [ 1.54586538e-02 -7.08971672e-04 9.99880257e-01 1.05244031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.6392541539999 meters Centerline goodness : 0.999230 Centerline is valid? [True, True] Translation: X:679.85, Y:8.63, Z:10.52 [[ 9.98062186e-01 -6.02697119e-02 -1.54736748e-02 6.79850585e+02] [ 6.02739160e-02 9.98181856e-01 -1.94948039e-04 8.62835773e+00] [ 1.54572909e-02 -7.38088710e-04 9.99880257e-01 1.05232796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.6692541539999 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:679.88, Y:8.63, Z:10.52 [[ 9.97724087e-01 -6.56293443e-02 -1.54736884e-02 6.79881736e+02] [ 6.56342077e-02 9.97843732e-01 -1.93866674e-04 8.62857321e+00] [ 1.54530463e-02 -8.22177827e-04 9.99880257e-01 1.05240398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.699254154 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:679.91, Y:8.63, Z:10.52 [[ 9.97612365e-01 -6.73061808e-02 -1.54740554e-02 6.79914853e+02] [ 6.73116997e-02 9.97731982e-01 -1.64487738e-04 8.62864879e+00] [ 1.54500310e-02 -8.77489967e-04 9.99880256e-01 1.05242809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.7292541539999 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:679.95, Y:8.63, Z:10.52 [[ 9.97544758e-01 -6.83008169e-02 -1.54743255e-02 6.79946209e+02] [ 6.83067927e-02 9.97664353e-01 -1.42649687e-04 8.62850044e+00] [ 1.54479261e-02 -9.14702098e-04 9.99880255e-01 1.05247538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.7592541539999 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:679.98, Y:8.63, Z:10.53 [[ 9.97413700e-01 -7.01888544e-02 -1.54737172e-02 6.79978393e+02] [ 7.01942975e-02 9.97533320e-01 -1.91742498e-04 8.63039508e+00] [ 1.54490067e-02 -8.94920115e-04 9.99880256e-01 1.05275608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.7892541539999 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:680.01, Y:8.63, Z:10.53 [[ 9.97366454e-01 -7.08570407e-02 -1.54737312e-02 6.80009476e+02] [ 7.08625814e-02 9.97486069e-01 -1.90609243e-04 8.63155911e+00] [ 1.54483373e-02 -9.06401270e-04 9.99880256e-01 1.05283693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.819254154 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:680.04, Y:8.63, Z:10.53 [[ 9.97371583e-01 -7.07847999e-02 -1.54737415e-02 6.80042156e+02] [ 7.07903450e-02 9.97491199e-01 -1.89764689e-04 8.63189751e+00] [ 1.54483534e-02 -9.06125593e-04 9.99880256e-01 1.05288750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.8492541539999 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:680.07, Y:8.63, Z:10.53 [[ 9.97340929e-01 -7.12154052e-02 -1.54737552e-02 6.80073861e+02] [ 7.12210193e-02 9.97460541e-01 -1.88643972e-04 8.63321340e+00] [ 1.54478946e-02 -9.13914264e-04 9.99880256e-01 1.05296001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.8792541539999 meters Centerline goodness : 0.999021 Centerline is valid? [True, True] Translation: X:680.11, Y:8.64, Z:10.53 [[ 9.97355561e-01 -7.10101979e-02 -1.54737688e-02 6.80106314e+02] [ 7.10158047e-02 9.97475173e-01 -1.87524205e-04 8.63554101e+00] [ 1.54480163e-02 -9.11853833e-04 9.99880256e-01 1.05302023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.9092541539999 meters Centerline goodness : 0.998935 Centerline is valid? [True, True] Translation: X:680.14, Y:8.64, Z:10.53 [[ 9.97388904e-01 -7.05403145e-02 -1.54737822e-02 6.80138514e+02] [ 7.05458822e-02 9.97508518e-01 -1.86405386e-04 8.63683582e+00] [ 1.54483787e-02 -9.05692957e-04 9.99880256e-01 1.05310647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.9392541539999 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:680.17, Y:8.64, Z:10.53 [[ 9.97450797e-01 -6.96596609e-02 -1.54737958e-02 6.80170490e+02] [ 6.96651405e-02 9.97570416e-01 -1.85276736e-04 8.63829096e+00] [ 1.54491072e-02 -8.93179728e-04 9.99880256e-01 1.05318145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.9692541539999 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:680.20, Y:8.64, Z:10.53 [[ 9.97610450e-01 -6.73346280e-02 -1.54738092e-02 6.80202829e+02] [ 6.73398462e-02 9.97730079e-01 -1.84151701e-04 8.64248602e+00] [ 1.54510846e-02 -8.58292266e-04 9.99880256e-01 1.05338494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.9992541539999 meters Centerline goodness : 0.999042 Centerline is valid? [True, True] Translation: X:680.23, Y:8.64, Z:10.53 [[ 9.97735397e-01 -6.54571559e-02 -1.54738224e-02 6.80234901e+02] [ 6.54621662e-02 9.97855035e-01 -1.83033949e-04 8.64478992e+00] [ 1.54526125e-02 -8.30330483e-04 9.99880256e-01 1.05340543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.0292541539999 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:680.27, Y:8.65, Z:10.54 [[ 9.97834021e-01 -6.39361115e-02 -1.54738356e-02 6.80265617e+02] [ 6.39409569e-02 9.97953667e-01 -1.81904814e-04 8.64725893e+00] [ 1.54538013e-02 -8.07901046e-04 9.99880256e-01 1.05352331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.0592541539999 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:680.30, Y:8.65, Z:10.54 [[ 9.98093753e-01 -5.97446315e-02 -1.54738455e-02 6.80297564e+02] [ 5.97489873e-02 9.98213417e-01 -1.81064212e-04 8.65128674e+00] [ 1.54570178e-02 -7.43827539e-04 9.99880256e-01 1.05356355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.089254154 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:680.33, Y:8.65, Z:10.54 [[ 9.98223414e-01 -5.75375942e-02 -1.54738585e-02 6.80329701e+02] [ 5.75417028e-02 9.98343087e-01 -1.79941334e-04 8.65372640e+00] [ 1.54585731e-02 -7.10770517e-04 9.99880256e-01 1.05361702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.1192541539999 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:680.36, Y:8.66, Z:10.54 [[ 9.98352151e-01 -5.52588709e-02 -1.54738714e-02 6.80360650e+02] [ 5.52627236e-02 9.98471832e-01 -1.78827124e-04 8.65614858e+00] [ 1.54601065e-02 -6.76595835e-04 9.99880256e-01 1.05367602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.1492541539999 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:680.39, Y:8.66, Z:10.54 [[ 9.98632457e-01 -4.99377071e-02 -1.54738810e-02 6.80392467e+02] [ 4.99409347e-02 9.98752157e-01 -1.77997550e-04 8.66148760e+00] [ 1.54634608e-02 -5.95025948e-04 9.99880256e-01 1.05372106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.1792541539999 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:680.42, Y:8.66, Z:10.54 [[ 9.98774422e-01 -4.70128982e-02 -1.54738936e-02 6.80424551e+02] [ 4.70157923e-02 9.98894131e-01 -1.76894081e-04 8.66435772e+00] [ 1.54650978e-02 -5.50840084e-04 9.99880256e-01 1.05379622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.209254154 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:680.46, Y:8.67, Z:10.54 [[ 9.98928945e-01 -4.36064293e-02 -1.54739065e-02 6.80455689e+02] [ 4.36089328e-02 9.99048663e-01 -1.75757997e-04 8.66674390e+00] [ 1.54668498e-02 -4.99230798e-04 9.99880256e-01 1.05365575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.2392541539999 meters Centerline goodness : 0.998998 Centerline is valid? [True, True] Translation: X:680.49, Y:8.67, Z:10.54 [[ 9.99051076e-01 -4.07124746e-02 -1.54739160e-02 6.80487291e+02] [ 4.07146444e-02 9.99170800e-01 -1.74911536e-04 8.66958563e+00] [ 1.54682062e-02 -4.55269430e-04 9.99880256e-01 1.05377153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.2692541539999 meters Centerline goodness : 0.998993 Centerline is valid? [True, True] Translation: X:680.52, Y:8.67, Z:10.54 [[ 9.99261451e-01 -3.51725675e-02 -1.54739221e-02 6.80518938e+02] [ 3.51740818e-02 9.99381185e-01 -1.74372611e-04 8.67491080e+00] [ 1.54704798e-02 -3.70037173e-04 9.99880256e-01 1.05400157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.2992541539999 meters Centerline goodness : 0.998952 Centerline is valid? [True, True] Translation: X:680.55, Y:8.68, Z:10.54 [[ 9.99366920e-01 -3.20361815e-02 -1.54739285e-02 6.80549421e+02] [ 3.20373287e-02 9.99486658e-01 -1.73807310e-04 8.67709712e+00] [ 1.54715532e-02 -3.22046055e-04 9.99880256e-01 1.05386558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.329254154 meters Centerline goodness : 0.999014 Centerline is valid? [True, True] Translation: X:680.58, Y:8.68, Z:10.54 [[ 9.99425112e-01 -3.01662667e-02 -1.54739316e-02 6.80580680e+02] [ 3.01671941e-02 9.99544852e-01 -1.73527079e-04 8.68010187e+00] [ 1.54721233e-02 -2.93377779e-04 9.99880256e-01 1.05416103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.3592541539999 meters Centerline goodness : 0.998971 Centerline is valid? [True, True] Translation: X:680.61, Y:8.68, Z:10.54 [[ 9.99483867e-01 -2.81523987e-02 -1.54739380e-02 6.80611263e+02] [ 2.81530937e-02 9.99603608e-01 -1.72958418e-04 8.68193949e+00] [ 1.54726734e-02 -2.62770078e-04 9.99880256e-01 1.05402710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.3892541539999 meters Centerline goodness : 0.998909 Centerline is valid? [True, True] Translation: X:680.64, Y:8.69, Z:10.54 [[ 9.99492818e-01 -2.78327747e-02 -1.54739411e-02 6.80641387e+02] [ 2.78334357e-02 9.99612560e-01 -1.72676385e-04 8.68592867e+00] [ 1.54727520e-02 -2.58104139e-04 9.99880256e-01 1.05422930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.4192541539999 meters Centerline goodness : 0.998929 Centerline is valid? [True, True] Translation: X:680.67, Y:8.69, Z:10.54 [[ 9.99465306e-01 -2.88038194e-02 -1.54739411e-02 6.80671959e+02] [ 2.88045968e-02 9.99585047e-01 -1.72676385e-04 8.68742100e+00] [ 1.54724939e-02 -2.73136579e-04 9.99880256e-01 1.05429784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.449254154 meters Centerline goodness : 0.998951 Centerline is valid? [True, True] Translation: X:680.70, Y:8.69, Z:10.54 [[ 9.99424850e-01 -3.01749302e-02 -1.54739411e-02 6.80702055e+02] [ 3.01758719e-02 9.99544590e-01 -1.72676385e-04 8.68852723e+00] [ 1.54721046e-02 -2.94362596e-04 9.99880256e-01 1.05432522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.4792541539999 meters Centerline goodness : 0.998950 Centerline is valid? [True, True] Translation: X:680.73, Y:8.69, Z:10.54 [[ 9.99263836e-01 -3.51047321e-02 -1.54739519e-02 6.80733098e+02] [ 3.51062795e-02 9.99383570e-01 -1.71708195e-04 8.69030164e+00] [ 1.54704410e-02 -3.71651089e-04 9.99880256e-01 1.05446670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.5092541539999 meters Centerline goodness : 0.998697 Centerline is valid? [True, True] Translation: X:680.77, Y:8.69, Z:10.54 [[ 9.99151197e-01 -3.81764692e-02 -1.54739582e-02 6.80765691e+02] [ 3.81783934e-02 9.99270925e-01 -1.71137625e-04 8.69101305e+00] [ 1.54692099e-02 -4.19778500e-04 9.99880256e-01 1.05446950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.5392541539999 meters Centerline goodness : 0.998948 Centerline is valid? [True, True] Translation: X:680.80, Y:8.69, Z:10.55 [[ 9.98859041e-01 -4.51793366e-02 -1.54739709e-02 6.80797132e+02] [ 4.51821180e-02 9.98978752e-01 -1.69981719e-04 8.69182121e+00] [ 1.54658478e-02 -5.29359001e-04 9.99880256e-01 1.05458025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.569254154 meters Centerline goodness : 0.998948 Centerline is valid? [True, True] Translation: X:680.83, Y:8.69, Z:10.55 [[ 9.98862363e-01 -4.51058301e-02 -1.54739803e-02 6.80829818e+02] [ 4.51086159e-02 9.98982074e-01 -1.69120019e-04 8.69211877e+00] [ 1.54658572e-02 -5.29082212e-04 9.99880256e-01 1.05463082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.5992541539999 meters Centerline goodness : 0.998738 Centerline is valid? [True, True] Translation: X:680.86, Y:8.69, Z:10.55 [[ 9.98522898e-01 -5.20824073e-02 -1.54739926e-02 6.80862095e+02] [ 5.20860470e-02 9.98642586e-01 -1.67981352e-04 8.69261747e+00] [ 1.54617369e-02 -6.38245881e-04 9.99880256e-01 1.05458953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.6292541539999 meters Centerline goodness : 0.998569 Centerline is valid? [True, True] Translation: X:680.89, Y:8.69, Z:10.54 [[ 9.98377661e-01 -5.47959899e-02 -1.54740049e-02 6.80894300e+02] [ 5.47999725e-02 9.98497339e-01 -1.66840462e-04 8.69265376e+00] [ 1.54598949e-02 -6.81405256e-04 9.99880256e-01 1.05447286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.6592541539999 meters Centerline goodness : 0.998740 Centerline is valid? [True, True] Translation: X:680.93, Y:8.69, Z:10.54 [[ 9.98227773e-01 -5.74618829e-02 -1.54740173e-02 6.80925107e+02] [ 5.74662029e-02 9.98347439e-01 -1.65689348e-04 8.69335756e+00] [ 1.54579663e-02 -7.23837307e-04 9.99880256e-01 1.05449797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.6892541539999 meters Centerline goodness : 0.998719 Centerline is valid? [True, True] Translation: X:680.96, Y:8.69, Z:10.54 [[ 9.98108916e-01 -5.94907167e-02 -1.54740371e-02 6.80957589e+02] [ 5.94953090e-02 9.98228572e-01 -1.63811945e-04 8.69398994e+00] [ 1.54563713e-02 -7.57130458e-04 9.99880257e-01 1.05442868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.7192541539999 meters Centerline goodness : 0.998823 Centerline is valid? [True, True] Translation: X:680.99, Y:8.70, Z:10.55 [[ 9.97883078e-01 -6.31657914e-02 -1.54740490e-02 6.80990186e+02] [ 6.31708418e-02 9.98002715e-01 -1.62680250e-04 8.69660589e+00] [ 1.54534188e-02 -8.15172835e-04 9.99880257e-01 1.05473216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.7492541539999 meters Centerline goodness : 0.998801 Centerline is valid? [True, True] Translation: X:681.02, Y:8.70, Z:10.55 [[ 9.97815608e-01 -6.42227848e-02 -1.54740610e-02 6.81022620e+02] [ 6.42279795e-02 9.97935239e-01 -1.61539355e-04 8.69774706e+00] [ 1.54524852e-02 -8.32681179e-04 9.99880257e-01 1.05478675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.7792541539999 meters Centerline goodness : 0.998863 Centerline is valid? [True, True] Translation: X:681.06, Y:8.70, Z:10.55 [[ 9.97707528e-01 -6.58805141e-02 -1.54740757e-02 6.81055140e+02] [ 6.58859295e-02 9.97827149e-01 -1.60117493e-04 8.69888911e+00] [ 1.54510014e-02 -8.59773431e-04 9.99880257e-01 1.05465248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.8092541539999 meters Centerline goodness : 0.998739 Centerline is valid? [True, True] Translation: X:681.09, Y:8.70, Z:10.55 [[ 9.97632729e-01 -6.70036589e-02 -1.54740900e-02 6.81087860e+02] [ 6.70092307e-02 9.97752343e-01 -1.58718429e-04 8.70014655e+00] [ 1.54499443e-02 -8.78564168e-04 9.99880257e-01 1.05485107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.839254154 meters Centerline goodness : 0.998990 Centerline is valid? [True, True] Translation: X:681.12, Y:8.70, Z:10.55 [[ 9.97570453e-01 -6.79245464e-02 -1.54741072e-02 6.81120701e+02] [ 6.79302548e-02 9.97690060e-01 -1.57021301e-04 8.70126018e+00] [ 1.54490286e-02 -8.94520237e-04 9.99880257e-01 1.05488728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.8692541539999 meters Centerline goodness : 0.999052 Centerline is valid? [True, True] Translation: X:681.15, Y:8.70, Z:10.55 [[ 9.97504679e-01 -6.88837136e-02 -1.54741242e-02 6.81153313e+02] [ 6.88895631e-02 9.97624280e-01 -1.55329815e-04 8.70253428e+00] [ 1.54480617e-02 -9.11063439e-04 9.99880257e-01 1.05490846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.8992541539999 meters Centerline goodness : 0.998864 Centerline is valid? [True, True] Translation: X:681.19, Y:8.71, Z:10.55 [[ 9.97373861e-01 -7.07526144e-02 -1.54741409e-02 6.81186726e+02] [ 7.07587140e-02 9.97493449e-01 -1.53645360e-04 8.70507777e+00] [ 1.54462250e-02 -9.41688448e-04 9.99880257e-01 1.05490490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.9292541539999 meters Centerline goodness : 0.998777 Centerline is valid? [True, True] Translation: X:681.22, Y:8.71, Z:10.55 [[ 9.97295071e-01 -7.18546562e-02 -1.54741574e-02 6.81219052e+02] [ 7.18609139e-02 9.97414651e-01 -1.51966267e-04 8.70655168e+00] [ 1.54450708e-02 -9.60431886e-04 9.99880257e-01 1.05490235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.959254154 meters Centerline goodness : 0.998861 Centerline is valid? [True, True] Translation: X:681.25, Y:8.71, Z:10.55 [[ 9.97259465e-01 -7.23471508e-02 -1.54741682e-02 6.81250078e+02] [ 7.23534847e-02 9.97379041e-01 -1.50859300e-04 8.70769061e+00] [ 1.54445253e-02 -9.69164128e-04 9.99880257e-01 1.05481944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.9892541539999 meters Centerline goodness : 0.998902 Centerline is valid? [True, True] Translation: X:681.28, Y:8.71, Z:10.55 [[ 9.97193352e-01 -7.32527747e-02 -1.54741762e-02 6.81282659e+02] [ 7.32592300e-02 9.97312921e-01 -1.50033529e-04 8.70940808e+00] [ 1.54435863e-02 -9.84013798e-04 9.99880257e-01 1.05490724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.0192541539999 meters Centerline goodness : 0.998838 Centerline is valid? [True, True] Translation: X:681.31, Y:8.71, Z:10.55 [[ 9.97107299e-01 -7.44149374e-02 -1.54741869e-02 6.81314435e+02] [ 7.44215490e-02 9.97226860e-01 -1.48930038e-04 8.71229416e+00] [ 1.54423574e-02 -1.00311373e-03 9.99880257e-01 1.05490599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.0492541539999 meters Centerline goodness : 0.998881 Centerline is valid? [True, True] Translation: X:681.35, Y:8.71, Z:10.55 [[ 9.97074084e-01 -7.48586751e-02 -1.54741973e-02 6.81345652e+02] [ 7.48653570e-02 9.97193640e-01 -1.47831495e-04 8.71394533e+00] [ 1.54418377e-02 -1.01108236e-03 9.99880257e-01 1.05489900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.079254154 meters Centerline goodness : 0.998942 Centerline is valid? [True, True] Translation: X:681.38, Y:8.72, Z:10.55 [[ 9.97062717e-01 -7.50099204e-02 -1.54742051e-02 6.81378577e+02] [ 7.50166330e-02 9.97182272e-01 -1.47013502e-04 8.71560912e+00] [ 1.54416305e-02 -1.01424109e-03 9.99880257e-01 1.05488208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.1092541539999 meters Centerline goodness : 0.998836 Centerline is valid? [True, True] Translation: X:681.41, Y:8.72, Z:10.55 [[ 9.97046767e-01 -7.52216241e-02 -1.54742205e-02 6.81411001e+02] [ 7.52283873e-02 9.97166319e-01 -1.45381071e-04 8.71872731e+00] [ 1.54413073e-02 -1.01914892e-03 9.99880257e-01 1.05472264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.1392541539999 meters Centerline goodness : 0.998876 Centerline is valid? [True, True] Translation: X:681.45, Y:8.71, Z:10.54 [[ 9.97389049e-01 -7.05381641e-02 -1.54742306e-02 6.81450691e+02] [ 7.05443826e-02 9.97508631e-01 -1.44293749e-04 8.71411612e+00] [ 1.54458568e-02 -9.47703038e-04 9.99880257e-01 1.05430276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.1692541539999 meters Centerline goodness : 0.998896 Centerline is valid? [True, True] Translation: X:681.47, Y:8.72, Z:10.55 [[ 9.97022744e-01 -7.55387599e-02 -1.54771720e-02 6.81472605e+02] [ 7.55507727e-02 9.97141938e-01 1.92111481e-04 8.72285336e+00] [ 1.54184254e-02 -1.36085182e-03 9.99880203e-01 1.05479781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.199254154 meters Centerline goodness : 0.998790 Centerline is valid? [True, True] Translation: X:681.51, Y:8.72, Z:10.55 [[ 9.97054122e-01 -7.51241236e-02 -1.54739916e-02 6.81505679e+02] [ 7.51308698e-02 9.97173672e-01 -1.45714572e-04 8.72495334e+00] [ 1.54412037e-02 -1.01728914e-03 9.99880260e-01 1.05490994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.2292541539999 meters Centerline goodness : 0.998897 Centerline is valid? [True, True] Translation: X:681.54, Y:8.73, Z:10.55 [[ 9.97048429e-01 -7.51996336e-02 -1.54740076e-02 6.81536649e+02] [ 7.52064154e-02 9.97167977e-01 -1.43994166e-04 8.72999983e+00] [ 1.54410132e-02 -1.02017549e-03 9.99880260e-01 1.05524062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.2592541539999 meters Centerline goodness : 0.998981 Centerline is valid? [True, True] Translation: X:681.57, Y:8.73, Z:10.55 [[ 9.97123632e-01 -7.41958086e-02 -1.54740155e-02 6.81568974e+02] [ 7.42024832e-02 9.97243186e-01 -1.43142861e-04 8.73178935e+00] [ 1.54419771e-02 -1.00547925e-03 9.99880260e-01 1.05520572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.2892541539999 meters Centerline goodness : 0.999000 Centerline is valid? [True, True] Translation: X:681.60, Y:8.73, Z:10.56 [[ 9.97132318e-01 -7.40789748e-02 -1.54740284e-02 6.81600599e+02] [ 7.40856570e-02 9.97251872e-01 -1.41739334e-04 8.73421318e+00] [ 1.54420036e-02 -1.00507069e-03 9.99880260e-01 1.05552890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.319254154 meters Centerline goodness : 0.998913 Centerline is valid? [True, True] Translation: X:681.63, Y:8.74, Z:10.56 [[ 9.97261591e-01 -7.23178603e-02 -1.54740361e-02 6.81632379e+02] [ 7.23243446e-02 9.97381156e-01 -1.40891228e-04 8.73743913e+00] [ 1.54437009e-02 -9.78644107e-04 9.99880260e-01 1.05570720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.3492541539999 meters Centerline goodness : 0.998936 Centerline is valid? [True, True] Translation: X:681.67, Y:8.74, Z:10.56 [[ 9.97317236e-01 -7.15463883e-02 -1.54740462e-02 6.81665856e+02] [ 7.15527973e-02 9.97436804e-01 -1.39771441e-04 8.73942953e+00] [ 1.54443833e-02 -9.67814824e-04 9.99880260e-01 1.05584204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.3792541539999 meters Centerline goodness : 0.999189 Centerline is valid? [True, True] Translation: X:681.70, Y:8.74, Z:10.56 [[ 9.97440585e-01 -6.98056766e-02 -1.54740615e-02 6.81696979e+02] [ 6.98119034e-02 9.97560163e-01 -1.38058508e-04 8.74325711e+00] [ 1.54459446e-02 -9.42568526e-04 9.99880260e-01 1.05600951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.4092541539999 meters Centerline goodness : 0.999233 Centerline is valid? [True, True] Translation: X:681.73, Y:8.75, Z:10.56 [[ 9.97501495e-01 -6.89298175e-02 -1.54740806e-02 6.81729703e+02] [ 6.89359730e-02 9.97621077e-01 -1.35879011e-04 8.74507487e+00] [ 1.54466351e-02 -9.31181287e-04 9.99880260e-01 1.05613706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.4392541539999 meters Centerline goodness : 0.998998 Centerline is valid? [True, True] Translation: X:681.76, Y:8.75, Z:10.56 [[ 9.97534012e-01 -6.84576381e-02 -1.54740954e-02 6.81762680e+02] [ 6.84637633e-02 9.97653595e-01 -1.34180237e-04 8.74645293e+00] [ 1.54469725e-02 -9.25565451e-04 9.99880260e-01 1.05618828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.4692541539999 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:681.80, Y:8.75, Z:10.56 [[ 9.97560766e-01 -6.80666542e-02 -1.54741098e-02 6.81796095e+02] [ 6.80727586e-02 9.97680351e-01 -1.32493250e-04 8.74693172e+00] [ 1.54472337e-02 -9.21195272e-04 9.99880260e-01 1.05618589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.4992541539999 meters Centerline goodness : 0.999296 Centerline is valid? [True, True] Translation: X:681.83, Y:8.75, Z:10.56 [[ 9.97557562e-01 -6.81136015e-02 -1.54741243e-02 6.81828214e+02] [ 6.81197380e-02 9.97677144e-01 -1.30781782e-04 8.74768752e+00] [ 1.54470881e-02 -9.23630935e-04 9.99880260e-01 1.05610565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.5292541539999 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:681.86, Y:8.75, Z:10.56 [[ 9.97562902e-01 -6.80353379e-02 -1.54741338e-02 6.81859411e+02] [ 6.80414825e-02 9.97682485e-01 -1.29646910e-04 8.74852498e+00] [ 1.54470928e-02 -9.23552054e-04 9.99880260e-01 1.05608214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.5592541539999 meters Centerline goodness : 0.999209 Centerline is valid? [True, True] Translation: X:681.89, Y:8.75, Z:10.56 [[ 9.97599065e-01 -6.75030165e-02 -1.54741408e-02 6.81891504e+02] [ 6.75091104e-02 9.97718649e-01 -1.28801975e-04 8.74948491e+00] [ 1.54475334e-02 -9.16152750e-04 9.99880260e-01 1.05611725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.589254154 meters Centerline goodness : 0.999315 Centerline is valid? [True, True] Translation: X:681.92, Y:8.75, Z:10.56 [[ 9.97714838e-01 -6.57696907e-02 -1.54741503e-02 6.81922819e+02] [ 6.57755945e-02 9.97834433e-01 -1.27652484e-04 8.75140146e+00] [ 1.54490356e-02 -8.90460658e-04 9.99880260e-01 1.05604664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.6192541539999 meters Centerline goodness : 0.999443 Centerline is valid? [True, True] Translation: X:681.96, Y:8.75, Z:10.56 [[ 9.97831653e-01 -6.39729839e-02 -1.54741687e-02 6.81955868e+02] [ 6.39787076e-02 9.97951256e-01 -1.25378530e-04 8.75266058e+00] [ 1.54504869e-02 -8.64910649e-04 9.99880260e-01 1.05608815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.6492541539999 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:681.99, Y:8.75, Z:10.56 [[ 9.97949103e-01 -6.21139044e-02 -1.54741823e-02 6.81988349e+02] [ 6.21194315e-02 9.98068716e-01 -1.23683039e-04 8.75412650e+00] [ 1.54519796e-02 -8.37818027e-04 9.99880260e-01 1.05610446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.6792541539999 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:682.02, Y:8.76, Z:10.56 [[ 9.98250311e-01 -5.70689605e-02 -1.54741911e-02 6.82020184e+02] [ 5.70739002e-02 9.98369949e-01 -1.22562290e-04 8.75572011e+00] [ 1.54559619e-02 -7.60824596e-04 9.99880260e-01 1.05622020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.709254154 meters Centerline goodness : 0.999293 Centerline is valid? [True, True] Translation: X:682.05, Y:8.76, Z:10.56 [[ 9.98395238e-01 -5.44747483e-02 -1.54742000e-02 6.82051155e+02] [ 5.44793945e-02 9.98514888e-01 -1.21436267e-04 8.75696291e+00] [ 1.54578343e-02 -7.21783655e-04 9.99880260e-01 1.05627960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.7392541539999 meters Centerline goodness : 0.999293 Centerline is valid? [True, True] Translation: X:682.08, Y:8.76, Z:10.56 [[ 9.98401043e-01 -5.43682470e-02 -1.54742166e-02 6.82084692e+02] [ 5.43729138e-02 9.98520692e-01 -1.19277061e-04 8.75712618e+00] [ 1.54578104e-02 -7.22291905e-04 9.99880260e-01 1.05633143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.7692541539999 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:682.12, Y:8.76, Z:10.56 [[ 9.98534798e-01 -5.18537024e-02 -1.54742292e-02 6.82117000e+02] [ 5.18580935e-02 9.98654457e-01 -1.17626710e-04 8.75876303e+00] [ 1.54595073e-02 -6.85009659e-04 9.99880260e-01 1.05646003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.7992541539999 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:682.15, Y:8.76, Z:10.56 [[ 9.98771922e-01 -4.70658716e-02 -1.54742374e-02 6.82147832e+02] [ 4.70697058e-02 9.98891600e-01 -1.16536127e-04 8.76134123e+00] [ 1.54625706e-02 -6.11974789e-04 9.99880260e-01 1.05648444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.829254154 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:682.18, Y:8.76, Z:10.57 [[ 9.98849369e-01 -4.53925766e-02 -1.54742434e-02 6.82180400e+02] [ 4.53962228e-02 9.98969053e-01 -1.15724266e-04 8.76279727e+00] [ 1.54635434e-02 -5.86881094e-04 9.99880260e-01 1.05675546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.8592541539999 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:682.21, Y:8.76, Z:10.57 [[ 9.98919408e-01 -4.38242356e-02 -1.54742517e-02 6.82212452e+02] [ 4.38277112e-02 9.99039098e-01 -1.14608494e-04 8.76392492e+00] [ 1.54644051e-02 -5.63716386e-04 9.99880260e-01 1.05685271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.8892541539999 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:682.25, Y:8.76, Z:10.57 [[ 9.98987765e-01 -4.22373412e-02 -1.54742600e-02 6.82245067e+02] [ 4.22406442e-02 9.99107459e-01 -1.13472511e-04 8.76477327e+00] [ 1.54652414e-02 -5.40285063e-04 9.99880260e-01 1.05681929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.9192541539999 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:682.28, Y:8.77, Z:10.57 [[ 9.99018820e-01 -4.14963135e-02 -1.54742683e-02 6.82277491e+02] [ 4.14995452e-02 9.99138517e-01 -1.12340799e-04 8.76582108e+00] [ 1.54655992e-02 -5.29944522e-04 9.99880260e-01 1.05680203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.949254154 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:682.31, Y:8.77, Z:10.57 [[ 9.99062697e-01 -4.04261584e-02 -1.54742784e-02 6.82309417e+02] [ 4.04292838e-02 9.99182396e-01 -1.10931988e-04 8.76705351e+00] [ 1.54661111e-02 -5.14785979e-04 9.99880260e-01 1.05673576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.9792541539999 meters Centerline goodness : 0.999397 Centerline is valid? [True, True] Translation: X:682.34, Y:8.77, Z:10.57 [[ 9.99061312e-01 -4.04603763e-02 -1.54742862e-02 6.82341476e+02] [ 4.04635227e-02 9.99181010e-01 -1.09830910e-04 8.76776824e+00] [ 1.54660567e-02 -5.16416317e-04 9.99880260e-01 1.05683215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.0092541539999 meters Centerline goodness : 0.999483 Centerline is valid? [True, True] Translation: X:682.37, Y:8.77, Z:10.57 [[ 9.99041136e-01 -4.09555102e-02 -1.54742958e-02 6.82373450e+02] [ 4.09587372e-02 9.99160833e-01 -1.08457235e-04 8.76850221e+00] [ 1.54657522e-02 -5.25454377e-04 9.99880260e-01 1.05683620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.0392541539999 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:682.41, Y:8.77, Z:10.57 [[ 9.98999594e-01 -4.19565989e-02 -1.54743033e-02 6.82405720e+02] [ 4.19599625e-02 9.99119287e-01 -1.07378706e-04 8.76927784e+00] [ 1.54651801e-02 -5.42029902e-04 9.99880260e-01 1.05689309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.069254154 meters Centerline goodness : 0.999417 Centerline is valid? [True, True] Translation: X:682.44, Y:8.77, Z:10.57 [[ 9.98983643e-01 -4.23346896e-02 -1.54743110e-02 6.82438505e+02] [ 4.23381160e-02 9.99103334e-01 -1.06248444e-04 8.76988048e+00] [ 1.54649338e-02 -5.49012719e-04 9.99880260e-01 1.05691504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.0992541539999 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] Translation: X:682.47, Y:8.77, Z:10.57 [[ 9.98980409e-01 -4.24109429e-02 -1.54743225e-02 6.82470497e+02] [ 4.24144048e-02 9.99100099e-01 -1.04552016e-04 8.77060983e+00] [ 1.54648313e-02 -5.51888763e-04 9.99880260e-01 1.05690959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.1292541539999 meters Centerline goodness : 0.999351 Centerline is valid? [True, True] Translation: X:682.50, Y:8.77, Z:10.57 [[ 9.99011047e-01 -4.16830165e-02 -1.54743319e-02 6.82502262e+02] [ 4.16864129e-02 9.99130738e-01 -1.03147701e-04 8.77195296e+00] [ 1.54651801e-02 -5.42023694e-04 9.99880260e-01 1.05703845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.1592541539999 meters Centerline goodness : 0.999351 Centerline is valid? [True, True] Translation: X:682.53, Y:8.77, Z:10.57 [[ 9.99036703e-01 -4.10634953e-02 -1.54743392e-02 6.82533249e+02] [ 4.10668347e-02 9.99156397e-01 -1.02030979e-04 8.77290324e+00] [ 1.54654748e-02 -5.33549438e-04 9.99880260e-01 1.05712475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.1892541539999 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:682.56, Y:8.77, Z:10.57 [[ 9.99078539e-01 -4.00326954e-02 -1.54743508e-02 6.82564518e+02] [ 4.00359390e-02 9.99198235e-01 -1.00241461e-04 8.77360281e+00] [ 1.54659570e-02 -5.19381073e-04 9.99880260e-01 1.05709934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.2192541539999 meters Centerline goodness : 0.999567 Centerline is valid? [True, True] Translation: X:682.60, Y:8.77, Z:10.57 [[ 9.99131623e-01 -3.86851921e-02 -1.54743561e-02 6.82596548e+02] [ 3.86882870e-02 9.99251323e-01 -9.94190330e-05 8.77432468e+00] [ 1.54666169e-02 -4.99343630e-04 9.99880260e-01 1.05731694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.2492541539999 meters Centerline goodness : 0.999482 Centerline is valid? [True, True] Translation: X:682.63, Y:8.78, Z:10.57 [[ 9.99227014e-01 -3.61374994e-02 -1.54743632e-02 6.82629025e+02] [ 3.61403064e-02 9.99346721e-01 -9.82965964e-05 8.77556843e+00] [ 1.54678064e-02 -4.61027614e-04 9.99880260e-01 1.05731827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.2792541539999 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:682.66, Y:8.78, Z:10.58 [[ 9.99256782e-01 -3.53047835e-02 -1.54743703e-02 6.82661493e+02] [ 3.53075080e-02 9.99376491e-01 -9.71778571e-05 8.77627203e+00] [ 1.54681527e-02 -4.49255820e-04 9.99880260e-01 1.05754204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.3092541539999 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:682.69, Y:8.78, Z:10.58 [[ 9.99285461e-01 -3.44834907e-02 -1.54743774e-02 6.82694099e+02] [ 3.44861346e-02 9.99405172e-01 -9.60337173e-05 8.77732698e+00] [ 1.54684843e-02 -4.37686363e-04 9.99880260e-01 1.05766554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.339254154 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:682.72, Y:8.78, Z:10.58 [[ 9.99307856e-01 -3.38282649e-02 -1.54744280e-02 6.82724963e+02] [ 3.38309570e-02 9.99427565e-01 -8.78424981e-05 8.77729497e+00] [ 1.54685414e-02 -4.35733009e-04 9.99880260e-01 1.05761536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.3692541539999 meters Centerline goodness : 0.999545 Centerline is valid? [True, True] Translation: X:682.76, Y:8.78, Z:10.58 [[ 9.99324781e-01 -3.33245556e-02 -1.54743904e-02 6.82757373e+02] [ 3.33270917e-02 9.99444494e-01 -9.40310237e-05 8.77739676e+00] [ 1.54689278e-02 -4.21748894e-04 9.99880260e-01 1.05758552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.3992541539999 meters Centerline goodness : 0.999523 Centerline is valid? [True, True] Translation: X:682.79, Y:8.78, Z:10.58 [[ 9.99316368e-01 -3.35758707e-02 -1.54743971e-02 6.82788387e+02] [ 3.35784542e-02 9.99436080e-01 -9.29049862e-05 8.77763592e+00] [ 1.54687902e-02 -4.26764862e-04 9.99880260e-01 1.05751412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.4292541539999 meters Centerline goodness : 0.999545 Centerline is valid? [True, True] Translation: X:682.82, Y:8.78, Z:10.58 [[ 9.99302146e-01 -3.39965270e-02 -1.54744021e-02 6.82820726e+02] [ 3.39991739e-02 9.99421857e-01 -9.20654206e-05 8.77772513e+00] [ 1.54685856e-02 -4.34115717e-04 9.99880260e-01 1.05751362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.459254154 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:682.85, Y:8.78, Z:10.57 [[ 9.99272661e-01 -3.48524243e-02 -1.54744087e-02 6.82853419e+02] [ 3.48551910e-02 9.99392369e-01 -9.09496377e-05 8.77822942e+00] [ 1.54681758e-02 -4.48479984e-04 9.99880260e-01 1.05743589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.4892541539999 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:682.88, Y:8.78, Z:10.57 [[ 9.99259185e-01 -3.52366903e-02 -1.54744167e-02 6.82884865e+02] [ 3.52395245e-02 9.99378891e-01 -8.95646289e-05 8.77868691e+00] [ 1.54679614e-02 -4.55812809e-04 9.99880260e-01 1.05740458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.5192541539999 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:682.92, Y:8.78, Z:10.57 [[ 9.99256412e-01 -3.53152222e-02 -1.54744214e-02 6.82916820e+02] [ 3.53180786e-02 9.99376118e-01 -8.87380653e-05 8.77900107e+00] [ 1.54679010e-02 -4.57854752e-04 9.99880260e-01 1.05745039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.5492541539999 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:682.95, Y:8.78, Z:10.58 [[ 9.99256539e-01 -3.53116424e-02 -1.54744276e-02 6.82949132e+02] [ 3.53145152e-02 9.99376244e-01 -8.76502813e-05 8.77937861e+00] [ 1.54678704e-02 -4.58886792e-04 9.99880260e-01 1.05751440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.579254154 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:682.98, Y:8.78, Z:10.58 [[ 9.99282322e-01 -3.45743110e-02 -1.54744337e-02 6.82981693e+02] [ 3.45771125e-02 9.99402029e-01 -8.65536638e-05 8.78083668e+00] [ 1.54681730e-02 -4.48569690e-04 9.99880260e-01 1.05771223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.6092541539999 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:683.01, Y:8.78, Z:10.58 [[ 9.99316641e-01 -3.35677237e-02 -1.54744400e-02 6.83012877e+02] [ 3.35704221e-02 9.99436351e-01 -8.54181552e-05 8.78188964e+00] [ 1.54685851e-02 -4.34123699e-04 9.99880260e-01 1.05775940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.6392541539999 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:683.04, Y:8.78, Z:10.58 [[ 9.99340582e-01 -3.28472577e-02 -1.54744501e-02 6.83044901e+02] [ 3.28498987e-02 9.99460293e-01 -8.35514263e-05 8.78326277e+00] [ 1.54688428e-02 -4.24837787e-04 9.99880260e-01 1.05792990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.6692541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:683.08, Y:8.78, Z:10.58 [[ 9.99383034e-01 -3.15292277e-02 -1.54744560e-02 6.83075683e+02] [ 3.15317279e-02 9.99502748e-01 -8.24468741e-05 8.78486042e+00] [ 1.54693608e-02 -4.05540328e-04 9.99880260e-01 1.05807712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.699254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:683.11, Y:8.79, Z:10.58 [[ 9.99391773e-01 -3.12510088e-02 -1.54744603e-02 6.83108240e+02] [ 3.12534884e-02 9.99511487e-01 -8.16236673e-05 8.78516264e+00] [ 1.54694517e-02 -4.02056844e-04 9.99880260e-01 1.05817778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.7292541539999 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:683.14, Y:8.79, Z:10.58 [[ 9.99382212e-01 -3.15552637e-02 -1.54744657e-02 6.83140200e+02] [ 3.15577958e-02 9.99501925e-01 -8.05890851e-05 8.78526268e+00] [ 1.54693013e-02 -4.07800730e-04 9.99880260e-01 1.05835072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.7592541539999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:683.17, Y:8.78, Z:10.58 [[ 9.99390135e-01 -3.13033449e-02 -1.54744715e-02 6.83170484e+02] [ 3.13058644e-02 9.99509848e-01 -7.94503827e-05 8.78481512e+00] [ 1.54693738e-02 -4.05039779e-04 9.99880260e-01 1.05833426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.7892541539999 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:683.20, Y:8.78, Z:10.58 [[ 9.99334643e-01 -3.30275458e-02 -1.54742455e-02 6.83202225e+02] [ 3.30296028e-02 9.99454366e-01 -1.22685468e-04 8.78380482e+00] [ 1.54698542e-02 -3.88504345e-04 9.99880259e-01 1.05847045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.819254154 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:683.24, Y:8.78, Z:10.59 [[ 9.99279644e-01 -3.46516896e-02 -1.54742773e-02 6.83235632e+02] [ 3.46540370e-02 9.99399362e-01 -1.16500194e-04 8.78344467e+00] [ 1.54690198e-02 -4.19829906e-04 9.99880259e-01 1.05855630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.8492541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:683.27, Y:8.78, Z:10.59 [[ 9.99260471e-01 -3.52001742e-02 -1.54744711e-02 6.83267185e+02] [ 3.52031811e-02 9.99380173e-01 -7.81221341e-05 8.78315134e+00] [ 1.54676295e-02 -4.66686248e-04 9.99880260e-01 1.05855538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.8792541539999 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:683.30, Y:8.78, Z:10.59 [[ 9.99214232e-01 -3.64891663e-02 -1.54744804e-02 6.83298399e+02] [ 3.64923568e-02 9.99333929e-01 -7.62357499e-05 8.78276624e+00] [ 1.54669551e-02 -4.88524413e-04 9.99880260e-01 1.05857529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.9092541539999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:683.33, Y:8.78, Z:10.59 [[ 9.99202720e-01 -3.68030403e-02 -1.54744844e-02 6.83329160e+02] [ 3.68062812e-02 9.99322416e-01 -7.54065820e-05 8.78232971e+00] [ 1.54667744e-02 -4.94211764e-04 9.99880260e-01 1.05858011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.9392541539999 meters Centerline goodness : 0.999566 Centerline is valid? [True, True] Translation: X:683.36, Y:8.78, Z:10.59 [[ 9.99194251e-01 -3.70322594e-02 -1.54744883e-02 6.83361654e+02] [ 3.70355403e-02 9.99313946e-01 -7.45940429e-05 8.78174077e+00] [ 1.54666344e-02 -4.98572099e-04 9.99880260e-01 1.05860091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.9692541539999 meters Centerline goodness : 0.999610 Centerline is valid? [True, True] Translation: X:683.39, Y:8.78, Z:10.59 [[ 9.99161240e-01 -3.79124729e-02 -1.54744935e-02 6.83393544e+02] [ 3.79158760e-02 9.99280932e-01 -7.35121787e-05 8.78020105e+00] [ 1.54661533e-02 -5.13278457e-04 9.99880260e-01 1.05864630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.9992541539999 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:683.43, Y:8.78, Z:10.59 [[ 9.99158626e-01 -3.79813245e-02 -1.54744987e-02 6.83425806e+02] [ 3.79847530e-02 9.99278316e-01 -7.24050683e-05 8.77930644e+00] [ 1.54660810e-02 -5.15450861e-04 9.99880260e-01 1.05867979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.0292541539999 meters Centerline goodness : 0.999568 Centerline is valid? [True, True] Translation: X:683.46, Y:8.78, Z:10.59 [[ 9.99147753e-01 -3.82662737e-02 -1.54745037e-02 6.83457593e+02] [ 3.82697533e-02 9.99267442e-01 -7.13040939e-05 8.77875860e+00] [ 1.54658963e-02 -5.20962116e-04 9.99880260e-01 1.05876208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.0592541539999 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:683.49, Y:8.78, Z:10.59 [[ 9.99069697e-01 -4.02527080e-02 -1.54745088e-02 6.83488067e+02] [ 4.02564429e-02 9.99189378e-01 -7.01853446e-05 8.78080549e+00] [ 1.54647900e-02 -5.52828630e-04 9.99880260e-01 1.05882336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.089254154 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:683.52, Y:8.78, Z:10.59 [[ 9.99212047e-01 -3.65491071e-02 -1.54741075e-02 6.83521461e+02] [ 3.65510316e-02 9.99331775e-01 -1.58525412e-04 8.77733994e+00] [ 1.54695612e-02 -4.07194089e-04 9.99880256e-01 1.05889387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.1192541539999 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:683.55, Y:8.78, Z:10.59 [[ 9.99271985e-01 -3.48717543e-02 -1.54745043e-02 6.83553286e+02] [ 3.48748889e-02 9.99391684e-01 -6.73220404e-05 8.77756763e+00] [ 1.54674385e-02 -4.72398590e-04 9.99880260e-01 1.05898301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.1492541539999 meters Centerline goodness : 0.999480 Centerline is valid? [True, True] Translation: X:683.58, Y:8.78, Z:10.59 [[ 9.99434683e-01 -2.98471817e-02 -1.54745091e-02 6.83584769e+02] [ 2.98497319e-02 9.99554395e-01 -6.61950336e-05 8.77764532e+00] [ 1.54695893e-02 -3.95752336e-04 9.99880260e-01 1.05907466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.1792541539999 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:683.62, Y:8.78, Z:10.59 [[ 9.99522450e-01 -2.67471840e-02 -1.54745127e-02 6.83616756e+02] [ 2.67493758e-02 9.99642169e-01 -6.53567141e-05 8.77761826e+00] [ 1.54707235e-02 -3.48608052e-04 9.99880260e-01 1.05919572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.209254154 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:683.65, Y:8.78, Z:10.59 [[ 9.99596252e-01 -2.38300856e-02 -1.54745173e-02 6.83648203e+02] [ 2.38319452e-02 9.99715977e-01 -6.42455138e-05 8.77765739e+00] [ 1.54716531e-02 -3.04568273e-04 9.99880260e-01 1.05922677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.2392541539999 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:683.68, Y:8.78, Z:10.59 [[ 9.99707575e-01 -1.85823523e-02 -1.54745196e-02 6.83678278e+02] [ 1.85835920e-02 9.99827308e-01 -6.36930584e-05 8.77704647e+00] [ 1.54730308e-02 -2.23897724e-04 9.99880260e-01 1.05926332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.2692541539999 meters Centerline goodness : 0.999199 Centerline is valid? [True, True] Translation: X:683.71, Y:8.78, Z:10.59 [[ 9.99745281e-01 -1.64289967e-02 -1.54745232e-02 6.83707216e+02] [ 1.64299925e-02 9.99865017e-01 -6.27899463e-05 8.77640081e+00] [ 1.54734660e-02 -1.91472348e-04 9.99880260e-01 1.05927181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.2992541539999 meters Centerline goodness : 0.999113 Centerline is valid? [True, True] Translation: X:683.74, Y:8.78, Z:10.59 [[ 9.99765826e-01 -1.51272281e-02 -1.54745190e-02 6.83735999e+02] [ 1.51280521e-02 9.99885562e-01 -6.38173359e-05 8.77581610e+00] [ 1.54737135e-02 -1.70296937e-04 9.99880260e-01 1.05937450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.329254154 meters Centerline goodness : 0.999222 Centerline is valid? [True, True] Translation: X:683.77, Y:8.77, Z:10.59 [[ 9.99852082e-01 -7.50690059e-03 -1.54745014e-02 6.83772790e+02] [ 7.50674998e-03 9.99971822e-01 -6.78189875e-05 8.76826244e+00] [ 1.54745745e-02 -4.83542575e-05 9.99880260e-01 1.05878555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.3592541539999 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:683.80, Y:8.77, Z:10.59 [[ 9.99840626e-01 -8.90065345e-03 -1.54758229e-02 6.83798862e+02] [ 8.90614578e-03 9.99960299e-01 2.86012890e-04 8.76812920e+00] [ 1.54726628e-02 -4.23797242e-04 9.99880201e-01 1.05885841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.3892541539999 meters Centerline goodness : 0.999138 Centerline is valid? [True, True] Translation: X:683.82, Y:8.77, Z:10.59 [[ 9.99796168e-01 -1.29667534e-02 -1.54753252e-02 6.83824342e+02] [ 1.29707514e-02 9.99915864e-01 1.58001542e-04 8.77142702e+00] [ 1.54719744e-02 -3.58695932e-04 9.99880238e-01 1.05926373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.4192541539999 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:683.85, Y:8.77, Z:10.59 [[ 9.99776861e-01 -1.43795624e-02 -1.54743667e-02 6.83852459e+02] [ 1.43802600e-02 9.99896597e-01 -6.61871932e-05 8.77044292e+00] [ 1.54737183e-02 -1.56352993e-04 9.99880263e-01 1.05944729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.449254154 meters Centerline goodness : 0.999226 Centerline is valid? [True, True] Translation: X:683.88, Y:8.77, Z:10.59 [[ 9.99760700e-01 -1.54624343e-02 -1.54743606e-02 6.83880170e+02] [ 1.54632403e-02 9.99880435e-01 -6.75739266e-05 8.76907787e+00] [ 1.54735553e-02 -1.71726000e-04 9.99880263e-01 1.05949949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.4792541539999 meters Centerline goodness : 0.998971 Centerline is valid? [True, True] Translation: X:683.91, Y:8.77, Z:10.59 [[ 9.99729623e-01 -1.73558797e-02 -1.54743396e-02 6.83909242e+02] [ 1.73568425e-02 9.99849356e-01 -7.20860625e-05 8.76623831e+00] [ 1.54732596e-02 -1.96519104e-04 9.99880263e-01 1.05935524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.5092541539999 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:683.94, Y:8.77, Z:10.60 [[ 9.99683927e-01 -1.98139129e-02 -1.54743200e-02 6.83937673e+02] [ 1.98151084e-02 9.99803659e-01 -7.60782671e-05 8.76567778e+00] [ 1.54727891e-02 -2.30571106e-04 9.99880263e-01 1.05957895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.5392541539999 meters Centerline goodness : 0.999079 Centerline is valid? [True, True] Translation: X:683.97, Y:8.76, Z:10.60 [[ 9.99650668e-01 -2.14263087e-02 -1.54743158e-02 6.83967068e+02] [ 2.14276842e-02 9.99770398e-01 -7.69245380e-05 8.76466541e+00] [ 1.54724110e-02 -2.54681086e-04 9.99880263e-01 1.05968107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.569254154 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:684.00, Y:8.76, Z:10.60 [[ 9.99555952e-01 -2.54645781e-02 -1.54743129e-02 6.83997853e+02] [ 2.54664284e-02 9.99675675e-01 -7.74983156e-05 8.76215960e+00] [ 1.54712676e-02 -3.16611578e-04 9.99880263e-01 1.05967368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.5992541539999 meters Centerline goodness : 0.999317 Centerline is valid? [True, True] Translation: X:684.03, Y:8.76, Z:10.60 [[ 9.99527885e-01 -2.65434058e-02 -1.54743129e-02 6.84027091e+02] [ 2.65453853e-02 9.99647606e-01 -7.74983156e-05 8.76027109e+00] [ 1.54709169e-02 -3.33309871e-04 9.99880263e-01 1.05956958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.6292541539999 meters Centerline goodness : 0.999317 Centerline is valid? [True, True] Translation: X:684.06, Y:8.76, Z:10.60 [[ 9.99532293e-01 -2.63771309e-02 -1.54739010e-02 6.84058976e+02] [ 2.63778361e-02 9.99652032e-01 -1.58553640e-04 8.76035147e+00] [ 1.54726987e-02 -2.49688540e-04 9.99880259e-01 1.05962164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.6592541539999 meters Centerline goodness : 0.999168 Centerline is valid? [True, True] Translation: X:684.09, Y:8.76, Z:10.60 [[ 9.99423823e-01 -3.02089416e-02 -1.54739179e-02 6.84090712e+02] [ 3.02101594e-02 9.99543557e-01 -1.55094039e-04 8.75870179e+00] [ 1.54715401e-02 -3.12464848e-04 9.99880260e-01 1.05978392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.6892541539999 meters Centerline goodness : 0.999042 Centerline is valid? [True, True] Translation: X:684.12, Y:8.76, Z:10.60 [[ 9.99345127e-01 -3.27087722e-02 -1.54743063e-02 6.84121461e+02] [ 3.27115189e-02 9.99464832e-01 -7.56442367e-05 8.75684609e+00] [ 1.54684992e-02 -4.30593363e-04 9.99880263e-01 1.05983698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.7192541539999 meters Centerline goodness : 0.999063 Centerline is valid? [True, True] Translation: X:684.15, Y:8.76, Z:10.60 [[ 9.99259116e-01 -3.52386709e-02 -1.54743104e-02 6.84153846e+02] [ 3.52417338e-02 9.99378814e-01 -7.47929151e-05 8.75521631e+00] [ 1.54673336e-02 -4.70604025e-04 9.99880263e-01 1.05991985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.7492541539999 meters Centerline goodness : 0.999127 Centerline is valid? [True, True] Translation: X:684.19, Y:8.75, Z:10.60 [[ 9.99170286e-01 -3.76733898e-02 -1.54743158e-02 6.84185601e+02] [ 3.76767618e-02 9.99289976e-01 -7.36684462e-05 8.75380845e+00] [ 1.54661040e-02 -5.09414786e-04 9.99880263e-01 1.06000190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.7792541539999 meters Centerline goodness : 0.999129 Centerline is valid? [True, True] Translation: X:684.22, Y:8.75, Z:10.60 [[ 9.98992246e-01 -4.21311960e-02 -1.54743210e-02 6.84217011e+02] [ 4.21351193e-02 9.99111919e-01 -7.25495882e-05 8.75084635e+00] [ 1.54636352e-02 -5.79535885e-04 9.99880263e-01 1.06007310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.8092541539999 meters Centerline goodness : 0.999021 Centerline is valid? [True, True] Translation: X:684.25, Y:8.75, Z:10.60 [[ 9.98914571e-01 -4.39343281e-02 -1.54743249e-02 6.84248770e+02] [ 4.39384803e-02 9.99034236e-01 -7.17157862e-05 8.74922159e+00] [ 1.54625311e-02 -6.08280374e-04 9.99880263e-01 1.06012509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.839254154 meters Centerline goodness : 0.998874 Centerline is valid? [True, True] Translation: X:684.28, Y:8.75, Z:10.60 [[ 9.98841546e-01 -4.55643593e-02 -1.54743300e-02 6.84281312e+02] [ 4.55687243e-02 9.98961204e-01 -7.05807739e-05 8.74765774e+00] [ 1.54614713e-02 -6.34646470e-04 9.99880263e-01 1.06008022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.8692541539999 meters Centerline goodness : 0.999109 Centerline is valid? [True, True] Translation: X:684.31, Y:8.74, Z:10.60 [[ 9.98684769e-01 -4.88802421e-02 -1.54743364e-02 6.84313609e+02] [ 4.88850262e-02 9.98804410e-01 -6.91626965e-05 8.74488680e+00] [ 1.54592161e-02 -6.87391608e-04 9.99880263e-01 1.06017858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.8992541539999 meters Centerline goodness : 0.999173 Centerline is valid? [True, True] Translation: X:684.35, Y:8.74, Z:10.60 [[ 9.98614988e-01 -5.02856960e-02 -1.54743412e-02 6.84345664e+02] [ 5.02906654e-02 9.98734622e-01 -6.80690458e-05 8.74342802e+00] [ 1.54581832e-02 -7.10240146e-04 9.99880263e-01 1.06020307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.9292541539999 meters Centerline goodness : 0.998961 Centerline is valid? [True, True] Translation: X:684.38, Y:8.74, Z:10.60 [[ 9.98554061e-01 -5.14813711e-02 -1.54743459e-02 6.84377486e+02] [ 5.14865006e-02 9.98673688e-01 -6.69789055e-05 8.74196624e+00] [ 1.54572703e-02 -7.29837862e-04 9.99880263e-01 1.06025707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.959254154 meters Centerline goodness : 0.998793 Centerline is valid? [True, True] Translation: X:684.41, Y:8.74, Z:10.60 [[ 9.98491583e-01 -5.26792426e-02 -1.54743506e-02 6.84409868e+02] [ 5.26845327e-02 9.98611203e-01 -6.58797756e-05 8.74060693e+00] [ 1.54563304e-02 -7.49478528e-04 9.99880263e-01 1.06022636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.9892541539999 meters Centerline goodness : 0.998815 Centerline is valid? [True, True] Translation: X:684.45, Y:8.73, Z:10.60 [[ 9.98709909e-01 -4.83638474e-02 -1.54743552e-02 6.84448193e+02] [ 4.83686373e-02 9.98829550e-01 -6.47890682e-05 8.73154766e+00] [ 1.54593767e-02 -6.83767988e-04 9.99880263e-01 1.05975917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.0192541539999 meters Centerline goodness : 0.999092 Centerline is valid? [True, True] Translation: X:684.47, Y:8.74, Z:10.60 [[ 9.98346959e-01 -5.53520126e-02 -1.54759148e-02 6.84469196e+02] [ 5.53639778e-02 9.98466179e-01 3.45458846e-04 8.73757001e+00] [ 1.54330556e-02 -1.20169599e-03 9.99880181e-01 1.06015383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.0492541539999 meters Centerline goodness : 0.999069 Centerline is valid? [True, True] Translation: X:684.50, Y:8.74, Z:10.60 [[ 9.98334905e-01 -5.55695307e-02 -1.54739844e-02 6.84502261e+02] [ 5.55750773e-02 9.98454509e-01 -7.16606896e-05 8.73717587e+00] [ 1.54540516e-02 -7.88426512e-04 9.99880268e-01 1.06019116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.079254154 meters Centerline goodness : 0.998732 Centerline is valid? [True, True] Translation: X:684.54, Y:8.74, Z:10.60 [[ 9.98366995e-01 -5.49899839e-02 -1.54739916e-02 6.84535628e+02] [ 5.49954857e-02 9.98486601e-01 -7.00728858e-05 8.73637918e+00] [ 1.54544266e-02 -7.81041226e-04 9.99880268e-01 1.06021153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.1092541539999 meters Centerline goodness : 0.998839 Centerline is valid? [True, True] Translation: X:684.57, Y:8.74, Z:10.60 [[ 9.98411023e-01 -5.41847235e-02 -1.54739986e-02 6.84568279e+02] [ 5.41901533e-02 9.98530632e-01 -6.84836392e-05 8.73635982e+00] [ 1.54549724e-02 -7.70163538e-04 9.99880268e-01 1.06026714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.1392541539999 meters Centerline goodness : 0.998964 Centerline is valid? [True, True] Translation: X:684.60, Y:8.74, Z:10.60 [[ 9.98492697e-01 -5.26582345e-02 -1.54740032e-02 6.84600323e+02] [ 5.26634977e-02 9.98612313e-01 -6.74352914e-05 8.73642870e+00] [ 1.54560811e-02 -7.47581486e-04 9.99880268e-01 1.06044457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.1692541539999 meters Centerline goodness : 0.999007 Centerline is valid? [True, True] Translation: X:684.63, Y:8.74, Z:10.60 [[ 9.98593612e-01 -5.07085069e-02 -1.54740080e-02 6.84632194e+02] [ 5.07135540e-02 9.98713238e-01 -6.63108448e-05 8.73668582e+00] [ 1.54574592e-02 -7.18524354e-04 9.99880268e-01 1.06038982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.199254154 meters Centerline goodness : 0.998919 Centerline is valid? [True, True] Translation: X:684.66, Y:8.74, Z:10.61 [[ 9.98847415e-01 -4.54356371e-02 -1.54740189e-02 6.84664522e+02] [ 4.54400935e-02 9.98967063e-01 -6.36606148e-05 8.73786059e+00] [ 1.54609277e-02 -6.39553626e-04 9.99880268e-01 1.06070869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.2292541539999 meters Centerline goodness : 0.998751 Centerline is valid? [True, True] Translation: X:684.70, Y:8.74, Z:10.61 [[ 9.98989899e-01 -4.21869219e-02 -1.54740235e-02 6.84696614e+02] [ 4.21910068e-02 9.99109561e-01 -6.25193575e-05 8.73883136e+00] [ 1.54628824e-02 -5.90408425e-04 9.99880268e-01 1.06083663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.2592541539999 meters Centerline goodness : 0.998941 Centerline is valid? [True, True] Translation: X:684.73, Y:8.74, Z:10.61 [[ 9.99125248e-01 -3.88496174e-02 -1.54740281e-02 6.84728319e+02] [ 3.88533204e-02 9.99244923e-01 -6.13650938e-05 8.73972182e+00] [ 1.54647280e-02 -5.39905958e-04 9.99880268e-01 1.06096555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.2892541539999 meters Centerline goodness : 0.998879 Centerline is valid? [True, True] Translation: X:684.76, Y:8.74, Z:10.61 [[ 9.99356954e-01 -3.23455240e-02 -1.54740326e-02 6.84760699e+02] [ 3.23484659e-02 9.99476650e-01 -6.02063843e-05 8.74032927e+00] [ 1.54678817e-02 -4.40393548e-04 9.99880268e-01 1.06099140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.319254154 meters Centerline goodness : 0.998773 Centerline is valid? [True, True] Translation: X:684.79, Y:8.74, Z:10.61 [[ 9.99451742e-01 -2.92706204e-02 -1.54740370e-02 6.84791800e+02] [ 2.92732117e-02 9.99571446e-01 -5.90570318e-05 8.74039445e+00] [ 1.54691342e-02 -3.93950108e-04 9.99880268e-01 1.06101766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.3492541539999 meters Centerline goodness : 0.998729 Centerline is valid? [True, True] Translation: X:684.82, Y:8.74, Z:10.61 [[ 9.99530800e-01 -2.64335769e-02 -1.54740402e-02 6.84823484e+02] [ 2.64358417e-02 9.99650510e-01 -5.82029658e-05 8.74062236e+00] [ 1.54701707e-02 -3.50893620e-04 9.99880268e-01 1.06105525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.3792541539999 meters Centerline goodness : 0.998792 Centerline is valid? [True, True] Translation: X:684.86, Y:8.74, Z:10.61 [[ 9.99611658e-01 -2.31751306e-02 -1.54740423e-02 6.84855162e+02] [ 2.31770138e-02 9.99731375e-01 -5.76390499e-05 8.74058948e+00] [ 1.54712214e-02 -3.01025427e-04 9.99880268e-01 1.06102876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.4092541539999 meters Centerline goodness : 0.998666 Centerline is valid? [True, True] Translation: X:684.88, Y:8.74, Z:10.61 [[ 9.99721415e-01 -1.78226174e-02 -1.54740444e-02 6.84884528e+02] [ 1.78238685e-02 9.99841141e-01 -5.70674228e-05 8.74066099e+00] [ 1.54726033e-02 -2.18755809e-04 9.99880268e-01 1.06115494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.4392541539999 meters Centerline goodness : 0.998895 Centerline is valid? [True, True] Translation: X:684.91, Y:8.74, Z:10.61 [[ 9.99764232e-01 -1.52326855e-02 -1.54740446e-02 6.84913424e+02] [ 1.52336270e-02 9.99883960e-01 -5.70303354e-05 8.74070278e+00] [ 1.54731177e-02 -1.78708934e-04 9.99880268e-01 1.06123749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.4692541539999 meters Centerline goodness : 0.998728 Centerline is valid? [True, True] Translation: X:684.94, Y:8.74, Z:10.61 [[ 9.99799680e-01 -1.26946560e-02 -1.54740289e-02 6.84941017e+02] [ 1.26952321e-02 9.99919410e-01 -6.10019879e-05 8.74078288e+00] [ 1.54735563e-02 -1.35456620e-04 9.99880268e-01 1.06125636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.4992541539999 meters Centerline goodness : 0.998790 Centerline is valid? [True, True] Translation: X:684.97, Y:8.74, Z:10.61 [[ 9.99826245e-01 -1.03940096e-02 -1.54740095e-02 6.84967538e+02] [ 1.03942395e-02 9.99945976e-01 -6.55700979e-05 8.74108418e+00] [ 1.54738551e-02 -9.52818565e-05 9.99880268e-01 1.06129154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.5292541539999 meters Centerline goodness : 0.998896 Centerline is valid? [True, True] Translation: X:685.00, Y:8.74, Z:10.61 [[ 9.99857207e-01 -6.79121830e-03 -1.54740009e-02 6.84995291e+02] [ 6.79098616e-03 9.99976939e-01 -6.75475895e-05 8.73975111e+00] [ 1.54741028e-02 -3.75457817e-05 9.99880268e-01 1.06131520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.5592541539999 meters Centerline goodness : 0.998918 Centerline is valid? [True, True] Translation: X:685.02, Y:8.74, Z:10.61 [[ 9.99860881e-01 -6.22687263e-03 -1.54739800e-02 6.85022519e+02] [ 6.22650351e-03 9.99980613e-01 -7.20318392e-05 8.73891380e+00] [ 1.54741286e-02 -2.43269728e-05 9.99880268e-01 1.06128250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.589254154 meters Centerline goodness : 0.996383 Centerline is valid? [True, True] Translation: X:685.05, Y:8.74, Z:10.61 [[ 9.99863911e-01 -5.71985179e-03 -1.54739707e-02 6.85049079e+02] [ 5.71939190e-03 9.99983641e-01 -7.39741134e-05 8.73607873e+00] [ 1.54741407e-02 -1.45376566e-05 9.99880268e-01 1.06131545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.6192541539999 meters Centerline goodness : 0.998879 Centerline is valid? [True, True] Translation: X:685.08, Y:8.73, Z:10.61 [[ 9.99852874e-01 -7.40252653e-03 -1.54735904e-02 6.85078246e+02] [ 7.40114483e-03 9.99972600e-01 -1.46557521e-04 8.73440737e+00] [ 1.54742514e-02 3.20136752e-05 9.99880266e-01 1.06136275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.6492541539999 meters Centerline goodness : 0.998837 Centerline is valid? [True, True] Translation: X:685.11, Y:8.73, Z:10.61 [[ 9.99841657e-01 -8.78744324e-03 -1.54739336e-02 6.85105440e+02] [ 8.78724106e-03 9.99961388e-01 -8.10579820e-05 8.73267421e+00] [ 1.54740484e-02 -5.49280375e-05 9.99880268e-01 1.06131153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.6792541539999 meters Centerline goodness : 0.998901 Centerline is valid? [True, True] Translation: X:685.13, Y:8.73, Z:10.61 [[ 9.99819677e-01 -1.10077517e-02 -1.54739234e-02 6.85133566e+02] [ 1.10077861e-02 9.99939409e-01 -8.29519511e-05 8.73111215e+00] [ 1.54738990e-02 -8.73966466e-05 9.99880268e-01 1.06141855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.709254154 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:685.16, Y:8.73, Z:10.61 [[ 9.99750781e-01 -1.60914274e-02 -1.54738988e-02 6.85161994e+02] [ 1.60920031e-02 9.99870512e-01 -8.73154326e-05 8.72699635e+00] [ 1.54733001e-02 -1.61712355e-04 9.99880268e-01 1.06142524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.7392541539999 meters Centerline goodness : 0.999010 Centerline is valid? [True, True] Translation: X:685.19, Y:8.72, Z:10.61 [[ 9.99692783e-01 -1.93622904e-02 -1.54738924e-02 6.85189601e+02] [ 1.93632403e-02 9.99812511e-01 -8.84438293e-05 8.72475025e+00] [ 1.54727036e-02 -2.11208039e-04 9.99880268e-01 1.06143529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.7692541539999 meters Centerline goodness : 0.999032 Centerline is valid? [True, True] Translation: X:685.22, Y:8.72, Z:10.61 [[ 9.99612767e-01 -2.31273790e-02 -1.54738842e-02 6.85218496e+02] [ 2.31287582e-02 9.99732490e-01 -8.98439387e-05 8.72254365e+00] [ 1.54718227e-02 -2.68082579e-04 9.99880268e-01 1.06148198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.7992541539999 meters Centerline goodness : 0.999055 Centerline is valid? [True, True] Translation: X:685.25, Y:8.72, Z:10.62 [[ 9.99517473e-01 -2.69328994e-02 -1.54738601e-02 6.85248098e+02] [ 2.69346729e-02 9.99637192e-01 -9.38173913e-05 8.72042919e+00] [ 1.54707729e-02 -3.23011240e-04 9.99880268e-01 1.06152924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.829254154 meters Centerline goodness : 0.998909 Centerline is valid? [True, True] Translation: X:685.28, Y:8.72, Z:10.61 [[ 9.99321382e-01 -3.34265733e-02 -1.54738567e-02 6.85277790e+02] [ 3.34291158e-02 9.99441086e-01 -9.43879200e-05 8.71570133e+00] [ 1.54683632e-02 -4.22953479e-04 9.99880268e-01 1.06137226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.8592541539999 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:685.31, Y:8.71, Z:10.62 [[ 9.99174174e-01 -3.75703389e-02 -1.54738549e-02 6.85310383e+02] [ 3.75733734e-02 9.99293867e-01 -9.46709419e-05 8.71392724e+00] [ 1.54664851e-02 -4.86812168e-04 9.99880268e-01 1.06162941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.8892541539999 meters Centerline goodness : 0.998954 Centerline is valid? [True, True] Translation: X:685.34, Y:8.71, Z:10.62 [[ 9.99046014e-01 -4.08365298e-02 -1.54738617e-02 6.85342915e+02] [ 4.08399731e-02 9.99165696e-01 -9.35428947e-05 8.71192455e+00] [ 1.54647718e-02 -5.38498441e-04 9.99880268e-01 1.06167062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.9192541539999 meters Centerline goodness : 0.998764 Centerline is valid? [True, True] Translation: X:685.38, Y:8.70, Z:10.61 [[ 9.99110487e-01 -3.92274596e-02 -1.54738685e-02 6.85381563e+02] [ 3.92307275e-02 9.99230174e-01 -9.24179792e-05 8.69881966e+00] [ 1.54655816e-02 -5.14715344e-04 9.99880268e-01 1.06115381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.949254154 meters Centerline goodness : 0.998806 Centerline is valid? [True, True] Translation: X:685.40, Y:8.71, Z:10.62 [[ 9.98696458e-01 -4.86402420e-02 -1.54761683e-02 6.85402209e+02] [ 4.86516631e-02 9.98815741e-01 3.62126964e-04 8.70659968e+00] [ 1.54402265e-02 -1.11459624e-03 9.99880171e-01 1.06166073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.9792541539999 meters Centerline goodness : 0.998723 Centerline is valid? [True, True] Translation: X:685.43, Y:8.71, Z:10.62 [[ 9.98599262e-01 -5.05972873e-02 -1.54734571e-02 6.85434719e+02] [ 5.06019179e-02 9.98718898e-01 -9.23602801e-05 8.70536276e+00] [ 1.54583072e-02 -6.90755696e-04 9.99880275e-01 1.06168313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.0092541539999 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:685.47, Y:8.70, Z:10.62 [[ 9.98521889e-01 -5.21019160e-02 -1.54734635e-02 6.85466695e+02] [ 5.21067439e-02 9.98641517e-01 -9.12628195e-05 8.70437674e+00] [ 1.54571981e-02 -7.15143878e-04 9.99880275e-01 1.06172721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.0392541539999 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:685.50, Y:8.70, Z:10.62 [[ 9.98406303e-01 -5.42717857e-02 -1.54734700e-02 6.85497560e+02] [ 5.42768905e-02 9.98525919e-01 -9.01619187e-05 8.70330107e+00] [ 1.54555541e-02 -7.49833607e-04 9.99880275e-01 1.06168319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.069254154 meters Centerline goodness : 0.998952 Centerline is valid? [True, True] Translation: X:685.53, Y:8.70, Z:10.62 [[ 9.98367605e-01 -5.49790616e-02 -1.54734747e-02 6.85530209e+02] [ 5.49842638e-02 9.98487217e-01 -8.93413279e-05 8.70318798e+00] [ 1.54549786e-02 -7.61602127e-04 9.99880275e-01 1.06179440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.0992541539999 meters Centerline goodness : 0.998994 Centerline is valid? [True, True] Translation: X:685.56, Y:8.70, Z:10.62 [[ 9.98342223e-01 -5.54380569e-02 -1.54734808e-02 6.85562769e+02] [ 5.54433307e-02 9.98461832e-01 -8.82699862e-05 8.70313172e+00] [ 1.54545735e-02 -7.69777660e-04 9.99880275e-01 1.06189842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.1292541539999 meters Centerline goodness : 0.998762 Centerline is valid? [True, True] Translation: X:685.60, Y:8.70, Z:10.62 [[ 9.98341904e-01 -5.54437974e-02 -1.54734870e-02 6.85595316e+02] [ 5.54490890e-02 9.98461512e-01 -8.71659651e-05 8.70334813e+00] [ 1.54545141e-02 -7.70969323e-04 9.99880275e-01 1.06184890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.1592541539999 meters Centerline goodness : 0.999014 Centerline is valid? [True, True] Translation: X:685.63, Y:8.70, Z:10.62 [[ 9.98348469e-01 -5.53254879e-02 -1.54733468e-02 6.85628741e+02] [ 5.53303666e-02 9.98468096e-01 -1.12954788e-04 8.70361006e+00] [ 1.54558924e-02 -7.43377714e-04 9.99880274e-01 1.06207440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.1892541539999 meters Centerline goodness : 0.998847 Centerline is valid? [True, True] Translation: X:685.66, Y:8.70, Z:10.62 [[ 9.98390749e-01 -5.45571593e-02 -1.54735130e-02 6.85660194e+02] [ 5.45624343e-02 9.98510358e-01 -8.13637272e-05 8.70407748e+00] [ 1.54549019e-02 -7.63039743e-04 9.99880275e-01 1.06195676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.2192541539999 meters Centerline goodness : 0.999098 Centerline is valid? [True, True] Translation: X:685.69, Y:8.71, Z:10.62 [[ 9.98372189e-01 -5.48957471e-02 -1.54735175e-02 6.85691982e+02] [ 5.49010761e-02 9.98491795e-01 -8.04959007e-05 8.70533306e+00] [ 1.54545991e-02 -7.69147892e-04 9.99880275e-01 1.06218253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.2492541539999 meters Centerline goodness : 0.998597 Centerline is valid? [True, True] Translation: X:685.72, Y:8.71, Z:10.62 [[ 9.98467627e-01 -5.31316087e-02 -1.54735233e-02 6.85721030e+02] [ 5.31367440e-02 9.98587242e-01 -7.93556658e-05 8.70706188e+00] [ 1.54558793e-02 -7.42978585e-04 9.99880275e-01 1.06200326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.2792541539999 meters Centerline goodness : 0.998742 Centerline is valid? [True, True] Translation: X:685.76, Y:8.71, Z:10.62 [[ 9.98574885e-01 -5.10762409e-02 -1.54731196e-02 6.85756128e+02] [ 5.10798708e-02 9.98694558e-01 -1.60773645e-04 8.70639801e+00] [ 1.54611320e-02 -6.29820424e-04 9.99880271e-01 1.06194291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.3092541539999 meters Centerline goodness : 0.999033 Centerline is valid? [True, True] Translation: X:685.79, Y:8.71, Z:10.62 [[ 9.98492509e-01 -5.26617759e-02 -1.54740445e-02 6.85785367e+02] [ 5.26683256e-02 9.98612060e-01 1.57698266e-05 8.70985714e+00] [ 1.54517370e-02 -8.30738068e-04 9.99880270e-01 1.06216217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.339254154 meters Centerline goodness : 0.998910 Centerline is valid? [True, True] Translation: X:685.82, Y:8.71, Z:10.62 [[ 9.98562315e-01 -5.13212634e-02 -1.54735284e-02 6.85816589e+02] [ 5.13261436e-02 9.98681942e-01 -8.18288879e-05 8.71125599e+00] [ 1.54573330e-02 -7.12485299e-04 9.99880274e-01 1.06212907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.3692541539999 meters Centerline goodness : 0.998801 Centerline is valid? [True, True] Translation: X:685.85, Y:8.71, Z:10.62 [[ 9.98724993e-01 -4.80516099e-02 -1.54735329e-02 6.85848499e+02] [ 4.80561115e-02 9.98844634e-01 -8.09804466e-05 8.71423930e+00] [ 1.54595465e-02 -6.62720626e-04 9.99880274e-01 1.06216666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.3992541539999 meters Centerline goodness : 0.998801 Centerline is valid? [True, True] Translation: X:685.88, Y:8.72, Z:10.62 [[ 9.98812281e-01 -4.62016924e-02 -1.54735387e-02 6.85880399e+02] [ 4.62059898e-02 9.98931930e-01 -7.98581932e-05 8.71622007e+00] [ 1.54607014e-02 -6.35206826e-04 9.99880274e-01 1.06232059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.4292541539999 meters Centerline goodness : 0.999075 Centerline is valid? [True, True] Translation: X:685.91, Y:8.72, Z:10.62 [[ 9.98899183e-01 -4.42830968e-02 -1.54735446e-02 6.85912800e+02] [ 4.42871822e-02 9.99018838e-01 -7.87038348e-05 8.71843219e+00] [ 1.54618478e-02 -6.06662490e-04 9.99880274e-01 1.06245604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.459254154 meters Centerline goodness : 0.998886 Centerline is valid? [True, True] Translation: X:685.94, Y:8.72, Z:10.63 [[ 9.99063099e-01 -4.04164912e-02 -1.54735503e-02 6.85944152e+02] [ 4.04201312e-02 9.99182770e-01 -7.75561464e-05 8.72276817e+00] [ 1.54640394e-02 -5.47959450e-04 9.99880274e-01 1.06262875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.4892541539999 meters Centerline goodness : 0.999053 Centerline is valid? [True, True] Translation: X:685.98, Y:8.72, Z:10.63 [[ 9.99132233e-01 -3.86697654e-02 -1.54735545e-02 6.85976081e+02] [ 3.86732094e-02 9.99251909e-01 -7.67013715e-05 8.72490466e+00] [ 1.54649449e-02 -5.21777203e-04 9.99880274e-01 1.06275123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.5192541539999 meters Centerline goodness : 0.998886 Centerline is valid? [True, True] Translation: X:686.01, Y:8.73, Z:10.63 [[ 9.99237071e-01 -3.58586761e-02 -1.54735600e-02 6.86007625e+02] [ 3.58618008e-02 9.99356756e-01 -7.55749146e-05 8.72609318e+00] [ 1.54663168e-02 -4.79392471e-04 9.99880274e-01 1.06269902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.5492541539999 meters Centerline goodness : 0.998886 Centerline is valid? [True, True] Translation: X:686.04, Y:8.73, Z:10.63 [[ 9.99238977e-01 -3.58055395e-02 -1.54735439e-02 6.86039471e+02] [ 3.58086064e-02 9.99358663e-01 -7.89004093e-05 8.72620513e+00] [ 1.54664452e-02 -4.75245678e-04 9.99880274e-01 1.06274840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.579254154 meters Centerline goodness : 0.998674 Centerline is valid? [True, True] Translation: X:686.07, Y:8.73, Z:10.63 [[ 9.99278621e-01 -3.46814995e-02 -1.54735475e-02 6.86070237e+02] [ 3.46844433e-02 9.99398311e-01 -7.81575379e-05 8.72787816e+00] [ 1.54669478e-02 -4.58590222e-04 9.99880274e-01 1.06281082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.6092541539999 meters Centerline goodness : 0.998759 Centerline is valid? [True, True] Translation: X:686.10, Y:8.73, Z:10.63 [[ 9.99336621e-01 -3.29679563e-02 -1.54735668e-02 6.86100964e+02] [ 3.29707574e-02 9.99456314e-01 -7.41128012e-05 8.73114987e+00] [ 1.54675974e-02 -4.36111582e-04 9.99880274e-01 1.06301757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.6392541539999 meters Centerline goodness : 0.998778 Centerline is valid? [True, True] Translation: X:686.13, Y:8.73, Z:10.63 [[ 9.99371814e-01 -3.18833221e-02 -1.54735754e-02 6.86132589e+02] [ 3.18860217e-02 9.99491509e-01 -7.22776336e-05 8.73262378e+00] [ 1.54680117e-02 -4.21158531e-04 9.99880274e-01 1.06312251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.6692541539999 meters Centerline goodness : 0.998840 Centerline is valid? [True, True] Translation: X:686.16, Y:8.74, Z:10.63 [[ 9.99423846e-01 -3.02083449e-02 -1.54735780e-02 6.86164265e+02] [ 3.02108526e-02 9.99543545e-01 -7.17113114e-05 8.73539930e+00] [ 1.54686813e-02 -3.95799991e-04 9.99880274e-01 1.06322619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.699254154 meters Centerline goodness : 0.998819 Centerline is valid? [True, True] Translation: X:686.19, Y:8.74, Z:10.63 [[ 9.99464830e-01 -2.88205033e-02 -1.54735807e-02 6.86194745e+02] [ 2.88228537e-02 9.99584533e-01 -7.11386440e-05 8.73632958e+00] [ 1.54692021e-02 -3.74892178e-04 9.99880274e-01 1.06309126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.7292541539999 meters Centerline goodness : 0.998947 Centerline is valid? [True, True] Translation: X:686.22, Y:8.74, Z:10.63 [[ 9.99462411e-01 -2.89043217e-02 -1.54735030e-02 6.86224971e+02] [ 2.89064271e-02 9.99582118e-01 -8.76227159e-05 8.73731717e+00] [ 1.54695696e-02 -3.59708075e-04 9.99880274e-01 1.06326306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.7592541539999 meters Centerline goodness : 0.999010 Centerline is valid? [True, True] Translation: X:686.26, Y:8.74, Z:10.63 [[ 9.99480031e-01 -2.82884471e-02 -1.54735687e-02 6.86255747e+02] [ 2.82906916e-02 9.99599736e-01 -7.38623139e-05 8.73794688e+00] [ 1.54694646e-02 -3.63934052e-04 9.99880274e-01 1.06319270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.7892541539999 meters Centerline goodness : 0.998756 Centerline is valid? [True, True] Translation: X:686.29, Y:8.74, Z:10.63 [[ 9.99520766e-01 -2.68105758e-02 -1.54735700e-02 6.86287166e+02] [ 2.68126476e-02 9.99640474e-01 -7.35822375e-05 8.73880630e+00] [ 1.54699797e-02 -3.41340406e-04 9.99880274e-01 1.06322275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.819254154 meters Centerline goodness : 0.998839 Centerline is valid? [True, True] Translation: X:686.32, Y:8.74, Z:10.63 [[ 9.99560136e-01 -2.53002687e-02 -1.54735727e-02 6.86317762e+02] [ 2.53021683e-02 9.99679846e-01 -7.30250223e-05 8.73917609e+00] [ 1.54704663e-02 -3.18522038e-04 9.99880274e-01 1.06332944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.8492541539999 meters Centerline goodness : 0.998860 Centerline is valid? [True, True] Translation: X:686.35, Y:8.74, Z:10.63 [[ 9.99577405e-01 -2.46085978e-02 -1.54734468e-02 6.86347286e+02] [ 2.46100053e-02 9.99697123e-01 -9.94688265e-05 8.73983154e+00] [ 1.54712080e-02 -2.81374815e-04 9.99880274e-01 1.06332025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.8792541539999 meters Centerline goodness : 0.998923 Centerline is valid? [True, True] Translation: X:686.38, Y:8.74, Z:10.63 [[ 9.99612784e-01 -2.31268351e-02 -1.54735715e-02 6.86376772e+02] [ 2.31284744e-02 9.99732498e-01 -7.30289872e-05 8.73980576e+00] [ 1.54711213e-02 -2.84879394e-04 9.99880274e-01 1.06348010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.9092541539999 meters Centerline goodness : 0.998818 Centerline is valid? [True, True] Translation: X:686.41, Y:8.74, Z:10.63 [[ 9.99619849e-01 -2.28194102e-02 -1.54735699e-02 6.86406072e+02] [ 2.28210073e-02 9.99739564e-01 -7.33686897e-05 8.73958701e+00] [ 1.54712143e-02 -2.79781654e-04 9.99880274e-01 1.06336444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.9392541539999 meters Centerline goodness : 0.998881 Centerline is valid? [True, True] Translation: X:686.44, Y:8.74, Z:10.64 [[ 9.99621678e-01 -2.27391521e-02 -1.54735683e-02 6.86435977e+02] [ 2.27407343e-02 9.99741393e-01 -7.37087172e-05 8.74070031e+00] [ 1.54712428e-02 -2.78199475e-04 9.99880274e-01 1.06362576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.9692541539999 meters Centerline goodness : 0.996857 Centerline is valid? [True, True] Translation: X:686.46, Y:8.74, Z:10.63 [[ 9.99677097e-01 -2.01561595e-02 -1.54735653e-02 6.86464728e+02] [ 2.01574229e-02 9.99796816e-01 -7.43270651e-05 8.73966239e+00] [ 1.54719195e-02 -2.37604135e-04 9.99880274e-01 1.06339188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.9992541539999 meters Centerline goodness : 0.998925 Centerline is valid? [True, True] Translation: X:686.49, Y:8.74, Z:10.64 [[ 9.99711301e-01 -1.83821172e-02 -1.54729381e-02 6.86494049e+02] [ 1.83812600e-02 9.99831031e-01 -1.97623466e-04 8.73763344e+00] [ 1.54739563e-02 -8.68456843e-05 9.99880267e-01 1.06362540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.0292541539999 meters Centerline goodness : 0.998946 Centerline is valid? [True, True] Translation: X:686.52, Y:8.74, Z:10.64 [[ 9.99721652e-01 -1.78097627e-02 -1.54735401e-02 6.86521490e+02] [ 1.78106945e-02 9.99841374e-01 -7.75919607e-05 8.73716670e+00] [ 1.54724674e-02 -1.98024132e-04 9.99880275e-01 1.06363485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.0592541539999 meters Centerline goodness : 0.998799 Centerline is valid? [True, True] Translation: X:686.55, Y:8.74, Z:10.64 [[ 9.99728473e-01 -1.74226967e-02 -1.54735329e-02 6.86550454e+02] [ 1.74235605e-02 9.99848195e-01 -7.89927793e-05 8.73543612e+00] [ 1.54725602e-02 -1.90632706e-04 9.99880275e-01 1.06360015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.089254154 meters Centerline goodness : 0.998881 Centerline is valid? [True, True] Translation: X:686.58, Y:8.73, Z:10.64 [[ 9.99720072e-01 -1.78982735e-02 -1.54735117e-02 6.86578836e+02] [ 1.78991330e-02 9.99839794e-01 -8.29559563e-05 8.73422768e+00] [ 1.54725175e-02 -1.94029708e-04 9.99880275e-01 1.06360645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.1192541539999 meters Centerline goodness : 0.999010 Centerline is valid? [True, True] Translation: X:686.61, Y:8.73, Z:10.64 [[ 9.99703826e-01 -1.87837957e-02 -1.54734894e-02 6.86607144e+02] [ 1.87846999e-02 9.99823548e-01 -8.69135967e-05 8.73283475e+00] [ 1.54723917e-02 -2.03777000e-04 9.99880275e-01 1.06361553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.1492541539999 meters Centerline goodness : 0.998905 Centerline is valid? [True, True] Translation: X:686.64, Y:8.73, Z:10.64 [[ 9.99653097e-01 -2.13132956e-02 -1.54734662e-02 6.86635803e+02] [ 2.13144415e-02 9.99772817e-01 -9.08721462e-05 8.72968549e+00] [ 1.54718877e-02 -2.38967667e-04 9.99880275e-01 1.06357381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.1792541539999 meters Centerline goodness : 0.998715 Centerline is valid? [True, True] Translation: X:686.67, Y:8.73, Z:10.64 [[ 9.99623112e-01 -2.26761046e-02 -1.54734421e-02 6.86665612e+02] [ 2.26773529e-02 9.99742831e-01 -9.48050918e-05 8.72883790e+00] [ 1.54716126e-02 -2.56127346e-04 9.99880275e-01 1.06363532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.209254154 meters Centerline goodness : 0.998927 Centerline is valid? [True, True] Translation: X:686.69, Y:8.73, Z:10.64 [[ 9.99581912e-01 -2.44248608e-02 -1.54734386e-02 6.86693823e+02] [ 2.44263097e-02 9.99701629e-01 -9.53705227e-05 8.72728687e+00] [ 1.54711512e-02 -2.82628355e-04 9.99880275e-01 1.06357685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.2392541539999 meters Centerline goodness : 0.999033 Centerline is valid? [True, True] Translation: X:686.72, Y:8.73, Z:10.64 [[ 9.99575534e-01 -2.46845068e-02 -1.54734329e-02 6.86723677e+02] [ 2.46859726e-02 9.99695250e-01 -9.62930319e-05 8.72660807e+00] [ 1.54710943e-02 -2.85724581e-04 9.99880275e-01 1.06374036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.2692541539999 meters Centerline goodness : 0.998842 Centerline is valid? [True, True] Translation: X:686.75, Y:8.73, Z:10.64 [[ 9.99571651e-01 -2.48412462e-02 -1.54734289e-02 6.86753331e+02] [ 2.48427210e-02 9.99691367e-01 -9.69184217e-05 8.72588492e+00] [ 1.54710609e-02 -2.87525172e-04 9.99880275e-01 1.06375485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.2992541539999 meters Centerline goodness : 0.998781 Centerline is valid? [True, True] Translation: X:686.78, Y:8.73, Z:10.64 [[ 9.99581251e-01 -2.44519060e-02 -1.54734272e-02 6.86783041e+02] [ 2.44533299e-02 9.99700968e-01 -9.71988143e-05 8.72506812e+00] [ 1.54711768e-02 -2.81218708e-04 9.99880275e-01 1.06377602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.329254154 meters Centerline goodness : 0.998930 Centerline is valid? [True, True] Translation: X:686.81, Y:8.72, Z:10.64 [[ 9.99600732e-01 -2.36421080e-02 -1.54734237e-02 6.86812402e+02] [ 2.36434264e-02 9.99720450e-01 -9.77536983e-05 8.72424409e+00] [ 1.54714092e-02 -2.68130085e-04 9.99880275e-01 1.06380460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.3592541539999 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:686.84, Y:8.72, Z:10.64 [[ 9.99649610e-01 -2.14762579e-02 -1.54734201e-02 6.86841565e+02] [ 2.14773082e-02 9.99769331e-01 -9.83121139e-05 8.72318694e+00] [ 1.54719623e-02 -2.34049746e-04 9.99880275e-01 1.06385856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.3892541539999 meters Centerline goodness : 0.998906 Centerline is valid? [True, True] Translation: X:686.87, Y:8.72, Z:10.64 [[ 9.99674651e-01 -2.02772094e-02 -1.54734165e-02 6.86869909e+02] [ 2.02781073e-02 9.99794373e-01 -9.88799802e-05 8.72306272e+00] [ 1.54722398e-02 -2.14923791e-04 9.99880275e-01 1.06399063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.4192541539999 meters Centerline goodness : 0.999031 Centerline is valid? [True, True] Translation: X:686.90, Y:8.72, Z:10.64 [[ 9.99689613e-01 -1.95257711e-02 -1.54732830e-02 6.86898355e+02] [ 1.95262617e-02 9.99809337e-01 -1.19382937e-04 8.72297316e+00] [ 1.54726639e-02 -1.82789493e-04 9.99880274e-01 1.06396818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.449254154 meters Centerline goodness : 0.999053 Centerline is valid? [True, True] Translation: X:686.93, Y:8.72, Z:10.64 [[ 9.99744215e-01 -1.64948414e-02 -1.54733891e-02 6.86925879e+02] [ 1.64952144e-02 9.99863939e-01 -1.03528760e-04 8.72217645e+00] [ 1.54729915e-02 -1.51734592e-04 9.99880275e-01 1.06399967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.4792541539999 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:686.95, Y:8.72, Z:10.64 [[ 9.99759845e-01 -1.55186123e-02 -1.54733797e-02 6.86953444e+02] [ 1.55188469e-02 9.99879570e-01 -1.04916719e-04 8.72201472e+00] [ 1.54731444e-02 -1.35237488e-04 9.99880275e-01 1.06414957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.5092541539999 meters Centerline goodness : 0.998968 Centerline is valid? [True, True] Translation: X:686.98, Y:8.72, Z:10.64 [[ 9.99786701e-01 -1.36794814e-02 -1.54733704e-02 6.86980281e+02] [ 1.36794748e-02 9.99906426e-01 -1.06273078e-04 8.72142036e+00] [ 1.54733763e-02 -1.05417170e-04 9.99880275e-01 1.06432443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.5392541539999 meters Centerline goodness : 0.999158 Centerline is valid? [True, True] Translation: X:687.01, Y:8.73, Z:10.64 [[ 9.99738341e-01 -1.68474060e-02 -1.54729965e-02 6.87005506e+02] [ 1.68469348e-02 9.99858067e-01 -1.60806129e-04 8.72623624e+00] [ 1.54735095e-02 -9.99085088e-05 9.99880273e-01 1.06439366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.569254154 meters Centerline goodness : 0.999074 Centerline is valid? [True, True] Translation: X:687.04, Y:8.72, Z:10.64 [[ 9.99815853e-01 -1.13544767e-02 -1.54704634e-02 6.87041044e+02] [ 1.13482139e-02 9.99935486e-01 -4.92552713e-04 8.71836733e+00] [ 1.54750580e-02 3.16899883e-04 9.99880204e-01 1.06429132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.5992541539999 meters Centerline goodness : 0.998971 Centerline is valid? [True, True] Translation: X:687.07, Y:8.72, Z:10.64 [[ 9.99819491e-01 -1.10257717e-02 -1.54731342e-02 6.87068923e+02] [ 1.10254330e-02 9.99939212e-01 -1.07197626e-04 8.71718812e+00] [ 1.54733756e-02 -6.34197290e-05 9.99880278e-01 1.06432902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.6292541539999 meters Centerline goodness : 0.998947 Centerline is valid? [True, True] Translation: X:687.10, Y:8.71, Z:10.64 [[ 9.99818488e-01 -1.11163783e-02 -1.54731017e-02 6.87096824e+02] [ 1.11159807e-02 9.99938209e-01 -1.11699164e-04 8.71448740e+00] [ 1.54733873e-02 -6.03198111e-05 9.99880278e-01 1.06438534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.6592541539999 meters Centerline goodness : 0.999201 Centerline is valid? [True, True] Translation: X:687.13, Y:8.71, Z:10.64 [[ 9.99811755e-01 -1.17063340e-02 -1.54730673e-02 6.87125003e+02] [ 1.17059362e-02 9.99931476e-01 -1.16282283e-04 8.71302877e+00] [ 1.54733683e-02 -6.48663453e-05 9.99880278e-01 1.06441174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.6892541539999 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:687.15, Y:8.71, Z:10.64 [[ 9.99798734e-01 -1.27701720e-02 -1.54730312e-02 6.87152258e+02] [ 1.27698300e-02 9.99918455e-01 -1.20905820e-04 8.71135900e+00] [ 1.54733134e-02 -7.67064921e-05 9.99880278e-01 1.06436540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.7192541539999 meters Centerline goodness : 0.998991 Centerline is valid? [True, True] Translation: X:687.18, Y:8.71, Z:10.64 [[ 9.99787136e-01 -1.36480482e-02 -1.54730057e-02 6.87180967e+02] [ 1.36477621e-02 9.99906857e-01 -1.24083627e-04 8.70934854e+00] [ 1.54732580e-02 -8.71146868e-05 9.99880278e-01 1.06417112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.7492541539999 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:687.21, Y:8.71, Z:10.64 [[ 9.99730839e-01 -1.72868692e-02 -1.54729742e-02 6.87208520e+02] [ 1.72869600e-02 9.99850561e-01 -1.27892305e-04 8.70639709e+00] [ 1.54728728e-02 -1.39622805e-04 9.99880278e-01 1.06430820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.7792541539999 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:687.23, Y:8.71, Z:10.64 [[ 9.99702915e-01 -1.88326428e-02 -1.54729600e-02 6.87234949e+02] [ 1.88328923e-02 9.99822637e-01 -1.29594178e-04 8.70549824e+00] [ 1.54726562e-02 -1.61844911e-04 9.99880278e-01 1.06426739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.8092541539999 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:687.26, Y:8.70, Z:10.64 [[ 9.99649116e-01 -2.14998950e-02 -1.54725101e-02 6.87264557e+02] [ 2.14996692e-02 9.99768839e-01 -1.80952812e-04 8.70419121e+00] [ 1.54728239e-02 -1.51764530e-04 9.99880277e-01 1.06427430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.839254154 meters Centerline goodness : 0.999225 Centerline is valid? [True, True] Translation: X:687.29, Y:8.71, Z:10.64 [[ 9.99543647e-01 -2.59439154e-02 -1.54728966e-02 6.87289584e+02] [ 2.59448951e-02 9.99663365e-01 -1.37447554e-04 8.70829454e+00] [ 1.54712538e-02 -2.64057848e-04 9.99880278e-01 1.06428112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.8692541539999 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:687.32, Y:8.70, Z:10.65 [[ 9.99477049e-01 -2.83953613e-02 -1.54703731e-02 6.87324779e+02] [ 2.83924841e-02 9.99596770e-01 -4.05625641e-04 8.69965081e+00] [ 1.54756529e-02 -3.38288048e-05 9.99880244e-01 1.06457974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.8992541539999 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:687.35, Y:8.70, Z:10.65 [[ 9.99381042e-01 -3.15931525e-02 -1.54727528e-02 6.87351630e+02] [ 3.15948146e-02 9.99500750e-01 -1.37071559e-04 8.70120135e+00] [ 1.54693585e-02 -3.51872038e-04 9.99880280e-01 1.06458765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.9292541539999 meters Centerline goodness : 0.996070 Centerline is valid? [True, True] Translation: X:687.38, Y:8.70, Z:10.65 [[ 9.99288215e-01 -3.44050834e-02 -1.54710570e-02 6.87381251e+02] [ 3.44045378e-02 9.99407943e-01 -3.01496958e-04 8.70070453e+00] [ 1.54722703e-02 -2.30992208e-04 9.99880271e-01 1.06459017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.959254154 meters Centerline goodness : 0.998978 Centerline is valid? [True, True] Translation: X:687.41, Y:8.70, Z:10.65 [[ 9.99142106e-01 -3.84152735e-02 -1.54699454e-02 6.87413550e+02] [ 3.84135670e-02 9.99261843e-01 -4.07554942e-04 8.69609409e+00] [ 1.54741825e-02 -1.87050482e-04 9.99880250e-01 1.06503609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.9892541539999 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:687.45, Y:8.69, Z:10.65 [[ 9.99074579e-01 -4.01321358e-02 -1.54724907e-02 6.87445394e+02] [ 4.01345064e-02 9.99194274e-01 -1.57391818e-04 8.69482035e+00] [ 1.54663405e-02 -4.63734611e-04 9.99880281e-01 1.06511845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.0192541539999 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:687.48, Y:8.69, Z:10.65 [[ 9.99008914e-01 -4.17347665e-02 -1.54724964e-02 6.87477180e+02] [ 4.17373379e-02 9.99128605e-01 -1.56825046e-04 8.69357045e+00] [ 1.54655588e-02 -4.89111191e-04 9.99880281e-01 1.06516181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.0492541539999 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:687.51, Y:8.69, Z:10.65 [[ 9.98854492e-01 -4.52802932e-02 -1.54725021e-02 6.87507973e+02] [ 4.52832981e-02 9.98974173e-01 -1.56261670e-04 8.69059641e+00] [ 1.54637056e-02 -5.44563253e-04 9.99880281e-01 1.06499307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.079254154 meters Centerline goodness : 0.998957 Centerline is valid? [True, True] Translation: X:687.54, Y:8.69, Z:10.65 [[ 9.98763369e-01 -4.72475846e-02 -1.54725214e-02 6.87539723e+02] [ 4.72508552e-02 9.98883043e-01 -1.54322431e-04 8.68937795e+00] [ 1.54625307e-02 -5.76958279e-04 9.99880281e-01 1.06507986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.1092541539999 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:687.57, Y:8.69, Z:10.65 [[ 9.98691358e-01 -4.87460040e-02 -1.54725326e-02 6.87570707e+02] [ 4.87494716e-02 9.98811026e-01 -1.53194481e-04 8.68861222e+00] [ 1.54616038e-02 -6.01283785e-04 9.99880281e-01 1.06505818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.1392541539999 meters Centerline goodness : 0.996951 Centerline is valid? [True, True] Translation: X:687.60, Y:8.69, Z:10.65 [[ 9.98646264e-01 -4.96613188e-02 -1.54723516e-02 6.87599995e+02] [ 4.96646191e-02 9.98765937e-01 -1.71097567e-04 8.68707639e+00] [ 1.54617546e-02 -5.97562501e-04 9.99880281e-01 1.06485500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.1692541539999 meters Centerline goodness : 0.998937 Centerline is valid? [True, True] Translation: X:687.63, Y:8.69, Z:10.65 [[ 9.98444144e-01 -5.35718776e-02 -1.54707644e-02 6.87632882e+02] [ 5.35734826e-02 9.98563861e-01 -3.10971103e-04 8.68694980e+00] [ 1.54652055e-02 -5.18335448e-04 9.99880272e-01 1.06506098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.199254154 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:687.67, Y:8.69, Z:10.65 [[ 9.98322446e-01 -5.57933767e-02 -1.54723138e-02 6.87665235e+02] [ 5.57974318e-02 9.98442095e-01 -1.69810936e-04 8.68518009e+00] [ 1.54576837e-02 -6.93789303e-04 9.99880282e-01 1.06500952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.2292541539999 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:687.70, Y:8.69, Z:10.65 [[ 9.98236306e-01 -5.73138525e-02 -1.54725169e-02 6.87696795e+02] [ 5.73183759e-02 9.98355939e-01 -1.51310657e-04 8.68556524e+00] [ 1.54557513e-02 -7.35815748e-04 9.99880282e-01 1.06516198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.2592541539999 meters Centerline goodness : 0.997436 Centerline is valid? [True, True] Translation: X:687.73, Y:8.69, Z:10.65 [[ 9.98233301e-01 -5.73662295e-02 -1.54723060e-02 6.87729276e+02] [ 5.73704631e-02 9.98352944e-01 -1.70453901e-04 8.68566323e+00] [ 1.54566005e-02 -7.17500600e-04 9.99880282e-01 1.06511832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.2892541539999 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:687.76, Y:8.69, Z:10.65 [[ 9.98294050e-01 -5.62991764e-02 -1.54723247e-02 6.87761044e+02] [ 5.63033087e-02 9.98413696e-01 -1.68736283e-04 8.68573821e+00] [ 1.54572806e-02 -7.02694649e-04 9.99880282e-01 1.06524083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.319254154 meters Centerline goodness : 0.999209 Centerline is valid? [True, True] Translation: X:687.79, Y:8.69, Z:10.65 [[ 9.98326719e-01 -5.57168549e-02 -1.54723398e-02 6.87793916e+02] [ 5.57209389e-02 9.98446368e-01 -1.67345638e-04 8.68690517e+00] [ 1.54576254e-02 -6.95067677e-04 9.99880282e-01 1.06515886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.3492541539999 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:687.82, Y:8.69, Z:10.65 [[ 9.98350460e-01 -5.52896347e-02 -1.54730372e-02 6.87823918e+02] [ 5.52946548e-02 9.98470075e-01 -1.03515471e-04 8.68912086e+00] [ 1.54550879e-02 -7.52231529e-04 9.99880280e-01 1.06515663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.3792541539999 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:687.86, Y:8.69, Z:10.65 [[ 9.98472709e-01 -5.30363700e-02 -1.54723257e-02 6.87856532e+02] [ 5.30401111e-02 9.98592368e-01 -1.68752589e-04 8.69183370e+00] [ 1.54594964e-02 -6.52159017e-04 9.99880282e-01 1.06527577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.4092541539999 meters Centerline goodness : 0.997248 Centerline is valid? [True, True] Translation: X:687.89, Y:8.69, Z:10.65 [[ 9.98581376e-01 -5.09494048e-02 -1.54723377e-02 6.87888548e+02] [ 5.09529129e-02 9.98701043e-01 -1.67643067e-04 8.69286564e+00] [ 1.54607811e-02 -6.20955430e-04 9.99880282e-01 1.06530381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.4392541539999 meters Centerline goodness : 0.997248 Centerline is valid? [True, True] Translation: X:687.92, Y:8.69, Z:10.65 [[ 9.98583760e-01 -5.09026143e-02 -1.54724918e-02 6.87920389e+02] [ 5.09063372e-02 9.98703420e-01 -1.53394457e-04 8.69316905e+00] [ 1.54602386e-02 -6.34470670e-04 9.99880282e-01 1.06535274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.4692541539999 meters Centerline goodness : 0.999334 Centerline is valid? [True, True] Translation: X:687.95, Y:8.69, Z:10.65 [[ 9.98673004e-01 -4.91206008e-02 -1.54725027e-02 6.87950640e+02] [ 4.91241259e-02 9.98792670e-01 -1.52378460e-04 8.69489200e+00] [ 1.54613072e-02 -6.07896916e-04 9.99880282e-01 1.06548959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.4992541539999 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:687.98, Y:8.70, Z:10.66 [[ 9.98780584e-01 -4.68823051e-02 -1.54723698e-02 6.87983142e+02] [ 4.68853690e-02 9.98900263e-01 -1.64854951e-04 8.69649329e+00] [ 1.54630830e-02 -5.60773841e-04 9.99880282e-01 1.06557299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.5292541539999 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:688.01, Y:8.70, Z:10.66 [[ 9.99007923e-01 -4.17585395e-02 -1.54723817e-02 6.88014534e+02] [ 4.17610070e-02 9.99127615e-01 -1.63723862e-04 8.69967862e+00] [ 1.54657207e-02 -4.82580806e-04 9.99880282e-01 1.06565487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.5592541539999 meters Centerline goodness : 0.998999 Centerline is valid? [True, True] Translation: X:688.05, Y:8.70, Z:10.66 [[ 9.99112329e-01 -3.91811058e-02 -1.54723906e-02 6.88046233e+02] [ 3.91832775e-02 9.99232027e-01 -1.62881723e-04 8.70138232e+00] [ 1.54668901e-02 -4.43521837e-04 9.99880282e-01 1.06570777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.589254154 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:688.08, Y:8.70, Z:10.66 [[ 9.99235848e-01 -3.58932480e-02 -1.54723964e-02 6.88077837e+02] [ 3.58950343e-02 9.99355552e-01 -1.62333881e-04 8.70252502e+00] [ 1.54682519e-02 -3.93172365e-04 9.99880282e-01 1.06578401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.6192541539999 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:688.11, Y:8.70, Z:10.66 [[ 9.99310712e-01 -3.37447277e-02 -1.54724023e-02 6.88109370e+02] [ 3.37462654e-02 9.99430420e-01 -1.61761507e-04 8.70414265e+00] [ 1.54690482e-02 -3.60485790e-04 9.99880282e-01 1.06590061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.6492541539999 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:688.14, Y:8.71, Z:10.66 [[ 9.99456851e-01 -2.90965189e-02 -1.54724082e-02 6.88139182e+02] [ 2.90975086e-02 9.99576565e-01 -1.61194435e-04 8.70540087e+00] [ 1.54705469e-02 -2.89101650e-04 9.99880282e-01 1.06591406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.6792541539999 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:688.17, Y:8.71, Z:10.66 [[ 9.99505384e-01 -2.73786847e-02 -1.54724053e-02 6.88169631e+02] [ 2.73794644e-02 9.99625099e-01 -1.61475708e-04 8.70620388e+00] [ 1.54710257e-02 -2.62230331e-04 9.99880282e-01 1.06597303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.709254154 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:688.20, Y:8.71, Z:10.66 [[ 9.99543525e-01 -2.59489267e-02 -1.54724053e-02 6.88198805e+02] [ 2.59495351e-02 9.99663241e-01 -1.61475708e-04 8.70690458e+00] [ 1.54713850e-02 -2.40099726e-04 9.99880282e-01 1.06599862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.7392541539999 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:688.23, Y:8.71, Z:10.66 [[ 9.99587415e-01 -2.41992478e-02 -1.54724024e-02 6.88228613e+02] [ 2.41996423e-02 9.99707133e-01 -1.61754538e-04 8.70731086e+00] [ 1.54717854e-02 -2.12738803e-04 9.99880282e-01 1.06594446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.7692541539999 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:688.26, Y:8.71, Z:10.66 [[ 9.99585057e-01 -2.42964723e-02 -1.54723965e-02 6.88257650e+02] [ 2.42968698e-02 9.99704774e-01 -1.62315292e-04 8.70735302e+00] [ 1.54717724e-02 -2.13682863e-04 9.99880282e-01 1.06591416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.7992541539999 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:688.29, Y:8.71, Z:10.66 [[ 9.99580423e-01 -2.44863737e-02 -1.54723854e-02 6.88285932e+02] [ 2.44867776e-02 9.99700141e-01 -1.63369043e-04 8.70725208e+00] [ 1.54717462e-02 -2.15568363e-04 9.99880282e-01 1.06591549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.829254154 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:688.31, Y:8.71, Z:10.66 [[ 9.99572948e-01 -2.47896750e-02 -1.54723424e-02 6.88314713e+02] [ 2.47900538e-02 9.99692665e-01 -1.67340263e-04 8.70746256e+00] [ 1.54717356e-02 -2.16291401e-04 9.99880282e-01 1.06591655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.8592541539999 meters Centerline goodness : 0.998979 Centerline is valid? [True, True] Translation: X:688.34, Y:8.71, Z:10.66 [[ 9.99583877e-01 -2.43450432e-02 -1.54722983e-02 6.88343263e+02] [ 2.43453071e-02 9.99703594e-01 -1.71325407e-04 8.70715581e+00] [ 1.54718832e-02 -2.05423739e-04 9.99880282e-01 1.06581389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.8892541539999 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:688.37, Y:8.71, Z:10.66 [[ 9.99583130e-01 -2.43757090e-02 -1.54722889e-02 6.88371563e+02] [ 2.43759635e-02 9.99702847e-01 -1.72171654e-04 8.70713805e+00] [ 1.54718881e-02 -2.05052068e-04 9.99880282e-01 1.06583268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.9192541539999 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:688.40, Y:8.71, Z:10.66 [[ 9.99586990e-01 -2.42169344e-02 -1.54722440e-02 6.88400095e+02] [ 2.42171088e-02 9.99706707e-01 -1.76117051e-04 8.70704389e+00] [ 1.54719711e-02 -1.98648703e-04 9.99880282e-01 1.06586918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.949254154 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:688.43, Y:8.71, Z:10.66 [[ 9.99601758e-01 -2.35994919e-02 -1.54721969e-02 6.88428672e+02] [ 2.35995297e-02 9.99721476e-01 -1.80162831e-04 8.70649780e+00] [ 1.54721392e-02 -1.85045487e-04 9.99880282e-01 1.06582302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.9792541539999 meters Centerline goodness : 0.999188 Centerline is valid? [True, True] Translation: X:688.46, Y:8.71, Z:10.66 [[ 9.99570946e-01 -2.48703962e-02 -1.54721488e-02 6.88457805e+02] [ 2.48705237e-02 9.99690664e-01 -1.84202833e-04 8.70595453e+00] [ 1.54719439e-02 -2.00676642e-04 9.99880282e-01 1.06593188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.0092541539999 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:688.49, Y:8.71, Z:10.66 [[ 9.99551733e-01 -2.56309831e-02 -1.54721000e-02 6.88486429e+02] [ 2.56311396e-02 9.99671451e-01 -1.88210455e-04 8.70508089e+00] [ 1.54718407e-02 -2.08441469e-04 9.99880282e-01 1.06598070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.0392541539999 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:688.52, Y:8.70, Z:10.66 [[ 9.99519565e-01 -2.68561834e-02 -1.54720506e-02 6.88515031e+02] [ 2.68564250e-02 9.99639283e-01 -1.92192754e-04 8.70427928e+00] [ 1.54716311e-02 -2.23423548e-04 9.99880282e-01 1.06603671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.069254154 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:688.54, Y:8.70, Z:10.66 [[ 9.99428296e-01 -3.00615503e-02 -1.54720400e-02 6.88544356e+02] [ 3.00621628e-02 9.99548012e-01 -1.93038174e-04 8.70166176e+00] [ 1.54708499e-02 -2.72195173e-04 9.99880282e-01 1.06605310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.0992541539999 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:688.57, Y:8.70, Z:10.66 [[ 9.99376209e-01 -3.17460201e-02 -1.54720330e-02 6.88573422e+02] [ 3.17468257e-02 9.99495924e-01 -1.93599933e-04 8.70053892e+00] [ 1.54703799e-02 -2.97708766e-04 9.99880282e-01 1.06608797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.1292541539999 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:688.60, Y:8.70, Z:10.66 [[ 9.99337134e-01 -3.29531404e-02 -1.54720295e-02 6.88604299e+02] [ 3.29540863e-02 9.99456848e-01 -1.93878904e-04 8.69943148e+00] [ 1.54700147e-02 -3.16116206e-04 9.99880282e-01 1.06599295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.1592541539999 meters Centerline goodness : 0.999128 Centerline is valid? [True, True] Translation: X:688.63, Y:8.70, Z:10.66 [[ 9.99277915e-01 -3.47025317e-02 -1.54720295e-02 6.88633956e+02] [ 3.47036872e-02 9.99397627e-01 -1.93878904e-04 8.69870456e+00] [ 1.54694376e-02 -3.43197565e-04 9.99880282e-01 1.06612351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.1892541539999 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:688.66, Y:8.70, Z:10.66 [[ 9.99224077e-01 -3.62196086e-02 -1.54720260e-02 6.88664227e+02] [ 3.62209415e-02 9.99343788e-01 -1.94154315e-04 8.69626499e+00] [ 1.54689053e-02 -3.66407684e-04 9.99880282e-01 1.06616863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.2192541539999 meters Centerline goodness : 0.999041 Centerline is valid? [True, True] Translation: X:688.70, Y:8.70, Z:10.66 [[ 9.99217772e-01 -3.63931454e-02 -1.54720260e-02 6.88695764e+02] [ 3.63944991e-02 9.99337482e-01 -1.94154315e-04 8.69518798e+00] [ 1.54688414e-02 -3.69094196e-04 9.99880282e-01 1.06619533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.2492541539999 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:688.73, Y:8.69, Z:10.66 [[ 9.99223015e-01 -3.62489037e-02 -1.54720329e-02 6.88726305e+02] [ 3.62502487e-02 9.99342725e-01 -1.93603682e-04 8.69420763e+00] [ 1.54688815e-02 -3.67411786e-04 9.99880282e-01 1.06624970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.2792541539999 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:688.76, Y:8.69, Z:10.66 [[ 9.99249213e-01 -3.55193684e-02 -1.54720363e-02 6.88756913e+02] [ 3.55206302e-02 9.99368925e-01 -1.93330406e-04 8.69296318e+00] [ 1.54691393e-02 -3.56391224e-04 9.99880282e-01 1.06621150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.3092541539999 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:688.79, Y:8.69, Z:10.66 [[ 9.99259123e-01 -3.52394967e-02 -1.54720397e-02 6.88786807e+02] [ 3.52407291e-02 9.99378834e-01 -1.93059826e-04 8.69296805e+00] [ 1.54692323e-02 -3.52329168e-04 9.99880282e-01 1.06616957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.339254154 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:688.82, Y:8.69, Z:10.66 [[ 9.99275936e-01 -3.47594444e-02 -1.54720430e-02 6.88816273e+02] [ 3.47606234e-02 9.99395648e-01 -1.92793624e-04 8.69274704e+00] [ 1.54693939e-02 -3.45163832e-04 9.99880282e-01 1.06614686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.3692541539999 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:688.85, Y:8.69, Z:10.66 [[ 9.99311434e-01 -3.37234778e-02 -1.54720397e-02 6.88846645e+02] [ 3.37245287e-02 9.99431148e-01 -1.93057313e-04 8.69203135e+00] [ 1.54697490e-02 -3.28862867e-04 9.99880282e-01 1.06607183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.3992541539999 meters Centerline goodness : 0.999333 Centerline is valid? [True, True] Translation: X:688.88, Y:8.69, Z:10.66 [[ 9.99337125e-01 -3.29534054e-02 -1.54720397e-02 6.88875719e+02] [ 3.29543641e-02 9.99456839e-01 -1.93057313e-04 8.69169712e+00] [ 1.54699978e-02 -3.16941891e-04 9.99880282e-01 1.06609006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.4292541539999 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:688.91, Y:8.69, Z:10.66 [[ 9.99368107e-01 -3.20000297e-02 -1.54720365e-02 6.88906518e+02] [ 3.20008701e-02 9.99487822e-01 -1.93318284e-04 8.69147714e+00] [ 1.54702982e-02 -3.01922502e-04 9.99880282e-01 1.06611901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.459254154 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:688.94, Y:8.69, Z:10.66 [[ 9.99390176e-01 -3.13032384e-02 -1.54720365e-02 6.88935883e+02] [ 3.13039953e-02 9.99509891e-01 -1.93318284e-04 8.69168330e+00] [ 1.54705050e-02 -2.91136163e-04 9.99880282e-01 1.06614271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.4892541539999 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:688.97, Y:8.69, Z:10.66 [[ 9.99423593e-01 -3.02175110e-02 -1.54720294e-02 6.88965083e+02] [ 3.02181291e-02 9.99543309e-01 -1.93884698e-04 8.69250466e+00] [ 1.54708222e-02 -2.73762841e-04 9.99880282e-01 1.06614034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.5192541539999 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:688.99, Y:8.69, Z:10.66 [[ 9.99437061e-01 -2.97687251e-02 -1.54720259e-02 6.88994570e+02] [ 2.97692851e-02 9.99556778e-01 -1.94165574e-04 8.69308378e+00] [ 1.54709484e-02 -2.66534878e-04 9.99880282e-01 1.06618277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.5492541539999 meters Centerline goodness : 0.999226 Centerline is valid? [True, True] Translation: X:689.02, Y:8.69, Z:10.66 [[ 9.99426529e-01 -3.01202496e-02 -1.54720188e-02 6.89024113e+02] [ 3.01208431e-02 9.99546246e-01 -1.94724471e-04 8.69371321e+00] [ 1.54708635e-02 -2.71417448e-04 9.99880282e-01 1.06622907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.579254154 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:689.05, Y:8.69, Z:10.66 [[ 9.99407522e-01 -3.07444573e-02 -1.54720117e-02 6.89054235e+02] [ 3.07451168e-02 9.99527238e-01 -1.95285989e-04 8.69361433e+00] [ 1.54707011e-02 -2.80518521e-04 9.99880282e-01 1.06628225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.6092541539999 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:689.08, Y:8.69, Z:10.66 [[ 9.99299335e-01 -3.40801435e-02 -1.54720046e-02 6.89083272e+02] [ 3.40811940e-02 9.99419048e-01 -1.95845659e-04 8.69263946e+00] [ 1.54696906e-02 -3.31595955e-04 9.99880282e-01 1.06634078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.6392541539999 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:689.11, Y:8.69, Z:10.66 [[ 9.99206875e-01 -3.66911175e-02 -1.54719941e-02 6.89112779e+02] [ 3.66924678e-02 9.99326585e-01 -1.96677980e-04 8.69233758e+00] [ 1.54687913e-02 -3.71183655e-04 9.99880282e-01 1.06639213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.6692541539999 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:689.14, Y:8.69, Z:10.66 [[ 9.98963051e-01 -4.28186782e-02 -1.54719949e-02 6.89143258e+02] [ 4.28207638e-02 9.99082751e-01 -1.96615370e-04 8.69117297e+00] [ 1.54662220e-02 -4.66111147e-04 9.99880282e-01 1.06644356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.699254154 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:689.17, Y:8.69, Z:10.66 [[ 9.98761435e-01 -4.72886217e-02 -1.54719983e-02 6.89172989e+02] [ 4.72912471e-02 9.98881124e-01 -1.96343953e-04 8.69293017e+00] [ 1.54639719e-02 -5.35589326e-04 9.99880282e-01 1.06644798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.7292541539999 meters Centerline goodness : 0.999125 Centerline is valid? [True, True] Translation: X:689.20, Y:8.69, Z:10.67 [[ 9.98621943e-01 -5.01484041e-02 -1.54710422e-02 6.89204418e+02] [ 5.01502156e-02 9.98741649e-01 -2.71089858e-04 8.69080891e+00] [ 1.54651689e-02 -5.05159821e-04 9.99880280e-01 1.06650995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.7592541539999 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:689.24, Y:8.69, Z:10.66 [[ 9.98441903e-01 -5.36132702e-02 -1.54720032e-02 6.89236208e+02] [ 5.36166784e-02 9.98561572e-01 -1.94739181e-04 8.69003024e+00] [ 1.54601885e-02 -6.35121662e-04 9.99880282e-01 1.06644172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.7892541539999 meters Centerline goodness : 0.999062 Centerline is valid? [True, True] Translation: X:689.27, Y:8.69, Z:10.66 [[ 9.98047702e-01 -6.05095213e-02 -1.54720167e-02 6.89267433e+02] [ 6.05137727e-02 9.98167344e-01 -1.93665974e-04 8.68888850e+00] [ 1.54553804e-02 -7.42982219e-04 9.99880282e-01 1.06643576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.8192541539999 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:689.30, Y:8.69, Z:10.67 [[ 9.97828705e-01 -6.40194719e-02 -1.54720266e-02 6.89299588e+02] [ 6.40241564e-02 9.97948330e-01 -1.92865662e-04 8.68935064e+00] [ 1.54526303e-02 -7.98136559e-04 9.99880282e-01 1.06667783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.8492541539999 meters Centerline goodness : 0.999062 Centerline is valid? [True, True] Translation: X:689.33, Y:8.69, Z:10.67 [[ 9.97663668e-01 -6.65418723e-02 -1.54720401e-02 6.89330533e+02] [ 6.65468761e-02 9.97783281e-01 -1.91780066e-04 8.68960380e+00] [ 1.54505043e-02 -8.38283930e-04 9.99880282e-01 1.06672068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.8792541539999 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:689.36, Y:8.69, Z:10.67 [[ 9.97521293e-01 -6.86431768e-02 -1.54720501e-02 6.89362794e+02] [ 6.86484450e-02 9.97640895e-01 -1.90970152e-04 8.68991266e+00] [ 1.54486587e-02 -8.71635385e-04 9.99880282e-01 1.06677346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.9092541539999 meters Centerline goodness : 0.999210 Centerline is valid? [True, True] Translation: X:689.40, Y:8.69, Z:10.67 [[ 9.97346358e-01 -7.11396997e-02 -1.54720633e-02 6.89395024e+02] [ 7.11452839e-02 9.97465946e-01 -1.89896506e-04 8.69097064e+00] [ 1.54463654e-02 -9.11371744e-04 9.99880282e-01 1.06682893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.9392541539999 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:689.43, Y:8.69, Z:10.67 [[ 9.97331853e-01 -7.13427644e-02 -1.54720766e-02 6.89426989e+02] [ 7.13483897e-02 9.97451438e-01 -1.88803468e-04 8.69178096e+00] [ 1.54461148e-02 -9.15608039e-04 9.99880282e-01 1.06681395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.9692541539999 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:689.46, Y:8.69, Z:10.67 [[ 9.97308190e-01 -7.16727909e-02 -1.54720905e-02 6.89459036e+02] [ 7.16784736e-02 9.97427772e-01 -1.87657511e-04 8.69322018e+00] [ 1.54457427e-02 -9.21863457e-04 9.99880282e-01 1.06695409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.9992541539999 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:689.49, Y:8.70, Z:10.67 [[ 9.97386743e-01 -7.05712349e-02 -1.54721042e-02 6.89490363e+02] [ 7.05768031e-02 9.97506331e-01 -1.86516761e-04 8.69585650e+00] [ 1.54466847e-02 -9.05942310e-04 9.99880282e-01 1.06701833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.0292541539999 meters Centerline goodness : 0.998935 Centerline is valid? [True, True] Translation: X:689.52, Y:8.70, Z:10.67 [[ 9.97470758e-01 -6.93736236e-02 -1.54721145e-02 6.89522965e+02] [ 6.93790614e-02 9.97590353e-01 -1.85666386e-04 8.69773354e+00] [ 1.54477125e-02 -8.88243988e-04 9.99880282e-01 1.06703009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.0592541539999 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:689.55, Y:8.70, Z:10.67 [[ 9.97544652e-01 -6.83028656e-02 -1.54721280e-02 6.89553802e+02] [ 6.83081926e-02 9.97664251e-01 -1.84529454e-04 8.69963745e+00] [ 1.54485929e-02 -8.72796730e-04 9.99880282e-01 1.06706968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.089254154 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:689.59, Y:8.70, Z:10.67 [[ 9.97666299e-01 -6.65023897e-02 -1.54721507e-02 6.89586048e+02] [ 6.65075306e-02 9.97785906e-01 -1.82602872e-04 8.70146669e+00] [ 1.54500375e-02 -8.46837808e-04 9.99880282e-01 1.06690251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.1192541539999 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:689.62, Y:8.71, Z:10.67 [[ 9.97830740e-01 -6.39877102e-02 -1.54721637e-02 6.89617657e+02] [ 6.39925667e-02 9.97950359e-01 -1.81500567e-04 8.70606177e+00] [ 1.54520651e-02 -8.08996621e-04 9.99880282e-01 1.06718446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.1492541539999 meters Centerline goodness : 0.999023 Centerline is valid? [True, True] Translation: X:689.65, Y:8.71, Z:10.67 [[ 9.98053881e-01 -6.04074699e-02 -1.54721767e-02 6.89652360e+02] [ 6.04119145e-02 9.98173516e-01 -1.80380317e-04 8.70631415e+00] [ 1.54548134e-02 -7.54674543e-04 9.99880282e-01 1.06728606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.1792541539999 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:689.68, Y:8.71, Z:10.67 [[ 9.98033401e-01 -6.07444376e-02 -1.54739857e-02 6.89680848e+02] [ 6.07513496e-02 9.98152931e-01 -2.34163503e-05 8.71077841e+00] [ 1.54468266e-02 -9.16695217e-04 9.99880270e-01 1.06736100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.209254154 meters Centerline goodness : 0.999062 Centerline is valid? [True, True] Translation: X:689.71, Y:8.71, Z:10.67 [[ 9.98111963e-01 -5.94400684e-02 -1.54721255e-02 6.89712896e+02] [ 5.94443756e-02 9.98231603e-01 -1.81770318e-04 8.71302269e+00] [ 1.54555691e-02 -7.38303713e-04 9.99880283e-01 1.06746071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.2392541539999 meters Centerline goodness : 0.999022 Centerline is valid? [True, True] Translation: X:689.74, Y:8.72, Z:10.68 [[ 9.98298868e-01 -5.62137307e-02 -1.54721386e-02 6.89744722e+02] [ 5.62176683e-02 9.98418520e-01 -1.80655884e-04 8.71745680e+00] [ 1.54578250e-02 -6.89458989e-04 9.99880283e-01 1.06755459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.2692541539999 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:689.78, Y:8.72, Z:10.68 [[ 9.98394382e-01 -5.44910193e-02 -1.54721515e-02 6.89775514e+02] [ 5.44947677e-02 9.98514040e-01 -1.79543328e-04 8.72028112e+00] [ 1.54589440e-02 -6.63896251e-04 9.99880283e-01 1.06757468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.2992541539999 meters Centerline goodness : 0.999062 Centerline is valid? [True, True] Translation: X:689.81, Y:8.72, Z:10.68 [[ 9.98500592e-01 -5.25088471e-02 -1.54721716e-02 6.89808020e+02] [ 5.25123850e-02 9.98620257e-01 -1.77795095e-04 8.72293712e+00] [ 1.54601598e-02 -6.34952122e-04 9.99880283e-01 1.06759043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.329254154 meters Centerline goodness : 0.998788 Centerline is valid? [True, True] Translation: X:689.84, Y:8.73, Z:10.68 [[ 9.98731895e-01 -4.79083912e-02 -1.54721840e-02 6.89838977e+02] [ 4.79113946e-02 9.98851574e-01 -1.76708032e-04 8.72768320e+00] [ 1.54628811e-02 -5.64809964e-04 9.99880283e-01 1.06750812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.3592541539999 meters Centerline goodness : 0.998788 Centerline is valid? [True, True] Translation: X:689.87, Y:8.73, Z:10.68 [[ 9.98735224e-01 -4.78389388e-02 -1.54722048e-02 6.89871660e+02] [ 4.78419624e-02 9.98854902e-01 -1.74868116e-04 8.72798699e+00] [ 1.54628531e-02 -5.65573691e-04 9.99880283e-01 1.06755865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.3892541539999 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:689.90, Y:8.73, Z:10.68 [[ 9.98863807e-01 -4.50744434e-02 -1.54722168e-02 6.89904023e+02] [ 4.50771523e-02 9.98983493e-01 -1.73792483e-04 8.73072345e+00] [ 1.54643228e-02 -5.23848454e-04 9.99880283e-01 1.06767395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.4192541539999 meters Centerline goodness : 0.999037 Centerline is valid? [True, True] Translation: X:689.94, Y:8.73, Z:10.68 [[ 9.98970917e-01 -4.26346973e-02 -1.54722293e-02 6.89935455e+02] [ 4.26371312e-02 9.99090609e-01 -1.72676857e-04 8.73354330e+00] [ 1.54655210e-02 -4.87192312e-04 9.99880283e-01 1.06767788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.449254154 meters Centerline goodness : 0.998952 Centerline is valid? [True, True] Translation: X:689.97, Y:8.74, Z:10.68 [[ 9.99054898e-01 -4.06192186e-02 -1.54722492e-02 6.89966381e+02] [ 4.06214388e-02 9.99174594e-01 -1.70878229e-04 8.73609877e+00] [ 1.54664192e-02 -4.57788291e-04 9.99880283e-01 1.06770380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.4792541539999 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:690.00, Y:8.74, Z:10.68 [[ 9.99179836e-01 -3.74200980e-02 -1.54722685e-02 6.89998359e+02] [ 3.74219622e-02 9.99299539e-01 -1.69112956e-04 8.74073559e+00] [ 1.54677590e-02 -4.10028391e-04 9.99880283e-01 1.06788521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.5092541539999 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:690.03, Y:8.74, Z:10.68 [[ 9.99215002e-01 -3.64690169e-02 -1.54722807e-02 6.90030096e+02] [ 3.64707846e-02 9.99334706e-01 -1.67987072e-04 8.74332243e+00] [ 1.54681134e-02 -3.96431013e-04 9.99880283e-01 1.06794984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.5392541539999 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:690.06, Y:8.75, Z:10.68 [[ 9.99242062e-01 -3.57198871e-02 -1.54722867e-02 6.90060571e+02] [ 3.57215737e-02 9.99361767e-01 -1.67430376e-04 8.74553560e+00] [ 1.54683924e-02 -3.85390956e-04 9.99880283e-01 1.06791491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.5692541539999 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:690.09, Y:8.75, Z:10.68 [[ 9.99250155e-01 -3.54927526e-02 -1.54722897e-02 6.90091576e+02] [ 3.54944162e-02 9.99369861e-01 -1.67154114e-04 8.74877824e+00] [ 1.54684728e-02 -3.82151116e-04 9.99880283e-01 1.06796508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.5992541539999 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:690.12, Y:8.75, Z:10.68 [[ 9.99250435e-01 -3.54848790e-02 -1.54722955e-02 6.90123177e+02] [ 3.54865501e-02 9.99370140e-01 -1.66613087e-04 8.75018312e+00] [ 1.54684624e-02 -3.82570190e-04 9.99880283e-01 1.06801458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.6292541539999 meters Centerline goodness : 0.998973 Centerline is valid? [True, True] Translation: X:690.15, Y:8.75, Z:10.68 [[ 9.99239690e-01 -3.57861750e-02 -1.54723014e-02 6.90154857e+02] [ 3.57878906e-02 9.99359394e-01 -1.66069099e-04 8.75168667e+00] [ 1.54683327e-02 -3.87778193e-04 9.99880283e-01 1.06806783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.6592541539999 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:690.18, Y:8.75, Z:10.68 [[ 9.99224451e-01 -3.62091705e-02 -1.54723072e-02 6.90184691e+02] [ 3.62109452e-02 9.99344155e-01 -1.65526344e-04 8.75306732e+00] [ 1.54681533e-02 -3.94868896e-04 9.99880283e-01 1.06811103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.6892541539999 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:690.21, Y:8.75, Z:10.68 [[ 9.99181394e-01 -3.73784610e-02 -1.54723100e-02 6.90214978e+02] [ 3.73803800e-02 9.99301096e-01 -1.65256950e-04 8.75489310e+00] [ 1.54676734e-02 -4.13239158e-04 9.99880283e-01 1.06819634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.7192541539999 meters Centerline goodness : 0.998996 Centerline is valid? [True, True] Translation: X:690.25, Y:8.76, Z:10.68 [[ 9.99156422e-01 -3.80401492e-02 -1.54723129e-02 6.90246127e+02] [ 3.80421515e-02 9.99276122e-01 -1.64989689e-04 8.75591682e+00] [ 1.54673890e-02 -4.23749564e-04 9.99880283e-01 1.06825448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.7492541539999 meters Centerline goodness : 0.998791 Centerline is valid? [True, True] Translation: X:690.28, Y:8.76, Z:10.68 [[ 9.99155611e-01 -3.80614188e-02 -1.54723185e-02 6.90276992e+02] [ 3.80634319e-02 9.99275311e-01 -1.64459073e-04 8.75643873e+00] [ 1.54673655e-02 -4.24609337e-04 9.99880283e-01 1.06820640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.7792541539999 meters Centerline goodness : 0.998993 Centerline is valid? [True, True] Translation: X:690.31, Y:8.76, Z:10.68 [[ 9.99089613e-01 -3.97561654e-02 -1.54723269e-02 6.90307954e+02] [ 3.97583938e-02 9.99209309e-01 -1.63665656e-04 8.75763817e+00] [ 1.54665998e-02 -4.51638210e-04 9.99880283e-01 1.06832744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.8092541539999 meters Centerline goodness : 0.999079 Centerline is valid? [True, True] Translation: X:690.34, Y:8.76, Z:10.68 [[ 9.99064581e-01 -4.03803158e-02 -1.54723352e-02 6.90340609e+02] [ 4.03826311e-02 9.99184276e-01 -1.62879113e-04 8.75827563e+00] [ 1.54662911e-02 -4.62086852e-04 9.99880283e-01 1.06842091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.839254154 meters Centerline goodness : 0.999267 Centerline is valid? [True, True] Translation: X:690.37, Y:8.76, Z:10.68 [[ 9.99037952e-01 -4.10338517e-02 -1.54723461e-02 6.90372359e+02] [ 4.10362614e-02 9.99157645e-01 -1.61840391e-04 8.75907648e+00] [ 1.54659538e-02 -4.73242545e-04 9.99880283e-01 1.06843591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.8692541539999 meters Centerline goodness : 0.999058 Centerline is valid? [True, True] Translation: X:690.40, Y:8.76, Z:10.68 [[ 9.99005496e-01 -4.18165674e-02 -1.54723568e-02 6.90403427e+02] [ 4.18190869e-02 9.99125186e-01 -1.60807777e-04 8.75981208e+00] [ 1.54655458e-02 -4.86391980e-04 9.99880283e-01 1.06843877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.8992541539999 meters Centerline goodness : 0.998995 Centerline is valid? [True, True] Translation: X:690.44, Y:8.76, Z:10.69 [[ 9.98946663e-01 -4.31992045e-02 -1.54723648e-02 6.90435115e+02] [ 4.32019016e-02 9.99066349e-01 -1.60037491e-04 8.76042312e+00] [ 1.54648325e-02 -5.08566661e-04 9.99880283e-01 1.06857816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.9292541539999 meters Centerline goodness : 0.998888 Centerline is valid? [True, True] Translation: X:690.47, Y:8.76, Z:10.69 [[ 9.98926768e-01 -4.36568270e-02 -1.54723762e-02 6.90466838e+02] [ 4.36595962e-02 9.99046453e-01 -1.58919966e-04 8.76107456e+00] [ 1.54645605e-02 -5.16768292e-04 9.99880283e-01 1.06859288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.959254154 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:690.50, Y:8.76, Z:10.69 [[ 9.98933169e-01 -4.35100970e-02 -1.54723877e-02 6.90497843e+02] [ 4.35128659e-02 9.99052854e-01 -1.57799348e-04 8.76171283e+00] [ 1.54645989e-02 -5.15616927e-04 9.99880283e-01 1.06858693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.9892541539999 meters Centerline goodness : 0.998633 Centerline is valid? [True, True] Translation: X:690.53, Y:8.76, Z:10.69 [[ 9.98955224e-01 -4.30007473e-02 -1.54724065e-02 6.90530228e+02] [ 4.30034840e-02 9.99074910e-01 -1.55934660e-04 8.76259186e+00] [ 1.54647984e-02 -5.09595641e-04 9.99880283e-01 1.06863355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.0192541539999 meters Centerline goodness : 0.998697 Centerline is valid? [True, True] Translation: X:690.56, Y:8.76, Z:10.69 [[ 9.99095089e-01 -3.96182657e-02 -1.54724178e-02 6.90562453e+02] [ 3.96206146e-02 9.99214783e-01 -1.54806236e-04 8.76431481e+00] [ 1.54664017e-02 -4.58360551e-04 9.99880283e-01 1.06866239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.0492541539999 meters Centerline goodness : 0.998969 Centerline is valid? [True, True] Translation: X:690.59, Y:8.77, Z:10.69 [[ 9.99187046e-01 -3.72270200e-02 -1.54724291e-02 6.90593154e+02] [ 3.72291001e-02 9.99306745e-01 -1.53667193e-04 8.76583981e+00] [ 1.54674233e-02 -4.22482342e-04 9.99880283e-01 1.06873493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.079254154 meters Centerline goodness : 0.998948 Centerline is valid? [True, True] Translation: X:690.63, Y:8.77, Z:10.69 [[ 9.99295079e-01 -3.42044962e-02 -1.54724474e-02 6.90625012e+02] [ 3.42062432e-02 9.99414784e-01 -1.51796808e-04 8.76734232e+00] [ 1.54685848e-02 -3.77564496e-04 9.99880283e-01 1.06890993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.1092541539999 meters Centerline goodness : 0.998734 Centerline is valid? [True, True] Translation: X:690.66, Y:8.77, Z:10.69 [[ 9.99491696e-01 -2.78738758e-02 -1.54724586e-02 6.90656362e+02] [ 2.78748822e-02 9.99611409e-01 -1.50652810e-04 8.77034208e+00] [ 1.54706454e-02 -2.80716726e-04 9.99880283e-01 1.06898704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.1392541539999 meters Centerline goodness : 0.998675 Centerline is valid? [True, True] Translation: X:690.69, Y:8.77, Z:10.69 [[ 9.99575733e-01 -2.46770456e-02 -1.54724759e-02 6.90687064e+02] [ 2.46776970e-02 9.99695448e-01 -1.48852928e-04 8.77159772e+00] [ 1.54714370e-02 -2.33035297e-04 9.99880283e-01 1.06906399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.1692541539999 meters Centerline goodness : 0.998904 Centerline is valid? [True, True] Translation: X:690.72, Y:8.77, Z:10.69 [[ 9.99637444e-01 -2.20359373e-02 -1.54724784e-02 6.90716309e+02] [ 2.20362765e-02 9.99757161e-01 -1.48585311e-04 8.77245484e+00] [ 1.54719953e-02 -1.92424373e-04 9.99880283e-01 1.06921577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.199254154 meters Centerline goodness : 0.998965 Centerline is valid? [True, True] Translation: X:690.75, Y:8.77, Z:10.69 [[ 9.99689059e-01 -1.95547673e-02 -1.54724731e-02 6.90746318e+02] [ 1.95548008e-02 9.99808776e-01 -1.49137137e-04 8.77310265e+00] [ 1.54724308e-02 -1.53470365e-04 9.99880283e-01 1.06930932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.2292541539999 meters Centerline goodness : 0.998776 Centerline is valid? [True, True] Translation: X:690.77, Y:8.77, Z:10.69 [[ 9.99748447e-01 -1.62371725e-02 -1.54724678e-02 6.90774770e+02] [ 1.62368002e-02 9.99868163e-01 -1.49689661e-04 8.77309261e+00] [ 1.54728585e-02 -1.01571362e-04 9.99880283e-01 1.06931471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.2592541539999 meters Centerline goodness : 0.998778 Centerline is valid? [True, True] Translation: X:690.80, Y:8.77, Z:10.69 [[ 9.99757583e-01 -1.56645762e-02 -1.54724295e-02 6.90802634e+02] [ 1.56640756e-02 9.99877299e-01 -1.53545674e-04 8.77316361e+00] [ 1.54729363e-02 -8.88528538e-05 9.99880283e-01 1.06928724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.2892541539999 meters Centerline goodness : 0.998965 Centerline is valid? [True, True] Translation: X:690.83, Y:8.77, Z:10.69 [[ 9.99754099e-01 -1.58853984e-02 -1.54724159e-02 6.90830055e+02] [ 1.58849032e-02 9.99873815e-01 -1.54908687e-04 8.77310359e+00] [ 1.54729243e-02 -9.09072329e-05 9.99880283e-01 1.06929349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.3192541539999 meters Centerline goodness : 0.998714 Centerline is valid? [True, True] Translation: X:690.86, Y:8.77, Z:10.69 [[ 9.99767760e-01 -1.50010831e-02 -1.54723704e-02 6.90859001e+02] [ 1.50004137e-02 9.99887475e-01 -1.59323048e-04 8.77173398e+00] [ 1.54730194e-02 -7.28059102e-05 9.99880283e-01 1.06934884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.3492541539999 meters Centerline goodness : 0.998863 Centerline is valid? [True, True] Translation: X:690.89, Y:8.77, Z:10.69 [[ 9.99676458e-01 -2.01886304e-02 -1.54725366e-02 6.90885456e+02] [ 2.01888281e-02 9.99796175e-01 -1.43433124e-04 8.77092873e+00] [ 1.54722786e-02 -1.68985664e-04 9.99880283e-01 1.06914852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.3792541539999 meters Centerline goodness : 0.998632 Centerline is valid? [True, True] Translation: X:690.91, Y:8.77, Z:10.69 [[ 9.99633018e-01 -2.22359336e-02 -1.54723035e-02 6.90914193e+02] [ 2.22360388e-02 9.99752735e-01 -1.65255828e-04 8.76929696e+00] [ 1.54721524e-02 -1.78847559e-04 9.99880283e-01 1.06896394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.4092541539999 meters Centerline goodness : 0.998801 Centerline is valid? [True, True] Translation: X:690.94, Y:8.77, Z:10.69 [[ 9.99491368e-01 -2.78857548e-02 -1.54722599e-02 6.90942476e+02] [ 2.78864749e-02 9.99611082e-01 -1.69244711e-04 8.76730448e+00] [ 1.54709620e-02 -2.62308159e-04 9.99880283e-01 1.06917405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.4392541539999 meters Centerline goodness : 0.998885 Centerline is valid? [True, True] Translation: X:690.97, Y:8.77, Z:10.69 [[ 9.99377077e-01 -3.17189142e-02 -1.54715484e-02 6.90973408e+02] [ 3.17191067e-02 9.99496795e-01 -2.33004319e-04 8.76624806e+00] [ 1.54711537e-02 -2.57884520e-04 9.99880281e-01 1.06925866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.4692541539999 meters Centerline goodness : 0.998717 Centerline is valid? [True, True] Translation: X:691.00, Y:8.77, Z:10.69 [[ 9.99272177e-01 -3.48672850e-02 -1.54722248e-02 6.91003789e+02] [ 3.48687950e-02 9.99391884e-01 -1.72241982e-04 8.76535963e+00] [ 1.54688215e-02 -3.67381216e-04 9.99880283e-01 1.06922860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.4992541539999 meters Centerline goodness : 0.998926 Centerline is valid? [True, True] Translation: X:691.04, Y:8.76, Z:10.69 [[ 9.99066541e-01 -4.03318235e-02 -1.54722280e-02 6.91036238e+02] [ 4.03339925e-02 9.99186239e-01 -1.71960734e-04 8.76305289e+00] [ 1.54665728e-02 -4.52256511e-04 9.99880283e-01 1.06948817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.5292541539999 meters Centerline goodness : 0.998884 Centerline is valid? [True, True] Translation: X:691.07, Y:8.76, Z:10.70 [[ 9.98985993e-01 -4.22799635e-02 -1.54722403e-02 6.91068633e+02] [ 4.22823832e-02 9.99105686e-01 -1.70844164e-04 8.76171171e+00] [ 1.54656265e-02 -4.83532267e-04 9.99880283e-01 1.06953555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.5592541539999 meters Centerline goodness : 0.998823 Centerline is valid? [True, True] Translation: X:691.10, Y:8.76, Z:10.70 [[ 9.98908221e-01 -4.40792053e-02 -1.54722526e-02 6.91100699e+02] [ 4.40818580e-02 9.99027908e-01 -1.69720447e-04 8.76068291e+00] [ 1.54646933e-02 -5.12510493e-04 9.99880283e-01 1.06962528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.589254154 meters Centerline goodness : 0.998800 Centerline is valid? [True, True] Translation: X:691.13, Y:8.76, Z:10.70 [[ 9.98718176e-01 -4.81934969e-02 -1.54722649e-02 6.91131702e+02] [ 4.81966600e-02 9.98837851e-01 -1.68590944e-04 8.75940457e+00] [ 1.54624088e-02 -5.77336653e-04 9.99880283e-01 1.06983460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.6192541539999 meters Centerline goodness : 0.998824 Centerline is valid? [True, True] Translation: X:691.16, Y:8.76, Z:10.70 [[ 9.98635611e-01 -4.98750901e-02 -1.54722833e-02 6.91162973e+02] [ 4.98784811e-02 9.98755280e-01 -1.66886268e-04 8.75882877e+00] [ 1.54613481e-02 -6.05075421e-04 9.99880283e-01 1.06988769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.6492541539999 meters Centerline goodness : 0.998782 Centerline is valid? [True, True] Translation: X:691.20, Y:8.76, Z:10.70 [[ 9.98566789e-01 -5.12345179e-02 -1.54722922e-02 6.91195035e+02] [ 5.12380847e-02 9.98686453e-01 -1.66054509e-04 8.75812811e+00] [ 1.54604764e-02 -6.26954102e-04 9.99880283e-01 1.06989111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.6792541539999 meters Centerline goodness : 0.998742 Centerline is valid? [True, True] Translation: X:691.23, Y:8.76, Z:10.70 [[ 9.98347611e-01 -5.53412574e-02 -1.54723046e-02 6.91227064e+02] [ 5.53453342e-02 9.98467259e-01 -1.64899102e-04 8.75798870e+00] [ 1.54577152e-02 -6.91693242e-04 9.99880283e-01 1.07008358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.709254154 meters Centerline goodness : 0.998890 Centerline is valid? [True, True] Translation: X:691.26, Y:8.76, Z:10.70 [[ 9.98258615e-01 -5.69240277e-02 -1.54723168e-02 6.91257778e+02] [ 5.69283121e-02 9.98378255e-01 -1.63738730e-04 8.75739765e+00] [ 1.54565454e-02 -7.17359285e-04 9.99880283e-01 1.07012160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.7392541539999 meters Centerline goodness : 0.998932 Centerline is valid? [True, True] Translation: X:691.29, Y:8.76, Z:10.70 [[ 9.98165104e-01 -5.85408594e-02 -1.54723259e-02 6.91290373e+02] [ 5.85453510e-02 9.98284737e-01 -1.62873442e-04 8.75705969e+00] [ 1.54553216e-02 -7.43258168e-04 9.99880283e-01 1.07015310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.7692541539999 meters Centerline goodness : 0.998997 Centerline is valid? [True, True] Translation: X:691.32, Y:8.76, Z:10.70 [[ 9.98037272e-01 -6.06812196e-02 -1.54723379e-02 6.91321689e+02] [ 6.06859854e-02 9.98156894e-01 -1.61731193e-04 8.75639113e+00] [ 1.54536348e-02 -7.77540313e-04 9.99880283e-01 1.07015776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.7992541539999 meters Centerline goodness : 0.998871 Centerline is valid? [True, True] Translation: X:691.35, Y:8.76, Z:10.70 [[ 9.98019799e-01 -6.09679275e-02 -1.54723467e-02 6.91353801e+02] [ 6.09727408e-02 9.98139419e-01 -1.60879614e-04 8.75665605e+00] [ 1.54533677e-02 -7.82830347e-04 9.99880283e-01 1.07022804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.829254154 meters Centerline goodness : 0.998788 Centerline is valid? [True, True] Translation: X:691.38, Y:8.76, Z:10.70 [[ 9.98025677e-01 -6.08716249e-02 -1.54723587e-02 6.91384765e+02] [ 6.08764446e-02 9.98145297e-01 -1.59721538e-04 8.75738026e+00] [ 1.54533846e-02 -7.82495991e-04 9.99880283e-01 1.07025268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.8592541539999 meters Centerline goodness : 0.998663 Centerline is valid? [True, True] Translation: X:691.42, Y:8.76, Z:10.70 [[ 9.98092789e-01 -5.97611109e-02 -1.54723676e-02 6.91416754e+02] [ 5.97658108e-02 9.98212414e-01 -1.58858330e-04 8.75803248e+00] [ 1.54542029e-02 -7.66163239e-04 9.99880283e-01 1.07027664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.8892541539999 meters Centerline goodness : 0.998724 Centerline is valid? [True, True] Translation: X:691.46, Y:8.75, Z:10.70 [[ 9.98654341e-01 -4.94986102e-02 -1.54723792e-02 6.91455010e+02] [ 4.95020980e-02 9.98774007e-01 -1.57717066e-04 8.75320252e+00] [ 1.54612169e-02 -6.08410397e-04 9.99880283e-01 1.06979463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.9192541539999 meters Centerline goodness : 0.998743 Centerline is valid? [True, True] Translation: X:691.48, Y:8.76, Z:10.70 [[ 9.98444701e-01 -5.35598217e-02 -1.54765898e-02 6.91475148e+02] [ 5.35705046e-02 9.98564031e-01 2.76225427e-04 8.76198404e+00] [ 1.54395713e-02 -1.10488454e-03 9.99880192e-01 1.07016143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.949254154 meters Centerline goodness : 0.998744 Centerline is valid? [True, True] Translation: X:691.51, Y:8.76, Z:10.70 [[ 9.98588135e-01 -5.08168932e-02 -1.54718958e-02 6.91506805e+02] [ 5.08204299e-02 9.98707794e-01 -1.64745434e-04 8.76438147e+00] [ 1.54602748e-02 -6.21775561e-04 9.99880289e-01 1.07018299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.9792541539999 meters Centerline goodness : 0.998784 Centerline is valid? [True, True] Translation: X:691.54, Y:8.77, Z:10.70 [[ 9.98728746e-01 -4.79740687e-02 -1.54719078e-02 6.91538999e+02] [ 4.79772823e-02 9.98848414e-01 -1.63613770e-04 8.76664008e+00] [ 1.54619397e-02 -5.78894311e-04 9.99880289e-01 1.07014923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.0092541539999 meters Centerline goodness : 0.998888 Centerline is valid? [True, True] Translation: X:691.57, Y:8.77, Z:10.70 [[ 9.98941988e-01 -4.33073290e-02 -1.54719196e-02 6.91570527e+02] [ 4.33100009e-02 9.99061668e-01 -1.62485739e-04 8.77128500e+00] [ 1.54644386e-02 -5.07775025e-04 9.99880289e-01 1.07026410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.0392541539999 meters Centerline goodness : 0.998969 Centerline is valid? [True, True] Translation: X:691.60, Y:8.77, Z:10.70 [[ 9.99024889e-01 -4.13508269e-02 -1.54719284e-02 6.91602645e+02] [ 4.13532774e-02 9.99144574e-01 -1.61645147e-04 8.77291152e+00] [ 1.54653775e-02 -4.78327422e-04 9.99880289e-01 1.07031691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.0692541539999 meters Centerline goodness : 0.998928 Centerline is valid? [True, True] Translation: X:691.63, Y:8.77, Z:10.70 [[ 9.99082698e-01 -3.99297087e-02 -1.54719398e-02 6.91634850e+02] [ 3.99320061e-02 9.99202386e-01 -1.60541236e-04 8.77426137e+00] [ 1.54660096e-02 -4.57431624e-04 9.99880289e-01 1.07043157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.0992541539999 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:691.66, Y:8.78, Z:10.71 [[ 9.99225542e-01 -3.61791963e-02 -1.54719512e-02 6.91664352e+02] [ 3.61810614e-02 9.99345238e-01 -1.59442852e-04 8.77718391e+00] [ 1.54675892e-02 -4.00472245e-04 9.99880289e-01 1.07067061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.1292541539999 meters Centerline goodness : 0.998757 Centerline is valid? [True, True] Translation: X:691.70, Y:8.78, Z:10.71 [[ 9.99225222e-01 -3.61884086e-02 -1.54710971e-02 6.91696712e+02] [ 3.61889992e-02 9.99344934e-01 -2.41872783e-04 8.77879236e+00] [ 1.54697155e-02 -3.18198136e-04 9.99880286e-01 1.07071082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.1592541539999 meters Centerline goodness : 0.998696 Centerline is valid? [True, True] Translation: X:691.73, Y:8.78, Z:10.71 [[ 9.99282680e-01 -3.45650586e-02 -1.54719517e-02 6.91728325e+02] [ 3.45667461e-02 9.99402379e-01 -1.58422210e-04 8.78035342e+00] [ 1.54681812e-02 -3.76506454e-04 9.99880290e-01 1.07077728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.1892541539999 meters Centerline goodness : 0.998863 Centerline is valid? [True, True] Translation: X:691.76, Y:8.78, Z:10.71 [[ 9.99340696e-01 -3.28449536e-02 -1.54719571e-02 6.91759606e+02] [ 3.28464434e-02 9.99460398e-01 -1.57887568e-04 8.78195181e+00] [ 1.54687942e-02 -3.50415291e-04 9.99880290e-01 1.07088496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.2192541539999 meters Centerline goodness : 0.998715 Centerline is valid? [True, True] Translation: X:691.79, Y:8.78, Z:10.71 [[ 9.99440961e-01 -2.96375432e-02 -1.54719625e-02 6.91790894e+02] [ 2.96386570e-02 9.99560666e-01 -1.57354334e-04 8.78430982e+00] [ 1.54698288e-02 -3.01301824e-04 9.99880290e-01 1.07096154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.2492541539999 meters Centerline goodness : 0.998715 Centerline is valid? [True, True] Translation: X:691.82, Y:8.78, Z:10.71 [[ 9.99442046e-01 -2.96009245e-02 -1.54719683e-02 6.91822735e+02] [ 2.96020427e-02 9.99561751e-01 -1.56787032e-04 8.78460300e+00] [ 1.54698288e-02 -3.01302314e-04 9.99880290e-01 1.07101080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.2792541539999 meters Centerline goodness : 0.998547 Centerline is valid? [True, True] Translation: X:691.85, Y:8.79, Z:10.71 [[ 9.99487240e-01 -2.80334513e-02 -1.54719740e-02 6.91854125e+02] [ 2.80343905e-02 9.99606947e-01 -1.56220221e-04 8.78576027e+00] [ 1.54702721e-02 -2.77607243e-04 9.99880290e-01 1.07104137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.3092541539999 meters Centerline goodness : 0.998839 Centerline is valid? [True, True] Translation: X:691.88, Y:8.79, Z:10.71 [[ 9.99522617e-01 -2.67424107e-02 -1.54719797e-02 6.91884291e+02] [ 2.67432040e-02 9.99642324e-01 -1.55657406e-04 8.78680115e+00] [ 1.54706084e-02 -2.58187211e-04 9.99880290e-01 1.07094255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.339254154 meters Centerline goodness : 0.998926 Centerline is valid? [True, True] Translation: X:691.91, Y:8.79, Z:10.71 [[ 9.99568121e-01 -2.49837629e-02 -1.54719825e-02 6.91914479e+02] [ 2.49843499e-02 9.99687830e-01 -1.55378368e-04 8.78777121e+00] [ 1.54710345e-02 -2.31246161e-04 9.99880290e-01 1.07097822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.3692541539999 meters Centerline goodness : 0.998908 Centerline is valid? [True, True] Translation: X:691.95, Y:8.79, Z:10.71 [[ 9.99577667e-01 -2.45988988e-02 -1.54719825e-02 6.91945025e+02] [ 2.45994398e-02 9.99697376e-01 -1.55378368e-04 8.78864033e+00] [ 1.54711224e-02 -2.25289355e-04 9.99880290e-01 1.07102860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.3992541539999 meters Centerline goodness : 0.998755 Centerline is valid? [True, True] Translation: X:691.97, Y:8.79, Z:10.71 [[ 9.99585783e-01 -2.42668365e-02 -1.54719825e-02 6.91974410e+02] [ 2.42673376e-02 9.99705493e-01 -1.55378368e-04 8.78970788e+00] [ 1.54711964e-02 -2.20149815e-04 9.99880290e-01 1.07110137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.4292541539999 meters Centerline goodness : 0.998905 Centerline is valid? [True, True] Translation: X:692.00, Y:8.79, Z:10.71 [[ 9.99576635e-01 -2.46408124e-02 -1.54719769e-02 6.92003926e+02] [ 2.46413498e-02 9.99696344e-01 -1.55934667e-04 8.79131760e+00] [ 1.54711211e-02 -2.25381743e-04 9.99880290e-01 1.07120904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.459254154 meters Centerline goodness : 0.998905 Centerline is valid? [True, True] Translation: X:692.03, Y:8.79, Z:10.71 [[ 9.99571834e-01 -2.48347956e-02 -1.54719712e-02 6.92033541e+02] [ 2.48353474e-02 9.99691543e-01 -1.56499315e-04 8.79158919e+00] [ 1.54710853e-02 -2.27819472e-04 9.99880290e-01 1.07119890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.4892541539999 meters Centerline goodness : 0.998904 Centerline is valid? [True, True] Translation: X:692.06, Y:8.79, Z:10.71 [[ 9.99560770e-01 -2.52761726e-02 -1.54719683e-02 6.92064137e+02] [ 2.52767729e-02 9.99680479e-01 -1.56779681e-04 8.79197023e+00] [ 1.54709875e-02 -2.34370611e-04 9.99880290e-01 1.07131371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.5192541539999 meters Centerline goodness : 0.998673 Centerline is valid? [True, True] Translation: X:692.09, Y:8.79, Z:10.71 [[ 9.99540571e-01 -2.60627163e-02 -1.54719683e-02 6.92093286e+02] [ 2.60634109e-02 9.99660279e-01 -1.56779681e-04 8.79224349e+00] [ 1.54707983e-02 -2.46544615e-04 9.99880290e-01 1.07130843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.5492541539999 meters Centerline goodness : 0.999073 Centerline is valid? [True, True] Translation: X:692.12, Y:8.79, Z:10.71 [[ 9.99483489e-01 -2.81668975e-02 -1.54719655e-02 6.92122822e+02] [ 2.81678397e-02 9.99603195e-01 -1.57061337e-04 8.79269404e+00] [ 1.54702500e-02 -2.78831630e-04 9.99880290e-01 1.07132181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.579254154 meters Centerline goodness : 0.999075 Centerline is valid? [True, True] Translation: X:692.15, Y:8.79, Z:10.71 [[ 9.99452330e-01 -2.92516241e-02 -1.54719626e-02 6.92153979e+02] [ 2.92526919e-02 9.99572036e-01 -1.57340691e-04 8.79327620e+00] [ 1.54699436e-02 -2.95342036e-04 9.99880290e-01 1.07135730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.6092541539999 meters Centerline goodness : 0.998990 Centerline is valid? [True, True] Translation: X:692.18, Y:8.79, Z:10.71 [[ 9.99386369e-01 -3.14245566e-02 -1.54719683e-02 6.92184442e+02] [ 3.14258933e-02 9.99506072e-01 -1.56782292e-04 8.79445605e+00] [ 1.54692531e-02 -3.29534340e-04 9.99880290e-01 1.07145396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.6392541539999 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:692.22, Y:8.79, Z:10.71 [[ 9.99337572e-01 -3.29399423e-02 -1.54718374e-02 6.92215149e+02] [ 3.29412605e-02 9.99457275e-01 -1.69704961e-04 8.79498530e+00] [ 1.54690305e-02 -3.40069282e-04 9.99880290e-01 1.07142511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.6692541539999 meters Centerline goodness : 0.999198 Centerline is valid? [True, True] Translation: X:692.25, Y:8.80, Z:10.72 [[ 9.99292344e-01 -3.42845403e-02 -1.54719763e-02 6.92246714e+02] [ 3.42862329e-02 9.99412042e-01 -1.55922895e-04 8.79522837e+00] [ 1.54682252e-02 -3.74663226e-04 9.99880290e-01 1.07151934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.699254154 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:692.28, Y:8.80, Z:10.72 [[ 9.99237672e-01 -3.58425977e-02 -1.54719820e-02 6.92278195e+02] [ 3.58444857e-02 9.99357368e-01 -1.55356632e-04 8.79561345e+00] [ 1.54676076e-02 -3.99347037e-04 9.99880290e-01 1.07155188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.7292541539999 meters Centerline goodness : 0.999472 Centerline is valid? [True, True] Translation: X:692.31, Y:8.80, Z:10.72 [[ 9.99123612e-01 -3.88924781e-02 -1.54719996e-02 6.92309826e+02] [ 3.88947588e-02 9.99243301e-01 -1.53581651e-04 8.79579307e+00] [ 1.54662651e-02 -4.48332639e-04 9.99880290e-01 1.07151558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.7592541539999 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:692.34, Y:8.80, Z:10.72 [[ 9.99076266e-01 -4.00902959e-02 -1.54720078e-02 6.92342477e+02] [ 4.00927330e-02 9.99195951e-01 -1.52752616e-04 8.79636031e+00] [ 1.54656914e-02 -4.67703564e-04 9.99880290e-01 1.07156266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.7892541539999 meters Centerline goodness : 0.999408 Centerline is valid? [True, True] Translation: X:692.37, Y:8.80, Z:10.72 [[ 9.99020672e-01 -4.14525567e-02 -1.54719903e-02 6.92374057e+02] [ 4.14551294e-02 9.99140355e-01 -1.54539728e-04 8.79708518e+00] [ 1.54650960e-02 -4.87004977e-04 9.99880290e-01 1.07161507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.8192541539999 meters Centerline goodness : 0.999534 Centerline is valid? [True, True] Translation: X:692.41, Y:8.80, Z:10.72 [[ 9.98992435e-01 -4.21275697e-02 -1.54720287e-02 6.92406654e+02] [ 4.21302841e-02 9.99112114e-01 -1.50601163e-04 8.79853300e+00] [ 1.54646357e-02 -5.01391541e-04 9.99880290e-01 1.07176737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.8492541539999 meters Centerline goodness : 0.999429 Centerline is valid? [True, True] Translation: X:692.44, Y:8.80, Z:10.72 [[ 9.99021066e-01 -4.14430316e-02 -1.54720394e-02 6.92438935e+02] [ 4.14456812e-02 9.99140747e-01 -1.49490728e-04 8.79961306e+00] [ 1.54649403e-02 -4.91904825e-04 9.99880290e-01 1.07184315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.8792541539999 meters Centerline goodness : 0.999259 Centerline is valid? [True, True] Translation: X:692.47, Y:8.80, Z:10.72 [[ 9.99090339e-01 -3.97380240e-02 -1.54720502e-02 6.92470052e+02] [ 3.97404869e-02 9.99210024e-01 -1.48359054e-04 8.80029860e+00] [ 1.54657232e-02 -4.66642712e-04 9.99880290e-01 1.07163819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.9092541539999 meters Centerline goodness : 0.999365 Centerline is valid? [True, True] Translation: X:692.50, Y:8.80, Z:10.72 [[ 9.99153857e-01 -3.81075458e-02 -1.54720680e-02 6.92501922e+02] [ 3.81098425e-02 9.99273545e-01 -1.46477691e-04 8.80202022e+00] [ 1.54664102e-02 -4.43284326e-04 9.99880290e-01 1.07187006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.9392541539999 meters Centerline goodness : 0.999660 Centerline is valid? [True, True] Translation: X:692.53, Y:8.80, Z:10.72 [[ 9.99313945e-01 -3.36489968e-02 -1.54720784e-02 6.92534244e+02] [ 3.36507764e-02 9.99433642e-01 -1.45379755e-04 8.80497971e+00] [ 1.54682075e-02 -3.75367433e-04 9.99880290e-01 1.07207336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.9692541539999 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:692.57, Y:8.81, Z:10.72 [[ 9.99378859e-01 -3.16624378e-02 -1.54720889e-02 6.92565585e+02] [ 3.16639969e-02 9.99498560e-01 -1.44248203e-04 8.80683427e+00] [ 1.54688978e-02 -3.45749571e-04 9.99880290e-01 1.07215475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.9992541539999 meters Centerline goodness : 0.999470 Centerline is valid? [True, True] Translation: X:692.60, Y:8.81, Z:10.72 [[ 9.99443571e-01 -2.95493153e-02 -1.54720941e-02 6.92596401e+02] [ 2.95506300e-02 9.99563274e-01 -1.43685142e-04 8.80798760e+00] [ 1.54695829e-02 -3.13604938e-04 9.99880290e-01 1.07194595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.0292541539999 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:692.63, Y:8.81, Z:10.72 [[ 9.99497269e-01 -2.76735081e-02 -1.54720967e-02 6.92627972e+02] [ 2.76746025e-02 9.99616975e-01 -1.43405717e-04 8.81038877e+00] [ 1.54701391e-02 -2.84850505e-04 9.99880290e-01 1.07231185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.0592541539999 meters Centerline goodness : 0.999533 Centerline is valid? [True, True] Translation: X:692.66, Y:8.81, Z:10.72 [[ 9.99511907e-01 -2.71396585e-02 -1.54721018e-02 6.92659000e+02] [ 2.71406975e-02 9.99631613e-01 -1.42851893e-04 8.81110250e+00] [ 1.54702791e-02 -2.77141468e-04 9.99880290e-01 1.07235274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.089254154 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:692.69, Y:8.81, Z:10.72 [[ 9.99511522e-01 -2.71538591e-02 -1.54721069e-02 6.92690411e+02] [ 2.71549084e-02 9.99631227e-01 -1.42301544e-04 8.81197672e+00] [ 1.54702653e-02 -2.77911613e-04 9.99880290e-01 1.07237201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.1192541539999 meters Centerline goodness : 0.999511 Centerline is valid? [True, True] Translation: X:692.72, Y:8.81, Z:10.72 [[ 9.99491199e-01 -2.78918738e-02 -1.54721120e-02 6.92720855e+02] [ 2.78930200e-02 9.99610904e-01 -1.41750908e-04 8.81315595e+00] [ 1.54700455e-02 -2.89885143e-04 9.99880290e-01 1.07228767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.1492541539999 meters Centerline goodness : 0.999043 Centerline is valid? [True, True] Translation: X:692.75, Y:8.81, Z:10.72 [[ 9.99467475e-01 -2.87294243e-02 -1.54721145e-02 6.92752297e+02] [ 2.87306751e-02 9.99587179e-01 -1.41477659e-04 8.81452240e+00] [ 1.54697918e-02 -3.03121975e-04 9.99880290e-01 1.07230199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.1792541539999 meters Centerline goodness : 0.999467 Centerline is valid? [True, True] Translation: X:692.78, Y:8.82, Z:10.72 [[ 9.99446865e-01 -2.94376804e-02 -1.54721195e-02 6.92783072e+02] [ 2.94390246e-02 9.99566568e-01 -1.40920789e-04 8.81564593e+00] [ 1.54695618e-02 -3.14641266e-04 9.99880290e-01 1.07229356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.209254154 meters Centerline goodness : 0.999425 Centerline is valid? [True, True] Translation: X:692.81, Y:8.82, Z:10.72 [[ 9.99403348e-01 -3.08798021e-02 -1.54721220e-02 6.92814104e+02] [ 3.08813233e-02 9.99523048e-01 -1.40644530e-04 8.81774671e+00] [ 1.54690857e-02 -3.37238988e-04 9.99880290e-01 1.07240729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.2392541539999 meters Centerline goodness : 0.998914 Centerline is valid? [True, True] Translation: X:692.84, Y:8.82, Z:10.72 [[ 9.99368935e-01 -3.19741360e-02 -1.54721271e-02 6.92844244e+02] [ 3.19757969e-02 9.99488634e-01 -1.40084046e-04 8.81821214e+00] [ 1.54686942e-02 -3.54737951e-04 9.99880290e-01 1.07236691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.2692541539999 meters Centerline goodness : 0.998041 Centerline is valid? [True, True] Translation: X:692.88, Y:8.82, Z:10.73 [[ 9.99286087e-01 -3.44663678e-02 -1.54721296e-02 6.92876410e+02] [ 3.44683315e-02 9.99405781e-01 -1.39805918e-04 8.81902008e+00] [ 1.54677544e-02 -3.93592384e-04 9.99880290e-01 1.07253635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.2992541539999 meters Centerline goodness : 0.997914 Centerline is valid? [True, True] Translation: X:692.91, Y:8.82, Z:10.73 [[ 9.99249386e-01 -3.55144617e-02 -1.54721396e-02 6.92908864e+02] [ 3.55165682e-02 9.99369078e-01 -1.38696064e-04 8.81955294e+00] [ 1.54673036e-02 -4.10925343e-04 9.99880290e-01 1.07264394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.329254154 meters Centerline goodness : 0.998322 Centerline is valid? [True, True] Translation: X:692.94, Y:8.82, Z:10.73 [[ 9.99232660e-01 -3.59819828e-02 -1.54721494e-02 6.92940290e+02] [ 3.59841624e-02 9.99352351e-01 -1.37587607e-04 8.81972581e+00] [ 1.54670796e-02 -4.19270307e-04 9.99880290e-01 1.07261571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.3592541539999 meters Centerline goodness : 0.998726 Centerline is valid? [True, True] Translation: X:692.97, Y:8.82, Z:10.73 [[ 9.99159169e-01 -3.79679720e-02 -1.54721567e-02 6.92972227e+02] [ 3.79704023e-02 9.99278855e-01 -1.36760729e-04 8.82147823e+00] [ 1.54661916e-02 -4.50838279e-04 9.99880290e-01 1.07290304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.3892541539999 meters Centerline goodness : 0.998686 Centerline is valid? [True, True] Translation: X:693.00, Y:8.82, Z:10.73 [[ 9.99081004e-01 -3.99719961e-02 -1.54721664e-02 6.93002914e+02] [ 3.99746835e-02 9.99200684e-01 -1.35659343e-04 8.82234525e+00] [ 1.54652218e-02 -4.82960282e-04 9.99880290e-01 1.07304951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.4192541539999 meters Centerline goodness : 0.998724 Centerline is valid? [True, True] Translation: X:693.04, Y:8.82, Z:10.73 [[ 9.99043291e-01 -4.09037162e-02 -1.54721735e-02 6.93035251e+02] [ 4.09065279e-02 9.99162969e-01 -1.34839250e-04 8.82227803e+00] [ 1.54647383e-02 -4.98202651e-04 9.99880290e-01 1.07309983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.449254154 meters Centerline goodness : 0.999235 Centerline is valid? [True, True] Translation: X:693.07, Y:8.82, Z:10.73 [[ 9.98989911e-01 -4.21873086e-02 -1.54721829e-02 6.93067705e+02] [ 4.21902908e-02 9.99109584e-01 -1.33757547e-04 8.82225929e+00] [ 1.54640491e-02 -5.19153455e-04 9.99880290e-01 1.07313290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.4792541539999 meters Centerline goodness : 0.999109 Centerline is valid? [True, True] Translation: X:693.10, Y:8.82, Z:10.73 [[ 9.98848793e-01 -4.54059551e-02 -1.54721921e-02 6.93099482e+02] [ 4.54093395e-02 9.98968455e-01 -1.32683342e-04 8.82158457e+00] [ 1.54622565e-02 -5.70051428e-04 9.99880290e-01 1.07304805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.5092541539999 meters Centerline goodness : 0.999173 Centerline is valid? [True, True] Translation: X:693.13, Y:8.82, Z:10.73 [[ 9.98731607e-01 -4.79143779e-02 -1.54722018e-02 6.93131923e+02] [ 4.79180804e-02 9.98851260e-01 -1.31545425e-04 8.82241387e+00] [ 1.54607312e-02 -6.10019636e-04 9.99880290e-01 1.07323681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.5392541539999 meters Centerline goodness : 0.999300 Centerline is valid? [True, True] Translation: X:693.16, Y:8.82, Z:10.73 [[ 9.98625012e-01 -5.00868912e-02 -1.54722114e-02 6.93164149e+02] [ 5.00908717e-02 9.98744656e-01 -1.30401078e-04 8.82273481e+00] [ 1.54593199e-02 -6.44794779e-04 9.99880290e-01 1.07329569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.5692541539999 meters Centerline goodness : 0.999640 Centerline is valid? [True, True] Translation: X:693.20, Y:8.82, Z:10.73 [[ 9.98511346e-01 -5.23039503e-02 -1.54722233e-02 6.93197616e+02] [ 5.23082185e-02 9.98630980e-01 -1.28975209e-04 8.82305274e+00] [ 1.54577874e-02 -6.80541228e-04 9.99880290e-01 1.07339275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.5992541539999 meters Centerline goodness : 0.999259 Centerline is valid? [True, True] Translation: X:693.23, Y:8.82, Z:10.73 [[ 9.98327883e-01 -5.56960293e-02 -1.54722376e-02 6.93229232e+02] [ 5.57007307e-02 9.98447501e-01 -1.27241985e-04 8.82230291e+00] [ 1.54553038e-02 -7.34785716e-04 9.99880290e-01 1.07326533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.6292541539999 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:693.26, Y:8.82, Z:10.73 [[ 9.98222661e-01 -5.75511011e-02 -1.54722492e-02 6.93262044e+02] [ 5.75560469e-02 9.98342269e-01 -1.25808216e-04 8.82274691e+00] [ 1.54538408e-02 -7.64936891e-04 9.99880290e-01 1.07344612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.6592541539999 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:693.29, Y:8.82, Z:10.73 [[ 9.98158919e-01 -5.86462393e-02 -1.54722627e-02 6.93294144e+02] [ 5.86513422e-02 9.98278521e-01 -1.24133954e-04 8.82291634e+00] [ 1.54529075e-02 -7.83563559e-04 9.99880290e-01 1.07348066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.6892541539999 meters Centerline goodness : 0.999555 Centerline is valid? [True, True] Translation: X:693.33, Y:8.82, Z:10.73 [[ 9.98118396e-01 -5.93319165e-02 -1.54722737e-02 6.93327371e+02] [ 5.93371231e-02 9.98237993e-01 -1.22745393e-04 8.82326581e+00] [ 1.54522941e-02 -7.95565772e-04 9.99880290e-01 1.07348803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.7192541539999 meters Centerline goodness : 0.999597 Centerline is valid? [True, True] Translation: X:693.36, Y:8.82, Z:10.73 [[ 9.98179417e-01 -5.82963137e-02 -1.54722866e-02 6.93359130e+02] [ 5.83014216e-02 9.98299018e-01 -1.21098357e-04 8.82390955e+00] [ 1.54530281e-02 -7.81178414e-04 9.99880290e-01 1.07349728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.7492541539999 meters Centerline goodness : 0.999470 Centerline is valid? [True, True] Translation: X:693.39, Y:8.82, Z:10.74 [[ 9.98267205e-01 -5.67731897e-02 -1.54722971e-02 6.93392091e+02] [ 5.67781362e-02 9.98386813e-01 -1.19735786e-04 8.82474091e+00] [ 1.54541352e-02 -7.58959884e-04 9.99880290e-01 1.07353233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.7792541539999 meters Centerline goodness : 0.999597 Centerline is valid? [True, True] Translation: X:693.42, Y:8.83, Z:10.74 [[ 9.98521899e-01 -5.21020600e-02 -1.54723095e-02 6.93424440e+02] [ 5.21064719e-02 9.98641528e-01 -1.18116605e-04 8.82741523e+00] [ 1.54574449e-02 -6.88265442e-04 9.99880290e-01 1.07356097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.8092541539999 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:693.46, Y:8.83, Z:10.74 [[ 9.98681351e-01 -4.89506552e-02 -1.54723177e-02 6.93456175e+02] [ 4.89547063e-02 9.98800993e-01 -1.17032327e-04 8.82863881e+00] [ 1.54594951e-02 -6.40564764e-04 9.99880290e-01 1.07369626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.839254154 meters Centerline goodness : 0.999256 Centerline is valid? [True, True] Translation: X:693.49, Y:8.83, Z:10.74 [[ 9.98822629e-01 -4.59778561e-02 -1.54723261e-02 6.93487098e+02] [ 4.59815686e-02 9.98942282e-01 -1.15901242e-04 8.83016110e+00] [ 1.54612897e-02 -5.95677043e-04 9.99880290e-01 1.07370401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.8692541539999 meters Centerline goodness : 0.999468 Centerline is valid? [True, True] Translation: X:693.52, Y:8.83, Z:10.74 [[ 9.98966830e-01 -4.27303133e-02 -1.54723324e-02 6.93519095e+02] [ 4.27336498e-02 9.99086494e-01 -1.15058748e-04 8.83166502e+00] [ 1.54631148e-02 -5.46249362e-04 9.99880290e-01 1.07378462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.8992541539999 meters Centerline goodness : 0.999596 Centerline is valid? [True, True] Translation: X:693.55, Y:8.83, Z:10.74 [[ 9.99099989e-01 -3.94945450e-02 -1.54723406e-02 6.93551704e+02] [ 3.94975111e-02 9.99219662e-01 -1.13946768e-04 8.83284217e+00] [ 1.54647672e-02 -4.97274730e-04 9.99880290e-01 1.07389590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.9292541539999 meters Centerline goodness : 0.999489 Centerline is valid? [True, True] Translation: X:693.58, Y:8.84, Z:10.74 [[ 9.99295299e-01 -3.41981365e-02 -1.54723488e-02 6.93583525e+02] [ 3.42004856e-02 9.99414986e-01 -1.12823522e-04 8.83502630e+00] [ 1.54671556e-02 -4.16417826e-04 9.99880290e-01 1.07403136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.959254154 meters Centerline goodness : 0.999296 Centerline is valid? [True, True] Translation: X:693.62, Y:8.84, Z:10.74 [[ 9.99380772e-01 -3.16018638e-02 -1.54723569e-02 6.93615277e+02] [ 3.16039193e-02 9.99500465e-01 -1.11703382e-04 8.83610913e+00] [ 1.54681579e-02 -3.77352905e-04 9.99880290e-01 1.07413530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.9892541539999 meters Centerline goodness : 0.999232 Centerline is valid? [True, True] Translation: X:693.65, Y:8.84, Z:10.74 [[ 9.99475000e-01 -2.84663086e-02 -1.54723649e-02 6.93645272e+02] [ 2.84680059e-02 9.99594698e-01 -1.10581214e-04 8.83711849e+00] [ 1.54692418e-02 -3.29944216e-04 9.99880290e-01 1.07421391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.0192541539999 meters Centerline goodness : 0.999423 Centerline is valid? [True, True] Translation: X:693.68, Y:8.84, Z:10.74 [[ 9.99583038e-01 -2.43796450e-02 -1.54720256e-02 6.93676087e+02] [ 2.43801278e-02 9.99702748e-01 -1.57436865e-04 8.83858962e+00] [ 1.54712647e-02 -2.19838741e-04 9.99880289e-01 1.07432399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.0492541539999 meters Centerline goodness : 0.999273 Centerline is valid? [True, True] Translation: X:693.71, Y:8.84, Z:10.74 [[ 9.99639290e-01 -2.19521451e-02 -1.54723641e-02 6.93706818e+02] [ 2.19530762e-02 9.99758996e-01 -1.09681378e-04 8.83913906e+00] [ 1.54710430e-02 -2.30024173e-04 9.99880290e-01 1.07432969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.079254154 meters Centerline goodness : 0.999423 Centerline is valid? [True, True] Translation: X:693.74, Y:8.84, Z:10.74 [[ 9.99685185e-01 -1.97518998e-02 -1.54723660e-02 6.93737123e+02] [ 1.97525716e-02 9.99804893e-01 -1.09409591e-04 8.83997315e+00] [ 1.54715083e-02 -1.96243871e-04 9.99880290e-01 1.07441864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.1092541539999 meters Centerline goodness : 0.999424 Centerline is valid? [True, True] Translation: X:693.77, Y:8.84, Z:10.74 [[ 9.99754906e-01 -1.58345575e-02 -1.54723660e-02 6.93765900e+02] [ 1.58347603e-02 9.99874616e-01 -1.09409591e-04 8.84092886e+00] [ 1.54721585e-02 -1.35618432e-04 9.99880290e-01 1.07433541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.1392541539999 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:693.79, Y:8.84, Z:10.74 [[ 9.99772770e-01 -1.46633602e-02 -1.54723600e-02 6.93794594e+02] [ 1.46634096e-02 9.99892480e-01 -1.10259305e-04 8.84152041e+00] [ 1.54723132e-02 -1.16643302e-04 9.99880290e-01 1.07433036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.1692541539999 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:693.82, Y:8.84, Z:10.74 [[ 9.99768584e-01 -1.49460719e-02 -1.54723318e-02 6.93822978e+02] [ 1.49460959e-02 9.99888294e-01 -1.14087540e-04 8.84181014e+00] [ 1.54723086e-02 -1.17189816e-04 9.99880290e-01 1.07437441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.199254154 meters Centerline goodness : 0.999271 Centerline is valid? [True, True] Translation: X:693.85, Y:8.84, Z:10.74 [[ 9.99793960e-01 -1.31394393e-02 -1.54722983e-02 6.93851035e+02] [ 1.31391793e-02 9.99913670e-01 -1.18462350e-04 8.84203549e+00] [ 1.54725191e-02 -8.48553585e-05 9.99880290e-01 1.07433814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.2292541539999 meters Centerline goodness : 0.999229 Centerline is valid? [True, True] Translation: X:693.88, Y:8.84, Z:10.74 [[ 9.99794955e-01 -1.30635144e-02 -1.54722878e-02 6.93879314e+02] [ 1.30632243e-02 9.99914665e-01 -1.19816107e-04 8.84197223e+00] [ 1.54725327e-02 -8.23264272e-05 9.99880290e-01 1.07445584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.2592541539999 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:693.91, Y:8.84, Z:10.74 [[ 9.99792189e-01 -1.32735860e-02 -1.54722512e-02 6.93906006e+02] [ 1.32732507e-02 9.99911899e-01 -1.24364465e-04 8.84158008e+00] [ 1.54725389e-02 -8.10284478e-05 9.99880290e-01 1.07441877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.2892541539999 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] Translation: X:693.93, Y:8.84, Z:10.74 [[ 9.99792494e-01 -1.32506305e-02 -1.54722254e-02 6.93934400e+02] [ 1.32502441e-02 9.99912204e-01 -1.27493424e-04 8.84024856e+00] [ 1.54725564e-02 -7.75437945e-05 9.99880290e-01 1.07437244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.3192541539999 meters Centerline goodness : 0.999037 Centerline is valid? [True, True] Translation: X:693.96, Y:8.84, Z:10.75 [[ 9.99768181e-01 -1.49731462e-02 -1.54721868e-02 6.93962185e+02] [ 1.49728958e-02 9.99887891e-01 -1.32025015e-04 8.83863915e+00] [ 1.54724290e-02 -9.96690319e-05 9.99880290e-01 1.07451464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.3492541539999 meters Centerline goodness : 0.998695 Centerline is valid? [True, True] Translation: X:693.99, Y:8.84, Z:10.74 [[ 9.99768115e-01 -1.49775898e-02 -1.54721747e-02 6.93989334e+02] [ 1.49773183e-02 9.99887825e-01 -1.33426309e-04 8.83737524e+00] [ 1.54724375e-02 -9.83363162e-05 9.99880290e-01 1.07444034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.3792541539999 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:694.02, Y:8.84, Z:10.75 [[ 9.99730876e-01 -1.72860174e-02 -1.54715521e-02 6.94019672e+02] [ 1.72849124e-02 9.99850584e-01 -2.05147274e-04 8.83663030e+00] [ 1.54727866e-02 -6.23323591e-05 9.99880287e-01 1.07460877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.4092541539999 meters Centerline goodness : 0.997471 Centerline is valid? [True, True] Translation: X:694.05, Y:8.83, Z:10.75 [[ 9.99711965e-01 -1.83466289e-02 -1.54721649e-02 6.94047293e+02] [ 1.83467392e-02 9.99831675e-01 -1.34824895e-04 8.83431258e+00] [ 1.54720342e-02 -1.49077714e-04 9.99880290e-01 1.07455097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.4392541539999 meters Centerline goodness : 0.999230 Centerline is valid? [True, True] Translation: X:694.08, Y:8.83, Z:10.75 [[ 9.99669662e-01 -2.05231330e-02 -1.54714986e-02 6.94076373e+02] [ 2.05223538e-02 9.99789372e-01 -2.09142485e-04 8.83371285e+00] [ 1.54725322e-02 -1.08438172e-04 9.99880287e-01 1.07468916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.4692541539999 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:694.10, Y:8.83, Z:10.75 [[ 9.99662080e-01 -2.08887327e-02 -1.54721299e-02 6.94104933e+02] [ 2.08890865e-02 9.99781790e-01 -1.38756158e-04 8.83169827e+00] [ 1.54716522e-02 -1.84489391e-04 9.99880290e-01 1.07453175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.4992541539999 meters Centerline goodness : 0.998955 Centerline is valid? [True, True] Translation: X:694.13, Y:8.83, Z:10.75 [[ 9.99608435e-01 -2.33150121e-02 -1.54721224e-02 6.94134635e+02] [ 2.33156436e-02 9.99728144e-01 -1.39586912e-04 8.82941977e+00] [ 1.54711707e-02 -2.21210238e-04 9.99880290e-01 1.07475537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.5292541539999 meters Centerline goodness : 0.998956 Centerline is valid? [True, True] Translation: X:694.17, Y:8.83, Z:10.75 [[ 9.99576347e-01 -2.46523912e-02 -1.54721173e-02 6.94165032e+02] [ 2.46531743e-02 9.99696055e-01 -1.40147657e-04 8.82784150e+00] [ 1.54708696e-02 -2.41348522e-04 9.99880290e-01 1.07479957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.5592541539999 meters Centerline goodness : 0.998978 Centerline is valid? [True, True] Translation: X:694.20, Y:8.83, Z:10.75 [[ 9.99541397e-01 -2.60309237e-02 -1.54721173e-02 6.94195467e+02] [ 2.60318718e-02 9.99661104e-01 -1.40147657e-04 8.82589081e+00] [ 1.54705221e-02 -2.62684791e-04 9.99880290e-01 1.07483146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.589254154 meters Centerline goodness : 0.999021 Centerline is valid? [True, True] Translation: X:694.23, Y:8.82, Z:10.75 [[ 9.99493191e-01 -2.78204080e-02 -1.54721173e-02 6.94226313e+02] [ 2.78215704e-02 9.99612895e-01 -1.40147657e-04 8.82422561e+00] [ 1.54700270e-02 -2.90381974e-04 9.99880290e-01 1.07482835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.6192541539999 meters Centerline goodness : 0.998832 Centerline is valid? [True, True] Translation: X:694.26, Y:8.82, Z:10.75 [[ 9.99413342e-01 -3.05546327e-02 -1.54721199e-02 6.94257105e+02] [ 3.05561270e-02 9.99533043e-01 -1.39864078e-04 8.82061997e+00] [ 1.54691686e-02 -3.32986036e-04 9.99880290e-01 1.07464911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.6492541539999 meters Centerline goodness : 0.998853 Centerline is valid? [True, True] Translation: X:694.29, Y:8.82, Z:10.75 [[ 9.99371735e-01 -3.18864894e-02 -1.54721224e-02 6.94288923e+02] [ 3.18881475e-02 9.99491434e-01 -1.39587963e-04 8.81956363e+00] [ 1.54687048e-02 -3.53877056e-04 9.99880290e-01 1.07479822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.6792541539999 meters Centerline goodness : 0.998896 Centerline is valid? [True, True] Translation: X:694.33, Y:8.81, Z:10.74 [[ 9.99562605e-01 -2.52034001e-02 -1.54721274e-02 6.94327414e+02] [ 2.52042663e-02 9.99682312e-01 -1.39034839e-04 8.80886516e+00] [ 1.54707162e-02 -2.50989593e-04 9.99880290e-01 1.07408300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.709254154 meters Centerline goodness : 0.998983 Centerline is valid? [True, True] Translation: X:694.35, Y:8.81, Z:10.75 [[ 9.99386744e-01 -3.14108463e-02 -1.54756152e-02 6.94349000e+02] [ 3.14183034e-02 9.99506295e-01 2.38911814e-04 8.81418099e+00] [ 1.54604704e-02 -7.24982874e-04 9.99880217e-01 1.07482562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.7392541539999 meters Centerline goodness : 0.998963 Centerline is valid? [True, True] Translation: X:694.38, Y:8.81, Z:10.75 [[ 9.99354517e-01 -3.24219303e-02 -1.54715177e-02 6.94379989e+02] [ 3.24231626e-02 9.99474216e-01 -1.71247624e-04 8.81363170e+00] [ 1.54689352e-02 -3.30498446e-04 9.99880294e-01 1.07473461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.7692541539999 meters Centerline goodness : 0.998817 Centerline is valid? [True, True] Translation: X:694.41, Y:8.81, Z:10.75 [[ 9.99376022e-01 -3.17520676e-02 -1.54717045e-02 6.94411603e+02] [ 3.17535133e-02 9.99495718e-01 -1.52266710e-04 8.81280680e+00] [ 1.54687371e-02 -3.39109274e-04 9.99880294e-01 1.07491273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.7992541539999 meters Centerline goodness : 0.998880 Centerline is valid? [True, True] Translation: X:694.44, Y:8.81, Z:10.75 [[ 9.99408301e-01 -3.07192668e-02 -1.54717101e-02 6.94441636e+02] [ 3.07205977e-02 9.99528000e-01 -1.51690856e-04 8.81223493e+00] [ 1.54690673e-02 -3.23699081e-04 9.99880294e-01 1.07489330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.829254154 meters Centerline goodness : 0.999029 Centerline is valid? [True, True] Translation: X:694.47, Y:8.81, Z:10.75 [[ 9.99431084e-01 -2.99690716e-02 -1.54713762e-02 6.94472029e+02] [ 2.99697850e-02 9.99550788e-01 -1.85795003e-04 8.81102500e+00] [ 1.54699944e-02 -2.77984518e-04 9.99880294e-01 1.07501250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.8592541539999 meters Centerline goodness : 0.998987 Centerline is valid? [True, True] Translation: X:694.50, Y:8.81, Z:10.75 [[ 9.99429709e-01 -3.00147097e-02 -1.54717155e-02 6.94503543e+02] [ 3.00159662e-02 9.99549408e-01 -1.51046712e-04 8.81043695e+00] [ 1.54692777e-02 -3.13437919e-04 9.99880294e-01 1.07505035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.8892541539999 meters Centerline goodness : 0.998798 Centerline is valid? [True, True] Translation: X:694.53, Y:8.81, Z:10.75 [[ 9.99416209e-01 -3.04609054e-02 -1.54717210e-02 6.94534410e+02] [ 3.04622240e-02 9.99535907e-01 -1.50482095e-04 8.80992639e+00] [ 1.54691245e-02 -3.20908786e-04 9.99880294e-01 1.07503081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.9192541539999 meters Centerline goodness : 0.999007 Centerline is valid? [True, True] Translation: X:694.57, Y:8.81, Z:10.75 [[ 9.99397545e-01 -3.10672290e-02 -1.54717264e-02 6.94565973e+02] [ 3.10686290e-02 9.99517242e-01 -1.49921567e-04 8.80888911e+00] [ 1.54689150e-02 -3.30854081e-04 9.99880294e-01 1.07507182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.949254154 meters Centerline goodness : 0.998945 Centerline is valid? [True, True] Translation: X:694.60, Y:8.81, Z:10.75 [[ 9.99303601e-01 -3.39549562e-02 -1.54717318e-02 6.94597570e+02] [ 3.39567107e-02 9.99423293e-01 -1.49358703e-04 8.80658480e+00] [ 1.54678807e-02 -3.76114433e-04 9.99880294e-01 1.07499418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.9792541539999 meters Centerline goodness : 0.998947 Centerline is valid? [True, True] Translation: X:694.63, Y:8.81, Z:10.75 [[ 9.99250448e-01 -3.54847445e-02 -1.54717399e-02 6.94629394e+02] [ 3.54866953e-02 9.99370138e-01 -1.48516956e-04 8.80555742e+00] [ 1.54672649e-02 -4.00635285e-04 9.99880294e-01 1.07491465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.0092541539999 meters Centerline goodness : 0.998926 Centerline is valid? [True, True] Translation: X:694.66, Y:8.80, Z:10.75 [[ 9.99100767e-01 -3.94750956e-02 -1.54717452e-02 6.94661497e+02] [ 3.94775328e-02 9.99220447e-01 -1.47967826e-04 8.80434226e+00] [ 1.54655252e-02 -4.62951560e-04 9.99880294e-01 1.07498965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.0392541539999 meters Centerline goodness : 0.998822 Centerline is valid? [True, True] Translation: X:694.69, Y:8.80, Z:10.75 [[ 9.99029183e-01 -4.12470144e-02 -1.54717559e-02 6.94694058e+02] [ 4.12496814e-02 9.99148859e-01 -1.46838360e-04 8.80384059e+00] [ 1.54646439e-02 -4.91509195e-04 9.99880294e-01 1.07502751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.0692541539999 meters Centerline goodness : 0.998929 Centerline is valid? [True, True] Translation: X:694.73, Y:8.80, Z:10.75 [[ 9.98961231e-01 -4.28612154e-02 -1.54717666e-02 6.94725330e+02] [ 4.28640934e-02 9.99080902e-01 -1.45698255e-04 8.80343995e+00] [ 1.54637914e-02 -5.17636342e-04 9.99880294e-01 1.07502736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.0992541539999 meters Centerline goodness : 0.998927 Centerline is valid? [True, True] Translation: X:694.76, Y:8.80, Z:10.75 [[ 9.98912897e-01 -4.39732682e-02 -1.54717843e-02 6.94757791e+02] [ 4.39763089e-02 9.99032564e-01 -1.43794610e-04 8.80299678e+00] [ 1.54631395e-02 -5.36753676e-04 9.99880294e-01 1.07506478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.1292541539999 meters Centerline goodness : 0.998737 Centerline is valid? [True, True] Translation: X:694.79, Y:8.80, Z:10.75 [[ 9.99051296e-01 -4.07078779e-02 -1.54717947e-02 6.94792137e+02] [ 4.07105448e-02 9.99170972e-01 -1.42671883e-04 8.79776919e+00] [ 1.54647760e-02 -4.87328661e-04 9.99880294e-01 1.07486757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.1592541539999 meters Centerline goodness : 0.999011 Centerline is valid? [True, True] Translation: X:694.82, Y:8.80, Z:10.75 [[ 9.98833575e-01 -4.57388322e-02 -1.54741604e-02 6.94816835e+02] [ 4.57462095e-02 9.98953087e-01 1.22934949e-04 8.80337015e+00] [ 1.54523374e-02 -8.30675736e-04 9.99880260e-01 1.07528894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.1892541539999 meters Centerline goodness : 0.998844 Centerline is valid? [True, True] Translation: X:694.85, Y:8.80, Z:10.75 [[ 9.98839470e-01 -4.56107511e-02 -1.54716680e-02 6.94848348e+02] [ 4.56139798e-02 9.98959130e-01 -1.44316648e-04 8.80424553e+00] [ 1.54621464e-02 -5.61575189e-04 9.99880296e-01 1.07535440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.2192541539999 meters Centerline goodness : 0.998968 Centerline is valid? [True, True] Translation: X:694.88, Y:8.80, Z:10.75 [[ 9.98880846e-01 -4.46954324e-02 -1.54716855e-02 6.94880369e+02] [ 4.46985809e-02 9.99000509e-01 -1.42418332e-04 8.80445393e+00] [ 1.54625872e-02 -5.49303443e-04 9.99880296e-01 1.07547662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.2492541539999 meters Centerline goodness : 0.998866 Centerline is valid? [True, True] Translation: X:694.92, Y:8.80, Z:10.75 [[ 9.99100226e-01 -3.94888006e-02 -1.54716960e-02 6.94916267e+02] [ 3.94913430e-02 9.99219903e-01 -1.41274518e-04 8.79981973e+00] [ 1.54652053e-02 -4.69850650e-04 9.99880296e-01 1.07521725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.2792541539999 meters Centerline goodness : 0.998989 Centerline is valid? [True, True] Translation: X:694.94, Y:8.81, Z:10.76 [[ 9.99106935e-01 -3.93176811e-02 -1.54742287e-02 6.94941302e+02] [ 3.93245798e-02 9.99226480e-01 1.41674647e-04 8.80591403e+00] [ 1.54566887e-02 -7.50065664e-04 9.99880257e-01 1.07569095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.3092541539999 meters Centerline goodness : 0.998988 Centerline is valid? [True, True] Translation: X:694.97, Y:8.81, Z:10.76 [[ 9.99246219e-01 -3.56037405e-02 -1.54715286e-02 6.94970298e+02] [ 3.56057521e-02 9.99365904e-01 -1.45502552e-04 8.80730768e+00] [ 1.54668986e-02 -4.05482535e-04 9.99880298e-01 1.07576324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.339254154 meters Centerline goodness : 0.999075 Centerline is valid? [True, True] Translation: X:695.00, Y:8.81, Z:10.76 [[ 9.99435592e-01 -2.98186547e-02 -1.54707613e-02 6.95001768e+02] [ 2.98187758e-02 9.99555297e-01 -2.22896941e-04 8.80934792e+00] [ 1.54705279e-02 -2.38548027e-04 9.99880296e-01 1.07592924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.3692541539999 meters Centerline goodness : 0.998926 Centerline is valid? [True, True] Translation: X:695.03, Y:8.81, Z:10.76 [[ 9.99520146e-01 -2.68349201e-02 -1.54714516e-02 6.95033190e+02] [ 2.68357627e-02 9.99639844e-01 -1.53181431e-04 8.81047242e+00] [ 1.54699901e-02 -2.62080277e-04 9.99880298e-01 1.07602886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.3992541539999 meters Centerline goodness : 0.999113 Centerline is valid? [True, True] Translation: X:695.06, Y:8.81, Z:10.76 [[ 9.99604508e-01 -2.34832309e-02 -1.54714572e-02 6.95061501e+02] [ 2.34836809e-02 9.99724209e-01 -1.52615977e-04 8.81130546e+00] [ 1.54707742e-02 -2.10771145e-04 9.99880298e-01 1.07597584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.4292541539999 meters Centerline goodness : 0.998839 Centerline is valid? [True, True] Translation: X:695.09, Y:8.81, Z:10.76 [[ 9.99665811e-01 -2.07102455e-02 -1.54709864e-02 6.95091148e+02] [ 2.07096114e-02 9.99785513e-01 -2.01209333e-04 8.81266230e+00] [ 1.54718352e-02 -1.19256026e-04 9.99880297e-01 1.07595565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.459254154 meters Centerline goodness : 0.999136 Centerline is valid? [True, True] Translation: X:695.12, Y:8.81, Z:10.76 [[ 9.99669172e-01 -2.05474512e-02 -1.54708902e-02 6.95120570e+02] [ 2.05466416e-02 9.99788873e-01 -2.11293706e-04 8.81132624e+00] [ 1.54719654e-02 -1.06651032e-04 9.99880296e-01 1.07593278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.4892541539999 meters Centerline goodness : 0.998817 Centerline is valid? [True, True] Translation: X:695.15, Y:8.81, Z:10.76 [[ 9.99655460e-01 -2.12036439e-02 -1.54714986e-02 6.95149289e+02] [ 2.12039007e-02 9.99775161e-01 -1.47461287e-04 8.81183960e+00] [ 1.54711467e-02 -1.80645639e-04 9.99880298e-01 1.07586995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.5192541539999 meters Centerline goodness : 0.999198 Centerline is valid? [True, True] Translation: X:695.18, Y:8.81, Z:10.76 [[ 9.99575851e-01 -2.46732250e-02 -1.54709340e-02 6.95177241e+02] [ 2.46730312e-02 9.99695554e-01 -2.03425086e-04 8.81087931e+00] [ 1.54712431e-02 -1.78376034e-04 9.99880297e-01 1.07565190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.5492541539999 meters Centerline goodness : 0.998946 Centerline is valid? [True, True] Translation: X:695.21, Y:8.81, Z:10.76 [[ 9.99531023e-01 -2.64272292e-02 -1.54704896e-02 6.95207473e+02] [ 2.64265833e-02 9.99650727e-01 -2.46214199e-04 8.80987974e+00] [ 1.54715929e-02 -1.62733451e-04 9.99880295e-01 1.07574549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.579254154 meters Centerline goodness : 0.998967 Centerline is valid? [True, True] Translation: X:695.24, Y:8.81, Z:10.76 [[ 9.99457248e-01 -2.90836701e-02 -1.54709294e-02 6.95237069e+02] [ 2.90840100e-02 9.99576950e-01 -2.03072097e-04 8.80881815e+00] [ 1.54702905e-02 -2.46994785e-04 9.99880297e-01 1.07577803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.6092541539999 meters Centerline goodness : 0.998929 Centerline is valid? [True, True] Translation: X:695.27, Y:8.81, Z:10.76 [[ 9.99380086e-01 -3.16240579e-02 -1.54713822e-02 6.95267597e+02] [ 3.16253838e-02 9.99499780e-01 -1.59011865e-04 8.80854175e+00] [ 1.54686717e-02 -3.30375110e-04 9.99880298e-01 1.07584659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.6392541539999 meters Centerline goodness : 0.999199 Centerline is valid? [True, True] Translation: X:695.30, Y:8.81, Z:10.76 [[ 9.99204730e-01 -3.67497485e-02 -1.54713822e-02 6.95298679e+02] [ 3.67516883e-02 9.99324416e-01 -1.59011865e-04 8.80749505e+00] [ 1.54667737e-02 -4.09714010e-04 9.99880298e-01 1.07592938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.6692541539999 meters Centerline goodness : 0.998885 Centerline is valid? [True, True] Translation: X:695.33, Y:8.81, Z:10.76 [[ 9.99115031e-01 -3.91125332e-02 -1.54713907e-02 6.95329608e+02] [ 3.91147689e-02 9.99234712e-01 -1.58185119e-04 8.80679542e+00] [ 1.54657376e-02 -4.47114741e-04 9.99880298e-01 1.07597821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.699254154 meters Centerline goodness : 0.998948 Centerline is valid? [True, True] Translation: X:695.36, Y:8.81, Z:10.76 [[ 9.99009492e-01 -4.17213507e-02 -1.54713990e-02 6.95362030e+02] [ 4.17239116e-02 9.99129166e-01 -1.57366083e-04 8.80623037e+00] [ 1.54644915e-02 -4.88317074e-04 9.99880298e-01 1.07611578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.7292541539999 meters Centerline goodness : 0.998907 Centerline is valid? [True, True] Translation: X:695.39, Y:8.80, Z:10.76 [[ 9.98753157e-01 -4.74633191e-02 -1.54714105e-02 6.95393301e+02] [ 4.74665854e-02 9.98872814e-01 -1.56233970e-04 8.80491738e+00] [ 1.54613867e-02 -5.78335854e-04 9.99880298e-01 1.07616803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.7592541539999 meters Centerline goodness : 0.998968 Centerline is valid? [True, True] Translation: X:695.43, Y:8.80, Z:10.76 [[ 9.98612835e-01 -5.03293303e-02 -1.54714189e-02 6.95425564e+02] [ 5.03329529e-02 9.98732482e-01 -1.55391526e-04 8.80455568e+00] [ 1.54596294e-02 -6.23546228e-04 9.99880298e-01 1.07622360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.7892541539999 meters Centerline goodness : 0.998990 Centerline is valid? [True, True] Translation: X:695.46, Y:8.81, Z:10.76 [[ 9.98426312e-01 -5.39030179e-02 -1.54714300e-02 6.95458789e+02] [ 5.39070859e-02 9.98545944e-01 -1.54278083e-04 8.80528908e+00] [ 1.54572498e-02 -6.79984410e-04 9.99880298e-01 1.07635895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.8192541539999 meters Centerline goodness : 0.998908 Centerline is valid? [True, True] Translation: X:695.49, Y:8.80, Z:10.76 [[ 9.98136330e-01 -5.90294897e-02 -1.54720841e-02 6.95488629e+02] [ 5.90351917e-02 9.98255898e-01 -8.83254018e-05 8.80270029e+00] [ 1.54503130e-02 -8.25236661e-04 9.99880296e-01 1.07636478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.8492541539999 meters Centerline goodness : 0.998907 Centerline is valid? [True, True] Translation: X:695.52, Y:8.80, Z:10.77 [[ 9.97973091e-01 -6.17279842e-02 -1.54714436e-02 6.95522005e+02] [ 6.17330086e-02 9.98092687e-01 -1.53070102e-04 8.80193591e+00] [ 1.54513834e-02 -8.02338917e-04 9.99880298e-01 1.07650461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.8792541539999 meters Centerline goodness : 0.998823 Centerline is valid? [True, True] Translation: X:695.55, Y:8.80, Z:10.76 [[ 9.97791687e-01 -6.45939928e-02 -1.54714606e-02 6.95553794e+02] [ 6.45993875e-02 9.97911267e-01 -1.51333734e-04 8.80160213e+00] [ 1.54489201e-02 -8.48447336e-04 9.99880298e-01 1.07649554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.9092541539999 meters Centerline goodness : 0.998992 Centerline is valid? [True, True] Translation: X:695.59, Y:8.80, Z:10.77 [[ 9.97455711e-01 -6.95897827e-02 -1.54714871e-02 6.95586677e+02] [ 6.95958189e-02 9.97575260e-01 -1.48568095e-04 8.80155931e+00] [ 1.54443116e-02 -9.28560723e-04 9.99880298e-01 1.07659224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.9392541539999 meters Centerline goodness : 0.998931 Centerline is valid? [True, True] Translation: X:695.62, Y:8.80, Z:10.77 [[ 9.97321766e-01 -7.14837534e-02 -1.54715028e-02 6.95619533e+02] [ 7.14900420e-02 9.97441303e-01 -1.46923184e-04 8.80167061e+00] [ 1.54424185e-02 -9.59528694e-04 9.99880298e-01 1.07663343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.9692541539999 meters Centerline goodness : 0.999012 Centerline is valid? [True, True] Translation: X:695.65, Y:8.80, Z:10.77 [[ 9.97197973e-01 -7.31904035e-02 -1.54715181e-02 6.95651809e+02] [ 7.31969220e-02 9.97317497e-01 -1.45287314e-04 8.80236479e+00] [ 1.54406494e-02 -9.87587290e-04 9.99880298e-01 1.07672346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.9992541539999 meters Centerline goodness : 0.998885 Centerline is valid? [True, True] Translation: X:695.68, Y:8.80, Z:10.77 [[ 9.97112855e-01 -7.43410179e-02 -1.54715286e-02 6.95682721e+02] [ 7.43476917e-02 9.97232370e-01 -1.44159313e-04 8.80315957e+00] [ 1.54394261e-02 -1.00652934e-03 9.99880298e-01 1.07676594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.0292541539999 meters Centerline goodness : 0.999243 Centerline is valid? [True, True] Translation: X:695.71, Y:8.80, Z:10.77 [[ 9.97064615e-01 -7.49852325e-02 -1.54715364e-02 6.95714160e+02] [ 7.49919965e-02 9.97184125e-01 -1.43318741e-04 8.80463184e+00] [ 1.54387173e-02 -1.01734336e-03 9.99880298e-01 1.07669465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.0592541539999 meters Centerline goodness : 0.999243 Centerline is valid? [True, True] Translation: X:695.75, Y:8.80, Z:10.77 [[ 9.97072330e-01 -7.48825714e-02 -1.54715441e-02 6.95747689e+02] [ 7.48893360e-02 9.97191841e-01 -1.42486673e-04 8.80483982e+00] [ 1.54387673e-02 -1.01658414e-03 9.99880298e-01 1.07674652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.089254154 meters Centerline goodness : 0.998928 Centerline is valid? [True, True] Translation: X:695.78, Y:8.81, Z:10.77 [[ 9.97117457e-01 -7.42792556e-02 -1.54715586e-02 6.95779711e+02] [ 7.42859725e-02 9.97236970e-01 -1.40893686e-04 8.80561268e+00] [ 1.54392757e-02 -1.00883222e-03 9.99880298e-01 1.07678543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.1192541539999 meters Centerline goodness : 0.998675 Centerline is valid? [True, True] Translation: X:695.81, Y:8.81, Z:10.77 [[ 9.97156248e-01 -7.37566821e-02 -1.54715682e-02 6.95812347e+02] [ 7.37633527e-02 9.97275763e-01 -1.39834540e-04 8.80678449e+00] [ 1.54397337e-02 -1.00179785e-03 9.99880298e-01 1.07686918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.1492541539999 meters Centerline goodness : 0.998738 Centerline is valid? [True, True] Translation: X:695.85, Y:8.81, Z:10.77 [[ 9.97241733e-01 -7.25917082e-02 -1.54715828e-02 6.95845006e+02] [ 7.25982645e-02 9.97361255e-01 -1.38194062e-04 8.80789614e+00] [ 1.54407890e-02 -9.85397176e-04 9.99880298e-01 1.07689919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.1792541539999 meters Centerline goodness : 0.998991 Centerline is valid? [True, True] Translation: X:695.88, Y:8.81, Z:10.77 [[ 9.97419905e-01 -7.01010839e-02 -1.54715973e-02 6.95875849e+02] [ 7.01073670e-02 9.97539442e-01 -1.36555979e-04 8.81063526e+00] [ 1.54431012e-02 -9.48469297e-04 9.99880298e-01 1.07684898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.209254154 meters Centerline goodness : 0.998947 Centerline is valid? [True, True] Translation: X:695.91, Y:8.81, Z:10.77 [[ 9.97542964e-01 -6.83276250e-02 -1.54716157e-02 6.95907582e+02] [ 6.83337284e-02 9.97662510e-01 -1.34433816e-04 8.81232528e+00] [ 1.54446365e-02 -9.23129679e-04 9.99880298e-01 1.07686622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.2392541539999 meters Centerline goodness : 0.999094 Centerline is valid? [True, True] Translation: X:695.94, Y:8.81, Z:10.77 [[ 9.97678475e-01 -6.63196016e-02 -1.54716249e-02 6.95939572e+02] [ 6.63254809e-02 9.97798032e-01 -1.33363472e-04 8.81429964e+00] [ 1.54464015e-02 -8.93109099e-04 9.99880298e-01 1.07688654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.2692541539999 meters Centerline goodness : 0.998924 Centerline is valid? [True, True] Translation: X:695.97, Y:8.82, Z:10.77 [[ 9.97980081e-01 -6.16148161e-02 -1.54716341e-02 6.95971950e+02] [ 6.16201481e-02 9.98099664e-01 -1.32296922e-04 8.81821008e+00] [ 1.54503842e-02 -8.21334689e-04 9.99880298e-01 1.07697090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.2992541539999 meters Centerline goodness : 0.998861 Centerline is valid? [True, True] Translation: X:696.00, Y:8.82, Z:10.77 [[ 9.98126247e-01 -5.91998635e-02 -1.54716436e-02 6.96003111e+02] [ 5.92049235e-02 9.98245841e-01 -1.31175283e-04 8.82065172e+00] [ 1.54522694e-02 -7.85067982e-04 9.99880298e-01 1.07694140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.329254154 meters Centerline goodness : 0.998859 Centerline is valid? [True, True] Translation: X:696.04, Y:8.82, Z:10.77 [[ 9.98296408e-01 -5.62575268e-02 -1.54716506e-02 6.96036085e+02] [ 5.62622472e-02 9.98416017e-01 -1.30341625e-04 8.82301493e+00] [ 1.54544765e-02 -7.40350254e-04 9.99880298e-01 1.07703268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.3592541539999 meters Centerline goodness : 0.998943 Centerline is valid? [True, True] Translation: X:696.07, Y:8.83, Z:10.77 [[ 9.98452286e-01 -5.34196605e-02 -1.54716637e-02 6.96068256e+02] [ 5.34240650e-02 9.98571907e-01 -1.28771889e-04 8.82563269e+00] [ 1.54564476e-02 -6.97986579e-04 9.99880298e-01 1.07737559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.3892541539999 meters Centerline goodness : 0.998796 Centerline is valid? [True, True] Translation: X:696.10, Y:8.83, Z:10.78 [[ 9.98776427e-01 -4.69710209e-02 -1.54716731e-02 6.96099637e+02] [ 4.69746707e-02 9.98896073e-01 -1.27629562e-04 8.83015267e+00] [ 1.54605884e-02 -5.99303350e-04 9.99880298e-01 1.07753733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.4192541539999 meters Centerline goodness : 0.998964 Centerline is valid? [True, True] Translation: X:696.13, Y:8.83, Z:10.78 [[ 9.98922350e-01 -4.37580392e-02 -1.54716891e-02 6.96131507e+02] [ 4.37613346e-02 9.99042006e-01 -1.25653220e-04 8.83274288e+00] [ 1.54623657e-02 -5.51543956e-04 9.99880298e-01 1.07771926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.449254154 meters Centerline goodness : 0.999111 Centerline is valid? [True, True] Translation: X:696.16, Y:8.84, Z:10.78 [[ 9.99062976e-01 -4.04202414e-02 -1.54716983e-02 6.96164052e+02] [ 4.04231546e-02 9.99182643e-01 -1.24518888e-04 8.83533539e+00] [ 1.54640854e-02 -5.01012639e-04 9.99880298e-01 1.07787899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.4792541539999 meters Centerline goodness : 0.998963 Centerline is valid? [True, True] Translation: X:696.20, Y:8.84, Z:10.78 [[ 9.99203133e-01 -3.67930129e-02 -1.54717074e-02 6.96195399e+02] [ 3.67955092e-02 9.99322808e-01 -1.23376193e-04 8.83772369e+00] [ 1.54657694e-02 -4.46011473e-04 9.99880298e-01 1.07798507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.5092541539999 meters Centerline goodness : 0.998812 Centerline is valid? [True, True] Translation: X:696.23, Y:8.84, Z:10.78 [[ 9.99438379e-01 -2.97246067e-02 -1.54717218e-02 6.96227614e+02] [ 2.97262849e-02 9.99558069e-01 -1.21540936e-04 8.84140611e+00] [ 1.54684971e-02 -3.38444134e-04 9.99880298e-01 1.07806402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.5392541539999 meters Centerline goodness : 0.998746 Centerline is valid? [True, True] Translation: X:696.26, Y:8.84, Z:10.78 [[ 9.99537715e-01 -2.61721739e-02 -1.54717306e-02 6.96258456e+02] [ 2.61734442e-02 9.99657409e-01 -1.20406241e-04 8.84328761e+00] [ 1.54695814e-02 -2.84597900e-04 9.99880298e-01 1.07814040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.5692541539999 meters Centerline goodness : 0.998892 Centerline is valid? [True, True] Translation: X:696.29, Y:8.85, Z:10.78 [[ 9.99624263e-01 -2.26264865e-02 -1.54717351e-02 6.96289568e+02] [ 2.26273411e-02 9.99743962e-01 -1.19832831e-04 8.84523079e+00] [ 1.54704851e-02 -2.30296421e-04 9.99880298e-01 1.07817956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.5992541539999 meters Centerline goodness : 0.998850 Centerline is valid? [True, True] Translation: X:696.32, Y:8.85, Z:10.78 [[ 9.99745849e-01 -1.63970441e-02 -1.54717395e-02 6.96320406e+02] [ 1.63971616e-02 9.99865550e-01 -1.19263145e-04 8.84827287e+00] [ 1.54716148e-02 -1.34459778e-04 9.99880298e-01 1.07818446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.6292541539999 meters Centerline goodness : 0.999041 Centerline is valid? [True, True] Translation: X:696.35, Y:8.85, Z:10.78 [[ 9.99779755e-01 -1.41798210e-02 -1.54717395e-02 6.96348130e+02] [ 1.41796731e-02 9.99899456e-01 -1.19263145e-04 8.84957058e+00] [ 1.54718750e-02 -1.00147330e-04 9.99880298e-01 1.07821778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.6592541539999 meters Centerline goodness : 0.998826 Centerline is valid? [True, True] Translation: X:696.38, Y:8.85, Z:10.78 [[ 9.99799722e-01 -1.26941630e-02 -1.54717284e-02 6.96376232e+02] [ 1.26938153e-02 9.99919423e-01 -1.20680084e-04 8.85077958e+00] [ 1.54720137e-02 -7.57393485e-05 9.99880298e-01 1.07821848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.6892541539999 meters Centerline goodness : 0.998995 Centerline is valid? [True, True] Translation: X:696.40, Y:8.85, Z:10.78 [[ 9.99812926e-01 -1.16077267e-02 -1.54716922e-02 6.96404057e+02] [ 1.16071796e-02 9.99932627e-01 -1.25157476e-04 8.85196837e+00] [ 1.54721026e-02 -5.44486485e-05 9.99880298e-01 1.07827872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.7192541539999 meters Centerline goodness : 0.998846 Centerline is valid? [True, True] Translation: X:696.43, Y:8.85, Z:10.78 [[ 9.99821872e-01 -1.08098538e-02 -1.54716540e-02 6.96432295e+02] [ 1.08091407e-02 9.99941571e-01 -1.29715573e-04 8.85307686e+00] [ 1.54721522e-02 -3.75428179e-05 9.99880298e-01 1.07816276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.7492541539999 meters Centerline goodness : 0.999038 Centerline is valid? [True, True] Translation: X:696.46, Y:8.85, Z:10.78 [[ 9.99814226e-01 -1.14953002e-02 -1.54716420e-02 6.96459715e+02] [ 1.14946474e-02 9.99933926e-01 -1.31125829e-04 8.85349998e+00] [ 1.54721271e-02 -4.67396004e-05 9.99880298e-01 1.07818162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.7792541539999 meters Centerline goodness : 0.998994 Centerline is valid? [True, True] Translation: X:696.49, Y:8.85, Z:10.78 [[ 9.99798884e-01 -1.27601676e-02 -1.54716024e-02 6.96487126e+02] [ 1.27595963e-02 9.99918584e-01 -1.35640622e-04 8.85390668e+00] [ 1.54720736e-02 -6.17980584e-05 9.99880298e-01 1.07819687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.8092541539999 meters Centerline goodness : 0.998824 Centerline is valid? [True, True] Translation: X:696.51, Y:8.85, Z:10.78 [[ 9.99780157e-01 -1.41516145e-02 -1.54715613e-02 6.96514370e+02] [ 1.41511395e-02 9.99899858e-01 -1.40183570e-04 8.85425274e+00] [ 1.54719957e-02 -7.87874704e-05 9.99880298e-01 1.07817204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.839254154 meters Centerline goodness : 0.998886 Centerline is valid? [True, True] Translation: X:696.54, Y:8.85, Z:10.78 [[ 9.99733857e-01 -1.71127317e-02 -1.54715432e-02 6.96541536e+02] [ 1.71125808e-02 9.99853559e-01 -1.42151667e-04 8.85402137e+00] [ 1.54717101e-02 -1.22644199e-04 9.99880298e-01 1.07818457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.8692541539999 meters Centerline goodness : 0.999035 Centerline is valid? [True, True] Translation: X:696.57, Y:8.85, Z:10.78 [[ 9.99701040e-01 -1.89331092e-02 -1.54715132e-02 6.96570376e+02] [ 1.89331268e-02 9.99820742e-01 -1.45345862e-04 8.85388970e+00] [ 1.54714916e-02 -1.47621712e-04 9.99880298e-01 1.07822119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.8992541539999 meters Centerline goodness : 0.998908 Centerline is valid? [True, True] Translation: X:696.60, Y:8.85, Z:10.78 [[ 9.99631424e-01 -2.23080784e-02 -1.54714760e-02 6.96599421e+02] [ 2.23084404e-02 9.99751125e-01 -1.49204277e-04 8.85412115e+00] [ 1.54709540e-02 -1.95995216e-04 9.99880298e-01 1.07830559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.9292541539999 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] Translation: X:696.63, Y:8.85, Z:10.78 [[ 9.99582679e-01 -2.43947153e-02 -1.54714364e-02 6.96629220e+02] [ 2.43952653e-02 9.99702380e-01 -1.53198566e-04 8.85452752e+00] [ 1.54705690e-02 -2.24295163e-04 9.99880298e-01 1.07839493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.959254154 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:696.66, Y:8.85, Z:10.78 [[ 9.99540492e-01 -2.60660665e-02 -1.54714307e-02 6.96659300e+02] [ 2.60668079e-02 9.99660191e-01 -1.53771426e-04 8.85460241e+00] [ 1.54701816e-02 -2.49590046e-04 9.99880298e-01 1.07845313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.9892541539999 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:696.69, Y:8.85, Z:10.78 [[ 9.99488980e-01 -2.79716618e-02 -1.54714307e-02 6.96691069e+02] [ 2.79726314e-02 9.99608678e-01 -1.53771426e-04 8.85469937e+00] [ 1.54696777e-02 -2.79083784e-04 9.99880298e-01 1.07848919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.0192541539999 meters Centerline goodness : 0.998762 Centerline is valid? [True, True] Translation: X:696.72, Y:8.85, Z:10.79 [[ 9.99382545e-01 -3.15462213e-02 -1.54714364e-02 6.96722483e+02] [ 3.15476278e-02 9.99502238e-01 -1.53198838e-04 8.85386328e+00] [ 1.54685681e-02 -3.34982873e-04 9.99880298e-01 1.07852511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.0492541539999 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:696.75, Y:8.85, Z:10.79 [[ 9.99331631e-01 -3.31198635e-02 -1.54714549e-02 6.96754401e+02] [ 3.31214878e-02 9.99451322e-01 -1.51302047e-04 8.85336466e+00] [ 1.54679772e-02 -3.61236685e-04 9.99880298e-01 1.07856658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.079254154 meters Centerline goodness : 0.998977 Centerline is valid? [True, True] Translation: X:696.79, Y:8.85, Z:10.79 [[ 9.99295919e-01 -3.41804183e-02 -1.54714661e-02 6.96785857e+02] [ 3.41821875e-02 9.99415607e-01 -1.50154514e-04 8.85276053e+00] [ 1.54675570e-02 -3.78799761e-04 9.99880298e-01 1.07856709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.1092541539999 meters Centerline goodness : 0.998976 Centerline is valid? [True, True] Translation: X:696.82, Y:8.85, Z:10.78 [[ 9.99324772e-01 -3.33261667e-02 -1.54714743e-02 6.96817664e+02] [ 3.33278467e-02 9.99444462e-01 -1.49299019e-04 8.85109889e+00] [ 1.54678549e-02 -3.66432718e-04 9.99880298e-01 1.07845805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.1392541539999 meters Centerline goodness : 0.999063 Centerline is valid? [True, True] Translation: X:696.85, Y:8.85, Z:10.79 [[ 9.99267925e-01 -3.49891234e-02 -1.54717916e-02 6.96848289e+02] [ 3.49915165e-02 9.99387603e-01 -1.16089005e-04 8.85151553e+00] [ 1.54663785e-02 -4.25377431e-04 9.99880298e-01 1.07857237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.1692541539999 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:696.88, Y:8.85, Z:10.79 [[ 9.99301098e-01 -3.40286371e-02 -1.54714892e-02 6.96880378e+02] [ 3.40304252e-02 9.99420786e-01 -1.47748333e-04 8.85181893e+00] [ 1.54675556e-02 -3.78856286e-04 9.99880298e-01 1.07863866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.199254154 meters Centerline goodness : 0.998829 Centerline is valid? [True, True] Translation: X:696.91, Y:8.85, Z:10.78 [[ 9.99418495e-01 -3.03859148e-02 -1.54714999e-02 6.96912320e+02] [ 3.03872842e-02 9.99538189e-01 -1.46619976e-04 8.84999390e+00] [ 1.54688102e-02 -3.23602149e-04 9.99880298e-01 1.07831063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.2292541539999 meters Centerline goodness : 0.998977 Centerline is valid? [True, True] Translation: X:696.94, Y:8.85, Z:10.79 [[ 9.99457712e-01 -2.90669964e-02 -1.54722602e-02 6.96941737e+02] [ 2.90694517e-02 9.99577392e-01 -6.62290459e-05 8.85297692e+00] [ 1.54676466e-02 -3.83576990e-04 9.99880295e-01 1.07865593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.2592541539999 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:696.97, Y:8.85, Z:10.79 [[ 9.99526175e-01 -2.66093996e-02 -1.54714663e-02 6.96973263e+02] [ 2.66102833e-02 9.99645873e-01 -1.48783344e-04 8.85363170e+00] [ 1.54699465e-02 -2.62987256e-04 9.99880299e-01 1.07866078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.2892541539999 meters Centerline goodness : 0.999062 Centerline is valid? [True, True] Translation: X:697.00, Y:8.85, Z:10.79 [[ 9.99585014e-01 -2.42988397e-02 -1.54714717e-02 6.97003774e+02] [ 2.42994553e-02 9.99704714e-01 -1.48222049e-04 8.85405528e+00] [ 1.54705048e-02 -2.27787798e-04 9.99880299e-01 1.07870530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.3192541539999 meters Centerline goodness : 0.998890 Centerline is valid? [True, True] Translation: X:697.03, Y:8.85, Z:10.79 [[ 9.99634306e-01 -2.21785439e-02 -1.54714805e-02 6.97032809e+02] [ 2.21789198e-02 9.99754007e-01 -1.47301329e-04 8.85443178e+00] [ 1.54709415e-02 -1.95893264e-04 9.99880299e-01 1.07864221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.3492541539999 meters Centerline goodness : 0.998934 Centerline is valid? [True, True] Translation: X:697.06, Y:8.86, Z:10.79 [[ 9.99689437e-01 -1.95361755e-02 -1.54714779e-02 6.97062547e+02] [ 1.95362308e-02 9.99809139e-01 -1.47574757e-04 8.85506609e+00] [ 1.54714080e-02 -1.54725437e-04 9.99880299e-01 1.07873676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.3792541539999 meters Centerline goodness : 0.998742 Centerline is valid? [True, True] Translation: X:697.09, Y:8.86, Z:10.79 [[ 9.99702419e-01 -1.88601843e-02 -1.54714724e-02 6.97092485e+02] [ 1.88601499e-02 9.99822121e-01 -1.48142493e-04 8.85583634e+00] [ 1.54715144e-02 -1.43695881e-04 9.99880299e-01 1.07874260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.4092541539999 meters Centerline goodness : 0.998891 Centerline is valid? [True, True] Translation: X:697.12, Y:8.86, Z:10.79 [[ 9.99705685e-01 -1.86862948e-02 -1.54714670e-02 6.97121214e+02] [ 1.86862308e-02 9.99825386e-01 -1.48705794e-04 8.85654902e+00] [ 1.54715443e-02 -1.40441377e-04 9.99880299e-01 1.07873441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.4392541539999 meters Centerline goodness : 0.998808 Centerline is valid? [True, True] Translation: X:697.15, Y:8.86, Z:10.79 [[ 9.99697356e-01 -1.91267268e-02 -1.54714281e-02 6.97149596e+02] [ 1.91266545e-02 9.99817057e-01 -1.52649165e-04 8.85710560e+00] [ 1.54715174e-02 -1.43313694e-04 9.99880299e-01 1.07871926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.4692541539999 meters Centerline goodness : 0.999190 Centerline is valid? [True, True] Translation: X:697.18, Y:8.86, Z:10.79 [[ 9.99660700e-01 -2.09552382e-02 -1.54713883e-02 6.97178679e+02] [ 2.09553239e-02 9.99780401e-01 -1.56587050e-04 8.85713880e+00] [ 1.54712721e-02 -1.67674033e-04 9.99880299e-01 1.07862285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.4992541539999 meters Centerline goodness : 0.998999 Centerline is valid? [True, True] Translation: X:697.21, Y:8.86, Z:10.79 [[ 9.99623252e-01 -2.26713610e-02 -1.54713476e-02 6.97208655e+02] [ 2.26715917e-02 9.99742954e-01 -1.60503170e-04 8.85742382e+00] [ 1.54710096e-02 -1.90317377e-04 9.99880299e-01 1.07863761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.5292541539999 meters Centerline goodness : 0.998892 Centerline is valid? [True, True] Translation: X:697.24, Y:8.86, Z:10.79 [[ 9.99583807e-01 -2.43485103e-02 -1.54713418e-02 6.97238469e+02] [ 2.43489331e-02 9.99703508e-01 -1.61068767e-04 8.85737076e+00] [ 1.54706764e-02 -2.15708933e-04 9.99880299e-01 1.07860608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.5592541539999 meters Centerline goodness : 0.998850 Centerline is valid? [True, True] Translation: X:697.27, Y:8.86, Z:10.79 [[ 9.99505738e-01 -2.73663443e-02 -1.54713388e-02 6.97269102e+02] [ 2.73671241e-02 9.99625437e-01 -1.61349242e-04 8.85711578e+00] [ 1.54699594e-02 -2.62136556e-04 9.99880299e-01 1.07859637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.589254154 meters Centerline goodness : 0.998936 Centerline is valid? [True, True] Translation: X:697.30, Y:8.86, Z:10.79 [[ 9.99429041e-01 -3.00371549e-02 -1.54713388e-02 6.97300777e+02] [ 3.00382546e-02 9.99548737e-01 -1.61349242e-04 8.85794061e+00] [ 1.54692037e-02 -3.03474896e-04 9.99880299e-01 1.07880427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.6192541539999 meters Centerline goodness : 0.999085 Centerline is valid? [True, True] Translation: X:697.33, Y:8.86, Z:10.79 [[ 9.99356422e-01 -3.23632493e-02 -1.54713447e-02 6.97331594e+02] [ 3.23646363e-02 9.99476115e-01 -1.60783792e-04 8.85866839e+00] [ 1.54684430e-02 -3.40044130e-04 9.99880299e-01 1.07886102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.6492541539999 meters Centerline goodness : 0.998937 Centerline is valid? [True, True] Translation: X:697.36, Y:8.86, Z:10.79 [[ 9.99212906e-01 -3.65267875e-02 -1.54713534e-02 6.97363496e+02] [ 3.65286863e-02 9.99332592e-01 -1.59938193e-04 8.85929261e+00] [ 1.54668698e-02 -4.05335910e-04 9.99880299e-01 1.07903356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.6792541539999 meters Centerline goodness : 0.998981 Centerline is valid? [True, True] Translation: X:697.39, Y:8.86, Z:10.79 [[ 9.99142710e-01 -3.83989919e-02 -1.54713648e-02 6.97394439e+02] [ 3.84011321e-02 9.99262392e-01 -1.58829327e-04 8.85962709e+00] [ 1.54660519e-02 -4.35424760e-04 9.99880299e-01 1.07909463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.709254154 meters Centerline goodness : 0.998894 Centerline is valid? [True, True] Translation: X:697.43, Y:8.86, Z:10.79 [[ 9.98992170e-01 -4.21340745e-02 -1.54713733e-02 6.97426308e+02] [ 4.21366749e-02 9.99111843e-01 -1.58002146e-04 8.85980235e+00] [ 1.54642896e-02 -4.94069320e-04 9.99880299e-01 1.07930791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.7392541539999 meters Centerline goodness : 0.999022 Centerline is valid? [True, True] Translation: X:697.46, Y:8.86, Z:10.79 [[ 9.98931556e-01 -4.35474751e-02 -1.54713847e-02 6.97457500e+02] [ 4.35502624e-02 9.99051225e-01 -1.56871005e-04 8.86015067e+00] [ 1.54635372e-02 -5.17079468e-04 9.99880299e-01 1.07935729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.7692541539999 meters Centerline goodness : 0.999002 Centerline is valid? [True, True] Translation: X:697.49, Y:8.86, Z:10.79 [[ 9.98866907e-01 -4.50059800e-02 -1.54714037e-02 6.97490070e+02] [ 4.50089711e-02 9.98986571e-01 -1.54983749e-04 8.86106546e+00] [ 1.54626997e-02 -5.41543823e-04 9.99880299e-01 1.07944982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.7992541539999 meters Centerline goodness : 0.999235 Centerline is valid? [True, True] Translation: X:697.52, Y:8.86, Z:10.80 [[ 9.98821602e-01 -4.60004668e-02 -1.54714148e-02 6.97521835e+02] [ 4.60035944e-02 9.98941262e-01 -1.53861649e-04 8.86192573e+00] [ 1.54621124e-02 -5.58060353e-04 9.99880299e-01 1.07952862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.829254154 meters Centerline goodness : 0.999044 Centerline is valid? [True, True] Translation: X:697.55, Y:8.86, Z:10.80 [[ 9.98741114e-01 -4.77160480e-02 -1.54714260e-02 6.97554775e+02] [ 4.77193986e-02 9.98860769e-01 -1.52733173e-04 8.86399202e+00] [ 1.54610882e-02 -5.85746243e-04 9.99880299e-01 1.07963145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.8592541539999 meters Centerline goodness : 0.999235 Centerline is valid? [True, True] Translation: X:697.59, Y:8.87, Z:10.80 [[ 9.98703809e-01 -4.84905801e-02 -1.54714425e-02 6.97586960e+02] [ 4.84940498e-02 9.98823460e-01 -1.51039624e-04 8.86540538e+00] [ 1.54605637e-02 -5.99429054e-04 9.99880299e-01 1.07969367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.8892541539999 meters Centerline goodness : 0.998936 Centerline is valid? [True, True] Translation: X:697.62, Y:8.87, Z:10.80 [[ 9.98675056e-01 -4.90791843e-02 -1.54714533e-02 6.97620343e+02] [ 4.90827417e-02 9.98794705e-01 -1.49922638e-04 8.86671877e+00] [ 1.54601637e-02 -6.09657349e-04 9.99880299e-01 1.07974219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.9192541539999 meters Centerline goodness : 0.999107 Centerline is valid? [True, True] Translation: X:697.65, Y:8.87, Z:10.80 [[ 9.98668342e-01 -4.92156165e-02 -1.54714693e-02 6.97651943e+02] [ 4.92192162e-02 9.98787989e-01 -1.48249869e-04 8.86756110e+00] [ 1.54600140e-02 -6.13441143e-04 9.99880299e-01 1.07976535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.949254154 meters Centerline goodness : 0.999147 Centerline is valid? [True, True] Translation: X:697.68, Y:8.87, Z:10.80 [[ 9.98668325e-01 -4.92159620e-02 -1.54714772e-02 6.97684056e+02] [ 4.92195745e-02 9.98787971e-01 -1.47421992e-04 8.86917891e+00] [ 1.54599809e-02 -6.14273853e-04 9.99880299e-01 1.07970054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.9792541539999 meters Centerline goodness : 0.999147 Centerline is valid? [True, True] Translation: X:697.72, Y:8.87, Z:10.80 [[ 9.98671788e-01 -4.91456281e-02 -1.54714875e-02 6.97716745e+02] [ 4.91492490e-02 9.98791435e-01 -1.46333068e-04 8.86942411e+00] [ 1.54599809e-02 -6.14273287e-04 9.99880299e-01 1.07975109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.0092541539999 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:697.75, Y:8.87, Z:10.80 [[ 9.98709348e-01 -4.83763430e-02 -1.54714978e-02 6.97748271e+02] [ 4.83798886e-02 9.98828997e-01 -1.45243579e-04 8.87055795e+00] [ 1.54604069e-02 -6.03453218e-04 9.99880299e-01 1.07976985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.0392541539999 meters Centerline goodness : 0.999146 Centerline is valid? [True, True] Translation: X:697.78, Y:8.87, Z:10.80 [[ 9.98774495e-01 -4.70121264e-02 -1.54715053e-02 6.97780762e+02] [ 4.70155211e-02 9.98894149e-01 -1.44431861e-04 8.87199926e+00] [ 1.54611862e-02 -5.83146026e-04 9.99880299e-01 1.07981295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.0692541539999 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:697.81, Y:8.87, Z:10.80 [[ 9.99007775e-01 -4.17624050e-02 -1.54715153e-02 6.97813339e+02] [ 4.17651875e-02 9.99127444e-01 -1.43358252e-04 8.87478417e+00] [ 1.54640025e-02 -5.02954728e-04 9.99880299e-01 1.07971109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.0992541539999 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:697.85, Y:8.88, Z:10.80 [[ 9.99141678e-01 -3.84257559e-02 -1.54715251e-02 6.97845007e+02] [ 3.84281552e-02 9.99261356e-01 -1.42292140e-04 8.87636591e+00] [ 1.54655648e-02 -4.52372158e-04 9.99880299e-01 1.07967885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.1292541539999 meters Centerline goodness : 0.999444 Centerline is valid? [True, True] Translation: X:697.88, Y:8.88, Z:10.80 [[ 9.99257436e-01 -3.52875181e-02 -1.54715324e-02 6.97876900e+02] [ 3.52895538e-02 9.99377120e-01 -1.41496048e-04 8.87847577e+00] [ 1.54668885e-02 -4.04592495e-04 9.99880299e-01 1.07986364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.1592541539999 meters Centerline goodness : 0.999505 Centerline is valid? [True, True] Translation: X:697.91, Y:8.88, Z:10.80 [[ 9.99481307e-01 -2.82444412e-02 -1.54715419e-02 6.97909480e+02] [ 2.82456497e-02 9.99601002e-01 -1.40442414e-04 8.88183658e+00] [ 1.54693355e-02 -2.96634185e-04 9.99880299e-01 1.07986389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.1892541539999 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:697.94, Y:8.88, Z:10.80 [[ 9.99595970e-01 -2.38435244e-02 -1.54720239e-02 6.97938638e+02] [ 2.38450397e-02 9.99715663e-01 -8.65565669e-05 8.88328005e+00] [ 1.54696885e-02 -2.82409430e-04 9.99880297e-01 1.07987609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.2192541539999 meters Centerline goodness : 0.999376 Centerline is valid? [True, True] Translation: X:697.97, Y:8.88, Z:10.80 [[ 9.99664663e-01 -2.07651926e-02 -1.54715482e-02 6.97969090e+02] [ 2.07655221e-02 9.99784364e-01 -1.39368412e-04 8.88465532e+00] [ 1.54711060e-02 -1.81953100e-04 9.99880299e-01 1.07993259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.2492541539999 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:698.00, Y:8.89, Z:10.80 [[ 9.99706960e-01 -1.86178938e-02 -1.54715482e-02 6.97998524e+02] [ 1.86179661e-02 9.99826661e-01 -1.39368412e-04 8.88598527e+00] [ 1.54714611e-02 -1.48721189e-04 9.99880299e-01 1.07998391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.2792541539999 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:698.03, Y:8.89, Z:10.80 [[ 9.99755565e-01 -1.57936441e-02 -1.54716342e-02 6.98026714e+02] [ 1.57935247e-02 9.99875266e-01 -1.29906532e-04 8.88721217e+00] [ 1.54717561e-02 -1.14476859e-04 9.99880299e-01 1.08006887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.3092541539999 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:698.06, Y:8.89, Z:10.80 [[ 9.99758714e-01 -1.55931649e-02 -1.54715123e-02 6.98055903e+02] [ 1.55928175e-02 9.99878414e-01 -1.43091149e-04 8.88769192e+00] [ 1.54718624e-02 -9.81878444e-05 9.99880299e-01 1.08011817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.339254154 meters Centerline goodness : 0.999288 Centerline is valid? [True, True] Translation: X:698.08, Y:8.89, Z:10.80 [[ 9.99757620e-01 -1.56631301e-02 -1.54714791e-02 6.98083218e+02] [ 1.56627370e-02 9.99877321e-01 -1.46588644e-04 8.88830098e+00] [ 1.54718771e-02 -9.57725939e-05 9.99880299e-01 1.08027420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.3692541539999 meters Centerline goodness : 0.999137 Centerline is valid? [True, True] Translation: X:698.11, Y:8.89, Z:10.80 [[ 9.99745097e-01 -1.64433532e-02 -1.54711902e-02 6.98112068e+02] [ 1.64425913e-02 9.99864796e-01 -1.76457696e-04 8.88824319e+00] [ 1.54720000e-02 -7.79737404e-05 9.99880298e-01 1.08023291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.3992541539999 meters Centerline goodness : 0.999375 Centerline is valid? [True, True] Translation: X:698.14, Y:8.89, Z:10.80 [[ 9.99681877e-01 -1.99195433e-02 -1.54711587e-02 6.98139605e+02] [ 1.99191486e-02 9.99801578e-01 -1.79620620e-04 8.88690886e+00] [ 1.54716668e-02 -1.28608831e-04 9.99880298e-01 1.08019037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.4292541539999 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:698.17, Y:8.89, Z:10.80 [[ 9.99661562e-01 -2.09140188e-02 -1.54714066e-02 6.98168038e+02] [ 2.09141265e-02 9.99781264e-01 -1.54848459e-04 8.88700743e+00] [ 1.54712609e-02 -1.68774903e-04 9.99880299e-01 1.08022679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.459254154 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:698.20, Y:8.89, Z:10.80 [[ 9.99599645e-01 -2.36896598e-02 -1.54709326e-02 6.98196406e+02] [ 2.36893790e-02 9.99719347e-01 -2.01433680e-04 8.88776479e+00] [ 1.54713626e-02 -1.65143753e-04 9.99880298e-01 1.08018040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.4892541539999 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:698.23, Y:8.89, Z:10.80 [[ 9.99547959e-01 -2.57788983e-02 -1.54701599e-02 6.98227477e+02] [ 2.57777269e-02 9.99667661e-01 -2.75149866e-04 8.88508676e+00] [ 1.54721116e-02 -1.23760070e-04 9.99880292e-01 1.08003620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.5192541539999 meters Centerline goodness : 0.999074 Centerline is valid? [True, True] Translation: X:698.26, Y:8.89, Z:10.80 [[ 9.99517813e-01 -2.69217346e-02 -1.54713502e-02 6.98258918e+02] [ 2.69224787e-02 9.99637512e-01 -1.60211861e-04 8.88515475e+00] [ 1.54700552e-02 -2.56392489e-04 9.99880299e-01 1.08029157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.5492541539999 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:698.29, Y:8.89, Z:10.80 [[ 9.99488268e-01 -2.79971152e-02 -1.54713559e-02 6.98289433e+02] [ 2.79979966e-02 9.99607967e-01 -1.59665479e-04 8.88540446e+00] [ 1.54697608e-02 -2.73583196e-04 9.99880299e-01 1.08037560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.579254154 meters Centerline goodness : 0.999077 Centerline is valid? [True, True] Translation: X:698.32, Y:8.88, Z:10.81 [[ 9.99431293e-01 -2.99620924e-02 -1.54713587e-02 6.98322013e+02] [ 2.99632133e-02 9.99550989e-01 -1.59394410e-04 8.88495662e+00] [ 1.54691876e-02 -3.04267858e-04 9.99880299e-01 1.08050230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.6092541539999 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:698.35, Y:8.88, Z:10.81 [[ 9.99412037e-01 -3.05976759e-02 -1.54713703e-02 6.98352743e+02] [ 3.05988905e-02 9.99531732e-01 -1.58258638e-04 8.88454924e+00] [ 1.54689679e-02 -3.15241178e-04 9.99880299e-01 1.08052529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.6392541539999 meters Centerline goodness : 0.999142 Centerline is valid? [True, True] Translation: X:698.38, Y:8.88, Z:10.81 [[ 9.99380846e-01 -3.16000147e-02 -1.54713789e-02 6.98383805e+02] [ 3.16013625e-02 9.99500540e-01 -1.57413398e-04 8.88443965e+00] [ 1.54686258e-02 -3.31600717e-04 9.99880299e-01 1.08058265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.6692541539999 meters Centerline goodness : 0.999251 Centerline is valid? [True, True] Translation: X:698.42, Y:8.88, Z:10.81 [[ 9.99354776e-01 -3.24140022e-02 -1.54713846e-02 6.98415233e+02] [ 3.24154561e-02 9.99474469e-01 -1.56851144e-04 8.88404764e+00] [ 1.54683381e-02 -3.44762048e-04 9.99880299e-01 1.08060488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.699254154 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:698.45, Y:8.88, Z:10.81 [[ 9.99284103e-01 -3.45241492e-02 -1.54713931e-02 6.98446833e+02] [ 3.45258689e-02 9.99403792e-01 -1.56010581e-04 8.88305831e+00] [ 1.54675550e-02 -3.78264395e-04 9.99880299e-01 1.08058231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.7292541539999 meters Centerline goodness : 0.999229 Centerline is valid? [True, True] Translation: X:698.48, Y:8.88, Z:10.81 [[ 9.99231893e-01 -3.60036185e-02 -1.54714014e-02 6.98479480e+02] [ 3.60055283e-02 9.99351579e-01 -1.55177379e-04 8.88295186e+00] [ 1.54669564e-02 -4.01997795e-04 9.99880299e-01 1.08060970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.7592541539999 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:698.51, Y:8.88, Z:10.81 [[ 9.99198138e-01 -3.69284627e-02 -1.54715652e-02 6.98511554e+02] [ 3.69307349e-02 9.99317818e-01 -1.38913002e-04 8.88278691e+00] [ 1.54661406e-02 -4.32574660e-04 9.99880299e-01 1.08053803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.7892541539999 meters Centerline goodness : 0.999272 Centerline is valid? [True, True] Translation: X:698.54, Y:8.88, Z:10.80 [[ 9.99114799e-01 -3.91184696e-02 -1.54713939e-02 6.98543789e+02] [ 3.91207412e-02 9.99234479e-01 -1.55909670e-04 8.88195726e+00] [ 1.54656492e-02 -4.49480738e-04 9.99880299e-01 1.08043354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.8192541539999 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:698.58, Y:8.88, Z:10.80 [[ 9.99087384e-01 -3.98124844e-02 -1.54714051e-02 6.98575494e+02] [ 3.98148564e-02 9.99207062e-01 -1.54793632e-04 8.88151651e+00] [ 1.54652999e-02 -4.61339406e-04 9.99880299e-01 1.08037674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.8492541539999 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:698.61, Y:8.88, Z:10.80 [[ 9.99055617e-01 -4.06018393e-02 -1.54714236e-02 6.98608117e+02] [ 4.06043348e-02 9.99175292e-01 -1.52919851e-04 8.88112214e+00] [ 1.54648730e-02 -4.75431428e-04 9.99880299e-01 1.08041961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.8792541539999 meters Centerline goodness : 0.999231 Centerline is valid? [True, True] Translation: X:698.64, Y:8.88, Z:10.80 [[ 9.99031911e-01 -4.11810124e-02 -1.54714345e-02 6.98639074e+02] [ 4.11835945e-02 9.99151584e-01 -1.51805817e-04 8.88096791e+00] [ 1.54645598e-02 -4.85510431e-04 9.99880299e-01 1.08043098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.9092541539999 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:698.67, Y:8.88, Z:10.80 [[ 9.99000954e-01 -4.19252640e-02 -1.54714426e-02 6.98670788e+02] [ 4.19279481e-02 9.99120626e-01 -1.50974543e-04 8.88069909e+00] [ 1.54641671e-02 -4.97862131e-04 9.99880299e-01 1.08047475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.9392541539999 meters Centerline goodness : 0.999337 Centerline is valid? [True, True] Translation: X:698.70, Y:8.88, Z:10.81 [[ 9.99004291e-01 -4.18456733e-02 -1.54714533e-02 6.98702665e+02] [ 4.18483650e-02 9.99123962e-01 -1.49873668e-04 8.88092318e+00] [ 1.54641713e-02 -4.97730587e-04 9.99880299e-01 1.08056807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.9692541539999 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:698.73, Y:8.88, Z:10.80 [[ 9.99050306e-01 -4.07322924e-02 -1.54714640e-02 6.98734408e+02] [ 4.07348679e-02 9.99169980e-01 -1.48759752e-04 8.88140097e+00] [ 1.54646817e-02 -4.81609567e-04 9.99880299e-01 1.08041620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.9992541539999 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:698.76, Y:8.88, Z:10.80 [[ 9.99257079e-01 -3.52977531e-02 -1.54712316e-02 6.98764173e+02] [ 3.52993015e-02 9.99376770e-01 -1.73068951e-04 8.88248775e+00] [ 1.54676984e-02 -3.73183294e-04 9.99880298e-01 1.08049530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.0292541539999 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:698.80, Y:8.88, Z:10.81 [[ 9.99312094e-01 -3.37046200e-02 -1.54705375e-02 6.98797332e+02] [ 3.37048199e-02 9.99431800e-01 -2.47883290e-04 8.88368085e+00] [ 1.54701020e-02 -2.73718913e-04 9.99880293e-01 1.08070891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.0592541539999 meters Centerline goodness : 0.999357 Centerline is valid? [True, True] Translation: X:698.83, Y:8.88, Z:10.81 [[ 9.99422487e-01 -3.02543276e-02 -1.54715157e-02 6.98828392e+02] [ 3.02557981e-02 9.99542179e-01 -1.39064403e-04 8.88477917e+00] [ 1.54686399e-02 -3.29118965e-04 9.99880299e-01 1.08075523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.089254154 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:698.86, Y:8.89, Z:10.81 [[ 9.99610619e-01 -2.32215853e-02 -1.54715232e-02 6.98858856e+02] [ 2.32222266e-02 9.99730318e-01 -1.38226246e-04 8.88760404e+00] [ 1.54705607e-02 -2.21110795e-04 9.99880299e-01 1.08076895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.1192541539999 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:698.89, Y:8.89, Z:10.81 [[ 9.99650780e-01 -2.14234678e-02 -1.54710496e-02 6.98889563e+02] [ 2.14230763e-02 9.99770481e-01 -1.91053468e-04 8.88905512e+00] [ 1.54715917e-02 -1.40450728e-04 9.99880298e-01 1.08094802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.1492541539999 meters Centerline goodness : 0.999051 Centerline is valid? [True, True] Translation: X:698.92, Y:8.89, Z:10.81 [[ 9.99696532e-01 -1.91696623e-02 -1.54715093e-02 6.98918775e+02] [ 1.91697846e-02 9.99816233e-01 -1.40406762e-04 8.89030488e+00] [ 1.54713577e-02 -1.56221348e-04 9.99880299e-01 1.08096901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.1792541539999 meters Centerline goodness : 0.999267 Centerline is valid? [True, True] Translation: X:698.95, Y:8.89, Z:10.81 [[ 9.99727421e-01 -1.74847401e-02 -1.54715042e-02 6.98947877e+02] [ 1.74846522e-02 9.99847122e-01 -1.40959074e-04 8.89135074e+00] [ 1.54716036e-02 -1.29593219e-04 9.99880299e-01 1.08097598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.209254154 meters Centerline goodness : 0.999048 Centerline is valid? [True, True] Translation: X:698.98, Y:8.89, Z:10.81 [[ 9.99753904e-01 -1.58985470e-02 -1.54714967e-02 6.98976513e+02] [ 1.58982564e-02 9.99873605e-01 -1.41781232e-04 8.89288315e+00] [ 1.54717953e-02 -1.04223481e-04 9.99880299e-01 1.08093730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.2392541539999 meters Centerline goodness : 0.999201 Centerline is valid? [True, True] Translation: X:699.00, Y:8.89, Z:10.81 [[ 9.99761375e-01 -1.54216443e-02 -1.54714611e-02 6.99004812e+02] [ 1.54212380e-02 9.99881075e-01 -1.45566674e-04 8.89299219e+00] [ 1.54718660e-02 -9.30571451e-05 9.99880299e-01 1.08083158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.2692541539999 meters Centerline goodness : 0.999288 Centerline is valid? [True, True] Translation: X:699.03, Y:8.89, Z:10.81 [[ 9.99744508e-01 -1.64789072e-02 -1.54714240e-02 6.99032933e+02] [ 1.64785681e-02 9.99864208e-01 -1.49410252e-04 8.89336456e+00] [ 1.54717852e-02 -1.05574834e-04 9.99880299e-01 1.08094122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.2992541539999 meters Centerline goodness : 0.999308 Centerline is valid? [True, True] Translation: X:699.06, Y:8.89, Z:10.81 [[ 9.99696654e-01 -1.91633714e-02 -1.54714046e-02 6.99061617e+02] [ 1.91633231e-02 9.99816355e-01 -1.51389880e-04 8.89302356e+00] [ 1.54714645e-02 -1.45139568e-04 9.99880299e-01 1.08099795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.329254154 meters Centerline goodness : 0.999309 Centerline is valid? [True, True] Translation: X:699.09, Y:8.89, Z:10.81 [[ 9.99665258e-01 -2.07366442e-02 -1.54713655e-02 6.99091077e+02] [ 2.07367241e-02 9.99784959e-01 -1.55280030e-04 8.89335004e+00] [ 1.54712586e-02 -1.65597387e-04 9.99880299e-01 1.08106825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.3592541539999 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:699.12, Y:8.89, Z:10.81 [[ 9.99632398e-01 -2.22644632e-02 -1.54713600e-02 6.99121205e+02] [ 2.22647175e-02 9.99752098e-01 -1.55831066e-04 8.89347282e+00] [ 1.54709941e-02 -1.88691677e-04 9.99880299e-01 1.08112102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.3892541539999 meters Centerline goodness : 0.999179 Centerline is valid? [True, True] Translation: X:699.15, Y:8.89, Z:10.81 [[ 9.99550193e-01 -2.56914081e-02 -1.54713545e-02 6.99151611e+02] [ 2.56920642e-02 9.99669892e-01 -1.56377640e-04 8.89338517e+00] [ 1.54702648e-02 -2.41183732e-04 9.99880299e-01 1.08125479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.4192541539999 meters Centerline goodness : 0.998922 Centerline is valid? [True, True] Translation: X:699.18, Y:8.89, Z:10.81 [[ 9.99510794e-01 -2.71810580e-02 -1.54713545e-02 6.99181916e+02] [ 2.71818925e-02 9.99630492e-01 -1.56377640e-04 8.89312257e+00] [ 1.54698882e-02 -2.64239555e-04 9.99880299e-01 1.08122369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.449254154 meters Centerline goodness : 0.999094 Centerline is valid? [True, True] Translation: X:699.21, Y:8.89, Z:10.81 [[ 9.99446223e-01 -2.94598771e-02 -1.54713572e-02 6.99212632e+02] [ 2.94609888e-02 9.99565919e-01 -1.56106934e-04 8.89313958e+00] [ 1.54692403e-02 -2.99780995e-04 9.99880299e-01 1.08136194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.4792541539999 meters Centerline goodness : 0.999333 Centerline is valid? [True, True] Translation: X:699.25, Y:8.89, Z:10.81 [[ 9.99315508e-01 -3.36028662e-02 -1.54713747e-02 6.99245276e+02] [ 3.36045012e-02 9.99435197e-01 -1.54352698e-04 8.89252686e+00] [ 1.54678231e-02 -3.65660785e-04 9.99880299e-01 1.08143371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.5092541539999 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:699.28, Y:8.89, Z:10.82 [[ 9.99244880e-01 -3.56413617e-02 -1.54713853e-02 6.99277959e+02] [ 3.56432574e-02 9.99364565e-01 -1.53280083e-04 8.89210679e+00] [ 1.54670174e-02 -3.98286232e-04 9.99880299e-01 1.08151360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.5392541539999 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:699.31, Y:8.89, Z:10.82 [[ 9.99166504e-01 -3.77747640e-02 -1.54713962e-02 6.99310335e+02] [ 3.77769323e-02 9.99286185e-01 -1.52177832e-04 8.89192028e+00] [ 1.54661009e-02 -4.32410894e-04 9.99880299e-01 1.08156560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.5692541539999 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:699.34, Y:8.89, Z:10.82 [[ 9.99024805e-01 -4.13530405e-02 -1.54714069e-02 6.99341542e+02] [ 4.13556545e-02 9.99144478e-01 -1.51077419e-04 8.89158314e+00] [ 1.54644183e-02 -4.88900070e-04 9.99880299e-01 1.08157663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.5992541539999 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:699.37, Y:8.89, Z:10.82 [[ 9.98978050e-01 -4.24675306e-02 -1.54714237e-02 6.99373344e+02] [ 4.24703051e-02 9.99097718e-01 -1.49335957e-04 8.89155083e+00] [ 1.54638061e-02 -5.07892743e-04 9.99880299e-01 1.08170957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.6292541539999 meters Centerline goodness : 0.999032 Centerline is valid? [True, True] Translation: X:699.41, Y:8.89, Z:10.82 [[ 9.98947586e-01 -4.31781695e-02 -1.54714343e-02 6.99405678e+02] [ 4.31810461e-02 9.99067253e-01 -1.48232082e-04 8.89152364e+00] [ 1.54634038e-02 -5.19996637e-04 9.99880299e-01 1.08177475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.6592541539999 meters Centerline goodness : 0.999077 Centerline is valid? [True, True] Translation: X:699.45, Y:8.88, Z:10.81 [[ 9.99232967e-01 -3.59737684e-02 -1.54714449e-02 6.99446567e+02] [ 3.59757992e-02 9.99352651e-01 -1.47121691e-04 8.88305545e+00] [ 1.54667220e-02 -4.09588751e-04 9.99880299e-01 1.08130167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.6892541539999 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:699.47, Y:8.89, Z:10.82 [[ 9.98946302e-01 -4.32062406e-02 -1.54760164e-02 6.99465332e+02] [ 4.32171360e-02 9.99065635e-01 3.70115474e-04 8.89253551e+00] [ 1.54455648e-02 -1.03855459e-03 9.99880171e-01 1.08189856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.7192541539999 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:699.50, Y:8.89, Z:10.82 [[ 9.98990023e-01 -4.21851523e-02 -1.54708097e-02 6.99497719e+02] [ 4.21878234e-02 9.99109686e-01 -1.53809546e-04 8.89332667e+00] [ 1.54635243e-02 -4.99025586e-04 9.99880308e-01 1.08195619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.7492541539999 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:699.53, Y:8.89, Z:10.82 [[ 9.99048615e-01 -4.07739898e-02 -1.54708207e-02 6.99530334e+02] [ 4.07765092e-02 9.99168281e-01 -1.52689394e-04 8.89393939e+00] [ 1.54641791e-02 -4.78301937e-04 9.99880308e-01 1.08201889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.7792541539999 meters Centerline goodness : 0.999334 Centerline is valid? [True, True] Translation: X:699.56, Y:8.89, Z:10.82 [[ 9.99179865e-01 -3.74199250e-02 -1.54708318e-02 6.99562407e+02] [ 3.74220601e-02 9.99299538e-01 -1.51565781e-04 8.89450178e+00] [ 1.54656666e-02 -4.27508919e-04 9.99880308e-01 1.08210278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.8092541539999 meters Centerline goodness : 0.999377 Centerline is valid? [True, True] Translation: X:699.59, Y:8.89, Z:10.82 [[ 9.99311371e-01 -3.37259099e-02 -1.54708426e-02 6.99591183e+02] [ 3.37276198e-02 9.99431051e-01 -1.50445628e-04 8.89418600e+00] [ 1.54671144e-02 -3.71452673e-04 9.99880308e-01 1.08202359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.839254154 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:699.62, Y:8.89, Z:10.82 [[ 9.99324383e-01 -3.33385721e-02 -1.54699122e-02 6.99623863e+02] [ 3.33387602e-02 9.99444079e-01 -2.45803965e-04 8.89437395e+00] [ 1.54695069e-02 -2.70109799e-04 9.99880304e-01 1.08224720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.8692541539999 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:699.66, Y:8.89, Z:10.82 [[ 9.99326847e-01 -3.32641861e-02 -1.54708462e-02 6.99656554e+02] [ 3.32658705e-02 9.99446527e-01 -1.48526999e-04 8.89458035e+00] [ 1.54672241e-02 -3.66224148e-04 9.99880308e-01 1.08229451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.8992541539999 meters Centerline goodness : 0.999397 Centerline is valid? [True, True] Translation: X:699.69, Y:8.89, Z:10.82 [[ 9.99394353e-01 -3.11701907e-02 -1.54708570e-02 6.99688111e+02] [ 3.11716417e-02 9.99514035e-01 -1.47398564e-04 8.89440830e+00] [ 1.54679331e-02 -3.34942717e-04 9.99880308e-01 1.08230492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.9292541539999 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:699.72, Y:8.89, Z:10.82 [[ 9.99525989e-01 -2.66167191e-02 -1.54708649e-02 6.99719989e+02] [ 2.66176379e-02 9.99645677e-01 -1.46558029e-04 8.89387718e+00] [ 1.54692841e-02 -2.65309321e-04 9.99880308e-01 1.08231409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.959254154 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:699.75, Y:8.89, Z:10.82 [[ 9.99577997e-01 -2.45861920e-02 -1.54708755e-02 6.99749915e+02] [ 2.45868850e-02 9.99697686e-01 -1.45433811e-04 8.89404415e+00] [ 1.54697741e-02 -2.35008200e-04 9.99880308e-01 1.08230781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.9892541539999 meters Centerline goodness : 0.999247 Centerline is valid? [True, True] Translation: X:699.78, Y:8.89, Z:10.82 [[ 9.99634478e-01 -2.21712039e-02 -1.54708781e-02 6.99779929e+02] [ 2.21716120e-02 9.99754169e-01 -1.45155941e-04 8.89419073e+00] [ 1.54702932e-02 -1.97911423e-04 9.99880308e-01 1.08231915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.0192541539999 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:699.81, Y:8.89, Z:10.82 [[ 9.99716526e-01 -1.80974968e-02 -1.54708781e-02 6.99809070e+02] [ 1.80974172e-02 9.99836218e-01 -1.45155941e-04 8.89383439e+00] [ 1.54709712e-02 -1.34868142e-04 9.99880308e-01 1.08224714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.0492541539999 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:699.84, Y:8.89, Z:10.82 [[ 9.99747816e-01 -1.62775061e-02 -1.54708755e-02 6.99837812e+02] [ 1.62772044e-02 9.99867507e-01 -1.45431447e-04 8.89355623e+00] [ 1.54711930e-02 -1.06427831e-04 9.99880308e-01 1.08226124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.079254154 meters Centerline goodness : 0.999095 Centerline is valid? [True, True] Translation: X:699.87, Y:8.89, Z:10.82 [[ 9.99761317e-01 -1.54259839e-02 -1.54708678e-02 6.99867019e+02] [ 1.54255676e-02 9.99881008e-01 -1.46243680e-04 8.89345151e+00] [ 1.54712829e-02 -9.24381435e-05 9.99880308e-01 1.08230433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.1092541539999 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:699.89, Y:8.89, Z:10.82 [[ 9.99769133e-01 -1.49108576e-02 -1.54708312e-02 6.99894601e+02] [ 1.49103213e-02 9.99888824e-01 -1.50015530e-04 8.89315358e+00] [ 1.54713481e-02 -8.06941692e-05 9.99880308e-01 1.08235522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.1392541539999 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:699.92, Y:8.89, Z:10.82 [[ 9.99757203e-01 -1.56904117e-02 -1.54707886e-02 6.99922099e+02] [ 1.56899024e-02 9.99876894e-01 -1.54296390e-04 8.89172114e+00] [ 1.54713050e-02 -8.84762361e-05 9.99880308e-01 1.08249024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.1692541539999 meters Centerline goodness : 0.999032 Centerline is valid? [True, True] Translation: X:699.95, Y:8.89, Z:10.83 [[ 9.99730096e-01 -1.73318230e-02 -1.54707421e-02 6.99950277e+02] [ 1.73314402e-02 9.99849787e-01 -1.58825235e-04 8.89085389e+00] [ 1.54711709e-02 -1.09347873e-04 9.99880308e-01 1.08253606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.199254154 meters Centerline goodness : 0.999334 Centerline is valid? [True, True] Translation: X:699.98, Y:8.89, Z:10.83 [[ 9.99689142e-01 -1.95519158e-02 -1.54706941e-02 6.99978165e+02] [ 1.95517285e-02 9.99808833e-01 -1.63371433e-04 8.89002400e+00] [ 1.54709308e-02 -1.39158162e-04 9.99880308e-01 1.08258256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.2292541539999 meters Centerline goodness : 0.999293 Centerline is valid? [True, True] Translation: X:700.01, Y:8.89, Z:10.83 [[ 9.99544978e-01 -2.58939284e-02 -1.54706791e-02 7.00007025e+02] [ 2.58944787e-02 9.99664668e-01 -1.64775133e-04 8.88798526e+00] [ 1.54697580e-02 -2.35905013e-04 9.99880308e-01 1.08269535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.2592541539999 meters Centerline goodness : 0.999229 Centerline is valid? [True, True] Translation: X:700.04, Y:8.89, Z:10.83 [[ 9.99437991e-01 -2.97382106e-02 -1.54706671e-02 7.00037340e+02] [ 2.97392040e-02 9.99557678e-01 -1.65893469e-04 8.88691868e+00] [ 1.54687575e-02 -2.94285090e-04 9.99880308e-01 1.08272802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.2892541539999 meters Centerline goodness : 0.998953 Centerline is valid? [True, True] Translation: X:700.07, Y:8.89, Z:10.83 [[ 9.99309140e-01 -3.37920211e-02 -1.54706769e-02 7.00068893e+02] [ 3.37935141e-02 9.99428822e-01 -1.64977076e-04 8.88566128e+00] [ 1.54674153e-02 -3.57945438e-04 9.99880308e-01 1.08273559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.3192541539999 meters Centerline goodness : 0.998998 Centerline is valid? [True, True] Translation: X:700.10, Y:8.88, Z:10.83 [[ 9.98988980e-01 -4.22099003e-02 -1.54706963e-02 7.00101097e+02] [ 4.22124301e-02 9.99108645e-01 -1.63134389e-04 8.88296757e+00] [ 1.54637923e-02 -4.90086230e-04 9.99880308e-01 1.08284812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.3492541539999 meters Centerline goodness : 0.999105 Centerline is valid? [True, True] Translation: X:700.13, Y:8.88, Z:10.83 [[ 9.98816592e-01 -4.61093614e-02 -1.54707080e-02 7.00131939e+02] [ 4.61123755e-02 9.98936246e-01 -1.62021468e-04 8.88203308e+00] [ 1.54617216e-02 -5.51561365e-04 9.99880308e-01 1.08281817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.3792541539999 meters Centerline goodness : 0.998934 Centerline is valid? [True, True] Translation: X:700.16, Y:8.88, Z:10.83 [[ 9.98651142e-01 -4.95636287e-02 -1.54707166e-02 7.00164334e+02] [ 4.95670695e-02 9.98770784e-01 -1.61191369e-04 8.88086875e+00] [ 1.54596890e-02 -6.05864142e-04 9.99880308e-01 1.08303645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.4092541539999 meters Centerline goodness : 0.999021 Centerline is valid? [True, True] Translation: X:700.20, Y:8.88, Z:10.83 [[ 9.98385059e-01 -5.46619703e-02 -1.54707284e-02 7.00198787e+02] [ 5.46660395e-02 9.98504681e-01 -1.60054540e-04 8.87651187e+00] [ 1.54563436e-02 -6.85927388e-04 9.99880308e-01 1.08315876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.4392541539999 meters Centerline goodness : 0.999150 Centerline is valid? [True, True] Translation: X:700.23, Y:8.87, Z:10.83 [[ 9.98261703e-01 -5.68700320e-02 -1.54716253e-02 7.00231518e+02] [ 5.68757063e-02 9.98381264e-01 -7.33644296e-05 8.87483902e+00] [ 1.54507531e-02 -8.06722718e-04 9.99880305e-01 1.08322275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.4692541539999 meters Centerline goodness : 0.999322 Centerline is valid? [True, True] Translation: X:700.26, Y:8.87, Z:10.83 [[ 9.98067992e-01 -6.01739329e-02 -1.54719577e-02 7.00260341e+02] [ 6.01805009e-02 9.98187510e-01 -4.11437803e-05 8.87485133e+00] [ 1.54463907e-02 -8.90045873e-04 9.99880301e-01 1.08328377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.4992541539999 meters Centerline goodness : 0.998961 Centerline is valid? [True, True] Translation: X:700.29, Y:8.87, Z:10.83 [[ 9.97889938e-01 -6.30581446e-02 -1.54707131e-02 7.00292397e+02] [ 6.30632074e-02 9.98009522e-01 -1.60856856e-04 8.87211083e+00] [ 1.54500623e-02 -8.15115351e-04 9.99880308e-01 1.08320920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.5292541539999 meters Centerline goodness : 0.998836 Centerline is valid? [True, True] Translation: X:700.33, Y:8.87, Z:10.83 [[ 9.97867650e-01 -6.34098552e-02 -1.54707274e-02 7.00325840e+02] [ 6.34149818e-02 9.97987232e-01 -1.59465198e-04 8.87090581e+00] [ 1.54497001e-02 -8.21950735e-04 9.99880308e-01 1.08318911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.5592541539999 meters Centerline goodness : 0.998901 Centerline is valid? [True, True] Translation: X:700.36, Y:8.87, Z:10.83 [[ 9.97891410e-01 -6.30348339e-02 -1.54707443e-02 7.00357121e+02] [ 6.30399411e-02 9.98010992e-01 -1.57807781e-04 8.87011288e+00] [ 1.54499203e-02 -8.17799783e-04 9.99880308e-01 1.08314215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.589254154 meters Centerline goodness : 0.998878 Centerline is valid? [True, True] Translation: X:700.39, Y:8.87, Z:10.83 [[ 9.97947990e-01 -6.21326413e-02 -1.54707527e-02 7.00389822e+02] [ 6.21376531e-02 9.98067577e-01 -1.56986995e-04 8.86993776e+00] [ 1.54506106e-02 -8.04651405e-04 9.99880308e-01 1.08318660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.6192541539999 meters Centerline goodness : 0.998878 Centerline is valid? [True, True] Translation: X:700.42, Y:8.87, Z:10.83 [[ 9.98198404e-01 -5.79706906e-02 -1.54707696e-02 7.00422801e+02] [ 5.79752297e-02 9.98318010e-01 -1.55302907e-04 8.86956864e+00] [ 1.54537509e-02 -7.41898305e-04 9.99880308e-01 1.08318613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.6492541539999 meters Centerline goodness : 0.998919 Centerline is valid? [True, True] Translation: X:700.46, Y:8.87, Z:10.83 [[ 9.98395034e-01 -5.44794554e-02 -1.54707862e-02 7.00456187e+02] [ 5.44836020e-02 9.98514654e-01 -1.53632705e-04 8.86988680e+00] [ 1.54561765e-02 -6.89518026e-04 9.99880308e-01 1.08322931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.6792541539999 meters Centerline goodness : 0.998941 Centerline is valid? [True, True] Translation: X:700.49, Y:8.87, Z:10.83 [[ 9.98608942e-01 -5.04066932e-02 -1.54708026e-02 7.00487632e+02] [ 5.04103778e-02 9.98728577e-01 -1.51958602e-04 8.87077533e+00] [ 1.54587924e-02 -6.28141786e-04 9.99880308e-01 1.08325963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.709254154 meters Centerline goodness : 0.999088 Centerline is valid? [True, True] Translation: X:700.52, Y:8.87, Z:10.83 [[ 9.99079193e-01 -4.00177435e-02 -1.54708107e-02 7.00520024e+02] [ 4.00201965e-02 9.99198860e-01 -1.51130669e-04 8.87347927e+00] [ 1.54644643e-02 -4.68153376e-04 9.99880308e-01 1.08334941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.7392541539999 meters Centerline goodness : 0.998959 Centerline is valid? [True, True] Translation: X:700.55, Y:8.88, Z:10.83 [[ 9.99294315e-01 -3.42275529e-02 -1.54708214e-02 7.00552091e+02] [ 3.42293295e-02 9.99413994e-01 -1.50020909e-04 8.87513376e+00] [ 1.54668903e-02 -3.79640804e-04 9.99880308e-01 1.08344982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.7692541539999 meters Centerline goodness : 0.998851 Centerline is valid? [True, True] Translation: X:700.58, Y:8.88, Z:10.84 [[ 9.99476352e-01 -2.84196205e-02 -1.54708322e-02 7.00583954e+02] [ 2.84207188e-02 9.99596039e-01 -1.48902426e-04 8.87677216e+00] [ 1.54688143e-02 -2.90867719e-04 9.99880308e-01 1.08353113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.7992541539999 meters Centerline goodness : 0.998722 Centerline is valid? [True, True] Translation: X:700.61, Y:8.88, Z:10.84 [[ 9.99723113e-01 -1.77299098e-02 -1.54708428e-02 7.00614730e+02] [ 1.77297454e-02 9.99842805e-01 -1.47789964e-04 8.87923786e+00] [ 1.54710312e-02 -1.26545062e-04 9.99880308e-01 1.08359038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.829254154 meters Centerline goodness : 0.998828 Centerline is valid? [True, True] Translation: X:700.64, Y:8.88, Z:10.84 [[ 9.99790341e-01 -1.34137208e-02 -1.54708455e-02 7.00643578e+02] [ 1.34130440e-02 9.99910030e-01 -1.47514881e-04 8.88007575e+00] [ 1.54714323e-02 -6.00271774e-05 9.99880308e-01 1.08365777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.8592541539999 meters Centerline goodness : 0.998720 Centerline is valid? [True, True] Translation: X:700.67, Y:8.88, Z:10.84 [[ 9.99836384e-01 -9.37329086e-03 -1.54708078e-02 7.00670286e+02] [ 9.37207071e-03 9.99956070e-01 -1.51368754e-04 8.88063645e+00] [ 1.54715469e-02 6.35048381e-06 9.99880308e-01 1.08366006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.8892541539999 meters Centerline goodness : 0.998997 Centerline is valid? [True, True] Translation: X:700.70, Y:8.88, Z:10.84 [[ 9.99861206e-01 -6.18248500e-03 -1.54707888e-02 7.00697802e+02] [ 6.18085337e-03 9.99980887e-01 -1.53277638e-04 8.88127620e+00] [ 1.54714408e-02 5.76336868e-05 9.99880308e-01 1.08371904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.9192541539999 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:700.73, Y:8.88, Z:10.84 [[ 9.99879353e-01 -1.39110414e-03 -1.54707449e-02 7.00725961e+02] [ 1.38883227e-03 9.99999023e-01 -1.57592690e-04 8.88191160e+00] [ 1.54709490e-02 1.36087407e-04 9.99880308e-01 1.08385824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.949254154 meters Centerline goodness : 0.999041 Centerline is valid? [True, True] Translation: X:700.75, Y:8.88, Z:10.84 [[ 9.99880312e-01 -1.40079713e-04 -1.54706986e-02 7.00752867e+02] [ 1.37589729e-04 9.99999977e-01 -1.62012593e-04 8.88200225e+00] [ 1.54707209e-02 1.59864593e-04 9.99880308e-01 1.08388439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.9792541539999 meters Centerline goodness : 0.999062 Centerline is valid? [True, True] Translation: X:700.78, Y:8.88, Z:10.84 [[ 9.99880322e-01 -1.57687659e-05 -1.54706783e-02 7.00781194e+02] [ 1.32343212e-05 9.99999986e-01 -1.63924833e-04 8.88118765e+00] [ 1.54706807e-02 1.63700471e-04 9.99880308e-01 1.08399819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.0092541539999 meters Centerline goodness : 0.998826 Centerline is valid? [True, True] Translation: X:700.81, Y:8.88, Z:10.84 [[ 9.99879475e-01 -1.30145391e-03 -1.54706663e-02 7.00808541e+02] [ 1.29905583e-03 9.99999143e-01 -1.65056634e-04 8.88060114e+00] [ 1.54708678e-02 1.44939481e-04 9.99880308e-01 1.08395196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.0392541539999 meters Centerline goodness : 0.999148 Centerline is valid? [True, True] Translation: X:700.84, Y:8.88, Z:10.84 [[ 9.99875631e-01 -3.06310177e-03 -1.54706450e-02 7.00836980e+02] [ 3.06088408e-03 9.99995302e-01 -1.67024616e-04 8.87947505e+00] [ 1.54710839e-02 1.19649992e-04 9.99880308e-01 1.08404776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.0692541539999 meters Centerline goodness : 0.998958 Centerline is valid? [True, True] Translation: X:700.87, Y:8.88, Z:10.84 [[ 9.99864100e-01 -5.69570693e-03 -1.54706274e-02 7.00865002e+02] [ 5.69377928e-03 9.99983776e-01 -1.68643898e-04 8.87814236e+00] [ 1.54713369e-02 8.05346417e-05 9.99880308e-01 1.08415054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.0992541539999 meters Centerline goodness : 0.998916 Centerline is valid? [True, True] Translation: X:700.89, Y:8.87, Z:10.84 [[ 9.99807525e-01 -1.20653631e-02 -1.54706089e-02 7.00893956e+02] [ 1.20641719e-02 9.99927211e-01 -1.70323787e-04 8.87449101e+00] [ 1.54715378e-02 -1.63490805e-05 9.99880308e-01 1.08427327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.1292541539999 meters Centerline goodness : 0.998812 Centerline is valid? [True, True] Translation: X:700.92, Y:8.87, Z:10.84 [[ 9.99752685e-01 -1.59758926e-02 -1.54705961e-02 7.00921421e+02] [ 1.59751517e-02 9.99872374e-01 -1.71477147e-04 8.87274251e+00] [ 1.54713611e-02 -7.57103804e-05 9.99880308e-01 1.08424492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.1592541539999 meters Centerline goodness : 0.998757 Centerline is valid? [True, True] Translation: X:700.95, Y:8.87, Z:10.84 [[ 9.99578171e-01 -2.45792997e-02 -1.54705736e-02 7.00949706e+02] [ 2.45795578e-02 9.99697862e-01 -1.73485003e-04 8.86893484e+00] [ 1.54701635e-02 -2.06848035e-04 9.99880308e-01 1.08421511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.1892541539999 meters Centerline goodness : 0.998734 Centerline is valid? [True, True] Translation: X:700.98, Y:8.87, Z:10.84 [[ 9.99455948e-01 -2.91285171e-02 -1.54705582e-02 7.00979259e+02] [ 2.91292990e-02 9.99575637e-01 -1.74844757e-04 8.86747003e+00] [ 1.54690860e-02 -2.75896883e-04 9.99880308e-01 1.08427221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.2192541539999 meters Centerline goodness : 0.998735 Centerline is valid? [True, True] Translation: X:701.01, Y:8.87, Z:10.84 [[ 9.99325067e-01 -3.33177570e-02 -1.54705518e-02 7.01009950e+02] [ 3.33190318e-02 9.99444752e-01 -1.75412214e-04 8.86589371e+00] [ 1.54678061e-02 -3.40169983e-04 9.99880308e-01 1.08425129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.2492541539999 meters Centerline goodness : 0.998566 Centerline is valid? [True, True] Translation: X:701.04, Y:8.86, Z:10.84 [[ 9.99195554e-01 -3.69987416e-02 -1.54705550e-02 7.01042378e+02] [ 3.70004616e-02 9.99315233e-01 -1.75130635e-04 8.86423040e+00] [ 1.54664408e-02 -3.97427923e-04 9.99880308e-01 1.08417197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.2792541539999 meters Centerline goodness : 0.998527 Centerline is valid? [True, True] Translation: X:701.07, Y:8.86, Z:10.84 [[ 9.98889036e-01 -4.45124274e-02 -1.54705675e-02 7.01074842e+02] [ 4.45150647e-02 9.99008698e-01 -1.74016784e-04 8.86117619e+00] [ 1.54629774e-02 -5.14849855e-04 9.99880308e-01 1.08419772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.3092541539999 meters Centerline goodness : 0.998822 Centerline is valid? [True, True] Translation: X:701.11, Y:8.86, Z:10.84 [[ 9.98721105e-01 -4.81333103e-02 -1.54705800e-02 7.01106697e+02] [ 4.81363987e-02 9.98840757e-01 -1.72894622e-04 8.86048851e+00] [ 1.54609679e-02 -5.72024500e-04 9.99880308e-01 1.08429961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.339254154 meters Centerline goodness : 0.998864 Centerline is valid? [True, True] Translation: X:701.14, Y:8.86, Z:10.84 [[ 9.98596559e-01 -5.06514892e-02 -1.54705924e-02 7.01138716e+02] [ 5.06548966e-02 9.98716202e-01 -1.71776156e-04 8.85942808e+00] [ 1.54594320e-02 -6.12126182e-04 9.99880308e-01 1.08427896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.3692541539999 meters Centerline goodness : 0.998930 Centerline is valid? [True, True] Translation: X:701.17, Y:8.86, Z:10.84 [[ 9.98425090e-01 -5.39258846e-02 -1.54706049e-02 7.01170089e+02] [ 5.39297019e-02 9.98544720e-01 -1.70644712e-04 8.85948383e+00] [ 1.54572930e-02 -6.63949149e-04 9.99880308e-01 1.08445366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.3992541539999 meters Centerline goodness : 0.998508 Centerline is valid? [True, True] Translation: X:701.20, Y:8.86, Z:10.85 [[ 9.98156009e-01 -5.86961769e-02 -1.54706142e-02 7.01202057e+02] [ 5.87005788e-02 9.98275620e-01 -1.69802669e-04 8.85821054e+00] [ 1.54539037e-02 -7.38644451e-04 9.99880308e-01 1.08454106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.4292541539999 meters Centerline goodness : 0.998888 Centerline is valid? [True, True] Translation: X:701.23, Y:8.86, Z:10.85 [[ 9.98060211e-01 -6.03031924e-02 -1.54706261e-02 7.01234214e+02] [ 6.03078037e-02 9.98179814e-01 -1.68710303e-04 8.85766864e+00] [ 1.54526404e-02 -7.64616441e-04 9.99880308e-01 1.08462188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.459254154 meters Centerline goodness : 0.998888 Centerline is valid? [True, True] Translation: X:701.27, Y:8.86, Z:10.85 [[ 9.97848700e-01 -6.37073838e-02 -1.54706378e-02 7.01265828e+02] [ 6.37124198e-02 9.97968286e-01 -1.67624690e-04 8.85678712e+00] [ 1.54498849e-02 -8.18407694e-04 9.99880308e-01 1.08465593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.4892541539999 meters Centerline goodness : 0.998973 Centerline is valid? [True, True] Translation: X:701.30, Y:8.86, Z:10.85 [[ 9.97774187e-01 -6.48639432e-02 -1.54706524e-02 7.01299009e+02] [ 6.48691388e-02 9.97893766e-01 -1.66269713e-04 8.85662914e+00] [ 1.54488525e-02 -8.37668270e-04 9.99880308e-01 1.08467621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.5192541539999 meters Centerline goodness : 0.998763 Centerline is valid? [True, True] Translation: X:701.33, Y:8.86, Z:10.85 [[ 9.97690062e-01 -6.61452796e-02 -1.54706696e-02 7.01331387e+02] [ 6.61506537e-02 9.97809633e-01 -1.64654825e-04 8.85639041e+00] [ 1.54476743e-02 -8.59120424e-04 9.99880308e-01 1.08463061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.5492541539999 meters Centerline goodness : 0.998636 Centerline is valid? [True, True] Translation: X:701.36, Y:8.86, Z:10.85 [[ 9.97504486e-01 -6.88872821e-02 -1.54706837e-02 7.01362464e+02] [ 6.88930055e-02 9.97624041e-01 -1.63317584e-04 8.85631531e+00] [ 1.54451765e-02 -9.02911876e-04 9.99880308e-01 1.08452920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.579254154 meters Centerline goodness : 0.998761 Centerline is valid? [True, True] Translation: X:701.40, Y:8.86, Z:10.85 [[ 9.97431700e-01 -6.99332691e-02 -1.54706920e-02 7.01395632e+02] [ 6.99391302e-02 9.97551248e-01 -1.62526317e-04 8.85653839e+00] [ 1.54441741e-02 -9.19897843e-04 9.99880308e-01 1.08459136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.6092541539999 meters Centerline goodness : 0.998846 Centerline is valid? [True, True] Translation: X:701.43, Y:8.86, Z:10.85 [[ 9.97348490e-01 -7.11100990e-02 -1.54707091e-02 7.01427692e+02] [ 7.11161266e-02 9.97468030e-01 -1.60879449e-04 8.85725275e+00] [ 1.54429779e-02 -9.39764034e-04 9.99880308e-01 1.08460930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.6392541539999 meters Centerline goodness : 0.998885 Centerline is valid? [True, True] Translation: X:701.46, Y:8.86, Z:10.85 [[ 9.97211346e-01 -7.30081365e-02 -1.54707205e-02 7.01459727e+02] [ 7.30144086e-02 9.97330873e-01 -1.59780695e-04 8.85827720e+00] [ 1.54410925e-02 -9.70250385e-04 9.99880308e-01 1.08450768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.6692541539999 meters Centerline goodness : 0.998864 Centerline is valid? [True, True] Translation: X:701.49, Y:8.86, Z:10.84 [[ 9.97195402e-01 -7.32255884e-02 -1.54707318e-02 7.01491371e+02] [ 7.32319035e-02 9.97314927e-01 -1.58678491e-04 8.85852623e+00] [ 1.54408111e-02 -9.74717676e-04 9.99880308e-01 1.08441467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.699254154 meters Centerline goodness : 0.998864 Centerline is valid? [True, True] Translation: X:701.52, Y:8.86, Z:10.84 [[ 9.97213180e-01 -7.29830738e-02 -1.54707402e-02 7.01523312e+02] [ 7.29893725e-02 9.97332706e-01 -1.57857276e-04 8.85908609e+00] [ 1.54409961e-02 -9.71782261e-04 9.99880308e-01 1.08449705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.7292541539999 meters Centerline goodness : 0.998989 Centerline is valid? [True, True] Translation: X:701.56, Y:8.86, Z:10.85 [[ 9.97282648e-01 -7.20276002e-02 -1.54707517e-02 7.01555700e+02] [ 7.20338019e-02 9.97402179e-01 -1.56722526e-04 8.86036105e+00] [ 1.54418498e-02 -9.58120405e-04 9.99880308e-01 1.08452965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.7592541539999 meters Centerline goodness : 0.998861 Centerline is valid? [True, True] Translation: X:701.59, Y:8.86, Z:10.84 [[ 9.97566805e-01 -6.79788635e-02 -1.54707631e-02 7.01586941e+02] [ 6.79845976e-02 9.97686359e-01 -1.55586311e-04 8.86359929e+00] [ 1.54455459e-02 -8.96565865e-04 9.99880308e-01 1.08438905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.7892541539999 meters Centerline goodness : 0.998861 Centerline is valid? [True, True] Translation: X:701.62, Y:8.86, Z:10.84 [[ 9.97573833e-01 -6.78756508e-02 -1.54707716e-02 7.01620470e+02] [ 6.78813856e-02 9.97693387e-01 -1.54740743e-04 8.86383500e+00] [ 1.54455896e-02 -8.95812093e-04 9.99880308e-01 1.08444091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.8192541539999 meters Centerline goodness : 0.998820 Centerline is valid? [True, True] Translation: X:701.65, Y:8.87, Z:10.85 [[ 9.97755706e-01 -6.51475661e-02 -1.54707874e-02 7.01652326e+02] [ 6.51529986e-02 9.97875274e-01 -1.53140084e-04 8.86621795e+00] [ 1.54478929e-02 -8.55171798e-04 9.99880308e-01 1.08471010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.8492541539999 meters Centerline goodness : 0.998860 Centerline is valid? [True, True] Translation: X:701.68, Y:8.87, Z:10.85 [[ 9.98015029e-01 -6.10463491e-02 -1.54707983e-02 7.01684924e+02] [ 6.10513074e-02 9.98134618e-01 -1.52027156e-04 8.86808596e+00] [ 1.54512201e-02 -7.92787079e-04 9.99880308e-01 1.08476098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.8792541539999 meters Centerline goodness : 0.998773 Centerline is valid? [True, True] Translation: X:701.72, Y:8.87, Z:10.85 [[ 9.98537505e-01 -5.18025604e-02 -1.54708092e-02 7.01717182e+02] [ 5.18064284e-02 9.98657134e-01 -1.50913166e-04 8.87201525e+00] [ 1.54578517e-02 -6.50794913e-04 9.99880308e-01 1.08491588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.9092541539999 meters Centerline goodness : 0.998857 Centerline is valid? [True, True] Translation: X:701.75, Y:8.87, Z:10.85 [[ 9.98764859e-01 -4.72166403e-02 -1.54708201e-02 7.01749669e+02] [ 4.72199764e-02 9.98884504e-01 -1.49783285e-04 8.87444442e+00] [ 1.54606348e-02 -5.80933481e-04 9.99880308e-01 1.08512323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.9392541539999 meters Centerline goodness : 0.998644 Centerline is valid? [True, True] Translation: X:701.78, Y:8.88, Z:10.85 [[ 9.99180424e-01 -3.74050014e-02 -1.54708309e-02 7.01781347e+02] [ 3.74071796e-02 9.99300095e-01 -1.48661105e-04 8.87854668e+00] [ 1.54655635e-02 -4.30180885e-04 9.99880308e-01 1.08532805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.9692541539999 meters Centerline goodness : 0.999047 Centerline is valid? [True, True] Translation: X:701.81, Y:8.88, Z:10.85 [[ 9.99341457e-01 -3.28223355e-02 -1.54708416e-02 7.01812283e+02] [ 3.28239822e-02 9.99461137e-01 -1.47540476e-04 8.88076518e+00] [ 1.54673476e-02 -3.60371316e-04 9.99880308e-01 1.08545124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.9992541539999 meters Centerline goodness : 0.998853 Centerline is valid? [True, True] Translation: X:701.84, Y:8.88, Z:10.86 [[ 9.99464914e-01 -2.88190551e-02 -1.54708495e-02 7.01843980e+02] [ 2.88202353e-02 9.99584600e-01 -1.46708096e-04 8.88271680e+00] [ 1.54686509e-02 -2.99243929e-04 9.99880308e-01 1.08557523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.0292541539999 meters Centerline goodness : 0.998939 Centerline is valid? [True, True] Translation: X:701.87, Y:8.88, Z:10.86 [[ 9.99621355e-01 -2.27552111e-02 -1.54708549e-02 7.01873753e+02] [ 2.27556740e-02 9.99741045e-01 -1.46135530e-04 8.88495571e+00] [ 1.54701740e-02 -2.05969536e-04 9.99880308e-01 1.08559434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.0592541539999 meters Centerline goodness : 0.998769 Centerline is valid? [True, True] Translation: X:701.90, Y:8.89, Z:10.86 [[ 9.99663654e-01 -2.08142300e-02 -1.54708522e-02 7.01903272e+02] [ 2.08144561e-02 9.99783345e-01 -1.46419015e-04 8.88588561e+00] [ 1.54705480e-02 -1.75647608e-04 9.99880308e-01 1.08561668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.089254154 meters Centerline goodness : 0.999023 Centerline is valid? [True, True] Translation: X:701.93, Y:8.89, Z:10.86 [[ 9.99692303e-01 -1.93894887e-02 -1.54708470e-02 7.01931942e+02] [ 1.93895357e-02 9.99811995e-01 -1.46971248e-04 8.88662691e+00] [ 1.54707881e-02 -1.53046515e-04 9.99880308e-01 1.08557327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.1192541539999 meters Centerline goodness : 0.998917 Centerline is valid? [True, True] Translation: X:701.96, Y:8.89, Z:10.86 [[ 9.99724472e-01 -1.76531129e-02 -1.54708391e-02 7.01960391e+02] [ 1.76529393e-02 9.99844164e-01 -1.47792603e-04 8.88758063e+00] [ 1.54710372e-02 -1.25353902e-04 9.99880308e-01 1.08560562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.1492541539999 meters Centerline goodness : 0.998874 Centerline is valid? [True, True] Translation: X:701.99, Y:8.89, Z:10.86 [[ 9.99733331e-01 -1.71441174e-02 -1.54708009e-02 7.01989146e+02] [ 1.71438225e-02 9.99853022e-01 -1.51689729e-04 8.88752411e+00] [ 1.54711277e-02 -1.13579388e-04 9.99880308e-01 1.08558692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.1792541539999 meters Centerline goodness : 0.998939 Centerline is valid? [True, True] Translation: X:702.02, Y:8.89, Z:10.86 [[ 9.99742507e-01 -1.66004798e-02 -1.54707614e-02 7.02016707e+02] [ 1.66000590e-02 9.99862197e-01 -1.55623800e-04 8.88773133e+00] [ 1.54712129e-02 -1.01231823e-04 9.99880308e-01 1.08560686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.209254154 meters Centerline goodness : 0.998959 Centerline is valid? [True, True] Translation: X:702.04, Y:8.89, Z:10.86 [[ 9.99772053e-01 -1.47138834e-02 -1.54707149e-02 7.02044962e+02] [ 1.47131673e-02 9.99891743e-01 -1.60112175e-04 8.88830512e+00] [ 1.54713960e-02 -6.75475379e-05 9.99880309e-01 1.08554665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.2392541539999 meters Centerline goodness : 0.998874 Centerline is valid? [True, True] Translation: X:702.07, Y:8.89, Z:10.86 [[ 9.99781565e-01 -1.40527427e-02 -1.54707004e-02 7.02072516e+02] [ 1.40519259e-02 9.99901254e-01 -1.61500481e-04 8.88879040e+00] [ 1.54714423e-02 -5.59279326e-05 9.99880309e-01 1.08570917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.2692541539999 meters Centerline goodness : 0.998894 Centerline is valid? [True, True] Translation: X:702.10, Y:8.89, Z:10.86 [[ 9.99784369e-01 -1.38518807e-02 -1.54706515e-02 7.02100390e+02] [ 1.38509694e-02 9.99904057e-01 -1.66055935e-04 8.88928907e+00] [ 1.54714674e-02 -4.82633922e-05 9.99880309e-01 1.08575881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.2992541539999 meters Centerline goodness : 0.999002 Centerline is valid? [True, True] Translation: X:702.13, Y:8.89, Z:10.86 [[ 9.99792729e-01 -1.32348239e-02 -1.54706014e-02 7.02126739e+02] [ 1.32337685e-02 9.99912415e-01 -1.70600937e-04 8.88882724e+00] [ 1.54715043e-02 -3.41687810e-05 9.99880309e-01 1.08571399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.329254154 meters Centerline goodness : 0.998809 Centerline is valid? [True, True] Translation: X:702.16, Y:8.89, Z:10.86 [[ 9.99770194e-01 -1.48404409e-02 -1.54699830e-02 7.02156594e+02] [ 1.48387310e-02 9.99889875e-01 -2.25314943e-04 8.88860019e+00] [ 1.54716232e-02 -4.29175215e-06 9.99880307e-01 1.08592623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.3592541539999 meters Centerline goodness : 0.999064 Centerline is valid? [True, True] Translation: X:702.18, Y:8.89, Z:10.86 [[ 9.99726533e-01 -1.75362865e-02 -1.54705366e-02 7.02183224e+02] [ 1.75356483e-02 9.99846223e-01 -1.76909316e-04 8.89041311e+00] [ 1.54712599e-02 -9.44249521e-05 9.99880308e-01 1.08573112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.3892541539999 meters Centerline goodness : 0.998874 Centerline is valid? [True, True] Translation: X:702.22, Y:8.88, Z:10.86 [[ 9.99694110e-01 -1.92976393e-02 -1.54689116e-02 7.02215086e+02] [ 1.92950904e-02 9.99813783e-01 -3.14016571e-04 8.88469255e+00] [ 1.54720908e-02 1.54464685e-05 9.99880300e-01 1.08605279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.4192541539999 meters Centerline goodness : 0.998940 Centerline is valid? [True, True] Translation: X:702.24, Y:8.88, Z:10.86 [[ 9.99656581e-01 -2.11514581e-02 -1.54704742e-02 7.02242501e+02] [ 2.11512219e-02 9.99776272e-01 -1.78907025e-04 8.88301379e+00] [ 1.54707972e-02 -1.48373847e-04 9.99880309e-01 1.08596111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.449254154 meters Centerline goodness : 0.994842 Centerline is valid? [True, True] Translation: X:702.27, Y:8.88, Z:10.86 [[ 9.99577926e-01 -2.45893365e-02 -1.54704580e-02 7.02270594e+02] [ 2.45894903e-02 9.99697617e-01 -1.80301778e-04 8.88407658e+00] [ 1.54702134e-02 -2.00184999e-04 9.99880309e-01 1.08592707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.4792541539999 meters Centerline goodness : 0.998878 Centerline is valid? [True, True] Translation: X:702.30, Y:8.88, Z:10.86 [[ 9.99470865e-01 -2.86129030e-02 -1.54690570e-02 7.02300469e+02] [ 2.86117349e-02 9.99590556e-01 -2.96863544e-04 8.87997259e+00] [ 1.54712174e-02 -1.45890094e-04 9.99880303e-01 1.08607243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.5092541539999 meters Centerline goodness : 0.999069 Centerline is valid? [True, True] Translation: X:702.33, Y:8.88, Z:10.86 [[ 9.99413928e-01 -3.05363184e-02 -1.54703927e-02 7.02331141e+02] [ 3.05371047e-02 9.99533617e-01 -1.85449490e-04 8.87855316e+00] [ 1.54688405e-02 -2.87080196e-04 9.99880309e-01 1.08606768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.5392541539999 meters Centerline goodness : 0.998749 Centerline is valid? [True, True] Translation: X:702.36, Y:8.88, Z:10.86 [[ 9.99352769e-01 -3.24762912e-02 -1.54703927e-02 7.02362133e+02] [ 3.24773099e-02 9.99472456e-01 -1.85449490e-04 8.87708340e+00] [ 1.54682541e-02 -3.17107274e-04 9.99880309e-01 1.08618984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.5692541539999 meters Centerline goodness : 0.998751 Centerline is valid? [True, True] Translation: X:702.39, Y:8.88, Z:10.86 [[ 9.99308044e-01 -3.38245483e-02 -1.54703994e-02 7.02393450e+02] [ 3.38257372e-02 9.99427729e-01 -1.84884377e-04 8.87559362e+00] [ 1.54677998e-02 -3.38541220e-04 9.99880309e-01 1.08624309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.5992541539999 meters Centerline goodness : 0.999135 Centerline is valid? [True, True] Translation: X:702.42, Y:8.87, Z:10.86 [[ 9.99250261e-01 -3.54905838e-02 -1.54704062e-02 7.02423673e+02] [ 3.54919810e-02 9.99369944e-01 -1.84316583e-04 8.87248244e+00] [ 1.54672005e-02 -3.64896968e-04 9.99880309e-01 1.08614485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.6292541539999 meters Centerline goodness : 0.998967 Centerline is valid? [True, True] Translation: X:702.45, Y:8.87, Z:10.86 [[ 9.99251306e-01 -3.54611722e-02 -1.54704095e-02 7.02454638e+02] [ 3.54625702e-02 9.99370988e-01 -1.84034857e-04 8.87131871e+00] [ 1.54672045e-02 -3.64723413e-04 9.99880309e-01 1.08635849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.6592541539999 meters Centerline goodness : 0.998882 Centerline is valid? [True, True] Translation: X:702.48, Y:8.87, Z:10.86 [[ 9.99265935e-01 -3.50465168e-02 -1.54704161e-02 7.02484832e+02] [ 3.50478739e-02 9.99385618e-01 -1.83476456e-04 8.87083243e+00] [ 1.54673416e-02 -3.58863421e-04 9.99880309e-01 1.08640048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.6892541539999 meters Centerline goodness : 0.999242 Centerline is valid? [True, True] Translation: X:702.52, Y:8.87, Z:10.86 [[ 9.99333830e-01 -3.30539304e-02 -1.54704194e-02 7.02516314e+02] [ 3.30550531e-02 9.99453516e-01 -1.83199617e-04 8.86970092e+00] [ 1.54680206e-02 -3.28297960e-04 9.99880309e-01 1.08643914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.7192541539999 meters Centerline goodness : 0.999368 Centerline is valid? [True, True] Translation: X:702.55, Y:8.87, Z:10.86 [[ 9.99380187e-01 -3.16213129e-02 -1.54704259e-02 7.02546331e+02] [ 3.16222725e-02 9.99499874e-01 -1.82649844e-04 8.86908187e+00] [ 1.54684644e-02 -3.06673389e-04 9.99880309e-01 1.08628918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.7492541539999 meters Centerline goodness : 0.999074 Centerline is valid? [True, True] Translation: X:702.58, Y:8.87, Z:10.86 [[ 9.99499809e-01 -2.75825624e-02 -1.54704291e-02 7.02575744e+02] [ 2.75830426e-02 9.99619499e-01 -1.82377332e-04 8.86741880e+00] [ 1.54695730e-02 -2.44435396e-04 9.99880309e-01 1.08623695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.7792541539999 meters Centerline goodness : 0.999074 Centerline is valid? [True, True] Translation: X:702.61, Y:8.87, Z:10.87 [[ 9.99550042e-01 -2.56980124e-02 -1.54701778e-02 7.02606362e+02] [ 2.56979365e-02 9.99669733e-01 -2.03728469e-04 8.86714796e+00] [ 1.54703039e-02 -1.93914846e-04 9.99880309e-01 1.08655537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.8092541539999 meters Centerline goodness : 0.999137 Centerline is valid? [True, True] Translation: X:702.64, Y:8.87, Z:10.87 [[ 9.99665485e-01 -2.07264179e-02 -1.54704116e-02 7.02635393e+02] [ 2.07260507e-02 9.99785175e-01 -1.84081522e-04 8.86613002e+00] [ 1.54709035e-02 -1.36620590e-04 9.99880309e-01 1.08659671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.839254154 meters Centerline goodness : 0.999199 Centerline is valid? [True, True] Translation: X:702.66, Y:8.87, Z:10.87 [[ 9.99709772e-01 -1.84672140e-02 -1.54704082e-02 7.02664578e+02] [ 1.84665720e-02 9.99829461e-01 -1.84361234e-04 8.86593667e+00] [ 1.54711746e-02 -1.01377681e-04 9.99880309e-01 1.08666790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.8692541539999 meters Centerline goodness : 0.999199 Centerline is valid? [True, True] Translation: X:702.69, Y:8.87, Z:10.87 [[ 9.99747833e-01 -1.62769167e-02 -1.54703610e-02 7.02692136e+02] [ 1.62759524e-02 9.99867520e-01 -1.88244920e-04 8.86607145e+00] [ 1.54713755e-02 -6.35974082e-05 9.99880309e-01 1.08670286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.8992541539999 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:702.72, Y:8.87, Z:10.87 [[ 9.99777923e-01 -1.43098848e-02 -1.54703344e-02 7.02719799e+02] [ 1.43086516e-02 9.99897608e-01 -1.90399871e-04 8.86623554e+00] [ 1.54714750e-02 -3.10020392e-05 9.99880309e-01 1.08675461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.9292541539999 meters Centerline goodness : 0.999219 Centerline is valid? [True, True] Translation: X:702.75, Y:8.87, Z:10.87 [[ 9.99808061e-01 -1.20213114e-02 -1.54702795e-02 7.02746524e+02] [ 1.20197368e-02 9.99927741e-01 -1.94762331e-04 8.86545389e+00] [ 1.54715030e-02 8.77626006e-06 9.99880309e-01 1.08676515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.959254154 meters Centerline goodness : 0.999113 Centerline is valid? [True, True] Translation: X:702.77, Y:8.86, Z:10.87 [[ 9.99808667e-01 -1.19708162e-02 -1.54702555e-02 7.02774515e+02] [ 1.19692063e-02 9.99928347e-01 -1.96651583e-04 8.86466311e+00] [ 1.54715011e-02 1.14472776e-05 9.99880309e-01 1.08688697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.9892541539999 meters Centerline goodness : 0.999050 Centerline is valid? [True, True] Translation: X:702.80, Y:8.86, Z:10.87 [[ 9.99804829e-01 -1.22872945e-02 -1.54701962e-02 7.02801276e+02] [ 1.22856519e-02 9.99924508e-01 -2.01214493e-04 8.86376243e+00] [ 1.54715007e-02 1.11137774e-05 9.99880309e-01 1.08683664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.0192541539999 meters Centerline goodness : 0.999135 Centerline is valid? [True, True] Translation: X:702.83, Y:8.86, Z:10.87 [[ 9.99771445e-01 -1.47557169e-02 -1.54701702e-02 7.02829654e+02] [ 1.47543392e-02 9.99891128e-01 -2.03189795e-04 8.86127509e+00] [ 1.54714842e-02 -2.51087837e-05 9.99880309e-01 1.08686586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.0492541539999 meters Centerline goodness : 0.999009 Centerline is valid? [True, True] Translation: X:702.86, Y:8.86, Z:10.87 [[ 9.99747322e-01 -1.63085315e-02 -1.54701104e-02 7.02858898e+02] [ 1.63072707e-02 9.99867006e-01 -2.07646001e-04 8.85966243e+00] [ 1.54714394e-02 -4.46817452e-05 9.99880309e-01 1.08689537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.079254154 meters Centerline goodness : 0.999158 Centerline is valid? [True, True] Translation: X:702.89, Y:8.86, Z:10.87 [[ 9.99705107e-01 -1.87183267e-02 -1.54700603e-02 7.02886608e+02] [ 1.87172977e-02 9.99824794e-01 -2.11312916e-04 8.85882841e+00] [ 1.54713053e-02 -7.83071233e-05 9.99880309e-01 1.08696457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.1092541539999 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:702.91, Y:8.86, Z:10.87 [[ 9.99606326e-01 -2.34066352e-02 -1.54700411e-02 7.02914449e+02] [ 2.34061460e-02 9.99726016e-01 -2.12708818e-04 8.85631181e+00] [ 1.54707814e-02 -1.49468961e-04 9.99880309e-01 1.08697545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.1392541539999 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:702.94, Y:8.86, Z:10.87 [[ 9.99541614e-01 -2.60238449e-02 -1.54700220e-02 7.02943185e+02] [ 2.60236476e-02 9.99661305e-01 -2.14093851e-04 8.85504119e+00] [ 1.54703539e-02 -1.88590686e-04 9.99880309e-01 1.08696857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.1692541539999 meters Centerline goodness : 0.999328 Centerline is valid? [True, True] Translation: X:702.97, Y:8.85, Z:10.87 [[ 9.99455052e-01 -2.91595299e-02 -1.54700106e-02 7.02973339e+02] [ 2.91596954e-02 9.99574743e-01 -2.14914738e-04 8.85367349e+00] [ 1.54696986e-02 -2.36303175e-04 9.99880309e-01 1.08702228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.199254154 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:703.01, Y:8.84, Z:10.87 [[ 9.99431905e-01 -2.99423961e-02 -1.54700030e-02 7.03009616e+02] [ 2.99426468e-02 9.99551595e-01 -2.15460247e-04 8.84353190e+00] [ 1.54695175e-02 -2.47874991e-04 9.99880309e-01 1.08690885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.2292541539999 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:703.03, Y:8.85, Z:10.87 [[ 9.99114951e-01 -3.91132291e-02 -1.54748230e-02 7.03031991e+02] [ 3.91200953e-02 9.99234506e-01 1.41127396e-04 8.84811718e+00] [ 1.54574572e-02 -7.46379041e-04 9.99880248e-01 1.08718000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.2592541539999 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:703.06, Y:8.85, Z:10.87 [[ 9.98973719e-01 -4.25699294e-02 -1.54696510e-02 7.03062944e+02] [ 4.25716070e-02 9.99093394e-01 -2.20991147e-04 8.84685708e+00] [ 1.54650337e-02 -4.37803555e-04 9.99880313e-01 1.08740702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.2892541539999 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:703.09, Y:8.84, Z:10.87 [[ 9.98679413e-01 -4.89910092e-02 -1.54696591e-02 7.03094497e+02] [ 4.89934649e-02 9.98799075e-01 -2.20423135e-04 8.84319147e+00] [ 1.54618799e-02 -5.37780153e-04 9.99880313e-01 1.08742083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.3192541539999 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:703.13, Y:8.84, Z:10.88 [[ 9.98527857e-01 -5.19885301e-02 -1.54696712e-02 7.03127086e+02] [ 5.19913582e-02 9.98647511e-01 -2.19573259e-04 8.84187241e+00] [ 1.54601639e-02 -5.85039198e-04 9.99880313e-01 1.08756473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.3492541539999 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:703.16, Y:8.84, Z:10.87 [[ 9.98369211e-01 -5.49509579e-02 -1.54696875e-02 7.03158793e+02] [ 5.49541588e-02 9.98488855e-01 -2.18417673e-04 8.84065729e+00] [ 1.54583128e-02 -6.32062181e-04 9.99880313e-01 1.08749351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.3792541539999 meters Centerline goodness : 0.999271 Centerline is valid? [True, True] Translation: X:703.19, Y:8.84, Z:10.87 [[ 9.98271485e-01 -5.66985926e-02 -1.54696996e-02 7.03189134e+02] [ 5.67020163e-02 9.98391123e-01 -2.17557059e-04 8.83956809e+00] [ 1.54571459e-02 -6.59982148e-04 9.99880313e-01 1.08740919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.4092541539999 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:703.22, Y:8.83, Z:10.88 [[ 9.98276412e-01 -5.66119489e-02 -1.54690661e-02 7.03224457e+02] [ 5.66146414e-02 9.98396070e-01 -2.64157383e-04 8.83439927e+00] [ 1.54592093e-02 -6.12073545e-04 9.99880312e-01 1.08766403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.4392541539999 meters Centerline goodness : 0.999146 Centerline is valid? [True, True] Translation: X:703.25, Y:8.84, Z:10.88 [[ 9.97755444e-01 -6.51509788e-02 -1.54733621e-02 7.03248918e+02] [ 6.51596558e-02 9.97874850e-01 5.67504493e-05 8.83697947e+00] [ 1.54367816e-02 -1.06486202e-03 9.99880279e-01 1.08753893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.4692541539999 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:703.28, Y:8.84, Z:10.88 [[ 9.97634903e-01 -6.69723196e-02 -1.54696302e-02 7.03280703e+02] [ 6.69770359e-02 9.97754494e-01 -2.13588243e-04 8.83699662e+00] [ 1.54491975e-02 -8.23026889e-04 9.99880315e-01 1.08763901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.4992541539999 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:703.31, Y:8.84, Z:10.88 [[ 9.97553909e-01 -6.81680856e-02 -1.54696460e-02 7.03311659e+02] [ 6.81729631e-02 9.97673495e-01 -2.12436952e-04 8.83689866e+00] [ 1.54481372e-02 -8.42694291e-04 9.99880315e-01 1.08756748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.5292541539999 meters Centerline goodness : 0.998934 Centerline is valid? [True, True] Translation: X:703.35, Y:8.84, Z:10.88 [[ 9.97474544e-01 -6.93197213e-02 -1.54696577e-02 7.03345556e+02] [ 6.93247502e-02 9.97594123e-01 -2.11579513e-04 8.83591013e+00] [ 1.54471062e-02 -8.61384976e-04 9.99880315e-01 1.08782736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.5592541539999 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:703.38, Y:8.84, Z:10.88 [[ 9.97458159e-01 -6.95547912e-02 -1.54710023e-02 7.03375138e+02] [ 6.95613764e-02 9.97577667e-01 -1.12722875e-04 8.83684285e+00] [ 1.54413668e-02 -9.63747863e-04 9.99880311e-01 1.08780037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.589254154 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:703.41, Y:8.84, Z:10.88 [[ 9.97488847e-01 -6.91136061e-02 -1.54696670e-02 7.03405936e+02] [ 6.91186231e-02 9.97608426e-01 -2.10747468e-04 8.83722653e+00] [ 1.54472356e-02 -8.59023831e-04 9.99880315e-01 1.08776746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.6192541539999 meters Centerline goodness : 0.999084 Centerline is valid? [True, True] Translation: X:703.44, Y:8.84, Z:10.88 [[ 9.97601467e-01 -6.74685224e-02 -1.54696785e-02 7.03436852e+02] [ 6.74733554e-02 9.97721054e-01 -2.09894010e-04 8.83843379e+00] [ 1.54485852e-02 -8.34400546e-04 9.99880315e-01 1.08771797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.6492541539999 meters Centerline goodness : 0.999188 Centerline is valid? [True, True] Translation: X:703.47, Y:8.84, Z:10.88 [[ 9.97691552e-01 -6.61230282e-02 -1.54696897e-02 7.03468879e+02] [ 6.61277126e-02 9.97811145e-01 -2.09068478e-04 8.83992224e+00] [ 1.54496530e-02 -8.14389341e-04 9.99880315e-01 1.08781999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.6792541539999 meters Centerline goodness : 0.999188 Centerline is valid? [True, True] Translation: X:703.50, Y:8.84, Z:10.88 [[ 9.97696325e-01 -6.60509816e-02 -1.54697047e-02 7.03501558e+02] [ 6.60556747e-02 9.97815917e-01 -2.07950550e-04 8.84029948e+00] [ 1.54496530e-02 -8.14390284e-04 9.99880315e-01 1.08787053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.709254154 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:703.53, Y:8.84, Z:10.88 [[ 9.97808550e-01 -6.43333861e-02 -1.54697197e-02 7.03533911e+02] [ 6.43378906e-02 9.97928150e-01 -2.06833567e-04 8.84203423e+00] [ 1.54509750e-02 -7.88908830e-04 9.99880315e-01 1.08793137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.7392541539999 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:703.57, Y:8.85, Z:10.88 [[ 9.98092287e-01 -5.97701837e-02 -1.54697346e-02 7.03565776e+02] [ 5.97741586e-02 9.98211905e-01 -2.05710388e-04 8.84528766e+00] [ 1.54543686e-02 -7.19372418e-04 9.99880315e-01 1.08807582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.7692541539999 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:703.60, Y:8.85, Z:10.88 [[ 9.98257634e-01 -5.69419317e-02 -1.54697499e-02 7.03597010e+02] [ 5.69455855e-02 9.98377263e-01 -2.04556444e-04 8.84722949e+00] [ 1.54562944e-02 -6.76733932e-04 9.99880315e-01 1.08809563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.7992541539999 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:703.63, Y:8.85, Z:10.88 [[ 9.98598285e-01 -5.06177057e-02 -1.54697737e-02 7.03628696e+02] [ 5.06206299e-02 9.98717934e-01 -2.02735504e-04 8.85114156e+00] [ 1.54602025e-02 -5.80638364e-04 9.99880315e-01 1.08829608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.829254154 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:703.66, Y:8.85, Z:10.88 [[ 9.98763801e-01 -4.72393508e-02 -1.54697887e-02 7.03659681e+02] [ 4.72418881e-02 9.98883458e-01 -2.01582564e-04 8.85363134e+00] [ 1.54620387e-02 -5.29488660e-04 9.99880315e-01 1.08829863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.8592541539999 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:703.69, Y:8.86, Z:10.89 [[ 9.98924752e-01 -4.37038420e-02 -1.54697999e-02 7.03691705e+02] [ 4.37059690e-02 9.99044417e-01 -2.00724746e-04 8.85620219e+00] [ 1.54637897e-02 -4.75613676e-04 9.99880315e-01 1.08851455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.8892541539999 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:703.72, Y:8.87, Z:10.88 [[ 9.99089371e-01 -3.97632301e-02 -1.54698146e-02 7.03717791e+02] [ 3.97649026e-02 9.99209044e-01 -1.99587005e-04 8.86665184e+00] [ 1.54655148e-02 -4.15750415e-04 9.99880315e-01 1.08849736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.9192541539999 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:703.75, Y:8.87, Z:10.89 [[ 9.99241366e-01 -3.57416624e-02 -1.54669159e-02 7.03749337e+02] [ 3.57393816e-02 9.99361054e-01 -4.23931986e-04 8.86894887e+00] [ 1.54721854e-02 -1.29167632e-04 9.99880290e-01 1.08860969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.949254154 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:703.78, Y:8.86, Z:10.89 [[ 9.99504073e-01 -2.74297114e-02 -1.54666819e-02 7.03783283e+02] [ 2.74261555e-02 9.99623735e-01 -4.42005944e-04 8.86464409e+00] [ 1.54729864e-02 1.75951173e-05 9.99880286e-01 1.08876392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.9792541539999 meters Centerline goodness : 0.999288 Centerline is valid? [True, True] Translation: X:703.81, Y:8.87, Z:10.89 [[ 9.99556675e-01 -2.54389251e-02 -1.54697874e-02 7.03805880e+02] [ 2.54389907e-02 9.99676358e-01 -1.92568095e-04 8.87157257e+00] [ 1.54696795e-02 -2.01053054e-04 9.99880317e-01 1.08864563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.0092541539999 meters Centerline goodness : 0.999013 Centerline is valid? [True, True] Translation: X:703.84, Y:8.87, Z:10.89 [[ 9.99754747e-01 -1.58507279e-02 -1.54661075e-02 7.03842838e+02] [ 1.58450534e-02 9.99874340e-01 -4.89376053e-04 8.86860579e+00] [ 1.54719210e-02 2.44194731e-04 9.99880273e-01 1.08895148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.0392541539999 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:703.87, Y:8.87, Z:10.89 [[ 9.99787165e-01 -1.36496467e-02 -1.54697352e-02 7.03871019e+02] [ 1.36484439e-02 9.99906839e-01 -1.83329025e-04 8.86963250e+00] [ 1.54707964e-02 -2.78478065e-05 9.99880320e-01 1.08897946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.0692541539999 meters Centerline goodness : 0.999138 Centerline is valid? [True, True] Translation: X:703.90, Y:8.87, Z:10.89 [[ 9.99801404e-01 -1.25635391e-02 -1.54696801e-02 7.03899103e+02] [ 1.25621361e-02 9.99921076e-01 -1.87862204e-04 8.87042053e+00] [ 1.54708194e-02 -6.50733179e-06 9.99880320e-01 1.08899600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.0992541539999 meters Centerline goodness : 0.999306 Centerline is valid? [True, True] Translation: X:703.93, Y:8.87, Z:10.89 [[ 9.99803606e-01 -1.23871226e-02 -1.54696237e-02 7.03927505e+02] [ 1.23856284e-02 9.99923277e-01 -1.92401718e-04 8.87082983e+00] [ 1.54708201e-02 7.62922332e-07 9.99880320e-01 1.08900903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.1292541539999 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:703.96, Y:8.87, Z:10.89 [[ 9.99769536e-01 -1.48851531e-02 -1.54695735e-02 7.03956005e+02] [ 1.48838967e-02 9.99889209e-01 -1.96351020e-04 8.87028970e+00] [ 1.54707824e-02 -3.39417675e-05 9.99880320e-01 1.08896318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.1592541539999 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:703.98, Y:8.87, Z:10.89 [[ 9.99726171e-01 -1.75578074e-02 -1.54695228e-02 7.03983625e+02] [ 1.75568103e-02 9.99845847e-01 -2.00270264e-04 8.86976454e+00] [ 1.54706544e-02 -7.13800539e-05 9.99880320e-01 1.08898768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.1892541539999 meters Centerline goodness : 0.999201 Centerline is valid? [True, True] Translation: X:704.01, Y:8.87, Z:10.89 [[ 9.99672932e-01 -2.03647720e-02 -1.54694637e-02 7.04011843e+02] [ 2.03640419e-02 9.99792610e-01 -2.04734674e-04 8.86905249e+00] [ 1.54704249e-02 -1.10353095e-04 9.99880320e-01 1.08905396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.2192541539999 meters Centerline goodness : 0.999033 Centerline is valid? [True, True] Translation: X:704.04, Y:8.87, Z:10.89 [[ 9.99537042e-01 -2.61992375e-02 -1.54694029e-02 7.04039507e+02] [ 2.61991363e-02 9.99656722e-01 -2.09228893e-04 8.86769152e+00] [ 1.54695743e-02 -1.96152967e-04 9.99880320e-01 1.08914325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.2492541539999 meters Centerline goodness : 0.999055 Centerline is valid? [True, True] Translation: X:704.07, Y:8.87, Z:10.89 [[ 9.99453824e-01 -2.92019271e-02 -1.54693840e-02 7.04069127e+02] [ 2.92021640e-02 9.99573504e-01 -2.10620308e-04 8.86717958e+00] [ 1.54689369e-02 -2.41234216e-04 9.99880320e-01 1.08930522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.2792541539999 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:704.10, Y:8.87, Z:10.89 [[ 9.99378353e-01 -3.16797302e-02 -1.54693765e-02 7.04098575e+02] [ 3.16802553e-02 9.99498032e-01 -2.11168520e-04 8.86626316e+00] [ 1.54683011e-02 -2.79036549e-04 9.99880320e-01 1.08942830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.3092541539999 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:704.13, Y:8.86, Z:10.90 [[ 9.99219203e-01 -3.63549662e-02 -1.54693728e-02 7.04128999e+02] [ 3.63560470e-02 9.99338878e-01 -2.11440921e-04 8.86463156e+00] [ 1.54668326e-02 -3.51129415e-04 9.99880320e-01 1.08958366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.339254154 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:704.16, Y:8.86, Z:10.90 [[ 9.99137029e-01 -3.85473322e-02 -1.54693728e-02 7.04158929e+02] [ 3.85486756e-02 9.99256701e-01 -2.11440921e-04 8.86384477e+00] [ 1.54660249e-02 -3.85065379e-04 9.99880320e-01 1.08960123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.3692541539999 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:704.19, Y:8.86, Z:10.90 [[ 9.99048543e-01 -4.07763012e-02 -1.54693765e-02 7.04190095e+02] [ 4.07779158e-02 9.99168213e-01 -2.11170387e-04 8.86305147e+00] [ 1.54651200e-02 -4.19839463e-04 9.99880320e-01 1.08965815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.3992541539999 meters Centerline goodness : 0.999309 Centerline is valid? [True, True] Translation: X:704.22, Y:8.86, Z:10.90 [[ 9.98838771e-01 -4.56268312e-02 -1.54693839e-02 7.04221226e+02] [ 4.56290353e-02 9.98958431e-01 -2.10624130e-04 8.86071416e+00] [ 1.54628816e-02 -4.95473517e-04 9.99880320e-01 1.08964506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.4292541539999 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:704.25, Y:8.86, Z:10.90 [[ 9.98723972e-01 -4.80741678e-02 -1.54693913e-02 7.04253546e+02] [ 4.80766735e-02 9.98843626e-01 -2.10076394e-04 8.86003193e+00] [ 1.54616022e-02 -5.33908546e-04 9.99880320e-01 1.08967241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.459254154 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:704.29, Y:8.86, Z:10.90 [[ 9.98603321e-01 -5.05183657e-02 -1.54694062e-02 7.04285628e+02] [ 5.05211813e-02 9.98722968e-01 -2.08977276e-04 8.85965749e+00] [ 1.54602085e-02 -5.72847273e-04 9.99880320e-01 1.08977767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.4892541539999 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:704.32, Y:8.86, Z:10.90 [[ 9.98483692e-01 -5.28300465e-02 -1.54694214e-02 7.04316950e+02] [ 5.28331565e-02 9.98603332e-01 -2.07848463e-04 8.85896935e+00] [ 1.54587964e-02 -6.09765059e-04 9.99880320e-01 1.08974121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.5192541539999 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:704.35, Y:8.86, Z:10.90 [[ 9.98295495e-01 -5.62743336e-02 -1.54694326e-02 7.04348678e+02] [ 5.62778694e-02 9.98415123e-01 -2.07006936e-04 8.85762437e+00] [ 1.54565647e-02 -6.63932616e-04 9.99880320e-01 1.08984979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.5492541539999 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:704.38, Y:8.86, Z:10.90 [[ 9.98249752e-01 -5.70800297e-02 -1.54694477e-02 7.04380666e+02] [ 5.70836796e-02 9.98369376e-01 -2.05872408e-04 8.85778891e+00] [ 1.54559741e-02 -6.77540916e-04 9.99880320e-01 1.08992296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.579254154 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:704.41, Y:8.86, Z:10.90 [[ 9.98271828e-01 -5.66926136e-02 -1.54694630e-02 7.04410421e+02] [ 5.66962348e-02 9.98391454e-01 -2.04720629e-04 8.85799938e+00] [ 1.54561858e-02 -6.72693468e-04 9.99880320e-01 1.08956357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.6092541539999 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:704.44, Y:8.86, Z:10.90 [[ 9.98342118e-01 -5.54411790e-02 -1.54690102e-02 7.04443516e+02] [ 5.54441198e-02 9.98461763e-01 -2.39012355e-04 8.85860876e+00] [ 1.54584664e-02 -6.19049556e-04 9.99880319e-01 1.08996440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.6392541539999 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:704.47, Y:8.86, Z:10.90 [[ 9.98436549e-01 -5.37136169e-02 -1.54694898e-02 7.04474451e+02] [ 5.37169178e-02 9.98556184e-01 -2.02351572e-04 8.85949149e+00] [ 1.54580237e-02 -6.28938106e-04 9.99880320e-01 1.08999087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.6692541539999 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:704.51, Y:8.86, Z:10.90 [[ 9.98698709e-01 -4.85961262e-02 -1.54695008e-02 7.04508418e+02] [ 4.85988271e-02 9.98818359e-01 -2.01506435e-04 8.86080741e+00] [ 1.54610138e-02 -5.50555378e-04 9.99880320e-01 1.09016019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.699254154 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:704.54, Y:8.86, Z:10.90 [[ 9.98865334e-01 -4.50410874e-02 -1.54707737e-02 7.04541480e+02] [ 4.50448806e-02 9.98984959e-01 -1.03359709e-04 8.86039783e+00] [ 1.54597256e-02 -5.93636722e-04 9.99880315e-01 1.09024504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.7292541539999 meters Centerline goodness : 0.999042 Centerline is valid? [True, True] Translation: X:704.57, Y:8.86, Z:10.90 [[ 9.98832384e-01 -4.57655783e-02 -1.54718992e-02 7.04568196e+02] [ 4.57708075e-02 9.98951967e-01 -1.61373422e-05 8.86435280e+00] [ 1.54564227e-02 -6.92042821e-04 9.99880303e-01 1.08999291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.7592541539999 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:704.60, Y:8.87, Z:10.90 [[ 9.98893687e-01 -4.44083316e-02 -1.54693900e-02 7.04600002e+02] [ 4.44104726e-02 9.99013347e-01 -2.05261959e-04 8.86542495e+00] [ 1.54632424e-02 -4.81968047e-04 9.99880321e-01 1.09005331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.7892541539999 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:704.63, Y:8.87, Z:10.90 [[ 9.98931742e-01 -4.35439227e-02 -1.54694051e-02 7.04631178e+02] [ 4.35459779e-02 9.99051403e-01 -2.04117819e-04 8.86627881e+00] [ 1.54636190e-02 -4.69730604e-04 9.99880321e-01 1.08998919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.8192541539999 meters Centerline goodness : 0.998954 Centerline is valid? [True, True] Translation: X:704.66, Y:8.87, Z:10.90 [[ 9.98922192e-01 -4.37624512e-02 -1.54694163e-02 7.04663688e+02] [ 4.37645457e-02 9.99041853e-01 -2.03265573e-04 8.86717124e+00] [ 1.54634897e-02 -4.73965486e-04 9.99880321e-01 1.09004258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.8492541539999 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:704.70, Y:8.87, Z:10.90 [[ 9.98893494e-01 -4.44126594e-02 -1.54694313e-02 7.04695769e+02] [ 4.44148496e-02 9.99013153e-01 -2.02115932e-04 8.86763385e+00] [ 1.54631419e-02 -4.85180177e-04 9.99880321e-01 1.09005930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.8792541539999 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:704.73, Y:8.87, Z:10.90 [[ 9.98852670e-01 -4.53215157e-02 -1.54694463e-02 7.04726815e+02] [ 4.53238326e-02 9.98972327e-01 -2.00964025e-04 8.86800208e+00] [ 1.54626568e-02 -5.00401142e-04 9.99880321e-01 1.09002345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.9092541539999 meters Centerline goodness : 0.998954 Centerline is valid? [True, True] Translation: X:704.76, Y:8.87, Z:10.90 [[ 9.98765883e-01 -4.71954043e-02 -1.54694574e-02 7.04758903e+02] [ 4.71979590e-02 9.98885535e-01 -2.00105756e-04 8.86891715e+00] [ 1.54616613e-02 -5.30268013e-04 9.99880321e-01 1.08999723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.9392541539999 meters Centerline goodness : 0.999037 Centerline is valid? [True, True] Translation: X:704.79, Y:8.87, Z:10.90 [[ 9.98743789e-01 -4.76606796e-02 -1.54694721e-02 7.04790622e+02] [ 4.76633077e-02 9.98863439e-01 -1.98964213e-04 8.86979935e+00] [ 1.54613729e-02 -5.38611935e-04 9.99880321e-01 1.09005129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.9692541539999 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:704.82, Y:8.87, Z:10.90 [[ 9.98761049e-01 -4.72975840e-02 -1.54694867e-02 7.04824140e+02] [ 4.73001862e-02 9.98880700e-01 -1.97819939e-04 8.86980121e+00] [ 1.54615281e-02 -5.34134752e-04 9.99880321e-01 1.09015671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.9992541539999 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:704.85, Y:8.87, Z:10.90 [[ 9.98727132e-01 -4.80079446e-02 -1.54710264e-02 7.04851881e+02] [ 4.80125051e-02 9.98846732e-01 -7.67248790e-05 8.87275305e+00] [ 1.54568675e-02 -6.66175514e-04 9.99880314e-01 1.09015370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.0292541539999 meters Centerline goodness : 0.998996 Centerline is valid? [True, True] Translation: X:704.88, Y:8.87, Z:10.90 [[ 9.98749914e-01 -4.75321511e-02 -1.54694575e-02 7.04883667e+02] [ 4.75347662e-02 9.98869564e-01 -1.98809186e-04 8.87386193e+00] [ 1.54614201e-02 -5.36776387e-04 9.99880321e-01 1.09027739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.0592541539999 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:704.92, Y:8.87, Z:10.90 [[ 9.98779316e-01 -4.69102740e-02 -1.54694720e-02 7.04916153e+02] [ 4.69128322e-02 9.98898967e-01 -1.97669869e-04 8.87497286e+00] [ 1.54617124e-02 -5.28288169e-04 9.99880321e-01 1.09039067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.089254154 meters Centerline goodness : 0.999247 Centerline is valid? [True, True] Translation: X:704.95, Y:8.88, Z:10.91 [[ 9.98853028e-01 -4.53136103e-02 -1.54694864e-02 7.04947083e+02] [ 4.53159947e-02 9.98972683e-01 -1.96536799e-04 8.87784472e+00] [ 1.54625002e-02 -5.04703789e-04 9.99880321e-01 1.09060176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.1192541539999 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:704.98, Y:8.88, Z:10.91 [[ 9.98914832e-01 -4.39301028e-02 -1.54694971e-02 7.04979028e+02] [ 4.39323346e-02 9.99034490e-01 -1.95692836e-04 8.87940650e+00] [ 1.54631580e-02 -4.84130647e-04 9.99880321e-01 1.09071491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.1492541539999 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:705.01, Y:8.88, Z:10.91 [[ 9.98986457e-01 -4.22700051e-02 -1.54695111e-02 7.05011332e+02] [ 4.22720552e-02 9.99106118e-01 -1.94577406e-04 8.88103324e+00] [ 1.54639080e-02 -4.59547836e-04 9.99880321e-01 1.09085115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.1792541539999 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:705.04, Y:8.88, Z:10.91 [[ 9.99104309e-01 -3.93862196e-02 -1.54695253e-02 7.05042730e+02] [ 3.93879417e-02 9.99223975e-01 -1.93449193e-04 8.88420202e+00] [ 1.54651398e-02 -4.16036837e-04 9.99880321e-01 1.09097033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.209254154 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:705.07, Y:8.89, Z:10.91 [[ 9.99147795e-01 -3.82671829e-02 -1.54695357e-02 7.05074192e+02] [ 3.82687841e-02 9.99267463e-01 -1.92608825e-04 8.88569023e+00] [ 1.54655743e-02 -3.99555639e-04 9.99880321e-01 1.09102406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.2392541539999 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:705.11, Y:8.89, Z:10.91 [[ 9.99165285e-01 -3.78077451e-02 -1.54695425e-02 7.05105649e+02] [ 3.78092997e-02 9.99284954e-01 -1.92064031e-04 8.88682777e+00] [ 1.54657426e-02 -3.92988855e-04 9.99880321e-01 1.09107850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.2692541539999 meters Centerline goodness : 0.998997 Centerline is valid? [True, True] Translation: X:705.14, Y:8.89, Z:10.91 [[ 9.99169994e-01 -3.76831047e-02 -1.54695493e-02 7.05136072e+02] [ 3.76846528e-02 9.99289663e-01 -1.91515777e-04 8.88772811e+00] [ 1.54657776e-02 -3.91607775e-04 9.99880321e-01 1.09107028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.2992541539999 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:705.17, Y:8.89, Z:10.91 [[ 9.99104813e-01 -3.93734079e-02 -1.54695603e-02 7.05167137e+02] [ 3.93751724e-02 9.99224479e-01 -1.90617515e-04 8.88871289e+00] [ 1.54650686e-02 -4.18669728e-04 9.99880321e-01 1.09103726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.329254154 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:705.20, Y:8.89, Z:10.91 [[ 9.99053102e-01 -4.06643718e-02 -1.54695672e-02 7.05198973e+02] [ 4.06662996e-02 9.99172766e-01 -1.90057066e-04 8.88894107e+00] [ 1.54644988e-02 -4.39212954e-04 9.99880321e-01 1.09098136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.3592541539999 meters Centerline goodness : 0.999037 Centerline is valid? [True, True] Translation: X:705.23, Y:8.89, Z:10.91 [[ 9.98988705e-01 -4.22168061e-02 -1.54695741e-02 7.05230839e+02] [ 4.22189285e-02 9.99108366e-01 -1.89495840e-04 8.88910788e+00] [ 1.54637808e-02 -4.63804639e-04 9.99880321e-01 1.09092396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.3892541539999 meters Centerline goodness : 0.999035 Centerline is valid? [True, True] Translation: X:705.26, Y:8.89, Z:10.91 [[ 9.98853601e-01 -4.53009541e-02 -1.54695877e-02 7.05263423e+02] [ 4.53034632e-02 9.98973253e-01 -1.88375302e-04 8.88991298e+00] [ 1.54622380e-02 -5.12666551e-04 9.99880321e-01 1.09087293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.4192541539999 meters Centerline goodness : 0.999098 Centerline is valid? [True, True] Translation: X:705.30, Y:8.89, Z:10.91 [[ 9.98805177e-01 -4.63563374e-02 -1.54696013e-02 7.05295051e+02] [ 4.63589904e-02 9.98924826e-01 -1.87252256e-04 8.89023588e+00] [ 1.54616492e-02 -5.30126577e-04 9.99880321e-01 1.09086957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.449254154 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:705.33, Y:8.89, Z:10.91 [[ 9.98775677e-01 -4.69876412e-02 -1.54696238e-02 7.05327364e+02] [ 4.69903988e-02 9.98895324e-01 -1.85377868e-04 8.89066382e+00] [ 1.54612453e-02 -5.41772887e-04 9.99880321e-01 1.09089772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.4792541539999 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:705.36, Y:8.89, Z:10.91 [[ 9.98767579e-01 -4.71594512e-02 -1.54696371e-02 7.05359303e+02] [ 4.71622466e-02 9.98887225e-01 -1.84265023e-04 8.89127502e+00] [ 1.54611127e-02 -5.45544907e-04 9.99880321e-01 1.09096974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.5092541539999 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:705.39, Y:8.89, Z:10.91 [[ 9.98826446e-01 -4.58957545e-02 -1.54696505e-02 7.05390759e+02] [ 4.58984160e-02 9.98946096e-01 -1.83130842e-04 8.89252505e+00] [ 1.54617519e-02 -5.27116526e-04 9.99880321e-01 1.09101628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.5392541539999 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:705.42, Y:8.89, Z:10.91 [[ 9.98884204e-01 -4.46210307e-02 -1.54696722e-02 7.05422533e+02] [ 4.46235682e-02 9.99003856e-01 -1.81276552e-04 8.89308233e+00] [ 1.54623509e-02 -5.09237690e-04 9.99880321e-01 1.09110366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.5692541539999 meters Centerline goodness : 0.999033 Centerline is valid? [True, True] Translation: X:705.45, Y:8.89, Z:10.91 [[ 9.98966954e-01 -4.27283691e-02 -1.54696849e-02 7.05454899e+02] [ 4.27306968e-02 9.99086610e-01 -1.80188204e-04 8.89350626e+00] [ 1.54632542e-02 -4.81028352e-04 9.99880321e-01 1.09122369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.5992541539999 meters Centerline goodness : 0.999033 Centerline is valid? [True, True] Translation: X:705.49, Y:8.89, Z:10.91 [[ 9.98969954e-01 -4.26581740e-02 -1.54696975e-02 7.05487583e+02] [ 4.26605101e-02 9.99089610e-01 -1.79099856e-04 8.89382082e+00] [ 1.54632541e-02 -4.81029811e-04 9.99880321e-01 1.09127423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.6292541539999 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:705.52, Y:8.90, Z:10.91 [[ 9.99140369e-01 -3.84605017e-02 -1.54697100e-02 7.05518314e+02] [ 3.84623518e-02 9.99260034e-01 -1.78012967e-04 8.89538582e+00] [ 1.54651094e-02 -4.17141488e-04 9.99880321e-01 1.09142921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.6592541539999 meters Centerline goodness : 0.999329 Centerline is valid? [True, True] Translation: X:705.55, Y:8.90, Z:10.92 [[ 9.99224246e-01 -3.62159427e-02 -1.54697193e-02 7.05549717e+02] [ 3.62175366e-02 9.99343914e-01 -1.77203175e-04 8.89642280e+00] [ 1.54659874e-02 -3.83209415e-04 9.99880321e-01 1.09154351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.6892541539999 meters Centerline goodness : 0.999097 Centerline is valid? [True, True] Translation: X:705.58, Y:8.90, Z:10.92 [[ 9.99293814e-01 -3.42426900e-02 -1.54697254e-02 7.05579842e+02] [ 3.42440559e-02 9.99413485e-01 -1.76664122e-04 8.89743121e+00] [ 1.54667017e-02 -3.53206778e-04 9.99880321e-01 1.09160245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.7192541539999 meters Centerline goodness : 0.998868 Centerline is valid? [True, True] Translation: X:705.61, Y:8.90, Z:10.92 [[ 9.99425959e-01 -3.01403255e-02 -1.54697285e-02 7.05610574e+02] [ 3.01412043e-02 9.99545635e-01 -1.76396552e-04 8.89823585e+00] [ 1.54680162e-02 -2.89980953e-04 9.99880321e-01 1.09173593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.7492541539999 meters Centerline goodness : 0.999077 Centerline is valid? [True, True] Translation: X:705.64, Y:8.90, Z:10.92 [[ 9.99471334e-01 -2.85961570e-02 -1.54697285e-02 7.05640560e+02] [ 2.85968509e-02 9.99591011e-01 -1.76396552e-04 8.89855963e+00] [ 1.54684458e-02 -2.66082221e-04 9.99880321e-01 1.09178962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.7792541539999 meters Centerline goodness : 0.999077 Centerline is valid? [True, True] Translation: X:705.67, Y:8.90, Z:10.92 [[ 9.99521270e-01 -2.67940006e-02 -1.54697317e-02 7.05670233e+02] [ 2.67944829e-02 9.99640948e-01 -1.76117939e-04 8.89843755e+00] [ 1.54688961e-02 -2.38469835e-04 9.99880321e-01 1.09180703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.8092541539999 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:705.70, Y:8.90, Z:10.92 [[ 9.99577803e-01 -2.45947823e-02 -1.54697324e-02 7.05700181e+02] [ 2.45950024e-02 9.99697482e-01 -1.76055578e-04 8.89821846e+00] [ 1.54693825e-02 -2.04496857e-04 9.99880321e-01 1.09183870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.839254154 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:705.73, Y:8.90, Z:10.92 [[ 9.99653635e-01 -2.12907648e-02 -1.54697259e-02 7.05728405e+02] [ 2.12905805e-02 9.99773314e-01 -1.76618574e-04 8.89819341e+00] [ 1.54699795e-02 -1.52802047e-04 9.99880321e-01 1.09186904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.8692541539999 meters Centerline goodness : 0.999308 Centerline is valid? [True, True] Translation: X:705.76, Y:8.90, Z:10.92 [[ 9.99686835e-01 -1.96702557e-02 -1.54697163e-02 7.05757475e+02] [ 1.96698645e-02 9.99806514e-01 -1.77456425e-04 8.89776187e+00] [ 1.54702138e-02 -1.26886372e-04 9.99880321e-01 1.09192305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.8992541539999 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] Translation: X:705.79, Y:8.90, Z:10.92 [[ 9.99712595e-01 -1.83143972e-02 -1.54696718e-02 7.05785517e+02] [ 1.83137848e-02 9.99832272e-01 -1.81257494e-04 8.89722919e+00] [ 1.54703967e-02 -1.02102840e-04 9.99880321e-01 1.09194712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.9292541539999 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:705.81, Y:8.90, Z:10.92 [[ 9.99734019e-01 -1.71049956e-02 -1.54696559e-02 7.05813580e+02] [ 1.71042177e-02 9.99853696e-01 -1.82600382e-04 8.89567599e+00] [ 1.54705160e-02 -8.20445482e-05 9.99880321e-01 1.09200344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.959254154 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:705.84, Y:8.89, Z:10.92 [[ 9.99730987e-01 -1.72813502e-02 -1.54696018e-02 7.05841442e+02] [ 1.72805242e-02 9.99850663e-01 -1.87074903e-04 8.89455583e+00] [ 1.54705245e-02 -8.02982510e-05 9.99880321e-01 1.09202873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.9892541539999 meters Centerline goodness : 0.999037 Centerline is valid? [True, True] Translation: X:705.87, Y:8.89, Z:10.92 [[ 9.99720527e-01 -1.78762968e-02 -1.54695457e-02 7.05869273e+02] [ 1.78754719e-02 9.99840203e-01 -1.91605719e-04 8.89264624e+00] [ 1.54704989e-02 -8.49732592e-05 9.99880321e-01 1.09198331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.0192541539999 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:705.90, Y:8.89, Z:10.92 [[ 9.99687917e-01 -1.96153904e-02 -1.54694876e-02 7.05897707e+02] [ 1.96147028e-02 9.99807594e-01 -1.96183676e-04 8.89080176e+00] [ 1.54703594e-02 -1.07306952e-04 9.99880321e-01 1.09198209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.0492541539999 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:705.93, Y:8.89, Z:10.92 [[ 9.99549931e-01 -2.57027496e-02 -1.54694284e-02 7.05925186e+02] [ 2.57027203e-02 9.99669610e-01 -2.00747538e-04 8.88738135e+00] [ 1.54694772e-02 -1.96949204e-04 9.99880321e-01 1.09198001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.079254154 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:705.96, Y:8.89, Z:10.92 [[ 9.99442949e-01 -2.95717457e-02 -1.54694100e-02 7.05955264e+02] [ 2.95721578e-02 9.99562628e-01 -2.02158342e-04 8.88554543e+00] [ 1.54686223e-02 -2.55418103e-04 9.99880321e-01 1.09197363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.1092541539999 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:705.98, Y:8.88, Z:10.92 [[ 9.99292168e-01 -3.42908287e-02 -1.54694026e-02 7.05984700e+02] [ 3.42917971e-02 9.99411843e-01 -2.02721510e-04 8.88357315e+00] [ 1.54672557e-02 -3.27895599e-04 9.99880321e-01 1.09193297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.1392541539999 meters Centerline goodness : 0.999041 Centerline is valid? [True, True] Translation: X:706.02, Y:8.88, Z:10.92 [[ 9.98889166e-01 -4.45099033e-02 -1.54693952e-02 7.06015527e+02] [ 4.45120871e-02 9.99008825e-01 -2.03281620e-04 8.87885723e+00] [ 1.54631104e-02 -4.85519261e-04 9.99880321e-01 1.09190539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.1692541539999 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:706.05, Y:8.88, Z:10.92 [[ 9.98652065e-01 -4.95454332e-02 -1.54693952e-02 7.06047353e+02] [ 4.95482202e-02 9.98771712e-01 -2.03281620e-04 8.87662512e+00] [ 1.54604660e-02 -5.63473393e-04 9.99880321e-01 1.09194492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.199254154 meters Centerline goodness : 0.999042 Centerline is valid? [True, True] Translation: X:706.08, Y:8.87, Z:10.92 [[ 9.98411937e-01 -5.41691996e-02 -1.54694099e-02 7.06079982e+02] [ 5.41725580e-02 9.98531568e-01 -2.02162642e-04 8.87455022e+00] [ 1.54576451e-02 -6.36175908e-04 9.99880321e-01 1.09198396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.2292541539999 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:706.11, Y:8.87, Z:10.92 [[ 9.97902511e-01 -6.28591689e-02 -1.54694244e-02 7.06111088e+02] [ 6.28635859e-02 9.98022109e-01 -2.01046275e-04 8.87119127e+00] [ 1.54514651e-02 -7.71838905e-04 9.99880321e-01 1.09215473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.2592541539999 meters Centerline goodness : 0.999229 Centerline is valid? [True, True] Translation: X:706.14, Y:8.87, Z:10.92 [[ 9.97650493e-01 -6.67397211e-02 -1.54694352e-02 7.06142992e+02] [ 6.67446161e-02 9.97770072e-01 -2.00213529e-04 8.87028543e+00] [ 1.54483016e-02 -8.32758384e-04 9.99880321e-01 1.09232995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.2892541539999 meters Centerline goodness : 0.998979 Centerline is valid? [True, True] Translation: X:706.19, Y:8.86, Z:10.92 [[ 9.98041715e-01 -6.06088439e-02 -1.54694496e-02 7.06187066e+02] [ 6.06130215e-02 9.98161321e-01 -1.99087247e-04 8.85795408e+00] [ 1.54530727e-02 -7.38952707e-04 9.99880321e-01 1.09222581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.3192541539999 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:706.20, Y:8.87, Z:10.92 [[ 9.97197119e-01 -7.32007796e-02 -1.54774487e-02 7.06201911e+02] [ 7.32167163e-02 9.97315946e-01 4.64794161e-04 8.86893900e+00] [ 1.54018831e-02 -1.59669937e-03 9.99880109e-01 1.09246110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.3492541539999 meters Centerline goodness : 0.999084 Centerline is valid? [True, True] Translation: X:706.23, Y:8.87, Z:10.93 [[ 9.96939819e-01 -7.66272037e-02 -1.54683305e-02 7.06233013e+02] [ 7.66331423e-02 9.97059335e-01 -2.09311865e-04 8.86851725e+00] [ 1.54388823e-02 -9.76715441e-04 9.99880336e-01 1.09250428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.3792541539999 meters Centerline goodness : 0.998936 Centerline is valid? [True, True] Translation: X:706.27, Y:8.86, Z:10.92 [[ 9.97329500e-01 -7.13764520e-02 -1.54683421e-02 7.06272654e+02] [ 7.13817745e-02 9.97449046e-01 -2.08453658e-04 8.86052674e+00] [ 1.54437617e-02 -8.96260723e-04 9.99880336e-01 1.09238954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.4092541539999 meters Centerline goodness : 0.999229 Centerline is valid? [True, True] Translation: X:706.29, Y:8.87, Z:10.93 [[ 9.96715888e-01 -7.94856932e-02 -1.54746133e-02 7.06291474e+02] [ 7.94994376e-02 9.96834873e-01 2.74100012e-04 8.86946308e+00] [ 1.54038472e-02 -1.50342289e-03 9.99880223e-01 1.09250972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.4392541539999 meters Centerline goodness : 0.998978 Centerline is valid? [True, True] Translation: X:706.33, Y:8.87, Z:10.92 [[ 9.96864218e-01 -7.76046335e-02 -1.54677517e-02 7.06329638e+02] [ 7.76105790e-02 9.96983727e-01 -2.16425317e-04 8.86612816e+00] [ 1.54378924e-02 -9.84714512e-04 9.99880344e-01 1.09243832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.4692541539999 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:706.36, Y:8.87, Z:10.93 [[ 9.96864010e-01 -7.76064322e-02 -1.54721217e-02 7.06358094e+02] [ 7.76173027e-02 9.96983221e-01 1.02433429e-04 8.86785415e+00] [ 1.54174963e-02 -1.30301655e-03 9.99880294e-01 1.09250536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.4992541539999 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:706.39, Y:8.87, Z:10.93 [[ 9.96829478e-01 -7.80490738e-02 -1.54704189e-02 7.06389604e+02] [ 7.80580637e-02 9.96948814e-01 -2.27963767e-05 8.86946586e+00] [ 1.54249950e-02 -1.18486684e-03 9.99880326e-01 1.09251294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.5292541539999 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:706.42, Y:8.87, Z:10.93 [[ 9.96635290e-01 -8.04909112e-02 -1.54697123e-02 7.06424445e+02] [ 8.04994423e-02 9.96754651e-01 -7.14350297e-05 8.87087420e+00] [ 1.54252576e-02 -1.17410854e-03 9.99880334e-01 1.09257895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.5592541539999 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:706.46, Y:8.87, Z:10.92 [[ 9.96565454e-01 -8.13506642e-02 -1.54714591e-02 7.06455921e+02] [ 8.13611490e-02 9.96684685e-01 4.84298733e-05 8.87377768e+00] [ 1.54162266e-02 -1.30703923e-03 9.99880309e-01 1.09237547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.589254154 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:706.48, Y:8.88, Z:10.93 [[ 9.96321279e-01 -8.42885924e-02 -1.54707165e-02 7.06482301e+02] [ 8.42986541e-02 9.96440534e-01 -1.75442420e-06 8.87956875e+00] [ 1.54157969e-02 -1.30241261e-03 9.99880321e-01 1.09251253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.6192541539999 meters Centerline goodness : 0.998956 Centerline is valid? [True, True] Translation: X:706.52, Y:8.88, Z:10.92 [[ 9.96643923e-01 -8.03844309e-02 -1.54671919e-02 7.06519396e+02] [ 8.03904318e-02 9.96763424e-01 -2.34380113e-04 8.87771771e+00] [ 1.54359716e-02 -1.00982072e-03 9.99880348e-01 1.09235107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.6492541539999 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:706.55, Y:8.88, Z:10.93 [[ 9.96488833e-01 -8.22840508e-02 -1.54706463e-02 7.06545296e+02] [ 8.22938636e-02 9.96608108e-01 -2.32801023e-06 8.88448995e+00] [ 1.54183631e-02 -1.27081942e-03 9.99880322e-01 1.09250335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.6792541539999 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:706.58, Y:8.89, Z:10.92 [[ 9.96869178e-01 -7.75410320e-02 -1.54671045e-02 7.06576322e+02] [ 7.75466787e-02 9.96988695e-01 -2.35235341e-04 8.88900716e+00] [ 1.54387687e-02 -9.64923726e-04 9.99880350e-01 1.09228710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.709254154 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:706.61, Y:8.89, Z:10.92 [[ 9.97061494e-01 -7.50276286e-02 -1.54671324e-02 7.06608441e+02] [ 7.50330025e-02 9.97181024e-01 -2.33391661e-04 8.89255451e+00] [ 1.54410417e-02 -9.27839543e-04 9.99880350e-01 1.09236840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.7392541539999 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:706.64, Y:8.90, Z:10.92 [[ 9.97536459e-01 -6.84235308e-02 -1.54671486e-02 7.06639526e+02] [ 6.84281299e-02 9.97656021e-01 -2.32308865e-04 8.89936487e+00] [ 1.54467893e-02 -8.26651491e-04 9.99880350e-01 1.09240685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.7692541539999 meters Centerline goodness : 0.999142 Centerline is valid? [True, True] Translation: X:706.67, Y:8.90, Z:10.93 [[ 9.97782716e-01 -6.47334439e-02 -1.54671747e-02 7.06671990e+02] [ 6.47376276e-02 9.97902293e-01 -2.30562234e-04 8.90269707e+00] [ 1.54496541e-02 -7.71257181e-04 9.99880350e-01 1.09256885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.7992541539999 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:706.70, Y:8.91, Z:10.93 [[ 9.98008931e-01 -6.11468628e-02 -1.54671916e-02 7.06703647e+02] [ 6.11506345e-02 9.98128522e-01 -2.29419249e-04 8.90623412e+00] [ 1.54522734e-02 -7.16866121e-04 9.99880350e-01 1.09257615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.829254154 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:706.74, Y:8.91, Z:10.93 [[ 9.98222516e-01 -5.75549574e-02 -1.54672126e-02 7.06736172e+02] [ 5.75583206e-02 9.98342120e-01 -2.27995236e-04 8.91032092e+00] [ 1.54546921e-02 -6.62676803e-04 9.99880350e-01 1.09271128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.8592541539999 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:706.77, Y:8.92, Z:10.93 [[ 9.98585104e-01 -5.08778476e-02 -1.54672291e-02 7.06768131e+02] [ 5.08804283e-02 9.98704726e-01 -2.26870680e-04 8.91800886e+00] [ 1.54587375e-02 -5.60429559e-04 9.99880350e-01 1.09294121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.8892541539999 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:706.80, Y:8.92, Z:10.93 [[ 9.98738727e-01 -4.77673376e-02 -1.54672458e-02 7.06800555e+02] [ 4.77695635e-02 9.98858357e-01 -2.25726700e-04 8.92138250e+00] [ 1.54603701e-02 -5.13421582e-04 9.99880350e-01 1.09304607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.9192541539999 meters Centerline goodness : 0.999308 Centerline is valid? [True, True] Translation: X:706.83, Y:8.92, Z:10.93 [[ 9.98886416e-01 -4.45723183e-02 -1.54672625e-02 7.06832203e+02] [ 4.45741793e-02 9.99006052e-01 -2.24577721e-04 8.92451476e+00] [ 1.54618988e-02 -4.65112895e-04 9.99880350e-01 1.09312144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.949254154 meters Centerline goodness : 0.999370 Centerline is valid? [True, True] Translation: X:706.86, Y:8.93, Z:10.93 [[ 9.99011034e-01 -4.16859320e-02 -1.54672790e-02 7.06864787e+02] [ 4.16874650e-02 9.99130675e-01 -2.23429870e-04 8.92784993e+00] [ 1.54631468e-02 -4.21582748e-04 9.99880350e-01 1.09322589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.9792541539999 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:706.90, Y:8.93, Z:10.93 [[ 9.99222355e-01 -3.62691193e-02 -1.54672955e-02 7.06895572e+02] [ 3.62700213e-02 9.99342002e-01 -2.22286382e-04 8.93338049e+00] [ 1.54651802e-02 -3.38885615e-04 9.99880350e-01 1.09332285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.0092541539999 meters Centerline goodness : 0.998990 Centerline is valid? [True, True] Translation: X:706.94, Y:8.93, Z:10.93 [[ 9.99588333e-01 -2.41645993e-02 -1.54673077e-02 7.06936749e+02] [ 2.41640654e-02 9.99707982e-01 -2.21435542e-04 8.92550956e+00] [ 1.54681418e-02 -1.52408649e-04 9.99880350e-01 1.09281131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.0392541539999 meters Centerline goodness : 0.999031 Centerline is valid? [True, True] Translation: X:706.97, Y:8.93, Z:10.93 [[ 9.99620414e-01 -2.27935872e-02 -1.54751706e-02 7.06965630e+02] [ 2.28019826e-02 9.99739934e-01 3.66261731e-04 8.92914298e+00] [ 1.54627976e-02 -7.18987274e-04 9.99880185e-01 1.09286344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.0692541539999 meters Centerline goodness : 0.999094 Centerline is valid? [True, True] Translation: X:706.98, Y:8.94, Z:10.94 [[ 9.99495513e-01 -2.77357406e-02 -1.54741241e-02 7.06984361e+02] [ 2.77434531e-02 9.99615036e-01 2.83928765e-04 8.94344116e+00] [ 1.54602921e-02 -7.13091163e-04 9.99880228e-01 1.09356223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.0992541539999 meters Centerline goodness : 0.999009 Centerline is valid? [True, True] Translation: X:707.01, Y:8.95, Z:10.94 [[ 9.99532388e-01 -2.63774716e-02 -1.54672140e-02 7.07014628e+02] [ 2.63773099e-02 9.99652035e-01 -2.14495256e-04 8.94544015e+00] [ 1.54674898e-02 -1.93588542e-04 9.99880352e-01 1.09367489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.1292541539999 meters Centerline goodness : 0.998922 Centerline is valid? [True, True] Translation: X:707.05, Y:8.95, Z:10.94 [[ 9.99558248e-01 -2.53786357e-02 -1.54672140e-02 7.07045112e+02] [ 2.53783544e-02 9.99677895e-01 -2.14495256e-04 8.94703961e+00] [ 1.54676755e-02 -1.78131937e-04 9.99880352e-01 1.09368039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.1592541539999 meters Centerline goodness : 0.998880 Centerline is valid? [True, True] Translation: X:707.08, Y:8.95, Z:10.94 [[ 9.99572840e-01 -2.47972157e-02 -1.54672179e-02 7.07075211e+02] [ 2.47968692e-02 9.99692487e-01 -2.14211369e-04 8.94835119e+00] [ 1.54677734e-02 -1.69418713e-04 9.99880352e-01 1.09373853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.1892541539999 meters Centerline goodness : 0.998922 Centerline is valid? [True, True] Translation: X:707.11, Y:8.95, Z:10.94 [[ 9.99562533e-01 -2.52092703e-02 -1.54672179e-02 7.07105264e+02] [ 2.52089731e-02 9.99682180e-01 -2.14211369e-04 8.94952189e+00] [ 1.54677023e-02 -1.75795022e-04 9.99880352e-01 1.09378110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.2192541539999 meters Centerline goodness : 0.998922 Centerline is valid? [True, True] Translation: X:707.14, Y:8.95, Z:10.94 [[ 9.99530478e-01 -2.64497262e-02 -1.54672179e-02 7.07136186e+02] [ 2.64495775e-02 9.99650126e-01 -2.14211369e-04 8.94970244e+00] [ 1.54674722e-02 -1.94990588e-04 9.99880352e-01 1.09383914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.2492541539999 meters Centerline goodness : 0.998986 Centerline is valid? [True, True] Translation: X:707.17, Y:8.95, Z:10.94 [[ 9.99492680e-01 -2.78414904e-02 -1.54672179e-02 7.07166039e+02] [ 2.78415083e-02 9.99612327e-01 -2.14211369e-04 8.94949002e+00] [ 1.54671857e-02 -2.16527982e-04 9.99880352e-01 1.09386114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.2792541539999 meters Centerline goodness : 0.999028 Centerline is valid? [True, True] Translation: X:707.20, Y:8.95, Z:10.94 [[ 9.99378830e-01 -3.16657380e-02 -1.54672218e-02 7.07196147e+02] [ 3.16662181e-02 9.99498477e-01 -2.13930871e-04 8.94849398e+00] [ 1.54662389e-02 -2.75990436e-04 9.99880352e-01 1.09383981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.3092541539999 meters Centerline goodness : 0.998945 Centerline is valid? [True, True] Translation: X:707.23, Y:8.94, Z:10.94 [[ 9.99453572e-01 -2.92116674e-02 -1.54672345e-02 7.07232995e+02] [ 2.92118679e-02 9.99573220e-01 -2.13010881e-04 8.94240405e+00] [ 1.54668558e-02 -2.38932326e-04 9.99880352e-01 1.09363354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.339254154 meters Centerline goodness : 0.998737 Centerline is valid? [True, True] Translation: X:707.26, Y:8.94, Z:10.94 [[ 9.99406832e-01 -3.07670456e-02 -1.54716865e-02 7.07263485e+02] [ 3.07724496e-02 9.99526410e-01 1.11281654e-04 8.94036707e+00] [ 1.54609354e-02 -5.87317337e-04 9.99880300e-01 1.09354806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.3692541539999 meters Centerline goodness : 0.999010 Centerline is valid? [True, True] Translation: X:707.28, Y:8.95, Z:10.94 [[ 9.99009089e-01 -4.17306186e-02 -1.54724144e-02 7.07284192e+02] [ 4.17381390e-02 9.99128571e-01 1.63312546e-04 8.94507649e+00] [ 1.54521161e-02 -8.08940500e-04 9.99880282e-01 1.09404924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.3992541539999 meters Centerline goodness : 0.998906 Centerline is valid? [True, True] Translation: X:707.32, Y:8.94, Z:10.94 [[ 9.99020756e-01 -4.14525380e-02 -1.54666116e-02 7.07316114e+02] [ 4.14539584e-02 9.99140389e-01 -2.28884395e-04 8.94268433e+00] [ 1.54628042e-02 -4.12492013e-04 9.99880359e-01 1.09437833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.4292541539999 meters Centerline goodness : 0.998739 Centerline is valid? [True, True] Translation: X:707.35, Y:8.94, Z:10.94 [[ 9.98836412e-01 -4.56793662e-02 -1.54666293e-02 7.07347790e+02] [ 4.56813114e-02 9.98956038e-01 -2.27679727e-04 8.94196524e+00] [ 1.54608830e-02 -4.79121110e-04 9.99880359e-01 1.09412872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.459254154 meters Centerline goodness : 0.998846 Centerline is valid? [True, True] Translation: X:707.38, Y:8.94, Z:10.94 [[ 9.98679181e-01 -4.89967002e-02 -1.54666601e-02 7.07378794e+02] [ 4.89990754e-02 9.98798798e-01 -2.25568605e-04 8.94226263e+00] [ 1.54591337e-02 -5.32581377e-04 9.99880359e-01 1.09425494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.4892541539999 meters Centerline goodness : 0.998846 Centerline is valid? [True, True] Translation: X:707.41, Y:8.94, Z:10.94 [[ 9.98682598e-01 -4.89269893e-02 -1.54666723e-02 7.07411476e+02] [ 4.89293692e-02 9.98802216e-01 -2.24729459e-04 8.94267302e+00] [ 1.54591419e-02 -5.32341120e-04 9.99880359e-01 1.09430548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.5192541539999 meters Centerline goodness : 0.999098 Centerline is valid? [True, True] Translation: X:707.44, Y:8.94, Z:10.94 [[ 9.98459361e-01 -5.32887018e-02 -1.54666879e-02 7.07444191e+02] [ 5.32916208e-02 9.98578967e-01 -2.23649910e-04 8.94000515e+00] [ 1.54566273e-02 -6.00939522e-04 9.99880359e-01 1.09446961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.5492541539999 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:707.48, Y:8.94, Z:10.95 [[ 9.98350763e-01 -5.52859461e-02 -1.54667078e-02 7.07476435e+02] [ 5.52891257e-02 9.98470362e-01 -2.22266754e-04 8.93880212e+00] [ 1.54553376e-02 -6.33240569e-04 9.99880359e-01 1.09451458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.579254154 meters Centerline goodness : 0.999327 Centerline is valid? [True, True] Translation: X:707.51, Y:8.94, Z:10.94 [[ 9.98293975e-01 -5.63020351e-02 -1.54667237e-02 7.07508326e+02] [ 5.63053537e-02 9.98413571e-01 -2.21155767e-04 8.93672032e+00] [ 1.54546384e-02 -6.50080879e-04 9.99880359e-01 1.09448295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.6092541539999 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:707.54, Y:8.94, Z:10.95 [[ 9.98212329e-01 -5.77315079e-02 -1.54667394e-02 7.07539183e+02] [ 5.77350148e-02 9.98331919e-01 -2.20053268e-04 8.93550073e+00] [ 1.54536436e-02 -6.73312542e-04 9.99880359e-01 1.09468826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.6392541539999 meters Centerline goodness : 0.999391 Centerline is valid? [True, True] Translation: X:707.57, Y:8.93, Z:10.95 [[ 9.98262800e-01 -5.68522471e-02 -1.54662367e-02 7.07571272e+02] [ 5.68550992e-02 9.98382408e-01 -2.55577970e-04 8.93284913e+00] [ 1.54557488e-02 -6.24200441e-04 9.99880358e-01 1.09463772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.6692541539999 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:707.60, Y:8.93, Z:10.95 [[ 9.98329943e-01 -5.56606169e-02 -1.54667729e-02 7.07602687e+02] [ 5.56639162e-02 9.98449539e-01 -2.17435032e-04 8.93247994e+00] [ 1.54548948e-02 -6.43869248e-04 9.99880359e-01 1.09472651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.699254154 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:707.63, Y:8.93, Z:10.95 [[ 9.98430474e-01 -5.38272037e-02 -1.54667846e-02 7.07633965e+02] [ 5.38302963e-02 9.98550075e-01 -2.16598638e-04 8.93228852e+00] [ 1.54560178e-02 -6.16322918e-04 9.99880359e-01 1.09470200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.7292541539999 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:707.67, Y:8.93, Z:10.95 [[ 9.98855661e-01 -4.52564581e-02 -1.54668092e-02 7.07669439e+02] [ 4.52585515e-02 9.98975284e-01 -2.14830388e-04 8.92761747e+00] [ 1.54606826e-02 -4.85420832e-04 9.99880359e-01 1.09460035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.7592541539999 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:707.70, Y:8.92, Z:10.94 [[ 9.99207688e-01 -3.66700828e-02 -1.54693448e-02 7.07703194e+02] [ 3.66740351e-02 9.99327281e-01 -2.82029935e-05 8.92340524e+00] [ 1.54599725e-02 -5.39142646e-04 9.99880342e-01 1.09425842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.7892541539999 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:707.73, Y:8.92, Z:10.94 [[ 9.99257186e-01 -3.52941811e-02 -1.54724677e-02 7.07733260e+02] [ 3.53018709e-02 9.99376670e-01 2.24075304e-04 8.92413604e+00] [ 1.54549147e-02 -7.70115913e-04 9.99880269e-01 1.09432551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.8192541539999 meters Centerline goodness : 0.999432 Centerline is valid? [True, True] Translation: X:707.76, Y:8.93, Z:10.95 [[ 9.99308237e-01 -3.38182426e-02 -1.54716841e-02 7.07756395e+02] [ 3.38247243e-02 9.99427768e-01 1.57375462e-04 8.92882934e+00] [ 1.54575086e-02 -6.80592046e-04 9.99880294e-01 1.09486290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.8492541539999 meters Centerline goodness : 0.999200 Centerline is valid? [True, True] Translation: X:707.79, Y:8.93, Z:10.95 [[ 9.99400799e-01 -3.09646306e-02 -1.54672187e-02 7.07787998e+02] [ 3.09652367e-02 9.99520442e-01 -2.00357399e-04 8.92867416e+00] [ 1.54660053e-02 -2.78708744e-04 9.99880355e-01 1.09500368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.8792541539999 meters Centerline goodness : 0.999495 Centerline is valid? [True, True] Translation: X:707.82, Y:8.93, Z:10.95 [[ 9.99477850e-01 -2.83688199e-02 -1.54673080e-02 7.07818956e+02] [ 2.83692258e-02 9.99597494e-01 -1.93213401e-04 8.92928147e+00] [ 1.54665635e-02 -2.45683037e-04 9.99880355e-01 1.09523533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.9092541539999 meters Centerline goodness : 0.999370 Centerline is valid? [True, True] Translation: X:707.85, Y:8.93, Z:10.95 [[ 9.99618194e-01 -2.28960191e-02 -1.54673149e-02 7.07848757e+02] [ 2.28957786e-02 9.99737839e-01 -1.92655170e-04 8.92749442e+00] [ 1.54676710e-02 -1.61554604e-04 9.99880355e-01 1.09518146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.9392541539999 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:707.88, Y:8.93, Z:10.95 [[ 9.99664564e-01 -2.07731253e-02 -1.54673115e-02 7.07877499e+02] [ 2.07726264e-02 9.99784207e-01 -1.92932003e-04 8.92696594e+00] [ 1.54679815e-02 -1.28429396e-04 9.99880355e-01 1.09523709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.9692541539999 meters Centerline goodness : 0.999201 Centerline is valid? [True, True] Translation: X:707.91, Y:8.93, Z:10.95 [[ 9.99702725e-01 -1.88474396e-02 -1.54672625e-02 7.07906141e+02] [ 1.88466507e-02 9.99822367e-01 -1.96778033e-04 8.92547122e+00] [ 1.54682238e-02 -9.47865594e-05 9.99880355e-01 1.09526955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.9992541539999 meters Centerline goodness : 0.999159 Centerline is valid? [True, True] Translation: X:707.93, Y:8.92, Z:10.95 [[ 9.99727249e-01 -1.74983672e-02 -1.54672108e-02 7.07933971e+02] [ 1.74973551e-02 9.99846889e-01 -2.00765614e-04 8.92439030e+00] [ 1.54683557e-02 -6.99244252e-05 9.99880355e-01 1.09537724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.0292541539999 meters Centerline goodness : 0.999348 Centerline is valid? [True, True] Translation: X:707.96, Y:8.92, Z:10.95 [[ 9.99771862e-01 -1.47306436e-02 -1.54671502e-02 7.07961107e+02] [ 1.47292297e-02 9.99891498e-01 -2.05327625e-04 8.92095370e+00] [ 1.54684966e-02 -2.25384269e-05 9.99880355e-01 1.09540616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.0592541539999 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:707.99, Y:8.92, Z:10.95 [[ 9.99788648e-01 -1.35435283e-02 -1.54671080e-02 7.07988001e+02] [ 1.35419239e-02 9.99908282e-01 -2.08463572e-04 8.91909510e+00] [ 1.54685127e-02 -1.03488508e-06 9.99880355e-01 1.09530362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.089254154 meters Centerline goodness : 0.999097 Centerline is valid? [True, True] Translation: X:708.02, Y:8.92, Z:10.95 [[ 9.99797382e-01 -1.28826814e-02 -1.54670815e-02 7.08015619e+02] [ 1.28809678e-02 9.99917015e-01 -2.10411339e-04 8.91754585e+00] [ 1.54685086e-02 1.11377271e-05 9.99880355e-01 1.09535745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.1192541539999 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:708.04, Y:8.91, Z:10.95 [[ 9.99812005e-01 -1.16929622e-02 -1.54670197e-02 7.08043233e+02] [ 1.16910375e-02 9.99931634e-01 -2.14854433e-04 8.91365227e+00] [ 1.54684746e-02 3.39885337e-05 9.99880355e-01 1.09548165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.1492541539999 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:708.07, Y:8.91, Z:10.96 [[ 9.99818897e-01 -1.10880672e-02 -1.54669916e-02 7.08071199e+02] [ 1.10860390e-02 9.99938524e-01 -2.16861790e-04 8.91146720e+00] [ 1.54684453e-02 4.53548436e-05 9.99880355e-01 1.09552264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.1792541539999 meters Centerline goodness : 0.999350 Centerline is valid? [True, True] Translation: X:708.10, Y:8.91, Z:10.96 [[ 9.99823341e-01 -1.06799100e-02 -1.54669291e-02 7.08098714e+02] [ 1.06777655e-02 9.99942967e-01 -2.21231838e-04 8.90903164e+00] [ 1.54684097e-02 5.60405144e-05 9.99880355e-01 1.09565326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.209254154 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:708.13, Y:8.91, Z:10.96 [[ 9.99828118e-01 -1.02230365e-02 -1.54668623e-02 7.08126617e+02] [ 1.02207665e-02 9.99947741e-01 -2.25806649e-04 8.90644435e+00] [ 1.54683624e-02 6.76846488e-05 9.99880355e-01 1.09573272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.2392541539999 meters Centerline goodness : 0.998996 Centerline is valid? [True, True] Translation: X:708.15, Y:8.90, Z:10.96 [[ 9.99849472e-01 -7.86201566e-03 -1.54667938e-02 7.08154510e+02] [ 7.85939211e-03 9.99969088e-01 -2.30402098e-04 8.90119156e+00] [ 1.54681272e-02 1.08807818e-04 9.99880355e-01 1.09562682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.2692541539999 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:708.18, Y:8.90, Z:10.96 [[ 9.99858702e-01 -6.58448061e-03 -1.54667725e-02 7.08182886e+02] [ 6.58168224e-03 9.99978314e-01 -2.31823173e-04 8.89942028e+00] [ 1.54679636e-02 1.29993034e-04 9.99880355e-01 1.09580377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.2992541539999 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:708.21, Y:8.90, Z:10.96 [[ 9.99864014e-01 -5.72142927e-03 -1.54667038e-02 7.08210960e+02] [ 5.71845807e-03 9.99983622e-01 -2.36321704e-04 8.89773400e+00] [ 1.54678026e-02 1.47843871e-04 9.99880355e-01 1.09589098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.329254154 meters Centerline goodness : 0.999392 Centerline is valid? [True, True] Translation: X:708.24, Y:8.90, Z:10.96 [[ 9.99869484e-01 -4.66881469e-03 -1.54666339e-02 7.08238537e+02] [ 4.66564817e-03 9.99989087e-01 -2.40808895e-04 8.89553078e+00] [ 1.54675894e-02 1.68615593e-04 9.99880355e-01 1.09597164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.3592541539999 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:708.27, Y:8.89, Z:10.96 [[ 9.99874132e-01 -3.53630515e-03 -1.54665614e-02 7.08266901e+02] [ 3.53293245e-03 9.99993729e-01 -2.45381250e-04 8.88964730e+00] [ 1.54673322e-02 1.90708048e-04 9.99880355e-01 1.09596411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.3892541539999 meters Centerline goodness : 0.999393 Centerline is valid? [True, True] Translation: X:708.30, Y:8.89, Z:10.96 [[ 9.99872849e-01 -3.88235137e-03 -1.54664877e-02 7.08295194e+02] [ 3.87894955e-03 9.99992446e-01 -2.49940713e-04 8.88652617e+00] [ 1.54673412e-02 1.89915207e-04 9.99880355e-01 1.09585143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.4192541539999 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:708.32, Y:8.88, Z:10.96 [[ 9.99863871e-01 -5.74719155e-03 -1.54664127e-02 7.08323043e+02] [ 5.74394231e-03 9.99983471e-01 -2.54497266e-04 8.88024546e+00] [ 1.54676197e-02 1.65624439e-04 9.99880355e-01 1.09603743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.449254154 meters Centerline goodness : 0.999518 Centerline is valid? [True, True] Translation: X:708.35, Y:8.88, Z:10.96 [[ 9.99851499e-01 -7.60069021e-03 -1.54663894e-02 7.08351227e+02] [ 7.59764088e-03 9.99971105e-01 -2.55907043e-04 8.87705509e+00] [ 1.54678876e-02 1.38360968e-04 9.99880355e-01 1.09608345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.4792541539999 meters Centerline goodness : 0.999247 Centerline is valid? [True, True] Translation: X:708.38, Y:8.87, Z:10.96 [[ 9.99831349e-01 -9.90281552e-03 -1.54663615e-02 7.08378093e+02] [ 9.90001568e-03 9.99950960e-01 -2.57582383e-04 8.87400896e+00] [ 1.54681538e-02 1.04421719e-04 9.99880355e-01 1.09608487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.5092541539999 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:708.41, Y:8.87, Z:10.96 [[ 9.99806910e-01 -1.21216828e-02 -1.54663290e-02 7.08406557e+02] [ 1.21191184e-02 9.99926527e-01 -2.59521238e-04 8.87060637e+00] [ 1.54683385e-02 7.20328556e-05 9.99880356e-01 1.09613147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.5392541539999 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:708.44, Y:8.86, Z:10.96 [[ 9.99749224e-01 -1.61952208e-02 -1.54662517e-02 7.08435150e+02] [ 1.61930737e-02 9.99868849e-01 -2.64049929e-04 8.86317935e+00] [ 1.54684996e-02 1.35375581e-05 9.99880356e-01 1.09612704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.5692541539999 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:708.46, Y:8.86, Z:10.96 [[ 9.99720068e-01 -1.79048110e-02 -1.54662321e-02 7.08461824e+02] [ 1.79028508e-02 9.99839696e-01 -2.65193198e-04 8.85964753e+00] [ 1.54685010e-02 -1.17706836e-05 9.99880356e-01 1.09605735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.5992541539999 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:708.49, Y:8.86, Z:10.96 [[ 9.99689591e-01 -1.95325037e-02 -1.54661977e-02 7.08489458e+02] [ 1.95307076e-02 9.99809222e-01 -2.67179920e-04 8.85586115e+00] [ 1.54684658e-02 -3.49688010e-05 9.99880356e-01 1.09589174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.6292541539999 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:708.52, Y:8.85, Z:10.96 [[ 9.99662341e-01 -2.08806763e-02 -1.54661187e-02 7.08517188e+02] [ 2.08789719e-02 9.99781974e-01 -2.71682242e-04 8.85305256e+00] [ 1.54684195e-02 -5.13261504e-05 9.99880356e-01 1.09588755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.6592541539999 meters Centerline goodness : 0.999645 Centerline is valid? [True, True] Translation: X:708.54, Y:8.85, Z:10.96 [[ 9.99619688e-01 -2.28315698e-02 -1.54660384e-02 7.08544046e+02] [ 2.28300293e-02 9.99739323e-01 -2.76178291e-04 8.84755276e+00] [ 1.54683123e-02 -7.70168519e-05 9.99880356e-01 1.09599555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.6892541539999 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:708.57, Y:8.85, Z:10.96 [[ 9.99592271e-01 -2.40019837e-02 -1.54660034e-02 7.08571875e+02] [ 2.40005531e-02 9.99711907e-01 -2.78125096e-04 8.84528058e+00] [ 1.54682233e-02 -9.31809391e-05 9.99880356e-01 1.09601823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.7192541539999 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:708.60, Y:8.84, Z:10.96 [[ 9.99569116e-01 -2.49477163e-02 -1.54659214e-02 7.08599378e+02] [ 2.49463295e-02 9.99688752e-01 -2.82610941e-04 8.84292407e+00] [ 1.54681581e-02 -1.03328802e-04 9.99880356e-01 1.09603992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.7492541539999 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:708.63, Y:8.84, Z:10.96 [[ 9.99517787e-01 -2.69258669e-02 -1.54658388e-02 7.08626934e+02] [ 2.69246481e-02 9.99637425e-01 -2.87059798e-04 8.83746088e+00] [ 1.54679606e-02 -1.29490893e-04 9.99880356e-01 1.09614438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.7792541539999 meters Centerline goodness : 0.999623 Centerline is valid? [True, True] Translation: X:708.65, Y:8.83, Z:10.96 [[ 9.99477948e-01 -2.83662017e-02 -1.54657804e-02 7.08653839e+02] [ 2.83651070e-02 9.99597587e-01 -2.90175496e-04 8.83486313e+00] [ 1.54677879e-02 -1.48664506e-04 9.99880356e-01 1.09611544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.8092541539999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:708.68, Y:8.83, Z:10.96 [[ 9.99420643e-01 -3.03181339e-02 -1.54657193e-02 7.08681848e+02] [ 3.03172231e-02 9.99540284e-01 -2.93393401e-04 8.83277655e+00] [ 1.54675046e-02 -1.75654242e-04 9.99880356e-01 1.09628424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.839254154 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:708.71, Y:8.83, Z:10.96 [[ 9.99326275e-01 -3.32837978e-02 -1.54656327e-02 7.08709995e+02] [ 3.32831725e-02 9.99445917e-01 -2.97891621e-04 8.82772625e+00] [ 1.54669784e-02 -2.17054396e-04 9.99880356e-01 1.09626331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.8692541539999 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:708.74, Y:8.83, Z:10.96 [[ 9.99268935e-01 -3.49629766e-02 -1.54656058e-02 7.08738420e+02] [ 3.49625308e-02 9.99388579e-01 -2.99282105e-04 8.82629848e+00] [ 1.54666136e-02 -2.41653407e-04 9.99880356e-01 1.09645065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.8992541539999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:708.77, Y:8.82, Z:10.97 [[ 9.99226751e-01 -3.61485590e-02 -1.54655190e-02 7.08766176e+02] [ 3.61481868e-02 9.99346395e-01 -3.03698321e-04 8.82476708e+00] [ 1.54663889e-02 -2.55586984e-04 9.99880356e-01 1.09650728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.9292541539999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:708.79, Y:8.82, Z:10.97 [[ 9.99182488e-01 -3.73520391e-02 -1.54654921e-02 7.08794304e+02] [ 3.73517899e-02 9.99302132e-01 -3.05065540e-04 8.82382972e+00] [ 1.54660940e-02 -2.72847665e-04 9.99880356e-01 1.09656038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.959254154 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:708.82, Y:8.82, Z:10.97 [[ 9.99123811e-01 -3.88899685e-02 -1.54654656e-02 7.08822415e+02] [ 3.88898828e-02 9.99243455e-01 -3.06399221e-04 8.82149933e+00] [ 1.54656812e-02 -2.95319389e-04 9.99880356e-01 1.09665182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.9892541539999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:708.85, Y:8.82, Z:10.97 [[ 9.99103113e-01 -3.94181698e-02 -1.54653773e-02 7.08850800e+02] [ 3.94180793e-02 9.99222757e-01 -3.10795815e-04 8.82055270e+00] [ 1.54656079e-02 -2.99098402e-04 9.99880356e-01 1.09671944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.0192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:708.88, Y:8.82, Z:10.97 [[ 9.99101492e-01 -3.94592754e-02 -1.54652878e-02 7.08878404e+02] [ 3.94591219e-02 9.99221136e-01 -3.15189104e-04 8.81944260e+00] [ 1.54656795e-02 -2.95340770e-04 9.99880356e-01 1.09675943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.0492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:708.91, Y:8.82, Z:10.97 [[ 9.99105158e-01 -3.93663398e-02 -1.54652600e-02 7.08906094e+02] [ 3.93661542e-02 9.99224802e-01 -3.16546008e-04 8.81776018e+00] [ 1.54657326e-02 -2.92545059e-04 9.99880356e-01 1.09686884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.079254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:708.93, Y:8.82, Z:10.97 [[ 9.99116033e-01 -3.90893854e-02 -1.54652182e-02 7.08934170e+02] [ 3.90891352e-02 9.99235677e-01 -3.18574102e-04 8.81751327e+00] [ 1.54658506e-02 -2.86229512e-04 9.99880356e-01 1.09696675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.1092541539999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:708.96, Y:8.82, Z:10.97 [[ 9.99141084e-01 -3.84437679e-02 -1.54651766e-02 7.08962015e+02] [ 3.84434093e-02 9.99260728e-01 -3.20580750e-04 8.81599721e+00] [ 1.54660680e-02 -2.74228717e-04 9.99880356e-01 1.09701753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.1392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:708.99, Y:8.82, Z:10.97 [[ 9.99140620e-01 -3.84558637e-02 -1.54650799e-02 7.08989459e+02] [ 3.84554355e-02 9.99260263e-01 -3.25178626e-04 8.81606530e+00] [ 1.54661449e-02 -2.69817209e-04 9.99880356e-01 1.09713102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.1692541539999 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:709.02, Y:8.82, Z:10.97 [[ 9.99130330e-01 -3.87223061e-02 -1.54650351e-02 7.09017326e+02] [ 3.87218770e-02 9.99249973e-01 -3.27295290e-04 8.81540919e+00] [ 1.54661096e-02 -2.71824536e-04 9.99880356e-01 1.09690907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.199254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:709.04, Y:8.82, Z:10.97 [[ 9.99103680e-01 -3.94039679e-02 -1.54649377e-02 7.09044854e+02] [ 3.94035501e-02 9.99223323e-01 -3.31837460e-04 8.81592009e+00] [ 1.54660021e-02 -2.77833419e-04 9.99880356e-01 1.09721387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.2292541539999 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:709.07, Y:8.81, Z:10.97 [[ 9.99044605e-01 -4.08743835e-02 -1.54648395e-02 7.09072540e+02] [ 4.08740720e-02 9.99164249e-01 -3.36353112e-04 8.81424335e+00] [ 1.54656629e-02 -2.96079199e-04 9.99880356e-01 1.09691317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.2592541539999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:709.10, Y:8.81, Z:10.97 [[ 9.98972362e-01 -4.26035075e-02 -1.54648090e-02 7.09100722e+02] [ 4.26033814e-02 9.99092007e-01 -3.37749278e-04 8.81397488e+00] [ 1.54651563e-02 -3.21450960e-04 9.99880356e-01 1.09707722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.2892541539999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:709.13, Y:8.81, Z:10.97 [[ 9.98876184e-01 -4.48019070e-02 -1.54647101e-02 7.09128422e+02] [ 4.48019751e-02 9.98995829e-01 -3.42216215e-04 8.81380700e+00] [ 1.54645128e-02 -3.51017930e-04 9.99880356e-01 1.09704138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.3192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:709.16, Y:8.81, Z:10.97 [[ 9.98810937e-01 -4.62337318e-02 -1.54646108e-02 7.09161557e+02] [ 4.62339028e-02 9.98930581e-01 -3.46648688e-04 8.80910298e+00] [ 1.54640995e-02 -3.68752811e-04 9.99880356e-01 1.09702428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.3492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:709.19, Y:8.81, Z:10.97 [[ 9.98455138e-01 -5.33670654e-02 -1.54691377e-02 7.09188066e+02] [ 5.33712379e-02 9.98574730e-01 -1.43266517e-04 8.81387930e+00] [ 1.54547357e-02 -6.82561838e-04 9.99880335e-01 1.09746538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.3792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:709.22, Y:8.81, Z:10.98 [[ 9.98260364e-01 -5.68955059e-02 -1.54644114e-02 7.09217081e+02] [ 5.68968820e-02 9.98379999e-01 -3.51322642e-04 8.81406944e+00] [ 1.54593477e-02 -5.29165322e-04 9.99880357e-01 1.09755272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.4092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:709.25, Y:8.81, Z:10.98 [[ 9.98258376e-01 -5.69303755e-02 -1.54643879e-02 7.09247228e+02] [ 5.69317399e-02 9.98378011e-01 -3.52352684e-04 8.81478898e+00] [ 1.54593644e-02 -5.28675492e-04 9.99880357e-01 1.09759939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.4392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:709.28, Y:8.81, Z:10.98 [[ 9.98030626e-01 -6.07924581e-02 -1.54643756e-02 7.09277353e+02] [ 6.07942770e-02 9.98150255e-01 -3.52892679e-04 8.81476660e+00] [ 1.54572237e-02 -5.87947831e-04 9.99880357e-01 1.09765615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.4692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:709.31, Y:8.81, Z:10.98 [[ 9.97473644e-01 -6.93338531e-02 -1.54643633e-02 7.09306202e+02] [ 6.93366876e-02 9.97593253e-01 -3.53430743e-04 8.81483304e+00] [ 1.54516492e-02 -7.19709877e-04 9.99880357e-01 1.09769435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.4992541539999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:709.34, Y:8.82, Z:10.98 [[ 9.97181622e-01 -7.34143478e-02 -1.54643404e-02 7.09336227e+02] [ 7.34176562e-02 9.97301219e-01 -3.54430292e-04 8.81512568e+00] [ 1.54486258e-02 -7.81924253e-04 9.99880357e-01 1.09751238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.5292541539999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:709.37, Y:8.82, Z:10.98 [[ 9.96904450e-01 -7.70867831e-02 -1.54643283e-02 7.09366150e+02] [ 7.70905239e-02 9.97024034e-01 -3.54957414e-04 8.81583004e+00] [ 1.54456695e-02 -8.38294544e-04 9.99880357e-01 1.09758964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.5592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:709.40, Y:8.82, Z:10.98 [[ 9.96695369e-01 -7.97445690e-02 -1.54643162e-02 7.09397054e+02] [ 7.97486204e-02 9.96814943e-01 -3.55485222e-04 8.81576457e+00] [ 1.54434095e-02 -8.78947405e-04 9.99880357e-01 1.09771693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.589254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:709.43, Y:8.82, Z:10.98 [[ 9.96187068e-01 -8.58614084e-02 -1.54643162e-02 7.09427683e+02] [ 8.58661938e-02 9.96306615e-01 -3.55485222e-04 8.81895376e+00] [ 1.54377229e-02 -9.73732187e-04 9.99880357e-01 1.09781077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.6192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:709.46, Y:8.82, Z:10.98 [[ 9.96025491e-01 -8.77158848e-02 -1.54643230e-02 7.09458867e+02] [ 8.77208973e-02 9.96145029e-01 -3.55189327e-04 8.82132291e+00] [ 1.54358642e-02 -1.00276666e-03 9.99880357e-01 1.09789694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.6492541539999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:709.49, Y:8.82, Z:10.98 [[ 9.95927194e-01 -8.88249848e-02 -1.54643361e-02 7.09489944e+02] [ 8.88301393e-02 9.96046726e-01 -3.54617809e-04 8.82351401e+00] [ 1.54347002e-02 -1.02052561e-03 9.99880357e-01 1.09795924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.6792541539999 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:709.52, Y:8.83, Z:10.98 [[ 9.95879226e-01 -8.93611845e-02 -1.54643491e-02 7.09519787e+02] [ 8.93664121e-02 9.95998755e-01 -3.54046232e-04 8.82705901e+00] [ 1.54341105e-02 -1.02940611e-03 9.99880357e-01 1.09780838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.709254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:709.55, Y:8.83, Z:10.98 [[ 9.95891392e-01 -8.92254923e-02 -1.54643556e-02 7.09549771e+02] [ 8.92307081e-02 9.96010921e-01 -3.53762520e-04 8.83035732e+00] [ 1.54342317e-02 -1.02758635e-03 9.99880357e-01 1.09806775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.7392541539999 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:709.58, Y:8.83, Z:10.98 [[ 9.95943889e-01 -8.86375942e-02 -1.54643621e-02 7.09580302e+02] [ 8.86427438e-02 9.96063421e-01 -3.53481445e-04 8.83290107e+00] [ 1.54348171e-02 -1.01875580e-03 9.99880357e-01 1.09808108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.7692541539999 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:709.61, Y:8.84, Z:10.98 [[ 9.96035263e-01 -8.76048464e-02 -1.54643684e-02 7.09611091e+02] [ 8.76098763e-02 9.96154800e-01 -3.53203955e-04 8.83525381e+00] [ 1.54358472e-02 -1.00302781e-03 9.99880357e-01 1.09799543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.7992541539999 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:709.64, Y:8.84, Z:10.98 [[ 9.96138425e-01 -8.64240599e-02 -1.54635365e-02 7.09640914e+02] [ 8.64283887e-02 9.96257990e-01 -3.89386095e-04 8.84085203e+00] [ 1.54393241e-02 -9.48606094e-04 9.99880357e-01 1.09790191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.829254154 meters Centerline goodness : 0.999750 Centerline is valid? [True, True] Translation: X:709.67, Y:8.84, Z:10.98 [[ 9.96213602e-01 -8.55529889e-02 -1.54643397e-02 7.09672301e+02] [ 8.55577551e-02 9.96333150e-01 -3.54333964e-04 8.84430156e+00] [ 1.54379486e-02 -9.70101873e-04 9.99880357e-01 1.09778281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.8592541539999 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:709.71, Y:8.84, Z:10.98 [[ 9.96630366e-01 -8.05528909e-02 -1.54643527e-02 7.09706840e+02] [ 8.05570659e-02 9.96749936e-01 -3.53767187e-04 8.84306607e+00] [ 1.54425895e-02 -8.93187754e-04 9.99880357e-01 1.09779835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.8892541539999 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:709.73, Y:8.85, Z:10.98 [[ 9.96241969e-01 -8.52208251e-02 -1.54709334e-02 7.09731642e+02] [ 8.52300617e-02 9.96361296e-01 -6.25217940e-05 8.85190771e+00] [ 1.54199674e-02 -1.25630177e-03 9.99880316e-01 1.09808335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.9192541539999 meters Centerline goodness : 0.999645 Centerline is valid? [True, True] Translation: X:709.76, Y:8.86, Z:10.98 [[ 9.96354809e-01 -8.38923306e-02 -1.54652008e-02 7.09761311e+02] [ 8.38975280e-02 9.96474338e-01 -3.13552312e-04 8.85839654e+00] [ 1.54369804e-02 -9.85082763e-04 9.99880357e-01 1.09797329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.949254154 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:709.80, Y:8.86, Z:10.98 [[ 9.96743982e-01 -7.91346442e-02 -1.54642558e-02 7.09796476e+02] [ 7.91386338e-02 9.96863557e-01 -3.54748852e-04 8.85668393e+00] [ 1.54438259e-02 -8.70226289e-04 9.99880358e-01 1.09772385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.9792541539999 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:709.82, Y:8.87, Z:10.98 [[ 9.96503307e-01 -8.21085269e-02 -1.54708951e-02 7.09820116e+02] [ 8.21173782e-02 9.96622663e-01 -6.33314580e-05 8.86877040e+00] [ 1.54238447e-02 -1.20731934e-03 9.99880317e-01 1.09827960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.0092541539999 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:709.85, Y:8.87, Z:10.98 [[ 9.96628689e-01 -8.05737119e-02 -1.54639207e-02 7.09851341e+02] [ 8.05777679e-02 9.96748259e-01 -3.61612392e-04 8.87273736e+00] [ 1.54427725e-02 -8.85654930e-04 9.99880361e-01 1.09841337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.0392541539999 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:709.88, Y:8.88, Z:10.99 [[ 9.96799354e-01 -7.84341391e-02 -1.54639406e-02 7.09883579e+02] [ 7.84379515e-02 9.96918932e-01 -3.60760448e-04 8.87667558e+00] [ 1.54445911e-02 -8.53354042e-04 9.99880361e-01 1.09857869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.0692541539999 meters Centerline goodness : 0.999646 Centerline is valid? [True, True] Translation: X:709.92, Y:8.88, Z:10.99 [[ 9.97038365e-01 -7.53350103e-02 -1.54639669e-02 7.09915737e+02] [ 7.53384684e-02 9.97157954e-01 -3.59629364e-04 8.88045745e+00] [ 1.54471103e-02 -8.06467309e-04 9.99880361e-01 1.09873773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.0992541539999 meters Centerline goodness : 0.999625 Centerline is valid? [True, True] Translation: X:709.95, Y:8.89, Z:10.99 [[ 9.97654123e-01 -6.66866954e-02 -1.54639933e-02 7.09946688e+02] [ 6.66891341e-02 9.97773737e-01 -3.58489212e-04 8.88815426e+00] [ 1.54534729e-02 -6.73632085e-04 9.99880361e-01 1.09890233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.1292541539999 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:709.98, Y:8.89, Z:10.99 [[ 9.98023821e-01 -6.09041588e-02 -1.54640130e-02 7.09977332e+02] [ 6.09059175e-02 9.98143447e-01 -3.57640108e-04 8.89203141e+00] [ 1.54570850e-02 -5.84916551e-04 9.99880361e-01 1.09908266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.1592541539999 meters Centerline goodness : 0.999625 Centerline is valid? [True, True] Translation: X:710.01, Y:8.90, Z:10.99 [[ 9.98286980e-01 -5.64269354e-02 -1.54630905e-02 7.10009699e+02] [ 5.64275436e-02 9.98406618e-01 -3.97314370e-04 8.89613678e+00] [ 1.54608711e-02 -4.75910449e-04 9.99880360e-01 1.09904668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.1892541539999 meters Centerline goodness : 0.999625 Centerline is valid? [True, True] Translation: X:710.04, Y:8.90, Z:10.99 [[ 9.98774015e-01 -4.70247964e-02 -1.54639841e-02 7.10041156e+02] [ 4.70248740e-02 9.98893654e-01 -3.58801017e-04 8.90282235e+00] [ 1.54637481e-02 -3.68830771e-04 9.99880361e-01 1.09899260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.2192541539999 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:710.07, Y:8.91, Z:10.99 [[ 9.98934491e-01 -4.34827318e-02 -1.54639969e-02 7.10071984e+02] [ 4.34823937e-02 9.99054129e-01 -3.58249458e-04 8.90656943e+00] [ 1.54649476e-02 -3.14543861e-04 9.99880361e-01 1.09909826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.2492541539999 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:710.10, Y:8.91, Z:10.99 [[ 9.99056056e-01 -4.05938616e-02 -1.54639969e-02 7.10102259e+02] [ 4.05931776e-02 9.99175693e-01 -3.58249458e-04 8.90962557e+00] [ 1.54657925e-02 -2.69821481e-04 9.99880361e-01 1.09908339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.2792541539999 meters Centerline goodness : 0.998097 Centerline is valid? [True, True] Translation: X:710.13, Y:8.91, Z:10.99 [[ 9.99196851e-01 -3.69664357e-02 -1.54639969e-02 7.10130693e+02] [ 3.69653173e-02 9.99316485e-01 -3.58249457e-04 8.91256510e+00] [ 1.54666702e-02 -2.13669820e-04 9.99880361e-01 1.09863762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.3092541539999 meters Centerline goodness : 0.999562 Centerline is valid? [True, True] Translation: X:710.16, Y:8.91, Z:10.99 [[ 9.99166935e-01 -3.77666950e-02 -1.54633002e-02 7.10160138e+02] [ 3.77652087e-02 9.99286565e-01 -3.88212905e-04 8.91483052e+00] [ 1.54669297e-02 -1.96085263e-04 9.99880361e-01 1.09905729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.339254154 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:710.19, Y:8.92, Z:10.99 [[ 9.99138016e-01 -3.85239071e-02 -1.54639731e-02 7.10189514e+02] [ 3.85229596e-02 9.99257651e-01 -3.59250201e-04 8.91566688e+00] [ 1.54663331e-02 -2.36777478e-04 9.99880361e-01 1.09893660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.3692541539999 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:710.22, Y:8.92, Z:10.99 [[ 9.99070577e-01 -4.02349205e-02 -1.54639669e-02 7.10220110e+02] [ 4.02341739e-02 9.99190213e-01 -3.59515266e-04 8.91716993e+00] [ 1.54659095e-02 -2.62998810e-04 9.99880361e-01 1.09907581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.3992541539999 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:710.25, Y:8.92, Z:10.99 [[ 9.98888474e-01 -4.45273269e-02 -1.54639669e-02 7.10250615e+02] [ 4.45270943e-02 9.99008112e-01 -3.59515266e-04 8.91862491e+00] [ 1.54646367e-02 -3.29449859e-04 9.99880361e-01 1.09903036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.4292541539999 meters Centerline goodness : 0.999477 Centerline is valid? [True, True] Translation: X:710.28, Y:8.92, Z:10.99 [[ 9.98822008e-01 -4.59941477e-02 -1.54639730e-02 7.10280574e+02] [ 4.59940949e-02 9.98941647e-01 -3.59252076e-04 8.91886376e+00] [ 1.54641302e-02 -3.52422564e-04 9.99880361e-01 1.09906795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.459254154 meters Centerline goodness : 0.999477 Centerline is valid? [True, True] Translation: X:710.31, Y:8.92, Z:10.99 [[ 9.98660653e-01 -4.93741733e-02 -1.54625490e-02 7.10311540e+02] [ 4.93735803e-02 9.98780293e-01 -4.20325131e-04 8.92016896e+00] [ 1.54644425e-02 -3.43679236e-04 9.99880359e-01 1.09932562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.4892541539999 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:710.34, Y:8.92, Z:10.99 [[ 9.98495054e-01 -5.26168067e-02 -1.54628268e-02 7.10342926e+02] [ 5.26167871e-02 9.98614694e-01 -4.08374832e-04 8.91989797e+00] [ 1.54628934e-02 -4.05844014e-04 9.99880360e-01 1.09906127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.5192541539999 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:710.37, Y:8.92, Z:10.99 [[ 9.98132418e-01 -5.90977193e-02 -1.54640066e-02 7.10374172e+02] [ 5.90992665e-02 9.98252047e-01 -3.57313663e-04 8.92155111e+00] [ 1.54580927e-02 -5.57265096e-04 9.99880361e-01 1.09931990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.5492541539999 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:710.41, Y:8.92, Z:10.99 [[ 9.97980001e-01 -6.16180306e-02 -1.54640258e-02 7.10406077e+02] [ 6.16198928e-02 9.98099625e-01 -3.56481651e-04 8.92277262e+00] [ 1.54566040e-02 -5.97130052e-04 9.99880361e-01 1.09942319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.579254154 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:710.44, Y:8.92, Z:10.99 [[ 9.97877582e-01 -6.32549935e-02 -1.54640520e-02 7.10437557e+02] [ 6.32570695e-02 9.97997203e-01 -3.55341129e-04 8.92359716e+00] [ 1.54555577e-02 -6.23623665e-04 9.99880361e-01 1.09914860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.6092541539999 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:710.47, Y:8.93, Z:10.99 [[ 9.97737252e-01 -6.54311622e-02 -1.54640942e-02 7.10470085e+02] [ 6.54335276e-02 9.97856868e-01 -3.53493022e-04 8.92586732e+00] [ 1.54540821e-02 -6.59177081e-04 9.99880361e-01 1.09942563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.6392541539999 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:710.50, Y:8.93, Z:11.00 [[ 9.97493300e-01 -6.90505394e-02 -1.54641173e-02 7.10502332e+02] [ 6.90533545e-02 9.97612906e-01 -3.52482359e-04 8.92859080e+00] [ 1.54515421e-02 -7.16250380e-04 9.99880361e-01 1.09980118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.6692541539999 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:710.53, Y:8.93, Z:11.00 [[ 9.97382175e-01 -7.06375069e-02 -1.54641433e-02 7.10533781e+02] [ 7.06405299e-02 9.97501776e-01 -3.51338480e-04 8.93003112e+00] [ 1.54503280e-02 -7.41976537e-04 9.99880361e-01 1.09971352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.699254154 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:710.57, Y:8.93, Z:11.00 [[ 9.97296816e-01 -7.18325859e-02 -1.54641626e-02 7.10565519e+02] [ 7.18357655e-02 9.97416413e-01 -3.50486523e-04 8.93094328e+00] [ 1.54493859e-02 -7.61340861e-04 9.99880361e-01 1.09974961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.7292541539999 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:710.60, Y:8.93, Z:11.00 [[ 9.97097588e-01 -7.45470303e-02 -1.54641887e-02 7.10597843e+02] [ 7.45505533e-02 9.97217174e-01 -3.49330074e-04 8.93429338e+00] [ 1.54471961e-02 -8.04547649e-04 9.99880361e-01 1.10001003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.7592541539999 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:710.63, Y:8.94, Z:11.00 [[ 9.97065314e-01 -7.49774481e-02 -1.54642149e-02 7.10629205e+02] [ 7.49810407e-02 9.97184899e-01 -3.48166465e-04 8.93596665e+00] [ 1.54467862e-02 -8.12378220e-04 9.99880361e-01 1.10003486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.7892541539999 meters Centerline goodness : 0.999271 Centerline is valid? [True, True] Translation: X:710.66, Y:8.94, Z:11.00 [[ 9.97050381e-01 -7.51757559e-02 -1.54642344e-02 7.10661041e+02] [ 7.51793857e-02 9.97169965e-01 -3.47298299e-04 8.93812031e+00] [ 1.54465785e-02 -8.16317740e-04 9.99880361e-01 1.10011912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.8192541539999 meters Centerline goodness : 0.999063 Centerline is valid? [True, True] Translation: X:710.70, Y:8.94, Z:11.00 [[ 9.97400479e-01 -7.03785535e-02 -1.54642605e-02 7.10698185e+02] [ 7.03816260e-02 9.97520078e-01 -3.46133659e-04 8.93823553e+00] [ 1.54502707e-02 -7.43165918e-04 9.99880361e-01 1.09986647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.8492541539999 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:710.72, Y:8.95, Z:11.00 [[ 9.97180617e-01 -7.34268151e-02 -1.54699864e-02 7.10723019e+02] [ 7.34342813e-02 9.97300055e-01 -8.56344205e-05 8.94531508e+00] [ 1.54345062e-02 -1.05063435e-03 9.99880329e-01 1.10023543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.8792541539999 meters Centerline goodness : 0.999210 Centerline is valid? [True, True] Translation: X:710.76, Y:8.95, Z:11.00 [[ 9.97276469e-01 -7.21145252e-02 -1.54641342e-02 7.10755334e+02] [ 7.21177971e-02 9.97396061e-01 -3.46692282e-04 8.94811690e+00] [ 1.54488681e-02 -7.69491242e-04 9.99880363e-01 1.10030773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.9092541539999 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:710.79, Y:8.95, Z:11.00 [[ 9.97382002e-01 -7.06399415e-02 -1.54641601e-02 7.10787147e+02] [ 7.06430545e-02 9.97501599e-01 -3.45536471e-04 8.95072964e+00] [ 1.54499331e-02 -7.47803645e-04 9.99880363e-01 1.10033646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.9392541539999 meters Centerline goodness : 0.999146 Centerline is valid? [True, True] Translation: X:710.82, Y:8.95, Z:11.00 [[ 9.97667094e-01 -6.64923197e-02 -1.54641858e-02 7.10818525e+02] [ 6.64949533e-02 9.97786702e-01 -3.44380153e-04 8.95456987e+00] [ 1.54528576e-02 -6.84713569e-04 9.99880363e-01 1.10021322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.9692541539999 meters Centerline goodness : 0.998999 Centerline is valid? [True, True] Translation: X:710.85, Y:8.96, Z:11.00 [[ 9.97838242e-01 -6.38725347e-02 -1.54642050e-02 7.10849815e+02] [ 6.38748676e-02 9.97957856e-01 -3.43518998e-04 8.95701121e+00] [ 1.54545663e-02 -6.44997651e-04 9.99880363e-01 1.10010702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.9992541539999 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:710.88, Y:8.96, Z:11.00 [[ 9.98142500e-01 -5.89271347e-02 -1.54642238e-02 7.10882290e+02] [ 5.89288880e-02 9.98262124e-01 -3.42667500e-04 8.96278222e+00] [ 1.54575413e-02 -5.69258518e-04 9.99880363e-01 1.10029821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.0292541539999 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:710.92, Y:8.96, Z:11.00 [[ 9.98532728e-01 -5.18965191e-02 -1.54642488e-02 7.10918539e+02] [ 5.18974474e-02 9.98652361e-01 -3.41535426e-04 8.96018844e+00] [ 1.54611331e-02 -4.61520740e-04 9.99880363e-01 1.09986272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.0592541539999 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:710.94, Y:8.97, Z:11.00 [[ 9.98396614e-01 -5.44505584e-02 -1.54705677e-02 7.10942468e+02] [ 5.44562822e-02 9.98516154e-01 -5.13539576e-05 8.96841724e+00] [ 1.54504080e-02 -7.91197983e-04 9.99880322e-01 1.10029793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.089254154 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:710.97, Y:8.97, Z:11.00 [[ 9.98514020e-01 -5.22553071e-02 -1.54639894e-02 7.10973278e+02] [ 5.22562143e-02 9.98633651e-01 -3.45671840e-04 8.97141475e+00] [ 1.54609234e-02 -4.62931365e-04 9.99880366e-01 1.10027077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.1192541539999 meters Centerline goodness : 0.999226 Centerline is valid? [True, True] Translation: X:711.01, Y:8.98, Z:11.00 [[ 9.98698208e-01 -4.86081643e-02 -1.54640287e-02 7.11005792e+02] [ 4.86086619e-02 9.98817841e-01 -3.43904198e-04 8.97531330e+00] [ 1.54624643e-02 -4.08229236e-04 9.99880366e-01 1.10028814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.1492541539999 meters Centerline goodness : 0.999456 Centerline is valid? [True, True] Translation: X:711.04, Y:8.98, Z:11.00 [[ 9.98764377e-01 -4.72290507e-02 -1.54640531e-02 7.11037549e+02] [ 4.72294002e-02 9.98884010e-01 -3.42802471e-04 8.97722795e+00] [ 1.54629856e-02 -3.87979057e-04 9.99880366e-01 1.10037211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.1792541539999 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:711.07, Y:8.98, Z:11.00 [[ 9.98801774e-01 -4.64314297e-02 -1.54640776e-02 7.11068975e+02] [ 4.64317007e-02 9.98921409e-01 -3.41696106e-04 8.97925125e+00] [ 1.54632636e-02 -3.76736744e-04 9.99880366e-01 1.10042090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.209254154 meters Centerline goodness : 0.999498 Centerline is valid? [True, True] Translation: X:711.10, Y:8.98, Z:11.01 [[ 9.98829955e-01 -4.58212071e-02 -1.54640957e-02 7.11101023e+02] [ 4.58214178e-02 9.98949589e-01 -3.40872677e-04 8.98325560e+00] [ 1.54634712e-02 -3.68112950e-04 9.99880366e-01 1.10064666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.2392541539999 meters Centerline goodness : 0.999372 Centerline is valid? [True, True] Translation: X:711.13, Y:8.99, Z:11.01 [[ 9.98813352e-01 -4.61817027e-02 -1.54641206e-02 7.11132471e+02] [ 4.61819741e-02 9.98932986e-01 -3.39741708e-04 8.98517290e+00] [ 1.54633100e-02 -3.74825060e-04 9.99880366e-01 1.10055812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.2692541539999 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:711.16, Y:8.99, Z:11.01 [[ 9.98764065e-01 -4.72356157e-02 -1.54641390e-02 7.11163474e+02] [ 4.72360264e-02 9.98883698e-01 -3.38900017e-04 8.98773146e+00] [ 1.54628845e-02 -3.91983320e-04 9.99880366e-01 1.10079249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.2992541539999 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:711.20, Y:8.99, Z:11.01 [[ 9.98767390e-01 -4.71652426e-02 -1.54641571e-02 7.11196152e+02] [ 4.71656577e-02 9.98887024e-01 -3.38073567e-04 8.98838273e+00] [ 1.54628912e-02 -3.91720284e-04 9.99880366e-01 1.10084303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.329254154 meters Centerline goodness : 0.999392 Centerline is valid? [True, True] Translation: X:711.23, Y:8.99, Z:11.01 [[ 9.98695263e-01 -4.86685889e-02 -1.54641808e-02 7.11227686e+02] [ 4.86692009e-02 9.98814895e-01 -3.36984027e-04 8.99143370e+00] [ 1.54622547e-02 -4.16084971e-04 9.99880366e-01 1.10094947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.3592541539999 meters Centerline goodness : 0.999434 Centerline is valid? [True, True] Translation: X:711.26, Y:8.99, Z:11.01 [[ 9.98650809e-01 -4.95723662e-02 -1.54642194e-02 7.11259789e+02] [ 4.95731140e-02 9.98770441e-01 -3.35201869e-04 8.99269508e+00] [ 1.54618220e-02 -4.31859895e-04 9.99880366e-01 1.10107229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.3892541539999 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:711.29, Y:8.99, Z:11.01 [[ 9.98585090e-01 -5.08790332e-02 -1.54642431e-02 7.11290479e+02] [ 5.08799545e-02 9.98704720e-01 -3.34106429e-04 8.99385228e+00] [ 1.54612116e-02 -4.53186286e-04 9.99880366e-01 1.10112128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.4192541539999 meters Centerline goodness : 0.999287 Centerline is valid? [True, True] Translation: X:711.32, Y:8.99, Z:11.01 [[ 9.98511810e-01 -5.22974267e-02 -1.54642839e-02 7.11322310e+02] [ 5.22985473e-02 9.98631439e-01 -3.32206565e-04 8.99474199e+00] [ 1.54604937e-02 -4.77047405e-04 9.99880366e-01 1.10103140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.449254154 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] Translation: X:711.35, Y:9.00, Z:11.01 [[ 9.98286179e-01 -5.64407734e-02 -1.54643072e-02 7.11354517e+02] [ 5.64424072e-02 9.98405802e-01 -3.31120503e-04 8.99743411e+00] [ 1.54583427e-02 -5.42289702e-04 9.99880366e-01 1.10142096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.4792541539999 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:711.39, Y:9.00, Z:11.02 [[ 9.98162814e-01 -5.85820076e-02 -1.54643312e-02 7.11386469e+02] [ 5.85839155e-02 9.98282433e-01 -3.29995678e-04 8.99879111e+00] [ 1.54571020e-02 -5.76571656e-04 9.99880366e-01 1.10152440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.5092541539999 meters Centerline goodness : 0.999308 Centerline is valid? [True, True] Translation: X:711.42, Y:9.00, Z:11.01 [[ 9.98036263e-01 -6.06998480e-02 -1.54643550e-02 7.11417211e+02] [ 6.07020270e-02 9.98155878e-01 -3.28876592e-04 8.99991911e+00] [ 1.54557996e-02 -6.10486929e-04 9.99880366e-01 1.10137935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.5392541539999 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:711.45, Y:9.00, Z:11.02 [[ 9.97760383e-01 -6.50774199e-02 -1.54643727e-02 7.11448686e+02] [ 6.50801365e-02 9.97879987e-01 -3.28043326e-04 9.00194150e+00] [ 1.54529362e-02 -6.79114848e-04 9.99880366e-01 1.10157055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.5692541539999 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:711.48, Y:9.00, Z:11.02 [[ 9.97630475e-01 -6.70394472e-02 -1.54643901e-02 7.11482154e+02] [ 6.70424118e-02 9.97750073e-01 -3.27216954e-04 9.00256563e+00] [ 1.54515328e-02 -7.10328407e-04 9.99880366e-01 1.10160204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.5992541539999 meters Centerline goodness : 0.999643 Centerline is valid? [True, True] Translation: X:711.51, Y:9.00, Z:11.02 [[ 9.97519601e-01 -6.86694841e-02 -1.54644261e-02 7.11514392e+02] [ 6.86726705e-02 9.97639193e-01 -3.25510429e-04 9.00314262e+00] [ 1.54502702e-02 -7.37280402e-04 9.99880366e-01 1.10154452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.6292541539999 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:711.55, Y:9.01, Z:11.02 [[ 9.97354992e-01 -7.10202144e-02 -1.54644557e-02 7.11545398e+02] [ 7.10237045e-02 9.97474575e-01 -3.24095410e-04 9.00532274e+00] [ 1.54484187e-02 -7.75104758e-04 9.99880366e-01 1.10150594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.6592541539999 meters Centerline goodness : 0.999580 Centerline is valid? [True, True] Translation: X:711.58, Y:9.01, Z:11.02 [[ 9.97313299e-01 -7.16033047e-02 -1.54644994e-02 7.11577928e+02] [ 7.16068971e-02 9.97432879e-01 -3.21999056e-04 9.00707994e+00] [ 1.54478563e-02 -7.86230874e-04 9.99880366e-01 1.10152047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.6892541539999 meters Centerline goodness : 0.999516 Centerline is valid? [True, True] Translation: X:711.61, Y:9.01, Z:11.01 [[ 9.97286856e-01 -7.19706521e-02 -1.54645222e-02 7.11610251e+02] [ 7.19743055e-02 9.97406435e-01 -3.20900285e-04 9.00880741e+00] [ 1.54475093e-02 -7.93018607e-04 9.99880366e-01 1.10149377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.7192541539999 meters Centerline goodness : 0.999642 Centerline is valid? [True, True] Translation: X:711.64, Y:9.01, Z:11.02 [[ 9.97293586e-01 -7.18773291e-02 -1.54645448e-02 7.11642790e+02] [ 7.18809884e-02 9.97413165e-01 -3.19803913e-04 9.01049603e+00] [ 1.54475273e-02 -7.92668376e-04 9.99880366e-01 1.10151749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.7492541539999 meters Centerline goodness : 0.999495 Centerline is valid? [True, True] Translation: X:711.67, Y:9.01, Z:11.01 [[ 9.97348523e-01 -7.11109756e-02 -1.54645680e-02 7.11674440e+02] [ 7.11145604e-02 9.97468104e-01 -3.18678111e-04 9.01354084e+00] [ 1.54480749e-02 -7.81922814e-04 9.99880366e-01 1.10138464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.7792541539999 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:711.71, Y:9.01, Z:11.01 [[ 9.97410802e-01 -7.02320333e-02 -1.54645910e-02 7.11706980e+02] [ 7.02355300e-02 9.97530385e-01 -3.17561147e-04 9.01499198e+00] [ 1.54487024e-02 -7.69424824e-04 9.99880366e-01 1.10140902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.8092541539999 meters Centerline goodness : 0.999304 Centerline is valid? [True, True] Translation: X:711.74, Y:9.02, Z:11.02 [[ 9.97494270e-01 -6.90364134e-02 -1.54646131e-02 7.11740250e+02] [ 6.90397835e-02 9.97613857e-01 -3.16478414e-04 9.01656128e+00] [ 1.54495609e-02 -7.51988137e-04 9.99880366e-01 1.10156621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.839254154 meters Centerline goodness : 0.999494 Centerline is valid? [True, True] Translation: X:711.77, Y:9.02, Z:11.02 [[ 9.97699312e-01 -6.60070251e-02 -1.54646482e-02 7.11770832e+02] [ 6.60100586e-02 9.97818908e-01 -3.14756612e-04 9.02046902e+00] [ 1.54516945e-02 -7.06789877e-04 9.99880366e-01 1.10168952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.8692541539999 meters Centerline goodness : 0.999451 Centerline is valid? [True, True] Translation: X:711.80, Y:9.02, Z:11.02 [[ 9.97851237e-01 -6.36690904e-02 -1.54646598e-02 7.11803516e+02] [ 6.36718525e-02 9.97970840e-01 -3.14186612e-04 9.02284827e+00] [ 1.54532835e-02 -6.71152036e-04 9.99880366e-01 1.10180374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.8992541539999 meters Centerline goodness : 0.999514 Centerline is valid? [True, True] Translation: X:711.84, Y:9.03, Z:11.02 [[ 9.98018016e-01 -6.09990350e-02 -1.54646940e-02 7.11836936e+02] [ 6.10015034e-02 9.98137625e-01 -3.12491439e-04 9.02526502e+00] [ 1.54549546e-02 -6.31497497e-04 9.99880366e-01 1.10190466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.9292541539999 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:711.87, Y:9.03, Z:11.02 [[ 9.98376550e-01 -5.48188520e-02 -1.54647293e-02 7.11867630e+02] [ 5.48206069e-02 9.98496172e-01 -3.10733993e-04 9.02981825e+00] [ 1.54585071e-02 -5.37556315e-04 9.99880366e-01 1.10205275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.959254154 meters Centerline goodness : 0.999429 Centerline is valid? [True, True] Translation: X:711.90, Y:9.03, Z:11.02 [[ 9.98536681e-01 -5.18202472e-02 -1.54647701e-02 7.11899668e+02] [ 5.18216745e-02 9.98656307e-01 -3.08688804e-04 9.03218119e+00] [ 1.54599866e-02 -4.93173192e-04 9.99880366e-01 1.10216207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.9892541539999 meters Centerline goodness : 0.999387 Centerline is valid? [True, True] Translation: X:711.93, Y:9.03, Z:11.02 [[ 9.98667214e-01 -4.92405940e-02 -1.54647932e-02 7.11931086e+02] [ 4.92417302e-02 9.98786843e-01 -3.07530654e-04 9.03459720e+00] [ 1.54611749e-02 -4.54392391e-04 9.99880366e-01 1.10219234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.0192541539999 meters Centerline goodness : 0.999303 Centerline is valid? [True, True] Translation: X:711.96, Y:9.04, Z:11.02 [[ 9.98864878e-01 -4.50532514e-02 -1.54648103e-02 7.11961851e+02] [ 4.50538995e-02 9.98984510e-01 -3.06667016e-04 9.03915393e+00] [ 1.54629223e-02 -3.90431097e-04 9.99880366e-01 1.10218408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.0492541539999 meters Centerline goodness : 0.999281 Centerline is valid? [True, True] Translation: X:711.99, Y:9.04, Z:11.02 [[ 9.98940321e-01 -4.33482990e-02 -1.54648271e-02 7.11994046e+02] [ 4.33487559e-02 9.99059954e-01 -3.05819873e-04 9.04170006e+00] [ 1.54635462e-02 -3.64885211e-04 9.99880366e-01 1.10227363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.079254154 meters Centerline goodness : 0.999429 Centerline is valid? [True, True] Translation: X:712.03, Y:9.04, Z:11.02 [[ 9.99006913e-01 -4.17854848e-02 -1.54648495e-02 7.12025120e+02] [ 4.17857722e-02 9.99126547e-01 -3.04681879e-04 9.04418117e+00] [ 1.54640729e-02 -3.41831374e-04 9.99880366e-01 1.10225931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.1092541539999 meters Centerline goodness : 0.999194 Centerline is valid? [True, True] Translation: X:712.06, Y:9.05, Z:11.02 [[ 9.99058829e-01 -4.05252236e-02 -1.54648869e-02 7.12056511e+02] [ 4.05253897e-02 9.99178463e-01 -3.02769085e-04 9.04649561e+00] [ 1.54644517e-02 -3.24236441e-04 9.99880366e-01 1.10220378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.1392541539999 meters Centerline goodness : 0.999003 Centerline is valid? [True, True] Translation: X:712.09, Y:9.05, Z:11.02 [[ 9.99131427e-01 -3.86940331e-02 -1.54649239e-02 7.12088826e+02] [ 3.86940093e-02 9.99251061e-01 -3.00869805e-04 9.05037513e+00] [ 1.54649835e-02 -2.97791431e-04 9.99880366e-01 1.10219581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.1692541539999 meters Centerline goodness : 0.999002 Centerline is valid? [True, True] Translation: X:712.12, Y:9.05, Z:11.02 [[ 9.99157487e-01 -3.80151536e-02 -1.54649453e-02 7.12120718e+02] [ 3.80150656e-02 9.99277121e-01 -2.99764888e-04 9.05219299e+00] [ 1.54651616e-02 -2.88388578e-04 9.99880366e-01 1.10225345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.199254154 meters Centerline goodness : 0.998768 Centerline is valid? [True, True] Translation: X:712.15, Y:9.06, Z:11.02 [[ 9.99183261e-01 -3.73315673e-02 -1.54649669e-02 7.12151595e+02] [ 3.73314148e-02 9.99302895e-01 -2.98646355e-04 9.05558919e+00] [ 1.54653351e-02 -2.78926655e-04 9.99880366e-01 1.10230201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.2292541539999 meters Centerline goodness : 0.999000 Centerline is valid? [True, True] Translation: X:712.18, Y:9.06, Z:11.02 [[ 9.99201386e-01 -3.68432418e-02 -1.54649829e-02 7.12183406e+02] [ 3.68430436e-02 9.99321020e-01 -2.97813149e-04 9.05769103e+00] [ 1.54654549e-02 -2.72201730e-04 9.99880366e-01 1.10239426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.2592541539999 meters Centerline goodness : 0.998914 Centerline is valid? [True, True] Translation: X:712.22, Y:9.06, Z:11.02 [[ 9.99215311e-01 -3.64636144e-02 -1.54650043e-02 7.12215405e+02] [ 3.64633880e-02 9.99334946e-01 -2.96700759e-04 9.05983886e+00] [ 1.54655380e-02 -2.67438510e-04 9.99880366e-01 1.10247508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.2892541539999 meters Centerline goodness : 0.998723 Centerline is valid? [True, True] Translation: X:712.25, Y:9.06, Z:11.03 [[ 9.99221756e-01 -3.62865825e-02 -1.54650254e-02 7.12247105e+02] [ 3.62863521e-02 9.99341390e-01 -2.95596418e-04 9.06200100e+00] [ 1.54655661e-02 -2.65802984e-04 9.99880366e-01 1.10260823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.3192541539999 meters Centerline goodness : 0.998893 Centerline is valid? [True, True] Translation: X:712.28, Y:9.06, Z:11.03 [[ 9.99228672e-01 -3.60956147e-02 -1.54650472e-02 7.12277851e+02] [ 3.60953791e-02 9.99348306e-01 -2.94450356e-04 9.06393402e+00] [ 1.54655971e-02 -2.63993503e-04 9.99880366e-01 1.10262100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.3492541539999 meters Centerline goodness : 0.999063 Centerline is valid? [True, True] Translation: X:712.31, Y:9.07, Z:11.03 [[ 9.99188594e-01 -3.71885135e-02 -1.54650634e-02 7.12309902e+02] [ 3.71884220e-02 9.99308228e-01 -2.93594847e-04 9.06673194e+00] [ 1.54652835e-02 -2.81764683e-04 9.99880366e-01 1.10273219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.3792541539999 meters Centerline goodness : 0.998956 Centerline is valid? [True, True] Translation: X:712.34, Y:9.07, Z:11.03 [[ 9.99140376e-01 -3.84621954e-02 -1.54650838e-02 7.12341824e+02] [ 3.84622730e-02 9.99260010e-01 -2.92516848e-04 9.06819877e+00] [ 1.54648907e-02 -3.02556884e-04 9.99880366e-01 1.10279863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.4092541539999 meters Centerline goodness : 0.998764 Centerline is valid? [True, True] Translation: X:712.37, Y:9.07, Z:11.03 [[ 9.98981450e-01 -4.23897711e-02 -1.54651041e-02 7.12373333e+02] [ 4.23903357e-02 9.99101083e-01 -2.91440832e-04 9.06980258e+00] [ 1.54635564e-02 -3.64426971e-04 9.99880366e-01 1.10284413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.4392541539999 meters Centerline goodness : 0.999107 Centerline is valid? [True, True] Translation: X:712.41, Y:9.07, Z:11.03 [[ 9.98896137e-01 -4.43546684e-02 -1.54651354e-02 7.12405860e+02] [ 4.43554942e-02 9.99015769e-01 -2.89769721e-04 9.07064568e+00] [ 1.54627668e-02 -3.96513869e-04 9.99880366e-01 1.10295649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.4692541539999 meters Centerline goodness : 0.999086 Centerline is valid? [True, True] Translation: X:712.44, Y:9.07, Z:11.03 [[ 9.98795968e-01 -4.65558040e-02 -1.54651560e-02 7.12437140e+02] [ 4.65569105e-02 9.98915597e-01 -2.88667336e-04 9.07154134e+00] [ 1.54618247e-02 -4.31690112e-04 9.99880366e-01 1.10296288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.4992541539999 meters Centerline goodness : 0.999297 Centerline is valid? [True, True] Translation: X:712.47, Y:9.07, Z:11.03 [[ 9.98660175e-01 -4.93830213e-02 -1.54651713e-02 7.12469882e+02] [ 4.93844791e-02 9.98779801e-01 -2.87846077e-04 9.07255852e+00] [ 1.54605154e-02 -4.76279015e-04 9.99880366e-01 1.10314528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.5292541539999 meters Centerline goodness : 0.999297 Centerline is valid? [True, True] Translation: X:712.50, Y:9.08, Z:11.03 [[ 9.98569164e-01 -5.11903629e-02 -1.54652021e-02 7.12497517e+02] [ 5.11920630e-02 9.98688786e-01 -2.86181054e-04 9.07721489e+00] [ 1.54595736e-02 -5.05924024e-04 9.99880366e-01 1.10316351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.5592541539999 meters Centerline goodness : 0.998979 Centerline is valid? [True, True] Translation: X:712.53, Y:9.07, Z:11.03 [[ 9.98648503e-01 -4.96198838e-02 -1.54607687e-02 7.12533926e+02] [ 4.96177611e-02 9.98768144e-01 -5.21087322e-04 9.07451963e+00] [ 1.54675796e-02 -2.46745656e-04 9.99880339e-01 1.10318844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.589254154 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:712.57, Y:9.08, Z:11.03 [[ 9.98737425e-01 -4.77952501e-02 -1.54651254e-02 7.12566091e+02] [ 4.77965894e-02 9.98857050e-01 -2.83213124e-04 9.07618411e+00] [ 1.54609857e-02 -4.56324701e-04 9.99880368e-01 1.10348622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.6192541539999 meters Centerline goodness : 0.999084 Centerline is valid? [True, True] Translation: X:712.60, Y:9.08, Z:11.04 [[ 9.98813993e-01 -4.61674747e-02 -1.54651462e-02 7.12597610e+02] [ 4.61686366e-02 9.98933620e-01 -2.82071279e-04 9.07723092e+00] [ 1.54616770e-02 -4.32267975e-04 9.99880368e-01 1.10353426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.6492541539999 meters Centerline goodness : 0.998785 Centerline is valid? [True, True] Translation: X:712.63, Y:9.08, Z:11.03 [[ 9.98929472e-01 -4.35974689e-02 -1.54651617e-02 7.12629862e+02] [ 4.35983363e-02 9.99049101e-01 -2.81220095e-04 9.07786117e+00] [ 1.54627163e-02 -3.93336278e-04 9.99880368e-01 1.10334939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.6792541539999 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:712.66, Y:9.08, Z:11.04 [[ 9.99099236e-01 -3.95163945e-02 -1.54651822e-02 7.12661836e+02] [ 3.95167907e-02 9.99218867e-01 -2.80087827e-04 9.07896332e+00] [ 1.54641699e-02 -3.31298833e-04 9.99880368e-01 1.10354901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.709254154 meters Centerline goodness : 0.998825 Centerline is valid? [True, True] Translation: X:712.69, Y:9.08, Z:11.03 [[ 9.99179881e-01 -3.74218301e-02 -1.54652027e-02 7.12692883e+02] [ 3.74219930e-02 9.99299513e-01 -2.78952508e-04 9.07939077e+00] [ 1.54648084e-02 -3.00014972e-04 9.99880368e-01 1.10345109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.7392541539999 meters Centerline goodness : 0.998993 Centerline is valid? [True, True] Translation: X:712.73, Y:9.08, Z:11.03 [[ 9.99257201e-01 -3.52969364e-02 -1.54652179e-02 7.12725152e+02] [ 3.52968580e-02 9.99376833e-01 -2.78107245e-04 9.07984102e+00] [ 1.54653968e-02 -2.67972932e-04 9.99880368e-01 1.10347765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.7692541539999 meters Centerline goodness : 0.998993 Centerline is valid? [True, True] Translation: X:712.76, Y:9.08, Z:11.03 [[ 9.99317386e-01 -3.35497831e-02 -1.54652372e-02 7.12757804e+02] [ 3.35495123e-02 9.99437018e-01 -2.77026471e-04 9.08066417e+00] [ 1.54658247e-02 -2.42013798e-04 9.99880368e-01 1.10348929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.7992541539999 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:712.79, Y:9.08, Z:11.04 [[ 9.99358838e-01 -3.22914673e-02 -1.54652564e-02 7.12789899e+02] [ 3.22910624e-02 9.99478470e-01 -2.75952310e-04 9.08135257e+00] [ 1.54661017e-02 -2.23614180e-04 9.99880368e-01 1.10358526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.829254154 meters Centerline goodness : 0.999079 Centerline is valid? [True, True] Translation: X:712.82, Y:9.08, Z:11.04 [[ 9.99380388e-01 -3.16174741e-02 -1.54652765e-02 7.12820805e+02] [ 3.16170061e-02 9.99500020e-01 -2.74818449e-04 9.08181782e+00] [ 1.54662333e-02 -2.14317575e-04 9.99880368e-01 1.10351747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.8592541539999 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:712.85, Y:9.08, Z:11.04 [[ 9.99362671e-01 -3.21726088e-02 -1.54652915e-02 7.12852451e+02] [ 3.21722204e-02 9.99482303e-01 -2.73972460e-04 9.08190965e+00] [ 1.54660996e-02 -2.23754917e-04 9.99880368e-01 1.10355403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.8892541539999 meters Centerline goodness : 0.999014 Centerline is valid? [True, True] Translation: X:712.89, Y:9.08, Z:11.04 [[ 9.99327530e-01 -3.32462412e-02 -1.54653014e-02 7.12885079e+02] [ 3.32459899e-02 9.99447162e-01 -2.73413474e-04 9.08180313e+00] [ 1.54658416e-02 -2.40929643e-04 9.99880368e-01 1.10354818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.9192541539999 meters Centerline goodness : 0.999079 Centerline is valid? [True, True] Translation: X:712.92, Y:9.08, Z:11.04 [[ 9.99175697e-01 -3.75333235e-02 -1.54653212e-02 7.12917273e+02] [ 3.75336029e-02 9.99295329e-01 -2.72287493e-04 9.08061269e+00] [ 1.54646431e-02 -3.08406181e-04 9.99880368e-01 1.10360649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.949254154 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:712.95, Y:9.08, Z:11.04 [[ 9.99061471e-01 -4.04598579e-02 -1.54653409e-02 7.12948137e+02] [ 4.04605051e-02 9.99181102e-01 -2.71164278e-04 9.08038896e+00] [ 1.54636476e-02 -3.54825722e-04 9.99880368e-01 1.10366340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.9792541539999 meters Centerline goodness : 0.998954 Centerline is valid? [True, True] Translation: X:712.98, Y:9.08, Z:11.04 [[ 9.98944791e-01 -4.32449710e-02 -1.54653555e-02 7.12979315e+02] [ 4.32459647e-02 9.99064419e-01 -2.70327609e-04 9.07995745e+00] [ 1.54625768e-02 -3.98771863e-04 9.99880368e-01 1.10371846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.0092541539999 meters Centerline goodness : 0.998870 Centerline is valid? [True, True] Translation: X:713.02, Y:9.07, Z:11.03 [[ 9.99029543e-01 -4.12406847e-02 -1.54653700e-02 7.13022891e+02] [ 4.12414512e-02 9.99149173e-01 -2.69496662e-04 9.06739996e+00] [ 1.54633259e-02 -3.68579176e-04 9.99880368e-01 1.10306527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.0392541539999 meters Centerline goodness : 0.998870 Centerline is valid? [True, True] Translation: X:713.04, Y:9.07, Z:11.04 [[ 9.98602882e-01 -5.05257250e-02 -1.54737078e-02 7.13037552e+02] [ 5.05365322e-02 9.98722166e-01 3.07955229e-04 9.07498369e+00] [ 1.54383753e-02 -1.08951251e-03 9.99880228e-01 1.10360418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.0692541539999 meters Centerline goodness : 0.998915 Centerline is valid? [True, True] Translation: X:713.08, Y:9.07, Z:11.03 [[ 9.98612671e-01 -5.03351934e-02 -1.54629252e-02 7.13079350e+02] [ 5.03351911e-02 9.98732305e-01 -3.89587202e-04 9.06764664e+00] [ 1.54629329e-02 -3.89282580e-04 9.99880366e-01 1.10334488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.0992541539999 meters Centerline goodness : 0.999001 Centerline is valid? [True, True] Translation: X:713.10, Y:9.08, Z:11.04 [[ 9.97580670e-01 -6.77744610e-02 -1.54734801e-02 7.13097467e+02] [ 6.77865010e-02 9.97699817e-01 2.54355835e-04 9.07528382e+00] [ 1.54206494e-02 -1.30263354e-03 9.99880246e-01 1.10398263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.1292541539999 meters Centerline goodness : 0.999128 Centerline is valid? [True, True] Translation: X:713.13, Y:9.07, Z:11.04 [[ 9.97286516e-01 -7.19754202e-02 -1.54643070e-02 7.13130745e+02] [ 7.19798543e-02 9.97406049e-01 -2.70392651e-04 9.07477673e+00] [ 1.54436550e-02 -8.43459622e-04 9.99880384e-01 1.10420254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.1592541539999 meters Centerline goodness : 0.999001 Centerline is valid? [True, True] Translation: X:713.16, Y:9.07, Z:11.04 [[ 9.96735762e-01 -7.92380893e-02 -1.54643361e-02 7.13164120e+02] [ 7.92434199e-02 9.96855259e-01 -2.68720848e-04 9.07312846e+00] [ 1.54369977e-02 -9.57603198e-04 9.99880384e-01 1.10433413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.1892541539999 meters Centerline goodness : 0.998896 Centerline is valid? [True, True] Translation: X:713.20, Y:9.06, Z:11.04 [[ 9.97048682e-01 -7.51982687e-02 -1.54643657e-02 7.13204811e+02] [ 7.52031415e-02 9.97168199e-01 -2.67004839e-04 9.06491452e+00] [ 1.54406520e-02 -8.96752060e-04 9.99880384e-01 1.10384249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.2192541539999 meters Centerline goodness : 0.998896 Centerline is valid? [True, True] Translation: X:713.24, Y:9.07, Z:11.04 [[ 9.97015348e-01 -7.56374913e-02 -1.54714676e-02 7.13236341e+02] [ 7.56490617e-02 9.97134491e-01 1.63154023e-04 9.06544770e+00] [ 1.54147934e-02 -1.33306907e-03 9.99880296e-01 1.10387831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.2492541539999 meters Centerline goodness : 0.998897 Centerline is valid? [True, True] Translation: X:713.27, Y:9.07, Z:11.04 [[ 9.96836561e-01 -7.79584067e-02 -1.54712017e-02 7.13268414e+02] [ 7.79700111e-02 9.96955694e-01 1.47383564e-04 9.06545682e+00] [ 1.54126128e-02 -1.35320709e-03 9.99880303e-01 1.10394810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.2792541539999 meters Centerline goodness : 0.998940 Centerline is valid? [True, True] Translation: X:713.29, Y:9.07, Z:11.05 [[ 9.96060900e-01 -8.73116197e-02 -1.54714209e-02 7.13287932e+02] [ 8.73245411e-02 9.96179903e-01 1.60303773e-04 9.07370776e+00] [ 1.53983222e-02 -1.51070705e-03 9.99880298e-01 1.10453503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.3092541539999 meters Centerline goodness : 0.998917 Centerline is valid? [True, True] Translation: X:713.33, Y:9.06, Z:11.04 [[ 9.96875682e-01 -7.74580747e-02 -1.54635239e-02 7.13333444e+02] [ 7.74630416e-02 9.96995185e-01 -2.78404047e-04 9.06283235e+00] [ 1.54386235e-02 -9.20317370e-04 9.99880394e-01 1.10404673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.339254154 meters Centerline goodness : 0.999025 Centerline is valid? [True, True] Translation: X:713.35, Y:9.07, Z:11.05 [[ 9.96091520e-01 -8.69610194e-02 -1.54746857e-02 7.13347159e+02] [ 8.69775351e-02 9.96210194e-01 3.96198675e-04 9.07413418e+00] [ 1.53815858e-02 -1.74060016e-03 9.99880181e-01 1.10459460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.3692541539999 meters Centerline goodness : 0.998727 Centerline is valid? [True, True] Translation: X:713.38, Y:9.07, Z:11.05 [[ 9.96190596e-01 -8.58207994e-02 -1.54624133e-02 7.13379164e+02] [ 8.58267354e-02 9.96310039e-01 -2.80501093e-04 9.07489051e+00] [ 1.54294304e-02 -1.04765591e-03 9.99880410e-01 1.10460018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.3992541539999 meters Centerline goodness : 0.999003 Centerline is valid? [True, True] Translation: X:713.41, Y:9.08, Z:11.05 [[ 9.96597260e-01 -8.09618098e-02 -1.54624390e-02 7.13411457e+02] [ 8.09671853e-02 9.96716729e-01 -2.79078303e-04 9.07600765e+00] [ 1.54342663e-02 -9.73821491e-04 9.99880410e-01 1.10450073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.4292541539999 meters Centerline goodness : 0.998641 Centerline is valid? [True, True] Translation: X:713.45, Y:9.07, Z:11.04 [[ 9.97500412e-01 -6.89481070e-02 -1.54624591e-02 7.13454667e+02] [ 6.89520598e-02 9.97619936e-01 -2.77961494e-04 9.06824041e+00] [ 1.54448224e-02 -7.88901699e-04 9.99880410e-01 1.10385859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.459254154 meters Centerline goodness : 0.998959 Centerline is valid? [True, True] Translation: X:713.47, Y:9.08, Z:11.04 [[ 9.97151838e-01 -7.38161546e-02 -1.54721432e-02 7.13472570e+02] [ 7.38295565e-02 9.97270830e-01 2.96025937e-04 9.07938026e+00] [ 1.54080656e-02 -1.43748428e-03 9.99880255e-01 1.10445567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.4892541539999 meters Centerline goodness : 0.998896 Centerline is valid? [True, True] Translation: X:713.51, Y:9.08, Z:11.05 [[ 9.97481146e-01 -6.92264235e-02 -1.54617188e-02 7.13505487e+02] [ 6.92303789e-02 9.97600660e-01 -2.79919199e-04 9.08176013e+00] [ 1.54439987e-02 -7.91206530e-04 9.99880421e-01 1.10451838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.5192541539999 meters Centerline goodness : 0.998916 Centerline is valid? [True, True] Translation: X:713.54, Y:9.09, Z:11.05 [[ 9.98162540e-01 -5.85873613e-02 -1.54617488e-02 7.13537057e+02] [ 5.85900679e-02 9.98282088e-01 -2.78255940e-04 9.08572151e+00] [ 1.54514891e-02 -6.28160254e-04 9.99880421e-01 1.10454226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.5492541539999 meters Centerline goodness : 0.999064 Centerline is valid? [True, True] Translation: X:713.57, Y:9.09, Z:11.05 [[ 9.98473167e-01 -5.30308236e-02 -1.54617975e-02 7.13570192e+02] [ 5.30329071e-02 9.98592727e-01 -2.75519643e-04 9.08807331e+00] [ 1.54546496e-02 -5.44885102e-04 9.99880421e-01 1.10474177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.579254154 meters Centerline goodness : 0.999106 Centerline is valid? [True, True] Translation: X:713.60, Y:9.09, Z:11.05 [[ 9.98744990e-01 -4.76379695e-02 -1.54618281e-02 7.13602295e+02] [ 4.76394341e-02 9.98864560e-01 -2.73790804e-04 9.09045706e+00] [ 1.54573150e-02 -4.63145549e-04 9.99880421e-01 1.10472944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.6092541539999 meters Centerline goodness : 0.999105 Centerline is valid? [True, True] Translation: X:713.63, Y:9.09, Z:11.05 [[ 9.99171022e-01 -3.76589904e-02 -1.54618533e-02 7.13633964e+02] [ 3.76592826e-02 9.99290601e-01 -2.72362043e-04 9.09379600e+00] [ 1.54611416e-02 -3.10146042e-04 9.99880421e-01 1.10492696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.6392541539999 meters Centerline goodness : 0.999168 Centerline is valid? [True, True] Translation: X:713.66, Y:9.09, Z:11.05 [[ 9.99370714e-01 -3.19234536e-02 -1.54618732e-02 7.13662821e+02] [ 3.19230770e-02 9.99490292e-01 -2.71226480e-04 9.09487691e+00] [ 1.54626507e-02 -2.22534769e-04 9.99880421e-01 1.10482498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.6692541539999 meters Centerline goodness : 0.999231 Centerline is valid? [True, True] Translation: X:713.70, Y:9.10, Z:11.05 [[ 9.99461232e-01 -2.89520220e-02 -1.54604442e-02 7.13695133e+02] [ 2.89500407e-02 9.99580798e-01 -3.51988025e-04 9.09635411e+00] [ 1.54641539e-02 -9.57821021e-05 9.99880418e-01 1.10502286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.699254154 meters Centerline goodness : 0.999189 Centerline is valid? [True, True] Translation: X:713.73, Y:9.10, Z:11.05 [[ 9.99693328e-01 -1.93437806e-02 -1.54618357e-02 7.13725945e+02] [ 1.93418679e-02 9.99812891e-01 -2.73247600e-04 9.09661289e+00] [ 1.54642283e-02 -2.58969827e-05 9.99880421e-01 1.10481035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.7292541539999 meters Centerline goodness : 0.998929 Centerline is valid? [True, True] Translation: X:713.75, Y:9.10, Z:11.05 [[ 9.99720998e-01 -1.78560236e-02 -1.54625168e-02 7.13754115e+02] [ 1.78545298e-02 9.99840568e-01 -2.34657320e-04 9.09888913e+00] [ 1.54642417e-02 -4.14841177e-05 9.99880421e-01 1.10502665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.7592541539999 meters Centerline goodness : 0.998844 Centerline is valid? [True, True] Translation: X:713.78, Y:9.10, Z:11.05 [[ 9.99805771e-01 -1.22210329e-02 -1.54617945e-02 7.13784101e+02] [ 1.22182377e-02 9.99925317e-01 -2.75235136e-04 9.09767372e+00] [ 1.54640035e-02 8.62657963e-05 9.99880421e-01 1.10481046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.7892541539999 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:713.81, Y:9.10, Z:11.05 [[ 9.99851873e-01 -7.55851360e-03 -1.54628716e-02 7.13811916e+02] [ 7.55609356e-03 9.99971429e-01 -2.14923786e-04 9.09899779e+00] [ 1.54640543e-02 9.80530450e-05 9.99880420e-01 1.10507341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.8192541539999 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:713.84, Y:9.10, Z:11.05 [[ 9.99851526e-01 -7.60527357e-03 -1.54624231e-02 7.13838491e+02] [ 7.60247665e-03 9.99971072e-01 -2.39657767e-04 9.10052906e+00] [ 1.54637984e-02 1.22069474e-04 9.99880421e-01 1.10507781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.8492541539999 meters Centerline goodness : 0.998951 Centerline is valid? [True, True] Translation: X:713.87, Y:9.10, Z:11.05 [[ 9.99860096e-01 -6.38194418e-03 -1.54615736e-02 7.13866152e+02] [ 6.37829002e-03 9.99979618e-01 -2.85639858e-04 9.10054119e+00] [ 1.54630814e-02 1.86981495e-04 9.99880422e-01 1.10504504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.8792541539999 meters Centerline goodness : 0.999079 Centerline is valid? [True, True] Translation: X:713.89, Y:9.10, Z:11.05 [[ 9.99862695e-01 -5.96080651e-03 -1.54615476e-02 7.13893582e+02] [ 5.95708031e-03 9.99982215e-01 -2.87042730e-04 9.10036168e+00] [ 1.54629836e-02 1.94897637e-04 9.99880422e-01 1.10525057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.9092541539999 meters Centerline goodness : 0.998888 Centerline is valid? [True, True] Translation: X:713.92, Y:9.10, Z:11.05 [[ 9.99854708e-01 -7.17681721e-03 -1.54614628e-02 7.13922524e+02] [ 7.17316682e-03 9.99974230e-01 -2.91540882e-04 9.09884236e+00] [ 1.54631567e-02 1.80590871e-04 9.99880422e-01 1.10539181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.9392541539999 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:713.95, Y:9.10, Z:11.05 [[ 9.99840219e-01 -8.97119446e-03 -1.54613862e-02 7.13949905e+02] [ 8.96769665e-03 9.99959746e-01 -2.95545728e-04 9.09798053e+00] [ 1.54634152e-02 1.56845484e-04 9.99880422e-01 1.10536436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.9692541539999 meters Centerline goodness : 0.998996 Centerline is valid? [True, True] Translation: X:713.98, Y:9.10, Z:11.05 [[ 9.99815024e-01 -1.14396607e-02 -1.54613261e-02 7.13977702e+02] [ 1.14364099e-02 9.99934558e-01 -2.98656935e-04 9.09688757e+00] [ 1.54637308e-02 1.21779628e-04 9.99880422e-01 1.10543257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.9992541539999 meters Centerline goodness : 0.998978 Centerline is valid? [True, True] Translation: X:714.01, Y:9.09, Z:11.05 [[ 9.99716388e-01 -1.81133158e-02 -1.54612933e-02 7.14006370e+02] [ 1.81108369e-02 9.99835940e-01 -3.00346599e-04 9.09327963e+00] [ 1.54641970e-02 2.02444568e-05 9.99880422e-01 1.10546235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.0292541539999 meters Centerline goodness : 0.998810 Centerline is valid? [True, True] Translation: X:714.03, Y:9.09, Z:11.05 [[ 9.99641663e-01 -2.18516511e-02 -1.54612714e-02 7.14033705e+02] [ 2.18496019e-02 9.99761224e-01 -3.01468309e-04 9.09154930e+00] [ 1.54641672e-02 -3.64623436e-05 9.99880422e-01 1.10528489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.0592541539999 meters Centerline goodness : 0.999069 Centerline is valid? [True, True] Translation: X:714.06, Y:9.09, Z:11.06 [[ 9.99408432e-01 -3.07206080e-02 -1.54605891e-02 7.14063521e+02] [ 3.07190867e-02 9.99528001e-01 -3.35927010e-04 9.08751105e+00] [ 1.54636116e-02 -1.39206889e-04 9.99880422e-01 1.10553497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.089254154 meters Centerline goodness : 0.998982 Centerline is valid? [True, True] Translation: X:714.09, Y:9.09, Z:11.06 [[ 9.99279775e-01 -3.46537820e-02 -1.54611187e-02 7.14094880e+02] [ 3.46531406e-02 9.99399352e-01 -3.09466783e-04 9.08563769e+00] [ 1.54625562e-02 -2.26532423e-04 9.99880422e-01 1.10553100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.1192541539999 meters Centerline goodness : 0.999133 Centerline is valid? [True, True] Translation: X:714.13, Y:9.08, Z:11.06 [[ 9.99155736e-01 -3.80626894e-02 -1.54611557e-02 7.14127500e+02] [ 3.80624847e-02 9.99275314e-01 -3.07607220e-04 9.08399412e+00] [ 1.54616596e-02 -2.81142484e-04 9.99880422e-01 1.10567579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.1492541539999 meters Centerline goodness : 0.998795 Centerline is valid? [True, True] Translation: X:714.16, Y:9.08, Z:11.06 [[ 9.99036085e-01 -4.10834896e-02 -1.54611781e-02 7.14158881e+02] [ 4.10836639e-02 9.99155663e-01 -3.06479009e-04 9.08228926e+00] [ 1.54607148e-02 -3.29018254e-04 9.99880422e-01 1.10570342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.1792541539999 meters Centerline goodness : 0.998964 Centerline is valid? [True, True] Translation: X:714.19, Y:9.08, Z:11.06 [[ 9.98943831e-01 -4.32686211e-02 -1.54611947e-02 7.14191576e+02] [ 4.32690700e-02 9.99063409e-01 -3.05637931e-04 9.08073630e+00] [ 1.54599384e-02 -3.63676389e-04 9.99880422e-01 1.10575370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.209254154 meters Centerline goodness : 0.999134 Centerline is valid? [True, True] Translation: X:714.22, Y:9.08, Z:11.06 [[ 9.98782524e-01 -4.68446516e-02 -1.54612166e-02 7.14222390e+02] [ 4.68455459e-02 9.98902098e-01 -3.04523691e-04 9.07740245e+00] [ 1.54585070e-02 -4.20136191e-04 9.99880422e-01 1.10588871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.2392541539999 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:714.26, Y:9.08, Z:11.06 [[ 9.98729541e-01 -4.79609731e-02 -1.54612329e-02 7.14255074e+02] [ 4.79620138e-02 9.98849114e-01 -3.03694102e-04 9.07579841e+00] [ 1.54580043e-02 -4.38243596e-04 9.99880422e-01 1.10595189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.2692541539999 meters Centerline goodness : 0.999178 Centerline is valid? [True, True] Translation: X:714.29, Y:9.07, Z:11.06 [[ 9.98702987e-01 -4.85107507e-02 -1.54612544e-02 7.14286878e+02] [ 4.85118742e-02 9.98822560e-01 -3.02597052e-04 9.07419422e+00] [ 1.54577289e-02 -4.47849849e-04 9.99880422e-01 1.10602641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.2992541539999 meters Centerline goodness : 0.999136 Centerline is valid? [True, True] Translation: X:714.32, Y:9.07, Z:11.06 [[ 9.98676439e-01 -4.90542395e-02 -1.54612757e-02 7.14319325e+02] [ 4.90554450e-02 9.98796011e-01 -3.01503418e-04 9.07126329e+00] [ 1.54574505e-02 -4.57355400e-04 9.99880422e-01 1.10617116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.329254154 meters Centerline goodness : 0.999242 Centerline is valid? [True, True] Translation: X:714.35, Y:9.07, Z:11.06 [[ 9.98680123e-01 -4.89791797e-02 -1.54612978e-02 7.14350473e+02] [ 4.89803937e-02 9.98799695e-01 -3.00368260e-04 9.07018126e+00] [ 1.54574513e-02 -4.57328641e-04 9.99880422e-01 1.10606469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.3592541539999 meters Centerline goodness : 0.998989 Centerline is valid? [True, True] Translation: X:714.38, Y:9.07, Z:11.06 [[ 9.98702829e-01 -4.85139799e-02 -1.54613142e-02 7.14381283e+02] [ 4.85151514e-02 9.98822402e-01 -2.99522489e-04 9.06917187e+00] [ 1.54576380e-02 -4.50974039e-04 9.99880422e-01 1.10608210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.3892541539999 meters Centerline goodness : 0.998988 Centerline is valid? [True, True] Translation: X:714.41, Y:9.07, Z:11.06 [[ 9.98714823e-01 -4.82664360e-02 -1.54613482e-02 7.14413562e+02] [ 4.82676051e-02 9.98834396e-01 -2.97757060e-04 9.06741511e+00] [ 1.54576980e-02 -4.48907857e-04 9.99880422e-01 1.10618979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.4192541539999 meters Centerline goodness : 0.999136 Centerline is valid? [True, True] Translation: X:714.45, Y:9.07, Z:11.06 [[ 9.98709565e-01 -4.83751044e-02 -1.54613697e-02 7.14445435e+02] [ 4.83763039e-02 9.98829137e-01 -2.96632575e-04 9.06675416e+00] [ 1.54576162e-02 -4.51714132e-04 9.99880422e-01 1.10618726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.449254154 meters Centerline goodness : 0.999010 Centerline is valid? [True, True] Translation: X:714.48, Y:9.06, Z:11.06 [[ 9.98631992e-01 -4.99508718e-02 -1.54613911e-02 7.14477071e+02] [ 4.99522773e-02 9.98751562e-01 -2.95513703e-04 9.06442988e+00] [ 1.54568497e-02 -4.77222259e-04 9.99880422e-01 1.10587361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.4792541539999 meters Centerline goodness : 0.998948 Centerline is valid? [True, True] Translation: X:714.51, Y:9.06, Z:11.06 [[ 9.98538574e-01 -5.17847642e-02 -1.54614070e-02 7.14508850e+02] [ 5.17864022e-02 9.98658141e-01 -2.94680247e-04 9.06415702e+00] [ 1.54559199e-02 -5.06441047e-04 9.99880422e-01 1.10595748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.5092541539999 meters Centerline goodness : 0.998991 Centerline is valid? [True, True] Translation: X:714.54, Y:9.06, Z:11.06 [[ 9.98434172e-01 -5.37600966e-02 -1.54614274e-02 7.14540723e+02] [ 5.37619877e-02 9.98553735e-01 -2.93608211e-04 9.06366406e+00] [ 1.54548505e-02 -5.38088596e-04 9.99880422e-01 1.10611791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.5392541539999 meters Centerline goodness : 0.998946 Centerline is valid? [True, True] Translation: X:714.57, Y:9.06, Z:11.06 [[ 9.98168158e-01 -5.84916397e-02 -1.54614491e-02 7.14572448e+02] [ 5.84941152e-02 9.98287711e-01 -2.92459164e-04 9.06188670e+00] [ 1.54520810e-02 -6.12480361e-04 9.99880422e-01 1.10611824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.5692541539999 meters Centerline goodness : 0.998780 Centerline is valid? [True, True] Translation: X:714.61, Y:9.06, Z:11.06 [[ 9.98005200e-01 -6.12091798e-02 -1.54614869e-02 7.14605041e+02] [ 6.12120119e-02 9.98124744e-01 -2.90445959e-04 9.06119312e+00] [ 1.54502706e-02 -6.56562144e-04 9.99880422e-01 1.10620432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.5992541539999 meters Centerline goodness : 0.998718 Centerline is valid? [True, True] Translation: X:714.64, Y:9.06, Z:11.06 [[ 9.97840654e-01 -6.38355028e-02 -1.54615193e-02 7.14635884e+02] [ 6.38386763e-02 9.97960190e-01 -2.88712973e-04 9.06046247e+00] [ 1.54484108e-02 -6.98953383e-04 9.99880422e-01 1.10623956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.6292541539999 meters Centerline goodness : 0.998886 Centerline is valid? [True, True] Translation: X:714.67, Y:9.06, Z:11.06 [[ 9.97543413e-01 -6.83233446e-02 -1.54615353e-02 7.14668941e+02] [ 6.83270691e-02 9.97662933e-01 -2.87852813e-04 9.05884569e+00] [ 1.54450677e-02 -7.69295712e-04 9.99880422e-01 1.10626395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.6592541539999 meters Centerline goodness : 0.998843 Centerline is valid? [True, True] Translation: X:714.70, Y:9.06, Z:11.06 [[ 9.97384243e-01 -7.06088713e-02 -1.54615673e-02 7.14700916e+02] [ 7.06128964e-02 9.97503753e-01 -2.86122500e-04 9.05890479e+00] [ 1.54431742e-02 -8.06411978e-04 9.99880422e-01 1.10637967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.6892541539999 meters Centerline goodness : 0.998739 Centerline is valid? [True, True] Translation: X:714.73, Y:9.06, Z:11.06 [[ 9.97293845e-01 -7.18743734e-02 -1.54616196e-02 7.14734314e+02] [ 7.18785942e-02 9.97413348e-01 -2.83270571e-04 9.05831561e+00] [ 1.54419856e-02 -8.28855481e-04 9.99880422e-01 1.10637040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.7192541539999 meters Centerline goodness : 0.998888 Centerline is valid? [True, True] Translation: X:714.77, Y:9.06, Z:11.06 [[ 9.97211943e-01 -7.30019051e-02 -1.54616511e-02 7.14765841e+02] [ 7.30062878e-02 9.97331441e-01 -2.81537025e-04 9.05819894e+00] [ 1.54409435e-02 -8.48045668e-04 9.99880422e-01 1.10627268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.7492541539999 meters Centerline goodness : 0.998826 Centerline is valid? [True, True] Translation: X:714.80, Y:9.06, Z:11.07 [[ 9.97104980e-01 -7.44486127e-02 -1.54616667e-02 7.14798311e+02] [ 7.44531821e-02 9.97224471e-01 -2.80679659e-04 9.05877647e+00] [ 1.54396486e-02 -8.71303199e-04 9.99880422e-01 1.10655810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.7792541539999 meters Centerline goodness : 0.998868 Centerline is valid? [True, True] Translation: X:714.83, Y:9.06, Z:11.07 [[ 9.97013413e-01 -7.56649837e-02 -1.54616874e-02 7.14830456e+02] [ 7.56697165e-02 9.97132898e-01 -2.79534969e-04 9.05834306e+00] [ 1.54385082e-02 -8.91281387e-04 9.99880422e-01 1.10657628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.8092541539999 meters Centerline goodness : 0.998701 Centerline is valid? [True, True] Translation: X:714.86, Y:9.06, Z:11.06 [[ 9.97010979e-01 -7.56970398e-02 -1.54617381e-02 7.14863202e+02] [ 7.57018203e-02 9.97130462e-01 -2.76699002e-04 9.05784793e+00] [ 1.54383154e-02 -8.94609779e-04 9.99880422e-01 1.10640711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.839254154 meters Centerline goodness : 0.998973 Centerline is valid? [True, True] Translation: X:714.89, Y:9.06, Z:11.07 [[ 9.96971629e-01 -7.62135503e-02 -1.54617634e-02 7.14894936e+02] [ 7.62184147e-02 9.97091108e-01 -2.75281581e-04 9.05837166e+00] [ 1.54377670e-02 -9.04023165e-04 9.99880422e-01 1.10669964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.8692541539999 meters Centerline goodness : 0.998847 Centerline is valid? [True, True] Translation: X:714.94, Y:9.05, Z:11.06 [[ 9.97497690e-01 -6.89876244e-02 -1.54617836e-02 7.14936832e+02] [ 6.89916405e-02 9.97617200e-01 -2.74142703e-04 9.05122075e+00] [ 1.54438537e-02 -7.93277100e-04 9.99880422e-01 1.10637354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.8992541539999 meters Centerline goodness : 0.998974 Centerline is valid? [True, True] Translation: X:714.97, Y:9.05, Z:11.06 [[ 9.97515684e-01 -6.87246500e-02 -1.54720258e-02 7.14968158e+02] [ 6.87376822e-02 9.97634720e-01 3.11472553e-04 9.05174637e+00] [ 1.54140242e-02 -1.37420995e-03 9.99880253e-01 1.10632374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.9292541539999 meters Centerline goodness : 0.998932 Centerline is valid? [True, True] Translation: X:714.98, Y:9.06, Z:11.07 [[ 9.97037340e-01 -7.53471396e-02 -1.54709586e-02 7.14984904e+02] [ 7.53600346e-02 9.97156358e-01 2.51382883e-04 9.06174059e+00] [ 1.54080237e-02 -1.41653009e-03 9.99880286e-01 1.10695968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.959254154 meters Centerline goodness : 0.998952 Centerline is valid? [True, True] Translation: X:715.02, Y:9.06, Z:11.07 [[ 9.97403978e-01 -7.03297626e-02 -1.54605877e-02 7.15021717e+02] [ 7.03336312e-02 9.97523480e-01 -2.94039103e-04 9.06090702e+00] [ 1.54429789e-02 -7.94123502e-04 9.99880435e-01 1.10709476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.9892541539999 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:715.05, Y:9.07, Z:11.07 [[ 9.97406657e-01 -7.02909246e-02 -1.54643526e-02 7.15047699e+02] [ 7.02978965e-02 9.97526038e-01 -9.29586445e-05 9.06580177e+00] [ 1.54326285e-02 -9.94393887e-04 9.99880415e-01 1.10709686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.0192541539999 meters Centerline goodness : 0.999139 Centerline is valid? [True, True] Translation: X:715.08, Y:9.07, Z:11.07 [[ 9.97581134e-01 -6.77705869e-02 -1.54605238e-02 7.15081055e+02] [ 6.77741466e-02 9.97700646e-01 -2.94187939e-04 9.06769577e+00] [ 1.54449119e-02 -7.54347471e-04 9.99880436e-01 1.10717226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.0492541539999 meters Centerline goodness : 0.998888 Centerline is valid? [True, True] Translation: X:715.12, Y:9.07, Z:11.07 [[ 9.98022199e-01 -6.09316169e-02 -1.54605558e-02 7.15117456e+02] [ 6.09343835e-02 9.98141731e-01 -2.92501000e-04 9.06856131e+00] [ 1.54496484e-02 -6.50156942e-04 9.99880436e-01 1.10719002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.079254154 meters Centerline goodness : 0.999097 Centerline is valid? [True, True] Translation: X:715.14, Y:9.07, Z:11.07 [[ 9.98104067e-01 -5.95746349e-02 -1.54639540e-02 7.15144170e+02] [ 5.95800428e-02 9.98223525e-01 -1.11161855e-04 9.07271535e+00] [ 1.54431051e-02 -8.10391942e-04 9.99880420e-01 1.10704621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.1092541539999 meters Centerline goodness : 0.999097 Centerline is valid? [True, True] Translation: X:715.18, Y:9.07, Z:11.07 [[ 9.98108112e-01 -5.95077254e-02 -1.54605170e-02 7.15176847e+02] [ 5.95103181e-02 9.98227648e-01 -2.92711518e-04 9.07335833e+00] [ 1.54505341e-02 -6.27902545e-04 9.99880436e-01 1.10710172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.1392541539999 meters Centerline goodness : 0.999035 Centerline is valid? [True, True] Translation: X:715.21, Y:9.08, Z:11.07 [[ 9.98276381e-01 -5.66148218e-02 -1.54605374e-02 7.15208762e+02] [ 5.66170848e-02 9.98395924e-01 -2.91631514e-04 9.07545463e+00] [ 1.54522482e-02 -5.84201702e-04 9.99880436e-01 1.10716834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.1692541539999 meters Centerline goodness : 0.996982 Centerline is valid? [True, True] Translation: X:715.24, Y:9.08, Z:11.07 [[ 9.98526395e-01 -5.20193154e-02 -1.54605579e-02 7.15241311e+02] [ 5.20210450e-02 9.98645947e-01 -2.90536907e-04 9.07968140e+00] [ 1.54547371e-02 -5.14165611e-04 9.99880436e-01 1.10748808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.199254154 meters Centerline goodness : 0.998992 Centerline is valid? [True, True] Translation: X:715.27, Y:9.08, Z:11.08 [[ 9.98642355e-01 -4.97435145e-02 -1.54605902e-02 7.15272411e+02] [ 4.97449983e-02 9.98761909e-01 -2.88812949e-04 9.08056683e+00] [ 1.54558151e-02 -4.80666188e-04 9.99880436e-01 1.10752144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.2292541539999 meters Centerline goodness : 0.998992 Centerline is valid? [True, True] Translation: X:715.30, Y:9.08, Z:11.08 [[ 9.98749493e-01 -4.75438741e-02 -1.54606095e-02 7.15304264e+02] [ 4.75451107e-02 9.98869050e-01 -2.87774923e-04 9.08189134e+00] [ 1.54568062e-02 -4.47661331e-04 9.99880436e-01 1.10755029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.2592541539999 meters Centerline goodness : 0.998970 Centerline is valid? [True, True] Translation: X:715.34, Y:9.08, Z:11.08 [[ 9.98887832e-01 -4.45428848e-02 -1.54606303e-02 7.15335045e+02] [ 4.45437796e-02 9.99007392e-01 -2.86650491e-04 9.08422782e+00] [ 1.54580522e-02 -4.02343222e-04 9.99880436e-01 1.10757488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.2892541539999 meters Centerline goodness : 0.999033 Centerline is valid? [True, True] Translation: X:715.37, Y:9.09, Z:11.08 [[ 9.98952835e-01 -4.30604494e-02 -1.54606458e-02 7.15367117e+02] [ 4.30611796e-02 9.99072396e-01 -2.85814429e-04 9.08540785e+00] [ 1.54586117e-02 -3.80238511e-04 9.99880436e-01 1.10762242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.3192541539999 meters Centerline goodness : 0.998906 Centerline is valid? [True, True] Translation: X:715.40, Y:9.09, Z:11.07 [[ 9.99029464e-01 -4.12443743e-02 -1.54606665e-02 7.15398388e+02] [ 4.12449046e-02 9.99149026e-01 -2.84686737e-04 9.08624880e+00] [ 1.54592516e-02 -3.53263278e-04 9.99880436e-01 1.10733835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.3492541539999 meters Centerline goodness : 0.999159 Centerline is valid? [True, True] Translation: X:715.43, Y:9.09, Z:11.08 [[ 9.99049049e-01 -4.07672072e-02 -1.54606820e-02 7.15430719e+02] [ 4.07676935e-02 9.99168612e-01 -2.83846043e-04 9.08801546e+00] [ 1.54593998e-02 -3.46720224e-04 9.99880436e-01 1.10757489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.3792541539999 meters Centerline goodness : 0.998865 Centerline is valid? [True, True] Translation: X:715.46, Y:9.09, Z:11.08 [[ 9.99107308e-01 -3.93135210e-02 -1.54607018e-02 7.15463054e+02] [ 3.93138501e-02 9.99226872e-01 -2.82761689e-04 9.08960993e+00] [ 1.54598651e-02 -3.25310443e-04 9.99880436e-01 1.10775979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.4092541539999 meters Centerline goodness : 0.998970 Centerline is valid? [True, True] Translation: X:715.49, Y:9.09, Z:11.08 [[ 9.99122298e-01 -3.89306944e-02 -1.54607221e-02 7.15494837e+02] [ 3.89309949e-02 9.99241862e-01 -2.81646544e-04 9.09050540e+00] [ 1.54599655e-02 -3.20501952e-04 9.99880436e-01 1.10791248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.4392541539999 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:715.53, Y:9.09, Z:11.08 [[ 9.99130701e-01 -3.87144521e-02 -1.54607424e-02 7.15526059e+02] [ 3.87147440e-02 9.99250264e-01 -2.80529858e-04 9.09109442e+00] [ 1.54600115e-02 -3.18272689e-04 9.99880436e-01 1.10810818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.4692541539999 meters Centerline goodness : 0.998824 Centerline is valid? [True, True] Translation: X:715.56, Y:9.09, Z:11.08 [[ 9.99140690e-01 -3.84557739e-02 -1.54607574e-02 7.15558520e+02] [ 3.84560477e-02 9.99260253e-01 -2.79698719e-04 9.09108364e+00] [ 1.54600764e-02 -3.15101253e-04 9.99880436e-01 1.10802990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.4992541539999 meters Centerline goodness : 0.999054 Centerline is valid? [True, True] Translation: X:715.59, Y:9.09, Z:11.08 [[ 9.99120458e-01 -3.89778671e-02 -1.54607772e-02 7.15590735e+02] [ 3.89782203e-02 9.99240022e-01 -2.78602614e-04 9.09161929e+00] [ 1.54598867e-02 -3.24276008e-04 9.99880436e-01 1.10831661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.5292541539999 meters Centerline goodness : 0.998908 Centerline is valid? [True, True] Translation: X:715.62, Y:9.09, Z:11.08 [[ 9.99100384e-01 -3.94890626e-02 -1.54607975e-02 7.15621556e+02] [ 3.94894945e-02 9.99219947e-01 -2.77468595e-04 9.09249803e+00] [ 1.54596943e-02 -3.33320100e-04 9.99880436e-01 1.10815990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.5592541539999 meters Centerline goodness : 0.999076 Centerline is valid? [True, True] Translation: X:715.65, Y:9.09, Z:11.08 [[ 9.99057688e-01 -4.05552245e-02 -1.54599151e-02 7.15651854e+02] [ 4.05550265e-02 9.99177253e-01 -3.26438745e-04 9.09104975e+00] [ 1.54604343e-02 -3.00846129e-04 9.99880435e-01 1.10843138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.589254154 meters Centerline goodness : 0.998827 Centerline is valid? [True, True] Translation: X:715.68, Y:9.09, Z:11.08 [[ 9.99005546e-01 -4.18200325e-02 -1.54597543e-02 7.15683976e+02] [ 4.18198487e-02 9.99125111e-01 -3.35314240e-04 9.09037284e+00] [ 1.54602516e-02 -3.11543798e-04 9.99880435e-01 1.10832587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.6192541539999 meters Centerline goodness : 0.998971 Centerline is valid? [True, True] Translation: X:715.72, Y:9.09, Z:11.08 [[ 9.98923602e-01 -4.37334414e-02 -1.54603983e-02 7.15715503e+02] [ 4.37340399e-02 9.99043164e-01 -2.99543417e-04 9.08966696e+00] [ 1.54587053e-02 -3.76924688e-04 9.99880436e-01 1.10812928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.6492541539999 meters Centerline goodness : 0.999015 Centerline is valid? [True, True] Translation: X:715.75, Y:9.09, Z:11.08 [[ 9.98859512e-01 -4.51734299e-02 -1.54608157e-02 7.15746756e+02] [ 4.51745621e-02 9.98979070e-01 -2.76178681e-04 9.08926532e+00] [ 1.54575072e-02 -4.22571877e-04 9.99880436e-01 1.10812262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.6792541539999 meters Centerline goodness : 0.999013 Centerline is valid? [True, True] Translation: X:715.78, Y:9.09, Z:11.08 [[ 9.98718365e-01 -4.81932508e-02 -1.54608297e-02 7.15778697e+02] [ 4.81947566e-02 9.98837920e-01 -2.75391079e-04 9.08848369e+00] [ 1.54561350e-02 -4.70092798e-04 9.99880436e-01 1.10818689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.709254154 meters Centerline goodness : 0.998908 Centerline is valid? [True, True] Translation: X:715.82, Y:9.08, Z:11.08 [[ 9.99010553e-01 -4.16998519e-02 -1.54608494e-02 7.15818378e+02] [ 4.17005976e-02 9.99130114e-01 -2.74283432e-04 9.08021409e+00] [ 1.54588378e-02 -3.70714617e-04 9.99880436e-01 1.10772121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.7392541539999 meters Centerline goodness : 0.998969 Centerline is valid? [True, True] Translation: X:715.84, Y:9.09, Z:11.08 [[ 9.98621030e-01 -5.01673025e-02 -1.54686650e-02 7.15838306e+02] [ 5.01761446e-02 9.98740367e-01 1.83802105e-04 9.08850465e+00] [ 1.54399593e-02 -9.59706619e-04 9.99880336e-01 1.10831295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.7692541539999 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:715.87, Y:9.09, Z:11.08 [[ 9.98618590e-01 -5.02184142e-02 -1.54603373e-02 7.15869064e+02] [ 5.02201137e-02 9.98738135e-01 -2.78530947e-04 9.08791011e+00] [ 1.54548158e-02 -4.98273716e-04 9.99880443e-01 1.10832537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.7992541539999 meters Centerline goodness : 0.999201 Centerline is valid? [True, True] Translation: X:715.90, Y:9.09, Z:11.08 [[ 9.98631128e-01 -4.99684670e-02 -1.54603526e-02 7.15900937e+02] [ 4.99701498e-02 9.98750673e-01 -2.77678468e-04 9.08770599e+00] [ 1.54549128e-02 -4.95257775e-04 9.99880443e-01 1.10841425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.829254154 meters Centerline goodness : 0.998719 Centerline is valid? [True, True] Translation: X:715.93, Y:9.09, Z:11.08 [[ 9.98677723e-01 -4.90283908e-02 -1.54603730e-02 7.15932769e+02] [ 4.90299787e-02 9.98797269e-01 -2.76538090e-04 9.08715258e+00] [ 1.54553366e-02 -4.81849330e-04 9.99880443e-01 1.10822929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.8592541539999 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:715.96, Y:9.09, Z:11.08 [[ 9.98688483e-01 -4.88087132e-02 -1.54603932e-02 7.15964143e+02] [ 4.88102923e-02 9.98808029e-01 -2.75406172e-04 9.08722682e+00] [ 1.54554071e-02 -4.79581338e-04 9.99880443e-01 1.10838847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.8892541539999 meters Centerline goodness : 0.999098 Centerline is valid? [True, True] Translation: X:716.00, Y:9.08, Z:11.08 [[ 9.98908668e-01 -4.40732135e-02 -1.54604082e-02 7.15999415e+02] [ 4.40742388e-02 9.99028221e-01 -2.74563159e-04 9.08143566e+00] [ 1.54574849e-02 -4.07142202e-04 9.99880443e-01 1.10819778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.9192541539999 meters Centerline goodness : 0.999287 Centerline is valid? [True, True] Translation: X:716.02, Y:9.09, Z:11.09 [[ 9.98678194e-01 -4.90171944e-02 -1.54654093e-02 7.16023842e+02] [ 4.90232494e-02 9.98797638e-01 1.24272814e-05 9.08631148e+00] [ 1.54462051e-02 -7.70575471e-04 9.99880403e-01 1.10861093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.949254154 meters Centerline goodness : 0.999034 Centerline is valid? [True, True] Translation: X:716.06, Y:9.08, Z:11.09 [[ 9.98645913e-01 -4.96721449e-02 -1.54602056e-02 7.16056279e+02] [ 4.96737948e-02 9.98765457e-01 -2.77508147e-04 9.08479317e+00] [ 1.54549038e-02 -4.90834706e-04 9.99880445e-01 1.10865274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.9792541539999 meters Centerline goodness : 0.999518 Centerline is valid? [True, True] Translation: X:716.09, Y:9.08, Z:11.09 [[ 9.98611726e-01 -5.03547655e-02 -1.54602262e-02 7.16088182e+02] [ 5.03565149e-02 9.98731268e-01 -2.76358690e-04 9.08462560e+00] [ 1.54545273e-02 -5.02548082e-04 9.99880445e-01 1.10869227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.0092541539999 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:716.12, Y:9.08, Z:11.09 [[ 9.98570888e-01 -5.11582146e-02 -1.54602465e-02 7.16119984e+02] [ 5.11600778e-02 9.98690428e-01 -2.75215723e-04 9.08434836e+00] [ 1.54540798e-02 -5.16125007e-04 9.99880445e-01 1.10862856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.0392541539999 meters Centerline goodness : 0.999035 Centerline is valid? [True, True] Translation: X:716.15, Y:9.08, Z:11.09 [[ 9.98459173e-01 -5.32940917e-02 -1.54602671e-02 7.16151703e+02] [ 5.32962286e-02 9.98578708e-01 -2.74057913e-04 9.08355072e+00] [ 1.54528992e-02 -5.50338290e-04 9.99880445e-01 1.10850821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.0692541539999 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:716.18, Y:9.08, Z:11.09 [[ 9.98347542e-01 -5.53458745e-02 -1.54602823e-02 7.16183386e+02] [ 5.53482704e-02 9.98467072e-01 -2.73194904e-04 9.08391994e+00] [ 1.54517030e-02 -5.82956425e-04 9.99880445e-01 1.10873104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.0992541539999 meters Centerline goodness : 0.999037 Centerline is valid? [True, True] Translation: X:716.23, Y:9.07, Z:11.08 [[ 9.98742190e-01 -4.76971392e-02 -1.54603023e-02 7.16225113e+02] [ 4.76986369e-02 9.98861735e-01 -2.72057862e-04 9.07346871e+00] [ 1.54556808e-02 -4.65719682e-04 9.99880445e-01 1.10817962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.1292541539999 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:716.24, Y:9.08, Z:11.09 [[ 9.98082667e-01 -5.99305014e-02 -1.54701507e-02 7.16241625e+02] [ 5.99426218e-02 9.98201773e-01 3.20559119e-04 9.08339373e+00] [ 1.54231206e-02 -1.24726589e-03 9.99880279e-01 1.10871459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.1592541539999 meters Centerline goodness : 0.998972 Centerline is valid? [True, True] Translation: X:716.28, Y:9.08, Z:11.08 [[ 9.98287702e-01 -5.64151627e-02 -1.54594225e-02 7.16280878e+02] [ 5.64176207e-02 9.98407219e-01 -2.77423633e-04 9.07531515e+00] [ 1.54504499e-02 -5.95235234e-04 9.99880457e-01 1.10829230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.1892541539999 meters Centerline goodness : 0.998867 Centerline is valid? [True, True] Translation: X:716.30, Y:9.08, Z:11.09 [[ 9.97742504e-01 -6.53503167e-02 -1.54671355e-02 7.16301350e+02] [ 6.53607393e-02 9.97861686e-01 1.68775668e-04 9.08371105e+00] [ 1.54230324e-02 -1.17933807e-03 9.99880362e-01 1.10885332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.2192541539999 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:716.33, Y:9.08, Z:11.09 [[ 9.97683131e-01 -6.62524996e-02 -1.54588891e-02 7.16333108e+02] [ 6.62560563e-02 9.97802613e-01 -2.82526196e-04 9.08473330e+00] [ 1.54436380e-02 -7.42373406e-04 9.99880464e-01 1.10898372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.2492541539999 meters Centerline goodness : 0.998847 Centerline is valid? [True, True] Translation: X:716.36, Y:9.09, Z:11.09 [[ 9.97659388e-01 -6.66090659e-02 -1.54589097e-02 7.16363885e+02] [ 6.66126829e-02 9.97778869e-01 -2.81392315e-04 9.08610440e+00] [ 1.54433167e-02 -7.49025767e-04 9.99880464e-01 1.10907627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.2792541539999 meters Centerline goodness : 0.998869 Centerline is valid? [True, True] Translation: X:716.40, Y:9.09, Z:11.09 [[ 9.97698755e-01 -6.60167795e-02 -1.54589465e-02 7.16397326e+02] [ 6.60203570e-02 9.97818237e-01 -2.79358640e-04 9.08744198e+00] [ 1.54436611e-02 -7.41889397e-04 9.99880464e-01 1.10914039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.3092541539999 meters Centerline goodness : 0.998848 Centerline is valid? [True, True] Translation: X:716.43, Y:9.09, Z:11.09 [[ 9.97787923e-01 -6.46550969e-02 -1.54589765e-02 7.16430591e+02] [ 6.46585371e-02 9.97907409e-01 -2.77689520e-04 9.08869213e+00] [ 1.54445812e-02 -7.22479553e-04 9.99880464e-01 1.10907280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.339254154 meters Centerline goodness : 0.999037 Centerline is valid? [True, True] Translation: X:716.46, Y:9.09, Z:11.09 [[ 9.97937038e-01 -6.23112208e-02 -1.54590074e-02 7.16462405e+02] [ 6.23144071e-02 9.98056531e-01 -2.75955306e-04 9.09206869e+00] [ 1.54461584e-02 -6.87932862e-04 9.99880464e-01 1.10920555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.3692541539999 meters Centerline goodness : 0.998848 Centerline is valid? [True, True] Translation: X:716.50, Y:9.09, Z:11.09 [[ 9.98025846e-01 -6.08722411e-02 -1.54590329e-02 7.16495063e+02] [ 6.08752774e-02 9.98145343e-01 -2.74519934e-04 9.09378165e+00] [ 1.54470723e-02 -6.67094927e-04 9.99880464e-01 1.10926876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.3992541539999 meters Centerline goodness : 0.998702 Centerline is valid? [True, True] Translation: X:716.53, Y:9.09, Z:11.09 [[ 9.98129632e-01 -5.91460526e-02 -1.54590526e-02 7.16526807e+02] [ 5.91488994e-02 9.98249134e-01 -2.73403843e-04 9.09497083e+00] [ 1.54481567e-02 -6.41493472e-04 9.99880464e-01 1.10915623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.4292541539999 meters Centerline goodness : 0.998766 Centerline is valid? [True, True] Translation: X:716.56, Y:9.10, Z:11.09 [[ 9.98280698e-01 -5.65390571e-02 -1.54590723e-02 7.16558772e+02] [ 5.65416091e-02 9.98400207e-01 -2.72287751e-04 9.09716067e+00] [ 1.54497359e-02 -6.02261217e-04 9.99880464e-01 1.10926834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.459254154 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:716.59, Y:9.10, Z:11.10 [[ 9.98287326e-01 -5.64219107e-02 -1.54590918e-02 7.16591353e+02] [ 5.64244659e-02 9.98406834e-01 -2.71176723e-04 9.09951855e+00] [ 1.54497632e-02 -6.01558711e-04 9.99880464e-01 1.10958017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.4892541539999 meters Centerline goodness : 0.998846 Centerline is valid? [True, True] Translation: X:716.62, Y:9.10, Z:11.10 [[ 9.98327344e-01 -5.57093443e-02 -1.54591111e-02 7.16623056e+02] [ 5.57118312e-02 9.98446853e-01 -2.70072805e-04 9.10130796e+00] [ 1.54501464e-02 -5.91634321e-04 9.99880464e-01 1.10962120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.5192541539999 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:716.66, Y:9.10, Z:11.10 [[ 9.98377560e-01 -5.48020283e-02 -1.54591302e-02 7.16655524e+02] [ 5.48044235e-02 9.98497072e-01 -2.68973383e-04 9.10417613e+00] [ 1.54506365e-02 -5.78691730e-04 9.99880464e-01 1.10965127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.5492541539999 meters Centerline goodness : 0.998824 Centerline is valid? [True, True] Translation: X:716.69, Y:9.11, Z:11.10 [[ 9.98381724e-01 -5.47261152e-02 -1.54591495e-02 7.16688067e+02] [ 5.47285186e-02 9.98501236e-01 -2.67861762e-04 9.10576316e+00] [ 1.54506389e-02 -5.78628062e-04 9.99880464e-01 1.10964983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.579254154 meters Centerline goodness : 0.998929 Centerline is valid? [True, True] Translation: X:716.72, Y:9.11, Z:11.10 [[ 9.98402343e-01 -5.43486456e-02 -1.54591692e-02 7.16720594e+02] [ 5.43510214e-02 9.98521855e-01 -2.66719864e-04 9.10684936e+00] [ 1.54508141e-02 -5.73927898e-04 9.99880464e-01 1.10953258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.6092541539999 meters Centerline goodness : 0.999010 Centerline is valid? [True, True] Translation: X:716.75, Y:9.11, Z:11.10 [[ 9.98372161e-01 -5.49002818e-02 -1.54591887e-02 7.16752615e+02] [ 5.49027413e-02 9.98491672e-01 -2.65583883e-04 9.10925058e+00] [ 1.54504518e-02 -5.83600281e-04 9.99880464e-01 1.10952378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.6392541539999 meters Centerline goodness : 0.999073 Centerline is valid? [True, True] Translation: X:716.79, Y:9.10, Z:11.09 [[ 9.98713313e-01 -4.82983616e-02 -1.54592079e-02 7.16790831e+02] [ 4.83000482e-02 9.98832837e-01 -2.64458471e-04 9.10289630e+00] [ 1.54539374e-02 -4.82562294e-04 9.99880464e-01 1.10889554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.6692541539999 meters Centerline goodness : 0.998904 Centerline is valid? [True, True] Translation: X:716.81, Y:9.11, Z:11.10 [[ 9.98329040e-01 -5.56768907e-02 -1.54664581e-02 7.16810995e+02] [ 5.56861623e-02 9.98448308e-01 1.69118582e-04 9.11288855e+00] [ 1.54330430e-02 -1.03010369e-03 9.99880373e-01 1.10959500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.699254154 meters Centerline goodness : 0.999031 Centerline is valid? [True, True] Translation: X:716.84, Y:9.12, Z:11.10 [[ 9.98339256e-01 -5.54955805e-02 -1.54586795e-02 7.16841796e+02] [ 5.54980056e-02 9.98458761e-01 -2.72401432e-04 9.11510613e+00] [ 1.54499711e-02 -5.85976839e-04 9.99880470e-01 1.10968357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.7292541539999 meters Centerline goodness : 0.999032 Centerline is valid? [True, True] Translation: X:716.87, Y:9.12, Z:11.10 [[ 9.98358027e-01 -5.51568549e-02 -1.54587113e-02 7.16872589e+02] [ 5.51592675e-02 9.98477532e-01 -2.70585240e-04 9.11776125e+00] [ 1.54501005e-02 -5.82550247e-04 9.99880470e-01 1.10977491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.7592541539999 meters Centerline goodness : 0.998799 Centerline is valid? [True, True] Translation: X:716.90, Y:9.12, Z:11.10 [[ 9.98338057e-01 -5.55171310e-02 -1.54587259e-02 7.16904811e+02] [ 5.55195996e-02 9.98457561e-01 -2.69749986e-04 9.11931644e+00] [ 1.54498575e-02 -5.88960595e-04 9.99880470e-01 1.10982680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.7892541539999 meters Centerline goodness : 0.998799 Centerline is valid? [True, True] Translation: X:716.94, Y:9.12, Z:11.10 [[ 9.98337782e-01 -5.55220752e-02 -1.54587451e-02 7.16936235e+02] [ 5.55245615e-02 9.98457285e-01 -2.68647017e-04 9.12063518e+00] [ 1.54498125e-02 -5.90139573e-04 9.99880470e-01 1.10989006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.8192541539999 meters Centerline goodness : 0.998628 Centerline is valid? [True, True] Translation: X:716.97, Y:9.12, Z:11.10 [[ 9.98318093e-01 -5.58749687e-02 -1.54587593e-02 7.16967679e+02] [ 5.58775099e-02 9.98437596e-01 -2.67824987e-04 9.12257246e+00] [ 1.54495712e-02 -5.96422445e-04 9.99880470e-01 1.10987113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.8492541539999 meters Centerline goodness : 0.998881 Centerline is valid? [True, True] Translation: X:717.00, Y:9.12, Z:11.10 [[ 9.98277937e-01 -5.65878756e-02 -1.54587734e-02 7.16999980e+02] [ 5.65905148e-02 9.98397437e-01 -2.67010004e-04 9.12395286e+00] [ 1.54491092e-02 -6.08269747e-04 9.99880470e-01 1.11001531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.8792541539999 meters Centerline goodness : 0.998946 Centerline is valid? [True, True] Translation: X:717.03, Y:9.13, Z:11.10 [[ 9.98231218e-01 -5.74061134e-02 -1.54587919e-02 7.17031921e+02] [ 5.74088672e-02 9.98350716e-01 -2.65932003e-04 9.12542538e+00] [ 1.54485621e-02 -6.22010105e-04 9.99880470e-01 1.11018437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.9092541539999 meters Centerline goodness : 0.998669 Centerline is valid? [True, True] Translation: X:717.06, Y:9.13, Z:11.10 [[ 9.98224241e-01 -5.75273014e-02 -1.54588102e-02 7.17063915e+02] [ 5.75300862e-02 9.98343738e-01 -2.64862545e-04 9.12631002e+00] [ 1.54484432e-02 -6.24954473e-04 9.99880470e-01 1.11012458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.9392541539999 meters Centerline goodness : 0.998819 Centerline is valid? [True, True] Translation: X:717.10, Y:9.13, Z:11.10 [[ 9.98151793e-01 -5.87709296e-02 -1.54588292e-02 7.17096151e+02] [ 5.87738805e-02 9.98271287e-01 -2.63753059e-04 9.12841580e+00] [ 1.54476063e-02 -6.45309789e-04 9.99880470e-01 1.11022677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.9692541539999 meters Centerline goodness : 0.999012 Centerline is valid? [True, True] Translation: X:717.13, Y:9.13, Z:11.10 [[ 9.98153665e-01 -5.87391246e-02 -1.54588481e-02 7.17128500e+02] [ 5.87420889e-02 9.98273158e-01 -2.62640052e-04 9.12965136e+00] [ 1.54475803e-02 -6.45929897e-04 9.99880470e-01 1.11020496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.9992541539999 meters Centerline goodness : 0.998883 Centerline is valid? [True, True] Translation: X:717.16, Y:9.13, Z:11.10 [[ 9.98163504e-01 -5.85716949e-02 -1.54588715e-02 7.17161308e+02] [ 5.85746606e-02 9.98282996e-01 -2.61253273e-04 9.13077861e+00] [ 1.54476306e-02 -6.44724669e-04 9.99880470e-01 1.11021950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.0292541539999 meters Centerline goodness : 0.998883 Centerline is valid? [True, True] Translation: X:717.19, Y:9.13, Z:11.10 [[ 9.98169751e-01 -5.84651256e-02 -1.54588992e-02 7.17194839e+02] [ 5.84681040e-02 9.98289243e-01 -2.59603001e-04 9.13124652e+00] [ 1.54476305e-02 -6.44724665e-04 9.99880470e-01 1.11027130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.0592541539999 meters Centerline goodness : 0.999071 Centerline is valid? [True, True] Translation: X:717.23, Y:9.13, Z:11.10 [[ 9.98197955e-01 -5.79815797e-02 -1.54589268e-02 7.17228138e+02] [ 5.79845257e-02 9.98317449e-01 -2.57952727e-04 9.13306988e+00] [ 1.54478728e-02 -6.38890653e-04 9.99880470e-01 1.11033741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.089254154 meters Centerline goodness : 0.998965 Centerline is valid? [True, True] Translation: X:717.27, Y:9.13, Z:11.10 [[ 9.98578754e-01 -5.10048384e-02 -1.54589541e-02 7.17268044e+02] [ 5.10069749e-02 9.98698264e-01 -2.56304689e-04 9.12621749e+00] [ 1.54519034e-02 -5.32574066e-04 9.99880470e-01 1.10987577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.1192541539999 meters Centerline goodness : 0.999050 Centerline is valid? [True, True] Translation: X:717.29, Y:9.14, Z:11.10 [[ 9.98267513e-01 -5.67695256e-02 -1.54658981e-02 7.17288428e+02] [ 5.67790219e-02 9.98386755e-01 1.75254657e-04 9.13548780e+00] [ 1.54309987e-02 -1.05308959e-03 9.99880380e-01 1.11041071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.1492541539999 meters Centerline goodness : 0.998963 Centerline is valid? [True, True] Translation: X:717.32, Y:9.14, Z:11.11 [[ 9.98446041e-01 -5.35400790e-02 -1.54584472e-02 7.17320704e+02] [ 5.35424165e-02 9.98565541e-01 -2.62916159e-04 9.13842283e+00] [ 1.54503492e-02 -5.65175019e-04 9.99880476e-01 1.11051297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.1792541539999 meters Centerline goodness : 0.999006 Centerline is valid? [True, True] Translation: X:717.35, Y:9.14, Z:11.11 [[ 9.98562438e-01 -5.13234139e-02 -1.54584704e-02 7.17353271e+02] [ 5.13255073e-02 9.98681943e-01 -2.61540726e-04 9.14025067e+00] [ 1.54515185e-02 -5.32249094e-04 9.99880477e-01 1.11056963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.209254154 meters Centerline goodness : 0.999071 Centerline is valid? [True, True] Translation: X:717.38, Y:9.14, Z:11.11 [[ 9.98690942e-01 -4.87589654e-02 -1.54584886e-02 7.17384908e+02] [ 4.87607686e-02 9.98810452e-01 -2.60463186e-04 9.14227372e+00] [ 1.54527999e-02 -4.93645561e-04 9.99880477e-01 1.11060951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.2392541539999 meters Centerline goodness : 0.998897 Centerline is valid? [True, True] Translation: X:717.42, Y:9.14, Z:11.11 [[ 9.98949787e-01 -4.31318582e-02 -1.54585021e-02 7.17416780e+02] [ 4.31330005e-02 9.99069305e-01 -2.59660727e-04 9.14494439e+00] [ 1.54553146e-02 -4.07383550e-04 9.99880477e-01 1.11060762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.2692541539999 meters Centerline goodness : 0.999004 Centerline is valid? [True, True] Translation: X:717.45, Y:9.15, Z:11.11 [[ 9.99069113e-01 -4.02733476e-02 -1.54585198e-02 7.17449353e+02] [ 4.02741642e-02 9.99188633e-01 -2.58603433e-04 9.14654054e+00] [ 1.54563921e-02 -3.64216262e-04 9.99880477e-01 1.11064571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.2992541539999 meters Centerline goodness : 0.998877 Centerline is valid? [True, True] Translation: X:717.48, Y:9.15, Z:11.11 [[ 9.99168159e-01 -3.77362516e-02 -1.54585373e-02 7.17481629e+02] [ 3.77367810e-02 9.99287681e-01 -2.57553834e-04 9.14856711e+00] [ 1.54572450e-02 -3.26015845e-04 9.99880477e-01 1.11069247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.329254154 meters Centerline goodness : 0.998940 Centerline is valid? [True, True] Translation: X:717.51, Y:9.15, Z:11.11 [[ 9.99303453e-01 -3.39653062e-02 -1.54585546e-02 7.17512932e+02] [ 3.39654007e-02 9.99422976e-01 -2.56508408e-04 9.15170590e+00] [ 1.54583470e-02 -2.68726264e-04 9.99880477e-01 1.11076050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.3592541539999 meters Centerline goodness : 0.999130 Centerline is valid? [True, True] Translation: X:717.54, Y:9.15, Z:11.11 [[ 9.99354870e-01 -3.24172412e-02 -1.54585675e-02 7.17543345e+02] [ 3.24171626e-02 9.99474393e-01 -2.55730008e-04 9.15375146e+00] [ 1.54587324e-02 -2.45557867e-04 9.99880477e-01 1.11096355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.3892541539999 meters Centerline goodness : 0.999130 Centerline is valid? [True, True] Translation: X:717.57, Y:9.15, Z:11.11 [[ 9.99350560e-01 -3.25504070e-02 -1.54573588e-02 7.17574644e+02] [ 3.25492242e-02 9.99470080e-01 -3.28155357e-04 9.15349236e+00] [ 1.54598492e-02 -1.75182798e-04 9.99880474e-01 1.11085221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.4192541539999 meters Centerline goodness : 0.998875 Centerline is valid? [True, True] Translation: X:717.61, Y:9.15, Z:11.11 [[ 9.99307012e-01 -3.38604338e-02 -1.54585714e-02 7.17606384e+02] [ 3.38605467e-02 9.99426535e-01 -2.54505133e-04 9.15358591e+00] [ 1.54583241e-02 -2.69106914e-04 9.99880477e-01 1.11100678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.449254154 meters Centerline goodness : 0.998812 Centerline is valid? [True, True] Translation: X:717.64, Y:9.15, Z:11.11 [[ 9.99267844e-01 -3.49972731e-02 -1.54585808e-02 7.17637474e+02] [ 3.49975308e-02 9.99387367e-01 -2.53934018e-04 9.15319150e+00] [ 1.54579973e-02 -2.87264059e-04 9.99880477e-01 1.11085782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.4792541539999 meters Centerline goodness : 0.998812 Centerline is valid? [True, True] Translation: X:717.67, Y:9.15, Z:11.11 [[ 9.99220515e-01 -3.63234711e-02 -1.54585947e-02 7.17668307e+02] [ 3.63239006e-02 9.99340037e-01 -2.53081171e-04 9.15317037e+00] [ 1.54575854e-02 -3.08632560e-04 9.99880477e-01 1.11065672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.5092541539999 meters Centerline goodness : 0.998854 Centerline is valid? [True, True] Translation: X:717.70, Y:9.15, Z:11.11 [[ 9.99113763e-01 -3.91499753e-02 -1.54586237e-02 7.17700829e+02] [ 3.91507705e-02 9.99233283e-01 -2.51297913e-04 9.15429140e+00] [ 1.54566096e-02 -3.54141826e-04 9.99880477e-01 1.11100317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.5392541539999 meters Centerline goodness : 0.998876 Centerline is valid? [True, True] Translation: X:717.73, Y:9.15, Z:11.11 [[ 9.98952619e-01 -4.30661660e-02 -1.54586417e-02 7.17732954e+02] [ 4.30674470e-02 9.99072136e-01 -2.50184451e-04 9.15414345e+00] [ 1.54550727e-02 -4.15841821e-04 9.99880477e-01 1.11104284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.5692541539999 meters Centerline goodness : 0.998919 Centerline is valid? [True, True] Translation: X:717.76, Y:9.15, Z:11.11 [[ 9.98862707e-01 -4.51034667e-02 -1.54586596e-02 7.17764851e+02] [ 4.51050085e-02 9.98982220e-01 -2.49074977e-04 9.15421173e+00] [ 1.54541603e-02 -4.48471268e-04 9.99880477e-01 1.11110806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.5992541539999 meters Centerline goodness : 0.998876 Centerline is valid? [True, True] Translation: X:717.80, Y:9.15, Z:11.11 [[ 9.98782979e-01 -4.68357697e-02 -1.54586774e-02 7.17797199e+02] [ 4.68375360e-02 9.98902490e-01 -2.47969463e-04 9.15420425e+00] [ 1.54533251e-02 -4.76378678e-04 9.99880477e-01 1.11118901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.6292541539999 meters Centerline goodness : 0.998706 Centerline is valid? [True, True] Translation: X:717.84, Y:9.14, Z:11.11 [[ 9.98991946e-01 -4.21440423e-02 -1.54586950e-02 7.17837646e+02] [ 4.21452643e-02 9.99111463e-01 -2.46862555e-04 9.14442293e+00] [ 1.54553632e-02 -4.04897084e-04 9.99880477e-01 1.11071842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.6592541539999 meters Centerline goodness : 0.999175 Centerline is valid? [True, True] Translation: X:717.86, Y:9.15, Z:11.11 [[ 9.98491845e-01 -5.26766797e-02 -1.54661811e-02 7.17856208e+02] [ 5.26867877e-02 9.98611056e-01 2.46541318e-04 9.15331192e+00] [ 1.54317124e-02 -1.06103289e-03 9.99880361e-01 1.11141731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.6892541539999 meters Centerline goodness : 0.998983 Centerline is valid? [True, True] Translation: X:717.89, Y:9.15, Z:11.12 [[ 9.98376495e-01 -5.48217289e-02 -1.54580735e-02 7.17888297e+02] [ 5.48243939e-02 9.98495980e-01 -2.51633259e-04 9.15340582e+00] [ 1.54486192e-02 -5.96254778e-04 9.99880485e-01 1.11151545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.7192541539999 meters Centerline goodness : 0.999047 Centerline is valid? [True, True] Translation: X:717.92, Y:9.15, Z:11.12 [[ 9.98245163e-01 -5.71632914e-02 -1.54580968e-02 7.17921114e+02] [ 5.71662589e-02 9.98364641e-01 -2.50190410e-04 9.15344659e+00] [ 1.54471190e-02 -6.33930199e-04 9.99880485e-01 1.11161847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.7492541539999 meters Centerline goodness : 0.998793 Centerline is valid? [True, True] Translation: X:717.95, Y:9.15, Z:11.12 [[ 9.97998961e-01 -6.13116677e-02 -1.54581245e-02 7.17954014e+02] [ 6.13151583e-02 9.98118425e-01 -2.48468590e-04 9.15220951e+00] [ 1.54442729e-02 -6.99845956e-04 9.99880485e-01 1.11165296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.7792541539999 meters Centerline goodness : 0.998986 Centerline is valid? [True, True] Translation: X:717.99, Y:9.15, Z:11.12 [[ 9.97868974e-01 -6.33920862e-02 -1.54581522e-02 7.17986916e+02] [ 6.33958526e-02 9.97988429e-01 -2.46735227e-04 9.15129666e+00] [ 1.54426981e-02 -7.33773309e-04 9.99880485e-01 1.11169348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.8092541539999 meters Centerline goodness : 0.999091 Centerline is valid? [True, True] Translation: X:718.02, Y:9.15, Z:11.12 [[ 9.97766066e-01 -6.49917069e-02 -1.54581799e-02 7.18018894e+02] [ 6.49956919e-02 9.97885515e-01 -2.44987100e-04 9.14996616e+00] [ 1.54414159e-02 -7.60275281e-04 9.99880485e-01 1.11167018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.839254154 meters Centerline goodness : 0.998904 Centerline is valid? [True, True] Translation: X:718.05, Y:9.15, Z:11.12 [[ 9.97606821e-01 -6.73919494e-02 -1.54582250e-02 7.18051977e+02] [ 6.73962663e-02 9.97726257e-01 -2.42107395e-04 9.14720184e+00] [ 1.54393930e-02 -8.00298658e-04 9.99880485e-01 1.11169749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.8692541539999 meters Centerline goodness : 0.998799 Centerline is valid? [True, True] Translation: X:718.08, Y:9.15, Z:11.12 [[ 9.97577402e-01 -6.78260300e-02 -1.54582516e-02 7.18084736e+02] [ 6.78304253e-02 9.97696836e-01 -2.40392115e-04 9.14678114e+00] [ 1.54389536e-02 -8.08730041e-04 9.99880485e-01 1.11173245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.8992541539999 meters Centerline goodness : 0.998755 Centerline is valid? [True, True] Translation: X:718.12, Y:9.15, Z:11.12 [[ 9.97578079e-01 -6.78160643e-02 -1.54582786e-02 7.18116739e+02] [ 6.78204854e-02 9.97697512e-01 -2.38647255e-04 9.14651391e+00] [ 1.54388702e-02 -8.10318688e-04 9.99880485e-01 1.11170704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.9292541539999 meters Centerline goodness : 0.998736 Centerline is valid? [True, True] Translation: X:718.16, Y:9.14, Z:11.11 [[ 9.98160644e-01 -5.86205634e-02 -1.54583008e-02 7.18157135e+02] [ 5.86239061e-02 9.98280112e-01 -2.37201070e-04 9.13592289e+00] [ 1.54456191e-02 -6.69461200e-04 9.99880485e-01 1.11110350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.959254154 meters Centerline goodness : 0.998905 Centerline is valid? [True, True] Translation: X:718.18, Y:9.14, Z:11.11 [[ 9.97770749e-01 -6.49180964e-02 -1.54652369e-02 7.18176526e+02] [ 6.49295298e-02 9.97889823e-01 2.37813569e-04 9.14468009e+00] [ 1.54171641e-02 -1.24143399e-03 9.99880378e-01 1.11149595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.9892541539999 meters Centerline goodness : 0.998778 Centerline is valid? [True, True] Translation: X:718.22, Y:9.13, Z:11.11 [[ 9.98464873e-01 -5.31879113e-02 -1.54577972e-02 7.18218566e+02] [ 5.31905527e-02 9.98584352e-01 -2.40492489e-04 9.13436863e+00] [ 1.54487057e-02 -5.82085475e-04 9.99880492e-01 1.11112459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.0192541539999 meters Centerline goodness : 0.998907 Centerline is valid? [True, True] Translation: X:718.23, Y:9.14, Z:11.12 [[ 9.98019441e-01 -6.09752911e-02 -1.54663961e-02 7.18234765e+02] [ 6.09878632e-02 9.98138449e-01 3.42074896e-04 9.14456095e+00] [ 1.54167465e-02 -1.28465984e-03 9.99880330e-01 1.11177066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.0492541539999 meters Centerline goodness : 0.998758 Centerline is valid? [True, True] Translation: X:718.28, Y:9.14, Z:11.11 [[ 9.98588260e-01 -5.08190024e-02 -1.54569050e-02 7.18275669e+02] [ 5.08212363e-02 9.98707735e-01 -2.48484250e-04 9.13603809e+00] [ 1.54495583e-02 -5.37405566e-04 9.99880504e-01 1.11116524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.079254154 meters Centerline goodness : 0.998799 Centerline is valid? [True, True] Translation: X:718.29, Y:9.14, Z:11.12 [[ 9.98443243e-01 -5.35904309e-02 -1.54646528e-02 7.18293843e+02] [ 5.36007744e-02 9.98562413e-01 2.54841802e-04 9.14495726e+00] [ 1.54287639e-02 -1.08336244e-03 9.99880383e-01 1.11189751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.1092541539999 meters Centerline goodness : 0.998820 Centerline is valid? [True, True] Translation: X:718.32, Y:9.15, Z:11.12 [[ 9.98623896e-01 -5.01140428e-02 -1.54562845e-02 7.18324803e+02] [ 5.01161042e-02 9.98743366e-01 -2.54167965e-04 9.14574691e+00] [ 1.54495990e-02 -5.20790562e-04 9.99880512e-01 1.11198925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.1392541539999 meters Centerline goodness : 0.998882 Centerline is valid? [True, True] Translation: X:718.36, Y:9.15, Z:11.12 [[ 9.98803348e-01 -4.64001713e-02 -1.54562985e-02 7.18357344e+02] [ 4.64018017e-02 9.98922824e-01 -2.53312843e-04 9.14630273e+00] [ 1.54514031e-02 -4.64190384e-04 9.99880512e-01 1.11209320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.1692541539999 meters Centerline goodness : 0.998926 Centerline is valid? [True, True] Translation: X:718.39, Y:9.15, Z:11.12 [[ 9.98987204e-01 -4.22571621e-02 -1.54563173e-02 7.18388176e+02] [ 4.22583148e-02 9.99106687e-01 -2.52159770e-04 9.14681083e+00] [ 1.54531656e-02 -4.01253540e-04 9.99880512e-01 1.11212792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.199254154 meters Centerline goodness : 0.998861 Centerline is valid? [True, True] Translation: X:718.42, Y:9.15, Z:11.12 [[ 9.99305708e-01 -3.38999125e-02 -1.54563313e-02 7.18419479e+02] [ 3.39000790e-02 9.99425196e-01 -2.51300644e-04 9.14885717e+00] [ 1.54559660e-02 -2.72844684e-04 9.99880512e-01 1.11218007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.2292541539999 meters Centerline goodness : 0.999029 Centerline is valid? [True, True] Translation: X:718.45, Y:9.15, Z:11.12 [[ 9.99405971e-01 -3.08032059e-02 -1.54553738e-02 7.18450552e+02] [ 3.08020920e-02 9.99525455e-01 -3.10161733e-04 9.14905726e+00] [ 1.54575935e-02 -1.66080358e-04 9.99880510e-01 1.11217987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.2592541539999 meters Centerline goodness : 0.998883 Centerline is valid? [True, True] Translation: X:718.48, Y:9.15, Z:11.12 [[ 9.99490807e-01 -2.79146601e-02 -1.54563551e-02 7.18481967e+02] [ 2.79141415e-02 9.99610293e-01 -2.49334116e-04 9.14978193e+00] [ 1.54572917e-02 -1.82243725e-04 9.99880512e-01 1.11215867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.2892541539999 meters Centerline goodness : 0.998986 Centerline is valid? [True, True] Translation: X:718.51, Y:9.15, Z:11.12 [[ 9.99577036e-01 -2.46343066e-02 -1.54563641e-02 7.18512974e+02] [ 2.46334045e-02 9.99696521e-01 -2.48774146e-04 9.14989572e+00] [ 1.54578018e-02 -1.32073945e-04 9.99880512e-01 1.11211635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.3192541539999 meters Centerline goodness : 0.998776 Centerline is valid? [True, True] Translation: X:718.54, Y:9.15, Z:11.12 [[ 9.99591032e-01 -2.40597230e-02 -1.54563686e-02 7.18542737e+02] [ 2.40587566e-02 9.99710515e-01 -2.48491599e-04 9.14972662e+00] [ 1.54578729e-02 -1.23471037e-04 9.99880512e-01 1.11211392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.3492541539999 meters Centerline goodness : 0.998965 Centerline is valid? [True, True] Translation: X:718.57, Y:9.15, Z:11.12 [[ 9.99583154e-01 -2.43848188e-02 -1.54563595e-02 7.18571946e+02] [ 2.43838825e-02 9.99702638e-01 -2.49054108e-04 9.14940469e+00] [ 1.54578366e-02 -1.27935765e-04 9.99880512e-01 1.11211076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.3792541539999 meters Centerline goodness : 0.998987 Centerline is valid? [True, True] Translation: X:718.60, Y:9.15, Z:11.12 [[ 9.99502550e-01 -2.74909685e-02 -1.54563505e-02 7.18601040e+02] [ 2.74903949e-02 9.99622037e-01 -2.49615778e-04 9.14852420e+00] [ 1.54573707e-02 -1.75409571e-04 9.99880512e-01 1.11206913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.4092541539999 meters Centerline goodness : 0.998818 Centerline is valid? [True, True] Translation: X:718.63, Y:9.15, Z:11.12 [[ 9.99438108e-01 -2.97417280e-02 -1.54563460e-02 7.18631631e+02] [ 2.97414191e-02 9.99557595e-01 -2.49894082e-04 9.14833987e+00] [ 1.54569403e-02 -2.09939995e-04 9.99880512e-01 1.11213534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.4392541539999 meters Centerline goodness : 0.999010 Centerline is valid? [True, True] Translation: X:718.66, Y:9.15, Z:11.12 [[ 9.99362362e-01 -3.21864919e-02 -1.54563460e-02 7.18662704e+02] [ 3.21864754e-02 9.99481850e-01 -2.49894083e-04 9.14785769e+00] [ 1.54563805e-02 -2.47750559e-04 9.99880512e-01 1.11223670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.4692541539999 meters Centerline goodness : 0.998968 Centerline is valid? [True, True] Translation: X:718.69, Y:9.15, Z:11.12 [[ 9.99171184e-01 -3.76569650e-02 -1.54563546e-02 7.18694075e+02] [ 3.76576108e-02 9.99290670e-01 -2.49362621e-04 9.14677799e+00] [ 1.54547811e-02 -3.32893438e-04 9.99880512e-01 1.11246960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.4992541539999 meters Centerline goodness : 0.998844 Centerline is valid? [True, True] Translation: X:718.72, Y:9.15, Z:11.12 [[ 9.99074000e-01 -4.01527457e-02 -1.54563638e-02 7.18724807e+02] [ 4.01536988e-02 9.99193484e-01 -2.48790531e-04 9.14654085e+00] [ 1.54538876e-02 -3.72070024e-04 9.99880512e-01 1.11246082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.5292541539999 meters Centerline goodness : 0.998885 Centerline is valid? [True, True] Translation: X:718.76, Y:9.15, Z:11.13 [[ 9.98987420e-01 -4.22520332e-02 -1.54563775e-02 7.18757497e+02] [ 4.22532506e-02 9.99106902e-01 -2.47933828e-04 9.14616532e+00] [ 1.54530492e-02 -4.05399416e-04 9.99880512e-01 1.11253019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.5592541539999 meters Centerline goodness : 0.998759 Centerline is valid? [True, True] Translation: X:718.79, Y:9.14, Z:11.12 [[ 9.98831263e-01 -4.57952838e-02 -1.54563950e-02 7.18788948e+02] [ 4.57969419e-02 9.98950739e-01 -2.46837005e-04 9.14478504e+00] [ 1.54514812e-02 -4.61307108e-04 9.99880512e-01 1.11234657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.589254154 meters Centerline goodness : 0.998823 Centerline is valid? [True, True] Translation: X:718.82, Y:9.15, Z:11.13 [[ 9.98711774e-01 -4.83310570e-02 -1.54564080e-02 7.18821295e+02] [ 4.83330311e-02 9.98831246e-01 -2.46019865e-04 9.14501682e+00] [ 1.54502337e-02 -5.01352115e-04 9.99880512e-01 1.11255758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.6192541539999 meters Centerline goodness : 0.998781 Centerline is valid? [True, True] Translation: X:718.85, Y:9.14, Z:11.13 [[ 9.98631270e-01 -4.99668418e-02 -1.54564251e-02 7.18853388e+02] [ 4.99690282e-02 9.98750738e-01 -2.44944453e-04 9.14480229e+00] [ 1.54493550e-02 -5.27733351e-04 9.99880512e-01 1.11270916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.6492541539999 meters Centerline goodness : 0.998949 Centerline is valid? [True, True] Translation: X:718.89, Y:9.14, Z:11.13 [[ 9.98554602e-01 -5.14762570e-02 -1.54564432e-02 7.18885579e+02] [ 5.14786419e-02 9.98674066e-01 -2.43791874e-04 9.14458445e+00] [ 1.54484985e-02 -5.52237209e-04 9.99880512e-01 1.11281321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.6792541539999 meters Centerline goodness : 0.998866 Centerline is valid? [True, True] Translation: X:718.92, Y:9.14, Z:11.13 [[ 9.98464556e-01 -5.31942558e-02 -1.54564613e-02 7.18917010e+02] [ 5.31968640e-02 9.98584015e-01 -2.42642197e-04 9.14352951e+00] [ 1.54474823e-02 -5.79965635e-04 9.99880512e-01 1.11286656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.709254154 meters Centerline goodness : 0.998822 Centerline is valid? [True, True] Translation: X:718.94, Y:9.15, Z:11.13 [[ 9.98186368e-01 -5.81813715e-02 -1.54564747e-02 7.18943866e+02] [ 5.81845896e-02 9.98305812e-01 -2.41784278e-04 9.14894520e+00] [ 1.54443559e-02 -6.57982868e-04 9.99880512e-01 1.11286598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.7392541539999 meters Centerline goodness : 0.998993 Centerline is valid? [True, True] Translation: X:718.98, Y:9.14, Z:11.13 [[ 9.98504490e-01 -5.24400848e-02 -1.54538471e-02 7.18978338e+02] [ 5.24400474e-02 9.98623991e-01 -4.07928258e-04 9.14375878e+00] [ 1.54539743e-02 -4.03082279e-04 9.99880499e-01 1.11292539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.7692541539999 meters Centerline goodness : 0.998741 Centerline is valid? [True, True] Translation: X:719.01, Y:9.14, Z:11.13 [[ 9.98643989e-01 -4.97119905e-02 -1.54564572e-02 7.19010329e+02] [ 4.97142308e-02 9.98763454e-01 -2.39486593e-04 9.14450646e+00] [ 1.54492500e-02 -5.29244037e-04 9.99880513e-01 1.11290762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.7992541539999 meters Centerline goodness : 0.998991 Centerline is valid? [True, True] Translation: X:719.04, Y:9.15, Z:11.13 [[ 9.98797715e-01 -4.65212027e-02 -1.54564750e-02 7.19040349e+02] [ 4.65230791e-02 9.98917187e-01 -2.38335651e-04 9.14527810e+00] [ 1.54508262e-02 -4.81033706e-04 9.99880513e-01 1.11276978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.829254154 meters Centerline goodness : 0.998865 Centerline is valid? [True, True] Translation: X:719.07, Y:9.15, Z:11.13 [[ 9.98890474e-01 -4.44853256e-02 -1.54556307e-02 7.19073076e+02] [ 4.44861180e-02 9.99009960e-01 -2.92703246e-04 9.14629828e+00] [ 1.54533500e-02 -3.95182524e-04 9.99880512e-01 1.11293440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.8592541539999 meters Centerline goodness : 0.998866 Centerline is valid? [True, True] Translation: X:719.10, Y:9.15, Z:11.13 [[ 9.99016778e-01 -4.15520782e-02 -1.54564878e-02 7.19104208e+02] [ 4.15533848e-02 9.99136257e-01 -2.36747859e-04 9.14735640e+00] [ 1.54529747e-02 -4.05754300e-04 9.99880513e-01 1.11294645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.8892541539999 meters Centerline goodness : 0.998885 Centerline is valid? [True, True] Translation: X:719.14, Y:9.15, Z:11.13 [[ 9.99264391e-01 -3.50966388e-02 -1.54565005e-02 7.19136117e+02] [ 3.50971864e-02 9.99383876e-01 -2.35915110e-04 9.14871086e+00] [ 1.54552572e-02 -3.06738108e-04 9.99880513e-01 1.11313882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.9192541539999 meters Centerline goodness : 0.998885 Centerline is valid? [True, True] Translation: X:719.17, Y:9.15, Z:11.13 [[ 9.99265666e-01 -3.50603072e-02 -1.54565176e-02 7.19167953e+02] [ 3.50608678e-02 9.99385151e-01 -2.34786757e-04 9.14916437e+00] [ 1.54552459e-02 -3.07304576e-04 9.99880513e-01 1.11318802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.949254154 meters Centerline goodness : 0.998906 Centerline is valid? [True, True] Translation: X:719.20, Y:9.15, Z:11.13 [[ 9.99372363e-01 -3.18743769e-02 -1.54565261e-02 7.19198914e+02] [ 3.18745653e-02 9.99491850e-01 -2.34224986e-04 9.14954328e+00] [ 1.54561377e-02 -2.58592074e-04 9.99880513e-01 1.11307153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.9792541539999 meters Centerline goodness : 0.999201 Centerline is valid? [True, True] Translation: X:719.23, Y:9.15, Z:11.13 [[ 9.99446888e-01 -2.94451030e-02 -1.54565388e-02 7.19230160e+02] [ 2.94450139e-02 9.99566374e-01 -2.33385229e-04 9.15006550e+00] [ 1.54567085e-02 -2.21861860e-04 9.99880513e-01 1.11326183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.0092541539999 meters Centerline goodness : 0.998904 Centerline is valid? [True, True] Translation: X:719.26, Y:9.15, Z:11.13 [[ 9.99535385e-01 -2.62699226e-02 -1.54565471e-02 7.19260981e+02] [ 2.62694625e-02 9.99654871e-01 -2.32831149e-04 9.15070794e+00] [ 1.54573291e-02 -1.73312213e-04 9.99880513e-01 1.11322904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.0392541539999 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:719.29, Y:9.15, Z:11.13 [[ 9.99555177e-01 -2.55057373e-02 -1.54565513e-02 7.19291315e+02] [ 2.55051901e-02 9.99674663e-01 -2.32555803e-04 9.15131552e+00] [ 1.54574542e-02 -1.61769922e-04 9.99880513e-01 1.11326784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.0692541539999 meters Centerline goodness : 0.999178 Centerline is valid? [True, True] Translation: X:719.32, Y:9.15, Z:11.13 [[ 9.99558563e-01 -2.53726933e-02 -1.54565513e-02 7.19321061e+02] [ 2.53721302e-02 9.99678049e-01 -2.32555803e-04 9.15146139e+00] [ 1.54574756e-02 -1.59712487e-04 9.99880513e-01 1.11332143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.0992541539999 meters Centerline goodness : 0.999073 Centerline is valid? [True, True] Translation: X:719.35, Y:9.15, Z:11.13 [[ 9.99529814e-01 -2.64810624e-02 -1.54565429e-02 7.19351063e+02] [ 2.64806232e-02 9.99649300e-01 -2.33112369e-04 9.15084852e+00] [ 1.54572953e-02 -1.76296126e-04 9.99880513e-01 1.11311336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.1292541539999 meters Centerline goodness : 0.999179 Centerline is valid? [True, True] Translation: X:719.38, Y:9.15, Z:11.13 [[ 9.99496502e-01 -2.77098784e-02 -1.54565387e-02 7.19381715e+02] [ 2.77095818e-02 9.99615989e-01 -2.33388255e-04 9.15053833e+00] [ 1.54570704e-02 -1.95023481e-04 9.99880513e-01 1.11320342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.1592541539999 meters Centerline goodness : 0.999072 Centerline is valid? [True, True] Translation: X:719.41, Y:9.15, Z:11.13 [[ 9.99468413e-01 -2.87051742e-02 -1.54565387e-02 7.19412571e+02] [ 2.87049967e-02 9.99587899e-01 -2.33388255e-04 9.14996730e+00] [ 1.54568685e-02 -2.10415704e-04 9.99880513e-01 1.11323540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.1892541539999 meters Centerline goodness : 0.999073 Centerline is valid? [True, True] Translation: X:719.44, Y:9.15, Z:11.13 [[ 9.99376253e-01 -3.17521736e-02 -1.54565387e-02 7.19443319e+02] [ 3.17523603e-02 9.99495739e-01 -2.33388255e-04 9.14984976e+00] [ 1.54561552e-02 -2.57538908e-04 9.99880513e-01 1.11343526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.2192541539999 meters Centerline goodness : 0.999094 Centerline is valid? [True, True] Translation: X:719.47, Y:9.15, Z:11.13 [[ 9.99349712e-01 -3.25768109e-02 -1.54565387e-02 7.19474718e+02] [ 3.25770962e-02 9.99469198e-01 -2.33388255e-04 9.14975181e+00] [ 1.54559374e-02 -2.70292664e-04 9.99880513e-01 1.11347765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.2492541539999 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:719.51, Y:9.15, Z:11.14 [[ 9.99292585e-01 -3.42844625e-02 -1.54565473e-02 7.19505964e+02] [ 3.42849608e-02 9.99412071e-01 -2.32818019e-04 9.14998812e+00] [ 1.54554420e-02 -2.97273799e-04 9.99880513e-01 1.11364909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.2792541539999 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:719.54, Y:9.15, Z:11.14 [[ 9.99211006e-01 -3.65849741e-02 -1.54565559e-02 7.19537140e+02] [ 3.65857563e-02 9.99330490e-01 -2.32246789e-04 9.14903774e+00] [ 1.54547043e-02 -3.33426239e-04 9.99880513e-01 1.11375555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.3092541539999 meters Centerline goodness : 0.998822 Centerline is valid? [True, True] Translation: X:719.57, Y:9.15, Z:11.14 [[ 9.99160299e-01 -3.79445754e-02 -1.54565687e-02 7.19568220e+02] [ 3.79455334e-02 9.99279782e-01 -2.31392855e-04 9.14896909e+00] [ 1.54542167e-02 -3.55309189e-04 9.99880513e-01 1.11379619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.339254154 meters Centerline goodness : 0.999075 Centerline is valid? [True, True] Translation: X:719.60, Y:9.15, Z:11.14 [[ 9.99118158e-01 -3.90384387e-02 -1.54565771e-02 7.19600683e+02] [ 3.90395362e-02 9.99237640e-01 -2.30827214e-04 9.14859770e+00] [ 1.54538048e-02 -3.72793942e-04 9.99880513e-01 1.11389193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.3692541539999 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:719.64, Y:9.14, Z:11.13 [[ 9.99405212e-01 -3.08272035e-02 -1.54565941e-02 7.19640825e+02] [ 3.08273369e-02 9.99524698e-01 -2.29682902e-04 9.13722725e+00] [ 1.54563281e-02 -2.46939346e-04 9.99880513e-01 1.11321856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.3992541539999 meters Centerline goodness : 0.999055 Centerline is valid? [True, True] Translation: X:719.66, Y:9.15, Z:11.14 [[ 9.99039936e-01 -4.09887735e-02 -1.54637293e-02 7.19659706e+02] [ 4.09979484e-02 9.99159192e-01 2.76637466e-04 9.14807794e+00] [ 1.54393883e-02 -9.10353053e-04 9.99880391e-01 1.11403807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.4292541539999 meters Centerline goodness : 0.998991 Centerline is valid? [True, True] Translation: X:719.69, Y:9.15, Z:11.14 [[ 9.99058247e-01 -4.05429713e-02 -1.54559866e-02 7.19690887e+02] [ 4.05441950e-02 9.99177719e-01 -2.34287728e-04 9.14867588e+00] [ 1.54527761e-02 -3.92583446e-04 9.99880522e-01 1.11410910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.459254154 meters Centerline goodness : 0.999096 Centerline is valid? [True, True] Translation: X:719.72, Y:9.15, Z:11.14 [[ 9.99127816e-01 -3.87907219e-02 -1.54559994e-02 7.19723560e+02] [ 3.87917493e-02 9.99247290e-01 -2.33439790e-04 9.14906025e+00] [ 1.54534208e-02 -3.66329064e-04 9.99880522e-01 1.11416214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.4892541539999 meters Centerline goodness : 0.999012 Centerline is valid? [True, True] Translation: X:719.76, Y:9.15, Z:11.14 [[ 9.99202188e-01 -3.68252381e-02 -1.54560209e-02 7.19755630e+02] [ 3.68260526e-02 9.99321664e-01 -2.32006840e-04 9.14906885e+00] [ 1.54540802e-02 -3.37362495e-04 9.99880522e-01 1.11403778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.5192541539999 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:719.79, Y:9.15, Z:11.14 [[ 9.99237885e-01 -3.58435446e-02 -1.54560379e-02 7.19786873e+02] [ 3.58442593e-02 9.99357361e-01 -2.30864184e-04 9.15000795e+00] [ 1.54543803e-02 -3.23321993e-04 9.99880522e-01 1.11422787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.5492541539999 meters Centerline goodness : 0.999033 Centerline is valid? [True, True] Translation: X:719.82, Y:9.15, Z:11.14 [[ 9.99344761e-01 -3.27285753e-02 -1.54560506e-02 7.19818301e+02] [ 3.27289308e-02 9.99464239e-01 -2.30012674e-04 9.14975814e+00] [ 1.54552978e-02 -2.75998049e-04 9.99880522e-01 1.11413209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.579254154 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:719.85, Y:9.15, Z:11.14 [[ 9.99370328e-01 -3.19383367e-02 -1.54560589e-02 7.19849669e+02] [ 3.19386064e-02 9.99489806e-01 -2.29450679e-04 9.15018640e+00] [ 1.54555016e-02 -2.64338782e-04 9.99880522e-01 1.11430347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.6092541539999 meters Centerline goodness : 0.999287 Centerline is valid? [True, True] Translation: X:719.88, Y:9.15, Z:11.14 [[ 9.99409818e-01 -3.06777720e-02 -1.54560674e-02 7.19881482e+02] [ 3.06778998e-02 9.99529296e-01 -2.28882921e-04 9.15005384e+00] [ 1.54558137e-02 -2.45411848e-04 9.99880522e-01 1.11433428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.6392541539999 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:719.91, Y:9.15, Z:11.14 [[ 9.99418965e-01 -3.03783063e-02 -1.54560759e-02 7.19912546e+02] [ 3.03784072e-02 9.99538444e-01 -2.28306829e-04 9.15007610e+00] [ 1.54558776e-02 -2.41356791e-04 9.99880522e-01 1.11431891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.6692541539999 meters Centerline goodness : 0.999222 Centerline is valid? [True, True] Translation: X:719.94, Y:9.15, Z:11.14 [[ 9.99423481e-01 -3.02293835e-02 -1.54560843e-02 7.19942838e+02] [ 3.02294754e-02 9.99542959e-01 -2.27733379e-04 9.14956270e+00] [ 1.54559045e-02 -2.39627234e-04 9.99880522e-01 1.11419883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.6992541539998 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:719.97, Y:9.15, Z:11.14 [[ 9.99402709e-01 -3.09084802e-02 -1.54560843e-02 7.19972932e+02] [ 3.09086533e-02 9.99522188e-01 -2.27733379e-04 9.15001942e+00] [ 1.54557381e-02 -2.50129395e-04 9.99880522e-01 1.11429006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.7292541539999 meters Centerline goodness : 0.999138 Centerline is valid? [True, True] Translation: X:720.00, Y:9.15, Z:11.14 [[ 9.99356016e-01 -3.23830555e-02 -1.54560843e-02 7.20002893e+02] [ 3.23834049e-02 9.99475494e-01 -2.27733379e-04 9.15007032e+00] [ 1.54553522e-02 -2.72933915e-04 9.99880522e-01 1.11419339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.7592541539999 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:720.03, Y:9.15, Z:11.14 [[ 9.99321410e-01 -3.34339381e-02 -1.54560885e-02 7.20034076e+02] [ 3.34344175e-02 9.99440888e-01 -2.27450064e-04 9.15013308e+00] [ 1.54550513e-02 -2.89469597e-04 9.99880522e-01 1.11428247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.7892541539999 meters Centerline goodness : 0.999432 Centerline is valid? [True, True] Translation: X:720.07, Y:9.15, Z:11.14 [[ 9.99269832e-01 -3.49415637e-02 -1.54560969e-02 7.20065280e+02] [ 3.49422322e-02 9.99389308e-01 -2.26878792e-04 9.15019963e+00] [ 1.54545855e-02 -3.13357394e-04 9.99880522e-01 1.11436286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.8192541539999 meters Centerline goodness : 0.999433 Centerline is valid? [True, True] Translation: X:720.10, Y:9.15, Z:11.15 [[ 9.99153808e-01 -3.81153050e-02 -1.54561052e-02 7.20097193e+02] [ 3.81163618e-02 9.99273282e-01 -2.26311827e-04 9.14983674e+00] [ 1.54534989e-02 -3.63010172e-04 9.99880522e-01 1.11450605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.8492541539999 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:720.13, Y:9.15, Z:11.15 [[ 9.99084127e-01 -3.99000678e-02 -1.54561218e-02 7.20127863e+02] [ 3.99013556e-02 9.99203598e-01 -2.25171891e-04 9.14957053e+00] [ 1.54527969e-02 -3.91754549e-04 9.99880522e-01 1.11457940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.8792541539999 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:720.16, Y:9.15, Z:11.14 [[ 9.99103070e-01 -3.94228886e-02 -1.54561300e-02 7.20160864e+02] [ 3.94241281e-02 9.99222542e-01 -2.24604358e-04 9.14602809e+00] [ 1.54529681e-02 -3.84941547e-04 9.99880522e-01 1.11411101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.9092541539999 meters Centerline goodness : 0.999518 Centerline is valid? [True, True] Translation: X:720.19, Y:9.15, Z:11.15 [[ 9.98871166e-01 -4.49160664e-02 -1.54576802e-02 7.20189026e+02] [ 4.49196219e-02 9.98990597e-01 -1.17283276e-04 9.14886535e+00] [ 1.54473450e-02 -5.77202266e-04 9.99880516e-01 1.11481198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.9392541539999 meters Centerline goodness : 0.999580 Centerline is valid? [True, True] Translation: X:720.22, Y:9.15, Z:11.15 [[ 9.98626836e-01 -5.00554914e-02 -1.54560706e-02 7.20221214e+02] [ 5.00579667e-02 9.98746288e-01 -2.26921899e-04 9.14774452e+00] [ 1.54480518e-02 -5.47089168e-04 9.99880522e-01 1.11490396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.9692541539999 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:720.25, Y:9.15, Z:11.15 [[ 9.98549791e-01 -5.15696149e-02 -1.54560869e-02 7.20253409e+02] [ 5.15722886e-02 9.98669239e-01 -2.25802462e-04 9.14624585e+00] [ 1.54471631e-02 -5.71630774e-04 9.99880522e-01 1.11459708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.9992541539999 meters Centerline goodness : 0.999349 Centerline is valid? [True, True] Translation: X:720.28, Y:9.15, Z:11.15 [[ 9.98353790e-01 -5.52341722e-02 -1.54562734e-02 7.20284904e+02] [ 5.52374822e-02 9.98473222e-01 -2.13001468e-04 9.14684479e+00] [ 1.54444401e-02 -6.41114804e-04 9.99880522e-01 1.11507264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.0292541539999 meters Centerline goodness : 0.999497 Centerline is valid? [True, True] Translation: X:720.32, Y:9.15, Z:11.15 [[ 9.98119566e-01 -5.93164397e-02 -1.54561281e-02 7.20316332e+02] [ 5.93200825e-02 9.98238988e-01 -2.23065989e-04 9.14589128e+00] [ 1.54421412e-02 -6.94212269e-04 9.99880522e-01 1.11508936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.0592541539999 meters Centerline goodness : 0.999517 Centerline is valid? [True, True] Translation: X:720.35, Y:9.15, Z:11.15 [[ 9.98072762e-01 -6.00988286e-02 -1.54561544e-02 7.20348033e+02] [ 6.01025934e-02 9.98192181e-01 -2.21233080e-04 9.14562015e+00] [ 1.54415083e-02 -7.08148251e-04 9.99880522e-01 1.11495373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.089254154 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:720.38, Y:9.15, Z:11.15 [[ 9.97958909e-01 -6.19608221e-02 -1.54555085e-02 7.20379651e+02] [ 6.19641148e-02 9.98078342e-01 -2.66202785e-04 9.14632914e+00] [ 1.54423024e-02 -6.92027460e-04 9.99880521e-01 1.11521429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.1192541539999 meters Centerline goodness : 0.999372 Centerline is valid? [True, True] Translation: X:720.41, Y:9.15, Z:11.15 [[ 9.97642331e-01 -6.68650112e-02 -1.54547499e-02 7.20412897e+02] [ 6.68680737e-02 9.97761775e-01 -3.19076962e-04 9.14623817e+00] [ 1.54414938e-02 -7.15104672e-04 9.99880517e-01 1.11528766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.1492541539999 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:720.45, Y:9.15, Z:11.15 [[ 9.97548748e-01 -6.82466175e-02 -1.54561839e-02 7.20445833e+02] [ 6.82514242e-02 9.97668129e-01 -2.16900043e-04 9.14637423e+00] [ 1.54349447e-02 -8.38538195e-04 9.99880523e-01 1.11544443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.1792541539999 meters Centerline goodness : 0.999475 Centerline is valid? [True, True] Translation: X:720.48, Y:9.15, Z:11.15 [[ 9.97500652e-01 -6.89460317e-02 -1.54562077e-02 7.20477232e+02] [ 6.89509485e-02 9.97620028e-01 -2.15189823e-04 9.14614778e+00] [ 1.54342588e-02 -8.51068191e-04 9.99880523e-01 1.11532264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.209254154 meters Centerline goodness : 0.999434 Centerline is valid? [True, True] Translation: X:720.51, Y:9.15, Z:11.15 [[ 9.97430944e-01 -6.99472447e-02 -1.54562194e-02 7.20509903e+02] [ 6.99522944e-02 9.97550315e-01 -2.14343055e-04 9.14572206e+00] [ 1.54333493e-02 -8.67405615e-04 9.99880523e-01 1.11511365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.2392541539999 meters Centerline goodness : 0.999644 Centerline is valid? [True, True] Translation: X:720.54, Y:9.15, Z:11.15 [[ 9.97432157e-01 -6.99299406e-02 -1.54562349e-02 7.20542576e+02] [ 6.99350056e-02 9.97551527e-01 -2.13218819e-04 9.14631771e+00] [ 1.54333011e-02 -8.68260570e-04 9.99880523e-01 1.11517423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.2692541539999 meters Centerline goodness : 0.999142 Centerline is valid? [True, True] Translation: X:720.57, Y:9.15, Z:11.15 [[ 9.97488007e-01 -6.91287229e-02 -1.54562579e-02 7.20574059e+02] [ 6.91337179e-02 9.97607380e-01 -2.11538640e-04 9.14897711e+00] [ 1.54339004e-02 -8.57541320e-04 9.99880523e-01 1.11530689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.2992541539999 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:720.61, Y:9.15, Z:11.15 [[ 9.97586021e-01 -6.76997309e-02 -1.54556272e-02 7.20606742e+02] [ 6.77038426e-02 9.97705429e-01 -2.57644669e-04 9.14958211e+00] [ 1.54376057e-02 -7.89382634e-04 9.99880521e-01 1.11544633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.329254154 meters Centerline goodness : 0.999079 Centerline is valid? [True, True] Translation: X:720.64, Y:9.15, Z:11.16 [[ 9.97671108e-01 -6.64339077e-02 -1.54562705e-02 7.20638352e+02] [ 6.64385980e-02 9.97790493e-01 -2.10392086e-04 9.15145373e+00] [ 1.54360969e-02 -8.16990833e-04 9.99880523e-01 1.11563039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.3592541539999 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:720.67, Y:9.15, Z:11.16 [[ 9.97824856e-01 -6.40832275e-02 -1.54562896e-02 7.20671585e+02] [ 6.40876584e-02 9.97944251e-01 -2.08977041e-04 9.15291782e+00] [ 1.54379073e-02 -7.82034921e-04 9.99880523e-01 1.11577116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.3892541539999 meters Centerline goodness : 0.999497 Centerline is valid? [True, True] Translation: X:720.70, Y:9.15, Z:11.16 [[ 9.98004957e-01 -6.12144525e-02 -1.54563126e-02 7.20704572e+02] [ 6.12185666e-02 9.98124363e-01 -2.07263659e-04 9.15418311e+00] [ 1.54400097e-02 -7.39363140e-04 9.99880523e-01 1.11583750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.4192541539999 meters Centerline goodness : 0.998677 Centerline is valid? [True, True] Translation: X:720.74, Y:9.16, Z:11.16 [[ 9.98333417e-01 -5.56011698e-02 -1.54563358e-02 7.20736991e+02] [ 5.56046394e-02 9.98452844e-01 -2.05515740e-04 9.15730389e+00] [ 1.54438494e-02 -6.54270747e-04 9.99880523e-01 1.11592100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.4492541539998 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:720.77, Y:9.16, Z:11.16 [[ 9.98466986e-01 -5.31486553e-02 -1.54563512e-02 7.20768193e+02] [ 5.31518494e-02 9.98586420e-01 -2.04354524e-04 9.15976536e+00] [ 1.54453635e-02 -6.17492403e-04 9.99880523e-01 1.11617087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.4792541539999 meters Centerline goodness : 0.999580 Centerline is valid? [True, True] Translation: X:720.80, Y:9.16, Z:11.16 [[ 9.98619290e-01 -5.02057150e-02 -1.54563625e-02 7.20800565e+02] [ 5.02085704e-02 9.98738734e-01 -2.03492109e-04 9.16167601e+00] [ 1.54470844e-02 -5.72830719e-04 9.99880523e-01 1.11634086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.5092541539999 meters Centerline goodness : 0.998803 Centerline is valid? [True, True] Translation: X:720.83, Y:9.16, Z:11.16 [[ 9.98938945e-01 -4.33829970e-02 -1.54563776e-02 7.20833134e+02] [ 4.33850542e-02 9.99058405e-01 -2.02341175e-04 9.16308469e+00] [ 1.54506021e-02 -4.68449299e-04 9.99880523e-01 1.11626842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.5392541539999 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:720.87, Y:9.17, Z:11.17 [[ 9.99011099e-01 -4.16884090e-02 -1.54563925e-02 7.20865532e+02] [ 4.16902813e-02 9.99130562e-01 -2.01198365e-04 9.16517263e+00] [ 1.54513417e-02 -4.43381949e-04 9.99880523e-01 1.11658829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.5692541539999 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:720.90, Y:9.17, Z:11.17 [[ 9.99139538e-01 -3.84874368e-02 -1.54564073e-02 7.20897234e+02] [ 3.84889441e-02 9.99259006e-01 -2.00049192e-04 9.16561417e+00] [ 1.54526536e-02 -3.95023740e-04 9.99880523e-01 1.11655492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.5992541539999 meters Centerline goodness : 0.998928 Centerline is valid? [True, True] Translation: X:720.93, Y:9.17, Z:11.17 [[ 9.99319607e-01 -3.34876315e-02 -1.54564316e-02 7.20929019e+02] [ 3.34885703e-02 9.99439081e-01 -1.98156091e-04 9.16708570e+00] [ 1.54543976e-02 -3.19592529e-04 9.99880523e-01 1.11657790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.6292541539999 meters Centerline goodness : 0.999012 Centerline is valid? [True, True] Translation: X:720.96, Y:9.17, Z:11.17 [[ 9.99373170e-01 -3.18491047e-02 -1.54564388e-02 7.20960561e+02] [ 3.18498562e-02 9.99492645e-01 -1.97592216e-04 9.16868562e+00] [ 1.54548900e-02 -2.94816994e-04 9.99880523e-01 1.11681340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.6592541539999 meters Centerline goodness : 0.998991 Centerline is valid? [True, True] Translation: X:720.99, Y:9.17, Z:11.16 [[ 9.99435519e-01 -2.98285249e-02 -1.54564460e-02 7.20989067e+02] [ 2.98290436e-02 9.99554996e-01 -1.97030207e-04 9.17120641e+00] [ 1.54554449e-02 -2.64132014e-04 9.99880523e-01 1.11636001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.6892541539999 meters Centerline goodness : 0.999201 Centerline is valid? [True, True] Translation: X:721.02, Y:9.17, Z:11.17 [[ 9.99550022e-01 -2.57082398e-02 -1.54544348e-02 7.21019959e+02] [ 2.57057904e-02 9.99669488e-01 -3.57145379e-04 9.17201898e+00] [ 1.54585085e-02 -4.02837914e-05 9.99880509e-01 1.11667298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.7192541539999 meters Centerline goodness : 0.998970 Centerline is valid? [True, True] Translation: X:721.05, Y:9.17, Z:11.17 [[ 9.99624501e-01 -2.26277610e-02 -1.54545015e-02 7.21051174e+02] [ 2.26250262e-02 9.99743959e-01 -3.51797359e-04 9.16957304e+00] [ 1.54585049e-02 2.00675924e-06 9.99880510e-01 1.11691605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.7492541539999 meters Centerline goodness : 0.999284 Centerline is valid? [True, True] Translation: X:721.08, Y:9.17, Z:11.17 [[ 9.99666645e-01 -2.06808086e-02 -1.54564911e-02 7.21080982e+02] [ 2.06803470e-02 9.99786121e-01 -1.89712432e-04 9.16924260e+00] [ 1.54571087e-02 -1.29996409e-04 9.99880523e-01 1.11694834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.7792541539999 meters Centerline goodness : 0.998990 Centerline is valid? [True, True] Translation: X:721.11, Y:9.17, Z:11.17 [[ 9.99709900e-01 -1.84719516e-02 -1.54564841e-02 7.21110112e+02] [ 1.84712173e-02 9.99829374e-01 -1.90279373e-04 9.16798086e+00] [ 1.54573617e-02 -9.52759034e-05 9.99880523e-01 1.11693245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.8092541539999 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:721.14, Y:9.17, Z:11.17 [[ 9.99718226e-01 -1.80157568e-02 -1.54564341e-02 7.21138923e+02] [ 1.80149064e-02 9.99837700e-01 -1.94263247e-04 9.16741897e+00] [ 1.54574253e-02 -8.42377040e-05 9.99880523e-01 1.11701460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.839254154 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:721.17, Y:9.17, Z:11.17 [[ 9.99712898e-01 -1.83090712e-02 -1.54563832e-02 7.21167317e+02] [ 1.83081945e-02 9.99832371e-01 -1.98228495e-04 9.16784961e+00] [ 1.54574216e-02 -8.48068864e-05 9.99880523e-01 1.11705861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.8692541539999 meters Centerline goodness : 0.998948 Centerline is valid? [True, True] Translation: X:721.20, Y:9.17, Z:11.17 [[ 9.99707495e-01 -1.86017817e-02 -1.54563237e-02 7.21195680e+02] [ 1.86008699e-02 9.99826968e-01 -2.02762941e-04 9.16754365e+00] [ 1.54574210e-02 -8.47974337e-05 9.99880523e-01 1.11715287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.8992541539999 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:721.22, Y:9.16, Z:11.17 [[ 9.99688695e-01 -1.95861455e-02 -1.54562697e-02 7.21223201e+02] [ 1.95852889e-02 9.99808168e-01 -2.06797845e-04 9.16494393e+00] [ 1.54573551e-02 -9.59820410e-05 9.99880523e-01 1.11709762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.9292541539999 meters Centerline goodness : 0.998992 Centerline is valid? [True, True] Translation: X:721.25, Y:9.16, Z:11.17 [[ 9.99638166e-01 -2.20145930e-02 -1.54562505e-02 7.21251847e+02] [ 2.20140046e-02 9.99757641e-01 -2.08224728e-04 9.16424052e+00] [ 1.54570885e-02 -1.32104585e-04 9.99880523e-01 1.11730874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.959254154 meters Centerline goodness : 0.998951 Centerline is valid? [True, True] Translation: X:721.28, Y:9.16, Z:11.17 [[ 9.99601718e-01 -2.36116684e-02 -1.54561956e-02 7.21280884e+02] [ 2.36112090e-02 9.99721194e-01 -2.12225420e-04 9.16167409e+00] [ 1.54568973e-02 -1.52798570e-04 9.99880523e-01 1.11709419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.9892541539999 meters Centerline goodness : 0.999015 Centerline is valid? [True, True] Translation: X:721.31, Y:9.16, Z:11.17 [[ 9.99514797e-01 -2.70421635e-02 -1.54561400e-02 7.21309930e+02] [ 2.70420527e-02 9.99634273e-01 -2.16201739e-04 9.16099510e+00] [ 1.54563338e-02 -2.01868914e-04 9.99880523e-01 1.11726420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.0192541539999 meters Centerline goodness : 0.998931 Centerline is valid? [True, True] Translation: X:721.34, Y:9.16, Z:11.17 [[ 9.99337714e-01 -3.29430017e-02 -1.54561281e-02 7.21339338e+02] [ 3.29435832e-02 9.99457189e-01 -2.17045926e-04 9.15737489e+00] [ 1.54548885e-02 -2.92278063e-04 9.99880523e-01 1.11717385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.0492541539999 meters Centerline goodness : 0.998993 Centerline is valid? [True, True] Translation: X:721.37, Y:9.16, Z:11.17 [[ 9.99201342e-01 -3.68481591e-02 -1.54561200e-02 7.21370352e+02] [ 3.68491987e-02 9.99320814e-01 -2.17618469e-04 9.15632246e+00] [ 1.54536413e-02 -3.52100973e-04 9.99880523e-01 1.11731584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.079254154 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:721.40, Y:9.15, Z:11.17 [[ 9.99066643e-01 -4.03354762e-02 -1.54561281e-02 7.21401108e+02] [ 4.03369417e-02 9.99186111e-01 -2.17041747e-04 9.15464730e+00] [ 1.54523030e-02 -4.06613770e-04 9.99880523e-01 1.11730116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.1092541539999 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:721.43, Y:9.15, Z:11.17 [[ 9.98782728e-01 -4.68419767e-02 -1.54561402e-02 7.21433547e+02] [ 4.68442337e-02 9.98902183e-01 -2.16178217e-04 9.15052323e+00] [ 1.54492984e-02 -5.08115975e-04 9.99880523e-01 1.11729528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.1392541539999 meters Centerline goodness : 0.998996 Centerline is valid? [True, True] Translation: X:721.47, Y:9.15, Z:11.17 [[ 9.98626584e-01 -5.00604891e-02 -1.54561564e-02 7.21465196e+02] [ 5.00631490e-02 9.98746031e-01 -2.15017395e-04 9.14913082e+00] [ 1.54475387e-02 -5.59061773e-04 9.99880523e-01 1.11741691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.1692541539999 meters Centerline goodness : 0.999226 Centerline is valid? [True, True] Translation: X:721.50, Y:9.15, Z:11.17 [[ 9.98523886e-01 -5.20687569e-02 -1.54561684e-02 7.21497109e+02] [ 5.20716704e-02 9.98643327e-01 -2.14151778e-04 9.14726365e+00] [ 1.54463500e-02 -5.90992839e-04 9.99880523e-01 1.11739966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.1992541539998 meters Centerline goodness : 0.999226 Centerline is valid? [True, True] Translation: X:721.53, Y:9.14, Z:11.18 [[ 9.98383039e-01 -5.47029656e-02 -1.54561837e-02 7.21529259e+02] [ 5.47062114e-02 9.98502471e-01 -2.13035773e-04 9.14498246e+00] [ 1.54446914e-02 -6.32857954e-04 9.99880523e-01 1.11754155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.2292541539999 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:721.56, Y:9.14, Z:11.18 [[ 9.98353364e-01 -5.52418918e-02 -1.54561993e-02 7.21561011e+02] [ 5.52452197e-02 9.98472794e-01 -2.11900989e-04 9.14465137e+00] [ 1.54443003e-02 -6.42329061e-04 9.99880523e-01 1.11761104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.2592541539999 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:721.59, Y:9.14, Z:11.17 [[ 9.98389054e-01 -5.45930584e-02 -1.54562150e-02 7.21592332e+02] [ 5.45963265e-02 9.98508486e-01 -2.10748558e-04 9.14412780e+00] [ 1.54446673e-02 -6.33443507e-04 9.99880523e-01 1.11748826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.2892541539999 meters Centerline goodness : 0.998767 Centerline is valid? [True, True] Translation: X:721.62, Y:9.14, Z:11.17 [[ 9.98455139e-01 -5.33707840e-02 -1.54562267e-02 7.21624402e+02] [ 5.33739191e-02 9.98574574e-01 -2.09889438e-04 9.14369192e+00] [ 1.54453969e-02 -6.15394204e-04 9.99880523e-01 1.11742795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.3192541539999 meters Centerline goodness : 0.999309 Centerline is valid? [True, True] Translation: X:721.66, Y:9.14, Z:11.18 [[ 9.98676744e-01 -4.90496166e-02 -1.54562421e-02 7.21655296e+02] [ 4.90522524e-02 9.98796192e-01 -2.08751096e-04 9.14297699e+00] [ 1.54478749e-02 -5.49688622e-04 9.99880523e-01 1.11758289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.3492541539999 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:721.69, Y:9.14, Z:11.18 [[ 9.98822721e-01 -4.59812646e-02 -1.54562656e-02 7.21687817e+02] [ 4.59835606e-02 9.98942175e-01 -2.06989919e-04 9.14314492e+00] [ 1.54494333e-02 -5.03987894e-04 9.99880523e-01 1.11771609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.3792541539999 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:721.72, Y:9.14, Z:11.18 [[ 9.98990878e-01 -4.21702401e-02 -1.54562807e-02 7.21718240e+02] [ 4.21720980e-02 9.99110340e-01 -2.05855743e-04 9.14347095e+00] [ 1.54512109e-02 -4.46175777e-04 9.99880523e-01 1.11769128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.4092541539999 meters Centerline goodness : 0.998976 Centerline is valid? [True, True] Translation: X:721.75, Y:9.14, Z:11.18 [[ 9.99246500e-01 -3.56025517e-02 -1.54560635e-02 7.21750513e+02] [ 3.56033726e-02 9.99365974e-01 -2.22131929e-04 9.14442821e+00] [ 1.54541724e-02 -3.28323435e-04 9.99880523e-01 1.11796752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.4392541539999 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:721.78, Y:9.14, Z:11.18 [[ 9.99361168e-01 -3.22235847e-02 -1.54562714e-02 7.21781202e+02] [ 3.22242421e-02 9.99480643e-01 -2.06574264e-04 9.14456558e+00] [ 1.54549006e-02 -2.91624335e-04 9.99880523e-01 1.11791472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.4692541539999 meters Centerline goodness : 0.997222 Centerline is valid? [True, True] Translation: X:721.81, Y:9.14, Z:11.18 [[ 9.99448277e-01 -2.93980501e-02 -1.54562835e-02 7.21809763e+02] [ 2.93983838e-02 9.99567753e-01 -2.05664915e-04 9.14452189e+00] [ 1.54556487e-02 -2.48838310e-04 9.99880523e-01 1.11772827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.4992541539999 meters Centerline goodness : 0.998935 Centerline is valid? [True, True] Translation: X:721.84, Y:9.14, Z:11.18 [[ 9.99532954e-01 -2.63626958e-02 -1.54558143e-02 7.21839173e+02] [ 2.63621285e-02 9.99652430e-01 -2.40478160e-04 9.14230955e+00] [ 1.54567819e-02 -1.67082315e-04 9.99880523e-01 1.11777787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.5292541539999 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:721.87, Y:9.14, Z:11.18 [[ 9.99552998e-01 -2.55911819e-02 -1.54562453e-02 7.21868333e+02] [ 2.55910163e-02 9.99672475e-01 -2.08526630e-04 9.14177366e+00] [ 1.54565195e-02 -1.87107608e-04 9.99880523e-01 1.11795345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.5592541539999 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:721.90, Y:9.14, Z:11.18 [[ 9.99543613e-01 -2.59554178e-02 -1.54557806e-02 7.21897465e+02] [ 2.59547695e-02 9.99663089e-01 -2.42565422e-04 9.14091695e+00] [ 1.54568692e-02 -1.58696504e-04 9.99880523e-01 1.11788015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.589254154 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:721.93, Y:9.14, Z:11.18 [[ 9.99498692e-01 -2.76309774e-02 -1.54562046e-02 7.21926941e+02] [ 2.76310082e-02 9.99618168e-01 -2.11591953e-04 9.13985511e+00] [ 1.54561494e-02 -2.15584636e-04 9.99880523e-01 1.11797473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.6192541539999 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:721.96, Y:9.14, Z:11.18 [[ 9.99471034e-01 -2.86139580e-02 -1.54561969e-02 7.21955673e+02] [ 2.86140976e-02 9.99590510e-01 -2.12155240e-04 9.13931098e+00] [ 1.54559383e-02 -2.30222109e-04 9.99880523e-01 1.11788932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.6492541539999 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:721.99, Y:9.14, Z:11.18 [[ 9.99346614e-01 -3.26720715e-02 -1.54557426e-02 7.21985177e+02] [ 3.26721860e-02 9.99466092e-01 -2.45156366e-04 9.14118957e+00] [ 1.54555004e-02 -2.59976713e-04 9.99880523e-01 1.11790193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.6792541539999 meters Centerline goodness : 0.999146 Centerline is valid? [True, True] Translation: X:722.02, Y:9.14, Z:11.18 [[ 9.99228268e-01 -3.61111997e-02 -1.54547628e-02 7.22015927e+02] [ 3.61106388e-02 9.99347748e-01 -3.15444250e-04 9.13638922e+00] [ 1.54560734e-02 -2.42880544e-04 9.99880518e-01 1.11801850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.709254154 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:722.05, Y:9.14, Z:11.18 [[ 9.99131643e-01 -3.86919507e-02 -1.54561724e-02 7.22047163e+02] [ 3.86932774e-02 9.99251112e-01 -2.13306848e-04 9.13519781e+00] [ 1.54528507e-02 -3.84928345e-04 9.99880523e-01 1.11800517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.7392541539999 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:722.08, Y:9.13, Z:11.18 [[ 9.99023242e-01 -4.13964909e-02 -1.54561802e-02 7.22077950e+02] [ 4.13981498e-02 9.99142707e-01 -2.12739577e-04 9.13444194e+00] [ 1.54517364e-02 -4.27325482e-04 9.99880523e-01 1.11798456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.7692541539999 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:722.11, Y:9.13, Z:11.18 [[ 9.98897645e-01 -4.43238163e-02 -1.54561841e-02 7.22109570e+02] [ 4.43258297e-02 9.99017105e-01 -2.12457839e-04 9.13406416e+00] [ 1.54504092e-02 -4.72884549e-04 9.99880523e-01 1.11830731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.7992541539999 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:722.14, Y:9.13, Z:11.18 [[ 9.98634695e-01 -4.98984146e-02 -1.54561920e-02 7.22140996e+02] [ 4.99011036e-02 9.98754141e-01 -2.11882754e-04 9.13325017e+00] [ 1.54475084e-02 -5.59687567e-04 9.99880523e-01 1.11840961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.829254154 meters Centerline goodness : 0.999334 Centerline is valid? [True, True] Translation: X:722.17, Y:9.13, Z:11.19 [[ 9.98512903e-01 -5.22789348e-02 -1.54562171e-02 7.22172801e+02] [ 5.22819370e-02 9.98632342e-01 -2.10037510e-04 9.13322446e+00] [ 1.54460588e-02 -5.98355803e-04 9.99880523e-01 1.11850958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.8592541539999 meters Centerline goodness : 0.999542 Centerline is valid? [True, True] Translation: X:722.20, Y:9.13, Z:11.19 [[ 9.98381890e-01 -5.47239090e-02 -1.54562322e-02 7.22203889e+02] [ 5.47272210e-02 9.98501321e-01 -2.08915912e-04 9.13332676e+00] [ 1.54445010e-02 -6.37298773e-04 9.99880523e-01 1.11871487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.8892541539999 meters Centerline goodness : 0.999396 Centerline is valid? [True, True] Translation: X:722.24, Y:9.13, Z:11.19 [[ 9.98124682e-01 -5.92302687e-02 -1.54562435e-02 7.22235711e+02] [ 5.92341327e-02 9.98244096e-01 -2.08080088e-04 9.13269857e+00] [ 1.54414284e-02 -7.07847305e-04 9.99880523e-01 1.11875086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.9192541539999 meters Centerline goodness : 0.999292 Centerline is valid? [True, True] Translation: X:722.27, Y:9.13, Z:11.19 [[ 9.97988897e-01 -6.14757264e-02 -1.54562584e-02 7.22267955e+02] [ 6.14798763e-02 9.98108302e-01 -2.06963132e-04 9.13298625e+00] [ 1.54397431e-02 -7.43701949e-04 9.99880523e-01 1.11880744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.9492541539998 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:722.30, Y:9.13, Z:11.19 [[ 9.97851535e-01 -6.36664500e-02 -1.54562735e-02 7.22298907e+02] [ 6.36708796e-02 9.97970930e-01 -2.05830057e-04 9.13330895e+00] [ 1.54380161e-02 -7.78726691e-04 9.99880523e-01 1.11866936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.9792541539999 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:722.33, Y:9.13, Z:11.19 [[ 9.97536632e-01 -6.84234757e-02 -1.54562847e-02 7.22331145e+02] [ 6.84284875e-02 9.97656003e-01 -2.04985282e-04 9.13478616e+00] [ 1.54340810e-02 -8.53169858e-04 9.99880523e-01 1.11866192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.0092541539999 meters Centerline goodness : 0.999292 Centerline is valid? [True, True] Translation: X:722.36, Y:9.14, Z:11.19 [[ 9.97374304e-01 -7.07502662e-02 -1.54562993e-02 7.22363392e+02] [ 7.07555736e-02 9.97493663e-01 -2.03882026e-04 9.13617577e+00] [ 1.54319853e-02 -8.90272626e-04 9.99880523e-01 1.11872738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.0392541539999 meters Centerline goodness : 0.999375 Centerline is valid? [True, True] Translation: X:722.39, Y:9.14, Z:11.19 [[ 9.97234425e-01 -7.26952781e-02 -1.54563136e-02 7.22394316e+02] [ 7.27008351e-02 9.97353772e-01 -2.02786693e-04 9.13723149e+00] [ 1.54301544e-02 -9.21461038e-04 9.99880523e-01 1.11869947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.0692541539999 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:722.43, Y:9.14, Z:11.19 [[ 9.97062574e-01 -7.50155048e-02 -1.54563243e-02 7.22426758e+02] [ 7.50213521e-02 9.97181907e-01 -2.01969983e-04 9.13933309e+00] [ 1.54279178e-02 -9.58177638e-04 9.99880523e-01 1.11873154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.0992541539999 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:722.46, Y:9.14, Z:11.19 [[ 9.97062055e-01 -7.50223914e-02 -1.54563386e-02 7.22457520e+02] [ 7.50282565e-02 9.97181388e-01 -2.00869723e-04 9.14063135e+00] [ 1.54278429e-02 -9.59382558e-04 9.99880523e-01 1.11864627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.1292541539999 meters Centerline goodness : 0.999396 Centerline is valid? [True, True] Translation: X:722.49, Y:9.14, Z:11.19 [[ 9.97075842e-01 -7.48389435e-02 -1.54563492e-02 7.22488759e+02] [ 7.48447993e-02 9.97195174e-01 -2.00050470e-04 9.14311023e+00] [ 1.54279684e-02 -9.57361865e-04 9.99880523e-01 1.11879215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.1592541539999 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:722.52, Y:9.15, Z:11.19 [[ 9.97349689e-01 -7.10964117e-02 -1.54563596e-02 7.22521012e+02] [ 7.11018320e-02 9.97469042e-01 -1.99248532e-04 9.14728103e+00] [ 1.54314060e-02 -9.00255018e-04 9.99880523e-01 1.11883968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.1892541539999 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:722.55, Y:9.15, Z:11.19 [[ 9.97498051e-01 -6.89836117e-02 -1.54563739e-02 7.22552949e+02] [ 6.89887965e-02 9.97617415e-01 -1.98130498e-04 9.15070338e+00] [ 1.54332155e-02 -8.68681847e-04 9.99880523e-01 1.11900409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.2192541539999 meters Centerline goodness : 0.999125 Centerline is valid? [True, True] Translation: X:722.58, Y:9.15, Z:11.19 [[ 9.97678998e-01 -6.63152780e-02 -1.54563885e-02 7.22584813e+02] [ 6.63201612e-02 9.97798375e-01 -1.96982827e-04 9.15405662e+00] [ 1.54354223e-02 -8.28544547e-04 9.99880523e-01 1.11907904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.2492541539999 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:722.62, Y:9.16, Z:11.19 [[ 9.98071816e-01 -6.01144681e-02 -1.54564066e-02 7.22617220e+02] [ 6.01186315e-02 9.98191220e-01 -1.95551143e-04 9.15969736e+00] [ 1.54402048e-02 -7.34043930e-04 9.99880523e-01 1.11907416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.2792541539999 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:722.65, Y:9.16, Z:11.19 [[ 9.98209163e-01 -5.77889806e-02 -1.54564208e-02 7.22648908e+02] [ 5.77928832e-02 9.98328576e-01 -1.94423761e-04 9.16262703e+00] [ 1.54418221e-02 -6.99195543e-04 9.99880523e-01 1.11918359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.3092541539999 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:722.68, Y:9.17, Z:11.19 [[ 9.98349181e-01 -5.53173760e-02 -1.54564348e-02 7.22681003e+02] [ 5.53210002e-02 9.98468602e-01 -1.93306197e-04 9.16523487e+00] [ 1.54434580e-02 -6.62078349e-04 9.99880523e-01 1.11931939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.339254154 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:722.72, Y:9.16, Z:11.19 [[ 9.98627752e-01 -5.00371061e-02 -1.54564490e-02 7.22716676e+02] [ 5.00401164e-02 9.98747190e-01 -1.92163511e-04 9.16417048e+00] [ 1.54467003e-02 -5.81542692e-04 9.99880523e-01 1.11943185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.3692541539999 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:722.74, Y:9.17, Z:11.20 [[ 9.98641984e-01 -4.97514468e-02 -1.54590076e-02 7.22742862e+02] [ 4.97576520e-02 9.98761321e-01 1.67952606e-05 9.17374870e+00] [ 1.54390233e-02 -7.85976375e-04 9.99880502e-01 1.11958436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.3992541539999 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:722.77, Y:9.18, Z:11.20 [[ 9.98726781e-01 -4.80199875e-02 -1.54563340e-02 7.22774608e+02] [ 4.80227115e-02 9.98846225e-01 -1.95074514e-04 9.17650597e+00] [ 1.54478683e-02 -5.47428926e-04 9.99880525e-01 1.11965274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.4292541539999 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:722.81, Y:9.18, Z:11.20 [[ 9.98796953e-01 -4.65375981e-02 -1.54563482e-02 7.22806867e+02] [ 4.65401624e-02 9.98916401e-01 -1.93939846e-04 9.17923700e+00] [ 1.54486252e-02 -5.25634429e-04 9.99880525e-01 1.11967908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.459254154 meters Centerline goodness : 0.999225 Centerline is valid? [True, True] Translation: X:722.84, Y:9.18, Z:11.20 [[ 9.98943947e-01 -4.32676633e-02 -1.54563623e-02 7.22839121e+02] [ 4.32698539e-02 9.99063403e-01 -1.92813074e-04 9.18356440e+00] [ 1.54502284e-02 -4.76185083e-04 9.99880525e-01 1.11964075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.4892541539999 meters Centerline goodness : 0.998783 Centerline is valid? [True, True] Translation: X:722.87, Y:9.18, Z:11.20 [[ 9.99040537e-01 -4.09768889e-02 -1.54563761e-02 7.22870930e+02] [ 4.09788230e-02 9.99159997e-01 -1.91694566e-04 9.18498431e+00] [ 1.54512478e-02 -4.41873459e-04 9.99880525e-01 1.11953279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.5192541539999 meters Centerline goodness : 0.999096 Centerline is valid? [True, True] Translation: X:722.90, Y:9.19, Z:11.20 [[ 9.99063030e-01 -4.04247780e-02 -1.54563898e-02 7.22903556e+02] [ 4.04266632e-02 9.99182490e-01 -1.90586188e-04 9.18746382e+00] [ 1.54514584e-02 -4.34442650e-04 9.99880525e-01 1.11970339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.5492541539999 meters Centerline goodness : 0.998949 Centerline is valid? [True, True] Translation: X:722.95, Y:9.18, Z:11.19 [[ 9.99487251e-01 -2.80416596e-02 -1.54564034e-02 7.22948708e+02] [ 2.80420814e-02 9.99606726e-01 -1.89478979e-04 9.17721599e+00] [ 1.54556381e-02 -2.44047897e-04 9.99880525e-01 1.11901807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.579254154 meters Centerline goodness : 0.998991 Centerline is valid? [True, True] Translation: X:722.97, Y:9.19, Z:11.20 [[ 9.99328371e-01 -3.32227194e-02 -1.54615259e-02 7.22967348e+02] [ 3.32339337e-02 9.99447490e-01 4.68862876e-04 9.18679110e+00] [ 1.54374064e-02 -9.82395302e-04 9.99880354e-01 1.11953988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.6092541539999 meters Centerline goodness : 0.999095 Centerline is valid? [True, True] Translation: X:723.00, Y:9.19, Z:11.20 [[ 9.99251236e-01 -3.54693165e-02 -1.54562290e-02 7.22997370e+02] [ 3.54718534e-02 9.99370670e-01 -1.10061967e-04 9.19051366e+00] [ 1.54504058e-02 -4.38281534e-04 9.99880539e-01 1.11998386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.6392541539999 meters Centerline goodness : 0.999159 Centerline is valid? [True, True] Translation: X:723.03, Y:9.19, Z:11.20 [[ 9.99248411e-01 -3.55489483e-02 -1.54559433e-02 7.23028592e+02] [ 3.55510118e-02 9.99367853e-01 -1.41310628e-04 9.19165281e+00] [ 1.54511963e-02 -4.08270003e-04 9.99880540e-01 1.12005214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.6692541539999 meters Centerline goodness : 0.998969 Centerline is valid? [True, True] Translation: X:723.06, Y:9.19, Z:11.20 [[ 9.99223255e-01 -3.62491467e-02 -1.54559507e-02 7.23059611e+02] [ 3.62513064e-02 9.99342696e-01 -1.40500147e-04 9.19370872e+00] [ 1.54508844e-02 -4.19907390e-04 9.99880540e-01 1.12011921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.6992541539998 meters Centerline goodness : 0.999010 Centerline is valid? [True, True] Translation: X:723.09, Y:9.19, Z:11.20 [[ 9.99223356e-01 -3.62463463e-02 -1.54559579e-02 7.23091839e+02] [ 3.62485181e-02 9.99342797e-01 -1.39702039e-04 9.19475867e+00] [ 1.54508639e-02 -4.20662028e-04 9.99880540e-01 1.12020950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.7292541539999 meters Centerline goodness : 0.999010 Centerline is valid? [True, True] Translation: X:723.12, Y:9.19, Z:11.20 [[ 9.99225911e-01 -3.61758420e-02 -1.54559677e-02 7.23124525e+02] [ 3.61780221e-02 9.99345351e-01 -1.38612628e-04 9.19498847e+00] [ 1.54508639e-02 -4.20661011e-04 9.99880540e-01 1.12026000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.7592541539999 meters Centerline goodness : 0.998801 Centerline is valid? [True, True] Translation: X:723.16, Y:9.20, Z:11.20 [[ 9.99251696e-01 -3.54564609e-02 -1.54559774e-02 7.23155894e+02] [ 3.54585719e-02 9.99371138e-01 -1.37522199e-04 9.19539465e+00] [ 1.54511337e-02 -4.10627593e-04 9.99880540e-01 1.12025512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.7892541539999 meters Centerline goodness : 0.998886 Centerline is valid? [True, True] Translation: X:723.20, Y:9.18, Z:11.20 [[ 9.99628519e-01 -2.24485194e-02 -1.54559933e-02 7.23202811e+02] [ 2.24491038e-02 9.99747978e-01 -1.35706816e-04 9.18150471e+00] [ 1.54551445e-02 -2.11316795e-04 9.99880540e-01 1.11967665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.8192541539999 meters Centerline goodness : 0.998736 Centerline is valid? [True, True] Translation: X:723.21, Y:9.20, Z:11.20 [[ 9.99256408e-01 -3.53209639e-02 -1.54616089e-02 7.23214207e+02] [ 3.53349058e-02 9.99375329e-01 6.29376455e-04 9.19733912e+00] [ 1.54297203e-02 -1.17524295e-03 9.99880264e-01 1.12039023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.8492541539999 meters Centerline goodness : 0.998738 Centerline is valid? [True, True] Translation: X:723.25, Y:9.20, Z:11.20 [[ 9.99266532e-01 -3.50364640e-02 -1.54545843e-02 7.23245936e+02] [ 3.50384703e-02 9.99385954e-01 -1.41011319e-04 9.19816036e+00] [ 1.54500350e-02 -4.00597102e-04 9.99880561e-01 1.12049819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.8792541539999 meters Centerline goodness : 0.998843 Centerline is valid? [True, True] Translation: X:723.28, Y:9.20, Z:11.20 [[ 9.99315119e-01 -3.36221419e-02 -1.54545894e-02 7.23277528e+02] [ 3.36239879e-02 9.99434544e-01 -1.40449618e-04 9.19738383e+00] [ 1.54505727e-02 -3.79291500e-04 9.99880561e-01 1.12036944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.9092541539999 meters Centerline goodness : 0.998907 Centerline is valid? [True, True] Translation: X:723.31, Y:9.20, Z:11.20 [[ 9.99296517e-01 -3.41705474e-02 -1.54545970e-02 7.23308393e+02] [ 3.41724719e-02 9.99415941e-01 -1.39608898e-04 9.19769369e+00] [ 1.54503411e-02 -3.88611096e-04 9.99880561e-01 1.12049300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.9392541539999 meters Centerline goodness : 0.999013 Centerline is valid? [True, True] Translation: X:723.34, Y:9.20, Z:11.21 [[ 9.99273490e-01 -3.48374574e-02 -1.54546021e-02 7.23339647e+02] [ 3.48394704e-02 9.99392912e-01 -1.39041989e-04 9.19784319e+00] [ 1.54500637e-02 -3.99489178e-04 9.99880561e-01 1.12055885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.9692541539999 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:723.37, Y:9.20, Z:11.21 [[ 9.99238969e-01 -3.58139494e-02 -1.54546072e-02 7.23371277e+02] [ 3.58160879e-02 9.99358389e-01 -1.38472687e-04 9.19677371e+00] [ 1.54496506e-02 -4.15156266e-04 9.99880561e-01 1.12053317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.9992541539999 meters Centerline goodness : 0.998948 Centerline is valid? [True, True] Translation: X:723.41, Y:9.19, Z:11.20 [[ 9.99550385e-01 -2.56940132e-02 -1.54546123e-02 7.23413084e+02] [ 2.56949511e-02 9.99669821e-01 -1.37903878e-04 9.18562921e+00] [ 1.54530528e-02 -2.59263633e-04 9.99880561e-01 1.11987462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.0292541539999 meters Centerline goodness : 0.999350 Centerline is valid? [True, True] Translation: X:723.43, Y:9.20, Z:11.20 [[ 9.99171764e-01 -3.76403334e-02 -1.54593197e-02 7.23429485e+02] [ 3.76516176e-02 9.99290830e-01 4.39425554e-04 9.19604893e+00] [ 1.54318163e-02 -1.02113000e-03 9.99880401e-01 1.12047249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.0592541539999 meters Centerline goodness : 0.998888 Centerline is valid? [True, True] Translation: X:723.46, Y:9.19, Z:11.20 [[ 9.99242535e-01 -3.57146548e-02 -1.54537775e-02 7.23461759e+02] [ 3.57166602e-02 9.99361946e-01 -1.46296378e-04 9.19351069e+00] [ 1.54491421e-02 -4.05771757e-04 9.99880573e-01 1.12035826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.089254154 meters Centerline goodness : 0.998869 Centerline is valid? [True, True] Translation: X:723.49, Y:9.19, Z:11.21 [[ 9.99165870e-01 -3.77985271e-02 -1.54543174e-02 7.23491742e+02] [ 3.78016797e-02 9.99285257e-01 -8.81713388e-05 9.19498305e+00] [ 1.54466043e-02 -4.96101365e-04 9.99880571e-01 1.12062476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.1192541539999 meters Centerline goodness : 0.998806 Centerline is valid? [True, True] Translation: X:723.52, Y:9.19, Z:11.21 [[ 9.99297044e-01 -3.41554864e-02 -1.54537913e-02 7.23524477e+02] [ 3.41573339e-02 9.99416458e-01 -1.44459139e-04 9.19203502e+00] [ 1.54497074e-02 -3.83502717e-04 9.99880573e-01 1.12058489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.1492541539999 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:723.55, Y:9.19, Z:11.21 [[ 9.99205919e-01 -3.67244089e-02 -1.54547225e-02 7.23553694e+02] [ 3.67281400e-02 9.99325293e-01 -4.24313816e-05 9.19413684e+00] [ 1.54458533e-02 -5.25225523e-04 9.99880568e-01 1.12060348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.1792541539999 meters Centerline goodness : 0.998956 Centerline is valid? [True, True] Translation: X:723.59, Y:9.19, Z:11.21 [[ 9.99380671e-01 -3.16141473e-02 -1.54537878e-02 7.23586180e+02] [ 3.16157096e-02 9.99500088e-01 -1.43261710e-04 9.18939116e+00] [ 1.54505914e-02 -3.45409484e-04 9.99880573e-01 1.12050735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.209254154 meters Centerline goodness : 0.998744 Centerline is valid? [True, True] Translation: X:723.61, Y:9.19, Z:11.21 [[ 9.99235928e-01 -3.58983319e-02 -1.54554091e-02 7.23613742e+02] [ 3.59031477e-02 9.99355274e-01 3.41541260e-05 9.19359568e+00] [ 1.54442185e-02 -5.89025865e-04 9.99880557e-01 1.12073005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.2392541539999 meters Centerline goodness : 0.998830 Centerline is valid? [True, True] Translation: X:723.66, Y:9.18, Z:11.20 [[ 9.99574483e-01 -2.47393511e-02 -1.54537102e-02 7.23658616e+02] [ 2.47400518e-02 9.99693907e-01 -1.45859884e-04 9.18001853e+00] [ 1.54525885e-02 -2.36527773e-04 9.99880574e-01 1.12007540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.2692541539999 meters Centerline goodness : 0.998828 Centerline is valid? [True, True] Translation: X:723.68, Y:9.19, Z:11.21 [[ 9.99312944e-01 -3.36840222e-02 -1.54604930e-02 7.23677251e+02] [ 3.36957565e-02 9.99432012e-01 4.99046632e-04 9.18839924e+00] [ 1.54349018e-02 -1.01965677e-03 9.99880355e-01 1.12087497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.2992541539999 meters Centerline goodness : 0.999037 Centerline is valid? [True, True] Translation: X:723.70, Y:9.19, Z:11.21 [[ 9.99200557e-01 -3.68701401e-02 -1.54544080e-02 7.23704128e+02] [ 3.68742269e-02 9.99319914e-01 -2.05242349e-05 9.19221105e+00] [ 1.54446544e-02 -5.49361521e-04 9.99880573e-01 1.12090665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.329254154 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:723.74, Y:9.19, Z:11.21 [[ 9.99298440e-01 -3.41152496e-02 -1.54524293e-02 7.23735236e+02] [ 3.41164587e-02 9.99417847e-01 -1.85431241e-04 9.19244109e+00] [ 1.54497597e-02 -3.41881017e-04 9.99880587e-01 1.12097627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.3592541539999 meters Centerline goodness : 0.998994 Centerline is valid? [True, True] Translation: X:723.77, Y:9.19, Z:11.21 [[ 9.99375217e-01 -3.17867487e-02 -1.54524360e-02 7.23766561e+02] [ 3.17876881e-02 9.99494627e-01 -1.84874494e-04 9.19270713e+00] [ 1.54505033e-02 -3.06438228e-04 9.99880587e-01 1.12100821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.3892541539999 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] Translation: X:723.80, Y:9.19, Z:11.21 [[ 9.99438577e-01 -2.97279647e-02 -1.54524427e-02 7.23797492e+02] [ 2.97286669e-02 9.99557989e-01 -1.84313890e-04 9.19355155e+00] [ 1.54510918e-02 -2.75170109e-04 9.99880587e-01 1.12114845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.4192541539999 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:723.83, Y:9.19, Z:11.21 [[ 9.99545887e-01 -2.58697239e-02 -1.54524495e-02 7.23828040e+02] [ 2.58699739e-02 9.99665299e-01 -1.83744360e-04 9.19269211e+00] [ 1.54520309e-02 -2.16093544e-04 9.99880587e-01 1.12099135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.4492541539998 meters Centerline goodness : 0.999035 Centerline is valid? [True, True] Translation: X:723.86, Y:9.19, Z:11.21 [[ 9.99608355e-01 -2.33312740e-02 -1.54528042e-02 7.23856970e+02] [ 2.33316840e-02 9.99727767e-01 -1.53773259e-04 9.19368650e+00] [ 1.54521851e-02 -2.06826909e-04 9.99880586e-01 1.12118500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.4792541539999 meters Centerline goodness : 0.999267 Centerline is valid? [True, True] Translation: X:723.89, Y:9.19, Z:11.21 [[ 9.99653116e-01 -2.13276612e-02 -1.54524479e-02 7.23886155e+02] [ 2.13273687e-02 9.99772529e-01 -1.83740585e-04 9.19343086e+00] [ 1.54528516e-02 -1.45883204e-04 9.99880587e-01 1.12126162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.5092541539999 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:723.92, Y:9.19, Z:11.21 [[ 9.99699802e-01 -1.90139031e-02 -1.54524411e-02 7.23915336e+02] [ 1.90133254e-02 9.99819213e-01 -1.84307681e-04 9.19248295e+00] [ 1.54531519e-02 -1.09549938e-04 9.99880587e-01 1.12118887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.5392541539999 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:723.94, Y:9.19, Z:11.21 [[ 9.99714942e-01 -1.82005294e-02 -1.54523929e-02 7.23943491e+02] [ 1.81997934e-02 9.99834352e-01 -1.88266364e-04 9.19188010e+00] [ 1.54532598e-02 -9.30176598e-05 9.99880587e-01 1.12115474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.5692541539999 meters Centerline goodness : 0.998992 Centerline is valid? [True, True] Translation: X:723.97, Y:9.19, Z:11.21 [[ 9.99709320e-01 -1.85067502e-02 -1.54523757e-02 7.23971511e+02] [ 1.85060291e-02 9.99828731e-01 -1.89665267e-04 9.19222067e+00] [ 1.54532393e-02 -9.63519793e-05 9.99880587e-01 1.12125108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.5992541539999 meters Centerline goodness : 0.999139 Centerline is valid? [True, True] Translation: X:724.00, Y:9.19, Z:11.21 [[ 9.99705200e-01 -1.87280088e-02 -1.54523189e-02 7.23999437e+02] [ 1.87272443e-02 9.99824611e-01 -1.94180723e-04 9.19198713e+00] [ 1.54532454e-02 -9.52558737e-05 9.99880587e-01 1.12129407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.6292541539999 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:724.03, Y:9.19, Z:11.21 [[ 9.99674653e-01 -2.02932409e-02 -1.54522611e-02 7.24027580e+02] [ 2.02925939e-02 9.99794064e-01 -1.98677342e-04 9.19068752e+00] [ 1.54531108e-02 -1.14953758e-04 9.99880587e-01 1.12129450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.6592541539999 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:724.06, Y:9.19, Z:11.21 [[ 9.99645616e-01 -2.16765098e-02 -1.54522431e-02 7.24055974e+02] [ 2.16760065e-02 9.99765028e-01 -2.00069127e-04 9.18939309e+00] [ 1.54529491e-02 -1.34944697e-04 9.99880587e-01 1.12137617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.6892541539999 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:724.08, Y:9.19, Z:11.21 [[ 9.99606461e-01 -2.34126569e-02 -1.54521908e-02 7.24084851e+02] [ 2.34122998e-02 9.99725874e-01 -2.04033300e-04 9.18816117e+00] [ 1.54527319e-02 -1.57818318e-04 9.99880587e-01 1.12133226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.7192541539999 meters Centerline goodness : 0.998954 Centerline is valid? [True, True] Translation: X:724.11, Y:9.19, Z:11.21 [[ 9.99543231e-01 -2.59722745e-02 -1.54521796e-02 7.24113097e+02] [ 2.59722101e-02 9.99662644e-01 -2.04875291e-04 9.18752216e+00] [ 1.54522878e-02 -1.96545546e-04 9.99880587e-01 1.12135400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.7492541539999 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:724.14, Y:9.19, Z:11.22 [[ 9.99383984e-01 -3.15100456e-02 -1.54521687e-02 7.24142609e+02] [ 3.15106302e-02 9.99503396e-01 -2.05697878e-04 9.18569014e+00] [ 1.54509766e-02 -2.81336407e-04 9.99880587e-01 1.12154059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.7792541539999 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:724.17, Y:9.18, Z:11.21 [[ 9.99301972e-01 -3.40117656e-02 -1.54521610e-02 7.24173160e+02] [ 3.40126402e-02 9.99421382e-01 -2.06269216e-04 9.18418601e+00] [ 1.54502357e-02 -3.19443559e-04 9.99880587e-01 1.12145873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.8092541539999 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:724.20, Y:9.18, Z:11.22 [[ 9.99163201e-01 -3.78698909e-02 -1.54521729e-02 7.24204144e+02] [ 3.78712404e-02 9.99282606e-01 -2.05374356e-04 9.18383446e+00] [ 1.54488651e-02 -3.79990456e-04 9.99880587e-01 1.12161377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.839254154 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:724.24, Y:9.18, Z:11.22 [[ 9.98864961e-01 -4.50557362e-02 -1.54521842e-02 7.24235233e+02] [ 4.50579577e-02 9.98984354e-01 -2.04524271e-04 9.18160441e+00] [ 1.54457052e-02 -4.91951732e-04 9.99880587e-01 1.12165246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.8692541539999 meters Centerline goodness : 0.998956 Centerline is valid? [True, True] Translation: X:724.27, Y:9.18, Z:11.22 [[ 9.98705419e-01 -4.84635416e-02 -1.54521954e-02 7.24267295e+02] [ 4.84661837e-02 9.98824803e-01 -2.03669376e-04 9.18007916e+00] [ 1.54439066e-02 -5.45503233e-04 9.99880587e-01 1.12167642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.8992541539999 meters Centerline goodness : 0.998831 Centerline is valid? [True, True] Translation: X:724.30, Y:9.17, Z:11.22 [[ 9.98728013e-01 -4.79956738e-02 -1.54522100e-02 7.24303207e+02] [ 4.79982771e-02 9.98847398e-01 -2.02555194e-04 9.17339450e+00] [ 1.54441216e-02 -5.39381913e-04 9.99880587e-01 1.12154132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.9292541539999 meters Centerline goodness : 0.998956 Centerline is valid? [True, True] Translation: X:724.34, Y:9.17, Z:11.22 [[ 9.98207332e-01 -5.78206356e-02 -1.54563025e-02 7.24336000e+02] [ 5.78291135e-02 9.98326491e-01 1.01763110e-04 9.17301348e+00] [ 1.54245523e-02 -9.95404957e-04 9.99880539e-01 1.12177305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.959254154 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:724.36, Y:9.18, Z:11.22 [[ 9.97635474e-01 -6.69668732e-02 -1.54563592e-02 7.24358817e+02] [ 6.69765072e-02 9.97754547e-01 1.05929989e-04 9.17871971e+00] [ 1.54145588e-02 -1.14089247e-03 9.99880538e-01 1.12198273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.9892541539999 meters Centerline goodness : 0.998852 Centerline is valid? [True, True] Translation: X:724.39, Y:9.18, Z:11.22 [[ 9.97105870e-01 -7.44387697e-02 -1.54516863e-02 7.24390410e+02] [ 7.44442510e-02 9.97225152e-01 -2.20935595e-04 9.17841756e+00] [ 1.54252564e-02 -9.29993036e-04 9.99880591e-01 1.12201076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.0192541539999 meters Centerline goodness : 0.998978 Centerline is valid? [True, True] Translation: X:724.42, Y:9.18, Z:11.22 [[ 9.96865820e-01 -7.75872520e-02 -1.54517112e-02 7.24423504e+02] [ 7.75931370e-02 9.96985084e-01 -2.19181701e-04 9.17855569e+00] [ 1.54221313e-02 -9.80451998e-04 9.99880591e-01 1.12201366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.0492541539999 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:724.46, Y:9.18, Z:11.22 [[ 9.96664069e-01 -8.01372443e-02 -1.54517338e-02 7.24456352e+02] [ 8.01434592e-02 9.96783316e-01 -2.17577966e-04 9.17860687e+00] [ 1.54194665e-02 -1.02150325e-03 9.99880591e-01 1.12207155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.079254154 meters Centerline goodness : 0.998851 Centerline is valid? [True, True] Translation: X:724.49, Y:9.18, Z:11.22 [[ 9.96373000e-01 -8.36784815e-02 -1.54517572e-02 7.24488189e+02] [ 8.36851460e-02 9.96492223e-01 -2.15900401e-04 9.17943815e+00] [ 1.54156221e-02 -1.07796523e-03 9.99880591e-01 1.12203910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.1092541539999 meters Centerline goodness : 0.998915 Centerline is valid? [True, True] Translation: X:724.52, Y:9.18, Z:11.22 [[ 9.96324899e-01 -8.42492570e-02 -1.54517765e-02 7.24521232e+02] [ 8.42560112e-02 9.96444117e-01 -2.14511776e-04 9.18057027e+00] [ 1.54149042e-02 -1.08818163e-03 9.99880591e-01 1.12216830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.1392541539999 meters Centerline goodness : 0.998977 Centerline is valid? [True, True] Translation: X:724.56, Y:9.18, Z:11.22 [[ 9.96457886e-01 -8.26614962e-02 -1.54518004e-02 7.24557117e+02] [ 8.26680873e-02 9.96577113e-01 -2.12772434e-04 9.18008832e+00] [ 1.54164988e-02 -1.06535202e-03 9.99880591e-01 1.12219863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.1692541539999 meters Centerline goodness : 0.998957 Centerline is valid? [True, True] Translation: X:724.59, Y:9.18, Z:11.22 [[ 9.96382761e-01 -8.35618078e-02 -1.54537424e-02 7.24585460e+02] [ 8.35707247e-02 9.96501846e-01 -6.90020318e-05 9.18386933e+00] [ 1.54054488e-02 -1.22272802e-03 9.99880581e-01 1.12217287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.1992541539998 meters Centerline goodness : 0.998999 Centerline is valid? [True, True] Translation: X:724.62, Y:9.19, Z:11.22 [[ 9.96657911e-01 -8.02137807e-02 -1.54518030e-02 7.24617890e+02] [ 8.02201058e-02 9.96777152e-01 -2.11026261e-04 9.18705193e+00] [ 1.54189314e-02 -1.02922428e-03 9.99880591e-01 1.12211943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.2292541539999 meters Centerline goodness : 0.998724 Centerline is valid? [True, True] Translation: X:724.66, Y:9.18, Z:11.22 [[ 9.97240466e-01 -7.26133260e-02 -1.54518216e-02 7.24656566e+02] [ 7.26187632e-02 9.97359750e-01 -2.09651420e-04 9.18361168e+00] [ 1.54262484e-02 -9.13019295e-04 9.99880591e-01 1.12185591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.2592541539999 meters Centerline goodness : 0.998975 Centerline is valid? [True, True] Translation: X:724.68, Y:9.19, Z:11.22 [[ 9.97147383e-01 -7.38798412e-02 -1.54552914e-02 7.24681709e+02] [ 7.38895065e-02 9.97266433e-01 5.45043541e-05 9.19139051e+00] [ 1.54090166e-02 -1.19633273e-03 9.99880558e-01 1.12224317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.2892541539999 meters Centerline goodness : 0.998932 Centerline is valid? [True, True] Translation: X:724.71, Y:9.20, Z:11.22 [[ 9.97723805e-01 -6.56388292e-02 -1.54516667e-02 7.24714898e+02] [ 6.56434114e-02 9.97843123e-01 -2.10989386e-04 9.19636949e+00] [ 1.54321885e-02 -8.03790981e-04 9.99880594e-01 1.12234506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.3192541539999 meters Centerline goodness : 0.998910 Centerline is valid? [True, True] Translation: X:724.75, Y:9.20, Z:11.22 [[ 9.98019440e-01 -6.09790426e-02 -1.54516900e-02 7.24746414e+02] [ 6.09830942e-02 9.98138777e-01 -2.09269234e-04 9.19926612e+00] [ 1.54356920e-02 -7.33437103e-04 9.99880594e-01 1.12237000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.3492541539999 meters Centerline goodness : 0.998827 Centerline is valid? [True, True] Translation: X:724.78, Y:9.20, Z:11.22 [[ 9.98295897e-01 -5.62720695e-02 -1.54517091e-02 7.24778411e+02] [ 5.62755803e-02 9.98415252e-01 -2.07846650e-04 9.20202903e+00] [ 1.54389180e-02 -6.62061441e-04 9.99880594e-01 1.12248457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.3792541539999 meters Centerline goodness : 0.999098 Centerline is valid? [True, True] Translation: X:724.81, Y:9.21, Z:11.22 [[ 9.98768477e-01 -4.71463011e-02 -1.54517244e-02 7.24809576e+02] [ 4.71487386e-02 9.98887858e-01 -2.06707530e-04 9.20663875e+00] [ 1.54442854e-02 -5.22076349e-04 9.99880594e-01 1.12249672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.4092541539999 meters Centerline goodness : 0.998889 Centerline is valid? [True, True] Translation: X:724.84, Y:9.21, Z:11.23 [[ 9.98946472e-01 -4.32110018e-02 -1.54517357e-02 7.24841636e+02] [ 4.32129820e-02 9.99065862e-01 -2.05858736e-04 9.20896544e+00] [ 1.54461970e-02 -4.62073719e-04 9.99880594e-01 1.12256979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.4392541539999 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:724.87, Y:9.21, Z:11.23 [[ 9.99113109e-01 -3.91693654e-02 -1.54517505e-02 7.24873979e+02] [ 3.91708799e-02 9.99232506e-01 -2.04741036e-04 9.21098975e+00] [ 1.54479109e-02 -4.00699209e-04 9.99880594e-01 1.12266267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.4692541539999 meters Centerline goodness : 0.998929 Centerline is valid? [True, True] Translation: X:724.91, Y:9.22, Z:11.23 [[ 9.99339210e-01 -3.28996381e-02 -1.54517655e-02 7.24905451e+02] [ 3.29004209e-02 9.99458614e-01 -2.03604495e-04 9.21563136e+00] [ 1.54500986e-02 -3.04899632e-04 9.99880594e-01 1.12278330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.4992541539999 meters Centerline goodness : 0.998972 Centerline is valid? [True, True] Translation: X:724.94, Y:9.22, Z:11.23 [[ 9.99419067e-01 -3.03771421e-02 -1.54517887e-02 7.24936487e+02] [ 3.03776510e-02 9.99538472e-01 -2.01826134e-04 9.21800019e+00] [ 1.54507882e-02 -2.67680159e-04 9.99880594e-01 1.12287127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.5292541539999 meters Centerline goodness : 0.998885 Centerline is valid? [True, True] Translation: X:724.97, Y:9.22, Z:11.23 [[ 9.99474473e-01 -2.84959555e-02 -1.54517960e-02 7.24966319e+02] [ 2.84962483e-02 9.99593879e-01 -2.01263029e-04 9.21994466e+00] [ 1.54512559e-02 -2.39160957e-04 9.99880594e-01 1.12286811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.5592541539999 meters Centerline goodness : 0.999055 Centerline is valid? [True, True] Translation: X:725.00, Y:9.22, Z:11.23 [[ 9.99537645e-01 -2.61866152e-02 -1.54517997e-02 7.24997310e+02] [ 2.61866365e-02 9.99657051e-01 -2.00983852e-04 9.22185814e+00] [ 1.54517636e-02 -2.03739735e-04 9.99880594e-01 1.12285701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.589254154 meters Centerline goodness : 0.999053 Centerline is valid? [True, True] Translation: X:725.03, Y:9.22, Z:11.23 [[ 9.99537664e-01 -2.61858840e-02 -1.54518034e-02 7.25028275e+02] [ 2.61859096e-02 9.99657070e-01 -2.00699649e-04 9.22275036e+00] [ 1.54517600e-02 -2.04012668e-04 9.99880594e-01 1.12283618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.6192541539999 meters Centerline goodness : 0.998928 Centerline is valid? [True, True] Translation: X:725.06, Y:9.22, Z:11.23 [[ 9.99525621e-01 -2.66415904e-02 -1.54518034e-02 7.25057738e+02] [ 2.66416704e-02 9.99645028e-01 -2.00699649e-04 9.22374801e+00] [ 1.54516654e-02 -2.11057411e-04 9.99880594e-01 1.12278255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.6492541539999 meters Centerline goodness : 0.998928 Centerline is valid? [True, True] Translation: X:725.09, Y:9.22, Z:11.23 [[ 9.99525621e-01 -2.66415890e-02 -1.54518045e-02 7.25088731e+02] [ 2.66416704e-02 9.99645028e-01 -2.00611288e-04 9.22415034e+00] [ 1.54516641e-02 -2.11145761e-04 9.99880594e-01 1.12283045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.6792541539999 meters Centerline goodness : 0.999201 Centerline is valid? [True, True] Translation: X:725.12, Y:9.22, Z:11.23 [[ 9.99506210e-01 -2.73601429e-02 -1.54518045e-02 7.25119616e+02] [ 2.73603101e-02 9.99625617e-01 -2.00611288e-04 9.22497744e+00] [ 1.54515084e-02 -2.22253935e-04 9.99880594e-01 1.12289477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.709254154 meters Centerline goodness : 0.998779 Centerline is valid? [True, True] Translation: X:725.15, Y:9.23, Z:11.23 [[ 9.99502835e-01 -2.74831802e-02 -1.54518045e-02 7.25150304e+02] [ 2.74833622e-02 9.99622241e-01 -2.00611288e-04 9.22561753e+00] [ 1.54514809e-02 -2.24155988e-04 9.99880594e-01 1.12303749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.7392541539999 meters Centerline goodness : 0.998885 Centerline is valid? [True, True] Translation: X:725.18, Y:9.23, Z:11.23 [[ 9.99408523e-01 -3.07219407e-02 -1.54520856e-02 7.25180768e+02] [ 3.07228413e-02 9.99527926e-01 -1.79149204e-04 9.22716929e+00] [ 1.54502948e-02 -2.95688731e-04 9.99880593e-01 1.12307284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.7692541539999 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:725.21, Y:9.23, Z:11.23 [[ 9.99384055e-01 -3.15079840e-02 -1.54517731e-02 7.25210756e+02] [ 3.15086108e-02 9.99503460e-01 -2.02937853e-04 9.22747229e+00] [ 1.54504949e-02 -2.84051052e-04 9.99880594e-01 1.12312231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.7992541539999 meters Centerline goodness : 0.998969 Centerline is valid? [True, True] Translation: X:725.24, Y:9.23, Z:11.23 [[ 9.99358795e-01 -3.22992463e-02 -1.54517769e-02 7.25241658e+02] [ 3.22999720e-02 9.99478199e-01 -2.02653423e-04 9.22762144e+00] [ 1.54502597e-02 -2.96568481e-04 9.99880594e-01 1.12319142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.829254154 meters Centerline goodness : 0.998989 Centerline is valid? [True, True] Translation: X:725.27, Y:9.23, Z:11.23 [[ 9.99341121e-01 -3.28415265e-02 -1.54517842e-02 7.25273075e+02] [ 3.28423258e-02 9.99460525e-01 -2.02089533e-04 9.22731793e+00] [ 1.54500853e-02 -3.05516151e-04 9.99880594e-01 1.12328598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.8592541539999 meters Centerline goodness : 0.998906 Centerline is valid? [True, True] Translation: X:725.30, Y:9.23, Z:11.23 [[ 9.99355272e-01 -3.24080564e-02 -1.54517916e-02 7.25303957e+02] [ 3.24088126e-02 9.99474676e-01 -2.01528770e-04 9.22673782e+00] [ 1.54502055e-02 -2.99375377e-04 9.99880594e-01 1.12326457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.8892541539999 meters Centerline goodness : 0.999095 Centerline is valid? [True, True] Translation: X:725.33, Y:9.23, Z:11.23 [[ 9.99380178e-01 -3.16306949e-02 -1.54517990e-02 7.25334129e+02] [ 3.16313670e-02 9.99499583e-01 -2.00957407e-04 9.22671336e+00] [ 1.54504231e-02 -2.87928675e-04 9.99880594e-01 1.12340139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.9192541539999 meters Centerline goodness : 0.999075 Centerline is valid? [True, True] Translation: X:725.36, Y:9.23, Z:11.23 [[ 9.99392268e-01 -3.12463783e-02 -1.54518027e-02 7.25364624e+02] [ 3.12470089e-02 9.99511673e-01 -2.00674445e-04 9.22711277e+00] [ 1.54505275e-02 -2.82270126e-04 9.99880594e-01 1.12348957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.9492541539998 meters Centerline goodness : 0.999095 Centerline is valid? [True, True] Translation: X:725.40, Y:9.23, Z:11.24 [[ 9.99408292e-01 -3.07295913e-02 -1.54518146e-02 7.25395466e+02] [ 3.07301744e-02 9.99527697e-01 -1.99749873e-04 9.22694748e+00] [ 1.54506549e-02 -2.75205278e-04 9.99880594e-01 1.12350256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.9792541539999 meters Centerline goodness : 0.998991 Centerline is valid? [True, True] Translation: X:725.42, Y:9.23, Z:11.24 [[ 9.99461238e-01 -2.89564228e-02 -1.54518182e-02 7.25424353e+02] [ 2.89567983e-02 9.99580644e-01 -1.99472872e-04 9.22575731e+00] [ 1.54511144e-02 -2.48069779e-04 9.99880594e-01 1.12351645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.0092541539999 meters Centerline goodness : 0.998928 Centerline is valid? [True, True] Translation: X:725.46, Y:9.22, Z:11.23 [[ 9.99428397e-01 -3.00690964e-02 -1.54508671e-02 7.25456144e+02] [ 3.00684818e-02 9.99547804e-01 -2.72131334e-04 9.22484227e+00] [ 1.54520631e-02 -1.92608335e-04 9.99880591e-01 1.12336283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.0392541539999 meters Centerline goodness : 0.999013 Centerline is valid? [True, True] Translation: X:725.49, Y:9.22, Z:11.23 [[ 9.99376241e-01 -3.17548518e-02 -1.54517804e-02 7.25487723e+02] [ 3.17555161e-02 9.99495646e-01 -2.02420316e-04 9.22357198e+00] [ 1.54504151e-02 -2.88385206e-04 9.99880594e-01 1.12346146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.0692541539999 meters Centerline goodness : 0.999055 Centerline is valid? [True, True] Translation: X:725.52, Y:9.22, Z:11.23 [[ 9.99333777e-01 -3.30642598e-02 -1.54517879e-02 7.25517774e+02] [ 3.30650894e-02 9.99453180e-01 -2.01844890e-04 9.22308211e+00] [ 1.54500124e-02 -3.09204333e-04 9.99880594e-01 1.12335700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.0992541539999 meters Centerline goodness : 0.999015 Centerline is valid? [True, True] Translation: X:725.55, Y:9.22, Z:11.23 [[ 9.99275787e-01 -3.47727369e-02 -1.54517916e-02 7.25548772e+02] [ 3.47737751e-02 9.99395189e-01 -2.01559533e-04 9.22244567e+00] [ 1.54494550e-02 -3.35903566e-04 9.99880594e-01 1.12332461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.1292541539999 meters Centerline goodness : 0.998930 Centerline is valid? [True, True] Translation: X:725.58, Y:9.22, Z:11.23 [[ 9.99196635e-01 -3.69773742e-02 -1.54517988e-02 7.25579416e+02] [ 3.69786844e-02 9.99316034e-01 -2.01007425e-04 9.22218284e+00] [ 1.54486630e-02 -3.70541250e-04 9.99880594e-01 1.12324657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.1592541539999 meters Centerline goodness : 0.998971 Centerline is valid? [True, True] Translation: X:725.61, Y:9.22, Z:11.23 [[ 9.99022279e-01 -4.14213518e-02 -1.54518024e-02 7.25611186e+02] [ 4.14231972e-02 9.99141671e-01 -2.00733540e-04 9.22022573e+00] [ 1.54468543e-02 -4.39525779e-04 9.99880594e-01 1.12324001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.1892541539999 meters Centerline goodness : 0.998908 Centerline is valid? [True, True] Translation: X:725.64, Y:9.22, Z:11.23 [[ 9.98923877e-01 -4.37301948e-02 -1.54518167e-02 7.25643836e+02] [ 4.37323334e-02 9.99043264e-01 -1.99621508e-04 9.21933990e+00] [ 1.54457629e-02 -4.76337310e-04 9.99880594e-01 1.12327395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.2192541539999 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:725.68, Y:9.22, Z:11.23 [[ 9.98817778e-01 -4.60899979e-02 -1.54518313e-02 7.25675047e+02] [ 4.60924361e-02 9.98937159e-01 -1.98488273e-04 9.21845852e+00] [ 1.54445568e-02 -5.13958931e-04 9.99880594e-01 1.12319186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.2492541539999 meters Centerline goodness : 0.998993 Centerline is valid? [True, True] Translation: X:725.71, Y:9.22, Z:11.23 [[ 9.98624040e-01 -5.01125521e-02 -1.54518553e-02 7.25707687e+02] [ 5.01155003e-02 9.98743410e-01 -1.96601280e-04 9.21636657e+00] [ 1.54422908e-02 -5.78046694e-04 9.99880594e-01 1.12328176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.2792541539999 meters Centerline goodness : 0.998888 Centerline is valid? [True, True] Translation: X:725.74, Y:9.22, Z:11.23 [[ 9.98502677e-01 -5.24751767e-02 -1.54518694e-02 7.25739651e+02] [ 5.24784245e-02 9.98622039e-01 -1.95486652e-04 9.21691653e+00] [ 1.54408355e-02 -6.15695817e-04 9.99880594e-01 1.12344287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.3092541539999 meters Centerline goodness : 0.998909 Centerline is valid? [True, True] Translation: X:725.77, Y:9.22, Z:11.23 [[ 9.98414508e-01 -5.41267994e-02 -1.54518834e-02 7.25772054e+02] [ 5.41302619e-02 9.98533864e-01 -1.94372144e-04 9.21685347e+00] [ 1.54397496e-02 -6.42350528e-04 9.99880594e-01 1.12347735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.339254154 meters Centerline goodness : 0.998910 Centerline is valid? [True, True] Translation: X:725.80, Y:9.22, Z:11.24 [[ 9.98211389e-01 -5.77517236e-02 -1.54518975e-02 7.25804518e+02] [ 5.77556369e-02 9.98330731e-01 -1.93243645e-04 9.21664916e+00] [ 1.54372643e-02 -6.99536176e-04 9.99880594e-01 1.12362133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.3692541539999 meters Centerline goodness : 0.998973 Centerline is valid? [True, True] Translation: X:725.84, Y:9.22, Z:11.24 [[ 9.98133244e-01 -5.90869253e-02 -1.54519115e-02 7.25836295e+02] [ 5.90910154e-02 9.98252581e-01 -1.92122961e-04 9.21627741e+00] [ 1.54362625e-02 -7.21304826e-04 9.99880594e-01 1.12369585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.3992541539999 meters Centerline goodness : 0.998869 Centerline is valid? [True, True] Translation: X:725.87, Y:9.22, Z:11.24 [[ 9.98061728e-01 -6.02828766e-02 -1.54519253e-02 7.25868358e+02] [ 6.02871271e-02 9.98181059e-01 -1.91005371e-04 9.21558196e+00] [ 1.54353335e-02 -7.40917033e-04 9.99880594e-01 1.12371988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.4292541539999 meters Centerline goodness : 0.998682 Centerline is valid? [True, True] Translation: X:725.90, Y:9.21, Z:11.24 [[ 9.97972992e-01 -6.17344767e-02 -1.54519391e-02 7.25899134e+02] [ 6.17389180e-02 9.98092315e-01 -1.89884684e-04 9.21384875e+00] [ 1.54341841e-02 -7.64486211e-04 9.99880594e-01 1.12369750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.459254154 meters Centerline goodness : 0.998848 Centerline is valid? [True, True] Translation: X:725.93, Y:9.21, Z:11.24 [[ 9.97938138e-01 -6.22953504e-02 -1.54519493e-02 7.25931324e+02] [ 6.22998717e-02 9.98057458e-01 -1.89049093e-04 9.21390436e+00] [ 1.54337101e-02 -7.73995158e-04 9.99880594e-01 1.12377954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.4892541539999 meters Centerline goodness : 0.998808 Centerline is valid? [True, True] Translation: X:725.96, Y:9.21, Z:11.24 [[ 9.97939675e-01 -6.22707115e-02 -1.54519627e-02 7.25963007e+02] [ 6.22752468e-02 9.98058995e-01 -1.87949723e-04 9.21425144e+00] [ 1.54336741e-02 -7.74712302e-04 9.99880594e-01 1.12394576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.5192541539999 meters Centerline goodness : 0.998914 Centerline is valid? [True, True] Translation: X:725.99, Y:9.21, Z:11.24 [[ 9.97987025e-01 -6.15071886e-02 -1.54519766e-02 7.25994601e+02] [ 6.15116505e-02 9.98106348e-01 -1.86793173e-04 9.21416819e+00] [ 1.54342051e-02 -7.64059424e-04 9.99880594e-01 1.12394078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.5492541539999 meters Centerline goodness : 0.998828 Centerline is valid? [True, True] Translation: X:726.03, Y:9.21, Z:11.24 [[ 9.98043695e-01 -6.05806834e-02 -1.54519939e-02 7.26026315e+02] [ 6.05850567e-02 9.98163021e-01 -1.85354373e-04 9.21420490e+00] [ 1.54348378e-02 -7.51168164e-04 9.99880594e-01 1.12402333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.579254154 meters Centerline goodness : 0.998850 Centerline is valid? [True, True] Translation: X:726.06, Y:9.21, Z:11.24 [[ 9.98123130e-01 -5.92575162e-02 -1.54520075e-02 7.26058811e+02] [ 5.92617489e-02 9.98242461e-01 -1.84212510e-04 9.21376126e+00] [ 1.54357660e-02 -7.31846223e-04 9.99880594e-01 1.12395785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.6092541539999 meters Centerline goodness : 0.998893 Centerline is valid? [True, True] Translation: X:726.09, Y:9.21, Z:11.24 [[ 9.98184947e-01 -5.82069215e-02 -1.54520211e-02 7.26091229e+02] [ 5.82110464e-02 9.98304283e-01 -1.83062532e-04 9.21403267e+00] [ 1.54364744e-02 -7.16748056e-04 9.99880594e-01 1.12407996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.6392541539999 meters Centerline goodness : 0.998954 Centerline is valid? [True, True] Translation: X:726.12, Y:9.21, Z:11.24 [[ 9.98309158e-01 -5.60362373e-02 -1.54520349e-02 7.26122613e+02] [ 5.60401207e-02 9.98428501e-01 -1.81896622e-04 9.21458633e+00] [ 1.54379448e-02 -6.84344836e-04 9.99880594e-01 1.12409101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.6692541539999 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:726.15, Y:9.21, Z:11.24 [[ 9.98398218e-01 -5.44264056e-02 -1.54520450e-02 7.26153967e+02] [ 5.44301100e-02 9.98517566e-01 -1.81028761e-04 9.21499375e+00] [ 1.54389911e-02 -6.60317719e-04 9.99880594e-01 1.12403858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.6992541539998 meters Centerline goodness : 0.998870 Centerline is valid? [True, True] Translation: X:726.19, Y:9.22, Z:11.24 [[ 9.98463137e-01 -5.32221488e-02 -1.54520547e-02 7.26185699e+02] [ 5.32257220e-02 9.98582490e-01 -1.80197741e-04 9.21596071e+00] [ 1.54397418e-02 -6.42525968e-04 9.99880594e-01 1.12415811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.7292541539999 meters Centerline goodness : 0.998932 Centerline is valid? [True, True] Translation: X:726.22, Y:9.22, Z:11.24 [[ 9.98600382e-01 -5.05817280e-02 -1.54520681e-02 7.26217253e+02] [ 5.05850034e-02 9.98719743e-01 -1.79047127e-04 9.21755109e+00] [ 1.54413419e-02 -6.02846385e-04 9.99880594e-01 1.12418150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.7592541539999 meters Centerline goodness : 0.998659 Centerline is valid? [True, True] Translation: X:726.25, Y:9.22, Z:11.24 [[ 9.98669836e-01 -4.91913787e-02 -1.54520779e-02 7.26249014e+02] [ 4.91945012e-02 9.98789202e-01 -1.78189081e-04 9.21815835e+00] [ 1.54421340e-02 -5.82205207e-04 9.99880594e-01 1.12414570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.7892541539999 meters Centerline goodness : 0.998909 Centerline is valid? [True, True] Translation: X:726.28, Y:9.22, Z:11.24 [[ 9.98756880e-01 -4.73912093e-02 -1.54520912e-02 7.26280319e+02] [ 4.73941346e-02 9.98876251e-01 -1.77029848e-04 9.21974226e+00] [ 1.54431166e-02 -5.55528712e-04 9.99880594e-01 1.12428188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.8192541539999 meters Centerline goodness : 0.998973 Centerline is valid? [True, True] Translation: X:726.31, Y:9.22, Z:11.24 [[ 9.98792715e-01 -4.66298635e-02 -1.54521129e-02 7.26311044e+02] [ 4.66327274e-02 9.98912087e-01 -1.75116346e-04 9.22033188e+00] [ 1.54434680e-02 -5.45669238e-04 9.99880594e-01 1.12432444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.8492541539999 meters Centerline goodness : 0.998866 Centerline is valid? [True, True] Translation: X:726.34, Y:9.22, Z:11.24 [[ 9.98814798e-01 -4.61544195e-02 -1.54521225e-02 7.26342885e+02] [ 4.61572397e-02 9.98934171e-01 -1.74261922e-04 9.22121041e+00] [ 1.54436962e-02 -5.39171938e-04 9.99880594e-01 1.12439285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.8792541539999 meters Centerline goodness : 0.999033 Centerline is valid? [True, True] Translation: X:726.37, Y:9.22, Z:11.24 [[ 9.98857422e-01 -4.52225829e-02 -1.54521354e-02 7.26374948e+02] [ 4.52253094e-02 9.98976797e-01 -1.73117940e-04 9.22276604e+00] [ 1.54441535e-02 -5.25907464e-04 9.99880594e-01 1.12447122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.9092541539999 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:726.41, Y:9.22, Z:11.25 [[ 9.98883553e-01 -4.46416668e-02 -1.54521482e-02 7.26405642e+02] [ 4.46443417e-02 9.99002930e-01 -1.71965178e-04 9.22367814e+00] [ 1.54444181e-02 -5.18077796e-04 9.99880594e-01 1.12450584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.9392541539999 meters Centerline goodness : 0.999035 Centerline is valid? [True, True] Translation: X:726.44, Y:9.22, Z:11.25 [[ 9.98924023e-01 -4.37267440e-02 -1.54521577e-02 7.26438137e+02] [ 4.37293228e-02 9.99043401e-01 -1.71105539e-04 9.22451142e+00] [ 1.54448581e-02 -5.04790959e-04 9.99880594e-01 1.12457666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.9692541539999 meters Centerline goodness : 0.998826 Centerline is valid? [True, True] Translation: X:726.47, Y:9.23, Z:11.25 [[ 9.98966852e-01 -4.27370953e-02 -1.54521704e-02 7.26470340e+02] [ 4.27395737e-02 9.99086233e-01 -1.69955048e-04 9.22549595e+00] [ 1.54453141e-02 -4.90639715e-04 9.99880594e-01 1.12464864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.9992541539999 meters Centerline goodness : 0.998932 Centerline is valid? [True, True] Translation: X:726.50, Y:9.23, Z:11.25 [[ 9.99113860e-01 -3.91500219e-02 -1.54521830e-02 7.26501979e+02] [ 3.91520895e-02 9.99233249e-01 -1.68795677e-04 9.22690035e+00] [ 1.54469434e-02 -4.36339153e-04 9.99880594e-01 1.12477680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.0292541539999 meters Centerline goodness : 0.998804 Centerline is valid? [True, True] Translation: X:726.53, Y:9.23, Z:11.25 [[ 9.99199528e-01 -3.68989454e-02 -1.54522035e-02 7.26533336e+02] [ 3.69007733e-02 9.99318921e-01 -1.66900483e-04 9.22780636e+00] [ 1.54478378e-02 -4.03431374e-04 9.99880594e-01 1.12485284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.0592541539999 meters Centerline goodness : 0.998950 Centerline is valid? [True, True] Translation: X:726.56, Y:9.23, Z:11.25 [[ 9.99290884e-01 -3.43359673e-02 -1.54522124e-02 7.26564591e+02] [ 3.43375018e-02 9.99410280e-01 -1.66067873e-04 9.22902781e+00] [ 1.54488021e-02 -3.64640261e-04 9.99880594e-01 1.12491776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.089254154 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:726.60, Y:9.23, Z:11.25 [[ 9.99484796e-01 -2.81313303e-02 -1.54522183e-02 7.26595365e+02] [ 2.81321320e-02 9.99604200e-01 -1.65518462e-04 9.23062422e+00] [ 1.54507586e-02 -2.69270661e-04 9.99880594e-01 1.12489762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.1192541539999 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:726.63, Y:9.23, Z:11.25 [[ 9.99566380e-01 -2.50655424e-02 -1.54522212e-02 7.26625370e+02] [ 2.50659821e-02 9.99685785e-01 -1.65245904e-04 9.23169167e+00] [ 1.54515079e-02 -2.22150851e-04 9.99880594e-01 1.12497625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.1492541539999 meters Centerline goodness : 0.999349 Centerline is valid? [True, True] Translation: X:726.66, Y:9.23, Z:11.25 [[ 9.99639955e-01 -2.19360185e-02 -1.54522212e-02 7.26655465e+02] [ 2.19360844e-02 9.99759362e-01 -1.65245904e-04 9.23211853e+00] [ 1.54521277e-02 -1.73774821e-04 9.99880594e-01 1.12490831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.1792541539999 meters Centerline goodness : 0.999095 Centerline is valid? [True, True] Translation: X:726.68, Y:9.23, Z:11.25 [[ 9.99760962e-01 -1.54676213e-02 -1.54522153e-02 7.26684548e+02] [ 1.54669060e-02 9.99880367e-01 -1.65804381e-04 9.23195587e+00] [ 1.54529313e-02 -7.32332128e-05 9.99880594e-01 1.12482609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.209254154 meters Centerline goodness : 0.999158 Centerline is valid? [True, True] Translation: X:726.71, Y:9.23, Z:11.25 [[ 9.99749917e-01 -1.61654121e-02 -1.54526068e-02 7.26711635e+02] [ 1.61653393e-02 9.99869324e-01 -1.29628553e-04 9.23415726e+00] [ 1.54526830e-02 -1.20200496e-04 9.99880593e-01 1.12504380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.2392541539999 meters Centerline goodness : 0.998863 Centerline is valid? [True, True] Translation: X:726.74, Y:9.23, Z:11.25 [[ 9.99769253e-01 -1.49221902e-02 -1.54521578e-02 7.26738496e+02] [ 1.49213395e-02 9.99888656e-01 -1.70351794e-04 9.23444314e+00] [ 1.54529793e-02 -6.02544067e-05 9.99880594e-01 1.12494512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.2692541539999 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:726.77, Y:9.24, Z:11.25 [[ 9.99766571e-01 -1.51008358e-02 -1.54521358e-02 7.26766800e+02] [ 1.50999758e-02 9.99885974e-01 -1.72330306e-04 9.23533969e+00] [ 1.54529761e-02 -6.10367970e-05 9.99880594e-01 1.12508539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.2992541539999 meters Centerline goodness : 0.999095 Centerline is valid? [True, True] Translation: X:726.79, Y:9.24, Z:11.25 [[ 9.99746008e-01 -1.64058536e-02 -1.54520847e-02 7.26794577e+02] [ 1.64050805e-02 9.99865412e-01 -1.76794723e-04 9.23519971e+00] [ 1.54529055e-02 -7.67428741e-05 9.99880594e-01 1.12505394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.329254154 meters Centerline goodness : 0.998990 Centerline is valid? [True, True] Translation: X:726.82, Y:9.24, Z:11.25 [[ 9.99711128e-01 -1.84090904e-02 -1.54520320e-02 7.26821403e+02] [ 1.84084871e-02 9.99830533e-01 -1.81287843e-04 9.23533741e+00] [ 1.54527507e-02 -1.03213057e-04 9.99880594e-01 1.12514058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.3592541539999 meters Centerline goodness : 0.999055 Centerline is valid? [True, True] Translation: X:726.85, Y:9.23, Z:11.25 [[ 9.99618970e-01 -2.28724592e-02 -1.54520089e-02 7.26849366e+02] [ 2.28723589e-02 9.99738377e-01 -1.83235363e-04 9.23339939e+00] [ 1.54521573e-02 -1.70258348e-04 9.99880594e-01 1.12505737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.3892541539999 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:726.88, Y:9.23, Z:11.25 [[ 9.99539715e-01 -2.61073759e-02 -1.54519842e-02 7.26879086e+02] [ 2.61076303e-02 9.99659121e-01 -1.85289186e-04 9.23284206e+00] [ 1.54515544e-02 -2.18210791e-04 9.99880594e-01 1.12519663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.4192541539999 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:726.91, Y:9.23, Z:11.25 [[ 9.99456055e-01 -2.91346808e-02 -1.54519775e-02 7.26908392e+02] [ 2.91352882e-02 9.99575460e-01 -1.85851777e-04 9.23203151e+00] [ 1.54508322e-02 -2.64447133e-04 9.99880594e-01 1.12525954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.4492541539998 meters Centerline goodness : 0.998931 Centerline is valid? [True, True] Translation: X:726.94, Y:9.23, Z:11.25 [[ 9.99372614e-01 -3.18687168e-02 -1.54519707e-02 7.26938856e+02] [ 3.18696421e-02 9.99492017e-01 -1.86413587e-04 9.23092027e+00] [ 1.54500621e-02 -3.06152143e-04 9.99880594e-01 1.12511468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.4792541539999 meters Centerline goodness : 0.999287 Centerline is valid? [True, True] Translation: X:726.97, Y:9.23, Z:11.25 [[ 9.99135946e-01 -3.85823629e-02 -1.54519707e-02 7.26969308e+02] [ 3.85840904e-02 9.99255339e-01 -1.86413587e-04 9.23097598e+00] [ 1.54476565e-02 -4.09947719e-04 9.99880594e-01 1.12549887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.5092541539999 meters Centerline goodness : 0.999096 Centerline is valid? [True, True] Translation: X:727.00, Y:9.23, Z:11.26 [[ 9.99026399e-01 -4.13217842e-02 -1.54519741e-02 7.27001149e+02] [ 4.13238433e-02 9.99145788e-01 -1.86135294e-04 9.23044974e+00] [ 1.54464662e-02 -4.52580883e-04 9.99880594e-01 1.12553887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.5392541539999 meters Centerline goodness : 0.999096 Centerline is valid? [True, True] Translation: X:727.03, Y:9.23, Z:11.26 [[ 9.99029428e-01 -4.12484987e-02 -1.54519876e-02 7.27033835e+02] [ 4.12505666e-02 9.99148816e-01 -1.85004117e-04 9.23078067e+00] [ 1.54464663e-02 -4.52578686e-04 9.99880594e-01 1.12558935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.5692541539999 meters Centerline goodness : 0.999372 Centerline is valid? [True, True] Translation: X:727.07, Y:9.23, Z:11.26 [[ 9.98816436e-01 -4.61190168e-02 -1.54520011e-02 7.27065486e+02] [ 4.61216844e-02 9.98935812e-01 -1.83870743e-04 9.22856061e+00] [ 1.54440372e-02 -5.29019197e-04 9.99880594e-01 1.12565293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.5992541539999 meters Centerline goodness : 0.999308 Centerline is valid? [True, True] Translation: X:727.10, Y:9.23, Z:11.26 [[ 9.98718114e-01 -4.82012956e-02 -1.54520111e-02 7.27098110e+02] [ 4.82042251e-02 9.98837484e-01 -1.83026561e-04 9.22778866e+00] [ 1.54428700e-02 -5.62060278e-04 9.99880594e-01 1.12574756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.6292541539999 meters Centerline goodness : 0.999267 Centerline is valid? [True, True] Translation: X:727.13, Y:9.23, Z:11.26 [[ 9.98625930e-01 -5.00748044e-02 -1.54520243e-02 7.27129811e+02] [ 5.00779751e-02 9.98745295e-01 -1.81903234e-04 9.22739977e+00] [ 1.54417453e-02 -5.92152803e-04 9.99880594e-01 1.12581781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.6592541539999 meters Centerline goodness : 0.999226 Centerline is valid? [True, True] Translation: X:727.16, Y:9.23, Z:11.26 [[ 9.98441817e-01 -5.36206287e-02 -1.54520374e-02 7.27161624e+02] [ 5.36242406e-02 9.98561169e-01 -1.80780986e-04 9.22642338e+00] [ 1.54394982e-02 -6.48104477e-04 9.99880594e-01 1.12589046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.6892541539999 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:727.19, Y:9.23, Z:11.26 [[ 9.98351494e-01 -5.52768284e-02 -1.54520506e-02 7.27194142e+02] [ 5.52806558e-02 9.98470839e-01 -1.79649805e-04 9.22614655e+00] [ 1.54383524e-02 -6.74845839e-04 9.99880594e-01 1.12595415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.7192541539999 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:727.23, Y:9.23, Z:11.26 [[ 9.98276787e-01 -5.66099880e-02 -1.54520638e-02 7.27225104e+02] [ 5.66139924e-02 9.98396126e-01 -1.78508926e-04 9.22598580e+00] [ 1.54373860e-02 -6.96601703e-04 9.99880594e-01 1.12596645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.7492541539999 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:727.26, Y:9.23, Z:11.26 [[ 9.98138982e-01 -5.89898894e-02 -1.54520735e-02 7.27257354e+02] [ 5.89941914e-02 9.98258310e-01 -1.77658463e-04 9.22526621e+00] [ 1.54356409e-02 -7.34254747e-04 9.99880594e-01 1.12598447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.7792541539999 meters Centerline goodness : 0.998851 Centerline is valid? [True, True] Translation: X:727.29, Y:9.22, Z:11.26 [[ 9.98079268e-01 -5.99917237e-02 -1.54520866e-02 7.27289360e+02] [ 5.99961632e-02 9.98198592e-01 -1.76512367e-04 9.22496367e+00] [ 1.54348404e-02 -7.50892577e-04 9.99880594e-01 1.12599537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.8092541539999 meters Centerline goodness : 0.998830 Centerline is valid? [True, True] Translation: X:727.32, Y:9.22, Z:11.26 [[ 9.98059627e-01 -6.03176113e-02 -1.54520998e-02 7.27321456e+02] [ 6.03221077e-02 9.98178948e-01 -1.75349670e-04 9.22409487e+00] [ 1.54345374e-02 -7.57093805e-04 9.99880594e-01 1.12584419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.839254154 meters Centerline goodness : 0.998850 Centerline is valid? [True, True] Translation: X:727.35, Y:9.23, Z:11.26 [[ 9.97976334e-01 -6.16803825e-02 -1.54521128e-02 7.27353027e+02] [ 6.16850596e-02 9.98095648e-01 -1.74198551e-04 9.22591775e+00] [ 1.54334312e-02 -7.79318469e-04 9.99880594e-01 1.12600431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.8692541539999 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:727.38, Y:9.23, Z:11.26 [[ 9.98040176e-01 -6.06386008e-02 -1.54521224e-02 7.27384284e+02] [ 6.06431666e-02 9.98159494e-01 -1.73340502e-04 9.22609651e+00] [ 1.54341938e-02 -7.64064850e-04 9.99880594e-01 1.12588993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.8992541539999 meters Centerline goodness : 0.998956 Centerline is valid? [True, True] Translation: X:727.42, Y:9.23, Z:11.26 [[ 9.98053549e-01 -6.04180759e-02 -1.54521431e-02 7.27416528e+02] [ 6.04226440e-02 9.98172868e-01 -1.71482402e-04 9.22761107e+00] [ 1.54342706e-02 -7.62510720e-04 9.99880594e-01 1.12607485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.9292541539999 meters Centerline goodness : 0.998809 Centerline is valid? [True, True] Translation: X:727.45, Y:9.23, Z:11.26 [[ 9.98218411e-01 -5.76301535e-02 -1.54521554e-02 7.27447458e+02] [ 5.76344056e-02 9.98337742e-01 -1.70363602e-04 9.22881362e+00] [ 1.54362880e-02 -7.20515708e-04 9.99880594e-01 1.12608710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.959254154 meters Centerline goodness : 0.998913 Centerline is valid? [True, True] Translation: X:727.48, Y:9.23, Z:11.26 [[ 9.98352600e-01 -5.52568291e-02 -1.54521645e-02 7.27479722e+02] [ 5.52608104e-02 9.98471940e-01 -1.69529499e-04 9.22994592e+00] [ 1.54379204e-02 -6.84648919e-04 9.99880594e-01 1.12623742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.9892541539999 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:727.51, Y:9.23, Z:11.26 [[ 9.98661114e-01 -4.93680963e-02 -1.54521770e-02 7.27511337e+02] [ 4.93713915e-02 9.98780475e-01 -1.68382270e-04 9.23229673e+00] [ 1.54416454e-02 -5.94738657e-04 9.99880594e-01 1.12628189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.0192541539999 meters Centerline goodness : 0.998847 Centerline is valid? [True, True] Translation: X:727.54, Y:9.23, Z:11.26 [[ 9.98823414e-01 -4.59675677e-02 -1.54521863e-02 7.27543071e+02] [ 4.59704696e-02 9.98942785e-01 -1.67527842e-04 9.23369543e+00] [ 1.54435509e-02 -5.43013530e-04 9.99880594e-01 1.12632899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.0492541539999 meters Centerline goodness : 0.998908 Centerline is valid? [True, True] Translation: X:727.58, Y:9.24, Z:11.26 [[ 9.98981792e-01 -4.23864310e-02 -1.54521985e-02 7.27575070e+02] [ 4.23889224e-02 9.99101172e-01 -1.66393352e-04 9.23537656e+00] [ 1.54453625e-02 -4.88778116e-04 9.99880594e-01 1.12642164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.079254154 meters Centerline goodness : 0.999014 Centerline is valid? [True, True] Translation: X:727.61, Y:9.24, Z:11.27 [[ 9.99138759e-01 -3.85093438e-02 -1.54522106e-02 7.27606718e+02] [ 3.85113895e-02 9.99258148e-01 -1.65259475e-04 9.23711139e+00] [ 1.54471114e-02 -4.29968957e-04 9.99880594e-01 1.12660141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.1092541539999 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:727.64, Y:9.24, Z:11.27 [[ 9.99399752e-01 -3.10058930e-02 -1.54522197e-02 7.27638322e+02] [ 3.10070554e-02 9.99519152e-01 -1.64407078e-04 9.23950807e+00] [ 1.54498871e-02 -3.14819439e-04 9.99880594e-01 1.12677149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.1392541539999 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:727.67, Y:9.24, Z:11.27 [[ 9.99496046e-01 -2.77287400e-02 -1.54522287e-02 7.27669499e+02] [ 2.77295239e-02 9.99615449e-01 -1.63562884e-04 9.24043928e+00] [ 1.54508219e-02 -2.65002488e-04 9.99880594e-01 1.12686660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.1692541539999 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:727.70, Y:9.24, Z:11.27 [[ 9.99654111e-01 -2.12811503e-02 -1.54522346e-02 7.27700426e+02] [ 2.12811727e-02 9.99773517e-01 -1.62997646e-04 9.24121315e+00] [ 1.54522037e-02 -1.65900407e-04 9.99880594e-01 1.12691053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.1992541539998 meters Centerline goodness : 0.998907 Centerline is valid? [True, True] Translation: X:727.73, Y:9.24, Z:11.27 [[ 9.99707559e-01 -1.86017248e-02 -1.54522346e-02 7.27729415e+02] [ 1.86014271e-02 9.99826965e-01 -1.62997646e-04 9.24125067e+00] [ 1.54525929e-02 -1.24483638e-04 9.99880594e-01 1.12679721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.2292541539999 meters Centerline goodness : 0.998972 Centerline is valid? [True, True] Translation: X:727.76, Y:9.24, Z:11.27 [[ 9.99726803e-01 -1.75370874e-02 -1.54521915e-02 7.27758128e+02] [ 1.75366010e-02 9.99846208e-01 -1.66983211e-04 9.24278378e+00] [ 1.54527435e-02 -1.04041326e-04 9.99880594e-01 1.12707197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.2592541539999 meters Centerline goodness : 0.998972 Centerline is valid? [True, True] Translation: X:727.79, Y:9.24, Z:11.27 [[ 9.99752108e-01 -1.60297909e-02 -1.54521478e-02 7.27786421e+02] [ 1.60290633e-02 9.99871512e-01 -1.70941831e-04 9.24262036e+00] [ 1.54529025e-02 -7.67839991e-05 9.99880594e-01 1.12706656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.2892541539999 meters Centerline goodness : 0.999055 Centerline is valid? [True, True] Translation: X:727.81, Y:9.24, Z:11.27 [[ 9.99782236e-01 -1.40254596e-02 -1.54520963e-02 7.27812982e+02] [ 1.40244226e-02 9.99901638e-01 -1.75472711e-04 9.24102524e+00] [ 1.54530375e-02 -4.12722296e-05 9.99880594e-01 1.12702512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.3192541539999 meters Centerline goodness : 0.999097 Centerline is valid? [True, True] Translation: X:727.85, Y:9.24, Z:11.27 [[ 9.99829102e-01 -1.01488943e-02 -1.54520738e-02 7.27846170e+02] [ 1.01473641e-02 9.99948498e-01 -1.77435605e-04 9.23599142e+00] [ 1.54530787e-02 2.06074631e-05 9.99880594e-01 1.12670648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.3492541539999 meters Centerline goodness : 0.999098 Centerline is valid? [True, True] Translation: X:727.87, Y:9.23, Z:11.27 [[ 9.99820796e-01 -1.09338161e-02 -1.54540572e-02 7.27873840e+02] [ 1.09350727e-02 9.99940210e-01 -3.18688446e-06 9.23478773e+00] [ 1.54531681e-02 -1.65804926e-04 9.99880579e-01 1.12673298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.3792541539999 meters Centerline goodness : 0.999038 Centerline is valid? [True, True] Translation: X:727.90, Y:9.24, Z:11.27 [[ 9.99756486e-01 -1.57526361e-02 -1.54539375e-02 7.27898923e+02] [ 1.57543122e-02 9.99875893e-01 -1.32838453e-05 9.23747266e+00] [ 1.54522288e-02 -2.30185547e-04 9.99880581e-01 1.12705871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.4092541539999 meters Centerline goodness : 0.998992 Centerline is valid? [True, True] Translation: X:727.93, Y:9.23, Z:11.27 [[ 9.99696880e-01 -1.91674333e-02 -1.54517967e-02 7.27926547e+02] [ 1.91668068e-02 9.99816282e-01 -1.88651683e-04 9.23431074e+00] [ 1.54525739e-02 -1.07567103e-04 9.99880596e-01 1.12714321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.4392541539999 meters Centerline goodness : 0.998955 Centerline is valid? [True, True] Translation: X:727.96, Y:9.23, Z:11.27 [[ 9.99652138e-01 -2.13739941e-02 -1.54517412e-02 7.27955450e+02] [ 2.13735625e-02 9.99771541e-01 -1.93090388e-04 9.23237770e+00] [ 1.54523382e-02 -1.37235537e-04 9.99880596e-01 1.12723135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.4692541539999 meters Centerline goodness : 0.998913 Centerline is valid? [True, True] Translation: X:727.98, Y:9.23, Z:11.27 [[ 9.99537624e-01 -2.61874874e-02 -1.54516903e-02 7.27984308e+02] [ 2.61875690e-02 9.99657027e-01 -1.97086139e-04 9.22670331e+00] [ 1.54515519e-02 -2.07647194e-04 9.99880596e-01 1.12714814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.4992541539999 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:728.01, Y:9.23, Z:11.27 [[ 9.99445013e-01 -2.95112294e-02 -1.54516376e-02 7.28014279e+02] [ 2.95116455e-02 9.99564416e-01 -2.01129408e-04 9.22509478e+00] [ 1.54508427e-02 -2.54985469e-04 9.99880596e-01 1.12727397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.5292541539999 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:728.04, Y:9.22, Z:11.27 [[ 9.99358598e-01 -3.23054047e-02 -1.54516339e-02 7.28044893e+02] [ 3.23061503e-02 9.99478000e-01 -2.01415497e-04 9.22249838e+00] [ 1.54500749e-02 -2.97896497e-04 9.99880596e-01 1.12737059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.5592541539999 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:728.08, Y:9.22, Z:11.27 [[ 9.99195377e-01 -3.70114336e-02 -1.54516339e-02 7.28075104e+02] [ 3.70127415e-02 9.99314773e-01 -2.01415497e-04 9.21698220e+00] [ 1.54485007e-02 -3.70653897e-04 9.99880596e-01 1.12738793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.589254154 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:728.11, Y:9.21, Z:11.27 [[ 9.99118400e-01 -3.90342199e-02 -1.54516460e-02 7.28106569e+02] [ 3.90357839e-02 9.99237793e-01 -2.00485862e-04 9.21475845e+00] [ 1.54476944e-02 -4.02857999e-04 9.99880596e-01 1.12744886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.6192541539999 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:728.14, Y:9.21, Z:11.28 [[ 9.99046985e-01 -4.08211757e-02 -1.54516533e-02 7.28137630e+02] [ 4.08229619e-02 9.99166375e-01 -1.99921132e-04 9.21256567e+00] [ 1.54469334e-02 -4.31051649e-04 9.99880596e-01 1.12750874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.6492541539999 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:728.17, Y:9.21, Z:11.28 [[ 9.98931722e-01 -4.35506682e-02 -1.54516605e-02 7.28168701e+02] [ 4.35527894e-02 9.99051107e-01 -1.99358814e-04 9.20780421e+00] [ 1.54456808e-02 -4.73817072e-04 9.99880596e-01 1.12760470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.6792541539999 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:728.20, Y:9.21, Z:11.28 [[ 9.98890647e-01 -4.44828107e-02 -1.54516679e-02 7.28199559e+02] [ 4.44850521e-02 9.99010030e-01 -1.98786339e-04 9.20522672e+00] [ 1.54452138e-02 -4.88802437e-04 9.99880596e-01 1.12756300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.709254154 meters Centerline goodness : 0.999041 Centerline is valid? [True, True] Translation: X:728.23, Y:9.20, Z:11.27 [[ 9.98876614e-01 -4.47968299e-02 -1.54516789e-02 7.28231225e+02] [ 4.47991220e-02 9.98995996e-01 -1.97929526e-04 9.20205199e+00] [ 1.54450319e-02 -4.94514472e-04 9.99880596e-01 1.12747335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.7392541539999 meters Centerline goodness : 0.997202 Centerline is valid? [True, True] Translation: X:728.26, Y:9.20, Z:11.28 [[ 9.98837813e-01 -4.56537916e-02 -1.54516861e-02 7.28263088e+02] [ 4.56561950e-02 9.98957193e-01 -1.97359777e-04 9.19740954e+00] [ 1.54445832e-02 -5.08334787e-04 9.99880596e-01 1.12753496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.7692541539999 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:728.29, Y:9.20, Z:11.28 [[ 9.98836836e-01 -4.56747885e-02 -1.54528030e-02 7.28291424e+02] [ 4.56785459e-02 9.98956184e-01 -1.09896147e-04 9.19630272e+00] [ 1.54416926e-02 -5.96093250e-04 9.99880592e-01 1.12766863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.7992541539999 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:728.32, Y:9.19, Z:11.28 [[ 9.98798945e-01 -4.64965382e-02 -1.54511699e-02 7.28323399e+02] [ 4.64983823e-02 9.98918336e-01 -2.40067177e-04 9.19260827e+00] [ 1.54456193e-02 -4.78675564e-04 9.99880595e-01 1.12763644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.829254154 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:728.35, Y:9.19, Z:11.28 [[ 9.98798002e-01 -4.65166029e-02 -1.54517486e-02 7.28354758e+02] [ 4.65191617e-02 9.98917379e-01 -1.93975985e-04 9.19052694e+00] [ 1.54440433e-02 -5.25059564e-04 9.99880596e-01 1.12754074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.8592541539999 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:728.39, Y:9.19, Z:11.28 [[ 9.98764534e-01 -4.72297371e-02 -1.54517556e-02 7.28385650e+02] [ 4.72323898e-02 9.98883909e-01 -1.93411251e-04 9.18988281e+00] [ 1.54436448e-02 -5.36651047e-04 9.99880596e-01 1.12767425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.8892541539999 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:728.42, Y:9.19, Z:11.27 [[ 9.98808448e-01 -4.62917633e-02 -1.54517627e-02 7.28417646e+02] [ 4.62943127e-02 9.98927825e-01 -1.92848631e-04 9.18668517e+00] [ 1.54441230e-02 -5.22709890e-04 9.99880596e-01 1.12749213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.9192541539999 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:728.45, Y:9.19, Z:11.28 [[ 9.98707948e-01 -4.84111720e-02 -1.54529449e-02 7.28446337e+02] [ 4.84154445e-02 9.98827280e-01 -9.77174077e-05 9.18523189e+00] [ 1.54395535e-02 -6.50570043e-04 9.99880591e-01 1.12758991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.9492541539998 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:728.48, Y:9.18, Z:11.28 [[ 9.98693543e-01 -4.87078304e-02 -1.54517070e-02 7.28478121e+02] [ 4.87106269e-02 9.98812914e-01 -1.95543365e-04 9.18402854e+00] [ 1.54428889e-02 -5.57374436e-04 9.99880596e-01 1.12750088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.9792541539999 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:728.51, Y:9.18, Z:11.27 [[ 9.98685460e-01 -4.88730701e-02 -1.54523741e-02 7.28506525e+02] [ 4.88767107e-02 9.98804809e-01 -1.42190163e-04 9.18185720e+00] [ 1.54408548e-02 -6.13257970e-04 9.99880595e-01 1.12747492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.0092541539999 meters Centerline goodness : 0.996621 Centerline is valid? [True, True] Translation: X:728.54, Y:9.18, Z:11.27 [[ 9.98736721e-01 -4.78143081e-02 -1.54517020e-02 7.28537022e+02] [ 4.78170007e-02 9.98856094e-01 -1.95351180e-04 9.18102816e+00] [ 1.54433673e-02 -5.43749649e-04 9.99880596e-01 1.12737386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.0392541539999 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:728.57, Y:9.18, Z:11.27 [[ 9.98669224e-01 -4.92039225e-02 -1.54517061e-02 7.28568390e+02] [ 4.92067862e-02 9.98788593e-01 -1.95026920e-04 9.18038682e+00] [ 1.54425839e-02 -5.65561417e-04 9.99880596e-01 1.12737609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.0692541539999 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:728.60, Y:9.18, Z:11.28 [[ 9.98721004e-01 -4.81413927e-02 -1.54519312e-02 7.28598415e+02] [ 4.81443980e-02 9.98840370e-01 -1.77649553e-04 9.17934852e+00] [ 1.54425650e-02 -5.66501586e-04 9.99880596e-01 1.12763932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.0992541539999 meters Centerline goodness : 0.999562 Centerline is valid? [True, True] Translation: X:728.63, Y:9.18, Z:11.28 [[ 9.98760677e-01 -4.73112861e-02 -1.54516283e-02 7.28630108e+02] [ 4.73138322e-02 9.98880053e-01 -2.00942037e-04 9.17893819e+00] [ 1.54438301e-02 -5.30382744e-04 9.99880596e-01 1.12770246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.1292541539999 meters Centerline goodness : 0.996932 Centerline is valid? [True, True] Translation: X:728.66, Y:9.18, Z:11.27 [[ 9.98778374e-01 -4.69362015e-02 -1.54516356e-02 7.28660785e+02] [ 4.69387115e-02 9.98897751e-01 -2.00382295e-04 9.17965787e+00] [ 1.54440092e-02 -5.25142361e-04 9.99880596e-01 1.12742595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.1592541539999 meters Centerline goodness : 0.997100 Centerline is valid? [True, True] Translation: X:728.69, Y:9.18, Z:11.28 [[ 9.98911390e-01 -4.40144298e-02 -1.54520104e-02 7.28690839e+02] [ 4.40170362e-02 9.99030766e-01 -1.71546401e-04 9.17975725e+00] [ 1.54445843e-02 -5.08792048e-04 9.99880596e-01 1.12755887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.1892541539999 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:728.72, Y:9.18, Z:11.28 [[ 9.99028686e-01 -4.12665765e-02 -1.54516715e-02 7.28719903e+02] [ 4.12684545e-02 9.99148075e-01 -1.97431828e-04 9.17879425e+00] [ 1.54466551e-02 -4.40426540e-04 9.99880596e-01 1.12792613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.2192541539999 meters Centerline goodness : 0.997329 Centerline is valid? [True, True] Translation: X:728.75, Y:9.18, Z:11.28 [[ 9.99066123e-01 -4.03500814e-02 -1.54516050e-02 7.28749771e+02] [ 4.03517715e-02 9.99185515e-01 -2.02504421e-04 9.18052434e+00] [ 1.54471909e-02 -4.21184326e-04 9.99880596e-01 1.12760768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.2492541539999 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:728.78, Y:9.18, Z:11.28 [[ 9.99187436e-01 -3.72253433e-02 -1.54512678e-02 7.28779965e+02] [ 3.72262650e-02 9.99306836e-01 -2.28059356e-04 9.17909632e+00] [ 1.54490472e-02 -3.47318947e-04 9.99880596e-01 1.12814181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.2792541539999 meters Centerline goodness : 0.999520 Centerline is valid? [True, True] Translation: X:728.81, Y:9.18, Z:11.28 [[ 9.99289395e-01 -3.43795511e-02 -1.54515999e-02 7.28809161e+02] [ 3.43805238e-02 9.99408794e-01 -2.02753162e-04 9.17859196e+00] [ 1.54494354e-02 -3.28625014e-04 9.99880596e-01 1.12815045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.3092541539999 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:728.84, Y:9.18, Z:11.28 [[ 9.99304993e-01 -3.39231458e-02 -1.54515962e-02 7.28839126e+02] [ 3.39240596e-02 9.99424393e-01 -2.03037365e-04 9.17877254e+00] [ 1.54495898e-02 -3.21284617e-04 9.99880596e-01 1.12822648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.339254154 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:728.87, Y:9.18, Z:11.28 [[ 9.99313891e-01 -3.36599970e-02 -1.54515887e-02 7.28868815e+02] [ 3.36608706e-02 9.99433292e-01 -2.03600667e-04 9.17822554e+00] [ 1.54496854e-02 -3.16652955e-04 9.99880596e-01 1.12813342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.3692541539999 meters Centerline goodness : 0.999498 Centerline is valid? [True, True] Translation: X:728.90, Y:9.18, Z:11.28 [[ 9.99272040e-01 -3.48804403e-02 -1.54513688e-02 7.28898238e+02] [ 3.48812047e-02 9.99391441e-01 -2.20101108e-04 9.17742295e+00] [ 1.54496430e-02 -3.19021477e-04 9.99880596e-01 1.12823986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.3992541539999 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:728.93, Y:9.18, Z:11.28 [[ 9.99242929e-01 -3.57046104e-02 -1.54515340e-02 7.28927923e+02] [ 3.57056631e-02 9.99362328e-01 -2.07821155e-04 9.17769191e+00] [ 1.54491012e-02 -3.44043448e-04 9.99880596e-01 1.12827397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.4292541539999 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:728.96, Y:9.18, Z:11.28 [[ 9.99192978e-01 -3.70761765e-02 -1.54515265e-02 7.28958144e+02] [ 3.70773845e-02 9.99312376e-01 -2.08379788e-04 9.17777540e+00] [ 1.54486276e-02 -3.64690567e-04 9.99880596e-01 1.12816466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.459254154 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:728.99, Y:9.18, Z:11.28 [[ 9.99191623e-01 -3.71126928e-02 -1.54515227e-02 7.28988292e+02] [ 3.71139008e-02 9.99311020e-01 -2.08661904e-04 9.17821209e+00] [ 1.54486209e-02 -3.64973052e-04 9.99880596e-01 1.12821126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.4892541539999 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:729.02, Y:9.18, Z:11.28 [[ 9.99096158e-01 -3.95994771e-02 -1.54515150e-02 7.29017923e+02] [ 3.96009736e-02 9.99215552e-01 -2.09226592e-04 9.17848513e+00] [ 1.54476794e-02 -4.02857553e-04 9.99880596e-01 1.12825209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.5192541539999 meters Centerline goodness : 0.999498 Centerline is valid? [True, True] Translation: X:729.05, Y:9.18, Z:11.28 [[ 9.99036585e-01 -4.10749656e-02 -1.54515073e-02 7.29048377e+02] [ 4.10766296e-02 9.99155977e-01 -2.09792861e-04 9.17891657e+00] [ 1.54470831e-02 -4.25105101e-04 9.99880596e-01 1.12830763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.5492541539999 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:729.08, Y:9.18, Z:11.28 [[ 9.98966918e-01 -4.27357933e-02 -1.54515073e-02 7.29079250e+02] [ 4.27376558e-02 9.99086307e-01 -2.09792861e-04 9.17896686e+00] [ 1.54463551e-02 -4.50785074e-04 9.99880596e-01 1.12831808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.579254154 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:729.11, Y:9.18, Z:11.28 [[ 9.98826690e-01 -4.58965616e-02 -1.54515073e-02 7.29109237e+02] [ 4.58988019e-02 9.98946073e-01 -2.09792861e-04 9.17890068e+00] [ 1.54448513e-02 -4.99658965e-04 9.99880596e-01 1.12829971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.6092541539999 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:729.14, Y:9.18, Z:11.28 [[ 9.98767225e-01 -4.71728899e-02 -1.54515111e-02 7.29141026e+02] [ 4.71752870e-02 9.98886604e-01 -2.09513422e-04 9.17957046e+00] [ 1.54441908e-02 -5.19674332e-04 9.99880596e-01 1.12837915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.6392541539999 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:729.17, Y:9.18, Z:11.29 [[ 9.98729104e-01 -4.79731923e-02 -1.54515186e-02 7.29171243e+02] [ 4.79756937e-02 9.98848482e-01 -2.08961091e-04 9.18040241e+00] [ 1.54437504e-02 -5.32601800e-04 9.99880596e-01 1.12851567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.6692541539999 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:729.20, Y:9.18, Z:11.29 [[ 9.98659405e-01 -4.94028656e-02 -1.54515186e-02 7.29202036e+02] [ 4.94055378e-02 9.98778779e-01 -2.08961091e-04 9.18139849e+00] [ 1.54429721e-02 -5.54709627e-04 9.99880596e-01 1.12862462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.6992541539998 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:729.23, Y:9.18, Z:11.29 [[ 9.98644149e-01 -4.97102957e-02 -1.54515299e-02 7.29232408e+02] [ 4.97130177e-02 9.98763522e-01 -2.08118229e-04 9.18171992e+00] [ 1.54427701e-02 -5.60306129e-04 9.99880596e-01 1.12866503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.7292541539999 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:729.26, Y:9.18, Z:11.29 [[ 9.98617897e-01 -5.02349103e-02 -1.54515335e-02 7.29263671e+02] [ 5.02376991e-02 9.98737268e-01 -2.07850020e-04 9.18227287e+00] [ 1.54424637e-02 -5.68686743e-04 9.99880596e-01 1.12873318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.7592541539999 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:729.29, Y:9.18, Z:11.29 [[ 9.98661640e-01 -4.93576642e-02 -1.54515411e-02 7.29294456e+02] [ 4.93603569e-02 9.98781013e-01 -2.07287949e-04 9.18315531e+00] [ 1.54429371e-02 -5.55683060e-04 9.99880596e-01 1.12877195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.7892541539999 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:729.33, Y:9.18, Z:11.29 [[ 9.98698220e-01 -4.86118931e-02 -1.54515448e-02 7.29325340e+02] [ 4.86145010e-02 9.98817595e-01 -2.07009161e-04 9.18424609e+00] [ 1.54433379e-02 -5.44429460e-04 9.99880596e-01 1.12885282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.8192541539999 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:729.36, Y:9.19, Z:11.29 [[ 9.98784907e-01 -4.67969997e-02 -1.54515523e-02 7.29355959e+02] [ 4.67993992e-02 9.98904287e-01 -2.06449183e-04 9.18621804e+00] [ 1.54442830e-02 -5.16925037e-04 9.99880596e-01 1.12884396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.8492541539999 meters Centerline goodness : 0.996372 Centerline is valid? [True, True] Translation: X:729.39, Y:9.19, Z:11.29 [[ 9.98776560e-01 -4.69748001e-02 -1.54515560e-02 7.29386528e+02] [ 4.69772252e-02 9.98895939e-01 -2.06171660e-04 9.18799654e+00] [ 1.54441814e-02 -5.19951805e-04 9.99880596e-01 1.12876695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.8792541539999 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:729.42, Y:9.19, Z:11.29 [[ 9.98862752e-01 -4.51046529e-02 -1.54522782e-02 7.29416455e+02] [ 4.51076811e-02 9.98982119e-01 -1.52674966e-04 9.18839863e+00] [ 1.54434360e-02 -5.44515101e-04 9.99880595e-01 1.12885437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.9092541539999 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:729.45, Y:9.19, Z:11.29 [[ 9.98927889e-01 -4.36385699e-02 -1.54514882e-02 7.29447195e+02] [ 4.36405274e-02 9.99047276e-01 -2.10629641e-04 9.18997275e+00] [ 1.54459588e-02 -4.63907272e-04 9.99880596e-01 1.12903264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.9392541539999 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:729.48, Y:9.19, Z:11.29 [[ 9.98951331e-01 -4.30986045e-02 -1.54514882e-02 7.29478131e+02] [ 4.31004974e-02 9.99070720e-01 -2.10629641e-04 9.19084426e+00] [ 1.54462073e-02 -4.55558067e-04 9.99880596e-01 1.12905588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.9692541539999 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:729.51, Y:9.19, Z:11.29 [[ 9.98982218e-01 -4.23766448e-02 -1.54514882e-02 7.29508527e+02] [ 4.23784514e-02 9.99101608e-01 -2.10629641e-04 9.19201067e+00] [ 1.54465325e-02 -4.44394876e-04 9.99880596e-01 1.12907187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.9992541539999 meters Centerline goodness : 0.999397 Centerline is valid? [True, True] Translation: X:729.54, Y:9.20, Z:11.29 [[ 9.99075344e-01 -4.01211717e-02 -1.54514882e-02 7.29537905e+02] [ 4.01227088e-02 9.99194738e-01 -2.10629641e-04 9.19506448e+00] [ 1.54474964e-02 -4.09520681e-04 9.99880596e-01 1.12901532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.0292541539999 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:729.57, Y:9.20, Z:11.29 [[ 9.99119224e-01 -3.90131723e-02 -1.54514845e-02 7.29568296e+02] [ 3.90145727e-02 9.99238619e-01 -2.10902943e-04 9.19689625e+00] [ 1.54479480e-02 -3.92115880e-04 9.99880596e-01 1.12905496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.0592541539999 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:729.60, Y:9.20, Z:11.29 [[ 9.99197071e-01 -3.69657249e-02 -1.54514845e-02 7.29597829e+02] [ 3.69668807e-02 9.99316469e-01 -2.10902943e-04 9.19986329e+00] [ 1.54487191e-02 -3.60459581e-04 9.99880596e-01 1.12894662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.089254154 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:729.63, Y:9.20, Z:11.29 [[ 9.99233058e-01 -3.59798215e-02 -1.54514807e-02 7.29628684e+02] [ 3.59808552e-02 9.99352457e-01 -2.11182670e-04 9.20100958e+00] [ 1.54490735e-02 -3.44936783e-04 9.99880596e-01 1.12912264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.1192541539999 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:729.66, Y:9.20, Z:11.29 [[ 9.99212560e-01 -3.65440660e-02 -1.54528895e-02 7.29656464e+02] [ 3.65467457e-02 9.99331939e-01 -1.09044555e-04 9.20340288e+00] [ 1.54465510e-02 -4.55794134e-04 9.99880591e-01 1.12907399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.1492541539999 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:729.68, Y:9.21, Z:11.29 [[ 9.99163771e-01 -3.78551556e-02 -1.54513826e-02 7.29683860e+02] [ 3.78563302e-02 9.99283169e-01 -2.16566433e-04 9.20900043e+00] [ 1.54485047e-02 -3.68547307e-04 9.99880597e-01 1.12897230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.1792541539999 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:729.72, Y:9.21, Z:11.29 [[ 9.99197794e-01 -3.69471925e-02 -1.54490413e-02 7.29716331e+02] [ 3.69457306e-02 9.99317201e-01 -3.80118461e-04 9.20710123e+00] [ 1.54525370e-02 -1.90962590e-04 9.99880584e-01 1.12927792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.209254154 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:729.75, Y:9.21, Z:11.29 [[ 9.99177369e-01 -3.74945625e-02 -1.54513322e-02 7.29746706e+02] [ 3.74956865e-02 9.99296766e-01 -2.17049541e-04 9.20842912e+00] [ 1.54486044e-02 -3.62487318e-04 9.99880597e-01 1.12928781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.2392541539999 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:729.78, Y:9.21, Z:11.29 [[ 9.99175149e-01 -3.75536616e-02 -1.54513361e-02 7.29776087e+02] [ 3.75547969e-02 9.99294546e-01 -2.16771259e-04 9.20971262e+00] [ 1.54485764e-02 -3.63679333e-04 9.99880597e-01 1.12934208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.2692541539999 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:729.81, Y:9.21, Z:11.29 [[ 9.99074904e-01 -4.01324319e-02 -1.54507302e-02 7.29806610e+02] [ 4.01331887e-02 9.99194305e-01 -2.61204181e-04 9.21214346e+00] [ 1.54487643e-02 -3.59124528e-04 9.99880596e-01 1.12940550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.2992541539999 meters Centerline goodness : 0.997035 Centerline is valid? [True, True] Translation: X:729.84, Y:9.21, Z:11.29 [[ 9.98985653e-01 -4.22961325e-02 -1.54499820e-02 7.29835570e+02] [ 4.22963220e-02 9.99105061e-01 -3.14641992e-04 9.21363170e+00] [ 1.54494634e-02 -3.39154579e-04 9.99880592e-01 1.12945628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.329254154 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:729.87, Y:9.21, Z:11.29 [[ 9.98876070e-01 -4.48098732e-02 -1.54490458e-02 7.29868874e+02] [ 4.48093442e-02 9.98995484e-01 -3.80564314e-04 9.21284219e+00] [ 1.54505800e-02 -3.12125025e-04 9.99880584e-01 1.12949756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.3592541539999 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:729.90, Y:9.22, Z:11.30 [[ 9.98653448e-01 -4.95223377e-02 -1.54540682e-02 7.29896207e+02] [ 4.95274759e-02 9.98772760e-01 -5.02963596e-05 9.21651837e+00] [ 1.54375931e-02 -7.15172356e-04 9.99880577e-01 1.12957911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.3892541539999 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:729.93, Y:9.22, Z:11.30 [[ 9.98589008e-01 -5.08060614e-02 -1.54511224e-02 7.29927475e+02] [ 5.08084221e-02 9.98708389e-01 -2.39979396e-04 9.21745050e+00] [ 1.54433579e-02 -5.45406360e-04 9.99880595e-01 1.12959383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.4192541539999 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:729.96, Y:9.22, Z:11.30 [[ 9.98505022e-01 -5.24307532e-02 -1.54511355e-02 7.29959542e+02] [ 5.24333212e-02 9.98624399e-01 -2.39129446e-04 9.21953689e+00] [ 1.54424187e-02 -5.71382399e-04 9.99880595e-01 1.12968972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.4492541539998 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:729.99, Y:9.22, Z:11.30 [[ 9.98506979e-01 -5.23934575e-02 -1.54511528e-02 7.29991385e+02] [ 5.23960384e-02 9.98626356e-01 -2.38007139e-04 9.22075117e+00] [ 1.54423984e-02 -5.71927407e-04 9.99880595e-01 1.12968972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.4792541539999 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:730.02, Y:9.23, Z:11.30 [[ 9.98427072e-01 -5.38947403e-02 -1.54511701e-02 7.30019228e+02] [ 5.38975181e-02 9.98546444e-01 -2.36882188e-04 9.22567815e+00] [ 1.54414776e-02 -5.96270129e-04 9.99880595e-01 1.12953252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.5092541539999 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:730.05, Y:9.22, Z:11.30 [[ 9.98519730e-01 -5.21505943e-02 -1.54487393e-02 7.30052735e+02] [ 5.21507570e-02 9.98639146e-01 -3.92600282e-04 9.22485744e+00] [ 1.54481902e-02 -4.13644322e-04 9.99880584e-01 1.12991620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.5392541539999 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:730.08, Y:9.23, Z:11.30 [[ 9.98538110e-01 -5.17967773e-02 -1.54511224e-02 7.30084733e+02] [ 5.17992914e-02 9.98657487e-01 -2.37713014e-04 9.22565330e+00] [ 1.54426918e-02 -5.62991687e-04 9.99880596e-01 1.12994395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.5692541539999 meters Centerline goodness : 0.999209 Centerline is valid? [True, True] Translation: X:730.12, Y:9.23, Z:11.30 [[ 9.98556387e-01 -5.14432099e-02 -1.54511402e-02 7.30115936e+02] [ 5.14456997e-02 9.98675765e-01 -2.36552700e-04 9.22665489e+00] [ 1.54428482e-02 -5.58683507e-04 9.99880596e-01 1.12997121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.5992541539999 meters Centerline goodness : 0.999271 Centerline is valid? [True, True] Translation: X:730.15, Y:9.23, Z:11.30 [[ 9.98573810e-01 -5.11038915e-02 -1.54511534e-02 7.30147337e+02] [ 5.11063541e-02 9.98693189e-01 -2.35687364e-04 9.22773851e+00] [ 1.54430062e-02 -5.54300885e-04 9.99880596e-01 1.13000597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.6292541539999 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:730.18, Y:9.23, Z:11.30 [[ 9.98587374e-01 -5.08381462e-02 -1.54511811e-02 7.30179808e+02] [ 5.08406054e-02 9.98706753e-01 -2.33854581e-04 9.22972220e+00] [ 1.54430876e-02 -5.52023168e-04 9.99880596e-01 1.13003377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.6592541539999 meters Centerline goodness : 0.999209 Centerline is valid? [True, True] Translation: X:730.21, Y:9.23, Z:11.30 [[ 9.98682572e-01 -4.89324094e-02 -1.54511978e-02 7.30214029e+02] [ 4.89346579e-02 9.98801955e-01 -2.32743064e-04 9.22867786e+00] [ 1.54440753e-02 -5.23662639e-04 9.99880596e-01 1.13009831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.6892541539999 meters Centerline goodness : 0.999272 Centerline is valid? [True, True] Translation: X:730.24, Y:9.23, Z:11.30 [[ 9.98582549e-01 -5.09320866e-02 -1.54536718e-02 7.30240751e+02] [ 5.09371459e-02 9.98701859e-01 -6.62951727e-05 9.23187940e+00] [ 1.54369873e-02 -7.20964735e-04 9.99880583e-01 1.13005041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.7192541539999 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:730.27, Y:9.23, Z:11.30 [[ 9.98554945e-01 -5.14711922e-02 -1.54511280e-02 7.30273037e+02] [ 5.14737222e-02 9.98674322e-01 -2.34163513e-04 9.23276643e+00] [ 1.54426974e-02 -5.61501936e-04 9.99880597e-01 1.12997649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.7492541539999 meters Centerline goodness : 0.999229 Centerline is valid? [True, True] Translation: X:730.31, Y:9.23, Z:11.30 [[ 9.98782329e-01 -4.68521271e-02 -1.54511450e-02 7.30309915e+02] [ 4.68541224e-02 9.98901715e-01 -2.33036516e-04 9.22747861e+00] [ 1.54450935e-02 -4.91197084e-04 9.99880597e-01 1.12968704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.7792541539999 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:730.33, Y:9.23, Z:11.30 [[ 9.98492429e-01 -5.26684887e-02 -1.54563704e-02 7.30333075e+02] [ 5.26766323e-02 9.98611615e-01 1.19953776e-04 9.23448066e+00] [ 1.54285933e-02 -9.33962481e-04 9.99880536e-01 1.13005292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.8092541539999 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:730.37, Y:9.24, Z:11.30 [[ 9.98457102e-01 -5.33356176e-02 -1.54508024e-02 7.30365687e+02] [ 5.33382891e-02 9.98576472e-01 -2.39427283e-04 9.23587579e+00] [ 1.54415778e-02 -5.85061495e-04 9.99880601e-01 1.13014979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.839254154 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:730.40, Y:9.23, Z:11.30 [[ 9.98756146e-01 -4.74070966e-02 -1.54508200e-02 7.30403748e+02] [ 4.74090770e-02 9.98875529e-01 -2.38286002e-04 9.22953272e+00] [ 1.54447425e-02 -4.94519507e-04 9.99880601e-01 1.12974193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.8692541539999 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:730.42, Y:9.24, Z:11.30 [[ 9.98404781e-01 -5.43045403e-02 -1.54567374e-02 7.30424536e+02] [ 5.43134287e-02 9.98523924e-01 1.55543323e-04 9.23794955e+00] [ 1.54254753e-02 -9.94803600e-04 9.99880525e-01 1.13024763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.8992541539999 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:730.46, Y:9.24, Z:11.30 [[ 9.98399767e-01 -5.43984451e-02 -1.54504095e-02 7.30455750e+02] [ 5.44011656e-02 9.98519130e-01 -2.44463115e-04 9.23892498e+00] [ 1.54408279e-02 -5.96448370e-04 9.99880605e-01 1.13029695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.9292541539999 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:730.49, Y:9.24, Z:11.30 [[ 9.98363397e-01 -5.50618914e-02 -1.54504224e-02 7.30488126e+02] [ 5.50647039e-02 9.98482759e-01 -2.43643408e-04 9.23987092e+00] [ 1.54403959e-02 -6.07528277e-04 9.99880605e-01 1.13042307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.959254154 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:730.52, Y:9.24, Z:11.30 [[ 9.98386112e-01 -5.46484655e-02 -1.54504402e-02 7.30520272e+02] [ 5.46512460e-02 9.98505474e-01 -2.42512220e-04 9.24016128e+00] [ 1.54406020e-02 -6.02264977e-04 9.99880605e-01 1.13035459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.9892541539999 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:730.55, Y:9.24, Z:11.30 [[ 9.98386027e-01 -5.46500268e-02 -1.54504579e-02 7.30552365e+02] [ 5.46528250e-02 9.98505388e-01 -2.41382609e-04 9.24140300e+00] [ 1.54405570e-02 -6.03418145e-04 9.99880605e-01 1.13042726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.0192541539999 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:730.58, Y:9.24, Z:11.30 [[ 9.98508412e-01 -5.23663394e-02 -1.54504753e-02 7.30583999e+02] [ 5.23688818e-02 9.98627780e-01 -2.40261905e-04 9.24373758e+00] [ 1.54418555e-02 -5.69220580e-04 9.99880605e-01 1.13046792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.0492541539999 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:730.62, Y:9.25, Z:11.30 [[ 9.98618689e-01 -5.02194879e-02 -1.54504882e-02 7.30616037e+02] [ 5.02217866e-02 9.98738061e-01 -2.39426393e-04 9.24500187e+00] [ 1.54430145e-02 -5.36855452e-04 9.99880605e-01 1.13048363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.079254154 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:730.65, Y:9.25, Z:11.31 [[ 9.98831733e-01 -4.57870084e-02 -1.54505051e-02 7.30648364e+02] [ 4.57887942e-02 9.98951115e-01 -2.38331017e-04 9.24755764e+00] [ 1.54452118e-02 -4.69407417e-04 9.99880605e-01 1.13070300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.1092541539999 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:730.68, Y:9.25, Z:11.31 [[ 9.98984721e-01 -4.23179559e-02 -1.54505218e-02 7.30679974e+02] [ 4.23193439e-02 9.99104107e-01 -2.37244466e-04 9.24833446e+00] [ 1.54467195e-02 -4.16852350e-04 9.99880605e-01 1.13067865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.1392541539999 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:730.71, Y:9.25, Z:11.31 [[ 9.99096595e-01 -3.95888137e-02 -1.54505342e-02 7.30711137e+02] [ 3.95898881e-02 9.99215985e-01 -2.36436009e-04 9.24962804e+00] [ 1.54477810e-02 -3.75462508e-04 9.99880605e-01 1.13081536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.1692541539999 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:730.74, Y:9.25, Z:11.31 [[ 9.99196141e-01 -3.69912411e-02 -1.54505423e-02 7.30741642e+02] [ 3.69920134e-02 9.99315533e-01 -2.35903781e-04 9.25092181e+00] [ 1.54486933e-02 -3.35832520e-04 9.99880605e-01 1.13096899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.1992541539998 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:730.77, Y:9.25, Z:11.31 [[ 9.99372252e-01 -3.18807547e-02 -1.54505559e-02 7.30771682e+02] [ 3.18809301e-02 9.99491646e-01 -2.35012166e-04 9.25198208e+00] [ 1.54501939e-02 -2.57713453e-04 9.99880605e-01 1.13094848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.2292541539999 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:730.80, Y:9.25, Z:11.31 [[ 9.99409242e-01 -3.06993094e-02 -1.54505559e-02 7.30802092e+02] [ 3.06993437e-02 9.99528636e-01 -2.35012166e-04 9.25299668e+00] [ 1.54504877e-02 -2.39448594e-04 9.99880605e-01 1.13108196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.2592541539999 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:730.83, Y:9.25, Z:11.31 [[ 9.99426530e-01 -3.01312285e-02 -1.54505559e-02 7.30831369e+02] [ 3.01311950e-02 9.99545925e-01 -2.35012166e-04 9.25364994e+00] [ 1.54506214e-02 -2.30666317e-04 9.99880605e-01 1.13099822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.2892541539999 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:730.86, Y:9.25, Z:11.31 [[ 9.99425703e-01 -3.01586599e-02 -1.54505516e-02 7.30861582e+02] [ 3.01586252e-02 9.99545098e-01 -2.35295280e-04 9.25281619e+00] [ 1.54506193e-02 -2.30807243e-04 9.99880605e-01 1.13096173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.3192541539999 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:730.89, Y:9.25, Z:11.31 [[ 9.99387878e-01 -3.13870923e-02 -1.54505516e-02 7.30891072e+02] [ 3.13872044e-02 9.99507273e-01 -2.35295280e-04 9.25270884e+00] [ 1.54503239e-02 -2.49798370e-04 9.99880605e-01 1.13083107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.3492541539999 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:730.92, Y:9.25, Z:11.31 [[ 9.99387878e-01 -3.13870967e-02 -1.54505473e-02 7.30922064e+02] [ 3.13872044e-02 9.99507273e-01 -2.35576937e-04 9.25318152e+00] [ 1.54503284e-02 -2.49516749e-04 9.99880605e-01 1.13087898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.3792541539999 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:730.95, Y:9.25, Z:11.31 [[ 9.99233063e-01 -3.59800910e-02 -1.54505473e-02 7.30952155e+02] [ 3.59807474e-02 9.99352456e-01 -2.35576937e-04 9.25214851e+00] [ 1.54490184e-02 -3.20525974e-04 9.99880605e-01 1.13096896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.4092541539999 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:730.98, Y:9.25, Z:11.31 [[ 9.99128011e-01 -3.87878693e-02 -1.54505473e-02 7.30983210e+02] [ 3.87888613e-02 9.99247401e-01 -2.35576937e-04 9.25137372e+00] [ 1.54480567e-02 -3.63937617e-04 9.99880605e-01 1.13102791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.4392541539999 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:731.02, Y:9.25, Z:11.31 [[ 9.99151866e-01 -3.81684224e-02 -1.54505559e-02 7.31019068e+02] [ 3.81693491e-02 9.99271257e-01 -2.35007725e-04 9.24560106e+00] [ 1.54482663e-02 -3.54929256e-04 9.99880605e-01 1.13091873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.4692541539999 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:731.05, Y:9.24, Z:11.31 [[ 9.98813425e-01 -4.61831794e-02 -1.54549497e-02 7.31050317e+02] [ 4.61893209e-02 9.98932703e-01 4.04803960e-05 9.24445983e+00] [ 1.54365852e-02 -7.54285996e-04 9.99880564e-01 1.13106669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.4992541539999 meters Centerline goodness : 0.999229 Centerline is valid? [True, True] Translation: X:731.08, Y:9.25, Z:11.31 [[ 9.98435605e-01 -5.37354515e-02 -1.54545801e-02 7.31075346e+02] [ 5.37421408e-02 9.98554847e-01 1.75553524e-05 9.24873577e+00] [ 1.54313026e-02 -8.48090110e-04 9.99880571e-01 1.13125643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.5292541539999 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:731.11, Y:9.24, Z:11.31 [[ 9.98499147e-01 -5.25428288e-02 -1.54500433e-02 7.31109927e+02] [ 5.25451469e-02 9.98618517e-01 -2.56138117e-04 9.24253682e+00] [ 1.54421575e-02 -5.56071104e-04 9.99880608e-01 1.13108716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.5592541539999 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:731.14, Y:9.24, Z:11.31 [[ 9.98146740e-01 -5.88576888e-02 -1.54550028e-02 7.31140322e+02] [ 5.88654309e-02 9.98265926e-01 4.61183875e-05 9.24155492e+00] [ 1.54254882e-02 -9.55798315e-04 9.99880563e-01 1.13122774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.589254154 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:731.17, Y:9.25, Z:11.31 [[ 9.97787247e-01 -6.46667333e-02 -1.54539239e-02 7.31166995e+02] [ 6.46741528e-02 9.97906435e-01 -1.96976743e-05 9.24553882e+00] [ 1.54228439e-02 -9.79815350e-04 9.99880581e-01 1.13143831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.6192541539999 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:731.20, Y:9.24, Z:11.31 [[ 9.97933946e-01 -6.23629713e-02 -1.54498765e-02 7.31202593e+02] [ 6.23664020e-02 9.98053287e-01 -2.60121950e-04 9.24085772e+00] [ 1.54360220e-02 -7.03968683e-04 9.99880610e-01 1.13128837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.6492541539999 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:731.23, Y:9.24, Z:11.31 [[ 9.97538830e-01 -6.83921473e-02 -1.54530336e-02 7.31228804e+02] [ 6.83993038e-02 9.97658023e-01 -6.55491919e-05 9.24484959e+00] [ 1.54213260e-02 -9.91588874e-04 9.99880593e-01 1.13148685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.6792541539999 meters Centerline goodness : 0.999084 Centerline is valid? [True, True] Translation: X:731.26, Y:9.24, Z:11.32 [[ 9.97262996e-01 -7.23036444e-02 -1.54498900e-02 7.31260288e+02] [ 7.23083341e-02 9.97382294e-01 -2.55589018e-04 9.24448899e+00] [ 1.54279268e-02 -8.62266338e-04 9.99880611e-01 1.13160234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.709254154 meters Centerline goodness : 0.998999 Centerline is valid? [True, True] Translation: X:731.29, Y:9.24, Z:11.32 [[ 9.97119909e-01 -7.42508383e-02 -1.54499036e-02 7.31292141e+02] [ 7.42557736e-02 9.97239197e-01 -2.54763329e-04 9.24488233e+00] [ 1.54261659e-02 -8.93214958e-04 9.99880611e-01 1.13168062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.7392541539999 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:731.33, Y:9.24, Z:11.32 [[ 9.97128972e-01 -7.41290325e-02 -1.54499226e-02 7.31328429e+02] [ 7.41339711e-02 9.97248259e-01 -2.53605786e-04 9.24321644e+00] [ 1.54262080e-02 -8.92486441e-04 9.99880611e-01 1.13169134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.7692541539999 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:731.35, Y:9.25, Z:11.32 [[ 9.96881548e-01 -7.73847015e-02 -1.54527679e-02 7.31354908e+02] [ 7.73927641e-02 9.97000679e-01 -7.64600560e-05 9.24592575e+00] [ 1.54123370e-02 -1.11971080e-03 9.99880596e-01 1.13176224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.7992541539999 meters Centerline goodness : 0.999188 Centerline is valid? [True, True] Translation: X:731.39, Y:9.25, Z:11.32 [[ 9.96808042e-01 -7.83265822e-02 -1.54490893e-02 7.31389302e+02] [ 7.83313106e-02 9.96927337e-01 -2.99735093e-04 9.24701119e+00] [ 1.54250967e-02 -9.11369062e-04 9.99880611e-01 1.13181166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.829254154 meters Centerline goodness : 0.998983 Centerline is valid? [True, True] Translation: X:731.43, Y:9.24, Z:11.32 [[ 9.97149792e-01 -7.38484460e-02 -1.54498856e-02 7.31426624e+02] [ 7.38533966e-02 9.97269078e-01 -2.50650814e-04 9.24421015e+00] [ 1.54262034e-02 -8.91090124e-04 9.99880612e-01 1.13157227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.8592541539999 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:731.45, Y:9.25, Z:11.32 [[ 9.96930399e-01 -7.67524599e-02 -1.54544205e-02 7.31450879e+02] [ 7.67621656e-02 9.97049431e-01 3.49360125e-05 9.25001780e+00] [ 1.54061397e-02 -1.22114356e-03 9.99880573e-01 1.13165477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.8892541539999 meters Centerline goodness : 0.998958 Centerline is valid? [True, True] Translation: X:731.48, Y:9.25, Z:11.32 [[ 9.96965774e-01 -7.62925458e-02 -1.54497166e-02 7.31484125e+02] [ 7.62977571e-02 9.97085046e-01 -2.52695759e-04 9.25228295e+00] [ 1.54239602e-02 -9.26849703e-04 9.99880614e-01 1.13182609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.9192541539999 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:731.52, Y:9.25, Z:11.32 [[ 9.97086034e-01 -7.47043939e-02 -1.54497436e-02 7.31516225e+02] [ 7.47094409e-02 9.97205313e-01 -2.51032209e-04 9.25384562e+00] [ 1.54253197e-02 -9.03941000e-04 9.99880614e-01 1.13174626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.9492541539998 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:731.55, Y:9.26, Z:11.32 [[ 9.97214926e-01 -7.29636594e-02 -1.54497614e-02 7.31547291e+02] [ 7.29685152e-02 9.97334213e-01 -2.49932418e-04 9.25713393e+00] [ 1.54268117e-02 -8.78109814e-04 9.99880614e-01 1.13166024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.9792541539999 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:731.58, Y:9.26, Z:11.32 [[ 9.97300207e-01 -7.17885843e-02 -1.54497912e-02 7.31580549e+02] [ 7.17933281e-02 9.97419499e-01 -2.48081988e-04 9.25901684e+00] [ 1.54277324e-02 -8.61779707e-04 9.99880614e-01 1.13173314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.0092541539999 meters Centerline goodness : 0.998871 Centerline is valid? [True, True] Translation: X:731.61, Y:9.26, Z:11.32 [[ 9.97538128e-01 -6.84031176e-02 -1.54498186e-02 7.31612944e+02] [ 6.84074830e-02 9.97657434e-01 -2.46361094e-04 9.26244320e+00] [ 1.54304782e-02 -8.11128619e-04 9.99880614e-01 1.13165045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.0392541539999 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:731.64, Y:9.27, Z:11.32 [[ 9.97660956e-01 -6.65875756e-02 -1.54502916e-02 7.31643560e+02] [ 6.65921888e-02 9.97780253e-01 -2.16264136e-04 9.26518419e+00] [ 1.54303963e-02 -8.13110448e-04 9.99880614e-01 1.13169649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.0692541539999 meters Centerline goodness : 0.998996 Centerline is valid? [True, True] Translation: X:731.68, Y:9.27, Z:11.32 [[ 9.97843914e-01 -6.37873384e-02 -1.54498818e-02 7.31675452e+02] [ 6.37912133e-02 9.97963237e-01 -2.42381047e-04 9.26742308e+00] [ 1.54338749e-02 -7.43708256e-04 9.99880614e-01 1.13188059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.0992541539999 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:731.71, Y:9.26, Z:11.32 [[ 9.98349866e-01 -5.53068252e-02 -1.54498998e-02 7.31712012e+02] [ 5.53097039e-02 9.98469218e-01 -2.41228957e-04 9.26370587e+00] [ 1.54395910e-02 -6.13698489e-04 9.99880614e-01 1.13162487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.1292541539999 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:731.74, Y:9.28, Z:11.32 [[ 9.98466808e-01 -5.31524451e-02 -1.54547941e-02 7.31735449e+02] [ 5.31600162e-02 9.98586004e-01 7.91994592e-05 9.27517814e+00] [ 1.54287314e-02 -9.00655137e-04 9.99880564e-01 1.13221387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.1592541539999 meters Centerline goodness : 0.999038 Centerline is valid? [True, True] Translation: X:731.77, Y:9.27, Z:11.32 [[ 9.98862118e-01 -4.51195948e-02 -1.54496456e-02 7.31769956e+02] [ 4.51211940e-02 9.98981490e-01 -2.45221895e-04 9.27378445e+00] [ 1.54449743e-02 -4.52163595e-04 9.99880617e-01 1.13189337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.1892541539999 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:731.80, Y:9.28, Z:11.32 [[ 9.98863136e-01 -4.50959044e-02 -1.54530104e-02 7.31795848e+02] [ 4.51008041e-02 9.98982441e-01 -3.14524808e-05 9.28050260e+00] [ 1.54387044e-02 -6.65526469e-04 9.99880595e-01 1.13241931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.2192541539999 meters Centerline goodness : 0.998952 Centerline is valid? [True, True] Translation: X:731.83, Y:9.28, Z:11.33 [[ 9.99205737e-01 -3.67315733e-02 -1.54494701e-02 7.31828361e+02] [ 3.67320943e-02 9.99325118e-01 -2.50136287e-04 9.28393399e+00] [ 1.54482314e-02 -3.17553779e-04 9.99880619e-01 1.13251614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.2492541539999 meters Centerline goodness : 0.999226 Centerline is valid? [True, True] Translation: X:731.86, Y:9.29, Z:11.32 [[ 9.99336878e-01 -3.29714533e-02 -1.54494882e-02 7.31858848e+02] [ 3.29715424e-02 9.99456260e-01 -2.49012063e-04 9.28541911e+00] [ 1.54492980e-02 -2.60546518e-04 9.99880619e-01 1.13248452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.2792541539999 meters Centerline goodness : 0.999015 Centerline is valid? [True, True] Translation: X:731.89, Y:9.29, Z:11.33 [[ 9.99409387e-01 -3.06951274e-02 -1.54495020e-02 7.31888500e+02] [ 3.06949579e-02 9.99528768e-01 -2.48153879e-04 9.28862686e+00] [ 1.54498388e-02 -2.26214498e-04 9.99880619e-01 1.13255620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.3092541539999 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:731.92, Y:9.29, Z:11.32 [[ 9.99510337e-01 -2.72110374e-02 -1.54481477e-02 7.31918796e+02] [ 2.72091588e-02 9.99629707e-01 -3.31806800e-04 9.28937229e+00] [ 1.54514562e-02 -8.86867784e-05 9.99880615e-01 1.13244176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.339254154 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] Translation: X:731.95, Y:9.29, Z:11.33 [[ 9.99504521e-01 -2.74230832e-02 -1.54494912e-02 7.31947847e+02] [ 2.74225226e-02 9.99623901e-01 -2.48172573e-04 9.29045315e+00] [ 1.54504863e-02 -1.75614413e-04 9.99880619e-01 1.13254887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.3692541539999 meters Centerline goodness : 0.999014 Centerline is valid? [True, True] Translation: X:731.98, Y:9.29, Z:11.33 [[ 9.99486115e-01 -2.80859106e-02 -1.54494867e-02 7.31977222e+02] [ 2.80854248e-02 9.99605496e-01 -2.48455027e-04 9.29111757e+00] [ 1.54503699e-02 -1.85578047e-04 9.99880619e-01 1.13255681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.3992541539999 meters Centerline goodness : 0.998972 Centerline is valid? [True, True] Translation: X:732.01, Y:9.29, Z:11.33 [[ 9.99414914e-01 -3.05146444e-02 -1.54494775e-02 7.32006808e+02] [ 3.05144398e-02 9.99534295e-01 -2.49027633e-04 9.29181071e+00] [ 1.54498815e-02 -2.22550219e-04 9.99880619e-01 1.13251380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.4292541539999 meters Centerline goodness : 0.998806 Centerline is valid? [True, True] Translation: X:732.04, Y:9.29, Z:11.33 [[ 9.99371689e-01 -3.18989221e-02 -1.54494784e-02 7.32036816e+02] [ 3.18988838e-02 9.99491070e-01 -2.48971184e-04 9.29223170e+00] [ 1.54495576e-02 -2.44006362e-04 9.99880619e-01 1.13256542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.459254154 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:732.07, Y:9.29, Z:11.33 [[ 9.99327154e-01 -3.32649026e-02 -1.54494784e-02 7.32066677e+02] [ 3.32650274e-02 9.99446535e-01 -2.48971184e-04 9.29258733e+00] [ 1.54492096e-02 -2.65123657e-04 9.99880619e-01 1.13261015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.4892541539999 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:732.10, Y:9.29, Z:11.33 [[ 9.99248950e-01 -3.55365974e-02 -1.54494829e-02 7.32097818e+02] [ 3.55369980e-02 9.99368330e-01 -2.48688264e-04 9.29279895e+00] [ 1.54485615e-02 -3.00526757e-04 9.99880619e-01 1.13264238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.5192541539999 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:732.13, Y:9.29, Z:11.33 [[ 9.99206862e-01 -3.67009651e-02 -1.54494920e-02 7.32129343e+02] [ 3.67015135e-02 9.99326242e-01 -2.48123672e-04 9.29325460e+00] [ 1.54481891e-02 -3.19092864e-04 9.99880619e-01 1.13262473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.5492541539999 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:732.16, Y:9.29, Z:11.33 [[ 9.99159965e-01 -3.79562496e-02 -1.54495010e-02 7.32160120e+02] [ 3.79569567e-02 9.99279344e-01 -2.47558533e-04 9.29347203e+00] [ 1.54477637e-02 -3.39065467e-04 9.99880619e-01 1.13261771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.579254154 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:732.19, Y:9.29, Z:11.33 [[ 9.99108034e-01 -3.92994707e-02 -1.54495055e-02 7.32191188e+02] [ 3.93003426e-02 9.99227413e-01 -2.47278117e-04 9.29353966e+00] [ 1.54472873e-02 -3.60113307e-04 9.99880619e-01 1.13268662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.6092541539999 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:732.22, Y:9.29, Z:11.33 [[ 9.98986963e-01 -4.22653446e-02 -1.54495145e-02 7.32222995e+02] [ 4.22665796e-02 9.99106338e-01 -2.46716119e-04 9.29312682e+00] [ 1.54461354e-02 -4.06531949e-04 9.99880619e-01 1.13273892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.6392541539999 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:732.26, Y:9.29, Z:11.33 [[ 9.98920239e-01 -4.38140304e-02 -1.54495234e-02 7.32255094e+02] [ 4.38154592e-02 9.99039611e-01 -2.46155380e-04 9.29312587e+00] [ 1.54454709e-02 -4.31038373e-04 9.99880619e-01 1.13283019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.6692541539999 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:732.29, Y:9.29, Z:11.33 [[ 9.98763004e-01 -4.72628241e-02 -1.54495412e-02 7.32286777e+02] [ 4.72646822e-02 9.98882370e-01 -2.45037841e-04 9.29279968e+00] [ 1.54438555e-02 -4.85482924e-04 9.99880619e-01 1.13293090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.6992541539998 meters Centerline goodness : 0.998954 Centerline is valid? [True, True] Translation: X:732.32, Y:9.29, Z:11.33 [[ 9.98716246e-01 -4.82407599e-02 -1.54495543e-02 7.32319432e+02] [ 4.82427479e-02 9.98835611e-01 -2.44203879e-04 9.29228587e+00] [ 1.54433456e-02 -5.01438574e-04 9.99880619e-01 1.13285038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.7292541539999 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:732.35, Y:9.29, Z:11.33 [[ 9.98644393e-01 -4.97060126e-02 -1.54495722e-02 7.32351214e+02] [ 4.97081933e-02 9.98763754e-01 -2.43067499e-04 9.29259403e+00] [ 1.54425547e-02 -5.25232327e-04 9.99880619e-01 1.13301002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.7592541539999 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:732.38, Y:9.29, Z:11.33 [[ 9.98536658e-01 -5.18252067e-02 -1.54495901e-02 7.32382460e+02] [ 5.18276583e-02 9.98656015e-01 -2.41928045e-04 9.29195693e+00] [ 1.54413640e-02 -5.59142053e-04 9.99880619e-01 1.13310846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.7892541539999 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:732.41, Y:9.29, Z:11.33 [[ 9.98519460e-01 -5.21555129e-02 -1.54496033e-02 7.32414396e+02] [ 5.21580171e-02 9.98638815e-01 -2.41079272e-04 9.29159042e+00] [ 1.54411472e-02 -5.65098329e-04 9.99880619e-01 1.13310444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.8192541539999 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:732.45, Y:9.29, Z:11.33 [[ 9.98525242e-01 -5.20446995e-02 -1.54496207e-02 7.32445779e+02] [ 5.20472077e-02 9.98644597e-01 -2.39957553e-04 9.29176148e+00] [ 1.54411688e-02 -5.64505945e-04 9.99880619e-01 1.13308207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.8492541539999 meters Centerline goodness : 0.998996 Centerline is valid? [True, True] Translation: X:732.48, Y:9.29, Z:11.33 [[ 9.98545784e-01 -5.16490628e-02 -1.54496337e-02 7.32477726e+02] [ 5.16515367e-02 9.98665140e-01 -2.39121641e-04 9.29247209e+00] [ 1.54413610e-02 -5.59223414e-04 9.99880619e-01 1.13311362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.8792541539999 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:732.51, Y:9.29, Z:11.33 [[ 9.98655631e-01 -4.94796763e-02 -1.54496514e-02 7.32509270e+02] [ 4.94819086e-02 9.98774992e-01 -2.37971839e-04 9.29360254e+00] [ 1.54425002e-02 -5.26826320e-04 9.99880619e-01 1.13309686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.9092541539999 meters Centerline goodness : 0.999247 Centerline is valid? [True, True] Translation: X:732.54, Y:9.29, Z:11.33 [[ 9.98735953e-01 -4.78309973e-02 -1.54496645e-02 7.32541527e+02] [ 4.78330458e-02 9.98855317e-01 -2.37114669e-04 9.29390670e+00] [ 1.54433210e-02 -5.02189566e-04 9.99880619e-01 1.13311722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.9392541539999 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:732.57, Y:9.29, Z:11.33 [[ 9.98824037e-01 -4.59548653e-02 -1.54496818e-02 7.32573402e+02] [ 4.59567071e-02 9.98943405e-01 -2.35981952e-04 9.29463930e+00] [ 1.54442023e-02 -4.74312056e-04 9.99880619e-01 1.13312803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.9692541539999 meters Centerline goodness : 0.999058 Centerline is valid? [True, True] Translation: X:732.61, Y:9.30, Z:11.33 [[ 9.98977102e-01 -4.24977348e-02 -1.54496990e-02 7.32605683e+02] [ 4.24991809e-02 9.99096474e-01 -2.34856148e-04 9.29634947e+00] [ 1.54457206e-02 -4.21983636e-04 9.99880619e-01 1.13314472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.9992541539999 meters Centerline goodness : 0.998955 Centerline is valid? [True, True] Translation: X:732.64, Y:9.30, Z:11.33 [[ 9.99044635e-01 -4.08793765e-02 -1.54497160e-02 7.32636602e+02] [ 4.08806467e-02 9.99164010e-01 -2.33726107e-04 9.29726951e+00] [ 1.54463548e-02 -3.98091569e-04 9.99880619e-01 1.13315733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.0292541539999 meters Centerline goodness : 0.998976 Centerline is valid? [True, True] Translation: X:732.67, Y:9.30, Z:11.33 [[ 9.99129058e-01 -3.87612007e-02 -1.54497287e-02 7.32668923e+02] [ 3.87622307e-02 9.99248435e-01 -2.32884487e-04 9.29893257e+00] [ 1.54471441e-02 -3.66184292e-04 9.99880619e-01 1.13324637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.0592541539999 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:732.70, Y:9.30, Z:11.33 [[ 9.99160016e-01 -3.79548188e-02 -1.54497458e-02 7.32700032e+02] [ 3.79557701e-02 9.99279393e-01 -2.31745386e-04 9.30002424e+00] [ 1.54474085e-02 -3.54856277e-04 9.99880619e-01 1.13323477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.089254154 meters Centerline goodness : 0.999287 Centerline is valid? [True, True] Translation: X:732.73, Y:9.30, Z:11.33 [[ 9.99174226e-01 -3.75788642e-02 -1.54497543e-02 7.32731524e+02] [ 3.75797794e-02 9.99293604e-01 -2.31179691e-04 9.30086316e+00] [ 1.54475281e-02 -3.49609568e-04 9.99880619e-01 1.13323435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.1192541539999 meters Centerline goodness : 0.998996 Centerline is valid? [True, True] Translation: X:732.76, Y:9.30, Z:11.33 [[ 9.99119370e-01 -3.90101246e-02 -1.54497627e-02 7.32762288e+02] [ 3.90112194e-02 9.99238746e-01 -2.30618224e-04 9.30165976e+00] [ 1.54469979e-02 -3.72298947e-04 9.99880619e-01 1.13327096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.1492541539999 meters Centerline goodness : 0.998973 Centerline is valid? [True, True] Translation: X:732.79, Y:9.30, Z:11.34 [[ 9.99045346e-01 -4.08619785e-02 -1.54497668e-02 7.32793470e+02] [ 4.08632990e-02 9.99164720e-01 -2.30339852e-04 9.30257344e+00] [ 1.54462741e-02 -4.01208484e-04 9.99880619e-01 1.13353241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.1792541539999 meters Centerline goodness : 0.998576 Centerline is valid? [True, True] Translation: X:732.84, Y:9.29, Z:11.33 [[ 9.99282629e-01 -3.45764736e-02 -1.54497753e-02 7.32836184e+02] [ 3.45770518e-02 9.99402009e-01 -2.29768813e-04 9.29310684e+00] [ 1.54484811e-02 -3.04603698e-04 9.99880619e-01 1.13298828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.209254154 meters Centerline goodness : 0.998764 Centerline is valid? [True, True] Translation: X:732.85, Y:9.30, Z:11.34 [[ 9.98704157e-01 -4.84877920e-02 -1.54577339e-02 7.32852430e+02] [ 4.84986976e-02 9.98823191e-01 3.31209690e-04 9.30238360e+00] [ 1.54234835e-02 -1.08046046e-03 9.99880467e-01 1.13360636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.2392541539999 meters Centerline goodness : 0.998386 Centerline is valid? [True, True] Translation: X:732.88, Y:9.30, Z:11.34 [[ 9.98574144e-01 -5.10980449e-02 -1.54489191e-02 7.32884336e+02] [ 5.11004555e-02 9.98693490e-01 -2.38924655e-04 9.30274021e+00] [ 1.54409435e-02 -5.50862818e-04 9.99880630e-01 1.13373603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.2692541539999 meters Centerline goodness : 0.998386 Centerline is valid? [True, True] Translation: X:732.92, Y:9.30, Z:11.34 [[ 9.98577917e-01 -5.10242439e-02 -1.54489366e-02 7.32917020e+02] [ 5.10266634e-02 9.98697263e-01 -2.37783020e-04 9.30318372e+00] [ 1.54409434e-02 -5.50862816e-04 9.99880630e-01 1.13378651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.2992541539999 meters Centerline goodness : 0.998448 Centerline is valid? [True, True] Translation: X:732.96, Y:9.29, Z:11.33 [[ 9.98811822e-01 -4.62198352e-02 -1.54489541e-02 7.32956671e+02] [ 4.62216982e-02 9.98931178e-01 -2.36641382e-04 9.29467507e+00] [ 1.54433795e-02 -4.77716684e-04 9.99880630e-01 1.13339072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.329254154 meters Centerline goodness : 0.998538 Centerline is valid? [True, True] Translation: X:732.98, Y:9.30, Z:11.34 [[ 9.98308417e-01 -5.60483323e-02 -1.54560358e-02 7.32975827e+02] [ 5.60587713e-02 9.98427441e-01 2.42639922e-04 9.30416072e+00] [ 1.54181307e-02 -1.10867585e-03 9.99880519e-01 1.13391635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.3592541539999 meters Centerline goodness : 0.998638 Centerline is valid? [True, True] Translation: X:733.01, Y:9.30, Z:11.34 [[ 9.98113482e-01 -5.94207397e-02 -1.54483782e-02 7.33008453e+02] [ 5.94240752e-02 9.98232799e-01 -2.43432989e-04 9.30382002e+00] [ 1.54355427e-02 -6.75031837e-04 9.99880637e-01 1.13404027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.3892541539999 meters Centerline goodness : 0.998474 Centerline is valid? [True, True] Translation: X:733.04, Y:9.30, Z:11.34 [[ 9.98058677e-01 -6.03342664e-02 -1.54483963e-02 7.33041046e+02] [ 6.03377290e-02 9.98177990e-01 -2.42273901e-04 9.30381083e+00] [ 1.54348666e-02 -6.90317582e-04 9.99880637e-01 1.13410650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.4192541539999 meters Centerline goodness : 0.998354 Centerline is valid? [True, True] Translation: X:733.07, Y:9.30, Z:11.34 [[ 9.98013853e-01 -6.10712270e-02 -1.54484143e-02 7.33072518e+02] [ 6.10747955e-02 9.98133163e-01 -2.41121549e-04 9.30441214e+00] [ 1.54343002e-02 -7.02866100e-04 9.99880637e-01 1.13423853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.4492541539998 meters Centerline goodness : 0.998851 Centerline is valid? [True, True] Translation: X:733.10, Y:9.31, Z:11.34 [[ 9.98019584e-01 -6.09775001e-02 -1.54484277e-02 7.33104409e+02] [ 6.09810707e-02 9.98138894e-01 -2.40263334e-04 9.30508373e+00] [ 1.54343272e-02 -7.02274147e-04 9.99880637e-01 1.13437562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.4792541539999 meters Centerline goodness : 0.998684 Centerline is valid? [True, True] Translation: X:733.14, Y:9.31, Z:11.34 [[ 9.98051009e-01 -6.04609698e-02 -1.54484452e-02 7.33136255e+02] [ 6.04644961e-02 9.98170320e-01 -2.39131319e-04 9.30595714e+00] [ 1.54346376e-02 -6.95417199e-04 9.99880637e-01 1.13445042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.5092541539999 meters Centerline goodness : 0.998809 Centerline is valid? [True, True] Translation: X:733.17, Y:9.31, Z:11.35 [[ 9.98143566e-01 -5.89132061e-02 -1.54484630e-02 7.33167038e+02] [ 5.89165653e-02 9.98262882e-01 -2.37974017e-04 9.30698917e+00] [ 1.54356470e-02 -6.72638146e-04 9.99880637e-01 1.13451370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.5392541539999 meters Centerline goodness : 0.998876 Centerline is valid? [True, True] Translation: X:733.20, Y:9.31, Z:11.34 [[ 9.98207001e-01 -5.78284323e-02 -1.54484762e-02 7.33198258e+02] [ 5.78316751e-02 9.98326320e-01 -2.37112142e-04 9.30737374e+00] [ 1.54363323e-02 -6.56724258e-04 9.99880637e-01 1.13449670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.5692541539999 meters Centerline goodness : 0.998746 Centerline is valid? [True, True] Translation: X:733.23, Y:9.31, Z:11.35 [[ 9.98269571e-01 -5.67380622e-02 -1.54485050e-02 7.33230338e+02] [ 5.67412039e-02 9.98388892e-01 -2.35223433e-04 9.30754699e+00] [ 1.54369619e-02 -6.41750377e-04 9.99880637e-01 1.13452041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.5992541539999 meters Centerline goodness : 0.998770 Centerline is valid? [True, True] Translation: X:733.26, Y:9.31, Z:11.35 [[ 9.98298811e-01 -5.62212315e-02 -1.54485224e-02 7.33262386e+02] [ 5.62243290e-02 9.98418134e-01 -2.34076974e-04 9.30829152e+00] [ 1.54372450e-02 -6.34904041e-04 9.99880637e-01 1.13459278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.6292541539999 meters Centerline goodness : 0.998559 Centerline is valid? [True, True] Translation: X:733.30, Y:9.30, Z:11.34 [[ 9.98614005e-01 -5.03131445e-02 -1.54485396e-02 7.33299144e+02] [ 5.03155536e-02 9.98733343e-01 -2.32937596e-04 9.30418681e+00] [ 1.54406914e-02 -5.44687073e-04 9.99880637e-01 1.13428566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.6592541539999 meters Centerline goodness : 0.998663 Centerline is valid? [True, True] Translation: X:733.32, Y:9.31, Z:11.35 [[ 9.98377412e-01 -5.48063453e-02 -1.54533827e-02 7.33322347e+02] [ 5.48143328e-02 9.98496560e-01 9.34791559e-05 9.31075993e+00] [ 1.54250263e-02 -9.40394343e-04 9.99880585e-01 1.13455572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.6892541539999 meters Centerline goodness : 0.998852 Centerline is valid? [True, True] Translation: X:733.35, Y:9.31, Z:11.35 [[ 9.98453429e-01 -5.34050789e-02 -1.54481958e-02 7.33353479e+02] [ 5.34077454e-02 9.98572759e-01 -2.40187770e-04 9.31211227e+00] [ 1.54389747e-02 -5.85237003e-04 9.99880641e-01 1.13452136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.7192541539999 meters Centerline goodness : 0.998767 Centerline is valid? [True, True] Translation: X:733.39, Y:9.31, Z:11.35 [[ 9.98493318e-01 -5.26540361e-02 -1.54482091e-02 7.33386140e+02] [ 5.26566261e-02 9.98612649e-01 -2.39329567e-04 9.31268776e+00] [ 1.54393786e-02 -5.74481595e-04 9.99880641e-01 1.13457001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.7492541539999 meters Centerline goodness : 0.998493 Centerline is valid? [True, True] Translation: X:733.42, Y:9.31, Z:11.34 [[ 9.98535312e-01 -5.18515404e-02 -1.54482265e-02 7.33418023e+02] [ 5.18540519e-02 9.98654645e-01 -2.38198181e-04 9.31308883e+00] [ 1.54397941e-02 -5.63203845e-04 9.99880641e-01 1.13445341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.7792541539999 meters Centerline goodness : 0.998806 Centerline is valid? [True, True] Translation: X:733.45, Y:9.31, Z:11.34 [[ 9.98799897e-01 -4.64770754e-02 -1.54482438e-02 7.33454137e+02] [ 4.64789621e-02 9.98919241e-01 -2.37071396e-04 9.30838969e+00] [ 1.54425664e-02 -4.81231452e-04 9.99880641e-01 1.13434335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.8092541539999 meters Centerline goodness : 0.998723 Centerline is valid? [True, True] Translation: X:733.48, Y:9.32, Z:11.35 [[ 9.98499659e-01 -5.25324204e-02 -1.54523678e-02 7.33479593e+02] [ 5.25391769e-02 9.98618863e-01 3.13380370e-05 9.31619145e+00] [ 1.54293797e-02 -8.43145707e-04 9.99880605e-01 1.13475688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.839254154 meters Centerline goodness : 0.998639 Centerline is valid? [True, True] Translation: X:733.51, Y:9.32, Z:11.35 [[ 9.98522453e-01 -5.20986566e-02 -1.54479987e-02 7.33511339e+02] [ 5.21010984e-02 9.98641786e-01 -2.44617990e-04 9.31745875e+00] [ 1.54397613e-02 -5.60601143e-04 9.99880643e-01 1.13487131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.8692541539999 meters Centerline goodness : 0.998869 Centerline is valid? [True, True] Translation: X:733.54, Y:9.32, Z:11.35 [[ 9.98569605e-01 -5.11869349e-02 -1.54480168e-02 7.33542882e+02] [ 5.11892855e-02 9.98688939e-01 -2.43468941e-04 9.31884730e+00] [ 1.54402259e-02 -5.47652257e-04 9.99880643e-01 1.13493461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.8992541539999 meters Centerline goodness : 0.998721 Centerline is valid? [True, True] Translation: X:733.57, Y:9.32, Z:11.35 [[ 9.98728401e-01 -4.79889424e-02 -1.54480465e-02 7.33574120e+02] [ 4.79909402e-02 9.98847742e-01 -2.41568908e-04 9.32101222e+00] [ 1.54418390e-02 -5.00104546e-04 9.99880643e-01 1.13502355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.9292541539999 meters Centerline goodness : 0.998595 Centerline is valid? [True, True] Translation: X:733.61, Y:9.32, Z:11.35 [[ 9.98821243e-01 -4.60161096e-02 -1.54480597e-02 7.33605299e+02] [ 4.60178847e-02 9.98940587e-01 -2.40723045e-04 9.32213546e+00] [ 1.54427710e-02 -4.70447739e-04 9.99880643e-01 1.13508686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.959254154 meters Centerline goodness : 0.998635 Centerline is valid? [True, True] Translation: X:733.64, Y:9.32, Z:11.35 [[ 9.99001145e-01 -4.19293396e-02 -1.54480727e-02 7.33636734e+02] [ 4.19306393e-02 9.99120495e-01 -2.39886865e-04 9.32377020e+00] [ 1.54445443e-02 -4.08100311e-04 9.99880643e-01 1.13525289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.9892541539999 meters Centerline goodness : 0.998554 Centerline is valid? [True, True] Translation: X:733.67, Y:9.32, Z:11.35 [[ 9.99077769e-01 -4.00620450e-02 -1.54480854e-02 7.33668488e+02] [ 4.00631345e-02 9.99197122e-01 -2.39063172e-04 9.32495810e+00] [ 1.54452598e-02 -3.80056023e-04 9.99880643e-01 1.13538478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.0192541539999 meters Centerline goodness : 0.998697 Centerline is valid? [True, True] Translation: X:733.70, Y:9.33, Z:11.36 [[ 9.99149443e-01 -3.82327856e-02 -1.54481023e-02 7.33701060e+02] [ 3.82336735e-02 9.99268797e-01 -2.37967510e-04 9.32601971e+00] [ 1.54459048e-02 -3.52872594e-04 9.99880643e-01 1.13552827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.0492541539999 meters Centerline goodness : 0.998801 Centerline is valid? [True, True] Translation: X:733.73, Y:9.33, Z:11.36 [[ 9.99210441e-01 -3.66039645e-02 -1.54481200e-02 7.33732675e+02] [ 3.66046756e-02 9.99329796e-01 -2.36815553e-04 9.32717599e+00] [ 1.54464350e-02 -3.28844846e-04 9.99880643e-01 1.13554795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.079254154 meters Centerline goodness : 0.998926 Centerline is valid? [True, True] Translation: X:733.76, Y:9.33, Z:11.36 [[ 9.99291733e-01 -3.43130853e-02 -1.54481330e-02 7.33763985e+02] [ 3.43135360e-02 9.99411089e-01 -2.35958468e-04 9.32847747e+00] [ 1.54471319e-02 -2.94288723e-04 9.99880643e-01 1.13555893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.1092541539999 meters Centerline goodness : 0.998906 Centerline is valid? [True, True] Translation: X:733.79, Y:9.33, Z:11.35 [[ 9.99303228e-01 -3.39766489e-02 -1.54481417e-02 7.33793971e+02] [ 3.39770682e-02 9.99422585e-01 -2.35392285e-04 9.32877842e+00] [ 1.54472195e-02 -2.89654292e-04 9.99880643e-01 1.13543307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.1392541539999 meters Centerline goodness : 0.999032 Centerline is valid? [True, True] Translation: X:733.83, Y:9.33, Z:11.35 [[ 9.99303639e-01 -3.39645744e-02 -1.54481459e-02 7.33825798e+02] [ 3.39649966e-02 9.99422995e-01 -2.35111625e-04 9.32862028e+00] [ 1.54472178e-02 -2.89748322e-04 9.99880643e-01 1.13543925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.1692541539999 meters Centerline goodness : 0.998886 Centerline is valid? [True, True] Translation: X:733.86, Y:9.33, Z:11.35 [[ 9.99281339e-01 -3.46144383e-02 -1.54481542e-02 7.33857380e+02] [ 3.46149465e-02 9.99400696e-01 -2.34568990e-04 9.32642228e+00] [ 1.54470155e-02 -3.00336616e-04 9.99880643e-01 1.13523635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.1992541539998 meters Centerline goodness : 0.998697 Centerline is valid? [True, True] Translation: X:733.89, Y:9.33, Z:11.35 [[ 9.99238202e-01 -3.58381167e-02 -1.54481626e-02 7.33888350e+02] [ 3.58387796e-02 9.99357557e-01 -2.34010623e-04 9.32670680e+00] [ 1.54466246e-02 -3.19810943e-04 9.99880643e-01 1.13538830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.2292541539999 meters Centerline goodness : 0.998721 Centerline is valid? [True, True] Translation: X:733.92, Y:9.33, Z:11.35 [[ 9.99169882e-01 -3.76948277e-02 -1.54481712e-02 7.33920134e+02] [ 3.76957212e-02 9.99289236e-01 -2.33444684e-04 9.32593812e+00] [ 1.54459909e-02 -3.49079057e-04 9.99880643e-01 1.13540710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.2592541539999 meters Centerline goodness : 0.998909 Centerline is valid? [True, True] Translation: X:733.95, Y:9.33, Z:11.35 [[ 9.99122367e-01 -3.89339248e-02 -1.54481798e-02 7.33951763e+02] [ 3.89349751e-02 9.99241719e-01 -2.32874013e-04 9.32594979e+00] [ 1.54455324e-02 -3.68804861e-04 9.99880643e-01 1.13548256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.2892541539999 meters Centerline goodness : 0.998909 Centerline is valid? [True, True] Translation: X:733.98, Y:9.33, Z:11.36 [[ 9.99070457e-01 -4.02439409e-02 -1.54481926e-02 7.33983476e+02] [ 4.02451609e-02 9.99189808e-01 -2.32021007e-04 9.32596084e+00] [ 1.54450141e-02 -3.89909664e-04 9.99880643e-01 1.13556871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.3192541539999 meters Centerline goodness : 0.998983 Centerline is valid? [True, True] Translation: X:734.02, Y:9.33, Z:11.36 [[ 9.98976140e-01 -4.25208652e-02 -1.54482010e-02 7.34015064e+02] [ 4.25223659e-02 9.99095488e-01 -2.31462400e-04 9.32523875e+00] [ 1.54440699e-02 -4.25668639e-04 9.99880643e-01 1.13564211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.3492541539999 meters Centerline goodness : 0.998764 Centerline is valid? [True, True] Translation: X:734.05, Y:9.32, Z:11.36 [[ 9.98943337e-01 -4.32846630e-02 -1.54482135e-02 7.34046776e+02] [ 4.32862678e-02 9.99062684e-01 -2.30626659e-04 9.32484974e+00] [ 1.54437162e-02 -4.38312541e-04 9.99880643e-01 1.13577222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.3792541539999 meters Centerline goodness : 0.997087 Centerline is valid? [True, True] Translation: X:734.08, Y:9.32, Z:11.35 [[ 9.98939736e-01 -4.33676831e-02 -1.54482303e-02 7.34077433e+02] [ 4.33693154e-02 9.99059082e-01 -2.29490505e-04 9.32452523e+00] [ 1.54436473e-02 -4.40731989e-04 9.99880643e-01 1.13541812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.4092541539999 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:734.11, Y:9.32, Z:11.36 [[ 9.98918939e-01 -4.38443749e-02 -1.54474347e-02 7.34109895e+02] [ 4.38452434e-02 9.99038295e-01 -2.82604548e-04 9.32446492e+00] [ 1.54449694e-02 -3.94997499e-04 9.99880641e-01 1.13588216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.4392541539999 meters Centerline goodness : 0.999014 Centerline is valid? [True, True] Translation: X:734.14, Y:9.33, Z:11.36 [[ 9.98933441e-01 -4.35124544e-02 -1.54482013e-02 7.34142262e+02] [ 4.35140740e-02 9.99052787e-01 -2.31432326e-04 9.32511672e+00] [ 1.54436388e-02 -4.41028686e-04 9.99880643e-01 1.13598445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.4692541539999 meters Centerline goodness : 0.998973 Centerline is valid? [True, True] Translation: X:734.17, Y:9.33, Z:11.36 [[ 9.98971933e-01 -4.26195967e-02 -1.54482178e-02 7.34173646e+02] [ 4.26211267e-02 9.99091280e-01 -2.30324188e-04 9.32565170e+00] [ 1.54439961e-02 -4.28333052e-04 9.99880643e-01 1.13603039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.4992541539999 meters Centerline goodness : 0.998930 Centerline is valid? [True, True] Translation: X:734.21, Y:9.33, Z:11.36 [[ 9.99064892e-01 -4.03818587e-02 -1.54482301e-02 7.34205728e+02] [ 4.03831342e-02 9.99184242e-01 -2.29498244e-04 9.32505559e+00] [ 1.54448957e-02 -3.94564311e-04 9.99880643e-01 1.13613968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.5292541539999 meters Centerline goodness : 0.998761 Centerline is valid? [True, True] Translation: X:734.24, Y:9.33, Z:11.36 [[ 9.99105663e-01 -3.93602135e-02 -1.54482469e-02 7.34238045e+02] [ 3.93613845e-02 9.99225014e-01 -2.28361962e-04 9.32554287e+00] [ 1.54452631e-02 -3.79906657e-04 9.99880643e-01 1.13634966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.5592541539999 meters Centerline goodness : 0.998867 Centerline is valid? [True, True] Translation: X:734.27, Y:9.33, Z:11.36 [[ 9.99143711e-01 -3.83822406e-02 -1.54482636e-02 7.34270515e+02] [ 3.83833123e-02 9.99263063e-01 -2.27225679e-04 9.32537136e+00] [ 1.54456007e-02 -3.65924419e-04 9.99880643e-01 1.13645433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.589254154 meters Centerline goodness : 0.998957 Centerline is valid? [True, True] Translation: X:734.30, Y:9.33, Z:11.36 [[ 9.98992258e-01 -4.21404734e-02 -1.54482802e-02 7.34296116e+02] [ 4.21420115e-02 9.99111605e-01 -2.26091477e-04 9.33116234e+00] [ 1.54440837e-02 -4.25157969e-04 9.99880643e-01 1.13627980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.6192541539999 meters Centerline goodness : 0.998995 Centerline is valid? [True, True] Translation: X:734.33, Y:9.32, Z:11.37 [[ 9.99189967e-01 -3.71600426e-02 -1.54447563e-02 7.34331329e+02] [ 3.71573808e-02 9.99309321e-01 -4.59367846e-04 9.32395530e+00] [ 1.54511590e-02 -1.14890946e-04 9.99880617e-01 1.13663018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.6492541539999 meters Centerline goodness : 0.998826 Centerline is valid? [True, True] Translation: X:734.36, Y:9.32, Z:11.37 [[ 9.99182339e-01 -3.73631789e-02 -1.54481700e-02 7.34361368e+02] [ 3.73641687e-02 9.99301690e-01 -2.24643551e-04 9.32364021e+00] [ 1.54457758e-02 -3.52748161e-04 9.99880645e-01 1.13662602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.6792541539999 meters Centerline goodness : 0.998974 Centerline is valid? [True, True] Translation: X:734.39, Y:9.32, Z:11.37 [[ 9.99165627e-01 -3.78074601e-02 -1.54481741e-02 7.34391493e+02] [ 3.78085073e-02 9.99284978e-01 -2.24359984e-04 9.32229882e+00] [ 1.54456108e-02 -3.59899619e-04 9.99880645e-01 1.13666322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.709254154 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:734.42, Y:9.32, Z:11.37 [[ 9.99151125e-01 -3.81887837e-02 -1.54481782e-02 7.34422909e+02] [ 3.81898808e-02 9.99270475e-01 -2.24080219e-04 9.32174897e+00] [ 1.54454657e-02 -3.66074080e-04 9.99880645e-01 1.13674804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.7392541539999 meters Centerline goodness : 0.998807 Centerline is valid? [True, True] Translation: X:734.45, Y:9.32, Z:11.37 [[ 9.99142403e-01 -3.84162908e-02 -1.54481863e-02 7.34453317e+02] [ 3.84174238e-02 9.99261753e-01 -2.23515129e-04 9.32092920e+00] [ 1.54453684e-02 -3.70156078e-04 9.99880645e-01 1.13661873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.7692541539999 meters Centerline goodness : 0.999225 Centerline is valid? [True, True] Translation: X:734.48, Y:9.32, Z:11.37 [[ 9.99144992e-01 -3.83488876e-02 -1.54482003e-02 7.34484634e+02] [ 3.83500276e-02 9.99264342e-01 -2.22547845e-04 9.32020645e+00] [ 1.54453701e-02 -3.70081341e-04 9.99880645e-01 1.13677993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.7992541539999 meters Centerline goodness : 0.999142 Centerline is valid? [True, True] Translation: X:734.51, Y:9.32, Z:11.37 [[ 9.99153546e-01 -3.81253835e-02 -1.54482084e-02 7.34514815e+02] [ 3.81265055e-02 9.99272896e-01 -2.21982754e-04 9.31925076e+00] [ 1.54454391e-02 -3.67191346e-04 9.99880645e-01 1.13669158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.829254154 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] Translation: X:734.55, Y:9.32, Z:11.37 [[ 9.99155105e-01 -3.80844873e-02 -1.54482124e-02 7.34546234e+02] [ 3.80856087e-02 9.99274455e-01 -2.21702721e-04 9.31942143e+00] [ 1.54454475e-02 -3.66839168e-04 9.99880645e-01 1.13679226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.8592541539999 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:734.58, Y:9.32, Z:11.36 [[ 9.99136737e-01 -3.85633689e-02 -1.54482204e-02 7.34576342e+02] [ 3.85645562e-02 9.99256086e-01 -2.21141251e-04 9.31869902e+00] [ 1.54452563e-02 -3.74803418e-04 9.99880645e-01 1.13640240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.8892541539999 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:734.61, Y:9.32, Z:11.37 [[ 9.99094672e-01 -3.96383228e-02 -1.54479446e-02 7.34607339e+02] [ 3.96393420e-02 9.99214024e-01 -2.40324843e-04 9.31802291e+00] [ 1.54453289e-02 -3.72239088e-04 9.99880645e-01 1.13677585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.9192541539999 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] Translation: X:734.64, Y:9.32, Z:11.37 [[ 9.99057267e-01 -4.05700723e-02 -1.54481919e-02 7.34638818e+02] [ 4.05714674e-02 9.99176614e-01 -2.23207995e-04 9.31736099e+00] [ 1.54445276e-02 -4.03758244e-04 9.99880645e-01 1.13702762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.9492541539998 meters Centerline goodness : 0.998953 Centerline is valid? [True, True] Translation: X:734.67, Y:9.32, Z:11.37 [[ 9.98983698e-01 -4.23429481e-02 -1.54482001e-02 7.34670061e+02] [ 4.23445638e-02 9.99103042e-01 -2.22638126e-04 9.31589697e+00] [ 1.54437709e-02 -4.31735436e-04 9.99880645e-01 1.13723760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.9792541539999 meters Centerline goodness : 0.998850 Centerline is valid? [True, True] Translation: X:734.70, Y:9.32, Z:11.37 [[ 9.98969092e-01 -4.26861391e-02 -1.54482083e-02 7.34702263e+02] [ 4.26878046e-02 9.99088436e-01 -2.22069554e-04 9.31564462e+00] [ 1.54436055e-02 -4.37609476e-04 9.99880645e-01 1.13737912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.0092541539999 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:734.73, Y:9.32, Z:11.37 [[ 9.98977772e-01 -4.24825094e-02 -1.54482246e-02 7.34733205e+02] [ 4.24841681e-02 9.99097116e-01 -2.20928465e-04 9.31553754e+00] [ 1.54436622e-02 -4.35602346e-04 9.99880645e-01 1.13749017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.0392541539999 meters Centerline goodness : 0.998997 Centerline is valid? [True, True] Translation: X:734.76, Y:9.32, Z:11.38 [[ 9.99055337e-01 -4.06175559e-02 -1.54482367e-02 7.34764208e+02] [ 4.06190050e-02 9.99174683e-01 -2.20078675e-04 9.31516715e+00] [ 1.54444261e-02 -4.07621229e-04 9.99880645e-01 1.13761065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.0692541539999 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:734.80, Y:9.32, Z:11.38 [[ 9.99104909e-01 -3.93793371e-02 -1.54482487e-02 7.34795838e+02] [ 3.93806513e-02 9.99224257e-01 -2.19235512e-04 9.31520326e+00] [ 1.54448981e-02 -3.89322817e-04 9.99880645e-01 1.13770814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.0992541539999 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:734.83, Y:9.31, Z:11.38 [[ 9.99161692e-01 -3.79112814e-02 -1.54482565e-02 7.34825785e+02] [ 3.79124288e-02 9.99281042e-01 -2.18683530e-04 9.31493181e+00] [ 1.54454404e-02 -3.67180718e-04 9.99880645e-01 1.13772959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.1292541539999 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:734.86, Y:9.31, Z:11.38 [[ 9.99225806e-01 -3.61820450e-02 -1.54482688e-02 7.34856052e+02] [ 3.61829994e-02 9.99345157e-01 -2.17807664e-04 9.31312232e+00] [ 1.54460334e-02 -3.41325663e-04 9.99880645e-01 1.13763731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.1592541539999 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:734.89, Y:9.31, Z:11.38 [[ 9.99225806e-01 -3.61820408e-02 -1.54482726e-02 7.34887042e+02] [ 3.61829994e-02 9.99345157e-01 -2.17536525e-04 9.31355857e+00] [ 1.54460274e-02 -3.41596730e-04 9.99880645e-01 1.13768519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.1892541539999 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:734.92, Y:9.31, Z:11.38 [[ 9.99215526e-01 -3.64648260e-02 -1.54482726e-02 7.34918577e+02] [ 3.64658184e-02 9.99334877e-01 -2.17536525e-04 9.31300187e+00] [ 1.54459301e-02 -3.45968031e-04 9.99880645e-01 1.13794852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.2192541539999 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:734.95, Y:9.31, Z:11.38 [[ 9.99201658e-01 -3.68428629e-02 -1.54482806e-02 7.34949077e+02] [ 3.68439091e-02 9.99321009e-01 -2.16973490e-04 9.31196689e+00] [ 1.54457852e-02 -3.52374774e-04 9.99880645e-01 1.13790422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.2492541539999 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:734.98, Y:9.31, Z:11.38 [[ 9.99151471e-01 -3.81796810e-02 -1.54482845e-02 7.34980677e+02] [ 3.81808912e-02 9.99270820e-01 -2.16694110e-04 9.31116739e+00] [ 1.54452932e-02 -3.73319030e-04 9.99880645e-01 1.13802207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.2792541539999 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:735.01, Y:9.31, Z:11.38 [[ 9.98999330e-01 -4.19724778e-02 -1.54482923e-02 7.35011077e+02] [ 4.19741498e-02 9.99118674e-01 -2.16131616e-04 9.30832488e+00] [ 1.54437489e-02 -4.32513597e-04 9.99880645e-01 1.13787699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.3092541539999 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:735.04, Y:9.31, Z:11.38 [[ 9.98903880e-01 -4.41858353e-02 -1.54482962e-02 7.35042753e+02] [ 4.41877760e-02 9.99023220e-01 -2.15852621e-04 9.30723939e+00] [ 1.54427443e-02 -4.67009833e-04 9.99880645e-01 1.13785487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.339254154 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:735.07, Y:9.30, Z:11.38 [[ 9.98695436e-01 -4.86700669e-02 -1.54483040e-02 7.35073836e+02] [ 4.86725519e-02 9.98814766e-01 -2.15297372e-04 9.30410934e+00] [ 1.54404727e-02 -5.36891875e-04 9.99880645e-01 1.13780111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.3692541539999 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:735.11, Y:9.30, Z:11.38 [[ 9.98608318e-01 -5.04259489e-02 -1.54483118e-02 7.35105580e+02] [ 5.04286525e-02 9.98727643e-01 -2.14733852e-04 9.30326712e+00] [ 1.54394842e-02 -5.64602537e-04 9.99880645e-01 1.13777861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.3992541539999 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:735.14, Y:9.30, Z:11.38 [[ 9.98536568e-01 -5.18273240e-02 -1.54483274e-02 7.35137294e+02] [ 5.18302124e-02 9.98655888e-01 -2.13607061e-04 9.30258363e+00] [ 1.54386338e-02 -5.87395629e-04 9.99880645e-01 1.13776855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.4292541539999 meters Centerline goodness : 0.999500 Centerline is valid? [True, True] Translation: X:735.17, Y:9.30, Z:11.38 [[ 9.98483725e-01 -5.28356000e-02 -1.54483428e-02 7.35169179e+02] [ 5.28386261e-02 9.98603041e-01 -2.12488659e-04 9.30134670e+00] [ 1.54379890e-02 -6.04102740e-04 9.99880645e-01 1.13789228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.459254154 meters Centerline goodness : 0.999645 Centerline is valid? [True, True] Translation: X:735.20, Y:9.30, Z:11.38 [[ 9.98504373e-01 -5.24439310e-02 -1.54483582e-02 7.35200996e+02] [ 5.24469277e-02 9.98623690e-01 -2.11362348e-04 9.30072050e+00] [ 1.54381811e-02 -5.99172697e-04 9.99880645e-01 1.13797899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.4892541539999 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:735.23, Y:9.30, Z:11.38 [[ 9.98540765e-01 -5.17463947e-02 -1.54483736e-02 7.35232645e+02] [ 5.17493256e-02 9.98660084e-01 -2.10229852e-04 9.30040635e+00] [ 1.54385527e-02 -5.89519839e-04 9.99880645e-01 1.13799877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.5192541539999 meters Centerline goodness : 0.999334 Centerline is valid? [True, True] Translation: X:735.27, Y:9.30, Z:11.38 [[ 9.98695208e-01 -4.86747214e-02 -1.54483850e-02 7.35265266e+02] [ 4.86772983e-02 9.98814536e-01 -2.09385964e-04 9.29954724e+00] [ 1.54402633e-02 -5.42872888e-04 9.99880645e-01 1.13817291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.5492541539999 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:735.30, Y:9.30, Z:11.38 [[ 9.98785265e-01 -4.67903942e-02 -1.54484000e-02 7.35296233e+02] [ 4.67927631e-02 9.98904597e-01 -2.08275237e-04 9.29949775e+00] [ 1.54412231e-02 -5.14851084e-04 9.99880645e-01 1.13825791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.579254154 meters Centerline goodness : 0.999189 Centerline is valid? [True, True] Translation: X:735.33, Y:9.30, Z:11.38 [[ 9.98890117e-01 -4.44958564e-02 -1.54484074e-02 7.35328630e+02] [ 4.44979597e-02 9.99009454e-01 -2.07725214e-04 9.29889401e+00] [ 1.54423480e-02 -4.79927947e-04 9.99880645e-01 1.13842057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.6092541539999 meters Centerline goodness : 0.999376 Centerline is valid? [True, True] Translation: X:735.36, Y:9.30, Z:11.39 [[ 9.99066351e-01 -4.03456682e-02 -1.54484225e-02 7.35360236e+02] [ 4.03472931e-02 9.99185695e-01 -2.06600108e-04 9.29897595e+00] [ 1.54441781e-02 -4.16894813e-04 9.99880645e-01 1.13856170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.6392541539999 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:735.39, Y:9.30, Z:11.39 [[ 9.99168319e-01 -3.77361282e-02 -1.54484299e-02 7.35390526e+02] [ 3.77374500e-02 9.99287668e-01 -2.06038871e-04 9.29892382e+00] [ 1.54452006e-02 -3.77116840e-04 9.99880645e-01 1.13857411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.6692541539999 meters Centerline goodness : 0.999375 Centerline is valid? [True, True] Translation: X:735.42, Y:9.30, Z:11.39 [[ 9.99355444e-01 -3.24043535e-02 -1.54484413e-02 7.35421503e+02] [ 3.24050517e-02 9.99474797e-01 -2.05184423e-04 9.29872379e+00] [ 1.54469766e-02 -2.95555369e-04 9.99880645e-01 1.13852561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.6992541539998 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:735.45, Y:9.30, Z:11.39 [[ 9.99442232e-01 -2.96069385e-02 -1.54484413e-02 7.35451078e+02] [ 2.96073026e-02 9.99561587e-01 -2.05184423e-04 9.29861708e+00] [ 1.54477434e-02 -2.52316699e-04 9.99880645e-01 1.13851065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.7292541539999 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:735.48, Y:9.30, Z:11.39 [[ 9.99510824e-01 -2.71930005e-02 -1.54484416e-02 7.35481068e+02] [ 2.71930767e-02 9.99630179e-01 -2.05162620e-04 9.29848145e+00] [ 1.54483074e-02 -2.15028398e-04 9.99880645e-01 1.13854627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.7592541539999 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:735.51, Y:9.30, Z:11.39 [[ 9.99562505e-01 -2.52219012e-02 -1.54484344e-02 7.35510070e+02] [ 2.52217338e-02 9.99681860e-01 -2.05702058e-04 9.29817694e+00] [ 1.54487078e-02 -1.84024235e-04 9.99880645e-01 1.13857296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.7892541539999 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:735.54, Y:9.30, Z:11.38 [[ 9.99632762e-01 -2.22640606e-02 -1.54483831e-02 7.35537583e+02] [ 2.22634815e-02 9.99752116e-01 -2.09486906e-04 9.29766623e+00] [ 1.54492177e-02 -1.34524817e-04 9.99880645e-01 1.13849339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.8192541539999 meters Centerline goodness : 0.999393 Centerline is valid? [True, True] Translation: X:735.57, Y:9.30, Z:11.38 [[ 9.99643155e-01 -2.17924641e-02 -1.54483648e-02 7.35565666e+02] [ 2.17918079e-02 9.99762508e-01 -2.10825491e-04 9.29753250e+00] [ 1.54492903e-02 -1.25897540e-04 9.99880645e-01 1.13844290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.8492541539999 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:735.59, Y:9.30, Z:11.38 [[ 9.99648551e-01 -2.15435315e-02 -1.54483060e-02 7.35594679e+02] [ 2.15427804e-02 9.99767904e-01 -2.15052384e-04 9.29676985e+00] [ 1.54493535e-02 -1.17822658e-04 9.99880645e-01 1.13838466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.8792541539999 meters Centerline goodness : 0.999477 Centerline is valid? [True, True] Translation: X:735.62, Y:9.30, Z:11.38 [[ 9.99627419e-01 -2.25027704e-02 -1.54482540e-02 7.35622669e+02] [ 2.25020771e-02 9.99746772e-01 -2.18720329e-04 9.29603748e+00] [ 1.54492639e-02 -1.28978964e-04 9.99880645e-01 1.13833934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.9092541539999 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:735.65, Y:9.30, Z:11.38 [[ 9.99609771e-01 -2.32735219e-02 -1.54482356e-02 7.35650097e+02] [ 2.32729005e-02 9.99729125e-01 -2.20016657e-04 9.29575800e+00] [ 1.54491716e-02 -1.39594450e-04 9.99880645e-01 1.13835936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.9392541539999 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:735.68, Y:9.30, Z:11.38 [[ 9.99593404e-01 -2.39662292e-02 -1.54482172e-02 7.35678171e+02] [ 2.39656708e-02 9.99712758e-01 -2.21300828e-04 9.29551894e+00] [ 1.54490835e-02 -1.49016039e-04 9.99880645e-01 1.13838393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.9692541539999 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:735.71, Y:9.29, Z:11.38 [[ 9.99557119e-01 -2.54346149e-02 -1.54481576e-02 7.35706050e+02] [ 2.54341687e-02 9.99676474e-01 -2.25382299e-04 9.29489623e+00] [ 1.54488923e-02 -1.67628565e-04 9.99880645e-01 1.13848657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.9992541539999 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:735.73, Y:9.30, Z:11.38 [[ 9.99529737e-01 -2.64888770e-02 -1.54480947e-02 7.35733691e+02] [ 2.64884912e-02 9.99649092e-01 -2.29618727e-04 9.29507369e+00] [ 1.54487561e-02 -1.79685974e-04 9.99880645e-01 1.13847007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.0292541539999 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:735.76, Y:9.30, Z:11.39 [[ 9.99442805e-01 -2.95877781e-02 -1.54480751e-02 7.35762597e+02] [ 2.95877422e-02 9.99562160e-01 -2.30930173e-04 9.29513920e+00] [ 1.54481440e-02 -2.26272162e-04 9.99880645e-01 1.13858607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.0592541539999 meters Centerline goodness : 0.999393 Centerline is valid? [True, True] Translation: X:735.79, Y:9.29, Z:11.39 [[ 9.99382525e-01 -3.15583052e-02 -1.54480195e-02 7.35791796e+02] [ 3.15584481e-02 9.99501881e-01 -2.34586207e-04 9.29480445e+00] [ 1.54477277e-02 -2.53074166e-04 9.99880645e-01 1.13866302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.089254154 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:735.82, Y:9.29, Z:11.39 [[ 9.99323682e-01 -3.33697398e-02 -1.54479634e-02 7.35820054e+02] [ 3.33700427e-02 9.99443037e-01 -2.38227343e-04 9.29417425e+00] [ 1.54473090e-02 -2.77432973e-04 9.99880645e-01 1.13866592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.1192541539999 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:735.85, Y:9.29, Z:11.39 [[ 9.99169110e-01 -3.77153852e-02 -1.54479514e-02 7.35849326e+02] [ 3.77161952e-02 9.99288463e-01 -2.39001060e-04 9.29320245e+00] [ 1.54459736e-02 -3.43835475e-04 9.99880645e-01 1.13890052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.1492541539999 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:735.88, Y:9.29, Z:11.39 [[ 9.99087968e-01 -3.98069628e-02 -1.54479435e-02 7.35879995e+02] [ 3.98080147e-02 9.99207318e-01 -2.39512713e-04 9.29264098e+00] [ 1.54452324e-02 -3.75657692e-04 9.99880645e-01 1.13898636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.1792541539999 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:735.91, Y:9.29, Z:11.39 [[ 9.99009746e-01 -4.17239626e-02 -1.54479435e-02 7.35910153e+02] [ 4.17252436e-02 9.99129094e-01 -2.39512713e-04 9.29222102e+00] [ 1.54444832e-02 -4.05293671e-04 9.99880645e-01 1.13908042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.209254154 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:735.94, Y:9.29, Z:11.39 [[ 9.98936286e-01 -4.34471929e-02 -1.54479435e-02 7.35940339e+02] [ 4.34486797e-02 9.99055632e-01 -2.39512713e-04 9.29180397e+00] [ 1.54437611e-02 -4.31934809e-04 9.99880645e-01 1.13915241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.2392541539999 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:735.97, Y:9.29, Z:11.39 [[ 9.98832116e-01 -4.57795247e-02 -1.54479435e-02 7.35969700e+02] [ 4.57812902e-02 9.98951458e-01 -2.39512713e-04 9.29007919e+00] [ 1.54427104e-02 -4.67993794e-04 9.99880645e-01 1.13921844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.2692541539999 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:736.00, Y:9.29, Z:11.39 [[ 9.98820488e-01 -4.60325316e-02 -1.54479396e-02 7.36000360e+02] [ 4.60343235e-02 9.98939830e-01 -2.39763078e-04 9.28899130e+00] [ 1.54425990e-02 -4.71655174e-04 9.99880645e-01 1.13919369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.2992541539999 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:736.03, Y:9.29, Z:11.39 [[ 9.98831451e-01 -4.57940433e-02 -1.54479396e-02 7.36030528e+02] [ 4.57958067e-02 9.98950793e-01 -2.39763078e-04 9.28908750e+00] [ 1.54427112e-02 -4.67967952e-04 9.99880645e-01 1.13928763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.329254154 meters Centerline goodness : 0.999456 Centerline is valid? [True, True] Translation: X:736.06, Y:9.29, Z:11.39 [[ 9.98867112e-01 -4.50094978e-02 -1.54478801e-02 7.36060979e+02] [ 4.50111081e-02 9.98986457e-01 -2.43606959e-04 9.28863389e+00] [ 1.54431876e-02 -4.51995220e-04 9.99880645e-01 1.13902497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.3592541539999 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:736.09, Y:9.29, Z:11.39 [[ 9.98895122e-01 -4.43835101e-02 -1.54479437e-02 7.36091901e+02] [ 4.43851090e-02 9.99014467e-01 -2.39504094e-04 9.28965738e+00] [ 1.54433492e-02 -4.46419192e-04 9.99880645e-01 1.13901995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.3892541539999 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:736.12, Y:9.29, Z:11.39 [[ 9.98974527e-01 -4.25588507e-02 -1.54479437e-02 7.36122068e+02] [ 4.25602315e-02 9.99093874e-01 -2.39504094e-04 9.29016998e+00] [ 1.54441389e-02 -4.18209570e-04 9.99880645e-01 1.13893721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.4192541539999 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:736.15, Y:9.29, Z:11.39 [[ 9.99034348e-01 -4.11305044e-02 -1.54484174e-02 7.36152633e+02] [ 4.11321726e-02 9.99153692e-01 -2.09864033e-04 9.29048137e+00] [ 1.54439751e-02 -4.25765593e-04 9.99880644e-01 1.13925950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.4492541539998 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:736.18, Y:9.29, Z:11.39 [[ 9.99080619e-01 -3.99910328e-02 -1.54477837e-02 7.36182883e+02] [ 3.99919578e-02 9.99199971e-01 -2.49153901e-04 9.29126027e+00] [ 1.54453890e-02 -3.68862281e-04 9.99880645e-01 1.13934571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.4792541539999 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:736.21, Y:9.29, Z:11.39 [[ 9.99170762e-01 -3.76716733e-02 -1.54477837e-02 7.36213279e+02] [ 3.76723212e-02 9.99290115e-01 -2.49153901e-04 9.29194063e+00] [ 1.54462036e-02 -3.33006577e-04 9.99880645e-01 1.13945304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.5092541539999 meters Centerline goodness : 0.999497 Centerline is valid? [True, True] Translation: X:736.24, Y:9.29, Z:11.39 [[ 9.99205160e-01 -3.67479961e-02 -1.54477837e-02 7.36242932e+02] [ 3.67485336e-02 9.99324513e-01 -2.49153901e-04 9.29276692e+00] [ 1.54465049e-02 -3.18727536e-04 9.99880645e-01 1.13935322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.5392541539999 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:736.27, Y:9.29, Z:11.40 [[ 9.99235305e-01 -3.59189568e-02 -1.54477792e-02 7.36273396e+02] [ 3.59193910e-02 9.99354659e-01 -2.49435387e-04 9.29325918e+00] [ 1.54467696e-02 -3.05630175e-04 9.99880645e-01 1.13954997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.5692541539999 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:736.30, Y:9.29, Z:11.39 [[ 9.99240191e-01 -3.57827761e-02 -1.54477792e-02 7.36302648e+02] [ 3.57831940e-02 9.99359545e-01 -2.49435387e-04 9.29426743e+00] [ 1.54468111e-02 -3.03525015e-04 9.99880645e-01 1.13942970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.5992541539999 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:736.33, Y:9.29, Z:11.40 [[ 9.99208442e-01 -3.66586434e-02 -1.54477747e-02 7.36331886e+02] [ 3.66591616e-02 9.99327796e-01 -2.49715047e-04 9.29472667e+00] [ 1.54465448e-02 -3.16785085e-04 9.99880645e-01 1.13962452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.6292541539999 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:736.36, Y:9.29, Z:11.40 [[ 9.99177986e-01 -3.74795910e-02 -1.54477656e-02 7.36361929e+02] [ 3.74801987e-02 9.99297339e-01 -2.50275091e-04 9.29468958e+00] [ 1.54462913e-02 -3.28915962e-04 9.99880645e-01 1.13963944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.6592541539999 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:736.39, Y:9.30, Z:11.40 [[ 9.98925027e-01 -4.37053378e-02 -1.54477656e-02 7.36389617e+02] [ 4.37066892e-02 9.99044375e-01 -2.50275091e-04 9.29768877e+00] [ 1.54439417e-02 -4.25164637e-04 9.99880645e-01 1.13984267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.6892541539999 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:736.42, Y:9.29, Z:11.40 [[ 9.98943155e-01 -4.32897420e-02 -1.54457693e-02 7.36421588e+02] [ 4.32891685e-02 9.99062515e-01 -3.71622753e-04 9.29451820e+00] [ 1.54473766e-02 -2.97404504e-04 9.99880638e-01 1.13968650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.7192541539999 meters Centerline goodness : 0.999562 Centerline is valid? [True, True] Translation: X:736.45, Y:9.29, Z:11.40 [[ 9.98828828e-01 -4.58512752e-02 -1.54477189e-02 7.36452898e+02] [ 4.58528527e-02 9.98948173e-01 -2.52229295e-04 9.29449464e+00] [ 1.54430356e-02 -4.56388087e-04 9.99880645e-01 1.13974903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.7492541539999 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:736.48, Y:9.30, Z:11.40 [[ 9.98478960e-01 -5.29257467e-02 -1.54477277e-02 7.36483391e+02] [ 5.29281780e-02 9.98598290e-01 -2.51688181e-04 9.29619090e+00] [ 1.54393952e-02 -5.66314727e-04 9.99880645e-01 1.13990709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.7792541539999 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:736.51, Y:9.29, Z:11.40 [[ 9.98425641e-01 -5.39224044e-02 -1.54471386e-02 7.36514399e+02] [ 5.39244018e-02 9.98544980e-01 -2.87483372e-04 9.29496792e+00] [ 1.54401645e-02 -5.45946940e-04 9.99880645e-01 1.13990676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.8092541539999 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:736.55, Y:9.29, Z:11.40 [[ 9.98279496e-01 -5.65633845e-02 -1.54476932e-02 7.36545104e+02] [ 5.65662193e-02 9.98398817e-01 -2.53716586e-04 9.29493493e+00] [ 1.54373097e-02 -6.20537537e-04 9.99880645e-01 1.13993753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.839254154 meters Centerline goodness : 0.999645 Centerline is valid? [True, True] Translation: X:736.58, Y:9.29, Z:11.40 [[ 9.97985209e-01 -6.15377169e-02 -1.54477063e-02 7.36577209e+02] [ 6.15411586e-02 9.98104515e-01 -2.52916802e-04 9.29489688e+00] [ 1.54339893e-02 -6.98262518e-04 9.99880645e-01 1.13998853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.8692541539999 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:736.61, Y:9.30, Z:11.40 [[ 9.97849890e-01 -6.36943074e-02 -1.54477247e-02 7.36609454e+02] [ 6.36980244e-02 9.97969187e-01 -2.51787516e-04 9.29565122e+00] [ 1.54323907e-02 -7.32743401e-04 9.99880645e-01 1.14004079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.8992541539999 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:736.64, Y:9.30, Z:11.40 [[ 9.97614274e-01 -6.72839343e-02 -1.54477434e-02 7.36640873e+02] [ 6.72880982e-02 9.97733556e-01 -2.50638987e-04 9.29737744e+00] [ 1.54295959e-02 -7.89408240e-04 9.99880645e-01 1.13999607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.9292541539999 meters Centerline goodness : 0.999500 Centerline is valid? [True, True] Translation: X:736.68, Y:9.30, Z:11.40 [[ 9.97617269e-01 -6.72395039e-02 -1.54477572e-02 7.36675241e+02] [ 6.72436757e-02 9.97736551e-01 -2.49783600e-04 9.29628748e+00] [ 1.54295873e-02 -7.89575542e-04 9.99880645e-01 1.14003104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.959254154 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:736.70, Y:9.30, Z:11.40 [[ 9.97404815e-01 -7.03200732e-02 -1.54506352e-02 7.36702319e+02] [ 7.03273791e-02 9.97523962e-01 -7.06403790e-05 9.29907194e+00] [ 1.54173463e-02 -1.01614562e-03 9.99880629e-01 1.14006366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.9892541539999 meters Centerline goodness : 0.993748 Centerline is valid? [True, True] Translation: X:736.73, Y:9.30, Z:11.40 [[ 9.97138698e-01 -7.39985633e-02 -1.54476623e-02 7.36733862e+02] [ 7.40035010e-02 9.97257950e-01 -2.52520543e-04 9.30272099e+00] [ 1.54239902e-02 -8.91383086e-04 9.99880646e-01 1.13998965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.0192541539999 meters Centerline goodness : 0.999418 Centerline is valid? [True, True] Translation: X:736.77, Y:9.30, Z:11.40 [[ 9.97111534e-01 -7.43637590e-02 -1.54473482e-02 7.36765362e+02] [ 7.43684447e-02 9.97230796e-01 -2.71668169e-04 9.30372010e+00] [ 1.54247736e-02 -8.77911794e-04 9.99880646e-01 1.14018919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.0492541539999 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:736.80, Y:9.30, Z:11.40 [[ 9.97208735e-01 -7.30486605e-02 -1.54476946e-02 7.36800750e+02] [ 7.30535192e-02 9.97327991e-01 -2.50283295e-04 9.30369545e+00] [ 1.54247011e-02 -8.78923768e-04 9.99880646e-01 1.14023636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.079254154 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:736.83, Y:9.30, Z:11.40 [[ 9.97197929e-01 -7.31954286e-02 -1.54505764e-02 7.36833381e+02] [ 7.32030601e-02 9.97317054e-01 -7.18007828e-05 9.30419201e+00] [ 1.54143789e-02 -1.05942988e-03 9.99880630e-01 1.14028304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.1092541539999 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:736.87, Y:9.31, Z:11.40 [[ 9.97133063e-01 -7.40738551e-02 -1.54505212e-02 7.36866865e+02] [ 7.40815391e-02 9.97252185e-01 -7.51987893e-05 9.30670726e+00] [ 1.54136363e-02 -1.06961519e-03 9.99880631e-01 1.14037592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.1392541539999 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:736.89, Y:9.31, Z:11.40 [[ 9.97009788e-01 -7.57149315e-02 -1.54509489e-02 7.36893097e+02] [ 7.57232188e-02 9.97128874e-01 -4.88029915e-05 9.31344696e+00] [ 1.54102824e-02 -1.12133853e-03 9.99880626e-01 1.14033063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.1692541539999 meters Centerline goodness : 0.999292 Centerline is valid? [True, True] Translation: X:736.93, Y:9.32, Z:11.40 [[ 9.97300487e-01 -7.17851848e-02 -1.54475531e-02 7.36930426e+02] [ 7.17898235e-02 9.97419749e-01 -2.54744033e-04 9.31532716e+00] [ 1.54259814e-02 -8.54920764e-04 9.99880647e-01 1.14040057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.1992541539998 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:736.96, Y:9.32, Z:11.40 [[ 9.97377654e-01 -7.07041630e-02 -1.54511051e-02 7.36956580e+02] [ 7.07125109e-02 9.97496737e-01 -6.05995007e-06 9.31876012e+00] [ 1.54128554e-02 -1.08654238e-03 9.99880625e-01 1.14018187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.2292541539999 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:736.99, Y:9.32, Z:11.40 [[ 9.97573759e-01 -6.78821824e-02 -1.54468606e-02 7.36993160e+02] [ 6.78858106e-02 9.97693055e-01 -2.89945386e-04 9.31875539e+00] [ 1.54309076e-02 -7.59380742e-04 9.99880648e-01 1.13985484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.2592541539999 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:737.03, Y:9.32, Z:11.40 [[ 9.97699772e-01 -6.60021865e-02 -1.54556535e-02 7.37025484e+02] [ 6.60130791e-02 9.97818739e-01 1.95103305e-04 9.32090698e+00] [ 1.54090635e-02 -1.21492980e-03 9.99880535e-01 1.13980365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.2892541539999 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:737.05, Y:9.33, Z:11.40 [[ 9.97573701e-01 -6.78812617e-02 -1.54546488e-02 7.37049044e+02] [ 6.78915844e-02 9.97692694e-01 1.43660871e-04 9.33278612e+00] [ 1.54092383e-02 -1.19255290e-03 9.99880559e-01 1.14044975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.3192541539999 meters Centerline goodness : 0.999396 Centerline is valid? [True, True] Translation: X:737.08, Y:9.34, Z:11.41 [[ 9.97512733e-01 -6.87727891e-02 -1.54483153e-02 7.37076223e+02] [ 6.87783557e-02 9.97631950e-01 -1.71289824e-04 9.33987206e+00] [ 1.54235130e-02 -8.91645945e-04 9.99880653e-01 1.14053761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.3492541539999 meters Centerline goodness : 0.996062 Centerline is valid? [True, True] Translation: X:737.11, Y:9.34, Z:11.40 [[ 9.97718354e-01 -6.57231025e-02 -1.54454125e-02 7.37107679e+02] [ 6.57260993e-02 9.97837653e-01 -3.14058195e-04 9.34303230e+00] [ 1.54326550e-02 -7.01825090e-04 9.99880663e-01 1.14025023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.3792541539999 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:737.14, Y:9.35, Z:11.41 [[ 9.97952408e-01 -6.20682395e-02 -1.54442521e-02 7.37140424e+02] [ 6.20699029e-02 9.98071735e-01 -3.72077850e-04 9.34951892e+00] [ 1.54375657e-02 -5.87307243e-04 9.99880661e-01 1.14086777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.4092541539999 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:737.17, Y:9.35, Z:11.41 [[ 9.98096552e-01 -5.97051698e-02 -1.54455666e-02 7.37171255e+02] [ 5.97075769e-02 9.98215864e-01 -3.05656124e-04 9.35272546e+00] [ 1.54362589e-02 -6.17143031e-04 9.99880663e-01 1.14079900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.4392541539999 meters Centerline goodness : 0.999125 Centerline is valid? [True, True] Translation: X:737.20, Y:9.36, Z:11.41 [[ 9.98238194e-01 -5.72882427e-02 -1.54455833e-02 7.37203827e+02] [ 5.72903740e-02 9.98357511e-01 -3.04809940e-04 9.35583223e+00] [ 1.54376761e-02 -5.80610320e-04 9.99880663e-01 1.14094288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.4692541539999 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:737.24, Y:9.36, Z:11.41 [[ 9.98701990e-01 -4.85362501e-02 -1.54456046e-02 7.37238001e+02] [ 4.85373522e-02 9.98821322e-01 -3.03728652e-04 9.35755281e+00] [ 1.54421410e-02 -4.46354338e-04 9.99880663e-01 1.14084663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.4992541539999 meters Centerline goodness : 0.999021 Centerline is valid? [True, True] Translation: X:737.26, Y:9.36, Z:11.41 [[ 9.98675104e-01 -4.90853677e-02 -1.54487175e-02 7.37264692e+02] [ 4.90890246e-02 9.98794397e-01 -1.42633209e-04 9.36428262e+00] [ 1.54370937e-02 -6.15918240e-04 9.99880651e-01 1.14117620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.5292541539999 meters Centerline goodness : 0.995140 Centerline is valid? [True, True] Translation: X:737.29, Y:9.37, Z:11.41 [[ 9.99018976e-01 -4.15032568e-02 -1.54455876e-02 7.37294532e+02] [ 4.15035380e-02 9.99138311e-01 -3.02472474e-04 9.36920587e+00] [ 1.54448319e-02 -3.38870789e-04 9.99880664e-01 1.14066930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.5592541539999 meters Centerline goodness : 0.998894 Centerline is valid? [True, True] Translation: X:737.33, Y:9.37, Z:11.41 [[ 9.99157416e-01 -3.80254351e-02 -1.54442449e-02 7.37325750e+02] [ 3.80242387e-02 9.99276748e-01 -3.71206056e-04 9.37149955e+00] [ 1.54471901e-02 -2.16362373e-04 9.99880662e-01 1.14112230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.589254154 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:737.36, Y:9.37, Z:11.41 [[ 9.99230446e-01 -3.60552965e-02 -1.54444565e-02 7.37356655e+02] [ 3.60540361e-02 9.99349777e-01 -3.60128402e-04 9.37379645e+00] [ 1.54473987e-02 -1.96983729e-04 9.99880662e-01 1.14135213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.6192541539999 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:737.39, Y:9.38, Z:11.41 [[ 9.99371252e-01 -3.19144220e-02 -1.54457189e-02 7.37388042e+02] [ 3.19136927e-02 9.99490585e-01 -2.93753834e-04 9.37704014e+00] [ 1.54472256e-02 -1.99360791e-04 9.99880665e-01 1.14143539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.6492541539999 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:737.42, Y:9.38, Z:11.41 [[ 9.99420130e-01 -3.03452467e-02 -1.54457296e-02 7.37417187e+02] [ 3.03443388e-02 9.99539462e-01 -2.93192753e-04 9.37832558e+00] [ 1.54475132e-02 -1.75667712e-04 9.99880665e-01 1.14146870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.6792541539999 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:737.45, Y:9.38, Z:11.42 [[ 9.99425038e-01 -3.01834790e-02 -1.54450872e-02 7.37447872e+02] [ 3.01820330e-02 9.99544365e-01 -3.26760728e-04 9.37931850e+00] [ 1.54479126e-02 -1.39591278e-04 9.99880664e-01 1.14150235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.709254154 meters Centerline goodness : 0.998996 Centerline is valid? [True, True] Translation: X:737.48, Y:9.38, Z:11.42 [[ 9.99443540e-01 -2.95641866e-02 -1.54456846e-02 7.37478010e+02] [ 2.95631491e-02 9.99562871e-01 -2.95540364e-04 9.38088910e+00] [ 1.54476702e-02 -1.61247168e-04 9.99880665e-01 1.14164575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.7392541539999 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:737.51, Y:9.38, Z:11.42 [[ 9.99410055e-01 -3.06752851e-02 -1.54456903e-02 7.37508230e+02] [ 3.06743849e-02 9.99529387e-01 -2.95242325e-04 9.38111682e+00] [ 1.54474779e-02 -1.78718899e-04 9.99880665e-01 1.14156337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.7692541539999 meters Centerline goodness : 0.996936 Centerline is valid? [True, True] Translation: X:737.54, Y:9.38, Z:11.41 [[ 9.99394979e-01 -3.11625920e-02 -1.54456959e-02 7.37537684e+02] [ 3.11617546e-02 9.99514311e-01 -2.94944036e-04 9.38167592e+00] [ 1.54473854e-02 -1.86549398e-04 9.99880665e-01 1.14141453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.7992541539999 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:737.57, Y:9.38, Z:11.41 [[ 9.99289941e-01 -3.43670001e-02 -1.54441733e-02 7.37568716e+02] [ 3.43653289e-02 9.99409268e-01 -3.73665642e-04 9.37977666e+00] [ 1.54478916e-02 -1.57343775e-04 9.99880662e-01 1.14142922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.829254154 meters Centerline goodness : 0.998954 Centerline is valid? [True, True] Translation: X:737.60, Y:9.38, Z:11.42 [[ 9.99217784e-01 -3.64041442e-02 -1.54453230e-02 7.37599461e+02] [ 3.64036446e-02 9.99337118e-01 -3.13582408e-04 9.37956501e+00] [ 1.54465003e-02 -2.48928930e-04 9.99880665e-01 1.14152665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.8592541539999 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:737.63, Y:9.38, Z:11.42 [[ 9.99140188e-01 -3.84748681e-02 -1.54456993e-02 7.37629817e+02] [ 3.84749217e-02 9.99259523e-01 -2.93795960e-04 9.37942870e+00] [ 1.54455659e-02 -3.00728721e-04 9.99880665e-01 1.14155512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.8892541539999 meters Centerline goodness : 0.999058 Centerline is valid? [True, True] Translation: X:737.66, Y:9.38, Z:11.42 [[ 9.98759852e-01 -4.73306336e-02 -1.54457164e-02 7.37657902e+02] [ 4.73317589e-02 9.98879181e-01 -2.92898435e-04 9.38288259e+00] [ 1.54422676e-02 -4.38537725e-04 9.99880665e-01 1.14179782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.9192541539999 meters Centerline goodness : 0.999142 Centerline is valid? [True, True] Translation: X:737.69, Y:9.38, Z:11.42 [[ 9.98659356e-01 -4.94064353e-02 -1.54432865e-02 7.37690911e+02] [ 4.94058330e-02 9.98778698e-01 -4.20748103e-04 9.38231168e+00] [ 1.54452132e-02 -3.42804402e-04 9.99880657e-01 1.14191380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.9492541539998 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:737.72, Y:9.38, Z:11.42 [[ 9.98383502e-01 -5.46979466e-02 -1.54440281e-02 7.37717263e+02] [ 5.46985929e-02 9.98502839e-01 -3.80870570e-04 9.38463462e+00] [ 1.54417387e-02 -4.64511713e-04 9.99880661e-01 1.14213754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.9792541539999 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:737.75, Y:9.37, Z:11.42 [[ 9.98521530e-01 -5.21186680e-02 -1.54401343e-02 7.37754122e+02] [ 5.21158483e-02 9.98640874e-01 -5.85196617e-04 9.37456917e+00] [ 1.54496489e-02 -2.20344275e-04 9.99880623e-01 1.14181021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.0092541539999 meters Centerline goodness : 0.998973 Centerline is valid? [True, True] Translation: X:737.79, Y:9.37, Z:11.42 [[ 9.98379131e-01 -5.47772085e-02 -1.54456738e-02 7.37785324e+02] [ 5.47793512e-02 9.98498444e-01 -2.84631183e-04 9.37379277e+00] [ 1.54380725e-02 -5.61934154e-04 9.99880668e-01 1.14181240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.0392541539999 meters Centerline goodness : 0.999226 Centerline is valid? [True, True] Translation: X:737.82, Y:9.37, Z:11.42 [[ 9.98241731e-01 -5.72265471e-02 -1.54456891e-02 7.37817511e+02] [ 5.72289955e-02 9.98361038e-01 -2.83795132e-04 9.37270414e+00] [ 1.54366148e-02 -6.00645129e-04 9.99880668e-01 1.14183154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.0692541539999 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:737.85, Y:9.37, Z:11.42 [[ 9.97943885e-01 -6.22047627e-02 -1.54457094e-02 7.37849840e+02] [ 6.22078233e-02 9.98063178e-01 -2.82685066e-04 9.37099307e+00] [ 1.54333782e-02 -6.78740130e-04 9.99880668e-01 1.14183256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.0992541539999 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:737.88, Y:9.37, Z:11.42 [[ 9.97779161e-01 -6.47933219e-02 -1.54457297e-02 7.37881556e+02] [ 6.47967092e-02 9.97898445e-01 -2.81571943e-04 9.37048228e+00] [ 1.54315137e-02 -7.19885839e-04 9.99880668e-01 1.14182321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.1292541539999 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:737.91, Y:9.37, Z:11.42 [[ 9.97452897e-01 -6.96358158e-02 -1.54457499e-02 7.37913712e+02] [ 6.96397991e-02 9.97572163e-01 -2.80462929e-04 9.36953617e+00] [ 1.54277804e-02 -7.95890356e-04 9.99880668e-01 1.14176105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.1592541539999 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:737.95, Y:9.37, Z:11.42 [[ 9.97285740e-01 -7.19901448e-02 -1.54457699e-02 7.37945506e+02] [ 7.19944268e-02 9.97404995e-01 -2.79352859e-04 9.36946943e+00] [ 1.54257987e-02 -8.33414730e-04 9.99880668e-01 1.14175995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.1892541539999 meters Centerline goodness : 0.999247 Centerline is valid? [True, True] Translation: X:737.98, Y:9.37, Z:11.42 [[ 9.97139283e-01 -7.39910696e-02 -1.54457949e-02 7.37978163e+02] [ 7.39956122e-02 9.97258528e-01 -2.77967832e-04 9.36922645e+00] [ 1.54240178e-02 -8.65748403e-04 9.99880668e-01 1.14175733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.2192541539999 meters Centerline goodness : 0.999037 Centerline is valid? [True, True] Translation: X:738.01, Y:9.37, Z:11.42 [[ 9.96989385e-01 -7.59841598e-02 -1.54458242e-02 7.38010057e+02] [ 7.59889662e-02 9.97108620e-01 -2.76325838e-04 9.36938396e+00] [ 1.54221609e-02 -8.98218288e-04 9.99880668e-01 1.14177213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.2492541539999 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:738.05, Y:9.36, Z:11.42 [[ 9.97283786e-01 -7.20171919e-02 -1.54458484e-02 7.38050008e+02] [ 7.20215449e-02 9.97403039e-01 -2.74966312e-04 9.36245016e+00] [ 1.54255385e-02 -8.38214422e-04 9.99880668e-01 1.14151277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.2792541539999 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:738.07, Y:9.37, Z:11.42 [[ 9.96621418e-01 -8.06654738e-02 -1.54541134e-02 7.38069631e+02] [ 8.06782221e-02 9.96740179e-01 2.02239550e-04 9.37116265e+00] [ 1.53874221e-02 -1.44836666e-03 9.99880558e-01 1.14189330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.3092541539999 meters Centerline goodness : 0.999038 Centerline is valid? [True, True] Translation: X:738.11, Y:9.37, Z:11.42 [[ 9.96945656e-01 -7.65558818e-02 -1.54452280e-02 7.38110212e+02] [ 7.65606542e-02 9.97064886e-01 -2.82926660e-04 9.36581953e+00] [ 1.54215542e-02 -9.00434252e-04 9.99880675e-01 1.14167007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.339254154 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:738.13, Y:9.37, Z:11.42 [[ 9.96477081e-01 -8.24296937e-02 -1.54522787e-02 7.38131487e+02] [ 8.24412705e-02 9.96595918e-01 1.12626976e-04 9.37358754e+00] [ 1.53903940e-02 -1.38613569e-03 9.99880600e-01 1.14202717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.3692541539999 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:738.17, Y:9.37, Z:11.42 [[ 9.96903019e-01 -7.71091869e-02 -1.54448612e-02 7.38171240e+02] [ 7.71139649e-02 9.97022244e-01 -2.86836705e-04 9.36884799e+00] [ 1.54209879e-02 -9.05066105e-04 9.99880680e-01 1.14175883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.3992541539999 meters Centerline goodness : 0.998953 Centerline is valid? [True, True] Translation: X:738.20, Y:9.37, Z:11.42 [[ 9.96840905e-01 -7.79066430e-02 -1.54519989e-02 7.38202505e+02] [ 7.79172666e-02 9.96959825e-01 8.57759365e-05 9.37213841e+00] [ 1.53983396e-02 -1.28948248e-03 9.99880607e-01 1.14177715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.4292541539999 meters Centerline goodness : 0.999015 Centerline is valid? [True, True] Translation: X:738.23, Y:9.38, Z:11.42 [[ 9.96701442e-01 -7.96711743e-02 -1.54511784e-02 7.38231574e+02] [ 7.96813594e-02 9.96820385e-01 4.36991494e-05 9.37654272e+00] [ 1.53985681e-02 -1.27472591e-03 9.99880622e-01 1.14206049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.459254154 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] Translation: X:738.26, Y:9.38, Z:11.42 [[ 9.96522355e-01 -8.18813164e-02 -1.54481576e-02 7.38257654e+02] [ 8.18894041e-02 9.96641417e-01 -1.09358592e-04 9.38183847e+00] [ 1.54052281e-02 -1.15606214e-03 9.99880664e-01 1.14207973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.4892541539999 meters Centerline goodness : 0.998933 Centerline is valid? [True, True] Translation: X:738.29, Y:9.39, Z:11.42 [[ 9.96636138e-01 -8.04853189e-02 -1.54441350e-02 7.38289498e+02] [ 8.04901448e-02 9.96755356e-01 -3.09865649e-04 9.38550661e+00] [ 1.54189639e-02 -9.34277357e-04 9.99880684e-01 1.14206634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.5192541539999 meters Centerline goodness : 0.998518 Centerline is valid? [True, True] Translation: X:738.32, Y:9.39, Z:11.42 [[ 9.96580849e-01 -8.11670481e-02 -1.54441570e-02 7.38323180e+02] [ 8.11719726e-02 9.96700063e-01 -3.08762217e-04 9.38800957e+00] [ 1.54182536e-02 -9.45926179e-04 9.99880684e-01 1.14189295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.5492541539999 meters Centerline goodness : 0.998892 Centerline is valid? [True, True] Translation: X:738.35, Y:9.39, Z:11.42 [[ 9.96870867e-01 -7.75235170e-02 -1.54459705e-02 7.38353878e+02] [ 7.75294236e-02 9.96990041e-01 -2.16928622e-04 9.39075026e+00] [ 1.54162959e-02 -9.81267369e-04 9.99880680e-01 1.14216516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.579254154 meters Centerline goodness : 0.999079 Centerline is valid? [True, True] Translation: X:738.39, Y:9.39, Z:11.42 [[ 9.97002864e-01 -7.58074190e-02 -1.54442091e-02 7.38386958e+02] [ 7.58117470e-02 9.97122102e-01 -3.05873212e-04 9.39297484e+00] [ 1.54229496e-02 -8.65896001e-04 9.99880684e-01 1.14227953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.6092541539999 meters Centerline goodness : 0.998870 Centerline is valid? [True, True] Translation: X:738.43, Y:9.39, Z:11.42 [[ 9.97495138e-01 -6.90284365e-02 -1.54442411e-02 7.38425941e+02] [ 6.90319791e-02 9.97614401e-01 -3.04244428e-04 9.38989239e+00] [ 1.54283989e-02 -7.62664194e-04 9.99880684e-01 1.14213771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.6392541539999 meters Centerline goodness : 0.998931 Centerline is valid? [True, True] Translation: X:738.45, Y:9.40, Z:11.42 [[ 9.97552462e-01 -6.81935560e-02 -1.54507383e-02 7.38449106e+02] [ 6.82022072e-02 9.97671518e-01 3.30825967e-05 9.40056586e+00] [ 1.54125055e-02 -1.08677608e-03 9.99880630e-01 1.14247781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.6692541539999 meters Centerline goodness : 0.998700 Centerline is valid? [True, True] Translation: X:738.48, Y:9.40, Z:11.43 [[ 9.97789219e-01 -6.46386764e-02 -1.54439908e-02 7.38482427e+02] [ 6.46416558e-02 9.97908494e-01 -3.06718006e-04 9.40342049e+00] [ 1.54315154e-02 -6.92285216e-04 9.99880687e-01 1.14254605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.6992541539998 meters Centerline goodness : 0.997522 Centerline is valid? [True, True] Translation: X:738.51, Y:9.41, Z:11.43 [[ 9.98075376e-01 -6.00585183e-02 -1.54440223e-02 7.38513368e+02] [ 6.00609749e-02 9.98194664e-01 -3.05123675e-04 9.40583853e+00] [ 1.54344659e-02 -6.23046607e-04 9.99880687e-01 1.14259942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.7292541539999 meters Centerline goodness : 0.998698 Centerline is valid? [True, True] Translation: X:738.55, Y:9.41, Z:11.43 [[ 9.98480815e-01 -5.28920608e-02 -1.54431695e-02 7.38545408e+02] [ 5.28929971e-02 9.98600125e-01 -3.48090267e-04 9.41025110e+00] [ 1.54399622e-02 -4.69274066e-04 9.99880687e-01 1.14261873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.7592541539999 meters Centerline goodness : 0.998907 Centerline is valid? [True, True] Translation: X:738.58, Y:9.41, Z:11.43 [[ 9.98672795e-01 -4.91337987e-02 -1.54440610e-02 7.38577991e+02] [ 4.91349890e-02 9.98792101e-01 -3.02590809e-04 9.41239060e+00] [ 1.54402735e-02 -4.56654557e-04 9.99880688e-01 1.14275061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.7892541539999 meters Centerline goodness : 0.998886 Centerline is valid? [True, True] Translation: X:738.61, Y:9.41, Z:11.43 [[ 9.98827693e-01 -4.58772295e-02 -1.54440827e-02 7.38608677e+02] [ 4.58780480e-02 9.98947003e-01 -3.01479804e-04 9.41461970e+00] [ 1.54416511e-02 -4.07417988e-04 9.99880688e-01 1.14273377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.8192541539999 meters Centerline goodness : 0.998820 Centerline is valid? [True, True] Translation: X:738.64, Y:9.42, Z:11.43 [[ 9.99057704e-01 -4.05608705e-02 -1.54440987e-02 7.38641056e+02] [ 4.05610667e-02 9.99177016e-01 -3.00653736e-04 9.41839745e+00] [ 1.54435833e-02 -3.26058687e-04 9.99880688e-01 1.14285391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.8492541539999 meters Centerline goodness : 0.998862 Centerline is valid? [True, True] Translation: X:738.67, Y:9.42, Z:11.43 [[ 9.99147969e-01 -3.82729175e-02 -1.54441202e-02 7.38672587e+02] [ 3.82728577e-02 9.99267281e-01 -2.99547872e-04 9.42002386e+00] [ 1.54442685e-02 -2.91797965e-04 9.99880688e-01 1.14284535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.8792541539999 meters Centerline goodness : 0.998944 Centerline is valid? [True, True] Translation: X:738.70, Y:9.42, Z:11.43 [[ 9.99218851e-01 -3.63753566e-02 -1.54441361e-02 7.38704874e+02] [ 3.63750829e-02 9.99338163e-01 -2.98725165e-04 9.42148604e+00] [ 1.54447808e-02 -2.63289914e-04 9.99880688e-01 1.14293150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.9092541539999 meters Centerline goodness : 0.998818 Centerline is valid? [True, True] Translation: X:738.74, Y:9.42, Z:11.43 [[ 9.99314885e-01 -3.36338800e-02 -1.54441580e-02 7.38735900e+02] [ 3.36332965e-02 9.99434196e-01 -2.97590777e-04 9.42398615e+00] [ 1.54454287e-02 -2.22051050e-04 9.99880688e-01 1.14293395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.9392541539999 meters Centerline goodness : 0.999261 Centerline is valid? [True, True] Translation: X:738.77, Y:9.42, Z:11.43 [[ 9.99349701e-01 -3.25830111e-02 -1.54441946e-02 7.38766500e+02] [ 3.25823316e-02 9.99469011e-01 -2.95677122e-04 9.42495727e+00] [ 1.54456279e-02 -2.07723026e-04 9.99880688e-01 1.14288149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.9692541539999 meters Centerline goodness : 0.999261 Centerline is valid? [True, True] Translation: X:738.80, Y:9.43, Z:11.43 [[ 9.99350817e-01 -3.25487524e-02 -1.54441999e-02 7.38798335e+02] [ 3.25480732e-02 9.99470127e-01 -2.95399115e-04 9.42553383e+00] [ 1.54456313e-02 -2.07471602e-04 9.99880688e-01 1.14293067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.9992541539999 meters Centerline goodness : 0.998923 Centerline is valid? [True, True] Translation: X:738.83, Y:9.43, Z:11.43 [[ 9.99367947e-01 -3.20184814e-02 -1.54442100e-02 7.38829705e+02] [ 3.20177470e-02 9.99487257e-01 -2.94869676e-04 9.42657005e+00] [ 1.54457324e-02 -1.99805506e-04 9.99880688e-01 1.14308996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.0292541539999 meters Centerline goodness : 0.999006 Centerline is valid? [True, True] Translation: X:738.86, Y:9.43, Z:11.43 [[ 9.99372018e-01 -3.18911572e-02 -1.54442208e-02 7.38859582e+02] [ 3.18904164e-02 9.99491328e-01 -2.94304975e-04 9.42826299e+00] [ 1.54457505e-02 -1.98402475e-04 9.99880688e-01 1.14315193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.0592541539999 meters Centerline goodness : 0.999239 Centerline is valid? [True, True] Translation: X:738.89, Y:9.43, Z:11.43 [[ 9.99353191e-01 -3.24757776e-02 -1.54442261e-02 7.38891308e+02] [ 3.24751109e-02 9.99472501e-01 -2.94025014e-04 9.42888087e+00] [ 1.54456280e-02 -2.07718120e-04 9.99880688e-01 1.14330859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.089254154 meters Centerline goodness : 0.999260 Centerline is valid? [True, True] Translation: X:738.92, Y:9.43, Z:11.43 [[ 9.99276146e-01 -3.47657915e-02 -1.54442368e-02 7.38922493e+02] [ 3.47654069e-02 9.99395457e-01 -2.93464707e-04 9.42787145e+00] [ 1.54451026e-02 -2.43672893e-04 9.99880688e-01 1.14325869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.1192541539999 meters Centerline goodness : 0.999009 Centerline is valid? [True, True] Translation: X:738.95, Y:9.43, Z:11.43 [[ 9.99198375e-01 -3.69334927e-02 -1.54442526e-02 7.38953642e+02] [ 3.69333798e-02 9.99317687e-01 -2.92626777e-04 9.42832207e+00] [ 1.54445225e-02 -2.78016248e-04 9.99880688e-01 1.14341499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.1492541539999 meters Centerline goodness : 0.999050 Centerline is valid? [True, True] Translation: X:738.99, Y:9.43, Z:11.43 [[ 9.98993854e-01 -4.21040968e-02 -1.54442632e-02 7.38986034e+02] [ 4.21046101e-02 9.99113165e-01 -2.92065750e-04 9.42770959e+00] [ 1.54428639e-02 -3.58502793e-04 9.99880688e-01 1.14346262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.1792541539999 meters Centerline goodness : 0.999051 Centerline is valid? [True, True] Translation: X:739.02, Y:9.43, Z:11.43 [[ 9.98876675e-01 -4.47980148e-02 -1.54442849e-02 7.39017219e+02] [ 4.47988677e-02 9.98995984e-01 -2.90913705e-04 9.42734239e+00] [ 1.54418110e-02 -4.01299562e-04 9.99880688e-01 1.14349141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.209254154 meters Centerline goodness : 0.999325 Centerline is valid? [True, True] Translation: X:739.05, Y:9.43, Z:11.44 [[ 9.98728080e-01 -4.79968290e-02 -1.54443011e-02 7.39048984e+02] [ 4.79980772e-02 9.98847386e-01 -2.90053285e-04 9.42709582e+00] [ 1.54404214e-02 -4.51612396e-04 9.99880688e-01 1.14355984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.2392541539999 meters Centerline goodness : 0.998882 Centerline is valid? [True, True] Translation: X:739.08, Y:9.43, Z:11.44 [[ 9.98563009e-01 -5.13165656e-02 -1.54443224e-02 7.39081629e+02] [ 5.13182280e-02 9.98682310e-01 -2.88912612e-04 9.42688867e+00] [ 1.54387976e-02 -5.04077812e-04 9.99880688e-01 1.14358665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.2692541539999 meters Centerline goodness : 0.998841 Centerline is valid? [True, True] Translation: X:739.11, Y:9.42, Z:11.44 [[ 9.98204566e-01 -5.78715572e-02 -1.54443437e-02 7.39114050e+02] [ 5.78740206e-02 9.98323853e-01 -2.87768711e-04 9.42489842e+00] [ 1.54351104e-02 -6.06574226e-04 9.99880688e-01 1.14356085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.2992541539999 meters Centerline goodness : 0.999074 Centerline is valid? [True, True] Translation: X:739.15, Y:9.42, Z:11.44 [[ 9.98033670e-01 -6.07475406e-02 -1.54443930e-02 7.39145860e+02] [ 6.07503889e-02 9.98152949e-01 -2.85101567e-04 9.42440362e+00] [ 1.54331856e-02 -6.53711916e-04 9.99880688e-01 1.14358871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.329254154 meters Centerline goodness : 0.998969 Centerline is valid? [True, True] Translation: X:739.18, Y:9.42, Z:11.44 [[ 9.97710388e-01 -6.58441505e-02 -1.54444133e-02 7.39179088e+02] [ 6.58476250e-02 9.97829650e-01 -2.83997073e-04 9.42309894e+00] [ 1.54295931e-02 -7.33631105e-04 9.99880688e-01 1.14358283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.3592541539999 meters Centerline goodness : 0.999012 Centerline is valid? [True, True] Translation: X:739.21, Y:9.42, Z:11.44 [[ 9.97586688e-01 -6.76924592e-02 -1.54444442e-02 7.39210966e+02] [ 6.76961808e-02 9.97705942e-01 -2.82303921e-04 9.42287653e+00] [ 1.54281236e-02 -7.63907256e-04 9.99880688e-01 1.14356794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.3892541539999 meters Centerline goodness : 0.998888 Centerline is valid? [True, True] Translation: X:739.24, Y:9.42, Z:11.44 [[ 9.97481302e-01 -6.92280370e-02 -1.54444698e-02 7.39243314e+02] [ 6.92319638e-02 9.97600549e-01 -2.80900539e-04 9.42265467e+00] [ 1.54268577e-02 -7.89057937e-04 9.99880688e-01 1.14353901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.4192541539999 meters Centerline goodness : 0.998870 Centerline is valid? [True, True] Translation: X:739.28, Y:9.42, Z:11.44 [[ 9.97332998e-01 -7.13327318e-02 -1.54444945e-02 7.39276519e+02] [ 7.13369314e-02 9.97452237e-01 -2.79531366e-04 9.42272946e+00] [ 1.54250854e-02 -8.22976993e-04 9.99880688e-01 1.14357209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.4492541539998 meters Centerline goodness : 0.998928 Centerline is valid? [True, True] Translation: X:739.31, Y:9.42, Z:11.44 [[ 9.97314667e-01 -7.15885526e-02 -1.54445242e-02 7.39309284e+02] [ 7.15928083e-02 9.97433904e-01 -2.77882134e-04 9.42350867e+00] [ 1.54247853e-02 -8.28580934e-04 9.99880688e-01 1.14359524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.4792541539999 meters Centerline goodness : 0.998929 Centerline is valid? [True, True] Translation: X:739.34, Y:9.42, Z:11.44 [[ 9.97356644e-01 -7.10013479e-02 -1.54445539e-02 7.39341975e+02] [ 7.10055590e-02 9.97475882e-01 -2.76221419e-04 9.42446963e+00] [ 1.54251821e-02 -8.21157917e-04 9.99880688e-01 1.14366946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.5092541539999 meters Centerline goodness : 0.998910 Centerline is valid? [True, True] Translation: X:739.37, Y:9.43, Z:11.44 [[ 9.97429578e-01 -6.99692899e-02 -1.54445842e-02 7.39373965e+02] [ 6.99734039e-02 9.97548820e-01 -2.74518948e-04 9.42517347e+00] [ 1.54259346e-02 -8.06896809e-04 9.99880688e-01 1.14368979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.5392541539999 meters Centerline goodness : 0.998868 Centerline is valid? [True, True] Translation: X:739.41, Y:9.43, Z:11.44 [[ 9.97500245e-01 -6.89545085e-02 -1.54446327e-02 7.39406838e+02] [ 6.89585437e-02 9.97619489e-01 -2.71763688e-04 9.42633580e+00] [ 1.54266059e-02 -7.93955032e-04 9.99880688e-01 1.14380274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.5692541539999 meters Centerline goodness : 0.998954 Centerline is valid? [True, True] Translation: X:739.44, Y:9.43, Z:11.44 [[ 9.97674837e-01 -6.63805843e-02 -1.54446631e-02 7.39438196e+02] [ 6.63843388e-02 9.97794090e-01 -2.70022654e-04 9.42825723e+00] [ 1.54285178e-02 -7.55888940e-04 9.99880688e-01 1.14382372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.5992541539999 meters Centerline goodness : 0.998845 Centerline is valid? [True, True] Translation: X:739.47, Y:9.43, Z:11.44 [[ 9.97754638e-01 -6.51701122e-02 -1.54446781e-02 7.39470484e+02] [ 6.51737352e-02 9.97873896e-01 -2.69162114e-04 9.42925415e+00] [ 1.54293824e-02 -7.38029613e-04 9.99880688e-01 1.14376614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.6292541539999 meters Centerline goodness : 0.998907 Centerline is valid? [True, True] Translation: X:739.50, Y:9.43, Z:11.44 [[ 9.97792924e-01 -6.45812899e-02 -1.54446982e-02 7.39502510e+02] [ 6.45848605e-02 9.97912183e-01 -2.68005094e-04 9.43084167e+00] [ 1.54297606e-02 -7.30080090e-04 9.99880688e-01 1.14383923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.6592541539999 meters Centerline goodness : 0.998929 Centerline is valid? [True, True] Translation: X:739.53, Y:9.43, Z:11.44 [[ 9.97849721e-01 -6.36976839e-02 -1.54447231e-02 7.39533956e+02] [ 6.37011711e-02 9.97968982e-01 -2.66562868e-04 9.43338067e+00] [ 1.54303340e-02 -7.17857263e-04 9.99880688e-01 1.14382070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.6892541539999 meters Centerline goodness : 0.998945 Centerline is valid? [True, True] Translation: X:739.57, Y:9.43, Z:11.44 [[ 9.97883509e-01 -6.31661457e-02 -1.54447378e-02 7.39566588e+02] [ 6.31695825e-02 9.98002772e-01 -2.65709220e-04 9.43487584e+00] [ 1.54306749e-02 -7.10490787e-04 9.99880688e-01 1.14386276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.7192541539999 meters Centerline goodness : 0.999010 Centerline is valid? [True, True] Translation: X:739.60, Y:9.44, Z:11.44 [[ 9.97939036e-01 -6.22827402e-02 -1.54447572e-02 7.39598504e+02] [ 6.22860890e-02 9.98058301e-01 -2.64573322e-04 9.43730409e+00] [ 1.54312465e-02 -6.97965477e-04 9.99880688e-01 1.14385570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.7492541539999 meters Centerline goodness : 0.998866 Centerline is valid? [True, True] Translation: X:739.63, Y:9.44, Z:11.44 [[ 9.97991503e-01 -6.14363000e-02 -1.54447764e-02 7.39629492e+02] [ 6.14395650e-02 9.98110771e-01 -2.63449440e-04 9.43867649e+00] [ 1.54317830e-02 -6.86000040e-04 9.99880688e-01 1.14386427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.7792541539999 meters Centerline goodness : 0.998882 Centerline is valid? [True, True] Translation: X:739.66, Y:9.44, Z:11.44 [[ 9.98034793e-01 -6.07289868e-02 -1.54447906e-02 7.39662923e+02] [ 6.07321802e-02 9.98154063e-01 -2.62612637e-04 9.44033775e+00] [ 1.54322287e-02 -6.75899257e-04 9.99880688e-01 1.14390737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.8092541539999 meters Centerline goodness : 0.998818 Centerline is valid? [True, True] Translation: X:739.69, Y:9.44, Z:11.44 [[ 9.98208295e-01 -5.78070747e-02 -1.54448188e-02 7.39694838e+02] [ 5.78099447e-02 9.98327573e-01 -2.60944346e-04 9.44299850e+00] [ 1.54340729e-02 -6.32387310e-04 9.99880688e-01 1.14399958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.839254154 meters Centerline goodness : 0.998773 Centerline is valid? [True, True] Translation: X:739.73, Y:9.44, Z:11.44 [[ 9.98308659e-01 -5.60471053e-02 -1.54448420e-02 7.39728043e+02] [ 5.60497864e-02 9.98427941e-01 -2.59562613e-04 9.44480036e+00] [ 1.54351096e-02 -6.06556492e-04 9.99880688e-01 1.14415946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.8692541539999 meters Centerline goodness : 0.998816 Centerline is valid? [True, True] Translation: X:739.76, Y:9.45, Z:11.44 [[ 9.98437137e-01 -5.37097720e-02 -1.54448706e-02 7.39759555e+02] [ 5.37122002e-02 9.98556425e-01 -2.57850295e-04 9.44662255e+00] [ 1.54364239e-02 -5.72130672e-04 9.99880688e-01 1.14420168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.8992541539999 meters Centerline goodness : 0.998922 Centerline is valid? [True, True] Translation: X:739.79, Y:9.45, Z:11.44 [[ 9.98655198e-01 -4.94899072e-02 -1.54448941e-02 7.39791566e+02] [ 4.94918532e-02 9.98774494e-01 -2.56434916e-04 9.44992763e+00] [ 1.54386572e-02 -5.08306370e-04 9.99880688e-01 1.14444489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.9292541539999 meters Centerline goodness : 0.998964 Centerline is valid? [True, True] Translation: X:739.82, Y:9.45, Z:11.45 [[ 9.98756272e-01 -4.74063765e-02 -1.54449123e-02 7.39822303e+02] [ 4.74080906e-02 9.98875572e-01 -2.55333514e-04 9.45137915e+00] [ 1.54396501e-02 -4.77197853e-04 9.99880688e-01 1.14456078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.959254154 meters Centerline goodness : 0.998941 Centerline is valid? [True, True] Translation: X:739.85, Y:9.45, Z:11.45 [[ 9.98946160e-01 -4.32206424e-02 -1.54449258e-02 7.39854674e+02] [ 4.32218692e-02 9.99065466e-01 -2.54512650e-04 9.45315206e+00] [ 1.54414922e-02 -4.13314130e-04 9.99880688e-01 1.14478621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.9892541539999 meters Centerline goodness : 0.998815 Centerline is valid? [True, True] Translation: X:739.89, Y:9.45, Z:11.45 [[ 9.99046889e-01 -4.08260578e-02 -1.54449441e-02 7.39887319e+02] [ 4.08270158e-02 9.99166198e-01 -2.53401114e-04 9.45426466e+00] [ 1.54424114e-02 -3.77411382e-04 9.99880688e-01 1.14488634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.0192541539999 meters Centerline goodness : 0.998984 Centerline is valid? [True, True] Translation: X:739.92, Y:9.46, Z:11.45 [[ 9.99139979e-01 -3.84805992e-02 -1.54449624e-02 7.39918306e+02] [ 3.84812945e-02 9.99259289e-01 -2.52277218e-04 9.45524263e+00] [ 1.54432300e-02 -3.42281894e-04 9.99880688e-01 1.14496408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.0492541539999 meters Centerline goodness : 0.999071 Centerline is valid? [True, True] Translation: X:739.95, Y:9.46, Z:11.45 [[ 9.99295439e-01 -3.42064065e-02 -1.54449761e-02 7.39950663e+02] [ 3.42066043e-02 9.99414751e-01 -2.51440853e-04 9.45661195e+00] [ 1.54445378e-02 -2.77056488e-04 9.99880688e-01 1.14500096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.079254154 meters Centerline goodness : 0.998794 Centerline is valid? [True, True] Translation: X:739.98, Y:9.46, Z:11.45 [[ 9.99342471e-01 -3.28036117e-02 -1.54449940e-02 7.39982630e+02] [ 3.28036591e-02 9.99461784e-01 -2.50335390e-04 9.45748551e+00] [ 1.54448931e-02 -2.56481530e-04 9.99880688e-01 1.14507120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.1092541539999 meters Centerline goodness : 0.998771 Centerline is valid? [True, True] Translation: X:740.01, Y:9.46, Z:11.45 [[ 9.99388771e-01 -3.13613766e-02 -1.54450124e-02 7.40014074e+02] [ 3.13612695e-02 9.99508083e-01 -2.49195032e-04 9.45769414e+00] [ 1.54452298e-02 -2.35332479e-04 9.99880688e-01 1.14496831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.1392541539999 meters Centerline goodness : 0.999048 Centerline is valid? [True, True] Translation: X:740.05, Y:9.46, Z:11.45 [[ 9.99379432e-01 -3.16575829e-02 -1.54450430e-02 7.40045829e+02] [ 3.16575407e-02 9.99498744e-01 -2.47280781e-04 9.45750072e+00] [ 1.54451294e-02 -2.41824752e-04 9.99880688e-01 1.14496163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.1692541539999 meters Centerline goodness : 0.998882 Centerline is valid? [True, True] Translation: X:740.08, Y:9.46, Z:11.45 [[ 9.99359411e-01 -3.22834048e-02 -1.54450516e-02 7.40076701e+02] [ 3.22834457e-02 9.99478723e-01 -2.46742809e-04 9.45718443e+00] [ 1.54449662e-02 -2.52034738e-04 9.99880688e-01 1.14493171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.1992541539998 meters Centerline goodness : 0.998920 Centerline is valid? [True, True] Translation: X:740.11, Y:9.46, Z:11.45 [[ 9.99274199e-01 -3.48213305e-02 -1.54450602e-02 7.40106766e+02] [ 3.48216826e-02 9.99393511e-01 -2.46207027e-04 9.45593828e+00] [ 1.54442661e-02 -2.91794653e-04 9.99880688e-01 1.14482445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.2292541539999 meters Centerline goodness : 0.998900 Centerline is valid? [True, True] Translation: X:740.14, Y:9.46, Z:11.45 [[ 9.99239662e-01 -3.57987148e-02 -1.54450644e-02 7.40137677e+02] [ 3.57991878e-02 9.99358973e-01 -2.45940723e-04 9.45555213e+00] [ 1.54439681e-02 -3.07167036e-04 9.99880688e-01 1.14480936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.2592541539999 meters Centerline goodness : 0.998878 Centerline is valid? [True, True] Translation: X:740.17, Y:9.46, Z:11.45 [[ 9.99154505e-01 -3.81014999e-02 -1.54450740e-02 7.40169905e+02] [ 3.81022573e-02 9.99273815e-01 -2.45333774e-04 9.45510346e+00] [ 1.54432056e-02 -3.43365839e-04 9.99880688e-01 1.14495894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.2892541539999 meters Centerline goodness : 0.998923 Centerline is valid? [True, True] Translation: X:740.20, Y:9.45, Z:11.45 [[ 9.99043667e-01 -4.09047634e-02 -1.54450924e-02 7.40201622e+02] [ 4.09058734e-02 9.99162975e-01 -2.44175067e-04 9.45369261e+00] [ 1.54421523e-02 -3.87853439e-04 9.99880688e-01 1.14494675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.3192541539999 meters Centerline goodness : 0.998838 Centerline is valid? [True, True] Translation: X:740.23, Y:9.45, Z:11.45 [[ 9.98991754e-01 -4.21535818e-02 -1.54451050e-02 7.40233502e+02] [ 4.21548533e-02 9.99111059e-01 -2.43369784e-04 9.45301728e+00] [ 1.54416342e-02 -4.07961731e-04 9.99880688e-01 1.14512981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.3492541539999 meters Centerline goodness : 0.999008 Centerline is valid? [True, True] Translation: X:740.26, Y:9.45, Z:11.45 [[ 9.98897093e-01 -4.43401123e-02 -1.54451227e-02 7.40264987e+02] [ 4.43416624e-02 9.99016395e-01 -2.42246835e-04 9.45201673e+00] [ 1.54406720e-02 -4.42882755e-04 9.99880688e-01 1.14518721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.3792541539999 meters Centerline goodness : 0.998861 Centerline is valid? [True, True] Translation: X:740.30, Y:9.45, Z:11.45 [[ 9.98850577e-01 -4.53758923e-02 -1.54451519e-02 7.40296933e+02] [ 4.53775951e-02 9.98969877e-01 -2.40365708e-04 9.45191337e+00] [ 1.54401483e-02 -4.60774425e-04 9.99880688e-01 1.14530263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.4092541539999 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:740.33, Y:9.45, Z:11.45 [[ 9.98804718e-01 -4.63743638e-02 -1.54451695e-02 7.40329356e+02] [ 4.63762034e-02 9.98924016e-01 -2.39233322e-04 9.45177653e+00] [ 1.54396450e-02 -4.77340950e-04 9.99880688e-01 1.14537944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.4392541539999 meters Centerline goodness : 0.998904 Centerline is valid? [True, True] Translation: X:740.36, Y:9.45, Z:11.45 [[ 9.98709118e-01 -4.83895094e-02 -1.54451870e-02 7.40360321e+02] [ 4.83916073e-02 9.98828412e-01 -2.38094192e-04 9.45128989e+00] [ 1.54386129e-02 -5.09630585e-04 9.99880688e-01 1.14547565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.4692541539999 meters Centerline goodness : 0.998840 Centerline is valid? [True, True] Translation: X:740.39, Y:9.45, Z:11.46 [[ 9.98661318e-01 -4.93661599e-02 -1.54452161e-02 7.40392978e+02] [ 4.93684039e-02 9.98780609e-01 -2.36189915e-04 9.45135088e+00] [ 1.54380422e-02 -5.26631937e-04 9.99880688e-01 1.14556332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.4992541539999 meters Centerline goodness : 0.998988 Centerline is valid? [True, True] Translation: X:740.42, Y:9.45, Z:11.46 [[ 9.98628772e-01 -5.00202056e-02 -1.54452333e-02 7.40424477e+02] [ 5.00225451e-02 9.98748061e-01 -2.35064436e-04 9.45089783e+00] [ 1.54376548e-02 -5.37867769e-04 9.99880688e-01 1.14561213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.5292541539999 meters Centerline goodness : 0.998989 Centerline is valid? [True, True] Translation: X:740.46, Y:9.45, Z:11.46 [[ 9.98598512e-01 -5.06207107e-02 -1.54452460e-02 7.40456256e+02] [ 5.06231349e-02 9.98717800e-01 -2.34225743e-04 9.45033113e+00] [ 1.54372988e-02 -5.47989293e-04 9.99880688e-01 1.14569665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.5592541539999 meters Centerline goodness : 0.999094 Centerline is valid? [True, True] Translation: X:740.49, Y:9.45, Z:11.46 [[ 9.98641070e-01 -4.97740636e-02 -1.54452628e-02 7.40488819e+02] [ 4.97764037e-02 9.98760359e-01 -2.33114774e-04 9.45081127e+00] [ 1.54377193e-02 -5.36011648e-04 9.99880688e-01 1.14583786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.589254154 meters Centerline goodness : 0.998799 Centerline is valid? [True, True] Translation: X:740.52, Y:9.45, Z:11.46 [[ 9.98811058e-01 -4.62375866e-02 -1.54452800e-02 7.40519645e+02] [ 4.62395221e-02 9.98930354e-01 -2.31964163e-04 9.45116117e+00] [ 1.54394845e-02 -4.82493997e-04 9.99880688e-01 1.14574681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.6192541539999 meters Centerline goodness : 0.999304 Centerline is valid? [True, True] Translation: X:740.55, Y:9.45, Z:11.46 [[ 9.98910870e-01 -4.40285867e-02 -1.54452929e-02 7.40551620e+02] [ 4.40302717e-02 9.99030171e-01 -2.31107236e-04 9.45194433e+00] [ 1.54404889e-02 -4.49204911e-04 9.99880688e-01 1.14582175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.6492541539999 meters Centerline goodness : 0.999241 Centerline is valid? [True, True] Translation: X:740.58, Y:9.45, Z:11.46 [[ 9.99042973e-01 -4.09216422e-02 -1.54453099e-02 7.40583497e+02] [ 4.09229738e-02 9.99162278e-01 -2.29960517e-04 9.45269105e+00] [ 1.54417814e-02 -4.02327575e-04 9.99880688e-01 1.14583082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.6792541539999 meters Centerline goodness : 0.999029 Centerline is valid? [True, True] Translation: X:740.62, Y:9.45, Z:11.46 [[ 9.99296629e-01 -3.41714636e-02 -1.54453269e-02 7.40616152e+02] [ 3.41720069e-02 9.99415940e-01 -2.28814793e-04 9.45361496e+00] [ 1.54441249e-02 -2.99143966e-04 9.99880688e-01 1.14575248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.709254154 meters Centerline goodness : 0.999113 Centerline is valid? [True, True] Translation: X:740.65, Y:9.45, Z:11.46 [[ 9.99392124e-01 -3.12541871e-02 -1.54453437e-02 7.40647284e+02] [ 3.12543998e-02 9.99511436e-01 -2.27673917e-04 9.45443773e+00] [ 1.54449135e-02 -2.55199428e-04 9.99880688e-01 1.14586673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.7392541539999 meters Centerline goodness : 0.999175 Centerline is valid? [True, True] Translation: X:740.68, Y:9.45, Z:11.46 [[ 9.99554607e-01 -2.55348507e-02 -1.54453710e-02 7.40677394e+02] [ 2.55344094e-02 9.99673918e-01 -2.25806575e-04 9.45499423e+00] [ 1.54461005e-02 -1.68682426e-04 9.99880688e-01 1.14601413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.7692541539999 meters Centerline goodness : 0.998963 Centerline is valid? [True, True] Translation: X:740.71, Y:9.46, Z:11.46 [[ 9.99614152e-01 -2.30865202e-02 -1.54453710e-02 7.40707918e+02] [ 2.30857867e-02 9.99733462e-01 -2.25806575e-04 9.45567744e+00] [ 1.54464673e-02 -1.30849093e-04 9.99880688e-01 1.14616386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.7992541539999 meters Centerline goodness : 0.999175 Centerline is valid? [True, True] Translation: X:740.74, Y:9.46, Z:11.46 [[ 9.99662304e-01 -2.08978344e-02 -1.54453710e-02 7.40737062e+02] [ 2.08968396e-02 9.99781612e-01 -2.25806575e-04 9.45623593e+00] [ 1.54467168e-02 -9.70291208e-05 9.99880688e-01 1.14622476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.829254154 meters Centerline goodness : 0.999217 Centerline is valid? [True, True] Translation: X:740.77, Y:9.46, Z:11.46 [[ 9.99711791e-01 -1.83786834e-02 -1.54453669e-02 7.40765574e+02] [ 1.83773837e-02 9.99831096e-01 -2.26089198e-04 9.45627618e+00] [ 1.54469133e-02 -5.78213969e-05 9.99880688e-01 1.14620622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.8592541539999 meters Centerline goodness : 0.999302 Centerline is valid? [True, True] Translation: X:740.79, Y:9.46, Z:11.46 [[ 9.99710730e-01 -1.84363033e-02 -1.54453513e-02 7.40794768e+02] [ 1.84349940e-02 9.99830035e-01 -2.27152498e-04 9.45642902e+00] [ 1.54469139e-02 -5.76481675e-05 9.99880688e-01 1.14628448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.8892541539999 meters Centerline goodness : 0.999302 Centerline is valid? [True, True] Translation: X:740.82, Y:9.46, Z:11.46 [[ 9.99706057e-01 -1.86880471e-02 -1.54452931e-02 7.40824003e+02] [ 1.86867078e-02 9.99825362e-01 -2.31040541e-04 9.45690985e+00] [ 1.54469135e-02 -5.76490504e-05 9.99880688e-01 1.14632977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.9192541539999 meters Centerline goodness : 0.999047 Centerline is valid? [True, True] Translation: X:740.85, Y:9.46, Z:11.46 [[ 9.99667523e-01 -2.06467514e-02 -1.54452339e-02 7.40852673e+02] [ 2.06455858e-02 9.99786830e-01 -2.34929455e-04 9.45617097e+00] [ 1.54467920e-02 -8.40245561e-05 9.99880688e-01 1.14627150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.9492541539998 meters Centerline goodness : 0.999153 Centerline is valid? [True, True] Translation: X:740.88, Y:9.46, Z:11.46 [[ 9.99619668e-01 -2.28465855e-02 -1.54451737e-02 7.40881418e+02] [ 2.28456223e-02 9.99738976e-01 -2.38823703e-04 9.45568294e+00] [ 1.54465985e-02 -1.14121735e-04 9.99880688e-01 1.14624562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.9792541539999 meters Centerline goodness : 0.998986 Centerline is valid? [True, True] Translation: X:740.91, Y:9.46, Z:11.46 [[ 9.99554465e-01 -2.55405381e-02 -1.54451131e-02 7.40911451e+02] [ 2.55398367e-02 9.99673776e-01 -2.42685181e-04 9.45527484e+00] [ 1.54462728e-02 -1.51888610e-04 9.99880688e-01 1.14624913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.0092541539999 meters Centerline goodness : 0.999090 Centerline is valid? [True, True] Translation: X:740.94, Y:9.45, Z:11.46 [[ 9.99477554e-01 -2.83913307e-02 -1.54451044e-02 7.40941217e+02] [ 2.83909612e-02 9.99596866e-01 -2.43234534e-04 9.45496083e+00] [ 1.54457837e-02 -1.95393902e-04 9.99880688e-01 1.14596967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.0392541539999 meters Centerline goodness : 0.999048 Centerline is valid? [True, True] Translation: X:740.97, Y:9.45, Z:11.46 [[ 9.99213313e-01 -3.65267519e-02 -1.54450996e-02 7.40972154e+02] [ 3.65273488e-02 9.99332624e-01 -2.43542143e-04 9.45452837e+00] [ 1.54436877e-02 -3.20817988e-04 9.99880688e-01 1.14636201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.0692541539999 meters Centerline goodness : 0.999092 Centerline is valid? [True, True] Translation: X:741.00, Y:9.45, Z:11.46 [[ 9.99051075e-01 -4.07234346e-02 -1.54450996e-02 7.41003874e+02] [ 4.07245327e-02 9.99170382e-01 -2.43542143e-04 9.45457331e+00] [ 1.54422039e-02 -3.85683422e-04 9.99880688e-01 1.14642192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.0992541539999 meters Centerline goodness : 0.999345 Centerline is valid? [True, True] Translation: X:741.04, Y:9.45, Z:11.47 [[ 9.98674396e-01 -4.91009070e-02 -1.54451168e-02 7.41035347e+02] [ 4.91030226e-02 9.98793690e-01 -2.42442683e-04 9.45398480e+00] [ 1.54383894e-02 -5.16280621e-04 9.99880688e-01 1.14650392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.1292541539999 meters Centerline goodness : 0.998965 Centerline is valid? [True, True] Translation: X:741.07, Y:9.45, Z:11.47 [[ 9.98480963e-01 -5.28886964e-02 -1.54451448e-02 7.41067909e+02] [ 5.28912924e-02 9.98600247e-01 -2.40643964e-04 9.45348803e+00] [ 1.54362528e-02 -5.76635254e-04 9.99880688e-01 1.14653813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.1592541539999 meters Centerline goodness : 0.999429 Centerline is valid? [True, True] Translation: X:741.10, Y:9.45, Z:11.47 [[ 9.98252548e-01 -5.70376864e-02 -1.54451616e-02 7.41099993e+02] [ 5.70407948e-02 9.98371820e-01 -2.39560254e-04 9.45374410e+00] [ 1.54336781e-02 -6.41862662e-04 9.99880688e-01 1.14672764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.1892541539999 meters Centerline goodness : 0.998923 Centerline is valid? [True, True] Translation: X:741.13, Y:9.45, Z:11.47 [[ 9.97811584e-01 -6.42922185e-02 -1.54451785e-02 7.41131586e+02] [ 6.42962106e-02 9.97930830e-01 -2.38465828e-04 9.45344930e+00] [ 1.54285513e-02 -7.55122487e-04 9.99880688e-01 1.14680373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.2192541539999 meters Centerline goodness : 0.998946 Centerline is valid? [True, True] Translation: X:741.16, Y:9.45, Z:11.47 [[ 9.97618446e-01 -6.72226323e-02 -1.54452062e-02 7.41163606e+02] [ 6.72270025e-02 9.97737678e-01 -2.36661950e-04 9.45363967e+00] [ 1.54261732e-02 -8.02236588e-04 9.99880688e-01 1.14692002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.2492541539999 meters Centerline goodness : 0.999093 Centerline is valid? [True, True] Translation: X:741.20, Y:9.45, Z:11.47 [[ 9.97237241e-01 -7.26590023e-02 -1.54452228e-02 7.41195485e+02] [ 7.26640392e-02 9.97356447e-01 -2.35572846e-04 9.45420397e+00] [ 1.54215090e-02 -8.87390259e-04 9.99880688e-01 1.14713824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.2792541539999 meters Centerline goodness : 0.998990 Centerline is valid? [True, True] Translation: X:741.23, Y:9.45, Z:11.47 [[ 9.97072826e-01 -7.48813995e-02 -1.54452401e-02 7.41226752e+02] [ 7.48867196e-02 9.97192020e-01 -2.34435805e-04 9.45471666e+00] [ 1.54194250e-02 -9.22893790e-04 9.99880688e-01 1.14715644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.3092541539999 meters Centerline goodness : 0.999073 Centerline is valid? [True, True] Translation: X:741.26, Y:9.46, Z:11.47 [[ 9.96919030e-01 -7.69018294e-02 -1.54452529e-02 7.41259184e+02] [ 7.69074041e-02 9.97038212e-01 -2.33587271e-04 9.45518856e+00] [ 1.54174706e-02 -9.54986709e-04 9.99880688e-01 1.14716395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.339254154 meters Centerline goodness : 0.998865 Centerline is valid? [True, True] Translation: X:741.29, Y:9.46, Z:11.47 [[ 9.96668793e-01 -8.00797140e-02 -1.54452736e-02 7.41292096e+02] [ 8.00856899e-02 9.96787956e-01 -2.32209266e-04 9.45629098e+00] [ 1.54142579e-02 -1.00550966e-03 9.99880688e-01 1.14718144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.3692541539999 meters Centerline goodness : 0.999031 Centerline is valid? [True, True] Translation: X:741.33, Y:9.46, Z:11.47 [[ 9.96601788e-01 -8.09093260e-02 -1.54452982e-02 7.41325497e+02] [ 8.09154265e-02 9.96720944e-01 -2.30560635e-04 9.45698042e+00] [ 1.54133067e-02 -1.01998575e-03 9.99880688e-01 1.14721674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.3992541539999 meters Centerline goodness : 0.998734 Centerline is valid? [True, True] Translation: X:741.36, Y:9.45, Z:11.47 [[ 9.96901006e-01 -7.71351128e-02 -1.54453231e-02 7.41364141e+02] [ 7.71407880e-02 9.97020184e-01 -2.28883769e-04 9.45241733e+00] [ 1.54169538e-02 -9.63289932e-04 9.99880688e-01 1.14684902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.4292541539999 meters Centerline goodness : 0.999050 Centerline is valid? [True, True] Translation: X:741.39, Y:9.46, Z:11.47 [[ 9.96531460e-01 -8.17702316e-02 -1.54492204e-02 7.41387939e+02] [ 8.17806859e-02 9.96650349e-01 4.50822520e-05 9.45918645e+00] [ 1.53937845e-02 -1.30837372e-03 9.99880653e-01 1.14721520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.459254154 meters Centerline goodness : 0.998925 Centerline is valid? [True, True] Translation: X:741.43, Y:9.45, Z:11.47 [[ 9.96956933e-01 -7.64088987e-02 -1.54451700e-02 7.41427108e+02] [ 7.64144911e-02 9.97076112e-01 -2.28609088e-04 9.45436594e+00] [ 1.54174778e-02 -9.52321387e-04 9.99880690e-01 1.14675089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.4892541539999 meters Centerline goodness : 0.999367 Centerline is valid? [True, True] Translation: X:741.45, Y:9.46, Z:11.47 [[ 9.96661834e-01 -8.01654628e-02 -1.54495110e-02 7.41451169e+02] [ 8.01761626e-02 9.96780707e-01 7.34334523e-05 9.46293586e+00] [ 1.53938876e-02 -1.31187082e-03 9.99880646e-01 1.14720585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.5192541539999 meters Centerline goodness : 0.998879 Centerline is valid? [True, True] Translation: X:741.49, Y:9.45, Z:11.46 [[ 9.97503798e-01 -6.89030187e-02 -1.54449421e-02 7.41494359e+02] [ 6.89076696e-02 9.97623015e-01 -2.31471713e-04 9.45294287e+00] [ 1.54241788e-02 -8.33381055e-04 9.99880693e-01 1.14639475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.5492541539999 meters Centerline goodness : 0.999006 Centerline is valid? [True, True] Translation: X:741.51, Y:9.47, Z:11.47 [[ 9.96922809e-01 -7.68512076e-02 -1.54533431e-02 7.41509739e+02] [ 7.68661327e-02 9.97041352e-01 3.73314300e-04 9.46642121e+00] [ 1.53789325e-02 -1.56000426e-03 9.99880520e-01 1.14707456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.579254154 meters Centerline goodness : 0.998394 Centerline is valid? [True, True] Translation: X:741.54, Y:9.47, Z:11.47 [[ 9.97355714e-01 -7.10145050e-02 -1.54440657e-02 7.41540744e+02] [ 7.10193463e-02 9.97474910e-01 -2.35440601e-04 9.47066733e+00] [ 1.54217877e-02 -8.62009419e-04 9.99880706e-01 1.14706305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.6092541539999 meters Centerline goodness : 0.997906 Centerline is valid? [True, True] Translation: X:741.57, Y:9.47, Z:11.47 [[ 9.97603821e-01 -6.74395806e-02 -1.54440782e-02 7.41574164e+02] [ 6.74440074e-02 9.97723033e-01 -2.34614535e-04 9.47314050e+00] [ 1.54247349e-02 -8.07558170e-04 9.99880706e-01 1.14720521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.6392541539999 meters Centerline goodness : 0.996762 Centerline is valid? [True, True] Translation: X:741.62, Y:9.47, Z:11.47 [[ 9.98681772e-01 -4.89509759e-02 -1.54441039e-02 7.41617925e+02] [ 4.89532203e-02 9.98801045e-01 -2.32914301e-04 9.46571883e+00] [ 1.54369885e-02 -5.23431352e-04 9.99880706e-01 1.14652722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.6692541539999 meters Centerline goodness : 0.997260 Centerline is valid? [True, True] Translation: X:741.63, Y:9.48, Z:11.47 [[ 9.98341833e-01 -5.54508199e-02 -1.54528431e-02 7.41633605e+02] [ 5.54635297e-02 9.98460636e-01 3.94815809e-04 9.47974531e+00] [ 1.54071627e-02 -1.25123036e-03 9.99880520e-01 1.14733255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.6992541539998 meters Centerline goodness : 0.997517 Centerline is valid? [True, True] Translation: X:741.67, Y:9.48, Z:11.47 [[ 9.98563076e-01 -5.13155701e-02 -1.54432955e-02 7.41665042e+02] [ 5.13180734e-02 9.98682332e-01 -2.34406473e-04 9.48250089e+00] [ 1.54349751e-02 -5.58450523e-04 9.99880718e-01 1.14748939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.7292541539999 meters Centerline goodness : 0.997555 Centerline is valid? [True, True] Translation: X:741.70, Y:9.49, Z:11.48 [[ 9.98984963e-01 -4.23148581e-02 -1.54433080e-02 7.41697347e+02] [ 4.23162994e-02 9.99104237e-01 -2.33576711e-04 9.48671268e+00] [ 1.54393583e-02 -4.20164025e-04 9.99880718e-01 1.14779843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.7592541539999 meters Centerline goodness : 0.997323 Centerline is valid? [True, True] Translation: X:741.73, Y:9.49, Z:11.48 [[ 9.99166409e-01 -3.77887775e-02 -1.54433246e-02 7.41728538e+02] [ 3.77896955e-02 9.99285687e-01 -2.32474843e-04 9.48843190e+00] [ 1.54410782e-02 -3.51317481e-04 9.99880718e-01 1.14793462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.7892541539999 meters Centerline goodness : 0.996871 Centerline is valid? [True, True] Translation: X:741.76, Y:9.49, Z:11.48 [[ 9.99502951e-01 -2.74836948e-02 -1.54433369e-02 7.41760238e+02] [ 2.74833955e-02 9.99622233e-01 -2.31654743e-04 9.48963462e+00] [ 1.54438697e-02 -1.92895736e-04 9.99880718e-01 1.14767538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.8192541539999 meters Centerline goodness : 0.996850 Centerline is valid? [True, True] Translation: X:741.79, Y:9.49, Z:11.48 [[ 9.99560274e-01 -2.53132025e-02 -1.54434611e-02 7.41789432e+02] [ 2.53127727e-02 9.99679556e-01 -2.23329690e-04 9.49146603e+00] [ 1.54441656e-02 -1.67685335e-04 9.99880718e-01 1.14800665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.8492541539999 meters Centerline goodness : 0.997210 Centerline is valid? [True, True] Translation: X:741.82, Y:9.49, Z:11.48 [[ 9.99613656e-01 -2.31093410e-02 -1.54433474e-02 7.41820331e+02] [ 2.31085308e-02 9.99732936e-01 -2.30933581e-04 9.49290660e+00] [ 1.54445598e-02 -1.26028709e-04 9.99880718e-01 1.14810643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.8792541539999 meters Centerline goodness : 0.997105 Centerline is valid? [True, True] Translation: X:741.85, Y:9.49, Z:11.48 [[ 9.99698983e-01 -1.90642538e-02 -1.54433474e-02 7.41850592e+02] [ 1.90629609e-02 9.99818259e-01 -2.30933581e-04 9.49369978e+00] [ 1.54449433e-02 -6.35318619e-05 9.99880718e-01 1.14804934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.9092541539999 meters Centerline goodness : 0.997188 Centerline is valid? [True, True] Translation: X:741.88, Y:9.49, Z:11.48 [[ 9.99718536e-01 -1.80097505e-02 -1.54433474e-02 7.41879483e+02] [ 1.80083318e-02 9.99837810e-01 -2.30933581e-04 9.49436555e+00] [ 1.54450017e-02 -4.72403429e-05 9.99880718e-01 1.14804194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.9392541539999 meters Centerline goodness : 0.997104 Centerline is valid? [True, True] Translation: X:741.91, Y:9.49, Z:11.48 [[ 9.99727674e-01 -1.74951850e-02 -1.54433314e-02 7.41907566e+02] [ 1.74936884e-02 9.99846947e-01 -2.31998666e-04 9.49445167e+00] [ 1.54450267e-02 -3.82253424e-05 9.99880718e-01 1.14800025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.9692541539999 meters Centerline goodness : 0.996975 Centerline is valid? [True, True] Translation: X:741.94, Y:9.49, Z:11.48 [[ 9.99712427e-01 -1.83457748e-02 -1.54433103e-02 7.41935486e+02] [ 1.83443581e-02 9.99831701e-01 -2.33396604e-04 9.49489569e+00] [ 1.54449931e-02 -4.99681290e-05 9.99880718e-01 1.14782761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.9992541539999 meters Centerline goodness : 0.997022 Centerline is valid? [True, True] Translation: X:741.97, Y:9.49, Z:11.48 [[ 9.99683008e-01 -1.98860727e-02 -1.54411256e-02 7.41965106e+02] [ 1.98826716e-02 9.99802250e-01 -3.73764274e-04 9.49157908e+00] [ 1.54455048e-02 6.66349645e-05 9.99880709e-01 1.14784803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.0292541539999 meters Centerline goodness : 0.997131 Centerline is valid? [True, True] Translation: X:741.99, Y:9.49, Z:11.48 [[ 9.99629998e-01 -2.23914069e-02 -1.54432110e-02 7.41994050e+02] [ 2.23903856e-02 9.99749275e-01 -2.39051850e-04 9.49162728e+00] [ 1.54446917e-02 -1.06816049e-04 9.99880718e-01 1.14799810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.0592541539999 meters Centerline goodness : 0.997171 Centerline is valid? [True, True] Translation: X:742.02, Y:9.49, Z:11.48 [[ 9.99579582e-01 -2.45391353e-02 -1.54431482e-02 7.42024180e+02] [ 2.45383087e-02 9.99698861e-01 -2.43040696e-04 9.49116114e+00] [ 1.54444617e-02 -1.36010220e-04 9.99880718e-01 1.14805104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.089254154 meters Centerline goodness : 0.997270 Centerline is valid? [True, True] Translation: X:742.05, Y:9.49, Z:11.48 [[ 9.99447684e-01 -2.94250953e-02 -1.54431392e-02 7.42053310e+02] [ 2.94248430e-02 9.99566966e-01 -2.43608493e-04 9.48938454e+00] [ 1.54436200e-02 -2.10938003e-04 9.99880718e-01 1.14807841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.1192541539999 meters Centerline goodness : 0.997434 Centerline is valid? [True, True] Translation: X:742.08, Y:9.49, Z:11.48 [[ 9.99381585e-01 -3.15904495e-02 -1.54431348e-02 7.42084810e+02] [ 3.15904513e-02 9.99500867e-01 -2.43890437e-04 9.48824079e+00] [ 1.54431312e-02 -2.44115985e-04 9.99880718e-01 1.14809167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.1492541539999 meters Centerline goodness : 0.997410 Centerline is valid? [True, True] Translation: X:742.12, Y:9.49, Z:11.48 [[ 9.99309518e-01 -3.37934427e-02 -1.54431435e-02 7.42116570e+02] [ 3.37937159e-02 9.99428800e-01 -2.43335317e-04 9.48774713e+00] [ 1.54425455e-02 -2.78713907e-04 9.99880718e-01 1.14822373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.1792541539999 meters Centerline goodness : 0.997437 Centerline is valid? [True, True] Translation: X:742.15, Y:9.49, Z:11.48 [[ 9.99227033e-01 -3.61503084e-02 -1.54431610e-02 7.42148381e+02] [ 3.61508802e-02 9.99346314e-01 -2.42222379e-04 9.48531752e+00] [ 1.54418224e-02 -3.16248713e-04 9.99880718e-01 1.14819479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.209254154 meters Centerline goodness : 0.997609 Centerline is valid? [True, True] Translation: X:742.18, Y:9.48, Z:11.48 [[ 9.99204259e-01 -3.67744013e-02 -1.54431697e-02 7.42179266e+02] [ 3.67750562e-02 9.99323540e-01 -2.41665020e-04 9.48475812e+00] [ 1.54416101e-02 -3.26450717e-04 9.99880718e-01 1.14816184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.2392541539999 meters Centerline goodness : 0.997530 Centerline is valid? [True, True] Translation: X:742.21, Y:9.48, Z:11.48 [[ 9.99177177e-01 -3.75030322e-02 -1.54431827e-02 7.42211272e+02] [ 3.75037870e-02 9.99296457e-01 -2.40831402e-04 9.48498447e+00] [ 1.54413497e-02 -3.38544595e-04 9.99880718e-01 1.14832458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.2692541539999 meters Centerline goodness : 0.997800 Centerline is valid? [True, True] Translation: X:742.24, Y:9.48, Z:11.48 [[ 9.99174999e-01 -3.75610141e-02 -1.54431998e-02 7.42243498e+02] [ 3.75617928e-02 9.99294278e-01 -2.39729081e-04 9.48300132e+00] [ 1.54413057e-02 -3.40542968e-04 9.99880718e-01 1.14829361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.2992541539999 meters Centerline goodness : 0.997718 Centerline is valid? [True, True] Translation: X:742.28, Y:9.48, Z:11.48 [[ 9.99151521e-01 -3.81804215e-02 -1.54432172e-02 7.42275750e+02] [ 3.81812915e-02 9.99270800e-01 -2.38602787e-04 9.48264399e+00] [ 1.54410660e-02 -3.51241641e-04 9.99880718e-01 1.14836522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.329254154 meters Centerline goodness : 0.997784 Centerline is valid? [True, True] Translation: X:742.31, Y:9.48, Z:11.48 [[ 9.99109081e-01 -3.92753228e-02 -1.54432345e-02 7.42308446e+02] [ 3.92763409e-02 9.99228359e-01 -2.37481055e-04 9.48031757e+00] [ 1.54406450e-02 -3.69284262e-04 9.99880718e-01 1.14836791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.3592541539999 meters Centerline goodness : 0.997910 Centerline is valid? [True, True] Translation: X:742.34, Y:9.48, Z:11.48 [[ 9.99081114e-01 -3.99804073e-02 -1.54432515e-02 7.42340719e+02] [ 3.99815268e-02 9.99200391e-01 -2.36366106e-04 9.47934541e+00] [ 1.54403530e-02 -3.81295863e-04 9.99880718e-01 1.14840255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.3892541539999 meters Centerline goodness : 0.997803 Centerline is valid? [True, True] Translation: X:742.37, Y:9.48, Z:11.48 [[ 9.99076292e-01 -4.01007152e-02 -1.54432684e-02 7.42372470e+02] [ 4.01018663e-02 9.99195569e-01 -2.35256215e-04 9.47826052e+00] [ 1.54402793e-02 -3.84264978e-04 9.99880718e-01 1.14842553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.4192541539999 meters Centerline goodness : 0.997889 Centerline is valid? [True, True] Translation: X:742.42, Y:9.46, Z:11.48 [[ 9.99426803e-01 -3.01259238e-02 -1.54432852e-02 7.42417340e+02] [ 3.01259012e-02 9.99546085e-01 -2.34152846e-04 9.46434324e+00] [ 1.54433293e-02 -2.31224252e-04 9.99880718e-01 1.14775728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.4492541539998 meters Centerline goodness : 0.998058 Centerline is valid? [True, True] Translation: X:742.43, Y:9.48, Z:11.48 [[ 9.99124143e-01 -3.88867811e-02 -1.54520367e-02 7.42431273e+02] [ 3.88974361e-02 9.99243132e-01 3.89500120e-04 9.47657059e+00] [ 1.54251951e-02 -9.90203584e-04 9.99880534e-01 1.14839266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.4792541539999 meters Centerline goodness : 0.997994 Centerline is valid? [True, True] Translation: X:742.46, Y:9.48, Z:11.48 [[ 9.99158686e-01 -3.79928357e-02 -1.54423000e-02 7.42463078e+02] [ 3.79936735e-02 9.99277951e-01 -2.39221774e-04 9.47687793e+00] [ 1.54402386e-02 -3.47689191e-04 9.99880732e-01 1.14839742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.5092541539999 meters Centerline goodness : 0.997827 Centerline is valid? [True, True] Translation: X:742.50, Y:9.48, Z:11.48 [[ 9.99196540e-01 -3.69839034e-02 -1.54423166e-02 7.42495177e+02] [ 3.69846374e-02 9.99315806e-01 -2.38144481e-04 9.47655856e+00] [ 1.54405586e-02 -3.33175339e-04 9.99880732e-01 1.14841298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.5392541539999 meters Centerline goodness : 0.997867 Centerline is valid? [True, True] Translation: X:742.53, Y:9.48, Z:11.48 [[ 9.99223361e-01 -3.62520265e-02 -1.54423330e-02 7.42527388e+02] [ 3.62526896e-02 9.99342627e-01 -2.37074750e-04 9.47672649e+00] [ 1.54407761e-02 -3.22935478e-04 9.99880732e-01 1.14847776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.5692541539999 meters Centerline goodness : 0.998076 Centerline is valid? [True, True] Translation: X:742.56, Y:9.48, Z:11.48 [[ 9.99238032e-01 -3.58453603e-02 -1.54423493e-02 7.42559057e+02] [ 3.58459914e-02 9.99357298e-01 -2.36008385e-04 9.47632585e+00] [ 1.54408843e-02 -3.17717768e-04 9.99880732e-01 1.14847397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.5992541539999 meters Centerline goodness : 0.998161 Centerline is valid? [True, True] Translation: X:742.59, Y:9.48, Z:11.48 [[ 9.99222349e-01 -3.62798791e-02 -1.54423762e-02 7.42590324e+02] [ 3.62805894e-02 9.99341615e-01 -2.34237682e-04 9.47588437e+00] [ 1.54407073e-02 -3.26202983e-04 9.99880732e-01 1.14846516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.6292541539999 meters Centerline goodness : 0.998038 Centerline is valid? [True, True] Translation: X:742.62, Y:9.47, Z:11.48 [[ 9.99135898e-01 -3.85874286e-02 -1.54423841e-02 7.42621730e+02] [ 3.85884224e-02 9.99255162e-01 -2.33716703e-04 9.47459464e+00] [ 1.54399005e-02 -3.62382492e-04 9.99880732e-01 1.14837927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.6592541539999 meters Centerline goodness : 0.998163 Centerline is valid? [True, True] Translation: X:742.65, Y:9.47, Z:11.48 [[ 9.99082761e-01 -3.99395571e-02 -1.54423958e-02 7.42653995e+02] [ 3.99407243e-02 9.99202024e-01 -2.32937732e-04 9.47410212e+00] [ 1.54393766e-02 -3.84056402e-04 9.99880732e-01 1.14837307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.6892541539999 meters Centerline goodness : 0.997808 Centerline is valid? [True, True] Translation: X:742.69, Y:9.47, Z:11.48 [[ 9.99007029e-01 -4.17910094e-02 -1.54424113e-02 7.42686558e+02] [ 4.17924135e-02 9.99126289e-01 -2.31908831e-04 9.47362318e+00] [ 1.54386108e-02 -4.13697086e-04 9.99880732e-01 1.14836386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.7192541539999 meters Centerline goodness : 0.997974 Centerline is valid? [True, True] Translation: X:742.72, Y:9.47, Z:11.48 [[ 9.98873478e-01 -4.48698758e-02 -1.54424266e-02 7.42717384e+02] [ 4.48716633e-02 9.98992733e-01 -2.30885139e-04 9.47183915e+00] [ 1.54372317e-02 -4.62302325e-04 9.99880732e-01 1.14828075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.7492541539999 meters Centerline goodness : 0.998015 Centerline is valid? [True, True] Translation: X:742.75, Y:9.47, Z:11.48 [[ 9.98795077e-01 -4.65824584e-02 -1.54424519e-02 7.42749121e+02] [ 4.65844767e-02 9.98914328e-01 -2.29180133e-04 9.47225097e+00] [ 1.54363622e-02 -4.90474552e-04 9.99880732e-01 1.14848134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.7792541539999 meters Centerline goodness : 0.998015 Centerline is valid? [True, True] Translation: X:742.78, Y:9.47, Z:11.49 [[ 9.98798128e-01 -4.65169918e-02 -1.54424668e-02 7.42781803e+02] [ 4.65190180e-02 9.98917378e-01 -2.28169724e-04 9.47266380e+00] [ 1.54363622e-02 -4.90472899e-04 9.99880732e-01 1.14853179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.8092541539999 meters Centerline goodness : 0.998419 Centerline is valid? [True, True] Translation: X:742.81, Y:9.47, Z:11.49 [[ 9.98751044e-01 -4.75171670e-02 -1.54424817e-02 7.42812961e+02] [ 4.75193282e-02 9.98870293e-01 -2.27157661e-04 9.47230803e+00] [ 1.54358301e-02 -5.06942406e-04 9.99880732e-01 1.14867444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.839254154 meters Centerline goodness : 0.998106 Centerline is valid? [True, True] Translation: X:742.85, Y:9.47, Z:11.49 [[ 9.98763788e-01 -4.72485498e-02 -1.54424928e-02 7.42845147e+02] [ 4.72506906e-02 9.98883037e-01 -2.26403284e-04 9.47206913e+00] [ 1.54359413e-02 -5.03545046e-04 9.99880732e-01 1.14862771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.8692541539999 meters Centerline goodness : 0.998296 Centerline is valid? [True, True] Translation: X:742.88, Y:9.47, Z:11.49 [[ 9.98758271e-01 -4.73650116e-02 -1.54425073e-02 7.42875938e+02] [ 4.73671816e-02 9.98877520e-01 -2.25409869e-04 9.47291728e+00] [ 1.54358499e-02 -5.06338075e-04 9.99880732e-01 1.14899872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.8992541539999 meters Centerline goodness : 0.998444 Centerline is valid? [True, True] Translation: X:742.91, Y:9.47, Z:11.49 [[ 9.98782195e-01 -4.68578264e-02 -1.54425180e-02 7.42908257e+02] [ 4.68599473e-02 9.98901444e-01 -2.24668959e-04 9.47361199e+00] [ 1.54360811e-02 -4.99240226e-04 9.99880732e-01 1.14930298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.9292541539999 meters Centerline goodness : 0.998152 Centerline is valid? [True, True] Translation: X:742.94, Y:9.47, Z:11.49 [[ 9.98832344e-01 -4.57763876e-02 -1.54425345e-02 7.42939217e+02] [ 4.57783969e-02 9.98951595e-01 -2.23531626e-04 9.47377118e+00] [ 1.54365769e-02 -4.83663856e-04 9.99880732e-01 1.14924805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.959254154 meters Centerline goodness : 0.998189 Centerline is valid? [True, True] Translation: X:742.97, Y:9.48, Z:11.49 [[ 9.98899918e-01 -4.42773333e-02 -1.54425467e-02 7.42971313e+02] [ 4.42791768e-02 9.99019171e-01 -2.22684522e-04 9.47530310e+00] [ 1.54372601e-02 -4.61343705e-04 9.99880732e-01 1.14949001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.9892541539999 meters Centerline goodness : 0.998340 Centerline is valid? [True, True] Translation: X:743.00, Y:9.48, Z:11.49 [[ 9.98974744e-01 -4.25556989e-02 -1.54425628e-02 7.43002052e+02] [ 4.25573541e-02 9.99094001e-01 -2.21564869e-04 9.47552255e+00] [ 1.54380007e-02 -4.35856904e-04 9.99880732e-01 1.14931487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.0192541539999 meters Centerline goodness : 0.998758 Centerline is valid? [True, True] Translation: X:743.03, Y:9.48, Z:11.50 [[ 9.99105255e-01 -3.93727918e-02 -1.54425748e-02 7.43034189e+02] [ 3.93740800e-02 9.99224516e-01 -2.20728187e-04 9.47749800e+00] [ 1.54392900e-02 -3.87506483e-04 9.99880732e-01 1.14959811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.0492541539999 meters Centerline goodness : 0.998295 Centerline is valid? [True, True] Translation: X:743.07, Y:9.48, Z:11.49 [[ 9.99206442e-01 -3.67153033e-02 -1.54425905e-02 7.43066611e+02] [ 3.67162913e-02 9.99325706e-01 -2.19621968e-04 9.47819717e+00] [ 1.54402411e-02 -3.47546966e-04 9.99880732e-01 1.14947787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.079254154 meters Centerline goodness : 0.998610 Centerline is valid? [True, True] Translation: X:743.10, Y:9.48, Z:11.50 [[ 9.99256581e-01 -3.53243587e-02 -1.54426061e-02 7.43098021e+02] [ 3.53251978e-02 9.99375847e-01 -2.18516676e-04 9.48003252e+00] [ 1.54406865e-02 -3.27158889e-04 9.99880732e-01 1.14971270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.1092541539999 meters Centerline goodness : 0.998629 Centerline is valid? [True, True] Translation: X:743.13, Y:9.48, Z:11.50 [[ 9.99366711e-01 -3.20578025e-02 -1.54426140e-02 7.43129604e+02] [ 3.20582604e-02 9.99485978e-01 -2.17961811e-04 9.48140056e+00] [ 1.54416635e-02 -2.77239561e-04 9.99880732e-01 1.14972501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.1392541539999 meters Centerline goodness : 0.998882 Centerline is valid? [True, True] Translation: X:743.16, Y:9.48, Z:11.50 [[ 9.99397462e-01 -3.10843917e-02 -1.54426217e-02 7.43161217e+02] [ 3.10847419e-02 9.99516729e-01 -2.17409043e-04 9.48207975e+00] [ 1.54419168e-02 -2.62751865e-04 9.99880732e-01 1.14975913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.1692541539999 meters Centerline goodness : 0.998671 Centerline is valid? [True, True] Translation: X:743.19, Y:9.48, Z:11.50 [[ 9.99413799e-01 -3.05546029e-02 -1.54426296e-02 7.43192695e+02] [ 3.05548984e-02 9.99533067e-01 -2.16852649e-04 9.48217506e+00] [ 1.54420447e-02 -2.55122447e-04 9.99880732e-01 1.14976649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.1992541539998 meters Centerline goodness : 0.998671 Centerline is valid? [True, True] Translation: X:743.22, Y:9.48, Z:11.50 [[ 9.99402098e-01 -3.09349428e-02 -1.54426374e-02 7.43224367e+02] [ 3.09352924e-02 9.99521366e-01 -2.16294539e-04 9.48206048e+00] [ 1.54419371e-02 -2.61557286e-04 9.99880732e-01 1.14979312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.2292541539999 meters Centerline goodness : 0.998736 Centerline is valid? [True, True] Translation: X:743.26, Y:9.48, Z:11.50 [[ 9.99388413e-01 -3.13739431e-02 -1.54426451e-02 7.43255712e+02] [ 3.13743537e-02 9.99507681e-01 -2.15738674e-04 9.48169534e+00] [ 1.54418110e-02 -2.68896278e-04 9.99880732e-01 1.14980886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.2592541539999 meters Centerline goodness : 0.998548 Centerline is valid? [True, True] Translation: X:743.29, Y:9.48, Z:11.50 [[ 9.99312103e-01 -3.37171438e-02 -1.54426529e-02 7.43286219e+02] [ 3.37178426e-02 9.99431369e-01 -2.15183337e-04 9.48093987e+00] [ 1.54411271e-02 -3.05657626e-04 9.99880732e-01 1.14978178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.2892541539999 meters Centerline goodness : 0.998696 Centerline is valid? [True, True] Translation: X:743.32, Y:9.48, Z:11.50 [[ 9.99257549e-01 -3.52969660e-02 -1.54426567e-02 7.43317764e+02] [ 3.52978576e-02 9.99376813e-01 -2.14907980e-04 9.48066864e+00] [ 1.54406186e-02 -3.30344276e-04 9.99880732e-01 1.14984097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.3192541539999 meters Centerline goodness : 0.998802 Centerline is valid? [True, True] Translation: X:743.35, Y:9.48, Z:11.50 [[ 9.99157703e-01 -3.80185382e-02 -1.54426643e-02 7.43348112e+02] [ 3.80197631e-02 9.99276964e-01 -2.14362157e-04 9.47905041e+00] [ 1.54396484e-02 -3.72944837e-04 9.99880732e-01 1.14986365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.3492541539999 meters Centerline goodness : 0.998971 Centerline is valid? [True, True] Translation: X:743.38, Y:9.48, Z:11.50 [[ 9.99113505e-01 -3.91628270e-02 -1.54426768e-02 7.43379861e+02] [ 3.91642024e-02 9.99232766e-01 -2.13455248e-04 9.47812437e+00] [ 1.54391882e-02 -3.91534100e-04 9.99880732e-01 1.14995234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.3792541539999 meters Centerline goodness : 0.998511 Centerline is valid? [True, True] Translation: X:743.41, Y:9.48, Z:11.50 [[ 9.99060310e-01 -4.04971724e-02 -1.54426843e-02 7.43410577e+02] [ 4.04987155e-02 9.99179568e-01 -2.12913756e-04 9.47720618e+00] [ 1.54386370e-02 -4.12695194e-04 9.99880732e-01 1.14994239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.4092541539999 meters Centerline goodness : 0.998386 Centerline is valid? [True, True] Translation: X:743.44, Y:9.48, Z:11.50 [[ 9.98993038e-01 -4.21240252e-02 -1.54426954e-02 7.43443264e+02] [ 4.21257750e-02 9.99112293e-01 -2.12103882e-04 9.47507518e+00] [ 1.54379215e-02 -4.38645211e-04 9.99880732e-01 1.14985460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.4392541539999 meters Centerline goodness : 0.998993 Centerline is valid? [True, True] Translation: X:743.48, Y:9.48, Z:11.50 [[ 9.98937188e-01 -4.34283004e-02 -1.54427101e-02 7.43475814e+02] [ 4.34302225e-02 9.99056440e-01 -2.11029863e-04 9.47501422e+00] [ 1.54373036e-02 -4.59874757e-04 9.99880732e-01 1.15014910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.4692541539999 meters Centerline goodness : 0.998868 Centerline is valid? [True, True] Translation: X:743.51, Y:9.47, Z:11.50 [[ 9.98899203e-01 -4.42933968e-02 -1.54427255e-02 7.43508306e+02] [ 4.42954398e-02 9.99018453e-01 -2.09893497e-04 9.47294473e+00] [ 1.54368647e-02 -4.74379872e-04 9.99880732e-01 1.15017456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.4992541539999 meters Centerline goodness : 0.998763 Centerline is valid? [True, True] Translation: X:743.54, Y:9.47, Z:11.50 [[ 9.98901351e-01 -4.42449212e-02 -1.54427410e-02 7.43539846e+02] [ 4.42469760e-02 9.99020601e-01 -2.08749714e-04 9.47211224e+00] [ 1.54368525e-02 -4.74774218e-04 9.99880732e-01 1.15015332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.5292541539999 meters Centerline goodness : 0.998701 Centerline is valid? [True, True] Translation: X:743.57, Y:9.47, Z:11.50 [[ 9.98919265e-01 -4.38385957e-02 -1.54427667e-02 7.43572151e+02] [ 4.38406316e-02 9.99038516e-01 -2.06833082e-04 9.47155781e+00] [ 1.54369860e-02 -4.70411094e-04 9.99880732e-01 1.15024705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.5592541539999 meters Centerline goodness : 0.998848 Centerline is valid? [True, True] Translation: X:743.60, Y:9.47, Z:11.50 [[ 9.99021274e-01 -4.14489519e-02 -1.54427816e-02 7.43604476e+02] [ 4.14507198e-02 9.99140528e-01 -2.05714486e-04 9.47050754e+00] [ 1.54380356e-02 -4.34601264e-04 9.99880732e-01 1.15034952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.589254154 meters Centerline goodness : 0.998846 Centerline is valid? [True, True] Translation: X:743.64, Y:9.47, Z:11.50 [[ 9.99099637e-01 -3.95150084e-02 -1.54427967e-02 7.43636963e+02] [ 3.95165631e-02 9.99218895e-01 -2.04568950e-04 9.47060733e+00] [ 1.54388178e-02 -4.05861488e-04 9.99880732e-01 1.15042348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.6192541539999 meters Centerline goodness : 0.998657 Centerline is valid? [True, True] Translation: X:743.67, Y:9.47, Z:11.50 [[ 9.99217020e-01 -3.64261914e-02 -1.54428119e-02 7.43668287e+02] [ 3.64273952e-02 9.99336282e-01 -2.03420158e-04 9.47062297e+00] [ 1.54399720e-02 -3.59280527e-04 9.99880732e-01 1.15044463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.6492541539999 meters Centerline goodness : 0.998867 Centerline is valid? [True, True] Translation: X:743.70, Y:9.47, Z:11.50 [[ 9.99451360e-01 -2.93001344e-02 -1.54428231e-02 7.43699957e+02] [ 2.93005010e-02 9.99570628e-01 -2.02565044e-04 9.47049877e+00] [ 1.54421275e-02 -2.50028544e-04 9.99880732e-01 1.15043301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.6792541539999 meters Centerline goodness : 0.998909 Centerline is valid? [True, True] Translation: X:743.73, Y:9.47, Z:11.50 [[ 9.99549596e-01 -2.57317561e-02 -1.54428305e-02 7.43729620e+02] [ 2.57317056e-02 9.99668864e-01 -2.02001724e-04 9.47035591e+00] [ 1.54429146e-02 -1.95459625e-04 9.99880732e-01 1.15041699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.709254154 meters Centerline goodness : 0.999201 Centerline is valid? [True, True] Translation: X:743.76, Y:9.47, Z:11.51 [[ 9.99700470e-01 -1.89865794e-02 -1.54428268e-02 7.43759464e+02] [ 1.89857198e-02 9.99819735e-01 -2.02280789e-04 9.46952453e+00] [ 1.54438836e-02 -9.09729828e-05 9.99880732e-01 1.15052658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.7392541539999 meters Centerline goodness : 0.994547 Centerline is valid? [True, True] Translation: X:743.79, Y:9.47, Z:11.50 [[ 9.99737700e-01 -1.69130090e-02 -1.54428194e-02 7.43786994e+02] [ 1.69118932e-02 9.99856963e-01 -2.02846436e-04 9.47119128e+00] [ 1.54440412e-02 -5.83740826e-05 9.99880732e-01 1.15028104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.7692541539999 meters Centerline goodness : 0.998972 Centerline is valid? [True, True] Translation: X:743.82, Y:9.47, Z:11.51 [[ 9.99783604e-01 -1.39401302e-02 -1.54408129e-02 7.43817663e+02] [ 1.39363758e-02 9.99902823e-01 -3.50726128e-04 9.46856133e+00] [ 1.54442016e-02 1.35461260e-04 9.99880722e-01 1.15062672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.7992541539999 meters Centerline goodness : 0.998973 Centerline is valid? [True, True] Translation: X:743.85, Y:9.47, Z:11.51 [[ 9.99816083e-01 -1.13720071e-02 -1.54427361e-02 7.43845500e+02] [ 1.13701530e-02 9.99935336e-01 -2.07858915e-04 9.46575804e+00] [ 1.54441013e-02 3.22344146e-05 9.99880732e-01 1.15070907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.829254154 meters Centerline goodness : 0.998827 Centerline is valid? [True, True] Translation: X:743.87, Y:9.46, Z:11.51 [[ 9.99816001e-01 -1.13793048e-02 -1.54426746e-02 7.43873262e+02] [ 1.13773825e-02 9.99935253e-01 -2.12334090e-04 9.46448391e+00] [ 1.54440909e-02 3.65978060e-05 9.99880732e-01 1.15072886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.8592541539999 meters Centerline goodness : 0.998952 Centerline is valid? [True, True] Translation: X:743.90, Y:9.46, Z:11.51 [[ 9.99796920e-01 -1.29477266e-02 -1.54426117e-02 7.43901247e+02] [ 1.29459221e-02 9.99916175e-01 -2.16810901e-04 9.46133307e+00] [ 1.54441244e-02 1.68480224e-05 9.99880732e-01 1.15063585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.8892541539999 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:743.93, Y:9.46, Z:11.51 [[ 9.99772523e-01 -1.47114902e-02 -1.54425921e-02 7.43930414e+02] [ 1.47098748e-02 9.99891780e-01 -2.18196098e-04 9.45959248e+00] [ 1.54441309e-02 -9.01213344e-06 9.99880732e-01 1.15071576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.9192541539999 meters Centerline goodness : 0.998973 Centerline is valid? [True, True] Translation: X:743.96, Y:9.46, Z:11.51 [[ 9.99736133e-01 -1.70056513e-02 -1.54425351e-02 7.43957847e+02] [ 1.70042483e-02 9.99855393e-01 -2.22161505e-04 9.45824757e+00] [ 1.54440800e-02 -4.04858167e-05 9.99880732e-01 1.15067753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.9492541539998 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:743.99, Y:9.45, Z:11.51 [[ 9.99633144e-01 -2.22510095e-02 -1.54425066e-02 7.43986438e+02] [ 2.22502019e-02 9.99752409e-01 -2.24125907e-04 9.45447889e+00] [ 1.54436702e-02 -1.19555204e-04 9.99880732e-01 1.15067767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.9792541539999 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:744.01, Y:9.45, Z:11.50 [[ 9.99551467e-01 -2.56591853e-02 -1.54424903e-02 7.44014720e+02] [ 2.56587671e-02 9.99670734e-01 -2.25238546e-04 9.45278095e+00] [ 1.54431851e-02 -1.71097745e-04 9.99880732e-01 1.15047641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.0092541539999 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:744.04, Y:9.45, Z:11.51 [[ 9.99339592e-01 -3.28923998e-02 -1.54424597e-02 7.44043279e+02] [ 3.28928127e-02 9.99458859e-01 -2.27319298e-04 9.44847573e+00] [ 1.54415803e-02 -2.80776760e-04 9.99880732e-01 1.15079786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.0392541539999 meters Centerline goodness : 0.998999 Centerline is valid? [True, True] Translation: X:744.07, Y:9.45, Z:11.51 [[ 9.99216470e-01 -3.64414391e-02 -1.54424009e-02 7.44072563e+02] [ 3.64422150e-02 9.99335735e-01 -2.31246156e-04 9.44673501e+00] [ 1.54405700e-02 -3.31690326e-04 9.99880732e-01 1.15076498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.0692541539999 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:744.10, Y:9.44, Z:11.51 [[ 9.98904545e-01 -4.41728785e-02 -1.54423967e-02 7.44102824e+02] [ 4.41745729e-02 9.99023800e-01 -2.31524209e-04 9.44298582e+00] [ 1.54375490e-02 -4.50890696e-04 9.99880732e-01 1.15093306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.0992541539999 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:744.13, Y:9.44, Z:11.51 [[ 9.98733479e-01 -4.78849637e-02 -1.54423967e-02 7.44133918e+02] [ 4.78871013e-02 9.98852728e-01 -2.31524209e-04 9.44137098e+00] [ 1.54357666e-02 -5.08260639e-04 9.99880732e-01 1.15109263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.1292541539999 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:744.17, Y:9.44, Z:11.51 [[ 9.98556982e-01 -5.14342818e-02 -1.54424050e-02 7.44165176e+02] [ 5.14368518e-02 9.98676222e-01 -2.30970111e-04 9.43985512e+00] [ 1.54338425e-02 -5.63671881e-04 9.99880732e-01 1.15117700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.1592541539999 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:744.19, Y:9.44, Z:11.51 [[ 9.98136010e-01 -5.90426752e-02 -1.54424174e-02 7.44194897e+02] [ 5.90461666e-02 9.98255227e-01 -2.30139261e-04 9.43795971e+00] [ 1.54290619e-02 -6.82105268e-04 9.99880732e-01 1.15110603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.1892541539999 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:744.23, Y:9.44, Z:11.51 [[ 9.97997035e-01 -6.13471438e-02 -1.54417181e-02 7.44227066e+02] [ 6.13501822e-02 9.98116265e-01 -2.77310010e-04 9.43515723e+00] [ 1.54296422e-02 -6.70597653e-04 9.99880731e-01 1.15146236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.2192541539999 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:744.26, Y:9.43, Z:11.51 [[ 9.97643929e-01 -6.68440082e-02 -1.54424632e-02 7.44258372e+02] [ 6.68484875e-02 9.97763112e-01 -2.26518372e-04 9.43240216e+00] [ 1.54230615e-02 -8.06320629e-04 9.99880732e-01 1.15143316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.2492541539999 meters Centerline goodness : 0.999084 Centerline is valid? [True, True] Translation: X:744.29, Y:9.43, Z:11.51 [[ 9.97478080e-01 -6.92748857e-02 -1.54424903e-02 7.44290142e+02] [ 6.92796841e-02 9.97597251e-01 -2.24655499e-04 9.43144645e+00] [ 1.54209488e-02 -8.45761914e-04 9.99880732e-01 1.15148360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.2792541539999 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:744.32, Y:9.43, Z:11.52 [[ 9.97300904e-01 -7.17804736e-02 -1.54425058e-02 7.44322159e+02] [ 7.17855879e-02 9.97420062e-01 -2.23584887e-04 9.43080168e+00] [ 1.54187141e-02 -8.85567948e-04 9.99880732e-01 1.15159870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.3092541539999 meters Centerline goodness : 0.999292 Centerline is valid? [True, True] Translation: X:744.36, Y:9.43, Z:11.52 [[ 9.97241803e-01 -7.25969296e-02 -1.54425218e-02 7.44358437e+02] [ 7.26021586e-02 9.97360956e-01 -2.22477038e-04 9.42616288e+00] [ 1.54179194e-02 -8.99297011e-04 9.99880732e-01 1.15195088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.339254154 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:744.38, Y:9.43, Z:11.52 [[ 9.96930949e-01 -7.67470229e-02 -1.54459817e-02 7.44384036e+02] [ 7.67565453e-02 9.97049864e-01 2.37450855e-05 9.43006548e+00] [ 1.53985916e-02 -1.20925240e-03 9.99880703e-01 1.15165451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.3692541539999 meters Centerline goodness : 0.999229 Centerline is valid? [True, True] Translation: X:744.42, Y:9.43, Z:11.52 [[ 9.96890430e-01 -7.72722696e-02 -1.54423986e-02 7.44416377e+02] [ 7.72780387e-02 9.97009556e-01 -2.23667473e-04 9.42981048e+00] [ 1.54135023e-02 -9.70386315e-04 9.99880734e-01 1.15169699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.3992541539999 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:744.45, Y:9.42, Z:11.51 [[ 9.97241149e-01 -7.26059400e-02 -1.54424148e-02 7.44453509e+02] [ 7.26111689e-02 9.97360300e-01 -2.22543284e-04 9.42461242e+00] [ 1.54178094e-02 -8.99362471e-04 9.99880734e-01 1.15149725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.4292541539999 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:744.48, Y:9.43, Z:11.52 [[ 9.96928484e-01 -7.67788418e-02 -1.54469134e-02 7.44476865e+02] [ 7.67894944e-02 9.97047323e-01 9.68205162e-05 9.43109088e+00] [ 1.53938699e-02 -1.28268380e-03 9.99880685e-01 1.15167903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.459254154 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:744.52, Y:9.43, Z:11.51 [[ 9.97496008e-01 -6.90163361e-02 -1.54421129e-02 7.44515567e+02] [ 6.90210494e-02 9.97615178e-01 -2.28151648e-04 9.42569077e+00] [ 1.54210324e-02 -8.38250480e-04 9.99880737e-01 1.15123489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.4892541539999 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:744.54, Y:9.43, Z:11.52 [[ 9.97141305e-01 -7.39633432e-02 -1.54480650e-02 7.44535362e+02] [ 7.39750895e-02 9.97260072e-01 1.89560854e-04 9.43441818e+00] [ 1.53917179e-02 -1.33179095e-03 9.99880654e-01 1.15171145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.5192541539999 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:744.57, Y:9.43, Z:11.51 [[ 9.97819989e-01 -6.41624852e-02 -1.54416791e-02 7.44574173e+02] [ 6.41665394e-02 9.97939177e-01 -2.33264506e-04 9.43041362e+00] [ 1.54248234e-02 -7.58083126e-04 9.99880743e-01 1.15124284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.5492541539999 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:744.59, Y:9.44, Z:11.52 [[ 9.97548571e-01 -6.82510670e-02 -1.54479943e-02 7.44594418e+02] [ 6.82622231e-02 9.97667395e-01 1.95424190e-04 9.43983615e+00] [ 1.53986223e-02 -1.24945955e-03 9.99880654e-01 1.15172581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.579254154 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:744.63, Y:9.44, Z:11.52 [[ 9.97724442e-01 -6.56316068e-02 -1.54411604e-02 7.44626739e+02] [ 6.56357084e-02 9.97843623e-01 -2.41542722e-04 9.44221333e+00] [ 1.54237163e-02 -7.72498423e-04 9.99880749e-01 1.15195272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.6092541539999 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:744.66, Y:9.45, Z:11.52 [[ 9.98099887e-01 -5.96505251e-02 -1.54411782e-02 7.44658487e+02] [ 5.96539300e-02 9.98219090e-01 -2.40401038e-04 9.44592481e+00] [ 1.54280189e-02 -6.81182712e-04 9.99880749e-01 1.15218342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.6392541539999 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:744.69, Y:9.45, Z:11.52 [[ 9.98478503e-01 -5.29362733e-02 -1.54411959e-02 7.44690719e+02] [ 5.29388941e-02 9.98597725e-01 -2.39258985e-04 9.45012349e+00] [ 1.54322085e-02 -5.78544878e-04 9.99880749e-01 1.15243336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.6692541539999 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:744.72, Y:9.45, Z:11.52 [[ 9.98653184e-01 -4.95316830e-02 -1.54412136e-02 7.44721497e+02] [ 4.95339149e-02 9.98772414e-01 -2.38111442e-04 9.45202203e+00] [ 1.54340522e-02 -5.27073008e-04 9.99880749e-01 1.15245414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.6992541539998 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:744.75, Y:9.45, Z:11.53 [[ 9.98656767e-01 -4.94593796e-02 -1.54412267e-02 7.44754176e+02] [ 4.94616161e-02 9.98775997e-01 -2.37258356e-04 9.45246303e+00] [ 1.54340612e-02 -5.26808362e-04 9.99880749e-01 1.15250459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.7292541539999 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:744.79, Y:9.45, Z:11.53 [[ 9.98794821e-01 -4.65883325e-02 -1.54412438e-02 7.44785950e+02] [ 4.65902435e-02 9.98914057e-01 -2.36140469e-04 9.45451434e+00] [ 1.54354768e-02 -4.83555429e-04 9.99880749e-01 1.15268176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.7592541539999 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:744.82, Y:9.46, Z:11.53 [[ 9.98918577e-01 -4.38548045e-02 -1.54412613e-02 7.44817402e+02] [ 4.38564069e-02 9.99037817e-01 -2.34989153e-04 9.45619118e+00] [ 1.54367094e-02 -4.42463208e-04 9.99880749e-01 1.15267925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.7892541539999 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:744.85, Y:9.46, Z:11.53 [[ 9.99088305e-01 -3.98010736e-02 -1.54412743e-02 7.44849011e+02] [ 3.98022054e-02 9.99207551e-01 -2.34132448e-04 9.45885533e+00] [ 1.54383566e-02 -3.80677779e-04 9.99880749e-01 1.15275343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.8192541539999 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:744.88, Y:9.46, Z:11.53 [[ 9.99249982e-01 -3.55111404e-02 -1.54412829e-02 7.44877311e+02] [ 3.55117691e-02 9.99369231e-01 -2.33563331e-04 9.46063602e+00] [ 1.54398371e-02 -3.14959118e-04 9.99880749e-01 1.15262192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.8492541539999 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:744.91, Y:9.46, Z:11.53 [[ 9.99232225e-01 -3.60080873e-02 -1.54394895e-02 7.44909103e+02] [ 3.60069669e-02 9.99351477e-01 -3.50637044e-04 9.46126198e+00] [ 1.54421024e-02 -2.05561354e-04 9.99880742e-01 1.15281307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.8792541539999 meters Centerline goodness : 0.998976 Centerline is valid? [True, True] Translation: X:744.94, Y:9.46, Z:11.53 [[ 9.99249797e-01 -3.55163380e-02 -1.54412516e-02 7.44940316e+02] [ 3.55169492e-02 9.99369047e-01 -2.34731713e-04 9.46218379e+00] [ 1.54398457e-02 -3.13870530e-04 9.99880749e-01 1.15281294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.9092541539999 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:744.97, Y:9.46, Z:11.53 [[ 9.99263545e-01 -3.51274010e-02 -1.54412601e-02 7.44970862e+02] [ 3.51279745e-02 9.99382795e-01 -2.34168450e-04 9.46296842e+00] [ 1.54399554e-02 -3.08424195e-04 9.99880749e-01 1.15285561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.9392541539999 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:745.00, Y:9.46, Z:11.53 [[ 9.99271715e-01 -3.48942387e-02 -1.54412643e-02 7.45002430e+02] [ 3.48947887e-02 9.99390964e-01 -2.33888930e-04 9.46335800e+00] [ 1.54400214e-02 -3.05101064e-04 9.99880749e-01 1.15289739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.9692541539999 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:745.03, Y:9.46, Z:11.53 [[ 9.99254448e-01 -3.53852502e-02 -1.54412727e-02 7.45032675e+02] [ 3.53858673e-02 9.99373697e-01 -2.33334929e-04 9.46383665e+00] [ 1.54398584e-02 -3.13241861e-04 9.99880749e-01 1.15299907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.9992541539999 meters Centerline goodness : 0.999392 Centerline is valid? [True, True] Translation: X:745.06, Y:9.46, Z:11.53 [[ 9.99237460e-01 -3.58617628e-02 -1.54412727e-02 7.45063672e+02] [ 3.58624368e-02 9.99356709e-01 -2.33334929e-04 9.46380273e+00] [ 1.54397073e-02 -3.20604664e-04 9.99880749e-01 1.15305114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.0292541539999 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] Translation: X:745.09, Y:9.46, Z:11.53 [[ 9.99205554e-01 -3.67399897e-02 -1.54412814e-02 7.45094496e+02] [ 3.67407774e-02 9.99324803e-01 -2.32759329e-04 9.46361664e+00] [ 1.54394071e-02 -3.34750268e-04 9.99880749e-01 1.15304295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.0592541539999 meters Centerline goodness : 0.999247 Centerline is valid? [True, True] Translation: X:745.12, Y:9.46, Z:11.53 [[ 9.99121279e-01 -3.89645473e-02 -1.54412857e-02 7.45124838e+02] [ 3.89656049e-02 9.99240525e-01 -2.32473763e-04 9.46242404e+00] [ 1.54386167e-02 -3.69409554e-04 9.99880749e-01 1.15301921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.089254154 meters Centerline goodness : 0.999037 Centerline is valid? [True, True] Translation: X:745.16, Y:9.46, Z:11.53 [[ 9.99064584e-01 -4.03921316e-02 -1.54412899e-02 7.45156513e+02] [ 4.03933639e-02 9.99183828e-01 -2.32195926e-04 9.46210020e+00] [ 1.54380660e-02 -3.91746914e-04 9.99880749e-01 1.15307934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.1192541539999 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:745.19, Y:9.46, Z:11.53 [[ 9.98916508e-01 -4.39018990e-02 -1.54412982e-02 7.45187058e+02] [ 4.39035588e-02 9.99035747e-01 -2.31640166e-04 9.46087530e+00] [ 1.54365783e-02 -4.46538757e-04 9.99880749e-01 1.15311605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.1492541539999 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:745.22, Y:9.46, Z:11.53 [[ 9.98815082e-01 -4.61518986e-02 -1.54413023e-02 7.45217923e+02] [ 4.61538313e-02 9.98934317e-01 -2.31364602e-04 9.46031410e+00] [ 1.54355247e-02 -4.81584809e-04 9.99880749e-01 1.15318250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.1792541539999 meters Centerline goodness : 0.999229 Centerline is valid? [True, True] Translation: X:745.25, Y:9.46, Z:11.53 [[ 9.98709752e-01 -4.83776571e-02 -1.54413106e-02 7.45249009e+02] [ 4.83798640e-02 9.98828982e-01 -2.30811881e-04 9.45916646e+00] [ 1.54343947e-02 -5.16534431e-04 9.99880749e-01 1.15320226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.209254154 meters Centerline goodness : 0.999230 Centerline is valid? [True, True] Translation: X:745.28, Y:9.46, Z:11.53 [[ 9.98467491e-01 -5.31435375e-02 -1.54413229e-02 7.45280549e+02] [ 5.31463261e-02 9.98586709e-01 -2.29985962e-04 9.45643117e+00] [ 1.54317221e-02 -5.91016076e-04 9.99880749e-01 1.15322247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.2392541539999 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:745.31, Y:9.46, Z:11.53 [[ 9.98348373e-01 -5.53361584e-02 -1.54413350e-02 7.45312846e+02] [ 5.53392216e-02 9.98467585e-01 -2.29167504e-04 9.45549215e+00] [ 1.54303538e-02 -6.25722456e-04 9.99880749e-01 1.15341808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.2692541539999 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:745.35, Y:9.45, Z:11.54 [[ 9.98330837e-01 -5.56516299e-02 -1.54413520e-02 7.45347294e+02] [ 5.56547485e-02 9.98450047e-01 -2.28016182e-04 9.44998975e+00] [ 1.54301082e-02 -6.31748978e-04 9.99880749e-01 1.15373633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.2992541539999 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:745.37, Y:9.45, Z:11.54 [[ 9.97990215e-01 -6.14572886e-02 -1.54444708e-02 7.45373408e+02] [ 6.14644026e-02 9.98109276e-01 -1.40736738e-05 9.45342890e+00] [ 1.54161345e-02 -9.35239785e-04 9.99880727e-01 1.15353400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.329254154 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:745.40, Y:9.45, Z:11.53 [[ 9.97837130e-01 -6.38954634e-02 -1.54412229e-02 7.45404867e+02] [ 6.38995186e-02 9.97956311e-01 -2.31107875e-04 9.45214314e+00] [ 1.54244325e-02 -7.56078689e-04 9.99880751e-01 1.15343076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.3592541539999 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:745.44, Y:9.45, Z:11.54 [[ 9.97741237e-01 -6.53757808e-02 -1.54412356e-02 7.45437097e+02] [ 6.53800260e-02 9.97860411e-01 -2.30255620e-04 9.45224384e+00] [ 1.54232508e-02 -7.79812856e-04 9.99880751e-01 1.15360244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.3892541539999 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:745.47, Y:9.45, Z:11.54 [[ 9.97654944e-01 -6.66796927e-02 -1.54412528e-02 7.45467850e+02] [ 6.66841117e-02 9.97774111e-01 -2.29094895e-04 9.45249360e+00] [ 1.54221582e-02 -8.01128570e-04 9.99880751e-01 1.15358748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.4192541539999 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:745.50, Y:9.45, Z:11.54 [[ 9.97616145e-01 -6.72576779e-02 -1.54412655e-02 7.45502908e+02] [ 6.72621792e-02 9.97735309e-01 -2.28231721e-04 9.45059023e+00] [ 1.54216462e-02 -8.10925520e-04 9.99880751e-01 1.15381779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.4492541539998 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:745.53, Y:9.45, Z:11.54 [[ 9.97409654e-01 -7.02529609e-02 -1.54435949e-02 7.45529805e+02] [ 7.02603081e-02 9.97528689e-01 -6.69766322e-05 9.45386414e+00] [ 1.54101343e-02 -1.01826860e-03 9.99880738e-01 1.15365269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.4792541539999 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:745.56, Y:9.46, Z:11.54 [[ 9.97222584e-01 -7.28607398e-02 -1.54412154e-02 7.45561343e+02] [ 7.28659127e-02 9.97341720e-01 -2.28082597e-04 9.45560588e+00] [ 1.54167866e-02 -8.97689137e-04 9.99880751e-01 1.15374891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.5092541539999 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:745.60, Y:9.45, Z:11.54 [[ 9.97399400e-01 -7.03989079e-02 -1.54412280e-02 7.45597217e+02] [ 7.04037999e-02 9.97518548e-01 -2.27225524e-04 9.45303153e+00] [ 1.54189078e-02 -8.60486526e-04 9.99880751e-01 1.15388781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.5392541539999 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:745.62, Y:9.46, Z:11.54 [[ 9.97112890e-01 -7.43461268e-02 -1.54446803e-02 7.45622347e+02] [ 7.43552196e-02 9.97231819e-01 1.45449072e-05 9.45843498e+00] [ 1.54008452e-02 -1.16289551e-03 9.99880724e-01 1.15397250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.5692541539999 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:745.66, Y:9.46, Z:11.54 [[ 9.97348079e-01 -7.11222899e-02 -1.54411674e-02 7.45659966e+02] [ 7.11272909e-02 9.97467221e-01 -2.25757458e-04 9.45704340e+00] [ 1.54181147e-02 -8.73129636e-04 9.99880753e-01 1.15386933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.5992541539999 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:745.68, Y:9.46, Z:11.54 [[ 9.97107045e-01 -7.44244466e-02 -1.54448348e-02 7.45684572e+02] [ 7.44338000e-02 9.97225957e-01 3.08468548e-05 9.46475669e+00] [ 1.53996944e-02 -1.18037536e-03 9.99880721e-01 1.15400771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.6292541539999 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:745.72, Y:9.47, Z:11.54 [[ 9.97148017e-01 -7.38742640e-02 -1.54410452e-02 7.45716599e+02] [ 7.38795747e-02 9.97267144e-01 -2.26982308e-04 9.46703285e+00] [ 1.54156152e-02 -9.14442895e-04 9.99880754e-01 1.15398935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.6592541539999 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:745.75, Y:9.47, Z:11.54 [[ 9.97213034e-01 -7.29913561e-02 -1.54410617e-02 7.45747453e+02] [ 7.29965788e-02 9.97332166e-01 -2.25851806e-04 9.46900213e+00] [ 1.54163528e-02 -9.01922315e-04 9.99880754e-01 1.15397444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.6892541539999 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:745.78, Y:9.47, Z:11.54 [[ 9.97270726e-01 -7.21988395e-02 -1.54410907e-02 7.45779577e+02] [ 7.22039983e-02 9.97389860e-01 -2.23856379e-04 9.47098194e+00] [ 1.54169494e-02 -8.91663071e-04 9.99880754e-01 1.15402633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.7192541539999 meters Centerline goodness : 0.998809 Centerline is valid? [True, True] Translation: X:745.81, Y:9.47, Z:11.54 [[ 9.97525741e-01 -6.85854777e-02 -1.54411073e-02 7.45813460e+02] [ 6.85902227e-02 9.97644893e-01 -2.22701786e-04 9.47325472e+00] [ 1.54200160e-02 -8.36958225e-04 9.99880754e-01 1.15394590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.7492541539999 meters Centerline goodness : 0.998975 Centerline is valid? [True, True] Translation: X:745.84, Y:9.48, Z:11.54 [[ 9.97547262e-01 -6.82715336e-02 -1.54420666e-02 7.45844529e+02] [ 6.82772736e-02 9.97666372e-01 -1.55799900e-04 9.47694910e+00] [ 1.54166673e-02 -8.98924445e-04 9.99880752e-01 1.15413726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.7792541539999 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:745.88, Y:9.48, Z:11.54 [[ 9.97815061e-01 -6.42392073e-02 -1.54411394e-02 7.45875726e+02] [ 6.42434644e-02 9.97934231e-01 -2.20681782e-04 9.48137365e+00] [ 1.54234180e-02 -7.71792683e-04 9.99880754e-01 1.15428835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.8092541539999 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:745.91, Y:9.48, Z:11.54 [[ 9.97978125e-01 -6.16541442e-02 -1.54411516e-02 7.45907673e+02] [ 6.16581057e-02 9.98097305e-01 -2.19827498e-04 9.48370977e+00] [ 1.54253250e-02 -7.32689121e-04 9.99880754e-01 1.15444870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.839254154 meters Centerline goodness : 0.998999 Centerline is valid? [True, True] Translation: X:745.94, Y:9.48, Z:11.54 [[ 9.98309450e-01 -5.60340321e-02 -1.54411679e-02 7.45942546e+02] [ 5.60373403e-02 9.98428650e-01 -2.18675686e-04 9.48309993e+00] [ 1.54291577e-02 -6.46975975e-04 9.99880754e-01 1.15438382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.8692541539999 meters Centerline goodness : 0.998892 Centerline is valid? [True, True] Translation: X:745.97, Y:9.49, Z:11.55 [[ 9.98532063e-01 -5.19153975e-02 -1.54438061e-02 7.45969259e+02] [ 5.19211435e-02 9.98651187e-01 -2.89322489e-05 9.49164509e+00] [ 1.54244773e-02 -7.72970293e-04 9.99880737e-01 1.15469614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.8992541539999 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:746.00, Y:9.50, Z:11.55 [[ 9.98907442e-01 -4.41077671e-02 -1.54410841e-02 7.46001825e+02] [ 4.41096311e-02 9.99026672e-01 -2.19999799e-04 9.49717219e+00] [ 1.54357585e-02 -4.61341086e-04 9.99880755e-01 1.15481888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.9292541539999 meters Centerline goodness : 0.999038 Centerline is valid? [True, True] Translation: X:746.03, Y:9.50, Z:11.55 [[ 9.99075696e-01 -4.01164046e-02 -1.54411004e-02 7.46033319e+02] [ 4.01178100e-02 9.99194933e-01 -2.18845713e-04 9.49969625e+00] [ 1.54374486e-02 -4.00819700e-04 9.99880755e-01 1.15488526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.959254154 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:746.07, Y:9.50, Z:11.55 [[ 9.99216835e-01 -3.64319637e-02 -1.54411125e-02 7.46065216e+02] [ 3.64329427e-02 9.99336076e-01 -2.17987806e-04 9.50208375e+00] [ 1.54388026e-02 -3.44748084e-04 9.99880755e-01 1.15493193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.9892541539999 meters Centerline goodness : 0.998851 Centerline is valid? [True, True] Translation: X:746.10, Y:9.50, Z:11.55 [[ 9.99327506e-01 -3.32581853e-02 -1.54411285e-02 7.46096468e+02] [ 3.32588031e-02 9.99446749e-01 -2.16850577e-04 9.50419153e+00] [ 1.54397978e-02 -2.96848706e-04 9.99880755e-01 1.15503320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.0192541539999 meters Centerline goodness : 0.998724 Centerline is valid? [True, True] Translation: X:746.13, Y:9.51, Z:11.55 [[ 9.99475658e-01 -2.84601440e-02 -1.54411364e-02 7.46127050e+02] [ 2.84601981e-02 9.99594903e-01 -2.16286231e-04 9.50741796e+00] [ 1.54410368e-02 -2.23284978e-04 9.99880755e-01 1.15514190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.0492541539999 meters Centerline goodness : 0.998722 Centerline is valid? [True, True] Translation: X:746.16, Y:9.51, Z:11.55 [[ 9.99542338e-01 -2.60131934e-02 -1.54411364e-02 7.46157453e+02] [ 2.60129555e-02 9.99661582e-01 -2.16286231e-04 9.50855692e+00] [ 1.54415372e-02 -1.85482349e-04 9.99880755e-01 1.15505707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.079254154 meters Centerline goodness : 0.998637 Centerline is valid? [True, True] Translation: X:746.19, Y:9.51, Z:11.55 [[ 9.99511835e-01 -2.71599708e-02 -1.54411364e-02 7.46187493e+02] [ 2.71598698e-02 9.99631079e-01 -2.16286231e-04 9.51002594e+00] [ 1.54413142e-02 -2.03198607e-04 9.99880755e-01 1.15515912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.1092541539999 meters Centerline goodness : 0.998743 Centerline is valid? [True, True] Translation: X:746.22, Y:9.51, Z:11.55 [[ 9.99483196e-01 -2.81941883e-02 -1.54411285e-02 7.46216676e+02] [ 2.81942018e-02 9.99602441e-01 -2.16853708e-04 9.51067155e+00] [ 1.54411037e-02 -2.18608655e-04 9.99880755e-01 1.15511992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.1392541539999 meters Centerline goodness : 0.998995 Centerline is valid? [True, True] Translation: X:746.25, Y:9.51, Z:11.55 [[ 9.99359806e-01 -3.22730493e-02 -1.54411245e-02 7.46246198e+02] [ 3.22735452e-02 9.99479050e-01 -2.17135586e-04 9.50971710e+00] [ 1.54400881e-02 -2.81343251e-04 9.99880755e-01 1.15498421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.1692541539999 meters Centerline goodness : 0.998869 Centerline is valid? [True, True] Translation: X:746.28, Y:9.51, Z:11.55 [[ 9.99275855e-01 -3.47755398e-02 -1.54411256e-02 7.46277178e+02] [ 3.47763356e-02 9.99395097e-01 -2.17054853e-04 9.50913370e+00] [ 1.54393334e-02 -3.20088092e-04 9.99880755e-01 1.15497896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.1992541539998 meters Centerline goodness : 0.998849 Centerline is valid? [True, True] Translation: X:746.31, Y:9.51, Z:11.55 [[ 9.99085234e-01 -3.98781553e-02 -1.54411335e-02 7.46308073e+02] [ 3.98795686e-02 9.99204470e-01 -2.16494717e-04 9.50810785e+00] [ 1.54374830e-02 -3.99489067e-04 9.99880755e-01 1.15503386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.2292541539999 meters Centerline goodness : 0.998889 Centerline is valid? [True, True] Translation: X:746.34, Y:9.51, Z:11.55 [[ 9.98979887e-01 -4.24353177e-02 -1.54411413e-02 7.46339157e+02] [ 4.24370448e-02 9.99099120e-01 -2.15933505e-04 9.50767609e+00] [ 1.54363939e-02 -4.39563179e-04 9.99880755e-01 1.15506997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.2592541539999 meters Centerline goodness : 0.998660 Centerline is valid? [True, True] Translation: X:746.37, Y:9.51, Z:11.55 [[ 9.98801665e-01 -4.64414056e-02 -1.54411530e-02 7.46371179e+02] [ 4.64436239e-02 9.98920890e-01 -2.15093517e-04 9.50628912e+00] [ 1.54344796e-02 -5.02307342e-04 9.99880755e-01 1.15522847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.2892541539999 meters Centerline goodness : 0.998952 Centerline is valid? [True, True] Translation: X:746.40, Y:9.51, Z:11.55 [[ 9.98734902e-01 -4.78556837e-02 -1.54411688e-02 7.46403672e+02] [ 4.78580884e-02 9.98854122e-01 -2.13957882e-04 9.50612287e+00] [ 1.54337142e-02 -5.25297615e-04 9.99880755e-01 1.15533052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.3192541539999 meters Centerline goodness : 0.998808 Centerline is valid? [True, True] Translation: X:746.44, Y:9.50, Z:11.55 [[ 9.98655038e-01 -4.94943001e-02 -1.54411845e-02 7.46436252e+02] [ 4.94969180e-02 9.98774254e-01 -2.12812595e-04 9.50496237e+00] [ 1.54327906e-02 -5.51764676e-04 9.99880755e-01 1.15534482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.3492541539999 meters Centerline goodness : 0.998830 Centerline is valid? [True, True] Translation: X:746.47, Y:9.50, Z:11.55 [[ 9.98662112e-01 -4.93513392e-02 -1.54412002e-02 7.46467600e+02] [ 4.93539577e-02 9.98781328e-01 -2.11670909e-04 9.50424200e+00] [ 1.54328287e-02 -5.50696625e-04 9.99880755e-01 1.15532744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.3792541539999 meters Centerline goodness : 0.998641 Centerline is valid? [True, True] Translation: X:746.50, Y:9.50, Z:11.55 [[ 9.98680879e-01 -4.89700880e-02 -1.54412260e-02 7.46498350e+02] [ 4.89726903e-02 9.98800096e-01 -2.09774189e-04 9.50409418e+00] [ 1.54329706e-02 -5.46700905e-04 9.99880755e-01 1.15539415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.4092541539999 meters Centerline goodness : 0.998892 Centerline is valid? [True, True] Translation: X:746.53, Y:9.50, Z:11.56 [[ 9.98788470e-01 -4.67243043e-02 -1.54412373e-02 7.46530432e+02] [ 4.67266515e-02 9.98907692e-01 -2.08937579e-04 9.50451558e+00] [ 1.54341332e-02 -5.12832869e-04 9.99880755e-01 1.15550123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.4392541539999 meters Centerline goodness : 0.998870 Centerline is valid? [True, True] Translation: X:746.56, Y:9.51, Z:11.56 [[ 9.98869139e-01 -4.49667849e-02 -1.54412526e-02 7.46561981e+02] [ 4.49689399e-02 9.98988364e-01 -2.07797498e-04 9.50502999e+00] [ 1.54349757e-02 -4.86814253e-04 9.99880755e-01 1.15555926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.4692541539999 meters Centerline goodness : 0.998536 Centerline is valid? [True, True] Translation: X:746.59, Y:9.51, Z:11.56 [[ 9.99041687e-01 -4.09545421e-02 -1.54412640e-02 7.46593657e+02] [ 4.09562313e-02 9.99160920e-01 -2.06947995e-04 9.50546291e+00] [ 1.54367830e-02 -4.25666306e-04 9.99880755e-01 1.15557882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.4992541539999 meters Centerline goodness : 0.998787 Centerline is valid? [True, True] Translation: X:746.63, Y:9.51, Z:11.56 [[ 9.99136133e-01 -3.85817940e-02 -1.54412752e-02 7.46625931e+02] [ 3.85832130e-02 9.99255369e-01 -2.06108357e-04 9.50613649e+00] [ 1.54377292e-02 -3.89843705e-04 9.99880755e-01 1.15561556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.5292541539999 meters Centerline goodness : 0.998702 Centerline is valid? [True, True] Translation: X:746.66, Y:9.51, Z:11.56 [[ 9.99295246e-01 -3.42137057e-02 -1.54412901e-02 7.46657483e+02] [ 3.42146207e-02 9.99414487e-01 -2.04989394e-04 9.50644843e+00] [ 1.54392625e-02 -3.23472957e-04 9.99880755e-01 1.15551604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.5592541539999 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:746.69, Y:9.51, Z:11.56 [[ 9.99358420e-01 -3.23158671e-02 -1.54412974e-02 7.46688008e+02] [ 3.23165642e-02 9.99477663e-01 -2.04432812e-04 9.50678398e+00] [ 1.54398383e-02 -2.94708029e-04 9.99880755e-01 1.15551471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.589254154 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:746.72, Y:9.51, Z:11.56 [[ 9.99359571e-01 -3.22802561e-02 -1.54413011e-02 7.46719846e+02] [ 3.22809533e-02 9.99478813e-01 -2.04156872e-04 9.50717422e+00] [ 1.54398435e-02 -2.94433796e-04 9.99880755e-01 1.15556388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.6192541539999 meters Centerline goodness : 0.998994 Centerline is valid? [True, True] Translation: X:746.75, Y:9.51, Z:11.56 [[ 9.99427185e-01 -3.01142350e-02 -1.54413083e-02 7.46749826e+02] [ 3.01146822e-02 9.99546429e-01 -2.03606640e-04 9.50760173e+00] [ 1.54404361e-02 -2.61520084e-04 9.99880755e-01 1.15556566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.6492541539999 meters Centerline goodness : 0.998994 Centerline is valid? [True, True] Translation: X:746.78, Y:9.51, Z:11.56 [[ 9.99548171e-01 -2.57879858e-02 -1.54413119e-02 7.46780050e+02] [ 2.57879212e-02 9.99667416e-01 -2.03333680e-04 9.50888439e+00] [ 1.54414200e-02 -1.94957527e-04 9.99880755e-01 1.15562978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.6792541539999 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:746.81, Y:9.51, Z:11.56 [[ 9.99635270e-01 -2.21561190e-02 -1.54413119e-02 7.46809232e+02] [ 2.21556210e-02 9.99754513e-01 -2.03333680e-04 9.50881302e+00] [ 1.54420264e-02 -1.38852338e-04 9.99880755e-01 1.15567889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.709254154 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:746.84, Y:9.51, Z:11.56 [[ 9.99672966e-01 -2.03844601e-02 -1.54413044e-02 7.46837547e+02] [ 2.03837421e-02 9.99792209e-01 -2.03902454e-04 9.50816456e+00] [ 1.54422523e-02 -1.10915796e-04 9.99880755e-01 1.15559115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.7392541539999 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:746.87, Y:9.51, Z:11.56 [[ 9.99683917e-01 -1.98402078e-02 -1.54412505e-02 7.46866168e+02] [ 1.98393630e-02 9.99803159e-01 -2.07906806e-04 9.50814453e+00] [ 1.54423360e-02 -9.85034840e-05 9.99880755e-01 1.15559395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.7692541539999 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:746.89, Y:9.51, Z:11.56 [[ 9.99674527e-01 -2.03078556e-02 -1.54411960e-02 7.46893794e+02] [ 2.03070052e-02 9.99793769e-01 -2.11876510e-04 9.50751947e+00] [ 1.54423144e-02 -1.01756899e-04 9.99880755e-01 1.15573379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.7992541539999 meters Centerline goodness : 0.999225 Centerline is valid? [True, True] Translation: X:746.92, Y:9.51, Z:11.56 [[ 9.99656011e-01 -2.11998101e-02 -1.54411323e-02 7.46922036e+02] [ 2.11989959e-02 9.99775253e-01 -2.16425613e-04 9.50693855e+00] [ 1.54422501e-02 -1.10985335e-04 9.99880755e-01 1.15569940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.829254154 meters Centerline goodness : 0.999098 Centerline is valid? [True, True] Translation: X:746.95, Y:9.51, Z:11.56 [[ 9.99569165e-01 -2.49610892e-02 -1.54411124e-02 7.46950546e+02] [ 2.49607019e-02 9.99688409e-01 -2.17833085e-04 9.50507996e+00] [ 1.54417385e-02 -1.67681769e-04 9.99880755e-01 1.15567273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.8592541539999 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:746.98, Y:9.50, Z:11.56 [[ 9.99501069e-01 -2.75533325e-02 -1.54410565e-02 7.46978996e+02] [ 2.75531944e-02 9.99620314e-01 -2.21728070e-04 9.50385364e+00] [ 1.54413031e-02 -2.03832987e-04 9.99880755e-01 1.15567944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.8892541539999 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:747.01, Y:9.50, Z:11.56 [[ 9.99423956e-01 -3.02213770e-02 -1.54409993e-02 7.47008508e+02] [ 3.02214966e-02 9.99543201e-01 -2.25645502e-04 9.50226289e+00] [ 1.54407651e-02 -2.41134586e-04 9.99880755e-01 1.15567940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.9192541539999 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:747.04, Y:9.50, Z:11.56 [[ 9.99227789e-01 -3.61303482e-02 -1.54409952e-02 7.47037937e+02] [ 3.61311686e-02 9.99347031e-01 -2.25923119e-04 9.49837127e+00] [ 1.54390754e-02 -3.32152543e-04 9.99880755e-01 1.15573707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.9492541539998 meters Centerline goodness : 0.998975 Centerline is valid? [True, True] Translation: X:747.07, Y:9.50, Z:11.56 [[ 9.99120393e-01 -3.89873826e-02 -1.54409912e-02 7.47069617e+02] [ 3.89885397e-02 9.99239632e-01 -2.26197347e-04 9.49683061e+00] [ 1.54380692e-02 -3.76023315e-04 9.99880755e-01 1.15584805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.9792541539999 meters Centerline goodness : 0.998914 Centerline is valid? [True, True] Translation: X:747.10, Y:9.49, Z:11.56 [[ 9.98907059e-01 -4.41164717e-02 -1.54409993e-02 7.47100778e+02] [ 4.41182497e-02 9.99026291e-01 -2.25638525e-04 9.49444825e+00] [ 1.54359187e-02 -4.55837949e-04 9.99880755e-01 1.15589268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.0092541539999 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:747.13, Y:9.49, Z:11.56 [[ 9.98815471e-01 -4.61435890e-02 -1.54410115e-02 7.47131715e+02] [ 4.61456218e-02 9.98934698e-01 -2.24802727e-04 9.49406109e+00] [ 1.54349354e-02 -4.87998636e-04 9.99880755e-01 1.15608473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.0392541539999 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:747.16, Y:9.49, Z:11.56 [[ 9.98705024e-01 -4.84752509e-02 -1.54410195e-02 7.47163044e+02] [ 4.84775705e-02 9.98824246e-01 -2.24251003e-04 9.49262517e+00] [ 1.54337353e-02 -5.24582510e-04 9.99880755e-01 1.15618452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.0692541539999 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:747.20, Y:9.49, Z:11.56 [[ 9.98694013e-01 -4.87015778e-02 -1.54410315e-02 7.47195391e+02] [ 4.87039372e-02 9.98813234e-01 -2.23425789e-04 9.49176473e+00] [ 1.54335878e-02 -5.28905029e-04 9.99880755e-01 1.15618594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.0992541539999 meters Centerline goodness : 0.999456 Centerline is valid? [True, True] Translation: X:747.23, Y:9.49, Z:11.56 [[ 9.98665319e-01 -4.92864622e-02 -1.54410471e-02 7.47227542e+02] [ 4.92889082e-02 9.98784538e-01 -2.22340467e-04 9.49109932e+00] [ 1.54332375e-02 -5.39028640e-04 9.99880755e-01 1.15633140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.1292541539999 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:747.26, Y:9.49, Z:11.56 [[ 9.98661899e-01 -4.93557028e-02 -1.54410627e-02 7.47258857e+02] [ 4.93581739e-02 9.98781118e-01 -2.21250640e-04 9.48978620e+00] [ 1.54331619e-02 -5.41188075e-04 9.99880755e-01 1.15643410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.1592541539999 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:747.29, Y:9.49, Z:11.57 [[ 9.98662570e-01 -4.93421101e-02 -1.54410743e-02 7.47289867e+02] [ 4.93445921e-02 9.98781789e-01 -2.20439436e-04 9.48981030e+00] [ 1.54331408e-02 -5.41788899e-04 9.99880755e-01 1.15652159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.1892541539999 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:747.32, Y:9.49, Z:11.57 [[ 9.98674261e-01 -4.91049230e-02 -1.54410819e-02 7.47320819e+02] [ 4.91073849e-02 9.98793480e-01 -2.19908233e-04 9.48982502e+00] [ 1.54332505e-02 -5.38654458e-04 9.99880755e-01 1.15657217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.2192541539999 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:747.35, Y:9.49, Z:11.57 [[ 9.98682256e-01 -4.89420465e-02 -1.54410931e-02 7.47352110e+02] [ 4.89445012e-02 9.98801476e-01 -2.19113388e-04 9.49021165e+00] [ 1.54333105e-02 -5.36931948e-04 9.99880755e-01 1.15660534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.2492541539999 meters Centerline goodness : 0.998995 Centerline is valid? [True, True] Translation: X:747.38, Y:9.49, Z:11.57 [[ 9.98675803e-01 -4.90735486e-02 -1.54411006e-02 7.47384077e+02] [ 4.90760272e-02 9.98795022e-01 -2.18587237e-04 9.49043744e+00] [ 1.54332212e-02 -5.39490087e-04 9.99880755e-01 1.15660452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.2792541539999 meters Centerline goodness : 0.998997 Centerline is valid? [True, True] Translation: X:747.42, Y:9.49, Z:11.57 [[ 9.98640945e-01 -4.97778628e-02 -1.54411158e-02 7.47416016e+02] [ 4.97804421e-02 9.98760162e-01 -2.17505706e-04 9.49016856e+00] [ 1.54327983e-02 -5.51455469e-04 9.99880755e-01 1.15656677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.3092541539999 meters Centerline goodness : 0.999146 Centerline is valid? [True, True] Translation: X:747.45, Y:9.49, Z:11.57 [[ 9.98584470e-01 -5.08982075e-02 -1.54411315e-02 7.47446775e+02] [ 5.09009379e-02 9.98703684e-01 -2.16384250e-04 9.49118654e+00] [ 1.54321285e-02 -5.69890126e-04 9.99880755e-01 1.15655971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.339254154 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:747.48, Y:9.49, Z:11.57 [[ 9.98545137e-01 -5.16641087e-02 -1.54411432e-02 7.47478503e+02] [ 5.16669434e-02 9.98664348e-01 -2.15548891e-04 9.49202571e+00] [ 1.54316553e-02 -5.82561375e-04 9.99880755e-01 1.15661151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.3692541539999 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:747.51, Y:9.49, Z:11.57 [[ 9.98503553e-01 -5.24616554e-02 -1.54411589e-02 7.47510770e+02] [ 5.24646028e-02 9.98622761e-01 -2.14420085e-04 9.49286314e+00] [ 1.54311415e-02 -5.96015050e-04 9.99880755e-01 1.15661324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.3992541539999 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:747.54, Y:9.49, Z:11.57 [[ 9.98392395e-01 -5.45361813e-02 -1.54411744e-02 7.47543431e+02] [ 5.45393937e-02 9.98511597e-01 -2.13297547e-04 9.49453550e+00] [ 1.54298241e-02 -6.29197639e-04 9.99880755e-01 1.15667565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.4292541539999 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:747.57, Y:9.50, Z:11.57 [[ 9.98346837e-01 -5.53639036e-02 -1.54411939e-02 7.47574175e+02] [ 5.53672368e-02 9.98466036e-01 -2.11873263e-04 9.49549692e+00] [ 1.54292378e-02 -6.43413238e-04 9.99880755e-01 1.15671314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.459254154 meters Centerline goodness : 0.999043 Centerline is valid? [True, True] Translation: X:747.61, Y:9.50, Z:11.57 [[ 9.98272820e-01 -5.66828466e-02 -1.54412055e-02 7.47606724e+02] [ 5.66863504e-02 9.98392014e-01 -2.11022669e-04 9.49691917e+00] [ 1.54283377e-02 -6.64647393e-04 9.99880755e-01 1.15675901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.4892541539999 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:747.64, Y:9.50, Z:11.57 [[ 9.98290422e-01 -5.63719901e-02 -1.54412211e-02 7.47638819e+02] [ 5.63754745e-02 9.98409616e-01 -2.09878999e-04 9.49784659e+00] [ 1.54284949e-02 -6.60985970e-04 9.99880755e-01 1.15681228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.5192541539999 meters Centerline goodness : 0.999063 Centerline is valid? [True, True] Translation: X:747.67, Y:9.50, Z:11.57 [[ 9.98364985e-01 -5.50356669e-02 -1.54412364e-02 7.47669956e+02] [ 5.50390093e-02 9.98484183e-01 -2.08744826e-04 9.50099223e+00] [ 1.54293187e-02 -6.41466829e-04 9.99880755e-01 1.15691004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.5492541539999 meters Centerline goodness : 0.999063 Centerline is valid? [True, True] Translation: X:747.70, Y:9.50, Z:11.57 [[ 9.98449364e-01 -5.34830312e-02 -1.54412478e-02 7.47701962e+02] [ 5.34862012e-02 9.98568567e-01 -2.07898975e-04 9.50282039e+00] [ 1.54302638e-02 -6.18317088e-04 9.99880755e-01 1.15703275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.579254154 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:747.73, Y:9.51, Z:11.57 [[ 9.98647869e-01 -4.96386985e-02 -1.54412632e-02 7.47733113e+02] [ 4.96414273e-02 9.98767083e-01 -2.06746017e-04 9.50637090e+00] [ 1.54324880e-02 -5.60059878e-04 9.99880755e-01 1.15708803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.6092541539999 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:747.77, Y:9.51, Z:11.57 [[ 9.98773118e-01 -4.70513121e-02 -1.54412747e-02 7.47765206e+02] [ 4.70537454e-02 9.98892338e-01 -2.05886984e-04 9.50828502e+00] [ 1.54338582e-02 -5.20935423e-04 9.99880755e-01 1.15723965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.6392541539999 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:747.80, Y:9.51, Z:11.57 [[ 9.99016860e-01 -4.15557404e-02 -1.54412897e-02 7.47797394e+02] [ 4.15575352e-02 9.99136092e-01 -2.04755980e-04 9.51151865e+00] [ 1.54364586e-02 -4.37147264e-04 9.99880755e-01 1.15736946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.6692541539999 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:747.83, Y:9.51, Z:11.57 [[ 9.99126988e-01 -3.88178953e-02 -1.54413047e-02 7.47829325e+02] [ 3.88193810e-02 9.99246223e-01 -2.03616516e-04 9.51354902e+00] [ 1.54375694e-02 -3.95983134e-04 9.99880755e-01 1.15746522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.6992541539998 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:747.86, Y:9.52, Z:11.58 [[ 9.99217869e-01 -3.64035274e-02 -1.54413196e-02 7.47860790e+02] [ 3.64047424e-02 9.99337107e-01 -2.02482337e-04 9.51563646e+00] [ 1.54384547e-02 -3.59813293e-04 9.99880755e-01 1.15756729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.7292541539999 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:747.89, Y:9.52, Z:11.58 [[ 9.99352720e-01 -3.24916228e-02 -1.54413270e-02 7.47890849e+02] [ 3.24923798e-02 9.99471963e-01 -2.01919014e-04 9.51887085e+00] [ 1.54397340e-02 -2.99937144e-04 9.99880755e-01 1.15764405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.7592541539999 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:747.92, Y:9.52, Z:11.58 [[ 9.99431637e-01 -2.99661259e-02 -1.54413382e-02 7.47922574e+02] [ 2.99665949e-02 9.99550881e-01 -2.01053257e-04 9.52071018e+00] [ 1.54404280e-02 -2.61785342e-04 9.99880755e-01 1.15769845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.7892541539999 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:747.95, Y:9.52, Z:11.58 [[ 9.99457089e-01 -2.91048430e-02 -1.54413453e-02 7.47951838e+02] [ 2.91052177e-02 9.99576333e-01 -2.00504977e-04 9.52151228e+00] [ 1.54406390e-02 -2.49027597e-04 9.99880755e-01 1.15771461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.8192541539999 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:747.98, Y:9.52, Z:11.58 [[ 9.99470645e-01 -2.86355646e-02 -1.54413418e-02 7.47982804e+02] [ 2.86358792e-02 9.99589889e-01 -2.00777023e-04 9.52226500e+00] [ 1.54407585e-02 -2.41505657e-04 9.99880755e-01 1.15778607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.8492541539999 meters Centerline goodness : 0.999351 Centerline is valid? [True, True] Translation: X:748.01, Y:9.52, Z:11.58 [[ 9.99499517e-01 -2.76094158e-02 -1.54413418e-02 7.48012397e+02] [ 2.76096079e-02 9.99618762e-01 -2.00777023e-04 9.52308556e+00] [ 1.54409983e-02 -2.25652855e-04 9.99880755e-01 1.15767828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.8792541539999 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:748.04, Y:9.52, Z:11.58 [[ 9.99493299e-01 -2.78336169e-02 -1.54413431e-02 7.48042441e+02] [ 2.78338374e-02 9.99612544e-01 -2.00675655e-04 9.52413175e+00] [ 1.54409458e-02 -2.29217861e-04 9.99880755e-01 1.15769325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.9092541539999 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:748.07, Y:9.52, Z:11.58 [[ 9.99448847e-01 -2.93865303e-02 -1.54413359e-02 7.48071781e+02] [ 2.93869274e-02 9.99568091e-01 -2.01231616e-04 9.52491690e+00] [ 1.54405801e-02 -2.52652710e-04 9.99880755e-01 1.15778013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.9392541539999 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:748.10, Y:9.52, Z:11.58 [[ 9.99417026e-01 -3.04495153e-02 -1.54413286e-02 7.48102316e+02] [ 3.04500306e-02 9.99536270e-01 -2.01789699e-04 9.52478429e+00] [ 1.54403124e-02 -2.68516868e-04 9.99880755e-01 1.15779500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.9692541539999 meters Centerline goodness : 0.999226 Centerline is valid? [True, True] Translation: X:748.13, Y:9.52, Z:11.58 [[ 9.99355527e-01 -3.24052011e-02 -1.54413286e-02 7.48132842e+02] [ 3.24059498e-02 9.99474769e-01 -2.01789699e-04 9.52389224e+00] [ 1.54397574e-02 -2.98731268e-04 9.99880755e-01 1.15784444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.9992541539999 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:748.16, Y:9.52, Z:11.58 [[ 9.99326086e-01 -3.33007371e-02 -1.54413322e-02 7.48163830e+02] [ 3.33015969e-02 9.99445328e-01 -2.01513874e-04 9.52370339e+00] [ 1.54394779e-02 -3.12842949e-04 9.99880755e-01 1.15798286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.0292541539999 meters Centerline goodness : 0.999267 Centerline is valid? [True, True] Translation: X:748.19, Y:9.52, Z:11.58 [[ 9.99282707e-01 -3.45779790e-02 -1.54413396e-02 7.48193766e+02] [ 3.45790001e-02 9.99401947e-01 -2.00942590e-04 9.52317578e+00] [ 1.54390531e-02 -3.33147629e-04 9.99880755e-01 1.15806728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.0592541539999 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:748.23, Y:9.52, Z:11.58 [[ 9.99274062e-01 -3.48269091e-02 -1.54413433e-02 7.48225156e+02] [ 3.48279642e-02 9.99393302e-01 -2.00658903e-04 9.52319082e+00] [ 1.54389634e-02 -3.37277315e-04 9.99880755e-01 1.15817174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.089254154 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:748.26, Y:9.52, Z:11.58 [[ 9.99244384e-01 -3.56682686e-02 -1.54413507e-02 7.48255494e+02] [ 3.56694329e-02 9.99363623e-01 -2.00091931e-04 9.52236035e+00] [ 1.54386611e-02 -3.50843483e-04 9.99880755e-01 1.15820438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.1192541539999 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:748.29, Y:9.52, Z:11.58 [[ 9.99212722e-01 -3.65444948e-02 -1.54413543e-02 7.48287097e+02] [ 3.65457680e-02 9.99331960e-01 -1.99810734e-04 9.52153539e+00] [ 1.54383408e-02 -3.64662725e-04 9.99880755e-01 1.15822758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.1492541539999 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:748.32, Y:9.52, Z:11.58 [[ 9.99125632e-01 -3.88527586e-02 -1.54413617e-02 7.48317366e+02] [ 3.88543160e-02 9.99244866e-01 -1.99240870e-04 9.51930551e+00] [ 1.54374424e-02 -4.00896885e-04 9.99880755e-01 1.15818524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.1792541539999 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:748.35, Y:9.52, Z:11.58 [[ 9.99072974e-01 -4.01840402e-02 -1.54413653e-02 7.48348745e+02] [ 4.01857609e-02 9.99192206e-01 -1.98958372e-04 9.51850799e+00] [ 1.54368868e-02 -4.21749080e-04 9.99880755e-01 1.15824286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.209254154 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] Translation: X:748.38, Y:9.52, Z:11.58 [[ 9.98953676e-01 -4.30478466e-02 -1.54413725e-02 7.48380059e+02] [ 4.30499177e-02 9.99072903e-01 -1.98399002e-04 9.51681692e+00] [ 1.54355975e-02 -4.66558402e-04 9.99880755e-01 1.15831372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.2392541539999 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:748.41, Y:9.52, Z:11.58 [[ 9.98928834e-01 -4.36205099e-02 -1.54413796e-02 7.48411067e+02] [ 4.36226579e-02 9.99048059e-01 -1.97840404e-04 9.51600391e+00] [ 1.54353103e-02 -4.75965537e-04 9.99880755e-01 1.15833792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.2692541539999 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:748.44, Y:9.52, Z:11.58 [[ 9.98921270e-01 -4.37933868e-02 -1.54413903e-02 7.48443495e+02] [ 4.37955684e-02 9.99040494e-01 -1.97005032e-04 9.51550039e+00] [ 1.54352017e-02 -4.79471948e-04 9.99880755e-01 1.15847344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.2992541539999 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:748.48, Y:9.51, Z:11.59 [[ 9.98941445e-01 -4.33307340e-02 -1.54414048e-02 7.48475390e+02] [ 4.33328780e-02 9.99060671e-01 -1.95857475e-04 9.51396279e+00] [ 1.54353869e-02 -4.73470364e-04 9.99880755e-01 1.15853906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.329254154 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:748.51, Y:9.51, Z:11.59 [[ 9.98960839e-01 -4.28812832e-02 -1.54414193e-02 7.48507224e+02] [ 4.28833913e-02 9.99080065e-01 -1.94712170e-04 9.51341958e+00] [ 1.54355637e-02 -4.67670593e-04 9.99880755e-01 1.15857303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.3592541539999 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:748.54, Y:9.51, Z:11.59 [[ 9.98986594e-01 -4.22770399e-02 -1.54414335e-02 7.48538308e+02] [ 4.22790935e-02 9.99105821e-01 -1.93576516e-04 9.51263044e+00] [ 1.54358100e-02 -4.59469467e-04 9.99880755e-01 1.15864624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.3892541539999 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:748.57, Y:9.51, Z:11.59 [[ 9.98987348e-01 -4.22591993e-02 -1.54414406e-02 7.48569289e+02] [ 4.22612595e-02 9.99106575e-01 -1.93009236e-04 9.51261681e+00] [ 1.54358013e-02 -4.59760944e-04 9.99880755e-01 1.15867376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.4192541539999 meters Centerline goodness : 0.999479 Centerline is valid? [True, True] Translation: X:748.60, Y:9.51, Z:11.59 [[ 9.98977342e-01 -4.24950780e-02 -1.54414476e-02 7.48600944e+02] [ 4.24971750e-02 9.99096568e-01 -1.92445180e-04 9.51219547e+00] [ 1.54356753e-02 -4.63969529e-04 9.99880755e-01 1.15870521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.4492541539998 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:748.63, Y:9.51, Z:11.59 [[ 9.98946001e-01 -4.32255559e-02 -1.54414547e-02 7.48631484e+02] [ 4.32277489e-02 9.99065226e-01 -1.91875006e-04 9.51085255e+00] [ 1.54353144e-02 -4.75826558e-04 9.99880755e-01 1.15873964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.4792541539999 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:748.66, Y:9.51, Z:11.59 [[ 9.98847953e-01 -4.54349796e-02 -1.54411306e-02 7.48663185e+02] [ 4.54370334e-02 9.98967181e-01 -2.17963337e-04 9.50899308e+00] [ 1.54350859e-02 -4.83886935e-04 9.99880755e-01 1.15869510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.5092541539999 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:748.70, Y:9.51, Z:11.59 [[ 9.98851270e-01 -4.53618849e-02 -1.54414663e-02 7.48695867e+02] [ 4.53643496e-02 9.98970490e-01 -1.90794856e-04 9.50932341e+00] [ 1.54342240e-02 -5.09916392e-04 9.99880755e-01 1.15874492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.5392541539999 meters Centerline goodness : 0.999333 Centerline is valid? [True, True] Translation: X:748.73, Y:9.51, Z:11.59 [[ 9.98794502e-01 -4.65950969e-02 -1.54414801e-02 7.48727881e+02] [ 4.65977262e-02 9.98913718e-01 -1.89671214e-04 9.50864201e+00] [ 1.54335441e-02 -5.30095296e-04 9.99880755e-01 1.15876017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.5692541539999 meters Centerline goodness : 0.999397 Centerline is valid? [True, True] Translation: X:748.76, Y:9.51, Z:11.59 [[ 9.98731706e-01 -4.79222226e-02 -1.54414938e-02 7.48760376e+02] [ 4.79250276e-02 9.98850918e-01 -1.88551162e-04 9.50821582e+00] [ 1.54327860e-02 -5.51721992e-04 9.99880755e-01 1.15882243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.5992541539999 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:748.79, Y:9.51, Z:11.59 [[ 9.98590135e-01 -5.07868301e-02 -1.54415077e-02 7.48791224e+02] [ 5.07899947e-02 9.98709338e-01 -1.87406348e-04 9.50735780e+00] [ 1.54310957e-02 -5.97131962e-04 9.99880755e-01 1.15874625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.6292541539999 meters Centerline goodness : 0.999230 Centerline is valid? [True, True] Translation: X:748.82, Y:9.51, Z:11.59 [[ 9.98525851e-01 -5.20354103e-02 -1.54415180e-02 7.48823256e+02] [ 5.20387371e-02 9.98645050e-01 -1.86553344e-04 9.50715088e+00] [ 1.54303029e-02 -6.17278758e-04 9.99880755e-01 1.15878706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.6592541539999 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:748.86, Y:9.51, Z:11.59 [[ 9.98464425e-01 -5.32010529e-02 -1.54415317e-02 7.48855090e+02] [ 5.32045364e-02 9.98583618e-01 -1.85411633e-04 9.50671944e+00] [ 1.54295247e-02 -6.36432616e-04 9.99880755e-01 1.15882815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.6892541539999 meters Centerline goodness : 0.999397 Centerline is valid? [True, True] Translation: X:748.89, Y:9.51, Z:11.59 [[ 9.98365960e-01 -5.50178862e-02 -1.54415452e-02 7.48886249e+02] [ 5.50216042e-02 9.98485147e-01 -1.84277925e-04 9.50527290e+00] [ 1.54282921e-02 -6.65641782e-04 9.99880755e-01 1.15884289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.7192541539999 meters Centerline goodness : 0.999209 Centerline is valid? [True, True] Translation: X:748.93, Y:9.49, Z:11.58 [[ 9.98843317e-01 -4.55366539e-02 -1.54415553e-02 7.48930067e+02] [ 4.55392531e-02 9.98962533e-01 -1.83432779e-04 9.49312325e+00] [ 1.54338881e-02 -5.19976289e-04 9.99880755e-01 1.15815095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.7492541539999 meters Centerline goodness : 0.999272 Centerline is valid? [True, True] Translation: X:748.95, Y:9.50, Z:11.59 [[ 9.98150559e-01 -5.87945549e-02 -1.54486973e-02 7.48945047e+02] [ 5.88087877e-02 9.98269156e-01 4.68229491e-04 9.50482057e+00] [ 1.53944286e-02 -1.37588269e-03 9.99880552e-01 1.15899413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.7792541539999 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:748.98, Y:9.51, Z:11.59 [[ 9.98054281e-01 -6.04089686e-02 -1.54404808e-02 7.48976886e+02] [ 6.04132075e-02 9.98173436e-01 -1.92181388e-04 9.50593126e+00] [ 1.54238872e-02 -7.41001511e-04 9.99880770e-01 1.15920010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.8092541539999 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:749.01, Y:9.51, Z:11.59 [[ 9.98019184e-01 -6.09860571e-02 -1.54404950e-02 7.49008237e+02] [ 6.09903826e-02 9.98138335e-01 -1.91033899e-04 9.50646730e+00] [ 1.54234003e-02 -7.51066200e-04 9.99880770e-01 1.15922517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.839254154 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:749.04, Y:9.51, Z:11.59 [[ 9.97979119e-01 -6.16382134e-02 -1.54405055e-02 7.49040123e+02] [ 6.16426299e-02 9.98098267e-01 -1.90178913e-04 9.50677816e+00] [ 1.54228641e-02 -7.61998782e-04 9.99880770e-01 1.15931448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.8692541539999 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:749.07, Y:9.51, Z:11.59 [[ 9.97934454e-01 -6.23571674e-02 -1.54405195e-02 7.49072563e+02] [ 6.23616875e-02 9.98053598e-01 -1.89031422e-04 9.50721444e+00] [ 1.54222535e-02 -7.74255885e-04 9.99880770e-01 1.15935598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.8992541539999 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:749.10, Y:9.51, Z:11.59 [[ 9.97876261e-01 -6.32815690e-02 -1.54405335e-02 7.49103602e+02] [ 6.32862172e-02 9.97995401e-01 -1.87883429e-04 9.50830819e+00] [ 1.54214710e-02 -7.89688543e-04 9.99880770e-01 1.15940788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.9292541539999 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:749.13, Y:9.51, Z:11.59 [[ 9.97915359e-01 -6.26619876e-02 -1.54405560e-02 7.49132539e+02] [ 6.26665906e-02 9.98034500e-01 -1.86016137e-04 9.50982299e+00] [ 1.54218637e-02 -7.81978642e-04 9.99880770e-01 1.15938395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.959254154 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:749.17, Y:9.51, Z:11.59 [[ 9.97935595e-01 -6.23391354e-02 -1.54395754e-02 7.49166833e+02] [ 6.23424121e-02 9.98054784e-01 -2.69450657e-04 9.50997295e+00] [ 1.54263394e-02 -6.93645969e-04 9.99880766e-01 1.15946790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.9892541539999 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:749.20, Y:9.51, Z:11.60 [[ 9.97966322e-01 -6.18448365e-02 -1.54413609e-02 7.49197674e+02] [ 6.18504744e-02 9.98085420e-01 -1.12631532e-04 9.51090116e+00] [ 1.54187628e-02 -8.42653018e-04 9.99880769e-01 1.15951283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.0192541539999 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:749.23, Y:9.51, Z:11.60 [[ 9.97944940e-01 -6.21889357e-02 -1.54412836e-02 7.49227643e+02] [ 6.21945080e-02 9.98064040e-01 -1.19541163e-04 9.51275919e+00] [ 1.54188240e-02 -8.41067536e-04 9.99880769e-01 1.15952286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.0492541539999 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:749.26, Y:9.51, Z:11.60 [[ 9.97989105e-01 -6.14762779e-02 -1.54406688e-02 7.49259479e+02] [ 6.14809236e-02 9.98108244e-01 -1.74072514e-04 9.51298273e+00] [ 1.54221602e-02 -7.75584109e-04 9.99880771e-01 1.15954099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.079254154 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:749.29, Y:9.51, Z:11.60 [[ 9.98137398e-01 -5.90196524e-02 -1.54406812e-02 7.49291918e+02] [ 5.90240220e-02 9.98256548e-01 -1.72964917e-04 9.51442094e+00] [ 1.54239695e-02 -7.38728357e-04 9.99880771e-01 1.15956432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.1092541539999 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:749.32, Y:9.52, Z:11.60 [[ 9.98260227e-01 -5.69043501e-02 -1.54406935e-02 7.49324108e+02] [ 5.69084842e-02 9.98379384e-01 -1.71866688e-04 9.51556257e+00] [ 1.54254500e-02 -7.07138781e-04 9.99880771e-01 1.15952688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.1392541539999 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:749.36, Y:9.52, Z:11.60 [[ 9.98347479e-01 -5.53524716e-02 -1.54407055e-02 7.49356208e+02] [ 5.53564372e-02 9.98466642e-01 -1.70774963e-04 9.51750203e+00] [ 1.54264822e-02 -6.84249693e-04 9.99880771e-01 1.15967981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.1692541539999 meters Centerline goodness : 0.998976 Centerline is valid? [True, True] Translation: X:749.39, Y:9.52, Z:11.60 [[ 9.98598208e-01 -5.06280890e-02 -1.54407175e-02 7.49387945e+02] [ 5.06315076e-02 9.98717388e-01 -1.69687077e-04 9.52031518e+00] [ 1.54295040e-02 -6.12337594e-04 9.99880771e-01 1.15984221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.1992541539998 meters Centerline goodness : 0.998954 Centerline is valid? [True, True] Translation: X:749.42, Y:9.52, Z:11.60 [[ 9.98823857e-01 -4.59618017e-02 -1.54407299e-02 7.49420197e+02] [ 4.59646809e-02 9.98943051e-01 -1.68553555e-04 9.52268361e+00] [ 1.54321568e-02 -5.41372909e-04 9.99880771e-01 1.15999457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.2292541539999 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:749.45, Y:9.52, Z:11.60 [[ 9.98927826e-01 -4.36437972e-02 -1.54407424e-02 7.49451088e+02] [ 4.36464177e-02 9.99047027e-01 -1.67398352e-04 9.52384265e+00] [ 1.54333337e-02 -5.06714219e-04 9.99880771e-01 1.16004910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.2592541539999 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:749.48, Y:9.53, Z:11.60 [[ 9.99015384e-01 -4.15913995e-02 -1.54407628e-02 7.49482541e+02] [ 4.15938043e-02 9.99134590e-01 -1.65496768e-04 9.52521434e+00] [ 1.54342834e-02 -4.76906248e-04 9.99880771e-01 1.16007630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.2892541539999 meters Centerline goodness : 0.999267 Centerline is valid? [True, True] Translation: X:749.51, Y:9.53, Z:11.60 [[ 9.99091995e-01 -3.97085468e-02 -1.54407718e-02 7.49514265e+02] [ 3.97107402e-02 9.99211204e-01 -1.64646927e-04 9.52667659e+00] [ 1.54351301e-02 -4.48667052e-04 9.99880771e-01 1.16020683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.3192541539999 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:749.55, Y:9.53, Z:11.60 [[ 9.99209260e-01 -3.66392947e-02 -1.54407779e-02 7.49545400e+02] [ 3.66411306e-02 9.99328475e-01 -1.64077887e-04 9.52964635e+00] [ 1.54364207e-02 -4.01819415e-04 9.99880771e-01 1.16025145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.3492541539999 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:749.58, Y:9.53, Z:11.60 [[ 9.99305923e-01 -3.39006413e-02 -1.54407974e-02 7.49576529e+02] [ 3.39021792e-02 9.99425143e-01 -1.62216876e-04 9.53204118e+00] [ 1.54374204e-02 -3.61372397e-04 9.99880771e-01 1.16029339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.3792541539999 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:749.61, Y:9.53, Z:11.60 [[ 9.99340671e-01 -3.28603891e-02 -1.54408034e-02 7.49607975e+02] [ 3.28618117e-02 9.99459892e-01 -1.61648082e-04 9.53299879e+00] [ 1.54377755e-02 -3.45871271e-04 9.99880771e-01 1.16030620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.4092541539999 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:749.64, Y:9.53, Z:11.60 [[ 9.99419049e-01 -3.03833203e-02 -1.54408093e-02 7.49639378e+02] [ 3.03844561e-02 9.99538273e-01 -1.61082413e-04 9.53395554e+00] [ 1.54385741e-02 -3.08171761e-04 9.99880771e-01 1.16036625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.4392541539999 meters Centerline goodness : 0.998996 Centerline is valid? [True, True] Translation: X:749.67, Y:9.53, Z:11.60 [[ 9.99444383e-01 -2.95382075e-02 -1.54408152e-02 7.49669556e+02] [ 2.95392513e-02 9.99563608e-01 -1.60515215e-04 9.53480396e+00] [ 1.54388183e-02 -2.95684090e-04 9.99880771e-01 1.16042640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.4692541539999 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:749.70, Y:9.54, Z:11.61 [[ 9.99482204e-01 -2.82294974e-02 -1.54408152e-02 7.49699188e+02] [ 2.82303850e-02 9.99601430e-01 -1.60515215e-04 9.53608644e+00] [ 1.54391922e-02 -2.75468057e-04 9.99880771e-01 1.16050279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.4992541539999 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:749.73, Y:9.54, Z:11.61 [[ 9.99477832e-01 -2.83838952e-02 -1.54408123e-02 7.49729194e+02] [ 2.83847970e-02 9.99597058e-01 -1.60796304e-04 9.53687869e+00] [ 1.54391545e-02 -2.77571980e-04 9.99880771e-01 1.16052305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.5292541539999 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:749.76, Y:9.54, Z:11.61 [[ 9.99478797e-01 -2.83498802e-02 -1.54408064e-02 7.49758774e+02] [ 2.83507692e-02 9.99598023e-01 -1.61359029e-04 9.53678491e+00] [ 1.54391740e-02 -2.76483810e-04 9.99880771e-01 1.16050686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.5592541539999 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:749.79, Y:9.54, Z:11.61 [[ 9.99479019e-01 -2.83420621e-02 -1.54408071e-02 7.49787921e+02] [ 2.83429512e-02 9.99598245e-01 -1.61289842e-04 9.53649220e+00] [ 1.54391750e-02 -2.76432230e-04 9.99880771e-01 1.16059656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.589254154 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:749.82, Y:9.53, Z:11.60 [[ 9.99401476e-01 -3.09562408e-02 -1.54402564e-02 7.49818076e+02] [ 3.09566361e-02 9.99520706e-01 -2.13462753e-04 9.53395313e+00] [ 1.54394640e-02 -2.64643408e-04 9.99880769e-01 1.16043718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.6192541539999 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:749.85, Y:9.53, Z:11.60 [[ 9.99366486e-01 -3.20656998e-02 -1.54407951e-02 7.49848696e+02] [ 3.20670195e-02 9.99485708e-01 -1.62167963e-04 9.53304350e+00] [ 1.54380541e-02 -3.33075052e-04 9.99880771e-01 1.16046547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.6492541539999 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:749.88, Y:9.53, Z:11.60 [[ 9.99293890e-01 -3.42535276e-02 -1.54407951e-02 7.49878639e+02] [ 3.42551083e-02 9.99413108e-01 -1.62167963e-04 9.53179518e+00] [ 1.54372879e-02 -3.66872655e-04 9.99880771e-01 1.16046648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.6792541539999 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:749.91, Y:9.53, Z:11.60 [[ 9.99256079e-01 -3.53393668e-02 -1.54407980e-02 7.49909351e+02] [ 3.53410813e-02 9.99375296e-01 -1.61897569e-04 9.53161567e+00] [ 1.54368734e-02 -3.83917367e-04 9.99880771e-01 1.16048139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.709254154 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:749.94, Y:9.53, Z:11.60 [[ 9.99234055e-01 -3.59567002e-02 -1.54407980e-02 7.49939936e+02] [ 3.59584883e-02 9.99353271e-01 -1.61897569e-04 9.53143999e+00] [ 1.54366333e-02 -3.93454190e-04 9.99880771e-01 1.16044273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.7392541539999 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:749.97, Y:9.53, Z:11.61 [[ 9.99215183e-01 -3.64773906e-02 -1.54408007e-02 7.49970904e+02] [ 3.64792450e-02 9.99334398e-01 -1.61633293e-04 9.53071861e+00] [ 1.54364193e-02 -4.01762312e-04 9.99880771e-01 1.16058511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.7692541539999 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:750.00, Y:9.53, Z:11.61 [[ 9.99233238e-01 -3.59794101e-02 -1.54408037e-02 7.50001028e+02] [ 3.59812095e-02 9.99352454e-01 -1.61345655e-04 9.52963950e+00] [ 1.54366102e-02 -3.94356854e-04 9.99880771e-01 1.16050812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.7992541539999 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:750.03, Y:9.53, Z:11.61 [[ 9.99269356e-01 -3.49619102e-02 -1.54408067e-02 7.50031995e+02] [ 3.49635926e-02 9.99388574e-01 -1.61060377e-04 9.52861076e+00] [ 1.54369968e-02 -3.78923377e-04 9.99880771e-01 1.16057187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.829254154 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:750.06, Y:9.53, Z:11.61 [[ 9.99307799e-01 -3.38452930e-02 -1.54408126e-02 7.50063638e+02] [ 3.38468509e-02 9.99427018e-01 -1.60492323e-04 9.52873599e+00] [ 1.54373972e-02 -3.62241653e-04 9.99880771e-01 1.16064498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.8592541539999 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:750.09, Y:9.53, Z:11.61 [[ 9.99351670e-01 -3.25241722e-02 -1.54408185e-02 7.50094198e+02] [ 3.25255812e-02 9.99470891e-01 -1.59928047e-04 9.52943674e+00] [ 1.54378501e-02 -3.42397235e-04 9.99880771e-01 1.16074057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.8892541539999 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:750.13, Y:9.53, Z:11.61 [[ 9.99457305e-01 -2.90977052e-02 -1.54408185e-02 7.50125003e+02] [ 2.90987055e-02 9.99576530e-01 -1.59928047e-04 9.52994416e+00] [ 1.54389333e-02 -2.89466574e-04 9.99880771e-01 1.16096293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.9192541539999 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:750.15, Y:9.53, Z:11.61 [[ 9.99516486e-01 -2.69884321e-02 -1.54408185e-02 7.50154237e+02] [ 2.69891808e-02 9.99635713e-01 -1.59928047e-04 9.52974099e+00] [ 1.54395098e-02 -2.56884322e-04 9.99880771e-01 1.16101362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.9492541539998 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:750.18, Y:9.53, Z:11.61 [[ 9.99648353e-01 -2.15581181e-02 -1.54408126e-02 7.50183706e+02] [ 2.15582103e-02 9.99767582e-01 -1.60496310e-04 9.52783822e+00] [ 1.54406838e-02 -1.72436413e-04 9.99880771e-01 1.16102159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.9792541539999 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:750.21, Y:9.53, Z:11.61 [[ 9.99687259e-01 -1.96714634e-02 -1.54408066e-02 7.50211689e+02] [ 1.96713218e-02 9.99806488e-01 -1.61064020e-04 9.52813713e+00] [ 1.54409870e-02 -1.42727427e-04 9.99880771e-01 1.16113911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.0092541539999 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:750.24, Y:9.53, Z:11.61 [[ 9.99724007e-01 -1.77056816e-02 -1.54407832e-02 7.50239643e+02] [ 1.77052714e-02 9.99843236e-01 -1.63276959e-04 9.52829945e+00] [ 1.54412536e-02 -1.10151362e-04 9.99880771e-01 1.16121626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.0392541539999 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:750.27, Y:9.53, Z:11.61 [[ 9.99771150e-01 -1.48064799e-02 -1.54407342e-02 7.50267020e+02] [ 1.48056543e-02 9.99890376e-01 -1.67785570e-04 9.52769279e+00] [ 1.54415259e-02 -6.08630016e-05 9.99880771e-01 1.16130267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.0692541539999 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:750.30, Y:9.53, Z:11.61 [[ 9.99771242e-01 -1.48002939e-02 -1.54407128e-02 7.50295103e+02] [ 1.47994374e-02 9.99890468e-01 -1.69738065e-04 9.52715194e+00] [ 1.54415337e-02 -5.88146262e-05 9.99880771e-01 1.16138556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.0992541539999 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:750.32, Y:9.52, Z:11.61 [[ 9.99746923e-01 -1.63607943e-02 -1.54406612e-02 7.50322491e+02] [ 1.63600533e-02 9.99866150e-01 -1.74306307e-04 9.52450952e+00] [ 1.54414463e-02 -7.83478475e-05 9.99880771e-01 1.16140579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.1292541539999 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:750.35, Y:9.52, Z:11.61 [[ 9.99712680e-01 -1.83342131e-02 -1.54406451e-02 7.50349823e+02] [ 1.83336857e-02 9.99831908e-01 -1.75719031e-04 9.52292011e+00] [ 1.54412714e-02 -1.07415392e-04 9.99880771e-01 1.16139822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.1592541539999 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:750.38, Y:9.52, Z:11.61 [[ 9.99656984e-01 -2.11542182e-02 -1.54406227e-02 7.50377406e+02] [ 2.11539970e-02 9.99776213e-01 -1.77668824e-04 9.52130727e+00] [ 1.54409257e-02 -1.49023006e-04 9.99880771e-01 1.16141525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.1892541539999 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:750.41, Y:9.52, Z:11.61 [[ 9.99498971e-01 -2.76296318e-02 -1.54405701e-02 7.50405692e+02] [ 2.76301142e-02 9.99618199e-01 -1.82124894e-04 9.51797419e+00] [ 1.54397070e-02 -2.44591072e-04 9.99880771e-01 1.16130391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.2192541539999 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:750.43, Y:9.52, Z:11.61 [[ 9.99379148e-01 -3.16687168e-02 -1.54405538e-02 7.50434507e+02] [ 3.16696597e-02 9.99498374e-01 -1.83503656e-04 9.51694755e+00] [ 1.54386197e-02 -3.05607355e-04 9.99880771e-01 1.16136460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.2492541539999 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:750.46, Y:9.51, Z:11.61 [[ 9.99092831e-01 -3.96875985e-02 -1.54405070e-02 7.50464100e+02] [ 3.96894387e-02 9.99212046e-01 -1.87353478e-04 9.51409182e+00] [ 1.54357762e-02 -4.25641541e-04 9.99880771e-01 1.16134757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.2792541539999 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:750.50, Y:9.51, Z:11.61 [[ 9.98926774e-01 -4.36679617e-02 -1.54405003e-02 7.50495562e+02] [ 4.36702683e-02 9.99045981e-01 -1.87906892e-04 9.51269456e+00] [ 1.54339753e-02 -4.86585566e-04 9.99880771e-01 1.16136383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.3092541539999 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:750.53, Y:9.51, Z:11.61 [[ 9.98786323e-01 -4.67704107e-02 -1.54405070e-02 7.50526400e+02] [ 4.67730961e-02 9.98905522e-01 -1.87351339e-04 9.51152005e+00] [ 1.54323703e-02 -5.35076365e-04 9.99880771e-01 1.16142389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.339254154 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:750.56, Y:9.50, Z:11.61 [[ 9.98653151e-01 -4.95326871e-02 -1.54401211e-02 7.50561468e+02] [ 4.95352087e-02 9.98772354e-01 -2.19313315e-04 9.50492653e+00] [ 1.54320292e-02 -5.45811686e-04 9.99880770e-01 1.16090172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.3692541539999 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:750.59, Y:9.50, Z:11.61 [[ 9.98383509e-01 -5.46978772e-02 -1.54437853e-02 7.50593681e+02] [ 5.47052379e-02 9.98502546e-01 5.42494571e-05 9.50278376e+00] [ 1.54176916e-02 -8.99017711e-04 9.99880736e-01 1.16117546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.3992541539999 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:750.63, Y:9.50, Z:11.61 [[ 9.98363761e-01 -5.50568873e-02 -1.54447115e-02 7.50625267e+02] [ 5.50653293e-02 9.98482746e-01 1.21548117e-04 9.50333796e+00] [ 1.54145859e-02 -9.71817359e-04 9.99880716e-01 1.16122282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.4292541539999 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:750.65, Y:9.51, Z:11.62 [[ 9.97930979e-01 -6.24117174e-02 -1.54446988e-02 7.50647947e+02] [ 6.24210219e-02 9.98049899e-01 1.20643842e-04 9.50934485e+00] [ 1.54070505e-02 -1.08446811e-03 9.99880716e-01 1.16182840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.459254154 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:750.68, Y:9.51, Z:11.62 [[ 9.97805991e-01 -6.43802899e-02 -1.54396657e-02 7.50679359e+02] [ 6.43844974e-02 9.97925140e-01 -2.24920298e-04 9.50936071e+00] [ 1.54221110e-02 -7.69648295e-04 9.99880776e-01 1.16194387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.4892541539999 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:750.71, Y:9.51, Z:11.62 [[ 9.97698552e-01 -6.60242986e-02 -1.54399048e-02 7.50710044e+02] [ 6.60289553e-02 9.97817686e-01 -2.08532530e-04 9.50837982e+00] [ 1.54199783e-02 -8.11428182e-04 9.99880776e-01 1.16206370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.5192541539999 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:750.74, Y:9.51, Z:11.62 [[ 9.97691612e-01 -6.61291443e-02 -1.54396534e-02 7.50742362e+02] [ 6.61335480e-02 9.97810755e-01 -2.25733865e-04 9.50791518e+00] [ 1.54207798e-02 -7.95866272e-04 9.99880776e-01 1.16204295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.5492541539999 meters Centerline goodness : 0.999333 Centerline is valid? [True, True] Translation: X:750.77, Y:9.51, Z:11.62 [[ 9.97632801e-01 -6.70105262e-02 -1.54396697e-02 7.50774424e+02] [ 6.70150525e-02 9.97751939e-01 -2.24611915e-04 9.50922048e+00] [ 1.54200117e-02 -8.10610060e-04 9.99880776e-01 1.16231740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.5792541539998 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:750.81, Y:9.51, Z:11.62 [[ 9.97670863e-01 -6.64414446e-02 -1.54396863e-02 7.50806118e+02] [ 6.64459206e-02 9.97790003e-01 -2.23466111e-04 9.50925969e+00] [ 1.54204120e-02 -8.02958539e-04 9.99880776e-01 1.16218152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.6092541539999 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:750.84, Y:9.51, Z:11.62 [[ 9.97665524e-01 -6.65215591e-02 -1.54397120e-02 7.50838336e+02] [ 6.65260723e-02 9.97784662e-01 -2.21674215e-04 9.51081816e+00] [ 1.54202539e-02 -8.05986674e-04 9.99880776e-01 1.16236777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.6392541539999 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:750.87, Y:9.51, Z:11.62 [[ 9.97679487e-01 -6.63118054e-02 -1.54397281e-02 7.50869671e+02] [ 6.63163110e-02 9.97798626e-01 -2.20548657e-04 9.51323438e+00] [ 1.54203644e-02 -8.03868936e-04 9.99880776e-01 1.16227707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.6692541539999 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:750.90, Y:9.51, Z:11.62 [[ 9.97707995e-01 -6.58814889e-02 -1.54397554e-02 7.50901512e+02] [ 6.58859729e-02 9.97827135e-01 -2.18620289e-04 9.51446850e+00] [ 1.54206099e-02 -7.99144093e-04 9.99880776e-01 1.16231977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.6992541539998 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:750.93, Y:9.52, Z:11.62 [[ 9.97790770e-01 -6.46157378e-02 -1.54397715e-02 7.50933929e+02] [ 6.46200883e-02 9.97909914e-01 -2.17472353e-04 9.51676048e+00] [ 1.54215532e-02 -7.80727493e-04 9.99880776e-01 1.16232874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.7292541539999 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:750.97, Y:9.52, Z:11.62 [[ 9.97852367e-01 -6.36574159e-02 -1.54397876e-02 7.50965711e+02] [ 6.36616696e-02 9.97971515e-01 -2.16328164e-04 9.51847847e+00] [ 1.54222391e-02 -7.67059084e-04 9.99880776e-01 1.16239227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.7592541539999 meters Centerline goodness : 0.999062 Centerline is valid? [True, True] Translation: X:751.00, Y:9.52, Z:11.62 [[ 9.97941874e-01 -6.22384886e-02 -1.54398034e-02 7.50998348e+02] [ 6.22425905e-02 9.98061027e-01 -2.15192993e-04 9.52029133e+00] [ 1.54232593e-02 -7.46263261e-04 9.99880776e-01 1.16234400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.7892541539999 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:751.04, Y:9.51, Z:11.62 [[ 9.98640818e-01 -4.97807977e-02 -1.54398194e-02 7.51041386e+02] [ 4.97834302e-02 9.98760013e-01 -2.14040012e-04 9.51395924e+00] [ 1.54313293e-02 -5.54898076e-04 9.99880776e-01 1.16194332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.8192541539999 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:751.06, Y:9.53, Z:11.63 [[ 9.98189627e-01 -5.81278016e-02 -1.54475571e-02 7.51056890e+02] [ 5.81407693e-02 9.98308318e-01 3.91324674e-04 9.52713011e+00] [ 1.53986779e-02 -1.28874909e-03 9.99880603e-01 1.16252277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.8492541539999 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:751.09, Y:9.53, Z:11.63 [[ 9.98448969e-01 -5.34910444e-02 -1.54390351e-02 7.51089097e+02] [ 5.34940809e-02 9.98568143e-01 -2.16526425e-04 9.53103083e+00] [ 1.54285108e-02 -6.09706407e-04 9.99880788e-01 1.16260649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.8792541539999 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:751.12, Y:9.53, Z:11.63 [[ 9.98606934e-01 -5.04561822e-02 -1.54390504e-02 7.51121627e+02] [ 5.04588735e-02 9.98726116e-01 -2.15428313e-04 9.53264049e+00] [ 1.54302526e-02 -5.63908884e-04 9.99880788e-01 1.16262071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.9092541539999 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:751.15, Y:9.54, Z:11.63 [[ 9.98728705e-01 -4.79855170e-02 -1.54390663e-02 7.51153931e+02] [ 4.79879310e-02 9.98847893e-01 -2.14286418e-04 9.53509740e+00] [ 1.54315615e-02 -5.26874851e-04 9.99880788e-01 1.16278900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.9392541539999 meters Centerline goodness : 0.998977 Centerline is valid? [True, True] Translation: X:751.19, Y:9.54, Z:11.63 [[ 9.98966061e-01 -4.27603056e-02 -1.54390822e-02 7.51185141e+02] [ 4.27621138e-02 9.99085260e-01 -2.13134762e-04 9.53891119e+00] [ 1.54340731e-02 -4.47293396e-04 9.99880788e-01 1.16292616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.9692541539999 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:751.22, Y:9.54, Z:11.63 [[ 9.99050738e-01 -4.07339787e-02 -1.54390940e-02 7.51216879e+02] [ 4.07355584e-02 9.99169940e-01 -2.12277065e-04 9.54087337e+00] [ 1.54349255e-02 -4.16844555e-04 9.99880788e-01 1.16307561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.9992541539999 meters Centerline goodness : 0.998895 Centerline is valid? [True, True] Translation: X:751.25, Y:9.54, Z:11.63 [[ 9.99161951e-01 -3.79081705e-02 -1.54391018e-02 7.51247514e+02] [ 3.79094219e-02 9.99281157e-01 -2.11708828e-04 9.54234724e+00] [ 1.54360290e-02 -3.73756016e-04 9.99880788e-01 1.16317423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.0292541539999 meters Centerline goodness : 0.998978 Centerline is valid? [True, True] Translation: X:751.28, Y:9.54, Z:11.63 [[ 9.99172910e-01 -3.76182201e-02 -1.54391056e-02 7.51279284e+02] [ 3.76194412e-02 9.99292116e-01 -2.11427008e-04 9.54317492e+00] [ 1.54361300e-02 -3.69558386e-04 9.99880788e-01 1.16330256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.0592541539999 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:751.31, Y:9.54, Z:11.63 [[ 9.99171460e-01 -3.76567103e-02 -1.54391135e-02 7.51310719e+02] [ 3.76579449e-02 9.99290666e-01 -2.10852620e-04 9.54349324e+00] [ 1.54361020e-02 -3.70727364e-04 9.99880788e-01 1.16333467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.089254154 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:751.34, Y:9.54, Z:11.63 [[ 9.99126247e-01 -3.88378234e-02 -1.54391212e-02 7.51342114e+02] [ 3.88392077e-02 9.99245451e-01 -2.10281477e-04 9.54364780e+00] [ 1.54356385e-02 -3.89545493e-04 9.99880788e-01 1.16330449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.1192541539999 meters Centerline goodness : 0.999021 Centerline is valid? [True, True] Translation: X:751.37, Y:9.54, Z:11.63 [[ 9.99087126e-01 -3.98315002e-02 -1.54391290e-02 7.51372696e+02] [ 3.98330118e-02 9.99206329e-01 -2.09713298e-04 9.54430983e+00] [ 1.54352286e-02 -4.05465150e-04 9.99880788e-01 1.16329475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.1492541539999 meters Centerline goodness : 0.998939 Centerline is valid? [True, True] Translation: X:751.40, Y:9.54, Z:11.63 [[ 9.99005287e-01 -4.18338422e-02 -1.54391328e-02 7.51402654e+02] [ 4.18355971e-02 9.99124486e-01 -2.09431478e-04 9.54496585e+00] [ 1.54343769e-02 -4.36682184e-04 9.99880788e-01 1.16325555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.1792541539999 meters Centerline goodness : 0.999062 Centerline is valid? [True, True] Translation: X:751.43, Y:9.54, Z:11.63 [[ 9.98952243e-01 -4.30818926e-02 -1.54391453e-02 7.51433947e+02] [ 4.30838107e-02 9.99071440e-01 -2.08505052e-04 9.54496778e+00] [ 1.54337919e-02 -4.56890624e-04 9.99880788e-01 1.16325523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.209254154 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:751.46, Y:9.54, Z:11.63 [[ 9.98861059e-01 -4.51466135e-02 -1.54391528e-02 7.51464846e+02] [ 4.51487866e-02 9.98980252e-01 -2.07946478e-04 9.54445291e+00] [ 1.54327969e-02 -4.89349376e-04 9.99880788e-01 1.16322322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.2392541539999 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:751.50, Y:9.54, Z:11.63 [[ 9.98825193e-01 -4.59332709e-02 -1.54391777e-02 7.51496725e+02] [ 4.59355667e-02 9.98944383e-01 -2.06079574e-04 9.54446959e+00] [ 1.54323458e-02 -5.03369908e-04 9.99880788e-01 1.16325298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.2692541539999 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:751.53, Y:9.54, Z:11.63 [[ 9.98779403e-01 -4.69183890e-02 -1.54391923e-02 7.51529266e+02] [ 4.69208194e-02 9.98898591e-01 -2.04979500e-04 9.54485059e+00] [ 1.54318048e-02 -5.19690253e-04 9.99880788e-01 1.16337666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.2992541539999 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:751.56, Y:9.55, Z:11.63 [[ 9.98709582e-01 -4.83818429e-02 -1.54392075e-02 7.51560397e+02] [ 4.83844656e-02 9.98828765e-01 -2.03829844e-04 9.54512315e+00] [ 1.54309862e-02 -5.43450987e-04 9.99880788e-01 1.16344729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.3292541539998 meters Centerline goodness : 0.998975 Centerline is valid? [True, True] Translation: X:751.59, Y:9.55, Z:11.64 [[ 9.98681236e-01 -4.89634502e-02 -1.54392325e-02 7.51592907e+02] [ 4.89661719e-02 9.98800417e-01 -2.01916783e-04 9.54518251e+00] [ 1.54305984e-02 -5.54349612e-04 9.99880788e-01 1.16350654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.3592541539999 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:751.62, Y:9.54, Z:11.63 [[ 9.98618657e-01 -5.02235776e-02 -1.54392468e-02 7.51624559e+02] [ 5.02264666e-02 9.98737834e-01 -2.00821176e-04 9.54423861e+00] [ 1.54298459e-02 -5.74915039e-04 9.99880788e-01 1.16349081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.3892541539999 meters Centerline goodness : 0.999058 Centerline is valid? [True, True] Translation: X:751.67, Y:9.53, Z:11.63 [[ 9.98995908e-01 -4.20571571e-02 -1.54392574e-02 7.51666837e+02] [ 4.20590842e-02 9.99115105e-01 -2.00004269e-04 9.53283227e+00] [ 1.54340069e-02 -4.49557579e-04 9.99880788e-01 1.16320388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.4192541539999 meters Centerline goodness : 0.999037 Centerline is valid? [True, True] Translation: X:751.69, Y:9.54, Z:11.64 [[ 9.98506155e-01 -5.24107596e-02 -1.54457146e-02 7.51685323e+02] [ 5.24221807e-02 9.98624956e-01 3.35210907e-04 9.54429647e+00] [ 1.54069074e-02 -1.14440820e-03 9.99880652e-01 1.16352737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.4492541539998 meters Centerline goodness : 0.998974 Centerline is valid? [True, True] Translation: X:751.73, Y:9.53, Z:11.63 [[ 9.98839823e-01 -4.56142547e-02 -1.54385462e-02 7.51726656e+02] [ 4.56165296e-02 9.98959003e-01 -2.04948314e-04 9.53429524e+00] [ 1.54318233e-02 -4.99542362e-04 9.99880798e-01 1.16317585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.4792541539999 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:751.74, Y:9.55, Z:11.64 [[ 9.98260143e-01 -5.69046491e-02 -1.54450122e-02 7.51744693e+02] [ 5.69163617e-02 9.98378899e-01 3.19481813e-04 9.54564464e+00] [ 1.54017943e-02 -1.19799986e-03 9.99880668e-01 1.16358677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.5092541539999 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:751.79, Y:9.54, Z:11.63 [[ 9.98588647e-01 -5.08171952e-02 -1.54378449e-02 7.51785617e+02] [ 5.08200232e-02 9.98707806e-01 -2.09309389e-04 9.53564662e+00] [ 1.54285327e-02 -5.75537656e-04 9.99880807e-01 1.16305488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.5392541539999 meters Centerline goodness : 0.999229 Centerline is valid? [True, True] Translation: X:751.80, Y:9.55, Z:11.64 [[ 9.97996061e-01 -6.13622721e-02 -1.54445133e-02 7.51803146e+02] [ 6.13744673e-02 9.98114760e-01 3.16431299e-04 9.54634599e+00] [ 1.53959797e-02 -1.26369597e-03 9.99880676e-01 1.16352159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.5692541539999 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:751.84, Y:9.55, Z:11.64 [[ 9.97900242e-01 -6.29030834e-02 -1.54372416e-02 7.51835042e+02] [ 6.29073064e-02 9.98019351e-01 -2.12351483e-04 9.54704293e+00] [ 1.54200234e-02 -7.59209693e-04 9.99880816e-01 1.16351737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.5992541539999 meters Centerline goodness : 0.998958 Centerline is valid? [True, True] Translation: X:751.87, Y:9.55, Z:11.64 [[ 9.97855944e-01 -6.36019360e-02 -1.54372572e-02 7.51865793e+02] [ 6.36062601e-02 9.97975049e-01 -2.11210089e-04 9.54822648e+00] [ 1.54194309e-02 -7.71148956e-04 9.99880816e-01 1.16356958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.6292541539999 meters Centerline goodness : 0.999042 Centerline is valid? [True, True] Translation: X:751.90, Y:9.55, Z:11.64 [[ 9.97846608e-01 -6.37482381e-02 -1.54372823e-02 7.51896805e+02] [ 6.37526082e-02 9.97965711e-01 -2.09359249e-04 9.54940831e+00] [ 1.54192247e-02 -7.75258597e-04 9.99880816e-01 1.16366455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.6592541539999 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:751.93, Y:9.55, Z:11.64 [[ 9.97906061e-01 -6.28107007e-02 -1.54372935e-02 7.51928926e+02] [ 6.28149717e-02 9.98025168e-01 -2.08531291e-04 9.55153908e+00] [ 1.54199055e-02 -7.61598516e-04 9.99880816e-01 1.16374022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.6892541539999 meters Centerline goodness : 0.998894 Centerline is valid? [True, True] Translation: X:751.97, Y:9.54, Z:11.63 [[ 9.98524697e-01 -5.20588036e-02 -1.54373090e-02 7.51971541e+02] [ 5.20618092e-02 9.98643843e-01 -2.07380773e-04 9.54218166e+00] [ 1.54271696e-02 -5.96619412e-04 9.99880816e-01 1.16317327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.7192541539999 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:751.99, Y:9.56, Z:11.64 [[ 9.98133392e-01 -5.90863942e-02 -1.54444100e-02 7.51988200e+02] [ 5.90989110e-02 9.98252069e-01 3.54898909e-04 9.55553522e+00] [ 1.53964445e-02 -1.26698426e-03 9.99880665e-01 1.16383118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.7492541539999 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:752.02, Y:9.56, Z:11.64 [[ 9.98240312e-01 -5.72537779e-02 -1.54364918e-02 7.52019975e+02] [ 5.72572905e-02 9.98359433e-01 -2.14667469e-04 9.55768038e+00] [ 1.54234577e-02 -6.69561973e-04 9.99880827e-01 1.16395893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.7792541539999 meters Centerline goodness : 0.998999 Centerline is valid? [True, True] Translation: X:752.05, Y:9.56, Z:11.64 [[ 9.98368187e-01 -5.49788899e-02 -1.54365078e-02 7.52051396e+02] [ 5.49821490e-02 9.98487315e-01 -2.13507101e-04 9.56000929e+00] [ 1.54248956e-02 -6.35573677e-04 9.99880827e-01 1.16403388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.8092541539999 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:752.08, Y:9.56, Z:11.64 [[ 9.98672568e-01 -4.91407755e-02 -1.54365197e-02 7.52083015e+02] [ 4.91433514e-02 9.98791713e-01 -2.12643439e-04 9.56355474e+00] [ 1.54283175e-02 -5.46241144e-04 9.99880827e-01 1.16415722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.839254154 meters Centerline goodness : 0.998872 Centerline is valid? [True, True] Translation: X:752.13, Y:9.55, Z:11.64 [[ 9.99219085e-01 -3.63721554e-02 -1.54365459e-02 7.52126446e+02] [ 3.63732377e-02 9.99338253e-01 -2.10727579e-04 9.55462900e+00] [ 1.54339954e-02 -3.50914134e-04 9.99880827e-01 1.16356292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.8692541539999 meters Centerline goodness : 0.998999 Centerline is valid? [True, True] Translation: X:752.14, Y:9.57, Z:11.64 [[ 9.99087254e-01 -3.98262358e-02 -1.54444349e-02 7.52142492e+02] [ 3.98371657e-02 9.99206105e-01 4.00564754e-04 9.56829226e+00] [ 1.54162206e-02 -1.01546165e-03 9.99880647e-01 1.16419826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.8992541539999 meters Centerline goodness : 0.998936 Centerline is valid? [True, True] Translation: X:752.17, Y:9.57, Z:11.64 [[ 9.99168684e-01 -3.77317453e-02 -1.54355540e-02 7.52174123e+02] [ 3.77328353e-02 9.99287839e-01 -2.20716644e-04 9.57071430e+00] [ 1.54328894e-02 -3.61894059e-04 9.99880840e-01 1.16440727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.9292541539999 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:752.21, Y:9.57, Z:11.65 [[ 9.99228926e-01 -3.61012011e-02 -1.54355621e-02 7.52205813e+02] [ 3.61021053e-02 9.99348082e-01 -2.20148537e-04 9.57264824e+00] [ 1.54334470e-02 -3.37277504e-04 9.99880840e-01 1.16457199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.959254154 meters Centerline goodness : 0.998935 Centerline is valid? [True, True] Translation: X:752.24, Y:9.57, Z:11.65 [[ 9.99284437e-01 -3.45305234e-02 -1.54355702e-02 7.52236090e+02] [ 3.45312492e-02 9.99403594e-01 -2.19578023e-04 9.57478020e+00] [ 1.54339465e-02 -3.13588621e-04 9.99880840e-01 1.16457917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.9892541539999 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:752.27, Y:9.58, Z:11.65 [[ 9.99274722e-01 -3.48105399e-02 -1.54355743e-02 7.52266490e+02] [ 3.48113034e-02 9.99393879e-01 -2.19295480e-04 9.57585411e+00] [ 1.54338522e-02 -3.18196029e-04 9.99880840e-01 1.16456778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.0192541539999 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:752.30, Y:9.58, Z:11.65 [[ 9.99199812e-01 -3.68982208e-02 -1.54355782e-02 7.52297820e+02] [ 3.68992375e-02 9.99318967e-01 -2.19020277e-04 9.57713320e+00] [ 1.54331475e-02 -3.50716045e-04 9.99880840e-01 1.16451997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.0492541539999 meters Centerline goodness : 0.998892 Centerline is valid? [True, True] Translation: X:752.33, Y:9.58, Z:11.65 [[ 9.99133445e-01 -3.86536208e-02 -1.54355861e-02 7.52329592e+02] [ 3.86548555e-02 9.99252598e-01 -2.18458246e-04 9.57785877e+00] [ 1.54324937e-02 -3.78391411e-04 9.99880840e-01 1.16453995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.0792541539998 meters Centerline goodness : 0.998871 Centerline is valid? [True, True] Translation: X:752.36, Y:9.58, Z:11.65 [[ 9.98940777e-01 -4.33481949e-02 -1.54355941e-02 7.52361662e+02] [ 4.33499983e-02 9.99059923e-01 -2.17892034e-04 9.57925897e+00] [ 1.54305287e-02 -4.51471740e-04 9.99880840e-01 1.16458643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.1092541539999 meters Centerline goodness : 0.998934 Centerline is valid? [True, True] Translation: X:752.39, Y:9.58, Z:11.65 [[ 9.98826590e-01 -4.59040940e-02 -1.54356101e-02 7.52392716e+02] [ 4.59062198e-02 9.98945730e-01 -2.16757171e-04 9.57991219e+00] [ 1.54292868e-02 -4.92087681e-04 9.99880840e-01 1.16464081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.1392541539999 meters Centerline goodness : 0.998745 Centerline is valid? [True, True] Translation: X:752.43, Y:9.57, Z:11.64 [[ 9.98873087e-01 -4.48809385e-02 -1.54356219e-02 7.52431814e+02] [ 4.48829553e-02 9.98992229e-01 -2.15909626e-04 9.57266038e+00] [ 1.54297566e-02 -4.77130014e-04 9.99880840e-01 1.16429065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.1692541539999 meters Centerline goodness : 0.998828 Centerline is valid? [True, True] Translation: X:752.45, Y:9.58, Z:11.65 [[ 9.98341854e-01 -5.54535497e-02 -1.54417034e-02 7.52451481e+02] [ 5.54637286e-02 9.98460676e-01 2.31378345e-04 9.58178869e+00] [ 1.54051029e-02 -1.08744913e-03 9.99880743e-01 1.16487417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.1992541539998 meters Centerline goodness : 0.998851 Centerline is valid? [True, True] Translation: X:752.48, Y:9.58, Z:11.65 [[ 9.98227061e-01 -5.74847080e-02 -1.54350935e-02 7.52482435e+02] [ 5.74881022e-02 9.98346166e-01 -2.24065267e-04 9.58172454e+00] [ 1.54224468e-02 -6.63666222e-04 9.99880847e-01 1.16476281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.2292541539999 meters Centerline goodness : 0.998790 Centerline is valid? [True, True] Translation: X:752.52, Y:9.57, Z:11.64 [[ 9.98324211e-01 -5.57720969e-02 -1.54351060e-02 7.52521988e+02] [ 5.57753001e-02 9.98443321e-01 -2.23205360e-04 9.57460062e+00] [ 1.54235271e-02 -6.38066353e-04 9.99880847e-01 1.16428890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.2592541539999 meters Centerline goodness : 0.998853 Centerline is valid? [True, True] Translation: X:752.56, Y:9.58, Z:11.64 [[ 9.98154533e-01 -5.87289216e-02 -1.54415869e-02 7.52555395e+02] [ 5.87396046e-02 9.98273310e-01 2.38807041e-04 9.57591344e+00] [ 1.54008992e-02 -1.14539904e-03 9.99880743e-01 1.16446743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.2892541539999 meters Centerline goodness : 0.998769 Centerline is valid? [True, True] Translation: X:752.59, Y:9.58, Z:11.64 [[ 9.97982903e-01 -6.15765997e-02 -1.54417803e-02 7.52588919e+02] [ 6.15878275e-02 9.98101636e-01 2.52170702e-04 9.57514333e+00] [ 1.53969384e-02 -1.20268775e-03 9.99880737e-01 1.16440737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.3192541539999 meters Centerline goodness : 0.998769 Centerline is valid? [True, True] Translation: X:752.62, Y:9.58, Z:11.64 [[ 9.97945788e-01 -6.21749981e-02 -1.54426032e-02 7.52620425e+02] [ 6.21871606e-02 9.98064458e-01 3.08188936e-04 9.57589580e+00] [ 1.53935517e-02 -1.26788750e-03 9.99880708e-01 1.16445458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.3492541539999 meters Centerline goodness : 0.998853 Centerline is valid? [True, True] Translation: X:752.64, Y:9.59, Z:11.65 [[ 9.97186073e-01 -7.33584509e-02 -1.54425799e-02 7.52637159e+02] [ 7.33719193e-02 9.97304601e-01 3.06646707e-04 9.58862139e+00] [ 1.53784609e-02 -1.43883555e-03 9.99880709e-01 1.16513630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.3792541539999 meters Centerline goodness : 0.998810 Centerline is valid? [True, True] Translation: X:752.68, Y:9.58, Z:11.65 [[ 9.97740208e-01 -6.53933236e-02 -1.54333960e-02 7.52680002e+02] [ 6.53972107e-02 9.97859279e-01 -2.53228867e-04 9.57967808e+00] [ 1.54169168e-02 -7.56644425e-04 9.99880866e-01 1.16453346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.4092541539999 meters Centerline goodness : 0.998957 Centerline is valid? [True, True] Translation: X:752.70, Y:9.59, Z:11.65 [[ 9.96940921e-01 -7.66180239e-02 -1.54427425e-02 7.52696751e+02] [ 7.66325436e-02 9.97059342e-01 3.49819871e-04 9.59409641e+00] [ 1.53705282e-02 -1.53216638e-03 9.99880693e-01 1.16524196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.4392541539999 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:752.73, Y:9.60, Z:11.65 [[ 9.97023860e-01 -7.55331753e-02 -1.54324870e-02 7.52728372e+02] [ 7.55381717e-02 9.97142877e-01 -2.59722311e-04 9.59802198e+00] [ 1.54080122e-02 -9.06792514e-04 9.99880878e-01 1.16537787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.4692541539999 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:752.76, Y:9.60, Z:11.65 [[ 9.97112780e-01 -7.43501317e-02 -1.54325060e-02 7.52759831e+02] [ 7.43550043e-02 9.97231802e-01 -2.58592561e-04 9.60037164e+00] [ 1.54090121e-02 -8.89638101e-04 9.99880878e-01 1.16533250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.4992541539999 meters Centerline goodness : 0.998891 Centerline is valid? [True, True] Translation: X:752.79, Y:9.60, Z:11.65 [[ 9.97223302e-01 -7.28527542e-02 -1.54325200e-02 7.52791746e+02] [ 7.28574611e-02 9.97342330e-01 -2.57751783e-04 9.60294563e+00] [ 1.54102834e-02 -8.67338142e-04 9.99880878e-01 1.16539027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.5292541539999 meters Centerline goodness : 0.998975 Centerline is valid? [True, True] Translation: X:752.82, Y:9.61, Z:11.66 [[ 9.97527869e-01 -6.85564577e-02 -1.54325380e-02 7.52824842e+02] [ 6.85606685e-02 9.97646916e-01 -2.56668399e-04 9.60775545e+00] [ 1.54138202e-02 -8.02031243e-04 9.99880878e-01 1.16555832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.5592541539999 meters Centerline goodness : 0.998931 Centerline is valid? [True, True] Translation: X:752.86, Y:9.61, Z:11.66 [[ 9.97731784e-01 -6.55219270e-02 -1.54325662e-02 7.52856760e+02] [ 6.55258021e-02 9.97850843e-01 -2.54961529e-04 9.61013326e+00] [ 1.54161048e-02 -7.56848059e-04 9.99880878e-01 1.16556970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.589254154 meters Centerline goodness : 0.998738 Centerline is valid? [True, True] Translation: X:752.89, Y:9.62, Z:11.66 [[ 9.98091286e-01 -5.97964888e-02 -1.54325852e-02 7.52888371e+02] [ 5.97996985e-02 9.98210364e-01 -2.53810226e-04 9.61666867e+00] [ 1.54201434e-02 -6.69538164e-04 9.99880878e-01 1.16562435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.6192541539999 meters Centerline goodness : 0.998950 Centerline is valid? [True, True] Translation: X:752.92, Y:9.62, Z:11.66 [[ 9.98279958e-01 -5.65593495e-02 -1.54326086e-02 7.52920832e+02] [ 5.65621951e-02 9.98399046e-01 -2.52374032e-04 9.61988349e+00] [ 1.54221759e-02 -6.20962283e-04 9.99880878e-01 1.16565027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.6492541539999 meters Centerline goodness : 0.998883 Centerline is valid? [True, True] Translation: X:752.95, Y:9.62, Z:11.66 [[ 9.98447590e-01 -5.35186229e-02 -1.54326312e-02 7.52952929e+02] [ 5.35211272e-02 9.98566686e-01 -2.50985802e-04 9.62299443e+00] [ 1.54239438e-02 -5.75375649e-04 9.99880878e-01 1.16577949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.6792541539999 meters Centerline goodness : 0.998777 Centerline is valid? [True, True] Translation: X:752.99, Y:9.63, Z:11.66 [[ 9.98740384e-01 -4.77438871e-02 -1.54326494e-02 7.52985443e+02] [ 4.77457200e-02 9.98859492e-01 -2.49861721e-04 9.62800325e+00] [ 1.54269777e-02 -4.87295968e-04 9.99880878e-01 1.16585004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.709254154 meters Centerline goodness : 0.999094 Centerline is valid? [True, True] Translation: X:753.02, Y:9.63, Z:11.66 [[ 9.98865776e-01 -4.50443647e-02 -1.54326674e-02 7.53017125e+02] [ 4.50458930e-02 9.98984888e-01 -2.48745402e-04 9.63091114e+00] [ 1.54282061e-02 -4.46715016e-04 9.99880878e-01 1.16594173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.7392541539999 meters Centerline goodness : 0.998820 Centerline is valid? [True, True] Translation: X:753.05, Y:9.64, Z:11.66 [[ 9.99043671e-01 -4.09093592e-02 -1.54326852e-02 7.53049526e+02] [ 4.09104115e-02 9.99162788e-01 -2.47638844e-04 9.63607048e+00] [ 1.54298955e-02 -3.83955482e-04 9.99880878e-01 1.16599775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.7692541539999 meters Centerline goodness : 0.998834 Centerline is valid? [True, True] Translation: X:753.08, Y:9.64, Z:11.66 [[ 9.99107955e-01 -3.93081008e-02 -1.54327027e-02 7.53081822e+02] [ 3.93089791e-02 9.99227073e-01 -2.46539809e-04 9.63849416e+00] [ 1.54304654e-02 -3.60323905e-04 9.99880878e-01 1.16603340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.7992541539999 meters Centerline goodness : 0.998786 Centerline is valid? [True, True] Translation: X:753.11, Y:9.64, Z:11.66 [[ 9.99275628e-01 -3.47857856e-02 -1.54327200e-02 7.53114848e+02] [ 3.47861416e-02 9.99394749e-01 -2.45452037e-04 9.64054290e+00] [ 1.54319176e-02 -2.91570546e-04 9.99880878e-01 1.16592982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.8292541539998 meters Centerline goodness : 0.998916 Centerline is valid? [True, True] Translation: X:753.15, Y:9.64, Z:11.66 [[ 9.99304606e-01 -3.39425167e-02 -1.54340509e-02 7.53146623e+02] [ 3.39440825e-02 9.99423721e-01 -1.60576925e-04 9.64247777e+00] [ 1.54306069e-02 -3.63429435e-04 9.99880875e-01 1.16628269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.8592541539999 meters Centerline goodness : 0.998961 Centerline is valid? [True, True] Translation: X:753.17, Y:9.65, Z:11.66 [[ 9.99272686e-01 -3.48694822e-02 -1.54343519e-02 7.53173929e+02] [ 3.48714520e-02 9.99391796e-01 -1.41562900e-04 9.64619282e+00] [ 1.54299009e-02 -3.96758322e-04 9.99880873e-01 1.16622368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.8892541539999 meters Centerline goodness : 0.997231 Centerline is valid? [True, True] Translation: X:753.20, Y:9.65, Z:11.66 [[ 9.99331562e-01 -3.31407539e-02 -1.54311230e-02 7.53202687e+02] [ 3.31395335e-02 9.99450679e-01 -3.34853602e-04 9.64863648e+00] [ 1.54337436e-02 -1.76750444e-04 9.99880877e-01 1.16634522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.9192541539999 meters Centerline goodness : 0.998934 Centerline is valid? [True, True] Translation: X:753.24, Y:9.65, Z:11.67 [[ 9.99273812e-01 -3.48390345e-02 -1.54301720e-02 7.53236444e+02] [ 3.48370886e-02 9.99392926e-01 -3.94959688e-04 9.65063243e+00] [ 1.54345648e-02 -1.42869397e-04 9.99880870e-01 1.16656560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.9492541539998 meters Centerline goodness : 0.998998 Centerline is valid? [True, True] Translation: X:753.27, Y:9.65, Z:11.67 [[ 9.99251988e-01 -3.54584274e-02 -1.54325882e-02 7.53267428e+02] [ 3.54589653e-02 9.99371105e-01 -2.38859445e-04 9.65286308e+00] [ 1.54313523e-02 -3.08542837e-04 9.99880882e-01 1.16654071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.9792541539999 meters Centerline goodness : 0.999085 Centerline is valid? [True, True] Translation: X:753.30, Y:9.65, Z:11.67 [[ 9.99251023e-01 -3.54855884e-02 -1.54326013e-02 7.53299554e+02] [ 3.54861426e-02 9.99370140e-01 -2.38011242e-04 9.65354888e+00] [ 1.54313269e-02 -3.09810514e-04 9.99880882e-01 1.16657230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.0092541539999 meters Centerline goodness : 0.998914 Centerline is valid? [True, True] Translation: X:753.33, Y:9.65, Z:11.67 [[ 9.99244322e-01 -3.56737841e-02 -1.54326172e-02 7.53331776e+02] [ 3.56743767e-02 9.99363439e-01 -2.36979967e-04 9.65399984e+00] [ 1.54312473e-02 -3.13748111e-04 9.99880882e-01 1.16669015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.0392541539999 meters Centerline goodness : 0.996054 Centerline is valid? [True, True] Translation: X:753.36, Y:9.65, Z:11.67 [[ 9.99283051e-01 -3.45719261e-02 -1.54326346e-02 7.53362937e+02] [ 3.45724049e-02 9.99402168e-01 -2.35841763e-04 9.65383907e+00] [ 1.54315619e-02 -2.97870615e-04 9.99880882e-01 1.16651356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.0692541539999 meters Centerline goodness : 0.998954 Centerline is valid? [True, True] Translation: X:753.40, Y:9.65, Z:11.67 [[ 9.99299433e-01 -3.40949349e-02 -1.54330117e-02 7.53395007e+02] [ 3.40957391e-02 9.99418549e-01 -2.11079847e-04 9.65360945e+00] [ 1.54312349e-02 -3.15267970e-04 9.99880882e-01 1.16660202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.0992541539999 meters Centerline goodness : 0.998914 Centerline is valid? [True, True] Translation: X:753.42, Y:9.65, Z:11.67 [[ 9.99263356e-01 -3.51359471e-02 -1.54340607e-02 7.53424742e+02] [ 3.51379136e-02 9.99382463e-01 -1.43824334e-04 9.65427995e+00] [ 1.54295830e-02 -3.98602305e-04 9.99880877e-01 1.16657711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.1292541539999 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:753.46, Y:9.65, Z:11.67 [[ 9.99258392e-01 -3.52775196e-02 -1.54325233e-02 7.53456613e+02] [ 3.52779889e-02 9.99377509e-01 -2.41907407e-04 9.65487289e+00] [ 1.54314506e-02 -3.02700378e-04 9.99880882e-01 1.16673091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.1592541539999 meters Centerline goodness : 0.998955 Centerline is valid? [True, True] Translation: X:753.49, Y:9.65, Z:11.67 [[ 9.99258420e-01 -3.52767081e-02 -1.54325407e-02 7.53488143e+02] [ 3.52771945e-02 9.99377537e-01 -2.40792637e-04 9.65432795e+00] [ 1.54314289e-02 -3.03802669e-04 9.99880882e-01 1.16673231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.1892541539999 meters Centerline goodness : 0.999106 Centerline is valid? [True, True] Translation: X:753.52, Y:9.65, Z:11.67 [[ 9.99235554e-01 -3.59185879e-02 -1.54325153e-02 7.53519957e+02] [ 3.59191255e-02 9.99354671e-01 -2.42428009e-04 9.65226724e+00] [ 1.54312639e-02 -3.12079770e-04 9.99880882e-01 1.16659615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.2192541539999 meters Centerline goodness : 0.998959 Centerline is valid? [True, True] Translation: X:753.55, Y:9.65, Z:11.66 [[ 9.99187550e-01 -3.72300374e-02 -1.54325764e-02 7.53552568e+02] [ 3.72307924e-02 9.99306665e-01 -2.38475947e-04 9.65035121e+00] [ 1.54307549e-02 -3.36284850e-04 9.99880882e-01 1.16645012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.2492541539999 meters Centerline goodness : 0.998791 Centerline is valid? [True, True] Translation: X:753.59, Y:9.65, Z:11.66 [[ 9.99165738e-01 -3.78108881e-02 -1.54325932e-02 7.53585107e+02] [ 3.78117292e-02 9.99284853e-01 -2.37385364e-04 9.64973847e+00] [ 1.54305323e-02 -3.46345711e-04 9.99880882e-01 1.16641933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.2792541539999 meters Centerline goodness : 0.998834 Centerline is valid? [True, True] Translation: X:753.62, Y:9.65, Z:11.66 [[ 9.99137393e-01 -3.85526128e-02 -1.54326098e-02 7.53616968e+02] [ 3.85535590e-02 9.99256507e-01 -2.36300520e-04 9.64919090e+00] [ 1.54302457e-02 -3.58885346e-04 9.99880882e-01 1.16644919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.3092541539999 meters Centerline goodness : 0.998962 Centerline is valid? [True, True] Translation: X:753.65, Y:9.65, Z:11.67 [[ 9.99100687e-01 -3.94924125e-02 -1.54326266e-02 7.53649588e+02] [ 3.94934878e-02 9.99219800e-01 -2.35197913e-04 9.64769931e+00] [ 1.54298746e-02 -3.74501854e-04 9.99880882e-01 1.16650089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.339254154 meters Centerline goodness : 0.998855 Centerline is valid? [True, True] Translation: X:753.68, Y:9.65, Z:11.67 [[ 9.99098618e-01 -3.95447310e-02 -1.54326436e-02 7.53681437e+02] [ 3.95458298e-02 9.99217730e-01 -2.34078027e-04 9.64717254e+00] [ 1.54298276e-02 -3.76429664e-04 9.99880882e-01 1.16655835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.3692541539999 meters Centerline goodness : 0.998900 Centerline is valid? [True, True] Translation: X:753.73, Y:9.63, Z:11.66 [[ 9.99555050e-01 -2.55251970e-02 -1.54326606e-02 7.53729584e+02] [ 2.55246422e-02 9.99674166e-01 -2.32946197e-04 9.62982649e+00] [ 1.54335782e-02 -1.61070594e-04 9.99880882e-01 1.16589598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.3992541539999 meters Centerline goodness : 0.999005 Centerline is valid? [True, True] Translation: X:753.74, Y:9.65, Z:11.67 [[ 9.99113179e-01 -3.91707381e-02 -1.54437485e-02 7.53739366e+02] [ 3.91846318e-02 9.99231809e-01 5.97947379e-04 9.64507250e+00] [ 1.54084627e-02 -1.20257471e-03 9.99880559e-01 1.16672068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.4292541539999 meters Centerline goodness : 0.998880 Centerline is valid? [True, True] Translation: X:753.77, Y:9.65, Z:11.67 [[ 9.99212714e-01 -3.65491173e-02 -1.54309463e-02 7.53771938e+02] [ 3.65498169e-02 9.99331804e-01 -2.36768090e-04 9.64546574e+00] [ 1.54292891e-02 -3.27416576e-04 9.99880908e-01 1.16687831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.459254154 meters Centerline goodness : 0.998686 Centerline is valid? [True, True] Translation: X:753.80, Y:9.65, Z:11.67 [[ 9.99285834e-01 -3.44921365e-02 -1.54309636e-02 7.53804547e+02] [ 3.44926084e-02 9.99404925e-01 -2.35636385e-04 9.64552402e+00] [ 1.54299086e-02 -2.96786083e-04 9.99880908e-01 1.16691638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.4892541539999 meters Centerline goodness : 0.997121 Centerline is valid? [True, True] Translation: X:753.83, Y:9.65, Z:11.67 [[ 9.99433882e-01 -2.98964853e-02 -1.54309810e-02 7.53834974e+02] [ 2.98964273e-02 9.99552974e-01 -2.34490102e-04 9.64637257e+00] [ 1.54310934e-02 -2.26973848e-04 9.99880908e-01 1.16689587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.5192541539999 meters Centerline goodness : 0.998961 Centerline is valid? [True, True] Translation: X:753.87, Y:9.65, Z:11.67 [[ 9.99518974e-01 -2.69024646e-02 -1.54297494e-02 7.53866638e+02] [ 2.69008118e-02 9.99638058e-01 -3.14690314e-04 9.64527517e+00] [ 1.54326307e-02 -1.00533845e-04 9.99880905e-01 1.16707395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.5492541539999 meters Centerline goodness : 0.998897 Centerline is valid? [True, True] Translation: X:753.90, Y:9.64, Z:11.67 [[ 9.99542620e-01 -2.60087384e-02 -1.54303657e-02 7.53897290e+02] [ 2.60076114e-02 9.99661707e-01 -2.73734634e-04 9.64472465e+00] [ 1.54322652e-02 -1.27697520e-04 9.99880907e-01 1.16714500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.5792541539998 meters Centerline goodness : 0.998685 Centerline is valid? [True, True] Translation: X:753.94, Y:9.63, Z:11.67 [[ 9.99809173e-01 -1.19792417e-02 -1.54310057e-02 7.53939124e+02] [ 1.19771035e-02 9.99928245e-01 -2.30976443e-04 9.63235692e+00] [ 1.54326654e-02 4.61136148e-05 9.99880908e-01 1.16665198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.6092541539999 meters Centerline goodness : 0.998645 Centerline is valid? [True, True] Translation: X:753.96, Y:9.64, Z:11.67 [[ 9.99634902e-01 -2.21747214e-02 -1.54383813e-02 7.53956094e+02] [ 2.21818755e-02 9.99753909e-01 2.92294334e-04 9.64286343e+00] [ 1.54281005e-02 -6.34639870e-04 9.99880778e-01 1.16726754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.6392541539999 meters Centerline goodness : 0.998834 Centerline is valid? [True, True] Translation: X:753.98, Y:9.64, Z:11.67 [[ 9.99655664e-01 -2.12240265e-02 -1.54302979e-02 7.53984781e+02] [ 2.12229101e-02 9.99774741e-01 -2.36111924e-04 9.64102862e+00] [ 1.54318333e-02 -9.14452026e-05 9.99880918e-01 1.16728551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.6692541539999 meters Centerline goodness : 0.998837 Centerline is valid? [True, True] Translation: X:754.01, Y:9.64, Z:11.67 [[ 9.99663796e-01 -2.08374837e-02 -1.54302850e-02 7.54013581e+02] [ 2.08363083e-02 9.99782873e-01 -2.36948794e-04 9.64102975e+00] [ 1.54318721e-02 -8.46410456e-05 9.99880918e-01 1.16708334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.6992541539998 meters Centerline goodness : 0.998964 Centerline is valid? [True, True] Translation: X:754.04, Y:9.64, Z:11.67 [[ 9.99606178e-01 -2.34403181e-02 -1.54285684e-02 7.54043077e+02] [ 2.34377566e-02 9.99725238e-01 -3.46843862e-04 9.63612104e+00] [ 1.54324593e-02 -1.49037624e-05 9.99880912e-01 1.16721862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.7292541539999 meters Centerline goodness : 0.998966 Centerline is valid? [True, True] Translation: X:754.07, Y:9.63, Z:11.67 [[ 9.99572831e-01 -2.48206301e-02 -1.54302178e-02 7.54072408e+02] [ 2.48198601e-02 9.99691911e-01 -2.41431975e-04 9.63424182e+00] [ 1.54314564e-02 -1.41647004e-04 9.99880918e-01 1.16720992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.7592541539999 meters Centerline goodness : 0.998947 Centerline is valid? [True, True] Translation: X:754.10, Y:9.63, Z:11.67 [[ 9.99528870e-01 -2.65319963e-02 -1.54302093e-02 7.54102153e+02] [ 2.65314218e-02 9.99647951e-01 -2.41974843e-04 9.63260284e+00] [ 1.54311972e-02 -1.67524549e-04 9.99880918e-01 1.16724949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.7892541539999 meters Centerline goodness : 0.998863 Centerline is valid? [True, True] Translation: X:754.13, Y:9.63, Z:11.67 [[ 9.99408555e-01 -3.07318843e-02 -1.54302008e-02 7.54131715e+02] [ 3.07318018e-02 9.99527637e-01 -2.42516033e-04 9.62891666e+00] [ 1.54303651e-02 -2.31825274e-04 9.99880918e-01 1.16729619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.8192541539999 meters Centerline goodness : 0.998676 Centerline is valid? [True, True] Translation: X:754.18, Y:9.61, Z:11.66 [[ 9.99565436e-01 -2.51166862e-02 -1.54301966e-02 7.54179128e+02] [ 2.51159306e-02 9.99684516e-01 -2.42784494e-04 9.60992111e+00] [ 1.54314265e-02 -1.44864757e-04 9.99880918e-01 1.16646127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.8492541539999 meters Centerline goodness : 0.998991 Centerline is valid? [True, True] Translation: X:754.21, Y:9.61, Z:11.67 [[ 9.99430853e-01 -2.99928377e-02 -1.54402094e-02 7.54207709e+02] [ 3.00033110e-02 9.99549699e-01 4.47064011e-04 9.60971938e+00] [ 1.54198479e-02 -9.10066969e-04 9.99880693e-01 1.16653900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.8792541539999 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:754.22, Y:9.62, Z:11.67 [[ 9.98949778e-01 -4.31392828e-02 -1.54383468e-02 7.54223209e+02] [ 4.31494612e-02 9.99068575e-01 3.26654023e-04 9.62090476e+00] [ 1.54098755e-02 -9.92467308e-04 9.99880768e-01 1.16733053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.9092541539999 meters Centerline goodness : 0.998784 Centerline is valid? [True, True] Translation: X:754.27, Y:9.61, Z:11.67 [[ 9.99169364e-01 -3.77166382e-02 -1.54284699e-02 7.54266706e+02] [ 3.77171196e-02 9.99288423e-01 -2.59876610e-04 9.60722223e+00] [ 1.54272930e-02 -3.22256697e-04 9.99880940e-01 1.16667743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.9392541539999 meters Centerline goodness : 0.998931 Centerline is valid? [True, True] Translation: X:754.28, Y:9.62, Z:11.68 [[ 9.98386932e-01 -5.46371685e-02 -1.54374448e-02 7.54282229e+02] [ 5.46483558e-02 9.98505616e-01 3.03462972e-04 9.61594716e+00] [ 1.53977950e-02 -1.14660444e-03 9.99880789e-01 1.16750185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.9692541539999 meters Centerline goodness : 0.999037 Centerline is valid? [True, True] Translation: X:754.31, Y:9.61, Z:11.68 [[ 9.98167275e-01 -5.85156172e-02 -1.54276858e-02 7.54314618e+02] [ 5.85184992e-02 9.98286289e-01 -2.64945154e-04 9.61462019e+00] [ 1.54167507e-02 -6.38345437e-04 9.99880951e-01 1.16760139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.9992541539999 meters Centerline goodness : 0.998994 Centerline is valid? [True, True] Translation: X:754.35, Y:9.61, Z:11.68 [[ 9.97741504e-01 -6.53749025e-02 -1.54277038e-02 7.54345698e+02] [ 6.53786187e-02 9.97860495e-01 -2.63891875e-04 9.61118139e+00] [ 1.54119481e-02 -7.45346090e-04 9.99880951e-01 1.16775206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.0292541539999 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:754.38, Y:9.61, Z:11.68 [[ 9.97522770e-01 -6.86316930e-02 -1.54277172e-02 7.54376938e+02] [ 6.86358097e-02 9.97641748e-01 -2.63108925e-04 9.61031510e+00] [ 1.54093923e-02 -7.96436717e-04 9.99880951e-01 1.16785408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.0592541539999 meters Centerline goodness : 0.998850 Centerline is valid? [True, True] Translation: X:754.41, Y:9.61, Z:11.68 [[ 9.97322893e-01 -7.14774923e-02 -1.54277304e-02 7.54409583e+02] [ 7.14819604e-02 9.97441858e-01 -2.62334065e-04 9.60946670e+00] [ 1.54070150e-02 -8.41172642e-04 9.99880951e-01 1.16793179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.089254154 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:754.44, Y:9.61, Z:11.68 [[ 9.96987052e-01 -7.60184297e-02 -1.54277564e-02 7.54441148e+02] [ 7.60234632e-02 9.97105995e-01 -2.60791315e-04 9.60808762e+00] [ 1.54029334e-02 -9.12865911e-04 9.99880951e-01 1.16798174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.1192541539999 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:754.48, Y:9.61, Z:11.68 [[ 9.96902680e-01 -7.71169860e-02 -1.54277780e-02 7.54477146e+02] [ 7.71221704e-02 9.97021616e-01 -2.59511848e-04 9.60510794e+00] [ 1.54018409e-02 -9.31115664e-04 9.99880951e-01 1.16794587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.1492541539999 meters Centerline goodness : 0.998894 Centerline is valid? [True, True] Translation: X:754.50, Y:9.61, Z:11.68 [[ 9.96716905e-01 -7.94815737e-02 -1.54301596e-02 7.54504977e+02] [ 7.94892542e-02 9.96835716e-01 -1.15870404e-04 9.60757702e+00] [ 1.53905437e-02 -1.11104189e-03 9.99880941e-01 1.16795007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.1792541539999 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:754.54, Y:9.61, Z:11.68 [[ 9.96690602e-01 -7.98112074e-02 -1.54277557e-02 7.54537152e+02] [ 7.98167203e-02 9.96809522e-01 -2.59044667e-04 9.60757470e+00] [ 1.53992085e-02 -9.73205479e-04 9.99880952e-01 1.16797473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.209254154 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:754.57, Y:9.61, Z:11.68 [[ 9.96695775e-01 -7.97465756e-02 -1.54277724e-02 7.54569832e+02] [ 7.97520962e-02 9.96814695e-01 -2.58045113e-04 9.60804917e+00] [ 1.53992085e-02 -9.73204718e-04 9.99880952e-01 1.16802514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.2392541539999 meters Centerline goodness : 0.998892 Centerline is valid? [True, True] Translation: X:754.60, Y:9.61, Z:11.68 [[ 9.96693558e-01 -7.97742724e-02 -1.54277891e-02 7.54602070e+02] [ 7.97798118e-02 9.96812478e-01 -2.57044798e-04 9.60822048e+00] [ 1.53991182e-02 -9.74631218e-04 9.99880952e-01 1.16804269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.2692541539999 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:754.64, Y:9.60, Z:11.68 [[ 9.97201982e-01 -7.31449914e-02 -1.54278056e-02 7.54641062e+02] [ 7.31497552e-02 9.97320935e-01 -2.56050261e-04 9.60269506e+00] [ 1.54052023e-02 -8.73206376e-04 9.99880952e-01 1.16786153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.2992541539999 meters Centerline goodness : 0.998955 Centerline is valid? [True, True] Translation: X:754.67, Y:9.61, Z:11.68 [[ 9.97015735e-01 -7.56400060e-02 -1.54341532e-02 7.54667133e+02] [ 7.56510797e-02 9.97134342e-01 1.34071450e-04 9.60808150e+00] [ 1.53797830e-02 -1.30128170e-03 9.99880877e-01 1.16821397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.3292541539998 meters Centerline goodness : 0.998913 Centerline is valid? [True, True] Translation: X:754.70, Y:9.61, Z:11.68 [[ 9.97250569e-01 -7.24791178e-02 -1.54298694e-02 7.54695711e+02] [ 7.24858951e-02 9.97369430e-01 -1.20311431e-04 9.61240775e+00] [ 1.53980001e-02 -9.98467250e-04 9.99880945e-01 1.16783977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.3592541539999 meters Centerline goodness : 0.998954 Centerline is valid? [True, True] Translation: X:754.73, Y:9.61, Z:11.68 [[ 9.97453065e-01 -6.96374603e-02 -1.54274558e-02 7.54726901e+02] [ 6.96417093e-02 9.97572034e-01 -2.62287071e-04 9.61450892e+00] [ 1.54082634e-02 -8.12775347e-04 9.99880955e-01 1.16795488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.3892541539999 meters Centerline goodness : 0.998935 Centerline is valid? [True, True] Translation: X:754.76, Y:9.62, Z:11.68 [[ 9.97695388e-01 -6.60750062e-02 -1.54274681e-02 7.54760064e+02] [ 6.60788417e-02 9.97814371e-01 -2.61560470e-04 9.61628012e+00] [ 1.54110320e-02 -7.58471546e-04 9.99880955e-01 1.16828951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.4192541539999 meters Centerline goodness : 0.998849 Centerline is valid? [True, True] Translation: X:754.79, Y:9.62, Z:11.68 [[ 9.98204740e-01 -5.78730373e-02 -1.54274973e-02 7.54791724e+02] [ 5.78759215e-02 9.98323750e-01 -2.59824075e-04 9.61994830e+00] [ 1.54166738e-02 -6.33523001e-04 9.99880955e-01 1.16801797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.4492541539998 meters Centerline goodness : 0.998889 Centerline is valid? [True, True] Translation: X:754.83, Y:9.61, Z:11.68 [[ 9.98723434e-01 -4.80987870e-02 -1.54275117e-02 7.54829542e+02] [ 4.81005193e-02 9.98842467e-01 -2.58966552e-04 9.61345916e+00] [ 1.54221098e-02 -4.83435361e-04 9.99880955e-01 1.16763513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.4792541539999 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:754.85, Y:9.63, Z:11.68 [[ 9.98939140e-01 -4.33868019e-02 -1.54330898e-02 7.54850800e+02] [ 4.33932618e-02 9.99058065e-01 8.37971373e-05 9.62664930e+00] [ 1.54149172e-02 -7.53400347e-04 9.99880899e-01 1.16817096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.5092541539999 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:754.88, Y:9.63, Z:11.69 [[ 9.99140759e-01 -3.84674650e-02 -1.54272011e-02 7.54883163e+02] [ 3.84679960e-02 9.99259798e-01 -2.62431267e-04 9.62918663e+00] [ 1.54258769e-02 -3.31247734e-04 9.99880959e-01 1.16862312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.5392541539999 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:754.91, Y:9.63, Z:11.68 [[ 9.99316401e-01 -3.35966036e-02 -1.54272204e-02 7.54914506e+02] [ 3.35965720e-02 9.99435442e-01 -2.61287016e-04 9.63144917e+00] [ 1.54272892e-02 -2.57193322e-04 9.99880959e-01 1.16824682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.5692541539999 meters Centerline goodness : 0.998948 Centerline is valid? [True, True] Translation: X:754.94, Y:9.63, Z:11.69 [[ 9.99558431e-01 -2.53954107e-02 -1.54277973e-02 7.54944131e+02] [ 2.53949294e-02 9.99677471e-01 -2.27135817e-04 9.63365332e+00] [ 1.54285896e-02 -1.64752301e-04 9.99880959e-01 1.16878705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.5992541539999 meters Centerline goodness : 0.998821 Centerline is valid? [True, True] Translation: X:754.97, Y:9.63, Z:11.69 [[ 9.99642992e-01 -2.18148875e-02 -1.54272267e-02 7.54973748e+02] [ 2.18134590e-02 9.99762024e-01 -2.60880070e-04 9.63449361e+00] [ 1.54292464e-02 -7.57342421e-05 9.99880959e-01 1.16879625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.6292541539999 meters Centerline goodness : 0.999054 Centerline is valid? [True, True] Translation: X:755.00, Y:9.63, Z:11.69 [[ 9.99782810e-01 -1.40118929e-02 -1.54272169e-02 7.55002291e+02] [ 1.40095265e-02 9.99901828e-01 -2.61457004e-04 9.63389774e+00] [ 1.54293659e-02 4.52722138e-05 9.99880959e-01 1.16878815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.6592541539999 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:755.03, Y:9.64, Z:11.69 [[ 9.99766340e-01 -1.51411320e-02 -1.54276483e-02 7.55028722e+02] [ 1.51392927e-02 9.99885367e-01 -2.36010495e-04 9.63585075e+00] [ 1.54294533e-02 2.39166547e-06 9.99880959e-01 1.16899777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.6892541539999 meters Centerline goodness : 0.999074 Centerline is valid? [True, True] Translation: X:755.06, Y:9.64, Z:11.69 [[ 9.99751969e-01 -1.60630854e-02 -1.54265315e-02 7.55056587e+02] [ 1.60603600e-02 9.99870979e-01 -3.00541389e-04 9.63553038e+00] [ 1.54293688e-02 5.27111951e-05 9.99880959e-01 1.16887054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.7192541539999 meters Centerline goodness : 0.999243 Centerline is valid? [True, True] Translation: X:755.09, Y:9.63, Z:11.69 [[ 9.99766664e-01 -1.51202425e-02 -1.54270882e-02 7.55085212e+02] [ 1.51178983e-02 9.99885682e-01 -2.68567746e-04 9.63461171e+00] [ 1.54293854e-02 3.52799286e-05 9.99880959e-01 1.16891926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.7492541539999 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:755.11, Y:9.63, Z:11.69 [[ 9.99723027e-01 -1.77729811e-02 -1.54269696e-02 7.55112828e+02] [ 1.77708491e-02 9.99842048e-01 -2.75285277e-04 9.63492169e+00] [ 1.54294255e-02 1.05868173e-06 9.99880959e-01 1.16894246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.7792541539999 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:755.14, Y:9.63, Z:11.69 [[ 9.99694120e-01 -1.93306397e-02 -1.54269906e-02 7.55140225e+02] [ 1.93287113e-02 9.99813145e-01 -2.74103073e-04 9.63226130e+00] [ 1.54294066e-02 -2.41646182e-05 9.99880959e-01 1.16908560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.8092541539999 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:755.17, Y:9.63, Z:11.69 [[ 9.99630122e-01 -2.23973171e-02 -1.54265962e-02 7.55167999e+02] [ 2.23954150e-02 9.99749147e-01 -2.96062687e-04 9.63121122e+00] [ 1.54293574e-02 -4.95318439e-05 9.99880959e-01 1.16900298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.839254154 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] Translation: X:755.20, Y:9.63, Z:11.69 [[ 9.99522279e-01 -2.67810414e-02 -1.54268838e-02 7.55196361e+02] [ 2.67799057e-02 9.99641315e-01 -2.80231722e-04 9.62851192e+00] [ 1.54288553e-02 -1.33032643e-04 9.99880959e-01 1.16908245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.8692541539999 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:755.23, Y:9.63, Z:11.69 [[ 9.99462401e-01 -2.89296167e-02 -1.54268128e-02 7.55226060e+02] [ 2.89286774e-02 9.99581438e-01 -2.84084239e-04 9.62672236e+00] [ 1.54285742e-02 -1.62345776e-04 9.99880959e-01 1.16896704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.8992541539999 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:755.26, Y:9.62, Z:11.69 [[ 9.99279471e-01 -3.46778544e-02 -1.54268027e-02 7.55255353e+02] [ 3.46775913e-02 9.99398511e-01 -2.84634436e-04 9.62327956e+00] [ 1.54273942e-02 -2.50535010e-04 9.99880959e-01 1.16910173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.9292541539999 meters Centerline goodness : 0.998913 Centerline is valid? [True, True] Translation: X:755.29, Y:9.62, Z:11.69 [[ 9.99185947e-01 -3.72754191e-02 -1.54267977e-02 7.55286767e+02] [ 3.72754612e-02 9.99304988e-01 -2.84907556e-04 9.62146167e+00] [ 1.54266959e-02 -2.90365371e-04 9.99880959e-01 1.16911140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.959254154 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:755.32, Y:9.62, Z:11.69 [[ 9.98968861e-01 -4.26992764e-02 -1.54268080e-02 7.55318471e+02] [ 4.26999735e-02 9.99087900e-01 -2.84343977e-04 9.61750208e+00] [ 1.54248785e-02 -3.74673515e-04 9.99880959e-01 1.16911342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.9892541539999 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:755.35, Y:9.61, Z:11.69 [[ 9.98820743e-01 -4.60340723e-02 -1.54268235e-02 7.55349731e+02] [ 4.60351798e-02 9.98939779e-01 -2.83500093e-04 9.61342918e+00] [ 1.54235184e-02 -4.27010822e-04 9.99880959e-01 1.16892654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.0192541539999 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:755.38, Y:9.61, Z:11.69 [[ 9.98748539e-01 -4.75748824e-02 -1.54268333e-02 7.55381846e+02] [ 4.75761817e-02 9.98867572e-01 -2.82968415e-04 9.61273327e+00] [ 1.54228257e-02 -4.51335534e-04 9.99880959e-01 1.16925080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.0492541539999 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:755.41, Y:9.61, Z:11.69 [[ 9.98730832e-01 -4.79451402e-02 -1.54268536e-02 7.55413658e+02] [ 4.79465008e-02 9.98849865e-01 -2.81856183e-04 9.60984893e+00] [ 1.54226243e-02 -4.58165189e-04 9.99880959e-01 1.16933033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.0792541539998 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:755.45, Y:9.61, Z:11.69 [[ 9.98734417e-01 -4.78704109e-02 -1.54268746e-02 7.55446338e+02] [ 4.78717804e-02 9.98853450e-01 -2.80702149e-04 9.61038550e+00] [ 1.54226243e-02 -4.58165057e-04 9.99880959e-01 1.16938073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.1092541539999 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:755.48, Y:9.61, Z:11.69 [[ 9.98864138e-01 -4.50826373e-02 -1.54268955e-02 7.55478489e+02] [ 4.50836924e-02 9.98983174e-01 -2.79547983e-04 9.60721993e+00] [ 1.54238118e-02 -4.16270957e-04 9.99880959e-01 1.16930958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.1392541539999 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:755.51, Y:9.61, Z:11.69 [[ 9.98931631e-01 -4.35615286e-02 -1.54269162e-02 7.55509334e+02] [ 4.35624201e-02 9.99050668e-01 -2.78402630e-04 9.60663413e+00] [ 1.54243986e-02 -3.93928611e-04 9.99880959e-01 1.16942311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.1692541539999 meters Centerline goodness : 0.998977 Centerline is valid? [True, True] Translation: X:755.54, Y:9.61, Z:11.69 [[ 9.99058012e-01 -4.05598069e-02 -1.54269315e-02 7.55540338e+02] [ 4.05603539e-02 9.99177052e-01 -2.77550798e-04 9.60548582e+00] [ 1.54254934e-02 -3.48432453e-04 9.99880959e-01 1.16935530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.1992541539998 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:755.58, Y:9.60, Z:11.69 [[ 9.99383016e-01 -3.15530853e-02 -1.54269416e-02 7.55578687e+02] [ 3.15525680e-02 9.99502055e-01 -2.76989563e-04 9.59696180e+00] [ 1.54279997e-02 -2.09940959e-04 9.99880959e-01 1.16913514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.2292541539999 meters Centerline goodness : 0.999288 Centerline is valid? [True, True] Translation: X:755.60, Y:9.60, Z:11.70 [[ 9.99348562e-01 -3.26224727e-02 -1.54345796e-02 7.55600171e+02] [ 3.26287145e-02 9.99467530e-01 1.52693504e-04 9.60390940e+00] [ 1.54213799e-02 -6.56204526e-04 9.99880868e-01 1.16954469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.2592541539999 meters Centerline goodness : 0.999247 Centerline is valid? [True, True] Translation: X:755.63, Y:9.60, Z:11.70 [[ 9.99442061e-01 -2.96242385e-02 -1.54263488e-02 7.55629410e+02] [ 2.96233198e-02 9.99561092e-01 -2.88103501e-04 9.60387574e+00] [ 1.54281129e-02 -1.69036907e-04 9.99880965e-01 1.16954840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.2892541539999 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:755.66, Y:9.60, Z:11.70 [[ 9.99572703e-01 -2.48282045e-02 -1.54263435e-02 7.55658718e+02] [ 2.48267103e-02 9.99691728e-01 -2.88387117e-04 9.60179166e+00] [ 1.54287481e-02 -9.47214709e-05 9.99880965e-01 1.16955108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.3192541539999 meters Centerline goodness : 0.999225 Centerline is valid? [True, True] Translation: X:755.69, Y:9.60, Z:11.70 [[ 9.99593709e-01 -2.39675970e-02 -1.54263330e-02 7.55687449e+02] [ 2.39659917e-02 9.99712733e-01 -2.88946680e-04 9.60092665e+00] [ 1.54288269e-02 -8.08780858e-05 9.99880965e-01 1.16956360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.3492541539999 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:755.72, Y:9.60, Z:11.70 [[ 9.99606840e-01 -2.34135988e-02 -1.54262592e-02 7.55715497e+02] [ 2.34118675e-02 9.99725862e-01 -2.92835271e-04 9.59978679e+00] [ 1.54288866e-02 -6.84373954e-05 9.99880965e-01 1.16951732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.3792541539999 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:755.74, Y:9.60, Z:11.70 [[ 9.99565997e-01 -2.50968175e-02 -1.54262181e-02 7.55743299e+02] [ 2.50952535e-02 9.99685021e-01 -2.94982953e-04 9.59694681e+00] [ 1.54287623e-02 -9.22699247e-05 9.99880965e-01 1.16951529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.4092541539999 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:755.77, Y:9.59, Z:11.70 [[ 9.99442495e-01 -2.96096907e-02 -1.54261321e-02 7.55771699e+02] [ 2.96085958e-02 9.99561525e-01 -2.99412072e-04 9.59370864e+00] [ 1.54282337e-02 -1.57500963e-04 9.99880965e-01 1.16955522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.4392541539999 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:755.80, Y:9.59, Z:11.69 [[ 9.99353520e-01 -3.24742725e-02 -1.54260542e-02 7.55801352e+02] [ 3.24734575e-02 9.99472552e-01 -3.03374166e-04 9.59222302e+00] [ 1.54277696e-02 -1.97759276e-04 9.99880965e-01 1.16948958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.4692541539999 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:755.83, Y:9.59, Z:11.69 [[ 9.99219427e-01 -3.63672128e-02 -1.54260431e-02 7.55830458e+02] [ 3.63668529e-02 9.99338461e-01 -3.03940784e-04 9.59099499e+00] [ 1.54268916e-02 -2.57293103e-04 9.99880965e-01 1.16949985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.4992541539999 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] Translation: X:755.86, Y:9.59, Z:11.70 [[ 9.99053022e-01 -4.06828863e-02 -1.54260439e-02 7.55861175e+02] [ 4.06830412e-02 9.99172056e-01 -3.03899429e-04 9.58964199e+00] [ 1.54256355e-02 -3.23966735e-04 9.99880965e-01 1.16968146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.5292541539999 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:755.89, Y:9.59, Z:11.70 [[ 9.98630299e-01 -4.99956285e-02 -1.54260439e-02 7.55891577e+02] [ 4.99968931e-02 9.98749327e-01 -3.03899429e-04 9.58609600e+00] [ 1.54219446e-02 -4.67771090e-04 9.99880965e-01 1.16977407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.5592541539999 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:755.93, Y:9.58, Z:11.69 [[ 9.98667623e-01 -4.92444441e-02 -1.54260439e-02 7.55927414e+02] [ 4.92456192e-02 9.98786652e-01 -3.03899429e-04 9.57783049e+00] [ 1.54222921e-02 -4.56170562e-04 9.99880965e-01 1.16913221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.589254154 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:755.95, Y:9.58, Z:11.70 [[ 9.97787794e-01 -6.46634478e-02 -1.54323393e-02 7.55950747e+02] [ 6.46714510e-02 9.97906610e-01 1.95957019e-05 9.58235309e+00] [ 1.53987663e-02 -1.01758413e-03 9.99880914e-01 1.16999960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.6192541539999 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:755.98, Y:9.58, Z:11.70 [[ 9.97499036e-01 -6.89762351e-02 -1.54257107e-02 7.55981553e+02] [ 6.89796665e-02 9.97618018e-01 -3.10139745e-04 9.58171827e+00] [ 1.54103592e-02 -7.54696283e-04 9.99880969e-01 1.17014215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.6492541539999 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:756.01, Y:9.58, Z:11.70 [[ 9.97220869e-01 -7.28874795e-02 -1.54257276e-02 7.56013243e+02] [ 7.28913905e-02 9.97339837e-01 -3.09300146e-04 9.58098657e+00] [ 1.54072367e-02 -8.15962170e-04 9.99880969e-01 1.17027361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.6792541539999 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:756.05, Y:9.57, Z:11.70 [[ 9.97075644e-01 -7.48478862e-02 -1.54257446e-02 7.56048575e+02] [ 7.48520442e-02 9.97194603e-01 -3.08446346e-04 9.57344796e+00] [ 1.54055558e-02 -8.47104179e-04 9.99880969e-01 1.17007069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.709254154 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:756.07, Y:9.58, Z:11.70 [[ 9.96182884e-01 -8.59158131e-02 -1.54315975e-02 7.56074087e+02] [ 8.59258232e-02 9.96301537e-01 -1.44041506e-05 9.57897731e+00] [ 1.53757619e-02 -1.31162355e-03 9.99880926e-01 1.17047454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.7392541539999 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:756.11, Y:9.58, Z:11.70 [[ 9.96008009e-01 -8.79210047e-02 -1.54254139e-02 7.56106241e+02] [ 8.79266038e-02 9.96126906e-01 -3.16148115e-04 9.57909418e+00] [ 1.53934659e-02 -1.04141820e-03 9.99880971e-01 1.17034199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.7692541539999 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:756.14, Y:9.58, Z:11.70 [[ 9.95818591e-01 -9.00410406e-02 -1.54254377e-02 7.56137104e+02] [ 9.00469109e-02 9.95937475e-01 -3.14981231e-04 9.58015724e+00] [ 1.53911327e-02 -1.07534885e-03 9.99880971e-01 1.17049600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.7992541539999 meters Centerline goodness : 0.999125 Centerline is valid? [True, True] Translation: X:756.17, Y:9.58, Z:11.70 [[ 9.95659507e-01 -9.17834541e-02 -1.54254554e-02 7.56169188e+02] [ 9.17895458e-02 9.95778379e-01 -3.14111131e-04 9.58159962e+00] [ 1.53891652e-02 -1.10314781e-03 9.99880971e-01 1.17039276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.8292541539998 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:756.20, Y:9.58, Z:11.70 [[ 9.95630013e-01 -9.21028314e-02 -1.54254785e-02 7.56202342e+02] [ 9.21089788e-02 9.95748883e-01 -3.12973327e-04 9.58318964e+00] [ 1.53887287e-02 -1.10921943e-03 9.99880971e-01 1.17040530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.8592541539999 meters Centerline goodness : 0.999292 Centerline is valid? [True, True] Translation: X:756.23, Y:9.59, Z:11.70 [[ 9.95718621e-01 -9.11399054e-02 -1.54255128e-02 7.56234991e+02] [ 9.11459640e-02 9.95837495e-01 -3.11272757e-04 9.58592081e+00] [ 1.53896734e-02 -1.09603316e-03 9.99880971e-01 1.17035822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.8892541539999 meters Centerline goodness : 0.999188 Centerline is valid? [True, True] Translation: X:756.27, Y:9.59, Z:11.70 [[ 9.95859736e-01 -8.95848161e-02 -1.54255418e-02 7.56268086e+02] [ 8.95907113e-02 9.95978618e-01 -3.09830375e-04 9.58761507e+00] [ 1.53912659e-02 -1.07343767e-03 9.99880971e-01 1.17036915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.9192541539999 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:756.30, Y:9.59, Z:11.70 [[ 9.96003609e-01 -8.79708033e-02 -1.54255764e-02 7.56301110e+02] [ 8.79765326e-02 9.96122500e-01 -3.08096680e-04 9.59010950e+00] [ 1.53928673e-02 -1.05022332e-03 9.99880971e-01 1.17039228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.9492541539998 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:756.33, Y:9.59, Z:11.70 [[ 9.96425029e-01 -8.30614975e-02 -1.54256108e-02 7.56333393e+02] [ 8.30666675e-02 9.96543945e-01 -3.06364494e-04 9.59478918e+00] [ 1.53977462e-02 -9.76084835e-04 9.99880971e-01 1.17041723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.9792541539999 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:756.37, Y:9.60, Z:11.71 [[ 9.96659318e-01 -8.02013262e-02 -1.54256337e-02 7.56366358e+02] [ 8.02061727e-02 9.96778249e-01 -3.05209916e-04 9.59826851e+00] [ 1.54004144e-02 -9.33040732e-04 9.99880971e-01 1.17050878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.0092541539999 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:756.40, Y:9.60, Z:11.71 [[ 9.97193462e-01 -7.32614997e-02 -1.54256679e-02 7.56397842e+02] [ 7.32655450e-02 9.97312422e-01 -3.03471236e-04 9.60464262e+00] [ 1.54064430e-02 -8.27550431e-04 9.99880971e-01 1.17062029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.0392541539999 meters Centerline goodness : 0.999229 Centerline is valid? [True, True] Translation: X:756.43, Y:9.61, Z:11.71 [[ 9.97467423e-01 -6.94318917e-02 -1.54256847e-02 7.56428511e+02] [ 6.94354934e-02 9.97586398e-01 -3.02611380e-04 9.60751346e+00] [ 1.54094642e-02 -7.69245038e-04 9.99880971e-01 1.17071201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.0692541539999 meters Centerline goodness : 0.998896 Centerline is valid? [True, True] Translation: X:756.47, Y:9.60, Z:11.70 [[ 9.98182630e-01 -5.82536264e-02 -1.54257012e-02 7.56469119e+02] [ 5.82559081e-02 9.98301637e-01 -3.01769807e-04 9.60147308e+00] [ 1.54170820e-02 -5.97416852e-04 9.99880971e-01 1.17034191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.0992541539999 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:756.49, Y:9.62, Z:11.71 [[ 9.98167350e-01 -5.85124964e-02 -1.54346737e-02 7.56489529e+02] [ 5.85218943e-02 9.98286113e-01 1.57535161e-04 9.61648193e+00] [ 1.53990027e-02 -1.06051280e-03 9.99880866e-01 1.17095155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.1292541539999 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:756.52, Y:9.62, Z:11.71 [[ 9.98171445e-01 -5.84451623e-02 -1.54249757e-02 7.56522201e+02] [ 5.84472473e-02 9.98290448e-01 -3.15976600e-04 9.61732390e+00] [ 1.54170732e-02 -5.86148550e-04 9.99880978e-01 1.17101286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.1592541539999 meters Centerline goodness : 0.998977 Centerline is valid? [True, True] Translation: X:756.55, Y:9.62, Z:11.71 [[ 9.98596335e-01 -5.06698127e-02 -1.54249992e-02 7.56552892e+02] [ 5.06709888e-02 9.98715351e-01 -3.14823082e-04 9.62363900e+00] [ 1.54211355e-02 -4.67218788e-04 9.99880978e-01 1.17110933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.1892541539999 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:756.59, Y:9.63, Z:11.71 [[ 9.98774552e-01 -4.70261832e-02 -1.54250381e-02 7.56585234e+02] [ 4.70269546e-02 9.98893572e-01 -3.12905212e-04 9.62719019e+00] [ 1.54226862e-02 -4.12870805e-04 9.99880978e-01 1.17117480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.2192541539999 meters Centerline goodness : 0.998915 Centerline is valid? [True, True] Translation: X:756.63, Y:9.62, Z:11.71 [[ 9.99308265e-01 -3.38387211e-02 -1.54250603e-02 7.56630184e+02] [ 3.38379384e-02 9.99427284e-01 -3.11809127e-04 9.61874809e+00] [ 1.54267773e-02 -2.10358802e-04 9.99880978e-01 1.17073340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.2492541539999 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:756.64, Y:9.63, Z:11.71 [[ 9.99091035e-01 -3.97336325e-02 -1.54383408e-02 7.56642583e+02] [ 3.97441287e-02 9.99209820e-01 3.73538844e-04 9.63451123e+00] [ 1.54112997e-02 -9.86782714e-04 9.99880752e-01 1.17117758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.2792541539999 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:756.67, Y:9.64, Z:11.71 [[ 9.99156806e-01 -3.80497933e-02 -1.54237048e-02 7.56672855e+02] [ 3.80493268e-02 9.99275810e-01 -3.23801527e-04 9.63624791e+00] [ 1.54248557e-02 -2.63333084e-04 9.99880995e-01 1.17118425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.3092541539999 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:756.70, Y:9.64, Z:11.71 [[ 9.99254386e-01 -3.53946559e-02 -1.54237107e-02 7.56703856e+02] [ 3.53938775e-02 9.99373388e-01 -3.23520771e-04 9.63940596e+00] [ 1.54254969e-02 -2.22625376e-04 9.99880995e-01 1.17127966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.339254154 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:756.73, Y:9.64, Z:11.71 [[ 9.99304321e-01 -3.39556070e-02 -1.54237222e-02 7.56734695e+02] [ 3.39546657e-02 9.99423322e-01 -3.22968857e-04 9.64122679e+00] [ 1.54257943e-02 -2.00963158e-04 9.99880995e-01 1.17133393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.3692541539999 meters Centerline goodness : 0.999079 Centerline is valid? [True, True] Translation: X:756.77, Y:9.64, Z:11.71 [[ 9.99353753e-01 -3.24682010e-02 -1.54237339e-02 7.56765571e+02] [ 3.24670912e-02 9.99472753e-01 -3.22408575e-04 9.64304566e+00] [ 1.54260698e-02 -1.78563557e-04 9.99880995e-01 1.17136245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.3992541539999 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:756.80, Y:9.65, Z:11.71 [[ 9.99440890e-01 -2.96650574e-02 -1.54237456e-02 7.56796449e+02] [ 2.96636225e-02 9.99559886e-01 -3.21849012e-04 9.64661542e+00] [ 1.54265051e-02 -1.35855104e-04 9.99880995e-01 1.17142005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.4292541539999 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:756.83, Y:9.65, Z:11.71 [[ 9.99445970e-01 -2.94933925e-02 -1.54237456e-02 7.56825482e+02] [ 2.94919372e-02 9.99564966e-01 -3.21849012e-04 9.65056233e+00] [ 1.54265282e-02 -1.33205438e-04 9.99880995e-01 1.17133256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.459254154 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:756.86, Y:9.65, Z:11.72 [[ 9.99556582e-01 -2.54716572e-02 -1.54218781e-02 7.56857172e+02] [ 2.54683576e-02 9.99675545e-01 -4.10347656e-04 9.65007819e+00] [ 1.54273266e-02 1.73957934e-05 9.99880992e-01 1.17157684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.4892541539999 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:756.89, Y:9.65, Z:11.72 [[ 9.99580391e-01 -2.45184000e-02 -1.54236973e-02 7.56885717e+02] [ 2.45163244e-02 9.99699377e-01 -3.23659027e-04 9.65092056e+00] [ 1.54269962e-02 -5.46091501e-05 9.99880995e-01 1.17158131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.5192541539999 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:756.91, Y:9.65, Z:11.72 [[ 9.99589053e-01 -2.41626658e-02 -1.54236794e-02 7.56914927e+02] [ 2.41605348e-02 9.99708039e-01 -3.24510832e-04 9.65203166e+00] [ 1.54270173e-02 -4.82668673e-05 9.99880995e-01 1.17165674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.5492541539999 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:756.94, Y:9.66, Z:11.72 [[ 9.99534026e-01 -2.63408834e-02 -1.54236678e-02 7.56942859e+02] [ 2.63390032e-02 9.99653015e-01 -3.25062364e-04 9.65510041e+00] [ 1.54268784e-02 -8.13331408e-05 9.99880995e-01 1.17180375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.5792541539998 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:756.97, Y:9.65, Z:11.72 [[ 9.99539178e-01 -2.61455818e-02 -1.54220935e-02 7.56973546e+02] [ 2.61425395e-02 9.99658146e-01 -3.98865976e-04 9.65352961e+00] [ 1.54272500e-02 -4.49051990e-06 9.99880993e-01 1.17187535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.6092541539999 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:757.00, Y:9.65, Z:11.72 [[ 9.99422586e-01 -3.02754991e-02 -1.54236345e-02 7.57002072e+02] [ 3.02740736e-02 9.99541582e-01 -3.25952303e-04 9.65316090e+00] [ 1.54264324e-02 -1.41172151e-04 9.99880996e-01 1.17188100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.6392541539999 meters Centerline goodness : 0.998956 Centerline is valid? [True, True] Translation: X:757.03, Y:9.65, Z:11.72 [[ 9.99345272e-01 -3.27282564e-02 -1.54236168e-02 7.57032185e+02] [ 3.27271100e-02 9.99464271e-01 -3.26787657e-04 9.65239486e+00] [ 1.54260491e-02 -1.78196702e-04 9.99880996e-01 1.17196220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.6692541539999 meters Centerline goodness : 0.998997 Centerline is valid? [True, True] Translation: X:757.06, Y:9.65, Z:11.72 [[ 9.99248194e-01 -3.55690632e-02 -1.54236168e-02 7.57063209e+02] [ 3.55682552e-02 9.99367196e-01 -3.26787657e-04 9.65157518e+00] [ 1.54254802e-02 -2.22049160e-04 9.99880996e-01 1.17200516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.6992541539998 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:757.09, Y:9.65, Z:11.72 [[ 9.99052586e-01 -4.06944988e-02 -1.54236228e-02 7.57093373e+02] [ 4.06943056e-02 9.99171590e-01 -3.26500748e-04 9.64953786e+00] [ 1.54241325e-02 -3.01462204e-04 9.99880996e-01 1.17179027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.7292541539999 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:757.12, Y:9.65, Z:11.72 [[ 9.98938894e-01 -4.33958369e-02 -1.54236289e-02 7.57124867e+02] [ 4.33959699e-02 9.99057898e-01 -3.26215787e-04 9.64959673e+00] [ 1.54232546e-02 -3.43453696e-04 9.99880996e-01 1.17185586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.7592541539999 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:757.16, Y:9.65, Z:11.72 [[ 9.98757531e-01 -4.73867571e-02 -1.54236403e-02 7.57155646e+02] [ 4.73873739e-02 9.98876534e-01 -3.25674238e-04 9.64898159e+00] [ 1.54217450e-02 -4.05616212e-04 9.99880996e-01 1.17176602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.7892541539999 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:757.19, Y:9.65, Z:11.72 [[ 9.98668171e-01 -4.92340909e-02 -1.54236574e-02 7.57187562e+02] [ 4.92349403e-02 9.98787172e-01 -3.24863949e-04 9.64923584e+00] [ 1.54209455e-02 -4.34951565e-04 9.99880996e-01 1.17186393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.8192541539999 meters Centerline goodness : 0.998999 Centerline is valid? [True, True] Translation: X:757.22, Y:9.65, Z:11.72 [[ 9.98537412e-01 -5.18184125e-02 -1.54236801e-02 7.57218449e+02] [ 5.18195866e-02 9.98656410e-01 -3.23781747e-04 9.64880766e+00] [ 1.54197348e-02 -4.75940539e-04 9.99880996e-01 1.17184825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.8492541539999 meters Centerline goodness : 0.999125 Centerline is valid? [True, True] Translation: X:757.25, Y:9.65, Z:11.72 [[ 9.98486796e-01 -5.27847294e-02 -1.54236970e-02 7.57250498e+02] [ 5.27860311e-02 9.98605793e-01 -3.22975024e-04 9.64898474e+00] [ 1.54192413e-02 -4.91669452e-04 9.99880996e-01 1.17205924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.8792541539999 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:757.28, Y:9.65, Z:11.72 [[ 9.98435018e-01 -5.37552278e-02 -1.54237208e-02 7.57282407e+02] [ 5.37566628e-02 9.98554013e-01 -3.21835251e-04 9.64939097e+00] [ 1.54187186e-02 -5.07796171e-04 9.99880996e-01 1.17211441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.9092541539999 meters Centerline goodness : 0.997062 Centerline is valid? [True, True] Translation: X:757.31, Y:9.65, Z:11.72 [[ 9.98251615e-01 -5.70598039e-02 -1.54237443e-02 7.57312456e+02] [ 5.70616503e-02 9.98370605e-01 -3.20700772e-04 9.65189088e+00] [ 1.54169121e-02 -5.59964243e-04 9.99880996e-01 1.17172730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.9392541539999 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:757.34, Y:9.65, Z:11.72 [[ 9.98237717e-01 -5.73029150e-02 -1.54219493e-02 7.57344391e+02] [ 5.73034683e-02 9.98356724e-01 -4.06370456e-04 9.65094505e+00] [ 1.54198930e-02 -4.78076865e-04 9.99880992e-01 1.17229879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.9692541539999 meters Centerline goodness : 0.999357 Centerline is valid? [True, True] Translation: X:757.38, Y:9.65, Z:11.72 [[ 9.98023903e-01 -6.09130273e-02 -1.54237569e-02 7.57376597e+02] [ 6.09153598e-02 9.98142884e-01 -3.18966089e-04 9.65138821e+00] [ 1.54145424e-02 -6.21207918e-04 9.99880996e-01 1.17236319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.9992541539999 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:757.41, Y:9.65, Z:11.72 [[ 9.97859754e-01 -6.35454080e-02 -1.54237804e-02 7.57407651e+02] [ 6.35480719e-02 9.97978728e-01 -3.17824207e-04 9.65194124e+00] [ 1.54128010e-02 -6.63007520e-04 9.99880996e-01 1.17230705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.0292541539999 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:757.44, Y:9.65, Z:11.72 [[ 9.97650725e-01 -6.67468175e-02 -1.54237979e-02 7.57440046e+02] [ 6.67498762e-02 9.97769690e-01 -3.16973281e-04 9.65259556e+00] [ 1.54105550e-02 -7.13307976e-04 9.99880996e-01 1.17236918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.0592541539999 meters Centerline goodness : 0.998833 Centerline is valid? [True, True] Translation: X:757.48, Y:9.65, Z:11.73 [[ 9.97365649e-01 -7.08792512e-02 -1.54238209e-02 7.57477431e+02] [ 7.08828201e-02 9.97484599e-01 -3.15850322e-04 9.65028987e+00] [ 1.54074110e-02 -7.78265659e-04 9.99880996e-01 1.17261244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.089254154 meters Centerline goodness : 0.998937 Centerline is valid? [True, True] Translation: X:757.50, Y:9.65, Z:11.72 [[ 9.96905153e-01 -7.70847024e-02 -1.54293450e-02 7.57501462e+02] [ 7.70932501e-02 9.97023886e-01 -4.09176986e-05 9.65419193e+00] [ 1.53865797e-02 -1.14870729e-03 9.99880960e-01 1.17234018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.1192541539999 meters Centerline goodness : 0.998893 Centerline is valid? [True, True] Translation: X:757.53, Y:9.66, Z:11.72 [[ 9.96427890e-01 -8.30275303e-02 -1.54236347e-02 7.57533860e+02] [ 8.30325159e-02 9.96546788e-01 -3.17950562e-04 9.65591633e+00] [ 1.53967723e-02 -9.63848389e-04 9.99880998e-01 1.17239009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.1492541539999 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:757.57, Y:9.66, Z:11.72 [[ 9.96251647e-01 -8.51161960e-02 -1.54236582e-02 7.57566340e+02] [ 8.51214484e-02 9.96370533e-01 -3.16809184e-04 9.65736165e+00] [ 1.53946441e-02 -9.97262454e-04 9.99880998e-01 1.17235686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.1792541539999 meters Centerline goodness : 0.998767 Centerline is valid? [True, True] Translation: X:757.60, Y:9.66, Z:11.72 [[ 9.96073620e-01 -8.71748412e-02 -1.54236873e-02 7.57598697e+02] [ 8.71803613e-02 9.96192494e-01 -3.15383950e-04 9.65978682e+00] [ 1.53924551e-02 -1.03049700e-03 9.99880998e-01 1.17243130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.209254154 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:757.63, Y:9.66, Z:11.73 [[ 9.96027515e-01 -8.77000533e-02 -1.54237105e-02 7.57630111e+02] [ 8.77056536e-02 9.96146385e-01 -3.14246405e-04 9.66195034e+00] [ 1.53918329e-02 -1.03974855e-03 9.99880998e-01 1.17259434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.2392541539999 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:757.66, Y:9.66, Z:11.73 [[ 9.96078311e-01 -8.71212121e-02 -1.54237535e-02 7.57662397e+02] [ 8.71267761e-02 9.96197183e-01 -3.12119904e-04 9.66382736e+00] [ 1.53922921e-02 -1.03292605e-03 9.99880998e-01 1.17275573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.2692541539999 meters Centerline goodness : 0.998914 Centerline is valid? [True, True] Translation: X:757.69, Y:9.67, Z:11.73 [[ 9.96305165e-01 -8.44874309e-02 -1.54237763e-02 7.57694826e+02] [ 8.44926980e-02 9.96424050e-01 -3.10989698e-04 9.66760128e+00] [ 1.53948964e-02 -9.93355833e-04 9.99880998e-01 1.17292953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.2992541539999 meters Centerline goodness : 0.998850 Centerline is valid? [True, True] Translation: X:757.73, Y:9.67, Z:11.73 [[ 9.96468864e-01 -8.25342874e-02 -1.54237990e-02 7.57727099e+02] [ 8.25393389e-02 9.96587759e-01 -3.09861069e-04 9.67009912e+00] [ 1.53967434e-02 -9.64303264e-04 9.99880998e-01 1.17311081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.3292541539998 meters Centerline goodness : 0.998890 Centerline is valid? [True, True] Translation: X:757.76, Y:9.67, Z:11.73 [[ 9.96849694e-01 -7.77997045e-02 -1.54238220e-02 7.57758947e+02] [ 7.78042089e-02 9.96968610e-01 -3.08712058e-04 9.67436915e+00] [ 1.54010841e-02 -8.92298747e-04 9.99880998e-01 1.17313683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.3592541539999 meters Centerline goodness : 0.998973 Centerline is valid? [True, True] Translation: X:757.79, Y:9.68, Z:11.73 [[ 9.97052486e-01 -7.51561255e-02 -1.54238785e-02 7.57792111e+02] [ 7.51603584e-02 9.97171413e-01 -3.05863079e-04 9.67680330e+00] [ 1.54032382e-02 -8.54302693e-04 9.99880998e-01 1.17316716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.3892541539999 meters Centerline goodness : 0.998784 Centerline is valid? [True, True] Translation: X:757.83, Y:9.68, Z:11.73 [[ 9.97260295e-01 -7.23464398e-02 -1.54239114e-02 7.57825023e+02] [ 7.23503634e-02 9.97379232e-01 -3.04193154e-04 9.67920317e+00] [ 1.54054962e-02 -8.12565842e-04 9.99880998e-01 1.17319436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.4192541539999 meters Centerline goodness : 0.998846 Centerline is valid? [True, True] Translation: X:757.86, Y:9.68, Z:11.73 [[ 9.97644706e-01 -6.68366811e-02 -1.54239441e-02 7.57857350e+02] [ 6.68399734e-02 9.97763663e-01 -3.02527118e-04 9.68449069e+00] [ 1.54096709e-02 -7.29121436e-04 9.99880998e-01 1.17324115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.4492541539998 meters Centerline goodness : 0.999012 Centerline is valid? [True, True] Translation: X:757.89, Y:9.69, Z:11.73 [[ 9.97827478e-01 -6.40501758e-02 -1.54239658e-02 7.57890517e+02] [ 6.40531529e-02 9.97946443e-01 -3.01418027e-04 9.68721542e+00] [ 1.54115977e-02 -6.87190448e-04 9.99880998e-01 1.17336796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.4792541539999 meters Centerline goodness : 0.998676 Centerline is valid? [True, True] Translation: X:757.92, Y:9.69, Z:11.73 [[ 9.98210449e-01 -5.77754267e-02 -1.54239991e-02 7.57923529e+02] [ 5.77776823e-02 9.98329429e-01 -2.99700753e-04 9.69170483e+00] [ 1.54155476e-02 -5.91998500e-04 9.99880998e-01 1.17342762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.5092541539999 meters Centerline goodness : 0.998802 Centerline is valid? [True, True] Translation: X:757.96, Y:9.69, Z:11.74 [[ 9.98395788e-01 -5.44789008e-02 -1.54240323e-02 7.57955790e+02] [ 5.44807900e-02 9.98514774e-01 -2.97984422e-04 9.69434845e+00] [ 1.54173580e-02 -5.42807072e-04 9.99880998e-01 1.17350402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.5392541539999 meters Centerline goodness : 0.998905 Centerline is valid? [True, True] Translation: X:757.98, Y:9.70, Z:11.73 [[ 9.98529912e-01 -5.19626210e-02 -1.54240544e-02 7.57984987e+02] [ 5.19642280e-02 9.98648903e-01 -2.96837526e-04 9.69857569e+00] [ 1.54186394e-02 -5.05097930e-04 9.99880998e-01 1.17322059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.5692541539999 meters Centerline goodness : 0.998991 Centerline is valid? [True, True] Translation: X:758.02, Y:9.70, Z:11.73 [[ 9.98916903e-01 -4.38996318e-02 -1.54221577e-02 7.58017093e+02] [ 4.38987888e-02 9.99035906e-01 -3.93349638e-04 9.70094464e+00] [ 1.54245572e-02 -2.84090442e-04 9.99880994e-01 1.17335531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.5992541539999 meters Centerline goodness : 0.999075 Centerline is valid? [True, True] Translation: X:758.06, Y:9.69, Z:11.73 [[ 9.99429333e-01 -3.00517688e-02 -1.54239670e-02 7.58063575e+02] [ 3.00507096e-02 9.99548330e-01 -3.00485307e-04 9.69187605e+00] [ 1.54260305e-02 -1.63187322e-04 9.99880998e-01 1.17281888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.6292541539999 meters Centerline goodness : 0.998861 Centerline is valid? [True, True] Translation: X:758.08, Y:9.71, Z:11.74 [[ 9.99360175e-01 -3.22636344e-02 -1.54369410e-02 7.58077242e+02] [ 3.22735751e-02 9.99478994e-01 3.95205303e-04 9.70836422e+00] [ 1.54161475e-02 -8.93157714e-04 9.99880765e-01 1.17363943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.6592541539999 meters Centerline goodness : 0.998988 Centerline is valid? [True, True] Translation: X:758.11, Y:9.71, Z:11.74 [[ 9.99506023e-01 -2.73834302e-02 -1.54226137e-02 7.58107019e+02] [ 2.73818698e-02 9.99624998e-01 -3.12368204e-04 9.71185395e+00] [ 1.54253839e-02 -1.10086098e-04 9.99881016e-01 1.17369670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.6892541539999 meters Centerline goodness : 0.998943 Centerline is valid? [True, True] Translation: X:758.14, Y:9.71, Z:11.74 [[ 9.99699447e-01 -1.90581766e-02 -1.54208356e-02 7.58137432e+02] [ 1.90542790e-02 9.99818371e-01 -3.99649353e-04 9.71387344e+00] [ 1.54256514e-02 1.05696332e-04 9.99881012e-01 1.17384320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.7192541539999 meters Centerline goodness : 0.998924 Centerline is valid? [True, True] Translation: X:758.17, Y:9.72, Z:11.74 [[ 9.99755270e-01 -1.58600860e-02 -1.54226129e-02 7.58166078e+02] [ 1.58571642e-02 9.99874219e-01 -3.11722653e-04 9.71517422e+00] [ 1.54256170e-02 6.70874603e-05 9.99881016e-01 1.17402697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.7492541539999 meters Centerline goodness : 0.999177 Centerline is valid? [True, True] Translation: X:758.19, Y:9.72, Z:11.74 [[ 9.99818117e-01 -1.12195893e-02 -1.54225315e-02 7.58194235e+02] [ 1.12160542e-02 9.99937048e-01 -3.15698713e-04 9.71654082e+00] [ 1.54251026e-02 1.42661344e-04 9.99881016e-01 1.17421700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.7792541539999 meters Centerline goodness : 0.999220 Centerline is valid? [True, True] Translation: X:758.22, Y:9.72, Z:11.74 [[ 9.99825886e-01 -1.05044644e-02 -1.54225026e-02 7.58220842e+02] [ 1.05008225e-02 9.99944815e-01 -3.17104633e-04 9.71660328e+00] [ 1.54249825e-02 1.55100459e-04 9.99881016e-01 1.17427036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.8092541539999 meters Centerline goodness : 0.998819 Centerline is valid? [True, True] Translation: X:758.25, Y:9.72, Z:11.74 [[ 9.99818815e-01 -1.11573156e-02 -1.54224626e-02 7.58248848e+02] [ 1.11537215e-02 9.99937744e-01 -3.19039623e-04 9.71633505e+00] [ 1.54250621e-02 1.46963966e-04 9.99881016e-01 1.17442801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.839254154 meters Centerline goodness : 0.999051 Centerline is valid? [True, True] Translation: X:758.28, Y:9.71, Z:11.74 [[ 9.99776558e-01 -1.44563303e-02 -1.54223679e-02 7.58275643e+02] [ 1.44530591e-02 9.99895497e-01 -3.23550311e-04 9.71360207e+00] [ 1.54254336e-02 1.00577621e-04 9.99881016e-01 1.17443821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.8692541539999 meters Centerline goodness : 0.998991 Centerline is valid? [True, True] Translation: X:758.30, Y:9.71, Z:11.74 [[ 9.99723597e-01 -1.77448771e-02 -1.54223267e-02 7.58303719e+02] [ 1.77419670e-02 9.99842546e-01 -3.25503176e-04 9.71189971e+00] [ 1.54256744e-02 5.17907937e-05 9.99881016e-01 1.17440854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.8992541539999 meters Centerline goodness : 0.999076 Centerline is valid? [True, True] Translation: X:758.33, Y:9.71, Z:11.74 [[ 9.99540354e-01 -2.61004948e-02 -1.54222314e-02 7.58331777e+02] [ 2.60985103e-02 9.99659321e-01 -3.29957840e-04 9.70706835e+00] [ 1.54255894e-02 -7.26910898e-05 9.99881016e-01 1.17428111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.9292541539999 meters Centerline goodness : 0.999201 Centerline is valid? [True, True] Translation: X:758.36, Y:9.70, Z:11.74 [[ 9.99406212e-01 -3.08119818e-02 -1.54222018e-02 7.58361970e+02] [ 3.08105369e-02 9.99525188e-01 -3.31336844e-04 9.70496749e+00] [ 1.54250883e-02 -1.44026216e-04 9.99881016e-01 1.17426830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.959254154 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] Translation: X:758.39, Y:9.70, Z:11.74 [[ 9.99061350e-01 -4.04793104e-02 -1.54221751e-02 7.58392584e+02] [ 4.04789974e-02 9.99180334e-01 -3.32575938e-04 9.70061524e+00] [ 1.54229965e-02 -2.92010419e-04 9.99881016e-01 1.17425567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.9892541539999 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:758.42, Y:9.70, Z:11.74 [[ 9.98875606e-01 -4.48294520e-02 -1.54221809e-02 7.58423559e+02] [ 4.48296613e-02 9.98994590e-01 -3.32304304e-04 9.69843244e+00] [ 1.54215723e-02 -3.59440484e-04 9.99881016e-01 1.17426638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.0192541539999 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:758.46, Y:9.70, Z:11.74 [[ 9.98878708e-01 -4.47602884e-02 -1.54221981e-02 7.58456236e+02] [ 4.47605018e-02 9.98997692e-01 -3.31502670e-04 9.69907041e+00] [ 1.54215785e-02 -3.59174370e-04 9.99881016e-01 1.17431678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.0492541539999 meters Centerline goodness : 0.998829 Centerline is valid? [True, True] Translation: X:758.49, Y:9.69, Z:11.74 [[ 9.98531426e-01 -5.19340533e-02 -1.54222210e-02 7.58488343e+02] [ 5.19351379e-02 9.98650405e-01 -3.30434879e-04 9.69424617e+00] [ 1.54185681e-02 -4.71005566e-04 9.99881016e-01 1.17436283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.0792541539998 meters Centerline goodness : 0.999037 Centerline is valid? [True, True] Translation: X:758.52, Y:9.69, Z:11.74 [[ 9.98443124e-01 -5.36048761e-02 -1.54222438e-02 7.58519522e+02] [ 5.36061762e-02 9.98562101e-01 -3.29369470e-04 9.69221462e+00] [ 1.54177240e-02 -4.97870835e-04 9.99881016e-01 1.17441406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.1092541539999 meters Centerline goodness : 0.998954 Centerline is valid? [True, True] Translation: X:758.56, Y:9.68, Z:11.74 [[ 9.98543659e-01 -5.16986993e-02 -1.54209567e-02 7.58560908e+02] [ 5.16988355e-02 9.98662645e-01 -3.90080967e-04 9.68264462e+00] [ 1.54205001e-02 -4.07732629e-04 9.99881014e-01 1.17380236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.1392541539999 meters Centerline goodness : 0.998849 Centerline is valid? [True, True] Translation: X:758.58, Y:9.69, Z:11.75 [[ 9.97888586e-01 -6.30877117e-02 -1.54373093e-02 7.58575678e+02] [ 6.30993258e-02 9.98007217e-01 2.65944642e-04 9.69346353e+00] [ 1.53897683e-02 -1.23946693e-03 9.99880802e-01 1.17466339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.1692541539999 meters Centerline goodness : 0.998996 Centerline is valid? [True, True] Translation: X:758.61, Y:9.69, Z:11.75 [[ 9.97851346e-01 -6.36783323e-02 -1.54195147e-02 7.58608347e+02] [ 6.36796269e-02 9.97970310e-01 -4.07509116e-04 9.69285913e+00] [ 1.54141674e-02 -5.75275424e-04 9.99881029e-01 1.17478983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.1992541539998 meters Centerline goodness : 0.998913 Centerline is valid? [True, True] Translation: X:758.65, Y:9.68, Z:11.74 [[ 9.98499969e-01 -5.25361753e-02 -1.54195448e-02 7.58652962e+02] [ 5.25361595e-02 9.98618940e-01 -4.06368537e-04 9.68071835e+00] [ 1.54195985e-02 -4.04324693e-04 9.99881029e-01 1.17400555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.2292541539999 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:758.67, Y:9.69, Z:11.75 [[ 9.97825167e-01 -6.40831397e-02 -1.54365722e-02 7.58666754e+02] [ 6.40948864e-02 9.97943773e-01 2.66932758e-04 9.69228348e+00] [ 1.53877252e-02 -1.25575756e-03 9.99880813e-01 1.17484886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.2592541539999 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:758.70, Y:9.69, Z:11.75 [[ 9.97784400e-01 -6.47191459e-02 -1.54182685e-02 7.58697956e+02] [ 6.47204587e-02 9.97903347e-01 -4.14327984e-04 9.69071105e+00] [ 1.54127567e-02 -5.84467414e-04 9.99881046e-01 1.17482330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.2892541539999 meters Centerline goodness : 0.998036 Centerline is valid? [True, True] Translation: X:758.73, Y:9.69, Z:11.74 [[ 9.97826690e-01 -6.40638150e-02 -1.54182911e-02 7.58728979e+02] [ 6.40650627e-02 9.97945638e-01 -4.13486909e-04 9.68994901e+00] [ 1.54131059e-02 -5.75185512e-04 9.99881046e-01 1.17437952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.3192541539999 meters Centerline goodness : 0.998997 Centerline is valid? [True, True] Translation: X:758.76, Y:9.69, Z:11.75 [[ 9.97607566e-01 -6.73904868e-02 -1.54164625e-02 7.58762729e+02] [ 6.73910763e-02 9.97726521e-01 -4.81849648e-04 9.68969682e+00] [ 1.54138856e-02 -5.58235145e-04 9.99881043e-01 1.17480487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.3492541539999 meters Centerline goodness : 0.998936 Centerline is valid? [True, True] Translation: X:758.80, Y:9.69, Z:11.75 [[ 9.97547738e-01 -6.82699315e-02 -1.54183793e-02 7.58795318e+02] [ 6.82717388e-02 9.97666679e-01 -4.09716130e-04 9.68992345e+00] [ 1.54103746e-02 -6.43928169e-04 9.99881046e-01 1.17481482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.3792541539999 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:758.83, Y:9.69, Z:11.75 [[ 9.97486709e-01 -6.91558933e-02 -1.54184096e-02 7.58826247e+02] [ 6.91578239e-02 9.97605648e-01 -4.08576257e-04 9.68967512e+00] [ 1.54097479e-02 -6.58754266e-04 9.99881046e-01 1.17471181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.4092541539999 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:758.87, Y:9.68, Z:11.74 [[ 9.98023088e-01 -6.09277217e-02 -1.54184320e-02 7.58867202e+02] [ 6.09286845e-02 9.98142039e-01 -4.07726455e-04 9.68065921e+00] [ 1.54146270e-02 -5.32504364e-04 9.99881046e-01 1.17394815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.4392541539999 meters Centerline goodness : 0.999142 Centerline is valid? [True, True] Translation: X:758.89, Y:9.69, Z:11.75 [[ 9.97543923e-01 -6.83227694e-02 -1.54311500e-02 7.58885961e+02] [ 6.83322103e-02 9.97662619e-01 8.47666514e-05 9.69083487e+00] [ 1.53892901e-02 -1.13900305e-03 9.99880929e-01 1.17471244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.4692541539999 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:758.92, Y:9.69, Z:11.75 [[ 9.97852905e-01 -6.36543207e-02 -1.54177553e-02 7.58918175e+02] [ 6.36555104e-02 9.97971846e-01 -4.14061653e-04 9.69290794e+00] [ 1.54128426e-02 -5.68252462e-04 9.99881054e-01 1.17477797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.4992541539999 meters Centerline goodness : 0.999142 Centerline is valid? [True, True] Translation: X:758.95, Y:9.69, Z:11.75 [[ 9.98216389e-01 -5.76743616e-02 -1.54177858e-02 7.58952362e+02] [ 5.76748562e-02 9.98335335e-01 -4.12924545e-04 9.69237271e+00] [ 1.54159355e-02 -4.77030530e-04 9.99881054e-01 1.17496551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.5292541539999 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:758.99, Y:9.69, Z:11.74 [[ 9.98964160e-01 -4.28114295e-02 -1.54203714e-02 7.58990291e+02] [ 4.28116584e-02 9.99083111e-01 -3.15410947e-04 9.68835112e+00] [ 1.54197358e-02 -3.45087441e-04 9.99881049e-01 1.17405526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.5592541539999 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:759.01, Y:9.70, Z:11.75 [[ 9.98712864e-01 -4.83160946e-02 -1.54327875e-02 7.59006664e+02] [ 4.83244733e-02 9.98831676e-01 1.70251599e-04 9.70156783e+00] [ 1.54065311e-02 -9.15813791e-04 9.99880893e-01 1.17499045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.589254154 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:759.04, Y:9.70, Z:11.75 [[ 9.99084354e-01 -3.99094814e-02 -1.54171045e-02 7.59038578e+02] [ 3.99078443e-02 9.99203279e-01 -4.13946852e-04 9.70460979e+00] [ 1.54213418e-02 -2.01695583e-04 9.99881064e-01 1.17510891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.6192541539999 meters Centerline goodness : 0.998973 Centerline is valid? [True, True] Translation: X:759.07, Y:9.71, Z:11.75 [[ 9.99186924e-01 -3.72532316e-02 -1.54171342e-02 7.59070184e+02] [ 3.72512954e-02 9.99305844e-01 -4.12836381e-04 9.70670582e+00] [ 1.54218118e-02 -1.61807508e-04 9.99881064e-01 1.17524682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.6492541539999 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:759.10, Y:9.71, Z:11.75 [[ 9.99282252e-01 -3.46019172e-02 -1.54171490e-02 7.59101511e+02] [ 3.45996740e-02 9.99401167e-01 -4.12286206e-04 9.70802034e+00] [ 1.54221825e-02 -1.21438040e-04 9.99881064e-01 1.17544970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.6792541539999 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:759.13, Y:9.71, Z:11.75 [[ 9.99358848e-01 -3.23141431e-02 -1.54171642e-02 7.59132303e+02] [ 3.23116365e-02 9.99477758e-01 -4.11715069e-04 9.70921671e+00] [ 1.54224169e-02 -8.67027086e-05 9.99881064e-01 1.17549119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.709254154 meters Centerline goodness : 0.998870 Centerline is valid? [True, True] Translation: X:759.16, Y:9.71, Z:11.76 [[ 9.99370897e-01 -3.19393202e-02 -1.54171718e-02 7.59163435e+02] [ 3.19367734e-02 9.99489806e-01 -4.11431703e-04 9.70954080e+00] [ 1.54224469e-02 -8.12018500e-05 9.99881064e-01 1.17553199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.7392541539999 meters Centerline goodness : 0.998828 Centerline is valid? [True, True] Translation: X:759.19, Y:9.71, Z:11.76 [[ 9.99340671e-01 -3.28714587e-02 -1.54171861e-02 7.59193907e+02] [ 3.28690311e-02 9.99459583e-01 -4.10893048e-04 9.71021393e+00] [ 1.54223611e-02 -9.61258362e-05 9.99881064e-01 1.17558036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.7692541539999 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:759.23, Y:9.71, Z:11.76 [[ 9.99310568e-01 -3.37742371e-02 -1.54172097e-02 7.59225601e+02] [ 3.37719306e-02 9.99429482e-01 -4.10007655e-04 9.71031536e+00] [ 1.54222616e-02 -1.10943951e-04 9.99881064e-01 1.17560055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.7992541539999 meters Centerline goodness : 0.998871 Centerline is valid? [True, True] Translation: X:759.26, Y:9.71, Z:11.76 [[ 9.99236003e-01 -3.59126612e-02 -1.54172238e-02 7.59256908e+02] [ 3.59106173e-02 9.99354922e-01 -4.09476791e-04 9.70833157e+00] [ 1.54219839e-02 -1.44478071e-04 9.99881064e-01 1.17561608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.8292541539998 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:759.29, Y:9.71, Z:11.76 [[ 9.99060418e-01 -4.05041880e-02 -1.54172385e-02 7.59288096e+02] [ 4.05026992e-02 9.99179345e-01 -4.08921605e-04 9.70740504e+00] [ 1.54211493e-02 -2.15902384e-04 9.99881064e-01 1.17564311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.8592541539999 meters Centerline goodness : 0.998831 Centerline is valid? [True, True] Translation: X:759.33, Y:9.70, Z:11.75 [[ 9.99316545e-01 -3.35968863e-02 -1.54172605e-02 7.59327613e+02] [ 3.35945882e-02 9.99435459e-01 -4.08091320e-04 9.69659774e+00] [ 1.54222674e-02 -1.10124109e-04 9.99881064e-01 1.17486083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.8892541539999 meters Centerline goodness : 0.998934 Centerline is valid? [True, True] Translation: X:759.35, Y:9.71, Z:11.76 [[ 9.98842696e-01 -4.55544815e-02 -1.54291487e-02 7.59346964e+02] [ 4.55605523e-02 9.98961578e-01 4.20052756e-05 9.70660726e+00] [ 1.54112132e-02 -7.44917199e-04 9.99880963e-01 1.17573533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.9192541539999 meters Centerline goodness : 0.998872 Centerline is valid? [True, True] Translation: X:759.39, Y:9.70, Z:11.75 [[ 9.99269430e-01 -3.49705596e-02 -1.54164359e-02 7.59391129e+02] [ 3.49682069e-02 9.99388336e-01 -4.22228038e-04 9.69514364e+00] [ 1.54217717e-02 -1.17165547e-04 9.99881071e-01 1.17509860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.9492541539998 meters Centerline goodness : 0.998976 Centerline is valid? [True, True] Translation: X:759.41, Y:9.70, Z:11.76 [[ 9.98889681e-01 -4.45106803e-02 -1.54338639e-02 7.59409636e+02] [ 4.45195905e-02 9.99008484e-01 2.34049880e-04 9.70422554e+00] [ 1.54081432e-02 -9.20899310e-04 9.99880863e-01 1.17591464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.9792541539999 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:759.44, Y:9.71, Z:11.76 [[ 9.98888277e-01 -4.45477300e-02 -1.54178389e-02 7.59438482e+02] [ 4.45477653e-02 9.99007197e-01 -3.41313861e-04 9.70529391e+00] [ 1.54177368e-02 -3.45895856e-04 9.99881080e-01 1.17594690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.0092541539999 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:759.47, Y:9.71, Z:11.76 [[ 9.98958429e-01 -4.29467701e-02 -1.54153520e-02 7.59468563e+02] [ 4.29452406e-02 9.99077335e-01 -4.30390336e-04 9.70580381e+00] [ 1.54196127e-02 -2.32073947e-04 9.99881084e-01 1.17607897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.0392541539999 meters Centerline goodness : 0.998998 Centerline is valid? [True, True] Translation: X:759.50, Y:9.71, Z:11.76 [[ 9.99000217e-01 -4.19640017e-02 -1.54139375e-02 7.59499538e+02] [ 4.19615751e-02 9.99119109e-01 -4.80951566e-04 9.70600664e+00] [ 1.54205421e-02 -1.66322375e-04 9.99881083e-01 1.17605151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.0692541539999 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:759.53, Y:9.70, Z:11.76 [[ 9.99265885e-01 -3.50721838e-02 -1.54153775e-02 7.59532386e+02] [ 3.50697350e-02 9.99384775e-01 -4.29235334e-04 9.70147811e+00] [ 1.54209478e-02 -1.11692978e-04 9.99881084e-01 1.17617263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.0992541539999 meters Centerline goodness : 0.998998 Centerline is valid? [True, True] Translation: X:759.56, Y:9.70, Z:11.76 [[ 9.99283347e-01 -3.45695177e-02 -1.54188234e-02 7.59564102e+02] [ 3.45689141e-02 9.99402270e-01 -3.05745393e-04 9.70143921e+00] [ 1.54201766e-02 -2.27485705e-04 9.99881076e-01 1.17628731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.1292541539999 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:759.59, Y:9.70, Z:11.76 [[ 9.99350602e-01 -3.25673461e-02 -1.54189235e-02 7.59594620e+02] [ 3.25665594e-02 9.99469523e-01 -3.02171567e-04 9.69896096e+00] [ 1.54205850e-02 -2.00165949e-04 9.99881076e-01 1.17628564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.1592541539999 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:759.63, Y:9.70, Z:11.76 [[ 9.99346998e-01 -3.26776207e-02 -1.54191591e-02 7.59625425e+02] [ 3.26769736e-02 9.99465922e-01 -2.93977933e-04 9.69840136e+00] [ 1.54205306e-02 -2.10065490e-04 9.99881074e-01 1.17630789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.1892541539999 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] Translation: X:759.65, Y:9.70, Z:11.76 [[ 9.99228930e-01 -3.61081265e-02 -1.54190919e-02 7.59652779e+02] [ 3.61078516e-02 9.99347855e-01 -2.96309756e-04 9.70060204e+00] [ 1.54197356e-02 -2.60669000e-04 9.99881075e-01 1.17626490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.2192541539999 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:759.68, Y:9.70, Z:11.76 [[ 9.99237444e-01 -3.58736847e-02 -1.54145922e-02 7.59683574e+02] [ 3.58710057e-02 9.99356327e-01 -4.50335287e-04 9.69636028e+00] [ 1.54208254e-02 -1.02945044e-04 9.99881087e-01 1.17628168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.2492541539999 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:759.71, Y:9.70, Z:11.76 [[ 9.99100077e-01 -3.95143926e-02 -1.54158533e-02 7.59713311e+02] [ 3.95128087e-02 9.99218981e-01 -4.07429792e-04 9.69745204e+00] [ 1.54199126e-02 -2.02060526e-04 9.99881086e-01 1.17646875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.2792541539999 meters Centerline goodness : 0.999393 Centerline is valid? [True, True] Translation: X:759.75, Y:9.69, Z:11.76 [[ 9.99259742e-01 -3.52471743e-02 -1.54144542e-02 7.59751309e+02] [ 3.52443512e-02 9.99378621e-01 -4.54844863e-04 9.68656650e+00] [ 1.54209080e-02 -8.87642769e-05 9.99881087e-01 1.17600747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.3092541539999 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:759.77, Y:9.69, Z:11.76 [[ 9.98902414e-01 -4.42263240e-02 -1.54272121e-02 7.59771297e+02] [ 4.42313226e-02 9.99021316e-01 -1.72126433e-05 9.69348195e+00] [ 1.54128750e-02 -6.65172243e-04 9.99880993e-01 1.17643257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.339254154 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:759.80, Y:9.69, Z:11.77 [[ 9.98858171e-01 -4.52191302e-02 -1.54137600e-02 7.59802487e+02] [ 4.52173514e-02 9.98977065e-01 -4.64067397e-04 9.69270844e+00] [ 1.54189775e-02 -2.33431892e-04 9.99881093e-01 1.17652587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.3692541539999 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:759.83, Y:9.69, Z:11.76 [[ 9.98774635e-01 -4.70281194e-02 -1.54137773e-02 7.59833415e+02] [ 4.70265648e-02 9.98893532e-01 -4.63493891e-04 9.69000500e+00] [ 1.54185197e-02 -2.61931054e-04 9.99881093e-01 1.17648055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.3992541539999 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:759.86, Y:9.69, Z:11.76 [[ 9.98775833e-01 -4.70026601e-02 -1.54137858e-02 7.59864522e+02] [ 4.70011068e-02 9.98894730e-01 -4.63209360e-04 9.68870998e+00] [ 1.54185215e-02 -2.61822680e-04 9.99881093e-01 1.17639580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.4292541539999 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:759.90, Y:9.69, Z:11.77 [[ 9.98732586e-01 -4.79128048e-02 -1.54138113e-02 7.59896329e+02] [ 4.79113730e-02 9.98851484e-01 -4.62361367e-04 9.68685904e+00] [ 1.54182613e-02 -2.76721496e-04 9.99881093e-01 1.17654687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.459254154 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:759.93, Y:9.69, Z:11.77 [[ 9.98715816e-01 -4.82610920e-02 -1.54138281e-02 7.59927563e+02] [ 4.82597103e-02 9.98834715e-01 -4.61799105e-04 9.68651257e+00] [ 1.54181535e-02 -2.82660808e-04 9.99881093e-01 1.17662497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.4892541539999 meters Centerline goodness : 0.999562 Centerline is valid? [True, True] Translation: X:759.96, Y:9.69, Z:11.77 [[ 9.98714517e-01 -4.82879485e-02 -1.54138451e-02 7.59958885e+02] [ 4.82865788e-02 9.98833416e-01 -4.61231305e-04 9.68600994e+00] [ 1.54181355e-02 -2.83643446e-04 9.99881093e-01 1.17664487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.5192541539999 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:759.99, Y:9.68, Z:11.77 [[ 9.98698556e-01 -4.86169378e-02 -1.54138705e-02 7.59989340e+02] [ 4.86156204e-02 9.98817456e-01 -4.60381754e-04 9.68408282e+00] [ 1.54180252e-02 -2.89572282e-04 9.99881093e-01 1.17673601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.5492541539999 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:760.02, Y:9.68, Z:11.77 [[ 9.98678621e-01 -4.90247237e-02 -1.54138787e-02 7.60020363e+02] [ 4.90234591e-02 9.98797521e-01 -4.60104674e-04 9.68343386e+00] [ 1.54179004e-02 -2.96144952e-04 9.99881093e-01 1.17683337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.5792541539998 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:760.05, Y:9.68, Z:11.77 [[ 9.98612253e-01 -5.03585206e-02 -1.54138956e-02 7.60050798e+02] [ 5.03574235e-02 9.98731154e-01 -4.59540780e-04 9.68193085e+00] [ 1.54174795e-02 -3.17301013e-04 9.99881093e-01 1.17687452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.6092541539999 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:760.08, Y:9.68, Z:11.77 [[ 9.98595190e-01 -5.06957318e-02 -1.54139039e-02 7.60082602e+02] [ 5.06946791e-02 9.98714093e-01 -4.59260981e-04 9.68172337e+00] [ 1.54173656e-02 -3.22787104e-04 9.99881093e-01 1.17694508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.6392541539999 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:760.11, Y:9.68, Z:11.77 [[ 9.98564645e-01 -5.12938673e-02 -1.54139207e-02 7.60113488e+02] [ 5.12928946e-02 9.98683548e-01 -4.58694771e-04 9.68169494e+00] [ 1.54171573e-02 -3.32588231e-04 9.99881093e-01 1.17688445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.6692541539999 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:760.14, Y:9.68, Z:11.77 [[ 9.98485001e-01 -5.28215152e-02 -1.54139459e-02 7.60144799e+02] [ 5.28207374e-02 9.98603906e-01 -4.57849141e-04 9.68031920e+00] [ 1.54166108e-02 -3.57020487e-04 9.99881093e-01 1.17688522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.6992541539998 meters Centerline goodness : 0.999498 Centerline is valid? [True, True] Translation: X:760.18, Y:9.68, Z:11.77 [[ 9.98456498e-01 -5.33575718e-02 -1.54139624e-02 7.60176443e+02] [ 5.33568665e-02 9.98575403e-01 -4.57290229e-04 9.68023333e+00] [ 1.54164036e-02 -3.65856335e-04 9.99881093e-01 1.17692031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.7292541539999 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:760.21, Y:9.68, Z:11.77 [[ 9.98472806e-01 -5.30515298e-02 -1.54139790e-02 7.60207942e+02] [ 5.30507967e-02 9.98591711e-01 -4.56730781e-04 9.67954767e+00] [ 1.54165019e-02 -3.61690603e-04 9.99881093e-01 1.17701722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.7592541539999 meters Centerline goodness : 0.998124 Centerline is valid? [True, True] Translation: X:760.24, Y:9.68, Z:11.77 [[ 9.98549924e-01 -5.15796345e-02 -1.54139957e-02 7.60238051e+02] [ 5.15787348e-02 9.98668827e-01 -4.56165606e-04 9.67977081e+00] [ 1.54170059e-02 -3.39530268e-04 9.99881093e-01 1.17688717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.7892541539999 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:760.27, Y:9.68, Z:11.77 [[ 9.98700525e-01 -4.85764339e-02 -1.54140152e-02 7.60269208e+02] [ 4.85751868e-02 9.98819425e-01 -4.55505494e-04 9.67982362e+00] [ 1.54179447e-02 -2.93825095e-04 9.99881093e-01 1.17715253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.8192541539999 meters Centerline goodness : 0.997889 Centerline is valid? [True, True] Translation: X:760.30, Y:9.68, Z:11.77 [[ 9.98763036e-01 -4.72726777e-02 -1.54172527e-02 7.60298674e+02] [ 4.72729649e-02 9.98881949e-01 -3.46010177e-04 9.68118659e+00] [ 1.54163723e-02 -3.83237071e-04 9.99881087e-01 1.17724696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.8492541539999 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:760.33, Y:9.68, Z:11.77 [[ 9.98908744e-01 -4.40872212e-02 -1.54155105e-02 7.60329221e+02] [ 4.40862174e-02 9.99027648e-01 -4.05104334e-04 9.68161487e+00] [ 1.54183811e-02 -2.74949284e-04 9.99881092e-01 1.17727655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.8792541539999 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:760.36, Y:9.68, Z:11.77 [[ 9.99140829e-01 -3.84709386e-02 -1.54139816e-02 7.60359931e+02] [ 3.84684703e-02 9.99259710e-01 -4.56705131e-04 9.68181300e+00] [ 1.54201407e-02 -1.36639550e-04 9.99881093e-01 1.17721203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.9092541539999 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] Translation: X:760.39, Y:9.68, Z:11.77 [[ 9.99232562e-01 -3.60096585e-02 -1.54139816e-02 7.60388986e+02] [ 3.60068974e-02 9.99351437e-01 -4.56705131e-04 9.68233903e+00] [ 1.54204305e-02 -9.86550154e-05 9.99881093e-01 1.17738244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.9392541539999 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] Translation: X:760.42, Y:9.68, Z:11.77 [[ 9.99231278e-01 -3.60452962e-02 -1.54139734e-02 7.60419125e+02] [ 3.60425350e-02 9.99350152e-01 -4.56982028e-04 9.68326296e+00] [ 1.54204287e-02 -9.89279400e-05 9.99881093e-01 1.17742895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.9692541539999 meters Centerline goodness : 0.999708 Centerline is valid? [True, True] Translation: X:760.45, Y:9.68, Z:11.77 [[ 9.99373407e-01 -3.18622458e-02 -1.54139571e-02 7.60449140e+02] [ 3.18589786e-02 9.99492269e-01 -4.57531767e-04 9.68391076e+00] [ 1.54207089e-02 -3.38278472e-05 9.99881093e-01 1.17749367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.9992541539999 meters Centerline goodness : 0.999583 Centerline is valid? [True, True] Translation: X:760.48, Y:9.68, Z:11.77 [[ 9.99423240e-01 -3.02588418e-02 -1.54139408e-02 7.60477457e+02] [ 3.02553754e-02 9.99542096e-01 -4.58079039e-04 9.68455666e+00] [ 1.54207437e-02 -8.53972861e-06 9.99881093e-01 1.17739580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.0292541539999 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:760.51, Y:9.68, Z:11.78 [[ 9.99435460e-01 -2.98524984e-02 -1.54139166e-02 7.60506495e+02] [ 2.98489712e-02 9.99554315e-01 -4.58892970e-04 9.68480992e+00] [ 1.54207459e-02 -1.45564457e-06 9.99881093e-01 1.17755896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.0592541539999 meters Centerline goodness : 0.999645 Centerline is valid? [True, True] Translation: X:760.54, Y:9.68, Z:11.78 [[ 9.99427191e-01 -3.01281301e-02 -1.54138007e-02 7.60535081e+02] [ 3.01245761e-02 9.99546045e-01 -4.62752756e-04 9.68417450e+00] [ 1.54207454e-02 -1.84652535e-06 9.99881093e-01 1.17762634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.089254154 meters Centerline goodness : 0.999583 Centerline is valid? [True, True] Translation: X:760.56, Y:9.68, Z:11.78 [[ 9.99393610e-01 -3.12222828e-02 -1.54136823e-02 7.60563676e+02] [ 3.12187986e-02 9.99512466e-01 -4.66663255e-04 9.68408647e+00] [ 1.54207379e-02 -1.48163685e-05 9.99881093e-01 1.17761368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.1192541539999 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:760.59, Y:9.68, Z:11.78 [[ 9.99265132e-01 -3.50944046e-02 -1.54135620e-02 7.60592201e+02] [ 3.50913202e-02 9.99383999e-01 -4.70603743e-04 9.68286938e+00] [ 1.54205828e-02 -7.06243285e-05 9.99881093e-01 1.17760369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.1492541539999 meters Centerline goodness : 0.999687 Centerline is valid? [True, True] Translation: X:760.62, Y:9.68, Z:11.78 [[ 9.99157964e-01 -3.80235200e-02 -1.54134405e-02 7.60622349e+02] [ 3.80207232e-02 9.99276838e-01 -4.74551531e-04 9.68259706e+00] [ 1.54203382e-02 -1.11878211e-04 9.99881093e-01 1.17779297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.1792541539999 meters Centerline goodness : 0.999562 Centerline is valid? [True, True] Translation: X:760.65, Y:9.68, Z:11.78 [[ 9.98893561e-01 -4.44306230e-02 -1.54134232e-02 7.60652273e+02] [ 4.44285800e-02 9.99012450e-01 -4.75110865e-04 9.68126488e+00] [ 1.54193112e-02 -2.10211322e-04 9.99881093e-01 1.17784541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.209254154 meters Centerline goodness : 0.999645 Centerline is valid? [True, True] Translation: X:760.68, Y:9.68, Z:11.78 [[ 9.98751068e-01 -4.75261005e-02 -1.54134060e-02 7.60682372e+02] [ 4.75244173e-02 9.98869963e-01 -4.75668176e-04 9.68135345e+00] [ 1.54185950e-02 -2.57439041e-04 9.99881093e-01 1.17794828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.2392541539999 meters Centerline goodness : 0.999708 Centerline is valid? [True, True] Translation: X:760.71, Y:9.68, Z:11.78 [[ 9.98602503e-01 -5.05516279e-02 -1.54134060e-02 7.60714142e+02] [ 5.05503049e-02 9.98721403e-01 -4.75668176e-04 9.68167051e+00] [ 1.54177443e-02 -3.04148942e-04 9.99881093e-01 1.17812833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.2692541539999 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:760.75, Y:9.68, Z:11.78 [[ 9.98390989e-01 -5.45697727e-02 -1.54134231e-02 7.60745405e+02] [ 5.45689367e-02 9.98509893e-01 -4.75112892e-04 9.68110593e+00] [ 1.54163823e-02 -3.66745682e-04 9.99881093e-01 1.17820992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.2992541539999 meters Centerline goodness : 0.999645 Centerline is valid? [True, True] Translation: X:760.78, Y:9.68, Z:11.78 [[ 9.98337296e-01 -5.55433961e-02 -1.54134406e-02 7.60775334e+02] [ 5.55426849e-02 9.98456201e-01 -4.74546945e-04 9.68108217e+00] [ 1.54160032e-02 -3.82345959e-04 9.99881093e-01 1.17815365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.3292541539998 meters Centerline goodness : 0.999729 Centerline is valid? [True, True] Translation: X:760.81, Y:9.68, Z:11.78 [[ 9.98270942e-01 -5.67234610e-02 -1.54134492e-02 7.60806467e+02] [ 5.67228947e-02 9.98389848e-01 -4.74265985e-04 9.68087443e+00] [ 1.54155332e-02 -4.00849503e-04 9.99881093e-01 1.17837041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.3592541539999 meters Centerline goodness : 0.999522 Centerline is valid? [True, True] Translation: X:760.84, Y:9.68, Z:11.78 [[ 9.98355295e-01 -5.52189237e-02 -1.54134665e-02 7.60839517e+02] [ 5.52181869e-02 9.98474200e-01 -4.73701620e-04 9.67969682e+00] [ 1.54161060e-02 -3.78181156e-04 9.99881093e-01 1.17840354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.3892541539999 meters Centerline goodness : 0.999687 Centerline is valid? [True, True] Translation: X:760.87, Y:9.68, Z:11.78 [[ 9.98308708e-01 -5.60538128e-02 -1.54173385e-02 7.60867749e+02] [ 5.60551179e-02 9.98427615e-01 -3.47816666e-04 9.68219887e+00] [ 1.54125929e-02 -5.16992319e-04 9.99881085e-01 1.17839629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.4192541539999 meters Centerline goodness : 0.999583 Centerline is valid? [True, True] Translation: X:760.90, Y:9.68, Z:11.78 [[ 9.98465659e-01 -5.31860682e-02 -1.54133113e-02 7.60898047e+02] [ 5.31850268e-02 9.98584561e-01 -4.77747467e-04 9.68274688e+00] [ 1.54169042e-02 -3.42742935e-04 9.99881094e-01 1.17828733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.4492541539998 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:760.93, Y:9.68, Z:11.78 [[ 9.98472733e-01 -5.30535759e-02 -1.54116421e-02 7.60929606e+02] [ 5.30516871e-02 9.98591626e-01 -5.31651355e-04 9.68348629e+00] [ 1.54181427e-02 -2.86774230e-04 9.99881092e-01 1.17825383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.4792541539999 meters Centerline goodness : 0.999645 Centerline is valid? [True, True] Translation: X:760.96, Y:9.68, Z:11.79 [[ 9.98484280e-01 -5.28353156e-02 -1.54133631e-02 7.60959616e+02] [ 5.28342608e-02 9.98603182e-01 -4.75913664e-04 9.68460025e+00] [ 1.54169785e-02 -3.39161332e-04 9.99881094e-01 1.17855439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.5092541539999 meters Centerline goodness : 0.999644 Centerline is valid? [True, True] Translation: X:760.99, Y:9.69, Z:11.79 [[ 9.98565639e-01 -5.12746826e-02 -1.54133631e-02 7.60990045e+02] [ 5.12734420e-02 9.98684539e-01 -4.75913664e-04 9.68559920e+00] [ 1.54174897e-02 -3.15065146e-04 9.99881094e-01 1.17856602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.5392541539999 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:761.02, Y:9.69, Z:11.79 [[ 9.98614078e-01 -5.03224696e-02 -1.54133631e-02 7.61019956e+02] [ 5.03211156e-02 9.98732977e-01 -4.75913664e-04 9.68645740e+00] [ 1.54177831e-02 -3.00363541e-04 9.99881094e-01 1.17852411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.5692541539999 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:761.05, Y:9.69, Z:11.79 [[ 9.98693439e-01 -4.87221011e-02 -1.54133718e-02 7.61050050e+02] [ 4.87205609e-02 9.98812335e-01 -4.75630368e-04 9.68678067e+00] [ 1.54182396e-02 -2.75939191e-04 9.99881094e-01 1.17858985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.5992541539999 meters Centerline goodness : 0.999477 Centerline is valid? [True, True] Translation: X:761.08, Y:9.69, Z:11.78 [[ 9.98728030e-01 -4.80078156e-02 -1.54133718e-02 7.61080042e+02] [ 4.80061903e-02 9.98846925e-01 -4.75630368e-04 9.68741374e+00] [ 1.54184330e-02 -2.64911881e-04 9.99881094e-01 1.17841085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.6292541539999 meters Centerline goodness : 0.999687 Centerline is valid? [True, True] Translation: X:761.11, Y:9.69, Z:11.79 [[ 9.98697645e-01 -4.86358039e-02 -1.54133632e-02 7.61110404e+02] [ 4.86342492e-02 9.98816541e-01 -4.75908399e-04 9.68865939e+00] [ 1.54182683e-02 -2.74328750e-04 9.99881094e-01 1.17860765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.6592541539999 meters Centerline goodness : 0.999520 Centerline is valid? [True, True] Translation: X:761.14, Y:9.69, Z:11.79 [[ 9.98671037e-01 -4.91791381e-02 -1.54133632e-02 7.61140793e+02] [ 4.91776480e-02 9.98789934e-01 -4.75908399e-04 9.68967573e+00] [ 1.54181168e-02 -2.82717017e-04 9.99881094e-01 1.17852048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.6892541539999 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:761.17, Y:9.69, Z:11.79 [[ 9.98600053e-01 -5.06000175e-02 -1.54133632e-02 7.61172577e+02] [ 5.05986966e-02 9.98718952e-01 -4.75908399e-04 9.69052039e+00] [ 1.54176989e-02 -3.04653937e-04 9.99881094e-01 1.17870663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.7192541539999 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:761.20, Y:9.69, Z:11.79 [[ 9.98483910e-01 -5.28423145e-02 -1.54133808e-02 7.61202725e+02] [ 5.28412694e-02 9.98602811e-01 -4.75339013e-04 9.69081017e+00] [ 1.54169634e-02 -3.39844250e-04 9.99881094e-01 1.17853562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.7492541539999 meters Centerline goodness : 0.999520 Centerline is valid? [True, True] Translation: X:761.23, Y:9.69, Z:11.79 [[ 9.98359587e-01 -5.51412982e-02 -1.54133895e-02 7.61233646e+02] [ 5.51405312e-02 9.98478491e-01 -4.75056237e-04 9.69176358e+00] [ 1.54161331e-02 -3.75625536e-04 9.99881094e-01 1.17879905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.7792541539999 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:761.27, Y:9.69, Z:11.79 [[ 9.98292809e-01 -5.63373358e-02 -1.54134068e-02 7.61265448e+02] [ 5.63367200e-02 9.98411713e-01 -4.74493990e-04 9.69252433e+00] [ 1.54156576e-02 -3.94656845e-04 9.99881094e-01 1.17874757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.8092541539999 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:761.30, Y:9.69, Z:11.79 [[ 9.98061827e-01 -6.02910883e-02 -1.54134242e-02 7.61296528e+02] [ 6.02909521e-02 9.98180733e-01 -4.73929626e-04 9.69374118e+00] [ 1.54139568e-02 -4.56278949e-04 9.99881094e-01 1.17896165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.839254154 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:761.33, Y:9.69, Z:11.79 [[ 9.98000387e-01 -6.12996992e-02 -1.54134416e-02 7.61326743e+02] [ 6.12996920e-02 9.98119293e-01 -4.73363130e-04 9.69436533e+00] [ 1.54134704e-02 -4.72422633e-04 9.99881094e-01 1.17889702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.8692541539999 meters Centerline goodness : 0.999646 Centerline is valid? [True, True] Translation: X:761.36, Y:9.70, Z:11.79 [[ 9.97882347e-01 -6.31921444e-02 -1.54134502e-02 7.61357961e+02] [ 6.31923670e-02 9.98001253e-01 -4.73081929e-04 9.69501347e+00] [ 1.54125377e-02 -5.01932296e-04 9.99881094e-01 1.17910667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.8992541539999 meters Centerline goodness : 0.999689 Centerline is valid? [True, True] Translation: X:761.39, Y:9.70, Z:11.79 [[ 9.97855273e-01 -6.36182345e-02 -1.54134671e-02 7.61388982e+02] [ 6.36185163e-02 9.97974179e-01 -4.72529627e-04 9.69586925e+00] [ 1.54123037e-02 -5.09065731e-04 9.99881094e-01 1.17920192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.9292541539999 meters Centerline goodness : 0.999520 Centerline is valid? [True, True] Translation: X:761.42, Y:9.70, Z:11.79 [[ 9.97889335e-01 -6.30816887e-02 -1.54134840e-02 7.61420233e+02] [ 6.30819152e-02 9.98008241e-01 -4.71978079e-04 9.69649119e+00] [ 1.54125572e-02 -5.01330200e-04 9.99881094e-01 1.17906543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.959254154 meters Centerline goodness : 0.999667 Centerline is valid? [True, True] Translation: X:761.45, Y:9.70, Z:11.79 [[ 9.97896993e-01 -6.29604294e-02 -1.54135011e-02 7.61451006e+02] [ 6.29606500e-02 9.98015899e-01 -4.71419423e-04 9.69808115e+00] [ 1.54125999e-02 -5.00016024e-04 9.99881094e-01 1.17936269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.9892541539999 meters Centerline goodness : 0.999772 Centerline is valid? [True, True] Translation: X:761.48, Y:9.70, Z:11.79 [[ 9.97951394e-01 -6.20921833e-02 -1.54135098e-02 7.61481134e+02] [ 6.20923049e-02 9.98070300e-01 -4.71134649e-04 9.69939397e+00] [ 1.54130201e-02 -4.86890871e-04 9.99881094e-01 1.17934249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.0192541539999 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:761.51, Y:9.70, Z:11.79 [[ 9.97996582e-01 -6.13616034e-02 -1.54135184e-02 7.61512722e+02] [ 6.13616422e-02 9.98115488e-01 -4.70852266e-04 9.70065765e+00] [ 1.54133637e-02 -4.75889852e-04 9.99881094e-01 1.17942663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.0492541539999 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:761.54, Y:9.70, Z:11.79 [[ 9.98083235e-01 -5.99356224e-02 -1.54135357e-02 7.61542804e+02] [ 5.99355001e-02 9.98202141e-01 -4.70285215e-04 9.70194706e+00] [ 1.54140112e-02 -4.54434184e-04 9.99881094e-01 1.17940124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.0792541539998 meters Centerline goodness : 0.999709 Centerline is valid? [True, True] Translation: X:761.57, Y:9.70, Z:11.79 [[ 9.98104666e-01 -5.95776601e-02 -1.54135443e-02 7.61573413e+02] [ 5.95774995e-02 9.98223573e-01 -4.70004134e-04 9.70321041e+00] [ 1.54141650e-02 -4.49187109e-04 9.99881094e-01 1.17941669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.1092541539999 meters Centerline goodness : 0.999708 Centerline is valid? [True, True] Translation: X:761.60, Y:9.70, Z:11.79 [[ 9.98117430e-01 -5.93634426e-02 -1.54135528e-02 7.61604491e+02] [ 5.93632607e-02 9.98236336e-01 -4.69726414e-04 9.70435957e+00] [ 1.54142530e-02 -4.46156630e-04 9.99881094e-01 1.17942497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.1392541539999 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:761.64, Y:9.71, Z:11.79 [[ 9.98117589e-01 -5.93607631e-02 -1.54135696e-02 7.61635285e+02] [ 5.93605895e-02 9.98236495e-01 -4.69174919e-04 9.70630401e+00] [ 1.54142382e-02 -4.46666836e-04 9.99881094e-01 1.17948739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.1692541539999 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:761.67, Y:9.71, Z:11.80 [[ 9.98119503e-01 -5.93285707e-02 -1.54135865e-02 7.61665403e+02] [ 5.93284018e-02 9.98238409e-01 -4.68617089e-04 9.70808326e+00] [ 1.54142365e-02 -4.46727598e-04 9.99881094e-01 1.17951624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.1992541539998 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:761.70, Y:9.71, Z:11.80 [[ 9.98158069e-01 -5.86761500e-02 -1.54135949e-02 7.61696169e+02] [ 5.86759077e-02 9.98276975e-01 -4.68340131e-04 9.71092094e+00] [ 1.54145173e-02 -4.36929193e-04 9.99881094e-01 1.17951618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.2292541539999 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:761.73, Y:9.71, Z:11.79 [[ 9.98209989e-01 -5.77861428e-02 -1.54136033e-02 7.61726616e+02] [ 5.77857987e-02 9.98328895e-01 -4.68065809e-04 9.71252933e+00] [ 1.54148932e-02 -4.23459408e-04 9.99881094e-01 1.17939536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.2592541539999 meters Centerline goodness : 0.999687 Centerline is valid? [True, True] Translation: X:761.76, Y:9.71, Z:11.80 [[ 9.98203459e-01 -5.78988303e-02 -1.54136115e-02 7.61757848e+02] [ 5.78985038e-02 9.98322365e-01 -4.67794439e-04 9.71443302e+00] [ 1.54148378e-02 -4.25471017e-04 9.99881094e-01 1.17955427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.2892541539999 meters Centerline goodness : 0.999646 Centerline is valid? [True, True] Translation: X:761.79, Y:9.72, Z:11.80 [[ 9.98237842e-01 -5.73029700e-02 -1.54136281e-02 7.61787963e+02] [ 5.73025810e-02 9.98356748e-01 -4.67245940e-04 9.71597614e+00] [ 1.54150742e-02 -4.16818095e-04 9.99881094e-01 1.17956878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.3192541539999 meters Centerline goodness : 0.999688 Centerline is valid? [True, True] Translation: X:761.82, Y:9.72, Z:11.80 [[ 9.98246163e-01 -5.71578273e-02 -1.54136558e-02 7.61817799e+02] [ 5.71574351e-02 9.98365069e-01 -4.66332158e-04 9.71875911e+00] [ 1.54151100e-02 -4.15490741e-04 9.99881094e-01 1.17961819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.3492541539999 meters Centerline goodness : 0.999562 Centerline is valid? [True, True] Translation: X:761.85, Y:9.72, Z:11.80 [[ 9.98230917e-01 -5.74234756e-02 -1.54136639e-02 7.61848433e+02] [ 5.74231192e-02 9.98349823e-01 -4.66063318e-04 9.72180164e+00] [ 1.54149916e-02 -4.19861847e-04 9.99881094e-01 1.17965142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.3792541539999 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:761.88, Y:9.72, Z:11.80 [[ 9.98210710e-01 -5.77736701e-02 -1.54136719e-02 7.61879661e+02] [ 5.77733595e-02 9.98329616e-01 -4.65798467e-04 9.72357594e+00] [ 1.54148360e-02 -4.25534589e-04 9.99881094e-01 1.17970042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.4092541539999 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:761.91, Y:9.72, Z:11.80 [[ 9.98185355e-01 -5.82101025e-02 -1.54136878e-02 7.61910050e+02] [ 5.82098521e-02 9.98304261e-01 -4.65270502e-04 9.72496547e+00] [ 1.54146337e-02 -4.32802288e-04 9.99881094e-01 1.17972531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.4392541539999 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:761.94, Y:9.73, Z:11.80 [[ 9.98141039e-01 -5.89650977e-02 -1.54137140e-02 7.61940209e+02] [ 5.89649506e-02 9.98259946e-01 -4.64402234e-04 9.72651612e+00] [ 1.54142768e-02 -4.45329956e-04 9.99881094e-01 1.17976200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.4692541539999 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:761.97, Y:9.73, Z:11.80 [[ 9.98148482e-01 -5.88389800e-02 -1.54137218e-02 7.61971807e+02] [ 5.88388219e-02 9.98267388e-01 -4.64142625e-04 9.72779712e+00] [ 1.54143255e-02 -4.43641977e-04 9.99881094e-01 1.17982592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.4992541539999 meters Centerline goodness : 0.999520 Centerline is valid? [True, True] Translation: X:762.00, Y:9.73, Z:11.80 [[ 9.98186740e-01 -5.81863226e-02 -1.54137373e-02 7.62003312e+02] [ 5.81860947e-02 9.98305646e-01 -4.63626398e-04 9.72916815e+00] [ 1.54145977e-02 -4.34079457e-04 9.99881094e-01 1.18003790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.5292541539999 meters Centerline goodness : 0.999477 Centerline is valid? [True, True] Translation: X:762.03, Y:9.73, Z:11.80 [[ 9.98342097e-01 -5.54569533e-02 -1.54137543e-02 7.62034161e+02] [ 5.54564090e-02 9.98461002e-01 -4.63062266e-04 9.73152952e+00] [ 1.54157126e-02 -3.92496909e-04 9.99881094e-01 1.18018435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.5592541539999 meters Centerline goodness : 0.999477 Centerline is valid? [True, True] Translation: X:762.06, Y:9.73, Z:11.80 [[ 9.98455203e-01 -5.33818649e-02 -1.54137715e-02 7.62064201e+02] [ 5.33810822e-02 9.98574107e-01 -4.62488759e-04 9.73313320e+00] [ 1.54164816e-02 -3.61029496e-04 9.99881094e-01 1.18020760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.589254154 meters Centerline goodness : 0.999645 Centerline is valid? [True, True] Translation: X:762.10, Y:9.73, Z:11.80 [[ 9.98574333e-01 -5.11049503e-02 -1.54137800e-02 7.62095729e+02] [ 5.11039009e-02 9.98693235e-01 -4.62204258e-04 9.73475168e+00] [ 1.54172588e-02 -3.26158978e-04 9.99881094e-01 1.18023933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.6192541539999 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:762.13, Y:9.74, Z:11.80 [[ 9.98795941e-01 -4.65734088e-02 -1.54137970e-02 7.62125827e+02] [ 4.65718286e-02 9.98914837e-01 -4.61638788e-04 9.73682502e+00] [ 1.54185706e-02 -2.56765764e-04 9.99881094e-01 1.18005788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.6492541539999 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:762.16, Y:9.74, Z:11.80 [[ 9.98976827e-01 -4.25172230e-02 -1.54138054e-02 7.62156024e+02] [ 4.25151644e-02 9.99095715e-01 -4.61358482e-04 9.73873521e+00] [ 1.54194826e-02 -1.94434037e-04 9.99881094e-01 1.18027419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.6792541539999 meters Centerline goodness : 0.999708 Centerline is valid? [True, True] Translation: X:762.19, Y:9.74, Z:11.80 [[ 9.99041250e-01 -4.09755515e-02 -1.54138054e-02 7.62185884e+02] [ 4.09733095e-02 9.99160135e-01 -4.61358482e-04 9.74036302e+00] [ 1.54197643e-02 -1.70638463e-04 9.99881094e-01 1.18012196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.709254154 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:762.22, Y:9.74, Z:11.81 [[ 9.99125613e-01 -3.88641749e-02 -1.54137970e-02 7.62216424e+02] [ 3.88616774e-02 9.99244493e-01 -4.61636020e-04 9.74249316e+00] [ 1.54200929e-02 -1.37773636e-04 9.99881094e-01 1.18050152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.7392541539999 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:762.25, Y:9.74, Z:11.80 [[ 9.99140935e-01 -3.84682626e-02 -1.54137970e-02 7.62245665e+02] [ 3.84657179e-02 9.99259814e-01 -4.61636020e-04 9.74346644e+00] [ 1.54201463e-02 -1.31663325e-04 9.99881094e-01 1.18048488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.7692541539999 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:762.28, Y:9.74, Z:11.80 [[ 9.99164751e-01 -3.78446269e-02 -1.54137887e-02 7.62276118e+02] [ 3.78420037e-02 9.99283628e-01 -4.61914827e-04 9.74387325e+00] [ 1.54202277e-02 -1.21759637e-04 9.99881094e-01 1.18047472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.7992541539999 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:762.31, Y:9.74, Z:11.81 [[ 9.99130838e-01 -3.87296222e-02 -1.54137887e-02 7.62306288e+02] [ 3.87271043e-02 9.99249718e-01 -4.61914826e-04 9.74480533e+00] [ 1.54201138e-02 -1.35418054e-04 9.99881094e-01 1.18061617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.8292541539998 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:762.34, Y:9.75, Z:11.81 [[ 9.99130838e-01 -3.87296222e-02 -1.54137887e-02 7.62337270e+02] [ 3.87271043e-02 9.99249718e-01 -4.61914826e-04 9.74573377e+00] [ 1.54201138e-02 -1.35418054e-04 9.99881094e-01 1.18066397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.8592541539999 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:762.37, Y:9.75, Z:11.81 [[ 9.99076759e-01 -4.01004324e-02 -1.54137887e-02 7.62367430e+02] [ 4.00980776e-02 9.99195642e-01 -4.61914826e-04 9.74594900e+00] [ 1.54199135e-02 -1.56574927e-04 9.99881094e-01 1.18070245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.8892541539999 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:762.40, Y:9.75, Z:11.81 [[ 9.99025569e-01 -4.13560958e-02 -1.54137887e-02 7.62397655e+02] [ 4.13538904e-02 9.99144455e-01 -4.61914826e-04 9.74652583e+00] [ 1.54197045e-02 -1.75955406e-04 9.99881094e-01 1.18076034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.9192541539999 meters Centerline goodness : 0.999498 Centerline is valid? [True, True] Translation: X:762.43, Y:9.75, Z:11.81 [[ 9.98975237e-01 -4.25545759e-02 -1.54137887e-02 7.62426945e+02] [ 4.25525131e-02 9.99094125e-01 -4.61914826e-04 9.74683225e+00] [ 1.54194823e-02 -1.94453973e-04 9.99881094e-01 1.18083538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.9492541539998 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:762.46, Y:9.75, Z:11.81 [[ 9.98765996e-01 -4.72114337e-02 -1.54131978e-02 7.62457553e+02] [ 4.72096218e-02 9.98884888e-01 -4.81579308e-04 9.74616778e+00] [ 1.54187464e-02 -2.46666205e-04 9.99881094e-01 1.18089705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.9792541539999 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:762.49, Y:9.75, Z:11.81 [[ 9.98610215e-01 -5.03989797e-02 -1.54137039e-02 7.62488107e+02] [ 5.03978063e-02 9.98729115e-01 -4.64798583e-04 9.74613241e+00] [ 1.54175402e-02 -3.12664248e-04 9.99881094e-01 1.18093779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.0092541539999 meters Centerline goodness : 0.999604 Centerline is valid? [True, True] Translation: X:762.52, Y:9.74, Z:11.81 [[ 9.98218332e-01 -5.76418159e-02 -1.54137123e-02 7.62519406e+02] [ 5.76415093e-02 9.98337238e-01 -4.64519947e-04 9.74487322e+00] [ 1.54148587e-02 -4.24777312e-04 9.99881094e-01 1.18097691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.0392541539999 meters Centerline goodness : 0.999646 Centerline is valid? [True, True] Translation: X:762.55, Y:9.74, Z:11.81 [[ 9.97994008e-01 -6.14033890e-02 -1.54137294e-02 7.62551176e+02] [ 6.14035394e-02 9.98112915e-01 -4.63949992e-04 9.74499066e+00] [ 1.54131305e-02 -4.83438229e-04 9.99881094e-01 1.18102102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.0692541539999 meters Centerline goodness : 0.999477 Centerline is valid? [True, True] Translation: X:762.58, Y:9.75, Z:11.81 [[ 9.97761534e-01 -6.50717781e-02 -1.54137637e-02 7.62582092e+02] [ 6.50723832e-02 9.97880439e-01 -4.62807732e-04 9.74522605e+00] [ 1.54112090e-02 -5.41238586e-04 9.99881094e-01 1.18101334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.0992541539999 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:762.61, Y:9.75, Z:11.81 [[ 9.97531436e-01 -6.85087576e-02 -1.54137892e-02 7.62614650e+02] [ 6.85097854e-02 9.97650338e-01 -4.61956259e-04 9.74565001e+00] [ 1.54092201e-02 -5.95179502e-04 9.99881094e-01 1.18107782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.1292541539999 meters Centerline goodness : 0.999750 Centerline is valid? [True, True] Translation: X:762.65, Y:9.75, Z:11.81 [[ 9.97042740e-01 -7.52873757e-02 -1.54138233e-02 7.62646595e+02] [ 7.52892293e-02 9.97161632e-01 -4.60817219e-04 9.74572808e+00] [ 1.54047669e-02 -7.01040413e-04 9.99881094e-01 1.18107832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.1592541539999 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:762.68, Y:9.75, Z:11.81 [[ 9.96580742e-01 -8.11741165e-02 -1.54138573e-02 7.62677279e+02] [ 8.11766898e-02 9.96699621e-01 -4.59678175e-04 9.74623426e+00] [ 1.54002996e-02 -7.93139491e-04 9.99881094e-01 1.18105895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.1892541539999 meters Centerline goodness : 0.999477 Centerline is valid? [True, True] Translation: X:762.71, Y:9.75, Z:11.81 [[ 9.96399101e-01 -8.33741253e-02 -1.54138742e-02 7.62709835e+02] [ 8.33769698e-02 9.96517973e-01 -4.59109491e-04 9.74697018e+00] [ 1.53984805e-02 -8.27705839e-04 9.99881094e-01 1.18105370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.2192541539999 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:762.74, Y:9.75, Z:11.81 [[ 9.96204829e-01 -8.56641714e-02 -1.54139081e-02 7.62741469e+02] [ 8.56673067e-02 9.96323694e-01 -4.57969329e-04 9.74864854e+00] [ 1.53964734e-02 -8.64236733e-04 9.99881094e-01 1.18121365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.2492541539999 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:762.77, Y:9.75, Z:11.81 [[ 9.96085729e-01 -8.70381038e-02 -1.54139417e-02 7.62772161e+02] [ 8.70414205e-02 9.96204589e-01 -4.56836060e-04 9.75008203e+00] [ 1.53952015e-02 -8.86603497e-04 9.99881094e-01 1.18108112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.2792541539999 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:762.80, Y:9.75, Z:11.81 [[ 9.95854476e-01 -8.96452530e-02 -1.54139667e-02 7.62804227e+02] [ 8.96488938e-02 9.95973327e-01 -4.55990885e-04 9.75419865e+00] [ 1.53927771e-02 -9.27744496e-04 9.99881094e-01 1.18130521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.3092541539999 meters Centerline goodness : 0.999623 Centerline is valid? [True, True] Translation: X:762.84, Y:9.76, Z:11.81 [[ 9.95813498e-01 -9.00993099e-02 -1.54140002e-02 7.62835043e+02] [ 9.01030225e-02 9.95932346e-01 -4.54854420e-04 9.75664720e+00] [ 1.53922834e-02 -9.35897835e-04 9.99881094e-01 1.18131127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.339254154 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:762.87, Y:9.76, Z:11.81 [[ 9.95804444e-01 -9.01993158e-02 -1.54140252e-02 7.62867244e+02] [ 9.02030533e-02 9.95923292e-01 -4.54006876e-04 9.75931733e+00] [ 1.53921378e-02 -9.38290069e-04 9.99881094e-01 1.18138737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.3692541539999 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:762.90, Y:9.76, Z:11.82 [[ 9.95899697e-01 -8.91414616e-02 -1.54140583e-02 7.62899956e+02] [ 8.91450904e-02 9.96018548e-01 -4.52878351e-04 9.76376983e+00] [ 1.53930582e-02 -9.23066209e-04 9.99881094e-01 1.18151256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.3992541539999 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:762.93, Y:9.77, Z:11.82 [[ 9.95990493e-01 -8.81211818e-02 -1.54141092e-02 7.62931761e+02] [ 8.81247156e-02 9.96109347e-01 -4.51140213e-04 9.76664282e+00] [ 1.53938932e-02 -9.09032624e-04 9.99881094e-01 1.18152962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.4292541539999 meters Centerline goodness : 0.999396 Centerline is valid? [True, True] Translation: X:762.96, Y:9.77, Z:11.82 [[ 9.96158706e-01 -8.61988230e-02 -1.54141511e-02 7.62962536e+02] [ 8.62021495e-02 9.96277565e-01 -4.49702893e-04 9.77234993e+00] [ 1.53955368e-02 -8.80757507e-04 9.99881094e-01 1.18162784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.459254154 meters Centerline goodness : 0.999440 Centerline is valid? [True, True] Translation: X:762.99, Y:9.78, Z:11.82 [[ 9.96221240e-01 -8.54730652e-02 -1.54141746e-02 7.62994630e+02] [ 8.54763176e-02 9.96340101e-01 -4.48897741e-04 9.77562200e+00] [ 1.53961289e-02 -8.70345416e-04 9.99881094e-01 1.18170145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.4892541539999 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:763.03, Y:9.78, Z:11.82 [[ 9.96402368e-01 -8.33350041e-02 -1.54142055e-02 7.63027117e+02] [ 8.33380178e-02 9.96521236e-01 -4.47834721e-04 9.77995302e+00] [ 1.53979034e-02 -8.38365751e-04 9.99881094e-01 1.18165449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.5192541539999 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:763.06, Y:9.78, Z:11.82 [[ 9.96428116e-01 -8.30265648e-02 -1.54142544e-02 7.63059589e+02] [ 8.30295678e-02 9.96546984e-01 -4.46142717e-04 9.78307572e+00] [ 1.53980705e-02 -8.35289735e-04 9.99881094e-01 1.18179036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.5492541539999 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:763.09, Y:9.79, Z:11.82 [[ 9.96497575e-01 -8.21886964e-02 -1.54143041e-02 7.63091323e+02] [ 8.21916261e-02 9.96616445e-01 -4.44419941e-04 9.78542240e+00] [ 1.53986752e-02 -8.24063324e-04 9.99881094e-01 1.18173644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.5792541539998 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:763.12, Y:9.79, Z:11.82 [[ 9.96579230e-01 -8.11925859e-02 -1.54143451e-02 7.63122286e+02] [ 8.11954187e-02 9.96698103e-01 -4.42993382e-04 9.79072690e+00] [ 1.53994163e-02 -8.10096200e-04 9.99881094e-01 1.18186291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.6092541539999 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:763.16, Y:9.79, Z:11.82 [[ 9.96677032e-01 -7.99830602e-02 -1.54143983e-02 7.63155571e+02] [ 7.99857774e-02 9.96795907e-01 -4.41134407e-04 9.79373535e+00] [ 1.54002924e-02 -7.93264099e-04 9.99881094e-01 1.18199693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.6392541539999 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:763.19, Y:9.80, Z:11.82 [[ 9.96778506e-01 -7.87083571e-02 -1.54144477e-02 7.63188745e+02] [ 7.87109490e-02 9.96897384e-01 -4.39401754e-04 9.79672291e+00] [ 1.54012072e-02 -7.75299582e-04 9.99881094e-01 1.18207482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.6692541539999 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:763.22, Y:9.80, Z:11.82 [[ 9.97115527e-01 -7.43170133e-02 -1.54144970e-02 7.63220296e+02] [ 7.43191083e-02 9.97234415e-01 -4.37666064e-04 9.80084152e+00] [ 1.54043929e-02 -7.09188042e-04 9.99881094e-01 1.18202228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.6992541539998 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:763.25, Y:9.80, Z:11.82 [[ 9.97254286e-01 -7.24312195e-02 -1.54145376e-02 7.63252485e+02] [ 7.24331118e-02 9.97373177e-01 -4.36231374e-04 9.80404084e+00] [ 1.54056431e-02 -6.81489316e-04 9.99881094e-01 1.18218772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.7292541539999 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:763.28, Y:9.81, Z:11.82 [[ 9.97636344e-01 -6.69635483e-02 -1.54145753e-02 7.63284730e+02] [ 6.69648096e-02 9.97755243e-01 -4.34892603e-04 9.80875544e+00] [ 1.54090953e-02 -5.98369436e-04 9.99881094e-01 1.18227063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.7592541539999 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:763.32, Y:9.81, Z:11.82 [[ 9.98032878e-01 -6.07681218e-02 -1.54146071e-02 7.63317182e+02] [ 6.07686622e-02 9.98151783e-01 -4.33764163e-04 9.81356953e+00] [ 1.54124766e-02 -5.03814156e-04 9.99881094e-01 1.18238883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.7892541539999 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:763.35, Y:9.82, Z:11.82 [[ 9.98220013e-01 -5.76124539e-02 -1.54146391e-02 7.63349349e+02] [ 5.76126359e-02 9.98338919e-01 -4.32624441e-04 9.81664046e+00] [ 1.54139587e-02 -4.56223615e-04 9.99881094e-01 1.18246225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.8192541539999 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:763.38, Y:9.82, Z:11.82 [[ 9.98574070e-01 -5.11098259e-02 -1.54146708e-02 7.63381219e+02] [ 5.11092510e-02 9.98692975e-01 -4.31490756e-04 9.82018277e+00] [ 1.54165769e-02 -3.56956799e-04 9.99881094e-01 1.18249382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.8492541539999 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:763.41, Y:9.82, Z:11.83 [[ 9.98674322e-01 -4.91119710e-02 -1.54147026e-02 7.63413180e+02] [ 4.91111758e-02 9.98793225e-01 -4.30350663e-04 9.82276717e+00] [ 1.54172359e-02 -3.27254015e-04 9.99881094e-01 1.18267577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.8792541539999 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:763.44, Y:9.82, Z:11.83 [[ 9.98776541e-01 -4.69873046e-02 -1.54147343e-02 7.63444845e+02] [ 4.69862740e-02 9.98895443e-01 -4.29215251e-04 9.82435377e+00] [ 1.54178755e-02 -2.95590803e-04 9.99881094e-01 1.18267773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.9092541539999 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:763.49, Y:9.81, Z:11.82 [[ 9.99274509e-01 -3.48258701e-02 -1.54147656e-02 7.63490689e+02] [ 3.48234096e-02 9.99393389e-01 -4.28086316e-04 9.81391408e+00] [ 1.54203233e-02 -1.09018953e-04 9.99881094e-01 1.18220651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.9392541539999 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:763.50, Y:9.83, Z:11.83 [[ 9.98826866e-01 -4.58984940e-02 -1.54343683e-02 7.63503092e+02] [ 4.59086052e-02 9.98945599e-01 3.01254041e-04 9.82711017e+00] [ 1.54042671e-02 -1.00947095e-03 9.99880838e-01 1.18259095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.9692541539999 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:763.53, Y:9.83, Z:11.83 [[ 9.98796194e-01 -4.65681931e-02 -1.54131600e-02 7.63533632e+02] [ 4.65669354e-02 9.98915075e-01 -4.40677213e-04 9.82887503e+00] [ 1.54169594e-02 -2.77596902e-04 9.99881113e-01 1.18253242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.9992541539999 meters Centerline goodness : 0.999125 Centerline is valid? [True, True] Translation: X:763.57, Y:9.83, Z:11.83 [[ 9.98693558e-01 -4.87198163e-02 -1.54128880e-02 7.63566029e+02] [ 4.87186685e-02 9.98812439e-01 -4.50158599e-04 9.82973014e+00] [ 1.54165159e-02 -3.01324887e-04 9.99881113e-01 1.18254158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.0292541539999 meters Centerline goodness : 0.998896 Centerline is valid? [True, True] Translation: X:763.60, Y:9.83, Z:11.82 [[ 9.98715676e-01 -4.82642098e-02 -1.54131288e-02 7.63596135e+02] [ 4.82631374e-02 9.98834558e-01 -4.41756772e-04 9.82919642e+00] [ 1.54164867e-02 -3.02696538e-04 9.99881113e-01 1.18238949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.0592541539999 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:763.63, Y:9.83, Z:11.83 [[ 9.98513199e-01 -5.22864841e-02 -1.54115546e-02 7.63628607e+02] [ 5.22850438e-02 9.98632078e-01 -4.96639619e-04 9.82975652e+00] [ 1.54164404e-02 -3.09892596e-04 9.99881112e-01 1.18251571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.089254154 meters Centerline goodness : 0.997309 Centerline is valid? [True, True] Translation: X:763.66, Y:9.83, Z:11.82 [[ 9.98437228e-01 -5.37171862e-02 -1.54131779e-02 7.63659772e+02] [ 5.37167939e-02 9.98556114e-01 -4.39743816e-04 9.83026644e+00] [ 1.54145449e-02 -3.88889906e-04 9.99881113e-01 1.18243526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.1192541539999 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:763.69, Y:9.83, Z:11.83 [[ 9.98379560e-01 -5.47784603e-02 -1.54134724e-02 7.63691557e+02] [ 5.47783537e-02 9.98498446e-01 -4.29415930e-04 9.83071329e+00] [ 1.54138510e-02 -4.15604555e-04 9.99881113e-01 1.18257557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.1492541539999 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:763.72, Y:9.83, Z:11.83 [[ 9.98322186e-01 -5.58143982e-02 -1.54131572e-02 7.63722353e+02] [ 5.58142449e-02 9.98441073e-01 -4.40445647e-04 9.83125383e+00] [ 1.54137124e-02 -4.20567070e-04 9.99881113e-01 1.18261542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.1792541539999 meters Centerline goodness : 0.998997 Centerline is valid? [True, True] Translation: X:763.75, Y:9.83, Z:11.83 [[ 9.98260958e-01 -5.68989708e-02 -1.54131802e-02 7.63754375e+02] [ 5.68989590e-02 9.98379845e-01 -4.39640547e-04 9.83206592e+00] [ 1.54132235e-02 -4.38117913e-04 9.99881113e-01 1.18272426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.209254154 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:763.79, Y:9.83, Z:11.83 [[ 9.98153407e-01 -5.87554940e-02 -1.54132125e-02 7.63786783e+02] [ 5.87557208e-02 9.98272294e-01 -4.38504757e-04 9.83257715e+00] [ 1.54123475e-02 -4.67919392e-04 9.99881113e-01 1.18277892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.2392541539999 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:763.82, Y:9.83, Z:11.83 [[ 9.98358413e-01 -5.51625924e-02 -1.54132450e-02 7.63823165e+02] [ 5.51624091e-02 9.98477299e-01 -4.37359293e-04 9.82840493e+00] [ 1.54139011e-02 -4.13590396e-04 9.99881113e-01 1.18264230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.2692541539999 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:763.85, Y:9.83, Z:11.83 [[ 9.98117326e-01 -5.93628685e-02 -1.54224986e-02 7.63846410e+02] [ 5.93682769e-02 9.98236143e-01 -1.07315963e-04 9.83367096e+00] [ 1.54016661e-02 -8.08493243e-04 9.99881060e-01 1.18279302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.2992541539999 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:763.88, Y:9.83, Z:11.83 [[ 9.98170354e-01 -5.84669706e-02 -1.54129331e-02 7.63878222e+02] [ 5.84671187e-02 9.98289237e-01 -4.41374280e-04 9.83451167e+00] [ 1.54123711e-02 -4.60583071e-04 9.99881116e-01 1.18286007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.3292541539998 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:763.91, Y:9.84, Z:11.83 [[ 9.98222016e-01 -5.75781776e-02 -1.54129654e-02 7.63909140e+02] [ 5.75782373e-02 9.98340900e-01 -4.40245960e-04 9.83576908e+00] [ 1.54127423e-02 -4.47988167e-04 9.99881116e-01 1.18289974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.3592541539999 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:763.94, Y:9.84, Z:11.83 [[ 9.98360855e-01 -5.51184438e-02 -1.54129893e-02 7.63941326e+02] [ 5.51182235e-02 9.98479739e-01 -4.39405175e-04 9.83667696e+00] [ 1.54137769e-02 -4.10851664e-04 9.99881116e-01 1.18296968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.3892541539999 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:763.97, Y:9.84, Z:11.83 [[ 9.98462263e-01 -5.32498575e-02 -1.54130211e-02 7.63973664e+02] [ 5.32494320e-02 9.98581146e-01 -4.38286714e-04 9.83698563e+00] [ 1.54144910e-02 -3.83121877e-04 9.99881116e-01 1.18299830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.4192541539999 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:764.01, Y:9.84, Z:11.83 [[ 9.98598814e-01 -5.06245632e-02 -1.54130537e-02 7.64005514e+02] [ 5.06238429e-02 9.98717696e-01 -4.37138003e-04 9.83787285e+00] [ 1.54154194e-02 -3.43742518e-04 9.99881116e-01 1.18305697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.4492541539998 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:764.04, Y:9.84, Z:11.83 [[ 9.98666974e-01 -4.92616718e-02 -1.54130862e-02 7.64037604e+02] [ 4.92608070e-02 9.98785854e-01 -4.35988659e-04 9.83845027e+00] [ 1.54158500e-02 -3.23853591e-04 9.99881116e-01 1.18308648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.4792541539999 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:764.07, Y:9.84, Z:11.83 [[ 9.98733981e-01 -4.78839333e-02 -1.54131186e-02 7.64068983e+02] [ 4.78829222e-02 9.98852860e-01 -4.34842705e-04 9.83907100e+00] [ 1.54162595e-02 -3.03732970e-04 9.99881116e-01 1.18311975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.5092541539999 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:764.10, Y:9.84, Z:11.83 [[ 9.98866912e-01 -4.50258562e-02 -1.54131426e-02 7.64101527e+02] [ 4.50245181e-02 9.98985788e-01 -4.33988866e-04 9.84005684e+00] [ 1.54170511e-02 -2.60472199e-04 9.99881116e-01 1.18320807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.5392541539999 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:764.13, Y:9.84, Z:11.83 [[ 9.98921553e-01 -4.37968576e-02 -1.54131746e-02 7.64133225e+02] [ 4.37953907e-02 9.99040428e-01 -4.32850367e-04 9.84124579e+00] [ 1.54173420e-02 -2.42642442e-04 9.99881116e-01 1.18327072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.5692541539999 meters Centerline goodness : 0.999084 Centerline is valid? [True, True] Translation: X:764.16, Y:9.84, Z:11.83 [[ 9.99082395e-01 -3.99599831e-02 -1.54132064e-02 7.64162644e+02] [ 3.99580772e-02 9.99201264e-01 -4.31714578e-04 9.84183969e+00] [ 1.54181466e-02 -1.84563656e-04 9.99881116e-01 1.18322265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.5992541539999 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:764.19, Y:9.84, Z:11.83 [[ 9.99078691e-01 -4.00532497e-02 -1.54112633e-02 7.64194872e+02] [ 4.00502879e-02 9.99197540e-01 -5.00887292e-04 9.84242269e+00] [ 1.54189585e-02 -1.16799713e-04 9.99881114e-01 1.18333451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.6292541539999 meters Centerline goodness : 0.995159 Centerline is valid? [True, True] Translation: X:764.22, Y:9.84, Z:11.83 [[ 9.99113195e-01 -3.91823598e-02 -1.54131894e-02 7.64223938e+02] [ 3.91803539e-02 9.99232062e-01 -4.32199095e-04 9.84351874e+00] [ 1.54182876e-02 -1.72078397e-04 9.99881116e-01 1.18297462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.6592541539999 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:764.25, Y:9.84, Z:11.83 [[ 9.99152361e-01 -3.81717428e-02 -1.54103012e-02 7.64254454e+02] [ 3.81680365e-02 9.99271192e-01 -5.34651479e-04 9.84349314e+00] [ 1.54194786e-02 -5.39826490e-05 9.99881111e-01 1.18313695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.6892541539999 meters Centerline goodness : 0.999273 Centerline is valid? [True, True] Translation: X:764.29, Y:9.84, Z:11.83 [[ 9.99135990e-01 -3.85980289e-02 -1.54099050e-02 7.64285898e+02] [ 3.85941406e-02 9.99254817e-01 -5.49734427e-04 9.84409135e+00] [ 1.54196404e-02 -4.54725885e-05 9.99881109e-01 1.18324920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.7192541539999 meters Centerline goodness : 0.999500 Centerline is valid? [True, True] Translation: X:764.32, Y:9.84, Z:11.83 [[ 9.99191392e-01 -3.71362406e-02 -1.54098113e-02 7.64317834e+02] [ 3.71321236e-02 9.99310212e-01 -5.53296954e-04 9.84001186e+00] [ 1.54197292e-02 -1.93494644e-05 9.99881109e-01 1.18348281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.7492541539999 meters Centerline goodness : 0.999500 Centerline is valid? [True, True] Translation: X:764.35, Y:9.84, Z:11.84 [[ 9.99192757e-01 -3.70978373e-02 -1.54137676e-02 7.64349665e+02] [ 3.70960589e-02 9.99311624e-01 -4.01371089e-04 9.84073748e+00] [ 1.54180471e-02 -1.70742946e-04 9.99881120e-01 1.18352823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.7792541539999 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:764.38, Y:9.84, Z:11.84 [[ 9.99162256e-01 -3.79104438e-02 -1.54137821e-02 7.64381209e+02] [ 3.79087706e-02 9.99281124e-01 -4.00814733e-04 9.84083585e+00] [ 1.54178965e-02 -1.83838577e-04 9.99881120e-01 1.18356071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.8092541539999 meters Centerline goodness : 0.999125 Centerline is valid? [True, True] Translation: X:764.41, Y:9.84, Z:11.84 [[ 9.99057805e-01 -4.05698955e-02 -1.54137965e-02 7.64413102e+02] [ 4.05685473e-02 9.99176677e-01 -4.00260725e-04 9.83927303e+00] [ 1.54173445e-02 -2.25431730e-04 9.99881120e-01 1.18361405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.839254154 meters Centerline goodness : 0.999212 Centerline is valid? [True, True] Translation: X:764.44, Y:9.84, Z:11.84 [[ 9.98995119e-01 -4.20852258e-02 -1.54138179e-02 7.64443247e+02] [ 4.20840707e-02 9.99113993e-01 -3.99432908e-04 9.83840686e+00] [ 1.54169714e-02 -2.49644677e-04 9.99881120e-01 1.18362844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.8692541539999 meters Centerline goodness : 0.999292 Centerline is valid? [True, True] Translation: X:764.48, Y:9.84, Z:11.84 [[ 9.98839630e-01 -4.56268318e-02 -1.54138250e-02 7.64475074e+02] [ 4.56261024e-02 9.98958507e-01 -3.99158839e-04 9.83667460e+00] [ 1.54159840e-02 -3.04577092e-04 9.99881120e-01 1.18379466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.8992541539999 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:764.51, Y:9.84, Z:11.84 [[ 9.98764667e-01 -4.72393231e-02 -1.54138395e-02 7.64506287e+02] [ 4.72387943e-02 9.98883546e-01 -3.98597118e-04 9.83615235e+00] [ 1.54154601e-02 -3.30026478e-04 9.99881120e-01 1.18373339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.9292541539999 meters Centerline goodness : 0.999251 Centerline is valid? [True, True] Translation: X:764.54, Y:9.84, Z:11.84 [[ 9.98648741e-01 -4.96296856e-02 -1.54138612e-02 7.64538485e+02] [ 4.96294543e-02 9.98767620e-01 -3.97756643e-04 9.83621285e+00] [ 1.54146060e-02 -3.67762350e-04 9.99881120e-01 1.18400141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.959254154 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:764.57, Y:9.83, Z:11.84 [[ 9.98389027e-01 -5.46055146e-02 -1.54138904e-02 7.64571008e+02] [ 5.46058931e-02 9.98507906e-01 -3.96621294e-04 9.83451382e+00] [ 1.54125492e-02 -4.45706907e-04 9.99881120e-01 1.18411443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.9892541539999 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:764.60, Y:9.83, Z:11.84 [[ 9.98232871e-01 -5.73894306e-02 -1.54139197e-02 7.64602897e+02] [ 5.73901583e-02 9.98351748e-01 -3.95482739e-04 9.83364850e+00] [ 1.54112102e-02 -4.89823419e-04 9.99881120e-01 1.18412030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.0192541539999 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:764.63, Y:9.83, Z:11.84 [[ 9.97882630e-01 -6.31875468e-02 -1.54139486e-02 7.64633333e+02] [ 6.31889825e-02 9.98001502e-01 -3.94351058e-04 9.83151511e+00] [ 1.54080619e-02 -5.80475657e-04 9.99881120e-01 1.18413126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.0492541539999 meters Centerline goodness : 0.999438 Centerline is valid? [True, True] Translation: X:764.67, Y:9.83, Z:11.84 [[ 9.97808969e-01 -6.43405551e-02 -1.54127880e-02 7.64668438e+02] [ 6.43414262e-02 9.97927847e-01 -4.39860732e-04 9.82859747e+00] [ 1.54091513e-02 -5.52783780e-04 9.99881119e-01 1.18418736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.0792541539998 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:764.70, Y:9.83, Z:11.84 [[ 9.97217436e-01 -7.29364408e-02 -1.54162725e-02 7.64697623e+02] [ 7.29404734e-02 9.97336251e-01 -3.01275447e-04 9.82940168e+00] [ 1.53971813e-02 -8.24033083e-04 9.99881117e-01 1.18416402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.1092541539999 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:764.73, Y:9.83, Z:11.84 [[ 9.96985742e-01 -7.60383922e-02 -1.54140622e-02 7.64730089e+02] [ 7.60414435e-02 9.97104582e-01 -3.88886335e-04 9.82960106e+00] [ 1.53990023e-02 -7.84393407e-04 9.99881121e-01 1.18416576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.1392541539999 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:764.76, Y:9.83, Z:11.84 [[ 9.96763261e-01 -7.89012518e-02 -1.54140901e-02 7.64762729e+02] [ 7.89046615e-02 9.96882091e-01 -3.87775961e-04 9.82977368e+00] [ 1.53966264e-02 -8.29722729e-04 9.99881121e-01 1.18421945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.1692541539999 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:764.80, Y:9.82, Z:11.84 [[ 9.96976567e-01 -7.61585821e-02 -1.54141183e-02 7.64802476e+02] [ 7.61616822e-02 9.97095406e-01 -3.86651666e-04 9.82145065e+00] [ 1.53987934e-02 -7.88482528e-04 9.99881121e-01 1.18375448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.1992541539998 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:764.82, Y:9.83, Z:11.84 [[ 9.96188152e-01 -8.58557906e-02 -1.54255808e-02 7.64821811e+02] [ 8.58672763e-02 9.96306581e-01 8.25960226e-05 9.83100420e+00] [ 1.53615163e-02 -1.40683379e-03 9.99881015e-01 1.18427911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.2292541539999 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:764.85, Y:9.83, Z:11.84 [[ 9.96032147e-01 -8.76492303e-02 -1.54134698e-02 7.64853674e+02] [ 8.76536059e-02 9.96150938e-01 -3.92758128e-04 9.83336745e+00] [ 1.53885674e-02 -9.59846487e-04 9.99881128e-01 1.18433760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.2592541539999 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:764.89, Y:9.84, Z:11.84 [[ 9.96021305e-01 -8.77723459e-02 -1.54135056e-02 7.64886787e+02] [ 8.77767579e-02 9.96140094e-01 -3.91348971e-04 9.83541922e+00] [ 1.53883605e-02 -9.63155635e-04 9.99881128e-01 1.18439165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.2892541539999 meters Centerline goodness : 0.999041 Centerline is valid? [True, True] Translation: X:764.93, Y:9.83, Z:11.84 [[ 9.96557298e-01 -8.14614904e-02 -1.54135481e-02 7.64925255e+02] [ 8.14651757e-02 9.96676113e-01 -3.89668588e-04 9.83089976e+00] [ 1.53940582e-02 -8.67340327e-04 9.99881128e-01 1.18399743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.3192541539999 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:764.96, Y:9.84, Z:11.84 [[ 9.96621178e-01 -8.06746156e-02 -1.54218787e-02 7.64955188e+02] [ 8.06834070e-02 9.96739778e-01 -5.22866317e-05 9.83622940e+00] [ 1.53758181e-02 -1.19217975e-03 9.99881074e-01 1.18417733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.3492541539999 meters Centerline goodness : 0.998998 Centerline is valid? [True, True] Translation: X:764.98, Y:9.85, Z:11.85 [[ 9.96350947e-01 -8.39464017e-02 -1.54204971e-02 7.64979565e+02] [ 8.39547255e-02 9.96469564e-01 -1.07912296e-04 9.84503027e+00] [ 1.53751148e-02 -1.18710508e-03 9.99881091e-01 1.18454626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.3792541539999 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:765.01, Y:9.85, Z:11.85 [[ 9.96678169e-01 -7.99691123e-02 -1.54132868e-02 7.65012703e+02] [ 7.99725886e-02 9.96796986e-01 -3.91676195e-04 9.85013508e+00] [ 1.53952398e-02 -8.42265330e-04 9.99881132e-01 1.18458427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.4092541539999 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:765.05, Y:9.85, Z:11.85 [[ 9.96829520e-01 -7.80598297e-02 -1.54133308e-02 7.65045912e+02] [ 7.80631052e-02 9.96948343e-01 -3.89936197e-04 9.85330088e+00] [ 1.53967330e-02 -8.14512551e-04 9.99881132e-01 1.18461834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.4392541539999 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:765.08, Y:9.86, Z:11.85 [[ 9.96975515e-01 -7.61725040e-02 -1.54133746e-02 7.65079023e+02] [ 7.61755813e-02 9.97094344e-01 -3.88198142e-04 9.85653602e+00] [ 1.53981586e-02 -7.87098725e-04 9.99881132e-01 1.18464375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.4692541539999 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:765.11, Y:9.86, Z:11.85 [[ 9.97178284e-01 -7.34703804e-02 -1.54134181e-02 7.65110565e+02] [ 7.34731624e-02 9.97297120e-01 -3.86463332e-04 9.86141298e+00] [ 1.54001511e-02 -7.47099727e-04 9.99881132e-01 1.18465194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.4992541539999 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:765.15, Y:9.86, Z:11.84 [[ 9.97570876e-01 -6.79321224e-02 -1.54134539e-02 7.65149183e+02] [ 6.79342667e-02 9.97689725e-01 -3.85028743e-04 9.85915995e+00] [ 1.54040004e-02 -6.63008228e-04 9.99881132e-01 1.18441666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.5292541539999 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:765.17, Y:9.87, Z:11.85 [[ 9.97324618e-01 -7.14545822e-02 -1.54223729e-02 7.65170976e+02] [ 7.14627226e-02 9.97443271e-01 -2.33214034e-05 9.86873816e+00] [ 1.53846085e-02 -1.07886574e-03 9.99881068e-01 1.18472375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.5592541539999 meters Centerline goodness : 0.999146 Centerline is valid? [True, True] Translation: X:765.20, Y:9.87, Z:11.85 [[ 9.97371107e-01 -7.08047540e-02 -1.54130194e-02 7.65203305e+02] [ 7.08071397e-02 9.97489948e-01 -3.91552888e-04 9.87173516e+00] [ 1.54020557e-02 -7.00828278e-04 9.99881136e-01 1.18477568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.589254154 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:765.24, Y:9.87, Z:11.85 [[ 9.97566059e-01 -6.80029123e-02 -1.54130556e-02 7.65238988e+02] [ 6.80049862e-02 9.97684905e-01 -3.90121168e-04 9.87199462e+00] [ 1.54039023e-02 -6.58992998e-04 9.99881136e-01 1.18477178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.6192541539999 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:765.27, Y:9.88, Z:11.85 [[ 9.97494458e-01 -6.90442893e-02 -1.54172760e-02 7.65267558e+02] [ 6.90490778e-02 9.97613239e-01 -2.22131458e-04 9.87702958e+00] [ 1.53958155e-02 -8.42973789e-04 9.99881122e-01 1.18485905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.6492541539999 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:765.30, Y:9.88, Z:11.85 [[ 9.97685972e-01 -6.62203972e-02 -1.54129763e-02 7.65298492e+02] [ 6.62222385e-02 9.97804822e-01 -3.91439485e-04 9.88182189e+00] [ 1.54050634e-02 -6.30148110e-04 9.99881136e-01 1.18494447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.6792541539999 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:765.33, Y:9.88, Z:11.85 [[ 9.97789681e-01 -6.46389278e-02 -1.54130266e-02 7.65331959e+02] [ 6.46406114e-02 9.97908533e-01 -3.89451117e-04 9.88445428e+00] [ 1.54059644e-02 -6.07717155e-04 9.99881136e-01 1.18499122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.709254154 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:765.36, Y:9.89, Z:11.85 [[ 9.98021366e-01 -6.09572832e-02 -1.54130688e-02 7.65364221e+02] [ 6.09585542e-02 9.98140223e-01 -3.87770983e-04 9.88890951e+00] [ 1.54080414e-02 -5.52554666e-04 9.99881136e-01 1.18496175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.7392541539999 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:765.40, Y:9.89, Z:11.85 [[ 9.98111000e-01 -5.94715805e-02 -1.54130969e-02 7.65395269e+02] [ 5.94726918e-02 9.98229858e-01 -3.86653114e-04 9.89152639e+00] [ 1.54088084e-02 -5.30735634e-04 9.99881136e-01 1.18512682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.7692541539999 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:765.43, Y:9.89, Z:11.85 [[ 9.98214673e-01 -5.77052985e-02 -1.54131426e-02 7.65427806e+02] [ 5.77062276e-02 9.98333533e-01 -3.84823639e-04 9.89405891e+00] [ 1.54096634e-02 -5.05297710e-04 9.99881136e-01 1.18525942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.7992541539999 meters Centerline goodness : 0.998993 Centerline is valid? [True, True] Translation: X:765.46, Y:9.90, Z:11.85 [[ 9.98425501e-01 -5.39347150e-02 -1.54131702e-02 7.65458573e+02] [ 5.39352123e-02 9.98544363e-01 -3.83711803e-04 9.89810701e+00] [ 1.54114296e-02 -4.48204961e-04 9.99881136e-01 1.18535189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.8292541539998 meters Centerline goodness : 0.999098 Centerline is valid? [True, True] Translation: X:765.49, Y:9.90, Z:11.85 [[ 9.98674751e-01 -4.91037131e-02 -1.54131908e-02 7.65489566e+02] [ 4.91036482e-02 9.98793615e-01 -3.82884007e-04 9.90178077e+00] [ 1.54133976e-02 -3.74467308e-04 9.99881136e-01 1.18534982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.8592541539999 meters Centerline goodness : 0.999055 Centerline is valid? [True, True] Translation: X:765.52, Y:9.90, Z:11.85 [[ 9.98753755e-01 -4.74696689e-02 -1.54132111e-02 7.65521596e+02] [ 4.74694221e-02 9.98872619e-01 -3.82066613e-04 9.90385375e+00] [ 1.54139711e-02 -3.50065758e-04 9.99881136e-01 1.18547207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.8892541539999 meters Centerline goodness : 0.998972 Centerline is valid? [True, True] Translation: X:765.55, Y:9.91, Z:11.86 [[ 9.98837491e-01 -4.56738312e-02 -1.54132373e-02 7.65553685e+02] [ 4.56733870e-02 9.98956354e-01 -3.81004089e-04 9.90572044e+00] [ 1.54145533e-02 -3.23413586e-04 9.99881136e-01 1.18550207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.9192541539999 meters Centerline goodness : 0.998888 Centerline is valid? [True, True] Translation: X:765.59, Y:9.91, Z:11.86 [[ 9.98948945e-01 -4.31675483e-02 -1.54132641e-02 7.65585811e+02] [ 4.31668227e-02 9.99067806e-01 -3.79916674e-04 9.90852555e+00] [ 1.54152960e-02 -2.85824279e-04 9.99881136e-01 1.18553243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.9492541539998 meters Centerline goodness : 0.998929 Centerline is valid? [True, True] Translation: X:765.62, Y:9.91, Z:11.86 [[ 9.98993574e-01 -4.21220887e-02 -1.54132923e-02 7.65618350e+02] [ 4.21212564e-02 9.99112434e-01 -3.78768578e-04 9.91011901e+00] [ 1.54155666e-02 -2.70839864e-04 9.99881136e-01 1.18555678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.9792541539999 meters Centerline goodness : 0.998845 Centerline is valid? [True, True] Translation: X:765.65, Y:9.91, Z:11.85 [[ 9.99036043e-01 -4.11024901e-02 -1.54133204e-02 7.65649587e+02] [ 4.11015542e-02 9.99154903e-01 -3.77622609e-04 9.91118908e+00] [ 1.54158159e-02 -2.56252828e-04 9.99881136e-01 1.18544960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.0092541539999 meters Centerline goodness : 0.999012 Centerline is valid? [True, True] Translation: X:765.68, Y:9.91, Z:11.86 [[ 9.99039367e-01 -4.10216023e-02 -1.54133413e-02 7.65681844e+02] [ 4.10206699e-02 9.99158227e-01 -3.76769864e-04 9.91241971e+00] [ 1.54158224e-02 -2.55857657e-04 9.99881136e-01 1.18554376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.0392541539999 meters Centerline goodness : 0.998951 Centerline is valid? [True, True] Translation: X:765.71, Y:9.91, Z:11.86 [[ 9.99012213e-01 -4.16776564e-02 -1.54133689e-02 7.65714216e+02] [ 4.16768196e-02 9.99131073e-01 -3.75635170e-04 9.91378105e+00] [ 1.54156314e-02 -2.67116073e-04 9.99881136e-01 1.18550487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.0692541539999 meters Centerline goodness : 0.999054 Centerline is valid? [True, True] Translation: X:765.75, Y:9.92, Z:11.86 [[ 9.98915587e-01 -4.39326413e-02 -1.54133963e-02 7.65746165e+02] [ 4.39320902e-02 9.99034449e-01 -3.74506694e-04 9.91511302e+00] [ 1.54149670e-02 -3.03042145e-04 9.99881136e-01 1.18555569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.0992541539999 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:765.78, Y:9.92, Z:11.86 [[ 9.98859460e-01 -4.51907636e-02 -1.54134237e-02 7.65777868e+02] [ 4.51903797e-02 9.98978323e-01 -3.73377246e-04 9.91591256e+00] [ 1.54145494e-02 -3.23587074e-04 9.99881136e-01 1.18556402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.1292541539999 meters Centerline goodness : 0.998928 Centerline is valid? [True, True] Translation: X:765.81, Y:9.92, Z:11.86 [[ 9.98693057e-01 -4.87299078e-02 -1.54134509e-02 7.65808948e+02] [ 4.87299625e-02 9.98811920e-01 -3.72249375e-04 9.91655137e+00] [ 1.54132782e-02 -3.79334019e-04 9.99881136e-01 1.18552948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.1592541539999 meters Centerline goodness : 0.998803 Centerline is valid? [True, True] Translation: X:765.84, Y:9.92, Z:11.86 [[ 9.98590896e-01 -5.07803800e-02 -1.54134712e-02 7.65840783e+02] [ 5.07806916e-02 9.98709759e-01 -3.71408564e-04 9.91712373e+00] [ 1.54124444e-02 -4.11821517e-04 9.99881136e-01 1.18557534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.1892541539999 meters Centerline goodness : 0.999035 Centerline is valid? [True, True] Translation: X:765.87, Y:9.92, Z:11.86 [[ 9.98484989e-01 -5.28218798e-02 -1.54134986e-02 7.65872508e+02] [ 5.28224521e-02 9.98603851e-01 -3.70265827e-04 9.91731709e+00] [ 1.54115372e-02 -4.44473923e-04 9.99881136e-01 1.18559744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.2192541539999 meters Centerline goodness : 0.998760 Centerline is valid? [True, True] Translation: X:765.90, Y:9.92, Z:11.86 [[ 9.98233861e-01 -5.73723019e-02 -1.54135327e-02 7.65904470e+02] [ 5.73734379e-02 9.98352720e-01 -3.68840745e-04 9.91761955e+00] [ 1.54093036e-02 -5.16138043e-04 9.99881136e-01 1.18569732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.2492541539999 meters Centerline goodness : 0.998864 Centerline is valid? [True, True] Translation: X:765.94, Y:9.92, Z:11.86 [[ 9.98149083e-01 -5.88288209e-02 -1.54135593e-02 7.65937611e+02] [ 5.88301475e-02 9.98267939e-01 -3.67728881e-04 9.91837496e+00] [ 1.54084951e-02 -5.39733721e-04 9.99881136e-01 1.18577534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.2792541539999 meters Centerline goodness : 0.998947 Centerline is valid? [True, True] Translation: X:765.97, Y:9.92, Z:11.86 [[ 9.98068012e-01 -6.01885718e-02 -1.54135999e-02 7.65969663e+02] [ 6.01900867e-02 9.98186866e-01 -3.66016877e-04 9.91948192e+00] [ 1.54076830e-02 -5.62436179e-04 9.99881136e-01 1.18587539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.3092541539999 meters Centerline goodness : 0.998905 Centerline is valid? [True, True] Translation: X:766.00, Y:9.92, Z:11.86 [[ 9.97995818e-01 -6.13739905e-02 -1.54136636e-02 7.66002304e+02] [ 6.13756883e-02 9.98114669e-01 -3.63315044e-04 9.92097506e+00] [ 1.54069018e-02 -5.83437318e-04 9.99881136e-01 1.18596596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.339254154 meters Centerline goodness : 0.998778 Centerline is valid? [True, True] Translation: X:766.03, Y:9.92, Z:11.86 [[ 9.97997818e-01 -6.13414423e-02 -1.54137042e-02 7.66034139e+02] [ 6.13431629e-02 9.98116669e-01 -3.61586875e-04 9.92222667e+00] [ 1.54068553e-02 -5.84662452e-04 9.99881136e-01 1.18599831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.3692541539999 meters Centerline goodness : 0.998822 Centerline is valid? [True, True] Translation: X:766.07, Y:9.92, Z:11.86 [[ 9.98048249e-01 -6.05153597e-02 -1.54137376e-02 7.66067218e+02] [ 6.05170039e-02 9.98167102e-01 -3.60155092e-04 9.92419709e+00] [ 1.54072807e-02 -5.73341060e-04 9.99881136e-01 1.18602353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.3992541539999 meters Centerline goodness : 0.998525 Centerline is valid? [True, True] Translation: X:766.10, Y:9.92, Z:11.86 [[ 9.98213433e-01 -5.77265855e-02 -1.54137773e-02 7.66103875e+02] [ 5.77279240e-02 9.98332289e-01 -3.58446222e-04 9.92312576e+00] [ 1.54087635e-02 -5.31999534e-04 9.99881136e-01 1.18591003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.4292541539999 meters Centerline goodness : 0.998694 Centerline is valid? [True, True] Translation: X:766.13, Y:9.93, Z:11.86 [[ 9.98166256e-01 -5.85356138e-02 -1.54177367e-02 7.66131079e+02] [ 5.85397107e-02 9.98285063e-01 -1.85827582e-04 9.92680619e+00] [ 1.54021738e-02 -7.17063024e-04 9.99881122e-01 1.18609958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.459254154 meters Centerline goodness : 0.998631 Centerline is valid? [True, True] Translation: X:766.16, Y:9.93, Z:11.86 [[ 9.98244189e-01 -5.71922681e-02 -1.54137655e-02 7.66163692e+02] [ 5.71935622e-02 9.98363045e-01 -3.57199225e-04 9.92810557e+00] [ 1.54089629e-02 -5.24996107e-04 9.99881137e-01 1.18608936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.4892541539999 meters Centerline goodness : 0.998778 Centerline is valid? [True, True] Translation: X:766.20, Y:9.93, Z:11.86 [[ 9.98367777e-01 -5.49926978e-02 -1.54137919e-02 7.66195454e+02] [ 5.49937476e-02 9.98486635e-01 -3.56059072e-04 9.93038267e+00] [ 1.54100458e-02 -4.92184277e-04 9.99881137e-01 1.18614975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.5192541539999 meters Centerline goodness : 0.998758 Centerline is valid? [True, True] Translation: X:766.23, Y:9.93, Z:11.86 [[ 9.98443135e-01 -5.36070788e-02 -1.54138533e-02 7.66228107e+02] [ 5.36080050e-02 9.98561995e-01 -3.53381069e-04 9.93187062e+00] [ 1.54106318e-02 -4.73475021e-04 9.99881137e-01 1.18619785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.5492541539999 meters Centerline goodness : 0.998884 Centerline is valid? [True, True] Translation: X:766.26, Y:9.93, Z:11.86 [[ 9.98533049e-01 -5.19053261e-02 -1.54138785e-02 7.66260105e+02] [ 5.19060668e-02 9.98651909e-01 -3.52275860e-04 9.93361674e+00] [ 1.54113842e-02 -4.48314721e-04 9.99881137e-01 1.18626816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.5792541539998 meters Centerline goodness : 0.998822 Centerline is valid? [True, True] Translation: X:766.29, Y:9.94, Z:11.86 [[ 9.98746200e-01 -4.76281394e-02 -1.54139042e-02 7.66290756e+02] [ 4.76283883e-02 9.98865063e-01 -3.51148922e-04 9.93582140e+00] [ 1.54131350e-02 -3.83430763e-04 9.99881137e-01 1.18633125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.6092541539999 meters Centerline goodness : 0.998717 Centerline is valid? [True, True] Translation: X:766.32, Y:9.94, Z:11.86 [[ 9.98859504e-01 -4.51896296e-02 -1.54139233e-02 7.66323023e+02] [ 4.51896013e-02 9.98978367e-01 -3.50309158e-04 9.93707610e+00] [ 1.54140063e-02 -3.46639417e-04 9.99881137e-01 1.18638886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.6392541539999 meters Centerline goodness : 0.998717 Centerline is valid? [True, True] Translation: X:766.36, Y:9.94, Z:11.86 [[ 9.98862746e-01 -4.51179023e-02 -1.54139484e-02 7.66355703e+02] [ 4.51178825e-02 9.98981609e-01 -3.49202428e-04 9.93775501e+00] [ 1.54140062e-02 -3.46639416e-04 9.99881137e-01 1.18643923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.6692541539999 meters Centerline goodness : 0.998907 Centerline is valid? [True, True] Translation: X:766.39, Y:9.94, Z:11.87 [[ 9.98978716e-01 -4.24727465e-02 -1.54139734e-02 7.66387834e+02] [ 4.24724291e-02 9.99097579e-01 -3.48095697e-04 9.93890935e+00] [ 1.54148480e-02 -3.06928699e-04 9.99881137e-01 1.18650426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.6992541539998 meters Centerline goodness : 0.998758 Centerline is valid? [True, True] Translation: X:766.42, Y:9.94, Z:11.86 [[ 9.99151151e-01 -3.82019166e-02 -1.54139989e-02 7.66419143e+02] [ 3.82011085e-02 9.99270011e-01 -3.46961934e-04 9.94015433e+00] [ 1.54160014e-02 -2.42164429e-04 9.99881137e-01 1.18647860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.7292541539999 meters Centerline goodness : 0.998989 Centerline is valid? [True, True] Translation: X:766.45, Y:9.94, Z:11.87 [[ 9.99189300e-01 -3.71907404e-02 -1.54140179e-02 7.66451667e+02] [ 3.71898251e-02 9.99308159e-01 -3.46116757e-04 9.94110994e+00] [ 1.54162262e-02 -2.27408468e-04 9.99881137e-01 1.18664843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.7592541539999 meters Centerline goodness : 0.998528 Centerline is valid? [True, True] Translation: X:766.48, Y:9.94, Z:11.87 [[ 9.99250467e-01 -3.55093225e-02 -1.54140433e-02 7.66483547e+02] [ 3.55082247e-02 9.99369325e-01 -3.44981396e-04 9.94146581e+00] [ 1.54165721e-02 -2.02602490e-04 9.99881137e-01 1.18658553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.7892541539999 meters Centerline goodness : 0.998801 Centerline is valid? [True, True] Translation: X:766.52, Y:9.94, Z:11.87 [[ 9.99264164e-01 -3.51217324e-02 -1.54140686e-02 7.66515010e+02] [ 3.51206060e-02 9.99383022e-01 -3.43845544e-04 9.94182386e+00] [ 1.54166349e-02 -1.97758900e-04 9.99881137e-01 1.18662715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.8192541539999 meters Centerline goodness : 0.999012 Centerline is valid? [True, True] Translation: X:766.55, Y:9.94, Z:11.87 [[ 9.99277081e-01 -3.47522780e-02 -1.54141106e-02 7.66545899e+02] [ 3.47511368e-02 9.99395938e-01 -3.41954650e-04 9.94096553e+00] [ 1.54166832e-02 -1.93950421e-04 9.99881137e-01 1.18662121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.8492541539999 meters Centerline goodness : 0.998887 Centerline is valid? [True, True] Translation: X:766.58, Y:9.94, Z:11.87 [[ 9.99283728e-01 -3.45605987e-02 -1.54141230e-02 7.66577362e+02] [ 3.45594434e-02 9.99402586e-01 -3.41393939e-04 9.94046329e+00] [ 1.54167131e-02 -1.91554102e-04 9.99881137e-01 1.18656717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.8792541539999 meters Centerline goodness : 0.998697 Centerline is valid? [True, True] Translation: X:766.61, Y:9.94, Z:11.87 [[ 9.99246449e-01 -3.56221656e-02 -1.54141415e-02 7.66608869e+02] [ 3.56211494e-02 9.99365307e-01 -3.40555421e-04 9.93916460e+00] [ 1.54164896e-02 -2.08770643e-04 9.99881137e-01 1.18667910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.9092541539999 meters Centerline goodness : 0.998760 Centerline is valid? [True, True] Translation: X:766.64, Y:9.94, Z:11.87 [[ 9.99223610e-01 -3.62571391e-02 -1.54141538e-02 7.66640316e+02] [ 3.62562071e-02 9.99342470e-01 -3.39999109e-04 9.93887800e+00] [ 1.54163459e-02 -2.19123615e-04 9.99881137e-01 1.18673906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.9392541539999 meters Centerline goodness : 0.998864 Centerline is valid? [True, True] Translation: X:766.67, Y:9.94, Z:11.87 [[ 9.99117362e-01 -3.90755773e-02 -1.54141721e-02 7.66671219e+02] [ 3.90749934e-02 9.99236223e-01 -3.39168199e-04 9.93748025e+00] [ 1.54156523e-02 -2.63439835e-04 9.99881137e-01 1.18685799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.9692541539999 meters Centerline goodness : 0.998866 Centerline is valid? [True, True] Translation: X:766.70, Y:9.94, Z:11.87 [[ 9.99042785e-01 -4.09379493e-02 -1.54141901e-02 7.66702916e+02] [ 4.09375996e-02 9.99161648e-01 -3.38347087e-04 9.93696162e+00] [ 1.54151188e-02 -2.92996724e-04 9.99881137e-01 1.18693761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.9992541539999 meters Centerline goodness : 0.998654 Centerline is valid? [True, True] Translation: X:766.73, Y:9.93, Z:11.87 [[ 9.98808684e-01 -4.62991801e-02 -1.54142086e-02 7.66734663e+02] [ 4.62994814e-02 9.98927547e-01 -3.37500718e-04 9.93491634e+00] [ 1.54133036e-02 -3.76571216e-04 9.99881137e-01 1.18689045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.0292541539999 meters Centerline goodness : 0.998947 Centerline is valid? [True, True] Translation: X:766.77, Y:9.93, Z:11.87 [[ 9.98655844e-01 -4.94864208e-02 -1.54142489e-02 7.66766415e+02] [ 4.94871299e-02 9.98774705e-01 -3.35649429e-04 9.93404232e+00] [ 1.54119720e-02 -4.27608675e-04 9.99881137e-01 1.18700793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.0592541539999 meters Centerline goodness : 0.998928 Centerline is valid? [True, True] Translation: X:766.80, Y:9.93, Z:11.87 [[ 9.98222178e-01 -5.75750301e-02 -1.54142741e-02 7.66798620e+02] [ 5.75767200e-02 9.98341029e-01 -3.34490223e-04 9.93207772e+00] [ 1.54079605e-02 -5.53607784e-04 9.99881137e-01 1.18690346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.089254154 meters Centerline goodness : 0.998843 Centerline is valid? [True, True] Translation: X:766.83, Y:9.93, Z:11.87 [[ 9.97976501e-01 -6.16871333e-02 -1.54143053e-02 7.66830654e+02] [ 6.16893351e-02 9.98095344e-01 -3.33046091e-04 9.93152805e+00] [ 1.54054910e-02 -6.18526072e-04 9.99881137e-01 1.18694042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.1192541539999 meters Centerline goodness : 0.998740 Centerline is valid? [True, True] Translation: X:766.87, Y:9.93, Z:11.87 [[ 9.97585068e-01 -6.77233385e-02 -1.54136782e-02 7.66865975e+02] [ 6.77258101e-02 9.97703906e-01 -3.62176248e-04 9.92677588e+00] [ 1.54028147e-02 -6.82602222e-04 9.99881137e-01 1.18661636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.1492541539999 meters Centerline goodness : 0.998781 Centerline is valid? [True, True] Translation: X:766.89, Y:9.93, Z:11.87 [[ 9.96819444e-01 -7.81873577e-02 -1.54186163e-02 7.66893354e+02] [ 7.81945201e-02 9.96938111e-01 -1.38708171e-04 9.93116375e+00] [ 1.53822514e-02 -1.06738430e-03 9.99881116e-01 1.18699641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.1792541539999 meters Centerline goodness : 0.998615 Centerline is valid? [True, True] Translation: X:766.93, Y:9.93, Z:11.87 [[ 9.96696022e-01 -7.97461424e-02 -1.54140325e-02 7.66926031e+02] [ 7.97503256e-02 9.96814811e-01 -3.44071775e-04 9.93143125e+00] [ 1.53923743e-02 -8.86339140e-04 9.99881138e-01 1.18690899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.209254154 meters Centerline goodness : 0.998803 Centerline is valid? [True, True] Translation: X:766.96, Y:9.93, Z:11.87 [[ 9.96562025e-01 -8.14035413e-02 -1.54140574e-02 7.66959113e+02] [ 8.14079394e-02 9.96680806e-01 -3.42951086e-04 9.93237512e+00] [ 1.53908126e-02 -9.13054624e-04 9.99881138e-01 1.18709708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.2392541539999 meters Centerline goodness : 0.998741 Centerline is valid? [True, True] Translation: X:767.00, Y:9.93, Z:11.87 [[ 9.96687267e-01 -7.98554795e-02 -1.54140956e-02 7.66996508e+02] [ 7.98597196e-02 9.96806054e-01 -3.41226086e-04 9.93061178e+00] [ 1.53921126e-02 -8.90869658e-04 9.99881138e-01 1.18714656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.2692541539999 meters Centerline goodness : 0.998721 Centerline is valid? [True, True] Translation: X:767.02, Y:9.94, Z:11.87 [[ 9.96532501e-01 -8.17634110e-02 -1.54181631e-02 7.67023390e+02] [ 8.17707671e-02 9.96651152e-01 -1.53760115e-04 9.93590420e+00] [ 1.53791019e-02 -1.10752807e-03 9.99881121e-01 1.18722793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.2992541539999 meters Centerline goodness : 0.998784 Centerline is valid? [True, True] Translation: X:767.06, Y:9.94, Z:11.87 [[ 9.96601777e-01 -8.09154061e-02 -1.54141521e-02 7.67056189e+02] [ 8.09198354e-02 9.96720556e-01 -3.37149293e-04 9.93774741e+00] [ 1.53908828e-02 -9.11307068e-04 9.99881138e-01 1.18734408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.3292541539998 meters Centerline goodness : 0.998784 Centerline is valid? [True, True] Translation: X:767.09, Y:9.94, Z:11.87 [[ 9.96730615e-01 -7.93125678e-02 -1.54141886e-02 7.67088148e+02] [ 7.93168319e-02 9.96849401e-01 -3.35474395e-04 9.93944922e+00] [ 1.53922320e-02 -8.88227004e-04 9.99881138e-01 1.18736212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.3592541539999 meters Centerline goodness : 0.998487 Centerline is valid? [True, True] Translation: X:767.12, Y:9.94, Z:11.87 [[ 9.97213887e-01 -7.29853800e-02 -1.54142186e-02 7.67123666e+02] [ 7.29889115e-02 9.97332696e-01 -3.34087242e-04 9.94091220e+00] [ 1.53974877e-02 -7.91910603e-04 9.99881138e-01 1.18724971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.3892541539999 meters Centerline goodness : 0.998656 Centerline is valid? [True, True] Translation: X:767.15, Y:9.95, Z:11.87 [[ 9.97283700e-01 -7.20246886e-02 -1.54164409e-02 7.67152523e+02] [ 7.20297072e-02 9.97402461e-01 -2.30194212e-04 9.94521034e+00] [ 1.53929757e-02 -8.80872786e-04 9.99881133e-01 1.18728454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.4192541539999 meters Centerline goodness : 0.998843 Centerline is valid? [True, True] Translation: X:767.18, Y:9.95, Z:11.87 [[ 9.97702367e-01 -6.59726261e-02 -1.54142730e-02 7.67184987e+02] [ 6.59753681e-02 9.97821197e-01 -3.31116554e-04 9.94970019e+00] [ 1.54025330e-02 -6.86606566e-04 9.99881138e-01 1.18738898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.4492541539998 meters Centerline goodness : 0.998863 Centerline is valid? [True, True] Translation: X:767.22, Y:9.95, Z:11.87 [[ 9.97890682e-01 -6.30601755e-02 -1.54142971e-02 7.67217089e+02] [ 6.30625880e-02 9.98009520e-01 -3.29989712e-04 9.95263873e+00] [ 1.54044245e-02 -6.42771810e-04 9.99881138e-01 1.18742144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.4792541539999 meters Centerline goodness : 0.998757 Centerline is valid? [True, True] Translation: X:767.25, Y:9.96, Z:11.87 [[ 9.98105793e-01 -5.95585862e-02 -1.54143270e-02 7.67250207e+02] [ 5.95606033e-02 9.98224637e-01 -3.28588309e-04 9.95558790e+00] [ 1.54065312e-02 -5.90120721e-04 9.99881138e-01 1.18744702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.5092541539999 meters Centerline goodness : 0.998754 Centerline is valid? [True, True] Translation: X:767.28, Y:9.96, Z:11.88 [[ 9.98487328e-01 -5.27773981e-02 -1.54143613e-02 7.67282959e+02] [ 5.27786328e-02 9.98606183e-01 -3.26969381e-04 9.96083080e+00] [ 1.54101331e-02 -4.87074135e-04 9.99881138e-01 1.18769341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.5392541539999 meters Centerline goodness : 0.998797 Centerline is valid? [True, True] Translation: X:767.31, Y:9.96, Z:11.88 [[ 9.98694339e-01 -4.87033202e-02 -1.54143976e-02 7.67314729e+02] [ 4.87040965e-02 9.98813198e-01 -3.25249994e-04 9.96337996e+00] [ 1.54119446e-02 -4.25918982e-04 9.99881138e-01 1.18767866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.5692541539999 meters Centerline goodness : 0.998670 Centerline is valid? [True, True] Translation: X:767.35, Y:9.97, Z:11.88 [[ 9.99047413e-01 -4.08247746e-02 -1.54144215e-02 7.67346082e+02] [ 4.08246309e-02 9.99166275e-01 -3.24113007e-04 9.96823099e+00] [ 1.54148020e-02 -3.05483810e-04 9.99881138e-01 1.18775662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.5992541539999 meters Centerline goodness : 0.998902 Centerline is valid? [True, True] Translation: X:767.38, Y:9.97, Z:11.88 [[ 9.99183548e-01 -3.73447823e-02 -1.54144579e-02 7.67377152e+02] [ 3.73442514e-02 9.99302408e-01 -3.22374351e-04 9.97126112e+00] [ 1.54157439e-02 -2.53530243e-04 9.99881138e-01 1.18794419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.6292541539999 meters Centerline goodness : 0.998689 Centerline is valid? [True, True] Translation: X:767.41, Y:9.97, Z:11.88 [[ 9.99325330e-01 -3.33358454e-02 -1.54144753e-02 7.67409377e+02] [ 3.33348507e-02 9.99444188e-01 -3.21538038e-04 9.97355798e+00] [ 1.54166265e-02 -1.92518128e-04 9.99881138e-01 1.18789113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.6592541539999 meters Centerline goodness : 0.998854 Centerline is valid? [True, True] Translation: X:767.44, Y:9.98, Z:11.88 [[ 9.99490928e-01 -2.79334630e-02 -1.54144987e-02 7.67439989e+02] [ 2.79318431e-02 9.99609779e-01 -3.20412146e-04 9.97706188e+00] [ 1.54174339e-02 -1.10306328e-04 9.99881138e-01 1.18798822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.6892541539999 meters Centerline goodness : 0.999001 Centerline is valid? [True, True] Translation: X:767.47, Y:9.98, Z:11.88 [[ 9.99551296e-01 -2.56826613e-02 -1.54145104e-02 7.67470849e+02] [ 2.56807824e-02 9.99670143e-01 -3.19851341e-04 9.97841529e+00] [ 1.54176404e-02 -7.61488652e-05 9.99881138e-01 1.18805416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.7192541539999 meters Centerline goodness : 0.998897 Centerline is valid? [True, True] Translation: X:767.50, Y:9.98, Z:11.88 [[ 9.99587641e-01 -2.42268608e-02 -1.54145218e-02 7.67501013e+02] [ 2.42248173e-02 9.99706485e-01 -3.19302580e-04 9.97980147e+00] [ 1.54177331e-02 -5.42430610e-05 9.99881138e-01 1.18809529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.7492541539999 meters Centerline goodness : 0.999024 Centerline is valid? [True, True] Translation: X:767.53, Y:9.98, Z:11.88 [[ 9.99595452e-01 -2.39023914e-02 -1.54145218e-02 7.67530846e+02] [ 2.39003093e-02 9.99714296e-01 -3.19302580e-04 9.98174143e+00] [ 1.54177499e-02 -4.92384313e-05 9.99881138e-01 1.18825187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.7792541539999 meters Centerline goodness : 0.999192 Centerline is valid? [True, True] Translation: X:767.56, Y:9.98, Z:11.88 [[ 9.99587537e-01 -2.42311463e-02 -1.54145160e-02 7.67561037e+02] [ 2.42290990e-02 9.99706381e-01 -3.19581134e-04 9.98236107e+00] [ 1.54177338e-02 -5.40305159e-05 9.99881138e-01 1.18823998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.8092541539999 meters Centerline goodness : 0.999383 Centerline is valid? [True, True] Translation: X:767.59, Y:9.98, Z:11.88 [[ 9.99507203e-01 -2.73449243e-02 -1.54145160e-02 7.67590744e+02] [ 2.73432472e-02 9.99626052e-01 -3.19581134e-04 9.98242689e+00] [ 1.54174907e-02 -1.02059276e-04 9.99881138e-01 1.18828718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.839254154 meters Centerline goodness : 0.999489 Centerline is valid? [True, True] Translation: X:767.62, Y:9.98, Z:11.88 [[ 9.99441484e-01 -2.96498507e-02 -1.54145101e-02 7.67621556e+02] [ 2.96484433e-02 9.99560337e-01 -3.19862526e-04 9.98254230e+00] [ 1.54172168e-02 -1.37332353e-04 9.99881138e-01 1.18837152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.8692541539999 meters Centerline goodness : 0.999340 Centerline is valid? [True, True] Translation: X:767.65, Y:9.98, Z:11.88 [[ 9.99383886e-01 -3.15315922e-02 -1.54145159e-02 7.67652671e+02] [ 3.15304129e-02 9.99502742e-01 -3.19585669e-04 9.98186643e+00] [ 1.54169279e-02 -1.66637283e-04 9.99881138e-01 1.18829670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.8992541539999 meters Centerline goodness : 0.999278 Centerline is valid? [True, True] Translation: X:767.68, Y:9.98, Z:11.88 [[ 9.99301064e-01 -3.40554726e-02 -1.54145275e-02 7.67684778e+02] [ 3.40546022e-02 9.99419923e-01 -3.19023923e-04 9.98142482e+00] [ 1.54164504e-02 -2.06134657e-04 9.99881138e-01 1.18831786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.9292541539999 meters Centerline goodness : 0.999279 Centerline is valid? [True, True] Translation: X:767.72, Y:9.98, Z:11.88 [[ 9.99061363e-01 -4.04818938e-02 -1.54145508e-02 7.67716665e+02] [ 4.04818053e-02 9.99180225e-01 -3.17893422e-04 9.98023579e+00] [ 1.54147833e-02 -3.06413809e-04 9.99881138e-01 1.18840067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.959254154 meters Centerline goodness : 0.999172 Centerline is valid? [True, True] Translation: X:767.75, Y:9.98, Z:11.88 [[ 9.98793710e-01 -4.66209751e-02 -1.54145739e-02 7.67748016e+02] [ 4.66216344e-02 9.98912570e-01 -3.16770177e-04 9.97934810e+00] [ 1.54125798e-02 -4.02264567e-04 9.99881138e-01 1.18847988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.9892541539999 meters Centerline goodness : 0.999534 Centerline is valid? [True, True] Translation: X:767.78, Y:9.98, Z:11.89 [[ 9.98638440e-01 -4.98362910e-02 -1.54146119e-02 7.67780671e+02] [ 4.98373617e-02 9.98757297e-01 -3.14907632e-04 9.97953628e+00] [ 1.54111500e-02 -4.53744725e-04 9.99881138e-01 1.18868755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.0192541539999 meters Centerline goodness : 0.999470 Centerline is valid? [True, True] Translation: X:767.81, Y:9.98, Z:11.89 [[ 9.98528941e-01 -5.19840715e-02 -1.54146349e-02 7.67814066e+02] [ 5.19854152e-02 9.98647795e-01 -3.13779065e-04 9.97907663e+00] [ 1.54101027e-02 -4.88018719e-04 9.99881138e-01 1.18866818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.0492541539999 meters Centerline goodness : 0.999491 Centerline is valid? [True, True] Translation: X:767.85, Y:9.98, Z:11.89 [[ 9.98419106e-01 -5.40525289e-02 -1.54146701e-02 7.67847154e+02] [ 5.40541456e-02 9.98537957e-01 -3.12041624e-04 9.97868278e+00] [ 1.54089998e-02 -5.21678502e-04 9.99881138e-01 1.18864760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.0792541539998 meters Centerline goodness : 0.999619 Centerline is valid? [True, True] Translation: X:767.88, Y:9.98, Z:11.89 [[ 9.98182132e-01 -5.82650703e-02 -1.54147050e-02 7.67878733e+02] [ 5.82672153e-02 9.98300974e-01 -3.10308396e-04 9.97826742e+00] [ 1.54065951e-02 -5.88427638e-04 9.99881138e-01 1.18877184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.1092541539999 meters Centerline goodness : 0.999345 Centerline is valid? [True, True] Translation: X:767.91, Y:9.98, Z:11.89 [[ 9.98037514e-01 -6.06919048e-02 -1.54147338e-02 7.67912274e+02] [ 6.06943608e-02 9.98156350e-01 -3.08872445e-04 9.97802545e+00] [ 1.54050604e-02 -6.27321126e-04 9.99881138e-01 1.18879213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.1392541539999 meters Centerline goodness : 0.999598 Centerline is valid? [True, True] Translation: X:767.95, Y:9.98, Z:11.89 [[ 9.97994570e-01 -6.13939966e-02 -1.54147676e-02 7.67945181e+02] [ 6.13965625e-02 9.98113404e-01 -3.07174715e-04 9.97837715e+00] [ 1.54045448e-02 -6.39855044e-04 9.99881138e-01 1.18885583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.1692541539999 meters Centerline goodness : 0.999451 Centerline is valid? [True, True] Translation: X:767.98, Y:9.98, Z:11.89 [[ 9.97956545e-01 -6.20090224e-02 -1.54148011e-02 7.67976927e+02] [ 6.20116875e-02 9.98075377e-01 -3.05485012e-04 9.97878111e+00] [ 1.54040762e-02 -6.51037060e-04 9.99881138e-01 1.18888943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.1992541539998 meters Centerline goodness : 0.999262 Centerline is valid? [True, True] Translation: X:768.01, Y:9.98, Z:11.89 [[ 9.97932477e-01 -6.23951459e-02 -1.54148287e-02 7.68009567e+02] [ 6.23978785e-02 9.98051307e-01 -3.04086267e-04 9.97919327e+00] [ 1.54037634e-02 -6.58395045e-04 9.99881138e-01 1.18889247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.2292541539999 meters Centerline goodness : 0.999220 Centerline is valid? [True, True] Translation: X:768.04, Y:9.98, Z:11.89 [[ 9.97956764e-01 -6.20054839e-02 -1.54148614e-02 7.68043062e+02] [ 6.20081959e-02 9.98075594e-01 -3.02415723e-04 9.97972789e+00] [ 1.54039484e-02 -6.54049933e-04 9.99881138e-01 1.18892277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.2592541539999 meters Centerline goodness : 0.999177 Centerline is valid? [True, True] Translation: X:768.08, Y:9.98, Z:11.89 [[ 9.98034614e-01 -6.07395367e-02 -1.54148940e-02 7.68076531e+02] [ 6.07421237e-02 9.98153447e-01 -3.00747477e-04 9.98085701e+00] [ 1.54046968e-02 -6.36177006e-04 9.99881138e-01 1.18894323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.2892541539999 meters Centerline goodness : 0.999199 Centerline is valid? [True, True] Translation: X:768.11, Y:9.98, Z:11.89 [[ 9.98087070e-01 -5.98713604e-02 -1.54149267e-02 7.68109593e+02] [ 5.98738700e-02 9.98205906e-01 -2.99062464e-04 9.98176202e+00] [ 1.54051761e-02 -6.24460938e-04 9.99881138e-01 1.18899877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.3192541539999 meters Centerline goodness : 0.999114 Centerline is valid? [True, True] Translation: X:768.14, Y:9.98, Z:11.89 [[ 9.98124691e-01 -5.92408651e-02 -1.54149597e-02 7.68142691e+02] [ 5.92433261e-02 9.98243527e-01 -2.97349365e-04 9.98283263e+00] [ 1.54054990e-02 -6.16441743e-04 9.99881138e-01 1.18900162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.3492541539999 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:768.18, Y:9.98, Z:11.89 [[ 9.98177177e-01 -5.83498128e-02 -1.54149928e-02 7.68175996e+02] [ 5.83521943e-02 9.98296015e-01 -2.95623515e-04 9.98481951e+00] [ 1.54059755e-02 -6.04414010e-04 9.99881138e-01 1.18906551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.3792541539999 meters Centerline goodness : 0.999220 Centerline is valid? [True, True] Translation: X:768.21, Y:9.99, Z:11.89 [[ 9.98165244e-01 -5.85535871e-02 -1.54150257e-02 7.68209121e+02] [ 5.85560194e-02 9.98284081e-01 -2.93899161e-04 9.98627564e+00] [ 1.54057836e-02 -6.09282616e-04 9.99881138e-01 1.18914354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.4092541539999 meters Centerline goodness : 0.999008 Centerline is valid? [True, True] Translation: X:768.24, Y:9.99, Z:11.89 [[ 9.98138625e-01 -5.90055993e-02 -1.54150582e-02 7.68242079e+02] [ 5.90081119e-02 9.98257460e-01 -2.92183829e-04 9.98810794e+00] [ 1.54054373e-02 -6.17973514e-04 9.99881138e-01 1.18917862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.4392541539999 meters Centerline goodness : 0.998735 Centerline is valid? [True, True] Translation: X:768.27, Y:9.99, Z:11.89 [[ 9.98126751e-01 -5.92061126e-02 -1.54150909e-02 7.68273741e+02] [ 5.92086758e-02 9.98245585e-01 -2.90449589e-04 9.98902180e+00] [ 1.54052428e-02 -6.22801615e-04 9.99881138e-01 1.18912442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.4692541539999 meters Centerline goodness : 0.998969 Centerline is valid? [True, True] Translation: X:768.31, Y:9.99, Z:11.89 [[ 9.98133557e-01 -5.90912453e-02 -1.54151442e-02 7.68305683e+02] [ 5.90938389e-02 9.98252391e-01 -2.87590119e-04 9.98998616e+00] [ 1.54051986e-02 -6.23886702e-04 9.99881138e-01 1.18910454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.4992541539999 meters Centerline goodness : 0.999006 Centerline is valid? [True, True] Translation: X:768.34, Y:9.99, Z:11.89 [[ 9.98110806e-01 -5.94743001e-02 -1.54151653e-02 7.68338138e+02] [ 5.94769568e-02 9.98229638e-01 -2.86455293e-04 9.99237923e+00] [ 1.54049116e-02 -6.30932999e-04 9.99881138e-01 1.18916637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.5292541539999 meters Centerline goodness : 0.999303 Centerline is valid? [True, True] Translation: X:768.37, Y:9.99, Z:11.89 [[ 9.98158064e-01 -5.86758183e-02 -1.54151863e-02 7.68368839e+02] [ 5.86783974e-02 9.98276898e-01 -2.85320338e-04 9.99481058e+00] [ 1.54053658e-02 -6.19743634e-04 9.99881138e-01 1.18914458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.5592541539999 meters Centerline goodness : 0.999303 Centerline is valid? [True, True] Translation: X:768.40, Y:10.00, Z:11.89 [[ 9.98164243e-01 -5.85706045e-02 -1.54152019e-02 7.68402369e+02] [ 5.85731842e-02 9.98283077e-01 -2.84475457e-04 9.99533348e+00] [ 1.54053971e-02 -6.18964232e-04 9.99881138e-01 1.18919626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.589254154 meters Centerline goodness : 0.999367 Centerline is valid? [True, True] Translation: X:768.44, Y:10.00, Z:11.89 [[ 9.98209947e-01 -5.77864417e-02 -1.54152317e-02 7.68435522e+02] [ 5.77889530e-02 9.98328782e-01 -2.82850582e-04 9.99676784e+00] [ 1.54058145e-02 -6.08485838e-04 9.99881138e-01 1.18937399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.6192541539999 meters Centerline goodness : 0.999280 Centerline is valid? [True, True] Translation: X:768.47, Y:10.00, Z:11.90 [[ 9.98276273e-01 -5.66290735e-02 -1.54152626e-02 7.68468396e+02] [ 5.66314732e-02 9.98395111e-01 -2.81159910e-04 9.99830269e+00] [ 1.54064446e-02 -5.92313761e-04 9.99881138e-01 1.18953178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.6492541539999 meters Centerline goodness : 0.999365 Centerline is valid? [True, True] Translation: X:768.50, Y:10.00, Z:11.90 [[ 9.98357738e-01 -5.51742235e-02 -1.54152938e-02 7.68500051e+02] [ 5.51764765e-02 9.98476579e-01 -2.79436483e-04 9.99972180e+00] [ 1.54072275e-02 -5.71584022e-04 9.99881138e-01 1.18960486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.6792541539999 meters Centerline goodness : 0.999385 Centerline is valid? [True, True] Translation: X:768.53, Y:10.00, Z:11.90 [[ 9.98545962e-01 -5.16558774e-02 -1.54153447e-02 7.68532160e+02] [ 5.16577554e-02 9.98664809e-01 -2.76601082e-04 1.00019151e+01] [ 1.54090503e-02 -5.20123212e-04 9.99881138e-01 1.18986850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.709254154 meters Centerline goodness : 0.999406 Centerline is valid? [True, True] Translation: X:768.56, Y:10.00, Z:11.90 [[ 9.98637951e-01 -4.98458512e-02 -1.54153651e-02 7.68564389e+02] [ 4.98475314e-02 9.98756801e-01 -2.75459199e-04 1.00032133e+01] [ 1.54099312e-02 -4.93333885e-04 9.99881138e-01 1.18997498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.7392541539999 meters Centerline goodness : 0.999618 Centerline is valid? [True, True] Translation: X:768.60, Y:10.00, Z:11.90 [[ 9.98785573e-01 -4.67947063e-02 -1.54153904e-02 7.68596129e+02] [ 4.67960454e-02 9.98904427e-01 -2.74035345e-04 1.00047558e+01] [ 1.54113251e-02 -4.47676760e-04 9.99881138e-01 1.19014189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.7692541539999 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:768.63, Y:10.01, Z:11.90 [[ 9.98812864e-01 -4.62085338e-02 -1.54154103e-02 7.68627952e+02] [ 4.62098204e-02 9.98931718e-01 -2.72909386e-04 1.00052824e+01] [ 1.54115531e-02 -4.39757937e-04 9.99881138e-01 1.19027299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.7992541539999 meters Centerline goodness : 0.999596 Centerline is valid? [True, True] Translation: X:768.66, Y:10.01, Z:11.90 [[ 9.98836723e-01 -4.56898813e-02 -1.54154301e-02 7.68659379e+02] [ 4.56911235e-02 9.98955578e-01 -2.71787641e-04 1.00053487e+01] [ 1.54117479e-02 -4.32876845e-04 9.99881138e-01 1.19023035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.8292541539998 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:768.69, Y:10.00, Z:11.90 [[ 9.98817080e-01 -4.61172796e-02 -1.54154628e-02 7.68692118e+02] [ 4.61186015e-02 9.98935935e-01 -2.69921526e-04 1.00046622e+01] [ 1.54115078e-02 -4.41337355e-04 9.99881138e-01 1.19011840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.8592541539999 meters Centerline goodness : 0.999468 Centerline is valid? [True, True] Translation: X:768.72, Y:10.00, Z:11.90 [[ 9.98774088e-01 -4.70391653e-02 -1.54154868e-02 7.68724500e+02] [ 4.70406181e-02 9.98892941e-01 -2.68544979e-04 1.00046135e+01] [ 1.54110531e-02 -4.56938259e-04 9.99881138e-01 1.19026899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.8892541539999 meters Centerline goodness : 0.999533 Centerline is valid? [True, True] Translation: X:768.76, Y:10.00, Z:11.90 [[ 9.98740690e-01 -4.77430320e-02 -1.54155059e-02 7.68756663e+02] [ 4.77445855e-02 9.98859541e-01 -2.67445095e-04 1.00043161e+01] [ 1.54106937e-02 -4.68898638e-04 9.99881138e-01 1.19016699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.9192541539999 meters Centerline goodness : 0.999533 Centerline is valid? [True, True] Translation: X:768.79, Y:10.00, Z:11.90 [[ 9.98621447e-01 -5.01753643e-02 -1.54155247e-02 7.68788918e+02] [ 5.01772241e-02 9.98740294e-01 -2.66354247e-04 1.00036220e+01] [ 1.54094701e-02 -5.07521174e-04 9.99881138e-01 1.19017127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.9492541539998 meters Centerline goodness : 0.999490 Centerline is valid? [True, True] Translation: X:768.82, Y:10.00, Z:11.90 [[ 9.98550001e-01 -5.15776694e-02 -1.54155436e-02 7.68820362e+02] [ 5.15797130e-02 9.98668845e-01 -2.65257350e-04 1.00025172e+01] [ 1.54087045e-02 -5.30256586e-04 9.99881138e-01 1.19002092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.9792541539999 meters Centerline goodness : 0.999511 Centerline is valid? [True, True] Translation: X:768.85, Y:10.00, Z:11.90 [[ 9.98519905e-01 -5.21570661e-02 -1.54155738e-02 7.68852516e+02] [ 5.21592059e-02 9.98638747e-01 -2.63491251e-04 1.00027027e+01] [ 1.54083322e-02 -5.40962827e-04 9.99881138e-01 1.19005800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.0092541539999 meters Centerline goodness : 0.999660 Centerline is valid? [True, True] Translation: X:768.89, Y:10.00, Z:11.90 [[ 9.98532034e-01 -5.19243446e-02 -1.54155922e-02 7.68885000e+02] [ 5.19264733e-02 9.98650876e-01 -2.62410620e-04 1.00027402e+01] [ 1.54084201e-02 -5.38451925e-04 9.99881138e-01 1.19008495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.0392541539999 meters Centerline goodness : 0.999533 Centerline is valid? [True, True] Translation: X:768.92, Y:10.00, Z:11.90 [[ 9.98562056e-01 -5.13437398e-02 -1.54156104e-02 7.68917000e+02] [ 5.13458160e-02 9.98680899e-01 -2.61336070e-04 1.00029528e+01] [ 1.54086936e-02 -5.30566811e-04 9.99881138e-01 1.19017116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.0692541539999 meters Centerline goodness : 0.999321 Centerline is valid? [True, True] Translation: X:768.95, Y:10.00, Z:11.90 [[ 9.98601805e-01 -5.05647428e-02 -1.54156288e-02 7.68949616e+02] [ 5.05667431e-02 9.98720650e-01 -2.60247137e-04 1.00034684e+01] [ 1.54090661e-02 -5.19634879e-04 9.99881138e-01 1.19024748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.0992541539999 meters Centerline goodness : 0.999576 Centerline is valid? [True, True] Translation: X:768.98, Y:10.00, Z:11.90 [[ 9.98638888e-01 -4.98269904e-02 -1.54156471e-02 7.68980961e+02] [ 4.98289197e-02 9.98757734e-01 -2.59155257e-04 1.00042522e+01] [ 1.54094097e-02 -5.09342525e-04 9.99881138e-01 1.19030233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.1292541539999 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:769.01, Y:10.01, Z:11.90 [[ 9.98665261e-01 -4.92955676e-02 -1.54156607e-02 7.69013346e+02] [ 4.92974462e-02 9.98784108e-01 -2.58341790e-04 1.00050412e+01] [ 1.54096521e-02 -5.01955735e-04 9.99881138e-01 1.19043616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.1592541539999 meters Centerline goodness : 0.999490 Centerline is valid? [True, True] Translation: X:769.04, Y:10.01, Z:11.91 [[ 9.98743748e-01 -4.76789589e-02 -1.54156781e-02 7.69044575e+02] [ 4.76806612e-02 9.98862597e-01 -2.57301844e-04 1.00051305e+01] [ 1.54104122e-02 -4.78051116e-04 9.99881138e-01 1.19054230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.1892541539999 meters Centerline goodness : 0.999490 Centerline is valid? [True, True] Translation: X:769.08, Y:10.01, Z:11.91 [[ 9.98770478e-01 -4.71156872e-02 -1.54156910e-02 7.69076530e+02] [ 4.71173344e-02 9.98889329e-01 -2.56526902e-04 1.00055284e+01] [ 1.54106557e-02 -4.70134771e-04 9.99881138e-01 1.19070452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.2192541539999 meters Centerline goodness : 0.999469 Centerline is valid? [True, True] Translation: X:769.11, Y:10.01, Z:11.91 [[ 9.98824963e-01 -4.59461624e-02 -1.54157096e-02 7.69107569e+02] [ 4.59476878e-02 9.98943815e-01 -2.55406693e-04 1.00058248e+01] [ 1.54111627e-02 -4.53209629e-04 9.99881138e-01 1.19063243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.2492541539999 meters Centerline goodness : 0.999192 Centerline is valid? [True, True] Translation: X:769.14, Y:10.00, Z:11.90 [[ 9.98958170e-01 -4.29526384e-02 -1.54157234e-02 7.69142695e+02] [ 4.29538204e-02 9.99077026e-01 -2.54570759e-04 1.00032922e+01] [ 1.54124295e-02 -4.07858673e-04 9.99881138e-01 1.19047984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.2792541539999 meters Centerline goodness : 0.999491 Centerline is valid? [True, True] Translation: X:769.17, Y:10.01, Z:11.91 [[ 9.98823761e-01 -4.59712562e-02 -1.54187808e-02 7.69169373e+02] [ 4.59757085e-02 9.98942556e-01 -6.57684782e-05 1.00065636e+01] [ 1.54054998e-02 -6.43198254e-04 9.99881121e-01 1.19075581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.3092541539999 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:769.20, Y:10.01, Z:11.91 [[ 9.98835365e-01 -4.57194803e-02 -1.54156571e-02 7.69201705e+02] [ 4.57209882e-02 9.98954216e-01 -2.54785337e-04 1.00068273e+01] [ 1.54111843e-02 -4.50330470e-04 9.99881139e-01 1.19081053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.339254154 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:769.23, Y:10.01, Z:11.91 [[ 9.98826716e-01 -4.59080507e-02 -1.54156758e-02 7.69232464e+02] [ 4.59095986e-02 9.98945566e-01 -2.53646653e-04 1.00067212e+01] [ 1.54110654e-02 -4.54378436e-04 9.99881139e-01 1.19084108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.3692541539999 meters Centerline goodness : 0.999533 Centerline is valid? [True, True] Translation: X:769.26, Y:10.01, Z:11.91 [[ 9.98823291e-01 -4.59824876e-02 -1.54156897e-02 7.69264153e+02] [ 4.59840574e-02 9.98942142e-01 -2.52797464e-04 1.00067047e+01] [ 1.54110064e-02 -4.56375967e-04 9.99881139e-01 1.19088892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.3992541539999 meters Centerline goodness : 0.999426 Centerline is valid? [True, True] Translation: X:769.30, Y:10.01, Z:11.91 [[ 9.98830216e-01 -4.58318137e-02 -1.54157127e-02 7.69296122e+02] [ 4.58333873e-02 9.98949067e-01 -2.51391436e-04 1.00069551e+01] [ 1.54110335e-02 -4.55456967e-04 9.99881139e-01 1.19090626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.4292541539999 meters Centerline goodness : 0.999532 Centerline is valid? [True, True] Translation: X:769.33, Y:10.01, Z:11.91 [[ 9.98855425e-01 -4.52790880e-02 -1.54157308e-02 7.69328277e+02] [ 4.52806131e-02 9.98974276e-01 -2.50271825e-04 1.00075594e+01] [ 1.54112506e-02 -4.48048374e-04 9.99881139e-01 1.19094507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.459254154 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:769.36, Y:10.01, Z:11.91 [[ 9.98883066e-01 -4.46651524e-02 -1.54157491e-02 7.69360145e+02] [ 4.46666219e-02 9.99001917e-01 -2.49143177e-04 1.00081181e+01] [ 1.54114909e-02 -4.39704535e-04 9.99881139e-01 1.19101224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.4892541539999 meters Centerline goodness : 0.999574 Centerline is valid? [True, True] Translation: X:769.39, Y:10.01, Z:11.91 [[ 9.98943591e-01 -4.32903647e-02 -1.54157675e-02 7.69392578e+02] [ 4.32916882e-02 9.99062445e-01 -2.47999775e-04 1.00092840e+01] [ 1.54120504e-02 -4.19636814e-04 9.99881139e-01 1.19098763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.5192541539999 meters Centerline goodness : 0.999596 Centerline is valid? [True, True] Translation: X:769.42, Y:10.01, Z:11.91 [[ 9.99002657e-01 -4.19051929e-02 -1.54157856e-02 7.69423639e+02] [ 4.19063691e-02 9.99121512e-01 -2.46866008e-04 1.00100770e+01] [ 1.54125880e-02 -3.99399805e-04 9.99881139e-01 1.19103058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.5492541539999 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:769.46, Y:10.01, Z:11.91 [[ 9.99084673e-01 -3.99019870e-02 -1.54157991e-02 7.69455437e+02] [ 3.99029379e-02 9.99203530e-01 -2.46022272e-04 1.00105502e+01] [ 1.54133377e-02 -3.69338593e-04 9.99881139e-01 1.19097396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.5792541539998 meters Centerline goodness : 0.999468 Centerline is valid? [True, True] Translation: X:769.49, Y:10.01, Z:11.91 [[ 9.99218472e-01 -3.63977723e-02 -1.54158168e-02 7.69486285e+02] [ 3.63983235e-02 9.99337331e-01 -2.44909303e-04 1.00114680e+01] [ 1.54145154e-02 -3.16391986e-04 9.99881139e-01 1.19117624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.6092541539999 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:769.52, Y:10.01, Z:11.91 [[ 9.99289960e-01 -3.43791905e-02 -1.54158299e-02 7.69518708e+02] [ 3.43795143e-02 9.99408820e-01 -2.44080232e-04 1.00116874e+01] [ 1.54151077e-02 -2.86081820e-04 9.99881139e-01 1.19128955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.6392541539999 meters Centerline goodness : 0.999383 Centerline is valid? [True, True] Translation: X:769.55, Y:10.01, Z:11.91 [[ 9.99373862e-01 -3.18470746e-02 -1.54158472e-02 7.69550591e+02] [ 3.18471141e-02 9.99492722e-01 -2.42986404e-04 1.00124635e+01] [ 1.54157654e-02 -2.48115983e-04 9.99881139e-01 1.19147807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.6692541539999 meters Centerline goodness : 0.999532 Centerline is valid? [True, True] Translation: X:769.58, Y:10.01, Z:11.92 [[ 9.99414065e-01 -3.05594269e-02 -1.54158643e-02 7.69581559e+02] [ 3.05593302e-02 9.99532925e-01 -2.41896887e-04 1.00123530e+01] [ 1.54160561e-02 -2.29343334e-04 9.99881139e-01 1.19156069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.6992541539998 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:769.61, Y:10.01, Z:11.92 [[ 9.99436636e-01 -2.98121145e-02 -1.54158727e-02 7.69613351e+02] [ 2.98119372e-02 9.99555496e-01 -2.41358056e-04 1.00121720e+01] [ 1.54162157e-02 -2.18354945e-04 9.99881139e-01 1.19167441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.7292541539999 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:769.64, Y:10.01, Z:11.92 [[ 9.99446982e-01 -2.94631998e-02 -1.54158814e-02 7.69643630e+02] [ 2.94629895e-02 9.99565843e-01 -2.40799370e-04 1.00118820e+01] [ 1.54162832e-02 -2.13531749e-04 9.99881139e-01 1.19165578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.7592541539999 meters Centerline goodness : 0.999638 Centerline is valid? [True, True] Translation: X:769.68, Y:10.01, Z:11.92 [[ 9.99452559e-01 -2.92733963e-02 -1.54158958e-02 7.69675428e+02] [ 2.92731777e-02 9.99571420e-01 -2.39874597e-04 1.00098295e+01] [ 1.54163108e-02 -2.11528977e-04 9.99881139e-01 1.19171671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.7892541539999 meters Centerline goodness : 0.999532 Centerline is valid? [True, True] Translation: X:769.71, Y:10.01, Z:11.92 [[ 9.99418914e-01 -3.04003852e-02 -1.54159045e-02 7.69706181e+02] [ 3.04003093e-02 9.99537775e-01 -2.39315376e-04 1.00081811e+01] [ 1.54160542e-02 -2.29471951e-04 9.99881139e-01 1.19171457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.8192541539999 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:769.74, Y:10.01, Z:11.92 [[ 9.99416240e-01 -3.04881835e-02 -1.54159088e-02 7.69736245e+02] [ 3.04881223e-02 9.99535101e-01 -2.39038259e-04 1.00076926e+01] [ 1.54160298e-02 -2.31103394e-04 9.99881139e-01 1.19184911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.8492541539999 meters Centerline goodness : 0.999532 Centerline is valid? [True, True] Translation: X:769.77, Y:10.01, Z:11.92 [[ 9.99353747e-01 -3.24724191e-02 -1.54152790e-02 7.69767629e+02] [ 3.24719684e-02 9.99472608e-01 -2.79605606e-04 1.00076480e+01] [ 1.54162286e-02 -2.21139542e-04 9.99881138e-01 1.19178582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.8792541539999 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:769.80, Y:10.01, Z:11.92 [[ 9.99256283e-01 -3.53444619e-02 -1.54159035e-02 7.69799876e+02] [ 3.53449728e-02 9.99375143e-01 -2.39393525e-04 1.00061839e+01] [ 1.54147320e-02 -3.05659206e-04 9.99881139e-01 1.19185802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.9092541539999 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:769.83, Y:10.01, Z:11.92 [[ 9.99197317e-01 -3.69739171e-02 -1.54159212e-02 7.69831059e+02] [ 3.69746396e-02 9.99316176e-01 -2.38245734e-04 1.00055770e+01] [ 1.54141883e-02 -3.31943634e-04 9.99881139e-01 1.19184493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.9392541539999 meters Centerline goodness : 0.999471 Centerline is valid? [True, True] Translation: X:769.86, Y:10.00, Z:11.92 [[ 9.99093998e-01 -3.96677746e-02 -1.54159344e-02 7.69861858e+02] [ 3.96688307e-02 9.99212854e-01 -2.37389226e-04 1.00042814e+01] [ 1.54132165e-02 -3.74357943e-04 9.99881139e-01 1.19188152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.9692541539999 meters Centerline goodness : 0.999493 Centerline is valid? [True, True] Translation: X:769.89, Y:10.00, Z:11.92 [[ 9.99058537e-01 -4.05510454e-02 -1.54159471e-02 7.69893554e+02] [ 4.05522193e-02 9.99177392e-01 -2.36565443e-04 1.00040608e+01] [ 1.54128588e-02 -3.88808141e-04 9.99881139e-01 1.19183500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.9992541539999 meters Centerline goodness : 0.999492 Centerline is valid? [True, True] Translation: X:769.93, Y:10.00, Z:11.92 [[ 9.99041658e-01 -4.09647762e-02 -1.54159594e-02 7.69925829e+02] [ 4.09660118e-02 9.99160513e-01 -2.35760197e-04 1.00039818e+01] [ 1.54126757e-02 -3.95996115e-04 9.99881139e-01 1.19185628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.0292541539999 meters Centerline goodness : 0.999492 Centerline is valid? [True, True] Translation: X:769.96, Y:10.00, Z:11.92 [[ 9.99021804e-01 -4.14461545e-02 -1.54159756e-02 7.69957886e+02] [ 4.14474638e-02 9.99140657e-01 -2.34692727e-04 1.00038353e+01] [ 1.54124551e-02 -4.04489941e-04 9.99881139e-01 1.19211404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.0592541539999 meters Centerline goodness : 0.999324 Centerline is valid? [True, True] Translation: X:769.99, Y:10.00, Z:11.92 [[ 9.99047577e-01 -4.08201741e-02 -1.54159918e-02 7.69990343e+02] [ 4.08214254e-02 9.99166431e-01 -2.33622536e-04 1.00036015e+01] [ 1.54126781e-02 -3.95902733e-04 9.99881139e-01 1.19192042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.089254154 meters Centerline goodness : 0.999219 Centerline is valid? [True, True] Translation: X:770.02, Y:10.00, Z:11.92 [[ 9.99097190e-01 -3.95872639e-02 -1.54160079e-02 7.70022213e+02] [ 3.95883850e-02 9.99216046e-01 -2.32556584e-04 1.00028855e+01] [ 1.54131288e-02 -3.77948227e-04 9.99881139e-01 1.19226606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.1192541539999 meters Centerline goodness : 0.999642 Centerline is valid? [True, True] Translation: X:770.05, Y:10.00, Z:11.92 [[ 9.99154274e-01 -3.81193208e-02 -1.54160248e-02 7.70052972e+02] [ 3.81202846e-02 9.99273131e-01 -2.31429616e-04 1.00027100e+01] [ 1.54136414e-02 -3.56429365e-04 9.99881139e-01 1.19227409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.1492541539999 meters Centerline goodness : 0.999283 Centerline is valid? [True, True] Translation: X:770.08, Y:10.00, Z:11.92 [[ 9.99229409e-01 -3.60961675e-02 -1.54160374e-02 7.70083911e+02] [ 3.60969037e-02 9.99348268e-01 -2.30590188e-04 1.00027830e+01] [ 1.54143137e-02 -3.26058719e-04 9.99881139e-01 1.19243739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.1792541539999 meters Centerline goodness : 0.999579 Centerline is valid? [True, True] Translation: X:770.12, Y:10.00, Z:11.92 [[ 9.99460957e-01 -2.89853159e-02 -1.54157707e-02 7.70116446e+02] [ 2.89849311e-02 9.99579818e-01 -2.48433886e-04 9.99980106e+00] [ 1.54164942e-02 -1.98525084e-04 9.99881139e-01 1.19198259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.209254154 meters Centerline goodness : 0.999284 Centerline is valid? [True, True] Translation: X:770.15, Y:10.00, Z:11.93 [[ 9.99403551e-01 -3.09005041e-02 -1.54175743e-02 7.70146032e+02] [ 3.09021543e-02 9.99522406e-01 -1.31239717e-04 1.00033649e+01] [ 1.54142663e-02 -3.45274821e-04 9.99881134e-01 1.19253315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.2392541539999 meters Centerline goodness : 0.999621 Centerline is valid? [True, True] Translation: X:770.18, Y:10.00, Z:11.93 [[ 9.99524255e-01 -2.67135728e-02 -1.54158887e-02 7.70175968e+02] [ 2.67130530e-02 9.99643114e-01 -2.39664993e-04 1.00025347e+01] [ 1.54167893e-02 -1.72254480e-04 9.99881139e-01 1.19256946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.2692541539999 meters Centerline goodness : 0.999409 Centerline is valid? [True, True] Translation: X:770.21, Y:10.00, Z:11.92 [[ 9.99589921e-01 -2.41317276e-02 -1.54158931e-02 7.70206943e+02] [ 2.41309052e-02 9.99708779e-01 -2.39384409e-04 1.00016486e+01] [ 1.54171804e-02 -1.32713211e-04 9.99881139e-01 1.19239473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.2992541539999 meters Centerline goodness : 0.999219 Centerline is valid? [True, True] Translation: X:770.24, Y:10.00, Z:11.93 [[ 9.99658290e-01 -2.11105233e-02 -1.54158931e-02 7.70236205e+02] [ 2.11093417e-02 9.99777144e-01 -2.39384409e-04 1.00003000e+01] [ 1.54175111e-02 -8.61167459e-05 9.99881139e-01 1.19255669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.3292541539998 meters Centerline goodness : 0.998986 Centerline is valid? [True, True] Translation: X:770.26, Y:10.00, Z:11.93 [[ 9.99681544e-01 -1.99790387e-02 -1.54158843e-02 7.70264872e+02] [ 1.99777139e-02 9.99800397e-01 -2.39946951e-04 9.99986056e+00] [ 1.54176012e-02 -6.81035881e-05 9.99881139e-01 1.19254652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.3592541539999 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:770.29, Y:10.00, Z:11.92 [[ 9.99711393e-01 -1.84250453e-02 -1.54158679e-02 7.70293434e+02] [ 1.84235195e-02 9.99830244e-01 -2.40999862e-04 9.99832997e+00] [ 1.54176914e-02 -4.30842348e-05 9.99881139e-01 1.19227131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.3892541539999 meters Centerline goodness : 0.999092 Centerline is valid? [True, True] Translation: X:770.32, Y:10.00, Z:11.92 [[ 9.99709198e-01 -1.85437925e-02 -1.54158067e-02 7.70320797e+02] [ 1.85422214e-02 9.99828048e-01 -2.44852238e-04 9.99814173e+00] [ 1.54176964e-02 -4.10622664e-05 9.99881139e-01 1.19236774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.4192541539999 meters Centerline goodness : 0.999367 Centerline is valid? [True, True] Translation: X:770.35, Y:10.00, Z:11.93 [[ 9.99673555e-01 -2.03754040e-02 -1.54151638e-02 7.70350005e+02] [ 2.03734361e-02 9.99792399e-01 -2.84707834e-04 9.99736396e+00] [ 1.54177646e-02 -2.94449616e-05 9.99881139e-01 1.19251688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.4492541539998 meters Centerline goodness : 0.999367 Centerline is valid? [True, True] Translation: X:770.38, Y:10.00, Z:11.93 [[ 9.99668439e-01 -2.06244313e-02 -1.54157249e-02 7.70379244e+02] [ 2.06230262e-02 9.99787292e-01 -2.50128877e-04 9.99786611e+00] [ 1.54176046e-02 -6.78729533e-05 9.99881139e-01 1.19256099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.4792541539999 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:770.41, Y:10.00, Z:11.92 [[ 9.99634839e-01 -2.21933632e-02 -1.54156615e-02 7.70407704e+02] [ 2.21920853e-02 9.99753693e-01 -2.53977740e-04 9.99677803e+00] [ 1.54175011e-02 -8.82206766e-05 9.99881139e-01 1.19241823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.5092541539999 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:770.44, Y:9.99, Z:11.93 [[ 9.99499815e-01 -2.76130227e-02 -1.54155972e-02 7.70435931e+02] [ 2.76123299e-02 9.99618674e-01 -2.57822216e-04 9.99424692e+00] [ 1.54168380e-02 -1.67967296e-04 9.99881139e-01 1.19259041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.5392541539999 meters Centerline goodness : 0.999306 Centerline is valid? [True, True] Translation: X:770.47, Y:9.99, Z:11.93 [[ 9.99414640e-01 -3.05407593e-02 -1.54155835e-02 7.70466111e+02] [ 3.05404021e-02 9.99533500e-01 -2.58638091e-04 9.99346203e+00] [ 1.54162911e-02 -2.12311424e-04 9.99881139e-01 1.19268368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.5692541539999 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:770.50, Y:9.99, Z:11.93 [[ 9.99326989e-01 -3.32855641e-02 -1.54155835e-02 7.70497177e+02] [ 3.32855333e-02 9.99445850e-01 -2.58638091e-04 9.99280752e+00] [ 1.54156498e-02 -2.54651893e-04 9.99881139e-01 1.19278521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.5992541539999 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:770.53, Y:9.99, Z:11.93 [[ 9.99085662e-01 -3.98775206e-02 -1.54150150e-02 7.70528413e+02] [ 3.98777545e-02 9.99204523e-01 -2.92325356e-04 9.99058846e+00] [ 1.54144099e-02 -3.22658110e-04 9.99881139e-01 1.19306261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.6292541539999 meters Centerline goodness : 0.999267 Centerline is valid? [True, True] Translation: X:770.56, Y:9.99, Z:11.93 [[ 9.98938130e-01 -4.34165857e-02 -1.54147054e-02 7.70559052e+02] [ 4.34169578e-02 9.99056991e-01 -3.10667645e-04 9.98957662e+00] [ 1.54136573e-02 -3.58921855e-04 9.99881138e-01 1.19315670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.6592541539999 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:770.59, Y:9.99, Z:11.93 [[ 9.98564328e-01 -5.12998621e-02 -1.54144856e-02 7.70591858e+02] [ 5.13009728e-02 9.98683186e-01 -3.23603606e-04 9.98641239e+00] [ 1.54107884e-02 -4.67639090e-04 9.99881137e-01 1.19300183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.6892541539999 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:770.62, Y:9.99, Z:11.93 [[ 9.98340272e-01 -5.54892984e-02 -1.54155543e-02 7.70624316e+02] [ 5.54918837e-02 9.98459104e-01 -2.60320100e-04 9.98565803e+00] [ 1.54062455e-02 -5.95550106e-04 9.99881139e-01 1.19331309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.7192541539999 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:770.66, Y:9.98, Z:11.93 [[ 9.98121596e-01 -5.92928348e-02 -1.54155729e-02 7.70656737e+02] [ 5.92958898e-02 9.98240417e-01 -2.59214184e-04 9.98483362e+00] [ 1.54038175e-02 -6.55352836e-04 9.99881139e-01 1.19337814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.7492541539999 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:770.69, Y:9.98, Z:11.93 [[ 9.97650987e-01 -6.67448001e-02 -1.54155914e-02 7.70688624e+02] [ 6.67487594e-02 9.97769781e-01 -2.58106870e-04 9.98366287e+00] [ 1.53984386e-02 -7.71471030e-04 9.99881139e-01 1.19338205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.7792541539999 meters Centerline goodness : 0.998970 Centerline is valid? [True, True] Translation: X:770.72, Y:9.98, Z:11.93 [[ 9.97178583e-01 -7.34658630e-02 -1.54156144e-02 7.70722181e+02] [ 7.34706440e-02 9.97297347e-01 -2.56725126e-04 9.98268065e+00] [ 1.53928119e-02 -8.76594324e-04 9.99881139e-01 1.19334969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.8092541539999 meters Centerline goodness : 0.998888 Centerline is valid? [True, True] Translation: X:770.75, Y:9.98, Z:11.93 [[ 9.96964408e-01 -7.63172743e-02 -1.54156424e-02 7.70754696e+02] [ 7.63224209e-02 9.97083158e-01 -2.55036769e-04 9.98261404e+00] [ 1.53901411e-02 -9.22296565e-04 9.99881139e-01 1.19336247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.839254154 meters Centerline goodness : 0.999034 Centerline is valid? [True, True] Translation: X:770.79, Y:9.98, Z:11.93 [[ 9.96765775e-01 -7.88691820e-02 -1.54156610e-02 7.70786254e+02] [ 7.88746501e-02 9.96884509e-01 -2.53902885e-04 9.98246528e+00] [ 1.53876588e-02 -9.62823166e-04 9.99881139e-01 1.19329939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.8692541539999 meters Centerline goodness : 0.999034 Centerline is valid? [True, True] Translation: X:770.82, Y:9.98, Z:11.93 [[ 9.96534932e-01 -8.17342372e-02 -1.54156749e-02 7.70820111e+02] [ 8.17400597e-02 9.96653650e-01 -2.53057617e-04 9.98170815e+00] [ 1.53847722e-02 -1.00789743e-03 9.99881139e-01 1.19313361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.8992541539999 meters Centerline goodness : 0.999097 Centerline is valid? [True, True] Translation: X:770.85, Y:9.98, Z:11.93 [[ 9.96308795e-01 -8.44458888e-02 -1.54167561e-02 7.70849782e+02] [ 8.44530585e-02 9.96427441e-01 -1.86547222e-04 9.98375658e+00] [ 1.53774319e-02 -1.11613356e-03 9.99881137e-01 1.19337683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.9292541539999 meters Centerline goodness : 0.999034 Centerline is valid? [True, True] Translation: X:770.88, Y:9.99, Z:11.93 [[ 9.96217157e-01 -8.55203581e-02 -1.54157163e-02 7.70881516e+02] [ 8.55266705e-02 9.96335850e-01 -2.50530108e-04 9.98548270e+00] [ 1.53806562e-02 -1.06887249e-03 9.99881139e-01 1.19339602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.959254154 meters Centerline goodness : 0.998868 Centerline is valid? [True, True] Translation: X:770.91, Y:9.99, Z:11.93 [[ 9.96247033e-01 -8.51716163e-02 -1.54157347e-02 7.70912324e+02] [ 8.51779047e-02 9.96365727e-01 -2.49389316e-04 9.98649392e+00] [ 1.53809506e-02 -1.06462662e-03 9.99881139e-01 1.19336820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.9892541539999 meters Centerline goodness : 0.998933 Centerline is valid? [True, True] Translation: X:770.95, Y:9.99, Z:11.93 [[ 9.96537154e-01 -8.17071316e-02 -1.54157484e-02 7.70948020e+02] [ 8.17130204e-02 9.96655869e-01 -2.48540124e-04 9.98609049e+00] [ 1.53845036e-02 -1.01198790e-03 9.99881139e-01 1.19298434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.0192541539999 meters Centerline goodness : 0.999055 Centerline is valid? [True, True] Translation: X:770.98, Y:9.99, Z:11.93 [[ 9.96494924e-01 -8.22200647e-02 -1.54184021e-02 7.70975213e+02] [ 8.22285942e-02 9.96613492e-01 -8.10089185e-05 9.99005085e+00] [ 1.53728481e-02 -1.18710855e-03 9.99881126e-01 1.19343139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.0492541539999 meters Centerline goodness : 0.998951 Centerline is valid? [True, True] Translation: X:771.01, Y:9.99, Z:11.93 [[ 9.96720452e-01 -7.94398860e-02 -1.54157275e-02 7.71007005e+02] [ 7.94455196e-02 9.96839179e-01 -2.47568649e-04 9.99260775e+00] [ 1.53866679e-02 -9.77953742e-04 9.99881140e-01 1.19349119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.0792541539998 meters Centerline goodness : 0.998805 Centerline is valid? [True, True] Translation: X:771.04, Y:10.00, Z:11.94 [[ 9.97264906e-01 -7.22845967e-02 -1.54157451e-02 7.71037884e+02] [ 7.22893952e-02 9.97383669e-01 -2.46464354e-04 9.99770077e+00] [ 1.53932280e-02 -8.68604639e-04 9.99881140e-01 1.19361462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.1092541539999 meters Centerline goodness : 0.998804 Centerline is valid? [True, True] Translation: X:771.07, Y:10.00, Z:11.94 [[ 9.97568847e-01 -6.79613791e-02 -1.54157582e-02 7.71069565e+02] [ 6.79656754e-02 9.97687630e-01 -2.45641701e-04 1.00008767e+01] [ 1.53968054e-02 -8.02697911e-04 9.99881140e-01 1.19368849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.1392541539999 meters Centerline goodness : 0.999139 Centerline is valid? [True, True] Translation: X:771.10, Y:10.01, Z:11.94 [[ 9.98201124e-01 -5.79385056e-02 -1.54157754e-02 7.71102648e+02] [ 5.79416254e-02 9.98319943e-01 -2.44556136e-04 1.00068018e+01] [ 1.54040453e-02 -6.49098876e-04 9.99881140e-01 1.19405232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.1692541539999 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:771.13, Y:10.01, Z:11.94 [[ 9.98491012e-01 -5.27072332e-02 -1.54158025e-02 7.71133973e+02] [ 5.27097568e-02 9.98609845e-01 -2.42838082e-04 1.00098650e+01] [ 1.54071715e-02 -5.70091559e-04 9.99881140e-01 1.19420146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.1992541539998 meters Centerline goodness : 0.999139 Centerline is valid? [True, True] Translation: X:771.17, Y:10.01, Z:11.94 [[ 9.98750227e-01 -4.75429938e-02 -1.54158158e-02 7.71166504e+02] [ 4.75449159e-02 9.98869072e-01 -2.41988789e-04 1.00128455e+01] [ 1.54098865e-02 -4.91257309e-04 9.99881140e-01 1.19436757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.2292541539999 meters Centerline goodness : 0.999222 Centerline is valid? [True, True] Translation: X:771.20, Y:10.02, Z:11.95 [[ 9.99176820e-01 -3.75237734e-02 -1.54158333e-02 7.71198611e+02] [ 3.75245208e-02 9.99295678e-01 -2.40869048e-04 1.00180110e+01] [ 1.54140139e-02 -3.37800989e-04 9.99881140e-01 1.19467002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.2592541539999 meters Centerline goodness : 0.999093 Centerline is valid? [True, True] Translation: X:771.23, Y:10.02, Z:11.95 [[ 9.99476922e-01 -2.84294588e-02 -1.54158508e-02 7.71229732e+02] [ 2.84291419e-02 9.99595782e-01 -2.39746314e-04 1.00218593e+01] [ 1.54164353e-02 -1.98638501e-04 9.99881140e-01 1.19476378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.2892541539999 meters Centerline goodness : 0.998797 Centerline is valid? [True, True] Translation: X:771.26, Y:10.02, Z:11.95 [[ 9.99592220e-01 -2.40363013e-02 -1.54158802e-02 7.71259417e+02] [ 2.40354914e-02 9.99711078e-01 -2.37836769e-04 1.00232102e+01] [ 1.54171430e-02 -1.32788473e-04 9.99881140e-01 1.19460432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.3192541539999 meters Centerline goodness : 0.998943 Centerline is valid? [True, True] Translation: X:771.29, Y:10.03, Z:11.95 [[ 9.99654490e-01 -2.12897226e-02 -1.54158760e-02 7.71290327e+02] [ 2.12885819e-02 9.99773344e-01 -2.38109810e-04 1.00255135e+01] [ 1.54174512e-02 -9.01545995e-05 9.99881140e-01 1.19486205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.3492541539999 meters Centerline goodness : 0.999597 Centerline is valid? [True, True] Translation: X:771.32, Y:10.03, Z:11.95 [[ 9.99764759e-01 -1.52570593e-02 -1.54158760e-02 7.71319594e+02] [ 1.52552014e-02 9.99883604e-01 -2.38109810e-04 1.00274060e+01] [ 1.54177145e-02 2.88150331e-06 9.99881140e-01 1.19457195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.3792541539999 meters Centerline goodness : 0.999661 Centerline is valid? [True, True] Translation: X:771.35, Y:10.03, Z:11.95 [[ 9.99801660e-01 -1.26105206e-02 -1.54147574e-02 7.71349157e+02] [ 1.26072481e-02 9.99920478e-01 -3.09456197e-04 1.00265955e+01] [ 1.54174340e-02 1.15057148e-04 9.99881138e-01 1.19462593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.4092541539999 meters Centerline goodness : 0.999363 Centerline is valid? [True, True] Translation: X:771.38, Y:10.03, Z:11.95 [[ 9.99778409e-01 -1.43343833e-02 -1.54161879e-02 7.71375994e+02] [ 1.43327158e-02 9.99897257e-01 -2.18652586e-04 1.00291509e+01] [ 1.54177382e-02 -2.35170430e-06 9.99881140e-01 1.19502507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.4392541539999 meters Centerline goodness : 0.999258 Centerline is valid? [True, True] Translation: X:771.41, Y:10.03, Z:11.95 [[ 9.99823986e-01 -1.06935313e-02 -1.54157566e-02 7.71405864e+02] [ 1.06910138e-02 9.99942819e-01 -2.45709964e-04 1.00273894e+01] [ 1.54175026e-02 8.08566493e-05 9.99881140e-01 1.19484115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.4692541539999 meters Centerline goodness : 0.999447 Centerline is valid? [True, True] Translation: X:771.43, Y:10.03, Z:11.95 [[ 9.99791974e-01 -1.33549739e-02 -1.54160221e-02 7.71433782e+02] [ 1.33530293e-02 9.99910818e-01 -2.29075134e-04 1.00294813e+01] [ 1.54177065e-02 2.31768861e-05 9.99881140e-01 1.19508827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.4992541539999 meters Centerline goodness : 0.999131 Centerline is valid? [True, True] Translation: X:771.46, Y:10.03, Z:11.95 [[ 9.99792828e-01 -1.32912543e-02 -1.54157082e-02 7.71461855e+02] [ 1.32890019e-02 9.99911666e-01 -2.48542945e-04 1.00281327e+01] [ 1.54176499e-02 4.36320786e-05 9.99881140e-01 1.19501487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.5292541539999 meters Centerline goodness : 0.999260 Centerline is valid? [True, True] Translation: X:771.49, Y:10.03, Z:11.95 [[ 9.99810866e-01 -1.18570542e-02 -1.54156860e-02 7.71491533e+02] [ 1.18546103e-02 9.99929700e-01 -2.49908880e-04 1.00265319e+01] [ 1.54175655e-02 6.71146635e-05 9.99881140e-01 1.19521659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.5592541539999 meters Centerline goodness : 0.999407 Centerline is valid? [True, True] Translation: X:771.52, Y:10.03, Z:11.95 [[ 9.99774627e-01 -1.45961450e-02 -1.54158600e-02 7.71518121e+02] [ 1.45941912e-02 9.99893471e-01 -2.39234683e-04 1.00274493e+01] [ 1.54177096e-02 1.41987573e-05 9.99881140e-01 1.19528494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.589254154 meters Centerline goodness : 0.999176 Centerline is valid? [True, True] Translation: X:771.55, Y:10.03, Z:11.95 [[ 9.99744154e-01 -1.65525412e-02 -1.54155972e-02 7.71545561e+02] [ 1.65505751e-02 9.99862997e-01 -2.55112876e-04 1.00251053e+01] [ 1.54177080e-02 -8.93933271e-08 9.99881140e-01 1.19532743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.6192541539999 meters Centerline goodness : 0.999514 Centerline is valid? [True, True] Translation: X:771.57, Y:10.02, Z:11.95 [[ 9.99714872e-01 -1.82355583e-02 -1.54155749e-02 7.71573936e+02] [ 1.82337717e-02 9.99833718e-01 -2.56453945e-04 1.00238704e+01] [ 1.54176882e-02 -2.47032500e-05 9.99881140e-01 1.19549383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.6492541539999 meters Centerline goodness : 0.998986 Centerline is valid? [True, True] Translation: X:771.60, Y:10.02, Z:11.96 [[ 9.99694639e-01 -1.93129603e-02 -1.54154987e-02 7.71601106e+02] [ 1.93112323e-02 9.99813487e-01 -2.60956337e-04 1.00227920e+01] [ 1.54176633e-02 -3.68156248e-05 9.99881140e-01 1.19559587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.6792541539999 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:771.63, Y:10.02, Z:11.95 [[ 9.99552383e-01 -2.56405533e-02 -1.54141274e-02 7.71632233e+02] [ 2.56383527e-02 9.99671225e-01 -3.40388148e-04 1.00186663e+01] [ 1.54177874e-02 -5.49570503e-05 9.99881137e-01 1.19537922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.709254154 meters Centerline goodness : 0.999243 Centerline is valid? [True, True] Translation: X:771.66, Y:10.02, Z:11.95 [[ 9.99458493e-01 -2.90703379e-02 -1.54154285e-02 7.71661549e+02] [ 2.90697141e-02 9.99577352e-01 -2.64585749e-04 1.00164977e+01] [ 1.54166048e-02 -1.83679625e-04 9.99881140e-01 1.19531471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.7392541539999 meters Centerline goodness : 0.999495 Centerline is valid? [True, True] Translation: X:771.69, Y:10.01, Z:11.95 [[ 9.99224109e-01 -3.62428705e-02 -1.54154239e-02 7.71692144e+02] [ 3.62430957e-02 9.99342968e-01 -2.64853241e-04 1.00110572e+01] [ 1.54148945e-02 -2.94054940e-04 9.99881140e-01 1.19530454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.7692541539999 meters Centerline goodness : 0.999348 Centerline is valid? [True, True] Translation: X:771.72, Y:10.01, Z:11.95 [[ 9.99089189e-01 -3.97889058e-02 -1.54154283e-02 7.71723484e+02] [ 3.97895568e-02 9.99208047e-01 -2.64595593e-04 1.00087522e+01] [ 1.54137480e-02 -3.49018465e-04 9.99881140e-01 1.19529776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.7992541539999 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:771.76, Y:10.01, Z:11.95 [[ 9.98973155e-01 -4.26028220e-02 -1.54154371e-02 7.71756096e+02] [ 4.26038156e-02 9.99092010e-01 -2.64083442e-04 1.00061736e+01] [ 1.54126907e-02 -3.92944171e-04 9.99881140e-01 1.19547337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.8292541539998 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:771.79, Y:10.00, Z:11.95 [[ 9.98758702e-01 -4.73647485e-02 -1.54154564e-02 7.71787389e+02] [ 4.73663261e-02 9.98877551e-01 -2.62953360e-04 1.00014005e+01] [ 1.54106080e-02 -4.67546578e-04 9.99881140e-01 1.19522555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.8592541539999 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:771.82, Y:10.00, Z:11.95 [[ 9.98617661e-01 -5.02506810e-02 -1.54154869e-02 7.71819636e+02] [ 5.02526299e-02 9.98736504e-01 -2.61151908e-04 9.99769865e+00] [ 1.54091326e-02 -5.13877850e-04 9.99881140e-01 1.19534259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.8892541539999 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:771.85, Y:10.00, Z:11.95 [[ 9.98581555e-01 -5.09631219e-02 -1.54155052e-02 7.71851930e+02] [ 5.09651724e-02 9.98700397e-01 -2.60065466e-04 9.99644209e+00] [ 1.54087249e-02 -5.25957304e-04 9.99881140e-01 1.19535666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.9192541539999 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:771.88, Y:10.00, Z:11.95 [[ 9.98548565e-01 -5.16054703e-02 -1.54155234e-02 7.71884058e+02] [ 5.16076138e-02 9.98667406e-01 -2.58983276e-04 9.99564696e+00] [ 1.54083457e-02 -5.36951000e-04 9.99881140e-01 1.19537773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.9492541539998 meters Centerline goodness : 0.999308 Centerline is valid? [True, True] Translation: X:771.92, Y:9.99, Z:11.95 [[ 9.98526883e-01 -5.20233116e-02 -1.54155415e-02 7.71916331e+02] [ 5.20255216e-02 9.98645722e-01 -2.57903093e-04 9.99462589e+00] [ 1.54080815e-02 -5.44478415e-04 9.99881140e-01 1.19540591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.9792541539999 meters Centerline goodness : 0.999497 Centerline is valid? [True, True] Translation: X:771.95, Y:9.99, Z:11.95 [[ 9.98570024e-01 -5.11885440e-02 -1.54155595e-02 7.71950915e+02] [ 5.11906712e-02 9.98688865e-01 -2.56823909e-04 9.99026486e+00] [ 1.54084940e-02 -5.32676179e-04 9.99881140e-01 1.19524735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.0092541539999 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:771.98, Y:9.99, Z:11.95 [[ 9.98394120e-01 -5.45113166e-02 -1.54174488e-02 7.71979248e+02] [ 5.45156160e-02 9.98512908e-01 -1.41577230e-04 9.99175620e+00] [ 1.54022392e-02 -6.99141846e-04 9.99881134e-01 1.19533849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.0392541539999 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:772.01, Y:9.99, Z:11.95 [[ 9.98302904e-01 -5.61575609e-02 -1.54155575e-02 7.72011227e+02] [ 5.61602979e-02 9.98421732e-01 -2.55633461e-04 9.99118711e+00] [ 1.54055834e-02 -6.10542678e-04 9.99881141e-01 1.19545170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.0692541539999 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:772.04, Y:9.99, Z:11.95 [[ 9.98046266e-01 -6.05475871e-02 -1.54155762e-02 7.72043583e+02] [ 6.05508641e-02 9.98165081e-01 -2.54502272e-04 9.98975411e+00] [ 1.54026994e-02 -6.79421417e-04 9.99881141e-01 1.19541425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.0992541539999 meters Centerline goodness : 0.999288 Centerline is valid? [True, True] Translation: X:772.08, Y:9.99, Z:11.95 [[ 9.97888786e-01 -6.30898560e-02 -1.54155947e-02 7.72076163e+02] [ 6.30934530e-02 9.98007591e-01 -2.53377388e-04 9.98938234e+00] [ 1.54008661e-02 -7.19780645e-04 9.99881141e-01 1.19540225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.1292541539999 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:772.11, Y:9.99, Z:11.95 [[ 9.97542158e-01 -6.83520438e-02 -1.54156130e-02 7.72108744e+02] [ 6.83562846e-02 9.97660942e-01 -2.52259690e-04 9.98806444e+00] [ 1.53967974e-02 -8.02114354e-04 9.99881141e-01 1.19535520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.1592541539999 meters Centerline goodness : 0.999477 Centerline is valid? [True, True] Translation: X:772.14, Y:9.99, Z:11.95 [[ 9.97351234e-01 -7.10835760e-02 -1.54156312e-02 7.72141460e+02] [ 7.10881593e-02 9.97470005e-01 -2.51141989e-04 9.98788880e+00] [ 1.53944818e-02 -8.45392074e-04 9.99881141e-01 1.19545386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.1892541539999 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:772.17, Y:9.99, Z:11.95 [[ 9.97233264e-01 -7.27198281e-02 -1.54157294e-02 7.72173182e+02] [ 7.27246996e-02 9.97352023e-01 -2.45085021e-04 9.98758432e+00] [ 1.53927314e-02 -8.76697353e-04 9.99881141e-01 1.19536170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.2192541539999 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:772.21, Y:9.99, Z:11.95 [[ 9.97040804e-01 -7.53126280e-02 -1.54156775e-02 7.72205820e+02] [ 7.53177587e-02 9.97159553e-01 -2.48306054e-04 9.98759621e+00] [ 1.53905906e-02 -9.13503009e-04 9.99881141e-01 1.19539926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.2492541539999 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:772.24, Y:9.99, Z:11.95 [[ 9.97022740e-01 -7.55513806e-02 -1.54157042e-02 7.72237044e+02] [ 7.55565654e-02 9.97141487e-01 -2.46638615e-04 9.98799332e+00] [ 1.53902721e-02 -9.18853352e-04 9.99881141e-01 1.19534279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.2792541539999 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:772.27, Y:9.99, Z:11.96 [[ 9.96988192e-01 -7.60059204e-02 -1.54157173e-02 7.72269991e+02] [ 7.60111720e-02 9.97106936e-01 -2.45813632e-04 9.98911109e+00] [ 1.53898019e-02 -9.26693453e-04 9.99881141e-01 1.19550658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.3092541539999 meters Centerline goodness : 0.999686 Centerline is valid? [True, True] Translation: X:772.30, Y:9.99, Z:11.96 [[ 9.97070216e-01 -7.49222279e-02 -1.54157434e-02 7.72303485e+02] [ 7.49273758e-02 9.97188963e-01 -2.44167285e-04 9.99034543e+00] [ 1.53907027e-02 -9.11609272e-04 9.99881141e-01 1.19555500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.339254154 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:772.34, Y:9.99, Z:11.96 [[ 9.97157040e-01 -7.37576592e-02 -1.54157691e-02 7.72336834e+02] [ 7.37626936e-02 9.97275792e-01 -2.42534257e-04 9.99149122e+00] [ 1.53916621e-02 -8.95263910e-04 9.99881141e-01 1.19565258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.3692541539999 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:772.37, Y:9.99, Z:11.96 [[ 9.97164997e-01 -7.36499945e-02 -1.54157951e-02 7.72370359e+02] [ 7.36550417e-02 9.97283749e-01 -2.40869993e-04 9.99192002e+00] [ 1.53916620e-02 -8.95263905e-04 9.99881141e-01 1.19570423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.3992541539999 meters Centerline goodness : 0.999350 Centerline is valid? [True, True] Translation: X:772.40, Y:9.99, Z:11.96 [[ 9.97438934e-01 -6.98421478e-02 -1.54158209e-02 7.72403801e+02] [ 6.98467672e-02 9.97557704e-01 -2.39205726e-04 9.99416906e+00] [ 1.53948776e-02 -8.38152150e-04 9.99881141e-01 1.19561418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.4292541539999 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:772.43, Y:10.00, Z:11.96 [[ 9.97522198e-01 -6.86426754e-02 -1.54158467e-02 7.72434583e+02] [ 6.86471777e-02 9.97640972e-01 -2.37534566e-04 9.99622261e+00] [ 1.53957853e-02 -8.21308364e-04 9.99881141e-01 1.19583675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.459254154 meters Centerline goodness : 0.999370 Centerline is valid? [True, True] Translation: X:772.47, Y:10.00, Z:11.96 [[ 9.97656374e-01 -6.66641691e-02 -1.54158593e-02 7.72466790e+02] [ 6.66684486e-02 9.97775156e-01 -2.36708540e-04 9.99812730e+00] [ 1.53973414e-02 -7.91597643e-04 9.99881141e-01 1.19593472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.4892541539999 meters Centerline goodness : 0.999288 Centerline is valid? [True, True] Translation: X:772.50, Y:10.00, Z:11.96 [[ 9.97932946e-01 -6.23873951e-02 -1.54158760e-02 7.72499080e+02] [ 6.23911822e-02 9.98051745e-01 -2.35620941e-04 1.00026140e+01] [ 1.54005417e-02 -7.26680826e-04 9.99881141e-01 1.19602339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.5192541539999 meters Centerline goodness : 0.999477 Centerline is valid? [True, True] Translation: X:772.53, Y:10.01, Z:11.96 [[ 9.98090961e-01 -5.98062260e-02 -1.54158924e-02 7.72531281e+02] [ 5.98097224e-02 9.98209769e-01 -2.34542063e-04 1.00052707e+01] [ 1.54023214e-02 -6.87925932e-04 9.99881141e-01 1.19609282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.5492541539999 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:772.56, Y:10.01, Z:11.96 [[ 9.98423811e-01 -5.39652149e-02 -1.54159086e-02 7.72563046e+02] [ 5.39680327e-02 9.98542637e-01 -2.33468482e-04 1.00102579e+01] [ 1.54060412e-02 -5.98865771e-04 9.99881141e-01 1.19616376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.5792541539998 meters Centerline goodness : 0.999035 Centerline is valid? [True, True] Translation: X:772.59, Y:10.01, Z:11.96 [[ 9.98587743e-01 -5.08416018e-02 -1.54159259e-02 7.72593826e+02] [ 5.08440655e-02 9.98706577e-01 -2.32326062e-04 1.00132646e+01] [ 1.54077984e-02 -5.51810387e-04 9.99881141e-01 1.19612852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.6092541539999 meters Centerline goodness : 0.999054 Centerline is valid? [True, True] Translation: X:772.63, Y:10.02, Z:11.96 [[ 9.98754492e-01 -4.74532753e-02 -1.54159528e-02 7.72626108e+02] [ 4.74553635e-02 9.98873333e-01 -2.30526955e-04 1.00160588e+01] [ 1.54095234e-02 -5.01329811e-04 9.99881141e-01 1.19619678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.6392541539999 meters Centerline goodness : 0.999159 Centerline is valid? [True, True] Translation: X:772.66, Y:10.02, Z:11.96 [[ 9.99033428e-01 -4.11650102e-02 -1.54159685e-02 7.72658135e+02] [ 4.11663665e-02 9.99152280e-01 -2.29469810e-04 1.00206923e+01] [ 1.54123462e-02 -4.05371399e-04 9.99881141e-01 1.19634853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.6692541539999 meters Centerline goodness : 0.999369 Centerline is valid? [True, True] Translation: X:772.69, Y:10.02, Z:11.96 [[ 9.99159408e-01 -3.79845430e-02 -1.54159850e-02 7.72690464e+02] [ 3.79855382e-02 9.99278263e-01 -2.28354820e-04 1.00229258e+01] [ 1.54135327e-02 -3.57421621e-04 9.99881141e-01 1.19645346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.6992541539998 meters Centerline goodness : 0.999242 Centerline is valid? [True, True] Translation: X:772.72, Y:10.03, Z:11.97 [[ 9.99359233e-01 -3.23028039e-02 -1.54160014e-02 7.72721537e+02] [ 3.23031404e-02 9.99478092e-01 -2.27244778e-04 1.00273824e+01] [ 1.54152963e-02 -2.70886089e-04 9.99881141e-01 1.19656180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.7292541539999 meters Centerline goodness : 0.999179 Centerline is valid? [True, True] Translation: X:772.75, Y:10.03, Z:11.97 [[ 9.99432908e-01 -2.99367621e-02 -1.54160095e-02 7.72751564e+02] [ 2.99368257e-02 9.99551767e-01 -2.26691918e-04 1.00296936e+01] [ 1.54158860e-02 -2.34943028e-04 9.99881141e-01 1.19659865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.7592541539999 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:772.78, Y:10.03, Z:11.97 [[ 9.99496104e-01 -2.77467801e-02 -1.54160135e-02 7.72782853e+02] [ 2.77465875e-02 9.99614964e-01 -2.26417668e-04 1.00318124e+01] [ 1.54163602e-02 -2.01438192e-04 9.99881141e-01 1.19662288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.7892541539999 meters Centerline goodness : 0.999578 Centerline is valid? [True, True] Translation: X:772.81, Y:10.03, Z:11.97 [[ 9.99540252e-01 -2.61080693e-02 -1.54160215e-02 7.72812903e+02] [ 2.61076902e-02 9.99659111e-01 -2.25873295e-04 1.00338983e+01] [ 1.54166635e-02 -1.76707264e-04 9.99881141e-01 1.19663662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.8192541539999 meters Centerline goodness : 0.999114 Centerline is valid? [True, True] Translation: X:772.84, Y:10.04, Z:11.97 [[ 9.99587492e-01 -2.42320394e-02 -1.54160215e-02 7.72842912e+02] [ 2.42314373e-02 9.99706350e-01 -2.25873295e-04 1.00366089e+01] [ 1.54169680e-02 -1.47772238e-04 9.99881141e-01 1.19658477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.8492541539999 meters Centerline goodness : 0.999346 Centerline is valid? [True, True] Translation: X:772.87, Y:10.04, Z:11.97 [[ 9.99571575e-01 -2.48799729e-02 -1.54160215e-02 7.72872862e+02] [ 2.48794478e-02 9.99690433e-01 -2.25873295e-04 1.00385339e+01] [ 1.54168689e-02 -1.57765578e-04 9.99881141e-01 1.19660021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.8792541539999 meters Centerline goodness : 0.999430 Centerline is valid? [True, True] Translation: X:772.90, Y:10.04, Z:11.97 [[ 9.99539168e-01 -2.61495493e-02 -1.54160134e-02 7.72902034e+02] [ 2.61491667e-02 9.99658026e-01 -2.26425308e-04 1.00401097e+01] [ 1.54166625e-02 -1.76794941e-04 9.99881141e-01 1.19666263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.9092541539999 meters Centerline goodness : 0.999408 Centerline is valid? [True, True] Translation: X:772.93, Y:10.04, Z:11.97 [[ 9.99507773e-01 -2.73232199e-02 -1.54160052e-02 7.72931306e+02] [ 2.73229682e-02 9.99626632e-01 -2.26982951e-04 1.00414403e+01] [ 1.54164513e-02 -1.94339797e-04 9.99881141e-01 1.19672985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.9392541539999 meters Centerline goodness : 0.999386 Centerline is valid? [True, True] Translation: X:772.96, Y:10.04, Z:11.97 [[ 9.99446421e-01 -2.94821743e-02 -1.54160011e-02 7.72961898e+02] [ 2.94821751e-02 9.99565280e-01 -2.27259884e-04 1.00421822e+01] [ 1.54159996e-02 -2.27363167e-04 9.99881141e-01 1.19663269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.9692541539999 meters Centerline goodness : 0.999577 Centerline is valid? [True, True] Translation: X:772.99, Y:10.04, Z:11.97 [[ 9.99408403e-01 -3.07439654e-02 -1.54160011e-02 7.72993587e+02] [ 3.07441162e-02 9.99527262e-01 -2.27259884e-04 1.00428669e+01] [ 1.54157003e-02 -2.46825892e-04 9.99881141e-01 1.19675882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.9992541539999 meters Centerline goodness : 0.999491 Centerline is valid? [True, True] Translation: X:773.02, Y:10.04, Z:11.97 [[ 9.99406277e-01 -3.08129903e-02 -1.54160093e-02 7.73024231e+02] [ 3.08131580e-02 9.99525136e-01 -2.26701376e-04 1.00434125e+01] [ 1.54156742e-02 -2.48449153e-04 9.99881141e-01 1.19675960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.0292541539999 meters Centerline goodness : 0.999342 Centerline is valid? [True, True] Translation: X:773.06, Y:10.04, Z:11.97 [[ 9.99423928e-01 -3.02350596e-02 -1.54160134e-02 7.73056053e+02] [ 3.02351628e-02 9.99542787e-01 -2.26424229e-04 1.00440501e+01] [ 1.54158110e-02 -2.39811883e-04 9.99881141e-01 1.19679348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.0592541539999 meters Centerline goodness : 0.999237 Centerline is valid? [True, True] Translation: X:773.09, Y:10.04, Z:11.97 [[ 9.99453293e-01 -2.92482629e-02 -1.54160214e-02 7.73086464e+02] [ 2.92482572e-02 9.99572153e-01 -2.25875129e-04 1.00446481e+01] [ 1.54160322e-02 -2.25140119e-04 9.99881141e-01 1.19684632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.089254154 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:773.12, Y:10.05, Z:11.97 [[ 9.99544175e-01 -2.59574212e-02 -1.54160254e-02 7.73117770e+02] [ 2.59570284e-02 9.99663034e-01 -2.25602503e-04 1.00458200e+01] [ 1.54166868e-02 -1.74654543e-04 9.99881141e-01 1.19692132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.1192541539999 meters Centerline goodness : 0.999511 Centerline is valid? [True, True] Translation: X:773.15, Y:10.05, Z:11.97 [[ 9.99593095e-01 -2.39997906e-02 -1.54160334e-02 7.73146949e+02] [ 2.39991735e-02 9.99711953e-01 -2.25055634e-04 1.00463570e+01] [ 1.54169942e-02 -1.45008002e-04 9.99881141e-01 1.19695016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.1492541539999 meters Centerline goodness : 0.999319 Centerline is valid? [True, True] Translation: X:773.18, Y:10.05, Z:11.97 [[ 9.99659482e-01 -2.10538793e-02 -1.54160295e-02 7.73176708e+02] [ 2.10529077e-02 9.99778338e-01 -2.25326982e-04 1.00467619e+01] [ 1.54173563e-02 -9.93019909e-05 9.99881141e-01 1.19698035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.1792541539999 meters Centerline goodness : 0.999235 Centerline is valid? [True, True] Translation: X:773.21, Y:10.05, Z:11.97 [[ 9.99684688e-01 -1.98209863e-02 -1.54160215e-02 7.73205513e+02] [ 1.98198597e-02 9.99803542e-01 -2.25870814e-04 1.00469300e+01] [ 1.54174699e-02 -7.97437891e-05 9.99881141e-01 1.19702650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.209254154 meters Centerline goodness : 0.999618 Centerline is valid? [True, True] Translation: X:773.23, Y:10.05, Z:11.97 [[ 9.99726314e-01 -1.75967154e-02 -1.54160096e-02 7.73234104e+02] [ 1.75953119e-02 9.99845165e-01 -2.26680086e-04 1.00463429e+01] [ 1.54176115e-02 -4.46314496e-05 9.99881141e-01 1.19709763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.2392541539999 meters Centerline goodness : 0.999618 Centerline is valid? [True, True] Translation: X:773.26, Y:10.05, Z:11.97 [[ 9.99732324e-01 -1.72519405e-02 -1.54159537e-02 7.73261863e+02] [ 1.72504384e-02 9.99851174e-01 -2.30417840e-04 1.00466302e+01] [ 1.54176346e-02 -3.55757979e-05 9.99881141e-01 1.19716743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.2692541539999 meters Centerline goodness : 0.999406 Centerline is valid? [True, True] Translation: X:773.29, Y:10.05, Z:11.97 [[ 9.99743017e-01 -1.66207940e-02 -1.54158889e-02 7.73289296e+02] [ 1.66191512e-02 9.99861865e-01 -2.34677877e-04 1.00465561e+01] [ 1.54176599e-02 -2.15814191e-05 9.99881141e-01 1.19719893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.2992541539999 meters Centerline goodness : 0.999492 Centerline is valid? [True, True] Translation: X:773.32, Y:10.05, Z:11.97 [[ 9.99752197e-01 -1.60591737e-02 -1.54158214e-02 7.73316776e+02] [ 1.60573969e-02 9.99871043e-01 -2.39030838e-04 1.00461258e+01] [ 1.54176720e-02 -8.56635749e-06 9.99881141e-01 1.19725578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.3292541539998 meters Centerline goodness : 0.999240 Centerline is valid? [True, True] Translation: X:773.34, Y:10.04, Z:11.97 [[ 9.99739264e-01 -1.68450764e-02 -1.54158004e-02 7.73344713e+02] [ 1.68433723e-02 9.99858111e-01 -2.40378539e-04 1.00441167e+01] [ 1.54176622e-02 -1.93382015e-05 9.99881141e-01 1.19715752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.3592541539999 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:773.37, Y:10.04, Z:11.97 [[ 9.99719193e-01 -1.79969818e-02 -1.54157328e-02 7.73372840e+02] [ 1.79953489e-02 9.99838041e-01 -2.44638533e-04 1.00428330e+01] [ 1.54176388e-02 -3.28416532e-05 9.99881141e-01 1.19713518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.3892541539999 meters Centerline goodness : 0.999537 Centerline is valid? [True, True] Translation: X:773.40, Y:10.04, Z:11.97 [[ 9.99655814e-01 -2.12276196e-02 -1.54156611e-02 7.73400855e+02] [ 2.12263024e-02 9.99774666e-01 -2.49075186e-04 1.00399760e+01] [ 1.54174747e-02 -7.82280261e-05 9.99881141e-01 1.19699736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.4192541539999 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:773.43, Y:10.04, Z:11.97 [[ 9.99675000e-01 -2.03039972e-02 -1.54156274e-02 7.73433502e+02] [ 2.03025383e-02 9.99793851e-01 -2.51144711e-04 1.00350846e+01] [ 1.54175487e-02 -6.19132754e-05 9.99881141e-01 1.19687648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.4492541539998 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:773.46, Y:10.04, Z:11.97 [[ 9.99544711e-01 -2.59350164e-02 -1.54190223e-02 7.73459603e+02] [ 2.59374633e-02 9.99663567e-01 -4.12982288e-05 1.00375307e+01] [ 1.54149059e-02 -3.58650898e-04 9.99881119e-01 1.19697774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.4792541539999 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:773.49, Y:10.03, Z:11.97 [[ 9.99423203e-01 -3.02592825e-02 -1.54154834e-02 7.73489398e+02] [ 3.02589458e-02 9.99542061e-01 -2.55137162e-04 1.00343484e+01] [ 1.54161443e-02 -2.11466278e-04 9.99881142e-01 1.19700757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.5092541539999 meters Centerline goodness : 0.999476 Centerline is valid? [True, True] Translation: X:773.52, Y:10.03, Z:11.97 [[ 9.99314347e-01 -3.36630262e-02 -1.54154741e-02 7.73519734e+02] [ 3.36630856e-02 9.99433205e-01 -2.55697347e-04 1.00307870e+01] [ 1.54153443e-02 -2.63410399e-04 9.99881142e-01 1.19709409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.5392541539999 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:773.55, Y:10.03, Z:11.97 [[ 9.99267898e-01 -3.50147406e-02 -1.54154741e-02 7.73550080e+02] [ 3.50149609e-02 9.99386756e-01 -2.55697347e-04 1.00297806e+01] [ 1.54149739e-02 -2.84262074e-04 9.99881142e-01 1.19717452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.5692541539999 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:773.58, Y:10.03, Z:11.97 [[ 9.99244508e-01 -3.56759968e-02 -1.54154787e-02 7.73581809e+02] [ 3.56763000e-02 9.99363366e-01 -2.55419857e-04 1.00287598e+01] [ 1.54147771e-02 -2.94740354e-04 9.99881142e-01 1.19733573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.5992541539999 meters Centerline goodness : 0.999142 Centerline is valid? [True, True] Translation: X:773.61, Y:10.03, Z:11.97 [[ 9.99234619e-01 -3.59518977e-02 -1.54154880e-02 7.73611787e+02] [ 3.59522424e-02 9.99353477e-01 -2.54857776e-04 1.00261207e+01] [ 1.54146842e-02 -2.99558650e-04 9.99881142e-01 1.19733434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.6292541539999 meters Centerline goodness : 0.998808 Centerline is valid? [True, True] Translation: X:773.64, Y:10.03, Z:11.98 [[ 9.99232678e-01 -3.60058028e-02 -1.54154926e-02 7.73643168e+02] [ 3.60061581e-02 9.99351536e-01 -2.54578751e-04 1.00255428e+01] [ 1.54146626e-02 -3.00669259e-04 9.99881142e-01 1.19755510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.6592541539999 meters Centerline goodness : 0.999226 Centerline is valid? [True, True] Translation: X:773.67, Y:10.02, Z:11.98 [[ 9.99263062e-01 -3.51524517e-02 -1.54155018e-02 7.73674631e+02] [ 3.51527141e-02 9.99381920e-01 -2.54021859e-04 1.00237998e+01] [ 1.54149033e-02 -2.88062068e-04 9.99881142e-01 1.19764154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.6892541539999 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:773.71, Y:10.02, Z:11.98 [[ 9.99280932e-01 -3.46407487e-02 -1.54155110e-02 7.73706296e+02] [ 3.46409590e-02 9.99399790e-01 -2.53460260e-04 1.00230445e+01] [ 1.54150386e-02 -2.80730081e-04 9.99881142e-01 1.19767083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.7192541539999 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:773.74, Y:10.02, Z:11.98 [[ 9.99294665e-01 -3.42422852e-02 -1.54155202e-02 7.73738024e+02] [ 3.42424567e-02 9.99413523e-01 -2.52903130e-04 1.00225551e+01] [ 1.54151393e-02 -2.75140534e-04 9.99881142e-01 1.19770278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.7492541539999 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:773.77, Y:10.02, Z:11.98 [[ 9.99334007e-01 -3.30742187e-02 -1.54155293e-02 7.73767932e+02] [ 3.30742598e-02 9.99452865e-01 -2.52346948e-04 1.00213523e+01] [ 1.54154411e-02 -2.57678334e-04 9.99881142e-01 1.19769129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.7792541539999 meters Centerline goodness : 0.998783 Centerline is valid? [True, True] Translation: X:773.80, Y:10.02, Z:11.98 [[ 9.99360678e-01 -3.22582616e-02 -1.54155443e-02 7.73798231e+02] [ 3.22582199e-02 9.99479537e-01 -2.51426748e-04 1.00207703e+01] [ 1.54156317e-02 -2.46012012e-04 9.99881142e-01 1.19753387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.8092541539999 meters Centerline goodness : 0.999288 Centerline is valid? [True, True] Translation: X:773.83, Y:10.02, Z:11.98 [[ 9.99361568e-01 -3.22307039e-02 -1.54155443e-02 7.73828245e+02] [ 3.22306589e-02 9.99480426e-01 -2.51426748e-04 1.00198871e+01] [ 1.54156384e-02 -2.45586921e-04 9.99881142e-01 1.19773890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.839254154 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:773.86, Y:10.02, Z:11.98 [[ 9.99364364e-01 -3.21438746e-02 -1.54155487e-02 7.73858268e+02] [ 3.21438235e-02 9.99483222e-01 -2.51156072e-04 1.00196498e+01] [ 1.54156554e-02 -2.44518249e-04 9.99881142e-01 1.19781050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.8692541539999 meters Centerline goodness : 0.999037 Centerline is valid? [True, True] Translation: X:773.89, Y:10.02, Z:11.98 [[ 9.99364844e-01 -3.21289393e-02 -1.54155487e-02 7.73888533e+02] [ 3.21288863e-02 9.99483703e-01 -2.51156072e-04 1.00193747e+01] [ 1.54156591e-02 -2.44287864e-04 9.99881142e-01 1.19776327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.8992541539999 meters Centerline goodness : 0.999247 Centerline is valid? [True, True] Translation: X:773.92, Y:10.02, Z:11.98 [[ 9.99366088e-01 -3.20902371e-02 -1.54155487e-02 7.73919525e+02] [ 3.20901795e-02 9.99484946e-01 -2.51156072e-04 1.00192171e+01] [ 1.54156685e-02 -2.43690865e-04 9.99881142e-01 1.19782374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.9292541539999 meters Centerline goodness : 0.999309 Centerline is valid? [True, True] Translation: X:773.95, Y:10.02, Z:11.98 [[ 9.99350033e-01 -3.25863963e-02 -1.54155487e-02 7.73950368e+02] [ 3.25863978e-02 9.99468891e-01 -2.51156072e-04 1.00187199e+01] [ 1.54155456e-02 -2.51344374e-04 9.99881142e-01 1.19783571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.959254154 meters Centerline goodness : 0.999497 Centerline is valid? [True, True] Translation: X:773.98, Y:10.02, Z:11.98 [[ 9.99321785e-01 -3.34414538e-02 -1.54155487e-02 7.73980637e+02] [ 3.34415570e-02 9.99440643e-01 -2.51156072e-04 1.00185039e+01] [ 1.54153249e-02 -2.64534217e-04 9.99881142e-01 1.19790198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.9892541539999 meters Centerline goodness : 0.999456 Centerline is valid? [True, True] Translation: X:774.01, Y:10.02, Z:11.98 [[ 9.99314734e-01 -3.36514923e-02 -1.54155487e-02 7.74010819e+02] [ 3.36516204e-02 9.99433592e-01 -2.51156072e-04 1.00184827e+01] [ 1.54152690e-02 -2.67774231e-04 9.99881142e-01 1.19784886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.0192541539999 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:774.04, Y:10.02, Z:11.98 [[ 9.99292859e-01 -3.42949409e-02 -1.54155532e-02 7.74041636e+02] [ 3.42951498e-02 9.99411717e-01 -2.50882087e-04 1.00186811e+01] [ 1.54150884e-02 -2.77974027e-04 9.99881142e-01 1.19784716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.0492541539999 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:774.07, Y:10.02, Z:11.98 [[ 9.99277494e-01 -3.47397587e-02 -1.54155532e-02 7.74071973e+02] [ 3.47400205e-02 9.99396352e-01 -2.50882087e-04 1.00186983e+01] [ 1.54149632e-02 -2.84835810e-04 9.99881142e-01 1.19783180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.0792541539998 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:774.10, Y:10.02, Z:11.98 [[ 9.99234944e-01 -3.59428435e-02 -1.54155576e-02 7.74103161e+02] [ 3.59432526e-02 9.99353801e-01 -2.50611159e-04 1.00181299e+01] [ 1.54146037e-02 -3.03665852e-04 9.99881142e-01 1.19791223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.1092541539999 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:774.13, Y:10.02, Z:11.98 [[ 9.99231364e-01 -3.60422161e-02 -1.54155668e-02 7.74133803e+02] [ 3.60426457e-02 9.99350222e-01 -2.50044093e-04 1.00177827e+01] [ 1.54145622e-02 -3.05765912e-04 9.99881142e-01 1.19775519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.1392541539999 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:774.16, Y:10.02, Z:11.98 [[ 9.99178134e-01 -3.74888769e-02 -1.54155821e-02 7.74163870e+02] [ 3.74894933e-02 9.99296991e-01 -2.49093129e-04 1.00179553e+01] [ 1.54140831e-02 -3.29033955e-04 9.99881142e-01 1.19799337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.1692541539999 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:774.20, Y:10.02, Z:11.98 [[ 9.99111488e-01 -3.92249116e-02 -1.54155964e-02 7.74195200e+02] [ 3.92257482e-02 9.99230343e-01 -2.48209133e-04 1.00165297e+01] [ 1.54134676e-02 -3.56699705e-04 9.99881142e-01 1.19806554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.1992541539998 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:774.23, Y:10.02, Z:11.98 [[ 9.99036460e-01 -4.10914806e-02 -1.54156053e-02 7.74226017e+02] [ 4.10925478e-02 9.99155314e-01 -2.47653005e-04 1.00168165e+01] [ 1.54127604e-02 -3.86052116e-04 9.99881142e-01 1.19838458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.2292541539999 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:774.26, Y:10.02, Z:11.99 [[ 9.98912956e-01 -4.39916568e-02 -1.54156143e-02 7.74256507e+02] [ 4.39930777e-02 9.99031805e-01 -2.47090436e-04 1.00157129e+01] [ 1.54115589e-02 -4.31358481e-04 9.99881142e-01 1.19851474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.2592541539999 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:774.29, Y:10.02, Z:11.99 [[ 9.98916129e-01 -4.39195330e-02 -1.54156290e-02 7.74289188e+02] [ 4.39209595e-02 9.99034979e-01 -2.46168266e-04 1.00161733e+01] [ 1.54115642e-02 -4.31167768e-04 9.99881142e-01 1.19856512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.2892541539999 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:774.32, Y:10.02, Z:11.99 [[ 9.98841365e-01 -4.55882107e-02 -1.54156467e-02 7.74320246e+02] [ 4.55898529e-02 9.98960212e-01 -2.45055310e-04 1.00158604e+01] [ 1.54107894e-02 -4.58025687e-04 9.99881142e-01 1.19857361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.3192541539999 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:774.35, Y:10.01, Z:11.98 [[ 9.98788387e-01 -4.67345159e-02 -1.54156599e-02 7.74352130e+02] [ 4.67363074e-02 9.98907232e-01 -2.44226248e-04 1.00148243e+01] [ 1.54102279e-02 -4.76540678e-04 9.99881142e-01 1.19846878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.3492541539999 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:774.38, Y:10.01, Z:11.99 [[ 9.98532834e-01 -5.19089172e-02 -1.54156776e-02 7.74383525e+02] [ 5.19113416e-02 9.98651668e-01 -2.43101838e-04 1.00138023e+01] [ 1.54075113e-02 -5.57503339e-04 9.99881142e-01 1.19868292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.3792541539999 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:774.41, Y:10.01, Z:11.99 [[ 9.98261666e-01 -5.68858621e-02 -1.54157046e-02 7.74414903e+02] [ 5.68889055e-02 9.98380486e-01 -2.41374969e-04 1.00123589e+01] [ 1.54044695e-02 -6.36027186e-04 9.99881142e-01 1.19863408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.4092541539999 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:774.45, Y:10.01, Z:11.99 [[ 9.98126623e-01 -5.92081097e-02 -1.54157335e-02 7.74447352e+02] [ 5.92114583e-02 9.98245434e-01 -2.39515833e-04 1.00117734e+01] [ 1.54028669e-02 -6.73720933e-04 9.99881142e-01 1.19850163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.4392541539999 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:774.48, Y:10.01, Z:11.99 [[ 9.97740461e-01 -6.53936358e-02 -1.54157507e-02 7.74478362e+02] [ 6.53977379e-02 9.97859248e-01 -2.38402869e-04 1.00123822e+01] [ 1.53983395e-02 -7.70291037e-04 9.99881142e-01 1.19865504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.4692541539999 meters Centerline goodness : 0.999375 Centerline is valid? [True, True] Translation: X:774.51, Y:10.01, Z:11.99 [[ 9.97598203e-01 -6.75290958e-02 -1.54157635e-02 7.74509226e+02] [ 6.75334648e-02 9.97716981e-01 -2.37573013e-04 1.00124734e+01] [ 1.53966121e-02 -8.04077513e-04 9.99881142e-01 1.19859853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.4992541539999 meters Centerline goodness : 0.999149 Centerline is valid? [True, True] Translation: X:774.54, Y:10.01, Z:11.99 [[ 9.97462406e-01 -6.95061331e-02 -1.54157901e-02 7.74541296e+02] [ 6.95107644e-02 9.97581174e-01 -2.35836064e-04 1.00127051e+01] [ 1.53948940e-02 -8.36325746e-04 9.99881142e-01 1.19857649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.5292541539999 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:774.57, Y:10.01, Z:11.99 [[ 9.97217870e-01 -7.29306040e-02 -1.54158067e-02 7.74573633e+02] [ 7.29356598e-02 9.97336620e-01 -2.34746100e-04 1.00141106e+01] [ 1.53918687e-02 -8.90269027e-04 9.99881142e-01 1.19883021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.5592541539999 meters Centerline goodness : 0.999146 Centerline is valid? [True, True] Translation: X:774.61, Y:10.01, Z:11.99 [[ 9.97228168e-01 -7.27896529e-02 -1.54158234e-02 7.74605037e+02] [ 7.27947089e-02 9.97346918e-01 -2.33645273e-04 1.00144053e+01] [ 1.53919309e-02 -8.89192728e-04 9.99881142e-01 1.19863456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.589254154 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:774.64, Y:10.02, Z:11.99 [[ 9.97186312e-01 -7.33608235e-02 -1.54158358e-02 7.74637243e+02] [ 7.33659602e-02 9.97305060e-01 -2.32823732e-04 1.00167964e+01] [ 1.53913712e-02 -8.98828955e-04 9.99881142e-01 1.19898926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.6192541539999 meters Centerline goodness : 0.999562 Centerline is valid? [True, True] Translation: X:774.67, Y:10.02, Z:11.99 [[ 9.97310528e-01 -7.16523704e-02 -1.54158529e-02 7.74669264e+02] [ 7.16573212e-02 9.97429283e-01 -2.31688365e-04 1.00176546e+01] [ 1.53928241e-02 -8.73593473e-04 9.99881142e-01 1.19899666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.6492541539999 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:774.70, Y:10.02, Z:11.99 [[ 9.97408242e-01 -7.02791941e-02 -1.54153530e-02 7.74702088e+02] [ 7.02834628e-02 9.97527024e-01 -2.65342183e-04 1.00199804e+01] [ 1.53958793e-02 -8.18789911e-04 9.99881141e-01 1.19904595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.6792541539999 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:774.73, Y:10.02, Z:11.99 [[ 9.97475769e-01 -6.93140677e-02 -1.54159121e-02 7.74734178e+02] [ 6.93188053e-02 9.97594533e-01 -2.27451554e-04 1.00213326e+01] [ 1.53945952e-02 -8.41735194e-04 9.99881142e-01 1.19912937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.709254154 meters Centerline goodness : 0.999479 Centerline is valid? [True, True] Translation: X:774.77, Y:10.02, Z:11.99 [[ 9.97559711e-01 -6.80953107e-02 -1.54159289e-02 7.74765139e+02] [ 6.80999208e-02 9.97678480e-01 -2.26306888e-04 1.00222319e+01] [ 1.53955509e-02 -8.24068903e-04 9.99881142e-01 1.19897436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.7392541539999 meters Centerline goodness : 0.999645 Centerline is valid? [True, True] Translation: X:774.80, Y:10.02, Z:11.99 [[ 9.97589772e-01 -6.76534908e-02 -1.54159413e-02 7.74796171e+02] [ 6.76580614e-02 9.97708543e-01 -2.25455297e-04 1.00239709e+01] [ 1.53958692e-02 -8.18100809e-04 9.99881142e-01 1.19919042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.7692541539999 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:774.83, Y:10.03, Z:11.99 [[ 9.97654291e-01 -6.66953106e-02 -1.54159536e-02 7.74827228e+02] [ 6.66997802e-02 9.97773065e-01 -2.24613085e-04 1.00270835e+01] [ 1.53966039e-02 -8.04154509e-04 9.99881142e-01 1.19923202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.7992541539999 meters Centerline goodness : 0.999062 Centerline is valid? [True, True] Translation: X:774.86, Y:10.03, Z:11.99 [[ 9.97659973e-01 -6.66102617e-02 -1.54159655e-02 7.74859363e+02] [ 6.66147337e-02 9.97778747e-01 -2.23792991e-04 1.00291660e+01] [ 1.53966297e-02 -8.03661129e-04 9.99881142e-01 1.19933766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.8292541539998 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:774.89, Y:10.03, Z:11.99 [[ 9.97621674e-01 -6.71814233e-02 -1.54159815e-02 7.74889303e+02] [ 6.71859804e-02 9.97740444e-01 -2.22685529e-04 1.00342631e+01] [ 1.53961086e-02 -8.13581922e-04 9.99881142e-01 1.19941249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.8592541539999 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:774.92, Y:10.03, Z:12.00 [[ 9.97765604e-01 -6.50091012e-02 -1.54148258e-02 7.74922415e+02] [ 6.50121726e-02 9.97884425e-01 -3.02305628e-04 1.00343217e+01] [ 1.54018672e-02 -7.00521160e-04 9.99881139e-01 1.19958185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.8892541539999 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:774.95, Y:10.04, Z:11.99 [[ 9.97872398e-01 -6.33484380e-02 -1.54159998e-02 7.74954415e+02] [ 6.33525789e-02 9.97991184e-01 -2.20077927e-04 1.00359693e+01] [ 1.53989734e-02 -7.57033653e-04 9.99881142e-01 1.19945037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.9192541539999 meters Centerline goodness : 0.998895 Centerline is valid? [True, True] Translation: X:774.99, Y:10.04, Z:12.00 [[ 9.98072710e-01 -6.01099992e-02 -1.54160157e-02 7.74985426e+02] [ 6.01137720e-02 9.98191508e-01 -2.18955660e-04 1.00403603e+01] [ 1.54012974e-02 -7.08181184e-04 9.99881142e-01 1.19970382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.9492541539998 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:775.02, Y:10.04, Z:12.00 [[ 9.98225574e-01 -5.75156506e-02 -1.54160275e-02 7.75017860e+02] [ 5.75191275e-02 9.98344381e-01 -2.18119356e-04 1.00427773e+01] [ 1.54030497e-02 -6.68984133e-04 9.99881142e-01 1.19979672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.9792541539999 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:775.05, Y:10.05, Z:12.00 [[ 9.98390025e-01 -5.45866531e-02 -1.54160431e-02 7.75050318e+02] [ 5.45897984e-02 9.98508842e-01 -2.17013527e-04 1.00455915e+01] [ 1.54049014e-02 -6.24894545e-04 9.99881142e-01 1.19985855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.0092541539999 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:775.08, Y:10.05, Z:12.00 [[ 9.98559432e-01 -5.13946053e-02 -1.54160585e-02 7.75082741e+02] [ 5.13973877e-02 9.98678257e-01 -2.15916712e-04 1.00482955e+01] [ 1.54067794e-02 -5.76739465e-04 9.99881142e-01 1.19999482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.0392541539999 meters Centerline goodness : 0.998892 Centerline is valid? [True, True] Translation: X:775.11, Y:10.05, Z:12.00 [[ 9.98829353e-01 -4.58504952e-02 -1.54160742e-02 7.75113757e+02] [ 4.58526354e-02 9.98948192e-01 -2.14787070e-04 1.00523872e+01] [ 1.54097075e-02 -4.92331999e-04 9.99881142e-01 1.19995787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.0692541539999 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:775.15, Y:10.05, Z:12.00 [[ 9.98950393e-01 -4.31330097e-02 -1.54160859e-02 7.75146297e+02] [ 4.31348395e-02 9.99069237e-01 -2.13946116e-04 1.00540033e+01] [ 1.54109653e-02 -4.51248833e-04 9.99881142e-01 1.20002978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.0992541539999 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:775.18, Y:10.06, Z:12.00 [[ 9.99099877e-01 -3.95193532e-02 -1.54161016e-02 7.75178590e+02] [ 3.95207706e-02 9.99218727e-01 -2.12807893e-04 1.00567170e+01] [ 1.54124674e-02 -3.96639875e-04 9.99881142e-01 1.20005659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.1292541539999 meters Centerline goodness : 0.998888 Centerline is valid? [True, True] Translation: X:775.21, Y:10.06, Z:12.00 [[ 9.99151326e-01 -3.81964745e-02 -1.54161171e-02 7.75209359e+02] [ 3.81977520e-02 9.99270177e-01 -2.11679218e-04 1.00581546e+01] [ 1.54129515e-02 -3.77361446e-04 9.99881142e-01 1.20005289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.1592541539999 meters Centerline goodness : 0.998996 Centerline is valid? [True, True] Translation: X:775.24, Y:10.06, Z:12.00 [[ 9.99188148e-01 -3.72208118e-02 -1.54161286e-02 7.75240218e+02] [ 3.72219862e-02 9.99307000e-01 -2.10838977e-04 1.00594436e+01] [ 1.54132928e-02 -3.63151118e-04 9.99881142e-01 1.20009563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.1892541539999 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:775.27, Y:10.06, Z:12.00 [[ 9.99202419e-01 -3.68357110e-02 -1.54161361e-02 7.75272466e+02] [ 3.68368482e-02 9.99321271e-01 -2.10284885e-04 1.00614411e+01] [ 1.54134187e-02 -3.57764701e-04 9.99881142e-01 1.20011550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.2192541539999 meters Centerline goodness : 0.998908 Centerline is valid? [True, True] Translation: X:775.30, Y:10.06, Z:12.00 [[ 9.99193050e-01 -3.70887595e-02 -1.54166671e-02 7.75304090e+02] [ 3.70905263e-02 9.99311895e-01 -1.71403075e-04 1.00622530e+01] [ 1.54124160e-02 -4.00547536e-04 9.99881141e-01 1.20012445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.2492541539999 meters Centerline goodness : 0.998887 Centerline is valid? [True, True] Translation: X:775.33, Y:10.06, Z:12.00 [[ 9.99160270e-01 -3.79617962e-02 -1.54161106e-02 7.75334825e+02] [ 3.79630425e-02 9.99279121e-01 -2.11890601e-04 1.00632902e+01] [ 1.54130412e-02 -3.73529793e-04 9.99881142e-01 1.20012553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.2792541539999 meters Centerline goodness : 0.999033 Centerline is valid? [True, True] Translation: X:775.37, Y:10.06, Z:12.00 [[ 9.99133870e-01 -3.86504069e-02 -1.54161218e-02 7.75365900e+02] [ 3.86517478e-02 9.99252720e-01 -2.11073391e-04 1.00639065e+01] [ 1.54127597e-02 -3.84969479e-04 9.99881142e-01 1.20015429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.3092541539999 meters Centerline goodness : 0.998823 Centerline is valid? [True, True] Translation: X:775.40, Y:10.06, Z:12.00 [[ 9.99103629e-01 -3.94243701e-02 -1.54161291e-02 7.75397872e+02] [ 3.94258113e-02 9.99222478e-01 -2.10538123e-04 1.00646115e+01] [ 1.54124431e-02 -3.97443995e-04 9.99881142e-01 1.20015625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.339254154 meters Centerline goodness : 0.998973 Centerline is valid? [True, True] Translation: X:775.43, Y:10.07, Z:12.00 [[ 9.98996246e-01 -4.20576275e-02 -1.54161437e-02 7.75428578e+02] [ 4.20593984e-02 9.99115090e-01 -2.09468793e-04 1.00657844e+01] [ 1.54113115e-02 -4.39135192e-04 9.99881142e-01 1.20029502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.3692541539999 meters Centerline goodness : 0.999075 Centerline is valid? [True, True] Translation: X:775.46, Y:10.07, Z:12.00 [[ 9.98889294e-01 -4.45255009e-02 -1.54161545e-02 7.75459745e+02] [ 4.45275776e-02 9.99008134e-01 -2.08672421e-04 1.00665741e+01] [ 1.54101549e-02 -4.78003367e-04 9.99881142e-01 1.20020811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.3992541539999 meters Centerline goodness : 0.998929 Centerline is valid? [True, True] Translation: X:775.49, Y:10.07, Z:12.00 [[ 9.98817855e-01 -4.61002516e-02 -1.54161783e-02 7.75492096e+02] [ 4.61025431e-02 9.98936691e-01 -2.06895634e-04 1.00670945e+01] [ 1.54093241e-02 -5.04073972e-04 9.99881142e-01 1.20022972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.4292541539999 meters Centerline goodness : 0.998949 Centerline is valid? [True, True] Translation: X:775.52, Y:10.07, Z:12.00 [[ 9.98765896e-01 -4.72125594e-02 -1.54161922e-02 7.75523272e+02] [ 4.72149994e-02 9.98884729e-01 -2.05851618e-04 1.00672056e+01] [ 1.54087178e-02 -5.22277931e-04 9.99881142e-01 1.20022623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.459254154 meters Centerline goodness : 0.999054 Centerline is valid? [True, True] Translation: X:775.56, Y:10.07, Z:12.00 [[ 9.98705677e-01 -4.84696892e-02 -1.54162026e-02 7.75555294e+02] [ 4.84722907e-02 9.98824507e-01 -2.05073357e-04 1.00675957e+01] [ 1.54080208e-02 -5.42450728e-04 9.99881142e-01 1.20029238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.4892541539999 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:775.59, Y:10.07, Z:12.01 [[ 9.98583490e-01 -5.09249808e-02 -1.54162163e-02 7.75586193e+02] [ 5.09278904e-02 9.98702312e-01 -2.04041051e-04 1.00687878e+01] [ 1.54066016e-02 -5.81363348e-04 9.99881142e-01 1.20058365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.5192541539999 meters Centerline goodness : 0.999391 Centerline is valid? [True, True] Translation: X:775.62, Y:10.07, Z:12.01 [[ 9.98555513e-01 -5.14706387e-02 -1.54162264e-02 7.75618519e+02] [ 5.14736251e-02 9.98674334e-01 -2.03271010e-04 1.00693287e+01] [ 1.54062521e-02 -5.90551671e-04 9.99881142e-01 1.20063540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.5492541539999 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:775.65, Y:10.07, Z:12.00 [[ 9.98558808e-01 -5.14066815e-02 -1.54162397e-02 7.75650094e+02] [ 5.14096759e-02 9.98677628e-01 -2.02256759e-04 1.00700697e+01] [ 1.54062511e-02 -5.90578619e-04 9.99881142e-01 1.20039236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.5792541539998 meters Centerline goodness : 0.999349 Centerline is valid? [True, True] Translation: X:775.68, Y:10.07, Z:12.01 [[ 9.98523183e-01 -5.20940748e-02 -1.54162628e-02 7.75682657e+02] [ 5.20971783e-02 9.98642000e-01 -2.00482783e-04 1.00710988e+01] [ 1.54057715e-02 -6.02957085e-04 9.99881142e-01 1.20075261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.6092541539999 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] Translation: X:775.71, Y:10.07, Z:12.01 [[ 9.98536333e-01 -5.18413853e-02 -1.54162757e-02 7.75713708e+02] [ 5.18444742e-02 9.98655151e-01 -1.99483974e-04 1.00714036e+01] [ 1.54058847e-02 -6.00056712e-04 9.99881142e-01 1.20079071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.6392541539999 meters Centerline goodness : 0.999243 Centerline is valid? [True, True] Translation: X:775.75, Y:10.07, Z:12.00 [[ 9.98614872e-01 -5.03058125e-02 -1.54162853e-02 7.75745430e+02] [ 5.03087302e-02 9.98733694e-01 -1.98739142e-04 1.00716513e+01] [ 1.54067613e-02 -5.77109875e-04 9.99881142e-01 1.20049918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.6692541539999 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:775.78, Y:10.07, Z:12.01 [[ 9.98660249e-01 -4.93968050e-02 -1.54162979e-02 7.75778292e+02] [ 4.93996297e-02 9.98779073e-01 -1.97755408e-04 1.00717658e+01] [ 1.54072442e-02 -5.64068944e-04 9.99881142e-01 1.20115522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.6992541539998 meters Centerline goodness : 0.999348 Centerline is valid? [True, True] Translation: X:775.81, Y:10.07, Z:12.01 [[ 9.98675288e-01 -4.90915400e-02 -1.54171851e-02 7.75807980e+02] [ 4.90953568e-02 9.98794087e-01 -1.31038063e-04 1.00741226e+01] [ 1.54050262e-02 -6.26047726e-04 9.99881140e-01 1.20113542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.7292541539999 meters Centerline goodness : 0.999494 Centerline is valid? [True, True] Translation: X:775.84, Y:10.07, Z:12.01 [[ 9.98736459e-01 -4.78312353e-02 -1.54161765e-02 7.75840093e+02] [ 4.78337408e-02 9.98855290e-01 -2.06377551e-04 1.00746393e+01] [ 1.54084008e-02 -5.31296608e-04 9.99881142e-01 1.20121992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.7592541539999 meters Centerline goodness : 0.999537 Centerline is valid? [True, True] Translation: X:775.87, Y:10.08, Z:12.01 [[ 9.98812521e-01 -4.62156774e-02 -1.54161915e-02 7.75871386e+02] [ 4.62180080e-02 9.98931356e-01 -2.05250088e-04 1.00757129e+01] [ 1.54092029e-02 -5.07499307e-04 9.99881142e-01 1.20129009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.7892541539999 meters Centerline goodness : 0.999325 Centerline is valid? [True, True] Translation: X:775.90, Y:10.08, Z:12.01 [[ 9.98849113e-01 -4.54179558e-02 -1.54162027e-02 7.75902993e+02] [ 4.54202045e-02 9.98967949e-01 -2.04411007e-04 1.00765062e+01] [ 1.54095763e-02 -4.96031325e-04 9.99881142e-01 1.20127708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.8192541539999 meters Centerline goodness : 0.998988 Centerline is valid? [True, True] Translation: X:775.94, Y:10.08, Z:12.01 [[ 9.98880452e-01 -4.47234070e-02 -1.54162136e-02 7.75935199e+02] [ 4.47255858e-02 9.98999290e-01 -2.03584180e-04 1.00774869e+01] [ 1.54098914e-02 -4.86142926e-04 9.99881142e-01 1.20140708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.8492541539999 meters Centerline goodness : 0.999325 Centerline is valid? [True, True] Translation: X:775.97, Y:10.08, Z:12.01 [[ 9.98973123e-01 -4.26032821e-02 -1.54162282e-02 7.75965824e+02] [ 4.26052258e-02 9.99091965e-01 -2.02473184e-04 1.00784896e+01] [ 1.54108557e-02 -4.54546614e-04 9.99881142e-01 1.20105970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.8792541539999 meters Centerline goodness : 0.999367 Centerline is valid? [True, True] Translation: X:776.00, Y:10.08, Z:12.02 [[ 9.98956047e-01 -4.30019236e-02 -1.54159290e-02 7.75997871e+02] [ 4.30035640e-02 9.99074893e-01 -2.25220473e-04 1.00798600e+01] [ 1.54113525e-02 -4.37954535e-04 9.99881142e-01 1.20153782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.9092541539999 meters Centerline goodness : 0.999662 Centerline is valid? [True, True] Translation: X:776.03, Y:10.08, Z:12.02 [[ 9.98980395e-01 -4.24324226e-02 -1.54162486e-02 7.76029281e+02] [ 4.24343739e-02 9.99099236e-01 -2.00664463e-04 1.00811278e+01] [ 1.54108769e-02 -4.53718993e-04 9.99881142e-01 1.20155591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.9392541539999 meters Centerline goodness : 0.999662 Centerline is valid? [True, True] Translation: X:776.06, Y:10.08, Z:12.01 [[ 9.99017466e-01 -4.15504758e-02 -1.54162592e-02 7.76060577e+02] [ 4.15523347e-02 9.99136309e-01 -1.99850206e-04 1.00816058e+01] [ 1.54112482e-02 -4.40927714e-04 9.99881142e-01 1.20149919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.9692541539999 meters Centerline goodness : 0.999304 Centerline is valid? [True, True] Translation: X:776.09, Y:10.08, Z:12.02 [[ 9.98952770e-01 -4.30781041e-02 -1.54155588e-02 7.76093839e+02] [ 4.30793081e-02 9.99071623e-01 -2.54108553e-04 1.00823195e+01] [ 1.54121938e-02 -4.10249163e-04 9.99881141e-01 1.20173897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.9992541539999 meters Centerline goodness : 0.999283 Centerline is valid? [True, True] Translation: X:776.13, Y:10.08, Z:12.02 [[ 9.98864876e-01 -4.50699078e-02 -1.54162953e-02 7.76125376e+02] [ 4.50722407e-02 9.98983711e-01 -1.96259565e-04 1.00827477e+01] [ 1.54094732e-02 -4.98810185e-04 9.99881143e-01 1.20188070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.0292541539999 meters Centerline goodness : 0.999392 Centerline is valid? [True, True] Translation: X:776.16, Y:10.08, Z:12.02 [[ 9.98813421e-01 -4.61961794e-02 -1.54163056e-02 7.76157325e+02] [ 4.61986590e-02 9.98932253e-01 -1.95441240e-04 1.00829739e+01] [ 1.54088735e-02 -5.17003313e-04 9.99881143e-01 1.20199587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.0592541539999 meters Centerline goodness : 0.999304 Centerline is valid? [True, True] Translation: X:776.19, Y:10.08, Z:12.02 [[ 9.98650041e-01 -4.96027533e-02 -1.54163194e-02 7.76189599e+02] [ 4.96056550e-02 9.98768863e-01 -1.94348742e-04 1.00833082e+01] [ 1.54069800e-02 -5.70650243e-04 9.99881143e-01 1.20209137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.089254154 meters Centerline goodness : 0.999135 Centerline is valid? [True, True] Translation: X:776.22, Y:10.08, Z:12.02 [[ 9.98576129e-01 -5.10690752e-02 -1.54163330e-02 7.76221867e+02] [ 5.10721680e-02 9.98694947e-01 -1.93264149e-04 1.00833776e+01] [ 1.54060837e-02 -5.94356584e-04 9.99881143e-01 1.20201066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.1192541539999 meters Centerline goodness : 0.999600 Centerline is valid? [True, True] Translation: X:776.25, Y:10.08, Z:12.02 [[ 9.98454077e-01 -5.34021767e-02 -1.54163466e-02 7.76254403e+02] [ 5.34055640e-02 9.98572886e-01 -1.92175616e-04 1.00841403e+01] [ 1.54046083e-02 -6.31440156e-04 9.99881143e-01 1.20222505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.1492541539999 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:776.29, Y:10.08, Z:12.02 [[ 9.98261322e-01 -5.68917372e-02 -1.54163601e-02 7.76287324e+02] [ 5.68955566e-02 9.98380118e-01 -1.91082206e-04 1.00844733e+01] [ 1.54022584e-02 -6.86372414e-04 9.99881143e-01 1.20224054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.1792541539999 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:776.32, Y:10.08, Z:12.02 [[ 9.98265418e-01 -5.68198090e-02 -1.54163806e-02 7.76320009e+02] [ 5.68236455e-02 9.98384213e-01 -1.89413799e-04 1.00848124e+01] [ 1.54022335e-02 -6.86929701e-04 9.99881143e-01 1.20229090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.209254154 meters Centerline goodness : 0.999432 Centerline is valid? [True, True] Translation: X:776.36, Y:10.08, Z:12.02 [[ 9.98436055e-01 -5.37380663e-02 -1.54163942e-02 7.76357602e+02] [ 5.37415533e-02 9.98554861e-01 -1.88303260e-04 1.00796369e+01] [ 1.54042344e-02 -6.40492205e-04 9.99881143e-01 1.20175549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.2392541539999 meters Centerline goodness : 0.999328 Centerline is valid? [True, True] Translation: X:776.38, Y:10.09, Z:12.02 [[ 9.97980336e-01 -6.16237767e-02 -1.54194301e-02 7.76383238e+02] [ 6.16321684e-02 9.98098929e-01 6.91771167e-05 1.00854302e+01] [ 1.53858537e-02 -1.01937031e-03 9.99881111e-01 1.20246497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.2692541539999 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:776.42, Y:10.09, Z:12.02 [[ 9.97952356e-01 -6.20760325e-02 -1.54162712e-02 7.76415236e+02] [ 6.20805038e-02 9.98071127e-01 -1.88802107e-04 1.00858563e+01] [ 1.53982552e-02 -7.68634374e-04 9.99881144e-01 1.20240594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.2992541539999 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:776.45, Y:10.09, Z:12.03 [[ 9.97892710e-01 -6.30275992e-02 -1.54162884e-02 7.76447599e+02] [ 6.30322058e-02 9.98011476e-01 -1.87382176e-04 1.00869478e+01] [ 1.53974430e-02 -7.84735356e-04 9.99881144e-01 1.20268893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.3292541539998 meters Centerline goodness : 0.999139 Centerline is valid? [True, True] Translation: X:776.48, Y:10.09, Z:12.03 [[ 9.97878843e-01 -6.32467559e-02 -1.54163024e-02 7.76479956e+02] [ 6.32514064e-02 9.97997608e-01 -1.86223970e-04 1.00884115e+01] [ 1.53972110e-02 -7.89273849e-04 9.99881144e-01 1.20269190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.3592541539999 meters Centerline goodness : 0.999076 Centerline is valid? [True, True] Translation: X:776.51, Y:10.09, Z:12.03 [[ 9.97917402e-01 -6.26354273e-02 -1.54163197e-02 7.76512992e+02] [ 6.26400272e-02 9.98036168e-01 -1.84782967e-04 1.00892796e+01] [ 1.53976186e-02 -7.81280545e-04 9.99881144e-01 1.20270917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.3892541539999 meters Centerline goodness : 0.998994 Centerline is valid? [True, True] Translation: X:776.54, Y:10.09, Z:12.03 [[ 9.98014636e-01 -6.10665457e-02 -1.54163401e-02 7.76544287e+02] [ 6.10709854e-02 9.98133409e-01 -1.83064853e-04 1.00906928e+01] [ 1.53987432e-02 -7.58789677e-04 9.99881144e-01 1.20263599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.4192541539999 meters Centerline goodness : 0.999014 Centerline is valid? [True, True] Translation: X:776.58, Y:10.09, Z:12.03 [[ 9.98099417e-01 -5.96648082e-02 -1.54163501e-02 7.76575927e+02] [ 5.96690942e-02 9.98218196e-01 -1.82214801e-04 1.00917430e+01] [ 1.53997530e-02 -7.38011161e-04 9.99881144e-01 1.20260224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.4492541539998 meters Centerline goodness : 0.999013 Centerline is valid? [True, True] Translation: X:776.61, Y:10.09, Z:12.03 [[ 9.98234901e-01 -5.73534541e-02 -1.54163666e-02 7.76609357e+02] [ 5.73574867e-02 9.98353688e-01 -1.80807946e-04 1.00927027e+01] [ 1.54013564e-02 -7.03755242e-04 9.99881144e-01 1.20266655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.4792541539999 meters Centerline goodness : 0.998675 Centerline is valid? [True, True] Translation: X:776.64, Y:10.10, Z:12.03 [[ 9.98506108e-01 -5.24202985e-02 -1.54163863e-02 7.76641117e+02] [ 5.24237702e-02 9.98624913e-01 -1.79116230e-04 1.00957701e+01] [ 1.54045767e-02 -6.29336442e-04 9.99881144e-01 1.20273155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.5092541539999 meters Centerline goodness : 0.998674 Centerline is valid? [True, True] Translation: X:776.67, Y:10.10, Z:12.03 [[ 9.98666892e-01 -4.92622879e-02 -1.54163994e-02 7.76673449e+02] [ 4.92654013e-02 9.98785707e-01 -1.77980696e-04 1.00975006e+01] [ 1.54064471e-02 -5.81751674e-04 9.99881144e-01 1.20284637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.5392541539999 meters Centerline goodness : 0.998928 Centerline is valid? [True, True] Translation: X:776.70, Y:10.10, Z:12.03 [[ 9.98825050e-01 -4.59440277e-02 -1.54164126e-02 7.76704627e+02] [ 4.59467641e-02 9.98943874e-01 -1.76829090e-04 1.00991478e+01] [ 1.54082552e-02 -5.31712948e-04 9.99881144e-01 1.20287641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.5692541539999 meters Centerline goodness : 0.998862 Centerline is valid? [True, True] Translation: X:776.74, Y:10.10, Z:12.03 [[ 9.99118792e-01 -3.90381126e-02 -1.54164224e-02 7.76737044e+02] [ 3.90400407e-02 9.99237632e-01 -1.75970969e-04 1.01012721e+01] [ 1.54115390e-02 -4.26041856e-04 9.99881144e-01 1.20297149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.5992541539999 meters Centerline goodness : 0.998650 Centerline is valid? [True, True] Translation: X:776.77, Y:10.10, Z:12.03 [[ 9.99224048e-01 -3.62441229e-02 -1.54164352e-02 7.76769680e+02] [ 3.62457361e-02 9.99342892e-01 -1.74846505e-04 1.01025001e+01] [ 1.54126421e-02 -3.84069208e-04 9.99881144e-01 1.20312638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.6292541539999 meters Centerline goodness : 0.998773 Centerline is valid? [True, True] Translation: X:776.80, Y:10.10, Z:12.03 [[ 9.99402287e-01 -3.09419225e-02 -1.54164478e-02 7.76801133e+02] [ 3.09429224e-02 9.99521138e-01 -1.73724685e-04 1.01042098e+01] [ 1.54144408e-02 -3.03409100e-04 9.99881144e-01 1.20320661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.6592541539999 meters Centerline goodness : 0.998711 Centerline is valid? [True, True] Translation: X:776.83, Y:10.11, Z:12.03 [[ 9.99455811e-01 -2.91620598e-02 -1.54161025e-02 7.76832371e+02] [ 2.91623730e-02 9.99574667e-01 -2.04526120e-04 1.01050697e+01] [ 1.54155099e-02 -2.45155313e-04 9.99881144e-01 1.20330855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.6892541539999 meters Centerline goodness : 0.998942 Centerline is valid? [True, True] Translation: X:776.86, Y:10.11, Z:12.03 [[ 9.99501570e-01 -2.75489272e-02 -1.54164662e-02 7.76863136e+02] [ 2.75495516e-02 9.99620424e-01 -1.71911456e-04 1.01059574e+01] [ 1.54153505e-02 -2.52890961e-04 9.99881144e-01 1.20336869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.7192541539999 meters Centerline goodness : 0.999026 Centerline is valid? [True, True] Translation: X:776.89, Y:10.11, Z:12.03 [[ 9.99577599e-01 -2.46364679e-02 -1.54164693e-02 7.76894741e+02] [ 2.46367502e-02 9.99696454e-01 -1.71637083e-04 1.01068673e+01] [ 1.54160182e-02 -2.08247119e-04 9.99881144e-01 1.20337271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.7492541539999 meters Centerline goodness : 0.998816 Centerline is valid? [True, True] Translation: X:776.93, Y:10.11, Z:12.03 [[ 9.99616061e-01 -2.30230756e-02 -1.54164753e-02 7.76925394e+02] [ 2.30231744e-02 9.99734917e-01 -1.71092639e-04 1.01071581e+01] [ 1.54163277e-02 -1.83909249e-04 9.99881144e-01 1.20324796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.7792541539999 meters Centerline goodness : 0.998792 Centerline is valid? [True, True] Translation: X:776.96, Y:10.11, Z:12.03 [[ 9.99641962e-01 -2.18696050e-02 -1.54164753e-02 7.76955264e+02] [ 2.18695667e-02 9.99760818e-01 -1.71092639e-04 1.01076686e+01] [ 1.54165297e-02 -1.66120254e-04 9.99881144e-01 1.20330753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.8092541539999 meters Centerline goodness : 0.998729 Centerline is valid? [True, True] Translation: X:776.98, Y:10.11, Z:12.03 [[ 9.99660550e-01 -2.10028027e-02 -1.54164723e-02 7.76984937e+02] [ 2.10026572e-02 9.99779405e-01 -1.71360615e-04 1.01077927e+01] [ 1.54166706e-02 -1.52484437e-04 9.99881144e-01 1.20326613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.839254154 meters Centerline goodness : 0.998814 Centerline is valid? [True, True] Translation: X:777.01, Y:10.11, Z:12.03 [[ 9.99666500e-01 -2.07176422e-02 -1.54164662e-02 7.77014732e+02] [ 2.07174543e-02 9.99785356e-01 -1.71912644e-04 1.01080811e+01] [ 1.54167187e-02 -1.47534622e-04 9.99881144e-01 1.20348926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.8692541539999 meters Centerline goodness : 0.998837 Centerline is valid? [True, True] Translation: X:777.04, Y:10.11, Z:12.03 [[ 9.99676930e-01 -2.02081440e-02 -1.54164600e-02 7.77044159e+02] [ 2.02078870e-02 9.99795785e-01 -1.72464961e-04 1.01075934e+01] [ 1.54167969e-02 -1.39124838e-04 9.99881144e-01 1.20336665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.8992541539999 meters Centerline goodness : 0.998731 Centerline is valid? [True, True] Translation: X:777.07, Y:10.11, Z:12.04 [[ 9.99672514e-01 -2.04254262e-02 -1.54164538e-02 7.77073784e+02] [ 2.04251865e-02 9.99791369e-01 -1.73016524e-04 1.01071962e+01] [ 1.54167714e-02 -1.41924081e-04 9.99881144e-01 1.20360066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.9292541539999 meters Centerline goodness : 0.998819 Centerline is valid? [True, True] Translation: X:777.10, Y:10.11, Z:12.04 [[ 9.99671047e-01 -2.04970941e-02 -1.54164476e-02 7.77103762e+02] [ 2.04968544e-02 9.99789902e-01 -1.73568087e-04 1.01059501e+01] [ 1.54167663e-02 -1.42477691e-04 9.99881144e-01 1.20360292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.959254154 meters Centerline goodness : 0.998943 Centerline is valid? [True, True] Translation: X:777.13, Y:10.11, Z:12.04 [[ 9.99656000e-01 -2.12182712e-02 -1.54164414e-02 7.77133614e+02] [ 2.12181088e-02 9.99774855e-01 -1.74115906e-04 1.01055484e+01] [ 1.54166649e-02 -1.53051721e-04 9.99881144e-01 1.20379915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.9892541539999 meters Centerline goodness : 0.998753 Centerline is valid? [True, True] Translation: X:777.16, Y:10.10, Z:12.03 [[ 9.99633085e-01 -2.22717128e-02 -1.54164351e-02 7.77162663e+02] [ 2.22716670e-02 9.99751940e-01 -1.74677145e-04 1.01038315e+01] [ 1.54165012e-02 -1.68736654e-04 9.99881144e-01 1.20346187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.0192541539999 meters Centerline goodness : 0.998858 Centerline is valid? [True, True] Translation: X:777.19, Y:10.10, Z:12.04 [[ 9.99589583e-01 -2.41453985e-02 -1.54164255e-02 7.77192108e+02] [ 2.41455626e-02 9.99708438e-01 -1.75512907e-04 1.01037041e+01] [ 1.54161685e-02 -1.96797395e-04 9.99881144e-01 1.20371953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.0492541539999 meters Centerline goodness : 0.998796 Centerline is valid? [True, True] Translation: X:777.22, Y:10.10, Z:12.04 [[ 9.99556651e-01 -2.54722613e-02 -1.54164194e-02 7.77221926e+02] [ 2.54725750e-02 9.99675506e-01 -1.76048151e-04 1.01027710e+01] [ 1.54159012e-02 -2.16725799e-04 9.99881144e-01 1.20374963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.0792541539998 meters Centerline goodness : 0.998926 Centerline is valid? [True, True] Translation: X:777.25, Y:10.10, Z:12.04 [[ 9.99454307e-01 -2.92133832e-02 -1.54164132e-02 7.77252569e+02] [ 2.92141333e-02 9.99573161e-01 -1.76592503e-04 1.01001952e+01] [ 1.54149917e-02 -2.73881011e-04 9.99881144e-01 1.20377111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.1092541539999 meters Centerline goodness : 0.999009 Centerline is valid? [True, True] Translation: X:777.28, Y:10.10, Z:12.04 [[ 9.99388473e-01 -3.13849402e-02 -1.54164132e-02 7.77283492e+02] [ 3.13859485e-02 9.99507324e-01 -1.76592503e-04 1.00991922e+01] [ 1.54143602e-02 -3.07374238e-04 9.99881144e-01 1.20383308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.1392541539999 meters Centerline goodness : 0.998735 Centerline is valid? [True, True] Translation: X:777.32, Y:10.10, Z:12.04 [[ 9.99236392e-01 -3.59021827e-02 -1.54164197e-02 7.77315350e+02] [ 3.59037370e-02 9.99355238e-01 -1.76024055e-04 1.00970919e+01] [ 1.54127994e-02 -3.77617437e-04 9.99881144e-01 1.20372318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.1692541539999 meters Centerline goodness : 0.998967 Centerline is valid? [True, True] Translation: X:777.35, Y:10.10, Z:12.04 [[ 9.99124726e-01 -3.88859202e-02 -1.54164262e-02 7.77346683e+02] [ 3.88878382e-02 9.99243567e-01 -1.75451325e-04 1.00962332e+01] [ 1.54115873e-02 -4.24213731e-04 9.99881144e-01 1.20389073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.1992541539998 meters Centerline goodness : 0.998841 Centerline is valid? [True, True] Translation: X:777.38, Y:10.09, Z:12.04 [[ 9.98917275e-01 -4.38931909e-02 -1.54164359e-02 7.77378841e+02] [ 4.38957178e-02 9.99036103e-01 -1.74594046e-04 1.00938331e+01] [ 1.54092395e-02 -5.02310512e-04 9.99881144e-01 1.20388405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.2292541539999 meters Centerline goodness : 0.998863 Centerline is valid? [True, True] Translation: X:777.41, Y:10.09, Z:12.04 [[ 9.98823218e-01 -4.59838290e-02 -1.54164488e-02 7.77411358e+02] [ 4.59866222e-02 9.98942041e-01 -1.73452578e-04 1.00931712e+01] [ 1.54081148e-02 -5.35701942e-04 9.99881144e-01 1.20391020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.2592541539999 meters Centerline goodness : 0.998926 Centerline is valid? [True, True] Translation: X:777.44, Y:10.09, Z:12.04 [[ 9.98763630e-01 -4.72603799e-02 -1.54164616e-02 7.77443918e+02] [ 4.72633426e-02 9.98882449e-01 -1.72304617e-04 1.00922720e+01] [ 1.54073761e-02 -5.56541921e-04 9.99881144e-01 1.20392249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.2892541539999 meters Centerline goodness : 0.999222 Centerline is valid? [True, True] Translation: X:777.47, Y:10.09, Z:12.04 [[ 9.98684006e-01 -4.89140980e-02 -1.54164743e-02 7.77474672e+02] [ 4.89172752e-02 9.98802819e-01 -1.71160537e-04 1.00911793e+01] [ 1.54063901e-02 -5.83196624e-04 9.99881144e-01 1.20395464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.3192541539999 meters Centerline goodness : 0.998948 Centerline is valid? [True, True] Translation: X:777.51, Y:10.09, Z:12.04 [[ 9.98664968e-01 -4.93012530e-02 -1.54164837e-02 7.77506334e+02] [ 4.93044893e-02 9.98783780e-01 -1.70308818e-04 1.00912232e+01] [ 1.54061303e-02 -5.90020406e-04 9.99881144e-01 1.20394713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.3492541539999 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:777.54, Y:10.09, Z:12.04 [[ 9.98657715e-01 -4.94479431e-02 -1.54164930e-02 7.77538801e+02] [ 4.94512099e-02 9.98776526e-01 -1.69464227e-04 1.00914009e+01] [ 1.54060110e-02 -5.93127472e-04 9.99881144e-01 1.20403298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.3792541539999 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:777.57, Y:10.09, Z:12.04 [[ 9.98661975e-01 -4.93618359e-02 -1.54165054e-02 7.77570314e+02] [ 4.93651100e-02 9.98780786e-01 -1.68324367e-04 1.00916398e+01] [ 1.54060182e-02 -5.92938341e-04 9.99881144e-01 1.20408828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.4092541539999 meters Centerline goodness : 0.998827 Centerline is valid? [True, True] Translation: X:777.60, Y:10.09, Z:12.04 [[ 9.98658742e-01 -4.94271980e-02 -1.54165146e-02 7.77601835e+02] [ 4.94304930e-02 9.98777552e-01 -1.67475498e-04 1.00919522e+01] [ 1.54059466e-02 -5.94795049e-04 9.99881144e-01 1.20410695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.4392541539999 meters Centerline goodness : 0.998929 Centerline is valid? [True, True] Translation: X:777.63, Y:10.09, Z:12.04 [[ 9.98650069e-01 -4.96021302e-02 -1.54165237e-02 7.77634054e+02] [ 4.96054589e-02 9.98768878e-01 -1.66634067e-04 1.00920374e+01] [ 1.54058095e-02 -5.98334612e-04 9.99881144e-01 1.20400119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.4692541539999 meters Centerline goodness : 0.999243 Centerline is valid? [True, True] Translation: X:777.67, Y:10.09, Z:12.04 [[ 9.98638172e-01 -4.98410742e-02 -1.54165357e-02 7.77666371e+02] [ 4.98444486e-02 9.98756979e-01 -1.65515949e-04 1.00924176e+01] [ 1.54056222e-02 -6.03138179e-04 9.99881144e-01 1.20436757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.4992541539999 meters Centerline goodness : 0.998886 Centerline is valid? [True, True] Translation: X:777.70, Y:10.09, Z:12.04 [[ 9.98571845e-01 -5.11527143e-02 -1.54165484e-02 7.77697915e+02] [ 5.11562630e-02 9.98690648e-01 -1.64331045e-04 1.00933609e+01] [ 1.54047687e-02 -6.24556649e-04 9.99881144e-01 1.20429830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.5292541539999 meters Centerline goodness : 0.998803 Centerline is valid? [True, True] Translation: X:777.73, Y:10.09, Z:12.04 [[ 9.98600656e-01 -5.05871367e-02 -1.54165692e-02 7.77730295e+02] [ 5.05906486e-02 9.98719460e-01 -1.62349587e-04 1.00931849e+01] [ 1.54050405e-02 -6.17811834e-04 9.99881144e-01 1.20410042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.5592541539999 meters Centerline goodness : 0.998992 Centerline is valid? [True, True] Translation: X:777.76, Y:10.09, Z:12.04 [[ 9.98563470e-01 -5.13159333e-02 -1.54165806e-02 7.77762217e+02] [ 5.13195488e-02 9.98682271e-01 -1.61260019e-04 1.00942179e+01] [ 1.54045410e-02 -6.30143597e-04 9.99881144e-01 1.20437887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.589254154 meters Centerline goodness : 0.998765 Centerline is valid? [True, True] Translation: X:777.79, Y:10.10, Z:12.04 [[ 9.98610573e-01 -5.03909912e-02 -1.54165919e-02 7.77793955e+02] [ 5.03945134e-02 9.98729376e-01 -1.60172485e-04 1.00950493e+01] [ 1.54050745e-02 -6.16961711e-04 9.99881144e-01 1.20440535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.6192541539999 meters Centerline goodness : 0.998931 Centerline is valid? [True, True] Translation: X:777.83, Y:10.10, Z:12.04 [[ 9.98666069e-01 -4.92789052e-02 -1.54166034e-02 7.77825264e+02] [ 4.92823122e-02 9.98784876e-01 -1.59061931e-04 1.00958977e+01] [ 1.54057087e-02 -6.00916108e-04 9.99881144e-01 1.20438308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.6492541539999 meters Centerline goodness : 0.998760 Centerline is valid? [True, True] Translation: X:777.86, Y:10.10, Z:12.04 [[ 9.98844463e-01 -4.55199702e-02 -1.54166119e-02 7.77855586e+02] [ 4.55229428e-02 9.98963281e-01 -1.58234737e-04 1.00979227e+01] [ 1.54078320e-02 -5.43757651e-04 9.99881144e-01 1.20440186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.6792541539999 meters Centerline goodness : 0.999034 Centerline is valid? [True, True] Translation: X:777.89, Y:10.10, Z:12.05 [[ 9.98894005e-01 -4.44196635e-02 -1.54162629e-02 7.77887992e+02] [ 4.44219796e-02 9.99012838e-01 -1.92330466e-04 1.00993469e+01] [ 1.54095878e-02 -4.92703166e-04 9.99881144e-01 1.20455349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.709254154 meters Centerline goodness : 0.998993 Centerline is valid? [True, True] Translation: X:777.92, Y:10.10, Z:12.05 [[ 9.99076379e-01 -4.01088130e-02 -1.54166232e-02 7.77920584e+02] [ 4.01111621e-02 9.99195211e-01 -1.56929585e-04 1.01010400e+01] [ 1.54105104e-02 -4.61594032e-04 9.99881144e-01 1.20473085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.7392541539999 meters Centerline goodness : 0.998866 Centerline is valid? [True, True] Translation: X:777.95, Y:10.10, Z:12.05 [[ 9.99161778e-01 -3.79218732e-02 -1.54166338e-02 7.77952542e+02] [ 3.79239783e-02 9.99280615e-01 -1.55882832e-04 1.01018710e+01] [ 1.54114547e-02 -4.28907920e-04 9.99881144e-01 1.20494933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.7692541539999 meters Centerline goodness : 0.998761 Centerline is valid? [True, True] Translation: X:777.98, Y:10.10, Z:12.04 [[ 9.99310668e-01 -3.37715248e-02 -1.54166452e-02 7.77983609e+02] [ 3.37731537e-02 9.99429512e-01 -1.54750953e-04 1.01033714e+01] [ 1.54130764e-02 -3.66024449e-04 9.99881144e-01 1.20442430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.7992541539999 meters Centerline goodness : 0.998781 Centerline is valid? [True, True] Translation: X:778.02, Y:10.10, Z:12.05 [[ 9.99373700e-01 -3.18516933e-02 -1.54167879e-02 7.78015253e+02] [ 3.18533152e-02 9.99492545e-01 -1.40396703e-04 1.01041933e+01] [ 1.54134364e-02 -3.50767031e-04 9.99881144e-01 1.20477447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.8292541539998 meters Centerline goodness : 0.998698 Centerline is valid? [True, True] Translation: X:778.05, Y:10.11, Z:12.05 [[ 9.99420387e-01 -3.03515415e-02 -1.54166483e-02 7.78046038e+02] [ 3.03527702e-02 9.99539237e-01 -1.54333087e-04 1.01054155e+01] [ 1.54142292e-02 -3.13694351e-04 9.99881145e-01 1.20505594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.8592541539999 meters Centerline goodness : 0.998802 Centerline is valid? [True, True] Translation: X:778.08, Y:10.11, Z:12.05 [[ 9.99468853e-01 -2.87113166e-02 -1.54166511e-02 7.78076979e+02] [ 2.87123544e-02 9.99587704e-01 -1.54057443e-04 1.01063993e+01] [ 1.54147181e-02 -2.88672735e-04 9.99881145e-01 1.20516319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.8892541539999 meters Centerline goodness : 0.998907 Centerline is valid? [True, True] Translation: X:778.11, Y:10.11, Z:12.05 [[ 9.99548209e-01 -2.58012555e-02 -1.54166566e-02 7.78107181e+02] [ 2.58019559e-02 9.99667062e-01 -1.53501806e-04 1.01084036e+01] [ 1.54154844e-02 -2.44347439e-04 9.99881145e-01 1.20507756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.9192541539999 meters Centerline goodness : 0.998739 Centerline is valid? [True, True] Translation: X:778.14, Y:10.11, Z:12.05 [[ 9.99572876e-01 -2.48272534e-02 -1.54166594e-02 7.78137896e+02] [ 2.48278423e-02 9.99691730e-01 -1.53226306e-04 1.01097499e+01] [ 1.54157111e-02 -2.29601528e-04 9.99881145e-01 1.20534867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.9492541539998 meters Centerline goodness : 0.998828 Centerline is valid? [True, True] Translation: X:778.17, Y:10.11, Z:12.05 [[ 9.99565929e-01 -2.51053726e-02 -1.54166594e-02 7.78168178e+02] [ 2.51059945e-02 9.99684783e-01 -1.53226306e-04 1.01100006e+01] [ 1.54156466e-02 -2.33890771e-04 9.99881145e-01 1.20544141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.9792541539999 meters Centerline goodness : 0.998781 Centerline is valid? [True, True] Translation: X:778.20, Y:10.11, Z:12.05 [[ 9.99556616e-01 -2.54734594e-02 -1.54166594e-02 7.78197698e+02] [ 2.54741250e-02 9.99675470e-01 -1.53226306e-04 1.01099066e+01] [ 1.54155594e-02 -2.39567541e-04 9.99881145e-01 1.20526734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.0092541539999 meters Centerline goodness : 0.998632 Centerline is valid? [True, True] Translation: X:778.23, Y:10.11, Z:12.06 [[ 9.99455834e-01 -2.91609924e-02 -1.54166566e-02 7.78228214e+02] [ 2.91620923e-02 9.99574684e-01 -1.53502988e-04 1.01103456e+01] [ 1.54145760e-02 -2.96162506e-04 9.99881145e-01 1.20564806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.0392541539999 meters Centerline goodness : 0.998802 Centerline is valid? [True, True] Translation: X:778.26, Y:10.11, Z:12.06 [[ 9.99397624e-01 -3.10920531e-02 -1.54166566e-02 7.78258967e+02] [ 3.10933826e-02 9.99516472e-01 -1.53502988e-04 1.01103234e+01] [ 1.54139750e-02 -3.25945481e-04 9.99881145e-01 1.20564451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.0692541539999 meters Centerline goodness : 0.998802 Centerline is valid? [True, True] Translation: X:778.29, Y:10.11, Z:12.06 [[ 9.99398738e-01 -3.10562118e-02 -1.54166594e-02 7.78290807e+02] [ 3.10575414e-02 9.99517586e-01 -1.53220821e-04 1.01106094e+01] [ 1.54139807e-02 -3.25674843e-04 9.99881145e-01 1.20569360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.0992541539999 meters Centerline goodness : 0.998655 Centerline is valid? [True, True] Translation: X:778.32, Y:10.11, Z:12.06 [[ 9.99248051e-01 -3.55760981e-02 -1.54166649e-02 7.78321907e+02] [ 3.55779738e-02 9.99366892e-01 -1.52667937e-04 1.01096840e+01] [ 1.54123358e-02 -3.95940561e-04 9.99881145e-01 1.20563375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.1292541539999 meters Centerline goodness : 0.998531 Centerline is valid? [True, True] Translation: X:778.35, Y:10.11, Z:12.06 [[ 9.99166892e-01 -3.77868849e-02 -1.54166730e-02 7.78353396e+02] [ 3.77890362e-02 9.99285728e-01 -1.51841431e-04 1.01091815e+01] [ 1.54113990e-02 -4.30866286e-04 9.99881145e-01 1.20560556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.1592541539999 meters Centerline goodness : 0.998780 Centerline is valid? [True, True] Translation: X:778.38, Y:10.11, Z:12.06 [[ 9.99082753e-01 -3.99497052e-02 -1.54166785e-02 7.78384818e+02] [ 3.99521224e-02 9.99201584e-01 -1.51285207e-04 1.01086519e+01] [ 1.54104134e-02 -4.64782585e-04 9.99881145e-01 1.20552614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.1892541539999 meters Centerline goodness : 0.998657 Centerline is valid? [True, True] Translation: X:778.42, Y:10.11, Z:12.06 [[ 9.98887862e-01 -4.45574401e-02 -1.54166866e-02 7.78417066e+02] [ 4.45604182e-02 9.99006680e-01 -1.50452670e-04 1.01081216e+01] [ 1.54080767e-02 -5.36688657e-04 9.99881145e-01 1.20569518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.2192541539999 meters Centerline goodness : 0.998908 Centerline is valid? [True, True] Translation: X:778.45, Y:10.11, Z:12.06 [[ 9.98802194e-01 -4.64381643e-02 -1.54166972e-02 7.78448398e+02] [ 4.64413829e-02 9.98921006e-01 -1.49361168e-04 1.01080571e+01] [ 1.54069987e-02 -5.66790475e-04 9.99881145e-01 1.20573043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.2492541539999 meters Centerline goodness : 0.998677 Centerline is valid? [True, True] Translation: X:778.48, Y:10.11, Z:12.06 [[ 9.98619577e-01 -5.02121990e-02 -1.54167050e-02 7.78480189e+02] [ 5.02158791e-02 9.98738376e-01 -1.48547646e-04 1.01077998e+01] [ 1.54047139e-02 -6.25820809e-04 9.99881145e-01 1.20578918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.2792541539999 meters Centerline goodness : 0.998971 Centerline is valid? [True, True] Translation: X:778.51, Y:10.11, Z:12.06 [[ 9.98408749e-01 -5.42429291e-02 -1.54167153e-02 7.78512108e+02] [ 5.42471053e-02 9.98527531e-01 -1.47473132e-04 1.01077598e+01] [ 1.54020141e-02 -6.89073714e-04 9.99881145e-01 1.20585376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.3092541539999 meters Centerline goodness : 0.998950 Centerline is valid? [True, True] Translation: X:778.54, Y:10.11, Z:12.06 [[ 9.98335728e-01 -5.55706671e-02 -1.54167257e-02 7.78544039e+02] [ 5.55750181e-02 9.98454504e-01 -1.46379580e-04 1.01075766e+01] [ 1.54010336e-02 -7.10648845e-04 9.99881145e-01 1.20582424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.339254154 meters Centerline goodness : 0.998950 Centerline is valid? [True, True] Translation: X:778.58, Y:10.11, Z:12.06 [[ 9.98339844e-01 -5.54966750e-02 -1.54167364e-02 7.78576725e+02] [ 5.55010348e-02 9.98458619e-01 -1.45238219e-04 1.01078248e+01] [ 1.54010336e-02 -7.10647725e-04 9.99881145e-01 1.20587461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.3692541539999 meters Centerline goodness : 0.998760 Centerline is valid? [True, True] Translation: X:778.61, Y:10.11, Z:12.06 [[ 9.98155634e-01 -5.87167342e-02 -1.54167471e-02 7.78607547e+02] [ 5.87214947e-02 9.98274394e-01 -1.44095738e-04 1.01083838e+01] [ 1.53986047e-02 -7.61464462e-04 9.99881145e-01 1.20589481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.3992541539999 meters Centerline goodness : 0.998655 Centerline is valid? [True, True] Translation: X:778.64, Y:10.11, Z:12.06 [[ 9.98034869e-01 -6.07348607e-02 -1.54167550e-02 7.78639228e+02] [ 6.07398744e-02 9.98153619e-01 -1.43244834e-04 1.01091633e+01] [ 1.53969898e-02 -7.93448426e-04 9.99881145e-01 1.20585802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.4292541539999 meters Centerline goodness : 0.998739 Centerline is valid? [True, True] Translation: X:778.67, Y:10.11, Z:12.06 [[ 9.98007534e-01 -6.11823963e-02 -1.54167680e-02 7.78672542e+02] [ 6.11874850e-02 9.98126280e-01 -1.41834009e-04 1.01098981e+01] [ 1.53965591e-02 -8.01761852e-04 9.99881145e-01 1.20588588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.459254154 meters Centerline goodness : 0.998846 Centerline is valid? [True, True] Translation: X:778.71, Y:10.11, Z:12.06 [[ 9.98004790e-01 -6.12271309e-02 -1.54167834e-02 7.78705273e+02] [ 6.12322510e-02 9.98123535e-01 -1.40144808e-04 1.01109360e+01] [ 1.53964350e-02 -8.04139159e-04 9.99881145e-01 1.20592823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.4892541539999 meters Centerline goodness : 0.998821 Centerline is valid? [True, True] Translation: X:778.74, Y:10.11, Z:12.06 [[ 9.98015761e-01 -6.10480349e-02 -1.54167988e-02 7.78736878e+02] [ 6.10531602e-02 9.98134506e-01 -1.38426849e-04 1.01134156e+01] [ 1.53964895e-02 -8.03092109e-04 9.99881145e-01 1.20595609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.5192541539999 meters Centerline goodness : 0.998844 Centerline is valid? [True, True] Translation: X:778.77, Y:10.12, Z:12.06 [[ 9.98100243e-01 -5.96508735e-02 -1.54168064e-02 7.78769086e+02] [ 5.96558456e-02 9.98218995e-01 -1.37576406e-04 1.01164491e+01] [ 1.53975555e-02 -7.82387577e-04 9.99881145e-01 1.20599287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.5492541539999 meters Centerline goodness : 0.998777 Centerline is valid? [True, True] Translation: X:778.80, Y:10.12, Z:12.06 [[ 9.98134277e-01 -5.90786486e-02 -1.54168187e-02 7.78801706e+02] [ 5.90835741e-02 9.98253030e-01 -1.36178660e-04 1.01182868e+01] [ 1.53979313e-02 -7.74956165e-04 9.99881145e-01 1.20609777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.5792541539998 meters Centerline goodness : 0.998838 Centerline is valid? [True, True] Translation: X:778.83, Y:10.12, Z:12.06 [[ 9.98229569e-01 -5.74460570e-02 -1.54168333e-02 7.78833174e+02] [ 5.74508140e-02 9.98348329e-01 -1.34509502e-04 1.01215922e+01] [ 1.53990968e-02 -7.51438261e-04 9.99881145e-01 1.20625320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.6092541539999 meters Centerline goodness : 0.998480 Centerline is valid? [True, True] Translation: X:778.87, Y:10.12, Z:12.06 [[ 9.98264115e-01 -5.68425739e-02 -1.54168502e-02 7.78866102e+02] [ 5.68472894e-02 9.98382877e-01 -1.32540796e-04 1.01234141e+01] [ 1.53994532e-02 -7.44095426e-04 9.99881145e-01 1.20633558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.6392541539999 meters Centerline goodness : 0.998731 Centerline is valid? [True, True] Translation: X:778.90, Y:10.13, Z:12.06 [[ 9.98289755e-01 -5.63904807e-02 -1.54168642e-02 7.78899494e+02] [ 5.63951678e-02 9.98408518e-01 -1.30892773e-04 1.01250963e+01] [ 1.53997096e-02 -7.38767731e-04 9.99881145e-01 1.20646089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.6692541539999 meters Centerline goodness : 0.998835 Centerline is valid? [True, True] Translation: X:778.93, Y:10.13, Z:12.07 [[ 9.98298743e-01 -5.62311218e-02 -1.54168782e-02 7.78931715e+02] [ 5.62358158e-02 9.98417506e-01 -1.29223804e-04 1.01280917e+01] [ 1.53997475e-02 -7.37976761e-04 9.99881145e-01 1.20656512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.6992541539998 meters Centerline goodness : 0.998729 Centerline is valid? [True, True] Translation: X:778.96, Y:10.13, Z:12.07 [[ 9.98301397e-01 -5.61839794e-02 -1.54168874e-02 7.78964785e+02] [ 5.61886848e-02 9.98420160e-01 -1.28114755e-04 1.01296994e+01] [ 1.53997292e-02 -7.38357488e-04 9.99881145e-01 1.20663531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.7292541539999 meters Centerline goodness : 0.998771 Centerline is valid? [True, True] Translation: X:779.00, Y:10.13, Z:12.07 [[ 9.98309016e-01 -5.60484431e-02 -1.54169013e-02 7.78996920e+02] [ 5.60531585e-02 9.98427778e-01 -1.26418242e-04 1.01313089e+01] [ 1.53997481e-02 -7.37961543e-04 9.99881145e-01 1.20662122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.7592541539999 meters Centerline goodness : 0.998728 Centerline is valid? [True, True] Translation: X:779.03, Y:10.13, Z:12.07 [[ 9.98332285e-01 -5.56324338e-02 -1.54169127e-02 7.79030381e+02] [ 5.56371213e-02 9.98451048e-01 -1.25013466e-04 1.01326439e+01] [ 1.53999875e-02 -7.32947665e-04 9.99881145e-01 1.20662989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.7892541539999 meters Centerline goodness : 0.998917 Centerline is valid? [True, True] Translation: X:779.06, Y:10.14, Z:12.07 [[ 9.98319069e-01 -5.58690846e-02 -1.54169262e-02 7.79062827e+02] [ 5.58738262e-02 9.98437830e-01 -1.23330576e-04 1.01359991e+01] [ 1.53997327e-02 -7.38279388e-04 9.99881145e-01 1.20673722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.8192541539999 meters Centerline goodness : 0.998938 Centerline is valid? [True, True] Translation: X:779.09, Y:10.14, Z:12.07 [[ 9.98338027e-01 -5.55292961e-02 -1.54169352e-02 7.79094838e+02] [ 5.55340149e-02 9.98456788e-01 -1.22191926e-04 1.01374963e+01] [ 1.53999288e-02 -7.34175463e-04 9.99881145e-01 1.20666627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.8492541539999 meters Centerline goodness : 0.999044 Centerline is valid? [True, True] Translation: X:779.13, Y:10.14, Z:12.07 [[ 9.98344139e-01 -5.54192947e-02 -1.54169463e-02 7.79127161e+02] [ 5.54240223e-02 9.98462900e-01 -1.20773930e-04 1.01412146e+01] [ 1.53999421e-02 -7.33895230e-04 9.99881145e-01 1.20687383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.8792541539999 meters Centerline goodness : 0.998873 Centerline is valid? [True, True] Translation: X:779.16, Y:10.14, Z:12.07 [[ 9.98437888e-01 -5.37038330e-02 -1.54169552e-02 7.79157247e+02] [ 5.37083742e-02 9.98556657e-01 -1.19624929e-04 1.01427201e+01] [ 1.54011276e-02 -7.08581539e-04 9.99881145e-01 1.20676102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.9092541539999 meters Centerline goodness : 0.998809 Centerline is valid? [True, True] Translation: X:779.19, Y:10.15, Z:12.07 [[ 9.98394280e-01 -5.45086975e-02 -1.54163454e-02 7.79190326e+02] [ 5.45121423e-02 9.98513088e-01 -1.96984246e-04 1.01459418e+01] [ 1.54041600e-02 -6.43710068e-04 9.99881142e-01 1.20670282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.9392541539999 meters Centerline goodness : 0.999044 Centerline is valid? [True, True] Translation: X:779.22, Y:10.15, Z:12.07 [[ 9.98396744e-01 -5.44633791e-02 -1.54169497e-02 7.79223282e+02] [ 5.44680340e-02 9.98515508e-01 -1.18106724e-04 1.01478588e+01] [ 1.54004958e-02 -7.21813569e-04 9.99881145e-01 1.20693863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.9692541539999 meters Centerline goodness : 0.999105 Centerline is valid? [True, True] Translation: X:779.26, Y:10.15, Z:12.07 [[ 9.98475365e-01 -5.30024806e-02 -1.54169625e-02 7.79255210e+02] [ 5.30069880e-02 9.98594135e-01 -1.16404708e-04 1.01510045e+01] [ 1.54014581e-02 -7.00979514e-04 9.99881145e-01 1.20699725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.9992541539999 meters Centerline goodness : 0.999147 Centerline is valid? [True, True] Translation: X:779.29, Y:10.15, Z:12.07 [[ 9.98539305e-01 -5.17839167e-02 -1.54169710e-02 7.79286753e+02] [ 5.17882966e-02 9.98658079e-01 -1.15269622e-04 1.01525865e+01] [ 1.54022518e-02 -6.83317418e-04 9.99881145e-01 1.20705472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.0292541539999 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:779.32, Y:10.15, Z:12.07 [[ 9.98624179e-01 -5.01205184e-02 -1.54169815e-02 7.79319553e+02] [ 5.01247223e-02 9.98742960e-01 -1.13854217e-04 1.01541245e+01] [ 1.54033081e-02 -6.59074340e-04 9.99881145e-01 1.20716448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.0592541539999 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:779.35, Y:10.16, Z:12.07 [[ 9.98786766e-01 -4.67687093e-02 -1.54169940e-02 7.79352787e+02] [ 4.67725411e-02 9.98905560e-01 -1.12126432e-04 1.01572210e+01] [ 1.54053651e-02 -6.09101590e-04 9.99881145e-01 1.20723019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.089254154 meters Centerline goodness : 0.999423 Centerline is valid? [True, True] Translation: X:779.38, Y:10.16, Z:12.07 [[ 9.98877015e-01 -4.47998211e-02 -1.54170063e-02 7.79384266e+02] [ 4.48034451e-02 9.98995815e-01 -1.10418144e-04 1.01588184e+01] [ 1.54064715e-02 -5.80440848e-04 9.99881145e-01 1.20726520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.1192541539999 meters Centerline goodness : 0.999550 Centerline is valid? [True, True] Translation: X:779.42, Y:10.16, Z:12.07 [[ 9.99032084e-01 -4.11972223e-02 -1.54170123e-02 7.79415725e+02] [ 4.12004308e-02 9.99150896e-01 -1.09572802e-04 1.01609627e+01] [ 1.54084357e-02 -5.25720802e-04 9.99881145e-01 1.20728171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.1492541539999 meters Centerline goodness : 0.999380 Centerline is valid? [True, True] Translation: X:779.45, Y:10.16, Z:12.07 [[ 9.99089169e-01 -3.97887903e-02 -1.54170182e-02 7.79448180e+02] [ 3.97918443e-02 9.99207985e-01 -1.08736444e-04 1.01618463e+01] [ 1.54091342e-02 -5.04834182e-04 9.99881145e-01 1.20731184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.1792541539999 meters Centerline goodness : 0.999423 Centerline is valid? [True, True] Translation: X:779.48, Y:10.16, Z:12.07 [[ 9.99141835e-01 -3.84435733e-02 -1.54170259e-02 7.79480843e+02] [ 3.84464844e-02 9.99260655e-01 -1.07625391e-04 1.01624377e+01] [ 1.54097649e-02 -4.85197416e-04 9.99881145e-01 1.20718646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.209254154 meters Centerline goodness : 0.999486 Centerline is valid? [True, True] Translation: X:779.51, Y:10.16, Z:12.07 [[ 9.99214372e-01 -3.65096493e-02 -1.54170336e-02 7.79512914e+02] [ 3.65123475e-02 9.99333196e-01 -1.06516919e-04 1.01642340e+01] [ 1.54106423e-02 -4.56478851e-04 9.99881145e-01 1.20745927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.2392541539999 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:779.54, Y:10.17, Z:12.07 [[ 9.99331256e-01 -3.31565377e-02 -1.54170414e-02 7.79544005e+02] [ 3.31588547e-02 9.99450088e-01 -1.05380230e-04 1.01664228e+01] [ 1.54120574e-02 -4.05901676e-04 9.99881145e-01 1.20748526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.2692541539999 meters Centerline goodness : 0.999335 Centerline is valid? [True, True] Translation: X:779.58, Y:10.17, Z:12.08 [[ 9.99407006e-01 -3.07888133e-02 -1.54170540e-02 7.79575272e+02] [ 3.07908777e-02 9.99525843e-01 -1.03500691e-04 1.01677642e+01] [ 1.54129305e-02 -3.71265307e-04 9.99881145e-01 1.20752634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.2992541539999 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:779.61, Y:10.17, Z:12.07 [[ 9.99500855e-01 -2.75745408e-02 -1.54170595e-02 7.79607075e+02] [ 2.75762359e-02 9.99619698e-01 -1.02664237e-04 1.01690141e+01] [ 1.54140273e-02 -3.22531477e-04 9.99881145e-01 1.20749603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.3292541539998 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:779.64, Y:10.17, Z:12.08 [[ 9.99580201e-01 -2.45303149e-02 -1.54170667e-02 7.79638501e+02] [ 2.45316648e-02 9.99699048e-01 -1.01580933e-04 1.01704697e+01] [ 1.54149187e-02 -2.76668022e-04 9.99881145e-01 1.20763663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.3592541539999 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:779.67, Y:10.17, Z:12.08 [[ 9.99710768e-01 -1.84579072e-02 -1.54170703e-02 7.79668733e+02] [ 1.84585436e-02 9.99829621e-01 -1.01032081e-04 1.01730405e+01] [ 1.54163084e-02 -1.83573804e-04 9.99881145e-01 1.20779375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.3892541539999 meters Centerline goodness : 0.999526 Centerline is valid? [True, True] Translation: X:779.70, Y:10.17, Z:12.08 [[ 9.99784323e-01 -1.39147918e-02 -1.54170703e-02 7.79698075e+02] [ 1.39148880e-02 9.99903178e-01 -1.01032081e-04 1.01741851e+01] [ 1.54169834e-02 -1.13516516e-04 9.99881145e-01 1.20788436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.4192541539999 meters Centerline goodness : 0.999309 Centerline is valid? [True, True] Translation: X:779.73, Y:10.17, Z:12.08 [[ 9.99801564e-01 -1.26153445e-02 -1.54170665e-02 7.79726177e+02] [ 1.26152775e-02 9.99920419e-01 -1.01601873e-04 1.01742520e+01] [ 1.54171214e-02 -9.29088608e-05 9.99881145e-01 1.20783738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.4492541539998 meters Centerline goodness : 0.999568 Centerline is valid? [True, True] Translation: X:779.75, Y:10.17, Z:12.08 [[ 9.99807694e-01 -1.21197692e-02 -1.54170571e-02 7.79753558e+02] [ 1.21196216e-02 9.99926549e-01 -1.03012439e-04 1.01740863e+01] [ 1.54171732e-02 -8.38562686e-05 9.99881145e-01 1.20794095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.4792541539999 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:779.78, Y:10.17, Z:12.08 [[ 9.99801627e-01 -1.26104225e-02 -1.54170258e-02 7.79781814e+02] [ 1.26102640e-02 9.99920482e-01 -1.07496518e-04 1.01730381e+01] [ 1.54171555e-02 -8.69375729e-05 9.99881145e-01 1.20794385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.5092541539999 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:779.81, Y:10.17, Z:12.08 [[ 9.99788466e-01 -1.36139737e-02 -1.54169933e-02 7.79809628e+02] [ 1.36138655e-02 9.99907321e-01 -1.11976646e-04 1.01723679e+01] [ 1.54170889e-02 -9.79319130e-05 9.99881145e-01 1.20797694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.5392541539999 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:779.84, Y:10.17, Z:12.08 [[ 9.99760584e-01 -1.55271464e-02 -1.54169596e-02 7.79837121e+02] [ 1.55271968e-02 9.99879439e-01 -1.16432039e-04 1.01708164e+01] [ 1.54169088e-02 -1.22978003e-04 9.99881145e-01 1.20801316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.5692541539999 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:779.87, Y:10.17, Z:12.08 [[ 9.99741511e-01 -1.67101345e-02 -1.54169491e-02 7.79865760e+02] [ 1.67103044e-02 9.99860366e-01 -1.17809853e-04 1.01697687e+01] [ 1.54167650e-02 -1.39842511e-04 9.99881145e-01 1.20796256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.5992541539999 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:779.89, Y:10.17, Z:12.08 [[ 9.99673049e-01 -2.03988568e-02 -1.54169187e-02 7.79893995e+02] [ 2.03994059e-02 9.99791903e-01 -1.21660768e-04 1.01676329e+01] [ 1.54161923e-02 -1.92874992e-04 9.99881145e-01 1.20812413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.6292541539999 meters Centerline goodness : 0.999292 Centerline is valid? [True, True] Translation: X:779.92, Y:10.17, Z:12.08 [[ 9.99626922e-01 -2.25463279e-02 -1.54168862e-02 7.79923214e+02] [ 2.25470707e-02 9.99745775e-01 -1.25648449e-04 1.01664274e+01] [ 1.54157998e-02 -2.22004052e-04 9.99881145e-01 1.20811836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.6592541539999 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:779.95, Y:10.17, Z:12.08 [[ 9.99566554e-01 -2.50803599e-02 -1.54168839e-02 7.79954170e+02] [ 2.50813997e-02 9.99685404e-01 -1.25930550e-04 1.01651805e+01] [ 1.54151922e-02 -2.60801061e-04 9.99881145e-01 1.20812186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.6892541539999 meters Centerline goodness : 0.999379 Centerline is valid? [True, True] Translation: X:779.99, Y:10.16, Z:12.08 [[ 9.99396532e-01 -3.11270098e-02 -1.54168839e-02 7.79985151e+02] [ 3.11287686e-02 9.99515375e-01 -1.25930550e-04 1.01622911e+01] [ 1.54133323e-02 -3.54054058e-04 9.99881145e-01 1.20807656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.7192541539999 meters Centerline goodness : 0.999530 Centerline is valid? [True, True] Translation: X:780.02, Y:10.16, Z:12.08 [[ 9.99290672e-01 -3.43579969e-02 -1.54168884e-02 7.80017519e+02] [ 3.43601484e-02 9.99409508e-01 -1.25379633e-04 1.01606058e+01] [ 1.54120926e-02 -4.04435876e-04 9.99881145e-01 1.20809602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.7492541539999 meters Centerline goodness : 0.999190 Centerline is valid? [True, True] Translation: X:780.05, Y:10.16, Z:12.08 [[ 9.99181404e-01 -3.74010968e-02 -1.54168974e-02 7.80049547e+02] [ 3.74036274e-02 9.99300232e-01 -1.24267650e-04 1.01588772e+01] [ 1.54107569e-02 -4.52481960e-04 9.99881145e-01 1.20802775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.7792541539999 meters Centerline goodness : 0.999063 Centerline is valid? [True, True] Translation: X:780.08, Y:10.16, Z:12.08 [[ 9.98945846e-01 -4.32378961e-02 -1.54169062e-02 7.80080791e+02] [ 4.32411379e-02 9.99064657e-01 -1.23160121e-04 1.01557790e+01] [ 1.54078113e-02 -5.43614276e-04 9.99881145e-01 1.20802058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.8092541539999 meters Centerline goodness : 0.999191 Centerline is valid? [True, True] Translation: X:780.11, Y:10.15, Z:12.08 [[ 9.98841202e-01 -4.55913536e-02 -1.54169128e-02 7.80112564e+02] [ 4.55948880e-02 9.98960005e-01 -1.22333947e-04 1.01544414e+01] [ 1.54064566e-02 -5.80740224e-04 9.99881145e-01 1.20811894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.839254154 meters Centerline goodness : 0.998958 Centerline is valid? [True, True] Translation: X:780.14, Y:10.15, Z:12.08 [[ 9.98673919e-01 -4.91194757e-02 -1.54169216e-02 7.80144875e+02] [ 4.91234470e-02 9.98792707e-01 -1.21216751e-04 1.01517199e+01] [ 1.54042629e-02 -6.36276321e-04 9.99881145e-01 1.20798970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.8692541539999 meters Centerline goodness : 0.999043 Centerline is valid? [True, True] Translation: X:780.18, Y:10.15, Z:12.08 [[ 9.98551305e-01 -5.15520138e-02 -1.54169304e-02 7.80176800e+02] [ 5.15562919e-02 9.98670083e-01 -1.20081794e-04 1.01510907e+01] [ 1.54026176e-02 -6.74931932e-04 9.99881145e-01 1.20816609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.8992541539999 meters Centerline goodness : 0.998748 Centerline is valid? [True, True] Translation: X:780.21, Y:10.15, Z:12.08 [[ 9.98329861e-01 -5.56759020e-02 -1.54169413e-02 7.80210009e+02] [ 5.56806925e-02 9.98448620e-01 -1.18667772e-04 1.01490754e+01] [ 1.53996307e-02 -7.39956386e-04 9.99881145e-01 1.20821490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.9292541539999 meters Centerline goodness : 0.998958 Centerline is valid? [True, True] Translation: X:780.24, Y:10.15, Z:12.08 [[ 9.98199415e-01 -5.79676257e-02 -1.54169542e-02 7.80243060e+02] [ 5.79727150e-02 9.98318161e-01 -1.16970528e-04 1.01482144e+01] [ 1.53978058e-02 -7.77002776e-04 9.99881145e-01 1.20829182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.959254154 meters Centerline goodness : 0.998877 Centerline is valid? [True, True] Translation: X:780.27, Y:10.15, Z:12.08 [[ 9.97901258e-01 -6.28919507e-02 -1.54169668e-02 7.80274651e+02] [ 6.28976517e-02 9.98019976e-01 -1.15285292e-04 1.01461591e+01] [ 1.53936913e-02 -8.54647668e-04 9.99881145e-01 1.20831477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.9892541539999 meters Centerline goodness : 0.998877 Centerline is valid? [True, True] Translation: X:780.31, Y:10.15, Z:12.08 [[ 9.97908078e-01 -6.27836387e-02 -1.54169871e-02 7.80308187e+02] [ 6.27893697e-02 9.98026794e-01 -1.12504293e-04 1.01463097e+01] [ 1.53936296e-02 -8.55753957e-04 9.99881145e-01 1.20836639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.0192541539999 meters Centerline goodness : 0.998813 Centerline is valid? [True, True] Translation: X:780.34, Y:10.15, Z:12.08 [[ 9.97755279e-01 -6.51668642e-02 -1.54169991e-02 7.80339832e+02] [ 6.51729045e-02 9.97873980e-01 -1.10831404e-04 1.01454473e+01] [ 1.53914448e-02 -8.94187990e-04 9.99881145e-01 1.20823475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.0492541539999 meters Centerline goodness : 0.998749 Centerline is valid? [True, True] Translation: X:780.37, Y:10.14, Z:12.08 [[ 9.97624348e-01 -6.71414589e-02 -1.54170089e-02 7.80371547e+02] [ 6.71477554e-02 9.97743037e-01 -1.09446483e-04 1.01444946e+01] [ 1.53895617e-02 -9.26031067e-04 9.99881145e-01 1.20824293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.0792541539998 meters Centerline goodness : 0.998940 Centerline is valid? [True, True] Translation: X:780.40, Y:10.14, Z:12.09 [[ 9.97272019e-01 -7.21861256e-02 -1.54170166e-02 7.80403600e+02] [ 7.21930392e-02 9.97390672e-01 -1.08346611e-04 1.01435066e+01] [ 1.53846097e-02 -1.00495024e-03 9.99881145e-01 1.20854633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.1092541539999 meters Centerline goodness : 0.998537 Centerline is valid? [True, True] Translation: X:780.44, Y:10.14, Z:12.09 [[ 9.97161179e-01 -7.37014097e-02 -1.54170243e-02 7.80435682e+02] [ 7.37085206e-02 9.97279822e-01 -1.07242224e-04 1.01429300e+01] [ 1.53829912e-02 -1.02942827e-03 9.99881145e-01 1.20855391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.1392541539999 meters Centerline goodness : 0.999004 Centerline is valid? [True, True] Translation: X:780.47, Y:10.14, Z:12.09 [[ 9.96986723e-01 -7.60249212e-02 -1.54170429e-02 7.80468904e+02] [ 7.60323508e-02 9.97105346e-01 -1.04499016e-04 1.01428710e+01] [ 1.53803604e-02 -1.06800988e-03 9.99881145e-01 1.20868484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.1692541539999 meters Centerline goodness : 0.999153 Centerline is valid? [True, True] Translation: X:780.50, Y:10.14, Z:12.09 [[ 9.96943757e-01 -7.65862944e-02 -1.54170543e-02 7.80499653e+02] [ 7.65938170e-02 9.97062374e-01 -1.02793129e-04 1.01431351e+01] [ 1.53796373e-02 -1.07837207e-03 9.99881145e-01 1.20862130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.1992541539998 meters Centerline goodness : 0.999046 Centerline is valid? [True, True] Translation: X:780.53, Y:10.14, Z:12.09 [[ 9.96942618e-01 -7.66011142e-02 -1.54170599e-02 7.80531605e+02] [ 7.66086516e-02 9.97061234e-01 -1.01948146e-04 1.01433714e+01] [ 1.53795621e-02 -1.07944372e-03 9.99881145e-01 1.20862014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.2292541539999 meters Centerline goodness : 0.999130 Centerline is valid? [True, True] Translation: X:780.56, Y:10.14, Z:12.09 [[ 9.96989115e-01 -7.59935382e-02 -1.54170669e-02 7.80563006e+02] [ 7.60010197e-02 9.97107735e-01 -1.00880278e-04 1.01440985e+01] [ 1.53801429e-02 -1.07113626e-03 9.99881145e-01 1.20856283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.2592541539999 meters Centerline goodness : 0.999110 Centerline is valid? [True, True] Translation: X:780.60, Y:10.14, Z:12.09 [[ 9.97058178e-01 -7.50819852e-02 -1.54170720e-02 7.80595609e+02] [ 7.50893706e-02 9.97176803e-01 -1.00084904e-04 1.01445118e+01] [ 1.53810612e-02 -1.05786776e-03 9.99881145e-01 1.20859358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.2892541539999 meters Centerline goodness : 0.999046 Centerline is valid? [True, True] Translation: X:780.63, Y:10.15, Z:12.09 [[ 9.97219102e-01 -7.29134887e-02 -1.54170821e-02 7.80627469e+02] [ 7.29206404e-02 9.97337741e-01 -9.85051782e-05 1.01462291e+01] [ 1.53832202e-02 -1.02599226e-03 9.99881145e-01 1.20872779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.3192541539999 meters Centerline goodness : 0.998961 Centerline is valid? [True, True] Translation: X:780.66, Y:10.15, Z:12.09 [[ 9.97365151e-01 -7.08877268e-02 -1.54170890e-02 7.80660787e+02] [ 7.08946542e-02 9.97483804e-01 -9.74174936e-05 1.01468464e+01] [ 1.53852023e-02 -9.95828381e-04 9.99881145e-01 1.20868212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.3492541539999 meters Centerline goodness : 0.999046 Centerline is valid? [True, True] Translation: X:780.69, Y:10.15, Z:12.09 [[ 9.97617195e-01 -6.72476464e-02 -1.54170993e-02 7.80692835e+02] [ 6.72541662e-02 9.97735871e-01 -9.57651370e-05 1.01495429e+01] [ 1.53886329e-02 -9.41327208e-04 9.99881145e-01 1.20909749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.3792541539999 meters Centerline goodness : 0.999046 Centerline is valid? [True, True] Translation: X:780.73, Y:10.15, Z:12.09 [[ 9.97816590e-01 -6.42212277e-02 -1.54171062e-02 7.80725374e+02] [ 6.42274049e-02 9.97935284e-01 -9.46343230e-05 1.01503266e+01] [ 1.53913518e-02 -8.95773025e-04 9.99881145e-01 1.20899220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.4092541539999 meters Centerline goodness : 0.998981 Centerline is valid? [True, True] Translation: X:780.76, Y:10.15, Z:12.09 [[ 9.97975397e-01 -6.17042946e-02 -1.54171229e-02 7.80757647e+02] [ 6.17102157e-02 9.98094104e-01 -9.18262138e-05 1.01517103e+01] [ 1.53934056e-02 -8.59753678e-04 9.99881145e-01 1.20919807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.4392541539999 meters Centerline goodness : 0.998854 Centerline is valid? [True, True] Translation: X:780.79, Y:10.15, Z:12.09 [[ 9.98302814e-01 -5.61587426e-02 -1.54171296e-02 7.80789755e+02] [ 5.61640215e-02 9.98421552e-01 -9.06927099e-05 1.01543996e+01] [ 1.53978876e-02 -7.75349210e-04 9.99881145e-01 1.20947860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.4692541539999 meters Centerline goodness : 0.999127 Centerline is valid? [True, True] Translation: X:780.82, Y:10.16, Z:12.10 [[ 9.98636889e-01 -4.98665766e-02 -1.54171362e-02 7.80821637e+02] [ 4.98711247e-02 9.98755657e-01 -8.95528034e-05 1.01564245e+01] [ 1.54024177e-02 -6.79439190e-04 9.99881145e-01 1.20952770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.4992541539999 meters Centerline goodness : 0.999021 Centerline is valid? [True, True] Translation: X:780.85, Y:10.16, Z:12.09 [[ 9.98818788e-01 -4.60797279e-02 -1.54171443e-02 7.80853216e+02] [ 4.60838474e-02 9.98937571e-01 -8.81353954e-05 1.01569373e+01] [ 1.54048260e-02 -6.22450038e-04 9.99881145e-01 1.20937188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.5292541539999 meters Centerline goodness : 0.999084 Centerline is valid? [True, True] Translation: X:780.89, Y:10.16, Z:12.09 [[ 9.98969597e-01 -4.26855412e-02 -1.54171491e-02 7.80885047e+02] [ 4.26892701e-02 9.99088394e-01 -8.72967136e-05 1.01577158e+01] [ 1.54068210e-02 -5.70940078e-04 9.99881145e-01 1.20933039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.5592541539999 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:780.92, Y:10.16, Z:12.10 [[ 9.99221521e-01 -3.63133943e-02 -1.54171553e-02 7.80917620e+02] [ 3.63163826e-02 9.99340339e-01 -8.61836485e-05 1.01595509e+01] [ 1.54101148e-02 -4.73778754e-04 9.99881145e-01 1.20953952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.589254154 meters Centerline goodness : 0.999190 Centerline is valid? [True, True] Translation: X:780.95, Y:10.16, Z:12.09 [[ 9.99392499e-01 -3.12561147e-02 -1.54171615e-02 7.80947092e+02] [ 3.12585190e-02 9.99511330e-01 -8.50576873e-05 1.01601304e+01] [ 1.54122862e-02 -3.96911621e-04 9.99881145e-01 1.20943914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.6192541539999 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:780.98, Y:10.16, Z:12.10 [[ 9.99587507e-01 -2.42309602e-02 -1.54167289e-02 7.80979119e+02] [ 2.42313111e-02 9.99706365e-01 -1.64065428e-04 1.01618539e+01] [ 1.54161775e-02 -2.09569802e-04 9.99881142e-01 1.20970237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.6492541539999 meters Centerline goodness : 0.998933 Centerline is valid? [True, True] Translation: X:781.01, Y:10.16, Z:12.10 [[ 9.99687637e-01 -1.96707879e-02 -1.54171652e-02 7.81009062e+02] [ 1.96718311e-02 9.99806487e-01 -8.39964371e-05 1.01626268e+01] [ 1.54158341e-02 -2.19313671e-04 9.99881145e-01 1.20974925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.6792541539999 meters Centerline goodness : 0.998932 Centerline is valid? [True, True] Translation: X:781.04, Y:10.16, Z:12.10 [[ 9.99830030e-01 -1.01105009e-02 -1.54171667e-02 7.81039066e+02] [ 1.01104119e-02 9.99948885e-01 -8.37168472e-05 1.01641209e+01] [ 1.54172251e-02 -7.21712878e-05 9.99881145e-01 1.21003277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.7092541539998 meters Centerline goodness : 0.998973 Centerline is valid? [True, True] Translation: X:781.07, Y:10.16, Z:12.10 [[ 9.99863756e-01 -5.89748596e-03 -1.54171637e-02 7.81066466e+02] [ 5.89688748e-03 9.99982610e-01 -8.42786529e-05 1.01649859e+01] [ 1.54173926e-02 -6.64610891e-06 9.99881145e-01 1.21012905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.7392541539999 meters Centerline goodness : 0.998845 Centerline is valid? [True, True] Translation: X:781.09, Y:10.17, Z:12.10 [[ 9.99878986e-01 2.07972939e-03 -1.54171379e-02 7.81094577e+02] [-2.08134499e-03 9.99997830e-01 -8.87480767e-05 1.01652831e+01] [ 1.54169199e-02 1.20825720e-04 9.99881145e-01 1.21026935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.7692541539999 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:781.12, Y:10.17, Z:12.10 [[ 9.99867930e-01 5.14147703e-03 -1.54171101e-02 7.81121431e+02] [-5.14352745e-03 9.99986768e-01 -9.33471362e-05 1.01651820e+01] [ 1.54164261e-02 1.72633137e-04 9.99881145e-01 1.21033383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.7992541539999 meters Centerline goodness : 0.998995 Centerline is valid? [True, True] Translation: X:781.15, Y:10.16, Z:12.10 [[ 9.99851098e-01 7.75212107e-03 -1.54170978e-02 7.81148508e+02] [-7.75451243e-03 9.99969929e-01 -9.53367777e-05 1.01645470e+01] [ 1.54158951e-02 2.14874658e-04 9.99881145e-01 1.21023467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.8292541539998 meters Centerline goodness : 0.998908 Centerline is valid? [True, True] Translation: X:781.18, Y:10.16, Z:12.10 [[ 9.99848036e-01 8.13747199e-03 -1.54170854e-02 7.81176137e+02] [-8.13993940e-03 9.99966865e-01 -9.72989872e-05 1.01646594e+01] [ 1.54157828e-02 2.22778342e-04 9.99881145e-01 1.21043836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.8592541539999 meters Centerline goodness : 0.998954 Centerline is valid? [True, True] Translation: X:781.20, Y:10.16, Z:12.10 [[ 9.99855616e-01 7.14565681e-03 -1.54170745e-02 7.81204573e+02] [-7.14803249e-03 9.99974448e-01 -9.89947112e-05 1.01620095e+01] [ 1.54159732e-02 2.09182168e-04 9.99881145e-01 1.21045055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.8892541539999 meters Centerline goodness : 0.998958 Centerline is valid? [True, True] Translation: X:781.23, Y:10.16, Z:12.10 [[ 9.99879744e-01 1.67695469e-03 -1.54170671e-02 7.81232189e+02] [-1.67869798e-03 9.99998586e-01 -1.00134344e-04 1.01579293e+01] [ 1.54168774e-02 1.26002902e-04 9.99881145e-01 1.21038908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.9192541539999 meters Centerline goodness : 0.998895 Centerline is valid? [True, True] Translation: X:781.26, Y:10.16, Z:12.10 [[ 9.99878565e-01 -2.27353986e-03 -1.54170539e-02 7.81260170e+02] [ 2.27223536e-03 9.99997413e-01 -1.02129901e-04 1.01554334e+01] [ 1.54172462e-02 6.70863243e-05 9.99881145e-01 1.21032214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.9492541539998 meters Centerline goodness : 0.998854 Centerline is valid? [True, True] Translation: X:781.29, Y:10.15, Z:12.10 [[ 9.99807408e-01 -1.21434029e-02 -1.54170426e-02 7.81287597e+02] [ 1.21432457e-02 9.99926263e-01 -1.03810772e-04 1.01501982e+01] [ 1.54171664e-02 -8.34221571e-05 9.99881145e-01 1.21035593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.9792541539999 meters Centerline goodness : 0.998858 Centerline is valid? [True, True] Translation: X:781.32, Y:10.15, Z:12.10 [[ 9.99732015e-01 -1.72688293e-02 -1.54170321e-02 7.81315279e+02] [ 1.72692577e-02 9.99850870e-01 -1.05348075e-04 1.01476226e+01] [ 1.54165522e-02 -1.60920857e-04 9.99881145e-01 1.21038933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.0092541539999 meters Centerline goodness : 0.998688 Centerline is valid? [True, True] Translation: X:781.34, Y:10.15, Z:12.10 [[ 9.99631621e-01 -2.23368980e-02 -1.54170225e-02 7.81343940e+02] [ 2.23379077e-02 9.99750472e-01 -1.06724017e-04 1.01450176e+01] [ 1.54155595e-02 -2.37699325e-04 9.99881145e-01 1.21042972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.0392541539999 meters Centerline goodness : 0.998649 Centerline is valid? [True, True] Translation: X:781.37, Y:10.14, Z:12.10 [[ 9.99422917e-01 -3.02679472e-02 -1.54170149e-02 7.81373700e+02] [ 3.02698831e-02 9.99541756e-01 -1.07822264e-04 1.01389411e+01] [ 1.54132137e-02 -3.58911196e-04 9.99881145e-01 1.21027795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.0692541539999 meters Centerline goodness : 0.998714 Centerline is valid? [True, True] Translation: X:781.41, Y:10.14, Z:12.11 [[ 9.99282907e-01 -3.45830532e-02 -1.54170110e-02 7.81405048e+02] [ 3.45854937e-02 9.99401737e-01 -1.08369132e-04 1.01368746e+01] [ 1.54115353e-02 -4.24913517e-04 9.99881145e-01 1.21057491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.0992541539999 meters Centerline goodness : 0.998862 Centerline is valid? [True, True] Translation: X:781.44, Y:10.13, Z:12.11 [[ 9.99171774e-01 -3.76574370e-02 -1.54170150e-02 7.81436389e+02] [ 3.76602518e-02 9.99290595e-01 -1.07804335e-04 1.01341954e+01] [ 1.54101377e-02 -4.72893618e-04 9.99881145e-01 1.21053194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.1292541539999 meters Centerline goodness : 0.998760 Centerline is valid? [True, True] Translation: X:781.47, Y:10.13, Z:12.11 [[ 9.98907271e-01 -4.41200588e-02 -1.54170275e-02 7.81467708e+02] [ 4.41236702e-02 9.99026071e-01 -1.05987255e-04 1.01295856e+01] [ 1.54066885e-02 -5.74384396e-04 9.99881145e-01 1.21067116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.1592541539999 meters Centerline goodness : 0.999077 Centerline is valid? [True, True] Translation: X:781.50, Y:10.13, Z:12.11 [[ 9.98781444e-01 -4.68822264e-02 -1.54170332e-02 7.81499136e+02] [ 4.68861792e-02 9.98900233e-01 -1.05151250e-04 1.01272312e+01] [ 1.54050077e-02 -6.17822663e-04 9.99881145e-01 1.21073180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.1892541539999 meters Centerline goodness : 0.998848 Centerline is valid? [True, True] Translation: X:781.53, Y:10.12, Z:12.11 [[ 9.98531766e-01 -5.19290605e-02 -1.54170386e-02 7.81530241e+02] [ 5.19336259e-02 9.98650533e-01 -1.04347431e-04 1.01224354e+01] [ 1.54016525e-02 -6.96468491e-04 9.99881145e-01 1.21051571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.2192541539999 meters Centerline goodness : 0.998933 Centerline is valid? [True, True] Translation: X:781.56, Y:10.12, Z:12.11 [[ 9.98342432e-01 -5.54500015e-02 -1.54170439e-02 7.81562896e+02] [ 5.54549980e-02 9.98461182e-01 -1.03556216e-04 1.01210938e+01] [ 1.53990621e-02 -7.51567574e-04 9.99881145e-01 1.21079819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.2492541539999 meters Centerline goodness : 0.998807 Centerline is valid? [True, True] Translation: X:781.60, Y:10.12, Z:12.11 [[ 9.98065968e-01 -6.02215717e-02 -1.54170509e-02 7.81595413e+02] [ 6.02271518e-02 9.98184692e-01 -1.02510375e-04 1.01168642e+01] [ 1.53952375e-02 -8.26212947e-04 9.99881145e-01 1.21053889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.2792541539999 meters Centerline goodness : 0.998703 Centerline is valid? [True, True] Translation: X:781.63, Y:10.12, Z:12.11 [[ 9.97897675e-01 -6.29487524e-02 -1.54170583e-02 7.81627080e+02] [ 6.29546744e-02 9.98016382e-01 -1.01379690e-04 1.01156659e+01] [ 1.53928585e-02 -8.69409329e-04 9.99881145e-01 1.21065842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.3092541539999 meters Centerline goodness : 0.998996 Centerline is valid? [True, True] Translation: X:781.66, Y:10.11, Z:12.11 [[ 9.97675971e-01 -6.63699571e-02 -1.54170675e-02 7.81659218e+02] [ 6.63763078e-02 9.97794656e-01 -9.99682365e-05 1.01135487e+01] [ 1.53897024e-02 -9.23592108e-04 9.99881145e-01 1.21074756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.339254154 meters Centerline goodness : 0.998703 Centerline is valid? [True, True] Translation: X:781.69, Y:10.11, Z:12.11 [[ 9.97661869e-01 -6.65815907e-02 -1.54170746e-02 7.81691608e+02] [ 6.65879837e-02 9.97780552e-01 -9.88556480e-05 1.01122919e+01] [ 1.53894392e-02 -9.27967401e-04 9.99881145e-01 1.21058916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.3692541539999 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:781.72, Y:10.11, Z:12.11 [[ 9.97621442e-01 -6.71846134e-02 -1.54170834e-02 7.81724760e+02] [ 6.71910994e-02 9.97740120e-01 -9.74688175e-05 1.01122801e+01] [ 1.53887910e-02 -9.38653799e-04 9.99881145e-01 1.21089820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.3992541539999 meters Centerline goodness : 0.998933 Centerline is valid? [True, True] Translation: X:781.76, Y:10.11, Z:12.11 [[ 9.97674036e-01 -6.63990369e-02 -1.54170940e-02 7.81757432e+02] [ 6.64054560e-02 9.97792717e-01 -9.57483849e-05 1.01125254e+01] [ 1.53894218e-02 -9.28253482e-04 9.99881145e-01 1.21096074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.4292541539999 meters Centerline goodness : 0.998870 Centerline is valid? [True, True] Translation: X:781.79, Y:10.11, Z:12.11 [[ 9.97757938e-01 -6.51261122e-02 -1.54171046e-02 7.81789505e+02] [ 6.51324065e-02 9.97876626e-01 -9.40198351e-05 1.01126933e+01] [ 1.53904915e-02 -9.10344086e-04 9.99881145e-01 1.21093246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.4592541539998 meters Centerline goodness : 0.998995 Centerline is valid? [True, True] Translation: X:781.82, Y:10.11, Z:12.11 [[ 9.97958678e-01 -6.19741031e-02 -1.54171132e-02 7.81822012e+02] [ 6.19800445e-02 9.98077385e-01 -9.25891506e-05 1.01135476e+01] [ 1.53932101e-02 -8.63153215e-04 9.99881145e-01 1.21107459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.4892541539999 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:781.85, Y:10.11, Z:12.11 [[ 9.98097257e-01 -5.97007321e-02 -1.54171215e-02 7.81854567e+02] [ 5.97064249e-02 9.98215976e-01 -9.11743369e-05 1.01139970e+01] [ 1.53950602e-02 -8.29500354e-04 9.99881145e-01 1.21104195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.5192541539999 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:781.89, Y:10.12, Z:12.11 [[ 9.98313032e-01 -5.59768080e-02 -1.54171314e-02 7.81887093e+02] [ 5.59820839e-02 9.98431769e-01 -8.94843792e-05 1.01153961e+01] [ 1.53979628e-02 -7.73749720e-04 9.99881145e-01 1.21129623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.5492541539999 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:781.92, Y:10.12, Z:12.11 [[ 9.98442503e-01 -5.36179021e-02 -1.54171378e-02 7.81919595e+02] [ 5.36229148e-02 9.98561253e-01 -8.83578126e-05 1.01159919e+01] [ 1.53996940e-02 -7.38491671e-04 9.99881145e-01 1.21136183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.5792541539998 meters Centerline goodness : 0.999392 Centerline is valid? [True, True] Translation: X:781.95, Y:10.12, Z:12.11 [[ 9.98671744e-01 -4.91636042e-02 -1.54171442e-02 7.81950664e+02] [ 4.91681044e-02 9.98790514e-01 -8.72379761e-05 1.01179237e+01] [ 1.54027863e-02 -6.70909651e-04 9.99881145e-01 1.21144474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.6092541539999 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:781.98, Y:10.12, Z:12.11 [[ 9.98793308e-01 -4.66287320e-02 -1.54171488e-02 7.81983202e+02] [ 4.66329436e-02 9.98912089e-01 -8.64023183e-05 1.01184193e+01] [ 1.54044052e-02 -6.32648974e-04 9.99881145e-01 1.21148501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.6392541539999 meters Centerline goodness : 0.999287 Centerline is valid? [True, True] Translation: X:782.02, Y:10.12, Z:12.11 [[ 9.98908477e-01 -4.40926946e-02 -1.54171549e-02 7.82015236e+02] [ 4.40966216e-02 9.99027267e-01 -8.52979222e-05 1.01190581e+01] [ 1.54059192e-02 -5.94639630e-04 9.99881145e-01 1.21140255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.6692541539999 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:782.05, Y:10.12, Z:12.11 [[ 9.99080919e-01 -3.99953441e-02 -1.54171611e-02 7.82046461e+02] [ 3.99988014e-02 9.99199724e-01 -8.41629487e-05 1.01209870e+01] [ 1.54081893e-02 -5.32582370e-04 9.99881145e-01 1.21144836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.6992541539998 meters Centerline goodness : 0.999475 Centerline is valid? [True, True] Translation: X:782.08, Y:10.12, Z:12.12 [[ 9.99165158e-01 -3.78324892e-02 -1.54171657e-02 7.82078880e+02] [ 3.78357023e-02 9.99283970e-01 -8.33199528e-05 1.01217533e+01] [ 1.54092787e-02 -5.00068897e-04 9.99881145e-01 1.21156259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.7292541539999 meters Centerline goodness : 0.999329 Centerline is valid? [True, True] Translation: X:782.11, Y:10.12, Z:12.11 [[ 9.99241623e-01 -3.57559725e-02 -1.54171715e-02 7.82111044e+02] [ 3.57589552e-02 9.99360441e-01 -8.22406561e-05 1.01226520e+01] [ 1.54102519e-02 -4.69123657e-04 9.99881145e-01 1.21148296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.7592541539999 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:782.14, Y:10.13, Z:12.12 [[ 9.99360780e-01 -3.22543408e-02 -1.54171771e-02 7.82141894e+02] [ 3.22569237e-02 9.99479607e-01 -8.11722346e-05 1.01250707e+01] [ 1.54117722e-02 -4.16190357e-04 9.99881145e-01 1.21177380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.7892541539999 meters Centerline goodness : 0.999432 Centerline is valid? [True, True] Translation: X:782.17, Y:10.13, Z:12.12 [[ 9.99424432e-01 -3.02177953e-02 -1.54171800e-02 7.82173681e+02] [ 3.02201445e-02 9.99543264e-01 -8.06218268e-05 1.01260907e+01] [ 1.54125746e-02 -3.85333982e-04 9.99881145e-01 1.21187262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.8192541539999 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:782.21, Y:10.13, Z:12.12 [[ 9.99537027e-01 -2.62305446e-02 -1.54171829e-02 7.82205189e+02] [ 2.62324284e-02 9.99655867e-01 -8.00623199e-05 1.01281091e+01] [ 1.54139774e-02 -3.24404892e-04 9.99881145e-01 1.21182639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.8492541539999 meters Centerline goodness : 0.999621 Centerline is valid? [True, True] Translation: X:782.24, Y:10.13, Z:12.12 [[ 9.99578726e-01 -2.45902423e-02 -1.54171858e-02 7.82235294e+02] [ 2.45919396e-02 9.99697569e-01 -7.95019787e-05 1.01296273e+01] [ 1.54144781e-02 -2.99670015e-04 9.99881145e-01 1.21206846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.8792541539999 meters Centerline goodness : 0.999621 Centerline is valid? [True, True] Translation: X:782.27, Y:10.13, Z:12.12 [[ 9.99578726e-01 -2.45902423e-02 -1.54171858e-02 7.82266289e+02] [ 2.45919396e-02 9.99697569e-01 -7.95019787e-05 1.01297872e+01] [ 1.54144781e-02 -2.99670015e-04 9.99881145e-01 1.21211626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.9092541539999 meters Centerline goodness : 0.999389 Centerline is valid? [True, True] Translation: X:782.30, Y:10.13, Z:12.12 [[ 9.99618847e-01 -2.29013492e-02 -1.54171858e-02 7.82296006e+02] [ 2.29028458e-02 9.99737692e-01 -7.95019787e-05 1.01310911e+01] [ 1.54149624e-02 -2.73625752e-04 9.99881145e-01 1.21212658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.9392541539999 meters Centerline goodness : 0.999579 Centerline is valid? [True, True] Translation: X:782.33, Y:10.13, Z:12.12 [[ 9.99680774e-01 -2.00164945e-02 -1.54171843e-02 7.82325191e+02] [ 2.00176438e-02 9.99799624e-01 -7.97793139e-05 1.01322660e+01] [ 1.54156920e-02 -2.28861858e-04 9.99881145e-01 1.21218689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.9692541539999 meters Centerline goodness : 0.999390 Centerline is valid? [True, True] Translation: X:782.35, Y:10.13, Z:12.12 [[ 9.99687797e-01 -1.96626307e-02 -1.54171813e-02 7.82353411e+02] [ 1.96637292e-02 9.99806647e-01 -8.03509726e-05 1.01327900e+01] [ 1.54157803e-02 -2.22833392e-04 9.99881145e-01 1.21228812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.9992541539999 meters Centerline goodness : 0.999452 Centerline is valid? [True, True] Translation: X:782.38, Y:10.13, Z:12.12 [[ 9.99699627e-01 -1.90517046e-02 -1.54171769e-02 7.82382463e+02] [ 1.90527173e-02 9.99818477e-01 -8.12013105e-05 1.01330722e+01] [ 1.54159253e-02 -2.12562192e-04 9.99881145e-01 1.21230752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.0292541539999 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:782.41, Y:10.13, Z:12.12 [[ 9.99697917e-01 -1.91411994e-02 -1.54171549e-02 7.82410664e+02] [ 1.91421615e-02 9.99816768e-01 -8.51722479e-05 1.01331928e+01] [ 1.54159603e-02 -2.09971151e-04 9.99881145e-01 1.21247810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.0592541539999 meters Centerline goodness : 0.999452 Centerline is valid? [True, True] Translation: X:782.44, Y:10.13, Z:12.13 [[ 9.99674694e-01 -2.03179149e-02 -1.54171502e-02 7.82439317e+02] [ 2.03190039e-02 9.99793544e-01 -8.60138580e-05 1.01329404e+01] [ 1.54157149e-02 -2.27275259e-04 9.99881145e-01 1.21253178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.089254154 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:782.47, Y:10.13, Z:12.13 [[ 9.99650433e-01 -2.14784347e-02 -1.54171275e-02 7.82468452e+02] [ 2.14796017e-02 9.99769283e-01 -8.99108676e-05 1.01327317e+01] [ 1.54155016e-02 -2.41274320e-04 9.99881145e-01 1.21259756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.1192541539999 meters Centerline goodness : 0.999642 Centerline is valid? [True, True] Translation: X:782.50, Y:10.13, Z:12.12 [[ 9.99618484e-01 -2.29172346e-02 -1.54171039e-02 7.82497719e+02] [ 2.29185128e-02 9.99737332e-01 -9.37918129e-05 1.01311638e+01] [ 1.54152038e-02 -2.59581063e-04 9.99881145e-01 1.21248481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.1492541539999 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:782.53, Y:10.13, Z:12.13 [[ 9.99582572e-01 -2.44334706e-02 -1.54171005e-02 7.82526719e+02] [ 2.44349204e-02 9.99701418e-01 -9.43515771e-05 1.01311411e+01] [ 1.54148025e-02 -2.82403430e-04 9.99881145e-01 1.21263097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.1792541539999 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:782.56, Y:10.13, Z:12.13 [[ 9.99554126e-01 -2.55707469e-02 -1.54170988e-02 7.82556696e+02] [ 2.55723277e-02 9.99672970e-01 -9.46292923e-05 1.01306330e+01] [ 1.54144766e-02 -2.99664002e-04 9.99881145e-01 1.21256890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.2092541539998 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:782.59, Y:10.13, Z:12.12 [[ 9.99508177e-01 -2.73078310e-02 -1.54170988e-02 7.82587341e+02] [ 2.73096184e-02 9.99627018e-01 -9.46175013e-05 1.01290269e+01] [ 1.54139323e-02 -3.26464120e-04 9.99881145e-01 1.21224352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.2392541539999 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:782.62, Y:10.13, Z:12.13 [[ 9.99458789e-01 -2.90592996e-02 -1.54170988e-02 7.82617436e+02] [ 2.90612953e-02 9.99577627e-01 -9.46175013e-05 1.01292274e+01] [ 1.54133366e-02 -3.53474569e-04 9.99881145e-01 1.21260108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.2692541539999 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:782.65, Y:10.13, Z:12.13 [[ 9.99398168e-01 -3.10743590e-02 -1.54170988e-02 7.82647663e+02] [ 3.10765943e-02 9.99517002e-01 -9.46175013e-05 1.01286084e+01] [ 1.54125926e-02 -3.84550369e-04 9.99881145e-01 1.21260704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.2992541539999 meters Centerline goodness : 0.999537 Centerline is valid? [True, True] Translation: X:782.68, Y:10.13, Z:12.13 [[ 9.99350859e-01 -3.25603157e-02 -1.54171005e-02 7.82678642e+02] [ 3.25627318e-02 9.99469689e-01 -9.43460692e-05 1.01287583e+01] [ 1.54119966e-02 -4.07738084e-04 9.99881145e-01 1.21269480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.3292541539998 meters Centerline goodness : 0.999432 Centerline is valid? [True, True] Translation: X:782.71, Y:10.13, Z:12.13 [[ 9.99274971e-01 -3.48115678e-02 -1.54171039e-02 7.82708689e+02] [ 3.48142603e-02 9.99393796e-01 -9.37901233e-05 1.01280697e+01] [ 1.54110229e-02 -4.43012944e-04 9.99881145e-01 1.21270569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.3592541539999 meters Centerline goodness : 0.999390 Centerline is valid? [True, True] Translation: X:782.74, Y:10.13, Z:12.13 [[ 9.99233137e-01 -3.59923769e-02 -1.54171055e-02 7.82739670e+02] [ 3.59952140e-02 9.99351958e-01 -9.35141222e-05 1.01280448e+01] [ 1.54104804e-02 -4.61499603e-04 9.99881145e-01 1.21279843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.3892541539999 meters Centerline goodness : 0.999349 Centerline is valid? [True, True] Translation: X:782.77, Y:10.13, Z:12.12 [[ 9.99199486e-01 -3.69147649e-02 -1.54171089e-02 7.82771039e+02] [ 3.69177204e-02 9.99318304e-01 -9.29525228e-05 1.01277083e+01] [ 1.54100305e-02 -4.76286404e-04 9.99881145e-01 1.21249785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.4192541539999 meters Centerline goodness : 0.999600 Centerline is valid? [True, True] Translation: X:782.80, Y:10.13, Z:12.13 [[ 9.99091957e-01 -3.97186873e-02 -1.54171140e-02 7.82802826e+02] [ 3.97219891e-02 9.99210766e-01 -9.21122279e-05 1.01277344e+01] [ 1.54086048e-02 -5.20369846e-04 9.99881145e-01 1.21287273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.4492541539998 meters Centerline goodness : 0.999431 Centerline is valid? [True, True] Translation: X:782.84, Y:10.13, Z:12.13 [[ 9.99056550e-01 -4.05995323e-02 -1.54171205e-02 7.82835519e+02] [ 4.06029559e-02 9.99175356e-01 -9.10042173e-05 1.01273593e+01] [ 1.54081016e-02 -5.35062304e-04 9.99881145e-01 1.21274413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.4792541539999 meters Centerline goodness : 0.999243 Centerline is valid? [True, True] Translation: X:782.87, Y:10.13, Z:12.13 [[ 9.98993364e-01 -4.21256549e-02 -1.54171270e-02 7.82867166e+02] [ 4.21292772e-02 9.99112164e-01 -8.98940943e-05 1.01274258e+01] [ 1.54072259e-02 -5.59708812e-04 9.99881145e-01 1.21279175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.5092541539999 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:782.90, Y:10.13, Z:12.13 [[ 9.98949260e-01 -4.31588718e-02 -1.54171317e-02 7.82899660e+02] [ 4.31626296e-02 9.99068056e-01 -8.90667800e-05 1.01282331e+01] [ 1.54066079e-02 -5.76470754e-04 9.99881145e-01 1.21314465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.5392541539999 meters Centerline goodness : 0.999369 Centerline is valid? [True, True] Translation: X:782.93, Y:10.13, Z:12.13 [[ 9.98936556e-01 -4.34519072e-02 -1.54171381e-02 7.82931131e+02] [ 4.34557169e-02 9.99055350e-01 -8.79612171e-05 1.01286095e+01] [ 1.54063963e-02 -5.82095112e-04 9.99881145e-01 1.21312975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.5692541539999 meters Centerline goodness : 0.999326 Centerline is valid? [True, True] Translation: X:782.96, Y:10.13, Z:12.13 [[ 9.98943986e-01 -4.32807625e-02 -1.54171427e-02 7.82962883e+02] [ 4.32845647e-02 9.99062780e-01 -8.71369361e-05 1.01294536e+01] [ 1.54064648e-02 -5.80279392e-04 9.99881145e-01 1.21314087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.5992541539999 meters Centerline goodness : 0.999009 Centerline is valid? [True, True] Translation: X:782.99, Y:10.13, Z:12.13 [[ 9.98978741e-01 -4.24710058e-02 -1.54171490e-02 7.82994425e+02] [ 4.24747290e-02 9.99097538e-01 -8.60083104e-05 1.01296324e+01] [ 1.54068885e-02 -5.68918752e-04 9.99881145e-01 1.21291784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.6292541539999 meters Centerline goodness : 0.999473 Centerline is valid? [True, True] Translation: X:783.03, Y:10.13, Z:12.13 [[ 9.99016859e-01 -4.15647352e-02 -1.54171537e-02 7.83026092e+02] [ 4.15683636e-02 9.99135658e-01 -8.51672985e-05 1.01315883e+01] [ 1.54073679e-02 -5.55782281e-04 9.99881145e-01 1.21336283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.6592541539999 meters Centerline goodness : 0.999537 Centerline is valid? [True, True] Translation: X:783.06, Y:10.13, Z:12.13 [[ 9.99072559e-01 -4.02036525e-02 -1.54171599e-02 7.83056948e+02] [ 4.02071368e-02 9.99191363e-01 -8.40171475e-05 1.01328314e+01] [ 1.54080708e-02 -5.35940632e-04 9.99881145e-01 1.21338223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.6892541539999 meters Centerline goodness : 0.999284 Centerline is valid? [True, True] Translation: X:783.09, Y:10.13, Z:12.13 [[ 9.99162558e-01 -3.79011148e-02 -1.54171645e-02 7.83089562e+02] [ 3.79043385e-02 9.99281369e-01 -8.31606696e-05 1.01340224e+01] [ 1.54092372e-02 -5.01286396e-04 9.99881145e-01 1.21314987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.7192541539999 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:783.12, Y:10.14, Z:12.14 [[ 9.99278357e-01 -3.47141939e-02 -1.54171704e-02 7.83121573e+02] [ 3.47170556e-02 9.99397178e-01 -8.20592858e-05 1.01378389e+01] [ 1.54107252e-02 -4.53238694e-04 9.99881145e-01 1.21357631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.7492541539999 meters Centerline goodness : 0.999284 Centerline is valid? [True, True] Translation: X:783.15, Y:10.14, Z:12.14 [[ 9.99349534e-01 -3.26009101e-02 -1.54171763e-02 7.83154015e+02] [ 3.26035379e-02 9.99468360e-01 -8.09316258e-05 1.01396834e+01] [ 1.54116184e-02 -4.21775510e-04 9.99881145e-01 1.21359849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.7792541539999 meters Centerline goodness : 0.999114 Centerline is valid? [True, True] Translation: X:783.19, Y:10.14, Z:12.14 [[ 9.99472183e-01 -2.85948525e-02 -1.54171822e-02 7.83185571e+02] [ 2.85970215e-02 9.99591018e-01 -7.97987322e-05 1.01427942e+01] [ 1.54131587e-02 -3.61128877e-04 9.99881145e-01 1.21355407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.8092541539999 meters Centerline goodness : 0.998966 Centerline is valid? [True, True] Translation: X:783.22, Y:10.14, Z:12.14 [[ 9.99517006e-01 -2.69826937e-02 -1.54171865e-02 7.83217229e+02] [ 2.69846839e-02 9.99635844e-01 -7.89552802e-05 1.01446826e+01] [ 1.54137027e-02 -3.37110760e-04 9.99881145e-01 1.21363436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.839254154 meters Centerline goodness : 0.999069 Centerline is valid? [True, True] Translation: X:783.25, Y:10.15, Z:12.14 [[ 9.99551169e-01 -2.56860038e-02 -1.54171893e-02 7.83248878e+02] [ 2.56878484e-02 9.99670010e-01 -7.84056215e-05 1.01463311e+01] [ 1.54141157e-02 -3.17663991e-04 9.99881145e-01 1.21382947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.8692541539999 meters Centerline goodness : 0.998964 Centerline is valid? [True, True] Translation: X:783.28, Y:10.15, Z:12.14 [[ 9.99587616e-01 -2.42261837e-02 -1.54171921e-02 7.83279582e+02] [ 2.42278634e-02 9.99706459e-01 -7.78429948e-05 1.01496710e+01] [ 1.54145524e-02 -2.95714731e-04 9.99881145e-01 1.21397357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.8992541539999 meters Centerline goodness : 0.998921 Centerline is valid? [True, True] Translation: X:783.31, Y:10.15, Z:12.14 [[ 9.99588387e-01 -2.41943464e-02 -1.54171968e-02 7.83309669e+02] [ 2.41960365e-02 9.99707230e-01 -7.69168788e-05 1.01509926e+01] [ 1.54145440e-02 -2.96149838e-04 9.99881145e-01 1.21406320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.9292541539999 meters Centerline goodness : 0.998559 Centerline is valid? [True, True] Translation: X:783.34, Y:10.15, Z:12.14 [[ 9.99562247e-01 -2.52512098e-02 -1.54171968e-02 7.83339796e+02] [ 2.52530257e-02 9.99681089e-01 -7.69168788e-05 1.01521934e+01] [ 1.54142223e-02 -3.12447657e-04 9.99881145e-01 1.21401662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.9592541539998 meters Centerline goodness : 0.998706 Centerline is valid? [True, True] Translation: X:783.37, Y:10.15, Z:12.14 [[ 9.99511980e-01 -2.71682257e-02 -1.54171968e-02 7.83369940e+02] [ 2.71702695e-02 9.99630817e-01 -7.69168787e-05 1.01529489e+01] [ 1.54135947e-02 -3.42010049e-04 9.99881145e-01 1.21422353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.9892541539999 meters Centerline goodness : 0.998750 Centerline is valid? [True, True] Translation: X:783.40, Y:10.15, Z:12.14 [[ 9.99367702e-01 -3.20391390e-02 -1.54171968e-02 7.83399956e+02] [ 3.20417619e-02 9.99486528e-01 -7.69168787e-05 1.01533497e+01] [ 1.54117448e-02 -4.17125903e-04 9.99881145e-01 1.21443928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.0192541539999 meters Centerline goodness : 0.998581 Centerline is valid? [True, True] Translation: X:783.43, Y:10.15, Z:12.14 [[ 9.99284804e-01 -3.45281028e-02 -1.54171981e-02 7.83432403e+02] [ 3.45310259e-02 9.99403623e-01 -7.66402360e-05 1.01530225e+01] [ 1.54106499e-02 -4.55786245e-04 9.99881145e-01 1.21447995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.0492541539999 meters Centerline goodness : 0.998815 Centerline is valid? [True, True] Translation: X:783.46, Y:10.15, Z:12.14 [[ 9.99197466e-01 -3.69693569e-02 -1.54172036e-02 7.83463999e+02] [ 3.69725875e-02 9.99316277e-01 -7.55255088e-05 1.01526562e+01] [ 1.54094546e-02 -4.94549012e-04 9.99881145e-01 1.21434905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.0792541539998 meters Centerline goodness : 0.998838 Centerline is valid? [True, True] Translation: X:783.50, Y:10.15, Z:12.14 [[ 9.98970793e-01 -4.26575190e-02 -1.54172076e-02 7.83495796e+02] [ 4.26614387e-02 9.99089584e-01 -7.46932936e-05 1.01523110e+01] [ 1.54063578e-02 -5.83103840e-04 9.99881145e-01 1.21429868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.1092541539999 meters Centerline goodness : 0.998859 Centerline is valid? [True, True] Translation: X:783.53, Y:10.15, Z:12.14 [[ 9.98857113e-01 -4.52413159e-02 -1.54172132e-02 7.83527432e+02] [ 4.52455608e-02 9.98975893e-01 -7.35360377e-05 1.01520157e+01] [ 1.54047511e-02 -6.24108461e-04 9.99881145e-01 1.21429591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.1392541539999 meters Centerline goodness : 0.998862 Centerline is valid? [True, True] Translation: X:783.56, Y:10.15, Z:12.15 [[ 9.98590128e-01 -5.07943534e-02 -1.54172172e-02 7.83559494e+02] [ 5.07992719e-02 9.98708881e-01 -7.26734561e-05 1.01515310e+01] [ 1.54010032e-02 -7.10612414e-04 9.99881145e-01 1.21457045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.1692541539999 meters Centerline goodness : 0.998943 Centerline is valid? [True, True] Translation: X:783.59, Y:10.15, Z:12.15 [[ 9.98469836e-01 -5.31064578e-02 -1.54172226e-02 7.83591450e+02] [ 5.31116690e-02 9.98588577e-01 -7.15205194e-05 1.01513023e+01] [ 1.53992605e-02 -7.47423341e-04 9.99881145e-01 1.21462098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.1992541539998 meters Centerline goodness : 0.998565 Centerline is valid? [True, True] Translation: X:783.62, Y:10.15, Z:12.15 [[ 9.98250283e-01 -5.70848619e-02 -1.54172291e-02 7.83624314e+02] [ 5.70905684e-02 9.98369001e-01 -7.00822890e-05 1.01508076e+01] [ 1.53960843e-02 -8.10218708e-04 9.99881145e-01 1.21460114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.2292541539999 meters Centerline goodness : 0.998732 Centerline is valid? [True, True] Translation: X:783.66, Y:10.15, Z:12.14 [[ 9.98194798e-01 -5.80469964e-02 -1.54172368e-02 7.83655907e+02] [ 5.80528439e-02 9.98313509e-01 -6.83517985e-05 1.01503836e+01] [ 1.53952034e-02 -8.26786031e-04 9.99881145e-01 1.21446443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.2592541539999 meters Centerline goodness : 0.998647 Centerline is valid? [True, True] Translation: X:783.69, Y:10.15, Z:12.15 [[ 9.98080682e-01 -5.99771724e-02 -1.54172430e-02 7.83688560e+02] [ 5.99832716e-02 9.98199380e-01 -6.69182744e-05 1.01518851e+01] [ 1.53934960e-02 -8.57986837e-04 9.99881145e-01 1.21468821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.2892541539999 meters Centerline goodness : 0.998773 Centerline is valid? [True, True] Translation: X:783.72, Y:10.15, Z:12.15 [[ 9.98095556e-01 -5.97291427e-02 -1.54172502e-02 7.83720239e+02] [ 5.97352387e-02 9.98214254e-01 -6.52073416e-05 1.01526897e+01] [ 1.53936137e-02 -8.55869966e-04 9.99881145e-01 1.21472624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.3192541539999 meters Centerline goodness : 0.998986 Centerline is valid? [True, True] Translation: X:783.75, Y:10.15, Z:12.15 [[ 9.98181691e-01 -5.82719432e-02 -1.54172616e-02 7.83753708e+02] [ 5.82779093e-02 9.98300396e-01 -6.23913711e-05 1.01540964e+01] [ 1.53946941e-02 -8.36207851e-04 9.99881145e-01 1.21475788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.3492541539999 meters Centerline goodness : 0.998668 Centerline is valid? [True, True] Translation: X:783.79, Y:10.15, Z:12.14 [[ 9.98578141e-01 -5.10294368e-02 -1.54172683e-02 7.83792410e+02] [ 5.10345676e-02 9.98696886e-01 -6.07037535e-05 1.01472994e+01] [ 1.54002755e-02 -7.26196179e-04 9.99881145e-01 1.21435245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.3792541539999 meters Centerline goodness : 0.998773 Centerline is valid? [True, True] Translation: X:783.81, Y:10.16, Z:12.15 [[ 9.98280874e-01 -5.65470017e-02 -1.54186094e-02 7.83813108e+02] [ 5.65588980e-02 9.98399208e-01 3.36240448e-04 1.01566070e+01] [ 1.53749140e-02 -1.20772196e-03 9.99881070e-01 1.21479738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.4092541539999 meters Centerline goodness : 0.998858 Centerline is valid? [True, True] Translation: X:783.85, Y:10.16, Z:12.15 [[ 9.98487429e-01 -5.27747432e-02 -1.54168816e-02 7.83845899e+02] [ 5.27799962e-02 9.98606162e-01 -6.62296612e-05 1.01589283e+01] [ 1.53988883e-02 -7.47573470e-04 9.99881151e-01 1.21475146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.4392541539999 meters Centerline goodness : 0.998624 Centerline is valid? [True, True] Translation: X:783.88, Y:10.16, Z:12.15 [[ 9.98561153e-01 -5.13609048e-02 -1.54168886e-02 7.83877502e+02] [ 5.13660153e-02 9.98679893e-01 -6.45696498e-05 1.01604922e+01] [ 1.53998530e-02 -7.27427391e-04 9.99881151e-01 1.21493243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.4692541539999 meters Centerline goodness : 0.998707 Centerline is valid? [True, True] Translation: X:783.91, Y:10.16, Z:12.15 [[ 9.98733153e-01 -4.78999823e-02 -1.54168942e-02 7.83909690e+02] [ 4.79047024e-02 9.98851909e-01 -6.31941775e-05 1.01631070e+01] [ 1.54022212e-02 -6.75427610e-04 9.99881151e-01 1.21503345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.4992541539999 meters Centerline goodness : 0.998751 Centerline is valid? [True, True] Translation: X:783.94, Y:10.16, Z:12.15 [[ 9.98816548e-01 -4.61283376e-02 -1.54168986e-02 7.83942020e+02] [ 4.61328636e-02 9.98935311e-01 -6.21182183e-05 1.01642485e+01] [ 1.54033498e-02 -6.49180975e-04 9.99881151e-01 1.21509275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.5292541539999 meters Centerline goodness : 0.998791 Centerline is valid? [True, True] Translation: X:783.97, Y:10.17, Z:12.15 [[ 9.98898819e-01 -4.43110528e-02 -1.54169029e-02 7.83972741e+02] [ 4.43153795e-02 9.99017589e-01 -6.10315613e-05 1.01650331e+01] [ 1.54044615e-02 -6.22241548e-04 9.99881151e-01 1.21508519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.5592541539999 meters Centerline goodness : 0.998894 Centerline is valid? [True, True] Translation: X:784.01, Y:10.17, Z:12.15 [[ 9.99039664e-01 -4.10130321e-02 -1.54169060e-02 7.84005020e+02] [ 4.10169791e-02 9.99158448e-01 -6.02208749e-05 1.01674772e+01] [ 1.54064018e-02 -5.72191871e-04 9.99881151e-01 1.21502782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.589254154 meters Centerline goodness : 0.998809 Centerline is valid? [True, True] Translation: X:784.04, Y:10.17, Z:12.15 [[ 9.99171220e-01 -3.76721732e-02 -1.54169100e-02 7.84035703e+02] [ 3.76757389e-02 9.99290016e-01 -5.91919621e-05 1.01682308e+01] [ 1.54081941e-02 -5.21700571e-04 9.99881151e-01 1.21494069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.6192541539999 meters Centerline goodness : 0.998871 Centerline is valid? [True, True] Translation: X:784.07, Y:10.17, Z:12.15 [[ 9.99252885e-01 -3.54400625e-02 -1.54166548e-02 7.84068511e+02] [ 3.54423465e-02 9.99371715e-01 -1.25129049e-04 1.01714674e+01] [ 1.54114034e-02 -4.21366859e-04 9.99881148e-01 1.21511190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.6492541539999 meters Centerline goodness : 0.998892 Centerline is valid? [True, True] Translation: X:784.10, Y:10.17, Z:12.15 [[ 9.99348222e-01 -3.26412275e-02 -1.54169070e-02 7.84099964e+02] [ 3.26442241e-02 9.99467034e-01 -5.73091053e-05 1.01724480e+01] [ 1.54105609e-02 -4.46001214e-04 9.99881151e-01 1.21494119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.6792541539999 meters Centerline goodness : 0.998784 Centerline is valid? [True, True] Translation: X:784.13, Y:10.17, Z:12.15 [[ 9.99416025e-01 -3.04947101e-02 -1.54169138e-02 7.84131916e+02] [ 3.04974805e-02 9.99534842e-01 -5.54242594e-05 1.01741642e+01] [ 1.54114326e-02 -4.14785135e-04 9.99881151e-01 1.21521781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.7092541539998 meters Centerline goodness : 0.998716 Centerline is valid? [True, True] Translation: X:784.16, Y:10.18, Z:12.15 [[ 9.99552868e-01 -2.56199706e-02 -1.54169177e-02 7.84164501e+02] [ 2.56221788e-02 9.99671697e-01 -5.43044394e-05 1.01766649e+01] [ 1.54132476e-02 -3.40734864e-04 9.99881151e-01 1.21528806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.7392541539999 meters Centerline goodness : 0.998759 Centerline is valid? [True, True] Translation: X:784.19, Y:10.18, Z:12.15 [[ 9.99620054e-01 -2.28487742e-02 -1.54169216e-02 7.84194831e+02] [ 2.28506704e-02 9.99738888e-01 -5.31694835e-05 1.01777071e+01] [ 1.54141109e-02 -2.99137713e-04 9.99881151e-01 1.21532115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.7692541539999 meters Centerline goodness : 0.998951 Centerline is valid? [True, True] Translation: X:784.23, Y:10.18, Z:12.15 [[ 9.99718499e-01 -1.80344224e-02 -1.54169226e-02 7.84225201e+02] [ 1.80357507e-02 9.99837341e-01 -5.28892414e-05 1.01797696e+01] [ 1.54153687e-02 -2.25181419e-04 9.99881151e-01 1.21540438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.7992541539999 meters Centerline goodness : 0.998951 Centerline is valid? [True, True] Translation: X:784.26, Y:10.18, Z:12.15 [[ 9.99717843e-01 -1.80707975e-02 -1.54169226e-02 7.84255350e+02] [ 1.80721300e-02 9.99836684e-01 -5.28892414e-05 1.01799025e+01] [ 1.54153605e-02 -2.25742311e-04 9.99881151e-01 1.21545087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.8292541539998 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:784.29, Y:10.18, Z:12.16 [[ 9.99755124e-01 -1.58748509e-02 -1.54169206e-02 7.84285031e+02] [ 1.58759138e-02 9.99873968e-01 -5.34502574e-05 1.01806956e+01] [ 1.54158261e-02 -1.91320534e-04 9.99881151e-01 1.21551483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.8592541539999 meters Centerline goodness : 0.998927 Centerline is valid? [True, True] Translation: X:784.31, Y:10.18, Z:12.15 [[ 9.99787524e-01 -1.36830447e-02 -1.54169187e-02 7.84313497e+02] [ 1.36838383e-02 9.99906370e-01 -5.40154435e-05 1.01809554e+01] [ 1.54162143e-02 -1.56958655e-04 9.99881151e-01 1.21541582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.8892541539999 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:784.34, Y:10.18, Z:12.16 [[ 9.99822680e-01 -1.08133467e-02 -1.54169036e-02 7.84340970e+02] [ 1.08137373e-02 9.99941528e-01 -5.80295790e-05 1.01813802e+01] [ 1.54166296e-02 -1.08695056e-04 9.99881151e-01 1.21557014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.9192541539999 meters Centerline goodness : 0.998860 Centerline is valid? [True, True] Translation: X:784.37, Y:10.18, Z:12.16 [[ 9.99836477e-01 -9.45189638e-03 -1.54168981e-02 7.84368146e+02] [ 9.45210328e-03 9.99955326e-01 -5.94468320e-05 1.01812287e+01] [ 1.54167712e-02 -8.62850019e-05 9.99881151e-01 1.21555155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.9492541539998 meters Centerline goodness : 0.998711 Centerline is valid? [True, True] Translation: X:784.40, Y:10.18, Z:12.15 [[ 9.99853266e-01 -7.46769499e-03 -1.54168903e-02 7.84396206e+02] [ 7.46763594e-03 9.99972115e-01 -6.13981753e-05 1.01800537e+01] [ 1.54169189e-02 -5.37385581e-05 9.99881151e-01 1.21539880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.9792541539999 meters Centerline goodness : 0.998970 Centerline is valid? [True, True] Translation: X:784.42, Y:10.18, Z:12.16 [[ 9.99849900e-01 -7.90553447e-03 -1.54168714e-02 7.84424459e+02] [ 7.90545899e-03 9.99968749e-01 -6.58390419e-05 1.01800442e+01] [ 1.54169101e-02 -5.60482848e-05 9.99881151e-01 1.21563203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.0092541539999 meters Centerline goodness : 0.998886 Centerline is valid? [True, True] Translation: X:784.45, Y:10.18, Z:12.16 [[ 9.99844148e-01 -8.60229596e-03 -1.54168509e-02 7.84452117e+02] [ 8.60223423e-03 9.99962998e-01 -7.03191291e-05 1.01776362e+01] [ 1.54168854e-02 -6.23111929e-05 9.99881151e-01 1.21550488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.0392541539999 meters Centerline goodness : 0.998866 Centerline is valid? [True, True] Translation: X:784.48, Y:10.18, Z:12.16 [[ 9.99829298e-01 -1.01831112e-02 -1.54168293e-02 7.84479017e+02] [ 1.01831685e-02 9.99948147e-01 -7.47845482e-05 1.01764077e+01] [ 1.54167914e-02 -8.22203883e-05 9.99881151e-01 1.21555060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.0692541539999 meters Centerline goodness : 0.998997 Centerline is valid? [True, True] Translation: X:784.51, Y:10.17, Z:12.16 [[ 9.99807650e-01 -1.21237187e-02 -1.54168196e-02 7.84506474e+02] [ 1.21239768e-02 9.99926499e-01 -7.67224984e-05 1.01746521e+01] [ 1.54166166e-02 -1.10205423e-04 9.99881151e-01 1.21558049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.0992541539999 meters Centerline goodness : 0.998572 Centerline is valid? [True, True] Translation: X:784.53, Y:10.17, Z:12.15 [[ 9.99748294e-01 -1.62994398e-02 -1.54167957e-02 7.84533444e+02] [ 1.63001245e-02 9.99867141e-01 -8.12516890e-05 1.01708295e+01] [ 1.54160718e-02 -1.70064452e-04 9.99881151e-01 1.21544866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.1292541539999 meters Centerline goodness : 0.998766 Centerline is valid? [True, True] Translation: X:784.56, Y:10.17, Z:12.16 [[ 9.99705826e-01 -1.87239291e-02 -1.54167285e-02 7.84562434e+02] [ 1.87247153e-02 9.99824673e-01 -9.33612933e-05 1.01692703e+01] [ 1.54157736e-02 -1.95340023e-04 9.99881151e-01 1.21551870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.1592541539999 meters Centerline goodness : 0.998853 Centerline is valid? [True, True] Translation: X:784.59, Y:10.17, Z:12.15 [[ 9.99606822e-01 -2.34206254e-02 -1.54167614e-02 7.84590687e+02] [ 2.34220591e-02 9.99725662e-01 -8.75790579e-05 1.01654779e+01] [ 1.54145831e-02 -2.73547672e-04 9.99881151e-01 1.21545860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.1892541539999 meters Centerline goodness : 0.998792 Centerline is valid? [True, True] Translation: X:784.62, Y:10.16, Z:12.15 [[ 9.99549135e-01 -2.57652790e-02 -1.54167566e-02 7.84619707e+02] [ 2.57669786e-02 9.99667972e-01 -8.84106850e-05 1.01635804e+01] [ 1.54139157e-02 -3.08872414e-04 9.99881151e-01 1.21546030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.2192541539999 meters Centerline goodness : 0.998648 Centerline is valid? [True, True] Translation: X:784.65, Y:10.16, Z:12.15 [[ 9.99491116e-01 -2.79254751e-02 -1.54167551e-02 7.84649805e+02] [ 2.79274274e-02 9.99609949e-01 -8.86764390e-05 1.01615497e+01] [ 1.54132181e-02 -3.41918995e-04 9.99881151e-01 1.21548848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.2492541539999 meters Centerline goodness : 0.998750 Centerline is valid? [True, True] Translation: X:784.68, Y:10.16, Z:12.16 [[ 9.99424971e-01 -3.02001856e-02 -1.54167551e-02 7.84679950e+02] [ 3.02024084e-02 9.99543799e-01 -8.86764390e-05 1.01598511e+01] [ 1.54124000e-02 -3.76997685e-04 9.99881151e-01 1.21558186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.2792541539999 meters Centerline goodness : 0.998668 Centerline is valid? [True, True] Translation: X:784.71, Y:10.16, Z:12.16 [[ 9.99300394e-01 -3.40741087e-02 -1.54168208e-02 7.84711054e+02] [ 3.40769665e-02 9.99419209e-01 -7.73644651e-05 1.01567624e+01] [ 1.54105030e-02 -4.48048147e-04 9.99881151e-01 1.21555859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.3092541539999 meters Centerline goodness : 0.998989 Centerline is valid? [True, True] Translation: X:784.74, Y:10.15, Z:12.16 [[ 9.99179460e-01 -3.74530525e-02 -1.54167413e-02 7.84743688e+02] [ 3.74561041e-02 9.99298270e-01 -9.08584871e-05 1.01539729e+01] [ 1.54093258e-02 -4.86667133e-04 9.99881151e-01 1.21565942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.339254154 meters Centerline goodness : 0.998737 Centerline is valid? [True, True] Translation: X:784.78, Y:10.15, Z:12.16 [[ 9.99115317e-01 -3.91268053e-02 -1.54167478e-02 7.84775301e+02] [ 3.91300731e-02 9.99234121e-01 -8.97407060e-05 1.01528021e+01] [ 1.54084517e-02 -5.13597154e-04 9.99881151e-01 1.21569815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.3692541539999 meters Centerline goodness : 0.998737 Centerline is valid? [True, True] Translation: X:784.81, Y:10.15, Z:12.16 [[ 9.99048789e-01 -4.07902189e-02 -1.54167526e-02 7.84807292e+02] [ 4.07936974e-02 9.99167587e-01 -8.89073699e-05 1.01518032e+01] [ 1.54075460e-02 -5.40083540e-04 9.99881151e-01 1.21576610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.3992541539999 meters Centerline goodness : 0.998761 Centerline is valid? [True, True] Translation: X:784.84, Y:10.15, Z:12.16 [[ 9.98985563e-01 -4.23103743e-02 -1.54167590e-02 7.84839281e+02] [ 4.23140508e-02 9.99104356e-01 -8.77875614e-05 1.01506200e+01] [ 1.54066654e-02 -5.64647016e-04 9.99881151e-01 1.21582953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.4292541539999 meters Centerline goodness : 0.998843 Centerline is valid? [True, True] Translation: X:784.87, Y:10.15, Z:12.16 [[ 9.98822664e-01 -4.59957613e-02 -1.54167653e-02 7.84871743e+02] [ 4.59998935e-02 9.98941441e-01 -8.66557994e-05 1.01485782e+01] [ 1.54044316e-02 -6.22615787e-04 9.99881151e-01 1.21585697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.4592541539998 meters Centerline goodness : 0.998802 Centerline is valid? [True, True] Translation: X:784.90, Y:10.15, Z:12.16 [[ 9.98729936e-01 -4.79670609e-02 -1.54167717e-02 7.84903284e+02] [ 4.79714451e-02 9.98848704e-01 -8.55110707e-05 1.01476553e+01] [ 1.54031241e-02 -6.54162351e-04 9.99881151e-01 1.21585771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.4892541539999 meters Centerline goodness : 0.998822 Centerline is valid? [True, True] Translation: X:784.94, Y:10.15, Z:12.16 [[ 9.98513277e-01 -5.22834480e-02 -1.54167764e-02 7.84935882e+02] [ 5.22883586e-02 9.98632025e-01 -8.46570305e-05 1.01463349e+01] [ 1.54001128e-02 -7.21586764e-04 9.99881151e-01 1.21584246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.5192541539999 meters Centerline goodness : 0.998823 Centerline is valid? [True, True] Translation: X:784.97, Y:10.15, Z:12.16 [[ 9.98397216e-01 -5.44547697e-02 -1.54167825e-02 7.84968508e+02] [ 5.44599559e-02 9.98515952e-01 -8.35351864e-05 1.01461434e+01] [ 1.53984521e-02 -7.56195995e-04 9.99881151e-01 1.21586202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.5492541539999 meters Centerline goodness : 0.998991 Centerline is valid? [True, True] Translation: X:785.00, Y:10.15, Z:12.16 [[ 9.98273752e-01 -5.66730889e-02 -1.54167884e-02 7.84999815e+02] [ 5.66785561e-02 9.98392475e-01 -8.24201388e-05 1.01461462e+01] [ 1.53966766e-02 -7.91523447e-04 9.99881151e-01 1.21587981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.5792541539998 meters Centerline goodness : 0.998612 Centerline is valid? [True, True] Translation: X:785.03, Y:10.15, Z:12.16 [[ 9.98041034e-01 -6.06334565e-02 -1.54167928e-02 7.85030657e+02] [ 6.06394075e-02 9.98159735e-01 -8.15883889e-05 1.01460269e+01] [ 1.53933688e-02 -8.53436623e-04 9.99881151e-01 1.21564961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.6092541539999 meters Centerline goodness : 0.998990 Centerline is valid? [True, True] Translation: X:785.06, Y:10.15, Z:12.16 [[ 9.97897381e-01 -6.29534675e-02 -1.54167971e-02 7.85063748e+02] [ 6.29597071e-02 9.98016066e-01 -8.07693598e-05 1.01468636e+01] [ 1.53912959e-02 -8.90037498e-04 9.99881151e-01 1.21594501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.6392541539999 meters Centerline goodness : 0.998903 Centerline is valid? [True, True] Translation: X:785.10, Y:10.15, Z:12.16 [[ 9.97670072e-01 -6.64586330e-02 -1.54168056e-02 7.85097043e+02] [ 6.64653150e-02 9.97788733e-01 -7.91098419e-05 1.01475316e+01] [ 1.53879725e-02 -9.45757321e-04 9.99881151e-01 1.21596444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.6692541539999 meters Centerline goodness : 0.998946 Centerline is valid? [True, True] Translation: X:785.13, Y:10.15, Z:12.16 [[ 9.97636547e-01 -6.69599981e-02 -1.54168139e-02 7.85128751e+02] [ 6.69667652e-02 9.97755204e-01 -7.74550679e-05 1.01483373e+01] [ 1.53873927e-02 -9.55142153e-04 9.99881151e-01 1.21604789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.6992541539998 meters Centerline goodness : 0.998609 Centerline is valid? [True, True] Translation: X:785.16, Y:10.15, Z:12.16 [[ 9.97575626e-01 -6.78616254e-02 -1.54165742e-02 7.85162776e+02] [ 6.78677598e-02 9.97694318e-01 -1.25515627e-04 1.01486153e+01] [ 1.53895462e-02 -9.21077029e-04 9.99881150e-01 1.21593404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.7292541539999 meters Centerline goodness : 0.998713 Centerline is valid? [True, True] Translation: X:785.20, Y:10.15, Z:12.16 [[ 9.97549308e-01 -6.82473434e-02 -1.54168228e-02 7.85195657e+02] [ 6.82543302e-02 9.97667951e-01 -7.31315805e-05 1.01513016e+01] [ 1.53858610e-02 -9.79312553e-04 9.99881151e-01 1.21613491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.7592541539999 meters Centerline goodness : 0.998903 Centerline is valid? [True, True] Translation: X:785.23, Y:10.15, Z:12.16 [[ 9.97703712e-01 -6.59516860e-02 -1.54168305e-02 7.85228224e+02] [ 6.59584255e-02 9.97822369e-01 -7.14601190e-05 1.01544247e+01] [ 1.53879713e-02 -9.45573840e-04 9.99881151e-01 1.21623308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.7892541539999 meters Centerline goodness : 0.998691 Centerline is valid? [True, True] Translation: X:785.26, Y:10.16, Z:12.16 [[ 9.97830271e-01 -6.40083703e-02 -1.54168381e-02 7.85260046e+02] [ 6.40149043e-02 9.97948940e-01 -6.97916627e-05 1.01559929e+01] [ 1.53896845e-02 -9.17267180e-04 9.99881151e-01 1.21624563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.8192541539999 meters Centerline goodness : 0.998712 Centerline is valid? [True, True] Translation: X:785.29, Y:10.16, Z:12.16 [[ 9.98013823e-01 -6.10796965e-02 -1.54168442e-02 7.85292446e+02] [ 6.10859035e-02 9.98132510e-01 -6.84116979e-05 1.01576817e+01] [ 1.53922320e-02 -8.73476037e-04 9.99881151e-01 1.21625813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.8492541539999 meters Centerline goodness : 0.998838 Centerline is valid? [True, True] Translation: X:785.33, Y:10.16, Z:12.16 [[ 9.98211741e-01 -5.77550032e-02 -1.54168501e-02 7.85325430e+02] [ 5.77608359e-02 9.98330447e-01 -6.70431227e-05 1.01597470e+01] [ 1.53949830e-02 -8.23566919e-04 9.99881151e-01 1.21633230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.8792541539999 meters Centerline goodness : 0.998707 Centerline is valid? [True, True] Translation: X:785.36, Y:10.16, Z:12.16 [[ 9.98648126e-01 -4.96411301e-02 -1.54168572e-02 7.85358409e+02] [ 4.96460237e-02 9.98766874e-01 -6.53693481e-05 1.01646340e+01] [ 1.54010913e-02 -7.00104683e-04 9.99881151e-01 1.21641842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.9092541539999 meters Centerline goodness : 0.998769 Centerline is valid? [True, True] Translation: X:785.39, Y:10.17, Z:12.17 [[ 9.99076105e-01 -4.01155404e-02 -1.54168642e-02 7.85389284e+02] [ 4.01193276e-02 9.99194894e-01 -6.36721137e-05 1.01697954e+01] [ 1.54070063e-02 -5.54900939e-04 9.99881151e-01 1.21660258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.9392541539999 meters Centerline goodness : 0.998684 Centerline is valid? [True, True] Translation: X:785.42, Y:10.17, Z:12.17 [[ 9.99287502e-01 -3.44500969e-02 -1.54168677e-02 7.85421604e+02] [ 3.44532233e-02 9.99406310e-01 -6.28341581e-05 1.01718525e+01] [ 1.54098795e-02 -4.68371396e-04 9.99881151e-01 1.21652573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.9692541539999 meters Centerline goodness : 0.998916 Centerline is valid? [True, True] Translation: X:785.45, Y:10.17, Z:12.17 [[ 9.99453263e-01 -2.92488435e-02 -1.54168721e-02 7.85452521e+02] [ 2.92513686e-02 9.99572085e-01 -6.17307088e-05 1.01744290e+01] [ 1.54120805e-02 -3.89267650e-04 9.99881151e-01 1.21667724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.9992541539999 meters Centerline goodness : 0.998808 Centerline is valid? [True, True] Translation: X:785.48, Y:10.18, Z:12.17 [[ 9.99722978e-01 -1.77844884e-02 -1.54168753e-02 7.85483610e+02] [ 1.77856633e-02 9.99841821e-01 -6.09090220e-05 1.01779772e+01] [ 1.54155199e-02 -2.13307204e-04 9.99881151e-01 1.21663215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.0292541539999 meters Centerline goodness : 0.999125 Centerline is valid? [True, True] Translation: X:785.51, Y:10.18, Z:12.17 [[ 9.99803291e-01 -1.24779207e-02 -1.54168775e-02 7.85512508e+02] [ 1.24784734e-02 9.99922139e-01 -6.03468903e-05 1.01796154e+01] [ 1.54164302e-02 -1.32044077e-04 9.99881151e-01 1.21673232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.0592541539999 meters Centerline goodness : 0.999402 Centerline is valid? [True, True] Translation: X:785.54, Y:10.18, Z:12.17 [[ 9.99876141e-01 -3.16593574e-03 -1.54168610e-02 7.85539257e+02] [ 3.16532037e-03 9.99994988e-01 -6.43159041e-05 1.01835955e+01] [ 1.54169873e-02 1.55086339e-05 9.99881151e-01 1.21685951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.089254154 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:785.57, Y:10.19, Z:12.17 [[ 9.99881043e-01 4.68586928e-04 -1.54168525e-02 7.85567102e+02] [-4.69664558e-04 9.99999888e-01 -6.62789256e-05 1.01850194e+01] [ 1.54168197e-02 7.35117906e-05 9.99881151e-01 1.21686462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.1192541539999 meters Centerline goodness : 0.999336 Centerline is valid? [True, True] Translation: X:785.59, Y:10.19, Z:12.17 [[ 9.99875151e-01 3.46450945e-03 -1.54168317e-02 7.85594294e+02] [-3.46601315e-03 9.99993991e-01 -7.08185278e-05 1.01861225e+01] [ 1.54164937e-02 1.24244628e-04 9.99881151e-01 1.21684662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.1492541539999 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:785.62, Y:10.19, Z:12.17 [[ 9.99860815e-01 6.37749601e-03 -1.54168224e-02 7.85621848e+02] [-6.37937622e-03 9.99979649e-01 -7.27832306e-05 1.01863000e+01] [ 1.54160445e-02 1.71122810e-04 9.99881151e-01 1.21676031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.1792541539999 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:785.65, Y:10.19, Z:12.17 [[ 9.99860555e-01 6.41813179e-03 -1.54167999e-02 7.85648791e+02] [-6.42008599e-03 9.99979388e-01 -7.72695273e-05 1.01861356e+01] [ 1.54159862e-02 1.76235934e-04 9.99881151e-01 1.21673345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.2092541539998 meters Centerline goodness : 0.999034 Centerline is valid? [True, True] Translation: X:785.68, Y:10.19, Z:12.17 [[ 9.99873707e-01 3.85919432e-03 -1.54167899e-02 7.85675449e+02] [-3.86087436e-03 9.99992544e-01 -7.92126074e-05 1.01851159e+01] [ 1.54163693e-02 1.38724892e-04 9.99881151e-01 1.21672497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.2392541539999 meters Centerline goodness : 0.998884 Centerline is valid? [True, True] Translation: X:785.70, Y:10.18, Z:12.17 [[ 9.99878951e-01 2.09888941e-03 -1.54167798e-02 7.85703321e+02] [-2.10038989e-03 9.99997791e-01 -8.11363479e-05 1.01844099e+01] [ 1.54165755e-02 1.13507775e-04 9.99881151e-01 1.21663659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.2692541539999 meters Centerline goodness : 0.999335 Centerline is valid? [True, True] Translation: X:785.73, Y:10.18, Z:12.17 [[ 9.99881072e-01 -4.05283084e-04 -1.54167708e-02 7.85731562e+02] [ 4.04054494e-04 9.99999915e-01 -8.28064847e-05 1.01840071e+01] [ 1.54168031e-02 7.65674211e-05 9.99881151e-01 1.21688250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.2992541539999 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:785.76, Y:10.18, Z:12.17 [[ 9.99872608e-01 -4.13405244e-03 -1.54167633e-02 7.85759653e+02] [ 4.13324576e-03 9.99991455e-01 -8.41867486e-05 1.01815001e+01] [ 1.54169796e-02 2.04547524e-05 9.99881151e-01 1.21684159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.3292541539998 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:785.79, Y:10.18, Z:12.17 [[ 9.99862106e-01 -6.17193083e-03 -1.54167542e-02 7.85788608e+02] [ 6.17134113e-03 9.99980953e-01 -8.58245603e-05 1.01805167e+01] [ 1.54169902e-02 -9.32932359e-06 9.99881151e-01 1.21704233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.3592541539999 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:785.82, Y:10.18, Z:12.17 [[ 9.99851083e-01 -7.75471395e-03 -1.54167478e-02 7.85816879e+02] [ 7.75429492e-03 9.99969931e-01 -8.69576530e-05 1.01788257e+01] [ 1.54169586e-02 -3.26013055e-05 9.99881151e-01 1.21707225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.3892541539999 meters Centerline goodness : 0.998997 Centerline is valid? [True, True] Translation: X:785.84, Y:10.17, Z:12.17 [[ 9.99825502e-01 -1.05494177e-02 -1.54167381e-02 7.85843786e+02] [ 1.05493049e-02 9.99944351e-01 -8.86424464e-05 1.01746856e+01] [ 1.54168153e-02 -7.40088918e-05 9.99881151e-01 1.21700800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.4192541539999 meters Centerline goodness : 0.998765 Centerline is valid? [True, True] Translation: X:785.87, Y:10.17, Z:12.17 [[ 9.99821820e-01 -1.08928174e-02 -1.54167266e-02 7.85870327e+02] [ 1.08927154e-02 9.99940669e-01 -9.05935695e-05 1.01727646e+01] [ 1.54167988e-02 -7.73525876e-05 9.99881151e-01 1.21687523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.4492541539998 meters Centerline goodness : 0.999234 Centerline is valid? [True, True] Translation: X:785.90, Y:10.17, Z:12.17 [[ 9.99774502e-01 -1.46041685e-02 -1.54163313e-02 7.85898852e+02] [ 1.46035319e-02 9.99893351e-01 -1.53870255e-04 1.01697361e+01] [ 1.54169343e-02 -7.12973288e-05 9.99881149e-01 1.21714969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.4792541539999 meters Centerline goodness : 0.999151 Centerline is valid? [True, True] Translation: X:785.93, Y:10.17, Z:12.17 [[ 9.99747341e-01 -1.63579934e-02 -1.54165701e-02 7.85926887e+02] [ 1.63581445e-02 9.99866190e-01 -1.16307259e-04 1.01680585e+01] [ 1.54164098e-02 -1.35908609e-04 9.99881151e-01 1.21720426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.5092541539999 meters Centerline goodness : 0.998919 Centerline is valid? [True, True] Translation: X:785.96, Y:10.17, Z:12.17 [[ 9.99724656e-01 -1.76900860e-02 -1.54166779e-02 7.85955569e+02] [ 1.76906526e-02 9.99843503e-01 -9.96286180e-05 1.01662309e+01] [ 1.54160277e-02 -1.73129907e-04 9.99881151e-01 1.21721590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.5392541539999 meters Centerline goodness : 0.998856 Centerline is valid? [True, True] Translation: X:785.98, Y:10.16, Z:12.17 [[ 9.99696912e-01 -1.91940175e-02 -1.54166519e-02 7.85984660e+02] [ 1.91947032e-02 9.99815759e-01 -1.03501454e-04 1.01615023e+01] [ 1.54157981e-02 -1.92447974e-04 9.99881151e-01 1.21696022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.5692541539999 meters Centerline goodness : 0.999048 Centerline is valid? [True, True] Translation: X:786.01, Y:10.16, Z:12.17 [[ 9.99685002e-01 -1.98046570e-02 -1.54166241e-02 7.86013404e+02] [ 1.98053538e-02 9.99803849e-01 -1.07491900e-04 1.01594195e+01] [ 1.54157289e-02 -1.97873654e-04 9.99881151e-01 1.21703945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.5992541539999 meters Centerline goodness : 0.999197 Centerline is valid? [True, True] Translation: X:786.04, Y:10.16, Z:12.17 [[ 9.99682292e-01 -1.99409642e-02 -1.54166181e-02 7.86042481e+02] [ 1.99416641e-02 9.99801139e-01 -1.08339372e-04 1.01558999e+01] [ 1.54157128e-02 -1.99128068e-04 9.99881151e-01 1.21703365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.6292541539999 meters Centerline goodness : 0.998965 Centerline is valid? [True, True] Translation: X:786.07, Y:10.15, Z:12.17 [[ 9.99690228e-01 -1.95391212e-02 -1.54165892e-02 7.86071529e+02] [ 1.95397122e-02 9.99809075e-01 -1.12304591e-04 1.01547990e+01] [ 1.54158402e-02 -1.88965915e-04 9.99881151e-01 1.21705901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.6592541539999 meters Centerline goodness : 0.998861 Centerline is valid? [True, True] Translation: X:786.10, Y:10.15, Z:12.17 [[ 9.99718539e-01 -1.80325081e-02 -1.54165814e-02 7.86100031e+02] [ 1.80329036e-02 9.99837388e-01 -1.13368493e-04 1.01522208e+01] [ 1.54161188e-02 -1.64669142e-04 9.99881151e-01 1.21702939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.6892541539999 meters Centerline goodness : 0.998861 Centerline is valid? [True, True] Translation: X:786.13, Y:10.15, Z:12.17 [[ 9.99713830e-01 -1.82917327e-02 -1.54165510e-02 7.86129269e+02] [ 1.82920973e-02 9.99832679e-01 -1.17366438e-04 1.01524791e+01] [ 1.54161183e-02 -1.64668200e-04 9.99881151e-01 1.21707459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.7192541539999 meters Centerline goodness : 0.998774 Centerline is valid? [True, True] Translation: X:786.16, Y:10.15, Z:12.17 [[ 9.99738592e-01 -1.68842777e-02 -1.54165195e-02 7.86157899e+02] [ 1.68844134e-02 9.99857441e-01 -1.21363438e-04 1.01507197e+01] [ 1.54163709e-02 -1.38967177e-04 9.99881151e-01 1.21689361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.7492541539999 meters Centerline goodness : 0.999093 Centerline is valid? [True, True] Translation: X:786.19, Y:10.15, Z:12.17 [[ 9.99755914e-01 -1.58254234e-02 -1.54164866e-02 7.86185536e+02] [ 1.58253709e-02 9.99874763e-01 -1.25407141e-04 1.01481265e+01] [ 1.54165405e-02 -1.18595088e-04 9.99881151e-01 1.21705088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.7792541539999 meters Centerline goodness : 0.998988 Centerline is valid? [True, True] Translation: X:786.21, Y:10.15, Z:12.17 [[ 9.99766996e-01 -1.51091361e-02 -1.54164748e-02 7.86213063e+02] [ 1.51089764e-02 9.99885845e-01 -1.26837650e-04 1.01463986e+01] [ 1.54166314e-02 -1.06119058e-04 9.99881151e-01 1.21691922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.8092541539999 meters Centerline goodness : 0.998989 Centerline is valid? [True, True] Translation: X:786.24, Y:10.15, Z:12.17 [[ 9.99765035e-01 -1.52383569e-02 -1.54164367e-02 7.86240827e+02] [ 1.52381436e-02 9.99883884e-01 -1.31311410e-04 1.01452037e+01] [ 1.54166476e-02 -1.03637320e-04 9.99881151e-01 1.21701944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.839254154 meters Centerline goodness : 0.998886 Centerline is valid? [True, True] Translation: X:786.27, Y:10.14, Z:12.17 [[ 9.99755478e-01 -1.58530431e-02 -1.54163964e-02 7.86267764e+02] [ 1.58528322e-02 9.99874327e-01 -1.35889501e-04 1.01428070e+01] [ 1.54166132e-02 -1.08537272e-04 9.99881151e-01 1.21707722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.8692541539999 meters Centerline goodness : 0.998911 Centerline is valid? [True, True] Translation: X:786.30, Y:10.14, Z:12.17 [[ 9.99755040e-01 -1.58806873e-02 -1.54163787e-02 7.86296200e+02] [ 1.58804492e-02 9.99873888e-01 -1.37871743e-04 1.01411708e+01] [ 1.54166240e-02 -1.06981048e-04 9.99881151e-01 1.21695352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.8992541539999 meters Centerline goodness : 0.998824 Centerline is valid? [True, True] Translation: X:786.32, Y:10.14, Z:12.17 [[ 9.99712669e-01 -1.83552946e-02 -1.54163396e-02 7.86323875e+02] [ 1.83552854e-02 9.99831517e-01 -1.42105520e-04 1.01386900e+01] [ 1.54163506e-02 -1.40906625e-04 9.99881151e-01 1.21712115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.9292541539999 meters Centerline goodness : 0.998635 Centerline is valid? [True, True] Translation: X:786.35, Y:10.14, Z:12.17 [[ 9.99686503e-01 -1.97290024e-02 -1.54162967e-02 7.86352151e+02] [ 1.97290869e-02 9.99805352e-01 -1.46620737e-04 1.01371011e+01] [ 1.54161886e-02 -1.57574685e-04 9.99881151e-01 1.21715050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.9592541539998 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:786.38, Y:10.14, Z:12.17 [[ 9.99654796e-01 -2.12750422e-02 -1.54162521e-02 7.86379880e+02] [ 2.12752404e-02 9.99773645e-01 -1.51163680e-04 1.01353987e+01] [ 1.54159786e-02 -1.76872973e-04 9.99881151e-01 1.21719982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.9892541539999 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:786.41, Y:10.13, Z:12.17 [[ 9.99576161e-01 -2.46949077e-02 -1.54162318e-02 7.86409134e+02] [ 2.46954810e-02 9.99695008e-01 -1.53211224e-04 1.01316705e+01] [ 1.54153135e-02 -2.27564972e-04 9.99881151e-01 1.21714037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.0192541539999 meters Centerline goodness : 0.998975 Centerline is valid? [True, True] Translation: X:786.44, Y:10.13, Z:12.17 [[ 9.99517645e-01 -2.69595735e-02 -1.54161916e-02 7.86438970e+02] [ 2.69603551e-02 9.99636491e-01 -1.57155117e-04 1.01305041e+01] [ 1.54148245e-02 -2.58546688e-04 9.99881151e-01 1.21733752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.0492541539999 meters Centerline goodness : 0.998662 Centerline is valid? [True, True] Translation: X:786.47, Y:10.13, Z:12.17 [[ 9.99413450e-01 -3.05793728e-02 -1.54161859e-02 7.86468005e+02] [ 3.05805763e-02 9.99532292e-01 -1.57713300e-04 1.01276269e+01] [ 1.54137984e-02 -3.13815056e-04 9.99881151e-01 1.21749998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.0792541539998 meters Centerline goodness : 0.998644 Centerline is valid? [True, True] Translation: X:786.50, Y:10.13, Z:12.17 [[ 9.99377193e-01 -3.17422031e-02 -1.54161943e-02 7.86498283e+02] [ 3.17435577e-02 9.99496034e-01 -1.56882036e-04 1.01263228e+01] [ 1.54134049e-02 -3.32580526e-04 9.99881151e-01 1.21745829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.1092541539999 meters Centerline goodness : 0.998771 Centerline is valid? [True, True] Translation: X:786.53, Y:10.12, Z:12.18 [[ 9.99261006e-01 -3.52105538e-02 -1.54161943e-02 7.86528967e+02] [ 3.52123208e-02 9.99379842e-01 -1.56882036e-04 1.01246416e+01] [ 1.54121578e-02 -3.86073880e-04 9.99881151e-01 1.21768447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.1392541539999 meters Centerline goodness : 0.998894 Centerline is valid? [True, True] Translation: X:786.56, Y:10.12, Z:12.18 [[ 9.99217022e-01 -3.64373911e-02 -1.54161971e-02 7.86560168e+02] [ 3.64393083e-02 9.99335856e-01 -1.56609011e-04 1.01240221e+01] [ 1.54116650e-02 -4.05269170e-04 9.99881151e-01 1.21773396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.1692541539999 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:786.59, Y:10.12, Z:12.18 [[ 9.99160705e-01 -3.79503236e-02 -1.54162026e-02 7.86591344e+02] [ 3.79524291e-02 9.99279535e-01 -1.56067499e-04 1.01235052e+01] [ 1.54110186e-02 -4.29145824e-04 9.99881151e-01 1.21774588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.1992541539998 meters Centerline goodness : 0.998935 Centerline is valid? [True, True] Translation: X:786.62, Y:10.12, Z:12.18 [[ 9.99094251e-01 -3.96613044e-02 -1.54162080e-02 7.86622130e+02] [ 3.96636217e-02 9.99213077e-01 -1.55529595e-04 1.01214831e+01] [ 1.54102452e-02 -4.56073919e-04 9.99881151e-01 1.21764357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.2292541539999 meters Centerline goodness : 0.998916 Centerline is valid? [True, True] Translation: X:786.65, Y:10.12, Z:12.18 [[ 9.99046278e-01 -4.08518698e-02 -1.54162107e-02 7.86653724e+02] [ 4.08543327e-02 9.99165101e-01 -1.55262354e-04 1.01218883e+01] [ 1.54096825e-02 -4.74704725e-04 9.99881151e-01 1.21786107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.2592541539999 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:786.69, Y:10.12, Z:12.18 [[ 9.99028898e-01 -4.12746963e-02 -1.54162160e-02 7.86685036e+02] [ 4.12772177e-02 9.99147721e-01 -1.54733611e-04 1.01214971e+01] [ 1.54094637e-02 -4.81755156e-04 9.99881151e-01 1.21788987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.2892541539999 meters Centerline goodness : 0.998856 Centerline is valid? [True, True] Translation: X:786.72, Y:10.11, Z:12.18 [[ 9.99241072e-01 -3.57717898e-02 -1.54162239e-02 7.86723125e+02] [ 3.57736689e-02 9.99359906e-01 -1.53942038e-04 1.01127506e+01] [ 1.54118629e-02 -3.97669683e-04 9.99881151e-01 1.21775983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.3192541539999 meters Centerline goodness : 0.998998 Centerline is valid? [True, True] Translation: X:786.74, Y:10.12, Z:12.18 [[ 9.98980942e-01 -4.24181681e-02 -1.54200218e-02 7.86744649e+02] [ 4.24269777e-02 9.99099541e-01 2.44480619e-04 1.01218249e+01] [ 1.53957663e-02 -8.98456401e-04 9.99881075e-01 1.21781970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.3492541539999 meters Centerline goodness : 0.999041 Centerline is valid? [True, True] Translation: X:786.78, Y:10.12, Z:12.18 [[ 9.98921590e-01 -4.37950783e-02 -1.54158681e-02 7.86775682e+02] [ 4.37978363e-02 9.99040402e-01 -1.58822258e-04 1.01225012e+01] [ 1.54080306e-02 -5.16530683e-04 9.99881156e-01 1.21777149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.3792541539999 meters Centerline goodness : 0.998936 Centerline is valid? [True, True] Translation: X:786.81, Y:10.12, Z:12.18 [[ 9.98899339e-01 -4.42996849e-02 -1.54158760e-02 7.86805641e+02] [ 4.43025149e-02 9.99018149e-01 -1.58048983e-04 1.01228817e+01] [ 1.54077414e-02 -5.25087050e-04 9.99881156e-01 1.21776827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.4092541539999 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:786.84, Y:10.12, Z:12.18 [[ 9.98867392e-01 -4.50142688e-02 -1.54158849e-02 7.86836418e+02] [ 4.50171972e-02 9.98986200e-01 -1.57170473e-04 1.01236147e+01] [ 1.54073312e-02 -5.36987472e-04 9.99881156e-01 1.21771599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.4392541539999 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:786.87, Y:10.12, Z:12.18 [[ 9.98865528e-01 -4.50556102e-02 -1.54158926e-02 7.86867873e+02] [ 4.50585553e-02 9.98984335e-01 -1.56411733e-04 1.01245200e+01] [ 1.54072825e-02 -5.38383562e-04 9.99881156e-01 1.21773653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.4692541539999 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:786.90, Y:10.13, Z:12.18 [[ 9.98881480e-01 -4.47005530e-02 -1.54158977e-02 7.86899866e+02] [ 4.47034636e-02 9.99000288e-01 -1.55910383e-04 1.01253444e+01] [ 1.54074555e-02 -5.33408027e-04 9.99881156e-01 1.21776390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.4992541539999 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:786.93, Y:10.13, Z:12.18 [[ 9.98904870e-01 -4.41747801e-02 -1.54159087e-02 7.86930675e+02] [ 4.41776450e-02 9.99023679e-01 -1.54817006e-04 1.01274472e+01] [ 1.54076968e-02 -5.26391081e-04 9.99881156e-01 1.21787929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.5292541539999 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:786.96, Y:10.13, Z:12.18 [[ 9.98925228e-01 -4.37119867e-02 -1.54159168e-02 7.86962763e+02] [ 4.37148091e-02 9.99044039e-01 -1.54003525e-04 1.01288667e+01] [ 1.54079116e-02 -5.20065854e-04 9.99881156e-01 1.21795324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.5592541539999 meters Centerline goodness : 0.998953 Centerline is valid? [True, True] Translation: X:787.00, Y:10.13, Z:12.18 [[ 9.98971681e-01 -4.26371811e-02 -1.54159277e-02 7.86995367e+02] [ 4.26398925e-02 9.99090495e-01 -1.52910147e-04 1.01307320e+01] [ 1.54084264e-02 -5.04580591e-04 9.99881156e-01 1.21785016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.589254154 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:787.03, Y:10.13, Z:12.18 [[ 9.98971140e-01 -4.26498677e-02 -1.54159388e-02 7.87026765e+02] [ 4.26525980e-02 9.99089952e-01 -1.51781610e-04 1.01321887e+01] [ 1.54083830e-02 -5.05904391e-04 9.99881156e-01 1.21805472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.6192541539999 meters Centerline goodness : 0.999058 Centerline is valid? [True, True] Translation: X:787.06, Y:10.13, Z:12.18 [[ 9.98988578e-01 -4.22394216e-02 -1.54159470e-02 7.87058967e+02] [ 4.22421160e-02 9.99107392e-01 -1.50941378e-04 1.01337144e+01] [ 1.54085623e-02 -5.00413509e-04 9.99881156e-01 1.21812399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.6492541539999 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:787.09, Y:10.14, Z:12.18 [[ 9.99094169e-01 -3.96634443e-02 -1.54159578e-02 7.87091352e+02] [ 3.96658496e-02 9.99212989e-01 -1.49825200e-04 1.01364701e+01] [ 1.54097679e-02 -4.61797581e-04 9.99881156e-01 1.21803703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.6792541539999 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:787.12, Y:10.14, Z:12.18 [[ 9.99221649e-01 -3.63103826e-02 -1.54159687e-02 7.87123700e+02] [ 3.63124065e-02 9.99340476e-01 -1.48697628e-04 1.01407839e+01] [ 1.54112008e-02 -4.11209033e-04 9.99881156e-01 1.21830048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.7092541539998 meters Centerline goodness : 0.999329 Centerline is valid? [True, True] Translation: X:787.16, Y:10.14, Z:12.18 [[ 9.99308998e-01 -3.38212037e-02 -1.54159795e-02 7.87155001e+02] [ 3.38229489e-02 9.99427830e-01 -1.47576444e-04 1.01431405e+01] [ 1.54121501e-02 -3.73939417e-04 9.99881156e-01 1.21843029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.7392541539999 meters Centerline goodness : 0.999098 Centerline is valid? [True, True] Translation: X:787.19, Y:10.15, Z:12.19 [[ 9.99462444e-01 -2.89339053e-02 -1.54159970e-02 7.87185898e+02] [ 2.89350980e-02 9.99581282e-01 -1.45719921e-04 1.01471999e+01] [ 1.54137583e-02 -3.00421795e-04 9.99881156e-01 1.21855957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.7692541539999 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:787.22, Y:10.15, Z:12.19 [[ 9.99524651e-01 -2.66986860e-02 -1.54160023e-02 7.87216081e+02] [ 2.66996216e-02 9.99643491e-01 -1.45158304e-04 1.01488502e+01] [ 1.54143819e-02 -2.66512125e-04 9.99881156e-01 1.21861622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.7992541539999 meters Centerline goodness : 0.999076 Centerline is valid? [True, True] Translation: X:787.25, Y:10.15, Z:12.19 [[ 9.99607613e-01 -2.33873228e-02 -1.54160049e-02 7.87245541e+02] [ 2.33878690e-02 9.99726456e-01 -1.44880039e-04 1.01518491e+01] [ 1.54151763e-02 -2.15724313e-04 9.99881156e-01 1.21858829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.8292541539998 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:787.28, Y:10.15, Z:12.19 [[ 9.99636749e-01 -2.21069222e-02 -1.54160024e-02 7.87275620e+02] [ 2.21073120e-02 9.99755593e-01 -1.45149575e-04 1.01533622e+01] [ 1.54154434e-02 -1.95709525e-04 9.99881156e-01 1.21857411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.8592541539999 meters Centerline goodness : 0.998906 Centerline is valid? [True, True] Translation: X:787.30, Y:10.15, Z:12.19 [[ 9.99648749e-01 -2.15575033e-02 -1.54159971e-02 7.87304905e+02] [ 2.15578191e-02 9.99767593e-01 -1.45710019e-04 1.01548036e+01] [ 1.54155554e-02 -1.86676439e-04 9.99881156e-01 1.21852954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.8892541539999 meters Centerline goodness : 0.998780 Centerline is valid? [True, True] Translation: X:787.33, Y:10.16, Z:12.18 [[ 9.99632450e-01 -2.23004746e-02 -1.54159917e-02 7.87333331e+02] [ 2.23008700e-02 9.99751294e-01 -1.46274927e-04 1.01567395e+01] [ 1.54154197e-02 -1.97568864e-04 9.99881156e-01 1.21839617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.9192541539999 meters Centerline goodness : 0.998739 Centerline is valid? [True, True] Translation: X:787.36, Y:10.16, Z:12.18 [[ 9.99608056e-01 -2.33684205e-02 -1.54159529e-02 7.87362363e+02] [ 2.33688815e-02 9.99726899e-01 -1.50255817e-04 1.01574727e+01] [ 1.54152540e-02 -2.10056652e-04 9.99881156e-01 1.21834087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.9492541539998 meters Centerline goodness : 0.998737 Centerline is valid? [True, True] Translation: X:787.39, Y:10.16, Z:12.18 [[ 9.99534985e-01 -2.63089870e-02 -1.54159446e-02 7.87392074e+02] [ 2.63097846e-02 9.99653826e-01 -1.51100885e-04 1.01583492e+01] [ 1.54145833e-02 -2.54559561e-04 9.99881156e-01 1.21831440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.9792541539999 meters Centerline goodness : 0.998906 Centerline is valid? [True, True] Translation: X:787.42, Y:10.16, Z:12.18 [[ 9.99491085e-01 -2.79270376e-02 -1.54159391e-02 7.87422392e+02] [ 2.79280189e-02 9.99609925e-01 -1.51660847e-04 1.01587397e+01] [ 1.54141612e-02 -2.78952975e-04 9.99881156e-01 1.21831504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.0092541539999 meters Centerline goodness : 0.998865 Centerline is valid? [True, True] Translation: X:787.45, Y:10.16, Z:12.18 [[ 9.99434679e-01 -2.98776036e-02 -1.54159391e-02 7.87453059e+02] [ 2.98788169e-02 9.99553517e-01 -1.51660847e-04 1.01594439e+01] [ 1.54135874e-02 -3.09034912e-04 9.99881156e-01 1.21839518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.0392541539999 meters Centerline goodness : 0.998676 Centerline is valid? [True, True] Translation: X:787.48, Y:10.16, Z:12.19 [[ 9.99339772e-01 -3.28993793e-02 -1.54159419e-02 7.87483926e+02] [ 3.29009562e-02 9.99458606e-01 -1.51379872e-04 1.01611208e+01] [ 1.54125761e-02 -3.55919302e-04 9.99881156e-01 1.21856580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.0692541539999 meters Centerline goodness : 0.998678 Centerline is valid? [True, True] Translation: X:787.52, Y:10.16, Z:12.19 [[ 9.99306993e-01 -3.38804189e-02 -1.54159474e-02 7.87515586e+02] [ 3.38821211e-02 9.99425825e-01 -1.50819335e-04 1.01620794e+01] [ 1.54122057e-02 -3.71610180e-04 9.99881156e-01 1.21866903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.0992541539999 meters Centerline goodness : 0.998655 Centerline is valid? [True, True] Translation: X:787.55, Y:10.16, Z:12.19 [[ 9.99258909e-01 -3.52701069e-02 -1.54159529e-02 7.87545518e+02] [ 3.52719832e-02 9.99377739e-01 -1.50247934e-04 1.01632073e+01] [ 1.54116594e-02 -3.93614646e-04 9.99881156e-01 1.21872065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.1292541539999 meters Centerline goodness : 0.998803 Centerline is valid? [True, True] Translation: X:787.58, Y:10.16, Z:12.19 [[ 9.99241952e-01 -3.57473060e-02 -1.54159557e-02 7.87576999e+02] [ 3.57492434e-02 9.99360780e-01 -1.49964438e-04 1.01637041e+01] [ 1.54114623e-02 -4.01257994e-04 9.99881156e-01 1.21872650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.1592541539999 meters Centerline goodness : 0.998741 Centerline is valid? [True, True] Translation: X:787.61, Y:10.16, Z:12.19 [[ 9.99240927e-01 -3.57759472e-02 -1.54159612e-02 7.87607883e+02] [ 3.57778967e-02 9.99359755e-01 -1.49400527e-04 1.01639639e+01] [ 1.54114361e-02 -4.02263545e-04 9.99881156e-01 1.21870810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.1892541539999 meters Centerline goodness : 0.998914 Centerline is valid? [True, True] Translation: X:787.64, Y:10.17, Z:12.19 [[ 9.99229364e-01 -3.60974553e-02 -1.54159666e-02 7.87638989e+02] [ 3.60994518e-02 9.99348191e-01 -1.48833200e-04 1.01651044e+01] [ 1.54112909e-02 -4.07789440e-04 9.99881156e-01 1.21886674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.2192541539999 meters Centerline goodness : 0.998740 Centerline is valid? [True, True] Translation: X:787.67, Y:10.17, Z:12.19 [[ 9.99239550e-01 -3.58143616e-02 -1.54159748e-02 7.87670085e+02] [ 3.58163375e-02 9.99358378e-01 -1.47985089e-04 1.01656921e+01] [ 1.54113835e-02 -4.04271202e-04 9.99881156e-01 1.21891739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.2492541539999 meters Centerline goodness : 0.998928 Centerline is valid? [True, True] Translation: X:787.70, Y:10.17, Z:12.19 [[ 9.99290403e-01 -3.43662433e-02 -1.54159828e-02 7.87702152e+02] [ 3.43680600e-02 9.99409233e-01 -1.47147985e-04 1.01661907e+01] [ 1.54119324e-02 -3.82773851e-04 9.99881156e-01 1.21901031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.2792541539999 meters Centerline goodness : 0.999053 Centerline is valid? [True, True] Translation: X:787.73, Y:10.17, Z:12.19 [[ 9.99321345e-01 -3.34543956e-02 -1.54159935e-02 7.87733204e+02] [ 3.34561213e-02 9.99440177e-01 -1.46009897e-04 1.01664754e+01] [ 1.54122480e-02 -3.69848543e-04 9.99881156e-01 1.21906366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.3092541539999 meters Centerline goodness : 0.998822 Centerline is valid? [True, True] Translation: X:787.77, Y:10.17, Z:12.19 [[ 9.99381549e-01 -3.16048371e-02 -1.54160015e-02 7.87765017e+02] [ 3.16063559e-02 9.99500384e-01 -1.45161881e-04 1.01659987e+01] [ 1.54128873e-02 -3.42171526e-04 9.99881156e-01 1.21898661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.339254154 meters Centerline goodness : 0.999011 Centerline is valid? [True, True] Translation: X:787.80, Y:10.17, Z:12.19 [[ 9.99454385e-01 -2.92109450e-02 -1.54160067e-02 7.87796662e+02] [ 2.92121877e-02 9.99573223e-01 -1.44610531e-04 1.01658724e+01] [ 1.54136517e-02 -3.05803653e-04 9.99881156e-01 1.21908608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.3692541539999 meters Centerline goodness : 0.999178 Centerline is valid? [True, True] Translation: X:787.83, Y:10.17, Z:12.19 [[ 9.99491996e-01 -2.78943722e-02 -1.54160119e-02 7.87828428e+02] [ 2.78954670e-02 9.99610835e-01 -1.44054388e-04 1.01659368e+01] [ 1.54140308e-02 -2.86055643e-04 9.99881156e-01 1.21915209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.3992541539999 meters Centerline goodness : 0.999073 Centerline is valid? [True, True] Translation: X:787.86, Y:10.17, Z:12.19 [[ 9.99571605e-01 -2.48787719e-02 -1.54160171e-02 7.87858823e+02] [ 2.48795167e-02 9.99690447e-01 -1.43496413e-04 1.01655182e+01] [ 1.54148150e-02 -2.40108114e-04 9.99881156e-01 1.21913814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.4292541539999 meters Centerline goodness : 0.999073 Centerline is valid? [True, True] Translation: X:787.89, Y:10.17, Z:12.19 [[ 9.99598268e-01 -2.37833724e-02 -1.54160171e-02 7.87888591e+02] [ 2.37839870e-02 9.99717111e-01 -1.43496413e-04 1.01654362e+01] [ 1.54150689e-02 -2.23215584e-04 9.99881156e-01 1.21917781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.4592541539998 meters Centerline goodness : 0.999326 Centerline is valid? [True, True] Translation: X:787.92, Y:10.16, Z:12.19 [[ 9.99644614e-01 -2.17484016e-02 -1.54160145e-02 7.87917801e+02] [ 2.17487699e-02 9.99763457e-01 -1.43772589e-04 1.01642649e+01] [ 1.54154948e-02 -1.91557859e-04 9.99881156e-01 1.21925050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.4892541539999 meters Centerline goodness : 0.999451 Centerline is valid? [True, True] Translation: X:787.95, Y:10.16, Z:12.19 [[ 9.99658360e-01 -2.11070976e-02 -1.54160120e-02 7.87947723e+02] [ 2.11073856e-02 9.99777204e-01 -1.44046029e-04 1.01634701e+01] [ 1.54156177e-02 -1.81394891e-04 9.99881156e-01 1.21929942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.5192541539999 meters Centerline goodness : 0.999114 Centerline is valid? [True, True] Translation: X:787.98, Y:10.16, Z:12.19 [[ 9.99656400e-01 -2.11997231e-02 -1.54160068e-02 7.87976782e+02] [ 2.12000136e-02 9.99775244e-01 -1.44598854e-04 1.01626840e+01] [ 1.54156074e-02 -1.82270383e-04 9.99881156e-01 1.21927952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.5492541539999 meters Centerline goodness : 0.999199 Centerline is valid? [True, True] Translation: X:788.01, Y:10.16, Z:12.19 [[ 9.99624761e-01 -2.26425428e-02 -1.54159990e-02 7.88005131e+02] [ 2.26429921e-02 9.99743604e-01 -1.45421318e-04 1.01601961e+01] [ 1.54153391e-02 -2.03697593e-04 9.99881156e-01 1.21918591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.5792541539998 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:788.03, Y:10.16, Z:12.19 [[ 9.99577057e-01 -2.46587926e-02 -1.54159611e-02 7.88034037e+02] [ 2.46594213e-02 9.99695899e-01 -1.49330603e-04 1.01594541e+01] [ 1.54149554e-02 -2.30881236e-04 9.99881156e-01 1.21930260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.6092541539999 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:788.06, Y:10.16, Z:12.19 [[ 9.99576174e-01 -2.46945338e-02 -1.54159505e-02 7.88064186e+02] [ 2.46951499e-02 9.99695017e-01 -1.50422157e-04 1.01597791e+01] [ 1.54149635e-02 -2.30340805e-04 9.99881156e-01 1.21934912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.6392541539999 meters Centerline goodness : 0.998988 Centerline is valid? [True, True] Translation: X:788.09, Y:10.16, Z:12.19 [[ 9.99463519e-01 -2.88967457e-02 -1.54159451e-02 7.88093628e+02] [ 2.88978530e-02 9.99582358e-01 -1.50973181e-04 1.01566319e+01] [ 1.54138694e-02 -2.94595528e-04 9.99881156e-01 1.21918741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.6692541539999 meters Centerline goodness : 0.999095 Centerline is valid? [True, True] Translation: X:788.12, Y:10.16, Z:12.19 [[ 9.99370684e-01 -3.19465847e-02 -1.54159397e-02 7.88123884e+02] [ 3.19480461e-02 9.99489519e-01 -1.51521442e-04 1.01554777e+01] [ 1.54129108e-02 -3.41083066e-04 9.99881156e-01 1.21934576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.6992541539998 meters Centerline goodness : 0.999097 Centerline is valid? [True, True] Translation: X:788.16, Y:10.15, Z:12.19 [[ 9.99295510e-01 -3.42174292e-02 -1.54159424e-02 7.88155339e+02] [ 3.42191649e-02 9.99414341e-01 -1.51249411e-04 1.01538026e+01] [ 1.54120893e-02 -3.76377817e-04 9.99881156e-01 1.21927291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.7292541539999 meters Centerline goodness : 0.999140 Centerline is valid? [True, True] Translation: X:788.19, Y:10.15, Z:12.20 [[ 9.99105401e-01 -3.93795201e-02 -1.54159476e-02 7.88186182e+02] [ 3.93818779e-02 9.99224222e-01 -1.50714369e-04 1.01514153e+01] [ 1.54099233e-02 -4.56529427e-04 9.99881156e-01 1.21955080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.7592541539999 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:788.22, Y:10.15, Z:12.20 [[ 9.99020172e-01 -4.14854628e-02 -1.54159532e-02 7.88217433e+02] [ 4.14880799e-02 9.99138988e-01 -1.50142407e-04 1.01503470e+01] [ 1.54089086e-02 -4.89583003e-04 9.99881156e-01 1.21958699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.7892541539999 meters Centerline goodness : 0.999287 Centerline is valid? [True, True] Translation: X:788.25, Y:10.15, Z:12.20 [[ 9.98844087e-01 -4.55284219e-02 -1.54159615e-02 7.88249278e+02] [ 4.55315330e-02 9.98962891e-01 -1.49285155e-04 1.01485068e+01] [ 1.54067702e-02 -5.52799765e-04 9.99881156e-01 1.21973505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.8192541539999 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:788.28, Y:10.15, Z:12.20 [[ 9.98767163e-01 -4.71858149e-02 -1.54159722e-02 7.88280973e+02] [ 4.71891404e-02 9.98885961e-01 -1.48168975e-04 1.01476705e+01] [ 1.54057897e-02 -5.79480170e-04 9.99881156e-01 1.21980330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.8492541539999 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:788.31, Y:10.15, Z:12.20 [[ 9.98705080e-01 -4.84820606e-02 -1.54159831e-02 7.88313219e+02] [ 4.84855580e-02 9.98823873e-01 -1.47022180e-04 1.01467784e+01] [ 1.54049799e-02 -6.00620746e-04 9.99881156e-01 1.21985582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.8792541539999 meters Centerline goodness : 0.998895 Centerline is valid? [True, True] Translation: X:788.34, Y:10.15, Z:12.20 [[ 9.98609502e-01 -5.04123881e-02 -1.54159940e-02 7.88344188e+02] [ 5.04161328e-02 9.98728288e-01 -1.45870475e-04 1.01450466e+01] [ 1.54037430e-02 -6.31547161e-04 9.99881156e-01 1.21967003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.9092541539999 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:788.38, Y:10.15, Z:12.20 [[ 9.98546674e-01 -5.16419074e-02 -1.54160120e-02 7.88375971e+02] [ 5.16458279e-02 9.98665453e-01 -1.43951916e-04 1.01450649e+01] [ 1.54028725e-02 -6.52429994e-04 9.99881156e-01 1.21992870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.9392541539999 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:788.41, Y:10.14, Z:12.20 [[ 9.98515274e-01 -5.22455233e-02 -1.54160226e-02 7.88406660e+02] [ 5.22495333e-02 9.98634050e-01 -1.42807243e-04 1.01446952e+01] [ 1.54024261e-02 -6.62884771e-04 9.99881156e-01 1.21999025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.9692541539999 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:788.44, Y:10.14, Z:12.20 [[ 9.98546571e-01 -5.16438830e-02 -1.54160304e-02 7.88439221e+02] [ 5.16478346e-02 9.98665350e-01 -1.41953981e-04 1.01449624e+01] [ 1.54027865e-02 -6.54456928e-04 9.99881156e-01 1.21995812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.9992541539999 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:788.47, Y:10.15, Z:12.20 [[ 9.98635548e-01 -4.98937690e-02 -1.54160408e-02 7.88471551e+02] [ 4.98975299e-02 9.98754333e-01 -1.40812543e-04 1.01462275e+01] [ 1.54038633e-02 -6.28601948e-04 9.99881156e-01 1.22006579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.0292541539999 meters Centerline goodness : 0.999497 Centerline is valid? [True, True] Translation: X:788.50, Y:10.15, Z:12.20 [[ 9.98710575e-01 -4.83687255e-02 -1.54160512e-02 7.88502249e+02] [ 4.83723228e-02 9.98829364e-01 -1.39665743e-04 1.01468194e+01] [ 1.54047601e-02 -6.06224552e-04 9.99881156e-01 1.22015825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.0592541539999 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:788.53, Y:10.15, Z:12.20 [[ 9.98866942e-01 -4.50241934e-02 -1.54160589e-02 7.88534025e+02] [ 4.50274060e-02 9.98985742e-01 -1.38811645e-04 1.01483189e+01] [ 1.54066730e-02 -5.55490781e-04 9.99881156e-01 1.22006206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.089254154 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:788.57, Y:10.15, Z:12.20 [[ 9.98939971e-01 -4.33737232e-02 -1.54160688e-02 7.88566566e+02] [ 4.33767566e-02 9.99058776e-01 -1.37701719e-04 1.01490662e+01] [ 1.54075315e-02 -5.31143315e-04 9.99881156e-01 1.22006154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.1192541539999 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:788.60, Y:10.15, Z:12.20 [[ 9.99084873e-01 -3.98968816e-02 -1.54160788e-02 7.88597762e+02] [ 3.98995189e-02 9.99203688e-01 -1.36572077e-04 1.01505679e+01] [ 1.54092516e-02 -4.78647034e-04 9.99881156e-01 1.22005815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.1492541539999 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:788.63, Y:10.15, Z:12.20 [[ 9.99160354e-01 -3.79596099e-02 -1.54160863e-02 7.88629610e+02] [ 3.79620299e-02 9.99279173e-01 -1.35731123e-04 1.01517336e+01] [ 1.54101262e-02 -4.49608770e-04 9.99881156e-01 1.22005534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.1792541539999 meters Centerline goodness : 0.999077 Centerline is valid? [True, True] Translation: X:788.66, Y:10.15, Z:12.20 [[ 9.99222603e-01 -3.62840708e-02 -1.54160935e-02 7.88660548e+02] [ 3.62863042e-02 9.99341426e-01 -1.34903184e-04 1.01529780e+01] [ 1.54108357e-02 -4.24594748e-04 9.99881156e-01 1.22014395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.2092541539998 meters Centerline goodness : 0.999350 Centerline is valid? [True, True] Translation: X:788.69, Y:10.15, Z:12.20 [[ 9.99343900e-01 -3.27736734e-02 -1.54160983e-02 7.88691255e+02] [ 3.27754980e-02 9.99462730e-01 -1.34346270e-04 1.01549907e+01] [ 1.54122188e-02 -3.71012175e-04 9.99881156e-01 1.22017386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.2392541539999 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:788.72, Y:10.16, Z:12.20 [[ 9.99447403e-01 -2.94488112e-02 -1.54161008e-02 7.88721198e+02] [ 2.94502447e-02 9.99566239e-01 -1.34069909e-04 1.01571787e+01] [ 1.54133620e-02 -3.20012117e-04 9.99881156e-01 1.22026976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.2692541539999 meters Centerline goodness : 0.998906 Centerline is valid? [True, True] Translation: X:788.75, Y:10.16, Z:12.20 [[ 9.99496191e-01 -2.77436208e-02 -1.54161031e-02 7.88751200e+02] [ 2.77448558e-02 9.99615028e-01 -1.33798129e-04 1.01583920e+01] [ 1.54138804e-02 -2.93986837e-04 9.99881156e-01 1.22032425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.2992541539999 meters Centerline goodness : 0.999326 Centerline is valid? [True, True] Translation: X:788.78, Y:10.16, Z:12.20 [[ 9.99539517e-01 -2.61361472e-02 -1.54161031e-02 7.88781372e+02] [ 2.61371911e-02 9.99658356e-01 -1.33798129e-04 1.01595576e+01] [ 1.54143333e-02 -2.69197115e-04 9.99881156e-01 1.22040966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.3292541539998 meters Centerline goodness : 0.999159 Centerline is valid? [True, True] Translation: X:788.81, Y:10.16, Z:12.20 [[ 9.99615954e-01 -2.30279938e-02 -1.54161031e-02 7.88810786e+02] [ 2.30286682e-02 9.99734796e-01 -1.33798129e-04 1.01611987e+01] [ 1.54150958e-02 -2.21265578e-04 9.99881156e-01 1.22048281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.3592541539999 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:788.84, Y:10.16, Z:12.21 [[ 9.99637831e-01 -2.20578983e-02 -1.54160982e-02 7.88840621e+02] [ 2.20584486e-02 9.99756674e-01 -1.34363100e-04 1.01622089e+01] [ 1.54153108e-02 -2.05740772e-04 9.99881156e-01 1.22065877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.3892541539999 meters Centerline goodness : 0.999011 Centerline is valid? [True, True] Translation: X:788.87, Y:10.16, Z:12.21 [[ 9.99676327e-01 -2.02382089e-02 -1.54160932e-02 7.88869020e+02] [ 2.02385341e-02 9.99795171e-01 -1.34929107e-04 1.01635451e+01] [ 1.54156663e-02 -1.77113695e-04 9.99881156e-01 1.22075165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.4192541539999 meters Centerline goodness : 0.999075 Centerline is valid? [True, True] Translation: X:788.90, Y:10.16, Z:12.21 [[ 9.99691463e-01 -1.94762264e-02 -1.54160572e-02 7.88897507e+02] [ 1.94763994e-02 9.99810307e-01 -1.38925987e-04 1.01642301e+01] [ 1.54158387e-02 -1.61366165e-04 9.99881156e-01 1.22081141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.4492541539998 meters Centerline goodness : 0.998970 Centerline is valid? [True, True] Translation: X:788.93, Y:10.16, Z:12.21 [[ 9.99719465e-01 -1.79815923e-02 -1.54160204e-02 7.88925784e+02] [ 1.79815264e-02 9.99838309e-01 -1.42900367e-04 1.01644189e+01] [ 1.54160973e-02 -1.34343298e-04 9.99881156e-01 1.22073668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.4792541539999 meters Centerline goodness : 0.998992 Centerline is valid? [True, True] Translation: X:788.95, Y:10.17, Z:12.21 [[ 9.99740857e-01 -1.67501218e-02 -1.54160004e-02 7.88953947e+02] [ 1.67498768e-02 9.99859700e-01 -1.45022124e-04 1.01650763e+01] [ 1.54162667e-02 -1.13231564e-04 9.99881156e-01 1.22098570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.5092541539999 meters Centerline goodness : 0.998908 Centerline is valid? [True, True] Translation: X:788.98, Y:10.16, Z:12.21 [[ 9.99770750e-01 -1.48592118e-02 -1.54159565e-02 7.88982124e+02] [ 1.48586721e-02 9.99889593e-01 -1.49553930e-04 1.01646924e+01] [ 1.54164767e-02 -7.95409970e-05 9.99881156e-01 1.22091681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.5392541539999 meters Centerline goodness : 0.998991 Centerline is valid? [True, True] Translation: X:789.01, Y:10.16, Z:12.21 [[ 9.99768998e-01 -1.49766166e-02 -1.54159427e-02 7.89010463e+02] [ 1.49760692e-02 9.99887841e-01 -1.50954604e-04 1.01647065e+01] [ 1.54164745e-02 -7.99504916e-05 9.99881156e-01 1.22111099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.5692541539999 meters Centerline goodness : 0.998739 Centerline is valid? [True, True] Translation: X:789.04, Y:10.16, Z:12.21 [[ 9.99776858e-01 -1.44424603e-02 -1.54158969e-02 7.89038835e+02] [ 1.44417794e-02 9.99895700e-01 -1.55499149e-04 1.01638502e+01] [ 1.54165348e-02 -6.71685310e-05 9.99881156e-01 1.22087992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.5992541539999 meters Centerline goodness : 0.999286 Centerline is valid? [True, True] Translation: X:789.07, Y:10.16, Z:12.21 [[ 9.99760031e-01 -1.55638062e-02 -1.54158500e-02 7.89066945e+02] [ 1.55631888e-02 9.99878873e-01 -1.60020558e-04 1.01636093e+01] [ 1.54164732e-02 -7.99376264e-05 9.99881156e-01 1.22115416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.6292541539999 meters Centerline goodness : 0.998824 Centerline is valid? [True, True] Translation: X:789.09, Y:10.16, Z:12.21 [[ 9.99736531e-01 -1.70064989e-02 -1.54158018e-02 7.89093653e+02] [ 1.70059834e-02 9.99855374e-01 -1.64531634e-04 1.01608124e+01] [ 1.54163704e-02 -9.76725854e-05 9.99881156e-01 1.22087896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.6592541539999 meters Centerline goodness : 0.998970 Centerline is valid? [True, True] Translation: X:789.12, Y:10.16, Z:12.21 [[ 9.99698674e-01 -1.91027591e-02 -1.54157807e-02 7.89121223e+02] [ 1.91024627e-02 9.99817517e-01 -1.66486370e-04 1.01598471e+01] [ 1.54161479e-02 -1.28043172e-04 9.99881156e-01 1.22098355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.6892541539999 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:789.15, Y:10.16, Z:12.21 [[ 9.99619203e-01 -2.28867692e-02 -1.54157314e-02 7.89149061e+02] [ 2.28868541e-02 9.99738047e-01 -1.70933024e-04 1.01573846e+01] [ 1.54156053e-02 -1.81949662e-04 9.99881156e-01 1.22080847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.7192541539999 meters Centerline goodness : 0.998953 Centerline is valid? [True, True] Translation: X:789.18, Y:10.16, Z:12.21 [[ 9.99546579e-01 -2.58648648e-02 -1.54157160e-02 7.89178282e+02] [ 2.58652826e-02 9.99665423e-01 -1.72308849e-04 1.01568678e+01] [ 1.54150150e-02 -2.26501130e-04 9.99881156e-01 1.22095667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.7492541539999 meters Centerline goodness : 0.999288 Centerline is valid? [True, True] Translation: X:789.21, Y:10.16, Z:12.21 [[ 9.99485631e-01 -2.81216983e-02 -1.54156733e-02 7.89207545e+02] [ 2.81223267e-02 9.99604474e-01 -1.76048994e-04 1.01559576e+01] [ 1.54145268e-02 -2.57566161e-04 9.99881156e-01 1.22106662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.7792541539999 meters Centerline goodness : 0.999014 Centerline is valid? [True, True] Translation: X:789.24, Y:10.15, Z:12.21 [[ 9.99326566e-01 -3.32982371e-02 -1.54156669e-02 7.89238430e+02] [ 3.32994724e-02 9.99445403e-01 -1.76611287e-04 1.01544121e+01] [ 1.54129982e-02 -3.36841223e-04 9.99881156e-01 1.22107590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.8092541539999 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:789.27, Y:10.15, Z:12.21 [[ 9.99124891e-01 -3.88819906e-02 -1.54156669e-02 7.89270073e+02] [ 3.88838900e-02 9.99243720e-01 -1.76611287e-04 1.01528182e+01] [ 1.54108753e-02 -4.22964362e-04 9.99881156e-01 1.22113134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.839254154 meters Centerline goodness : 0.999142 Centerline is valid? [True, True] Translation: X:789.30, Y:10.15, Z:12.21 [[ 9.99005884e-01 -4.18282366e-02 -1.54156732e-02 7.89301346e+02] [ 4.18304950e-02 9.99124706e-01 -1.76052609e-04 1.01523562e+01] [ 1.54095440e-02 -4.68967651e-04 9.99881156e-01 1.22116933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.8692541539999 meters Centerline goodness : 0.999477 Centerline is valid? [True, True] Translation: X:789.33, Y:10.15, Z:12.21 [[ 9.98886763e-01 -4.45824202e-02 -1.54156796e-02 7.89333752e+02] [ 4.45850148e-02 9.99005578e-01 -1.75496714e-04 1.01520676e+01] [ 1.54081740e-02 -5.12006957e-04 9.99881156e-01 1.22123117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.8992541539999 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:789.37, Y:10.15, Z:12.21 [[ 9.98627679e-01 -5.00511328e-02 -1.54156921e-02 7.89365023e+02] [ 5.00543950e-02 9.98746478e-01 -1.74386695e-04 1.01516995e+01] [ 1.54050965e-02 -5.97475763e-04 9.99881156e-01 1.22125412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.9292541539999 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:789.40, Y:10.15, Z:12.21 [[ 9.98472740e-01 -5.30522642e-02 -1.54157014e-02 7.89396986e+02] [ 5.30558962e-02 9.98591529e-01 -1.73559457e-04 1.01520578e+01] [ 1.54031966e-02 -6.44599469e-04 9.99881156e-01 1.22130465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.9592541539998 meters Centerline goodness : 0.999393 Centerline is valid? [True, True] Translation: X:789.43, Y:10.15, Z:12.21 [[ 9.98174818e-01 -5.83899690e-02 -1.54157140e-02 7.89429496e+02] [ 5.83942534e-02 9.98293585e-01 -1.72435526e-04 1.01517487e+01] [ 1.53994769e-02 -7.28068310e-04 9.99881156e-01 1.22135558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.9892541539999 meters Centerline goodness : 0.999498 Centerline is valid? [True, True] Translation: X:789.46, Y:10.15, Z:12.21 [[ 9.98008503e-01 -6.11668543e-02 -1.54157265e-02 7.89460524e+02] [ 6.11714865e-02 9.98127256e-01 -1.71311113e-04 1.01519879e+01] [ 1.53973354e-02 -7.72032958e-04 9.99881156e-01 1.22136776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.0192541539999 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:789.49, Y:10.15, Z:12.21 [[ 9.97834007e-01 -6.39503729e-02 -1.54157358e-02 7.89493025e+02] [ 6.39553491e-02 9.97952747e-01 -1.70473574e-04 1.01521686e+01] [ 1.53950777e-02 -8.15814434e-04 9.99881156e-01 1.22141883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.0492541539999 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:789.52, Y:10.15, Z:12.21 [[ 9.97478199e-01 -6.92791206e-02 -1.54157477e-02 7.89524932e+02] [ 6.92847477e-02 9.97596910e-01 -1.69388907e-04 1.01530278e+01] [ 1.53904374e-02 -8.99114448e-04 9.99881156e-01 1.22144993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.0792541539998 meters Centerline goodness : 0.998699 Centerline is valid? [True, True] Translation: X:789.56, Y:10.15, Z:12.22 [[ 9.97338406e-01 -7.12633034e-02 -1.54157597e-02 7.89556488e+02] [ 7.12691836e-02 9.97457104e-01 -1.68291995e-04 1.01538945e+01] [ 1.53885520e-02 -9.30824536e-04 9.99881156e-01 1.22150044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.1092541539999 meters Centerline goodness : 0.999370 Centerline is valid? [True, True] Translation: X:789.59, Y:10.16, Z:12.22 [[ 9.97154215e-01 -7.37958291e-02 -1.54157889e-02 7.89588261e+02] [ 7.38020526e-02 9.97272896e-01 -1.65567525e-04 1.01559471e+01] [ 1.53859667e-02 -9.72620509e-04 9.99881156e-01 1.22163373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.1392541539999 meters Centerline goodness : 0.998804 Centerline is valid? [True, True] Translation: X:789.62, Y:10.16, Z:12.22 [[ 9.97102160e-01 -7.44958696e-02 -1.54158033e-02 7.89621532e+02] [ 7.45021973e-02 9.97220836e-01 -1.64214836e-04 1.01572571e+01] [ 1.53851936e-02 -9.84772254e-04 9.99881156e-01 1.22169182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.1692541539999 meters Centerline goodness : 0.999053 Centerline is valid? [True, True] Translation: X:789.66, Y:10.16, Z:12.22 [[ 9.97288561e-01 -7.19574822e-02 -1.54158206e-02 7.89658528e+02] [ 7.19635329e-02 9.97407251e-01 -1.62582475e-04 1.01562098e+01] [ 1.53875502e-02 -9.47235267e-04 9.99881156e-01 1.22162674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.1992541539998 meters Centerline goodness : 0.998863 Centerline is valid? [True, True] Translation: X:789.69, Y:10.16, Z:12.22 [[ 9.97169056e-01 -7.35945373e-02 -1.54181015e-02 7.89685310e+02] [ 7.36041730e-02 9.97287532e-01 5.76744897e-05 1.01622844e+01] [ 1.53720359e-02 -1.19234783e-03 9.99881132e-01 1.22184380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.2292541539999 meters Centerline goodness : 0.999055 Centerline is valid? [True, True] Translation: X:789.72, Y:10.16, Z:12.22 [[ 9.97271088e-01 -7.21992554e-02 -1.54157195e-02 7.89716603e+02] [ 7.22052981e-02 9.97389777e-01 -1.64963890e-04 1.01640739e+01] [ 1.53873913e-02 -9.48582901e-04 9.99881157e-01 1.22174317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.2592541539999 meters Centerline goodness : 0.999013 Centerline is valid? [True, True] Translation: X:789.75, Y:10.17, Z:12.22 [[ 9.97360455e-01 -7.09540522e-02 -1.54157286e-02 7.89748825e+02] [ 7.09599599e-02 9.97479151e-01 -1.64109071e-04 1.01660721e+01] [ 1.53885120e-02 -9.30223582e-04 9.99881157e-01 1.22183612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.2892541539999 meters Centerline goodness : 0.999389 Centerline is valid? [True, True] Translation: X:789.78, Y:10.17, Z:12.22 [[ 9.97621163e-01 -6.71890652e-02 -1.54157434e-02 7.89780727e+02] [ 6.71945465e-02 9.97739879e-01 -1.62703636e-04 1.01705872e+01] [ 1.53918339e-02 -8.73537295e-04 9.99881157e-01 1.22196096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.3192541539999 meters Centerline goodness : 0.999241 Centerline is valid? [True, True] Translation: X:789.81, Y:10.17, Z:12.22 [[ 9.97793637e-01 -6.45771757e-02 -1.54157550e-02 7.89812546e+02] [ 6.45823633e-02 9.97912367e-01 -1.61594668e-04 1.01729662e+01] [ 1.53940079e-02 -8.34347758e-04 9.99881157e-01 1.22188251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.3492541539999 meters Centerline goodness : 0.999219 Centerline is valid? [True, True] Translation: X:789.84, Y:10.18, Z:12.22 [[ 9.98132772e-01 -5.91043380e-02 -1.54157694e-02 7.89844605e+02] [ 5.91088956e-02 9.98251528e-01 -1.60213649e-04 1.01777522e+01] [ 1.53982846e-02 -7.51294609e-04 9.99881157e-01 1.22198207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.3792541539999 meters Centerline goodness : 0.999239 Centerline is valid? [True, True] Translation: X:789.88, Y:10.18, Z:12.22 [[ 9.98351153e-01 -5.52931150e-02 -1.54157806e-02 7.89876469e+02] [ 5.52972359e-02 9.98469925e-01 -1.59128648e-04 1.01802962e+01] [ 1.54009920e-02 -6.93583786e-04 9.99881157e-01 1.22200435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.4092541539999 meters Centerline goodness : 0.999090 Centerline is valid? [True, True] Translation: X:789.91, Y:10.18, Z:12.22 [[ 9.98540692e-01 -5.17575187e-02 -1.54157924e-02 7.89907487e+02] [ 5.17612367e-02 9.98659476e-01 -1.57976958e-04 1.01835498e+01] [ 1.54033036e-02 -6.40194057e-04 9.99881157e-01 1.22219163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.4392541539999 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:789.94, Y:10.19, Z:12.22 [[ 9.98948600e-01 -4.31746085e-02 -1.54158117e-02 7.89939676e+02] [ 4.31773351e-02 9.99067412e-01 -1.56066433e-04 1.01892847e+01] [ 1.54081732e-02 -5.09711324e-04 9.99881157e-01 1.22239254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.4692541539999 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:789.97, Y:10.19, Z:12.23 [[ 9.99290721e-01 -3.43570678e-02 -1.54158232e-02 7.89971185e+02] [ 3.43587634e-02 9.99409551e-01 -1.54921276e-04 1.01947388e+01] [ 1.54120436e-02 -3.74857229e-04 9.99881157e-01 1.22254512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.4992541539999 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:790.00, Y:10.20, Z:12.23 [[ 9.99291968e-01 -3.43207588e-02 -1.54158317e-02 7.90003025e+02] [ 3.43224632e-02 9.99410799e-01 -1.54068394e-04 1.01950268e+01] [ 1.54120365e-02 -3.75150010e-04 9.99881157e-01 1.22259419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.5292541539999 meters Centerline goodness : 0.999490 Centerline is valid? [True, True] Translation: X:790.04, Y:10.20, Z:12.23 [[ 9.99434987e-01 -2.98673681e-02 -1.54158373e-02 7.90035502e+02] [ 2.98685517e-02 9.99553824e-01 -1.53508399e-04 1.01975834e+01] [ 1.54135440e-02 -3.07027069e-04 9.99881157e-01 1.22270314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.5592541539999 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:790.07, Y:10.20, Z:12.23 [[ 9.99559183e-01 -2.53730542e-02 -1.54158486e-02 7.90065383e+02] [ 2.53737209e-02 9.99678024e-01 -1.52368588e-04 1.01998888e+01] [ 1.54147511e-02 -2.38856019e-04 9.99881157e-01 1.22250449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.589254154 meters Centerline goodness : 0.999319 Centerline is valid? [True, True] Translation: X:790.10, Y:10.20, Z:12.23 [[ 9.99643457e-01 -2.18015993e-02 -1.54158514e-02 7.90095468e+02] [ 2.18018458e-02 9.99762300e-01 -1.52087193e-04 1.02023906e+01] [ 1.54155028e-02 -1.84061047e-04 9.99881157e-01 1.22273751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.6192541539999 meters Centerline goodness : 0.999424 Centerline is valid? [True, True] Translation: X:790.12, Y:10.21, Z:12.23 [[ 9.99760279e-01 -1.55478923e-02 -1.54158514e-02 7.90124666e+02] [ 1.55473953e-02 9.99879120e-01 -1.52087193e-04 1.02059868e+01] [ 1.54163525e-02 -8.76256015e-05 9.99881157e-01 1.22259843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.6492541539999 meters Centerline goodness : 0.999552 Centerline is valid? [True, True] Translation: X:790.15, Y:10.21, Z:12.23 [[ 9.99776011e-01 -1.45009872e-02 -1.54158457e-02 7.90152672e+02] [ 1.45003570e-02 9.99894853e-01 -1.52654536e-04 1.02078594e+01] [ 1.54164384e-02 -7.09149237e-05 9.99881157e-01 1.22276540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.6792541539999 meters Centerline goodness : 0.999170 Centerline is valid? [True, True] Translation: X:790.18, Y:10.21, Z:12.23 [[ 9.99796045e-01 -1.30469051e-02 -1.54157996e-02 7.90180774e+02] [ 1.30460324e-02 9.99914885e-01 -1.57175930e-04 1.02100104e+01] [ 1.54165382e-02 -4.39711489e-05 9.99881157e-01 1.22266642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.7092541539998 meters Centerline goodness : 0.999063 Centerline is valid? [True, True] Translation: X:790.21, Y:10.21, Z:12.23 [[ 9.99785469e-01 -1.38336713e-02 -1.54157853e-02 7.90208801e+02] [ 1.38328706e-02 9.99904309e-01 -1.58573309e-04 1.02112035e+01] [ 1.54165038e-02 -5.47052724e-05 9.99881157e-01 1.22269594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.7392541539999 meters Centerline goodness : 0.999339 Centerline is valid? [True, True] Translation: X:790.24, Y:10.21, Z:12.23 [[ 9.99770456e-01 -1.48792087e-02 -1.54157380e-02 7.90236805e+02] [ 1.48784634e-02 9.99889296e-01 -1.63039544e-04 1.02120250e+01] [ 1.54164574e-02 -6.63603748e-05 9.99881157e-01 1.22274366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.7692541539999 meters Centerline goodness : 0.999192 Centerline is valid? [True, True] Translation: X:790.26, Y:10.21, Z:12.23 [[ 9.99744520e-01 -1.65302853e-02 -1.54156890e-02 7.90263973e+02] [ 1.65296667e-02 9.99863362e-01 -1.67553426e-04 1.02130296e+01] [ 1.54163523e-02 -8.73055804e-05 9.99881157e-01 1.22270622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.7992541539999 meters Centerline goodness : 0.999447 Centerline is valid? [True, True] Translation: X:790.29, Y:10.21, Z:12.23 [[ 9.99704419e-01 -1.88004795e-02 -1.54148484e-02 7.90292803e+02] [ 1.87989764e-02 9.99823254e-01 -2.42420236e-04 1.02134329e+01] [ 1.54166815e-02 -4.74347903e-05 9.99881155e-01 1.22282006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.8292541539998 meters Centerline goodness : 0.999406 Centerline is valid? [True, True] Translation: X:790.32, Y:10.21, Z:12.23 [[ 9.99652486e-01 -2.13837999e-02 -1.54156210e-02 7.90321657e+02] [ 2.13836594e-02 9.99771328e-01 -1.73966760e-04 1.02130608e+01] [ 1.54158159e-02 -1.55736084e-04 9.99881157e-01 1.22290103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.8592541539999 meters Centerline goodness : 0.999384 Centerline is valid? [True, True] Translation: X:790.35, Y:10.21, Z:12.23 [[ 9.99631632e-01 -2.23374379e-02 -1.54155748e-02 7.90350849e+02] [ 2.23373491e-02 9.99750474e-01 -1.77964452e-04 1.02128963e+01] [ 1.54157035e-02 -1.66444181e-04 9.99881157e-01 1.22293418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.8892541539999 meters Centerline goodness : 0.999193 Centerline is valid? [True, True] Translation: X:790.38, Y:10.21, Z:12.23 [[ 9.99628893e-01 -2.24596531e-02 -1.54155682e-02 7.90380181e+02] [ 2.24595701e-02 9.99747736e-01 -1.78533325e-04 1.02128854e+01] [ 1.54156892e-02 -1.67759964e-04 9.99881157e-01 1.22272711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.9192541539999 meters Centerline goodness : 0.999384 Centerline is valid? [True, True] Translation: X:790.41, Y:10.21, Z:12.23 [[ 9.99609775e-01 -2.32950363e-02 -1.54155687e-02 7.90409359e+02] [ 2.32950532e-02 9.99728618e-01 -1.78488500e-04 1.02130735e+01] [ 1.54155431e-02 -1.80687645e-04 9.99881157e-01 1.22280238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.9492541539998 meters Centerline goodness : 0.999321 Centerline is valid? [True, True] Translation: X:790.44, Y:10.21, Z:12.23 [[ 9.99587379e-01 -2.42370122e-02 -1.54155623e-02 7.90438649e+02] [ 2.42371325e-02 9.99706222e-01 -1.79047673e-04 1.02127565e+01] [ 1.54153731e-02 -1.94655231e-04 9.99881157e-01 1.22303709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.9792541539999 meters Centerline goodness : 0.999300 Centerline is valid? [True, True] Translation: X:790.47, Y:10.21, Z:12.23 [[ 9.99577631e-01 -2.46357636e-02 -1.54155590e-02 7.90469370e+02] [ 2.46359270e-02 9.99696473e-01 -1.79324978e-04 1.02127285e+01] [ 1.54152978e-02 -2.00527350e-04 9.99881157e-01 1.22306849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.0092541539999 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:790.50, Y:10.21, Z:12.23 [[ 9.99572378e-01 -2.48479782e-02 -1.54155590e-02 7.90499358e+02] [ 2.48481668e-02 9.99691221e-01 -1.79324978e-04 1.02122198e+01] [ 1.54152549e-02 -2.03800088e-04 9.99881157e-01 1.22308597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.0392541539999 meters Centerline goodness : 0.999618 Centerline is valid? [True, True] Translation: X:790.53, Y:10.21, Z:12.23 [[ 9.99569202e-01 -2.49753986e-02 -1.54155559e-02 7.90530332e+02] [ 2.49755982e-02 9.99688045e-01 -1.79597672e-04 1.02118982e+01] [ 1.54152324e-02 -2.05492427e-04 9.99881157e-01 1.22315553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.0692541539999 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:790.56, Y:10.21, Z:12.23 [[ 9.99595921e-01 -2.38821011e-02 -1.54155559e-02 7.90560488e+02] [ 2.38821707e-02 9.99714764e-01 -1.79597672e-04 1.02108569e+01] [ 1.54154480e-02 -1.88631836e-04 9.99881157e-01 1.22316295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.0992541539999 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:790.59, Y:10.21, Z:12.23 [[ 9.99638730e-01 -2.20174917e-02 -1.54155559e-02 7.90589842e+02] [ 2.20173396e-02 9.99757573e-01 -1.79597672e-04 1.02099370e+01] [ 1.54157730e-02 -1.59876740e-04 9.99881157e-01 1.22322116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.1292541539999 meters Centerline goodness : 0.999106 Centerline is valid? [True, True] Translation: X:790.62, Y:10.21, Z:12.23 [[ 9.99666814e-01 -2.07031892e-02 -1.54155526e-02 7.90619495e+02] [ 2.07028766e-02 9.99785656e-01 -1.79872826e-04 1.02096108e+01] [ 1.54159724e-02 -1.39333390e-04 9.99881157e-01 1.22327409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.1592541539999 meters Centerline goodness : 0.999213 Centerline is valid? [True, True] Translation: X:790.65, Y:10.21, Z:12.23 [[ 9.99697223e-01 -1.91786956e-02 -1.54155463e-02 7.90649647e+02] [ 1.91781934e-02 9.99816065e-01 -1.80414729e-04 1.02092040e+01] [ 1.54161710e-02 -1.15282225e-04 9.99881157e-01 1.22329693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.1892541539999 meters Centerline goodness : 0.998913 Centerline is valid? [True, True] Translation: X:790.68, Y:10.21, Z:12.23 [[ 9.99751910e-01 -1.60772808e-02 -1.54155400e-02 7.90678017e+02] [ 1.60764017e-02 9.99870750e-01 -1.80952744e-04 1.02077085e+01] [ 1.54164568e-02 -6.69185614e-05 9.99881157e-01 1.22328786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.2192541539999 meters Centerline goodness : 0.999424 Centerline is valid? [True, True] Translation: X:790.71, Y:10.21, Z:12.23 [[ 9.99770982e-01 -1.48440318e-02 -1.54154936e-02 7.90706312e+02] [ 1.48429465e-02 9.99889820e-01 -1.84823531e-04 1.02073811e+01] [ 1.54165386e-02 -4.40301428e-05 9.99881157e-01 1.22333865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.2492541539999 meters Centerline goodness : 0.999170 Centerline is valid? [True, True] Translation: X:790.73, Y:10.21, Z:12.23 [[ 9.99797988e-01 -1.28975663e-02 -1.54154373e-02 7.90734677e+02] [ 1.28961790e-02 9.99916823e-01 -1.89404908e-04 1.02066385e+01] [ 1.54165979e-02 -9.43359213e-06 9.99881157e-01 1.22330236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.2792541539999 meters Centerline goodness : 0.999192 Centerline is valid? [True, True] Translation: X:790.76, Y:10.21, Z:12.23 [[ 9.99806776e-01 -1.21973938e-02 -1.54153800e-02 7.90761620e+02] [ 1.21958531e-02 9.99925609e-01 -1.93953994e-04 1.02061336e+01] [ 1.54165990e-02 5.91280723e-06 9.99881157e-01 1.22323489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.3092541539999 meters Centerline goodness : 0.999062 Centerline is valid? [True, True] Translation: X:790.79, Y:10.21, Z:12.23 [[ 9.99806347e-01 -1.22325874e-02 -1.54153401e-02 7.90789073e+02] [ 1.22310027e-02 9.99925179e-01 -1.97075440e-04 1.02056076e+01] [ 1.54165975e-02 8.49220827e-06 9.99881157e-01 1.22319142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.339254154 meters Centerline goodness : 0.999128 Centerline is valid? [True, True] Translation: X:790.82, Y:10.20, Z:12.23 [[ 9.99801577e-01 -1.26164691e-02 -1.54152835e-02 7.90817374e+02] [ 1.26148633e-02 9.99920409e-01 -2.01407517e-04 1.02037809e+01] [ 1.54165977e-02 6.90585823e-06 9.99881157e-01 1.22320870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.3692541539999 meters Centerline goodness : 0.999085 Centerline is valid? [True, True] Translation: X:790.84, Y:10.20, Z:12.23 [[ 9.99793108e-01 -1.32707608e-02 -1.54152236e-02 7.90844567e+02] [ 1.32691635e-02 9.99911940e-01 -2.05897306e-04 1.02032950e+01] [ 1.54165985e-02 1.30758488e-06 9.99881157e-01 1.22314691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.3992541539999 meters Centerline goodness : 0.999086 Centerline is valid? [True, True] Translation: X:790.87, Y:10.20, Z:12.23 [[ 9.99750897e-01 -1.61404999e-02 -1.54151973e-02 7.90872851e+02] [ 1.61392137e-02 9.99869733e-01 -2.07842862e-04 1.02020782e+01] [ 1.54165439e-02 -4.09980768e-05 9.99881157e-01 1.22341556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.4292541539999 meters Centerline goodness : 0.999385 Centerline is valid? [True, True] Translation: X:790.90, Y:10.20, Z:12.23 [[ 9.99716877e-01 -1.81256610e-02 -1.54151350e-02 7.90900743e+02] [ 1.81245410e-02 9.99835714e-01 -2.12366382e-04 1.02012264e+01] [ 1.54164518e-02 -6.70859908e-05 9.99881157e-01 1.22345223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.4592541539998 meters Centerline goodness : 0.999363 Centerline is valid? [True, True] Translation: X:790.93, Y:10.20, Z:12.24 [[ 9.99683410e-01 -1.98860555e-02 -1.54150717e-02 7.90928790e+02] [ 1.98850754e-02 9.99802249e-01 -2.16870951e-04 1.02001723e+01] [ 1.54163360e-02 -8.97275694e-05 9.99881157e-01 1.22355911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.4892541539999 meters Centerline goodness : 0.999408 Centerline is valid? [True, True] Translation: X:790.96, Y:10.20, Z:12.24 [[ 9.99555012e-01 -2.55375781e-02 -1.54146255e-02 7.90956922e+02] [ 2.55367916e-02 9.99673852e-01 -2.47887618e-04 1.01977599e+01] [ 1.54159285e-02 -1.45862767e-04 9.99881157e-01 1.22354117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.5192541539999 meters Centerline goodness : 0.999365 Centerline is valid? [True, True] Translation: X:790.99, Y:10.20, Z:12.23 [[ 9.99493705e-01 -2.78336484e-02 -1.54149898e-02 7.90986372e+02] [ 2.78335238e-02 9.99612548e-01 -2.22665570e-04 1.01963645e+01] [ 1.54152148e-02 -2.06500649e-04 9.99881157e-01 1.22341294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.5492541539999 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:791.02, Y:10.19, Z:12.24 [[ 9.99328847e-01 -3.32299997e-02 -1.54149904e-02 7.91016837e+02] [ 3.32305174e-02 9.99447689e-01 -2.22623151e-04 1.01943562e+01] [ 1.54138743e-02 -2.89774370e-04 9.99881157e-01 1.22357748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.5792541539998 meters Centerline goodness : 0.999494 Centerline is valid? [True, True] Translation: X:791.05, Y:10.19, Z:12.24 [[ 9.99237494e-01 -3.58721184e-02 -1.54149904e-02 7.91048355e+02] [ 3.58729503e-02 9.99356334e-01 -2.22623151e-04 1.01936726e+01] [ 1.54130543e-02 -3.30527786e-04 9.99881157e-01 1.22375361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.6092541539999 meters Centerline goodness : 0.999304 Centerline is valid? [True, True] Translation: X:791.08, Y:10.19, Z:12.24 [[ 9.99072163e-01 -4.02143087e-02 -1.54149982e-02 7.91080699e+02] [ 4.02156654e-02 9.99190998e-01 -2.22078986e-04 1.01919119e+01] [ 1.54114582e-02 -3.98051479e-04 9.99881157e-01 1.22388765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.6392541539999 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:791.11, Y:10.19, Z:12.24 [[ 9.98998563e-01 -4.20029657e-02 -1.54150143e-02 7.91113049e+02] [ 4.20045525e-02 9.99117395e-01 -2.20961453e-04 1.01907720e+01] [ 1.54106899e-02 -4.26760602e-04 9.99881157e-01 1.22385100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.6692541539999 meters Centerline goodness : 0.999388 Centerline is valid? [True, True] Translation: X:791.15, Y:10.19, Z:12.24 [[ 9.98900230e-01 -4.42798835e-02 -1.54150302e-02 7.91145420e+02] [ 4.42817584e-02 9.99019058e-01 -2.19843919e-04 1.01901548e+01] [ 1.54096436e-02 -4.63002502e-04 9.99881157e-01 1.22402727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.6992541539998 meters Centerline goodness : 0.999621 Centerline is valid? [True, True] Translation: X:791.18, Y:10.19, Z:12.24 [[ 9.98746493e-01 -4.76216259e-02 -1.54150462e-02 7.91177537e+02] [ 4.76239157e-02 9.98865314e-01 -2.18715447e-04 1.01884353e+01] [ 1.54079706e-02 -5.15683575e-04 9.99881157e-01 1.22410362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.7292541539999 meters Centerline goodness : 0.999473 Centerline is valid? [True, True] Translation: X:791.21, Y:10.19, Z:12.24 [[ 9.98680712e-01 -4.89817486e-02 -1.54150622e-02 7.91208384e+02] [ 4.89842177e-02 9.98799529e-01 -2.17585395e-04 1.01880254e+01] [ 1.54072145e-02 -5.37796424e-04 9.99881157e-01 1.22414684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.7592541539999 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:791.24, Y:10.19, Z:12.24 [[ 9.98589614e-01 -5.08051022e-02 -1.54150884e-02 7.91240426e+02] [ 5.08078170e-02 9.98708426e-01 -2.15712712e-04 1.01871585e+01] [ 1.54061379e-02 -5.67798515e-04 9.99881157e-01 1.22418637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.7892541539999 meters Centerline goodness : 0.999242 Centerline is valid? [True, True] Translation: X:791.27, Y:10.19, Z:12.24 [[ 9.98557047e-01 -5.14412131e-02 -1.54151038e-02 7.91272814e+02] [ 5.14440207e-02 9.98675857e-01 -2.14603792e-04 1.01871658e+01] [ 1.54057315e-02 -5.78720791e-04 9.99881157e-01 1.22422235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.8192541539999 meters Centerline goodness : 0.999222 Centerline is valid? [True, True] Translation: X:791.30, Y:10.19, Z:12.24 [[ 9.98562286e-01 -5.13394207e-02 -1.54151192e-02 7.91304939e+02] [ 5.13422334e-02 9.98681095e-01 -2.13490281e-04 1.01870196e+01] [ 1.54057486e-02 -5.78263307e-04 9.99881157e-01 1.22408913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.8492541539999 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:791.34, Y:10.19, Z:12.24 [[ 9.98535459e-01 -5.18585680e-02 -1.54151346e-02 7.91336612e+02] [ 5.18614596e-02 9.98654266e-01 -2.12376297e-04 1.01873412e+01] [ 1.54054034e-02 -5.87386116e-04 9.99881157e-01 1.22433075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.8792541539999 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:791.37, Y:10.19, Z:12.24 [[ 9.98567118e-01 -5.12453332e-02 -1.54151499e-02 7.91368434e+02] [ 5.12481691e-02 9.98685927e-01 -2.11256605e-04 1.01870557e+01] [ 1.54057192e-02 -5.79044311e-04 9.99881157e-01 1.22418301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.9092541539999 meters Centerline goodness : 0.999369 Centerline is valid? [True, True] Translation: X:791.40, Y:10.19, Z:12.24 [[ 9.98588004e-01 -5.08367014e-02 -1.54151651e-02 7.91399120e+02] [ 5.08395058e-02 9.98706814e-01 -2.10141553e-04 1.01877895e+01] [ 1.54059134e-02 -5.73854544e-04 9.99881157e-01 1.22430498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.9392541539999 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:791.43, Y:10.19, Z:12.24 [[ 9.98632534e-01 -4.99543160e-02 -1.54151764e-02 7.91431727e+02] [ 4.99570283e-02 9.98751346e-01 -2.09310589e-04 1.01882287e+01] [ 1.54063842e-02 -5.61072039e-04 9.99881157e-01 1.22433884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.9692541539999 meters Centerline goodness : 0.999243 Centerline is valid? [True, True] Translation: X:791.46, Y:10.19, Z:12.24 [[ 9.98757738e-01 -4.73851569e-02 -1.54151910e-02 7.91463132e+02] [ 4.73875802e-02 9.98876556e-01 -2.08233755e-04 1.01887226e+01] [ 1.54077400e-02 -5.22513523e-04 9.99881157e-01 1.22431932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.9992541539999 meters Centerline goodness : 0.999518 Centerline is valid? [True, True] Translation: X:791.50, Y:10.19, Z:12.24 [[ 9.98781349e-01 -4.68850804e-02 -1.54144601e-02 7.91495448e+02] [ 4.68866119e-02 9.98900184e-01 -2.62212180e-04 1.01896538e+01] [ 1.54098008e-02 -4.60839173e-04 9.99881156e-01 1.22436899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.0292541539999 meters Centerline goodness : 0.999138 Centerline is valid? [True, True] Translation: X:791.53, Y:10.19, Z:12.25 [[ 9.98852834e-01 -4.53363706e-02 -1.54152148e-02 7.91527957e+02] [ 4.53385902e-02 9.98971656e-01 -2.05633006e-04 1.01911701e+01] [ 1.54086854e-02 -4.93506999e-04 9.99881157e-01 1.22456448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.0592541539999 meters Centerline goodness : 0.999474 Centerline is valid? [True, True] Translation: X:791.56, Y:10.19, Z:12.25 [[ 9.98901917e-01 -4.42417235e-02 -1.54152297e-02 7.91559360e+02] [ 4.42438301e-02 9.99020741e-01 -2.04513908e-04 1.01917703e+01] [ 1.54091822e-02 -4.77739470e-04 9.99881157e-01 1.22466760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.089254154 meters Centerline goodness : 0.999138 Centerline is valid? [True, True] Translation: X:791.59, Y:10.19, Z:12.25 [[ 9.98954547e-01 -4.30369966e-02 -1.54152407e-02 7.91591592e+02] [ 4.30389728e-02 9.99073373e-01 -2.03681005e-04 1.01924768e+01] [ 1.54097223e-02 -4.59988059e-04 9.99881157e-01 1.22479833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.1192541539999 meters Centerline goodness : 0.998948 Centerline is valid? [True, True] Translation: X:791.62, Y:10.19, Z:12.25 [[ 9.99053426e-01 -4.06770386e-02 -1.54152553e-02 7.91623953e+02] [ 4.06787512e-02 9.99172257e-01 -2.02570548e-04 1.01940438e+01] [ 1.54107354e-02 -4.24694535e-04 9.99881157e-01 1.22497284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.1492541539999 meters Centerline goodness : 0.998845 Centerline is valid? [True, True] Translation: X:791.65, Y:10.20, Z:12.25 [[ 9.99140698e-01 -3.84738342e-02 -1.54152702e-02 7.91654932e+02] [ 3.84753023e-02 9.99259531e-01 -2.01431894e-04 1.01956107e+01] [ 1.54116055e-02 -3.91848378e-04 9.99881157e-01 1.22506156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.1792541539999 meters Centerline goodness : 0.999010 Centerline is valid? [True, True] Translation: X:791.69, Y:10.20, Z:12.25 [[ 9.99168283e-01 -3.77506326e-02 -1.54152946e-02 7.91687132e+02] [ 3.77520438e-02 9.99287118e-01 -1.99546546e-04 1.01961807e+01] [ 1.54118383e-02 -3.82578296e-04 9.99881157e-01 1.22515776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.2092541539998 meters Centerline goodness : 0.998967 Centerline is valid? [True, True] Translation: X:791.72, Y:10.20, Z:12.25 [[ 9.99168946e-01 -3.77330776e-02 -1.54153092e-02 7.91717829e+02] [ 3.77345042e-02 9.99287780e-01 -1.98407889e-04 1.01968247e+01] [ 1.54118167e-02 -3.83446050e-04 9.99881157e-01 1.22517598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.2392541539999 meters Centerline goodness : 0.999033 Centerline is valid? [True, True] Translation: X:791.75, Y:10.20, Z:12.25 [[ 9.99133725e-01 -3.86544615e-02 -1.54153201e-02 7.91750006e+02] [ 3.86560108e-02 9.99252558e-01 -1.97559086e-04 1.01972033e+01] [ 1.54114346e-02 -3.98506835e-04 9.99881157e-01 1.22515141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.2692541539999 meters Centerline goodness : 0.998968 Centerline is valid? [True, True] Translation: X:791.78, Y:10.20, Z:12.25 [[ 9.99091035e-01 -3.97425679e-02 -1.54153344e-02 7.91781991e+02] [ 3.97442639e-02 9.99209865e-01 -1.96437825e-04 1.01974896e+01] [ 1.54109612e-02 -4.16411848e-04 9.99881157e-01 1.22515815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.2992541539999 meters Centerline goodness : 0.999054 Centerline is valid? [True, True] Translation: X:791.81, Y:10.20, Z:12.25 [[ 9.98988678e-01 -4.22372758e-02 -1.54153488e-02 7.91813956e+02] [ 4.22392861e-02 9.99107504e-01 -1.95302495e-04 1.01979979e+01] [ 1.54098397e-02 -4.56028346e-04 9.99881157e-01 1.22502376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.3292541539998 meters Centerline goodness : 0.999201 Centerline is valid? [True, True] Translation: X:791.85, Y:10.20, Z:12.25 [[ 9.98845778e-01 -4.54915303e-02 -1.54153630e-02 7.91845141e+02] [ 4.54939450e-02 9.98964596e-01 -1.94176059e-04 1.01987903e+01] [ 1.54082352e-02 -5.07353739e-04 9.99881157e-01 1.22518533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.3592541539999 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:791.88, Y:10.20, Z:12.25 [[ 9.98782067e-01 -4.68694986e-02 -1.54153735e-02 7.91877696e+02] [ 4.68720901e-02 9.98900881e-01 -1.93336216e-04 1.01995013e+01] [ 1.54074917e-02 -5.29450032e-04 9.99881157e-01 1.22525200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.3892541539999 meters Centerline goodness : 0.999074 Centerline is valid? [True, True] Translation: X:791.91, Y:10.20, Z:12.25 [[ 9.98737538e-01 -4.78089581e-02 -1.54153877e-02 7.91909786e+02] [ 4.78116790e-02 9.98856349e-01 -1.92195450e-04 1.02002339e+01] [ 1.54069466e-02 -5.45082759e-04 9.99881157e-01 1.22528087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.4192541539999 meters Centerline goodness : 0.999074 Centerline is valid? [True, True] Translation: X:791.94, Y:10.20, Z:12.25 [[ 9.98741047e-01 -4.77355911e-02 -1.54154017e-02 7.91942471e+02] [ 4.77383207e-02 9.98859858e-01 -1.91064761e-04 1.02005790e+01] [ 1.54069466e-02 -5.45081173e-04 9.99881157e-01 1.22533124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.4492541539998 meters Centerline goodness : 0.999095 Centerline is valid? [True, True] Translation: X:791.97, Y:10.20, Z:12.25 [[ 9.98695974e-01 -4.86694635e-02 -1.54154157e-02 7.91974498e+02] [ 4.86723217e-02 9.98814782e-01 -1.89932484e-04 1.02014421e+01] [ 1.54063890e-02 -5.60619264e-04 9.99881157e-01 1.22535582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.4792541539999 meters Centerline goodness : 0.999032 Centerline is valid? [True, True] Translation: X:792.01, Y:10.20, Z:12.25 [[ 9.98616492e-01 -5.02739118e-02 -1.54154296e-02 7.92006634e+02] [ 5.02769784e-02 9.98735295e-01 -1.88795422e-04 1.02028629e+01] [ 1.54054251e-02 -5.86506999e-04 9.99881157e-01 1.22533065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.5092541539999 meters Centerline goodness : 0.999243 Centerline is valid? [True, True] Translation: X:792.04, Y:10.20, Z:12.25 [[ 9.98533457e-01 -5.18970013e-02 -1.54154434e-02 7.92037934e+02] [ 5.19002785e-02 9.98652255e-01 -1.87662043e-04 1.02042622e+01] [ 1.54044064e-02 -6.12678978e-04 9.99881157e-01 1.22535490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.5392541539999 meters Centerline goodness : 0.999158 Centerline is valid? [True, True] Translation: X:792.07, Y:10.21, Z:12.25 [[ 9.98473745e-01 -5.30334298e-02 -1.54154537e-02 7.92070313e+02] [ 5.30368552e-02 9.98592538e-01 -1.86817509e-04 1.02051827e+01] [ 1.54036646e-02 -6.31054805e-04 9.99881157e-01 1.22540064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.5692541539999 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:792.10, Y:10.21, Z:12.25 [[ 9.98415569e-01 -5.41176099e-02 -1.54154673e-02 7.92101603e+02] [ 5.41211818e-02 9.98534358e-01 -1.85681062e-04 1.02056562e+01] [ 1.54029224e-02 -6.48916447e-04 9.99881157e-01 1.22543405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.5992541539999 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:792.13, Y:10.21, Z:12.26 [[ 9.98294461e-01 -5.63074771e-02 -1.54154775e-02 7.92134085e+02] [ 5.63113226e-02 9.98413242e-01 -1.84832614e-04 1.02067013e+01] [ 1.54014243e-02 -6.83548553e-04 9.99881157e-01 1.22552929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.6292541539999 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:792.17, Y:10.21, Z:12.26 [[ 9.98230009e-01 -5.74387601e-02 -1.54154907e-02 7.92165654e+02] [ 5.74427572e-02 9.98348785e-01 -1.83729846e-04 1.02077691e+01] [ 1.54005896e-02 -7.02103641e-04 9.99881157e-01 1.22571390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.6592541539999 meters Centerline goodness : 0.998968 Centerline is valid? [True, True] Translation: X:792.20, Y:10.21, Z:12.26 [[ 9.98110255e-01 -5.94834515e-02 -1.54155004e-02 7.92197605e+02] [ 5.94877045e-02 9.98229022e-01 -1.82907891e-04 1.02096544e+01] [ 1.53990799e-02 -7.34470492e-04 9.99881157e-01 1.22570990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.6892541539999 meters Centerline goodness : 0.999009 Centerline is valid? [True, True] Translation: X:792.23, Y:10.21, Z:12.26 [[ 9.98062104e-01 -6.02859717e-02 -1.54155321e-02 7.92230973e+02] [ 6.02903620e-02 9.98180865e-01 -1.80194456e-04 1.02108571e+01] [ 1.53983524e-02 -7.49562755e-04 9.99881157e-01 1.22582965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.7192541539999 meters Centerline goodness : 0.999242 Centerline is valid? [True, True] Translation: X:792.26, Y:10.21, Z:12.26 [[ 9.98053179e-01 -6.04335320e-02 -1.54155517e-02 7.92262243e+02] [ 6.04379659e-02 9.98171939e-01 -1.78507026e-04 1.02117416e+01] [ 1.53981589e-02 -7.53525081e-04 9.99881157e-01 1.22560704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.7492541539999 meters Centerline goodness : 0.999052 Centerline is valid? [True, True] Translation: X:792.29, Y:10.21, Z:12.26 [[ 9.98025863e-01 -6.08829807e-02 -1.54155756e-02 7.92294228e+02] [ 6.08875003e-02 9.98144619e-01 -1.76416782e-04 1.02138999e+01] [ 1.53977146e-02 -7.62547353e-04 9.99881157e-01 1.22556966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.7792541539999 meters Centerline goodness : 0.998861 Centerline is valid? [True, True] Translation: X:792.33, Y:10.22, Z:12.26 [[ 9.98060264e-01 -6.03164094e-02 -1.54155876e-02 7.92327695e+02] [ 6.03208779e-02 9.98179023e-01 -1.75357851e-04 1.02169780e+01] [ 1.53980932e-02 -7.54864077e-04 9.99881157e-01 1.22572478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.8092541539999 meters Centerline goodness : 0.999050 Centerline is valid? [True, True] Translation: X:792.36, Y:10.22, Z:12.26 [[ 9.98122199e-01 -5.92826779e-02 -1.54156065e-02 7.92360439e+02] [ 5.92870491e-02 9.98240961e-01 -1.73685817e-04 1.02187522e+01] [ 1.53987864e-02 -7.40586148e-04 9.99881157e-01 1.22579618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.839254154 meters Centerline goodness : 0.999303 Centerline is valid? [True, True] Translation: X:792.39, Y:10.22, Z:12.26 [[ 9.98198935e-01 -5.79762410e-02 -1.54156255e-02 7.92392680e+02] [ 5.79804831e-02 9.98317702e-01 -1.71982488e-04 1.02208706e+01] [ 1.53996627e-02 -7.22132676e-04 9.99881157e-01 1.22586863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.8692541539999 meters Centerline goodness : 0.999092 Centerline is valid? [True, True] Translation: X:792.42, Y:10.22, Z:12.26 [[ 9.98378494e-01 -5.47972598e-02 -1.54156548e-02 7.92424180e+02] [ 5.48011648e-02 9.98497273e-01 -1.69310167e-04 1.02247501e+01] [ 1.54017670e-02 -6.75760211e-04 9.99881157e-01 1.22582168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.8992541539999 meters Centerline goodness : 0.999238 Centerline is valid? [True, True] Translation: X:792.46, Y:10.23, Z:12.26 [[ 9.98499824e-01 -5.25400717e-02 -1.54156637e-02 7.92456066e+02] [ 5.25437208e-02 9.98618610e-01 -1.68496700e-04 1.02267481e+01] [ 1.54032215e-02 -6.41752404e-04 9.99881157e-01 1.22582170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.9292541539999 meters Centerline goodness : 0.999132 Centerline is valid? [True, True] Translation: X:792.49, Y:10.23, Z:12.26 [[ 9.98727765e-01 -4.80125810e-02 -1.54156760e-02 7.92486958e+02] [ 4.80157089e-02 9.98846567e-01 -1.67365018e-04 1.02302298e+01] [ 1.54059307e-02 -5.73042522e-04 9.99881157e-01 1.22588953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.9592541539998 meters Centerline goodness : 0.999195 Centerline is valid? [True, True] Translation: X:792.52, Y:10.23, Z:12.26 [[ 9.98855959e-01 -4.52673144e-02 -1.54156959e-02 7.92519194e+02] [ 4.52701444e-02 9.98974768e-01 -1.65507429e-04 1.02320993e+01] [ 1.54073834e-02 -5.32552700e-04 9.99881157e-01 1.22591696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.9892541539999 meters Centerline goodness : 0.999192 Centerline is valid? [True, True] Translation: X:792.55, Y:10.24, Z:12.26 [[ 9.99108453e-01 -3.93020961e-02 -1.54157076e-02 7.92551169e+02] [ 3.93042335e-02 9.99227277e-01 -1.64414066e-04 1.02368087e+01] [ 1.54102573e-02 -4.41635087e-04 9.99881157e-01 1.22595800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.0192541539999 meters Centerline goodness : 0.999065 Centerline is valid? [True, True] Translation: X:792.58, Y:10.24, Z:12.26 [[ 9.99239521e-01 -3.58153062e-02 -1.54157191e-02 7.92582068e+02] [ 3.58170457e-02 9.99358350e-01 -1.63326594e-04 1.02395635e+01] [ 1.54116772e-02 -3.88943128e-04 9.99881157e-01 1.22597212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.0492541539999 meters Centerline goodness : 0.999194 Centerline is valid? [True, True] Translation: X:792.61, Y:10.24, Z:12.26 [[ 9.99357334e-01 -3.23616194e-02 -1.54157277e-02 7.92614421e+02] [ 3.23629606e-02 9.99476169e-01 -1.62517472e-04 1.02420528e+01] [ 1.54129118e-02 -3.36485560e-04 9.99881157e-01 1.22607115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.0792541539998 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:792.65, Y:10.25, Z:12.26 [[ 9.99546033e-01 -2.58859772e-02 -1.54157389e-02 7.92647027e+02] [ 2.58865651e-02 9.99664874e-01 -1.61441594e-04 1.02460198e+01] [ 1.54147518e-02 -2.37692224e-04 9.99881157e-01 1.22616525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.1092541539999 meters Centerline goodness : 0.999126 Centerline is valid? [True, True] Translation: X:792.68, Y:10.25, Z:12.26 [[ 9.99611296e-01 -2.32295482e-02 -1.54157505e-02 7.92677905e+02] [ 2.32298375e-02 9.99730138e-01 -1.60324482e-04 1.02479825e+01] [ 1.54153147e-02 -1.97843216e-04 9.99881157e-01 1.22630610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.1392541539999 meters Centerline goodness : 0.998911 Centerline is valid? [True, True] Translation: X:792.71, Y:10.25, Z:12.26 [[ 9.99711212e-01 -1.84349407e-02 -1.54157563e-02 7.92707039e+02] [ 1.84346685e-02 9.99830054e-01 -1.59767050e-04 1.02506371e+01] [ 1.54160818e-02 -1.24463447e-04 9.99881157e-01 1.22622762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.1692541539999 meters Centerline goodness : 0.998974 Centerline is valid? [True, True] Translation: X:792.74, Y:10.25, Z:12.26 [[ 9.99742653e-01 -1.66428151e-02 -1.54157534e-02 7.92735300e+02] [ 1.66423256e-02 9.99861494e-01 -1.60043979e-04 1.02521618e+01] [ 1.54162819e-02 -9.65511965e-05 9.99881157e-01 1.22626531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.1992541539998 meters Centerline goodness : 0.998994 Centerline is valid? [True, True] Translation: X:792.76, Y:10.25, Z:12.26 [[ 9.99761611e-01 -1.54621262e-02 -1.54157128e-02 7.92763926e+02] [ 1.54614374e-02 9.99880451e-01 -1.63869386e-04 1.02539892e+01] [ 1.54164036e-02 -7.45187571e-05 9.99881157e-01 1.22632647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.2292541539999 meters Centerline goodness : 0.999273 Centerline is valid? [True, True] Translation: X:792.79, Y:10.26, Z:12.27 [[ 9.99784402e-01 -1.39106663e-02 -1.54156712e-02 7.92791680e+02] [ 1.39097342e-02 9.99903241e-01 -1.67688755e-04 1.02567155e+01] [ 1.54165123e-02 -4.67752874e-05 9.99881157e-01 1.22654801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.2592541539999 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:792.82, Y:10.26, Z:12.27 [[ 9.99792814e-01 -1.32923873e-02 -1.54156225e-02 7.92819755e+02] [ 1.32913144e-02 9.99911652e-01 -1.72051267e-04 1.02572716e+01] [ 1.54165476e-02 -3.28782661e-05 9.99881157e-01 1.22657529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.2892541539999 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:792.85, Y:10.26, Z:12.27 [[ 9.99793928e-01 -1.32084316e-02 -1.54155719e-02 7.92846766e+02] [ 1.32072805e-02 9.99912765e-01 -1.76478466e-04 1.02574559e+01] [ 1.54165581e-02 -2.71556837e-05 9.99881157e-01 1.22658704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.3192541539999 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:792.87, Y:10.26, Z:12.27 [[ 9.99788583e-01 -1.36069728e-02 -1.54155497e-02 7.92874801e+02] [ 1.36058396e-02 9.99907420e-01 -1.78395221e-04 1.02576533e+01] [ 1.54165499e-02 -3.13839902e-05 9.99881157e-01 1.22667493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.3492541539999 meters Centerline goodness : 0.999230 Centerline is valid? [True, True] Translation: X:792.90, Y:10.26, Z:12.27 [[ 9.99774378e-01 -1.46135443e-02 -1.54154969e-02 7.92902321e+02] [ 1.46124620e-02 9.99893216e-01 -1.82846814e-04 1.02574151e+01] [ 1.54165228e-02 -4.24528028e-05 9.99881157e-01 1.22676020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.3792541539999 meters Centerline goodness : 0.999037 Centerline is valid? [True, True] Translation: X:792.93, Y:10.26, Z:12.27 [[ 9.99758646e-01 -1.56528920e-02 -1.54154804e-02 7.92930082e+02] [ 1.56519120e-02 9.99877484e-01 -1.84225078e-04 1.02570236e+01] [ 1.54164754e-02 -5.71011278e-05 9.99881157e-01 1.22678090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.4092541539999 meters Centerline goodness : 0.998994 Centerline is valid? [True, True] Translation: X:792.96, Y:10.26, Z:12.27 [[ 9.99718978e-01 -1.80091377e-02 -1.54154255e-02 7.92958278e+02] [ 1.80083686e-02 9.99837818e-01 -1.88708691e-04 1.02554224e+01] [ 1.54163239e-02 -8.89510052e-05 9.99881157e-01 1.22677225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.4392541539999 meters Centerline goodness : 0.998334 Centerline is valid? [True, True] Translation: X:792.99, Y:10.25, Z:12.27 [[ 9.99724186e-01 -1.77176891e-02 -1.54154084e-02 7.92985323e+02] [ 1.77168640e-02 9.99843026e-01 -1.90096427e-04 1.02537943e+01] [ 1.54163567e-02 -8.30686984e-05 9.99881157e-01 1.22664238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.4692541539999 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:793.02, Y:10.25, Z:12.27 [[ 9.99649029e-01 -2.15458254e-02 -1.54141600e-02 7.93016214e+02] [ 2.15439199e-02 9.99767861e-01 -2.89677046e-04 1.02532304e+01] [ 1.54168231e-02 -4.25060492e-05 9.99881153e-01 1.22672693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.4992541539999 meters Centerline goodness : 0.998996 Centerline is valid? [True, True] Translation: X:793.05, Y:10.25, Z:12.27 [[ 9.99538479e-01 -2.61762486e-02 -1.54153740e-02 7.93045907e+02] [ 2.61763932e-02 9.99657321e-01 -1.92428826e-04 1.02498652e+01] [ 1.54151285e-02 -2.11178874e-04 9.99881158e-01 1.22672036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.5292541539999 meters Centerline goodness : 0.998636 Centerline is valid? [True, True] Translation: X:793.08, Y:10.25, Z:12.26 [[ 9.99498696e-01 -2.76536215e-02 -1.54153670e-02 7.93076144e+02] [ 2.76539331e-02 9.99617538e-01 -1.92987695e-04 1.02479337e+01] [ 1.54148080e-02 -2.33404577e-04 9.99881158e-01 1.22647468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.5592541539999 meters Centerline goodness : 0.998828 Centerline is valid? [True, True] Translation: X:793.11, Y:10.25, Z:12.27 [[ 9.99344916e-01 -3.27430096e-02 -1.54153704e-02 7.93106913e+02] [ 3.27439306e-02 9.99463755e-01 -1.92710705e-04 1.02455747e+01] [ 1.54134139e-02 -3.12175356e-04 9.99881158e-01 1.22652674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.589254154 meters Centerline goodness : 0.998721 Centerline is valid? [True, True] Translation: X:793.14, Y:10.24, Z:12.27 [[ 9.99290801e-01 -3.43549184e-02 -1.54153738e-02 7.93138722e+02] [ 3.43560353e-02 9.99409639e-01 -1.92440644e-04 1.02445758e+01] [ 1.54128844e-02 -3.37306961e-04 9.99881158e-01 1.22655388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.6192541539999 meters Centerline goodness : 0.998873 Centerline is valid? [True, True] Translation: X:793.17, Y:10.24, Z:12.27 [[ 9.99201134e-01 -3.68708674e-02 -1.54153807e-02 7.93171049e+02] [ 3.68722920e-02 9.99319967e-01 -1.91888562e-04 1.02430236e+01] [ 1.54119728e-02 -3.76665148e-04 9.99881158e-01 1.22653078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.6492541539999 meters Centerline goodness : 0.998807 Centerline is valid? [True, True] Translation: X:793.20, Y:10.24, Z:12.26 [[ 9.99181145e-01 -3.74086149e-02 -1.54153944e-02 7.93202566e+02] [ 3.74101206e-02 9.99299978e-01 -1.90779621e-04 1.02423228e+01] [ 1.54117401e-02 -3.86068363e-04 9.99881158e-01 1.22648111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.6792541539999 meters Centerline goodness : 0.998703 Centerline is valid? [True, True] Translation: X:793.23, Y:10.24, Z:12.26 [[ 9.99191424e-01 -3.71330560e-02 -1.54154046e-02 7.93234808e+02] [ 3.71345416e-02 9.99310257e-01 -1.89953528e-04 1.02411872e+01] [ 1.54118255e-02 -3.82644047e-04 9.99881158e-01 1.22646174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.7092541539998 meters Centerline goodness : 0.999044 Centerline is valid? [True, True] Translation: X:793.27, Y:10.24, Z:12.27 [[ 9.99230626e-01 -3.60627465e-02 -1.54154181e-02 7.93266531e+02] [ 3.60641219e-02 9.99349460e-01 -1.88846106e-04 1.02400064e+01] [ 1.54122001e-02 -3.67242706e-04 9.99881158e-01 1.22665420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.7392541539999 meters Centerline goodness : 0.998917 Centerline is valid? [True, True] Translation: X:793.30, Y:10.24, Z:12.27 [[ 9.99291751e-01 -3.43272553e-02 -1.54154316e-02 7.93297973e+02] [ 3.43284414e-02 9.99410588e-01 -1.87742760e-04 1.02400097e+01] [ 1.54127902e-02 -3.41577948e-04 9.99881158e-01 1.22671403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.7692541539999 meters Centerline goodness : 0.999065 Centerline is valid? [True, True] Translation: X:793.33, Y:10.24, Z:12.27 [[ 9.99452525e-01 -2.92748151e-02 -1.54154415e-02 7.93330020e+02] [ 2.92754130e-02 9.99571366e-01 -1.86920808e-04 1.02405699e+01] [ 1.54143060e-02 -2.64474945e-04 9.99881158e-01 1.22690401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.7992541539999 meters Centerline goodness : 0.998957 Centerline is valid? [True, True] Translation: X:793.36, Y:10.24, Z:12.27 [[ 9.99538987e-01 -2.61567994e-02 -1.54154546e-02 7.93361065e+02] [ 2.61570432e-02 9.99657829e-01 -1.85836724e-04 1.02410180e+01] [ 1.54150408e-02 -2.17471663e-04 9.99881158e-01 1.22702018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.8292541539998 meters Centerline goodness : 0.998746 Centerline is valid? [True, True] Translation: X:793.39, Y:10.24, Z:12.27 [[ 9.99710382e-01 -1.84801591e-02 -1.54154614e-02 7.93392444e+02] [ 1.84794990e-02 9.99829222e-01 -1.85272588e-04 1.02372109e+01] [ 1.54162526e-02 -9.96510743e-05 9.99881158e-01 1.22657849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.8592541539999 meters Centerline goodness : 0.998830 Centerline is valid? [True, True] Translation: X:793.42, Y:10.24, Z:12.27 [[ 9.99725949e-01 -1.76165431e-02 -1.54170169e-02 7.93420386e+02] [ 1.76177942e-02 9.99844793e-01 -5.46683763e-05 1.02414779e+01] [ 1.54155871e-02 -2.16960436e-04 9.99881149e-01 1.22716970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.8892541539999 meters Centerline goodness : 0.998829 Centerline is valid? [True, True] Translation: X:793.45, Y:10.24, Z:12.27 [[ 9.99761807e-01 -1.54497637e-02 -1.54154113e-02 7.93448067e+02] [ 1.54487165e-02 9.99880644e-01 -1.87021187e-04 1.02417799e+01] [ 1.54164608e-02 -5.11716786e-05 9.99881158e-01 1.22727773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.9192541539999 meters Centerline goodness : 0.998999 Centerline is valid? [True, True] Translation: X:793.48, Y:10.24, Z:12.27 [[ 9.99782104e-01 -1.40753179e-02 -1.54152419e-02 7.93476734e+02] [ 1.40738954e-02 9.99900938e-01 -2.00760979e-04 1.02417803e+01] [ 1.54165406e-02 -1.62352682e-05 9.99881158e-01 1.22724813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.9492541539998 meters Centerline goodness : 0.998724 Centerline is valid? [True, True] Translation: X:793.51, Y:10.24, Z:12.27 [[ 9.99793109e-01 -1.32705016e-02 -1.54153499e-02 7.93505177e+02] [ 1.32691170e-02 9.99911943e-01 -1.92096459e-04 1.02408827e+01] [ 1.54165417e-02 -1.24913663e-05 9.99881158e-01 1.22708353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.9792541539999 meters Centerline goodness : 0.998703 Centerline is valid? [True, True] Translation: X:793.53, Y:10.24, Z:12.27 [[ 9.99776630e-01 -1.44588459e-02 -1.54152976e-02 7.93534335e+02] [ 1.44575392e-02 9.99895465e-01 -1.96208180e-04 1.02407388e+01] [ 1.54165231e-02 -2.67029161e-05 9.99881158e-01 1.22712560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.0092541539999 meters Centerline goodness : 0.998618 Centerline is valid? [True, True] Translation: X:793.56, Y:10.24, Z:12.27 [[ 9.99714552e-01 -1.82531870e-02 -1.54154099e-02 7.93562532e+02] [ 1.82524660e-02 9.99833392e-01 -1.87471808e-04 1.02384972e+01] [ 1.54162635e-02 -9.39509502e-05 9.99881158e-01 1.22693524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.0392541539999 meters Centerline goodness : 0.998771 Centerline is valid? [True, True] Translation: X:793.59, Y:10.23, Z:12.27 [[ 9.99697167e-01 -1.91819014e-02 -1.54152227e-02 7.93594548e+02] [ 1.91810704e-02 9.99816006e-01 -2.01767553e-04 1.02345247e+01] [ 1.54162567e-02 -9.39740220e-05 9.99881158e-01 1.22678036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.0692541539999 meters Centerline goodness : 0.998854 Centerline is valid? [True, True] Translation: X:793.62, Y:10.24, Z:12.27 [[ 9.99547547e-01 -2.58265172e-02 -1.54172456e-02 7.93621686e+02] [ 2.58288594e-02 9.99666378e-01 -4.72099354e-05 1.02366054e+01] [ 1.54133214e-02 -3.51021295e-04 9.99881146e-01 1.22700118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.0992541539999 meters Centerline goodness : 0.999175 Centerline is valid? [True, True] Translation: X:793.65, Y:10.23, Z:12.27 [[ 9.99287866e-01 -3.44403008e-02 -1.54151411e-02 7.93651917e+02] [ 3.44412301e-02 9.99406704e-01 -2.05267483e-04 1.02337623e+01] [ 1.54130649e-02 -3.25795117e-04 9.99881159e-01 1.22705070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.1292541539999 meters Centerline goodness : 0.999071 Centerline is valid? [True, True] Translation: X:793.68, Y:10.23, Z:12.27 [[ 9.99117751e-01 -3.90652520e-02 -1.54151411e-02 7.93683012e+02] [ 3.90667313e-02 9.99236583e-01 -2.05267483e-04 1.02325648e+01] [ 1.54113918e-02 -3.97132791e-04 9.99881159e-01 1.22712936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.1592541539999 meters Centerline goodness : 0.999112 Centerline is valid? [True, True] Translation: X:793.71, Y:10.23, Z:12.27 [[ 9.98718765e-01 -4.81995719e-02 -1.54152134e-02 7.93714620e+02] [ 4.82022216e-02 9.98837577e-01 -1.99830060e-04 1.02308064e+01] [ 1.54069261e-02 -5.43473501e-04 9.99881159e-01 1.22715516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.1892541539999 meters Centerline goodness : 0.999009 Centerline is valid? [True, True] Translation: X:793.75, Y:10.23, Z:12.27 [[ 9.98500098e-01 -5.25350149e-02 -1.54151645e-02 7.93746094e+02] [ 5.25381233e-02 9.98618898e-01 -2.03530350e-04 1.02305094e+01] [ 1.54045671e-02 -6.06658741e-04 9.99881159e-01 1.22717418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.2192541539999 meters Centerline goodness : 0.998925 Centerline is valid? [True, True] Translation: X:793.78, Y:10.23, Z:12.27 [[ 9.98280675e-01 -5.65514407e-02 -1.54151754e-02 7.93778653e+02] [ 5.65550398e-02 9.98399462e-01 -2.02703141e-04 1.02300468e+01] [ 1.54019660e-02 -6.69451230e-04 9.99881159e-01 1.22726098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.2492541539999 meters Centerline goodness : 0.999138 Centerline is valid? [True, True] Translation: X:793.81, Y:10.23, Z:12.27 [[ 9.97836896e-01 -6.39054039e-02 -1.54151896e-02 7.93810977e+02] [ 6.39098948e-02 9.97955653e-01 -2.01620529e-04 1.02295829e+01] [ 1.53965602e-02 -7.83998740e-04 9.99881159e-01 1.22746325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.2792541539999 meters Centerline goodness : 0.999095 Centerline is valid? [True, True] Translation: X:793.84, Y:10.23, Z:12.27 [[ 9.97675173e-01 -6.63823850e-02 -1.54152041e-02 7.93844491e+02] [ 6.63871880e-02 9.97793917e-01 -2.00501433e-04 1.02294359e+01] [ 1.53945067e-02 -8.23336752e-04 9.99881159e-01 1.22737057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.3092541539999 meters Centerline goodness : 0.999095 Centerline is valid? [True, True] Translation: X:793.88, Y:10.23, Z:12.27 [[ 9.97682454e-01 -6.62728581e-02 -1.54152259e-02 7.93878023e+02] [ 6.62776740e-02 9.97801198e-01 -1.98810765e-04 1.02297758e+01] [ 1.53945067e-02 -8.23335307e-04 9.99881159e-01 1.22742222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.339254154 meters Centerline goodness : 0.998904 Centerline is valid? [True, True] Translation: X:793.91, Y:10.23, Z:12.28 [[ 9.97354774e-01 -7.10339661e-02 -1.54152476e-02 7.93909348e+02] [ 7.10393748e-02 9.97473493e-01 -1.97118652e-04 1.02311579e+01] [ 1.53903029e-02 -8.98492320e-04 9.99881159e-01 1.22771464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.3692541539999 meters Centerline goodness : 0.998924 Centerline is valid? [True, True] Translation: X:793.94, Y:10.23, Z:12.28 [[ 9.97276148e-01 -7.21294326e-02 -1.54152582e-02 7.93942655e+02] [ 7.21349846e-02 9.97394859e-01 -1.96281233e-04 1.02320108e+01] [ 1.53892570e-02 -9.16232823e-04 9.99881159e-01 1.22781369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.3992541539999 meters Centerline goodness : 0.998841 Centerline is valid? [True, True] Translation: X:793.97, Y:10.23, Z:12.28 [[ 9.97240219e-01 -7.26244848e-02 -1.54152794e-02 7.93974621e+02] [ 7.26301216e-02 9.97358926e-01 -1.94603896e-04 1.02328424e+01] [ 1.53886995e-02 -9.25546785e-04 9.99881159e-01 1.22789452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.4292541539999 meters Centerline goodness : 0.998968 Centerline is valid? [True, True] Translation: X:794.01, Y:10.23, Z:12.28 [[ 9.97268121e-01 -7.22403180e-02 -1.54152968e-02 7.94006209e+02] [ 7.22459304e-02 9.97386830e-01 -1.93215318e-04 1.02344456e+01] [ 1.53889719e-02 -9.21004983e-04 9.99881159e-01 1.22800312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.4592541539998 meters Centerline goodness : 0.998630 Centerline is valid? [True, True] Translation: X:794.04, Y:10.24, Z:12.28 [[ 9.97339330e-01 -7.12504662e-02 -1.54153295e-02 7.94038969e+02] [ 7.12560015e-02 9.97458042e-01 -1.90571970e-04 1.02355867e+01] [ 1.53897227e-02 -9.08369821e-04 9.99881159e-01 1.22795820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.4892541539999 meters Centerline goodness : 0.998862 Centerline is valid? [True, True] Translation: X:794.07, Y:10.24, Z:12.28 [[ 9.97414563e-01 -7.01894295e-02 -1.54153498e-02 7.94070636e+02] [ 7.01948641e-02 9.97533280e-01 -1.88916662e-04 1.02373341e+01] [ 1.53905844e-02 -8.93650151e-04 9.99881159e-01 1.22808082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.5192541539999 meters Centerline goodness : 0.998841 Centerline is valid? [True, True] Translation: X:794.11, Y:10.24, Z:12.28 [[ 9.97816409e-01 -6.42244609e-02 -1.54153664e-02 7.94106641e+02] [ 6.42292067e-02 9.97935155e-01 -1.87546200e-04 1.02374307e+01] [ 1.53955812e-02 -8.02980081e-04 9.99881159e-01 1.22779645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.5492541539999 meters Centerline goodness : 0.998840 Centerline is valid? [True, True] Translation: X:794.13, Y:10.24, Z:12.28 [[ 9.97778661e-01 -6.48077514e-02 -1.54174886e-02 7.94133764e+02] [ 6.48153041e-02 9.97897277e-01 -9.81563068e-06 1.02423682e+01] [ 1.53857060e-02 -9.89495383e-04 9.99881143e-01 1.22795703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.5792541539998 meters Centerline goodness : 0.998777 Centerline is valid? [True, True] Translation: X:794.17, Y:10.25, Z:12.28 [[ 9.98135163e-01 -5.90640708e-02 -1.54153010e-02 7.94165788e+02] [ 5.90681858e-02 9.98253933e-01 -1.88620541e-04 1.02466499e+01] [ 1.53995255e-02 -7.22285068e-04 9.99881159e-01 1.22779312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.6092541539999 meters Centerline goodness : 0.999008 Centerline is valid? [True, True] Translation: X:794.20, Y:10.25, Z:12.28 [[ 9.98290963e-01 -5.63695007e-02 -1.54153142e-02 7.94197626e+02] [ 5.63733118e-02 9.98409743e-01 -1.87534445e-04 1.02499019e+01] [ 1.54013711e-02 -6.81798371e-04 9.99881159e-01 1.22796093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.6392541539999 meters Centerline goodness : 0.998710 Centerline is valid? [True, True] Translation: X:794.23, Y:10.25, Z:12.28 [[ 9.98497583e-01 -5.25827406e-02 -1.54153305e-02 7.94229340e+02] [ 5.25861221e-02 9.98616375e-01 -1.86180691e-04 1.02522123e+01] [ 1.54037914e-02 -6.24731483e-04 9.99881159e-01 1.22781382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.6692541539999 meters Centerline goodness : 0.998708 Centerline is valid? [True, True] Translation: X:794.26, Y:10.26, Z:12.28 [[ 9.98799255e-01 -4.65017855e-02 -1.54153434e-02 7.94261033e+02] [ 4.65044600e-02 9.98918065e-01 -1.85110981e-04 1.02571383e+01] [ 1.54072730e-02 -5.31993509e-04 9.99881159e-01 1.22778472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.6992541539998 meters Centerline goodness : 0.998834 Centerline is valid? [True, True] Translation: X:794.29, Y:10.26, Z:12.28 [[ 9.98910007e-01 -4.40586413e-02 -1.54153561e-02 7.94292565e+02] [ 4.40610417e-02 9.99028824e-01 -1.84041705e-04 1.02601487e+01] [ 1.54084937e-02 -4.95375548e-04 9.99881159e-01 1.22797770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.7292541539999 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:794.32, Y:10.26, Z:12.28 [[ 9.99181184e-01 -3.74075924e-02 -1.54153656e-02 7.94323516e+02] [ 3.74092141e-02 9.99300014e-01 -1.83245695e-04 1.02649856e+01] [ 1.54114298e-02 -3.93581061e-04 9.99881159e-01 1.22797034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.7592541539999 meters Centerline goodness : 0.999085 Centerline is valid? [True, True] Translation: X:794.36, Y:10.27, Z:12.28 [[ 9.99300541e-01 -3.40704426e-02 -1.54153749e-02 7.94355346e+02] [ 3.40716795e-02 9.99419375e-01 -1.82460327e-04 1.02678390e+01] [ 1.54126408e-02 -3.42895010e-04 9.99881159e-01 1.22817399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.7892541539999 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:794.39, Y:10.27, Z:12.28 [[ 9.99417859e-01 -3.04353108e-02 -1.54153872e-02 7.94387506e+02] [ 3.04361316e-02 9.99536697e-01 -1.81414598e-04 1.02706663e+01] [ 1.54137666e-02 -2.87875764e-04 9.99881159e-01 1.22841428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.8192541539999 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:794.42, Y:10.28, Z:12.29 [[ 9.99616601e-01 -2.30003602e-02 -1.54154003e-02 7.94418873e+02] [ 2.30003142e-02 9.99735442e-01 -1.80295964e-04 1.02751178e+01] [ 1.54154689e-02 -1.74332212e-04 9.99881159e-01 1.22858279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.8492541539999 meters Centerline goodness : 0.998973 Centerline is valid? [True, True] Translation: X:794.45, Y:10.28, Z:12.29 [[ 9.99686867e-01 -1.97112341e-02 -1.54154100e-02 7.94448673e+02] [ 1.97108100e-02 9.99805707e-01 -1.79460847e-04 1.02774474e+01] [ 1.54159523e-02 -1.24445566e-04 9.99881159e-01 1.22854989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.8792541539999 meters Centerline goodness : 0.998927 Centerline is valid? [True, True] Translation: X:794.48, Y:10.28, Z:12.29 [[ 9.99794143e-01 -1.31923042e-02 -1.54154068e-02 7.94477823e+02] [ 1.31911009e-02 9.99912978e-01 -1.79734647e-04 1.02800079e+01] [ 1.54164364e-02 -2.36485392e-05 9.99881159e-01 1.22869355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.9092541539999 meters Centerline goodness : 0.998861 Centerline is valid? [True, True] Translation: X:794.51, Y:10.28, Z:12.29 [[ 9.99805999e-01 -1.22608796e-02 -1.54154005e-02 7.94505317e+02] [ 1.22595573e-02 9.99924833e-01 -1.80276267e-04 1.02817994e+01] [ 1.54164521e-02 -8.74469179e-06 9.99881159e-01 1.22899180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.9392541539999 meters Centerline goodness : 0.999034 Centerline is valid? [True, True] Translation: X:794.53, Y:10.28, Z:12.29 [[ 9.99817788e-01 -1.12586951e-02 -1.54153462e-02 7.94532742e+02] [ 1.12571840e-02 9.99936619e-01 -1.84799850e-04 1.02829943e+01] [ 1.54164498e-02 1.12327887e-05 9.99881159e-01 1.22908205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.9692541539999 meters Centerline goodness : 0.999011 Centerline is valid? [True, True] Translation: X:794.56, Y:10.28, Z:12.29 [[ 9.99819754e-01 -1.10827449e-02 -1.54153224e-02 7.94560734e+02] [ 1.10811825e-02 9.99938584e-01 -1.86769841e-04 1.02830153e+01] [ 1.54164456e-02 1.59161758e-05 9.99881159e-01 1.22896902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.9992541539999 meters Centerline goodness : 0.999012 Centerline is valid? [True, True] Translation: X:794.59, Y:10.28, Z:12.29 [[ 9.99763312e-01 -1.53521990e-02 -1.54152668e-02 7.94588717e+02] [ 1.53510749e-02 9.99882147e-01 -1.91253408e-04 1.02829042e+01] [ 1.54163862e-02 -4.54327741e-05 9.99881159e-01 1.22910613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.0292541539999 meters Centerline goodness : 0.999055 Centerline is valid? [True, True] Translation: X:794.62, Y:10.28, Z:12.29 [[ 9.99717988e-01 -1.80641724e-02 -1.54152494e-02 7.94616891e+02] [ 1.80633492e-02 9.99836826e-01 -1.92639953e-04 1.02824309e+01] [ 1.54162139e-02 -8.58654083e-05 9.99881159e-01 1.22916716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.0592541539999 meters Centerline goodness : 0.998907 Centerline is valid? [True, True] Translation: X:794.65, Y:10.28, Z:12.29 [[ 9.99662277e-01 -2.09213540e-02 -1.54151925e-02 7.94645417e+02] [ 2.09208018e-02 9.99781117e-01 -1.97092583e-04 1.02816711e+01] [ 1.54159418e-02 -1.25472167e-04 9.99881159e-01 1.22902927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.089254154 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:794.67, Y:10.28, Z:12.29 [[ 9.99568995e-01 -2.49839462e-02 -1.54151419e-02 7.94674511e+02] [ 2.49838172e-02 9.99687836e-01 -2.00971236e-04 1.02814887e+01] [ 1.54153509e-02 -1.84244472e-04 9.99881159e-01 1.22920675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.1192541539999 meters Centerline goodness : 0.998888 Centerline is valid? [True, True] Translation: X:794.71, Y:10.28, Z:12.29 [[ 9.99366130e-01 -3.20891062e-02 -1.54151426e-02 7.94705088e+02] [ 3.20898229e-02 9.99484969e-01 -2.00918983e-04 1.02795531e+01] [ 1.54136506e-02 -2.93877570e-04 9.99881159e-01 1.22915617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.1492541539999 meters Centerline goodness : 0.998932 Centerline is valid? [True, True] Translation: X:794.74, Y:10.28, Z:12.29 [[ 9.99253480e-01 -3.54239413e-02 -1.54151426e-02 7.94737408e+02] [ 3.54250545e-02 9.99372316e-01 -2.00918983e-04 1.02788221e+01] [ 1.54125841e-02 -3.45313275e-04 9.99881159e-01 1.22924202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.1792541539999 meters Centerline goodness : 0.998803 Centerline is valid? [True, True] Translation: X:794.77, Y:10.28, Z:12.29 [[ 9.99125553e-01 -3.88651836e-02 -1.54151571e-02 7.94768289e+02] [ 3.88667234e-02 9.99244383e-01 -1.99797735e-04 1.02780983e+01] [ 1.54112744e-02 -3.99513626e-04 9.99881159e-01 1.22920079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.2092541539998 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:794.80, Y:10.28, Z:12.29 [[ 9.98886201e-01 -4.45951703e-02 -1.54151679e-02 7.94800600e+02] [ 4.45974045e-02 9.99005021e-01 -1.98962185e-04 1.02761935e+01] [ 1.54087029e-02 -4.88735899e-04 9.99881159e-01 1.22923454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.2392541539999 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:794.83, Y:10.28, Z:12.29 [[ 9.98770512e-01 -4.71151388e-02 -1.54151820e-02 7.94832965e+02] [ 4.71176898e-02 9.98889325e-01 -1.97865314e-04 1.02758397e+01] [ 1.54073832e-02 -5.28705722e-04 9.99881159e-01 1.22924813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.2692541539999 meters Centerline goodness : 0.999209 Centerline is valid? [True, True] Translation: X:794.87, Y:10.27, Z:12.29 [[ 9.98597824e-01 -5.06434448e-02 -1.54151995e-02 7.94865609e+02] [ 5.06464366e-02 9.98716626e-01 -1.96494299e-04 1.02748017e+01] [ 1.54053672e-02 -5.84506144e-04 9.99881159e-01 1.22929848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.2992541539999 meters Centerline goodness : 0.998891 Centerline is valid? [True, True] Translation: X:794.90, Y:10.27, Z:12.29 [[ 9.98567348e-01 -5.12408235e-02 -1.54152130e-02 7.94898985e+02] [ 5.12439029e-02 9.98686149e-01 -1.95425579e-04 1.02741492e+01] [ 1.54049735e-02 -5.94790076e-04 9.99881159e-01 1.22927344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.3292541539998 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:794.93, Y:10.27, Z:12.29 [[ 9.98531671e-01 -5.19314231e-02 -1.54152343e-02 7.94930055e+02] [ 5.19346107e-02 9.98650469e-01 -1.93733468e-04 1.02740509e+01] [ 1.54044918e-02 -6.07135188e-04 9.99881159e-01 1.22941974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.3592541539999 meters Centerline goodness : 0.998976 Centerline is valid? [True, True] Translation: X:794.96, Y:10.27, Z:12.29 [[ 9.98592298e-01 -5.07522585e-02 -1.54152448e-02 7.94961988e+02] [ 5.07553187e-02 9.98711100e-01 -1.92895956e-04 1.02739992e+01] [ 1.54051660e-02 -5.89781245e-04 9.99881159e-01 1.22940222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.3892541539999 meters Centerline goodness : 0.998954 Centerline is valid? [True, True] Translation: X:794.99, Y:10.28, Z:12.30 [[ 9.98633963e-01 -4.99257178e-02 -1.54152591e-02 7.94993290e+02] [ 4.99286975e-02 9.98752766e-01 -1.91743297e-04 1.02751547e+01] [ 1.54056056e-02 -5.78182440e-04 9.99881159e-01 1.22957379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.4192541539999 meters Centerline goodness : 0.998826 Centerline is valid? [True, True] Translation: X:795.03, Y:10.28, Z:12.29 [[ 9.98849770e-01 -4.54038103e-02 -1.54152697e-02 7.95025199e+02] [ 4.54062652e-02 9.98968585e-01 -1.90884867e-04 1.02758062e+01] [ 1.54080371e-02 -5.09284520e-04 9.99881159e-01 1.22944525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.4492541539998 meters Centerline goodness : 0.999127 Centerline is valid? [True, True] Translation: X:795.06, Y:10.28, Z:12.30 [[ 9.98928809e-01 -4.36302973e-02 -1.54152833e-02 7.95057455e+02] [ 4.36325582e-02 9.99047628e-01 -1.89784540e-04 1.02772097e+01] [ 1.54088826e-02 -4.83027001e-04 9.99881159e-01 1.22970032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.4792541539999 meters Centerline goodness : 0.998786 Centerline is valid? [True, True] Translation: X:795.09, Y:10.28, Z:12.30 [[ 9.99144528e-01 -3.83742267e-02 -1.54152970e-02 7.95090094e+02] [ 3.83758798e-02 9.99263357e-01 -1.88661243e-04 1.02780690e+01] [ 1.54111812e-02 -4.03075738e-04 9.99881159e-01 1.22951966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.5092541539999 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:795.12, Y:10.28, Z:12.30 [[ 9.99196419e-01 -3.69984412e-02 -1.54153108e-02 7.95122357e+02] [ 3.69999481e-02 9.99315250e-01 -1.87532268e-04 1.02796695e+01] [ 1.54116935e-02 -3.82984128e-04 9.99881159e-01 1.22972073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.5392541539999 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:795.15, Y:10.28, Z:12.30 [[ 9.99268920e-01 -3.49856237e-02 -1.54153244e-02 7.95153775e+02] [ 3.49869086e-02 9.99387753e-01 -1.86405351e-04 1.02804452e+01] [ 1.54124079e-02 -3.53065472e-04 9.99881159e-01 1.22970887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.5692541539999 meters Centerline goodness : 0.999041 Centerline is valid? [True, True] Translation: X:795.19, Y:10.28, Z:12.30 [[ 9.99350603e-01 -3.25690043e-02 -1.54153345e-02 7.95185111e+02] [ 3.25700148e-02 9.99469439e-01 -1.85565605e-04 1.02809058e+01] [ 1.54131994e-02 -3.16632574e-04 9.99881159e-01 1.22950781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.5992541539999 meters Centerline goodness : 0.998909 Centerline is valid? [True, True] Translation: X:795.22, Y:10.28, Z:12.29 [[ 9.99437210e-01 -2.97931366e-02 -1.54153445e-02 7.95217680e+02] [ 2.97938298e-02 9.99556048e-01 -1.84734632e-04 1.02824116e+01] [ 1.54140046e-02 -2.74651483e-04 9.99881159e-01 1.22945917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.6292541539999 meters Centerline goodness : 0.999209 Centerline is valid? [True, True] Translation: X:795.25, Y:10.28, Z:12.30 [[ 9.99438785e-01 -2.97402446e-02 -1.54153576e-02 7.95248290e+02] [ 2.97409486e-02 9.99557623e-01 -1.83629781e-04 1.02836640e+01] [ 1.54139994e-02 -2.74940633e-04 9.99881159e-01 1.22961539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.6592541539999 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:795.28, Y:10.28, Z:12.30 [[ 9.99453763e-01 -2.92325431e-02 -1.54153609e-02 7.95279865e+02] [ 2.92331910e-02 9.99572602e-01 -1.83356400e-04 1.02841978e+01] [ 1.54141324e-02 -2.67383944e-04 9.99881159e-01 1.22956910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.6892541539999 meters Centerline goodness : 0.999058 Centerline is valid? [True, True] Translation: X:795.31, Y:10.29, Z:12.30 [[ 9.99452078e-01 -2.92901078e-02 -1.54153673e-02 7.95311321e+02] [ 2.92907708e-02 9.99570917e-01 -1.82816144e-04 1.02850075e+01] [ 1.54141075e-02 -2.68812015e-04 9.99881159e-01 1.22964127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.7192541539999 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:795.34, Y:10.29, Z:12.30 [[ 9.99431631e-01 -2.99796937e-02 -1.54153739e-02 7.95342389e+02] [ 2.99804473e-02 9.99550469e-01 -1.82257477e-04 1.02856343e+01] [ 1.54139082e-02 -2.80005917e-04 9.99881159e-01 1.22950407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.7492541539999 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:795.37, Y:10.29, Z:12.30 [[ 9.99393547e-01 -3.12234734e-02 -1.54153805e-02 7.95373479e+02] [ 3.12243835e-02 9.99512384e-01 -1.81700827e-04 1.02864234e+01] [ 1.54135370e-02 -2.99745118e-04 9.99881159e-01 1.22967392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.7792541539999 meters Centerline goodness : 0.999230 Centerline is valid? [True, True] Translation: X:795.41, Y:10.29, Z:12.30 [[ 9.99318313e-01 -3.35451142e-02 -1.54153870e-02 7.95405846e+02] [ 3.35463089e-02 9.99437148e-01 -1.81144943e-04 1.02872996e+01] [ 1.54127869e-02 -3.36107875e-04 9.99881159e-01 1.22977912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.8092541539999 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:795.44, Y:10.29, Z:12.30 [[ 9.99273350e-01 -3.48588208e-02 -1.54154000e-02 7.95437186e+02] [ 3.48601889e-02 9.99392183e-01 -1.80031883e-04 1.02879770e+01] [ 1.54123059e-02 -3.57482693e-04 9.99881159e-01 1.22986844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.839254154 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:795.47, Y:10.29, Z:12.30 [[ 9.99219323e-01 -3.63745826e-02 -1.54154196e-02 7.95468410e+02] [ 3.63761571e-02 9.99338153e-01 -1.78337764e-04 1.02883280e+01] [ 1.54117039e-02 -3.82555185e-04 9.99881159e-01 1.23001059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.8692541539999 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:795.50, Y:10.29, Z:12.30 [[ 9.99063058e-01 -4.04397185e-02 -1.54154290e-02 7.95500720e+02] [ 4.04417891e-02 9.99181880e-01 -1.77515812e-04 1.02883020e+01] [ 1.54099961e-02 -4.46078040e-04 9.99881159e-01 1.23026826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.8992541539999 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:795.53, Y:10.29, Z:12.30 [[ 9.98957975e-01 -4.29572776e-02 -1.54154418e-02 7.95531804e+02] [ 4.29596649e-02 9.99076792e-01 -1.76398126e-04 1.02884667e+01] [ 1.54087878e-02 -4.86027901e-04 9.99881159e-01 1.23034048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.9292541539999 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:795.56, Y:10.29, Z:12.30 [[ 9.98838535e-01 -4.56502509e-02 -1.54154513e-02 7.95562729e+02] [ 4.56529714e-02 9.98957344e-01 -1.75563712e-04 1.02888344e+01] [ 1.54073929e-02 -5.28401358e-04 9.99881159e-01 1.23041927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.9592541539998 meters Centerline goodness : 0.998804 Centerline is valid? [True, True] Translation: X:795.59, Y:10.29, Z:12.30 [[ 9.98585083e-01 -5.08939694e-02 -1.54154606e-02 7.95594472e+02] [ 5.08973262e-02 9.98703876e-01 -1.74748825e-04 1.02893130e+01] [ 1.54043739e-02 -6.10104155e-04 9.99881159e-01 1.23030518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.9892541539999 meters Centerline goodness : 0.999189 Centerline is valid? [True, True] Translation: X:795.63, Y:10.29, Z:12.30 [[ 9.98443197e-01 -5.36054542e-02 -1.54154728e-02 7.95627826e+02] [ 5.36091503e-02 9.98561981e-01 -1.73662385e-04 1.02892555e+01] [ 1.54026143e-02 -6.53018371e-04 9.99881159e-01 1.23028802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.0192541539999 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:795.66, Y:10.29, Z:12.30 [[ 9.98273283e-01 -5.66817082e-02 -1.54154910e-02 7.95661296e+02] [ 5.66857954e-02 9.98392053e-01 -1.72030244e-04 1.02894943e+01] [ 1.54004547e-02 -7.02106175e-04 9.99881159e-01 1.23037786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.0492541539999 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:795.69, Y:10.29, Z:12.31 [[ 9.97891544e-01 -6.30462378e-02 -1.54155090e-02 7.95694755e+02] [ 6.30511073e-02 9.98010285e-01 -1.70404674e-04 1.02897894e+01] [ 1.53955799e-02 -8.01919529e-04 9.99881159e-01 1.23053594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.0792541539998 meters Centerline goodness : 0.999315 Centerline is valid? [True, True] Translation: X:795.73, Y:10.29, Z:12.31 [[ 9.97687462e-01 -6.61973561e-02 -1.54155273e-02 7.95726947e+02] [ 6.62026264e-02 9.97806186e-01 -1.68731239e-04 1.02902944e+01] [ 1.53928781e-02 -8.52207354e-04 9.99881159e-01 1.23069806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.1092541539999 meters Centerline goodness : 0.999210 Centerline is valid? [True, True] Translation: X:795.76, Y:10.29, Z:12.31 [[ 9.97363544e-01 -7.09106676e-02 -1.54155424e-02 7.95759487e+02] [ 7.09165202e-02 9.97482240e-01 -1.67345127e-04 1.02908503e+01] [ 1.53885963e-02 -9.26312691e-04 9.99881159e-01 1.23075436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.1392541539999 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:795.79, Y:10.29, Z:12.31 [[ 9.97258304e-01 -7.23756590e-02 -1.54155546e-02 7.95792072e+02] [ 7.23817033e-02 9.97376991e-01 -1.66214427e-04 1.02913999e+01] [ 1.53871493e-02 -9.50045378e-04 9.99881159e-01 1.23071185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.1692541539999 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:795.82, Y:10.29, Z:12.31 [[ 9.97169009e-01 -7.35956993e-02 -1.54155669e-02 7.95824300e+02] [ 7.36019066e-02 9.97287688e-01 -1.65063892e-04 1.02924194e+01] [ 1.53859030e-02 -9.70018515e-04 9.99881159e-01 1.23067437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.1992541539998 meters Centerline goodness : 0.999229 Centerline is valid? [True, True] Translation: X:795.86, Y:10.29, Z:12.31 [[ 9.97148777e-01 -7.38693154e-02 -1.54156115e-02 7.95856088e+02] [ 7.38756210e-02 9.97267450e-01 -1.60788353e-04 1.02932422e+01] [ 1.53853649e-02 -9.78507961e-04 9.99881159e-01 1.23063039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.2292541539999 meters Centerline goodness : 0.999229 Centerline is valid? [True, True] Translation: X:795.89, Y:10.29, Z:12.31 [[ 9.97156750e-01 -7.37616025e-02 -1.54156229e-02 7.95889624e+02] [ 7.37679123e-02 9.97275423e-01 -1.59682898e-04 1.02934949e+01] [ 1.53854003e-02 -9.77949440e-04 9.99881159e-01 1.23068207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.2592541539999 meters Centerline goodness : 0.999272 Centerline is valid? [True, True] Translation: X:795.92, Y:10.29, Z:12.31 [[ 9.97148297e-01 -7.38757845e-02 -1.54156400e-02 7.95923050e+02] [ 7.38821335e-02 9.97266968e-01 -1.58017759e-04 1.02946677e+01] [ 1.53851822e-02 -9.81373233e-04 9.99881159e-01 1.23087676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.2892541539999 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:795.96, Y:10.30, Z:12.31 [[ 9.97216015e-01 -7.29559886e-02 -1.54156568e-02 7.95956168e+02] [ 7.29622537e-02 9.97334691e-01 -1.56358575e-04 1.02956476e+01] [ 1.53859766e-02 -9.68837789e-04 9.99881159e-01 1.23096996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.3192541539999 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:795.99, Y:10.30, Z:12.31 [[ 9.97385435e-01 -7.06020644e-02 -1.54156739e-02 7.95988039e+02] [ 7.06080757e-02 9.97504123e-01 -1.54656701e-04 1.02974700e+01] [ 1.53881174e-02 -9.34218727e-04 9.99881159e-01 1.23098399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.3492541539999 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:796.02, Y:10.30, Z:12.31 [[ 9.97503145e-01 -6.89190323e-02 -1.54156851e-02 7.96020612e+02] [ 6.89248605e-02 9.97621842e-01 -1.53535415e-04 1.02986426e+01] [ 1.53896056e-02 -9.09371883e-04 9.99881159e-01 1.23102833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.3792541539999 meters Centerline goodness : 0.999335 Centerline is valid? [True, True] Translation: X:796.05, Y:10.30, Z:12.31 [[ 9.97628917e-01 -6.70738418e-02 -1.54157019e-02 7.96054028e+02] [ 6.70794768e-02 9.97747624e-01 -1.51827068e-04 1.03000208e+01] [ 1.53911635e-02 -8.82610143e-04 9.99881159e-01 1.23107003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.4092541539999 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:796.08, Y:10.30, Z:12.31 [[ 9.97863774e-01 -6.34842098e-02 -1.54157184e-02 7.96084773e+02] [ 6.34894438e-02 9.97982499e-01 -1.50129234e-04 1.03033809e+01] [ 1.53941480e-02 -8.28926865e-04 9.99881159e-01 1.23113216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.4392541539999 meters Centerline goodness : 0.999377 Centerline is valid? [True, True] Translation: X:796.12, Y:10.31, Z:12.31 [[ 9.97986211e-01 -6.15294816e-02 -1.54157266e-02 7.96117727e+02] [ 6.15344959e-02 9.98104946e-01 -1.49288657e-04 1.03051689e+01] [ 1.53956986e-02 -7.99610942e-04 9.99881159e-01 1.23120819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.4692541539999 meters Centerline goodness : 0.999333 Centerline is valid? [True, True] Translation: X:796.15, Y:10.31, Z:12.31 [[ 9.98120992e-01 -5.93029490e-02 -1.54157426e-02 7.96150512e+02] [ 5.93077244e-02 9.98239737e-01 -1.47612883e-04 1.03066908e+01] [ 1.53973607e-02 -7.66937096e-04 9.99881159e-01 1.23130359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.4992541539999 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:796.18, Y:10.31, Z:12.31 [[ 9.98391784e-01 -5.45545606e-02 -1.54157585e-02 7.96182557e+02] [ 5.45587969e-02 9.98510549e-01 -1.45936911e-04 1.03090219e+01] [ 1.54007590e-02 -6.95363022e-04 9.99881159e-01 1.23125106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.5292541539999 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:796.21, Y:10.31, Z:12.31 [[ 9.98540595e-01 -5.17593784e-02 -1.54157715e-02 7.96214527e+02] [ 5.17633035e-02 9.98659371e-01 -1.44551358e-04 1.03103496e+01] [ 1.54025865e-02 -6.53630858e-04 9.99881159e-01 1.23120151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.5592541539999 meters Centerline goodness : 0.999333 Centerline is valid? [True, True] Translation: X:796.25, Y:10.31, Z:12.31 [[ 9.98646665e-01 -4.96708320e-02 -1.54157816e-02 7.96246730e+02] [ 4.96745255e-02 9.98765448e-01 -1.43463316e-04 1.03125545e+01] [ 1.54038760e-02 -6.22502473e-04 9.99881159e-01 1.23147157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.589254154 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:796.28, Y:10.31, Z:12.31 [[ 9.98826708e-01 -4.59081773e-02 -1.54157917e-02 7.96278835e+02] [ 4.59114402e-02 9.98945504e-01 -1.42364909e-04 1.03135802e+01] [ 1.54060716e-02 -5.65563327e-04 9.99881159e-01 1.23142235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.6192541539999 meters Centerline goodness : 0.999286 Centerline is valid? [True, True] Translation: X:796.31, Y:10.32, Z:12.32 [[ 9.99121123e-01 -3.89786318e-02 -1.54158018e-02 7.96310893e+02] [ 3.89810875e-02 9.99239939e-01 -1.41265583e-04 1.03177808e+01] [ 1.54095912e-02 -4.59783291e-04 9.99881159e-01 1.23167891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.6492541539999 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:796.34, Y:10.32, Z:12.32 [[ 9.99287109e-01 -3.44619626e-02 -1.54158119e-02 7.96341874e+02] [ 3.44638983e-02 9.99405934e-01 -1.40153677e-04 1.03197072e+01] [ 1.54114839e-02 -3.91235211e-04 9.99881159e-01 1.23173320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.6792541539999 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:796.37, Y:10.32, Z:12.32 [[ 9.99452833e-01 -2.92640890e-02 -1.54158194e-02 7.96374131e+02] [ 2.92654194e-02 9.99571666e-01 -1.39325740e-04 1.03214675e+01] [ 1.54132935e-02 -3.11900914e-04 9.99881159e-01 1.23175210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.7092541539998 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:796.40, Y:10.33, Z:12.32 [[ 9.99691584e-01 -1.94702107e-02 -1.54158293e-02 7.96404058e+02] [ 1.94703938e-02 9.99810424e-01 -1.38220391e-04 1.03252091e+01] [ 1.54155980e-02 -1.61974506e-04 9.99881159e-01 1.23189194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.7392541539999 meters Centerline goodness : 0.999281 Centerline is valid? [True, True] Translation: X:796.43, Y:10.33, Z:12.32 [[ 9.99770996e-01 -1.48427763e-02 -1.54158318e-02 7.96433327e+02] [ 1.48424135e-02 9.99889836e-01 -1.37947372e-04 1.03271828e+01] [ 1.54161810e-02 -9.08923680e-05 9.99881159e-01 1.23204216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.7692541539999 meters Centerline goodness : 0.999477 Centerline is valid? [True, True] Translation: X:796.46, Y:10.33, Z:12.32 [[ 9.99826074e-01 -1.04963977e-02 -1.54158269e-02 7.96461889e+02] [ 1.04955100e-02 9.99944911e-01 -1.38491758e-04 1.03287607e+01] [ 1.54164313e-02 -2.33292942e-05 9.99881159e-01 1.23212630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.7992541539999 meters Centerline goodness : 0.999300 Centerline is valid? [True, True] Translation: X:796.49, Y:10.33, Z:12.32 [[ 9.99878430e-01 -2.34055361e-03 -1.54157918e-02 7.96489645e+02] [ 2.33863790e-03 9.99997255e-01 -1.42294881e-04 1.03303742e+01] [ 1.54160825e-02 1.06225627e-04 9.99881159e-01 1.23210183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.8292541539998 meters Centerline goodness : 0.999364 Centerline is valid? [True, True] Translation: X:796.52, Y:10.33, Z:12.32 [[ 9.99881141e-01 -2.44112830e-04 -1.54157490e-02 7.96517248e+02] [ 2.41878693e-04 9.99999960e-01 -1.46789929e-04 1.03317023e+01] [ 1.54157842e-02 1.43043740e-04 9.99881160e-01 1.23227117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.8592541539999 meters Centerline goodness : 0.999563 Centerline is valid? [True, True] Translation: X:796.54, Y:10.33, Z:12.32 [[ 9.99875507e-01 3.36549973e-03 -1.54157052e-02 7.96544066e+02] [-3.36823155e-03 9.99994316e-01 -1.51249985e-04 1.03316902e+01] [ 1.54151085e-02 2.03154820e-04 9.99881160e-01 1.23227342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.8892541539999 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:796.57, Y:10.33, Z:12.32 [[ 9.99870970e-01 4.51665716e-03 -1.54156860e-02 7.96571453e+02] [-4.51955552e-03 9.99989775e-01 -1.53180665e-04 1.03314905e+01] [ 1.54148365e-02 2.22832948e-04 9.99881160e-01 1.23219423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.9192541539999 meters Centerline goodness : 0.999323 Centerline is valid? [True, True] Translation: X:796.60, Y:10.33, Z:12.32 [[ 9.99876660e-01 3.00678611e-03 -1.54150315e-02 7.96600354e+02] [-3.01048559e-03 9.99995445e-01 -2.16792512e-04 1.03310902e+01] [ 1.54143094e-02 2.63172503e-04 9.99881158e-01 1.23231892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.9492541539998 meters Centerline goodness : 0.999368 Centerline is valid? [True, True] Translation: X:796.63, Y:10.33, Z:12.32 [[ 9.99881165e-01 -1.18345857e-04 -1.54156294e-02 7.96626818e+02] [ 1.15912789e-04 9.99999981e-01 -1.58724605e-04 1.03290433e+01] [ 1.54156479e-02 1.56918874e-04 9.99881160e-01 1.23230386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.9792541539999 meters Centerline goodness : 0.996013 Centerline is valid? [True, True] Translation: X:796.66, Y:10.33, Z:12.32 [[ 9.99880407e-01 -1.23763682e-03 -1.54156013e-02 7.96655131e+02] [ 1.23529542e-03 9.99999224e-01 -1.61406520e-04 1.03275993e+01] [ 1.54157891e-02 1.42344395e-04 9.99881160e-01 1.23214633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.0092541539999 meters Centerline goodness : 0.999498 Centerline is valid? [True, True] Translation: X:796.68, Y:10.33, Z:12.32 [[ 9.99867539e-01 -5.22342418e-03 -1.54149349e-02 7.96684038e+02] [ 5.22059069e-03 9.99986348e-01 -2.24049070e-04 1.03267764e+01] [ 1.54158947e-02 1.43544327e-04 9.99881158e-01 1.23244995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.0392541539999 meters Centerline goodness : 0.999371 Centerline is valid? [True, True] Translation: X:796.71, Y:10.33, Z:12.33 [[ 9.99845458e-01 -8.45109958e-03 -1.54155735e-02 7.96713157e+02] [ 8.44957495e-03 9.99964288e-01 -1.64031848e-04 1.03250117e+01] [ 1.54164093e-02 3.37514542e-05 9.99881160e-01 1.23257062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.0692541539999 meters Centerline goodness : 0.999438 Centerline is valid? [True, True] Translation: X:796.74, Y:10.32, Z:12.33 [[ 9.99759692e-01 -1.55858583e-02 -1.54155614e-02 7.96741271e+02] [ 1.55851642e-02 9.99878530e-01 -1.65162776e-04 1.03202329e+01] [ 1.54162631e-02 -7.51309705e-05 9.99881160e-01 1.23255049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.0992541539999 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:796.77, Y:10.32, Z:12.33 [[ 9.99681049e-01 -2.00040191e-02 -1.54155462e-02 7.96770049e+02] [ 2.00038286e-02 9.99799890e-01 -1.66568667e-04 1.03182380e+01] [ 1.54157935e-02 -1.41854405e-04 9.99881160e-01 1.23266459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.1292541539999 meters Centerline goodness : 0.999418 Centerline is valid? [True, True] Translation: X:796.80, Y:10.31, Z:12.33 [[ 9.99495278e-01 -2.77768199e-02 -1.54155034e-02 7.96799617e+02] [ 2.77774938e-02 9.99614116e-01 -1.70441214e-04 1.03128997e+01] [ 1.54142891e-02 -2.57848861e-04 9.99881160e-01 1.23270806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.1592541539999 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:796.83, Y:10.31, Z:12.33 [[ 9.99385948e-01 -3.14656990e-02 -1.54154972e-02 7.96830651e+02] [ 3.14668029e-02 9.99504783e-01 -1.70998601e-04 1.03100881e+01] [ 1.54132438e-02 -3.14182813e-04 9.99881160e-01 1.23266436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.1892541539999 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:796.86, Y:10.31, Z:12.33 [[ 9.99260608e-01 -3.52221369e-02 -1.54155034e-02 7.96862922e+02] [ 3.52236961e-02 9.99379439e-01 -1.70437061e-04 1.03077708e+01] [ 1.54119403e-02 -3.72679968e-04 9.99881160e-01 1.23272319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.2192541539999 meters Centerline goodness : 0.999058 Centerline is valid? [True, True] Translation: X:796.89, Y:10.30, Z:12.33 [[ 9.99036133e-01 -4.10994682e-02 -1.54155157e-02 7.96893919e+02] [ 4.11017436e-02 9.99154952e-01 -1.69316865e-04 1.03026307e+01] [ 1.54094477e-02 -4.64450910e-04 9.99881160e-01 1.23263420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.2492541539999 meters Centerline goodness : 0.999146 Centerline is valid? [True, True] Translation: X:796.93, Y:10.30, Z:12.33 [[ 9.98921051e-01 -4.38074842e-02 -1.54155249e-02 7.96926222e+02] [ 4.38100946e-02 9.99039863e-01 -1.68481296e-04 1.03008851e+01] [ 1.54081046e-02 -5.07056091e-04 9.99881160e-01 1.23278232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.2792541539999 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:796.96, Y:10.30, Z:12.33 [[ 9.98854511e-01 -4.52993097e-02 -1.54155371e-02 7.96958533e+02] [ 4.53021150e-02 9.98973318e-01 -1.67351208e-04 1.02982391e+01] [ 1.54072912e-02 -5.31196927e-04 9.99881160e-01 1.23262684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.3092541539999 meters Centerline goodness : 0.998872 Centerline is valid? [True, True] Translation: X:796.99, Y:10.29, Z:12.33 [[ 9.98715931e-01 -4.82581598e-02 -1.54155493e-02 7.96990473e+02] [ 4.82613345e-02 9.98834729e-01 -1.66219535e-04 1.02943626e+01] [ 1.54056075e-02 -5.77968886e-04 9.99881160e-01 1.23255139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.339254154 meters Centerline goodness : 0.999022 Centerline is valid? [True, True] Translation: X:797.02, Y:10.29, Z:12.33 [[ 9.98640580e-01 -4.97930911e-02 -1.54155614e-02 7.97021501e+02] [ 4.97964657e-02 9.98759373e-01 -1.65095259e-04 1.02934574e+01] [ 1.54046570e-02 -6.02769648e-04 9.99881160e-01 1.23273501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.3692541539999 meters Centerline goodness : 0.998979 Centerline is valid? [True, True] Translation: X:797.05, Y:10.29, Z:12.33 [[ 9.98615354e-01 -5.02964669e-02 -1.54155806e-02 7.97053843e+02] [ 5.02999294e-02 9.98734144e-01 -1.63280314e-04 1.02920228e+01] [ 1.54042791e-02 -6.12348387e-04 9.99881160e-01 1.23277083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.3992541539999 meters Centerline goodness : 0.999087 Centerline is valid? [True, True] Translation: X:797.08, Y:10.29, Z:12.33 [[ 9.98611126e-01 -5.03803490e-02 -1.54155925e-02 7.97084939e+02] [ 5.03838388e-02 9.98729915e-01 -1.62153253e-04 1.02908526e+01] [ 1.54041827e-02 -6.14768683e-04 9.99881160e-01 1.23271957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.4292541539999 meters Centerline goodness : 0.999003 Centerline is valid? [True, True] Translation: X:797.12, Y:10.29, Z:12.33 [[ 9.98683912e-01 -4.89162809e-02 -1.54156013e-02 7.97117408e+02] [ 4.89196095e-02 9.98802706e-01 -1.61312684e-04 1.02890943e+01] [ 1.54050351e-02 -5.93024813e-04 9.99881160e-01 1.23267440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.4592541539998 meters Centerline goodness : 0.999215 Centerline is valid? [True, True] Translation: X:797.15, Y:10.29, Z:12.33 [[ 9.98760864e-01 -4.73190736e-02 -1.54156126e-02 7.97149971e+02] [ 4.73222291e-02 9.98879663e-01 -1.60221259e-04 1.02888942e+01] [ 1.54059234e-02 -5.69478427e-04 9.99881160e-01 1.23272943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.4892541539999 meters Centerline goodness : 0.998961 Centerline is valid? [True, True] Translation: X:797.18, Y:10.29, Z:12.33 [[ 9.98879712e-01 -4.47401229e-02 -1.54156239e-02 7.97181054e+02] [ 4.47429884e-02 9.98998518e-01 -1.59127785e-04 1.02884684e+01] [ 1.54073048e-02 -5.30791565e-04 9.99881160e-01 1.23267683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.5192541539999 meters Centerline goodness : 0.999257 Centerline is valid? [True, True] Translation: X:797.21, Y:10.29, Z:12.33 [[ 9.99157766e-01 -3.80278528e-02 -1.54156323e-02 7.97213278e+02] [ 3.80299326e-02 9.99276588e-01 -1.58312464e-04 1.02888357e+01] [ 1.54105007e-02 -4.28076329e-04 9.99881160e-01 1.23279700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.5492541539999 meters Centerline goodness : 0.999257 Centerline is valid? [True, True] Translation: X:797.24, Y:10.29, Z:12.33 [[ 9.99316266e-01 -3.36059149e-02 -1.54156433e-02 7.97244841e+02] [ 3.36074855e-02 9.99435097e-01 -1.57235157e-04 1.02895277e+01] [ 1.54122189e-02 -3.60953357e-04 9.99881160e-01 1.23285431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.5792541539998 meters Centerline goodness : 0.999342 Centerline is valid? [True, True] Translation: X:797.28, Y:10.29, Z:12.33 [[ 9.99602133e-01 -2.36206134e-02 -1.54156606e-02 7.97276106e+02] [ 2.36210233e-02 9.99720973e-01 -1.55513647e-04 1.02909590e+01] [ 1.54150326e-02 -2.08681905e-04 9.99881160e-01 1.23310993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.6092541539999 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:797.31, Y:10.29, Z:12.33 [[ 9.99713346e-01 -1.83189134e-02 -1.54156663e-02 7.97306019e+02] [ 1.83187017e-02 9.99832187e-01 -1.54948107e-04 1.02916767e+01] [ 1.54159178e-02 -1.27491302e-04 9.99881160e-01 1.23299786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.6392541539999 meters Centerline goodness : 0.999169 Centerline is valid? [True, True] Translation: X:797.33, Y:10.29, Z:12.33 [[ 9.99791417e-01 -1.33970335e-02 -1.54156667e-02 7.97334688e+02] [ 1.33962374e-02 9.99910254e-01 -1.54903902e-04 1.02924853e+01] [ 1.54163585e-02 -5.16403403e-05 9.99881160e-01 1.23327606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.6692541539999 meters Centerline goodness : 0.999190 Centerline is valid? [True, True] Translation: X:797.36, Y:10.29, Z:12.33 [[ 9.99872435e-01 -4.17997422e-03 -1.54156259e-02 7.97362840e+02] [ 4.17802161e-03 9.99991259e-01 -1.58867030e-04 1.02930553e+01] [ 1.54161552e-02 9.44399462e-05 9.99881160e-01 1.23332281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.6992541539998 meters Centerline goodness : 0.999189 Centerline is valid? [True, True] Translation: X:797.39, Y:10.29, Z:12.34 [[ 9.99880212e-01 -1.38612123e-03 -1.54155783e-02 7.97390669e+02] [ 1.38376732e-03 9.99999029e-01 -1.63362028e-04 1.02935672e+01] [ 1.54157897e-02 1.42010886e-04 9.99881160e-01 1.23351429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.7292541539999 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:797.42, Y:10.29, Z:12.34 [[ 9.99880400e-01 1.24356399e-03 -1.54155298e-02 7.97418523e+02] [-1.24629898e-03 9.99999209e-01 -1.67812506e-04 1.02932064e+01] [ 1.54153089e-02 1.87004795e-04 9.99881160e-01 1.23363694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.7592541539999 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:797.45, Y:10.29, Z:12.34 [[ 9.99876866e-01 2.93529001e-03 -1.54154794e-02 7.97446161e+02] [-2.93829552e-03 9.99995668e-01 -1.72321179e-04 1.02926823e+01] [ 1.54149068e-02 2.17595194e-04 9.99881160e-01 1.23370896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.7892541539999 meters Centerline goodness : 0.998765 Centerline is valid? [True, True] Translation: X:797.47, Y:10.29, Z:12.34 [[ 9.99872887e-01 4.07128456e-03 -1.54154275e-02 7.97473985e+02] [-4.07449477e-03 9.99991684e-01 -1.76844785e-04 1.02902303e+01] [ 1.54145793e-02 2.39632385e-04 9.99881160e-01 1.23361456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.8192541539999 meters Centerline goodness : 0.999297 Centerline is valid? [True, True] Translation: X:797.50, Y:10.29, Z:12.34 [[ 9.99878156e-01 2.45767029e-03 -1.54153740e-02 7.97500816e+02] [-2.46075888e-03 9.99996956e-01 -1.81392695e-04 1.02894892e+01] [ 1.54148813e-02 2.19304112e-04 9.99881160e-01 1.23363784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.8492541539999 meters Centerline goodness : 0.999296 Centerline is valid? [True, True] Translation: X:797.53, Y:10.29, Z:12.34 [[ 9.99881076e-01 4.49182349e-04 -1.54153506e-02 7.97530067e+02] [-4.52062614e-04 9.99999881e-01 -1.83359947e-04 1.02879644e+01] [ 1.54152664e-02 1.90306844e-04 9.99881160e-01 1.23378769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.8792541539999 meters Centerline goodness : 0.999299 Centerline is valid? [True, True] Translation: X:797.56, Y:10.28, Z:12.34 [[ 9.99859295e-01 -6.61502162e-03 -1.54153371e-02 7.97558359e+02] [ 6.61296339e-03 9.99978117e-01 -1.84488788e-04 1.02839954e+01] [ 1.54162202e-02 8.25217699e-05 9.99881160e-01 1.23378423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.9092541539999 meters Centerline goodness : 0.999278 Centerline is valid? [True, True] Translation: X:797.59, Y:10.28, Z:12.34 [[ 9.99820511e-01 -1.10142854e-02 -1.54153167e-02 7.97587390e+02] [ 1.10127239e-02 9.99939341e-01 -1.86181218e-04 1.02812570e+01] [ 1.54164322e-02 1.63831745e-05 9.99881160e-01 1.23362498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.9392541539999 meters Centerline goodness : 0.999068 Centerline is valid? [True, True] Translation: X:797.62, Y:10.28, Z:12.34 [[ 9.99610050e-01 -2.32833739e-02 -1.54153030e-02 7.97615772e+02] [ 2.32832535e-02 9.99728891e-01 -1.87304260e-04 1.02763535e+01] [ 1.54154849e-02 -1.71687187e-04 9.99881160e-01 1.23378217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.9692541539999 meters Centerline goodness : 0.999092 Centerline is valid? [True, True] Translation: X:797.65, Y:10.27, Z:12.34 [[ 9.99451636e-01 -2.93052185e-02 -1.54152893e-02 7.97645106e+02] [ 2.93057967e-02 9.99570475e-01 -1.88428382e-04 1.02731194e+01] [ 1.54141900e-02 -2.63432279e-04 9.99881160e-01 1.23363131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.9992541539999 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:797.68, Y:10.27, Z:12.34 [[ 9.99239474e-01 -3.58167992e-02 -1.54152824e-02 7.97675816e+02] [ 3.58181431e-02 9.99358307e-01 -1.88989338e-04 1.02707329e+01] [ 1.54121595e-02 -3.63301184e-04 9.99881160e-01 1.23371985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.0292541539999 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:797.71, Y:10.27, Z:12.34 [[ 9.98730958e-01 -4.79462494e-02 -1.54152824e-02 7.97708223e+02] [ 4.79490360e-02 9.98849766e-01 -1.88989338e-04 1.02662174e+01] [ 1.54066125e-02 -5.50398429e-04 9.99881160e-01 1.23380175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.0592541539999 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:797.74, Y:10.27, Z:12.34 [[ 9.98412038e-01 -5.41827375e-02 -1.54153303e-02 7.97739372e+02] [ 5.41863276e-02 9.98530825e-01 -1.84999617e-04 1.02651457e+01] [ 1.54027062e-02 -6.50594291e-04 9.99881160e-01 1.23404217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.089254154 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:797.77, Y:10.26, Z:12.34 [[ 9.98125451e-01 -5.92279690e-02 -1.54153405e-02 7.97771549e+02] [ 5.92321725e-02 9.98244217e-01 -1.84146393e-04 1.02636372e+01] [ 1.53991811e-02 -7.29282904e-04 9.99881160e-01 1.23418621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.1192541539999 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:797.80, Y:10.26, Z:12.34 [[ 9.98129839e-01 -5.91539604e-02 -1.54153540e-02 7.97804234e+02] [ 5.91581726e-02 9.98248605e-01 -1.83005135e-04 1.02639655e+01] [ 1.53991811e-02 -7.29281288e-04 9.99881160e-01 1.23423658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.1492541539999 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:797.84, Y:10.26, Z:12.34 [[ 9.97612184e-01 -6.73223320e-02 -1.54153675e-02 7.97835302e+02] [ 6.73275339e-02 9.97730911e-01 -1.81862259e-04 1.02606543e+01] [ 1.53926321e-02 -8.56450672e-04 9.99881160e-01 1.23425123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.1792541539999 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:797.87, Y:10.26, Z:12.34 [[ 9.97406349e-01 -7.03060489e-02 -1.54153775e-02 7.97868042e+02] [ 7.03116190e-02 9.97525059e-01 -1.81011066e-04 1.02590056e+01] [ 1.53899515e-02 -9.03338564e-04 9.99881160e-01 1.23425313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.2092541539998 meters Centerline goodness : 0.998994 Centerline is valid? [True, True] Translation: X:797.90, Y:10.26, Z:12.34 [[ 9.97036476e-01 -7.53699564e-02 -1.54153976e-02 7.97899418e+02] [ 7.53761559e-02 9.97155155e-01 -1.79279271e-04 1.02567673e+01] [ 1.53850555e-02 -9.83205443e-04 9.99881160e-01 1.23433842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.2392541539999 meters Centerline goodness : 0.999076 Centerline is valid? [True, True] Translation: X:797.93, Y:10.26, Z:12.34 [[ 9.96924993e-01 -7.68304834e-02 -1.54154076e-02 7.97932619e+02] [ 7.68368700e-02 9.97043662e-01 -1.78421678e-04 1.02563767e+01] [ 1.53835426e-02 -1.00659864e-03 9.99881160e-01 1.23447520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.2692541539999 meters Centerline goodness : 0.998952 Centerline is valid? [True, True] Translation: X:797.97, Y:10.25, Z:12.34 [[ 9.97212771e-01 -7.30003657e-02 -1.54154273e-02 7.97970259e+02] [ 7.30063228e-02 9.97331462e-01 -1.76701431e-04 1.02504134e+01] [ 1.53871899e-02 -9.49214737e-04 9.99881160e-01 1.23408509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.2992541539999 meters Centerline goodness : 0.998804 Centerline is valid? [True, True] Translation: X:798.00, Y:10.25, Z:12.34 [[ 9.97022243e-01 -7.55574036e-02 -1.54183439e-02 7.97998183e+02] [ 7.55677461e-02 9.97140666e-01 8.84633020e-05 1.02514250e+01] [ 1.53675736e-02 -1.25332937e-03 9.99881126e-01 1.23396080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.3292541539998 meters Centerline goodness : 0.998637 Centerline is valid? [True, True] Translation: X:798.03, Y:10.25, Z:12.34 [[ 9.97002565e-01 -7.58169316e-02 -1.54168322e-02 7.98031409e+02] [ 7.58252535e-02 9.97121121e-01 -4.48522989e-05 1.02515603e+01] [ 1.53758496e-02 -1.12426735e-03 9.99881153e-01 1.23406175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.3592541539999 meters Centerline goodness : 0.998488 Centerline is valid? [True, True] Translation: X:798.07, Y:10.25, Z:12.34 [[ 9.97064708e-01 -7.49951941e-02 -1.54171909e-02 7.98065170e+02] [ 7.50039006e-02 9.97183240e-01 -1.35217052e-05 1.02508129e+01] [ 1.53747784e-02 -1.14286744e-03 9.99881148e-01 1.23401073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.3892541539999 meters Centerline goodness : 0.998907 Centerline is valid? [True, True] Translation: X:798.10, Y:10.25, Z:12.34 [[ 9.97234999e-01 -7.26955602e-02 -1.54179343e-02 7.98098470e+02] [ 7.27049960e-02 9.97353488e-01 5.16317383e-05 1.02495139e+01] [ 1.53733772e-02 -1.17244983e-03 9.99881135e-01 1.23378328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.4192541539999 meters Centerline goodness : 0.998761 Centerline is valid? [True, True] Translation: X:798.12, Y:10.26, Z:12.34 [[ 9.96886186e-01 -7.73316876e-02 -1.54188722e-02 7.98121599e+02] [ 7.73429420e-02 9.97004539e-01 1.34048364e-04 1.02562989e+01] [ 1.53623194e-02 -1.32617190e-03 9.99881113e-01 1.23432175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.4492541539998 meters Centerline goodness : 0.998613 Centerline is valid? [True, True] Translation: X:798.15, Y:10.26, Z:12.34 [[ 9.96998363e-01 -7.58725217e-02 -1.54150649e-02 7.98153417e+02] [ 7.58787025e-02 9.97117039e-01 -1.84360795e-04 1.02567487e+01] [ 1.53846118e-02 -9.85867713e-04 9.99881164e-01 1.23421595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.4792541539999 meters Centerline goodness : 0.998759 Centerline is valid? [True, True] Translation: X:798.19, Y:10.25, Z:12.34 [[ 9.97563585e-01 -6.80387381e-02 -1.54150780e-02 7.98193035e+02] [ 6.80440035e-02 9.97682304e-01 -1.83258057e-04 1.02528105e+01] [ 1.53918192e-02 -8.66092058e-04 9.99881164e-01 1.23369267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.5092541539999 meters Centerline goodness : 0.998696 Centerline is valid? [True, True] Translation: X:798.22, Y:10.26, Z:12.34 [[ 9.97280339e-01 -7.20706941e-02 -1.54188516e-02 7.98215206e+02] [ 7.20815551e-02 9.97398730e-01 1.49096276e-04 1.02613534e+01] [ 1.53679975e-02 -1.26010558e-03 9.99881111e-01 1.23434474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.5392541539999 meters Centerline goodness : 0.998675 Centerline is valid? [True, True] Translation: X:798.25, Y:10.26, Z:12.34 [[ 9.97764068e-01 -6.50326524e-02 -1.54148597e-02 7.98252873e+02] [ 6.50375408e-02 9.97882801e-01 -1.84497297e-04 1.02580399e+01] [ 1.53942217e-02 -8.18459794e-04 9.99881167e-01 1.23408408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.5692541539999 meters Centerline goodness : 0.998882 Centerline is valid? [True, True] Translation: X:798.28, Y:10.27, Z:12.35 [[ 9.97674127e-01 -6.63973717e-02 -1.54183431e-02 7.98276645e+02] [ 6.64071031e-02 9.97792605e-01 1.19475714e-04 1.02672102e+01] [ 1.53763759e-02 -1.14308533e-03 9.99881123e-01 1.23452548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.5992541539999 meters Centerline goodness : 0.998652 Centerline is valid? [True, True] Translation: X:798.31, Y:10.27, Z:12.34 [[ 9.97845971e-01 -6.37636800e-02 -1.54146229e-02 7.98308868e+02] [ 6.37683772e-02 9.97964708e-01 -1.87092315e-04 1.02684356e+01] [ 1.53951794e-02 -7.96276177e-04 9.99881170e-01 1.23438025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.6292541539999 meters Centerline goodness : 0.998924 Centerline is valid? [True, True] Translation: X:798.34, Y:10.27, Z:12.35 [[ 9.97921950e-01 -6.25633385e-02 -1.54146358e-02 7.98340840e+02] [ 6.25679093e-02 9.98040692e-01 -1.86025481e-04 1.02708290e+01] [ 1.53960721e-02 -7.78822624e-04 9.99881170e-01 1.23462582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.6592541539999 meters Centerline goodness : 0.998627 Centerline is valid? [True, True] Translation: X:798.38, Y:10.27, Z:12.34 [[ 9.98399780e-01 -5.44083477e-02 -1.54146485e-02 7.98378131e+02] [ 5.44119646e-02 9.98518555e-01 -1.84966188e-04 1.02683389e+01] [ 1.54018762e-02 -6.54071108e-04 9.99881170e-01 1.23438971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.6892541539999 meters Centerline goodness : 0.998984 Centerline is valid? [True, True] Translation: X:798.40, Y:10.28, Z:12.35 [[ 9.98219407e-01 -5.76220322e-02 -1.54180620e-02 7.98401626e+02] [ 5.76305341e-02 9.98337974e-01 1.07324162e-04 1.02760710e+01] [ 1.53862526e-02 -9.95684212e-04 9.99881129e-01 1.23495763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.7192541539999 meters Centerline goodness : 0.998688 Centerline is valid? [True, True] Translation: X:798.43, Y:10.28, Z:12.35 [[ 9.98355483e-01 -5.52152621e-02 -1.54144469e-02 7.98433741e+02] [ 5.52189213e-02 9.98474254e-01 -1.88445425e-04 1.02772384e+01] [ 1.54013334e-02 -6.63033604e-04 9.99881173e-01 1.23481824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.7492541539999 meters Centerline goodness : 0.998900 Centerline is valid? [True, True] Translation: X:798.47, Y:10.28, Z:12.35 [[ 9.98435001e-01 -5.37582005e-02 -1.54144601e-02 7.98465855e+02] [ 5.37617032e-02 9.98553776e-01 -1.87354082e-04 1.02795855e+01] [ 1.54022392e-02 -6.41646757e-04 9.99881173e-01 1.23509440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.7792541539999 meters Centerline goodness : 0.999005 Centerline is valid? [True, True] Translation: X:798.50, Y:10.28, Z:12.35 [[ 9.98618043e-01 -5.02433948e-02 -1.54144733e-02 7.98497414e+02] [ 5.02464961e-02 9.98736830e-01 -1.86267597e-04 1.02824983e+01] [ 1.54043609e-02 -5.88513088e-04 9.99881173e-01 1.23519650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.8092541539999 meters Centerline goodness : 0.998795 Centerline is valid? [True, True] Translation: X:798.53, Y:10.28, Z:12.35 [[ 9.98732153e-01 -4.79216018e-02 -1.54144830e-02 7.98529360e+02] [ 4.79244395e-02 9.98850947e-01 -1.85458121e-04 1.02831770e+01] [ 1.54056584e-02 -5.53507468e-04 9.99881173e-01 1.23514361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.839254154 meters Centerline goodness : 0.998920 Centerline is valid? [True, True] Translation: X:798.56, Y:10.28, Z:12.35 [[ 9.98782751e-01 -4.68552003e-02 -1.54144957e-02 7.98561574e+02] [ 4.68579275e-02 9.98901547e-01 -1.84393249e-04 1.02849454e+01] [ 1.54062034e-02 -5.38122527e-04 9.99881173e-01 1.23533922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.8692541539999 meters Centerline goodness : 0.998877 Centerline is valid? [True, True] Translation: X:798.59, Y:10.29, Z:12.35 [[ 9.98921975e-01 -4.37867762e-02 -1.54145083e-02 7.98592312e+02] [ 4.37891548e-02 9.99040778e-01 -1.83335244e-04 1.02868666e+01] [ 1.54077500e-02 -4.91850687e-04 9.99881173e-01 1.23537945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.8992541539999 meters Centerline goodness : 0.998921 Centerline is valid? [True, True] Translation: X:798.62, Y:10.29, Z:12.35 [[ 9.99017266e-01 -4.15559369e-02 -1.54145177e-02 7.98624089e+02] [ 4.15580623e-02 9.99136074e-01 -1.82545906e-04 1.02878129e+01] [ 1.54087865e-02 -4.58230974e-04 9.99881173e-01 1.23540799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.9292541539999 meters Centerline goodness : 0.998962 Centerline is valid? [True, True] Translation: X:798.66, Y:10.29, Z:12.35 [[ 9.99242706e-01 -3.57268305e-02 -1.54145299e-02 7.98655792e+02] [ 3.57282788e-02 9.99361525e-01 -1.81506143e-04 1.02888005e+01] [ 1.54111728e-02 -3.69365932e-04 9.99881173e-01 1.23518166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.9592541539998 meters Centerline goodness : 0.998857 Centerline is valid? [True, True] Translation: X:798.69, Y:10.29, Z:12.35 [[ 9.99329249e-01 -3.32181295e-02 -1.54145420e-02 7.98686574e+02] [ 3.32192953e-02 9.99448071e-01 -1.80474760e-04 1.02904255e+01] [ 1.54120293e-02 -3.31706517e-04 9.99881173e-01 1.23533609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.9892541539999 meters Centerline goodness : 0.998961 Centerline is valid? [True, True] Translation: X:798.72, Y:10.29, Z:12.36 [[ 9.99436886e-01 -2.98044190e-02 -1.54145509e-02 7.98717422e+02] [ 2.98051908e-02 9.99555710e-01 -1.79709668e-04 1.02915813e+01] [ 1.54130585e-02 -2.79825160e-04 9.99881173e-01 1.23568759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.0192541539999 meters Centerline goodness : 0.998939 Centerline is valid? [True, True] Translation: X:798.75, Y:10.29, Z:12.36 [[ 9.99645053e-01 -2.17292298e-02 -1.54145575e-02 7.98748005e+02] [ 2.17290503e-02 9.99763880e-01 -1.79144717e-04 1.02936112e+01] [ 1.54148105e-02 -1.55862565e-04 9.99881173e-01 1.23566283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.0492541539999 meters Centerline goodness : 0.998897 Centerline is valid? [True, True] Translation: X:798.78, Y:10.29, Z:12.36 [[ 9.99725340e-01 -1.76531943e-02 -1.54145690e-02 7.98777225e+02] [ 1.76525458e-02 9.99844166e-01 -1.78144236e-04 1.02948642e+01] [ 1.54153117e-02 -9.40110784e-05 9.99881173e-01 1.23572141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.0792541539998 meters Centerline goodness : 0.999215 Centerline is valid? [True, True] Translation: X:798.81, Y:10.30, Z:12.36 [[ 9.99781766e-01 -1.41000311e-02 -1.54145626e-02 7.98806190e+02] [ 1.40989517e-02 9.99900589e-01 -1.78698002e-04 1.02964101e+01] [ 1.54155499e-02 -3.86701702e-05 9.99881173e-01 1.23588353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.1092541539999 meters Centerline goodness : 0.998874 Centerline is valid? [True, True] Translation: X:798.83, Y:10.30, Z:12.36 [[ 9.99825766e-01 -1.05276425e-02 -1.54145155e-02 7.98833624e+02] [ 1.05260773e-02 9.99944583e-01 -1.82673847e-04 1.02975691e+01] [ 1.54155844e-02 2.03876373e-05 9.99881173e-01 1.23586956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.1392541539999 meters Centerline goodness : 0.998958 Centerline is valid? [True, True] Translation: X:798.87, Y:10.29, Z:12.36 [[ 9.99880518e-01 -1.15938704e-03 -1.54144919e-02 7.98867511e+02] [ 1.15667830e-03 9.99999314e-01 -1.84640988e-04 1.02941562e+01] [ 1.54146954e-02 1.66789319e-04 9.99881173e-01 1.23631592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.1692541539999 meters Centerline goodness : 0.998727 Centerline is valid? [True, True] Translation: X:798.89, Y:10.30, Z:12.36 [[ 9.99872129e-01 -4.24845268e-03 -1.54167401e-02 7.98890862e+02] [ 4.24905585e-03 9.99990973e-01 6.36907980e-06 1.02975077e+01] [ 1.54165739e-02 -7.18748552e-05 9.99881155e-01 1.23578313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.1992541539998 meters Centerline goodness : 0.999024 Centerline is valid? [True, True] Translation: X:798.92, Y:10.30, Z:12.36 [[ 9.99869856e-01 -4.76112619e-03 -1.54143607e-02 7.98918263e+02] [ 4.75878795e-03 9.99988659e-01 -1.88368302e-04 1.02962983e+01] [ 1.54150827e-02 1.14990114e-04 9.99881174e-01 1.23605624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.2292541539999 meters Centerline goodness : 0.999152 Centerline is valid? [True, True] Translation: X:798.95, Y:10.30, Z:12.36 [[ 9.99863858e-01 -5.88768188e-03 -1.54143052e-02 7.98945792e+02] [ 5.88540917e-03 9.99982662e-01 -1.92800101e-04 1.02955253e+01] [ 1.54151731e-02 1.02054359e-04 9.99881174e-01 1.23614791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.2592541539999 meters Centerline goodness : 0.999001 Centerline is valid? [True, True] Translation: X:798.97, Y:10.29, Z:12.36 [[ 9.99854212e-01 -7.34547145e-03 -1.54142488e-02 7.98974055e+02] [ 7.34330400e-03 9.99973018e-01 -1.97208785e-04 1.02946728e+01] [ 1.54152815e-02 8.39885189e-05 9.99881174e-01 1.23621635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.2892541539999 meters Centerline goodness : 0.999068 Centerline is valid? [True, True] Translation: X:799.00, Y:10.29, Z:12.36 [[ 9.99828397e-01 -1.02752171e-02 -1.54141905e-02 7.99002542e+02] [ 1.02733291e-02 9.99947208e-01 -2.01663377e-04 1.02922998e+01] [ 1.54154489e-02 4.32737185e-05 9.99881174e-01 1.23632649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.3192541539999 meters Centerline goodness : 0.998835 Centerline is valid? [True, True] Translation: X:799.03, Y:10.29, Z:12.36 [[ 9.99805198e-01 -1.23275962e-02 -1.54141758e-02 7.99030467e+02] [ 1.23259348e-02 9.99924012e-01 -2.02782148e-04 1.02911393e+01] [ 1.54155043e-02 1.27485190e-05 9.99881174e-01 1.23635860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.3492541539999 meters Centerline goodness : 0.999048 Centerline is valid? [True, True] Translation: X:799.06, Y:10.29, Z:12.36 [[ 9.99774898e-01 -1.45793928e-02 -1.54141153e-02 7.99058150e+02] [ 1.45779296e-02 9.99893715e-01 -2.07285286e-04 1.02895403e+01] [ 1.54154991e-02 -1.74672625e-05 9.99881174e-01 1.23641845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.3792541539999 meters Centerline goodness : 0.999009 Centerline is valid? [True, True] Translation: X:799.09, Y:10.29, Z:12.36 [[ 9.99702622e-01 -1.88964056e-02 -1.54140526e-02 7.99086455e+02] [ 1.88953852e-02 9.99821444e-01 -2.11844473e-04 1.02853875e+01] [ 1.54153034e-02 -7.94729873e-05 9.99881174e-01 1.23644957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.4092541539999 meters Centerline goodness : 0.998818 Centerline is valid? [True, True] Translation: X:799.11, Y:10.28, Z:12.36 [[ 9.99650470e-01 -2.14789636e-02 -1.54140299e-02 7.99114859e+02] [ 2.14782250e-02 9.99769294e-01 -2.13483416e-04 1.02836540e+01] [ 1.54150592e-02 -1.17657205e-04 9.99881174e-01 1.23644783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.4392541539999 meters Centerline goodness : 0.998883 Centerline is valid? [True, True] Translation: X:799.14, Y:10.28, Z:12.36 [[ 9.99599546e-01 -2.37309180e-02 -1.54139748e-02 7.99143575e+02] [ 2.37303868e-02 9.99718371e-01 -2.17390406e-04 1.02817723e+01] [ 1.54147927e-02 -1.48476233e-04 9.99881174e-01 1.23634935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.4692541539999 meters Centerline goodness : 0.999053 Centerline is valid? [True, True] Translation: X:799.17, Y:10.28, Z:12.37 [[ 9.99499993e-01 -2.76075047e-02 -1.54139191e-02 7.99172736e+02] [ 2.76073745e-02 9.99618819e-01 -2.21268752e-04 1.02779591e+01] [ 1.54141523e-02 -2.04379721e-04 9.99881174e-01 1.23650126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.4992541539999 meters Centerline goodness : 0.999031 Centerline is valid? [True, True] Translation: X:799.20, Y:10.28, Z:12.37 [[ 9.99462254e-01 -2.89415817e-02 -1.54139073e-02 7.99202919e+02] [ 2.89415974e-02 9.99581080e-01 -2.22092653e-04 1.02763875e+01] [ 1.54138778e-02 -2.24129875e-04 9.99881174e-01 1.23655289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.5292541539999 meters Centerline goodness : 0.998949 Centerline is valid? [True, True] Translation: X:799.23, Y:10.27, Z:12.37 [[ 9.99435814e-01 -2.98406512e-02 -1.54139073e-02 7.99233092e+02] [ 2.98407738e-02 9.99554640e-01 -2.22092653e-04 1.02747673e+01] [ 1.54136699e-02 -2.37995568e-04 9.99881174e-01 1.23656965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.5592541539999 meters Centerline goodness : 0.998971 Centerline is valid? [True, True] Translation: X:799.26, Y:10.27, Z:12.37 [[ 9.99430860e-01 -3.00061153e-02 -1.54139073e-02 7.99263980e+02] [ 3.00062576e-02 9.99549686e-01 -2.22092653e-04 1.02733319e+01] [ 1.54136303e-02 -2.40547421e-04 9.99881174e-01 1.23663504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.589254154 meters Centerline goodness : 0.999159 Centerline is valid? [True, True] Translation: X:799.29, Y:10.27, Z:12.37 [[ 9.99443258e-01 -2.95903038e-02 -1.54139073e-02 7.99294370e+02] [ 2.95903967e-02 9.99562084e-01 -2.22092653e-04 1.02699967e+01] [ 1.54137290e-02 -2.34134625e-04 9.99881174e-01 1.23669025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.6192541539999 meters Centerline goodness : 0.999391 Centerline is valid? [True, True] Translation: X:799.32, Y:10.27, Z:12.37 [[ 9.99457888e-01 -2.90919564e-02 -1.54139111e-02 7.99324704e+02] [ 2.90919942e-02 9.99576714e-01 -2.21822479e-04 1.02685924e+01] [ 1.54138399e-02 -2.26719187e-04 9.99881174e-01 1.23686765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.6492541539999 meters Centerline goodness : 0.999076 Centerline is valid? [True, True] Translation: X:799.35, Y:10.27, Z:12.37 [[ 9.99504903e-01 -2.74291694e-02 -1.54139111e-02 7.99354785e+02] [ 2.74290095e-02 9.99623729e-01 -2.21822479e-04 1.02659280e+01] [ 1.54141957e-02 -2.01075660e-04 9.99881174e-01 1.23695351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.6792541539999 meters Centerline goodness : 0.999033 Centerline is valid? [True, True] Translation: X:799.38, Y:10.26, Z:12.37 [[ 9.99541332e-01 -2.60679133e-02 -1.54139111e-02 7.99384743e+02] [ 2.60675915e-02 9.99660158e-01 -2.21822479e-04 1.02645584e+01] [ 1.54144553e-02 -1.80082803e-04 9.99881174e-01 1.23684232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.7092541539998 meters Centerline goodness : 0.999096 Centerline is valid? [True, True] Translation: X:799.41, Y:10.26, Z:12.37 [[ 9.99561315e-01 -2.52901012e-02 -1.54139030e-02 7.99414327e+02] [ 2.52896784e-02 9.99680140e-01 -2.22384166e-04 1.02637724e+01] [ 1.54145969e-02 -1.67526041e-04 9.99881174e-01 1.23721368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.7392541539999 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:799.44, Y:10.26, Z:12.37 [[ 9.99599360e-01 -2.37387956e-02 -1.54138947e-02 7.99443053e+02] [ 2.37381794e-02 9.99718185e-01 -2.22961681e-04 1.02607971e+01] [ 1.54148437e-02 -1.43025443e-04 9.99881174e-01 1.23702203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.7692541539999 meters Centerline goodness : 0.999015 Centerline is valid? [True, True] Translation: X:799.47, Y:10.26, Z:12.37 [[ 9.99605839e-01 -2.34644117e-02 -1.54138822e-02 7.99472235e+02] [ 2.34637497e-02 9.99724663e-01 -2.23821407e-04 1.02596987e+01] [ 1.54148900e-02 -1.37934288e-04 9.99881174e-01 1.23727877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.7992541539999 meters Centerline goodness : 0.998974 Centerline is valid? [True, True] Translation: X:799.50, Y:10.26, Z:12.37 [[ 9.99613608e-01 -2.31311302e-02 -1.54138254e-02 7.99500820e+02] [ 2.31303692e-02 9.99732431e-01 -2.27667175e-04 1.02583298e+01] [ 1.54149673e-02 -1.28948266e-04 9.99881174e-01 1.23715518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.8292541539998 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:799.53, Y:10.26, Z:12.38 [[ 9.99606433e-01 -2.34391946e-02 -1.54137678e-02 7.99529512e+02] [ 2.34384111e-02 9.99725256e-01 -2.31502486e-04 1.02574717e+01] [ 1.54149592e-02 -1.29862852e-04 9.99881174e-01 1.23751946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.8592541539999 meters Centerline goodness : 0.998995 Centerline is valid? [True, True] Translation: X:799.56, Y:10.25, Z:12.37 [[ 9.99608361e-01 -2.33568287e-02 -1.54137076e-02 7.99557846e+02] [ 2.33559746e-02 9.99727184e-01 -2.35442101e-04 1.02540485e+01] [ 1.54150017e-02 -1.24652272e-04 9.99881174e-01 1.23732830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.8892541539999 meters Centerline goodness : 0.999038 Centerline is valid? [True, True] Translation: X:799.59, Y:10.25, Z:12.38 [[ 9.99581392e-01 -2.44838484e-02 -1.54136948e-02 7.99586693e+02] [ 2.44831154e-02 9.99700216e-01 -2.36278870e-04 1.02531870e+01] [ 1.54148590e-02 -1.41195308e-04 9.99881174e-01 1.23759979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.9192541539999 meters Centerline goodness : 0.998996 Centerline is valid? [True, True] Translation: X:799.62, Y:10.25, Z:12.38 [[ 9.99562238e-01 -2.52537497e-02 -1.54136345e-02 7.99615167e+02] [ 2.52530485e-02 9.99681062e-01 -2.40148312e-04 1.02521212e+01] [ 1.54147832e-02 -1.49198076e-04 9.99881174e-01 1.23775158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.9492541539998 meters Centerline goodness : 0.999247 Centerline is valid? [True, True] Translation: X:799.64, Y:10.25, Z:12.38 [[ 9.99522321e-01 -2.67871486e-02 -1.54135731e-02 7.99643495e+02] [ 2.67865700e-02 9.99641146e-01 -2.44023926e-04 1.02494405e+01] [ 1.54145786e-02 -1.68969395e-04 9.99881174e-01 1.23774160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.9792541539999 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:799.67, Y:10.25, Z:12.38 [[ 9.99498571e-01 -2.76591898e-02 -1.54135114e-02 7.99673367e+02] [ 2.76586556e-02 9.99617395e-01 -2.47865253e-04 1.02478835e+01] [ 1.54144698e-02 -1.78576037e-04 9.99881174e-01 1.23758379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.0092541539999 meters Centerline goodness : 0.999058 Centerline is valid? [True, True] Translation: X:799.70, Y:10.25, Z:12.38 [[ 9.99451525e-01 -2.93099480e-02 -1.54135025e-02 7.99702678e+02] [ 2.93096017e-02 9.99570350e-01 -2.48414745e-04 1.02465793e+01] [ 1.54141611e-02 -2.03485124e-04 9.99881174e-01 1.23752273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.0392541539999 meters Centerline goodness : 0.999058 Centerline is valid? [True, True] Translation: X:799.73, Y:10.25, Z:12.38 [[ 9.99450478e-01 -2.93456444e-02 -1.54134440e-02 7.99732821e+02] [ 2.93452471e-02 9.99569304e-01 -2.51992712e-04 1.02471041e+01] [ 1.54142004e-02 -2.00457087e-04 9.99881174e-01 1.23756930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.0692541539999 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:799.76, Y:10.24, Z:12.38 [[ 9.99323488e-01 -3.33915123e-02 -1.54134350e-02 7.99763003e+02] [ 3.33915876e-02 9.99442314e-01 -2.52542433e-04 1.02445267e+01] [ 1.54132719e-02 -2.62307480e-04 9.99881174e-01 1.23762504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.0992541539999 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:799.79, Y:10.24, Z:12.38 [[ 9.99224467e-01 -3.62338341e-02 -1.54134260e-02 7.99792414e+02] [ 3.62342389e-02 9.99343292e-01 -2.53091405e-04 1.02440477e+01] [ 1.54124744e-02 -3.05598636e-04 9.99881174e-01 1.23789966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.1292541539999 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:799.82, Y:10.24, Z:12.38 [[ 9.99134711e-01 -3.86297195e-02 -1.54134215e-02 7.99824025e+02] [ 3.86304050e-02 9.99253535e-01 -2.53364175e-04 1.02430185e+01] [ 1.54117033e-02 -3.42281774e-04 9.99881174e-01 1.23814599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.1592541539999 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:799.86, Y:10.24, Z:12.38 [[ 9.99035885e-01 -4.11062964e-02 -1.54134307e-02 7.99855572e+02] [ 4.11072851e-02 9.99154706e-01 -2.52802950e-04 1.02417232e+01] [ 1.54107936e-02 -3.81045072e-04 9.99881174e-01 1.23814961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.1892541539999 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:799.89, Y:10.24, Z:12.38 [[ 9.98808020e-01 -4.63137728e-02 -1.54134399e-02 7.99886827e+02] [ 4.63153896e-02 9.98926835e-01 -2.52239617e-04 1.02394274e+01] [ 1.54085809e-02 -4.61940524e-04 9.99881174e-01 1.23829184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.2192541539999 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:799.92, Y:10.24, Z:12.38 [[ 9.98690645e-01 -4.87793009e-02 -1.54134537e-02 7.99918111e+02] [ 4.87812240e-02 9.98809456e-01 -2.51396370e-04 1.02388231e+01] [ 1.54073662e-02 -5.00819935e-04 9.99881174e-01 1.23837418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.2492541539999 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:799.95, Y:10.24, Z:12.38 [[ 9.98468824e-01 -5.31265752e-02 -1.54134841e-02 7.99950074e+02] [ 5.31290445e-02 9.98587624e-01 -2.49519100e-04 1.02373390e+01] [ 1.54049705e-02 -5.69766640e-04 9.99881174e-01 1.23848205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.2792541539999 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:799.98, Y:10.24, Z:12.38 [[ 9.98393525e-01 -5.45233256e-02 -1.54135024e-02 7.99982145e+02] [ 5.45259786e-02 9.98512321e-01 -2.48384885e-04 1.02361616e+01] [ 1.54041148e-02 -5.92450439e-04 9.99881174e-01 1.23834794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.3092541539999 meters Centerline goodness : 0.998893 Centerline is valid? [True, True] Translation: X:800.01, Y:10.24, Z:12.38 [[ 9.98294230e-01 -5.63121080e-02 -1.54135205e-02 8.00013973e+02] [ 5.63149912e-02 9.98413021e-01 -2.47257492e-04 1.02355409e+01] [ 1.54029831e-02 -6.21176540e-04 9.99881174e-01 1.23833593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.339254154 meters Centerline goodness : 0.999247 Centerline is valid? [True, True] Translation: X:800.04, Y:10.23, Z:12.39 [[ 9.98057947e-01 -6.03552608e-02 -1.54135384e-02 8.00044669e+02] [ 6.03586425e-02 9.98176725e-01 -2.46130582e-04 1.02346183e+01] [ 1.54002906e-02 -6.84687673e-04 9.99881174e-01 1.23863899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.3692541539999 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:800.08, Y:10.23, Z:12.38 [[ 9.97968456e-01 -6.18173441e-02 -1.54135518e-02 8.00076398e+02] [ 6.18209127e-02 9.98087228e-01 -2.45289766e-04 1.02337382e+01] [ 1.53992324e-02 -7.08088393e-04 9.99881174e-01 1.23849131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.3992541539999 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:800.11, Y:10.23, Z:12.39 [[ 9.97851397e-01 -6.36789721e-02 -1.54135804e-02 8.00108451e+02] [ 6.36827902e-02 9.97970161e-01 -2.43478985e-04 1.02334432e+01] [ 1.53977978e-02 -7.38623964e-04 9.99881174e-01 1.23862938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.4292541539999 meters Centerline goodness : 0.999037 Centerline is valid? [True, True] Translation: X:800.14, Y:10.23, Z:12.39 [[ 9.97619577e-01 -6.72131036e-02 -1.54135977e-02 8.00140670e+02] [ 6.72173593e-02 9.97738326e-01 -2.42379238e-04 1.02326289e+01] [ 1.53950283e-02 -7.94259064e-04 9.99881174e-01 1.23866125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.4592541539998 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:800.17, Y:10.23, Z:12.39 [[ 9.97448726e-01 -6.97026547e-02 -1.54136150e-02 8.00173105e+02] [ 6.97072238e-02 9.97567464e-01 -2.41275559e-04 1.02335119e+01] [ 1.53929384e-02 -8.33780311e-04 9.99881174e-01 1.23910551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.4892541539999 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:800.20, Y:10.23, Z:12.39 [[ 9.97280408e-01 -7.20708482e-02 -1.54136330e-02 8.00204823e+02] [ 7.20757170e-02 9.97399134e-01 -2.40120867e-04 1.02327413e+01] [ 1.53908499e-02 -8.71480813e-04 9.99881174e-01 1.23876310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.5192541539999 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:800.24, Y:10.23, Z:12.39 [[ 9.97237024e-01 -7.26686831e-02 -1.54136507e-02 8.00235846e+02] [ 7.26736408e-02 9.97355746e-01 -2.38975373e-04 1.02324936e+01] [ 1.53902592e-02 -8.81851028e-04 9.99881174e-01 1.23859781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.5492541539999 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:800.27, Y:10.23, Z:12.39 [[ 9.97166781e-01 -7.36262855e-02 -1.54136632e-02 8.00268392e+02] [ 7.36313695e-02 9.97285498e-01 -2.38171316e-04 1.02333545e+01] [ 1.53893584e-02 -8.97432604e-04 9.99881174e-01 1.23879354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.5792541539998 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:800.30, Y:10.23, Z:12.39 [[ 9.97135648e-01 -7.40467267e-02 -1.54136796e-02 8.00299354e+02] [ 7.40518771e-02 9.97254362e-01 -2.37106389e-04 1.02344413e+01] [ 1.53889161e-02 -9.04984672e-04 9.99881174e-01 1.23892066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.6092541539999 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:800.33, Y:10.24, Z:12.39 [[ 9.97195963e-01 -7.32299721e-02 -1.54137067e-02 8.00331519e+02] [ 7.32350527e-02 9.97314680e-01 -2.35328355e-04 1.02351781e+01] [ 1.53895491e-02 -8.94155137e-04 9.99881174e-01 1.23898197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.6392541539999 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:800.36, Y:10.24, Z:12.39 [[ 9.97298963e-01 -7.18136140e-02 -1.54137227e-02 8.00363458e+02] [ 7.18185422e-02 9.97417687e-01 -2.34276031e-04 1.02353731e+01] [ 1.53907438e-02 -8.73347851e-04 9.99881174e-01 1.23905808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.6692541539999 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:800.40, Y:10.24, Z:12.39 [[ 9.97393776e-01 -7.04845476e-02 -1.54137397e-02 8.00395123e+02] [ 7.04893350e-02 9.97512506e-01 -2.33150195e-04 1.02367624e+01] [ 1.53918316e-02 -8.53961710e-04 9.99881174e-01 1.23916598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.6992541539998 meters Centerline goodness : 0.999126 Centerline is valid? [True, True] Translation: X:800.43, Y:10.24, Z:12.39 [[ 9.97632579e-01 -6.70197922e-02 -1.54137569e-02 8.00426395e+02] [ 6.70241847e-02 9.97751324e-01 -2.32007935e-04 1.02395312e+01] [ 1.53946455e-02 -8.01635817e-04 9.99881174e-01 1.23902051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.7292541539999 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:800.46, Y:10.24, Z:12.39 [[ 9.98053278e-01 -6.04323574e-02 -1.54137697e-02 8.00462952e+02] [ 6.04359790e-02 9.98172049e-01 -2.31157562e-04 1.02362970e+01] [ 1.53995634e-02 -7.00838698e-04 9.99881174e-01 1.23922519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.7592541539999 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:800.49, Y:10.24, Z:12.40 [[ 9.97902175e-01 -6.28770085e-02 -1.54185481e-02 8.00485551e+02] [ 6.28859051e-02 9.98020718e-01 9.23718114e-05 1.02433987e+01] [ 1.53822224e-02 -1.06178739e-03 9.99881123e-01 1.23979999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.7892541539999 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:800.52, Y:10.25, Z:12.40 [[ 9.98212916e-01 -5.77356159e-02 -1.54134328e-02 8.00516889e+02] [ 5.77388048e-02 9.98331695e-01 -2.38404393e-04 1.02467405e+01] [ 1.54014829e-02 -6.51974842e-04 9.99881178e-01 1.23985243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.8192541539999 meters Centerline goodness : 0.998938 Centerline is valid? [True, True] Translation: X:800.55, Y:10.25, Z:12.40 [[ 9.98385925e-01 -5.46623350e-02 -1.54134460e-02 8.00549344e+02] [ 5.46651715e-02 9.98504713e-01 -2.37543624e-04 1.02474571e+01] [ 1.54033832e-02 -6.05418460e-04 9.99881178e-01 1.23958699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.8492541539999 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:800.58, Y:10.25, Z:12.40 [[ 9.98454797e-01 -5.33895435e-02 -1.54134631e-02 8.00581151e+02] [ 5.33922458e-02 9.98573589e-01 -2.36427749e-04 1.02497516e+01] [ 1.54041000e-02 -5.86896993e-04 9.99881178e-01 1.24001365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.8792541539999 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:800.61, Y:10.25, Z:12.40 [[ 9.98544699e-01 -5.16808393e-02 -1.54134804e-02 8.00613378e+02] [ 5.16833557e-02 9.98663495e-01 -2.35295127e-04 1.02509474e+01] [ 1.54050405e-02 -5.61667690e-04 9.99881178e-01 1.24001046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.9092541539999 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:800.64, Y:10.25, Z:12.40 [[ 9.98666925e-01 -4.92625273e-02 -1.54134975e-02 8.00644371e+02] [ 4.92647733e-02 9.98785726e-01 -2.34172920e-04 1.02529716e+01] [ 1.54063172e-02 -5.25481709e-04 9.99881178e-01 1.23997988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.9392541539999 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:800.68, Y:10.25, Z:12.40 [[ 9.98689475e-01 -4.88032361e-02 -1.54135241e-02 8.00676112e+02] [ 4.88054547e-02 9.98808277e-01 -2.32405788e-04 1.02545647e+01] [ 1.54064976e-02 -5.20162840e-04 9.99881178e-01 1.24025221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.9692541539999 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:800.71, Y:10.26, Z:12.40 [[ 9.98739331e-01 -4.77720707e-02 -1.54135411e-02 8.00707013e+02] [ 4.77741841e-02 9.98858135e-01 -2.31274749e-04 1.02551424e+01] [ 1.54069894e-02 -5.05386162e-04 9.99881178e-01 1.23993575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.9992541539999 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:800.74, Y:10.26, Z:12.40 [[ 9.98804114e-01 -4.63978948e-02 -1.54135537e-02 8.00738753e+02] [ 4.63998578e-02 9.98922920e-01 -2.30431136e-04 1.02570269e+01] [ 1.54076436e-02 -4.85031134e-04 9.99881178e-01 1.24006849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.0292541539999 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:800.77, Y:10.26, Z:12.40 [[ 9.98845527e-01 -4.54976388e-02 -1.54135703e-02 8.00771175e+02] [ 4.54995118e-02 9.98964335e-01 -2.29319271e-04 1.02581423e+01] [ 1.54080404e-02 -4.72255394e-04 9.99881178e-01 1.24012584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.0592541539999 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:800.80, Y:10.26, Z:12.40 [[ 9.98916683e-01 -4.39076447e-02 -1.54135867e-02 8.00802553e+02] [ 4.39093457e-02 9.99035494e-01 -2.28211047e-04 1.02592173e+01] [ 1.54087404e-02 -4.48836683e-04 9.99881178e-01 1.24013146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.089254154 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:800.83, Y:10.26, Z:12.40 [[ 9.98967773e-01 -4.27295017e-02 -1.54135949e-02 8.00833171e+02] [ 4.27310711e-02 9.99086585e-01 -2.27655464e-04 1.02612112e+01] [ 1.54092435e-02 -4.31218947e-04 9.99881178e-01 1.24044931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.1192541539999 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:800.86, Y:10.26, Z:12.41 [[ 9.99124846e-01 -3.88839705e-02 -1.54136232e-02 8.00863647e+02] [ 3.88851123e-02 9.99243663e-01 -2.25723399e-04 1.02634343e+01] [ 1.54107423e-02 -3.73834612e-04 9.99881178e-01 1.24054913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.1492541539999 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:800.89, Y:10.26, Z:12.41 [[ 9.99210772e-01 -3.66094728e-02 -1.54136272e-02 8.00894376e+02] [ 3.66103484e-02 9.99329591e-01 -2.25450447e-04 1.02645376e+01] [ 1.54115473e-02 -3.39025745e-04 9.99881178e-01 1.24057247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.1792541539999 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:800.93, Y:10.27, Z:12.41 [[ 9.99286157e-01 -3.44905340e-02 -1.54136407e-02 8.00925187e+02] [ 3.44911719e-02 9.99404977e-01 -2.24523537e-04 1.02655064e+01] [ 1.54122131e-02 -3.07271268e-04 9.99881178e-01 1.24065036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.2092541539998 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:800.96, Y:10.27, Z:12.41 [[ 9.99360505e-01 -3.22645492e-02 -1.54136407e-02 8.00955351e+02] [ 3.22649224e-02 9.99479327e-01 -2.24523537e-04 1.02660646e+01] [ 1.54128593e-02 -2.72939965e-04 9.99881178e-01 1.24076015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.2392541539999 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:800.99, Y:10.27, Z:12.41 [[ 9.99477472e-01 -2.84113026e-02 -1.54136407e-02 8.00985022e+02] [ 2.84112177e-02 9.99596295e-01 -2.24523537e-04 1.02657512e+01] [ 1.54137971e-02 -2.13514083e-04 9.99881178e-01 1.24063972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.2692541539999 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:801.01, Y:10.27, Z:12.41 [[ 9.99508840e-01 -2.72855074e-02 -1.54136368e-02 8.01014215e+02] [ 2.72852846e-02 9.99627662e-01 -2.24790047e-04 1.02658258e+01] [ 1.54140312e-02 -1.95885826e-04 9.99881178e-01 1.24076848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.2992541539999 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:801.04, Y:10.27, Z:12.41 [[ 9.99536984e-01 -2.62342765e-02 -1.54136290e-02 8.01044147e+02] [ 2.62339205e-02 9.99655806e-01 -2.25324268e-04 1.02653518e+01] [ 1.54142349e-02 -1.79139978e-04 9.99881178e-01 1.24106546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.3292541539998 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:801.07, Y:10.26, Z:12.41 [[ 9.99537874e-01 -2.62003504e-02 -1.54136208e-02 8.01072475e+02] [ 2.61999818e-02 9.99656696e-01 -2.25878525e-04 1.02648150e+01] [ 1.54142474e-02 -1.78062444e-04 9.99881178e-01 1.24099062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.3592541539999 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:801.10, Y:10.27, Z:12.41 [[ 9.99509000e-01 -2.72796484e-02 -1.54136087e-02 8.01102328e+02] [ 2.72793954e-02 9.99627822e-01 -2.26703102e-04 1.02650711e+01] [ 1.54140565e-02 -1.93882136e-04 9.99881178e-01 1.24127531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.3892541539999 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:801.13, Y:10.26, Z:12.41 [[ 9.99449052e-01 -2.93940892e-02 -1.54136008e-02 8.01131868e+02] [ 2.93940793e-02 9.99567875e-01 -2.27236563e-04 1.02624693e+01] [ 1.54136197e-02 -2.25957238e-04 9.99881178e-01 1.24120704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.4192541539999 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:801.16, Y:10.26, Z:12.42 [[ 9.99383016e-01 -3.15596091e-02 -1.54135926e-02 8.01161815e+02] [ 3.15598481e-02 9.99501838e-01 -2.27793824e-04 1.02621307e+01] [ 1.54131032e-02 -2.58797362e-04 9.99881178e-01 1.24151800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.4492541539998 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:801.19, Y:10.26, Z:12.41 [[ 9.99311386e-01 -3.37516756e-02 -1.54135842e-02 8.01191717e+02] [ 3.37521665e-02 9.99430207e-01 -2.28365040e-04 1.02611430e+01] [ 1.54125093e-02 -2.92034074e-04 9.99881178e-01 1.24117535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.4792541539999 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:801.22, Y:10.26, Z:12.41 [[ 9.99150791e-01 -3.82115034e-02 -1.54135845e-02 8.01222049e+02] [ 3.82125249e-02 9.99269609e-01 -2.28340495e-04 1.02580884e+01] [ 1.54110518e-02 -3.60845396e-04 9.99881178e-01 1.24142174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.5092541539999 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:801.25, Y:10.26, Z:12.42 [[ 9.99065699e-01 -4.03751254e-02 -1.54135845e-02 8.01253826e+02] [ 4.03764042e-02 9.99184514e-01 -2.28340495e-04 1.02573485e+01] [ 1.54102342e-02 -3.94217962e-04 9.99881178e-01 1.24159960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.5392541539999 meters Centerline goodness : 0.998853 Centerline is valid? [True, True] Translation: X:801.28, Y:10.26, Z:12.41 [[ 9.99016230e-01 -4.15811570e-02 -1.54135930e-02 8.01284702e+02] [ 4.15825881e-02 9.99135044e-01 -2.27768931e-04 1.02558067e+01] [ 1.54097318e-02 -4.13392228e-04 9.99881178e-01 1.24094458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.5692541539999 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:801.32, Y:10.25, Z:12.42 [[ 9.98880766e-01 -4.47172851e-02 -1.54136077e-02 8.01316005e+02] [ 4.47191047e-02 9.98999575e-01 -2.26768542e-04 1.02541876e+01] [ 1.54083280e-02 -4.62768000e-04 9.99881178e-01 1.24156303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.5992541539999 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:801.35, Y:10.25, Z:12.42 [[ 9.98820654e-01 -4.60404259e-02 -1.54136159e-02 8.01347580e+02] [ 4.60424114e-02 9.98939460e-01 -2.26207850e-04 1.02540668e+01] [ 1.54076839e-02 -4.83738972e-04 9.99881178e-01 1.24175757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.6292541539999 meters Centerline goodness : 0.999062 Centerline is valid? [True, True] Translation: X:801.38, Y:10.25, Z:12.42 [[ 9.98789763e-01 -4.67057847e-02 -1.54136241e-02 8.01378899e+02] [ 4.67078580e-02 9.98908567e-01 -2.25649428e-04 1.02532838e+01] [ 1.54073403e-02 -4.94561025e-04 9.99881178e-01 1.24168324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.6592541539999 meters Centerline goodness : 0.998958 Centerline is valid? [True, True] Translation: X:801.41, Y:10.25, Z:12.42 [[ 9.98751253e-01 -4.75221391e-02 -1.54136322e-02 8.01409941e+02] [ 4.75243181e-02 9.98870056e-01 -2.25094607e-04 1.02525097e+01] [ 1.54069126e-02 -5.07708837e-04 9.99881178e-01 1.24163618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.6892541539999 meters Centerline goodness : 0.999043 Centerline is valid? [True, True] Translation: X:801.44, Y:10.25, Z:12.42 [[ 9.98630897e-01 -4.99875016e-02 -1.54136403e-02 8.01441636e+02] [ 4.99899824e-02 9.98749694e-01 -2.24540605e-04 1.02507258e+01] [ 1.54055927e-02 -5.46294419e-04 9.99881178e-01 1.24183382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.7192541539999 meters Centerline goodness : 0.999125 Centerline is valid? [True, True] Translation: X:801.47, Y:10.25, Z:12.42 [[ 9.98559925e-01 -5.13857546e-02 -1.54136525e-02 8.01474177e+02] [ 5.13884147e-02 9.98678718e-01 -2.23696986e-04 1.02499566e+01] [ 1.54047815e-02 -5.68708321e-04 9.99881178e-01 1.24194986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.7492541539999 meters Centerline goodness : 0.998938 Centerline is valid? [True, True] Translation: X:801.51, Y:10.25, Z:12.42 [[ 9.98475739e-01 -5.29963890e-02 -1.54136691e-02 8.01505465e+02] [ 5.29992584e-02 9.98594527e-01 -2.22550492e-04 1.02490135e+01] [ 1.54037999e-02 -5.94701761e-04 9.99881178e-01 1.24176901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.7792541539999 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:801.54, Y:10.25, Z:12.42 [[ 9.98236171e-01 -5.73320608e-02 -1.54136813e-02 8.01537604e+02] [ 5.73354592e-02 9.98354945e-01 -2.21695787e-04 1.02471255e+01] [ 1.54010353e-02 -6.62445744e-04 9.99881178e-01 1.24189375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.8092541539999 meters Centerline goodness : 0.999022 Centerline is valid? [True, True] Translation: X:801.57, Y:10.25, Z:12.42 [[ 9.98092232e-01 -5.97855670e-02 -1.54136974e-02 8.01569188e+02] [ 5.97892745e-02 9.98210997e-01 -2.20575724e-04 1.02463947e+01] [ 1.53993095e-02 -7.01418867e-04 9.99881178e-01 1.24186934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.839254154 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:801.60, Y:10.25, Z:12.42 [[ 9.97748124e-01 -6.52770874e-02 -1.54137093e-02 8.01601338e+02] [ 6.52814614e-02 9.97866866e-01 -2.19739546e-04 1.02450658e+01] [ 1.53951737e-02 -7.86984748e-04 9.99881178e-01 1.24213680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.8692541539999 meters Centerline goodness : 0.999333 Centerline is valid? [True, True] Translation: X:801.63, Y:10.24, Z:12.42 [[ 9.97596483e-01 -6.75549761e-02 -1.54137251e-02 8.01632187e+02] [ 6.75596383e-02 9.97715214e-01 -2.18624598e-04 1.02442941e+01] [ 1.53932772e-02 -8.23246564e-04 9.99881178e-01 1.24217205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.8992541539999 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:801.66, Y:10.24, Z:12.42 [[ 9.97442207e-01 -6.97958487e-02 -1.54137369e-02 8.01664133e+02] [ 6.98007904e-02 9.97560927e-01 -2.17793362e-04 1.02438419e+01] [ 1.53913427e-02 -8.58654724e-04 9.99881178e-01 1.24225279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.9292541539999 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:801.70, Y:10.24, Z:12.42 [[ 9.97447189e-01 -6.97246138e-02 -1.54137523e-02 8.01696809e+02] [ 6.97295640e-02 9.97565908e-01 -2.16694064e-04 1.02442377e+01] [ 1.53913427e-02 -8.58653343e-04 9.99881178e-01 1.24230315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.9592541539998 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:801.73, Y:10.24, Z:12.42 [[ 9.97225993e-01 -7.28198767e-02 -1.54137677e-02 8.01728045e+02] [ 7.28252123e-02 9.97344696e-01 -2.15593384e-04 1.02432487e+01] [ 1.53885389e-02 -9.07515578e-04 9.99881178e-01 1.24217924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.9892541539999 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:801.76, Y:10.24, Z:12.43 [[ 9.97122371e-01 -7.42252867e-02 -1.54137791e-02 8.01759741e+02] [ 7.42308022e-02 9.97241065e-01 -2.14773406e-04 1.02438239e+01] [ 1.53871951e-02 -9.30021822e-04 9.99881178e-01 1.24251469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.0192541539999 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:801.79, Y:10.24, Z:12.43 [[ 9.97068852e-01 -7.49407755e-02 -1.54137948e-02 8.01791547e+02] [ 7.49463936e-02 9.97187541e-01 -2.13645510e-04 1.02443134e+01] [ 1.53864549e-02 -9.42189046e-04 9.99881178e-01 1.24253579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.0492541539999 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:801.82, Y:10.25, Z:12.43 [[ 9.97050702e-01 -7.51818550e-02 -1.54138105e-02 8.01823816e+02] [ 7.51875193e-02 9.97169390e-01 -2.12505483e-04 1.02450009e+01] [ 1.53861565e-02 -9.47047432e-04 9.99881178e-01 1.24264954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.0792541539998 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:801.86, Y:10.25, Z:12.43 [[ 9.97110884e-01 -7.43794290e-02 -1.54138262e-02 8.01855505e+02] [ 7.43850155e-02 9.97229575e-01 -2.11357848e-04 1.02462838e+01] [ 1.53868440e-02 -9.35810492e-04 9.99881178e-01 1.24255671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.1092541539999 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:801.89, Y:10.25, Z:12.43 [[ 9.97191733e-01 -7.32875232e-02 -1.54138417e-02 8.01888119e+02] [ 7.32929972e-02 9.97310429e-01 -2.10222012e-04 1.02469995e+01] [ 1.53877917e-02 -9.20095004e-04 9.99881178e-01 1.24263352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.1392541539999 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:801.92, Y:10.25, Z:12.43 [[ 9.97264680e-01 -7.22881099e-02 -1.54138568e-02 8.01920022e+02] [ 7.22934821e-02 9.97383381e-01 -2.09112713e-04 1.02480009e+01] [ 1.53886409e-02 -9.05780654e-04 9.99881178e-01 1.24301640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.1692541539999 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:801.95, Y:10.25, Z:12.43 [[ 9.97457244e-01 -6.95805936e-02 -1.54138719e-02 8.01950724e+02] [ 6.95856608e-02 9.97575958e-01 -2.07987474e-04 1.02497102e+01] [ 1.53909800e-02 -8.65125852e-04 9.99881178e-01 1.24288730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.1992541539998 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:801.98, Y:10.25, Z:12.43 [[ 9.97557868e-01 -6.81227727e-02 -1.54138980e-02 8.01982362e+02] [ 6.81276964e-02 9.97676588e-01 -2.06036249e-04 1.02509893e+01] [ 1.53921209e-02 -8.44580284e-04 9.99881178e-01 1.24306744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.2292541539999 meters Centerline goodness : 0.999064 Centerline is valid? [True, True] Translation: X:802.01, Y:10.25, Z:12.43 [[ 9.97648379e-01 -6.67841579e-02 -1.54139092e-02 8.02013750e+02] [ 6.67889353e-02 9.97767105e-01 -2.05197743e-04 1.02522175e+01] [ 1.53931955e-02 -8.24763387e-04 9.99881178e-01 1.24309374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.2592541539999 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:802.04, Y:10.25, Z:12.43 [[ 9.97815310e-01 -6.42418759e-02 -1.54139202e-02 8.02044865e+02] [ 6.42463635e-02 9.97934047e-01 -2.04366848e-04 1.02537831e+01] [ 1.53952047e-02 -7.86367951e-04 9.99881178e-01 1.24318657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.2892541539999 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:802.08, Y:10.25, Z:12.43 [[ 9.97887445e-01 -6.31114695e-02 -1.54139310e-02 8.02077079e+02] [ 6.31158352e-02 9.98006187e-01 -2.03552378e-04 1.02549218e+01] [ 1.53960450e-02 -7.69740764e-04 9.99881178e-01 1.24345346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.3192541539999 meters Centerline goodness : 0.999356 Centerline is valid? [True, True] Translation: X:802.11, Y:10.26, Z:12.43 [[ 9.98057734e-01 -6.03586846e-02 -1.54139451e-02 8.02108427e+02] [ 6.03627393e-02 9.98176487e-01 -2.02476625e-04 1.02568532e+01] [ 1.53980588e-02 -7.28344587e-04 9.99881178e-01 1.24318530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.3492541539999 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:802.14, Y:10.26, Z:12.43 [[ 9.98157712e-01 -5.86821190e-02 -1.54139556e-02 8.02140380e+02] [ 5.86859866e-02 9.98276472e-01 -2.01674769e-04 1.02581946e+01] [ 1.53992239e-02 -7.03279964e-04 9.99881178e-01 1.24342590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.3792541539999 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:802.17, Y:10.26, Z:12.43 [[ 9.98262610e-01 -5.68697796e-02 -1.54139703e-02 8.02171902e+02] [ 5.68734490e-02 9.98381375e-01 -2.00543213e-04 1.02594612e+01] [ 1.54004257e-02 -6.76450863e-04 9.99881178e-01 1.24333110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.4092541539999 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:802.20, Y:10.26, Z:12.44 [[ 9.98355506e-01 -5.52149606e-02 -1.54139812e-02 8.02204005e+02] [ 5.52184462e-02 9.98474278e-01 -1.99699216e-04 1.02610046e+01] [ 1.54014902e-02 -6.51765281e-04 9.99881178e-01 1.24371507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.4392541539999 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:802.24, Y:10.26, Z:12.44 [[ 9.98562729e-01 -5.13311406e-02 -1.54139958e-02 8.02236268e+02] [ 5.13341816e-02 9.98681512e-01 -1.98567531e-04 1.02633909e+01] [ 1.54038653e-02 -5.92982724e-04 9.99881178e-01 1.24390853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.4692541539999 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:802.27, Y:10.26, Z:12.44 [[ 9.98677828e-01 -4.90408331e-02 -1.54140105e-02 8.02268696e+02] [ 4.90436193e-02 9.98796618e-01 -1.97419882e-04 1.02645369e+01] [ 1.54051432e-02 -5.58800005e-04 9.99881178e-01 1.24389239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.4992541539999 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:802.30, Y:10.27, Z:12.44 [[ 9.98794479e-01 -4.66046811e-02 -1.54140250e-02 8.02299744e+02] [ 4.66071951e-02 9.98913275e-01 -1.96281940e-04 1.02656453e+01] [ 1.54064219e-02 -5.22359152e-04 9.99881178e-01 1.24388821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.5292541539999 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:802.33, Y:10.27, Z:12.44 [[ 9.98995934e-01 -4.20657922e-02 -1.54140322e-02 8.02331114e+02] [ 4.20677751e-02 9.99114740e-01 -1.95717008e-04 1.02682613e+01] [ 1.54086197e-02 -4.52913544e-04 9.99881178e-01 1.24382797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.5592541539999 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:802.36, Y:10.27, Z:12.44 [[ 9.99074136e-01 -4.01656295e-02 -1.54140393e-02 8.02361542e+02] [ 4.01673951e-02 9.99192946e-01 -1.95153410e-04 1.02698962e+01] [ 1.54094378e-02 -4.24169083e-04 9.99881178e-01 1.24389408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.589254154 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:802.39, Y:10.27, Z:12.44 [[ 9.99201570e-01 -3.68596010e-02 -1.54140428e-02 8.02393185e+02] [ 3.68609778e-02 9.99320384e-01 -1.94874411e-04 1.02721349e+01] [ 1.54107502e-02 -3.73457873e-04 9.99881178e-01 1.24426633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.6192541539999 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:802.42, Y:10.27, Z:12.44 [[ 9.99269787e-01 -3.49613986e-02 -1.54140499e-02 8.02424985e+02] [ 3.49625583e-02 9.99388604e-01 -1.94315257e-04 1.02729404e+01] [ 1.54114193e-02 -3.44741252e-04 9.99881178e-01 1.24432376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.6492541539999 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:802.46, Y:10.27, Z:12.44 [[ 9.99351538e-01 -3.25409114e-02 -1.54140569e-02 8.02455549e+02] [ 3.25417918e-02 9.99470357e-01 -1.93759950e-04 1.02729304e+01] [ 1.54121980e-02 -3.07966725e-04 9.99881178e-01 1.24420056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.6792541539999 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:802.49, Y:10.27, Z:12.44 [[ 9.99446092e-01 -2.94943444e-02 -1.54140569e-02 8.02485028e+02] [ 2.94948627e-02 9.99564913e-01 -1.93759950e-04 1.02736829e+01] [ 1.54130652e-02 -2.60982866e-04 9.99881178e-01 1.24431367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.7092541539998 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:802.51, Y:10.27, Z:12.44 [[ 9.99490697e-01 -2.79419720e-02 -1.54140534e-02 8.02514491e+02] [ 2.79423015e-02 9.99609519e-01 -1.94033727e-04 1.02738538e+01] [ 1.54134562e-02 -2.36769223e-04 9.99881178e-01 1.24432161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.7392541539999 meters Centerline goodness : 0.998914 Centerline is valid? [True, True] Translation: X:802.54, Y:10.27, Z:12.44 [[ 9.99527407e-01 -2.65964170e-02 -1.54140466e-02 8.02543771e+02] [ 2.65965782e-02 9.99646230e-01 -1.94575856e-04 1.02740391e+01] [ 1.54137686e-02 -2.15476994e-04 9.99881178e-01 1.24437468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.7692541539999 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:802.57, Y:10.27, Z:12.44 [[ 9.99552197e-01 -2.56478591e-02 -1.54140395e-02 8.02572979e+02] [ 2.56478988e-02 9.99671020e-01 -1.95138572e-04 1.02742082e+01] [ 1.54139734e-02 -2.00286535e-04 9.99881178e-01 1.24449602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.7992541539999 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:802.60, Y:10.27, Z:12.45 [[ 9.99593505e-01 -2.39839872e-02 -1.54140323e-02 8.02602618e+02] [ 2.39838204e-02 9.99712328e-01 -1.95703165e-04 1.02741035e+01] [ 1.54142918e-02 -1.74063769e-04 9.99881178e-01 1.24468910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.8292541539998 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:802.63, Y:10.27, Z:12.45 [[ 9.99615080e-01 -2.30673003e-02 -1.54140250e-02 8.02631570e+02] [ 2.30670158e-02 9.99733902e-01 -1.96273092e-04 1.02733689e+01] [ 1.54144509e-02 -1.59358016e-04 9.99881178e-01 1.24464425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.8592541539999 meters Centerline goodness : 0.999041 Centerline is valid? [True, True] Translation: X:802.66, Y:10.27, Z:12.45 [[ 9.99649958e-01 -2.15027934e-02 -1.54139731e-02 8.02659697e+02] [ 2.15022612e-02 9.99768780e-01 -2.00272243e-04 1.02718606e+01] [ 1.54147155e-02 -1.31233136e-04 9.99881178e-01 1.24460133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.8892541539999 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:802.69, Y:10.27, Z:12.45 [[ 9.99663446e-01 -2.08663372e-02 -1.54139546e-02 8.02688555e+02] [ 2.08657076e-02 9.99782267e-01 -2.01685256e-04 1.02714475e+01] [ 1.54148069e-02 -1.20005691e-04 9.99881178e-01 1.24468794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.9192541539999 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:802.72, Y:10.27, Z:12.45 [[ 9.99676828e-01 -2.02151279e-02 -1.54139020e-02 8.02716425e+02] [ 2.02143601e-02 9.99795648e-01 -2.05626741e-04 1.02712598e+01] [ 1.54149089e-02 -1.06021878e-04 9.99881178e-01 1.24483457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.9492541539998 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:802.74, Y:10.27, Z:12.45 [[ 9.99709418e-01 -1.85335699e-02 -1.54138409e-02 8.02744794e+02] [ 1.85325330e-02 9.99828236e-01 -2.10112177e-04 1.02698082e+01] [ 1.54150874e-02 -7.56063933e-05 9.99881178e-01 1.24507621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.9792541539999 meters Centerline goodness : 0.999063 Centerline is valid? [True, True] Translation: X:802.77, Y:10.27, Z:12.45 [[ 9.99733924e-01 -1.71609019e-02 -1.54137783e-02 8.02772365e+02] [ 1.71596326e-02 9.99852740e-01 -2.14603834e-04 1.02685474e+01] [ 1.54151913e-02 -4.99480402e-05 9.99881178e-01 1.24496781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.0092541539999 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:802.80, Y:10.27, Z:12.45 [[ 9.99743151e-01 -1.66147535e-02 -1.54137144e-02 8.02801589e+02] [ 1.66133501e-02 9.99861965e-01 -2.19098289e-04 1.02675781e+01] [ 1.54152271e-02 -3.70314201e-05 9.99881178e-01 1.24518745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.0392541539999 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:802.83, Y:10.27, Z:12.45 [[ 9.99755452e-01 -1.58573235e-02 -1.54136571e-02 8.02829131e+02] [ 1.58557689e-02 9.99874265e-01 -2.23062753e-04 1.02662399e+01] [ 1.54152562e-02 -2.13871805e-05 9.99881178e-01 1.24521334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.0692541539999 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:802.86, Y:10.26, Z:12.45 [[ 9.99775320e-01 -1.45509559e-02 -1.54135906e-02 8.02856364e+02] [ 1.45491767e-02 9.99894129e-01 -2.27565738e-04 1.02626129e+01] [ 1.54152700e-02 3.25955636e-06 9.99881178e-01 1.24523702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.0992541539999 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:802.88, Y:10.26, Z:12.45 [[ 9.99774193e-01 -1.46282193e-02 -1.54135437e-02 8.02884119e+02] [ 1.46264010e-02 9.99893002e-01 -2.30697605e-04 1.02609912e+01] [ 1.54152692e-02 5.20084052e-06 9.99881178e-01 1.24537251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.1292541539999 meters Centerline goodness : 0.999708 Centerline is valid? [True, True] Translation: X:802.91, Y:10.26, Z:12.46 [[ 9.99767871e-01 -1.50542339e-02 -1.54134741e-02 8.02912103e+02] [ 1.50523959e-02 9.99886679e-01 -2.35256621e-04 1.02571947e+01] [ 1.54152691e-02 3.19229531e-06 9.99881178e-01 1.24554063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.1592541539999 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:802.94, Y:10.26, Z:12.46 [[ 9.99757015e-01 -1.57587068e-02 -1.54134525e-02 8.02940050e+02] [ 1.57569308e-02 9.99875824e-01 -2.36663676e-04 1.02554153e+01] [ 1.54152680e-02 -6.26253526e-06 9.99881178e-01 1.24552879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.1892541539999 meters Centerline goodness : 0.999520 Centerline is valid? [True, True] Translation: X:802.97, Y:10.25, Z:12.46 [[ 9.99740800e-01 -1.67558960e-02 -1.54133846e-02 8.02968501e+02] [ 1.67541716e-02 9.99859610e-01 -2.41006874e-04 1.02532329e+01] [ 1.54152590e-02 -1.72940856e-05 9.99881178e-01 1.24556248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.2192541539999 meters Centerline goodness : 0.999418 Centerline is valid? [True, True] Translation: X:803.00, Y:10.25, Z:12.45 [[ 9.99708752e-01 -1.85698815e-02 -1.54133124e-02 8.02996525e+02] [ 1.85683028e-02 9.99827564e-01 -2.45540234e-04 1.02483632e+01] [ 1.54152142e-02 -4.07303303e-05 9.99881178e-01 1.24536001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.2492541539999 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:803.02, Y:10.25, Z:12.46 [[ 9.99678352e-01 -2.01400969e-02 -1.54132899e-02 8.03024945e+02] [ 2.01386831e-02 9.99797166e-01 -2.46942614e-04 1.02464810e+01] [ 1.54151370e-02 -6.35401763e-05 9.99881178e-01 1.24559638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.2792541539999 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:803.05, Y:10.24, Z:12.46 [[ 9.99652954e-01 -2.13636143e-02 -1.54132295e-02 8.03052912e+02] [ 2.13622887e-02 9.99771769e-01 -2.50659225e-04 1.02442431e+01] [ 1.54150667e-02 -7.86896233e-05 9.99881178e-01 1.24565968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.3092541539999 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:803.08, Y:10.24, Z:12.46 [[ 9.99602754e-01 -2.35959618e-02 -1.54131554e-02 8.03080692e+02] [ 2.35948325e-02 9.99721571e-01 -2.55137099e-04 1.02395154e+01] [ 1.54148841e-02 -1.08635072e-04 9.99881178e-01 1.24559455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.339254154 meters Centerline goodness : 0.999520 Centerline is valid? [True, True] Translation: X:803.11, Y:10.24, Z:12.46 [[ 9.99566535e-01 -2.50834405e-02 -1.54130801e-02 8.03108876e+02] [ 2.50824191e-02 9.99685353e-01 -2.59605347e-04 1.02375223e+01] [ 1.54147422e-02 -1.27104518e-04 9.99881178e-01 1.24572024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.3692541539999 meters Centerline goodness : 0.999477 Centerline is valid? [True, True] Translation: X:803.14, Y:10.24, Z:12.46 [[ 9.99518530e-01 -2.69285325e-02 -1.54130567e-02 8.03137230e+02] [ 2.69277091e-02 9.99637349e-01 -2.60987169e-04 1.02356013e+01] [ 1.54144951e-02 -1.54176796e-04 9.99881178e-01 1.24585109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.3992541539999 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:803.16, Y:10.23, Z:12.46 [[ 9.99444687e-01 -2.95424788e-02 -1.54129790e-02 8.03164826e+02] [ 2.95418967e-02 9.99563508e-01 -2.65499101e-04 1.02309306e+01] [ 1.54140948e-02 -1.89976966e-04 9.99881178e-01 1.24580838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.4292541539999 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:803.19, Y:10.23, Z:12.46 [[ 9.99410567e-01 -3.06750678e-02 -1.54129548e-02 8.03193224e+02] [ 3.06745987e-02 9.99529388e-01 -2.66894435e-04 1.02287400e+01] [ 1.54138883e-02 -2.06049086e-04 9.99881178e-01 1.24582467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.4592541539998 meters Centerline goodness : 0.999477 Centerline is valid? [True, True] Translation: X:803.22, Y:10.23, Z:12.46 [[ 9.99364610e-01 -3.21374926e-02 -1.54128868e-02 8.03221682e+02] [ 3.21371378e-02 9.99483432e-01 -2.70763689e-04 1.02269751e+01] [ 1.54136267e-02 -2.24734419e-04 9.99881178e-01 1.24585004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.4892541539999 meters Centerline goodness : 0.999687 Centerline is valid? [True, True] Translation: X:803.25, Y:10.23, Z:12.46 [[ 9.99334673e-01 -3.30553506e-02 -1.54128158e-02 8.03249598e+02] [ 3.30550434e-02 9.99453495e-01 -2.74748454e-04 1.02252178e+01] [ 1.54134745e-02 -2.34905639e-04 9.99881178e-01 1.24595351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.5192541539999 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:803.28, Y:10.22, Z:12.46 [[ 9.99277299e-01 -3.47465805e-02 -1.54127906e-02 8.03277745e+02] [ 3.47464527e-02 9.99396122e-01 -2.76157268e-04 1.02212026e+01] [ 1.54130786e-02 -2.59582110e-04 9.99881178e-01 1.24609534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.5492541539999 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:803.31, Y:10.22, Z:12.46 [[ 9.99266639e-01 -3.50518230e-02 -1.54127544e-02 8.03306391e+02] [ 3.50517006e-02 9.99385462e-01 -2.78162403e-04 1.02193191e+01] [ 1.54130328e-02 -2.62284842e-04 9.99881178e-01 1.24597972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.5792541539998 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:803.34, Y:10.22, Z:12.46 [[ 9.99251050e-01 -3.54934922e-02 -1.54126812e-02 8.03335409e+02] [ 3.54933607e-02 9.99369872e-01 -2.82161219e-04 1.02179278e+01] [ 1.54129841e-02 -2.65097958e-04 9.99881178e-01 1.24604017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.6092541539999 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:803.36, Y:10.22, Z:12.46 [[ 9.99236303e-01 -3.59062659e-02 -1.54126606e-02 8.03364580e+02] [ 3.59061662e-02 9.99355126e-01 -2.83279090e-04 1.02150735e+01] [ 1.54128929e-02 -2.70346804e-04 9.99881178e-01 1.24647850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.6392541539999 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:803.39, Y:10.21, Z:12.46 [[ 9.99239390e-01 -3.58202762e-02 -1.54126453e-02 8.03393707e+02] [ 3.58201534e-02 9.99358212e-01 -2.84109354e-04 1.02134305e+01] [ 1.54129305e-02 -2.68190063e-04 9.99881178e-01 1.24634736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.6692541539999 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:803.42, Y:10.21, Z:12.46 [[ 9.99238291e-01 -3.58509393e-02 -1.54125724e-02 8.03422188e+02] [ 3.58507601e-02 9.99357113e-01 -2.88010593e-04 1.02121718e+01] [ 1.54129893e-02 -2.64761223e-04 9.99881178e-01 1.24633262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.6992541539998 meters Centerline goodness : 0.999645 Centerline is valid? [True, True] Translation: X:803.45, Y:10.21, Z:12.47 [[ 9.99230195e-01 -3.60759306e-02 -1.54124981e-02 8.03451183e+02] [ 3.60757176e-02 9.99349017e-01 -2.91935291e-04 1.02097034e+01] [ 1.54129966e-02 -2.64306371e-04 9.99881178e-01 1.24656006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.7292541539999 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:803.48, Y:10.21, Z:12.46 [[ 9.99227147e-01 -3.61602807e-02 -1.54124230e-02 8.03479450e+02] [ 3.61600174e-02 9.99345969e-01 -2.95849094e-04 1.02090430e+01] [ 1.54130407e-02 -2.61693036e-04 9.99881178e-01 1.24635150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.7592541539999 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:803.51, Y:10.21, Z:12.47 [[ 9.99211062e-01 -3.66020897e-02 -1.54123831e-02 8.03508420e+02] [ 3.66018471e-02 9.99329884e-01 -2.97912527e-04 1.02083576e+01] [ 1.54129592e-02 -2.66444196e-04 9.99881178e-01 1.24673015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.7892541539999 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:803.54, Y:10.21, Z:12.47 [[ 9.99196517e-01 -3.69970321e-02 -1.54123073e-02 8.03537299e+02] [ 3.69967767e-02 9.99315339e-01 -3.01783393e-04 1.02073835e+01] [ 1.54129202e-02 -2.68664776e-04 9.99881178e-01 1.24653510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.8192541539999 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:803.56, Y:10.21, Z:12.47 [[ 9.99153243e-01 -3.81478643e-02 -1.54122311e-02 8.03564754e+02] [ 3.81476865e-02 9.99272065e-01 -3.05627030e-04 1.02055454e+01] [ 1.54126710e-02 -2.82572721e-04 9.99881178e-01 1.24663265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.8492541539999 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:803.59, Y:10.21, Z:12.47 [[ 9.99143796e-01 -3.83945139e-02 -1.54122040e-02 8.03594025e+02] [ 3.83943446e-02 9.99262618e-01 -3.06987133e-04 1.02061815e+01] [ 1.54126259e-02 -2.85017180e-04 9.99881178e-01 1.24667781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.8792541539999 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] Translation: X:803.62, Y:10.21, Z:12.47 [[ 9.99113275e-01 -3.91807360e-02 -1.54121272e-02 8.03622541e+02] [ 3.91806015e-02 9.99232097e-01 -3.10791897e-04 1.02054092e+01] [ 1.54124693e-02 -2.93340105e-04 9.99881178e-01 1.24666943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.9092541539999 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:803.65, Y:10.20, Z:12.47 [[ 9.99022866e-01 -4.14219894e-02 -1.54120499e-02 8.03650596e+02] [ 4.14220630e-02 9.99141689e-01 -3.14579645e-04 1.02036000e+01] [ 1.54118521e-02 -3.24126643e-04 9.99881178e-01 1.24694365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.9392541539999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:803.68, Y:10.20, Z:12.47 [[ 9.98960535e-01 -4.28989295e-02 -1.54120225e-02 8.03679511e+02] [ 4.28991581e-02 9.99079357e-01 -3.15919175e-04 1.02027765e+01] [ 1.54113861e-02 -3.45572000e-04 9.99881178e-01 1.24710773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.9692541539999 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:803.71, Y:10.20, Z:12.47 [[ 9.98881468e-01 -4.47021859e-02 -1.54119443e-02 8.03708525e+02] [ 4.47025709e-02 9.99000289e-01 -3.19687520e-04 1.02020268e+01] [ 1.54108275e-02 -3.69623593e-04 9.99881178e-01 1.24693702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.9992541539999 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:803.74, Y:10.20, Z:12.47 [[ 9.98725729e-01 -4.80561355e-02 -1.54118656e-02 8.03737284e+02] [ 4.80568616e-02 9.98844549e-01 -3.23439999e-04 1.02004401e+01] [ 1.54096012e-02 -4.17618041e-04 9.99881178e-01 1.24694678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.0292541539999 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:803.77, Y:10.20, Z:12.47 [[ 9.98636598e-01 -4.98740629e-02 -1.54117865e-02 8.03766262e+02] [ 4.98749479e-02 9.98755417e-01 -3.27166066e-04 1.02002908e+01] [ 1.54089223e-02 -4.41942039e-04 9.99881178e-01 1.24723724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.0592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:803.80, Y:10.20, Z:12.47 [[ 9.98537930e-01 -5.18119695e-02 -1.54117649e-02 8.03795545e+02] [ 5.18130695e-02 9.98656747e-01 -3.28177006e-04 1.01996383e+01] [ 1.54080665e-02 -4.70833659e-04 9.99881178e-01 1.24734938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.089254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:803.83, Y:10.20, Z:12.47 [[ 9.98422808e-01 -5.39849501e-02 -1.54117531e-02 8.03825031e+02] [ 5.39863001e-02 9.98541622e-01 -3.28731666e-04 1.01991504e+01] [ 1.54070235e-02 -5.03810335e-04 9.99881178e-01 1.24735402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.1192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:803.85, Y:10.20, Z:12.47 [[ 9.98159032e-01 -5.86602514e-02 -1.54117413e-02 8.03853896e+02] [ 5.86621494e-02 9.98277839e-01 -3.29282596e-04 1.01979180e+01] [ 1.54045156e-02 -5.75409475e-04 9.99881178e-01 1.24733641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.1492541539999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:803.88, Y:10.20, Z:12.47 [[ 9.98017037e-01 -6.10284670e-02 -1.54117197e-02 8.03883540e+02] [ 6.10306312e-02 9.98135839e-01 -3.30292744e-04 1.01980911e+01] [ 1.54031470e-02 -6.10949194e-04 9.99881178e-01 1.24727898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.1792541539999 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:803.91, Y:10.20, Z:12.47 [[ 9.97898575e-01 -6.29357800e-02 -1.54117078e-02 8.03913185e+02] [ 6.29381628e-02 9.98017374e-01 -3.30847403e-04 1.01981136e+01] [ 1.54019743e-02 -6.39832420e-04 9.99881178e-01 1.24713377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.2092541539998 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:803.94, Y:10.20, Z:12.47 [[ 9.97720211e-01 -6.57028095e-02 -1.54117098e-02 8.03944036e+02] [ 6.57055231e-02 9.97839002e-01 -3.30751552e-04 1.01981995e+01] [ 1.54001365e-02 -6.82636948e-04 9.99881178e-01 1.24738417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.2392541539999 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:803.97, Y:10.20, Z:12.48 [[ 9.97696405e-01 -6.60633275e-02 -1.54117098e-02 8.03973648e+02] [ 6.60660841e-02 9.97815195e-01 -3.30751552e-04 1.01990229e+01] [ 1.53998888e-02 -6.88201683e-04 9.99881178e-01 1.24758921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.2692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:804.00, Y:10.20, Z:12.48 [[ 9.97722631e-01 -6.56660598e-02 -1.54116979e-02 8.04002630e+02] [ 6.56687606e-02 9.97841422e-01 -3.31306446e-04 1.01998891e+01] [ 1.54001861e-02 -6.81515160e-04 9.99881178e-01 1.24777994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.2992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:804.03, Y:10.20, Z:12.48 [[ 9.97888941e-01 -6.30883543e-02 -1.54116920e-02 8.04032409e+02] [ 6.30907439e-02 9.98007740e-01 -3.31581647e-04 1.02013334e+01] [ 1.54019068e-02 -6.41453453e-04 9.99881178e-01 1.24793779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.3292541539998 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:804.06, Y:10.20, Z:12.48 [[ 9.98020385e-01 -6.09736904e-02 -1.54116803e-02 8.04061392e+02] [ 6.09758199e-02 9.98139188e-01 -3.32124368e-04 1.02026997e+01] [ 1.54032529e-02 -6.08272952e-04 9.99881178e-01 1.24772110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.3592541539999 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:804.09, Y:10.20, Z:12.48 [[ 9.98163405e-01 -5.85858173e-02 -1.54116628e-02 8.04091015e+02] [ 5.85876501e-02 9.98282213e-01 -3.32931999e-04 1.02039692e+01] [ 1.54046940e-02 -5.70612572e-04 9.99881178e-01 1.24777022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.3892541539999 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:804.12, Y:10.21, Z:12.48 [[ 9.98310889e-01 -5.60165194e-02 -1.54116512e-02 8.04120842e+02] [ 5.60180382e-02 9.98429701e-01 -3.33468228e-04 1.02053449e+01] [ 1.54061301e-02 -5.30425504e-04 9.99881178e-01 1.24770610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.4192541539999 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:804.15, Y:10.21, Z:12.48 [[ 9.98575361e-01 -5.10855087e-02 -1.54116397e-02 8.04150568e+02] [ 5.10864324e-02 9.98694180e-01 -3.34000431e-04 1.02076490e+01] [ 1.54085775e-02 -4.53801088e-04 9.99881178e-01 1.24800782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.4492541539998 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:804.18, Y:10.21, Z:12.48 [[ 9.98688993e-01 -4.88136904e-02 -1.54116274e-02 8.04180056e+02] [ 4.88143350e-02 9.98807814e-01 -3.34568418e-04 1.02090275e+01] [ 1.54095854e-02 -4.18178545e-04 9.99881178e-01 1.24808555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.4792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:804.21, Y:10.21, Z:12.48 [[ 9.98853212e-01 -4.53292832e-02 -1.54116151e-02 8.04209831e+02] [ 4.53295046e-02 9.98972034e-01 -3.35133165e-04 1.02107204e+01] [ 1.54109638e-02 -3.63852039e-04 9.99881178e-01 1.24842377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.5092541539999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:804.24, Y:10.21, Z:12.48 [[ 9.98910636e-01 -4.40456979e-02 -1.54116029e-02 8.04239822e+02] [ 4.40457580e-02 9.99029458e-01 -3.35693209e-04 1.02118545e+01] [ 1.54114311e-02 -3.43488215e-04 9.99881178e-01 1.24835290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.5392541539999 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:804.27, Y:10.21, Z:12.48 [[ 9.98955715e-01 -4.30111785e-02 -1.54115906e-02 8.04268480e+02] [ 4.30111069e-02 9.99074538e-01 -3.36255353e-04 1.02129545e+01] [ 1.54117905e-02 -3.26965366e-04 9.99881178e-01 1.24821284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.5692541539999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:804.30, Y:10.21, Z:12.48 [[ 9.98963200e-01 -4.28370029e-02 -1.54115724e-02 8.04297379e+02] [ 4.28368976e-02 9.99082022e-01 -3.37090496e-04 1.02139715e+01] [ 1.54118648e-02 -3.23442947e-04 9.99881178e-01 1.24833642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.5992541539999 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:804.33, Y:10.22, Z:12.48 [[ 9.98953472e-01 -4.30632831e-02 -1.54114936e-02 8.04326306e+02] [ 4.30631498e-02 9.99072294e-01 -3.40652049e-04 1.02158932e+01] [ 1.54118659e-02 -3.23371913e-04 9.99881178e-01 1.24823354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.6292541539999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:804.35, Y:10.22, Z:12.48 [[ 9.98918959e-01 -4.38565790e-02 -1.54114768e-02 8.04354643e+02] [ 4.38565284e-02 9.99037781e-01 -3.41410762e-04 1.02170737e+01] [ 1.54116207e-02 -3.34852188e-04 9.99881178e-01 1.24843412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.6592541539999 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:804.38, Y:10.22, Z:12.48 [[ 9.98857039e-01 -4.52449198e-02 -1.54114602e-02 8.04383676e+02] [ 4.52450229e-02 9.98975861e-01 -3.42161009e-04 1.02182268e+01] [ 1.54111577e-02 -3.55521935e-04 9.99881178e-01 1.24819596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.6892541539999 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:804.41, Y:10.22, Z:12.48 [[ 9.98683730e-01 -4.89213385e-02 -1.54113821e-02 8.04412385e+02] [ 4.89218252e-02 9.98802551e-01 -3.45642045e-04 1.02192928e+01] [ 1.54098370e-02 -4.08765855e-04 9.99881178e-01 1.24827364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.7192541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:804.44, Y:10.22, Z:12.49 [[ 9.98571958e-01 -5.11520699e-02 -1.54113655e-02 8.04441585e+02] [ 5.11528107e-02 9.98690778e-01 -3.46381849e-04 1.02198072e+01] [ 1.54089067e-02 -4.42447458e-04 9.99881178e-01 1.24876627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.7492541539999 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:804.47, Y:10.22, Z:12.49 [[ 9.98467570e-01 -5.31507530e-02 -1.54113533e-02 8.04471018e+02] [ 5.31517232e-02 9.98586388e-01 -3.46923381e-04 1.02202502e+01] [ 1.54080068e-02 -4.72748238e-04 9.99881178e-01 1.24859502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.7792541539999 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:804.50, Y:10.22, Z:12.49 [[ 9.98250682e-01 -5.70794751e-02 -1.54113411e-02 8.04500920e+02] [ 5.70809045e-02 9.98369496e-01 -3.47465640e-04 1.02209649e+01] [ 1.54060459e-02 -5.32835474e-04 9.99881178e-01 1.24882241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.8092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:804.53, Y:10.22, Z:12.49 [[ 9.98148231e-01 -5.88438625e-02 -1.54113282e-02 8.04530258e+02] [ 5.88454932e-02 9.98267042e-01 -3.48034912e-04 1.02219083e+01] [ 1.54051007e-02 -5.59496776e-04 9.99881178e-01 1.24923455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.839254154 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:804.56, Y:10.22, Z:12.49 [[ 9.98089932e-01 -5.98245703e-02 -1.54113218e-02 8.04561122e+02] [ 5.98263133e-02 9.98208741e-01 -3.48317457e-04 1.02231374e+01] [ 1.54045541e-02 -5.74350420e-04 9.99881178e-01 1.24896533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.8692541539999 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:804.59, Y:10.22, Z:12.49 [[ 9.98062299e-01 -6.02838231e-02 -1.54113218e-02 8.04591702e+02] [ 6.02856208e-02 9.98181107e-01 -3.48317458e-04 1.02244675e+01] [ 1.54042882e-02 -5.81438581e-04 9.99881178e-01 1.24911799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.8992541539999 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] Translation: X:804.62, Y:10.23, Z:12.49 [[ 9.98062282e-01 -6.02840934e-02 -1.54113218e-02 8.04622400e+02] [ 6.02858911e-02 9.98181091e-01 -3.48317457e-04 1.02263724e+01] [ 1.54042880e-02 -5.81442752e-04 9.99881178e-01 1.24915847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.9292541539999 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:804.65, Y:10.23, Z:12.49 [[ 9.98102161e-01 -5.96202011e-02 -1.54113218e-02 8.04651991e+02] [ 5.96219198e-02 9.98220970e-01 -3.48317457e-04 1.02276469e+01] [ 1.54046714e-02 -5.71196185e-04 9.99881178e-01 1.24930289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.9592541539998 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:804.68, Y:10.23, Z:12.49 [[ 9.98156151e-01 -5.87093645e-02 -1.54113154e-02 8.04681150e+02] [ 5.87109704e-02 9.98274962e-01 -3.48601842e-04 1.02290590e+01] [ 1.54051965e-02 -5.56854208e-04 9.99881178e-01 1.24925443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.9892541539999 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:804.71, Y:10.23, Z:12.49 [[ 9.98367776e-01 -5.49934127e-02 -1.54113090e-02 8.04711272e+02] [ 5.49945720e-02 9.98486592e-01 -3.48883205e-04 1.02313356e+01] [ 1.54071717e-02 -4.99224593e-04 9.99881178e-01 1.24933626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.0192541539999 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:804.74, Y:10.23, Z:12.50 [[ 9.98465040e-01 -5.31982741e-02 -1.54113090e-02 8.04740345e+02] [ 5.31992197e-02 9.98583858e-01 -3.48883205e-04 1.02331764e+01] [ 1.54080444e-02 -4.71521931e-04 9.99881178e-01 1.24965084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.0492541539999 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:804.77, Y:10.24, Z:12.50 [[ 9.98583453e-01 -5.09271973e-02 -1.54113027e-02 8.04770010e+02] [ 5.09278684e-02 9.98702273e-01 -3.49160934e-04 1.02352064e+01] [ 1.54090848e-02 -4.36198466e-04 9.99881178e-01 1.24957516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.0792541539998 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:804.80, Y:10.24, Z:12.50 [[ 9.98706595e-01 -4.84523412e-02 -1.54112901e-02 8.04798651e+02] [ 4.84527092e-02 9.98825417e-01 -3.49715634e-04 1.02370950e+01] [ 1.54101328e-02 -3.97455450e-04 9.99881178e-01 1.24956013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.1092541539999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:804.83, Y:10.24, Z:12.50 [[ 9.98873016e-01 -4.48908667e-02 -1.54112714e-02 8.04829272e+02] [ 4.48907984e-02 9.98991839e-01 -3.50541211e-04 1.02397924e+01] [ 1.54114704e-02 -3.41678118e-04 9.99881178e-01 1.25020663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.1392541539999 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:804.86, Y:10.24, Z:12.50 [[ 9.98980336e-01 -4.24356114e-02 -1.54112714e-02 8.04859055e+02] [ 4.24352510e-02 9.99099158e-01 -3.50541211e-04 1.02413912e+01] [ 1.54122637e-02 -3.03797391e-04 9.99881178e-01 1.24993148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.1692541539999 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:804.89, Y:10.24, Z:12.50 [[ 9.99057219e-01 -4.05852902e-02 -1.54112721e-02 8.04888052e+02] [ 4.05847103e-02 9.99176040e-01 -3.50509254e-04 1.02427901e+01] [ 1.54127993e-02 -2.75283212e-04 9.99881178e-01 1.25004752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.1992541539998 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:804.92, Y:10.25, Z:12.50 [[ 9.99185359e-01 -3.72976106e-02 -1.54112481e-02 8.04917902e+02] [ 3.72966234e-02 9.99304177e-01 -3.51562482e-04 1.02451348e+01] [ 1.54136370e-02 -2.23511430e-04 9.99881178e-01 1.25006100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.2292541539999 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:804.95, Y:10.25, Z:12.50 [[ 9.99225483e-01 -3.62067282e-02 -1.54112350e-02 8.04946674e+02] [ 3.62056024e-02 9.99344300e-01 -3.52133861e-04 1.02462695e+01] [ 1.54138795e-02 -2.06111920e-04 9.99881178e-01 1.25013228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.2592541539999 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:804.98, Y:10.25, Z:12.50 [[ 9.99259129e-01 -3.52659734e-02 -1.54111428e-02 8.04975390e+02] [ 3.52646743e-02 9.99377945e-01 -3.56123822e-04 1.02472159e+01] [ 1.54141153e-02 -1.87608952e-04 9.99881178e-01 1.25016610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.2892541539999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:805.00, Y:10.25, Z:12.50 [[ 9.99277422e-01 -3.47437992e-02 -1.54111232e-02 8.05004335e+02] [ 3.47424249e-02 9.99396236e-01 -3.56969806e-04 1.02479036e+01] [ 1.54142210e-02 -1.78707923e-04 9.99881178e-01 1.25031316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.3192541539999 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:805.03, Y:10.25, Z:12.50 [[ 9.99260714e-01 -3.52210614e-02 -1.54111038e-02 8.05033197e+02] [ 3.52197310e-02 9.99379529e-01 -3.57805280e-04 1.02483739e+01] [ 1.54141439e-02 -1.85234171e-04 9.99881178e-01 1.25045434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.3492541539999 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:805.06, Y:10.25, Z:12.50 [[ 9.99247537e-01 -3.55929848e-02 -1.54110108e-02 8.05062096e+02] [ 3.55916376e-02 9.99366352e-01 -3.61768143e-04 1.02487145e+01] [ 1.54141220e-02 -1.87007185e-04 9.99881178e-01 1.25033425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.3792541539999 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:805.09, Y:10.25, Z:12.50 [[ 9.99199363e-01 -3.69206494e-02 -1.54109910e-02 8.05090804e+02] [ 3.69194470e-02 9.99318179e-01 -3.62609777e-04 1.02491639e+01] [ 1.54138712e-02 -2.06645806e-04 9.99881178e-01 1.25040979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.4092541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:805.12, Y:10.25, Z:12.51 [[ 9.99079407e-01 -4.00355287e-02 -1.54108967e-02 8.05119177e+02] [ 4.00346356e-02 9.99198225e-01 -3.66574454e-04 1.02486824e+01] [ 1.54132166e-02 -2.50732644e-04 9.99881178e-01 1.25075293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.4392541539999 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:805.15, Y:10.25, Z:12.51 [[ 9.99041224e-01 -4.09772717e-02 -1.54108766e-02 8.05148476e+02] [ 4.09764776e-02 9.99160044e-01 -3.67415361e-04 1.02483310e+01] [ 1.54129878e-02 -2.64420349e-04 9.99881178e-01 1.25061149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.4692541539999 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:805.18, Y:10.25, Z:12.51 [[ 9.98986987e-01 -4.22788896e-02 -1.54108630e-02 8.05176923e+02] [ 4.22782416e-02 9.99105808e-01 -3.67984308e-04 1.02478581e+01] [ 1.54126407e-02 -2.83932656e-04 9.99881178e-01 1.25059362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.4992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:805.21, Y:10.25, Z:12.51 [[ 9.98878081e-01 -4.47781706e-02 -1.54108367e-02 8.05206489e+02] [ 4.47778029e-02 9.98996903e-01 -3.69082418e-04 1.02465626e+01] [ 1.54119050e-02 -3.21395073e-04 9.99881178e-01 1.25081378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.5292541539999 meters Centerline goodness : 0.999834 Centerline is valid? [True, True] Translation: X:805.24, Y:10.25, Z:12.50 [[ 9.98872310e-01 -4.49067278e-02 -1.54108232e-02 8.05235650e+02] [ 4.49063668e-02 9.98991132e-01 -3.69645803e-04 1.02461494e+01] [ 1.54118753e-02 -3.22815123e-04 9.99881178e-01 1.25048573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.5592541539999 meters Centerline goodness : 0.999708 Centerline is valid? [True, True] Translation: X:805.26, Y:10.25, Z:12.50 [[ 9.98854170e-01 -4.53084392e-02 -1.54108031e-02 8.05264321e+02] [ 4.53081130e-02 9.98972991e-01 -3.70484375e-04 1.02458559e+01] [ 1.54117621e-02 -3.28174544e-04 9.99881178e-01 1.25043074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.589254154 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:805.29, Y:10.25, Z:12.51 [[ 9.98838408e-01 -4.56546056e-02 -1.54107834e-02 8.05294220e+02] [ 4.56543080e-02 9.98957229e-01 -3.71299995e-04 1.02453848e+01] [ 1.54116651e-02 -3.32699956e-04 9.99881178e-01 1.25057497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.6192541539999 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:805.32, Y:10.25, Z:12.51 [[ 9.98832390e-01 -4.57860855e-02 -1.54107698e-02 8.05324265e+02] [ 4.57857949e-02 9.98951211e-01 -3.71863437e-04 1.02456295e+01] [ 1.54116333e-02 -3.34165101e-04 9.99881178e-01 1.25071416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.6492541539999 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:805.35, Y:10.25, Z:12.51 [[ 9.98835397e-01 -4.57204305e-02 -1.54107563e-02 8.05353527e+02] [ 4.57201234e-02 9.98954219e-01 -3.72423988e-04 1.02458169e+01] [ 1.54116674e-02 -3.32591416e-04 9.99881178e-01 1.25068570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.6792541539999 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:805.38, Y:10.25, Z:12.51 [[ 9.98842552e-01 -4.55638706e-02 -1.54107427e-02 8.05382615e+02] [ 4.55635363e-02 9.98961373e-01 -3.72982985e-04 1.02457513e+01] [ 1.54117313e-02 -3.29616659e-04 9.99881178e-01 1.25079585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.7092541539998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:805.41, Y:10.25, Z:12.51 [[ 9.98858614e-01 -4.52103930e-02 -1.54107225e-02 8.05412327e+02] [ 4.52100037e-02 9.98977435e-01 -3.73815345e-04 1.02450071e+01] [ 1.54118644e-02 -3.23330146e-04 9.99881178e-01 1.25113174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.7392541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:805.44, Y:10.25, Z:12.51 [[ 9.98856963e-01 -4.52468624e-02 -1.54107089e-02 8.05442472e+02] [ 4.52464688e-02 9.98975784e-01 -3.74377698e-04 1.02457693e+01] [ 1.54118644e-02 -3.23330388e-04 9.99881178e-01 1.25117824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.7692541539999 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:805.47, Y:10.25, Z:12.51 [[ 9.98889484e-01 -4.45231301e-02 -1.54106952e-02 8.05471955e+02] [ 4.45226418e-02 9.99008305e-01 -3.74940293e-04 1.02458987e+01] [ 1.54121060e-02 -3.11600946e-04 9.99881178e-01 1.25106449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.7992541539999 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:805.50, Y:10.25, Z:12.51 [[ 9.98930105e-01 -4.36022606e-02 -1.54106816e-02 8.05500726e+02] [ 4.36016541e-02 9.99048925e-01 -3.75498515e-04 1.02457641e+01] [ 1.54123975e-02 -2.96834437e-04 9.99881178e-01 1.25095100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.8292541539998 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:805.53, Y:10.25, Z:12.51 [[ 9.99037558e-01 -4.10666482e-02 -1.54106613e-02 8.05529003e+02] [ 4.10657274e-02 9.99156376e-01 -3.76328673e-04 1.02452197e+01] [ 1.54131151e-02 -2.56883538e-04 9.99881178e-01 1.25094850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.8592541539999 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:805.56, Y:10.25, Z:12.51 [[ 9.99094123e-01 -3.96666862e-02 -1.54106418e-02 8.05557737e+02] [ 3.96655866e-02 9.99212940e-01 -3.77125940e-04 1.02452259e+01] [ 1.54134720e-02 -2.34487836e-04 9.99881178e-01 1.25111674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.8892541539999 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:805.59, Y:10.25, Z:12.51 [[ 9.99153050e-01 -3.81536105e-02 -1.54105471e-02 8.05585338e+02] [ 3.81522718e-02 9.99271864e-01 -3.80958726e-04 1.02453937e+01] [ 1.54138610e-02 -2.07311307e-04 9.99881178e-01 1.25102733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.9192541539999 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:805.61, Y:10.25, Z:12.51 [[ 9.99207796e-01 -3.66919179e-02 -1.54104966e-02 8.05614011e+02] [ 3.66903741e-02 9.99326608e-01 -3.82988769e-04 1.02454201e+01] [ 1.54141719e-02 -1.82731522e-04 9.99881178e-01 1.25112342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.9492541539998 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:805.64, Y:10.24, Z:12.51 [[ 9.99286916e-01 -3.44699649e-02 -1.54103987e-02 8.05642849e+02] [ 3.44680967e-02 9.99405724e-01 -3.86889458e-04 1.02445261e+01] [ 1.54145767e-02 -1.44553539e-04 9.99881178e-01 1.25132345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.9792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:805.67, Y:10.24, Z:12.51 [[ 9.99311124e-01 -3.37609124e-02 -1.54103005e-02 8.05670308e+02] [ 3.37589003e-02 9.99429930e-01 -3.90759819e-04 1.02443965e+01] [ 1.54147080e-02 -1.29744165e-04 9.99881178e-01 1.25148606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.0092541539999 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:805.70, Y:10.24, Z:12.51 [[ 9.99386778e-01 -3.14418761e-02 -1.54102657e-02 8.05699074e+02] [ 3.14395671e-02 9.99505578e-01 -3.92128981e-04 1.02424137e+01] [ 1.54149758e-02 -9.26035635e-05 9.99881178e-01 1.25142539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.0392541539999 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:805.73, Y:10.24, Z:12.51 [[ 9.99408526e-01 -3.07428772e-02 -1.54101681e-02 8.05726635e+02] [ 3.07404265e-02 9.99527323e-01 -3.95928144e-04 1.02418151e+01] [ 1.54150560e-02 -7.80211769e-05 9.99881178e-01 1.25139643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.0692541539999 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:805.75, Y:10.24, Z:12.51 [[ 9.99423963e-01 -3.02369372e-02 -1.54100557e-02 8.05754686e+02] [ 3.02343597e-02 9.99542757e-01 -4.00254012e-04 1.02409669e+01] [ 1.54151121e-02 -6.58897175e-05 9.99881178e-01 1.25142207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.0992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:805.78, Y:10.24, Z:12.52 [[ 9.99411782e-01 -3.06369112e-02 -1.54100209e-02 8.05783134e+02] [ 3.06343607e-02 9.99530577e-01 -4.01589951e-04 1.02404326e+01] [ 1.54150906e-02 -7.07224108e-05 9.99881178e-01 1.25170474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.1292541539999 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:805.81, Y:10.24, Z:12.51 [[ 9.99409989e-01 -3.06954201e-02 -1.54099229e-02 8.05810929e+02] [ 3.06928191e-02 9.99528782e-01 -4.05315568e-04 1.02375537e+01] [ 1.54151028e-02 -6.78975500e-05 9.99881178e-01 1.25140990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.1592541539999 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] Translation: X:805.84, Y:10.24, Z:12.51 [[ 9.99371216e-01 -3.19328680e-02 -1.54098709e-02 8.05838535e+02] [ 3.19303837e-02 9.99490012e-01 -4.07282177e-04 1.02364156e+01] [ 1.54150178e-02 -8.50170080e-05 9.99881178e-01 1.25144346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.1892541539999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:805.87, Y:10.23, Z:12.52 [[ 9.99323295e-01 -3.33989727e-02 -1.54097585e-02 8.05866519e+02] [ 3.33965978e-02 9.99442093e-01 -4.11494027e-04 1.02349936e+01] [ 1.54149047e-02 -1.03417939e-04 9.99881178e-01 1.25160083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.2192541539999 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:805.89, Y:10.23, Z:12.51 [[ 9.99180575e-01 -3.74261708e-02 -1.54097236e-02 8.05894780e+02] [ 3.74242547e-02 9.99299382e-01 -4.12797666e-04 1.02308920e+01] [ 1.54143767e-02 -1.64238009e-04 9.99881178e-01 1.25149442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.2492541539999 meters Centerline goodness : 0.999729 Centerline is valid? [True, True] Translation: X:805.92, Y:10.23, Z:12.51 [[ 9.99071167e-01 -4.02410910e-02 -1.54096889e-02 8.05922311e+02] [ 4.02394896e-02 9.99189978e-01 -4.14087329e-04 1.02294038e+01] [ 1.54138700e-02 -2.06375306e-04 9.99881178e-01 1.25149049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.2792541539999 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:805.95, Y:10.23, Z:12.52 [[ 9.98817512e-01 -4.61098998e-02 -1.54095776e-02 8.05950829e+02] [ 4.61089332e-02 9.98936330e-01 -4.18187743e-04 1.02256804e+01] [ 1.54124695e-02 -2.92825944e-04 9.99881178e-01 1.25201542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.3092541539999 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:805.98, Y:10.22, Z:12.52 [[ 9.98680169e-01 -4.89945764e-02 -1.54094693e-02 8.05979192e+02] [ 4.89938920e-02 9.98798989e-01 -4.22142822e-04 1.02239511e+01] [ 1.54116450e-02 -3.33384209e-04 9.99881178e-01 1.25203936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.339254154 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:806.01, Y:10.22, Z:12.52 [[ 9.98531619e-01 -5.19341693e-02 -1.54093438e-02 8.06007171e+02] [ 5.19337648e-02 9.98650440e-01 -4.26675015e-04 1.02223813e+01] [ 1.54107070e-02 -3.74216742e-04 9.99881178e-01 1.25180938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.3692541539999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:806.04, Y:10.22, Z:12.52 [[ 9.98243282e-01 -5.72093008e-02 -1.54093048e-02 8.06035766e+02] [ 5.72095025e-02 9.98362103e-01 -4.28077634e-04 1.02181984e+01] [ 1.54085560e-02 -4.54233040e-04 9.99881178e-01 1.25230762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.3992541539999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:806.06, Y:10.22, Z:12.52 [[ 9.98128582e-01 -5.91767680e-02 -1.54091945e-02 8.06063925e+02] [ 5.91771432e-02 9.98247404e-01 -4.32012425e-04 1.02165570e+01] [ 1.54077535e-02 -4.80668161e-04 9.99881178e-01 1.25229317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.4292541539999 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:806.09, Y:10.22, Z:12.52 [[ 9.98028138e-01 -6.08473030e-02 -1.54091553e-02 8.06091907e+02] [ 6.08478556e-02 9.98146958e-01 -4.33407414e-04 1.02150896e+01] [ 1.54069731e-02 -5.05061259e-04 9.99881178e-01 1.25230779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.4592541539998 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:806.12, Y:10.21, Z:12.52 [[ 9.97897462e-01 -6.29540901e-02 -1.54090292e-02 8.06120778e+02] [ 6.29548251e-02 9.98016282e-01 -4.37844903e-04 1.02120902e+01] [ 1.54060261e-02 -5.33148418e-04 9.99881178e-01 1.25244338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.4892541539999 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:806.15, Y:10.21, Z:12.52 [[ 9.97847338e-01 -6.37436637e-02 -1.54089112e-02 8.06148531e+02] [ 6.37444293e-02 9.97966158e-01 -4.41958239e-04 1.02110925e+01] [ 1.54057439e-02 -5.41225397e-04 9.99881178e-01 1.25233975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.5192541539999 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:806.18, Y:10.21, Z:12.52 [[ 9.97813336e-01 -6.42737433e-02 -1.54088481e-02 8.06177848e+02] [ 6.42745381e-02 9.97932155e-01 -4.44148664e-04 1.02103155e+01] [ 1.54055320e-02 -5.47219132e-04 9.99881178e-01 1.25243988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.5492541539999 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:806.21, Y:10.21, Z:12.53 [[ 9.97801580e-01 -6.44560028e-02 -1.54087853e-02 8.06205994e+02] [ 6.44567860e-02 9.97920399e-01 -4.46314298e-04 1.02080288e+01] [ 1.54055088e-02 -5.47867667e-04 9.99881178e-01 1.25252143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.5792541539998 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:806.24, Y:10.21, Z:12.53 [[ 9.97883311e-01 -6.31780605e-02 -1.54087447e-02 8.06236097e+02] [ 6.31786700e-02 9.98002132e-01 -4.47711038e-04 1.02058681e+01] [ 1.54062456e-02 -5.26740625e-04 9.99881178e-01 1.25277450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.6092541539999 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:806.26, Y:10.21, Z:12.53 [[ 9.97832679e-01 -6.39722225e-02 -1.54110121e-02 8.06262505e+02] [ 6.39741233e-02 9.97951489e-01 -3.70114425e-04 1.02072736e+01] [ 1.54031195e-02 -6.16593718e-04 9.99881175e-01 1.25264670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.6392541539999 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] Translation: X:806.29, Y:10.21, Z:12.53 [[ 9.97999678e-01 -6.13124696e-02 -1.54085458e-02 8.06291025e+02] [ 6.13127622e-02 9.98118500e-01 -4.53849329e-04 1.02063228e+01] [ 1.54073812e-02 -4.91799019e-04 9.99881178e-01 1.25281219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.6692541539999 meters Centerline goodness : 0.999729 Centerline is valid? [True, True] Translation: X:806.32, Y:10.21, Z:12.53 [[ 9.98096306e-01 -5.97188845e-02 -1.54084324e-02 8.06319162e+02] [ 5.97189286e-02 9.98215127e-01 -4.57666905e-04 1.02067872e+01] [ 1.54082616e-02 -4.63379426e-04 9.99881178e-01 1.25296880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.6992541539998 meters Centerline goodness : 0.999688 Centerline is valid? [True, True] Translation: X:806.35, Y:10.21, Z:12.53 [[ 9.98212087e-01 -5.77513130e-02 -1.54082948e-02 8.06346414e+02] [ 5.77510521e-02 9.98330908e-01 -4.62252666e-04 1.02072125e+01] [ 1.54092726e-02 -4.28419037e-04 9.99881178e-01 1.25273579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.7292541539999 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:806.37, Y:10.21, Z:12.53 [[ 9.98453804e-01 -5.34096121e-02 -1.54082350e-02 8.06374534e+02] [ 5.34088038e-02 9.98572623e-01 -4.64238367e-04 1.02075824e+01] [ 1.54110364e-02 -3.59414836e-04 9.99881178e-01 1.25303031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.7592541539999 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:806.40, Y:10.21, Z:12.53 [[ 9.98567784e-01 -5.12344750e-02 -1.54080976e-02 8.06401176e+02] [ 5.12333382e-02 9.98686600e-01 -4.68755184e-04 1.02080572e+01] [ 1.54118770e-02 -3.21324449e-04 9.99881178e-01 1.25304955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.7892541539999 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:806.43, Y:10.21, Z:12.53 [[ 9.98645716e-01 -4.96923257e-02 -1.54080026e-02 8.06429386e+02] [ 4.96909576e-02 9.98764530e-01 -4.71855288e-04 1.02086642e+01] [ 1.54124141e-02 -2.94422143e-04 9.99881178e-01 1.25319110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.8192541539999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:806.46, Y:10.21, Z:12.53 [[ 9.98718639e-01 -4.82045497e-02 -1.54078619e-02 8.06456971e+02] [ 4.82029344e-02 9.98837449e-01 -4.76406217e-04 1.02092340e+01] [ 1.54129144e-02 -2.66908388e-04 9.99881178e-01 1.25332563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.8492541539999 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:806.49, Y:10.21, Z:12.53 [[ 9.98825607e-01 -4.59347995e-02 -1.54078183e-02 8.06485916e+02] [ 4.59328925e-02 9.98944413e-01 -4.77813970e-04 1.02091595e+01] [ 1.54135023e-02 -2.30472830e-04 9.99881178e-01 1.25337909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.8792541539999 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:806.51, Y:10.21, Z:12.54 [[ 9.98829957e-01 -4.58401633e-02 -1.54076956e-02 8.06514943e+02] [ 4.58381845e-02 9.98948762e-01 -4.81738349e-04 1.02098357e+01] [ 1.54135814e-02 -2.25086098e-04 9.99881178e-01 1.25351363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.9092541539999 meters Centerline goodness : 0.999813 Centerline is valid? [True, True] Translation: X:806.54, Y:10.21, Z:12.54 [[ 9.98819810e-01 -4.60607599e-02 -1.54075726e-02 8.06542691e+02] [ 4.60587473e-02 9.98938615e-01 -4.85638322e-04 1.02096165e+01] [ 1.54135881e-02 -2.24588317e-04 9.99881178e-01 1.25359930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.9392541539999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:806.57, Y:10.21, Z:12.54 [[ 9.98787252e-01 -4.67614841e-02 -1.54074315e-02 8.06571437e+02] [ 4.67594864e-02 9.98906057e-01 -4.90075351e-04 1.02100237e+01] [ 1.54134933e-02 -2.30962571e-04 9.99881178e-01 1.25377466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.9692541539999 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:806.60, Y:10.21, Z:12.54 [[ 9.98851765e-01 -4.53626026e-02 -1.54073033e-02 8.06601886e+02] [ 4.53603768e-02 9.98970566e-01 -4.94074682e-04 1.02077938e+01] [ 1.54138550e-02 -2.05373713e-04 9.99881178e-01 1.25354700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.9992541539999 meters Centerline goodness : 0.999834 Centerline is valid? [True, True] Translation: X:806.63, Y:10.21, Z:12.54 [[ 9.98761129e-01 -4.73153071e-02 -1.54100503e-02 8.06630931e+02] [ 4.73146321e-02 9.98879952e-01 -4.08588007e-04 1.02066274e+01] [ 1.54121227e-02 -3.21039040e-04 9.99881175e-01 1.25356464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.0292541539999 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:806.66, Y:10.21, Z:12.54 [[ 9.98657168e-01 -4.94606787e-02 -1.54110749e-02 8.06658418e+02] [ 4.94607481e-02 9.98775997e-01 -3.76878241e-04 1.02076121e+01] [ 1.54108524e-02 -3.85871137e-04 9.99881171e-01 1.25387697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.0592541539999 meters Centerline goodness : 0.999708 Centerline is valid? [True, True] Translation: X:806.68, Y:10.21, Z:12.54 [[ 9.98443344e-01 -5.36042247e-02 -1.54102525e-02 8.06684252e+02] [ 5.36043998e-02 9.98562170e-01 -4.01987311e-04 1.02106079e+01] [ 1.54096433e-02 -4.24695780e-04 9.99881174e-01 1.25387348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.089254154 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:806.71, Y:10.21, Z:12.54 [[ 9.98218752e-01 -5.76364299e-02 -1.54066845e-02 8.06712858e+02] [ 5.76354217e-02 9.98337567e-01 -5.09813705e-04 1.02103921e+01] [ 1.54104558e-02 -3.79065160e-04 9.99881180e-01 1.25384660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.1192541539999 meters Centerline goodness : 0.998789 Centerline is valid? [True, True] Translation: X:806.74, Y:10.21, Z:12.54 [[ 9.98123834e-01 -5.92574920e-02 -1.54065541e-02 8.06742310e+02] [ 5.92566165e-02 9.98242651e-01 -5.13724222e-04 1.02103282e+01] [ 1.54099214e-02 -4.00179879e-04 9.99881180e-01 1.25392470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.1492541539999 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:806.77, Y:10.21, Z:12.54 [[ 9.98007844e-01 -6.11794789e-02 -1.54082903e-02 8.06769066e+02] [ 6.11796331e-02 9.98126665e-01 -4.61798688e-04 1.02110755e+01] [ 1.54076780e-02 -4.81794835e-04 9.99881179e-01 1.25390291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.1792541539999 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:806.80, Y:10.21, Z:12.54 [[ 9.97821117e-01 -6.41534451e-02 -1.54063226e-02 8.06797111e+02] [ 6.41530543e-02 9.97939936e-01 -5.20087418e-04 1.02110948e+01] [ 1.54079500e-02 -4.69408443e-04 9.99881180e-01 1.25406995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.2092541539998 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:806.83, Y:10.21, Z:12.54 [[ 9.97735635e-01 -6.54694792e-02 -1.54061717e-02 8.06825603e+02] [ 6.54691767e-02 9.97854454e-01 -5.24519107e-04 1.02122583e+01] [ 1.54074571e-02 -4.85297975e-04 9.99881180e-01 1.25430777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.2392541539999 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:806.85, Y:10.21, Z:12.54 [[ 9.97704771e-01 -6.59381777e-02 -1.54060384e-02 8.06854319e+02] [ 6.59378711e-02 9.97823591e-01 -5.28406144e-04 1.02128494e+01] [ 1.54073507e-02 -4.88648044e-04 9.99881180e-01 1.25428508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.2692541539999 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:806.88, Y:10.21, Z:12.54 [[ 9.97683001e-01 -6.62667863e-02 -1.54059020e-02 8.06882280e+02] [ 6.62664579e-02 9.97801821e-01 -5.32354777e-04 1.02138137e+01] [ 1.54073145e-02 -4.89773243e-04 9.99881180e-01 1.25433719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.2992541539999 meters Centerline goodness : 0.999729 Centerline is valid? [True, True] Translation: X:806.91, Y:10.21, Z:12.54 [[ 9.97754667e-01 -6.51788869e-02 -1.54057458e-02 8.06909689e+02] [ 6.51783598e-02 9.97873486e-01 -5.36836715e-04 1.02149853e+01] [ 1.54079757e-02 -4.68489903e-04 9.99881180e-01 1.25422109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.3292541539998 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:806.94, Y:10.22, Z:12.54 [[ 9.97786267e-01 -6.46933519e-02 -1.54056779e-02 8.06937135e+02] [ 6.46927370e-02 9.97905085e-01 -5.38778395e-04 1.02165002e+01] [ 1.54082597e-02 -4.59049784e-04 9.99881180e-01 1.25427755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.3592541539999 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:806.96, Y:10.22, Z:12.54 [[ 9.97895771e-01 -6.29817253e-02 -1.54056308e-02 8.06964685e+02] [ 6.29808859e-02 9.98014587e-01 -5.40122171e-04 1.02180743e+01] [ 1.54090621e-02 -4.31274644e-04 9.99881180e-01 1.25429657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.3892541539999 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:806.99, Y:10.22, Z:12.54 [[ 9.97939034e-01 -6.22925039e-02 -1.54054761e-02 8.06993198e+02] [ 6.22915149e-02 9.98057849e-01 -5.44498466e-04 1.02194437e+01] [ 1.54094745e-02 -4.16254171e-04 9.99881180e-01 1.25431306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.4192541539999 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:807.02, Y:10.22, Z:12.54 [[ 9.97997546e-01 -6.13479785e-02 -1.54053370e-02 8.07021332e+02] [ 6.13468168e-02 9.98116360e-01 -5.48406848e-04 1.02210213e+01] [ 1.54099625e-02 -3.97759696e-04 9.99881180e-01 1.25409369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.4492541539998 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:807.05, Y:10.22, Z:12.54 [[ 9.98055580e-01 -6.03964871e-02 -1.54052876e-02 8.07048687e+02] [ 6.03951908e-02 9.98174393e-01 -5.49790009e-04 1.02237822e+01] [ 1.54103690e-02 -3.81684298e-04 9.99881180e-01 1.25442488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.4792541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:807.08, Y:10.23, Z:12.55 [[ 9.98072036e-01 -6.01239857e-02 -1.54051248e-02 8.07076765e+02] [ 6.01225871e-02 9.98190847e-01 -5.54315770e-04 1.02260443e+01] [ 1.54105822e-02 -3.72948885e-04 9.99881180e-01 1.25458990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.5092541539999 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:807.11, Y:10.23, Z:12.55 [[ 9.98086833e-01 -5.98778625e-02 -1.54050742e-02 8.07105101e+02] [ 5.98764130e-02 9.98205643e-01 -5.55716057e-04 1.02277947e+01] [ 1.54107071e-02 -3.67747708e-04 9.99881180e-01 1.25455086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.5392541539999 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:807.13, Y:10.23, Z:12.55 [[ 9.98092816e-01 -5.97780897e-02 -1.54049145e-02 8.07133112e+02] [ 5.97765606e-02 9.98211625e-01 -5.60110071e-04 1.02297214e+01] [ 1.54108470e-02 -3.61810965e-04 9.99881180e-01 1.25469131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.5692541539999 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:807.16, Y:10.23, Z:12.55 [[ 9.98134511e-01 -5.90778417e-02 -1.54047510e-02 8.07161678e+02] [ 5.90761604e-02 9.98253319e-01 -5.64571991e-04 1.02319237e+01] [ 1.54111975e-02 -3.46534749e-04 9.99881180e-01 1.25474612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.5992541539999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:807.19, Y:10.23, Z:12.55 [[ 9.98163178e-01 -5.85915313e-02 -1.54046079e-02 8.07189416e+02] [ 5.85897323e-02 9.98281984e-01 -5.68447995e-04 1.02335792e+01] [ 1.54114488e-02 -3.35147998e-04 9.99881180e-01 1.25490088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.6292541539999 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:807.22, Y:10.24, Z:12.55 [[ 9.98193953e-01 -5.80649019e-02 -1.54045571e-02 8.07216990e+02] [ 5.80630191e-02 9.98312757e-01 -5.69820952e-04 1.02353254e+01] [ 1.54116525e-02 -3.25643266e-04 9.99881180e-01 1.25487999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.6592541539999 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:807.25, Y:10.24, Z:12.55 [[ 9.98176871e-01 -5.83578510e-02 -1.54043885e-02 8.07245425e+02] [ 5.83559333e-02 9.98295675e-01 -5.74343925e-04 1.02364565e+01] [ 1.54116519e-02 -3.25640646e-04 9.99881180e-01 1.25492390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.6892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:807.27, Y:10.24, Z:12.55 [[ 9.98254624e-01 -5.70124234e-02 -1.54042186e-02 8.07272933e+02] [ 5.70102758e-02 9.98373424e-01 -5.78864242e-04 1.02397806e+01] [ 1.54121650e-02 -3.00344847e-04 9.99881180e-01 1.25511539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.7192541539999 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:807.30, Y:10.24, Z:12.55 [[ 9.98296456e-01 -5.62751901e-02 -1.54041660e-02 8.07300446e+02] [ 5.62729332e-02 9.98415254e-01 -5.80262504e-04 1.02418902e+01] [ 1.54124087e-02 -2.87563601e-04 9.99881180e-01 1.25514656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.7492541539999 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:807.33, Y:10.24, Z:12.55 [[ 9.98336239e-01 -5.55650066e-02 -1.54039972e-02 8.07328137e+02] [ 5.55625966e-02 9.98455035e-01 -5.84708017e-04 1.02437421e+01] [ 1.54126879e-02 -2.72150881e-04 9.99881180e-01 1.25514943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.7792541539999 meters Centerline goodness : 0.999687 Centerline is valid? [True, True] Translation: X:807.36, Y:10.25, Z:12.55 [[ 9.98394701e-01 -5.45045266e-02 -1.54038258e-02 8.07356458e+02] [ 5.45019212e-02 9.98513492e-01 -5.89189397e-04 1.02451437e+01] [ 1.54130414e-02 -2.51294529e-04 9.99881180e-01 1.25506009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.8092541539999 meters Centerline goodness : 0.999689 Centerline is valid? [True, True] Translation: X:807.38, Y:10.25, Z:12.55 [[ 9.98503885e-01 -5.24663634e-02 -1.54036502e-02 8.07384471e+02] [ 5.24634453e-02 9.98622669e-01 -5.93744328e-04 1.02471895e+01] [ 1.54135859e-02 -2.15272543e-04 9.99881180e-01 1.25518487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.839254154 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:807.41, Y:10.25, Z:12.55 [[ 9.98525171e-01 -5.20597027e-02 -1.54035958e-02 8.07413481e+02] [ 5.20567146e-02 9.98643953e-01 -5.95153055e-04 1.02488376e+01] [ 1.54136913e-02 -2.07585284e-04 9.99881180e-01 1.25536534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.8692541539999 meters Centerline goodness : 0.999688 Centerline is valid? [True, True] Translation: X:807.44, Y:10.25, Z:12.55 [[ 9.98561473e-01 -5.13587308e-02 -1.54034441e-02 8.07441527e+02] [ 5.13555991e-02 9.98680251e-01 -5.99053768e-04 1.02501930e+01] [ 1.54138821e-02 -1.92861088e-04 9.99881180e-01 1.25547815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.8992541539999 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:807.47, Y:10.25, Z:12.56 [[ 9.98596049e-01 -5.06820493e-02 -1.54032675e-02 8.07469761e+02] [ 5.06787676e-02 9.98714823e-01 -6.03560022e-04 1.02515753e+01] [ 1.54140613e-02 -1.77905962e-04 9.99881180e-01 1.25560409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.9292541539999 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:807.50, Y:10.25, Z:12.56 [[ 9.98598652e-01 -5.06307582e-02 -1.54031824e-02 8.07496710e+02] [ 5.06274370e-02 9.98717425e-01 -6.05723980e-04 1.02526130e+01] [ 1.54140950e-02 -1.74948498e-04 9.99881180e-01 1.25557502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.9592541539998 meters Centerline goodness : 0.999792 Centerline is valid? [True, True] Translation: X:807.52, Y:10.25, Z:12.55 [[ 9.98553198e-01 -5.15194683e-02 -1.54031063e-02 8.07524851e+02] [ 5.15162231e-02 9.98671973e-01 -6.07654713e-04 1.02534612e+01] [ 1.54139566e-02 -1.86734301e-04 9.99881180e-01 1.25549420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.9892541539999 meters Centerline goodness : 0.999813 Centerline is valid? [True, True] Translation: X:807.55, Y:10.25, Z:12.55 [[ 9.98508044e-01 -5.23873647e-02 -1.54029285e-02 8.07552721e+02] [ 5.23841537e-02 9.98626820e-01 -6.12128480e-04 1.02543731e+01] [ 1.54138453e-02 -1.95654161e-04 9.99881180e-01 1.25549277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.0192541539999 meters Centerline goodness : 0.999750 Centerline is valid? [True, True] Translation: X:807.58, Y:10.26, Z:12.55 [[ 9.98440785e-01 -5.36540284e-02 -1.54027483e-02 8.07580596e+02] [ 5.36508986e-02 9.98559563e-01 -6.16629447e-04 1.02554588e+01] [ 1.54136462e-02 -2.10703298e-04 9.99881180e-01 1.25547845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.0492541539999 meters Centerline goodness : 0.999729 Centerline is valid? [True, True] Translation: X:807.61, Y:10.26, Z:12.56 [[ 9.98325878e-01 -5.57512575e-02 -1.54025677e-02 8.07608671e+02] [ 5.57483082e-02 9.98444661e-01 -6.21107042e-04 1.02561866e+01] [ 1.54132390e-02 -2.38599859e-04 9.99881181e-01 1.25558480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.0792541539998 meters Centerline goodness : 0.999750 Centerline is valid? [True, True] Translation: X:807.64, Y:10.26, Z:12.56 [[ 9.98229825e-01 -5.74454535e-02 -1.54025118e-02 8.07637593e+02] [ 5.74426844e-02 9.98348612e-01 -6.22491853e-04 1.02570988e+01] [ 1.54128356e-02 -2.63371689e-04 9.99881181e-01 1.25574222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.1092541539999 meters Centerline goodness : 0.999750 Centerline is valid? [True, True] Translation: X:807.67, Y:10.26, Z:12.56 [[ 9.98137796e-01 -5.90229478e-02 -1.54023547e-02 8.07665304e+02] [ 5.90203069e-02 9.98256586e-01 -6.26354925e-04 1.02578500e+01] [ 1.54124713e-02 -2.83863175e-04 9.99881181e-01 1.25589131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.1392541539999 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:807.69, Y:10.26, Z:12.56 [[ 9.98050795e-01 -6.04763147e-02 -1.54021740e-02 8.07693042e+02] [ 6.04737787e-02 9.98169587e-01 -6.30766179e-04 1.02583507e+01] [ 1.54121281e-02 -3.01890977e-04 9.99881181e-01 1.25611009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.1692541539999 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:807.72, Y:10.26, Z:12.56 [[ 9.97892037e-01 -6.30417470e-02 -1.54019931e-02 8.07720996e+02] [ 6.30394487e-02 9.98010834e-01 -6.35153385e-04 1.02586088e+01] [ 1.54113971e-02 -3.37118648e-04 9.99881181e-01 1.25620810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.1992541539998 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:807.75, Y:10.26, Z:12.56 [[ 9.97813506e-01 -6.42727905e-02 -1.54018114e-02 8.07747703e+02] [ 6.42705712e-02 9.97932305e-01 -6.39529727e-04 1.02596016e+01] [ 1.54110695e-02 -3.51751816e-04 9.99881181e-01 1.25612769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.2292541539999 meters Centerline goodness : 0.999750 Centerline is valid? [True, True] Translation: X:807.78, Y:10.26, Z:12.56 [[ 9.97706332e-01 -6.59155727e-02 -1.54017324e-02 8.07775254e+02] [ 6.59135198e-02 9.97825133e-01 -6.41426745e-04 1.02608420e+01] [ 1.54105157e-02 -3.75226866e-04 9.99881181e-01 1.25609362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.2592541539999 meters Centerline goodness : 0.999834 Centerline is valid? [True, True] Translation: X:807.80, Y:10.26, Z:12.56 [[ 9.97602920e-01 -6.74626343e-02 -1.54015512e-02 8.07803148e+02] [ 6.74606989e-02 9.97721723e-01 -6.45748102e-04 1.02622724e+01] [ 1.54100261e-02 -3.94799215e-04 9.99881181e-01 1.25609930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.2892541539999 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:807.83, Y:10.26, Z:12.56 [[ 9.97404551e-01 -7.03346197e-02 -1.54013702e-02 8.07830638e+02] [ 7.03329603e-02 9.97523359e-01 -6.50035997e-04 1.02632928e+01] [ 1.54089466e-02 -4.34875097e-04 9.99881181e-01 1.25599529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.3192541539999 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:807.86, Y:10.26, Z:12.56 [[ 9.97329799e-01 -7.13868000e-02 -1.54011755e-02 8.07858500e+02] [ 7.13851952e-02 9.97448608e-01 -6.54616061e-04 1.02642661e+01] [ 1.54086120e-02 -4.46547817e-04 9.99881181e-01 1.25599760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.3492541539999 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:807.89, Y:10.27, Z:12.56 [[ 9.97279263e-01 -7.20893727e-02 -1.54011152e-02 8.07886896e+02] [ 7.20878298e-02 9.97398072e-01 -6.56033092e-04 1.02654817e+01] [ 1.54083356e-02 -4.55984770e-04 9.99881181e-01 1.25607971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.3792541539999 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:807.91, Y:10.27, Z:12.56 [[ 9.97312119e-01 -7.16334408e-02 -1.54009197e-02 8.07914361e+02] [ 7.16317732e-02 9.97430926e-01 -6.60589573e-04 1.02672775e+01] [ 1.54086739e-02 -4.44381202e-04 9.99881181e-01 1.25619746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.4092541539999 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:807.94, Y:10.27, Z:12.56 [[ 9.97351312e-01 -7.10857137e-02 -1.54007236e-02 8.07942230e+02] [ 7.10839108e-02 9.97470117e-01 -6.65130817e-04 1.02694049e+01] [ 1.54090429e-02 -4.31374570e-04 9.99881181e-01 1.25627362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.4392541539999 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:807.97, Y:10.27, Z:12.56 [[ 9.97414181e-01 -7.01981198e-02 -1.54005279e-02 8.07970552e+02] [ 7.01961417e-02 9.97532984e-01 -6.69632812e-04 1.02714893e+01] [ 1.54095415e-02 -4.13156373e-04 9.99881181e-01 1.25647104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.4692541539999 meters Centerline goodness : 0.999686 Centerline is valid? [True, True] Translation: X:808.00, Y:10.27, Z:12.56 [[ 9.97500786e-01 -6.89565917e-02 -1.54003279e-02 8.07998522e+02] [ 6.89543953e-02 9.97619585e-01 -6.74200841e-04 1.02732973e+01] [ 1.54101593e-02 -3.89404426e-04 9.99881181e-01 1.25635876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.4992541539999 meters Centerline goodness : 0.999729 Centerline is valid? [True, True] Translation: X:808.03, Y:10.28, Z:12.56 [[ 9.97666214e-01 -6.65203909e-02 -1.54001266e-02 8.08025790e+02] [ 6.65178339e-02 9.97785005e-01 -6.78767626e-04 1.02755929e+01] [ 1.54111673e-02 -3.47199536e-04 9.99881181e-01 1.25628852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.5292541539999 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:808.05, Y:10.28, Z:12.56 [[ 9.97723966e-01 -6.56485085e-02 -1.54000350e-02 8.08053262e+02] [ 6.56458157e-02 9.97842755e-01 -6.80839927e-04 1.02774114e+01] [ 1.54115094e-02 -3.31657546e-04 9.99881181e-01 1.25633484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.5592541539999 meters Centerline goodness : 0.999772 Centerline is valid? [True, True] Translation: X:808.08, Y:10.28, Z:12.56 [[ 9.97772382e-01 -6.49085358e-02 -1.53998338e-02 8.08080951e+02] [ 6.49056852e-02 9.97891168e-01 -6.85360648e-04 1.02797441e+01] [ 1.54118439e-02 -3.15702836e-04 9.99881181e-01 1.25613213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.589254154 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:808.11, Y:10.28, Z:12.56 [[ 9.97712482e-01 -6.58228731e-02 -1.53997714e-02 8.08108528e+02] [ 6.58201098e-02 9.97831269e-01 -6.86758511e-04 1.02816827e+01] [ 1.54115779e-02 -3.28427108e-04 9.99881181e-01 1.25611542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.6192541539999 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:808.14, Y:10.28, Z:12.56 [[ 9.97631421e-01 -6.70402901e-02 -1.53995708e-02 8.08136403e+02] [ 6.70376027e-02 9.97750210e-01 -6.91229030e-04 1.02833076e+01] [ 1.54112652e-02 -3.42758508e-04 9.99881181e-01 1.25623876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.6492541539999 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:808.16, Y:10.28, Z:12.56 [[ 9.97551778e-01 -6.82151696e-02 -1.53993688e-02 8.08164243e+02] [ 6.82125532e-02 9.97670569e-01 -6.95699490e-04 1.02848542e+01] [ 1.54109543e-02 -3.56434001e-04 9.99881181e-01 1.25642401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.6792541539999 meters Centerline goodness : 0.999730 Centerline is valid? [True, True] Translation: X:808.19, Y:10.29, Z:12.56 [[ 9.97356898e-01 -7.10076280e-02 -1.53991672e-02 8.08192083e+02] [ 7.10052757e-02 9.97475694e-01 -7.00133022e-04 1.02869056e+01] [ 1.54100098e-02 -3.95139617e-04 9.99881181e-01 1.25642760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.7092541539998 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:808.22, Y:10.29, Z:12.57 [[ 9.97256854e-01 -7.23991708e-02 -1.53989629e-02 8.08219470e+02] [ 7.23969154e-02 9.97375652e-01 -7.04598309e-04 1.02889977e+01] [ 1.54095630e-02 -4.12171924e-04 9.99881181e-01 1.25674124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.7392541539999 meters Centerline goodness : 0.999834 Centerline is valid? [True, True] Translation: X:808.25, Y:10.29, Z:12.57 [[ 9.97182135e-01 -7.34211337e-02 -1.53988996e-02 8.08248520e+02] [ 7.34189787e-02 9.97300935e-01 -7.05979002e-04 1.02906859e+01] [ 1.54091708e-02 -4.26581836e-04 9.99881181e-01 1.25666819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.7692541539999 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:808.28, Y:10.29, Z:12.57 [[ 9.97086032e-01 -7.47149537e-02 -1.53987236e-02 8.08277335e+02] [ 7.47128940e-02 9.97204833e-01 -7.09797624e-04 1.02926502e+01] [ 1.54087141e-02 -4.42753908e-04 9.99881181e-01 1.25680176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.7992541539999 meters Centerline goodness : 0.999750 Centerline is valid? [True, True] Translation: X:808.31, Y:10.29, Z:12.57 [[ 9.96950592e-01 -7.65009896e-02 -1.53985417e-02 8.08305312e+02] [ 7.64990821e-02 9.97069396e-01 -7.13723319e-04 1.02948060e+01] [ 1.54080152e-02 -4.66427416e-04 9.99881181e-01 1.25658275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.8292541539998 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] Translation: X:808.33, Y:10.30, Z:12.57 [[ 9.96866740e-01 -7.75860100e-02 -1.53984772e-02 8.08333643e+02] [ 7.75842104e-02 9.96985546e-01 -7.15111581e-04 1.02967609e+01] [ 1.54075418e-02 -4.81807743e-04 9.99881181e-01 1.25650820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.8592541539999 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:808.36, Y:10.30, Z:12.57 [[ 9.96758318e-01 -7.89667591e-02 -1.53982921e-02 8.08362698e+02] [ 7.89650629e-02 9.96877125e-01 -7.19074893e-04 1.02990342e+01] [ 1.54069882e-02 -4.99183225e-04 9.99881181e-01 1.25652356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.8892541539999 meters Centerline goodness : 0.999792 Centerline is valid? [True, True] Translation: X:808.39, Y:10.30, Z:12.56 [[ 9.96497446e-01 -8.21932790e-02 -1.53982408e-02 8.08391825e+02] [ 8.21919505e-02 9.96616257e-01 -7.20172395e-04 1.03020670e+01] [ 1.54053304e-02 -5.47961490e-04 9.99881181e-01 1.25645493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.9192541539999 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:808.42, Y:10.30, Z:12.57 [[ 9.96324379e-01 -8.42652423e-02 -1.53980581e-02 8.08420931e+02] [ 8.42641009e-02 9.96443193e-01 -7.24057418e-04 1.03041965e+01] [ 1.54043030e-02 -5.76107462e-04 9.99881181e-01 1.25657122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.9492541539998 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:808.45, Y:10.31, Z:12.57 [[ 9.96168361e-01 -8.60900852e-02 -1.53978755e-02 8.08449748e+02] [ 8.60891018e-02 9.96287176e-01 -7.27919367e-04 1.03066222e+01] [ 1.54033726e-02 -6.00459031e-04 9.99881181e-01 1.25675019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.9792541539999 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:808.48, Y:10.31, Z:12.57 [[ 9.96023543e-01 -8.77497161e-02 -1.53976929e-02 8.08478815e+02] [ 8.77488714e-02 9.96142359e-01 -7.31761976e-04 1.03090726e+01] [ 1.54025060e-02 -6.22278017e-04 9.99881181e-01 1.25677412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.0092541539999 meters Centerline goodness : 0.999813 Centerline is valid? [True, True] Translation: X:808.51, Y:10.31, Z:12.57 [[ 9.95851639e-01 -8.96795943e-02 -1.53975074e-02 8.08507524e+02] [ 8.96789199e-02 9.95970456e-01 -7.35644204e-04 1.03128006e+01] [ 1.54014348e-02 -6.48239347e-04 9.99881181e-01 1.25683817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.0392541539999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:808.54, Y:10.32, Z:12.57 [[ 9.95781097e-01 -9.04595495e-02 -1.53973220e-02 8.08536344e+02] [ 9.04589086e-02 9.95899914e-01 -7.39505139e-04 1.03159604e+01] [ 1.54010869e-02 -6.56439704e-04 9.99881181e-01 1.25705981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.0692541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:808.56, Y:10.32, Z:12.57 [[ 9.95764970e-01 -9.06369286e-02 -1.53971355e-02 8.08564898e+02] [ 9.06362493e-02 9.95883787e-01 -7.43366901e-04 1.03192041e+01] [ 1.54011342e-02 -6.55319895e-04 9.99881181e-01 1.25721333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.0992541539999 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:808.59, Y:10.32, Z:12.57 [[ 9.95961475e-01 -8.84515338e-02 -1.53969444e-02 8.08594639e+02] [ 8.84505329e-02 9.96080290e-01 -7.47304960e-04 1.03237677e+01] [ 1.54026931e-02 -6.17580987e-04 9.99881181e-01 1.25688937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.1292541539999 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:808.62, Y:10.33, Z:12.57 [[ 9.96102973e-01 -8.68435507e-02 -1.53969172e-02 8.08623031e+02] [ 8.68423494e-02 9.96221786e-01 -7.47865546e-04 1.03267854e+01] [ 1.54036916e-02 -5.92153366e-04 9.99881181e-01 1.25677480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.1592541539999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:808.65, Y:10.33, Z:12.57 [[ 9.96246242e-01 -8.51842795e-02 -1.53968766e-02 8.08652552e+02] [ 8.51828674e-02 9.96365053e-01 -7.48699453e-04 1.03302287e+01] [ 1.54046872e-02 -5.65661083e-04 9.99881181e-01 1.25698148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.1892541539999 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:808.68, Y:10.34, Z:12.57 [[ 9.96636279e-01 -8.04926406e-02 -1.53968498e-02 8.08681431e+02] [ 8.04906606e-02 9.96755081e-01 -7.49251301e-04 1.03357359e+01] [ 1.54071975e-02 -4.92571581e-04 9.99881181e-01 1.25685092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.2192541539999 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:808.71, Y:10.34, Z:12.57 [[ 9.96844700e-01 -7.78689972e-02 -1.53968365e-02 8.08710575e+02] [ 7.78667003e-02 9.96963497e-01 -7.49524772e-04 1.03393263e+01] [ 1.54084487e-02 -4.51741054e-04 9.99881181e-01 1.25694214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.2492541539999 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:808.74, Y:10.34, Z:12.57 [[ 9.97039546e-01 -7.53331467e-02 -1.53968100e-02 8.08739625e+02] [ 7.53305392e-02 9.97158336e-01 -7.50068432e-04 1.03428340e+01] [ 1.54095624e-02 -4.12002109e-04 9.99881181e-01 1.25702185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.2792541539999 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:808.77, Y:10.35, Z:12.57 [[ 9.97431297e-01 -6.99553173e-02 -1.53967837e-02 8.08768632e+02] [ 6.99520609e-02 9.97550072e-01 -7.50607950e-04 1.03476508e+01] [ 1.54115717e-02 -3.28356888e-04 9.99881181e-01 1.25709482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.3092541539999 meters Centerline goodness : 0.999772 Centerline is valid? [True, True] Translation: X:808.80, Y:10.35, Z:12.57 [[ 9.97587587e-01 -6.76900710e-02 -1.53967706e-02 8.08798537e+02] [ 6.76865408e-02 9.97706354e-01 -7.50875582e-04 1.03506825e+01] [ 1.54122827e-02 -2.93089982e-04 9.99881181e-01 1.25716665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.339254154 meters Centerline goodness : 0.999813 Centerline is valid? [True, True] Translation: X:808.83, Y:10.35, Z:12.57 [[ 9.97857755e-01 -6.35833384e-02 -1.53967448e-02 8.08826753e+02] [ 6.35793111e-02 9.97976506e-01 -7.51403839e-04 1.03548731e+01] [ 1.54133664e-02 -2.29120283e-04 9.99881181e-01 1.25720640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.3692541539999 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:808.86, Y:10.36, Z:12.57 [[ 9.97973012e-01 -6.17479490e-02 -1.53967064e-02 8.08856543e+02] [ 6.17436913e-02 9.98091755e-01 -7.52190420e-04 1.03575741e+01] [ 1.54137719e-02 -1.99983749e-04 9.99881181e-01 1.25714964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.3992541539999 meters Centerline goodness : 0.999855 Centerline is valid? [True, True] Translation: X:808.89, Y:10.36, Z:12.57 [[ 9.98084150e-01 -5.99247184e-02 -1.53966789e-02 8.08885348e+02] [ 5.99202351e-02 9.98202885e-01 -7.52753103e-04 1.03602163e+01] [ 1.54141178e-02 -1.71261678e-04 9.99881181e-01 1.25718945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.4292541539999 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:808.91, Y:10.36, Z:12.57 [[ 9.98204944e-01 -5.78777377e-02 -1.53966379e-02 8.08914880e+02] [ 5.78729980e-02 9.98323669e-01 -7.53590103e-04 1.03626521e+01] [ 1.54144442e-02 -1.38812229e-04 9.99881181e-01 1.25716984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.4592541539998 meters Centerline goodness : 0.999813 Centerline is valid? [True, True] Translation: X:808.94, Y:10.37, Z:12.57 [[ 9.98462877e-01 -5.32431090e-02 -1.53966109e-02 8.08943990e+02] [ 5.32378096e-02 9.98581578e-01 -7.54142933e-04 1.03659253e+01] [ 1.54149249e-02 -6.66981152e-05 9.99881181e-01 1.25693510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.4892541539999 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:808.97, Y:10.37, Z:12.57 [[ 9.98594471e-01 -5.07151716e-02 -1.53965832e-02 8.08973024e+02] [ 5.07095630e-02 9.98713157e-01 -7.54706886e-04 1.03680946e+01] [ 1.54150453e-02 -2.71078825e-05 9.99881181e-01 1.25709892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.5192541539999 meters Centerline goodness : 0.999855 Centerline is valid? [True, True] Translation: X:809.00, Y:10.37, Z:12.57 [[ 9.98729016e-01 -4.79926931e-02 -1.53965695e-02 8.09001812e+02] [ 4.79867567e-02 9.98847687e-01 -7.54986392e-04 1.03697720e+01] [ 1.54150617e-02 1.51953823e-05 9.99881181e-01 1.25705088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.5492541539999 meters Centerline goodness : 0.999855 Centerline is valid? [True, True] Translation: X:809.03, Y:10.37, Z:12.57 [[ 9.98718061e-01 -4.82201340e-02 -1.53965298e-02 8.09031061e+02] [ 4.82142121e-02 9.98836733e-01 -7.55794722e-04 1.03712812e+01] [ 1.54150641e-02 1.24942843e-05 9.99881181e-01 1.25709604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.5792541539998 meters Centerline goodness : 0.999813 Centerline is valid? [True, True] Translation: X:809.06, Y:10.37, Z:12.57 [[ 9.98846567e-01 -4.54806231e-02 -1.53963569e-02 8.09060399e+02] [ 4.54743218e-02 9.98965219e-01 -7.59301183e-04 1.03730570e+01] [ 1.54149585e-02 5.82864932e-05 9.99881181e-01 1.25714931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.6092541539999 meters Centerline goodness : 0.999813 Centerline is valid? [True, True] Translation: X:809.09, Y:10.37, Z:12.57 [[ 9.99079396e-01 -4.00414040e-02 -1.53963294e-02 8.09088881e+02] [ 4.00344481e-02 9.99198011e-01 -7.59858647e-04 1.03745139e+01] [ 1.54144075e-02 1.42775569e-04 9.99881181e-01 1.25742861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.6392541539999 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:809.12, Y:10.38, Z:12.57 [[ 9.99171603e-01 -3.76704317e-02 -1.53962884e-02 8.09118091e+02] [ 3.76631815e-02 9.99290201e-01 -7.60687596e-04 1.03756601e+01] [ 1.54140156e-02 1.80184239e-04 9.99881181e-01 1.25743512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.6692541539999 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:809.15, Y:10.38, Z:12.58 [[ 9.99242162e-01 -3.57499921e-02 -1.53960943e-02 8.09146422e+02] [ 3.57424539e-02 9.99360742e-01 -7.64596355e-04 1.03763489e+01] [ 1.54135866e-02 2.13722724e-04 9.99881181e-01 1.25757188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.6992541539998 meters Centerline goodness : 0.999813 Centerline is valid? [True, True] Translation: X:809.17, Y:10.37, Z:12.58 [[ 9.99335707e-01 -3.30319730e-02 -1.53958706e-02 8.09174704e+02] [ 3.30240432e-02 9.99454262e-01 -7.69075421e-04 1.03747763e+01] [ 1.54128725e-02 2.60130635e-04 9.99881181e-01 1.25753315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.7292541539999 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:809.20, Y:10.37, Z:12.58 [[ 9.99341501e-01 -3.28562684e-02 -1.53958013e-02 8.09202238e+02] [ 3.28482964e-02 9.99460052e-01 -7.70460215e-04 1.03740971e+01] [ 1.54128028e-02 2.64227024e-04 9.99881181e-01 1.25751194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.7592541539999 meters Centerline goodness : 0.999731 Centerline is valid? [True, True] Translation: X:809.23, Y:10.37, Z:12.57 [[ 9.99332566e-01 -3.31270203e-02 -1.53955793e-02 8.09230046e+02] [ 3.31190126e-02 9.99451115e-01 -7.74870686e-04 1.03729281e+01] [ 1.54127980e-02 2.64467127e-04 9.99881181e-01 1.25738412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.7892541539999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:809.26, Y:10.37, Z:12.58 [[ 9.99272219e-01 -3.49000786e-02 -1.53953575e-02 8.09257893e+02] [ 3.48922137e-02 9.99390778e-01 -7.79253319e-04 1.03686029e+01] [ 1.54131743e-02 2.41508090e-04 9.99881181e-01 1.25758093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.8192541539999 meters Centerline goodness : 0.999730 Centerline is valid? [True, True] Translation: X:809.29, Y:10.37, Z:12.57 [[ 9.99229360e-01 -3.61064419e-02 -1.53951328e-02 8.09286403e+02] [ 3.60986522e-02 9.99347924e-01 -7.83667486e-04 1.03666830e+01] [ 1.54133894e-02 2.27320018e-04 9.99881181e-01 1.25736471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.8492541539999 meters Centerline goodness : 0.999729 Centerline is valid? [True, True] Translation: X:809.31, Y:10.36, Z:12.57 [[ 9.99177784e-01 -3.75067108e-02 -1.53949080e-02 8.09314603e+02] [ 3.74990196e-02 9.99296354e-01 -7.88057550e-04 1.03647568e+01] [ 1.54136329e-02 2.10115639e-04 9.99881181e-01 1.25743605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.8792541539999 meters Centerline goodness : 0.999834 Centerline is valid? [True, True] Translation: X:809.34, Y:10.36, Z:12.57 [[ 9.99100508e-01 -3.95117563e-02 -1.53946779e-02 8.09341848e+02] [ 3.95042342e-02 9.99219089e-01 -7.92527784e-04 1.03600628e+01] [ 1.54139702e-02 1.83659951e-04 9.99881181e-01 1.25748147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.9092541539999 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:809.37, Y:10.36, Z:12.58 [[ 9.99068144e-01 -4.03218564e-02 -1.53945182e-02 8.09369915e+02] [ 4.03143828e-02 9.99186728e-01 -7.95617311e-04 1.03582006e+01] [ 1.54140791e-02 1.74255410e-04 9.99881181e-01 1.25751072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.9392541539999 meters Centerline goodness : 0.999813 Centerline is valid? [True, True] Translation: X:809.40, Y:10.35, Z:12.57 [[ 9.99035610e-01 -4.11201270e-02 -1.53942906e-02 8.09397466e+02] [ 4.11126807e-02 9.99154196e-01 -7.99998549e-04 1.03526871e+01] [ 1.54141660e-02 1.66326487e-04 9.99881181e-01 1.25749642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.9692541539999 meters Centerline goodness : 0.999793 Centerline is valid? [True, True] Translation: X:809.43, Y:10.35, Z:12.57 [[ 9.99038455e-01 -4.10510085e-02 -1.53941334e-02 8.09425968e+02] [ 4.10435075e-02 9.99157038e-01 -8.03011670e-04 1.03502372e+01] [ 1.54141211e-02 1.70410310e-04 9.99881181e-01 1.25744951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.9992541539999 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:809.45, Y:10.35, Z:12.58 [[ 9.99045832e-01 -4.08711682e-02 -1.53939077e-02 8.09454251e+02] [ 4.08635796e-02 9.99164409e-01 -8.07314646e-04 1.03483026e+01] [ 1.54140406e-02 1.77494159e-04 9.99881181e-01 1.25764150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.0292541539999 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:809.48, Y:10.35, Z:12.58 [[ 9.99068934e-01 -4.03025965e-02 -1.53936791e-02 8.09482110e+02] [ 4.02948736e-02 9.99187502e-01 -8.11649666e-04 1.03461416e+01] [ 1.54138834e-02 1.90607611e-04 9.99881181e-01 1.25751324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.0592541539999 meters Centerline goodness : 0.999729 Centerline is valid? [True, True] Translation: X:809.51, Y:10.34, Z:12.57 [[ 9.99139758e-01 -3.85069519e-02 -1.53934493e-02 8.09509402e+02] [ 3.84989492e-02 9.99258308e-01 -8.15986177e-04 1.03410868e+01] [ 1.54134532e-02 2.22652611e-04 9.99881181e-01 1.25746572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.089254154 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:809.54, Y:10.34, Z:12.57 [[ 9.99169683e-01 -3.77225248e-02 -1.53933494e-02 8.09537186e+02] [ 3.77144000e-02 9.99288224e-01 -8.17865263e-04 1.03390417e+01] [ 1.54132448e-02 2.36635237e-04 9.99881181e-01 1.25746554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.1192541539999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:809.56, Y:10.34, Z:12.58 [[ 9.99180887e-01 -3.74246731e-02 -1.53931222e-02 8.09564837e+02] [ 3.74164475e-02 9.99299421e-01 -8.22120038e-04 1.03371953e+01] [ 1.54131057e-02 2.45490681e-04 9.99881181e-01 1.25764207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.1492541539999 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:809.59, Y:10.33, Z:12.58 [[ 9.99229337e-01 -3.61080402e-02 -1.53928953e-02 8.09592729e+02] [ 3.60995934e-02 9.99347856e-01 -8.26345844e-04 1.03308368e+01] [ 1.54126947e-02 2.70031747e-04 9.99881181e-01 1.25768315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.1792541539999 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:809.62, Y:10.33, Z:12.58 [[ 9.99246643e-01 -3.56259980e-02 -1.53926597e-02 8.09621082e+02] [ 3.56174267e-02 9.99365153e-01 -8.30712575e-04 1.03285073e+01] [ 1.54124827e-02 2.81839825e-04 9.99881181e-01 1.25769791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.2092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:809.65, Y:10.33, Z:12.58 [[ 9.99274471e-01 -3.48368384e-02 -1.53924197e-02 8.09647965e+02] [ 3.48281054e-02 9.99392969e-01 -8.35136460e-04 1.03265266e+01] [ 1.54121695e-02 2.98441731e-04 9.99881181e-01 1.25806272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.2392541539999 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:809.68, Y:10.32, Z:12.58 [[ 9.99359367e-01 -3.23099474e-02 -1.53923152e-02 8.09676696e+02] [ 3.23008852e-02 9.99477840e-01 -8.37056341e-04 1.03202418e+01] [ 1.54113232e-02 3.39334688e-04 9.99881181e-01 1.25788943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.2692541539999 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:809.71, Y:10.32, Z:12.58 [[ 9.99408864e-01 -3.07409718e-02 -1.53920746e-02 8.09705261e+02] [ 3.07316559e-02 9.99527317e-01 -8.41458683e-04 1.03176224e+01] [ 1.54106663e-02 3.67937327e-04 9.99881181e-01 1.25799325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.2992541539999 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] Translation: X:809.73, Y:10.31, Z:12.58 [[ 9.99451588e-01 -2.93191873e-02 -1.53918318e-02 8.09733690e+02] [ 2.93096348e-02 9.99570022e-01 -8.45876337e-04 1.03149591e+01] [ 1.54100141e-02 3.94283479e-04 9.99881181e-01 1.25801457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.3292541539998 meters Centerline goodness : 0.999834 Centerline is valid? [True, True] Translation: X:809.76, Y:10.31, Z:12.58 [[ 9.99517992e-01 -2.69607767e-02 -1.53915826e-02 8.09760685e+02] [ 2.69508755e-02 9.99636398e-01 -8.50386627e-04 1.03078901e+01] [ 1.54089133e-02 4.35160108e-04 9.99881181e-01 1.25818050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.3592541539999 meters Centerline goodness : 0.999855 Centerline is valid? [True, True] Translation: X:809.79, Y:10.31, Z:12.58 [[ 9.99536594e-01 -2.62622067e-02 -1.53913323e-02 8.09788039e+02] [ 2.62521534e-02 9.99654987e-01 -8.54892223e-04 1.03053503e+01] [ 1.54084735e-02 4.50440444e-04 9.99881181e-01 1.25827432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.3892541539999 meters Centerline goodness : 0.999628 Centerline is valid? [True, True] Translation: X:809.82, Y:10.30, Z:12.58 [[ 9.99567322e-01 -2.50654861e-02 -1.53912249e-02 8.09816012e+02] [ 2.50552614e-02 9.99685701e-01 -8.56821467e-04 1.02985389e+01] [ 1.54078641e-02 4.70819576e-04 9.99881181e-01 1.25820393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.4192541539999 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:809.84, Y:10.30, Z:12.59 [[ 9.99572724e-01 -2.48492851e-02 -1.53909755e-02 8.09843221e+02] [ 2.48389662e-02 9.99691094e-01 -8.61278268e-04 1.02956602e+01] [ 1.54076233e-02 4.78614343e-04 9.99881181e-01 1.25850782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.4492541539998 meters Centerline goodness : 0.999793 Centerline is valid? [True, True] Translation: X:809.87, Y:10.29, Z:12.58 [[ 9.99556892e-01 -2.54782442e-02 -1.53908672e-02 8.09871709e+02] [ 2.54679701e-02 9.99675266e-01 -8.63210110e-04 1.02878518e+01] [ 1.54078623e-02 4.70853469e-04 9.99881181e-01 1.25837177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.4792541539999 meters Centerline goodness : 0.999773 Centerline is valid? [True, True] Translation: X:809.90, Y:10.28, Z:12.58 [[ 9.99500477e-01 -2.76029985e-02 -1.53906128e-02 8.09900015e+02] [ 2.75929066e-02 9.99618867e-01 -8.67721801e-04 1.02805550e+01] [ 1.54086987e-02 4.42616612e-04 9.99881181e-01 1.25846882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.5092541539999 meters Centerline goodness : 0.999793 Centerline is valid? [True, True] Translation: X:809.93, Y:10.27, Z:12.59 [[ 9.99351998e-01 -3.25379188e-02 -1.53905340e-02 8.09928646e+02] [ 3.25283901e-02 9.99470434e-01 -8.69118228e-04 1.02686302e+01] [ 1.54106630e-02 3.67925744e-04 9.99881181e-01 1.25864705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.5392541539999 meters Centerline goodness : 0.999792 Centerline is valid? [True, True] Translation: X:809.96, Y:10.27, Z:12.59 [[ 9.99282980e-01 -3.45928395e-02 -1.53902835e-02 8.09955879e+02] [ 3.45834864e-02 9.99401431e-01 -8.73531005e-04 1.02660480e+01] [ 1.54112893e-02 3.40655005e-04 9.99881181e-01 1.25872131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.5692541539999 meters Centerline goodness : 0.999792 Centerline is valid? [True, True] Translation: X:809.98, Y:10.25, Z:12.58 [[ 9.98804946e-01 -4.63878711e-02 -1.53897800e-02 8.09984635e+02] [ 4.63797810e-02 9.98923489e-01 -8.82362143e-04 1.02468445e+01] [ 1.54141436e-02 1.67533048e-04 9.99881181e-01 1.25846571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.5992541539999 meters Centerline goodness : 0.999813 Centerline is valid? [True, True] Translation: X:810.01, Y:10.24, Z:12.58 [[ 9.98640759e-01 -4.97974373e-02 -1.53899525e-02 8.10012688e+02] [ 4.97897985e-02 9.98759332e-01 -8.79341991e-04 1.02445313e+01] [ 1.54146477e-02 1.11884118e-04 9.99881181e-01 1.25846408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.6292541539999 meters Centerline goodness : 0.999813 Centerline is valid? [True, True] Translation: X:810.04, Y:10.25, Z:12.59 [[ 9.98627080e-01 -5.00710686e-02 -1.53897103e-02 8.10041132e+02] [ 5.00633973e-02 9.98745651e-01 -8.83561393e-04 1.02462575e+01] [ 1.54146471e-02 1.11887153e-04 9.99881181e-01 1.25850798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.6592541539999 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:810.07, Y:10.24, Z:12.58 [[ 9.98452147e-01 -5.34459988e-02 -1.53894670e-02 8.10068768e+02] [ 5.34386633e-02 9.98570739e-01 -8.87777692e-04 1.02442762e+01] [ 1.54149196e-02 6.40109946e-05 9.99881181e-01 1.25849907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.6892541539999 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:810.10, Y:10.25, Z:12.59 [[ 9.98438660e-01 -5.36978027e-02 -1.53879474e-02 8.10097211e+02] [ 5.36900932e-02 9.98557228e-01 -9.13984284e-04 1.02460145e+01] [ 1.54148251e-02 8.63769113e-05 9.99881181e-01 1.25854283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.7192541539999 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:810.13, Y:10.25, Z:12.59 [[ 9.98425108e-01 -5.39492595e-02 -1.53877198e-02 8.10125654e+02] [ 5.39415196e-02 9.98543675e-01 -9.17893684e-04 1.02477501e+01] [ 1.54148299e-02 8.64111128e-05 9.99881181e-01 1.25858674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.7492541539999 meters Centerline goodness : 0.999876 Centerline is valid? [True, True] Translation: X:810.15, Y:10.25, Z:12.59 [[ 9.98192934e-01 -5.80869294e-02 -1.53874717e-02 8.10154126e+02] [ 5.80796156e-02 9.98311529e-01 -9.22134356e-04 1.02460586e+01] [ 1.54150543e-02 2.67695598e-05 9.99881181e-01 1.25874652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.7792541539999 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:810.18, Y:10.24, Z:12.59 [[ 9.97957571e-01 -6.19989912e-02 -1.53887116e-02 8.10182593e+02] [ 6.19924689e-02 9.98076211e-01 -9.00955607e-04 1.02444315e+01] [ 1.54149653e-02 -5.48687572e-05 9.99881181e-01 1.25899020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.8092541539999 meters Centerline goodness : 0.999834 Centerline is valid? [True, True] Translation: X:810.21, Y:10.24, Z:12.59 [[ 9.97158969e-01 -7.37372687e-02 -1.53884646e-02 8.10211076e+02] [ 7.37320780e-02 9.97277675e-01 -9.05155152e-04 1.02376607e+01] [ 1.54133159e-02 -2.32039893e-04 9.99881181e-01 1.25902142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.839254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:810.24, Y:10.23, Z:12.59 [[ 9.95200074e-01 -9.66437610e-02 -1.53882066e-02 8.10239004e+02] [ 9.66412335e-02 9.95318866e-01 -9.09519537e-04 1.02304571e+01] [ 1.54040718e-02 -5.81981360e-04 9.99881181e-01 1.25935962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.8692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:810.27, Y:10.23, Z:12.60 [[ 9.94928769e-01 -9.93979465e-02 -1.53880948e-02 8.10266914e+02] [ 9.93957187e-02 9.95047567e-01 -9.11407077e-04 1.02319446e+01] [ 1.54024783e-02 -6.22725625e-04 9.99881181e-01 1.25950927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.8992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:810.30, Y:10.23, Z:12.60 [[ 9.94900684e-01 -9.96787052e-02 -1.53878382e-02 8.10295363e+02] [ 9.96764443e-02 9.95019481e-01 -9.15719868e-04 1.02337154e+01] [ 1.54024765e-02 -6.22754674e-04 9.99881181e-01 1.25955318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.9292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:810.32, Y:10.24, Z:12.60 [[ 9.94872519e-01 -9.99594565e-02 -1.53875786e-02 8.10323813e+02] [ 9.99571621e-02 9.94991316e-01 -9.20061635e-04 1.02354943e+01] [ 1.54024759e-02 -6.22754649e-04 9.99881181e-01 1.25959708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.9592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:810.35, Y:10.24, Z:12.60 [[ 9.94844276e-01 -1.00240200e-01 -1.53873177e-02 8.10352261e+02] [ 1.00237872e-01 9.94963072e-01 -9.24403329e-04 1.02372812e+01] [ 1.54024753e-02 -6.22754625e-04 9.99881181e-01 1.25964099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.9892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:810.38, Y:10.24, Z:12.60 [[ 9.94815953e-01 -1.00520935e-01 -1.53870557e-02 8.10380710e+02] [ 1.00518574e-01 9.94934749e-01 -9.28744949e-04 1.02390761e+01] [ 1.54024747e-02 -6.22754600e-04 9.99881181e-01 1.25968490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.0192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:810.41, Y:10.24, Z:12.60 [[ 9.94787551e-01 -1.00801662e-01 -1.53867924e-02 8.10409157e+02] [ 1.00799267e-01 9.94906346e-01 -9.33086494e-04 1.02408791e+01] [ 1.54024741e-02 -6.22754575e-04 9.99881181e-01 1.25972880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.0492541539999 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:810.44, Y:10.24, Z:12.60 [[ 9.94474423e-01 -1.03845450e-01 -1.53865279e-02 8.10436929e+02] [ 1.03843351e-01 9.94593223e-01 -9.37427965e-04 1.02431288e+01] [ 1.54006840e-02 -6.65540491e-04 9.99881181e-01 1.25954145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.0792541539998 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:810.47, Y:10.24, Z:12.60 [[ 9.94444748e-01 -1.04129279e-01 -1.53862612e-02 8.10465376e+02] [ 1.04127147e-01 9.94563548e-01 -9.41785897e-04 1.02449514e+01] [ 1.54006820e-02 -6.65573444e-04 9.99881181e-01 1.25958536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.1092541539999 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:810.49, Y:10.25, Z:12.60 [[ 9.94170929e-01 -1.06711928e-01 -1.53859911e-02 8.10492995e+02] [ 1.06710037e-01 9.94289733e-01 -9.46176705e-04 1.02475145e+01] [ 1.53991014e-02 -7.01178305e-04 9.99881181e-01 1.25958399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.1392541539999 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:810.52, Y:10.25, Z:12.60 [[ 9.93913546e-01 -1.09083193e-01 -1.53857098e-02 8.10520466e+02] [ 1.09081515e-01 9.94032353e-01 -9.50729866e-04 1.02506989e+01] [ 1.53976020e-02 -7.33353247e-04 9.99881181e-01 1.25959758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.1692541539999 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:810.55, Y:10.26, Z:12.60 [[ 9.93591713e-01 -1.11976776e-01 -1.53853895e-02 8.10547086e+02] [ 1.11975365e-01 9.93710523e-01 -9.55885273e-04 1.02556797e+01] [ 1.53956604e-02 -7.73024912e-04 9.99881181e-01 1.25974126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.1992541539998 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:810.57, Y:10.26, Z:12.60 [[ 9.93506452e-01 -1.12730761e-01 -1.53852399e-02 8.10574231e+02] [ 1.12729403e-01 9.93625263e-01 -9.58286821e-04 1.02619636e+01] [ 1.53951915e-02 -7.82304763e-04 9.99881181e-01 1.25979095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.2292541539999 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:810.60, Y:10.26, Z:12.60 [[ 9.93474904e-01 -1.13008462e-01 -1.53851217e-02 8.10602673e+02] [ 1.13007108e-01 9.93593716e-01 -9.60180820e-04 1.02638110e+01] [ 1.53950688e-02 -7.84712558e-04 9.99881181e-01 1.25983487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.2592541539999 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:810.63, Y:10.27, Z:12.60 [[ 9.93675142e-01 -1.11234073e-01 -1.53848521e-02 8.10630563e+02] [ 1.11232440e-01 9.93793950e-01 -9.64481265e-04 1.02714916e+01] [ 1.53966561e-02 -7.52913577e-04 9.99881181e-01 1.25986933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.2892541539999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:810.66, Y:10.28, Z:12.60 [[ 9.93876095e-01 -1.09424049e-01 -1.53845702e-02 8.10657405e+02] [ 1.09422130e-01 9.93994899e-01 -9.68957043e-04 1.02769949e+01] [ 1.53982115e-02 -7.20389200e-04 9.99881181e-01 1.25990722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.3192541539999 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] Translation: X:810.69, Y:10.29, Z:12.60 [[ 9.94331097e-01 -1.05209266e-01 -1.53843785e-02 8.10685209e+02] [ 1.05206796e-01 9.94449891e-01 -9.71991085e-04 1.02870938e+01] [ 1.54012560e-02 -6.52060214e-04 9.99881181e-01 1.25968476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.3492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:810.71, Y:10.29, Z:12.60 [[ 9.94576583e-01 -1.02862776e-01 -1.53841007e-02 8.10712695e+02] [ 1.02859959e-01 9.94695368e-01 -9.76368333e-04 1.02929804e+01] [ 1.54029257e-02 -6.11334893e-04 9.99881181e-01 1.26028379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.3792541539999 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:810.74, Y:10.30, Z:12.60 [[ 9.94746934e-01 -1.01202154e-01 -1.53838211e-02 8.10739977e+02] [ 1.01199071e-01 9.94865713e-01 -9.80753642e-04 1.02991173e+01] [ 1.54040906e-02 -5.81226732e-04 9.99881181e-01 1.25995603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.4092541539999 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:810.77, Y:10.31, Z:12.60 [[ 9.95164252e-01 -9.70126734e-02 -1.53835356e-02 8.10766183e+02] [ 9.70090212e-02 9.95283015e-01 -9.85211677e-04 1.03087518e+01] [ 1.54065497e-02 -5.11894293e-04 9.99881181e-01 1.26003321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.4392541539999 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:810.79, Y:10.31, Z:12.60 [[ 9.95329868e-01 -9.52985295e-02 -1.53832487e-02 8.10793599e+02] [ 9.52946039e-02 9.95448622e-01 -9.89671276e-04 1.03148201e+01] [ 1.54075480e-02 -4.80891214e-04 9.99881181e-01 1.26010654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.4692541539999 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:810.82, Y:10.32, Z:12.60 [[ 9.95302551e-01 -9.55834523e-02 -1.53829604e-02 8.10822026e+02] [ 9.55794918e-02 9.95421304e-01 -9.94133055e-04 1.03167308e+01] [ 1.54075492e-02 -4.80832369e-04 9.99881181e-01 1.26015044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.4992541539999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:810.85, Y:10.32, Z:12.60 [[ 9.95487038e-01 -9.36425630e-02 -1.53826746e-02 8.10848197e+02] [ 9.36383030e-02 9.95605781e-01 -9.98536015e-04 1.03228407e+01] [ 1.54085852e-02 -4.46377882e-04 9.99881181e-01 1.26047191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.5292541539999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:810.88, Y:10.33, Z:12.61 [[ 9.95857983e-01 -8.96116860e-02 -1.53825505e-02 8.10876009e+02] [ 8.96069158e-02 9.95976706e-01 -1.00044330e-03 1.03330188e+01] [ 1.54103134e-02 -3.82083464e-04 9.99881181e-01 1.26066753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.5592541539999 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:810.90, Y:10.34, Z:12.61 [[ 9.96039610e-01 -8.75698705e-02 -1.53822619e-02 8.10902602e+02] [ 8.75647887e-02 9.96158320e-01 -1.00486204e-03 1.03388977e+01] [ 1.54111638e-02 -3.46062115e-04 9.99881181e-01 1.26066457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.5892541539998 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:810.93, Y:10.34, Z:12.60 [[ 9.96193393e-01 -8.58027744e-02 -1.53820636e-02 8.10930304e+02] [ 8.57974354e-02 9.96312092e-01 -1.00788779e-03 1.03445194e+01] [ 1.54118155e-02 -3.15690455e-04 9.99881181e-01 1.26035632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.6192541539999 meters Centerline goodness : 0.999813 Centerline is valid? [True, True] Translation: X:810.96, Y:10.36, Z:12.60 [[ 9.96477268e-01 -8.24406183e-02 -1.53817695e-02 8.10955953e+02] [ 8.24348098e-02 9.96595945e-01 -1.01235654e-03 1.03553805e+01] [ 1.54128684e-02 -2.59202961e-04 9.99881181e-01 1.26003545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.6492541539999 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:810.99, Y:10.36, Z:12.60 [[ 9.96682765e-01 -7.99189082e-02 -1.53764188e-02 8.10986087e+02] [ 7.99115517e-02 9.96801359e-01 -1.09323267e-03 1.03593108e+01] [ 1.54146052e-02 -1.39147329e-04 9.99881178e-01 1.26019171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.6792541539999 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:811.01, Y:10.36, Z:12.60 [[ 9.96821490e-01 -7.81686097e-02 -1.53813173e-02 8.11013833e+02] [ 7.81621852e-02 9.96940136e-01 -1.01931641e-03 1.03644292e+01] [ 1.54139311e-02 -1.86160871e-04 9.99881181e-01 1.26026126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.7092541539998 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:811.04, Y:10.37, Z:12.60 [[ 9.96985281e-01 -7.60511231e-02 -1.53810175e-02 8.11040590e+02] [ 7.60443771e-02 9.97103909e-01 -1.02382014e-03 1.03691233e+01] [ 1.54143354e-02 -1.48906289e-04 9.99881181e-01 1.26026644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.7392541539999 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:811.07, Y:10.38, Z:12.60 [[ 9.97273234e-01 -7.21770414e-02 -1.53808873e-02 8.11068306e+02] [ 7.21698045e-02 9.97391832e-01 -1.02577232e-03 1.03768724e+01] [ 1.54148086e-02 -8.70603553e-05 9.99881181e-01 1.26044329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.7692541539999 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:811.10, Y:10.38, Z:12.60 [[ 9.97411897e-01 -7.02349244e-02 -1.53805885e-02 8.11095923e+02] [ 7.02273878e-02 9.97530477e-01 -1.03023341e-03 1.03811171e+01] [ 1.54149642e-02 -5.25714946e-05 9.99881181e-01 1.26033144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.7992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:811.12, Y:10.39, Z:12.61 [[ 9.97548581e-01 -6.82662033e-02 -1.53802860e-02 8.11122939e+02] [ 6.82583632e-02 9.97667142e-01 -1.03473064e-03 1.03854187e+01] [ 1.54150431e-02 -1.76390659e-05 9.99881181e-01 1.26080423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.8292541539998 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:811.15, Y:10.39, Z:12.60 [[ 9.97850137e-01 -6.37068018e-02 -1.53800777e-02 8.11149794e+02] [ 6.36983724e-02 9.97968657e-01 -1.03781727e-03 1.03908204e+01] [ 1.54149515e-02 5.59001852e-05 9.99881181e-01 1.26046963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.8592541539999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:811.18, Y:10.39, Z:12.60 [[ 9.97992005e-01 -6.14444076e-02 -1.53799475e-02 8.11177748e+02] [ 6.14356800e-02 9.98110503e-01 -1.03974266e-03 1.03942208e+01] [ 1.54147735e-02 9.27773259e-05 9.99881181e-01 1.26049564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.8892541539999 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:811.21, Y:10.40, Z:12.60 [[ 9.98279732e-01 -5.65777661e-02 -1.53796514e-02 8.11205755e+02] [ 5.65683936e-02 9.98398180e-01 -1.04410462e-03 1.03975737e+01] [ 1.54140891e-02 1.72306302e-04 9.99881181e-01 1.26038751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.9192541539999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:811.23, Y:10.40, Z:12.60 [[ 9.98411787e-01 -5.41975935e-02 -1.53793467e-02 8.11232341e+02] [ 5.41878698e-02 9.98530208e-01 -1.04857380e-03 1.04002132e+01] [ 1.54135724e-02 2.13534410e-04 9.99881181e-01 1.26049156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.9492541539998 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:811.26, Y:10.40, Z:12.60 [[ 9.98530987e-01 -5.19552523e-02 -1.53792148e-02 8.11259989e+02] [ 5.19452329e-02 9.98649383e-01 -1.05050438e-03 1.04025144e+01] [ 1.54130226e-02 2.50084279e-04 9.99881181e-01 1.26041527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.9792541539999 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:811.29, Y:10.40, Z:12.60 [[ 9.98646126e-01 -4.96931119e-02 -1.53789045e-02 8.11286900e+02] [ 4.96827547e-02 9.98764492e-01 -1.05502762e-03 1.04045690e+01] [ 1.54123313e-02 2.89532904e-04 9.99881181e-01 1.26044627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.0092541539999 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:811.31, Y:10.41, Z:12.61 [[ 9.98879979e-01 -4.47468831e-02 -1.53786894e-02 8.11314103e+02] [ 4.47358918e-02 9.98998288e-01 -1.05815365e-03 1.04060335e+01] [ 1.54106335e-02 3.68989116e-04 9.99881181e-01 1.26050080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.0392541539999 meters Centerline goodness : 0.999834 Centerline is valid? [True, True] Translation: X:811.34, Y:10.41, Z:12.61 [[ 9.98985400e-01 -4.23281294e-02 -1.53785580e-02 8.11342483e+02] [ 4.23168223e-02 9.99103680e-01 -1.06005965e-03 1.04074872e+01] [ 1.54096442e-02 4.08212405e-04 9.99881181e-01 1.26058294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.0692541539999 meters Centerline goodness : 0.999793 Centerline is valid? [True, True] Translation: X:811.37, Y:10.41, Z:12.61 [[ 9.99083443e-01 -3.99472699e-02 -1.53782471e-02 8.11370539e+02] [ 3.99356118e-02 9.99201688e-01 -1.06455116e-03 1.04085553e+01] [ 1.54084964e-02 4.49435730e-04 9.99881181e-01 1.26060194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.0992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:811.40, Y:10.41, Z:12.61 [[ 9.99236076e-01 -3.59274858e-02 -1.53779369e-02 8.11398457e+02] [ 3.59152836e-02 9.99354266e-01 -1.06901375e-03 1.04076680e+01] [ 1.54064138e-02 5.15894137e-04 9.99881181e-01 1.26092144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.1292541539999 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:811.43, Y:10.41, Z:12.61 [[ 9.99308111e-01 -3.38648547e-02 -1.53776241e-02 8.11426920e+02] [ 3.38523396e-02 9.99426269e-01 -1.07349487e-03 1.04074340e+01] [ 1.54051552e-02 5.52183578e-04 9.99881181e-01 1.26052066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.1592541539999 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:811.45, Y:10.41, Z:12.61 [[ 9.99370600e-01 -3.19678290e-02 -1.53773099e-02 8.11453554e+02] [ 3.19550209e-02 9.99488727e-01 -1.07797590e-03 1.04071984e+01] [ 1.54039085e-02 5.85915162e-04 9.99881181e-01 1.26062774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.1892541539999 meters Centerline goodness : 0.999814 Centerline is valid? [True, True] Translation: X:811.48, Y:10.40, Z:12.61 [[ 9.99470471e-01 -2.86761400e-02 -1.53771731e-02 8.11481739e+02] [ 2.86629130e-02 9.99588551e-01 -1.07992388e-03 1.04039265e+01] [ 1.54018142e-02 6.38597451e-04 9.99881181e-01 1.26058977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.2192541539999 meters Centerline goodness : 0.999855 Centerline is valid? [True, True] Translation: X:811.51, Y:10.40, Z:12.61 [[ 9.99512617e-01 -2.71676448e-02 -1.53768628e-02 8.11509596e+02] [ 2.71541720e-02 9.99630669e-01 -1.08432407e-03 1.04026547e+01] [ 1.54006422e-02 6.66249612e-04 9.99881181e-01 1.26057294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.2492541539999 meters Centerline goodness : 0.999834 Centerline is valid? [True, True] Translation: X:811.54, Y:10.40, Z:12.61 [[ 9.99566984e-01 -2.50879799e-02 -1.53765517e-02 8.11537536e+02] [ 2.50741940e-02 9.99685000e-01 -1.08871817e-03 1.03977439e+01] [ 1.53990218e-02 7.02692099e-04 9.99881181e-01 1.26060285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.2792541539999 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:811.57, Y:10.40, Z:12.61 [[ 9.99583181e-01 -2.44343278e-02 -1.53762354e-02 8.11566156e+02] [ 2.44203964e-02 9.99701180e-01 -1.09316681e-03 1.03962341e+01] [ 1.53983515e-02 7.17217391e-04 9.99881181e-01 1.26069144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.3092541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:811.59, Y:10.39, Z:12.61 [[ 9.99588138e-01 -2.42308792e-02 -1.53759196e-02 8.11594337e+02] [ 2.42168559e-02 9.99706126e-01 -1.09759202e-03 1.03943592e+01] [ 1.53979966e-02 7.24783540e-04 9.99881181e-01 1.26105538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.3392541539998 meters Centerline goodness : 0.999793 Centerline is valid? [True, True] Translation: X:811.62, Y:10.39, Z:12.61 [[ 9.99592652e-01 -2.40441641e-02 -1.53756049e-02 8.11623240e+02] [ 2.40300514e-02 9.99710629e-01 -1.10198256e-03 1.03882878e+01] [ 1.53976519e-02 7.32057094e-04 9.99881181e-01 1.26081449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.3692541539999 meters Centerline goodness : 0.999814 Centerline is valid? [True, True] Translation: X:811.65, Y:10.39, Z:12.61 [[ 9.99580774e-01 -2.45331894e-02 -1.53752870e-02 8.11651729e+02] [ 2.45190666e-02 9.99698750e-01 -1.10640041e-03 1.03859164e+01] [ 1.53977987e-02 7.28948893e-04 9.99881181e-01 1.26116346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.3992541539999 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:811.68, Y:10.38, Z:12.61 [[ 9.99570230e-01 -2.49592896e-02 -1.53749606e-02 8.11678765e+02] [ 2.49451478e-02 9.99688204e-01 -1.11091731e-03 1.03832699e+01] [ 1.53978945e-02 7.26909207e-04 9.99881181e-01 1.26096287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.4292541539999 meters Centerline goodness : 0.999731 Centerline is valid? [True, True] Translation: X:811.71, Y:10.38, Z:12.61 [[ 9.99547349e-01 -2.58594811e-02 -1.53748190e-02 8.11706807e+02] [ 2.58454155e-02 9.99665332e-01 -1.11287310e-03 1.03805876e+01] [ 1.53984519e-02 7.15000772e-04 9.99881181e-01 1.26077992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.4592541539998 meters Centerline goodness : 0.999750 Centerline is valid? [True, True] Translation: X:811.73, Y:10.37, Z:12.61 [[ 9.99486835e-01 -2.81014500e-02 -1.53744940e-02 8.11734815e+02] [ 2.80875804e-02 9.99604842e-01 -1.11734595e-03 1.03729465e+01] [ 1.53998177e-02 6.84940229e-04 9.99881181e-01 1.26073318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.4892541539999 meters Centerline goodness : 0.999813 Centerline is valid? [True, True] Translation: X:811.76, Y:10.37, Z:12.61 [[ 9.99443674e-01 -2.95968163e-02 -1.53743530e-02 8.11762907e+02] [ 2.95830936e-02 9.99561698e-01 -1.11928286e-03 1.03701945e+01] [ 1.54007416e-02 6.63839249e-04 9.99881181e-01 1.26082024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.5192541539999 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:811.79, Y:10.36, Z:12.61 [[ 9.99396734e-01 -3.11417131e-02 -1.53740319e-02 8.11791894e+02] [ 3.11281053e-02 9.99514772e-01 -1.12367624e-03 1.03623617e+01] [ 1.54015651e-02 6.44433881e-04 9.99881181e-01 1.26083243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.5492541539999 meters Centerline goodness : 0.999855 Centerline is valid? [True, True] Translation: X:811.82, Y:10.36, Z:12.61 [[ 9.99380674e-01 -3.16530920e-02 -1.53736990e-02 8.11819574e+02] [ 3.16394750e-02 9.99498710e-01 -1.12821185e-03 1.03594330e+01] [ 1.54017037e-02 6.41097357e-04 9.99881181e-01 1.26094795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.5792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:811.85, Y:10.36, Z:12.61 [[ 9.99379714e-01 -3.16834949e-02 -1.53734699e-02 8.11847462e+02] [ 3.16698337e-02 9.99497745e-01 -1.13132482e-03 1.03561514e+01] [ 1.54015928e-02 6.43747840e-04 9.99881181e-01 1.26141486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.6092541539999 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:811.88, Y:10.35, Z:12.61 [[ 9.99369798e-01 -3.19949119e-02 -1.53731377e-02 8.11876022e+02] [ 3.19812184e-02 9.99487825e-01 -1.13582111e-03 1.03484768e+01] [ 1.54016045e-02 6.43453637e-04 9.99881181e-01 1.26093053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.6392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:811.90, Y:10.34, Z:12.61 [[ 9.99400903e-01 -3.10082620e-02 -1.53728034e-02 8.11902834e+02] [ 3.09943828e-02 9.99518908e-01 -1.14032874e-03 1.03449875e+01] [ 1.54007672e-02 6.63175016e-04 9.99881181e-01 1.26142849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.6692541539999 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:811.93, Y:10.34, Z:12.61 [[ 9.99412173e-01 -3.06429558e-02 -1.53726584e-02 8.11931316e+02] [ 3.06290035e-02 9.99530169e-01 -1.14227884e-03 1.03424835e+01] [ 1.54004387e-02 6.70758165e-04 9.99881181e-01 1.26113025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.6992541539998 meters Centerline goodness : 0.999772 Centerline is valid? [True, True] Translation: X:811.96, Y:10.34, Z:12.61 [[ 9.99472441e-01 -2.86099716e-02 -1.53723257e-02 8.11958864e+02] [ 2.85957109e-02 9.99590401e-01 -1.14673980e-03 1.03352477e+01] [ 1.53988374e-02 7.06552244e-04 9.99881181e-01 1.26086348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.7292541539999 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:811.99, Y:10.33, Z:12.61 [[ 9.99501851e-01 -2.75635435e-02 -1.53720972e-02 8.11987277e+02] [ 2.75491124e-02 9.99619790e-01 -1.14979411e-03 1.03324259e+01] [ 1.53979450e-02 7.25733709e-04 9.99881181e-01 1.26095639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.7592541539999 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:812.01, Y:10.33, Z:12.61 [[ 9.99526994e-01 -2.66363780e-02 -1.53717672e-02 8.12014480e+02] [ 2.66217701e-02 9.99644912e-01 -1.15418955e-03 1.03297433e+01] [ 1.53970523e-02 7.44419956e-04 9.99881181e-01 1.26096247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.7892541539999 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:812.04, Y:10.33, Z:12.61 [[ 9.99563710e-01 -2.52210819e-02 -1.53716240e-02 8.12043030e+02] [ 2.52062778e-02 9.99681603e-01 -1.15609309e-03 1.03265432e+01] [ 1.53958877e-02 7.68127274e-04 9.99881181e-01 1.26131115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.8192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:812.07, Y:10.32, Z:12.61 [[ 9.99640545e-01 -2.19659605e-02 -1.53712979e-02 8.12071800e+02] [ 2.19507063e-02 9.99758381e-01 -1.16041281e-03 1.03187580e+01] [ 1.53930735e-02 8.22584844e-04 9.99881181e-01 1.26137253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.8492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:812.10, Y:10.32, Z:12.61 [[ 9.99668178e-01 -2.06710222e-02 -1.53702026e-02 8.12100041e+02] [ 2.06553936e-02 9.99785964e-01 -1.17488714e-03 1.03158463e+01] [ 1.53911990e-02 8.57019702e-04 9.99881181e-01 1.26142319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.8792541539999 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:812.13, Y:10.31, Z:12.61 [[ 9.99679823e-01 -2.00993581e-02 -1.53709912e-02 8.12128373e+02] [ 2.00838216e-02 9.99797622e-01 -1.16447805e-03 1.03137112e+01] [ 1.53912857e-02 8.55396964e-04 9.99881181e-01 1.26113043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.9092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:812.16, Y:10.31, Z:12.62 [[ 9.99702158e-01 -1.89562012e-02 -1.53706695e-02 8.12156201e+02] [ 1.89404652e-02 9.99819930e-01 -1.16870884e-03 1.03105507e+01] [ 1.53900560e-02 8.77233122e-04 9.99881181e-01 1.26156567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.9392541539999 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:812.18, Y:10.30, Z:12.61 [[ 9.99715386e-01 -1.82455590e-02 -1.53703472e-02 8.12183957e+02] [ 1.82296745e-02 9.99833138e-01 -1.17293298e-03 1.03034237e+01] [ 1.53891833e-02 8.92402721e-04 9.99881181e-01 1.26143097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.9692541539999 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:812.21, Y:10.30, Z:12.61 [[ 9.99708130e-01 -1.86389761e-02 -1.53702072e-02 8.12212109e+02] [ 1.86231099e-02 9.99825885e-01 -1.17476366e-03 1.03008321e+01] [ 1.53894275e-02 8.88179721e-04 9.99881181e-01 1.26133646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.9992541539999 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:812.24, Y:10.30, Z:12.61 [[ 9.99692466e-01 -1.94612338e-02 -1.53698782e-02 8.12240840e+02] [ 1.94453988e-02 9.99810225e-01 -1.17905314e-03 1.02983001e+01] [ 1.53899072e-02 8.79817135e-04 9.99881181e-01 1.26133426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.0292541539999 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:812.27, Y:10.29, Z:12.61 [[ 9.99640066e-01 -2.19889812e-02 -1.53695461e-02 8.12269642e+02] [ 2.19733778e-02 9.99757856e-01 -1.18336658e-03 1.02903745e+01] [ 1.53918455e-02 8.45219802e-04 9.99881181e-01 1.26144315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.0592541539999 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:812.30, Y:10.29, Z:12.61 [[ 9.99592671e-01 -2.40469419e-02 -1.53700101e-02 8.12296896e+02] [ 2.40316734e-02 9.99710504e-01 -1.17734791e-03 1.02875549e+01] [ 1.53938721e-02 8.07501282e-04 9.99881181e-01 1.26134835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.0892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:812.33, Y:10.28, Z:12.62 [[ 9.99533843e-01 -2.63796735e-02 -1.53691103e-02 8.12325530e+02] [ 2.63645016e-02 9.99651689e-01 -1.18897918e-03 1.02843551e+01] [ 1.53951219e-02 7.83225996e-04 9.99881181e-01 1.26180012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.1192541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:812.35, Y:10.28, Z:12.62 [[ 9.99355731e-01 -3.24333639e-02 -1.53687728e-02 8.12353673e+02] [ 3.24188394e-02 9.99473659e-01 -1.19332471e-03 1.02765655e+01] [ 1.53993872e-02 6.94318113e-04 9.99881181e-01 1.26171999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.1492541539999 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:812.38, Y:10.27, Z:12.61 [[ 9.99240041e-01 -3.58210564e-02 -1.53685435e-02 8.12382494e+02] [ 3.58068865e-02 9.99358012e-01 -1.19627125e-03 1.02741596e+01] [ 1.54015288e-02 6.45062445e-04 9.99881181e-01 1.26135974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.1792541539999 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:812.41, Y:10.27, Z:12.62 [[ 9.99138811e-01 -3.85415865e-02 -1.53682093e-02 8.12409562e+02] [ 3.85276721e-02 9.99256812e-01 -1.20054887e-03 1.02710849e+01] [ 1.54030589e-02 6.07413646e-04 9.99881181e-01 1.26153037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.2092541539998 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:812.44, Y:10.26, Z:12.62 [[ 9.98890744e-01 -4.45095901e-02 -1.53680645e-02 8.12438434e+02] [ 4.44963525e-02 9.99008823e-01 -1.20240021e-03 1.02630017e+01] [ 1.54063503e-02 5.17243627e-04 9.99881181e-01 1.26158341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.2392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:812.47, Y:10.26, Z:12.62 [[ 9.98788027e-01 -4.67579930e-02 -1.53677345e-02 8.12465436e+02] [ 4.67449566e-02 9.98906128e-01 -1.20660259e-03 1.02597915e+01] [ 1.54073425e-02 4.86776132e-04 9.99881181e-01 1.26186620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.2692541539999 meters Centerline goodness : 0.999834 Centerline is valid? [True, True] Translation: X:812.49, Y:10.25, Z:12.62 [[ 9.98524334e-01 -5.20863929e-02 -1.53675916e-02 8.12493235e+02] [ 5.20739589e-02 9.98642500e-01 -1.20842041e-03 1.02527416e+01] [ 1.54096723e-02 4.06385850e-04 9.99881181e-01 1.26152819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.2992541539999 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:812.52, Y:10.25, Z:12.62 [[ 9.98434926e-01 -5.37730463e-02 -1.53674498e-02 8.12521366e+02] [ 5.37607842e-02 9.98553110e-01 -1.21022122e-03 1.02501917e+01] [ 1.54102920e-02 3.82160986e-04 9.99881181e-01 1.26161063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.3292541539998 meters Centerline goodness : 0.999772 Centerline is valid? [True, True] Translation: X:812.55, Y:10.25, Z:12.61 [[ 9.98345659e-01 -5.54057436e-02 -1.53671273e-02 8.12549594e+02] [ 5.53936120e-02 9.98463857e-01 -1.21430187e-03 1.02479966e+01] [ 1.54108005e-02 3.61052315e-04 9.99881181e-01 1.26143307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.3592541539999 meters Centerline goodness : 0.999772 Centerline is valid? [True, True] Translation: X:812.58, Y:10.25, Z:12.61 [[ 9.98329595e-01 -5.56945427e-02 -1.53667748e-02 8.12578048e+02] [ 5.56823769e-02 9.98447789e-01 -1.21874665e-03 1.02503310e+01] [ 1.54107999e-02 3.61052300e-04 9.99881181e-01 1.26147698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.3892541539999 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:812.61, Y:10.24, Z:12.62 [[ 9.98417144e-01 -5.41024840e-02 -1.53664210e-02 8.12610611e+02] [ 5.40900614e-02 9.98535312e-01 -1.22319132e-03 1.02410242e+01] [ 1.54100917e-02 3.90084529e-04 9.99881181e-01 1.26175318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.4192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:812.63, Y:10.24, Z:12.62 [[ 9.98335072e-01 -5.55930361e-02 -1.53784748e-02 8.12634533e+02] [ 5.55831244e-02 9.98453488e-01 -1.07151467e-03 1.02418869e+01] [ 1.54142606e-02 2.14946995e-04 9.99881170e-01 1.26202714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.4492541539998 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:812.66, Y:10.24, Z:12.62 [[ 9.98364849e-01 -5.50592364e-02 -1.53658514e-02 8.12661303e+02] [ 5.50468330e-02 9.98483017e-01 -1.22930557e-03 1.02406989e+01] [ 1.54102262e-02 3.81454014e-04 9.99881183e-01 1.26183555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.4792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:812.69, Y:10.24, Z:12.62 [[ 9.98423746e-01 -5.39807324e-02 -1.53656951e-02 8.12689427e+02] [ 5.39681714e-02 9.98541897e-01 -1.23125582e-03 1.02393273e+01] [ 1.54097544e-02 4.00056582e-04 9.99881183e-01 1.26215423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.5092541539999 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:812.72, Y:10.24, Z:12.62 [[ 9.98467326e-01 -5.31686493e-02 -1.53653358e-02 8.12716223e+02] [ 5.31559235e-02 9.98585460e-01 -1.23572373e-03 1.02382396e+01] [ 1.54093026e-02 4.17071154e-04 9.99881183e-01 1.26198945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.5392541539999 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:812.74, Y:10.23, Z:12.62 [[ 9.98574650e-01 -5.11134002e-02 -1.53651799e-02 8.12744728e+02] [ 5.11004015e-02 9.98692754e-01 -1.23765866e-03 1.02342029e+01] [ 1.54083548e-02 4.50727701e-04 9.99881183e-01 1.26195420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.5692541539999 meters Centerline goodness : 0.999668 Centerline is valid? [True, True] Translation: X:812.77, Y:10.23, Z:12.62 [[ 9.98634816e-01 -4.99242089e-02 -1.53648150e-02 8.12772407e+02] [ 4.99110003e-02 9.98752897e-01 -1.24217258e-03 1.02330337e+01] [ 1.54076680e-02 4.73603501e-04 9.99881183e-01 1.26183735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.5992541539999 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:812.80, Y:10.23, Z:12.62 [[ 9.98678777e-01 -4.90370113e-02 -1.53646566e-02 8.12799650e+02] [ 4.90236676e-02 9.98796842e-01 -1.24412792e-03 1.02317422e+01] [ 1.54071789e-02 4.89252324e-04 9.99881183e-01 1.26197249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.6292541539999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:812.83, Y:10.23, Z:12.62 [[ 9.98744570e-01 -4.76782649e-02 -1.53644997e-02 8.12827786e+02] [ 4.76647309e-02 9.98862614e-01 -1.24606358e-03 1.02270739e+01] [ 1.54064344e-02 5.12154496e-04 9.99881183e-01 1.26199852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.6592541539999 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:812.86, Y:10.23, Z:12.62 [[ 9.98760431e-01 -4.73449594e-02 -1.53641365e-02 8.12855305e+02] [ 4.73313174e-02 9.98878462e-01 -1.25052495e-03 1.02261344e+01] [ 1.54061111e-02 5.21770012e-04 9.99881183e-01 1.26187501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.6892541539999 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:812.88, Y:10.23, Z:12.62 [[ 9.98778593e-01 -4.69603097e-02 -1.53639790e-02 8.12883732e+02] [ 4.69465926e-02 9.98896616e-01 -1.25245789e-03 1.02250182e+01] [ 1.54058424e-02 5.29641671e-04 9.99881183e-01 1.26184935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.7192541539999 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:812.91, Y:10.22, Z:12.62 [[ 9.98823243e-01 -4.60009664e-02 -1.53636042e-02 8.12911168e+02] [ 4.59870656e-02 9.98941244e-01 -1.25703860e-03 1.02208446e+01] [ 1.54051629e-02 5.49032298e-04 9.99881183e-01 1.26199431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.7492541539999 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:812.94, Y:10.22, Z:12.62 [[ 9.98816739e-01 -4.61420318e-02 -1.53634416e-02 8.12938952e+02] [ 4.61281171e-02 9.98934738e-01 -1.25902239e-03 1.02198244e+01] [ 1.54051694e-02 5.48846000e-04 9.99881183e-01 1.26191451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.7792541539999 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:812.97, Y:10.22, Z:12.62 [[ 9.98826398e-01 -4.59325860e-02 -1.53630702e-02 8.12966682e+02] [ 4.59185772e-02 9.98944387e-01 -1.26353865e-03 1.02185229e+01] [ 1.54048903e-02 5.56605430e-04 9.99881183e-01 1.26186908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.8092541539999 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:813.00, Y:10.21, Z:12.62 [[ 9.98811880e-01 -4.62472655e-02 -1.53629089e-02 8.12995051e+02] [ 4.62332638e-02 9.98929869e-01 -1.26549648e-03 1.02135768e+01] [ 1.54049943e-02 5.53715495e-04 9.99881183e-01 1.26198888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.8392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:813.02, Y:10.21, Z:12.62 [[ 9.98797216e-01 -4.65630017e-02 -1.53625433e-02 8.13021829e+02] [ 4.65489694e-02 9.98915202e-01 -1.26991946e-03 1.02122153e+01] [ 1.54050093e-02 5.53281470e-04 9.99881183e-01 1.26225756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.8692541539999 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:813.05, Y:10.21, Z:12.62 [[ 9.98690650e-01 -4.87953149e-02 -1.53623846e-02 8.13050794e+02] [ 4.87815169e-02 9.98808663e-01 -1.27183642e-03 1.02074275e+01] [ 1.54061425e-02 5.20770716e-04 9.99881183e-01 1.26202099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.8992541539999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:813.08, Y:10.21, Z:12.62 [[ 9.98641195e-01 -4.97973133e-02 -1.53620178e-02 8.13078442e+02] [ 4.97835659e-02 9.98759214e-01 -1.27625157e-03 1.02064146e+01] [ 1.54065107e-02 5.09741364e-04 9.99881183e-01 1.26238432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.9292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:813.11, Y:10.21, Z:12.62 [[ 9.98584705e-01 -5.09175863e-02 -1.53618587e-02 8.13106859e+02] [ 5.09039419e-02 9.98702736e-01 -1.27816325e-03 1.02052229e+01] [ 1.54070113e-02 4.94375104e-04 9.99881183e-01 1.26246772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.9592541539998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:813.14, Y:10.20, Z:12.62 [[ 9.98517148e-01 -5.22257560e-02 -1.53614935e-02 8.13135138e+02] [ 5.22121990e-02 9.98635189e-01 -1.28253783e-03 1.02041905e+01] [ 1.54075095e-02 4.78578657e-04 9.99881183e-01 1.26239876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.9892541539999 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:813.16, Y:10.20, Z:12.62 [[ 9.98453582e-01 -5.34273388e-02 -1.53611286e-02 8.13162985e+02] [ 5.34138569e-02 9.98571632e-01 -1.28689296e-03 1.02032434e+01] [ 1.54079425e-02 4.64405755e-04 9.99881183e-01 1.26238920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.0192541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:813.19, Y:10.20, Z:12.62 [[ 9.98389977e-01 -5.46031187e-02 -1.53607647e-02 8.13190671e+02] [ 5.45897093e-02 9.98508035e-01 -1.29122239e-03 1.01994303e+01] [ 1.54083517e-02 4.50603818e-04 9.99881183e-01 1.26248682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.0492541539999 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:813.22, Y:10.20, Z:12.62 [[ 9.98340850e-01 -5.54941338e-02 -1.53606071e-02 8.13217406e+02] [ 5.54808009e-02 9.98458917e-01 -1.29309422e-03 1.01989036e+01] [ 1.54086943e-02 4.38729997e-04 9.99881183e-01 1.26235695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.0792541539998 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:813.25, Y:10.20, Z:12.62 [[ 9.98290307e-01 -5.63961104e-02 -1.53603642e-02 8.13245745e+02] [ 5.63828400e-02 9.98408381e-01 -1.29597300e-03 1.01960347e+01] [ 1.54090042e-02 4.27696321e-04 9.99881183e-01 1.26237092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.1092541539999 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:813.27, Y:10.20, Z:12.62 [[ 9.98272153e-01 -5.67166587e-02 -1.53600103e-02 8.13274364e+02] [ 5.67033620e-02 9.98390224e-01 -1.30015488e-03 1.01959592e+01] [ 1.54090245e-02 4.26944186e-04 9.99881183e-01 1.26241505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.1392541539999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:813.30, Y:10.20, Z:12.62 [[ 9.98250502e-01 -5.70965574e-02 -1.53596307e-02 8.13302719e+02] [ 5.70832369e-02 9.98368570e-01 -1.30462340e-03 1.01960263e+01] [ 1.54090620e-02 4.25563525e-04 9.99881183e-01 1.26246523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.1692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:813.33, Y:10.20, Z:12.63 [[ 9.98263371e-01 -5.68712247e-02 -1.53592500e-02 8.13329367e+02] [ 5.68578089e-02 9.98381428e-01 -1.30908954e-03 1.01956922e+01] [ 1.54088395e-02 4.33522830e-04 9.99881183e-01 1.26266836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.1992541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:813.36, Y:10.19, Z:12.63 [[ 9.98221744e-01 -5.75972988e-02 -1.53590850e-02 8.13357976e+02] [ 5.75839390e-02 9.98339807e-01 -1.31102288e-03 1.01930886e+01] [ 1.54090974e-02 4.24254932e-04 9.99881183e-01 1.26260684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.2292541539999 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:813.38, Y:10.19, Z:12.62 [[ 9.98194830e-01 -5.80619587e-02 -1.53587058e-02 8.13384974e+02] [ 5.80485859e-02 9.98312892e-01 -1.31545085e-03 1.01931817e+01] [ 1.54091716e-02 4.21525088e-04 9.99881183e-01 1.26236551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.2592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:813.41, Y:10.19, Z:12.63 [[ 9.98242078e-01 -5.72439393e-02 -1.53585409e-02 8.13413706e+02] [ 5.72304402e-02 9.98360126e-01 -1.31737337e-03 1.01911553e+01] [ 1.54087664e-02 4.36081474e-04 9.99881183e-01 1.26262193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.2892541539999 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:813.44, Y:10.19, Z:12.62 [[ 9.98221133e-01 -5.76081265e-02 -1.53581953e-02 8.13441482e+02] [ 5.75946087e-02 9.98339178e-01 -1.32138961e-03 1.01916145e+01] [ 1.54088109e-02 4.34489784e-04 9.99881183e-01 1.26226329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.3192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:813.47, Y:10.19, Z:12.63 [[ 9.98287073e-01 -5.64540143e-02 -1.53578494e-02 8.13469297e+02] [ 5.64402984e-02 9.98405096e-01 -1.32539801e-03 1.01916500e+01] [ 1.54081791e-02 4.56326094e-04 9.99881183e-01 1.26267191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.3492541539999 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:813.50, Y:10.19, Z:12.62 [[ 9.98354917e-01 -5.52413561e-02 -1.53575037e-02 8.13497609e+02] [ 5.52274355e-02 9.98472916e-01 -1.32939138e-03 1.01901593e+01] [ 1.54074889e-02 4.79048877e-04 9.99881183e-01 1.26243878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.3792541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:813.53, Y:10.19, Z:12.63 [[ 9.98428085e-01 -5.39028572e-02 -1.53571189e-02 8.13525455e+02] [ 5.38887103e-02 9.98546057e-01 -1.33382225e-03 1.01905138e+01] [ 1.54066873e-02 5.04150263e-04 9.99881183e-01 1.26275788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.4092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:813.55, Y:10.19, Z:12.63 [[ 9.98475392e-01 -5.30193775e-02 -1.53569995e-02 8.13552925e+02] [ 5.30051051e-02 9.98593349e-01 -1.33519528e-03 1.01911371e+01] [ 1.54061888e-02 5.19160260e-04 9.99881183e-01 1.26286830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.4392541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:813.58, Y:10.19, Z:12.63 [[ 9.98463502e-01 -5.32428678e-02 -1.53568341e-02 8.13581404e+02] [ 5.32285927e-02 9.98581458e-01 -1.33709443e-03 1.01899688e+01] [ 1.54062406e-02 5.17617317e-04 9.99881183e-01 1.26280263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.4692541539999 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:813.61, Y:10.19, Z:12.63 [[ 9.98426139e-01 -5.39390876e-02 -1.53564547e-02 8.13609558e+02] [ 5.39248280e-02 9.98544097e-01 -1.34143805e-03 1.01904756e+01] [ 1.54064531e-02 5.11232630e-04 9.99881183e-01 1.26264343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.4992541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:813.64, Y:10.19, Z:12.63 [[ 9.98410117e-01 -5.42349486e-02 -1.53560687e-02 8.13637469e+02] [ 5.42206563e-02 9.98528071e-01 -1.34584212e-03 1.01907991e+01] [ 1.54064574e-02 5.11086261e-04 9.99881183e-01 1.26293068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.5292541539999 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:813.67, Y:10.19, Z:12.63 [[ 9.98323258e-01 -5.58110786e-02 -1.53556820e-02 8.13666129e+02] [ 5.57969049e-02 9.98441226e-01 -1.35024006e-03 1.01914519e+01] [ 1.54071043e-02 4.91176522e-04 9.99881183e-01 1.26264927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.5592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:813.70, Y:10.19, Z:12.63 [[ 9.98305901e-01 -5.61207522e-02 -1.53554419e-02 8.13698467e+02] [ 5.61065733e-02 9.98423869e-01 -1.35296508e-03 1.01877150e+01] [ 1.54071691e-02 4.89131798e-04 9.99881183e-01 1.26306620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.5892541539998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:813.72, Y:10.19, Z:12.63 [[ 9.98160789e-01 -5.86413893e-02 -1.53696617e-02 8.13722677e+02] [ 5.86299942e-02 9.98279071e-01 -1.19133411e-03 1.01899587e+01] [ 1.54130731e-02 2.88019813e-04 9.99881170e-01 1.26294671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.6192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:813.75, Y:10.19, Z:12.63 [[ 9.98102503e-01 -5.96290368e-02 -1.53548539e-02 8.13749526e+02] [ 5.96151847e-02 9.98220509e-01 -1.35868410e-03 1.01906258e+01] [ 1.54085471e-02 4.40723549e-04 9.99881184e-01 1.26309768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.6492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:813.78, Y:10.19, Z:12.63 [[ 9.97923067e-01 -6.25602618e-02 -1.53546835e-02 8.13778111e+02] [ 6.25467267e-02 9.98041109e-01 -1.36060714e-03 1.01890318e+01] [ 1.54097253e-02 3.97396057e-04 9.99881184e-01 1.26316083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.6792541539999 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:813.81, Y:10.19, Z:12.63 [[ 9.97768392e-01 -6.49806257e-02 -1.53542854e-02 8.13805286e+02] [ 6.49673082e-02 9.97886459e-01 -1.36508426e-03 1.01894794e+01] [ 1.54105376e-02 3.64511337e-04 9.99881184e-01 1.26291500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.7092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:813.83, Y:10.19, Z:12.63 [[ 9.97701862e-01 -6.59942849e-02 -1.53541128e-02 8.13833801e+02] [ 6.59810575e-02 9.97819939e-01 -1.36702313e-03 1.01897962e+01] [ 1.54108556e-02 3.50800924e-04 9.99881184e-01 1.26325666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.7392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:813.86, Y:10.19, Z:12.63 [[ 9.97457778e-01 -6.95862420e-02 -1.53537149e-02 8.13860639e+02] [ 6.95733713e-02 9.97575894e-01 -1.37147756e-03 1.01882009e+01] [ 1.54119319e-02 2.99781249e-04 9.99881184e-01 1.26329539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.7692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:813.89, Y:10.19, Z:12.63 [[ 9.97330424e-01 -7.13883359e-02 -1.53535418e-02 8.13889170e+02] [ 7.13756488e-02 9.97448560e-01 -1.37341286e-03 1.01889409e+01] [ 1.54124138e-02 2.73877426e-04 9.99881184e-01 1.26336464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.7992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:813.92, Y:10.19, Z:12.63 [[ 9.97083893e-01 -7.47528655e-02 -1.53531502e-02 8.13917392e+02] [ 7.47405099e-02 9.97202065e-01 -1.37777646e-03 1.01888151e+01] [ 1.54131858e-02 2.26256445e-04 9.99881184e-01 1.26337714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.8292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:813.95, Y:10.19, Z:12.63 [[ 9.97149722e-01 -7.38696523e-02 -1.53527593e-02 8.13953243e+02] [ 7.38571252e-02 9.97267875e-01 -1.38211903e-03 1.01867093e+01] [ 1.54129103e-02 2.44268947e-04 9.99881184e-01 1.26322010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.8592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:813.97, Y:10.19, Z:12.63 [[ 9.96825977e-01 -7.81117957e-02 -1.53791751e-02 8.13974863e+02] [ 7.81043219e-02 9.96944599e-01 -1.08691668e-03 1.01928370e+01] [ 1.54170866e-02 -1.17713258e-04 9.99881143e-01 1.26340744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.8892541539999 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:814.01, Y:10.19, Z:12.63 [[ 9.96886107e-01 -7.73460042e-02 -1.53520690e-02 8.14010537e+02] [ 7.73338147e-02 9.97004292e-01 -1.38695850e-03 1.01917882e+01] [ 1.54133544e-02 1.95405597e-04 9.99881188e-01 1.26320430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.9192541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:814.04, Y:10.20, Z:12.63 [[ 9.96750214e-01 -7.90728841e-02 -1.53782273e-02 8.14037477e+02] [ 7.90653746e-02 9.96868830e-01 -1.09663940e-03 1.01968365e+01] [ 1.54167899e-02 -1.22809742e-04 9.99881147e-01 1.26329139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.9492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:814.06, Y:10.20, Z:12.63 [[ 9.96576537e-01 -8.12344477e-02 -1.53678605e-02 8.14059967e+02] [ 8.12254662e-02 9.96695020e-01 -1.20873482e-03 1.02045679e+01] [ 1.54152610e-02 -4.36648763e-05 9.99881177e-01 1.26347411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.9792541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:814.09, Y:10.21, Z:12.63 [[ 9.96664113e-01 -8.01567970e-02 -1.53471396e-02 8.14088212e+02] [ 8.01442632e-02 9.96782248e-01 -1.43097083e-03 1.02086000e+01] [ 1.54124583e-02 1.96212081e-04 9.99881202e-01 1.26343550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.0092541539999 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:814.12, Y:10.21, Z:12.63 [[ 9.97004492e-01 -7.58058160e-02 -1.53467319e-02 8.14122552e+02] [ 7.57926997e-02 9.97122563e-01 -1.43532936e-03 1.02088529e+01] [ 1.54113790e-02 2.67859569e-04 9.99881202e-01 1.26322970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.0392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:814.14, Y:10.22, Z:12.63 [[ 9.97117064e-01 -7.43061030e-02 -1.53676343e-02 8.14144546e+02] [ 7.42962618e-02 9.97235478e-01 -1.21109935e-03 1.02179254e+01] [ 1.54151422e-02 6.58500424e-05 9.99881177e-01 1.26342128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.0692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:814.18, Y:10.22, Z:12.63 [[ 9.97489010e-01 -6.91388209e-02 -1.53459533e-02 8.14178540e+02] [ 6.91248151e-02 9.97606977e-01 -1.44185826e-03 1.02178418e+01] [ 1.54089185e-02 3.77451587e-04 9.99881204e-01 1.26324711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.0992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:814.21, Y:10.22, Z:12.63 [[ 9.97695476e-01 -6.60881254e-02 -1.53654562e-02 8.14206359e+02] [ 6.60769528e-02 9.97813767e-01 -1.23422979e-03 1.02232321e+01] [ 1.54134317e-02 2.16082958e-04 9.99881183e-01 1.26316151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.1292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:814.23, Y:10.23, Z:12.63 [[ 9.97566507e-01 -6.80079299e-02 -1.53618156e-02 8.14229165e+02] [ 6.79963909e-02 9.97684755e-01 -1.27281390e-03 1.02303068e+01] [ 1.54128107e-02 2.25168498e-04 9.99881190e-01 1.26318627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.1592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:814.26, Y:10.23, Z:12.63 [[ 9.97576048e-01 -6.78717703e-02 -1.53444254e-02 8.14257044e+02] [ 6.78573962e-02 9.97693968e-01 -1.45607760e-03 1.02338642e+01] [ 1.54078672e-02 4.11315386e-04 9.99881207e-01 1.26318457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.1892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:814.29, Y:10.23, Z:12.63 [[ 9.97741680e-01 -6.53919160e-02 -1.53439939e-02 8.14289837e+02] [ 6.53771792e-02 9.97859555e-01 -1.46061084e-03 1.02345000e+01] [ 1.54066631e-02 4.54165274e-04 9.99881207e-01 1.26304150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.2192541539999 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:814.31, Y:10.24, Z:12.63 [[ 9.97510064e-01 -6.88313698e-02 -1.53595467e-02 8.14314572e+02] [ 6.88195576e-02 9.97628281e-01 -1.29689924e-03 1.02410207e+01] [ 1.54123855e-02 2.36632830e-04 9.99881194e-01 1.26311705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.2492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:814.35, Y:10.24, Z:12.63 [[ 9.97582509e-01 -6.77769378e-02 -1.53435176e-02 8.14345117e+02] [ 6.77624185e-02 9.97700410e-01 -1.46480260e-03 1.02417922e+01] [ 1.54075137e-02 4.21547589e-04 9.99881208e-01 1.26336505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.2792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:814.37, Y:10.24, Z:12.63 [[ 9.97570125e-01 -6.79572608e-02 -1.53511242e-02 8.14373380e+02] [ 6.79439883e-02 9.97688176e-01 -1.38508834e-03 1.02445538e+01] [ 1.54097619e-02 3.38706150e-04 9.99881205e-01 1.26341208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.3092541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:814.40, Y:10.25, Z:12.64 [[ 9.97396451e-01 -7.04603992e-02 -1.53509504e-02 8.14399787e+02] [ 7.04473951e-02 9.97514532e-01 -1.38690660e-03 1.02495048e+01] [ 1.54105181e-02 3.01861249e-04 9.99881205e-01 1.26355588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.3392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:814.43, Y:10.25, Z:12.64 [[ 9.97385458e-01 -7.06175578e-02 -1.53430188e-02 8.14428051e+02] [ 7.06032989e-02 9.97503391e-01 -1.46970981e-03 1.02522760e+01] [ 1.54085005e-02 3.82599453e-04 9.99881209e-01 1.26382783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.3692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:814.46, Y:10.26, Z:12.64 [[ 9.97345728e-01 -7.11765627e-02 -1.53425984e-02 8.14456178e+02] [ 7.11623025e-02 9.97463660e-01 -1.47408496e-03 1.02552874e+01] [ 1.54086047e-02 3.78357705e-04 9.99881209e-01 1.26388041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.3992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:814.48, Y:10.26, Z:12.64 [[ 9.97321828e-01 -7.15107571e-02 -1.53421772e-02 8.14484152e+02] [ 7.14964693e-02 9.97439757e-01 -1.47845621e-03 1.02584726e+01] [ 1.54086230e-02 3.77585156e-04 9.99881209e-01 1.26390052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.4292541539999 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:814.51, Y:10.26, Z:12.64 [[ 9.97295543e-01 -7.18764995e-02 -1.53417585e-02 8.14512369e+02] [ 7.18621883e-02 9.97413469e-01 -1.48278826e-03 1.02615774e+01] [ 1.54086542e-02 3.76285788e-04 9.99881209e-01 1.26363481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.4592541539998 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:814.54, Y:10.26, Z:12.64 [[ 9.97314715e-01 -7.16100747e-02 -1.53413360e-02 8.14540131e+02] [ 7.15956651e-02 9.97432629e-01 -1.48714633e-03 1.02646850e+01] [ 1.54084438e-02 3.84779769e-04 9.99881209e-01 1.26362120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.4892541539999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:814.57, Y:10.27, Z:12.64 [[ 9.97350443e-01 -7.11108256e-02 -1.53409081e-02 8.14567879e+02] [ 7.10962893e-02 9.97468342e-01 -1.49154716e-03 1.02679379e+01] [ 1.54081353e-02 3.96913583e-04 9.99881209e-01 1.26367954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.5192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:814.60, Y:10.27, Z:12.64 [[ 9.97523860e-01 -6.86354021e-02 -1.53404820e-02 8.14595258e+02] [ 6.86205061e-02 9.97641713e-01 -1.49591685e-03 1.02721628e+01] [ 1.54069776e-02 4.39541108e-04 9.99881209e-01 1.26393952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.5492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:814.62, Y:10.28, Z:12.64 [[ 9.97587385e-01 -6.77059246e-02 -1.53400563e-02 8.14622952e+02] [ 6.76908518e-02 9.97705216e-01 -1.50026974e-03 1.02758628e+01] [ 1.54064313e-02 4.58268685e-04 9.99881209e-01 1.26400867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.5792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:814.65, Y:10.28, Z:12.64 [[ 9.97673520e-01 -6.64247294e-02 -1.53396173e-02 8.14649841e+02] [ 6.64094366e-02 9.97791322e-01 -1.50474487e-03 1.02794667e+01] [ 1.54056893e-02 4.82548765e-04 9.99881209e-01 1.26398901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.6092541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:814.68, Y:10.28, Z:12.64 [[ 9.97737940e-01 -6.54500477e-02 -1.53393185e-02 8.14677393e+02] [ 6.54345932e-02 9.97855721e-01 -1.50778517e-03 1.02841822e+01] [ 1.54051113e-02 5.00652411e-04 9.99881209e-01 1.26379188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.6392541539999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:814.71, Y:10.29, Z:12.64 [[ 9.97732033e-01 -6.55401272e-02 -1.53388884e-02 8.14705059e+02] [ 6.55246163e-02 9.97849807e-01 -1.51214739e-03 1.02878898e+01] [ 1.54050132e-02 5.03643108e-04 9.99881209e-01 1.26365069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.6692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:814.73, Y:10.29, Z:12.64 [[ 9.97770043e-01 -6.49590091e-02 -1.53384443e-02 8.14732292e+02] [ 6.49433606e-02 9.97887799e-01 -1.51663865e-03 1.02910013e+01] [ 1.54045658e-02 5.17126489e-04 9.99881209e-01 1.26389597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.6992541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:814.76, Y:10.29, Z:12.64 [[ 9.97765823e-01 -6.50238390e-02 -1.53383069e-02 8.14760545e+02] [ 6.50081769e-02 9.97883577e-01 -1.51802708e-03 1.02948648e+01] [ 1.54045525e-02 5.17520172e-04 9.99881209e-01 1.26384940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.7292541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:814.78, Y:10.30, Z:12.64 [[ 9.97510910e-01 -6.88239317e-02 -1.53378727e-02 8.14783713e+02] [ 6.88086510e-02 9.97628714e-01 -1.52240197e-03 1.03028859e+01] [ 1.54062799e-02 4.63234250e-04 9.99881209e-01 1.26352411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.7592541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:814.82, Y:10.30, Z:12.64 [[ 9.97901212e-01 -6.29177045e-02 -1.53144887e-02 8.14817299e+02] [ 6.28981351e-02 9.98018406e-01 -1.75663089e-03 1.03025238e+01] [ 1.53946648e-02 7.89691314e-04 9.99881183e-01 1.26396401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.7892541539999 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:814.85, Y:10.31, Z:12.64 [[ 9.97901225e-01 -6.29119277e-02 -1.53373844e-02 8.14845639e+02] [ 6.28958847e-02 9.98018926e-01 -1.52660890e-03 1.03062276e+01] [ 1.54030418e-02 5.58746530e-04 9.99881210e-01 1.26386518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.8192541539999 meters Centerline goodness : 0.999737 Centerline is valid? [True, True] Translation: X:814.87, Y:10.31, Z:12.64 [[ 9.97925246e-01 -6.25298438e-02 -1.53369429e-02 8.14873365e+02] [ 6.25136878e-02 9.98042932e-01 -1.53103171e-03 1.03101483e+01] [ 1.54026626e-02 5.69086337e-04 9.99881210e-01 1.26388701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.8492541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:814.90, Y:10.31, Z:12.64 [[ 9.97961837e-01 -6.19432215e-02 -1.53365048e-02 8.14901630e+02] [ 6.19269292e-02 9.98079505e-01 -1.53540730e-03 1.03142042e+01] [ 1.54021592e-02 5.82535245e-04 9.99881210e-01 1.26415507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.8792541539999 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:814.93, Y:10.32, Z:12.64 [[ 9.98039034e-01 -6.06868123e-02 -1.53361226e-02 8.14928599e+02] [ 6.06703135e-02 9.98156673e-01 -1.53921555e-03 1.03185005e+01] [ 1.54012632e-02 6.05749839e-04 9.99881210e-01 1.26404864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.9092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:814.96, Y:10.32, Z:12.64 [[ 9.98116281e-01 -5.94028501e-02 -1.53359329e-02 8.14957645e+02] [ 5.93861710e-02 9.98233894e-01 -1.54110350e-03 1.03227693e+01] [ 1.54003939e-02 6.27458159e-04 9.99881210e-01 1.26438820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.9392541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:814.98, Y:10.33, Z:12.64 [[ 9.97959589e-01 -6.19796687e-02 -1.53355548e-02 8.14981431e+02] [ 6.19632357e-02 9.98077237e-01 -1.54485651e-03 1.03304205e+01] [ 1.54018178e-02 5.91463773e-04 9.99881210e-01 1.26401591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.9692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:815.01, Y:10.33, Z:12.64 [[ 9.98353767e-01 -5.52729823e-02 -1.53184034e-02 8.15013357e+02] [ 5.52531663e-02 9.98470906e-01 -1.71414572e-03 1.03331686e+01] [ 1.53897261e-02 8.64933548e-04 9.99881197e-01 1.26449681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.9992541539999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:815.04, Y:10.34, Z:12.64 [[ 9.98401058e-01 -5.44073985e-02 -1.53350222e-02 8.15041005e+02] [ 5.43899994e-02 9.98518566e-01 -1.54969618e-03 1.03375093e+01] [ 1.53966194e-02 7.13146451e-04 9.99881211e-01 1.26428185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.0292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:815.07, Y:10.34, Z:12.64 [[ 9.98494963e-01 -5.26559800e-02 -1.53348313e-02 8.15068847e+02] [ 5.26383459e-02 9.98612436e-01 -1.55158339e-03 1.03438014e+01] [ 1.53952534e-02 7.42048043e-04 9.99881211e-01 1.26449550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.0592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:815.09, Y:10.35, Z:12.64 [[ 9.98211395e-01 -5.77829214e-02 -1.53344072e-02 8.15090571e+02] [ 5.77658266e-02 9.98328948e-01 -1.55576397e-03 1.03537535e+01] [ 1.53986792e-02 6.67176622e-04 9.99881211e-01 1.26402560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.0892541539998 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:815.13, Y:10.35, Z:12.64 [[ 9.98571415e-01 -5.11945094e-02 -1.53052879e-02 8.15125368e+02] [ 5.11722807e-02 9.98688144e-01 -1.84072414e-03 1.03539815e+01] [ 1.53794446e-02 1.05488802e-03 9.99881173e-01 1.26431728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.1192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:815.15, Y:10.36, Z:12.65 [[ 9.98640230e-01 -4.98252645e-02 -1.53340935e-02 8.15153008e+02] [ 4.98072139e-02 9.98757637e-01 -1.55704761e-03 1.03582259e+01] [ 1.53926233e-02 7.91181905e-04 9.99881214e-01 1.26453787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.1492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:815.18, Y:10.36, Z:12.65 [[ 9.98674888e-01 -4.91257295e-02 -1.53339517e-02 8.15181167e+02] [ 4.91075753e-02 9.98792279e-01 -1.55844277e-03 1.03627049e+01] [ 1.53919922e-02 8.03364470e-04 9.99881214e-01 1.26462362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.1792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:815.21, Y:10.37, Z:12.65 [[ 9.98766869e-01 -4.72189002e-02 -1.53335118e-02 8.15207698e+02] [ 4.72004558e-02 9.98884215e-01 -1.56275872e-03 1.03692458e+01] [ 1.53901947e-02 8.37082883e-04 9.99881214e-01 1.26452583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.2092541539998 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:815.24, Y:10.37, Z:12.64 [[ 9.98768325e-01 -4.71881560e-02 -1.53333207e-02 8.15236724e+02] [ 4.71696793e-02 9.98885666e-01 -1.56463220e-03 1.03741866e+01] [ 1.53900663e-02 8.39437263e-04 9.99881214e-01 1.26446333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.2392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:815.26, Y:10.38, Z:12.64 [[ 9.98660592e-01 -4.94158188e-02 -1.53329267e-02 8.15262266e+02] [ 4.93975450e-02 9.98777965e-01 -1.56848313e-03 1.03817191e+01] [ 1.53916972e-02 8.08973352e-04 9.99881214e-01 1.26419330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.2692541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:815.29, Y:10.38, Z:12.64 [[ 9.98792034e-01 -4.66877577e-02 -1.53207650e-02 8.15293005e+02] [ 4.66673541e-02 9.98909061e-01 -1.68677754e-03 1.03837241e+01] [ 1.53828029e-02 9.69760408e-04 9.99881207e-01 1.26442953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.2992541539999 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:815.32, Y:10.39, Z:12.64 [[ 9.98779904e-01 -4.69427562e-02 -1.53323273e-02 8.15321122e+02] [ 4.69241049e-02 9.98897217e-01 -1.57416236e-03 1.03883537e+01] [ 1.53893146e-02 8.52785997e-04 9.99881214e-01 1.26433087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.3292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:815.35, Y:10.40, Z:12.64 [[ 9.98633671e-01 -4.99572245e-02 -1.53318790e-02 8.15346526e+02] [ 4.99388607e-02 9.98751029e-01 -1.57851666e-03 1.03975095e+01] [ 1.53915882e-02 8.10703323e-04 9.99881214e-01 1.26418110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.3592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:815.37, Y:10.40, Z:12.64 [[ 9.98584420e-01 -5.09356075e-02 -1.53205523e-02 8.15373808e+02] [ 5.09156811e-02 9.98701529e-01 -1.68813435e-03 1.04022826e+01] [ 1.53866451e-02 9.05688302e-04 9.99881208e-01 1.26420478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.3892541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:815.40, Y:10.41, Z:12.64 [[ 9.98480088e-01 -5.29418971e-02 -1.53189065e-02 8.15402822e+02] [ 5.29219625e-02 9.98597197e-01 -1.70405089e-03 1.04079071e+01] [ 1.53876328e-02 8.90754292e-04 9.99881207e-01 1.26422556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.4192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:815.43, Y:10.41, Z:12.65 [[ 9.98546754e-01 -5.16686286e-02 -1.53210175e-02 8.15432614e+02] [ 5.16488564e-02 9.98663888e-01 -1.68366986e-03 1.04099543e+01] [ 1.53875398e-02 8.89910035e-04 9.99881209e-01 1.26461620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.4492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:815.46, Y:10.42, Z:12.64 [[ 9.98309859e-01 -5.60570151e-02 -1.53309302e-02 8.15459368e+02] [ 5.60392237e-02 9.98427305e-01 -1.58796932e-03 1.04167786e+01] [ 1.53958361e-02 7.26151999e-04 9.99881213e-01 1.26431878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.4792541539999 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:815.49, Y:10.42, Z:12.64 [[ 9.98232929e-01 -5.74132791e-02 -1.53210286e-02 8.15489984e+02] [ 5.73941918e-02 9.98350176e-01 -1.68298916e-03 1.04205327e+01] [ 1.53923775e-02 8.00677144e-04 9.99881210e-01 1.26429708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.5092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:815.52, Y:10.43, Z:12.65 [[ 9.98183607e-01 -5.82612115e-02 -1.53335597e-02 8.15516607e+02] [ 5.82440689e-02 9.98301150e-01 -1.56256331e-03 1.04250546e+01] [ 1.53985471e-02 6.66636177e-04 9.99881213e-01 1.26474630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.5392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:815.54, Y:10.43, Z:12.65 [[ 9.98046868e-01 -6.05595084e-02 -1.53295761e-02 8.15544680e+02] [ 6.05420516e-02 9.98164364e-01 -1.60071274e-03 1.04302002e+01] [ 1.53983750e-02 6.69502348e-04 9.99881214e-01 1.26473261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.5692541539999 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:815.57, Y:10.44, Z:12.65 [[ 9.97921935e-01 -6.25849343e-02 -1.53276746e-02 8.15572609e+02] [ 6.25674373e-02 9.98039426e-01 -1.61888622e-03 1.04357939e+01] [ 1.53989414e-02 6.56508751e-04 9.99881214e-01 1.26465574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.5992541539999 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:815.60, Y:10.44, Z:12.65 [[ 9.97837917e-01 -6.39102154e-02 -1.53289480e-02 8.15600037e+02] [ 6.38930608e-02 9.97955458e-01 -1.60673714e-03 1.04402646e+01] [ 1.54002942e-02 6.23849831e-04 9.99881214e-01 1.26468175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.6292541539999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:815.63, Y:10.44, Z:12.65 [[ 9.97756327e-01 -6.51716918e-02 -1.53284944e-02 8.15628314e+02] [ 6.51546196e-02 9.97873880e-01 -1.61105274e-03 1.04445128e+01] [ 1.54008992e-02 6.08715838e-04 9.99881214e-01 1.26474420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.6592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:815.66, Y:10.45, Z:12.65 [[ 9.97669968e-01 -6.64807220e-02 -1.53280559e-02 8.15656308e+02] [ 6.64637402e-02 9.97787534e-01 -1.61521468e-03 1.04488685e+01] [ 1.54015237e-02 5.92691258e-04 9.99881214e-01 1.26485479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.6892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:815.68, Y:10.45, Z:12.65 [[ 9.97530650e-01 -6.85395337e-02 -1.53275828e-02 8.15684321e+02] [ 6.85227259e-02 9.97648241e-01 -1.61969140e-03 1.04539598e+01] [ 1.54025489e-02 5.65404057e-04 9.99881214e-01 1.26483780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.7192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:815.71, Y:10.46, Z:12.65 [[ 9.97484290e-01 -6.92110653e-02 -1.53271096e-02 8.15712540e+02] [ 6.91942681e-02 9.97601882e-01 -1.62415666e-03 1.04583299e+01] [ 1.54027630e-02 5.59522620e-04 9.99881214e-01 1.26484410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.7492541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:815.74, Y:10.46, Z:12.65 [[ 9.97554829e-01 -6.81869226e-02 -1.53266379e-02 8.15743072e+02] [ 6.81699366e-02 9.97672395e-01 -1.62859596e-03 1.04610144e+01] [ 1.54020125e-02 5.79797826e-04 9.99881214e-01 1.26475102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.7792541539999 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:815.77, Y:10.47, Z:12.65 [[ 9.97493177e-01 -6.90801421e-02 -1.53393549e-02 8.15767749e+02] [ 6.90651018e-02 9.97611014e-01 -1.50872046e-03 1.04669677e+01] [ 1.54069321e-02 4.45524252e-04 9.99881207e-01 1.26467565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.8092541539999 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:815.79, Y:10.47, Z:12.65 [[ 9.97475137e-01 -6.93431134e-02 -1.53259168e-02 8.15794722e+02] [ 6.93261699e-02 9.97592707e-01 -1.63470821e-03 1.04729979e+01] [ 1.54023786e-02 5.68093677e-04 9.99881215e-01 1.26462545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.8392541539998 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:815.82, Y:10.48, Z:12.65 [[ 9.97395021e-01 -7.04861373e-02 -1.53257145e-02 8.15823504e+02] [ 7.04692995e-02 9.97512606e-01 -1.63660253e-03 1.04772506e+01] [ 1.54029512e-02 5.52346842e-04 9.99881215e-01 1.26469678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.8692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:815.85, Y:10.48, Z:12.65 [[ 9.97506968e-01 -6.88832090e-02 -1.53281282e-02 8.15850278e+02] [ 6.88665284e-02 9.97624577e-01 -1.61404394e-03 1.04822506e+01] [ 1.54028980e-02 5.54425105e-04 9.99881215e-01 1.26488397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.8992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:815.88, Y:10.49, Z:12.65 [[ 9.97513056e-01 -6.87956768e-02 -1.53250607e-02 8.15878546e+02] [ 6.87785468e-02 9.97630600e-01 -1.64266185e-03 1.04862860e+01] [ 1.54017576e-02 5.84541238e-04 9.99881215e-01 1.26494150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.9292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:815.91, Y:10.49, Z:12.65 [[ 9.97508675e-01 -6.88592740e-02 -1.53245854e-02 8.15906791e+02] [ 6.88420836e-02 9.97626210e-01 -1.64708445e-03 1.04903475e+01] [ 1.54016251e-02 5.88004637e-04 9.99881215e-01 1.26498493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.9592541539998 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:815.93, Y:10.50, Z:12.65 [[ 9.97524807e-01 -6.86252929e-02 -1.53241123e-02 8.15934396e+02] [ 6.86080077e-02 9.97642328e-01 -1.65147444e-03 1.04950492e+01] [ 1.54013160e-02 5.96029914e-04 9.99881215e-01 1.26493189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.9892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:815.96, Y:10.50, Z:12.65 [[ 9.97564690e-01 -6.80431836e-02 -1.53236366e-02 8.15961818e+02] [ 6.80257622e-02 9.97682191e-01 -1.65587635e-03 1.04990416e+01] [ 1.54007904e-02 6.09441714e-04 9.99881215e-01 1.26508688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.0192541539999 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:815.99, Y:10.50, Z:12.65 [[ 9.97558548e-01 -6.81332880e-02 -1.53231555e-02 8.15989272e+02] [ 6.81158091e-02 9.97676040e-01 -1.66031688e-03 1.05024768e+01] [ 1.54006679e-02 6.12514166e-04 9.99881215e-01 1.26489124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.0492541539999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:816.02, Y:10.51, Z:12.65 [[ 9.97660899e-01 -6.66178386e-02 -1.53230063e-02 8.16016461e+02] [ 6.66001602e-02 9.97778361e-01 -1.66169252e-03 1.05064013e+01] [ 1.53996625e-02 6.37290977e-04 9.99881215e-01 1.26505066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.0792541539998 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:816.04, Y:10.51, Z:12.65 [[ 9.97677049e-01 -6.63755601e-02 -1.53228600e-02 8.16043962e+02] [ 6.63578325e-02 9.97794504e-01 -1.66304054e-03 1.05100214e+01] [ 1.53994507e-02 6.42385603e-04 9.99881215e-01 1.26499234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.1092541539999 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:816.07, Y:10.51, Z:12.65 [[ 9.97708541e-01 -6.59006277e-02 -1.53223856e-02 8.16072016e+02] [ 6.58827774e-02 9.97825977e-01 -1.66740023e-03 1.05136793e+01] [ 1.53989571e-02 6.54098131e-04 9.99881215e-01 1.26498945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.1392541539999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:816.10, Y:10.52, Z:12.65 [[ 9.97745496e-01 -6.53388371e-02 -1.53219124e-02 8.16099254e+02] [ 6.53208542e-02 9.97862912e-01 -1.67173729e-03 1.05185021e+01] [ 1.53983974e-02 6.67127953e-04 9.99881215e-01 1.26496159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.1692541539999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:816.13, Y:10.52, Z:12.65 [[ 9.97731262e-01 -6.55550059e-02 -1.53254557e-02 8.16127627e+02] [ 6.55375458e-02 9.97848758e-01 -1.63929014e-03 1.05217235e+01] [ 1.53999506e-02 6.31178265e-04 9.99881215e-01 1.26500663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.1992541539998 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:816.15, Y:10.52, Z:12.65 [[ 9.97775371e-01 -6.48802642e-02 -1.53251487e-02 8.16154846e+02] [ 6.48626817e-02 9.97892848e-01 -1.64209632e-03 1.05240442e+01] [ 1.53993959e-02 6.44413022e-04 9.99881215e-01 1.26505296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.2292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:816.18, Y:10.53, Z:12.65 [[ 9.97824039e-01 -6.41284075e-02 -1.53210802e-02 8.16182324e+02] [ 6.41101675e-02 9.97941414e-01 -1.67921645e-03 1.05272662e+01] [ 1.53972260e-02 6.93325522e-04 9.99881215e-01 1.26532002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.2592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:816.21, Y:10.53, Z:12.65 [[ 9.97811865e-01 -6.43176586e-02 -1.53206183e-02 8.16210713e+02] [ 6.42993764e-02 9.97929234e-01 -1.68342040e-03 1.05303975e+01] [ 1.53971666e-02 6.94630641e-04 9.99881215e-01 1.26535360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.2892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:816.24, Y:10.53, Z:12.65 [[ 9.97799675e-01 -6.45066071e-02 -1.53201497e-02 8.16237328e+02] [ 6.44882820e-02 9.97917037e-01 -1.68767437e-03 1.05330512e+01] [ 1.53971045e-02 6.95990803e-04 9.99881215e-01 1.26540351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.3192541539999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:816.26, Y:10.54, Z:12.65 [[ 9.97751103e-01 -6.52536282e-02 -1.53199465e-02 8.16264856e+02] [ 6.52353628e-02 9.97868475e-01 -1.68951656e-03 1.05357125e+01] [ 1.53975388e-02 6.86314741e-04 9.99881215e-01 1.26537542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.3492541539999 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:816.29, Y:10.54, Z:12.65 [[ 9.97693605e-01 -6.61270265e-02 -1.53194855e-02 8.16293174e+02] [ 6.61087999e-02 9.97810983e-01 -1.69368642e-03 1.05386117e+01] [ 1.53979494e-02 6.77027301e-04 9.99881215e-01 1.26539212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.3792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:816.32, Y:10.54, Z:12.66 [[ 9.97657694e-01 -6.66667360e-02 -1.53190015e-02 8.16321219e+02] [ 6.66485060e-02 9.97775072e-01 -1.69805325e-03 1.05416261e+01] [ 1.53981215e-02 6.73087325e-04 9.99881215e-01 1.26553281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.4092541539999 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:816.35, Y:10.54, Z:12.65 [[ 9.97575780e-01 -6.78815632e-02 -1.53185112e-02 8.16349162e+02] [ 6.78634085e-02 9.97693169e-01 -1.70246467e-03 1.05442105e+01] [ 1.53987400e-02 6.58771136e-04 9.99881215e-01 1.26541598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.4392541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:816.38, Y:10.55, Z:12.66 [[ 9.97517332e-01 -6.87352299e-02 -1.53180068e-02 8.16376493e+02] [ 6.87171063e-02 9.97634726e-01 -1.70699140e-03 1.05465278e+01] [ 1.53991059e-02 6.50144404e-04 9.99881215e-01 1.26551703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.4692541539999 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:816.40, Y:10.55, Z:12.65 [[ 9.97440130e-01 -6.98466607e-02 -1.53176640e-02 8.16404615e+02] [ 6.98286208e-02 9.97557537e-01 -1.71006199e-03 1.05492797e+01] [ 1.53996933e-02 6.36073109e-04 9.99881215e-01 1.26541524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.4992541539999 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:816.43, Y:10.55, Z:12.65 [[ 9.97374044e-01 -7.07841898e-02 -1.53171659e-02 8.16433008e+02] [ 7.07661920e-02 9.97491457e-01 -1.71451198e-03 1.05518824e+01] [ 1.54001024e-02 6.26072247e-04 9.99881215e-01 1.26531278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.5292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:816.46, Y:10.55, Z:12.65 [[ 9.97308220e-01 -7.17057449e-02 -1.53166659e-02 8.16462128e+02] [ 7.16877873e-02 9.97425640e-01 -1.71896687e-03 1.05549024e+01] [ 1.54004951e-02 6.16321902e-04 9.99881215e-01 1.26528238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.5592541539999 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:816.49, Y:10.56, Z:12.65 [[ 9.97258422e-01 -7.23940139e-02 -1.53214129e-02 8.16489596e+02] [ 7.23767856e-02 9.97375952e-01 -1.67670326e-03 1.05553931e+01] [ 1.54025920e-02 5.63191834e-04 9.99881214e-01 1.26531830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.5892541539998 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:816.52, Y:10.56, Z:12.65 [[ 9.97175861e-01 -7.35235896e-02 -1.53161336e-02 8.16517757e+02] [ 7.35057749e-02 9.97293302e-01 -1.72361518e-03 1.05576284e+01] [ 1.54014038e-02 5.92923186e-04 9.99881216e-01 1.26536008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.6192541539999 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:816.55, Y:10.56, Z:12.65 [[ 9.97022835e-01 -7.55704779e-02 -1.53156509e-02 8.16546397e+02] [ 7.55528386e-02 9.97140303e-01 -1.72789371e-03 1.05579892e+01] [ 1.54024305e-02 5.65608588e-04 9.99881216e-01 1.26540636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.6492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:816.57, Y:10.56, Z:12.66 [[ 9.96960163e-01 -7.63929238e-02 -1.53151549e-02 8.16574791e+02] [ 7.63753141e-02 9.97077635e-01 -1.73227895e-03 1.05600259e+01] [ 1.54027323e-02 5.57313335e-04 9.99881216e-01 1.26558841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.6792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:816.60, Y:10.56, Z:12.65 [[ 9.96777410e-01 -7.87417070e-02 -1.53146610e-02 8.16602646e+02] [ 7.87243074e-02 9.96894913e-01 -1.73663427e-03 1.05622347e+01] [ 1.54038532e-02 5.25401726e-04 9.99881216e-01 1.26549124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.7092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:816.63, Y:10.56, Z:12.66 [[ 9.96804471e-01 -7.83986048e-02 -1.53135554e-02 8.16631002e+02] [ 7.83810154e-02 9.96921946e-01 -1.74636125e-03 1.05627730e+01] [ 1.54033317e-02 5.40488688e-04 9.99881216e-01 1.26566320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.7392541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:816.66, Y:10.56, Z:12.66 [[ 9.96617862e-01 -8.07361076e-02 -1.53139733e-02 8.16659348e+02] [ 8.07188502e-02 9.96735386e-01 -1.74268861e-03 1.05617128e+01] [ 1.54046770e-02 5.00668277e-04 9.99881216e-01 1.26574081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.7692541539999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:816.69, Y:10.56, Z:12.66 [[ 9.96517599e-01 -8.19644516e-02 -1.53134879e-02 8.16686356e+02] [ 8.19472737e-02 9.96635135e-01 -1.74694383e-03 1.05629215e+01] [ 1.54051473e-02 4.85961691e-04 9.99881216e-01 1.26567107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.7992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:816.71, Y:10.56, Z:12.66 [[ 9.96456595e-01 -8.27028262e-02 -1.53132775e-02 8.16714435e+02] [ 8.26857072e-02 9.96574140e-01 -1.74878614e-03 1.05645160e+01] [ 1.54054459e-02 4.76400311e-04 9.99881216e-01 1.26586734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.8292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:816.74, Y:10.56, Z:12.66 [[ 9.96330207e-01 -8.42118593e-02 -1.53127975e-02 8.16741783e+02] [ 8.41948539e-02 9.96447768e-01 -1.75297897e-03 1.05638329e+01] [ 1.54060245e-02 4.57287153e-04 9.99881216e-01 1.26589697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.8592541539999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:816.77, Y:10.56, Z:12.66 [[ 9.96262056e-01 -8.50143516e-02 -1.53125893e-02 8.16769268e+02] [ 8.49974130e-02 9.96379627e-01 -1.75479570e-03 1.05649214e+01] [ 1.54063348e-02 4.46705897e-04 9.99881216e-01 1.26581042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.8892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:816.80, Y:10.56, Z:12.66 [[ 9.96241563e-01 -8.52542012e-02 -1.53123830e-02 8.16797312e+02] [ 8.52372633e-02 9.96359134e-01 -1.75659378e-03 1.05644916e+01] [ 1.54063897e-02 4.44806112e-04 9.99881216e-01 1.26604264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.9192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:816.82, Y:10.57, Z:12.66 [[ 9.96235064e-01 -8.53301985e-02 -1.53118762e-02 8.16824756e+02] [ 8.53132018e-02 9.96352627e-01 -1.76100056e-03 1.05655722e+01] [ 1.54062946e-02 4.48065326e-04 9.99881216e-01 1.26607965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.9492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:816.85, Y:10.57, Z:12.66 [[ 9.96220996e-01 -8.54943257e-02 -1.53116566e-02 8.16853185e+02] [ 8.54773192e-02 9.96338557e-01 -1.76290779e-03 1.05668171e+01] [ 1.54063125e-02 4.47446394e-04 9.99881216e-01 1.26612100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.9792541539999 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:816.88, Y:10.57, Z:12.66 [[ 9.96169418e-01 -8.60933141e-02 -1.53111924e-02 8.16881264e+02] [ 8.60763165e-02 9.96286980e-01 -1.76692999e-03 1.05680675e+01] [ 1.54064625e-02 4.42230569e-04 9.99881216e-01 1.26599434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.0092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:816.91, Y:10.57, Z:12.66 [[ 9.96245211e-01 -8.52118716e-02 -1.53106722e-02 8.16908475e+02] [ 8.51947010e-02 9.96362748e-01 -1.77142684e-03 1.05681567e+01] [ 1.54059300e-02 4.60387372e-04 9.99881216e-01 1.26606954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.0392541539999 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:816.94, Y:10.57, Z:12.66 [[ 9.96239492e-01 -8.52787738e-02 -1.53103178e-02 8.16935670e+02] [ 8.52615641e-02 9.96357023e-01 -1.77448436e-03 1.05697317e+01] [ 1.54058685e-02 4.62429756e-04 9.99881216e-01 1.26603766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.0692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:816.96, Y:10.57, Z:12.66 [[ 9.96239401e-01 -8.52798715e-02 -1.53101011e-02 8.16963567e+02] [ 8.52626332e-02 9.96356928e-01 -1.77635233e-03 1.05712020e+01] [ 1.54058124e-02 4.64292651e-04 9.99881216e-01 1.26605920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.0992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:816.99, Y:10.57, Z:12.66 [[ 9.96222453e-01 -8.54777173e-02 -1.53095901e-02 8.16991288e+02] [ 8.54604349e-02 9.96339974e-01 -1.78074528e-03 1.05703939e+01] [ 1.54057706e-02 4.65654201e-04 9.99881216e-01 1.26598621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.1292541539999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:817.02, Y:10.57, Z:12.66 [[ 9.96155041e-01 -8.62598283e-02 -1.53093687e-02 8.17019722e+02] [ 8.62426090e-02 9.96272570e-01 -1.78264625e-03 1.05716272e+01] [ 1.54060749e-02 4.55472146e-04 9.99881216e-01 1.26599320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.1592541539999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:817.05, Y:10.57, Z:12.66 [[ 9.95841652e-01 -8.98055798e-02 -1.53088690e-02 8.17046740e+02] [ 8.97887132e-02 9.95959233e-01 -1.78692755e-03 1.05744018e+01] [ 1.54074855e-02 4.04933236e-04 9.99881216e-01 1.26563084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.1892541539999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:817.08, Y:10.57, Z:12.66 [[ 9.95833322e-01 -8.98996219e-02 -1.52988078e-02 8.17076849e+02] [ 8.98814481e-02 9.95950711e-01 -1.87278018e-03 1.05712356e+01] [ 1.54052208e-02 4.89897902e-04 9.99881213e-01 1.26588314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.2192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:817.10, Y:10.57, Z:12.66 [[ 9.95552614e-01 -9.29551673e-02 -1.53078523e-02 8.17104084e+02] [ 9.29385383e-02 9.95670228e-01 -1.79567797e-03 1.05744003e+01] [ 1.54084903e-02 3.65002483e-04 9.99881216e-01 1.26591283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.2492541539999 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:817.13, Y:10.57, Z:12.66 [[ 9.95366806e-01 -9.49254766e-02 -1.52994934e-02 8.17133897e+02] [ 9.49079881e-02 9.95484299e-01 -1.86675625e-03 1.05714269e+01] [ 1.54076082e-02 4.06063065e-04 9.99881213e-01 1.26592228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.2792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:817.16, Y:10.57, Z:12.66 [[ 9.95227065e-01 -9.63783099e-02 -1.53071990e-02 8.17161785e+02] [ 9.63619994e-02 9.95344724e-01 -1.80127417e-03 1.05727051e+01] [ 1.54095436e-02 3.17644502e-04 9.99881215e-01 1.26624414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.3092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:817.19, Y:10.57, Z:12.66 [[ 9.95014602e-01 -9.85476877e-02 -1.53066805e-02 8.17189840e+02] [ 9.85315662e-02 9.95132288e-01 -1.80567010e-03 1.05740044e+01] [ 1.54101166e-02 2.88476915e-04 9.99881215e-01 1.26629143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.3392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:817.22, Y:10.58, Z:12.66 [[ 9.94827298e-01 -1.00420959e-01 -1.53061615e-02 8.17218140e+02] [ 1.00404991e-01 9.94945004e-01 -1.81005875e-03 1.05751602e+01] [ 1.54105567e-02 2.63880852e-04 9.99881215e-01 1.26634522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.3692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:817.24, Y:10.58, Z:12.66 [[ 9.94235841e-01 -1.06117058e-01 -1.53056203e-02 8.17244036e+02] [ 1.06101695e-01 9.94353628e-01 -1.81462336e-03 1.05769245e+01] [ 1.54117616e-02 1.80211337e-04 9.99881216e-01 1.26620252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.3992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:817.27, Y:10.58, Z:12.66 [[ 9.94336079e-01 -1.05175352e-01 -1.52940314e-02 8.17274388e+02] [ 1.05158378e-01 9.94453649e-01 -1.91202648e-03 1.05764819e+01] [ 1.54103033e-02 2.92901376e-04 9.99881211e-01 1.26634274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.4292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:817.30, Y:10.58, Z:12.66 [[ 9.94196691e-01 -1.06483310e-01 -1.53050504e-02 8.17302425e+02] [ 1.06467918e-01 9.94314474e-01 -1.81932998e-03 1.05780893e+01] [ 1.54117614e-02 1.79274996e-04 9.99881216e-01 1.26636340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.4592541539998 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:817.33, Y:10.58, Z:12.66 [[ 9.94021714e-01 -1.08104599e-01 -1.53045259e-02 8.17330432e+02] [ 1.08089331e-01 9.94139513e-01 -1.82373132e-03 1.05799490e+01] [ 1.54119877e-02 1.58572571e-04 9.99881216e-01 1.26620784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.4892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:817.36, Y:10.58, Z:12.66 [[ 9.93962132e-01 -1.08651129e-01 -1.53039922e-02 8.17357599e+02] [ 1.08635857e-01 9.94079931e-01 -1.82819886e-03 1.05805555e+01] [ 1.54120274e-02 1.54598130e-04 9.99881216e-01 1.26642109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.5192541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:817.39, Y:10.58, Z:12.66 [[ 9.93891536e-01 -1.09295058e-01 -1.53037609e-02 8.17385716e+02] [ 1.09279832e-01 9.94009340e-01 -1.83013302e-03 1.05829917e+01] [ 1.54121058e-02 1.46561289e-04 9.99881216e-01 1.26636774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.5492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:817.41, Y:10.59, Z:12.66 [[ 9.94159840e-01 -1.06827077e-01 -1.53032365e-02 8.17413514e+02] [ 1.06811492e-01 9.94277597e-01 -1.83450726e-03 1.05863508e+01] [ 1.54116403e-02 1.89231916e-04 9.99881216e-01 1.26649042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.5792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:817.44, Y:10.59, Z:12.67 [[ 9.94223917e-01 -1.06229686e-01 -1.52988809e-02 8.17441979e+02] [ 1.06213473e-01 9.94341590e-01 -1.87076942e-03 1.05899543e+01] [ 1.54110448e-02 2.35016436e-04 9.99881215e-01 1.26656524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.6092541539999 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:817.47, Y:10.59, Z:12.67 [[ 9.94325372e-01 -1.05275278e-01 -1.53026575e-02 8.17468460e+02] [ 1.05259435e-01 9.94443095e-01 -1.83935015e-03 1.05934534e+01] [ 1.54112601e-02 2.18163450e-04 9.99881216e-01 1.26654398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.6392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:817.50, Y:10.60, Z:12.66 [[ 9.94477866e-01 -1.03824919e-01 -1.53022990e-02 8.17495103e+02] [ 1.03808858e-01 9.94595559e-01 -1.84232723e-03 1.05980304e+01] [ 1.54108781e-02 2.43639465e-04 9.99881216e-01 1.26639785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.6692541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:817.52, Y:10.60, Z:12.67 [[ 9.94642599e-01 -1.02235827e-01 -1.52949743e-02 8.17524387e+02] [ 1.02218645e-01 9.94760136e-01 -1.90298521e-03 1.06009125e+01] [ 1.54093839e-02 3.29358607e-04 9.99881214e-01 1.26652174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.6992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:817.55, Y:10.60, Z:12.67 [[ 9.94754207e-01 -1.01143106e-01 -1.53016319e-02 8.17552135e+02] [ 1.01126643e-01 9.94871845e-01 -1.84785506e-03 1.06044949e+01] [ 1.54100606e-02 2.90758928e-04 9.99881216e-01 1.26656078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.7292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:817.58, Y:10.61, Z:12.66 [[ 9.94892012e-01 -9.97790414e-02 -1.52979433e-02 8.17580248e+02] [ 9.97619485e-02 9.95009561e-01 -1.87832023e-03 1.06090915e+01] [ 1.54090169e-02 3.42573164e-04 9.99881215e-01 1.26646624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.7592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:817.61, Y:10.61, Z:12.67 [[ 9.94982847e-01 -9.88686796e-02 -1.53009469e-02 8.17608386e+02] [ 9.88518602e-02 9.95100434e-01 -1.85352560e-03 1.06131841e+01] [ 1.54092345e-02 3.31699119e-04 9.99881216e-01 1.26651738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.7892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:817.64, Y:10.62, Z:12.66 [[ 9.95050835e-01 -9.81821481e-02 -1.53004114e-02 8.17635494e+02] [ 9.81651798e-02 9.95168401e-01 -1.85793515e-03 1.06178582e+01] [ 1.54089020e-02 3.46772279e-04 9.99881216e-01 1.26643780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.8192541539999 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:817.66, Y:10.62, Z:12.67 [[ 9.95276653e-01 -9.58669442e-02 -1.52942424e-02 8.17663656e+02] [ 9.58489233e-02 9.95394063e-01 -1.90866697e-03 1.06226470e+01] [ 1.54067761e-02 4.33715009e-04 9.99881215e-01 1.26657322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.8492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:817.69, Y:10.63, Z:12.67 [[ 9.95378220e-01 -9.48056167e-02 -1.53001633e-02 8.17691107e+02] [ 9.47882185e-02 9.95495723e-01 -1.85996137e-03 1.06268689e+01] [ 1.54075819e-02 4.01089817e-04 9.99881216e-01 1.26662413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.8792541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:817.72, Y:10.63, Z:12.67 [[ 9.95437894e-01 -9.41770742e-02 -1.52996201e-02 8.17717943e+02] [ 9.41595334e-02 9.95555376e-01 -1.86441862e-03 1.06310677e+01] [ 1.54072045e-02 4.15307857e-04 9.99881216e-01 1.26651377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.9092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:817.75, Y:10.64, Z:12.67 [[ 9.95513179e-01 -9.33779555e-02 -1.52992504e-02 8.17746002e+02] [ 9.33602739e-02 9.95630640e-01 -1.86744720e-03 1.06353676e+01] [ 1.54067809e-02 4.30726088e-04 9.99881216e-01 1.26665093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.9392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:817.77, Y:10.64, Z:12.67 [[ 9.95627028e-01 -9.21562275e-02 -1.52987174e-02 8.17773810e+02] [ 9.21383349e-02 9.95744457e-01 -1.87180390e-03 1.06401543e+01] [ 1.54061114e-02 4.54020210e-04 9.99881216e-01 1.26664364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.9692541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:817.80, Y:10.64, Z:12.67 [[ 9.95630117e-01 -9.21229340e-02 -1.52981774e-02 8.17801845e+02] [ 9.21049699e-02 9.95747535e-01 -1.87620674e-03 1.06442737e+01] [ 1.54059641e-02 4.58969770e-04 9.99881216e-01 1.26670379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.9992541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:817.83, Y:10.65, Z:12.67 [[ 9.95605502e-01 -9.23886683e-02 -1.52976283e-02 8.17828999e+02] [ 9.23706669e-02 9.95722915e-01 -1.88067357e-03 1.06480242e+01] [ 1.54059519e-02 4.59356825e-04 9.99881216e-01 1.26651865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.0292541539999 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:817.86, Y:10.65, Z:12.67 [[ 9.95610817e-01 -9.23314407e-02 -1.52972554e-02 8.17856874e+02] [ 9.23133861e-02 9.95728221e-01 -1.88370175e-03 1.06517893e+01] [ 1.54058338e-02 4.63292394e-04 9.99881216e-01 1.26674013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.0592541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:817.89, Y:10.66, Z:12.67 [[ 9.95539952e-01 -9.30925081e-02 -1.52967130e-02 8.17885030e+02] [ 9.30744757e-02 9.95657359e-01 -1.88809592e-03 1.06557107e+01] [ 1.54060525e-02 4.55941373e-04 9.99881216e-01 1.26676351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.0892541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:817.91, Y:10.66, Z:12.67 [[ 9.95512495e-01 -9.33857582e-02 -1.52961566e-02 8.17913398e+02] [ 9.33676914e-02 9.95629897e-01 -1.89259260e-03 1.06592910e+01] [ 1.54060521e-02 4.55932752e-04 9.99881216e-01 1.26680741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.1192541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:817.94, Y:10.66, Z:12.67 [[ 9.95479575e-01 -9.37361175e-02 -1.52955979e-02 8.17941149e+02] [ 9.37180229e-02 9.95596973e-01 -1.89709767e-03 1.06631111e+01] [ 1.54060775e-02 4.55048789e-04 9.99881216e-01 1.26691532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.1492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:817.97, Y:10.67, Z:12.67 [[ 9.95369518e-01 -9.48977545e-02 -1.52950387e-02 8.17968102e+02] [ 9.48797278e-02 9.95486927e-01 -1.90159508e-03 1.06665261e+01] [ 1.54064682e-02 4.41600672e-04 9.99881216e-01 1.26699414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.1792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:817.99, Y:10.67, Z:12.67 [[ 9.95273352e-01 -9.59011111e-02 -1.52947963e-02 8.17994527e+02] [ 9.58831729e-02 9.95390774e-01 -1.90354256e-03 1.06697750e+01] [ 1.54068510e-02 4.28031588e-04 9.99881216e-01 1.26706404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.2092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:818.02, Y:10.67, Z:12.67 [[ 9.95129454e-01 -9.73829894e-02 -1.52945555e-02 8.18022454e+02] [ 9.73651964e-02 9.95246898e-01 -1.90547556e-03 1.06729279e+01] [ 1.54074198e-02 4.07037447e-04 9.99881216e-01 1.26715704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.2392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:818.05, Y:10.68, Z:12.67 [[ 9.94839648e-01 -1.00300390e-01 -1.52940068e-02 8.18050052e+02] [ 1.00282874e-01 9.94957134e-01 -1.90987005e-03 1.06762503e+01] [ 1.54084418e-02 3.66287500e-04 9.99881216e-01 1.26721827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.2692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:818.08, Y:10.68, Z:12.67 [[ 9.94739907e-01 -1.01284883e-01 -1.52934558e-02 8.18077216e+02] [ 1.01267416e-01 9.94857400e-01 -1.91427153e-03 1.06797513e+01] [ 1.54086945e-02 3.55473537e-04 9.99881216e-01 1.26724161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.2992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:818.10, Y:10.68, Z:12.67 [[ 9.94628405e-01 -1.02374079e-01 -1.52932855e-02 8.18104884e+02] [ 1.02356719e-01 9.94745914e-01 -1.91563158e-03 1.06834733e+01] [ 1.54090442e-02 3.39971057e-04 9.99881216e-01 1.26728915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.3292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:818.13, Y:10.69, Z:12.67 [[ 9.94590331e-01 -1.02743398e-01 -1.52927411e-02 8.18132560e+02] [ 1.02726015e-01 9.94707836e-01 -1.91996732e-03 1.06871473e+01] [ 1.54090734e-02 3.38618579e-04 9.99881216e-01 1.26734081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.3592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:818.16, Y:10.69, Z:12.67 [[ 9.94598389e-01 -1.02665443e-01 -1.52921858e-02 8.18160514e+02] [ 1.02647983e-01 9.94715883e-01 -1.92438056e-03 1.06907864e+01] [ 1.54089474e-02 3.44273787e-04 9.99881216e-01 1.26730081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.3892541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:818.19, Y:10.69, Z:12.67 [[ 9.94580494e-01 -1.02838683e-01 -1.52920140e-02 8.18188459e+02] [ 1.02821223e-01 9.94697988e-01 -1.92574420e-03 1.06945423e+01] [ 1.54089766e-02 3.42964043e-04 9.99881216e-01 1.26733237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.4192541539999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:818.22, Y:10.70, Z:12.67 [[ 9.94611097e-01 -1.02542364e-01 -1.52914743e-02 8.18216421e+02] [ 1.02524803e-01 9.94728576e-01 -1.93002064e-03 1.06984469e+01] [ 1.54087753e-02 3.51864555e-04 9.99881216e-01 1.26738774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.4492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:818.24, Y:10.70, Z:12.67 [[ 9.94671835e-01 -1.01951601e-01 -1.52909160e-02 8.18243657e+02] [ 1.01933903e-01 9.94789293e-01 -1.93443352e-03 1.07020210e+01] [ 1.54084581e-02 3.65463790e-04 9.99881216e-01 1.26736920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.4792541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:818.27, Y:10.71, Z:12.67 [[ 9.94822294e-01 -1.00472873e-01 -1.52906741e-02 8.18271167e+02] [ 1.00454971e-01 9.94939722e-01 -1.93634412e-03 1.07059992e+01] [ 1.54078491e-02 3.90294083e-04 9.99881216e-01 1.26733086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.5092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:818.30, Y:10.71, Z:12.68 [[ 9.94986072e-01 -9.88378915e-02 -1.52901309e-02 8.18299822e+02] [ 9.88197304e-02 9.95103459e-01 -1.94062380e-03 1.07101526e+01] [ 1.54070693e-02 4.19927041e-04 9.99881216e-01 1.26750330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.5392541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:818.33, Y:10.71, Z:12.68 [[ 9.95101028e-01 -9.76737934e-02 -1.52896489e-02 8.18327763e+02] [ 9.76554368e-02 9.95218386e-01 -1.94441364e-03 1.07145746e+01] [ 1.54064580e-02 4.41770673e-04 9.99881216e-01 1.26759572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.5692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:818.35, Y:10.72, Z:12.68 [[ 9.95358072e-01 -9.50186951e-02 -1.52890829e-02 8.18354761e+02] [ 9.49999573e-02 9.95475369e-01 -1.94885434e-03 1.07198209e+01] [ 1.54050830e-02 4.87345682e-04 9.99881216e-01 1.26759492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.5992541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:818.38, Y:10.72, Z:12.68 [[ 9.95451504e-01 -9.40348612e-02 -1.52888370e-02 8.18382896e+02] [ 9.40159779e-02 9.95568777e-01 -1.95078149e-03 1.07242516e+01] [ 1.54045302e-02 5.04513411e-04 9.99881216e-01 1.26760404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.6292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:818.41, Y:10.73, Z:12.67 [[ 9.95536123e-01 -9.31348282e-02 -1.52882775e-02 8.18410311e+02] [ 9.31157718e-02 9.95653369e-01 -1.95515634e-03 1.07285778e+01] [ 1.54039181e-02 5.22849001e-04 9.99881216e-01 1.26745050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.6592541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:818.44, Y:10.73, Z:12.68 [[ 9.95543361e-01 -9.30577266e-02 -1.52864527e-02 8.18438814e+02] [ 9.30384427e-02 9.95660570e-01 -1.96939827e-03 1.07334072e+01] [ 1.54033860e-02 5.38393613e-04 9.99881216e-01 1.26757302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.6892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:818.47, Y:10.74, Z:12.67 [[ 9.95657115e-01 -9.18324599e-02 -1.52875361e-02 8.18465120e+02] [ 9.18131612e-02 9.95774321e-01 -1.96095261e-03 1.07382969e+01] [ 1.54030149e-02 5.48839408e-04 9.99881216e-01 1.26736386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.7192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:818.49, Y:10.74, Z:12.68 [[ 9.95670852e-01 -9.16834423e-02 -1.52872918e-02 8.18492782e+02] [ 9.16640970e-02 9.95788050e-01 -1.96285501e-03 1.07423600e+01] [ 1.54028638e-02 5.53061726e-04 9.99881216e-01 1.26763219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.7492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:818.52, Y:10.75, Z:12.68 [[ 9.95713546e-01 -9.12186940e-02 -1.52867204e-02 8.18520198e+02] [ 9.11992259e-02 9.95830724e-01 -1.96729503e-03 1.07474447e+01] [ 1.54024399e-02 5.64725241e-04 9.99881216e-01 1.26770893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.7792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:818.55, Y:10.75, Z:12.68 [[ 9.95771279e-01 -9.05863927e-02 -1.52861510e-02 8.18547128e+02] [ 9.05667825e-02 9.95888433e-01 -1.97170927e-03 1.07518573e+01] [ 1.54019110e-02 5.78953944e-04 9.99881216e-01 1.26770937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.8092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:818.58, Y:10.76, Z:12.68 [[ 9.95809937e-01 -9.01604919e-02 -1.52857645e-02 8.18575018e+02] [ 9.01407857e-02 9.95927075e-01 -1.97470152e-03 1.07562214e+01] [ 1.54015468e-02 5.88556575e-04 9.99881216e-01 1.26776478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.8392541539998 meters Centerline goodness : 0.999716 Centerline is valid? [True, True] Translation: X:818.60, Y:10.76, Z:12.68 [[ 9.95876786e-01 -8.94191834e-02 -1.52851958e-02 8.18604527e+02] [ 8.93993227e-02 9.95993898e-01 -1.97909348e-03 1.07610390e+01] [ 1.54009307e-02 6.04447102e-04 9.99881216e-01 1.26771932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.8692541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:818.63, Y:10.77, Z:12.68 [[ 9.95940121e-01 -8.87098256e-02 -1.52919253e-02 8.18631393e+02] [ 8.86906775e-02 9.96057353e-01 -1.92716444e-03 1.07653361e+01] [ 1.54025930e-02 5.63089170e-04 9.99881214e-01 1.26770559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.8992541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:818.66, Y:10.77, Z:12.68 [[ 9.96009378e-01 -8.79301129e-02 -1.52844179e-02 8.18658366e+02] [ 8.79099871e-02 9.96126445e-01 -1.98497150e-03 1.07702277e+01] [ 1.53997517e-02 6.33397244e-04 9.99881216e-01 1.26782049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.9292541539999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:818.69, Y:10.77, Z:12.68 [[ 9.95951442e-01 -8.85839511e-02 -1.52842414e-02 8.18685615e+02] [ 8.85638814e-02 9.96068518e-01 -1.98633003e-03 1.07743523e+01] [ 1.54001086e-02 6.24656520e-04 9.99881216e-01 1.26761735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.9592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:818.71, Y:10.78, Z:12.68 [[ 9.95973596e-01 -8.83345552e-02 -1.52840670e-02 8.18714331e+02] [ 8.83144356e-02 9.96090663e-01 -1.98767104e-03 1.07788369e+01] [ 1.53998965e-02 6.29864120e-04 9.99881216e-01 1.26793289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.9892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:818.74, Y:10.78, Z:12.68 [[ 9.95951055e-01 -8.85884174e-02 -1.52835758e-02 8.18740572e+02] [ 8.85682698e-02 9.96068118e-01 -1.99144070e-03 1.07828592e+01] [ 1.53999012e-02 6.29737602e-04 9.99881216e-01 1.26797483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.0192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:818.77, Y:10.79, Z:12.68 [[ 9.95921825e-01 -8.89164781e-02 -1.52832976e-02 8.18768714e+02] [ 8.88963364e-02 9.96038888e-01 -1.99357386e-03 1.07878721e+01] [ 1.54000203e-02 6.26814558e-04 9.99881216e-01 1.26807166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.0492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:818.80, Y:10.79, Z:12.68 [[ 9.95884641e-01 -8.93320749e-02 -1.52827358e-02 8.18796034e+02] [ 8.93119163e-02 9.96001702e-01 -1.99787080e-03 1.07921516e+01] [ 1.54001048e-02 6.24718426e-04 9.99881216e-01 1.26814321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.0792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:818.82, Y:10.80, Z:12.68 [[ 9.95858265e-01 -8.96257307e-02 -1.52821608e-02 8.18824001e+02] [ 8.96055394e-02 9.95975320e-01 -2.00225969e-03 1.07968382e+01] [ 1.54001090e-02 6.24600598e-04 9.99881216e-01 1.26820312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.1092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:818.85, Y:10.80, Z:12.68 [[ 9.95838591e-01 -8.98441677e-02 -1.52815686e-02 8.18851900e+02] [ 8.98239330e-02 9.95955639e-01 -2.00676929e-03 1.08024673e+01] [ 1.54000609e-02 6.25767705e-04 9.99881216e-01 1.26823874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.1392541539999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:818.88, Y:10.81, Z:12.68 [[ 9.95752449e-01 -9.07940054e-02 -1.52809786e-02 8.18879185e+02] [ 9.07738136e-02 9.95869504e-01 -2.01125229e-03 1.08069798e+01] [ 1.54004702e-02 6.15596693e-04 9.99881216e-01 1.26797587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.1692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:818.91, Y:10.81, Z:12.68 [[ 9.95496181e-01 -9.35620321e-02 -1.52807038e-02 8.18905553e+02] [ 9.35421339e-02 9.95613286e-01 -2.01333784e-03 1.08140045e+01] [ 1.54020437e-02 5.74880489e-04 9.99881216e-01 1.26789108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.1992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:818.94, Y:10.82, Z:12.68 [[ 9.95758442e-01 -9.07304057e-02 -1.52682529e-02 8.18935723e+02] [ 9.07087314e-02 9.95875235e-01 -2.10758688e-03 1.08168726e+01] [ 1.53964971e-02 7.13683581e-04 9.99881212e-01 1.26830271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.2292541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:818.96, Y:10.82, Z:12.68 [[ 9.95719613e-01 -9.11535644e-02 -1.52800463e-02 8.18962108e+02] [ 9.11333069e-02 9.95836657e-01 -2.01830250e-03 1.08212190e+01] [ 1.54004057e-02 6.17142238e-04 9.99881216e-01 1.26812929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.2592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:818.99, Y:10.83, Z:12.68 [[ 9.95720065e-01 -9.11486683e-02 -1.52797927e-02 8.18990197e+02] [ 9.11283809e-02 9.95837104e-01 -2.02022059e-03 1.08260123e+01] [ 1.54003249e-02 6.19151416e-04 9.99881216e-01 1.26828333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.2892541539999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:819.02, Y:10.83, Z:12.68 [[ 9.95338569e-01 -9.52243493e-02 -1.52792500e-02 8.19016505e+02] [ 9.52044784e-02 9.95455679e-01 -2.02431660e-03 1.08338551e+01] [ 1.54025804e-02 5.60227360e-04 9.99881216e-01 1.26799927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.3192541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:819.05, Y:10.84, Z:12.68 [[ 9.95574169e-01 -9.27305273e-02 -1.52683960e-02 8.19045741e+02] [ 9.27091121e-02 9.95691009e-01 -2.10599245e-03 1.08366798e+01] [ 1.53978944e-02 6.81152251e-04 9.99881213e-01 1.26835147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.3492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:819.07, Y:10.84, Z:12.68 [[ 9.95346246e-01 -9.51441878e-02 -1.52785587e-02 8.19072740e+02] [ 9.51242282e-02 9.95463341e-01 -2.02948508e-03 1.08429383e+01] [ 1.54023388e-02 5.66679248e-04 9.99881216e-01 1.26812434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.3792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:819.10, Y:10.85, Z:12.68 [[ 9.95499813e-01 -9.35247920e-02 -1.52720350e-02 8.19101793e+02] [ 9.35038906e-02 9.95616745e-01 -2.07852124e-03 1.08466004e+01] [ 1.53994871e-02 6.41172811e-04 9.99881215e-01 1.26839047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.4092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:819.13, Y:10.85, Z:12.68 [[ 9.95488052e-01 -9.36489375e-02 -1.52778896e-02 8.19129852e+02] [ 9.36287243e-02 9.95605104e-01 -2.03455832e-03 1.08513396e+01] [ 1.54012791e-02 5.94929193e-04 9.99881216e-01 1.26843833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.4392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:819.16, Y:10.86, Z:12.68 [[ 9.95510383e-01 -9.34113529e-02 -1.52772995e-02 8.19156730e+02] [ 9.33910440e-02 9.95627418e-01 -2.03897946e-03 1.08563908e+01] [ 1.54009621e-02 6.03062270e-04 9.99881216e-01 1.26844592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.4692541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:819.18, Y:10.86, Z:12.68 [[ 9.95553726e-01 -9.29483249e-02 -1.52770437e-02 8.19183076e+02] [ 9.29279322e-02 9.95670746e-01 -2.04089394e-03 1.08631404e+01] [ 1.54006032e-02 6.12155481e-04 9.99881216e-01 1.26838412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.4992541539999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:819.21, Y:10.87, Z:12.68 [[ 9.95532224e-01 -9.31783761e-02 -1.52767905e-02 8.19210630e+02] [ 9.31579814e-02 9.95649244e-01 -2.04278811e-03 1.08685280e+01] [ 1.54006686e-02 6.10506432e-04 9.99881216e-01 1.26833948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.5292541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:819.24, Y:10.87, Z:12.68 [[ 9.95513628e-01 -9.33769402e-02 -1.52762141e-02 8.19238499e+02] [ 9.33565030e-02 9.95630641e-01 -2.04708899e-03 1.08746010e+01] [ 1.54006178e-02 6.11771061e-04 9.99881216e-01 1.26848508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.5592541539999 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:819.27, Y:10.88, Z:12.68 [[ 9.95410776e-01 -9.44671529e-02 -1.52756177e-02 8.19265559e+02] [ 9.44467758e-02 9.95527799e-01 -2.05152968e-03 1.08793137e+01] [ 1.54011043e-02 5.99381910e-04 9.99881216e-01 1.26834826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.5892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:819.29, Y:10.88, Z:12.69 [[ 9.95435042e-01 -9.42111484e-02 -1.52753595e-02 8.19293408e+02] [ 9.41907118e-02 9.95552054e-01 -2.05345066e-03 1.08837030e+01] [ 1.54008735e-02 6.05279764e-04 9.99881216e-01 1.26868813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.6192541539999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:819.32, Y:10.89, Z:12.69 [[ 9.95278270e-01 -9.58531896e-02 -1.52751773e-02 8.19321496e+02] [ 9.58329253e-02 9.95395313e-01 -2.05480528e-03 1.08886930e+01] [ 1.54017995e-02 5.81238123e-04 9.99881216e-01 1.26856505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.6492541539999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:819.35, Y:10.89, Z:12.69 [[ 9.95150165e-01 -9.71742583e-02 -1.52745943e-02 8.19348855e+02] [ 9.71540831e-02 9.95267223e-01 -2.05913002e-03 1.08944624e+01] [ 1.54023974e-02 5.65154382e-04 9.99881216e-01 1.26871284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.6792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:819.38, Y:10.90, Z:12.69 [[ 9.95103530e-01 -9.76507467e-02 -1.52740130e-02 8.19376830e+02] [ 9.76305615e-02 9.95220586e-01 -2.06343289e-03 1.08995045e+01] [ 1.54025079e-02 5.62118888e-04 9.99881216e-01 1.26883283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.7092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:819.40, Y:10.91, Z:12.69 [[ 9.94810972e-01 -1.00587536e-01 -1.52734332e-02 8.19402842e+02] [ 1.00567631e-01 9.94928076e-01 -2.06771572e-03 1.09073365e+01] [ 1.54039539e-02 5.20973287e-04 9.99881216e-01 1.26893824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.7392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:819.43, Y:10.91, Z:12.69 [[ 9.95003640e-01 -9.86652188e-02 -1.52620853e-02 8.19431640e+02] [ 9.86438071e-02 9.95120481e-01 -2.15126838e-03 1.09100543e+01] [ 1.53998690e-02 6.35009677e-04 9.99881213e-01 1.26889919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.7692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:819.46, Y:10.92, Z:12.69 [[ 9.94951236e-01 -9.91906432e-02 -1.52726412e-02 8.19459068e+02] [ 9.91704847e-02 9.95068297e-01 -2.07351798e-03 1.09156718e+01] [ 1.54029947e-02 5.48454043e-04 9.99881216e-01 1.26886276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.7992541539999 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:819.49, Y:10.92, Z:12.68 [[ 9.94805634e-01 -1.00640518e-01 -1.52721174e-02 8.19487398e+02] [ 1.00620471e-01 9.94922713e-01 -2.07736947e-03 1.09207387e+01] [ 1.54036440e-02 5.29891218e-04 9.99881216e-01 1.26845701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.8292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:819.51, Y:10.93, Z:12.69 [[ 9.94772257e-01 -1.00969662e-01 -1.52736721e-02 8.19514695e+02] [ 1.00949829e-01 9.94889373e-01 -2.06594896e-03 1.09256195e+01] [ 1.54042122e-02 5.13274129e-04 9.99881216e-01 1.26897331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.8592541539999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:819.54, Y:10.93, Z:12.69 [[ 9.94584446e-01 -1.02803515e-01 -1.52714276e-02 8.19543001e+02] [ 1.02783645e-01 9.94701556e-01 -2.08240915e-03 1.09301836e+01] [ 1.54045918e-02 5.01478760e-04 9.99881216e-01 1.26877680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.8892541539999 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:819.57, Y:10.94, Z:12.69 [[ 9.94094168e-01 -1.07441076e-01 -1.52709291e-02 8.19569060e+02] [ 1.07421697e-01 9.94211360e-01 -2.08605863e-03 1.09372693e+01] [ 1.54066596e-02 4.33309606e-04 9.99881216e-01 1.26874622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.9192541539999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:819.60, Y:10.94, Z:12.69 [[ 9.94247737e-01 -1.06012596e-01 -1.52566714e-02 8.19599938e+02] [ 1.05991456e-01 9.94364629e-01 -2.18988187e-03 1.09401116e+01] [ 1.54028494e-02 5.60208273e-04 9.99881212e-01 1.26915907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.9492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:819.63, Y:10.94, Z:12.69 [[ 9.94019084e-01 -1.08133560e-01 -1.52706587e-02 8.19626774e+02] [ 1.08114234e-01 9.94136285e-01 -2.08795642e-03 1.09439593e+01] [ 1.54068940e-02 4.24492966e-04 9.99881217e-01 1.26918637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.9792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:819.66, Y:10.95, Z:12.69 [[ 9.93988666e-01 -1.08413061e-01 -1.52689257e-02 8.19655068e+02] [ 1.08393574e-01 9.94105840e-01 -2.10055372e-03 1.09479466e+01] [ 1.54066556e-02 4.32873173e-04 9.99881217e-01 1.26922999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.0092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:819.68, Y:10.95, Z:12.69 [[ 9.93833891e-01 -1.09822929e-01 -1.52683341e-02 8.19682785e+02] [ 1.09803542e-01 9.93951081e-01 -2.10484450e-03 1.09519355e+01] [ 1.54071374e-02 4.15348634e-04 9.99881217e-01 1.26933941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.0392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:819.71, Y:10.96, Z:12.69 [[ 9.93692403e-01 -1.11095931e-01 -1.52677189e-02 8.19709164e+02] [ 1.11076625e-01 9.93809607e-01 -2.10929752e-03 1.09556658e+01] [ 1.54075401e-02 4.00106226e-04 9.99881217e-01 1.26934915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.0692541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:819.74, Y:10.96, Z:12.69 [[ 9.93403143e-01 -1.13653445e-01 -1.52673013e-02 8.19737229e+02] [ 1.13634395e-01 9.93520389e-01 -2.11231600e-03 1.09588553e+01] [ 1.54084471e-02 3.63490807e-04 9.99881217e-01 1.26926365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.0992541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:819.77, Y:10.96, Z:12.69 [[ 9.93287848e-01 -1.14656786e-01 -1.52666963e-02 8.19765320e+02] [ 1.14637788e-01 9.93405102e-01 -2.11667980e-03 1.09623414e+01] [ 1.54087057e-02 3.52332036e-04 9.99881217e-01 1.26930094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.1292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:819.79, Y:10.97, Z:12.69 [[ 9.92836427e-01 -1.18502216e-01 -1.52660868e-02 8.19789481e+02] [ 1.18483604e-01 9.92953743e-01 -2.12106628e-03 1.09690156e+01] [ 1.54098691e-02 2.97090874e-04 9.99881217e-01 1.26918909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.1592541539999 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:819.82, Y:10.97, Z:12.69 [[ 9.92705639e-01 -1.19595548e-01 -1.52453232e-02 8.19818675e+02] [ 1.19574776e-01 9.92822602e-01 -2.27012683e-03 1.09722870e+01] [ 1.54073985e-02 4.30611596e-04 9.99881206e-01 1.26905626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.1892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:819.84, Y:10.98, Z:12.69 [[ 9.92556399e-01 -1.20827598e-01 -1.52475096e-02 8.19844675e+02] [ 1.20807212e-01 9.92673428e-01 -2.25442962e-03 1.09776037e+01] [ 1.54081949e-02 3.95639419e-04 9.99881208e-01 1.26910312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.2192541539999 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:819.87, Y:10.98, Z:12.69 [[ 9.92645637e-01 -1.20093705e-01 -1.52362051e-02 8.19874424e+02] [ 1.20071991e-01 9.92762440e-01 -2.33539061e-03 1.09803567e+01] [ 1.54063978e-02 4.88773832e-04 9.99881195e-01 1.26900238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.2492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:819.91, Y:10.98, Z:12.70 [[ 9.93306600e-01 -1.14497622e-01 -1.52411759e-02 8.19906155e+02] [ 1.14475795e-01 9.93423376e-01 -2.29980678e-03 1.09800408e+01] [ 1.54042628e-02 5.39667520e-04 9.99881202e-01 1.26956541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.2792541539999 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:819.93, Y:10.98, Z:12.69 [[ 9.93336435e-01 -1.14235297e-01 -1.52651454e-02 8.19934531e+02] [ 1.14216077e-01 9.93453653e-01 -2.12785197e-03 1.09836829e+01] [ 1.54082903e-02 3.70147867e-04 9.99881217e-01 1.26934715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.3092541539999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:819.96, Y:10.99, Z:12.69 [[ 9.93490824e-01 -1.12884790e-01 -1.52645760e-02 8.19962024e+02] [ 1.12865349e-01 9.93608005e-01 -2.13192903e-03 1.09874314e+01] [ 1.54076673e-02 3.95210237e-04 9.99881217e-01 1.26946490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.3392541539998 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:819.99, Y:10.99, Z:12.69 [[ 9.93895031e-01 -1.09268834e-01 -1.52639599e-02 8.19988953e+02] [ 1.09248899e-01 9.94012130e-01 -2.13633080e-03 1.09913495e+01] [ 1.54059957e-02 4.55717750e-04 9.99881217e-01 1.26945360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.3692541539999 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:820.02, Y:11.00, Z:12.69 [[ 9.94038189e-01 -1.07958778e-01 -1.52636928e-02 8.20016329e+02] [ 1.07938659e-01 9.94155256e-01 -2.13823803e-03 1.09954406e+01] [ 1.54053219e-02 4.77947726e-04 9.99881217e-01 1.26941779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.3992541539999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:820.04, Y:11.00, Z:12.69 [[ 9.94337103e-01 -1.05170169e-01 -1.52630788e-02 8.20043044e+02] [ 1.05149655e-01 9.94454101e-01 -2.14261164e-03 1.09987454e+01] [ 1.54037701e-02 5.25570780e-04 9.99881217e-01 1.26944018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.4292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:820.07, Y:11.00, Z:12.70 [[ 9.94454435e-01 -1.04054907e-01 -1.52628129e-02 8.20071186e+02] [ 1.04034232e-01 9.94571405e-01 -2.14450427e-03 1.10020037e+01] [ 1.54031034e-02 5.44756761e-04 9.99881217e-01 1.26961155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.4592541539998 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:820.10, Y:11.01, Z:12.70 [[ 9.94378241e-01 -1.04780623e-01 -1.52622121e-02 8.20098926e+02] [ 1.04759968e-01 9.94495215e-01 -2.14877147e-03 1.10052800e+01] [ 1.54033465e-02 5.37822743e-04 9.99881217e-01 1.26957222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.4892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:820.13, Y:11.01, Z:12.70 [[ 9.94398772e-01 -1.04585690e-01 -1.52615846e-02 8.20125906e+02] [ 1.04564945e-01 9.94515729e-01 -2.15321878e-03 1.10080239e+01] [ 1.54030818e-02 5.45331362e-04 9.99881217e-01 1.26973762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.5192541539999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:820.15, Y:11.01, Z:12.70 [[ 9.94264291e-01 -1.05856566e-01 -1.52613127e-02 8.20153576e+02] [ 1.05835941e-01 9.94381269e-01 -2.15514410e-03 1.10106917e+01] [ 1.54036997e-02 5.27587429e-04 9.99881217e-01 1.26961832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.5492541539999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:820.18, Y:11.01, Z:12.70 [[ 9.93869716e-01 -1.09499247e-01 -1.52611211e-02 8.20181787e+02] [ 1.09479029e-01 9.93986766e-01 -2.15650001e-03 1.10119603e+01] [ 1.54054876e-02 4.72507329e-04 9.99881217e-01 1.26973450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.5792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:820.21, Y:11.02, Z:12.70 [[ 9.93082285e-01 -1.16424619e-01 -1.52605023e-02 8.20207354e+02] [ 1.16405150e-01 9.93199462e-01 -2.16087069e-03 1.10152206e+01] [ 1.54083012e-02 3.69521340e-04 9.99881217e-01 1.26981844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.6092541539999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:820.24, Y:11.01, Z:12.70 [[ 9.93026531e-01 -1.16901451e-01 -1.52433349e-02 8.20237761e+02] [ 1.16880184e-01 9.93143402e-01 -2.28174242e-03 1.10148801e+01] [ 1.54055565e-02 4.84186974e-04 9.99881210e-01 1.26989826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.6392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:820.26, Y:11.02, Z:12.70 [[ 9.92577349e-01 -1.20653831e-01 -1.52597261e-02 8.20264230e+02] [ 1.20634779e-01 9.92694594e-01 -2.16627990e-03 1.10185972e+01] [ 1.54096176e-02 3.09346671e-04 9.99881217e-01 1.27014395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.6692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:820.29, Y:11.02, Z:12.70 [[ 9.92236598e-01 -1.23426043e-01 -1.52494548e-02 8.20294061e+02] [ 1.23406208e-01 9.92353716e-01 -2.23848724e-03 1.10170685e+01] [ 1.54091408e-02 3.39231565e-04 9.99881215e-01 1.27031775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.6992541539998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:820.32, Y:11.02, Z:12.70 [[ 9.91965372e-01 -1.25586064e-01 -1.52591350e-02 8.20320730e+02] [ 1.25567531e-01 9.92082700e-01 -2.17043177e-03 1.10191776e+01] [ 1.54108998e-02 2.36941258e-04 9.99881217e-01 1.27025296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.7292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:820.35, Y:11.02, Z:12.70 [[ 9.91495682e-01 -1.29241946e-01 -1.52588641e-02 8.20347622e+02] [ 1.29223816e-01 9.91613073e-01 -2.17233421e-03 1.10232827e+01] [ 1.54116458e-02 1.82051338e-04 9.99881217e-01 1.27028922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.7592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:820.38, Y:11.02, Z:12.70 [[ 9.91357938e-01 -1.30295671e-01 -1.52472137e-02 8.20376452e+02] [ 1.30276410e-01 9.91475152e-01 -2.25397089e-03 1.10231322e+01] [ 1.54109162e-02 2.48139673e-04 9.99881214e-01 1.27043820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.7892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:820.41, Y:11.02, Z:12.70 [[ 9.91549608e-01 -1.28828640e-01 -1.52498269e-02 8.20405786e+02] [ 1.28809487e-01 9.91666838e-01 -2.23568284e-03 1.10240591e+01] [ 1.54107677e-02 2.52468065e-04 9.99881215e-01 1.27049141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.8192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:820.43, Y:11.03, Z:12.70 [[ 9.91419046e-01 -1.29828642e-01 -1.52577320e-02 8.20431109e+02] [ 1.29810458e-01 9.91536429e-01 -2.18036510e-03 1.10276826e+01] [ 1.54116710e-02 1.81042297e-04 9.99881217e-01 1.27040683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.8492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:820.46, Y:11.03, Z:12.70 [[ 9.91865639e-01 -1.26373187e-01 -1.52437708e-02 8.20461326e+02] [ 1.26353096e-01 9.91982715e-01 -2.27782646e-03 1.10283022e+01] [ 1.54094134e-02 3.33200150e-04 9.99881212e-01 1.27041587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.8792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:820.49, Y:11.03, Z:12.70 [[ 9.91649103e-01 -1.28059679e-01 -1.52569723e-02 8.20486269e+02] [ 1.28041204e-01 9.91766441e-01 -2.18567475e-03 1.10339668e+01] [ 1.54112499e-02 2.13901301e-04 9.99881217e-01 1.27043151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.9092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:820.51, Y:11.04, Z:12.70 [[ 9.91948701e-01 -1.25720082e-01 -1.52393110e-02 8.20514521e+02] [ 1.25699439e-01 9.92065684e-01 -2.30872590e-03 1.10361266e+01] [ 1.54086507e-02 3.74564812e-04 9.99881210e-01 1.27039968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.9392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:820.55, Y:11.04, Z:12.70 [[ 9.92495495e-01 -1.21328157e-01 -1.52371480e-02 8.20545761e+02] [ 1.21306766e-01 9.92612346e-01 -2.32377579e-03 1.10358104e+01] [ 1.54065207e-02 4.57967852e-04 9.99881208e-01 1.27041427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.9692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:820.57, Y:11.04, Z:12.70 [[ 9.92592617e-01 -1.20528587e-01 -1.52563568e-02 8.20573865e+02] [ 1.20509156e-01 9.92709800e-01 -2.18995858e-03 1.10386074e+01] [ 1.54090875e-02 3.35206037e-04 9.99881217e-01 1.27046962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.9992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:820.60, Y:11.04, Z:12.71 [[ 9.92485927e-01 -1.21404009e-01 -1.52561630e-02 8.20599386e+02] [ 1.21384660e-01 9.92603124e-01 -2.19130799e-03 1.10429111e+01] [ 1.54093486e-02 3.22978179e-04 9.99881217e-01 1.27067117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.0292541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:820.63, Y:11.04, Z:12.71 [[ 9.92929690e-01 -1.17721826e-01 -1.52381748e-02 8.20629355e+02] [ 1.17700127e-01 9.93046482e-01 -2.31616976e-03 1.10430473e+01] [ 1.54048796e-02 5.06258608e-04 9.99881210e-01 1.27074343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.0592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:820.65, Y:11.05, Z:12.71 [[ 9.92605386e-01 -1.20423513e-01 -1.52553063e-02 8.20653472e+02] [ 1.20403958e-01 9.92722549e-01 -2.19722704e-03 1.10492737e+01] [ 1.54088843e-02 3.44180142e-04 9.99881217e-01 1.27058861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.0892541539998 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:820.69, Y:11.05, Z:12.71 [[ 9.93285065e-01 -1.14685680e-01 -1.52307201e-02 8.20686513e+02] [ 1.14662841e-01 9.93401645e-01 -2.36731040e-03 1.10468593e+01] [ 1.54017190e-02 6.05016434e-04 9.99881203e-01 1.27066980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.1192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:820.71, Y:11.05, Z:12.71 [[ 9.93322342e-01 -1.14359171e-01 -1.52546524e-02 8.20714824e+02] [ 1.14338836e-01 9.93439371e-01 -2.20147779e-03 1.10499406e+01] [ 1.54063315e-02 4.42577874e-04 9.99881217e-01 1.27095189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.1492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:820.74, Y:11.05, Z:12.71 [[ 9.93272322e-01 -1.14792896e-01 -1.52540264e-02 8.20743060e+02] [ 1.14772545e-01 9.93389348e-01 -2.20580734e-03 1.10534593e+01] [ 1.54063983e-02 4.40223946e-04 9.99881217e-01 1.27086645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.1792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:820.77, Y:11.06, Z:12.71 [[ 9.92689356e-01 -1.19729586e-01 -1.52534768e-02 8.20767893e+02] [ 1.19709760e-01 9.92806472e-01 -2.20960106e-03 1.10591001e+01] [ 1.54083051e-02 3.67457411e-04 9.99881217e-01 1.27062402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.2092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:820.80, Y:11.06, Z:12.71 [[ 9.92903966e-01 -1.17939216e-01 -1.52333781e-02 8.20799060e+02] [ 1.17917057e-01 9.93020672e-01 -2.34788761e-03 1.10592511e+01] [ 1.54039674e-02 5.34951819e-04 9.99881209e-01 1.27064818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.2392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:820.83, Y:11.06, Z:12.71 [[ 9.92601200e-01 -1.20458334e-01 -1.52528032e-02 8.20827037e+02] [ 1.20438524e-01 9.92718318e-01 -2.21406827e-03 1.10614481e+01] [ 1.54084401e-02 3.60661712e-04 9.99881218e-01 1.27068716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.2692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:820.85, Y:11.07, Z:12.71 [[ 9.92010593e-01 -1.25229205e-01 -1.52521781e-02 8.20851098e+02] [ 1.25209893e-01 9.92127795e-01 -2.21836604e-03 1.10682771e+01] [ 1.54099140e-02 2.90919023e-04 9.99881218e-01 1.27073374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.2992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:820.88, Y:11.07, Z:12.71 [[ 9.92332433e-01 -1.22656021e-01 -1.52263915e-02 8.20883856e+02] [ 1.22633691e-01 9.92449112e-01 -2.39521502e-03 1.10674086e+01] [ 1.54052063e-02 5.09580966e-04 9.99881203e-01 1.27093544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.3292541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:820.91, Y:11.07, Z:12.71 [[ 9.92028728e-01 -1.25085490e-01 -1.52520118e-02 8.20912666e+02] [ 1.25066150e-01 9.92145924e-01 -2.21912900e-03 1.10704098e+01] [ 1.54098022e-02 2.93929327e-04 9.99881219e-01 1.27106550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.3592541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:820.94, Y:11.07, Z:12.71 [[ 9.91893052e-01 -1.26156916e-01 -1.52514534e-02 8.20940139e+02] [ 1.26137642e-01 9.92010259e-01 -2.22296033e-03 1.10745422e+01] [ 1.54100400e-02 2.81156538e-04 9.99881219e-01 1.27124924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.3892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:820.97, Y:11.08, Z:12.71 [[ 9.91738668e-01 -1.27364882e-01 -1.52512556e-02 8.20967690e+02] [ 1.27345730e-01 9.91855895e-01 -2.22431651e-03 1.10785356e+01] [ 1.54103476e-02 2.63758408e-04 9.99881219e-01 1.27135754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.4192541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:820.99, Y:11.08, Z:12.71 [[ 9.91567533e-01 -1.28690502e-01 -1.52506225e-02 8.20994828e+02] [ 1.28671441e-01 9.91684775e-01 -2.22864881e-03 1.10826377e+01] [ 1.54106161e-02 2.47536238e-04 9.99881219e-01 1.27133621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.4492541539998 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:821.02, Y:11.09, Z:12.71 [[ 9.91569905e-01 -1.28672253e-01 -1.52504266e-02 8.21021216e+02] [ 1.28653170e-01 9.91687143e-01 -2.22998866e-03 1.10867004e+01] [ 1.54105896e-02 2.49173929e-04 9.99881219e-01 1.27140332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.4792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:821.05, Y:11.09, Z:12.72 [[ 9.91629303e-01 -1.28213723e-01 -1.52501539e-02 8.21048557e+02] [ 1.28194556e-01 9.91746527e-01 -2.23185180e-03 1.10910556e+01] [ 1.54104412e-02 2.58182934e-04 9.99881219e-01 1.27155518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.5092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:821.07, Y:11.10, Z:12.72 [[ 9.91521199e-01 -1.29047135e-01 -1.52495323e-02 8.21072355e+02] [ 1.29028001e-01 9.91638429e-01 -2.23609075e-03 1.10997106e+01] [ 1.54105834e-02 2.49514705e-04 9.99881219e-01 1.27151680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.5392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:821.10, Y:11.10, Z:12.72 [[ 9.92147712e-01 -1.24141204e-01 -1.52275795e-02 8.21103529e+02] [ 1.24119201e-01 9.92264448e-01 -2.38526475e-03 1.11018862e+01] [ 1.54058954e-02 4.76499966e-04 9.99881209e-01 1.27151236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.5692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:821.13, Y:11.11, Z:12.72 [[ 9.92396867e-01 -1.22130817e-01 -1.52486767e-02 8.21130894e+02] [ 1.22110780e-01 9.92513946e-01 -2.24176104e-03 1.11073792e+01] [ 1.54083123e-02 3.62688839e-04 9.99881219e-01 1.27155251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.5992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:821.16, Y:11.11, Z:12.72 [[ 9.92663705e-01 -1.19942760e-01 -1.52480264e-02 8.21158619e+02] [ 1.19922397e-01 9.92780728e-01 -2.24617533e-03 1.11130109e+01] [ 1.54073592e-02 4.01116847e-04 9.99881219e-01 1.27155924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.6292541539999 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:821.19, Y:11.12, Z:12.71 [[ 9.93222305e-01 -1.15225735e-01 -1.52473712e-02 8.21186111e+02] [ 1.15204748e-01 9.93339217e-01 -2.25061397e-03 1.11200148e+01] [ 1.54051405e-02 4.78790429e-04 9.99881219e-01 1.27124800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.6592541539999 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:821.21, Y:11.13, Z:12.71 [[ 9.93799421e-01 -1.10137358e-01 -1.52470683e-02 8.21214134e+02] [ 1.10115741e-01 9.93916218e-01 -2.25266465e-03 1.11265287e+01] [ 1.54024110e-02 5.59754612e-04 9.99881219e-01 1.27133510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.6892541539999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:821.24, Y:11.13, Z:12.71 [[ 9.94042012e-01 -1.07926003e-01 -1.52464903e-02 8.21240226e+02] [ 1.07904067e-01 9.94158750e-01 -2.25656968e-03 1.11315651e+01] [ 1.54009743e-02 5.97966762e-04 9.99881219e-01 1.27135524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.7192541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:821.27, Y:11.14, Z:12.72 [[ 9.94264270e-01 -1.05858946e-01 -1.52461623e-02 8.21267860e+02] [ 1.05836733e-01 9.94380955e-01 -2.25878321e-03 1.11368269e+01] [ 1.53996059e-02 6.32223427e-04 9.99881219e-01 1.27157482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.7492541539999 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:821.30, Y:11.14, Z:12.71 [[ 9.94379186e-01 -1.04774089e-01 -1.52455121e-02 8.21295240e+02] [ 1.04751682e-01 9.94495834e-01 -2.26316377e-03 1.11420224e+01] [ 1.53987191e-02 6.53449924e-04 9.99881219e-01 1.27140460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.7792541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:821.32, Y:11.15, Z:12.71 [[ 9.94480110e-01 -1.03811809e-01 -1.52453109e-02 8.21322703e+02] [ 1.03789268e-01 9.94596732e-01 -2.26451771e-03 1.11469440e+01] [ 1.53980201e-02 6.69718161e-04 9.99881219e-01 1.27148124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.8092541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:821.35, Y:11.15, Z:12.72 [[ 9.94494002e-01 -1.03678681e-01 -1.52450194e-02 8.21350287e+02] [ 1.03656094e-01 9.94610616e-01 -2.26647860e-03 1.11516296e+01] [ 1.53978437e-02 6.73760202e-04 9.99881219e-01 1.27174109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.8392541539998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:821.38, Y:11.16, Z:12.72 [[ 9.94383276e-01 -1.04735424e-01 -1.52443828e-02 8.21377657e+02] [ 1.04712896e-01 9.94499901e-01 -2.27075223e-03 1.11556872e+01] [ 1.53983654e-02 6.61714565e-04 9.99881219e-01 1.27181505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.8692541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:821.41, Y:11.16, Z:12.72 [[ 9.94118088e-01 -1.07223396e-01 -1.52437262e-02 8.21405642e+02] [ 1.07201093e-01 9.94234756e-01 -2.27515149e-03 1.11590114e+01] [ 1.53997919e-02 6.27625143e-04 9.99881219e-01 1.27191628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.8992541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:821.43, Y:11.16, Z:12.72 [[ 9.94087097e-01 -1.07510427e-01 -1.52430725e-02 8.21433902e+02] [ 1.07488091e-01 9.94203759e-01 -2.27952316e-03 1.11633265e+01] [ 1.53997925e-02 6.27595798e-04 9.99881219e-01 1.27196018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.9292541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:821.46, Y:11.17, Z:12.72 [[ 9.93866892e-01 -1.09527483e-01 -1.52424131e-02 8.21462241e+02] [ 1.09505316e-01 9.93983586e-01 -2.28392365e-03 1.11670274e+01] [ 1.54008609e-02 6.00790845e-04 9.99881219e-01 1.27203238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.9592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:821.49, Y:11.17, Z:12.72 [[ 9.93697760e-01 -1.11051569e-01 -1.52417518e-02 8.21490551e+02] [ 1.11029514e-01 9.93814475e-01 -2.28832841e-03 1.11702158e+01] [ 1.54015960e-02 5.81622529e-04 9.99881219e-01 1.27219046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.9892541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:821.52, Y:11.17, Z:12.72 [[ 9.93290392e-01 -1.14638153e-01 -1.52410986e-02 8.21517255e+02] [ 1.14616452e-01 9.93407174e-01 -2.29267087e-03 1.11722465e+01] [ 1.54034442e-02 5.30407309e-04 9.99881219e-01 1.27220535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.0192541539999 meters Centerline goodness : 0.999714 Centerline is valid? [True, True] Translation: X:821.55, Y:11.18, Z:12.72 [[ 9.92926282e-01 -1.17750230e-01 -1.52408156e-02 8.21546241e+02] [ 1.17728866e-01 9.93043126e-01 -2.29455060e-03 1.11759886e+01] [ 1.54049710e-02 4.84035653e-04 9.99881219e-01 1.27211609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.0492541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:821.57, Y:11.18, Z:12.72 [[ 9.92627461e-01 -1.20243333e-01 -1.52402410e-02 8.21574393e+02] [ 1.20222204e-01 9.92744347e-01 -2.29836085e-03 1.11791097e+01] [ 1.54060256e-02 4.49200732e-04 9.99881219e-01 1.27215452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.0792541539998 meters Centerline goodness : 0.999649 Centerline is valid? [True, True] Translation: X:821.60, Y:11.18, Z:12.72 [[ 9.92066411e-01 -1.24787783e-01 -1.52395832e-02 8.21602121e+02] [ 1.24767123e-01 9.92183382e-01 -2.30271363e-03 1.11810752e+01] [ 1.54078118e-02 3.83045892e-04 9.99881219e-01 1.27215578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.1092541539999 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:821.63, Y:11.18, Z:12.72 [[ 9.91761908e-01 -1.27185273e-01 -1.52389147e-02 8.21630459e+02] [ 1.27164828e-01 9.91878916e-01 -2.30712976e-03 1.11842736e+01] [ 1.54085911e-02 3.50269451e-04 9.99881219e-01 1.27216287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.1392541539999 meters Centerline goodness : 0.999648 Centerline is valid? [True, True] Translation: X:821.66, Y:11.19, Z:12.72 [[ 9.91571355e-01 -1.28662521e-01 -1.52382485e-02 8.21658224e+02] [ 1.28642182e-01 9.91688381e-01 -2.31152139e-03 1.11867281e+01] [ 1.54090001e-02 3.31756852e-04 9.99881219e-01 1.27227749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.1692541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:821.69, Y:11.19, Z:12.72 [[ 9.91017564e-01 -1.32860841e-01 -1.52375856e-02 8.21686636e+02] [ 1.32840932e-01 9.91134665e-01 -2.31588282e-03 1.11882925e+01] [ 1.54101894e-02 2.70905481e-04 9.99881219e-01 1.27234847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.1992541539998 meters Centerline goodness : 0.999757 Centerline is valid? [True, True] Translation: X:821.71, Y:11.19, Z:12.72 [[ 9.90714195e-01 -1.35104481e-01 -1.52369209e-02 8.21714641e+02] [ 1.35084770e-01 9.90831328e-01 -2.32024784e-03 1.11916507e+01] [ 1.54106945e-02 2.40426515e-04 9.99881219e-01 1.27225618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.2292541539999 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:821.74, Y:11.19, Z:12.73 [[ 9.90694870e-01 -1.35246189e-01 -1.52362487e-02 8.21743197e+02] [ 1.35226426e-01 9.90811995e-01 -2.32465374e-03 1.11949025e+01] [ 1.54106585e-02 2.42679074e-04 9.99881219e-01 1.27251151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.2592541539999 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:821.77, Y:11.20, Z:12.72 [[ 9.90679667e-01 -1.35357570e-01 -1.52356648e-02 8.21770666e+02] [ 1.35337762e-01 9.90796785e-01 -2.32847414e-03 1.11996824e+01] [ 1.54106243e-02 2.44811206e-04 9.99881219e-01 1.27249151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.2892541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:821.80, Y:11.20, Z:12.73 [[ 9.91088352e-01 -1.32332059e-01 -1.52349932e-02 8.21798416e+02] [ 1.32311826e-01 9.91205397e-01 -2.33286040e-03 1.12039931e+01] [ 1.54097197e-02 2.96301002e-04 9.99881219e-01 1.27265651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.3192541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:821.83, Y:11.21, Z:12.73 [[ 9.91296232e-01 -1.30765803e-01 -1.52343184e-02 8.21826448e+02] [ 1.30745318e-01 9.91413233e-01 -2.33725857e-03 1.12089801e+01] [ 1.54091384e-02 3.25099812e-04 9.99881219e-01 1.27269599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.3492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:821.85, Y:11.21, Z:12.73 [[ 9.91625965e-01 -1.28241499e-01 -1.52336403e-02 8.21853499e+02] [ 1.28220649e-01 9.91742901e-01 -2.34166981e-03 1.12139930e+01] [ 1.54081539e-02 3.68793339e-04 9.99881219e-01 1.27271760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.3792541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:821.88, Y:11.22, Z:12.73 [[ 9.92067642e-01 -1.24778759e-01 -1.52333465e-02 8.21882099e+02] [ 1.24757470e-01 9.92184500e-01 -2.34357945e-03 1.12208977e+01] [ 1.54067192e-02 4.24515565e-04 9.99881219e-01 1.27265994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.4092541539999 meters Centerline goodness : 0.999715 Centerline is valid? [True, True] Translation: X:821.91, Y:11.23, Z:12.72 [[ 9.92186671e-01 -1.23828803e-01 -1.52327599e-02 8.21910638e+02] [ 1.23807344e-01 9.92303498e-01 -2.34738609e-03 1.12270191e+01] [ 1.54061950e-02 4.43117636e-04 9.99881219e-01 1.27245189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.4392541539999 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:821.94, Y:11.23, Z:12.72 [[ 9.92329489e-01 -1.22679121e-01 -1.52321725e-02 8.21938491e+02] [ 1.22657469e-01 9.92446279e-01 -2.35119171e-03 1.12329783e+01] [ 1.54055551e-02 4.64817141e-04 9.99881219e-01 1.27248287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.4692541539999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:821.97, Y:11.24, Z:12.72 [[ 9.92621938e-01 -1.20290024e-01 -1.52314971e-02 8.21965437e+02] [ 1.20268024e-01 9.92738663e-01 -2.35555896e-03 1.12397027e+01] [ 1.54042463e-02 5.06317452e-04 9.99881219e-01 1.27248488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.4992541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:821.99, Y:11.25, Z:12.73 [[ 9.92676184e-01 -1.19841567e-01 -1.52312883e-02 8.21992838e+02] [ 1.19819494e-01 9.92792896e-01 -2.35690856e-03 1.12452297e+01] [ 1.54039704e-02 5.14641747e-04 9.99881219e-01 1.27256604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.5292541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:822.02, Y:11.25, Z:12.73 [[ 9.92674175e-01 -1.19858290e-01 -1.52306344e-02 8.22020234e+02] [ 1.19836154e-01 9.92790875e-01 -2.36112649e-03 1.12506435e+01] [ 1.54038354e-02 5.18648644e-04 9.99881219e-01 1.27274597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.5592541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:822.05, Y:11.26, Z:12.73 [[ 9.92697185e-01 -1.19667654e-01 -1.52299415e-02 8.22046558e+02] [ 1.19645427e-01 9.92813868e-01 -2.36558713e-03 1.12566135e+01] [ 1.54035814e-02 5.26118821e-04 9.99881219e-01 1.27269088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.5892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:822.08, Y:11.26, Z:12.73 [[ 9.92732542e-01 -1.19374051e-01 -1.52294703e-02 8.22075399e+02] [ 1.19351743e-01 9.92849209e-01 -2.36861703e-03 1.12615340e+01] [ 1.54033189e-02 5.33739382e-04 9.99881219e-01 1.27292195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.6192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:822.10, Y:11.27, Z:12.73 [[ 9.92655138e-01 -1.20016072e-01 -1.52288918e-02 8.22103461e+02] [ 1.19993783e-01 9.92771809e-01 -2.37233071e-03 1.12665104e+01] [ 1.54035323e-02 5.27533941e-04 9.99881219e-01 1.27307322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.6492541539999 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:822.13, Y:11.27, Z:12.73 [[ 9.92320050e-01 -1.22755925e-01 -1.52283009e-02 8.22131467e+02] [ 1.22733900e-01 9.92436771e-01 -2.37611732e-03 1.12720219e+01] [ 1.54048083e-02 4.88840094e-04 9.99881219e-01 1.27296691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.6792541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:822.16, Y:11.28, Z:12.73 [[ 9.92170358e-01 -1.23960071e-01 -1.52276279e-02 8.22159923e+02] [ 1.23938122e-01 9.92287093e-01 -2.38042294e-03 1.12765718e+01] [ 1.54052560e-02 4.74501486e-04 9.99881219e-01 1.27316887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.7092541539998 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:822.19, Y:11.28, Z:12.73 [[ 9.91891872e-01 -1.26169138e-01 -1.52270321e-02 8.22187673e+02] [ 1.26147390e-01 9.92008645e-01 -2.38422815e-03 1.12808919e+01] [ 1.54061635e-02 4.44046167e-04 9.99881219e-01 1.27315037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.7392541539999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:822.22, Y:11.28, Z:12.73 [[ 9.91413618e-01 -1.29873772e-01 -1.52263470e-02 8.22216107e+02] [ 1.29852394e-01 9.91530459e-01 -2.38859501e-03 1.12847259e+01] [ 1.54076027e-02 3.90908014e-04 9.99881219e-01 1.27348513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.7692541539999 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:822.24, Y:11.29, Z:12.73 [[ 9.91114176e-01 -1.32139575e-01 -1.52257378e-02 8.22242890e+02] [ 1.32118404e-01 9.91231055e-01 -2.39247215e-03 1.12886402e+01] [ 1.54083644e-02 3.59612892e-04 9.99881219e-01 1.27344855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.7992541539999 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:822.27, Y:11.29, Z:12.74 [[ 9.90789899e-01 -1.34549478e-01 -1.52254356e-02 8.22270746e+02] [ 1.34528562e-01 9.90906824e-01 -2.39439376e-03 1.12927268e+01] [ 1.54091525e-02 3.24085192e-04 9.99881219e-01 1.27358497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.8292541539998 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:822.30, Y:11.30, Z:12.74 [[ 9.90475881e-01 -1.36842012e-01 -1.52247518e-02 8.22298567e+02] [ 1.36821300e-01 9.90592842e-01 -2.39873372e-03 1.12968555e+01] [ 1.54097777e-02 2.92817567e-04 9.99881219e-01 1.27371211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.8592541539999 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:822.33, Y:11.30, Z:12.74 [[ 9.89809766e-01 -1.41579801e-01 -1.52245403e-02 8.22326100e+02] [ 1.41559628e-01 9.89926821e-01 -2.40007546e-03 1.13003961e+01] [ 1.54109830e-02 2.20437859e-04 9.99881219e-01 1.27366382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.8892541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:822.35, Y:11.30, Z:12.74 [[ 9.89544312e-01 -1.43423457e-01 -1.52238681e-02 8.22353754e+02] [ 1.43403436e-01 9.89661393e-01 -2.40433194e-03 1.13039971e+01] [ 1.54113121e-02 1.96038007e-04 9.99881219e-01 1.27386395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.9192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:822.38, Y:11.31, Z:12.74 [[ 9.89106215e-01 -1.46414306e-01 -1.52232002e-02 8.22381262e+02] [ 1.46394574e-01 9.89223346e-01 -2.40855340e-03 1.13071000e+01] [ 1.54117917e-02 1.53721230e-04 9.99881219e-01 1.27409496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.9492541539998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:822.41, Y:11.31, Z:12.74 [[ 9.88779322e-01 -1.48605951e-01 -1.52225059e-02 8.22407947e+02] [ 1.48586412e-01 9.88896484e-01 -2.41293336e-03 1.13111619e+01] [ 1.54120588e-02 1.24001086e-04 9.99881219e-01 1.27391378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.9792541539999 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:822.44, Y:11.32, Z:12.74 [[ 9.88472125e-01 -1.50635795e-01 -1.52222050e-02 8.22436181e+02] [ 1.50616467e-01 9.88589322e-01 -2.41483024e-03 1.13154221e+01] [ 1.54122692e-02 9.42776384e-05 9.99881219e-01 1.27384633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.0092541539999 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:822.47, Y:11.32, Z:12.74 [[ 9.88363290e-01 -1.51348314e-01 -1.52215140e-02 8.22470414e+02] [ 1.51329003e-01 9.88480491e-01 -2.41917786e-03 1.13153337e+01] [ 1.54123081e-02 8.75700469e-05 9.99881219e-01 1.27366951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.0392541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:822.49, Y:11.32, Z:12.74 [[ 9.87888130e-01 -1.54415766e-01 -1.52582537e-02 8.22491885e+02] [ 1.54400396e-01 9.88005938e-01 -2.18736417e-03 1.13220400e+01] [ 1.54130088e-02 -1.95009324e-04 9.99881194e-01 1.27393793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.0692541539999 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:822.52, Y:11.33, Z:12.74 [[ 9.87630132e-01 -1.56061042e-01 -1.52208221e-02 8.22519261e+02] [ 1.56042240e-01 9.87747412e-01 -2.42254912e-03 1.13259278e+01] [ 1.54123932e-02 1.74913395e-05 9.99881222e-01 1.27393887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.0992541539999 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:822.55, Y:11.33, Z:12.74 [[ 9.87269508e-01 -1.58326456e-01 -1.52201251e-02 8.22546936e+02] [ 1.58307854e-01 9.87386821e-01 -2.42692019e-03 1.13290232e+01] [ 1.54123966e-02 -1.34410494e-05 9.99881222e-01 1.27403970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.1292541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:822.57, Y:11.33, Z:12.74 [[ 9.87174306e-01 -1.58918996e-01 -1.52198173e-02 8.22574947e+02] [ 1.58900435e-01 9.87291625e-01 -2.42884930e-03 1.13328043e+01] [ 1.54123884e-02 -2.07379718e-05 9.99881222e-01 1.27422235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.1592541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:822.61, Y:11.33, Z:12.74 [[ 9.87230537e-01 -1.58569372e-01 -1.52191335e-02 8.22608007e+02] [ 1.58550704e-01 9.87347838e-01 -2.43312625e-03 1.13343768e+01] [ 1.54123979e-02 -1.09477979e-05 9.99881222e-01 1.27416383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.1892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:822.64, Y:11.34, Z:12.74 [[ 9.87076032e-01 -1.59525356e-01 -1.52501675e-02 8.22636193e+02] [ 1.59509797e-01 9.87193806e-01 -2.23902007e-03 1.13386352e+01] [ 1.54120514e-02 -2.22468068e-04 9.99881203e-01 1.27438835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.2192541539999 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:822.66, Y:11.34, Z:12.74 [[ 9.86826052e-01 -1.61064736e-01 -1.52477721e-02 8.22658103e+02] [ 1.61049131e-01 9.86943817e-01 -2.25396097e-03 1.13449800e+01] [ 1.54117280e-02 -2.31373040e-04 9.99881205e-01 1.27427612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.2492541539999 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:822.69, Y:11.35, Z:12.74 [[ 9.86936553e-01 -1.60389249e-01 -1.52160704e-02 8.22685754e+02] [ 1.60370525e-01 9.87053843e-01 -2.45078789e-03 1.13493645e+01] [ 1.54121607e-02 -2.14370337e-05 9.99881225e-01 1.27439711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.2792541539999 meters Centerline goodness : 0.999713 Centerline is valid? [True, True] Translation: X:822.72, Y:11.35, Z:12.74 [[ 9.87363027e-01 -1.57743406e-01 -1.52075936e-02 8.22718085e+02] [ 1.57723559e-01 9.87480133e-01 -2.50333252e-03 1.13505832e+01] [ 1.54120807e-02 7.31022007e-05 9.99881224e-01 1.27415856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.3092541539999 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:822.74, Y:11.36, Z:12.74 [[ 9.86973675e-01 -1.60158142e-01 -1.52425141e-02 8.22741725e+02] [ 1.60141936e-01 9.87091351e-01 -2.28582347e-03 1.13588267e+01] [ 1.54118471e-02 -1.84918120e-04 9.99881213e-01 1.27447648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.3392541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:822.77, Y:11.36, Z:12.75 [[ 9.87418786e-01 -1.57393191e-01 -1.52159356e-02 8.22774380e+02] [ 1.57374111e-01 9.87536016e-01 -2.45083650e-03 1.13610251e+01] [ 1.54120294e-02 2.54076630e-05 9.99881227e-01 1.27452436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.3692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:822.80, Y:11.37, Z:12.75 [[ 9.87220025e-01 -1.58631382e-01 -1.52547608e-02 8.22796249e+02] [ 1.58616178e-01 9.87337849e-01 -2.20919125e-03 1.13679858e+01] [ 1.54120498e-02 -2.38694012e-04 9.99881199e-01 1.27479501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.3992541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:822.82, Y:11.37, Z:12.75 [[ 9.87270703e-01 -1.58319510e-01 -1.52148301e-02 8.22823321e+02] [ 1.58300451e-01 9.87387934e-01 -2.45651200e-03 1.13727159e+01] [ 1.54118534e-02 1.67278561e-05 9.99881230e-01 1.27462818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.4292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:822.85, Y:11.38, Z:12.75 [[ 9.87460151e-01 -1.57133616e-01 -1.52143659e-02 8.22850770e+02] [ 1.57114372e-01 9.87577352e-01 -2.45938379e-03 1.13778363e+01] [ 1.54118150e-02 3.81479457e-05 9.99881230e-01 1.27481961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.4592541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:822.88, Y:11.38, Z:12.75 [[ 9.87505404e-01 -1.56849041e-01 -1.52136630e-02 8.22878407e+02] [ 1.56829697e-01 9.87622588e-01 -2.46372434e-03 1.13831922e+01] [ 1.54117900e-02 4.69869434e-05 9.99881230e-01 1.27470446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.4892541539999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:822.91, Y:11.39, Z:12.75 [[ 9.87518483e-01 -1.56766693e-01 -1.52134453e-02 8.22905502e+02] [ 1.56747319e-01 9.87635662e-01 -2.46506746e-03 1.13886746e+01] [ 1.54117816e-02 4.96329127e-05 9.99881230e-01 1.27462394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.5192541539999 meters Centerline goodness : 0.997659 Centerline is valid? [True, True] Translation: X:822.94, Y:11.39, Z:12.74 [[ 9.87898289e-01 -1.54355246e-01 -1.52127484e-02 8.22938553e+02] [ 1.54335520e-01 9.88015410e-01 -2.46936096e-03 1.13928583e+01] [ 1.54115887e-02 9.16100348e-05 9.99881230e-01 1.27410988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.5492541539999 meters Centerline goodness : 0.999297 Centerline is valid? [True, True] Translation: X:822.97, Y:11.40, Z:12.74 [[ 9.88013245e-01 -1.53614804e-01 -1.52420587e-02 8.22968017e+02] [ 1.53597774e-01 9.88130804e-01 -2.28866429e-03 1.13974264e+01] [ 1.54127205e-02 -7.99156653e-05 9.99881214e-01 1.27423499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.5792541539998 meters Centerline goodness : 0.998369 Centerline is valid? [True, True] Translation: X:822.99, Y:11.40, Z:12.74 [[ 9.87925206e-01 -1.54179156e-01 -1.52503970e-02 8.22994721e+02] [ 1.54162984e-01 9.88042898e-01 -2.23747930e-03 1.14030782e+01] [ 1.54130191e-02 -1.40584507e-04 9.99881202e-01 1.27427258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.6092541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:823.02, Y:11.41, Z:12.75 [[ 9.87588335e-01 -1.56323046e-01 -1.52442197e-02 8.23016966e+02] [ 1.56306545e-01 9.87705972e-01 -2.27532191e-03 1.14112711e+01] [ 1.54124921e-02 -1.35689940e-04 9.99881211e-01 1.27494587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.6392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:823.04, Y:11.42, Z:12.75 [[ 9.87541947e-01 -1.56619296e-01 -1.52085093e-02 8.23044506e+02] [ 1.56599472e-01 9.87659045e-01 -2.49316119e-03 1.14161498e+01] [ 1.54112989e-02 8.04567336e-05 9.99881236e-01 1.27512069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.6692541539999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:823.07, Y:11.42, Z:12.75 [[ 9.87532392e-01 -1.56679602e-01 -1.52078002e-02 8.23071666e+02] [ 1.56659718e-01 9.87649480e-01 -2.49747869e-03 1.14212519e+01] [ 1.54112800e-02 8.38914122e-05 9.99881236e-01 1.27508768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.6992541539998 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:823.10, Y:11.43, Z:12.75 [[ 9.87758641e-01 -1.55246941e-01 -1.52070796e-02 8.23098732e+02] [ 1.55226820e-01 9.87875688e-01 -2.50185913e-03 1.14275767e+01] [ 1.54111102e-02 1.10686365e-04 9.99881236e-01 1.27509954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.7292541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:823.13, Y:11.43, Z:12.75 [[ 9.87908430e-01 -1.54290961e-01 -1.52063606e-02 8.23126453e+02] [ 1.54270660e-01 9.88025446e-01 -2.50622136e-03 1.14336190e+01] [ 1.54109585e-02 1.30021923e-04 9.99881236e-01 1.27518735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.7592541539999 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:823.15, Y:11.44, Z:12.75 [[ 9.88159988e-01 -1.52671635e-01 -1.52056280e-02 8.23153486e+02] [ 1.52651073e-01 9.88276958e-01 -2.51065853e-03 1.14394372e+01] [ 1.54106781e-02 1.59776874e-04 9.99881236e-01 1.27510511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.7892541539999 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:823.18, Y:11.44, Z:12.75 [[ 9.88116216e-01 -1.52954700e-01 -1.52054009e-02 8.23181678e+02] [ 1.52934151e-01 9.88233189e-01 -2.51203317e-03 1.14441715e+01] [ 1.54107091e-02 1.56755634e-04 9.99881236e-01 1.27514912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.8192541539999 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:823.21, Y:11.45, Z:12.75 [[ 9.88583067e-01 -1.49907765e-01 -1.52046800e-02 8.23209845e+02] [ 1.49886789e-01 9.88699964e-01 -2.51638896e-03 1.14521191e+01] [ 1.54100928e-02 2.08678855e-04 9.99881236e-01 1.27494900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.8492541539999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:823.24, Y:11.46, Z:12.75 [[ 9.88813721e-01 -1.48378779e-01 -1.52040523e-02 8.23237289e+02] [ 1.48357564e-01 9.88930575e-01 -2.52017552e-03 1.14581404e+01] [ 1.54096928e-02 2.36347971e-04 9.99881236e-01 1.27498530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.8792541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:823.26, Y:11.46, Z:12.75 [[ 9.88919526e-01 -1.47672037e-01 -1.52033324e-02 8.23264908e+02] [ 1.47650671e-01 9.89036352e-01 -2.52451096e-03 1.14645651e+01] [ 1.54094481e-02 2.51755938e-04 9.99881236e-01 1.27503180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.9092541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:823.29, Y:11.47, Z:12.75 [[ 9.89188415e-01 -1.45860071e-01 -1.52026118e-02 8.23292829e+02] [ 1.45838425e-01 9.89305190e-01 -2.52884353e-03 1.14708779e+01] [ 1.54088800e-02 2.84377767e-04 9.99881236e-01 1.27497226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.9392541539999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:823.32, Y:11.48, Z:12.75 [[ 9.89211261e-01 -1.45705115e-01 -1.52019844e-02 8.23320830e+02] [ 1.45683393e-01 9.89328022e-01 -2.53260911e-03 1.14761083e+01] [ 1.54087633e-02 2.90608786e-04 9.99881236e-01 1.27514298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.9692541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:823.35, Y:11.48, Z:12.75 [[ 9.89201059e-01 -1.45774436e-01 -1.52012413e-02 8.23347987e+02] [ 1.45752654e-01 9.89317809e-01 -2.53706134e-03 1.14817003e+01] [ 1.54086975e-02 2.94042501e-04 9.99881236e-01 1.27520111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.9992541539999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:823.38, Y:11.49, Z:12.75 [[ 9.89209163e-01 -1.45719458e-01 -1.52010117e-02 8.23375593e+02] [ 1.45697647e-01 9.89325908e-01 -2.53843676e-03 1.14868019e+01] [ 1.54086543e-02 2.96293265e-04 9.99881236e-01 1.27523788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.0292541539999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:823.40, Y:11.49, Z:12.75 [[ 9.89136693e-01 -1.46210646e-01 -1.52002903e-02 8.23404059e+02] [ 1.46188827e-01 9.89253436e-01 -2.54274892e-03 1.14929768e+01] [ 1.54087164e-02 2.93013639e-04 9.99881236e-01 1.27547736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.0592541539999 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:823.43, Y:11.50, Z:12.75 [[ 9.89167112e-01 -1.46004778e-01 -1.51996330e-02 8.23431181e+02] [ 1.45982875e-01 9.89283839e-01 -2.54667212e-03 1.14982239e+01] [ 1.54085776e-02 3.00198187e-04 9.99881236e-01 1.27535801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.0892541539998 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:823.46, Y:11.50, Z:12.76 [[ 9.89129685e-01 -1.46258153e-01 -1.51992819e-02 8.23458660e+02] [ 1.46236248e-01 9.89246412e-01 -2.54876602e-03 1.15037622e+01] [ 1.54086129e-02 2.98374173e-04 9.99881236e-01 1.27555316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.1192541539999 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:823.49, Y:11.51, Z:12.76 [[ 9.89256884e-01 -1.45395400e-01 -1.51985343e-02 8.23485832e+02] [ 1.45373325e-01 9.89373578e-01 -2.55321631e-03 1.15103041e+01] [ 1.54082541e-02 3.16325355e-04 9.99881236e-01 1.27552436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.1492541539999 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:823.51, Y:11.52, Z:12.76 [[ 9.89310311e-01 -1.45031444e-01 -1.51983029e-02 8.23514038e+02] [ 1.45009304e-01 9.89426994e-01 -2.55459280e-03 1.15159011e+01] [ 1.54081074e-02 3.23389675e-04 9.99881236e-01 1.27552473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.1792541539999 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:823.54, Y:11.52, Z:12.76 [[ 9.89400582e-01 -1.44414404e-01 -1.51976627e-02 8.23540421e+02] [ 1.44392133e-01 9.89517239e-01 -2.55839585e-03 1.15216198e+01] [ 1.54078184e-02 3.36855412e-04 9.99881236e-01 1.27555722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.2092541539998 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:823.57, Y:11.53, Z:12.76 [[ 9.89433827e-01 -1.44186483e-01 -1.51973454e-02 8.23567901e+02] [ 1.44164157e-01 9.89550474e-01 -2.56027938e-03 1.15275362e+01] [ 1.54076980e-02 3.42314554e-04 9.99881236e-01 1.27562540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.2392541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:823.60, Y:11.54, Z:12.76 [[ 9.89537939e-01 -1.43470314e-01 -1.51966155e-02 8.23595378e+02] [ 1.43447837e-01 9.89654556e-01 -2.56460436e-03 1.15352366e+01] [ 1.54073443e-02 3.57851701e-04 9.99881236e-01 1.27572192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.2692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:823.62, Y:11.54, Z:12.76 [[ 9.89490221e-01 -1.43799660e-01 -1.51908330e-02 8.23622958e+02] [ 1.43776696e-01 9.89606744e-01 -2.59881251e-03 1.15411233e+01] [ 1.54066592e-02 3.87411782e-04 9.99881235e-01 1.27571375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.2992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:823.65, Y:11.55, Z:12.76 [[ 9.89561246e-01 -1.43309564e-01 -1.51956994e-02 8.23650862e+02] [ 1.43286985e-01 9.89677844e-01 -2.57003973e-03 1.15467583e+01] [ 1.54071582e-02 3.65865774e-04 9.99881236e-01 1.27574386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.3292541539998 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:823.68, Y:11.55, Z:12.76 [[ 9.90151757e-01 -1.39171618e-01 -1.51907676e-02 8.23684874e+02] [ 1.39148105e-01 9.90268170e-01 -2.59914972e-03 1.15478769e+01] [ 1.54046615e-02 4.59786139e-04 9.99881235e-01 1.27555486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.3592541539999 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:823.71, Y:11.56, Z:12.76 [[ 9.89436584e-01 -1.44164355e-01 -1.52277875e-02 8.23708541e+02] [ 1.44144790e-01 9.89553744e-01 -2.38044480e-03 1.15588809e+01] [ 1.54118894e-02 1.60292939e-04 9.99881217e-01 1.27572654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.3892541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:823.74, Y:11.56, Z:12.76 [[ 9.90044758e-01 -1.39930419e-01 -1.51939296e-02 8.23743633e+02] [ 1.39907291e-01 9.90161247e-01 -2.57985123e-03 1.15597119e+01] [ 1.54054400e-02 4.28426651e-04 9.99881237e-01 1.27596310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.4192541539999 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:823.77, Y:11.57, Z:12.76 [[ 9.89863643e-01 -1.41201009e-01 -1.52395402e-02 8.23770264e+02] [ 1.41182167e-01 9.89980938e-01 -2.31066945e-03 1.15678641e+01] [ 1.54131231e-02 1.35696378e-04 9.99881202e-01 1.27609195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.4492541539998 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:823.80, Y:11.57, Z:12.76 [[ 9.89943077e-01 -1.40644558e-01 -1.52253645e-02 8.23798556e+02] [ 1.40624366e-01 9.90060127e-01 -2.39411350e-03 1.15735343e+01] [ 1.54107454e-02 2.28978854e-04 9.99881221e-01 1.27620745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.4792541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:823.83, Y:11.58, Z:12.76 [[ 9.89946453e-01 -1.40620592e-01 -1.52272880e-02 8.23826088e+02] [ 1.40600571e-01 9.90063534e-01 -2.38282156e-03 1.15799317e+01] [ 1.54110564e-02 2.17900360e-04 9.99881219e-01 1.27628082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.5092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:823.85, Y:11.59, Z:12.76 [[ 9.90010736e-01 -1.40167540e-01 -1.52250915e-02 8.23853634e+02] [ 1.40147268e-01 9.90127772e-01 -2.39567712e-03 1.15877540e+01] [ 1.54105821e-02 2.37991088e-04 9.99881222e-01 1.27631392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.5392541539999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:823.88, Y:11.59, Z:12.76 [[ 9.89822639e-01 -1.41490366e-01 -1.52190489e-02 8.23880783e+02] [ 1.41469709e-01 9.89939600e-01 -2.43085908e-03 1.15944834e+01] [ 1.54098823e-02 2.53084940e-04 9.99881229e-01 1.27639118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.5692541539999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:823.91, Y:11.60, Z:12.76 [[ 9.89935170e-01 -1.40701577e-01 -1.52126858e-02 8.23908475e+02] [ 1.40680259e-01 9.90052006e-01 -2.46781995e-03 1.15989337e+01] [ 1.54085762e-02 3.02857186e-04 9.99881235e-01 1.27623362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.5992541539999 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:823.93, Y:11.61, Z:12.76 [[ 9.89305738e-01 -1.45060818e-01 -1.52156130e-02 8.23933728e+02] [ 1.45040277e-01 9.89422716e-01 -2.45082602e-03 1.16078467e+01] [ 1.54101920e-02 2.17739520e-04 9.99881232e-01 1.27579649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.6292541539999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:823.96, Y:11.61, Z:12.76 [[ 9.89007963e-01 -1.47079474e-01 -1.51946462e-02 8.23960731e+02] [ 1.47057306e-01 9.89124629e-01 -2.57217864e-03 1.16142265e+01] [ 1.54077134e-02 3.09421425e-04 9.99881246e-01 1.27567408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.6592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:823.98, Y:11.62, Z:12.76 [[ 9.88185137e-01 -1.52510587e-01 -1.51873319e-02 8.23983248e+02] [ 1.52488411e-01 9.88301801e-01 -2.61443487e-03 1.16236600e+01] [ 1.54083964e-02 2.67653576e-04 9.99881248e-01 1.27550266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.6892541539999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:824.02, Y:11.63, Z:12.76 [[ 9.88073415e-01 -1.53237017e-01 -1.51440910e-02 8.24016206e+02] [ 1.53211109e-01 9.88189333e-01 -2.86330241e-03 1.16260130e+01] [ 1.54039931e-02 5.08910008e-04 9.99881222e-01 1.27568639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.7192541539999 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:824.05, Y:11.63, Z:12.76 [[ 9.88203719e-01 -1.52391364e-01 -1.51750680e-02 8.24045458e+02] [ 1.52368096e-01 9.88320169e-01 -2.68462303e-03 1.16285447e+01] [ 1.54069391e-02 3.40758257e-04 9.99881248e-01 1.27638528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.7492541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:824.07, Y:11.64, Z:12.76 [[ 9.87393882e-01 -1.57552408e-01 -1.51842016e-02 8.24072010e+02] [ 1.57530559e-01 9.87510605e-01 -2.63192899e-03 1.16361645e+01] [ 1.54092269e-02 2.06774810e-04 9.99881249e-01 1.27590374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.7792541539999 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:824.10, Y:11.64, Z:12.76 [[ 9.87554051e-01 -1.56546275e-01 -1.51743323e-02 8.24101277e+02] [ 1.56523433e-01 9.87670585e-01 -2.68878650e-03 1.16382099e+01] [ 1.54081612e-02 2.80183413e-04 9.99881248e-01 1.27649258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.8092541539999 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:824.13, Y:11.64, Z:12.77 [[ 9.86988359e-01 -1.60073229e-01 -1.51835808e-02 8.24129107e+02] [ 1.60051623e-01 9.87105127e-01 -2.63550477e-03 1.16428184e+01] [ 1.54096642e-02 1.71055786e-04 9.99881249e-01 1.27655918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.8392541539998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:824.16, Y:11.65, Z:12.76 [[ 9.86330005e-01 -1.64081089e-01 -1.51828212e-02 8.24156096e+02] [ 1.64059890e-01 9.86446848e-01 -2.63987331e-03 1.16498765e+01] [ 1.54101994e-02 1.12894281e-04 9.99881249e-01 1.27597623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.8692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:824.18, Y:11.65, Z:12.77 [[ 9.86640377e-01 -1.62204994e-01 -1.51758272e-02 8.24184571e+02] [ 1.62182955e-01 9.86757066e-01 -2.68004036e-03 1.16519060e+01] [ 1.54095707e-02 1.82975526e-04 9.99881249e-01 1.27664783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.8992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:824.21, Y:11.66, Z:12.76 [[ 9.86165632e-01 -1.65066211e-01 -1.51819440e-02 8.24213108e+02] [ 1.65045051e-01 9.86282483e-01 -2.64493002e-03 1.16566534e+01] [ 1.54102740e-02 1.02634359e-04 9.99881249e-01 1.27622326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.9292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:824.24, Y:11.66, Z:12.76 [[ 9.86145315e-01 -1.65187186e-01 -1.51859002e-02 8.24241416e+02] [ 1.65166389e-01 9.86262231e-01 -2.62224264e-03 1.16606576e+01] [ 1.54104407e-02 7.77119872e-05 9.99881249e-01 1.27640122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.9592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:824.27, Y:11.67, Z:12.76 [[ 9.86261343e-01 -1.64492701e-01 -1.51892651e-02 8.24266384e+02] [ 1.64472119e-01 9.86378298e-01 -2.60297063e-03 1.16650426e+01] [ 1.54105311e-02 6.89986969e-05 9.99881248e-01 1.27636889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.9892541539999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:824.30, Y:11.67, Z:12.76 [[ 9.86208035e-01 -1.64813718e-01 -1.51706930e-02 8.24296085e+02] [ 1.64791544e-01 9.86324698e-01 -2.70887502e-03 1.16700154e+01] [ 1.54096889e-02 1.71512378e-04 9.99881249e-01 1.27639282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.0192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:824.32, Y:11.67, Z:12.77 [[ 9.86318509e-01 -1.64150565e-01 -1.51786067e-02 8.24324081e+02] [ 1.64129006e-01 9.86435286e-01 -2.66378199e-03 1.16749052e+01] [ 1.54099745e-02 1.36087851e-04 9.99881250e-01 1.27650557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.0492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:824.35, Y:11.68, Z:12.76 [[ 9.86567598e-01 -1.62646394e-01 -1.51830326e-02 8.24352148e+02] [ 1.62625046e-01 9.86684414e-01 -2.63856011e-03 1.16795366e+01] [ 1.54100139e-02 1.33976526e-04 9.99881250e-01 1.27595259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.0792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:824.38, Y:11.68, Z:12.76 [[ 9.86986340e-01 -1.60085906e-01 -1.51811567e-02 8.24381789e+02] [ 1.60064091e-01 9.87103069e-01 -2.64923525e-03 1.16841298e+01] [ 1.54094716e-02 1.84800965e-04 9.99881250e-01 1.27623521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.1092541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:824.41, Y:11.69, Z:12.77 [[ 9.87061478e-01 -1.59621729e-01 -1.51836027e-02 8.24408739e+02] [ 1.59600071e-01 9.87178237e-01 -2.63535919e-03 1.16893783e+01] [ 1.54095828e-02 1.77957464e-04 9.99881249e-01 1.27666395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.1392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:824.44, Y:11.69, Z:12.77 [[ 9.87735426e-01 -1.55398221e-01 -1.51697552e-02 8.24437956e+02] [ 1.55374858e-01 9.87851855e-01 -2.71388196e-03 1.16926061e+01] [ 1.54072033e-02 3.23598791e-04 9.99881250e-01 1.27661418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.1692541539999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:824.47, Y:11.70, Z:12.77 [[ 9.88529896e-01 -1.50260773e-01 -1.51771236e-02 8.24470004e+02] [ 1.50237446e-01 9.88646332e-01 -2.67211861e-03 1.16966899e+01] [ 1.54063222e-02 3.61296849e-04 9.99881250e-01 1.27679065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.1992541539998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:824.50, Y:11.70, Z:12.77 [[ 9.88642430e-01 -1.49516145e-01 -1.52009056e-02 8.24495862e+02] [ 1.49494798e-01 9.88759256e-01 -2.53748966e-03 1.17036218e+01] [ 1.54094318e-02 2.36213649e-04 9.99881240e-01 1.27713614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.2292541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:824.53, Y:11.71, Z:12.77 [[ 9.89140238e-01 -1.46188215e-01 -1.51853604e-02 8.24525367e+02] [ 1.46165130e-01 9.89256723e-01 -2.62507890e-03 1.17079139e+01] [ 1.54059754e-02 3.77000997e-04 9.99881250e-01 1.27707078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.2592541539999 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:824.55, Y:11.71, Z:12.77 [[ 9.89750246e-01 -1.41998753e-01 -1.51922376e-02 8.24554422e+02] [ 1.41975769e-01 9.89866755e-01 -2.58635247e-03 1.17126843e+01] [ 1.54055497e-02 4.02913372e-04 9.99881246e-01 1.27692466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.2892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:824.58, Y:11.72, Z:12.77 [[ 9.89966401e-01 -1.40483510e-01 -1.51956555e-02 8.24580745e+02] [ 1.40460643e-01 9.90082935e-01 -2.56712288e-03 1.17178391e+01] [ 1.54055976e-02 4.06973857e-04 9.99881244e-01 1.27701408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.3192541539999 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:824.61, Y:11.72, Z:12.77 [[ 9.90123810e-01 -1.39370044e-01 -1.51931301e-02 8.24608154e+02] [ 1.39346828e-01 9.90240273e-01 -2.58130445e-03 1.17221516e+01] [ 1.54046058e-02 4.38696512e-04 9.99881246e-01 1.27689480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.3492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:824.64, Y:11.73, Z:12.77 [[ 9.90301128e-01 -1.38104756e-01 -1.51905210e-02 8.24636254e+02] [ 1.38081167e-01 9.90417514e-01 -2.59592308e-03 1.17272326e+01] [ 1.54034673e-02 4.73220693e-04 9.99881248e-01 1.27699954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.3792541539999 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:824.66, Y:11.73, Z:12.77 [[ 9.90401643e-01 -1.37381907e-01 -1.51920208e-02 8.24664289e+02] [ 1.37358362e-01 9.90518039e-01 -2.58753365e-03 1.17317380e+01] [ 1.54034509e-02 4.75946493e-04 9.99881247e-01 1.27697524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.4092541539999 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:824.69, Y:11.74, Z:12.77 [[ 9.90409900e-01 -1.37322874e-01 -1.51874166e-02 8.24692582e+02] [ 1.37298929e-01 9.90526211e-01 -2.61319278e-03 1.17366176e+01] [ 1.54023854e-02 5.02915967e-04 9.99881250e-01 1.27712494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.4392541539999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:824.72, Y:11.74, Z:12.77 [[ 9.90326836e-01 -1.37920746e-01 -1.51863870e-02 8.24719406e+02] [ 1.37896784e-01 9.90443142e-01 -2.61892072e-03 1.17416248e+01] [ 1.54024564e-02 4.99433545e-04 9.99881250e-01 1.27716213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.4692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:824.74, Y:11.75, Z:12.77 [[ 9.90101706e-01 -1.39528326e-01 -1.51808161e-02 8.24744699e+02] [ 1.39504078e-01 9.90217951e-01 -2.64987626e-03 1.17468580e+01] [ 1.54020494e-02 5.05861249e-04 9.99881253e-01 1.27722394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.4992541539999 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:824.77, Y:11.75, Z:12.77 [[ 9.89845868e-01 -1.41333520e-01 -1.51655415e-02 8.24772773e+02] [ 1.41308188e-01 9.89961877e-01 -2.73458667e-03 1.17507929e+01] [ 1.53997967e-02 5.63804124e-04 9.99881257e-01 1.27727923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.5292541539999 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:824.80, Y:11.75, Z:12.77 [[ 9.89487789e-01 -1.43819140e-01 -1.51647599e-02 8.24802367e+02] [ 1.43794033e-01 9.89603847e-01 -2.73891434e-03 1.17524493e+01] [ 1.54010131e-02 5.29520311e-04 9.99881257e-01 1.27743749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.5592541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:824.83, Y:11.76, Z:12.77 [[ 9.89074875e-01 -1.46630796e-01 -1.51756995e-02 8.24829322e+02] [ 1.46606947e-01 9.89191200e-01 -2.67828406e-03 1.17575148e+01] [ 1.54043873e-02 4.24160495e-04 9.99881255e-01 1.27736801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.5892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:824.86, Y:11.76, Z:12.78 [[ 9.89012448e-01 -1.47050925e-01 -1.51790526e-02 8.24855672e+02] [ 1.47027411e-01 9.89128842e-01 -2.65968839e-03 1.17606732e+01] [ 1.54051484e-02 3.98728112e-04 9.99881254e-01 1.27765162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.6192541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:824.88, Y:11.76, Z:12.78 [[ 9.88410079e-01 -1.51048167e-01 -1.51646398e-02 8.24882595e+02] [ 1.51023900e-01 9.88526316e-01 -2.73947249e-03 1.17627109e+01] [ 1.54044378e-02 4.17499180e-04 9.99881257e-01 1.27752469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.6492541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:824.91, Y:11.77, Z:12.78 [[ 9.88198253e-01 -1.52427896e-01 -1.51641134e-02 8.24912671e+02] [ 1.52403746e-01 9.88314513e-01 -2.74238336e-03 1.17651294e+01] [ 1.54049291e-02 3.98950755e-04 9.99881257e-01 1.27761024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.6792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:824.94, Y:11.77, Z:12.78 [[ 9.87729393e-01 -1.55436054e-01 -1.51749339e-02 8.24940040e+02] [ 1.55413177e-01 9.87845913e-01 -2.68256290e-03 1.17692030e+01] [ 1.54074634e-02 2.91261538e-04 9.99881256e-01 1.27755107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.7092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:824.97, Y:11.77, Z:12.78 [[ 9.87673102e-01 -1.55792799e-01 -1.51804858e-02 8.24968168e+02] [ 1.55770436e-01 9.87789724e-01 -2.65181524e-03 1.17744252e+01] [ 1.54082616e-02 2.54455689e-04 9.99881253e-01 1.27759629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.7392541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:825.00, Y:11.78, Z:12.77 [[ 9.87365353e-01 -1.57731928e-01 -1.51755891e-02 8.24997306e+02] [ 1.57709379e-01 9.87481937e-01 -2.67883354e-03 1.17778170e+01] [ 1.54081577e-02 2.51654682e-04 9.99881256e-01 1.27743873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.7692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:825.03, Y:11.78, Z:12.77 [[ 9.86366284e-01 -1.63863646e-01 -1.51743238e-02 8.25025498e+02] [ 1.63841714e-01 9.86482985e-01 -2.68580438e-03 1.17802460e+01] [ 1.54093179e-02 1.62999661e-04 9.99881256e-01 1.27745563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.7992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:825.05, Y:11.78, Z:12.78 [[ 9.85704688e-01 -1.67797607e-01 -1.51733613e-02 8.25051832e+02] [ 1.67776061e-01 9.85821460e-01 -2.69108969e-03 1.17846927e+01] [ 1.54097837e-02 1.06892929e-04 9.99881257e-01 1.27765621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.8292541539998 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:825.08, Y:11.79, Z:12.78 [[ 9.84966699e-01 -1.72078208e-01 -1.51555781e-02 8.25077659e+02] [ 1.72055669e-01 9.85083281e-01 -2.78854856e-03 1.17882887e+01] [ 1.54093551e-02 1.39024346e-04 9.99881259e-01 1.27765273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.8592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:825.11, Y:11.79, Z:12.78 [[ 9.83926081e-01 -1.77932654e-01 -1.51471916e-02 8.25105598e+02] [ 1.77910101e-01 9.84042663e-01 -2.83448278e-03 1.17910070e+01] [ 1.54098298e-02 9.40831645e-05 9.99881257e-01 1.27773595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.8892541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:825.13, Y:11.79, Z:12.78 [[ 9.83488069e-01 -1.80338567e-01 -1.51399936e-02 8.25134337e+02] [ 1.80315693e-01 9.83604591e-01 -2.87385580e-03 1.17940283e+01] [ 1.54100343e-02 9.64244511e-05 9.99881254e-01 1.27791926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.9192541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:825.16, Y:11.80, Z:12.78 [[ 9.83304758e-01 -1.81335245e-01 -1.51420795e-02 8.25164523e+02] [ 1.81312664e-01 9.83421336e-01 -2.86245303e-03 1.17963118e+01] [ 1.54101076e-02 6.92129199e-05 9.99881255e-01 1.27786076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.9492541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:825.19, Y:11.80, Z:12.78 [[ 9.82567466e-01 -1.85287327e-01 -1.51585113e-02 8.25191951e+02] [ 1.85266600e-01 9.82684385e-01 -2.77261679e-03 1.17988179e+01] [ 1.54097631e-02 -8.40827955e-05 9.99881259e-01 1.27787124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.9792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:825.22, Y:11.80, Z:12.78 [[ 9.82444768e-01 -1.85936840e-01 -1.51581667e-02 8.25220568e+02] [ 1.85916161e-01 9.82561694e-01 -2.77449978e-03 1.18018982e+01] [ 1.54097156e-02 -9.23553715e-05 9.99881259e-01 1.27793577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.0092541539999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:825.25, Y:11.81, Z:12.78 [[ 9.81969469e-01 -1.88430609e-01 -1.51613747e-02 8.25247602e+02] [ 1.88410498e-01 9.82086495e-01 -2.75699521e-03 1.18069532e+01] [ 1.54092836e-02 -1.49277018e-04 9.99881259e-01 1.27804066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.0392541539999 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:825.28, Y:11.81, Z:12.78 [[ 9.82233830e-01 -1.87048592e-01 -1.51501639e-02 8.25276642e+02] [ 1.87027374e-01 9.82350660e-01 -2.81806205e-03 1.18108242e+01] [ 1.54098880e-02 -6.54994854e-05 9.99881258e-01 1.27788796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.0692541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:825.31, Y:11.81, Z:12.78 [[ 9.82705755e-01 -1.84552651e-01 -1.51564797e-02 8.25307100e+02] [ 1.84531666e-01 9.82822627e-01 -2.78367372e-03 1.18149977e+01] [ 1.54098656e-02 -6.13182823e-05 9.99881259e-01 1.27791519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.0992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:825.33, Y:11.82, Z:12.78 [[ 9.83160481e-01 -1.82113876e-01 -1.51659414e-02 8.25334279e+02] [ 1.82093396e-01 9.83277443e-01 -2.73214148e-03 1.18228722e+01] [ 1.54098889e-02 -7.54842401e-05 9.99881258e-01 1.27796067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.1292541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:825.36, Y:11.83, Z:12.78 [[ 9.83457336e-01 -1.80504731e-01 -1.51561963e-02 8.25362107e+02] [ 1.80483242e-01 9.83574116e-01 -2.78517161e-03 1.18283037e+01] [ 1.54099791e-02 3.65800030e-06 9.99881259e-01 1.27796493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.1592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:825.39, Y:11.83, Z:12.78 [[ 9.83763436e-01 -1.78828966e-01 -1.51559482e-02 8.25388931e+02] [ 1.78807257e-01 9.83880176e-01 -2.78652114e-03 1.18332539e+01] [ 1.54099477e-02 3.12840776e-05 9.99881259e-01 1.27798604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.1892541539999 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:825.42, Y:11.84, Z:12.78 [[ 9.83863399e-01 -1.78278207e-01 -1.51556040e-02 8.25417849e+02] [ 1.78256404e-01 9.83980121e-01 -2.78839191e-03 1.18386253e+01] [ 1.54099226e-02 4.18132668e-05 9.99881259e-01 1.27803612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.2192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:825.45, Y:11.84, Z:12.78 [[ 9.84314255e-01 -1.75771942e-01 -1.51549497e-02 8.25445141e+02] [ 1.75749788e-01 9.84430910e-01 -2.79194378e-03 1.18443142e+01] [ 1.54097463e-02 8.46708787e-05 9.99881259e-01 1.27813762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.2492541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:825.47, Y:11.85, Z:12.78 [[ 9.84284393e-01 -1.75939103e-01 -1.51547000e-02 8.25471990e+02] [ 1.75916948e-01 9.84401049e-01 -2.79329816e-03 1.18494595e+01] [ 1.54097530e-02 8.34312188e-05 9.99881259e-01 1.27816995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.2792541539999 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:825.50, Y:11.85, Z:12.78 [[ 9.84273961e-01 -1.75997502e-01 -1.51541613e-02 8.25498122e+02] [ 1.75975308e-01 9.84390610e-01 -2.79621774e-03 1.18543256e+01] [ 1.54097414e-02 8.54861114e-05 9.99881259e-01 1.27819658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.3092541539999 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:825.53, Y:11.86, Z:12.78 [[ 9.84268497e-01 -1.76028088e-01 -1.51538238e-02 8.25526156e+02] [ 1.76005870e-01 9.84385140e-01 -2.79804567e-03 1.18599415e+01] [ 1.54097336e-02 8.68662684e-05 9.99881259e-01 1.27844316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.3392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:825.55, Y:11.87, Z:12.79 [[ 9.84286034e-01 -1.75930060e-01 -1.51531368e-02 8.25553666e+02] [ 1.75907773e-01 9.84402664e-01 -2.80176148e-03 1.18652132e+01] [ 1.54097023e-02 9.21801458e-05 9.99881259e-01 1.27857281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.3692541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:825.57, Y:11.88, Z:12.78 [[ 9.83271457e-01 -1.81514825e-01 -1.51528938e-02 8.25574202e+02] [ 1.81493180e-01 9.83388208e-01 -2.80307499e-03 1.18759210e+01] [ 1.54099767e-02 6.03675394e-06 9.99881259e-01 1.27824244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.3992541539999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:825.61, Y:11.88, Z:12.79 [[ 9.84207175e-01 -1.76375201e-01 -1.51005058e-02 8.25608835e+02] [ 1.76348615e-01 9.84322940e-01 -3.08492201e-03 1.18761442e+01] [ 1.54078780e-02 3.73249097e-04 9.99881222e-01 1.27865162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.4292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:825.64, Y:11.88, Z:12.79 [[ 9.84216306e-01 -1.76319841e-01 -1.51517683e-02 8.25636731e+02] [ 1.76297499e-01 9.84332924e-01 -2.80835126e-03 1.18815950e+01] [ 1.54095524e-02 9.28062522e-05 9.99881261e-01 1.27863451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.4592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:825.66, Y:11.89, Z:12.79 [[ 9.84227821e-01 -1.76255624e-01 -1.51509755e-02 8.25664568e+02] [ 1.76233208e-01 9.84344424e-01 -2.81262157e-03 1.18872984e+01] [ 1.54095186e-02 9.81553725e-05 9.99881262e-01 1.27858856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.4892541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:825.69, Y:11.89, Z:12.78 [[ 9.84253480e-01 -1.76112351e-01 -1.51501687e-02 8.25692541e+02] [ 1.76089851e-01 9.84370067e-01 -2.81696064e-03 1.18930545e+01] [ 1.54094742e-02 1.04812355e-04 9.99881262e-01 1.27838996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.5192541539999 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:825.72, Y:11.90, Z:12.78 [[ 9.84273505e-01 -1.76000458e-01 -1.51494643e-02 8.25720184e+02] [ 1.75977887e-01 9.84390079e-01 -2.82074390e-03 1.18983936e+01] [ 1.54094346e-02 1.10412763e-04 9.99881262e-01 1.27825229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.5492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:825.75, Y:11.90, Z:12.78 [[ 9.84320814e-01 -1.75735710e-01 -1.51490898e-02 8.25747892e+02] [ 1.75713077e-01 9.84437376e-01 -2.82275389e-03 1.19042825e+01] [ 1.54093888e-02 1.16602231e-04 9.99881262e-01 1.27831082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.5792541539998 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:825.78, Y:11.91, Z:12.78 [[ 9.84174504e-01 -1.76553321e-01 -1.51482915e-02 8.25775068e+02] [ 1.76530719e-01 9.84291071e-01 -2.82703131e-03 1.19093382e+01] [ 1.54094498e-02 1.08153333e-04 9.99881262e-01 1.27832847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.6092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:825.80, Y:11.92, Z:12.78 [[ 9.83685457e-01 -1.79258126e-01 -1.51474804e-02 8.25800553e+02] [ 1.79235778e-01 9.83802073e-01 -2.83137070e-03 1.19177659e+01] [ 1.54096688e-02 7.02077500e-05 9.99881262e-01 1.27816354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.6392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:825.83, Y:11.92, Z:12.78 [[ 9.83583366e-01 -1.79819243e-01 -1.51261754e-02 8.25828494e+02] [ 1.79795211e-01 9.83699654e-01 -2.94513743e-03 1.19230615e+01] [ 1.54092059e-02 1.77174296e-04 9.99881255e-01 1.27822845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.6692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:825.86, Y:11.92, Z:12.79 [[ 9.83775632e-01 -1.78764492e-01 -1.51248584e-02 8.25858343e+02] [ 1.78740227e-01 9.83891872e-01 -2.95216623e-03 1.19247403e+01] [ 1.54089677e-02 2.00848584e-04 9.99881255e-01 1.27860700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.6992541539998 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:825.88, Y:11.93, Z:12.78 [[ 9.82949940e-01 -1.83248470e-01 -1.51463840e-02 8.25883160e+02] [ 1.83226505e-01 9.83066629e-01 -2.83725464e-03 1.19322907e+01] [ 1.54098272e-02 1.36602806e-05 9.99881261e-01 1.27837739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.7292541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:825.91, Y:11.93, Z:12.79 [[ 9.83423237e-01 -1.80693322e-01 -1.51215498e-02 8.25914119e+02] [ 1.80669018e-01 9.83539470e-01 -2.96946901e-03 1.19343734e+01] [ 1.54092042e-02 1.88249278e-04 9.99881253e-01 1.27876348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.7592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:825.94, Y:11.94, Z:12.79 [[ 9.83287259e-01 -1.81429817e-01 -1.51455172e-02 8.25941368e+02] [ 1.81407567e-01 9.83403894e-01 -2.84173111e-03 1.19390357e+01] [ 1.54097353e-02 4.67265789e-05 9.99881262e-01 1.27881120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.7892541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:825.97, Y:11.94, Z:12.79 [[ 9.83157974e-01 -1.82129173e-01 -1.51447290e-02 8.25968484e+02] [ 1.82106941e-01 9.83274612e-01 -2.84592526e-03 1.19437122e+01] [ 1.54097536e-02 4.00338339e-05 9.99881262e-01 1.27871231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.8192541539999 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:826.00, Y:11.95, Z:12.79 [[ 9.83319910e-01 -1.81252885e-01 -1.51441932e-02 8.25996067e+02] [ 1.81230505e-01 9.83436520e-01 -2.84877363e-03 1.19488378e+01] [ 1.54097011e-02 5.66660431e-05 9.99881262e-01 1.27872486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.8492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:826.02, Y:11.96, Z:12.79 [[ 9.83150141e-01 -1.82171562e-01 -1.51434067e-02 8.26021142e+02] [ 1.82149227e-01 9.83266759e-01 -2.85294836e-03 1.19576586e+01] [ 1.54097345e-02 4.65167545e-05 9.99881262e-01 1.27881643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.8792541539999 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:826.05, Y:11.96, Z:12.79 [[ 9.83785865e-01 -1.78708417e-01 -1.51219411e-02 8.26051102e+02] [ 1.78683923e-01 9.83902056e-01 -2.96663759e-03 1.19613252e+01] [ 1.54086720e-02 2.16488376e-04 9.99881256e-01 1.27881406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.9092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:826.08, Y:11.97, Z:12.79 [[ 9.84188176e-01 -1.76477581e-01 -1.51425607e-02 8.26077444e+02] [ 1.76454503e-01 9.84304650e-01 -2.85736468e-03 1.19674445e+01] [ 1.54091537e-02 1.40211504e-04 9.99881262e-01 1.27881164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.9392541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:826.10, Y:11.97, Z:12.79 [[ 9.84832359e-01 -1.72846593e-01 -1.51419924e-02 8.26104443e+02] [ 1.72823040e-01 9.84948737e-01 -2.86037341e-03 1.19743888e+01] [ 1.54084921e-02 2.00103137e-04 9.99881262e-01 1.27873343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.9692541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:826.13, Y:11.98, Z:12.79 [[ 9.85067088e-01 -1.71503818e-01 -1.51417482e-02 8.26131662e+02] [ 1.71480086e-01 9.85183430e-01 -2.86166542e-03 1.19800336e+01] [ 1.54081860e-02 2.22424149e-04 9.99881262e-01 1.27864684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.9992541539999 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:826.16, Y:11.99, Z:12.79 [[ 9.85291653e-01 -1.70209014e-01 -1.51409811e-02 8.26159461e+02] [ 1.70185067e-01 9.85407951e-01 -2.86571822e-03 1.19859386e+01] [ 1.54078143e-02 2.46799364e-04 9.99881262e-01 1.27867315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.0292541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:826.19, Y:11.99, Z:12.79 [[ 9.85714879e-01 -1.67740730e-01 -1.51401876e-02 8.26186539e+02] [ 1.67716427e-01 9.85831103e-01 -2.86990456e-03 1.19926185e+01] [ 1.54070677e-02 2.89649455e-04 9.99881262e-01 1.27864298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.0592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:826.21, Y:12.00, Z:12.79 [[ 9.85783293e-01 -1.67338223e-01 -1.51399421e-02 8.26214368e+02] [ 1.67313853e-01 9.85899503e-01 -2.87119876e-03 1.19989103e+01] [ 1.54069227e-02 2.97257708e-04 9.99881262e-01 1.27884983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.0892541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:826.24, Y:12.00, Z:12.79 [[ 9.85795805e-01 -1.67264566e-01 -1.51392337e-02 8.26241251e+02] [ 1.67240131e-01 9.85912001e-01 -2.87492946e-03 1.20042970e+01] [ 1.54068260e-02 3.02205983e-04 9.99881262e-01 1.27876902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.1192541539999 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:826.27, Y:12.01, Z:12.79 [[ 9.85648283e-01 -1.68131713e-01 -1.51389827e-02 8.26268934e+02] [ 1.68107359e-01 9.85764497e-01 -2.87625052e-03 1.20088049e+01] [ 1.54070606e-02 2.89996992e-04 9.99881262e-01 1.27894251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.1492541539999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:826.30, Y:12.01, Z:12.79 [[ 9.85476842e-01 -1.69133762e-01 -1.51381561e-02 8.26297030e+02] [ 1.69109460e-01 9.85593067e-01 -2.88059428e-03 1.20138907e+01] [ 1.54072675e-02 2.78753541e-04 9.99881262e-01 1.27903939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.1792541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:826.32, Y:12.02, Z:12.79 [[ 9.85369921e-01 -1.69755647e-01 -1.51373186e-02 8.26324157e+02] [ 1.69731350e-01 9.85486147e-01 -2.88498866e-03 1.20183200e+01] [ 1.54073609e-02 2.73503526e-04 9.99881262e-01 1.27887837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.2092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:826.35, Y:12.02, Z:12.79 [[ 9.85527085e-01 -1.68840862e-01 -1.51369561e-02 8.26353597e+02] [ 1.68816428e-01 9.85643282e-01 -2.88688963e-03 1.20224220e+01] [ 1.54070640e-02 2.89741063e-04 9.99881262e-01 1.27889873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.2392541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:826.38, Y:12.03, Z:12.79 [[ 9.85330954e-01 -1.69981838e-01 -1.51355793e-02 8.26381222e+02] [ 1.69957428e-01 9.85447156e-01 -2.89410130e-03 1.20268138e+01] [ 1.54072583e-02 2.79243452e-04 9.99881262e-01 1.27869989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.2692541539999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:826.41, Y:12.03, Z:12.79 [[ 9.85019883e-01 -1.71775514e-01 -1.51328373e-02 8.26410042e+02] [ 1.71751096e-01 9.85136083e-01 -2.90844673e-03 1.20327709e+01] [ 1.54075040e-02 2.65796476e-04 9.99881262e-01 1.27901023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.2992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:826.44, Y:12.04, Z:12.79 [[ 9.85050192e-01 -1.71601396e-01 -1.51353781e-02 8.26437548e+02] [ 1.71577161e-01 9.85166431e-01 -2.89516363e-03 1.20380605e+01] [ 1.54076806e-02 2.54996280e-04 9.99881262e-01 1.27907111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.3292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:826.46, Y:12.04, Z:12.79 [[ 9.85057244e-01 -1.71560984e-01 -1.51345420e-02 8.26463701e+02] [ 1.71536677e-01 9.85173468e-01 -2.89952807e-03 1.20438818e+01] [ 1.54075951e-02 2.60072096e-04 9.99881262e-01 1.27893875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.3592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:826.49, Y:12.05, Z:12.79 [[ 9.85049728e-01 -1.71605583e-01 -1.51181282e-02 8.26493353e+02] [ 1.71579970e-01 9.85165673e-01 -2.98499070e-03 1.20493328e+01] [ 1.54061020e-02 3.46396307e-04 9.99881259e-01 1.27906934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.3892541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:826.52, Y:12.05, Z:12.79 [[ 9.85085205e-01 -1.71400458e-01 -1.51334962e-02 8.26521192e+02] [ 1.71376050e-01 9.85201406e-01 -2.90492968e-03 1.20546235e+01] [ 1.54074480e-02 2.68084454e-04 9.99881262e-01 1.27918201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.4192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:826.55, Y:12.06, Z:12.79 [[ 9.85323254e-01 -1.70026728e-01 -1.51326528e-02 8.26549397e+02] [ 1.70002090e-01 9.85439407e-01 -2.90931664e-03 1.20604121e+01] [ 1.54069740e-02 2.94034727e-04 9.99881262e-01 1.27937418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.4492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:826.58, Y:12.07, Z:12.79 [[ 9.85487266e-01 -1.69073575e-01 -1.51319158e-02 8.26576657e+02] [ 1.69048766e-01 9.85603383e-01 -2.91314505e-03 1.20662292e+01] [ 1.54066032e-02 3.12835668e-04 9.99881262e-01 1.27940846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.4792541539999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:826.60, Y:12.07, Z:12.79 [[ 9.85591472e-01 -1.68465078e-01 -1.51316547e-02 8.26603785e+02] [ 1.68440177e-01 9.85707570e-01 -2.91450050e-03 1.20718649e+01] [ 1.54063781e-02 3.23728243e-04 9.99881262e-01 1.27942177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.5092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:826.63, Y:12.08, Z:12.80 [[ 9.86134911e-01 -1.65254335e-01 -1.51308369e-02 8.26631354e+02] [ 1.65228990e-01 9.86250912e-01 -2.91874022e-03 1.20792027e+01] [ 1.54051361e-02 3.78218729e-04 9.99881262e-01 1.27956547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.5392541539999 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:826.66, Y:12.09, Z:12.80 [[ 9.86277246e-01 -1.64402787e-01 -1.51300038e-02 8.26659587e+02] [ 1.64377276e-01 9.86393211e-01 -2.92305210e-03 1.20851598e+01] [ 1.54046910e-02 3.95910965e-04 9.99881262e-01 1.27950002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.5692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:826.69, Y:12.09, Z:12.80 [[ 9.86541743e-01 -1.62808152e-01 -1.51292568e-02 8.26686273e+02] [ 1.62782394e-01 9.86657654e-01 -2.92691362e-03 1.20914766e+01] [ 1.54039224e-02 4.24745828e-04 9.99881262e-01 1.27954609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.5992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:826.71, Y:12.10, Z:12.80 [[ 9.86495109e-01 -1.63090534e-01 -1.51286746e-02 8.26714321e+02] [ 1.63064764e-01 9.86611017e-01 -2.92991970e-03 1.20969897e+01] [ 1.54039592e-02 4.23397707e-04 9.99881262e-01 1.27959003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.6292541539999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:826.74, Y:12.10, Z:12.79 [[ 9.86733112e-01 -1.61644410e-01 -1.51278347e-02 8.26742706e+02] [ 1.61618403e-01 9.86848966e-01 -2.93424972e-03 1.21039189e+01] [ 1.54031931e-02 4.50384857e-04 9.99881262e-01 1.27942273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.6592541539999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:826.77, Y:12.11, Z:12.79 [[ 9.86877428e-01 -1.60761046e-01 -1.51271048e-02 8.26769795e+02] [ 1.60734878e-01 9.86993246e-01 -2.93800775e-03 1.21100525e+01] [ 1.54026675e-02 4.68000183e-04 9.99881262e-01 1.27943085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.6892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:826.80, Y:12.12, Z:12.79 [[ 9.87064703e-01 -1.59607233e-01 -1.51262644e-02 8.26795831e+02] [ 1.59580864e-01 9.87180475e-01 -2.94232817e-03 1.21161159e+01] [ 1.54019698e-02 4.90405936e-04 9.99881262e-01 1.27946162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.7192541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:826.82, Y:12.12, Z:12.79 [[ 9.87047892e-01 -1.59711214e-01 -1.51256928e-02 8.26823190e+02] [ 1.59684812e-01 9.87163657e-01 -2.94526368e-03 1.21220632e+01] [ 1.54019259e-02 4.91772896e-04 9.99881262e-01 1.27948528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.7492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:826.85, Y:12.13, Z:12.80 [[ 9.87239626e-01 -1.58521799e-01 -1.51248385e-02 8.26849331e+02] [ 1.58495190e-01 9.87355344e-01 -2.94964453e-03 1.21278915e+01] [ 1.54011731e-02 5.14791809e-04 9.99881262e-01 1.27950373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.7792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:826.88, Y:12.13, Z:12.80 [[ 9.87217124e-01 -1.58661925e-01 -1.51242591e-02 8.26876581e+02] [ 1.58635287e-01 9.87332835e-01 -2.95261249e-03 1.21335201e+01] [ 1.54011448e-02 5.15628432e-04 9.99881262e-01 1.27974766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.8092541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:826.90, Y:12.14, Z:12.80 [[ 9.87091165e-01 -1.59443766e-01 -1.51233877e-02 8.26903873e+02] [ 1.59417151e-01 9.87206882e-01 -2.95706913e-03 1.21394442e+01] [ 1.54013986e-02 5.07969435e-04 9.99881262e-01 1.27981840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.8392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:826.93, Y:12.15, Z:12.80 [[ 9.86453586e-01 -1.63342016e-01 -1.51231180e-02 8.26927221e+02] [ 1.63315838e-01 9.86569402e-01 -2.95844776e-03 1.21486802e+01] [ 1.54032443e-02 4.48526718e-04 9.99881262e-01 1.27957480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.8692541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:826.96, Y:12.15, Z:12.80 [[ 9.86884040e-01 -1.60724097e-01 -1.50882870e-02 8.26959434e+02] [ 1.60694896e-01 9.86999147e-01 -3.13609517e-03 1.21510075e+01] [ 1.53961724e-02 6.70351571e-04 9.99881247e-01 1.27987294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.8992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:826.99, Y:12.16, Z:12.80 [[ 9.86715543e-01 -1.61752114e-01 -1.51225340e-02 8.26987011e+02] [ 1.61725707e-01 9.86831306e-01 -2.96120038e-03 1.21573359e+01] [ 1.54023704e-02 4.76159925e-04 9.99881263e-01 1.27990669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.9292541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:827.01, Y:12.16, Z:12.80 [[ 9.86497457e-01 -1.63076930e-01 -1.51222719e-02 8.27014307e+02] [ 1.63050658e-01 9.86613251e-01 -2.96253850e-03 1.21630335e+01] [ 1.54029555e-02 4.56840308e-04 9.99881263e-01 1.27994307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.9592541539998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:827.04, Y:12.17, Z:12.80 [[ 9.86453709e-01 -1.63341432e-01 -1.51214241e-02 8.27041920e+02] [ 1.63315125e-01 9.86569495e-01 -2.96685970e-03 1.21689390e+01] [ 1.54029468e-02 4.57112494e-04 9.99881263e-01 1.27993625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.9892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:827.07, Y:12.18, Z:12.80 [[ 9.85839132e-01 -1.67010647e-01 -1.51211616e-02 8.27066609e+02] [ 1.66984751e-01 9.85955011e-01 -2.96819703e-03 1.21776463e+01] [ 1.54045055e-02 4.01161395e-04 9.99881263e-01 1.27993806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.0192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:827.09, Y:12.18, Z:12.80 [[ 9.85784983e-01 -1.67332425e-01 -1.50939438e-02 8.27093979e+02] [ 1.67304448e-01 9.85900386e-01 -3.10651477e-03 1.21831058e+01] [ 1.54009456e-02 5.37071681e-04 9.99881254e-01 1.28022425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.0492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:827.12, Y:12.19, Z:12.80 [[ 9.86186062e-01 -1.64951696e-01 -1.50993077e-02 8.27124157e+02] [ 1.64923858e-01 9.86301495e-01 -3.07926855e-03 1.21863667e+01] [ 1.54004003e-02 5.46495652e-04 9.99881257e-01 1.28015319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.0792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:827.15, Y:12.19, Z:12.80 [[ 9.86208765e-01 -1.64814022e-01 -1.51198611e-02 8.27151487e+02] [ 1.64787766e-01 9.86324563e-01 -2.97480343e-03 1.21925286e+01] [ 1.54033797e-02 4.42209088e-04 9.99881263e-01 1.28027221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.1092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:827.18, Y:12.20, Z:12.80 [[ 9.86307860e-01 -1.64220038e-01 -1.51190053e-02 8.27178028e+02] [ 1.64193646e-01 9.86423627e-01 -2.97914655e-03 1.21983186e+01] [ 1.54029796e-02 4.55911055e-04 9.99881263e-01 1.28029858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.1392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:827.21, Y:12.20, Z:12.80 [[ 9.86394396e-01 -1.63699485e-01 -1.51186352e-02 8.27205676e+02] [ 1.63673004e-01 9.86510143e-01 -2.98102365e-03 1.22047387e+01] [ 1.54026790e-02 4.65952599e-04 9.99881263e-01 1.28038299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.1692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:827.23, Y:12.21, Z:12.80 [[ 9.86691663e-01 -1.61898165e-01 -1.51177797e-02 8.27233002e+02] [ 1.61871405e-01 9.86807345e-01 -2.98535562e-03 1.22119773e+01] [ 1.54016596e-02 4.98489256e-04 9.99881263e-01 1.28042315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.1992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:827.26, Y:12.22, Z:12.80 [[ 9.86800630e-01 -1.61232736e-01 -1.51169137e-02 8.27259711e+02] [ 1.61205832e-01 9.86916279e-01 -2.98973417e-03 1.22182932e+01] [ 1.54011713e-02 5.13336910e-04 9.99881263e-01 1.28033626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.2292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:827.29, Y:12.23, Z:12.80 [[ 9.86994154e-01 -1.60043839e-01 -1.51165385e-02 8.27287345e+02] [ 1.60016766e-01 9.87109763e-01 -2.99163018e-03 1.22256213e+01] [ 1.54004747e-02 5.33821885e-04 9.99881263e-01 1.28048534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.2592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:827.31, Y:12.23, Z:12.81 [[ 9.87014615e-01 -1.59917684e-01 -1.51156765e-02 8.27314841e+02] [ 1.59890530e-01 9.87130205e-01 -2.99597940e-03 1.22315634e+01] [ 1.54002509e-02 5.40221923e-04 9.99881263e-01 1.28051156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.2892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:827.34, Y:12.24, Z:12.81 [[ 9.86921979e-01 -1.60488471e-01 -1.51148193e-02 8.27342559e+02] [ 1.60461318e-01 9.87037570e-01 -3.00029763e-03 1.22375843e+01] [ 1.54004077e-02 5.35715850e-04 9.99881263e-01 1.28059540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.3192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:827.37, Y:12.25, Z:12.81 [[ 9.86476275e-01 -1.63205784e-01 -1.51139576e-02 8.27366715e+02] [ 1.63178883e-01 9.86591924e-01 -3.00463226e-03 1.22462674e+01] [ 1.54016819e-02 4.97719720e-04 9.99881263e-01 1.28069309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.3492541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:827.40, Y:12.25, Z:12.81 [[ 9.86730974e-01 -1.61661452e-01 -1.50851044e-02 8.27397792e+02] [ 1.61632156e-01 9.86846050e-01 -3.14949975e-03 1.22503944e+01] [ 1.53958284e-02 6.69471011e-04 9.99881253e-01 1.28066554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.3792541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:827.43, Y:12.26, Z:12.81 [[ 9.86764616e-01 -1.61453348e-01 -1.51131916e-02 8.27425583e+02] [ 1.61426184e-01 9.86880204e-01 -3.00840009e-03 1.22565214e+01] [ 1.54006258e-02 5.28917917e-04 9.99881263e-01 1.28078132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.4092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:827.45, Y:12.27, Z:12.81 [[ 9.86387844e-01 -1.63739535e-01 -1.51124383e-02 8.27450652e+02] [ 1.63712581e-01 9.86503481e-01 -3.01217924e-03 1.22651010e+01] [ 1.54016858e-02 4.97080707e-04 9.99881263e-01 1.28091177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.4392541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:827.48, Y:12.27, Z:12.81 [[ 9.86099088e-01 -1.65471852e-01 -1.50882110e-02 8.27477510e+02] [ 1.65443245e-01 9.86214335e-01 -3.13351929e-03 1.22727309e+01] [ 1.53987192e-02 5.93717929e-04 9.99881256e-01 1.28098131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.4692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:827.51, Y:12.28, Z:12.81 [[ 9.86154591e-01 -1.65140916e-01 -1.50864426e-02 8.27505953e+02] [ 1.65112135e-01 9.86269795e-01 -3.14237467e-03 1.22790225e+01] [ 1.53982373e-02 6.07912450e-04 9.99881255e-01 1.28103053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.4992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:827.54, Y:12.28, Z:12.81 [[ 9.86442264e-01 -1.63413723e-01 -1.50868840e-02 8.27536662e+02] [ 1.63384774e-01 9.86557426e-01 -3.14016498e-03 1.22826415e+01] [ 1.53972235e-02 6.32624316e-04 9.99881256e-01 1.28109261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.5292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:827.56, Y:12.29, Z:12.81 [[ 9.85743390e-01 -1.67575653e-01 -1.51118749e-02 8.27560651e+02] [ 1.67549108e-01 9.85859121e-01 -3.01490144e-03 1.22921927e+01] [ 1.54034038e-02 4.39938015e-04 9.99881264e-01 1.28117243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.5592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:827.59, Y:12.30, Z:12.81 [[ 9.86001658e-01 -1.66051913e-01 -1.50828347e-02 8.27591808e+02] [ 1.66022967e-01 9.86116823e-01 -3.16017232e-03 1.22958142e+01] [ 1.53981897e-02 6.11838181e-04 9.99881254e-01 1.28116120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.5892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:827.62, Y:12.30, Z:12.81 [[ 9.85799366e-01 -1.67246126e-01 -1.51110222e-02 8.27618247e+02] [ 1.67219477e-01 9.85915073e-01 -3.01909035e-03 1.23021360e+01] [ 1.54031157e-02 4.49360113e-04 9.99881264e-01 1.28105059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.6192541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:827.65, Y:12.31, Z:12.81 [[ 9.85263344e-01 -1.70375504e-01 -1.51106446e-02 8.27645766e+02] [ 1.70349194e-01 9.85379128e-01 -3.02097944e-03 1.23092038e+01] [ 1.54044146e-02 4.02374184e-04 9.99881264e-01 1.28111394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.6492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:827.67, Y:12.31, Z:12.81 [[ 9.85083388e-01 -1.71412991e-01 -1.51097888e-02 8.27672607e+02] [ 1.71386737e-01 9.85199185e-01 -3.02525329e-03 1.23148177e+01] [ 1.54047194e-02 3.90509345e-04 9.99881264e-01 1.28104173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.6792541539999 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:827.70, Y:12.32, Z:12.81 [[ 9.84662420e-01 -1.73814911e-01 -1.51094180e-02 8.27701316e+02] [ 1.73788912e-01 9.84778275e-01 -3.02710435e-03 1.23210621e+01] [ 1.54055825e-02 3.54826588e-04 9.99881264e-01 1.28118417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.7092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:827.73, Y:12.33, Z:12.81 [[ 9.84387699e-01 -1.75364147e-01 -1.51087237e-02 8.27728600e+02] [ 1.75338277e-01 9.84503583e-01 -3.03056583e-03 1.23274566e+01] [ 1.54060452e-02 3.34114142e-04 9.99881264e-01 1.28127537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.7392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:827.76, Y:12.33, Z:12.81 [[ 9.84225946e-01 -1.76269743e-01 -1.51084587e-02 8.27755683e+02] [ 1.76243959e-01 9.84341848e-01 -3.03188611e-03 1.23332611e+01] [ 1.54063180e-02 3.21286394e-04 9.99881264e-01 1.28136142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.7692541539999 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:827.78, Y:12.34, Z:12.81 [[ 9.84046148e-01 -1.77270808e-01 -1.51075981e-02 8.27783024e+02] [ 1.77245076e-01 9.84162062e-01 -3.03616830e-03 1.23393628e+01] [ 1.54065490e-02 3.09982341e-04 9.99881264e-01 1.28143428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.7992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:827.81, Y:12.35, Z:12.81 [[ 9.83935114e-01 -1.77886140e-01 -1.51067175e-02 8.27810001e+02] [ 1.77860414e-01 9.84051029e-01 -3.04054390e-03 1.23467802e+01] [ 1.54066515e-02 3.04810890e-04 9.99881264e-01 1.28133761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.8292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:827.84, Y:12.35, Z:12.81 [[ 9.83876894e-01 -1.78207892e-01 -1.51064454e-02 8.27837622e+02] [ 1.78182183e-01 9.83992813e-01 -3.04189524e-03 1.23534106e+01] [ 1.54067234e-02 3.01151033e-04 9.99881264e-01 1.28139115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.8592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:827.87, Y:12.36, Z:12.81 [[ 9.83932862e-01 -1.77898690e-01 -1.51055727e-02 8.27865173e+02] [ 1.77872878e-01 9.84048759e-01 -3.04622263e-03 1.23607213e+01] [ 1.54065391e-02 3.10406861e-04 9.99881264e-01 1.28140895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.8892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:827.89, Y:12.37, Z:12.81 [[ 9.83706166e-01 -1.79148061e-01 -1.51046974e-02 8.27891060e+02] [ 1.79122330e-01 9.83822080e-01 -3.05055678e-03 1.23687794e+01] [ 1.54068361e-02 2.95262940e-04 9.99881264e-01 1.28137662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.9192541539999 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:827.92, Y:12.38, Z:12.81 [[ 9.83658422e-01 -1.79411519e-01 -1.50869445e-02 8.27917713e+02] [ 1.79384473e-01 9.83774040e-01 -3.13826233e-03 1.23752689e+01] [ 1.54051848e-02 3.80614576e-04 9.99881261e-01 1.28143874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.9492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:827.95, Y:12.38, Z:12.81 [[ 9.84154187e-01 -1.76672063e-01 -1.50836889e-02 8.27945706e+02] [ 1.76644450e-01 9.84269673e-01 -3.15434499e-03 1.23811581e+01] [ 1.54037022e-02 4.39911905e-04 9.99881259e-01 1.28138234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.9792541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:827.97, Y:12.39, Z:12.81 [[ 9.84383098e-01 -1.75391266e-01 -1.50936901e-02 8.27974401e+02] [ 1.75364259e-01 9.84498723e-01 -3.10493079e-03 1.23868965e+01] [ 1.54042964e-02 4.09547609e-04 9.99881263e-01 1.28145781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.0092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:828.00, Y:12.39, Z:12.82 [[ 9.84187002e-01 -1.76487476e-01 -1.51035134e-02 8.28000257e+02] [ 1.76461342e-01 9.84302826e-01 -3.05638791e-03 1.23949549e+01] [ 1.54058451e-02 3.42871013e-04 9.99881264e-01 1.28156108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.0392541539999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:828.03, Y:12.40, Z:12.81 [[ 9.84458146e-01 -1.74970110e-01 -1.50870951e-02 8.28028345e+02] [ 1.74942557e-01 9.84573643e-01 -3.13734900e-03 1.24001124e+01] [ 1.54032985e-02 4.49213776e-04 9.99881261e-01 1.28147015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.0692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:828.06, Y:12.41, Z:12.82 [[ 9.84443939e-01 -1.75048709e-01 -1.51023578e-02 8.28056870e+02] [ 1.75022318e-01 9.84559705e-01 -3.06207265e-03 1.24061561e+01] [ 1.54051848e-02 3.71189190e-04 9.99881264e-01 1.28167488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.0992541539999 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:828.08, Y:12.41, Z:12.82 [[ 9.84338104e-01 -1.75642932e-01 -1.51015910e-02 8.28083775e+02] [ 1.75616553e-01 9.84453872e-01 -3.06584995e-03 1.24121095e+01] [ 1.54053146e-02 3.65743576e-04 9.99881264e-01 1.28160010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.1292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:828.11, Y:12.42, Z:12.82 [[ 9.84141644e-01 -1.76740414e-01 -1.51013196e-02 8.28110593e+02] [ 1.76714144e-01 9.84257438e-01 -3.06718622e-03 1.24177776e+01] [ 1.54056819e-02 3.49928930e-04 9.99881264e-01 1.28166571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.1592541539999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:828.14, Y:12.42, Z:12.82 [[ 9.83768423e-01 -1.78806174e-01 -1.51010577e-02 8.28139120e+02] [ 1.78780128e-01 9.83884267e-01 -3.06847477e-03 1.24234407e+01] [ 1.54063554e-02 3.18899552e-04 9.99881264e-01 1.28191076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.1892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:828.17, Y:12.43, Z:12.82 [[ 9.83536353e-01 -1.80078384e-01 -1.51002819e-02 8.28166291e+02] [ 1.80052429e-01 9.83652217e-01 -3.07228817e-03 1.24286468e+01] [ 1.54066784e-02 3.02864678e-04 9.99881264e-01 1.28184844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.2192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:828.19, Y:12.43, Z:12.82 [[ 9.82828031e-01 -1.83905017e-01 -1.50998706e-02 8.28193527e+02] [ 1.83879482e-01 9.82943989e-01 -3.07430801e-03 1.24332862e+01] [ 1.54077077e-02 2.44959701e-04 9.99881264e-01 1.28194963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.2492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:828.22, Y:12.44, Z:12.82 [[ 9.82349228e-01 -1.86445740e-01 -1.50989901e-02 8.28221238e+02] [ 1.86420439e-01 9.82465237e-01 -3.07862653e-03 1.24382131e+01] [ 1.54082297e-02 2.09526034e-04 9.99881264e-01 1.28202437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.2792541539999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:828.25, Y:12.44, Z:12.82 [[ 9.81861339e-01 -1.88998300e-01 -1.50980994e-02 8.28248180e+02] [ 1.88973233e-01 9.81977399e-01 -3.08298867e-03 1.24424824e+01] [ 1.54086720e-02 1.73930728e-04 9.99881264e-01 1.28203495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.3092541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:828.28, Y:12.45, Z:12.82 [[ 9.81323892e-01 -1.91769334e-01 -1.50977135e-02 8.28275132e+02] [ 1.91744566e-01 9.81440016e-01 -3.08487694e-03 1.24467253e+01] [ 1.54090850e-02 1.32358924e-04 9.99881264e-01 1.28209578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.3392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:828.30, Y:12.45, Z:12.82 [[ 9.80165675e-01 -1.97603946e-01 -1.50973347e-02 8.28303011e+02] [ 1.97579841e-01 9.80281938e-01 -3.08672977e-03 1.24509852e+01] [ 1.54095945e-02 4.25775820e-05 9.99881264e-01 1.28237881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.3692541539999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:828.33, Y:12.46, Z:12.82 [[ 9.79697368e-01 -1.99913285e-01 -1.50912599e-02 8.28330850e+02] [ 1.99888997e-01 9.79813593e-01 -3.11639275e-03 1.24552180e+01] [ 1.54096299e-02 3.65449706e-05 9.99881264e-01 1.28247399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.3992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:828.36, Y:12.46, Z:12.83 [[ 9.78852879e-01 -2.04007728e-01 -1.50959633e-02 8.28359595e+02] [ 2.03984280e-01 9.78969277e-01 -3.09344035e-03 1.24588820e+01] [ 1.54095700e-02 -5.13162105e-05 9.99881264e-01 1.28262153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.4292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:828.39, Y:12.46, Z:12.83 [[ 9.78438865e-01 -2.05984279e-01 -1.50951761e-02 8.28386738e+02] [ 2.05961007e-01 9.78555298e-01 -3.09727714e-03 1.24636127e+01] [ 1.54094549e-02 -7.85213246e-05 9.99881264e-01 1.28265369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.4592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:828.41, Y:12.47, Z:12.83 [[ 9.78113182e-01 -2.07525293e-01 -1.50948977e-02 8.28413751e+02] [ 2.07502183e-01 9.78229647e-01 -3.09863301e-03 1.24681450e+01] [ 1.54093212e-02 -1.01410436e-04 9.99881264e-01 1.28266220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.4892541539999 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:828.44, Y:12.47, Z:12.83 [[ 9.77577639e-01 -2.10033607e-01 -1.50945164e-02 8.28441178e+02] [ 2.10010767e-01 9.77694157e-01 -3.10048969e-03 1.24717838e+01] [ 1.54090275e-02 -1.39041572e-04 9.99881264e-01 1.28274405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.5192541539999 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:828.47, Y:12.48, Z:12.83 [[ 9.77517104e-01 -2.10315226e-01 -1.50936216e-02 8.28469155e+02] [ 2.10292352e-01 9.77633616e-01 -3.10483964e-03 1.24776107e+01] [ 1.54090269e-02 -1.39039328e-04 9.99881264e-01 1.28278794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.5492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:828.50, Y:12.48, Z:12.83 [[ 9.76933924e-01 -2.13007789e-01 -1.50927259e-02 8.28495098e+02] [ 2.12985169e-01 9.77050485e-01 -3.10918713e-03 1.24844011e+01] [ 1.54086363e-02 -1.77056405e-04 9.99881264e-01 1.28289189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.5792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:828.52, Y:12.49, Z:12.83 [[ 9.77258502e-01 -2.11515165e-01 -1.50716947e-02 8.28524879e+02] [ 2.11490796e-01 9.77374714e-01 -3.21106158e-03 1.24872507e+01] [ 1.54098815e-02 -4.94874797e-05 9.99881260e-01 1.28276907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.6092541539999 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:828.55, Y:12.49, Z:12.83 [[ 9.77111687e-01 -2.12190926e-01 -1.50917792e-02 8.28552881e+02] [ 2.12168140e-01 9.77228216e-01 -3.11371507e-03 1.24924009e+01] [ 1.54088145e-02 -1.59547321e-04 9.99881264e-01 1.28291388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.6392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:828.58, Y:12.50, Z:12.83 [[ 9.77232544e-01 -2.11633696e-01 -1.50908783e-02 8.28581497e+02] [ 2.11610776e-01 9.77349046e-01 -3.11807513e-03 1.24977332e+01] [ 1.54089453e-02 -1.46307971e-04 9.99881264e-01 1.28299216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.6692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:828.61, Y:12.50, Z:12.83 [[ 9.77005349e-01 -2.12680127e-01 -1.50900962e-02 8.28607899e+02] [ 2.12657273e-01 9.77121865e-01 -3.12185557e-03 1.25043600e+01] [ 1.54088196e-02 -1.58949116e-04 9.99881264e-01 1.28316020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.6992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:828.64, Y:12.51, Z:12.83 [[ 9.77145337e-01 -2.12036965e-01 -1.50769832e-02 8.28635301e+02] [ 2.12013058e-01 9.77261643e-01 -3.18512492e-03 1.25091782e+01] [ 1.54095216e-02 -8.41873446e-05 9.99881263e-01 1.28318138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.7292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:828.66, Y:12.51, Z:12.83 [[ 9.77225996e-01 -2.11664717e-01 -1.50797936e-02 8.28663049e+02] [ 2.11640974e-01 9.77342335e-01 -3.17157217e-03 1.25141836e+01] [ 1.54094306e-02 -9.21594351e-05 9.99881263e-01 1.28323806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.7592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:828.69, Y:12.52, Z:12.83 [[ 9.77240767e-01 -2.11596870e-01 -1.50747529e-02 8.28689334e+02] [ 2.11572745e-01 9.77357028e-01 -3.19586132e-03 1.25190194e+01] [ 1.54096500e-02 -6.62808906e-05 9.99881262e-01 1.28319530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.7892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:828.72, Y:12.52, Z:12.83 [[ 9.77428668e-01 -2.10727301e-01 -1.50732617e-02 8.28718595e+02] [ 2.10702961e-01 9.77544885e-01 -3.20303768e-03 1.25224626e+01] [ 1.54097573e-02 -4.52400119e-05 9.99881262e-01 1.28322666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.8192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:828.74, Y:12.53, Z:12.83 [[ 9.77311593e-01 -2.11268622e-01 -1.50870795e-02 8.28744791e+02] [ 2.11245372e-01 9.77428030e-01 -3.13657348e-03 1.25276448e+01] [ 1.54091939e-02 -1.21666104e-04 9.99881264e-01 1.28332853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.8492541539999 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:828.77, Y:12.53, Z:12.83 [[ 9.77244232e-01 -2.11580919e-01 -1.50739831e-02 8.28773319e+02] [ 2.11556736e-01 9.77360482e-01 -3.19947989e-03 1.25324439e+01] [ 1.54096643e-02 -6.23294025e-05 9.99881262e-01 1.28338815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.8792541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:828.80, Y:12.54, Z:12.83 [[ 9.77577520e-01 -2.10035324e-01 -1.50782895e-02 8.28801315e+02] [ 2.10011276e-01 9.77693796e-01 -3.17881618e-03 1.25353520e+01] [ 1.54096138e-02 -5.90715755e-05 9.99881263e-01 1.28347513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.9092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:828.83, Y:12.54, Z:12.84 [[ 9.77674573e-01 -2.09582590e-01 -1.50853197e-02 8.28829021e+02] [ 2.09559008e-01 9.77790944e-01 -3.14509627e-03 1.25401992e+01] [ 1.54094464e-02 -8.63839724e-05 9.99881264e-01 1.28355237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.9392541539999 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:828.86, Y:12.55, Z:12.84 [[ 9.77357361e-01 -2.11056981e-01 -1.50844199e-02 8.28855412e+02] [ 2.11033508e-01 9.77473754e-01 -3.14940581e-03 1.25469755e+01] [ 1.54093286e-02 -1.05223093e-04 9.99881264e-01 1.28359694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.9692541539999 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:828.88, Y:12.55, Z:12.84 [[ 9.78214440e-01 -2.07049208e-01 -1.50709756e-02 8.28884694e+02] [ 2.07024267e-01 9.78330529e-01 -3.21369677e-03 1.25503116e+01] [ 1.54097889e-02 2.36268980e-05 9.99881262e-01 1.28354135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.9992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:828.91, Y:12.56, Z:12.84 [[ 9.78547584e-01 -2.05468054e-01 -1.50832871e-02 8.28912220e+02] [ 2.05443833e-01 9.78663823e-01 -3.15483588e-03 1.25553898e+01] [ 1.54096854e-02 -1.16112750e-05 9.99881264e-01 1.28356934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.0292541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:828.94, Y:12.56, Z:12.84 [[ 9.78757326e-01 -2.04466666e-01 -1.50824095e-02 8.28939586e+02] [ 2.04442261e-01 9.78873527e-01 -3.15902588e-03 1.25607878e+01] [ 1.54096868e-02 8.43782545e-06 9.99881264e-01 1.28362719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.0592541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:828.97, Y:12.57, Z:12.84 [[ 9.79188595e-01 -2.02391313e-01 -1.50814825e-02 8.28966619e+02] [ 2.02366594e-01 9.79304730e-01 -3.16344530e-03 1.25651880e+01] [ 1.54096210e-02 4.56213213e-05 9.99881264e-01 1.28354219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.0892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:828.99, Y:12.57, Z:12.84 [[ 9.79231783e-01 -2.02182284e-01 -1.50810813e-02 8.28994668e+02] [ 2.02157510e-01 9.79347906e-01 -3.16535678e-03 1.25703630e+01] [ 1.54096044e-02 5.08641207e-05 9.99881264e-01 1.28352807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.1192541539999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:829.02, Y:12.58, Z:12.84 [[ 9.79139169e-01 -2.02630394e-01 -1.50801724e-02 8.29022676e+02] [ 2.02605607e-01 9.79255289e-01 -3.16968064e-03 1.25757380e+01] [ 1.54096123e-02 4.82309705e-05 9.99881264e-01 1.28353356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.1492541539999 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:829.05, Y:12.58, Z:12.84 [[ 9.78828114e-01 -2.04127750e-01 -1.50792644e-02 8.29050667e+02] [ 2.04103074e-01 9.78944258e-01 -3.17399459e-03 1.25796326e+01] [ 1.54096597e-02 2.90709128e-05 9.99881264e-01 1.28357653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.1792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:829.08, Y:12.58, Z:12.84 [[ 9.78673516e-01 -2.04867743e-01 -1.50783609e-02 8.29077796e+02] [ 2.04843089e-01 9.78789664e-01 -3.17828116e-03 1.25838703e+01] [ 1.54096711e-02 2.18015700e-05 9.99881264e-01 1.28366604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.2092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:829.10, Y:12.59, Z:12.84 [[ 9.77799283e-01 -2.09000518e-01 -1.50779678e-02 8.29104880e+02] [ 2.08976326e-01 9.77915529e-01 -3.18014485e-03 1.25867983e+01] [ 1.54096308e-02 -4.13949499e-05 9.99881264e-01 1.28369711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.2392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:829.13, Y:12.59, Z:12.84 [[ 9.77150212e-01 -2.12014457e-01 -1.50775816e-02 8.29132650e+02] [ 2.11990596e-01 9.77266526e-01 -3.18197471e-03 1.25911155e+01] [ 1.54094404e-02 -8.70382458e-05 9.99881264e-01 1.28375592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.2692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:829.16, Y:12.60, Z:12.84 [[ 9.76456889e-01 -2.15185124e-01 -1.50766922e-02 8.29160291e+02] [ 2.15161575e-01 9.76573267e-01 -3.18618340e-03 1.25955412e+01] [ 1.54091138e-02 -1.32754106e-04 9.99881264e-01 1.28377687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.2992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:829.19, Y:12.60, Z:12.84 [[ 9.75726353e-01 -2.18473808e-01 -1.50757968e-02 8.29187055e+02] [ 2.18450587e-01 9.75842796e-01 -3.19041439e-03 1.25998743e+01] [ 1.54086297e-02 -1.80345254e-04 9.99881264e-01 1.28376710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.3292541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:829.22, Y:12.60, Z:12.84 [[ 9.74355645e-01 -2.24507926e-01 -1.50754089e-02 8.29215077e+02] [ 2.24485397e-01 9.74472224e-01 -3.19224641e-03 1.26028939e+01] [ 1.54072518e-02 -2.73825838e-04 9.99881264e-01 1.28385802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.3592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:829.24, Y:12.61, Z:12.84 [[ 9.73774957e-01 -2.27013420e-01 -1.50744959e-02 8.29241910e+02] [ 2.26991124e-01 9.73891581e-01 -3.19655204e-03 1.26073098e+01] [ 1.54065848e-02 -3.09054428e-04 9.99881264e-01 1.28386868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.3892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:829.27, Y:12.61, Z:12.84 [[ 9.73266402e-01 -2.29183949e-01 -1.50741005e-02 8.29269542e+02] [ 2.29161885e-01 9.73383070e-01 -3.19841526e-03 1.26119862e+01] [ 1.54058997e-02 -3.41499171e-04 9.99881264e-01 1.28398566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.4192541539999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:829.30, Y:12.62, Z:12.84 [[ 9.72683723e-01 -2.31644497e-01 -1.50732183e-02 8.29297111e+02] [ 2.31622663e-01 9.72800435e-01 -3.20256764e-03 1.26164485e+01] [ 1.54050905e-02 -3.76213538e-04 9.99881264e-01 1.28408753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.4492541539998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:829.32, Y:12.62, Z:12.84 [[ 9.72643584e-01 -2.31813037e-01 -1.50723046e-02 8.29324253e+02] [ 2.31791157e-01 9.72760287e-01 -3.20686200e-03 1.26217342e+01] [ 1.54051318e-02 -3.74493167e-04 9.99881264e-01 1.28414904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.4792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:829.35, Y:12.63, Z:12.84 [[ 9.73193257e-01 -2.29494529e-01 -1.50713826e-02 8.29350457e+02] [ 2.29472304e-01 9.73309894e-01 -3.21118927e-03 1.26267663e+01] [ 1.54060762e-02 -3.33357147e-04 9.99881264e-01 1.28415299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.5092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:829.38, Y:12.63, Z:12.84 [[ 9.73449100e-01 -2.28406924e-01 -1.50707557e-02 8.29377425e+02] [ 2.28384523e-01 9.73565704e-01 -3.21412853e-03 1.26326031e+01] [ 1.54065001e-02 -3.13136831e-04 9.99881264e-01 1.28423036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.5392541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:829.40, Y:12.64, Z:12.84 [[ 9.73839633e-01 -2.26736122e-01 -1.50698380e-02 8.29403875e+02] [ 2.26713454e-01 9.73956186e-01 -3.21842590e-03 1.26381837e+01] [ 1.54070953e-02 -2.82304321e-04 9.99881264e-01 1.28422367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.5692541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:829.43, Y:12.64, Z:12.84 [[ 9.74728895e-01 -2.22882257e-01 -1.50692143e-02 8.29429930e+02] [ 2.22859084e-01 9.74845348e-01 -3.22134330e-03 1.26441588e+01] [ 1.54081337e-02 -2.18374897e-04 9.99881264e-01 1.28410050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.5992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:829.46, Y:12.65, Z:12.84 [[ 9.75202424e-01 -2.20801182e-01 -1.50688215e-02 8.29457564e+02] [ 2.20777732e-01 9.75318822e-01 -3.22317957e-03 1.26501739e+01] [ 1.54085871e-02 -1.83607706e-04 9.99881264e-01 1.28415462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.6292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:829.48, Y:12.66, Z:12.84 [[ 9.75321515e-01 -2.20274600e-01 -1.50679216e-02 8.29484751e+02] [ 2.20251022e-01 9.75437887e-01 -3.22738124e-03 1.26574181e+01] [ 1.54087317e-02 -1.70990762e-04 9.99881264e-01 1.28420201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.6592541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:829.51, Y:12.66, Z:12.84 [[ 9.75882660e-01 -2.17775663e-01 -1.50596885e-02 8.29511906e+02] [ 2.17751194e-01 9.75998848e-01 -3.26577040e-03 1.26625100e+01] [ 1.54094439e-02 -9.22564494e-05 9.99881263e-01 1.28414388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.6892541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:829.54, Y:12.67, Z:12.84 [[ 9.76468593e-01 -2.15132704e-01 -1.50667108e-02 8.29538082e+02] [ 2.15108426e-01 9.76584821e-01 -3.23304481e-03 1.26680515e+01] [ 1.54094548e-02 -8.40097367e-05 9.99881264e-01 1.28420092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.7192541539999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:829.57, Y:12.67, Z:12.84 [[ 9.76528239e-01 -2.14861841e-01 -1.50661072e-02 8.29565694e+02] [ 2.14837487e-01 9.76644451e-01 -3.23585513e-03 1.26740706e+01] [ 1.54094918e-02 -7.68607060e-05 9.99881264e-01 1.28418187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.7492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:829.59, Y:12.68, Z:12.84 [[ 9.76758856e-01 -2.13811077e-01 -1.50651975e-02 8.29593172e+02] [ 2.13786533e-01 9.76875028e-01 -3.24008522e-03 1.26792479e+01] [ 1.54095813e-02 -5.59544005e-05 9.99881264e-01 1.28438490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.7792541539999 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:829.62, Y:12.68, Z:12.84 [[ 9.76902628e-01 -2.13153286e-01 -1.50642553e-02 8.29620580e+02] [ 2.13128596e-01 9.77018769e-01 -3.24445951e-03 1.26849966e+01] [ 1.54096274e-02 -4.11025656e-05 9.99881264e-01 1.28427759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.8092541539999 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:829.65, Y:12.69, Z:12.84 [[ 9.76948143e-01 -2.12944602e-01 -1.50639638e-02 8.29647665e+02] [ 2.12919867e-01 9.77064274e-01 -3.24581260e-03 1.26907855e+01] [ 1.54096391e-02 -3.64265771e-05 9.99881264e-01 1.28428679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.8392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:829.68, Y:12.70, Z:12.84 [[ 9.77072431e-01 -2.12373654e-01 -1.50630416e-02 8.29675104e+02] [ 2.12348785e-01 9.77188534e-01 -3.25008688e-03 1.26957232e+01] [ 1.54096643e-02 -2.30482813e-05 9.99881264e-01 1.28442984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.8692541539999 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:829.70, Y:12.70, Z:12.84 [[ 9.76795051e-01 -2.13645876e-01 -1.50621241e-02 8.29701829e+02] [ 2.13621092e-01 9.76911172e-01 -3.25433320e-03 1.27019827e+01] [ 1.54096322e-02 -3.87708381e-05 9.99881264e-01 1.28422445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.8992541539999 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:829.73, Y:12.71, Z:12.84 [[ 9.76622406e-01 -2.14433721e-01 -1.50617266e-02 8.29729492e+02] [ 2.14409003e-01 9.76738541e-01 -3.25617180e-03 1.27075527e+01] [ 1.54096019e-02 -4.93194420e-05 9.99881264e-01 1.28430964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.9292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:829.76, Y:12.71, Z:12.84 [[ 9.76251589e-01 -2.16115728e-01 -1.50607864e-02 8.29756323e+02] [ 2.16091143e-01 9.76367752e-01 -3.26051497e-03 1.27115651e+01] [ 1.54095147e-02 -7.14196083e-05 9.99881264e-01 1.28445367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.9592541539998 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:829.78, Y:12.72, Z:12.84 [[ 9.75746510e-01 -2.18384830e-01 -1.50603791e-02 8.29783506e+02] [ 2.18360486e-01 9.75862724e-01 -3.26239503e-03 1.27172422e+01] [ 1.54093201e-02 -1.05321127e-04 9.99881264e-01 1.28436177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.9892541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:829.81, Y:12.72, Z:12.84 [[ 9.75275705e-01 -2.20477874e-01 -1.50600921e-02 8.29809847e+02] [ 2.20453759e-01 9.75391966e-01 -3.26371926e-03 1.27223097e+01] [ 1.54090707e-02 -1.37027825e-04 9.99881264e-01 1.28445618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.0192541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:829.84, Y:12.73, Z:12.85 [[ 9.74256690e-01 -2.24938008e-01 -1.50596944e-02 8.29837804e+02] [ 2.24914397e-01 9.74373055e-01 -3.26555348e-03 1.27271911e+01] [ 1.54083075e-02 -2.05654755e-04 9.99881264e-01 1.28457341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.0492541539999 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:829.87, Y:12.73, Z:12.85 [[ 9.73697079e-01 -2.27348262e-01 -1.50587604e-02 8.29865532e+02] [ 2.27324873e-01 9.73813489e-01 -3.26985461e-03 1.27328006e+01] [ 1.54078198e-02 -2.39382911e-04 9.99881264e-01 1.28457850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.0792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:829.89, Y:12.74, Z:12.85 [[ 9.73034273e-01 -2.30168558e-01 -1.50578158e-02 8.29892853e+02] [ 2.30145439e-01 9.73150737e-01 -3.27419912e-03 1.27375395e+01] [ 1.54071422e-02 -2.79579653e-04 9.99881264e-01 1.28485167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.1092541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:829.92, Y:12.74, Z:12.85 [[ 9.72613174e-01 -2.31941599e-01 -1.50568750e-02 8.29919395e+02] [ 2.31918625e-01 9.72729666e-01 -3.27851955e-03 1.27440296e+01] [ 1.54066941e-02 -3.03238440e-04 9.99881264e-01 1.28482936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.1392541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:829.95, Y:12.75, Z:12.85 [[ 9.72318171e-01 -2.33175222e-01 -1.50562350e-02 8.29946714e+02] [ 2.33152350e-01 9.72434684e-01 -3.28145599e-03 1.27504467e+01] [ 1.54063594e-02 -3.19777299e-04 9.99881264e-01 1.28490196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.1692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:829.97, Y:12.76, Z:12.85 [[ 9.71960093e-01 -2.34663408e-01 -1.50553001e-02 8.29973997e+02] [ 2.34640648e-01 9.72076628e-01 -3.28573968e-03 1.27564991e+01] [ 1.54059483e-02 -3.38977536e-04 9.99881264e-01 1.28508629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.1992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:830.00, Y:12.76, Z:12.85 [[ 9.71629227e-01 -2.36029683e-01 -1.50543653e-02 8.30000890e+02] [ 2.36007021e-01 9.71745780e-01 -3.29001730e-03 1.27632771e+01] [ 1.54055577e-02 -3.56258947e-04 9.99881264e-01 1.28512408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.2292541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:830.03, Y:12.77, Z:12.85 [[ 9.71404006e-01 -2.36954957e-01 -1.50534185e-02 8.30027319e+02] [ 2.36932339e-01 9.71520568e-01 -3.29434375e-03 1.27697646e+01] [ 1.54053168e-02 -3.66502931e-04 9.99881264e-01 1.28509724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.2592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:830.05, Y:12.78, Z:12.85 [[ 9.71176540e-01 -2.37885552e-01 -1.50530083e-02 8.30054941e+02] [ 2.37863017e-01 9.71293118e-01 -3.29621700e-03 1.27765981e+01] [ 1.54050057e-02 -3.79345344e-04 9.99881264e-01 1.28513029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.2892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:830.08, Y:12.78, Z:12.85 [[ 9.70949152e-01 -2.38812018e-01 -1.50520694e-02 8.30082263e+02] [ 2.38789527e-01 9.71065738e-01 -3.30049871e-03 1.27845786e+01] [ 1.54047477e-02 -3.89660126e-04 9.99881264e-01 1.28508800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.3192541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:830.11, Y:12.79, Z:12.85 [[ 9.70871482e-01 -2.39127643e-01 -1.50511242e-02 8.30108910e+02] [ 2.39105123e-01 9.70988063e-01 -3.30480353e-03 1.27919159e+01] [ 1.54047318e-02 -3.90261412e-04 9.99881264e-01 1.28503087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.3492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:830.13, Y:12.80, Z:12.85 [[ 9.70250071e-01 -2.41636693e-01 -1.50501857e-02 8.30134534e+02] [ 2.41614409e-01 9.70366697e-01 -3.30907205e-03 1.28018597e+01] [ 1.54037922e-02 -4.25714341e-04 9.99881264e-01 1.28471483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.3792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:830.16, Y:12.81, Z:12.85 [[ 9.70677334e-01 -2.39915773e-01 -1.50311322e-02 8.30161037e+02] [ 2.39891942e-01 9.70793658e-01 -3.39557307e-03 1.28103550e+01] [ 1.54067794e-02 -3.09841692e-04 9.99881261e-01 1.28482272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.4092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:830.19, Y:12.82, Z:12.85 [[ 9.70645132e-01 -2.40045545e-01 -1.50387403e-02 8.30188897e+02] [ 2.40022265e-01 9.70761565e-01 -3.36106154e-03 1.28165299e+01] [ 1.54058389e-02 -3.47234472e-04 9.99881263e-01 1.28486802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.4392541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:830.22, Y:12.82, Z:12.85 [[ 9.70746272e-01 -2.39636219e-01 -1.50385267e-02 8.30215992e+02] [ 2.39612874e-01 9.70862692e-01 -3.36202984e-03 1.28247038e+01] [ 1.54060086e-02 -3.39746666e-04 9.99881263e-01 1.28466762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.4692541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:830.24, Y:12.83, Z:12.85 [[ 9.71011233e-01 -2.38560657e-01 -1.50332102e-02 8.30242942e+02] [ 2.38536811e-01 9.71127553e-01 -3.38611871e-03 1.28325830e+01] [ 1.54069593e-02 -2.98014717e-04 9.99881261e-01 1.28467952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.4992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:830.27, Y:12.84, Z:12.85 [[ 9.71917379e-01 -2.34841742e-01 -1.50321339e-02 8.30268764e+02] [ 2.34817375e-01 9.72033591e-01 -3.39098902e-03 1.28421078e+01] [ 1.54080849e-02 -2.34045068e-04 9.99881261e-01 1.28478180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.5292541539999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:830.30, Y:12.85, Z:12.85 [[ 9.72355417e-01 -2.33021788e-01 -1.50262716e-02 8.30296080e+02] [ 2.32996795e-01 9.72471498e-01 -3.41748355e-03 1.28503848e+01] [ 1.54089690e-02 -1.78064476e-04 9.99881259e-01 1.28473977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.5592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:830.33, Y:12.86, Z:12.85 [[ 9.74193777e-01 -2.25212623e-01 -1.50252754e-02 8.30325416e+02] [ 2.25186630e-01 9.74309639e-01 -3.42198023e-03 1.28571244e+01] [ 1.54099438e-02 -4.98192877e-05 9.99881259e-01 1.28543613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.5892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:830.35, Y:12.87, Z:12.85 [[ 9.73784262e-01 -2.26975461e-01 -1.50449800e-02 8.30348128e+02] [ 2.26951050e-01 9.73900463e-01 -3.33303613e-03 1.28681458e+01] [ 1.54088304e-02 -1.68815882e-04 9.99881263e-01 1.28500608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.6192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:830.38, Y:12.88, Z:12.85 [[ 9.74408359e-01 -2.24283207e-01 -1.50131069e-02 8.30375979e+02] [ 2.24256259e-01 9.74524008e-01 -3.47670287e-03 1.28754943e+01] [ 1.54103992e-02 2.09451324e-05 9.99881253e-01 1.28508833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.6492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:830.40, Y:12.88, Z:12.85 [[ 9.74931418e-01 -2.21998378e-01 -1.50150186e-02 8.30402827e+02] [ 2.21971292e-01 9.75047034e-01 -3.46809054e-03 1.28829498e+01] [ 1.54102598e-02 4.82473564e-05 9.99881254e-01 1.28513844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.6792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:830.43, Y:12.89, Z:12.85 [[ 9.75999430e-01 -2.17254650e-01 -1.50176372e-02 8.30429614e+02] [ 2.17227184e-01 9.76114955e-01 -3.45629283e-03 1.28924810e+01] [ 1.54098359e-02 1.11100808e-04 9.99881255e-01 1.28511734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.7092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:830.46, Y:12.90, Z:12.86 [[ 9.77340239e-01 -2.11141139e-01 -1.50158610e-02 8.30460251e+02] [ 2.11112827e-01 9.77455561e-01 -3.46428594e-03 1.28969161e+01] [ 1.54087901e-02 2.15745181e-04 9.99881254e-01 1.28564435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.7392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:830.49, Y:12.90, Z:12.86 [[ 9.77750909e-01 -2.09229181e-01 -1.50435885e-02 8.30487200e+02] [ 2.09202564e-01 9.77866625e-01 -3.33937666e-03 1.29042374e+01] [ 1.54093182e-02 1.17921279e-04 9.99881262e-01 1.28569704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.7692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:830.51, Y:12.91, Z:12.86 [[ 9.78496306e-01 -2.05715092e-01 -1.50425975e-02 8.30513126e+02] [ 2.05687991e-01 9.78611909e-01 -3.34383458e-03 1.29123681e+01] [ 1.54087423e-02 1.77848117e-04 9.99881262e-01 1.28567494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.7992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:830.54, Y:12.92, Z:12.86 [[ 9.78756776e-01 -2.04472263e-01 -1.50421676e-02 8.30540218e+02] [ 2.04444985e-01 9.78872338e-01 -3.34576766e-03 1.29192754e+01] [ 1.54084784e-02 1.99397044e-04 9.99881262e-01 1.28569428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.8292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:830.57, Y:12.93, Z:12.86 [[ 9.79088506e-01 -2.02877942e-01 -1.50411991e-02 8.30567539e+02] [ 2.02850409e-01 9.79204007e-01 -3.35011607e-03 1.29270075e+01] [ 1.54080671e-02 2.28946747e-04 9.99881262e-01 1.28569264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.8592541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:830.59, Y:12.93, Z:12.86 [[ 9.79084797e-01 -2.02895916e-01 -1.50402312e-02 8.30594293e+02] [ 2.02868318e-01 9.79200282e-01 -3.35445550e-03 1.29340677e+01] [ 1.54080040e-02 2.33109968e-04 9.99881262e-01 1.28561976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.8892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:830.62, Y:12.94, Z:12.86 [[ 9.79267073e-01 -2.02014411e-01 -1.50392226e-02 8.30620329e+02] [ 2.01986641e-01 9.79382517e-01 -3.35897164e-03 1.29397448e+01] [ 1.54077123e-02 2.51608279e-04 9.99881262e-01 1.28575711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.9192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:830.65, Y:12.95, Z:12.86 [[ 9.79307263e-01 -2.01819520e-01 -1.50387857e-02 8.30646492e+02] [ 2.01791697e-01 9.79422695e-01 -3.36092642e-03 1.29455770e+01] [ 1.54076286e-02 2.56677575e-04 9.99881262e-01 1.28575266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.9492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:830.67, Y:12.96, Z:12.85 [[ 9.78437881e-01 -2.05993111e-01 -1.50383585e-02 8.30670115e+02] [ 2.05965750e-01 9.78553423e-01 -3.36283676e-03 1.29554738e+01] [ 1.54085584e-02 1.92940084e-04 9.99881263e-01 1.28529984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.9792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:830.70, Y:12.96, Z:12.86 [[ 9.79157293e-01 -2.02548755e-01 -1.49999063e-02 8.30702576e+02] [ 2.02518359e-01 9.79272088e-01 -3.53431404e-03 1.29574423e+01] [ 1.54048605e-02 4.22892957e-04 9.99881249e-01 1.28582126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.0092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:830.73, Y:12.96, Z:12.86 [[ 9.79042368e-01 -2.03100779e-01 -1.50371103e-02 8.30730414e+02] [ 2.03072994e-01 9.79157809e-01 -3.36822134e-03 1.29629475e+01] [ 1.54077924e-02 2.44000384e-04 9.99881263e-01 1.28587100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.0392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:830.76, Y:12.97, Z:12.86 [[ 9.78767645e-01 -2.04420675e-01 -1.50361313e-02 8.30757769e+02] [ 2.04392979e-01 9.78883106e-01 -3.37258635e-03 1.29678285e+01] [ 1.54080413e-02 2.27698743e-04 9.99881263e-01 1.28584098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.0692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:830.79, Y:12.97, Z:12.86 [[ 9.78539132e-01 -2.05511828e-01 -1.50351523e-02 8.30785098e+02] [ 2.05484194e-01 9.78654608e-01 -3.37694504e-03 1.29733699e+01] [ 1.54082232e-02 2.14986717e-04 9.99881263e-01 1.28582170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.0992541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:830.81, Y:12.98, Z:12.86 [[ 9.78215876e-01 -2.07045098e-01 -1.50341770e-02 8.30813051e+02] [ 2.07017578e-01 9.78331380e-01 -3.38128163e-03 1.29772930e+01] [ 1.54084849e-02 1.95284474e-04 9.99881263e-01 1.28574084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.1292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:830.84, Y:12.98, Z:12.86 [[ 9.78020563e-01 -2.07965769e-01 -1.50338753e-02 8.30840372e+02] [ 2.07938337e-01 9.78136088e-01 -3.38262225e-03 1.29821024e+01] [ 1.54086456e-02 1.82155079e-04 9.99881263e-01 1.28580331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.1592541539999 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:830.87, Y:12.99, Z:12.86 [[ 9.77763418e-01 -2.09171487e-01 -1.50329059e-02 8.30868014e+02] [ 2.09144132e-01 9.77878960e-01 -3.38692510e-03 1.29879152e+01] [ 1.54088105e-02 1.67567404e-04 9.99881263e-01 1.28555040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.1892541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:830.90, Y:12.99, Z:12.86 [[ 9.77645358e-01 -2.09722615e-01 -1.50326059e-02 8.30895265e+02] [ 2.09695304e-01 9.77760911e-01 -3.38825584e-03 1.29913380e+01] [ 1.54088884e-02 1.60245715e-04 9.99881263e-01 1.28584853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.2192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:830.92, Y:13.00, Z:12.86 [[ 9.77459860e-01 -2.10585501e-01 -1.50322505e-02 8.30922552e+02] [ 2.10558268e-01 9.77575432e-01 -3.38983212e-03 1.29961065e+01] [ 1.54090083e-02 1.48260195e-04 9.99881263e-01 1.28595709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.2492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:830.95, Y:13.00, Z:12.86 [[ 9.77182837e-01 -2.11867324e-01 -1.50312985e-02 8.30950121e+02] [ 2.11840177e-01 9.77298429e-01 -3.39404808e-03 1.30012294e+01] [ 1.54091523e-02 1.32372588e-04 9.99881263e-01 1.28608999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.2792541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:830.98, Y:13.01, Z:12.86 [[ 9.76674385e-01 -2.14199057e-01 -1.50303199e-02 8.30978340e+02] [ 2.14172121e-01 9.76790025e-01 -3.39837651e-03 1.30053304e+01] [ 1.54093956e-02 1.00031808e-04 9.99881263e-01 1.28617881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.3092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:831.01, Y:13.01, Z:12.86 [[ 9.76447624e-01 -2.15230471e-01 -1.50293413e-02 8.31006058e+02] [ 2.15203590e-01 9.76563278e-01 -3.40269871e-03 1.30100695e+01] [ 1.54094673e-02 8.81888731e-05 9.99881263e-01 1.28625508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.3392541539998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:831.03, Y:13.02, Z:12.86 [[ 9.76117848e-01 -2.16721238e-01 -1.50283666e-02 8.31033697e+02] [ 2.16694467e-01 9.76233528e-01 -3.40699811e-03 1.30152076e+01] [ 1.54095642e-02 6.90677614e-05 9.99881263e-01 1.28624136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.3692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:831.06, Y:13.02, Z:12.86 [[ 9.75856851e-01 -2.17893516e-01 -1.50273848e-02 8.31061965e+02] [ 2.17866817e-01 9.75972547e-01 -3.41132301e-03 1.30186612e+01] [ 1.54096202e-02 5.49944282e-05 9.99881263e-01 1.28646911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.3992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:831.09, Y:13.02, Z:12.86 [[ 9.75705442e-01 -2.18570531e-01 -1.50270603e-02 8.31089630e+02] [ 2.18543891e-01 9.75821152e-01 -3.41275182e-03 1.30242654e+01] [ 1.54096503e-02 4.57682930e-05 9.99881263e-01 1.28646631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.4292541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:831.12, Y:13.03, Z:12.87 [[ 9.75431895e-01 -2.19788116e-01 -1.50267379e-02 8.31117295e+02] [ 2.19761599e-01 9.75547632e-01 -3.41417093e-03 1.30285905e+01] [ 1.54096928e-02 2.79912744e-05 9.99881263e-01 1.28650991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.4592541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:831.15, Y:13.03, Z:12.87 [[ 9.75198363e-01 -2.20822055e-01 -1.50257663e-02 8.31145055e+02] [ 2.20795595e-01 9.75314113e-01 -3.41844148e-03 1.30340267e+01] [ 1.54097092e-02 1.60355240e-05 9.99881263e-01 1.28654180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.4892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:831.17, Y:13.04, Z:12.87 [[ 9.75012610e-01 -2.21640849e-01 -1.50247820e-02 8.31172913e+02] [ 2.21614419e-01 9.75128368e-01 -3.42276237e-03 1.30392782e+01] [ 1.54097151e-02 7.52813657e-06 9.99881263e-01 1.28659730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.5192541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:831.20, Y:13.04, Z:12.87 [[ 9.74485056e-01 -2.23948967e-01 -1.50244775e-02 8.31201173e+02] [ 2.23922791e-01 9.74600872e-01 -3.42409851e-03 1.30436687e+01] [ 1.54096922e-02 -2.75900941e-05 9.99881263e-01 1.28666934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.5492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:831.23, Y:13.05, Z:12.87 [[ 9.74238505e-01 -2.25019166e-01 -1.50236284e-02 8.31229113e+02] [ 2.24993059e-01 9.74354337e-01 -3.42781992e-03 1.30483329e+01] [ 1.54096627e-02 -4.06979654e-05 9.99881263e-01 1.28682740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.5792541539998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:831.26, Y:13.05, Z:12.87 [[ 9.73845111e-01 -2.26715681e-01 -1.50233280e-02 8.31256362e+02] [ 2.26689756e-01 9.73960983e-01 -3.42913615e-03 1.30539726e+01] [ 1.54095742e-02 -6.61870818e-05 9.99881263e-01 1.28682364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.6092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:831.28, Y:13.06, Z:12.87 [[ 9.73650398e-01 -2.27550502e-01 -1.50223663e-02 8.31284332e+02] [ 2.27524611e-01 9.73766278e-01 -3.43334397e-03 1.30590932e+01] [ 1.54095328e-02 -7.50813141e-05 9.99881263e-01 1.28699954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.6392541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:831.31, Y:13.06, Z:12.87 [[ 9.73229645e-01 -2.29343436e-01 -1.50215231e-02 8.31312221e+02] [ 2.29317702e-01 9.73345560e-01 -3.43702917e-03 1.30645927e+01] [ 1.54093929e-02 -9.96824808e-05 9.99881263e-01 1.28699954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.6692541539999 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:831.34, Y:13.07, Z:12.87 [[ 9.73251397e-01 -2.29251174e-01 -1.50205474e-02 8.31340343e+02] [ 2.29225364e-01 9.73367295e-01 -3.44128774e-03 1.30697747e+01] [ 1.54094289e-02 -9.38523483e-05 9.99881263e-01 1.28716193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.6992541539998 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:831.37, Y:13.08, Z:12.87 [[ 9.73257289e-01 -2.29226215e-01 -1.50196853e-02 8.31367072e+02] [ 2.29200344e-01 9.73373173e-01 -3.44504625e-03 1.30759417e+01] [ 1.54094537e-02 -8.96006693e-05 9.99881263e-01 1.28709723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.7292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:831.40, Y:13.08, Z:12.87 [[ 9.73709529e-01 -2.27297551e-01 -1.50192259e-02 8.31395579e+02] [ 2.27271419e-01 9.73825354e-01 -3.44704799e-03 1.30805257e+01] [ 1.54096086e-02 -5.70173049e-05 9.99881263e-01 1.28720995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.7592541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:831.42, Y:13.09, Z:12.87 [[ 9.73891916e-01 -2.26514866e-01 -1.50183748e-02 8.31423504e+02] [ 2.26488583e-01 9.74007707e-01 -3.45075225e-03 1.30863038e+01] [ 1.54096595e-02 -4.08307144e-05 9.99881263e-01 1.28722884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.7892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:831.45, Y:13.09, Z:12.87 [[ 9.74346626e-01 -2.24550951e-01 -1.50174013e-02 8.31451529e+02] [ 2.24524370e-01 9.74462349e-01 -3.45498386e-03 1.30916640e+01] [ 1.54097120e-02 -5.42067954e-06 9.99881263e-01 1.28728255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.8192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:831.48, Y:13.10, Z:12.87 [[ 9.74671432e-01 -2.23136969e-01 -1.50164145e-02 8.31479215e+02] [ 2.23110154e-01 9.74787101e-01 -3.45926706e-03 1.30977646e+01] [ 1.54096976e-02 2.13342206e-05 9.99881263e-01 1.28728772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.8492541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:831.51, Y:13.10, Z:12.87 [[ 9.74960960e-01 -2.21868572e-01 -1.50154320e-02 8.31505347e+02] [ 2.21841541e-01 9.75076579e-01 -3.46352678e-03 1.31039484e+01] [ 1.54096438e-02 4.57568273e-05 9.99881263e-01 1.28726421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.8792541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:831.53, Y:13.11, Z:12.87 [[ 9.75790653e-01 -2.18190629e-01 -1.50150058e-02 8.31532390e+02] [ 2.18163134e-01 9.75906163e-01 -3.46537350e-03 1.31103166e+01] [ 1.54093487e-02 1.05758357e-04 9.99881263e-01 1.28731774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.9092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:831.56, Y:13.12, Z:12.87 [[ 9.76193679e-01 -2.16380407e-01 -1.50140148e-02 8.31559390e+02] [ 2.16352632e-01 9.76309121e-01 -3.46966185e-03 1.31164121e+01] [ 1.54090864e-02 1.38740367e-04 9.99881263e-01 1.28739762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.9392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:831.59, Y:13.12, Z:12.87 [[ 9.76487408e-01 -2.15051044e-01 -1.50130041e-02 8.31585642e+02] [ 2.15023045e-01 9.76602796e-01 -3.47402953e-03 1.31226426e+01] [ 1.54088354e-02 1.64204252e-04 9.99881263e-01 1.28737331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.9692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:831.61, Y:13.13, Z:12.87 [[ 9.76744650e-01 -2.13879664e-01 -1.50125662e-02 8.31612356e+02] [ 2.13851497e-01 9.76859998e-01 -3.47592086e-03 1.31288759e+01] [ 1.54086041e-02 1.84627357e-04 9.99881263e-01 1.28738409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.9992541539999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:831.64, Y:13.14, Z:12.87 [[ 9.77103374e-01 -2.12234870e-01 -1.50118877e-02 8.31640724e+02] [ 2.12206464e-01 9.77218663e-01 -3.47884865e-03 1.31355116e+01] [ 1.54082298e-02 2.13575152e-04 9.99881263e-01 1.28739710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.0292541539999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:831.67, Y:13.14, Z:12.87 [[ 9.77244180e-01 -2.11585638e-01 -1.50110023e-02 8.31668536e+02] [ 2.11557097e-01 9.77359435e-01 -3.48266493e-03 1.31419758e+01] [ 1.54080266e-02 2.27729971e-04 9.99881263e-01 1.28745829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.0592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:831.70, Y:13.15, Z:12.88 [[ 9.77454747e-01 -2.10610810e-01 -1.50101208e-02 8.31696365e+02] [ 2.10582096e-01 9.77569959e-01 -3.48645992e-03 1.31481084e+01] [ 1.54077293e-02 2.46994108e-04 9.99881263e-01 1.28764187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.0892541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:831.72, Y:13.16, Z:12.88 [[ 9.77910243e-01 -2.08485679e-01 -1.50092414e-02 8.31723717e+02] [ 2.08456656e-01 9.78025378e-01 -3.49024164e-03 1.31551261e+01] [ 1.54070844e-02 2.84366774e-04 9.99881263e-01 1.28766318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.1192541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:831.75, Y:13.16, Z:12.88 [[ 9.78102076e-01 -2.07583863e-01 -1.50089302e-02 8.31751382e+02] [ 2.07554713e-01 9.78217179e-01 -3.49157933e-03 1.31621573e+01] [ 1.54067889e-02 2.99946791e-04 9.99881263e-01 1.28767900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.1492541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:831.78, Y:13.17, Z:12.88 [[ 9.78335126e-01 -2.06482793e-01 -1.50079328e-02 8.31778471e+02] [ 2.06453448e-01 9.78450179e-01 -3.49586118e-03 1.31688390e+01] [ 1.54063497e-02 3.21684312e-04 9.99881263e-01 1.28771812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.1792541539999 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:831.80, Y:13.18, Z:12.87 [[ 9.78866263e-01 -2.03950069e-01 -1.50069345e-02 8.31804993e+02] [ 2.03920361e-01 9.78981223e-01 -3.50014168e-03 1.31764958e+01] [ 1.54053612e-02 3.65951116e-04 9.99881263e-01 1.28743342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.2092541539998 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:831.83, Y:13.18, Z:12.87 [[ 9.79077316e-01 -2.02934498e-01 -1.50066255e-02 8.31832093e+02] [ 2.02904650e-01 9.79192240e-01 -3.50146599e-03 1.31833938e+01] [ 1.54049394e-02 3.83291833e-04 9.99881263e-01 1.28745368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.2392541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:831.86, Y:13.19, Z:12.87 [[ 9.79452299e-01 -2.01116942e-01 -1.50056325e-02 8.31859825e+02] [ 2.01086816e-01 9.79567150e-01 -3.50571611e-03 1.31905570e+01] [ 1.54040836e-02 4.16246841e-04 9.99881263e-01 1.28734337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.2692541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:831.89, Y:13.20, Z:12.87 [[ 9.79546183e-01 -2.00659244e-01 -1.50047401e-02 8.31887495e+02] [ 2.00629006e-01 9.79661005e-01 -3.50953168e-03 1.31969048e+01] [ 1.54037787e-02 4.27362272e-04 9.99881263e-01 1.28741905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.2992541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:831.92, Y:13.20, Z:12.87 [[ 9.79462172e-01 -2.01068996e-01 -1.50037169e-02 8.31915042e+02] [ 2.01038739e-01 9.79576989e-01 -3.51390050e-03 1.32038252e+01] [ 1.54038323e-02 4.25404289e-04 9.99881263e-01 1.28732094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.3292541539998 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:831.94, Y:13.21, Z:12.87 [[ 9.79404142e-01 -2.01351538e-01 -1.50028277e-02 8.31942857e+02] [ 2.01321256e-01 9.79518952e-01 -3.51769279e-03 1.32104273e+01] [ 1.54038469e-02 4.24854769e-04 9.99881263e-01 1.28736485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.3592541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:831.97, Y:13.22, Z:12.88 [[ 9.79365860e-01 -2.01537732e-01 -1.50018118e-02 8.31971081e+02] [ 2.01507406e-01 9.79480659e-01 -3.52202004e-03 1.32163267e+01] [ 1.54038044e-02 4.26370010e-04 9.99881263e-01 1.28752186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.3892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:832.00, Y:13.22, Z:12.88 [[ 9.78938143e-01 -2.03605218e-01 -1.50009125e-02 8.31998390e+02] [ 2.03575076e-01 9.79052990e-01 -3.52584613e-03 1.32209005e+01] [ 1.54045689e-02 3.97773364e-04 9.99881263e-01 1.28765778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.4192541539999 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:832.03, Y:13.23, Z:12.88 [[ 9.78530660e-01 -2.05554702e-01 -1.50004363e-02 8.32026005e+02] [ 2.05524757e-01 9.78645558e-01 -3.52787106e-03 1.32268387e+01] [ 1.54052808e-02 3.69168979e-04 9.99881263e-01 1.28768420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.4492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:832.05, Y:13.23, Z:12.88 [[ 9.78218114e-01 -2.07037049e-01 -1.49994063e-02 8.32053557e+02] [ 2.07007212e-01 9.78333040e-01 -3.53224471e-03 1.32317574e+01] [ 1.54057203e-02 3.50320477e-04 9.99881263e-01 1.28791747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.4792541539999 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:832.08, Y:13.24, Z:12.88 [[ 9.77396037e-01 -2.10883888e-01 -1.49990878e-02 8.32081535e+02] [ 2.10854482e-01 9.77511075e-01 -3.53359683e-03 1.32374337e+01] [ 1.54069530e-02 2.91098657e-04 9.99881263e-01 1.28798629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.5092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:832.11, Y:13.24, Z:12.88 [[ 9.77084020e-01 -2.12324920e-01 -1.49981868e-02 8.32109291e+02] [ 2.12295625e-01 9.77199086e-01 -3.53741690e-03 1.32427962e+01] [ 1.54072962e-02 2.72304089e-04 9.99881263e-01 1.28822268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.5392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:832.14, Y:13.25, Z:12.88 [[ 9.76577602e-01 -2.14642147e-01 -1.49978682e-02 8.32137346e+02] [ 2.14613105e-01 9.76692732e-01 -3.53876705e-03 1.32483976e+01] [ 1.54078774e-02 2.37141575e-04 9.99881263e-01 1.28842856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.5692541539999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:832.17, Y:13.26, Z:12.88 [[ 9.76378810e-01 -2.15544682e-01 -1.49969775e-02 8.32165016e+02] [ 2.15515688e-01 9.76493952e-01 -3.54253791e-03 1.32551050e+01] [ 1.54080330e-02 2.26775036e-04 9.99881263e-01 1.28837785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.5992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:832.19, Y:13.26, Z:12.88 [[ 9.76317456e-01 -2.15822489e-01 -1.49959541e-02 8.32191151e+02] [ 2.15793461e-01 9.76432590e-01 -3.54686457e-03 1.32606322e+01] [ 1.54080315e-02 2.26836958e-04 9.99881264e-01 1.28848293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.6292541539999 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:832.22, Y:13.27, Z:12.88 [[ 9.76388014e-01 -2.15503089e-01 -1.49955099e-02 8.32218398e+02] [ 2.15473995e-01 9.76503131e-01 -3.54874165e-03 1.32673000e+01] [ 1.54079271e-02 2.33806383e-04 9.99881264e-01 1.28838065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.6592541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:832.25, Y:13.27, Z:12.89 [[ 9.76721333e-01 -2.13987339e-01 -1.49952115e-02 8.32245551e+02] [ 2.13958047e-01 9.76836400e-01 -3.55000207e-03 1.32733163e+01] [ 1.54075239e-02 2.59016589e-04 9.99881264e-01 1.28867949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.6892541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:832.27, Y:13.28, Z:12.89 [[ 9.76956633e-01 -2.12910571e-01 -1.49941702e-02 8.32272389e+02] [ 2.12881085e-01 9.77071650e-01 -3.55439478e-03 1.32804409e+01] [ 1.54071469e-02 2.80514340e-04 9.99881264e-01 1.28857572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.7192541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:832.30, Y:13.29, Z:12.89 [[ 9.77632098e-01 -2.09787202e-01 -1.49936826e-02 8.32299865e+02] [ 2.09757316e-01 9.77747012e-01 -3.55645067e-03 1.32883865e+01] [ 1.54061262e-02 3.31865711e-04 9.99881264e-01 1.28854776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.7492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:832.33, Y:13.30, Z:12.89 [[ 9.78015923e-01 -2.07990552e-01 -1.49927904e-02 8.32326423e+02] [ 2.07960399e-01 9.78130767e-01 -3.56020758e-03 1.32954325e+01] [ 1.54053992e-02 3.64033025e-04 9.99881264e-01 1.28861884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.7792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:832.35, Y:13.30, Z:12.89 [[ 9.78393952e-01 -2.06204995e-01 -1.49924744e-02 8.32353414e+02] [ 2.06174611e-01 9.78508735e-01 -3.56153781e-03 1.33030027e+01] [ 1.54046741e-02 3.93519466e-04 9.99881264e-01 1.28867330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.8092541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:832.38, Y:13.31, Z:12.89 [[ 9.79219102e-01 -2.02250358e-01 -1.49914356e-02 8.32381157e+02] [ 2.02219444e-01 9.79333743e-01 -3.56590528e-03 1.33116976e+01] [ 1.54028243e-02 4.60242809e-04 9.99881264e-01 1.28869068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.8392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:832.41, Y:13.32, Z:12.89 [[ 9.79269002e-01 -2.02008678e-01 -1.49905308e-02 8.32409193e+02] [ 2.01977677e-01 9.79383620e-01 -3.56970494e-03 1.33207835e+01] [ 1.54025917e-02 4.67948815e-04 9.99881264e-01 1.28880312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.8692541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:832.43, Y:13.33, Z:12.89 [[ 9.79627620e-01 -2.00262420e-01 -1.49896787e-02 8.32434724e+02] [ 2.00231160e-01 9.79742167e-01 -3.57327944e-03 1.33302098e+01] [ 1.54016138e-02 4.99082487e-04 9.99881264e-01 1.28879936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.8992541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:832.46, Y:13.34, Z:12.89 [[ 9.79527339e-01 -2.00753681e-01 -1.49716781e-02 8.32461859e+02] [ 2.00721327e-01 9.79641586e-01 -3.64869745e-03 1.33385083e+01] [ 1.53993679e-02 5.68863820e-04 9.99881261e-01 1.28885495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.9292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:832.49, Y:13.35, Z:12.89 [[ 9.79415225e-01 -2.01300466e-01 -1.49645978e-02 8.32487629e+02] [ 2.01267723e-01 9.79529363e-01 -3.67832250e-03 1.33460076e+01] [ 1.53987110e-02 5.90714533e-04 9.99881258e-01 1.28889572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.9592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:832.52, Y:13.35, Z:12.89 [[ 9.79781533e-01 -1.99510382e-01 -1.49584722e-02 8.32517317e+02] [ 1.99477040e-01 9.79895500e-01 -3.70391164e-03 1.33507251e+01] [ 1.53967084e-02 6.45152463e-04 9.99881256e-01 1.28896003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.9892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:832.54, Y:13.36, Z:12.89 [[ 9.79089501e-01 -2.02877197e-01 -1.49864219e-02 8.32540991e+02] [ 2.02846032e-01 9.79204075e-01 -3.58714343e-03 1.33613036e+01] [ 1.54025150e-02 4.72198256e-04 9.99881263e-01 1.28917641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.0192541539999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:832.57, Y:13.37, Z:12.89 [[ 9.79685337e-01 -1.99982822e-01 -1.49502830e-02 8.32571829e+02] [ 1.99949018e-01 9.79799173e-01 -3.73788761e-03 1.33656496e+01] [ 1.53957882e-02 6.72659300e-04 9.99881252e-01 1.28903765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.0492541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:832.60, Y:13.37, Z:12.89 [[ 9.79610110e-01 -2.00348327e-01 -1.49859933e-02 8.32597811e+02] [ 2.00316841e-01 9.79724596e-01 -3.58876894e-03 1.33722673e+01] [ 1.54011501e-02 5.13647501e-04 9.99881263e-01 1.28901281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.0792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:832.62, Y:13.38, Z:12.89 [[ 9.78576938e-01 -2.05335378e-01 -1.49852859e-02 8.32620125e+02] [ 2.05304430e-01 9.78691571e-01 -3.59172060e-03 1.33836516e+01] [ 1.54034803e-02 4.38229375e-04 9.99881263e-01 1.28909880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.1092541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:832.65, Y:13.39, Z:12.89 [[ 9.78407186e-01 -2.06145939e-01 -1.49409167e-02 8.32648412e+02] [ 2.06112262e-01 9.78521064e-01 -3.77656442e-03 1.33910566e+01] [ 1.53985251e-02 6.15511641e-04 9.99881246e-01 1.28914376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.1392541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:832.68, Y:13.39, Z:12.89 [[ 9.78605139e-01 -2.05204134e-01 -1.49413802e-02 8.32681098e+02] [ 2.05170377e-01 9.78718994e-01 -3.77463336e-03 1.33937642e+01] [ 1.53979830e-02 6.28347002e-04 9.99881247e-01 1.28924298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.1692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:832.71, Y:13.40, Z:12.89 [[ 9.77620349e-01 -2.09842561e-01 -1.49850829e-02 8.32705754e+02] [ 2.09812132e-01 9.77735120e-01 -3.59233266e-03 1.34032479e+01] [ 1.54052661e-02 3.67885308e-04 9.99881264e-01 1.28928158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.1992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:832.74, Y:13.41, Z:12.90 [[ 9.77865325e-01 -2.08700680e-01 -1.49476272e-02 8.32736536e+02] [ 2.08667733e-01 9.77979411e-01 -3.74827508e-03 1.34059106e+01] [ 1.54007392e-02 5.46220743e-04 9.99881252e-01 1.28951695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.2292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:832.76, Y:13.41, Z:12.89 [[ 9.77446044e-01 -2.10653029e-01 -1.49844417e-02 8.32764027e+02] [ 2.10622657e-01 9.77560829e-01 -3.59482061e-03 1.34119603e+01] [ 1.54054631e-02 3.57680259e-04 9.99881265e-01 1.28943521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.2592541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:832.79, Y:13.42, Z:12.90 [[ 9.75943082e-01 -2.17509956e-01 -1.49839571e-02 8.32786973e+02] [ 2.17480360e-01 9.76058070e-01 -3.59683962e-03 1.34210656e+01] [ 1.54075606e-02 2.51594360e-04 9.99881265e-01 1.28953814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.2892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:832.82, Y:13.42, Z:12.90 [[ 9.76309370e-01 -2.15862767e-01 -1.49425377e-02 8.32819157e+02] [ 2.15830340e-01 9.76423606e-01 -3.76901120e-03 1.34238810e+01] [ 1.54038357e-02 4.54667976e-04 9.99881251e-01 1.28979888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.3192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:832.85, Y:13.43, Z:12.90 [[ 9.75690663e-01 -2.18639530e-01 -1.49828649e-02 8.32846988e+02] [ 2.18609999e-01 9.75805667e-01 -3.60123114e-03 1.34298921e+01] [ 1.54077360e-02 2.38283507e-04 9.99881265e-01 1.28992414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.3492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:832.87, Y:13.44, Z:12.90 [[ 9.75366344e-01 -2.20081893e-01 -1.49818309e-02 8.32874290e+02] [ 2.20052466e-01 9.75481375e-01 -3.60552788e-03 1.34363775e+01] [ 1.54080084e-02 2.19921714e-04 9.99881265e-01 1.28996778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.3792541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:832.90, Y:13.44, Z:12.90 [[ 9.75087454e-01 -2.21314331e-01 -1.49808005e-02 8.32902112e+02] [ 2.21284985e-01 9.75202505e-01 -3.60980413e-03 1.34429105e+01] [ 1.54082155e-02 2.04848515e-04 9.99881265e-01 1.28995313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.4092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:832.92, Y:13.45, Z:12.90 [[ 9.73871247e-01 -2.26606269e-01 -1.49797594e-02 8.32924805e+02] [ 2.26577482e-01 9.73986439e-01 -3.61411908e-03 1.34527180e+01] [ 1.54090646e-02 1.25610495e-04 9.99881265e-01 1.28967993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.4392541539999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:832.95, Y:13.46, Z:12.90 [[ 9.74004070e-01 -2.26037333e-01 -1.49397162e-02 8.32953824e+02] [ 2.26005934e-01 9.74118592e-01 -3.77980389e-03 1.34585885e+01] [ 1.54074321e-02 3.05079868e-04 9.99881252e-01 1.28988397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.4692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:832.98, Y:13.47, Z:12.90 [[ 9.73753488e-01 -2.27113809e-01 -1.49486822e-02 8.32980536e+02] [ 2.27083106e-01 9.73868192e-01 -3.74270023e-03 1.34657550e+01] [ 1.54080650e-02 2.49874219e-04 9.99881257e-01 1.28969185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.4992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:833.01, Y:13.47, Z:12.90 [[ 9.74508247e-01 -2.23853567e-01 -1.49418088e-02 8.33012483e+02] [ 2.23822045e-01 9.74622733e-01 -3.77111342e-03 1.34687081e+01] [ 1.54068037e-02 3.30674926e-04 9.99881253e-01 1.29001479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.5292541539999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:833.04, Y:13.48, Z:12.90 [[ 9.73739732e-01 -2.27170812e-01 -1.49785451e-02 8.33035898e+02] [ 2.27142015e-01 9.73854921e-01 -3.61907078e-03 1.34789101e+01] [ 1.54090771e-02 1.21776092e-04 9.99881266e-01 1.28968229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.5592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:833.07, Y:13.48, Z:12.90 [[ 9.74546407e-01 -2.23687569e-01 -1.49389204e-02 8.33067423e+02] [ 2.23655849e-01 9.74660840e-01 -3.78272896e-03 1.34821755e+01] [ 1.54065301e-02 3.45267999e-04 9.99881253e-01 1.28996940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.5892541539998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:833.09, Y:13.49, Z:12.90 [[ 9.74005784e-01 -2.26027443e-01 -1.49775528e-02 8.33091592e+02] [ 2.25998451e-01 9.74120924e-01 -3.62302368e-03 1.34924994e+01] [ 1.54088504e-02 1.43942298e-04 9.99881266e-01 1.28991206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.6192541539999 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:833.12, Y:13.50, Z:12.90 [[ 9.74307066e-01 -2.24727472e-01 -1.49433753e-02 8.33119519e+02] [ 2.24696159e-01 9.74421607e-01 -3.76413074e-03 1.34985819e+01] [ 1.54070514e-02 3.09700142e-04 9.99881256e-01 1.28979660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.6492541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:833.15, Y:13.51, Z:12.90 [[ 9.74177504e-01 -2.25288037e-01 -1.49495968e-02 8.33145199e+02] [ 2.25257184e-01 9.74292166e-01 -3.73844509e-03 1.35054020e+01] [ 1.54075020e-02 2.74405033e-04 9.99881260e-01 1.28991354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.6792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:833.18, Y:13.51, Z:12.90 [[ 9.74740219e-01 -2.22841436e-01 -1.49398515e-02 8.33176131e+02] [ 2.22809679e-01 9.74854640e-01 -3.77862923e-03 1.35091688e+01] [ 1.54062187e-02 3.54438364e-04 9.99881254e-01 1.28980799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.7092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:833.20, Y:13.52, Z:12.90 [[ 9.74500424e-01 -2.23885316e-01 -1.49762985e-02 8.33203511e+02] [ 2.23855990e-01 9.74615479e-01 -3.62818533e-03 1.35156516e+01] [ 1.54084298e-02 1.83134005e-04 9.99881266e-01 1.28989915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.7392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:833.23, Y:13.52, Z:12.90 [[ 9.73672749e-01 -2.27457954e-01 -1.49752459e-02 8.33231109e+02] [ 2.27428984e-01 9.73787894e-01 -3.63252475e-03 1.35232164e+01] [ 1.54089598e-02 1.31085390e-04 9.99881266e-01 1.28988979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.7692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:833.26, Y:13.53, Z:12.90 [[ 9.73290396e-01 -2.29088575e-01 -1.49743263e-02 8.33257632e+02] [ 2.29059739e-01 9.73405575e-01 -3.63631156e-03 1.35297625e+01] [ 1.54091302e-02 1.09171829e-04 9.99881266e-01 1.28980687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.7992541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:833.29, Y:13.53, Z:12.90 [[ 9.73220783e-01 -2.29385416e-01 -1.49545723e-02 8.33287843e+02] [ 2.29355368e-01 9.73335654e-01 -3.71752918e-03 1.35346538e+01] [ 1.54085654e-02 1.88065235e-04 9.99881263e-01 1.28994191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.8292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:833.32, Y:13.54, Z:12.90 [[ 9.72507326e-01 -2.32390408e-01 -1.49732731e-02 8.33315159e+02] [ 2.32361898e-01 9.72622586e-01 -3.64061602e-03 1.35398332e+01] [ 1.54093878e-02 6.13076061e-05 9.99881266e-01 1.29019814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.8592541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:833.34, Y:13.55, Z:12.90 [[ 9.72034656e-01 -2.34359633e-01 -1.49729518e-02 8.33342141e+02] [ 2.34331335e-01 9.72149969e-01 -3.64193681e-03 1.35460417e+01] [ 1.54094776e-02 3.14570089e-05 9.99881266e-01 1.29026356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.8892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:833.37, Y:13.55, Z:12.90 [[ 9.71284725e-01 -2.37448574e-01 -1.49719186e-02 8.33368721e+02] [ 2.37420578e-01 9.71400110e-01 -3.64617949e-03 1.35520133e+01] [ 1.54095035e-02 -1.31631254e-05 9.99881266e-01 1.29043845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.9192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:833.40, Y:13.56, Z:12.91 [[ 9.71071570e-01 -2.38319214e-01 -1.49652535e-02 8.33396300e+02] [ 2.38290900e-01 9.71186878e-01 -3.67353007e-03 1.35579205e+01] [ 1.54095306e-02 1.17689028e-06 9.99881266e-01 1.29058096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.9492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:833.42, Y:13.56, Z:12.91 [[ 9.70762819e-01 -2.39573401e-01 -1.49711517e-02 8.33423776e+02] [ 2.39545608e-01 9.70878254e-01 -3.64933277e-03 1.35642475e+01] [ 1.54094487e-02 -4.36370814e-05 9.99881266e-01 1.29065336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.9792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:833.45, Y:13.57, Z:12.91 [[ 9.70582802e-01 -2.40301726e-01 -1.49701373e-02 8.33450903e+02] [ 2.40273956e-01 9.70698243e-01 -3.65348956e-03 1.35706197e+01] [ 1.54094258e-02 -5.09199717e-05 9.99881266e-01 1.29071687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.0092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:833.48, Y:13.58, Z:12.91 [[ 9.70435967e-01 -2.40894040e-01 -1.49698232e-02 8.33478053e+02] [ 2.40866321e-01 9.70551420e-01 -3.65477593e-03 1.35772700e+01] [ 1.54093969e-02 -5.90002221e-05 9.99881266e-01 1.29082026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.0392541539999 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:833.51, Y:13.58, Z:12.91 [[ 9.70297373e-01 -2.41451743e-01 -1.49687886e-02 8.33505250e+02] [ 2.41424025e-01 9.70412825e-01 -3.65900837e-03 1.35844908e+01] [ 1.54093784e-02 -6.34989914e-05 9.99881266e-01 1.29071613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.0692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:833.53, Y:13.59, Z:12.91 [[ 9.70351962e-01 -2.41232328e-01 -1.49677528e-02 8.33531576e+02] [ 2.41204519e-01 9.70467393e-01 -3.66324052e-03 1.35905438e+01] [ 1.54094081e-02 -5.56570010e-05 9.99881266e-01 1.29078911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.0992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:833.56, Y:13.60, Z:12.91 [[ 9.70160482e-01 -2.42001279e-01 -1.49673042e-02 8.33559193e+02] [ 2.41973533e-01 9.70275928e-01 -3.66507247e-03 1.35970691e+01] [ 1.54093672e-02 -6.59830018e-05 9.99881266e-01 1.29081086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.1292541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:833.59, Y:13.60, Z:12.91 [[ 9.69737947e-01 -2.43688992e-01 -1.49662847e-02 8.33587699e+02] [ 2.43661382e-01 9.69853426e-01 -3.66923122e-03 1.36036999e+01] [ 1.54092537e-02 -8.85128544e-05 9.99881266e-01 1.29071619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.1592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:833.61, Y:13.61, Z:12.91 [[ 9.69631405e-01 -2.44112629e-01 -1.49653880e-02 8.33614712e+02] [ 2.44085014e-01 9.69746882e-01 -3.67288470e-03 1.36099071e+01] [ 1.54092359e-02 -9.14825836e-05 9.99881266e-01 1.29079628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.1892541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:833.64, Y:13.62, Z:12.91 [[ 9.69525645e-01 -2.44532395e-01 -1.49643665e-02 8.33641364e+02] [ 2.44504765e-01 9.69641119e-01 -3.67704190e-03 1.36166590e+01] [ 1.54092209e-02 -9.38724971e-05 9.99881266e-01 1.29074392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.2192541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:833.67, Y:13.62, Z:12.91 [[ 9.69459796e-01 -2.44793353e-01 -1.49639237e-02 8.33669097e+02] [ 2.44765726e-01 9.69575271e-01 -3.67884291e-03 1.36235755e+01] [ 1.54092067e-02 -9.61653584e-05 9.99881267e-01 1.29078789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.2492541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:833.70, Y:13.63, Z:12.91 [[ 9.69486134e-01 -2.44689080e-01 -1.49629324e-02 8.33696005e+02] [ 2.44661379e-01 9.69601591e-01 -3.68287053e-03 1.36304830e+01] [ 1.54092413e-02 -9.03597596e-05 9.99881267e-01 1.29082106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.2792541539999 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:833.72, Y:13.64, Z:12.91 [[ 9.69553054e-01 -2.44423846e-01 -1.49619376e-02 8.33722869e+02] [ 2.44396052e-01 9.69668488e-01 -3.68690730e-03 1.36392426e+01] [ 1.54092875e-02 -8.19862551e-05 9.99881267e-01 1.29088505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.3092541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:833.75, Y:13.65, Z:12.91 [[ 9.69578390e-01 -2.44323386e-01 -1.49608964e-02 8.33749745e+02] [ 2.44295515e-01 9.69693806e-01 -3.69112763e-03 1.36466489e+01] [ 1.54093174e-02 -7.60423014e-05 9.99881267e-01 1.29100623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.3392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:833.78, Y:13.65, Z:12.91 [[ 9.69516301e-01 -2.44569716e-01 -1.49598467e-02 8.33776626e+02] [ 2.44541808e-01 9.69631708e-01 -3.69537733e-03 1.36535572e+01] [ 1.54093190e-02 -7.55793822e-05 9.99881267e-01 1.29111382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.3692541539999 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:833.80, Y:13.66, Z:12.91 [[ 9.69024099e-01 -2.46512739e-01 -1.49587892e-02 8.33804085e+02] [ 2.46484996e-01 9.69139546e-01 -3.69965312e-03 1.36608570e+01] [ 1.54091657e-02 -1.02064055e-04 9.99881267e-01 1.29113001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.3992541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:833.83, Y:13.67, Z:12.91 [[ 9.68810324e-01 -2.47351608e-01 -1.49578702e-02 8.33830817e+02] [ 2.47323908e-01 9.68925781e-01 -3.70336492e-03 1.36673258e+01] [ 1.54090993e-02 -1.11580736e-04 9.99881267e-01 1.29125991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.4292541539999 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:833.86, Y:13.67, Z:12.91 [[ 9.68261297e-01 -2.49492149e-01 -1.49575480e-02 8.33856732e+02] [ 2.49464684e-01 9.68376810e-01 -3.70466561e-03 1.36745924e+01] [ 1.54088276e-02 -1.44295659e-04 9.99881267e-01 1.29126688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.4592541539998 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:833.88, Y:13.68, Z:12.91 [[ 9.68071655e-01 -2.50227008e-01 -1.49571007e-02 8.33883881e+02] [ 2.50199603e-01 9.68187183e-01 -3.70647054e-03 1.36819940e+01] [ 1.54087323e-02 -1.54131602e-04 9.99881267e-01 1.29134391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.4892541539999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:833.91, Y:13.69, Z:12.91 [[ 9.68038528e-01 -2.50355194e-01 -1.49560892e-02 8.33910451e+02] [ 2.50327742e-01 9.68154044e-01 -3.71054775e-03 1.36897365e+01] [ 1.54087531e-02 -1.51970853e-04 9.99881267e-01 1.29137986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.5192541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:833.94, Y:13.70, Z:12.92 [[ 9.68232570e-01 -2.49603759e-01 -1.49550833e-02 8.33936596e+02] [ 2.49576155e-01 9.68348049e-01 -3.71459737e-03 1.36997022e+01] [ 1.54089032e-02 -1.35838038e-04 9.99881267e-01 1.29150289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.5492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:833.96, Y:13.71, Z:12.92 [[ 9.68467131e-01 -2.48692167e-01 -1.49540118e-02 8.33963430e+02] [ 2.48664387e-01 9.68582569e-01 -3.71890599e-03 1.37077121e+01] [ 1.54090580e-02 -1.16891967e-04 9.99881267e-01 1.29150903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.5792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:833.99, Y:13.72, Z:12.92 [[ 9.68628338e-01 -2.48063563e-01 -1.49536807e-02 8.33990394e+02] [ 2.48035687e-01 9.68743752e-01 -3.72023695e-03 1.37156916e+01] [ 1.54091400e-02 -1.05519538e-04 9.99881267e-01 1.29157765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.6092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:834.02, Y:13.72, Z:12.91 [[ 9.68753904e-01 -2.47572805e-01 -1.49526066e-02 8.34016721e+02] [ 2.47544804e-01 9.68869288e-01 -3.72454893e-03 1.37230635e+01] [ 1.54092184e-02 -9.32687707e-05 9.99881267e-01 1.29145071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.6392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:834.04, Y:13.73, Z:12.92 [[ 9.68820171e-01 -2.47313385e-01 -1.49521414e-02 8.34044088e+02] [ 2.47285325e-01 9.68935541e-01 -3.72641547e-03 1.37309553e+01] [ 1.54092537e-02 -8.72186760e-05 9.99881267e-01 1.29176295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.6692541539999 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:834.07, Y:13.74, Z:12.92 [[ 9.68488617e-01 -2.48608647e-01 -1.49512227e-02 8.34072241e+02] [ 2.48580685e-01 9.68604011e-01 -3.73009821e-03 1.37388644e+01] [ 1.54091489e-02 -1.04027511e-04 9.99881267e-01 1.29175412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.6992541539998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:834.10, Y:13.75, Z:12.92 [[ 9.68164073e-01 -2.49869601e-01 -1.49502902e-02 8.34099696e+02] [ 2.49841731e-01 9.68279489e-01 -3.73383172e-03 1.37472232e+01] [ 1.54090304e-02 -1.20244656e-04 9.99881267e-01 1.29194845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.7292541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:834.13, Y:13.76, Z:12.92 [[ 9.68155848e-01 -2.49901522e-01 -1.49493577e-02 8.34127337e+02] [ 2.49873598e-01 9.68271251e-01 -3.73756160e-03 1.37552074e+01] [ 1.54090556e-02 -1.16907671e-04 9.99881267e-01 1.29205039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.7592541539999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:834.15, Y:13.76, Z:12.92 [[ 9.68147010e-01 -2.49935817e-01 -1.49484278e-02 8.34152449e+02] [ 2.49907840e-01 9.68262400e-01 -3.74127692e-03 1.37642701e+01] [ 1.54090797e-02 -1.13623244e-04 9.99881267e-01 1.29209491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.7892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:834.18, Y:13.77, Z:12.92 [[ 9.68304040e-01 -2.49326805e-01 -1.49475994e-02 8.34179804e+02] [ 2.49298704e-01 9.68419400e-01 -3.74458386e-03 1.37721112e+01] [ 1.54091704e-02 -1.00521490e-04 9.99881267e-01 1.29217145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.8192541539999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:834.21, Y:13.78, Z:12.92 [[ 9.68278336e-01 -2.49426672e-01 -1.49465487e-02 8.34207612e+02] [ 2.49398518e-01 9.68393683e-01 -3.74877296e-03 1.37809372e+01] [ 1.54091873e-02 -9.77914522e-05 9.99881267e-01 1.29209054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.8492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:834.23, Y:13.79, Z:12.92 [[ 9.68582892e-01 -2.48241436e-01 -1.49456144e-02 8.34233944e+02] [ 2.48213084e-01 9.68698190e-01 -3.75249433e-03 1.37885019e+01] [ 1.54093142e-02 -7.50952224e-05 9.99881267e-01 1.29209385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.8792541539999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:834.26, Y:13.80, Z:12.92 [[ 9.68880239e-01 -2.47078372e-01 -1.49452837e-02 8.34260769e+02] [ 2.47049861e-01 9.68995498e-01 -3.75381090e-03 1.37983642e+01] [ 1.54093981e-02 -5.52370456e-05 9.99881267e-01 1.29191729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.9092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:834.28, Y:13.81, Z:12.91 [[ 9.67822803e-01 -2.51188551e-01 -1.49443810e-02 8.34282663e+02] [ 2.51160474e-01 9.67938169e-01 -3.75740107e-03 1.38109255e+01] [ 1.54090529e-02 -1.16939390e-04 9.99881267e-01 1.29118275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.9392541539999 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:834.31, Y:13.82, Z:12.92 [[ 9.68969273e-01 -2.46731637e-01 -1.49012375e-02 8.34313899e+02] [ 2.46700392e-01 9.69083837e-01 -3.92865351e-03 1.38177180e+01] [ 1.54098715e-02 1.30603416e-04 9.99881252e-01 1.29180045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.9692541539999 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:834.34, Y:13.83, Z:12.92 [[ 9.68928174e-01 -2.46890410e-01 -1.49438692e-02 8.34340890e+02] [ 2.46861794e-01 9.69043406e-01 -3.75918055e-03 1.38257507e+01] [ 1.54093636e-02 -4.66944208e-05 9.99881268e-01 1.29189591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.9992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:834.36, Y:13.84, Z:12.91 [[ 9.67910707e-01 -2.50849706e-01 -1.49428094e-02 8.34362720e+02] [ 2.50821496e-01 9.68026040e-01 -3.76338860e-03 1.38371044e+01] [ 1.54090735e-02 -1.05353696e-04 9.99881268e-01 1.29120195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.0292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:834.39, Y:13.84, Z:12.92 [[ 9.68984463e-01 -2.46671851e-01 -1.49033012e-02 8.34394416e+02] [ 2.46640733e-01 9.69099057e-01 -3.91992684e-03 1.38417175e+01] [ 1.54097108e-02 1.22587065e-04 9.99881256e-01 1.29214722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.0592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:834.42, Y:13.85, Z:12.92 [[ 9.67904327e-01 -2.50874393e-01 -1.49416183e-02 8.34417744e+02] [ 2.50846116e-01 9.68019643e-01 -3.76798433e-03 1.38532622e+01] [ 1.54090708e-02 -1.00998586e-04 9.99881268e-01 1.29154174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.0892541539998 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:834.44, Y:13.86, Z:12.91 [[ 9.67527380e-01 -2.52326307e-01 -1.49064847e-02 8.34443755e+02] [ 2.52296058e-01 9.67642204e-01 -3.90701121e-03 1.38628088e+01] [ 1.54099854e-02 1.92929911e-05 9.99881259e-01 1.29135419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.1192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:834.47, Y:13.87, Z:12.91 [[ 9.67759316e-01 -2.51436433e-01 -1.48871043e-02 8.34472301e+02] [ 2.51404907e-01 9.67873808e-01 -3.98307239e-03 1.38715262e+01] [ 1.54103278e-02 1.11964340e-04 9.99881248e-01 1.29128176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.1492541539999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:834.50, Y:13.88, Z:12.91 [[ 9.68217342e-01 -2.49665595e-01 -1.49087241e-02 8.34501582e+02] [ 2.49635166e-01 9.68332117e-01 -3.89817940e-03 1.38784774e+01] [ 1.54098377e-02 5.25430622e-05 9.99881260e-01 1.29147449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.1792541539999 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:834.53, Y:13.89, Z:12.91 [[ 9.68178805e-01 -2.49814353e-01 -1.49194759e-02 8.34528599e+02] [ 2.49784593e-01 9.68293751e-01 -3.85594991e-03 1.38862821e+01] [ 1.54097069e-02 6.59376020e-06 9.99881263e-01 1.29140502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.2092541539998 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:834.55, Y:13.89, Z:12.91 [[ 9.68172438e-01 -2.49839182e-01 -1.49169063e-02 8.34554945e+02] [ 2.49809269e-01 9.68287345e-01 -3.86603188e-03 1.38942425e+01] [ 1.54097379e-02 1.66040436e-05 9.99881263e-01 1.29147654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.2392541539999 meters Centerline goodness : 0.999616 Centerline is valid? [True, True] Translation: X:834.58, Y:13.90, Z:12.92 [[ 9.68383173e-01 -2.49021061e-01 -1.49178233e-02 8.34584595e+02] [ 2.48991107e-01 9.68498069e-01 -3.86243541e-03 1.39009628e+01] [ 1.54097109e-02 2.59121112e-05 9.99881263e-01 1.29159462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.2692541539999 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:834.61, Y:13.91, Z:12.92 [[ 9.68304996e-01 -2.49323763e-01 -1.49364154e-02 8.34610014e+02] [ 2.49294968e-01 9.68420187e-01 -3.78954134e-03 1.39084561e+01] [ 1.54095489e-02 -5.41413983e-05 9.99881264e-01 1.29167916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.2992541539999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:834.64, Y:13.92, Z:12.92 [[ 9.68405004e-01 -2.48936231e-01 -1.49164615e-02 8.34640474e+02] [ 2.48906185e-01 9.68519877e-01 -3.86769363e-03 1.39156227e+01] [ 1.54096986e-02 3.26943369e-05 9.99881263e-01 1.29178229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.3292541539998 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:834.67, Y:13.92, Z:12.92 [[ 9.68559643e-01 -2.48332126e-01 -1.49456511e-02 8.34665642e+02] [ 2.48303771e-01 9.68674945e-01 -3.75337531e-03 1.39225460e+01] [ 1.54095615e-02 -7.56936932e-05 9.99881263e-01 1.29226177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.3592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:834.69, Y:13.93, Z:12.92 [[ 9.67992159e-01 -2.50536003e-01 -1.49295768e-02 8.34692287e+02] [ 2.50506940e-01 9.68107282e-01 -3.81625975e-03 1.39319451e+01] [ 1.54095425e-02 -4.58530879e-05 9.99881265e-01 1.29179994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.3892541539999 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:834.72, Y:13.94, Z:12.92 [[ 9.68027361e-01 -2.50400656e-01 -1.49178042e-02 8.34722708e+02] [ 2.50370868e-01 9.68142299e-01 -3.86221950e-03 1.39398959e+01] [ 1.54096596e-02 3.75054379e-06 9.99881264e-01 1.29182364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.4192541539999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:834.75, Y:13.95, Z:12.92 [[ 9.68112562e-01 -2.50069356e-01 -1.49460371e-02 8.34750138e+02] [ 2.50041229e-01 9.68227921e-01 -3.75198425e-03 1.39467044e+01] [ 1.54094267e-02 -1.04782408e-04 9.99881262e-01 1.29199209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.4492541539998 meters Centerline goodness : 0.998443 Centerline is valid? [True, True] Translation: X:834.78, Y:13.95, Z:12.92 [[ 9.68210111e-01 -2.49691049e-01 -1.49519926e-02 8.34776997e+02] [ 2.49663236e-01 9.68325547e-01 -3.72873635e-03 1.39540967e+01] [ 1.54094285e-02 -1.22762627e-04 9.99881260e-01 1.29226252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.4792541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:834.80, Y:13.96, Z:12.93 [[ 9.68492323e-01 -2.48594374e-01 -1.49484722e-02 8.34802177e+02] [ 2.48566219e-01 9.68607675e-01 -3.74246337e-03 1.39617100e+01] [ 1.54095603e-02 -9.11381787e-05 9.99881262e-01 1.29264176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.5092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:834.83, Y:13.97, Z:12.92 [[ 9.68774087e-01 -2.47495469e-01 -1.49251804e-02 8.34831986e+02] [ 2.47465785e-01 9.68889051e-01 -3.83315516e-03 1.39710443e+01] [ 1.54095324e-02 1.99899170e-05 9.99881266e-01 1.29242652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.5392541539999 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:834.86, Y:13.98, Z:12.93 [[ 9.69134087e-01 -2.46080595e-01 -1.49486462e-02 8.34856430e+02] [ 2.46052151e-01 9.69249368e-01 -3.74174048e-03 1.39790948e+01] [ 1.54097356e-02 -5.18983194e-05 9.99881262e-01 1.29254215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.5692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:834.88, Y:13.99, Z:12.93 [[ 9.69686955e-01 -2.43894430e-01 -1.49237162e-02 8.34883854e+02] [ 2.43864234e-01 9.69801784e-01 -3.83866232e-03 1.39864357e+01] [ 1.54092749e-02 8.29401767e-05 9.99881267e-01 1.29274471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.5992541539999 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:834.91, Y:13.99, Z:12.92 [[ 9.70163532e-01 -2.41991812e-01 -1.49226086e-02 8.34909354e+02] [ 2.41961325e-01 9.70278284e-01 -3.84296298e-03 1.39943424e+01] [ 1.54090487e-02 1.17608390e-04 9.99881267e-01 1.29242440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.6292541539999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:834.94, Y:14.00, Z:12.92 [[ 9.70174282e-01 -2.41948738e-01 -1.49221289e-02 8.34938722e+02] [ 2.41918217e-01 9.70289026e-01 -3.84482500e-03 1.40014616e+01] [ 1.54090284e-02 1.20215532e-04 9.99881267e-01 1.29210434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.6592541539999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:834.96, Y:14.01, Z:12.92 [[ 9.70409978e-01 -2.41000442e-01 -1.49419637e-02 8.34963421e+02] [ 2.40970994e-01 9.70525004e-01 -3.76783470e-03 1.40085789e+01] [ 1.54095992e-02 5.57645544e-05 9.99881264e-01 1.29237914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.6892541539999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:834.99, Y:14.02, Z:12.92 [[ 9.70223005e-01 -2.41753363e-01 -1.49208510e-02 8.34990394e+02] [ 2.41722744e-01 9.70337722e-01 -3.84966513e-03 1.40160704e+01] [ 1.54089341e-02 1.28324610e-04 9.99881267e-01 1.29231232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.7192541539999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:835.02, Y:14.02, Z:12.92 [[ 9.69940760e-01 -2.42883354e-01 -1.49197572e-02 8.35018098e+02] [ 2.42852804e-01 9.70055495e-01 -3.85389980e-03 1.40229984e+01] [ 1.54090405e-02 1.14749638e-04 9.99881267e-01 1.29239199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.7492541539999 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:835.04, Y:14.03, Z:12.92 [[ 9.69084387e-01 -2.46278064e-01 -1.49186671e-02 8.35044972e+02] [ 2.46247851e-01 9.69199211e-01 -3.85811494e-03 1.40290166e+01] [ 1.54093295e-02 6.51492372e-05 9.99881267e-01 1.29238453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.7792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:835.07, Y:14.04, Z:12.92 [[ 9.68165836e-01 -2.49864688e-01 -1.49181950e-02 8.35072829e+02] [ 2.49834872e-01 9.68280764e-01 -3.85993967e-03 1.40364213e+01] [ 1.54094638e-02 9.97640037e-06 9.99881267e-01 1.29223896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.8092541539999 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:835.10, Y:14.04, Z:12.92 [[ 9.68052112e-01 -2.50304642e-01 -1.49229229e-02 8.35099214e+02] [ 2.50275160e-01 9.68167127e-01 -3.84168055e-03 1.40417749e+01] [ 1.54094739e-02 -1.58899490e-05 9.99881267e-01 1.29248423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.8392541539998 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:835.13, Y:14.05, Z:12.93 [[ 9.67253170e-01 -2.53374815e-01 -1.49166792e-02 8.35125715e+02] [ 2.53345327e-01 9.67368183e-01 -3.86577293e-03 1.40473499e+01] [ 1.54094104e-02 -3.98898381e-05 9.99881267e-01 1.29251136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.8692541539999 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:835.15, Y:14.05, Z:12.93 [[ 9.66984523e-01 -2.54398191e-01 -1.49162039e-02 8.35153177e+02] [ 2.54368796e-01 9.67099559e-01 -3.86760598e-03 1.40538977e+01] [ 1.54093662e-02 -5.43016997e-05 9.99881267e-01 1.29261988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.8992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:835.18, Y:14.06, Z:12.93 [[ 9.66512676e-01 -2.56185064e-01 -1.49151226e-02 8.35180103e+02] [ 2.56155817e-01 9.66627750e-01 -3.87177160e-03 1.40609036e+01] [ 1.54092614e-02 -7.84790810e-05 9.99881267e-01 1.29279753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.9292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:835.21, Y:14.07, Z:12.93 [[ 9.67066858e-01 -2.54085308e-01 -1.49113613e-02 8.35207219e+02] [ 2.54055587e-01 9.67181811e-01 -3.88624725e-03 1.40665332e+01] [ 1.54094358e-02 -3.00537348e-05 9.99881267e-01 1.29308842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.9592541539998 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:835.23, Y:14.07, Z:12.93 [[ 9.67543680e-01 -2.52263361e-01 -1.49138973e-02 8.35233911e+02] [ 2.52233575e-01 9.67658616e-01 -3.87649047e-03 1.40737756e+01] [ 1.54094578e-02 -1.11117748e-05 9.99881267e-01 1.29308106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.9892541539999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:835.26, Y:14.08, Z:12.93 [[ 9.67319373e-01 -2.53122185e-01 -1.49127613e-02 8.35260613e+02] [ 2.53092433e-01 9.67434318e-01 -3.88085597e-03 1.40827379e+01] [ 1.54094478e-02 -2.02798660e-05 9.99881267e-01 1.29280761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.0192541539999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:835.29, Y:14.09, Z:12.93 [[ 9.69097188e-01 -2.46228535e-01 -1.49046510e-02 8.35288742e+02] [ 2.46197487e-01 9.69211790e-01 -3.91197734e-03 1.40891160e+01] [ 1.54090039e-02 1.21598628e-04 9.99881267e-01 1.29262753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.0492541539999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:835.32, Y:14.10, Z:12.93 [[ 9.69864176e-01 -2.43189497e-01 -1.49113714e-02 8.35315049e+02] [ 2.43158486e-01 9.69978788e-01 -3.88619090e-03 1.40959276e+01] [ 1.54087948e-02 1.43250841e-04 9.99881267e-01 1.29267255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.0792541539998 meters Centerline goodness : 0.997241 Centerline is valid? [True, True] Translation: X:835.34, Y:14.10, Z:12.92 [[ 9.70332730e-01 -2.41313195e-01 -1.49108851e-02 8.35343897e+02] [ 2.41281934e-01 9.70447274e-01 -3.88805581e-03 1.41034093e+01] [ 1.54084670e-02 1.74980601e-04 9.99881267e-01 1.29237528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.1092541539999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:835.37, Y:14.11, Z:12.92 [[ 9.71256375e-01 -2.37567220e-01 -1.49288330e-02 8.35369141e+02] [ 2.37536575e-01 9.71371087e-01 -3.81921577e-03 1.41105207e+01] [ 1.54087572e-02 1.63293816e-04 9.99881265e-01 1.29230772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.1392541539999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:835.40, Y:14.12, Z:12.92 [[ 9.71188708e-01 -2.37844932e-01 -1.49091075e-02 8.35396760e+02] [ 2.37813160e-01 9.71303110e-01 -3.89472570e-03 1.41178564e+01] [ 1.54076032e-02 2.36931671e-04 9.99881268e-01 1.29234911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.1692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:835.42, Y:14.13, Z:12.92 [[ 9.71174492e-01 -2.37903041e-01 -1.49079971e-02 8.35423051e+02] [ 2.37871211e-01 9.71288878e-01 -3.89897114e-03 1.41255722e+01] [ 1.54075489e-02 2.40397991e-04 9.99881268e-01 1.29236732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.1992541539998 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:835.45, Y:14.13, Z:12.92 [[ 9.71650766e-01 -2.35951079e-01 -1.48955706e-02 8.35450621e+02] [ 2.35918291e-01 9.71764882e-01 -3.94643289e-03 1.41311821e+01] [ 1.54061575e-02 3.20416979e-04 9.99881267e-01 1.29245454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.2292541539999 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:835.48, Y:14.14, Z:12.93 [[ 9.71656276e-01 -2.35927706e-01 -1.49063345e-02 8.35478106e+02] [ 2.35895545e-01 9.71770570e-01 -3.90534848e-03 1.41378394e+01] [ 1.54069170e-02 2.78318461e-04 9.99881268e-01 1.29251642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.2592541539999 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:835.51, Y:14.14, Z:12.93 [[ 9.71539356e-01 -2.36408786e-01 -1.49052033e-02 8.35505636e+02] [ 2.36376615e-01 9.71653647e-01 -3.90966083e-03 1.41427008e+01] [ 1.54069733e-02 2.75147861e-04 9.99881268e-01 1.29272642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.2892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:835.53, Y:14.15, Z:12.93 [[ 9.71460523e-01 -2.36732596e-01 -1.49040407e-02 8.35532266e+02] [ 2.36700396e-01 9.71574805e-01 -3.91408792e-03 1.41482109e+01] [ 1.54069826e-02 2.74589575e-04 9.99881268e-01 1.29291481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.3192541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:835.56, Y:14.15, Z:12.93 [[ 9.71086091e-01 -2.38263921e-01 -1.49032505e-02 8.35559614e+02] [ 2.38231855e-01 9.71200412e-01 -3.91709447e-03 1.41531715e+01] [ 1.54073453e-02 2.53406957e-04 9.99881268e-01 1.29284442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.3492541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:835.59, Y:14.16, Z:12.93 [[ 9.71106894e-01 -2.38179193e-01 -1.49021121e-02 8.35586833e+02] [ 2.38147050e-01 9.71221193e-01 -3.92142057e-03 1.41588076e+01] [ 1.54072478e-02 2.59224524e-04 9.99881268e-01 1.29304344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.3792541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:835.61, Y:14.17, Z:12.93 [[ 9.70958093e-01 -2.38785138e-01 -1.49009552e-02 8.35614387e+02] [ 2.38753000e-01 9.71072393e-01 -3.92581167e-03 1.41651307e+01] [ 1.54073317e-02 2.54150861e-04 9.99881268e-01 1.29290110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.4092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:835.64, Y:14.17, Z:12.93 [[ 9.70743981e-01 -2.39654166e-01 -1.48998047e-02 8.35641235e+02] [ 2.39622063e-01 9.70858291e-01 -3.93017337e-03 1.41709661e+01] [ 1.54074813e-02 2.44870216e-04 9.99881268e-01 1.29285466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.4392541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:835.67, Y:14.18, Z:12.93 [[ 9.71263885e-01 -2.37539308e-01 -1.48842915e-02 8.35670062e+02] [ 2.37506056e-01 9.71377868e-01 -3.98889978e-03 1.41756639e+01] [ 1.54057919e-02 3.39164931e-04 9.99881266e-01 1.29289018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.4692541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:835.70, Y:14.18, Z:12.93 [[ 9.71508178e-01 -2.36537308e-01 -1.48983529e-02 8.35697395e+02] [ 2.36504754e-01 9.71622361e-01 -3.93567092e-03 1.41809621e+01] [ 1.54065058e-02 3.00005189e-04 9.99881268e-01 1.29297285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.4992541539999 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:835.73, Y:14.19, Z:12.93 [[ 9.71968618e-01 -2.34638185e-01 -1.48972283e-02 8.35725391e+02] [ 2.34605342e-01 9.72082718e-01 -3.93992331e-03 1.41851565e+01] [ 1.54057946e-02 3.34512473e-04 9.99881268e-01 1.29284351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.5292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:835.75, Y:14.19, Z:12.93 [[ 9.72350773e-01 -2.33049474e-01 -1.48968801e-02 8.35752458e+02] [ 2.33016425e-01 9.72464813e-01 -3.94123916e-03 1.41906656e+01] [ 1.54051955e-02 3.61049184e-04 9.99881268e-01 1.29305568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.5592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:835.78, Y:14.20, Z:12.93 [[ 9.72597240e-01 -2.32018803e-01 -1.48957591e-02 8.35778619e+02] [ 2.31985568e-01 9.72711226e-01 -3.94547171e-03 1.41962627e+01] [ 1.54046957e-02 3.81753771e-04 9.99881268e-01 1.29297769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.5892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:835.81, Y:14.20, Z:12.93 [[ 9.72929270e-01 -2.30622580e-01 -1.48949965e-02 8.35806808e+02] [ 2.30589138e-01 9.73043195e-01 -3.94834836e-03 1.42000195e+01] [ 1.54040533e-02 4.06839280e-04 9.99881268e-01 1.29293203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.6192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:835.83, Y:14.21, Z:12.93 [[ 9.73009812e-01 -2.30282603e-01 -1.48938873e-02 8.35834097e+02] [ 2.30249057e-01 9.73123707e-01 -3.95252830e-03 1.42050453e+01] [ 1.54037933e-02 4.16545328e-04 9.99881268e-01 1.29305363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.6492541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:835.86, Y:14.21, Z:12.93 [[ 9.73057983e-01 -2.30079049e-01 -1.48927422e-02 8.35860598e+02] [ 2.30045414e-01 9.73171851e-01 -3.95683814e-03 1.42097810e+01] [ 1.54035830e-02 4.24225908e-04 9.99881268e-01 1.29305767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.6792541539999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:835.89, Y:14.22, Z:12.93 [[ 9.72912975e-01 -2.30691492e-01 -1.48922464e-02 8.35888433e+02] [ 2.30657900e-01 9.73026856e-01 -3.95870327e-03 1.42154088e+01] [ 1.54037948e-02 4.16459498e-04 9.99881268e-01 1.29297950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.7092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:835.92, Y:14.22, Z:12.93 [[ 9.73150662e-01 -2.29686841e-01 -1.48911035e-02 8.35917611e+02] [ 2.29653065e-01 9.73264488e-01 -3.96299751e-03 1.42185164e+01] [ 1.54032307e-02 4.36806077e-04 9.99881268e-01 1.29341213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.7392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:835.94, Y:14.22, Z:12.94 [[ 9.73227100e-01 -2.29362805e-01 -1.48900890e-02 8.35944704e+02] [ 2.29328933e-01 9.73340899e-01 -3.96680593e-03 1.42241969e+01] [ 1.54029703e-02 4.45874820e-04 9.99881268e-01 1.29352577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.7692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:835.97, Y:14.23, Z:12.94 [[ 9.73688266e-01 -2.27397189e-01 -1.48889262e-02 8.35973576e+02] [ 2.27363021e-01 9.73801975e-01 -3.97116557e-03 1.42286583e+01] [ 1.54018976e-02 4.81486086e-04 9.99881268e-01 1.29369864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.7992541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:836.00, Y:14.24, Z:12.94 [[ 9.73959108e-01 -2.26234405e-01 -1.48879140e-02 8.36000283e+02] [ 2.26200043e-01 9.74072759e-01 -3.97495668e-03 1.42352139e+01] [ 1.54011834e-02 5.03798486e-04 9.99881268e-01 1.29356884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.8292541539998 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:836.03, Y:14.24, Z:12.93 [[ 9.74187418e-01 -2.25249284e-01 -1.48874120e-02 8.36026986e+02] [ 2.25214779e-01 9.74301025e-01 -3.97683563e-03 1.42419171e+01] [ 1.54006002e-02 5.21318020e-04 9.99881268e-01 1.29344607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.8592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:836.06, Y:14.25, Z:12.94 [[ 9.74315928e-01 -2.24692813e-01 -1.48866349e-02 8.36055211e+02] [ 2.24658198e-01 9.74429503e-01 -3.97974256e-03 1.42484744e+01] [ 1.54001958e-02 5.33121992e-04 9.99881268e-01 1.29370033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.8892541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:836.08, Y:14.26, Z:12.93 [[ 9.74282622e-01 -2.24837255e-01 -1.48856259e-02 8.36081693e+02] [ 2.24802600e-01 9.74396184e-01 -3.98351301e-03 1.42566112e+01] [ 1.54001392e-02 5.34740091e-04 9.99881268e-01 1.29327547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.9192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:836.11, Y:14.26, Z:12.94 [[ 9.74430174e-01 -2.24196933e-01 -1.48852687e-02 8.36108598e+02] [ 2.24162183e-01 9.74543707e-01 -3.98484751e-03 1.42641516e+01] [ 1.53997355e-02 5.46241336e-04 9.99881268e-01 1.29366650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.9492541539998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:836.14, Y:14.27, Z:12.93 [[ 9.74631880e-01 -2.23318523e-01 -1.48840914e-02 8.36135427e+02] [ 2.23283603e-01 9.74745361e-01 -3.98923981e-03 1.42735824e+01] [ 1.53990702e-02 5.64666735e-04 9.99881268e-01 1.29344047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.9792541539999 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:836.16, Y:14.28, Z:12.93 [[ 9.74627472e-01 -2.23337784e-01 -1.48837275e-02 8.36161673e+02] [ 2.23302846e-01 9.74740947e-01 -3.99059720e-03 1.42814234e+01] [ 1.53990298e-02 5.65766949e-04 9.99881268e-01 1.29334351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.0092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:836.19, Y:14.29, Z:12.94 [[ 9.74726053e-01 -2.22907200e-01 -1.48829340e-02 8.36189243e+02] [ 2.22872167e-01 9.74839499e-01 -3.99355445e-03 1.42884869e+01] [ 1.53986639e-02 5.75629828e-04 9.99881268e-01 1.29378114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.0392541539999 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:836.22, Y:14.30, Z:12.94 [[ 9.74465590e-01 -2.24043184e-01 -1.48817437e-02 8.36215030e+02] [ 2.24008215e-01 9.74579056e-01 -3.99798518e-03 1.42958609e+01] [ 1.53991570e-02 5.62266154e-04 9.99881268e-01 1.29350082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.0692541539999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:836.24, Y:14.30, Z:12.94 [[ 9.74351232e-01 -2.24540033e-01 -1.48812277e-02 8.36242178e+02] [ 2.24505093e-01 9.74464706e-01 -3.99990483e-03 1.43030623e+01] [ 1.53993699e-02 5.56400794e-04 9.99881268e-01 1.29364587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.0992541539999 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:836.27, Y:14.31, Z:12.94 [[ 9.74226229e-01 -2.25081848e-01 -1.48800562e-02 8.36269186e+02] [ 2.25046904e-01 9.74339703e-01 -4.00425802e-03 1.43104626e+01] [ 1.53995154e-02 5.52342601e-04 9.99881268e-01 1.29367443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.1292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:836.29, Y:14.32, Z:12.93 [[ 9.72749993e-01 -2.31378631e-01 -1.48788802e-02 8.36287668e+02] [ 2.31344355e-01 9.72863670e-01 -4.00862306e-03 1.43230169e+01] [ 1.54026317e-02 4.57243097e-04 9.99881268e-01 1.29342336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.1592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:836.32, Y:14.33, Z:12.94 [[ 9.74191327e-01 -2.25239144e-01 -1.47846702e-02 8.36324154e+02] [ 2.25198855e-01 9.74303079e-01 -4.35723787e-03 1.43258894e+01] [ 1.53861702e-02 9.15292538e-04 9.99881207e-01 1.29406335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.1892541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:836.35, Y:14.33, Z:12.94 [[ 9.73967726e-01 -2.26197940e-01 -1.48781819e-02 8.36350220e+02] [ 2.26163035e-01 9.74081208e-01 -4.01031546e-03 1.43335470e+01] [ 1.53996825e-02 5.41023061e-04 9.99881271e-01 1.29403813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.2192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:836.38, Y:14.34, Z:12.94 [[ 9.73810490e-01 -2.26873958e-01 -1.48773904e-02 8.36378130e+02] [ 2.26839086e-01 9.73923982e-01 -4.01324952e-03 1.43415156e+01] [ 1.53999491e-02 5.33370839e-04 9.99881271e-01 1.29416525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.2492541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:836.41, Y:14.35, Z:12.94 [[ 9.73439812e-01 -2.28459243e-01 -1.48763888e-02 8.36406095e+02] [ 2.28424499e-01 9.73553343e-01 -4.01695869e-03 1.43502300e+01] [ 1.54006694e-02 5.12135842e-04 9.99881271e-01 1.29423513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.2792541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:836.43, Y:14.36, Z:12.94 [[ 9.73277467e-01 -2.29149942e-01 -1.48753751e-02 8.36433399e+02] [ 2.29115222e-01 9.73391005e-01 -4.02070927e-03 1.43580083e+01] [ 1.54009016e-02 5.05090875e-04 9.99881272e-01 1.29431554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.3092541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:836.46, Y:14.37, Z:12.94 [[ 9.73116897e-01 -2.29830944e-01 -1.48742189e-02 8.36460160e+02] [ 2.29796238e-01 9.73230440e-01 -4.02498207e-03 1.43663442e+01] [ 1.54011080e-02 4.98738524e-04 9.99881272e-01 1.29423992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.3392541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:836.49, Y:14.37, Z:12.94 [[ 9.73251846e-01 -2.29258885e-01 -1.48730572e-02 8.36485710e+02] [ 2.29224047e-01 9.73365348e-01 -4.02927003e-03 1.43738532e+01] [ 1.54006645e-02 5.12232132e-04 9.99881272e-01 1.29434247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.3692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:836.51, Y:14.38, Z:12.94 [[ 9.73404184e-01 -2.28611246e-01 -1.48725521e-02 8.36512930e+02] [ 2.28576304e-01 9.73517654e-01 -4.03113347e-03 1.43818221e+01] [ 1.54002545e-02 5.24409190e-04 9.99881272e-01 1.29447742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.3992541539999 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:836.54, Y:14.39, Z:12.94 [[ 9.73364525e-01 -2.28780117e-01 -1.48714099e-02 8.36539271e+02] [ 2.28745131e-01 9.73477982e-01 -4.03534302e-03 1.43908331e+01] [ 1.54001963e-02 5.26097143e-04 9.99881272e-01 1.29412302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.4292541539999 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:836.57, Y:14.40, Z:12.94 [[ 9.73923793e-01 -2.26387546e-01 -1.48702571e-02 8.36565753e+02] [ 2.26352216e-01 9.74037143e-01 -4.03958665e-03 1.44014356e+01] [ 1.53986948e-02 5.68333906e-04 9.99881272e-01 1.29391960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.4592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:836.59, Y:14.41, Z:12.94 [[ 9.74392753e-01 -2.24360534e-01 -1.48699008e-02 8.36592486e+02] [ 2.24324948e-01 9.74506023e-01 -4.04089767e-03 1.44094880e+01] [ 1.53974259e-02 6.01731680e-04 9.99881272e-01 1.29432980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.4892541539999 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:836.62, Y:14.42, Z:12.94 [[ 9.74492173e-01 -2.23928392e-01 -1.48687632e-02 8.36620005e+02] [ 2.23892693e-01 9.74605407e-01 -4.04507925e-03 1.44188566e+01] [ 1.53969851e-02 6.12890635e-04 9.99881272e-01 1.29396644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.5192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:836.65, Y:14.43, Z:12.94 [[ 9.75229878e-01 -2.20693532e-01 -1.48677659e-02 8.36646469e+02] [ 2.20657401e-01 9.75342975e-01 -4.04874142e-03 1.44277905e+01] [ 1.53947021e-02 6.67771007e-04 9.99881272e-01 1.29430844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.5492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:836.67, Y:14.44, Z:12.94 [[ 9.75395761e-01 -2.19959247e-01 -1.48674125e-02 8.36672491e+02] [ 2.19923011e-01 9.75508824e-01 -4.05003891e-03 1.44363800e+01] [ 1.53941356e-02 6.80704672e-04 9.99881272e-01 1.29429711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.5792541539998 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:836.70, Y:14.45, Z:12.94 [[ 9.75581535e-01 -2.19133848e-01 -1.48669220e-02 8.36699550e+02] [ 2.19097489e-01 9.75694559e-01 -4.05183844e-03 1.44473638e+01] [ 1.53934699e-02 6.95593467e-04 9.99881272e-01 1.29387734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.6092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:836.73, Y:14.46, Z:12.94 [[ 9.75823568e-01 -2.18053588e-01 -1.48659407e-02 8.36726692e+02] [ 2.18017050e-01 9.75936535e-01 -4.05543568e-03 1.44554657e+01] [ 1.53925170e-02 7.16361182e-04 9.99881272e-01 1.29430149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.6392541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:836.75, Y:14.46, Z:12.94 [[ 9.75828003e-01 -2.18033822e-01 -1.48647897e-02 8.36753729e+02] [ 2.17997217e-01 9.75940947e-01 -4.05965009e-03 1.44640749e+01] [ 1.53922980e-02 7.21037449e-04 9.99881272e-01 1.29422533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.6692541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:836.78, Y:14.47, Z:12.94 [[ 9.76014204e-01 -2.17198862e-01 -1.48636407e-02 8.36780204e+02] [ 2.17162097e-01 9.76127097e-01 -4.06385280e-03 1.44727174e+01] [ 1.53914666e-02 7.38558684e-04 9.99881272e-01 1.29419063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.6992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:836.81, Y:14.48, Z:12.94 [[ 9.76038544e-01 -2.17089483e-01 -1.48632847e-02 8.36807401e+02] [ 2.17052685e-01 9.76151426e-01 -4.06515447e-03 1.44807949e+01] [ 1.53913188e-02 7.41631600e-04 9.99881272e-01 1.29438738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.7292541539999 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:836.83, Y:14.49, Z:12.94 [[ 9.75955651e-01 -2.17461915e-01 -1.48621024e-02 8.36833950e+02] [ 2.17425095e-01 9.76068526e-01 -4.06947225e-03 1.44894582e+01] [ 1.53913856e-02 7.40230426e-04 9.99881272e-01 1.29409054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.7592541539999 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:836.86, Y:14.50, Z:12.95 [[ 9.76051423e-01 -2.17031675e-01 -1.48617364e-02 8.36861542e+02] [ 2.16994785e-01 9.76164275e-01 -4.07080844e-03 1.44976093e+01] [ 1.53909905e-02 7.48399087e-04 9.99881272e-01 1.29453366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.7892541539999 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:836.89, Y:14.51, Z:12.94 [[ 9.76010021e-01 -2.17217859e-01 -1.48606988e-02 8.36887580e+02] [ 2.17180933e-01 9.76122861e-01 -4.07459263e-03 1.45070421e+01] [ 1.53909421e-02 7.49382811e-04 9.99881272e-01 1.29426139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.8192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:836.92, Y:14.51, Z:12.95 [[ 9.76036434e-01 -2.17099171e-01 -1.48603312e-02 8.36915542e+02] [ 2.17062210e-01 9.76149263e-01 -4.07593294e-03 1.45148209e+01] [ 1.53907830e-02 7.52642719e-04 9.99881272e-01 1.29467346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.8492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:836.94, Y:14.52, Z:12.95 [[ 9.75745048e-01 -2.18405132e-01 -1.48593042e-02 8.36942623e+02] [ 2.18368266e-01 9.75857908e-01 -4.07967347e-03 1.45224379e+01] [ 1.53915912e-02 7.35920696e-04 9.99881272e-01 1.29469831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.8792541539999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:836.97, Y:14.53, Z:12.95 [[ 9.74889924e-01 -2.22191069e-01 -1.48581294e-02 8.36969820e+02] [ 2.22154576e-01 9.75002905e-01 -4.08394751e-03 1.45296603e+01] [ 1.53941360e-02 6.80597834e-04 9.99881272e-01 1.29466077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.9092541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:837.00, Y:14.54, Z:12.95 [[ 9.74251830e-01 -2.24972482e-01 -1.48577661e-02 8.36996885e+02] [ 2.24936292e-01 9.74364909e-01 -4.08526883e-03 1.45367369e+01] [ 1.53959590e-02 6.38029818e-04 9.99881272e-01 1.29473099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.9392541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:837.02, Y:14.54, Z:12.95 [[ 9.73477619e-01 -2.28299378e-01 -1.48566176e-02 8.37023785e+02] [ 2.28263510e-01 9.73590800e-01 -4.08944139e-03 1.45439514e+01] [ 1.53978831e-02 5.89755980e-04 9.99881272e-01 1.29459442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.9692541539999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:837.05, Y:14.55, Z:12.95 [[ 9.72103828e-01 -2.34080032e-01 -1.48554776e-02 8.37050218e+02] [ 2.34044775e-01 9.72217201e-01 -4.09357831e-03 1.45493365e+01] [ 1.54009758e-02 5.02536226e-04 9.99881272e-01 1.29464508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.9992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:837.08, Y:14.56, Z:12.95 [[ 9.71456810e-01 -2.36750915e-01 -1.48549836e-02 8.37077857e+02] [ 2.36715942e-01 9.71570271e-01 -4.09537019e-03 1.45557236e+01] [ 1.54022431e-02 4.62063824e-04 9.99881272e-01 1.29501962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.0292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:837.11, Y:14.56, Z:12.95 [[ 9.71391942e-01 -2.37016964e-01 -1.48544598e-02 8.37105379e+02] [ 2.36981993e-01 9.71505403e-01 -4.09726922e-03 1.45634137e+01] [ 1.54023103e-02 4.59814821e-04 9.99881272e-01 1.29506359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.0592541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:837.13, Y:14.57, Z:12.95 [[ 9.69903465e-01 -2.43036309e-01 -1.48533365e-02 8.37132346e+02] [ 2.43001980e-01 9.70017122e-01 -4.10133722e-03 1.45695538e+01] [ 1.54047646e-02 3.68510992e-04 9.99881272e-01 1.29509761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.0892541539998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:837.16, Y:14.58, Z:12.95 [[ 9.69276494e-01 -2.45524932e-01 -1.48521517e-02 8.37159516e+02] [ 2.45490829e-01 9.69390219e-01 -4.10562347e-03 1.45759567e+01] [ 1.54055635e-02 3.33417291e-04 9.99881272e-01 1.29513131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.1192541539999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:837.19, Y:14.58, Z:12.95 [[ 9.68617762e-01 -2.48110973e-01 -1.48517853e-02 8.37187249e+02] [ 2.48077154e-01 9.68731572e-01 -4.10694841e-03 1.45827469e+01] [ 1.54063723e-02 2.93674548e-04 9.99881272e-01 1.29514837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.1492541539999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:837.21, Y:14.59, Z:12.95 [[ 9.67994794e-01 -2.50530513e-01 -1.48506129e-02 8.37214706e+02] [ 2.50496913e-01 9.68108669e-01 -4.11118326e-03 1.45882659e+01] [ 1.54069840e-02 2.59571290e-04 9.99881272e-01 1.29523279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.1792541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:837.24, Y:14.59, Z:12.95 [[ 9.67901170e-01 -2.50892049e-01 -1.48494301e-02 8.37241217e+02] [ 2.50858426e-01 9.68015038e-01 -4.11545109e-03 1.45949790e+01] [ 1.54070056e-02 2.58245241e-04 9.99881272e-01 1.29512623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.2092541539998 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:837.27, Y:14.60, Z:12.95 [[ 9.67730608e-01 -2.51549162e-01 -1.48489178e-02 8.37268303e+02] [ 2.51515588e-01 9.67844490e-01 -4.11729894e-03 1.46021349e+01] [ 1.54071463e-02 2.49701916e-04 9.99881272e-01 1.29515357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.2392541539999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:837.30, Y:14.61, Z:12.95 [[ 9.67849367e-01 -2.51091909e-01 -1.48477338e-02 8.37295377e+02] [ 2.51058216e-01 9.67963215e-01 -4.12156413e-03 1.46088713e+01] [ 1.54069515e-02 2.61407670e-04 9.99881272e-01 1.29514072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.2692541539999 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:837.32, Y:14.62, Z:12.95 [[ 9.68286779e-01 -2.49399829e-01 -1.48471802e-02 8.37323957e+02] [ 2.49365907e-01 9.68400558e-01 -4.12355734e-03 1.46159445e+01] [ 1.54064321e-02 2.90405496e-04 9.99881272e-01 1.29507430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.2992541539999 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:837.35, Y:14.62, Z:12.95 [[ 9.68578171e-01 -2.48265818e-01 -1.48462334e-02 8.37350568e+02] [ 2.48231710e-01 9.68691894e-01 -4.12696326e-03 1.46229407e+01] [ 1.54060099e-02 3.11980607e-04 9.99881272e-01 1.29489769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.3292541539998 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:837.38, Y:14.63, Z:12.95 [[ 9.68929902e-01 -2.46889540e-01 -1.48458722e-02 8.37378941e+02] [ 2.46855251e-01 9.69043571e-01 -4.12826221e-03 1.46301232e+01] [ 1.54055218e-02 3.35215186e-04 9.99881272e-01 1.29512339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.3592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:837.41, Y:14.64, Z:12.95 [[ 9.69598626e-01 -2.44250147e-01 -1.48448579e-02 8.37405462e+02] [ 2.44215492e-01 9.69712185e-01 -4.13190648e-03 1.46358045e+01] [ 1.54044583e-02 3.80946576e-04 9.99881272e-01 1.29528959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.3892541539999 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:837.43, Y:14.64, Z:12.95 [[ 9.69561752e-01 -2.44396511e-01 -1.48443551e-02 8.37432553e+02] [ 2.44361846e-01 9.69675307e-01 -4.13371208e-03 1.46429472e+01] [ 1.54044694e-02 3.80495109e-04 9.99881272e-01 1.29490454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.4192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:837.46, Y:14.65, Z:12.95 [[ 9.69535805e-01 -2.44499445e-01 -1.48440027e-02 8.37459797e+02] [ 2.44464773e-01 9.69649358e-01 -4.13497716e-03 1.46473596e+01] [ 1.54044773e-02 3.80172671e-04 9.99881272e-01 1.29526847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.4492541539998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:837.49, Y:14.65, Z:12.95 [[ 9.69065125e-01 -2.46358376e-01 -1.48436529e-02 8.37487770e+02] [ 2.46323902e-01 9.69178738e-01 -4.13623229e-03 1.46541637e+01] [ 1.54051483e-02 3.51931958e-04 9.99881272e-01 1.29528356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.4792541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:837.51, Y:14.66, Z:12.95 [[ 9.68568691e-01 -2.48303014e-01 -1.48426481e-02 8.37514614e+02] [ 2.48268713e-01 9.68682357e-01 -4.13983502e-03 1.46601728e+01] [ 1.54057448e-02 3.24749447e-04 9.99881272e-01 1.29527647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.5092541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:837.54, Y:14.66, Z:12.96 [[ 9.67342675e-01 -2.53037285e-01 -1.48418671e-02 8.37541938e+02] [ 2.53003498e-01 9.67456494e-01 -4.14263317e-03 1.46640786e+01] [ 1.54071013e-02 2.52301569e-04 9.99881272e-01 1.29557541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.5392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:837.56, Y:14.67, Z:12.96 [[ 9.65515911e-01 -2.59920687e-01 -1.48412508e-02 8.37564725e+02] [ 2.59887678e-01 9.65629958e-01 -4.14483971e-03 1.46732443e+01] [ 1.54084860e-02 1.44850477e-04 9.99881272e-01 1.29561189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.5692541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:837.59, Y:14.68, Z:12.95 [[ 9.64549693e-01 -2.63486732e-01 -1.47861793e-02 8.37592141e+02] [ 2.63451135e-01 9.64662976e-01 -4.34081891e-03 1.46799653e+01] [ 1.54074279e-02 2.91499844e-04 9.99881256e-01 1.29546815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.5992541539999 meters Centerline goodness : 0.998439 Centerline is valid? [True, True] Translation: X:837.62, Y:14.68, Z:12.96 [[ 9.64140812e-01 -2.64978989e-01 -1.47861161e-02 8.37621102e+02] [ 2.64943563e-01 9.64254149e-01 -4.34104263e-03 1.46849412e+01] [ 1.54078589e-02 2.67890092e-04 9.99881256e-01 1.29557054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.6292541539999 meters Centerline goodness : 0.999648 Centerline is valid? [True, True] Translation: X:837.65, Y:14.69, Z:12.96 [[ 9.62571436e-01 -2.70623425e-01 -1.48051734e-02 8.37648134e+02] [ 2.70589702e-01 9.62685281e-01 -4.27352156e-03 1.46907221e+01] [ 1.54092375e-02 1.07442340e-04 9.99881265e-01 1.29559174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.6592541539999 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:837.68, Y:14.69, Z:12.96 [[ 9.62819546e-01 -2.69739665e-01 -1.47998260e-02 8.37678435e+02] [ 2.69705546e-01 9.62933276e-01 -4.29247007e-03 1.46947695e+01] [ 1.54090944e-02 1.41278936e-04 9.99881263e-01 1.29635852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.6892541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:837.71, Y:14.70, Z:12.96 [[ 9.62329412e-01 -2.71481442e-01 -1.48300387e-02 8.37705224e+02] [ 2.71449177e-01 9.62443674e-01 -4.18541886e-03 1.47010019e+01] [ 1.54093405e-02 2.14987243e-06 9.99881269e-01 1.29641596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.7192541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:837.73, Y:14.71, Z:12.97 [[ 9.62370969e-01 -2.71334111e-01 -1.48296662e-02 8.37732046e+02] [ 2.71301808e-01 9.62485221e-01 -4.18673823e-03 1.47078891e+01] [ 1.54093394e-02 5.88007229e-06 9.99881269e-01 1.29659326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.7492541539999 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:837.76, Y:14.72, Z:12.96 [[ 9.62223726e-01 -2.71855875e-01 -1.48284799e-02 8.37759282e+02] [ 2.71823569e-01 9.62337978e-01 -4.19093562e-03 1.47162456e+01] [ 1.54093398e-02 1.88735894e-06 9.99881269e-01 1.29644929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.7792541539999 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:837.79, Y:14.72, Z:12.97 [[ 9.62471890e-01 -2.70976038e-01 -1.48272846e-02 8.37786262e+02] [ 2.70943563e-01 9.62586093e-01 -4.19516018e-03 1.47243732e+01] [ 1.54093259e-02 2.03664242e-05 9.99881269e-01 1.29650563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.8092541539999 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:837.81, Y:14.73, Z:12.96 [[ 9.62624983e-01 -2.70431747e-01 -1.48260813e-02 8.37811701e+02] [ 2.70399142e-01 9.62739149e-01 -4.19940857e-03 1.47323346e+01] [ 1.54093023e-02 3.34959348e-05 9.99881269e-01 1.29645592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.8392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:837.84, Y:14.74, Z:12.97 [[ 9.62882581e-01 -2.69513151e-01 -1.48255590e-02 8.37839128e+02] [ 2.69480409e-01 9.62996708e-01 -4.20125178e-03 1.47400468e+01] [ 1.54092571e-02 5.01144606e-05 9.99881269e-01 1.29674355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.8692541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:837.87, Y:14.75, Z:12.97 [[ 9.62823722e-01 -2.69723403e-01 -1.48245169e-02 8.37865585e+02] [ 2.69690629e-01 9.62937840e-01 -4.20492551e-03 1.47486564e+01] [ 1.54092551e-02 5.05687255e-05 9.99881269e-01 1.29676700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.8992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:837.89, Y:14.76, Z:12.97 [[ 9.62717246e-01 -2.70103265e-01 -1.48233171e-02 8.37893751e+02] [ 2.70070471e-01 9.62831358e-01 -4.20915104e-03 1.47568004e+01] [ 1.54092599e-02 4.88820786e-05 9.99881269e-01 1.29686876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.9292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:837.92, Y:14.77, Z:12.97 [[ 9.61778290e-01 -2.73427909e-01 -1.48222724e-02 8.37919441e+02] [ 2.73395452e-01 9.61892499e-01 -4.21282671e-03 1.47669813e+01] [ 1.54093370e-02 -5.36587613e-07 9.99881269e-01 1.29657087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.9592541539998 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:837.95, Y:14.77, Z:12.97 [[ 9.62053761e-01 -2.72458064e-01 -1.48042359e-02 8.37947281e+02] [ 2.72424516e-01 9.62167655e-01 -4.27619443e-03 1.47737810e+01] [ 1.54092406e-02 8.08921141e-05 9.99881267e-01 1.29696522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.9892541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:837.97, Y:14.78, Z:12.97 [[ 9.62079832e-01 -2.72365095e-01 -1.48206363e-02 8.37974705e+02] [ 2.72332424e-01 9.62193980e-01 -4.21857718e-03 1.47816149e+01] [ 1.54093202e-02 2.24682376e-05 9.99881269e-01 1.29720917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.0192541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:838.00, Y:14.79, Z:12.97 [[ 9.61879231e-01 -2.73072746e-01 -1.48195859e-02 8.38000963e+02] [ 2.73040102e-01 9.61993386e-01 -4.22226382e-03 1.47915221e+01] [ 1.54093288e-02 1.49666304e-05 9.99881269e-01 1.29702314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.0492541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:838.03, Y:14.80, Z:12.97 [[ 9.61919732e-01 -2.72930108e-01 -1.48183914e-02 8.38027972e+02] [ 2.72897382e-01 9.62033864e-01 -4.22645166e-03 1.48005476e+01] [ 1.54093203e-02 2.16070177e-05 9.99881269e-01 1.29691290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.0792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:838.05, Y:14.81, Z:12.97 [[ 9.62201932e-01 -2.71933611e-01 -1.48173565e-02 8.38054340e+02] [ 2.71900712e-01 9.62316013e-01 -4.23007706e-03 1.48086032e+01] [ 1.54092795e-02 4.13385501e-05 9.99881269e-01 1.29707476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.1092541539999 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:838.08, Y:14.82, Z:12.97 [[ 9.62458718e-01 -2.71023379e-01 -1.48169984e-02 8.38081672e+02] [ 2.70990353e-01 9.62572763e-01 -4.23133105e-03 1.48196082e+01] [ 1.54092287e-02 5.72178525e-05 9.99881269e-01 1.29679315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.1392541539999 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:838.11, Y:14.83, Z:12.97 [[ 9.62764817e-01 -2.69934055e-01 -1.48159465e-02 8.38108144e+02] [ 2.69900843e-01 9.62878808e-01 -4.23501096e-03 1.48285478e+01] [ 1.54091346e-02 7.84831090e-05 9.99881269e-01 1.29679745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.1692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:838.14, Y:14.84, Z:12.97 [[ 9.63207675e-01 -2.68349581e-01 -1.48147530e-02 8.38135545e+02] [ 2.68316117e-01 9.63321593e-01 -4.23918192e-03 1.48374201e+01] [ 1.54089541e-02 1.08175569e-04 9.99881269e-01 1.29702695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.1992541539998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:838.16, Y:14.85, Z:12.97 [[ 9.63337545e-01 -2.67883051e-01 -1.48137128e-02 8.38161947e+02] [ 2.67849476e-01 9.63451429e-01 -4.24281368e-03 1.48466814e+01] [ 1.54088707e-02 1.19416510e-04 9.99881269e-01 1.29681167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.2292541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:838.19, Y:14.86, Z:12.97 [[ 9.63605971e-01 -2.66915899e-01 -1.48133444e-02 8.38187696e+02] [ 2.66882190e-01 9.63719816e-01 -4.24409947e-03 1.48552166e+01] [ 1.54087312e-02 1.36221788e-04 9.99881269e-01 1.29682857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.2592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:838.21, Y:14.87, Z:12.97 [[ 9.62517805e-01 -2.70813691e-01 -1.48128345e-02 8.38208557e+02] [ 2.70780415e-01 9.62631778e-01 -4.24587852e-03 1.48691855e+01] [ 1.54091472e-02 7.57082027e-05 9.99881269e-01 1.29656903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.2892541539999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:838.24, Y:14.87, Z:12.97 [[ 9.64072875e-01 -2.65228408e-01 -1.47439306e-02 8.38242677e+02] [ 2.65190797e-01 9.64185521e-01 -4.48571755e-03 1.48740311e+01] [ 1.54056242e-02 4.14603901e-04 9.99881240e-01 1.29685471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.3192541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:838.27, Y:14.88, Z:12.97 [[ 9.64226213e-01 -2.64666616e-01 -1.48119178e-02 8.38269979e+02] [ 2.64632570e-01 9.64339956e-01 -4.24870067e-03 1.48834294e+01] [ 1.54082134e-02 1.76992670e-04 9.99881271e-01 1.29719071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.3492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:838.30, Y:14.89, Z:12.97 [[ 9.64356288e-01 -2.64192331e-01 -1.48108576e-02 8.38296613e+02] [ 2.64158173e-01 9.64469998e-01 -4.25239350e-03 1.48913870e+01] [ 1.54080775e-02 1.88413329e-04 9.99881271e-01 1.29731348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.3792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:838.32, Y:14.90, Z:12.98 [[ 9.64475789e-01 -2.63755763e-01 -1.48104824e-02 8.38324117e+02] [ 2.63721534e-01 9.64589477e-01 -4.25369983e-03 1.49003485e+01] [ 1.54079733e-02 1.96747370e-04 9.99881271e-01 1.29757844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.4092541539999 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:838.35, Y:14.91, Z:12.97 [[ 9.64334521e-01 -2.64271854e-01 -1.48094370e-02 8.38350333e+02] [ 2.64237630e-01 9.64448210e-01 -4.25733621e-03 1.49095151e+01] [ 1.54080292e-02 1.92285744e-04 9.99881271e-01 1.29735462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.4392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:838.37, Y:14.92, Z:12.97 [[ 9.63225683e-01 -2.68285295e-01 -1.48082385e-02 8.38371340e+02] [ 2.68251480e-01 9.63339495e-01 -4.26150077e-03 1.49217715e+01] [ 1.54086590e-02 1.32455087e-04 9.99881271e-01 1.29706932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.4692541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:838.40, Y:14.93, Z:12.98 [[ 9.65058153e-01 -2.61620553e-01 -1.47461394e-02 8.38404045e+02] [ 2.61582656e-01 9.65170696e-01 -4.47683360e-03 1.49262243e+01] [ 1.54037733e-02 4.63070465e-04 9.99881248e-01 1.29763128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.4992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:838.43, Y:14.93, Z:12.98 [[ 9.65335051e-01 -2.60593535e-01 -1.48070715e-02 8.38431837e+02] [ 2.60558755e-01 9.65448571e-01 -4.26530840e-03 1.49340798e+01] [ 1.54069778e-02 2.59339597e-04 9.99881272e-01 1.29765282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.5292541539999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:838.46, Y:14.94, Z:12.98 [[ 9.65239853e-01 -2.60946102e-01 -1.48039702e-02 8.38459338e+02] [ 2.60911199e-01 9.65353335e-01 -4.27606801e-03 1.49427876e+01] [ 1.54068853e-02 2.64909639e-04 9.99881272e-01 1.29754187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.5592541539999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:838.49, Y:14.95, Z:12.97 [[ 9.65478680e-01 -2.60060965e-01 -1.48058525e-02 8.38487540e+02] [ 2.60026057e-01 9.65592161e-01 -4.26954060e-03 1.49509212e+01] [ 1.54067560e-02 2.72242963e-04 9.99881272e-01 1.29745951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.5892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:838.51, Y:14.96, Z:12.98 [[ 9.65663023e-01 -2.59375683e-01 -1.48047878e-02 8.38514325e+02] [ 2.59340639e-01 9.65776461e-01 -4.27322939e-03 1.49583760e+01] [ 1.54064874e-02 2.87016484e-04 9.99881272e-01 1.29758371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.6192541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:838.54, Y:14.97, Z:12.98 [[ 9.65652714e-01 -2.59414082e-01 -1.48044114e-02 8.38542428e+02] [ 2.59379023e-01 9.65766147e-01 -4.27453288e-03 1.49664885e+01] [ 1.54064734e-02 2.87760511e-04 9.99881272e-01 1.29762345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.6492541539999 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:838.57, Y:14.97, Z:12.97 [[ 9.65410326e-01 -2.60314739e-01 -1.48033233e-02 8.38570275e+02] [ 2.60279728e-01 9.65523775e-01 -4.27829809e-03 1.49746728e+01] [ 1.54066646e-02 2.77308214e-04 9.99881272e-01 1.29748445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.6792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:838.60, Y:14.98, Z:12.98 [[ 9.65417081e-01 -2.60289750e-01 -1.48022180e-02 8.38598238e+02] [ 2.60254677e-01 9.65530510e-01 -4.28211871e-03 1.49817531e+01] [ 1.54065847e-02 2.81684089e-04 9.99881272e-01 1.29780192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.7092541539998 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:838.62, Y:14.99, Z:12.97 [[ 9.65144002e-01 -2.61300561e-01 -1.48011159e-02 8.38624724e+02] [ 2.61265548e-01 9.65257450e-01 -4.28592475e-03 1.49896136e+01] [ 1.54068019e-02 2.69512905e-04 9.99881272e-01 1.29746989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.7392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:838.65, Y:15.00, Z:12.98 [[ 9.65018794e-01 -2.61762613e-01 -1.48007251e-02 8.38652861e+02] [ 2.61727634e-01 9.65132253e-01 -4.28727398e-03 1.49961044e+01] [ 1.54069052e-02 2.63541221e-04 9.99881272e-01 1.29800021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.7692541539999 meters Centerline goodness : 0.997681 Centerline is valid? [True, True] Translation: X:838.68, Y:15.01, Z:12.98 [[ 9.64407668e-01 -2.64005342e-01 -1.47996399e-02 8.38680453e+02] [ 2.63970569e-01 9.64521190e-01 -4.29101662e-03 1.50054316e+01] [ 1.54074176e-02 2.31619962e-04 9.99881272e-01 1.29752820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.7992541539999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:838.71, Y:15.01, Z:12.98 [[ 9.64666797e-01 -2.63057350e-01 -1.47919278e-02 8.38708058e+02] [ 2.63022058e-01 9.64780159e-01 -4.31760181e-03 1.50110240e+01] [ 1.54067353e-02 2.74443809e-04 9.99881272e-01 1.29819032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.8292541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:838.73, Y:15.02, Z:12.98 [[ 9.63352641e-01 -2.67829629e-01 -1.47979207e-02 8.38731016e+02] [ 2.67795216e-01 9.63466273e-01 -4.29696344e-03 1.50215866e+01] [ 1.54081516e-02 1.76678712e-04 9.99881272e-01 1.29775026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.8592541539999 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:838.76, Y:15.03, Z:12.98 [[ 9.64408617e-01 -2.64004656e-01 -1.47499163e-02 8.38763462e+02] [ 2.63967265e-01 9.64521318e-01 -4.46199734e-03 1.50258943e+01] [ 1.54045968e-02 4.09693615e-04 9.99881258e-01 1.29811137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.8892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:838.79, Y:15.04, Z:12.98 [[ 9.63405092e-01 -2.67640960e-01 -1.47967991e-02 8.38785276e+02] [ 2.67606467e-01 9.63518699e-01 -4.30069507e-03 1.50370237e+01] [ 1.54080348e-02 1.83592401e-04 9.99881272e-01 1.29774677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.9192541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:838.82, Y:15.04, Z:12.98 [[ 9.64881541e-01 -2.62271779e-01 -1.47352010e-02 8.38818545e+02] [ 2.62233419e-01 9.64993924e-01 -4.51218142e-03 1.50408623e+01] [ 1.54027973e-02 4.89658406e-04 9.99881250e-01 1.29820336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.9492541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:838.85, Y:15.05, Z:12.98 [[ 9.64806357e-01 -2.62544818e-01 -1.47956636e-02 8.38845998e+02] [ 2.62509669e-01 9.64919762e-01 -4.30435032e-03 1.50488174e+01] [ 1.54067130e-02 2.68859806e-04 9.99881273e-01 1.29825544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.9792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:838.87, Y:15.06, Z:12.98 [[ 9.63952727e-01 -2.65661938e-01 -1.47944299e-02 8.38868552e+02] [ 2.65627090e-01 9.64066224e-01 -4.30858645e-03 1.50604333e+01] [ 1.54074376e-02 2.23472292e-04 9.99881273e-01 1.29788188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.0092541539999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:838.90, Y:15.07, Z:12.98 [[ 9.65624313e-01 -2.59523340e-01 -1.47418689e-02 8.38902040e+02] [ 2.59485017e-01 9.65736701e-01 -4.48879302e-03 1.50653660e+01] [ 1.54017104e-02 5.09193566e-04 9.99881257e-01 1.29817043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.0392541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:838.92, Y:15.08, Z:12.98 [[ 9.64714210e-01 -2.62883304e-01 -1.47939907e-02 8.38923012e+02] [ 2.62848110e-01 9.64827599e-01 -4.30988200e-03 1.50769287e+01] [ 1.54066466e-02 2.69231904e-04 9.99881274e-01 1.29779484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.0692541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:838.96, Y:15.08, Z:12.98 [[ 9.66213759e-01 -2.57320650e-01 -1.47327778e-02 8.38956456e+02] [ 2.57281601e-01 9.66325903e-01 -4.51961345e-03 1.50806879e+01] [ 1.53996547e-02 5.76440027e-04 9.99881252e-01 1.29837862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.0992541539999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:838.98, Y:15.09, Z:12.98 [[ 9.66353605e-01 -2.56791492e-01 -1.47932388e-02 8.38983539e+02] [ 2.56755548e-01 9.66466758e-01 -4.31220023e-03 1.50887521e+01] [ 1.54045098e-02 3.68864113e-04 9.99881275e-01 1.29817323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.1292541539999 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:839.01, Y:15.10, Z:12.98 [[ 9.66666363e-01 -2.55611646e-01 -1.47928526e-02 8.39010287e+02] [ 2.55575543e-01 9.66779466e-01 -4.31352463e-03 1.50959133e+01] [ 1.54040132e-02 3.89047837e-04 9.99881275e-01 1.29821090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.1592541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:839.04, Y:15.10, Z:12.99 [[ 9.66909419e-01 -2.54690763e-01 -1.47916094e-02 8.39038542e+02] [ 2.54654488e-01 9.67022465e-01 -4.31778325e-03 1.51031103e+01] [ 1.54035181e-02 4.08155561e-04 9.99881275e-01 1.29864222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.1892541539999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:839.07, Y:15.11, Z:12.99 [[ 9.67176974e-01 -2.53672903e-01 -1.47904997e-02 8.39065490e+02] [ 2.53636451e-01 9.67289964e-01 -4.32158122e-03 1.51107613e+01] [ 1.54029700e-02 4.28323989e-04 9.99881275e-01 1.29875207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.2192541539998 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:839.09, Y:15.12, Z:12.99 [[ 9.67266522e-01 -2.53331274e-01 -1.47899112e-02 8.39092181e+02] [ 2.53294751e-01 9.67379489e-01 -4.32359434e-03 1.51191299e+01] [ 1.54027584e-02 4.35861173e-04 9.99881275e-01 1.29864674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.2492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:839.12, Y:15.13, Z:12.99 [[ 9.67595377e-01 -2.52072373e-01 -1.47886563e-02 8.39118851e+02] [ 2.52035638e-01 9.67708276e-01 -4.32788265e-03 1.51270283e+01] [ 1.54020447e-02 4.60370839e-04 9.99881275e-01 1.29890032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.2792541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:839.14, Y:15.14, Z:12.99 [[ 9.68052738e-01 -2.50310214e-01 -1.47882681e-02 8.39144775e+02] [ 2.50273253e-01 9.68165563e-01 -4.32920859e-03 1.51364831e+01] [ 1.54011370e-02 4.89794273e-04 9.99881275e-01 1.29871317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.3092541539999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:839.18, Y:15.14, Z:12.98 [[ 9.68871268e-01 -2.47123024e-01 -1.47877311e-02 8.39175280e+02] [ 2.47085663e-01 9.68983961e-01 -4.33104213e-03 1.51440855e+01] [ 1.53993745e-02 5.42385932e-04 9.99881275e-01 1.29832489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.3392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:839.20, Y:15.15, Z:12.99 [[ 9.68794132e-01 -2.47423361e-01 -1.48192859e-02 8.39201421e+02] [ 2.47387685e-01 9.68907374e-01 -4.22298220e-03 1.51542025e+01] [ 1.54033798e-02 4.25091554e-04 9.99881271e-01 1.29864315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.3692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:839.23, Y:15.16, Z:12.99 [[ 9.69328288e-01 -2.45324081e-01 -1.47906849e-02 8.39227586e+02] [ 2.45286668e-01 9.69440963e-01 -4.32079155e-03 1.51625835e+01] [ 1.53986900e-02 5.60307650e-04 9.99881276e-01 1.29874016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.3992541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:839.26, Y:15.17, Z:12.99 [[ 9.69669092e-01 -2.43973696e-01 -1.47881044e-02 8.39256117e+02] [ 2.43935992e-01 9.69781670e-01 -4.32960559e-03 1.51712012e+01] [ 1.53975424e-02 5.90933822e-04 9.99881276e-01 1.29868939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.4292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:839.28, Y:15.18, Z:12.99 [[ 9.69805862e-01 -2.43428834e-01 -1.47983930e-02 8.39281321e+02] [ 2.43391601e-01 9.69918598e-01 -4.29447535e-03 1.51798569e+01] [ 1.53986357e-02 5.63002795e-04 9.99881275e-01 1.29880694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.4592541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:839.31, Y:15.19, Z:12.99 [[ 9.70324881e-01 -2.41352411e-01 -1.47864585e-02 8.39308290e+02] [ 2.41314318e-01 9.70437327e-01 -4.33518177e-03 1.51894495e+01] [ 1.53956378e-02 6.38350584e-04 9.99881276e-01 1.29883902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.4892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:839.33, Y:15.20, Z:12.99 [[ 9.70560556e-01 -2.40403004e-01 -1.47852272e-02 8.39333554e+02] [ 2.40364737e-01 9.70672943e-01 -4.33937722e-03 1.51976929e+01] [ 1.53948193e-02 6.57781135e-04 9.99881276e-01 1.29883197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.5192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:839.36, Y:15.21, Z:12.99 [[ 9.70711737e-01 -2.39791861e-01 -1.47846939e-02 8.39360478e+02] [ 2.39753496e-01 9.70824091e-01 -4.34119336e-03 1.52077451e+01] [ 1.53943198e-02 6.69365295e-04 9.99881276e-01 1.29886326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.5492541539999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:839.39, Y:15.22, Z:12.99 [[ 9.70626514e-01 -2.40136656e-01 -1.47836384e-02 8.39386906e+02] [ 2.40098276e-01 9.70738863e-01 -4.34478491e-03 1.52163491e+01] [ 1.53943944e-02 6.67637351e-04 9.99881276e-01 1.29877392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.5792541539998 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:839.41, Y:15.22, Z:12.99 [[ 9.70635782e-01 -2.40099269e-01 -1.47824099e-02 8.39413741e+02] [ 2.40060821e-01 9.70748108e-01 -4.34896052e-03 1.52246584e+01] [ 1.53941787e-02 6.72579241e-04 9.99881276e-01 1.29888792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.6092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:839.44, Y:15.23, Z:12.99 [[ 9.70605468e-01 -2.40221810e-01 -1.47820303e-02 8.39440825e+02] [ 2.40183356e-01 9.70717792e-01 -4.35025043e-03 1.52332058e+01] [ 1.53942048e-02 6.71979205e-04 9.99881276e-01 1.29926363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.6392541539999 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:839.47, Y:15.24, Z:12.99 [[ 9.70530246e-01 -2.40525600e-01 -1.47809562e-02 8.39467874e+02] [ 2.40487126e-01 9.70642563e-01 -4.35389694e-03 1.52419350e+01] [ 1.53942489e-02 6.70958996e-04 9.99881276e-01 1.29935171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.6692541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:839.49, Y:15.25, Z:12.99 [[ 9.70345111e-01 -2.41271476e-01 -1.47796942e-02 8.39494695e+02] [ 2.41233024e-01 9.70457436e-01 -4.35817673e-03 1.52508311e+01] [ 1.53945678e-02 6.63585164e-04 9.99881276e-01 1.29925353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.6992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:839.52, Y:15.26, Z:12.99 [[ 9.70337543e-01 -2.41301991e-01 -1.47784111e-02 8.39520869e+02] [ 2.41263477e-01 9.70449846e-01 -4.36252335e-03 1.52592868e+01] [ 1.53943923e-02 6.67629357e-04 9.99881276e-01 1.29942907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.7292541539999 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:839.55, Y:15.27, Z:12.99 [[ 9.70154966e-01 -2.42035024e-01 -1.47780138e-02 8.39547632e+02] [ 2.41996573e-01 9.70267291e-01 -4.36386851e-03 1.52691954e+01] [ 1.53948325e-02 6.57399993e-04 9.99881276e-01 1.29916218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.7592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:839.58, Y:15.28, Z:13.00 [[ 9.70071893e-01 -2.42367841e-01 -1.47767747e-02 8.39575349e+02] [ 2.42329365e-01 9.70184209e-01 -4.36806052e-03 1.52783868e+01] [ 1.53948708e-02 6.56486309e-04 9.99881276e-01 1.29950355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.7892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:839.60, Y:15.29, Z:12.99 [[ 9.69897761e-01 -2.43063805e-01 -1.47756486e-02 8.39601259e+02] [ 2.43025352e-01 9.70010085e-01 -4.37186623e-03 1.52874015e+01] [ 1.53951706e-02 6.49406048e-04 9.99881276e-01 1.29946815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.8192541539999 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:839.63, Y:15.30, Z:12.99 [[ 9.69698433e-01 -2.43857839e-01 -1.47750909e-02 8.39628218e+02] [ 2.43819449e-01 9.69810779e-01 -4.37375015e-03 1.52960428e+01] [ 1.53956157e-02 6.38764128e-04 9.99881276e-01 1.29928783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.8492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:839.66, Y:15.30, Z:13.00 [[ 9.69621694e-01 -2.44162867e-01 -1.47738225e-02 8.39655506e+02] [ 2.44124448e-01 9.69734029e-01 -4.37803041e-03 1.53044967e+01] [ 1.53956309e-02 6.38381988e-04 9.99881276e-01 1.29957440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.8792541539999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:839.68, Y:15.31, Z:12.99 [[ 9.69509588e-01 -2.44607698e-01 -1.47727210e-02 8.39681745e+02] [ 2.44569274e-01 9.69621921e-01 -4.38174404e-03 1.53143640e+01] [ 1.53957625e-02 6.35189195e-04 9.99881276e-01 1.29931066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.9092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:839.71, Y:15.32, Z:13.00 [[ 9.69467012e-01 -2.44776412e-01 -1.47723309e-02 8.39708930e+02] [ 2.44737987e-01 9.69579345e-01 -4.38305886e-03 1.53234230e+01] [ 1.53958164e-02 6.33880439e-04 9.99881276e-01 1.29957398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.9392541539999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:839.74, Y:15.33, Z:12.99 [[ 9.69197166e-01 -2.45842765e-01 -1.47712015e-02 8.39735546e+02] [ 2.45804406e-01 9.69309522e-01 -4.38686165e-03 1.53328623e+01] [ 1.53963445e-02 6.20907462e-04 9.99881276e-01 1.29928282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.9692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:839.76, Y:15.34, Z:12.99 [[ 9.68870213e-01 -2.47128173e-01 -1.47708025e-02 8.39762047e+02] [ 2.47089943e-01 9.68982613e-01 -4.38820500e-03 1.53417704e+01] [ 1.53970998e-02 6.01884372e-04 9.99881276e-01 1.29939262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.9992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:839.79, Y:15.35, Z:12.99 [[ 9.68691593e-01 -2.47827479e-01 -1.47695326e-02 8.39788665e+02] [ 2.47789265e-01 9.68803998e-01 -4.39247486e-03 1.53502542e+01] [ 1.53973582e-02 5.95221843e-04 9.99881276e-01 1.29934644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.0292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:839.82, Y:15.36, Z:12.99 [[ 9.68448452e-01 -2.48775939e-01 -1.47691394e-02 8.39815157e+02] [ 2.48737815e-01 9.68560888e-01 -4.39379659e-03 1.53588286e+01] [ 1.53978816e-02 5.81522039e-04 9.99881276e-01 1.29935830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.0592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:839.84, Y:15.37, Z:12.99 [[ 9.68212129e-01 -2.49694126e-01 -1.47687507e-02 8.39841672e+02] [ 2.49656088e-01 9.68324595e-01 -4.39510275e-03 1.53674945e+01] [ 1.53983758e-02 5.68283272e-04 9.99881276e-01 1.29937981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.0892541539998 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:839.87, Y:15.38, Z:12.99 [[ 9.67986480e-01 -2.50567547e-01 -1.47675157e-02 8.39868479e+02] [ 2.50529548e-01 9.68098958e-01 -4.39924825e-03 1.53763874e+01] [ 1.53987254e-02 5.58713789e-04 9.99881276e-01 1.29936355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.1192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:839.90, Y:15.39, Z:13.00 [[ 9.67615009e-01 -2.51998316e-01 -1.47662710e-02 8.39896071e+02] [ 2.51960420e-01 9.67727522e-01 -4.40342239e-03 1.53861231e+01] [ 1.53993818e-02 5.40301767e-04 9.99881277e-01 1.29959112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.1492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:839.92, Y:15.39, Z:13.00 [[ 9.67366566e-01 -2.52950424e-01 -1.47651840e-02 8.39922427e+02] [ 2.52912582e-01 9.67479097e-01 -4.40706419e-03 1.53945833e+01] [ 1.53997756e-02 5.28945746e-04 9.99881277e-01 1.29968982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.1792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:839.95, Y:15.40, Z:13.00 [[ 9.67021363e-01 -2.54267007e-01 -1.47639136e-02 8.39949298e+02] [ 2.54229254e-01 9.67133924e-01 -4.41131590e-03 1.54030769e+01] [ 1.54003338e-02 5.12417969e-04 9.99881277e-01 1.29979663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.2092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:839.98, Y:15.41, Z:13.00 [[ 9.66582959e-01 -2.55928601e-01 -1.47626325e-02 8.39976200e+02] [ 2.55890976e-01 9.66695563e-01 -4.41559884e-03 1.54113948e+01] [ 1.54010494e-02 4.90418140e-04 9.99881277e-01 1.29985897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.2392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:840.00, Y:15.42, Z:13.00 [[ 9.66375732e-01 -2.56709993e-01 -1.47622362e-02 8.40002906e+02] [ 2.56672439e-01 9.66488360e-01 -4.41692357e-03 1.54199255e+01] [ 1.54013979e-02 4.79348586e-04 9.99881277e-01 1.29997914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.2692541539999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:840.03, Y:15.43, Z:13.00 [[ 9.65449289e-01 -2.60172605e-01 -1.47609424e-02 8.40027662e+02] [ 2.60135389e-01 9.65562029e-01 -4.42124302e-03 1.54312719e+01] [ 1.54028918e-02 4.28642433e-04 9.99881277e-01 1.29969386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.2992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:840.06, Y:15.44, Z:13.00 [[ 9.66304414e-01 -2.56980139e-01 -1.47305114e-02 8.40057041e+02] [ 2.56941003e-01 9.66416507e-01 -4.52274181e-03 1.54386681e+01] [ 1.53980642e-02 5.85473008e-04 9.99881271e-01 1.30005999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.3292541539998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:840.08, Y:15.45, Z:13.00 [[ 9.65580772e-01 -2.59684240e-01 -1.47603449e-02 8.40081406e+02] [ 2.59646937e-01 9.65693483e-01 -4.42318655e-03 1.54498036e+01] [ 1.54026007e-02 4.38465554e-04 9.99881277e-01 1.29977651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.3592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:840.11, Y:15.46, Z:13.00 [[ 9.65561252e-01 -2.59758275e-01 -1.47345323e-02 8.40107642e+02] [ 2.59719667e-01 9.65673527e-01 -4.50930972e-03 1.54588825e+01] [ 1.54000783e-02 5.27166920e-04 9.99881273e-01 1.29987931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.3892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:840.13, Y:15.47, Z:13.00 [[ 9.65791045e-01 -2.58903073e-01 -1.47260233e-02 8.40133813e+02] [ 2.58863934e-01 9.65903139e-01 -4.53766896e-03 1.54685021e+01] [ 1.53987285e-02 5.70403742e-04 9.99881270e-01 1.29982804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.4192541539999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:840.16, Y:15.48, Z:13.00 [[ 9.66647751e-01 -2.55685923e-01 -1.47253190e-02 8.40164242e+02] [ 2.55646375e-01 9.66759701e-01 -4.54001391e-03 1.54752962e+01] [ 1.53966627e-02 6.24119799e-04 9.99881270e-01 1.29997183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.4492541539998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:840.19, Y:15.48, Z:13.00 [[ 9.66831070e-01 -2.54989930e-01 -1.47586215e-02 8.40190361e+02] [ 2.54951992e-01 9.66943569e-01 -4.42904242e-03 1.54844387e+01] [ 1.54001154e-02 5.19395865e-04 9.99881276e-01 1.30006045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.4792541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:840.22, Y:15.50, Z:13.00 [[ 9.66215093e-01 -2.57314184e-01 -1.47582359e-02 8.40215447e+02] [ 2.57276496e-01 9.66327676e-01 -4.43032695e-03 1.54952335e+01] [ 1.54012778e-02 4.83701544e-04 9.99881276e-01 1.30003105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.5092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:840.24, Y:15.50, Z:13.00 [[ 9.66163301e-01 -2.57509897e-01 -1.47353298e-02 8.40240668e+02] [ 2.57471069e-01 9.66275499e-01 -4.50656208e-03 1.55040164e+01] [ 1.53988725e-02 5.60153785e-04 9.99881273e-01 1.29997655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.5392541539999 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:840.27, Y:15.51, Z:13.00 [[ 9.66870362e-01 -2.54842509e-01 -1.47308547e-02 8.40269625e+02] [ 2.54803146e-01 9.66982375e-01 -4.52143397e-03 1.55116761e+01] [ 1.53967305e-02 6.18172366e-04 9.99881272e-01 1.30011176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.5692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:840.30, Y:15.52, Z:13.00 [[ 9.66991322e-01 -2.54381697e-01 -1.47558596e-02 8.40296028e+02] [ 2.54343546e-01 9.67103749e-01 -4.43830151e-03 1.55198062e+01] [ 1.53994698e-02 5.38741405e-04 9.99881276e-01 1.30036585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.5992541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:840.32, Y:15.53, Z:13.00 [[ 9.67140440e-01 -2.53814195e-01 -1.47554597e-02 8.40322352e+02] [ 2.53775958e-01 9.67252838e-01 -4.43963053e-03 1.55290356e+01] [ 1.53991015e-02 5.49165316e-04 9.99881276e-01 1.30044561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.6292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:840.35, Y:15.54, Z:13.00 [[ 9.67401411e-01 -2.52817771e-01 -1.47541754e-02 8.40348114e+02] [ 2.52779353e-01 9.67513747e-01 -4.44389439e-03 1.55376093e+01] [ 1.53983630e-02 5.69478782e-04 9.99881276e-01 1.30048388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.6592541539999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:840.37, Y:15.55, Z:13.00 [[ 9.67566152e-01 -2.52186581e-01 -1.47536189e-02 8.40374728e+02] [ 2.52148061e-01 9.67678454e-01 -4.44574137e-03 1.55471915e+01] [ 1.53979154e-02 5.81452473e-04 9.99881276e-01 1.30031136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.6892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:840.40, Y:15.56, Z:13.01 [[ 9.67926396e-01 -2.50800437e-01 -1.47523908e-02 8.40401060e+02] [ 2.50761695e-01 9.68038621e-01 -4.44981268e-03 1.55564537e+01] [ 1.53968990e-02 6.07756617e-04 9.99881276e-01 1.30056038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.7192541539998 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:840.43, Y:15.57, Z:13.00 [[ 9.68408326e-01 -2.48933159e-01 -1.47511315e-02 8.40427178e+02] [ 2.48894137e-01 9.68520454e-01 -4.45398358e-03 1.55668064e+01] [ 1.53955167e-02 6.41804641e-04 9.99881276e-01 1.30034808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.7492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:840.45, Y:15.58, Z:13.01 [[ 9.68827088e-01 -2.47298438e-01 -1.47498128e-02 8.40453902e+02] [ 2.47259161e-01 9.68939126e-01 -4.45834629e-03 1.55754884e+01] [ 1.53942128e-02 6.72340323e-04 9.99881276e-01 1.30067469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.7792541539999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:840.48, Y:15.59, Z:13.01 [[ 9.69389929e-01 -2.45082884e-01 -1.47494051e-02 8.40479768e+02] [ 2.45043330e-01 9.69501871e-01 -4.45969447e-03 1.55853061e+01] [ 1.53925706e-02 7.08939564e-04 9.99881276e-01 1.30058295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.8092541539999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:840.51, Y:15.59, Z:13.01 [[ 9.69545711e-01 -2.44465962e-01 -1.47481157e-02 8.40505644e+02] [ 2.44426273e-01 9.69657605e-01 -4.46395442e-03 1.55941000e+01] [ 1.53919075e-02 7.23180903e-04 9.99881276e-01 1.30057609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.8392541539998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:840.53, Y:15.60, Z:13.01 [[ 9.69477860e-01 -2.44734955e-01 -1.47472392e-02 8.40532958e+02] [ 2.44695253e-01 9.69589749e-01 -4.46684840e-03 1.56024726e+01] [ 1.53919659e-02 7.21931212e-04 9.99881276e-01 1.30062001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.8692541539999 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:840.56, Y:15.61, Z:13.01 [[ 9.69456869e-01 -2.44818167e-01 -1.47459987e-02 8.40559337e+02] [ 2.44778412e-01 9.69568739e-01 -4.47093951e-03 1.56114630e+01] [ 1.53918266e-02 7.24880861e-04 9.99881276e-01 1.30054742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.8992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:840.59, Y:15.62, Z:13.01 [[ 9.69739717e-01 -2.43695454e-01 -1.47447150e-02 8.40585627e+02] [ 2.43655505e-01 9.69851518e-01 -4.47516931e-03 1.56206262e+01] [ 1.53907626e-02 7.47118445e-04 9.99881276e-01 1.30085289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.9292541539999 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:840.61, Y:15.63, Z:13.01 [[ 9.69666423e-01 -2.43986955e-01 -1.47443180e-02 8.40611891e+02] [ 2.43947020e-01 9.69778229e-01 -4.47647685e-03 1.56295285e+01] [ 1.53909205e-02 7.43856857e-04 9.99881276e-01 1.30071083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.9592541539998 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:840.64, Y:15.64, Z:13.01 [[ 9.69643994e-01 -2.44076155e-01 -1.47430053e-02 8.40638906e+02] [ 2.44036165e-01 9.69755780e-01 -4.48079598e-03 1.56380314e+01] [ 1.53907700e-02 7.46950438e-04 9.99881276e-01 1.30086526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.9892541539999 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:840.66, Y:15.65, Z:13.01 [[ 9.69360932e-01 -2.45198012e-01 -1.47416917e-02 8.40664298e+02] [ 2.45158086e-01 9.69472742e-01 -4.48511361e-03 1.56468406e+01] [ 1.53914092e-02 7.33648995e-04 9.99881276e-01 1.30081730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.0192541539999 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:840.69, Y:15.66, Z:13.01 [[ 9.69166320e-01 -2.45966144e-01 -1.47411222e-02 8.40690183e+02] [ 2.45926278e-01 9.69278150e-01 -4.48698459e-03 1.56550938e+01] [ 1.53918939e-02 7.23405028e-04 9.99881276e-01 1.30066875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.0492541539999 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:840.72, Y:15.66, Z:13.01 [[ 9.68614822e-01 -2.48129084e-01 -1.47405603e-02 8.40717436e+02] [ 2.48089440e-01 9.68726731e-01 -4.48882975e-03 1.56635007e+01] [ 1.53933840e-02 6.90969685e-04 9.99881276e-01 1.30092367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.0792541539998 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:840.74, Y:15.67, Z:13.01 [[ 9.68246999e-01 -2.49560611e-01 -1.47394391e-02 8.40744339e+02] [ 2.49521077e-01 9.68358947e-01 -4.49250809e-03 1.56715530e+01] [ 1.53942208e-02 6.72056752e-04 9.99881276e-01 1.30098877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.1092541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:840.77, Y:15.68, Z:13.01 [[ 9.67764509e-01 -2.51425170e-01 -1.47390427e-02 8.40771576e+02] [ 2.51385831e-01 9.67876526e-01 -4.49380824e-03 1.56796669e+01] [ 1.53954300e-02 6.43761618e-04 9.99881276e-01 1.30126038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.1392541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:840.79, Y:15.69, Z:13.01 [[ 9.66193482e-01 -2.57396490e-01 -1.47377692e-02 8.40793790e+02] [ 2.57357780e-01 9.66305718e-01 -4.49798099e-03 1.56908982e+01] [ 1.53989552e-02 5.53040352e-04 9.99881276e-01 1.30091138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.1692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:840.83, Y:15.70, Z:13.01 [[ 9.66121749e-01 -2.57668461e-01 -1.46877790e-02 8.40825381e+02] [ 2.57627298e-01 9.66233122e-01 -4.66147994e-03 1.56950588e+01] [ 1.53929349e-02 7.19584335e-04 9.99881263e-01 1.30140505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.1992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:840.85, Y:15.71, Z:13.01 [[ 9.64537232e-01 -2.63535134e-01 -1.47363926e-02 8.40849268e+02] [ 2.63497072e-01 9.64649689e-01 -4.50236675e-03 1.57061106e+01] [ 1.54019884e-02 4.59704065e-04 9.99881277e-01 1.30111822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.2292541539999 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:840.88, Y:15.71, Z:13.01 [[ 9.63431038e-01 -2.67553165e-01 -1.46948622e-02 8.40876527e+02] [ 2.67513496e-01 9.63542949e-01 -4.63834439e-03 1.57131442e+01] [ 1.54001346e-02 5.37650989e-04 9.99881266e-01 1.30101389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.2592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:840.90, Y:15.72, Z:13.01 [[ 9.62761592e-01 -2.69952719e-01 -1.46849243e-02 8.40902117e+02] [ 2.69912834e-01 9.62873431e-01 -4.67085488e-03 1.57214467e+01] [ 1.54006334e-02 5.33270134e-04 9.99881261e-01 1.30109119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.2892541539999 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:840.93, Y:15.73, Z:13.01 [[ 9.62583729e-01 -2.70586947e-01 -1.46720269e-02 8.40930150e+02] [ 2.70546493e-01 9.62695374e-01 -4.71300003e-03 1.57285276e+01] [ 1.53999687e-02 5.67191725e-04 9.99881253e-01 1.30118393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.3192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:840.96, Y:15.74, Z:13.02 [[ 9.62192992e-01 -2.71972384e-01 -1.46856323e-02 8.40958398e+02] [ 2.71932769e-01 9.62304928e-01 -4.66852974e-03 1.57360283e+01] [ 1.54017675e-02 4.98521937e-04 9.99881261e-01 1.30154158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.3492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:840.98, Y:15.74, Z:13.02 [[ 9.61955810e-01 -2.72809763e-01 -1.46919352e-02 8.40984750e+02] [ 2.72770560e-01 9.62067886e-01 -4.64793377e-03 1.57446098e+01] [ 1.54026407e-02 4.63579513e-04 9.99881265e-01 1.30151990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.3792541539999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:841.02, Y:15.75, Z:13.02 [[ 9.62770559e-01 -2.69920684e-01 -1.46858542e-02 8.41016286e+02] [ 2.69880843e-01 9.62882414e-01 -4.66779070e-03 1.57498204e+01] [ 1.54006840e-02 5.30580751e-04 9.99881262e-01 1.30159976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.4092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:841.04, Y:15.76, Z:13.02 [[ 9.62278174e-01 -2.71668196e-01 -1.47345542e-02 8.41039976e+02] [ 2.71630988e-01 9.62390918e-01 -4.50863643e-03 1.57603046e+01] [ 1.54052542e-02 3.36200918e-04 9.99881276e-01 1.30179487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.4392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:841.07, Y:15.77, Z:13.02 [[ 9.63197021e-01 -2.68394570e-01 -1.46919217e-02 8.41070576e+02] [ 2.68354856e-01 9.63308917e-01 -4.64776253e-03 1.57658662e+01] [ 1.54002934e-02 5.34062502e-04 9.99881266e-01 1.30170374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.4692541539998 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:841.10, Y:15.78, Z:13.01 [[ 9.63354127e-01 -2.67827850e-01 -1.47332564e-02 8.41098211e+02] [ 2.67790129e-01 9.63466700e-01 -4.51281518e-03 1.57750692e+01] [ 1.54036595e-02 4.02018510e-04 9.99881276e-01 1.30145399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.4992541539999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:841.12, Y:15.78, Z:13.02 [[ 9.63520652e-01 -2.67228215e-01 -1.47321110e-02 8.41124299e+02] [ 2.67190367e-01 9.63633182e-01 -4.51655105e-03 1.57834386e+01] [ 1.54033009e-02 4.15512061e-04 9.99881276e-01 1.30150247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.5292541539999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:841.15, Y:15.79, Z:13.02 [[ 9.63651628e-01 -2.66755546e-01 -1.47315436e-02 8.41151142e+02] [ 2.66717615e-01 9.63764130e-01 -4.51840111e-03 1.57917921e+01] [ 1.54030418e-02 4.25002411e-04 9.99881276e-01 1.30156213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.5592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:841.18, Y:15.80, Z:13.02 [[ 9.63895940e-01 -2.65871465e-01 -1.47302433e-02 8.41179083e+02] [ 2.65833366e-01 9.64008385e-01 -4.52263623e-03 1.57995230e+01] [ 1.54025180e-02 4.43560543e-04 9.99881276e-01 1.30184912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.5892541539998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:841.21, Y:15.81, Z:13.02 [[ 9.63706159e-01 -2.66558610e-01 -1.47291122e-02 8.41205673e+02] [ 2.66520535e-01 9.63818612e-01 -4.52631700e-03 1.58075243e+01] [ 1.54027212e-02 4.36428717e-04 9.99881276e-01 1.30198981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.6192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:841.23, Y:15.82, Z:13.02 [[ 9.63423911e-01 -2.67577019e-01 -1.47277896e-02 8.41232346e+02] [ 2.67538997e-01 9.63536382e-01 -4.53061634e-03 1.58150586e+01] [ 1.54030499e-02 4.24646062e-04 9.99881276e-01 1.30211091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.6492541539999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:841.26, Y:15.82, Z:13.02 [[ 9.62468490e-01 -2.70993611e-01 -1.47264489e-02 8.41259642e+02] [ 2.70955922e-01 9.62581073e-01 -4.53496989e-03 1.58226392e+01] [ 1.54043489e-02 3.74547075e-04 9.99881276e-01 1.30181403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.6792541539999 meters Centerline goodness : 0.999680 Centerline is valid? [True, True] Translation: X:841.29, Y:15.83, Z:13.02 [[ 9.61864493e-01 -2.73129725e-01 -1.47258239e-02 8.41286396e+02] [ 2.73092254e-01 9.61977150e-01 -4.53699863e-03 1.58305907e+01] [ 1.54050953e-02 3.42469447e-04 9.99881276e-01 1.30171395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.7092541539998 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:841.31, Y:15.84, Z:13.02 [[ 9.60798629e-01 -2.76855840e-01 -1.47254285e-02 8.41314114e+02] [ 2.76818787e-01 9.60911423e-01 -4.53828136e-03 1.58379056e+01] [ 1.54062822e-02 2.84099244e-04 9.99881276e-01 1.30199235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.7392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:841.34, Y:15.85, Z:13.02 [[ 9.59465918e-01 -2.81439777e-01 -1.47242668e-02 8.41337198e+02] [ 2.81403205e-01 9.59578869e-01 -4.54204737e-03 1.58479139e+01] [ 1.54074081e-02 2.14483777e-04 9.99881276e-01 1.30246647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.7692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:841.37, Y:15.86, Z:13.03 [[ 9.59002705e-01 -2.83016803e-01 -1.46731437e-02 8.41365567e+02] [ 2.82977881e-01 9.59114882e-01 -4.70758570e-03 1.58550071e+01] [ 1.54055563e-02 3.62412321e-04 9.99881262e-01 1.30254029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.7992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:841.39, Y:15.86, Z:13.03 [[ 9.58127614e-01 -2.85964852e-01 -1.46826308e-02 8.41393497e+02] [ 2.85926745e-01 9.58240066e-01 -4.67685483e-03 1.58611597e+01] [ 1.54069012e-02 2.82866930e-04 9.99881267e-01 1.30274302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.8292541539998 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:841.42, Y:15.87, Z:13.03 [[ 9.58342502e-01 -2.85243707e-01 -1.46859454e-02 8.41424275e+02] [ 2.85205680e-01 9.58454979e-01 -4.66612233e-03 1.58669847e+01] [ 1.54067995e-02 2.83228302e-04 9.99881268e-01 1.30251059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.8592541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:841.45, Y:15.88, Z:13.03 [[ 9.57388724e-01 -2.88426861e-01 -1.47233859e-02 8.41449160e+02] [ 2.88391071e-01 9.57501924e-01 -4.54483089e-03 1.58764315e+01] [ 1.54085216e-02 1.05076829e-04 9.99881276e-01 1.30282242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.8892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:841.47, Y:15.88, Z:13.03 [[ 9.56704296e-01 -2.90690672e-01 -1.46909084e-02 8.41474677e+02] [ 2.90653536e-01 9.56817068e-01 -4.64978498e-03 1.58845061e+01] [ 1.54081610e-02 1.78504807e-04 9.99881271e-01 1.30251181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.9192541539999 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:841.51, Y:15.89, Z:13.03 [[ 9.57500817e-01 -2.88057236e-01 -1.46701693e-02 8.41506601e+02] [ 2.88018764e-01 9.57613149e-01 -4.71671867e-03 1.58900230e+01] [ 1.54070320e-02 2.90977926e-04 9.99881262e-01 1.30264292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.9492541539998 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:841.53, Y:15.90, Z:13.03 [[ 9.57615409e-01 -2.87673519e-01 -1.47198747e-02 8.41534902e+02] [ 2.87637466e-01 9.57728526e-01 -4.55613220e-03 1.58976203e+01] [ 1.54083225e-02 1.29034945e-04 9.99881276e-01 1.30269505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.9792541539999 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:841.56, Y:15.91, Z:13.03 [[ 9.57640654e-01 -2.87589531e-01 -1.47187146e-02 8.41562262e+02] [ 2.87553410e-01 9.57753749e-01 -4.55987675e-03 1.59057336e+01] [ 1.54082769e-02 1.34306765e-04 9.99881276e-01 1.30264043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.0092541539999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:841.59, Y:15.91, Z:13.03 [[ 9.58252701e-01 -2.85543611e-01 -1.47175632e-02 8.41587568e+02] [ 2.85507192e-01 9.58365701e-01 -4.56359008e-03 1.59129497e+01] [ 1.54079118e-02 1.71102381e-04 9.99881276e-01 1.30267130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.0392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:841.62, Y:15.92, Z:13.03 [[ 9.58371693e-01 -2.85145363e-01 -1.46908162e-02 8.41616847e+02] [ 2.85107575e-01 9.58484246e-01 -4.64975567e-03 1.59218703e+01] [ 1.54067722e-02 2.67731233e-04 9.99881273e-01 1.30293390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.0692541539999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:841.64, Y:15.93, Z:13.03 [[ 9.58495161e-01 -2.84728732e-01 -1.47164939e-02 8.41644735e+02] [ 2.84692165e-01 9.58608113e-01 -4.56701333e-03 1.59306818e+01] [ 1.54077104e-02 1.87789661e-04 9.99881277e-01 1.30279446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.0992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:841.67, Y:15.94, Z:13.03 [[ 9.58677411e-01 -2.84114556e-01 -1.47153407e-02 8.41671753e+02] [ 2.84077859e-01 9.58790320e-01 -4.57072610e-03 1.59382267e+01] [ 1.54075361e-02 2.01549371e-04 9.99881277e-01 1.30287017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.1292541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:841.70, Y:15.95, Z:13.03 [[ 9.58401922e-01 -2.85042510e-01 -1.47147302e-02 8.41698698e+02] [ 2.85005892e-01 9.58514857e-01 -4.57269084e-03 1.59470005e+01] [ 1.54076988e-02 1.88690892e-04 9.99881277e-01 1.30303332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.1592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:841.73, Y:15.95, Z:13.03 [[ 9.58756827e-01 -2.83846997e-01 -1.47047506e-02 8.41725842e+02] [ 2.83809747e-01 9.58869555e-01 -4.60476677e-03 1.59538308e+01] [ 1.54069869e-02 2.41500044e-04 9.99881276e-01 1.30312929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.1892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:841.75, Y:15.96, Z:13.03 [[ 9.58631984e-01 -2.84267921e-01 -1.47129021e-02 8.41752905e+02] [ 2.84231121e-01 9.58744860e-01 -4.57857236e-03 1.59616138e+01] [ 1.54074605e-02 2.07301234e-04 9.99881277e-01 1.30328871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.2192541539998 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:841.78, Y:15.97, Z:13.03 [[ 9.58364839e-01 -2.85167328e-01 -1.47115667e-02 8.41779157e+02] [ 2.85130568e-01 9.58477729e-01 -4.58285939e-03 1.59696946e+01] [ 1.54075908e-02 1.97333937e-04 9.99881277e-01 1.30309288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.2492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:841.81, Y:15.98, Z:13.03 [[ 9.58072100e-01 -2.86149319e-01 -1.47111536e-02 8.41806716e+02] [ 2.86112655e-01 9.58185021e-01 -4.58418498e-03 1.59769954e+01] [ 1.54077684e-02 1.82932521e-04 9.99881277e-01 1.30345395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.2792541539999 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:841.83, Y:15.99, Z:13.03 [[ 9.57653781e-01 -2.87546261e-01 -1.47099984e-02 8.41833834e+02] [ 2.87509705e-01 9.57766736e-01 -4.58788877e-03 1.59852616e+01] [ 1.54079774e-02 1.64341727e-04 9.99881277e-01 1.30323767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.3092541539999 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:841.86, Y:15.99, Z:13.04 [[ 9.57482895e-01 -2.88114804e-01 -1.47093889e-02 8.41861643e+02] [ 2.88078285e-01 9.57595862e-01 -4.58984214e-03 1.59930818e+01] [ 1.54080514e-02 1.57239808e-04 9.99881277e-01 1.30353374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.3392541539998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:841.89, Y:16.00, Z:13.03 [[ 9.57157978e-01 -2.89192450e-01 -1.47082457e-02 8.41889838e+02] [ 2.89156002e-01 9.57270968e-01 -4.59350272e-03 1.60004533e+01] [ 1.54081829e-02 1.43730264e-04 9.99881277e-01 1.30343129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.3692541539999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:841.92, Y:16.01, Z:13.03 [[ 9.57057586e-01 -2.89524575e-01 -1.47070960e-02 8.41916371e+02] [ 2.89488109e-01 9.57170570e-01 -4.59718051e-03 1.60084253e+01] [ 1.54081962e-02 1.42237054e-04 9.99881277e-01 1.30331127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.3992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:841.94, Y:16.02, Z:13.04 [[ 9.56641057e-01 -2.90897924e-01 -1.47066893e-02 8.41942121e+02] [ 2.90861601e-01 9.56754087e-01 -4.59848132e-03 1.60175504e+01] [ 1.54083738e-02 1.21484833e-04 9.99881277e-01 1.30363449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.4292541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:841.97, Y:16.02, Z:13.03 [[ 9.57010938e-01 -2.89679805e-01 -1.46859002e-02 8.41970636e+02] [ 2.89642319e-01 9.57123590e-01 -4.66489665e-03 1.60241188e+01] [ 1.54075479e-02 2.10698929e-04 9.99881274e-01 1.30348495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.4592541539998 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:842.00, Y:16.03, Z:13.03 [[ 9.56944214e-01 -2.89899179e-01 -1.47050097e-02 8.41996225e+02] [ 2.89862656e-01 9.57057180e-01 -4.60385983e-03 1.60320185e+01] [ 1.54081903e-02 1.43203869e-04 9.99881277e-01 1.30345954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.4892541539999 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:842.02, Y:16.04, Z:13.04 [[ 9.56851921e-01 -2.90203689e-01 -1.47044365e-02 8.42023328e+02] [ 2.90167174e-01 9.56964889e-01 -4.60568970e-03 1.60394232e+01] [ 1.54082176e-02 1.40218246e-04 9.99881277e-01 1.30356085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.5192541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:842.05, Y:16.05, Z:13.04 [[ 9.56902529e-01 -2.90036839e-01 -1.47031177e-02 8.42051017e+02] [ 2.90000239e-01 9.57015470e-01 -4.60989604e-03 1.60470317e+01] [ 1.54081508e-02 1.47313526e-04 9.99881277e-01 1.30390416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.5492541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:842.08, Y:16.05, Z:13.04 [[ 9.56988655e-01 -2.89752595e-01 -1.47019537e-02 8.42078084e+02] [ 2.89715904e-01 9.57101567e-01 -4.61360544e-03 1.60548150e+01] [ 1.54080671e-02 1.55778260e-04 9.99881277e-01 1.30397789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.5792541539998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:842.11, Y:16.06, Z:13.04 [[ 9.56833608e-01 -2.90264523e-01 -1.46953205e-02 8.42105973e+02] [ 2.90227568e-01 9.56946434e-01 -4.63472866e-03 1.60633553e+01] [ 1.54079318e-02 1.69677015e-04 9.99881276e-01 1.30398578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.6092541539999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:842.13, Y:16.07, Z:13.04 [[ 9.57019062e-01 -2.89652240e-01 -1.47001873e-02 8.42132153e+02] [ 2.89615451e-01 9.57131941e-01 -4.61924065e-03 1.60709656e+01] [ 1.54079922e-02 1.63299983e-04 9.99881277e-01 1.30398020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.6392541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:842.16, Y:16.08, Z:13.04 [[ 9.57296259e-01 -2.88734817e-01 -1.46996096e-02 8.42159848e+02] [ 2.88697891e-01 9.57409094e-01 -4.62107817e-03 1.60791369e+01] [ 1.54078061e-02 1.79994543e-04 9.99881277e-01 1.30416890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.6692541539999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:842.19, Y:16.09, Z:13.04 [[ 9.58039620e-01 -2.86258698e-01 -1.46984412e-02 8.42185417e+02] [ 2.86221424e-01 9.58152341e-01 -4.62479179e-03 1.60870330e+01] [ 1.54072327e-02 2.23725013e-04 9.99881277e-01 1.30410252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.6992541539998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:842.21, Y:16.10, Z:13.04 [[ 9.58549761e-01 -2.84545830e-01 -1.46978601e-02 8.42212666e+02] [ 2.84508326e-01 9.58662405e-01 -4.62663761e-03 1.60954363e+01] [ 1.54067764e-02 2.53198791e-04 9.99881277e-01 1.30423757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.7292541539999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:842.24, Y:16.10, Z:13.04 [[ 9.58875379e-01 -2.83446680e-01 -1.46965310e-02 8.42239999e+02] [ 2.83408982e-01 9.58987958e-01 -4.63085571e-03 1.61045686e+01] [ 1.54063969e-02 2.75284623e-04 9.99881277e-01 1.30410558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.7592541539999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:842.27, Y:16.11, Z:13.04 [[ 9.58794371e-01 -2.83720638e-01 -1.46953734e-02 8.42267230e+02] [ 2.83682916e-01 9.58906942e-01 -4.63452639e-03 1.61132380e+01] [ 1.54064063e-02 2.74731437e-04 9.99881277e-01 1.30414949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.7892541539999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:842.29, Y:16.12, Z:13.04 [[ 9.59307494e-01 -2.81980880e-01 -1.46940481e-02 8.42291681e+02] [ 2.81942890e-01 9.59419975e-01 -4.63872441e-03 1.61237433e+01] [ 1.54057949e-02 3.07080697e-04 9.99881277e-01 1.30425190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.8192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:842.32, Y:16.13, Z:13.04 [[ 9.60555778e-01 -2.77700367e-01 -1.46664152e-02 8.42320975e+02] [ 2.77660540e-01 9.60667626e-01 -4.72614664e-03 1.61309003e+01] [ 1.54020029e-02 4.67442705e-04 9.99881273e-01 1.30419959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.8492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:842.35, Y:16.14, Z:13.04 [[ 9.60799980e-01 -2.76852901e-01 -1.46924895e-02 8.42346122e+02] [ 2.76814236e-01 9.60912231e-01 -4.64364757e-03 1.61415121e+01] [ 1.54038002e-02 3.94526224e-04 9.99881277e-01 1.30425087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.8792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:842.38, Y:16.15, Z:13.04 [[ 9.61709922e-01 -2.73676677e-01 -1.46663665e-02 8.42375737e+02] [ 2.73636382e-01 9.61821602e-01 -4.72619225e-03 1.61484248e+01] [ 1.53998767e-02 5.31974512e-04 9.99881273e-01 1.30418694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.9092541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:842.40, Y:16.16, Z:13.04 [[ 9.61779204e-01 -2.73431774e-01 -1.46910838e-02 8.42402397e+02] [ 2.73392642e-01 9.61891293e-01 -4.64806898e-03 1.61567792e+01] [ 1.54021553e-02 4.53981885e-04 9.99881277e-01 1.30384497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.9392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:842.43, Y:16.16, Z:13.04 [[ 9.61824826e-01 -2.73271274e-01 -1.46906611e-02 8.42429666e+02] [ 2.73232103e-01 9.61936901e-01 -4.64940433e-03 1.61649445e+01] [ 1.54020377e-02 4.57952266e-04 9.99881277e-01 1.30399056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.9692541539998 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:842.45, Y:16.17, Z:13.04 [[ 9.60739449e-01 -2.77063038e-01 -1.46895890e-02 8.42454830e+02] [ 2.77024257e-01 9.60851660e-01 -4.65278907e-03 1.61742855e+01] [ 1.54036319e-02 4.00745521e-04 9.99881277e-01 1.30433300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.9992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:842.48, Y:16.18, Z:13.04 [[ 9.60451122e-01 -2.78062167e-01 -1.46653916e-02 8.42481490e+02] [ 2.78022337e-01 9.60562968e-01 -4.72914823e-03 1.61822070e+01] [ 1.54020293e-02 4.64809290e-04 9.99881274e-01 1.30448845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.0292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:842.51, Y:16.19, Z:13.05 [[ 9.59736557e-01 -2.80518763e-01 -1.46616830e-02 8.42509607e+02] [ 2.80479041e-01 9.59848442e-01 -4.74084629e-03 1.61898282e+01] [ 1.54028899e-02 4.37668721e-04 9.99881273e-01 1.30457672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.0592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:842.54, Y:16.20, Z:13.05 [[ 9.59864652e-01 -2.80079930e-01 -1.46656982e-02 8.42538013e+02] [ 2.80040350e-01 9.59976587e-01 -4.72818723e-03 1.61955152e+01] [ 1.54029973e-02 4.31432534e-04 9.99881274e-01 1.30455940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.0892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:842.56, Y:16.21, Z:13.04 [[ 9.58645352e-01 -2.84224159e-01 -1.46872731e-02 8.42563682e+02] [ 2.84186103e-01 9.58757812e-01 -4.66019093e-03 1.62050494e+01] [ 1.54060767e-02 2.93551460e-04 9.99881276e-01 1.30449476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.1192541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:842.59, Y:16.21, Z:13.04 [[ 9.57497211e-01 -2.88069647e-01 -1.46618260e-02 8.42590191e+02] [ 2.88030816e-01 9.57609408e-01 -4.74029269e-03 1.62122834e+01] [ 1.54058370e-02 3.15759319e-04 9.99881273e-01 1.30436388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.1492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:842.62, Y:16.22, Z:13.04 [[ 9.57203118e-01 -2.89046000e-01 -1.46492560e-02 8.42617098e+02] [ 2.89006678e-01 9.57315148e-01 -4.77982788e-03 1.62195406e+01] [ 1.54055448e-02 3.41533343e-04 9.99881269e-01 1.30444375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.1792541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:842.65, Y:16.23, Z:13.04 [[ 9.56500490e-01 -2.91362566e-01 -1.46515454e-02 8.42645193e+02] [ 2.91323626e-01 9.56612653e-01 -4.77264025e-03 1.62270340e+01] [ 1.54064224e-02 2.96691427e-04 9.99881270e-01 1.30429459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.2092541539998 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:842.67, Y:16.24, Z:13.04 [[ 9.55864921e-01 -2.93440812e-01 -1.46540772e-02 8.42670992e+02] [ 2.93402237e-01 9.55977209e-01 -4.76469386e-03 1.62356187e+01] [ 1.54071195e-02 2.54864677e-04 9.99881271e-01 1.30409879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.2392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:842.70, Y:16.24, Z:13.05 [[ 9.56275384e-01 -2.92101129e-01 -1.46396786e-02 8.42702251e+02] [ 2.92061707e-01 9.56387383e-01 -4.80977384e-03 1.62422072e+01] [ 1.54061443e-02 3.23778799e-04 9.99881266e-01 1.30456756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.2692541539999 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:842.73, Y:16.25, Z:13.05 [[ 9.55678067e-01 -2.94047114e-01 -1.46876250e-02 8.42728842e+02] [ 2.94010225e-01 9.55790917e-01 -4.65954879e-03 1.62485279e+01] [ 1.54084255e-02 1.34716653e-04 9.99881274e-01 1.30472156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.2992541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:842.76, Y:16.26, Z:13.05 [[ 9.54827995e-01 -2.96796304e-01 -1.46783114e-02 8.42756317e+02] [ 2.96759291e-01 9.54940804e-01 -4.68870563e-03 1.62575581e+01] [ 1.54085090e-02 1.20982098e-04 9.99881275e-01 1.30452358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.3292541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:842.78, Y:16.26, Z:13.05 [[ 9.54967345e-01 -2.96347941e-01 -1.46720079e-02 8.42783296e+02] [ 2.96310572e-01 9.55080036e-01 -4.70842915e-03 1.62635037e+01] [ 1.54082751e-02 1.48925043e-04 9.99881274e-01 1.30498221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.3592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:842.81, Y:16.27, Z:13.05 [[ 9.54260554e-01 -2.98615794e-01 -1.46766326e-02 8.42811288e+02] [ 2.98578915e-01 9.54373406e-01 -4.69396906e-03 1.62703744e+01] [ 1.54086811e-02 9.71364844e-05 9.99881275e-01 1.30522448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.3892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:842.84, Y:16.28, Z:13.05 [[ 9.53901532e-01 -2.99760734e-01 -1.46754490e-02 8.42837851e+02] [ 2.99723934e-01 9.54014411e-01 -4.69766668e-03 1.62778707e+01] [ 1.54087658e-02 8.25281482e-05 9.99881275e-01 1.30534711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.4192541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:842.87, Y:16.29, Z:13.05 [[ 9.52836554e-01 -3.03128971e-01 -1.46741045e-02 8.42865057e+02] [ 3.03092505e-01 9.52949540e-01 -4.70186262e-03 1.62868646e+01] [ 1.54089519e-02 3.24954790e-05 9.99881275e-01 1.30504959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.4492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:842.89, Y:16.29, Z:13.06 [[ 9.53490438e-01 -3.01066109e-01 -1.46691258e-02 8.42892024e+02] [ 3.01029160e-01 9.53603267e-01 -4.71739358e-03 1.62931164e+01] [ 1.54087736e-02 8.21550495e-05 9.99881274e-01 1.30557348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.4792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:842.92, Y:16.30, Z:13.06 [[ 9.53432160e-01 -3.01250422e-01 -1.46730915e-02 8.42919140e+02] [ 3.01213684e-01 9.53545059e-01 -4.70502619e-03 1.63011953e+01] [ 1.54088450e-02 6.61873288e-05 9.99881275e-01 1.30566088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.5092541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:842.95, Y:16.31, Z:13.06 [[ 9.53400331e-01 -3.01351205e-01 -1.46717595e-02 8.42945797e+02] [ 3.01314416e-01 9.53513213e-01 -4.70917613e-03 1.63088959e+01] [ 1.54088324e-02 6.89174394e-05 9.99881275e-01 1.30566030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.5392541539999 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:842.97, Y:16.32, Z:13.05 [[ 9.53416077e-01 -3.01301447e-01 -1.46704133e-02 8.42972746e+02] [ 3.01264588e-01 9.53528936e-01 -4.71336635e-03 1.63175613e+01] [ 1.54088076e-02 7.41232532e-05 9.99881275e-01 1.30546509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.5692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:843.00, Y:16.33, Z:13.05 [[ 9.53305655e-01 -3.01650703e-01 -1.46690713e-02 8.43000072e+02] [ 3.01613821e-01 9.53418506e-01 -4.71753911e-03 1.63272660e+01] [ 1.54088130e-02 7.28620706e-05 9.99881275e-01 1.30533083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.5992541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:843.03, Y:16.33, Z:13.05 [[ 9.54146631e-01 -2.98979724e-01 -1.46741471e-02 8.43025867e+02] [ 2.98942768e-01 9.54259459e-01 -4.70176524e-03 1.63349480e+01] [ 1.54086761e-02 9.94433288e-05 9.99881274e-01 1.30539441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.6292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:843.05, Y:16.34, Z:13.06 [[ 9.54546177e-01 -2.97701982e-01 -1.46671796e-02 8.43052982e+02] [ 2.97664542e-01 9.54658845e-01 -4.72340058e-03 1.63437051e+01] [ 1.54083185e-02 1.42804647e-04 9.99881275e-01 1.30563144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.6592541539999 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:843.08, Y:16.35, Z:13.05 [[ 9.54654112e-01 -2.97355747e-01 -1.46658049e-02 8.43079306e+02] [ 2.97318201e-01 9.54766745e-01 -4.72766507e-03 1.63528260e+01] [ 1.54082212e-02 1.52874160e-04 9.99881275e-01 1.30531607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.6892541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:843.11, Y:16.36, Z:13.06 [[ 9.54720567e-01 -2.97142333e-01 -1.46653794e-02 8.43106697e+02] [ 2.97104742e-01 9.54833184e-01 -4.72898473e-03 1.63614799e+01] [ 1.54081725e-02 1.57705225e-04 9.99881275e-01 1.30568716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.7192541539998 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:843.13, Y:16.37, Z:13.06 [[ 9.54537546e-01 -2.97729802e-01 -1.46641880e-02 8.43133245e+02] [ 2.97692224e-01 9.54650167e-01 -4.73267614e-03 1.63700327e+01] [ 1.54082283e-02 1.52102322e-04 9.99881275e-01 1.30552702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.7492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:843.16, Y:16.38, Z:13.06 [[ 9.54430333e-01 -2.98073335e-01 -1.46637665e-02 8.43160813e+02] [ 2.98035777e-01 9.54542961e-01 -4.73398198e-03 1.63785646e+01] [ 1.54082689e-02 1.47928968e-04 9.99881275e-01 1.30591494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.7792541539999 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:843.19, Y:16.39, Z:13.06 [[ 9.53532886e-01 -3.00931960e-01 -1.46625470e-02 8.43186275e+02] [ 3.00894682e-01 9.53645607e-01 -4.73775592e-03 1.63864613e+01] [ 1.54086158e-02 1.05723652e-04 9.99881275e-01 1.30576203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.8092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:843.21, Y:16.39, Z:13.06 [[ 9.53154838e-01 -3.02127262e-01 -1.46619430e-02 8.43213529e+02] [ 3.02090096e-01 9.53267596e-01 -4.73962442e-03 1.63945556e+01] [ 1.54087249e-02 8.83681642e-05 9.99881275e-01 1.30605664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.8392541539998 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:843.24, Y:16.40, Z:13.06 [[ 9.52083061e-01 -3.05487991e-01 -1.46605493e-02 8.43239908e+02] [ 3.05451157e-01 9.52195928e-01 -4.74393144e-03 1.64023139e+01] [ 1.54089295e-02 3.85350091e-05 9.99881275e-01 1.30583018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.8692541539999 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:843.27, Y:16.41, Z:13.06 [[ 9.51634005e-01 -3.06884044e-01 -1.46596026e-02 8.43267030e+02] [ 3.06847330e-01 9.51746911e-01 -4.74685532e-03 1.64107533e+01] [ 1.54089656e-02 1.90090268e-05 9.99881275e-01 1.30590180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.8992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:843.29, Y:16.42, Z:13.06 [[ 9.51446109e-01 -3.07466157e-01 -1.46582647e-02 8.43293835e+02] [ 3.07429449e-01 9.51559017e-01 -4.75098324e-03 1.64192963e+01] [ 1.54089705e-02 1.39222925e-05 9.99881275e-01 1.30621022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.9292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:843.32, Y:16.43, Z:13.06 [[ 9.51133189e-01 -3.08432865e-01 -1.46569110e-02 8.43320661e+02] [ 3.08396208e-01 9.51246113e-01 -4.75515566e-03 1.64275908e+01] [ 1.54089759e-02 2.65059869e-06 9.99881275e-01 1.30626380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.9592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:843.35, Y:16.44, Z:13.06 [[ 9.51131100e-01 -3.08439370e-01 -1.46555605e-02 8.43347597e+02] [ 3.08402649e-01 9.51244004e-01 -4.75931431e-03 1.64359394e+01] [ 1.54089739e-02 6.91817501e-06 9.99881275e-01 1.30634087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.9892541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:843.37, Y:16.44, Z:13.06 [[ 9.51350355e-01 -3.07762499e-01 -1.46542131e-02 8.43373490e+02] [ 3.07725634e-01 9.51463212e-01 -4.76345930e-03 1.64441420e+01] [ 1.54089588e-02 2.22416665e-05 9.99881275e-01 1.30638920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.0192541539999 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:843.40, Y:16.45, Z:13.06 [[ 9.51984696e-01 -3.05794719e-01 -1.46536296e-02 8.43401210e+02] [ 3.05757593e-01 9.52097467e-01 -4.76525360e-03 1.64531084e+01] [ 1.54088730e-02 5.59899767e-05 9.99881275e-01 1.30615775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.0492541539999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:843.43, Y:16.46, Z:13.06 [[ 9.52461565e-01 -3.04306216e-01 -1.46524721e-02 8.43427590e+02] [ 3.04268859e-01 9.52574259e-01 -4.76881017e-03 1.64617646e+01] [ 1.54087463e-02 8.38174186e-05 9.99881275e-01 1.30628826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.0792541539998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:843.45, Y:16.47, Z:13.06 [[ 9.53672216e-01 -3.00490683e-01 -1.46511066e-02 8.43453143e+02] [ 3.00452811e-01 9.53784738e-01 -4.77300163e-03 1.64701518e+01] [ 1.54082444e-02 1.49912876e-04 9.99881275e-01 1.30622611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.1092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:843.48, Y:16.48, Z:13.07 [[ 9.54352048e-01 -2.98324538e-01 -1.46505145e-02 8.43479479e+02] [ 2.98286383e-01 9.54464475e-01 -4.77481833e-03 1.64789148e+01] [ 1.54078411e-02 1.86808669e-04 9.99881275e-01 1.30658563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.1392541539999 meters Centerline goodness : 0.999715 Centerline is valid? [True, True] Translation: X:843.51, Y:16.49, Z:13.06 [[ 9.54821200e-01 -2.96819607e-01 -1.46491402e-02 8.43506961e+02] [ 2.96781210e-01 9.54933545e-01 -4.77903120e-03 1.64881057e+01] [ 1.54074655e-02 2.15530761e-04 9.99881275e-01 1.30635880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.1692541539999 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:843.53, Y:16.50, Z:13.06 [[ 9.56119070e-01 -2.92611964e-01 -1.46479287e-02 8.43532583e+02] [ 2.92573016e-01 9.56231225e-01 -4.78274143e-03 1.64967426e+01] [ 1.54062942e-02 2.87281611e-04 9.99881275e-01 1.30632502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.1992541539998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:843.56, Y:16.51, Z:13.06 [[ 9.56680871e-01 -2.90769954e-01 -1.46473279e-02 8.43558992e+02] [ 2.90730762e-01 9.56792941e-01 -4.78458091e-03 1.65054967e+01] [ 1.54056723e-02 3.18888250e-04 9.99881275e-01 1.30647663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.2292541539999 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:843.57, Y:16.52, Z:13.06 [[ 9.54351711e-01 -2.98325840e-01 -1.46459646e-02 8.43570454e+02] [ 2.98287471e-01 9.54464066e-01 -4.78875021e-03 1.65202790e+01] [ 1.54076549e-02 2.01444211e-04 9.99881275e-01 1.30551804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.2592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:843.61, Y:16.53, Z:13.06 [[ 9.57055224e-01 -2.89543904e-01 -1.44784906e-02 8.43608877e+02] [ 2.89496748e-01 9.57164329e-01 -5.29904552e-03 1.65250196e+01] [ 1.53926011e-02 8.80003252e-04 9.99881140e-01 1.30626458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.2892541539999 meters Centerline goodness : 0.999583 Centerline is valid? [True, True] Translation: X:843.64, Y:16.53, Z:13.06 [[ 9.57742708e-01 -2.87256225e-01 -1.45865428e-02 8.43638527e+02] [ 2.87213770e-01 9.57853608e-01 -4.97157964e-03 1.65328691e+01] [ 1.53998899e-02 5.72038190e-04 9.99881251e-01 1.30621256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.3192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:843.67, Y:16.54, Z:13.06 [[ 9.58273939e-01 -2.85478407e-01 -1.45991789e-02 8.43668102e+02] [ 2.85436328e-01 9.58384978e-01 -4.93328913e-03 1.65397111e+01] [ 1.53999812e-02 5.60306397e-04 9.99881256e-01 1.30641190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.3492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:843.69, Y:16.55, Z:13.07 [[ 9.58396704e-01 -2.85064210e-01 -1.46340082e-02 8.43694727e+02] [ 2.85023692e-01 9.58508314e-01 -4.82771308e-03 1.65475961e+01] [ 1.54030267e-02 4.55825269e-04 9.99881262e-01 1.30668921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.3792541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:843.72, Y:16.56, Z:13.07 [[ 9.57976285e-01 -2.86473950e-01 -1.46326067e-02 8.43720070e+02] [ 2.86433531e-01 9.58087932e-01 -4.83195722e-03 1.65576178e+01] [ 1.54035537e-02 4.37631233e-04 9.99881262e-01 1.30651361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.4092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:843.75, Y:16.56, Z:13.07 [[ 9.58535988e-01 -2.84597345e-01 -1.45983437e-02 8.43749369e+02] [ 2.84555129e-01 9.58646973e-01 -4.93557883e-03 1.65632194e+01] [ 1.53993106e-02 5.76896359e-04 9.99881257e-01 1.30670886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.4392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:843.78, Y:16.57, Z:13.07 [[ 9.58474722e-01 -2.84801946e-01 -1.46307282e-02 8.43776344e+02] [ 2.84761246e-01 9.58586267e-01 -4.83763692e-03 1.65712819e+01] [ 1.54025835e-02 4.70488327e-04 9.99881262e-01 1.30687993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.4692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:843.80, Y:16.58, Z:13.07 [[ 9.58440901e-01 -2.84915817e-01 -1.46293265e-02 8.43802662e+02] [ 2.84875065e-01 9.58552426e-01 -4.84187210e-03 1.65793733e+01] [ 1.54025023e-02 4.73117922e-04 9.99881262e-01 1.30669079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.4992541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:843.83, Y:16.59, Z:13.07 [[ 9.58244385e-01 -2.85576075e-01 -1.46288934e-02 8.43830042e+02] [ 2.85535380e-01 9.58355931e-01 -4.84318003e-03 1.65875484e+01] [ 1.54027831e-02 4.63883420e-04 9.99881262e-01 1.30690886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.5292541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:843.86, Y:16.60, Z:13.07 [[ 9.58069672e-01 -2.86161726e-01 -1.46276912e-02 8.43857000e+02] [ 2.86121044e-01 9.58181223e-01 -4.84680827e-03 1.65958907e+01] [ 1.54029501e-02 4.58289710e-04 9.99881262e-01 1.30698732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.5592541539999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:843.88, Y:16.60, Z:13.07 [[ 9.57909428e-01 -2.86697750e-01 -1.46262708e-02 8.43883115e+02] [ 2.86657065e-01 9.58020978e-01 -4.85109100e-03 1.66036067e+01] [ 1.54030711e-02 4.54181938e-04 9.99881263e-01 1.30688985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.5892541539998 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:843.91, Y:16.61, Z:13.07 [[ 9.57780472e-01 -2.87128295e-01 -1.46256552e-02 8.43910185e+02] [ 2.87087632e-01 9.57892030e-01 -4.85294634e-03 1.66122438e+01] [ 1.54032167e-02 4.49212530e-04 9.99881263e-01 1.30697100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.6192541539999 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:843.94, Y:16.62, Z:13.07 [[ 9.57633046e-01 -2.87619680e-01 -1.46242365e-02 8.43936130e+02] [ 2.87579009e-01 9.57744601e-01 -4.85721763e-03 1.66204928e+01] [ 1.54033150e-02 4.45808659e-04 9.99881263e-01 1.30695441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.6492541539999 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:843.96, Y:16.63, Z:13.07 [[ 9.57550917e-01 -2.87893019e-01 -1.46236224e-02 8.43963235e+02] [ 2.87852352e-01 9.57662473e-01 -4.85906582e-03 1.66295828e+01] [ 1.54033855e-02 4.43358828e-04 9.99881263e-01 1.30699839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.6792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:843.99, Y:16.64, Z:13.07 [[ 9.57533593e-01 -2.87950704e-01 -1.46222342e-02 8.43990914e+02] [ 2.87909979e-01 9.57645129e-01 -4.86323971e-03 1.66386688e+01] [ 1.54032847e-02 4.46828246e-04 9.99881263e-01 1.30725951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.7092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:844.01, Y:16.65, Z:13.07 [[ 9.56620093e-01 -2.90971174e-01 -1.46210213e-02 8.44014347e+02] [ 2.90930746e-01 9.56731736e-01 -4.86688354e-03 1.66501391e+01] [ 1.54045179e-02 4.02053940e-04 9.99881263e-01 1.30687353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.7392541539999 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:844.05, Y:16.66, Z:13.07 [[ 9.57155185e-01 -2.89208310e-01 -1.45775540e-02 8.44045001e+02] [ 2.89165690e-01 9.57266019e-01 -4.99728962e-03 1.66569553e+01] [ 1.53998548e-02 5.67853215e-04 9.99881254e-01 1.30708174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.7692541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:844.07, Y:16.67, Z:13.07 [[ 9.57226519e-01 -2.88970010e-01 -1.46193351e-02 8.44071128e+02] [ 2.88929272e-01 9.57338049e-01 -4.87191592e-03 1.66651552e+01] [ 1.54034833e-02 4.39573262e-04 9.99881263e-01 1.30718274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.7992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:844.10, Y:16.67, Z:13.07 [[ 9.57286188e-01 -2.88772301e-01 -1.46189102e-02 8.44097896e+02] [ 2.88731520e-01 9.57397703e-01 -4.87319055e-03 1.66741411e+01] [ 1.54033535e-02 4.44097836e-04 9.99881263e-01 1.30742092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.8292541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:844.12, Y:16.68, Z:13.08 [[ 9.57236507e-01 -2.88937013e-01 -1.46175164e-02 8.44124288e+02] [ 2.88896188e-01 9.57348006e-01 -4.87736775e-03 1.66829698e+01] [ 1.54033023e-02 4.45849690e-04 9.99881263e-01 1.30751021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.8592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:844.15, Y:16.69, Z:13.07 [[ 9.56453432e-01 -2.91518788e-01 -1.46160779e-02 8.44148569e+02] [ 2.91478198e-01 9.56565016e-01 -4.88167489e-03 1.66933993e+01] [ 1.54043287e-02 4.08826658e-04 9.99881263e-01 1.30743089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.8892541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:844.18, Y:16.70, Z:13.07 [[ 9.56795802e-01 -2.90394643e-01 -1.45857470e-02 8.44177937e+02] [ 2.90352539e-01 9.56906828e-01 -4.97240716e-03 1.67003854e+01] [ 1.54011613e-02 5.22569635e-04 9.99881259e-01 1.30719057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.9192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:844.20, Y:16.71, Z:13.07 [[ 9.56586180e-01 -2.91082938e-01 -1.46152020e-02 8.44204162e+02] [ 2.91042258e-01 9.56697731e-01 -4.88426894e-03 1.67090462e+01] [ 1.54040580e-02 4.18582765e-04 9.99881263e-01 1.30746069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.9492541539998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:844.23, Y:16.72, Z:13.07 [[ 9.55614069e-01 -2.94258709e-01 -1.46137893e-02 8.44231131e+02] [ 2.94218335e-01 9.55725732e-01 -4.88849222e-03 1.67174358e+01] [ 1.54052559e-02 3.71867191e-04 9.99881263e-01 1.30736107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.9792541539999 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:844.26, Y:16.73, Z:13.07 [[ 9.55033778e-01 -2.96136728e-01 -1.46123831e-02 8.44257720e+02] [ 2.96096509e-01 9.55145496e-01 -4.89269192e-03 1.67259075e+01] [ 1.54058577e-02 3.46010420e-04 9.99881263e-01 1.30733663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.0092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:844.28, Y:16.73, Z:13.08 [[ 9.54214049e-01 -2.98767582e-01 -1.46109718e-02 8.44284815e+02] [ 2.98727607e-01 9.54325855e-01 -4.89690277e-03 1.67339366e+01] [ 1.54066640e-02 3.07992773e-04 9.99881263e-01 1.30765968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.0392541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:844.31, Y:16.74, Z:13.08 [[ 9.53613849e-01 -3.00677833e-01 -1.46105359e-02 8.44311765e+02] [ 3.00638062e-01 9.53725727e-01 -4.89820319e-03 1.67425041e+01] [ 1.54072251e-02 2.78511200e-04 9.99881263e-01 1.30769374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.0692541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:844.34, Y:16.75, Z:13.08 [[ 9.52052135e-01 -3.05586821e-01 -1.46091463e-02 8.44335432e+02] [ 3.05547563e-01 9.52164195e-01 -4.90234409e-03 1.67536350e+01] [ 1.54083978e-02 2.03498098e-04 9.99881263e-01 1.30756087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.0992541539999 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:844.36, Y:16.76, Z:13.08 [[ 9.50996048e-01 -3.08859760e-01 -1.45658703e-02 8.44361747e+02] [ 3.08818912e-01 9.51107547e-01 -5.03122909e-03 1.67627668e+01] [ 1.54076533e-02 2.86462781e-04 9.99881254e-01 1.30754957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.1292541539999 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:844.39, Y:16.77, Z:13.08 [[ 9.51602767e-01 -3.06985802e-01 -1.45565114e-02 8.44393791e+02] [ 3.06944308e-01 9.51714031e-01 -5.05907132e-03 1.67688306e+01] [ 1.54066992e-02 3.46187955e-04 9.99881250e-01 1.30770561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.1592541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:844.42, Y:16.78, Z:13.08 [[ 9.51152278e-01 -3.08376316e-01 -1.46079217e-02 8.44420673e+02] [ 3.08337331e-01 9.51264433e-01 -4.90599414e-03 1.67777294e+01] [ 1.54088888e-02 1.62179897e-04 9.99881263e-01 1.30778028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.1892541539999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:844.45, Y:16.79, Z:13.08 [[ 9.50489552e-01 -3.10413049e-01 -1.46065174e-02 8.44447386e+02] [ 3.10374240e-01 9.50601768e-01 -4.91017180e-03 1.67862713e+01] [ 1.54091626e-02 1.33580274e-04 9.99881263e-01 1.30792617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.2192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:844.47, Y:16.80, Z:13.08 [[ 9.49861512e-01 -3.12329585e-01 -1.46060824e-02 8.44473566e+02] [ 3.12290983e-01 9.49973799e-01 -4.91146533e-03 1.67969885e+01] [ 1.54093915e-02 1.03864062e-04 9.99881263e-01 1.30813934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.2492541539999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:844.50, Y:16.81, Z:13.08 [[ 9.50307585e-01 -3.10970467e-01 -1.45898406e-02 8.44501547e+02] [ 3.10930963e-01 9.50419559e-01 -4.95972527e-03 1.68054438e+01] [ 1.54087980e-02 1.76831346e-04 9.99881262e-01 1.30801738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.2792541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:844.53, Y:16.81, Z:13.08 [[ 9.50545784e-01 -3.10240903e-01 -1.46045940e-02 8.44527900e+02] [ 3.10201986e-01 9.50657962e-01 -4.91589471e-03 1.68148303e+01] [ 1.54090852e-02 1.42408932e-04 9.99881263e-01 1.30828531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.3092541539999 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:844.55, Y:16.83, Z:13.08 [[ 9.49483043e-01 -3.13478383e-01 -1.46032239e-02 8.44550992e+02] [ 3.13439786e-01 9.49595332e-01 -4.91996139e-03 1.68268183e+01] [ 1.54094548e-02 9.41885468e-05 9.99881263e-01 1.30781479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.3392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:844.58, Y:16.83, Z:13.08 [[ 9.51104465e-01 -3.08525664e-01 -1.45674887e-02 8.44579758e+02] [ 3.08484858e-01 9.51215976e-01 -5.02586114e-03 1.68344844e+01] [ 1.54074351e-02 2.86269297e-04 9.99881257e-01 1.30812769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.3692541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:844.61, Y:16.84, Z:13.08 [[ 9.51469620e-01 -3.07396103e-01 -1.46012903e-02 8.44605266e+02] [ 3.07356701e-01 9.51581629e-01 -4.92566219e-03 1.68438829e+01] [ 1.54084490e-02 1.98813510e-04 9.99881263e-01 1.30795241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.3992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:844.63, Y:16.85, Z:13.08 [[ 9.51919904e-01 -3.05999748e-01 -1.45825082e-02 8.44632572e+02] [ 3.05959330e-01 9.52031552e-01 -4.98127511e-03 1.68540874e+01] [ 1.54072768e-02 2.80120497e-04 9.99881262e-01 1.30806304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.4292541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:844.66, Y:16.86, Z:13.08 [[ 9.52036797e-01 -3.05635061e-01 -1.45995031e-02 8.44658823e+02] [ 3.05595371e-01 9.52148704e-01 -4.93095679e-03 1.68635823e+01] [ 1.54079713e-02 2.32911734e-04 9.99881263e-01 1.30796647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.4592541539998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:844.68, Y:16.87, Z:13.08 [[ 9.52370803e-01 -3.04592757e-01 -1.45981616e-02 8.44684683e+02] [ 3.04552883e-01 9.52482644e-01 -4.93492515e-03 1.68731543e+01] [ 1.54076381e-02 2.53966406e-04 9.99881263e-01 1.30806910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.4892541539999 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:844.71, Y:16.88, Z:13.08 [[ 9.52639946e-01 -3.03749962e-01 -1.45977453e-02 8.44711160e+02] [ 3.03709970e-01 9.52751746e-01 -4.93615630e-03 1.68843821e+01] [ 1.54073846e-02 2.68898880e-04 9.99881263e-01 1.30823363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.5192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:844.74, Y:16.89, Z:13.09 [[ 9.52994321e-01 -3.02636359e-01 -1.45965184e-02 8.44738602e+02] [ 3.02596181e-01 9.53106054e-01 -4.93978171e-03 1.68945242e+01] [ 1.54069876e-02 2.90733196e-04 9.99881263e-01 1.30860392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.5492541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:844.76, Y:16.90, Z:13.09 [[ 9.52955843e-01 -3.02757559e-01 -1.45952909e-02 8.44764857e+02] [ 3.02717340e-01 9.53067561e-01 -4.94340600e-03 1.69047076e+01] [ 1.54069518e-02 2.92600006e-04 9.99881263e-01 1.30859886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.5792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:844.79, Y:16.91, Z:13.09 [[ 9.53275693e-01 -3.01749021e-01 -1.45938873e-02 8.44791631e+02] [ 3.01708621e-01 9.53387345e-01 -4.94754613e-03 1.69144632e+01] [ 1.54065447e-02 3.13273852e-04 9.99881263e-01 1.30868094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.6092541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:844.82, Y:16.93, Z:13.09 [[ 9.54037309e-01 -2.99332379e-01 -1.45924876e-02 8.44817304e+02] [ 2.99291632e-01 9.54148835e-01 -4.95167115e-03 1.69252145e+01] [ 1.54056005e-02 3.56669590e-04 9.99881263e-01 1.30863227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.6392541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:844.84, Y:16.94, Z:13.09 [[ 9.54502651e-01 -2.97845244e-01 -1.45910553e-02 8.44843193e+02] [ 2.97804260e-01 9.54614091e-01 -4.95588786e-03 1.69351649e+01] [ 1.54049147e-02 3.85129666e-04 9.99881263e-01 1.30859778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.6692541539999 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:844.87, Y:16.95, Z:13.08 [[ 9.54750142e-01 -2.97050973e-01 -1.45906115e-02 8.44868986e+02] [ 2.97009876e-01 9.54861540e-01 -4.95719429e-03 1.69452027e+01] [ 1.54045531e-02 3.99326246e-04 9.99881263e-01 1.30827327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.6992541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:844.90, Y:16.96, Z:13.09 [[ 9.55533097e-01 -2.94522711e-01 -1.45901747e-02 8.44895552e+02] [ 2.94481299e-01 9.55644378e-01 -4.95847945e-03 1.69571575e+01] [ 1.54034033e-02 4.41457626e-04 9.99881263e-01 1.30858560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.7292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:844.92, Y:16.97, Z:13.08 [[ 9.55670767e-01 -2.94075751e-01 -1.45889270e-02 8.44920604e+02] [ 2.94034232e-01 9.55782009e-01 -4.96214772e-03 1.69673980e+01] [ 1.54030813e-02 4.52535568e-04 9.99881263e-01 1.30844503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.7592541539999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:844.95, Y:16.98, Z:13.08 [[ 9.55352458e-01 -2.95108220e-01 -1.45883090e-02 8.44947740e+02] [ 2.95066793e-01 9.55463734e-01 -4.96396408e-03 1.69786581e+01] [ 1.54035068e-02 4.37809740e-04 9.99881263e-01 1.30842453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.7892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:844.97, Y:16.99, Z:13.09 [[ 9.55145911e-01 -2.95776107e-01 -1.45870771e-02 8.44974630e+02] [ 2.95734703e-01 9.55257195e-01 -4.96758143e-03 1.69880437e+01] [ 1.54037023e-02 4.30860174e-04 9.99881263e-01 1.30886063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.8192541539999 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:845.00, Y:17.00, Z:13.09 [[ 9.53700096e-01 -3.00405371e-01 -1.45856135e-02 8.45001492e+02] [ 3.00364441e-01 9.53811555e-01 -4.97187516e-03 1.69972318e+01] [ 1.54055047e-02 3.60678189e-04 9.99881263e-01 1.30880530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.8492541539999 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:845.03, Y:17.01, Z:13.09 [[ 9.53612405e-01 -3.00683646e-01 -1.45851605e-02 8.45028527e+02] [ 3.00642728e-01 9.53723869e-01 -4.97320347e-03 1.70065253e+01] [ 1.54055767e-02 3.57586067e-04 9.99881263e-01 1.30884930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.8792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:845.05, Y:17.01, Z:13.09 [[ 9.51972272e-01 -3.05836736e-01 -1.45837081e-02 8.45054538e+02] [ 3.05796357e-01 9.52083932e-01 -4.97745916e-03 1.70148672e+01] [ 1.54072040e-02 2.78758307e-04 9.99881263e-01 1.30931191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.9092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:845.08, Y:17.02, Z:13.09 [[ 9.50004895e-01 -3.11894275e-01 -1.45829174e-02 8.45081330e+02] [ 3.11854572e-01 9.50116797e-01 -4.97977458e-03 1.70238817e+01] [ 1.54086380e-02 1.83060769e-04 9.99881263e-01 1.30943745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.9392541539999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:845.11, Y:17.03, Z:13.09 [[ 9.48732175e-01 -3.15744535e-01 -1.45824721e-02 8.45108027e+02] [ 3.15705266e-01 9.48844231e-01 -4.98107837e-03 1.70330133e+01] [ 1.54092427e-02 1.21946098e-04 9.99881263e-01 1.30922527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.9692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:845.13, Y:17.04, Z:13.10 [[ 9.47958353e-01 -3.18060300e-01 -1.45810620e-02 8.45133598e+02] [ 3.18021242e-01 9.48070481e-01 -4.98520266e-03 1.70416382e+01] [ 1.54094695e-02 8.86770698e-05 9.99881263e-01 1.30956460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.9992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:845.16, Y:17.05, Z:13.10 [[ 9.46638760e-01 -3.21966566e-01 -1.45804511e-02 8.45161385e+02] [ 3.21927942e-01 9.46751039e-01 -4.98698874e-03 1.70488315e+01] [ 1.54097008e-02 2.70222241e-05 9.99881263e-01 1.30950794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.0292541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:845.19, Y:17.06, Z:13.09 [[ 9.45174948e-01 -3.26238557e-01 -1.45849867e-02 8.45190514e+02] [ 3.26200645e-01 9.45287470e-01 -4.97373930e-03 1.70589114e+01] [ 1.54096307e-02 -5.65782959e-05 9.99881263e-01 1.30936659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.0592541539999 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:845.21, Y:17.07, Z:13.09 [[ 9.44075334e-01 -3.29405729e-01 -1.46160871e-02 8.45213657e+02] [ 3.29369601e-01 9.44188447e-01 -4.88286970e-03 1.70694337e+01] [ 1.54087858e-02 -2.04297924e-04 9.99881257e-01 1.30942573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.0892541539998 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:845.24, Y:17.08, Z:13.09 [[ 9.42990028e-01 -3.32501618e-01 -1.45767117e-02 8.45239330e+02] [ 3.32464083e-01 9.43102675e-01 -4.99771512e-03 1.70790655e+01] [ 1.54090842e-02 -1.33437589e-04 9.99881264e-01 1.30936406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.1192541539999 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:845.27, Y:17.09, Z:13.09 [[ 9.42463002e-01 -3.33992549e-01 -1.45762702e-02 8.45265913e+02] [ 3.33955172e-01 9.42575702e-01 -4.99900265e-03 1.70893135e+01] [ 1.54088677e-02 -1.56445773e-04 9.99881264e-01 1.30939564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.1492541539999 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:845.29, Y:17.10, Z:13.09 [[ 9.42054343e-01 -3.35143535e-01 -1.45748207e-02 8.45291419e+02] [ 3.35106231e-01 9.42167067e-01 -5.00322526e-03 1.71009969e+01] [ 1.54087146e-02 -1.70803136e-04 9.99881264e-01 1.30942443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.1792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:845.32, Y:17.11, Z:13.10 [[ 9.42140924e-01 -3.34900128e-01 -1.45733690e-02 8.45316959e+02] [ 3.34862730e-01 9.42253617e-01 -5.00745007e-03 1.71110977e+01] [ 1.54088053e-02 -1.62354482e-04 9.99881264e-01 1.30975216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.2092541539998 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:845.34, Y:17.12, Z:13.10 [[ 9.41836701e-01 -3.35754758e-01 -1.45729205e-02 8.45343009e+02] [ 3.35717442e-01 9.41949421e-01 -5.00875492e-03 1.71222235e+01] [ 1.54086673e-02 -1.74954387e-04 9.99881264e-01 1.30951531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.2392541539999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:845.37, Y:17.13, Z:13.10 [[ 9.42029777e-01 -3.35212683e-01 -1.45724813e-02 8.45369048e+02] [ 3.35175281e-01 9.42142468e-01 -5.01003230e-03 1.71341201e+01] [ 1.54087799e-02 -1.64735923e-04 9.99881264e-01 1.30996679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.2692541539999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:845.39, Y:17.14, Z:13.10 [[ 9.42132089e-01 -3.34925075e-01 -1.45712123e-02 8.45394928e+02] [ 3.34887583e-01 9.42244750e-01 -5.01372058e-03 1.71448754e+01] [ 1.54088690e-02 -1.56131012e-04 9.99881264e-01 1.31008365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.2992541539999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:845.42, Y:17.16, Z:13.10 [[ 9.42465410e-01 -3.33986003e-01 -1.45705334e-02 8.45420832e+02] [ 3.33948367e-01 9.42578024e-01 -5.01569279e-03 1.71553483e+01] [ 1.54090357e-02 -1.38688859e-04 9.99881264e-01 1.31025835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.3292541539998 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:845.45, Y:17.17, Z:13.10 [[ 9.43265506e-01 -3.31719650e-01 -1.45691070e-02 8.45445768e+02] [ 3.31681681e-01 9.43378007e-01 -5.01983253e-03 1.71685055e+01] [ 1.54093522e-02 -9.72710275e-05 9.99881264e-01 1.31018939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.3592541539999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:845.47, Y:17.18, Z:13.10 [[ 9.43920203e-01 -3.29852137e-01 -1.45676849e-02 8.45471202e+02] [ 3.29813881e-01 9.44032607e-01 -5.02395610e-03 1.71799710e+01] [ 1.54095322e-02 -6.24110356e-05 9.99881264e-01 1.31035721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.3892541539999 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:845.50, Y:17.19, Z:13.10 [[ 9.45485080e-01 -3.25339497e-01 -1.45662282e-02 8.45496159e+02] [ 3.25300639e-01 9.45597278e-01 -5.02817621e-03 1.71945464e+01] [ 1.54096500e-02 1.56622637e-05 9.99881264e-01 1.31016654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.4192541539999 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:845.52, Y:17.21, Z:13.10 [[ 9.46295830e-01 -3.22973744e-01 -1.45657764e-02 8.45521597e+02] [ 3.22934586e-01 9.46407923e-01 -5.02948455e-03 1.72062175e+01] [ 1.54095576e-02 5.55872904e-05 9.99881264e-01 1.31016321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.4492541539998 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:845.55, Y:17.22, Z:13.10 [[ 9.46986645e-01 -3.20942635e-01 -1.45643395e-02 8.45548017e+02] [ 3.20903172e-01 9.47098631e-01 -5.03364192e-03 1.72181592e+01] [ 1.54093763e-02 9.30489130e-05 9.99881264e-01 1.31009526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.4792541539999 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:845.57, Y:17.23, Z:13.10 [[ 9.48322004e-01 -3.16975226e-01 -1.45630671e-02 8.45573702e+02] [ 3.16935238e-01 9.48433804e-01 -5.03732049e-03 1.72326995e+01] [ 1.54088110e-02 1.61452714e-04 9.99881264e-01 1.30998159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.5092541539999 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:845.60, Y:17.24, Z:13.10 [[ 9.48860283e-01 -3.15360299e-01 -1.45617855e-02 8.45598934e+02] [ 3.15320064e-01 9.48971994e-01 -5.04102257e-03 1.72443665e+01] [ 1.54084650e-02 1.91602941e-04 9.99881264e-01 1.30997093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.5392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:845.62, Y:17.26, Z:13.10 [[ 9.49667350e-01 -3.12921541e-01 -1.45613322e-02 8.45623842e+02] [ 3.12881000e-01 9.49778951e-01 -5.04233162e-03 1.72579348e+01] [ 1.54079010e-02 2.32573512e-04 9.99881264e-01 1.31022740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.5692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:845.65, Y:17.27, Z:13.10 [[ 9.49577410e-01 -3.13194433e-01 -1.45598818e-02 8.45650814e+02] [ 3.13153859e-01 9.49688998e-01 -5.04651622e-03 1.72673636e+01] [ 1.54079004e-02 2.32574616e-04 9.99881264e-01 1.31027129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.5992541539999 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:845.68, Y:17.28, Z:13.10 [[ 9.49612421e-01 -3.13088328e-01 -1.45584306e-02 8.45677745e+02] [ 3.13047678e-01 9.49723982e-01 -5.05069936e-03 1.72785571e+01] [ 1.54078057e-02 2.38723956e-04 9.99881264e-01 1.30997379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.6292541539999 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:845.70, Y:17.29, Z:13.10 [[ 9.49800333e-01 -3.12517866e-01 -1.45571600e-02 8.45703245e+02] [ 3.12477093e-01 9.49911848e-01 -5.05435881e-03 1.72901229e+01] [ 1.54075962e-02 2.51852633e-04 9.99881264e-01 1.31007324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.6592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:845.73, Y:17.30, Z:13.10 [[ 9.49835269e-01 -3.12411691e-01 -1.45567102e-02 8.45728626e+02] [ 3.12370886e-01 9.49946772e-01 -5.05565389e-03 1.73005373e+01] [ 1.54075453e-02 2.54945903e-04 9.99881264e-01 1.31046476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.6892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:845.76, Y:17.31, Z:13.11 [[ 9.49752025e-01 -3.12664688e-01 -1.45562683e-02 8.45755119e+02] [ 3.12623892e-01 9.49863532e-01 -5.05692592e-03 1.73109453e+01] [ 1.54075906e-02 2.52188379e-04 9.99881264e-01 1.31055081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.7192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:845.78, Y:17.32, Z:13.11 [[ 9.49717083e-01 -3.12770871e-01 -1.45548533e-02 8.45781383e+02] [ 3.12730026e-01 9.49828573e-01 -5.06099536e-03 1.73225896e+01] [ 1.54075475e-02 2.54774107e-04 9.99881264e-01 1.31065218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.7492541539999 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:845.81, Y:17.33, Z:13.10 [[ 9.49704905e-01 -3.12807906e-01 -1.45536183e-02 8.45808766e+02] [ 3.12767011e-01 9.49816376e-01 -5.06454437e-03 1.73330503e+01] [ 1.54074945e-02 2.57930944e-04 9.99881264e-01 1.31036501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.7792541539999 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:845.83, Y:17.34, Z:13.10 [[ 9.49784119e-01 -3.12567362e-01 -1.45523580e-02 8.45834166e+02] [ 3.12526383e-01 9.49895559e-01 -5.06816290e-03 1.73434075e+01] [ 1.54073626e-02 2.65664812e-04 9.99881264e-01 1.31048535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.8092541539999 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:845.86, Y:17.35, Z:13.11 [[ 9.50239798e-01 -3.11179342e-01 -1.45513799e-02 8.45858786e+02] [ 3.11138157e-01 9.50351163e-01 -5.07096976e-03 1.73544467e+01] [ 1.54069018e-02 2.91147761e-04 9.99881264e-01 1.31050999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.8392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:845.88, Y:17.37, Z:13.11 [[ 9.50013135e-01 -3.11870676e-01 -1.45507625e-02 8.45883478e+02] [ 3.11829545e-01 9.50124519e-01 -5.07274054e-03 1.73666326e+01] [ 1.54070753e-02 2.81812479e-04 9.99881264e-01 1.31085569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.8692541539999 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:845.91, Y:17.38, Z:13.11 [[ 9.51079705e-01 -3.08603969e-01 -1.45253440e-02 8.45911290e+02] [ 3.08561343e-01 9.51190528e-01 -5.14558620e-03 1.73757008e+01] [ 1.54043180e-02 4.11902939e-04 9.99881262e-01 1.31062470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.8992541539999 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:845.94, Y:17.39, Z:13.11 [[ 9.51139364e-01 -3.08418940e-01 -1.45488205e-02 8.45937703e+02] [ 3.08377320e-01 9.51250566e-01 -5.07832887e-03 1.73858446e+01] [ 1.54058266e-02 3.43672206e-04 9.99881264e-01 1.31054709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.9292541539999 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:845.96, Y:17.40, Z:13.11 [[ 9.51130476e-01 -3.08446414e-01 -1.45474223e-02 8.45963415e+02] [ 3.08404736e-01 9.51241656e-01 -5.08233114e-03 1.73960229e+01] [ 1.54057409e-02 3.47466100e-04 9.99881264e-01 1.31079157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.9592541539998 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:845.99, Y:17.41, Z:13.11 [[ 9.51099420e-01 -3.08542233e-01 -1.45459538e-02 8.45988759e+02] [ 3.08500501e-01 9.51210580e-01 -5.08653057e-03 1.74067775e+01] [ 1.54056747e-02 3.50362223e-04 9.99881264e-01 1.31073618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.9892541539999 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:846.01, Y:17.42, Z:13.11 [[ 9.50911557e-01 -3.09120751e-01 -1.45454993e-02 8.46014794e+02] [ 3.09079067e-01 9.51022736e-01 -5.08782995e-03 1.74165388e+01] [ 1.54058544e-02 3.42366944e-04 9.99881264e-01 1.31086496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.0192541539999 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:846.04, Y:17.43, Z:13.11 [[ 9.50881908e-01 -3.09212014e-01 -1.45440058e-02 8.46041333e+02] [ 3.09170276e-01 9.50993066e-01 -5.09209565e-03 1.74263597e+01] [ 1.54057858e-02 3.45407337e-04 9.99881264e-01 1.31107216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.0492541539999 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:846.07, Y:17.44, Z:13.11 [[ 9.50477855e-01 -3.10451832e-01 -1.45433092e-02 8.46067595e+02] [ 3.10410209e-01 9.50589056e-01 -5.09408434e-03 1.74364844e+01] [ 1.54061784e-02 3.27422701e-04 9.99881264e-01 1.31083523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.0792541539998 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:846.09, Y:17.45, Z:13.11 [[ 9.50281595e-01 -3.11052079e-01 -1.45428543e-02 8.46094004e+02] [ 3.11010505e-01 9.50392815e-01 -5.09538281e-03 1.74460447e+01] [ 1.54063536e-02 3.19068045e-04 9.99881264e-01 1.31098068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.1092541539999 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:846.12, Y:17.46, Z:13.11 [[ 9.49951951e-01 -3.12057429e-01 -1.45413594e-02 8.46119591e+02] [ 3.12015908e-01 9.50063191e-01 -5.09964555e-03 1.74550444e+01] [ 1.54065925e-02 3.07282799e-04 9.99881264e-01 1.31087784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.1392541539999 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:846.15, Y:17.46, Z:13.11 [[ 9.49819420e-01 -3.12460618e-01 -1.45407116e-02 8.46146296e+02] [ 3.12419117e-01 9.49930666e-01 -5.10149188e-03 1.74642397e+01] [ 1.54066832e-02 3.02699787e-04 9.99881264e-01 1.31093643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.1692541539999 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:846.17, Y:17.47, Z:13.11 [[ 9.49911556e-01 -3.12180471e-01 -1.45392556e-02 8.46172727e+02] [ 3.12138873e-01 9.50022766e-01 -5.10563794e-03 1.74738268e+01] [ 1.54065043e-02 3.11637610e-04 9.99881264e-01 1.31104480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.1992541539998 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:846.20, Y:17.49, Z:13.11 [[ 9.49643479e-01 -3.12995025e-01 -1.45388048e-02 8.46197105e+02] [ 3.12953503e-01 9.49754718e-01 -5.10692151e-03 1.74851614e+01] [ 1.54067395e-02 2.99784817e-04 9.99881264e-01 1.31102212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.2292541539999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:846.22, Y:17.49, Z:13.11 [[ 9.49987936e-01 -3.11949438e-01 -1.45075790e-02 8.46223615e+02] [ 3.11906436e-01 9.50098616e-01 -5.19572246e-03 1.74945210e+01] [ 1.54044334e-02 4.10866396e-04 9.99881260e-01 1.31120381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.2592541539999 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:846.25, Y:17.50, Z:13.11 [[ 9.50244175e-01 -3.11168059e-01 -1.45067624e-02 8.46249728e+02] [ 3.11124931e-01 9.50354806e-01 -5.19804522e-03 1.75040261e+01] [ 1.54040370e-02 4.25996746e-04 9.99881260e-01 1.31103690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.2892541539999 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:846.28, Y:17.51, Z:13.11 [[ 9.51419726e-01 -3.07555319e-01 -1.44993485e-02 8.46278826e+02] [ 3.07511450e-01 9.51530067e-01 -5.21912373e-03 1.75113266e+01] [ 1.54017354e-02 5.06861571e-04 9.99881258e-01 1.31108412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.3192541539999 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:846.31, Y:17.52, Z:13.11 [[ 9.52050327e-01 -3.05595876e-01 -1.45373685e-02 8.46305368e+02] [ 3.05553427e-01 9.52161216e-01 -5.11098250e-03 1.75203039e+01] [ 1.54038136e-02 4.23969810e-04 9.99881264e-01 1.31095874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.3492541539999 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:846.33, Y:17.53, Z:13.11 [[ 9.52520989e-01 -3.04125705e-01 -1.45369029e-02 8.46331670e+02] [ 3.04083065e-01 9.52631804e-01 -5.11230642e-03 1.75291097e+01] [ 1.54030998e-02 4.49153179e-04 9.99881264e-01 1.31114325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.3792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:846.36, Y:17.54, Z:13.12 [[ 9.52887988e-01 -3.02973933e-01 -1.45354126e-02 8.46357903e+02] [ 3.02931095e-01 9.52998727e-01 -5.11653995e-03 1.75383820e+01] [ 1.54024080e-02 4.72261001e-04 9.99881264e-01 1.31151206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.4092541539999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:846.38, Y:17.55, Z:13.11 [[ 9.52989574e-01 -3.02654269e-01 -1.45349519e-02 8.46383729e+02] [ 3.02611374e-01 9.53100291e-01 -5.11784856e-03 1.75471803e+01] [ 1.54022056e-02 4.78814564e-04 9.99881264e-01 1.31122589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.4392541539999 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:846.41, Y:17.56, Z:13.11 [[ 9.53214341e-01 -3.01945664e-01 -1.45339495e-02 8.46410579e+02] [ 3.01902643e-01 9.53325009e-01 -5.12069364e-03 1.75564265e+01] [ 1.54017488e-02 4.93280857e-04 9.99881264e-01 1.31136413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.4692541539998 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:846.44, Y:17.57, Z:13.11 [[ 9.53943447e-01 -2.99634288e-01 -1.45324699e-02 8.46437071e+02] [ 2.99590935e-01 9.54053985e-01 -5.12488918e-03 1.75661835e+01] [ 1.54003534e-02 5.35058193e-04 9.99881264e-01 1.31147897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.4992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:846.46, Y:17.58, Z:13.12 [[ 9.54989543e-01 -2.96283299e-01 -1.45320118e-02 8.46463432e+02] [ 2.96239539e-01 9.55099920e-01 -5.12618790e-03 1.75767401e+01] [ 1.53983272e-02 5.90499377e-04 9.99881264e-01 1.31194444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.5292541539999 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:846.49, Y:17.59, Z:13.12 [[ 9.55183558e-01 -2.95657282e-01 -1.45307121e-02 8.46489795e+02] [ 2.95613393e-01 9.55293885e-01 -5.12986929e-03 1.75869849e+01] [ 1.53977836e-02 6.04493686e-04 9.99881264e-01 1.31167157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.5592541539999 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:846.52, Y:17.60, Z:13.12 [[ 9.55654697e-01 -2.94130927e-01 -1.45292271e-02 8.46515278e+02] [ 2.94086798e-01 9.55764928e-01 -5.13407181e-03 1.75967760e+01] [ 1.53966150e-02 6.33545965e-04 9.99881264e-01 1.31161989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.5892541539998 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:846.54, Y:17.61, Z:13.12 [[ 9.56574828e-01 -2.91124576e-01 -1.45285839e-02 8.46541729e+02] [ 2.91080073e-01 9.56684908e-01 -5.13589139e-03 1.76074231e+01] [ 1.53944611e-02 6.83883156e-04 9.99881264e-01 1.31178106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.6192541539999 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:846.57, Y:17.62, Z:13.12 [[ 9.57051822e-01 -2.89552703e-01 -1.45273013e-02 8.46566498e+02] [ 2.89507965e-01 9.57161806e-01 -5.13951679e-03 1.76171578e+01] [ 1.53931389e-02 7.13014472e-04 9.99881264e-01 1.31173280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.6492541539999 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:846.59, Y:17.63, Z:13.12 [[ 9.57949043e-01 -2.86570422e-01 -1.45266652e-02 8.46592429e+02] [ 2.86525315e-01 9.58058877e-01 -5.14131402e-03 1.76284909e+01] [ 1.53907491e-02 7.62859525e-04 9.99881264e-01 1.31169846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.6792541539999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:846.62, Y:17.64, Z:13.12 [[ 9.58339479e-01 -2.85262091e-01 -1.45252169e-02 8.46619233e+02] [ 2.85216771e-01 9.58449226e-01 -5.14540245e-03 1.76387960e+01] [ 1.53894712e-02 7.88206833e-04 9.99881264e-01 1.31184681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.7092541539998 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:846.65, Y:17.65, Z:13.12 [[ 9.58611166e-01 -2.84347827e-01 -1.45239563e-02 8.46645747e+02] [ 2.84302349e-01 9.58720847e-01 -5.14895842e-03 1.76491231e+01] [ 1.53885148e-02 8.06654145e-04 9.99881264e-01 1.31178860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.7392541539999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:846.67, Y:17.66, Z:13.12 [[ 9.59051828e-01 -2.82858070e-01 -1.45225155e-02 8.46672178e+02] [ 2.82812360e-01 9.59161413e-01 -5.15301882e-03 1.76598133e+01] [ 1.53870095e-02 8.34865228e-04 9.99881264e-01 1.31183006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.7692541539999 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:846.70, Y:17.67, Z:13.12 [[ 9.59115928e-01 -2.82640716e-01 -1.45210817e-02 8.46698433e+02] [ 2.82594920e-01 9.59225477e-01 -5.15705626e-03 1.76694666e+01] [ 1.53865856e-02 8.42630892e-04 9.99881264e-01 1.31174850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.7992541539999 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:846.73, Y:17.68, Z:13.12 [[ 9.59098199e-01 -2.82700944e-01 -1.45196456e-02 8.46725179e+02] [ 2.82655095e-01 9.59207726e-01 -5.16109626e-03 1.76791999e+01] [ 1.53864030e-02 8.45946325e-04 9.99881264e-01 1.31181406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.8292541539998 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:846.75, Y:17.69, Z:13.12 [[ 9.58836187e-01 -2.83588414e-01 -1.45182095e-02 8.46750025e+02] [ 2.83542605e-01 9.58945730e-01 -5.16513291e-03 1.76887584e+01] [ 1.53869469e-02 8.35985405e-04 9.99881264e-01 1.31171189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.8592541539999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:846.78, Y:17.70, Z:13.12 [[ 9.58677375e-01 -2.84124868e-01 -1.45172329e-02 8.46776752e+02] [ 2.84079078e-01 9.58786926e-01 -5.16787638e-03 1.76983404e+01] [ 1.53872553e-02 8.30284030e-04 9.99881264e-01 1.31211462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.8892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:846.80, Y:17.71, Z:13.12 [[ 9.57945480e-01 -2.86582874e-01 -1.45160111e-02 8.46802623e+02] [ 2.86537314e-01 9.58055127e-01 -5.17130594e-03 1.77070177e+01] [ 1.53891466e-02 7.94450323e-04 9.99881264e-01 1.31225361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.9192541539999 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:846.83, Y:17.72, Z:13.12 [[ 9.57183608e-01 -2.89117353e-01 -1.45154052e-02 8.46828825e+02] [ 2.89072058e-01 9.57293364e-01 -5.17300608e-03 1.77158965e+01] [ 1.53911069e-02 7.55518569e-04 9.99881264e-01 1.31175036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.9492541539998 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:846.86, Y:17.72, Z:13.12 [[ 9.55829528e-01 -2.93562990e-01 -1.45149778e-02 8.46855390e+02] [ 2.93518187e-01 9.55939486e-01 -5.17420506e-03 1.77236004e+01] [ 1.53943955e-02 6.85248014e-04 9.99881264e-01 1.31209757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.9792541539999 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:846.88, Y:17.73, Z:13.12 [[ 9.55451582e-01 -2.94790831e-01 -1.45134561e-02 8.46881428e+02] [ 2.94746105e-01 9.55561572e-01 -5.17846996e-03 1.77316049e+01] [ 1.53950663e-02 6.69992670e-04 9.99881264e-01 1.31200237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.0092541539999 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:846.91, Y:17.74, Z:13.12 [[ 9.53882206e-01 -2.99831119e-01 -1.44926764e-02 8.46909944e+02] [ 2.99786092e-01 9.53992074e-01 -5.23662785e-03 1.77397014e+01] [ 1.53960024e-02 6.50423303e-04 9.99881263e-01 1.31201856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.0392541539999 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:846.94, Y:17.75, Z:13.12 [[ 9.53387321e-01 -3.01400134e-01 -1.45112022e-02 8.46936084e+02] [ 3.01356075e-01 9.53497580e-01 -5.18477785e-03 1.77480690e+01] [ 1.53990889e-02 5.70062530e-04 9.99881264e-01 1.31207386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.0692541539999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:846.96, Y:17.76, Z:13.12 [[ 9.52945451e-01 -3.02794336e-01 -1.45105677e-02 8.46962922e+02] [ 3.02750411e-01 9.53055763e-01 -5.18655299e-03 1.77567073e+01] [ 1.53998390e-02 5.49421747e-04 9.99881264e-01 1.31227280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.0992541539999 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:846.99, Y:17.77, Z:13.12 [[ 9.52416815e-01 -3.04453109e-01 -1.45091086e-02 8.46990602e+02] [ 3.04409315e-01 9.52527179e-01 -5.19063142e-03 1.77658325e+01] [ 1.54006242e-02 5.26936829e-04 9.99881265e-01 1.31220279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.1292541539999 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:847.02, Y:17.77, Z:13.12 [[ 9.51677713e-01 -3.06755691e-01 -1.45078386e-02 8.47017271e+02] [ 3.06712109e-01 9.51788161e-01 -5.19417870e-03 1.77737923e+01] [ 1.54017329e-02 4.93454320e-04 9.99881265e-01 1.31244087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.1592541539999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:847.04, Y:17.78, Z:13.13 [[ 9.50903385e-01 -3.09147728e-01 -1.45063391e-02 8.47044075e+02] [ 3.09104361e-01 9.51013918e-01 -5.19836304e-03 1.77823362e+01] [ 1.54027925e-02 4.59168326e-04 9.99881265e-01 1.31263728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.1892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:847.07, Y:17.79, Z:13.13 [[ 9.50467841e-01 -3.10484250e-01 -1.45056448e-02 8.47070973e+02] [ 3.10441008e-01 9.50578423e-01 -5.20029987e-03 1.77912330e+01] [ 1.54033641e-02 4.39570804e-04 9.99881265e-01 1.31288383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.2192541539998 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:847.10, Y:17.80, Z:13.13 [[ 9.49871135e-01 -3.12305069e-01 -1.45041636e-02 8.47097955e+02] [ 3.12261977e-01 9.49981774e-01 -5.20442778e-03 1.78003104e+01] [ 1.54040603e-02 4.14436925e-04 9.99881265e-01 1.31254152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.2492541539999 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:847.12, Y:17.81, Z:13.13 [[ 9.49648750e-01 -3.12980699e-01 -1.45028796e-02 8.47123436e+02] [ 3.12937630e-01 9.49759399e-01 -5.20800326e-03 1.78082452e+01] [ 1.54042508e-02 4.07277000e-04 9.99881265e-01 1.31258098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.2792541539999 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:847.15, Y:17.82, Z:13.13 [[ 9.49296366e-01 -3.14047919e-01 -1.45022457e-02 8.47151044e+02] [ 3.14004947e-01 9.49407053e-01 -5.20976797e-03 1.78166348e+01] [ 1.54046511e-02 3.91836902e-04 9.99881265e-01 1.31268708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.3092541539999 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:847.18, Y:17.83, Z:13.13 [[ 9.49312123e-01 -3.14000343e-01 -1.45009546e-02 8.47177417e+02] [ 3.13957311e-01 9.49422787e-01 -5.21335910e-03 1.78256019e+01] [ 1.54045333e-02 3.96424273e-04 9.99881265e-01 1.31292768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.3392541539998 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:847.20, Y:17.83, Z:13.13 [[ 9.49420888e-01 -3.13671357e-01 -1.45002670e-02 8.47203735e+02] [ 3.13628257e-01 9.49531525e-01 -5.21527092e-03 1.78348343e+01] [ 1.54043417e-02 4.03793675e-04 9.99881265e-01 1.31280062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.3692541539999 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:847.23, Y:17.84, Z:13.13 [[ 9.49571303e-01 -3.13215780e-01 -1.44988116e-02 8.47230430e+02] [ 3.13172566e-01 9.49681896e-01 -5.21931389e-03 1.78445022e+01] [ 1.54040304e-02 4.15480662e-04 9.99881265e-01 1.31288469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.3992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:847.26, Y:17.85, Z:13.13 [[ 9.50077999e-01 -3.11675510e-01 -1.44973131e-02 8.47257049e+02] [ 3.11632054e-01 9.50188496e-01 -5.22347272e-03 1.78535554e+01] [ 1.54032087e-02 4.44879039e-04 9.99881265e-01 1.31328924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.4292541539999 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:847.28, Y:17.86, Z:13.13 [[ 9.50117154e-01 -3.11556150e-01 -1.44968502e-02 8.47283856e+02] [ 3.11512660e-01 9.50227638e-01 -5.22475724e-03 1.78633017e+01] [ 1.54031130e-02 4.48179115e-04 9.99881265e-01 1.31323729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.4592541539998 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:847.31, Y:17.87, Z:13.13 [[ 9.50029036e-01 -3.11824815e-01 -1.44953745e-02 8.47310699e+02] [ 3.11781294e-01 9.50139508e-01 -5.22884827e-03 1.78730765e+01] [ 1.54031126e-02 4.48171078e-04 9.99881265e-01 1.31328118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.4892541539999 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:847.34, Y:17.88, Z:13.13 [[ 9.50302693e-01 -3.10989900e-01 -1.44938948e-02 8.47337426e+02] [ 3.10946220e-01 9.50413102e-01 -5.23294643e-03 1.78822278e+01] [ 1.54025810e-02 4.66061278e-04 9.99881265e-01 1.31311915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.5192541539999 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:847.37, Y:17.89, Z:13.13 [[ 9.50446297e-01 -3.10550811e-01 -1.44924100e-02 8.47365214e+02] [ 3.10507016e-01 9.50556661e-01 -5.23705527e-03 1.78918201e+01] [ 1.54022287e-02 4.77544782e-04 9.99881265e-01 1.31306437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.5492541539999 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:847.39, Y:17.90, Z:13.13 [[ 9.50505198e-01 -3.10370521e-01 -1.44916780e-02 8.47392200e+02] [ 3.10326675e-01 9.50615541e-01 -5.23908020e-03 1.78998982e+01] [ 1.54020704e-02 4.82618710e-04 9.99881265e-01 1.31295430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.5792541539998 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:847.42, Y:17.91, Z:13.13 [[ 9.50366738e-01 -3.10794254e-01 -1.44912055e-02 8.47419787e+02] [ 3.10750437e-01 9.50477093e-01 -5.24038666e-03 1.79084233e+01] [ 1.54022410e-02 4.77140722e-04 9.99881265e-01 1.31313214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.6092541539999 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:847.45, Y:17.92, Z:13.13 [[ 9.49820197e-01 -3.12460614e-01 -1.44899188e-02 8.47447106e+02] [ 3.12416936e-01 9.49930607e-01 -5.24394222e-03 1.79153873e+01] [ 1.54029427e-02 4.53906208e-04 9.99881265e-01 1.31325696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.6392541539999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:847.47, Y:17.92, Z:13.14 [[ 9.49706483e-01 -3.12806141e-01 -1.44884119e-02 8.47473744e+02] [ 3.12762440e-01 9.49816884e-01 -5.24810211e-03 1.79232716e+01] [ 1.54029769e-02 4.52725521e-04 9.99881265e-01 1.31358727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.6692541539999 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:847.50, Y:17.93, Z:13.14 [[ 9.49375637e-01 -3.13808859e-01 -1.44879457e-02 8.47500624e+02] [ 3.13765256e-01 9.49486076e-01 -5.24938878e-03 1.79317836e+01] [ 1.54034075e-02 4.37827812e-04 9.99881265e-01 1.31359105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.6992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:847.53, Y:17.94, Z:13.14 [[ 9.49421873e-01 -3.13669015e-01 -1.44864411e-02 8.47528916e+02] [ 3.13625332e-01 9.49532280e-01 -5.25353777e-03 1.79389409e+01] [ 1.54032155e-02 4.44508766e-04 9.99881265e-01 1.31408167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.7292541539999 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:847.56, Y:17.95, Z:13.14 [[ 9.49140552e-01 -3.14519306e-01 -1.44851259e-02 8.47556920e+02] [ 3.14475666e-01 9.49250977e-01 -5.25716169e-03 1.79480076e+01] [ 1.54034987e-02 4.34565744e-04 9.99881265e-01 1.31365985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.7592541539999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:847.58, Y:17.96, Z:13.14 [[ 9.49394152e-01 -3.13753031e-01 -1.44838112e-02 8.47584095e+02] [ 3.13709247e-01 9.49504519e-01 -5.26078116e-03 1.79551627e+01] [ 1.54030302e-02 4.50849361e-04 9.99881265e-01 1.31359853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.7892541539999 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:847.61, Y:17.96, Z:13.14 [[ 9.49484460e-01 -3.13479653e-01 -1.44833460e-02 8.47611586e+02] [ 3.13435818e-01 9.49594808e-01 -5.26206155e-03 1.79636518e+01] [ 1.54028594e-02 4.56646272e-04 9.99881265e-01 1.31352799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.8192541539999 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:847.64, Y:17.97, Z:13.13 [[ 9.49788994e-01 -3.12555815e-01 -1.44820452e-02 8.47638800e+02] [ 3.12511818e-01 9.49899277e-01 -5.26563914e-03 1.79700469e+01] [ 1.54022904e-02 4.75435823e-04 9.99881265e-01 1.31338301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.8492541539999 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:847.67, Y:17.98, Z:13.13 [[ 9.49880853e-01 -3.12276559e-01 -1.44815850e-02 8.47665357e+02] [ 3.12232511e-01 9.49991115e-01 -5.26690464e-03 1.79778560e+01] [ 1.54021079e-02 4.81310241e-04 9.99881265e-01 1.31345599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.8792541539999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:847.69, Y:17.98, Z:13.14 [[ 9.50391496e-01 -3.10719053e-01 -1.44801168e-02 8.47692938e+02] [ 3.10674763e-01 9.50501662e-01 -5.27093802e-03 1.79837450e+01] [ 1.54011559e-02 5.10847829e-04 9.99881265e-01 1.31359452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.9092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:847.72, Y:17.99, Z:13.14 [[ 9.50784492e-01 -3.09514489e-01 -1.44786415e-02 8.47719560e+02] [ 3.09469998e-01 9.50894576e-01 -5.27498713e-03 1.79912069e+01] [ 1.54003467e-02 5.34670794e-04 9.99881265e-01 1.31365713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.9392541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:847.75, Y:18.00, Z:13.14 [[ 9.50795108e-01 -3.09481898e-01 -1.44781850e-02 8.47746786e+02] [ 3.09437384e-01 9.50905183e-01 -5.27623999e-03 1.79994949e+01] [ 1.54002819e-02 5.36531492e-04 9.99881265e-01 1.31376782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.9692541539998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:847.77, Y:18.01, Z:13.14 [[ 9.51255353e-01 -3.08064410e-01 -1.44766595e-02 8.47774171e+02] [ 3.08019668e-01 9.51365335e-01 -5.28042211e-03 1.80055890e+01] [ 1.53993022e-02 5.63933938e-04 9.99881265e-01 1.31382018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.9992541539999 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:847.80, Y:18.01, Z:13.14 [[ 9.51395083e-01 -3.07632679e-01 -1.44751432e-02 8.47800462e+02] [ 3.07587824e-01 9.51505020e-01 -5.28457562e-03 1.80136937e+01] [ 1.53988795e-02 5.75341467e-04 9.99881265e-01 1.31359460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.0292541539999 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:847.83, Y:18.02, Z:13.14 [[ 9.51675647e-01 -3.06763667e-01 -1.44746737e-02 8.47827603e+02] [ 3.06718692e-01 9.51785535e-01 -5.28586111e-03 1.80198682e+01] [ 1.53982952e-02 5.90772302e-04 9.99881265e-01 1.31359735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.0592541539999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:847.86, Y:18.03, Z:13.14 [[ 9.51859097e-01 -3.06194034e-01 -1.44732123e-02 8.47855830e+02] [ 3.06148932e-01 9.51968933e-01 -5.28985968e-03 1.80278668e+01] [ 1.53977719e-02 6.04242575e-04 9.99881265e-01 1.31394692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.0892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:847.88, Y:18.04, Z:13.14 [[ 9.52005449e-01 -3.05738759e-01 -1.44719376e-02 8.47884079e+02] [ 3.05693552e-01 9.52115241e-01 -5.29334473e-03 1.80360241e+01] [ 1.53973330e-02 6.15315033e-04 9.99881265e-01 1.31425094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.1192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:847.91, Y:18.04, Z:13.14 [[ 9.52270944e-01 -3.04910891e-01 -1.44706148e-02 8.47911860e+02] [ 3.04865534e-01 9.52380674e-01 -5.29695846e-03 1.80420614e+01] [ 1.53966342e-02 6.32547937e-04 9.99881265e-01 1.31437835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.1492541539999 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:847.94, Y:18.05, Z:13.14 [[ 9.51837888e-01 -3.06260101e-01 -1.44701457e-02 8.47937080e+02] [ 3.06214880e-01 9.51947675e-01 -5.29823942e-03 1.80510951e+01] [ 1.53974609e-02 6.12091069e-04 9.99881265e-01 1.31417822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.1792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:847.97, Y:18.06, Z:13.15 [[ 9.52456764e-01 -3.04330877e-01 -1.44509288e-02 8.47965546e+02] [ 3.04284639e-01 9.52566128e-01 -5.35067781e-03 1.80574206e+01] [ 1.53938417e-02 6.99093632e-04 9.99881263e-01 1.31471234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.2092541539998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:847.99, Y:18.06, Z:13.15 [[ 9.53042889e-01 -3.02490410e-01 -1.44500166e-02 8.47993702e+02] [ 3.02443923e-01 9.53152148e-01 -5.35316494e-03 1.80646359e+01] [ 1.53923454e-02 7.31476071e-04 9.99881263e-01 1.31469643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.2392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:848.02, Y:18.07, Z:13.15 [[ 9.53863651e-01 -2.99891362e-01 -1.44674548e-02 8.48020870e+02] [ 2.99845297e-01 9.53973086e-01 -5.30561427e-03 1.80718068e+01] [ 1.53926704e-02 7.22834330e-04 9.99881265e-01 1.31468218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.2692541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:848.05, Y:18.08, Z:13.14 [[ 9.54193932e-01 -2.98838829e-01 -1.44669861e-02 8.48047117e+02] [ 2.98792623e-01 9.54303309e-01 -5.30689203e-03 1.80805507e+01] [ 1.53917981e-02 7.41175454e-04 9.99881265e-01 1.31442392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.2992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:848.07, Y:18.09, Z:13.15 [[ 9.54346547e-01 -2.98351114e-01 -1.44665216e-02 8.48073047e+02] [ 2.98304834e-01 9.54455892e-01 -5.30815778e-03 1.80899180e+01] [ 1.53913516e-02 7.50388725e-04 9.99881265e-01 1.31478629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.3292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:848.10, Y:18.10, Z:13.15 [[ 9.55084104e-01 -2.95982146e-01 -1.44541849e-02 8.48100496e+02] [ 2.95935088e-01 9.55193116e-01 -5.34174925e-03 1.80966072e+01] [ 1.53876003e-02 8.24319335e-04 9.99881264e-01 1.31460671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.3592541539999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:848.13, Y:18.11, Z:13.14 [[ 9.54756941e-01 -2.97035289e-01 -1.44644965e-02 8.48128307e+02] [ 2.96988775e-01 9.54866186e-01 -5.31367982e-03 1.81057187e+01] [ 1.53900090e-02 7.77479608e-04 9.99881265e-01 1.31438341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.3892541539999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:848.15, Y:18.11, Z:13.14 [[ 9.54318626e-01 -2.98440575e-01 -1.44631803e-02 8.48154930e+02] [ 2.98394167e-01 9.54427917e-01 -5.31725996e-03 1.81145346e+01] [ 1.53909491e-02 7.58631595e-04 9.99881265e-01 1.31447914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.4192541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:848.18, Y:18.12, Z:13.15 [[ 9.53376967e-01 -3.01435267e-01 -1.44616592e-02 8.48182507e+02] [ 3.01389140e-01 9.53486376e-01 -5.32139365e-03 1.81220928e+01] [ 1.53930507e-02 7.14707109e-04 9.99881265e-01 1.31477397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.4492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:848.21, Y:18.13, Z:13.15 [[ 9.52626646e-01 -3.03797999e-01 -1.44654797e-02 8.48208586e+02] [ 3.03752301e-01 9.52736235e-01 -5.31101586e-03 1.81301687e+01] [ 1.53952626e-02 6.65492487e-04 9.99881264e-01 1.31508163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.4792541539999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:848.24, Y:18.14, Z:13.15 [[ 9.52248295e-01 -3.04982144e-01 -1.44594506e-02 8.48235186e+02] [ 3.04936334e-01 9.52357838e-01 -5.32737993e-03 1.81396044e+01] [ 1.53953268e-02 6.63776608e-04 9.99881265e-01 1.31489359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.5092541539999 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:848.26, Y:18.15, Z:13.15 [[ 9.52013026e-01 -3.05715776e-01 -1.44589830e-02 8.48262034e+02] [ 3.05670032e-01 9.52122596e-01 -5.32864854e-03 1.81493002e+01] [ 1.53957764e-02 6.53265020e-04 9.99881265e-01 1.31503420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.5392541539999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:848.29, Y:18.16, Z:13.15 [[ 9.51982901e-01 -3.05809642e-01 -1.44574640e-02 8.48288872e+02] [ 3.05763846e-01 9.52092449e-01 -5.33276670e-03 1.81589760e+01] [ 1.53956538e-02 6.56132916e-04 9.99881265e-01 1.31506536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.5692541539999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:848.31, Y:18.17, Z:13.15 [[ 9.52281319e-01 -3.04879181e-01 -1.44559296e-02 8.48314661e+02] [ 3.04833214e-01 9.52390796e-01 -5.33692296e-03 1.81690921e+01] [ 1.53948110e-02 6.75604553e-04 9.99881265e-01 1.31494282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.5992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:848.34, Y:18.18, Z:13.15 [[ 9.52408497e-01 -3.04481683e-01 -1.44554558e-02 8.48341844e+02] [ 3.04435651e-01 9.52517946e-01 -5.33820608e-03 1.81796096e+01] [ 1.53944670e-02 6.83396746e-04 9.99881265e-01 1.31515431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.6292541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:848.37, Y:18.19, Z:13.15 [[ 9.52408819e-01 -3.04480740e-01 -1.44541014e-02 8.48367972e+02] [ 3.04434652e-01 9.52518245e-01 -5.34187061e-03 1.81895186e+01] [ 1.53942921e-02 6.87315333e-04 9.99881265e-01 1.31492291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.6592541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:848.39, Y:18.20, Z:13.15 [[ 9.52365493e-01 -3.04616250e-01 -1.44536224e-02 8.48393857e+02] [ 3.04570159e-01 9.52474918e-01 -5.34316642e-03 1.81992304e+01] [ 1.53943281e-02 6.86505249e-04 9.99881265e-01 1.31511557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.6892541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:848.42, Y:18.21, Z:13.15 [[ 9.52450021e-01 -3.04351927e-01 -1.44520714e-02 8.48420630e+02] [ 3.04305742e-01 9.52559406e-01 -5.34735820e-03 1.82092514e+01] [ 1.53939353e-02 6.95243113e-04 9.99881265e-01 1.31529522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.7192541539998 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:848.45, Y:18.22, Z:13.15 [[ 9.52399578e-01 -3.04509804e-01 -1.44507297e-02 8.48447485e+02] [ 3.04463582e-01 9.52508947e-01 -5.35098177e-03 1.82200522e+01] [ 1.53938757e-02 6.96551866e-04 9.99881265e-01 1.31519586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.7492541539999 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:848.47, Y:18.23, Z:13.15 [[ 9.52465877e-01 -3.04302429e-01 -1.44493964e-02 8.48472471e+02] [ 3.04256129e-01 9.52575213e-01 -5.35457958e-03 1.82297995e+01] [ 1.53935484e-02 7.03736928e-04 9.99881265e-01 1.31523584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.7792541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:848.50, Y:18.24, Z:13.15 [[ 9.52593183e-01 -3.03903704e-01 -1.44487358e-02 8.48499568e+02] [ 3.03857332e-01 9.52702488e-01 -5.35636161e-03 1.82408783e+01] [ 1.53931647e-02 7.12079264e-04 9.99881265e-01 1.31549020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.8092541539999 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:848.53, Y:18.25, Z:13.15 [[ 9.52354087e-01 -3.04652205e-01 -1.44474217e-02 8.48526413e+02] [ 3.04605864e-01 9.52463406e-01 -5.35990358e-03 1.82515512e+01] [ 1.53935469e-02 7.03756693e-04 9.99881265e-01 1.31523185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.8392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:848.55, Y:18.26, Z:13.15 [[ 9.52470932e-01 -3.04286762e-01 -1.44461103e-02 8.48553717e+02] [ 3.04240326e-01 9.52580211e-01 -5.36343577e-03 1.82622960e+01] [ 1.53931013e-02 7.13427355e-04 9.99881265e-01 1.31548263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.8692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:848.58, Y:18.27, Z:13.16 [[ 9.52621526e-01 -3.03815034e-01 -1.44448033e-02 8.48579922e+02] [ 3.03768491e-01 9.52730759e-01 -5.36695356e-03 1.82735812e+01] [ 1.53925696e-02 7.24799391e-04 9.99881265e-01 1.31554255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.8992541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:848.61, Y:18.28, Z:13.16 [[ 9.52674980e-01 -3.03647448e-01 -1.44433202e-02 8.48605420e+02] [ 3.03600825e-01 9.52784179e-01 -5.37094194e-03 1.82842864e+01] [ 1.53922397e-02 7.31758086e-04 9.99881265e-01 1.31559871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.9292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:848.63, Y:18.30, Z:13.16 [[ 9.52117694e-01 -3.05390455e-01 -1.44418476e-02 8.48627586e+02] [ 3.05343972e-01 9.52226953e-01 -5.37489862e-03 1.82987600e+01] [ 1.53933592e-02 7.07804971e-04 9.99881265e-01 1.31551836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.9592541539998 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:848.66, Y:18.31, Z:13.16 [[ 9.53263241e-01 -3.01797761e-01 -1.43980653e-02 8.48657746e+02] [ 3.01749095e-01 9.53371553e-01 -5.49239405e-03 1.83074660e+01] [ 1.53842981e-02 8.91094191e-04 9.99881258e-01 1.31552199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.9892541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:848.68, Y:18.32, Z:13.16 [[ 9.53632394e-01 -3.00627242e-01 -1.44401669e-02 8.48684061e+02] [ 3.00580146e-01 9.53741389e-01 -5.37937868e-03 1.83187683e+01] [ 1.53893726e-02 7.89522297e-04 9.99881265e-01 1.31580324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.0192541539999 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:848.71, Y:18.33, Z:13.16 [[ 9.54180928e-01 -2.98881706e-01 -1.44389017e-02 8.48709829e+02] [ 2.98834360e-01 9.54289815e-01 -5.38277252e-03 1.83316138e+01] [ 1.53877090e-02 8.21298948e-04 9.99881265e-01 1.31562926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.0492541539999 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:848.74, Y:18.34, Z:13.16 [[ 9.54877170e-01 -2.96649874e-01 -1.44375537e-02 8.48735999e+02] [ 2.96602218e-01 9.54985922e-01 -5.38638561e-03 1.83444509e+01] [ 1.53855311e-02 8.61126199e-04 9.99881265e-01 1.31572750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.0792541539998 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:848.76, Y:18.36, Z:13.15 [[ 9.55169044e-01 -2.95708798e-01 -1.44361997e-02 8.48760831e+02] [ 2.95660981e-01 9.55277725e-01 -5.39001215e-03 1.83558439e+01] [ 1.53844540e-02 8.80151799e-04 9.99881265e-01 1.31546548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.1092541539999 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:848.79, Y:18.37, Z:13.15 [[ 9.55339205e-01 -2.95158634e-01 -1.44355269e-02 8.48786367e+02] [ 2.95110727e-01 9.55447846e-01 -5.39181345e-03 1.83673226e+01] [ 1.53838333e-02 8.90931947e-04 9.99881265e-01 1.31534156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.1392541539999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:848.81, Y:18.38, Z:13.16 [[ 9.55288426e-01 -2.95322973e-01 -1.44348610e-02 8.48811840e+02] [ 2.95275058e-01 9.55397064e-01 -5.39359537e-03 1.83802611e+01] [ 1.53838765e-02 8.90184804e-04 9.99881265e-01 1.31554456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.1692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:848.84, Y:18.39, Z:13.16 [[ 9.55345134e-01 -2.95139552e-01 -1.44333041e-02 8.48838163e+02] [ 2.95091553e-01 9.55453735e-01 -5.39775864e-03 1.83911459e+01] [ 1.53834463e-02 8.97576340e-04 9.99881265e-01 1.31581549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.1992541539998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:848.86, Y:18.40, Z:13.16 [[ 9.54976313e-01 -2.96330829e-01 -1.44319533e-02 8.48863983e+02] [ 2.96282912e-01 9.55084950e-01 -5.40136763e-03 1.84028207e+01] [ 1.53843332e-02 8.82236987e-04 9.99881265e-01 1.31580992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.2292541539999 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:848.89, Y:18.41, Z:13.16 [[ 9.54593993e-01 -2.97560146e-01 -1.44314751e-02 8.48890329e+02] [ 2.97512349e-01 9.54702683e-01 -5.40264516e-03 1.84137555e+01] [ 1.53853799e-02 8.63790562e-04 9.99881265e-01 1.31575138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.2592541539999 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:848.92, Y:18.42, Z:13.16 [[ 9.54395232e-01 -2.98197113e-01 -1.44299586e-02 8.48915832e+02] [ 2.98149328e-01 9.54503927e-01 -5.40669246e-03 1.84243951e+01] [ 1.53857122e-02 8.57839048e-04 9.99881265e-01 1.31580034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.2892541539999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:848.94, Y:18.44, Z:13.16 [[ 9.54031897e-01 -2.99357528e-01 -1.44294873e-02 8.48941057e+02] [ 2.99309856e-01 9.54140642e-01 -5.40794994e-03 1.84368936e+01] [ 1.53866708e-02 8.40468956e-04 9.99881265e-01 1.31599509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.3192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:848.97, Y:18.45, Z:13.16 [[ 9.53966966e-01 -2.99564456e-01 -1.44279453e-02 8.48967645e+02] [ 2.99516745e-01 9.54075693e-01 -5.41206071e-03 1.84487423e+01] [ 1.53866130e-02 8.41515903e-04 9.99881265e-01 1.31617563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.3492541539999 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:848.99, Y:18.46, Z:13.16 [[ 9.53320723e-01 -3.01614774e-01 -1.44266087e-02 8.48993050e+02] [ 3.01567244e-01 9.53429530e-01 -5.41562139e-03 1.84623563e+01] [ 1.53881862e-02 8.12231469e-04 9.99881265e-01 1.31600989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.3792541539999 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:849.02, Y:18.47, Z:13.16 [[ 9.53232894e-01 -3.01892313e-01 -1.44250318e-02 8.49019776e+02] [ 3.01844751e-01 9.53341687e-01 -5.41981847e-03 1.84724812e+01] [ 1.53881856e-02 8.12229128e-04 9.99881265e-01 1.31605378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.4092541539999 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:849.04, Y:18.48, Z:13.16 [[ 9.53095954e-01 -3.02324440e-01 -1.44234528e-02 8.49044958e+02] [ 3.02276864e-01 9.53204741e-01 -5.42401726e-03 1.84836060e+01] [ 1.53883165e-02 8.09732833e-04 9.99881265e-01 1.31603907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.4392541539999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:849.07, Y:18.50, Z:13.16 [[ 9.52873632e-01 -3.03024480e-01 -1.44223812e-02 8.49070953e+02] [ 3.02976942e-01 9.52982435e-01 -5.42686513e-03 1.84950941e+01] [ 1.53887489e-02 8.01467749e-04 9.99881265e-01 1.31618779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.4692541539998 meters Centerline goodness : 0.999296 Centerline is valid? [True, True] Translation: X:849.10, Y:18.51, Z:13.16 [[ 9.52513845e-01 -3.04153605e-01 -1.44208011e-02 8.49097275e+02] [ 3.04106132e-01 9.52622677e-01 -5.43106052e-03 1.85087617e+01] [ 1.53894588e-02 7.87706291e-04 9.99881265e-01 1.31633414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.4992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:849.12, Y:18.52, Z:13.16 [[ 9.52398541e-01 -3.04513856e-01 -1.44336983e-02 8.49122156e+02] [ 3.04466941e-01 9.52507615e-01 -5.39681653e-03 1.85200543e+01] [ 1.53916129e-02 7.45336224e-04 9.99881264e-01 1.31642634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.5292541539999 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:849.15, Y:18.53, Z:13.16 [[ 9.51749310e-01 -3.06537684e-01 -1.44186729e-02 8.49147794e+02] [ 3.06490399e-01 9.51858224e-01 -5.43666558e-03 1.85337945e+01] [ 1.53910753e-02 7.55157895e-04 9.99881265e-01 1.31626550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.5592541539999 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:849.17, Y:18.54, Z:13.16 [[ 9.51483341e-01 -3.07362317e-01 -1.44173137e-02 8.49173627e+02] [ 3.07315072e-01 9.51592271e-01 -5.44026763e-03 1.85449427e+01] [ 1.53915376e-02 7.45666213e-04 9.99881265e-01 1.31631435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.5892541539998 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:849.20, Y:18.56, Z:13.16 [[ 9.51299806e-01 -3.07929968e-01 -1.44157476e-02 8.49198309e+02] [ 3.07882725e-01 9.51408738e-01 -5.44441441e-03 1.85568035e+01] [ 1.53917666e-02 7.40910723e-04 9.99881265e-01 1.31635655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.6192541539999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:849.22, Y:18.57, Z:13.17 [[ 9.50785776e-01 -3.09513748e-01 -1.44099785e-02 8.49224227e+02] [ 3.09466456e-01 9.50894686e-01 -5.45968023e-03 1.85686917e+01] [ 1.53922181e-02 7.31581316e-04 9.99881265e-01 1.31659955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.6492541539999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:849.25, Y:18.58, Z:13.17 [[ 9.50459026e-01 -3.10515514e-01 -1.44137408e-02 8.49250113e+02] [ 3.10468487e-01 9.50568051e-01 -5.44972963e-03 1.85803545e+01] [ 1.53934671e-02 7.04732435e-04 9.99881265e-01 1.31658378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.6792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:849.27, Y:18.59, Z:13.17 [[ 9.50130819e-01 -3.11518407e-01 -1.44121407e-02 8.49274958e+02] [ 3.11471431e-01 9.50239866e-01 -5.45395774e-03 1.85932683e+01] [ 1.53939989e-02 6.93003237e-04 9.99881265e-01 1.31678324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.7092541539998 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:849.30, Y:18.61, Z:13.17 [[ 9.49348063e-01 -3.13895790e-01 -1.44113988e-02 8.49301172e+02] [ 3.13849058e-01 9.49457214e-01 -5.45591753e-03 1.86067122e+01] [ 1.53955961e-02 6.56560802e-04 9.99881265e-01 1.31659419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.7392541539999 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:849.33, Y:18.62, Z:13.17 [[ 9.48759514e-01 -3.15670295e-01 -1.44100326e-02 8.49327810e+02] [ 3.15623712e-01 9.48868730e-01 -5.45952348e-03 1.86190346e+01] [ 1.53966387e-02 6.31626865e-04 9.99881265e-01 1.31655800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.7692541539999 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:849.35, Y:18.63, Z:13.17 [[ 9.48667593e-01 -3.15946497e-01 -1.44086437e-02 8.49354497e+02] [ 3.15899891e-01 9.48776798e-01 -5.46318662e-03 1.86292362e+01] [ 1.53966615e-02 6.31059140e-04 9.99881265e-01 1.31660190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.7992541539999 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:849.38, Y:18.64, Z:13.17 [[ 9.47887168e-01 -3.18280307e-01 -1.44070521e-02 8.49380203e+02] [ 3.18233906e-01 9.47996460e-01 -5.46738064e-03 1.86404272e+01] [ 1.53979940e-02 5.97647493e-04 9.99881265e-01 1.31674918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.8292541539998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:849.41, Y:18.65, Z:13.17 [[ 9.47494734e-01 -3.19446728e-01 -1.44054720e-02 8.49406097e+02] [ 3.19400399e-01 9.47604056e-01 -5.47154056e-03 1.86510019e+01] [ 1.53985495e-02 5.83142352e-04 9.99881265e-01 1.31685043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.8592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:849.43, Y:18.66, Z:13.17 [[ 9.46659365e-01 -3.21913876e-01 -1.44049843e-02 8.49432423e+02] [ 3.21867812e-01 9.46768800e-01 -5.47282443e-03 1.86627995e+01] [ 1.53999678e-02 5.44399734e-04 9.99881265e-01 1.31703684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.8892541539999 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:849.46, Y:18.67, Z:13.17 [[ 9.46037844e-01 -3.23735900e-01 -1.44036456e-02 8.49458465e+02] [ 3.23689993e-01 9.46147345e-01 -5.47634546e-03 1.86735557e+01] [ 1.54008606e-02 5.18514128e-04 9.99881265e-01 1.31684930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.9192541539999 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:849.48, Y:18.68, Z:13.17 [[ 9.45602865e-01 -3.25004310e-01 -1.44021190e-02 8.49484242e+02] [ 3.24958488e-01 9.45712402e-01 -5.48035711e-03 1.86838624e+01] [ 1.54014023e-02 5.02150550e-04 9.99881265e-01 1.31689377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.9492541539998 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:849.51, Y:18.69, Z:13.17 [[ 9.45088056e-01 -3.26498377e-01 -1.44005725e-02 8.49510055e+02] [ 3.26452667e-01 9.45197639e-01 -5.48441792e-03 1.86939686e+01] [ 1.54020407e-02 4.82152577e-04 9.99881265e-01 1.31693368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.9792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:849.54, Y:18.70, Z:13.17 [[ 9.45058501e-01 -3.26583946e-01 -1.43998523e-02 8.49537168e+02] [ 3.26538217e-01 9.45168077e-01 -5.48630804e-03 1.87043296e+01] [ 1.54020209e-02 4.82779939e-04 9.99881265e-01 1.31734857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.0092541539999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:849.56, Y:18.71, Z:13.17 [[ 9.44759369e-01 -3.27448343e-01 -1.43984955e-02 8.49563353e+02] [ 3.27402661e-01 9.44868964e-01 -5.48986657e-03 1.87144919e+01] [ 1.54023393e-02 4.72497129e-04 9.99881265e-01 1.31728106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.0392541539999 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:849.59, Y:18.72, Z:13.17 [[ 9.44608117e-01 -3.27884482e-01 -1.43969298e-02 8.49589375e+02] [ 3.27838787e-01 9.44717707e-01 -5.49396953e-03 1.87244337e+01] [ 1.54024219e-02 4.69776198e-04 9.99881265e-01 1.31690418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.0692541539999 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:849.62, Y:18.73, Z:13.17 [[ 9.44423799e-01 -3.28415028e-01 -1.43964455e-02 8.49615194e+02] [ 3.28369376e-01 9.44533406e-01 -5.49523829e-03 1.87337441e+01] [ 1.54026426e-02 4.62481984e-04 9.99881265e-01 1.31690282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.0992541539999 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:849.64, Y:18.74, Z:13.17 [[ 9.44344867e-01 -3.28641970e-01 -1.43954482e-02 8.49641532e+02] [ 3.28596304e-01 9.44454468e-01 -5.49784970e-03 1.87434296e+01] [ 1.54026695e-02 4.61575073e-04 9.99881265e-01 1.31709508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.1292541539999 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:849.67, Y:18.75, Z:13.17 [[ 9.44233811e-01 -3.28960977e-01 -1.43939492e-02 8.49668622e+02] [ 3.28915289e-01 9.44343403e-01 -5.50177137e-03 1.87526059e+01] [ 1.54026991e-02 4.60568584e-04 9.99881265e-01 1.31721596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.1592541539999 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:849.70, Y:18.76, Z:13.17 [[ 9.44083779e-01 -3.29391364e-01 -1.43926370e-02 8.49695301e+02] [ 3.29345673e-01 9.44193370e-01 -5.50520201e-03 1.87618558e+01] [ 1.54027984e-02 4.57219187e-04 9.99881265e-01 1.31730962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.1892541539999 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:849.72, Y:18.77, Z:13.17 [[ 9.43973518e-01 -3.29707283e-01 -1.43911045e-02 8.49721351e+02] [ 3.29661568e-01 9.44083100e-01 -5.50920526e-03 1.87710520e+01] [ 1.54028236e-02 4.56349801e-04 9.99881265e-01 1.31737259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.2192541539998 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:849.75, Y:18.78, Z:13.17 [[ 9.43657682e-01 -3.30610176e-01 -1.43906297e-02 8.49747362e+02] [ 3.30564547e-01 9.43767299e-01 -5.51044512e-03 1.87796233e+01] [ 1.54032150e-02 4.42941880e-04 9.99881265e-01 1.31747337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.2492541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:849.77, Y:18.79, Z:13.18 [[ 9.43473371e-01 -3.31135817e-01 -1.43898867e-02 8.49773374e+02] [ 3.31090219e-01 9.43583001e-01 -5.51238460e-03 1.87887350e+01] [ 1.54034005e-02 4.36437333e-04 9.99881265e-01 1.31783006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.2792541539999 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:849.80, Y:18.80, Z:13.18 [[ 9.42688286e-01 -3.33364323e-01 -1.43882897e-02 8.49800188e+02] [ 3.33318921e-01 9.42797998e-01 -5.51655000e-03 1.87969918e+01] [ 1.54042717e-02 4.04497863e-04 9.99881265e-01 1.31752342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.3092541539999 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:849.83, Y:18.81, Z:13.18 [[ 9.41885005e-01 -3.35627218e-01 -1.43877961e-02 8.49827416e+02] [ 3.35582060e-01 9.41994817e-01 -5.51783705e-03 1.88068482e+01] [ 1.54051657e-02 3.68881724e-04 9.99881265e-01 1.31776938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.3392541539998 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:849.85, Y:18.81, Z:13.18 [[ 9.40949350e-01 -3.38241733e-01 -1.43822965e-02 8.49854462e+02] [ 3.38196661e-01 9.41059198e-01 -5.53216934e-03 1.88142853e+01] [ 1.54058030e-02 3.41446483e-04 9.99881265e-01 1.31786928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.3692541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:849.88, Y:18.82, Z:13.18 [[ 9.40317325e-01 -3.39994746e-01 -1.43840673e-02 8.49879530e+02] [ 3.39949950e-01 9.40427285e-01 -5.52755649e-03 1.88235559e+01] [ 1.54065095e-02 3.07794185e-04 9.99881265e-01 1.31793182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.3992541539999 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:849.91, Y:18.83, Z:13.18 [[ 9.40277213e-01 -3.40106107e-01 -1.43735709e-02 8.49906552e+02] [ 3.40060906e-01 9.40387007e-01 -5.55488694e-03 1.88310987e+01] [ 1.54059703e-02 3.35244081e-04 9.99881265e-01 1.31789800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.4292541539999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:849.93, Y:18.84, Z:13.18 [[ 9.39120120e-01 -3.43287755e-01 -1.43846283e-02 8.49934337e+02] [ 3.43243366e-01 9.39230245e-01 -5.52610422e-03 1.88396036e+01] [ 1.54075218e-02 2.52247440e-04 9.99881265e-01 1.31807515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.4592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:849.96, Y:18.85, Z:13.18 [[ 9.37899664e-01 -3.46608342e-01 -1.43832260e-02 8.49960296e+02] [ 3.46564288e-01 9.38009923e-01 -5.52975162e-03 1.88504944e+01] [ 1.54082667e-02 2.01639720e-04 9.99881265e-01 1.31802442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.4892541539999 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:849.99, Y:18.86, Z:13.18 [[ 9.37365452e-01 -3.48051392e-01 -1.43609654e-02 8.49989353e+02] [ 3.48006621e-01 9.37475424e-01 -5.58756276e-03 1.88576337e+01] [ 1.54078111e-02 2.39877254e-04 9.99881264e-01 1.31786679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.5192541539999 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:850.01, Y:18.87, Z:13.18 [[ 9.37038720e-01 -3.48928246e-01 -1.44054184e-02 8.50014652e+02] [ 3.48885351e-01 9.37149438e-01 -5.47203422e-03 1.88662514e+01] [ 1.54093770e-02 1.01668506e-04 9.99881263e-01 1.31799758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.5492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:850.04, Y:18.88, Z:13.18 [[ 9.36779398e-01 -3.49624914e-01 -1.43797798e-02 8.50040751e+02] [ 3.49581079e-01 9.36889744e-01 -5.53859931e-03 1.88752413e+01] [ 1.54087005e-02 1.61546790e-04 9.99881266e-01 1.31823024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.5792541539998 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:850.07, Y:18.89, Z:13.18 [[ 9.34911047e-01 -3.54590708e-01 -1.43792959e-02 8.50066557e+02] [ 3.54547439e-01 9.35021617e-01 -5.53985524e-03 1.88850034e+01] [ 1.54093337e-02 8.11293097e-05 9.99881266e-01 1.31803243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.6092541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:850.09, Y:18.89, Z:13.18 [[ 9.34151398e-01 -3.56587964e-01 -1.43592815e-02 8.50093459e+02] [ 3.56544134e-01 9.34261748e-01 -5.59174551e-03 1.88943686e+01] [ 1.54092766e-02 1.03819282e-04 9.99881265e-01 1.31805709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.6392541539999 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:850.12, Y:18.90, Z:13.18 [[ 9.34040747e-01 -3.56877323e-01 -1.43686800e-02 8.50120775e+02] [ 3.56833902e-01 9.34151257e-01 -5.56739109e-03 1.89003389e+01] [ 1.54093961e-02 7.29379901e-05 9.99881266e-01 1.31822592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.6692541539999 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:850.15, Y:18.91, Z:13.18 [[ 9.33638162e-01 -3.57928921e-01 -1.43760142e-02 8.50147366e+02] [ 3.57885917e-01 9.33748835e-01 -5.54838794e-03 1.89094999e+01] [ 1.54095150e-02 3.52136839e-05 9.99881266e-01 1.31838134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.6992541539998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:850.17, Y:18.92, Z:13.18 [[ 9.33424993e-01 -3.58484527e-01 -1.43744769e-02 8.50172992e+02] [ 3.58441527e-01 9.33535668e-01 -5.55236780e-03 1.89179665e+01] [ 1.54095249e-02 3.03094112e-05 9.99881266e-01 1.31841628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.7292541539999 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:850.20, Y:18.93, Z:13.18 [[ 9.33371803e-01 -3.58623035e-01 -1.43734334e-02 8.50199352e+02] [ 3.58580010e-01 9.33482468e-01 -5.55506800e-03 1.89279941e+01] [ 1.54095234e-02 3.09179614e-05 9.99881266e-01 1.31828404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.7592541539999 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:850.23, Y:18.94, Z:13.18 [[ 9.33978879e-01 -3.57039073e-01 -1.43719598e-02 8.50225753e+02] [ 3.56995802e-01 9.34089448e-01 -5.55887779e-03 1.89377737e+01] [ 1.54094326e-02 6.11451430e-05 9.99881266e-01 1.31838931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.7892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:850.25, Y:18.95, Z:13.18 [[ 9.33576562e-01 -3.58089786e-01 -1.43703799e-02 8.50250080e+02] [ 3.58046576e-01 9.33687155e-01 -5.56295902e-03 1.89495739e+01] [ 1.54094779e-02 4.81828503e-05 9.99881266e-01 1.31829763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.8192541539999 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:850.28, Y:18.96, Z:13.18 [[ 9.34471961e-01 -3.55747645e-01 -1.43445735e-02 8.50278435e+02] [ 3.55703134e-01 9.34582039e-01 -5.62956199e-03 1.89576082e+01] [ 1.54088842e-02 1.58258072e-04 9.99881264e-01 1.31842517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.8492541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:850.30, Y:18.97, Z:13.19 [[ 9.34896610e-01 -3.54629218e-01 -1.43682731e-02 8.50304201e+02] [ 3.54585515e-01 9.35007008e-01 -5.56840975e-03 1.89660924e+01] [ 1.54091568e-02 1.11105898e-04 9.99881266e-01 1.31854568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.8792541539999 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:850.33, Y:18.98, Z:13.19 [[ 9.34733689e-01 -3.55058468e-01 -1.43671674e-02 8.50330249e+02] [ 3.55014772e-01 9.34844090e-01 -5.57126094e-03 1.89752995e+01] [ 1.54091849e-02 1.07088629e-04 9.99881266e-01 1.31853076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.9092541539999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:850.35, Y:18.99, Z:13.19 [[ 9.33793708e-01 -3.57523341e-01 -1.43656145e-02 8.50354666e+02] [ 3.57479875e-01 9.33904200e-01 -5.57526242e-03 1.89856381e+01] [ 1.54093941e-02 7.07269071e-05 9.99881266e-01 1.31853117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.9392541539999 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:850.38, Y:18.99, Z:13.19 [[ 9.34276321e-01 -3.56261326e-01 -1.43396114e-02 8.50382327e+02] [ 3.56216682e-01 9.34386345e-01 -5.64219387e-03 1.89938396e+01] [ 1.54088326e-02 1.63359324e-04 9.99881264e-01 1.31873392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.9692541539998 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:850.41, Y:19.00, Z:13.19 [[ 9.34084430e-01 -3.56763188e-01 -1.43633202e-02 8.50407680e+02] [ 3.56719541e-01 9.34194851e-01 -5.58117870e-03 1.90035150e+01] [ 1.54092989e-02 8.96151353e-05 9.99881266e-01 1.31863343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.9992541539999 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:850.43, Y:19.01, Z:13.19 [[ 9.34034510e-01 -3.56893890e-01 -1.43626341e-02 8.50432949e+02] [ 3.56850231e-01 9.34144926e-01 -5.58294372e-03 1.90132138e+01] [ 1.54093003e-02 8.93527924e-05 9.99881266e-01 1.31859098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.0292541539999 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:850.46, Y:19.02, Z:13.19 [[ 9.33799435e-01 -3.57508531e-01 -1.43619527e-02 8.50459484e+02] [ 3.57464918e-01 9.33909869e-01 -5.58469601e-03 1.90230262e+01] [ 1.54093459e-02 8.10917156e-05 9.99881266e-01 1.31863721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.0592541539999 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:850.49, Y:19.03, Z:13.19 [[ 9.33483894e-01 -3.58331690e-01 -1.43603618e-02 8.50486089e+02] [ 3.58288112e-01 9.33594342e-01 -5.58878401e-03 1.90330635e+01] [ 1.54093909e-02 7.18929576e-05 9.99881266e-01 1.31867616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.0892541539998 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:850.51, Y:19.04, Z:13.19 [[ 9.33173573e-01 -3.59139123e-01 -1.43587467e-02 8.50513261e+02] [ 3.59095576e-01 9.33284033e-01 -5.59293044e-03 1.90428236e+01] [ 1.54094291e-02 6.30124675e-05 9.99881266e-01 1.31898629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.1192541539999 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:850.54, Y:19.05, Z:13.19 [[ 9.32831951e-01 -3.60025582e-01 -1.43573139e-02 8.50538182e+02] [ 3.59982083e-01 9.32942430e-01 -5.59660602e-03 1.90525930e+01] [ 1.54094687e-02 5.23171416e-05 9.99881266e-01 1.31893380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.1492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:850.56, Y:19.06, Z:13.19 [[ 9.32887654e-01 -3.59881265e-01 -1.43562013e-02 8.50564018e+02] [ 3.59837706e-01 9.32998109e-01 -5.59945861e-03 1.90622036e+01] [ 1.54094489e-02 5.77632667e-05 9.99881266e-01 1.31925903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.1792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:850.59, Y:19.07, Z:13.19 [[ 9.32341460e-01 -3.61293991e-01 -1.43545796e-02 8.50590016e+02] [ 3.61250534e-01 9.32451956e-01 -5.60361271e-03 1.90734444e+01] [ 1.54095075e-02 3.88808909e-05 9.99881266e-01 1.31925551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.2092541539998 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:850.62, Y:19.08, Z:13.19 [[ 9.32779431e-01 -3.60162436e-01 -1.43371385e-02 8.50616749e+02] [ 3.60118160e-01 9.32889601e-01 -5.64824121e-03 1.90826396e+01] [ 1.54092517e-02 1.05499284e-04 9.99881265e-01 1.31901445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.2392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:850.64, Y:19.09, Z:13.19 [[ 9.33290071e-01 -3.58836951e-01 -1.43418013e-02 8.50642908e+02] [ 3.58792701e-01 9.33400252e-01 -5.63631745e-03 1.90928616e+01] [ 1.54091599e-02 1.14585483e-04 9.99881265e-01 1.31931281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.2692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:850.67, Y:19.10, Z:13.19 [[ 9.33188682e-01 -3.59100171e-01 -1.43509712e-02 8.50669499e+02] [ 3.59056313e-01 9.33299019e-01 -5.61287202e-03 1.91033342e+01] [ 1.54093306e-02 8.50618450e-05 9.99881266e-01 1.31935775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.2992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:850.70, Y:19.11, Z:13.19 [[ 9.33445415e-01 -3.58432354e-01 -1.43493845e-02 8.50695601e+02] [ 3.58388355e-01 9.33555696e-01 -5.61692531e-03 1.91137051e+01] [ 1.54092374e-02 1.00440854e-04 9.99881266e-01 1.31942131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.3292541539998 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:850.72, Y:19.12, Z:13.19 [[ 9.33717823e-01 -3.57722195e-01 -1.43477636e-02 8.50721379e+02] [ 3.57678048e-01 9.33828045e-01 -5.62106286e-03 1.91237308e+01] [ 1.54091229e-02 1.16606515e-04 9.99881266e-01 1.31918295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.3592541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:850.75, Y:19.13, Z:13.19 [[ 9.34033681e-01 -3.56896677e-01 -1.43472622e-02 8.50747470e+02] [ 3.56852413e-01 9.34143856e-01 -5.62234225e-03 1.91335174e+01] [ 1.54090021e-02 1.31601890e-04 9.99881266e-01 1.31936397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.3892541539999 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:850.77, Y:19.14, Z:13.19 [[ 9.34009322e-01 -3.56960442e-01 -1.43467695e-02 8.50774174e+02] [ 3.56916166e-01 9.34119492e-01 -5.62359934e-03 1.91435455e+01] [ 1.54089995e-02 1.31900255e-04 9.99881266e-01 1.31921560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.4192541539999 meters Centerline goodness : 0.999654 Centerline is valid? [True, True] Translation: X:850.80, Y:19.15, Z:13.19 [[ 9.34044699e-01 -3.56867924e-01 -1.43451808e-02 8.50800288e+02] [ 3.56823575e-01 9.34154840e-01 -5.62764898e-03 1.91533762e+01] [ 1.54089475e-02 1.37777009e-04 9.99881266e-01 1.31922006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.4492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:850.83, Y:19.16, Z:13.20 [[ 9.34342445e-01 -3.56087710e-01 -1.43435862e-02 8.50826183e+02] [ 3.56043207e-01 9.34452524e-01 -5.63171012e-03 1.91628579e+01] [ 1.54087831e-02 1.55009364e-04 9.99881266e-01 1.31955394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.4792541539999 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:850.85, Y:19.17, Z:13.19 [[ 9.34041588e-01 -3.56876152e-01 -1.43430927e-02 8.50852578e+02] [ 3.56831723e-01 9.34151696e-01 -5.63296676e-03 1.91732056e+01] [ 1.54088959e-02 1.43354729e-04 9.99881266e-01 1.31938734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.5092541539999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:850.88, Y:19.18, Z:13.19 [[ 9.34294354e-01 -3.56214252e-01 -1.43341388e-02 8.50878911e+02] [ 3.56169395e-01 9.34404289e-01 -5.65575440e-03 1.91823084e+01] [ 1.54085411e-02 1.78757866e-04 9.99881265e-01 1.31939158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.5392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:850.91, Y:19.19, Z:13.20 [[ 9.34442165e-01 -3.55826055e-01 -1.43408394e-02 8.50906494e+02] [ 3.55781413e-01 9.34552187e-01 -5.63871283e-03 1.91916356e+01] [ 1.54086638e-02 1.66846920e-04 9.99881266e-01 1.31959335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.5692541539999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:850.93, Y:19.20, Z:13.20 [[ 9.34069785e-01 -3.56802118e-01 -1.43486977e-02 8.50931702e+02] [ 3.56757898e-01 9.34179978e-01 -5.61873865e-03 1.92013526e+01] [ 1.54090439e-02 1.29282786e-04 9.99881265e-01 1.31954077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.5992541539999 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:850.96, Y:19.21, Z:13.19 [[ 9.33467495e-01 -3.58375278e-01 -1.43385951e-02 8.50958634e+02] [ 3.58330850e-01 9.33577604e-01 -5.64440233e-03 1.92100879e+01] [ 1.54090055e-02 1.30905121e-04 9.99881266e-01 1.31942868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.6292541539999 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:850.98, Y:19.22, Z:13.19 [[ 9.32948386e-01 -3.59724563e-01 -1.43369595e-02 8.50984983e+02] [ 3.59680230e-01 9.33058533e-01 -5.64855392e-03 1.92180598e+01] [ 1.54091460e-02 1.13088375e-04 9.99881266e-01 1.31945912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.6592541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:851.01, Y:19.23, Z:13.20 [[ 9.32849715e-01 -3.59980405e-01 -1.43358505e-02 8.51012244e+02] [ 3.59936059e-01 9.32959857e-01 -5.65136717e-03 1.92258981e+01] [ 1.54091544e-02 1.11886731e-04 9.99881266e-01 1.31969131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.6892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:851.04, Y:19.23, Z:13.20 [[ 9.32780153e-01 -3.60160637e-01 -1.43353492e-02 8.51039403e+02] [ 3.60116293e-01 9.32890295e-01 -5.65263844e-03 1.92336029e+01] [ 1.54091660e-02 1.10276142e-04 9.99881266e-01 1.31998276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.7192541539998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:851.06, Y:19.24, Z:13.20 [[ 9.32681191e-01 -3.60416900e-01 -1.43336989e-02 8.51064816e+02] [ 3.60372522e-01 9.32791320e-01 -5.65682011e-03 1.92424560e+01] [ 1.54091635e-02 1.10538502e-04 9.99881266e-01 1.31990755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.7492541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:851.09, Y:19.25, Z:13.20 [[ 9.32579083e-01 -3.60681050e-01 -1.43329833e-02 8.51091374e+02] [ 3.60636675e-01 9.32689213e-01 -5.65863253e-03 1.92530263e+01] [ 1.54091805e-02 1.08122873e-04 9.99881266e-01 1.31995152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.7792541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:851.12, Y:19.26, Z:13.20 [[ 9.32883832e-01 -3.59892160e-01 -1.43313795e-02 8.51119025e+02] [ 3.59847630e-01 9.32993900e-01 -5.66269168e-03 1.92617131e+01] [ 1.54090480e-02 1.25520588e-04 9.99881266e-01 1.32008519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.8092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:851.15, Y:19.27, Z:13.20 [[ 9.33175485e-01 -3.59135304e-01 -1.43299844e-02 8.51145222e+02] [ 3.59090630e-01 9.33285494e-01 -5.66621979e-03 1.92709947e+01] [ 1.54089061e-02 1.41814268e-04 9.99881266e-01 1.32032785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.8392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:851.17, Y:19.28, Z:13.20 [[ 9.33415807e-01 -3.58510294e-01 -1.43283474e-02 8.51170398e+02] [ 3.58465483e-01 9.33525760e-01 -5.67035640e-03 1.92803854e+01] [ 1.54087625e-02 1.56582336e-04 9.99881266e-01 1.32036834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.8692541539999 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:851.20, Y:19.29, Z:13.20 [[ 9.33661145e-01 -3.57870923e-01 -1.43272368e-02 8.51196521e+02] [ 3.57825994e-01 9.33771050e-01 -5.67316101e-03 1.92901988e+01] [ 1.54086183e-02 1.70152251e-04 9.99881266e-01 1.32020217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.8992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:851.22, Y:19.30, Z:13.20 [[ 9.33971547e-01 -3.57060118e-01 -1.43255951e-02 8.51223024e+02] [ 3.57015029e-01 9.34081387e-01 -5.67730358e-03 1.93003758e+01] [ 1.54084104e-02 1.87987249e-04 9.99881266e-01 1.32045613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.9292541539999 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:851.25, Y:19.31, Z:13.20 [[ 9.33997024e-01 -3.56993534e-01 -1.43239412e-02 8.51249651e+02] [ 3.56948374e-01 9.34106835e-01 -5.68147340e-03 1.93099636e+01] [ 1.54083406e-02 1.93571736e-04 9.99881266e-01 1.32012072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.9592541539998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:851.28, Y:19.32, Z:13.20 [[ 9.33900460e-01 -3.57246091e-01 -1.43234296e-02 8.51276155e+02] [ 3.57200941e-01 9.34010275e-01 -5.68276283e-03 1.93198656e+01] [ 1.54083752e-02 1.90792298e-04 9.99881266e-01 1.32019244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.9892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:851.30, Y:19.33, Z:13.20 [[ 9.33672118e-01 -3.57842510e-01 -1.43218289e-02 8.51302667e+02] [ 3.57797368e-01 9.33781936e-01 -5.68679402e-03 1.93286434e+01] [ 1.54084418e-02 1.85288312e-04 9.99881266e-01 1.32031779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.0192541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:851.33, Y:19.34, Z:13.20 [[ 9.33298193e-01 -3.58816687e-01 -1.43202386e-02 8.51329344e+02] [ 3.58771598e-01 9.33408033e-01 -5.69079590e-03 1.93385481e+01] [ 1.54085783e-02 1.73514639e-04 9.99881266e-01 1.32022960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.0492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:851.36, Y:19.35, Z:13.20 [[ 9.33034463e-01 -3.59501971e-01 -1.43186607e-02 8.51355394e+02] [ 3.59456903e-01 9.33144311e-01 -5.69476320e-03 1.93485256e+01] [ 1.54086554e-02 1.66468878e-04 9.99881266e-01 1.32033893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.0792541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:851.38, Y:19.36, Z:13.20 [[ 9.32210758e-01 -3.61632582e-01 -1.43170860e-02 8.51381463e+02] [ 3.61587703e-01 9.32320684e-01 -5.69871959e-03 1.93579395e+01] [ 1.54089580e-02 1.35525482e-04 9.99881266e-01 1.32027085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.1092541539999 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:851.41, Y:19.37, Z:13.20 [[ 9.31159937e-01 -3.64329848e-01 -1.43154685e-02 8.51408385e+02] [ 3.64285226e-01 9.31269968e-01 -5.70277973e-03 1.93675963e+01] [ 1.54092588e-02 9.52863240e-05 9.99881266e-01 1.32018221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.1392541539999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:851.43, Y:19.38, Z:13.20 [[ 9.30692367e-01 -3.65522682e-01 -1.43138385e-02 8.51433812e+02] [ 3.65478138e-01 9.30802429e-01 -5.70686809e-03 1.93767152e+01] [ 1.54093454e-02 7.99435233e-05 9.99881266e-01 1.32016620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.1692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:851.46, Y:19.39, Z:13.20 [[ 9.30264842e-01 -3.66609409e-01 -1.43131326e-02 8.51459901e+02] [ 3.66564966e-01 9.30374944e-01 -5.70863799e-03 1.93861083e+01] [ 1.54094204e-02 6.38522447e-05 9.99881266e-01 1.32045122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.1992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:851.49, Y:19.39, Z:13.21 [[ 9.28799849e-01 -3.70305307e-01 -1.43115358e-02 8.51487141e+02] [ 3.70261241e-01 9.28910103e-01 -5.71263842e-03 1.93944784e+01] [ 1.54095505e-02 6.89069668e-06 9.99881266e-01 1.32060015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.2292541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:851.51, Y:19.40, Z:13.21 [[ 9.27317256e-01 -3.74002585e-01 -1.43098887e-02 8.51513849e+02] [ 3.73958895e-01 9.27427660e-01 -5.71676145e-03 1.94025910e+01] [ 1.54094701e-02 -5.00585982e-05 9.99881266e-01 1.32077484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.2592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:851.54, Y:19.41, Z:13.21 [[ 9.26495774e-01 -3.76033049e-01 -1.43082561e-02 8.51540546e+02] [ 3.75989537e-01 9.26606249e-01 -5.72084470e-03 1.94124275e+01] [ 1.54093461e-02 -7.94161347e-05 9.99881266e-01 1.32089690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.2892541539999 meters Centerline goodness : 0.999757 Centerline is valid? [True, True] Translation: X:851.57, Y:19.42, Z:13.21 [[ 9.25606788e-01 -3.78216068e-01 -1.43066115e-02 8.51566823e+02] [ 3.78172754e-01 9.25717340e-01 -5.72495445e-03 1.94219780e+01] [ 1.54091481e-02 -1.11313965e-04 9.99881266e-01 1.32078959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.3192541539999 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:851.59, Y:19.43, Z:13.21 [[ 9.24759208e-01 -3.80283808e-01 -1.43049658e-02 8.51593243e+02] [ 3.80240677e-01 9.24869831e-01 -5.72906373e-03 1.94311257e+01] [ 1.54089014e-02 -1.41325434e-04 9.99881266e-01 1.32089077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.3492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:851.62, Y:19.44, Z:13.21 [[ 9.24210535e-01 -3.81615341e-01 -1.43044562e-02 8.51620110e+02] [ 3.81572350e-01 9.24321213e-01 -5.73033583e-03 1.94421549e+01] [ 1.54086963e-02 -1.62148200e-04 9.99881266e-01 1.32094853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.3792541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:851.65, Y:19.45, Z:13.21 [[ 9.24404380e-01 -3.81145204e-01 -1.43134806e-02 8.51646633e+02] [ 3.81102505e-01 9.24515171e-01 -5.70782645e-03 1.94523468e+01] [ 1.54085407e-02 -1.78563563e-04 9.99881265e-01 1.32117158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.4092541539999 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:851.67, Y:19.46, Z:13.21 [[ 9.24393070e-01 -3.81173094e-01 -1.43011960e-02 8.51671847e+02] [ 3.81129924e-01 9.24503678e-01 -5.73844197e-03 1.94626101e+01] [ 1.54088480e-02 -1.46037748e-04 9.99881266e-01 1.32099287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.4392541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:851.70, Y:19.47, Z:13.21 [[ 9.25080198e-01 -3.79502470e-01 -1.43004754e-02 8.51700736e+02] [ 3.79459073e-01 9.25190717e-01 -5.74023713e-03 1.94730294e+01] [ 1.54091013e-02 -1.16265436e-04 9.99881266e-01 1.32102180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.4692541539998 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:851.73, Y:19.48, Z:13.21 [[ 9.25608126e-01 -3.78211702e-01 -1.43354654e-02 8.51726750e+02] [ 3.78169499e-01 9.25719111e-01 -5.65303767e-03 1.94828593e+01] [ 1.54086593e-02 -1.88738172e-04 9.99881262e-01 1.32100823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.4992541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:851.75, Y:19.49, Z:13.21 [[ 9.25620493e-01 -3.78180822e-01 -1.43516224e-02 8.51749350e+02] [ 3.78139240e-01 9.25731717e-01 -5.61275321e-03 1.94949731e+01] [ 1.54083877e-02 -2.31632184e-04 9.99881257e-01 1.32140715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.5292541539999 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:851.77, Y:19.51, Z:13.21 [[ 9.25970873e-01 -3.77324127e-01 -1.42984680e-02 8.51774564e+02] [ 3.77280396e-01 9.26081259e-01 -5.74504600e-03 1.95063523e+01] [ 1.54092877e-02 -7.47864160e-05 9.99881267e-01 1.32102142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.5592541539999 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:851.80, Y:19.52, Z:13.21 [[ 9.25946803e-01 -3.77383208e-01 -1.42979639e-02 8.51800837e+02] [ 3.77339464e-01 9.26057184e-01 -5.74630049e-03 1.95175429e+01] [ 1.54092895e-02 -7.44174552e-05 9.99881267e-01 1.32100423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.5892541539998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:851.83, Y:19.53, Z:13.21 [[ 9.25982690e-01 -3.77295207e-01 -1.42963583e-02 8.51826672e+02] [ 3.77251391e-01 9.26093042e-01 -5.75029232e-03 1.95289851e+01] [ 1.54093156e-02 -6.86498873e-05 9.99881267e-01 1.32116684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.6192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:851.85, Y:19.54, Z:13.21 [[ 9.25675222e-01 -3.78048954e-01 -1.42958614e-02 8.51852633e+02] [ 3.78005209e-01 9.25785603e-01 -5.75152727e-03 1.95402107e+01] [ 1.54092615e-02 -7.98638016e-05 9.99881267e-01 1.32134255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.6492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:851.88, Y:19.55, Z:13.21 [[ 9.24675674e-01 -3.80487283e-01 -1.42942692e-02 8.51877009e+02] [ 3.80443767e-01 9.24786145e-01 -5.75548162e-03 1.95513535e+01] [ 1.54090297e-02 -1.16211796e-04 9.99881267e-01 1.32131511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.6792541539999 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:851.90, Y:19.56, Z:13.21 [[ 9.23784794e-01 -3.82645198e-01 -1.42935793e-02 8.51903258e+02] [ 3.82601915e-01 9.23895356e-01 -5.75719451e-03 1.95622811e+01] [ 1.54087344e-02 -1.50342072e-04 9.99881267e-01 1.32105914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.7092541539998 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:851.93, Y:19.57, Z:13.21 [[ 9.22209291e-01 -3.86426919e-01 -1.42919392e-02 8.51928603e+02] [ 3.86384026e-01 9.22320005e-01 -5.76126303e-03 1.95733778e+01] [ 1.54080486e-02 -2.09086730e-04 9.99881267e-01 1.32116191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.7392541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:851.95, Y:19.58, Z:13.21 [[ 9.21421395e-01 -3.88301945e-01 -1.42903091e-02 8.51954886e+02] [ 3.88259215e-01 9.21532172e-01 -5.76530362e-03 1.95845671e+01] [ 1.54076582e-02 -2.36070079e-04 9.99881267e-01 1.32143164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.7692541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:851.98, Y:19.60, Z:13.22 [[ 9.19777222e-01 -3.92180686e-01 -1.42888935e-02 8.51980818e+02] [ 3.92138368e-01 9.19888157e-01 -5.76880986e-03 1.95968060e+01] [ 1.54065997e-02 -2.97203485e-04 9.99881267e-01 1.32157780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.7992541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:852.01, Y:19.61, Z:13.22 [[ 9.18890679e-01 -3.94253458e-01 -1.42874812e-02 8.52007160e+02] [ 3.94211335e-01 9.19001689e-01 -5.77230561e-03 1.96089861e+01] [ 1.54059708e-02 -3.28169230e-04 9.99881267e-01 1.32184915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.8292541539998 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:852.03, Y:19.62, Z:13.22 [[ 9.18515477e-01 -3.95126658e-01 -1.42913229e-02 8.52031282e+02] [ 3.95084789e-01 9.18626583e-01 -5.76280078e-03 1.96203235e+01] [ 1.54054254e-02 -3.53062604e-04 9.99881267e-01 1.32170432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.8592541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:852.06, Y:19.63, Z:13.22 [[ 9.17847983e-01 -3.96674946e-01 -1.42851947e-02 8.52055654e+02] [ 3.96633029e-01 9.17959071e-01 -5.77795210e-03 1.96338952e+01] [ 1.54051929e-02 -3.62698350e-04 9.99881267e-01 1.32195585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.8892541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:852.08, Y:19.65, Z:13.22 [[ 9.18015932e-01 -3.96286171e-01 -1.42835495e-02 8.52080445e+02] [ 3.96244144e-01 9.18126978e-01 -5.78201621e-03 1.96486042e+01] [ 1.54054452e-02 -3.51789842e-04 9.99881267e-01 1.32187779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.9192541539999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:852.10, Y:19.66, Z:13.22 [[ 9.17473600e-01 -3.97540213e-01 -1.42819018e-02 8.52104272e+02] [ 3.97498274e-01 9.17584679e-01 -5.78608335e-03 1.96628796e+01] [ 1.54050551e-02 -3.68452593e-04 9.99881267e-01 1.32154317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.9492541539998 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:852.13, Y:19.68, Z:13.21 [[ 9.17882893e-01 -3.96595039e-01 -1.42607840e-02 8.52126911e+02] [ 3.96552176e-01 9.17993621e-01 -5.83816439e-03 1.96787323e+01] [ 1.54066958e-02 -2.96393708e-04 9.99881266e-01 1.32133274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.9792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:852.15, Y:19.69, Z:13.22 [[ 9.18269965e-01 -3.95698445e-01 -1.42482454e-02 8.52151332e+02] [ 3.95654994e-01 9.18380466e-01 -5.86908701e-03 1.96918258e+01] [ 1.54076989e-02 -2.47983138e-04 9.99881264e-01 1.32162697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.0092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:852.18, Y:19.71, Z:13.22 [[ 9.19486036e-01 -3.92864588e-01 -1.42423538e-02 8.52178369e+02] [ 3.92820572e-01 9.19596314e-01 -5.88360976e-03 1.97053654e+01] [ 1.54086780e-02 -1.84792537e-04 9.99881262e-01 1.32174861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.0392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:852.20, Y:19.72, Z:13.22 [[ 9.18800099e-01 -3.94464794e-01 -1.42795341e-02 8.52202488e+02] [ 3.94422392e-01 9.18911002e-01 -5.79194503e-03 1.97190704e+01] [ 1.54063394e-02 -3.10528342e-04 9.99881267e-01 1.32174961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.0692541539999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:852.23, Y:19.73, Z:13.22 [[ 9.19141226e-01 -3.93669880e-01 -1.42629636e-02 8.52228478e+02] [ 3.93626749e-01 9.19251849e-01 -5.83277038e-03 1.97320099e+01] [ 1.54074417e-02 -2.53144282e-04 9.99881266e-01 1.32171021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.0992541539999 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:852.25, Y:19.75, Z:13.22 [[ 9.19245485e-01 -3.93425840e-01 -1.42774545e-02 8.52251744e+02] [ 3.93383233e-01 9.19356310e-01 -5.79708126e-03 1.97459546e+01] [ 1.54067895e-02 -2.87570443e-04 9.99881267e-01 1.32165074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.1292541539999 meters Centerline goodness : 0.996117 Centerline is valid? [True, True] Translation: X:852.28, Y:19.76, Z:13.22 [[ 9.19202168e-01 -3.93527078e-01 -1.42762992e-02 8.52276071e+02] [ 3.93484440e-01 9.19312981e-01 -5.79992510e-03 1.97595470e+01] [ 1.54068147e-02 -2.86197844e-04 9.99881267e-01 1.32176552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.1592541539999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:852.30, Y:19.77, Z:13.22 [[ 9.20254341e-01 -3.91060927e-01 -1.42582627e-02 8.52301085e+02] [ 3.91017304e-01 9.20364771e-01 -5.84428521e-03 1.97736263e+01] [ 1.54082743e-02 -1.96998598e-04 9.99881266e-01 1.32190194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.1892541539999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:852.33, Y:19.78, Z:13.22 [[ 9.20158054e-01 -3.91287404e-01 -1.42591385e-02 8.52327536e+02] [ 3.91243842e-01 9.20268508e-01 -5.84212794e-03 1.97844057e+01] [ 1.54081872e-02 -2.03119044e-04 9.99881266e-01 1.32194604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.2192541539998 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:852.35, Y:19.80, Z:13.22 [[ 9.23120848e-01 -3.84245531e-01 -1.42573761e-02 8.52353273e+02] [ 3.84201058e-01 9.23230938e-01 -5.84646551e-03 1.97986410e+01] [ 1.54093290e-02 -8.07047904e-05 9.99881266e-01 1.32186033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.2492541539999 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:852.38, Y:19.81, Z:13.22 [[ 9.24080554e-01 -3.81931040e-01 -1.42762171e-02 8.52378914e+02] [ 3.81887008e-01 9.24190820e-01 -5.80009063e-03 1.98105994e+01] [ 1.54091835e-02 -9.21508869e-05 9.99881267e-01 1.32189817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.2792541539999 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:852.40, Y:19.82, Z:13.22 [[ 9.25127021e-01 -3.79389289e-01 -1.42745429e-02 8.52403907e+02] [ 3.79344890e-01 9.25237140e-01 -5.80420810e-03 1.98224419e+01] [ 1.54093917e-02 -4.53451635e-05 9.99881267e-01 1.32197277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.3092541539999 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:852.43, Y:19.83, Z:13.22 [[ 9.25017616e-01 -3.79656022e-01 -1.42728679e-02 8.52430348e+02] [ 3.79611592e-01 9.25127722e-01 -5.80832406e-03 1.98332796e+01] [ 1.54093910e-02 -4.53440403e-05 9.99881267e-01 1.32201666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.3392541539998 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:852.46, Y:19.85, Z:13.22 [[ 9.26052118e-01 -3.77125719e-01 -1.42711922e-02 8.52456470e+02] [ 3.77080924e-01 9.26162077e-01 -5.81243849e-03 1.98456888e+01] [ 1.54094570e-02 1.22663921e-06 9.99881267e-01 1.32210656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.3692541539999 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:852.48, Y:19.86, Z:13.22 [[ 9.28352179e-01 -3.71427801e-01 -1.42695797e-02 8.52483214e+02] [ 3.71382270e-01 9.28461835e-01 -5.81639606e-03 1.98584855e+01] [ 1.54091313e-02 1.00195059e-04 9.99881267e-01 1.32208955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.3992541539999 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:852.51, Y:19.87, Z:13.22 [[ 9.28711375e-01 -3.70528032e-01 -1.42884090e-02 8.52507148e+02] [ 3.70483106e-01 9.28821281e-01 -5.77019726e-03 1.98698188e+01] [ 1.54093982e-02 6.52337017e-05 9.99881266e-01 1.32203494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.4292541539999 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:852.53, Y:19.88, Z:13.22 [[ 9.29407848e-01 -3.68778352e-01 -1.42681029e-02 8.52532936e+02] [ 3.68732454e-01 9.29517351e-01 -5.81997921e-03 1.98806006e+01] [ 1.54087315e-02 1.48021776e-04 9.99881267e-01 1.32199746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.4592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:852.56, Y:19.89, Z:13.22 [[ 9.30271990e-01 -3.66593090e-01 -1.42664132e-02 8.52562887e+02] [ 3.66546871e-01 9.30381358e-01 -5.82411819e-03 1.98898978e+01] [ 1.54082863e-02 1.88704901e-04 9.99881268e-01 1.32226790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.4892541539999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:852.59, Y:19.90, Z:13.22 [[ 9.28747239e-01 -3.70437636e-01 -1.43011955e-02 8.52586850e+02] [ 3.70393180e-01 9.28857339e-01 -5.73890983e-03 1.99005863e+01] [ 1.54096786e-02 3.29313783e-05 9.99881263e-01 1.32214394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.5192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:852.61, Y:19.91, Z:13.22 [[ 9.28126841e-01 -3.71990718e-01 -1.42643906e-02 8.52613864e+02] [ 3.71945061e-01 9.28236443e-01 -5.82897713e-03 1.99102709e+01] [ 1.54090526e-02 1.04460492e-04 9.99881268e-01 1.32232606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.5492541539999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:852.64, Y:19.92, Z:13.22 [[ 9.26998417e-01 -3.74793651e-01 -1.42707264e-02 8.52638631e+02] [ 3.74748563e-01 9.27108256e-01 -5.81347993e-03 1.99197732e+01] [ 1.54093636e-02 4.11524766e-05 9.99881268e-01 1.32223689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.5792541539998 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:852.67, Y:19.93, Z:13.22 [[ 9.24903086e-01 -3.79935353e-01 -1.42621274e-02 8.52665300e+02] [ 3.79890552e-01 9.25013042e-01 -5.83449975e-03 1.99278685e+01] [ 1.54093866e-02 -2.17006367e-05 9.99881268e-01 1.32213581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.6092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:852.69, Y:19.94, Z:13.22 [[ 9.23122833e-01 -3.84240614e-01 -1.42613330e-02 8.52692897e+02] [ 3.84196296e-01 9.23232984e-01 -5.83644082e-03 1.99359584e+01] [ 1.54091307e-02 -9.13995407e-05 9.99881268e-01 1.32247562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.6392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:852.72, Y:19.94, Z:13.22 [[ 9.22695502e-01 -3.85265709e-01 -1.42598639e-02 8.52721885e+02] [ 3.85221458e-01 9.22805680e-01 -5.84002797e-03 1.99441858e+01] [ 1.54090460e-02 -1.04638043e-04 9.99881268e-01 1.32237518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.6692541539999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:852.75, Y:19.95, Z:13.22 [[ 9.21236788e-01 -3.88739893e-01 -1.42855383e-02 8.52746071e+02] [ 3.88697028e-01 9.21347515e-01 -5.77734135e-03 1.99549363e+01] [ 1.54078283e-02 -2.30446886e-04 9.99881266e-01 1.32244825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.6992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:852.77, Y:19.96, Z:13.23 [[ 9.19984348e-01 -3.91695692e-01 -1.42578107e-02 8.52773636e+02] [ 3.91652134e-01 9.20094801e-01 -5.84497810e-03 1.99649853e+01] [ 1.54079902e-02 -2.06813621e-04 9.99881268e-01 1.32276609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.7292541539999 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:852.80, Y:19.97, Z:13.23 [[ 9.19091890e-01 -3.93785290e-01 -1.42563085e-02 8.52800109e+02] [ 3.93741927e-01 9.19202420e-01 -5.84863975e-03 1.99748966e+01] [ 1.54075416e-02 -2.37869015e-04 9.99881268e-01 1.32254081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.7592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:852.83, Y:19.98, Z:13.23 [[ 9.17971645e-01 -3.96389790e-01 -1.42546006e-02 8.52826501e+02] [ 3.96346675e-01 9.18082272e-01 -5.85279940e-03 1.99836191e+01] [ 1.54068860e-02 -2.77059654e-04 9.99881269e-01 1.32277275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.7892541539999 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:852.85, Y:19.99, Z:13.23 [[ 9.15979310e-01 -4.00972267e-01 -1.42529003e-02 8.52851598e+02] [ 4.00929641e-01 9.16090126e-01 -5.85693704e-03 1.99934779e+01] [ 1.54054106e-02 -3.49577057e-04 9.99881269e-01 1.32252871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.8192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:852.88, Y:20.00, Z:13.23 [[ 9.15759287e-01 -4.01475185e-01 -1.42339199e-02 8.52878383e+02] [ 4.01431903e-01 9.15869849e-01 -5.90309450e-03 2.00034439e+01] [ 1.54063640e-02 -3.08135929e-04 9.99881267e-01 1.32297290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.8492541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:852.91, Y:20.01, Z:13.23 [[ 9.15161845e-01 -4.02834601e-01 -1.42506888e-02 8.52905302e+02] [ 4.02792117e-01 9.15272715e-01 -5.86233106e-03 2.00138265e+01] [ 1.54048164e-02 -3.75083413e-04 9.99881268e-01 1.32288746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.8792541539999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:852.93, Y:20.02, Z:13.23 [[ 9.15410298e-01 -4.02269430e-01 -1.42580705e-02 8.52933474e+02] [ 4.02227156e-01 9.15521249e-01 -5.84439820e-03 2.00235556e+01] [ 1.54045892e-02 -3.84960837e-04 9.99881268e-01 1.32281666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.9092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:852.96, Y:20.04, Z:13.23 [[ 9.15826975e-01 -4.01318893e-01 -1.42863090e-02 8.52956743e+02] [ 4.01277573e-01 9.15938289e-01 -5.77579113e-03 2.00352360e+01] [ 1.54033116e-02 -4.43150102e-04 9.99881264e-01 1.32314342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.9392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:852.98, Y:20.05, Z:13.23 [[ 9.17087296e-01 -3.98432139e-01 -1.42380942e-02 8.52983144e+02] [ 3.98388649e-01 9.17197775e-01 -5.89280924e-03 2.00459645e+01] [ 1.54070329e-02 -2.68074624e-04 9.99881269e-01 1.32321902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.9692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:853.01, Y:20.06, Z:13.23 [[ 9.17580537e-01 -3.97294686e-01 -1.42439993e-02 8.53010431e+02] [ 3.97251282e-01 9.17691050e-01 -5.87848457e-03 2.00567743e+01] [ 1.54070814e-02 -2.64463963e-04 9.99881269e-01 1.32320040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.9992541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:853.04, Y:20.07, Z:13.23 [[ 9.16972094e-01 -3.98696432e-01 -1.42595227e-02 8.53036038e+02] [ 3.98653782e-01 9.17082901e-01 -5.84085409e-03 2.00714238e+01] [ 1.54058921e-02 -3.28712440e-04 9.99881268e-01 1.32320988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.0292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:853.06, Y:20.08, Z:13.23 [[ 9.17420075e-01 -3.97664837e-01 -1.42507231e-02 8.53063505e+02] [ 3.97621730e-01 9.17530705e-01 -5.86217693e-03 2.00827772e+01] [ 1.54066577e-02 -2.88318385e-04 9.99881269e-01 1.32330331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.0592541539999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:853.09, Y:20.09, Z:13.23 [[ 9.16830096e-01 -3.99022473e-01 -1.42703235e-02 8.53086433e+02] [ 3.98980268e-01 9.16941075e-01 -5.81471933e-03 2.00949131e+01] [ 1.54052494e-02 -3.62467798e-04 9.99881266e-01 1.32319178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.0892541539998 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:853.11, Y:20.11, Z:13.23 [[ 9.16459007e-01 -3.99875094e-01 -1.42406937e-02 8.53112366e+02] [ 3.99831877e-01 9.16569594e-01 -5.88640127e-03 2.01063029e+01] [ 1.54064121e-02 -2.99237846e-04 9.99881269e-01 1.32313829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.1192541539999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:853.14, Y:20.12, Z:13.23 [[ 9.15823011e-01 -4.01329619e-01 -1.42390241e-02 8.53138191e+02] [ 4.01286516e-01 9.15933641e-01 -5.89043727e-03 2.01178689e+01] [ 1.54060081e-02 -3.19330389e-04 9.99881269e-01 1.32335810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.1492541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:853.16, Y:20.13, Z:13.23 [[ 9.15118526e-01 -4.02933430e-01 -1.42385075e-02 8.53164185e+02] [ 4.02890501e-01 9.15229224e-01 -5.89168590e-03 2.01292991e+01] [ 1.54054553e-02 -3.44968489e-04 9.99881269e-01 1.32339706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.1792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:853.19, Y:20.14, Z:13.23 [[ 9.13296948e-01 -4.07045449e-01 -1.42368617e-02 8.53186040e+02] [ 4.07002956e-01 9.13407814e-01 -5.89566015e-03 2.01426846e+01] [ 1.54038623e-02 -4.09956374e-04 9.99881269e-01 1.32330598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.2092541539998 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:853.22, Y:20.15, Z:13.23 [[ 9.13281059e-01 -4.07083034e-01 -1.41813753e-02 8.53215441e+02] [ 4.07038466e-01 9.13391117e-01 -6.02943812e-03 2.01535219e+01] [ 1.54076242e-02 -2.65793640e-04 9.99881260e-01 1.32317530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.2392541539999 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:853.24, Y:20.17, Z:13.23 [[ 9.11980811e-01 -4.09985823e-01 -1.42346941e-02 8.53240923e+02] [ 4.09943607e-01 9.12091782e-01 -5.90081617e-03 2.01664076e+01] [ 1.54025985e-02 -4.53990747e-04 9.99881270e-01 1.32326319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.2692541539999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:853.26, Y:20.18, Z:13.24 [[ 9.11184283e-01 -4.11753125e-01 -1.42325897e-02 8.53264455e+02] [ 4.11711045e-01 9.11295306e-01 -5.90588932e-03 2.01785925e+01] [ 1.54018606e-02 -4.78360853e-04 9.99881270e-01 1.32359000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.2992541539999 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:853.29, Y:20.19, Z:13.23 [[ 9.11667861e-01 -4.10682271e-01 -1.42050492e-02 8.53292263e+02] [ 4.10639027e-01 9.11778439e-01 -5.97227206e-03 2.01894250e+01] [ 1.54045638e-02 -3.88419079e-04 9.99881267e-01 1.32324310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.3292541539998 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:853.32, Y:20.20, Z:13.24 [[ 9.11668332e-01 -4.10680236e-01 -1.42335871e-02 8.53318392e+02] [ 4.10638064e-01 9.11779320e-01 -5.90346563e-03 2.02024149e+01] [ 1.54023270e-02 -4.62849987e-04 9.99881270e-01 1.32371992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.3592541539999 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:853.34, Y:20.21, Z:13.24 [[ 9.11565550e-01 -4.10908378e-01 -1.42321415e-02 8.53344291e+02] [ 4.10866179e-01 9.11676528e-01 -5.90694862e-03 2.02144084e+01] [ 1.54023240e-02 -4.62934746e-04 9.99881270e-01 1.32377004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.3892541539999 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:853.37, Y:20.23, Z:13.24 [[ 9.11805344e-01 -4.10376057e-01 -1.42304733e-02 8.53369760e+02] [ 4.10333731e-01 9.11916274e-01 -5.91096488e-03 2.02282064e+01] [ 1.54027186e-02 -4.49593816e-04 9.99881270e-01 1.32391969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.4192541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:853.40, Y:20.24, Z:13.24 [[ 9.12382780e-01 -4.09090697e-01 -1.42289813e-02 8.53396146e+02] [ 4.09048159e-01 9.12493628e-01 -5.91455412e-03 2.02407538e+01] [ 1.54034439e-02 -4.24001285e-04 9.99881270e-01 1.32421505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.4492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:853.42, Y:20.25, Z:13.24 [[ 9.13619431e-01 -4.06321442e-01 -1.42274956e-02 8.53419965e+02] [ 4.06278512e-01 9.13730128e-01 -5.91812580e-03 2.02542681e+01] [ 1.54047528e-02 -3.73411043e-04 9.99881270e-01 1.32426802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.4792541539999 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:853.45, Y:20.27, Z:13.24 [[ 9.13870465e-01 -4.05756542e-01 -1.42267579e-02 8.53446052e+02] [ 4.05713517e-01 9.13981125e-01 -5.91989863e-03 2.02668687e+01] [ 1.54050258e-02 -3.61967481e-04 9.99881270e-01 1.32389920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.5092541539999 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:853.47, Y:20.28, Z:13.24 [[ 9.14688650e-01 -4.03908796e-01 -1.42252662e-02 8.53470921e+02] [ 4.03865491e-01 9.14799201e-01 -5.92348118e-03 2.02787762e+01] [ 1.54058083e-02 -3.26953090e-04 9.99881270e-01 1.32397608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.5392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:853.50, Y:20.29, Z:13.24 [[ 9.16410339e-01 -3.99987206e-01 -1.42241075e-02 8.53496076e+02] [ 3.99943385e-01 9.16520686e-01 -5.92626217e-03 2.02920715e+01] [ 1.54071178e-02 -2.57949767e-04 9.99881270e-01 1.32416712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.5692541539999 meters Centerline goodness : 0.995533 Centerline is valid? [True, True] Translation: X:853.52, Y:20.30, Z:13.24 [[ 9.16579332e-01 -3.99599864e-01 -1.42224174e-02 8.53523906e+02] [ 3.99555934e-01 9.16689635e-01 -5.93031540e-03 2.03046992e+01] [ 1.54072959e-02 -2.47046744e-04 9.99881270e-01 1.32362677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.5992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:853.55, Y:20.32, Z:13.24 [[ 9.18000169e-01 -3.96323718e-01 -1.42548047e-02 8.53546390e+02] [ 3.96280598e-01 9.18110796e-01 -5.85266279e-03 2.03172684e+01] [ 1.54070391e-02 -2.76157086e-04 9.99881266e-01 1.32430570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.6292541539999 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:853.57, Y:20.33, Z:13.24 [[ 9.18243495e-01 -3.95761256e-01 -1.42096220e-02 8.53573464e+02] [ 3.95716389e-01 9.18353421e-01 -5.96095703e-03 2.03291968e+01] [ 1.54085708e-02 -1.49370299e-04 9.99881270e-01 1.32392586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.6592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:853.60, Y:20.34, Z:13.24 [[ 9.20453921e-01 -3.90592282e-01 -1.42213886e-02 8.53599483e+02] [ 3.90547234e-01 9.20563773e-01 -5.93275689e-03 2.03403693e+01] [ 1.54089842e-02 -9.32946493e-05 9.99881270e-01 1.32415167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.6892541539999 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:853.63, Y:20.35, Z:13.24 [[ 9.20670187e-01 -3.90082319e-01 -1.42194006e-02 8.53626063e+02] [ 3.90037136e-01 9.20779984e-01 -5.93751780e-03 2.03519417e+01] [ 1.54090602e-02 -7.95986722e-05 9.99881270e-01 1.32384176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.7192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:853.65, Y:20.37, Z:13.24 [[ 9.21454962e-01 -3.88224938e-01 -1.42179557e-02 8.53649363e+02] [ 3.88179481e-01 9.21564645e-01 -5.94097575e-03 2.03652205e+01] [ 1.54092003e-02 -4.47770809e-05 9.99881270e-01 1.32427150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.7492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:853.68, Y:20.38, Z:13.24 [[ 9.22152869e-01 -3.86566001e-01 -1.41708359e-02 8.53675170e+02] [ 3.86518612e-01 9.22261740e-01 -6.05366416e-03 2.03766760e+01] [ 1.54093605e-02 1.05111960e-04 9.99881263e-01 1.32417452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.7792541539999 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:853.71, Y:20.39, Z:13.24 [[ 9.24949920e-01 -3.79825271e-01 -1.41566030e-02 8.53705606e+02] [ 3.79776568e-01 9.25058214e-01 -6.08767875e-03 2.03853964e+01] [ 1.54079361e-02 2.54451863e-04 9.99881258e-01 1.32427822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.8092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:853.73, Y:20.40, Z:13.25 [[ 9.25314117e-01 -3.78934955e-01 -1.42156632e-02 8.53730709e+02] [ 3.78888312e-01 9.25423301e-01 -5.94649020e-03 2.03976267e+01] [ 1.54088389e-02 1.16222697e-04 9.99881270e-01 1.32463354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.8392541539998 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:853.75, Y:20.41, Z:13.24 [[ 9.25155377e-01 -3.79323084e-01 -1.41959969e-02 8.53753421e+02] [ 3.79275765e-01 9.25264272e-01 -5.99348677e-03 2.04097221e+01] [ 1.54085166e-02 1.60708941e-04 9.99881269e-01 1.32438102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.8692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:853.78, Y:20.42, Z:13.25 [[ 9.26928429e-01 -3.74971366e-01 -1.41478512e-02 8.53783251e+02] [ 3.74921779e-01 9.27036324e-01 -6.10843419e-03 2.04177662e+01] [ 1.54060599e-02 3.57743766e-04 9.99881256e-01 1.32470373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.8992541539999 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:853.81, Y:20.43, Z:13.25 [[ 9.26620914e-01 -3.75728869e-01 -1.41950724e-02 8.53809091e+02] [ 3.75681094e-01 9.26729609e-01 -5.99565017e-03 2.04285308e+01] [ 1.54077327e-02 2.22874518e-04 9.99881269e-01 1.32452252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.9292541539999 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:853.84, Y:20.44, Z:13.25 [[ 9.27467664e-01 -3.73634295e-01 -1.41825837e-02 8.53836079e+02] [ 3.73585819e-01 9.27576051e-01 -6.02545604e-03 2.04383651e+01] [ 1.54067420e-02 2.90003483e-04 9.99881267e-01 1.32474911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.9592541539998 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:853.86, Y:20.45, Z:13.25 [[ 9.28230840e-01 -3.71733929e-01 -1.41913293e-02 8.53863776e+02] [ 3.71685551e-01 9.28339268e-01 -6.00459639e-03 2.04482243e+01] [ 1.54064804e-02 2.98939523e-04 9.99881268e-01 1.32470972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.9892541539999 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:853.89, Y:20.46, Z:13.24 [[ 9.28365250e-01 -3.71397408e-01 -1.42100987e-02 8.53889707e+02] [ 3.71349675e-01 9.28473963e-01 -5.95984438e-03 2.04580092e+01] [ 1.54071774e-02 2.55996900e-04 9.99881270e-01 1.32436109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.0192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:853.92, Y:20.47, Z:13.25 [[ 9.28554316e-01 -3.70924492e-01 -1.42092850e-02 8.53916169e+02] [ 3.70876673e-01 9.28662991e-01 -5.96178378e-03 2.04682390e+01] [ 1.54070087e-02 2.65947720e-04 9.99881270e-01 1.32491942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.0492541539999 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:853.94, Y:20.48, Z:13.25 [[ 9.28199357e-01 -3.71811906e-01 -1.42077610e-02 8.53942888e+02] [ 3.71764135e-01 9.28308053e-01 -5.96541345e-03 2.04769650e+01] [ 1.54071907e-02 2.55156963e-04 9.99881270e-01 1.32461239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.0792541539998 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:853.97, Y:20.49, Z:13.25 [[ 9.28091516e-01 -3.72081031e-01 -1.42072218e-02 8.53969202e+02] [ 3.72033272e-01 9.28200217e-01 -5.96669718e-03 2.04880956e+01] [ 1.54072412e-02 2.52081799e-04 9.99881270e-01 1.32465637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.1092541539999 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:854.00, Y:20.50, Z:13.25 [[ 9.27976669e-01 -3.72367434e-01 -1.42054905e-02 8.53995617e+02] [ 3.72319646e-01 9.28085358e-01 -5.97081639e-03 2.04978032e+01] [ 1.54072453e-02 2.51795129e-04 9.99881270e-01 1.32470751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.1392541539999 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:854.02, Y:20.51, Z:13.24 [[ 9.27382370e-01 -3.73845099e-01 -1.42049550e-02 8.54023376e+02] [ 3.73797465e-01 9.27491126e-01 -5.97209003e-03 2.05057156e+01] [ 1.54076063e-02 2.28634841e-04 9.99881270e-01 1.32444544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.1692541539999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:854.05, Y:20.52, Z:13.25 [[ 9.27261428e-01 -3.74145034e-01 -1.42034681e-02 8.54050316e+02] [ 3.74097381e-01 9.27370175e-01 -5.97562419e-03 2.05151953e+01] [ 1.54076228e-02 2.27485597e-04 9.99881270e-01 1.32459830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.1992541539998 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:854.08, Y:20.52, Z:13.24 [[ 9.26962232e-01 -3.74885747e-01 -1.42019927e-02 8.54077391e+02] [ 3.74838127e-01 9.27070994e-01 -5.97912865e-03 2.05220353e+01] [ 1.54077456e-02 2.18978090e-04 9.99881270e-01 1.32440675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.2292541539999 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:854.10, Y:20.53, Z:13.24 [[ 9.26886076e-01 -3.75074029e-01 -1.42012181e-02 8.54104679e+02] [ 3.75026403e-01 9.26994836e-01 -5.98096790e-03 2.05309854e+01] [ 1.54077616e-02 2.17844131e-04 9.99881270e-01 1.32426558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.2592541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:854.13, Y:20.54, Z:13.25 [[ 9.27509253e-01 -3.73530230e-01 -1.42039772e-02 8.54132371e+02] [ 3.73482523e-01 9.27617977e-01 -5.97441884e-03 2.05381886e+01] [ 1.54074906e-02 2.36391523e-04 9.99881270e-01 1.32479087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.2892541539999 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:854.16, Y:20.55, Z:13.25 [[ 9.27630524e-01 -3.73229143e-01 -1.41991803e-02 8.54159814e+02] [ 3.73181227e-01 9.27739156e-01 -5.98579769e-03 2.05474375e+01] [ 1.54072097e-02 2.53741133e-04 9.99881270e-01 1.32464672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.3192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:854.18, Y:20.56, Z:13.25 [[ 9.27544968e-01 -3.73441773e-01 -1.41976947e-02 8.54184881e+02] [ 3.73393828e-01 9.27653587e-01 -5.98931927e-03 2.05572624e+01] [ 1.54072044e-02 2.54031375e-04 9.99881270e-01 1.32495885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.3492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:854.22, Y:20.56, Z:13.25 [[ 9.29367373e-01 -3.68885168e-01 -1.41427644e-02 8.54215501e+02] [ 3.68834709e-01 9.29474858e-01 -6.11936784e-03 2.05642966e+01] [ 1.54026880e-02 4.70798409e-04 9.99881261e-01 1.32494198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.3792541539999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:854.24, Y:20.57, Z:13.25 [[ 9.30273313e-01 -3.66592464e-01 -1.41960584e-02 8.54244386e+02] [ 3.66543660e-01 9.30381549e-01 -5.99312954e-03 2.05708161e+01] [ 1.54047870e-02 3.71773251e-04 9.99881270e-01 1.32478552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.4092541539999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:854.27, Y:20.58, Z:13.25 [[ 9.29740827e-01 -3.67941014e-01 -1.41917350e-02 8.54269199e+02] [ 3.67892212e-01 9.29849063e-01 -6.00336617e-03 2.05806974e+01] [ 1.54050561e-02 3.60545848e-04 9.99881270e-01 1.32494927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.4392541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:854.30, Y:20.59, Z:13.25 [[ 9.31620827e-01 -3.63155998e-01 -1.41547382e-02 8.54299749e+02] [ 3.63105307e-01 9.31728198e-01 -6.09103403e-03 2.05851309e+01] [ 1.54003642e-02 5.34873603e-04 9.99881264e-01 1.32515612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.4692541539998 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:854.33, Y:20.59, Z:13.25 [[ 9.31805812e-01 -3.62679424e-01 -1.41973669e-02 8.54326566e+02] [ 3.62630214e-01 9.31913863e-01 -5.98999654e-03 2.05942020e+01] [ 1.54031715e-02 4.33119404e-04 9.99881270e-01 1.32514492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.4992541539999 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:854.35, Y:20.60, Z:13.25 [[ 9.32470514e-01 -3.60967062e-01 -1.41957773e-02 8.54352851e+02] [ 3.60917596e-01 9.32578449e-01 -5.99376138e-03 2.06009414e+01] [ 1.54022264e-02 4.65499939e-04 9.99881270e-01 1.32514350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.5292541539999 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:854.38, Y:20.61, Z:13.25 [[ 9.32172164e-01 -3.61736861e-01 -1.41950886e-02 8.54378100e+02] [ 3.61687460e-01 9.32280128e-01 -5.99539209e-03 2.06115071e+01] [ 1.54025533e-02 4.54552093e-04 9.99881270e-01 1.32500515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.5592541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:854.41, Y:20.62, Z:13.25 [[ 9.33443934e-01 -3.58443167e-01 -1.41745602e-02 8.54405835e+02] [ 3.58392648e-01 9.33551381e-01 -6.04396623e-03 2.06187913e+01] [ 1.53990987e-02 5.61645444e-04 9.99881269e-01 1.32549338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.5892541539998 meters Centerline goodness : 0.999303 Centerline is valid? [True, True] Translation: X:854.43, Y:20.63, Z:13.25 [[ 9.34254456e-01 -3.56324489e-01 -1.41940076e-02 8.54432465e+02] [ 3.56274423e-01 9.34362114e-01 -5.99794455e-03 2.06251836e+01] [ 1.53995575e-02 5.46644562e-04 9.99881270e-01 1.32491924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.6192541539999 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:854.46, Y:20.63, Z:13.25 [[ 9.34362109e-01 -3.56042550e-01 -1.41828157e-02 8.54460729e+02] [ 3.55992051e-01 9.34469564e-01 -6.02441059e-03 2.06327175e+01] [ 1.53983561e-02 5.80011328e-04 9.99881270e-01 1.32504475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.6492541539999 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:854.49, Y:20.64, Z:13.25 [[ 9.34242928e-01 -3.56354829e-01 -1.41911036e-02 8.54487777e+02] [ 3.56304663e-01 9.34350539e-01 -6.00482397e-03 2.06418099e+01] [ 1.53993133e-02 5.53607937e-04 9.99881270e-01 1.32522185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.6792541539999 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:854.51, Y:20.65, Z:13.25 [[ 9.32993927e-01 -3.59612284e-01 -1.41893664e-02 8.54514224e+02] [ 3.59562431e-01 9.33101683e-01 -6.00892610e-03 2.06502810e+01] [ 1.54010053e-02 5.04328471e-04 9.99881270e-01 1.32518995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.7092541539998 meters Centerline goodness : 0.998904 Centerline is valid? [True, True] Translation: X:854.54, Y:20.66, Z:13.25 [[ 9.32787900e-01 -3.60147409e-01 -1.41625388e-02 8.54543080e+02] [ 3.60096657e-01 9.32895238e-01 -6.07221824e-03 2.06577019e+01] [ 1.53990587e-02 5.64208811e-04 9.99881268e-01 1.32544664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.7392541539999 meters Centerline goodness : 0.998233 Centerline is valid? [True, True] Translation: X:854.57, Y:20.66, Z:13.26 [[ 9.30682789e-01 -3.65552002e-01 -1.41872977e-02 8.54570741e+02] [ 3.65502763e-01 9.30790827e-01 -6.01380910e-03 2.06642497e+01] [ 1.54037665e-02 4.11452116e-04 9.99881270e-01 1.32556612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.7692541539999 meters Centerline goodness : 0.997904 Centerline is valid? [True, True] Translation: X:854.59, Y:20.68, Z:13.25 [[ 9.27509158e-01 -3.73531167e-01 -1.41855643e-02 8.54591259e+02] [ 3.73482794e-01 9.27617587e-01 -6.01789529e-03 2.06766377e+01] [ 1.54066503e-02 2.83588812e-04 9.99881270e-01 1.32506885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.7992541539999 meters Centerline goodness : 0.997790 Centerline is valid? [True, True] Translation: X:854.62, Y:20.68, Z:13.25 [[ 9.28179669e-01 -3.71865322e-01 -1.40955460e-02 8.54624123e+02] [ 3.71813532e-01 9.28286534e-01 -6.22966758e-03 2.06830205e+01] [ 1.54013029e-02 5.41336053e-04 9.99881246e-01 1.32549654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.8292541539998 meters Centerline goodness : 0.996383 Centerline is valid? [True, True] Translation: X:854.65, Y:20.69, Z:13.25 [[ 9.26626743e-01 -3.75714935e-01 -1.41833163e-02 8.54651501e+02] [ 3.75666740e-01 9.26735250e-01 -6.02298113e-03 2.06949497e+01] [ 1.54071032e-02 2.52855169e-04 9.99881272e-01 1.32544685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.8592541539999 meters Centerline goodness : 0.998057 Centerline is valid? [True, True] Translation: X:854.68, Y:20.71, Z:13.26 [[ 9.27300226e-01 -3.74049369e-01 -1.41901511e-02 8.54675942e+02] [ 3.74001226e-01 9.27408756e-01 -6.00688666e-03 2.07053315e+01] [ 1.54069426e-02 2.63053439e-04 9.99881271e-01 1.32585456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.8892541539999 meters Centerline goodness : 0.998158 Centerline is valid? [True, True] Translation: X:854.70, Y:20.72, Z:13.26 [[ 9.28053498e-01 -3.72176805e-01 -1.41820354e-02 8.54700758e+02] [ 3.72128151e-01 9.28161800e-01 -6.02598691e-03 2.07195525e+01] [ 1.54059561e-02 3.14903616e-04 9.99881272e-01 1.32589776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.9192541539999 meters Centerline goodness : 0.998460 Centerline is valid? [True, True] Translation: X:854.73, Y:20.73, Z:13.26 [[ 9.29159025e-01 -3.69408208e-01 -1.41803367e-02 8.54725299e+02] [ 3.69359170e-01 9.29267154e-01 -6.02998167e-03 2.07341968e+01] [ 1.54048458e-02 3.65174501e-04 9.99881272e-01 1.32591137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.9492541539998 meters Centerline goodness : 0.998460 Centerline is valid? [True, True] Translation: X:854.75, Y:20.75, Z:13.26 [[ 9.29054577e-01 -3.69670879e-01 -1.41786318e-02 8.54751572e+02] [ 3.69621811e-01 9.29162692e-01 -6.03398772e-03 2.07454686e+01] [ 1.54048453e-02 3.65172333e-04 9.99881272e-01 1.32595525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.9792541539999 meters Centerline goodness : 0.998203 Centerline is valid? [True, True] Translation: X:854.77, Y:20.76, Z:13.25 [[ 9.28983671e-01 -3.69849096e-01 -1.41769250e-02 8.54772983e+02] [ 3.69799987e-01 9.29091767e-01 -6.03799526e-03 2.07608375e+01] [ 1.54048114e-02 3.66572317e-04 9.99881272e-01 1.32548813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.0092541539999 meters Centerline goodness : 0.998555 Centerline is valid? [True, True] Translation: X:854.80, Y:20.77, Z:13.26 [[ 9.31672967e-01 -3.63023746e-01 -1.41153598e-02 8.54803779e+02] [ 3.62971656e-01 9.31779671e-01 -6.18240175e-03 2.07699318e+01] [ 1.53967639e-02 6.36501061e-04 9.99881260e-01 1.32605690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.0392541539999 meters Centerline goodness : 0.998530 Centerline is valid? [True, True] Translation: X:854.83, Y:20.78, Z:13.26 [[ 9.31562389e-01 -3.63305041e-01 -1.41761374e-02 8.54829382e+02] [ 3.63255147e-01 9.31670124e-01 -6.03974859e-03 2.07819460e+01] [ 1.54017548e-02 4.76847747e-04 9.99881272e-01 1.32574859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.0692541539999 meters Centerline goodness : 0.998640 Centerline is valid? [True, True] Translation: X:854.85, Y:20.80, Z:13.26 [[ 9.30782578e-01 -3.65298297e-01 -1.41755980e-02 8.54851671e+02] [ 3.65248614e-01 9.30890410e-01 -6.04101439e-03 2.07965459e+01] [ 1.54027005e-02 4.45253430e-04 9.99881272e-01 1.32560782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.0992541539999 meters Centerline goodness : 0.998449 Centerline is valid? [True, True] Translation: X:854.88, Y:20.81, Z:13.26 [[ 9.32282542e-01 -3.61455327e-01 -1.41176659e-02 8.54880560e+02] [ 3.61403143e-01 9.32389198e-01 -6.17678437e-03 2.08072201e+01] [ 1.53957908e-02 6.56339414e-04 9.99881262e-01 1.32563834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.1292541539999 meters Centerline goodness : 0.998777 Centerline is valid? [True, True] Translation: X:854.91, Y:20.82, Z:13.26 [[ 9.32564737e-01 -3.60724438e-01 -1.41736393e-02 8.54906431e+02] [ 3.60674157e-01 9.32672292e-01 -6.04555668e-03 2.08186618e+01] [ 1.54001407e-02 5.25807568e-04 9.99881273e-01 1.32583547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.1592541539999 meters Centerline goodness : 0.998843 Centerline is valid? [True, True] Translation: X:854.93, Y:20.83, Z:13.26 [[ 9.32415783e-01 -3.61109349e-01 -1.41719991e-02 8.54932407e+02] [ 3.61059054e-01 9.32523332e-01 -6.04939922e-03 2.08296216e+01] [ 1.54002144e-02 5.23626722e-04 9.99881273e-01 1.32589798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.1892541539999 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:854.96, Y:20.84, Z:13.26 [[ 9.31482163e-01 -3.63510865e-01 -1.41714914e-02 8.54959576e+02] [ 3.63460830e-01 9.31589832e-01 -6.05058829e-03 2.08406116e+01] [ 1.54014719e-02 4.85233044e-04 9.99881273e-01 1.32620894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.2192541539998 meters Centerline goodness : 0.999233 Centerline is valid? [True, True] Translation: X:854.98, Y:20.85, Z:13.26 [[ 9.30932236e-01 -3.64916956e-01 -1.41699397e-02 8.54984785e+02] [ 3.64867028e-01 9.31039955e-01 -6.05422014e-03 2.08512007e+01] [ 1.54020676e-02 4.65924926e-04 9.99881273e-01 1.32636949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.2492541539999 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:855.01, Y:20.86, Z:13.27 [[ 9.29116703e-01 -3.69515065e-01 -1.41692806e-02 8.55011712e+02] [ 3.69465646e-01 9.29224657e-01 -6.05576230e-03 2.08620724e+01] [ 1.54041403e-02 3.91447504e-04 9.99881273e-01 1.32660148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.2792541539999 meters Centerline goodness : 0.999562 Centerline is valid? [True, True] Translation: X:855.04, Y:20.87, Z:13.27 [[ 9.27795609e-01 -3.72819773e-01 -1.41677282e-02 8.55037882e+02] [ 3.72770684e-01 9.27903713e-01 -6.05939187e-03 2.08729806e+01] [ 1.54053487e-02 3.40563427e-04 9.99881273e-01 1.32653157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.3092541539999 meters Centerline goodness : 0.999386 Centerline is valid? [True, True] Translation: X:855.06, Y:20.88, Z:13.27 [[ 9.26712912e-01 -3.75502957e-01 -1.41671791e-02 8.55063107e+02] [ 3.75454161e-01 9.26821148e-01 -6.06067552e-03 2.08835923e+01] [ 1.54062428e-02 2.97379914e-04 9.99881273e-01 1.32654293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.3392541539998 meters Centerline goodness : 0.999584 Centerline is valid? [True, True] Translation: X:855.09, Y:20.90, Z:13.26 [[ 9.23899011e-01 -3.82374070e-01 -1.41664233e-02 8.55086365e+02] [ 3.82326053e-01 9.24007595e-01 -6.06244158e-03 2.08953793e+01] [ 1.54080032e-02 1.84891070e-04 9.99881273e-01 1.32648406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.3692541539999 meters Centerline goodness : 0.999605 Centerline is valid? [True, True] Translation: X:855.12, Y:20.90, Z:13.27 [[ 9.22938114e-01 -3.84689157e-01 -1.41241123e-02 8.55115170e+02] [ 3.84639899e-01 9.23046146e-01 -6.16118705e-03 2.09040019e+01] [ 1.54073493e-02 2.53697224e-04 9.99881268e-01 1.32673756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.3992541539999 meters Centerline goodness : 0.999539 Centerline is valid? [True, True] Translation: X:855.14, Y:20.92, Z:13.27 [[ 9.22131909e-01 -3.86616236e-01 -1.41643307e-02 8.55140476e+02] [ 3.86568643e-01 9.22240680e-01 -6.06729599e-03 2.09150542e+01] [ 1.54086371e-02 1.19361137e-04 9.99881273e-01 1.32681991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.4292541539999 meters Centerline goodness : 0.999649 Centerline is valid? [True, True] Translation: X:855.17, Y:20.93, Z:13.27 [[ 9.21501607e-01 -3.88116231e-01 -1.41626055e-02 8.55165928e+02] [ 3.88068754e-01 9.21610428e-01 -6.07132022e-03 2.09259910e+01] [ 1.54087829e-02 9.86666503e-05 9.99881273e-01 1.32700393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.4592541539998 meters Centerline goodness : 0.999737 Centerline is valid? [True, True] Translation: X:855.19, Y:20.94, Z:13.27 [[ 9.19679339e-01 -3.92414809e-01 -1.41608844e-02 8.55190703e+02] [ 3.92367778e-01 9.19788354e-01 -6.07533207e-03 2.09365988e+01] [ 1.54090668e-02 3.10826471e-05 9.99881273e-01 1.32673911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.4892541539999 meters Centerline goodness : 0.999627 Centerline is valid? [True, True] Translation: X:855.22, Y:20.95, Z:13.27 [[ 9.19223488e-01 -3.93481473e-01 -1.41601376e-02 8.55216688e+02] [ 3.93434542e-01 9.19332546e-01 -6.07707221e-03 2.09471917e+01] [ 1.54090906e-02 1.51002800e-05 9.99881273e-01 1.32699988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.5192541539999 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:855.24, Y:20.96, Z:13.27 [[ 9.17765388e-01 -3.96870547e-01 -1.41584478e-02 8.55242868e+02] [ 3.96823959e-01 9.17874592e-01 -6.08100648e-03 2.09576627e+01] [ 1.54090519e-02 -3.74740383e-05 9.99881273e-01 1.32675664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.5492541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:855.27, Y:20.97, Z:13.27 [[ 9.17236957e-01 -3.98090338e-01 -1.41579229e-02 8.55268744e+02] [ 3.98043876e-01 9.17346216e-01 -6.08222839e-03 2.09684928e+01] [ 1.54089933e-02 -5.66298319e-05 9.99881273e-01 1.32681248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.5792541539998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:855.29, Y:20.98, Z:13.27 [[ 9.16858528e-01 -3.98961201e-01 -1.41562590e-02 8.55293666e+02] [ 3.98914783e-01 9.16967805e-01 -6.08609856e-03 2.09790934e+01] [ 1.54089509e-02 -6.70496227e-05 9.99881273e-01 1.32693724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.6092541539999 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:855.32, Y:20.99, Z:13.27 [[ 9.15813453e-01 -4.01354383e-01 -1.41555364e-02 8.55319465e+02] [ 4.01308224e-01 9.15922840e-01 -6.08777868e-03 2.09904492e+01] [ 1.54087358e-02 -1.05463571e-04 9.99881273e-01 1.32665138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.6392541539999 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:855.35, Y:21.00, Z:13.27 [[ 9.15345458e-01 -4.02420586e-01 -1.41550255e-02 8.55345053e+02] [ 4.02374536e-01 9.15454891e-01 -6.08896649e-03 2.10015928e+01] [ 1.54086128e-02 -1.22113994e-04 9.99881273e-01 1.32677914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.6692541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:855.37, Y:21.01, Z:13.27 [[ 9.15392216e-01 -4.02314274e-01 -1.41532795e-02 8.55370697e+02] [ 4.02268149e-01 9.15501618e-01 -6.09302209e-03 2.10121267e+01] [ 1.54086601e-02 -1.15908568e-04 9.99881273e-01 1.32711838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.6992541539998 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:855.40, Y:21.02, Z:13.27 [[ 9.15361807e-01 -4.02383476e-01 -1.41527391e-02 8.55396852e+02] [ 4.02337340e-01 9.15471204e-01 -6.09427717e-03 2.10233219e+01] [ 1.54086615e-02 -1.15706838e-04 9.99881273e-01 1.32710201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.7292541539999 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:855.42, Y:21.03, Z:13.27 [[ 9.15637816e-01 -4.01755072e-01 -1.41510133e-02 8.55422608e+02] [ 4.01708799e-01 9.15747155e-01 -6.09828180e-03 2.10345213e+01] [ 1.54087658e-02 -1.00769136e-04 9.99881273e-01 1.32715931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.7592541539999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:855.45, Y:21.05, Z:13.27 [[ 9.16094661e-01 -4.00712328e-01 -1.41492636e-02 8.55447584e+02] [ 4.00665868e-01 9.16203921e-01 -6.10233875e-03 2.10459384e+01] [ 1.54088932e-02 -7.88070441e-05 9.99881273e-01 1.32719297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.7892541539999 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:855.47, Y:21.06, Z:13.27 [[ 9.17127632e-01 -3.98342475e-01 -1.41485074e-02 8.55472774e+02] [ 3.98295705e-01 9.17236759e-01 -6.10409156e-03 2.10586999e+01] [ 1.54090500e-02 -3.70587044e-05 9.99881273e-01 1.32696206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.8192541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:855.50, Y:21.07, Z:13.27 [[ 9.17556057e-01 -3.97354650e-01 -1.41479735e-02 8.55495285e+02] [ 3.97307744e-01 9.17665125e-01 -6.10532893e-03 2.10732965e+01] [ 1.54090827e-02 -1.91178735e-05 9.99881273e-01 1.32675798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.8492541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:855.52, Y:21.08, Z:13.27 [[ 9.18460946e-01 -3.95259993e-01 -1.41077468e-02 8.55521638e+02] [ 3.95211405e-01 9.18569281e-01 -6.19849279e-03 2.10849650e+01] [ 1.54089591e-02 1.17531120e-04 9.99881268e-01 1.32688145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.8792541539999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:855.55, Y:21.10, Z:13.27 [[ 9.19014626e-01 -3.93970863e-01 -1.41094165e-02 8.55547716e+02] [ 3.93922182e-01 9.19122919e-01 -6.19462740e-03 2.10965421e+01] [ 1.54087907e-02 1.34941067e-04 9.99881268e-01 1.32666703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.9092541539999 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:855.57, Y:21.11, Z:13.27 [[ 9.19559926e-01 -3.92696511e-01 -1.41064830e-02 8.55572035e+02] [ 3.92647576e-01 9.19668105e-01 -6.20141144e-03 2.11081042e+01] [ 1.54085551e-02 1.63693098e-04 9.99881268e-01 1.32667713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.9392541539999 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:855.60, Y:21.12, Z:13.27 [[ 9.21743835e-01 -3.87542929e-01 -1.40989687e-02 8.55600330e+02] [ 3.87493124e-01 9.21851618e-01 -6.21877658e-03 2.11172230e+01] [ 1.54072000e-02 2.68865561e-04 9.99881266e-01 1.32698535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.9692541539998 meters Centerline goodness : 0.999715 Centerline is valid? [True, True] Translation: X:855.63, Y:21.13, Z:13.27 [[ 9.22332600e-01 -3.86138008e-01 -1.41426520e-02 8.55626739e+02] [ 3.86089584e-01 9.22441004e-01 -6.11779310e-03 2.11283495e+01] [ 1.54080745e-02 1.82309392e-04 9.99881272e-01 1.32714174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.9992541539999 meters Centerline goodness : 0.999715 Centerline is valid? [True, True] Translation: X:855.65, Y:21.14, Z:13.27 [[ 9.22221777e-01 -3.86402670e-01 -1.41411163e-02 8.55652945e+02] [ 3.86354223e-01 9.22330170e-01 -6.12134064e-03 2.11397762e+01] [ 1.54080806e-02 1.81753628e-04 9.99881272e-01 1.32718565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.0292541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:855.68, Y:21.15, Z:13.28 [[ 9.22593298e-01 -3.85514831e-01 -1.41393587e-02 8.55678995e+02] [ 3.85466217e-01 9.22701617e-01 -6.12539780e-03 2.11505195e+01] [ 1.54078408e-02 2.01005847e-04 9.99881272e-01 1.32755421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.0592541539999 meters Centerline goodness : 0.999693 Centerline is valid? [True, True] Translation: X:855.71, Y:21.16, Z:13.28 [[ 9.22584127e-01 -3.85536797e-01 -1.41388149e-02 8.55705504e+02] [ 3.85488167e-01 9.22692439e-01 -6.12665282e-03 2.11617162e+01] [ 1.54078277e-02 2.02006819e-04 9.99881272e-01 1.32754445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.0892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:855.73, Y:21.17, Z:13.28 [[ 9.23379542e-01 -3.83627891e-01 -1.41372878e-02 8.55731402e+02] [ 3.83578983e-01 9.23487729e-01 -6.13017450e-03 2.11712749e+01] [ 1.54073177e-02 2.37711249e-04 9.99881272e-01 1.32816668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.1192541539999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:855.76, Y:21.18, Z:13.28 [[ 9.23256773e-01 -3.83923278e-01 -1.41367467e-02 8.55757361e+02] [ 3.83874386e-01 9.23364967e-01 -6.13142205e-03 2.11828385e+01] [ 1.54073723e-02 2.34141967e-04 9.99881272e-01 1.32796701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.1492541539999 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:855.78, Y:21.19, Z:13.28 [[ 9.23839157e-01 -3.82519821e-01 -1.41350236e-02 8.55781504e+02] [ 3.82470704e-01 9.23947248e-01 -6.13539194e-03 2.11940493e+01] [ 1.54069252e-02 2.61882907e-04 9.99881272e-01 1.32782346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.1792541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:855.80, Y:21.21, Z:13.28 [[ 9.22859144e-01 -3.84878193e-01 -1.41342781e-02 8.55802399e+02] [ 3.84829325e-01 9.22967349e-01 -6.13710889e-03 2.12086652e+01] [ 1.54075165e-02 2.24402364e-04 9.99881272e-01 1.32769069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.2092541539998 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:855.83, Y:21.22, Z:13.28 [[ 9.25214887e-01 -3.79182847e-01 -1.40635037e-02 8.55833559e+02] [ 3.79130835e-01 9.25321632e-01 -6.29984782e-03 2.12183202e+01] [ 1.54020584e-02 4.96805070e-04 9.99881258e-01 1.32776341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.2392541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:855.86, Y:21.23, Z:13.28 [[ 9.25603321e-01 -3.78231112e-01 -1.41321659e-02 8.55859259e+02] [ 3.78181395e-01 9.25711138e-01 -6.14185949e-03 2.12297067e+01] [ 1.54053457e-02 3.40403320e-04 9.99881273e-01 1.32786522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.2692541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:855.89, Y:21.24, Z:13.28 [[ 9.26512459e-01 -3.75998660e-01 -1.41304959e-02 8.55885611e+02] [ 3.75948624e-01 9.26620128e-01 -6.14569939e-03 2.12418936e+01] [ 1.54043766e-02 3.81726574e-04 9.99881273e-01 1.32805327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.2992541539999 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:855.91, Y:21.25, Z:13.28 [[ 9.26542826e-01 -3.75923882e-01 -1.41289486e-02 8.55911818e+02] [ 3.75873784e-01 9.26650466e-01 -6.14925442e-03 2.12539538e+01] [ 1.54042484e-02 3.86846190e-04 9.99881273e-01 1.32775759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.3292541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:855.93, Y:21.27, Z:13.27 [[ 9.25251962e-01 -3.79089993e-01 -1.41274037e-02 8.55932238e+02] [ 3.79040209e-01 9.25359748e-01 -6.15280177e-03 2.12682604e+01] [ 1.54053963e-02 3.38037864e-04 9.99881273e-01 1.32743987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.3592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:855.96, Y:21.28, Z:13.28 [[ 9.27132534e-01 -3.74469857e-01 -1.40566877e-02 8.55963245e+02] [ 3.74417074e-01 9.27238899e-01 -6.31495213e-03 2.12763502e+01] [ 1.53986668e-02 5.91733693e-04 9.99881258e-01 1.32814574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.3892541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:855.99, Y:21.29, Z:13.28 [[ 9.26220830e-01 -3.76716629e-01 -1.41264120e-02 8.55989458e+02] [ 3.76666537e-01 9.26328471e-01 -6.15492572e-03 2.12875466e+01] [ 1.54043605e-02 3.79873722e-04 9.99881274e-01 1.32810897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.4192541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:856.02, Y:21.30, Z:13.28 [[ 9.25608963e-01 -3.78217587e-01 -1.41246236e-02 8.56015814e+02] [ 3.78167606e-01 9.25716656e-01 -6.15902716e-03 2.12985173e+01] [ 1.54048517e-02 3.59375654e-04 9.99881274e-01 1.32813435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.4492541539998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:856.04, Y:21.31, Z:13.28 [[ 9.25036488e-01 -3.79615651e-01 -1.41228428e-02 8.56042149e+02] [ 3.79565771e-01 9.25144228e-01 -6.16310784e-03 2.13093228e+01] [ 1.54052787e-02 3.40551922e-04 9.99881274e-01 1.32829638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.4792541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:856.07, Y:21.32, Z:13.29 [[ 9.23983483e-01 -3.82171583e-01 -1.41210736e-02 8.56067857e+02] [ 3.82121939e-01 9.24091332e-01 -6.16715874e-03 2.13188699e+01] [ 1.54060746e-02 3.02380767e-04 9.99881274e-01 1.32856897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.5092541539999 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:856.09, Y:21.33, Z:13.28 [[ 9.23070859e-01 -3.84370654e-01 -1.41205259e-02 8.56094193e+02] [ 3.84321248e-01 9.23178818e-01 -6.16841266e-03 2.13300272e+01] [ 1.54067272e-02 2.67063853e-04 9.99881274e-01 1.32839934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.5392541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:856.12, Y:21.34, Z:13.29 [[ 9.22278347e-01 -3.86268445e-01 -1.41187360e-02 8.56120024e+02] [ 3.86219198e-01 9.22386378e-01 -6.17250671e-03 2.13397470e+01] [ 1.54071743e-02 2.39842390e-04 9.99881274e-01 1.32873599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.5692541539999 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:856.14, Y:21.35, Z:13.29 [[ 9.21757984e-01 -3.87508621e-01 -1.41169420e-02 8.56144588e+02] [ 3.87459457e-01 9.21866052e-01 -6.17660697e-03 2.13507135e+01] [ 1.54074181e-02 2.23594091e-04 9.99881274e-01 1.32850048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.5992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:856.17, Y:21.36, Z:13.29 [[ 9.21738651e-01 -3.87554632e-01 -1.41161644e-02 8.56170653e+02] [ 3.87505446e-01 9.21846710e-01 -6.17838368e-03 2.13615002e+01] [ 1.54074009e-02 2.24764464e-04 9.99881274e-01 1.32895680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.6292541539999 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:856.20, Y:21.37, Z:13.29 [[ 9.21322422e-01 -3.88543151e-01 -1.41143378e-02 8.56195219e+02] [ 3.88494017e-01 9.21430504e-01 -6.18255362e-03 2.13735307e+01] [ 1.54075703e-02 2.12789480e-04 9.99881274e-01 1.32855891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.6592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:856.22, Y:21.38, Z:13.29 [[ 9.21977427e-01 -3.86986346e-01 -1.41135460e-02 8.56220806e+02] [ 3.86937003e-01 9.22085413e-01 -6.18436074e-03 2.13847983e+01] [ 1.54071580e-02 2.40787832e-04 9.99881274e-01 1.32880326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.6892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:856.25, Y:21.40, Z:13.29 [[ 9.21967037e-01 -3.87011129e-01 -1.41127147e-02 8.56246199e+02] [ 3.86961759e-01 9.22075012e-01 -6.18625709e-03 2.13963425e+01] [ 1.54071319e-02 2.42444213e-04 9.99881274e-01 1.32879645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.7192541539998 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:856.27, Y:21.41, Z:13.28 [[ 9.21667301e-01 -3.87724474e-01 -1.41109271e-02 8.56271183e+02] [ 3.87675125e-01 9.21775286e-01 -6.19033195e-03 2.14081790e+01] [ 1.54072471e-02 2.34971124e-04 9.99881274e-01 1.32828726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.7492541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:856.30, Y:21.42, Z:13.29 [[ 9.21457752e-01 -3.88222242e-01 -1.41103742e-02 8.56296520e+02] [ 3.88172932e-01 9.21565754e-01 -6.19159194e-03 2.14195434e+01] [ 1.54073514e-02 2.28025053e-04 9.99881274e-01 1.32852614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.7792541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:856.32, Y:21.43, Z:13.29 [[ 9.21203450e-01 -3.88825349e-01 -1.41085900e-02 8.56322912e+02] [ 3.88776048e-01 9.21311456e-01 -6.19565493e-03 2.14308420e+01] [ 1.54074333e-02 2.22376831e-04 9.99881274e-01 1.32867452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.8092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:856.35, Y:21.44, Z:13.29 [[ 9.20746910e-01 -3.89905269e-01 -1.41070223e-02 8.56348958e+02] [ 3.89856040e-01 9.20854949e-01 -6.19922241e-03 2.14410387e+01] [ 1.54076308e-02 2.08207033e-04 9.99881274e-01 1.32899417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.8392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:856.37, Y:21.45, Z:13.29 [[ 9.20026692e-01 -3.91601703e-01 -1.41064679e-02 8.56374366e+02] [ 3.91552654e-01 9.20134813e-01 -6.20048364e-03 2.14520460e+01] [ 1.54079722e-02 1.81185498e-04 9.99881274e-01 1.32909831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.8692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:856.40, Y:21.46, Z:13.29 [[ 9.19430350e-01 -3.92999858e-01 -1.41047097e-02 8.56400522e+02] [ 3.92950912e-01 9.19538518e-01 -6.20448057e-03 2.14633454e+01] [ 1.54081838e-02 1.62129200e-04 9.99881274e-01 1.32917586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.8992541539999 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:856.43, Y:21.47, Z:13.29 [[ 9.18276280e-01 -3.95688995e-01 -1.41029465e-02 8.56425880e+02] [ 3.95640304e-01 9.18384563e-01 -6.20848585e-03 2.14741655e+01] [ 1.54085579e-02 1.21411262e-04 9.99881274e-01 1.32896577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.9292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:856.45, Y:21.48, Z:13.29 [[ 9.18210999e-01 -3.95840486e-01 -1.41021827e-02 8.56452276e+02] [ 3.95791787e-01 9.18319277e-01 -6.21022030e-03 2.14846868e+01] [ 1.54085628e-02 1.20764504e-04 9.99881274e-01 1.32934502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.9592541539998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:856.48, Y:21.50, Z:13.29 [[ 9.18000792e-01 -3.96327798e-01 -1.41004421e-02 8.56478189e+02] [ 3.96279095e-01 9.18109069e-01 -6.21416989e-03 2.14963335e+01] [ 1.54085920e-02 1.16902454e-04 9.99881274e-01 1.32919172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.9892541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:856.50, Y:21.51, Z:13.29 [[ 9.18133158e-01 -3.96021126e-01 -1.40986852e-02 8.56504139e+02] [ 3.95972325e-01 9.18241391e-01 -6.21815335e-03 2.15080943e+01] [ 1.54085164e-02 1.26403613e-04 9.99881274e-01 1.32913820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.0192541539999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:856.53, Y:21.52, Z:13.29 [[ 9.18998075e-01 -3.94009917e-01 -1.40969104e-02 8.56529625e+02] [ 3.93960818e-01 9.19106174e-01 -6.22217428e-03 2.15202053e+01] [ 1.54081558e-02 1.64535822e-04 9.99881274e-01 1.32902497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.0492541539999 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:856.55, Y:21.53, Z:13.29 [[ 9.19463835e-01 -3.92921853e-01 -1.40951437e-02 8.56554724e+02] [ 3.92872565e-01 9.19571847e-01 -6.22617391e-03 2.15317708e+01] [ 1.54078971e-02 1.87146495e-04 9.99881274e-01 1.32902083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.0792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:856.58, Y:21.54, Z:13.29 [[ 9.20360728e-01 -3.90816462e-01 -1.40933560e-02 8.56580058e+02] [ 3.90766865e-01 9.20468599e-01 -6.23021787e-03 2.15426259e+01] [ 1.54073633e-02 2.26831324e-04 9.99881274e-01 1.32933090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.1092541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:856.60, Y:21.55, Z:13.29 [[ 9.21498799e-01 -3.88125439e-01 -1.40928025e-02 8.56604143e+02] [ 3.88075508e-01 9.21606515e-01 -6.23146945e-03 2.15543484e+01] [ 1.54066105e-02 2.73220115e-04 9.99881274e-01 1.32920973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.1392541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:856.63, Y:21.57, Z:13.29 [[ 9.21970161e-01 -3.87004440e-01 -1.40920362e-02 8.56630081e+02] [ 3.86954351e-01 9.22077804e-01 -6.23320194e-03 2.15663671e+01] [ 1.54062307e-02 2.93851453e-04 9.99881274e-01 1.32916554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.1692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:856.66, Y:21.58, Z:13.29 [[ 9.23032572e-01 -3.84463698e-01 -1.40902740e-02 8.56656146e+02] [ 3.84413252e-01 9.23140048e-01 -6.23718302e-03 2.15781667e+01] [ 1.54052666e-02 3.40635038e-04 9.99881274e-01 1.32942627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.1992541539998 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:856.68, Y:21.59, Z:13.29 [[ 9.23622785e-01 -3.83043678e-01 -1.40887382e-02 8.56680645e+02] [ 3.82993014e-01 9.23730158e-01 -6.24065019e-03 2.15906557e+01] [ 1.54046340e-02 3.68118402e-04 9.99881274e-01 1.32909137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.2292541539999 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:856.71, Y:21.60, Z:13.29 [[ 9.23884550e-01 -3.82411899e-01 -1.40881939e-02 8.56706475e+02] [ 3.82361144e-01 9.23991880e-01 -6.24187855e-03 2.16026344e+01] [ 1.54043454e-02 3.79997203e-04 9.99881274e-01 1.32916286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.2592541539999 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:856.73, Y:21.61, Z:13.29 [[ 9.24152805e-01 -3.81763233e-01 -1.40864164e-02 8.56731998e+02] [ 3.81712341e-01 9.24260070e-01 -6.24588756e-03 2.16143459e+01] [ 1.54039624e-02 3.95195543e-04 9.99881274e-01 1.32920671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.2892541539999 meters Centerline goodness : 0.999737 Centerline is valid? [True, True] Translation: X:856.76, Y:21.63, Z:13.29 [[ 9.24247220e-01 -3.81534619e-01 -1.40858658e-02 8.56757188e+02] [ 3.81483681e-01 9.24354464e-01 -6.24712894e-03 2.16258625e+01] [ 1.54038289e-02 4.00363617e-04 9.99881274e-01 1.32918522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.3192541539999 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:856.78, Y:21.64, Z:13.29 [[ 9.24660384e-01 -3.80532276e-01 -1.40841024e-02 8.56783084e+02] [ 3.80481161e-01 9.24767544e-01 -6.25110194e-03 2.16371802e+01] [ 1.54032668e-02 4.21410671e-04 9.99881274e-01 1.32925968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.3492541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:856.81, Y:21.65, Z:13.29 [[ 9.23977382e-01 -3.82187762e-01 -1.40823371e-02 8.56805920e+02] [ 3.82136779e-01 9.24084605e-01 -6.25507640e-03 2.16504665e+01] [ 1.54038845e-02 3.98170201e-04 9.99881274e-01 1.32949901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.3792541539999 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:856.83, Y:21.66, Z:13.29 [[ 9.24744695e-01 -3.80329202e-01 -1.40337561e-02 8.56834115e+02] [ 3.80276344e-01 9.24851013e-01 -6.36438915e-03 2.16610272e+01] [ 1.53996966e-02 5.48729647e-04 9.99881267e-01 1.32924535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.4092541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:856.86, Y:21.67, Z:13.30 [[ 9.25278636e-01 -3.79027349e-01 -1.40611053e-02 8.56861040e+02] [ 3.78975275e-01 9.25385333e-01 -6.30285765e-03 2.16716460e+01] [ 1.54008961e-02 5.03088273e-04 9.99881273e-01 1.32956869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.4392541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:856.89, Y:21.68, Z:13.29 [[ 9.25280222e-01 -3.79022776e-01 -1.40799925e-02 8.56885868e+02] [ 3.78971346e-01 9.25387231e-01 -6.26037918e-03 2.16832920e+01] [ 1.54022716e-02 4.56691309e-04 9.99881274e-01 1.32942827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.4692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:856.91, Y:21.69, Z:13.30 [[ 9.25272768e-01 -3.79040992e-01 -1.40794402e-02 8.56911355e+02] [ 3.78989545e-01 9.25379769e-01 -6.26162115e-03 2.16948618e+01] [ 1.54022402e-02 4.57746907e-04 9.99881274e-01 1.32954281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.4992541539999 meters Centerline goodness : 0.999737 Centerline is valid? [True, True] Translation: X:856.94, Y:21.71, Z:13.29 [[ 9.24599396e-01 -3.80680630e-01 -1.40788961e-02 8.56936723e+02] [ 3.80629354e-01 9.24706479e-01 -6.26284431e-03 2.17061428e+01] [ 1.54029899e-02 4.31780948e-04 9.99881274e-01 1.32921502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.5292541539999 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:856.96, Y:21.72, Z:13.29 [[ 9.24189917e-01 -3.81673722e-01 -1.40772027e-02 8.56962775e+02] [ 3.81622503e-01 9.24297027e-01 -6.26664818e-03 2.17176729e+01] [ 1.54033316e-02 4.19395712e-04 9.99881274e-01 1.32940850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.5592541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:856.99, Y:21.73, Z:13.30 [[ 9.23846202e-01 -3.82504991e-01 -1.40757227e-02 8.56988812e+02] [ 3.82453819e-01 9.23953334e-01 -6.26997085e-03 2.17292896e+01] [ 1.54036060e-02 4.09174875e-04 9.99881274e-01 1.32963393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.5892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:857.01, Y:21.74, Z:13.30 [[ 9.23282461e-01 -3.83863794e-01 -1.40742503e-02 8.57014909e+02] [ 3.83812728e-01 9.23389645e-01 -6.27327404e-03 2.17413613e+01] [ 1.54040998e-02 3.90127476e-04 9.99881274e-01 1.33006430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.6192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:857.04, Y:21.76, Z:13.30 [[ 9.21897055e-01 -3.87179261e-01 -1.40726571e-02 8.57038348e+02] [ 3.87128526e-01 9.22004396e-01 -6.27684599e-03 2.17553582e+01] [ 1.54053163e-02 3.38678811e-04 9.99881274e-01 1.32972016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.6492541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:857.07, Y:21.77, Z:13.30 [[ 9.22539685e-01 -3.85646949e-01 -1.40342378e-02 8.57067539e+02] [ 3.85594726e-01 9.22646314e-01 -6.36291510e-03 2.17659780e+01] [ 1.54024766e-02 4.58513596e-04 9.99881270e-01 1.33012343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.6792541539999 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:857.09, Y:21.78, Z:13.30 [[ 9.22259486e-01 -3.86315221e-01 -1.40709336e-02 8.57093014e+02] [ 3.86264327e-01 9.22366750e-01 -6.28070414e-03 2.17783679e+01] [ 1.54048929e-02 3.57339275e-04 9.99881274e-01 1.32981232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.7092541539998 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:857.12, Y:21.79, Z:13.30 [[ 9.22287592e-01 -3.86248179e-01 -1.40691410e-02 8.57118331e+02] [ 3.86197217e-01 9.22394824e-01 -6.28471715e-03 2.17914527e+01] [ 1.54047634e-02 3.62853565e-04 9.99881274e-01 1.32988545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.7392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:857.14, Y:21.81, Z:13.30 [[ 9.21585017e-01 -3.87921598e-01 -1.40673585e-02 8.57142438e+02] [ 3.87870769e-01 9.21692312e-01 -6.28870448e-03 2.18054706e+01] [ 1.54053004e-02 3.39258685e-04 9.99881274e-01 1.32991072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.7692541539999 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:857.17, Y:21.82, Z:13.30 [[ 9.21894333e-01 -3.87186747e-01 -1.40450115e-02 8.57168535e+02] [ 3.87135071e-01 9.22001224e-01 -6.33866516e-03 2.18181764e+01] [ 1.54037649e-02 4.06262963e-04 9.99881272e-01 1.32980555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.7992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:857.19, Y:21.83, Z:13.30 [[ 9.21636273e-01 -3.87799843e-01 -1.40663163e-02 8.57194779e+02] [ 3.87748965e-01 9.21743545e-01 -6.29102909e-03 2.18301913e+01] [ 1.54051964e-02 3.43841025e-04 9.99881274e-01 1.33006602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.8292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:857.22, Y:21.84, Z:13.30 [[ 9.21600636e-01 -3.87884217e-01 -1.40748386e-02 8.57219084e+02] [ 3.87833639e-01 9.21708051e-01 -6.27197807e-03 2.18415864e+01] [ 1.54056934e-02 3.21563096e-04 9.99881274e-01 1.33033269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.8592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:857.24, Y:21.86, Z:13.30 [[ 9.20802030e-01 -3.89776621e-01 -1.40644170e-02 8.57243985e+02] [ 3.89725908e-01 9.20909380e-01 -6.29526128e-03 2.18550625e+01] [ 1.54057992e-02 3.15421674e-04 9.99881274e-01 1.33035662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.8892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:857.27, Y:21.87, Z:13.30 [[ 9.20691825e-01 -3.90036929e-01 -1.40626339e-02 8.57270039e+02] [ 3.89986185e-01 9.20799161e-01 -6.29924189e-03 2.18668258e+01] [ 1.54057985e-02 3.15427546e-04 9.99881274e-01 1.33040051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.9192541539999 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:857.30, Y:21.88, Z:13.30 [[ 9.19934858e-01 -3.91819027e-01 -1.40608521e-02 8.57295021e+02] [ 3.91768431e-01 9.20042263e-01 -6.30321662e-03 2.18798840e+01] [ 1.54062984e-02 2.89950708e-04 9.99881274e-01 1.33014057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.9492541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:857.32, Y:21.89, Z:13.30 [[ 9.18989154e-01 -3.94032079e-01 -1.40590116e-02 8.57320117e+02] [ 3.93981679e-01 9.19096651e-01 -6.30731920e-03 2.18928115e+01] [ 1.54068766e-02 2.57364942e-04 9.99881274e-01 1.33038877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.9792541539999 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:857.34, Y:21.91, Z:13.30 [[ 9.18144473e-01 -3.95996366e-01 -1.40571856e-02 8.57344727e+02] [ 3.95946133e-01 9.18252049e-01 -6.31138621e-03 2.19054804e+01] [ 1.54073255e-02 2.28876094e-04 9.99881274e-01 1.33010097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.0092541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:857.37, Y:21.92, Z:13.30 [[ 9.16872643e-01 -3.98932329e-01 -1.40553759e-02 8.57369195e+02] [ 3.98882380e-01 9.16980350e-01 -6.31541376e-03 2.19176757e+01] [ 1.54079263e-02 1.83988309e-04 9.99881274e-01 1.33043220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.0392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:857.39, Y:21.93, Z:13.31 [[ 9.16051970e-01 -4.00813239e-01 -1.40547474e-02 8.57394640e+02] [ 4.00763489e-01 9.16159770e-01 -6.31681227e-03 2.19293429e+01] [ 1.54082561e-02 1.53898724e-04 9.99881274e-01 1.33073453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.0692541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:857.42, Y:21.94, Z:13.31 [[ 9.15169127e-01 -4.02825004e-01 -1.40529282e-02 8.57420300e+02] [ 4.02775428e-01 9.15277008e-01 -6.32085673e-03 2.19417739e+01] [ 1.54085212e-02 1.24478751e-04 9.99881274e-01 1.33079967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.0992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:857.44, Y:21.95, Z:13.31 [[ 9.13695376e-01 -4.06156775e-01 -1.40511129e-02 8.57443855e+02] [ 4.06107531e-01 9.13803408e-01 -6.32488958e-03 2.19544553e+01] [ 1.54088516e-02 7.27595934e-05 9.99881274e-01 1.33079834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.1292541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:857.47, Y:21.97, Z:13.31 [[ 9.12908115e-01 -4.07923247e-01 -1.40498818e-02 8.57469160e+02] [ 4.07874170e-01 9.13016223e-01 -6.32762300e-03 2.19672423e+01] [ 1.54089546e-02 4.59544847e-05 9.99881274e-01 1.33072768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.1592541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:857.49, Y:21.98, Z:13.31 [[ 9.11859745e-01 -4.10261449e-01 -1.40480650e-02 8.57493140e+02] [ 4.10212588e-01 9.11967951e-01 -6.33165396e-03 2.19796155e+01] [ 1.54090186e-02 1.08872595e-05 9.99881274e-01 1.33069057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.1892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:857.52, Y:21.99, Z:13.31 [[ 9.11475768e-01 -4.11113851e-01 -1.40472783e-02 8.57518551e+02] [ 4.11065064e-01 9.11584007e-01 -6.33339895e-03 2.19916409e+01] [ 1.54090223e-02 -1.60567666e-06 9.99881274e-01 1.33096953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.2192541539998 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:857.54, Y:22.00, Z:13.31 [[ 9.10980112e-01 -4.12211063e-01 -1.40454673e-02 8.57541976e+02] [ 4.12162344e-01 9.11088382e-01 -6.33741267e-03 2.20045049e+01] [ 1.54090137e-02 -1.57558082e-05 9.99881274e-01 1.33086527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.2492541539999 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:857.57, Y:22.02, Z:13.31 [[ 9.10852721e-01 -4.12492507e-01 -1.40446837e-02 8.57567136e+02] [ 4.12443795e-01 9.10960993e-01 -6.33914865e-03 2.20171693e+01] [ 1.54090104e-02 -1.86118565e-05 9.99881274e-01 1.33091969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.2792541539999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:857.59, Y:22.03, Z:13.31 [[ 9.11416595e-01 -4.11245168e-01 -1.40428794e-02 8.57591808e+02] [ 4.11196246e-01 9.11524773e-01 -6.34314329e-03 2.20309989e+01] [ 1.54090194e-02 6.86677545e-06 9.99881274e-01 1.33098457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.3092541539999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:857.61, Y:22.05, Z:13.31 [[ 9.10731947e-01 -4.12759171e-01 -1.40423207e-02 8.57613420e+02] [ 4.12710410e-01 9.10840198e-01 -6.34437968e-03 2.20452370e+01] [ 1.54090111e-02 -1.73826975e-05 9.99881274e-01 1.33103246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.3392541539998 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:857.64, Y:22.06, Z:13.31 [[ 9.12233320e-01 -4.09431866e-01 -1.39970213e-02 8.57641071e+02] [ 4.09381171e-01 9.12340685e-01 -6.44450692e-03 2.20568877e+01] [ 1.54086385e-02 1.48776973e-04 9.99881269e-01 1.33077344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.3692541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:857.67, Y:22.07, Z:13.31 [[ 9.13790448e-01 -4.05943222e-01 -1.40398781e-02 8.57665860e+02] [ 4.05893571e-01 9.13898293e-01 -6.34974678e-03 2.20707397e+01] [ 1.54086573e-02 1.03641701e-04 9.99881274e-01 1.33105283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.3992541539999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:857.69, Y:22.09, Z:13.31 [[ 9.15262228e-01 -4.02613942e-01 -1.40380687e-02 8.57691232e+02] [ 4.02563838e-01 9.15369863e-01 -6.35374449e-03 2.20855203e+01] [ 1.54081311e-02 1.64123530e-04 9.99881274e-01 1.33090242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.4292541539999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:857.72, Y:22.10, Z:13.31 [[ 9.15956998e-01 -4.01030866e-01 -1.40364569e-02 8.57715172e+02] [ 4.00980520e-01 9.16064521e-01 -6.35730313e-03 2.20983342e+01] [ 1.54077750e-02 1.94670487e-04 9.99881274e-01 1.33083329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.4592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:857.74, Y:22.11, Z:13.31 [[ 9.17194593e-01 -3.98192264e-01 -1.40356583e-02 8.57739364e+02] [ 3.98141560e-01 9.17301946e-01 -6.35906579e-03 2.21119217e+01] [ 1.54070675e-02 2.44321859e-04 9.99881274e-01 1.33111161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.4892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:857.76, Y:22.12, Z:13.31 [[ 9.17531122e-01 -3.97416271e-01 -1.40338270e-02 8.57764748e+02] [ 3.97365413e-01 9.17638403e-01 -6.36310475e-03 2.21245201e+01] [ 1.54067800e-02 2.61789163e-04 9.99881274e-01 1.33120306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.5192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:857.79, Y:22.14, Z:13.31 [[ 9.17930771e-01 -3.96492376e-01 -1.40319742e-02 8.57789266e+02] [ 3.96441348e-01 9.18037971e-01 -6.36718806e-03 2.21365742e+01] [ 1.54064266e-02 2.81783085e-04 9.99881274e-01 1.33125780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.5492541539999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:857.81, Y:22.15, Z:13.31 [[ 9.18220084e-01 -3.95821934e-01 -1.40311707e-02 8.57813526e+02] [ 3.95770801e-01 9.18327234e-01 -6.36895818e-03 2.21499233e+01] [ 1.54061795e-02 2.94977663e-04 9.99881274e-01 1.33120075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.5792541539998 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:857.84, Y:22.16, Z:13.31 [[ 9.18212642e-01 -3.95839265e-01 -1.40293145e-02 8.57839017e+02] [ 3.95788071e-01 9.18319763e-01 -6.37304432e-03 2.21626950e+01] [ 1.54060979e-02 2.99174539e-04 9.99881274e-01 1.33117905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.6092541539999 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:857.86, Y:22.18, Z:13.31 [[ 9.18173283e-01 -3.95930616e-01 -1.40274529e-02 8.57862444e+02] [ 3.95879371e-01 9.18280380e-01 -6.37713921e-03 2.21755276e+01] [ 1.54060394e-02 3.02139632e-04 9.99881274e-01 1.33106543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.6392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:857.89, Y:22.19, Z:13.32 [[ 9.18119658e-01 -3.96054997e-01 -1.40261868e-02 8.57888428e+02] [ 3.96003723e-01 9.18226741e-01 -6.37992273e-03 2.21877957e+01] [ 1.54060200e-02 3.03110293e-04 9.99881274e-01 1.33154827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.6692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:857.91, Y:22.20, Z:13.31 [[ 9.16457142e-01 -3.99887007e-01 -1.40245594e-02 8.57909520e+02] [ 3.99836126e-01 9.16564413e-01 -6.38349814e-03 2.22026565e+01] [ 1.54070900e-02 2.42676978e-04 9.99881274e-01 1.33116419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.6992541539998 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:857.94, Y:22.21, Z:13.32 [[ 9.17492769e-01 -3.97507618e-01 -1.39539464e-02 8.57939909e+02] [ 3.97454098e-01 9.17598762e-01 -6.53843353e-03 2.22125529e+01] [ 1.54032011e-02 4.52912286e-04 9.99881261e-01 1.33152972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.7292541539999 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:857.97, Y:22.22, Z:13.31 [[ 9.17177088e-01 -3.98233037e-01 -1.40227433e-02 8.57965422e+02] [ 3.98181904e-01 9.17284238e-01 -6.38739902e-03 2.22248139e+01] [ 1.54065147e-02 2.74773410e-04 9.99881275e-01 1.33133674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.7592541539999 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:857.99, Y:22.24, Z:13.31 [[ 9.17034670e-01 -3.98560902e-01 -1.40221726e-02 8.57991113e+02] [ 3.98509788e-01 9.17141829e-01 -6.38865166e-03 2.22368553e+01] [ 1.54065878e-02 2.70642032e-04 9.99881275e-01 1.33133720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.7892541539999 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:858.02, Y:22.25, Z:13.31 [[ 9.16913082e-01 -3.98840608e-01 -1.40203438e-02 8.58016502e+02] [ 3.98789465e-01 9.17020227e-01 -6.39266267e-03 2.22488660e+01] [ 1.54065923e-02 2.70350638e-04 9.99881275e-01 1.33141876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.8192541539999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:858.04, Y:22.26, Z:13.31 [[ 9.17110019e-01 -3.98387621e-01 -1.40184755e-02 8.58040941e+02] [ 3.98336362e-01 9.17217108e-01 -6.39675703e-03 2.22606119e+01] [ 1.54063743e-02 2.82461440e-04 9.99881275e-01 1.33142749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.8492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:858.07, Y:22.27, Z:13.32 [[ 9.17290085e-01 -3.97972871e-01 -1.40176664e-02 8.58066669e+02] [ 3.97921537e-01 9.17397138e-01 -6.39852958e-03 2.22724206e+01] [ 1.54062082e-02 2.91376402e-04 9.99881275e-01 1.33170663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.8792541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:858.09, Y:22.28, Z:13.32 [[ 9.17436521e-01 -3.97635243e-01 -1.40158541e-02 8.58090782e+02] [ 3.97583809e-01 9.17543526e-01 -6.40249695e-03 2.22839076e+01] [ 1.54060146e-02 3.01407881e-04 9.99881275e-01 1.33156788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.9092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:858.12, Y:22.30, Z:13.32 [[ 9.17545396e-01 -3.97383992e-01 -1.40146215e-02 8.58116241e+02] [ 3.97332488e-01 9.17652367e-01 -6.40519371e-03 2.22951619e+01] [ 1.54058721e-02 3.08591551e-04 9.99881275e-01 1.33182036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.9392541539999 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:858.14, Y:22.31, Z:13.31 [[ 9.17622389e-01 -3.97206236e-01 -1.40127774e-02 8.58141273e+02] [ 3.97154649e-01 9.17729321e-01 -6.40922560e-03 2.23071872e+01] [ 1.54057211e-02 3.16009201e-04 9.99881275e-01 1.33147694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.9692541539998 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:858.17, Y:22.32, Z:13.32 [[ 9.17650165e-01 -3.97142081e-01 -1.40122058e-02 8.58165618e+02] [ 3.97090468e-01 9.17757085e-01 -6.41047498e-03 2.23184327e+01] [ 1.54056705e-02 3.18460060e-04 9.99881275e-01 1.33152534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.9992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:858.19, Y:22.33, Z:13.32 [[ 9.17863224e-01 -3.96649460e-01 -1.40109718e-02 8.58191305e+02] [ 3.96597749e-01 9.17970096e-01 -6.41317104e-03 2.23295966e+01] [ 1.54054339e-02 3.29693985e-04 9.99881275e-01 1.33180964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.0292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:858.22, Y:22.34, Z:13.32 [[ 9.18038427e-01 -3.96243853e-01 -1.40091375e-02 8.58216722e+02] [ 3.96192033e-01 9.18145246e-01 -6.41717538e-03 2.23408718e+01] [ 1.54051893e-02 3.40904916e-04 9.99881275e-01 1.33191191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.0592541539999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:858.24, Y:22.35, Z:13.31 [[ 9.17195105e-01 -3.98192084e-01 -1.40072568e-02 8.58238406e+02] [ 3.98140429e-01 9.17302004e-01 -6.42127791e-03 2.23544808e+01] [ 1.54057868e-02 3.12709440e-04 9.99881275e-01 1.33129617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.0892541539998 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:858.27, Y:22.36, Z:13.32 [[ 9.18851999e-01 -3.94355462e-01 -1.39561582e-02 8.58268265e+02] [ 3.94301667e-01 9.18957845e-01 -6.53261385e-03 2.23639751e+01] [ 1.54012930e-02 4.99568846e-04 9.99881268e-01 1.33178628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.1192541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:858.29, Y:22.38, Z:13.31 [[ 9.18474828e-01 -3.95231391e-01 -1.40049407e-02 8.58291887e+02] [ 3.95179314e-01 9.18581522e-01 -6.42630165e-03 2.23771907e+01] [ 1.54045559e-02 3.67933446e-04 9.99881275e-01 1.33133907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.1492541539999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:858.32, Y:22.39, Z:13.32 [[ 9.20084112e-01 -3.91471690e-01 -1.39693266e-02 8.58320124e+02] [ 3.91418000e-01 9.20190007e-01 -6.50382788e-03 2.23868395e+01] [ 1.54004992e-02 5.16222817e-04 9.99881272e-01 1.33193056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.1792541539999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:858.34, Y:22.40, Z:13.32 [[ 9.20433782e-01 -3.90647637e-01 -1.40027168e-02 8.58344612e+02] [ 3.90594956e-01 9.20540179e-01 -6.43112641e-03 2.23976713e+01] [ 1.54023677e-02 4.50035464e-04 9.99881275e-01 1.33190928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.2092541539998 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:858.37, Y:22.41, Z:13.32 [[ 9.21071470e-01 -3.89141741e-01 -1.40018935e-02 8.58370634e+02] [ 3.89088859e-01 9.21177767e-01 -6.43291846e-03 2.24085784e+01] [ 1.54015500e-02 4.77196912e-04 9.99881275e-01 1.33187025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.2392541539999 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:858.40, Y:22.42, Z:13.31 [[ 9.20681790e-01 -3.90062868e-01 -1.40000212e-02 8.58395772e+02] [ 3.90010030e-01 9.20788109e-01 -6.43699040e-03 2.24214885e+01] [ 1.54018840e-02 4.66271136e-04 9.99881275e-01 1.33147533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.2692541539999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:858.42, Y:22.43, Z:13.32 [[ 9.22209289e-01 -3.86438333e-01 -1.39800795e-02 8.58422929e+02] [ 3.86384420e-01 9.22315068e-01 -6.48033551e-03 2.24304501e+01] [ 1.53982880e-02 5.74540681e-04 9.99881274e-01 1.33215351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.2992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:858.45, Y:22.44, Z:13.32 [[ 9.22528892e-01 -3.85674094e-01 -1.39977404e-02 8.58449080e+02] [ 3.85620675e-01 9.22634920e-01 -6.44196025e-03 2.24407169e+01] [ 1.53993013e-02 5.45076351e-04 9.99881275e-01 1.33236933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.3292541539998 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:858.47, Y:22.45, Z:13.32 [[ 9.22385929e-01 -3.86015949e-01 -1.39959083e-02 8.58474413e+02] [ 3.85962509e-01 9.22491947e-01 -6.44593810e-03 2.24525288e+01] [ 1.53993476e-02 5.43746699e-04 9.99881275e-01 1.33201688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.3592541539999 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:858.50, Y:22.46, Z:13.32 [[ 9.22828358e-01 -3.84957077e-01 -1.39953407e-02 8.58500296e+02] [ 3.84903497e-01 9.22934305e-01 -6.44717035e-03 2.24623732e+01] [ 1.53986639e-02 5.62776059e-04 9.99881275e-01 1.33222522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.3892541539999 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:858.53, Y:22.47, Z:13.32 [[ 9.22839632e-01 -3.84930071e-01 -1.39947795e-02 8.58526232e+02] [ 3.84876469e-01 9.22945568e-01 -6.44838832e-03 2.24738322e+01] [ 1.53985983e-02 5.64566996e-04 9.99881275e-01 1.33229378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.4192541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:858.55, Y:22.48, Z:13.33 [[ 9.23187488e-01 -3.84095121e-01 -1.39928843e-02 8.58552344e+02] [ 3.84041361e-01 9.23293344e-01 -6.45249813e-03 2.24835603e+01] [ 1.53979100e-02 5.83019196e-04 9.99881275e-01 1.33253940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.4492541539998 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:858.58, Y:22.49, Z:13.33 [[ 9.23526630e-01 -3.83278983e-01 -1.39922974e-02 8.58578268e+02] [ 3.83225110e-01 9.23632429e-01 -6.45377068e-03 2.24935816e+01] [ 1.53973343e-02 5.98029377e-04 9.99881275e-01 1.33270571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.4792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:858.60, Y:22.50, Z:13.33 [[ 9.23709981e-01 -3.82836961e-01 -1.39904212e-02 8.58604208e+02] [ 3.82782977e-01 9.23815722e-01 -6.45783522e-03 2.25047748e+01] [ 1.53968691e-02 6.09871755e-04 9.99881275e-01 1.33274994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.5092541539999 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:858.63, Y:22.52, Z:13.32 [[ 9.23662323e-01 -3.82951952e-01 -1.39898413e-02 8.58629605e+02] [ 3.82897961e-01 9.23768061e-01 -6.45909129e-03 2.25169990e+01] [ 1.53968902e-02 6.09337545e-04 9.99881275e-01 1.33237196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.5392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:858.66, Y:22.53, Z:13.33 [[ 9.24274423e-01 -3.81472267e-01 -1.39892783e-02 8.58656190e+02] [ 3.81418089e-01 9.24380066e-01 -6.46031040e-03 2.25273477e+01] [ 1.53958393e-02 6.35335859e-04 9.99881275e-01 1.33287561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.5692541539999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:858.68, Y:22.54, Z:13.33 [[ 9.24924025e-01 -3.79894581e-01 -1.39877070e-02 8.58681233e+02] [ 3.79840171e-01 9.25029548e-01 -6.46371086e-03 2.25394093e+01] [ 1.53945710e-02 6.65348451e-04 9.99881275e-01 1.33278308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.5992541539999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:858.71, Y:22.55, Z:13.33 [[ 9.26002436e-01 -3.77258378e-01 -1.39858713e-02 8.58706453e+02] [ 3.77203608e-01 9.26107773e-01 -6.46768047e-03 2.25507109e+01] [ 1.53924107e-02 7.13566768e-04 9.99881275e-01 1.33293490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.6292541539999 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:858.73, Y:22.56, Z:13.33 [[ 9.26316976e-01 -3.76485419e-01 -1.39853030e-02 8.58731853e+02] [ 3.76430542e-01 9.26422258e-01 -6.46890905e-03 2.25631097e+01] [ 1.53917459e-02 7.27765085e-04 9.99881275e-01 1.33265667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.6592541539999 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:858.76, Y:22.57, Z:13.33 [[ 9.26821065e-01 -3.75242821e-01 -1.39834879e-02 8.58757476e+02] [ 3.75187745e-01 9.26926242e-01 -6.47283016e-03 2.25749436e+01] [ 1.53905450e-02 7.52722049e-04 9.99881275e-01 1.33273894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.6892541539999 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:858.78, Y:22.59, Z:13.33 [[ 9.28023143e-01 -3.72260067e-01 -1.39816858e-02 8.58781847e+02] [ 3.72204595e-01 9.28128112e-01 -6.47672047e-03 2.25868904e+01] [ 1.53878201e-02 8.06498788e-04 9.99881275e-01 1.33268748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.7192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:858.81, Y:22.60, Z:13.33 [[ 9.28691427e-01 -3.70589757e-01 -1.39809042e-02 8.58807707e+02] [ 3.70534070e-01 9.28796282e-01 -6.47840723e-03 2.25982248e+01] [ 1.53862432e-02 8.36039903e-04 9.99881275e-01 1.33299691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.7492541539999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:858.83, Y:22.61, Z:13.33 [[ 9.29151903e-01 -3.69433789e-01 -1.39791251e-02 8.58833165e+02] [ 3.69377914e-01 9.29256658e-01 -6.48224399e-03 2.26110775e+01] [ 1.53849550e-02 8.59409273e-04 9.99881275e-01 1.33270714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.7792541539999 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:858.86, Y:22.62, Z:13.33 [[ 9.29219241e-01 -3.69264444e-01 -1.39775795e-02 8.58858490e+02] [ 3.69208500e-01 9.29323959e-01 -6.48557497e-03 2.26232599e+01] [ 1.53845918e-02 8.65879889e-04 9.99881275e-01 1.33263526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.8092541539999 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:858.88, Y:22.64, Z:13.33 [[ 9.29119416e-01 -3.69515567e-01 -1.39770317e-02 8.58884365e+02] [ 3.69459634e-01 9.29224139e-01 -6.48675530e-03 2.26353826e+01] [ 1.53847523e-02 8.63021277e-04 9.99881275e-01 1.33267925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.8392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:858.91, Y:22.65, Z:13.33 [[ 9.29230068e-01 -3.69237284e-01 -1.39752775e-02 8.58910403e+02] [ 3.69181263e-01 9.29334745e-01 -6.49053252e-03 2.26463181e+01] [ 1.53842575e-02 8.71787391e-04 9.99881275e-01 1.33299280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.8692541539999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:858.94, Y:22.66, Z:13.33 [[ 9.28678243e-01 -3.70623072e-01 -1.39735275e-02 8.58935847e+02] [ 3.70567151e-01 9.28782973e-01 -6.49429776e-03 2.26572808e+01] [ 1.53853110e-02 8.52982747e-04 9.99881275e-01 1.33279700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.8992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:858.96, Y:22.67, Z:13.33 [[ 9.28418024e-01 -3.71274510e-01 -1.39717758e-02 8.58962400e+02] [ 3.71218605e-01 9.28522763e-01 -6.49806431e-03 2.26679364e+01] [ 1.53856775e-02 8.46336915e-04 9.99881275e-01 1.33318194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.9292541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:858.99, Y:22.68, Z:13.33 [[ 9.28024033e-01 -3.72258279e-01 -1.39702338e-02 8.58988030e+02] [ 3.72202436e-01 9.28128805e-01 -6.50137774e-03 2.26802509e+01] [ 1.53863681e-02 8.33679741e-04 9.99881275e-01 1.33320890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.9592541539998 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:859.01, Y:22.69, Z:13.33 [[ 9.27650159e-01 -3.73189046e-01 -1.39684752e-02 8.59013061e+02] [ 3.73133251e-01 9.27754957e-01 -6.50515402e-03 2.26923635e+01] [ 1.53869743e-02 8.22404603e-04 9.99881275e-01 1.33309214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.9892541539999 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:859.04, Y:22.70, Z:13.33 [[ 9.27289252e-01 -3.74084982e-01 -1.39667201e-02 8.59038016e+02] [ 3.74029232e-01 9.27394074e-01 -6.50892009e-03 2.27044977e+01] [ 1.53875427e-02 8.11690066e-04 9.99881275e-01 1.33310878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.0192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:859.06, Y:22.72, Z:13.33 [[ 9.27451271e-01 -3.73683183e-01 -1.39649410e-02 8.59063846e+02] [ 3.73627330e-01 9.27556037e-01 -6.51273480e-03 2.27159490e+01] [ 1.53869648e-02 8.22560532e-04 9.99881275e-01 1.33348308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.0492541539999 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:859.09, Y:22.73, Z:13.33 [[ 9.27322543e-01 -3.74002537e-01 -1.39643900e-02 8.59088894e+02] [ 3.73946703e-01 9.27427319e-01 -6.51391616e-03 2.27290784e+01] [ 1.53871779e-02 8.18563712e-04 9.99881275e-01 1.33322633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.0792541539998 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:859.11, Y:22.74, Z:13.33 [[ 9.27297854e-01 -3.74063815e-01 -1.39625262e-02 8.59114464e+02] [ 3.74007928e-01 9.27402602e-01 -6.51790864e-03 2.27417037e+01] [ 1.53869969e-02 8.21947200e-04 9.99881275e-01 1.33323552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.1092541539999 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:859.14, Y:22.75, Z:13.33 [[ 9.27418864e-01 -3.73763764e-01 -1.39606381e-02 8.59139621e+02] [ 3.73707783e-01 9.27523562e-01 -6.52195023e-03 2.27544819e+01] [ 1.53864895e-02 8.31380552e-04 9.99881275e-01 1.33299275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.1392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:859.16, Y:22.77, Z:13.34 [[ 9.28203597e-01 -3.71810703e-01 -1.39600543e-02 8.59164830e+02] [ 3.71754483e-01 9.28308167e-01 -6.52319954e-03 2.27673273e+01] [ 1.53846279e-02 8.65144500e-04 9.99881275e-01 1.33355467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.1692541539999 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:859.19, Y:22.78, Z:13.33 [[ 9.28551664e-01 -3.70940664e-01 -1.39581962e-02 8.59189452e+02] [ 3.70884286e-01 9.28656148e-01 -6.52717306e-03 2.27810976e+01] [ 1.53835587e-02 8.83941750e-04 9.99881275e-01 1.33299811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.1992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:859.22, Y:22.79, Z:13.34 [[ 9.28887053e-01 -3.70100025e-01 -1.39576204e-02 8.59215045e+02] [ 3.70043534e-01 9.28991476e-01 -6.52840428e-03 2.27929495e+01] [ 1.53826729e-02 8.99223057e-04 9.99881275e-01 1.33355872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.2292541539999 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:859.24, Y:22.81, Z:13.33 [[ 9.28635795e-01 -3.70730085e-01 -1.39558076e-02 8.59239523e+02] [ 3.70673607e-01 9.28740226e-01 -6.53227710e-03 2.28062314e+01] [ 1.53830316e-02 8.93056804e-04 9.99881275e-01 1.33322125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.2592541539999 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:859.26, Y:22.82, Z:13.33 [[ 9.28725790e-01 -3.70504651e-01 -1.39538932e-02 8.59263945e+02] [ 3.70448086e-01 9.28830174e-01 -6.53636400e-03 2.28187222e+01] [ 1.53825503e-02 9.01296797e-04 9.99881275e-01 1.33336896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.2892541539999 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:859.29, Y:22.83, Z:13.33 [[ 9.28726033e-01 -3.70504075e-01 -1.39530289e-02 8.59288339e+02] [ 3.70447482e-01 9.28830401e-01 -6.53820854e-03 2.28308845e+01] [ 1.53824303e-02 9.03340055e-04 9.99881275e-01 1.33346767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.3192541539999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:859.31, Y:22.84, Z:13.34 [[ 9.28426397e-01 -3.71254308e-01 -1.39522095e-02 8.59313003e+02] [ 3.71197774e-01 9.28530797e-01 -6.53995667e-03 2.28441100e+01] [ 1.53830433e-02 8.92839313e-04 9.99881275e-01 1.33361229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.3492541539999 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:859.34, Y:22.86, Z:13.34 [[ 9.28167131e-01 -3.71902092e-01 -1.39503214e-02 8.59338297e+02] [ 3.71845570e-01 9.28271538e-01 -6.54398164e-03 2.28568792e+01] [ 1.53834067e-02 8.86543454e-04 9.99881275e-01 1.33358208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.3792541539999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:859.36, Y:22.87, Z:13.34 [[ 9.27823172e-01 -3.72759444e-01 -1.39484185e-02 8.59363342e+02] [ 3.72702958e-01 9.27927599e-01 -6.54803500e-03 2.28693055e+01] [ 1.53839644e-02 8.76801761e-04 9.99881275e-01 1.33370395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.4092541539999 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:859.39, Y:22.88, Z:13.34 [[ 9.26958009e-01 -3.74905780e-01 -1.39465255e-02 8.59388832e+02] [ 3.74849476e-01 9.27062533e-01 -6.55206443e-03 2.28817936e+01] [ 1.53857081e-02 8.45640820e-04 9.99881275e-01 1.33401324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.4392541539999 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:859.41, Y:22.89, Z:13.34 [[ 9.26205509e-01 -3.76761069e-01 -1.39445989e-02 8.59413781e+02] [ 3.76704913e-01 9.26310113e-01 -6.55616217e-03 2.28945145e+01] [ 1.53871297e-02 8.19354594e-04 9.99881275e-01 1.33361524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.4692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:859.43, Y:22.91, Z:13.34 [[ 9.22662747e-01 -3.85355705e-01 -1.39440017e-02 8.59429748e+02] [ 3.85300505e-01 9.22767859e-01 -6.55743209e-03 2.29091836e+01] [ 1.53940205e-02 6.77667399e-04 9.99881275e-01 1.33353472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.4992541539999 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:859.47, Y:22.92, Z:13.34 [[ 9.24001935e-01 -3.82138857e-01 -1.37955558e-02 8.59465259e+02] [ 3.82078579e-01 9.24104285e-01 -6.87240938e-03 2.29182321e+01] [ 1.53747469e-02 1.07913321e-03 9.99881219e-01 1.33372746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.5292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:859.49, Y:22.93, Z:13.34 [[ 9.21563433e-01 -3.87977354e-01 -1.39431990e-02 8.59489919e+02] [ 3.87922436e-01 9.21668687e-01 -6.55852714e-03 2.29301656e+01] [ 1.53955700e-02 6.35219052e-04 9.99881279e-01 1.33378477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.5592541539999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:859.52, Y:22.94, Z:13.34 [[ 9.20686974e-01 -3.90053836e-01 -1.39104554e-02 8.59516610e+02] [ 3.89998106e-01 9.20791804e-01 -6.62807764e-03 2.29409890e+01] [ 1.53939404e-02 6.77333488e-04 9.99881277e-01 1.33378339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.5892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:859.54, Y:22.95, Z:13.34 [[ 9.16865758e-01 -3.98952179e-01 -1.39406189e-02 8.59538071e+02] [ 3.98898438e-01 9.16971619e-01 -6.56401667e-03 2.29527747e+01] [ 1.54018806e-02 4.57431023e-04 9.99881279e-01 1.33371656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.6192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:859.56, Y:22.96, Z:13.34 [[ 9.15583533e-01 -4.01888600e-01 -1.38689465e-02 8.59564236e+02] [ 4.01832892e-01 9.15688387e-01 -6.71602861e-03 2.29633767e+01] [ 1.53987286e-02 5.76086325e-04 9.99881267e-01 1.33376866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.6492541539999 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:859.59, Y:22.97, Z:13.34 [[ 9.13703967e-01 -4.06143472e-01 -1.38759028e-02 8.59588385e+02] [ 4.06088477e-01 9.13809193e-01 -6.70127223e-03 2.29747892e+01] [ 1.54016055e-02 4.88134766e-04 9.99881269e-01 1.33358092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.6792541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:859.62, Y:22.98, Z:13.34 [[ 9.12970174e-01 -4.07791275e-01 -1.38469426e-02 8.59621537e+02] [ 4.07735539e-01 9.13075023e-01 -6.76266638e-03 2.29812714e+01] [ 1.54010538e-02 5.28222096e-04 9.99881257e-01 1.33408572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.7092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:859.64, Y:22.99, Z:13.34 [[ 9.10022410e-01 -4.14324673e-01 -1.39384069e-02 8.59643177e+02] [ 4.14272652e-01 9.10129125e-01 -6.56858177e-03 2.29946196e+01] [ 1.54072756e-02 2.03255827e-04 9.99881280e-01 1.33382983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.7392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:859.67, Y:23.01, Z:13.34 [[ 9.08968304e-01 -4.16634772e-01 -1.38596048e-02 8.59670337e+02] [ 4.16580468e-01 9.09073894e-01 -6.73560709e-03 2.30056788e+01] [ 1.54056931e-02 3.48812697e-04 9.99881264e-01 1.33387806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.7692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:859.70, Y:23.01, Z:13.34 [[ 9.08625807e-01 -4.17380975e-01 -1.38659748e-02 8.59701939e+02] [ 4.17326964e-01 9.08731544e-01 -6.72211006e-03 2.30138500e+01] [ 1.54061295e-02 3.21237529e-04 9.99881267e-01 1.33419812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.7992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:859.73, Y:23.02, Z:13.34 [[ 9.07849450e-01 -4.19064608e-01 -1.39366774e-02 8.59727974e+02] [ 4.19013088e-01 9.07956408e-01 -6.57218166e-03 2.30249129e+01] [ 1.54080643e-02 1.26901261e-04 9.99881281e-01 1.33430250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.8292541539998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:859.75, Y:23.04, Z:13.34 [[ 9.06804966e-01 -4.21320039e-01 -1.39347862e-02 8.59753646e+02] [ 4.21268724e-01 9.06912022e-01 -6.57618908e-03 2.30351924e+01] [ 1.54083054e-02 9.30313119e-05 9.99881281e-01 1.33431030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.8592541539999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:859.78, Y:23.05, Z:13.34 [[ 9.06416834e-01 -4.22154472e-01 -1.39329021e-02 8.59779396e+02] [ 4.22103194e-01 9.06523908e-01 -6.58017853e-03 2.30469018e+01] [ 1.54083606e-02 8.32621171e-05 9.99881281e-01 1.33429508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.8892541539999 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:859.80, Y:23.06, Z:13.34 [[ 9.04474817e-01 -4.26299464e-01 -1.39309768e-02 8.59799397e+02] [ 4.26248614e-01 9.04582095e-01 -6.58425198e-03 2.30612659e+01] [ 1.54085753e-02 1.72305383e-05 9.99881281e-01 1.33378850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.9192541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:859.83, Y:23.07, Z:13.34 [[ 9.04863494e-01 -4.25476541e-01 -1.38481292e-02 8.59826409e+02] [ 4.25422906e-01 9.04969426e-01 -6.75938266e-03 2.30724626e+01] [ 1.54080923e-02 2.25007262e-04 9.99881263e-01 1.33393906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.9492541539998 meters Centerline goodness : 0.997030 Centerline is valid? [True, True] Translation: X:859.86, Y:23.09, Z:13.34 [[ 9.05423031e-01 -4.24284219e-01 -1.38577309e-02 8.59855868e+02] [ 4.24230753e-01 9.05529045e-01 -6.73918893e-03 2.30850723e+01] [ 1.54079094e-02 2.22941244e-04 9.99881266e-01 1.33424178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.9792541539999 meters Centerline goodness : 0.999654 Centerline is valid? [True, True] Translation: X:859.88, Y:23.10, Z:13.34 [[ 9.05977248e-01 -4.23098044e-01 -1.39022345e-02 8.59881202e+02] [ 4.23045873e-01 9.06083896e-01 -6.64556675e-03 2.30967446e+01] [ 1.54083171e-02 1.39449334e-04 9.99881275e-01 1.33423826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.0092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:859.91, Y:23.11, Z:13.35 [[ 9.07271466e-01 -4.20315930e-01 -1.38926874e-02 8.59908542e+02] [ 4.20263125e-01 9.07377802e-01 -6.66565017e-03 2.31069924e+01] [ 1.54075951e-02 2.08970001e-04 9.99881274e-01 1.33477333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.0392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:859.93, Y:23.12, Z:13.35 [[ 9.08348276e-01 -4.17982936e-01 -1.39167426e-02 8.59933040e+02] [ 4.17930632e-01 9.08454858e-01 -6.61504265e-03 2.31178952e+01] [ 1.54077074e-02 1.92529538e-04 9.99881276e-01 1.33478241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.0692541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:859.96, Y:23.13, Z:13.35 [[ 9.08893432e-01 -4.16796206e-01 -1.39159154e-02 8.59957208e+02] [ 4.16743736e-01 9.08999932e-01 -6.61678238e-03 2.31291369e+01] [ 1.54074160e-02 2.14579461e-04 9.99881276e-01 1.33473993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.0992541539999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:859.98, Y:23.14, Z:13.35 [[ 9.09537443e-01 -4.15388987e-01 -1.39150955e-02 8.59983661e+02] [ 4.15336326e-01 9.09643849e-01 -6.61850628e-03 2.31411753e+01] [ 1.54070356e-02 2.40334646e-04 9.99881276e-01 1.33466976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.1292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:860.01, Y:23.15, Z:13.35 [[ 9.09864470e-01 -4.14672236e-01 -1.39133762e-02 8.60009139e+02] [ 4.14619436e-01 9.09970808e-01 -6.62211867e-03 2.31523798e+01] [ 1.54067749e-02 2.56474325e-04 9.99881276e-01 1.33474851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.1592541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:860.04, Y:23.16, Z:13.35 [[ 9.09762531e-01 -4.14895858e-01 -1.39127673e-02 8.60035251e+02] [ 4.14843064e-01 9.09868871e-01 -6.62339752e-03 2.31631016e+01] [ 1.54068141e-02 2.54103854e-04 9.99881276e-01 1.33482067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.1892541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:860.06, Y:23.17, Z:13.35 [[ 9.09283926e-01 -4.15943782e-01 -1.39108397e-02 8.60061907e+02] [ 4.15891050e-01 9.09390297e-01 -6.62744352e-03 2.31747407e+01] [ 1.54070266e-02 2.40834125e-04 9.99881276e-01 1.33493275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.2192541539998 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:860.09, Y:23.19, Z:13.35 [[ 9.07978164e-01 -4.18786568e-01 -1.39091512e-02 8.60087718e+02] [ 4.18734114e-01 9.08084672e-01 -6.63098540e-03 2.31850454e+01] [ 1.54076546e-02 1.96553839e-04 9.99881276e-01 1.33489857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.2492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:860.11, Y:23.20, Z:13.35 [[ 9.07226012e-01 -4.20413506e-01 -1.39085533e-02 8.60114095e+02] [ 4.20361224e-01 9.07332604e-01 -6.63223921e-03 2.31959905e+01] [ 1.54079668e-02 1.70323431e-04 9.99881276e-01 1.33517687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.2792541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:860.14, Y:23.21, Z:13.35 [[ 9.05094306e-01 -4.24983406e-01 -1.39068706e-02 8.60139983e+02] [ 4.24931608e-01 9.05201135e-01 -6.63576581e-03 2.32059507e+01] [ 1.54086054e-02 9.65249753e-05 9.99881276e-01 1.33509422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.3092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:860.17, Y:23.22, Z:13.35 [[ 9.04091309e-01 -4.27113007e-01 -1.39062755e-02 8.60166208e+02] [ 4.27061442e-01 9.04198250e-01 -6.63701267e-03 2.32171463e+01] [ 1.54087844e-02 6.16314112e-05 9.99881276e-01 1.33531476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.3392541539998 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:860.19, Y:23.23, Z:13.35 [[ 9.03005547e-01 -4.29403832e-01 -1.39043476e-02 8.60191785e+02] [ 4.29352475e-01 9.03112589e-01 -6.64104912e-03 2.32284703e+01] [ 1.54088833e-02 2.70381477e-05 9.99881276e-01 1.33507295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.3692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:860.22, Y:23.24, Z:13.35 [[ 9.01500784e-01 -4.32554068e-01 -1.39037513e-02 8.60218751e+02] [ 4.32503066e-01 9.01607996e-01 -6.64229734e-03 2.32385463e+01] [ 1.54088860e-02 -2.53787889e-05 9.99881276e-01 1.33538581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.3992541539999 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:860.24, Y:23.25, Z:13.35 [[ 8.98264752e-01 -4.39234752e-01 -1.39020799e-02 8.60238198e+02] [ 4.39184493e-01 8.98372314e-01 -6.64579370e-03 2.32535532e+01] [ 1.54083072e-02 -1.35895667e-04 9.99881276e-01 1.33455851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.4292541539999 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:860.27, Y:23.26, Z:13.35 [[ 8.99477530e-01 -4.36749031e-01 -1.38006212e-02 8.60271306e+02] [ 4.36695213e-01 8.99583383e-01 -6.85766454e-03 2.32609332e+01] [ 1.54098878e-02 1.41649955e-04 9.99881251e-01 1.33518144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.4592541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:860.30, Y:23.27, Z:13.35 [[ 8.99170320e-01 -4.37378025e-01 -1.38996365e-02 8.60297793e+02] [ 4.37327468e-01 8.99277740e-01 -6.65072929e-03 2.32723984e+01] [ 1.54085165e-02 -9.85544368e-05 9.99881277e-01 1.33539802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.4892541539999 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:860.32, Y:23.28, Z:13.35 [[ 8.98401115e-01 -4.38955901e-01 -1.38979982e-02 8.60323640e+02] [ 4.38905480e-01 8.98508599e-01 -6.65415105e-03 2.32833992e+01] [ 1.54083497e-02 -1.21810841e-04 9.99881277e-01 1.33518736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.5192541539999 meters Centerline goodness : 0.998041 Centerline is valid? [True, True] Translation: X:860.35, Y:23.30, Z:13.35 [[ 8.97033445e-01 -4.41744112e-01 -1.38974179e-02 8.60347827e+02] [ 4.41694006e-01 8.97141077e-01 -6.65536277e-03 2.32964993e+01] [ 1.54079118e-02 -1.68323189e-04 9.99881277e-01 1.33493142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.5492541539999 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:860.37, Y:23.31, Z:13.35 [[ 8.97456248e-01 -4.40885584e-01 -1.38630925e-02 8.60374941e+02] [ 4.40834268e-01 8.97563311e-01 -6.72696240e-03 2.33064096e+01] [ 1.54088240e-02 -7.41718011e-05 9.99881274e-01 1.33526018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.5792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:860.40, Y:23.32, Z:13.35 [[ 8.95216033e-01 -4.45415760e-01 -1.38944199e-02 8.60396567e+02] [ 4.45365999e-01 8.95323824e-01 -6.66162178e-03 2.33195899e+01] [ 1.54071964e-02 -2.24511545e-04 9.99881277e-01 1.33491459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.6092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:860.43, Y:23.33, Z:13.36 [[ 8.96693381e-01 -4.42436130e-01 -1.38293702e-02 8.60428073e+02] [ 4.42383915e-01 8.96800017e-01 -6.79716292e-03 2.33288470e+01] [ 1.54094899e-02 -2.29199459e-05 9.99881266e-01 1.33557628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.6392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:860.45, Y:23.34, Z:13.36 [[ 8.96646861e-01 -4.42528430e-01 -1.38923138e-02 8.60453699e+02] [ 4.42478253e-01 8.96754459e-01 -6.66598505e-03 2.33406556e+01] [ 1.54078823e-02 -1.70012185e-04 9.99881277e-01 1.33566312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.6692541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:860.48, Y:23.35, Z:13.36 [[ 8.96690034e-01 -4.42441001e-01 -1.38904144e-02 8.60478196e+02] [ 4.42390752e-01 8.96797599e-01 -6.66994070e-03 2.33529735e+01] [ 1.54079455e-02 -1.64121515e-04 9.99881277e-01 1.33560949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.6992541539998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:860.50, Y:23.37, Z:13.36 [[ 8.96566250e-01 -4.42691811e-01 -1.38895915e-02 8.60503931e+02] [ 4.42641566e-01 8.96673816e-01 -6.67165378e-03 2.33654241e+01] [ 1.54079195e-02 -1.66530949e-04 9.99881277e-01 1.33565348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.7292541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:860.53, Y:23.38, Z:13.36 [[ 8.97271463e-01 -4.41260754e-01 -1.38877242e-02 8.60529011e+02] [ 4.41210277e-01 8.97378921e-01 -6.67553859e-03 2.33785309e+01] [ 1.54082041e-02 -1.37636368e-04 9.99881277e-01 1.33561431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.7592541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:860.55, Y:23.39, Z:13.36 [[ 8.97930904e-01 -4.39917351e-01 -1.38858365e-02 8.60554250e+02] [ 4.39866653e-01 8.98038258e-01 -6.67946288e-03 2.33908484e+01] [ 1.54084240e-02 -1.10220288e-04 9.99881277e-01 1.33581752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.7892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:860.58, Y:23.40, Z:13.36 [[ 8.99584826e-01 -4.36525346e-01 -1.38839103e-02 8.60578269e+02] [ 4.36474182e-01 8.99691958e-01 -6.68346419e-03 2.34029520e+01] [ 1.54087440e-02 -4.76254441e-05 9.99881277e-01 1.33584518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.8192541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:860.60, Y:23.42, Z:13.36 [[ 9.00195310e-01 -4.35265050e-01 -1.38830747e-02 8.60603164e+02] [ 4.35213709e-01 9.00302358e-01 -6.68519964e-03 2.34153312e+01] [ 1.54087986e-02 -2.41190529e-05 9.99881277e-01 1.33581290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.8492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:860.63, Y:23.43, Z:13.36 [[ 9.01102940e-01 -4.33382979e-01 -1.38811393e-02 8.60627098e+02] [ 4.33331352e-01 9.01209850e-01 -6.68921572e-03 2.34268681e+01] [ 1.54088117e-02 1.25390656e-05 9.99881277e-01 1.33595150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.8792541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:860.65, Y:23.44, Z:13.35 [[ 9.01479473e-01 -4.32599233e-01 -1.38803007e-02 8.60648369e+02] [ 4.32547487e-01 9.01586326e-01 -6.69095557e-03 2.34426659e+01] [ 1.54087915e-02 2.78699419e-05 9.99881277e-01 1.33548660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.9092541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:860.68, Y:23.45, Z:13.36 [[ 9.03795554e-01 -4.27741198e-01 -1.38226145e-02 8.60677648e+02] [ 4.27687046e-01 9.03901216e-01 -6.81048346e-03 2.34537570e+01] [ 1.54074025e-02 2.43531489e-04 9.99881269e-01 1.33586858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.9392541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:860.70, Y:23.47, Z:13.36 [[ 9.05670624e-01 -4.23754775e-01 -1.38784384e-02 8.60702466e+02] [ 4.23701927e-01 9.05776936e-01 -6.69475928e-03 2.34670326e+01] [ 1.54077056e-02 1.82925732e-04 9.99881278e-01 1.33569999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.9692541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:860.73, Y:23.48, Z:13.36 [[ 9.06429731e-01 -4.22128593e-01 -1.38778501e-02 8.60727498e+02] [ 4.22075536e-01 9.06535938e-01 -6.69597842e-03 2.34797151e+01] [ 1.54073338e-02 2.11932881e-04 9.99881278e-01 1.33576776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.9992541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:860.75, Y:23.49, Z:13.36 [[ 9.08023619e-01 -4.18689104e-01 -1.38759480e-02 8.60751437e+02] [ 4.18635584e-01 9.08129594e-01 -6.69991781e-03 2.34914392e+01] [ 1.54063416e-02 2.74718001e-04 9.99881278e-01 1.33579174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.0292541539999 meters Centerline goodness : 0.998879 Centerline is valid? [True, True] Translation: X:860.78, Y:23.50, Z:13.36 [[ 9.08711432e-01 -4.17194232e-01 -1.38746551e-02 8.60776358e+02] [ 4.17140497e-01 9.08817298e-01 -6.70259414e-03 2.35034806e+01] [ 1.54058102e-02 3.03043374e-04 9.99881278e-01 1.33570287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.0592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:860.80, Y:23.52, Z:13.36 [[ 9.08987384e-01 -4.16592961e-01 -1.38650864e-02 8.60802743e+02] [ 4.16538854e-01 9.09093061e-01 -6.72239721e-03 2.35161640e+01] [ 1.54051572e-02 3.35227051e-04 9.99881277e-01 1.33595636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.0892541539998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:860.83, Y:23.53, Z:13.36 [[ 9.09280795e-01 -4.15951901e-01 -1.38726746e-02 8.60827266e+02] [ 4.15897959e-01 9.09386556e-01 -6.70670130e-03 2.35271215e+01] [ 1.54052889e-02 3.28657660e-04 9.99881277e-01 1.33578259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.1192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:860.85, Y:23.54, Z:13.36 [[ 9.08899233e-01 -4.16785024e-01 -1.38718375e-02 8.60852204e+02] [ 4.16731153e-01 9.09005029e-01 -6.70843226e-03 2.35367974e+01] [ 1.54055441e-02 3.16462118e-04 9.99881277e-01 1.33595099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.1492541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:860.88, Y:23.55, Z:13.36 [[ 9.08261268e-01 -4.18173485e-01 -1.38710209e-02 8.60878165e+02] [ 4.18119750e-01 9.08367133e-01 -6.71012016e-03 2.35482842e+01] [ 1.54059739e-02 2.94794433e-04 9.99881277e-01 1.33600055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.1792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:860.90, Y:23.56, Z:13.36 [[ 9.06748839e-01 -4.21442982e-01 -1.38692119e-02 8.60903792e+02] [ 4.21389571e-01 9.06854869e-01 -6.71385729e-03 2.35579483e+01] [ 1.54068703e-02 2.43441068e-04 9.99881277e-01 1.33605740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.2092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:860.93, Y:23.57, Z:13.36 [[ 9.05639509e-01 -4.23821611e-01 -1.38679808e-02 8.60929710e+02] [ 4.23768440e-01 9.05745659e-01 -6.71639923e-03 2.35693320e+01] [ 1.54074185e-02 2.05823924e-04 9.99881277e-01 1.33619449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.2392541539999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:860.95, Y:23.58, Z:13.36 [[ 9.03424886e-01 -4.28522121e-01 -1.38660560e-02 8.60954640e+02] [ 4.28469441e-01 9.03531280e-01 -6.72037053e-03 2.35792986e+01] [ 1.54082428e-02 1.30168695e-04 9.99881278e-01 1.33592688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.2692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:860.98, Y:23.59, Z:13.36 [[ 9.02523667e-01 -4.30416990e-01 -1.38652236e-02 8.60980954e+02] [ 4.30364507e-01 9.02630159e-01 -6.72208753e-03 2.35902723e+01] [ 1.54084697e-02 9.97429681e-05 9.99881278e-01 1.33624046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.2992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:861.01, Y:23.60, Z:13.36 [[ 9.01411551e-01 -4.32741289e-01 -1.38633560e-02 8.61006707e+02] [ 4.32689022e-01 9.01518149e-01 -6.72593699e-03 2.36011583e+01] [ 1.54086577e-02 6.43153475e-05 9.99881278e-01 1.33626367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.3292541539998 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:861.03, Y:23.61, Z:13.36 [[ 8.99336056e-01 -4.37038347e-01 -1.38614869e-02 8.61032611e+02] [ 4.36986530e-01 8.99442874e-01 -6.72978687e-03 2.36113009e+01] [ 1.54087905e-02 -4.94306546e-06 9.99881278e-01 1.33612434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.3592541539999 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:861.06, Y:23.62, Z:13.36 [[ 8.98706477e-01 -4.38331590e-01 -1.38595224e-02 8.61057796e+02] [ 4.38279863e-01 8.98813338e-01 -6.73383020e-03 2.36221411e+01] [ 1.54087741e-02 -2.26127568e-05 9.99881278e-01 1.33633140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.3892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:861.08, Y:23.63, Z:13.36 [[ 8.97217485e-01 -4.41371411e-01 -1.38586698e-02 8.61083891e+02] [ 4.41320020e-01 8.97324508e-01 -6.73558432e-03 2.36330248e+01] [ 1.54086184e-02 -7.28244232e-05 9.99881278e-01 1.33642201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.4192541539999 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:861.11, Y:23.65, Z:13.36 [[ 8.96460728e-01 -4.42906485e-01 -1.38567280e-02 8.61109427e+02] [ 4.42855215e-01 8.96567809e-01 -6.73957679e-03 2.36451307e+01] [ 1.54084985e-02 -9.47583483e-05 9.99881278e-01 1.33631595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.4492541539998 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:861.13, Y:23.66, Z:13.36 [[ 8.95873022e-01 -4.44094103e-01 -1.38548031e-02 8.61134621e+02] [ 4.44042914e-01 8.95980142e-01 -6.74353162e-03 2.36570327e+01] [ 1.54083910e-02 -1.10779076e-04 9.99881278e-01 1.33633771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.4792541539999 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:861.16, Y:23.67, Z:13.36 [[ 8.95660706e-01 -4.44522214e-01 -1.38528487e-02 8.61159577e+02] [ 4.44471014e-01 8.95767821e-01 -6.74754403e-03 2.36692701e+01] [ 1.54083693e-02 -1.13679642e-04 9.99881278e-01 1.33631189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.5092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:861.18, Y:23.68, Z:13.36 [[ 8.94984032e-01 -4.45883096e-01 -1.38508745e-02 8.61183597e+02] [ 4.45831997e-01 8.95091195e-01 -6.75159406e-03 2.36825820e+01] [ 1.54082175e-02 -1.32594152e-04 9.99881278e-01 1.33622022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.5392541539999 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:861.21, Y:23.69, Z:13.36 [[ 8.95215771e-01 -4.45418260e-01 -1.38309998e-02 8.61209544e+02] [ 4.45366475e-01 8.95322605e-01 -6.79234387e-03 2.36945912e+01] [ 1.54086407e-02 -7.92502487e-05 9.99881277e-01 1.33612324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.5692541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:861.23, Y:23.71, Z:13.36 [[ 8.95256416e-01 -4.45336015e-01 -1.38485938e-02 8.61233609e+02] [ 4.45284778e-01 8.95363512e-01 -6.75628082e-03 2.37063190e+01] [ 1.54083407e-02 -1.17964246e-04 9.99881278e-01 1.33632847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.5992541539999 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:861.26, Y:23.72, Z:13.36 [[ 8.94601380e-01 -4.46650434e-01 -1.38477633e-02 8.61258597e+02] [ 4.46599328e-01 8.94708539e-01 -6.75798257e-03 2.37196748e+01] [ 1.54081679e-02 -1.38701238e-04 9.99881278e-01 1.33632822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.6292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:861.28, Y:23.73, Z:13.37 [[ 8.94412229e-01 -4.47029146e-01 -1.38458283e-02 8.61282802e+02] [ 4.46978023e-01 8.94519381e-01 -6.76194465e-03 2.37316932e+01] [ 1.54081481e-02 -1.40814983e-04 9.99881278e-01 1.33652128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.6592541539999 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:861.31, Y:23.75, Z:13.36 [[ 8.93616751e-01 -4.48617230e-01 -1.38449908e-02 8.61307089e+02] [ 4.48566271e-01 8.93723981e-01 -6.76365897e-03 2.37450119e+01] [ 1.54078942e-02 -1.66276947e-04 9.99881278e-01 1.33649850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.6892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:861.33, Y:23.76, Z:13.37 [[ 8.93015088e-01 -4.49813763e-01 -1.38430600e-02 8.61331663e+02] [ 4.49762887e-01 8.93122357e-01 -6.76760847e-03 2.37588450e+01] [ 1.54077098e-02 -1.82518140e-04 9.99881278e-01 1.33673218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.7192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:861.35, Y:23.77, Z:13.37 [[ 8.93142648e-01 -4.49560955e-01 -1.38260261e-02 8.61354218e+02] [ 4.49509509e-01 8.93249645e-01 -6.80242764e-03 2.37737723e+01] [ 1.54081988e-02 -1.39391972e-04 9.99881277e-01 1.33663033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.7492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:861.38, Y:23.79, Z:13.37 [[ 8.93863778e-01 -4.48125911e-01 -1.38099441e-02 8.61379894e+02] [ 4.48073786e-01 8.93970448e-01 -6.83528640e-03 2.37869794e+01] [ 1.54087509e-02 -7.80590193e-05 9.99881275e-01 1.33675866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.7792541539999 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:861.40, Y:23.80, Z:13.36 [[ 8.94299012e-01 -4.47256380e-01 -1.38205493e-02 8.61403457e+02] [ 4.47204485e-01 8.94405793e-01 -6.81363424e-03 2.38027402e+01] [ 1.54086207e-02 -8.71852569e-05 9.99881276e-01 1.33638388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.8092541539999 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:861.43, Y:23.82, Z:13.37 [[ 8.95716741e-01 -4.44410639e-01 -1.38095406e-02 8.61431284e+02] [ 4.44358059e-01 8.95823188e-01 -6.83608866e-03 2.38154264e+01] [ 1.54089372e-02 -1.31815753e-05 9.99881275e-01 1.33661308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.8392541539998 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:861.45, Y:23.83, Z:13.37 [[ 8.97134259e-01 -4.41540645e-01 -1.38556766e-02 8.61454615e+02] [ 4.41489175e-01 8.97241246e-01 -6.74195711e-03 2.38300721e+01] [ 1.54087327e-02 -6.86905632e-05 9.99881276e-01 1.33651480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.8692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:861.48, Y:23.84, Z:13.37 [[ 8.98778204e-01 -4.38185290e-01 -1.38344716e-02 8.61479140e+02] [ 4.38132755e-01 8.98884670e-01 -6.78519249e-03 2.38446126e+01] [ 1.54087660e-02 3.70479508e-05 9.99881277e-01 1.33672441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.8992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:861.50, Y:23.86, Z:13.37 [[ 8.99504096e-01 -4.36693302e-01 -1.38326112e-02 8.61504135e+02] [ 4.36640532e-01 8.99610446e-01 -6.78898317e-03 2.38584318e+01] [ 1.54086650e-02 6.68394495e-05 9.99881277e-01 1.33684901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.9292541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:861.53, Y:23.87, Z:13.37 [[ 9.00223577e-01 -4.35208254e-01 -1.38306625e-02 8.61528061e+02] [ 4.35155248e-01 9.00329810e-01 -6.79295075e-03 2.38719455e+01] [ 1.54085060e-02 9.66890471e-05 9.99881277e-01 1.33684973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.9592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:861.55, Y:23.89, Z:13.37 [[ 9.00942986e-01 -4.33717041e-01 -1.38298188e-02 8.61552469e+02] [ 4.33663832e-01 9.01049118e-01 -6.79466801e-03 2.38852597e+01] [ 1.54083093e-02 1.24116258e-04 9.99881277e-01 1.33693430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.9892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:861.58, Y:23.90, Z:13.37 [[ 9.01559696e-01 -4.32433700e-01 -1.38278786e-02 8.61576340e+02] [ 4.32380279e-01 9.01665721e-01 -6.79861417e-03 2.38981890e+01] [ 1.54080740e-02 1.50454489e-04 9.99881277e-01 1.33690629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.0192541539999 meters Centerline goodness : 0.999737 Centerline is valid? [True, True] Translation: X:861.60, Y:23.91, Z:13.37 [[ 9.02397561e-01 -4.30682546e-01 -1.38270373e-02 8.61601096e+02] [ 4.30628894e-01 9.02503469e-01 -6.80032484e-03 2.39116949e+01] [ 1.54077304e-02 1.82274763e-04 9.99881277e-01 1.33672896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.0492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:861.63, Y:23.92, Z:13.37 [[ 9.03730538e-01 -4.27878465e-01 -1.38251379e-02 8.61626119e+02] [ 4.27824425e-01 9.03836249e-01 -6.80418415e-03 2.39244765e+01] [ 1.54070247e-02 2.34417330e-04 9.99881277e-01 1.33709753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.0792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:861.65, Y:23.94, Z:13.37 [[ 9.03989053e-01 -4.27332041e-01 -1.38245503e-02 8.61650736e+02] [ 4.27277919e-01 9.04094722e-01 -6.80537790e-03 2.39370791e+01] [ 1.54068590e-02 2.45062053e-04 9.99881277e-01 1.33713754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.1092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:861.67, Y:23.95, Z:13.37 [[ 9.02625899e-01 -4.30203926e-01 -1.38227393e-02 8.61671770e+02] [ 4.30150084e-01 9.02731711e-01 -6.80905435e-03 2.39519738e+01] [ 1.54075070e-02 2.00176352e-04 9.99881277e-01 1.33691601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.1392541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:861.70, Y:23.96, Z:13.37 [[ 9.02897487e-01 -4.29635628e-01 -1.37606454e-02 8.61696636e+02] [ 4.29579797e-01 9.03002273e-01 -6.93496928e-03 2.39637739e+01] [ 1.54054040e-02 3.50271064e-04 9.99881268e-01 1.33694383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.1692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:861.73, Y:23.97, Z:13.38 [[ 9.04471019e-01 -4.26312735e-01 -1.37705753e-02 8.61725020e+02] [ 4.26256825e-01 9.04575759e-01 -6.91483608e-03 2.39737055e+01] [ 1.54044113e-02 3.84467153e-04 9.99881271e-01 1.33758974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.1992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:861.74, Y:23.99, Z:13.37 [[ 9.02309736e-01 -4.30866744e-01 -1.38199258e-02 8.61744259e+02] [ 4.30812892e-01 9.02415542e-01 -6.81475630e-03 2.39892734e+01] [ 1.54075677e-02 1.95218750e-04 9.99881277e-01 1.33712954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.2292541539999 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:861.78, Y:24.00, Z:13.37 [[ 9.04628574e-01 -4.25979918e-01 -1.37204905e-02 8.61776016e+02] [ 4.25922432e-01 9.04732478e-01 -7.01607175e-03 2.39990002e+01] [ 1.54020790e-02 5.03074310e-04 9.99881254e-01 1.33730967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.2592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:861.80, Y:24.01, Z:13.37 [[ 9.04933863e-01 -4.25327844e-01 -1.38176818e-02 8.61800834e+02] [ 4.25273278e-01 9.05039302e-01 -6.81913274e-03 2.40111067e+01] [ 1.54059121e-02 2.94573294e-04 9.99881279e-01 1.33744464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.2892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:861.83, Y:24.02, Z:13.37 [[ 9.04840466e-01 -4.25526521e-01 -1.38170703e-02 8.61827098e+02] [ 4.25471959e-01 9.04945907e-01 -6.82037161e-03 2.40241521e+01] [ 1.54059502e-02 2.92572254e-04 9.99881279e-01 1.33743865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.3192541539999 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:861.85, Y:24.04, Z:13.37 [[ 9.04541087e-01 -4.26162326e-01 -1.38236734e-02 8.61851702e+02] [ 4.26108042e-01 9.04646672e-01 -6.80699981e-03 2.40360750e+01] [ 1.54064270e-02 2.66832595e-04 9.99881278e-01 1.33700618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.3492541539999 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:861.87, Y:24.05, Z:13.37 [[ 9.02388469e-01 -4.30701998e-01 -1.38144850e-02 8.61872346e+02] [ 4.30647961e-01 9.02494180e-01 -6.82559645e-03 2.40510321e+01] [ 1.54072903e-02 2.10159732e-04 9.99881279e-01 1.33655316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.3792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:861.90, Y:24.06, Z:13.37 [[ 9.03827243e-01 -4.27677276e-01 -1.37281512e-02 8.61904404e+02] [ 4.27620229e-01 9.03931380e-01 -7.00002481e-03 2.40592157e+01] [ 1.54030582e-02 4.56377960e-04 9.99881262e-01 1.33744080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.4092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:861.93, Y:24.07, Z:13.38 [[ 9.03285569e-01 -4.28817491e-01 -1.38108778e-02 8.61929658e+02] [ 4.28763123e-01 9.03391110e-01 -6.83281367e-03 2.40708208e+01] [ 1.54066542e-02 2.50386879e-04 9.99881279e-01 1.33752064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.4392541539999 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:861.96, Y:24.08, Z:13.37 [[ 9.02356728e-01 -4.30768673e-01 -1.38089117e-02 8.61955093e+02] [ 4.30714473e-01 9.02462354e-01 -6.83678489e-03 2.40817714e+01] [ 1.54070957e-02 2.21520741e-04 9.99881279e-01 1.33731305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.4692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:861.98, Y:24.09, Z:13.38 [[ 9.02262787e-01 -4.30965466e-01 -1.38069275e-02 8.61980776e+02] [ 4.30911227e-01 9.02368394e-01 -6.84078955e-03 2.40931300e+01] [ 1.54070790e-02 2.22629765e-04 9.99881279e-01 1.33765685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.4992541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:862.00, Y:24.10, Z:13.37 [[ 9.01871200e-01 -4.31784349e-01 -1.38063133e-02 8.62004954e+02] [ 4.31730188e-01 9.01976847e-01 -6.84202902e-03 2.41044982e+01] [ 1.54072559e-02 2.10026711e-04 9.99881279e-01 1.33748674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.5292541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:862.03, Y:24.12, Z:13.38 [[ 9.01895045e-01 -4.31734568e-01 -1.38054623e-02 8.62031037e+02] [ 4.31680375e-01 9.02000675e-01 -6.84374558e-03 2.41158254e+01] [ 1.54072179e-02 2.12793079e-04 9.99881279e-01 1.33763232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.5592541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:862.06, Y:24.13, Z:13.38 [[ 9.01996484e-01 -4.31522660e-01 -1.38035245e-02 8.62056122e+02] [ 4.31468382e-01 9.02102070e-01 -6.84765188e-03 2.41279257e+01] [ 1.54071050e-02 2.20773541e-04 9.99881279e-01 1.33761207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.5892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:862.08, Y:24.14, Z:13.38 [[ 9.03017807e-01 -4.29381366e-01 -1.38015513e-02 8.62081667e+02] [ 4.29326777e-01 9.03123233e-01 -6.85162644e-03 2.41405351e+01] [ 1.54064624e-02 2.61765125e-04 9.99881279e-01 1.33770707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.6192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:862.11, Y:24.15, Z:13.38 [[ 9.02895113e-01 -4.29639367e-01 -1.37995923e-02 8.62107237e+02] [ 4.29584747e-01 9.03000524e-01 -6.85556990e-03 2.41533258e+01] [ 1.54064617e-02 2.61766215e-04 9.99881279e-01 1.33775096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.6492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:862.13, Y:24.17, Z:13.38 [[ 9.03525608e-01 -4.28311920e-01 -1.37976325e-02 8.62132735e+02] [ 4.28257085e-01 9.03630907e-01 -6.85951182e-03 2.41662223e+01] [ 1.54059779e-02 2.88810695e-04 9.99881279e-01 1.33774650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.6792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:862.15, Y:24.18, Z:13.37 [[ 9.02981419e-01 -4.29458073e-01 -1.37956840e-02 8.62154995e+02] [ 4.29403313e-01 9.03086756e-01 -6.86342842e-03 2.41807702e+01] [ 1.54062542e-02 2.73635923e-04 9.99881279e-01 1.33745400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.7092541539998 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:862.18, Y:24.19, Z:13.38 [[ 9.05431782e-01 -4.24269081e-01 -1.37490346e-02 8.62182451e+02] [ 4.24212293e-01 9.05536045e-01 -6.95711056e-03 2.41921994e+01] [ 1.54019333e-02 4.66679511e-04 9.99881274e-01 1.33755404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.7392541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:862.21, Y:24.21, Z:13.38 [[ 9.06184200e-01 -4.22658192e-01 -1.37930997e-02 8.62208380e+02] [ 4.22602562e-01 9.06289080e-01 -6.86862232e-03 2.42053854e+01] [ 1.54036151e-02 3.95237772e-04 9.99881279e-01 1.33785190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.7692541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:862.23, Y:24.22, Z:13.38 [[ 9.06481524e-01 -4.22020194e-01 -1.37914089e-02 8.62233654e+02] [ 4.21964439e-01 9.06586338e-01 -6.87201557e-03 2.42193469e+01] [ 1.54032322e-02 4.09871038e-04 9.99881279e-01 1.33771652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.7992541539999 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:862.26, Y:24.23, Z:13.38 [[ 9.06413226e-01 -4.22166920e-01 -1.37896930e-02 8.62258981e+02] [ 4.22111129e-01 9.06518021e-01 -6.87545689e-03 2.42325438e+01] [ 1.54031957e-02 4.11222163e-04 9.99881279e-01 1.33768129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.8292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:862.28, Y:24.25, Z:13.38 [[ 9.06192821e-01 -4.22639883e-01 -1.37876926e-02 8.62283687e+02] [ 4.22584086e-01 9.06297613e-01 -6.87946605e-03 2.42450677e+01] [ 1.54032897e-02 4.07663251e-04 9.99881279e-01 1.33788730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.8592541539999 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:862.31, Y:24.26, Z:13.38 [[ 9.05764375e-01 -4.23557331e-01 -1.37870718e-02 8.62309742e+02] [ 4.23501622e-01 9.05869214e-01 -6.88071009e-03 2.42580925e+01] [ 1.54036591e-02 3.93454824e-04 9.99881279e-01 1.33761008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.8892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:862.33, Y:24.27, Z:13.38 [[ 9.05160594e-01 -4.24846165e-01 -1.37853542e-02 8.62334998e+02] [ 4.24790552e-01 9.05265483e-01 -6.88414955e-03 2.42699937e+01] [ 1.54041098e-02 3.75372686e-04 9.99881279e-01 1.33790592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.9192541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:862.36, Y:24.28, Z:13.38 [[ 9.04606761e-01 -4.26024165e-01 -1.37847457e-02 8.62360340e+02] [ 4.25968670e-01 9.04711713e-01 -6.88536768e-03 2.42822717e+01] [ 1.54045539e-02 3.56680352e-04 9.99881279e-01 1.33780603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.9492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:862.38, Y:24.30, Z:13.38 [[ 9.02799262e-01 -4.29841282e-01 -1.37828118e-02 8.62381718e+02] [ 4.29786172e-01 9.02904416e-01 -6.88923675e-03 2.42963656e+01] [ 1.54058400e-02 2.95935928e-04 9.99881279e-01 1.33777285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.9792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:862.41, Y:24.31, Z:13.38 [[ 9.03554376e-01 -4.28253936e-01 -1.37133447e-02 8.62412461e+02] [ 4.28196530e-01 9.03658308e-01 -7.02809672e-03 2.43063226e+01] [ 1.54019880e-02 4.78260925e-04 9.99881268e-01 1.33805094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.0092541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:862.44, Y:24.32, Z:13.38 [[ 9.03084714e-01 -4.29241243e-01 -1.37823777e-02 8.62438272e+02] [ 4.29186052e-01 9.03189826e-01 -6.89000756e-03 2.43183757e+01] [ 1.54055787e-02 3.07056261e-04 9.99881280e-01 1.33817601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.0392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:862.46, Y:24.33, Z:13.38 [[ 9.03058038e-01 -4.29297427e-01 -1.37804044e-02 8.62463284e+02] [ 4.29242181e-01 9.03163121e-01 -6.89395190e-03 2.43307918e+01] [ 1.54055089e-02 3.10507828e-04 9.99881280e-01 1.33826686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.0692541539999 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:862.49, Y:24.34, Z:13.38 [[ 9.02491498e-01 -4.30487181e-01 -1.37797943e-02 8.62487953e+02] [ 4.30432056e-01 9.02596644e-01 -6.89517123e-03 2.43443729e+01] [ 1.54058789e-02 2.91568235e-04 9.99881280e-01 1.33833248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.0992541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:862.51, Y:24.36, Z:13.38 [[ 9.02810191e-01 -4.29818740e-01 -1.37698663e-02 8.62513405e+02] [ 4.29763235e-01 9.02915137e-01 -6.91500356e-03 2.43566296e+01] [ 1.54052188e-02 3.25153417e-04 9.99881280e-01 1.33829449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.1292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:862.54, Y:24.37, Z:13.39 [[ 9.02896653e-01 -4.29636852e-01 -1.37771643e-02 8.62538789e+02] [ 4.29581547e-01 9.03001704e-01 -6.90043263e-03 2.43696780e+01] [ 1.54054830e-02 3.11961982e-04 9.99881280e-01 1.33855780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.1592541539999 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:862.56, Y:24.38, Z:13.38 [[ 9.02870940e-01 -4.29690947e-01 -1.37751639e-02 8.62564006e+02] [ 4.29635588e-01 9.02975963e-01 -6.90442356e-03 2.43825316e+01] [ 1.54054102e-02 3.15502739e-04 9.99881280e-01 1.33846007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.1892541539999 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:862.59, Y:24.39, Z:13.38 [[ 9.02839998e-01 -4.29756024e-01 -1.37731070e-02 8.62587988e+02] [ 4.29700610e-01 9.02944992e-01 -6.90852421e-03 2.43946101e+01] [ 1.54053379e-02 3.18979488e-04 9.99881280e-01 1.33838644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.2192541539998 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:862.61, Y:24.41, Z:13.38 [[ 9.03091984e-01 -4.29226275e-01 -1.37722173e-02 8.62613154e+02] [ 4.29170772e-01 9.03196931e-01 -6.91029754e-03 2.44078253e+01] [ 1.54051056e-02 3.30001193e-04 9.99881280e-01 1.33839737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.2492541539999 meters Centerline goodness : 0.999756 Centerline is valid? [True, True] Translation: X:862.64, Y:24.42, Z:13.38 [[ 9.03867467e-01 -4.27590906e-01 -1.37702141e-02 8.62635980e+02] [ 4.27535153e-01 9.03972282e-01 -6.91428703e-03 2.44196997e+01] [ 1.54043781e-02 3.62348534e-04 9.99881280e-01 1.33795366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.2792541539999 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:862.66, Y:24.43, Z:13.39 [[ 9.03966665e-01 -4.27382347e-01 -1.37330714e-02 8.62662888e+02] [ 4.27325446e-01 9.04070865e-01 -6.98819193e-03 2.44336082e+01] [ 1.54022996e-02 4.48601710e-04 9.99881277e-01 1.33853393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.3092541539999 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:862.69, Y:24.45, Z:13.38 [[ 9.04840285e-01 -4.25528521e-01 -1.37672281e-02 8.62686941e+02] [ 4.25472438e-01 9.04944923e-01 -6.92024009e-03 2.44476802e+01] [ 1.54033427e-02 4.04135907e-04 9.99881280e-01 1.33844513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.3392541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:862.71, Y:24.46, Z:13.39 [[ 9.05379721e-01 -4.24379595e-01 -1.37666084e-02 8.62711196e+02] [ 4.24323361e-01 9.05484278e-01 -6.92147274e-03 2.44611010e+01] [ 1.54027792e-02 4.25067534e-04 9.99881280e-01 1.33865566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.3692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:862.74, Y:24.48, Z:13.39 [[ 9.06255118e-01 -4.22507038e-01 -1.37646107e-02 8.62735403e+02] [ 4.22450528e-01 9.06359526e-01 -6.92544313e-03 2.44755156e+01] [ 1.54017345e-02 4.61351214e-04 9.99881280e-01 1.33860465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.3992541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:862.76, Y:24.49, Z:13.39 [[ 9.06323908e-01 -4.22359520e-01 -1.37626142e-02 8.62759846e+02] [ 4.22302933e-01 9.06428274e-01 -6.92940849e-03 2.44888670e+01] [ 1.54015243e-02 4.68296249e-04 9.99881280e-01 1.33851244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.4292541539999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:862.78, Y:24.50, Z:13.38 [[ 9.06722616e-01 -4.21502958e-01 -1.37606060e-02 8.62784163e+02] [ 4.21446212e-01 9.06826896e-01 -6.93339419e-03 2.45023473e+01] [ 1.54009337e-02 4.87310059e-04 9.99881280e-01 1.33836609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.4592541539998 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:862.81, Y:24.52, Z:13.39 [[ 9.06747517e-01 -4.21449407e-01 -1.37599856e-02 8.62809230e+02] [ 4.21392636e-01 9.06851784e-01 -6.93462508e-03 2.45152188e+01] [ 1.54008611e-02 4.89597461e-04 9.99881280e-01 1.33853276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.4892541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:862.83, Y:24.53, Z:13.38 [[ 9.06580300e-01 -4.21809056e-01 -1.37579430e-02 8.62833576e+02] [ 4.21752264e-01 9.06684555e-01 -6.93867517e-03 2.45278663e+01] [ 1.54009105e-02 4.88022597e-04 9.99881280e-01 1.33845777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.5192541539999 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:862.86, Y:24.54, Z:13.39 [[ 9.06340297e-01 -4.22324547e-01 -1.37565515e-02 8.62858544e+02] [ 4.22267773e-01 9.06444562e-01 -6.94143282e-03 2.45411899e+01] [ 1.54010888e-02 4.82351913e-04 9.99881280e-01 1.33853027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.5492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:862.88, Y:24.55, Z:13.39 [[ 9.06482730e-01 -4.22018807e-01 -1.37545207e-02 8.62883792e+02] [ 4.21961937e-01 9.06586943e-01 -6.94545467e-03 2.45538263e+01] [ 1.54007813e-02 4.92050535e-04 9.99881280e-01 1.33879667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.5792541539998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:862.91, Y:24.57, Z:13.39 [[ 9.05684744e-01 -4.23728658e-01 -1.37538915e-02 8.62909075e+02] [ 4.23671966e-01 9.05789053e-01 -6.94670034e-03 2.45668303e+01] [ 1.54016404e-02 4.64382272e-04 9.99881280e-01 1.33883285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.6092541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:862.93, Y:24.58, Z:13.39 [[ 9.05358531e-01 -4.24425276e-01 -1.37518993e-02 8.62934244e+02] [ 4.24368604e-01 9.05462852e-01 -6.95064191e-03 2.45792434e+01] [ 1.54018621e-02 4.56948637e-04 9.99881280e-01 1.33894589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.6392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:862.96, Y:24.59, Z:13.39 [[ 9.04953918e-01 -4.25287325e-01 -1.37512833e-02 8.62959996e+02] [ 4.25230734e-01 9.05058282e-01 -6.95186037e-03 2.45920492e+01] [ 1.54022510e-02 4.43644976e-04 9.99881280e-01 1.33924291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.6692541539999 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:862.99, Y:24.60, Z:13.39 [[ 9.03834389e-01 -4.27661488e-01 -1.37495412e-02 8.62985985e+02] [ 4.27605119e-01 9.03938873e-01 -6.95530419e-03 2.46049831e+01] [ 1.54032606e-02 4.07068888e-04 9.99881280e-01 1.33926351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.6992541539998 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:863.01, Y:24.62, Z:13.39 [[ 9.03085625e-01 -4.29240435e-01 -1.37478070e-02 8.63011273e+02] [ 4.29184197e-01 9.03190180e-01 -6.95873039e-03 2.46180282e+01] [ 1.54038527e-02 3.83987876e-04 9.99881280e-01 1.33946121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.7292541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:863.04, Y:24.63, Z:13.40 [[ 9.02889916e-01 -4.29652007e-01 -1.37460108e-02 8.63036188e+02] [ 4.29595762e-01 9.02994467e-01 -6.96227670e-03 2.46307994e+01] [ 1.54039279e-02 3.80941434e-04 9.99881280e-01 1.33962376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.7592541539999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:863.06, Y:24.64, Z:13.40 [[ 9.02488840e-01 -4.30493854e-01 -1.37453751e-02 8.63060815e+02] [ 4.30437687e-01 9.02593434e-01 -6.96353148e-03 2.46433274e+01] [ 1.54042428e-02 3.67981968e-04 9.99881280e-01 1.33950080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.7892541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:863.09, Y:24.66, Z:13.40 [[ 9.02147045e-01 -4.31209725e-01 -1.37434292e-02 8.63085888e+02] [ 4.31153583e-01 9.02251652e-01 -6.96736987e-03 2.46558669e+01] [ 1.54044294e-02 3.60063386e-04 9.99881280e-01 1.33968323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.8192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:863.11, Y:24.67, Z:13.40 [[ 9.02165100e-01 -4.31172013e-01 -1.37414326e-02 8.63111003e+02] [ 4.31115807e-01 9.02269672e-01 -6.97130548e-03 2.46683830e+01] [ 1.54043097e-02 3.65119688e-04 9.99881280e-01 1.33973389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.8492541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:863.14, Y:24.68, Z:13.40 [[ 9.02108480e-01 -4.31290528e-01 -1.37394122e-02 8.63136145e+02] [ 4.31234275e-01 9.02213026e-01 -6.97528504e-03 2.46813856e+01] [ 1.54042511e-02 3.67558294e-04 9.99881280e-01 1.33952610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.8792541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:863.16, Y:24.69, Z:13.40 [[ 9.02359956e-01 -4.30764152e-01 -1.37387876e-02 8.63161039e+02] [ 4.30707820e-01 9.02464460e-01 -6.97651520e-03 2.46946409e+01] [ 1.54040002e-02 3.77924705e-04 9.99881280e-01 1.33955825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.9092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:863.18, Y:24.71, Z:13.39 [[ 9.00763725e-01 -4.34092172e-01 -1.37367680e-02 8.63179752e+02] [ 4.34036165e-01 9.00868404e-01 -6.98048950e-03 2.47109115e+01] [ 1.54051961e-02 3.25517632e-04 9.99881280e-01 1.33916398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.9392541539999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:863.21, Y:24.72, Z:13.39 [[ 9.03458036e-01 -4.28459575e-01 -1.36370794e-02 8.63211057e+02] [ 4.28399952e-01 9.03560723e-01 -7.17634473e-03 2.47216379e+01] [ 1.53967029e-02 6.41402142e-04 9.99881258e-01 1.33945835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.9692541539998 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:863.23, Y:24.73, Z:13.39 [[ 9.04157694e-01 -4.26978016e-01 -1.37345392e-02 8.63234894e+02] [ 4.26921122e-01 9.04261892e-01 -6.98470302e-03 2.47346154e+01] [ 1.54019351e-02 4.51708085e-04 9.99881281e-01 1.33936236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.9992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:863.25, Y:24.75, Z:13.39 [[ 9.02508985e-01 -4.30451994e-01 -1.37336603e-02 8.63254454e+02] [ 4.30395474e-01 9.02613386e-01 -6.98643086e-03 2.47506645e+01] [ 1.54035087e-02 3.94411391e-04 9.99881281e-01 1.33902944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.0292541539999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:863.29, Y:24.76, Z:13.39 [[ 9.04263217e-01 -4.26757330e-01 -1.36461019e-02 8.63286135e+02] [ 4.26697785e-01 9.04365943e-01 -7.15835496e-03 2.47610050e+01] [ 1.53959503e-02 6.50275634e-04 9.99881264e-01 1.33939968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.0592541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:863.31, Y:24.77, Z:13.40 [[ 9.04194240e-01 -4.26900690e-01 -1.37323266e-02 8.63311993e+02] [ 4.26843723e-01 9.04298397e-01 -6.98893545e-03 2.47743026e+01] [ 1.54017023e-02 4.57797758e-04 9.99881282e-01 1.33965571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.0892541539998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:863.33, Y:24.79, Z:13.39 [[ 9.02475327e-01 -4.30522654e-01 -1.37305950e-02 8.63333369e+02] [ 4.30466053e-01 9.02579683e-01 -6.99233581e-03 2.47895496e+01] [ 1.54033151e-02 3.99855512e-04 9.99881282e-01 1.33941434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.1192541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:863.36, Y:24.80, Z:13.40 [[ 9.04080496e-01 -4.27143856e-01 -1.36595105e-02 8.63362364e+02] [ 4.27084755e-01 9.04183471e-01 -7.13180069e-03 2.48002136e+01] [ 1.53970085e-02 6.13953194e-04 9.99881271e-01 1.33996756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.1492541539999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:863.39, Y:24.81, Z:13.40 [[ 9.03817007e-01 -4.27698870e-01 -1.37293155e-02 8.63386482e+02] [ 4.27641905e-01 9.03921166e-01 -6.99478843e-03 2.48132682e+01] [ 1.54018820e-02 4.50778105e-04 9.99881282e-01 1.33989206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.1792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:863.41, Y:24.83, Z:13.40 [[ 9.02180592e-01 -4.31140010e-01 -1.37284671e-02 8.63406109e+02] [ 4.31083418e-01 9.02284953e-01 -6.99645319e-03 2.48291111e+01] [ 1.54034402e-02 3.93949770e-04 9.99881282e-01 1.33984384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.2092541539998 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:863.44, Y:24.84, Z:13.40 [[ 9.04078966e-01 -4.27147441e-01 -1.36486965e-02 8.63435943e+02] [ 4.27088024e-01 9.04181761e-01 -7.15279411e-03 2.48411058e+01] [ 1.53962001e-02 6.37495904e-04 9.99881268e-01 1.33999451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.2392541539999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:863.46, Y:24.86, Z:13.40 [[ 9.04421100e-01 -4.26420051e-01 -1.37263871e-02 8.63460289e+02] [ 4.26362854e-01 9.04525130e-01 -7.00046013e-03 2.48553244e+01] [ 1.54009986e-02 4.78942271e-04 9.99881283e-01 1.34008298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.2692541539999 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:863.48, Y:24.87, Z:13.40 [[ 9.04504272e-01 -4.26243668e-01 -1.37243460e-02 8.63484314e+02] [ 4.26186390e-01 9.04608257e-01 -7.00445948e-03 2.48680890e+01] [ 1.54007632e-02 4.86434060e-04 9.99881283e-01 1.33985507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.2992541539999 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:863.51, Y:24.88, Z:13.40 [[ 9.04484881e-01 -4.26284843e-01 -1.37234625e-02 8.63508831e+02] [ 4.26227543e-01 9.04588854e-01 -7.00619004e-03 2.48811745e+01] [ 1.54007238e-02 4.87675279e-04 9.99881283e-01 1.33986281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.3292541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:863.53, Y:24.90, Z:13.40 [[ 9.04708975e-01 -4.25809098e-01 -1.37215905e-02 8.63533098e+02] [ 4.25751688e-01 9.04812888e-01 -7.00985440e-03 2.48950291e+01] [ 1.54003317e-02 4.99887892e-04 9.99881283e-01 1.34015701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.3592541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:863.56, Y:24.91, Z:13.40 [[ 9.04574130e-01 -4.26095549e-01 -1.37195921e-02 8.63557274e+02] [ 4.26038113e-01 9.04678028e-01 -7.01376336e-03 2.49081423e+01] [ 1.54003469e-02 4.99399749e-04 9.99881283e-01 1.34004682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.3892541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:863.58, Y:24.92, Z:13.40 [[ 9.03356069e-01 -4.28671905e-01 -1.37189734e-02 8.63583268e+02] [ 4.28614746e-01 9.03460121e-01 -7.01497341e-03 2.49209214e+01] [ 1.54016674e-02 4.56864509e-04 9.99881283e-01 1.33986106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.4192541539999 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:863.61, Y:24.93, Z:13.40 [[ 9.02112567e-01 -4.31282681e-01 -1.37173556e-02 8.63607973e+02] [ 4.31225775e-01 9.02216757e-01 -7.01813548e-03 2.49332098e+01] [ 1.54028284e-02 4.15870911e-04 9.99881283e-01 1.34003410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.4492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:863.63, Y:24.94, Z:13.40 [[ 9.00094284e-01 -4.35479241e-01 -1.37153132e-02 8.63633304e+02] [ 4.35422761e-01 9.00198705e-01 -7.02212461e-03 2.49442884e+01] [ 1.54044967e-02 3.48614685e-04 9.99881283e-01 1.34036187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.4792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:863.66, Y:24.96, Z:13.40 [[ 8.97692035e-01 -4.40409943e-01 -1.37146821e-02 8.63656830e+02] [ 4.40354017e-01 8.97796754e-01 -7.02335703e-03 2.49581477e+01] [ 1.54061533e-02 2.65496319e-04 9.99881283e-01 1.34021138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.5092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:863.68, Y:24.97, Z:13.40 [[ 8.97606645e-01 -4.40585133e-01 -1.36766922e-02 8.63682214e+02] [ 4.40528097e-01 8.97710767e-01 -7.09747773e-03 2.49712241e+01] [ 1.54047570e-02 3.45775998e-04 9.99881280e-01 1.34025227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.5392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:863.71, Y:24.98, Z:13.40 [[ 8.96554241e-01 -4.42722811e-01 -1.36749974e-02 8.63708573e+02] [ 4.42665973e-01 8.96658472e-01 -7.10078262e-03 2.49827837e+01] [ 1.54054807e-02 3.12780728e-04 9.99881280e-01 1.34037534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.5692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:863.74, Y:24.99, Z:13.41 [[ 8.94439762e-01 -4.46978754e-01 -1.36932511e-02 8.63735089e+02] [ 4.46922956e-01 8.94544551e-01 -7.06519495e-03 2.49948856e+01] [ 1.54072152e-02 1.99563017e-04 9.99881282e-01 1.34055870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.5992541539999 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:863.76, Y:25.01, Z:13.40 [[ 8.93635202e-01 -4.48584705e-01 -1.37072044e-02 8.63760778e+02] [ 4.48529513e-01 8.93740310e-01 -7.03799604e-03 2.50065013e+01] [ 1.54078185e-02 1.41315309e-04 9.99881283e-01 1.34044066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.6292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:863.79, Y:25.02, Z:13.41 [[ 8.92390550e-01 -4.51055623e-01 -1.37088055e-02 8.63788486e+02] [ 4.51000770e-01 8.92495835e-01 -7.03487596e-03 2.50192653e+01] [ 1.54081722e-02 9.51749844e-05 9.99881283e-01 1.34069055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.6592541539999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:863.81, Y:25.03, Z:13.41 [[ 8.91387299e-01 -4.53034064e-01 -1.37411985e-02 8.63811572e+02] [ 4.52980416e-01 8.91493206e-01 -6.97177073e-03 2.50317550e+01] [ 1.54086347e-02 -9.94593425e-06 9.99881280e-01 1.34051183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.6892541539999 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:863.84, Y:25.04, Z:13.40 [[ 8.90780634e-01 -4.54226830e-01 -1.37058018e-02 8.63835344e+02] [ 4.54172263e-01 8.90886067e-01 -7.04067607e-03 2.50436239e+01] [ 1.54083719e-02 4.69028592e-05 9.99881283e-01 1.34042563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.7192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:863.86, Y:25.06, Z:13.41 [[ 8.90215953e-01 -4.55332551e-01 -1.37049223e-02 8.63863758e+02] [ 4.55278088e-01 8.90321440e-01 -7.04238781e-03 2.50565214e+01] [ 1.54084145e-02 2.96951765e-05 9.99881283e-01 1.34065811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.7492541539999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:863.89, Y:25.07, Z:13.41 [[ 8.89210440e-01 -4.57291759e-01 -1.37492167e-02 8.63888473e+02] [ 4.57238859e-01 8.89316725e-01 -6.95619555e-03 2.50696063e+01] [ 1.54084192e-02 -1.01154436e-04 9.99881278e-01 1.34053061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.7792541539999 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:863.91, Y:25.08, Z:13.40 [[ 8.88302050e-01 -4.59054338e-01 -1.37325570e-02 8.63910411e+02] [ 4.59001149e-01 8.88408186e-01 -6.98856734e-03 2.50828593e+01] [ 1.54082482e-02 -9.53007297e-05 9.99881281e-01 1.34042778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.8092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:863.94, Y:25.10, Z:13.41 [[ 8.87951996e-01 -4.59732108e-01 -1.36982552e-02 8.63935951e+02] [ 4.59677970e-01 8.88057649e-01 -7.05516750e-03 2.50967508e+01] [ 1.54083273e-02 -3.21360775e-05 9.99881284e-01 1.34081940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.8392541539998 meters Centerline goodness : 0.999714 Centerline is valid? [True, True] Translation: X:863.96, Y:25.11, Z:13.41 [[ 8.86426686e-01 -4.62666333e-01 -1.36965162e-02 8.63961363e+02] [ 4.62612493e-01 8.86532491e-01 -7.05854193e-03 2.51096192e+01] [ 1.54081563e-02 -7.92995540e-05 9.99881284e-01 1.34059444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.8692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:863.99, Y:25.12, Z:13.41 [[ 8.86167963e-01 -4.63161744e-01 -1.36945062e-02 8.63985627e+02] [ 4.63107904e-01 8.86273768e-01 -7.06243941e-03 2.51224960e+01] [ 1.54081333e-02 -8.35265021e-05 9.99881284e-01 1.34101226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.8992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:864.01, Y:25.14, Z:13.41 [[ 8.84913392e-01 -4.65554256e-01 -1.36938840e-02 8.64010168e+02] [ 4.65500683e-01 8.85019333e-01 -7.06364562e-03 2.51362710e+01] [ 1.54078624e-02 -1.23797739e-04 9.99881284e-01 1.34117267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.9292541539999 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:864.04, Y:25.15, Z:13.41 [[ 8.84272047e-01 -4.66771585e-01 -1.36834004e-02 8.64035297e+02] [ 4.66717843e-01 8.84377902e-01 -7.08396122e-03 2.51477455e+01] [ 1.54078887e-02 -1.22138236e-04 9.99881284e-01 1.34089987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.9592541539998 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:864.06, Y:25.16, Z:13.41 [[ 8.83990364e-01 -4.67304598e-01 -1.36912218e-02 8.64060804e+02] [ 4.67251154e-01 8.84096370e-01 -7.06881239e-03 2.51610441e+01] [ 1.54076480e-02 -1.48477149e-04 9.99881284e-01 1.34114993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.9892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:864.08, Y:25.17, Z:13.41 [[ 8.84135195e-01 -4.67030574e-01 -1.36894362e-02 8.64084921e+02] [ 4.66977044e-01 8.84241157e-01 -7.07226871e-03 2.51747326e+01] [ 1.54077286e-02 -1.39810768e-04 9.99881284e-01 1.34137124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.0192541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:864.11, Y:25.19, Z:13.41 [[ 8.84072893e-01 -4.67148516e-01 -1.36888046e-02 8.64111702e+02] [ 4.67094981e-01 8.84178853e-01 -7.07349092e-03 2.51886844e+01] [ 1.54077224e-02 -1.40490351e-04 9.99881284e-01 1.34136210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.0492541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:864.14, Y:25.20, Z:13.41 [[ 8.84581059e-01 -4.66184883e-01 -1.37115362e-02 8.64137100e+02] [ 4.66131913e-01 8.84687304e-01 -7.02952008e-03 2.52025226e+01] [ 1.54074780e-02 -1.73204291e-04 9.99881283e-01 1.34142297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.0792541539998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:864.16, Y:25.22, Z:13.41 [[ 8.85604397e-01 -4.64237872e-01 -1.37131409e-02 8.64160707e+02] [ 4.64184717e-01 8.85710550e-01 -7.02641741e-03 2.52183107e+01] [ 1.54078027e-02 -1.42804306e-04 9.99881283e-01 1.34144133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.1092541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:864.18, Y:25.23, Z:13.41 [[ 8.86466568e-01 -4.62589871e-01 -1.36979851e-02 8.64184354e+02] [ 4.62536067e-01 8.86572391e-01 -7.05569398e-03 2.52327190e+01] [ 1.54081480e-02 -8.11753229e-05 9.99881284e-01 1.34135851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.1392541539999 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:864.21, Y:25.25, Z:13.41 [[ 8.88944802e-01 -4.57809741e-01 -1.36887114e-02 8.64206983e+02] [ 4.57755091e-01 8.89050190e-01 -7.07359899e-03 2.52476123e+01] [ 1.54083140e-02 2.19617176e-05 9.99881285e-01 1.34129073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.1692541539999 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:864.23, Y:25.26, Z:13.41 [[ 8.89839161e-01 -4.56069200e-01 -1.36803939e-02 8.64231067e+02] [ 4.56014097e-01 8.89944313e-01 -7.08964873e-03 2.52620747e+01] [ 1.54081592e-02 7.01946047e-05 9.99881285e-01 1.34126015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.1992541539998 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:864.25, Y:25.28, Z:13.41 [[ 8.91501691e-01 -4.52810819e-01 -1.36783387e-02 8.64254315e+02] [ 4.52755271e-01 8.91606609e-01 -7.09361161e-03 2.52777943e+01] [ 1.54077613e-02 1.31026790e-04 9.99881285e-01 1.34123579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.2292541539999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:864.28, Y:25.29, Z:13.41 [[ 8.91153557e-01 -4.53495642e-01 -1.36762801e-02 8.64276526e+02] [ 4.53440114e-01 8.91258485e-01 -7.09757837e-03 2.52929858e+01] [ 1.54078216e-02 1.23658196e-04 9.99881285e-01 1.34101309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.2592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:864.30, Y:25.31, Z:13.41 [[ 8.92003858e-01 -4.51821619e-01 -1.36507481e-02 8.64303735e+02] [ 4.51765141e-01 8.92108279e-01 -7.14673170e-03 2.53062171e+01] [ 1.54069933e-02 2.07980097e-04 9.99881284e-01 1.34124603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.2892541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:864.33, Y:25.32, Z:13.41 [[ 8.92300135e-01 -4.51235244e-01 -1.36829841e-02 8.64327189e+02] [ 4.51179647e-01 8.92405027e-01 -7.08468478e-03 2.53187575e+01] [ 1.54076233e-02 1.48181226e-04 9.99881285e-01 1.34144685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.3192541539999 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:864.35, Y:25.33, Z:13.42 [[ 8.92059972e-01 -4.51710184e-01 -1.36717156e-02 8.64351947e+02] [ 4.51654311e-01 8.92164717e-01 -7.10636398e-03 2.53318845e+01] [ 1.54074393e-02 1.64413559e-04 9.99881285e-01 1.34152561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.3492541539998 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:864.38, Y:25.35, Z:13.41 [[ 8.90031127e-01 -4.55694738e-01 -1.36710763e-02 8.64375948e+02] [ 4.55639315e-01 8.90136111e-01 -7.10759364e-03 2.53464543e+01] [ 1.54080117e-02 9.68997359e-05 9.99881285e-01 1.34117778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.3792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:864.40, Y:25.36, Z:13.41 [[ 8.89602820e-01 -4.56530932e-01 -1.36503128e-02 8.64400544e+02] [ 4.56474995e-01 8.89707532e-01 -7.14750753e-03 2.53594999e+01] [ 1.54078444e-02 1.27416382e-04 9.99881284e-01 1.34136398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.4092541539999 meters Centerline goodness : 0.999675 Centerline is valid? [True, True] Translation: X:864.43, Y:25.37, Z:13.41 [[ 8.87782023e-01 -4.60061569e-01 -1.36540046e-02 8.64426577e+02] [ 4.60006158e-01 8.87887014e-01 -7.14041321e-03 2.53729164e+01] [ 1.54082430e-02 5.82043100e-05 9.99881284e-01 1.34111929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.4392541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:864.45, Y:25.38, Z:13.42 [[ 8.87477158e-01 -4.60649302e-01 -1.36570355e-02 8.64451457e+02] [ 4.60594050e-01 8.87582232e-01 -7.13459043e-03 2.53847062e+01] [ 1.54082861e-02 4.14367626e-05 9.99881284e-01 1.34150328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.4692541539998 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:864.48, Y:25.40, Z:13.42 [[ 8.87112449e-01 -4.61350975e-01 -1.36667950e-02 8.64475562e+02] [ 4.61296094e-01 8.87217717e-01 -7.11585167e-03 2.53963152e+01] [ 1.54083277e-02 8.12145427e-06 9.99881285e-01 1.34155001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.4992541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:864.50, Y:25.41, Z:13.42 [[ 8.86062962e-01 -4.63363454e-01 -1.36651598e-02 8.64501433e+02] [ 4.63308764e-01 8.86168330e-01 -7.11899040e-03 2.54087642e+01] [ 1.54083118e-02 -2.33145812e-05 9.99881285e-01 1.34193101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.5292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:864.53, Y:25.42, Z:13.42 [[ 8.85183828e-01 -4.65040754e-01 -1.36633888e-02 8.64526667e+02] [ 4.64986211e-01 8.85289272e-01 -7.12238788e-03 2.54207910e+01] [ 1.54082521e-02 -4.86648145e-05 9.99881285e-01 1.34206081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.5592541539999 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:864.55, Y:25.43, Z:13.42 [[ 8.84570063e-01 -4.66207221e-01 -1.36613063e-02 8.64550787e+02] [ 4.66152755e-01 8.84675547e-01 -7.12637997e-03 2.54335163e+01] [ 1.54081934e-02 -6.44732097e-05 9.99881285e-01 1.34175068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.5892541539998 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:864.58, Y:25.45, Z:13.42 [[ 8.84317779e-01 -4.66685610e-01 -1.36604042e-02 8.64575716e+02] [ 4.66631175e-01 8.84423279e-01 -7.12810881e-03 2.54467307e+01] [ 1.54081653e-02 -7.08571073e-05 9.99881285e-01 1.34193558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.6192541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:864.60, Y:25.46, Z:13.42 [[ 8.83786137e-01 -4.67691685e-01 -1.36583689e-02 8.64600762e+02] [ 4.67637310e-01 8.83891668e-01 -7.13200660e-03 2.54595844e+01] [ 1.54080986e-02 -8.39943314e-05 9.99881285e-01 1.34206657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.6492541539999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:864.62, Y:25.47, Z:13.42 [[ 8.83130106e-01 -4.68929334e-01 -1.36563320e-02 8.64624623e+02] [ 4.68875047e-01 8.83235682e-01 -7.13590477e-03 2.54719535e+01] [ 1.54079947e-02 -1.01180954e-04 9.99881285e-01 1.34197595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.6792541539999 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:864.65, Y:25.48, Z:13.42 [[ 8.82271645e-01 -4.70542545e-01 -1.36549482e-02 8.64649062e+02] [ 4.70488409e-01 8.82377299e-01 -7.13855161e-03 2.54847845e+01] [ 1.54078086e-02 -1.26353205e-04 9.99881285e-01 1.34197994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.7092541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:864.67, Y:25.50, Z:13.42 [[ 8.82047538e-01 -4.70962566e-01 -1.36529396e-02 8.64673974e+02] [ 4.70908421e-01 8.82153187e-01 -7.14239126e-03 2.54981677e+01] [ 1.54077831e-02 -1.29355599e-04 9.99881285e-01 1.34226678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.7392541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:864.70, Y:25.51, Z:13.42 [[ 8.81661704e-01 -4.71684526e-01 -1.36509447e-02 8.64701106e+02] [ 4.71630409e-01 8.81767367e-01 -7.14620195e-03 2.55119174e+01] [ 1.54077104e-02 -1.37668053e-04 9.99881285e-01 1.34219939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.7692541539999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:864.72, Y:25.53, Z:13.42 [[ 8.80732946e-01 -4.73415499e-01 -1.36837041e-02 8.64723293e+02] [ 4.73362560e-01 8.80839207e-01 -7.08362717e-03 2.55253343e+01] [ 1.54066419e-02 -2.38569372e-04 9.99881282e-01 1.34209098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.7992541539999 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:864.75, Y:25.54, Z:13.42 [[ 8.80214850e-01 -4.74379117e-01 -1.36481133e-02 8.64747797e+02] [ 4.74325241e-01 8.80320635e-01 -7.15154929e-03 2.55387530e+01] [ 1.54072614e-02 -1.78744720e-04 9.99881285e-01 1.34208133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.8292541539998 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:864.77, Y:25.55, Z:13.42 [[ 8.79344767e-01 -4.75990089e-01 -1.36460806e-02 8.64772609e+02] [ 4.75936346e-01 8.79450621e-01 -7.15542579e-03 2.55523758e+01] [ 1.54069658e-02 -2.02579504e-04 9.99881285e-01 1.34215872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.8592541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:864.80, Y:25.57, Z:13.42 [[ 8.78894865e-01 -4.76820360e-01 -1.36440528e-02 8.64796847e+02] [ 4.76766658e-01 8.79000739e-01 -7.15929027e-03 2.55653116e+01] [ 1.54068279e-02 -2.12766005e-04 9.99881285e-01 1.34217347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.8892541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:864.82, Y:25.58, Z:13.42 [[ 8.77893538e-01 -4.78661467e-01 -1.36431744e-02 8.64821529e+02] [ 4.78607960e-01 8.77999511e-01 -7.16096377e-03 2.55787375e+01] [ 1.54063779e-02 -2.43168070e-04 9.99881285e-01 1.34226033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.9192541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:864.84, Y:25.59, Z:13.42 [[ 8.77267051e-01 -4.79808756e-01 -1.36410871e-02 8.64844943e+02] [ 4.79755326e-01 8.77373062e-01 -7.16493784e-03 2.55914313e+01] [ 1.54061223e-02 -2.58820288e-04 9.99881285e-01 1.34222918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.9492541539998 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:864.87, Y:25.61, Z:13.42 [[ 8.76291222e-01 -4.81588663e-01 -1.36401838e-02 8.64869481e+02] [ 4.81535421e-01 8.76397328e-01 -7.16665701e-03 2.56050026e+01] [ 1.54056014e-02 -2.88153035e-04 9.99881285e-01 1.34220510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.9792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:864.89, Y:25.62, Z:13.42 [[ 8.76027794e-01 -4.82067739e-01 -1.36381501e-02 8.64893920e+02] [ 4.82014496e-01 8.76133899e-01 -7.17052504e-03 2.56184142e+01] [ 1.54055244e-02 -2.92206811e-04 9.99881285e-01 1.34243006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.0092541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:864.92, Y:25.63, Z:13.42 [[ 8.75577511e-01 -4.82885161e-01 -1.36361226e-02 8.64918810e+02] [ 4.82831956e-01 8.75683636e-01 -7.17437876e-03 2.56320864e+01] [ 1.54053304e-02 -3.02231029e-04 9.99881285e-01 1.34228200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.0392541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:864.94, Y:25.65, Z:13.42 [[ 8.75771679e-01 -4.82532980e-01 -1.36340966e-02 8.64941859e+02] [ 4.82479673e-01 8.75877753e-01 -7.17822671e-03 2.56459141e+01] [ 1.54055331e-02 -2.91686833e-04 9.99881285e-01 1.34229745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.0692541539999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:864.97, Y:25.66, Z:13.42 [[ 8.75710842e-01 -4.82643897e-01 -1.36157941e-02 8.64965924e+02] [ 4.82590064e-01 8.75816650e-01 -7.21296748e-03 2.56596023e+01] [ 1.54062339e-02 -2.54373112e-04 9.99881285e-01 1.34228247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.0992541539998 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:864.99, Y:25.67, Z:13.42 [[ 8.76664778e-01 -4.80908572e-01 -1.36313431e-02 8.64990046e+02] [ 4.80854987e-01 8.76770711e-01 -7.18346173e-03 2.56740128e+01] [ 1.54061507e-02 -2.57211416e-04 9.99881285e-01 1.34234608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.1292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:865.01, Y:25.69, Z:13.43 [[ 8.77361342e-01 -4.79636651e-01 -1.36293464e-02 8.65014679e+02] [ 4.79582853e-01 8.77467168e-01 -7.18724806e-03 2.56878995e+01] [ 1.54065716e-02 -2.30587245e-04 9.99881285e-01 1.34260218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.1592541539999 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:865.04, Y:25.70, Z:13.42 [[ 8.78111305e-01 -4.78262305e-01 -1.36273523e-02 8.65038592e+02] [ 4.78208283e-01 8.78217016e-01 -7.19102698e-03 2.57032389e+01] [ 1.54069698e-02 -2.02190675e-04 9.99881285e-01 1.34234514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.1892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:865.06, Y:25.72, Z:13.43 [[ 8.78923277e-01 -4.76768521e-01 -1.36253535e-02 8.65063208e+02] [ 4.76714262e-01 8.79028866e-01 -7.19481219e-03 2.57173466e+01] [ 1.54073391e-02 -1.71712446e-04 9.99881285e-01 1.34272048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.2192541539998 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:865.09, Y:25.73, Z:13.43 [[ 8.79093310e-01 -4.76454989e-01 -1.36233657e-02 8.65087837e+02] [ 4.76400633e-01 8.79198850e-01 -7.19857415e-03 2.57317672e+01] [ 1.54074440e-02 -1.61961684e-04 9.99881285e-01 1.34254232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.2492541539999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:865.11, Y:25.75, Z:13.43 [[ 8.80164755e-01 -4.74472828e-01 -1.36212843e-02 8.65110918e+02] [ 4.74418174e-01 8.80270141e-01 -7.20251061e-03 2.57459549e+01] [ 1.54078054e-02 -1.22788816e-04 9.99881285e-01 1.34260002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.2792541539999 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:865.13, Y:25.76, Z:13.43 [[ 8.80440313e-01 -4.73961329e-01 -1.36203832e-02 8.65134932e+02] [ 4.73906587e-01 8.80545653e-01 -7.20421411e-03 2.57596102e+01] [ 1.54078881e-02 -1.11908801e-04 9.99881285e-01 1.34253459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.3092541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:865.16, Y:25.77, Z:13.43 [[ 8.80828491e-01 -4.73239590e-01 -1.36183333e-02 8.65159591e+02] [ 4.73184702e-01 8.80933755e-01 -7.20808702e-03 2.57734628e+01] [ 1.54080017e-02 -9.48985853e-05 9.99881285e-01 1.34270984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.3392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:865.18, Y:25.79, Z:13.43 [[ 8.81189264e-01 -4.72567540e-01 -1.36162097e-02 8.65184813e+02] [ 4.72512509e-01 8.81294454e-01 -7.21209641e-03 2.57882852e+01] [ 1.54080927e-02 -7.86074670e-05 9.99881285e-01 1.34282085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.3692541539999 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:865.21, Y:25.80, Z:13.43 [[ 8.81264840e-01 -4.72426323e-01 -1.36254156e-02 8.65208574e+02] [ 4.72371544e-01 8.81370161e-01 -7.19472459e-03 2.58015873e+01] [ 1.54080120e-02 -9.58007926e-05 9.99881285e-01 1.34261926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.3992541539999 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:865.23, Y:25.82, Z:13.43 [[ 8.81083334e-01 -4.72765102e-01 -1.36131194e-02 8.65231986e+02] [ 4.72710006e-01 8.81188488e-01 -7.21791550e-03 2.58151892e+01] [ 1.54081026e-02 -7.54726744e-05 9.99881285e-01 1.34259716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.4292541539999 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:865.26, Y:25.83, Z:13.43 [[ 8.80946687e-01 -4.73019721e-01 -1.36116882e-02 8.65257200e+02] [ 4.72964613e-01 8.81051836e-01 -7.22061339e-03 2.58286449e+01] [ 1.54080954e-02 -7.68713987e-05 9.99881285e-01 1.34264109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.4592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:865.28, Y:25.84, Z:13.43 [[ 8.80926918e-01 -4.73056597e-01 -1.36096004e-02 8.65282102e+02] [ 4.73001433e-01 8.81032037e-01 -7.22454646e-03 2.58418742e+01] [ 1.54081133e-02 -7.30630217e-05 9.99881285e-01 1.34294262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.4892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:865.31, Y:25.86, Z:13.43 [[ 8.80500769e-01 -4.73849334e-01 -1.36089543e-02 8.65307109e+02] [ 4.73794246e-01 8.80605928e-01 -7.22576321e-03 2.58553362e+01] [ 1.54080489e-02 -8.55541825e-05 9.99881285e-01 1.34303402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.5192541539999 meters Centerline goodness : 0.999569 Centerline is valid? [True, True] Translation: X:865.33, Y:25.87, Z:13.43 [[ 8.79624400e-01 -4.75474256e-01 -1.36068878e-02 8.65330925e+02] [ 4.75419301e-01 8.79729629e-01 -7.22965257e-03 2.58682324e+01] [ 1.54078960e-02 -1.09598291e-04 9.99881285e-01 1.34277996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.5492541539999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:865.36, Y:25.88, Z:13.43 [[ 8.79475433e-01 -4.75749766e-01 -1.36059928e-02 8.65356106e+02] [ 4.75694818e-01 8.79580666e-01 -7.23133660e-03 2.58816299e+01] [ 1.54078749e-02 -1.12517376e-04 9.99881285e-01 1.34301322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.5792541539998 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:865.38, Y:25.89, Z:13.43 [[ 8.79270145e-01 -4.76129127e-01 -1.36039247e-02 8.65379822e+02] [ 4.76074164e-01 8.79375370e-01 -7.23522512e-03 2.58949857e+01] [ 1.54078577e-02 -1.14759637e-04 9.99881285e-01 1.34287670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.6092541539999 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:865.40, Y:25.91, Z:13.43 [[ 8.79332783e-01 -4.76013460e-01 -1.36030278e-02 8.65403650e+02] [ 4.75958458e-01 8.79437988e-01 -7.23691105e-03 2.59079579e+01] [ 1.54078864e-02 -1.10822967e-04 9.99881285e-01 1.34288168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.6392541539999 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:865.43, Y:25.92, Z:13.43 [[ 8.79211001e-01 -4.76238382e-01 -1.36021550e-02 8.65428476e+02] [ 4.76183382e-01 8.79316206e-01 -7.23855115e-03 2.59216546e+01] [ 1.54078712e-02 -1.12906342e-04 9.99881285e-01 1.34281006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.6692541539999 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:865.45, Y:25.94, Z:13.43 [[ 8.79033667e-01 -4.76565680e-01 -1.36001505e-02 8.65452973e+02] [ 4.76510660e-01 8.79138862e-01 -7.24231530e-03 2.59350212e+01] [ 1.54078597e-02 -1.14377710e-04 9.99881285e-01 1.34299130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.6992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:865.48, Y:25.95, Z:13.43 [[ 8.78679039e-01 -4.77219278e-01 -1.35980792e-02 8.65477782e+02] [ 4.77164276e-01 8.78784243e-01 -7.24620214e-03 2.59485401e+01] [ 1.54078051e-02 -1.21431706e-04 9.99881285e-01 1.34326919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.7292541539999 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:865.50, Y:25.96, Z:13.43 [[ 8.77832783e-01 -4.78774220e-01 -1.35960033e-02 8.65502585e+02] [ 4.78719345e-01 8.77938053e-01 -7.25009513e-03 2.59620283e+01] [ 1.54076073e-02 -1.44298608e-04 9.99881285e-01 1.34306088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.7592541539999 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:865.53, Y:25.98, Z:13.43 [[ 8.76938427e-01 -4.80410450e-01 -1.35939388e-02 8.65527620e+02] [ 4.80355711e-01 8.77043768e-01 -7.25396398e-03 2.59754401e+01] [ 1.54073594e-02 -1.68646379e-04 9.99881285e-01 1.34293233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.7892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:865.55, Y:25.99, Z:13.43 [[ 8.76402509e-01 -4.81387477e-01 -1.35918844e-02 8.65552461e+02] [ 4.81332796e-01 8.76507880e-01 -7.25781134e-03 2.59882841e+01] [ 1.54072133e-02 -1.81455648e-04 9.99881285e-01 1.34330320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.8192541539999 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:865.58, Y:26.00, Z:13.43 [[ 8.73951142e-01 -4.85823752e-01 -1.35898387e-02 8.65578101e+02] [ 4.85769546e-01 8.74056758e-01 -7.26163975e-03 2.60016056e+01] [ 1.54061674e-02 -2.55211423e-04 9.99881285e-01 1.34300593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.8492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:865.60, Y:26.01, Z:13.43 [[ 8.73060578e-01 -4.87422397e-01 -1.35880460e-02 8.65603136e+02] [ 4.87368332e-01 8.73166267e-01 -7.26499271e-03 2.60142323e+01] [ 1.54057436e-02 -2.79604582e-04 9.99881285e-01 1.34327705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.8792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:865.63, Y:26.03, Z:13.43 [[ 8.70957961e-01 -4.91169638e-01 -1.35874119e-02 8.65628153e+02] [ 4.91116009e-01 8.71063871e-01 -7.26617850e-03 2.60264118e+01] [ 1.54044299e-02 -3.44459497e-04 9.99881285e-01 1.34343233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.9092541539999 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:865.65, Y:26.04, Z:13.43 [[ 8.69749816e-01 -4.93305885e-01 -1.35853517e-02 8.65652109e+02] [ 4.93252456e-01 8.69855828e-01 -7.27002826e-03 2.60391746e+01] [ 1.54036451e-02 -3.77902377e-04 9.99881285e-01 1.34317613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.9392541539999 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:865.68, Y:26.05, Z:13.43 [[ 8.69038016e-01 -4.94558782e-01 -1.35844609e-02 8.65676842e+02] [ 4.94505481e-01 8.69144092e-01 -7.27169250e-03 2.60519541e+01] [ 1.54031333e-02 -3.98213138e-04 9.99881285e-01 1.34334009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.9692541539998 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:865.70, Y:26.06, Z:13.43 [[ 8.68102539e-01 -4.96199055e-01 -1.35823530e-02 8.65701724e+02] [ 4.96145892e-01 8.68208684e-01 -7.27562756e-03 2.60643405e+01] [ 1.54024763e-02 -4.22837877e-04 9.99881285e-01 1.34342558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.9992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:865.73, Y:26.08, Z:13.44 [[ 8.67908766e-01 -4.96537925e-01 -1.35817009e-02 8.65726309e+02] [ 4.96484784e-01 8.68014923e-01 -7.27684468e-03 2.60770429e+01] [ 1.54023484e-02 -4.27470541e-04 9.99881285e-01 1.34381189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.0292541539999 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:865.75, Y:26.09, Z:13.44 [[ 8.67324576e-01 -4.97557710e-01 -1.35796198e-02 8.65749665e+02] [ 4.97504633e-01 8.67430764e-01 -7.28072625e-03 2.60900742e+01] [ 1.54019614e-02 -4.41170946e-04 9.99881285e-01 1.34364101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.0592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:865.77, Y:26.11, Z:13.44 [[ 8.66105396e-01 -4.99676971e-01 -1.35782063e-02 8.65771188e+02] [ 4.99624113e-01 8.66211694e-01 -7.28336144e-03 2.61052474e+01] [ 1.54009290e-02 -4.75840617e-04 9.99881285e-01 1.34353186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.0892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:865.80, Y:26.12, Z:13.44 [[ 8.67471892e-01 -4.97302265e-01 -1.35267763e-02 8.65798298e+02] [ 4.97247621e-01 8.67577289e-01 -7.37912570e-03 2.61172377e+01] [ 1.54051798e-02 -3.24973196e-04 9.99881280e-01 1.34396500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.1192541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:865.82, Y:26.13, Z:13.44 [[ 8.67437697e-01 -4.97360583e-01 -1.35754449e-02 8.65821005e+02] [ 4.97307361e-01 8.67543813e-01 -7.28847614e-03 2.61317174e+01] [ 1.54022940e-02 -4.28869740e-04 9.99881286e-01 1.34391105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.1492541539999 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:865.84, Y:26.15, Z:13.44 [[ 8.67801418e-01 -4.96725709e-01 -1.35745589e-02 8.65844094e+02] [ 4.96672384e-01 8.67907482e-01 -7.29012593e-03 2.61472147e+01] [ 1.54026542e-02 -4.15726923e-04 9.99881286e-01 1.34385500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.1792541539999 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:865.87, Y:26.16, Z:13.44 [[ 8.68119309e-01 -4.96169944e-01 -1.35739334e-02 8.65868391e+02] [ 4.96116533e-01 8.68225330e-01 -7.29129035e-03 2.61621862e+01] [ 1.54029520e-02 -4.04542849e-04 9.99881286e-01 1.34385500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.2092541539998 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:865.89, Y:26.18, Z:13.44 [[ 8.68590475e-01 -4.95344717e-01 -1.35719525e-02 8.65892262e+02] [ 4.95291148e-01 8.68696416e-01 -7.29497584e-03 2.61769697e+01] [ 1.54034342e-02 -3.85721390e-04 9.99881286e-01 1.34392011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.2392541539999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:865.92, Y:26.19, Z:13.44 [[ 8.70548586e-01 -4.91895330e-01 -1.35699756e-02 8.65915642e+02] [ 4.91841283e-01 8.70654284e-01 -7.29865126e-03 2.61931979e+01] [ 1.54049299e-02 -3.20443706e-04 9.99881286e-01 1.34401120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.2692541539999 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:865.94, Y:26.21, Z:13.44 [[ 8.71764793e-01 -4.89736721e-01 -1.35679978e-02 8.65939446e+02] [ 4.89682355e-01 8.71870327e-01 -7.30232614e-03 2.62079094e+01] [ 1.54057520e-02 -2.78098288e-04 9.99881286e-01 1.34401645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.2992541539999 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:865.96, Y:26.22, Z:13.44 [[ 8.74627754e-01 -4.84605262e-01 -1.35658560e-02 8.65961041e+02] [ 4.84550216e-01 8.74732934e-01 -7.30630292e-03 2.62239333e+01] [ 1.54071739e-02 -1.83043153e-04 9.99881286e-01 1.34376350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.3292541539998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:865.98, Y:26.24, Z:13.44 [[ 8.76389015e-01 -4.81412819e-01 -1.35644037e-02 8.65984648e+02] [ 4.81357348e-01 8.76493972e-01 -7.30899817e-03 2.62384932e+01] [ 1.54077635e-02 -1.23799684e-04 9.99881286e-01 1.34415314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.3592541539999 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:866.01, Y:26.25, Z:13.44 [[ 8.77661345e-01 -4.79089373e-01 -1.35623240e-02 8.66008397e+02] [ 4.79033564e-01 8.77766123e-01 -7.31285515e-03 2.62534526e+01] [ 1.54080598e-02 -7.85981193e-05 9.99881286e-01 1.34390504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.3892541539999 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:866.03, Y:26.27, Z:13.44 [[ 8.80410771e-01 -4.74017925e-01 -1.35602517e-02 8.66031520e+02] [ 4.73961454e-01 8.80515194e-01 -7.31669589e-03 2.62688910e+01] [ 1.54082526e-02 1.46612769e-05 9.99881286e-01 1.34397787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.4192541539999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:866.05, Y:26.28, Z:13.44 [[ 8.81525463e-01 -4.71941769e-01 -1.35581777e-02 8.66054382e+02] [ 4.71884993e-01 8.81629720e-01 -7.32053699e-03 2.62825719e+01] [ 1.54081596e-02 5.53391746e-05 9.99881286e-01 1.34400493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.4492541539998 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:866.08, Y:26.30, Z:13.44 [[ 8.83192974e-01 -4.68813807e-01 -1.35567668e-02 8.66078446e+02] [ 4.68756621e-01 8.83297007e-01 -7.32314882e-03 2.62971653e+01] [ 1.54078449e-02 1.12929366e-04 9.99881286e-01 1.34403326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.4792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:866.10, Y:26.31, Z:13.44 [[ 8.83934580e-01 -4.67414088e-01 -1.35546557e-02 8.66103070e+02] [ 4.67356677e-01 8.84038489e-01 -7.32705426e-03 2.63110120e+01] [ 1.54076058e-02 1.41777759e-04 9.99881286e-01 1.34429297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.5092541539999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:866.13, Y:26.32, Z:13.44 [[ 8.84366213e-01 -4.66596966e-01 -1.35525551e-02 8.66127369e+02] [ 4.66539400e-01 8.84470036e-01 -7.33093772e-03 2.63248455e+01] [ 1.54074222e-02 1.60432716e-04 9.99881286e-01 1.34421486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.5392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:866.15, Y:26.34, Z:13.44 [[ 8.85320329e-01 -4.64784144e-01 -1.35504295e-02 8.66151738e+02] [ 4.64726306e-01 8.85424000e-01 -7.33486453e-03 2.63382781e+01] [ 1.54070042e-02 1.96463648e-04 9.99881286e-01 1.34427331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.5692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:866.18, Y:26.35, Z:13.44 [[ 8.85507508e-01 -4.64427493e-01 -1.35483097e-02 8.66176759e+02] [ 4.64369553e-01 8.85611123e-01 -7.33877792e-03 2.63519876e+01] [ 1.54068640e-02 2.07120425e-04 9.99881286e-01 1.34432492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.5992541539998 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:866.20, Y:26.36, Z:13.44 [[ 8.85993230e-01 -4.63500267e-01 -1.35461735e-02 8.66201358e+02] [ 4.63442158e-01 8.86096750e-01 -7.34271886e-03 2.63648394e+01] [ 1.54065725e-02 2.27731323e-04 9.99881286e-01 1.34416978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.6292541539999 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:866.23, Y:26.38, Z:13.44 [[ 8.86164633e-01 -4.63172497e-01 -1.35455127e-02 8.66225812e+02] [ 4.63114331e-01 8.86268121e-01 -7.34393774e-03 2.63775145e+01] [ 1.54064661e-02 2.34816852e-04 9.99881286e-01 1.34414315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.6592541539999 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:866.25, Y:26.39, Z:13.44 [[ 8.85779426e-01 -4.63908776e-01 -1.35446006e-02 8.66249827e+02] [ 4.63850671e-01 8.85882948e-01 -7.34561959e-03 2.63911242e+01] [ 1.54066281e-02 2.23926643e-04 9.99881286e-01 1.34428304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.6892541539999 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:866.28, Y:26.40, Z:13.44 [[ 8.87019052e-01 -4.61534772e-01 -1.35224304e-02 8.66275997e+02] [ 4.61475766e-01 8.87122064e-01 -7.38647694e-03 2.64020782e+01] [ 1.54051624e-02 3.11671827e-04 9.99881285e-01 1.34438589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.7192541539998 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:866.30, Y:26.41, Z:13.44 [[ 8.87599622e-01 -4.60416693e-01 -1.35417805e-02 8.66301820e+02] [ 4.60358101e-01 8.87702869e-01 -7.35083011e-03 2.64143961e+01] [ 1.54055223e-02 2.90525683e-04 9.99881286e-01 1.34429384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.7492541539999 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:866.33, Y:26.43, Z:13.44 [[ 8.88064894e-01 -4.59518685e-01 -1.35396740e-02 8.66326907e+02] [ 4.59459929e-01 8.88168048e-01 -7.35470794e-03 2.64267151e+01] [ 1.54051316e-02 3.10520239e-04 9.99881286e-01 1.34431245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.7792541539999 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:866.35, Y:26.44, Z:13.44 [[ 8.88609194e-01 -4.58465303e-01 -1.35375607e-02 8.66351771e+02] [ 4.58406366e-01 8.88712245e-01 -7.35859579e-03 2.64389789e+01] [ 1.54046568e-02 3.33211852e-04 9.99881286e-01 1.34428426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.8092541539999 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:866.38, Y:26.45, Z:13.44 [[ 8.90156984e-01 -4.55452889e-01 -1.35354612e-02 8.66376808e+02] [ 4.55393545e-01 8.90259801e-01 -7.36245561e-03 2.64503687e+01] [ 1.54033287e-02 3.89779609e-04 9.99881286e-01 1.34406542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.8392541539998 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:866.40, Y:26.46, Z:13.44 [[ 8.90962925e-01 -4.53874303e-01 -1.35344876e-02 8.66402102e+02] [ 4.53814749e-01 8.91065621e-01 -7.36424492e-03 2.64626701e+01] [ 1.54025582e-02 4.19119081e-04 9.99881286e-01 1.34409550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.8692541539999 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:866.43, Y:26.47, Z:13.44 [[ 8.92310307e-01 -4.51219670e-01 -1.35323941e-02 8.66428916e+02] [ 4.51159752e-01 8.92412791e-01 -7.36808995e-03 2.64731637e+01] [ 1.54011087e-02 4.69351031e-04 9.99881286e-01 1.34412550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.8992541539999 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:866.45, Y:26.48, Z:13.44 [[ 8.92783838e-01 -4.50282075e-01 -1.35304166e-02 8.66454020e+02] [ 4.50221995e-01 8.92886226e-01 -7.37171950e-03 2.64845402e+01] [ 1.54004758e-02 4.89660863e-04 9.99881286e-01 1.34423007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.9292541539999 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:866.48, Y:26.49, Z:13.44 [[ 8.93272765e-01 -4.49311387e-01 -1.35294268e-02 8.66481674e+02] [ 4.49251168e-01 8.93375072e-01 -7.37353564e-03 2.64945230e+01] [ 1.53998662e-02 5.08467760e-04 9.99881286e-01 1.34438751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.9592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:866.51, Y:26.51, Z:13.45 [[ 8.93266219e-01 -4.49324454e-01 -1.35276331e-02 8.66508374e+02] [ 4.49264187e-01 8.93368498e-01 -7.37682498e-03 2.65061012e+01] [ 1.53997491e-02 5.11987463e-04 9.99881286e-01 1.34491741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.9892541539999 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:866.53, Y:26.52, Z:13.45 [[ 8.92657477e-01 -4.50532666e-01 -1.35257331e-02 8.66534408e+02] [ 4.50472484e-01 8.92759806e-01 -7.38030713e-03 2.65152093e+01] [ 1.54003003e-02 4.95115753e-04 9.99881286e-01 1.34457013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.0192541539999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:866.56, Y:26.52, Z:13.45 [[ 8.92415273e-01 -4.51012278e-01 -1.35242568e-02 8.66560577e+02] [ 4.50952110e-01 8.92517611e-01 -7.38301137e-03 2.65245601e+01] [ 1.54004662e-02 4.89919961e-04 9.99881286e-01 1.34474019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.0492541539999 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:866.59, Y:26.54, Z:13.45 [[ 8.92226106e-01 -4.51386407e-01 -1.35236223e-02 8.66585894e+02] [ 4.51326265e-01 8.92328458e-01 -7.38417347e-03 2.65358892e+01] [ 1.54006286e-02 4.84786412e-04 9.99881286e-01 1.34479536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.0792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:866.61, Y:26.55, Z:13.45 [[ 8.92337572e-01 -4.51166074e-01 -1.35215018e-02 8.66611100e+02] [ 4.51105847e-01 8.92439875e-01 -7.38805432e-03 2.65469860e+01] [ 1.54003669e-02 4.93009918e-04 9.99881286e-01 1.34522725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.1092541539999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:866.64, Y:26.56, Z:13.45 [[ 8.92294216e-01 -4.51251845e-01 -1.35205151e-02 8.66636111e+02] [ 4.51191601e-01 8.92396509e-01 -7.38985960e-03 2.65588239e+01] [ 1.54003483e-02 4.93586117e-04 9.99881286e-01 1.34491402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.1392541539999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:866.66, Y:26.57, Z:13.45 [[ 8.92519605e-01 -4.50805909e-01 -1.35198640e-02 8.66660324e+02] [ 4.50745597e-01 8.92621857e-01 -7.39105060e-03 2.65700138e+01] [ 1.54000554e-02 5.02638391e-04 9.99881286e-01 1.34491673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.1692541539999 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:866.69, Y:26.58, Z:13.45 [[ 8.93259609e-01 -4.49337856e-01 -1.35189842e-02 8.66686720e+02] [ 4.49277351e-01 8.93361747e-01 -7.39265950e-03 2.65807134e+01] [ 1.53991451e-02 5.29790719e-04 9.99881286e-01 1.34476543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.1992541539998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:866.71, Y:26.59, Z:13.45 [[ 8.93764124e-01 -4.48333560e-01 -1.35170189e-02 8.66712122e+02] [ 4.48272886e-01 8.93866162e-01 -7.39625122e-03 2.65928764e+01] [ 1.53983934e-02 5.51190933e-04 9.99881286e-01 1.34498928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.2292541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:866.74, Y:26.60, Z:13.45 [[ 8.94685899e-01 -4.46491309e-01 -1.35149393e-02 8.66739376e+02] [ 4.46430368e-01 8.94787777e-01 -7.40004926e-03 2.66041520e+01] [ 1.53970602e-02 5.87240404e-04 9.99881286e-01 1.34487014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.2592541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:866.76, Y:26.62, Z:13.45 [[ 8.94990165e-01 -4.45881149e-01 -1.35131287e-02 8.66764610e+02] [ 4.45820089e-01 8.95091972e-01 -7.40335406e-03 2.66164172e+01] [ 1.53965090e-02 6.01504828e-04 9.99881286e-01 1.34488698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.2892541539999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:866.79, Y:26.63, Z:13.45 [[ 8.95249493e-01 -4.45360299e-01 -1.35110560e-02 8.66791133e+02] [ 4.45299123e-01 8.95351230e-01 -7.40713485e-03 2.66273542e+01] [ 1.53959844e-02 6.14772349e-04 9.99881286e-01 1.34480745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.3192541539999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:866.82, Y:26.64, Z:13.45 [[ 8.95122237e-01 -4.45616071e-01 -1.35092054e-02 8.66816156e+02] [ 4.45554873e-01 8.95223961e-01 -7.41050849e-03 2.66411755e+01] [ 1.53960060e-02 6.14218658e-04 9.99881286e-01 1.34485136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.3492541539998 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:866.84, Y:26.65, Z:13.45 [[ 8.94490072e-01 -4.46883732e-01 -1.35070871e-02 8.66841627e+02] [ 4.46822620e-01 8.94591848e-01 -7.41436739e-03 2.66505142e+01] [ 1.53966902e-02 5.96805969e-04 9.99881286e-01 1.34471739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.3792541539999 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:866.87, Y:26.66, Z:13.45 [[ 8.93735730e-01 -4.48390486e-01 -1.35061696e-02 8.66867269e+02] [ 4.48329520e-01 8.93837594e-01 -7.41603837e-03 2.66622330e+01] [ 1.53976032e-02 5.72763930e-04 9.99881286e-01 1.34481912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.4092541539999 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:866.89, Y:26.67, Z:13.45 [[ 8.91976287e-01 -4.51880409e-01 -1.35055223e-02 8.66893895e+02] [ 4.51819824e-01 8.92078377e-01 -7.41721700e-03 2.66715339e+01] [ 1.53996795e-02 5.13918971e-04 9.99881286e-01 1.34492240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.4392541539999 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:866.92, Y:26.68, Z:13.45 [[ 8.90711210e-01 -4.54368967e-01 -1.35048837e-02 8.66919994e+02] [ 4.54308650e-01 8.90813459e-01 -7.41837949e-03 2.66832717e+01] [ 1.54010136e-02 4.72248282e-04 9.99881286e-01 1.34508910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.4692541539998 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:866.95, Y:26.69, Z:13.45 [[ 8.89420916e-01 -4.56889604e-01 -1.35027393e-02 8.66945244e+02] [ 4.56829517e-01 8.89523300e-01 -7.42228070e-03 2.66947263e+01] [ 1.54021641e-02 4.33081827e-04 9.99881286e-01 1.34515075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.4992541539999 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:866.97, Y:26.71, Z:13.45 [[ 8.86748317e-01 -4.62055361e-01 -1.35006124e-02 8.66972400e+02] [ 4.61995811e-01 8.86851015e-01 -7.42614734e-03 2.67058462e+01] [ 1.54043230e-02 3.47897272e-04 9.99881286e-01 1.34526816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.5292541539999 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:867.00, Y:26.72, Z:13.45 [[ 8.85387435e-01 -4.64657802e-01 -1.34987608e-02 8.66997641e+02] [ 4.64598503e-01 8.85490278e-01 -7.42951148e-03 2.67177701e+01] [ 1.54052020e-02 3.06492031e-04 9.99881286e-01 1.34536396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.5592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:867.02, Y:26.73, Z:13.46 [[ 8.84226917e-01 -4.66862506e-01 -1.34966448e-02 8.67023016e+02] [ 4.66803405e-01 8.84329874e-01 -7.43335360e-03 2.67302442e+01] [ 1.54058403e-02 2.72491599e-04 9.99881286e-01 1.34582911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.5892541539998 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:867.05, Y:26.74, Z:13.46 [[ 8.82944233e-01 -4.69283902e-01 -1.34944941e-02 8.67047052e+02] [ 4.69225024e-01 8.83047317e-01 -7.43725584e-03 2.67426722e+01] [ 1.54064613e-02 2.34727818e-04 9.99881286e-01 1.34557928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.6192541539999 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:867.07, Y:26.76, Z:13.46 [[ 8.80967930e-01 -4.72983541e-01 -1.34935637e-02 8.67071826e+02] [ 4.72925070e-01 8.81071246e-01 -7.43894348e-03 2.67553813e+01] [ 1.54072888e-02 1.72026070e-04 9.99881286e-01 1.34566251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.6492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:867.10, Y:26.77, Z:13.46 [[ 8.80064430e-01 -4.74662596e-01 -1.34914326e-02 8.67096321e+02] [ 4.74604263e-01 8.80167824e-01 -7.44280652e-03 2.67695092e+01] [ 1.54075467e-02 1.47057848e-04 9.99881286e-01 1.34604854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.6792541539999 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:867.12, Y:26.78, Z:13.46 [[ 8.79293578e-01 -4.76089112e-01 -1.34892900e-02 8.67120072e+02] [ 4.76030887e-01 8.79397033e-01 -7.44668778e-03 2.67843492e+01] [ 1.54077286e-02 1.26506074e-04 9.99881286e-01 1.34574040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.7092541539998 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:867.14, Y:26.80, Z:13.46 [[ 8.78801838e-01 -4.76996254e-01 -1.34871497e-02 8.67144273e+02] [ 4.76938077e-01 8.78905319e-01 -7.45056213e-03 2.67987358e+01] [ 1.54078179e-02 1.15032450e-04 9.99881286e-01 1.34587119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.7392541539999 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:867.17, Y:26.81, Z:13.46 [[ 8.77638485e-01 -4.79133430e-01 -1.34850131e-02 8.67168288e+02] [ 4.79075445e-01 8.77742075e-01 -7.45442721e-03 2.68134546e+01] [ 1.54080287e-02 8.19535364e-05 9.99881286e-01 1.34582657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.7692541539999 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:867.19, Y:26.83, Z:13.46 [[ 8.76990419e-01 -4.80318662e-01 -1.34828921e-02 8.67192078e+02] [ 4.80260758e-01 8.77094054e-01 -7.45826159e-03 2.68273009e+01] [ 1.54081067e-02 6.55199943e-05 9.99881286e-01 1.34578691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.7992541539999 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:867.22, Y:26.84, Z:13.46 [[ 8.75572956e-01 -4.82897748e-01 -1.34819733e-02 8.67215828e+02] [ 4.82840123e-01 8.75676747e-01 -7.45992199e-03 2.68416178e+01] [ 1.54082301e-02 2.20682831e-05 9.99881286e-01 1.34583628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.8292541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:867.24, Y:26.86, Z:13.46 [[ 8.75069609e-01 -4.83809334e-01 -1.34799049e-02 8.67239914e+02] [ 4.83751760e-01 8.75173428e-01 -7.46365780e-03 2.68553997e+01] [ 1.54082419e-02 1.02924009e-05 9.99881286e-01 1.34619703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.8592541539999 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:867.26, Y:26.87, Z:13.46 [[ 8.74015349e-01 -4.85711353e-01 -1.34777934e-02 8.67263703e+02] [ 4.85653946e-01 8.74119260e-01 -7.46746865e-03 2.68703564e+01] [ 1.54082331e-02 -1.88613463e-05 9.99881286e-01 1.34587795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.8892541539999 meters Centerline goodness : 0.999735 Centerline is valid? [True, True] Translation: X:867.29, Y:26.89, Z:13.46 [[ 8.72653403e-01 -4.88154119e-01 -1.34756814e-02 8.67286097e+02] [ 4.88096945e-01 8.72757442e-01 -7.47127797e-03 2.68853009e+01] [ 1.54081364e-02 -5.76027944e-05 9.99881286e-01 1.34574270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.9192541539999 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:867.31, Y:26.90, Z:13.46 [[ 8.71921864e-01 -4.89459594e-01 -1.34747659e-02 8.67310386e+02] [ 4.89402550e-01 8.72025974e-01 -7.47292877e-03 2.68997610e+01] [ 1.54080426e-02 -7.87748222e-05 9.99881286e-01 1.34589757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.9492541539998 meters Centerline goodness : 0.999757 Centerline is valid? [True, True] Translation: X:867.33, Y:26.91, Z:13.46 [[ 8.70769983e-01 -4.91505977e-01 -1.34726211e-02 8.67333469e+02] [ 4.91449118e-01 8.70874194e-01 -7.47679365e-03 2.69142261e+01] [ 1.54078468e-02 -1.10540263e-04 9.99881286e-01 1.34571767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.9792541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:867.36, Y:26.93, Z:13.46 [[ 8.70399748e-01 -4.92161348e-01 -1.34716925e-02 8.67357930e+02] [ 4.92104541e-01 8.70503988e-01 -7.47846643e-03 2.69280405e+01] [ 1.54077741e-02 -1.20225738e-04 9.99881286e-01 1.34608775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.0092541539999 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:867.38, Y:26.94, Z:13.46 [[ 8.69622139e-01 -4.93534099e-01 -1.34695635e-02 8.67381666e+02] [ 4.93477397e-01 8.69726436e-01 -7.48229894e-03 2.69426446e+01] [ 1.54076051e-02 -1.40152347e-04 9.99881286e-01 1.34592031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.0392541539999 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:867.41, Y:26.96, Z:13.46 [[ 8.69511723e-01 -4.93728662e-01 -1.34674288e-02 8.67406160e+02] [ 4.93671924e-01 8.69616001e-01 -7.48613935e-03 2.69571256e+01] [ 1.54076131e-02 -1.39205537e-04 9.99881286e-01 1.34606633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.0692541539999 meters Centerline goodness : 0.999757 Centerline is valid? [True, True] Translation: X:867.43, Y:26.97, Z:13.46 [[ 8.69505436e-01 -4.93739792e-01 -1.34652894e-02 8.67429874e+02] [ 4.93682996e-01 8.69609682e-01 -7.48998536e-03 2.69716462e+01] [ 1.54076499e-02 -1.35001449e-04 9.99881286e-01 1.34598297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.0992541539998 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:867.45, Y:26.99, Z:13.46 [[ 8.70430271e-01 -4.92107598e-01 -1.34631327e-02 8.67453530e+02] [ 4.92050547e-01 8.70534377e-01 -7.49386007e-03 2.69873741e+01] [ 1.54079053e-02 -1.01659152e-04 9.99881286e-01 1.34611906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.1292541539999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:867.48, Y:27.00, Z:13.46 [[ 8.70885896e-01 -4.91300843e-01 -1.34624650e-02 8.67477670e+02] [ 4.91243677e-01 8.70989939e-01 -7.49505943e-03 2.70019799e+01] [ 1.54080006e-02 -8.60092435e-05 9.99881286e-01 1.34614611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.1592541539999 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:867.50, Y:27.02, Z:13.46 [[ 8.72070253e-01 -4.89195557e-01 -1.34603701e-02 8.67501641e+02] [ 4.89138082e-01 8.72174125e-01 -7.49881968e-03 2.70169920e+01] [ 1.54081758e-02 -4.44820495e-05 9.99881286e-01 1.34628910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.1892541539999 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:867.52, Y:27.03, Z:13.46 [[ 8.72738433e-01 -4.88002565e-01 -1.34582301e-02 8.67524617e+02] [ 4.87944888e-01 8.72842195e-01 -7.50265843e-03 2.70305805e+01] [ 1.54082277e-02 -1.90162147e-05 9.99881286e-01 1.34631399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.2192541539998 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:867.55, Y:27.05, Z:13.46 [[ 8.73163907e-01 -4.87240897e-01 -1.34573034e-02 8.67548309e+02] [ 4.87183104e-01 8.73267604e-01 -7.50432025e-03 2.70451142e+01] [ 1.54082388e-02 -3.66925018e-06 9.99881286e-01 1.34634010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.2492541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:867.57, Y:27.06, Z:13.47 [[ 8.74683501e-01 -4.84507721e-01 -1.34551455e-02 8.67572311e+02] [ 4.84449545e-01 8.74786983e-01 -7.50818735e-03 2.70599795e+01] [ 1.54081609e-02 4.89484919e-05 9.99881286e-01 1.34680051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.2792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:867.60, Y:27.07, Z:13.47 [[ 8.75268922e-01 -4.83449367e-01 -1.34544777e-02 8.67596702e+02] [ 4.83391047e-01 8.75372324e-01 -7.50938387e-03 2.70747608e+01] [ 1.54080843e-02 6.89562753e-05 9.99881286e-01 1.34692324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.3092541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:867.62, Y:27.09, Z:13.47 [[ 8.76159952e-01 -4.81832723e-01 -1.34523533e-02 8.67619790e+02] [ 4.81774154e-01 8.76263212e-01 -7.51318754e-03 2.70904087e+01] [ 1.54079019e-02 1.01757889e-04 9.99881286e-01 1.34666200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.3392541539998 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:867.64, Y:27.10, Z:13.46 [[ 8.76486649e-01 -4.81238242e-01 -1.34502232e-02 8.67643505e+02] [ 4.81179544e-01 8.76589836e-01 -7.51699900e-03 2.71049213e+01] [ 1.54077963e-02 1.16577000e-04 9.99881286e-01 1.34648469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.3692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:867.67, Y:27.12, Z:13.47 [[ 8.77520688e-01 -4.79350176e-01 -1.34480798e-02 8.67667289e+02] [ 4.79291197e-01 8.77623715e-01 -7.52083155e-03 2.71190413e+01] [ 1.54074657e-02 1.54138998e-04 9.99881286e-01 1.34700351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.3992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:867.69, Y:27.13, Z:13.47 [[ 8.77748871e-01 -4.78932277e-01 -1.34459441e-02 8.67691198e+02] [ 4.78873191e-01 8.77851836e-01 -7.52464792e-03 2.71328432e+01] [ 1.54073435e-02 1.65849053e-04 9.99881286e-01 1.34705327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.4292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:867.71, Y:27.15, Z:13.47 [[ 8.77608698e-01 -4.79189145e-01 -1.34438204e-02 8.67714857e+02] [ 4.79130032e-01 8.77711647e-01 -7.52844030e-03 2.71476218e+01] [ 1.54073446e-02 1.65686588e-04 9.99881286e-01 1.34706320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.4592541539998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:867.74, Y:27.16, Z:13.47 [[ 8.76966688e-01 -4.80363144e-01 -1.34416666e-02 8.67739398e+02] [ 4.80304109e-01 8.77069682e-01 -7.53228383e-03 2.71623464e+01] [ 1.54075098e-02 1.49474289e-04 9.99881286e-01 1.34677919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.4892541539999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:867.76, Y:27.18, Z:13.47 [[ 8.75819483e-01 -4.82451670e-01 -1.34394909e-02 8.67763279e+02] [ 4.82392821e-01 8.75922584e-01 -7.53616383e-03 2.71763835e+01] [ 1.54077884e-02 1.17205171e-04 9.99881286e-01 1.34662653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.5192541539999 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:867.79, Y:27.19, Z:13.47 [[ 8.74838383e-01 -4.84228460e-01 -1.34388173e-02 8.67786504e+02] [ 4.84169802e-01 8.74941593e-01 -7.53736485e-03 2.71893965e+01] [ 1.54079868e-02 8.73065761e-05 9.99881286e-01 1.34654251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.5492541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:867.81, Y:27.20, Z:13.47 [[ 8.72519803e-01 -4.88393916e-01 -1.34378837e-02 8.67811728e+02] [ 4.88335725e-01 8.72623276e-01 -7.53902893e-03 2.72025655e+01] [ 1.54082260e-02 1.57533550e-05 9.99881286e-01 1.34682068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.5792541539998 meters Centerline goodness : 0.997059 Centerline is valid? [True, True] Translation: X:867.84, Y:27.22, Z:13.47 [[ 8.71121629e-01 -4.90883475e-01 -1.34357911e-02 8.67840649e+02] [ 4.90825523e-01 8.71225237e-01 -7.54275654e-03 2.72160846e+01] [ 1.54082148e-02 -2.39707962e-05 9.99881286e-01 1.34688796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.6092541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:867.86, Y:27.23, Z:13.47 [[ 8.67729778e-01 -4.96852533e-01 -1.35127219e-02 8.67862418e+02] [ 4.96797421e-01 8.67834937e-01 -7.40569514e-03 2.72287647e+01] [ 1.54063505e-02 -2.86943174e-04 9.99881274e-01 1.34695531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.6392541539999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:867.89, Y:27.24, Z:13.47 [[ 8.65940961e-01 -4.99965840e-01 -1.34317064e-02 8.67886885e+02] [ 4.99908864e-01 8.66045107e-01 -7.54982813e-03 2.72418813e+01] [ 1.54071198e-02 -1.76923669e-04 9.99881288e-01 1.34696853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.6692541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:867.91, Y:27.25, Z:13.47 [[ 8.64481876e-01 -5.02484559e-01 -1.34296090e-02 8.67911136e+02] [ 5.02427829e-01 8.64586156e-01 -7.55355715e-03 2.72549351e+01] [ 1.54065999e-02 -2.17496040e-04 9.99881288e-01 1.34721756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.6992541539998 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:867.94, Y:27.27, Z:13.47 [[ 8.62913504e-01 -5.05173186e-01 -1.34289604e-02 8.67935516e+02] [ 5.05116763e-01 8.63017950e-01 -7.55471007e-03 2.72679987e+01] [ 1.54058708e-02 -2.64131664e-04 9.99881288e-01 1.34709464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.7292541539999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:867.96, Y:27.28, Z:13.47 [[ 8.60587480e-01 -5.09125630e-01 -1.34269021e-02 8.67959361e+02] [ 5.09069629e-01 8.60692154e-01 -7.55836652e-03 2.72803644e+01] [ 1.54045874e-02 -3.30592472e-04 9.99881288e-01 1.34719278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.7592541539999 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:867.98, Y:27.29, Z:13.47 [[ 8.59617909e-01 -5.10760994e-01 -1.34260101e-02 8.67983725e+02] [ 5.10705168e-01 8.59722675e-01 -7.55995058e-03 2.72936142e+01] [ 1.54039732e-02 -3.58063845e-04 9.99881288e-01 1.34719460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.7892541539999 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:868.01, Y:27.31, Z:13.47 [[ 8.58511702e-01 -5.12618235e-01 -1.34239799e-02 8.68007342e+02] [ 5.12562579e-01 8.58616559e-01 -7.56355384e-03 2.73061686e+01] [ 1.54032671e-02 -3.87230293e-04 9.99881288e-01 1.34736847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.8192541539999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:868.03, Y:27.32, Z:13.47 [[ 8.58176048e-01 -5.13179992e-01 -1.34226011e-02 8.68031841e+02] [ 5.13124366e-01 8.58280922e-01 -7.56599998e-03 2.73198935e+01] [ 1.54030822e-02 -3.94503717e-04 9.99881288e-01 1.34742794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.8492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:868.06, Y:27.33, Z:13.48 [[ 8.58786506e-01 -5.12157812e-01 -1.34205961e-02 8.68055441e+02] [ 5.12102006e-01 8.58891284e-01 -7.56955473e-03 2.73332794e+01] [ 1.54036396e-02 -3.72082740e-04 9.99881288e-01 1.34773946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.8792541539999 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:868.08, Y:27.35, Z:13.47 [[ 8.58646340e-01 -5.12392806e-01 -1.34192335e-02 8.68080244e+02] [ 5.12336991e-01 8.58751112e-01 -7.57196969e-03 2.73481010e+01] [ 1.54036045e-02 -3.73525637e-04 9.99881288e-01 1.34735886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.9092541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:868.10, Y:27.36, Z:13.47 [[ 8.59235819e-01 -5.11403733e-01 -1.34175047e-02 8.68104551e+02] [ 5.11347750e-01 8.59340502e-01 -7.57503182e-03 2.73625153e+01] [ 1.54041048e-02 -3.52272156e-04 9.99881288e-01 1.34746032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.9392541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:868.13, Y:27.38, Z:13.47 [[ 8.60973227e-01 -5.08473329e-01 -1.34155396e-02 8.68128065e+02] [ 5.08416935e-01 8.61077689e-01 -7.57851044e-03 2.73775599e+01] [ 1.54052923e-02 -2.95792931e-04 9.99881288e-01 1.34740287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.9692541539998 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:868.15, Y:27.39, Z:13.47 [[ 8.63345507e-01 -5.04434906e-01 -1.34149302e-02 8.68151934e+02] [ 5.04378007e-01 8.63449695e-01 -7.57958903e-03 2.73932191e+01] [ 1.54065267e-02 -2.22391609e-04 9.99881288e-01 1.34740017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.9992541539999 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:868.18, Y:27.41, Z:13.48 [[ 8.64751432e-01 -5.02020965e-01 -1.34130815e-02 8.68176081e+02] [ 5.01963724e-01 8.64855433e-01 -7.58285919e-03 2.74081461e+01] [ 1.54071307e-02 -1.75591977e-04 9.99881288e-01 1.34750812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.0292541539999 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:868.20, Y:27.42, Z:13.48 [[ 8.66259033e-01 -4.99415092e-01 -1.34109585e-02 8.68199771e+02] [ 4.99357480e-01 8.66362828e-01 -7.58661197e-03 2.74227948e+01] [ 1.54076244e-02 -1.24891285e-04 9.99881288e-01 1.34750434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.0592541539999 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:868.22, Y:27.44, Z:13.48 [[ 8.69154637e-01 -4.94358594e-01 -1.34088419e-02 8.68223351e+02] [ 4.94300321e-01 8.69258062e-01 -7.59035101e-03 2.74383114e+01] [ 1.54080992e-02 -3.08060989e-05 9.99881288e-01 1.34763100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.0892541539998 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:868.25, Y:27.45, Z:13.48 [[ 8.70322893e-01 -4.92299017e-01 -1.34067192e-02 8.68246529e+02] [ 4.92240441e-01 8.70426147e-01 -7.59409852e-03 2.74528767e+01] [ 1.54081262e-02 9.98841898e-06 9.99881288e-01 1.34767862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.1192541539999 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:868.27, Y:27.47, Z:13.48 [[ 8.72493386e-01 -4.88442004e-01 -1.34052750e-02 8.68270519e+02] [ 4.88382932e-01 8.72596357e-01 -7.59664706e-03 2.74687471e+01] [ 1.54079156e-02 8.11168213e-05 9.99881288e-01 1.34776208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.1492541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:868.30, Y:27.48, Z:13.48 [[ 8.73330419e-01 -4.86943866e-01 -1.34034113e-02 8.68295500e+02] [ 4.86884567e-01 8.73433260e-01 -7.59993380e-03 2.74836280e+01] [ 1.54077264e-02 1.11339246e-04 9.99881288e-01 1.34807232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.1792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:868.32, Y:27.50, Z:13.48 [[ 8.74861694e-01 -4.84187377e-01 -1.34014938e-02 8.68319191e+02] [ 4.84127703e-01 8.74964318e-01 -7.60331354e-03 2.74986808e+01] [ 1.54072574e-02 1.63813332e-04 9.99881288e-01 1.34829183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.2092541539998 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:868.34, Y:27.51, Z:13.48 [[ 8.75600065e-01 -4.82850852e-01 -1.34008149e-02 8.68344027e+02] [ 4.82791003e-01 8.75702586e-01 -7.60451004e-03 2.75144590e+01] [ 1.54069724e-02 1.88716634e-04 9.99881288e-01 1.34790692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.2392541539999 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:868.37, Y:27.53, Z:13.48 [[ 8.75462320e-01 -4.83100605e-01 -1.33989171e-02 8.68368844e+02] [ 4.83040734e-01 8.75564829e-01 -7.60785233e-03 2.75286395e+01] [ 1.54069787e-02 1.88165285e-04 9.99881288e-01 1.34795083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.2692541539999 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:868.39, Y:27.54, Z:13.48 [[ 8.75709550e-01 -4.82652372e-01 -1.33967460e-02 8.68393345e+02] [ 4.82592390e-01 8.75811993e-01 -7.61167355e-03 2.75429212e+01] [ 1.54068231e-02 2.00447535e-04 9.99881288e-01 1.34799756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.2992541539999 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:868.42, Y:27.56, Z:13.48 [[ 8.75826102e-01 -4.82440904e-01 -1.33945608e-02 8.68417738e+02] [ 4.82380838e-01 8.75928497e-01 -7.61551699e-03 2.75570958e+01] [ 1.54067144e-02 2.08589089e-04 9.99881288e-01 1.34803861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.3292541539998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:868.44, Y:27.57, Z:13.48 [[ 8.75908008e-01 -4.82292241e-01 -1.33923740e-02 8.68442350e+02] [ 4.82232100e-01 8.76010358e-01 -7.61936078e-03 2.75710981e+01] [ 1.54066169e-02 2.15626505e-04 9.99881288e-01 1.34816668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.3592541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:868.47, Y:27.58, Z:13.48 [[ 8.75484304e-01 -4.83061006e-01 -1.33902025e-02 8.68466563e+02] [ 4.83000896e-01 8.75586673e-01 -7.62317493e-03 2.75846045e+01] [ 1.54067414e-02 2.06490185e-04 9.99881288e-01 1.34834157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.3892541539999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:868.49, Y:27.60, Z:13.48 [[ 8.74146607e-01 -4.85477568e-01 -1.33880378e-02 8.68491387e+02] [ 4.85417683e-01 8.74249108e-01 -7.62697486e-03 2.75978399e+01] [ 1.54072053e-02 1.68303925e-04 9.99881288e-01 1.34819187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.4192541539999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:868.52, Y:27.61, Z:13.48 [[ 8.72974009e-01 -4.87582976e-01 -1.33873676e-02 8.68516209e+02] [ 4.87523320e-01 8.73076643e-01 -7.62815103e-03 2.76115765e+01] [ 1.54075545e-02 1.32523698e-04 9.99881288e-01 1.34825341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.4492541539998 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:868.54, Y:27.62, Z:13.48 [[ 8.70448900e-01 -4.92076772e-01 -1.33851842e-02 8.68541202e+02] [ 4.92017587e-01 8.70551806e-01 -7.63198033e-03 2.76242806e+01] [ 1.54080165e-02 5.75028604e-05 9.99881288e-01 1.34820566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.4792541539999 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:868.57, Y:27.64, Z:13.48 [[ 8.67379464e-01 -4.97467346e-01 -1.33830032e-02 8.68565482e+02] [ 4.97408741e-01 8.67482702e-01 -7.63580283e-03 2.76361743e+01] [ 1.54080864e-02 -3.36842158e-05 9.99881288e-01 1.34831223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.5092541539999 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:868.59, Y:27.65, Z:13.48 [[ 8.65748040e-01 -5.00301161e-01 -1.33820592e-02 8.68589995e+02] [ 5.00242869e-01 8.65851454e-01 -7.63745690e-03 2.76492016e+01] [ 1.54079040e-02 -8.21663440e-05 9.99881288e-01 1.34839162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.5392541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:868.61, Y:27.66, Z:13.49 [[ 8.64217820e-01 -5.02939894e-01 -1.33799228e-02 8.68614755e+02] [ 5.02881859e-01 8.64321380e-01 -7.64119784e-03 2.76625982e+01] [ 1.54076165e-02 -1.24861100e-04 9.99881288e-01 1.34860678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.5692541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:868.64, Y:27.68, Z:13.49 [[ 8.62566568e-01 -5.05766658e-01 -1.33792620e-02 8.68639071e+02] [ 5.05708945e-01 8.62670307e-01 -7.64235454e-03 2.76756584e+01] [ 1.54071402e-02 -1.73972963e-04 9.99881288e-01 1.34866061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.5992541539998 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:868.66, Y:27.69, Z:13.49 [[ 8.60743666e-01 -5.08862842e-01 -1.33772218e-02 8.68663382e+02] [ 5.08805447e-01 8.60847581e-01 -7.64592406e-03 2.76891724e+01] [ 1.54064757e-02 -2.25222634e-04 9.99881288e-01 1.34867124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.6292541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:868.69, Y:27.70, Z:13.49 [[ 8.59572075e-01 -5.10839462e-01 -1.33750517e-02 8.68687965e+02] [ 5.10782246e-01 8.59676089e-01 -7.64971842e-03 2.77028102e+01] [ 1.54059902e-02 -2.56254623e-04 9.99881288e-01 1.34881956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.6592541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:868.71, Y:27.72, Z:13.49 [[ 8.57395693e-01 -5.14483966e-01 -1.33743804e-02 8.68712149e+02] [ 5.14427175e-01 8.57499939e-01 -7.65089187e-03 2.77164979e+01] [ 1.54047916e-02 -3.20303002e-04 9.99881288e-01 1.34887601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.6892541539999 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:868.74, Y:27.73, Z:13.49 [[ 8.55931355e-01 -5.16916530e-01 -1.33722511e-02 8.68736034e+02] [ 5.16859977e-01 8.56035730e-01 -7.65461170e-03 2.77300457e+01] [ 1.54039201e-02 -3.59759228e-04 9.99881288e-01 1.34875091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.7192541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:868.76, Y:27.74, Z:13.49 [[ 8.55554392e-01 -5.17540223e-01 -1.33715927e-02 8.68760659e+02] [ 5.17483728e-01 8.55658799e-01 -7.65576167e-03 2.77441870e+01] [ 1.54036856e-02 -3.69661110e-04 9.99881288e-01 1.34910312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.7492541539999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:868.79, Y:27.76, Z:13.49 [[ 8.54652512e-01 -5.19028258e-01 -1.33697758e-02 8.68785759e+02] [ 5.18971895e-01 8.54756991e-01 -7.65893337e-03 2.77594247e+01] [ 1.54031122e-02 -3.92811226e-04 9.99881288e-01 1.34895460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.7792541539999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:868.81, Y:27.77, Z:13.49 [[ 8.53740640e-01 -5.20526866e-01 -1.33679060e-02 8.68809556e+02] [ 5.20470635e-01 8.53845190e-01 -7.66219541e-03 2.77739570e+01] [ 1.54025008e-02 -4.16074930e-04 9.99881288e-01 1.34879780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.8092541539999 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:868.83, Y:27.79, Z:13.49 [[ 8.53059563e-01 -5.21642309e-01 -1.33672449e-02 8.68833267e+02] [ 5.21586197e-01 8.53164177e-01 -7.66334862e-03 2.77884417e+01] [ 1.54019814e-02 -4.34877616e-04 9.99881288e-01 1.34886278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.8392541539998 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:868.86, Y:27.80, Z:13.49 [[ 8.52553468e-01 -5.22469097e-01 -1.33651088e-02 8.68856541e+02] [ 5.22413028e-01 8.52658105e-01 -7.66707232e-03 2.78023483e+01] [ 1.54016767e-02 -4.45517845e-04 9.99881288e-01 1.34876570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.8692541539999 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:868.88, Y:27.82, Z:13.49 [[ 8.51644426e-01 -5.23949601e-01 -1.33636559e-02 8.68879886e+02] [ 5.23893674e-01 8.51749139e-01 -7.66960384e-03 2.78171081e+01] [ 1.54009683e-02 -4.69359425e-04 9.99881288e-01 1.34887623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.8992541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:868.90, Y:27.83, Z:13.49 [[ 8.51254975e-01 -5.24582153e-01 -1.33615636e-02 8.68903944e+02] [ 5.24526247e-01 8.51359699e-01 -7.67324723e-03 2.78317733e+01] [ 1.54007453e-02 -4.76600912e-04 9.99881288e-01 1.34912748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.9292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:868.92, Y:27.85, Z:13.49 [[ 8.48808859e-01 -5.28531028e-01 -1.33594090e-02 8.68920274e+02] [ 5.28475550e-01 8.48913810e-01 -7.67699653e-03 2.78501605e+01] [ 1.53985177e-02 -5.43818383e-04 9.99881288e-01 1.34889322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.9592541539998 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:868.95, Y:27.86, Z:13.49 [[ 8.51611226e-01 -5.24006761e-01 -1.32375937e-02 8.68952725e+02] [ 5.23947422e-01 8.51714076e-01 -7.88874015e-03 2.78628355e+01] [ 1.54083980e-02 -2.17663394e-04 9.99881260e-01 1.34909210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.9892541539999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:868.98, Y:27.88, Z:13.49 [[ 8.53087550e-01 -5.21596762e-01 -1.33585192e-02 8.68976645e+02] [ 5.21540410e-01 8.53192032e-01 -7.67835935e-03 2.78787870e+01] [ 1.54023895e-02 -4.16694821e-04 9.99881289e-01 1.34932410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.0192541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:868.99, Y:27.90, Z:13.49 [[ 8.51542550e-01 -5.24115336e-01 -1.33566831e-02 8.68993446e+02] [ 5.24059242e-01 8.51647172e-01 -7.68155204e-03 2.78967023e+01] [ 1.54012006e-02 -4.58524788e-04 9.99881289e-01 1.34900224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.0492541539999 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:869.02, Y:27.91, Z:13.49 [[ 8.56692214e-01 -5.15657914e-01 -1.32426383e-02 8.69023246e+02] [ 5.15597714e-01 8.56794555e-01 -7.87957227e-03 2.79110881e+01] [ 1.54093842e-02 -7.75058437e-05 9.99881265e-01 1.34941256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.0792541539998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:869.05, Y:27.93, Z:13.49 [[ 8.58517447e-01 -5.12610404e-01 -1.33554245e-02 8.69045612e+02] [ 5.12552877e-01 8.58621285e-01 -7.68352945e-03 2.79257330e+01] [ 1.54059089e-02 -2.48917156e-04 9.99881291e-01 1.34946481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.1092541539999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:869.07, Y:27.94, Z:13.49 [[ 8.61904457e-01 -5.06894826e-01 -1.33544677e-02 8.69068707e+02] [ 5.06836585e-01 8.62007897e-01 -7.68519203e-03 2.79432104e+01] [ 1.54072407e-02 -1.44631547e-04 9.99881291e-01 1.34933972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.1392541539999 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:869.09, Y:27.96, Z:13.49 [[ 8.63549293e-01 -5.04087618e-01 -1.33526195e-02 8.69091960e+02] [ 5.04028991e-01 8.63652514e-01 -7.68840189e-03 2.79589736e+01] [ 1.54076516e-02 -9.07933105e-05 9.99881291e-01 1.34920423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.1692541539999 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:869.12, Y:27.98, Z:13.49 [[ 8.66608279e-01 -4.98810401e-01 -1.33519650e-02 8.69115207e+02] [ 4.98751127e-01 8.66711131e-01 -7.68953833e-03 2.79764534e+01] [ 1.54079184e-02 4.50998734e-06 9.99881291e-01 1.34915267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.1992541539998 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:869.14, Y:27.99, Z:13.49 [[ 8.67798391e-01 -4.96737082e-01 -1.33500612e-02 8.69138777e+02] [ 4.96677512e-01 8.67901071e-01 -7.69284220e-03 2.79918137e+01] [ 1.54078524e-02 4.51609248e-05 9.99881291e-01 1.34919314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.2292541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:869.16, Y:28.01, Z:13.49 [[ 8.68686420e-01 -4.95182530e-01 -1.33478513e-02 8.69163505e+02] [ 4.95122718e-01 8.68788959e-01 -7.69667461e-03 2.80074699e+01] [ 1.54077247e-02 7.71722955e-05 9.99881291e-01 1.34937733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.2592541539999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:869.19, Y:28.02, Z:13.49 [[ 8.69536987e-01 -4.93687467e-01 -1.33459130e-02 8.69187202e+02] [ 4.93627427e-01 8.69639393e-01 -7.70003417e-03 2.80229093e+01] [ 1.54075420e-02 1.07555825e-04 9.99881291e-01 1.34929276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.2892541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:869.21, Y:28.04, Z:13.49 [[ 8.69589654e-01 -4.93594711e-01 -1.33452281e-02 8.69211473e+02] [ 4.93534641e-01 8.69692043e-01 -7.70122098e-03 2.80372687e+01] [ 1.54075206e-02 1.10569722e-04 9.99881291e-01 1.34942615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.3192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:869.24, Y:28.05, Z:13.50 [[ 8.68806172e-01 -4.94972521e-01 -1.33431384e-02 8.69235248e+02] [ 4.94912558e-01 8.68908623e-01 -7.70483984e-03 2.80509989e+01] [ 1.54076521e-02 9.03256284e-05 9.99881291e-01 1.34967193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.3492541539998 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:869.26, Y:28.07, Z:13.50 [[ 8.66595140e-01 -4.98833482e-01 -1.33424428e-02 8.69259649e+02] [ 4.98773957e-01 8.66697846e-01 -7.70604427e-03 2.80653253e+01] [ 1.54078993e-02 2.31575240e-05 9.99881291e-01 1.34954860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.3792541539999 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:869.28, Y:28.08, Z:13.50 [[ 8.63576707e-01 -5.04040980e-01 -1.33402698e-02 8.69284105e+02] [ 5.03982016e-01 8.63679736e-01 -7.70980423e-03 2.80788313e+01] [ 1.54077780e-02 -6.52487164e-05 9.99881291e-01 1.34956941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.4092541539999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:869.31, Y:28.09, Z:13.50 [[ 8.61992588e-01 -5.06745373e-01 -1.33380691e-02 8.69308745e+02] [ 5.06686674e-01 8.62095769e-01 -7.71360966e-03 2.80923536e+01] [ 1.54075289e-02 -1.09147493e-04 9.99881291e-01 1.34982676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.4392541539999 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:869.33, Y:28.11, Z:13.50 [[ 8.60469639e-01 -5.09327161e-01 -1.33358213e-02 8.69332896e+02] [ 5.09268711e-01 8.60572961e-01 -7.71749381e-03 2.81057874e+01] [ 1.54071764e-02 -1.50847404e-04 9.99881291e-01 1.34974995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.4692541539998 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:869.36, Y:28.12, Z:13.50 [[ 8.57531283e-01 -5.14258955e-01 -1.33351258e-02 8.69357942e+02] [ 5.14201081e-01 8.57634929e-01 -7.71869542e-03 2.81192845e+01] [ 1.54060779e-02 -2.37913296e-04 9.99881291e-01 1.34978054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.4992541539999 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:869.38, Y:28.13, Z:13.50 [[ 8.56322621e-01 -5.16269111e-01 -1.33331752e-02 8.69382563e+02] [ 5.16211427e-01 8.56426373e-01 -7.72206332e-03 2.81330697e+01] [ 1.54055457e-02 -2.70159891e-04 9.99881291e-01 1.34987910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.5292541539999 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:869.41, Y:28.15, Z:13.50 [[ 8.54595100e-01 -5.19123783e-01 -1.33309230e-02 8.69406989e+02] [ 5.19066385e-01 8.54699010e-01 -7.72594947e-03 2.81472075e+01] [ 1.54046508e-02 -3.17075447e-04 9.99881291e-01 1.34975110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.5592541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:869.43, Y:28.16, Z:13.50 [[ 8.54122201e-01 -5.19901501e-01 -1.33302280e-02 8.69432243e+02] [ 5.19844179e-01 8.54226153e-01 -7.72714847e-03 2.81619711e+01] [ 1.54043854e-02 -3.29712346e-04 9.99881291e-01 1.35012368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.5892541539998 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:869.46, Y:28.18, Z:13.50 [[ 8.53377647e-01 -5.21122778e-01 -1.33282653e-02 8.69456335e+02] [ 5.21065552e-01 8.53481652e-01 -7.73053225e-03 2.81768368e+01] [ 1.54039864e-02 -3.47836508e-04 9.99881291e-01 1.34985452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.6192541539999 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:869.48, Y:28.19, Z:13.50 [[ 8.53035949e-01 -5.21681939e-01 -1.33275708e-02 8.69480244e+02] [ 5.21624763e-01 8.53139981e-01 -7.73172937e-03 2.81909428e+01] [ 1.54037871e-02 -3.56547877e-04 9.99881291e-01 1.34997423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.6492541539999 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:869.50, Y:28.21, Z:13.50 [[ 8.52630612e-01 -5.22344209e-01 -1.33254004e-02 8.69504019e+02] [ 5.22287055e-01 8.52734657e-01 -7.73546820e-03 2.82050970e+01] [ 1.54036078e-02 -3.64187158e-04 9.99881291e-01 1.35005495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.6792541539999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:869.53, Y:28.22, Z:13.50 [[ 8.52630057e-01 -5.22345172e-01 -1.33232108e-02 8.69527714e+02] [ 5.22287959e-01 8.52734069e-01 -7.73923764e-03 2.82193547e+01] [ 1.54037092e-02 -3.59845960e-04 9.99881291e-01 1.35008296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.7092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:869.55, Y:28.24, Z:13.50 [[ 8.50324192e-01 -5.26090561e-01 -1.33225335e-02 8.69546241e+02] [ 5.26033788e-01 8.50428445e-01 -7.74040342e-03 2.82363272e+01] [ 1.54020146e-02 -4.26250482e-04 9.99881291e-01 1.35035086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.7392541539999 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:869.58, Y:28.25, Z:13.50 [[ 8.52301663e-01 -5.22883528e-01 -1.32171015e-02 8.69576999e+02] [ 5.22823543e-01 8.52404124e-01 -7.92164572e-03 2.82496077e+01] [ 1.54084099e-02 -1.58580003e-04 9.99881271e-01 1.35024843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.7692541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:869.60, Y:28.27, Z:13.51 [[ 8.51116123e-01 -5.24808434e-01 -1.33211678e-02 8.69598111e+02] [ 5.24751470e-01 8.51220270e-01 -7.74259997e-03 2.82669168e+01] [ 1.54026298e-02 -4.00450712e-04 9.99881292e-01 1.35060989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.7992541539999 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:869.63, Y:28.28, Z:13.51 [[ 8.52726834e-01 -5.22188899e-01 -1.32552005e-02 8.69626088e+02] [ 5.22129849e-01 8.52829821e-01 -7.85599897e-03 2.82802967e+01] [ 1.54067458e-02 -2.21914725e-04 9.99881284e-01 1.35076141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.8292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:869.65, Y:28.29, Z:13.51 [[ 8.53128118e-01 -5.21531422e-01 -1.33188111e-02 8.69650502e+02] [ 5.21473994e-01 8.53232010e-01 -7.74663330e-03 2.82949971e+01] [ 1.54041487e-02 -3.36542962e-04 9.99881292e-01 1.35103671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.8592541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:869.67, Y:28.31, Z:13.51 [[ 8.51857975e-01 -5.23603525e-01 -1.33168513e-02 8.69668036e+02] [ 5.23546298e-01 8.51961978e-01 -7.75000095e-03 2.83134038e+01] [ 1.54033788e-02 -3.70088064e-04 9.99881292e-01 1.35063646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.8892541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:869.70, Y:28.33, Z:13.51 [[ 8.54713387e-01 -5.18931923e-01 -1.32168942e-02 8.69698369e+02] [ 5.18871464e-01 8.54815566e-01 -7.92160281e-03 2.83268735e+01] [ 1.54087794e-02 -8.71692644e-05 9.99881274e-01 1.35105750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.9192541539999 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:869.72, Y:28.34, Z:13.51 [[ 8.56277447e-01 -5.16344472e-01 -1.33161470e-02 8.69720968e+02] [ 5.16286345e-01 8.56380949e-01 -7.75108990e-03 2.83430296e+01] [ 1.54059270e-02 -2.37861396e-04 9.99881293e-01 1.35078554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.9492541539998 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:869.74, Y:28.36, Z:13.51 [[ 8.57701232e-01 -5.13975968e-01 -1.33154554e-02 8.69744562e+02] [ 5.13917538e-01 8.57804562e-01 -7.75227779e-03 2.83599019e+01] [ 1.54065429e-02 -1.93907855e-04 9.99881293e-01 1.35066915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.9792541539999 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:869.76, Y:28.38, Z:13.51 [[ 8.56456430e-01 -5.16047608e-01 -1.33135374e-02 8.69763389e+02] [ 5.15989377e-01 8.56559872e-01 -7.75557041e-03 2.83771565e+01] [ 1.54060854e-02 -2.27335706e-04 9.99881293e-01 1.35060593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.0092541539999 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:869.79, Y:28.39, Z:13.51 [[ 8.59155321e-01 -5.11544114e-01 -1.32194899e-02 8.69792533e+02] [ 5.11482850e-01 8.59257015e-01 -7.91680740e-03 2.83912893e+01] [ 1.54087357e-02 4.02248134e-05 9.99881278e-01 1.35082627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.0392541539999 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:869.82, Y:28.41, Z:13.51 [[ 8.58787581e-01 -5.12158860e-01 -1.33113717e-02 8.69815969e+02] [ 5.12100104e-01 8.58890726e-01 -7.75917888e-03 2.84064467e+01] [ 1.54069459e-02 -1.53268348e-04 9.99881294e-01 1.35089623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.0692541539999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:869.84, Y:28.42, Z:13.51 [[ 8.57653104e-01 -5.14056437e-01 -1.33091453e-02 8.69840014e+02] [ 5.13997850e-01 8.57756344e-01 -7.76299590e-03 2.84206562e+01] [ 1.54066218e-02 -1.82914526e-04 9.99881294e-01 1.35103431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.0992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:869.87, Y:28.44, Z:13.51 [[ 8.55905714e-01 -5.16960631e-01 -1.33084573e-02 8.69865454e+02] [ 5.16902376e-01 8.56009142e-01 -7.76417512e-03 2.84351471e+01] [ 1.54059340e-02 -2.33771354e-04 9.99881294e-01 1.35126824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.1292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:869.89, Y:28.45, Z:13.51 [[ 8.55761158e-01 -5.17199938e-01 -1.33065581e-02 8.69890087e+02] [ 5.17141661e-01 8.55864574e-01 -7.76742868e-03 2.84496191e+01] [ 1.54059253e-02 -2.34311797e-04 9.99881294e-01 1.35131215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.1592541539999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:869.91, Y:28.46, Z:13.51 [[ 8.54301994e-01 -5.19606676e-01 -1.33043853e-02 8.69914192e+02] [ 5.19548632e-01 8.54405541e-01 -7.77114849e-03 2.84645056e+01] [ 1.54052812e-02 -2.73367558e-04 9.99881294e-01 1.35107790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.1892541539999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:869.94, Y:28.48, Z:13.51 [[ 8.54158613e-01 -5.19842356e-01 -1.33037130e-02 8.69938818e+02] [ 5.19784323e-01 8.54262166e-01 -7.77229925e-03 2.84789882e+01] [ 1.54052291e-02 -2.76285132e-04 9.99881294e-01 1.35112188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.2192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:869.96, Y:28.49, Z:13.51 [[ 8.53245828e-01 -5.21339261e-01 -1.33015676e-02 8.69963541e+02] [ 5.21281353e-01 8.53349451e-01 -7.77596929e-03 2.84928409e+01] [ 1.54048035e-02 -2.99045787e-04 9.99881294e-01 1.35141653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.2492541539999 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:869.99, Y:28.51, Z:13.51 [[ 8.50147736e-01 -5.26376218e-01 -1.33005485e-02 8.69988130e+02] [ 5.26318896e-01 8.50251685e-01 -7.77771195e-03 2.85071895e+01] [ 1.54028164e-02 -3.88125817e-04 9.99881294e-01 1.35134929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.2792541539999 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:870.01, Y:28.52, Z:13.51 [[ 8.48425155e-01 -5.29148281e-01 -1.32985952e-02 8.70013180e+02] [ 5.29091247e-01 8.48529262e-01 -7.78105043e-03 2.85218378e+01] [ 1.54015766e-02 -4.34531386e-04 9.99881294e-01 1.35118758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.3092541539999 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:870.04, Y:28.54, Z:13.51 [[ 8.47075609e-01 -5.31306044e-01 -1.32966499e-02 8.70036417e+02] [ 5.31249223e-01 8.47179832e-01 -7.78437323e-03 2.85351035e+01] [ 1.54005382e-02 -4.69882220e-04 9.99881294e-01 1.35121240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.3392541539998 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:870.06, Y:28.55, Z:13.51 [[ 8.44640426e-01 -5.35168936e-01 -1.32951405e-02 8.70059690e+02] [ 5.35112551e-01 8.44744885e-01 -7.78695032e-03 2.85483783e+01] [ 1.53983358e-02 -5.37223502e-04 9.99881294e-01 1.35135392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.3692541539999 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:870.08, Y:28.56, Z:13.51 [[ 8.43462500e-01 -5.37023548e-01 -1.32936452e-02 8.70083985e+02] [ 5.36967352e-01 8.43567061e-01 -7.78950215e-03 2.85631152e+01] [ 1.53972273e-02 -5.68100517e-04 9.99881294e-01 1.35132872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.3992541539999 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:870.11, Y:28.58, Z:13.51 [[ 8.42368484e-01 -5.38738039e-01 -1.32914217e-02 8.70108053e+02] [ 5.38681997e-01 8.42473128e-01 -7.79329427e-03 2.85777171e+01] [ 1.53962097e-02 -5.95024121e-04 9.99881294e-01 1.35146408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.4292541539999 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:870.13, Y:28.59, Z:13.51 [[ 8.41780321e-01 -5.39656602e-01 -1.32907336e-02 8.70132274e+02] [ 5.39600655e-01 8.41885016e-01 -7.79446764e-03 2.85926043e+01] [ 1.53956054e-02 -6.10459085e-04 9.99881294e-01 1.35142865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.4592541539998 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:870.16, Y:28.61, Z:13.52 [[ 8.41800418e-01 -5.39625307e-01 -1.32884706e-02 8.70155573e+02] [ 5.39569296e-01 8.41905079e-01 -7.79832388e-03 2.86069538e+01] [ 1.53958038e-02 -6.05418408e-04 9.99881294e-01 1.35164905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.4892541539999 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:870.18, Y:28.62, Z:13.52 [[ 8.41264241e-01 -5.40460846e-01 -1.32872410e-02 8.70178889e+02] [ 5.40404906e-01 8.41368939e-01 -7.80041835e-03 2.86228774e+01] [ 1.53952926e-02 -6.18277205e-04 9.99881294e-01 1.35183134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.5192541539999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:870.20, Y:28.64, Z:13.52 [[ 8.42482966e-01 -5.38559712e-01 -1.32622949e-02 8.70203761e+02] [ 5.38502867e-01 8.42587178e-01 -7.84289418e-03 2.86372059e+01] [ 1.53985064e-02 -5.34279048e-04 9.99881293e-01 1.35193825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.5492541539999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:870.23, Y:28.65, Z:13.52 [[ 8.44022875e-01 -5.36142580e-01 -1.32861232e-02 8.70229145e+02] [ 5.36086073e-01 8.44127269e-01 -7.80231827e-03 2.86536034e+01] [ 1.53983339e-02 -5.37170523e-04 9.99881294e-01 1.35197804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.5792541539998 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:870.25, Y:28.67, Z:13.52 [[ 8.44823290e-01 -5.34879880e-01 -1.33087871e-02 8.70251269e+02] [ 5.34823824e-01 8.44927927e-01 -7.76373795e-03 2.86694496e+01] [ 1.53976332e-02 -5.58869799e-04 9.99881293e-01 1.35200156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.6092541539999 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:870.27, Y:28.68, Z:13.52 [[ 8.46018155e-01 -5.32988591e-01 -1.32832024e-02 8.70273650e+02] [ 5.32931618e-01 8.46122295e-01 -7.80726754e-03 2.86843901e+01] [ 1.54003983e-02 -4.73948488e-04 9.99881295e-01 1.35193674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.6392541539999 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:870.30, Y:28.70, Z:13.52 [[ 8.49000727e-01 -5.28224714e-01 -1.32822223e-02 8.70296267e+02] [ 5.28167130e-01 8.49104530e-01 -7.80893470e-03 2.87010902e+01] [ 1.54028674e-02 -3.85441978e-04 9.99881295e-01 1.35200776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.6692541539999 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:870.32, Y:28.72, Z:13.52 [[ 8.50694286e-01 -5.25492982e-01 -1.32799913e-02 8.70319011e+02] [ 5.25435006e-01 8.50797870e-01 -7.81272683e-03 2.87162772e+01] [ 1.54041215e-02 -3.31530247e-04 9.99881295e-01 1.35206739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.6992541539998 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:870.34, Y:28.73, Z:13.52 [[ 8.54059359e-01 -5.20006038e-01 -1.32790237e-02 8.70341352e+02] [ 5.19947371e-01 8.54162553e-01 -7.81437108e-03 2.87334998e+01] [ 1.54059650e-02 -2.30456727e-04 9.99881295e-01 1.35215095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.7292541539999 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:870.36, Y:28.75, Z:13.52 [[ 8.55292075e-01 -5.17976054e-01 -1.32768202e-02 8.70364353e+02] [ 5.17917084e-01 8.55395097e-01 -7.81811315e-03 2.87490713e+01] [ 1.54065223e-02 -1.89521785e-04 9.99881295e-01 1.35216362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.7592541539999 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:870.39, Y:28.77, Z:13.52 [[ 8.57503949e-01 -5.14306098e-01 -1.32745916e-02 8.70387221e+02] [ 5.14246628e-01 8.57606684e-01 -7.82189532e-03 2.87652727e+01] [ 1.54072269e-02 -1.19107840e-04 9.99881295e-01 1.35202316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.7892541539999 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:870.41, Y:28.78, Z:13.52 [[ 8.58360602e-01 -5.12875113e-01 -1.32739024e-02 8.70411665e+02] [ 5.12815454e-01 8.58463226e-01 -7.82306466e-03 2.87804062e+01] [ 1.54074123e-02 -9.20518196e-05 9.99881295e-01 1.35225523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.8192541539999 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:870.44, Y:28.80, Z:13.52 [[ 8.58669571e-01 -5.12357710e-01 -1.32719182e-02 8.70435626e+02] [ 5.12297937e-01 8.58772129e-01 -7.82642947e-03 2.87952111e+01] [ 1.54074850e-02 -7.88594933e-05 9.99881295e-01 1.35216947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.8492541539998 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:870.46, Y:28.81, Z:13.52 [[ 8.59113327e-01 -5.11613337e-01 -1.32696697e-02 8.70458727e+02] [ 5.11553416e-01 8.59215799e-01 -7.83024000e-03 2.88097106e+01] [ 1.54075651e-02 -6.10813191e-05 9.99881295e-01 1.35233165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.8792541539999 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:870.48, Y:28.82, Z:13.52 [[ 8.58732670e-01 -5.12252031e-01 -1.32686937e-02 8.70482600e+02] [ 5.12192161e-01 8.58835171e-01 -7.83189345e-03 2.88242984e+01] [ 1.54075242e-02 -7.06181498e-05 9.99881295e-01 1.35240942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.9092541539999 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:870.51, Y:28.84, Z:13.53 [[ 8.57100342e-01 -5.14978647e-01 -1.32663903e-02 8.70505965e+02] [ 5.14919042e-01 8.57202998e-01 -7.83579335e-03 2.88398984e+01] [ 1.54072558e-02 -1.15055807e-04 9.99881295e-01 1.35253526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.9392541539999 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:870.53, Y:28.85, Z:13.53 [[ 8.56341808e-01 -5.16239564e-01 -1.32446749e-02 8.70529764e+02] [ 5.16179542e-01 8.56444221e-01 -7.87254061e-03 2.88542770e+01] [ 1.54074422e-02 -9.50445578e-05 9.99881294e-01 1.35264004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.9692541539998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:870.55, Y:28.87, Z:13.53 [[ 8.55385547e-01 -5.17822764e-01 -1.32344193e-02 8.70553521e+02] [ 5.17762663e-01 8.55487916e-01 -7.88989096e-03 2.88691818e+01] [ 1.54074509e-02 -1.03389482e-04 9.99881293e-01 1.35305564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.9992541539999 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:870.58, Y:28.88, Z:13.53 [[ 8.55224871e-01 -5.18088549e-01 -1.32164751e-02 8.70581071e+02] [ 5.18028011e-01 8.55326984e-01 -7.92023094e-03 2.88824396e+01] [ 1.54077887e-02 -7.29258081e-05 9.99881290e-01 1.35263119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.0292541539999 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:870.60, Y:28.90, Z:13.53 [[ 8.53189081e-01 -5.21433130e-01 -1.32620704e-02 8.70602569e+02] [ 5.21374188e-01 8.53292119e-01 -7.84313335e-03 2.88985627e+01] [ 1.54060897e-02 -2.22825432e-04 9.99881294e-01 1.35258934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.0592541539999 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:870.63, Y:28.91, Z:13.53 [[ 8.52873975e-01 -5.21949869e-01 -1.32029301e-02 8.70628957e+02] [ 5.21889440e-01 8.52976155e-01 -7.94305586e-03 2.89127257e+01] [ 1.54076615e-02 -1.16044184e-04 9.99881288e-01 1.35275230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.0892541539998 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:870.65, Y:28.93, Z:13.53 [[ 8.53238766e-01 -5.21352709e-01 -1.32273048e-02 8.70654612e+02] [ 5.21292846e-01 8.53341274e-01 -7.90187470e-03 2.89262300e+01] [ 1.54070689e-02 -1.53113541e-04 9.99881292e-01 1.35251703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.1192541539999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:870.68, Y:28.94, Z:13.53 [[ 8.52226255e-01 -5.23005368e-01 -1.32588005e-02 8.70678605e+02] [ 5.22946530e-01 8.52329353e-01 -7.84866898e-03 2.89401115e+01] [ 1.54057608e-02 -2.44801920e-04 9.99881294e-01 1.35277512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.1492541539999 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:870.70, Y:28.95, Z:13.53 [[ 8.51572008e-01 -5.24070014e-01 -1.32565534e-02 8.70702714e+02] [ 5.24011246e-01 8.51675145e-01 -7.85246243e-03 2.89544507e+01] [ 1.54055172e-02 -2.59645876e-04 9.99881294e-01 1.35264286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.1792541539999 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:870.73, Y:28.97, Z:13.53 [[ 8.50106026e-01 -5.26444705e-01 -1.32558585e-02 8.70727403e+02] [ 5.26386206e-01 8.50209317e-01 -7.85363540e-03 2.89689775e+01] [ 1.54047591e-02 -3.01278275e-04 9.99881294e-01 1.35268559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.2092541539998 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:870.75, Y:28.98, Z:13.53 [[ 8.49286732e-01 -5.27765459e-01 -1.32539219e-02 8.70750423e+02] [ 5.27707071e-01 8.49390085e-01 -7.85690224e-03 2.89825475e+01] [ 1.54043515e-02 -3.21425471e-04 9.99881294e-01 1.35275120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.2392541539999 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:870.77, Y:29.00, Z:13.53 [[ 8.48399865e-01 -5.29189973e-01 -1.32529626e-02 8.70774838e+02] [ 5.29131733e-01 8.48503302e-01 -7.85852005e-03 2.89970766e+01] [ 1.54038325e-02 -3.45395721e-04 9.99881294e-01 1.35287275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.2692541539999 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:870.80, Y:29.01, Z:13.53 [[ 8.46571189e-01 -5.32110544e-01 -1.32510702e-02 8.70799668e+02] [ 5.32052610e-01 8.46674798e-01 -7.86170968e-03 2.90121237e+01] [ 1.54026458e-02 -3.94769590e-04 9.99881294e-01 1.35319053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.2992541539999 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:870.82, Y:29.03, Z:13.53 [[ 8.45570568e-01 -5.33699237e-01 -1.32491190e-02 8.70823577e+02] [ 5.33641446e-01 8.45674257e-01 -7.86499671e-03 2.90263250e+01] [ 1.54019816e-02 -4.19869269e-04 9.99881294e-01 1.35330697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.3292541539998 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:870.85, Y:29.04, Z:13.53 [[ 8.44123759e-01 -5.35984702e-01 -1.32468163e-02 8.70847333e+02] [ 5.35927132e-01 8.44227570e-01 -7.86887308e-03 2.90409257e+01] [ 1.54009232e-02 -4.57025554e-04 9.99881294e-01 1.35334538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.3592541539999 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:870.87, Y:29.06, Z:13.53 [[ 8.43331482e-01 -5.37230447e-01 -1.32461039e-02 8.70871267e+02] [ 5.37173011e-01 8.43435367e-01 -7.87007213e-03 2.90561927e+01] [ 1.54002749e-02 -4.78369934e-04 9.99881294e-01 1.35342424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.3892541539999 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:870.90, Y:29.07, Z:13.53 [[ 8.42933825e-01 -5.37854225e-01 -1.32438175e-02 8.70895187e+02] [ 5.37796806e-01 8.43037720e-01 -7.87391781e-03 2.90714941e+01] [ 1.54000577e-02 -4.85291105e-04 9.99881294e-01 1.35347794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.4192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:870.92, Y:29.09, Z:13.54 [[ 8.43490825e-01 -5.36980344e-01 -1.32415415e-02 8.70918742e+02] [ 5.36922757e-01 8.43594627e-01 -7.87774355e-03 2.90874107e+01] [ 1.54006867e-02 -4.64880561e-04 9.99881294e-01 1.35386474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.4492541539998 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:870.94, Y:29.10, Z:13.54 [[ 8.45093128e-01 -5.34455162e-01 -1.32395439e-02 8.70942245e+02] [ 5.34397212e-01 8.45196727e-01 -7.88109939e-03 2.91042964e+01] [ 1.54021134e-02 -4.14912403e-04 9.99881294e-01 1.35353989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.4792541539999 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:870.97, Y:29.12, Z:13.54 [[ 8.46468668e-01 -5.32273954e-01 -1.32375273e-02 8.70965798e+02] [ 5.32215685e-01 8.46572088e-01 -7.88448513e-03 2.91198834e+01] [ 1.54032272e-02 -3.71250006e-04 9.99881294e-01 1.35361046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.5092541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:870.99, Y:29.14, Z:13.54 [[ 8.48203417e-01 -5.29505195e-01 -1.32368134e-02 8.70988933e+02] [ 5.29446569e-01 8.48306635e-01 -7.88568346e-03 2.91353232e+01] [ 1.54043870e-02 -3.19521766e-04 9.99881294e-01 1.35386507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.5392541539999 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:871.01, Y:29.15, Z:13.54 [[ 8.51256793e-01 -5.24582384e-01 -1.32361082e-02 8.71012145e+02] [ 5.24523143e-01 8.51359660e-01 -7.88686687e-03 2.91529262e+01] [ 1.54060000e-02 -2.28896080e-04 9.99881294e-01 1.35361857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.5692541539999 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:871.03, Y:29.17, Z:13.54 [[ 8.52866618e-01 -5.21961100e-01 -1.32341184e-02 8.71034946e+02] [ 5.21901491e-01 8.52969272e-01 -7.89020440e-03 2.91686124e+01] [ 1.54066761e-02 -1.77614176e-04 9.99881294e-01 1.35372533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.5992541539998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:871.06, Y:29.19, Z:13.54 [[ 8.55581545e-01 -5.17498928e-01 -1.32317888e-02 8.71057237e+02] [ 5.17438723e-01 8.55683850e-01 -7.89410910e-03 2.91853665e+01] [ 1.54074210e-02 -9.25858477e-05 9.99881294e-01 1.35384203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.6292541539999 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:871.08, Y:29.20, Z:13.54 [[ 8.56205860e-01 -5.16465356e-01 -1.32310671e-02 8.71080697e+02] [ 5.16405009e-01 8.56308082e-01 -7.89531862e-03 2.92004831e+01] [ 1.54075282e-02 -7.25712369e-05 9.99881294e-01 1.35376040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.6592541539999 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:871.10, Y:29.22, Z:13.54 [[ 8.56593828e-01 -5.15821686e-01 -1.32288134e-02 8.71104252e+02] [ 5.15761204e-01 8.56695970e-01 -7.89909288e-03 2.92154234e+01] [ 1.54075946e-02 -5.65945284e-05 9.99881294e-01 1.35379246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.6892541539999 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:871.13, Y:29.23, Z:13.54 [[ 8.56955782e-01 -5.15220191e-01 -1.32265401e-02 8.71128971e+02] [ 5.15159579e-01 8.57057847e-01 -7.90289758e-03 2.92309652e+01] [ 1.54076424e-02 -4.13450471e-05 9.99881294e-01 1.35399648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.7192541539998 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:871.15, Y:29.25, Z:13.54 [[ 8.57056586e-01 -5.15052542e-01 -1.32245160e-02 8.71152297e+02] [ 5.14991857e-01 8.57158607e-01 -7.90628316e-03 2.92458972e+01] [ 1.54076590e-02 -3.43860129e-05 9.99881294e-01 1.35398516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.7492541539999 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:871.18, Y:29.26, Z:13.54 [[ 8.56964107e-01 -5.15206415e-01 -1.32237992e-02 8.71175940e+02] [ 5.15145730e-01 8.57066128e-01 -7.90748184e-03 2.92604692e+01] [ 1.54076558e-02 -3.57556068e-05 9.99881294e-01 1.35406787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.7792541539999 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:871.20, Y:29.28, Z:13.54 [[ 8.56672108e-01 -5.15691856e-01 -1.32215348e-02 8.71199529e+02] [ 5.15631170e-01 8.56774129e-01 -7.91126622e-03 2.92759054e+01] [ 1.54076445e-02 -4.00743566e-05 9.99881294e-01 1.35409142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.8092541539999 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:871.22, Y:29.29, Z:13.54 [[ 8.56482334e-01 -5.16007039e-01 -1.32192397e-02 8.71222525e+02] [ 5.15946332e-01 8.56584342e-01 -7.91509945e-03 2.92902503e+01] [ 1.54076407e-02 -4.12753600e-05 9.99881294e-01 1.35413825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.8392541539998 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:871.25, Y:29.31, Z:13.54 [[ 8.56179713e-01 -5.16509029e-01 -1.32182446e-02 8.71246299e+02] [ 5.16448356e-01 8.56281741e-01 -7.91676086e-03 2.93051585e+01] [ 1.54076200e-02 -4.83706495e-05 9.99881294e-01 1.35414195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.8692541539999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:871.27, Y:29.32, Z:13.54 [[ 8.56025908e-01 -5.16763953e-01 -1.32159792e-02 8.71270709e+02] [ 5.16703252e-01 8.56127919e-01 -7.92054081e-03 2.93198908e+01] [ 1.54076188e-02 -4.85513045e-05 9.99881294e-01 1.35433329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.8992541539999 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:871.29, Y:29.33, Z:13.54 [[ 8.55460106e-01 -5.17700110e-01 -1.32137220e-02 8.71294285e+02] [ 5.17639463e-01 8.55562150e-01 -7.92430469e-03 2.93340023e+01] [ 1.54075738e-02 -6.10174170e-05 9.99881294e-01 1.35416178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.9292541539999 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:871.32, Y:29.35, Z:13.54 [[ 8.55156930e-01 -5.18200773e-01 -1.32130238e-02 8.71317683e+02] [ 5.18140167e-01 8.55258998e-01 -7.92546867e-03 2.93477755e+01] [ 1.54075415e-02 -6.86789193e-05 9.99881294e-01 1.35422172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.9592541539998 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:871.34, Y:29.36, Z:13.54 [[ 8.54312847e-01 -5.19591200e-01 -1.32115220e-02 8.71342135e+02] [ 5.19530722e-01 8.54414991e-01 -7.92797137e-03 2.93617442e+01] [ 1.54074266e-02 -9.08237737e-05 9.99881294e-01 1.35422562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.9892541539999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:871.37, Y:29.38, Z:13.54 [[ 8.54010355e-01 -5.20088289e-01 -1.32092930e-02 8.71366413e+02] [ 5.20027813e-01 8.54112500e-01 -7.93168351e-03 2.93757053e+01] [ 1.54073980e-02 -9.54599039e-05 9.99881294e-01 1.35437346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.0192541539999 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:871.39, Y:29.39, Z:13.54 [[ 8.53498190e-01 -5.20928414e-01 -1.32070743e-02 8.71390899e+02] [ 5.20867981e-01 8.53600361e-01 -7.93537611e-03 2.93891658e+01] [ 1.54073263e-02 -1.06312992e-04 9.99881294e-01 1.35428783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.0492541539999 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:871.42, Y:29.40, Z:13.54 [[ 8.53354135e-01 -5.21164380e-01 -1.32063884e-02 8.71415333e+02] [ 5.21103958e-01 8.53456312e-01 -7.93651741e-03 2.94039485e+01] [ 1.54073058e-02 -1.09241341e-04 9.99881294e-01 1.35433179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.0792541539998 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:871.44, Y:29.42, Z:13.54 [[ 8.52955978e-01 -5.21815819e-01 -1.32041930e-02 8.71439577e+02] [ 5.21755418e-01 8.53058168e-01 -7.94016843e-03 2.94168378e+01] [ 1.54072501e-02 -1.16745089e-04 9.99881294e-01 1.35423087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.1092541539999 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:871.46, Y:29.43, Z:13.54 [[ 8.52814113e-01 -5.22047666e-01 -1.32031679e-02 8.71464000e+02] [ 5.21987266e-01 8.52916303e-01 -7.94187257e-03 2.94316345e+01] [ 1.54072332e-02 -1.18944508e-04 9.99881294e-01 1.35427481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.1392541539999 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:871.49, Y:29.45, Z:13.54 [[ 8.52658233e-01 -5.22302280e-01 -1.32010080e-02 8.71489176e+02] [ 5.22241855e-01 8.52760409e-01 -7.94546112e-03 2.94451008e+01] [ 1.54072294e-02 -1.19356064e-04 9.99881294e-01 1.35429850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.1692541539999 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:871.51, Y:29.46, Z:13.54 [[ 8.52513994e-01 -5.22537731e-01 -1.31988573e-02 8.71513103e+02] [ 5.22477279e-01 8.52616154e-01 -7.94903226e-03 2.94590141e+01] [ 1.54072282e-02 -1.19441799e-04 9.99881294e-01 1.35429330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.1992541539998 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:871.54, Y:29.47, Z:13.54 [[ 8.52401055e-01 -5.22721999e-01 -1.31967217e-02 8.71537608e+02] [ 5.22661514e-01 8.52503195e-01 -7.95257618e-03 2.94730092e+01] [ 1.54072339e-02 -1.18634194e-04 9.99881294e-01 1.35437134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.2292541539999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:871.56, Y:29.49, Z:13.55 [[ 8.52680365e-01 -5.22266310e-01 -1.31945960e-02 8.71562833e+02] [ 5.22205716e-01 8.52782440e-01 -7.95610146e-03 2.94858375e+01] [ 1.54073235e-02 -1.06281952e-04 9.99881294e-01 1.35468263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.2592541539999 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:871.59, Y:29.50, Z:13.55 [[ 8.53039772e-01 -5.21679084e-01 -1.31939376e-02 8.71587245e+02] [ 5.21618403e-01 8.53141796e-01 -7.95719312e-03 2.94986963e+01] [ 1.54074008e-02 -9.43984603e-05 9.99881294e-01 1.35466245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.2892541539999 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:871.61, Y:29.51, Z:13.55 [[ 8.53291390e-01 -5.21267437e-01 -1.31932865e-02 8.71611682e+02] [ 5.21206690e-01 8.53393375e-01 -7.95827254e-03 2.95129264e+01] [ 1.54074516e-02 -8.57037464e-05 9.99881294e-01 1.35464585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.3192541539999 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:871.64, Y:29.53, Z:13.55 [[ 8.53704433e-01 -5.20590753e-01 -1.31912220e-02 8.71636238e+02] [ 5.20529873e-01 8.53806338e-01 -7.96169300e-03 2.95272662e+01] [ 1.54075327e-02 -6.94925131e-05 9.99881295e-01 1.35471501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.3492541539998 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:871.66, Y:29.54, Z:13.55 [[ 8.54803968e-01 -5.18783405e-01 -1.31891643e-02 8.71660332e+02] [ 5.18722257e-01 8.54905713e-01 -7.96510027e-03 2.95407602e+01] [ 1.54076538e-02 -3.29137725e-05 9.99881295e-01 1.35478800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.3792541539999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:871.68, Y:29.55, Z:13.55 [[ 8.55542540e-01 -5.17564513e-01 -1.31885267e-02 8.71683612e+02] [ 5.17503204e-01 8.55644187e-01 -7.96615596e-03 2.95542073e+01] [ 1.54076858e-02 -9.71950436e-06 9.99881295e-01 1.35477790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.4092541539999 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:871.71, Y:29.57, Z:13.55 [[ 8.55551046e-01 -5.17550474e-01 -1.31876449e-02 8.71708327e+02] [ 5.17489140e-01 8.55652679e-01 -7.96761548e-03 2.95684698e+01] [ 1.54076868e-02 -7.76125052e-06 9.99881295e-01 1.35459925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.4392541539999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:871.73, Y:29.58, Z:13.55 [[ 8.55823135e-01 -5.17100467e-01 -1.31858910e-02 8.71733458e+02] [ 5.17039035e-01 8.55924709e-01 -7.97051696e-03 2.95827334e+01] [ 1.54076880e-02 3.73244521e-06 9.99881295e-01 1.35520105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.4692541539998 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:871.76, Y:29.60, Z:13.55 [[ 8.56075619e-01 -5.16682417e-01 -1.31838553e-02 8.71758042e+02] [ 5.16620884e-01 8.56177131e-01 -7.97388273e-03 2.95956995e+01] [ 1.54076804e-02 1.51915989e-05 9.99881295e-01 1.35525255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.4992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:871.78, Y:29.61, Z:13.55 [[ 8.55738593e-01 -5.17240474e-01 -1.31815023e-02 8.71782069e+02] [ 5.17178947e-01 8.55840109e-01 -7.97777059e-03 2.96106681e+01] [ 1.54076842e-02 9.69070700e-06 9.99881295e-01 1.35545068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.5292541539999 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:871.81, Y:29.62, Z:13.55 [[ 8.56869064e-01 -5.15365574e-01 -1.31807601e-02 8.71807276e+02] [ 5.15303806e-01 8.56970433e-01 -7.97899658e-03 2.96226694e+01] [ 1.54076219e-02 4.48594716e-05 9.99881295e-01 1.35494224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.5592541539999 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:871.83, Y:29.64, Z:13.55 [[ 8.55963114e-01 -5.16868876e-01 -1.31800249e-02 8.71829957e+02] [ 5.16807267e-01 8.56064580e-01 -7.98021096e-03 2.96374505e+01] [ 1.54076751e-02 1.92335979e-05 9.99881295e-01 1.35549358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.5892541539998 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:871.86, Y:29.65, Z:13.55 [[ 8.57074763e-01 -5.15024376e-01 -1.31431825e-02 8.71856512e+02] [ 5.14961616e-01 8.57175523e-01 -8.04101390e-03 2.96502798e+01] [ 1.54073325e-02 1.23515577e-04 9.99881292e-01 1.35538993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.6192541539999 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:871.88, Y:29.66, Z:13.56 [[ 8.55710898e-01 -5.17286392e-01 -1.31775830e-02 8.71877294e+02] [ 5.17224770e-01 8.55812356e-01 -7.98423777e-03 2.96646129e+01] [ 1.54076759e-02 1.64269498e-05 9.99881295e-01 1.35554920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.6492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:871.91, Y:29.68, Z:13.56 [[ 8.57609665e-01 -5.14134228e-01 -1.31018442e-02 8.71906093e+02] [ 5.14070320e-01 8.57709711e-01 -8.10915183e-03 2.96773006e+01] [ 1.54067715e-02 2.19217727e-04 9.99881285e-01 1.35579888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.6792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:871.93, Y:29.69, Z:13.56 [[ 8.57920868e-01 -5.13612869e-01 -1.31759368e-02 8.71931235e+02] [ 5.13550772e-01 8.58022035e-01 -7.98692243e-03 2.96904492e+01] [ 1.54074303e-02 8.56348950e-05 9.99881295e-01 1.35580892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.7092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:871.96, Y:29.70, Z:13.56 [[ 8.57893956e-01 -5.13657878e-01 -1.31736106e-02 8.71955378e+02] [ 5.13595728e-01 8.57995091e-01 -7.99075738e-03 2.97039163e+01] [ 1.54074087e-02 8.93123184e-05 9.99881295e-01 1.35584245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.7392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:871.98, Y:29.72, Z:13.56 [[ 8.57296516e-01 -5.14654449e-01 -1.31712795e-02 8.71979532e+02] [ 5.14592357e-01 8.57397686e-01 -7.99459797e-03 2.97177567e+01] [ 1.54074800e-02 7.59012134e-05 9.99881295e-01 1.35592458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.7692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:872.00, Y:29.73, Z:13.56 [[ 8.57295243e-01 -5.14657193e-01 -1.31468603e-02 8.72003370e+02] [ 5.14594484e-01 8.57396034e-01 -8.03480915e-03 2.97315258e+01] [ 1.54072382e-02 1.22901864e-04 9.99881294e-01 1.35587653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.7992541539999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:872.03, Y:29.74, Z:13.56 [[ 8.57645753e-01 -5.14072886e-01 -1.31465225e-02 8.72029840e+02] [ 5.14010100e-01 8.57746495e-01 -8.03536527e-03 2.97445682e+01] [ 1.54071470e-02 1.34051563e-04 9.99881294e-01 1.35582178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.8292541539998 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:872.05, Y:29.76, Z:13.56 [[ 8.58262377e-01 -5.13042677e-01 -1.31493098e-02 8.72054806e+02] [ 5.12979840e-01 8.58363088e-01 -8.03077768e-03 2.97566373e+01] [ 1.54070138e-02 1.47183519e-04 9.99881294e-01 1.35577058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.8592541539999 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:872.08, Y:29.77, Z:13.56 [[ 8.57838345e-01 -5.13750919e-01 -1.31669039e-02 8.72080520e+02] [ 5.13688609e-01 8.57939382e-01 -8.00182673e-03 2.97686769e+01] [ 1.54073512e-02 1.00585235e-04 9.99881295e-01 1.35577691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.8892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:872.11, Y:29.78, Z:13.56 [[ 8.57341251e-01 -5.14580054e-01 -1.31661720e-02 8.72105705e+02] [ 5.14517823e-01 8.57442337e-01 -8.00303083e-03 2.97828895e+01] [ 1.54074333e-02 8.70983019e-05 9.99881295e-01 1.35614216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.9192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:872.13, Y:29.80, Z:13.56 [[ 8.56726352e-01 -5.15603204e-01 -1.31641584e-02 8.72130777e+02] [ 5.15541043e-01 8.56827480e-01 -8.00634160e-03 2.97964435e+01] [ 1.54075081e-02 7.25798626e-05 9.99881295e-01 1.35627222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.9492541539998 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:872.16, Y:29.81, Z:13.56 [[ 8.55435915e-01 -5.17741405e-01 -1.31618162e-02 8.72155258e+02] [ 5.17679438e-01 8.55537162e-01 -8.01019015e-03 2.98074788e+01] [ 1.54076300e-02 3.86027014e-05 9.99881295e-01 1.35612008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.9792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:872.18, Y:29.82, Z:13.56 [[ 8.55182189e-01 -5.18160416e-01 -1.31608023e-02 8.72179308e+02] [ 5.18098473e-01 8.55283452e-01 -8.01185576e-03 2.98208341e+01] [ 1.54076429e-02 3.30047994e-05 9.99881295e-01 1.35633527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.0092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:872.21, Y:29.83, Z:13.56 [[ 8.54302469e-01 -5.19609569e-01 -1.31600893e-02 8.72205122e+02] [ 5.19547780e-01 8.54403825e-01 -8.01302659e-03 2.98333746e+01] [ 1.54076760e-02 8.25319441e-06 9.99881295e-01 1.35630048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.0392541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:872.23, Y:29.85, Z:13.56 [[ 8.53900099e-01 -5.20270595e-01 -1.31578109e-02 8.72229963e+02] [ 5.20208827e-01 8.54001468e-01 -8.01676624e-03 2.98464287e+01] [ 1.54076775e-02 7.08131833e-07 9.99881295e-01 1.35629511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.0692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:872.25, Y:29.86, Z:13.56 [[ 8.53718384e-01 -5.20568779e-01 -1.31555143e-02 8.72254725e+02] [ 5.20506989e-01 8.53819739e-01 -8.02053310e-03 2.98600866e+01] [ 1.54076769e-02 -2.60590197e-07 9.99881295e-01 1.35641526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.0992541539998 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:872.28, Y:29.87, Z:13.56 [[ 8.53297925e-01 -5.21257752e-01 -1.31532041e-02 8.72279795e+02] [ 5.21195985e-01 8.53399294e-01 -8.02432000e-03 2.98718399e+01] [ 1.54076741e-02 -8.26154113e-06 9.99881295e-01 1.35625544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.1292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:872.30, Y:29.89, Z:13.57 [[ 8.53319882e-01 -5.21221846e-01 -1.31516366e-02 8.72304849e+02] [ 5.21160035e-01 8.53421225e-01 -8.02688814e-03 2.98862169e+01] [ 1.54076753e-02 -4.60416956e-06 9.99881295e-01 1.35651401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.1592541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:872.33, Y:29.90, Z:13.57 [[ 8.52459848e-01 -5.22627299e-01 -1.31496507e-02 8.72330910e+02] [ 5.22565605e-01 8.52561262e-01 -8.03014023e-03 2.98994845e+01] [ 1.54076533e-02 -2.61830370e-05 9.99881295e-01 1.35659416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.1892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:872.36, Y:29.91, Z:13.57 [[ 8.51625719e-01 -5.23985355e-01 -1.31522706e-02 8.72355069e+02] [ 5.23923888e-01 8.51727271e-01 -8.02585122e-03 2.99141175e+01] [ 1.54075761e-02 -5.57674381e-05 9.99881295e-01 1.35674196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.2192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:872.38, Y:29.92, Z:13.57 [[ 8.50813576e-01 -5.25303680e-01 -1.31263901e-02 8.72381094e+02] [ 5.25241717e-01 8.50914827e-01 -8.06820004e-03 2.99248536e+01] [ 1.54076952e-02 -2.99935621e-05 9.99881294e-01 1.35669890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.2492541539999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:872.41, Y:29.94, Z:13.57 [[ 8.49835993e-01 -5.26883260e-01 -1.31458989e-02 8.72405002e+02] [ 5.26821979e-01 8.49937657e-01 -8.03628729e-03 2.99371073e+01] [ 1.54073797e-02 -9.60222710e-05 9.99881295e-01 1.35663950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.2792541539999 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:872.43, Y:29.95, Z:13.57 [[ 8.47553941e-01 -5.30546444e-01 -1.31449067e-02 8.72430410e+02] [ 5.30485577e-01 8.47655853e-01 -8.03790986e-03 2.99494593e+01] [ 1.54068416e-02 -1.60621231e-04 9.99881295e-01 1.35662553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.3092541539999 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:872.46, Y:29.96, Z:13.57 [[ 8.46533680e-01 -5.32172905e-01 -1.31425769e-02 8.72455237e+02] [ 5.32112175e-01 8.46635674e-01 -8.04171752e-03 2.99630157e+01] [ 1.54065586e-02 -1.85740429e-04 9.99881295e-01 1.35669393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.3392541539998 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:872.48, Y:29.98, Z:13.57 [[ 8.45175973e-01 -5.34326593e-01 -1.31402573e-02 8.72479741e+02] [ 5.34266064e-01 8.45278086e-01 -8.04550590e-03 2.99751656e+01] [ 1.54060993e-02 -2.20525273e-04 9.99881295e-01 1.35672519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.3692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:872.50, Y:29.99, Z:13.57 [[ 8.44894183e-01 -5.34772081e-01 -1.31392739e-02 8.72503708e+02] [ 5.34711580e-01 8.44996313e-01 -8.04711166e-03 2.99891086e+01] [ 1.54060086e-02 -2.26764071e-04 9.99881295e-01 1.35694257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.3992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:872.53, Y:30.00, Z:13.57 [[ 8.44181356e-01 -5.35896647e-01 -1.31385724e-02 8.72529603e+02] [ 5.35836265e-01 8.44283556e-01 -8.04825674e-03 3.00028793e+01] [ 1.54057145e-02 -2.45935292e-04 9.99881295e-01 1.35696429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.4292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:872.55, Y:30.02, Z:13.57 [[ 8.44373890e-01 -5.35593193e-01 -1.31402339e-02 8.72553907e+02] [ 5.35532815e-01 8.44476094e-01 -8.04554514e-03 3.00165964e+01] [ 1.54057526e-02 -2.43578191e-04 9.99881295e-01 1.35694280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.4592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:872.58, Y:30.03, Z:13.57 [[ 8.44848935e-01 -5.34843554e-01 -1.31396251e-02 8.72580624e+02] [ 5.34783071e-01 8.44951076e-01 -8.04653855e-03 3.00309827e+01] [ 1.54059796e-02 -2.28739523e-04 9.99881295e-01 1.35685392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.4892541539999 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:872.60, Y:30.04, Z:13.56 [[ 8.44551479e-01 -5.35312610e-01 -1.31608754e-02 8.72604270e+02] [ 5.35252723e-01 8.44653972e-01 -8.01187335e-03 3.00442939e+01] [ 1.54052425e-02 -2.77954902e-04 9.99881294e-01 1.35649571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.5192541539999 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:872.63, Y:30.06, Z:13.57 [[ 8.44532997e-01 -5.35342423e-01 -1.31342360e-02 8.72628298e+02] [ 5.35281863e-01 8.44635092e-01 -8.05530905e-03 3.00578921e+01] [ 1.54059853e-02 -2.27544037e-04 9.99881295e-01 1.35653594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.5492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:872.65, Y:30.07, Z:13.57 [[ 8.44683495e-01 -5.35104985e-01 -1.31319958e-02 8.72653004e+02] [ 5.35044340e-01 8.44785539e-01 -8.05895939e-03 3.00730085e+01] [ 1.54061095e-02 -2.18930071e-04 9.99881295e-01 1.35683008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.5792541539998 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:872.68, Y:30.09, Z:13.57 [[ 8.44432328e-01 -5.35501303e-01 -1.31300206e-02 8.72679020e+02] [ 5.35440656e-01 8.44534372e-01 -8.06217623e-03 3.00868281e+01] [ 1.54060596e-02 -2.22384614e-04 9.99881295e-01 1.35666801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.6092541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:872.70, Y:30.10, Z:13.57 [[ 8.44580861e-01 -5.35267058e-01 -1.31280573e-02 8.72702959e+02] [ 5.35206334e-01 8.44682858e-01 -8.06537195e-03 3.01005965e+01] [ 1.54061729e-02 -2.14360631e-04 9.99881295e-01 1.35679185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.6392541539999 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:872.73, Y:30.11, Z:13.57 [[ 8.44386420e-01 -5.35573754e-01 -1.31273627e-02 8.72728108e+02] [ 5.35513048e-01 8.44488429e-01 -8.06650240e-03 3.01139371e+01] [ 1.54061128e-02 -2.18628911e-04 9.99881295e-01 1.35675440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.6692541539999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:872.75, Y:30.13, Z:13.57 [[ 8.44332639e-01 -5.35658590e-01 -1.31251366e-02 8.72752668e+02] [ 5.35597839e-01 8.44434620e-01 -8.07012288e-03 3.01284540e+01] [ 1.54061504e-02 -2.15926634e-04 9.99881295e-01 1.35694419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.6992541539998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:872.78, Y:30.14, Z:13.57 [[ 8.44178908e-01 -5.35900882e-01 -1.31231286e-02 8.72777371e+02] [ 5.35840109e-01 8.44280876e-01 -8.07338676e-03 3.01428585e+01] [ 1.54061416e-02 -2.16515862e-04 9.99881295e-01 1.35709153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.7292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:872.80, Y:30.16, Z:13.57 [[ 8.45031823e-01 -5.34555010e-01 -1.31209204e-02 8.72801172e+02] [ 5.34494020e-01 8.45133661e-01 -8.07697399e-03 3.01564125e+01] [ 1.54065184e-02 -1.87753436e-04 9.99881295e-01 1.35714400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.7592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:872.83, Y:30.17, Z:13.57 [[ 8.45455150e-01 -5.33885255e-01 -1.31196322e-02 8.72825889e+02] [ 5.33824151e-01 8.45556920e-01 -8.07906596e-03 3.01713095e+01] [ 1.54066900e-02 -1.73088591e-04 9.99881295e-01 1.35721782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.7892541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:872.85, Y:30.19, Z:13.57 [[ 8.46864746e-01 -5.31646362e-01 -1.31243122e-02 8.72850927e+02] [ 5.31585106e-01 8.46966426e-01 -8.07146884e-03 3.01852211e+01] [ 1.54070189e-02 -1.41246491e-04 9.99881295e-01 1.35720892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.8192541539999 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:872.87, Y:30.20, Z:13.57 [[ 8.47551280e-01 -5.30551154e-01 -1.31263535e-02 8.72874369e+02] [ 5.30489819e-01 8.47652911e-01 -8.06815601e-03 3.01994172e+01] [ 1.54071613e-02 -1.25220954e-04 9.99881295e-01 1.35708296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.8492541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:872.90, Y:30.21, Z:13.57 [[ 8.48797024e-01 -5.28556133e-01 -1.31159059e-02 8.72899042e+02] [ 5.28494297e-01 8.48898351e-01 -8.08510445e-03 3.02143365e+01] [ 1.54075024e-02 -6.90688732e-05 9.99881295e-01 1.35736424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.8792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:872.92, Y:30.23, Z:13.57 [[ 8.51054195e-01 -5.24913924e-01 -1.31198098e-02 8.72923385e+02] [ 5.24851751e-01 8.51155317e-01 -8.07877332e-03 3.02284532e+01] [ 1.54076565e-02 -1.04812285e-05 9.99881295e-01 1.35738215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.9092541539999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:872.95, Y:30.24, Z:13.57 [[ 8.51416154e-01 -5.24326420e-01 -1.31277880e-02 8.72947810e+02] [ 5.24264377e-01 8.51517355e-01 -8.06584074e-03 3.02430898e+01] [ 1.54076727e-02 -1.50444855e-05 9.99881295e-01 1.35717674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.9392541539999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:872.97, Y:30.26, Z:13.57 [[ 8.51252680e-01 -5.24591981e-01 -1.31197663e-02 8.72972101e+02] [ 5.24529769e-01 8.51353777e-01 -8.07883672e-03 3.02581770e+01] [ 1.54076555e-02 -4.57656604e-06 9.99881295e-01 1.35722024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.9692541539998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:873.00, Y:30.27, Z:13.57 [[ 8.52623897e-01 -5.22360434e-01 -1.31174052e-02 8.72995286e+02] [ 5.22297899e-01 8.52724795e-01 -8.08265927e-03 3.02712666e+01] [ 1.54075981e-02 4.02752594e-05 9.99881295e-01 1.35718041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.9992541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:873.02, Y:30.29, Z:13.57 [[ 8.53030752e-01 -5.21696026e-01 -1.31069719e-02 8.73018652e+02] [ 5.21633153e-01 8.53131438e-01 -8.09954291e-03 3.02851463e+01] [ 1.54074691e-02 7.21281192e-05 9.99881295e-01 1.35724781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.0292541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:873.04, Y:30.30, Z:13.57 [[ 8.52965863e-01 -5.21802136e-01 -1.31060089e-02 8.73043684e+02] [ 5.21739252e-01 8.53066542e-01 -8.10110086e-03 3.02984799e+01] [ 1.54074694e-02 7.20432268e-05 9.99881295e-01 1.35739755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.0592541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:873.07, Y:30.31, Z:13.57 [[ 8.52431875e-01 -5.22674078e-01 -1.31036991e-02 8.73068163e+02] [ 5.22611239e-01 8.52532583e-01 -8.10483527e-03 3.03125135e+01] [ 1.54075177e-02 6.06795167e-05 9.99881295e-01 1.35745375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.0892541539998 meters Centerline goodness : 0.996712 Centerline is valid? [True, True] Translation: X:873.10, Y:30.33, Z:13.57 [[ 8.51417637e-01 -5.24324671e-01 -1.31013971e-02 8.73097035e+02] [ 5.24261970e-01 8.51518431e-01 -8.10855476e-03 3.03257808e+01] [ 1.54075964e-02 3.52023129e-05 9.99881295e-01 1.35720479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.1192541539999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:873.12, Y:30.34, Z:13.58 [[ 8.49566434e-01 -5.27317490e-01 -1.31581981e-02 8.73119817e+02] [ 5.27256561e-01 8.49668317e-01 -8.01688861e-03 3.03407181e+01] [ 1.54075496e-02 -1.26866794e-04 9.99881289e-01 1.35768450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.1492541539999 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:873.14, Y:30.35, Z:13.57 [[ 8.47910505e-01 -5.29977056e-01 -1.31185028e-02 8.73144179e+02] [ 5.29915456e-01 8.48011975e-01 -8.08082223e-03 3.03532996e+01] [ 1.54072978e-02 -9.98833211e-05 9.99881296e-01 1.35737127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.1792541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:873.17, Y:30.37, Z:13.58 [[ 8.47367565e-01 -5.30844472e-01 -1.31284460e-02 8.73166927e+02] [ 5.30783224e-01 8.47469249e-01 -8.06480181e-03 3.03673724e+01] [ 1.54071098e-02 -1.34507439e-04 9.99881294e-01 1.35762252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.2092541539998 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:873.19, Y:30.38, Z:13.57 [[ 8.46334505e-01 -5.32490935e-01 -1.30885344e-02 8.73191750e+02] [ 5.32428889e-01 8.46435701e-01 -8.12906330e-03 3.03814195e+01] [ 1.54072553e-02 -8.88070467e-05 9.99881297e-01 1.35743523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.2392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:873.21, Y:30.40, Z:13.58 [[ 8.44348776e-01 -5.35634098e-01 -1.30865807e-02 8.73214949e+02] [ 5.35572380e-01 8.44450172e-01 -8.13220716e-03 3.03957604e+01] [ 1.54068528e-02 -1.42392031e-04 9.99881297e-01 1.35778701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.2692541539999 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:873.24, Y:30.41, Z:13.57 [[ 8.44709968e-01 -5.35065100e-01 -1.30540708e-02 8.73241468e+02] [ 5.35002505e-01 8.44810827e-01 -8.18448387e-03 3.04086990e+01] [ 1.54074520e-02 -7.04454441e-05 9.99881296e-01 1.35746362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.2992541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:873.27, Y:30.42, Z:13.58 [[ 8.44160938e-01 -5.35930148e-01 -1.30838567e-02 8.73265424e+02] [ 5.35868398e-01 8.44262315e-01 -8.13658722e-03 3.04222424e+01] [ 1.54068496e-02 -1.42636256e-04 9.99881297e-01 1.35774537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.3292541539998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:873.29, Y:30.44, Z:13.58 [[ 8.43274308e-01 -5.37324178e-01 -1.30831788e-02 8.73289389e+02] [ 5.37262578e-01 8.43375776e-01 -8.13767713e-03 3.04362805e+01] [ 1.54066068e-02 -1.66808334e-04 9.99881297e-01 1.35771213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.3592541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:873.31, Y:30.45, Z:13.58 [[ 8.42769560e-01 -5.38115560e-01 -1.30810190e-02 8.73313873e+02] [ 5.38054002e-01 8.42871054e-01 -8.14114750e-03 3.04504699e+01] [ 1.54064904e-02 -1.77183328e-04 9.99881297e-01 1.35784927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.3892541539999 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:873.34, Y:30.46, Z:13.58 [[ 8.41021276e-01 -5.40843930e-01 -1.30788535e-02 8.73338866e+02] [ 5.40782647e-01 8.41122936e-01 -8.14462492e-03 3.04635220e+01] [ 1.54058946e-02 -2.23014168e-04 9.99881297e-01 1.35772110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.4192541539999 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:873.36, Y:30.48, Z:13.58 [[ 8.40086140e-01 -5.42295343e-01 -1.30781832e-02 8.73362913e+02] [ 5.42234219e-01 8.40187896e-01 -8.14570114e-03 3.04772851e+01] [ 1.54055070e-02 -2.48347808e-04 9.99881297e-01 1.35798586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.4492541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:873.39, Y:30.49, Z:13.58 [[ 8.38281574e-01 -5.45080750e-01 -1.30759011e-02 8.73388492e+02] [ 5.45019907e-01 8.38383497e-01 -8.14936285e-03 3.04905906e+01] [ 1.54046805e-02 -2.95165672e-04 9.99881297e-01 1.35829749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.4792541539999 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:873.41, Y:30.50, Z:13.58 [[ 8.37016556e-01 -5.47021351e-01 -1.30739010e-02 8.73412157e+02] [ 5.46960694e-01 8.37118591e-01 -8.15257024e-03 3.05044771e+01] [ 1.54040356e-02 -3.27073714e-04 9.99881297e-01 1.35820151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.5092541539999 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:873.44, Y:30.52, Z:13.58 [[ 8.36100869e-01 -5.48419938e-01 -1.30731952e-02 8.73436478e+02] [ 5.48359434e-01 8.36202995e-01 -8.15370198e-03 3.05194503e+01] [ 1.54034977e-02 -3.51492579e-04 9.99881297e-01 1.35833794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.5392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:873.46, Y:30.53, Z:13.59 [[ 8.35273268e-01 -5.49679653e-01 -1.30708721e-02 8.73460390e+02] [ 5.49619245e-01 8.35375450e-01 -8.15742425e-03 3.05344002e+01] [ 1.54030558e-02 -3.70324459e-04 9.99881297e-01 1.35864172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.5692541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:873.48, Y:30.55, Z:13.59 [[ 8.34490067e-01 -5.50867951e-01 -1.30701535e-02 8.73484111e+02] [ 5.50807671e-01 8.34592324e-01 -8.15857552e-03 3.05495063e+01] [ 1.54025475e-02 -3.90890560e-04 9.99881297e-01 1.35875608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.5992541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:873.51, Y:30.56, Z:13.59 [[ 8.34315556e-01 -5.51132275e-01 -1.30678633e-02 8.73507010e+02] [ 5.51071969e-01 8.34417798e-01 -8.16224209e-03 3.05642805e+01] [ 1.54025328e-02 -3.91447629e-04 9.99881297e-01 1.35874705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.6292541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:873.53, Y:30.58, Z:13.59 [[ 8.34132883e-01 -5.51408747e-01 -1.30663111e-02 8.73532026e+02] [ 5.51348436e-01 8.34235122e-01 -8.16472620e-03 3.05806420e+01] [ 1.54024771e-02 -3.93623584e-04 9.99881297e-01 1.35885805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.6592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:873.55, Y:30.60, Z:13.59 [[ 8.35579920e-01 -5.49213048e-01 -1.30852765e-02 8.73553573e+02] [ 5.49152944e-01 8.35682282e-01 -8.13437692e-03 3.05970398e+01] [ 1.54026396e-02 -3.88896069e-04 9.99881297e-01 1.35884810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.6892541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:873.58, Y:30.61, Z:13.59 [[ 8.36071402e-01 -5.48465093e-01 -1.30633940e-02 8.73576206e+02] [ 5.48404351e-01 8.36173385e-01 -8.16936846e-03 3.06131012e+01] [ 1.54038758e-02 -3.33846787e-04 9.99881298e-01 1.35871563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.7192541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:873.60, Y:30.63, Z:13.59 [[ 8.37786629e-01 -5.45841528e-01 -1.30610737e-02 8.73598582e+02] [ 5.45780408e-01 8.37888386e-01 -8.17307650e-03 3.06322119e+01] [ 1.54049265e-02 -2.81183921e-04 9.99881298e-01 1.35886551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.7492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:873.62, Y:30.65, Z:13.59 [[ 8.39820100e-01 -5.42707905e-01 -1.30510590e-02 8.73622253e+02] [ 5.42646156e-01 8.39921478e-01 -8.18907513e-03 3.06478182e+01] [ 1.54061405e-02 -2.04757102e-04 9.99881297e-01 1.35887259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.7792541539999 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:873.65, Y:30.66, Z:13.59 [[ 8.40733079e-01 -5.41292316e-01 -1.30582664e-02 8.73645109e+02] [ 5.41230575e-01 8.40834462e-01 -8.17756611e-03 3.06635824e+01] [ 1.54062941e-02 -1.92382680e-04 9.99881298e-01 1.35875979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.8092541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:873.67, Y:30.68, Z:13.59 [[ 8.43745211e-01 -5.36585062e-01 -1.30571673e-02 8.73667656e+02] [ 5.36522729e-01 8.43846230e-01 -8.17932056e-03 3.06803305e+01] [ 1.54071427e-02 -1.04204492e-04 9.99881298e-01 1.35893832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.8392541539998 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:873.69, Y:30.70, Z:13.59 [[ 8.45984948e-01 -5.33046908e-01 -1.30560867e-02 8.73690826e+02] [ 5.32984125e-01 8.46085689e-01 -8.18104508e-03 3.06976395e+01] [ 1.54074489e-02 -3.76459656e-05 9.99881298e-01 1.35888957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.8692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:873.71, Y:30.71, Z:13.59 [[ 8.47507208e-01 -5.30623336e-01 -1.30540558e-02 8.73714099e+02] [ 5.30560215e-01 8.47607737e-01 -8.18428444e-03 3.07141545e+01] [ 1.54074910e-02 1.02773984e-05 9.99881298e-01 1.35909403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.8992541539999 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:873.74, Y:30.73, Z:13.59 [[ 8.48103807e-01 -5.29669309e-01 -1.30520309e-02 8.73738171e+02] [ 5.29606025e-01 8.48204234e-01 -8.18751239e-03 3.07308042e+01] [ 1.54074619e-02 3.14262103e-05 9.99881298e-01 1.35896237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.9292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:873.76, Y:30.75, Z:13.59 [[ 8.50148706e-01 -5.26380923e-01 -1.30499662e-02 8.73762942e+02] [ 5.26317201e-01 8.50248854e-01 -8.19080197e-03 3.07485578e+01] [ 1.54072007e-02 9.49780032e-05 9.99881298e-01 1.35916744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.9592541539998 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:873.78, Y:30.76, Z:13.59 [[ 8.50667856e-01 -5.25540517e-01 -1.30905887e-02 8.73784299e+02] [ 5.25477691e-01 8.50768572e-01 -8.12607896e-03 3.07640978e+01] [ 1.54076452e-02 3.37818540e-05 9.99881295e-01 1.35920120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.9892541539999 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:873.81, Y:30.78, Z:13.59 [[ 8.51202671e-01 -5.24674939e-01 -1.30469061e-02 8.73806802e+02] [ 5.24610942e-01 8.51302644e-01 -8.19561898e-03 3.07802951e+01] [ 1.54069015e-02 1.31583071e-04 9.99881298e-01 1.35898389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.0192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:873.83, Y:30.80, Z:13.59 [[ 8.51677516e-01 -5.23903813e-01 -1.30461907e-02 8.73830619e+02] [ 5.23839708e-01 8.51777420e-01 -8.19675753e-03 3.07963738e+01] [ 1.54067632e-02 1.46881340e-04 9.99881298e-01 1.35933642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.0492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:873.85, Y:30.81, Z:13.59 [[ 8.51941144e-01 -5.23475061e-01 -1.30440934e-02 8.73853693e+02] [ 5.23410855e-01 8.52040982e-01 -8.20009380e-03 3.08130065e+01] [ 1.54066468e-02 1.58577209e-04 9.99881298e-01 1.35937636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.0792541539998 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:873.88, Y:30.83, Z:13.59 [[ 8.51827538e-01 -5.23659967e-01 -1.30416811e-02 8.73876713e+02] [ 5.23595724e-01 8.51927352e-01 -8.20392863e-03 3.08292848e+01] [ 1.54066338e-02 1.59763869e-04 9.99881298e-01 1.35902161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.1092541539999 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:873.90, Y:30.84, Z:13.59 [[ 8.51731139e-01 -5.23816773e-01 -1.30405652e-02 8.73900360e+02] [ 5.23752521e-01 8.51830948e-01 -8.20570200e-03 3.08447991e+01] [ 1.54066414e-02 1.59023006e-04 9.99881298e-01 1.35901455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.1392541539999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:873.93, Y:30.86, Z:13.59 [[ 8.51688423e-01 -5.23886279e-01 -1.30383214e-02 8.73925034e+02] [ 5.23821980e-01 8.51788202e-01 -8.20926568e-03 3.08594027e+01] [ 1.54066100e-02 1.61977186e-04 9.99881298e-01 1.35904613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.1692541539999 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:873.95, Y:30.88, Z:13.59 [[ 8.50969426e-01 -5.25053129e-01 -1.30479371e-02 8.73947731e+02] [ 5.24989201e-01 8.51069443e-01 -8.19400313e-03 3.08750269e+01] [ 1.54069875e-02 1.22820086e-04 9.99881298e-01 1.35909443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.1992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:873.97, Y:30.89, Z:13.59 [[ 8.50581942e-01 -5.25680949e-01 -1.30345396e-02 8.73973232e+02] [ 5.25616769e-01 8.50681798e-01 -8.21525988e-03 3.08901955e+01] [ 1.54068512e-02 1.36579109e-04 9.99881298e-01 1.35937459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.2292541539999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:874.00, Y:30.90, Z:13.59 [[ 8.49276999e-01 -5.27785749e-01 -1.30683603e-02 8.73995117e+02] [ 5.27722642e-01 8.49377538e-01 -8.16160657e-03 3.09040588e+01] [ 1.54075514e-02 3.49950940e-05 9.99881296e-01 1.35933254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.2592541539999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:874.02, Y:30.92, Z:13.59 [[ 8.48302650e-01 -5.29351306e-01 -1.30310920e-02 8.74020454e+02] [ 5.29287475e-01 8.48402728e-01 -8.22068287e-03 3.09190307e+01] [ 1.54072432e-02 7.64332714e-05 9.99881298e-01 1.35926931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.2892541539999 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:874.04, Y:30.93, Z:13.59 [[ 8.46769437e-01 -5.31800490e-01 -1.30291725e-02 8.74044130e+02] [ 5.31736901e-01 8.46869670e-01 -8.22372396e-03 3.09325878e+01] [ 1.54073915e-02 3.55062782e-05 9.99881298e-01 1.35927279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.3192541539999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:874.07, Y:30.95, Z:13.59 [[ 8.45922392e-01 -5.33146860e-01 -1.30281494e-02 8.74068257e+02] [ 5.33083407e-01 8.46022710e-01 -8.22534455e-03 3.09474718e+01] [ 1.54074269e-02 1.29128797e-05 9.99881298e-01 1.35930706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.3492541539998 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:874.09, Y:30.96, Z:13.59 [[ 8.44148396e-01 -5.35951316e-01 -1.30258280e-02 8.74092487e+02] [ 5.35888139e-01 8.44248889e-01 -8.22901902e-03 3.09612017e+01] [ 1.54073944e-02 -3.38735448e-05 9.99881298e-01 1.35922166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.3792541539999 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:874.12, Y:30.98, Z:13.59 [[ 8.43273376e-01 -5.37327051e-01 -1.30251095e-02 8.74117045e+02] [ 5.37264021e-01 8.43373960e-01 -8.23015620e-03 3.09755915e+01] [ 1.54073237e-02 -5.76511016e-05 9.99881298e-01 1.35934519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.4092541539999 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:874.14, Y:30.99, Z:13.59 [[ 8.42173836e-01 -5.39048825e-01 -1.30227939e-02 8.74144182e+02] [ 5.38985944e-01 8.42274514e-01 -8.23381863e-03 3.09911612e+01] [ 1.54071976e-02 -8.47962315e-05 9.99881298e-01 1.35943363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.4392541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:874.17, Y:31.00, Z:13.60 [[ 8.40808953e-01 -5.41174352e-01 -1.30623331e-02 8.74166135e+02] [ 5.41112695e-01 8.40910389e-01 -8.17126924e-03 3.10043480e+01] [ 1.54063330e-02 -1.97717942e-04 9.99881296e-01 1.35968916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.4692541539998 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:874.19, Y:31.02, Z:13.60 [[ 8.38914806e-01 -5.44106976e-01 -1.30209831e-02 8.74191299e+02] [ 5.44044658e-01 8.39015833e-01 -8.23663792e-03 3.10192347e+01] [ 1.54064232e-02 -1.74158814e-04 9.99881299e-01 1.35997082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.4992541539999 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:874.22, Y:31.03, Z:13.60 [[ 8.37672599e-01 -5.46017513e-01 -1.30188989e-02 8.74215051e+02] [ 5.45955374e-01 8.37773736e-01 -8.23993098e-03 3.10337227e+01] [ 1.54060382e-02 -2.05373416e-04 9.99881299e-01 1.35993379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.5292541539999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:874.24, Y:31.05, Z:13.60 [[ 8.36581908e-01 -5.47687211e-01 -1.30165264e-02 8.74238101e+02] [ 5.47625216e-01 8.36683133e-01 -8.24367716e-03 3.10485351e+01] [ 1.54056646e-02 -2.31666889e-04 9.99881299e-01 1.35995835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.5592541539999 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:874.26, Y:31.06, Z:13.60 [[ 8.34228093e-01 -5.51265893e-01 -1.30154993e-02 8.74262578e+02] [ 5.51204307e-01 8.34329568e-01 -8.24529837e-03 3.10631800e+01] [ 1.54045677e-02 -2.95739734e-04 9.99881299e-01 1.36000723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.5892541539998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:874.29, Y:31.08, Z:13.60 [[ 8.33163489e-01 -5.52873637e-01 -1.30131528e-02 8.74285618e+02] [ 5.52812188e-01 8.33265047e-01 -8.24900009e-03 3.10774602e+01] [ 1.54040601e-02 -3.21063776e-04 9.99881299e-01 1.36008004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.6192541539999 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:874.31, Y:31.09, Z:13.60 [[ 8.30732671e-01 -5.56519463e-01 -1.30121568e-02 8.74309744e+02] [ 5.56458435e-01 8.30834483e-01 -8.25057097e-03 3.10925934e+01] [ 1.54025519e-02 -3.86705533e-04 9.99881299e-01 1.36003040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.6492541539999 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:874.33, Y:31.11, Z:13.60 [[ 8.29673460e-01 -5.58097380e-01 -1.30101305e-02 8.74331913e+02] [ 5.58036496e-01 8.29775358e-01 -8.25376484e-03 3.11073272e+01] [ 1.54018903e-02 -4.12198031e-04 9.99881299e-01 1.36002248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.6792541539999 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:874.36, Y:31.12, Z:13.60 [[ 8.28785286e-01 -5.59415510e-01 -1.30091268e-02 8.74355080e+02] [ 5.59354763e-01 8.28887265e-01 -8.25534655e-03 3.11224667e+01] [ 1.54012685e-02 -4.34807289e-04 9.99881299e-01 1.36011248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.7092541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:874.38, Y:31.14, Z:13.60 [[ 8.28121699e-01 -5.60397425e-01 -1.30068385e-02 8.74377832e+02] [ 5.60336743e-01 8.28223716e-01 -8.25895038e-03 3.11383111e+01] [ 1.54008666e-02 -4.48793499e-04 9.99881299e-01 1.36037398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.7392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:874.40, Y:31.15, Z:13.60 [[ 8.28172661e-01 -5.60322125e-01 -1.30061306e-02 8.74400693e+02] [ 5.60261416e-01 8.28274663e-01 -8.26006509e-03 3.11538324e+01] [ 1.54009456e-02 -4.46073035e-04 9.99881299e-01 1.36046645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.7692541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:874.42, Y:31.17, Z:13.60 [[ 8.29030003e-01 -5.59052908e-01 -1.30038791e-02 8.74422139e+02] [ 5.58991987e-01 8.29131878e-01 -8.26360803e-03 3.11696263e+01] [ 1.54017248e-02 -4.18285243e-04 9.99881299e-01 1.36043670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.7992541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:874.44, Y:31.19, Z:13.61 [[ 8.30115129e-01 -5.57440411e-01 -1.30023498e-02 8.74444707e+02] [ 5.57379255e-01 8.30216863e-01 -8.26601355e-03 3.11859359e+01] [ 1.54025801e-02 -3.85497165e-04 9.99881299e-01 1.36062073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.8292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:874.47, Y:31.20, Z:13.60 [[ 8.32399268e-01 -5.54023879e-01 -1.30000084e-02 8.74465857e+02] [ 5.53962247e-01 8.32500715e-01 -8.26969429e-03 3.12046465e+01] [ 1.54041244e-02 -3.17826411e-04 9.99881299e-01 1.36049968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.8592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:874.49, Y:31.22, Z:13.61 [[ 8.32269441e-01 -5.54219398e-01 -1.29783178e-02 8.74489925e+02] [ 5.54157259e-01 8.32370578e-01 -8.30377564e-03 3.12200363e+01] [ 1.54048834e-02 -2.81050316e-04 9.99881298e-01 1.36054220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.8892541539999 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:874.51, Y:31.24, Z:13.60 [[ 8.34763002e-01 -5.50456497e-01 -1.29759676e-02 8.74514138e+02] [ 5.50393845e-01 8.34863822e-01 -8.30746637e-03 3.12357818e+01] [ 1.54060647e-02 -2.07127113e-04 9.99881298e-01 1.36046993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.9192541539999 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:874.54, Y:31.25, Z:13.60 [[ 8.36892280e-01 -5.47213334e-01 -1.29953242e-02 8.74535601e+02] [ 5.47150762e-01 8.36993150e-01 -8.27707574e-03 3.12515745e+01] [ 1.54063235e-02 -1.83380740e-04 9.99881299e-01 1.36043004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.9492541539998 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:874.56, Y:31.27, Z:13.60 [[ 8.40786580e-01 -5.41210750e-01 -1.29942855e-02 8.74557362e+02] [ 5.41147432e-01 8.40886984e-01 -8.27870608e-03 3.12692591e+01] [ 1.54072503e-02 -7.11992575e-05 9.99881299e-01 1.36034244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.9792541539999 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:874.58, Y:31.29, Z:13.60 [[ 8.43752280e-01 -5.36575490e-01 -1.29935518e-02 8.74579062e+02] [ 5.36511604e-01 8.43852323e-01 -8.27985740e-03 3.12866262e+01] [ 1.54074074e-02 1.49572226e-05 9.99881299e-01 1.36034289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.0092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:874.60, Y:31.30, Z:13.60 [[ 8.43857475e-01 -5.36410095e-01 -1.29912128e-02 8.74599582e+02] [ 5.36346132e-01 8.43957469e-01 -8.28352572e-03 3.13041297e+01] [ 1.54073979e-02 2.23283501e-05 9.99881299e-01 1.36029031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.0392541539999 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:874.63, Y:31.32, Z:13.60 [[ 8.45736591e-01 -5.33443521e-01 -1.29471389e-02 8.74625548e+02] [ 5.33378149e-01 8.45835672e-01 -8.35258155e-03 3.13190197e+01] [ 1.54067825e-02 1.58362851e-04 9.99881296e-01 1.36044913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.0692541539999 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:874.65, Y:31.34, Z:13.60 [[ 8.44680047e-01 -5.35113931e-01 -1.29884213e-02 8.74645890e+02] [ 5.35049748e-01 8.44779899e-01 -8.28788560e-03 3.13364504e+01] [ 1.54073203e-02 5.11600336e-05 9.99881299e-01 1.36014577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.0992541539998 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:874.67, Y:31.35, Z:13.60 [[ 8.44768606e-01 -5.34975412e-01 -1.29349027e-02 8.74670015e+02] [ 5.34909926e-01 8.44867614e-01 -8.37169023e-03 3.13527939e+01] [ 1.54069288e-02 1.53133235e-04 9.99881295e-01 1.36022530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.1292541539999 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:874.69, Y:31.37, Z:13.61 [[ 8.44938199e-01 -5.34706808e-01 -1.29641336e-02 8.74694712e+02] [ 5.34641992e-01 8.45037643e-01 -8.32593159e-03 3.13673261e+01] [ 1.54071132e-02 1.03727418e-04 9.99881298e-01 1.36062199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.1592541539999 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:874.72, Y:31.38, Z:13.61 [[ 8.42599656e-01 -5.38383924e-01 -1.29834872e-02 8.74718550e+02] [ 5.38320009e-01 8.42699680e-01 -8.29564142e-03 3.13831749e+01] [ 1.54074205e-02 6.33681338e-07 9.99881299e-01 1.36075966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.1892541539999 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:874.74, Y:31.40, Z:13.61 [[ 8.40962953e-01 -5.40936958e-01 -1.29814834e-02 8.74742293e+02] [ 5.40873298e-01 8.41063140e-01 -8.29877578e-03 3.13986234e+01] [ 1.54073617e-02 -4.23747699e-05 9.99881299e-01 1.36082591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.2192541539998 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:874.76, Y:31.41, Z:13.61 [[ 8.37484372e-01 -5.46307119e-01 -1.29791922e-02 8.74764854e+02] [ 5.46244046e-01 8.37584929e-01 -8.30235774e-03 3.14134908e+01] [ 1.54068129e-02 -1.36711590e-04 9.99881299e-01 1.36076390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.2492541539999 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:874.79, Y:31.43, Z:13.61 [[ 8.35444676e-01 -5.49421295e-01 -1.29782010e-02 8.74788605e+02] [ 5.49358573e-01 8.35545453e-01 -8.30390692e-03 3.14292759e+01] [ 1.54062201e-02 -1.92231128e-04 9.99881299e-01 1.36073922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.2792541539999 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:874.81, Y:31.44, Z:13.61 [[ 8.32095940e-01 -5.54479911e-01 -1.29759688e-02 8.74811239e+02] [ 5.54417747e-01 8.32197062e-01 -8.30739357e-03 3.14446105e+01] [ 1.54048459e-02 -2.81558897e-04 9.99881299e-01 1.36070195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.3092541539999 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:874.83, Y:31.46, Z:13.61 [[ 8.30370925e-01 -5.57059952e-01 -1.29744544e-02 8.74834719e+02] [ 5.56998065e-01 8.30472217e-01 -8.30975804e-03 3.14607727e+01] [ 1.54039573e-02 -3.26564519e-04 9.99881299e-01 1.36063843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.3392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:874.86, Y:31.48, Z:13.61 [[ 8.29214925e-01 -5.58779320e-01 -1.29722600e-02 8.74857687e+02] [ 5.58717589e-01 8.29316313e-01 -8.31318220e-03 3.14765094e+01] [ 1.54033411e-02 -3.54415098e-04 9.99881299e-01 1.36099308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.3692541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:874.88, Y:31.49, Z:13.61 [[ 8.26683792e-01 -5.62517280e-01 -1.29698664e-02 8.74880439e+02] [ 5.62455949e-01 8.26785422e-01 -8.31691495e-03 3.14933991e+01] [ 1.54017048e-02 -4.19519736e-04 9.99881299e-01 1.36087009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.3992541539999 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:874.90, Y:31.51, Z:13.61 [[ 8.25153972e-01 -5.64758996e-01 -1.29691257e-02 8.74904038e+02] [ 5.64697924e-01 8.25255757e-01 -8.31806975e-03 3.15094301e+01] [ 1.54005504e-02 -4.59950079e-04 9.99881299e-01 1.36070637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.4292541539999 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:874.93, Y:31.53, Z:13.61 [[ 8.22908001e-01 -5.68026652e-01 -1.29670368e-02 8.74926371e+02] [ 5.67965933e-01 8.23009997e-01 -8.32132500e-03 3.15257609e+01] [ 1.53987353e-02 -5.17150204e-04 9.99881299e-01 1.36079684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.4592541539998 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:874.95, Y:31.54, Z:13.61 [[ 8.21778335e-01 -5.69659761e-01 -1.29662970e-02 8.74949999e+02] [ 5.69599226e-01 8.21880440e-01 -8.32247751e-03 3.15416868e+01] [ 1.53977265e-02 -5.46361045e-04 9.99881299e-01 1.36094752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.4892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:874.97, Y:31.56, Z:13.61 [[ 8.19521467e-01 -5.72901825e-01 -1.29639388e-02 8.74973022e+02] [ 5.72841636e-01 8.19623777e-01 -8.32614935e-03 3.15584381e+01] [ 1.53956186e-02 -6.02825763e-04 9.99881299e-01 1.36123420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.5192541539999 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:875.00, Y:31.57, Z:13.61 [[ 8.17907949e-01 -5.75203076e-01 -1.29618487e-02 8.74995283e+02] [ 5.75143123e-01 8.18010397e-01 -8.32940179e-03 3.15736784e+01] [ 1.53940245e-02 -6.42234211e-04 9.99881299e-01 1.36113395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.5492541539999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:875.02, Y:31.59, Z:13.61 [[ 8.16122942e-01 -5.77732949e-01 -1.29608138e-02 8.75018441e+02] [ 5.77673289e-01 8.16225561e-01 -8.33101182e-03 3.15906189e+01] [ 1.53920476e-02 -6.87986063e-04 9.99881299e-01 1.36141295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.5792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:875.04, Y:31.61, Z:13.62 [[ 8.15841858e-01 -5.78129859e-01 -1.29587158e-02 8.75041251e+02] [ 5.78070196e-01 8.15944476e-01 -8.33427391e-03 3.16067151e+01] [ 1.53918852e-02 -6.91597886e-04 9.99881299e-01 1.36169185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.6092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:875.06, Y:31.62, Z:13.62 [[ 8.16000249e-01 -5.77906329e-01 -1.29563659e-02 8.75063863e+02] [ 5.77846581e-01 8.16102817e-01 -8.33792537e-03 3.16230788e+01] [ 1.53922665e-02 -6.83042546e-04 9.99881299e-01 1.36171975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.6392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:875.09, Y:31.64, Z:13.62 [[ 8.17195592e-01 -5.76214821e-01 -1.29554533e-02 8.75085993e+02] [ 5.76154838e-01 8.17298023e-01 -8.33934315e-03 3.16413165e+01] [ 1.53937195e-02 -6.49472601e-04 9.99881299e-01 1.36176074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.6692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:875.11, Y:31.66, Z:13.62 [[ 8.18290408e-01 -5.74659051e-01 -1.29530922e-02 8.75108688e+02] [ 5.74598815e-01 8.18392690e-01 -8.34300879e-03 3.16582660e+01] [ 1.53951015e-02 -6.15827392e-04 9.99881299e-01 1.36179051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.6992541539998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:875.13, Y:31.68, Z:13.62 [[ 8.21001122e-01 -5.70779676e-01 -1.29506719e-02 8.75130698e+02] [ 5.70718897e-01 8.21103082e-01 -8.34676413e-03 3.16776316e+01] [ 1.53979999e-02 -5.38490471e-04 9.99881299e-01 1.36177424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.7292541539999 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:875.15, Y:31.69, Z:13.62 [[ 8.22739173e-01 -5.68271408e-01 -1.29560802e-02 8.75152054e+02] [ 5.68210450e-01 8.22841027e-01 -8.33837552e-03 3.16944407e+01] [ 1.53992547e-02 -5.01471970e-04 9.99881299e-01 1.36153606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.7592541539999 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:875.17, Y:31.71, Z:13.62 [[ 8.26681205e-01 -5.62521584e-01 -1.29480984e-02 8.75171947e+02] [ 5.62459724e-01 8.26782513e-01 -8.35075159e-03 3.17127555e+01] [ 1.54027393e-02 -3.79374430e-04 9.99881299e-01 1.36158022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.7892541539999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:875.19, Y:31.73, Z:13.62 [[ 8.28241155e-01 -5.60222243e-01 -1.29471001e-02 8.75193756e+02] [ 5.60160078e-01 8.28342276e-01 -8.35229908e-03 3.17299185e+01] [ 1.54037741e-02 -3.34730738e-04 9.99881299e-01 1.36161170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.8192541539999 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:875.22, Y:31.75, Z:13.62 [[ 8.29693650e-01 -5.58068885e-01 -1.29447469e-02 8.75216196e+02] [ 5.58006401e-01 8.29794574e-01 -8.35594445e-03 3.17472166e+01] [ 1.54046734e-02 -2.90377592e-04 9.99881299e-01 1.36161992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.8492541539998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:875.24, Y:31.77, Z:13.62 [[ 8.32254709e-01 -5.54242362e-01 -1.29423235e-02 8.75238400e+02] [ 5.54179355e-01 8.32355308e-01 -8.35969643e-03 3.17664603e+01] [ 1.54059095e-02 -2.14971741e-04 9.99881299e-01 1.36174517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.8792541539999 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:875.26, Y:31.78, Z:13.62 [[ 8.32724466e-01 -5.53535971e-01 -1.29573644e-02 8.75261753e+02] [ 5.53473241e-01 8.32825238e-01 -8.33641597e-03 3.17831076e+01] [ 1.54057262e-02 -2.29616911e-04 9.99881298e-01 1.36154563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.9092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:875.28, Y:31.80, Z:13.62 [[ 8.33254533e-01 -5.52737770e-01 -1.29553344e-02 8.75282598e+02] [ 5.52674894e-01 8.33355214e-01 -8.33955607e-03 3.18004116e+01] [ 1.54059831e-02 -2.11115193e-04 9.99881299e-01 1.36177672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.9392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:875.31, Y:31.82, Z:13.62 [[ 8.33629567e-01 -5.52172430e-01 -1.29364751e-02 8.75307993e+02] [ 5.52109034e-01 8.33729920e-01 -8.36870922e-03 3.18186880e+01] [ 1.54064968e-02 -1.65941291e-04 9.99881299e-01 1.36187391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.9692541539998 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:875.33, Y:31.83, Z:13.62 [[ 8.32314521e-01 -5.54151759e-01 -1.29756116e-02 8.75329567e+02] [ 5.54089542e-01 8.32415613e-01 -8.30820634e-03 3.18348356e+01] [ 1.54051089e-02 -2.74609934e-04 9.99881297e-01 1.36172638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.9992541539999 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:875.35, Y:31.85, Z:13.62 [[ 8.30386859e-01 -5.57036822e-01 -1.29477028e-02 8.75350939e+02] [ 5.56974284e-01 8.30487749e-01 -8.35132898e-03 3.18532783e+01] [ 1.54049063e-02 -2.76703659e-04 9.99881299e-01 1.36171459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.0292541539999 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:875.37, Y:31.87, Z:13.62 [[ 8.30098787e-01 -5.57466387e-01 -1.29318253e-02 8.75373540e+02] [ 5.57403519e-01 8.30199471e-01 -8.37584299e-03 3.18691338e+01] [ 1.54052454e-02 -2.55467817e-04 9.99881300e-01 1.36169843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.0592541539999 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:875.40, Y:31.89, Z:13.62 [[ 8.28711790e-01 -5.59526229e-01 -1.29293161e-02 8.75396057e+02] [ 5.59463551e-01 8.28812593e-01 -8.37971444e-03 3.18863078e+01] [ 1.54046500e-02 -2.89112962e-04 9.99881300e-01 1.36169355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.0892541539998 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:875.42, Y:31.90, Z:13.62 [[ 8.27716591e-01 -5.60997412e-01 -1.29285877e-02 8.75420192e+02] [ 5.60934896e-01 8.27817494e-01 -8.38083812e-03 3.19030656e+01] [ 1.54041396e-02 -3.15137245e-04 9.99881300e-01 1.36166424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.1192541539999 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:875.44, Y:31.92, Z:13.62 [[ 8.26807278e-01 -5.62336738e-01 -1.29274662e-02 8.75443101e+02] [ 5.62274358e-01 8.26908265e-01 -8.38256772e-03 3.19188794e+01] [ 1.54036544e-02 -3.38014743e-04 9.99881300e-01 1.36176748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.1492541539999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:875.47, Y:31.94, Z:13.62 [[ 8.24705969e-01 -5.65414012e-01 -1.29251524e-02 8.75466010e+02] [ 5.65351953e-01 8.24807155e-01 -8.38613390e-03 3.19352810e+01] [ 1.54023958e-02 -3.91165443e-04 9.99881300e-01 1.36188752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.1792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:875.49, Y:31.95, Z:13.62 [[ 8.23961593e-01 -5.66498274e-01 -1.29228289e-02 8.75489527e+02] [ 5.66436292e-01 8.24062825e-01 -8.38971271e-03 3.19513292e+01] [ 1.54019807e-02 -4.07158255e-04 9.99881300e-01 1.36210714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.2092541539998 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:875.52, Y:31.97, Z:13.62 [[ 8.22275556e-01 -5.68942847e-01 -1.29207795e-02 8.75515109e+02] [ 5.68881116e-01 8.22376942e-01 -8.39286774e-03 3.19672646e+01] [ 1.54008132e-02 -4.49137502e-04 9.99881300e-01 1.36218055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.2392541539999 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:875.54, Y:31.98, Z:13.62 [[ 8.21336853e-01 -5.70296608e-01 -1.29442211e-02 8.75538590e+02] [ 5.70235612e-01 8.21438684e-01 -8.35678187e-03 3.19826904e+01] [ 1.53987283e-02 -5.17522916e-04 9.99881299e-01 1.36206594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.2692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:875.56, Y:32.00, Z:13.62 [[ 8.20304084e-01 -5.71781110e-01 -1.29449679e-02 8.75562470e+02] [ 5.71720317e-01 8.20406035e-01 -8.35563232e-03 3.19986002e+01] [ 1.53977225e-02 -5.46741840e-04 9.99881299e-01 1.36224366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.2992541539999 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:875.59, Y:32.01, Z:13.62 [[ 8.19479221e-01 -5.72962592e-01 -1.29488906e-02 8.75585731e+02] [ 5.72902041e-01 8.19581317e-01 -8.34959690e-03 3.20138240e+01] [ 1.53966755e-02 -5.76124687e-04 9.99881298e-01 1.36219305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.3292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:875.61, Y:32.03, Z:13.62 [[ 8.19773030e-01 -5.72542306e-01 -1.29417100e-02 8.75610660e+02] [ 5.72481528e-01 8.19874991e-01 -8.36063750e-03 3.20294157e+01] [ 1.53974031e-02 -5.55064786e-04 9.99881299e-01 1.36230972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.3592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:875.63, Y:32.05, Z:13.62 [[ 8.19615133e-01 -5.72768026e-01 -1.29546369e-02 8.75631499e+02] [ 5.72707590e-01 8.19717298e-01 -8.34077347e-03 3.20458562e+01] [ 1.53964683e-02 -5.82994686e-04 9.99881297e-01 1.36242074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.3892541539999 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:875.65, Y:32.06, Z:13.62 [[ 8.20064626e-01 -5.72125250e-01 -1.29115307e-02 8.75654687e+02] [ 5.72063691e-01 8.20166115e-01 -8.40697653e-03 3.20609801e+01] [ 1.53994435e-02 -4.91953832e-04 9.99881301e-01 1.36225578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.4192541539999 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:875.68, Y:32.08, Z:13.62 [[ 8.22885867e-01 -5.68059999e-01 -1.29107907e-02 8.75677671e+02] [ 5.67997920e-01 8.22987039e-01 -8.40811282e-03 3.20766839e+01] [ 1.54017259e-02 -4.14385037e-04 9.99881301e-01 1.36236742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.4492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:875.70, Y:32.09, Z:13.63 [[ 8.24560103e-01 -5.65627066e-01 -1.29096810e-02 8.75700679e+02] [ 5.65564662e-01 8.24661075e-01 -8.40981626e-03 3.20928258e+01] [ 1.54029311e-02 -3.66860412e-04 9.99881301e-01 1.36255249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.4792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:875.72, Y:32.11, Z:13.63 [[ 8.26514646e-01 -5.62767324e-01 -1.29026903e-02 8.75724052e+02] [ 5.62704404e-01 8.26615297e-01 -8.42054175e-03 3.21087199e+01] [ 1.54043669e-02 -3.00699595e-04 9.99881300e-01 1.36256865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.5092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:875.75, Y:32.12, Z:13.63 [[ 8.30453920e-01 -5.56937789e-01 -1.29068257e-02 8.75745870e+02] [ 5.56874260e-01 8.30554188e-01 -8.41419836e-03 3.21248538e+01] [ 1.54060032e-02 -1.99875014e-04 9.99881301e-01 1.36261681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.5392541539999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:875.77, Y:32.14, Z:13.63 [[ 8.31881434e-01 -5.54803316e-01 -1.29058542e-02 8.75768632e+02] [ 5.54739507e-01 8.31981523e-01 -8.41568817e-03 3.21404882e+01] [ 1.54064840e-02 -1.58532482e-04 9.99881301e-01 1.36270719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.5692541539999 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:875.79, Y:32.16, Z:13.63 [[ 8.34434868e-01 -5.50955491e-01 -1.29033980e-02 8.75791349e+02] [ 5.50891162e-01 8.34534625e-01 -8.41945256e-03 3.21567827e+01] [ 1.54070760e-02 -8.28831189e-05 9.99881301e-01 1.36258310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.5992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:875.81, Y:32.17, Z:13.63 [[ 8.35844821e-01 -5.48814137e-01 -1.29026378e-02 8.75814405e+02] [ 5.48749534e-01 8.35944401e-01 -8.42061742e-03 3.21725549e+01] [ 1.54072417e-02 -4.19870032e-05 9.99881301e-01 1.36260971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.6292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:875.84, Y:32.19, Z:13.63 [[ 8.35481244e-01 -5.49367484e-01 -1.29018841e-02 8.75837755e+02] [ 5.49302930e-01 8.35580855e-01 -8.42177203e-03 3.21884090e+01] [ 1.54072150e-02 -5.08101471e-05 9.99881301e-01 1.36272054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.6592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:875.86, Y:32.20, Z:13.63 [[ 8.35664892e-01 -5.49088607e-01 -1.28798099e-02 8.75861683e+02] [ 5.49023499e-01 8.35764142e-01 -8.45556977e-03 3.22024065e+01] [ 1.54073403e-02 -5.29549255e-06 9.99881300e-01 1.36275054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.6892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:875.88, Y:32.22, Z:13.63 [[ 8.34669498e-01 -5.50600076e-01 -1.28990382e-02 8.75884660e+02] [ 5.50535601e-01 8.34769161e-01 -8.42613432e-03 3.22166800e+01] [ 1.54071495e-02 -6.83424744e-05 9.99881300e-01 1.36267005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.7192541539998 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:875.91, Y:32.23, Z:13.63 [[ 8.33734906e-01 -5.52014264e-01 -1.28979880e-02 8.75907941e+02] [ 5.51949934e-01 8.33834662e-01 -8.42774157e-03 3.22312045e+01] [ 1.54070231e-02 -9.25413219e-05 9.99881300e-01 1.36255059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.7492541539999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:875.93, Y:32.25, Z:13.63 [[ 8.33590819e-01 -5.52231860e-01 -1.28964605e-02 8.75931785e+02] [ 5.52167520e-01 8.33690568e-01 -8.43007838e-03 3.22469172e+01] [ 1.54070154e-02 -9.37706785e-05 9.99881300e-01 1.36259451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.7792541539999 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:875.96, Y:32.26, Z:13.63 [[ 8.31909660e-01 -5.54761260e-01 -1.28942594e-02 8.75955465e+02] [ 5.54697170e-01 8.32009571e-01 -8.43344378e-03 3.22612429e+01] [ 1.54066951e-02 -1.36545851e-04 9.99881301e-01 1.36275817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.8092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:875.98, Y:32.28, Z:13.63 [[ 8.30552054e-01 -5.56791779e-01 -1.28918729e-02 8.75978994e+02] [ 5.56727877e-01 8.30652085e-01 -8.43709028e-03 3.22754654e+01] [ 1.54063636e-02 -1.69822390e-04 9.99881301e-01 1.36294656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.8392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:876.00, Y:32.29, Z:13.63 [[ 8.30396535e-01 -5.57023710e-01 -1.28911352e-02 8.76002848e+02] [ 5.56959819e-01 8.30496572e-01 -8.43821727e-03 3.22911756e+01] [ 1.54063307e-02 -1.72777981e-04 9.99881301e-01 1.36299054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.8692541539999 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:876.03, Y:32.30, Z:13.63 [[ 8.28285699e-01 -5.60157729e-01 -1.28887775e-02 8.76027927e+02] [ 5.60094160e-01 8.28385941e-01 -8.44181695e-03 3.23047085e+01] [ 1.54056311e-02 -2.26692782e-04 9.99881301e-01 1.36282544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.8992541539999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:876.05, Y:32.32, Z:13.63 [[ 8.27548800e-01 -5.61245861e-01 -1.28867322e-02 8.76051542e+02] [ 5.61182375e-01 8.27649095e-01 -8.44493803e-03 3.23193282e+01] [ 1.54053788e-02 -2.43208680e-04 9.99881301e-01 1.36297703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.9292541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:876.08, Y:32.33, Z:13.63 [[ 8.26082780e-01 -5.63401486e-01 -1.28843140e-02 8.76075725e+02] [ 5.63338205e-01 8.26183205e-01 -8.44862588e-03 3.23335111e+01] [ 1.54047722e-02 -2.78961967e-04 9.99881301e-01 1.36295275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.9592541539998 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:876.10, Y:32.35, Z:13.63 [[ 8.25341175e-01 -5.64487379e-01 -1.28818826e-02 8.76099740e+02] [ 5.64424172e-01 8.25441647e-01 -8.45233144e-03 3.23481293e+01] [ 1.54044768e-02 -2.94788774e-04 9.99881301e-01 1.36281633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.9892541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:876.13, Y:32.36, Z:13.63 [[ 8.25810333e-01 -5.63800834e-01 -1.28807508e-02 8.76128410e+02] [ 5.63737517e-01 8.25910734e-01 -8.45405598e-03 3.23622599e+01] [ 1.54047541e-02 -2.79915675e-04 9.99881301e-01 1.36283379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.0192541539999 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:876.15, Y:32.38, Z:13.63 [[ 8.23538296e-01 -5.67112898e-01 -1.29474370e-02 8.76148797e+02] [ 5.67051576e-01 8.23639937e-01 -8.35243665e-03 3.23783993e+01] [ 1.54008008e-02 -4.63313127e-04 9.99881293e-01 1.36287018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.0492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:876.17, Y:32.39, Z:13.63 [[ 8.22596518e-01 -5.68479894e-01 -1.28677354e-02 8.76172799e+02] [ 5.68416840e-01 8.22697084e-01 -8.47375930e-03 3.23924293e+01] [ 1.54034101e-02 -3.43752578e-04 9.99881301e-01 1.36311365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.0792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:876.20, Y:32.41, Z:13.63 [[ 8.21788553e-01 -5.69647081e-01 -1.28754717e-02 8.76195927e+02] [ 5.69584353e-01 8.21889323e-01 -8.46198797e-03 3.24066420e+01] [ 1.54025595e-02 -3.79702360e-04 9.99881301e-01 1.36318389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.1092541539999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:876.22, Y:32.42, Z:13.63 [[ 8.19905720e-01 -5.72353788e-01 -1.28744646e-02 8.76220892e+02] [ 5.72291369e-01 8.20006681e-01 -8.46351986e-03 3.24205042e+01] [ 1.54012747e-02 -4.28656651e-04 9.99881301e-01 1.36323747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.1392541539999 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:876.25, Y:32.44, Z:13.63 [[ 8.18927472e-01 -5.73752652e-01 -1.28720593e-02 8.76245105e+02] [ 5.73690348e-01 8.19028505e-01 -8.46717648e-03 3.24356656e+01] [ 1.54006485e-02 -4.50572770e-04 9.99881301e-01 1.36325869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.1692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:876.27, Y:32.45, Z:13.63 [[ 8.18044288e-01 -5.75011230e-01 -1.28696563e-02 8.76268760e+02] [ 5.74949024e-01 8.18145381e-01 -8.47082746e-03 3.24518004e+01] [ 1.54000707e-02 -4.69884287e-04 9.99881301e-01 1.36335719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.1992541539998 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:876.29, Y:32.47, Z:13.63 [[ 8.15967202e-01 -5.77954977e-01 -1.28674022e-02 8.76289825e+02] [ 5.77893082e-01 8.16068485e-01 -8.47425003e-03 3.24666051e+01] [ 1.53984164e-02 -5.21272636e-04 9.99881301e-01 1.36319526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.2292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:876.32, Y:32.48, Z:13.64 [[ 8.17962024e-01 -5.75130021e-01 -1.27900665e-02 8.76318035e+02] [ 5.75065934e-01 8.18061949e-01 -8.59183100e-03 3.24809523e+01] [ 1.54044866e-02 -3.27340040e-04 9.99881290e-01 1.36353168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.2592541539999 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:876.34, Y:32.50, Z:13.63 [[ 8.17849752e-01 -5.75287811e-01 -1.28731587e-02 8.76341529e+02] [ 5.75225723e-01 8.17950917e-01 -8.46547581e-03 3.24958931e+01] [ 1.53996970e-02 -4.81484735e-04 9.99881302e-01 1.36343609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.2892541539999 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:876.36, Y:32.51, Z:13.63 [[ 8.18945427e-01 -5.73727025e-01 -1.28720282e-02 8.76363536e+02] [ 5.73664717e-01 8.19046457e-01 -8.46719446e-03 3.25112230e+01] [ 1.54006474e-02 -4.50058224e-04 9.99881302e-01 1.36342579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.3192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:876.39, Y:32.53, Z:13.64 [[ 8.20133654e-01 -5.72027209e-01 -1.28709894e-02 8.76386476e+02] [ 5.71964668e-01 8.20234539e-01 -8.46877324e-03 3.25271389e+01] [ 1.54015988e-02 -4.16225219e-04 9.99881302e-01 1.36360859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.3492541539998 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:876.41, Y:32.54, Z:13.63 [[ 8.21820200e-01 -5.69601542e-01 -1.28702555e-02 8.76409925e+02] [ 5.69538685e-01 8.21920889e-01 -8.46988844e-03 3.25433807e+01] [ 1.54027933e-02 -3.69382968e-04 9.99881302e-01 1.36343074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.3792541539999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:876.43, Y:32.56, Z:13.64 [[ 8.23071924e-01 -5.67791358e-01 -1.28679067e-02 8.76433081e+02] [ 5.67728224e-01 8.23172439e-01 -8.47345531e-03 3.25591334e+01] [ 1.54036608e-02 -3.31210652e-04 9.99881302e-01 1.36361758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.4092541539999 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:876.46, Y:32.58, Z:13.64 [[ 8.24129958e-01 -5.66254616e-01 -1.28655628e-02 8.76457713e+02] [ 5.66191239e-01 8.24230321e-01 -8.47701270e-03 3.25750373e+01] [ 1.54043345e-02 -2.98208800e-04 9.99881302e-01 1.36352388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.4392541539999 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:876.48, Y:32.59, Z:13.64 [[ 8.24592000e-01 -5.65581617e-01 -1.28634593e-02 8.76480143e+02] [ 5.65518108e-01 8.24692279e-01 -8.48020334e-03 3.25897643e+01] [ 1.54046427e-02 -2.81811369e-04 9.99881302e-01 1.36350368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.4692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:876.50, Y:32.60, Z:13.64 [[ 8.25138921e-01 -5.64783441e-01 -1.28618251e-02 8.76503529e+02] [ 5.64719797e-01 8.25239114e-01 -8.48268128e-03 3.26047700e+01] [ 1.54049591e-02 -2.63936767e-04 9.99881302e-01 1.36376453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.4992541539999 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:876.53, Y:32.62, Z:13.64 [[ 8.24514521e-01 -5.65694653e-01 -1.28594014e-02 8.76527516e+02] [ 5.65631062e-01 8.24614748e-01 -8.48635391e-03 3.26198377e+01] [ 1.54047371e-02 -2.76554837e-04 9.99881302e-01 1.36355111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.5292541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:876.55, Y:32.64, Z:13.64 [[ 8.24640916e-01 -5.65510402e-01 -1.28586504e-02 8.76551295e+02] [ 5.65446771e-01 8.24741118e-01 -8.48749173e-03 3.26350181e+01] [ 1.54048225e-02 -2.71749368e-04 9.99881302e-01 1.36370185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.5592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:876.58, Y:32.65, Z:13.64 [[ 8.24356884e-01 -5.65924377e-01 -1.28579474e-02 8.76575648e+02] [ 5.65860780e-01 8.24457107e-01 -8.48855652e-03 3.26494789e+01] [ 1.54047072e-02 -2.78208141e-04 9.99881302e-01 1.36390070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.5892541539998 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:876.60, Y:32.66, Z:13.64 [[ 8.23508641e-01 -5.67158049e-01 -1.28555768e-02 8.76600096e+02] [ 5.67094546e-01 8.23608924e-01 -8.49214518e-03 3.26649720e+01] [ 1.54043563e-02 -2.96972560e-04 9.99881302e-01 1.36379190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.6192541539999 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:876.62, Y:32.68, Z:13.64 [[ 8.23656659e-01 -5.66943117e-01 -1.28534319e-02 8.76623069e+02] [ 5.66879537e-01 8.23756893e-01 -8.49539043e-03 3.26792395e+01] [ 1.54045062e-02 -2.89062622e-04 9.99881302e-01 1.36383038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.6492541539999 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:876.65, Y:32.69, Z:13.64 [[ 8.23820881e-01 -5.66704485e-01 -1.28523696e-02 8.76646856e+02] [ 5.66640851e-01 8.23921080e-01 -8.49699720e-03 3.26948946e+01] [ 1.54046247e-02 -2.82673938e-04 9.99881302e-01 1.36394022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.6792541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:876.67, Y:32.71, Z:13.64 [[ 8.24689509e-01 -5.65439735e-01 -1.28498881e-02 8.76669995e+02] [ 5.65375889e-01 8.24789574e-01 -8.50074834e-03 3.27099192e+01] [ 1.54051146e-02 -2.54538914e-04 9.99881302e-01 1.36409193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.7092541539998 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:876.69, Y:32.73, Z:13.64 [[ 8.25289792e-01 -5.64563247e-01 -1.28491205e-02 8.76694906e+02] [ 5.64499277e-01 8.25389777e-01 -8.50190836e-03 3.27254646e+01] [ 1.54053977e-02 -2.36781060e-04 9.99881302e-01 1.36394716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.7392541539999 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:876.72, Y:32.74, Z:13.64 [[ 8.26948870e-01 -5.62130342e-01 -1.28469766e-02 8.76717860e+02] [ 5.62066028e-01 8.27048634e-01 -8.50514678e-03 3.27406878e+01] [ 1.54060755e-02 -1.87527575e-04 9.99881302e-01 1.36410711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.7692541539999 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:876.74, Y:32.76, Z:13.64 [[ 8.28190541e-01 -5.60299832e-01 -1.28267668e-02 8.76741695e+02] [ 5.60234824e-01 8.28289855e-01 -8.53565322e-03 3.27553993e+01] [ 1.54068059e-02 -1.16854189e-04 9.99881301e-01 1.36399177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.7992541539999 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:876.77, Y:32.77, Z:13.64 [[ 8.30469756e-01 -5.56915636e-01 -1.28436430e-02 8.76766077e+02] [ 5.56850617e-01 8.30569062e-01 -8.51018355e-03 3.27708491e+01] [ 1.54069868e-02 -8.45404718e-05 9.99881302e-01 1.36388002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.8292541539998 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:876.79, Y:32.79, Z:13.64 [[ 8.31197189e-01 -5.55829300e-01 -1.28461166e-02 8.76789515e+02] [ 5.55764209e-01 8.31296448e-01 -8.50645109e-03 3.27869285e+01] [ 1.54070659e-02 -6.88736163e-05 9.99881302e-01 1.36403593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.8592541539999 meters Centerline goodness : 0.997135 Centerline is valid? [True, True] Translation: X:876.81, Y:32.80, Z:13.64 [[ 8.32976100e-01 -5.53159955e-01 -1.28406043e-02 8.76813591e+02] [ 5.53094418e-01 8.33075065e-01 -8.51476401e-03 3.28012544e+01] [ 1.54072137e-02 -9.47162168e-06 9.99881302e-01 1.36405946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.8892541539999 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:876.84, Y:32.82, Z:13.64 [[ 8.32835894e-01 -5.53371093e-01 -1.28377151e-02 8.76837117e+02] [ 5.53305514e-01 8.32934831e-01 -8.51911773e-03 3.28160801e+01] [ 1.54072136e-02 -8.15152157e-06 9.99881302e-01 1.36394115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.9192541539999 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:876.86, Y:32.83, Z:13.64 [[ 8.33036471e-01 -5.53069124e-01 -1.28367537e-02 8.76860919e+02] [ 5.53003486e-01 8.33135370e-01 -8.52056618e-03 3.28306623e+01] [ 1.54072156e-02 -8.27163179e-07 9.99881302e-01 1.36406799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.9492541539998 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:876.88, Y:32.85, Z:13.64 [[ 8.32870555e-01 -5.53319002e-01 -1.28343361e-02 8.76884860e+02] [ 5.53253338e-01 8.32969436e-01 -8.52420624e-03 3.28451638e+01] [ 1.54072150e-02 -1.07888838e-06 9.99881302e-01 1.36416025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.9792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:876.91, Y:32.86, Z:13.64 [[ 8.33302961e-01 -5.52667638e-01 -1.28318706e-02 8.76912522e+02] [ 5.52601840e-01 8.33401753e-01 -8.52791592e-03 3.28582246e+01] [ 1.54072066e-02 1.54222625e-05 9.99881302e-01 1.36437646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.0092541539999 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:876.93, Y:32.87, Z:13.64 [[ 8.31572828e-01 -5.55266769e-01 -1.28625974e-02 8.76934959e+02] [ 5.55201994e-01 8.31672296e-01 -8.48167695e-03 3.28732498e+01] [ 1.54070593e-02 -8.82076341e-05 9.99881300e-01 1.36434011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.0392541539999 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:876.96, Y:32.89, Z:13.64 [[ 8.30840610e-01 -5.56362552e-01 -1.28293014e-02 8.76959177e+02] [ 5.56297134e-01 8.30939654e-01 -8.53174463e-03 3.28876781e+01] [ 1.54071185e-02 -4.83837000e-05 9.99881302e-01 1.36441905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.0692541539999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:876.98, Y:32.90, Z:13.64 [[ 8.28602951e-01 -5.59689716e-01 -1.28285360e-02 8.76984206e+02] [ 5.59624678e-01 8.28702244e-01 -8.53289534e-03 3.29000940e+01] [ 1.54068104e-02 -1.08783083e-04 9.99881302e-01 1.36449983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.0992541539998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:877.01, Y:32.91, Z:13.65 [[ 8.27505054e-01 -5.61311747e-01 -1.28261116e-02 8.77008930e+02] [ 5.61246847e-01 8.27604437e-01 -8.53653800e-03 3.29141007e+01] [ 1.54066060e-02 -1.34586369e-04 9.99881302e-01 1.36462609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.1292541539999 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:877.03, Y:32.93, Z:13.64 [[ 8.25394397e-01 -5.64410880e-01 -1.28236969e-02 8.77034178e+02] [ 5.64346297e-01 8.25493987e-01 -8.54016391e-03 3.29252592e+01] [ 1.54060461e-02 -1.88002401e-04 9.99881302e-01 1.36416737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.1592541539999 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:877.06, Y:32.94, Z:13.65 [[ 8.23305664e-01 -5.67454538e-01 -1.27722879e-02 8.77060333e+02] [ 5.67389123e-01 8.23404715e-01 -8.61730623e-03 3.29407556e+01] [ 1.54066916e-02 -1.52180202e-04 9.99881298e-01 1.36479085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.1892541539999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:877.08, Y:32.95, Z:13.65 [[ 8.19512132e-01 -5.72918381e-01 -1.28216736e-02 8.77083561e+02] [ 5.72854783e-01 8.19612354e-01 -8.54318794e-03 3.29535970e+01] [ 1.54033515e-02 -3.43710892e-04 9.99881302e-01 1.36512145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.2192541539998 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:877.11, Y:32.97, Z:13.65 [[ 8.19529464e-01 -5.72894845e-01 -1.27653458e-02 8.77110418e+02] [ 5.72829927e-01 8.19628842e-01 -8.62767875e-03 3.29669768e+01] [ 1.54055983e-02 -2.41735172e-04 9.99881298e-01 1.36484143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.2492541539999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:877.13, Y:32.98, Z:13.65 [[ 8.18388350e-01 -5.74522546e-01 -1.28200185e-02 8.77134933e+02] [ 5.74459107e-01 8.18488672e-01 -8.54566009e-03 3.29814443e+01] [ 1.54027143e-02 -3.70907718e-04 9.99881302e-01 1.36484475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.2792541539999 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:877.16, Y:32.99, Z:13.65 [[ 8.16698490e-01 -5.76922250e-01 -1.28176813e-02 8.77161093e+02] [ 5.76859051e-01 8.16798964e-01 -8.54916430e-03 3.29949237e+01] [ 1.54016719e-02 -4.11905861e-04 9.99881302e-01 1.36498106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.3092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:877.19, Y:33.01, Z:13.65 [[ 8.16295288e-01 -5.77492654e-01 -1.28155175e-02 8.77186048e+02] [ 5.77429474e-01 8.16395774e-01 -8.55240666e-03 3.30076020e+01] [ 1.54014863e-02 -4.18768255e-04 9.99881302e-01 1.36503502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.3392541539998 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:877.21, Y:33.02, Z:13.65 [[ 8.15599686e-01 -5.78474662e-01 -1.28147517e-02 8.77210844e+02] [ 5.78411584e-01 8.15700236e-01 -8.55355397e-03 3.30226297e+01] [ 1.54010102e-02 -4.35924891e-04 9.99881302e-01 1.36522678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.3692541539999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:877.24, Y:33.04, Z:13.65 [[ 8.15467384e-01 -5.78661199e-01 -1.28125917e-02 8.77235053e+02] [ 5.78598094e-01 8.15567917e-01 -8.55678817e-03 3.30374240e+01] [ 1.54010201e-02 -4.35559509e-04 9.99881302e-01 1.36529242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.3992541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:877.26, Y:33.05, Z:13.65 [[ 8.16301147e-01 -5.77484492e-01 -1.28101219e-02 8.77260135e+02] [ 5.77421184e-01 8.16401552e-01 -8.56048417e-03 3.30524059e+01] [ 1.54017502e-02 -4.08902695e-04 9.99881302e-01 1.36544894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.4292541539999 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:877.27, Y:33.07, Z:13.65 [[ 8.12879884e-01 -5.82290521e-01 -1.28079750e-02 8.77274920e+02] [ 5.82227756e-01 8.12980629e-01 -8.56369508e-03 3.30703654e+01] [ 1.53991940e-02 -4.95903065e-04 9.99881302e-01 1.36468782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.4592541539998 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:877.31, Y:33.08, Z:13.65 [[ 8.18720018e-01 -5.74053694e-01 -1.26447238e-02 8.77308267e+02] [ 5.73986129e-01 8.18817656e-01 -8.80738670e-03 3.30841612e+01] [ 1.54096360e-02 -4.71122776e-05 9.99881263e-01 1.36539791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.4892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:877.33, Y:33.10, Z:13.66 [[ 8.20547799e-01 -5.71434455e-01 -1.28052080e-02 8.77331718e+02] [ 5.71370297e-01 8.20647660e-01 -8.56752465e-03 3.30998177e+01] [ 1.54043428e-02 -2.86452041e-04 9.99881305e-01 1.36555556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.5192541539999 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:877.36, Y:33.12, Z:13.65 [[ 8.23039914e-01 -5.67839190e-01 -1.28044543e-02 8.77355655e+02] [ 5.67774578e-01 8.23139482e-01 -8.56865100e-03 3.31165154e+01] [ 1.54054677e-02 -2.17701858e-04 9.99881305e-01 1.36541239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.5492541539999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:877.37, Y:33.14, Z:13.65 [[ 8.21639365e-01 -5.69863891e-01 -1.28023514e-02 8.77372096e+02] [ 5.69799476e-01 8.21739060e-01 -8.57179177e-03 3.31351913e+01] [ 1.54049468e-02 -2.51851576e-04 9.99881305e-01 1.36488011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.5792541539998 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:877.40, Y:33.15, Z:13.65 [[ 8.27333883e-01 -5.61567739e-01 -1.26617843e-02 8.77403674e+02] [ 5.61499096e-01 8.27430753e-01 -8.78148045e-03 3.31496201e+01] [ 1.54081459e-02 1.55635858e-04 9.99881275e-01 1.36536773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.6092541539999 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:877.43, Y:33.17, Z:13.65 [[ 8.28311267e-01 -5.60121943e-01 -1.28005704e-02 8.77428103e+02] [ 5.60056316e-01 8.28410167e-01 -8.57428739e-03 3.31659508e+01] [ 1.54067691e-02 -6.68614237e-05 9.99881306e-01 1.36535502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.6392541539999 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:877.45, Y:33.18, Z:13.65 [[ 8.29265987e-01 -5.58707542e-01 -1.27986416e-02 8.77451421e+02] [ 5.58641702e-01 8.29364746e-01 -8.57716537e-03 3.31816425e+01] [ 1.54068691e-02 -3.71034379e-05 9.99881306e-01 1.36539987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.6692541539999 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:877.48, Y:33.20, Z:13.65 [[ 8.29111746e-01 -5.58936461e-01 -1.27962747e-02 8.77475105e+02] [ 5.58870594e-01 8.29210487e-01 -8.58069514e-03 3.31976290e+01] [ 1.54068686e-02 -3.71065161e-05 9.99881306e-01 1.36544375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.6992541539998 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:877.50, Y:33.21, Z:13.66 [[ 8.30773253e-01 -5.56463942e-01 -1.27939051e-02 8.77499577e+02] [ 5.56397726e-01 8.30871760e-01 -8.58422681e-03 3.32135342e+01] [ 1.54069071e-02 1.30463289e-05 9.99881306e-01 1.36562615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.7292541539999 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:877.52, Y:33.23, Z:13.66 [[ 8.31149849e-01 -5.55901339e-01 -1.27917741e-02 8.77523560e+02] [ 5.55835008e-01 8.31248279e-01 -8.58740108e-03 3.32292776e+01] [ 1.54068880e-02 2.73012412e-05 9.99881306e-01 1.36569155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.7592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:877.55, Y:33.24, Z:13.66 [[ 8.31555721e-01 -5.55294074e-01 -1.27896351e-02 8.77547881e+02] [ 5.55227622e-01 8.31654069e-01 -8.59058562e-03 3.32445348e+01] [ 1.54068534e-02 4.23919212e-05 9.99881306e-01 1.36583038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.7892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:877.57, Y:33.26, Z:13.66 [[ 8.31158524e-01 -5.55888468e-01 -1.27875093e-02 8.77572477e+02] [ 5.55822037e-01 8.31256886e-01 -8.59374886e-03 3.32604737e+01] [ 1.54068710e-02 3.51881391e-05 9.99881306e-01 1.36589913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.8192541539999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:877.59, Y:33.28, Z:13.65 [[ 8.27054221e-01 -5.61976734e-01 -1.27853851e-02 8.77588160e+02] [ 5.61910979e-01 8.27153036e-01 -8.59690801e-03 3.32781011e+01] [ 1.54067324e-02 -7.41392042e-05 9.99881307e-01 1.36524881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.8492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:877.61, Y:33.29, Z:13.66 [[ 8.26887782e-01 -5.62224917e-01 -1.26387953e-02 8.77613867e+02] [ 5.62155840e-01 8.26984346e-01 -8.81489188e-03 3.32917041e+01] [ 1.54080378e-02 1.83953776e-04 9.99881272e-01 1.36558508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.8792541539999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:877.64, Y:33.31, Z:13.66 [[ 8.26263122e-01 -5.63142372e-01 -1.26459960e-02 8.77640192e+02] [ 5.63073567e-01 8.26359876e-01 -8.80419829e-03 3.33058621e+01] [ 1.54081608e-02 1.53958320e-04 9.99881275e-01 1.36572108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.9092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:877.67, Y:33.32, Z:13.66 [[ 8.25277643e-01 -5.64584673e-01 -1.26869448e-02 8.77665224e+02] [ 5.64516969e-01 8.25375154e-01 -8.74339616e-03 3.33191077e+01] [ 1.54078765e-02 5.37337624e-05 9.99881290e-01 1.36597213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.9392541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:877.69, Y:33.33, Z:13.66 [[ 8.24631759e-01 -5.65527599e-01 -1.26884674e-02 8.77688939e+02] [ 5.65460042e-01 8.24729370e-01 -8.74113139e-03 3.33329903e+01] [ 1.54079027e-02 3.33932726e-05 9.99881291e-01 1.36607872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.9692541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:877.72, Y:33.35, Z:13.66 [[ 8.26407052e-01 -5.62930236e-01 -1.26859797e-02 8.77718656e+02] [ 5.62862315e-01 8.26504411e-01 -8.74482972e-03 3.33463145e+01] [ 1.54077472e-02 8.63290632e-05 9.99881290e-01 1.36604825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.9992541539999 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:877.74, Y:33.36, Z:13.66 [[ 8.25794469e-01 -5.63826237e-01 -1.27855327e-02 8.77744079e+02] [ 5.63760705e-01 8.25893433e-01 -8.59677011e-03 3.33597155e+01] [ 1.54065720e-02 -1.08815713e-04 9.99881306e-01 1.36596219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.0292541539999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:877.77, Y:33.37, Z:13.66 [[ 8.24935464e-01 -5.65082353e-01 -1.27833583e-02 8.77766842e+02] [ 5.65016922e-01 8.25034495e-01 -8.60000211e-03 3.33745296e+01] [ 1.54064210e-02 -1.28367042e-04 9.99881306e-01 1.36609284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.0592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:877.79, Y:33.39, Z:13.66 [[ 8.25153602e-01 -5.64764653e-01 -1.27444051e-02 8.77791806e+02] [ 5.64698288e-01 8.25252013e-01 -8.65787415e-03 3.33894578e+01] [ 1.54070073e-02 -5.26677190e-05 9.99881304e-01 1.36612953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.0892541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:877.82, Y:33.40, Z:13.66 [[ 8.26033567e-01 -5.63476691e-01 -1.27501042e-02 8.77817939e+02] [ 5.63410304e-01 8.26131961e-01 -8.64940951e-03 3.34032582e+01] [ 1.54070092e-02 -3.88374783e-05 9.99881304e-01 1.36605657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.1192541539999 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:877.84, Y:33.42, Z:13.66 [[ 8.24094265e-01 -5.66308492e-01 -1.27802409e-02 8.77843126e+02] [ 5.66243137e-01 8.24193345e-01 -8.60464830e-03 3.34185247e+01] [ 1.54062749e-02 -1.45682384e-04 9.99881306e-01 1.36610045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.1492541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:877.87, Y:33.43, Z:13.66 [[ 8.23782643e-01 -5.66761744e-01 -1.27781776e-02 8.77868327e+02] [ 5.66696396e-01 8.23881728e-01 -8.60771128e-03 3.34334906e+01] [ 1.54062285e-02 -1.50464044e-04 9.99881306e-01 1.36624904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.1792541539999 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:877.89, Y:33.45, Z:13.66 [[ 8.22096356e-01 -5.69205022e-01 -1.27759581e-02 8.77892622e+02] [ 5.69139916e-01 8.22195601e-01 -8.61100426e-03 3.34460716e+01] [ 1.54057634e-02 -1.92232519e-04 9.99881306e-01 1.36631121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.2092541539998 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:877.92, Y:33.46, Z:13.66 [[ 8.22422297e-01 -5.68734805e-01 -1.27391828e-02 8.77918394e+02] [ 5.68668797e-01 8.22520947e-01 -8.66552950e-03 3.34590967e+01] [ 1.54066330e-02 -1.17651104e-04 9.99881304e-01 1.36629069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.2392541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:877.94, Y:33.47, Z:13.66 [[ 8.21319266e-01 -5.70325799e-01 -1.27728337e-02 8.77943310e+02] [ 5.70260757e-01 8.21418553e-01 -8.61564157e-03 3.34718551e+01] [ 1.54055653e-02 -2.07653410e-04 9.99881306e-01 1.36642636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.2692541539999 meters Centerline goodness : 0.999756 Centerline is valid? [True, True] Translation: X:877.97, Y:33.49, Z:13.66 [[ 8.20435578e-01 -5.71596314e-01 -1.27716924e-02 8.77967579e+02] [ 5.71531400e-01 8.20534948e-01 -8.61733308e-03 3.34862680e+01] [ 1.54052558e-02 -2.29456603e-04 9.99881306e-01 1.36642384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.2992541539999 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:877.99, Y:33.50, Z:13.67 [[ 8.19353116e-01 -5.73146944e-01 -1.27692138e-02 8.77990514e+02] [ 5.73082160e-01 8.19452571e-01 -8.62100438e-03 3.35015548e+01] [ 1.54048674e-02 -2.54161816e-04 9.99881306e-01 1.36658963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.3292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:878.02, Y:33.52, Z:13.67 [[ 8.20165065e-01 -5.71985003e-01 -1.27444776e-02 8.78015444e+02] [ 5.71919509e-01 8.20264056e-01 -8.65762788e-03 3.35163702e+01] [ 1.54058702e-02 -1.88131453e-04 9.99881305e-01 1.36672319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.3592541539999 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:878.04, Y:33.53, Z:13.67 [[ 8.20686207e-01 -5.71236784e-01 -1.27548672e-02 8.78039130e+02] [ 5.71171439e-01 8.20785294e-01 -8.64225140e-03 3.35322878e+01] [ 1.54057793e-02 -1.92639308e-04 9.99881305e-01 1.36675602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.3892541539999 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:878.06, Y:33.55, Z:13.67 [[ 8.22052283e-01 -5.69269066e-01 -1.27583512e-02 8.78063599e+02] [ 5.69203563e-01 8.22151266e-01 -8.63709622e-03 3.35486309e+01] [ 1.54061263e-02 -1.61954284e-04 9.99881305e-01 1.36672925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.4192541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:878.09, Y:33.56, Z:13.67 [[ 8.22920442e-01 -5.68013226e-01 -1.27640540e-02 8.78086778e+02] [ 5.67947703e-01 8.23019413e-01 -8.62866058e-03 3.35643897e+01] [ 1.54062576e-02 -1.48613991e-04 9.99881306e-01 1.36677018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.4492541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:878.11, Y:33.58, Z:13.67 [[ 8.23552292e-01 -5.67096752e-01 -1.27631090e-02 8.78109692e+02] [ 5.67031097e-01 8.23651174e-01 -8.63005816e-03 3.35803115e+01] [ 1.54064277e-02 -1.29775547e-04 9.99881306e-01 1.36674525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.4792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:878.13, Y:33.60, Z:13.67 [[ 8.23786054e-01 -5.66757144e-01 -1.27623477e-02 8.78132427e+02] [ 5.66691431e-01 8.23884898e-01 -8.63118383e-03 3.35960076e+01] [ 1.54064907e-02 -1.22064229e-04 9.99881306e-01 1.36681259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.5092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:878.16, Y:33.61, Z:13.67 [[ 8.23725262e-01 -5.66845549e-01 -1.27599068e-02 8.78156566e+02] [ 5.66779791e-01 8.23824076e-01 -8.63479081e-03 3.36120070e+01] [ 1.54065112e-02 -1.19362007e-04 9.99881306e-01 1.36702127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.5392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:878.18, Y:33.63, Z:13.67 [[ 8.23391889e-01 -5.67329269e-01 -1.27787879e-02 8.78178398e+02] [ 5.67264001e-01 8.23491029e-01 -8.60689612e-03 3.36281692e+01] [ 1.54061613e-02 -1.62097912e-04 9.99881305e-01 1.36692451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.5692541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:878.20, Y:33.64, Z:13.67 [[ 8.22879147e-01 -5.68073204e-01 -1.27571397e-02 8.78201029e+02] [ 5.68007530e-01 8.22978017e-01 -8.63886442e-03 3.36440290e+01] [ 1.54063529e-02 -1.37410013e-04 9.99881306e-01 1.36696296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.5992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:878.23, Y:33.66, Z:13.67 [[ 8.22542541e-01 -5.68560539e-01 -1.27546951e-02 8.78226668e+02] [ 5.68494867e-01 8.22641413e-01 -8.64247212e-03 3.36606637e+01] [ 1.54063090e-02 -1.42177742e-04 9.99881306e-01 1.36713643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.6292541539999 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:878.25, Y:33.68, Z:13.67 [[ 8.21318622e-01 -5.70326214e-01 -1.27957173e-02 8.78247191e+02] [ 5.70261697e-01 8.21418254e-01 -8.58194155e-03 3.36767779e+01] [ 1.54051420e-02 -2.48399071e-04 9.99881303e-01 1.36697776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.6592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:878.27, Y:33.69, Z:13.67 [[ 8.21912878e-01 -5.69470473e-01 -1.27515302e-02 8.78272470e+02] [ 5.69404840e-01 8.22011774e-01 -8.64710254e-03 3.36931868e+01] [ 1.54061776e-02 -1.53618104e-04 9.99881306e-01 1.36737516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.6892541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:878.29, Y:33.71, Z:13.67 [[ 8.21181198e-01 -5.70524200e-01 -1.27897456e-02 8.78294371e+02] [ 5.70459569e-01 8.21280755e-01 -8.59075844e-03 3.37090900e+01] [ 1.54052075e-02 -2.41463477e-04 9.99881304e-01 1.36724795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.7192541539998 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:878.32, Y:33.73, Z:13.67 [[ 8.20135047e-01 -5.72027271e-01 -1.27791390e-02 8.78316232e+02] [ 5.71962579e-01 8.20234563e-01 -8.60638947e-03 3.37258111e+01] [ 1.54049809e-02 -2.50787649e-04 9.99881305e-01 1.36734111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.7492541539999 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:878.34, Y:33.74, Z:13.67 [[ 8.19026362e-01 -5.73614045e-01 -1.27571779e-02 8.78338368e+02] [ 5.73549042e-01 8.19125674e-01 -8.63873184e-03 3.37428010e+01] [ 1.54050299e-02 -2.41518046e-04 9.99881306e-01 1.36724798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.7792541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:878.36, Y:33.76, Z:13.67 [[ 8.18486962e-01 -5.74383517e-01 -1.27541408e-02 8.78362013e+02] [ 5.74318537e-01 8.18586289e-01 -8.64320154e-03 3.37600960e+01] [ 1.54048773e-02 -2.50591746e-04 9.99881306e-01 1.36740678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.8092541539999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:878.38, Y:33.78, Z:13.67 [[ 8.16924478e-01 -5.76603680e-01 -1.27512178e-02 8.78383057e+02] [ 5.76538904e-01 8.17023937e-01 -8.64750104e-03 3.37756906e+01] [ 1.54042311e-02 -2.87217867e-04 9.99881307e-01 1.36727575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.8392541539998 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:878.41, Y:33.79, Z:13.67 [[ 8.15357158e-01 -5.78818778e-01 -1.27093557e-02 8.78408177e+02] [ 5.78753311e-01 8.15456165e-01 -8.70905276e-03 3.37925811e+01] [ 1.54048858e-02 -2.54593212e-04 9.99881305e-01 1.36740077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.8692541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:878.43, Y:33.81, Z:13.68 [[ 8.14300284e-01 -5.80303798e-01 -1.27494697e-02 8.78430618e+02] [ 5.80239433e-01 8.14400010e-01 -8.65008389e-03 3.38085917e+01] [ 1.54028448e-02 -3.53979324e-04 9.99881306e-01 1.36750789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.8992541539999 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:878.45, Y:33.83, Z:13.68 [[ 8.12045103e-01 -5.83455503e-01 -1.27446756e-02 8.78454085e+02] [ 5.83391414e-01 8.12145007e-01 -8.65712774e-03 3.38254698e+01] [ 1.54015735e-02 -4.05156137e-04 9.99881307e-01 1.36754308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.9292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:878.48, Y:33.84, Z:13.68 [[ 8.10800448e-01 -5.85184113e-01 -1.27352938e-02 8.78476485e+02] [ 5.85120021e-01 8.10900349e-01 -8.67090723e-03 3.38423038e+01] [ 1.54011313e-02 -4.21299880e-04 9.99881307e-01 1.36785913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.9592541539998 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:878.50, Y:33.86, Z:13.68 [[ 8.09359908e-01 -5.87175035e-01 -1.27286412e-02 8.78499335e+02] [ 5.87111035e-01 8.09459868e-01 -8.68067293e-03 3.38578082e+01] [ 1.54003987e-02 -4.47337084e-04 9.99881307e-01 1.36754079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.9892541539999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:878.52, Y:33.87, Z:13.68 [[ 8.08528420e-01 -5.88319372e-01 -1.27323145e-02 8.78522309e+02] [ 5.88255598e-01 8.08628525e-01 -8.67528186e-03 3.38742360e+01] [ 1.53995490e-02 -4.75643329e-04 9.99881307e-01 1.36782938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.0192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:878.54, Y:33.89, Z:13.68 [[ 8.07020236e-01 -5.90386559e-01 -1.27298761e-02 8.78542785e+02] [ 5.90322985e-01 8.07120468e-01 -8.67885839e-03 3.38909940e+01] [ 1.53984249e-02 -5.10724108e-04 9.99881307e-01 1.36815266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.0492541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:878.57, Y:33.91, Z:13.68 [[ 8.08146235e-01 -5.88845441e-01 -1.26771198e-02 8.78568603e+02] [ 5.88780463e-01 8.08245567e-01 -8.75619441e-03 3.39060977e+01] [ 1.54022710e-02 -3.87754901e-04 9.99881303e-01 1.36784582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.0792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:878.59, Y:33.92, Z:13.68 [[ 8.08248791e-01 -5.88703573e-01 -1.27277128e-02 8.78589101e+02] [ 5.88639741e-01 8.08348859e-01 -8.68202600e-03 3.39241399e+01] [ 1.53995718e-02 -4.74800523e-04 9.99881307e-01 1.36816642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.1092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:878.61, Y:33.94, Z:13.68 [[ 8.07832538e-01 -5.89275520e-01 -1.26867371e-02 8.78610088e+02] [ 5.89210815e-01 8.07932046e-01 -8.74206899e-03 3.39415877e+01] [ 1.54015087e-02 -4.13034924e-04 9.99881304e-01 1.36774628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.1392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:878.63, Y:33.96, Z:13.68 [[ 8.09195614e-01 -5.87403278e-01 -1.26430848e-02 8.78632130e+02] [ 5.87337344e-01 8.09294322e-01 -8.80599547e-03 3.39592091e+01] [ 1.54046474e-02 -2.99982945e-04 9.99881296e-01 1.36782359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.1692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:878.66, Y:33.98, Z:13.68 [[ 8.10772403e-01 -5.85225351e-01 -1.26253836e-02 8.78657584e+02] [ 5.85158748e-01 8.10870666e-01 -8.83191128e-03 3.39755388e+01] [ 1.54062116e-02 -2.27183749e-04 9.99881291e-01 1.36802850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.1992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:878.68, Y:33.99, Z:13.68 [[ 8.11312784e-01 -5.84475134e-01 -1.26642549e-02 8.78680106e+02] [ 5.84409327e-01 8.11411571e-01 -8.77499855e-03 3.39923734e+01] [ 1.54046915e-02 -2.81840189e-04 9.99881301e-01 1.36804060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.2292541539999 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:878.71, Y:34.01, Z:13.68 [[ 8.14614764e-01 -5.79864411e-01 -1.26511554e-02 8.78706107e+02] [ 5.79797747e-01 8.14712977e-01 -8.79417306e-03 3.40081556e+01] [ 1.54064885e-02 -1.71248189e-04 9.99881298e-01 1.36836327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.2592541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:878.72, Y:34.03, Z:13.68 [[ 8.13539866e-01 -5.81369937e-01 -1.27233583e-02 8.78724907e+02] [ 5.81305102e-01 8.13639287e-01 -8.68843934e-03 3.40262308e+01] [ 1.54034216e-02 -3.27761318e-04 9.99881307e-01 1.36811177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.2892541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:878.75, Y:34.04, Z:13.68 [[ 8.14794250e-01 -5.79612045e-01 -1.26573625e-02 8.78745818e+02] [ 5.79545491e-01 8.14892537e-01 -8.78508606e-03 3.40440288e+01] [ 1.54063319e-02 -1.77479748e-04 9.99881300e-01 1.36820058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.3192541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:878.77, Y:34.06, Z:13.69 [[ 8.17340727e-01 -5.76016191e-01 -1.26287137e-02 8.78774083e+02] [ 5.75948556e-01 8.17438282e-01 -8.82702388e-03 3.40594643e+01] [ 1.54077027e-02 -5.88033249e-05 9.99881293e-01 1.36851293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.3492541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:878.79, Y:34.08, Z:13.68 [[ 8.15716710e-01 -5.78311626e-01 -1.27245179e-02 8.78792760e+02] [ 5.78246445e-01 8.15815904e-01 -8.68668741e-03 3.40787326e+01] [ 1.54044764e-02 -2.72031194e-04 9.99881307e-01 1.36836686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.3792541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:878.82, Y:34.10, Z:13.68 [[ 8.15203460e-01 -5.79036452e-01 -1.26532922e-02 8.78815180e+02] [ 5.78969738e-01 8.15301638e-01 -8.79096697e-03 3.40958744e+01] [ 1.54065401e-02 -1.59446551e-04 9.99881300e-01 1.36833681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.4092541539999 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:878.84, Y:34.11, Z:13.68 [[ 8.14253394e-01 -5.80372210e-01 -1.26296563e-02 8.78839514e+02] [ 5.80305120e-01 8.14351323e-01 -8.82556475e-03 3.41131901e+01] [ 1.54070899e-02 -1.42808191e-04 9.99881294e-01 1.36844977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.4392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:878.86, Y:34.13, Z:13.69 [[ 8.14528916e-01 -5.79984960e-01 -1.26527228e-02 8.78863936e+02] [ 5.79918347e-01 8.14627163e-01 -8.79179946e-03 3.41299965e+01] [ 1.54063632e-02 -1.76371225e-04 9.99881299e-01 1.36867923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.4692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:878.89, Y:34.15, Z:13.69 [[ 8.14044694e-01 -5.80663752e-01 -1.26824124e-02 8.78887061e+02] [ 5.80597897e-01 8.14143445e-01 -8.74833042e-03 3.41464028e+01] [ 1.54051413e-02 -2.41850008e-04 9.99881305e-01 1.36876968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.4992541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:878.91, Y:34.16, Z:13.69 [[ 8.13279681e-01 -5.81734635e-01 -1.26875998e-02 8.78910384e+02] [ 5.81669028e-01 8.13378596e-01 -8.74073648e-03 3.41632178e+01] [ 1.54046113e-02 -2.71320491e-04 9.99881305e-01 1.36876341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.5292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:878.93, Y:34.18, Z:13.69 [[ 8.11145913e-01 -5.84706065e-01 -1.26935386e-02 8.78929747e+02] [ 5.84640957e-01 8.11245156e-01 -8.73204502e-03 3.41810816e+01] [ 1.54032514e-02 -3.38199928e-04 9.99881306e-01 1.36873164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.5592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:878.95, Y:34.20, Z:13.69 [[ 8.11058808e-01 -5.84827792e-01 -1.26516496e-02 8.78953284e+02] [ 5.84761742e-01 8.11157434e-01 -8.79329458e-03 3.41972150e+01] [ 1.54050427e-02 -2.66321621e-04 9.99881300e-01 1.36877294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.5892541539998 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:878.98, Y:34.21, Z:13.69 [[ 8.10552497e-01 -5.85529382e-01 -1.26488291e-02 8.78978003e+02] [ 5.85463353e-01 8.10651138e-01 -8.79741652e-03 3.42137098e+01] [ 1.54049336e-02 -2.74657988e-04 9.99881299e-01 1.36873619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.6192541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:879.00, Y:34.23, Z:13.69 [[ 8.08764864e-01 -5.87994653e-01 -1.27154838e-02 8.78997297e+02] [ 5.87930451e-01 8.08864695e-01 -8.69999764e-03 3.42316858e+01] [ 1.54006580e-02 -4.39567681e-04 9.99881306e-01 1.36870851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.6492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:879.02, Y:34.25, Z:13.69 [[ 8.08573833e-01 -5.88258789e-01 -1.26472992e-02 8.79022100e+02] [ 5.88193060e-01 8.08672673e-01 -8.79956058e-03 3.42483805e+01] [ 1.54039441e-02 -3.23959199e-04 9.99881300e-01 1.36900369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.6792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:879.05, Y:34.27, Z:13.69 [[ 8.08522834e-01 -5.88328384e-01 -1.26704144e-02 8.79046071e+02] [ 5.88263191e-01 8.08622025e-01 -8.76580781e-03 3.42651174e+01] [ 1.54027497e-02 -3.66182648e-04 9.99881304e-01 1.36916056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.7092541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:879.07, Y:34.28, Z:13.69 [[ 8.08150122e-01 -5.88839377e-01 -1.27109457e-02 8.79067738e+02] [ 5.88775175e-01 8.08249954e-01 -8.70663574e-03 3.42814044e+01] [ 1.54004312e-02 -4.47620523e-04 9.99881306e-01 1.36914852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.7392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:879.09, Y:34.30, Z:13.69 [[ 8.06270246e-01 -5.91410814e-01 -1.27098615e-02 8.79086611e+02] [ 5.91346905e-01 8.06370265e-01 -8.70821806e-03 3.43017260e+01] [ 1.53989887e-02 -4.94760163e-04 9.99881306e-01 1.36879816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.7692541539999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:879.11, Y:34.32, Z:13.69 [[ 8.05980886e-01 -5.91806177e-01 -1.26594262e-02 8.79109821e+02] [ 5.91741161e-01 8.06080194e-01 -8.78177867e-03 3.43192722e+01] [ 1.54016235e-02 -4.13157779e-04 9.99881303e-01 1.36870040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.7992541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:879.13, Y:34.34, Z:13.69 [[ 8.07320189e-01 -5.89977690e-01 -1.26664047e-02 8.79132577e+02] [ 5.89912609e-01 8.07419453e-01 -8.77160374e-03 3.43367601e+01] [ 1.54021521e-02 -3.90579065e-04 9.99881304e-01 1.36906324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.8292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:879.15, Y:34.35, Z:13.69 [[ 8.07526701e-01 -5.89694168e-01 -1.27049173e-02 8.79154592e+02] [ 5.89629933e-01 8.07626512e-01 -8.71546234e-03 3.43538464e+01] [ 1.54002853e-02 -4.53230960e-04 9.99881306e-01 1.36923299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.8592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:879.18, Y:34.37, Z:13.69 [[ 8.07116126e-01 -5.90256053e-01 -1.27024364e-02 8.79175846e+02] [ 5.90191830e-01 8.07215944e-01 -8.71907657e-03 3.43707002e+01] [ 1.54000969e-02 -4.59566903e-04 9.99881306e-01 1.36922333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.8892541539999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:879.20, Y:34.39, Z:13.69 [[ 8.05641105e-01 -5.92267748e-01 -1.27013614e-02 8.79197398e+02] [ 5.92203751e-01 8.05741068e-01 -8.72064229e-03 3.43894349e+01] [ 1.53989637e-02 -4.96085985e-04 9.99881306e-01 1.36921556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.9192541539999 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:879.22, Y:34.41, Z:13.69 [[ 8.04612964e-01 -5.93663809e-01 -1.26988367e-02 8.79219528e+02] [ 5.93599927e-01 8.04713001e-01 -8.72431723e-03 3.44068302e+01] [ 1.53982304e-02 -5.18329768e-04 9.99881306e-01 1.36924081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.9492541539998 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:879.24, Y:34.43, Z:13.69 [[ 8.03769425e-01 -5.94805444e-01 -1.26963016e-02 8.79240810e+02] [ 5.94741646e-01 8.03869515e-01 -8.72800486e-03 3.44254095e+01] [ 1.53976346e-02 -5.35715881e-04 9.99881306e-01 1.36941532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.9792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:879.26, Y:34.44, Z:13.70 [[ 8.03534558e-01 -5.95122708e-01 -1.26955175e-02 8.79263269e+02] [ 5.95058931e-01 8.03634662e-01 -8.72914521e-03 3.44427286e+01] [ 1.53974705e-02 -5.40411263e-04 9.99881306e-01 1.36964196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.0092541539999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:879.28, Y:34.46, Z:13.70 [[ 8.02678025e-01 -5.96277515e-01 -1.26930288e-02 8.79284408e+02] [ 5.96213825e-01 8.02778184e-01 -8.73276257e-03 3.44615573e+01] [ 1.53968366e-02 -5.58162645e-04 9.99881306e-01 1.36962893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.0392541539999 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:879.31, Y:34.48, Z:13.70 [[ 8.02362391e-01 -5.96702223e-01 -1.26905443e-02 8.79306641e+02] [ 5.96638530e-01 8.02462548e-01 -8.73637163e-03 3.44795050e+01] [ 1.53966989e-02 -5.61931653e-04 9.99881306e-01 1.36959813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.0692541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:879.33, Y:34.50, Z:13.70 [[ 8.02709476e-01 -5.96235282e-01 -1.26880581e-02 8.79327508e+02] [ 5.96171473e-01 8.02809559e-01 -8.73998087e-03 3.44995199e+01] [ 1.53971793e-02 -5.48592829e-04 9.99881306e-01 1.36970637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.0992541539998 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:879.35, Y:34.52, Z:13.70 [[ 8.02610665e-01 -5.96368340e-01 -1.26855492e-02 8.79348382e+02] [ 5.96304490e-01 8.02710723e-01 -8.74362087e-03 3.45173180e+01] [ 1.53972450e-02 -5.46726587e-04 9.99881306e-01 1.36958235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.1292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:879.37, Y:34.54, Z:13.70 [[ 8.02540075e-01 -5.96463354e-01 -1.26844624e-02 8.79366977e+02] [ 5.96399491e-01 8.02640124e-01 -8.74519722e-03 3.45384045e+01] [ 1.53972481e-02 -5.46635694e-04 9.99881306e-01 1.36986135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.1592541539999 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:879.39, Y:34.56, Z:13.70 [[ 8.02924025e-01 -5.95947283e-01 -1.26430473e-02 8.79390509e+02] [ 5.95882411e-01 8.03023425e-01 -8.80523419e-03 3.45562755e+01] [ 1.54001185e-02 -4.63835429e-04 9.99881304e-01 1.36951875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.1892541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:879.41, Y:34.57, Z:13.70 [[ 8.03460191e-01 -5.95223403e-01 -1.26815412e-02 8.79412357e+02] [ 5.95159319e-01 8.03560099e-01 -8.74944066e-03 3.45736651e+01] [ 1.53982524e-02 -5.17710181e-04 9.99881306e-01 1.36993727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.2192541539998 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:879.43, Y:34.59, Z:13.70 [[ 8.03002025e-01 -5.95841414e-01 -1.26789941e-02 8.79432358e+02] [ 5.95777349e-01 8.03101945e-01 -8.75313025e-03 3.45934083e+01] [ 1.53980023e-02 -5.25076161e-04 9.99881306e-01 1.36989971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.2492541539999 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:879.45, Y:34.61, Z:13.70 [[ 8.02734028e-01 -5.96202472e-01 -1.26764436e-02 8.79453588e+02] [ 5.96138393e-01 8.02833939e-01 -8.75682235e-03 3.46109634e+01] [ 1.53979183e-02 -5.27515438e-04 9.99881306e-01 1.36983748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.2792541539999 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:879.47, Y:34.63, Z:13.70 [[ 8.02239670e-01 -5.96867529e-01 -1.26753391e-02 8.79473335e+02] [ 5.96803508e-01 8.02339618e-01 -8.75842075e-03 3.46312923e+01] [ 1.53975437e-02 -5.38334285e-04 9.99881306e-01 1.36986878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.3092541539999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:879.49, Y:34.65, Z:13.70 [[ 8.02146431e-01 -5.96992846e-01 -1.26745676e-02 8.79494887e+02] [ 5.96928823e-01 8.02246378e-01 -8.75953718e-03 3.46494283e+01] [ 1.53975069e-02 -5.39383208e-04 9.99881306e-01 1.36993704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.3392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:879.52, Y:34.67, Z:13.70 [[ 8.02276959e-01 -5.96817439e-01 -1.26738102e-02 8.79516696e+02] [ 5.96753377e-01 8.02376881e-01 -8.76063290e-03 3.46670267e+01] [ 1.53976708e-02 -5.34685082e-04 9.99881306e-01 1.37028517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.3692541539999 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:879.54, Y:34.69, Z:13.70 [[ 8.01433335e-01 -5.97949871e-01 -1.26713063e-02 8.79536722e+02] [ 5.97885893e-01 8.01533310e-01 -8.76425303e-03 3.46870709e+01] [ 1.53970580e-02 -5.52030724e-04 9.99881306e-01 1.37014166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.3992541539999 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:879.56, Y:34.71, Z:13.70 [[ 8.01543711e-01 -5.97801960e-01 -1.26687215e-02 8.79556752e+02] [ 5.97737904e-01 8.01643637e-01 -8.76798772e-03 3.47072968e+01] [ 1.53973202e-02 -5.44649623e-04 9.99881306e-01 1.37004186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.4292541539999 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:879.58, Y:34.73, Z:13.70 [[ 8.01623243e-01 -5.97695324e-01 -1.26679222e-02 8.79578616e+02] [ 5.97631237e-01 8.01723149e-01 -8.76914241e-03 3.47258512e+01] [ 1.53974419e-02 -5.41197617e-04 9.99881306e-01 1.37014178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.4592541539998 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:879.60, Y:34.74, Z:13.70 [[ 8.01865409e-01 -5.97370450e-01 -1.26653812e-02 8.79599102e+02] [ 5.97306265e-01 8.01965251e-01 -8.77281088e-03 3.47434401e+01] [ 1.53978136e-02 -5.30497932e-04 9.99881306e-01 1.37013171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.4892541539999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:879.62, Y:34.76, Z:13.70 [[ 8.03008837e-01 -5.95832546e-01 -1.26642812e-02 8.79618426e+02] [ 5.95768145e-01 8.03108540e-01 -8.77439847e-03 3.47623278e+01] [ 1.53988646e-02 -4.99055804e-04 9.99881306e-01 1.37026525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.5192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:879.64, Y:34.78, Z:13.70 [[ 8.03520276e-01 -5.95142693e-01 -1.26625758e-02 8.79640285e+02] [ 5.95078167e-01 8.03619899e-01 -8.77685897e-03 3.47802441e+01] [ 1.53993813e-02 -4.82838234e-04 9.99881306e-01 1.37043048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.5492541539999 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:879.66, Y:34.80, Z:13.70 [[ 8.04058268e-01 -5.94415700e-01 -1.26600719e-02 8.79659746e+02] [ 5.94351027e-01 8.04157795e-01 -8.78046916e-03 3.48000036e+01] [ 1.53999442e-02 -4.64517906e-04 9.99881306e-01 1.37027257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.5792541539998 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:879.68, Y:34.82, Z:13.70 [[ 8.04380917e-01 -5.93979031e-01 -1.26590019e-02 8.79680475e+02] [ 5.93914280e-01 8.04480394e-01 -8.78201156e-03 3.48176333e+01] [ 1.54002495e-02 -4.54279457e-04 9.99881306e-01 1.37024021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.6092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:879.70, Y:34.84, Z:13.71 [[ 8.05989641e-01 -5.91794285e-01 -1.26579330e-02 8.79701712e+02] [ 5.91729240e-01 8.06088926e-01 -8.78355184e-03 3.48383439e+01] [ 1.54014754e-02 -4.10617297e-04 9.99881306e-01 1.37061135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.6392541539999 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] Translation: X:879.72, Y:34.86, Z:13.70 [[ 8.06157656e-01 -5.91565437e-01 -1.26557028e-02 8.79722042e+02] [ 5.91500314e-01 8.06256889e-01 -8.78676414e-03 3.48563806e+01] [ 1.54016935e-02 -4.02334977e-04 9.99881306e-01 1.37018853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.6692541539999 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:879.74, Y:34.87, Z:13.71 [[ 8.06993299e-01 -5.90424997e-01 -1.26545980e-02 8.79743391e+02] [ 5.90359708e-01 8.07092423e-01 -8.78835486e-03 3.48739982e+01] [ 1.54022946e-02 -3.78621318e-04 9.99881306e-01 1.37057582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.6992541539998 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:879.76, Y:34.89, Z:13.70 [[ 8.08127791e-01 -5.88871293e-01 -1.26520466e-02 8.79763116e+02] [ 5.88805756e-01 8.08226752e-01 -8.79202641e-03 3.48930569e+01] [ 1.54030945e-02 -3.44517008e-04 9.99881306e-01 1.37046718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.7292541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:879.78, Y:34.91, Z:13.71 [[ 8.08885063e-01 -5.87830694e-01 -1.26503144e-02 8.79784877e+02] [ 5.87764991e-01 8.08983913e-01 -8.79451815e-03 3.49106323e+01] [ 1.54035885e-02 -3.21657551e-04 9.99881306e-01 1.37070604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.7592541539999 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:879.81, Y:34.93, Z:13.71 [[ 8.09139830e-01 -5.87480015e-01 -1.26478123e-02 8.79805040e+02] [ 5.87414213e-01 8.09238615e-01 -8.79811505e-03 3.49300775e+01] [ 1.54038149e-02 -3.10599380e-04 9.99881306e-01 1.37060004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.7892541539999 meters Centerline goodness : 0.999834 Centerline is valid? [True, True] Translation: X:879.83, Y:34.95, Z:13.71 [[ 8.08915417e-01 -5.87789032e-01 -1.26452629e-02 8.79826697e+02] [ 5.87723210e-01 8.09014188e-01 -8.80177770e-03 3.49476777e+01] [ 1.54037855e-02 -3.12020830e-04 9.99881306e-01 1.37056158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.8192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:879.85, Y:34.97, Z:13.71 [[ 8.09460754e-01 -5.87037860e-01 -1.26427111e-02 8.79847679e+02] [ 5.86971890e-01 8.09559426e-01 -8.80544146e-03 3.49665330e+01] [ 1.54041535e-02 -2.93256771e-04 9.99881306e-01 1.37094504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.8492541539998 meters Centerline goodness : 0.999813 Centerline is valid? [True, True] Translation: X:879.87, Y:34.98, Z:13.71 [[ 8.09111107e-01 -5.87519700e-01 -1.26419226e-02 8.79869287e+02] [ 5.87453771e-01 8.09209807e-01 -8.80657341e-03 3.49841781e+01] [ 1.54040031e-02 -3.01048746e-04 9.99881306e-01 1.37065269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.8792541539999 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:879.89, Y:35.00, Z:13.71 [[ 8.08991417e-01 -5.87684552e-01 -1.26393946e-02 8.79889542e+02] [ 5.87618587e-01 8.09090092e-01 -8.81020017e-03 3.50020593e+01] [ 1.54040275e-02 -2.99766876e-04 9.99881306e-01 1.37067585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.9092541539999 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:879.91, Y:35.02, Z:13.71 [[ 8.09115146e-01 -5.87514229e-01 -1.26376759e-02 8.79911833e+02] [ 5.87448204e-01 8.09213782e-01 -8.81266491e-03 3.50195904e+01] [ 1.54041475e-02 -2.93519333e-04 9.99881306e-01 1.37062317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.9392541539999 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:879.93, Y:35.04, Z:13.71 [[ 8.09957967e-01 -5.86351809e-01 -1.26351763e-02 8.79932517e+02] [ 5.86285587e-01 8.10056470e-01 -8.81624719e-03 3.50386580e+01] [ 1.54046288e-02 -2.67032119e-04 9.99881306e-01 1.37078984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.9692541539998 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:879.95, Y:35.06, Z:13.71 [[ 8.10588544e-01 -5.85479828e-01 -1.26326674e-02 8.79953377e+02] [ 5.85413443e-01 8.10686938e-01 -8.81984067e-03 3.50555075e+01] [ 1.54049773e-02 -2.46071528e-04 9.99881306e-01 1.37089315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.9992541539999 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:879.98, Y:35.07, Z:13.71 [[ 8.11117257e-01 -5.84747158e-01 -1.26315795e-02 8.79975122e+02] [ 5.84680660e-01 8.11215575e-01 -8.82139843e-03 3.50728733e+01] [ 1.54052217e-02 -2.30251769e-04 9.99881306e-01 1.37075628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.0292541539999 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] Translation: X:880.00, Y:35.09, Z:13.71 [[ 8.12686496e-01 -5.82564301e-01 -1.26290950e-02 8.79995698e+02] [ 5.82497484e-01 8.12784597e-01 -8.82495404e-03 3.50905334e+01] [ 1.54058370e-02 -1.84495065e-04 9.99881306e-01 1.37071387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.0592541539999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:880.02, Y:35.11, Z:13.71 [[ 8.13248759e-01 -5.81779172e-01 -1.26274066e-02 8.80018336e+02] [ 5.81712223e-01 8.13346770e-01 -8.82736919e-03 3.51078008e+01] [ 1.54060399e-02 -1.66669730e-04 9.99881306e-01 1.37088808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.0892541539998 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:880.04, Y:35.13, Z:13.71 [[ 8.14200441e-01 -5.80446599e-01 -1.26248933e-02 8.80038886e+02] [ 5.80379434e-01 8.14298303e-01 -8.83096225e-03 3.51250648e+01] [ 1.54063312e-02 -1.37055076e-04 9.99881306e-01 1.37082346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.1192541539999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:880.06, Y:35.14, Z:13.71 [[ 8.14486809e-01 -5.80044720e-01 -1.26238054e-02 8.80061470e+02] [ 5.79977482e-01 8.14584622e-01 -8.83251712e-03 3.51422551e+01] [ 1.54064127e-02 -1.27554200e-04 9.99881306e-01 1.37099661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.1492541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:880.08, Y:35.16, Z:13.71 [[ 8.14906536e-01 -5.79454952e-01 -1.26212474e-02 8.80082629e+02] [ 5.79387587e-01 8.15004262e-01 -8.83617095e-03 3.51582558e+01] [ 1.54065334e-02 -1.11940582e-04 9.99881306e-01 1.37125270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.1792541539999 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:880.10, Y:35.18, Z:13.71 [[ 8.14568166e-01 -5.79930557e-01 -1.26195107e-02 8.80104520e+02] [ 5.79863211e-01 8.14665904e-01 -8.83865046e-03 3.51761718e+01] [ 1.54064886e-02 -1.17906705e-04 9.99881306e-01 1.37089634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.2092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:880.13, Y:35.19, Z:13.71 [[ 8.14204102e-01 -5.80441634e-01 -1.26170457e-02 8.80127386e+02] [ 5.80374294e-01 8.14301845e-01 -8.84216785e-03 3.51928880e+01] [ 1.54064459e-02 -1.23279661e-04 9.99881306e-01 1.37142555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.2392541539999 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:880.15, Y:35.21, Z:13.71 [[ 8.13584037e-01 -5.81310494e-01 -1.26144099e-02 8.80149491e+02] [ 5.81243201e-01 8.13681812e-01 -8.84592647e-03 3.52092950e+01] [ 1.54063458e-02 -1.35135447e-04 9.99881306e-01 1.37114751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.2692541539999 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:880.17, Y:35.23, Z:13.71 [[ 8.12520878e-01 -5.82795614e-01 -1.26132680e-02 8.80171963e+02] [ 5.82728474e-01 8.12618758e-01 -8.84755443e-03 3.52267262e+01] [ 1.54060941e-02 -1.61287724e-04 9.99881306e-01 1.37117026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.2992541539999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:880.19, Y:35.24, Z:13.71 [[ 8.12219146e-01 -5.83216109e-01 -1.26106449e-02 8.80194594e+02] [ 5.83148962e-01 8.12317021e-01 -8.85129163e-03 3.52428761e+01] [ 1.54060574e-02 -1.64695954e-04 9.99881306e-01 1.37139471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.3292541539998 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:880.22, Y:35.26, Z:13.71 [[ 8.11446617e-01 -5.84290531e-01 -1.26080301e-02 8.80217283e+02] [ 5.84223456e-01 8.11544541e-01 -8.85501463e-03 3.52594386e+01] [ 1.54058792e-02 -1.80535267e-04 9.99881306e-01 1.37130128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.3592541539999 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:880.24, Y:35.28, Z:13.71 [[ 8.11125682e-01 -5.84736036e-01 -1.26054246e-02 8.80240106e+02] [ 5.84668957e-01 8.11223603e-01 -8.85872214e-03 3.52759056e+01] [ 1.54058320e-02 -1.84463420e-04 9.99881306e-01 1.37104195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.3892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:880.26, Y:35.29, Z:13.72 [[ 8.11094232e-01 -5.84779677e-01 -1.26046181e-02 8.80262721e+02] [ 5.84712586e-01 8.11192144e-01 -8.85986958e-03 3.52926155e+01] [ 1.54058388e-02 -1.83889706e-04 9.99881306e-01 1.37151174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.4192541539999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:880.29, Y:35.31, Z:13.71 [[ 8.10933088e-01 -5.85003175e-01 -1.26021017e-02 8.80285021e+02] [ 5.84936054e-01 8.11030981e-01 -8.86344732e-03 3.53092417e+01] [ 1.54058397e-02 -1.83760953e-04 9.99881306e-01 1.37145586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.4492541539998 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:880.31, Y:35.33, Z:13.71 [[ 8.10654373e-01 -5.85389392e-01 -1.25994944e-02 8.80307628e+02] [ 5.85322261e-01 8.10752258e-01 -8.86715213e-03 3.53261547e+01] [ 1.54058053e-02 -1.86568890e-04 9.99881306e-01 1.37123631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.4792541539999 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:880.33, Y:35.34, Z:13.71 [[ 8.10481454e-01 -5.85628834e-01 -1.25968736e-02 8.80330929e+02] [ 5.85561673e-01 8.10579320e-01 -8.87087376e-03 3.53426372e+01] [ 1.54058047e-02 -1.86567707e-04 9.99881306e-01 1.37128019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.5092541539999 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:880.35, Y:35.36, Z:13.71 [[ 8.10215743e-01 -5.85996446e-01 -1.25942523e-02 8.80353344e+02] [ 5.85929272e-01 8.10313600e-01 -8.87459364e-03 3.53592525e+01] [ 1.54057743e-02 -1.89005621e-04 9.99881306e-01 1.37139797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.5392541539999 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:880.38, Y:35.38, Z:13.71 [[ 8.09674500e-01 -5.86744075e-01 -1.25934417e-02 8.80376181e+02] [ 5.86676973e-01 8.09772406e-01 -8.87574376e-03 3.53751538e+01] [ 1.54056117e-02 -2.01818888e-04 9.99881306e-01 1.37131031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.5692541539999 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:880.40, Y:35.39, Z:13.71 [[ 8.08381667e-01 -5.88524044e-01 -1.25908605e-02 8.80398236e+02] [ 5.88457102e-01 8.08479682e-01 -8.87940398e-03 3.53909702e+01] [ 1.54051976e-02 -2.31233861e-04 9.99881306e-01 1.37143045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.5992541539998 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:880.42, Y:35.41, Z:13.72 [[ 8.07649144e-01 -5.89528943e-01 -1.25891066e-02 8.80421411e+02] [ 5.89462084e-01 8.07747216e-01 -8.88188985e-03 3.54075553e+01] [ 1.54049470e-02 -2.47350292e-04 9.99881306e-01 1.37158664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.6292541539999 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:880.44, Y:35.42, Z:13.71 [[ 8.06778661e-01 -5.90719706e-01 -1.25865744e-02 8.80444119e+02] [ 5.90652935e-01 8.06876793e-01 -8.88547688e-03 3.54246098e+01] [ 1.54046410e-02 -2.65683960e-04 9.99881306e-01 1.37148389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.6592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:880.47, Y:35.44, Z:13.72 [[ 8.06692799e-01 -5.90837009e-01 -1.25840186e-02 8.80466460e+02] [ 5.90770196e-01 8.06790902e-01 -8.88909493e-03 3.54404904e+01] [ 1.54046780e-02 -2.63494289e-04 9.99881306e-01 1.37190751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.6892541539999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:880.49, Y:35.46, Z:13.72 [[ 8.06208887e-01 -5.91497162e-01 -1.25832281e-02 8.80489115e+02] [ 5.91430412e-01 8.06307033e-01 -8.89021386e-03 3.54571888e+01] [ 1.54044816e-02 -2.74734367e-04 9.99881306e-01 1.37179867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.7192541539998 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:880.51, Y:35.47, Z:13.72 [[ 8.06066169e-01 -5.91691693e-01 -1.25806239e-02 8.80512213e+02] [ 5.91624909e-01 8.06164292e-01 -8.89389760e-03 3.54737919e+01] [ 1.54044951e-02 -2.73940495e-04 9.99881306e-01 1.37180589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.7492541539999 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:880.53, Y:35.49, Z:13.72 [[ 8.06318065e-01 -5.91348436e-01 -1.25780215e-02 8.80534073e+02] [ 5.91281553e-01 8.06416120e-01 -8.89757638e-03 3.54892853e+01] [ 1.54046872e-02 -2.62875540e-04 9.99881306e-01 1.37173796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.7792541539999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:880.56, Y:35.51, Z:13.72 [[ 8.07002175e-01 -5.90414525e-01 -1.25768958e-02 8.80556654e+02] [ 5.90347504e-01 8.07100136e-01 -8.89916742e-03 3.55056028e+01] [ 1.54050120e-02 -2.43091546e-04 9.99881306e-01 1.37188868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.8092541539999 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:880.58, Y:35.52, Z:13.72 [[ 8.07280899e-01 -5.90033420e-01 -1.25743355e-02 8.80579159e+02] [ 5.89966296e-01 8.07378790e-01 -8.90278360e-03 3.55223977e+01] [ 1.54051916e-02 -2.31386970e-04 9.99881306e-01 1.37185539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.8392541539998 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:880.60, Y:35.54, Z:13.72 [[ 8.08038684e-01 -5.88995277e-01 -1.25717457e-02 8.80601790e+02] [ 5.88927971e-01 8.08136449e-01 -8.90643920e-03 3.55397446e+01] [ 1.54055365e-02 -2.07105250e-04 9.99881306e-01 1.37190482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.8692541539999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:880.62, Y:35.56, Z:13.72 [[ 8.08279163e-01 -5.88665280e-01 -1.25691476e-02 8.80624407e+02] [ 5.88597876e-01 8.08376861e-01 -8.91010421e-03 3.55562042e+01] [ 1.54056771e-02 -1.96322004e-04 9.99881306e-01 1.37206761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.8992541539999 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:880.65, Y:35.57, Z:13.72 [[ 8.08900915e-01 -5.87810676e-01 -1.25665382e-02 8.80647113e+02] [ 5.87743113e-01 8.08998503e-01 -8.91378289e-03 3.55732469e+01] [ 1.54059273e-02 -1.75529137e-04 9.99881306e-01 1.37191896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.9292541539999 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:880.67, Y:35.59, Z:13.72 [[ 8.09517040e-01 -5.86961932e-01 -1.25639227e-02 8.80669140e+02] [ 5.86894208e-01 8.09614518e-01 -8.91746783e-03 3.55891190e+01] [ 1.54061484e-02 -1.54851320e-04 9.99881306e-01 1.37199530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.9592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:880.69, Y:35.60, Z:13.72 [[ 8.10386655e-01 -5.85760741e-01 -1.25627897e-02 8.80691037e+02] [ 5.85692848e-01 8.10484014e-01 -8.91906370e-03 3.56043532e+01] [ 1.54063776e-02 -1.30045908e-04 9.99881306e-01 1.37230509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.9892541539999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:880.71, Y:35.62, Z:13.72 [[ 8.11346106e-01 -5.84431091e-01 -1.25616700e-02 8.80713786e+02] [ 5.84363015e-01 8.11443337e-01 -8.92064042e-03 3.56215186e+01] [ 1.54065831e-02 -1.02848499e-04 9.99881306e-01 1.37207439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.0192541539999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:880.74, Y:35.64, Z:13.72 [[ 8.11768302e-01 -5.83844580e-01 -1.25590793e-02 8.80736790e+02] [ 5.83776377e-01 8.11865443e-01 -8.92428634e-03 3.56383589e+01] [ 1.54066787e-02 -8.72410511e-05 9.99881306e-01 1.37218536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.0492541539999 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:880.76, Y:35.66, Z:13.72 [[ 8.12803962e-01 -5.82401970e-01 -1.25564614e-02 8.80758421e+02] [ 5.82333537e-01 8.12900943e-01 -8.92796816e-03 3.56552196e+01] [ 1.54068256e-02 -5.53607119e-05 9.99881306e-01 1.37206392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.0792541539998 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:880.78, Y:35.67, Z:13.72 [[ 8.13331220e-01 -5.81665446e-01 -1.25553266e-02 8.80781245e+02] [ 5.81596901e-01 8.13428121e-01 -8.92956376e-03 3.56717378e+01] [ 1.54068744e-02 -3.94460709e-05 9.99881306e-01 1.37218045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.1092541539999 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:880.80, Y:35.69, Z:13.72 [[ 8.14031315e-01 -5.80685326e-01 -1.25527152e-02 8.80803202e+02] [ 5.80616608e-01 8.14128093e-01 -8.93323326e-03 3.56877090e+01] [ 1.54069155e-02 -1.63833048e-05 9.99881306e-01 1.37211454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.1392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:880.83, Y:35.70, Z:13.72 [[ 8.13992404e-01 -5.80739894e-01 -1.25515844e-02 8.80826006e+02] [ 5.80671158e-01 8.14089169e-01 -8.93482177e-03 3.57032571e+01] [ 1.54069164e-02 -1.54659996e-05 9.99881306e-01 1.37247106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.1692541539999 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:880.85, Y:35.72, Z:13.72 [[ 8.12532702e-01 -5.82780517e-01 -1.25490301e-02 8.80848478e+02] [ 5.82711968e-01 8.12629600e-01 -8.93840786e-03 3.57187112e+01] [ 1.54068433e-02 -4.97213469e-05 9.99881306e-01 1.37216702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.1992541539998 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:880.87, Y:35.73, Z:13.72 [[ 8.11165469e-01 -5.84682077e-01 -1.25479241e-02 8.80870927e+02] [ 5.84613731e-01 8.11262511e-01 -8.93996028e-03 3.57340972e+01] [ 1.54066949e-02 -8.39016291e-05 9.99881306e-01 1.37213323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.2292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:880.90, Y:35.75, Z:13.73 [[ 8.08316530e-01 -5.88614445e-01 -1.25468350e-02 8.80895101e+02] [ 5.88546548e-01 8.08413886e-01 -8.94148845e-03 3.57490641e+01] [ 1.54061249e-02 -1.56843527e-04 9.99881306e-01 1.37255751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.2592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:880.92, Y:35.76, Z:13.73 [[ 8.06589241e-01 -5.90979218e-01 -1.25443295e-02 8.80917961e+02] [ 5.90911552e-01 8.06686758e-01 -8.94500216e-03 3.57648669e+01] [ 1.54056549e-02 -1.97646696e-04 9.99881306e-01 1.37262645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.2892541539999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:880.94, Y:35.78, Z:13.72 [[ 8.03411450e-01 -5.95292152e-01 -1.25417833e-02 8.80940873e+02] [ 5.95224953e-01 8.03509289e-01 -8.94857068e-03 3.57805614e+01] [ 1.54044533e-02 -2.75798260e-04 9.99881306e-01 1.37245326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.3192541539999 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:880.96, Y:35.80, Z:13.72 [[ 8.01914799e-01 -5.97306810e-01 -1.25391527e-02 8.80964102e+02] [ 5.97239800e-01 8.02012767e-01 -8.95225542e-03 3.57965567e+01] [ 1.54038036e-02 -3.09934918e-04 9.99881306e-01 1.37236936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.3492541539998 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:880.99, Y:35.81, Z:13.72 [[ 7.99449995e-01 -6.00601815e-01 -1.25365392e-02 8.80987577e+02] [ 6.00535152e-01 7.99548199e-01 -8.95591372e-03 3.58125034e+01] [ 1.54025054e-02 -3.68827299e-04 9.99881306e-01 1.37248950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.3792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:881.01, Y:35.83, Z:13.73 [[ 7.98655003e-01 -6.01658615e-01 -1.25338634e-02 8.81010040e+02] [ 6.01592023e-01 7.98753255e-01 -8.95965704e-03 3.58279341e+01] [ 1.54021190e-02 -3.84597295e-04 9.99881306e-01 1.37277391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.4092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:881.03, Y:35.84, Z:13.73 [[ 7.97606385e-01 -6.03048080e-01 -1.25327062e-02 8.81033010e+02] [ 6.02981633e-01 7.97704736e-01 -8.96127531e-03 3.58440239e+01] [ 1.54014790e-02 -4.09421272e-04 9.99881306e-01 1.37278369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.4392541539999 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:881.06, Y:35.86, Z:13.72 [[ 7.97392746e-01 -6.03330595e-01 -1.25300597e-02 8.81055353e+02] [ 6.03264125e-01 7.97491082e-01 -8.96497433e-03 3.58606239e+01] [ 1.54014541e-02 -4.10329993e-04 9.99881306e-01 1.37235196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.4692541539998 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:881.08, Y:35.88, Z:13.72 [[ 7.97446219e-01 -6.03259933e-01 -1.25292408e-02 8.81077724e+02] [ 6.03193436e-01 7.97544536e-01 -8.96611858e-03 3.58774552e+01] [ 1.54015277e-02 -4.07558475e-04 9.99881306e-01 1.37248268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.4992541539999 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:881.10, Y:35.89, Z:13.73 [[ 7.97503487e-01 -6.03184276e-01 -1.25266699e-02 8.81099642e+02] [ 6.03117714e-01 7.97601760e-01 -8.96970898e-03 3.58949474e+01] [ 1.54016814e-02 -4.01682345e-04 9.99881306e-01 1.37268530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.5292541539999 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:881.12, Y:35.91, Z:13.73 [[ 7.96913533e-01 -6.03963549e-01 -1.25240695e-02 8.81121965e+02] [ 6.03897026e-01 7.97011833e-01 -8.97333836e-03 3.59118446e+01] [ 1.54014009e-02 -4.12273561e-04 9.99881306e-01 1.37273957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.5592541539999 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:881.14, Y:35.93, Z:13.73 [[ 7.96465705e-01 -6.04554045e-01 -1.25214572e-02 8.81143547e+02] [ 6.04487538e-01 7.96564016e-01 -8.97698211e-03 3.59277087e+01] [ 1.54012131e-02 -4.19206456e-04 9.99881306e-01 1.37275769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.5892541539998 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] Translation: X:881.17, Y:35.94, Z:13.73 [[ 7.95837187e-01 -6.05381213e-01 -1.25203250e-02 8.81166073e+02] [ 6.05314783e-01 7.95935549e-01 -8.97856096e-03 3.59447497e+01] [ 1.54008239e-02 -4.33265114e-04 9.99881306e-01 1.37265087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.6192541539999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:881.19, Y:35.96, Z:13.73 [[ 7.95538830e-01 -6.05773287e-01 -1.25177406e-02 8.81188441e+02] [ 6.05706849e-01 7.95637187e-01 -8.98216268e-03 3.59618540e+01] [ 1.54007341e-02 -4.36422003e-04 9.99881306e-01 1.37291034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.6492541539999 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:881.21, Y:35.98, Z:13.73 [[ 7.95414197e-01 -6.05936982e-01 -1.25151734e-02 8.81210793e+02] [ 6.05870508e-01 7.95512530e-01 -8.98573820e-03 3.59791510e+01] [ 1.54007683e-02 -4.35190721e-04 9.99881306e-01 1.37272314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.6792541539999 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:881.23, Y:36.00, Z:13.73 [[ 7.96079081e-01 -6.05063246e-01 -1.25126004e-02 8.81231825e+02] [ 6.04996608e-01 7.96177302e-01 -8.98931966e-03 3.59963642e+01] [ 1.54013554e-02 -4.13871461e-04 9.99881306e-01 1.37277667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.7092541539998 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:881.25, Y:36.01, Z:13.73 [[ 7.96548110e-01 -6.04445673e-01 -1.25114861e-02 8.81253771e+02] [ 6.04378934e-01 7.96646263e-01 -8.99087032e-03 3.60129322e+01] [ 1.54017213e-02 -4.00017862e-04 9.99881306e-01 1.37293569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.7392541539999 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:881.28, Y:36.03, Z:13.73 [[ 7.96966813e-01 -6.03893539e-01 -1.25097534e-02 8.81275883e+02] [ 6.03826694e-01 7.97064894e-01 -8.99328043e-03 3.60299568e+01] [ 1.54020692e-02 -3.86377024e-04 9.99881306e-01 1.37286394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.7692541539999 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:881.30, Y:36.05, Z:13.73 [[ 7.98279616e-01 -6.02157142e-01 -1.25072453e-02 8.81297558e+02] [ 6.02090030e-01 7.98377514e-01 -8.99676721e-03 3.60473511e+01] [ 1.54029711e-02 -3.48551841e-04 9.99881306e-01 1.37293301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.7992541539999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:881.32, Y:36.06, Z:13.73 [[ 7.98852778e-01 -6.01396601e-01 -1.25047182e-02 8.81319523e+02] [ 6.01329340e-01 7.98950574e-01 -9.00027836e-03 3.60639106e+01] [ 1.54033886e-02 -3.29556555e-04 9.99881306e-01 1.37308274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.8292541539998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:881.34, Y:36.08, Z:13.73 [[ 7.99600673e-01 -6.00401879e-01 -1.25039351e-02 8.81341010e+02] [ 6.00334479e-01 7.99698374e-01 -9.00136613e-03 3.60807167e+01] [ 1.54038137e-02 -3.09044950e-04 9.99881306e-01 1.37331656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.8592541539999 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:881.36, Y:36.10, Z:13.73 [[ 7.99436129e-01 -6.00620974e-01 -1.25028458e-02 8.81363139e+02] [ 6.00553577e-01 7.99533832e-01 -9.00287888e-03 3.60986490e+01] [ 1.54037661e-02 -3.11402135e-04 9.99881306e-01 1.37305575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.8892541539999 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:881.39, Y:36.12, Z:13.73 [[ 7.99212592e-01 -6.00918442e-01 -1.25003760e-02 8.81385387e+02] [ 6.00851028e-01 7.99310283e-01 -9.00630694e-03 3.61155277e+01] [ 1.54037350e-02 -3.12909834e-04 9.99881306e-01 1.37316018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.9192541539999 meters Centerline goodness : 0.999855 Centerline is valid? [True, True] Translation: X:881.41, Y:36.13, Z:13.73 [[ 7.99051615e-01 -6.01132534e-01 -1.24977364e-02 8.81407277e+02] [ 6.01065090e-01 7.99149284e-01 -9.00996829e-03 3.61322128e+01] [ 1.54037422e-02 -3.12523338e-04 9.99881306e-01 1.37310224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.9492541539998 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:881.43, Y:36.15, Z:13.73 [[ 7.98043174e-01 -6.02470686e-01 -1.24965926e-02 8.81428830e+02] [ 6.02403381e-01 7.98140939e-01 -9.01155438e-03 3.61494066e+01] [ 1.54032395e-02 -3.36380183e-04 9.99881306e-01 1.37325607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.9792541539999 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:881.45, Y:36.17, Z:13.73 [[ 7.97160044e-01 -6.03638770e-01 -1.24939632e-02 8.81449936e+02] [ 6.03571551e-01 7.97257869e-01 -9.01519840e-03 3.61654698e+01] [ 1.54028338e-02 -3.54444805e-04 9.99881306e-01 1.37334543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.0092541539999 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:881.47, Y:36.18, Z:13.73 [[ 7.94799496e-01 -6.06743513e-01 -1.24928246e-02 8.81472437e+02] [ 6.06676650e-01 7.94897566e-01 -9.01677596e-03 3.61820942e+01] [ 1.54013862e-02 -4.12576005e-04 9.99881306e-01 1.37332454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.0392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:881.49, Y:36.20, Z:13.74 [[ 7.93417115e-01 -6.08550142e-01 -1.24902126e-02 8.81494848e+02] [ 6.08483446e-01 7.93515298e-01 -9.02039278e-03 3.61977535e+01] [ 1.54005361e-02 -4.43153569e-04 9.99881307e-01 1.37376822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.0692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:881.52, Y:36.21, Z:13.74 [[ 7.89701858e-01 -6.13363677e-01 -1.24889881e-02 8.81516805e+02] [ 6.13297553e-01 7.89800426e-01 -9.02208779e-03 3.62139174e+01] [ 1.53976291e-02 -5.34706341e-04 9.99881307e-01 1.37380131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.0992541539998 meters Centerline goodness : 0.999855 Centerline is valid? [True, True] Translation: X:881.54, Y:36.23, Z:13.74 [[ 7.87518629e-01 -6.16164327e-01 -1.24872494e-02 8.81538891e+02] [ 6.16098515e-01 7.87617406e-01 -9.02449357e-03 3.62308744e+01] [ 1.53957460e-02 -5.86419042e-04 9.99881307e-01 1.37351504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.1292541539999 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:881.56, Y:36.25, Z:13.74 [[ 7.83963956e-01 -6.20680794e-01 -1.24846893e-02 8.81560356e+02] [ 6.20615494e-01 7.84063073e-01 -9.02803389e-03 3.62486173e+01] [ 1.53923111e-02 -6.70538469e-04 9.99881307e-01 1.37357250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.1592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:881.58, Y:36.27, Z:13.74 [[ 7.82848565e-01 -6.22087070e-01 -1.24820891e-02 8.81583703e+02] [ 6.22021891e-01 7.82947761e-01 -9.03162758e-03 3.62661561e+01] [ 1.53912824e-02 -6.93735959e-04 9.99881307e-01 1.37381594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.1892541539999 meters Centerline goodness : 0.999792 Centerline is valid? [True, True] Translation: X:881.60, Y:36.28, Z:13.74 [[ 7.80846381e-01 -6.24598358e-01 -1.24827666e-02 8.81604207e+02] [ 6.24533514e-01 7.80945796e-01 -9.03069140e-03 3.62834843e+01] [ 1.53889191e-02 -7.44323366e-04 9.99881307e-01 1.37365522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.2192541539998 meters Centerline goodness : 0.998356 Centerline is valid? [True, True] Translation: X:881.63, Y:36.30, Z:13.73 [[ 7.80702527e-01 -6.24778240e-01 -1.24786151e-02 8.81625832e+02] [ 6.24713327e-01 7.80801897e-01 -9.03642430e-03 3.63021915e+01] [ 1.53890876e-02 -7.40797862e-04 9.99881307e-01 1.37340681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.2492541539999 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:881.65, Y:36.32, Z:13.74 [[ 7.80906944e-01 -6.24522538e-01 -1.24877728e-02 8.81646014e+02] [ 6.24457794e-01 7.81006424e-01 -9.02378269e-03 3.63194992e+01] [ 1.53885865e-02 -7.51352521e-04 9.99881306e-01 1.37375132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.2792541539999 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:881.67, Y:36.34, Z:13.74 [[ 7.81598568e-01 -6.23657008e-01 -1.24745387e-02 8.81667778e+02] [ 6.23591863e-01 7.81697786e-01 -9.04204070e-03 3.63376558e+01] [ 1.53904513e-02 -7.11774774e-04 9.99881307e-01 1.37399958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.3092541539999 meters Centerline goodness : 0.999855 Centerline is valid? [True, True] Translation: X:881.69, Y:36.36, Z:13.74 [[ 7.83240068e-01 -6.21594277e-01 -1.24719567e-02 8.81686249e+02] [ 6.21528814e-01 7.83339077e-01 -9.04560080e-03 3.63574746e+01] [ 1.53924647e-02 -6.66803448e-04 9.99881307e-01 1.37398936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.3392541539998 meters Centerline goodness : 0.999813 Centerline is valid? [True, True] Translation: X:881.71, Y:36.38, Z:13.74 [[ 7.84114827e-01 -6.20490477e-01 -1.24702028e-02 8.81706753e+02] [ 6.20424837e-01 7.84213718e-01 -9.04801799e-03 3.63755492e+01] [ 1.53935131e-02 -6.42138484e-04 9.99881307e-01 1.37405354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.3692541539999 meters Centerline goodness : 0.999813 Centerline is valid? [True, True] Translation: X:881.73, Y:36.39, Z:13.74 [[ 7.83940909e-01 -6.20710216e-01 -1.24690957e-02 8.81729798e+02] [ 6.20644579e-01 7.84039803e-01 -9.04954339e-03 3.63923630e+01] [ 1.53934114e-02 -6.44569401e-04 9.99881307e-01 1.37409747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.3992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:881.75, Y:36.41, Z:13.75 [[ 7.86237172e-01 -6.17799073e-01 -1.24665584e-02 8.81750612e+02] [ 6.17733015e-01 7.86335784e-01 -9.05303743e-03 3.64125496e+01] [ 1.53958591e-02 -5.83170173e-04 9.99881307e-01 1.37468564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.4292541539999 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:881.77, Y:36.43, Z:13.75 [[ 7.86947946e-01 -6.16893485e-01 -1.24643177e-02 8.81771380e+02] [ 6.16827264e-01 7.87046449e-01 -9.05612140e-03 3.64316090e+01] [ 1.53966593e-02 -5.61634857e-04 9.99881307e-01 1.37453569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.4592541539998 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] Translation: X:881.79, Y:36.45, Z:13.75 [[ 7.89178374e-01 -6.14037619e-01 -1.24617664e-02 8.81790261e+02] [ 6.13970987e-01 7.89276600e-01 -9.05963077e-03 3.64525576e+01] [ 1.53987347e-02 -5.01498353e-04 9.99881307e-01 1.37457819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.4892541539999 meters Centerline goodness : 0.999876 Centerline is valid? [True, True] Translation: X:881.81, Y:36.47, Z:13.75 [[ 7.90124914e-01 -6.12819214e-01 -1.24591800e-02 8.81811248e+02] [ 6.12752374e-01 7.90222998e-01 -9.06318633e-03 3.64715745e+01] [ 1.53996253e-02 -4.73342811e-04 9.99881307e-01 1.37472238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.5192541539999 meters Centerline goodness : 0.999418 Centerline is valid? [True, True] Translation: X:881.83, Y:36.49, Z:13.75 [[ 7.91458806e-01 -6.11095539e-01 -1.24579697e-02 8.81831207e+02] [ 6.11028459e-01 7.91556726e-01 -9.06484969e-03 3.64936864e+01] [ 1.54006789e-02 -4.37718909e-04 9.99881307e-01 1.37463578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.5492541539999 meters Centerline goodness : 0.999563 Centerline is valid? [True, True] Translation: X:881.85, Y:36.51, Z:13.75 [[ 7.92009194e-01 -6.10382086e-01 -1.24557614e-02 8.81852963e+02] [ 6.10314870e-01 7.92107021e-01 -9.06788309e-03 3.65117301e+01] [ 1.54011694e-02 -4.20089589e-04 9.99881307e-01 1.37493926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.5792541539998 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:881.87, Y:36.53, Z:13.75 [[ 7.91332358e-01 -6.11259341e-01 -1.24545886e-02 8.81873901e+02] [ 6.11192208e-01 7.91430243e-01 -9.06949350e-03 3.65298147e+01] [ 1.54007507e-02 -4.35163859e-04 9.99881307e-01 1.37504470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.6092541539999 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:881.90, Y:36.55, Z:13.75 [[ 7.89236482e-01 -6.13963129e-01 -1.24519917e-02 8.81895481e+02] [ 6.13896276e-01 7.89334557e-01 -9.07305761e-03 3.65499412e+01] [ 1.53993102e-02 -4.83443249e-04 9.99881307e-01 1.37512555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.6392541539999 meters Centerline goodness : 0.999792 Centerline is valid? [True, True] Translation: X:881.92, Y:36.57, Z:13.75 [[ 7.87802902e-01 -6.15801585e-01 -1.24496906e-02 8.81916752e+02] [ 6.15734911e-01 7.87901099e-01 -9.07621396e-03 3.65680360e+01] [ 1.53982719e-02 -5.15441431e-04 9.99881307e-01 1.37514510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.6692541539999 meters Centerline goodness : 0.999605 Centerline is valid? [True, True] Translation: X:881.94, Y:36.59, Z:13.75 [[ 7.86284803e-01 -6.17738845e-01 -1.24470447e-02 8.81936986e+02] [ 6.17672355e-01 7.86383124e-01 -9.07984110e-03 3.65874162e+01] [ 1.53971164e-02 -5.48854336e-04 9.99881307e-01 1.37500159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.6992541539998 meters Centerline goodness : 0.999646 Centerline is valid? [True, True] Translation: X:881.96, Y:36.61, Z:13.75 [[ 7.85768181e-01 -6.18395874e-01 -1.24462275e-02 8.81958866e+02] [ 6.18329449e-01 7.85866546e-01 -9.08096107e-03 3.66055030e+01] [ 1.53967027e-02 -5.60338758e-04 9.99881307e-01 1.37493385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.7292541539999 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:881.98, Y:36.62, Z:13.75 [[ 7.85578711e-01 -6.18636595e-01 -1.24439769e-02 8.81980463e+02] [ 6.18570151e-01 7.85677064e-01 -9.08404417e-03 3.66228766e+01] [ 1.53966694e-02 -5.61240947e-04 9.99881307e-01 1.37506169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.7592541539999 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:882.00, Y:36.64, Z:13.75 [[ 7.86013961e-01 -6.18083543e-01 -1.24413670e-02 8.82001716e+02] [ 6.18016974e-01 7.86112228e-01 -9.08761721e-03 3.66409597e+01] [ 1.53972174e-02 -5.45981993e-04 9.99881307e-01 1.37522990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.7892541539999 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] Translation: X:882.02, Y:36.66, Z:13.75 [[ 7.85902493e-01 -6.18225286e-01 -1.24405595e-02 8.82022807e+02] [ 6.18158717e-01 7.86000761e-01 -9.08872252e-03 3.66611459e+01] [ 1.53971673e-02 -5.47390612e-04 9.99881307e-01 1.37511951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.8192541539999 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:882.04, Y:36.68, Z:13.75 [[ 7.86096845e-01 -6.17978186e-01 -1.24383008e-02 8.82044938e+02] [ 6.17911537e-01 7.86195059e-01 -9.09181257e-03 3.66790940e+01] [ 1.53974725e-02 -5.38724401e-04 9.99881307e-01 1.37521577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.8492541539998 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:882.06, Y:36.70, Z:13.75 [[ 7.85694680e-01 -6.18489468e-01 -1.24357275e-02 8.82063488e+02] [ 6.18422827e-01 7.85792900e-01 -9.09533092e-03 3.66994803e+01] [ 1.53972728e-02 -5.44384665e-04 9.99881307e-01 1.37525719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.8792541539999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:882.09, Y:36.72, Z:13.75 [[ 7.87007892e-01 -6.16818982e-01 -1.23661071e-02 8.82089581e+02] [ 6.16750637e-01 7.87104941e-01 -9.19044933e-03 3.67158869e+01] [ 1.54022676e-02 -3.93848284e-04 9.99881300e-01 1.37545465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.9092541539999 meters Centerline goodness : 0.998896 Centerline is valid? [True, True] Translation: X:882.11, Y:36.73, Z:13.75 [[ 7.87863197e-01 -6.15724775e-01 -1.24332172e-02 8.82110033e+02] [ 6.15657736e-01 7.87961145e-01 -9.09874511e-03 3.67317778e+01] [ 1.53992149e-02 -4.86039968e-04 9.99881307e-01 1.37488123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.9392541539999 meters Centerline goodness : 0.999813 Centerline is valid? [True, True] Translation: X:882.13, Y:36.75, Z:13.75 [[ 7.87869829e-01 -6.15717309e-01 -1.23825581e-02 8.82131615e+02] [ 6.15649181e-01 7.87967027e-01 -9.16791873e-03 3.67522394e+01] [ 1.54018937e-02 -4.00185179e-04 9.99881304e-01 1.37535105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.9692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:882.15, Y:36.77, Z:13.76 [[ 7.89074659e-01 -6.14171550e-01 -1.24293981e-02 8.82154665e+02] [ 6.14104236e-01 7.89172418e-01 -9.10396953e-03 3.67697588e+01] [ 1.54003372e-02 -4.49234343e-04 9.99881307e-01 1.37563614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.9992541539999 meters Centerline goodness : 0.999772 Centerline is valid? [True, True] Translation: X:882.18, Y:36.79, Z:13.76 [[ 7.89740243e-01 -6.13315510e-01 -1.24271468e-02 8.82176815e+02] [ 6.13248042e-01 7.89837896e-01 -9.10704153e-03 3.67888013e+01] [ 1.54009213e-02 -4.28726237e-04 9.99881307e-01 1.37553896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.0292541539999 meters Centerline goodness : 0.999750 Centerline is valid? [True, True] Translation: X:882.20, Y:36.81, Z:13.76 [[ 7.92019670e-01 -6.10369121e-01 -1.24248988e-02 8.82199246e+02] [ 6.10301242e-01 7.92117037e-01 -9.11010747e-03 3.68075504e+01] [ 1.54025023e-02 -3.67546843e-04 9.99881307e-01 1.37562049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.0592541539999 meters Centerline goodness : 0.999730 Centerline is valid? [True, True] Translation: X:882.22, Y:36.83, Z:13.75 [[ 7.91720212e-01 -6.10757549e-01 -1.24226430e-02 8.82219020e+02] [ 6.10689668e-01 7.91817579e-01 -9.11318251e-03 3.68260543e+01] [ 1.54024121e-02 -3.71288912e-04 9.99881307e-01 1.37490733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.0892541539998 meters Centerline goodness : 0.999709 Centerline is valid? [True, True] Translation: X:882.24, Y:36.84, Z:13.76 [[ 7.93830303e-01 -6.08013431e-01 -1.23741079e-02 8.82244000e+02] [ 6.07944182e-01 7.93926705e-01 -9.17928310e-03 3.68426900e+01] [ 1.54052622e-02 -2.35973843e-04 9.99881304e-01 1.37575421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.1192541539999 meters Centerline goodness : 0.999834 Centerline is valid? [True, True] Translation: X:882.26, Y:36.86, Z:13.75 [[ 7.93271410e-01 -6.08741509e-01 -1.24195633e-02 8.82264643e+02] [ 6.08673316e-01 7.93368558e-01 -9.11736446e-03 3.68598873e+01] [ 1.54034092e-02 -3.26912215e-04 9.99881307e-01 1.37537791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.1492541539999 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:882.29, Y:36.88, Z:13.76 [[ 7.95270833e-01 -6.06128253e-01 -1.23629992e-02 8.82289618e+02] [ 6.06058541e-01 7.95366902e-01 -9.19435993e-03 3.68762136e+01] [ 1.54060817e-02 -1.80694965e-04 9.99881303e-01 1.37598255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.1792541539999 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:882.31, Y:36.89, Z:13.75 [[ 7.94976556e-01 -6.06513070e-01 -1.24165863e-02 8.82309549e+02] [ 6.06444541e-01 7.95073467e-01 -9.12141428e-03 3.68940924e+01] [ 1.54043553e-02 -2.78660441e-04 9.99881307e-01 1.37520690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.2092541539998 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:882.33, Y:36.91, Z:13.75 [[ 7.94899612e-01 -6.06614843e-01 -1.23708930e-02 8.82329652e+02] [ 6.06545358e-01 7.94995843e-01 -9.18357956e-03 3.69099974e+01] [ 1.54057042e-02 -2.03483904e-04 9.99881304e-01 1.37530531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.2392541539999 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:882.35, Y:36.93, Z:13.75 [[ 7.95018661e-01 -6.06459608e-01 -1.23317827e-02 8.82352926e+02] [ 6.06389277e-01 7.95114285e-01 -9.23678690e-03 3.69254957e+01] [ 1.54069147e-02 -1.34442852e-04 9.99881297e-01 1.37531761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.2692541539999 meters Centerline goodness : 0.999730 Centerline is valid? [True, True] Translation: X:882.38, Y:36.94, Z:13.75 [[ 7.94825673e-01 -6.06712934e-01 -1.23111780e-02 8.82376911e+02] [ 6.06642200e-01 7.94921006e-01 -9.26480528e-03 3.69420947e+01] [ 1.54074912e-02 -1.04575001e-04 9.99881292e-01 1.37537730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.2992541539999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:882.40, Y:36.96, Z:13.76 [[ 7.94528859e-01 -6.07100838e-01 -1.23476754e-02 8.82400191e+02] [ 6.07030920e-01 7.94624781e-01 -9.21515817e-03 3.69572828e+01] [ 1.54062991e-02 -1.73711649e-04 9.99881301e-01 1.37558931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.3292541539998 meters Centerline goodness : 0.999688 Centerline is valid? [True, True] Translation: X:882.43, Y:36.97, Z:13.76 [[ 7.94442743e-01 -6.07213973e-01 -1.23255528e-02 8.82426583e+02] [ 6.07143602e-01 7.94538339e-01 -9.24524078e-03 3.69737158e+01] [ 1.54069637e-02 -1.38566106e-04 9.99881296e-01 1.37552130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.3592541539999 meters Centerline goodness : 0.999687 Centerline is valid? [True, True] Translation: X:882.45, Y:36.99, Z:13.76 [[ 7.94587109e-01 -6.07023995e-01 -1.23772056e-02 8.82451381e+02] [ 6.06954693e-01 7.94683472e-01 -9.17499043e-03 3.69894125e+01] [ 1.54054001e-02 -2.22073910e-04 9.99881305e-01 1.37577496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.3892541539999 meters Centerline goodness : 0.999708 Centerline is valid? [True, True] Translation: X:882.47, Y:37.01, Z:13.76 [[ 7.92870628e-01 -6.09263563e-01 -1.24128648e-02 8.82474872e+02] [ 6.09195291e-01 7.92967720e-01 -9.12649074e-03 3.70052226e+01] [ 1.54034393e-02 -3.25732323e-04 9.99881307e-01 1.37578961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.4192541539999 meters Centerline goodness : 0.999750 Centerline is valid? [True, True] Translation: X:882.50, Y:37.02, Z:13.76 [[ 7.92163390e-01 -6.10183104e-01 -1.23993543e-02 8.82498094e+02] [ 6.10114657e-01 7.92260359e-01 -9.14485951e-03 3.70204973e+01] [ 1.54035557e-02 -3.20804905e-04 9.99881307e-01 1.37585028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.4492541539998 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:882.52, Y:37.04, Z:13.76 [[ 7.90369506e-01 -6.12504736e-01 -1.24093710e-02 8.82521486e+02] [ 6.12436787e-01 7.90466825e-01 -9.13124691e-03 3.70360709e+01] [ 1.54021280e-02 -3.82896175e-04 9.99881307e-01 1.37587493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.4792541539999 meters Centerline goodness : 0.999687 Centerline is valid? [True, True] Translation: X:882.54, Y:37.05, Z:13.76 [[ 7.89601570e-01 -6.13494408e-01 -1.24085694e-02 8.82544018e+02] [ 6.13426564e-01 7.89698962e-01 -9.13233607e-03 3.70522071e+01] [ 1.54016715e-02 -4.00839178e-04 9.99881307e-01 1.37590133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.5092541539999 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:882.57, Y:37.07, Z:13.76 [[ 7.88779617e-01 -6.14550902e-01 -1.24058426e-02 8.82566581e+02] [ 6.14483130e-01 7.88877060e-01 -9.13603878e-03 3.70691374e+01] [ 1.54012455e-02 -4.16859822e-04 9.99881307e-01 1.37574735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.5392541539999 meters Centerline goodness : 0.999542 Centerline is valid? [True, True] Translation: X:882.59, Y:37.09, Z:13.76 [[ 7.88739083e-01 -6.14603096e-01 -1.23973186e-02 8.82589236e+02] [ 6.14535149e-01 7.88836404e-01 -9.14760790e-03 3.70858123e+01] [ 1.54016043e-02 -4.03512141e-04 9.99881307e-01 1.37593380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.5692541539999 meters Centerline goodness : 0.999730 Centerline is valid? [True, True] Translation: X:882.61, Y:37.10, Z:13.76 [[ 7.89021103e-01 -6.14240899e-01 -1.24022904e-02 8.82612378e+02] [ 6.14173014e-01 7.89118466e-01 -9.14086210e-03 3.71020783e+01] [ 1.54015678e-02 -4.04818995e-04 9.99881307e-01 1.37611521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.5992541539998 meters Centerline goodness : 0.999729 Centerline is valid? [True, True] Translation: X:882.64, Y:37.12, Z:13.76 [[ 7.88863108e-01 -6.14443814e-01 -1.24014851e-02 8.82635247e+02] [ 6.14375936e-01 7.88960477e-01 -9.14195459e-03 3.71178775e+01] [ 1.54014990e-02 -4.07423300e-04 9.99881307e-01 1.37632182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.6292541539999 meters Centerline goodness : 0.999543 Centerline is valid? [True, True] Translation: X:882.66, Y:37.14, Z:13.76 [[ 7.88583114e-01 -6.14803173e-01 -1.23988354e-02 8.82657748e+02] [ 6.14735284e-01 7.88680474e-01 -9.14554677e-03 3.71350595e+01] [ 1.54014306e-02 -4.09977879e-04 9.99881307e-01 1.37624402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.6592541539999 meters Centerline goodness : 0.999708 Centerline is valid? [True, True] Translation: X:882.68, Y:37.15, Z:13.76 [[ 7.87929590e-01 -6.15640557e-01 -1.23961898e-02 8.82679193e+02] [ 6.15572715e-01 7.88026983e-01 -9.14913140e-03 3.71508339e+01] [ 1.54011084e-02 -4.21884827e-04 9.99881307e-01 1.37631620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.6892541539999 meters Centerline goodness : 0.999583 Centerline is valid? [True, True] Translation: X:882.70, Y:37.17, Z:13.76 [[ 7.87470737e-01 -6.16227407e-01 -1.23943961e-02 8.82701726e+02] [ 6.16159599e-01 7.87568154e-01 -9.15156066e-03 3.71680516e+01] [ 1.54008742e-02 -4.30339915e-04 9.99881307e-01 1.37626940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.7192541539998 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:882.72, Y:37.18, Z:13.76 [[ 7.87588049e-01 -6.16077521e-01 -1.23916857e-02 8.82723656e+02] [ 6.16009636e-01 7.87685413e-01 -9.15522917e-03 3.71839402e+01] [ 1.54010810e-02 -4.22848745e-04 9.99881307e-01 1.37642298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.7492541539999 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:882.74, Y:37.20, Z:13.76 [[ 7.88260565e-01 -6.15216850e-01 -1.23898523e-02 8.82744758e+02] [ 6.15148821e-01 7.88357828e-01 -9.15770971e-03 3.72008385e+01] [ 1.54016144e-02 -4.02941588e-04 9.99881307e-01 1.37622159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.7792541539999 meters Centerline goodness : 0.999730 Centerline is valid? [True, True] Translation: X:882.77, Y:37.22, Z:13.76 [[ 7.90396278e-01 -6.12470606e-01 -1.23887041e-02 8.82766736e+02] [ 6.12402214e-01 7.90493287e-01 -9.15926276e-03 3.72183135e+01] [ 1.54029666e-02 -3.47422612e-04 9.99881307e-01 1.37623676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.8092541539999 meters Centerline goodness : 0.999542 Centerline is valid? [True, True] Translation: X:882.79, Y:37.24, Z:13.76 [[ 7.91885759e-01 -6.10543634e-01 -1.23860963e-02 8.82790837e+02] [ 6.10474951e-01 7.91982561e-01 -9.16278786e-03 3.72361014e+01] [ 1.54038541e-02 -3.05520345e-04 9.99881307e-01 1.37598777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.8392541539998 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:882.81, Y:37.25, Z:13.76 [[ 7.93857093e-01 -6.07977537e-01 -1.24189406e-02 8.82812801e+02] [ 6.07909234e-01 7.93954166e-01 -9.11839297e-03 3.72539899e+01] [ 1.54038477e-02 -3.10887708e-04 9.99881305e-01 1.37605324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.8692541539999 meters Centerline goodness : 0.999585 Centerline is valid? [True, True] Translation: X:882.84, Y:37.27, Z:13.76 [[ 7.94413987e-01 -6.07249846e-01 -1.24113482e-02 8.82835053e+02] [ 6.07181294e-01 7.94510884e-01 -9.12864895e-03 3.72709910e+01] [ 1.54043219e-02 -2.84012052e-04 9.99881306e-01 1.37606774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.8992541539999 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:882.86, Y:37.29, Z:13.76 [[ 7.94900217e-01 -6.06613403e-01 -1.24025943e-02 8.82858860e+02] [ 6.06544589e-01 7.94996927e-01 -9.14046681e-03 3.72867754e+01] [ 1.54047540e-02 -2.56967413e-04 9.99881307e-01 1.37623088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.9292541539999 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:882.88, Y:37.30, Z:13.76 [[ 7.94362419e-01 -6.07317298e-01 -1.24115736e-02 8.82879971e+02] [ 6.07248759e-01 7.94459324e-01 -9.12835180e-03 3.73029501e+01] [ 1.54042963e-02 -2.85693046e-04 9.99881306e-01 1.37630128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.9592541539998 meters Centerline goodness : 0.999563 Centerline is valid? [True, True] Translation: X:882.90, Y:37.32, Z:13.76 [[ 7.93897626e-01 -6.07925522e-01 -1.23741631e-02 8.82902774e+02] [ 6.07856270e-01 7.93994021e-01 -9.17878594e-03 3.73197320e+01] [ 1.54050297e-02 -2.34696250e-04 9.99881308e-01 1.37621630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.9892541539999 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:882.93, Y:37.34, Z:13.76 [[ 7.92214331e-01 -6.10117492e-01 -1.23733085e-02 8.82925777e+02] [ 6.10048489e-01 7.92310905e-01 -9.17993784e-03 3.73357278e+01] [ 1.54043479e-02 -2.75839822e-04 9.99881308e-01 1.37609530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.0192541539999 meters Centerline goodness : 0.999604 Centerline is valid? [True, True] Translation: X:882.95, Y:37.35, Z:13.76 [[ 7.90523037e-01 -6.12307800e-01 -1.23485137e-02 8.82950089e+02] [ 6.12238543e-01 7.90619429e-01 -9.21334156e-03 3.73517652e+01] [ 1.54043757e-02 -2.76877268e-04 9.99881307e-01 1.37620734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.0492541539999 meters Centerline goodness : 0.999646 Centerline is valid? [True, True] Translation: X:882.97, Y:37.37, Z:13.76 [[ 7.89858464e-01 -6.13164401e-01 -1.23703121e-02 8.82972378e+02] [ 6.13095707e-01 7.89955257e-01 -9.18398032e-03 3.73666875e+01] [ 1.54032829e-02 -3.30140660e-04 9.99881308e-01 1.37626380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.0792541539998 meters Centerline goodness : 0.999709 Centerline is valid? [True, True] Translation: X:883.00, Y:37.38, Z:13.77 [[ 7.89126582e-01 -6.14106064e-01 -1.23685249e-02 8.82996640e+02] [ 6.14037448e-01 7.89223431e-01 -9.18638663e-03 3.73829475e+01] [ 1.54029454e-02 -3.45515569e-04 9.99881308e-01 1.37651428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.1092541539999 meters Centerline goodness : 0.999709 Centerline is valid? [True, True] Translation: X:883.02, Y:37.40, Z:13.77 [[ 7.88511421e-01 -6.14895781e-01 -1.23659981e-02 8.83020233e+02] [ 6.14827209e-01 7.88608300e-01 -9.18978680e-03 3.73986389e+01] [ 1.54026899e-02 -3.56700265e-04 9.99881308e-01 1.37662018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.1392541539999 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:883.04, Y:37.41, Z:13.77 [[ 7.88954545e-01 -6.14327388e-01 -1.23525791e-02 8.83043791e+02] [ 6.14258464e-01 7.89051174e-01 -9.20783761e-03 3.74144448e+01] [ 1.54034439e-02 -3.23110938e-04 9.99881308e-01 1.37671428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.1692541539999 meters Centerline goodness : 0.999730 Centerline is valid? [True, True] Translation: X:883.07, Y:37.43, Z:13.77 [[ 7.89479043e-01 -6.13653002e-01 -1.23625951e-02 8.83066464e+02] [ 6.13584206e-01 7.89575763e-01 -9.19437024e-03 3.74312731e+01] [ 1.54033584e-02 -3.26730503e-04 9.99881308e-01 1.37670876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.1992541539998 meters Centerline goodness : 0.999647 Centerline is valid? [True, True] Translation: X:883.09, Y:37.45, Z:13.77 [[ 7.91051849e-01 -6.11624695e-01 -1.23371163e-02 8.83089843e+02] [ 6.11555116e-01 7.91148009e-01 -9.22861135e-03 3.74469597e+01] [ 1.54049316e-02 -2.44516529e-04 9.99881307e-01 1.37658166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.2292541539999 meters Centerline goodness : 0.999626 Centerline is valid? [True, True] Translation: X:883.11, Y:37.46, Z:13.77 [[ 7.92624509e-01 -6.09584796e-01 -1.23597594e-02 8.83112658e+02] [ 6.09515444e-01 7.92720832e-01 -9.19818553e-03 3.74626632e+01] [ 1.54049128e-02 -2.42756924e-04 9.99881308e-01 1.37666730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.2592541539999 meters Centerline goodness : 0.999646 Centerline is valid? [True, True] Translation: X:883.14, Y:37.48, Z:13.77 [[ 7.93778254e-01 -6.08081947e-01 -1.23462151e-02 8.83135903e+02] [ 6.08012129e-01 7.93874240e-01 -9.21637855e-03 3.74784358e+01] [ 1.54056555e-02 -1.90887640e-04 9.99881308e-01 1.37661777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.2892541539999 meters Centerline goodness : 0.999646 Centerline is valid? [True, True] Translation: X:883.16, Y:37.50, Z:13.77 [[ 7.93603130e-01 -6.08310279e-01 -1.23562363e-02 8.83158739e+02] [ 6.08240698e-01 7.93699288e-01 -9.20292363e-03 3.74955188e+01] [ 1.54053690e-02 -2.12096815e-04 9.99881308e-01 1.37666193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.3192541539999 meters Centerline goodness : 0.999583 Centerline is valid? [True, True] Translation: X:883.18, Y:37.51, Z:13.77 [[ 7.94470852e-01 -6.07176625e-01 -1.23535850e-02 8.83180913e+02] [ 6.07106852e-01 7.94566870e-01 -9.20648121e-03 3.75110648e+01] [ 1.54057096e-02 -1.85665146e-04 9.99881308e-01 1.37665611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.3492541539998 meters Centerline goodness : 0.999708 Centerline is valid? [True, True] Translation: X:883.20, Y:37.53, Z:13.77 [[ 7.96066853e-01 -6.05082625e-01 -1.23524370e-02 8.83203987e+02] [ 6.05012575e-01 7.96162670e-01 -9.20802128e-03 3.75263715e+01] [ 1.54061629e-02 -1.43179197e-04 9.99881308e-01 1.37663362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.3792541539999 meters Centerline goodness : 0.999730 Centerline is valid? [True, True] Translation: X:883.23, Y:37.54, Z:13.77 [[ 7.96764176e-01 -6.04164157e-01 -1.23498662e-02 8.83227107e+02] [ 6.04093943e-01 7.96859873e-01 -9.21146793e-03 3.75423998e+01] [ 1.54063516e-02 -1.21111728e-04 9.99881308e-01 1.37662274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.4092541539999 meters Centerline goodness : 0.999583 Centerline is valid? [True, True] Translation: X:883.25, Y:37.56, Z:13.77 [[ 7.98135844e-01 -6.02350994e-01 -1.23472257e-02 8.83251533e+02] [ 6.02280508e-01 7.98231341e-01 -9.21500600e-03 3.75570636e+01] [ 1.54066105e-02 -8.16667641e-05 9.99881308e-01 1.37662101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.4392541539999 meters Centerline goodness : 0.999647 Centerline is valid? [True, True] Translation: X:883.27, Y:37.57, Z:13.77 [[ 7.98813745e-01 -6.01451754e-01 -1.23445891e-02 8.83274770e+02] [ 6.01381105e-01 7.98909122e-01 -9.21853672e-03 3.75722481e+01] [ 1.54067099e-02 -5.99087725e-05 9.99881308e-01 1.37666596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.4692541539998 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:883.30, Y:37.59, Z:13.77 [[ 7.99981955e-01 -5.99897114e-01 -1.23419651e-02 8.83299667e+02] [ 5.99826226e-01 8.00077154e-01 -9.22204839e-03 3.75865084e+01] [ 1.54068045e-02 -2.55620552e-05 9.99881308e-01 1.37671353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.4992541539999 meters Centerline goodness : 0.999604 Centerline is valid? [True, True] Translation: X:883.32, Y:37.60, Z:13.77 [[ 8.00710018e-01 -5.98925044e-01 -1.23392990e-02 8.83323417e+02] [ 5.98853986e-01 8.00805090e-01 -9.22561436e-03 3.76016729e+01] [ 1.54068249e-02 -2.39652616e-06 9.99881308e-01 1.37674945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.5292541539999 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:883.35, Y:37.62, Z:13.77 [[ 8.01579131e-01 -5.97761411e-01 -1.23366544e-02 8.83347029e+02] [ 5.97690160e-01 8.01674058e-01 -9.22914941e-03 3.76165716e+01] [ 1.54068051e-02 2.43966246e-05 9.99881308e-01 1.37682856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.5592541539999 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:883.37, Y:37.63, Z:13.77 [[ 8.03819575e-01 -5.94745294e-01 -1.23339845e-02 8.83371878e+02] [ 5.94673632e-01 8.03914192e-01 -9.23271606e-03 3.76296215e+01] [ 1.54065796e-02 8.67425154e-05 9.99881308e-01 1.37699574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.5892541539998 meters Centerline goodness : 0.999750 Centerline is valid? [True, True] Translation: X:883.40, Y:37.64, Z:13.77 [[ 8.05051647e-01 -5.93076543e-01 -1.23312672e-02 8.83395122e+02] [ 5.93004630e-01 8.05146073e-01 -9.23634386e-03 3.76443526e+01] [ 1.54063303e-02 1.23235264e-04 9.99881308e-01 1.37694657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.6192541539999 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] Translation: X:883.42, Y:37.66, Z:13.77 [[ 8.07619116e-01 -5.89575552e-01 -1.23300898e-02 8.83421275e+02] [ 5.89503206e-01 8.07713211e-01 -9.23791535e-03 3.76566607e+01] [ 1.54056255e-02 1.92089545e-04 9.99881308e-01 1.37700749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.6492541539999 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:883.45, Y:37.67, Z:13.77 [[ 8.08524708e-01 -5.88333095e-01 -1.23274358e-02 8.83445142e+02] [ 5.88260550e-01 8.08618650e-01 -9.24145567e-03 3.76710080e+01] [ 1.54052487e-02 2.20201091e-04 9.99881308e-01 1.37706225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.6792541539999 meters Centerline goodness : 0.999625 Centerline is valid? [True, True] Translation: X:883.47, Y:37.68, Z:13.77 [[ 8.09733913e-01 -5.86667785e-01 -1.23247417e-02 8.83470386e+02] [ 5.86594993e-01 8.09827663e-01 -9.24504717e-03 3.76824938e+01] [ 1.54046881e-02 2.56396431e-04 9.99881308e-01 1.37712426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.7092541539998 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:883.50, Y:37.69, Z:13.77 [[ 8.10483221e-01 -5.85632204e-01 -1.23235746e-02 8.83496789e+02] [ 5.85559268e-01 8.10576859e-01 -9.24660269e-03 3.76939979e+01] [ 1.54043127e-02 2.78033001e-04 9.99881308e-01 1.37734928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.7392541539999 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:883.52, Y:37.71, Z:13.78 [[ 8.11442554e-01 -5.84302299e-01 -1.23209041e-02 8.83524188e+02] [ 5.84229155e-01 8.11536031e-01 -9.25015974e-03 3.77080721e+01] [ 1.54037472e-02 3.07741872e-04 9.99881308e-01 1.37761543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.7692541539999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:883.55, Y:37.72, Z:13.77 [[ 8.10772085e-01 -5.85231444e-01 -1.23605715e-02 8.83546546e+02] [ 5.85159211e-01 8.10866270e-01 -9.19733045e-03 3.77224279e+01] [ 1.54053375e-02 2.24036549e-04 9.99881306e-01 1.37746357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.7992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:883.57, Y:37.73, Z:13.77 [[ 8.11033273e-01 -5.84870336e-01 -1.23174424e-02 8.83573536e+02] [ 5.84797189e-01 8.11126746e-01 -9.25473254e-03 3.77329292e+01] [ 1.54038255e-02 3.02690364e-04 9.99881308e-01 1.37748954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.8292541539998 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:883.60, Y:37.75, Z:13.77 [[ 8.10860771e-01 -5.85109526e-01 -1.23147577e-02 8.83598376e+02] [ 5.85036352e-01 8.10954223e-01 -9.25830348e-03 3.77469548e+01] [ 1.54038263e-02 3.02614187e-04 9.99881308e-01 1.37727077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.8592541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:883.63, Y:37.76, Z:13.77 [[ 8.10589241e-01 -5.85485691e-01 -1.23120824e-02 8.83625074e+02] [ 5.85412506e-01 8.10682685e-01 -9.26185979e-03 3.77565479e+01] [ 1.54038784e-02 2.99916864e-04 9.99881308e-01 1.37735322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.8892541539999 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:883.65, Y:37.77, Z:13.77 [[ 8.09796225e-01 -5.86582062e-01 -1.23109239e-02 8.83650283e+02] [ 5.86508980e-01 8.09889749e-01 -9.26339952e-03 3.77705595e+01] [ 1.54042350e-02 2.80998569e-04 9.99881308e-01 1.37712389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.9192541539999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:883.67, Y:37.78, Z:13.77 [[ 8.09132200e-01 -5.87497737e-01 -1.23082045e-02 8.83674770e+02] [ 5.87424707e-01 8.09225764e-01 -9.26701132e-03 3.77830433e+01] [ 1.54044644e-02 2.68093848e-04 9.99881308e-01 1.37738498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.9492541539998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:883.70, Y:37.79, Z:13.77 [[ 8.07228880e-01 -5.90110220e-01 -1.23070281e-02 8.83702317e+02] [ 5.90037468e-01 8.07322661e-01 -9.26857336e-03 3.77908134e+01] [ 1.54052225e-02 2.20252396e-04 9.99881308e-01 1.37743517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.9792541539999 meters Centerline goodness : 0.999729 Centerline is valid? [True, True] Translation: X:883.73, Y:37.80, Z:13.77 [[ 8.05849818e-01 -5.91992092e-01 -1.23058874e-02 8.83728072e+02] [ 5.91919536e-01 8.05943750e-01 -9.27008766e-03 3.78038257e+01] [ 1.54056716e-02 1.86203313e-04 9.99881308e-01 1.37720097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.0092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:883.76, Y:37.81, Z:13.78 [[ 8.03914207e-01 -5.94618012e-01 -1.23031574e-02 8.83756411e+02] [ 5.94545707e-01 8.04008334e-01 -9.27370948e-03 3.78120080e+01] [ 1.54061557e-02 1.40477419e-04 9.99881308e-01 1.37754574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.0392541539999 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:883.78, Y:37.82, Z:13.77 [[ 8.01278688e-01 -5.98164791e-01 -1.23023135e-02 8.83784412e+02] [ 5.98092885e-01 8.01373120e-01 -9.27482881e-03 3.78209309e+01] [ 1.54066194e-02 7.37964935e-05 9.99881308e-01 1.37740366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.0692541539999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:883.81, Y:37.83, Z:13.78 [[ 8.00078560e-01 -5.99769136e-01 -1.22996335e-02 8.83809183e+02] [ 5.99697366e-01 8.00173094e-01 -9.27838152e-03 3.78334511e+01] [ 1.54067226e-02 4.73763402e-05 9.99881308e-01 1.37768673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.0992541539998 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:883.84, Y:37.84, Z:13.78 [[ 7.97001737e-01 -6.03851785e-01 -1.22984857e-02 8.83836516e+02] [ 6.03780475e-01 7.97096620e-01 -9.27990262e-03 3.78430274e+01] [ 1.54067671e-02 -2.94870208e-05 9.99881308e-01 1.37770398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.1292541539999 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:883.86, Y:37.86, Z:13.78 [[ 7.95589249e-01 -6.05711613e-01 -1.22958663e-02 8.83861451e+02] [ 6.05640471e-01 7.95684258e-01 -9.28337203e-03 3.78564742e+01] [ 1.54066735e-02 -6.11232722e-05 9.99881308e-01 1.37774690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.1592541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:883.89, Y:37.87, Z:13.78 [[ 7.93854290e-01 -6.07983752e-01 -1.22932353e-02 8.83887478e+02] [ 6.07912829e-01 7.93949461e-01 -9.28685477e-03 3.78667734e+01] [ 1.54064643e-02 -1.00805935e-04 9.99881308e-01 1.37810801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.1892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:883.91, Y:37.88, Z:13.78 [[ 7.92765572e-01 -6.09402701e-01 -1.22921413e-02 8.83911602e+02] [ 6.09331925e-01 7.92860853e-01 -9.28830253e-03 3.78815943e+01] [ 1.54062743e-02 -1.26547662e-04 9.99881308e-01 1.37795766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.2192541539998 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:883.94, Y:37.89, Z:13.78 [[ 7.91736089e-01 -6.10740084e-01 -1.22684695e-02 8.83938612e+02] [ 6.10668983e-01 7.91831129e-01 -9.31961389e-03 3.78938254e+01] [ 1.54064179e-02 -1.13299172e-04 9.99881308e-01 1.37789855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.2492541539999 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:883.96, Y:37.91, Z:13.78 [[ 7.91185305e-01 -6.11453016e-01 -1.22891220e-02 8.83961465e+02] [ 6.11382425e-01 7.91280724e-01 -9.29230092e-03 3.79076388e+01] [ 1.54059508e-02 -1.61421262e-04 9.99881308e-01 1.37797242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.2792541539999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:883.99, Y:37.92, Z:13.78 [[ 7.90413435e-01 -6.12450493e-01 -1.22879954e-02 8.83985513e+02] [ 6.12379999e-01 7.90508926e-01 -9.29379040e-03 3.79225068e+01] [ 1.54057566e-02 -1.78985846e-04 9.99881308e-01 1.37799784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.3092541539999 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:884.01, Y:37.94, Z:13.78 [[ 7.88795570e-01 -6.14532844e-01 -1.22854256e-02 8.84011122e+02] [ 6.14462550e-01 7.88891207e-01 -9.29718618e-03 3.79356557e+01] [ 1.54052905e-02 -2.15354683e-04 9.99881308e-01 1.37789753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.3392541539998 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:884.03, Y:37.95, Z:13.78 [[ 7.88003690e-01 -6.15547980e-01 -1.22828724e-02 8.84033888e+02] [ 6.15477756e-01 7.88099379e-01 -9.30055820e-03 3.79502143e+01] [ 1.54050639e-02 -2.30960535e-04 9.99881308e-01 1.37777687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.3692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:884.06, Y:37.96, Z:13.78 [[ 7.87579156e-01 -6.16091090e-01 -1.22817668e-02 8.84058292e+02] [ 6.16020910e-01 7.87674877e-01 -9.30201795e-03 3.79627750e+01] [ 1.54049295e-02 -2.39749684e-04 9.99881308e-01 1.37808597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.3992541539999 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:884.08, Y:37.98, Z:13.78 [[ 7.86706515e-01 -6.17205026e-01 -1.22806729e-02 8.84082356e+02] [ 6.17134958e-01 7.86802319e-01 -9.30346188e-03 3.79788791e+01] [ 1.54046053e-02 -2.59738472e-04 9.99881308e-01 1.37773519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.4292541539999 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:884.11, Y:37.99, Z:13.78 [[ 7.86541356e-01 -6.17415528e-01 -1.22784882e-02 8.84105691e+02] [ 6.17345441e-01 7.86637145e-01 -9.30634422e-03 3.79940156e+01] [ 1.54045964e-02 -2.60244141e-04 9.99881308e-01 1.37797032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.4592541539998 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:884.13, Y:38.01, Z:13.78 [[ 7.86736938e-01 -6.17166343e-01 -1.22758132e-02 8.84129854e+02] [ 6.17096171e-01 7.86832665e-01 -9.30987149e-03 3.80083633e+01] [ 1.54047501e-02 -2.50937534e-04 9.99881308e-01 1.37804207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.4892541539999 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:884.15, Y:38.02, Z:13.78 [[ 7.86931225e-01 -6.16918610e-01 -1.22749852e-02 8.84151571e+02] [ 6.16848391e-01 7.87026918e-01 -9.31096300e-03 3.80237174e+01] [ 1.54048502e-02 -2.44717369e-04 9.99881308e-01 1.37778381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.5192541539999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:884.17, Y:38.04, Z:13.78 [[ 7.88438901e-01 -6.14990612e-01 -1.22738404e-02 8.84174868e+02] [ 6.14920135e-01 7.88534404e-01 -9.31247196e-03 3.80393230e+01] [ 1.54054282e-02 -2.05116418e-04 9.99881308e-01 1.37801090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.5492541539999 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:884.20, Y:38.06, Z:13.78 [[ 7.88941200e-01 -6.14346119e-01 -1.22730651e-02 8.84197808e+02] [ 6.14275549e-01 7.89036634e-01 -9.31349355e-03 3.80562293e+01] [ 1.54056066e-02 -1.91245032e-04 9.99881308e-01 1.37789749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.5792541539998 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:884.22, Y:38.07, Z:13.78 [[ 7.90846811e-01 -6.11891127e-01 -1.22706623e-02 8.84220889e+02] [ 6.11820211e-01 7.90941988e-01 -9.31665820e-03 3.80717628e+01] [ 1.54061625e-02 -1.39389784e-04 9.99881308e-01 1.37804725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.6092541539999 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:884.24, Y:38.09, Z:13.78 [[ 7.91847682e-01 -6.10595363e-01 -1.22699186e-02 8.84243581e+02] [ 6.10524276e-01 7.91942732e-01 -9.31763751e-03 3.80879311e+01] [ 1.54063791e-02 -1.12933535e-04 9.99881308e-01 1.37843219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.6392541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:884.27, Y:38.10, Z:13.79 [[ 7.93812019e-01 -6.08039468e-01 -1.22672306e-02 8.84266552e+02] [ 6.07968020e-01 7.93906797e-01 -9.32117509e-03 3.81040629e+01] [ 1.54066801e-02 -5.88231135e-05 9.99881308e-01 1.37866532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.6692541539999 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:884.29, Y:38.12, Z:13.79 [[ 7.94593049e-01 -6.07018506e-01 -1.22645379e-02 8.84288377e+02] [ 6.06946882e-01 7.94687694e-01 -9.32471676e-03 3.81205998e+01] [ 1.54067530e-02 -3.45679183e-05 9.99881308e-01 1.37855938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.6992541539998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:884.31, Y:38.14, Z:13.79 [[ 7.96070230e-01 -6.05079993e-01 -1.22633673e-02 8.84310334e+02] [ 6.05008115e-01 7.96164683e-01 -9.32625605e-03 3.81364088e+01] [ 1.54067909e-02 4.91807052e-06 9.99881308e-01 1.37858984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.7292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:884.33, Y:38.15, Z:13.79 [[ 7.96474567e-01 -6.04547684e-01 -1.22622091e-02 8.84332943e+02] [ 6.04475719e-01 7.96568953e-01 -9.32777865e-03 3.81529039e+01] [ 1.54067820e-02 1.71308227e-05 9.99881308e-01 1.37867921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.7592541539999 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:884.36, Y:38.17, Z:13.79 [[ 7.96481906e-01 -6.04538068e-01 -1.22595931e-02 8.84355478e+02] [ 6.04466050e-01 7.96576251e-01 -9.33121552e-03 3.81690318e+01] [ 1.54067757e-02 2.16364968e-05 9.99881308e-01 1.37850227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.7892541539999 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:884.38, Y:38.18, Z:13.78 [[ 7.96136028e-01 -6.04993547e-01 -1.22569414e-02 8.84378618e+02] [ 6.04921529e-01 7.96230373e-01 -9.33469740e-03 3.81842081e+01] [ 1.54067807e-02 1.72011909e-05 9.99881308e-01 1.37829342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.8192541539999 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:884.40, Y:38.20, Z:13.78 [[ 7.95481752e-01 -6.05853588e-01 -1.22561197e-02 8.84401503e+02] [ 6.05781655e-01 7.95576162e-01 -9.33577608e-03 3.81999578e+01] [ 1.54067901e-02 1.90701715e-06 9.99881308e-01 1.37835800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.8492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:884.43, Y:38.21, Z:13.79 [[ 7.93538367e-01 -6.08396838e-01 -1.22534839e-02 8.84425043e+02] [ 6.08325154e-01 7.93632967e-01 -9.33923438e-03 3.82141613e+01] [ 1.54067295e-02 -4.30616856e-05 9.99881308e-01 1.37853364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.8792541539999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:884.45, Y:38.23, Z:13.78 [[ 7.91875242e-01 -6.10559986e-01 -1.22516951e-02 8.84448354e+02] [ 6.10488524e-01 7.91970010e-01 -9.34158050e-03 3.82300979e+01] [ 1.54065703e-02 -8.21529127e-05 9.99881308e-01 1.37835828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.9092541539999 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:884.47, Y:38.24, Z:13.78 [[ 7.88662580e-01 -6.14704233e-01 -1.22491154e-02 8.84472628e+02] [ 6.14633216e-01 7.88757682e-01 -9.34496179e-03 3.82437900e+01] [ 1.54059715e-02 -1.58691553e-04 9.99881308e-01 1.37836251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.9392541539999 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:884.50, Y:38.26, Z:13.78 [[ 7.86994603e-01 -6.16838324e-01 -1.22464799e-02 8.84495524e+02] [ 6.16767512e-01 7.87089857e-01 -9.34841431e-03 3.82587574e+01] [ 1.54055404e-02 -1.96079351e-04 9.99881308e-01 1.37836234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.9692541539998 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:884.52, Y:38.27, Z:13.79 [[ 7.85529996e-01 -6.18702414e-01 -1.22453391e-02 8.84519026e+02] [ 6.18631805e-01 7.85625400e-01 -9.34990850e-03 3.82740757e+01] [ 1.54050604e-02 -2.30722614e-04 9.99881308e-01 1.37852379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.9992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:884.54, Y:38.29, Z:13.79 [[ 7.83496954e-01 -6.21275010e-01 -1.22427435e-02 8.84544011e+02] [ 6.21204661e-01 7.83592551e-01 -9.35330594e-03 3.82881451e+01] [ 1.54042978e-02 -2.76962580e-04 9.99881308e-01 1.37892460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.0292541539999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:884.57, Y:38.30, Z:13.79 [[ 7.81677763e-01 -6.23562384e-01 -1.22404874e-02 8.84565347e+02] [ 6.23492268e-01 7.81773530e-01 -9.35625750e-03 3.83046279e+01] [ 1.54034993e-02 -3.18270801e-04 9.99881308e-01 1.37895195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.0592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:884.59, Y:38.32, Z:13.79 [[ 7.82636746e-01 -6.22359160e-01 -1.21983735e-02 8.84591160e+02] [ 6.22288038e-01 7.82731771e-01 -9.41131741e-03 3.83192476e+01] [ 1.54052741e-02 -2.25259063e-04 9.99881306e-01 1.37909376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.0892541539998 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:884.61, Y:38.34, Z:13.79 [[ 7.82993753e-01 -6.21909188e-01 -1.22370099e-02 8.84613347e+02] [ 6.21838799e-01 7.83089321e-01 -9.36080960e-03 3.83350914e+01] [ 1.54042453e-02 -2.79992106e-04 9.99881308e-01 1.37897239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.1192541539999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:884.63, Y:38.35, Z:13.79 [[ 7.82525057e-01 -6.22498851e-01 -1.22358578e-02 8.84632092e+02] [ 6.22428511e-01 7.82620659e-01 -9.36231528e-03 3.83515815e+01] [ 1.54040656e-02 -2.89700480e-04 9.99881308e-01 1.37854319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.1492541539999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:884.66, Y:38.37, Z:13.79 [[ 7.85420941e-01 -6.18842940e-01 -1.21392478e-02 8.84660592e+02] [ 6.18770198e-01 7.85514743e-01 -9.48843703e-03 3.83670688e+01] [ 1.54074104e-02 -5.89876258e-05 9.99881297e-01 1.37888390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.1792541539999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:884.68, Y:38.38, Z:13.79 [[ 7.85245310e-01 -6.19063931e-01 -1.22332190e-02 8.84683283e+02] [ 6.18993120e-01 7.85340564e-01 -9.36569471e-03 3.83844404e+01] [ 1.54052069e-02 -2.17910536e-04 9.99881309e-01 1.37893331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.2092541539998 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:884.71, Y:38.40, Z:13.79 [[ 7.87035378e-01 -6.16786614e-01 -1.22305597e-02 8.84706743e+02] [ 6.16715473e-01 7.87130386e-01 -9.36916611e-03 3.83997126e+01] [ 1.54058214e-02 -1.68910237e-04 9.99881309e-01 1.37898650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.2392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:884.73, Y:38.42, Z:13.79 [[ 7.87790224e-01 -6.15822212e-01 -1.22297369e-02 8.84729708e+02] [ 6.15750938e-01 7.87885132e-01 -9.37024002e-03 3.84159504e+01] [ 1.54060298e-02 -1.48688500e-04 9.99881309e-01 1.37926746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.2692541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:884.75, Y:38.43, Z:13.79 [[ 7.88752054e-01 -6.14589861e-01 -1.22270582e-02 8.84753109e+02] [ 6.14518384e-01 7.88846809e-01 -9.37373410e-03 3.84312036e+01] [ 1.54062778e-02 -1.20200039e-04 9.99881309e-01 1.37935506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.2992541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:884.78, Y:38.45, Z:13.80 [[ 7.88908969e-01 -6.14388479e-01 -1.22243668e-02 8.84775764e+02] [ 6.14316924e-01 7.89003666e-01 -9.37724265e-03 3.84471799e+01] [ 1.54063401e-02 -1.11844593e-04 9.99881309e-01 1.37958532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.3292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:884.80, Y:38.46, Z:13.79 [[ 7.87281998e-01 -6.16471969e-01 -1.22216102e-02 8.84795742e+02] [ 6.16400608e-01 7.87376841e-01 -9.38083407e-03 3.84645885e+01] [ 1.54060341e-02 -1.48046168e-04 9.99881309e-01 1.37916142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.3592541539999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:884.82, Y:38.48, Z:13.79 [[ 7.86403191e-01 -6.17593851e-01 -1.21596253e-02 8.84818607e+02] [ 6.17521376e-01 7.86497190e-01 -9.46153193e-03 3.84785130e+01] [ 1.54068951e-02 -6.82496557e-05 9.99881304e-01 1.37911342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.3892541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:884.85, Y:38.49, Z:13.80 [[ 7.87536359e-01 -6.16148449e-01 -1.21479483e-02 8.84846464e+02] [ 6.16075566e-01 7.87630045e-01 -9.47673424e-03 3.84934443e+01] [ 1.54071642e-02 -2.07813495e-05 9.99881302e-01 1.37967811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.4192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:884.87, Y:38.51, Z:13.80 [[ 7.85103637e-01 -6.19243872e-01 -1.22190514e-02 8.84870750e+02] [ 6.19172795e-01 7.85198693e-01 -9.38415141e-03 3.85088933e+01] [ 1.54054615e-02 -1.98172835e-04 9.99881309e-01 1.37962993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.4492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:884.89, Y:38.53, Z:13.79 [[ 7.83044026e-01 -6.21846316e-01 -1.22152521e-02 8.84891265e+02] [ 6.21775478e-01 7.83139260e-01 -9.38909726e-03 3.85251376e+01] [ 1.54048190e-02 -2.43067669e-04 9.99881309e-01 1.37949591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.4792541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:884.92, Y:38.54, Z:13.80 [[ 7.82676176e-01 -6.22310674e-01 -1.21419891e-02 8.84919752e+02] [ 6.22238409e-01 7.82770341e-01 -9.48447862e-03 3.85396011e+01] [ 1.54066812e-02 -1.31936500e-04 9.99881301e-01 1.37980964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.5092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:884.94, Y:38.56, Z:13.80 [[ 7.80643969e-01 -6.24856541e-01 -1.22187326e-02 8.84940689e+02] [ 6.24786141e-01 7.80739526e-01 -9.38455846e-03 3.85559270e+01] [ 1.54036502e-02 -3.08095812e-04 9.99881309e-01 1.37999526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.5392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:884.97, Y:38.57, Z:13.80 [[ 7.79589394e-01 -6.26172474e-01 -1.21823015e-02 8.84966107e+02] [ 6.26101494e-01 7.79684524e-01 -9.43195448e-03 3.85706500e+01] [ 1.54043823e-02 -2.74305521e-04 9.99881308e-01 1.37996243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.5692541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:884.99, Y:38.59, Z:13.80 [[ 7.76840417e-01 -6.29579033e-01 -1.22150363e-02 8.84986698e+02] [ 6.29509138e-01 7.76936345e-01 -9.38936840e-03 3.85879510e+01] [ 1.54016552e-02 -3.95436139e-04 9.99881309e-01 1.37986889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.5992541539998 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:885.01, Y:38.60, Z:13.80 [[ 7.76755456e-01 -6.29684939e-01 -1.21589039e-02 8.85012517e+02] [ 6.29613913e-01 7.76850555e-01 -9.46234035e-03 3.86041427e+01] [ 1.54039444e-02 -3.05490556e-04 9.99881306e-01 1.37965552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.6292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:885.03, Y:38.62, Z:13.80 [[ 7.72169950e-01 -6.35298696e-01 -1.22120998e-02 8.85032498e+02] [ 6.35229451e-01 7.72266348e-01 -9.39318034e-03 3.86208294e+01] [ 1.53984689e-02 -5.04353828e-04 9.99881309e-01 1.37976597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.6592541539999 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:885.06, Y:38.64, Z:13.80 [[ 7.70231620e-01 -6.37648667e-01 -1.21420199e-02 8.85055966e+02] [ 6.37578280e-01 7.70327195e-01 -9.48420126e-03 3.86373987e+01] [ 1.54009164e-02 -4.36456465e-04 9.99881304e-01 1.37961583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.6892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:885.08, Y:38.65, Z:13.80 [[ 7.67390385e-01 -6.41064962e-01 -1.21536791e-02 8.85081954e+02] [ 6.40995239e-01 7.67486443e-01 -9.46905307e-03 3.86519183e+01] [ 1.53980621e-02 -5.23990135e-04 9.99881306e-01 1.37983150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.7192541539998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:885.11, Y:38.67, Z:13.80 [[ 7.62131573e-01 -6.47307038e-01 -1.22091662e-02 8.85105031e+02] [ 6.47239250e-01 7.62229001e-01 -9.39696057e-03 3.86680139e+01] [ 1.53888992e-02 -7.40531218e-04 9.99881310e-01 1.37991499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.7492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:885.12, Y:38.69, Z:13.80 [[ 7.57548160e-01 -6.52665141e-01 -1.22065350e-02 8.85123830e+02] [ 6.52597987e-01 7.57646026e-01 -9.40037716e-03 3.86862958e+01] [ 1.53835312e-02 -8.44721764e-04 9.99881310e-01 1.38013453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.7792541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:885.15, Y:38.70, Z:13.80 [[ 7.56953958e-01 -6.53355500e-01 -1.21365810e-02 8.85149299e+02] [ 6.53286982e-01 7.57050882e-01 -9.49112513e-03 3.87020547e+01] [ 1.53890881e-02 -7.44325618e-04 9.99881304e-01 1.38012218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.8092541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:885.17, Y:38.72, Z:13.80 [[ 7.54434786e-01 -6.56261562e-01 -1.22031224e-02 8.85171449e+02] [ 6.56194803e-01 7.54532922e-01 -9.40478489e-03 3.87197176e+01] [ 1.53796564e-02 -9.12328597e-04 9.99881310e-01 1.38008398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.8392541539998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:885.19, Y:38.74, Z:13.80 [[ 7.50317831e-01 -6.60964672e-01 -1.22005736e-02 8.85192351e+02] [ 6.60898475e-01 7.50416347e-01 -9.40809019e-03 3.87376181e+01] [ 1.53739251e-02 -1.00428264e-03 9.99881310e-01 1.38015841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.8692541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:885.21, Y:38.76, Z:13.80 [[ 7.46924761e-01 -6.64796637e-01 -1.21997378e-02 8.85212704e+02] [ 6.64730927e-01 7.47023602e-01 -9.40917382e-03 3.87567722e+01] [ 1.53686792e-02 -1.08159813e-03 9.99881310e-01 1.38042217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.8992541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:885.23, Y:38.77, Z:13.80 [[ 7.46465990e-01 -6.65311979e-01 -1.21858777e-02 8.85234689e+02] [ 6.65246047e-01 7.46564683e-01 -9.42713823e-03 3.87749183e+01] [ 1.53695339e-02 -1.06956892e-03 9.99881310e-01 1.38046898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.9292541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:885.25, Y:38.80, Z:13.80 [[ 7.44329298e-01 -6.67701390e-01 -1.21963289e-02 8.85253005e+02] [ 6.67635994e-01 7.44428347e-01 -9.41359757e-03 3.87953450e+01] [ 1.53647652e-02 -1.13589173e-03 9.99881310e-01 1.38006293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.9592541539998 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:885.27, Y:38.82, Z:13.80 [[ 7.45726151e-01 -6.66142038e-01 -1.21364100e-02 8.85274877e+02] [ 6.66075180e-01 7.45824224e-01 -9.49116570e-03 3.88158248e+01] [ 1.53740930e-02 -1.00595099e-03 9.99881306e-01 1.38031655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.9892541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:885.29, Y:38.83, Z:13.80 [[ 7.45885333e-01 -6.65962764e-01 -1.21929176e-02 8.85294212e+02] [ 6.65897066e-01 7.45984182e-01 -9.41800880e-03 3.88342392e+01] [ 1.53677669e-02 -1.09447345e-03 9.99881310e-01 1.38043383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.0192541539999 meters Centerline goodness : 0.995566 Centerline is valid? [True, True] Translation: X:885.31, Y:38.86, Z:13.80 [[ 7.45637471e-01 -6.66240288e-01 -1.21917795e-02 8.85313158e+02] [ 6.66174603e-01 7.45736329e-01 -9.41948197e-03 3.88565020e+01] [ 1.53674912e-02 -1.09833512e-03 9.99881310e-01 1.38009208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.0492541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:885.33, Y:38.88, Z:13.80 [[ 7.46087934e-01 -6.65735597e-01 -1.22028342e-02 8.85332841e+02] [ 6.65670077e-01 7.46186901e-01 -9.40517987e-03 3.88751885e+01] [ 1.53669581e-02 -1.10597035e-03 9.99881310e-01 1.38039724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.0792541539998 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:885.35, Y:38.90, Z:13.80 [[ 7.46228075e-01 -6.65578794e-01 -1.21872915e-02 8.85351391e+02] [ 6.65512927e-01 7.46326811e-01 -9.42527722e-03 3.88975024e+01] [ 1.53689670e-02 -1.07739356e-03 9.99881310e-01 1.38028399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.1092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:885.37, Y:38.92, Z:13.81 [[ 7.46559580e-01 -6.65206948e-01 -1.21864656e-02 8.85372320e+02] [ 6.65141015e-01 7.46658272e-01 -9.42634502e-03 3.89174784e+01] [ 1.53695955e-02 -1.06838989e-03 9.99881310e-01 1.38058087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.1392541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:885.39, Y:38.94, Z:13.80 [[ 7.46036082e-01 -6.65794046e-01 -1.21841257e-02 8.85391951e+02] [ 6.65728141e-01 7.46134793e-01 -9.42936851e-03 3.89373212e+01] [ 1.53690175e-02 -1.07666619e-03 9.99881310e-01 1.38048793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.1692541539999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:885.41, Y:38.96, Z:13.80 [[ 7.46945394e-01 -6.64773944e-01 -1.21729919e-02 8.85411008e+02] [ 6.64707672e-01 7.47043859e-01 -9.44374941e-03 3.89587872e+01] [ 1.53717174e-02 -1.03751598e-03 9.99881310e-01 1.38042552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.1992541539998 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:885.43, Y:38.98, Z:13.80 [[ 7.47221081e-01 -6.64463910e-01 -1.21806601e-02 8.85432193e+02] [ 6.64397757e-01 7.47319626e-01 -9.43384853e-03 3.89788067e+01] [ 1.53712982e-02 -1.04363273e-03 9.99881310e-01 1.38037838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.2292541539999 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:885.45, Y:39.00, Z:13.80 [[ 7.48056856e-01 -6.63522892e-01 -1.21783532e-02 8.85451858e+02] [ 6.63456567e-01 7.48155285e-01 -9.43682558e-03 3.89977789e+01] [ 1.53728491e-02 -1.02052633e-03 9.99881310e-01 1.38037576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.2592541539999 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:885.47, Y:39.02, Z:13.80 [[ 7.50006073e-01 -6.61318839e-01 -1.21772091e-02 8.85470003e+02] [ 6.61252201e-01 7.50104290e-01 -9.43830163e-03 3.90197598e+01] [ 1.53759035e-02 -9.73422811e-04 9.99881310e-01 1.38035753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.2892541539999 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:885.49, Y:39.04, Z:13.81 [[ 7.51168727e-01 -6.59997971e-01 -1.21746300e-02 8.85490177e+02] [ 6.59931107e-01 7.51266790e-01 -9.44162728e-03 3.90397273e+01] [ 1.53778501e-02 -9.42161930e-04 9.99881310e-01 1.38052177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.3192541539999 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:885.51, Y:39.06, Z:13.80 [[ 7.54359684e-01 -6.56348467e-01 -1.21719594e-02 8.85508349e+02] [ 6.56281073e-01 7.54457384e-01 -9.44506892e-03 3.90623472e+01] [ 1.53824812e-02 -8.63247391e-04 9.99881310e-01 1.38044989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.3492541539998 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:885.53, Y:39.08, Z:13.80 [[ 7.56195722e-01 -6.54232340e-01 -1.21686627e-02 8.85528978e+02] [ 6.54164604e-01 7.56293185e-01 -9.44931538e-03 3.90820025e+01] [ 1.53851244e-02 -8.14776530e-04 9.99881310e-01 1.38021112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.3792541539999 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:885.55, Y:39.10, Z:13.81 [[ 7.57976395e-01 -6.52168464e-01 -1.21687721e-02 8.85549697e+02] [ 6.52100465e-01 7.58073675e-01 -9.44917442e-03 3.91014150e+01] [ 1.53872794e-02 -7.73010799e-04 9.99881310e-01 1.38054317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.4092541539999 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:885.57, Y:39.12, Z:13.81 [[ 7.62001276e-01 -6.47461229e-01 -1.21660290e-02 8.85568716e+02] [ 6.47392572e-01 7.62098094e-01 -9.45270493e-03 3.91229089e+01] [ 1.53919675e-02 -6.73223595e-04 9.99881310e-01 1.38052053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.4392541539999 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:885.59, Y:39.14, Z:13.81 [[ 7.66313668e-01 -6.42351474e-01 -1.21633000e-02 8.85588498e+02] [ 6.42282116e-01 7.66409984e-01 -9.45621519e-03 3.91449820e+01] [ 1.53962883e-02 -5.65843112e-04 9.99881310e-01 1.38070444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.4692541539998 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:885.61, Y:39.16, Z:13.81 [[ 7.68291388e-01 -6.39984730e-01 -1.21609215e-02 8.85609317e+02] [ 6.39915027e-01 7.68387454e-01 -9.45927295e-03 3.91645654e+01] [ 1.53980898e-02 -5.14478494e-04 9.99881310e-01 1.38064588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.4992541539999 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:885.63, Y:39.18, Z:13.81 [[ 7.70316309e-01 -6.37546047e-01 -1.21581876e-02 8.85628967e+02] [ 6.37475985e-01 7.70412114e-01 -9.46278570e-03 3.91832695e+01] [ 1.53997766e-02 -4.61214437e-04 9.99881310e-01 1.38067051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.5292541539999 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:885.65, Y:39.20, Z:13.81 [[ 7.74054865e-01 -6.33001795e-01 -1.21570547e-02 8.85649247e+02] [ 6.32931146e-01 7.74150239e-01 -9.46424087e-03 3.92042959e+01] [ 1.54022683e-02 -3.68736887e-04 9.99881310e-01 1.38081363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.5592541539999 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:885.67, Y:39.22, Z:13.81 [[ 7.75586864e-01 -6.31123823e-01 -1.21546926e-02 8.85669947e+02] [ 6.31052897e-01 7.75682030e-01 -9.46727348e-03 3.92223292e+01] [ 1.54031985e-02 -3.27561042e-04 9.99881310e-01 1.38078787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.5892541539998 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:885.69, Y:39.24, Z:13.81 [[ 7.78477093e-01 -6.27555343e-01 -1.21535200e-02 8.85691521e+02] [ 6.27483956e-01 7.78571915e-01 -9.46877851e-03 3.92422641e+01] [ 1.54045719e-02 -2.54911683e-04 9.99881310e-01 1.38094374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.6192541539999 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:885.71, Y:39.26, Z:13.81 [[ 7.79804102e-01 -6.25905674e-01 -1.21511723e-02 8.85712930e+02] [ 6.25834040e-01 7.79898737e-01 -9.47179042e-03 3.92608884e+01] [ 1.54051313e-02 -2.18476216e-04 9.99881310e-01 1.38101429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.6492541539999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:885.73, Y:39.28, Z:13.81 [[ 7.81091231e-01 -6.24298730e-01 -1.21484683e-02 8.85734576e+02] [ 6.24226847e-01 7.81185677e-01 -9.47525731e-03 3.92793327e+01] [ 1.54056005e-02 -1.82359648e-04 9.99881310e-01 1.38119563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.6792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:885.76, Y:39.30, Z:13.81 [[ 7.83577573e-01 -6.21175224e-01 -1.21461130e-02 8.85756286e+02] [ 6.21102918e-01 7.83671696e-01 -9.47827545e-03 3.92982202e+01] [ 1.54062349e-02 -1.17022179e-04 9.99881310e-01 1.38144334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.7092541539998 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:885.78, Y:39.32, Z:13.81 [[ 7.84241042e-01 -6.20337423e-01 -1.21437098e-02 8.85777746e+02] [ 6.20264969e-01 7.84335051e-01 -9.48135353e-03 3.93162794e+01] [ 1.54063757e-02 -9.66512019e-05 9.99881310e-01 1.38118624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.7392541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:885.80, Y:39.33, Z:13.82 [[ 7.86409461e-01 -6.17586197e-01 -1.21428585e-02 8.85800191e+02] [ 6.17513397e-01 7.86503203e-01 -9.48244366e-03 3.93345088e+01] [ 1.54066234e-02 -4.12943951e-05 9.99881310e-01 1.38158315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.7692541539999 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:885.82, Y:39.35, Z:13.81 [[ 7.86830134e-01 -6.17050201e-01 -1.21404090e-02 8.85821322e+02] [ 6.16977289e-01 7.86923788e-01 -9.48557870e-03 3.93511129e+01] [ 1.54066549e-02 -2.68174921e-05 9.99881310e-01 1.38138442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.7992541539999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:885.84, Y:39.37, Z:13.82 [[ 7.87741457e-01 -6.15886396e-01 -1.21385022e-02 8.85844585e+02] [ 6.15813308e-01 7.87834974e-01 -9.48801817e-03 3.93687992e+01] [ 1.54066779e-02 -9.45946649e-07 9.99881310e-01 1.38167026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.8292541539998 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:885.87, Y:39.39, Z:13.82 [[ 7.88239197e-01 -6.15249286e-01 -1.21361015e-02 8.85866533e+02] [ 6.15176075e-01 7.88332618e-01 -9.49108794e-03 3.93859286e+01] [ 1.54066697e-02 1.54082526e-05 9.99881310e-01 1.38153572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.8592541539999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:885.89, Y:39.40, Z:13.81 [[ 7.87879192e-01 -6.15710290e-01 -1.21333245e-02 8.85889645e+02] [ 6.15637080e-01 7.87972613e-01 -9.49463665e-03 3.94023206e+01] [ 1.54066729e-02 1.09021704e-05 9.99881310e-01 1.38143799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.8892541539999 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:885.91, Y:39.42, Z:13.81 [[ 7.86992619e-01 -6.16843146e-01 -1.21305627e-02 8.85912942e+02] [ 6.16770015e-01 7.87086103e-01 -9.49816396e-03 3.94191726e+01] [ 1.54066746e-02 -6.78239820e-06 9.99881310e-01 1.38140337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.9192541539999 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:885.94, Y:39.44, Z:13.81 [[ 7.85698545e-01 -6.18490667e-01 -1.21281091e-02 8.85936625e+02] [ 6.18417684e-01 7.85792144e-01 -9.50129582e-03 3.94361197e+01] [ 1.54066357e-02 -3.50828660e-05 9.99881310e-01 1.38143163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.9492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:885.96, Y:39.45, Z:13.82 [[ 7.83043057e-01 -6.21849291e-01 -1.21256467e-02 8.85960520e+02] [ 6.21776660e-01 7.83136930e-01 -9.50443737e-03 3.94505592e+01] [ 1.54063694e-02 -9.70604183e-05 9.99881310e-01 1.38157613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.9792541539999 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:885.98, Y:39.47, Z:13.81 [[ 7.80817630e-01 -6.24641361e-01 -1.21243322e-02 8.85983447e+02] [ 6.24569040e-01 7.80911741e-01 -9.50611390e-03 3.94664757e+01] [ 1.54059453e-02 -1.49941207e-04 9.99881310e-01 1.38127240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.0092541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:886.01, Y:39.48, Z:13.82 [[ 7.77000512e-01 -6.29383210e-01 -1.21234898e-02 8.86007673e+02] [ 6.29311447e-01 7.77095050e-01 -9.50718813e-03 3.94817036e+01] [ 1.54047685e-02 -2.42360865e-04 9.99881310e-01 1.38162682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.0392541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:886.03, Y:39.50, Z:13.82 [[ 7.76286515e-01 -6.30263883e-01 -1.21113476e-02 8.86031558e+02] [ 6.30191986e-01 7.76380950e-01 -9.52266700e-03 3.94973221e+01] [ 1.54048127e-02 -2.40156239e-04 9.99881310e-01 1.38171311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.0692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:886.06, Y:39.51, Z:13.82 [[ 7.74095775e-01 -6.32952468e-01 -1.21203985e-02 8.86056259e+02] [ 6.32881079e-01 7.74190595e-01 -9.51113313e-03 3.95124280e+01] [ 1.54035937e-02 -3.08242917e-04 9.99881310e-01 1.38191038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.0992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:886.08, Y:39.53, Z:13.82 [[ 7.73915134e-01 -6.33173372e-01 -1.21180231e-02 8.86078682e+02] [ 6.33101963e-01 7.74009939e-01 -9.51415867e-03 3.95301234e+01] [ 1.54035822e-02 -3.08792823e-04 9.99881310e-01 1.38195428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.1292541539999 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:886.10, Y:39.55, Z:13.82 [[ 7.72544436e-01 -6.34845111e-01 -1.21153070e-02 8.86102116e+02] [ 6.34773852e-01 7.72639354e-01 -9.51761610e-03 3.95467035e+01] [ 1.54029750e-02 -3.37698729e-04 9.99881310e-01 1.38179008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.1592541539999 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:886.13, Y:39.56, Z:13.82 [[ 7.71365807e-01 -6.36276724e-01 -1.21129492e-02 8.86125473e+02] [ 6.36205594e-01 7.71460822e-01 -9.52061584e-03 3.95617007e+01] [ 1.54024120e-02 -3.62448539e-04 9.99881310e-01 1.38189367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.1892541539999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:886.15, Y:39.58, Z:13.82 [[ 7.70988792e-01 -6.36733523e-01 -1.21121149e-02 8.86148446e+02] [ 6.36662434e-01 7.71083837e-01 -9.52167712e-03 3.95785557e+01] [ 1.54022271e-02 -3.70222226e-04 9.99881310e-01 1.38216482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.2192541539998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:886.17, Y:39.59, Z:13.82 [[ 7.70649588e-01 -6.37144070e-01 -1.21097293e-02 8.86169844e+02] [ 6.37072984e-01 7.70744636e-01 -9.52471022e-03 3.95943943e+01] [ 1.54021215e-02 -3.74567362e-04 9.99881310e-01 1.38227412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.2492541539999 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:886.19, Y:39.61, Z:13.82 [[ 7.69185196e-01 -6.38911209e-01 -1.21078781e-02 8.86192737e+02] [ 6.38840304e-01 7.69280379e-01 -9.52706293e-03 3.96108547e+01] [ 1.54013003e-02 -4.06924737e-04 9.99881310e-01 1.38223731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.2792541539999 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:886.22, Y:39.63, Z:13.82 [[ 7.68562377e-01 -6.39660330e-01 -1.21051744e-02 8.86215041e+02] [ 6.39589464e-01 7.68657588e-01 -9.53049704e-03 3.96281457e+01] [ 1.54010150e-02 -4.17560524e-04 9.99881310e-01 1.38230682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.3092541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:886.24, Y:39.65, Z:13.83 [[ 7.67831945e-01 -6.40536988e-01 -1.21024922e-02 8.86237826e+02] [ 6.40466177e-01 7.67927198e-01 -9.53390187e-03 3.96460040e+01] [ 1.54006497e-02 -4.30802464e-04 9.99881310e-01 1.38253468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.3392541539998 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:886.26, Y:39.66, Z:13.82 [[ 7.67565178e-01 -6.40856684e-01 -1.20998892e-02 8.86260373e+02] [ 6.40785861e-01 7.67660421e-01 -9.53720438e-03 3.96632706e+01] [ 1.54005872e-02 -4.33011938e-04 9.99881310e-01 1.38233956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.3692541539999 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:886.28, Y:39.68, Z:13.82 [[ 7.67301091e-01 -6.41172897e-01 -1.20975906e-02 8.86281654e+02] [ 6.41102066e-01 7.67396329e-01 -9.54011920e-03 3.96800128e+01] [ 1.54005125e-02 -4.35646446e-04 9.99881310e-01 1.38236100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.3992541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:886.30, Y:39.70, Z:13.82 [[ 7.66853979e-01 -6.41707606e-01 -1.20964331e-02 8.86303950e+02] [ 6.41636819e-01 7.66949249e-01 -9.54158666e-03 3.96977701e+01] [ 1.54002590e-02 -4.44513131e-04 9.99881310e-01 1.38239373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.4292541539999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:886.33, Y:39.72, Z:13.82 [[ 7.66085125e-01 -6.42625336e-01 -1.20937644e-02 8.86326478e+02] [ 6.42554610e-01 7.66180440e-01 -9.54496799e-03 3.97157310e+01] [ 1.53998440e-02 -4.58646042e-04 9.99881310e-01 1.38231743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.4592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:886.35, Y:39.73, Z:13.82 [[ 7.64367484e-01 -6.44667470e-01 -1.20914188e-02 8.86347952e+02] [ 6.44596951e-01 7.64462954e-01 -9.54793832e-03 3.97323286e+01] [ 1.53986870e-02 -4.95958122e-04 9.99881310e-01 1.38237640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.4892541539999 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:886.37, Y:39.75, Z:13.82 [[ 7.62273512e-01 -6.47142129e-01 -1.20895978e-02 8.86369813e+02] [ 6.47071883e-01 7.62369183e-01 -9.55024360e-03 3.97498317e+01] [ 1.53971017e-02 -5.42941075e-04 9.99881310e-01 1.38199792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.5192541539999 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:886.39, Y:39.77, Z:13.82 [[ 7.61617965e-01 -6.47913533e-01 -1.20883799e-02 8.86394194e+02] [ 6.47843360e-01 7.61713689e-01 -9.55178489e-03 3.97667780e+01] [ 1.53966151e-02 -5.56565674e-04 9.99881310e-01 1.38238896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.5492541539999 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:886.41, Y:39.78, Z:13.83 [[ 7.57713788e-01 -6.52474161e-01 -1.21360783e-02 8.86412884e+02] [ 6.52405526e-01 7.57810624e-01 -9.49142983e-03 3.97844870e+01] [ 1.53897618e-02 -7.25857287e-04 9.99881307e-01 1.38257447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.5792541539998 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:886.44, Y:39.80, Z:13.83 [[ 7.57818568e-01 -6.52353741e-01 -1.20671091e-02 8.86435192e+02] [ 6.52283702e-01 7.57914390e-01 -9.57863430e-03 3.98012471e+01] [ 1.53944935e-02 -6.12311645e-04 9.99881310e-01 1.38255920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.6092541539999 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:886.46, Y:39.82, Z:13.83 [[ 7.57563834e-01 -6.52649238e-01 -1.20834036e-02 8.86456464e+02] [ 6.52579564e-01 7.57659921e-01 -9.55803449e-03 3.98197614e+01] [ 1.53931546e-02 -6.44561012e-04 9.99881311e-01 1.38272018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.6392541539999 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:886.48, Y:39.84, Z:13.83 [[ 7.58020887e-01 -6.52118390e-01 -1.20806000e-02 8.86478007e+02] [ 6.52048592e-01 7.58116884e-01 -9.56157677e-03 3.98378989e+01] [ 1.53937868e-02 -6.29263296e-04 9.99881311e-01 1.38279700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.6692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:886.50, Y:39.86, Z:13.83 [[ 7.60465030e-01 -6.49266559e-01 -1.20778077e-02 8.86498179e+02] [ 6.49196345e-01 7.60560724e-01 -9.56510252e-03 3.98569200e+01] [ 1.53962074e-02 -5.66942651e-04 9.99881311e-01 1.38309810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.6992541539998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:886.52, Y:39.87, Z:13.83 [[ 7.61560508e-01 -6.47981281e-01 -1.20769445e-02 8.86518442e+02] [ 6.47910889e-01 7.61656070e-01 -9.56619226e-03 3.98745630e+01] [ 1.53971916e-02 -5.39549635e-04 9.99881311e-01 1.38306359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.7292541539999 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:886.54, Y:39.89, Z:13.83 [[ 7.61845291e-01 -6.47646453e-01 -1.20757613e-02 8.86541050e+02] [ 6.47575995e-01 7.61940805e-01 -9.56768564e-03 3.98935953e+01] [ 1.53974930e-02 -5.30876906e-04 9.99881311e-01 1.38289753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.7592541539999 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:886.56, Y:39.91, Z:13.83 [[ 7.63845690e-01 -6.45285690e-01 -1.20888663e-02 8.86560226e+02] [ 6.45215197e-01 7.63941179e-01 -9.55115210e-03 3.99122448e+01] [ 1.53984046e-02 -5.04313904e-04 9.99881310e-01 1.38296099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.7892541539999 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:886.58, Y:39.93, Z:13.83 [[ 7.64822538e-01 -6.44127896e-01 -1.20722029e-02 8.86581584e+02] [ 6.44056928e-01 7.64917673e-01 -9.57216771e-03 3.99307136e+01] [ 1.53999416e-02 -4.54176285e-04 9.99881311e-01 1.38305745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.8192541539999 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:886.60, Y:39.95, Z:13.83 [[ 7.66635770e-01 -6.41968752e-01 -1.20713434e-02 8.86602175e+02] [ 6.41897499e-01 7.66730692e-01 -9.57325142e-03 3.99503666e+01] [ 1.54011978e-02 -4.09368166e-04 9.99881311e-01 1.38312397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.8492541539998 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:886.62, Y:39.97, Z:13.83 [[ 7.67790980e-01 -6.40586731e-01 -1.20686068e-02 8.86624329e+02] [ 6.40515253e-01 7.67885733e-01 -9.57670014e-03 3.99693754e+01] [ 1.54020180e-02 -3.77222736e-04 9.99881311e-01 1.38342019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.8792541539999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:886.65, Y:39.99, Z:13.83 [[ 7.68755890e-01 -6.39428486e-01 -1.20661628e-02 8.86645414e+02] [ 6.39356817e-01 7.68850498e-01 -9.57977840e-03 3.99887449e+01] [ 1.54026585e-02 -3.50072390e-04 9.99881311e-01 1.38322069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.9092541539999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:886.67, Y:40.01, Z:13.83 [[ 7.69004794e-01 -6.39128794e-01 -1.20835168e-02 8.86665528e+02] [ 6.39057431e-01 7.69099633e-01 -9.55792185e-03 4.00064221e+01] [ 1.54021714e-02 -3.71973475e-04 9.99881310e-01 1.38332362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.9392541539999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:886.69, Y:40.03, Z:13.83 [[ 7.68180228e-01 -6.40120012e-01 -1.20626823e-02 8.86687533e+02] [ 6.40048359e-01 7.68274848e-01 -9.58414438e-03 4.00256780e+01] [ 1.54024580e-02 -3.58349771e-04 9.99881311e-01 1.38334959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.9692541539998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:886.71, Y:40.04, Z:13.83 [[ 7.67652382e-01 -6.40752889e-01 -1.20646125e-02 8.86709415e+02] [ 6.40681353e-01 7.67747090e-01 -9.58171556e-03 4.00437642e+01] [ 1.54020830e-02 -3.74145454e-04 9.99881311e-01 1.38333881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.9992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:886.73, Y:40.06, Z:13.84 [[ 7.67044775e-01 -6.41480078e-01 -1.20674310e-02 8.86731175e+02] [ 6.41408687e-01 7.67139593e-01 -9.57816967e-03 4.00617363e+01] [ 1.54016091e-02 -3.93270058e-04 9.99881311e-01 1.38369384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.0292541539999 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:886.75, Y:40.08, Z:13.83 [[ 7.64731329e-01 -6.44236162e-01 -1.20731978e-02 8.86751748e+02] [ 6.44165227e-01 7.64826489e-01 -9.57091584e-03 4.00784358e+01] [ 1.53998316e-02 -4.57955013e-04 9.99881311e-01 1.38324107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.0592541539999 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:886.77, Y:40.10, Z:13.83 [[ 7.63738387e-01 -6.45413261e-01 -1.20580935e-02 8.86774084e+02] [ 6.45342173e-01 7.63833433e-01 -9.58990761e-03 4.00958653e+01] [ 1.53998285e-02 -4.57415686e-04 9.99881311e-01 1.38332350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.0892541539998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:886.80, Y:40.11, Z:13.84 [[ 7.61518569e-01 -6.48030934e-01 -1.20572584e-02 8.86796389e+02] [ 6.47960156e-01 7.61613845e-01 -9.59095749e-03 4.01133908e+01] [ 1.53982121e-02 -5.08930792e-04 9.99881311e-01 1.38351393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.1192541539999 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:886.82, Y:40.13, Z:13.83 [[ 7.59829865e-01 -6.50010203e-01 -1.20545657e-02 8.86817880e+02] [ 6.49939620e-01 7.59925286e-01 -9.59434058e-03 4.01308897e+01] [ 1.53969886e-02 -5.44673356e-04 9.99881311e-01 1.38337326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.1492541539999 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:886.84, Y:40.15, Z:13.83 [[ 7.57572722e-01 -6.52639507e-01 -1.20518025e-02 8.86839364e+02] [ 6.52569199e-01 7.57668346e-01 -9.59781039e-03 4.01490277e+01] [ 1.53951795e-02 -5.93595744e-04 9.99881311e-01 1.38343568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.1792541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:886.86, Y:40.17, Z:13.84 [[ 7.56884153e-01 -6.53437985e-01 -1.20489928e-02 8.86861164e+02] [ 6.53367723e-01 7.56979810e-01 -9.60133624e-03 4.01668150e+01] [ 1.53947221e-02 -6.05323768e-04 9.99881311e-01 1.38366754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.2092541539998 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:886.88, Y:40.18, Z:13.84 [[ 7.55365458e-01 -6.55193001e-01 -1.20481240e-02 8.86882902e+02] [ 6.55122943e-01 7.55461265e-01 -9.60242638e-03 4.01849968e+01] [ 1.53933336e-02 -6.39661257e-04 9.99881311e-01 1.38351085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.2392541539999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:886.90, Y:40.20, Z:13.84 [[ 7.54109280e-01 -6.56638488e-01 -1.20453735e-02 8.86904207e+02] [ 6.56568559e-01 7.54205181e-01 -9.60587537e-03 4.02037098e+01] [ 1.53922706e-02 -6.64733782e-04 9.99881311e-01 1.38387483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.2692541539999 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:886.92, Y:40.22, Z:13.84 [[ 7.53860951e-01 -6.56923585e-01 -1.20445058e-02 8.86924943e+02] [ 6.56853675e-01 7.53956866e-01 -9.60696321e-03 4.02227124e+01] [ 1.53920786e-02 -6.69163500e-04 9.99881311e-01 1.38395234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.2992541539999 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:886.95, Y:40.24, Z:13.84 [[ 7.55540980e-01 -6.54990670e-01 -1.20436452e-02 8.86950446e+02] [ 6.54920497e-01 7.55636704e-01 -9.60804204e-03 4.02416541e+01] [ 1.53937982e-02 -6.28360584e-04 9.99881311e-01 1.38392844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.3292541539998 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:886.97, Y:40.26, Z:13.84 [[ 7.55923785e-01 -6.54547732e-01 -1.21036555e-02 8.86967961e+02] [ 6.54478702e-01 7.56020340e-01 -9.53282158e-03 4.02610240e+01] [ 1.53902965e-02 -7.15498163e-04 9.99881306e-01 1.38409480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.3592541539999 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:886.99, Y:40.28, Z:13.84 [[ 7.60632839e-01 -6.49070655e-01 -1.20403330e-02 8.86990015e+02] [ 6.48999672e-01 7.60727962e-01 -9.61214055e-03 4.02817289e+01] [ 1.53983763e-02 -5.02862418e-04 9.99881312e-01 1.38397528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.3892541539999 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:887.01, Y:40.30, Z:13.84 [[ 7.62559726e-01 -6.46805057e-01 -1.20782013e-02 8.87007627e+02] [ 6.46734541e-01 7.62655197e-01 -9.56471054e-03 4.03008140e+01] [ 1.53980061e-02 -5.17726929e-04 9.99881310e-01 1.38418865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.4192541539999 meters Centerline goodness : 0.999959 Centerline is valid? [True, True] Translation: X:887.03, Y:40.32, Z:13.84 [[ 7.67291636e-01 -6.41185661e-01 -1.20205839e-02 8.87026744e+02] [ 6.41113314e-01 7.67385725e-01 -9.63681143e-03 4.03219871e+01] [ 1.54034098e-02 -3.12311536e-04 9.99881312e-01 1.38431244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.4492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:887.05, Y:40.34, Z:13.84 [[ 7.69231598e-01 -6.38856716e-01 -1.20351514e-02 8.87047537e+02] [ 6.38784369e-01 7.69325687e-01 -9.61858399e-03 4.03413245e+01] [ 1.54038481e-02 -2.88947838e-04 9.99881312e-01 1.38442939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.4792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:887.07, Y:40.36, Z:13.84 [[ 7.70609022e-01 -6.37194599e-01 -1.20323797e-02 8.87068070e+02] [ 6.37121995e-01 7.70702913e-01 -9.62204994e-03 4.03598298e+01] [ 1.54045084e-02 -2.51255282e-04 9.99881312e-01 1.38441841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.5092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:887.09, Y:40.38, Z:13.84 [[ 7.72922190e-01 -6.34386772e-01 -1.20296267e-02 8.87087263e+02] [ 6.34313773e-01 7.73015774e-01 -9.62549058e-03 4.03784780e+01] [ 1.54053751e-02 -1.90802649e-04 9.99881312e-01 1.38438402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.5392541539999 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:887.11, Y:40.40, Z:13.84 [[ 7.74455140e-01 -6.32514469e-01 -1.20284329e-02 8.87108520e+02] [ 6.32441220e-01 7.74548529e-01 -9.62698213e-03 4.03976481e+01] [ 1.54058105e-02 -1.51611006e-04 9.99881312e-01 1.38404911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.5692541539999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:887.13, Y:40.42, Z:13.84 [[ 7.75188807e-01 -6.31615142e-01 -1.20260043e-02 8.87129833e+02] [ 6.31541739e-01 7.75282074e-01 -9.63001498e-03 4.04157694e+01] [ 1.54060089e-02 -1.29843855e-04 9.99881312e-01 1.38411416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.5992541539998 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:887.15, Y:40.43, Z:13.84 [[ 7.75855350e-01 -6.30796257e-01 -1.20232415e-02 8.87151220e+02] [ 6.30722701e-01 7.75948497e-01 -9.63346321e-03 4.04337501e+01] [ 1.54061687e-02 -1.09157374e-04 9.99881312e-01 1.38413496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.6292541539999 meters Centerline goodness : 0.999792 Centerline is valid? [True, True] Translation: X:887.17, Y:40.45, Z:13.84 [[ 7.77484635e-01 -6.28787047e-01 -1.20204852e-02 8.87171992e+02] [ 6.28713198e-01 7.77577549e-01 -9.63690123e-03 4.04517317e+01] [ 1.54064181e-02 -6.48950549e-05 9.99881312e-01 1.38401223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.6592541539999 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:887.19, Y:40.47, Z:13.84 [[ 7.78354210e-01 -6.27710325e-01 -1.20196327e-02 8.87194398e+02] [ 6.27636331e-01 7.78447009e-01 -9.63796437e-03 4.04694801e+01] [ 1.54064969e-02 -4.22080347e-05 9.99881312e-01 1.38429831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.6892541539999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:887.22, Y:40.49, Z:13.85 [[ 7.79908213e-01 -6.25778528e-01 -1.20171879e-02 8.87216819e+02] [ 6.25704257e-01 7.80000791e-01 -9.64101177e-03 4.04866092e+01] [ 1.54065542e-02 -1.01349691e-07 9.99881312e-01 1.38453873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.7192541539998 meters Centerline goodness : 0.999813 Centerline is valid? [True, True] Translation: X:887.24, Y:40.50, Z:13.84 [[ 7.80767472e-01 -6.24706150e-01 -1.20158815e-02 8.87239967e+02] [ 6.24631726e-01 7.80859927e-01 -9.64263970e-03 4.05033522e+01] [ 1.54065367e-02 2.31586308e-05 9.99881312e-01 1.38427163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.7492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:887.26, Y:40.52, Z:13.85 [[ 7.82745377e-01 -6.22225829e-01 -1.20288729e-02 8.87261974e+02] [ 6.22151361e-01 7.82837797e-01 -9.62645842e-03 4.05201280e+01] [ 1.54064874e-02 5.12861646e-05 9.99881312e-01 1.38481762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.7792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:887.28, Y:40.54, Z:13.85 [[ 7.83549208e-01 -6.21213603e-01 -1.20123801e-02 8.87284051e+02] [ 6.21138701e-01 7.83641276e-01 -9.64699521e-03 4.05367595e+01] [ 1.54062415e-02 9.75412927e-05 9.99881312e-01 1.38483981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.8092541539999 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:887.31, Y:40.55, Z:13.84 [[ 7.85156600e-01 -6.19180817e-01 -1.20095087e-02 8.87307066e+02] [ 6.19105622e-01 7.85248429e-01 -9.65056850e-03 4.05521937e+01] [ 1.54058947e-02 1.42053221e-04 9.99881312e-01 1.38442987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.8392541539998 meters Centerline goodness : 0.999813 Centerline is valid? [True, True] Translation: X:887.33, Y:40.57, Z:13.84 [[ 7.85974996e-01 -6.18141658e-01 -1.20081739e-02 8.87328778e+02] [ 6.18066316e-01 7.86066704e-01 -9.65222907e-03 4.05677355e+01] [ 1.54056706e-02 1.64562899e-04 9.99881312e-01 1.38443829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.8692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:887.35, Y:40.58, Z:13.85 [[ 7.87175869e-01 -6.16611697e-01 -1.20069543e-02 8.87352571e+02] [ 6.16536153e-01 7.87267411e-01 -9.65374592e-03 4.05844369e+01] [ 1.54052965e-02 1.96474386e-04 9.99881312e-01 1.38491629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.8992541539999 meters Centerline goodness : 0.999855 Centerline is valid? [True, True] Translation: X:887.38, Y:40.60, Z:13.85 [[ 7.88352265e-01 -6.15106981e-01 -1.20044976e-02 8.87377212e+02] [ 6.15031216e-01 7.88443625e-01 -9.65679995e-03 4.05991709e+01] [ 1.54048346e-02 2.29819368e-04 9.99881312e-01 1.38468961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.9292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:887.40, Y:40.62, Z:13.85 [[ 7.89261541e-01 -6.13939882e-01 -1.20017087e-02 8.87400293e+02] [ 6.13863929e-01 7.89352745e-01 -9.66026485e-03 4.06151390e+01] [ 1.54044035e-02 2.57059496e-04 9.99881312e-01 1.38507671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.9592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:887.42, Y:40.63, Z:13.85 [[ 7.89623057e-01 -6.13474901e-01 -1.19989302e-02 8.87422360e+02] [ 6.13398842e-01 7.89714172e-01 -9.66371469e-03 4.06300610e+01] [ 1.54041716e-02 2.70562027e-04 9.99881312e-01 1.38510298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.9892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:887.44, Y:40.65, Z:13.85 [[ 7.89448406e-01 -6.13699656e-01 -1.19977252e-02 8.87444550e+02] [ 6.13623601e-01 7.89539524e-01 -9.66521054e-03 4.06480402e+01] [ 1.54042146e-02 2.68097725e-04 9.99881312e-01 1.38514693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.0192541539999 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:887.47, Y:40.66, Z:13.85 [[ 7.89396986e-01 -6.13765851e-01 -1.19949728e-02 8.87470374e+02] [ 6.13689751e-01 7.89488067e-01 -9.66862517e-03 4.06619861e+01] [ 1.54041598e-02 2.71191701e-04 9.99881312e-01 1.38482318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.0492541539999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:887.49, Y:40.68, Z:13.85 [[ 7.89367613e-01 -6.13803674e-01 -1.19925706e-02 8.87494119e+02] [ 6.13727533e-01 7.89458659e-01 -9.67160382e-03 4.06777646e+01] [ 1.54041047e-02 2.74280046e-04 9.99881312e-01 1.38502221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.0792541539998 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:887.52, Y:40.69, Z:13.85 [[ 7.88027406e-01 -6.15523396e-01 -1.19898313e-02 8.87520510e+02] [ 6.15447403e-01 7.88118575e-01 -9.67499854e-03 4.06918673e+01] [ 1.54045967e-02 2.45053469e-04 9.99881312e-01 1.38475176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.1092541539999 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:887.55, Y:40.70, Z:13.85 [[ 7.85476855e-01 -6.18774927e-01 -1.19875137e-02 8.87546607e+02] [ 6.18699267e-01 7.85568301e-01 -9.67786920e-03 4.07045020e+01] [ 1.54054336e-02 1.85076300e-04 9.99881312e-01 1.38473209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.1392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:887.57, Y:40.72, Z:13.85 [[ 7.84373036e-01 -6.20173611e-01 -1.19846767e-02 8.87570450e+02] [ 6.20098060e-01 7.84464573e-01 -9.68138115e-03 4.07189830e+01] [ 1.54056914e-02 1.62139524e-04 9.99881312e-01 1.38497154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.1692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:887.59, Y:40.73, Z:13.85 [[ 7.82305429e-01 -6.22779740e-01 -1.19838010e-02 8.87594612e+02] [ 6.22704479e-01 7.82397202e-01 -9.68246500e-03 4.07339277e+01] [ 1.54061354e-02 1.12278364e-04 9.99881312e-01 1.38513080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.1992541539998 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:887.62, Y:40.75, Z:13.85 [[ 7.77284271e-01 -6.29035466e-01 -1.19810179e-02 8.87621013e+02] [ 6.28960890e-01 7.77376603e-01 -9.68590756e-03 4.07452771e+01] [ 1.54065424e-02 -6.88809860e-06 9.99881312e-01 1.38501941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.2292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:887.64, Y:40.76, Z:13.85 [[ 7.73897980e-01 -6.33196999e-01 -1.19782044e-02 8.87642581e+02] [ 6.33122865e-01 7.73990667e-01 -9.68938573e-03 4.07610698e+01] [ 1.54063084e-02 -8.50790304e-05 9.99881312e-01 1.38525243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.2592541539999 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:887.67, Y:40.77, Z:13.85 [[ 7.69882891e-01 -6.38073935e-01 -1.19158743e-02 8.87672771e+02] [ 6.37999194e-01 7.69975095e-01 -9.76639923e-03 4.07721134e+01] [ 1.54066112e-02 -8.33345000e-05 9.99881308e-01 1.38520012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.2892541539999 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:887.70, Y:40.79, Z:13.85 [[ 7.67604463e-01 -6.40811966e-01 -1.19755305e-02 8.87697303e+02] [ 6.40738700e-01 7.67697838e-01 -9.69269277e-03 4.07866898e+01] [ 1.54047824e-02 -2.33031611e-04 9.99881312e-01 1.38540368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.3192541539999 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:887.72, Y:40.80, Z:13.85 [[ 7.62144105e-01 -6.47296672e-01 -1.19742420e-02 8.87722082e+02] [ 6.47224175e-01 7.62238078e-01 -9.69428434e-03 4.07989486e+01] [ 1.54023012e-02 -3.61577226e-04 9.99881312e-01 1.38529848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.3492541539998 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:887.75, Y:40.81, Z:13.85 [[ 7.60525196e-01 -6.49198585e-01 -1.19425366e-02 8.87746687e+02] [ 6.49125709e-01 7.60618876e-01 -9.73341684e-03 4.08142007e+01] [ 1.54026392e-02 -3.49698806e-04 9.99881311e-01 1.38538586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.3792541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:887.77, Y:40.83, Z:13.85 [[ 7.57096772e-01 -6.53193347e-01 -1.19553420e-02 8.87770354e+02] [ 6.53121214e-01 7.57191025e-01 -9.71761809e-03 4.08276959e+01] [ 1.53999612e-02 -4.51110199e-04 9.99881312e-01 1.38543462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.4092541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:887.79, Y:40.84, Z:13.86 [[ 7.56120262e-01 -6.54323759e-01 -1.19401510e-02 8.87794698e+02] [ 6.54251471e-01 7.56214398e-01 -9.73635902e-03 4.08440306e+01] [ 1.54000452e-02 -4.50003040e-04 9.99881311e-01 1.38570942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.4392541539999 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:887.82, Y:40.86, Z:13.86 [[ 7.52615628e-01 -6.58351812e-01 -1.19418677e-02 8.87819695e+02] [ 6.58280062e-01 7.52710173e-01 -9.73424142e-03 4.08591020e+01] [ 1.53973208e-02 -5.34951194e-04 9.99881311e-01 1.38557177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.4692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:887.84, Y:40.88, Z:13.86 [[ 7.51191529e-01 -6.59976125e-01 -1.19499325e-02 8.87842463e+02] [ 6.59904737e-01 7.51286348e-01 -9.72429513e-03 4.08757201e+01] [ 1.53956238e-02 -5.81008921e-04 9.99881312e-01 1.38600343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.4992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:887.87, Y:40.89, Z:13.86 [[ 7.49480160e-01 -6.61918989e-01 -1.19474539e-02 8.87865935e+02] [ 6.61847798e-01 7.49575127e-01 -9.72735026e-03 4.08920661e+01] [ 1.53942321e-02 -6.16940014e-04 9.99881311e-01 1.38612708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.5292541539999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:887.89, Y:40.91, Z:13.86 [[ 7.45163949e-01 -6.66773961e-01 -1.19655527e-02 8.87888551e+02] [ 6.66703745e-01 7.45259639e-01 -9.70504439e-03 4.09077045e+01] [ 1.53885144e-02 -7.45629621e-04 9.99881312e-01 1.38588370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.5592541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:887.91, Y:40.93, Z:13.86 [[ 7.42856262e-01 -6.69344074e-01 -1.19617757e-02 8.87911064e+02] [ 6.69274114e-01 7.42952140e-01 -9.70969751e-03 4.09252466e+01] [ 1.53861553e-02 -7.92797210e-04 9.99881312e-01 1.38592296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.5892541539998 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:887.93, Y:40.94, Z:13.86 [[ 7.38342709e-01 -6.74319673e-01 -1.19592395e-02 8.87933254e+02] [ 6.74250308e-01 7.38439018e-01 -9.71282030e-03 4.09423227e+01] [ 1.53807149e-02 -8.92130846e-04 9.99881312e-01 1.38592176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.6192541539999 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:887.95, Y:40.96, Z:13.86 [[ 7.36466363e-01 -6.76368493e-01 -1.19564560e-02 8.87954793e+02] [ 6.76299341e-01 7.36562825e-01 -9.71624554e-03 4.09596270e+01] [ 1.53784434e-02 -9.30455293e-04 9.99881312e-01 1.38600658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.6492541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:887.98, Y:40.98, Z:13.86 [[ 7.35252683e-01 -6.77687687e-01 -1.19536935e-02 8.87977339e+02] [ 6.77618653e-01 7.35349229e-01 -9.71964297e-03 4.09770849e+01] [ 1.53770217e-02 -9.53652141e-04 9.99881312e-01 1.38618003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.6792541539999 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:888.00, Y:40.99, Z:13.86 [[ 7.34083032e-01 -6.78954360e-01 -1.19615447e-02 8.87997520e+02] [ 6.78885649e-01 7.34179809e-01 -9.70999032e-03 4.09948800e+01] [ 1.53745649e-02 -9.92581935e-04 9.99881312e-01 1.38602822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.7092541539998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:888.02, Y:41.01, Z:13.86 [[ 7.34166630e-01 -6.78864158e-01 -1.19504582e-02 8.88018897e+02] [ 6.78795215e-01 7.34263241e-01 -9.72361589e-03 4.10130723e+01] [ 1.53757965e-02 -9.73159508e-04 9.99881312e-01 1.38618746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.7392541539999 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:888.04, Y:41.03, Z:13.86 [[ 7.35028870e-01 -6.77930539e-01 -1.19476117e-02 8.88039085e+02] [ 6.77861416e-01 7.35125353e-01 -9.72711208e-03 4.10320167e+01] [ 1.53772986e-02 -9.49116824e-04 9.99881312e-01 1.38600292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.7692541539999 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:888.06, Y:41.05, Z:13.86 [[ 7.35609671e-01 -6.77300302e-01 -1.19462863e-02 8.88059912e+02] [ 6.77231070e-01 7.35706075e-01 -9.72873961e-03 4.10504451e+01] [ 1.53782337e-02 -9.33841330e-04 9.99881312e-01 1.38606823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.7992541539999 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:888.08, Y:41.07, Z:13.86 [[ 7.36777769e-01 -6.76029491e-01 -1.19434635e-02 8.88079615e+02] [ 6.75960037e-01 7.36874014e-01 -9.73220378e-03 4.10700973e+01] [ 1.53800847e-02 -9.02832669e-04 9.99881312e-01 1.38599376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.8292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:888.10, Y:41.09, Z:13.86 [[ 7.37596563e-01 -6.75136049e-01 -1.19425896e-02 8.88101645e+02] [ 6.75066462e-01 7.37692711e-01 -9.73327604e-03 4.10893064e+01] [ 1.53812469e-02 -8.82810776e-04 9.99881312e-01 1.38642881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.8592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:888.12, Y:41.11, Z:13.86 [[ 7.37436088e-01 -6.75311372e-01 -1.19401654e-02 8.88122632e+02] [ 6.75241759e-01 7.37532218e-01 -9.73624907e-03 4.11080579e+01] [ 1.53812564e-02 -8.82636848e-04 9.99881312e-01 1.38646429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.8892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:888.14, Y:41.13, Z:13.87 [[ 7.36234809e-01 -6.76620872e-01 -1.19373934e-02 8.88142290e+02] [ 6.76551375e-01 7.36331023e-01 -9.73964647e-03 4.11276116e+01] [ 1.53799212e-02 -9.05593194e-04 9.99881312e-01 1.38658231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.9192541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:888.16, Y:41.15, Z:13.87 [[ 7.34817664e-01 -6.78159691e-01 -1.19346092e-02 8.88163472e+02] [ 6.78090341e-01 7.34913983e-01 -9.74305698e-03 4.11468065e+01] [ 1.53782597e-02 -9.33372866e-04 9.99881312e-01 1.38659141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.9492541539998 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:888.18, Y:41.17, Z:13.86 [[ 7.31969651e-01 -6.81232752e-01 -1.19318063e-02 8.88183665e+02] [ 6.81163750e-01 7.32066221e-01 -9.74648838e-03 4.11666037e+01] [ 1.53744994e-02 -9.93380210e-04 9.99881312e-01 1.38644890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.9792541539998 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:888.20, Y:41.18, Z:13.87 [[ 7.31223205e-01 -6.82033961e-01 -1.19290093e-02 8.88203342e+02] [ 6.81965010e-01 7.31319810e-01 -9.74991044e-03 4.11848197e+01] [ 1.53736909e-02 -1.00580621e-03 9.99881312e-01 1.38656949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.0092541539999 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:888.22, Y:41.20, Z:13.86 [[ 7.30840309e-01 -6.82444262e-01 -1.19277975e-02 8.88223238e+02] [ 6.82375341e-01 7.30936936e-01 -9.75139276e-03 4.12041297e+01] [ 1.53732498e-02 -1.01252397e-03 9.99881312e-01 1.38647483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.0392541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:888.24, Y:41.22, Z:13.87 [[ 7.33294515e-01 -6.79806551e-01 -1.19250531e-02 8.88240848e+02] [ 6.79737229e-01 7.33390854e-01 -9.75474767e-03 4.12244946e+01] [ 1.53770663e-02 -9.52799614e-04 9.99881312e-01 1.38673735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.0692541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:888.26, Y:41.25, Z:13.87 [[ 7.37653582e-01 -6.75074080e-01 -1.19238658e-02 8.88258903e+02] [ 6.75004116e-01 7.37749456e-01 -9.75619877e-03 4.12466227e+01] [ 1.53829825e-02 -8.51963548e-04 9.99881312e-01 1.38681935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.0992541539998 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:888.28, Y:41.27, Z:13.87 [[ 7.40023850e-01 -6.72474972e-01 -1.19211262e-02 8.88277274e+02] [ 6.72404617e-01 7.40119438e-01 -9.75954523e-03 4.12663859e+01] [ 1.53861071e-02 -7.93524041e-04 9.99881312e-01 1.38667120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.1292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:888.30, Y:41.29, Z:13.87 [[ 7.43173454e-01 -6.68992625e-01 -1.19199383e-02 8.88296679e+02] [ 6.68921799e-01 7.43268693e-01 -9.76099585e-03 4.12867179e+01] [ 1.53897512e-02 -7.19393567e-04 9.99881312e-01 1.38698350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.1592541539999 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:888.31, Y:41.31, Z:13.87 [[ 7.47550046e-01 -6.64098877e-01 -1.19000339e-02 8.88314864e+02] [ 6.64027041e-01 7.47644526e-01 -9.78528885e-03 4.13105929e+01] [ 1.53953946e-02 -5.86951192e-04 9.99881312e-01 1.38660231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.1892541539999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:888.33, Y:41.33, Z:13.87 [[ 7.49911182e-01 -6.61431215e-01 -1.19149767e-02 8.88334854e+02] [ 6.61359332e-01 7.50005626e-01 -9.76705993e-03 4.13310066e+01] [ 1.53965379e-02 -5.55653584e-04 9.99881312e-01 1.38679539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.2192541539998 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:888.35, Y:41.35, Z:13.87 [[ 7.52935670e-01 -6.57986305e-01 -1.19121905e-02 8.88353308e+02] [ 6.57913936e-01 7.53029742e-01 -9.77045685e-03 4.13534602e+01] [ 1.53990606e-02 -4.80670690e-04 9.99881312e-01 1.38687793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.2492541539999 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:888.37, Y:41.37, Z:13.87 [[ 7.53420663e-01 -6.57430962e-01 -1.19094147e-02 8.88372836e+02] [ 6.57358470e-01 7.53514641e-01 -9.77383917e-03 4.13730587e+01] [ 1.53995429e-02 -4.64942266e-04 9.99881312e-01 1.38665088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.2792541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:888.39, Y:41.39, Z:13.87 [[ 7.53962936e-01 -6.56809017e-01 -1.19082140e-02 8.88392545e+02] [ 6.56736425e-01 7.54056836e-01 -9.77530196e-03 4.13924850e+01] [ 1.53999766e-02 -4.50342489e-04 9.99881312e-01 1.38705956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.3092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:888.41, Y:41.41, Z:13.87 [[ 7.54297456e-01 -6.56424868e-01 -1.19054585e-02 8.88410031e+02] [ 6.56352175e-01 7.54391278e-01 -9.77865669e-03 4.14140186e+01] [ 1.54003275e-02 -4.38157721e-04 9.99881312e-01 1.38704174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.3392541539998 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:888.43, Y:41.44, Z:13.87 [[ 7.54438092e-01 -6.56263251e-01 -1.19042637e-02 8.88428656e+02] [ 6.56190515e-01 7.54531880e-01 -9.78011105e-03 4.14353370e+01] [ 1.54004739e-02 -4.32976581e-04 9.99881312e-01 1.38672092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.3692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:888.45, Y:41.45, Z:13.87 [[ 7.54865460e-01 -6.55771678e-01 -1.19014409e-02 8.88448873e+02] [ 6.55698827e-01 7.54959159e-01 -9.78354488e-03 4.14538292e+01] [ 1.54008734e-02 -4.18500730e-04 9.99881312e-01 1.38722456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.3992541539999 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:888.47, Y:41.47, Z:13.87 [[ 7.53772253e-01 -6.57027988e-01 -1.19001296e-02 8.88468969e+02] [ 6.56955268e-01 7.53866054e-01 -9.78513960e-03 4.14742931e+01] [ 1.54002143e-02 -4.42086106e-04 9.99881312e-01 1.38698076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.4292541539999 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:888.49, Y:41.49, Z:13.87 [[ 7.52988701e-01 -6.57925885e-01 -1.18972983e-02 8.88488414e+02] [ 6.57853222e-01 7.53082547e-01 -9.78858084e-03 4.14925537e+01] [ 1.53998084e-02 -4.55985242e-04 9.99881312e-01 1.38689229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.4592541539998 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:888.51, Y:41.51, Z:13.87 [[ 7.51899833e-01 -6.59170027e-01 -1.18960727e-02 8.88508815e+02] [ 6.59097496e-01 7.51993780e-01 -9.79007009e-03 4.15112859e+01] [ 1.53990934e-02 -4.79519655e-04 9.99881312e-01 1.38683684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.4892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:888.53, Y:41.53, Z:13.87 [[ 7.49595507e-01 -6.61789337e-01 -1.18932762e-02 8.88528737e+02] [ 6.61717080e-01 7.49689665e-01 -9.79346624e-03 4.15310047e+01] [ 1.53974777e-02 -5.28845672e-04 9.99881312e-01 1.38718720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.5192541539999 meters Centerline goodness : 0.999750 Centerline is valid? [True, True] Translation: X:888.55, Y:41.55, Z:13.87 [[ 7.47748649e-01 -6.63875422e-01 -1.18904378e-02 8.88550533e+02] [ 6.63803373e-01 7.47842966e-01 -9.79691113e-03 4.15505978e+01] [ 1.53961088e-02 -5.67285662e-04 9.99881312e-01 1.38671178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.5492541539999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:888.57, Y:41.57, Z:13.87 [[ 7.45831852e-01 -6.66028171e-01 -1.18879760e-02 8.88571327e+02] [ 6.65956347e-01 7.45926341e-01 -9.79989752e-03 4.15696245e+01] [ 1.53945622e-02 -6.07797323e-04 9.99881312e-01 1.38700106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.5792541539998 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:888.59, Y:41.59, Z:13.87 [[ 7.45345584e-01 -6.66572355e-01 -1.18851567e-02 8.88592152e+02] [ 6.66500545e-01 7.45440084e-01 -9.80331551e-03 4.15884466e+01] [ 1.53942913e-02 -6.14605488e-04 9.99881312e-01 1.38699512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.6092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:888.61, Y:41.61, Z:13.87 [[ 7.45846331e-01 -6.66012058e-01 -1.18823487e-02 8.88614593e+02] [ 6.65940123e-01 7.45940736e-01 -9.80671781e-03 4.16079237e+01] [ 1.53949202e-02 -5.98628250e-04 9.99881312e-01 1.38739212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.6392541539999 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:888.63, Y:41.63, Z:13.87 [[ 7.46080157e-01 -6.65749778e-01 -1.19009398e-02 8.88632881e+02] [ 6.65678168e-01 7.46174809e-01 -9.78419389e-03 4.16297807e+01] [ 1.53940064e-02 -6.22402914e-04 9.99881312e-01 1.38715321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.6692541539999 meters Centerline goodness : 0.999834 Centerline is valid? [True, True] Translation: X:888.65, Y:41.65, Z:13.87 [[ 7.46870138e-01 -6.64863791e-01 -1.18800915e-02 8.88653540e+02] [ 6.64791668e-01 7.46964399e-01 -9.80944305e-03 4.16493649e+01] [ 1.53959489e-02 -5.71405755e-04 9.99881312e-01 1.38705175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.6992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:888.67, Y:41.67, Z:13.87 [[ 7.50033869e-01 -6.61292761e-01 -1.18776472e-02 8.88672508e+02] [ 6.61220143e-01 7.50127749e-01 -9.81240184e-03 4.16694394e+01] [ 1.53986230e-02 -4.94105839e-04 9.99881312e-01 1.38738483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.7292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:888.69, Y:41.69, Z:13.87 [[ 7.51687805e-01 -6.59412157e-01 -1.18764402e-02 8.88692633e+02] [ 6.59339281e-01 7.51781485e-01 -9.81386255e-03 4.16879918e+01] [ 1.53998681e-02 -4.53642709e-04 9.99881312e-01 1.38740883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.7592541539999 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] Translation: X:888.71, Y:41.71, Z:13.87 [[ 7.54444801e-01 -6.56256076e-01 -1.18745672e-02 8.88712844e+02] [ 6.56182772e-01 7.54538146e-01 -9.81612824e-03 4.17088291e+01] [ 1.54017077e-02 -3.86159515e-04 9.99881312e-01 1.38714439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.7892541539999 meters Centerline goodness : 0.999709 Centerline is valid? [True, True] Translation: X:888.73, Y:41.73, Z:13.87 [[ 7.55716334e-01 -6.54791475e-01 -1.18721146e-02 8.88732349e+02] [ 6.54717944e-01 7.55809500e-01 -9.81909371e-03 4.17273657e+01] [ 1.54025158e-02 -3.52436928e-04 9.99881312e-01 1.38716391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.8192541539999 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:888.75, Y:41.75, Z:13.87 [[ 7.56747277e-01 -6.53599755e-01 -1.18708996e-02 8.88752547e+02] [ 6.53526054e-01 7.56840309e-01 -9.82056237e-03 4.17485663e+01] [ 1.54030925e-02 -3.26258307e-04 9.99881312e-01 1.38736555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.8492541539998 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:888.77, Y:41.77, Z:13.88 [[ 7.57061379e-01 -6.53235952e-01 -1.18684038e-02 8.88773019e+02] [ 6.53162159e-01 7.57154338e-01 -9.82357760e-03 4.17667403e+01] [ 1.54033275e-02 -3.14941059e-04 9.99881312e-01 1.38767845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.8792541539999 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:888.79, Y:41.78, Z:13.88 [[ 7.56552473e-01 -6.53825296e-01 -1.18675206e-02 8.88793746e+02] [ 6.53751559e-01 7.56645476e-01 -9.82464448e-03 4.17848747e+01] [ 1.54031069e-02 -3.25551023e-04 9.99881312e-01 1.38779014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.9092541539999 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:888.82, Y:41.80, Z:13.88 [[ 7.56361331e-01 -6.54046440e-01 -1.18655532e-02 8.88815698e+02] [ 6.53972692e-01 7.56454326e-01 -9.82702005e-03 4.18031350e+01] [ 1.54030765e-02 -3.26969773e-04 9.99881312e-01 1.38783406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.9392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:888.84, Y:41.82, Z:13.88 [[ 7.55129127e-01 -6.55468747e-01 -1.18626794e-02 8.88836846e+02] [ 6.55395120e-01 7.55222218e-01 -9.83048784e-03 4.18221017e+01] [ 1.54025366e-02 -3.51454519e-04 9.99881312e-01 1.38824740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.9692541539998 meters Centerline goodness : 0.999834 Centerline is valid? [True, True] Translation: X:888.86, Y:41.84, Z:13.88 [[ 7.53983697e-01 -6.56786054e-01 -1.18601407e-02 8.88857787e+02] [ 6.56712542e-01 7.54076879e-01 -9.83354979e-03 4.18405269e+01] [ 1.54019962e-02 -3.74366915e-04 9.99881312e-01 1.38791242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.9992541539999 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:888.88, Y:41.86, Z:13.88 [[ 7.52382079e-01 -6.58620198e-01 -1.18592418e-02 8.88877949e+02] [ 6.58546896e-01 7.52475426e-01 -9.83463379e-03 4.18603202e+01] [ 1.54010764e-02 -4.10464626e-04 9.99881312e-01 1.38791042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.0292541539999 meters Centerline goodness : 0.999750 Centerline is valid? [True, True] Translation: X:888.90, Y:41.88, Z:13.88 [[ 7.52007917e-01 -6.59047434e-01 -1.18563789e-02 8.88897338e+02] [ 6.58974130e-01 7.52101262e-01 -9.83808400e-03 4.18787746e+01] [ 1.54009615e-02 -4.14729896e-04 9.99881312e-01 1.38782283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.0592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:888.92, Y:41.90, Z:13.88 [[ 7.52065660e-01 -6.58981562e-01 -1.18551398e-02 8.88917722e+02] [ 6.58908226e-01 7.52158981e-01 -9.83957692e-03 4.18990787e+01] [ 1.54010496e-02 -4.11441218e-04 9.99881312e-01 1.38827306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.0892541539998 meters Centerline goodness : 0.999667 Centerline is valid? [True, True] Translation: X:888.94, Y:41.92, Z:13.88 [[ 7.51933330e-01 -6.59132597e-01 -1.18526717e-02 8.88939870e+02] [ 6.59059234e-01 7.52026629e-01 -9.84254901e-03 4.19185182e+01] [ 1.54010697e-02 -4.10672086e-04 9.99881312e-01 1.38792029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.1192541539999 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] Translation: X:888.96, Y:41.94, Z:13.88 [[ 7.52601272e-01 -6.58369877e-01 -1.18503880e-02 8.88959914e+02] [ 6.58296375e-01 7.52694462e-01 -9.84529787e-03 4.19364483e+01] [ 1.54015689e-02 -3.91483755e-04 9.99881312e-01 1.38790497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.1492541539999 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:888.98, Y:41.96, Z:13.88 [[ 7.54524058e-01 -6.56165421e-01 -1.18484745e-02 8.88980446e+02] [ 6.56091611e-01 7.54617004e-01 -9.84760019e-03 4.19572914e+01] [ 1.54027150e-02 -3.43433447e-04 9.99881312e-01 1.38785714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.1792541539999 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:889.00, Y:41.98, Z:13.88 [[ 7.55881832e-01 -6.54600891e-01 -1.18460530e-02 8.89001149e+02] [ 6.54526844e-01 7.55974589e-01 -9.85051218e-03 4.19783992e+01] [ 1.54034691e-02 -3.07736483e-04 9.99881312e-01 1.38772740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.2092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:889.02, Y:42.00, Z:13.88 [[ 7.57055555e-01 -6.53243148e-01 -1.18438201e-02 8.89023784e+02] [ 6.53168892e-01 7.57148145e-01 -9.85319619e-03 4.19973049e+01] [ 1.54040593e-02 -2.76597940e-04 9.99881312e-01 1.38801425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.2392541539999 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:889.04, Y:42.02, Z:13.88 [[ 7.56296657e-01 -6.54120879e-01 -1.18845333e-02 8.89044271e+02] [ 6.54047498e-01 7.56389944e-01 -9.80426152e-03 4.20167444e+01] [ 1.54025137e-02 -3.58119074e-04 9.99881310e-01 1.38795722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.2692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:889.07, Y:42.04, Z:13.88 [[ 7.55394968e-01 -6.55162394e-01 -1.18608646e-02 8.89066764e+02] [ 6.55088694e-01 7.55488002e-01 -9.83268266e-03 4.20364818e+01] [ 1.54027448e-02 -3.42359272e-04 9.99881312e-01 1.38828752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.2992541539999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:889.09, Y:42.05, Z:13.88 [[ 7.53737786e-01 -6.57068003e-01 -1.18739067e-02 8.89086235e+02] [ 6.56994785e-01 7.53831201e-01 -9.81702632e-03 4.20548572e+01] [ 1.54013752e-02 -4.01631118e-04 9.99881311e-01 1.38823262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.3292541539998 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:889.11, Y:42.07, Z:13.88 [[ 7.52294741e-01 -6.58720414e-01 -1.18338366e-02 8.89106851e+02] [ 6.58646645e-01 7.52387718e-01 -9.86509319e-03 4.20741316e+01] [ 1.54019716e-02 -3.72859029e-04 9.99881313e-01 1.38823560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.3592541539999 meters Centerline goodness : 0.999813 Centerline is valid? [True, True] Translation: X:889.13, Y:42.09, Z:13.88 [[ 7.51909457e-01 -6.59160220e-01 -1.18310603e-02 8.89127574e+02] [ 6.59086452e-01 7.52002435e-01 -9.86842166e-03 4.20927052e+01] [ 1.54018571e-02 -3.77531968e-04 9.99881313e-01 1.38826544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.3892541539999 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:889.15, Y:42.11, Z:13.88 [[ 7.52531128e-01 -6.58450450e-01 -1.18281865e-02 8.89146736e+02] [ 6.58376541e-01 7.52623994e-01 -9.87186495e-03 4.21115312e+01] [ 1.54023109e-02 -3.58514835e-04 9.99881313e-01 1.38835263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.4192541539999 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:889.17, Y:42.13, Z:13.88 [[ 7.53300564e-01 -6.57570072e-01 -1.18262343e-02 8.89167222e+02] [ 6.57496018e-01 7.53393315e-01 -9.87420310e-03 4.21307974e+01] [ 1.54027863e-02 -3.37459170e-04 9.99881313e-01 1.38836147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.4492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:889.19, Y:42.15, Z:13.89 [[ 7.55719657e-01 -6.54788521e-01 -1.18234007e-02 8.89188044e+02] [ 6.54714073e-01 7.55812091e-01 -9.87759486e-03 4.21509135e+01] [ 1.54040049e-02 -2.76254218e-04 9.99881313e-01 1.38873340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.4792541539998 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:889.21, Y:42.17, Z:13.88 [[ 7.56387494e-01 -6.54016992e-01 -1.18209265e-02 8.89209204e+02] [ 6.53942402e-01 7.56479814e-01 -9.88055495e-03 4.21690132e+01] [ 1.54043431e-02 -2.56676872e-04 9.99881313e-01 1.38843298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.5092541539999 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:889.23, Y:42.19, Z:13.89 [[ 7.57962122e-01 -6.52191474e-01 -1.18196058e-02 8.89229208e+02] [ 6.52116638e-01 7.58054242e-01 -9.88213452e-03 4.21881735e+01] [ 1.54049462e-02 -2.17477968e-04 9.99881313e-01 1.38850847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.5392541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:889.25, Y:42.21, Z:13.89 [[ 7.58808291e-01 -6.51206835e-01 -1.18167608e-02 8.89249507e+02] [ 6.51131826e-01 7.58900271e-01 -9.88553541e-03 4.22065083e+01] [ 1.54052712e-02 -1.93042790e-04 9.99881313e-01 1.38868869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.5692541539999 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:889.27, Y:42.23, Z:13.88 [[ 7.58814358e-01 -6.51199784e-01 -1.18157029e-02 8.89271683e+02] [ 6.51124755e-01 7.58906321e-01 -9.88679972e-03 4.22258093e+01] [ 1.54052934e-02 -1.91251045e-04 9.99881313e-01 1.38842980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.5992541539998 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:889.29, Y:42.24, Z:13.88 [[ 7.58696353e-01 -6.51337313e-01 -1.18131220e-02 8.89292020e+02] [ 6.51262252e-01 7.58788290e-01 -9.88988266e-03 4.22434946e+01] [ 1.54053082e-02 -1.90022526e-04 9.99881313e-01 1.38843033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.6292541539999 meters Centerline goodness : 0.999644 Centerline is valid? [True, True] Translation: X:889.31, Y:42.26, Z:13.88 [[ 7.57798385e-01 -6.52381865e-01 -1.18114417e-02 8.89313650e+02] [ 6.52306900e-01 7.57890400e-01 -9.89188906e-03 4.22617822e+01] [ 1.54050673e-02 -2.08627340e-04 9.99881313e-01 1.38830327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.6592541539999 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] Translation: X:889.33, Y:42.28, Z:13.88 [[ 7.56106029e-01 -6.54342594e-01 -1.18085913e-02 8.89334349e+02] [ 6.54267814e-01 7.56198195e-01 -9.89529056e-03 4.22783959e+01] [ 1.54045455e-02 -2.44092364e-04 9.99881313e-01 1.38834618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.6892541539999 meters Centerline goodness : 0.999563 Centerline is valid? [True, True] Translation: X:889.36, Y:42.30, Z:13.88 [[ 7.54691456e-01 -6.55973621e-01 -1.18073574e-02 8.89356063e+02] [ 6.55899018e-01 7.54783765e-01 -9.89676267e-03 4.22963965e+01] [ 1.54040169e-02 -2.75431884e-04 9.99881313e-01 1.38818565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.7192541539998 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:889.38, Y:42.31, Z:13.88 [[ 7.53679167e-01 -6.57136489e-01 -1.18046011e-02 8.89378276e+02] [ 6.57061977e-01 7.53771549e-01 -9.90004919e-03 4.23147276e+01] [ 1.54036560e-02 -2.94893718e-04 9.99881313e-01 1.38848800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.7492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:889.40, Y:42.33, Z:13.89 [[ 7.52309781e-01 -6.58703806e-01 -1.18020504e-02 8.89399560e+02] [ 6.58629439e-01 7.52402280e-01 -9.90308899e-03 4.23321718e+01] [ 1.54030921e-02 -3.22987123e-04 9.99881313e-01 1.38882449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.7792541539999 meters Centerline goodness : 0.999729 Centerline is valid? [True, True] Translation: X:889.42, Y:42.35, Z:13.89 [[ 7.50314886e-01 -6.60975276e-01 -1.18007035e-02 8.89420878e+02] [ 6.60901163e-01 7.50407589e-01 -9.90469374e-03 4.23497230e+01] [ 1.54020951e-02 -3.67459515e-04 9.99881313e-01 1.38876896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.8092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:889.44, Y:42.37, Z:13.89 [[ 7.49759261e-01 -6.61605518e-01 -1.17978304e-02 8.89442251e+02] [ 6.61531430e-01 7.49851983e-01 -9.90811480e-03 4.23677910e+01] [ 1.54018900e-02 -3.75934791e-04 9.99881313e-01 1.38907802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.8392541539998 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:889.46, Y:42.39, Z:13.89 [[ 7.48575856e-01 -6.62944242e-01 -1.17948920e-02 8.89462674e+02] [ 6.62870264e-01 7.48668667e-01 -9.91161157e-03 4.23851509e+01] [ 1.54013119e-02 -3.98890037e-04 9.99881313e-01 1.38886238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.8692541539999 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:889.48, Y:42.40, Z:13.89 [[ 7.46712796e-01 -6.65042037e-01 -1.17936197e-02 8.89483592e+02] [ 6.64968296e-01 7.46805795e-01 -9.91312522e-03 4.24038715e+01] [ 1.54001885e-02 -4.40125723e-04 9.99881313e-01 1.38899199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.8992541539999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:889.50, Y:42.42, Z:13.89 [[ 7.45659271e-01 -6.66223107e-01 -1.17907904e-02 8.89504372e+02] [ 6.66149461e-01 7.45752345e-01 -9.91648919e-03 4.24222619e+01] [ 1.53996039e-02 -4.60106587e-04 9.99881313e-01 1.38902058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.9292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:889.52, Y:42.44, Z:13.89 [[ 7.44357568e-01 -6.67677209e-01 -1.17879237e-02 8.89524661e+02] [ 6.67603690e-01 7.44450743e-01 -9.91989582e-03 4.24412207e+01] [ 1.53988169e-02 -4.85711808e-04 9.99881313e-01 1.38915428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.9592541539998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:889.55, Y:42.46, Z:13.89 [[ 7.43769125e-01 -6.68332703e-01 -1.17850422e-02 8.89545526e+02] [ 6.68259212e-01 7.43862322e-01 -9.92331791e-03 4.24598676e+01] [ 1.53985267e-02 -4.94805524e-04 9.99881313e-01 1.38914129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.9892541539999 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:889.57, Y:42.48, Z:13.89 [[ 7.43300172e-01 -6.68854270e-01 -1.17821709e-02 8.89565674e+02] [ 6.68780791e-01 7.43393378e-01 -9.92672585e-03 4.24778120e+01] [ 1.53983208e-02 -5.01152553e-04 9.99881313e-01 1.38891991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.0192541539999 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:889.59, Y:42.50, Z:13.89 [[ 7.43704422e-01 -6.68404787e-01 -1.17802249e-02 8.89585510e+02] [ 6.68331214e-01 7.43797555e-01 -9.92903473e-03 4.24971779e+01] [ 1.53987168e-02 -4.88824950e-04 9.99881313e-01 1.38892566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.0492541539999 meters Centerline goodness : 0.999855 Centerline is valid? [True, True] Translation: X:889.60, Y:42.52, Z:13.89 [[ 7.45128272e-01 -6.66817180e-01 -1.17774096e-02 8.89604114e+02] [ 6.66743356e-01 7.45221205e-01 -9.93237299e-03 4.25163061e+01] [ 1.53998523e-02 -4.51617664e-04 9.99881313e-01 1.38879898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.0792541539998 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:889.62, Y:42.54, Z:13.89 [[ 7.45839583e-01 -6.66021500e-01 -1.17761916e-02 8.89624809e+02] [ 6.65947555e-01 7.45932419e-01 -9.93381688e-03 4.25355703e+01] [ 1.54003787e-02 -4.33292139e-04 9.99881313e-01 1.38888708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.1092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:889.65, Y:42.55, Z:13.89 [[ 7.47014805e-01 -6.64703143e-01 -1.17734119e-02 8.89645060e+02] [ 6.64628982e-01 7.47107469e-01 -9.93711026e-03 4.25541426e+01] [ 1.54012324e-02 -4.01782256e-04 9.99881313e-01 1.38913799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.1392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:889.67, Y:42.57, Z:13.89 [[ 7.48096565e-01 -6.63485451e-01 -1.17722166e-02 8.89665305e+02] [ 6.63411117e-01 7.48189091e-01 -9.93852602e-03 4.25739607e+01] [ 1.54019115e-02 -3.74842199e-04 9.99881313e-01 1.38919816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.1692541539999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:889.69, Y:42.59, Z:13.89 [[ 7.48109301e-01 -6.63471140e-01 -1.17694220e-02 8.89686315e+02] [ 6.63396752e-01 7.48201784e-01 -9.94183434e-03 4.25933162e+01] [ 1.54020227e-02 -3.70217612e-04 9.99881313e-01 1.38913225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.1992541539998 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:889.71, Y:42.61, Z:13.89 [[ 7.48679266e-01 -6.62827959e-01 -1.17666228e-02 8.89706286e+02] [ 6.62753440e-01 7.48771642e-01 -9.94514631e-03 4.26127787e+01] [ 1.54024345e-02 -3.52644874e-04 9.99881313e-01 1.38897274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.2292541539998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:889.73, Y:42.63, Z:13.89 [[ 7.49487021e-01 -6.61914509e-01 -1.17638181e-02 8.89726734e+02] [ 6.61839825e-01 7.49579265e-01 -9.94846276e-03 4.26312915e+01] [ 1.54029460e-02 -3.29519584e-04 9.99881313e-01 1.38925361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.2592541539999 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:889.75, Y:42.65, Z:13.89 [[ 7.49603140e-01 -6.61783020e-01 -1.17629499e-02 8.89747775e+02] [ 6.61708304e-01 7.49695357e-01 -9.94948922e-03 4.26505508e+01] [ 1.54030319e-02 -3.25473244e-04 9.99881313e-01 1.38914695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.2892541539999 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:889.77, Y:42.67, Z:13.89 [[ 7.50482757e-01 -6.60785389e-01 -1.17601546e-02 8.89767252e+02] [ 6.60710498e-01 7.50574833e-01 -9.95279212e-03 4.26698227e+01] [ 1.54035357e-02 -3.00658718e-04 9.99881313e-01 1.38920043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.3192541539999 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:889.79, Y:42.69, Z:13.89 [[ 7.50836295e-01 -6.60383677e-01 -1.17582551e-02 8.89787840e+02] [ 6.60308702e-01 7.50928302e-01 -9.95503562e-03 4.26884426e+01] [ 1.54037496e-02 -2.89476130e-04 9.99881313e-01 1.38937688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.3492541539998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:889.81, Y:42.71, Z:13.90 [[ 7.51638209e-01 -6.59470858e-01 -1.17554843e-02 8.89808270e+02] [ 6.59395720e-01 7.51730083e-01 -9.95830651e-03 4.27074937e+01] [ 1.54041641e-02 -2.66472368e-04 9.99881313e-01 1.38967342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.3792541539999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:889.83, Y:42.73, Z:13.89 [[ 7.50806981e-01 -6.60417105e-01 -1.17526506e-02 8.89829213e+02] [ 6.60342031e-01 7.50898907e-01 -9.96164966e-03 4.27264001e+01] [ 1.54038963e-02 -2.81493069e-04 9.99881313e-01 1.38944980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.4092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:889.85, Y:42.74, Z:13.90 [[ 7.50652036e-01 -6.60593267e-01 -1.17497335e-02 8.89850501e+02] [ 6.60518160e-01 7.50743936e-01 -9.96508923e-03 4.27446121e+01] [ 1.54039120e-02 -2.80597814e-04 9.99881313e-01 1.38972236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.4392541539999 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:889.87, Y:42.76, Z:13.89 [[ 7.48949458e-01 -6.62522997e-01 -1.17467933e-02 8.89871998e+02] [ 6.62448073e-01 7.49041507e-01 -9.96855393e-03 4.27628370e+01] [ 1.54032320e-02 -3.15697505e-04 9.99881313e-01 1.38943527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.4692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:889.89, Y:42.78, Z:13.90 [[ 7.48660973e-01 -6.62849025e-01 -1.17438143e-02 8.89892598e+02] [ 6.62774086e-01 7.48753009e-01 -9.97206221e-03 4.27804819e+01] [ 1.54031880e-02 -3.17801975e-04 9.99881313e-01 1.38979211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.4992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:889.91, Y:42.80, Z:13.90 [[ 7.47813839e-01 -6.63804622e-01 -1.17425246e-02 8.89914233e+02] [ 6.63729777e-01 7.47905951e-01 -9.97358059e-03 4.27986286e+01] [ 1.54028129e-02 -3.35481670e-04 9.99881313e-01 1.38988398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.5292541539999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:889.93, Y:42.82, Z:13.90 [[ 7.46595735e-01 -6.65174405e-01 -1.17396202e-02 8.89934612e+02] [ 6.65099675e-01 7.46687941e-01 -9.97699809e-03 4.28159462e+01] [ 1.54022766e-02 -3.59233393e-04 9.99881313e-01 1.38973788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.5592541539999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:889.96, Y:42.83, Z:13.90 [[ 7.45852210e-01 -6.66008027e-01 -1.17383625e-02 8.89956581e+02] [ 6.65933376e-01 7.45944481e-01 -9.97847770e-03 4.28340538e+01] [ 1.54019129e-02 -3.74497699e-04 9.99881313e-01 1.38980597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.5892541539998 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:889.98, Y:42.85, Z:13.89 [[ 7.45636579e-01 -6.66249482e-01 -1.17354292e-02 8.89977721e+02] [ 6.66174807e-01 7.45728830e-01 -9.98192626e-03 4.28523132e+01] [ 1.54019011e-02 -3.74957930e-04 9.99881313e-01 1.38942750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.6192541539999 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:890.00, Y:42.87, Z:13.89 [[ 7.47083955e-01 -6.64626110e-01 -1.17345218e-02 8.89998662e+02] [ 6.64551218e-01 7.47176029e-01 -9.98299290e-03 4.28697939e+01] [ 1.54027111e-02 -3.40056915e-04 9.99881313e-01 1.38945442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.6492541539999 meters Centerline goodness : 0.999580 Centerline is valid? [True, True] Translation: X:890.02, Y:42.89, Z:13.90 [[ 7.48090550e-01 -6.63492935e-01 -1.17326096e-02 8.90020129e+02] [ 6.63417869e-01 7.48182482e-01 -9.98523962e-03 4.28880798e+01] [ 1.54032690e-02 -3.13759489e-04 9.99881313e-01 1.38954698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.6792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:890.04, Y:42.91, Z:13.90 [[ 7.51297800e-01 -6.59859098e-01 -1.17296915e-02 8.90040836e+02] [ 6.59783534e-01 7.51389323e-01 -9.98866638e-03 4.29063172e+01] [ 1.54046774e-02 -2.34594247e-04 9.99881313e-01 1.38992955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.7092541539998 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:890.06, Y:42.92, Z:13.90 [[ 7.52128296e-01 -6.58912341e-01 -1.17283243e-02 8.90062434e+02] [ 6.58836636e-01 7.52219703e-01 -9.99027151e-03 4.29248930e+01] [ 1.54049898e-02 -2.13083812e-04 9.99881313e-01 1.38972673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.7392541539999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:890.08, Y:42.94, Z:13.90 [[ 7.55227830e-01 -6.55357490e-01 -1.17254095e-02 8.90084075e+02] [ 6.55281301e-01 7.55318835e-01 -9.99369137e-03 4.29427977e+01] [ 1.54058631e-02 -1.35927733e-04 9.99881313e-01 1.39001571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.7692541539999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:890.10, Y:42.96, Z:13.90 [[ 7.56688030e-01 -6.53671024e-01 -1.17224985e-02 8.90104865e+02] [ 6.53594580e-01 7.56778820e-01 -9.99710476e-03 4.29604241e+01] [ 1.54061563e-02 -9.70719758e-05 9.99881313e-01 1.38992182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.7992541539999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:890.13, Y:42.98, Z:13.90 [[ 7.56512115e-01 -6.53874631e-01 -1.17212364e-02 8.90126512e+02] [ 6.53798189e-01 7.56602906e-01 -9.99858425e-03 4.29790149e+01] [ 1.54061421e-02 -9.92730428e-05 9.99881313e-01 1.38996575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.8292541539998 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:890.15, Y:43.00, Z:13.90 [[ 7.57712601e-01 -6.52483173e-01 -1.17185449e-02 8.90147978e+02] [ 6.52406515e-01 7.57803210e-01 -1.00017378e-02 4.29975250e+01] [ 1.54063165e-02 -6.68122472e-05 9.99881313e-01 1.39002498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.8592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:890.17, Y:43.01, Z:13.90 [[ 7.60950915e-01 -6.48703668e-01 -1.17156341e-02 8.90169673e+02] [ 6.48626507e-01 7.61041097e-01 -1.00051462e-02 4.30147631e+01] [ 1.54064541e-02 1.43543281e-05 9.99881313e-01 1.39043665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.8892541539999 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:890.19, Y:43.03, Z:13.90 [[ 7.61639215e-01 -6.47895455e-01 -1.17126562e-02 8.90190368e+02] [ 6.47818145e-01 7.61729269e-01 -1.00086312e-02 4.30318434e+01] [ 1.54064197e-02 3.52948028e-05 9.99881313e-01 1.39009425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.9192541539999 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:890.21, Y:43.05, Z:13.90 [[ 7.63196629e-01 -6.46060174e-01 -1.17113649e-02 8.90212499e+02] [ 6.45982625e-01 7.63286477e-01 -1.00101419e-02 4.30492864e+01] [ 1.54062805e-02 7.43683503e-05 9.99881313e-01 1.39017917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.9492541539998 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:890.23, Y:43.07, Z:13.90 [[ 7.63371349e-01 -6.45853736e-01 -1.17104758e-02 8.90233636e+02] [ 6.45776146e-01 7.63461161e-01 -1.00111819e-02 4.30661624e+01] [ 1.54062527e-02 7.99035299e-05 9.99881313e-01 1.39009591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.9792541539998 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:890.26, Y:43.08, Z:13.90 [[ 7.63001128e-01 -6.46291102e-01 -1.17085606e-02 8.90257206e+02] [ 6.46213529e-01 7.63090956e-01 -1.00134213e-02 4.30816452e+01] [ 1.54062818e-02 7.40215236e-05 9.99881313e-01 1.39023276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.0092541539999 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:890.28, Y:43.10, Z:13.90 [[ 7.62175446e-01 -6.47264682e-01 -1.17055894e-02 8.90278966e+02] [ 6.47187171e-01 7.62265326e-01 -1.00168934e-02 4.30975981e+01] [ 1.54063463e-02 5.89229463e-05 9.99881313e-01 1.39024616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.0392541539999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:890.30, Y:43.11, Z:13.90 [[ 7.59226199e-01 -6.50721591e-01 -1.17043030e-02 8.90302550e+02] [ 6.50644465e-01 7.59316411e-01 -1.00183963e-02 4.31116779e+01] [ 1.54064561e-02 -9.11106538e-06 9.99881313e-01 1.39023622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.0692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:890.33, Y:43.13, Z:13.91 [[ 7.57461449e-01 -6.52775006e-01 -1.17023094e-02 8.90326033e+02] [ 6.52698090e-01 7.57551839e-01 -1.00207244e-02 4.31279020e+01] [ 1.54063845e-02 -4.77625262e-05 9.99881313e-01 1.39059568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.0992541539998 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:890.35, Y:43.14, Z:13.90 [[ 7.54624318e-01 -6.56052789e-01 -1.16994345e-02 8.90349242e+02] [ 6.55976213e-01 7.54714996e-01 -1.00240798e-02 4.31442903e+01] [ 1.54060642e-02 -1.10136374e-04 9.99881313e-01 1.39047264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.1292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:890.37, Y:43.16, Z:13.91 [[ 7.49779572e-01 -6.61584299e-01 -1.16964879e-02 8.90373348e+02] [ 6.61508339e-01 7.49870767e-01 -1.00275169e-02 4.31584196e+01] [ 1.54049021e-02 -2.18896900e-04 9.99881313e-01 1.39072219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.1592541539999 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:890.40, Y:43.18, Z:13.90 [[ 7.46470470e-01 -6.65315759e-01 -1.16952432e-02 8.90395595e+02] [ 6.65240231e-01 7.46562023e-01 -1.00289684e-02 4.31751917e+01] [ 1.54036551e-02 -2.93817511e-04 9.99881313e-01 1.39046710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.1892541539999 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:890.42, Y:43.19, Z:13.90 [[ 7.41557355e-01 -6.70787581e-01 -1.16923421e-02 8.90418918e+02] [ 6.70712675e-01 7.41649418e-01 -1.00323495e-02 4.31893062e+01] [ 1.54011942e-02 -4.02639474e-04 9.99881314e-01 1.39036852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.2192541539998 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:890.44, Y:43.21, Z:13.91 [[ 7.39606780e-01 -6.72937687e-01 -1.16910866e-02 8.90441159e+02] [ 6.72863026e-01 7.39699041e-01 -1.00338123e-02 4.32058693e+01] [ 1.54000160e-02 -4.45424292e-04 9.99881314e-01 1.39070649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.2492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:890.46, Y:43.22, Z:13.91 [[ 7.37487131e-01 -6.75260038e-01 -1.16881525e-02 8.90464344e+02] [ 6.75185613e-01 7.37579583e-01 -1.00372291e-02 4.32216236e+01] [ 1.53986823e-02 -4.89345100e-04 9.99881314e-01 1.39091030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.2792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:890.49, Y:43.24, Z:13.91 [[ 7.37361770e-01 -6.75396977e-01 -1.16852192e-02 8.90485627e+02] [ 6.75322515e-01 7.37454193e-01 -1.00406429e-02 4.32385533e+01] [ 1.53987337e-02 -4.87705396e-04 9.99881314e-01 1.39090890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.3092541539999 meters Centerline goodness : 0.999729 Centerline is valid? [True, True] Translation: X:890.51, Y:43.26, Z:13.91 [[ 7.37368849e-01 -6.75389269e-01 -1.16839499e-02 8.90507484e+02] [ 6.75314784e-01 7.37461253e-01 -1.00421197e-02 4.32566650e+01] [ 1.53988002e-02 -4.85597836e-04 9.99881314e-01 1.39054309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.3392541539998 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:890.53, Y:43.27, Z:13.91 [[ 7.40085388e-01 -6.72411459e-01 -1.16810804e-02 8.90528634e+02] [ 6.72336549e-01 7.40177447e-01 -1.00454564e-02 4.32741892e+01] [ 1.54007522e-02 -4.19121742e-04 9.99881314e-01 1.39071354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.3692541539999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:890.55, Y:43.29, Z:13.91 [[ 7.41916747e-01 -6.70390270e-01 -1.16801918e-02 8.90549719e+02] [ 6.70315092e-01 7.42008588e-01 -1.00464894e-02 4.32922753e+01] [ 1.54018714e-02 -3.75750108e-04 9.99881314e-01 1.39093511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.3992541539999 meters Centerline goodness : 0.999876 Centerline is valid? [True, True] Translation: X:890.57, Y:43.31, Z:13.91 [[ 7.46021000e-01 -6.65820025e-01 -1.16774430e-02 8.90570350e+02] [ 6.65744235e-01 7.46112336e-01 -1.00496834e-02 4.33101361e+01] [ 1.54039648e-02 -2.76915497e-04 9.99881314e-01 1.39076296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.4292541539999 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:890.59, Y:43.33, Z:13.91 [[ 7.48154384e-01 -6.63421949e-01 -1.16762510e-02 8.90591884e+02] [ 6.63345845e-01 7.48245459e-01 -1.00510682e-02 4.33288420e+01] [ 1.54048011e-02 -2.25641867e-04 9.99881314e-01 1.39080272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.4592541539998 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:890.61, Y:43.35, Z:13.91 [[ 7.52833386e-01 -6.58107610e-01 -1.16733333e-02 8.90612919e+02] [ 6.58030810e-01 7.52923875e-01 -1.00544557e-02 4.33475709e+01] [ 1.54060452e-02 -1.12083002e-04 9.99881314e-01 1.39085211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.4892541539999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:890.63, Y:43.37, Z:13.91 [[ 7.55348985e-01 -6.55218827e-01 -1.16704376e-02 8.90633798e+02] [ 6.55141629e-01 7.55439135e-01 -1.00578157e-02 4.33655256e+01] [ 1.54063755e-02 -4.86285720e-05 9.99881314e-01 1.39103644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.5192541539999 meters Centerline goodness : 0.999813 Centerline is valid? [True, True] Translation: X:890.65, Y:43.38, Z:13.91 [[ 7.57382448e-01 -6.52867289e-01 -1.16675474e-02 8.90654987e+02] [ 6.52789759e-01 7.57472312e-01 -1.00611674e-02 4.33837424e+01] [ 1.54064511e-02 3.69613138e-06 9.99881314e-01 1.39084968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.5492541539999 meters Centerline goodness : 0.999813 Centerline is valid? [True, True] Translation: X:890.68, Y:43.40, Z:13.91 [[ 7.61546628e-01 -6.48005147e-01 -1.16646410e-02 8.90675942e+02] [ 6.47926992e-01 7.61635949e-01 -1.00645358e-02 4.34005515e+01] [ 1.54060809e-02 1.06777554e-04 9.99881314e-01 1.39087566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.5792541539998 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:890.70, Y:43.42, Z:13.91 [[ 7.63377369e-01 -6.45847486e-01 -1.16626655e-02 8.90697549e+02] [ 6.45769043e-01 7.63466438e-01 -1.00668245e-02 4.34184411e+01] [ 1.54056870e-02 1.53397644e-04 9.99881314e-01 1.39100450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.6092541539999 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:890.72, Y:43.44, Z:13.91 [[ 7.66683216e-01 -6.41919694e-01 -1.16598272e-02 8.90719205e+02] [ 6.41840746e-01 7.66771837e-01 -1.00701108e-02 4.34360847e+01] [ 1.54046296e-02 2.36832737e-04 9.99881314e-01 1.39137821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.6392541539999 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:890.74, Y:43.45, Z:13.91 [[ 7.69245778e-01 -6.38846658e-01 -1.16567990e-02 8.90741775e+02] [ 6.38767302e-01 7.69334034e-01 -1.00736149e-02 4.34520332e+01] [ 1.54034675e-02 3.03103664e-04 9.99881314e-01 1.39116409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.6692541539999 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:890.76, Y:43.47, Z:13.91 [[ 7.72676178e-01 -6.34693370e-01 -1.16554821e-02 8.90764457e+02] [ 6.34613517e-01 7.72763984e-01 -1.00751384e-02 4.34674341e+01] [ 1.54015603e-02 3.88092946e-04 9.99881314e-01 1.39115560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.6992541539998 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:890.79, Y:43.48, Z:13.91 [[ 7.73998077e-01 -6.33080686e-01 -1.16542293e-02 8.90787026e+02] [ 6.33000629e-01 7.74085697e-01 -1.00765873e-02 4.34845088e+01] [ 1.54006651e-02 4.22124741e-04 9.99881314e-01 1.39106143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.7292541539998 meters Centerline goodness : 0.999834 Centerline is valid? [True, True] Translation: X:890.81, Y:43.50, Z:13.91 [[ 7.76485346e-01 -6.30027580e-01 -1.16513997e-02 8.90810766e+02] [ 6.29947129e-01 7.76572605e-01 -1.00798581e-02 4.34983042e+01] [ 1.53987464e-02 4.87096289e-04 9.99881314e-01 1.39110428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.7592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:890.83, Y:43.51, Z:13.91 [[ 7.77666929e-01 -6.28568549e-01 -1.16501730e-02 8.90833973e+02] [ 6.28487913e-01 7.77754017e-01 -1.00812757e-02 4.35145887e+01] [ 1.53977417e-02 5.17881835e-04 9.99881314e-01 1.39149010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.7892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:890.86, Y:43.53, Z:13.91 [[ 7.78280139e-01 -6.27809181e-01 -1.16472447e-02 8.90856312e+02] [ 6.27728409e-01 7.78367101e-01 -1.00846578e-02 4.35300577e+01] [ 1.53970728e-02 5.37382522e-04 9.99881314e-01 1.39141082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.8192541539999 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:890.88, Y:43.54, Z:13.91 [[ 7.78458390e-01 -6.27588166e-01 -1.16459775e-02 8.90881143e+02] [ 6.27507348e-01 7.78545309e-01 -1.00861210e-02 4.35422764e+01] [ 1.53968513e-02 5.43689068e-04 9.99881314e-01 1.39102148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.8492541539998 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:890.91, Y:43.56, Z:13.91 [[ 7.78109333e-01 -6.28020910e-01 -1.16448337e-02 8.90905943e+02] [ 6.27940121e-01 7.78196279e-01 -1.00874414e-02 4.35583577e+01] [ 1.53970903e-02 5.36873991e-04 9.99881314e-01 1.39089706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.8792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:890.93, Y:43.57, Z:13.91 [[ 7.78075751e-01 -6.28062560e-01 -1.16424312e-02 8.90930019e+02] [ 6.27981734e-01 7.78162662e-01 -1.00902134e-02 4.35736187e+01] [ 1.53969905e-02 5.39716281e-04 9.99881314e-01 1.39128910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.9092541539999 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:890.96, Y:43.59, Z:13.91 [[ 7.76590517e-01 -6.29898156e-01 -1.16396740e-02 8.90957362e+02] [ 6.29817488e-01 7.76677575e-01 -1.00933930e-02 4.35860808e+01] [ 1.53980834e-02 5.07563012e-04 9.99881314e-01 1.39098515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.9392541539999 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:890.98, Y:43.60, Z:13.91 [[ 7.75368621e-01 -6.31401680e-01 -1.16370446e-02 8.90984037e+02] [ 6.31321135e-01 7.75455793e-01 -1.00964237e-02 4.35971043e+01] [ 1.53989125e-02 4.81737878e-04 9.99881314e-01 1.39115127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.9692541539998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:891.01, Y:43.61, Z:13.91 [[ 7.74634181e-01 -6.32302548e-01 -1.16350047e-02 8.91007341e+02] [ 6.32222069e-01 7.74721415e-01 -1.00987739e-02 4.36111316e+01] [ 1.53993677e-02 4.66948680e-04 9.99881314e-01 1.39127327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.9992541539999 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:891.03, Y:43.63, Z:13.91 [[ 7.73181617e-01 -6.34077961e-01 -1.16329824e-02 8.91032013e+02] [ 6.33997647e-01 7.73269003e-01 -1.01011029e-02 4.36260322e+01] [ 1.54003114e-02 4.34703601e-04 9.99881314e-01 1.39113501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.0292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:891.06, Y:43.64, Z:13.92 [[ 7.70869323e-01 -6.36887141e-01 -1.16300278e-02 8.91060065e+02] [ 6.36807095e-01 7.70956953e-01 -1.01045035e-02 4.36362074e+01] [ 1.54016791e-02 3.83167570e-04 9.99881314e-01 1.39161538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.0592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:891.08, Y:43.65, Z:13.92 [[ 7.69005480e-01 -6.39136398e-01 -1.16291138e-02 8.91084727e+02] [ 6.39056592e-01 7.69093330e-01 -1.01055553e-02 4.36509495e+01] [ 1.54027021e-02 3.39565556e-04 9.99881314e-01 1.39171145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.0892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:891.11, Y:43.66, Z:13.92 [[ 7.63593383e-01 -6.45592733e-01 -1.16261891e-02 8.91109008e+02] [ 6.45513619e-01 7.63681856e-01 -1.01089190e-02 4.36629943e+01] [ 1.54049543e-02 2.14240224e-04 9.99881314e-01 1.39170874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.1192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:891.13, Y:43.68, Z:13.92 [[ 7.61507383e-01 -6.48053372e-01 -1.15470148e-02 8.91133771e+02] [ 6.47973159e-01 7.61594870e-01 -1.01999341e-02 4.36777076e+01] [ 1.54042489e-02 2.85169450e-04 9.99881307e-01 1.39173557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.1492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:891.16, Y:43.69, Z:13.92 [[ 7.59054658e-01 -6.50924516e-01 -1.15456027e-02 8.91158096e+02] [ 6.50844610e-01 7.59142425e-01 -1.02015566e-02 4.36923656e+01] [ 1.54052002e-02 2.29145779e-04 9.99881307e-01 1.39178330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.1792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:891.19, Y:43.70, Z:13.92 [[ 7.54693383e-01 -6.55976218e-01 -1.15368583e-02 8.91185820e+02] [ 6.55896746e-01 7.54781546e-01 -1.02115988e-02 4.37038361e+01] [ 1.54063736e-02 1.39638249e-04 9.99881305e-01 1.39170820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.2092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:891.21, Y:43.72, Z:13.92 [[ 7.52551360e-01 -6.58432564e-01 -1.15329730e-02 8.91209778e+02] [ 6.58353311e-01 7.52639721e-01 -1.02160592e-02 4.37189260e+01] [ 1.54067596e-02 9.53382453e-05 9.99881304e-01 1.39173661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.2392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:891.24, Y:43.73, Z:13.92 [[ 7.48761364e-01 -6.62739530e-01 -1.15210485e-02 8.91237533e+02] [ 6.62660575e-01 7.48849995e-01 -1.02297561e-02 4.37310998e+01] [ 1.54072009e-02 2.51014931e-05 9.99881302e-01 1.39197300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.2692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:891.26, Y:43.75, Z:13.92 [[ 7.46322113e-01 -6.65484845e-01 -1.15423233e-02 8.91260958e+02] [ 6.65406593e-01 7.46411360e-01 -1.02053174e-02 4.37464997e+01] [ 1.54068053e-02 -6.38839938e-05 9.99881306e-01 1.39206863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.2992541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:891.29, Y:43.76, Z:13.92 [[ 7.43822321e-01 -6.68277773e-01 -1.15400427e-02 8.91290789e+02] [ 6.68199816e-01 7.43911825e-01 -1.02079355e-02 4.37586341e+01] [ 1.54065106e-02 -1.18164133e-04 9.99881306e-01 1.39212589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.3292541539998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:891.31, Y:43.77, Z:13.92 [[ 7.41707525e-01 -6.70622831e-01 -1.16174887e-02 8.91314653e+02] [ 6.70546544e-01 7.41798448e-01 -1.01190211e-02 4.37746603e+01] [ 1.54038817e-02 -2.84712799e-04 9.99881313e-01 1.39205230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.3592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:891.33, Y:43.79, Z:13.92 [[ 7.38174522e-01 -6.74509805e-01 -1.16145784e-02 8.91334294e+02] [ 6.74433945e-01 7.38265801e-01 -1.01223605e-02 4.37916573e+01] [ 1.54022774e-02 -3.61197356e-04 9.99881313e-01 1.39201758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.3892541539999 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:891.36, Y:43.80, Z:13.92 [[ 7.37602926e-01 -6.75136378e-01 -1.15236822e-02 8.91363920e+02] [ 6.75058962e-01 7.37692901e-01 -1.02265675e-02 4.38047384e+01] [ 1.54052663e-02 -2.36018823e-04 9.99881304e-01 1.39196829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.4192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:891.39, Y:43.82, Z:13.92 [[ 7.37120029e-01 -6.75662061e-01 -1.16121510e-02 8.91385767e+02] [ 6.75586300e-01 7.37211390e-01 -1.01251058e-02 4.38202270e+01] [ 1.54017598e-02 -3.81591791e-04 9.99881313e-01 1.39225300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.4492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:891.41, Y:43.84, Z:13.92 [[ 7.36800717e-01 -6.76010274e-01 -1.16109093e-02 8.91409584e+02] [ 6.75934534e-01 7.36892095e-01 -1.01265295e-02 4.38356112e+01] [ 1.54016253e-02 -3.86980407e-04 9.99881313e-01 1.39223342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.4792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:891.43, Y:43.85, Z:13.92 [[ 7.37900806e-01 -6.74809346e-01 -1.16080695e-02 8.91430463e+02] [ 6.74733406e-01 7.37992018e-01 -1.01297837e-02 4.38538724e+01] [ 1.54023354e-02 -3.57576725e-04 9.99881313e-01 1.39236292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.5092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:891.45, Y:43.87, Z:13.92 [[ 7.37842519e-01 -6.74873128e-01 -1.16051353e-02 8.91449117e+02] [ 6.74797143e-01 7.37933693e-01 -1.01331442e-02 4.38737785e+01] [ 1.54024071e-02 -3.54447449e-04 9.99881313e-01 1.39228251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.5392541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:891.47, Y:43.89, Z:13.92 [[ 7.43226362e-01 -6.68940483e-01 -1.15414510e-02 8.91473625e+02] [ 6.68862636e-01 7.43315957e-01 -1.02060277e-02 4.38911863e+01] [ 1.54061698e-02 -1.34256550e-04 9.99881309e-01 1.39222463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.5692541539999 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:891.49, Y:43.91, Z:13.92 [[ 7.46474988e-01 -6.65312330e-01 -1.16015679e-02 8.91494825e+02] [ 6.65235113e-01 7.46565122e-01 -1.01372269e-02 4.39098445e+01] [ 1.54057480e-02 -1.50584014e-04 9.99881313e-01 1.39210620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.5992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:891.52, Y:43.93, Z:13.92 [[ 7.47791678e-01 -6.63832114e-01 -1.15987161e-02 8.91515761e+02] [ 6.63754668e-01 7.47881616e-01 -1.01404888e-02 4.39282399e+01] [ 1.54060487e-02 -1.15728776e-04 9.99881313e-01 1.39237800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.6292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:891.54, Y:43.95, Z:13.92 [[ 7.48673986e-01 -6.62836932e-01 -1.15958493e-02 8.91536334e+02] [ 6.62759316e-01 7.48763777e-01 -1.01437660e-02 4.39467443e+01] [ 1.54062147e-02 -9.08834859e-05 9.99881313e-01 1.39242436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.6592541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:891.56, Y:43.97, Z:13.92 [[ 7.50320880e-01 -6.60972148e-01 -1.15929725e-02 8.91555234e+02] [ 6.60894257e-01 7.50410433e-01 -1.01470528e-02 4.39669235e+01] [ 1.54064068e-02 -4.81833932e-05 9.99881313e-01 1.39223053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.6892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:891.58, Y:43.99, Z:13.92 [[ 7.51116439e-01 -6.60067972e-01 -1.15917270e-02 8.91575456e+02] [ 6.59989952e-01 7.51205879e-01 -1.01484753e-02 4.39864769e+01] [ 1.54064570e-02 -2.77366914e-05 9.99881313e-01 1.39240293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.7192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:891.60, Y:44.01, Z:13.92 [[ 7.50930686e-01 -6.60279337e-01 -1.15888626e-02 8.91596907e+02] [ 6.60201292e-01 7.51020104e-01 -1.01517453e-02 4.40053765e+01] [ 1.54064564e-02 -2.77250109e-05 9.99881313e-01 1.39244681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.7492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:891.62, Y:44.03, Z:13.92 [[ 7.52245344e-01 -6.58781228e-01 -1.15860050e-02 8.91616453e+02] [ 6.58702955e-01 7.52334562e-01 -1.01550056e-02 4.40253943e+01] [ 1.54064790e-02 7.31997908e-06 9.99881313e-01 1.39248477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.7792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:891.64, Y:44.04, Z:13.93 [[ 7.52635952e-01 -6.58334987e-01 -1.15831178e-02 8.91637197e+02] [ 6.58256610e-01 7.52725079e-01 -1.01582977e-02 4.40441683e+01] [ 1.54064660e-02 2.08362002e-05 9.99881313e-01 1.39253795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.8092541539999 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:891.66, Y:44.06, Z:13.92 [[ 7.52410626e-01 -6.58592551e-01 -1.15802132e-02 8.91658001e+02] [ 6.58514153e-01 7.52499735e-01 -1.01616078e-02 4.40632915e+01] [ 1.54064666e-02 1.99673424e-05 9.99881313e-01 1.39229504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.8392541539998 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:891.68, Y:44.08, Z:13.92 [[ 7.52995813e-01 -6.57923454e-01 -1.15773203e-02 8.91677612e+02] [ 6.57844927e-01 7.53084808e-01 -1.01649027e-02 4.40815121e+01] [ 1.54064319e-02 3.80477389e-05 9.99881313e-01 1.39230556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.8692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:891.70, Y:44.10, Z:13.93 [[ 7.53519770e-01 -6.57323323e-01 -1.15760664e-02 8.91698453e+02] [ 6.57244703e-01 7.53608682e-01 -1.01663304e-02 4.41000692e+01] [ 1.54063903e-02 5.22226109e-05 9.99881313e-01 1.39261627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.8992541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:891.72, Y:44.12, Z:13.93 [[ 7.54340296e-01 -6.56381580e-01 -1.15732026e-02 8.91718752e+02] [ 6.56302799e-01 7.54429066e-01 -1.01695895e-02 4.41193450e+01] [ 1.54062917e-02 7.58059567e-05 9.99881313e-01 1.39251296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.9292541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:891.74, Y:44.14, Z:13.92 [[ 7.54852019e-01 -6.55793076e-01 -1.15703074e-02 8.91739432e+02] [ 6.55714175e-01 7.54940682e-01 -1.01728825e-02 4.41386532e+01] [ 1.54062016e-02 9.22063338e-05 9.99881313e-01 1.39242645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.9592541539998 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:891.76, Y:44.16, Z:13.92 [[ 7.56256319e-01 -6.54173199e-01 -1.15674237e-02 8.91759630e+02] [ 6.54094059e-01 7.56344768e-01 -1.01761604e-02 4.41575701e+01] [ 1.54059318e-02 1.29602507e-04 9.99881313e-01 1.39216039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.9892541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:891.78, Y:44.18, Z:13.92 [[ 7.57222077e-01 -6.53055091e-01 -1.15660722e-02 8.91781033e+02] [ 6.52975796e-01 7.57310388e-01 -1.01776963e-02 4.41757971e+01] [ 1.54057030e-02 1.54411123e-04 9.99881313e-01 1.39243052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.0192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:891.80, Y:44.19, Z:13.93 [[ 7.58165948e-01 -6.51959115e-01 -1.15632128e-02 8.91801291e+02] [ 6.51879643e-01 7.58254100e-01 -1.01809439e-02 4.41932030e+01] [ 1.54054127e-02 1.81021921e-04 9.99881313e-01 1.39260168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.0492541539999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:891.82, Y:44.21, Z:13.92 [[ 7.59430457e-01 -6.50485756e-01 -1.15612698e-02 8.91822872e+02] [ 6.50406079e-01 7.59518424e-01 -1.01831498e-02 4.42113742e+01] [ 1.54049913e-02 2.13873901e-04 9.99881313e-01 1.39248079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.0792541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:891.84, Y:44.23, Z:13.93 [[ 7.60225474e-01 -6.49556490e-01 -1.15583179e-02 8.91844259e+02] [ 6.49476655e-01 7.60313297e-01 -1.01864993e-02 4.42292532e+01] [ 1.54046495e-02 2.37178624e-04 9.99881313e-01 1.39266275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.1092541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:891.87, Y:44.25, Z:13.93 [[ 7.60801695e-01 -6.48881541e-01 -1.15553771e-02 8.91865954e+02] [ 6.48801578e-01 7.60889401e-01 -1.01898341e-02 4.42476715e+01] [ 1.54043592e-02 2.55296142e-04 9.99881313e-01 1.39269950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.1392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:891.89, Y:44.26, Z:13.93 [[ 7.62144558e-01 -6.47303804e-01 -1.15524369e-02 8.91886895e+02] [ 6.47223608e-01 7.62232052e-01 -1.01931664e-02 4.42647750e+01] [ 1.54037131e-02 2.91656383e-04 9.99881313e-01 1.39279752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.1692541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:891.91, Y:44.28, Z:13.93 [[ 7.61535275e-01 -6.48020521e-01 -1.15511631e-02 8.91908804e+02] [ 6.47940386e-01 7.61622824e-01 -1.01946097e-02 4.42826302e+01] [ 1.54039458e-02 2.79089873e-04 9.99881313e-01 1.39257657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.1992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:891.93, Y:44.30, Z:13.93 [[ 7.60933630e-01 -6.48726944e-01 -1.15482786e-02 8.91930542e+02] [ 6.48646840e-01 7.61021209e-01 -1.01978762e-02 4.43001505e+01] [ 1.54041220e-02 2.69152550e-04 9.99881313e-01 1.39278023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.2292541539998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:891.95, Y:44.32, Z:13.93 [[ 7.59770077e-01 -6.50089327e-01 -1.15454041e-02 8.91951844e+02] [ 6.50009331e-01 7.59857754e-01 -1.02011295e-02 4.43180140e+01] [ 1.54045102e-02 2.45892528e-04 9.99881313e-01 1.39260368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.2592541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:891.97, Y:44.33, Z:13.93 [[ 7.56315943e-01 -6.54105051e-01 -1.15229134e-02 8.91974932e+02] [ 6.54025132e-01 7.56403691e-01 -1.02265738e-02 4.43346832e+01] [ 1.54052278e-02 1.98245886e-04 9.99881313e-01 1.39268207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.2892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:892.00, Y:44.35, Z:13.93 [[ 7.55138168e-01 -6.55464052e-01 -1.15422882e-02 8.91996442e+02] [ 6.55384626e-01 7.55226362e-01 -1.02046594e-02 4.43516502e+01] [ 1.54058277e-02 1.41289550e-04 9.99881313e-01 1.39306709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.3192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:892.02, Y:44.37, Z:13.93 [[ 7.53036367e-01 -6.57877668e-01 -1.15413835e-02 8.92017379e+02] [ 6.57798509e-01 7.53124801e-01 -1.02056824e-02 4.43702836e+01] [ 1.54061927e-02 9.33451531e-05 9.99881313e-01 1.39324957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.3492541539998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:892.04, Y:44.39, Z:13.93 [[ 7.49782448e-01 -6.61583788e-01 -1.15400508e-02 8.92038034e+02] [ 6.61505043e-01 7.49871250e-01 -1.02071891e-02 4.43895067e+01] [ 1.54064632e-02 1.93694284e-05 9.99881313e-01 1.39323152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.3792541539999 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:892.06, Y:44.41, Z:13.93 [[ 7.47571610e-01 -6.64081005e-01 -1.15371916e-02 8.92059278e+02] [ 6.64002507e-01 7.47660631e-01 -1.02104200e-02 4.44085841e+01] [ 1.54064499e-02 -2.77040243e-05 9.99881313e-01 1.39312493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.4092541539999 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:892.08, Y:44.43, Z:13.93 [[ 7.45409011e-01 -6.66507589e-01 -1.15343373e-02 8.92080638e+02] [ 6.66429330e-01 7.45498242e-01 -1.02136433e-02 4.44272588e+01] [ 1.54062990e-02 -7.34789267e-05 9.99881313e-01 1.39332520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.4392541539999 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:892.10, Y:44.45, Z:13.93 [[ 7.41201418e-01 -6.71183644e-01 -1.15314396e-02 8.92102119e+02] [ 6.71105897e-01 7.41291096e-01 -1.02169138e-02 4.44455693e+01] [ 1.54055790e-02 -1.66026086e-04 9.99881313e-01 1.39343977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.4692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:892.12, Y:44.46, Z:13.94 [[ 7.39593086e-01 -6.72955541e-01 -1.15285420e-02 8.92122996e+02] [ 6.72877959e-01 7.39682905e-01 -1.02201824e-02 4.44646116e+01] [ 1.54051938e-02 -1.98525593e-04 9.99881313e-01 1.39364593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.4992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:892.14, Y:44.48, Z:13.94 [[ 7.35970461e-01 -6.76915534e-01 -1.15256668e-02 8.92142211e+02] [ 6.76838384e-01 7.36060652e-01 -1.02234238e-02 4.44841577e+01] [ 1.54039842e-02 -2.76875831e-04 9.99881313e-01 1.39353976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.5292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:892.16, Y:44.50, Z:13.93 [[ 7.34129462e-01 -6.78911721e-01 -1.15242095e-02 8.92162809e+02] [ 6.78834791e-01 7.34219841e-01 -1.02250663e-02 4.45036461e+01] [ 1.54032206e-02 -3.16511951e-04 9.99881313e-01 1.39347072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.5592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:892.18, Y:44.52, Z:13.93 [[ 7.31061109e-01 -6.82214712e-01 -1.15213769e-02 8.92183290e+02] [ 6.82138139e-01 7.31151791e-01 -1.02282570e-02 4.45240587e+01] [ 1.54017427e-02 -3.81689728e-04 9.99881313e-01 1.39341493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.5892541539998 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:892.20, Y:44.54, Z:13.93 [[ 7.29428895e-01 -6.83959652e-01 -1.15187937e-02 8.92204126e+02] [ 6.83883250e-01 7.29519721e-01 -1.02311652e-02 4.45438775e+01] [ 1.54008914e-02 -4.14602551e-04 9.99881313e-01 1.39304386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.6192541539999 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:892.22, Y:44.56, Z:13.93 [[ 7.27991142e-01 -6.85489806e-01 -1.15162304e-02 8.92223565e+02] [ 6.85413550e-01 7.28082090e-01 -1.02340497e-02 4.45632120e+01] [ 1.54000979e-02 -4.43082876e-04 9.99881313e-01 1.39316281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.6492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:892.24, Y:44.58, Z:13.94 [[ 7.28038372e-01 -6.85439677e-01 -1.15142414e-02 8.92244688e+02] [ 6.85363380e-01 7.28129285e-01 -1.02362871e-02 4.45832999e+01] [ 1.54002137e-02 -4.39029643e-04 9.99881313e-01 1.39368419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.6792541539999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:892.26, Y:44.60, Z:13.93 [[ 7.27719992e-01 -6.85777730e-01 -1.15116710e-02 8.92263589e+02] [ 6.85701429e-01 7.27810902e-01 -1.02391769e-02 4.46025649e+01] [ 1.54001192e-02 -4.42315462e-04 9.99881313e-01 1.39349807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.7092541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:892.28, Y:44.62, Z:13.94 [[ 7.29170354e-01 -6.84235429e-01 -1.15096736e-02 8.92283016e+02] [ 6.84158901e-01 7.29261073e-01 -1.02414217e-02 4.46240569e+01] [ 1.54011005e-02 -4.06704538e-04 9.99881313e-01 1.39375770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.7392541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:892.30, Y:44.64, Z:13.94 [[ 7.30114149e-01 -6.83228304e-01 -1.15071291e-02 8.92303222e+02] [ 6.83151606e-01 7.30204724e-01 -1.02442798e-02 4.46443235e+01] [ 1.54017420e-02 -3.81620152e-04 9.99881313e-01 1.39368518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.7692541539999 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:892.32, Y:44.67, Z:13.94 [[ 7.33258040e-01 -6.79853146e-01 -1.15042324e-02 8.92321811e+02] [ 6.79775979e-01 7.33348216e-01 -1.02475318e-02 4.46655814e+01] [ 1.54034250e-02 -3.06215743e-04 9.99881313e-01 1.39363973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.7992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:892.34, Y:44.69, Z:13.94 [[ 7.35574407e-01 -6.77346300e-01 -1.15013534e-02 8.92342154e+02] [ 6.77268775e-01 7.35664277e-01 -1.02507620e-02 4.46858037e+01] [ 1.54044505e-02 -2.49309332e-04 9.99881313e-01 1.39406082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.8292541539998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:892.36, Y:44.71, Z:13.94 [[ 7.37217331e-01 -6.75557832e-01 -1.14988221e-02 8.92361887e+02] [ 6.75480045e-01 7.37306973e-01 -1.02536007e-02 4.47059769e+01] [ 1.54050620e-02 -2.08092729e-04 9.99881313e-01 1.39392670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.8592541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:892.38, Y:44.73, Z:13.94 [[ 7.40972948e-01 -6.71436470e-01 -1.14959351e-02 8.92379760e+02] [ 6.71358134e-01 7.41062111e-01 -1.02568365e-02 4.47261220e+01] [ 1.54060160e-02 -1.17851161e-04 9.99881313e-01 1.39395577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.8892541539999 meters Centerline goodness : 0.999566 Centerline is valid? [True, True] Translation: X:892.40, Y:44.75, Z:13.94 [[ 7.43579377e-01 -6.68548875e-01 -1.14939729e-02 8.92398877e+02] [ 6.68470159e-01 7.43668205e-01 -1.02590348e-02 4.47474381e+01] [ 1.54063684e-02 -5.49711592e-05 9.99881313e-01 1.39384662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.9192541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:892.42, Y:44.77, Z:13.94 [[ 7.44745438e-01 -6.67249718e-01 -1.14911347e-02 8.92419290e+02] [ 6.67170798e-01 7.44834085e-01 -1.02622130e-02 4.47670887e+01] [ 1.54064475e-02 -2.38131960e-05 9.99881313e-01 1.39394042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.9492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:892.44, Y:44.79, Z:13.94 [[ 7.46580725e-01 -6.65195640e-01 -1.14883091e-02 8.92439258e+02] [ 6.65116428e-01 7.46669110e-01 -1.02653751e-02 4.47872846e+01] [ 1.54064483e-02 2.28680907e-05 9.99881313e-01 1.39407621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.9792541539998 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:892.46, Y:44.81, Z:13.94 [[ 7.46735804e-01 -6.65021595e-01 -1.14854988e-02 8.92459803e+02] [ 6.64942314e-01 7.46824127e-01 -1.02685185e-02 4.48071301e+01] [ 1.54064342e-02 3.06762598e-05 9.99881313e-01 1.39380304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.0092541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:892.48, Y:44.83, Z:13.94 [[ 7.47257928e-01 -6.64434902e-01 -1.14825769e-02 8.92479185e+02] [ 6.64355501e-01 7.47346144e-01 -1.02717848e-02 4.48268744e+01] [ 1.54063919e-02 4.71595131e-05 9.99881313e-01 1.39407276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.0392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:892.50, Y:44.85, Z:13.94 [[ 7.46970985e-01 -6.64757494e-01 -1.14813849e-02 8.92499181e+02] [ 6.64678111e-01 7.47059216e-01 -1.02731171e-02 4.48455611e+01] [ 1.54064060e-02 4.22951516e-05 9.99881313e-01 1.39415364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.0692541539999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:892.52, Y:44.86, Z:13.94 [[ 7.46004499e-01 -6.65841943e-01 -1.14801313e-02 8.92520034e+02] [ 6.65762667e-01 7.46092827e-01 -1.02745177e-02 4.48646029e+01] [ 1.54064485e-02 2.17936321e-05 9.99881313e-01 1.39394548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.0992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:892.54, Y:44.88, Z:13.94 [[ 7.45744538e-01 -6.66133137e-01 -1.14772647e-02 8.92541980e+02] [ 6.66053845e-01 7.45832852e-01 -1.02777189e-02 4.48840823e+01] [ 1.54064502e-02 2.00764951e-05 9.99881313e-01 1.39428681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.1292541539999 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:892.56, Y:44.90, Z:13.94 [[ 7.44844153e-01 -6.67139804e-01 -1.14747594e-02 8.92562396e+02] [ 6.67060589e-01 7.44932535e-01 -1.02805153e-02 4.49027762e+01] [ 1.54064625e-02 3.02197343e-06 9.99881313e-01 1.39432103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.1592541539999 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:892.58, Y:44.92, Z:13.94 [[ 7.44778575e-01 -6.67213063e-01 -1.14718221e-02 8.92583841e+02] [ 6.67133806e-01 7.44866920e-01 -1.02837919e-02 4.49221822e+01] [ 1.54064611e-02 5.90757480e-06 9.99881313e-01 1.39398942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.1892541539999 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:892.60, Y:44.94, Z:13.94 [[ 7.45079411e-01 -6.66877146e-01 -1.14692183e-02 8.92604485e+02] [ 6.66797805e-01 7.45167680e-01 -1.02866950e-02 4.49406533e+01] [ 1.54064526e-02 1.67550875e-05 9.99881313e-01 1.39397464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.2192541539998 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:892.62, Y:44.96, Z:13.94 [[ 7.45712357e-01 -6.66169353e-01 -1.14662092e-02 8.92624698e+02] [ 6.66089876e-01 7.45800504e-01 -1.02900480e-02 4.49589187e+01] [ 1.54064193e-02 3.58901007e-05 9.99881313e-01 1.39399982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.2492541539999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:892.65, Y:44.98, Z:13.94 [[ 7.47180521e-01 -6.64522253e-01 -1.14649386e-02 8.92645421e+02] [ 6.64442560e-01 7.47268473e-01 -1.02914636e-02 4.49772451e+01] [ 1.54062937e-02 7.17879633e-05 9.99881313e-01 1.39398692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.2792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:892.67, Y:45.00, Z:13.94 [[ 7.49358747e-01 -6.62065021e-01 -1.14619691e-02 8.92666495e+02] [ 6.61984989e-01 7.49446390e-01 -1.02947697e-02 4.49953838e+01] [ 1.54059383e-02 1.26824292e-04 9.99881313e-01 1.39431394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.3092541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:892.69, Y:45.01, Z:13.94 [[ 7.49664579e-01 -6.61718719e-01 -1.14610498e-02 8.92687061e+02] [ 6.61638631e-01 7.49752171e-01 -1.02957931e-02 4.50140276e+01] [ 1.54058660e-02 1.35318070e-04 9.99881313e-01 1.39425450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.3392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:892.71, Y:45.03, Z:13.95 [[ 7.50061270e-01 -6.61269085e-01 -1.14581477e-02 8.92708831e+02] [ 6.61188895e-01 7.50148769e-01 -1.02990217e-02 4.50332635e+01] [ 1.54057401e-02 1.48897294e-04 9.99881313e-01 1.39451637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.3692541539999 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:892.73, Y:45.05, Z:13.94 [[ 7.49780168e-01 -6.61587841e-01 -1.14555365e-02 8.92729653e+02] [ 6.61507644e-01 7.49867660e-01 -1.03019254e-02 4.50514675e+01] [ 1.54057649e-02 1.46254391e-04 9.99881313e-01 1.39414884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.3992541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:892.75, Y:45.07, Z:13.95 [[ 7.49174343e-01 -6.62273807e-01 -1.14546119e-02 8.92752660e+02] [ 6.62193674e-01 7.49261895e-01 -1.03029533e-02 4.50693298e+01] [ 1.54058803e-02 1.33536704e-04 9.99881313e-01 1.39458153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.4292541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:892.78, Y:45.09, Z:13.95 [[ 7.47512266e-01 -6.64149278e-01 -1.14520517e-02 8.92775665e+02] [ 6.64069321e-01 7.47599978e-01 -1.03057983e-02 4.50866669e+01] [ 1.54061421e-02 9.87544905e-05 9.99881313e-01 1.39492442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.4592541539998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:892.80, Y:45.10, Z:13.95 [[ 7.46051443e-01 -6.65789873e-01 -1.14494513e-02 8.92796649e+02] [ 6.65710065e-01 7.46139290e-01 -1.03086864e-02 4.51042956e+01] [ 1.54063045e-02 6.87954261e-05 9.99881313e-01 1.39478777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.4892541539999 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:892.82, Y:45.12, Z:13.95 [[ 7.44852876e-01 -6.67130521e-01 -1.14481641e-02 8.92818304e+02] [ 6.67050849e-01 7.44940847e-01 -1.03101157e-02 4.51226987e+01] [ 1.54063979e-02 4.30117457e-05 9.99881313e-01 1.39477842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.5192541539999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:892.83, Y:45.14, Z:13.95 [[ 7.40854327e-01 -6.71568219e-01 -1.14452480e-02 8.92833527e+02] [ 6.71489024e-01 7.40942727e-01 -1.03133519e-02 4.51415828e+01] [ 1.54063926e-02 -4.46670598e-05 9.99881313e-01 1.39452835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.5492541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:892.86, Y:45.16, Z:13.95 [[ 7.43515138e-01 -6.68623370e-01 -1.13149451e-02 8.92861008e+02] [ 6.68541615e-01 7.43601200e-01 -1.04577671e-02 4.51587256e+01] [ 1.54061143e-02 2.10996483e-04 9.99881297e-01 1.39511470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.5792541539998 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:892.88, Y:45.18, Z:13.95 [[ 7.43349484e-01 -6.68805385e-01 -1.14412310e-02 8.92881719e+02] [ 6.68725794e-01 7.43437527e-01 -1.03177303e-02 4.51772442e+01] [ 1.54063941e-02 1.86332222e-05 9.99881314e-01 1.39480238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.6092541539999 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:892.90, Y:45.20, Z:13.95 [[ 7.43160047e-01 -6.69015893e-01 -1.14402408e-02 8.92902894e+02] [ 6.68936310e-01 7.43248098e-01 -1.03188282e-02 4.51964479e+01] [ 1.54063973e-02 1.57483758e-05 9.99881314e-01 1.39484637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.6392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:892.92, Y:45.22, Z:13.95 [[ 7.41334734e-01 -6.71038002e-01 -1.14373172e-02 8.92917473e+02] [ 6.70958610e-01 7.41422956e-01 -1.03220676e-02 4.52153949e+01] [ 1.54063892e-02 -2.18591964e-05 9.99881314e-01 1.39466340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.6692541539999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:892.94, Y:45.23, Z:13.95 [[ 7.44740615e-01 -6.67258149e-01 -1.13127463e-02 8.92944736e+02] [ 6.67176203e-01 7.44826492e-01 -1.04599413e-02 4.52336111e+01] [ 1.54055142e-02 2.42347982e-04 9.99881299e-01 1.39476252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.6992541539998 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:892.96, Y:45.25, Z:13.94 [[ 7.43148626e-01 -6.69028677e-01 -1.14345653e-02 8.92961396e+02] [ 6.68949000e-01 7.43236590e-01 -1.03250319e-02 4.52532144e+01] [ 1.54063298e-02 2.38922496e-05 9.99881315e-01 1.39433523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.7292541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:892.98, Y:45.27, Z:13.94 [[ 7.43843777e-01 -6.68257390e-01 -1.13355799e-02 8.92982462e+02] [ 6.68175946e-01 7.43930121e-01 -1.04345562e-02 4.52717784e+01] [ 1.54058486e-02 1.87517888e-04 9.99881305e-01 1.39432826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.7592541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:893.01, Y:45.29, Z:13.95 [[ 7.46176265e-01 -6.65652101e-01 -1.13252802e-02 8.93008557e+02] [ 6.65570183e-01 7.46262162e-01 -1.04459474e-02 4.52891599e+01] [ 1.54049949e-02 2.56749211e-04 9.99881303e-01 1.39466036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.7892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:893.03, Y:45.31, Z:13.95 [[ 7.44602923e-01 -6.67409822e-01 -1.14287375e-02 8.93026634e+02] [ 6.67329855e-01 7.44690624e-01 -1.03315029e-02 4.53075311e+01] [ 1.54062201e-02 6.61295376e-05 9.99881315e-01 1.39467736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.8192541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:893.05, Y:45.32, Z:13.95 [[ 7.46226757e-01 -6.65595136e-01 -1.13464543e-02 8.93051971e+02] [ 6.65513568e-01 7.46312980e-01 -1.04224427e-02 4.53249316e+01] [ 1.54051333e-02 2.26286379e-04 9.99881308e-01 1.39486672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.8492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:893.07, Y:45.34, Z:13.95 [[ 7.45998161e-01 -6.65849995e-01 -1.14249110e-02 8.93073569e+02] [ 6.65769779e-01 7.46085634e-01 -1.03357183e-02 4.53418868e+01] [ 1.54059999e-02 1.04066340e-04 9.99881315e-01 1.39504926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.8792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:893.09, Y:45.36, Z:13.95 [[ 7.44258654e-01 -6.67793800e-01 -1.14235505e-02 8.93092787e+02] [ 6.67713790e-01 7.44346315e-01 -1.03372218e-02 4.53609364e+01] [ 1.54062103e-02 6.59045606e-05 9.99881315e-01 1.39509742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.9092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:893.12, Y:45.38, Z:13.95 [[ 7.45430177e-01 -6.66486770e-01 -1.13682283e-02 8.93116353e+02] [ 6.66405673e-01 7.45516837e-01 -1.03983064e-02 4.53776609e+01] [ 1.54055393e-02 1.75359549e-04 9.99881312e-01 1.39515518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.9392541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:893.14, Y:45.40, Z:13.95 [[ 7.43915614e-01 -6.68175986e-01 -1.14197914e-02 8.93138048e+02] [ 6.68095958e-01 7.44003258e-01 -1.03413663e-02 4.53950342e+01] [ 1.54062146e-02 6.35873373e-05 9.99881315e-01 1.39514324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.9692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:893.16, Y:45.41, Z:13.95 [[ 7.43065677e-01 -6.69121107e-01 -1.14168213e-02 8.93159511e+02] [ 6.69041140e-01 7.43153377e-01 -1.03446442e-02 4.54116070e+01] [ 1.54062691e-02 4.84269414e-05 9.99881315e-01 1.39532521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.9992541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:893.18, Y:45.43, Z:13.95 [[ 7.42104400e-01 -6.70187097e-01 -1.14155343e-02 8.93180641e+02] [ 6.70107234e-01 7.42192195e-01 -1.03460642e-02 4.54296892e+01] [ 1.54063192e-02 2.82276409e-05 9.99881315e-01 1.39535568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.0292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:893.20, Y:45.45, Z:13.95 [[ 7.41237342e-01 -6.71146002e-01 -1.14125721e-02 8.93202078e+02] [ 6.71066202e-01 7.41325195e-01 -1.03493308e-02 4.54463012e+01] [ 1.54063392e-02 1.27190869e-05 9.99881315e-01 1.39540707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.0592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:893.22, Y:45.46, Z:13.95 [[ 7.40823964e-01 -6.71602291e-01 -1.14112885e-02 8.93223320e+02] [ 6.71522523e-01 7.40911845e-01 -1.03507459e-02 4.54643716e+01] [ 1.54063435e-02 5.14329163e-06 9.99881315e-01 1.39543998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.0892541539998 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:893.25, Y:45.48, Z:13.95 [[ 7.39935191e-01 -6.72581416e-01 -1.14083951e-02 8.93245264e+02] [ 6.72501716e-01 7.40023134e-01 -1.03539340e-02 4.54832509e+01] [ 1.54063399e-02 -1.09251251e-05 9.99881315e-01 1.39519241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.1192541539999 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:893.27, Y:45.50, Z:13.95 [[ 7.40075428e-01 -6.72427147e-01 -1.14058642e-02 8.93265020e+02] [ 6.72347385e-01 7.40163315e-01 -1.03567212e-02 4.55011274e+01] [ 1.54063428e-02 -3.94807925e-06 9.99881315e-01 1.39528627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.1492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:893.29, Y:45.52, Z:13.95 [[ 7.41248180e-01 -6.71134180e-01 -1.14038995e-02 8.93285143e+02] [ 6.71054232e-01 7.41335897e-01 -1.03588841e-02 4.55204202e+01] [ 1.54063213e-02 2.58689306e-05 9.99881315e-01 1.39548215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.1792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:893.30, Y:45.54, Z:13.95 [[ 7.41748788e-01 -6.70580907e-01 -1.14010450e-02 8.93304502e+02] [ 6.70500845e-01 7.41836401e-01 -1.03620249e-02 4.55387831e+01] [ 1.54062862e-02 4.16090691e-05 9.99881315e-01 1.39546754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.2092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:893.33, Y:45.56, Z:13.96 [[ 7.42140079e-01 -6.70147861e-01 -1.13994723e-02 8.93325053e+02] [ 6.70067721e-01 7.42227621e-01 -1.03637548e-02 4.55577365e+01] [ 1.54062513e-02 5.29394090e-05 9.99881315e-01 1.39550899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.2392541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:893.35, Y:45.58, Z:13.95 [[ 7.42660282e-01 -6.69571374e-01 -1.13965478e-02 8.93346275e+02] [ 6.69491117e-01 7.42747717e-01 -1.03669697e-02 4.55778323e+01] [ 1.54061860e-02 6.92490778e-05 9.99881315e-01 1.39524225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.2692541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:893.37, Y:45.60, Z:13.95 [[ 7.43559568e-01 -6.68572618e-01 -1.13940050e-02 8.93366652e+02] [ 6.68492200e-01 7.43646856e-01 -1.03697637e-02 4.55968698e+01] [ 1.54060560e-02 9.37335227e-05 9.99881315e-01 1.39533791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.2992541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:893.39, Y:45.62, Z:13.95 [[ 7.44002739e-01 -6.68079462e-01 -1.13910828e-02 8.93387399e+02] [ 6.67998938e-01 7.44089928e-01 -1.03729727e-02 4.56163043e+01] [ 1.54059600e-02 1.08288851e-04 9.99881315e-01 1.39542829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.3292541539998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:893.41, Y:45.63, Z:13.95 [[ 7.44429100e-01 -6.67604392e-01 -1.13881803e-02 8.93407105e+02] [ 6.67523764e-01 7.44516192e-01 -1.03761583e-02 4.56349928e+01] [ 1.54058535e-02 1.22433198e-04 9.99881315e-01 1.39546545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.3592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:893.43, Y:45.66, Z:13.96 [[ 7.45102591e-01 -6.66852665e-01 -1.13865133e-02 8.93427223e+02] [ 6.66771920e-01 7.45189576e-01 -1.03779872e-02 4.56551366e+01] [ 1.54056995e-02 1.40457841e-04 9.99881315e-01 1.39570272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.3892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:893.45, Y:45.67, Z:13.96 [[ 7.45298321e-01 -6.66633953e-01 -1.13835049e-02 8.93446514e+02] [ 6.66553133e-01 7.45385236e-01 -1.03812861e-02 4.56735667e+01] [ 1.54056143e-02 1.49444260e-04 9.99881315e-01 1.39568176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.4192541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:893.47, Y:45.69, Z:13.96 [[ 7.44857004e-01 -6.67127041e-01 -1.13822015e-02 8.93466324e+02] [ 6.67046256e-01 7.44943952e-01 -1.03827149e-02 4.56929946e+01] [ 1.54056921e-02 1.41183018e-04 9.99881315e-01 1.39566925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.4492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:893.49, Y:45.71, Z:13.96 [[ 7.44824596e-01 -6.67163275e-01 -1.13791646e-02 8.93486389e+02] [ 6.67082444e-01 7.44911500e-01 -1.03860422e-02 4.57116061e+01] [ 1.54056565e-02 1.44938746e-04 9.99881315e-01 1.39581597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.4792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:893.51, Y:45.73, Z:13.96 [[ 7.43949046e-01 -6.68139491e-01 -1.13771005e-02 8.93506089e+02] [ 6.68058739e-01 7.44036024e-01 -1.03883029e-02 4.57298518e+01] [ 1.54058080e-02 1.27796604e-04 9.99881315e-01 1.39585115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.5092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:893.53, Y:45.75, Z:13.96 [[ 7.43151666e-01 -6.69026302e-01 -1.13758086e-02 8.93526983e+02] [ 6.68945632e-01 7.43238720e-01 -1.03897173e-02 4.57489121e+01] [ 1.54059356e-02 1.11338235e-04 9.99881315e-01 1.39594273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.5392541539999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:893.55, Y:45.77, Z:13.96 [[ 7.41863344e-01 -6.70454649e-01 -1.13729014e-02 8.93547357e+02] [ 6.70374098e-01 7.41950508e-01 -1.03928986e-02 4.57682763e+01] [ 1.54060972e-02 8.60120179e-05 9.99881315e-01 1.39583559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.5692541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:893.57, Y:45.79, Z:13.96 [[ 7.40571540e-01 -6.71881329e-01 -1.13698685e-02 8.93567639e+02] [ 6.71800895e-01 7.40658812e-01 -1.03962157e-02 4.57870108e+01] [ 1.54062165e-02 6.08536430e-05 9.99881315e-01 1.39597885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.5992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:893.59, Y:45.81, Z:13.96 [[ 7.39943597e-01 -6.72572842e-01 -1.13686223e-02 8.93587254e+02] [ 6.72492469e-01 7.40030925e-01 -1.03975782e-02 4.58051376e+01] [ 1.54062608e-02 4.83085739e-05 9.99881315e-01 1.39619674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.6292541539999 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:893.61, Y:45.82, Z:13.96 [[ 7.37864826e-01 -6.74852797e-01 -1.13666235e-02 8.93607497e+02] [ 6.74772660e-01 7.37952371e-01 -1.03997628e-02 4.58246938e+01] [ 1.54063358e-02 3.73237724e-06 9.99881315e-01 1.39594244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.6592541539999 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:893.63, Y:45.84, Z:13.96 [[ 7.37037794e-01 -6.75755990e-01 -1.13636643e-02 8.93628386e+02] [ 6.75675910e-01 7.37125391e-01 -1.04029953e-02 4.58437611e+01] [ 1.54063319e-02 -1.07535013e-05 9.99881315e-01 1.39594699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.6892541539999 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:893.65, Y:45.86, Z:13.96 [[ 7.35179569e-01 -6.77777202e-01 -1.13607161e-02 8.93648479e+02] [ 6.77697313e-01 7.35267341e-01 -1.04062139e-02 4.58625333e+01] [ 1.54062581e-02 -4.86909982e-05 9.99881315e-01 1.39596947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.7192541539998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:893.67, Y:45.88, Z:13.96 [[ 7.34252519e-01 -6.78781421e-01 -1.13587109e-02 8.93669185e+02] [ 6.78701619e-01 7.34340369e-01 -1.04084022e-02 4.58815648e+01] [ 1.54061900e-02 -6.67799141e-05 9.99881315e-01 1.39614206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.7492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:893.69, Y:45.90, Z:13.96 [[ 7.33485116e-01 -6.79610646e-01 -1.13558101e-02 8.93689516e+02] [ 6.79530894e-01 7.33573012e-01 -1.04115661e-02 4.59002648e+01] [ 1.54061270e-02 -7.98950085e-05 9.99881315e-01 1.39633608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.7792541539999 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:893.71, Y:45.92, Z:13.96 [[ 7.31331134e-01 -6.81928066e-01 -1.13527859e-02 8.93709117e+02] [ 6.81848541e-01 7.31419236e-01 -1.04148627e-02 4.59195821e+01] [ 1.54058331e-02 -1.24167151e-04 9.99881315e-01 1.39599504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.8092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:893.73, Y:45.94, Z:13.96 [[ 7.30133085e-01 -6.83210666e-01 -1.13518516e-02 8.93729358e+02] [ 6.83131280e-01 7.30221311e-01 -1.04158809e-02 4.59388128e+01] [ 1.54056049e-02 -1.49825623e-04 9.99881315e-01 1.39635874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.8392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:893.75, Y:45.96, Z:13.96 [[ 7.29365529e-01 -6.84030064e-01 -1.13488371e-02 8.93749230e+02] [ 6.83950727e-01 7.29453799e-01 -1.04191644e-02 4.59575839e+01] [ 1.54054740e-02 -1.62666057e-04 9.99881315e-01 1.39636056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.8692541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:893.77, Y:45.98, Z:13.96 [[ 7.28105333e-01 -6.85371329e-01 -1.13475315e-02 8.93769417e+02] [ 6.85292131e-01 7.28193728e-01 -1.04205861e-02 4.59769092e+01] [ 1.54051722e-02 -1.89089690e-04 9.99881315e-01 1.39623633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.8992541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:893.79, Y:46.00, Z:13.96 [[ 7.25978868e-01 -6.87623431e-01 -1.13445823e-02 8.93789176e+02] [ 6.87544458e-01 7.26067464e-01 -1.04237958e-02 4.59955884e+01] [ 1.54045783e-02 -2.32449250e-04 9.99881315e-01 1.39627890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.9292541539999 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:893.81, Y:46.02, Z:13.96 [[ 7.24542112e-01 -6.89137189e-01 -1.13429539e-02 8.93809921e+02] [ 6.89058373e-01 7.24630848e-01 -1.04255675e-02 4.60152569e+01] [ 1.54041006e-02 -2.62194606e-04 9.99881315e-01 1.39629921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.9592541539998 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:893.83, Y:46.03, Z:13.96 [[ 7.22395963e-01 -6.91386630e-01 -1.13402095e-02 8.93829477e+02] [ 6.91308043e-01 7.22484903e-01 -1.04285518e-02 4.60341520e+01] [ 1.54032914e-02 -3.06034356e-04 9.99881315e-01 1.39634642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.9892541539999 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:893.85, Y:46.05, Z:13.97 [[ 7.21538263e-01 -6.92281720e-01 -1.13382217e-02 8.93849265e+02] [ 6.92203210e-01 7.21627270e-01 -1.04307125e-02 4.60529164e+01] [ 1.54029616e-02 -3.22195265e-04 9.99881315e-01 1.39661082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.0192541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:893.87, Y:46.07, Z:13.97 [[ 7.20490390e-01 -6.93372253e-01 -1.13365480e-02 8.93869626e+02] [ 6.93293849e-01 7.20579490e-01 -1.04325312e-02 4.60727885e+01] [ 1.54025117e-02 -3.43020509e-04 9.99881315e-01 1.39667796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.0492541539999 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:893.89, Y:46.09, Z:13.96 [[ 7.18583343e-01 -6.95348492e-01 -1.13336944e-02 8.93887856e+02] [ 6.95270285e-01 7.18672616e-01 -1.04356305e-02 4.60934842e+01] [ 1.54016157e-02 -3.81110656e-04 9.99881315e-01 1.39639409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.0792541539998 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:893.91, Y:46.11, Z:13.97 [[ 7.17714700e-01 -6.96245065e-01 -1.13321735e-02 8.93906194e+02] [ 6.96166943e-01 7.17804048e-01 -1.04372817e-02 4.61137772e+01] [ 1.54011859e-02 -3.98094070e-04 9.99881315e-01 1.39651632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.1092541539999 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:893.93, Y:46.13, Z:13.97 [[ 7.17144951e-01 -6.96831930e-01 -1.13305371e-02 8.93925703e+02] [ 6.96753853e-01 7.17234337e-01 -1.04390579e-02 4.61339538e+01] [ 1.54009191e-02 -4.08277690e-04 9.99881315e-01 1.39652674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.1392541539999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:893.95, Y:46.15, Z:13.97 [[ 7.17011244e-01 -6.96969554e-01 -1.13277385e-02 8.93945669e+02] [ 6.96891446e-01 7.17100603e-01 -1.04420939e-02 4.61543381e+01] [ 1.54009496e-02 -4.07105297e-04 9.99881315e-01 1.39666290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.1692541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:893.96, Y:46.18, Z:13.97 [[ 7.17329796e-01 -6.96641737e-01 -1.13249578e-02 8.93963923e+02] [ 6.96563540e-01 7.17419078e-01 -1.04451088e-02 4.61752171e+01] [ 1.54012395e-02 -3.95964898e-04 9.99881315e-01 1.39676429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.1992541539998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:893.98, Y:46.20, Z:13.97 [[ 7.17646189e-01 -6.96315820e-01 -1.13237028e-02 8.93983919e+02] [ 6.96237562e-01 7.17735417e-01 -1.04464692e-02 4.61955586e+01] [ 1.54014643e-02 -3.87118360e-04 9.99881315e-01 1.39693484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.2292541539998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:894.00, Y:46.22, Z:13.97 [[ 7.18995407e-01 -6.94922619e-01 -1.13207302e-02 8.94002509e+02] [ 6.94844137e-01 7.19084438e-01 -1.04496895e-02 4.62174406e+01] [ 1.54022866e-02 -3.52864253e-04 9.99881315e-01 1.39691184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.2592541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:894.02, Y:46.24, Z:13.97 [[ 7.19877488e-01 -6.94008870e-01 -1.13177192e-02 8.94021125e+02] [ 6.93930224e-01 7.19966374e-01 -1.04529496e-02 4.62374456e+01] [ 1.54028170e-02 -3.28864330e-04 9.99881315e-01 1.39689853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.2892541539999 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:894.04, Y:46.26, Z:13.97 [[ 7.22746943e-01 -6.91020124e-01 -1.13156751e-02 8.94038715e+02] [ 6.90941076e-01 7.22835472e-01 -1.04551620e-02 4.62582581e+01] [ 1.54040987e-02 -2.62028389e-04 9.99881315e-01 1.39667793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.3192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:894.06, Y:46.28, Z:13.97 [[ 7.24421040e-01 -6.89264928e-01 -1.13144459e-02 8.94058501e+02] [ 6.89185644e-01 7.24509358e-01 -1.04564921e-02 4.62787518e+01] [ 1.54047152e-02 -2.22850836e-04 9.99881316e-01 1.39673833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.3492541539998 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:894.08, Y:46.30, Z:13.97 [[ 7.25787226e-01 -6.87826247e-01 -1.13118025e-02 8.94077707e+02] [ 6.87746744e-01 7.25875347e-01 -1.04593509e-02 4.62988728e+01] [ 1.54051746e-02 -1.88392111e-04 9.99881316e-01 1.39669791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.3792541539999 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:894.10, Y:46.32, Z:13.97 [[ 7.29149807e-01 -6.84260674e-01 -1.13088641e-02 8.94096742e+02] [ 6.84180690e-01 7.29237491e-01 -1.04625270e-02 4.63204447e+01] [ 1.54059435e-02 -1.08556882e-04 9.99881316e-01 1.39655386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.4092541539999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:894.12, Y:46.34, Z:13.97 [[ 7.30859980e-01 -6.82433775e-01 -1.13063126e-02 8.94116222e+02] [ 6.82353529e-01 7.30947426e-01 -1.04652835e-02 4.63403784e+01] [ 1.54061830e-02 -6.62453912e-05 9.99881316e-01 1.39673075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.4392541539999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:894.13, Y:46.36, Z:13.97 [[ 7.34455838e-01 -6.78562344e-01 -1.13033998e-02 8.94134551e+02] [ 6.78481589e-01 7.34542814e-01 -1.04684286e-02 4.63606856e+01] [ 1.54063126e-02 1.94498429e-05 9.99881316e-01 1.39677276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.4692541539998 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:894.15, Y:46.38, Z:13.97 [[ 7.36011429e-01 -6.76874765e-01 -1.13017158e-02 8.94154168e+02] [ 6.76793783e-01 7.36098192e-01 -1.04702464e-02 4.63804366e+01] [ 1.54062182e-02 5.72900745e-05 9.99881316e-01 1.39682113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.4992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:894.17, Y:46.40, Z:13.97 [[ 7.37586388e-01 -6.75158247e-01 -1.12987056e-02 8.94169962e+02] [ 6.75077014e-01 7.37672916e-01 -1.04734938e-02 4.64019724e+01] [ 1.54060148e-02 9.76099970e-05 9.99881316e-01 1.39687995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.5292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:894.19, Y:46.42, Z:13.97 [[ 7.37589566e-01 -6.75156264e-01 -1.12094173e-02 8.94190061e+02] [ 6.75073562e-01 7.37674703e-01 -1.05697387e-02 4.64207266e+01] [ 1.54051289e-02 2.28947707e-04 9.99881308e-01 1.39691777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.5592541539999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:894.21, Y:46.44, Z:13.97 [[ 7.41000657e-01 -6.71410776e-01 -1.12069662e-02 8.94214209e+02] [ 6.71327603e-01 7.41085335e-01 -1.05723804e-02 4.64400580e+01] [ 1.54037284e-02 3.10595053e-04 9.99881307e-01 1.39719814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.5892541539998 meters Centerline goodness : 0.999569 Centerline is valid? [True, True] Translation: X:894.23, Y:46.46, Z:13.97 [[ 7.41340540e-01 -6.71034003e-01 -1.12947449e-02 8.94232052e+02] [ 6.70952223e-01 7.41426551e-01 -1.04777574e-02 4.64600994e+01] [ 1.54051553e-02 1.89352092e-04 9.99881316e-01 1.39710969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.6192541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:894.25, Y:46.48, Z:13.97 [[ 7.44791636e-01 -6.67202349e-01 -1.12447211e-02 8.94253669e+02] [ 6.67119312e-01 7.44876438e-01 -1.05316465e-02 4.64794563e+01] [ 1.54026670e-02 3.42311634e-04 9.99881313e-01 1.39731378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.6492541539999 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:894.27, Y:46.50, Z:13.97 [[ 7.45457171e-01 -6.66457885e-01 -1.12912959e-02 8.94273469e+02] [ 6.66375521e-01 7.45542624e-01 -1.04814732e-02 4.64987171e+01] [ 1.54036028e-02 2.89246171e-04 9.99881316e-01 1.39704715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.6792541539999 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:894.29, Y:46.52, Z:13.97 [[ 7.46271091e-01 -6.65546391e-01 -1.12898691e-02 8.94292570e+02] [ 6.65463899e-01 7.46356420e-01 -1.04830098e-02 4.65173223e+01] [ 1.54031956e-02 3.10166872e-04 9.99881316e-01 1.39692929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.7092541539998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:894.31, Y:46.54, Z:13.97 [[ 7.46154305e-01 -6.65677342e-01 -1.12884712e-02 8.94313034e+02] [ 6.65594842e-01 7.46239627e-01 -1.04845150e-02 4.65358804e+01] [ 1.54032086e-02 3.09517805e-04 9.99881316e-01 1.39715494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.7392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:894.34, Y:46.55, Z:13.97 [[ 7.45063748e-01 -6.66897781e-01 -1.12854319e-02 8.94335077e+02] [ 6.66815372e-01 7.45149157e-01 -1.04877854e-02 4.65539344e+01] [ 1.54036109e-02 2.88769244e-04 9.99881316e-01 1.39720337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.7692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:894.36, Y:46.57, Z:13.97 [[ 7.44036967e-01 -6.68043181e-01 -1.12827298e-02 8.94356112e+02] [ 6.67960859e-01 7.44122460e-01 -1.04906915e-02 4.65718466e+01] [ 1.54039676e-02 2.69040342e-04 9.99881316e-01 1.39713928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.7992541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:894.38, Y:46.59, Z:13.97 [[ 7.42594974e-01 -6.69645783e-01 -1.12796718e-02 8.94377345e+02] [ 6.69563596e-01 7.42680596e-01 -1.04939784e-02 4.65897244e+01] [ 1.54044418e-02 2.40317994e-04 9.99881316e-01 1.39694237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.8292541539998 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:894.40, Y:46.61, Z:13.97 [[ 7.38694348e-01 -6.73946186e-01 -1.12782537e-02 8.94401760e+02] [ 6.73864474e-01 7.38780424e-01 -1.04955023e-02 4.66064473e+01] [ 1.54055568e-02 1.52953677e-04 9.99881316e-01 1.39684688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.8592541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:894.42, Y:46.62, Z:13.97 [[ 7.36039875e-01 -6.76844267e-01 -1.12756811e-02 8.94424023e+02] [ 6.76762852e-01 7.36126231e-01 -1.04982654e-02 4.66236607e+01] [ 1.54060154e-02 9.61798607e-05 9.99881316e-01 1.39709854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.8892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:894.45, Y:46.64, Z:13.97 [[ 7.29818444e-01 -6.83548071e-01 -1.12726783e-02 8.94449226e+02] [ 6.83467400e-01 7.29905496e-01 -1.05014887e-02 4.66390220e+01] [ 1.54062622e-02 -4.03279378e-05 9.99881316e-01 1.39727784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.9192541539999 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:894.47, Y:46.66, Z:13.97 [[ 7.25955266e-01 -6.87649575e-01 -1.12700711e-02 8.94472749e+02] [ 6.87569351e-01 7.26042731e-01 -1.05042860e-02 4.66564177e+01] [ 1.54058210e-02 -1.23313687e-04 9.99881316e-01 1.39719137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.9492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:894.50, Y:46.67, Z:13.98 [[ 7.19385404e-01 -6.94519752e-01 -1.12674572e-02 8.94498129e+02] [ 6.94440320e-01 7.19473588e-01 -1.05070890e-02 4.66718176e+01] [ 1.54040187e-02 -2.65930127e-04 9.99881316e-01 1.39768858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.9792541539998 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:894.52, Y:46.69, Z:13.98 [[ 7.15659830e-01 -6.98358154e-01 -1.12648350e-02 8.94520967e+02] [ 6.98279150e-01 7.15748399e-01 -1.05098996e-02 4.66894826e+01] [ 1.54024617e-02 -3.44486445e-04 9.99881316e-01 1.39755134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.0092541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:894.54, Y:46.71, Z:13.98 [[ 7.11122240e-01 -7.02978181e-01 -1.12621935e-02 8.94540845e+02] [ 7.02899707e-01 7.11211279e-01 -1.05127294e-02 4.67077808e+01] [ 1.54000184e-02 -4.40356795e-04 9.99881316e-01 1.39756533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.0392541539999 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:894.56, Y:46.72, Z:13.97 [[ 7.05523157e-01 -7.08598303e-01 -1.12035650e-02 8.94561272e+02] [ 7.08519542e-01 7.05611946e-01 -1.05754831e-02 4.67233632e+01] [ 1.53991387e-02 -4.76696466e-04 9.99881313e-01 1.39723093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.0692541539999 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:894.59, Y:46.74, Z:13.98 [[ 7.06844792e-01 -7.07281142e-01 -1.11277195e-02 8.94589249e+02] [ 7.07200935e-01 7.06932297e-01 -1.06566878e-02 4.67398847e+01] [ 1.54038186e-02 -3.36909359e-04 9.99881297e-01 1.39782754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.0992541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:894.61, Y:46.76, Z:13.98 [[ 7.07331845e-01 -7.06791938e-01 -1.12613638e-02 8.94609209e+02] [ 7.06713932e-01 7.07421292e-01 -1.05135378e-02 4.67586915e+01] [ 1.53974123e-02 -5.22002600e-04 9.99881317e-01 1.39801025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.1292541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:894.63, Y:46.78, Z:13.98 [[ 7.07873722e-01 -7.06249255e-01 -1.12598467e-02 8.94629776e+02] [ 7.06171154e-01 7.07963087e-01 -1.05151624e-02 4.67783004e+01] [ 1.53978814e-02 -5.07971830e-04 9.99881317e-01 1.39797898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.1592541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:894.65, Y:46.80, Z:13.98 [[ 7.09070012e-01 -7.05048225e-01 -1.12569240e-02 8.94650137e+02] [ 7.04969924e-01 7.09159201e-01 -1.05182904e-02 4.67974684e+01] [ 1.53988532e-02 -4.77588539e-04 9.99881317e-01 1.39810402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.1892541539999 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:894.67, Y:46.82, Z:13.98 [[ 7.10571995e-01 -7.03534497e-01 -1.12539690e-02 8.94670415e+02] [ 7.03455956e-01 7.10660972e-01 -1.05214511e-02 4.68171476e+01] [ 1.53999603e-02 -4.40422980e-04 9.99881317e-01 1.39781460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.2192541539998 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:894.69, Y:46.84, Z:13.98 [[ 7.11372149e-01 -7.02725434e-01 -1.12530543e-02 8.94690418e+02] [ 7.02646776e-01 7.11461023e-01 -1.05224293e-02 4.68360519e+01] [ 1.54004882e-02 -4.21559214e-04 9.99881317e-01 1.39786666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.2492541539999 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:894.71, Y:46.86, Z:13.98 [[ 7.12104596e-01 -7.01983226e-01 -1.12514660e-02 8.94709693e+02] [ 7.01904449e-01 7.12193364e-01 -1.05241273e-02 4.68551630e+01] [ 1.54009803e-02 -4.03174625e-04 9.99881317e-01 1.39782923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.2792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:894.73, Y:46.88, Z:13.98 [[ 7.10576148e-01 -7.03530367e-01 -1.12499134e-02 8.94727155e+02] [ 7.03451756e-01 7.10665065e-01 -1.05257867e-02 4.68760017e+01] [ 1.54001311e-02 -4.34398363e-04 9.99881317e-01 1.39817211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.3092541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:894.75, Y:46.89, Z:13.98 [[ 7.11484958e-01 -7.02612070e-01 -1.11997658e-02 8.94749053e+02] [ 7.02532500e-01 7.11573020e-01 -1.05793550e-02 4.68946857e+01] [ 1.54026337e-02 -3.41147478e-04 9.99881314e-01 1.39800921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.3392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:894.77, Y:46.92, Z:13.98 [[ 7.09343671e-01 -7.04773072e-01 -1.12460479e-02 8.94770095e+02] [ 7.04694552e-01 7.09432667e-01 -1.05299254e-02 4.69157109e+01] [ 1.53995216e-02 -4.55692694e-04 9.99881316e-01 1.39820953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.3692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:894.79, Y:46.93, Z:13.98 [[ 7.06440928e-01 -7.07682270e-01 -1.12703134e-02 8.94789741e+02] [ 7.07604528e-01 7.06530606e-01 -1.05040111e-02 4.69347879e+01] [ 1.53963238e-02 -5.54461411e-04 9.99881316e-01 1.39844667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.3992541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:894.81, Y:46.95, Z:13.98 [[ 7.04679558e-01 -7.09436626e-01 -1.12425513e-02 8.94809319e+02] [ 7.09358635e-01 7.04769019e-01 -1.05336416e-02 4.69534333e+01] [ 1.53963530e-02 -5.52158935e-04 9.99881317e-01 1.39844751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.4292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:894.83, Y:46.97, Z:13.99 [[ 7.03196111e-01 -7.10907084e-01 -1.12404965e-02 8.94829225e+02] [ 7.10829245e-01 7.03285703e-01 -1.05358338e-02 4.69727328e+01] [ 1.53952794e-02 -5.81316246e-04 9.99881317e-01 1.39859471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.4592541539998 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:894.85, Y:46.99, Z:13.98 [[ 7.00608657e-01 -7.13457237e-01 -1.12374614e-02 8.94847595e+02] [ 7.13379673e-01 7.00698487e-01 -1.05390700e-02 4.69925610e+01] [ 1.53932480e-02 -6.32812885e-04 9.99881317e-01 1.39843021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.4892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:894.87, Y:47.01, Z:13.99 [[ 7.00523963e-01 -7.13540415e-01 -1.12362916e-02 8.94867664e+02] [ 7.13462841e-01 7.00613785e-01 -1.05403170e-02 4.70128197e+01] [ 1.53932430e-02 -6.32931877e-04 9.99881317e-01 1.39863838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.5192541539999 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:894.89, Y:47.03, Z:13.98 [[ 7.00495135e-01 -7.13568762e-01 -1.12333167e-02 8.94886312e+02] [ 7.13491142e-01 7.00584917e-01 -1.05434866e-02 4.70345145e+01] [ 1.53933949e-02 -6.29210831e-04 9.99881317e-01 1.39839040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.5492541539999 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:894.91, Y:47.05, Z:13.98 [[ 7.01346453e-01 -7.12732084e-01 -1.12307351e-02 8.94905346e+02] [ 7.12654312e-01 7.01436104e-01 -1.05462357e-02 4.70543815e+01] [ 1.53942837e-02 -6.07066826e-04 9.99881317e-01 1.39842848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.5792541539998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:894.92, Y:47.07, Z:13.99 [[ 7.02613409e-01 -7.11483174e-01 -1.12290659e-02 8.94924782e+02] [ 7.11405214e-01 7.02702896e-01 -1.05480127e-02 4.70745000e+01] [ 1.53954307e-02 -5.77240886e-04 9.99881317e-01 1.39864110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.6092541539999 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:894.94, Y:47.10, Z:13.99 [[ 7.06010760e-01 -7.08112125e-01 -1.12261048e-02 8.94942669e+02] [ 7.08033688e-01 7.06099830e-01 -1.05511633e-02 4.70954751e+01] [ 1.53981573e-02 -4.99225533e-04 9.99881317e-01 1.39863182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.6392541539999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:894.96, Y:47.12, Z:13.99 [[ 7.08131568e-01 -7.05991285e-01 -1.12244852e-02 8.94961340e+02] [ 7.05912554e-01 7.08220377e-01 -1.05528859e-02 4.71150635e+01] [ 1.53996546e-02 -4.50673333e-04 9.99881317e-01 1.39869843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.6692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:894.98, Y:47.14, Z:13.99 [[ 7.13430170e-01 -7.00636460e-01 -1.12224952e-02 8.94980770e+02] [ 7.00557029e-01 7.13518354e-01 -1.05550017e-02 4.71373061e+01] [ 1.54026754e-02 -3.31741245e-04 9.99881317e-01 1.39899592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.6992541539998 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:895.00, Y:47.16, Z:13.99 [[ 7.15854158e-01 -6.98159356e-01 -1.12400152e-02 8.94998725e+02] [ 6.98079912e-01 7.15942331e-01 -1.05363823e-02 4.71577077e+01] [ 1.54032765e-02 -3.03915783e-04 9.99881316e-01 1.39886099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.7292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:895.02, Y:47.18, Z:13.99 [[ 7.19250676e-01 -6.94660073e-01 -1.12182125e-02 8.95017704e+02] [ 6.94579838e-01 7.19338129e-01 -1.05595450e-02 4.71783130e+01] [ 1.54049823e-02 -1.96984308e-04 9.99881317e-01 1.39898810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.7592541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:895.04, Y:47.20, Z:13.99 [[ 7.24875532e-01 -6.88788528e-01 -1.12172683e-02 8.95036435e+02] [ 6.88707570e-01 7.24962315e-01 -1.05605479e-02 4.72003339e+01] [ 1.54060810e-02 -7.03347708e-05 9.99881317e-01 1.39889602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.7892541539999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:895.06, Y:47.22, Z:13.99 [[ 7.27022717e-01 -6.86521813e-01 -1.12146381e-02 8.95056271e+02] [ 6.86440541e-01 7.27109207e-01 -1.05633403e-02 4.72212087e+01] [ 1.54062301e-02 -1.83938468e-05 9.99881317e-01 1.39879727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.8192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:895.07, Y:47.24, Z:13.99 [[ 7.32073389e-01 -6.81133500e-01 -1.12120030e-02 8.95074723e+02] [ 6.81051548e-01 7.32159235e-01 -1.05661364e-02 4.72414964e+01] [ 1.54059210e-02 9.92353235e-05 9.99881317e-01 1.39894046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.8492541539998 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:895.10, Y:47.26, Z:13.99 [[ 7.33186737e-01 -6.79934945e-01 -1.12106973e-02 8.95095249e+02] [ 6.79852832e-01 7.33272429e-01 -1.05675216e-02 4.72619539e+01] [ 1.54057224e-02 1.26342311e-04 9.99881317e-01 1.39881180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.8792541539999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:895.12, Y:47.28, Z:13.99 [[ 7.35985240e-01 -6.76904798e-01 -1.12080849e-02 8.95115086e+02] [ 6.76822290e-01 7.36070552e-01 -1.05702916e-02 4.72824696e+01] [ 1.54050223e-02 1.93696883e-04 9.99881317e-01 1.39906069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.9092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:895.14, Y:47.30, Z:13.99 [[ 7.37206529e-01 -6.75574550e-01 -1.12054553e-02 8.95135443e+02] [ 6.75491845e-01 7.37291650e-01 -1.05730785e-02 4.73026182e+01] [ 1.54045914e-02 2.25348844e-04 9.99881317e-01 1.39925929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.9392541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:895.16, Y:47.32, Z:13.99 [[ 7.37612472e-01 -6.75131349e-01 -1.12028279e-02 8.95155246e+02] [ 6.75048551e-01 7.37697502e-01 -1.05758616e-02 4.73219932e+01] [ 1.54043939e-02 2.38434693e-04 9.99881317e-01 1.39935743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.9692541539998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:895.18, Y:47.34, Z:13.99 [[ 7.38013423e-01 -6.74693080e-01 -1.11997946e-02 8.95175516e+02] [ 6.74610183e-01 7.38098356e-01 -1.05790729e-02 4.73406219e+01] [ 1.54041773e-02 2.52002288e-04 9.99881317e-01 1.39948036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.9992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:895.19, Y:47.36, Z:14.00 [[ 7.35938182e-01 -6.76956112e-01 -1.11988563e-02 8.95192104e+02] [ 6.76873461e-01 7.36023355e-01 -1.05800661e-02 4.73603205e+01] [ 1.54048602e-02 2.06066014e-04 9.99881317e-01 1.39970948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.0292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:895.22, Y:47.38, Z:14.00 [[ 7.36906777e-01 -6.75903371e-01 -1.10921408e-02 8.95217267e+02] [ 6.75818892e-01 7.36990153e-01 -1.06929349e-02 4.73783452e+01] [ 1.54021892e-02 3.83417870e-04 9.99881306e-01 1.39981612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.0592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:895.24, Y:47.40, Z:14.00 [[ 7.35967491e-01 -6.76924298e-01 -1.11958408e-02 8.95238254e+02] [ 6.76841595e-01 7.36052614e-01 -1.05832325e-02 4.73974777e+01] [ 1.54047751e-02 2.11104316e-04 9.99881317e-01 1.39989173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.0892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:895.26, Y:47.42, Z:14.00 [[ 7.35077992e-01 -6.77890160e-01 -1.11927504e-02 8.95258854e+02] [ 6.77807519e-01 7.35163175e-01 -1.05864998e-02 4.74164631e+01] [ 1.54049820e-02 1.95372691e-04 9.99881317e-01 1.39995173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.1192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:895.28, Y:47.44, Z:14.00 [[ 7.34019203e-01 -6.79036525e-01 -1.11896137e-02 8.95279616e+02] [ 6.78953967e-01 7.34104466e-01 -1.05898142e-02 4.74358085e+01] [ 1.54052160e-02 1.75894396e-04 9.99881317e-01 1.39994662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.1492541539999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:895.30, Y:47.45, Z:14.00 [[ 7.30486065e-01 -6.82835977e-01 -1.11864901e-02 8.95300952e+02] [ 6.82753812e-01 7.30571706e-01 -1.05931128e-02 4.74546137e+01] [ 1.54058917e-02 1.00502538e-04 9.99881317e-01 1.39979906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.1792541539999 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:895.32, Y:47.47, Z:13.99 [[ 7.25743771e-01 -6.87874190e-01 -1.11837850e-02 8.95317437e+02] [ 6.87792576e-01 7.25829937e-01 -1.05959679e-02 4.74745043e+01] [ 1.54062188e-02 -2.16653537e-06 9.99881317e-01 1.39932907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.2092541539998 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:895.34, Y:47.49, Z:13.99 [[ 7.20865335e-01 -6.92986705e-01 -1.10722742e-02 8.95338227e+02] [ 6.92903886e-01 7.20950362e-01 -1.07135721e-02 4.74920122e+01] [ 1.54069231e-02 5.10208664e-05 9.99881305e-01 1.39935043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.2392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:895.37, Y:47.51, Z:14.00 [[ 7.22105436e-01 -6.91695069e-01 -1.10304233e-02 8.95367008e+02] [ 6.91611423e-01 7.22189665e-01 -1.07576875e-02 4.75090080e+01] [ 1.54070971e-02 1.39417863e-04 9.99881294e-01 1.40005314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.2692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:895.39, Y:47.53, Z:14.00 [[ 7.19266615e-01 -6.94644184e-01 -1.11801008e-02 8.95387614e+02] [ 6.94563320e-01 7.19353486e-01 -1.05998165e-02 4.75266952e+01] [ 1.54055454e-02 -1.41193752e-04 9.99881318e-01 1.40009341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.2992541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:895.41, Y:47.55, Z:14.00 [[ 7.13395457e-01 -7.00672503e-01 -1.11787904e-02 8.95410446e+02] [ 7.00592352e-01 7.13482986e-01 -1.06011983e-02 4.75452654e+01] [ 1.54038449e-02 -2.68928380e-04 9.99881318e-01 1.40024903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.3292541539998 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:895.43, Y:47.57, Z:14.00 [[ 7.06675299e-01 -7.07449727e-01 -1.11761278e-02 8.95425316e+02] [ 7.07370371e-01 7.06763549e-01 -1.06040046e-02 4.75652908e+01] [ 1.54006799e-02 -4.12073550e-04 9.99881318e-01 1.39958728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.3592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:895.45, Y:47.58, Z:14.00 [[ 7.05084942e-01 -7.09036757e-01 -1.10499787e-02 8.95448902e+02] [ 7.08955508e-01 7.05171474e-01 -1.07368373e-02 4.75844499e+01] [ 1.54049421e-02 -2.63560972e-04 9.99881302e-01 1.39987561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.3892541539999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:895.47, Y:47.60, Z:14.00 [[ 7.00495838e-01 -7.13570438e-01 -1.10819953e-02 8.95471772e+02] [ 7.13490281e-01 7.00583372e-01 -1.07031243e-02 4.76023249e+01] [ 1.54012948e-02 -4.09401913e-04 9.99881309e-01 1.40003955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.4192541539999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:895.49, Y:47.62, Z:14.00 [[ 7.00464427e-01 -7.13601272e-01 -1.10820336e-02 8.95492434e+02] [ 7.13521119e-01 7.00551966e-01 -1.07030840e-02 4.76219563e+01] [ 1.54012748e-02 -4.10135376e-04 9.99881309e-01 1.40008347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.4492541539998 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:895.52, Y:47.64, Z:14.01 [[ 7.01227066e-01 -7.12851903e-01 -1.10800000e-02 8.95518182e+02] [ 7.12771622e-01 7.01314489e-01 -1.07052243e-02 4.76398721e+01] [ 1.54018041e-02 -3.90716570e-04 9.99881309e-01 1.40065782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.4792541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:895.54, Y:47.66, Z:14.01 [[ 6.99611779e-01 -7.14435843e-01 -1.11707290e-02 8.95539378e+02] [ 7.14357277e-01 6.99700733e-01 -1.06096979e-02 4.76583031e+01] [ 1.53961157e-02 -5.57221929e-04 9.99881318e-01 1.40085899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.5092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:895.56, Y:47.68, Z:14.01 [[ 6.98916966e-01 -7.15115593e-01 -1.11697798e-02 8.95558804e+02] [ 7.15037097e-01 6.99005983e-01 -1.06106971e-02 4.76768528e+01] [ 1.53956178e-02 -5.70810720e-04 9.99881318e-01 1.40088136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.5392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:895.58, Y:47.70, Z:14.01 [[ 6.96126523e-01 -7.17832249e-01 -1.11680458e-02 8.95575022e+02] [ 7.17754072e-01 6.96215819e-01 -1.06125218e-02 4.76973241e+01] [ 1.53933806e-02 -6.28252424e-04 9.99881318e-01 1.40072089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.5692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:895.60, Y:47.72, Z:14.01 [[ 6.96049609e-01 -7.17907993e-01 -1.10930609e-02 8.95595345e+02] [ 7.17828567e-01 6.96137804e-01 -1.06914279e-02 4.77175261e+01] [ 1.53977606e-02 -5.21151748e-04 9.99881312e-01 1.40066885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.5992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:895.62, Y:47.74, Z:14.01 [[ 6.98910331e-01 -7.15123214e-01 -1.10967587e-02 8.95618949e+02] [ 7.15043498e-01 6.98998264e-01 -1.06875374e-02 4.77356777e+01] [ 1.53995212e-02 -4.65034835e-04 9.99881312e-01 1.40105742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.6292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:895.64, Y:47.75, Z:14.01 [[ 6.99219058e-01 -7.14820242e-01 -1.11682744e-02 8.95637803e+02] [ 7.14741684e-01 6.99308019e-01 -1.06122750e-02 4.77546941e+01] [ 1.53959328e-02 -5.62126295e-04 9.99881318e-01 1.40100154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.6592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:895.66, Y:47.77, Z:14.01 [[ 6.99609049e-01 -7.14438576e-01 -1.11669361e-02 8.95656852e+02] [ 7.14359946e-01 6.99697947e-01 -1.06136831e-02 4.77740596e+01] [ 1.53963069e-02 -5.51783104e-04 9.99881318e-01 1.40095635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.6892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:895.67, Y:47.80, Z:14.01 [[ 6.97945972e-01 -7.16063376e-01 -1.11652655e-02 8.95670184e+02] [ 7.15984925e-01 6.98035028e-01 -1.06154402e-02 4.77966681e+01] [ 1.53950743e-02 -5.85158006e-04 9.99881318e-01 1.40052285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.7192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:895.69, Y:47.82, Z:14.01 [[ 7.00156834e-01 -7.13903494e-01 -1.10547632e-02 8.95693013e+02] [ 7.13822928e-01 7.00243999e-01 -1.07316971e-02 4.78171560e+01] [ 1.54024276e-02 -3.77272365e-04 9.99881304e-01 1.40111669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.7492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:895.72, Y:47.84, Z:14.01 [[ 7.04300942e-01 -7.09814565e-01 -1.11115416e-02 8.95715566e+02] [ 7.09734432e-01 7.04388491e-01 -1.06719493e-02 4.78371756e+01] [ 1.54019471e-02 -3.69979721e-04 9.99881315e-01 1.40101267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.7792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:895.73, Y:47.86, Z:14.01 [[ 7.01418787e-01 -7.12661876e-01 -1.11684960e-02 8.95728478e+02] [ 7.12583048e-01 7.01507509e-01 -1.06120084e-02 4.78585327e+01] [ 1.53975576e-02 -5.15018846e-04 9.99881318e-01 1.40066283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.8092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:895.75, Y:47.88, Z:14.01 [[ 7.03256065e-01 -7.10851166e-01 -1.10239742e-02 8.95747042e+02] [ 7.10769714e-01 7.03342413e-01 -1.07639883e-02 4.78789664e+01] [ 1.54052222e-02 -2.65666967e-04 9.99881297e-01 1.40073806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.8392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:895.77, Y:47.90, Z:14.01 [[ 7.08102058e-01 -7.06024385e-01 -1.10019779e-02 8.95774798e+02] [ 7.05941985e-01 7.08187512e-01 -1.07871077e-02 4.78983911e+01] [ 1.54074244e-02 -1.28384992e-04 9.99881290e-01 1.40123826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.8692541539999 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:895.79, Y:47.92, Z:14.01 [[ 7.08225437e-01 -7.05898056e-01 -1.11653855e-02 8.95794096e+02] [ 7.05818329e-01 7.08313351e-01 -1.06152319e-02 4.79191457e+01] [ 1.54018632e-02 -3.62756515e-04 9.99881318e-01 1.40129759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.8992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:895.81, Y:47.94, Z:14.01 [[ 7.09351124e-01 -7.04766901e-01 -1.11623709e-02 8.95814409e+02] [ 7.04686984e-01 7.09438866e-01 -1.06184009e-02 4.79397784e+01] [ 1.54025172e-02 -3.33802917e-04 9.99881318e-01 1.40143516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.9292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:895.83, Y:47.96, Z:14.02 [[ 7.10251622e-01 -7.03859428e-01 -1.11597436e-02 8.95832457e+02] [ 7.03779356e-01 7.10339221e-01 -1.06211614e-02 4.79612244e+01] [ 1.54030082e-02 -3.10300011e-04 9.99881318e-01 1.40152171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.9592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:895.85, Y:47.98, Z:14.02 [[ 7.10570364e-01 -7.03537660e-01 -1.11588130e-02 8.95852628e+02] [ 7.03457533e-01 7.10657913e-01 -1.06221391e-02 4.79826287e+01] [ 1.54031736e-02 -3.01973786e-04 9.99881318e-01 1.40158550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.9892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:895.87, Y:48.00, Z:14.02 [[ 7.10984851e-01 -7.03118824e-01 -1.11562300e-02 8.95872031e+02] [ 7.03038602e-01 7.11072314e-01 -1.06248512e-02 4.80034238e+01] [ 1.54034192e-02 -2.89152100e-04 9.99881318e-01 1.40161846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.0192541539999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:895.89, Y:48.03, Z:14.02 [[ 7.11714601e-01 -7.02380190e-01 -1.11532892e-02 8.95889969e+02] [ 7.02299829e-01 7.11801936e-01 -1.06279374e-02 4.80258399e+01] [ 1.54037855e-02 -2.68894887e-04 9.99881319e-01 1.40153225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.0492541539999 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:895.91, Y:48.05, Z:14.01 [[ 7.12220894e-01 -7.01866839e-01 -1.11506736e-02 8.95910077e+02] [ 7.01786373e-01 7.12308132e-01 -1.06306809e-02 4.80472507e+01] [ 1.54040379e-02 -2.53997733e-04 9.99881319e-01 1.40149857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.0792541539998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:895.93, Y:48.07, Z:14.02 [[ 7.13285289e-01 -7.00785143e-01 -1.11480509e-02 8.95929789e+02] [ 7.00704502e-01 7.13372365e-01 -1.06334306e-02 4.80674545e+01] [ 1.54044616e-02 -2.26819868e-04 9.99881319e-01 1.40166517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.1092541539999 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:895.95, Y:48.09, Z:14.02 [[ 7.14447470e-01 -6.99600316e-01 -1.11449793e-02 8.95947701e+02] [ 6.99519480e-01 7.14534365e-01 -1.06366489e-02 4.80885889e+01] [ 1.54048737e-02 -1.96803217e-04 9.99881319e-01 1.40150056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.1392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:895.96, Y:48.11, Z:14.01 [[ 7.10595172e-01 -7.03513119e-01 -1.11262487e-02 8.95958256e+02] [ 7.03432454e-01 7.10682226e-01 -1.06562676e-02 4.81091706e+01] [ 1.54040512e-02 -2.54272162e-04 9.99881318e-01 1.40081858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.1692541539999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:895.99, Y:48.13, Z:14.02 [[ 7.13032653e-01 -7.01045522e-01 -1.09367066e-02 8.95987639e+02] [ 7.00961482e-01 7.13116520e-01 -1.08549548e-02 4.81285765e+01] [ 1.54089636e-02 7.37271379e-05 9.99881272e-01 1.40161758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.1992541539998 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:896.01, Y:48.15, Z:14.02 [[ 7.11428253e-01 -7.02670232e-01 -1.11528412e-02 8.96007262e+02] [ 7.02589903e-01 7.11515615e-01 -1.06281512e-02 4.81479007e+01] [ 1.54035062e-02 -2.74706551e-04 9.99881321e-01 1.40163108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.2292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:896.02, Y:48.17, Z:14.01 [[ 7.06628620e-01 -7.07496751e-01 -1.11508105e-02 8.96019572e+02] [ 7.07416985e-01 7.06716496e-01 -1.06302814e-02 4.81679923e+01] [ 1.54013513e-02 -3.76611654e-04 9.99881321e-01 1.40148499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.2592541539999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:896.04, Y:48.19, Z:14.01 [[ 7.04520250e-01 -7.09599129e-01 -1.09678756e-02 8.96038960e+02] [ 7.09516619e-01 7.04605600e-01 -1.08219978e-02 4.81877139e+01] [ 1.54073068e-02 -1.57573378e-04 9.99881288e-01 1.40141580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.2892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:896.06, Y:48.21, Z:14.02 [[ 7.03242627e-01 -7.10865299e-01 -1.09697314e-02 8.96060851e+02] [ 7.10782973e-01 7.03328154e-01 -1.08200501e-02 4.82071504e+01] [ 1.54069191e-02 -1.87977821e-04 9.99881289e-01 1.40193818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.3192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:896.08, Y:48.23, Z:14.02 [[ 7.01743512e-01 -7.12344750e-01 -1.10000452e-02 8.96079932e+02] [ 7.12263102e-01 7.01829671e-01 -1.07882367e-02 4.82268699e+01] [ 1.54051019e-02 -2.64351213e-04 9.99881299e-01 1.40207333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.3492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:896.11, Y:48.25, Z:14.02 [[ 7.03690912e-01 -7.10421370e-01 -1.09807541e-02 8.96107599e+02] [ 7.10339171e-01 7.03776555e-01 -1.08084633e-02 4.82468396e+01] [ 1.54065606e-02 -1.94242399e-04 9.99881293e-01 1.40227088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.3792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:896.12, Y:48.27, Z:14.02 [[ 7.01315109e-01 -7.12764157e-01 -1.11523298e-02 8.96120252e+02] [ 7.12685081e-01 7.01403602e-01 -1.06284309e-02 4.82677771e+01] [ 1.53978489e-02 -4.94219899e-04 9.99881324e-01 1.40230922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.4092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:896.15, Y:48.29, Z:14.02 [[ 7.04023904e-01 -7.10090882e-01 -1.10128486e-02 8.96147818e+02] [ 7.10009170e-01 7.04109995e-01 -1.07746652e-02 4.82883964e+01] [ 1.54052483e-02 -2.33601661e-04 9.99881305e-01 1.40228906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.4392541539999 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:896.17, Y:48.31, Z:14.02 [[ 7.05187496e-01 -7.08933182e-01 -1.11507289e-02 8.96166095e+02] [ 7.08853600e-01 7.05275532e-01 -1.06300315e-02 4.83111672e+01] [ 1.54003183e-02 -4.08069054e-04 9.99881325e-01 1.40212989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.4692541539998 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:896.18, Y:48.33, Z:14.02 [[ 7.06640453e-01 -7.07484972e-01 -1.11482769e-02 8.96184961e+02] [ 7.07405168e-01 7.06728290e-01 -1.06326024e-02 4.83315355e+01] [ 1.54012091e-02 -3.72921723e-04 9.99881325e-01 1.40237312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.4992541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:896.20, Y:48.35, Z:14.02 [[ 7.08749948e-01 -7.05371742e-01 -1.11452711e-02 8.96204764e+02] [ 7.05291627e-01 7.08837500e-01 -1.06357522e-02 4.83517942e+01] [ 1.54023452e-02 -3.22577613e-04 9.99881325e-01 1.40224267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.5292541539999 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:896.22, Y:48.37, Z:14.03 [[ 7.11165123e-01 -7.02936676e-01 -1.11443404e-02 8.96223153e+02] [ 7.02856246e-01 7.11252386e-01 -1.06367274e-02 4.83749268e+01] [ 1.54033845e-02 -2.68399720e-04 9.99881325e-01 1.40252248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.5592541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:896.24, Y:48.39, Z:14.03 [[ 7.12548269e-01 -7.01534624e-01 -1.11416429e-02 8.96242484e+02] [ 7.01453978e-01 7.12635333e-01 -1.06395521e-02 4.83949194e+01] [ 1.54039426e-02 -2.34155341e-04 9.99881325e-01 1.40258318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.5892541539998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:896.26, Y:48.41, Z:14.03 [[ 7.13976590e-01 -7.00080968e-01 -1.11385638e-02 8.96261392e+02] [ 7.00000094e-01 7.14063442e-01 -1.06427747e-02 4.84147984e+01] [ 1.54044452e-02 -1.98303725e-04 9.99881325e-01 1.40260913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.6192541539999 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:896.28, Y:48.44, Z:14.02 [[ 7.14938203e-01 -6.99098939e-01 -1.11373497e-02 8.96280526e+02] [ 6.99017926e-01 7.15024925e-01 -1.06440450e-02 4.84373315e+01] [ 1.54047232e-02 -1.75372682e-04 9.99881325e-01 1.40247903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.6492541539999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:896.30, Y:48.46, Z:14.03 [[ 7.14954990e-01 -6.99081794e-01 -1.11358998e-02 8.96297566e+02] [ 6.99000756e-01 7.15041688e-01 -1.06455618e-02 4.84565137e+01] [ 1.54047510e-02 -1.72904858e-04 9.99881325e-01 1.40261847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.6792541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:896.32, Y:48.48, Z:14.03 [[ 7.16269588e-01 -6.97736339e-01 -1.10398735e-02 8.96321217e+02] [ 6.97653584e-01 7.16354661e-01 -1.07459610e-02 4.84768276e+01] [ 1.54063124e-02 -5.00226265e-06 9.99881316e-01 1.40264329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.7092541539998 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:896.34, Y:48.50, Z:14.03 [[ 7.15622254e-01 -6.98399311e-01 -1.10991987e-02 8.96342566e+02] [ 6.98317594e-01 7.15708315e-01 -1.06839245e-02 4.84973031e+01] [ 1.54054343e-02 -1.05111594e-04 9.99881324e-01 1.40279750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.7392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:896.36, Y:48.52, Z:14.03 [[ 7.15638238e-01 -6.98382383e-01 -1.11336940e-02 8.96362390e+02] [ 6.98301224e-01 7.15724824e-01 -1.06478553e-02 4.85168039e+01] [ 1.54049357e-02 -1.54659759e-04 9.99881325e-01 1.40298153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.7692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:896.38, Y:48.54, Z:14.03 [[ 7.15965059e-01 -6.98048147e-01 -1.10823356e-02 8.96384577e+02] [ 6.97966115e-01 7.16050822e-01 -1.07015378e-02 4.85370667e+01] [ 1.54057042e-02 -7.31676317e-05 9.99881322e-01 1.40297044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.7992541539999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:896.41, Y:48.56, Z:14.03 [[ 7.15165039e-01 -6.98867398e-01 -1.11052846e-02 8.96405248e+02] [ 6.98785837e-01 7.15251246e-01 -1.06775513e-02 4.85571688e+01] [ 1.54052611e-02 -1.24004229e-04 9.99881324e-01 1.40313454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.8292541539998 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:896.43, Y:48.58, Z:14.03 [[ 7.14577606e-01 -6.99467971e-01 -1.11087232e-02 8.96425671e+02] [ 6.99386537e-01 7.14663934e-01 -1.06739579e-02 4.85771739e+01] [ 1.54050955e-02 -1.41920168e-04 9.99881324e-01 1.40323540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.8592541539999 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:896.45, Y:48.60, Z:14.03 [[ 7.14474782e-01 -6.99572663e-01 -1.11298927e-02 8.96446206e+02] [ 6.99491587e-01 7.14561445e-01 -1.06518384e-02 4.85968291e+01] [ 1.54047271e-02 -1.74796389e-04 9.99881325e-01 1.40324622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.8892541539999 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:896.47, Y:48.62, Z:14.03 [[ 7.15121367e-01 -6.98911742e-01 -1.11268595e-02 8.96465319e+02] [ 6.98830536e-01 7.15207909e-01 -1.06550059e-02 4.86156406e+01] [ 1.54049266e-02 -1.56166806e-04 9.99881325e-01 1.40335240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.9192541539999 meters Centerline goodness : 0.995112 Centerline is valid? [True, True] Translation: X:896.48, Y:48.64, Z:14.03 [[ 7.14021705e-01 -7.00035911e-01 -1.10782500e-02 8.96484939e+02] [ 6.99954054e-01 7.14107633e-01 -1.07056754e-02 4.86367481e+01] [ 1.54054201e-02 -1.10181405e-04 9.99881323e-01 1.40255354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.9492541539998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:896.50, Y:48.66, Z:14.03 [[ 7.13532092e-01 -7.00534767e-01 -1.10902444e-02 8.96504757e+02] [ 7.00453164e-01 7.13618260e-01 -1.06931778e-02 4.86560337e+01] [ 1.54051437e-02 -1.38271228e-04 9.99881324e-01 1.40326565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.9792541539998 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:896.52, Y:48.68, Z:14.03 [[ 7.13064736e-01 -7.01010111e-01 -1.11133209e-02 8.96524971e+02] [ 7.00928940e-01 7.13151310e-01 -1.06691406e-02 4.86760438e+01] [ 1.54046548e-02 -1.81860294e-04 9.99881325e-01 1.40323557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.0092541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:896.55, Y:48.70, Z:14.03 [[ 7.12826144e-01 -7.01252765e-01 -1.11107121e-02 8.96546332e+02] [ 7.01171581e-01 7.12912706e-01 -1.06718567e-02 4.86953708e+01] [ 1.54046368e-02 -1.83337133e-04 9.99881325e-01 1.40330445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.0392541539999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:896.57, Y:48.71, Z:14.03 [[ 7.12087472e-01 -7.02002879e-01 -1.11081228e-02 8.96567178e+02] [ 7.01921744e-01 7.12174079e-01 -1.06745511e-02 4.87147532e+01] [ 1.54044827e-02 -1.95818824e-04 9.99881325e-01 1.40333949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.0692541539999 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:896.59, Y:48.73, Z:14.03 [[ 7.11854222e-01 -7.02239442e-01 -1.11055391e-02 8.96586979e+02] [ 7.02158293e-01 7.11940818e-01 -1.06772384e-02 4.87337391e+01] [ 1.54044646e-02 -1.97209159e-04 9.99881325e-01 1.40335023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.0992541539998 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:896.61, Y:48.75, Z:14.04 [[ 7.12078377e-01 -7.02012165e-01 -1.11042584e-02 8.96607258e+02] [ 7.01930968e-01 7.12164927e-01 -1.06785702e-02 4.87524967e+01] [ 1.54045496e-02 -1.90443941e-04 9.99881325e-01 1.40360014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.1292541539999 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:896.63, Y:48.77, Z:14.03 [[ 7.12378213e-01 -7.01707948e-01 -1.11012041e-02 8.96626688e+02] [ 7.01626665e-01 7.12464682e-01 -1.06817445e-02 4.87708078e+01] [ 1.54046808e-02 -1.79458737e-04 9.99881325e-01 1.40345840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.1592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:896.65, Y:48.79, Z:14.04 [[ 7.13611936e-01 -7.00453280e-01 -1.10998800e-02 8.96647803e+02] [ 7.00371824e-01 7.13698241e-01 -1.06831202e-02 4.87900633e+01] [ 1.54049914e-02 -1.50441133e-04 9.99881325e-01 1.40386784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.1892541539999 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:896.67, Y:48.81, Z:14.04 [[ 7.14267559e-01 -6.99784757e-01 -1.10971658e-02 8.96667671e+02] [ 6.99703176e-01 7.14353747e-01 -1.06859388e-02 4.88093693e+01] [ 1.54051591e-02 -1.32102734e-04 9.99881325e-01 1.40369002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.2192541539998 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:896.69, Y:48.83, Z:14.04 [[ 7.15067225e-01 -6.98967623e-01 -1.10962068e-02 8.96688653e+02] [ 6.98885928e-01 7.15153304e-01 -1.06869346e-02 4.88291934e+01] [ 1.54053102e-02 -1.13106150e-04 9.99881325e-01 1.40379112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.2492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:896.71, Y:48.85, Z:14.04 [[ 7.16342371e-01 -6.97660762e-01 -1.10936236e-02 8.96710414e+02] [ 6.97578868e-01 7.16428262e-01 -1.06896155e-02 4.88487970e+01] [ 1.54055107e-02 -8.12528774e-05 9.99881325e-01 1.40397434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.2792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:896.73, Y:48.87, Z:14.04 [[ 7.17190271e-01 -6.96789140e-01 -1.10909822e-02 8.96729737e+02] [ 6.96707099e-01 7.17276022e-01 -1.06923553e-02 4.88671751e+01] [ 1.54056126e-02 -5.87128027e-05 9.99881325e-01 1.40400895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.3092541539999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:896.75, Y:48.89, Z:14.04 [[ 7.18960178e-01 -6.94962792e-01 -1.10896727e-02 8.96750266e+02] [ 6.94880513e-01 7.19045699e-01 -1.06937132e-02 4.88869391e+01] [ 1.54057143e-02 -1.76435147e-05 9.99881325e-01 1.40425178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.3392541539998 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:896.77, Y:48.91, Z:14.04 [[ 7.18756911e-01 -6.95173066e-01 -1.10865493e-02 8.96770779e+02] [ 6.95090762e-01 7.18842408e-01 -1.06969504e-02 4.89068236e+01] [ 1.54057136e-02 -1.76509462e-05 9.99881325e-01 1.40429566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.3692541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:896.79, Y:48.93, Z:14.04 [[ 7.20052988e-01 -6.93830564e-01 -1.10834197e-02 8.96790012e+02] [ 6.93748051e-01 7.20138284e-01 -1.07001921e-02 4.89253004e+01] [ 1.54057152e-02 1.56044438e-05 9.99881325e-01 1.40435966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.3992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:896.81, Y:48.94, Z:14.04 [[ 7.21950969e-01 -6.91855466e-01 -1.10821029e-02 8.96809829e+02] [ 6.91772698e-01 7.22036018e-01 -1.07015557e-02 4.89439178e+01] [ 1.54056073e-02 5.97022766e-05 9.99881325e-01 1.40435730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.4292541539999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:896.83, Y:48.96, Z:14.04 [[ 7.22592294e-01 -6.91186643e-01 -1.10182319e-02 8.96831073e+02] [ 6.91102786e-01 7.22676274e-01 -1.07676439e-02 4.89643485e+01] [ 1.54050664e-02 1.65885771e-04 9.99881321e-01 1.40441263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.4592541539998 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:896.85, Y:48.98, Z:14.05 [[ 7.24576189e-01 -6.89105665e-01 -1.10783202e-02 8.96851347e+02] [ 6.89022515e-01 7.24660864e-01 -1.07054628e-02 4.89843503e+01] [ 1.54052202e-02 1.23711349e-04 9.99881325e-01 1.40462387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.4892541539999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:896.87, Y:49.00, Z:14.05 [[ 7.26201227e-01 -6.87392987e-01 -1.10751810e-02 8.96871133e+02] [ 6.87309588e-01 7.26285656e-01 -1.07087094e-02 4.90032998e+01] [ 1.54048369e-02 1.64599803e-04 9.99881325e-01 1.40451018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.5192541539999 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:896.89, Y:49.02, Z:14.05 [[ 7.26356567e-01 -6.87228858e-01 -1.10740149e-02 8.96891285e+02] [ 6.87145421e-01 7.26440960e-01 -1.07099152e-02 4.90223751e+01] [ 1.54047808e-02 1.69758623e-04 9.99881325e-01 1.40450388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.5492541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:896.91, Y:49.04, Z:14.05 [[ 7.26036856e-01 -6.87566663e-01 -1.10710229e-02 8.96911873e+02] [ 6.87483218e-01 7.26121241e-01 -1.07130072e-02 4.90413009e+01] [ 1.54048115e-02 1.66895656e-04 9.99881325e-01 1.40465062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.5792541539998 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:896.94, Y:49.06, Z:14.04 [[ 7.27388469e-01 -6.86136660e-01 -1.10679001e-02 8.96939663e+02] [ 6.86053001e-01 7.27472640e-01 -1.07162325e-02 4.90616626e+01] [ 1.54043945e-02 2.01697850e-04 9.99881325e-01 1.40440541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.6092541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:896.95, Y:49.08, Z:14.04 [[ 7.24864191e-01 -6.88800136e-01 -1.12373092e-02 8.96954273e+02] [ 6.88719480e-01 7.24951283e-01 -1.05411157e-02 4.90784811e+01] [ 1.54072237e-02 -9.84764611e-05 9.99881297e-01 1.40447845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.6392541539999 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:896.98, Y:49.10, Z:14.04 [[ 7.24559065e-01 -6.89123904e-01 -1.10637393e-02 8.96975411e+02] [ 6.89040530e-01 7.24643515e-01 -1.07202477e-02 4.90977996e+01] [ 1.54048459e-02 1.44087833e-04 9.99881328e-01 1.40448267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.6692541539999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:897.00, Y:49.12, Z:14.05 [[ 7.25569208e-01 -6.88060301e-01 -1.10610388e-02 8.97003127e+02] [ 6.87976760e-01 7.25653494e-01 -1.07230334e-02 4.91178960e+01] [ 1.54045750e-02 1.70565191e-04 9.99881328e-01 1.40452131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.6992541539998 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:897.02, Y:49.13, Z:14.05 [[ 7.22894538e-01 -6.90866971e-01 -1.12390050e-02 8.97017335e+02] [ 6.90786592e-01 7.22981886e-01 -1.05393185e-02 4.91341537e+01] [ 1.54068641e-02 -1.44938196e-04 9.99881297e-01 1.40452032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.7292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:897.04, Y:49.15, Z:14.05 [[ 7.22371946e-01 -6.91416313e-01 -1.10568554e-02 8.97038043e+02] [ 6.91333102e-01 7.22456554e-01 -1.07270688e-02 4.91524369e+01] [ 1.54049680e-02 1.04963421e-04 9.99881331e-01 1.40456371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.7592541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:897.06, Y:49.17, Z:14.05 [[ 7.21169858e-01 -6.92670054e-01 -1.10559104e-02 8.97060741e+02] [ 6.92586976e-01 7.21254595e-01 -1.07280427e-02 4.91703756e+01] [ 1.54051201e-02 7.95614261e-05 9.99881331e-01 1.40474075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.7892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:897.08, Y:49.19, Z:14.05 [[ 7.20319761e-01 -6.93554085e-01 -1.10531867e-02 8.97081507e+02] [ 6.93471068e-01 7.20404558e-01 -1.07308482e-02 4.91883747e+01] [ 1.54051897e-02 6.45768186e-05 9.99881331e-01 1.40479070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.8192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:897.10, Y:49.21, Z:14.05 [[ 7.19509440e-01 -6.94394718e-01 -1.10517432e-02 8.97102541e+02] [ 6.94311777e-01 7.19594312e-01 -1.07323346e-02 4.92065537e+01] [ 1.54052481e-02 4.86606063e-05 9.99881331e-01 1.40485092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.8492541539998 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:897.12, Y:49.22, Z:14.05 [[ 7.18075964e-01 -6.95877028e-01 -1.10486493e-02 8.97124454e+02] [ 6.95794213e-01 7.18160958e-01 -1.07355188e-02 4.92233274e+01] [ 1.54053095e-02 2.13317952e-05 9.99881331e-01 1.40474706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.8792541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:897.15, Y:49.24, Z:14.05 [[ 7.18923751e-01 -6.95001149e-01 -1.10473095e-02 8.97154659e+02] [ 6.94918209e-01 7.19008624e-01 -1.07368973e-02 4.92427781e+01] [ 1.54052668e-02 4.20339715e-05 9.99881331e-01 1.40498904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.9092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:897.18, Y:49.26, Z:14.05 [[ 7.17203440e-01 -6.96773113e-01 -1.12452297e-02 8.97175981e+02] [ 6.96693549e-01 7.17291538e-01 -1.05332029e-02 4.92617806e+01] [ 1.54053607e-02 -2.80029626e-04 9.99881291e-01 1.40510754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.9392541539999 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:897.20, Y:49.28, Z:14.05 [[ 7.15290182e-01 -6.98737484e-01 -1.12198308e-02 8.97198162e+02] [ 6.98657751e-01 7.15378115e-01 -1.05593119e-02 4.92786073e+01] [ 1.54046084e-02 -2.85849595e-04 9.99881301e-01 1.40520174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.9692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:897.22, Y:49.30, Z:14.05 [[ 7.14557185e-01 -6.99487583e-01 -1.11870747e-02 8.97220103e+02] [ 6.99407417e-01 7.14644706e-01 -1.05929292e-02 4.92975458e+01] [ 1.54044061e-02 -2.55069367e-04 9.99881313e-01 1.40517819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.9992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:897.23, Y:49.31, Z:14.05 [[ 7.13134697e-01 -7.00937591e-01 -1.11981046e-02 8.97234917e+02] [ 7.00857779e-01 7.13222548e-01 -1.05816167e-02 4.93131223e+01] [ 1.54037936e-02 -3.02160746e-04 9.99881309e-01 1.40524531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.0292541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:897.26, Y:49.33, Z:14.05 [[ 7.14484024e-01 -6.99564951e-01 -1.10208177e-02 8.97260108e+02] [ 6.99482148e-01 7.14569016e-01 -1.07631485e-02 4.93320026e+01] [ 1.54046564e-02 -1.87675979e-05 9.99881341e-01 1.40486207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.0592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:897.28, Y:49.35, Z:14.05 [[ 7.12871896e-01 -7.01206566e-01 -1.10910591e-02 8.97281167e+02] [ 7.01125074e-01 7.12958153e-01 -1.06912508e-02 4.93526549e+01] [ 1.54042363e-02 -1.54727446e-04 9.99881336e-01 1.40484903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.0892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:897.30, Y:49.37, Z:14.05 [[ 7.15184384e-01 -6.98847338e-01 -1.11218113e-02 8.97302664e+02] [ 6.98766050e-01 7.15270841e-01 -1.06597846e-02 4.93686364e+01] [ 1.54046695e-02 -1.47832692e-04 9.99881330e-01 1.40482682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.1192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:897.32, Y:49.39, Z:14.05 [[ 7.14162462e-01 -6.99892299e-01 -1.10791591e-02 8.97324137e+02] [ 6.99810460e-01 7.14248387e-01 -1.07033855e-02 4.93891137e+01] [ 1.54044886e-02 -1.09355299e-04 9.99881338e-01 1.40488676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.1492541539999 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:897.34, Y:49.41, Z:14.05 [[ 7.16532883e-01 -6.97464556e-01 -1.11274767e-02 8.97344187e+02] [ 6.97383191e-01 7.16619269e-01 -1.06540090e-02 4.94051342e+01] [ 1.54049579e-02 -1.26167411e-04 9.99881329e-01 1.40464521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.1792541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:897.37, Y:49.43, Z:14.05 [[ 7.15929060e-01 -6.98085373e-01 -1.10631095e-02 8.97366828e+02] [ 6.98003065e-01 7.16014531e-01 -1.07197184e-02 4.94263065e+01] [ 1.54046258e-02 -4.75264544e-05 9.99881341e-01 1.40486532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.2092541539998 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:897.39, Y:49.45, Z:14.05 [[ 7.16122377e-01 -6.97885935e-01 -1.11338928e-02 8.97387674e+02] [ 6.97804722e-01 7.16208909e-01 -1.06474971e-02 4.94451931e+01] [ 1.54049317e-02 -1.44372038e-04 9.99881327e-01 1.40478945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.2392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:897.41, Y:49.46, Z:14.05 [[ 7.17502028e-01 -6.96467568e-01 -1.11250459e-02 8.97411337e+02] [ 6.96386044e-01 7.17588264e-01 -1.06565171e-02 4.94644245e+01] [ 1.54051209e-02 -1.01254048e-04 9.99881329e-01 1.40511272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.2692541539999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:897.43, Y:49.48, Z:14.05 [[ 7.18465815e-01 -6.95472685e-01 -1.11631801e-02 8.97434121e+02] [ 6.95391644e-01 7.18552521e-01 -1.06176812e-02 4.94833900e+01] [ 1.54056385e-02 -1.34341160e-04 9.99881317e-01 1.40546826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.2992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:897.46, Y:49.50, Z:14.06 [[ 7.19628983e-01 -6.94268905e-01 -1.11720433e-02 8.97457760e+02] [ 6.94187859e-01 7.19715689e-01 -1.06086651e-02 4.95025360e+01] [ 1.54059611e-02 -1.21193919e-04 9.99881314e-01 1.40560825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.3292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:897.48, Y:49.52, Z:14.06 [[ 7.20036912e-01 -6.93845168e-01 -1.12128560e-02 8.97478383e+02] [ 6.93764716e-01 7.20124193e-01 -1.05671565e-02 4.95213063e+01] [ 1.54066193e-02 -1.70341122e-04 9.99881296e-01 1.40564255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.3592541539999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:897.50, Y:49.54, Z:14.05 [[ 7.21109215e-01 -6.92730712e-01 -1.12098532e-02 8.97500192e+02] [ 6.92650077e-01 7.21196326e-01 -1.05702073e-02 4.95401443e+01] [ 1.54068122e-02 -1.42231777e-04 9.99881298e-01 1.40542598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.3892541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:897.52, Y:49.56, Z:14.05 [[ 7.22408923e-01 -6.91375115e-01 -1.12159965e-02 8.97521777e+02] [ 6.91294414e-01 7.22495976e-01 -1.05639704e-02 4.95595250e+01] [ 1.54071786e-02 -1.22049281e-04 9.99881295e-01 1.40544832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.4192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:897.54, Y:49.58, Z:14.06 [[ 7.22042099e-01 -6.91758220e-01 -1.12148364e-02 8.97542505e+02] [ 6.91677547e-01 7.22129177e-01 -1.05651474e-02 4.95801167e+01] [ 1.54070881e-02 -1.28569317e-04 9.99881296e-01 1.40575141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.4492541539998 meters Centerline goodness : 0.999671 Centerline is valid? [True, True] Translation: X:897.57, Y:49.60, Z:14.06 [[ 7.23627302e-01 -6.90100022e-01 -1.12021054e-02 8.97566471e+02] [ 6.90018949e-01 7.23714000e-01 -1.05781068e-02 4.95988621e+01] [ 1.54070722e-02 -7.50581272e-05 9.99881301e-01 1.40557928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.4792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:897.58, Y:49.62, Z:14.06 [[ 7.22139747e-01 -6.91655569e-01 -1.12587845e-02 8.97584760e+02] [ 6.91575579e-01 7.22227484e-01 -1.05204483e-02 4.96187535e+01] [ 1.54079302e-02 -1.89066552e-04 9.99881273e-01 1.40580052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.5092541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:897.60, Y:49.64, Z:14.06 [[ 7.20144511e-01 -6.93734507e-01 -1.11497792e-02 8.97596692e+02] [ 6.93653055e-01 7.20230816e-01 -1.06306655e-02 4.96367821e+01] [ 1.54052741e-02 -7.84629786e-05 9.99881329e-01 1.40594546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.5392541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:897.62, Y:49.66, Z:14.06 [[ 7.20343574e-01 -6.93531107e-01 -1.09425612e-02 8.97618083e+02] [ 6.93446424e-01 7.20426648e-01 -1.08398480e-02 4.96556511e+01] [ 1.54010845e-02 2.20334941e-04 9.99881372e-01 1.40595544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.5692541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:897.64, Y:49.67, Z:14.06 [[ 7.20720141e-01 -6.93139818e-01 -1.09394059e-02 8.97638462e+02] [ 6.93055041e-01 7.20803120e-01 -1.08430314e-02 4.96746927e+01] [ 1.54008947e-02 2.33180738e-04 9.99881372e-01 1.40606331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.5992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:897.66, Y:49.69, Z:14.06 [[ 7.20755637e-01 -6.93102958e-01 -1.09362714e-02 8.97659034e+02] [ 6.93018129e-01 7.20838562e-01 -1.08461919e-02 4.96945355e+01] [ 1.54008138e-02 2.38419611e-04 9.99881372e-01 1.40602425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.6292541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:897.68, Y:49.71, Z:14.06 [[ 7.21451074e-01 -6.92379097e-01 -1.09331419e-02 8.97678996e+02] [ 6.92294137e-01 7.21533866e-01 -1.08493455e-02 4.97125242e+01] [ 1.54004922e-02 2.58321964e-04 9.99881372e-01 1.40585891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.6592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:897.70, Y:49.73, Z:14.06 [[ 7.21517328e-01 -6.92310088e-01 -1.09310151e-02 8.97699094e+02] [ 6.92225088e-01 7.21600078e-01 -1.08514880e-02 4.97318245e+01] [ 1.54004159e-02 2.62813755e-04 9.99881372e-01 1.40590153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.6892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:897.72, Y:49.75, Z:14.06 [[ 7.21493246e-01 -6.92335234e-01 -1.09279166e-02 8.97719706e+02] [ 6.92250190e-01 7.21575951e-01 -1.08546073e-02 4.97508235e+01] [ 1.54003489e-02 2.66673531e-04 9.99881372e-01 1.40586493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.7192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:897.74, Y:49.77, Z:14.06 [[ 7.21406946e-01 -6.92425207e-01 -1.09247638e-02 8.97739290e+02] [ 6.92340125e-01 7.21489612e-01 -1.08577796e-02 4.97700567e+01] [ 1.54003039e-02 2.69225303e-04 9.99881372e-01 1.40587156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.7492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:897.76, Y:49.79, Z:14.06 [[ 7.21308359e-01 -6.92527927e-01 -1.09233957e-02 8.97758062e+02] [ 6.92442836e-01 7.21391016e-01 -1.08591558e-02 4.97889776e+01] [ 1.54003082e-02 2.68972727e-04 9.99881372e-01 1.40587691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.7792541539999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:897.78, Y:49.81, Z:14.06 [[ 7.21451010e-01 -6.92379345e-01 -1.09216784e-02 8.97778303e+02] [ 6.92294211e-01 7.21533622e-01 -1.08608827e-02 4.98092013e+01] [ 1.54002090e-02 2.74580113e-04 9.99881372e-01 1.40569691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.8092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:897.80, Y:49.83, Z:14.06 [[ 7.21644022e-01 -6.92178223e-01 -1.09185301e-02 8.97798146e+02] [ 6.92093017e-01 7.21726560e-01 -1.08640469e-02 4.98296404e+01] [ 1.54000498e-02 2.83336054e-04 9.99881372e-01 1.40572105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.8392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:897.82, Y:49.85, Z:14.06 [[ 7.22379428e-01 -6.91410868e-01 -1.09074971e-02 8.97818228e+02] [ 6.91325408e-01 7.22461703e-01 -1.08751300e-02 4.98492987e+01] [ 1.53994320e-02 3.15340320e-04 9.99881372e-01 1.40590115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.8692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:897.84, Y:49.87, Z:14.06 [[ 7.22321397e-01 -6.91471387e-01 -1.09142264e-02 8.97837301e+02] [ 6.91386036e-01 7.22403785e-01 -1.08683724e-02 4.98686700e+01] [ 1.53996469e-02 3.04514200e-04 9.99881372e-01 1.40594042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.8992541539999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:897.86, Y:49.89, Z:14.06 [[ 7.21772433e-01 -6.92044415e-01 -1.09125005e-02 8.97857459e+02] [ 6.91959103e-01 7.21854861e-01 -1.08701050e-02 4.98886891e+01] [ 1.53998370e-02 2.94738038e-04 9.99881372e-01 1.40579813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.9292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:897.88, Y:49.91, Z:14.06 [[ 7.21359585e-01 -6.92474791e-01 -1.09093495e-02 8.97876813e+02] [ 6.92389480e-01 7.21442014e-01 -1.08732664e-02 4.99080034e+01] [ 1.53999260e-02 2.90016103e-04 9.99881372e-01 1.40605020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.9592541539998 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:897.90, Y:49.93, Z:14.06 [[ 7.20222196e-01 -6.93657700e-01 -1.09079844e-02 8.97896779e+02] [ 6.93572504e-01 7.20304744e-01 -1.08746357e-02 4.99281598e+01] [ 1.54003477e-02 2.66675945e-04 9.99881372e-01 1.40593939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.9892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:897.92, Y:49.95, Z:14.06 [[ 7.19632550e-01 -6.94269456e-01 -1.09048596e-02 8.97916238e+02] [ 6.94184282e-01 7.19715122e-01 -1.08777682e-02 4.99472748e+01] [ 1.54004946e-02 2.58013949e-04 9.99881372e-01 1.40621648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.0192541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:897.94, Y:49.97, Z:14.06 [[ 7.16962880e-01 -6.97026076e-01 -1.09031491e-02 8.97936772e+02] [ 6.96941194e-01 7.17045751e-01 -1.08794825e-02 4.99672533e+01] [ 1.54013397e-02 2.01331384e-04 9.99881372e-01 1.40608416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.0492541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:897.96, Y:49.99, Z:14.06 [[ 7.15353723e-01 -6.98677300e-01 -1.09124383e-02 8.97957020e+02] [ 6.98592751e-01 7.15436934e-01 -1.08701765e-02 4.99869425e+01] [ 1.54019070e-02 1.52670896e-04 9.99881372e-01 1.40611405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.0792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:897.98, Y:50.00, Z:14.06 [[ 7.13221487e-01 -7.00853829e-01 -1.09096279e-02 8.97977177e+02] [ 7.00769492e-01 7.13304912e-01 -1.08729903e-02 5.00049906e+01] [ 1.54022681e-02 1.09715911e-04 9.99881372e-01 1.40643015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.1092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:898.00, Y:50.02, Z:14.07 [[ 7.11679054e-01 -7.02420253e-01 -1.08955583e-02 8.97997719e+02] [ 7.02335883e-01 7.11762446e-01 -1.08870709e-02 5.00241225e+01] [ 1.54023483e-02 9.57587502e-05 9.99881372e-01 1.40650847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.1392541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:898.02, Y:50.04, Z:14.06 [[ 7.08478170e-01 -7.05648664e-01 -1.08924723e-02 8.98016722e+02] [ 7.05564627e-01 7.08561897e-01 -1.08901575e-02 5.00442283e+01] [ 1.54026159e-02 3.00957319e-05 9.99881372e-01 1.40631249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.1692541539999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:898.04, Y:50.06, Z:14.06 [[ 7.06426591e-01 -7.07702948e-01 -1.08632329e-02 8.98036946e+02] [ 7.07618704e-01 7.06510111e-01 -1.09193937e-02 5.00637787e+01] [ 1.54026710e-02 2.67232702e-05 9.99881371e-01 1.40631412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.1992541539998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:898.06, Y:50.08, Z:14.07 [[ 7.04612052e-01 -7.09509770e-01 -1.08509413e-02 8.98059019e+02] [ 7.09425550e-01 7.04695599e-01 -1.09316796e-02 5.00828727e+01] [ 1.54027440e-02 4.65820993e-06 9.99881371e-01 1.40654408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.2292541539998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:898.08, Y:50.10, Z:14.07 [[ 7.04414564e-01 -7.09705260e-01 -1.08887754e-02 8.98079188e+02] [ 7.09621648e-01 7.04498716e-01 -1.08938631e-02 5.01031327e+01] [ 1.54025603e-02 -5.31149422e-05 9.99881372e-01 1.40659019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.2592541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:898.10, Y:50.12, Z:14.07 [[ 7.03022008e-01 -7.11084775e-01 -1.08857424e-02 8.98098087e+02] [ 7.11001280e-01 7.03106277e-01 -1.08968931e-02 5.01220801e+01] [ 1.54024485e-02 -7.90211190e-05 9.99881372e-01 1.40667568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.2892541539999 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:898.12, Y:50.14, Z:14.06 [[ 7.00163459e-01 -7.13899626e-01 -1.08836827e-02 8.98118311e+02] [ 7.13816438e-01 7.00248031e-01 -1.08989499e-02 5.01420653e+01] [ 1.54020336e-02 -1.37905165e-04 9.99881372e-01 1.40642207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.3192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:898.14, Y:50.16, Z:14.07 [[ 6.98336483e-01 -7.15686920e-01 -1.08806801e-02 8.98135148e+02] [ 7.15603902e-01 6.98421222e-01 -1.09019466e-02 5.01617568e+01] [ 1.54016785e-02 -1.73030140e-04 9.99881372e-01 1.40665739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.3492541539998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:898.16, Y:50.18, Z:14.07 [[ 6.99148444e-01 -7.14894659e-01 -1.08203283e-02 8.98158092e+02] [ 7.14810611e-01 6.99232166e-01 -1.09621359e-02 5.01813384e+01] [ 1.54026940e-02 -7.03252430e-05 9.99881369e-01 1.40654641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.3792541539999 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:898.18, Y:50.20, Z:14.07 [[ 6.98593447e-01 -7.15436154e-01 -1.08768781e-02 8.98177545e+02] [ 7.15353046e-01 6.98678098e-01 -1.09057359e-02 5.02014573e+01] [ 1.54017942e-02 -1.62132261e-04 9.99881372e-01 1.40658688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.4092541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:898.19, Y:50.22, Z:14.07 [[ 6.97844567e-01 -7.16166685e-01 -1.08737522e-02 8.98194731e+02] [ 7.16083618e-01 6.97929257e-01 -1.09088517e-02 5.02218500e+01] [ 1.54016660e-02 -1.73832888e-04 9.99881372e-01 1.40683049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.4392541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:898.21, Y:50.24, Z:14.07 [[ 6.98512637e-01 -7.15515899e-01 -1.08209855e-02 8.98211715e+02] [ 7.15431937e-01 6.98596444e-01 -1.09614148e-02 5.02423276e+01] [ 1.54025686e-02 -8.49918417e-05 9.99881370e-01 1.40677248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.4692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:898.23, Y:50.26, Z:14.07 [[ 7.01557794e-01 -7.12530850e-01 -1.07911875e-02 8.98234756e+02] [ 7.12446074e-01 7.01640782e-01 -1.09911000e-02 5.02620152e+01] [ 1.54030351e-02 2.27526819e-05 9.99881366e-01 1.40692283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.4992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:898.25, Y:50.28, Z:14.07 [[ 7.02578134e-01 -7.11523563e-01 -1.08713403e-02 8.98253915e+02] [ 7.11439899e-01 7.02662234e-01 -1.09112405e-02 5.02822872e+01] [ 1.54024850e-02 -6.83062307e-05 9.99881372e-01 1.40696691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.5292541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:898.27, Y:50.30, Z:14.07 [[ 7.03387890e-01 -7.10723122e-01 -1.08682887e-02 8.98273616e+02] [ 7.10639316e-01 7.03471848e-01 -1.09142792e-02 5.03030405e+01] [ 1.54025657e-02 -4.64614352e-05 9.99881372e-01 1.40680602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.5592541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:898.29, Y:50.32, Z:14.07 [[ 7.07162117e-01 -7.06967953e-01 -1.08652083e-02 8.98292247e+02] [ 7.06883654e-01 7.07245581e-01 -1.09173449e-02 5.03236569e+01] [ 1.54025835e-02 3.98946383e-05 9.99881372e-01 1.40708564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.5892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:898.31, Y:50.34, Z:14.07 [[ 7.08844200e-01 -7.05281444e-01 -1.08621080e-02 8.98310752e+02] [ 7.05196899e-01 7.08927414e-01 -1.09204287e-02 5.03438504e+01] [ 1.54024218e-02 8.09576952e-05 9.99881372e-01 1.40708931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.6192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:898.33, Y:50.36, Z:14.07 [[ 7.10271348e-01 -7.03844205e-01 -1.08603852e-02 8.98329412e+02] [ 7.03759465e-01 7.10354364e-01 -1.09221417e-02 5.03642657e+01] [ 1.54022082e-02 1.14585403e-04 9.99881372e-01 1.40719001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.6492541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:898.35, Y:50.39, Z:14.07 [[ 7.12520847e-01 -7.01566934e-01 -1.08572866e-02 8.98347620e+02] [ 7.01481882e-01 7.12603543e-01 -1.09252210e-02 5.03856840e+01] [ 1.54017147e-02 1.68257875e-04 9.99881372e-01 1.40714196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.6792541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:898.36, Y:50.41, Z:14.07 [[ 7.10110958e-01 -7.04006091e-01 -1.08559192e-02 8.98360222e+02] [ 7.03921302e-01 7.10193924e-01 -1.09265796e-02 5.04070721e+01] [ 1.54021864e-02 1.17371147e-04 9.99881372e-01 1.40685859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.7092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:898.39, Y:50.43, Z:14.07 [[ 7.14232542e-01 -6.99826630e-01 -1.07034839e-02 8.98386573e+02] [ 6.99739074e-01 7.14312613e-01 -1.10778396e-02 5.04270953e+01] [ 1.53982007e-02 4.22507598e-04 9.99881351e-01 1.40747137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.7392541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:898.41, Y:50.45, Z:14.08 [[ 7.14361624e-01 -6.99692564e-01 -1.08528879e-02 8.98405895e+02] [ 6.99607231e-01 7.14444028e-01 -1.09294831e-02 5.04476173e+01] [ 1.54010590e-02 2.14844483e-04 9.99881374e-01 1.40763552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.7692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:898.43, Y:50.47, Z:14.08 [[ 7.14016138e-01 -7.00045168e-01 -1.08497746e-02 8.98425372e+02] [ 6.99959828e-01 7.14098535e-01 -1.09325729e-02 5.04679059e+01] [ 1.54011029e-02 2.11627131e-04 9.99881374e-01 1.40768509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.7992541539999 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:898.44, Y:50.49, Z:14.07 [[ 7.12795301e-01 -7.01288250e-01 -1.08466603e-02 8.98444279e+02] [ 7.01203006e-01 7.12877798e-01 -1.09356617e-02 5.04885154e+01] [ 1.54013944e-02 1.89177457e-04 9.99881374e-01 1.40736265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.8292541539998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:898.46, Y:50.51, Z:14.07 [[ 7.11278858e-01 -7.02826298e-01 -1.08435165e-02 8.98462641e+02] [ 7.02741185e-01 7.11361490e-01 -1.09387782e-02 5.05089202e+01] [ 1.54017210e-02 1.60336078e-04 9.99881374e-01 1.40742451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.8592541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:898.48, Y:50.53, Z:14.08 [[ 7.10104418e-01 -7.04012905e-01 -1.08418194e-02 8.98482065e+02] [ 7.03927905e-01 7.10187166e-01 -1.09404600e-02 5.05291216e+01] [ 1.54019460e-02 1.37009700e-04 9.99881374e-01 1.40751846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.8892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:898.50, Y:50.55, Z:14.08 [[ 7.06284088e-01 -7.07845540e-01 -1.08387175e-02 8.98501719e+02] [ 7.07760942e-01 7.06367247e-01 -1.09435322e-02 5.05498222e+01] [ 1.54024455e-02 5.80216901e-05 9.99881374e-01 1.40763119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.9192541539999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:898.52, Y:50.57, Z:14.07 [[ 7.03054823e-01 -7.11053096e-01 -1.08356213e-02 8.98521041e+02] [ 7.10968830e-01 7.03138318e-01 -1.09465970e-02 5.05703145e+01] [ 1.54025522e-02 -7.73113756e-06 9.99881374e-01 1.40746160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.9492541539998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:898.54, Y:50.59, Z:14.08 [[ 6.99961515e-01 -7.14098407e-01 -1.08324688e-02 8.98540928e+02] [ 7.14014456e-01 7.00045328e-01 -1.09497158e-02 5.05905680e+01] [ 1.54023937e-02 -7.01596380e-05 9.99881374e-01 1.40753213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.9792541539998 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:898.56, Y:50.61, Z:14.07 [[ 6.92759501e-01 -7.21087373e-01 -1.08293275e-02 8.98559337e+02] [ 7.21004219e-01 6.92844103e-01 -1.09528216e-02 5.06100213e+01] [ 1.54009771e-02 -2.20319624e-04 9.99881374e-01 1.40737381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.0092541539999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:898.58, Y:50.63, Z:14.08 [[ 6.88890863e-01 -7.24784203e-01 -1.08276542e-02 8.98578856e+02] [ 7.24701477e-01 6.88975884e-01 -1.09544755e-02 5.06298675e+01] [ 1.53996235e-02 -3.00378893e-04 9.99881374e-01 1.40751442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.0392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:898.60, Y:50.65, Z:14.08 [[ 6.85367578e-01 -7.28116826e-01 -1.08245692e-02 8.98598504e+02] [ 7.28034465e-01 6.85452953e-01 -1.09575231e-02 5.06497048e+01] [ 1.53980899e-02 -3.70728402e-04 9.99881374e-01 1.40786006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.0692541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:898.62, Y:50.67, Z:14.08 [[ 6.78008210e-01 -7.34974668e-01 -1.08214751e-02 8.98616579e+02] [ 7.34893121e-01 6.78094364e-01 -1.09605780e-02 5.06695379e+01] [ 1.53937284e-02 -5.21265703e-04 9.99881374e-01 1.40761153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.0992541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:898.63, Y:50.69, Z:14.08 [[ 6.74020043e-01 -7.38633817e-01 -1.08197176e-02 8.98632467e+02] [ 7.38552710e-01 6.74106611e-01 -1.09623126e-02 5.06907012e+01] [ 1.53907780e-02 -6.02113376e-04 9.99881374e-01 1.40779047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.1292541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:898.66, Y:50.71, Z:14.08 [[ 6.73613510e-01 -7.39005523e-01 -1.07553027e-02 8.98656091e+02] [ 7.38923449e-01 6.73699166e-01 -1.10259144e-02 5.07110161e+01] [ 1.53940501e-02 -5.20140456e-04 9.99881369e-01 1.40786852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.1592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:898.67, Y:50.73, Z:14.08 [[ 6.70968086e-01 -7.41407257e-01 -1.08215901e-02 8.98674086e+02] [ 7.41326538e-01 6.71055014e-01 -1.09604670e-02 5.07330920e+01] [ 1.53880521e-02 -6.68208370e-04 9.99881374e-01 1.40803620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.1892541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:898.69, Y:50.75, Z:14.08 [[ 6.70518413e-01 -7.41814003e-01 -1.08185772e-02 8.98691642e+02] [ 7.41733289e-01 6.70605347e-01 -1.09634401e-02 5.07539542e+01] [ 1.53878291e-02 -6.73310428e-04 9.99881374e-01 1.40813069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.2192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:898.71, Y:50.77, Z:14.08 [[ 6.72008417e-01 -7.40464505e-01 -1.08168463e-02 8.98710156e+02] [ 7.40383589e-01 6.72095162e-01 -1.09651476e-02 5.07733986e+01] [ 1.53892527e-02 -6.39943975e-04 9.99881374e-01 1.40824761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.2492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:898.73, Y:50.80, Z:14.08 [[ 6.71658965e-01 -7.40781525e-01 -1.08151031e-02 8.98726656e+02] [ 7.40700622e-01 6.71745723e-01 -1.09668667e-02 5.07952861e+01] [ 1.53890515e-02 -6.44759300e-04 9.99881374e-01 1.40822760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.2792541539999 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:898.75, Y:50.82, Z:14.08 [[ 6.73952502e-01 -7.38696339e-01 -1.07584635e-02 8.98746472e+02] [ 7.38614277e-01 6.74038167e-01 -1.10226832e-02 5.08160081e+01] [ 1.53940307e-02 -5.17589812e-04 9.99881371e-01 1.40791870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.3092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:898.76, Y:50.84, Z:14.08 [[ 6.77331128e-01 -7.35598847e-01 -1.08110641e-02 8.98759824e+02] [ 7.35517217e-01 6.77417201e-01 -1.09708487e-02 5.08392650e+01] [ 1.53937444e-02 -5.20826409e-04 9.99881374e-01 1.40839515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.3392541539998 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:898.78, Y:50.86, Z:14.08 [[ 6.81792256e-01 -7.31467167e-01 -1.07286437e-02 8.98780374e+02] [ 7.31383734e-01 6.81876592e-01 -1.10519930e-02 5.08607894e+01] [ 1.53997810e-02 -3.11592223e-04 9.99881368e-01 1.40809882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.3692541539999 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:898.80, Y:50.88, Z:14.08 [[ 6.88670308e-01 -7.24994081e-01 -1.08068803e-02 8.98795577e+02] [ 7.24911060e-01 6.88755041e-01 -1.09749548e-02 5.08848952e+01] [ 1.54000705e-02 -2.75901545e-04 9.99881374e-01 1.40813997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.3992541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:898.81, Y:50.91, Z:14.08 [[ 6.92317241e-01 -7.21512380e-01 -1.08038608e-02 8.98813174e+02] [ 7.21428886e-01 6.92401508e-01 -1.09779264e-02 5.09071290e+01] [ 1.54013193e-02 -1.94009515e-04 9.99881374e-01 1.40846098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.4292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:898.83, Y:50.93, Z:14.09 [[ 6.95939457e-01 -7.18019231e-01 -1.08007406e-02 8.98829829e+02] [ 7.17935266e-01 6.96023255e-01 -1.09809954e-02 5.09284672e+01] [ 1.54021324e-02 -1.12124599e-04 9.99881374e-01 1.40854881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.4592541539998 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:898.85, Y:50.95, Z:14.08 [[ 7.02375552e-01 -7.11724642e-01 -1.07989552e-02 8.98846047e+02] [ 7.11639899e-01 7.02458563e-01 -1.09827508e-02 5.09533593e+01] [ 1.54025130e-02 2.90482883e-05 9.99881374e-01 1.40825618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.4892541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:898.86, Y:50.98, Z:14.08 [[ 7.04263196e-01 -7.09856881e-01 -1.07962230e-02 8.98863036e+02] [ 7.09771877e-01 7.04345940e-01 -1.09854360e-02 5.09763326e+01] [ 1.54023632e-02 7.37827945e-05 9.99881374e-01 1.40845163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.5192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:898.88, Y:51.00, Z:14.09 [[ 7.08479970e-01 -7.05648385e-01 -1.07930592e-02 8.98880921e+02] [ 7.05562842e-01 7.08562156e-01 -1.09885435e-02 5.09959888e+01] [ 1.54016013e-02 1.69981436e-04 9.99881374e-01 1.40867404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.5492541539999 meters Centerline goodness : 0.996534 Centerline is valid? [True, True] Translation: X:898.90, Y:51.02, Z:14.08 [[ 7.13036034e-01 -7.01044339e-01 -1.07911541e-02 8.98897226e+02] [ 7.00958237e-01 7.13117634e-01 -1.09904141e-02 5.10199830e+01] [ 1.54001299e-02 2.72412913e-04 9.99881374e-01 1.40836624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.5792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:898.91, Y:51.04, Z:14.09 [[ 7.14835691e-01 -6.99209105e-01 -1.07963565e-02 8.98914330e+02] [ 6.99122871e-01 7.14917152e-01 -1.09853075e-02 5.10412188e+01] [ 1.53995275e-02 3.04710097e-04 9.99881374e-01 1.40857683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.6092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:898.93, Y:51.06, Z:14.09 [[ 7.17071003e-01 -6.96916996e-01 -1.07646511e-02 8.98933922e+02] [ 6.96830034e-01 7.17151687e-01 -1.10164310e-02 5.10627992e+01] [ 1.53974257e-02 3.98431000e-04 9.99881373e-01 1.40874870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.6392541539999 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:898.95, Y:51.09, Z:14.09 [[ 7.18385375e-01 -6.95561682e-01 -1.07889115e-02 8.98951935e+02] [ 6.95474924e-01 7.18466278e-01 -1.09926202e-02 5.10857181e+01] [ 1.53975145e-02 3.93520169e-04 9.99881374e-01 1.40851976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.6692541539999 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:898.97, Y:51.11, Z:14.08 [[ 7.18283230e-01 -6.95667205e-01 -1.07861830e-02 8.98970105e+02] [ 6.95580419e-01 7.18364103e-01 -1.09952968e-02 5.11061989e+01] [ 1.53974741e-02 3.95079583e-04 9.99881374e-01 1.40844635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.6992541539998 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:898.99, Y:51.13, Z:14.09 [[ 7.18093535e-01 -6.95863046e-01 -1.07840617e-02 8.98989080e+02] [ 6.95776251e-01 7.18174398e-01 -1.09973770e-02 5.11265657e+01] [ 1.53975053e-02 3.93851267e-04 9.99881374e-01 1.40866742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.7292541539998 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:899.01, Y:51.15, Z:14.08 [[ 7.16454201e-01 -6.97550821e-01 -1.07809793e-02 8.99007472e+02] [ 6.97464171e-01 7.16535220e-01 -1.10003978e-02 5.11476494e+01] [ 1.53982879e-02 3.61934419e-04 9.99881374e-01 1.40849186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.7592541539999 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:899.03, Y:51.17, Z:14.09 [[ 7.15082701e-01 -6.98956738e-01 -1.07800257e-02 8.99026786e+02] [ 6.98870234e-01 7.15163874e-01 -1.10013323e-02 5.11683693e+01] [ 1.53989403e-02 3.33023327e-04 9.99881374e-01 1.40860982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.7892541539999 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:899.05, Y:51.19, Z:14.09 [[ 7.13424684e-01 -7.00649040e-01 -1.07769605e-02 8.99046519e+02] [ 7.00562683e-01 7.13506014e-01 -1.10043342e-02 5.11890964e+01] [ 1.53996023e-02 3.00827263e-04 9.99881374e-01 1.40857986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.8192541539999 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:899.07, Y:51.21, Z:14.09 [[ 7.09946792e-01 -7.04172896e-01 -1.07742994e-02 8.99065886e+02] [ 7.04086903e-01 7.10028507e-01 -1.10069390e-02 5.12091615e+01] [ 1.54008478e-02 2.28297981e-04 9.99881374e-01 1.40862268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.8492541539998 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:899.09, Y:51.23, Z:14.09 [[ 7.07601522e-01 -7.06529593e-01 -1.07712703e-02 8.99086357e+02] [ 7.06443827e-01 7.07683476e-01 -1.10099024e-02 5.12297851e+01] [ 1.54014719e-02 1.81326264e-04 9.99881374e-01 1.40882165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.8792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:899.11, Y:51.25, Z:14.09 [[ 7.05668515e-01 -7.08460292e-01 -1.07685388e-02 8.99106007e+02] [ 7.08374709e-01 7.05750660e-01 -1.10125734e-02 5.12491555e+01] [ 1.54018744e-02 1.43065796e-04 9.99881374e-01 1.40896792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.9092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:899.13, Y:51.27, Z:14.09 [[ 7.00586505e-01 -7.13486236e-01 -1.07675726e-02 8.99126521e+02] [ 7.13401228e-01 7.00669245e-01 -1.10135181e-02 5.12679420e+01] [ 1.54025005e-02 3.43226223e-05 9.99881374e-01 1.40923277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.9392541539999 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:899.15, Y:51.29, Z:14.09 [[ 6.97008739e-01 -7.16981830e-01 -1.07644618e-02 8.99146847e+02] [ 7.16897190e-01 6.97091855e-01 -1.10165576e-02 5.12879201e+01] [ 1.54024903e-02 -3.83755187e-05 9.99881374e-01 1.40880253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.9692541539998 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:899.17, Y:51.31, Z:14.09 [[ 6.94046725e-01 -7.19849518e-01 -1.07617640e-02 8.99167107e+02] [ 7.19765181e-01 6.94130148e-01 -1.10191925e-02 5.13076413e+01] [ 1.54022252e-02 -9.81085366e-05 9.99881374e-01 1.40915483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.9992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:899.19, Y:51.33, Z:14.09 [[ 6.91297349e-01 -7.22490295e-01 -1.07586714e-02 8.99187983e+02] [ 7.22406230e-01 6.91381046e-01 -1.10222111e-02 5.13281573e+01] [ 1.54017820e-02 -1.52505875e-04 9.99881374e-01 1.40947896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.0292541539999 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:899.21, Y:51.35, Z:14.09 [[ 6.84833821e-01 -7.28619892e-01 -1.07559509e-02 8.99208388e+02] [ 7.28536534e-01 6.84918222e-01 -1.10248653e-02 5.13476434e+01] [ 1.53998829e-02 -2.85902584e-04 9.99881374e-01 1.40918584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.0592541539999 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:899.23, Y:51.37, Z:14.09 [[ 6.82120234e-01 -7.31160944e-01 -1.07545420e-02 8.99227529e+02] [ 7.31077879e-01 6.82204923e-01 -1.10262394e-02 5.13667649e+01] [ 1.53987571e-02 -3.41186747e-04 9.99881374e-01 1.40905345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.0892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:899.25, Y:51.39, Z:14.10 [[ 6.76530545e-01 -7.36336064e-01 -1.07527970e-02 8.99245107e+02] [ 7.36253619e-01 6.76615838e-01 -1.10279409e-02 5.13870272e+01] [ 1.53957834e-02 -4.56046790e-04 9.99881374e-01 1.40999505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.1192541539999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:899.27, Y:51.41, Z:14.10 [[ 6.75136849e-01 -7.37614950e-01 -1.06968183e-02 8.99267585e+02] [ 7.37531801e-01 6.75221460e-01 -1.10824998e-02 5.14075486e+01] [ 1.53973388e-02 -4.07039745e-04 9.99881371e-01 1.40957277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.1492541539999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:899.29, Y:51.43, Z:14.10 [[ 6.74930589e-01 -7.37802918e-01 -1.07496183e-02 8.99287493e+02] [ 7.37720609e-01 6.75016014e-01 -1.10310469e-02 5.14280338e+01] [ 1.53949031e-02 -4.85023928e-04 9.99881374e-01 1.40961915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.1792541539999 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:899.31, Y:51.45, Z:14.10 [[ 6.71729831e-01 -7.40718264e-01 -1.07465325e-02 8.99305125e+02] [ 7.40636278e-01 6.71815566e-01 -1.10340523e-02 5.14487859e+01] [ 1.53928119e-02 -5.47369701e-04 9.99881374e-01 1.40996238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.2092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:899.33, Y:51.47, Z:14.10 [[ 6.70495775e-01 -7.41836351e-01 -1.06885320e-02 8.99327225e+02] [ 7.41753607e-01 6.70580783e-01 -1.10905067e-02 5.14702013e+01] [ 1.53948652e-02 -4.92119283e-04 9.99881371e-01 1.41018574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.2392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:899.35, Y:51.49, Z:14.10 [[ 6.68351425e-01 -7.43767978e-01 -1.07502425e-02 8.99345245e+02] [ 7.43686441e-01 6.68437587e-01 -1.10304375e-02 5.14913230e+01] [ 1.53899524e-02 -6.22600981e-04 9.99881374e-01 1.41035218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.2692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:899.37, Y:51.51, Z:14.10 [[ 6.66742652e-01 -7.45211104e-01 -1.07073284e-02 8.99365431e+02] [ 7.45129084e-01 6.66828355e-01 -1.10721876e-02 5.15135995e+01] [ 1.53910673e-02 -5.96042127e-04 9.99881373e-01 1.41037193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.2992541539999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:899.38, Y:51.53, Z:14.10 [[ 6.66092082e-01 -7.45792251e-01 -1.07357258e-02 8.99384607e+02] [ 7.45710749e-01 6.66178277e-01 -1.10445655e-02 5.15343681e+01] [ 1.53888587e-02 -6.49048476e-04 9.99881374e-01 1.41008478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.3292541539998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:899.40, Y:51.56, Z:14.10 [[ 6.65373373e-01 -7.46433498e-01 -1.07381387e-02 8.99403945e+02] [ 7.46352116e-01 6.65459682e-01 -1.10422191e-02 5.15556028e+01] [ 1.53880806e-02 -6.67233938e-04 9.99881374e-01 1.41028186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.3592541539999 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:899.42, Y:51.58, Z:14.10 [[ 6.64665191e-01 -7.47064211e-01 -1.07353985e-02 8.99422398e+02] [ 7.46982869e-01 6.64751536e-01 -1.10448825e-02 5.15762691e+01] [ 1.53876091e-02 -6.78009831e-04 9.99881374e-01 1.41014253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.3892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:899.44, Y:51.60, Z:14.10 [[ 6.65283372e-01 -7.46513768e-01 -1.07344273e-02 8.99438852e+02] [ 7.46432339e-01 6.65369636e-01 -1.10458264e-02 5.15987131e+01] [ 1.53882234e-02 -6.63919015e-04 9.99881374e-01 1.41044314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.4192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:899.45, Y:51.62, Z:14.11 [[ 6.64459632e-01 -7.47247074e-01 -1.07334776e-02 8.99454939e+02] [ 7.47165725e-01 6.64545972e-01 -1.10467491e-02 5.16209544e+01] [ 1.53875402e-02 -6.79567730e-04 9.99881374e-01 1.41065199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.4492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:899.47, Y:51.64, Z:14.11 [[ 6.66148701e-01 -7.45742464e-01 -1.06810609e-02 8.99471589e+02] [ 7.45660105e-01 6.66234081e-01 -1.10976533e-02 5.16441903e+01] [ 1.53920781e-02 -5.71753669e-04 9.99881371e-01 1.41062518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.4792541539998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:899.49, Y:51.67, Z:14.11 [[ 6.67983914e-01 -7.44099050e-01 -1.06815138e-02 8.99491591e+02] [ 7.44016487e-01 6.68069097e-01 -1.10972135e-02 5.16660500e+01] [ 1.53934153e-02 -5.34462255e-04 9.99881372e-01 1.41064205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.5092541539999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:899.51, Y:51.69, Z:14.11 [[ 6.69731290e-01 -7.42526157e-01 -1.07194110e-02 8.99509335e+02] [ 7.42443981e-01 6.69816843e-01 -1.10604112e-02 5.16874563e+01] [ 1.53926866e-02 -5.51058707e-04 9.99881374e-01 1.41051111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.5392541539999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:899.53, Y:51.71, Z:14.11 [[ 6.73614185e-01 -7.39005297e-01 -1.07285368e-02 8.99525476e+02] [ 7.38922814e-01 6.73699442e-01 -1.10515520e-02 5.17114758e+01] [ 1.53949648e-02 -4.83078423e-04 9.99881374e-01 1.41063243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.5692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:899.54, Y:51.73, Z:14.11 [[ 6.76729783e-01 -7.36153272e-01 -1.07313088e-02 8.99544282e+02] [ 7.36070472e-01 6.76814733e-01 -1.10488617e-02 5.17338804e+01] [ 1.53967636e-02 -4.21905737e-04 9.99881374e-01 1.41072723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.5992541539998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:899.56, Y:51.76, Z:14.11 [[ 6.77779100e-01 -7.35186984e-01 -1.07512625e-02 8.99560345e+02] [ 7.35104370e-01 6.77864231e-01 -1.10295019e-02 5.17572010e+01] [ 1.53966426e-02 -4.27734134e-04 9.99881373e-01 1.41092513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.6292541539999 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:899.58, Y:51.78, Z:14.11 [[ 6.83262831e-01 -7.30093786e-01 -1.07222750e-02 8.99575938e+02] [ 7.30010096e-01 6.83346903e-01 -1.10576103e-02 5.17810880e+01] [ 1.54001260e-02 -2.72114896e-04 9.99881374e-01 1.41061651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.6592541539999 meters Centerline goodness : 0.999834 Centerline is valid? [True, True] Translation: X:899.59, Y:51.80, Z:14.11 [[ 6.85336517e-01 -7.28147591e-01 -1.07212337e-02 8.99593704e+02] [ 7.28063646e-01 6.85420334e-01 -1.10586199e-02 5.18036092e+01] [ 1.54008590e-02 -2.26864433e-04 9.99881374e-01 1.41079100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.6892541539999 meters Centerline goodness : 0.999813 Centerline is valid? [True, True] Translation: X:899.61, Y:51.83, Z:14.11 [[ 6.88924319e-01 -7.24753952e-01 -1.07233766e-02 8.99607816e+02] [ 7.24669627e-01 6.89007754e-01 -1.10565428e-02 5.18283987e+01] [ 1.54017627e-02 -1.53784092e-04 9.99881374e-01 1.41095621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.7192541539998 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:899.63, Y:51.85, Z:14.11 [[ 6.91181454e-01 -7.22602370e-01 -1.06776790e-02 8.99626055e+02] [ 7.22517099e-01 6.91263925e-01 -1.11008220e-02 5.18506031e+01] [ 1.54025746e-02 -4.21234042e-05 9.99881372e-01 1.41094088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.7492541539999 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:899.64, Y:51.87, Z:14.11 [[ 6.93527488e-01 -7.20350886e-01 -1.06875761e-02 8.99643548e+02] [ 7.20265495e-01 6.93609833e-01 -1.10912358e-02 5.18720457e+01] [ 1.54025894e-02 -5.81541643e-06 9.99881373e-01 1.41089171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.7792541539999 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:899.66, Y:51.89, Z:14.11 [[ 6.95052871e-01 -7.18879007e-01 -1.06995172e-02 8.99658679e+02] [ 7.18793620e-01 6.95135219e-01 -1.10796746e-02 5.18930512e+01] [ 1.54025567e-02 1.02148967e-05 9.99881374e-01 1.41069785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.8092541539999 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:899.68, Y:51.92, Z:14.11 [[ 6.99065974e-01 -7.14977774e-01 -1.06558165e-02 8.99677202e+02] [ 7.14891281e-01 6.99147165e-01 -1.11219664e-02 5.19173371e+01] [ 1.54019426e-02 1.57237966e-04 9.99881371e-01 1.41064813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.8392541539998 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:899.70, Y:51.94, Z:14.11 [[ 7.01857272e-01 -7.12237358e-01 -1.06918270e-02 8.99696646e+02] [ 7.12151079e-01 7.01938685e-01 -1.10871180e-02 5.19384027e+01] [ 1.54016666e-02 1.67378282e-04 9.99881373e-01 1.41068533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.8692541539999 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:899.72, Y:51.96, Z:14.11 [[ 7.03271375e-01 -7.10840807e-01 -1.07107984e-02 8.99715728e+02] [ 7.10754644e-01 7.03352911e-01 -1.10687601e-02 5.19599441e+01] [ 1.54015976e-02 1.71592412e-04 9.99881374e-01 1.41084178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.8992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:899.73, Y:51.98, Z:14.11 [[ 7.04597490e-01 -7.09526403e-01 -1.07080031e-02 8.99732994e+02] [ 7.09440047e-01 7.04678822e-01 -1.10714637e-02 5.19826925e+01] [ 1.54011988e-02 2.04239299e-04 9.99881374e-01 1.41087819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.9292541539999 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:899.75, Y:52.00, Z:14.11 [[ 7.05997815e-01 -7.08133276e-01 -1.06934480e-02 8.99752371e+02] [ 7.08046546e-01 7.06078748e-01 -1.10855362e-02 5.20028979e+01] [ 1.54004535e-02 2.54905406e-04 9.99881373e-01 1.41072799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.9592541539998 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:899.77, Y:52.02, Z:14.11 [[ 7.06562194e-01 -7.07569990e-01 -1.07039884e-02 8.99771561e+02] [ 7.07483350e-01 7.06643224e-01 -1.10753493e-02 5.20239121e+01] [ 1.54004856e-02 2.52529569e-04 9.99881374e-01 1.41072934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.9892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:899.79, Y:52.05, Z:14.11 [[ 7.06170161e-01 -7.07961289e-01 -1.07012523e-02 8.99788564e+02] [ 7.07874654e-01 7.06251196e-01 -1.10779923e-02 5.20460201e+01] [ 1.54005620e-02 2.47802341e-04 9.99881374e-01 1.41088034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.0192541539999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:899.81, Y:52.07, Z:14.11 [[ 7.07677674e-01 -7.06454898e-01 -1.06670856e-02 8.99809688e+02] [ 7.06367594e-01 7.07757987e-01 -1.11109838e-02 5.20653675e+01] [ 1.53991239e-02 3.28111592e-04 9.99881373e-01 1.41082673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.0492541539999 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:899.83, Y:52.09, Z:14.11 [[ 7.06973221e-01 -7.07159407e-01 -1.06975719e-02 8.99829231e+02] [ 7.07072627e-01 7.07054100e-01 -1.10815539e-02 5.20853779e+01] [ 1.54001871e-02 2.70401588e-04 9.99881374e-01 1.41083049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.0792541539998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:899.85, Y:52.11, Z:14.11 [[ 7.06778318e-01 -7.07354253e-01 -1.06943552e-02 8.99849349e+02] [ 7.07267448e-01 7.06859171e-01 -1.10846573e-02 5.21051307e+01] [ 1.54001825e-02 2.70626159e-04 9.99881374e-01 1.41089983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.1092541539999 meters Centerline goodness : 0.999855 Centerline is valid? [True, True] Translation: X:899.87, Y:52.12, Z:14.11 [[ 7.05877433e-01 -7.08253275e-01 -1.06933604e-02 8.99868824e+02] [ 7.08166558e-01 7.05958380e-01 -1.10856169e-02 5.21246563e+01] [ 1.54004918e-02 2.52406592e-04 9.99881374e-01 1.41095143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.1392541539999 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:899.89, Y:52.14, Z:14.11 [[ 7.04771062e-01 -7.09354261e-01 -1.06902634e-02 8.99888913e+02] [ 7.09267626e-01 7.04852096e-01 -1.10886026e-02 5.21435708e+01] [ 1.54008021e-02 2.32668431e-04 9.99881374e-01 1.41097476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.1692541539999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:899.91, Y:52.16, Z:14.11 [[ 7.04099917e-01 -7.10020454e-01 -1.06893060e-02 8.99909497e+02] [ 7.09933882e-01 7.04181018e-01 -1.10895255e-02 5.21637031e+01] [ 1.54009963e-02 2.19433507e-04 9.99881374e-01 1.41134369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.1992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:899.93, Y:52.18, Z:14.12 [[ 7.04025338e-01 -7.10094445e-01 -1.06865615e-02 8.99928826e+02] [ 7.10007841e-01 7.04106405e-01 -1.10921696e-02 5.21822460e+01] [ 1.54009644e-02 2.21626006e-04 9.99881374e-01 1.41155005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.2292541539998 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:899.95, Y:52.20, Z:14.11 [[ 7.02628423e-01 -7.11476721e-01 -1.06852721e-02 8.99949652e+02] [ 7.11390257e-01 7.02709640e-01 -1.10934115e-02 5.22021796e+01] [ 1.54013478e-02 1.93147795e-04 9.99881374e-01 1.41141102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.2592541539999 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:899.97, Y:52.22, Z:14.11 [[ 7.01974605e-01 -7.12121856e-01 -1.06825716e-02 8.99969750e+02] [ 7.12035427e-01 7.02055859e-01 -1.10960114e-02 5.22220961e+01] [ 1.54014742e-02 1.82748757e-04 9.99881374e-01 1.41144674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.2892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:899.99, Y:52.24, Z:14.12 [[ 7.01619218e-01 -7.12472050e-01 -1.06795053e-02 8.99991493e+02] [ 7.12385617e-01 7.01700468e-01 -1.10989619e-02 5.22413881e+01] [ 1.54015140e-02 1.79318982e-04 9.99881374e-01 1.41173366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.3192541539999 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:900.01, Y:52.26, Z:14.12 [[ 7.00250892e-01 -7.13816989e-01 -1.06768383e-02 9.00011294e+02] [ 7.13730672e-01 7.00332266e-01 -1.11015268e-02 5.22613380e+01] [ 1.54017928e-02 1.53467078e-04 9.99881374e-01 1.41164028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.3492541539998 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:900.03, Y:52.28, Z:14.12 [[ 6.99538554e-01 -7.14515139e-01 -1.06737016e-02 9.00030789e+02] [ 7.14428858e-01 6.99619965e-01 -1.11045418e-02 5.22799933e+01] [ 1.54018980e-02 1.42454692e-04 9.99881374e-01 1.41167810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.3792541539999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:900.05, Y:52.30, Z:14.12 [[ 6.98041052e-01 -7.15978205e-01 -1.06723435e-02 9.00052472e+02] [ 7.15892075e-01 6.98122623e-01 -1.11058469e-02 5.22980590e+01] [ 1.54021488e-02 1.12090902e-04 9.99881374e-01 1.41196907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.4092541539999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:900.07, Y:52.32, Z:14.12 [[ 6.96448615e-01 -7.17527348e-01 -1.06691897e-02 9.00072216e+02] [ 7.17441353e-01 6.96530328e-01 -1.11088759e-02 5.23168949e+01] [ 1.54023364e-02 8.22433273e-05 9.99881374e-01 1.41175811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.4392541539999 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:900.09, Y:52.34, Z:14.12 [[ 6.94876449e-01 -7.19050011e-01 -1.06678251e-02 9.00092931e+02] [ 7.18964175e-01 6.94958329e-01 -1.11101862e-02 5.23365008e+01] [ 1.54024734e-02 5.04226682e-05 9.99881374e-01 1.41177302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.4692541539998 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:900.11, Y:52.36, Z:14.12 [[ 6.93795806e-01 -7.20092801e-01 -1.06647669e-02 9.00113425e+02] [ 7.20007043e-01 6.93877768e-01 -1.11131210e-02 5.23551464e+01] [ 1.54025231e-02 3.15294291e-05 9.99881374e-01 1.41193211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.4992541539999 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:900.13, Y:52.37, Z:14.12 [[ 6.91654898e-01 -7.22149453e-01 -1.06616514e-02 9.00134352e+02] [ 7.22063892e-01 6.91737066e-01 -1.11161091e-02 5.23730442e+01] [ 1.54025515e-02 -9.88216313e-06 9.99881374e-01 1.41186630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.5292541539999 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:900.16, Y:52.39, Z:14.12 [[ 6.91591496e-01 -7.22210197e-01 -1.06599428e-02 9.00158202e+02] [ 7.22124618e-01 6.91673645e-01 -1.11177473e-02 5.23931058e+01] [ 1.54025520e-02 -8.86759500e-06 9.99881374e-01 1.41206252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.5592541539999 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:900.18, Y:52.41, Z:14.12 [[ 6.89047482e-01 -7.24636701e-01 -1.07339577e-02 9.00175990e+02] [ 7.24552514e-01 6.89131064e-01 -1.10467763e-02 5.24111572e+01] [ 1.54020032e-02 -1.65562589e-04 9.99881368e-01 1.41220677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.5892541539998 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:900.20, Y:52.43, Z:14.12 [[ 6.88344278e-01 -7.25305875e-01 -1.06556925e-02 9.00195538e+02] [ 7.25220603e-01 6.88426745e-01 -1.11217618e-02 5.24301691e+01] [ 1.54023429e-02 -7.21266743e-05 9.99881374e-01 1.41232945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.6192541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:900.22, Y:52.45, Z:14.13 [[ 6.87916771e-01 -7.25711472e-01 -1.06478357e-02 9.00216487e+02] [ 7.25626132e-01 6.87999168e-01 -1.11292858e-02 5.24501246e+01] [ 1.54023524e-02 -7.03255026e-05 9.99881374e-01 1.41252384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.6492541539999 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:900.24, Y:52.47, Z:14.12 [[ 6.86701891e-01 -7.26861096e-01 -1.06517441e-02 9.00236149e+02] [ 7.26775953e-01 6.86784491e-01 -1.11255438e-02 5.24699227e+01] [ 1.54021776e-02 -1.01499436e-04 9.99881374e-01 1.41234548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.6792541539999 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:900.26, Y:52.49, Z:14.12 [[ 6.85507191e-01 -7.27987980e-01 -1.06485647e-02 9.00255880e+02] [ 7.27902926e-01 6.85589881e-01 -1.11285861e-02 5.24887895e+01] [ 1.54020251e-02 -1.22395598e-04 9.99881374e-01 1.41229528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.7092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:900.28, Y:52.51, Z:14.13 [[ 6.85641705e-01 -7.27861312e-01 -1.06471884e-02 9.00275847e+02] [ 7.27776222e-01 6.85724359e-01 -1.11299027e-02 5.25080671e+01] [ 1.54020620e-02 -1.17645106e-04 9.99881374e-01 1.41263881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.7392541539999 meters Centerline goodness : 0.999792 Centerline is valid? [True, True] Translation: X:900.30, Y:52.53, Z:14.12 [[ 6.84496689e-01 -7.28938260e-01 -1.06440624e-02 9.00295709e+02] [ 7.28853253e-01 6.84579429e-01 -1.11328914e-02 5.25280100e+01] [ 1.54018966e-02 -1.37532248e-04 9.99881374e-01 1.41235575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.7692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:900.32, Y:52.55, Z:14.13 [[ 6.84816050e-01 -7.28638284e-01 -1.06409580e-02 9.00316103e+02] [ 7.28553194e-01 6.84898705e-01 -1.11358579e-02 5.25476710e+01] [ 1.54019907e-02 -1.26489738e-04 9.99881374e-01 1.41278218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.7992541539999 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:900.34, Y:52.57, Z:14.13 [[ 6.83952341e-01 -7.29449130e-01 -1.06377522e-02 9.00335769e+02] [ 7.29364091e-01 6.84035048e-01 -1.11389194e-02 5.25681373e+01] [ 1.54018704e-02 -1.40304440e-04 9.99881374e-01 1.41251221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.8292541539998 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:900.36, Y:52.59, Z:14.13 [[ 6.83845890e-01 -7.29548974e-01 -1.06345266e-02 9.00355717e+02] [ 7.29463899e-01 6.83928560e-01 -1.11419981e-02 5.25881719e+01] [ 1.54018897e-02 -1.38093619e-04 9.99881374e-01 1.41267512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.8592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:900.37, Y:52.61, Z:14.13 [[ 6.83805917e-01 -7.29586488e-01 -1.06312834e-02 9.00374698e+02] [ 7.29501370e-01 6.83888542e-01 -1.11450918e-02 5.26069062e+01] [ 1.54019213e-02 -1.34456047e-04 9.99881374e-01 1.41288585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.8892541539999 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:900.39, Y:52.63, Z:14.13 [[ 6.81226341e-01 -7.31995682e-01 -1.06298797e-02 9.00393665e+02] [ 7.31910835e-01 6.81309244e-01 -1.11464304e-02 5.26270513e+01] [ 1.54013742e-02 -1.86882109e-04 9.99881374e-01 1.41266968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.9192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:900.41, Y:52.65, Z:14.13 [[ 6.80261356e-01 -7.32892599e-01 -1.06266761e-02 9.00413701e+02] [ 7.32807813e-01 6.80344323e-01 -1.11494838e-02 5.26465736e+01] [ 1.54011729e-02 -2.02748251e-04 9.99881374e-01 1.41304864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.9492541539998 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:900.43, Y:52.67, Z:14.13 [[ 6.77782325e-01 -7.35185869e-01 -1.06234652e-02 9.00431842e+02] [ 7.35101316e-01 6.77865529e-01 -1.11525424e-02 5.26663616e+01] [ 1.54004724e-02 -2.50327100e-04 9.99881374e-01 1.41271192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.9792541539998 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:900.45, Y:52.69, Z:14.13 [[ 6.75876308e-01 -7.36938523e-01 -1.06221288e-02 9.00450831e+02] [ 7.36854166e-01 6.75959710e-01 -1.11538151e-02 5.26852546e+01] [ 1.53998071e-02 -2.88360474e-04 9.99881374e-01 1.41289066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.0092541539999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:900.47, Y:52.70, Z:14.13 [[ 6.71409491e-01 -7.41010455e-01 -1.06207531e-02 9.00471154e+02] [ 7.40926583e-01 6.71493382e-01 -1.11551249e-02 5.27047945e+01] [ 1.53978296e-02 -3.79541582e-04 9.99881374e-01 1.41323017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.0392541539999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:900.49, Y:52.73, Z:14.13 [[ 6.71202409e-01 -7.41198079e-01 -1.06176326e-02 9.00490786e+02] [ 7.41114184e-01 6.71286275e-01 -1.11580942e-02 5.27255393e+01] [ 1.53978290e-02 -3.79538408e-04 9.99881374e-01 1.41327404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.0692541539999 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:900.51, Y:52.75, Z:14.13 [[ 6.68684331e-01 -7.43470643e-01 -1.06145136e-02 9.00509817e+02] [ 7.43386986e-01 6.68768435e-01 -1.11610605e-02 5.27458855e+01] [ 1.53965725e-02 -4.27464974e-04 9.99881374e-01 1.41323604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.0992541539998 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] Translation: X:900.53, Y:52.77, Z:14.13 [[ 6.66507185e-01 -7.45423082e-01 -1.06114031e-02 9.00529075e+02] [ 7.45339624e-01 6.66591487e-01 -1.11640170e-02 5.27665561e+01] [ 1.53953869e-02 -4.68201676e-04 9.99881374e-01 1.41320819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.1292541539999 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:900.55, Y:52.79, Z:14.13 [[ 6.64254750e-01 -7.47430994e-01 -1.06083139e-02 9.00547584e+02] [ 7.47347744e-01 6.64339257e-01 -1.11669517e-02 5.27865572e+01] [ 1.53940452e-02 -5.10398801e-04 9.99881374e-01 1.41341566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.1592541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:900.57, Y:52.81, Z:14.14 [[ 6.64072565e-01 -7.47592890e-01 -1.06065425e-02 9.00566661e+02] [ 7.47509634e-01 6.64157067e-01 -1.11686340e-02 5.28064480e+01] [ 1.53940015e-02 -5.11709260e-04 9.99881374e-01 1.41373033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.1892541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:900.58, Y:52.83, Z:14.14 [[ 6.63679817e-01 -7.47941619e-01 -1.06034962e-02 9.00584936e+02] [ 7.47858362e-01 6.63764317e-01 -1.11715253e-02 5.28273031e+01] [ 1.53938712e-02 -5.15597459e-04 9.99881374e-01 1.41374282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.2192541539998 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:900.60, Y:52.85, Z:14.14 [[ 6.64635883e-01 -7.47092213e-01 -1.06004090e-02 9.00603095e+02] [ 7.47008800e-01 6.64720230e-01 -1.11744539e-02 5.28505585e+01] [ 1.53946538e-02 -4.91655793e-04 9.99881374e-01 1.41353171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.2492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:900.62, Y:52.87, Z:14.14 [[ 6.66702105e-01 -7.45248815e-01 -1.06069216e-02 9.00621719e+02] [ 7.45165268e-01 6.66786318e-01 -1.11682778e-02 5.28711706e+01] [ 1.53956959e-02 -4.57995270e-04 9.99881374e-01 1.41379904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.2792541539999 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:900.64, Y:52.89, Z:14.14 [[ 6.67823393e-01 -7.44244337e-01 -1.05963124e-02 9.00639276e+02] [ 7.44160504e-01 6.67907321e-01 -1.11783345e-02 5.28929767e+01] [ 1.53967668e-02 -4.20203931e-04 9.99881374e-01 1.41350185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.3092541539999 meters Centerline goodness : 0.999813 Centerline is valid? [True, True] Translation: X:900.66, Y:52.91, Z:14.13 [[ 6.71990739e-01 -7.40483784e-01 -1.05930459e-02 9.00655856e+02] [ 7.40399432e-01 6.72074146e-01 -1.11814292e-02 5.29147894e+01] [ 1.53989792e-02 -3.29268271e-04 9.99881374e-01 1.41341153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.3392541539998 meters Centerline goodness : 0.999834 Centerline is valid? [True, True] Translation: X:900.67, Y:52.94, Z:14.14 [[ 6.74010253e-01 -7.38646056e-01 -1.05916306e-02 9.00674081e+02] [ 7.38561455e-01 6.74093408e-01 -1.11827697e-02 5.29363010e+01] [ 1.53998571e-02 -2.85268692e-04 9.99881374e-01 1.41352041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.3692541539999 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:900.69, Y:52.96, Z:14.14 [[ 6.76532266e-01 -7.36336865e-01 -1.05883878e-02 9.00691494e+02] [ 7.36251932e-01 6.76615082e-01 -1.11858392e-02 5.29567480e+01] [ 1.54008087e-02 -2.28139827e-04 9.99881374e-01 1.41362866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.3992541539999 meters Centerline goodness : 0.999750 Centerline is valid? [True, True] Translation: X:900.71, Y:52.98, Z:14.13 [[ 6.80603582e-01 -7.32575375e-01 -1.05869829e-02 9.00708729e+02] [ 7.32489964e-01 6.80685904e-01 -1.11871688e-02 5.29795272e+01] [ 1.54018544e-02 -1.40831552e-04 9.99881374e-01 1.41347125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.4292541539999 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:900.73, Y:53.00, Z:14.14 [[ 6.82741669e-01 -7.30583191e-01 -1.05837478e-02 9.00727128e+02] [ 7.30497492e-01 6.82823691e-01 -1.11902285e-02 5.30004652e+01] [ 1.54022266e-02 -9.13659063e-05 9.99881374e-01 1.41375408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.4592541539998 meters Centerline goodness : 0.999792 Centerline is valid? [True, True] Translation: X:900.74, Y:53.02, Z:14.14 [[ 6.85338177e-01 -7.28148086e-01 -1.05805316e-02 9.00744450e+02] [ 7.28062049e-01 6.85419845e-01 -1.11932687e-02 5.30227535e+01] [ 1.54024635e-02 -3.21091322e-05 9.99881375e-01 1.41365866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.4892541539999 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:900.76, Y:53.04, Z:14.14 [[ 6.86236669e-01 -7.27301420e-01 -1.05772606e-02 9.00763632e+02] [ 7.27215235e-01 6.86318180e-01 -1.11963588e-02 5.30443241e+01] [ 1.54024939e-02 -8.59312551e-06 9.99881375e-01 1.41390859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.5192541539999 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:900.78, Y:53.07, Z:14.14 [[ 6.86598068e-01 -7.26960348e-01 -1.05709996e-02 9.00782656e+02] [ 7.26874031e-01 6.86679439e-01 -1.12022723e-02 5.30653123e+01] [ 1.54024959e-02 7.67344423e-06 9.99881374e-01 1.41394800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.5492541539999 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:900.80, Y:53.09, Z:14.14 [[ 6.85619015e-01 -7.27883739e-01 -1.05748649e-02 9.00800722e+02] [ 7.27797588e-01 6.85700563e-01 -1.11986224e-02 5.30865461e+01] [ 1.54024859e-02 -1.83726787e-05 9.99881375e-01 1.41382591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.5792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:900.82, Y:53.11, Z:14.14 [[ 6.85069502e-01 -7.28401001e-01 -1.05716646e-02 9.00819844e+02] [ 7.28314864e-01 6.85151065e-01 -1.12016427e-02 5.31064392e+01] [ 1.54024750e-02 -2.55967121e-05 9.99881375e-01 1.41419970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.6092541539999 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:900.84, Y:53.13, Z:14.14 [[ 6.83307239e-01 -7.30054466e-01 -1.05684801e-02 9.00838151e+02] [ 7.29968481e-01 6.83388962e-01 -1.12046464e-02 5.31277064e+01] [ 1.54023848e-02 -5.84413517e-05 9.99881375e-01 1.41385819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.6392541539999 meters Centerline goodness : 0.999729 Centerline is valid? [True, True] Translation: X:900.86, Y:53.15, Z:14.14 [[ 6.79757913e-01 -7.33360453e-01 -1.05653156e-02 9.00857050e+02] [ 7.33274819e-01 6.79840003e-01 -1.12076296e-02 5.31488347e+01] [ 1.54019564e-02 -1.28804967e-04 9.99881375e-01 1.41378165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.6692541539999 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:900.88, Y:53.17, Z:14.14 [[ 6.77945484e-01 -7.35036300e-01 -1.05621395e-02 9.00875929e+02] [ 7.34950822e-01 6.78027736e-01 -1.12106219e-02 5.31694927e+01] [ 1.54016376e-02 -1.62462657e-04 9.99881375e-01 1.41394661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.6992541539998 meters Centerline goodness : 0.999792 Centerline is valid? [True, True] Translation: X:900.89, Y:53.19, Z:14.14 [[ 6.75947386e-01 -7.36874237e-01 -1.05589560e-02 9.00894806e+02] [ 7.36788935e-01 6.76029822e-01 -1.12136196e-02 5.31905672e+01] [ 1.54011965e-02 -1.99905100e-04 9.99881375e-01 1.41394049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.7292541539998 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:900.91, Y:53.21, Z:14.14 [[ 6.72416387e-01 -7.40097817e-01 -1.05557542e-02 9.00913542e+02] [ 7.40012864e-01 6.72499181e-01 -1.12166327e-02 5.32117438e+01] [ 1.54001414e-02 -2.69146267e-04 9.99881375e-01 1.41392627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.7592541539999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:900.93, Y:53.23, Z:14.14 [[ 6.71005353e-01 -7.41377407e-01 -1.05525799e-02 9.00932489e+02] [ 7.41292564e-01 6.71088261e-01 -1.12196183e-02 5.32320595e+01] [ 1.53996840e-02 -2.94125118e-04 9.99881375e-01 1.41412119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.7892541539999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:900.95, Y:53.25, Z:14.14 [[ 6.68452724e-01 -7.43679783e-01 -1.05515982e-02 9.00951544e+02] [ 7.43595211e-01 6.68535909e-01 -1.12205415e-02 5.32532556e+01] [ 1.53986121e-02 -3.45716356e-04 9.99881375e-01 1.41424759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.8192541539999 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:900.97, Y:53.27, Z:14.14 [[ 6.67469595e-01 -7.44562334e-01 -1.05484712e-02 9.00970162e+02] [ 7.44477827e-01 6.67552844e-01 -1.12234804e-02 5.32740370e+01] [ 1.53982427e-02 -3.61770954e-04 9.99881375e-01 1.41402123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.8492541539998 meters Centerline goodness : 0.999792 Centerline is valid? [True, True] Translation: X:900.99, Y:53.29, Z:14.14 [[ 6.66004668e-01 -7.45873000e-01 -1.05475045e-02 9.00986336e+02] [ 7.45788642e-01 6.66088068e-01 -1.12243888e-02 5.32945455e+01] [ 1.53975354e-02 -3.90713714e-04 9.99881375e-01 1.41401443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.8792541539999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:901.01, Y:53.32, Z:14.14 [[ 6.66951436e-01 -7.45027669e-01 -1.04668382e-02 9.01007686e+02] [ 7.44942013e-01 6.67033511e-01 -1.13001124e-02 5.33152756e+01] [ 1.54006283e-02 -2.60561357e-04 9.99881369e-01 1.41438226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.9092541539999 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:901.03, Y:53.34, Z:14.14 [[ 6.67127728e-01 -7.44868736e-01 -1.05432380e-02 9.01026514e+02] [ 7.44784189e-01 6.67210937e-01 -1.12283745e-02 5.33364509e+01] [ 1.53982289e-02 -3.61677016e-04 9.99881375e-01 1.41433351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.9392541539999 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:901.04, Y:53.36, Z:14.14 [[ 6.67682554e-01 -7.44371490e-01 -1.05399577e-02 9.01044359e+02] [ 7.44286833e-01 6.67765651e-01 -1.12314529e-02 5.33566005e+01] [ 1.53985951e-02 -3.45706552e-04 9.99881375e-01 1.41426066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.9692541539998 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:901.06, Y:53.38, Z:14.14 [[ 6.68562418e-01 -7.43581356e-01 -1.05385379e-02 9.01062830e+02] [ 7.43496579e-01 6.68645393e-01 -1.12327850e-02 5.33770894e+01] [ 1.53990343e-02 -3.25549007e-04 9.99881375e-01 1.41427673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.9992541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:901.08, Y:53.40, Z:14.15 [[ 6.72331977e-01 -7.40174791e-01 -1.05352600e-02 9.01081403e+02] [ 7.40089545e-01 6.72414471e-01 -1.12358585e-02 5.33977193e+01] [ 1.54005605e-02 -2.42808821e-04 9.99881375e-01 1.41466285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.0292541539999 meters Centerline goodness : 0.999792 Centerline is valid? [True, True] Translation: X:901.10, Y:53.42, Z:14.14 [[ 6.73739937e-01 -7.38893448e-01 -1.05342455e-02 9.01100134e+02] [ 7.38808031e-01 6.73822252e-01 -1.12368095e-02 5.34196417e+01] [ 1.54010140e-02 -2.12097858e-04 9.99881375e-01 1.41442482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.0592541539999 meters Centerline goodness : 0.999730 Centerline is valid? [True, True] Translation: X:901.12, Y:53.44, Z:14.15 [[ 6.77727857e-01 -7.35237404e-01 -1.05314272e-02 9.01118502e+02] [ 7.35151502e-01 6.77809666e-01 -1.12394503e-02 5.34412362e+01] [ 1.54019674e-02 -1.24905943e-04 9.99881375e-01 1.41456618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.0892541539998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:901.14, Y:53.46, Z:14.15 [[ 6.79720154e-01 -7.33395952e-01 -1.05304194e-02 9.01138001e+02] [ 7.33309814e-01 6.79801714e-01 -1.12403945e-02 5.34631000e+01] [ 1.54022569e-02 -8.17371900e-05 9.99881375e-01 1.41480331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.1192541539999 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:901.16, Y:53.48, Z:14.15 [[ 6.81627496e-01 -7.31623625e-01 -1.05275457e-02 9.01155801e+02] [ 7.31537232e-01 6.81708787e-01 -1.12430852e-02 5.34838252e+01] [ 1.54024272e-02 -3.76956231e-05 9.99881375e-01 1.41460797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.1492541539999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:901.17, Y:53.50, Z:14.15 [[ 6.83717300e-01 -7.29671059e-01 -1.05261643e-02 9.01174193e+02] [ 7.29584415e-01 6.83798323e-01 -1.12443784e-02 5.35044227e+01] [ 1.54024710e-02 8.25067451e-06 9.99881375e-01 1.41482150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.1792541539999 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:901.19, Y:53.53, Z:14.15 [[ 6.87678356e-01 -7.25939217e-01 -1.05229110e-02 9.01192843e+02] [ 7.25852087e-01 6.87758856e-01 -1.12474222e-02 5.35253885e+01] [ 1.54021701e-02 9.65318678e-05 9.99881375e-01 1.41480092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.2092541539998 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:901.21, Y:53.55, Z:14.15 [[ 6.89590618e-01 -7.24122999e-01 -1.05196242e-02 9.01211560e+02] [ 7.24035609e-01 6.89670837e-01 -1.12504954e-02 5.35456120e+01] [ 1.54018205e-02 1.41653533e-04 9.99881375e-01 1.41463871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.2392541539999 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:901.23, Y:53.57, Z:14.15 [[ 6.92435147e-01 -7.21403442e-01 -1.05186062e-02 9.01230870e+02] [ 7.21315723e-01 6.92515006e-01 -1.12514471e-02 5.35662645e+01] [ 1.54011253e-02 2.03661435e-04 9.99881375e-01 1.41471967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.2692541539999 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:901.25, Y:53.59, Z:14.15 [[ 6.92210088e-01 -7.21619444e-01 -1.05153145e-02 9.01248361e+02] [ 7.21531704e-01 6.92289922e-01 -1.12545226e-02 5.35863403e+01] [ 1.54011286e-02 2.03361313e-04 9.99881375e-01 1.41467995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.2992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:901.27, Y:53.61, Z:14.15 [[ 6.93060331e-01 -7.20803514e-01 -1.04724087e-02 9.01269545e+02] [ 7.20715074e-01 6.93139391e-01 -1.12945837e-02 5.36065807e+01] [ 1.54000146e-02 2.80205130e-04 9.99881373e-01 1.41495275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.3292541539998 meters Centerline goodness : 0.999834 Centerline is valid? [True, True] Translation: X:901.29, Y:53.62, Z:14.15 [[ 6.93855490e-01 -7.20038023e-01 -1.04788077e-02 9.01291275e+02] [ 7.19949585e-01 6.93934552e-01 -1.12886105e-02 5.36242271e+01] [ 1.53998355e-02 2.88451107e-04 9.99881374e-01 1.41492877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.3592541539999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:901.31, Y:53.64, Z:14.15 [[ 6.93400647e-01 -7.20475617e-01 -1.05084263e-02 9.01311550e+02] [ 7.20387647e-01 6.93480229e-01 -1.12609713e-02 5.36432472e+01] [ 1.54006411e-02 2.38224271e-04 9.99881375e-01 1.41513284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.3892541539999 meters Centerline goodness : 0.999709 Centerline is valid? [True, True] Translation: X:901.33, Y:53.66, Z:14.15 [[ 6.92678120e-01 -7.21170343e-01 -1.05051439e-02 9.01331227e+02] [ 7.21082407e-01 6.92757739e-01 -1.12640325e-02 5.36622779e+01] [ 1.54008059e-02 2.27274433e-04 9.99881375e-01 1.41498680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.4192541539999 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:901.35, Y:53.68, Z:14.15 [[ 6.91422281e-01 -7.22374500e-01 -1.05029109e-02 9.01353482e+02] [ 7.22286671e-01 6.91502017e-01 -1.12661142e-02 5.36804481e+01] [ 1.54011377e-02 2.03529847e-04 9.99881375e-01 1.41505644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.4492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:901.37, Y:53.70, Z:14.15 [[ 6.89118980e-01 -7.24572143e-01 -1.04996287e-02 9.01371948e+02] [ 7.24484521e-01 6.89198944e-01 -1.12691723e-02 5.37000372e+01] [ 1.54016613e-02 1.58982076e-04 9.99881375e-01 1.41506282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.4792541539998 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:901.39, Y:53.72, Z:14.15 [[ 6.90095117e-01 -7.23643329e-01 -1.04432341e-02 9.01394799e+02] [ 7.23554803e-01 6.90174084e-01 -1.13216903e-02 5.37183779e+01] [ 1.54005152e-02 2.56790986e-04 9.99881372e-01 1.41510383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.5092541539999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:901.42, Y:53.74, Z:14.15 [[ 6.88877961e-01 -7.24801347e-01 -1.04957869e-02 9.01416399e+02] [ 7.24713697e-01 6.88957896e-01 -1.12727597e-02 5.37351474e+01] [ 1.54016667e-02 1.59115192e-04 9.99881375e-01 1.41514257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.5392541539999 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:901.44, Y:53.75, Z:14.15 [[ 6.88105436e-01 -7.25534821e-01 -1.04944022e-02 9.01436625e+02] [ 7.25447237e-01 6.88185442e-01 -1.12740487e-02 5.37542573e+01] [ 1.54018097e-02 1.44599161e-04 9.99881375e-01 1.41511130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.5692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:901.46, Y:53.77, Z:14.16 [[ 6.88314316e-01 -7.25336708e-01 -1.04910790e-02 9.01456107e+02] [ 7.25249053e-01 6.88394245e-01 -1.12771403e-02 5.37714522e+01] [ 1.54017222e-02 1.53572022e-04 9.99881375e-01 1.41555472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.5992541539998 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:901.48, Y:53.79, Z:14.15 [[ 6.87055391e-01 -7.26529842e-01 -1.04536584e-02 9.01477845e+02] [ 7.26441796e-01 6.87134890e-01 -1.13119265e-02 5.37923787e+01] [ 1.54015256e-02 1.77945772e-04 9.99881374e-01 1.41531588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.6292541539999 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:901.50, Y:53.81, Z:14.15 [[ 6.86130801e-01 -7.27402623e-01 -1.04855853e-02 9.01499472e+02] [ 7.27315131e-01 6.86210908e-01 -1.12822541e-02 5.38093949e+01] [ 1.54020642e-02 1.14777209e-04 9.99881375e-01 1.41541937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.6592541539999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:901.52, Y:53.83, Z:14.15 [[ 6.85164635e-01 -7.28312780e-01 -1.04841433e-02 9.01519787e+02] [ 7.28225374e-01 6.85244836e-01 -1.12835939e-02 5.38282444e+01] [ 1.54021907e-02 9.63003369e-05 9.99881375e-01 1.41548811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.6892541539999 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:901.54, Y:53.85, Z:14.15 [[ 6.83891644e-01 -7.29508307e-01 -1.04808787e-02 9.01540728e+02] [ 7.29420995e-01 6.83971947e-01 -1.12866255e-02 5.38477334e+01] [ 1.54023140e-02 7.38558830e-05 9.99881375e-01 1.41545223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.7192541539998 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:901.56, Y:53.87, Z:14.15 [[ 6.80547067e-01 -7.32629449e-01 -1.04776149e-02 9.01562991e+02] [ 7.32542458e-01 6.80627718e-01 -1.12896545e-02 5.38655833e+01] [ 1.54024885e-02 7.84353498e-06 9.99881375e-01 1.41547651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.7492541539999 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:901.58, Y:53.88, Z:14.15 [[ 6.78774763e-01 -7.34271824e-01 -1.04742605e-02 9.01583057e+02] [ 7.34184980e-01 6.78855573e-01 -1.12927658e-02 5.38843704e+01] [ 1.54024698e-02 -2.48002774e-05 9.99881375e-01 1.41549185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.7792541539999 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:901.60, Y:53.90, Z:14.15 [[ 6.76703849e-01 -7.36180835e-01 -1.04728097e-02 9.01603492e+02] [ 7.36094199e-01 6.76784880e-01 -1.12941111e-02 5.39034331e+01] [ 1.54023474e-02 -6.62059967e-05 9.99881375e-01 1.41543581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.8092541539999 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:901.62, Y:53.92, Z:14.15 [[ 6.74931764e-01 -7.37805872e-01 -1.04694596e-02 9.01623409e+02] [ 7.37719383e-01 6.75012952e-01 -1.12972157e-02 5.39219269e+01] [ 1.54021729e-02 -9.86735167e-05 9.99881375e-01 1.41540528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.8392541539998 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:901.64, Y:53.94, Z:14.15 [[ 6.71469061e-01 -7.40958650e-01 -1.04680095e-02 9.01644908e+02] [ 7.40872520e-01 6.71550632e-01 -1.12985592e-02 5.39387851e+01] [ 1.54015636e-02 -1.68827586e-04 9.99881375e-01 1.41546966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.8692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:901.67, Y:53.96, Z:14.16 [[ 6.69981533e-01 -7.42303977e-01 -1.04666502e-02 9.01665611e+02] [ 7.42217992e-01 6.70063255e-01 -1.12998182e-02 5.39575315e+01] [ 1.54012177e-02 -1.97866586e-04 9.99881375e-01 1.41588748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.8992541539999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:901.69, Y:53.98, Z:14.16 [[ 6.67061117e-01 -7.44929516e-01 -1.04633989e-02 9.01686773e+02] [ 7.44843806e-01 6.67143127e-01 -1.13028281e-02 5.39753399e+01] [ 1.54003949e-02 -2.53920726e-04 9.99881375e-01 1.41581500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.9292541539999 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:901.71, Y:54.00, Z:14.16 [[ 6.65309648e-01 -7.46494219e-01 -1.04619903e-02 9.01706907e+02] [ 7.46408681e-01 6.65391838e-01 -1.13041318e-02 5.39955787e+01] [ 1.53997920e-02 -2.88172410e-04 9.99881375e-01 1.41563749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.9592541539998 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:901.73, Y:54.02, Z:14.16 [[ 6.65095098e-01 -7.46685426e-01 -1.04587393e-02 9.01726255e+02] [ 7.46599864e-01 6.65177263e-01 -1.13071388e-02 5.40166002e+01] [ 1.53997914e-02 -2.88170777e-04 9.99881375e-01 1.41568136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.9892541539999 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:901.75, Y:54.04, Z:14.16 [[ 6.63273733e-01 -7.48303841e-01 -1.04554887e-02 9.01746484e+02] [ 7.48218432e-01 6.63356057e-01 -1.13101438e-02 5.40353510e+01] [ 1.53991358e-02 -3.21268088e-04 9.99881375e-01 1.41568254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.0192541539999 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:901.77, Y:54.06, Z:14.16 [[ 6.62499860e-01 -7.48989089e-01 -1.04537205e-02 9.01765920e+02] [ 7.48903739e-01 6.62582246e-01 -1.13117779e-02 5.40554517e+01] [ 1.53988478e-02 -3.34779064e-04 9.99881375e-01 1.41565611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.0492541539999 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:901.79, Y:54.07, Z:14.16 [[ 6.62834963e-01 -7.48692593e-01 -1.04504702e-02 9.01785133e+02] [ 7.48607160e-01 6.62917262e-01 -1.13147799e-02 5.40743661e+01] [ 1.53990890e-02 -3.23465040e-04 9.99881375e-01 1.41602005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.0792541539998 meters Centerline goodness : 0.999641 Centerline is valid? [True, True] Translation: X:901.80, Y:54.10, Z:14.16 [[ 6.62649841e-01 -7.48856472e-01 -1.04486118e-02 9.01804289e+02] [ 7.48771031e-01 6.62732133e-01 -1.13164958e-02 5.40951533e+01] [ 1.53990619e-02 -3.24743686e-04 9.99881375e-01 1.41572126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.1092541539999 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:901.82, Y:54.12, Z:14.16 [[ 6.64102034e-01 -7.47568982e-01 -1.04453926e-02 9.01824533e+02] [ 7.47483335e-01 6.64184111e-01 -1.13194663e-02 5.41154948e+01] [ 1.53997458e-02 -2.90476316e-04 9.99881375e-01 1.41613154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.1392541539999 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:901.84, Y:54.14, Z:14.16 [[ 6.63886162e-01 -7.47760736e-01 -1.04425188e-02 9.01843462e+02] [ 7.47675072e-01 6.63968220e-01 -1.13221169e-02 5.41363607e+01] [ 1.53997351e-02 -2.91014313e-04 9.99881375e-01 1.41606677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.1692541539999 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:901.86, Y:54.16, Z:14.16 [[ 6.65059349e-01 -7.46717651e-01 -1.04312772e-02 9.01862735e+02] [ 7.46631695e-01 6.65141103e-01 -1.13324805e-02 5.41560473e+01] [ 1.54004344e-02 -2.51550088e-04 9.99881375e-01 1.41612896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.1992541539998 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:901.88, Y:54.18, Z:14.16 [[ 6.66060784e-01 -7.45824428e-01 -1.04381349e-02 9.01883159e+02] [ 7.45738462e-01 6.66142526e-01 -1.13261605e-02 5.41769245e+01] [ 1.54006127e-02 -2.40207339e-04 9.99881375e-01 1.41617805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.2292541539998 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:901.90, Y:54.20, Z:14.16 [[ 6.66675409e-01 -7.45274838e-01 -1.04553604e-02 9.01903082e+02] [ 7.45189053e-01 6.66757341e-01 -1.13102940e-02 5.41984482e+01] [ 1.54004658e-02 -2.50925262e-04 9.99881374e-01 1.41616961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.2592541539999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:901.92, Y:54.22, Z:14.16 [[ 6.67451713e-01 -7.44579616e-01 -1.04597636e-02 9.01921627e+02] [ 7.44493809e-01 6.67533623e-01 -1.13062404e-02 5.42190155e+01] [ 1.54006400e-02 -2.40859701e-04 9.99881374e-01 1.41647107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.2892541539999 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:901.94, Y:54.24, Z:14.17 [[ 6.68260647e-01 -7.43853831e-01 -1.04491680e-02 9.01939714e+02] [ 7.43767783e-01 6.68342303e-01 -1.13159897e-02 5.42398730e+01] [ 1.54010632e-02 -2.09723900e-04 9.99881375e-01 1.41658000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.3192541539999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:901.96, Y:54.26, Z:14.16 [[ 6.71370396e-01 -7.41048299e-01 -1.04503729e-02 9.01959799e+02] [ 7.40961926e-01 6.71451709e-01 -1.13148812e-02 5.42622608e+01] [ 1.54017942e-02 -1.46852145e-04 9.99881375e-01 1.41642113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.3492541539998 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:901.98, Y:54.28, Z:14.16 [[ 6.71183520e-01 -7.41217108e-01 -1.04824298e-02 9.01976433e+02] [ 7.41131215e-01 6.71265344e-01 -1.12854015e-02 5.42839836e+01] [ 1.54014245e-02 -1.94280394e-04 9.99881372e-01 1.41643739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.3792541539999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:902.00, Y:54.31, Z:14.16 [[ 6.73756330e-01 -7.38880242e-01 -1.04113532e-02 9.01999048e+02] [ 7.38793053e-01 6.73836766e-01 -1.13507176e-02 5.43050594e+01] [ 1.54023736e-02 -4.42175892e-05 9.99881375e-01 1.41634531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.4092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:902.02, Y:54.33, Z:14.17 [[ 6.74636267e-01 -7.38075694e-01 -1.04965636e-02 9.02017164e+02] [ 7.37989622e-01 6.74717904e-01 -1.12724139e-02 5.43262570e+01] [ 1.54021142e-02 -1.41575782e-04 9.99881370e-01 1.41653240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.4392541539999 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:902.03, Y:54.35, Z:14.16 [[ 6.74809097e-01 -7.37918212e-01 -1.04592250e-02 9.02034023e+02] [ 7.37831589e-01 6.74890143e-01 -1.13067094e-02 5.43464770e+01] [ 1.54022547e-02 -8.72762365e-05 9.99881374e-01 1.41616504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.4692541539998 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:902.05, Y:54.37, Z:14.16 [[ 6.74806786e-01 -7.37920944e-01 -1.04155203e-02 9.02053051e+02] [ 7.37833700e-01 6.74887161e-01 -1.13468270e-02 5.43670393e+01] [ 1.54023622e-02 -2.80059978e-05 9.99881376e-01 1.41626660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.4992541539999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:902.07, Y:54.39, Z:14.16 [[ 6.74567707e-01 -7.38139547e-01 -1.04123454e-02 9.02071800e+02] [ 7.38052285e-01 6.74648062e-01 -1.13497397e-02 5.43874671e+01] [ 1.54023604e-02 -2.86874631e-05 9.99881376e-01 1.41635453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.5292541539999 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:902.09, Y:54.41, Z:14.16 [[ 6.73655939e-01 -7.38971803e-01 -1.04091916e-02 9.02090082e+02] [ 7.38884595e-01 6.73736353e-01 -1.13526314e-02 5.44067910e+01] [ 1.54023253e-02 -4.34237381e-05 9.99881376e-01 1.41619841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.5592541539999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:902.11, Y:54.43, Z:14.17 [[ 6.72936102e-01 -7.39627396e-01 -1.04075255e-02 9.02110519e+02] [ 7.39540244e-01 6.73016576e-01 -1.13541586e-02 5.44277706e+01] [ 1.54022840e-02 -5.61606778e-05 9.99881376e-01 1.41656708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.5892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:902.13, Y:54.45, Z:14.17 [[ 6.71872574e-01 -7.40593323e-01 -1.04294933e-02 9.02129641e+02] [ 7.40506598e-01 6.71953509e-01 -1.13340273e-02 5.44485005e+01] [ 1.54020396e-02 -1.08086476e-04 9.99881376e-01 1.41689218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.6192541539999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:902.15, Y:54.47, Z:14.17 [[ 6.70673572e-01 -7.41679557e-01 -1.04113260e-02 9.02149735e+02] [ 7.41592704e-01 6.70754369e-01 -1.13506699e-02 5.44680553e+01] [ 1.54020022e-02 -1.08369057e-04 9.99881376e-01 1.41673331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.6492541539999 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:902.17, Y:54.49, Z:14.17 [[ 6.69722088e-01 -7.42538494e-01 -1.04359800e-02 9.02168309e+02] [ 7.42452096e-01 6.69803373e-01 -1.13280895e-02 5.44886543e+01] [ 1.54015971e-02 -1.61543452e-04 9.99881375e-01 1.41679749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.6792541539999 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:902.19, Y:54.51, Z:14.17 [[ 6.68541351e-01 -7.43601903e-01 -1.04246000e-02 9.02185755e+02] [ 7.43515472e-01 6.68622600e-01 -1.13385072e-02 5.45090916e+01] [ 1.54014587e-02 -1.70590482e-04 9.99881376e-01 1.41680052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.7092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:902.21, Y:54.53, Z:14.17 [[ 6.68971703e-01 -7.43215295e-01 -1.03868059e-02 9.02206393e+02] [ 7.43128280e-01 6.69052325e-01 -1.13730900e-02 5.45299151e+01] [ 1.54019711e-02 -1.10453843e-04 9.99881377e-01 1.41719840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.7392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:902.22, Y:54.55, Z:14.17 [[ 6.68062402e-01 -7.44032629e-01 -1.03958617e-02 9.02224872e+02] [ 7.43945841e-01 6.68143268e-01 -1.13648062e-02 5.45508372e+01] [ 1.54017117e-02 -1.41558377e-04 9.99881377e-01 1.41721258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.7692541539999 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:902.24, Y:54.57, Z:14.17 [[ 6.68596297e-01 -7.43553073e-01 -1.03835959e-02 9.02244615e+02] [ 7.43466053e-01 6.68676913e-01 -1.13760215e-02 5.45712079e+01] [ 1.54019466e-02 -1.13885220e-04 9.99881377e-01 1.41683220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.7992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:902.26, Y:54.59, Z:14.17 [[ 6.68392271e-01 -7.43736371e-01 -1.03914919e-02 9.02262504e+02] [ 7.43649485e-01 6.68473032e-01 -1.13688042e-02 5.45919587e+01] [ 1.54018253e-02 -1.28806766e-04 9.99881377e-01 1.41729506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.8292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:902.28, Y:54.61, Z:14.17 [[ 6.68535163e-01 -7.43608177e-01 -1.03737769e-02 9.02279851e+02] [ 7.43521024e-01 6.68615636e-01 -1.13849909e-02 5.46133593e+01] [ 1.54020418e-02 -1.01854529e-04 9.99881376e-01 1.41718948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.8592541539999 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:902.30, Y:54.63, Z:14.17 [[ 6.69242829e-01 -7.42971906e-01 -1.03335232e-02 9.02299309e+02] [ 7.42884108e-01 6.69322602e-01 -1.14217458e-02 5.46341275e+01] [ 1.54024969e-02 -3.26887237e-05 9.99881374e-01 1.41707588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.8892541539999 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:902.32, Y:54.65, Z:14.17 [[ 6.70173447e-01 -7.42132506e-01 -1.03390227e-02 9.02317824e+02] [ 7.42044685e-01 6.70253194e-01 -1.14167255e-02 5.46537153e+01] [ 1.54024861e-02 -2.08305281e-05 9.99881374e-01 1.41694561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.9192541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:902.34, Y:54.67, Z:14.17 [[ 6.70613086e-01 -7.41735329e-01 -1.03339602e-02 9.02336630e+02] [ 7.41647390e-01 6.70692703e-01 -1.14213454e-02 5.46745974e+01] [ 1.54025270e-02 -4.85090303e-06 9.99881374e-01 1.41709866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.9492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:902.36, Y:54.70, Z:14.17 [[ 6.71390042e-01 -7.41032304e-01 -1.03216297e-02 9.02356527e+02] [ 7.40944109e-01 6.71469377e-01 -1.14325945e-02 5.46953636e+01] [ 1.54025802e-02 2.79793880e-05 9.99881373e-01 1.41729313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.9792541539998 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:902.37, Y:54.72, Z:14.17 [[ 6.71078194e-01 -7.41314458e-01 -1.03407744e-02 9.02374200e+02] [ 7.41226565e-01 6.71157861e-01 -1.14151354e-02 5.47157193e+01] [ 1.54024969e-02 -4.40827640e-06 9.99881374e-01 1.41686410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.0092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:902.39, Y:54.74, Z:14.17 [[ 6.72509572e-01 -7.40016694e-01 -1.03037930e-02 9.02394488e+02] [ 7.39928130e-01 6.72588497e-01 -1.14488540e-02 5.47358420e+01] [ 1.54025557e-02 7.53976484e-05 9.99881371e-01 1.41725231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.0392541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:902.41, Y:54.76, Z:14.17 [[ 6.73144979e-01 -7.39438513e-01 -1.03210467e-02 9.02414018e+02] [ 7.39350121e-01 6.73224095e-01 -1.14331291e-02 5.47560425e+01] [ 1.54024733e-02 6.52863607e-05 9.99881373e-01 1.41732167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.0692541539999 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:902.43, Y:54.78, Z:14.17 [[ 6.73157149e-01 -7.39427276e-01 -1.03322870e-02 9.02433056e+02] [ 7.39339040e-01 6.73236438e-01 -1.14228895e-02 5.47771780e+01] [ 1.54024681e-02 5.03365849e-05 9.99881374e-01 1.41713039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.0992541539998 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:902.45, Y:54.80, Z:14.17 [[ 6.74636886e-01 -7.38077756e-01 -1.03101163e-02 9.02452706e+02] [ 7.37989053e-01 6.74715654e-01 -1.14430740e-02 5.47977555e+01] [ 1.54022753e-02 1.11166854e-04 9.99881372e-01 1.41711968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.1292541539999 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:902.47, Y:54.82, Z:14.17 [[ 6.77368998e-01 -7.35571259e-01 -1.03035262e-02 9.02474718e+02] [ 7.35482174e-01 6.77447334e-01 -1.14490721e-02 5.48181046e+01] [ 1.54017047e-02 1.77186593e-04 9.99881371e-01 1.41745952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.1592541539999 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:902.49, Y:54.84, Z:14.18 [[ 6.79644532e-01 -7.33468337e-01 -1.03686316e-02 9.02493901e+02] [ 7.33379910e-01 6.79723606e-01 -1.13898039e-02 5.48387315e+01] [ 1.54018642e-02 1.36871827e-04 9.99881375e-01 1.41760985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.1892541539999 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:902.51, Y:54.86, Z:14.17 [[ 6.78462044e-01 -7.34562329e-01 -1.03653117e-02 9.02509499e+02] [ 7.34473983e-01 6.78541208e-01 -1.13928244e-02 5.48599939e+01] [ 1.54020307e-02 1.16547181e-04 9.99881375e-01 1.41729889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.2192541539998 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:902.53, Y:54.88, Z:14.18 [[ 6.81617963e-01 -7.31636062e-01 -1.02774502e-02 9.02532091e+02] [ 7.31546168e-01 6.81695373e-01 -1.14726780e-02 5.48801671e+01] [ 1.53999152e-02 3.01554125e-04 9.99881369e-01 1.41758803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.2492541539999 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:902.55, Y:54.90, Z:14.18 [[ 6.83709237e-01 -7.29680983e-01 -1.03605690e-02 9.02551110e+02] [ 7.29592008e-01 6.83787692e-01 -1.13971189e-02 5.49003674e+01] [ 1.54006905e-02 2.33327083e-04 9.99881375e-01 1.41760475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.2792541539999 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:902.57, Y:54.92, Z:14.18 [[ 6.84739197e-01 -7.28714595e-01 -1.03571866e-02 9.02569270e+02] [ 7.28625462e-01 6.84817473e-01 -1.14001918e-02 5.49197501e+01] [ 1.54002685e-02 2.59648270e-04 9.99881375e-01 1.41759186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.3092541539999 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:902.59, Y:54.94, Z:14.18 [[ 6.85376021e-01 -7.28115698e-01 -1.03557206e-02 9.02588124e+02] [ 7.28026476e-01 6.85454196e-01 -1.14015233e-02 5.49400804e+01] [ 1.54000003e-02 2.75091895e-04 9.99881375e-01 1.41756152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.3392541539998 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:902.61, Y:54.96, Z:14.18 [[ 6.85880811e-01 -7.27640255e-01 -1.03524090e-02 9.02607573e+02] [ 7.27550934e-01 6.85958873e-01 -1.14045294e-02 5.49604494e+01] [ 1.53997215e-02 2.90243022e-04 9.99881375e-01 1.41760849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.3692541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:902.63, Y:54.98, Z:14.18 [[ 6.86156029e-01 -7.27380782e-01 -1.03490483e-02 9.02627242e+02] [ 7.27291385e-01 6.86234004e-01 -1.14075783e-02 5.49788391e+01] [ 1.53995221e-02 3.00605004e-04 9.99881375e-01 1.41777014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.3992541539999 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:902.65, Y:55.00, Z:14.18 [[ 6.85433025e-01 -7.28062151e-01 -1.03475929e-02 9.02646170e+02] [ 7.27972812e-01 6.85511066e-01 -1.14088983e-02 5.49976788e+01] [ 1.53997765e-02 2.87269348e-04 9.99881375e-01 1.41760774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.4292541539999 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:902.67, Y:55.02, Z:14.18 [[ 6.83307733e-01 -7.30057201e-01 -1.03453369e-02 9.02667387e+02] [ 7.29968059e-01 6.83385999e-01 -1.14109437e-02 5.50165782e+01] [ 1.54005000e-02 2.45420566e-04 9.99881375e-01 1.41770451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.4592541539998 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:902.69, Y:55.04, Z:14.18 [[ 6.81984105e-01 -7.31293869e-01 -1.03420564e-02 9.02687517e+02] [ 7.31204824e-01 6.82062481e-01 -1.14139160e-02 5.50360007e+01] [ 1.54008555e-02 2.21947755e-04 9.99881375e-01 1.41780039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.4892541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:902.71, Y:55.06, Z:14.18 [[ 6.80537821e-01 -7.32640010e-01 -1.03387894e-02 9.02707522e+02] [ 7.32551075e-01 6.80616322e-01 -1.14168746e-02 5.50555160e+01] [ 1.54012079e-02 1.95923615e-04 9.99881375e-01 1.41805051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.5192541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:902.73, Y:55.07, Z:14.18 [[ 6.77406272e-01 -7.35536484e-01 -1.03355216e-02 9.02728369e+02] [ 7.35447840e-01 6.77485101e-01 -1.14198321e-02 5.50732565e+01] [ 1.54018651e-02 1.34628893e-04 9.99881375e-01 1.41815876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.5492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:902.75, Y:55.09, Z:14.18 [[ 6.75700768e-01 -7.37103580e-01 -1.03337022e-02 9.02748227e+02] [ 7.37015093e-01 6.75779774e-01 -1.14214782e-02 5.50926930e+01] [ 1.54021194e-02 1.01407111e-04 9.99881375e-01 1.41826485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.5792541539998 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:902.77, Y:55.11, Z:14.18 [[ 6.73537183e-01 -7.39081149e-01 -1.03304936e-02 9.02767973e+02] [ 7.38992850e-01 6.73616398e-01 -1.14243796e-02 5.51126055e+01] [ 1.54023335e-02 6.05835371e-05 9.99881375e-01 1.41796972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.6092541539999 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:902.79, Y:55.13, Z:14.18 [[ 6.71236480e-01 -7.41171326e-01 -1.03272842e-02 9.02789162e+02] [ 7.41083229e-01 6.71315920e-01 -1.14272801e-02 5.51302959e+01] [ 1.54024426e-02 1.70301267e-05 9.99881375e-01 1.41796748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.6392541539999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:902.81, Y:55.15, Z:14.18 [[ 6.70353785e-01 -7.41969800e-01 -1.03256894e-02 9.02809176e+02] [ 7.41881775e-01 6.70433305e-01 -1.14287210e-02 5.51498140e+01] [ 1.54024519e-02 8.45613763e-07 9.99881375e-01 1.41811980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.6692541539999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:902.83, Y:55.17, Z:14.18 [[ 6.69475717e-01 -7.42762216e-01 -1.03225518e-02 9.02828765e+02] [ 7.42674241e-01 6.69555293e-01 -1.14315541e-02 5.51693727e+01] [ 1.54024457e-02 -1.31454288e-05 9.99881375e-01 1.41806822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.6992541539998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:902.85, Y:55.19, Z:14.18 [[ 6.69586892e-01 -7.42662039e-01 -1.03194299e-02 9.02850199e+02] [ 7.42574009e-01 6.69666407e-01 -1.14343717e-02 5.51883588e+01] [ 1.54024493e-02 -6.63500272e-06 9.99881375e-01 1.41829023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.7292541539998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:902.87, Y:55.21, Z:14.18 [[ 6.69802489e-01 -7.42467642e-01 -1.03163226e-02 9.02869952e+02] [ 7.42379546e-01 6.69881931e-01 -1.14371744e-02 5.52086997e+01] [ 1.54024500e-02 2.02102481e-06 9.99881375e-01 1.41838821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.7592541539999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:902.89, Y:55.23, Z:14.19 [[ 6.70554907e-01 -7.41788215e-01 -1.03130879e-02 9.02888507e+02] [ 7.41699994e-01 6.70634210e-01 -1.14400905e-02 5.52277924e+01] [ 1.54024338e-02 2.19915653e-05 9.99881375e-01 1.41855393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.7892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:902.91, Y:55.25, Z:14.19 [[ 6.71008029e-01 -7.41378381e-01 -1.03112456e-02 9.02907748e+02] [ 7.41290085e-01 6.71087249e-01 -1.14417507e-02 5.52478830e+01] [ 1.54024121e-02 3.38824647e-05 9.99881375e-01 1.41864129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.8192541539999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:902.93, Y:55.27, Z:14.18 [[ 6.72028543e-01 -7.40453498e-01 -1.03079715e-02 9.02926983e+02] [ 7.40365049e-01 6.72107591e-01 -1.14446997e-02 5.52667742e+01] [ 1.54023338e-02 5.95030674e-05 9.99881375e-01 1.41839449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.8492541539998 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:902.95, Y:55.29, Z:14.18 [[ 6.71818767e-01 -7.40643858e-01 -1.03063312e-02 9.02946050e+02] [ 7.40555408e-01 6.71897814e-01 -1.14461766e-02 5.52880666e+01] [ 1.54023418e-02 5.73470012e-05 9.99881375e-01 1.41843844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.8792541539999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:902.97, Y:55.31, Z:14.19 [[ 6.72418342e-01 -7.40099601e-01 -1.03030876e-02 9.02965302e+02] [ 7.40011042e-01 6.72497268e-01 -1.14490956e-02 5.53080204e+01] [ 1.54022693e-02 7.41832957e-05 9.99881375e-01 1.41851192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.9092541539999 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:902.99, Y:55.33, Z:14.18 [[ 6.73618558e-01 -7.39007411e-01 -1.02998052e-02 9.02985011e+02] [ 7.38918679e-01 6.73697288e-01 -1.14520477e-02 5.53270512e+01] [ 1.54020989e-02 1.03593416e-04 9.99881375e-01 1.41834113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.9392541539999 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:903.01, Y:55.35, Z:14.19 [[ 6.74423764e-01 -7.38272672e-01 -1.02979652e-02 9.03005087e+02] [ 7.38183830e-01 6.74502370e-01 -1.14537020e-02 5.53476746e+01] [ 1.54019571e-02 1.22857456e-04 9.99881375e-01 1.41872885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.9692541539998 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:903.02, Y:55.37, Z:14.18 [[ 6.74649805e-01 -7.38066156e-01 -1.02951201e-02 9.03024640e+02] [ 7.37977250e-01 6.74728340e-01 -1.14562587e-02 5.53678990e+01] [ 1.54018861e-02 1.31398299e-04 9.99881375e-01 1.41834100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.9992541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:903.05, Y:55.39, Z:14.19 [[ 6.76222960e-01 -7.36625103e-01 -1.02939472e-02 9.03045287e+02] [ 7.36536014e-01 6.76301286e-01 -1.14573125e-02 5.53875731e+01] [ 1.54015538e-02 1.65834926e-04 9.99881375e-01 1.41883035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.0292541539999 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:903.07, Y:55.41, Z:14.19 [[ 6.76427829e-01 -7.36437021e-01 -1.02910465e-02 9.03065018e+02] [ 7.36347871e-01 6.76506085e-01 -1.14599174e-02 5.54082515e+01] [ 1.54014630e-02 1.74016874e-04 9.99881375e-01 1.41876514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.0592541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:903.09, Y:55.43, Z:14.19 [[ 6.76810005e-01 -7.36085851e-01 -1.02877040e-02 9.03086104e+02] [ 7.35996615e-01 6.76888163e-01 -1.14629172e-02 5.54296401e+01] [ 1.54013162e-02 1.86501676e-04 9.99881375e-01 1.41872429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.0892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:903.10, Y:55.45, Z:14.19 [[ 6.76785984e-01 -7.36107502e-01 -1.03187773e-02 9.03104527e+02] [ 7.36018692e-01 6.76864628e-01 -1.14350352e-02 5.54490887e+01] [ 1.54018305e-02 1.44258560e-04 9.99881374e-01 1.41884583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.1192541539999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:903.13, Y:55.47, Z:14.19 [[ 6.78193019e-01 -7.34812220e-01 -1.02581522e-02 9.03125086e+02] [ 7.34722436e-01 6.78270548e-01 -1.14894122e-02 5.54681441e+01] [ 1.54003631e-02 2.55144558e-04 9.99881375e-01 1.41905310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.1492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:903.14, Y:55.49, Z:14.19 [[ 6.78795953e-01 -7.34254936e-01 -1.02831715e-02 9.03144756e+02] [ 7.34165427e-01 6.78873798e-01 -1.14669759e-02 5.54885702e+01] [ 1.54006593e-02 2.34187798e-04 9.99881375e-01 1.41931066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.1792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:903.16, Y:55.51, Z:14.19 [[ 6.79042505e-01 -7.34026953e-01 -1.02814297e-02 9.03164272e+02] [ 7.33937395e-01 6.79120294e-01 -1.14685374e-02 5.55089879e+01] [ 1.54005431e-02 2.41698680e-04 9.99881375e-01 1.41931829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.2092541539998 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:903.18, Y:55.53, Z:14.19 [[ 6.78866064e-01 -7.34190185e-01 -1.02781236e-02 9.03184387e+02] [ 7.34100600e-01 6.78943822e-01 -1.14714995e-02 5.55292489e+01] [ 1.54005309e-02 2.42435040e-04 9.99881375e-01 1.41886701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.2392541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:903.20, Y:55.55, Z:14.19 [[ 6.79015445e-01 -7.34052072e-01 -1.02752563e-02 9.03203812e+02] [ 7.33962432e-01 6.79093141e-01 -1.14740673e-02 5.55495565e+01] [ 1.54004189e-02 2.49416845e-04 9.99881375e-01 1.41905225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.2692541539999 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:903.22, Y:55.57, Z:14.19 [[ 6.78400313e-01 -7.34620652e-01 -1.02720023e-02 9.03223665e+02] [ 7.34531033e-01 6.78478032e-01 -1.14769796e-02 5.55698813e+01] [ 1.54005542e-02 2.40882046e-04 9.99881375e-01 1.41882884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.2992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:903.24, Y:55.59, Z:14.19 [[ 6.78160948e-01 -7.34841670e-01 -1.02687651e-02 9.03244483e+02] [ 7.34752034e-01 6.78238647e-01 -1.14798753e-02 5.55883886e+01] [ 1.54005641e-02 2.40207031e-04 9.99881375e-01 1.41915722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.3292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:903.26, Y:55.61, Z:14.19 [[ 6.77693916e-01 -7.35272450e-01 -1.02655260e-02 9.03263639e+02] [ 7.35182818e-01 6.77771621e-01 -1.14827711e-02 5.56074830e+01] [ 1.54006474e-02 2.34765799e-04 9.99881375e-01 1.41918689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.3592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:903.28, Y:55.63, Z:14.19 [[ 6.76959978e-01 -7.35948262e-01 -1.02636768e-02 9.03284875e+02] [ 7.35858684e-01 6.77037743e-01 -1.14844237e-02 5.56263699e+01] [ 1.54008382e-02 2.21879507e-04 9.99881375e-01 1.41928366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.3892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:903.30, Y:55.65, Z:14.19 [[ 6.76462155e-01 -7.36405918e-01 -1.02604932e-02 9.03304801e+02] [ 7.36316348e-01 6.76539931e-01 -1.14872673e-02 5.56466101e+01] [ 1.54009250e-02 2.15732662e-04 9.99881375e-01 1.41936017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.4192541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:903.32, Y:55.67, Z:14.19 [[ 6.76017732e-01 -7.36813962e-01 -1.02572591e-02 9.03324462e+02] [ 7.36724396e-01 6.76095512e-01 -1.14901544e-02 5.56664373e+01] [ 1.54009930e-02 2.10775115e-04 9.99881375e-01 1.41928549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.4492541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:903.34, Y:55.69, Z:14.19 [[ 6.76383648e-01 -7.36478117e-01 -1.02539906e-02 9.03344657e+02] [ 7.36388468e-01 6.76461332e-01 -1.14930705e-02 5.56851344e+01] [ 1.54008231e-02 2.22804555e-04 9.99881375e-01 1.41931706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.4792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:903.36, Y:55.71, Z:14.19 [[ 6.76847440e-01 -7.36051925e-01 -1.02521080e-02 9.03364747e+02] [ 7.35962202e-01 6.76925039e-01 -1.14947496e-02 5.57054419e+01] [ 1.54006412e-02 2.35027862e-04 9.99881375e-01 1.41945727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.5092541539999 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:903.38, Y:55.73, Z:14.19 [[ 6.76780848e-01 -7.36113201e-01 -1.02488482e-02 9.03383818e+02] [ 7.36023441e-01 6.76858404e-01 -1.14976553e-02 5.57252126e+01] [ 1.54005949e-02 2.38000373e-04 9.99881375e-01 1.41915142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.5392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:903.41, Y:55.75, Z:14.20 [[ 6.78595638e-01 -7.34440572e-01 -1.02473100e-02 9.03405079e+02] [ 7.34350599e-01 6.78672947e-01 -1.14990261e-02 5.57455181e+01] [ 1.53999234e-02 2.78070722e-04 9.99881375e-01 1.41951170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.5692541539999 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:903.42, Y:55.77, Z:14.19 [[ 6.78670174e-01 -7.34371736e-01 -1.02443933e-02 9.03424832e+02] [ 7.34281717e-01 6.78747429e-01 -1.15016239e-02 5.57658299e+01] [ 1.53998232e-02 2.83538405e-04 9.99881375e-01 1.41932851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.5992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:903.44, Y:55.78, Z:14.20 [[ 6.80219333e-01 -7.32937088e-01 -1.02412783e-02 9.03444577e+02] [ 7.32846864e-01 6.80296349e-01 -1.15043970e-02 5.57840612e+01] [ 1.53991034e-02 3.20224572e-04 9.99881376e-01 1.41953006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.6292541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:903.46, Y:55.80, Z:14.20 [[ 6.80530132e-01 -7.32648548e-01 -1.02393526e-02 9.03463312e+02] [ 7.32558266e-01 6.80607079e-01 -1.15061106e-02 5.58046399e+01] [ 1.53989111e-02 3.29332588e-04 9.99881376e-01 1.41957414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.6592541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:903.48, Y:55.83, Z:14.19 [[ 6.80923547e-01 -7.32282969e-01 -1.02360299e-02 9.03481344e+02] [ 7.32192601e-01 6.81000394e-01 -1.15090658e-02 5.58263641e+01] [ 1.53986333e-02 3.42048511e-04 9.99881376e-01 1.41948999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.6892541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:903.50, Y:55.85, Z:14.19 [[ 6.81640877e-01 -7.31615341e-01 -1.02326799e-02 9.03499378e+02] [ 7.31524853e-01 6.81717582e-01 -1.15120435e-02 5.58485433e+01] [ 1.53981854e-02 3.61619740e-04 9.99881376e-01 1.41948542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.7192541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:903.52, Y:55.87, Z:14.20 [[ 6.81936598e-01 -7.31339755e-01 -1.02293522e-02 9.03517235e+02] [ 7.31249192e-01 6.82013214e-01 -1.15149997e-02 5.58700831e+01] [ 1.53979304e-02 3.72294215e-04 9.99881376e-01 1.41961983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.7492541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:903.54, Y:55.89, Z:14.19 [[ 6.81532492e-01 -7.31716401e-01 -1.02260361e-02 9.03535115e+02] [ 7.31625836e-01 6.81609106e-01 -1.15179439e-02 5.58918335e+01] [ 1.53980277e-02 3.68220780e-04 9.99881376e-01 1.41946876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.7792541539999 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:903.55, Y:55.91, Z:14.19 [[ 6.81133589e-01 -7.32087788e-01 -1.02227410e-02 9.03552478e+02] [ 7.31997221e-01 6.81210201e-01 -1.15208677e-02 5.59129535e+01] [ 1.53981220e-02 3.64231983e-04 9.99881376e-01 1.41935963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.8092541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:903.57, Y:55.93, Z:14.20 [[ 6.80773926e-01 -7.32422285e-01 -1.02205019e-02 9.03571278e+02] [ 7.32331726e-01 6.80850547e-01 -1.15228537e-02 5.59343213e+01] [ 1.53982291e-02 3.59660518e-04 9.99881376e-01 1.41963858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.8392541539998 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:903.59, Y:55.96, Z:14.20 [[ 6.79890565e-01 -7.33242401e-01 -1.02176876e-02 9.03589845e+02] [ 7.33151897e-01 6.79967251e-01 -1.15253486e-02 5.59554363e+01] [ 1.53985673e-02 3.44858739e-04 9.99881376e-01 1.41955651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.8692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:903.61, Y:55.98, Z:14.20 [[ 6.79442565e-01 -7.33657595e-01 -1.02144059e-02 9.03609174e+02] [ 7.33567094e-01 6.79519255e-01 -1.15282564e-02 5.59767707e+01] [ 1.53986783e-02 3.39836087e-04 9.99881376e-01 1.41985532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.8992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:903.63, Y:56.00, Z:14.20 [[ 6.78856110e-01 -7.34200317e-01 -1.02115380e-02 9.03627487e+02] [ 7.34109840e-01 6.78932827e-01 -1.15307961e-02 5.59971802e+01] [ 1.53988626e-02 3.31360879e-04 9.99881376e-01 1.41985263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.9292541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:903.64, Y:56.02, Z:14.19 [[ 6.74956025e-01 -7.37787323e-01 -1.02093080e-02 9.03642101e+02] [ 7.37697224e-01 6.75033185e-01 -1.15327702e-02 5.60181992e+01] [ 1.54003534e-02 2.52734604e-04 9.99881376e-01 1.41936279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.9592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:903.66, Y:56.04, Z:14.19 [[ 6.73816878e-01 -7.38829306e-01 -1.01030264e-02 9.03660505e+02] [ 7.38737911e-01 6.73892513e-01 -1.16267109e-02 5.60396288e+01] [ 1.53985086e-02 3.70785451e-04 9.99881367e-01 1.41930221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.9892541539999 meters Centerline goodness : 0.999778 Centerline is valid? [True, True] Translation: X:903.68, Y:56.06, Z:14.19 [[ 6.74739932e-01 -7.37986370e-01 -1.01065516e-02 9.03683384e+02] [ 7.37894927e-01 6.74815507e-01 -1.16235970e-02 5.60595649e+01] [ 1.53981140e-02 3.85331893e-04 9.99881368e-01 1.41942071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.0192541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:903.70, Y:56.08, Z:14.20 [[ 6.73787368e-01 -7.38854905e-01 -1.01986507e-02 9.03702184e+02] [ 7.38764784e-01 6.73864505e-01 -1.15422189e-02 5.60807702e+01] [ 1.54005338e-02 2.42597310e-04 9.99881375e-01 1.41968480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.0492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:903.72, Y:56.10, Z:14.20 [[ 6.71863145e-01 -7.40605137e-01 -1.01953747e-02 9.03720710e+02] [ 7.40515173e-01 6.71940465e-01 -1.15451119e-02 5.61014448e+01] [ 1.54010540e-02 2.06905583e-04 9.99881375e-01 1.41987891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.0792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:903.74, Y:56.12, Z:14.20 [[ 6.70462707e-01 -7.41873198e-01 -1.01939108e-02 9.03739224e+02] [ 7.41783361e-01 6.70540175e-01 -1.15464043e-02 5.61225485e+01] [ 1.54013946e-02 1.79760033e-04 9.99881375e-01 1.41996360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.1092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:903.76, Y:56.14, Z:14.20 [[ 6.69030835e-01 -7.43164781e-01 -1.01907024e-02 9.03757858e+02] [ 7.43075050e-01 6.69108426e-01 -1.15492353e-02 5.61437745e+01] [ 1.54016698e-02 1.54337877e-04 9.99881375e-01 1.42003515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.1392541539999 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:903.78, Y:56.17, Z:14.20 [[ 6.66078264e-01 -7.45812283e-01 -1.01875193e-02 9.03776764e+02] [ 7.45722818e-01 6.66156160e-01 -1.15520425e-02 5.61650480e+01] [ 1.54021339e-02 9.74988269e-05 9.99881375e-01 1.42010240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.1692541539999 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:903.80, Y:56.19, Z:14.20 [[ 6.64380870e-01 -7.47324788e-01 -1.01843411e-02 9.03795463e+02] [ 7.47235457e-01 6.64458920e-01 -1.15548437e-02 5.61861313e+01] [ 1.54022974e-02 6.67163546e-05 9.99881375e-01 1.41988168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.1992541539998 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:903.81, Y:56.21, Z:14.20 [[ 6.62141971e-01 -7.49309251e-01 -1.01811821e-02 9.03813564e+02] [ 7.49220111e-01 6.62220240e-01 -1.15576265e-02 5.62067263e+01] [ 1.54024213e-02 2.48431831e-05 9.99881375e-01 1.41975270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.2292541539998 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:903.83, Y:56.23, Z:14.20 [[ 6.61364898e-01 -7.49995248e-01 -1.01783449e-02 9.03831810e+02] [ 7.49906152e-01 6.61443215e-01 -1.15601245e-02 5.62277299e+01] [ 1.54024357e-02 1.26570864e-05 9.99881375e-01 1.41998423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.2592541539999 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:903.85, Y:56.25, Z:14.20 [[ 6.60379404e-01 -7.50863175e-01 -1.01752098e-02 9.03849992e+02] [ 7.50774139e-01 6.60457790e-01 -1.15628834e-02 5.62493542e+01] [ 1.54024399e-02 -3.39436345e-06 9.99881375e-01 1.41988560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.2892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:903.87, Y:56.27, Z:14.20 [[ 6.60391674e-01 -7.50852427e-01 -1.01719691e-02 9.03867218e+02] [ 7.50763346e-01 6.60470009e-01 -1.15657336e-02 5.62698041e+01] [ 1.54024396e-02 1.17264561e-06 9.99881375e-01 1.42017481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.3192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:903.88, Y:56.29, Z:14.20 [[ 6.59249960e-01 -7.51855078e-01 -1.01701616e-02 9.03884443e+02] [ 7.51766091e-01 6.59328401e-01 -1.15673227e-02 5.62915067e+01] [ 1.54024267e-02 -1.98255928e-05 9.99881375e-01 1.42010435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.3492541539998 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:903.90, Y:56.31, Z:14.20 [[ 6.56667995e-01 -7.54111250e-01 -1.01669685e-02 9.03898929e+02] [ 7.54022489e-01 6.56746692e-01 -1.15701286e-02 5.63138357e+01] [ 1.54022871e-02 -6.83897804e-05 9.99881375e-01 1.41959650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.3792541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:903.92, Y:56.33, Z:14.20 [[ 6.58424165e-01 -7.52579719e-01 -1.00690214e-02 9.03920072e+02] [ 7.52489454e-01 6.58501144e-01 -1.16561214e-02 5.63349950e+01] [ 1.54026227e-02 9.78396049e-05 9.99881368e-01 1.42007026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.4092541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:903.94, Y:56.36, Z:14.20 [[ 6.57515096e-01 -7.53372833e-01 -1.01623375e-02 9.03936658e+02] [ 7.53283921e-01 6.57593623e-01 -1.15741884e-02 5.63559647e+01] [ 1.54023674e-02 -4.49218449e-05 9.99881375e-01 1.42001928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.4392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:903.96, Y:56.38, Z:14.20 [[ 6.57298928e-01 -7.53561466e-01 -1.01605121e-02 9.03955020e+02] [ 7.53472552e-01 6.57377453e-01 -1.15757906e-02 5.63776441e+01] [ 1.54023613e-02 -4.69122422e-05 9.99881375e-01 1.42021446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.4692541539998 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:903.97, Y:56.40, Z:14.20 [[ 6.56089285e-01 -7.54614922e-01 -1.01572471e-02 9.03972517e+02] [ 7.54526089e-01 6.56167902e-01 -1.15786548e-02 5.63995210e+01] [ 1.54022852e-02 -6.72765332e-05 9.99881376e-01 1.42019045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.4992541539999 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:903.99, Y:56.42, Z:14.20 [[ 6.55180972e-01 -7.55403727e-01 -1.01539329e-02 9.03990651e+02] [ 7.55314944e-01 6.55259645e-01 -1.15815605e-02 5.64216669e+01] [ 1.54022164e-02 -8.13992472e-05 9.99881376e-01 1.42010348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.5292541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:904.01, Y:56.44, Z:14.20 [[ 6.53346422e-01 -7.56991029e-01 -1.01506307e-02 9.04005710e+02] [ 7.56902392e-01 6.53425259e-01 -1.15844540e-02 5.64441598e+01] [ 1.54020062e-02 -1.14375064e-04 9.99881376e-01 1.41997043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.5592541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:904.03, Y:56.47, Z:14.20 [[ 6.54831989e-01 -7.55707304e-01 -1.00765496e-02 9.04027010e+02] [ 7.55617511e-01 6.54909513e-01 -1.16493139e-02 5.64659336e+01] [ 1.54026998e-02 1.43260850e-05 9.99881371e-01 1.42017005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.5892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:904.05, Y:56.49, Z:14.20 [[ 6.55294458e-01 -7.55305384e-01 -1.01464121e-02 9.04045090e+02] [ 7.55216488e-01 6.55373002e-01 -1.15881434e-02 5.64874061e+01] [ 1.54022717e-02 -6.90915922e-05 9.99881376e-01 1.42035896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.6192541539999 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:904.06, Y:56.51, Z:14.20 [[ 6.54961814e-01 -7.55593899e-01 -1.01430816e-02 9.04062158e+02] [ 7.55504992e-01 6.55040346e-01 -1.15910578e-02 5.65084087e+01] [ 1.54022603e-02 -7.14485325e-05 9.99881376e-01 1.42006201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.6492541539999 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:904.08, Y:56.53, Z:14.20 [[ 6.55980139e-01 -7.54710024e-01 -1.01408178e-02 9.04078578e+02] [ 7.54620981e-01 6.56058517e-01 -1.15930381e-02 5.65294573e+01] [ 1.54023519e-02 -4.76711816e-05 9.99881376e-01 1.42001281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.6792541539999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:904.09, Y:56.55, Z:14.20 [[ 6.55019959e-01 -7.55543548e-01 -1.01390220e-02 9.04094488e+02] [ 7.55454580e-01 6.55098422e-01 -1.15946084e-02 5.65514043e+01] [ 1.54022889e-02 -6.48707049e-05 9.99881376e-01 1.41981242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.7092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:904.11, Y:56.57, Z:14.20 [[ 6.57138614e-01 -7.53702233e-01 -1.00889085e-02 9.04114031e+02] [ 7.53612371e-01 6.57216054e-01 -1.16384012e-02 5.65720906e+01] [ 1.54024816e-02 4.49165196e-05 9.99881374e-01 1.42024534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.7392541539999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:904.13, Y:56.59, Z:14.20 [[ 6.57576010e-01 -7.53320031e-01 -1.01351998e-02 9.04131573e+02] [ 7.53230746e-01 6.57654112e-01 -1.15979482e-02 5.65933314e+01] [ 1.54024226e-02 -7.61161213e-06 9.99881376e-01 1.41999250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.7692541539999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:904.15, Y:56.61, Z:14.20 [[ 6.57371033e-01 -7.53498937e-01 -1.01330103e-02 9.04150308e+02] [ 7.53409644e-01 6.57449125e-01 -1.15998609e-02 5.66149224e+01] [ 1.54024216e-02 -8.89514333e-06 9.99881376e-01 1.42003642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.7992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:904.17, Y:56.64, Z:14.20 [[ 6.58141021e-01 -7.52826529e-01 -1.01298532e-02 9.04168737e+02] [ 7.52737114e-01 6.58218973e-01 -1.16026172e-02 5.66363625e+01] [ 1.54024196e-02 1.10418416e-05 9.99881376e-01 1.42035226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.8292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:904.19, Y:56.66, Z:14.20 [[ 6.58342629e-01 -7.52650272e-01 -1.01267133e-02 9.04186707e+02] [ 7.52560794e-01 6.58420510e-01 -1.16053571e-02 5.66574902e+01] [ 1.54024109e-02 1.93339616e-05 9.99881376e-01 1.42040885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.8592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:904.20, Y:56.68, Z:14.20 [[ 6.58885689e-01 -7.52174954e-01 -1.01235832e-02 9.04204589e+02] [ 7.52085378e-01 6.58963456e-01 -1.16080869e-02 5.66789493e+01] [ 1.54023836e-02 3.46034700e-05 9.99881376e-01 1.42045863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.8892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:904.22, Y:56.70, Z:14.20 [[ 6.59029817e-01 -7.52048722e-01 -1.01202713e-02 9.04222358e+02] [ 7.51959086e-01 6.59107517e-01 -1.16109736e-02 5.66997585e+01] [ 1.54023647e-02 4.19478139e-05 9.99881376e-01 1.42047700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.9192541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:904.24, Y:56.72, Z:14.20 [[ 6.58780523e-01 -7.52267134e-01 -1.01184348e-02 9.04240647e+02] [ 7.52177499e-01 6.58858223e-01 -1.16125738e-02 5.67209354e+01] [ 1.54023716e-02 3.92784841e-05 9.99881376e-01 1.42038137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.9492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:904.26, Y:56.74, Z:14.21 [[ 6.59250548e-01 -7.51855304e-01 -1.01151698e-02 9.04259453e+02] [ 7.51765577e-01 6.59328142e-01 -1.16154171e-02 5.67419074e+01] [ 1.54023291e-02 5.32336808e-05 9.99881376e-01 1.42056754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.9792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:904.28, Y:56.76, Z:14.21 [[ 6.59070545e-01 -7.52013143e-01 -1.01117841e-02 9.04277271e+02] [ 7.51923390e-01 6.59148109e-01 -1.16183638e-02 5.67625564e+01] [ 1.54023256e-02 5.40343553e-05 9.99881376e-01 1.42057443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.0092541539999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:904.30, Y:56.78, Z:14.20 [[ 6.58531295e-01 -7.52485437e-01 -1.01094838e-02 9.04295650e+02] [ 7.52395708e-01 6.58608887e-01 -1.16203650e-02 5.67841336e+01] [ 1.54023513e-02 4.60417902e-05 9.99881376e-01 1.42041566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.0392541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:904.31, Y:56.81, Z:14.20 [[ 6.56654606e-01 -7.54123727e-01 -1.01060954e-02 9.04311205e+02] [ 7.54034147e-01 6.56732369e-01 -1.16233110e-02 5.68053794e+01] [ 1.54024146e-02 1.21596922e-05 9.99881376e-01 1.42019416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.0692541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:904.33, Y:56.83, Z:14.20 [[ 6.57693694e-01 -7.53218584e-01 -1.00384011e-02 9.04332339e+02] [ 7.53127996e-01 6.57770287e-01 -1.16821211e-02 5.68263775e+01] [ 1.54021527e-02 1.23056417e-04 9.99881372e-01 1.42036800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.0992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:904.35, Y:56.85, Z:14.21 [[ 6.57406846e-01 -7.53468105e-01 -1.01021553e-02 9.04350794e+02] [ 7.53378395e-01 6.57484459e-01 -1.16267268e-02 5.68471791e+01] [ 1.54023779e-02 3.27442765e-05 9.99881376e-01 1.42051166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.1292541539999 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:904.37, Y:56.87, Z:14.20 [[ 6.55642209e-01 -7.55004178e-01 -1.00987999e-02 9.04368786e+02] [ 7.54914604e-01 6.55719980e-01 -1.16296406e-02 5.68675132e+01] [ 1.54024121e-02 1.15170289e-06 9.99881376e-01 1.42024175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.1592541539999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:904.39, Y:56.89, Z:14.20 [[ 6.54801849e-01 -7.55733146e-01 -1.00970972e-02 9.04387720e+02] [ 7.55643636e-01 6.54879693e-01 -1.16311187e-02 5.68886946e+01] [ 1.54024058e-02 -1.37291608e-05 9.99881376e-01 1.42034739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.1892541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:904.41, Y:56.91, Z:14.21 [[ 6.52877261e-01 -7.57396460e-01 -1.00938065e-02 9.04406527e+02] [ 7.57307104e-01 6.52955282e-01 -1.16339738e-02 5.69098680e+01] [ 1.54023348e-02 -4.85543996e-05 9.99881376e-01 1.42053763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.2192541539998 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:904.42, Y:56.93, Z:14.21 [[ 6.51147867e-01 -7.58883810e-01 -1.00905133e-02 9.04424700e+02] [ 7.58794588e-01 6.51226041e-01 -1.16368293e-02 5.69308900e+01] [ 1.54022064e-02 -7.93303047e-05 9.99881376e-01 1.42055832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.2492541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:904.44, Y:56.95, Z:14.21 [[ 6.48286298e-01 -7.61329839e-01 -1.00872141e-02 9.04440978e+02] [ 7.61240868e-01 6.48364757e-01 -1.16396885e-02 5.69526529e+01] [ 1.54018363e-02 -1.32949044e-04 9.99881376e-01 1.42051635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.2792541539999 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:904.46, Y:56.97, Z:14.21 [[ 6.47671342e-01 -7.61853792e-01 -1.00316041e-02 9.04461565e+02] [ 7.61764136e-01 6.47749022e-01 -1.16878569e-02 5.69726992e+01] [ 1.54023998e-02 -7.18263160e-05 9.99881373e-01 1.42052549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.3092541539999 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:904.48, Y:56.99, Z:14.21 [[ 6.44125789e-01 -7.64853122e-01 -1.00831073e-02 9.04480694e+02] [ 7.64764525e-01 6.44204670e-01 -1.16432550e-02 5.69932788e+01] [ 1.54009647e-02 -2.11481969e-04 9.99881376e-01 1.42066107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.3392541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:904.50, Y:57.01, Z:14.21 [[ 6.40856999e-01 -7.67594101e-01 -1.00798212e-02 9.04495976e+02] [ 7.67505796e-01 6.40936207e-01 -1.16460991e-02 5.70146193e+01] [ 1.53999993e-02 -2.72837108e-04 9.99881376e-01 1.42067097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.3692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:904.52, Y:57.04, Z:14.21 [[ 6.41306925e-01 -7.67219225e-01 -1.00044614e-02 9.04518367e+02] [ 7.67129853e-01 6.41384935e-01 -1.17112534e-02 5.70364124e+01] [ 1.54018095e-02 -1.64213090e-04 9.99881372e-01 1.42091192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.3992541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:904.54, Y:57.06, Z:14.21 [[ 6.40154846e-01 -7.68179846e-01 -1.00745705e-02 9.04535832e+02] [ 7.68091542e-01 6.40234055e-01 -1.16506284e-02 5.70570010e+01] [ 1.53998611e-02 -2.79986148e-04 9.99881376e-01 1.42095198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.4292541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:904.55, Y:57.08, Z:14.21 [[ 6.38598269e-01 -7.69474363e-01 -1.00725045e-02 9.04552876e+02] [ 7.69386192e-01 6.38677626e-01 -1.16524143e-02 5.70774204e+01] [ 1.53993173e-02 -3.08434339e-04 9.99881376e-01 1.42093184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.4592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:904.57, Y:57.10, Z:14.21 [[ 6.37961164e-01 -7.70002684e-01 -1.00707372e-02 9.04570647e+02] [ 7.69914555e-01 6.38040566e-01 -1.16539415e-02 5.70985643e+01] [ 1.53991051e-02 -3.18845095e-04 9.99881376e-01 1.42112894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.4892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:904.59, Y:57.12, Z:14.21 [[ 6.36830912e-01 -7.70937763e-01 -1.00674954e-02 9.04587519e+02] [ 7.70849706e-01 6.36910395e-01 -1.16567413e-02 5.71191500e+01] [ 1.53987146e-02 -3.37152645e-04 9.99881376e-01 1.42111630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.5192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:904.61, Y:57.14, Z:14.21 [[ 6.36080835e-01 -7.71556772e-01 -1.00657325e-02 9.04605950e+02] [ 7.71468768e-01 6.36160377e-01 -1.16582634e-02 5.71404700e+01] [ 1.53984323e-02 -3.49800378e-04 9.99881376e-01 1.42119177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.5492541539999 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:904.62, Y:57.16, Z:14.21 [[ 6.34882485e-01 -7.72543186e-01 -1.00625930e-02 9.04623763e+02] [ 7.72455263e-01 6.34962116e-01 -1.16609726e-02 5.71619362e+01] [ 1.53979703e-02 -3.69555654e-04 9.99881376e-01 1.42102979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.5792541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:904.64, Y:57.18, Z:14.21 [[ 6.34557466e-01 -7.72810218e-01 -1.00592788e-02 9.04640725e+02] [ 7.72722283e-01 6.34637084e-01 -1.16638309e-02 5.71836472e+01] [ 1.53979190e-02 -3.71657880e-04 9.99881376e-01 1.42116451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.6092541539999 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:904.66, Y:57.21, Z:14.21 [[ 6.34190748e-01 -7.73111215e-01 -1.00570285e-02 9.04657824e+02] [ 7.73023287e-01 6.34270374e-01 -1.16657708e-02 5.72053940e+01] [ 1.53978135e-02 -3.75993316e-04 9.99881376e-01 1.42115812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.6392541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:904.67, Y:57.23, Z:14.21 [[ 6.34397815e-01 -7.72941354e-01 -1.00536711e-02 9.04674370e+02] [ 7.72853358e-01 6.34477367e-01 -1.16686636e-02 5.72263366e+01] [ 1.53980194e-02 -3.67438819e-04 9.99881376e-01 1.42127711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.6692541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:904.69, Y:57.25, Z:14.21 [[ 6.35148615e-01 -7.72324547e-01 -1.00513922e-02 9.04690841e+02] [ 7.72236444e-01 6.35228047e-01 -1.16706263e-02 5.72490329e+01] [ 1.53984374e-02 -3.49469205e-04 9.99881376e-01 1.42140224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.6992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:904.71, Y:57.27, Z:14.21 [[ 6.33303897e-01 -7.73837975e-01 -1.00480571e-02 9.04705032e+02] [ 7.73750015e-01 6.33383488e-01 -1.16734970e-02 5.72714820e+01] [ 1.53976687e-02 -3.81813214e-04 9.99881376e-01 1.42116073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.7292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:904.73, Y:57.29, Z:14.22 [[ 6.36145604e-01 -7.71504682e-01 -9.96479090e-03 9.04725454e+02] [ 7.71415305e-01 6.36223608e-01 -1.17450917e-02 5.72929046e+01] [ 1.54012285e-02 -2.15403753e-04 9.99881371e-01 1.42155734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.7592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:904.74, Y:57.32, Z:14.22 [[ 6.37875974e-01 -7.70073614e-01 -1.00434896e-02 9.04741426e+02] [ 7.69985123e-01 6.37954974e-01 -1.16774047e-02 5.73151529e+01] [ 1.53997554e-02 -2.84601721e-04 9.99881376e-01 1.42165734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.7892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:904.76, Y:57.34, Z:14.22 [[ 6.38786765e-01 -7.69318292e-01 -1.00416127e-02 9.04758540e+02] [ 7.69229683e-01 6.38865632e-01 -1.16790185e-02 5.73376440e+01] [ 1.54001238e-02 -2.63904166e-04 9.99881376e-01 1.42174285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.8192541539999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:904.77, Y:57.36, Z:14.22 [[ 6.39428117e-01 -7.68785352e-01 -1.00382215e-02 9.04774630e+02] [ 7.68696631e-01 6.39506858e-01 -1.16819326e-02 5.73593275e+01] [ 1.54004101e-02 -2.46590875e-04 9.99881376e-01 1.42156111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.8492541539998 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:904.79, Y:57.38, Z:14.22 [[ 6.40377704e-01 -7.67994575e-01 -1.00363882e-02 9.04791921e+02] [ 7.67905732e-01 6.40456308e-01 -1.16835074e-02 5.73819121e+01] [ 1.54007384e-02 -2.25142365e-04 9.99881376e-01 1.42156189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.8792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:904.81, Y:57.40, Z:14.22 [[ 6.43262398e-01 -7.65580059e-01 -1.00330210e-02 9.04807466e+02] [ 7.65490876e-01 6.43340615e-01 -1.16863982e-02 5.74036668e+01] [ 1.54015233e-02 -1.62765558e-04 9.99881376e-01 1.42174621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.9092541539999 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:904.82, Y:57.43, Z:14.21 [[ 6.43859125e-01 -7.65078304e-01 -1.00307330e-02 9.04824177e+02] [ 7.64989029e-01 6.43937239e-01 -1.16883617e-02 5.74257753e+01] [ 1.54016745e-02 -1.47742343e-04 9.99881376e-01 1.42144573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.9392541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:904.84, Y:57.45, Z:14.22 [[ 6.46384502e-01 -7.62945922e-01 -1.00297034e-02 9.04840662e+02] [ 7.62856377e-01 6.46462304e-01 -1.16892452e-02 5.74487792e+01] [ 1.54020871e-02 -9.54762371e-05 9.99881376e-01 1.42152906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.9692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:904.86, Y:57.47, Z:14.22 [[ 6.47780659e-01 -7.61760913e-01 -1.00264176e-02 9.04858045e+02] [ 7.61671181e-01 6.47858247e-01 -1.16920628e-02 5.74709113e+01] [ 1.54022538e-02 -6.29411532e-05 9.99881376e-01 1.42172500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.9992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:904.88, Y:57.49, Z:14.22 [[ 6.48779328e-01 -7.60910586e-01 -1.00231354e-02 9.04875456e+02] [ 7.60820709e-01 6.48856747e-01 -1.16948758e-02 5.74931084e+01] [ 1.54023339e-02 -3.84153451e-05 9.99881376e-01 1.42176152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.0292541539999 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:904.89, Y:57.52, Z:14.22 [[ 6.50311889e-01 -7.59601244e-01 -1.00198437e-02 9.04891684e+02] [ 7.59511168e-01 6.50389076e-01 -1.16976954e-02 5.75161327e+01] [ 1.54023809e-02 -3.03277109e-06 9.99881376e-01 1.42154158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.0592541539999 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:904.91, Y:57.54, Z:14.22 [[ 6.51227996e-01 -7.58816030e-01 -1.00165199e-02 9.04908930e+02] [ 7.58725817e-01 6.51305023e-01 -1.17005409e-02 5.75381305e+01] [ 1.54023677e-02 1.99275528e-05 9.99881376e-01 1.42156872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.0892541539998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:904.93, Y:57.56, Z:14.22 [[ 6.53064018e-01 -7.57236506e-01 -1.00131008e-02 9.04926793e+02] [ 7.57146062e-01 6.53140773e-01 -1.17034661e-02 5.75600845e+01] [ 1.54022562e-02 6.17327842e-05 9.99881376e-01 1.42189061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.1192541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:904.94, Y:57.58, Z:14.22 [[ 6.54180414e-01 -7.56272275e-01 -1.00115955e-02 9.04944531e+02] [ 7.56181698e-01 6.54257012e-01 -1.17047537e-02 5.75824655e+01] [ 1.54021372e-02 8.64353281e-05 9.99881376e-01 1.42187583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.1492541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:904.96, Y:57.61, Z:14.22 [[ 6.57243166e-01 -7.53612139e-01 -1.00082361e-02 9.04961447e+02] [ 7.53521208e-01 6.57319344e-01 -1.17076254e-02 5.76051441e+01] [ 1.54016158e-02 1.53338667e-04 9.99881376e-01 1.42203583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.1792541539999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:904.98, Y:57.63, Z:14.22 [[ 6.58340614e-01 -7.52653664e-01 -1.00049012e-02 9.04978185e+02] [ 7.52562579e-01 6.58416608e-01 -1.17104746e-02 5.76272872e+01] [ 1.54013247e-02 1.80166757e-04 9.99881376e-01 1.42190491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.2092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:904.99, Y:57.65, Z:14.22 [[ 6.61429772e-01 -7.49940415e-01 -1.00015848e-02 9.04994275e+02] [ 7.49848975e-01 6.61505339e-01 -1.17133064e-02 5.76492323e+01] [ 1.54003836e-02 2.47851448e-04 9.99881376e-01 1.42211262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.2392541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:905.01, Y:57.67, Z:14.22 [[ 6.61992608e-01 -7.49443656e-01 -9.99969464e-03 9.05012004e+02] [ 7.49352135e-01 6.62068077e-01 -1.17149198e-02 5.76712216e+01] [ 1.54001509e-02 2.61897771e-04 9.99881376e-01 1.42198423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.2692541539999 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:905.03, Y:57.69, Z:14.22 [[ 6.62454697e-01 -7.49035278e-01 -9.99636878e-03 9.05029997e+02] [ 7.48943668e-01 6.62530057e-01 -1.17177571e-02 5.76930602e+01] [ 1.53999082e-02 2.75766094e-04 9.99881376e-01 1.42186780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.2992541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:905.05, Y:57.71, Z:14.22 [[ 6.63867698e-01 -7.47783266e-01 -9.99332356e-03 9.05047155e+02] [ 7.47691475e-01 6.63942837e-01 -1.17203536e-02 5.77141476e+01] [ 1.53992799e-02 3.08841295e-04 9.99881376e-01 1.42201516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.3292541539998 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:905.07, Y:57.74, Z:14.22 [[ 6.63752570e-01 -7.47885482e-01 -9.99153128e-03 9.05065323e+02] [ 7.47793680e-01 6.63827696e-01 -1.17218813e-02 5.77363987e+01] [ 1.53992800e-02 3.08824884e-04 9.99881376e-01 1.42195235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.3592541539999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:905.08, Y:57.76, Z:14.22 [[ 6.64620862e-01 -7.47114007e-01 -9.98852483e-03 9.05083186e+02] [ 7.47022079e-01 6.64695834e-01 -1.17244426e-02 5.77580869e+01] [ 1.53988261e-02 3.30660554e-04 9.99881376e-01 1.42225165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.3892541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:905.10, Y:57.78, Z:14.22 [[ 6.64172205e-01 -7.47512758e-01 -9.99798216e-03 9.05101022e+02] [ 7.47420995e-01 6.64247380e-01 -1.17163885e-02 5.77798489e+01] [ 1.53992833e-02 3.08997825e-04 9.99881376e-01 1.42216162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.4192541539999 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:905.12, Y:57.80, Z:14.22 [[ 6.63655476e-01 -7.47971747e-01 -9.98374876e-03 9.05119256e+02] [ 7.47879854e-01 6.63730492e-01 -1.17285045e-02 5.78013368e+01] [ 1.53991085e-02 3.17041702e-04 9.99881376e-01 1.42184797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.4492541539998 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:905.14, Y:57.82, Z:14.22 [[ 6.62743650e-01 -7.48779807e-01 -9.98268247e-03 9.05137951e+02] [ 7.48687993e-01 6.62818761e-01 -1.17294120e-02 5.78227233e+01] [ 1.53994561e-02 2.99678848e-04 9.99881376e-01 1.42212787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.4792541539998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:905.16, Y:57.84, Z:14.22 [[ 6.60717242e-01 -7.50568545e-01 -9.97924928e-03 9.05157215e+02] [ 7.50476890e-01 6.60792547e-01 -1.17323322e-02 5.78422717e+01] [ 1.54001331e-02 2.62558229e-04 9.99881376e-01 1.42237420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.5092541539999 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:905.18, Y:57.86, Z:14.22 [[ 6.58590156e-01 -7.52435684e-01 -9.97731366e-03 9.05175635e+02] [ 7.52344218e-01 6.58665691e-01 -1.17339781e-02 5.78630491e+01] [ 1.54007780e-02 2.21508215e-04 9.99881376e-01 1.42235985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.5392541539999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:905.20, Y:57.88, Z:14.23 [[ 6.56857322e-01 -7.53948924e-01 -9.97392265e-03 9.05195462e+02] [ 7.53857587e-01 6.56933014e-01 -1.17368597e-02 5.78845478e+01] [ 1.54011918e-02 1.90524995e-04 9.99881376e-01 1.42267539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.5692541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:905.21, Y:57.91, Z:14.23 [[ 6.54344952e-01 -7.56130454e-01 -9.97096887e-03 9.05214151e+02] [ 7.56039332e-01 6.54420901e-01 -1.17393686e-02 5.79051595e+01] [ 1.54017045e-02 1.43151916e-04 9.99881376e-01 1.42266196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.5992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:905.24, Y:57.93, Z:14.23 [[ 6.49479145e-01 -7.60314071e-01 -9.96760500e-03 9.05235050e+02] [ 7.60223395e-01 6.49555625e-01 -1.17422240e-02 5.79253452e+01] [ 1.54022921e-02 4.87231275e-05 9.99881376e-01 1.42292273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.6292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:905.25, Y:57.95, Z:14.23 [[ 6.43923498e-01 -7.65024989e-01 -9.96465459e-03 9.05248661e+02] [ 7.64934833e-01 6.44000592e-01 -1.17447273e-02 5.79457704e+01] [ 1.54022533e-02 -5.96055202e-05 9.99881376e-01 1.42278968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.6592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:905.27, Y:57.97, Z:14.23 [[ 6.43855676e-01 -7.65083802e-01 -9.83082838e-03 9.05267064e+02] [ 7.64991908e-01 6.43930713e-01 -1.18582016e-02 5.79675507e+01] [ 1.54028903e-02 1.14466213e-04 9.99881362e-01 1.42282734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.6892541539999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:905.29, Y:57.99, Z:14.23 [[ 6.41515481e-01 -7.67047158e-01 -9.82574770e-03 9.05293139e+02] [ 7.66955428e-01 6.41590720e-01 -1.18625077e-02 5.79875988e+01] [ 1.54032114e-02 7.40718045e-05 9.99881361e-01 1.42292345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.7192541539998 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:905.31, Y:58.01, Z:14.23 [[ 6.39101613e-01 -7.69057788e-01 -9.96225329e-03 9.05312418e+02] [ 7.68968087e-01 6.39179235e-01 -1.17467395e-02 5.80085168e+01] [ 1.54015869e-02 -1.53294717e-04 9.99881377e-01 1.42303604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.7492541539999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:905.33, Y:58.03, Z:14.23 [[ 6.36967514e-01 -7.70826312e-01 -9.95907578e-03 9.05330460e+02] [ 7.70736784e-01 6.37045336e-01 -1.17494328e-02 5.80282824e+01] [ 1.54011547e-02 -1.91819044e-04 9.99881377e-01 1.42306071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.7792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:905.35, Y:58.05, Z:14.23 [[ 6.33254743e-01 -7.73879379e-01 -9.95677824e-03 9.05349892e+02] [ 7.73790196e-01 6.33332960e-01 -1.17513795e-02 5.80488482e+01] [ 1.54001061e-02 -2.62840604e-04 9.99881377e-01 1.42327959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.8092541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:905.37, Y:58.07, Z:14.23 [[ 6.30968079e-01 -7.75744941e-01 -9.95341469e-03 9.05368995e+02] [ 7.75655944e-01 6.31046507e-01 -1.17542277e-02 5.80708836e+01] [ 1.53993502e-02 -3.03882800e-04 9.99881377e-01 1.42313511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.8392541539998 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:905.39, Y:58.09, Z:14.23 [[ 6.28930139e-01 -7.77398140e-01 -9.95049331e-03 9.05387275e+02] [ 7.77309310e-01 6.29008757e-01 -1.17567003e-02 5.80917339e+01] [ 1.53985843e-02 -3.40467962e-04 9.99881377e-01 1.42303297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.8692541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:905.40, Y:58.11, Z:14.23 [[ 6.22537582e-01 -7.82526656e-01 -9.94945990e-03 9.05400538e+02] [ 7.82438460e-01 6.22616910e-01 -1.17575747e-02 5.81123797e+01] [ 1.53953176e-02 -4.65307926e-04 9.99881377e-01 1.42287272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.8992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:905.42, Y:58.13, Z:14.23 [[ 6.21202422e-01 -7.83588799e-01 -9.80530615e-03 9.05420143e+02] [ 7.83498805e-01 6.21279729e-01 -1.18794290e-02 5.81338095e+01] [ 1.54004254e-02 -3.02915593e-04 9.99881361e-01 1.42299771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.9292541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:905.44, Y:58.16, Z:14.23 [[ 6.20300954e-01 -7.84302473e-01 -9.81616920e-03 9.05440716e+02] [ 7.84212713e-01 6.20378528e-01 -1.18702556e-02 5.81557119e+01] [ 1.53996114e-02 -3.34833807e-04 9.99881363e-01 1.42305872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.9592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:905.46, Y:58.18, Z:14.23 [[ 6.19947273e-01 -7.84581473e-01 -9.86365783e-03 9.05462486e+02] [ 7.84492382e-01 6.20025604e-01 -1.18301544e-02 5.81770657e+01] [ 1.53974403e-02 -4.03892500e-04 9.99881371e-01 1.42340795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.9892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:905.48, Y:58.20, Z:14.23 [[ 6.18156497e-01 -7.85992233e-01 -9.93750975e-03 9.05479382e+02] [ 7.85904318e-01 6.18236138e-01 -1.17677889e-02 5.81995115e+01] [ 1.53931184e-02 -5.35596628e-04 9.99881375e-01 1.42343137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.0192541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:905.49, Y:58.22, Z:14.23 [[ 6.15871477e-01 -7.87784518e-01 -9.89333910e-03 9.05493406e+02] [ 7.87696236e-01 6.15950713e-01 -1.18050622e-02 5.82199720e+01] [ 1.53936545e-02 -5.22544861e-04 9.99881374e-01 1.42294291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.0492541539999 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:905.52, Y:58.24, Z:14.23 [[ 6.19172491e-01 -7.85193751e-01 -9.80813061e-03 9.05516775e+02] [ 7.85103996e-01 6.19250073e-01 -1.18769643e-02 5.82417230e+01] [ 1.53994037e-02 -3.46512963e-04 9.99881362e-01 1.42337782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.0792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:905.54, Y:58.26, Z:14.24 [[ 6.20264582e-01 -7.84329738e-01 -9.93529898e-03 9.05535565e+02] [ 7.84241580e-01 6.20343953e-01 -1.17696156e-02 5.82639126e+01] [ 1.53945622e-02 -4.91398851e-04 9.99881376e-01 1.42359252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.1092541539999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:905.55, Y:58.29, Z:14.24 [[ 6.21901391e-01 -7.83032572e-01 -9.93237840e-03 9.05552590e+02] [ 7.82944209e-01 6.21980534e-01 -1.17720798e-02 5.82870513e+01] [ 1.53956679e-02 -4.55425345e-04 9.99881376e-01 1.42350587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.1392541539999 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:905.57, Y:58.31, Z:14.23 [[ 6.22117876e-01 -7.82860623e-01 -9.92944861e-03 9.05568970e+02] [ 7.82772199e-01 6.22196950e-01 -1.17745505e-02 5.83101168e+01] [ 1.53959046e-02 -4.47337989e-04 9.99881376e-01 1.42330353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.1692541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:905.58, Y:58.33, Z:14.24 [[ 6.22332476e-01 -7.82690207e-01 -9.91616887e-03 9.05584346e+02] [ 7.82601582e-01 6.22411327e-01 -1.17857450e-02 5.83328504e+01] [ 1.53965230e-02 -4.25757579e-04 9.99881376e-01 1.42350910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.1992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:905.60, Y:58.36, Z:14.24 [[ 6.25215276e-01 -7.80389938e-01 -9.86929845e-03 9.05603948e+02] [ 7.80300400e-01 6.25293091e-01 -1.18252440e-02 5.83550792e+01] [ 1.53995056e-02 -3.07694355e-04 9.99881373e-01 1.42377306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.2292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:905.62, Y:58.38, Z:14.24 [[ 6.26977045e-01 -7.78974512e-01 -9.92449665e-03 9.05619273e+02] [ 7.78885531e-01 6.27055493e-01 -1.17787353e-02 5.83781110e+01] [ 1.53985447e-02 -3.45050207e-04 9.99881376e-01 1.42380450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.2592541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:905.64, Y:58.40, Z:14.24 [[ 6.27277920e-01 -7.78732268e-01 -9.92302093e-03 9.05636326e+02] [ 7.78643237e-01 6.27356312e-01 -1.17799784e-02 5.84004582e+01] [ 1.53987191e-02 -3.37172814e-04 9.99881376e-01 1.42392394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.2892541539999 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:905.65, Y:58.42, Z:14.24 [[ 6.26832904e-01 -7.79090567e-01 -9.91961366e-03 9.05652756e+02] [ 7.79001536e-01 6.26911295e-01 -1.17828468e-02 5.84228678e+01] [ 1.53986227e-02 -3.41518173e-04 9.99881376e-01 1.42388201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.3192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:905.67, Y:58.45, Z:14.24 [[ 6.27882418e-01 -7.78245114e-01 -9.91019504e-03 9.05669121e+02] [ 7.78155852e-01 6.27960547e-01 -1.17907722e-02 5.84457659e+01] [ 1.53993224e-02 -3.08457678e-04 9.99881376e-01 1.42399338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.3492541539998 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:905.69, Y:58.47, Z:14.24 [[ 6.27211284e-01 -7.78786033e-01 -9.91560299e-03 9.05685806e+02] [ 7.78696911e-01 6.27289571e-01 -1.17862226e-02 5.84683192e+01] [ 1.53988999e-02 -3.28797601e-04 9.99881376e-01 1.42385392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.3792541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:905.70, Y:58.49, Z:14.24 [[ 6.27067359e-01 -7.78901938e-01 -9.91455998e-03 9.05703440e+02] [ 7.78812816e-01 6.27145647e-01 -1.17870999e-02 5.84912010e+01] [ 1.53988681e-02 -3.30280764e-04 9.99881376e-01 1.42408440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.4092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:905.72, Y:58.52, Z:14.24 [[ 6.26068795e-01 -7.79704832e-01 -9.91159016e-03 9.05720328e+02] [ 7.79615771e-01 6.26147152e-01 -1.17895967e-02 5.85152550e+01] [ 1.53985194e-02 -3.46133438e-04 9.99881376e-01 1.42416785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.4392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:905.74, Y:58.54, Z:14.24 [[ 6.25141192e-01 -7.80448787e-01 -9.90862920e-03 9.05737559e+02] [ 7.80359780e-01 6.25219610e-01 -1.17920847e-02 5.85373795e+01] [ 1.53981875e-02 -3.60577830e-04 9.99881376e-01 1.42423754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.4692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:905.75, Y:58.56, Z:14.24 [[ 6.24148497e-01 -7.81242945e-01 -9.90523460e-03 9.05754000e+02] [ 7.81153993e-01 6.24226977e-01 -1.17949354e-02 5.85586900e+01] [ 1.53978247e-02 -3.75722337e-04 9.99881376e-01 1.42423490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.4992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:905.77, Y:58.58, Z:14.24 [[ 6.21637207e-01 -7.83242687e-01 -9.90335048e-03 9.05770105e+02] [ 7.83153961e-01 6.21715944e-01 -1.17965172e-02 5.85818916e+01] [ 1.53966067e-02 -4.22694165e-04 9.99881376e-01 1.42427432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.5292541539999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:905.79, Y:58.60, Z:14.24 [[ 6.19869541e-01 -7.84642431e-01 -9.89992510e-03 9.05786638e+02] [ 7.84553837e-01 6.19948426e-01 -1.17993911e-02 5.86041097e+01] [ 1.53957459e-02 -4.52941061e-04 9.99881376e-01 1.42415659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.5592541539999 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:905.80, Y:58.63, Z:14.24 [[ 6.18040832e-01 -7.86083683e-01 -9.89815414e-03 9.05803263e+02] [ 7.85995250e-01 6.18119897e-01 -1.18008766e-02 5.86261981e+01] [ 1.53947225e-02 -4.86478577e-04 9.99881376e-01 1.42420184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.5892541539998 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:905.82, Y:58.65, Z:14.24 [[ 6.14677740e-01 -7.88716279e-01 -9.89478939e-03 9.05819331e+02] [ 7.88628139e-01 6.14757132e-01 -1.18036972e-02 5.86496146e+01] [ 1.53926604e-02 -5.47839440e-04 9.99881376e-01 1.42418328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.6192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:905.84, Y:58.67, Z:14.25 [[ 6.13417726e-01 -7.89696661e-01 -9.89327891e-03 9.05836828e+02] [ 7.89608628e-01 6.13497235e-01 -1.18049630e-02 5.86719140e+01] [ 1.53918392e-02 -5.70444817e-04 9.99881376e-01 1.42451369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.6492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:905.85, Y:58.69, Z:14.24 [[ 6.11883520e-01 -7.90885995e-01 -9.89447022e-03 9.05853321e+02] [ 7.90798133e-01 6.11963218e-01 -1.18039648e-02 5.86938917e+01] [ 1.53906423e-02 -6.01877025e-04 9.99881376e-01 1.42433834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.6792541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:905.87, Y:58.72, Z:14.24 [[ 6.09058161e-01 -7.93063885e-01 -9.89100518e-03 9.05869136e+02] [ 7.92976260e-01 6.09138120e-01 -1.18068676e-02 5.87165132e+01] [ 1.53885886e-02 -6.52263218e-04 9.99881376e-01 1.42436814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.7092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:905.89, Y:58.74, Z:14.24 [[ 6.09660756e-01 -7.92600767e-01 -9.88877622e-03 9.05890298e+02] [ 7.92513051e-01 6.09740616e-01 -1.18087342e-02 5.87394611e+01] [ 1.53892003e-02 -6.37662404e-04 9.99881376e-01 1.42429373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.7392541539999 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:905.91, Y:58.76, Z:14.24 [[ 6.07742973e-01 -7.94071230e-01 -9.96796799e-03 9.05905384e+02] [ 7.93984785e-01 6.07824215e-01 -1.17424488e-02 5.87639025e+01] [ 1.53831131e-02 -7.78024190e-04 9.99881370e-01 1.42444303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.7692541539999 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:905.92, Y:58.79, Z:14.24 [[ 6.06088777e-01 -7.95334659e-01 -9.95864630e-03 9.05918037e+02] [ 7.95248256e-01 6.06170062e-01 -1.17502411e-02 5.87869451e+01] [ 1.53820073e-02 -7.97906823e-04 9.99881372e-01 1.42449149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.7992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:905.94, Y:58.81, Z:14.25 [[ 6.09134203e-01 -7.93005711e-01 -9.87243938e-03 9.05940560e+02] [ 7.92917830e-01 6.09213878e-01 -1.18222304e-02 5.88110379e+01] [ 1.53895233e-02 -6.26708310e-04 9.99881378e-01 1.42461704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.8292541539998 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:905.95, Y:58.83, Z:14.25 [[ 6.09494993e-01 -7.92726896e-01 -9.99609795e-03 9.05953884e+02] [ 7.92640655e-01 6.09576458e-01 -1.17189536e-02 5.88347949e+01] [ 1.53833157e-02 -7.80670061e-04 9.99881365e-01 1.42458717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.8592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:905.97, Y:58.86, Z:14.25 [[ 6.08953998e-01 -7.93142901e-01 -9.96828098e-03 9.05965331e+02] [ 7.93056337e-01 6.09035112e-01 -1.17421749e-02 5.88574872e+01] [ 1.53842558e-02 -7.54964042e-04 9.99881370e-01 1.42475708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.8892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:905.98, Y:58.88, Z:14.25 [[ 6.09837527e-01 -7.92465053e-01 -9.86561909e-03 9.05983784e+02] [ 7.92377011e-01 6.09917023e-01 -1.18278058e-02 5.88811367e+01] [ 1.53903317e-02 -6.04249945e-04 9.99881379e-01 1.42488215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.9192541539999 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:906.00, Y:58.91, Z:14.25 [[ 6.10811944e-01 -7.91713792e-01 -9.90152620e-03 9.05998999e+02] [ 7.91626136e-01 6.10891866e-01 -1.17978634e-02 5.89051809e+01] [ 1.53892930e-02 -6.32031039e-04 9.99881378e-01 1.42476528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.9492541539998 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:906.01, Y:58.93, Z:14.25 [[ 6.10983561e-01 -7.91581000e-01 -9.93018335e-03 9.06014750e+02] [ 7.91493712e-01 6.11063889e-01 -1.17739700e-02 5.89279362e+01] [ 1.53880274e-02 -6.65975541e-04 9.99881376e-01 1.42475697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.9792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:906.03, Y:58.95, Z:14.25 [[ 6.11632634e-01 -7.91079606e-01 -9.92861921e-03 9.06028655e+02] [ 7.90992231e-01 6.11712868e-01 -1.17752733e-02 5.89514945e+01] [ 1.53886427e-02 -6.51319210e-04 9.99881376e-01 1.42496801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.0092541539999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:906.04, Y:58.98, Z:14.25 [[ 6.12274284e-01 -7.90584006e-01 -9.85549219e-03 9.06042321e+02] [ 7.90495586e-01 6.12353357e-01 -1.18361633e-02 5.89756172e+01] [ 1.53925251e-02 -5.43744656e-04 9.99881380e-01 1.42494978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.0392541539999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:906.06, Y:59.00, Z:14.25 [[ 6.12431983e-01 -7.90461873e-01 -9.85359557e-03 9.06058554e+02] [ 7.90373412e-01 6.12511010e-01 -1.18377421e-02 5.89983496e+01] [ 1.53927195e-02 -5.38208108e-04 9.99881380e-01 1.42497500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.0692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:906.07, Y:59.02, Z:14.25 [[ 6.11881035e-01 -7.90888469e-01 -9.85032867e-03 9.06074473e+02] [ 7.90800019e-01 6.11960075e-01 -1.18404599e-02 5.90209710e+01] [ 1.53924910e-02 -5.44687275e-04 9.99881380e-01 1.42518088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.0992541539998 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:906.09, Y:59.04, Z:14.25 [[ 6.12601443e-01 -7.90330468e-01 -9.86019354e-03 9.06087259e+02] [ 7.90242078e-01 6.12680550e-01 -1.18322545e-02 5.90448977e+01] [ 1.53925400e-02 -5.43483642e-04 9.99881380e-01 1.42514997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.1292541539999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:906.11, Y:59.07, Z:14.25 [[ 6.13404872e-01 -7.89708002e-01 -9.78435212e-03 9.06105028e+02] [ 7.89618525e-01 6.13482752e-01 -1.18952804e-02 5.90692032e+01] [ 1.53963294e-02 -4.29282721e-04 9.99881377e-01 1.42501613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.1592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:906.12, Y:59.09, Z:14.25 [[ 6.13597153e-01 -7.89557860e-01 -9.84477599e-03 9.06120621e+02] [ 7.89469166e-01 6.13675917e-01 -1.18450604e-02 5.90922764e+01] [ 1.53938625e-02 -5.04051720e-04 9.99881380e-01 1.42516224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.1892541539999 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:906.13, Y:59.12, Z:14.25 [[ 6.11423485e-01 -7.91242358e-01 -9.84142931e-03 9.06134313e+02] [ 7.91153835e-01 6.11502443e-01 -1.18478404e-02 5.91172630e+01] [ 1.53925712e-02 -5.42036700e-04 9.99881380e-01 1.42501398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.2192541539998 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:906.15, Y:59.14, Z:14.25 [[ 6.10320990e-01 -7.92093116e-01 -9.83794198e-03 9.06148752e+02] [ 7.92004657e-01 6.10400019e-01 -1.18507354e-02 5.91399227e+01] [ 1.53919659e-02 -5.58943311e-04 9.99881380e-01 1.42506378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.2492541539999 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:906.17, Y:59.16, Z:14.25 [[ 6.12246802e-01 -7.90606216e-01 -9.78081762e-03 9.06165283e+02] [ 7.90516808e-01 6.12324760e-01 -1.18981331e-02 5.91633185e+01] [ 1.53957748e-02 -4.47306742e-04 9.99881378e-01 1.42511569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.2792541539999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:906.18, Y:59.19, Z:14.25 [[ 6.12365854e-01 -7.90513337e-01 -9.83493844e-03 9.06180449e+02] [ 7.90424634e-01 6.12444609e-01 -1.18532277e-02 5.91854558e+01] [ 1.53934896e-02 -5.15265706e-04 9.99881380e-01 1.42514765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.3092541539999 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:906.20, Y:59.21, Z:14.25 [[ 6.12419721e-01 -7.90471624e-01 -9.83344149e-03 9.06196174e+02] [ 7.90382896e-01 6.12498448e-01 -1.18544694e-02 5.92086164e+01] [ 1.53935894e-02 -5.12273097e-04 9.99881380e-01 1.42520252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.3392541539998 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:906.21, Y:59.23, Z:14.25 [[ 6.12981098e-01 -7.90036419e-01 -9.83009502e-03 9.06210230e+02] [ 7.89947591e-01 6.13059711e-01 -1.18572438e-02 5.92337521e+01] [ 1.53940896e-02 -4.96993560e-04 9.99881380e-01 1.42517263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.3692541539999 meters Centerline goodness : 0.999813 Centerline is valid? [True, True] Translation: X:906.23, Y:59.26, Z:14.25 [[ 6.13435340e-01 -7.89683810e-01 -9.82669103e-03 9.06226097e+02] [ 7.89594892e-01 6.13513851e-01 -1.18600642e-02 5.92569276e+01] [ 1.53945117e-02 -4.83722542e-04 9.99881380e-01 1.42525274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.3992541539999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:906.24, Y:59.28, Z:14.25 [[ 6.14237183e-01 -7.89060318e-01 -9.82329639e-03 9.06242156e+02] [ 7.88971275e-01 6.14315553e-01 -1.18628752e-02 5.92797170e+01] [ 1.53951278e-02 -4.63679643e-04 9.99881380e-01 1.42534325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.4292541539999 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:906.26, Y:59.30, Z:14.25 [[ 6.15711931e-01 -7.87910139e-01 -9.81990812e-03 9.06256381e+02] [ 7.87820905e-01 6.15790084e-01 -1.18656793e-02 5.93046410e+01] [ 1.53960911e-02 -4.30488593e-04 9.99881380e-01 1.42526559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.4592541539998 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:906.27, Y:59.33, Z:14.25 [[ 6.16786268e-01 -7.87069460e-01 -9.81653744e-03 9.06272926e+02] [ 7.86980075e-01 6.16864248e-01 -1.18684672e-02 5.93275439e+01] [ 1.53967791e-02 -4.05111777e-04 9.99881381e-01 1.42540881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.4892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:906.29, Y:59.35, Z:14.26 [[ 6.19033164e-01 -7.85303536e-01 -9.81316344e-03 9.06287853e+02] [ 7.85213884e-01 6.19110838e-01 -1.18712563e-02 5.93512880e+01] [ 1.53979754e-02 -3.56730862e-04 9.99881381e-01 1.42563677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.5192541539999 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:906.30, Y:59.37, Z:14.26 [[ 6.19694859e-01 -7.84781531e-01 -9.80971287e-03 9.06303737e+02] [ 7.84691769e-01 6.19772404e-01 -1.18741069e-02 5.93738324e+01] [ 1.53983691e-02 -3.39277929e-04 9.99881381e-01 1.42560645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.5492541539999 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:906.32, Y:59.40, Z:14.26 [[ 6.20002188e-01 -7.84538773e-01 -9.80821741e-03 9.06320157e+02] [ 7.84448960e-01 6.20079676e-01 -1.18753421e-02 5.93966412e+01] [ 1.53985426e-02 -3.31307877e-04 9.99881381e-01 1.42564905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.5792541539998 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:906.34, Y:59.42, Z:14.26 [[ 6.19776567e-01 -7.84717065e-01 -9.80480355e-03 9.06338280e+02] [ 7.84627231e-01 6.19854029e-01 -1.18781600e-02 5.94187040e+01] [ 1.53985419e-02 -3.31310598e-04 9.99881381e-01 1.42569292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.6092541539999 meters Centerline goodness : 0.999813 Centerline is valid? [True, True] Translation: X:906.35, Y:59.44, Z:14.26 [[ 6.19627807e-01 -7.84834577e-01 -9.80138676e-03 9.06352869e+02] [ 7.84744713e-01 6.19705235e-01 -1.18809788e-02 5.94414368e+01] [ 1.53985736e-02 -3.29801615e-04 9.99881381e-01 1.42558404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.6392541539999 meters Centerline goodness : 0.999792 Centerline is valid? [True, True] Translation: X:906.37, Y:59.46, Z:14.26 [[ 6.19083024e-01 -7.85264395e-01 -9.79990734e-03 9.06369429e+02] [ 7.85174566e-01 6.19160492e-01 -1.18821989e-02 5.94639831e+01] [ 1.53983832e-02 -3.38570334e-04 9.99881381e-01 1.42569410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.6692541539999 meters Centerline goodness : 0.999855 Centerline is valid? [True, True] Translation: X:906.39, Y:59.49, Z:14.26 [[ 6.18426843e-01 -7.85781310e-01 -9.79655755e-03 9.06385903e+02] [ 7.85691502e-01 6.18504334e-01 -1.18849601e-02 5.94862104e+01] [ 1.53981928e-02 -3.47093669e-04 9.99881381e-01 1.42580590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.6992541539998 meters Centerline goodness : 0.999772 Centerline is valid? [True, True] Translation: X:906.40, Y:59.51, Z:14.26 [[ 6.17428497e-01 -7.86566047e-01 -9.79315199e-03 9.06401725e+02] [ 7.86476292e-01 6.17506051e-01 -1.18877656e-02 5.95078870e+01] [ 1.53978434e-02 -3.62236615e-04 9.99881381e-01 1.42578478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.7292541539998 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:906.42, Y:59.53, Z:14.26 [[ 6.15400419e-01 -7.88153822e-01 -9.79167588e-03 9.06417831e+02] [ 7.88064248e-01 6.15478182e-01 -1.18889813e-02 5.95314848e+01] [ 1.53969089e-02 -3.99985601e-04 9.99881381e-01 1.42591019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.7592541539999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:906.43, Y:59.55, Z:14.26 [[ 6.14313621e-01 -7.89001244e-01 -9.78830976e-03 9.06434920e+02] [ 7.88911734e-01 6.14391457e-01 -1.18917520e-02 5.95540684e+01] [ 1.53964610e-02 -4.16847172e-04 9.99881381e-01 1.42599470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.7892541539999 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:906.45, Y:59.58, Z:14.26 [[ 6.11609255e-01 -7.91099472e-01 -9.78493831e-03 9.06450330e+02] [ 7.91010184e-01 6.11687346e-01 -1.18945255e-02 5.95771630e+01] [ 1.53950758e-02 -4.65183952e-04 9.99881381e-01 1.42585151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.8192541539999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:906.47, Y:59.60, Z:14.26 [[ 6.11259713e-01 -7.91369626e-01 -9.78152619e-03 9.06467475e+02] [ 7.91280328e-01 6.11337793e-01 -1.18973308e-02 5.95988670e+01] [ 1.53950029e-02 -4.67570212e-04 9.99881381e-01 1.42605939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.8492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:906.48, Y:59.62, Z:14.26 [[ 6.11210747e-01 -7.91407488e-01 -9.77809534e-03 9.06483605e+02] [ 7.91318149e-01 6.11288780e-01 -1.19001499e-02 5.96217773e+01] [ 1.53951077e-02 -4.64084800e-04 9.99881381e-01 1.42626491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.8792541539999 meters Centerline goodness : 0.999834 Centerline is valid? [True, True] Translation: X:906.50, Y:59.64, Z:14.26 [[ 6.10682066e-01 -7.91815553e-01 -9.77465807e-03 9.06499249e+02] [ 7.91726222e-01 6.10760107e-01 -1.19029726e-02 5.96442178e+01] [ 1.53949300e-02 -4.69921231e-04 9.99881381e-01 1.42600029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.9092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:906.52, Y:59.67, Z:14.26 [[ 6.11858083e-01 -7.90907183e-01 -9.77316984e-03 9.06515807e+02] [ 7.90817716e-01 6.11935969e-01 -1.19041944e-02 5.96662985e+01] [ 1.53956670e-02 -4.45118293e-04 9.99881381e-01 1.42630626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.9392541539999 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:906.53, Y:59.69, Z:14.26 [[ 6.12061980e-01 -7.90749444e-01 -9.76978654e-03 9.06532120e+02] [ 7.90659913e-01 6.12139793e-01 -1.19069704e-02 5.96887504e+01] [ 1.53959053e-02 -4.36774683e-04 9.99881381e-01 1.42614543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.9692541539998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:906.55, Y:59.71, Z:14.26 [[ 6.12837980e-01 -7.90148231e-01 -9.76642072e-03 9.06548209e+02] [ 7.90058580e-01 6.12915654e-01 -1.19097305e-02 5.97108934e+01] [ 1.53964446e-02 -4.17309289e-04 9.99881381e-01 1.42622843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.9992541539999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:906.56, Y:59.73, Z:14.26 [[ 6.14062903e-01 -7.89196683e-01 -9.76455076e-03 9.06564127e+02] [ 7.89106887e-01 6.14140409e-01 -1.19112635e-02 5.97342921e+01] [ 1.53971348e-02 -3.91009245e-04 9.99881381e-01 1.42639742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.0292541539999 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:906.58, Y:59.76, Z:14.26 [[ 6.13121549e-01 -7.89928280e-01 -9.76109599e-03 9.06579903e+02] [ 7.89838531e-01 6.13199110e-01 -1.19140939e-02 5.97563678e+01] [ 1.53967751e-02 -4.04902007e-04 9.99881381e-01 1.42620201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.0592541539999 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:906.60, Y:59.78, Z:14.26 [[ 6.12611334e-01 -7.90324050e-01 -9.75959835e-03 9.06595759e+02] [ 7.90234332e-01 6.12688930e-01 -1.19153206e-02 5.97794631e+01] [ 1.53965623e-02 -4.12909237e-04 9.99881381e-01 1.42636368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.0892541539998 meters Centerline goodness : 0.999730 Centerline is valid? [True, True] Translation: X:906.61, Y:59.80, Z:14.26 [[ 6.11607379e-01 -7.91101278e-01 -9.75613977e-03 9.06611555e+02] [ 7.91011614e-01 6.11685037e-01 -1.19181518e-02 5.98012632e+01] [ 1.53961498e-02 -4.27990290e-04 9.99881381e-01 1.42624829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.1192541539999 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:906.63, Y:59.82, Z:14.26 [[ 6.10807000e-01 -7.91719440e-01 -9.75380925e-03 9.06628351e+02] [ 7.91629824e-01 6.10884714e-01 -1.19200588e-02 5.98238377e+01] [ 1.53957952e-02 -4.40550968e-04 9.99881381e-01 1.42628960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.1492541539999 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:906.64, Y:59.85, Z:14.26 [[ 6.10279588e-01 -7.92126097e-01 -9.75042435e-03 9.06643931e+02] [ 7.92036488e-01 6.10357311e-01 -1.19228269e-02 5.98476043e+01] [ 1.53956251e-02 -4.46433963e-04 9.99881381e-01 1.42645564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.1792541539999 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:906.66, Y:59.87, Z:14.27 [[ 6.10467974e-01 -7.91980965e-01 -9.74701176e-03 9.06660256e+02] [ 7.91891293e-01 6.10545625e-01 -1.19256161e-02 5.98705645e+01] [ 1.53958563e-02 -4.38367047e-04 9.99881381e-01 1.42658486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.2092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:906.67, Y:59.89, Z:14.27 [[ 6.12412788e-01 -7.90478108e-01 -9.74360302e-03 9.06674917e+02] [ 7.90388202e-01 6.12490167e-01 -1.19284005e-02 5.98941483e+01] [ 1.53970005e-02 -3.96123867e-04 9.99881381e-01 1.42693291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.2392541539999 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:906.69, Y:59.92, Z:14.27 [[ 6.13106365e-01 -7.89940323e-01 -9.74020192e-03 9.06691358e+02] [ 7.89850305e-01 6.13183613e-01 -1.19311770e-02 5.99174693e+01] [ 1.53974500e-02 -3.78220879e-04 9.99881381e-01 1.42668438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.2692541539999 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:906.71, Y:59.94, Z:14.27 [[ 6.14411573e-01 -7.88925609e-01 -9.73670082e-03 9.06707469e+02] [ 7.88835418e-01 6.14488619e-01 -1.19340335e-02 5.99405408e+01] [ 1.53981565e-02 -3.48246171e-04 9.99881381e-01 1.42678677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.2992541539999 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:906.72, Y:59.96, Z:14.27 [[ 6.15784222e-01 -7.87854718e-01 -9.73317600e-03 9.06723038e+02] [ 7.87764348e-01 6.15861058e-01 -1.19369076e-02 5.99632884e+01] [ 1.53988330e-02 -3.16889696e-04 9.99881381e-01 1.42678409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.3292541539998 meters Centerline goodness : 0.999730 Centerline is valid? [True, True] Translation: X:906.74, Y:59.99, Z:14.27 [[ 6.18727079e-01 -7.85545732e-01 -9.73165021e-03 9.06737206e+02] [ 7.85455055e-01 6.18803553e-01 -1.19381514e-02 5.99874905e+01] [ 1.53999436e-02 -2.57316338e-04 9.99881381e-01 1.42680973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.3592541539999 meters Centerline goodness : 0.999813 Centerline is valid? [True, True] Translation: X:906.75, Y:60.01, Z:14.27 [[ 6.20364724e-01 -7.84253130e-01 -9.72819069e-03 9.06753602e+02] [ 7.84162250e-01 6.20440956e-01 -1.19409698e-02 6.00104987e+01] [ 1.54005109e-02 -2.20723456e-04 9.99881381e-01 1.42677632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.3892541539999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:906.77, Y:60.03, Z:14.27 [[ 6.24115663e-01 -7.81271444e-01 -9.72474251e-03 9.06768786e+02] [ 7.81180155e-01 6.24191406e-01 -1.19437773e-02 6.00342069e+01] [ 1.54014329e-02 -1.42477346e-04 9.99881381e-01 1.42700746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.4192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:906.78, Y:60.06, Z:14.27 [[ 6.25856805e-01 -7.79877399e-01 -9.72127263e-03 9.06784692e+02] [ 7.79785898e-01 6.25932291e-01 -1.19466009e-02 6.00563836e+01] [ 1.54017425e-02 -1.03649849e-04 9.99881381e-01 1.42712170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.4492541539998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:906.80, Y:60.08, Z:14.27 [[ 6.27063316e-01 -7.78907648e-01 -9.71976868e-03 9.06800587e+02] [ 7.78816011e-01 6.27138637e-01 -1.19478244e-02 6.00782116e+01] [ 1.54018943e-02 -7.78691134e-05 9.99881381e-01 1.42707671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.4792541539998 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:906.82, Y:60.10, Z:14.27 [[ 6.28420839e-01 -7.77812833e-01 -9.71827906e-03 9.06815962e+02] [ 7.77721047e-01 6.28495978e-01 -1.19490359e-02 6.01009045e+01] [ 1.54020128e-02 -4.90869949e-05 9.99881381e-01 1.42687165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.5092541539999 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] Translation: X:906.83, Y:60.12, Z:14.27 [[ 6.28593851e-01 -7.77673038e-01 -9.71680456e-03 9.06833199e+02] [ 7.77581216e-01 6.28668946e-01 -1.19502348e-02 6.01229339e+01] [ 1.54020287e-02 -4.37605844e-05 9.99881381e-01 1.42695148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.5392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:906.85, Y:60.15, Z:14.27 [[ 6.28778817e-01 -7.77523537e-01 -9.71337264e-03 9.06850816e+02] [ 7.77431654e-01 6.28853837e-01 -1.19530237e-02 6.01450764e+01] [ 1.54020489e-02 -3.56752576e-05 9.99881381e-01 1.42740901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.5692541539999 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:906.87, Y:60.17, Z:14.27 [[ 6.26546945e-01 -7.79323196e-01 -9.70994375e-03 9.06867837e+02] [ 7.79231485e-01 6.26622176e-01 -1.19558085e-02 6.01676365e+01] [ 1.54019049e-02 -7.54186138e-05 9.99881381e-01 1.42713857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.5992541539998 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:906.89, Y:60.19, Z:14.27 [[ 6.25796093e-01 -7.79926301e-01 -9.70642466e-03 9.06885549e+02] [ 7.79834619e-01 6.25871358e-01 -1.19586648e-02 6.01886234e+01] [ 1.54018504e-02 -8.57202724e-05 9.99881381e-01 1.42734966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.6292541539999 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:906.90, Y:60.21, Z:14.27 [[ 6.22371724e-01 -7.82661646e-01 -9.70490327e-03 9.06903276e+02] [ 7.82570275e-01 6.22447367e-01 -1.19598993e-02 6.02101124e+01] [ 1.54013460e-02 -1.51265662e-04 9.99881381e-01 1.42721641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.6592541539999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:906.92, Y:60.23, Z:14.27 [[ 6.21124521e-01 -7.83651843e-01 -9.70144963e-03 9.06920153e+02] [ 7.83560549e-01 6.21200257e-01 -1.19627002e-02 6.02307270e+01] [ 1.54011350e-02 -1.71346799e-04 9.99881381e-01 1.42746629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.6892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:906.94, Y:60.25, Z:14.28 [[ 6.19595475e-01 -7.84861363e-01 -9.69995471e-03 9.06936853e+02] [ 7.84770198e-01 6.19671366e-01 -1.19639122e-02 6.02516569e+01] [ 1.54007966e-02 -1.99449523e-04 9.99881381e-01 1.42757038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.7192541539998 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:906.95, Y:60.27, Z:14.27 [[ 6.17377847e-01 -7.86606976e-01 -9.69847039e-03 9.06954574e+02] [ 7.86516006e-01 6.17453972e-01 -1.19651153e-02 6.02737937e+01] [ 1.54002022e-02 -2.41005066e-04 9.99881381e-01 1.42729621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.7492541539999 meters Centerline goodness : 0.999813 Centerline is valid? [True, True] Translation: X:906.97, Y:60.29, Z:14.27 [[ 6.14841550e-01 -7.88591069e-01 -9.69502213e-03 9.06971604e+02] [ 7.88500302e-01 6.14917916e-01 -1.19679087e-02 6.02947225e+01] [ 1.53994287e-02 -2.86160337e-04 9.99881381e-01 1.42729594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.7792541539999 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:906.99, Y:60.32, Z:14.27 [[ 6.13062231e-01 -7.89975390e-01 -9.67389099e-03 9.06989733e+02] [ 7.89884524e-01 6.13138481e-01 -1.19850230e-02 6.03172744e+01] [ 1.53993081e-02 -2.93691823e-04 9.99881380e-01 1.42743830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.8092541539999 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:907.01, Y:60.34, Z:14.27 [[ 6.11920113e-01 -7.90860201e-01 -9.69110181e-03 9.07006372e+02] [ 7.90769666e-01 6.11996755e-01 -1.19710901e-02 6.03381947e+01] [ 1.53983816e-02 -3.38078509e-04 9.99881381e-01 1.42742673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.8392541539998 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:907.02, Y:60.36, Z:14.27 [[ 6.10312944e-01 -7.92101154e-01 -9.68874933e-03 9.07022741e+02] [ 7.92010745e-01 6.10389734e-01 -1.19729938e-02 6.03597741e+01] [ 1.53977353e-02 -3.66320464e-04 9.99881381e-01 1.42733758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.8692541539999 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:907.04, Y:60.38, Z:14.27 [[ 6.09723444e-01 -7.92555031e-01 -9.68732908e-03 9.07040257e+02] [ 7.92464661e-01 6.09800280e-01 -1.19741428e-02 6.03821035e+01] [ 1.53975031e-02 -3.75950364e-04 9.99881381e-01 1.42740593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.8992541539999 meters Centerline goodness : 0.999813 Centerline is valid? [True, True] Translation: X:907.06, Y:60.40, Z:14.27 [[ 6.09163587e-01 -7.92985464e-01 -9.68387522e-03 9.07056832e+02] [ 7.92895104e-01 6.09240435e-01 -1.19769354e-02 6.04034430e+01] [ 1.53973440e-02 -3.82384303e-04 9.99881381e-01 1.42740013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.9292541539999 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:907.07, Y:60.43, Z:14.27 [[ 6.08046854e-01 -7.93842107e-01 -9.68152742e-03 9.07074203e+02] [ 7.93751825e-01 6.08123793e-01 -1.19788330e-02 6.04258632e+01] [ 1.53968692e-02 -4.01038363e-04 9.99881381e-01 1.42747569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.9592541539998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:907.09, Y:60.45, Z:14.28 [[ 6.08010027e-01 -7.93870356e-01 -9.67806958e-03 9.07091565e+02] [ 7.93780033e-01 6.08086918e-01 -1.19816260e-02 6.04478377e+01] [ 1.53969652e-02 -3.97309651e-04 9.99881381e-01 1.42778437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.9892541539999 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:907.11, Y:60.47, Z:14.28 [[ 6.09497758e-01 -7.92728730e-01 -9.67699871e-03 9.07112130e+02] [ 7.92638249e-01 6.09574463e-01 -1.19824908e-02 6.04711891e+01] [ 1.53977160e-02 -3.67058017e-04 9.99881381e-01 1.42757586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.0192541539999 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:907.13, Y:60.49, Z:14.28 [[ 6.09302933e-01 -7.92877751e-01 -9.73696130e-03 9.07127129e+02] [ 7.92788059e-01 6.09380564e-01 -1.19340577e-02 6.04935297e+01] [ 1.53957638e-02 -4.47890307e-04 9.99881378e-01 1.42771623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.0492541539999 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:907.14, Y:60.52, Z:14.28 [[ 6.10204480e-01 -7.92184885e-01 -9.67474261e-03 9.07144294e+02] [ 7.92094307e-01 6.10281071e-01 -1.19842860e-02 6.05160172e+01] [ 1.53980825e-02 -3.50443539e-04 9.99881381e-01 1.42784128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.0792541539998 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:907.16, Y:60.54, Z:14.28 [[ 6.12726650e-01 -7.90235735e-01 -9.67134869e-03 9.07160362e+02] [ 7.90144871e-01 6.12802900e-01 -1.19870243e-02 6.05375628e+01] [ 1.53992055e-02 -2.96997328e-04 9.99881381e-01 1.42780338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.1092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:907.18, Y:60.56, Z:14.28 [[ 6.14116487e-01 -7.89156163e-01 -9.66904173e-03 9.07178478e+02] [ 7.89065135e-01 6.14192542e-01 -1.19888848e-02 6.05604579e+01] [ 1.53997557e-02 -2.66931878e-04 9.99881381e-01 1.42831876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.1392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:907.20, Y:60.58, Z:14.28 [[ 6.14944469e-01 -7.88511172e-01 -9.66604581e-03 9.07195731e+02] [ 7.88420026e-01 6.15020382e-01 -1.19912998e-02 6.05828105e+01] [ 1.54000891e-02 -2.46920595e-04 9.99881381e-01 1.42843190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.1692541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:907.21, Y:60.61, Z:14.28 [[ 6.16152500e-01 -7.87567604e-01 -9.66261277e-03 9.07211915e+02] [ 7.87476299e-01 6.16228221e-01 -1.19940655e-02 6.06058953e+01] [ 1.54005121e-02 -2.18905081e-04 9.99881381e-01 1.42843764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.1992541539998 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:907.23, Y:60.63, Z:14.28 [[ 6.16223933e-01 -7.87511755e-01 -9.65916566e-03 9.07228171e+02] [ 7.87420400e-01 6.16299594e-01 -1.19968409e-02 6.06280772e+01] [ 1.54005932e-02 -2.13083572e-04 9.99881381e-01 1.42821015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.2292541539998 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:907.25, Y:60.65, Z:14.28 [[ 6.16105738e-01 -7.87604246e-01 -9.65767181e-03 9.07245016e+02] [ 7.87512883e-01 6.16181390e-01 -1.19980434e-02 6.06503568e+01] [ 1.54005876e-02 -2.13477583e-04 9.99881381e-01 1.42828704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.2592541539999 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:907.26, Y:60.67, Z:14.28 [[ 6.15642944e-01 -7.87966093e-01 -9.65412809e-03 9.07260974e+02] [ 7.87874730e-01 6.15718595e-01 -1.20008942e-02 6.06716478e+01] [ 1.54005239e-02 -2.17977761e-04 9.99881381e-01 1.42816649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.2892541539999 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:907.28, Y:60.69, Z:14.28 [[ 6.15058559e-01 -7.88422347e-01 -9.65260851e-03 9.07277466e+02] [ 7.88331020e-01 6.15134255e-01 -1.20021163e-02 6.06928788e+01] [ 1.54003868e-02 -2.27446386e-04 9.99881381e-01 1.42816395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.3192541539999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:907.29, Y:60.71, Z:14.29 [[ 6.13097299e-01 -7.89948452e-01 -9.65114968e-03 9.07294517e+02] [ 7.89857296e-01 6.13173200e-01 -1.20032892e-02 6.07147044e+01] [ 1.53998061e-02 -2.63846793e-04 9.99881381e-01 1.42850375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.3492541539998 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:907.31, Y:60.74, Z:14.28 [[ 6.11392010e-01 -7.91269066e-01 -9.64758431e-03 9.07312096e+02] [ 7.91178028e-01 6.11468053e-01 -1.20061542e-02 6.07369724e+01] [ 1.53992880e-02 -2.92489985e-04 9.99881381e-01 1.42847146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.3792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:907.33, Y:60.76, Z:14.29 [[ 6.10518378e-01 -7.91943371e-01 -9.64401808e-03 9.07329501e+02] [ 7.91852372e-01 6.10594468e-01 -1.20090181e-02 6.07585571e+01] [ 1.53990464e-02 -3.04912338e-04 9.99881381e-01 1.42880813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.4092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:907.35, Y:60.78, Z:14.29 [[ 6.09424614e-01 -7.92785377e-01 -9.64291558e-03 9.07346976e+02] [ 7.92694470e-01 6.09500812e-01 -1.20099033e-02 6.07805813e+01] [ 1.53986406e-02 -3.24755162e-04 9.99881381e-01 1.42884570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.4392541539999 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:907.36, Y:60.80, Z:14.28 [[ 6.08259514e-01 -7.93679686e-01 -9.63945141e-03 9.07364129e+02] [ 7.93588846e-01 6.08335794e-01 -1.20126831e-02 6.08033652e+01] [ 1.53982459e-02 -3.42932327e-04 9.99881381e-01 1.42848489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.4692541539998 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:907.38, Y:60.83, Z:14.29 [[ 6.08026198e-01 -7.93858478e-01 -9.63635887e-03 9.07381933e+02] [ 7.93767621e-01 6.08102458e-01 -1.20151634e-02 6.08256593e+01] [ 1.53982328e-02 -3.43495548e-04 9.99881381e-01 1.42852877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.4992541539999 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:907.40, Y:60.85, Z:14.29 [[ 6.08542549e-01 -7.93462775e-01 -9.63282596e-03 9.07398656e+02] [ 7.93371824e-01 6.08618696e-01 -1.20179951e-02 6.08469722e+01] [ 1.53985497e-02 -3.28951320e-04 9.99881381e-01 1.42855379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.5292541539999 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:907.42, Y:60.87, Z:14.29 [[ 6.10074936e-01 -7.92285193e-01 -9.63042554e-03 9.07415927e+02] [ 7.92194065e-01 6.10150870e-01 -1.20199183e-02 6.08695648e+01] [ 1.53992159e-02 -2.96115047e-04 9.99881381e-01 1.42865680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.5592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:907.43, Y:60.89, Z:14.29 [[ 6.11425347e-01 -7.91243557e-01 -9.62698517e-03 9.07433892e+02] [ 7.91152256e-01 6.11501074e-01 -1.20226732e-02 6.08918866e+01] [ 1.53997745e-02 -2.65443919e-04 9.99881381e-01 1.42895972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.5892541539998 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:907.45, Y:60.91, Z:14.29 [[ 6.11276188e-01 -7.91358832e-01 -9.62398831e-03 9.07450820e+02] [ 7.91267507e-01 6.11351887e-01 -1.20250716e-02 6.09138769e+01] [ 1.53997901e-02 -2.64509281e-04 9.99881381e-01 1.42885698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.6192541539999 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:907.47, Y:60.93, Z:14.29 [[ 6.11839677e-01 -7.90923294e-01 -9.62048511e-03 9.07467150e+02] [ 7.90831871e-01 6.11915257e-01 -1.20278737e-02 6.09348389e+01] [ 1.54000471e-02 -2.49055896e-04 9.99881381e-01 1.42875336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.6492541539999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:907.48, Y:60.96, Z:14.29 [[ 6.11943026e-01 -7.90843353e-01 -9.61896756e-03 9.07484883e+02] [ 7.90751901e-01 6.12018571e-01 -1.20290872e-02 6.09570619e+01] [ 1.54001104e-02 -2.45100881e-04 9.99881381e-01 1.42894775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.6792541539999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:907.50, Y:60.98, Z:14.29 [[ 6.12063019e-01 -7.90750532e-01 -9.61547113e-03 9.07501512e+02] [ 7.90659025e-01 6.12138497e-01 -1.20318814e-02 6.09778385e+01] [ 1.54002167e-02 -2.38289382e-04 9.99881381e-01 1.42899386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.7092541539998 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:907.52, Y:61.00, Z:14.29 [[ 6.11882496e-01 -7.90890247e-01 -9.61395725e-03 9.07519246e+02] [ 7.90798739e-01 6.11957972e-01 -1.20330909e-02 6.09999787e+01] [ 1.54001920e-02 -2.39867555e-04 9.99881381e-01 1.42890415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.7392541539999 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:907.54, Y:61.02, Z:14.29 [[ 6.11974310e-01 -7.90819248e-01 -9.61044773e-03 9.07536025e+02] [ 7.90727687e-01 6.12049722e-01 -1.20358932e-02 6.10209032e+01] [ 1.54002879e-02 -2.33589649e-04 9.99881381e-01 1.42876291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.7692541539999 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:907.55, Y:61.04, Z:14.29 [[ 6.11983855e-01 -7.90811880e-01 -9.60894776e-03 9.07553432e+02] [ 7.90720299e-01 6.12059243e-01 -1.20370906e-02 6.10426331e+01] [ 1.54003195e-02 -2.31484936e-04 9.99881381e-01 1.42887224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.7992541539999 meters Centerline goodness : 0.999750 Centerline is valid? [True, True] Translation: X:907.57, Y:61.06, Z:14.29 [[ 6.12205730e-01 -7.90640169e-01 -9.60558437e-03 9.07570784e+02] [ 7.90548525e-01 6.12281042e-01 -1.20397740e-02 6.10649785e+01] [ 1.54004461e-02 -2.22861920e-04 9.99881381e-01 1.42880314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.8292541539998 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] Translation: X:907.59, Y:61.09, Z:14.29 [[ 6.12655323e-01 -7.90291878e-01 -9.60224414e-03 9.07588381e+02] [ 7.90200149e-01 6.12730531e-01 -1.20424374e-02 6.10873188e+01] [ 1.54006286e-02 -2.09831391e-04 9.99881381e-01 1.42889572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.8592541539998 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:907.61, Y:61.11, Z:14.29 [[ 6.13954421e-01 -7.89283112e-01 -9.59884632e-03 9.07606052e+02] [ 7.89191217e-01 6.14029427e-01 -1.20451451e-02 6.11086567e+01] [ 1.54010037e-02 -1.80155098e-04 9.99881381e-01 1.42906708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.8892541539999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:907.62, Y:61.13, Z:14.29 [[ 6.14634472e-01 -7.88753697e-01 -9.59537891e-03 9.07624041e+02] [ 7.88661695e-01 6.14709345e-01 -1.20479067e-02 6.11303884e+01] [ 1.54012000e-02 -1.62449024e-04 9.99881381e-01 1.42920652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.9192541539999 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:907.64, Y:61.15, Z:14.29 [[ 6.15314311e-01 -7.88223505e-01 -9.59193524e-03 9.07641277e+02] [ 7.88131396e-01 6.15389052e-01 -1.20506477e-02 6.11508406e+01] [ 1.54013757e-02 -1.44769299e-04 9.99881381e-01 1.42908520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.9492541539998 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:907.66, Y:61.17, Z:14.29 [[ 6.15839723e-01 -7.87813086e-01 -9.59044295e-03 9.07659066e+02] [ 7.87720908e-01 6.15914380e-01 -1.20518353e-02 6.11725159e+01] [ 1.54014853e-02 -1.32593542e-04 9.99881381e-01 1.42909788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.9792541539998 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:907.68, Y:61.19, Z:14.29 [[ 6.17346708e-01 -7.86632781e-01 -9.58698100e-03 9.07676953e+02] [ 7.86540418e-01 6.17421136e-01 -1.20545885e-02 6.11931798e+01] [ 1.54017392e-02 -9.86874778e-05 9.99881381e-01 1.42910509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.0092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:907.70, Y:61.22, Z:14.29 [[ 6.18219458e-01 -7.85947085e-01 -9.58547869e-03 9.07695559e+02] [ 7.85854621e-01 6.18293759e-01 -1.20557830e-02 6.12156167e+01] [ 1.54018492e-02 -7.96730876e-05 9.99881381e-01 1.42936277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.0392541539999 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:907.71, Y:61.24, Z:14.29 [[ 6.19389485e-01 -7.85025377e-01 -9.58250391e-03 9.07714590e+02] [ 7.84932765e-01 6.19463603e-01 -1.20581471e-02 6.12365084e+01] [ 1.54019638e-02 -5.29318058e-05 9.99881381e-01 1.42908880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.0692541539999 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:907.73, Y:61.26, Z:14.29 [[ 6.20191269e-01 -7.84392142e-01 -9.57905646e-03 9.07732997e+02] [ 7.84299412e-01 6.20265239e-01 -1.20608851e-02 6.12578329e+01] [ 1.54020192e-02 -3.27927115e-05 9.99881381e-01 1.42933546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.0992541539998 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:907.75, Y:61.28, Z:14.29 [[ 6.20700842e-01 -7.83988991e-01 -9.57745460e-03 9.07751336e+02] [ 7.83896194e-01 6.20774727e-01 -1.20621570e-02 6.12787122e+01] [ 1.54020401e-02 -2.07392050e-05 9.99881381e-01 1.42934820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.1292541539999 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:907.77, Y:61.30, Z:14.29 [[ 6.21982185e-01 -7.82972861e-01 -9.57399742e-03 9.07771029e+02] [ 7.82879901e-01 6.22055865e-01 -1.20649004e-02 6.12983684e+01] [ 1.54020508e-02 8.86296065e-06 9.99881381e-01 1.42949846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.1592541539999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:907.79, Y:61.32, Z:14.30 [[ 6.22658479e-01 -7.82435188e-01 -9.57048929e-03 9.07789862e+02] [ 7.82342122e-01 6.22732025e-01 -1.20676826e-02 6.13195371e+01] [ 1.54020297e-02 2.66479888e-05 9.99881381e-01 1.42959021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.1892541539999 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:907.81, Y:61.34, Z:14.30 [[ 6.23519415e-01 -7.81749329e-01 -9.56695986e-03 9.07807597e+02] [ 7.81656138e-01 6.23592804e-01 -1.20704800e-02 6.13399623e+01] [ 1.54019770e-02 4.81057205e-05 9.99881381e-01 1.42960255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.2192541539998 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:907.83, Y:61.36, Z:14.29 [[ 6.25489137e-01 -7.80174249e-01 -9.56456408e-03 9.07826743e+02] [ 7.80080845e-01 6.25562254e-01 -1.20723781e-02 6.13602178e+01] [ 1.54017888e-02 9.00081306e-05 9.99881381e-01 1.42944323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.2492541539999 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:907.85, Y:61.38, Z:14.29 [[ 6.26462345e-01 -7.79393044e-01 -9.56106083e-03 9.07845312e+02] [ 7.79299506e-01 6.26535291e-01 -1.20751520e-02 6.13813740e+01] [ 1.54016315e-02 1.13698030e-04 9.99881381e-01 1.42940341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.2792541539999 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:907.86, Y:61.40, Z:14.29 [[ 6.27666090e-01 -7.78424006e-01 -9.55758000e-03 9.07863624e+02] [ 7.78330314e-01 6.27738837e-01 -1.20779064e-02 6.14014206e+01] [ 1.54013965e-02 1.41938053e-04 9.99881381e-01 1.42945405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.3092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:907.88, Y:61.42, Z:14.30 [[ 6.29987526e-01 -7.76546456e-01 -9.55607133e-03 9.07884961e+02] [ 7.76452529e-01 6.30059970e-01 -1.20791000e-02 6.14212273e+01] [ 1.54008803e-02 1.89846568e-04 9.99881381e-01 1.42983770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.3392541539998 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:907.90, Y:61.44, Z:14.30 [[ 6.30324308e-01 -7.76273152e-01 -9.55308074e-03 9.07904221e+02] [ 7.76179157e-01 6.30396664e-01 -1.20814647e-02 6.14421272e+01] [ 1.54007469e-02 2.00338712e-04 9.99881381e-01 1.42953174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.3692541539999 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:907.92, Y:61.46, Z:14.30 [[ 6.30936983e-01 -7.75775278e-01 -9.55202076e-03 9.07923512e+02] [ 7.75681214e-01 6.31009248e-01 -1.20823027e-02 6.14620748e+01] [ 1.54005652e-02 2.13848546e-04 9.99881381e-01 1.42952844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.3992541539999 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:907.94, Y:61.48, Z:14.30 [[ 6.32485344e-01 -7.74513468e-01 -9.54867037e-03 9.07944316e+02] [ 7.74419220e-01 6.32557370e-01 -1.20849499e-02 6.14795233e+01] [ 1.54000383e-02 2.48879865e-04 9.99881381e-01 1.42965474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.4292541539999 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:907.97, Y:61.50, Z:14.30 [[ 6.32196311e-01 -7.74749884e-01 -9.51009537e-03 9.07965242e+02] [ 7.74655204e-01 6.32267769e-01 -1.21154129e-02 6.15015620e+01] [ 1.53993415e-02 2.92274454e-04 9.99881380e-01 1.42952118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.4592541539998 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:907.98, Y:61.52, Z:14.30 [[ 6.32582767e-01 -7.74433956e-01 -9.54417433e-03 9.07984736e+02] [ 7.74339645e-01 6.32654710e-01 -1.20885067e-02 6.15214237e+01] [ 1.53999169e-02 2.56548463e-04 9.99881381e-01 1.42964910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.4892541539999 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] Translation: X:908.01, Y:61.54, Z:14.30 [[ 6.32636557e-01 -7.74390033e-01 -9.54271726e-03 9.08007526e+02] [ 7.74295700e-01 6.32708471e-01 -1.20896568e-02 6.15397032e+01] [ 1.53998678e-02 2.59473926e-04 9.99881381e-01 1.42959339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.5192541539999 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] Translation: X:908.03, Y:61.56, Z:14.30 [[ 6.32544902e-01 -7.74464945e-01 -9.53918140e-03 9.08027104e+02] [ 7.74370578e-01 6.32616772e-01 -1.20924461e-02 6.15590067e+01] [ 1.53998218e-02 2.62153719e-04 9.99881381e-01 1.42958125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.5492541539999 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:908.05, Y:61.58, Z:14.30 [[ 6.32217164e-01 -7.74732529e-01 -9.53764938e-03 9.08047085e+02] [ 7.74638174e-01 6.32289050e-01 -1.20936543e-02 6.15786677e+01] [ 1.53998987e-02 2.57588538e-04 9.99881381e-01 1.42969513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.5792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:908.07, Y:61.60, Z:14.30 [[ 6.32552568e-01 -7.74458746e-01 -9.53412131e-03 9.08067542e+02] [ 7.74364319e-01 6.32624358e-01 -1.20964351e-02 6.15981369e+01] [ 1.53997073e-02 2.68747718e-04 9.99881381e-01 1.43007738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.6092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:908.09, Y:61.61, Z:14.30 [[ 6.31846858e-01 -7.75034625e-01 -9.53302974e-03 9.08091242e+02] [ 7.74940250e-01 6.31918717e-01 -1.20972953e-02 6.16147829e+01] [ 1.53999226e-02 2.56109550e-04 9.99881381e-01 1.43020332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.6392541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:908.11, Y:61.63, Z:14.30 [[ 6.31152395e-01 -7.75600312e-01 -9.52943739e-03 9.08111116e+02] [ 7.75505959e-01 6.31224282e-01 -1.21001244e-02 6.16338982e+01] [ 1.54000726e-02 2.46887019e-04 9.99881381e-01 1.43020086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.6692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:908.13, Y:61.65, Z:14.30 [[ 6.30086876e-01 -7.76466192e-01 -9.52788140e-03 9.08134458e+02] [ 7.76371919e-01 6.30158869e-01 -1.21013495e-02 6.16507359e+01] [ 1.54003677e-02 2.27721947e-04 9.99881381e-01 1.43027101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.6992541539998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:908.15, Y:61.67, Z:14.30 [[ 6.29172970e-01 -7.77206961e-01 -9.52437372e-03 9.08154277e+02] [ 7.77112731e-01 6.29245019e-01 -1.21041096e-02 6.16696644e+01] [ 1.54005630e-02 2.14066517e-04 9.99881381e-01 1.43020641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.7292541539998 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:908.17, Y:61.69, Z:14.30 [[ 6.28146746e-01 -7.78036624e-01 -9.52247169e-03 9.08174658e+02] [ 7.77942466e-01 6.28218890e-01 -1.21056058e-02 6.16896967e+01] [ 1.54008012e-02 1.96161757e-04 9.99881381e-01 1.43005276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.7592541539999 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:908.20, Y:61.71, Z:14.30 [[ 6.26854853e-01 -7.79077905e-01 -9.51902096e-03 9.08197657e+02] [ 7.78983826e-01 6.26927099e-01 -1.21083186e-02 6.17067642e+01] [ 1.54010557e-02 1.74994900e-04 9.99881381e-01 1.43008718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.7892541539999 meters Centerline goodness : 0.999813 Centerline is valid? [True, True] Translation: X:908.22, Y:61.73, Z:14.30 [[ 6.26210647e-01 -7.79595845e-01 -9.51543272e-03 9.08217119e+02] [ 7.79501783e-01 6.26282916e-01 -1.21111378e-02 6.17258935e+01] [ 1.54011456e-02 1.66826656e-04 9.99881381e-01 1.43002538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.8192541539999 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:908.24, Y:61.74, Z:14.30 [[ 6.25404304e-01 -7.80242874e-01 -9.51389171e-03 9.08239244e+02] [ 7.80148869e-01 6.25476645e-01 -1.21123482e-02 6.17423265e+01] [ 1.54012904e-02 1.52862829e-04 9.99881381e-01 1.42994384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.8492541539998 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:908.26, Y:61.76, Z:14.30 [[ 6.25143246e-01 -7.80452076e-01 -9.51204589e-03 9.08259693e+02] [ 7.80358073e-01 6.25215591e-01 -1.21137976e-02 6.17624288e+01] [ 1.54013179e-02 1.50056941e-04 9.99881381e-01 1.43012788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.8792541539999 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:908.28, Y:61.78, Z:14.30 [[ 6.24221347e-01 -7.81189666e-01 -9.50869321e-03 9.08279689e+02] [ 7.81095708e-01 6.24293751e-01 -1.21164287e-02 6.17825409e+01] [ 1.54014466e-02 1.36133987e-04 9.99881381e-01 1.43005435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.9092541539999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:908.30, Y:61.80, Z:14.30 [[ 6.24246078e-01 -7.81169946e-01 -9.50525894e-03 9.08300238e+02] [ 7.81075944e-01 6.24318425e-01 -1.21191222e-02 6.18026366e+01] [ 1.54014024e-02 1.40985426e-04 9.99881381e-01 1.43027623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.9392541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:908.32, Y:61.82, Z:14.30 [[ 6.24147700e-01 -7.81248588e-01 -9.50227591e-03 9.08322873e+02] [ 7.81154560e-01 6.24220012e-01 -1.21214607e-02 6.18201660e+01] [ 1.54013848e-02 1.42835663e-04 9.99881381e-01 1.43045103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.9692541539998 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:908.34, Y:61.84, Z:14.30 [[ 6.23880807e-01 -7.81461780e-01 -9.49869484e-03 9.08342661e+02] [ 7.81367734e-01 6.23953096e-01 -1.21242663e-02 6.18398678e+01] [ 1.54013908e-02 1.42123373e-04 9.99881381e-01 1.43025838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.9992541539999 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:908.36, Y:61.86, Z:14.30 [[ 6.23971477e-01 -7.81389407e-01 -9.49682402e-03 9.08362881e+02] [ 7.81295331e-01 6.24043727e-01 -1.21257315e-02 6.18602023e+01] [ 1.54013516e-02 1.46286337e-04 9.99881381e-01 1.43023065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.0292541539999 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:908.38, Y:61.88, Z:14.30 [[ 6.24355836e-01 -7.81082368e-01 -9.49340478e-03 9.08383394e+02] [ 7.80988215e-01 6.24427986e-01 -1.21284079e-02 6.18808743e+01] [ 1.54012332e-02 1.58204981e-04 9.99881381e-01 1.43039995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.0592541539999 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:908.41, Y:61.90, Z:14.30 [[ 6.25593716e-01 -7.80091299e-01 -9.49037745e-03 9.08405776e+02] [ 7.79996996e-01 6.25665669e-01 -1.21307763e-02 6.18987817e+01] [ 1.54009164e-02 1.86471500e-04 9.99881381e-01 1.43044200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.0892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:908.43, Y:61.92, Z:14.31 [[ 6.27063747e-01 -7.78910174e-01 -9.48679178e-03 9.08425672e+02] [ 7.78815693e-01 6.27135466e-01 -1.21335798e-02 6.19186830e+01] [ 1.54004723e-02 2.20065691e-04 9.99881381e-01 1.43061960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.1192541539999 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:908.45, Y:61.94, Z:14.31 [[ 6.27866599e-01 -7.78263166e-01 -9.48568262e-03 9.08448358e+02] [ 7.78168598e-01 6.27938204e-01 -1.21344468e-02 6.19371275e+01] [ 1.54002155e-02 2.37353517e-04 9.99881381e-01 1.43056210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.1492541539999 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:908.47, Y:61.96, Z:14.31 [[ 6.29062433e-01 -7.77296948e-01 -9.48212465e-03 9.08468302e+02] [ 7.77202228e-01 6.29133837e-01 -1.21372265e-02 6.19567688e+01] [ 1.53997545e-02 2.65544805e-04 9.99881381e-01 1.43074653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.1792541539999 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:908.49, Y:61.98, Z:14.31 [[ 6.29411181e-01 -7.77014597e-01 -9.48053841e-03 9.08487377e+02] [ 7.76919827e-01 6.29482518e-01 -1.21384654e-02 6.19762299e+01] [ 1.53995980e-02 2.74467564e-04 9.99881381e-01 1.43059266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.2092541539998 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:908.51, Y:62.00, Z:14.31 [[ 6.31317976e-01 -7.75466161e-01 -9.47872367e-03 9.08510292e+02] [ 7.75371195e-01 6.31389051e-01 -1.21398823e-02 6.19951389e+01] [ 1.53988303e-02 3.14596630e-04 9.99881381e-01 1.43074621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.2392541539999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:908.53, Y:62.02, Z:14.31 [[ 6.32394930e-01 -7.74588190e-01 -9.47566852e-03 9.08529692e+02] [ 7.74493089e-01 6.32465825e-01 -1.21422665e-02 6.20152329e+01] [ 1.53982927e-02 3.39867992e-04 9.99881382e-01 1.43089217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.2692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:908.55, Y:62.03, Z:14.31 [[ 6.34569604e-01 -7.72807671e-01 -9.47216442e-03 9.08550737e+02] [ 7.72712330e-01 6.34640177e-01 -1.21449994e-02 6.20328760e+01] [ 1.53971648e-02 3.87589244e-04 9.99881382e-01 1.43106865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.2992541539999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:908.57, Y:62.05, Z:14.31 [[ 6.34335764e-01 -7.72999648e-01 -9.47013006e-03 9.08569997e+02] [ 7.72904305e-01 6.34406334e-01 -1.21465855e-02 6.20529121e+01] [ 1.53972168e-02 3.85509315e-04 9.99881382e-01 1.43095906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.3292541539998 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:908.59, Y:62.07, Z:14.31 [[ 6.34327760e-01 -7.73006259e-01 -9.46664481e-03 9.08589267e+02] [ 7.72910876e-01 6.34398276e-01 -1.21493012e-02 6.20726926e+01] [ 1.53971090e-02 3.89766284e-04 9.99881382e-01 1.43098946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.3592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:908.61, Y:62.09, Z:14.31 [[ 6.34689033e-01 -7.72709681e-01 -9.46469962e-03 9.08609027e+02] [ 7.72614243e-01 6.34759473e-01 -1.21508164e-02 6.20928944e+01] [ 1.53968612e-02 3.99428164e-04 9.99881382e-01 1.43119103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.3892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:908.63, Y:62.12, Z:14.31 [[ 6.34469120e-01 -7.72890303e-01 -9.46124330e-03 9.08626520e+02] [ 7.72794845e-01 6.34539533e-01 -1.21535071e-02 6.21154991e+01] [ 1.53968607e-02 3.99424877e-04 9.99881382e-01 1.43123490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.4192541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:908.65, Y:62.14, Z:14.31 [[ 6.33951704e-01 -7.73314805e-01 -9.45778363e-03 9.08645467e+02] [ 7.73219354e-01 6.34022127e-01 -1.21561988e-02 6.21351164e+01] [ 1.53970126e-02 3.93501572e-04 9.99881382e-01 1.43120682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.4492541539998 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:908.67, Y:62.15, Z:14.31 [[ 6.32464062e-01 -7.74531986e-01 -9.45587656e-03 9.08667467e+02] [ 7.74436648e-01 6.32534638e-01 -1.21576820e-02 6.21539741e+01] [ 1.53976831e-02 3.66319598e-04 9.99881382e-01 1.43091787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.4792541539998 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:908.69, Y:62.17, Z:14.31 [[ 6.31750790e-01 -7.75113922e-01 -9.45236011e-03 9.08687034e+02] [ 7.75018609e-01 6.31821399e-01 -1.21604154e-02 6.21743354e+01] [ 1.53979106e-02 3.56597045e-04 9.99881382e-01 1.43089367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.5092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:908.71, Y:62.19, Z:14.31 [[ 6.31607439e-01 -7.75230781e-01 -9.44878083e-03 9.08707837e+02] [ 7.75135439e-01 6.31678009e-01 -1.21631959e-02 6.21922778e+01] [ 1.53978709e-02 3.58280120e-04 9.99881382e-01 1.43090847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.5392541539999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:908.73, Y:62.21, Z:14.31 [[ 6.30330386e-01 -7.76269516e-01 -9.44686932e-03 9.08727349e+02] [ 7.76174268e-01 6.30401084e-01 -1.21646803e-02 6.22132308e+01] [ 1.53983872e-02 3.35350765e-04 9.99881382e-01 1.43069115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.5692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:908.75, Y:62.23, Z:14.31 [[ 6.29996789e-01 -7.76540314e-01 -9.44383980e-03 9.08748772e+02] [ 7.76445062e-01 6.30067480e-01 -1.21670318e-02 6.22319036e+01] [ 1.53984470e-02 3.32568180e-04 9.99881382e-01 1.43078970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.5992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:908.76, Y:62.25, Z:14.30 [[ 6.24343047e-01 -7.81093233e-01 -9.44038567e-03 9.08758428e+02] [ 7.80998456e-01 6.24414374e-01 -1.21697113e-02 6.22512376e+01] [ 1.54003916e-02 2.25147971e-04 9.99881382e-01 1.43017521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.6292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:908.79, Y:62.27, Z:14.31 [[ 6.28324059e-01 -7.77897356e-01 -9.19679387e-03 9.08787965e+02] [ 7.77799421e-01 6.28391064e-01 -1.23584302e-02 6.22727524e+01] [ 1.53927733e-02 6.11838093e-04 9.99881337e-01 1.43093988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.6592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:908.81, Y:62.29, Z:14.31 [[ 6.26079129e-01 -7.79702387e-01 -9.43986588e-03 9.08807208e+02] [ 7.79607449e-01 6.26150237e-01 -1.21698865e-02 6.22934508e+01] [ 1.53996638e-02 2.59922170e-04 9.99881384e-01 1.43100929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.6892541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:908.83, Y:62.31, Z:14.31 [[ 6.20837366e-01 -7.83882593e-01 -9.43640539e-03 9.08828509e+02] [ 7.83788092e-01 6.20909055e-01 -1.21725691e-02 6.23133305e+01] [ 1.54010146e-02 1.61043569e-04 9.99881384e-01 1.43109185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.7192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:908.85, Y:62.33, Z:14.31 [[ 6.18319154e-01 -7.85870497e-01 -9.43323276e-03 9.08847014e+02] [ 7.85776189e-01 6.18391097e-01 -1.21750273e-02 6.23342907e+01] [ 1.54014219e-02 1.15642874e-04 9.99881384e-01 1.43124034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.7492541539999 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:908.86, Y:62.36, Z:14.31 [[ 6.16047773e-01 -7.87652347e-01 -9.42982714e-03 9.08864723e+02] [ 7.87558207e-01 6.16119936e-01 -1.21776644e-02 6.23561671e+01] [ 1.54016705e-02 7.54853092e-05 9.99881384e-01 1.43117123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.7792541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:908.88, Y:62.38, Z:14.31 [[ 6.11367846e-01 -7.91290402e-01 -9.42642161e-03 9.08875325e+02] [ 7.91196651e-01 6.11440512e-01 -1.21803000e-02 6.23793958e+01] [ 1.54018505e-02 -1.15094374e-05 9.99881384e-01 1.43103729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.8092541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:908.90, Y:62.40, Z:14.31 [[ 6.14466638e-01 -7.88887872e-01 -9.31002467e-03 9.08896348e+02] [ 7.88792465e-01 6.14537132e-01 -1.22702902e-02 6.24018483e+01] [ 1.54012390e-02 1.96006643e-04 9.99881375e-01 1.43146897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.8392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:908.90, Y:62.43, Z:14.31 [[ 6.12203069e-01 -7.90644438e-01 -9.42210065e-03 9.08904762e+02] [ 7.90550559e-01 6.12275570e-01 -1.21836173e-02 6.24265873e+01] [ 1.54018313e-02 1.02009918e-05 9.99881385e-01 1.43106743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.8692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:908.92, Y:62.45, Z:14.31 [[ 6.13013762e-01 -7.90017535e-01 -9.29632819e-03 9.08919593e+02] [ 7.89922099e-01 6.13084220e-01 -1.22807687e-02 6.24488815e+01] [ 1.54014547e-02 1.84905148e-04 9.99881373e-01 1.43091780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.8992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:908.93, Y:62.47, Z:14.31 [[ 6.14359576e-01 -7.88971504e-01 -9.28855537e-03 9.08934773e+02] [ 7.88875858e-01 6.14429749e-01 -1.22867756e-02 6.24707971e+01] [ 1.54010806e-02 2.20981151e-04 9.99881372e-01 1.43091624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.9292541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:908.95, Y:62.50, Z:14.31 [[ 6.17711967e-01 -7.86350133e-01 -9.24091141e-03 9.08952880e+02] [ 7.86253638e-01 6.17780988e-01 -1.23234804e-02 6.24959999e+01] [ 1.53994298e-02 3.46661115e-04 9.99881362e-01 1.43091433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.9592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:908.97, Y:62.52, Z:14.31 [[ 6.22534824e-01 -7.82536905e-01 -9.29439912e-03 9.08973438e+02] [ 7.82440600e-01 6.22604090e-01 -1.22822770e-02 6.25182776e+01] [ 1.53980660e-02 3.73829953e-04 9.99881373e-01 1.43139621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.9892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:908.99, Y:62.54, Z:14.31 [[ 6.23873483e-01 -7.81468824e-01 -9.39973141e-03 9.08989877e+02] [ 7.81373615e-01 6.23944233e-01 -1.22011294e-02 6.25408195e+01] [ 1.53997104e-02 2.67258973e-04 9.99881382e-01 1.43143470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.0192541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:909.01, Y:62.56, Z:14.31 [[ 6.25434050e-01 -7.80220456e-01 -9.39624785e-03 9.09005700e+02] [ 7.80125065e-01 6.25504556e-01 -1.22038115e-02 6.25636326e+01] [ 1.53990592e-02 3.02430807e-04 9.99881382e-01 1.43132082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.0492541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:909.01, Y:62.59, Z:14.31 [[ 6.21308356e-01 -7.83509862e-01 -9.39272600e-03 9.09013921e+02] [ 7.83414804e-01 6.21379309e-01 -1.22065215e-02 6.25857949e+01] [ 1.54003756e-02 2.25613222e-04 9.99881382e-01 1.43078389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.0792541539998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:909.04, Y:62.61, Z:14.31 [[ 6.25761808e-01 -7.79960188e-01 -9.17958451e-03 9.09039695e+02] [ 7.79862302e-01 6.25828863e-01 -1.23702947e-02 6.26091896e+01] [ 1.53931863e-02 5.82046067e-04 9.99881348e-01 1.43144832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.1092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:909.06, Y:62.63, Z:14.32 [[ 6.24118596e-01 -7.81273199e-01 -9.38973571e-03 9.09057634e+02] [ 7.81177854e-01 6.24189161e-01 -1.22086672e-02 6.26313012e+01] [ 1.53992758e-02 2.84602664e-04 9.99881384e-01 1.43178014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.1392541539999 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:909.07, Y:62.65, Z:14.31 [[ 6.18900133e-01 -7.85413595e-01 -9.38667375e-03 9.09068350e+02] [ 7.85318688e-01 6.18971283e-01 -1.22110210e-02 6.26531912e+01] [ 1.54007834e-02 1.85872193e-04 9.99881384e-01 1.43134548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.1692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:909.09, Y:62.68, Z:14.32 [[ 6.21174030e-01 -7.83618245e-01 -9.23418155e-03 9.09092297e+02] [ 7.83521379e-01 6.21242519e-01 -1.23281055e-02 6.26752879e+01] [ 1.53971946e-02 4.22720325e-04 9.99881367e-01 1.43193021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.1992541539998 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:909.11, Y:62.70, Z:14.32 [[ 6.18028551e-01 -7.86099660e-01 -9.38270532e-03 9.09109764e+02] [ 7.86004786e-01 6.18099745e-01 -1.22140111e-02 6.26975559e+01] [ 1.54008777e-02 1.73756292e-04 9.99881384e-01 1.43177041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.2292541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:909.13, Y:62.72, Z:14.32 [[ 6.17332334e-01 -7.86646566e-01 -9.37918804e-03 9.09126015e+02] [ 7.86551714e-01 6.17403557e-01 -1.22167114e-02 6.27188843e+01] [ 1.54009782e-02 1.64554551e-04 9.99881384e-01 1.43185229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.2592541539999 meters Centerline goodness : 0.998131 Centerline is valid? [True, True] Translation: X:909.14, Y:62.74, Z:14.32 [[ 6.15489344e-01 -7.88089426e-01 -9.37680211e-03 9.09141783e+02] [ 7.87994713e-01 6.15560752e-01 -1.22185425e-02 6.27418411e+01] [ 1.54012955e-02 1.31512187e-04 9.99881384e-01 1.43174220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.2892541539999 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:909.16, Y:62.76, Z:14.31 [[ 6.13228145e-01 -7.89850366e-01 -9.36167573e-03 9.09158129e+02] [ 7.89755681e-01 6.13299591e-01 -1.22301451e-02 6.27631559e+01] [ 1.54014965e-02 1.06432630e-04 9.99881384e-01 1.43141673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.3192541539999 meters Centerline goodness : 0.999735 Centerline is valid? [True, True] Translation: X:909.18, Y:62.79, Z:14.32 [[ 6.15263427e-01 -7.88266794e-01 -9.29396139e-03 9.09178774e+02] [ 7.88171137e-01 6.15333575e-01 -1.22821450e-02 6.27853187e+01] [ 1.54004936e-02 2.31522508e-04 9.99881379e-01 1.43186042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.3492541539998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:909.20, Y:62.81, Z:14.32 [[ 6.15050666e-01 -7.88431768e-01 -9.38219275e-03 9.09195172e+02] [ 7.88337158e-01 6.15122210e-01 -1.22143722e-02 6.28068854e+01] [ 1.54013942e-02 1.16126596e-04 9.99881385e-01 1.43180496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.3792541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:909.21, Y:62.83, Z:14.32 [[ 6.15311271e-01 -7.88228438e-01 -9.37917191e-03 9.09211645e+02] [ 7.88133770e-01 6.15382737e-01 -1.22166914e-02 6.28291839e+01] [ 1.54013241e-02 1.25025804e-04 9.99881385e-01 1.43193229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.4092541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:909.23, Y:62.85, Z:14.32 [[ 6.14897189e-01 -7.88551546e-01 -9.37583406e-03 9.09228438e+02] [ 7.88456876e-01 6.14968653e-01 -1.22192525e-02 6.28518654e+01] [ 1.54013545e-02 1.21143207e-04 9.99881385e-01 1.43184099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.4392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:909.24, Y:62.88, Z:14.32 [[ 6.14463270e-01 -7.88889756e-01 -9.37243957e-03 9.09243412e+02] [ 7.88795086e-01 6.14534733e-01 -1.22218556e-02 6.28754116e+01] [ 1.54013864e-02 1.16947097e-04 9.99881385e-01 1.43183640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.4692541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:909.26, Y:62.90, Z:14.32 [[ 6.15959259e-01 -7.87722631e-01 -9.34065099e-03 9.09261243e+02] [ 7.87627455e-01 6.16030050e-01 -1.22462210e-02 6.28966875e+01] [ 1.54007471e-02 1.86220044e-04 9.99881384e-01 1.43180359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.4992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:909.28, Y:62.92, Z:14.32 [[ 6.16754346e-01 -7.87099941e-01 -9.36803460e-03 9.09277558e+02] [ 7.87005011e-01 6.16825466e-01 -1.22252373e-02 6.29178417e+01] [ 1.54009259e-02 1.67278061e-04 9.99881385e-01 1.43184565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.5292541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:909.29, Y:62.94, Z:14.32 [[ 6.16703995e-01 -7.87139420e-01 -9.36567609e-03 9.09293963e+02] [ 7.87044468e-01 6.16775085e-01 -1.22270439e-02 6.29389366e+01] [ 1.54009039e-02 1.69263262e-04 9.99881385e-01 1.43171225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.5592541539999 meters Centerline goodness : 0.999273 Centerline is valid? [True, True] Translation: X:909.31, Y:62.96, Z:14.32 [[ 6.16547165e-01 -7.87262294e-01 -9.36340837e-03 9.09310800e+02] [ 7.87167330e-01 6.16618238e-01 -1.22287802e-02 6.29618902e+01] [ 1.54009060e-02 1.69050619e-04 9.99881385e-01 1.43176224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.5892541539998 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:909.33, Y:62.98, Z:14.32 [[ 6.17591149e-01 -7.86443581e-01 -9.36306832e-03 9.09327328e+02] [ 7.86348518e-01 6.17662091e-01 -1.22290404e-02 6.29834761e+01] [ 1.54006627e-02 1.89912227e-04 9.99881385e-01 1.43203274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.6192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:909.34, Y:63.01, Z:14.32 [[ 6.18494300e-01 -7.85733596e-01 -9.35506907e-03 9.09343846e+02] [ 7.85638360e-01 6.18565008e-01 -1.22351567e-02 6.30066408e+01] [ 1.54002920e-02 2.17673565e-04 9.99881385e-01 1.43232529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.6492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:909.36, Y:63.03, Z:14.32 [[ 6.17475807e-01 -7.86534276e-01 -9.35201689e-03 9.09359964e+02] [ 7.86439096e-01 6.17546591e-01 -1.22374892e-02 6.30300323e+01] [ 1.54005109e-02 2.01561819e-04 9.99881385e-01 1.43233726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.6792541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:909.37, Y:63.05, Z:14.32 [[ 6.16552153e-01 -7.87258567e-01 -9.34835412e-03 9.09374446e+02] [ 7.87163428e-01 6.16622991e-01 -1.22402866e-02 6.30516730e+01] [ 1.54006806e-02 1.88092590e-04 9.99881385e-01 1.43219110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.7092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:909.39, Y:63.07, Z:14.32 [[ 6.18942799e-01 -7.85381374e-01 -9.26868750e-03 9.09394384e+02] [ 7.85285106e-01 6.19012104e-01 -1.23010884e-02 6.30743306e+01] [ 1.53984754e-02 3.35107811e-04 9.99881380e-01 1.43236482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.7392541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:909.41, Y:63.10, Z:14.32 [[ 6.18313957e-01 -7.85875652e-01 -9.34399816e-03 9.09411951e+02] [ 7.85780304e-01 6.18384515e-01 -1.22436134e-02 6.30968672e+01] [ 1.54001414e-02 2.28067323e-04 9.99881385e-01 1.43227421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.7692541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:909.42, Y:63.12, Z:14.32 [[ 6.13884643e-01 -7.89340483e-01 -9.34054361e-03 9.09423457e+02] [ 7.89245494e-01 6.13955682e-01 -1.22462483e-02 6.31178743e+01] [ 1.54011393e-02 1.45801792e-04 9.99881385e-01 1.43183198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.7992541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:909.45, Y:63.14, Z:14.32 [[ 6.16059565e-01 -7.87646016e-01 -9.18512118e-03 9.09447271e+02] [ 7.87549051e-01 6.16127914e-01 -1.23646764e-02 6.31401062e+01] [ 1.53981977e-02 3.83643693e-04 9.99881367e-01 1.43224113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.8292541539998 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:909.46, Y:63.16, Z:14.32 [[ 6.14638309e-01 -7.88753795e-01 -9.33810275e-03 9.09464760e+02] [ 7.88658711e-01 6.14709219e-01 -1.22480412e-02 6.31618133e+01] [ 1.54009068e-02 1.63539222e-04 9.99881386e-01 1.43226028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.8592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:909.48, Y:63.18, Z:14.33 [[ 6.13930338e-01 -7.89305014e-01 -9.33459409e-03 9.09481163e+02] [ 7.89209952e-01 6.14001279e-01 -1.22507146e-02 6.31842656e+01] [ 1.54010032e-02 1.54130813e-04 9.99881386e-01 1.43256644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.8892541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:909.49, Y:63.21, Z:14.32 [[ 6.08331943e-01 -7.93627836e-01 -9.33299750e-03 9.09493982e+02] [ 7.93533260e-01 6.08403530e-01 -1.22519308e-02 6.32063886e+01] [ 1.54017020e-02 4.71969673e-05 9.99881386e-01 1.43229116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.9192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:909.51, Y:63.23, Z:14.32 [[ 6.06811774e-01 -7.94792061e-01 -9.22226566e-03 9.09510002e+02] [ 7.94696334e-01 6.06881830e-01 -1.23362106e-02 6.32288713e+01] [ 1.54015477e-02 1.56857113e-04 9.99881377e-01 1.43245895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.9492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:909.53, Y:63.25, Z:14.33 [[ 6.04385138e-01 -7.96639224e-01 -9.19524829e-03 9.09528585e+02] [ 7.96543397e-01 6.04455066e-01 -1.23567891e-02 6.32508448e+01] [ 1.54020173e-02 1.43845400e-04 9.99881372e-01 1.43255466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.9792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:909.55, Y:63.27, Z:14.33 [[ 6.03291252e-01 -7.97467849e-01 -9.20301190e-03 9.09547323e+02] [ 7.97372208e-01 6.03361432e-01 -1.23508764e-02 6.32734094e+01] [ 1.54021693e-02 1.12949746e-04 9.99881373e-01 1.43262460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.0092541539999 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:909.57, Y:63.30, Z:14.33 [[ 6.03629519e-01 -7.97211456e-01 -9.23572585e-03 9.09568426e+02] [ 7.97116166e-01 6.03700165e-01 -1.23259765e-02 6.32950930e+01] [ 1.54020189e-02 7.83768754e-05 9.99881379e-01 1.43266497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.0392541539999 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:909.58, Y:63.32, Z:14.33 [[ 6.02221788e-01 -7.98274321e-01 -9.32882878e-03 9.09584683e+02] [ 7.98180248e-01 6.02294035e-01 -1.22551048e-02 6.33176302e+01] [ 1.54016334e-02 -6.57957400e-05 9.99881386e-01 1.43277534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.0692541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:909.60, Y:63.34, Z:14.33 [[ 6.02089807e-01 -7.98373912e-01 -9.32533070e-03 9.09600487e+02] [ 7.98279809e-01 6.02162016e-01 -1.22577660e-02 6.33402348e+01] [ 1.54016406e-02 -6.39472240e-05 9.99881386e-01 1.43281583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.0992541539998 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:909.62, Y:63.36, Z:14.33 [[ 6.01519422e-01 -7.98803782e-01 -9.32219389e-03 9.09616567e+02] [ 7.98709694e-01 6.01591650e-01 -1.22601512e-02 6.33628068e+01] [ 1.54016091e-02 -7.10075919e-05 9.99881386e-01 1.43261441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.1292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:909.63, Y:63.39, Z:14.33 [[ 6.00579600e-01 -7.99510667e-01 -9.31872275e-03 9.09627657e+02] [ 7.99416623e-01 6.00651885e-01 -1.22627889e-02 6.33865187e+01] [ 1.54015389e-02 -8.47609988e-05 9.99881386e-01 1.43258584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.1592541539999 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:909.65, Y:63.41, Z:14.33 [[ 6.03203499e-01 -7.97534023e-01 -9.22070842e-03 9.09648269e+02] [ 7.97438598e-01 6.03273964e-01 -1.23372177e-02 6.34092238e+01] [ 1.54019642e-02 8.89041151e-05 9.99881379e-01 1.43264170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.1892541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:909.66, Y:63.43, Z:14.33 [[ 6.05087890e-01 -7.96104186e-01 -9.31504954e-03 9.09663947e+02] [ 7.96009693e-01 6.05159586e-01 -1.22655708e-02 6.34328026e+01] [ 1.54017638e-02 6.87864644e-06 9.99881386e-01 1.43281348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.2192541539998 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:909.68, Y:63.45, Z:14.33 [[ 6.05985471e-01 -7.95421213e-01 -9.31147632e-03 9.09679199e+02] [ 7.95326597e-01 6.06057005e-01 -1.22682828e-02 6.34546076e+01] [ 1.54017379e-02 2.87363811e-05 9.99881386e-01 1.43271687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.2492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:909.69, Y:63.48, Z:14.33 [[ 6.03764813e-01 -7.97108137e-01 -9.30954988e-03 9.09688927e+02] [ 7.97013699e-01 6.03836582e-01 -1.22697445e-02 6.34776005e+01] [ 1.54017600e-02 -1.17987761e-05 9.99881386e-01 1.43255862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.2792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:909.71, Y:63.50, Z:14.33 [[ 6.03783734e-01 -7.97095763e-01 -9.14044300e-03 9.09705476e+02] [ 7.96999364e-01 6.03852883e-01 -1.23979697e-02 6.34995367e+01] [ 1.54018520e-02 2.00765200e-04 9.99881364e-01 1.43259299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.3092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:909.73, Y:63.52, Z:14.33 [[ 6.08684153e-01 -7.93360040e-01 -9.13508768e-03 9.09728260e+02] [ 7.93263155e-01 6.08752623e-01 -1.24020293e-02 6.35231160e+01] [ 1.54002831e-02 3.02390232e-04 9.99881363e-01 1.43291873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.3392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:909.74, Y:63.55, Z:14.33 [[ 6.06567722e-01 -7.94977335e-01 -9.30781743e-03 9.09736949e+02] [ 7.94882625e-01 6.06639130e-01 -1.22710107e-02 6.35466558e+01] [ 1.54016616e-02 4.45766216e-05 9.99881386e-01 1.43250520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.3692541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:909.76, Y:63.57, Z:14.33 [[ 6.11302131e-01 -7.91344638e-01 -9.13062785e-03 9.09760706e+02] [ 7.91247480e-01 6.11370211e-01 -1.24052616e-02 6.35697854e+01] [ 1.53990311e-02 3.58776567e-04 9.99881364e-01 1.43309017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.3992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:909.78, Y:63.59, Z:14.33 [[ 6.12504741e-01 -7.90412147e-01 -9.30484588e-03 9.09776976e+02] [ 7.90316872e-01 6.12575392e-01 -1.22731796e-02 6.35924136e+01] [ 1.54007898e-02 1.63603984e-04 9.99881387e-01 1.43316579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.4292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:909.79, Y:63.61, Z:14.33 [[ 6.12873842e-01 -7.90126009e-01 -9.30295882e-03 9.09793606e+02] [ 7.90030679e-01 6.12944419e-01 -1.22746098e-02 6.36145225e+01] [ 1.54006851e-02 1.73164382e-04 9.99881387e-01 1.43326199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.4592541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:909.81, Y:63.64, Z:14.33 [[ 6.12759784e-01 -7.90214508e-01 -9.29942321e-03 9.09810625e+02] [ 7.90119147e-01 6.12830320e-01 -1.22772878e-02 6.36368927e+01] [ 1.54006595e-02 1.75375905e-04 9.99881387e-01 1.43328295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.4892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:909.82, Y:63.66, Z:14.33 [[ 6.08892316e-01 -7.93198420e-01 -9.29589475e-03 9.09818606e+02] [ 7.93103365e-01 6.08963263e-01 -1.22799589e-02 6.36581278e+01] [ 1.54013024e-02 1.04567187e-04 9.99881387e-01 1.43289770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.5192541539999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:909.83, Y:63.68, Z:14.33 [[ 6.08203098e-01 -7.93729400e-01 -9.09016146e-03 9.09834679e+02] [ 7.93632052e-01 6.08270925e-01 -1.24357529e-02 6.36807997e+01] [ 1.53999036e-02 3.49219966e-04 9.99881353e-01 1.43268567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.5492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:909.85, Y:63.70, Z:14.33 [[ 6.09475943e-01 -7.92752922e-01 -9.04877832e-03 9.09852906e+02] [ 7.92654999e-01 6.09542963e-01 -1.24670727e-02 6.37038559e+01] [ 1.53989275e-02 4.25821513e-04 9.99881339e-01 1.43297057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.5792541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:909.88, Y:63.73, Z:14.33 [[ 6.14142267e-01 -7.89143128e-01 -9.07737227e-03 9.09879278e+02] [ 7.89045131e-01 6.14209160e-01 -1.24454461e-02 6.37267221e+01] [ 1.53966435e-02 4.80818082e-04 9.99881349e-01 1.43339861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.6092541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:909.90, Y:63.75, Z:14.33 [[ 6.13718264e-01 -7.89470375e-01 -9.29617579e-03 9.09896444e+02] [ 7.89374891e-01 6.13788634e-01 -1.22798061e-02 6.37491638e+01] [ 1.54004302e-02 1.98173531e-04 9.99881387e-01 1.43345440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.6392541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:909.91, Y:63.77, Z:14.33 [[ 6.13775975e-01 -7.89425551e-01 -9.29264572e-03 9.09913286e+02] [ 7.89330021e-01 6.13846283e-01 -1.22824769e-02 6.37711394e+01] [ 1.54003571e-02 2.03724962e-04 9.99881387e-01 1.43340709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.6692541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:909.93, Y:63.79, Z:14.33 [[ 6.13748159e-01 -7.89447218e-01 -9.28912455e-03 9.09929967e+02] [ 7.89351651e-01 6.13818415e-01 -1.22851393e-02 6.37929337e+01] [ 1.54003048e-02 2.07595832e-04 9.99881387e-01 1.43341797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.6992541539998 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:909.95, Y:63.82, Z:14.33 [[ 6.12621779e-01 -7.90321646e-01 -9.28721435e-03 9.09947117e+02] [ 7.90226157e-01 6.12692142e-01 -1.22865832e-02 6.38152500e+01] [ 1.54005559e-02 1.88028759e-04 9.99881387e-01 1.43316521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.7292541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:909.97, Y:63.84, Z:14.33 [[ 6.13084527e-01 -7.89962769e-01 -9.28370904e-03 9.09965185e+02] [ 7.89867198e-01 6.13154780e-01 -1.22892312e-02 6.38373959e+01] [ 1.54003857e-02 2.01440270e-04 9.99881387e-01 1.43332834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.7592541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:909.98, Y:63.86, Z:14.33 [[ 6.12766774e-01 -7.90209313e-01 -9.28020209e-03 9.09981546e+02] [ 7.90113731e-01 6.12837011e-01 -1.22918789e-02 6.38584637e+01] [ 1.54004085e-02 1.99639897e-04 9.99881387e-01 1.43324453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.7892541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:910.00, Y:63.88, Z:14.33 [[ 6.12716476e-01 -7.90248336e-01 -9.27830837e-03 9.09998605e+02] [ 7.90152737e-01 6.12786690e-01 -1.22933082e-02 6.38802831e+01] [ 1.54003902e-02 2.01031735e-04 9.99881387e-01 1.43324884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.8192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:910.02, Y:63.90, Z:14.33 [[ 6.12927034e-01 -7.90085076e-01 -9.27485206e-03 9.10016420e+02] [ 7.89989419e-01 6.12997168e-01 -1.22959153e-02 6.39018955e+01] [ 1.54002772e-02 2.09463915e-04 9.99881387e-01 1.43332108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.8492541539998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:910.03, Y:63.92, Z:14.33 [[ 6.11897115e-01 -7.90883028e-01 -9.27129295e-03 9.10033051e+02] [ 7.90787421e-01 6.11967318e-01 -1.22985984e-02 6.39233198e+01] [ 1.54004810e-02 1.93855011e-04 9.99881387e-01 1.43314541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.8792541539999 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:910.05, Y:63.95, Z:14.33 [[ 6.10783820e-01 -7.91743142e-01 -9.26945358e-03 9.10051108e+02] [ 7.91647613e-01 6.10854129e-01 -1.22999845e-02 6.39450917e+01] [ 1.54007124e-02 1.74490730e-04 9.99881387e-01 1.43311469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.9092541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:910.07, Y:63.97, Z:14.33 [[ 6.10939266e-01 -7.91623241e-01 -9.26592522e-03 9.10068945e+02] [ 7.91527658e-01 6.11009502e-01 -1.23026420e-02 6.39674058e+01] [ 1.54006257e-02 1.81930960e-04 9.99881387e-01 1.43348996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.9392541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:910.09, Y:63.99, Z:14.34 [[ 6.09810179e-01 -7.92493372e-01 -9.26284743e-03 9.10086749e+02] [ 7.92397854e-01 6.09880503e-01 -1.23049588e-02 6.39897830e+01] [ 1.54008284e-02 1.63828730e-04 9.99881387e-01 1.43351275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.9692541539998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:910.11, Y:64.01, Z:14.34 [[ 6.08008410e-01 -7.93876589e-01 -9.25934554e-03 9.10105358e+02] [ 7.93781191e-01 6.08078896e-01 -1.23075934e-02 6.40118075e+01] [ 1.54011229e-02 1.33225966e-04 9.99881387e-01 1.43373169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.9992541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:910.12, Y:64.03, Z:14.34 [[ 6.06156188e-01 -7.95291769e-01 -9.25628739e-03 9.10122169e+02] [ 7.95196500e-01 6.06226849e-01 -1.23098930e-02 6.40339147e+01] [ 1.54013665e-02 1.01150445e-04 9.99881387e-01 1.43358903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.0292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:910.13, Y:64.06, Z:14.34 [[ 6.02953070e-01 -7.97722997e-01 -9.25281796e-03 9.10132657e+02] [ 7.97627974e-01 6.03024061e-01 -1.23125002e-02 6.40557079e+01] [ 1.54016364e-02 4.35533658e-05 9.99881387e-01 1.43352983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.0592541539999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:910.15, Y:64.08, Z:14.33 [[ 6.00727358e-01 -7.99402297e-01 -9.08892135e-03 9.10149764e+02] [ 7.99305593e-01 6.00796076e-01 -1.24355913e-02 6.40774488e+01] [ 1.54016285e-02 2.05574210e-04 9.99881367e-01 1.43328462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.0892541539998 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:910.17, Y:64.10, Z:14.34 [[ 6.03440485e-01 -7.97356382e-01 -9.07635603e-03 9.10173579e+02] [ 7.97259303e-01 6.03508678e-01 -1.24450239e-02 6.40996934e+01] [ 1.54007789e-02 2.73621993e-04 9.99881364e-01 1.43369427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.1192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:910.19, Y:64.12, Z:14.34 [[ 6.03500003e-01 -7.97309333e-01 -9.25062143e-03 9.10190445e+02] [ 7.97214236e-01 6.03570894e-01 -1.23141125e-02 6.41221798e+01] [ 1.54015627e-02 5.68398644e-05 9.99881387e-01 1.43393719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.1492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:910.21, Y:64.15, Z:14.34 [[ 6.03132854e-01 -7.97587142e-01 -9.24720965e-03 9.10206845e+02] [ 7.97492039e-01 6.03203736e-01 -1.23166741e-02 6.41450288e+01] [ 1.54015723e-02 5.40147001e-05 9.99881387e-01 1.43397732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.1792541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:910.22, Y:64.17, Z:14.34 [[ 6.02195798e-01 -7.98294916e-01 -9.24381148e-03 9.10222886e+02] [ 7.98199857e-01 6.02266739e-01 -1.23192239e-02 6.41675611e+01] [ 1.54016140e-02 4.01758735e-05 9.99881387e-01 1.43386663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.2092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:910.24, Y:64.19, Z:14.34 [[ 6.02759979e-01 -7.97869053e-01 -9.24029206e-03 9.10239335e+02] [ 7.97773903e-01 6.02830799e-01 -1.23218632e-02 6.41905005e+01] [ 1.54015659e-02 5.54621067e-05 9.99881387e-01 1.43409113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.2392541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:910.25, Y:64.21, Z:14.34 [[ 5.99869562e-01 -8.00044493e-01 -9.23671918e-03 9.10249070e+02] [ 7.99949559e-01 5.99940671e-01 -1.23245409e-02 6.42136611e+01] [ 1.54016646e-02 4.20750327e-06 9.99881387e-01 1.43372472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.2692541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:910.27, Y:64.24, Z:14.34 [[ 6.02357704e-01 -7.98174439e-01 -9.09736857e-03 9.10271395e+02] [ 7.98077696e-01 6.02426356e-01 -1.24288785e-02 6.42373619e+01] [ 1.54009077e-02 2.26223776e-04 9.99881373e-01 1.43390474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.2992541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:910.29, Y:64.26, Z:14.34 [[ 6.01586594e-01 -7.98754228e-01 -9.23323013e-03 9.10287613e+02] [ 7.98659102e-01 6.01657445e-01 -1.23271160e-02 6.42597902e+01] [ 1.54015777e-02 4.16244726e-05 9.99881388e-01 1.43391871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.3292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:910.30, Y:64.28, Z:14.34 [[ 6.01594160e-01 -7.98748571e-01 -9.22970277e-03 9.10304091e+02] [ 7.98653403e-01 6.01664956e-01 -1.23297565e-02 6.42821431e+01] [ 1.54015641e-02 4.61759940e-05 9.99881388e-01 1.43411989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.3592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:910.32, Y:64.30, Z:14.34 [[ 6.01280370e-01 -7.98984852e-01 -9.22619947e-03 9.10319580e+02] [ 7.98889672e-01 6.01351148e-01 -1.23323775e-02 6.43038226e+01] [ 1.54015684e-02 4.45010042e-05 9.99881388e-01 1.43408936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.3892541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:910.34, Y:64.33, Z:14.34 [[ 6.00899761e-01 -7.99271167e-01 -9.22381448e-03 9.10335348e+02] [ 7.99175994e-01 6.00970548e-01 -1.23341610e-02 6.43258454e+01] [ 1.54015801e-02 4.01432897e-05 9.99881388e-01 1.43409619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.4192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:910.35, Y:64.35, Z:14.34 [[ 6.01040192e-01 -7.99165605e-01 -9.22082546e-03 9.10350761e+02] [ 7.99070385e-01 6.01110917e-01 -1.23363951e-02 6.43496852e+01] [ 1.54015615e-02 4.65807661e-05 9.99881388e-01 1.43434540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.4492541539998 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:910.37, Y:64.37, Z:14.34 [[ 6.00227546e-01 -7.99776178e-01 -9.21733746e-03 9.10366463e+02] [ 7.99680989e-01 6.00298313e-01 -1.23390007e-02 6.43730924e+01] [ 1.54015910e-02 3.52785764e-05 9.99881388e-01 1.43415819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.4792541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:910.38, Y:64.40, Z:14.34 [[ 6.01251926e-01 -7.99006400e-01 -9.21382414e-03 9.10382238e+02] [ 7.98911081e-01 6.01322517e-01 -1.23416236e-02 6.43961765e+01] [ 1.54015162e-02 5.93987829e-05 9.99881388e-01 1.43434518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.5092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:910.39, Y:64.42, Z:14.34 [[ 5.97670591e-01 -8.01688864e-01 -9.21032309e-03 9.10389666e+02] [ 8.01593822e-01 5.97741554e-01 -1.23442359e-02 6.44180054e+01] [ 1.54016293e-02 -5.15134676e-06 9.99881388e-01 1.43398310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.5392541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:910.41, Y:64.44, Z:14.34 [[ 6.01897253e-01 -7.98522818e-01 -9.00034116e-03 9.10414779e+02] [ 7.98425036e-01 6.01964447e-01 -1.25007016e-02 6.44414535e+01] [ 1.53999809e-02 3.38040258e-04 9.99881356e-01 1.43439406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.5692541539999 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:910.43, Y:64.46, Z:14.34 [[ 6.01738686e-01 -7.98639957e-01 -9.20720152e-03 9.10430443e+02] [ 7.98544522e-01 6.01809116e-01 -1.23464388e-02 6.44646449e+01] [ 1.54013371e-02 7.69694958e-05 9.99881389e-01 1.43416034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.5992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:910.44, Y:64.49, Z:14.34 [[ 5.99553316e-01 -8.00281895e-01 -9.20380409e-03 9.10440396e+02] [ 8.00186613e-01 5.99623955e-01 -1.23489709e-02 6.44871634e+01] [ 1.54014792e-02 3.91056354e-05 9.99881389e-01 1.43398220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.6292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:910.46, Y:64.51, Z:14.34 [[ 6.03024760e-01 -7.97671126e-01 -9.05061005e-03 9.10463814e+02] [ 7.97573812e-01 6.03092602e-01 -1.24630416e-02 6.45104682e+01] [ 1.53997644e-02 2.96993107e-04 9.99881372e-01 1.43441989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.6592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:910.47, Y:64.53, Z:14.34 [[ 6.00134480e-01 -7.99846207e-01 -9.20055433e-03 9.10474784e+02] [ 7.99750838e-01 6.00205000e-01 -1.23513480e-02 6.45330979e+01] [ 1.54013976e-02 5.43187922e-05 9.99881390e-01 1.43404317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.6892541539999 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:910.49, Y:64.56, Z:14.34 [[ 5.99913744e-01 -8.00013297e-01 -9.06777252e-03 9.10491195e+02] [ 7.99916443e-01 5.99982231e-01 -1.24501693e-02 6.45574796e+01] [ 1.54008033e-02 2.15567313e-04 9.99881377e-01 1.43374315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.7192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:910.51, Y:64.58, Z:14.34 [[ 6.00840848e-01 -7.99317045e-01 -9.08499942e-03 9.10507719e+02] [ 7.99220304e-01 6.00909492e-01 -1.24373498e-02 6.45798769e+01] [ 1.54006481e-02 2.11951794e-04 9.99881381e-01 1.43406675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.7492541539999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:910.53, Y:64.60, Z:14.34 [[ 6.01318554e-01 -7.98957812e-01 -9.07806481e-03 9.10526277e+02] [ 7.98860953e-01 6.01387032e-01 -1.24425078e-02 6.46027945e+01] [ 1.54004693e-02 2.29799326e-04 9.99881379e-01 1.43419295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.7792541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:910.54, Y:64.63, Z:14.34 [[ 6.01175967e-01 -7.99064357e-01 -9.14383076e-03 9.10542481e+02] [ 7.98968252e-01 6.01245484e-01 -1.23935756e-02 6.46250417e+01] [ 1.54009515e-02 1.45089332e-04 9.99881388e-01 1.43441475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.8092541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:910.56, Y:64.65, Z:14.34 [[ 6.02168182e-01 -7.98317033e-01 -9.13209138e-03 9.10561293e+02] [ 7.98220709e-01 6.02237397e-01 -1.24023065e-02 6.46473801e+01] [ 1.54006594e-02 1.78849888e-04 9.99881387e-01 1.43429528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.8392541539998 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:910.58, Y:64.67, Z:14.34 [[ 6.02121249e-01 -7.98351761e-01 -9.19064621e-03 9.10577417e+02] [ 7.98256103e-01 6.02191377e-01 -1.23587620e-02 6.46690465e+01] [ 1.54011673e-02 1.04983751e-04 9.99881389e-01 1.43422612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.8692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:910.59, Y:64.69, Z:14.35 [[ 6.00536128e-01 -7.99545499e-01 -9.12985516e-03 9.10594159e+02] [ 7.99449291e-01 6.00605505e-01 -1.24039542e-02 6.46927303e+01] [ 1.54009671e-02 1.50166417e-04 9.99881387e-01 1.43455445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.8992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:910.61, Y:64.72, Z:14.35 [[ 6.00421880e-01 -7.99630971e-01 -9.15846639e-03 9.10611159e+02] [ 7.99535097e-01 6.00491714e-01 -1.23826813e-02 6.47156544e+01] [ 1.54011586e-02 1.12317466e-04 9.99881389e-01 1.43459974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.9292541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:910.63, Y:64.74, Z:14.34 [[ 5.99680424e-01 -8.00187192e-01 -9.15678272e-03 9.10627064e+02] [ 8.00091364e-01 5.99750321e-01 -1.23839325e-02 6.47382888e+01] [ 1.54012476e-02 1.00139135e-04 9.99881389e-01 1.43444598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.9592541539998 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:910.65, Y:64.76, Z:14.34 [[ 6.02041758e-01 -7.98412279e-01 -9.14079326e-03 9.10645941e+02] [ 7.98316064e-01 6.02111124e-01 -1.23958102e-02 6.47607589e+01] [ 1.54007404e-02 1.65553278e-04 9.99881388e-01 1.43449351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.9892541539999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:910.66, Y:64.78, Z:14.35 [[ 6.02708518e-01 -7.97908572e-01 -9.18437842e-03 9.10662820e+02] [ 7.97812792e-01 6.02778479e-01 -1.23634323e-02 6.47834540e+01] [ 1.54010343e-02 1.24131358e-04 9.99881389e-01 1.43453321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.0192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:910.68, Y:64.81, Z:14.34 [[ 6.01977928e-01 -7.98459946e-01 -9.18086857e-03 9.10676014e+02] [ 7.98364190e-01 6.02047923e-01 -1.23660381e-02 6.48054534e+01] [ 1.54011090e-02 1.14405288e-04 9.99881389e-01 1.43445328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.0492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:910.70, Y:64.83, Z:14.35 [[ 6.06211005e-01 -7.95251764e-01 -9.10210560e-03 9.10696490e+02] [ 7.95154757e-01 6.06279263e-01 -1.24244708e-02 6.48269294e+01] [ 1.53990002e-02 2.94268353e-04 9.99881385e-01 1.43475100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.0792541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:910.71, Y:64.85, Z:14.35 [[ 6.06533271e-01 -7.95005147e-01 -9.17643515e-03 9.10713560e+02] [ 7.94908943e-01 6.06602648e-01 -1.23693280e-02 6.48493582e+01] [ 1.54001293e-02 2.07978616e-04 9.99881389e-01 1.43463706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.1092541539998 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:910.73, Y:64.87, Z:14.34 [[ 6.06169236e-01 -7.95282789e-01 -9.17296129e-03 9.10730190e+02] [ 7.95186577e-01 6.06238603e-01 -1.23719036e-02 6.48719156e+01] [ 1.54001653e-02 2.05251692e-04 9.99881389e-01 1.43444377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.1392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:910.75, Y:64.89, Z:14.35 [[ 6.07291286e-01 -7.94426344e-01 -9.16937118e-03 9.10747260e+02] [ 7.94329995e-01 6.07360461e-01 -1.23745639e-02 6.48927576e+01] [ 1.53997930e-02 2.31458243e-04 9.99881389e-01 1.43480474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.1692541539999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:910.76, Y:64.92, Z:14.34 [[ 6.04048100e-01 -7.96895133e-01 -9.16733886e-03 9.10760783e+02] [ 7.96799043e-01 6.04117636e-01 -1.23760693e-02 6.49155087e+01] [ 1.54005804e-02 1.71214294e-04 9.99881389e-01 1.43427130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.1992541539998 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:910.78, Y:64.94, Z:14.34 [[ 6.04026595e-01 -7.96912509e-01 -9.07334960e-03 9.10777081e+02] [ 7.96815371e-01 6.04094670e-01 -1.24456436e-02 6.49376582e+01] [ 1.53992512e-02 2.87715313e-04 9.99881383e-01 1.43430930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.2292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:910.79, Y:64.96, Z:14.35 [[ 6.03149312e-01 -7.97576690e-01 -9.07368960e-03 9.10794081e+02] [ 7.97479631e-01 6.03217499e-01 -1.24453919e-02 6.49592375e+01] [ 1.53995628e-02 2.70346954e-04 9.99881383e-01 1.43459442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.2592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:910.82, Y:64.98, Z:14.35 [[ 6.05415906e-01 -7.95857741e-01 -9.05740326e-03 9.10816457e+02] [ 7.95760308e-01 6.05483562e-01 -1.24574447e-02 6.49816806e+01] [ 1.53984626e-02 3.34413141e-04 9.99881381e-01 1.43510559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.2892541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:910.83, Y:65.00, Z:14.35 [[ 6.00200762e-01 -7.99796888e-01 -9.16425196e-03 9.10826287e+02] [ 7.99701100e-01 6.00270712e-01 -1.23783398e-02 6.50039082e+01] [ 1.54011897e-02 1.00826634e-04 9.99881390e-01 1.43450245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.3192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:910.85, Y:65.03, Z:14.35 [[ 6.00298739e-01 -7.99725282e-01 -8.99427545e-03 9.10845475e+02] [ 7.99627585e-01 6.00366034e-01 -1.25040465e-02 6.50268593e+01] [ 1.53996596e-02 3.14092610e-04 9.99881369e-01 1.43483111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.3492541539998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:910.87, Y:65.05, Z:14.35 [[ 6.02721271e-01 -7.97900716e-01 -9.02872286e-03 9.10867618e+02] [ 7.97803195e-01 6.02788808e-01 -1.24785750e-02 6.50491938e+01] [ 1.53990770e-02 3.17958631e-04 9.99881377e-01 1.43511183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.3792541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:910.88, Y:65.07, Z:14.35 [[ 6.02280099e-01 -7.98232285e-01 -9.15973465e-03 9.10884199e+02] [ 7.98136265e-01 6.02349730e-01 -1.23816550e-02 6.50716466e+01] [ 1.54008005e-02 1.46507994e-04 9.99881390e-01 1.43515499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.4092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:910.90, Y:65.09, Z:14.35 [[ 5.99335870e-01 -8.00445301e-01 -9.15616151e-03 9.10895393e+02] [ 8.00349497e-01 5.99405799e-01 -1.23842967e-02 6.50943237e+01] [ 1.54012084e-02 9.42239985e-05 9.99881390e-01 1.43505088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.4392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:910.91, Y:65.12, Z:14.35 [[ 5.98762642e-01 -8.00875570e-01 -9.03442413e-03 9.10908660e+02] [ 8.00778451e-01 5.98830750e-01 -1.24742211e-02 6.51173733e+01] [ 1.54003899e-02 2.34525434e-04 9.99881379e-01 1.43499482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.4692541539998 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:910.93, Y:65.14, Z:14.35 [[ 5.99386442e-01 -8.00409285e-01 -8.99273008e-03 9.10925932e+02] [ 8.00311650e-01 5.99453824e-01 -1.25050029e-02 6.51405969e+01] [ 1.53998469e-02 2.98342561e-04 9.99881371e-01 1.43469645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.4992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:910.95, Y:65.16, Z:14.35 [[ 6.03285936e-01 -7.97473840e-01 -9.03074317e-03 9.10947390e+02] [ 7.97376296e-01 6.03353436e-01 -1.24769413e-02 6.51630301e+01] [ 1.53987642e-02 3.26262678e-04 9.99881379e-01 1.43537725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.5292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:910.96, Y:65.19, Z:14.35 [[ 6.01532571e-01 -7.98795891e-01 -9.14820626e-03 9.10958613e+02] [ 7.98699806e-01 6.01602113e-01 -1.23902137e-02 6.51865619e+01] [ 1.54008320e-02 1.46446520e-04 9.99881389e-01 1.43481653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.5592541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:910.97, Y:65.21, Z:14.35 [[ 6.01513778e-01 -7.98811059e-01 -9.05909900e-03 9.10974932e+02] [ 7.98713980e-01 6.01581937e-01 -1.24559990e-02 6.52095426e+01] [ 1.53997801e-02 2.56826022e-04 9.99881383e-01 1.43458375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.5892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:910.99, Y:65.23, Z:14.35 [[ 6.02426240e-01 -7.98123211e-01 -9.05350629e-03 9.10992028e+02] [ 7.98025992e-01 6.02494201e-01 -1.24601258e-02 6.52319760e+01] [ 1.53994007e-02 2.81373417e-04 9.99881383e-01 1.43480453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.6192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:911.01, Y:65.25, Z:14.35 [[ 6.05026181e-01 -7.96153898e-01 -9.07149651e-03 9.11011945e+02] [ 7.96056656e-01 6.05094105e-01 -1.24468555e-02 6.52538735e+01] [ 1.53987216e-02 3.09248290e-04 9.99881385e-01 1.43522055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.6492541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:911.02, Y:65.28, Z:14.35 [[ 6.01504498e-01 -7.98817082e-01 -9.14373205e-03 9.11022756e+02] [ 7.98720948e-01 6.01573974e-01 -1.23935616e-02 6.52766536e+01] [ 1.54008200e-02 1.51492730e-04 9.99881389e-01 1.43476804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.6792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:911.04, Y:65.30, Z:14.35 [[ 6.04700505e-01 -7.96401867e-01 -9.02032721e-03 9.11044103e+02] [ 7.96304090e-01 6.04767668e-01 -1.24845275e-02 6.52989031e+01] [ 1.53979033e-02 3.66476653e-04 9.99881378e-01 1.43531459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.7092541539998 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:911.06, Y:65.32, Z:14.35 [[ 6.03833898e-01 -7.97057759e-01 -9.14071120e-03 9.11059810e+02] [ 7.96961390e-01 6.03903046e-01 -1.23957558e-02 6.53217917e+01] [ 1.54002367e-02 2.00183653e-04 9.99881389e-01 1.43514177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.7392541539999 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:911.08, Y:65.34, Z:14.35 [[ 6.03287344e-01 -7.97471562e-01 -9.13718652e-03 9.11075688e+02] [ 7.97375201e-01 6.03356503e-01 -1.23983534e-02 6.53436248e+01] [ 1.54003152e-02 1.94003747e-04 9.99881389e-01 1.43512804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.7692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:911.09, Y:65.37, Z:14.36 [[ 6.02671811e-01 -7.97936876e-01 -9.13402083e-03 9.11092202e+02] [ 7.97840533e-01 6.02740995e-01 -1.24006852e-02 6.53662915e+01] [ 1.54004128e-02 1.86051340e-04 9.99881389e-01 1.43559673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.7992541539999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:911.11, Y:65.39, Z:14.35 [[ 6.02031464e-01 -7.98420160e-01 -9.13041738e-03 9.11108108e+02] [ 7.98323832e-01 6.02100670e-01 -1.24033378e-02 6.53883204e+01] [ 1.54005053e-02 1.78169810e-04 9.99881389e-01 1.43549046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.8292541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:911.12, Y:65.41, Z:14.36 [[ 6.01519877e-01 -7.98805682e-01 -9.12796783e-03 9.11124670e+02] [ 7.98709371e-01 6.01589107e-01 -1.24051402e-02 6.54114573e+01] [ 1.54005825e-02 1.71344962e-04 9.99881389e-01 1.43559442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.8592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:911.14, Y:65.43, Z:14.35 [[ 5.98711854e-01 -8.00912517e-01 -9.12442300e-03 9.11136869e+02] [ 8.00816410e-01 5.98781366e-01 -1.24077470e-02 6.54349645e+01] [ 1.54010544e-02 1.21677539e-04 9.99881389e-01 1.43545737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.8892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:911.16, Y:65.46, Z:14.36 [[ 6.01320686e-01 -7.98956891e-01 -9.01769373e-03 9.11157045e+02] [ 7.98859376e-01 6.01388222e-01 -1.24861603e-02 6.54581345e+01] [ 1.53990386e-02 3.04317264e-04 9.99881381e-01 1.43582928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.9192541539999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:911.17, Y:65.48, Z:14.36 [[ 6.00545276e-01 -7.99538724e-01 -9.12140487e-03 9.11173106e+02] [ 7.99442425e-01 6.00614521e-01 -1.24099318e-02 6.54815603e+01] [ 1.54006693e-02 1.60687919e-04 9.99881390e-01 1.43555834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.9492541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:911.19, Y:65.50, Z:14.36 [[ 6.00697045e-01 -7.99424746e-01 -9.11784718e-03 9.11188839e+02] [ 7.99328394e-01 6.00766217e-01 -1.24125452e-02 6.55035943e+01] [ 1.54005904e-02 1.68025086e-04 9.99881390e-01 1.43572175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.9792541539998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:911.20, Y:65.53, Z:14.36 [[ 6.00257020e-01 -7.99755219e-01 -9.11587821e-03 9.11204840e+02] [ 7.99658883e-01 6.00326214e-01 -1.24139911e-02 6.55261886e+01] [ 1.54006548e-02 1.61992293e-04 9.99881390e-01 1.43553083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.0092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:911.22, Y:65.55, Z:14.36 [[ 5.98703397e-01 -8.00918978e-01 -9.11225076e-03 9.11218425e+02] [ 8.00822736e-01 5.98772721e-01 -1.24166532e-02 6.55481272e+01] [ 1.54009003e-02 1.36594829e-04 9.99881390e-01 1.43552399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.0392541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:911.24, Y:65.57, Z:14.35 [[ 6.00058650e-01 -7.99904974e-01 -9.03594995e-03 9.11238422e+02] [ 7.99807769e-01 6.00126625e-01 -1.24726076e-02 6.55710407e+01] [ 1.53996150e-02 2.57273112e-04 9.99881386e-01 1.43548489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.0692541539999 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:911.26, Y:65.59, Z:14.35 [[ 5.99545072e-01 -8.00289166e-01 -9.10806970e-03 9.11255025e+02] [ 8.00192805e-01 5.99614230e-01 -1.24197183e-02 6.55942137e+01] [ 1.54006942e-02 1.57969035e-04 9.99881390e-01 1.43531980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.0992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:911.27, Y:65.62, Z:14.36 [[ 6.00002996e-01 -7.99945944e-01 -9.10444337e-03 9.11271011e+02] [ 7.99849503e-01 6.00072043e-01 -1.24223760e-02 6.56157654e+01] [ 1.54005513e-02 1.71278334e-04 9.99881390e-01 1.43558330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.1292541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:911.29, Y:65.64, Z:14.35 [[ 5.99384581e-01 -8.00409440e-01 -9.10236694e-03 9.11287235e+02] [ 8.00313029e-01 5.99453670e-01 -1.24238973e-02 6.56386582e+01] [ 1.54006520e-02 1.61949635e-04 9.99881390e-01 1.43543685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.1592541539999 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:911.30, Y:65.66, Z:14.36 [[ 5.98745027e-01 -8.00888010e-01 -9.09881368e-03 9.11304219e+02] [ 8.00791615e-01 5.98814138e-01 -1.24264991e-02 6.56613836e+01] [ 1.54007324e-02 1.54050812e-04 9.99881390e-01 1.43558264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.1892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:911.32, Y:65.68, Z:14.36 [[ 5.98030946e-01 -8.01421403e-01 -9.09523164e-03 9.11320339e+02] [ 8.01325029e-01 5.98100087e-01 -1.24291203e-02 6.56828200e+01] [ 1.54008218e-02 1.44761795e-04 9.99881390e-01 1.43563585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.2192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:911.34, Y:65.70, Z:14.36 [[ 5.96880748e-01 -8.02278433e-01 -9.09328886e-03 9.11336302e+02] [ 8.02182138e-01 5.96949998e-01 -1.24305415e-02 6.57043947e+01] [ 1.54009941e-02 1.25076998e-04 9.99881390e-01 1.43566446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.2492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:911.35, Y:65.73, Z:14.36 [[ 5.94256552e-01 -8.04224173e-01 -9.09010641e-03 9.11353750e+02] [ 8.04128068e-01 5.94326067e-01 -1.24328683e-02 6.57267515e+01] [ 1.54013004e-02 7.87037311e-05 9.99881390e-01 1.43577559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.2792541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:911.37, Y:65.75, Z:14.36 [[ 5.92666434e-01 -8.05396754e-01 -9.08662871e-03 9.11370251e+02] [ 8.05300748e-01 5.92736084e-01 -1.24354095e-02 6.57489186e+01] [ 1.54014111e-02 5.25808808e-05 9.99881390e-01 1.43586963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.3092541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:911.39, Y:65.77, Z:14.36 [[ 5.90752148e-01 -8.06801956e-01 -9.08313419e-03 9.11386922e+02] [ 8.06706076e-01 5.90821973e-01 -1.24379614e-02 6.57719108e+01] [ 1.54014869e-02 2.03328777e-05 9.99881390e-01 1.43590707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.3392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:911.41, Y:65.80, Z:14.36 [[ 5.89870776e-01 -8.07446610e-01 -9.07965506e-03 9.11407783e+02] [ 8.07350767e-01 5.89940652e-01 -1.24405006e-02 6.57959459e+01] [ 1.54014977e-02 7.82128829e-06 9.99881390e-01 1.43618366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.3692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:911.42, Y:65.82, Z:14.36 [[ 5.86530756e-01 -8.09875092e-01 -9.16559815e-03 9.11419826e+02] [ 8.09780514e-01 5.86602343e-01 -1.23777860e-02 6.58182508e+01] [ 1.54010219e-02 -1.62170609e-04 9.99881384e-01 1.43618460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.3992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:911.44, Y:65.84, Z:14.36 [[ 5.86186890e-01 -8.10125064e-01 -9.07258400e-03 9.11441251e+02] [ 8.10029462e-01 5.86257092e-01 -1.24455916e-02 6.58426855e+01] [ 1.54013524e-02 -5.36177285e-05 9.99881391e-01 1.43619326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.4292541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:911.45, Y:65.86, Z:14.36 [[ 5.82353000e-01 -8.12884139e-01 -9.18473884e-03 9.11452053e+02] [ 8.12790152e-01 5.82425365e-01 -1.23638184e-02 6.58644252e+01] [ 1.53997768e-02 -2.65158533e-04 9.99881381e-01 1.43602465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.4592541539998 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:911.47, Y:65.89, Z:14.36 [[ 5.81127087e-01 -8.13762325e-01 -9.06570264e-03 9.11467221e+02] [ 8.13667086e-01 5.81197779e-01 -1.24504936e-02 6.58866777e+01] [ 1.54007089e-02 -1.41144753e-04 9.99881392e-01 1.43588289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.4892541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:911.48, Y:65.91, Z:14.36 [[ 5.80250604e-01 -8.14387551e-01 -9.06384084e-03 9.11483083e+02] [ 8.14292367e-01 5.80321370e-01 -1.24518489e-02 6.59094724e+01] [ 1.54005712e-02 -1.55423600e-04 9.99881392e-01 1.43596486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.5192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:911.50, Y:65.93, Z:14.36 [[ 5.78556047e-01 -8.15592307e-01 -9.06031808e-03 9.11498778e+02] [ 8.15497230e-01 5.78626957e-01 -1.24544116e-02 6.59330523e+01] [ 1.54002666e-02 -1.83089157e-04 9.99881392e-01 1.43598304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.5492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:911.52, Y:65.96, Z:14.36 [[ 5.79752125e-01 -8.14742566e-01 -9.05678720e-03 9.11519402e+02] [ 8.14647345e-01 5.79822841e-01 -1.24569787e-02 6.59572855e+01] [ 1.54005629e-02 -1.56127779e-04 9.99881392e-01 1.43570732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.5792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:911.53, Y:65.98, Z:14.36 [[ 5.78339072e-01 -8.15745216e-01 -9.14659544e-03 9.11534447e+02] [ 8.15651145e-01 5.78411321e-01 -1.23916817e-02 6.59806125e+01] [ 1.53989494e-02 -2.93837367e-04 9.99881386e-01 1.43572494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.6092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:911.55, Y:66.00, Z:14.36 [[ 5.75228770e-01 -8.17941685e-01 -9.12487555e-03 9.11545303e+02] [ 8.17847639e-01 5.75301047e-01 -1.24074613e-02 6.60032877e+01] [ 1.53981303e-02 -3.25629203e-04 9.99881389e-01 1.43579023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.6392541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:911.56, Y:66.03, Z:14.36 [[ 5.74117061e-01 -8.18723237e-01 -9.04772871e-03 9.11561349e+02] [ 8.18628404e-01 5.74188294e-01 -1.24634654e-02 6.60269513e+01] [ 1.53992287e-02 -2.51239591e-04 9.99881393e-01 1.43572622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.6692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:911.58, Y:66.05, Z:14.36 [[ 5.71960402e-01 -8.20231369e-01 -9.04431338e-03 9.11576664e+02] [ 8.20136685e-01 5.72031834e-01 -1.24659433e-02 6.60492250e+01] [ 1.53985929e-02 -2.87547237e-04 9.99881393e-01 1.43592826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.6992541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:911.59, Y:66.07, Z:14.36 [[ 5.70560654e-01 -8.21205697e-01 -9.04120788e-03 9.11592813e+02] [ 8.21111099e-01 5.70632200e-01 -1.24681952e-02 6.60719726e+01] [ 1.53981573e-02 -3.09974505e-04 9.99881393e-01 1.43595804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.7292541539998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:911.61, Y:66.10, Z:14.36 [[ 5.69344879e-01 -8.22049102e-01 -9.03784601e-03 9.11609255e+02] [ 8.21954572e-01 5.69416513e-01 -1.24706317e-02 6.60951348e+01] [ 1.53977703e-02 -3.28608560e-04 9.99881393e-01 1.43602659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.7592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:911.62, Y:66.12, Z:14.36 [[ 5.68146338e-01 -8.22877948e-01 -9.03449564e-03 9.11624931e+02] [ 8.22783483e-01 5.68218059e-01 -1.24730584e-02 6.61182256e+01] [ 1.53973683e-02 -3.46911318e-04 9.99881393e-01 1.43635480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.7892541539999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:911.64, Y:66.14, Z:14.36 [[ 5.67578095e-01 -8.23270012e-01 -9.03290688e-03 9.11640919e+02] [ 8.23175579e-01 5.67649858e-01 -1.24742089e-02 6.61418406e+01] [ 1.53971704e-02 -3.55580622e-04 9.99881393e-01 1.43641268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.8192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:911.66, Y:66.16, Z:14.37 [[ 5.68220035e-01 -8.22827115e-01 -9.02941210e-03 9.11656529e+02] [ 8.22732586e-01 5.68291671e-01 -1.24767381e-02 6.61647142e+01] [ 1.53975381e-02 -3.39259019e-04 9.99881393e-01 1.43664162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.8492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:911.67, Y:66.19, Z:14.37 [[ 5.69173504e-01 -8.22167881e-01 -9.02762705e-03 9.11671838e+02] [ 8.22073248e-01 5.69245003e-01 -1.24780295e-02 6.61878394e+01] [ 1.53979667e-02 -3.19206909e-04 9.99881393e-01 1.43666328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.8792541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:911.69, Y:66.21, Z:14.37 [[ 5.72761673e-01 -8.19672270e-01 -9.02418808e-03 9.11686425e+02] [ 8.19577286e-01 5.72832706e-01 -1.24805161e-02 6.62131823e+01] [ 1.53992830e-02 -2.47658295e-04 9.99881393e-01 1.43655675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.9092541539999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:911.70, Y:66.24, Z:14.36 [[ 5.75137978e-01 -8.18006679e-01 -9.02103063e-03 9.11701098e+02] [ 8.17911454e-01 5.75208686e-01 -1.24827979e-02 6.62355198e+01] [ 1.53999873e-02 -1.99073120e-04 9.99881393e-01 1.43644820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.9392541539999 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:911.72, Y:66.26, Z:14.36 [[ 5.80546989e-01 -8.14176790e-01 -9.01933040e-03 9.11716732e+02] [ 8.14081079e-01 5.80617038e-01 -1.24840263e-02 6.62603127e+01] [ 1.54009814e-02 -9.49023593e-05 9.99881393e-01 1.43639232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.9692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:911.74, Y:66.28, Z:14.36 [[ 5.86408689e-01 -8.09965158e-01 -9.01622562e-03 9.11739369e+02] [ 8.09868910e-01 5.86477998e-01 -1.24862682e-02 6.62847489e+01] [ 1.54012602e-02 2.00953768e-05 9.99881393e-01 1.43641209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.9992541539999 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:911.76, Y:66.31, Z:14.36 [[ 5.89118038e-01 -8.07994750e-01 -9.18809587e-03 9.11755946e+02] [ 8.07900189e-01 5.89189667e-01 -1.23620658e-02 6.63089053e+01] [ 1.54020154e-02 -1.40348418e-04 9.99881372e-01 1.43622829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.0292541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:911.77, Y:66.33, Z:14.36 [[ 5.92293469e-01 -8.05669857e-01 -9.19394711e-03 9.11766916e+02] [ 8.05575080e-01 5.92364815e-01 -1.23578406e-02 6.63334310e+01] [ 1.54025104e-02 -8.69464288e-05 9.99881371e-01 1.43647633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.0592541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:911.78, Y:66.36, Z:14.36 [[ 5.93694904e-01 -8.04639033e-01 -9.07675093e-03 9.11779423e+02] [ 8.04542833e-01 5.93764280e-01 -1.24422882e-02 6.63558876e+01] [ 1.54010012e-02 8.42882022e-05 9.99881394e-01 1.43641880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.0892541539998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:911.80, Y:66.38, Z:14.36 [[ 5.93464722e-01 -8.04809690e-01 -8.99929924e-03 9.11796023e+02] [ 8.04712660e-01 5.93532925e-01 -1.24980578e-02 6.63791514e+01] [ 1.53999384e-02 1.75306385e-04 9.99881399e-01 1.43645950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.1192541539999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:911.81, Y:66.40, Z:14.36 [[ 5.94968156e-01 -8.03698931e-01 -8.99572299e-03 9.11812144e+02] [ 8.03601735e-01 5.95036121e-01 -1.25006314e-02 6.64026234e+01] [ 1.53995242e-02 2.08498983e-04 9.99881399e-01 1.43640473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.1492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:911.83, Y:66.43, Z:14.37 [[ 5.97110635e-01 -8.02108491e-01 -8.99217205e-03 9.11830578e+02] [ 8.02011076e-01 5.97178286e-01 -1.25031852e-02 6.64266264e+01] [ 1.53988409e-02 2.53963262e-04 9.99881399e-01 1.43662604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.1792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:911.85, Y:66.45, Z:14.37 [[ 5.97433722e-01 -8.01867528e-01 -9.02307458e-03 9.11846343e+02] [ 8.01770420e-01 5.97501815e-01 -1.24809648e-02 6.64486996e+01] [ 1.53993838e-02 2.22114964e-04 9.99881398e-01 1.43664773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.2092541539998 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:911.86, Y:66.47, Z:14.37 [[ 5.97498434e-01 -8.01819698e-01 -8.98847823e-03 9.11863564e+02] [ 8.01722211e-01 5.97565980e-01 -1.25058307e-02 6.64715498e+01] [ 1.53986302e-02 2.65951635e-04 9.99881399e-01 1.43672862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.2392541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:911.88, Y:66.49, Z:14.37 [[ 5.97900648e-01 -8.01519856e-01 -8.98524442e-03 9.11878509e+02] [ 8.01422300e-01 5.97968095e-01 -1.25081537e-02 6.64928810e+01] [ 1.53984231e-02 2.77657979e-04 9.99881399e-01 1.43663704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.2692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:911.90, Y:66.52, Z:14.37 [[ 5.97720604e-01 -8.01654800e-01 -8.92529912e-03 9.11896717e+02] [ 8.01556615e-01 5.97787136e-01 -1.25511997e-02 6.65166420e+01] [ 1.53971585e-02 3.47978121e-04 9.99881396e-01 1.43685712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.2992541539999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:911.91, Y:66.54, Z:14.37 [[ 5.98113963e-01 -8.01360774e-01 -8.97757464e-03 9.11914566e+02] [ 8.01263118e-01 5.98181264e-01 -1.25136648e-02 6.65377476e+01] [ 1.53981771e-02 2.91198189e-04 9.99881399e-01 1.43675839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.3292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:911.93, Y:66.56, Z:14.37 [[ 5.98390181e-01 -8.01154498e-01 -8.98119257e-03 9.11933904e+02] [ 8.01056857e-01 5.98457505e-01 -1.25110676e-02 6.65612286e+01] [ 1.53981602e-02 2.92054128e-04 9.99881399e-01 1.43682255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.3592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:911.95, Y:66.58, Z:14.37 [[ 5.96739162e-01 -8.02384361e-01 -9.03928000e-03 9.11949284e+02] [ 8.02287488e-01 5.96807591e-01 -1.24693779e-02 6.65828204e+01] [ 1.53999448e-02 1.88864903e-04 9.99881396e-01 1.43686014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.3892541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:911.97, Y:66.60, Z:14.37 [[ 5.93979296e-01 -8.04429906e-01 -9.00676500e-03 9.11966774e+02] [ 8.04332915e-01 5.94047553e-01 -1.24927006e-02 6.66032231e+01] [ 1.53999487e-02 1.75967988e-04 9.99881398e-01 1.43692340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.4192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:911.98, Y:66.62, Z:14.37 [[ 5.92147926e-01 -8.05779324e-01 -8.97299723e-03 9.11983678e+02] [ 8.05682121e-01 5.92215879e-01 -1.25169078e-02 6.66242645e+01] [ 1.53998169e-02 1.82477536e-04 9.99881399e-01 1.43698061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.4492541539998 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:912.00, Y:66.65, Z:14.37 [[ 5.89659860e-01 -8.07601877e-01 -8.96981367e-03 9.12001400e+02] [ 8.07504849e-01 5.89728064e-01 -1.25191887e-02 6.66465805e+01] [ 1.54002712e-02 1.38895045e-04 9.99881399e-01 1.43688114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.4792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:912.02, Y:66.67, Z:14.37 [[ 5.87405172e-01 -8.09243331e-01 -8.96635707e-03 9.12019081e+02] [ 8.09146456e-01 5.87473592e-01 -1.25216639e-02 6.66694353e+01] [ 1.54005710e-02 1.00194090e-04 9.99881399e-01 1.43704482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.5092541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:912.04, Y:66.69, Z:14.37 [[ 5.83239238e-01 -8.12250978e-01 -8.96325136e-03 9.12036218e+02] [ 8.12154421e-01 5.83308107e-01 -1.25238866e-02 6.66906221e+01] [ 1.54008763e-02 2.48778734e-05 9.99881399e-01 1.43705705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.5392541539999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:912.05, Y:66.71, Z:14.37 [[ 5.80470519e-01 -8.14231966e-01 -8.96006691e-03 9.12050896e+02] [ 8.14135609e-01 5.80539668e-01 -1.25261645e-02 6.67144031e+01] [ 1.54008778e-02 -2.36403265e-05 9.99881399e-01 1.43717452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.5692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:912.07, Y:66.74, Z:14.37 [[ 5.79480481e-01 -8.14936901e-01 -8.95647772e-03 9.12066132e+02] [ 8.14840589e-01 5.79549692e-01 -1.25287303e-02 6.67372605e+01] [ 1.54008486e-02 -3.79469153e-05 9.99881399e-01 1.43732343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.5992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:912.08, Y:66.76, Z:14.37 [[ 5.77952734e-01 -8.16021107e-01 -8.95487250e-03 9.12082358e+02] [ 8.15924907e-01 5.78022101e-01 -1.25298775e-02 6.67604524e+01] [ 1.54007587e-02 -6.48265335e-05 9.99881399e-01 1.43736167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.6292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:912.10, Y:66.78, Z:14.37 [[ 5.76268839e-01 -8.17211172e-01 -8.95128626e-03 9.12098267e+02] [ 8.17115075e-01 5.76338348e-01 -1.25324390e-02 6.67829136e+01] [ 1.54006187e-02 -9.21768789e-05 9.99881399e-01 1.43735769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.6592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:912.12, Y:66.81, Z:14.37 [[ 5.77467970e-01 -8.16364294e-01 -8.94885667e-03 9.12122816e+02] [ 8.16268069e-01 5.77537301e-01 -1.25341736e-02 6.68073570e+01] [ 1.54007503e-02 -6.65821512e-05 9.99881399e-01 1.43717316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.6892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:912.13, Y:66.83, Z:14.37 [[ 5.72661044e-01 -8.19740956e-01 -9.17027204e-03 9.12130529e+02] [ 8.19647641e-01 5.72734302e-01 -1.23759201e-02 6.68283120e+01] [ 1.53971779e-02 -4.29184518e-04 9.99881364e-01 1.43739100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.7192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:912.15, Y:66.85, Z:14.37 [[ 5.75369567e-01 -8.17844648e-01 -8.94385327e-03 9.12154340e+02] [ 8.17748550e-01 5.75439068e-01 -1.25374415e-02 6.68534469e+01] [ 1.54003221e-02 -1.00160739e-04 9.99881403e-01 1.43704620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.7492541539999 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:912.17, Y:66.88, Z:14.37 [[ 5.73835631e-01 -8.18919432e-01 -9.14513032e-03 9.12168610e+02] [ 8.18825729e-01 5.73908375e-01 -1.23936805e-02 6.68782381e+01] [ 1.53978927e-02 -3.76332509e-04 9.99881375e-01 1.43671289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.7792541539999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:912.18, Y:66.90, Z:14.37 [[ 5.71056873e-01 -8.20859878e-01 -9.11642940e-03 9.12180427e+02] [ 8.20766095e-01 5.71129501e-01 -1.24141365e-02 6.69025443e+01] [ 1.53969283e-02 -3.93278180e-04 9.99881383e-01 1.43730126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.8092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:912.19, Y:66.93, Z:14.37 [[ 5.71293381e-01 -8.20696256e-01 -9.02932660e-03 9.12194972e+02] [ 8.20601469e-01 5.71364661e-01 -1.24761045e-02 6.69251846e+01] [ 1.53981304e-02 -2.81962748e-04 9.99881402e-01 1.43728282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.8392541539998 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:912.21, Y:66.95, Z:14.37 [[ 5.69924763e-01 -8.21647309e-01 -9.02573197e-03 9.12205055e+02] [ 8.21552601e-01 5.69996147e-01 -1.24786615e-02 6.69482142e+01] [ 1.53976911e-02 -3.03215391e-04 9.99881403e-01 1.43746695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.8692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:912.23, Y:66.97, Z:14.37 [[ 5.75853512e-01 -8.17504227e-01 -8.92033614e-03 9.12230424e+02] [ 8.17407837e-01 5.75922595e-01 -1.25535541e-02 6.69735024e+01] [ 1.54000066e-02 -6.25444852e-05 9.99881411e-01 1.43743917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.8992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:912.23, Y:66.99, Z:14.38 [[ 5.73047241e-01 -8.19470837e-01 -9.18737010e-03 9.12234543e+02] [ 8.19377685e-01 5.73120713e-01 -1.23635572e-02 6.69949735e+01] [ 1.53970466e-02 -4.43023729e-04 9.99881360e-01 1.43786766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.9292541539999 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:912.25, Y:67.02, Z:14.38 [[ 5.73614088e-01 -8.19077155e-01 -8.91582617e-03 9.12249047e+02] [ 8.18980912e-01 5.73683365e-01 -1.25563717e-02 6.70177370e+01] [ 1.53994984e-02 -9.93797292e-05 9.99881416e-01 1.43771694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.9592541539998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:912.26, Y:67.04, Z:14.38 [[ 5.74569315e-01 -8.18407384e-01 -8.91386136e-03 9.12263535e+02] [ 8.18311038e-01 5.74638450e-01 -1.25577664e-02 6.70412955e+01] [ 1.53996162e-02 -7.90038961e-05 9.99881416e-01 1.43763816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.9892541539999 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:912.28, Y:67.06, Z:14.38 [[ 5.75560428e-01 -8.17711128e-01 -8.87153005e-03 9.12279095e+02] [ 8.17614235e-01 5.75628796e-01 -1.25877985e-02 6.70646259e+01] [ 1.53998911e-02 -8.45054376e-06 9.99881415e-01 1.43787473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.0192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:912.29, Y:67.09, Z:14.38 [[ 5.77624852e-01 -8.16253738e-01 -8.90874918e-03 9.12293918e+02] [ 8.16157078e-01 5.77693548e-01 -1.25614022e-02 6.70881741e+01] [ 1.53998184e-02 -1.51606285e-05 9.99881416e-01 1.43805222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.0492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:912.31, Y:67.11, Z:14.38 [[ 5.78299393e-01 -8.15776018e-01 -8.90512602e-03 9.12309145e+02] [ 8.15679262e-01 5.78367953e-01 -1.25639702e-02 6.71100299e+01] [ 1.53998251e-02 2.00970786e-06 9.99881416e-01 1.43805707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.0792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:912.33, Y:67.13, Z:14.38 [[ 5.79545870e-01 -8.14890986e-01 -8.90312464e-03 9.12325227e+02] [ 8.14794104e-01 5.79614251e-01 -1.25653883e-02 6.71332860e+01] [ 1.53997995e-02 2.80054049e-05 9.99881416e-01 1.43804763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.1092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:912.34, Y:67.16, Z:14.38 [[ 5.80228399e-01 -8.14405184e-01 -8.89948253e-03 9.12341470e+02] [ 8.14308205e-01 5.80296643e-01 -1.25679673e-02 6.71562002e+01] [ 1.53997575e-02 4.53698814e-05 9.99881416e-01 1.43805952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.1392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:912.36, Y:67.18, Z:14.38 [[ 5.84390225e-01 -8.11424013e-01 -8.89584564e-03 9.12364297e+02] [ 8.11326646e-01 5.84457915e-01 -1.25705410e-02 6.71801750e+01] [ 1.53992862e-02 1.28664669e-04 9.99881416e-01 1.43792062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.1692541539999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:912.37, Y:67.20, Z:14.38 [[ 5.81882554e-01 -8.13222587e-01 -9.03975147e-03 9.12374273e+02] [ 8.13127000e-01 5.81952760e-01 -1.24686552e-02 6.72023561e+01] [ 1.54005004e-02 -9.51730395e-05 9.99881401e-01 1.43792253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.1992541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:912.40, Y:67.23, Z:14.38 [[ 5.84738093e-01 -8.11173410e-01 -8.89164583e-03 9.12396297e+02] [ 8.11075971e-01 5.84805676e-01 -1.25733928e-02 6.72268443e+01] [ 1.53990869e-02 1.40341460e-04 9.99881417e-01 1.43777363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.2292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:912.41, Y:67.25, Z:14.38 [[ 5.81310965e-01 -8.13631402e-01 -9.02797246e-03 9.12406974e+02] [ 8.13535735e-01 5.81381057e-01 -1.24769442e-02 6.72483480e+01] [ 1.54003258e-02 -9.15937217e-05 9.99881404e-01 1.43789832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.2592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:912.42, Y:67.27, Z:14.38 [[ 5.79815693e-01 -8.14699200e-01 -8.88685640e-03 9.12423745e+02] [ 8.14602121e-01 5.79883791e-01 -1.25766592e-02 6.72709231e+01] [ 1.53995382e-02 5.28923099e-05 9.99881419e-01 1.43790333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.2892541539999 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:912.44, Y:67.29, Z:14.38 [[ 5.77403118e-01 -8.16410881e-01 -8.88326839e-03 9.12441286e+02] [ 8.16313966e-01 5.77471447e-01 -1.25791930e-02 6.72939778e+01] [ 1.53996239e-02 1.17292314e-05 9.99881419e-01 1.43774156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.3192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:912.46, Y:67.32, Z:14.38 [[ 5.75136530e-01 -8.18009239e-01 -8.88014389e-03 9.12458315e+02] [ 8.17912479e-01 5.75205080e-01 -1.25813984e-02 6.73164930e+01] [ 1.53996040e-02 -2.71587132e-05 9.99881419e-01 1.43794459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.3492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:912.48, Y:67.34, Z:14.38 [[ 5.69331980e-01 -8.22059793e-01 -8.87659234e-03 9.12476600e+02] [ 8.21963482e-01 5.69401159e-01 -1.25839036e-02 6.73375222e+01] [ 1.53990631e-02 -1.31815989e-04 9.99881419e-01 1.43805987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.3792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:912.49, Y:67.36, Z:14.38 [[ 5.66382576e-01 -8.24094685e-01 -8.87292966e-03 9.12494352e+02] [ 8.23998582e-01 5.66452043e-01 -1.25864856e-02 6.73597409e+01] [ 1.53985450e-02 -1.82515313e-04 9.99881419e-01 1.43810394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.4092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:912.51, Y:67.38, Z:14.38 [[ 5.61115225e-01 -8.27690184e-01 -8.86924250e-03 9.12512121e+02] [ 8.27594485e-01 5.61185248e-01 -1.25890833e-02 6.73801430e+01] [ 1.53971487e-02 -2.76209869e-04 9.99881419e-01 1.43816143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.4392541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:912.53, Y:67.40, Z:14.38 [[ 5.58094731e-01 -8.29729863e-01 -8.86717539e-03 9.12528621e+02] [ 8.29634397e-01 5.58165071e-01 -1.25905391e-02 6.74015668e+01] [ 1.53960939e-02 -3.29800171e-04 9.99881419e-01 1.43807213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.4692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:912.55, Y:67.42, Z:14.38 [[ 5.56184153e-01 -8.31011804e-01 -8.86395617e-03 9.12545850e+02] [ 8.30916464e-01 5.56254664e-01 -1.25928051e-02 6.74239535e+01] [ 1.53953866e-02 -3.61288490e-04 9.99881419e-01 1.43822086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.4992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:912.56, Y:67.45, Z:14.38 [[ 5.53257596e-01 -8.32963100e-01 -8.86034114e-03 9.12562827e+02] [ 8.32867968e-01 5.53328388e-01 -1.25953481e-02 6.74473894e+01] [ 1.53941385e-02 -4.11022300e-04 9.99881419e-01 1.43819294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.5292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:912.58, Y:67.47, Z:14.38 [[ 5.53003483e-01 -8.33131861e-01 -8.85718124e-03 9.12576910e+02] [ 8.33036715e-01 5.53074256e-01 -1.25975698e-02 6.74700883e+01] [ 1.53941157e-02 -4.11857182e-04 9.99881419e-01 1.43817129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.5592541539999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:912.59, Y:67.49, Z:14.38 [[ 5.52076037e-01 -8.33746758e-01 -8.85402983e-03 9.12592400e+02] [ 8.33651655e-01 5.52146868e-01 -1.25997843e-02 6.74936565e+01] [ 1.53937542e-02 -4.25137626e-04 9.99881419e-01 1.43802846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.5892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:912.61, Y:67.52, Z:14.38 [[ 5.53458838e-01 -8.32829504e-01 -8.85054590e-03 9.12614527e+02] [ 8.32734245e-01 5.53529459e-01 -1.26022311e-02 6.75182579e+01] [ 1.53945478e-02 -3.95336460e-04 9.99881419e-01 1.43827216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.6192541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:912.62, Y:67.54, Z:14.38 [[ 5.49604681e-01 -8.35376416e-01 -8.99658508e-03 9.12624131e+02] [ 8.35283144e-01 5.49677931e-01 -1.24996400e-02 6.75396558e+01] [ 1.53871287e-02 -6.44835229e-04 9.99881403e-01 1.43808702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.6492541539999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:912.64, Y:67.56, Z:14.38 [[ 5.46676693e-01 -8.37297059e-01 -8.84462721e-03 9.12640201e+02] [ 8.37202312e-01 5.46747996e-01 -1.26062549e-02 6.75641811e+01] [ 1.53909624e-02 -5.13196606e-04 9.99881420e-01 1.43818218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.6792541539999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:912.66, Y:67.59, Z:14.38 [[ 5.45307491e-01 -8.38189459e-01 -8.84143723e-03 9.12655269e+02] [ 8.38094792e-01 5.45378900e-01 -1.26084918e-02 6.75874829e+01] [ 1.53902382e-02 -5.34457469e-04 9.99881420e-01 1.43829728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.7092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:912.67, Y:67.61, Z:14.38 [[ 5.44704936e-01 -8.38581198e-01 -8.83781049e-03 9.12669810e+02] [ 8.38486542e-01 5.44776359e-01 -1.26110334e-02 6.76113567e+01] [ 1.53900057e-02 -5.41093007e-04 9.99881420e-01 1.43841574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.7392541539999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:912.68, Y:67.64, Z:14.38 [[ 5.43665279e-01 -8.39255614e-01 -8.83619416e-03 9.12684402e+02] [ 8.39161028e-01 5.43736795e-01 -1.26121658e-02 6.76355143e+01] [ 1.53893949e-02 -5.58193116e-04 9.99881420e-01 1.43842332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.7692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:912.70, Y:67.66, Z:14.39 [[ 5.45253648e-01 -8.38224579e-01 -8.83260798e-03 9.12698215e+02] [ 8.38129817e-01 5.45324931e-01 -1.26146768e-02 6.76602059e+01] [ 1.53905735e-02 -5.24673551e-04 9.99881420e-01 1.43874649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.7992541539999 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:912.71, Y:67.68, Z:14.39 [[ 5.46136096e-01 -8.37649915e-01 -8.83092193e-03 9.12713355e+02] [ 8.37555059e-01 5.46207253e-01 -1.26158570e-02 6.76840040e+01] [ 1.53911852e-02 -5.06408434e-04 9.99881420e-01 1.43870228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.8292541539998 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:912.74, Y:67.71, Z:14.39 [[ 5.52378158e-01 -8.33546908e-01 -8.82740715e-03 9.12738183e+02] [ 8.33451484e-01 5.52448552e-01 -1.26183159e-02 6.77102156e+01] [ 1.53946465e-02 -3.87133513e-04 9.99881420e-01 1.43894660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.8592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:912.75, Y:67.74, Z:14.39 [[ 5.58516533e-01 -8.29443735e-01 -9.07598601e-03 9.12749318e+02] [ 8.29350579e-01 5.58589973e-01 -1.24442637e-02 6.77350185e+01] [ 1.53915714e-02 -5.76847214e-04 9.99881376e-01 1.43909387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.8892541539999 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:912.76, Y:67.76, Z:14.39 [[ 5.62152898e-01 -8.26983902e-01 -9.04134014e-03 9.12764468e+02] [ 8.26890033e-01 5.62225407e-01 -1.24685322e-02 6.77601571e+01] [ 1.53945465e-02 -4.66972548e-04 9.99881388e-01 1.43898455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.9192541539999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:912.78, Y:67.79, Z:14.39 [[ 5.70553152e-01 -8.21210915e-01 -9.04067798e-03 9.12776680e+02] [ 8.21116305e-01 5.70624691e-01 -1.24689956e-02 6.77869403e+01] [ 1.53985094e-02 -3.09223339e-04 9.99881388e-01 1.43896537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.9492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:912.79, Y:67.81, Z:14.39 [[ 5.73552370e-01 -8.19119216e-01 -9.02162900e-03 9.12788354e+02] [ 8.19024136e-01 5.73623272e-01 -1.24822956e-02 6.78124188e+01] [ 1.53995046e-02 -2.29681644e-04 9.99881394e-01 1.43926356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.9792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:912.80, Y:67.84, Z:14.39 [[ 5.78632830e-01 -8.15539063e-01 -8.94899782e-03 9.12803698e+02] [ 8.15442757e-01 5.78702026e-01 -1.25329502e-02 6.78364933e+01] [ 1.53999136e-02 -4.54190077e-05 9.99881413e-01 1.43918957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.0092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:912.82, Y:67.86, Z:14.39 [[ 5.78273431e-01 -8.15793480e-01 -8.99095785e-03 9.12819363e+02] [ 8.15697659e-01 5.78343313e-01 -1.25036854e-02 6.78592550e+01] [ 1.54002854e-02 -1.03354204e-04 9.99881403e-01 1.43923382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.0392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:912.83, Y:67.88, Z:14.39 [[ 5.84922089e-01 -8.11039806e-01 -8.97684974e-03 9.12831592e+02] [ 8.10943266e-01 5.84990968e-01 -1.25135087e-02 6.78845198e+01] [ 1.54003297e-02 3.97118019e-05 9.99881407e-01 1.43935783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.0692541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:912.85, Y:67.91, Z:14.39 [[ 5.87367186e-01 -8.09271301e-01 -8.93032345e-03 9.12845606e+02] [ 8.09174060e-01 5.87435053e-01 -1.25458731e-02 6.79079676e+01] [ 1.53990001e-02 1.42848097e-04 9.99881418e-01 1.43925331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.0992541539998 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:912.86, Y:67.93, Z:14.39 [[ 5.89465955e-01 -8.07744273e-01 -8.89255423e-03 9.12861948e+02] [ 8.07646460e-01 5.89532982e-01 -1.25721289e-02 6.79323592e+01] [ 1.53975191e-02 2.28802030e-04 9.99881425e-01 1.43919302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.1292541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:912.88, Y:67.96, Z:14.39 [[ 5.91308975e-01 -8.06396102e-01 -8.88945933e-03 9.12876815e+02] [ 8.06298104e-01 5.91375731e-01 -1.25742776e-02 6.79562844e+01] [ 1.53968589e-02 2.67728977e-04 9.99881426e-01 1.43941175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.1592541539999 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:912.89, Y:67.98, Z:14.39 [[ 5.91156667e-01 -8.06508088e-01 -8.85998405e-03 9.12892788e+02] [ 8.06409796e-01 5.91222981e-01 -1.25947230e-02 6.79791619e+01] [ 1.53959722e-02 3.00676542e-04 9.99881430e-01 1.43926144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.1892541539999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:912.91, Y:68.00, Z:14.39 [[ 5.90881410e-01 -8.06709933e-01 -8.84548313e-03 9.12906035e+02] [ 8.06611514e-01 5.90947532e-01 -1.26047758e-02 6.80004411e+01] [ 1.53956142e-02 3.13059136e-04 9.99881432e-01 1.43922588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.2192541539998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:912.92, Y:68.02, Z:14.39 [[ 5.88620452e-01 -8.08361985e-01 -8.76722596e-03 9.12924728e+02] [ 8.08262942e-01 5.88685627e-01 -1.26589744e-02 6.80238266e+01] [ 1.53941736e-02 3.65107399e-04 9.99881436e-01 1.43944832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.2492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:912.94, Y:68.05, Z:14.40 [[ 5.86915886e-01 -8.09599907e-01 -8.81666723e-03 9.12940759e+02] [ 8.09501513e-01 5.86982041e-01 -1.26247351e-02 6.80461852e+01] [ 1.53962097e-02 2.72552148e-04 9.99881434e-01 1.43956616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.2792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:912.96, Y:68.07, Z:14.40 [[ 5.83429629e-01 -8.12115922e-01 -8.80894626e-03 9.12956065e+02] [ 8.12017732e-01 5.83496087e-01 -1.26300786e-02 6.80665904e+01] [ 1.53970736e-02 2.15741522e-04 9.99881435e-01 1.43952992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.3092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:912.97, Y:68.09, Z:14.39 [[ 5.80636326e-01 -8.14115914e-01 -8.75982607e-03 9.12972799e+02] [ 8.14017440e-01 5.80702358e-01 -1.26640555e-02 6.80890712e+01] [ 1.53968608e-02 2.22559449e-04 9.99881437e-01 1.43944351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.3392541539998 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:912.99, Y:68.11, Z:14.39 [[ 5.77416280e-01 -8.16403053e-01 -8.74617136e-03 9.12990937e+02] [ 8.16304697e-01 5.77482488e-01 -1.26734969e-02 6.81122744e+01] [ 1.53974424e-02 1.78342694e-04 9.99881436e-01 1.43934776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.3692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:913.01, Y:68.13, Z:14.40 [[ 5.74704975e-01 -8.18313691e-01 -8.76895996e-03 9.13007876e+02] [ 8.18215796e-01 5.74771862e-01 -1.26577423e-02 6.81349768e+01] [ 1.53981553e-02 9.95659291e-05 9.99881436e-01 1.43950826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.3992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:913.03, Y:68.16, Z:14.39 [[ 5.67910528e-01 -8.23043715e-01 -8.75649663e-03 9.13026398e+02] [ 8.22946244e-01 5.67978031e-01 -1.26663545e-02 6.81563957e+01] [ 1.53984612e-02 -1.27699376e-05 9.99881437e-01 1.43941414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.4292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:913.05, Y:68.18, Z:14.39 [[ 5.65580913e-01 -8.24646371e-01 -8.75178736e-03 9.13045234e+02] [ 8.24549041e-01 5.65648620e-01 -1.26696075e-02 6.81788849e+01] [ 1.53983823e-02 -5.05896612e-05 9.99881437e-01 1.43946861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.4592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:913.06, Y:68.20, Z:14.40 [[ 5.61742392e-01 -8.27265947e-01 -8.74863361e-03 9.13063361e+02] [ 8.27168899e-01 5.61810501e-01 -1.26717849e-02 6.82011073e+01] [ 1.53980104e-02 -1.18318870e-04 9.99881437e-01 1.43960961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.4892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:913.08, Y:68.22, Z:14.40 [[ 5.55579206e-01 -8.31417413e-01 -8.76529058e-03 9.13082007e+02] [ 8.31321055e-01 5.55648289e-01 -1.26602900e-02 6.82208624e+01] [ 1.53964043e-02 -2.52976724e-04 9.99881436e-01 1.43956868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.5192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:913.10, Y:68.24, Z:14.40 [[ 5.51756953e-01 -8.33959124e-01 -8.74319769e-03 9.13098556e+02] [ 8.33862843e-01 5.51826142e-01 -1.26755290e-02 6.82428151e+01] [ 1.53955981e-02 -2.96816402e-04 9.99881437e-01 1.43991260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.5492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:913.12, Y:68.27, Z:14.40 [[ 5.49329451e-01 -8.35560636e-01 -8.69354282e-03 9.13117458e+02] [ 8.35464014e-01 5.49398165e-01 -1.27097545e-02 6.82652920e+01] [ 1.53959870e-02 -2.81299734e-04 9.99881435e-01 1.43984237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.5792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:913.14, Y:68.29, Z:14.40 [[ 5.43563061e-01 -8.39322839e-01 -8.73904560e-03 9.13137018e+02] [ 8.39227194e-01 5.43633126e-01 -1.26783900e-02 6.82863414e+01] [ 1.53920970e-02 -4.42540215e-04 9.99881437e-01 1.44002385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.6092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:913.16, Y:68.31, Z:14.40 [[ 5.39792317e-01 -8.41752901e-01 -8.73546668e-03 9.13155689e+02] [ 8.41657531e-01 5.39862757e-01 -1.26808555e-02 6.83097505e+01] [ 1.53901000e-02 -5.07242977e-04 9.99881437e-01 1.44021950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.6392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:913.17, Y:68.33, Z:14.40 [[ 5.36502549e-01 -8.43852894e-01 -8.79251364e-03 9.13168873e+02] [ 8.43758438e-01 5.36574215e-01 -1.26415805e-02 6.83302721e+01] [ 1.53854704e-02 -6.36517415e-04 9.99881434e-01 1.44033615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.6692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:913.19, Y:68.35, Z:14.41 [[ 5.33363490e-01 -8.45842000e-01 -8.64279617e-03 9.13187079e+02] [ 8.45746137e-01 5.33433265e-01 -1.27445513e-02 6.83528015e+01] [ 1.53902318e-02 -5.12133084e-04 9.99881432e-01 1.44059645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.6992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:913.21, Y:68.38, Z:14.41 [[ 5.34075498e-01 -8.45392532e-01 -8.65043575e-03 9.13206113e+02] [ 8.45296694e-01 5.34145307e-01 -1.27392983e-02 6.83756518e+01] [ 1.53902973e-02 -5.08437688e-04 9.99881433e-01 1.44061917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.7292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:913.22, Y:68.40, Z:14.41 [[ 5.33185811e-01 -8.45953173e-01 -8.72462730e-03 9.13217067e+02] [ 8.45858237e-01 5.33256834e-01 -1.26882833e-02 6.83982600e+01] [ 1.53861606e-02 -6.14585258e-04 9.99881437e-01 1.44084254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.7592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:913.24, Y:68.42, Z:14.41 [[ 5.36963634e-01 -8.43561622e-01 -8.59331691e-03 9.13237257e+02] [ 8.43464920e-01 5.37032252e-01 -1.27784754e-02 6.84218823e+01] [ 1.53943198e-02 -3.86584746e-04 9.99881426e-01 1.44077244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.7892541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:913.25, Y:68.44, Z:14.41 [[ 5.36713712e-01 -8.43719350e-01 -8.72066166e-03 9.13247112e+02] [ 8.43624074e-01 5.36784278e-01 -1.26909701e-02 6.84449243e+01] [ 1.53887311e-02 -5.45542451e-04 9.99881438e-01 1.44099418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.8192541539999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:913.26, Y:68.47, Z:14.41 [[ 5.39156641e-01 -8.42161829e-01 -8.57735975e-03 9.13262894e+02] [ 8.42064775e-01 5.39224765e-01 -1.27893319e-02 6.84693085e+01] [ 1.53958119e-02 -3.27239281e-04 9.99881424e-01 1.44079988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.8492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:913.28, Y:68.49, Z:14.41 [[ 5.48422031e-01 -8.36157216e-01 -8.62473455e-03 9.13280743e+02] [ 8.36059926e-01 5.48489803e-01 -1.27568265e-02 6.84939681e+01] [ 1.53972915e-02 -2.14670219e-04 9.99881432e-01 1.44118664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.8792541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:913.30, Y:68.52, Z:14.41 [[ 5.50957778e-01 -8.34487633e-01 -8.71299490e-03 9.13295537e+02] [ 8.34391090e-01 5.51026600e-01 -1.26962567e-02 6.85184005e+01] [ 1.53959611e-02 -2.74943949e-04 9.99881437e-01 1.44124016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.9092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:913.31, Y:68.54, Z:14.41 [[ 5.53406742e-01 -8.32865610e-01 -8.70943318e-03 9.13310585e+02] [ 8.32768826e-01 5.53475226e-01 -1.26986995e-02 6.85431151e+01] [ 1.53967656e-02 -2.25398539e-04 9.99881437e-01 1.44136620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.9392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:913.32, Y:68.57, Z:14.41 [[ 5.56429403e-01 -8.30849277e-01 -8.70624080e-03 9.13323662e+02] [ 8.30752211e-01 5.56497485e-01 -1.27008878e-02 6.85673811e+01] [ 1.53975246e-02 -1.65581384e-04 9.99881437e-01 1.44124602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.9692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:913.34, Y:68.59, Z:14.41 [[ 5.57123185e-01 -8.30384244e-01 -8.70422222e-03 9.13339041e+02] [ 8.30287100e-01 5.57191156e-01 -1.27022710e-02 6.85912906e+01] [ 1.53976814e-02 -1.50273724e-04 9.99881437e-01 1.44133458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.9992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:913.35, Y:68.62, Z:14.41 [[ 5.57498697e-01 -8.30132220e-01 -8.70061892e-03 9.13353556e+02] [ 8.30035006e-01 5.57566569e-01 -1.27047387e-02 6.86151695e+01] [ 1.53977872e-02 -1.38943007e-04 9.99881437e-01 1.44134925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.0292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:913.37, Y:68.64, Z:14.41 [[ 5.57204820e-01 -8.30329544e-01 -8.69700734e-03 9.13368107e+02] [ 8.30232315e-01 5.57272671e-01 -1.27072105e-02 6.86379095e+01] [ 1.53977768e-02 -1.40017594e-04 9.99881437e-01 1.44134767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.0592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:913.38, Y:68.66, Z:14.41 [[ 5.56736423e-01 -8.30643711e-01 -8.69375683e-03 9.13382748e+02] [ 8.30546486e-01 5.56804279e-01 -1.27094340e-02 6.86613648e+01] [ 1.53977324e-02 -1.44764363e-04 9.99881437e-01 1.44137628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.0892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:913.40, Y:68.69, Z:14.41 [[ 5.56279719e-01 -8.30949671e-01 -8.69019491e-03 9.13397879e+02] [ 8.30852445e-01 5.56347574e-01 -1.27118690e-02 6.86856112e+01] [ 1.53976922e-02 -1.48914768e-04 9.99881437e-01 1.44145995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.1192541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:913.41, Y:68.71, Z:14.41 [[ 5.55360908e-01 -8.31564072e-01 -8.68658310e-03 9.13411753e+02] [ 8.31466883e-01 5.55428815e-01 -1.27143367e-02 6.87089484e+01] [ 1.53975641e-02 -1.61560630e-04 9.99881437e-01 1.44138179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.1492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:913.43, Y:68.73, Z:14.41 [[ 5.54883608e-01 -8.31882673e-01 -8.68333556e-03 9.13426488e+02] [ 8.31785488e-01 5.54951521e-01 -1.27165542e-02 6.87311985e+01] [ 1.53975114e-02 -1.66465042e-04 9.99881437e-01 1.44138269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.1792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:913.44, Y:68.76, Z:14.42 [[ 5.54143498e-01 -8.32375901e-01 -8.68010870e-03 9.13442482e+02] [ 8.32278742e-01 5.54211448e-01 -1.27187564e-02 6.87551108e+01] [ 1.53974019e-02 -1.76253779e-04 9.99881437e-01 1.44151935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.2092541539998 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] Translation: X:913.46, Y:68.78, Z:14.41 [[ 5.53571404e-01 -8.32756516e-01 -8.67674958e-03 9.13457736e+02] [ 8.32659368e-01 5.53639370e-01 -1.27210476e-02 6.87784109e+01] [ 1.53973254e-02 -1.82768640e-04 9.99881437e-01 1.44149663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.2392541539999 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:913.47, Y:68.80, Z:14.42 [[ 5.54027746e-01 -8.32453020e-01 -8.67327280e-03 9.13472842e+02] [ 8.32355798e-01 5.54095606e-01 -1.27234176e-02 6.88017592e+01] [ 1.53974698e-02 -1.70122507e-04 9.99881437e-01 1.44157767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.2692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:913.49, Y:68.83, Z:14.42 [[ 5.55555210e-01 -8.31434449e-01 -8.66981178e-03 9.13488073e+02] [ 8.31337066e-01 5.55622837e-01 -1.27257756e-02 6.88254880e+01] [ 1.53977936e-02 -1.37664984e-04 9.99881437e-01 1.44167616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.2992541539999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:913.50, Y:68.85, Z:14.42 [[ 5.58368491e-01 -8.29547830e-01 -8.66179669e-03 9.13501949e+02] [ 8.29450133e-01 5.58435666e-01 -1.27312340e-02 6.88494053e+01] [ 1.53982238e-02 -7.58084811e-05 9.99881437e-01 1.44157477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.3292541539998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:913.52, Y:68.87, Z:14.42 [[ 5.59558696e-01 -8.28745417e-01 -8.66602597e-03 9.13516931e+02] [ 8.28647668e-01 5.59625795e-01 -1.27283546e-02 6.88736759e+01] [ 1.53982972e-02 -5.88207305e-05 9.99881437e-01 1.44172179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.3592541539998 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:913.53, Y:68.90, Z:14.41 [[ 5.63394939e-01 -8.26142303e-01 -8.66241437e-03 9.13531218e+02] [ 8.26044207e-01 5.63461529e-01 -1.27308120e-02 6.88973940e+01] [ 1.53983996e-02 1.69378406e-05 9.99881437e-01 1.44147474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.3892541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:913.55, Y:68.92, Z:14.41 [[ 5.65591196e-01 -8.24640294e-01 -8.65942044e-03 9.13546853e+02] [ 8.24541989e-01 5.65657478e-01 -1.27328481e-02 6.89212011e+01] [ 1.53982855e-02 6.15310462e-05 9.99881437e-01 1.44149537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.4192541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:913.56, Y:68.95, Z:14.41 [[ 5.67630254e-01 -8.23238101e-01 -8.65590482e-03 9.13562494e+02] [ 8.23139596e-01 5.67696238e-01 -1.27352376e-02 6.89453133e+01] [ 1.53980574e-02 1.03888168e-04 9.99881437e-01 1.44149184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.4492541539998 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:913.58, Y:68.97, Z:14.41 [[ 5.68952362e-01 -8.22324960e-01 -8.65271749e-03 9.13578149e+02] [ 8.22226317e-01 5.69018139e-01 -1.27374028e-02 6.89694252e+01] [ 1.53978375e-02 1.32483406e-04 9.99881437e-01 1.44145891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.4792541539998 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:913.59, Y:68.99, Z:14.41 [[ 5.71362206e-01 -8.20652433e-01 -8.64950321e-03 9.13592917e+02] [ 8.20553564e-01 5.71427643e-01 -1.27395852e-02 6.89938434e+01] [ 1.53973368e-02 1.81536797e-04 9.99881438e-01 1.44132409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.5092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:913.61, Y:69.02, Z:14.41 [[ 5.72700771e-01 -8.19718896e-01 -8.64628142e-03 9.13609119e+02] [ 8.19619888e-01 5.72765997e-01 -1.27417714e-02 6.90181310e+01] [ 1.53969668e-02 2.10558105e-04 9.99881438e-01 1.44141981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.5392541539999 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:913.62, Y:69.04, Z:14.41 [[ 5.72510949e-01 -8.19851518e-01 -8.64302870e-03 9.13624703e+02] [ 8.19752491e-01 5.72576147e-01 -1.27439774e-02 6.90410768e+01] [ 1.53969613e-02 2.10922288e-04 9.99881438e-01 1.44141611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.5692541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:913.64, Y:69.06, Z:14.41 [[ 5.72632099e-01 -8.19766943e-01 -8.63932041e-03 9.13640896e+02] [ 8.19667869e-01 5.72697225e-01 -1.27464908e-02 6.90637413e+01] [ 1.53968666e-02 2.17676441e-04 9.99881438e-01 1.44140883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.5992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:913.66, Y:69.09, Z:14.41 [[ 5.71554935e-01 -8.20518335e-01 -8.63817335e-03 9.13657343e+02] [ 8.20419335e-01 5.71620173e-01 -1.27472681e-02 6.90862200e+01] [ 1.53971214e-02 1.98839570e-04 9.99881438e-01 1.44145033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.6292541539999 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:913.67, Y:69.11, Z:14.41 [[ 5.66714410e-01 -8.23869057e-01 -8.63450673e-03 9.13674765e+02] [ 8.23770404e-01 5.66780173e-01 -1.27497513e-02 6.91071593e+01] [ 1.53979928e-02 1.12616673e-04 9.99881438e-01 1.44146638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.6592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:913.69, Y:69.13, Z:14.42 [[ 5.64758756e-01 -8.25210899e-01 -8.63252472e-03 9.13692180e+02] [ 8.25112382e-01 5.64824722e-01 -1.27510931e-02 6.91298712e+01] [ 1.53982044e-02 7.84884387e-05 9.99881438e-01 1.44155176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.6892541539999 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:913.71, Y:69.15, Z:14.42 [[ 5.60360328e-01 -8.28203983e-01 -8.62936358e-03 9.13708484e+02] [ 8.28105786e-01 5.60426768e-01 -1.27532320e-02 6.91513610e+01] [ 1.53984039e-02 3.79385069e-07 9.99881438e-01 1.44162728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.7192541539998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:913.73, Y:69.17, Z:14.42 [[ 5.54226415e-01 -8.32321255e-01 -8.62610947e-03 9.13727858e+02] [ 8.32223517e-01 5.54293529e-01 -1.27554327e-02 6.91735503e+01] [ 1.53980144e-02 -1.09453422e-04 9.99881438e-01 1.44192316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.7492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:913.74, Y:69.20, Z:14.42 [[ 5.51150099e-01 -8.34361560e-01 -8.62290900e-03 9.13744720e+02] [ 8.34264037e-01 5.51217525e-01 -1.27575959e-02 6.91955107e+01] [ 1.53975462e-02 -1.62432626e-04 9.99881438e-01 1.44197322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.7792541539999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:913.76, Y:69.22, Z:14.42 [[ 5.47250558e-01 -8.36924429e-01 -8.62130169e-03 9.13761571e+02] [ 8.36827205e-01 5.47318414e-01 -1.27586820e-02 6.92181505e+01] [ 1.53966498e-02 -2.32343945e-04 9.99881438e-01 1.44211430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.8092541539999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:913.78, Y:69.24, Z:14.42 [[ 5.42969547e-01 -8.39708167e-01 -8.61769525e-03 9.13779548e+02] [ 8.39611252e-01 5.43037844e-01 -1.27611175e-02 6.92395173e+01] [ 1.53953492e-02 -3.06615727e-04 9.99881438e-01 1.44213805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.8392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:913.80, Y:69.26, Z:14.42 [[ 5.41941359e-01 -8.40372156e-01 -8.61411143e-03 9.13795784e+02] [ 8.40275286e-01 5.42009719e-01 -1.27635362e-02 6.92621240e+01] [ 1.53950525e-02 -3.21136806e-04 9.99881438e-01 1.44212875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.8692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:913.81, Y:69.28, Z:14.42 [[ 5.41325496e-01 -8.40769033e-01 -8.61053651e-03 9.13811379e+02] [ 8.40672174e-01 5.41393873e-01 -1.27659474e-02 6.92842345e+01] [ 1.53949050e-02 -3.28105628e-04 9.99881438e-01 1.44207831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.8992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:913.83, Y:69.31, Z:14.42 [[ 5.41093107e-01 -8.40918643e-01 -8.60733610e-03 9.13827282e+02] [ 8.40821769e-01 5.41161463e-01 -1.27681049e-02 6.93079764e+01] [ 1.53948961e-02 -3.28501994e-04 9.99881438e-01 1.44212218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.9292541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:913.84, Y:69.33, Z:14.42 [[ 5.41224402e-01 -8.40834182e-01 -8.60380624e-03 9.13843523e+02] [ 8.40737260e-01 5.41292689e-01 -1.27704831e-02 6.93309715e+01] [ 1.53950361e-02 -3.21843411e-04 9.99881438e-01 1.44211601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.9592541539998 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:913.86, Y:69.35, Z:14.42 [[ 5.42447165e-01 -8.40045897e-01 -8.60026427e-03 9.13860047e+02] [ 8.39948838e-01 5.42515257e-01 -1.27728680e-02 6.93531887e+01] [ 1.53955699e-02 -2.95175961e-04 9.99881438e-01 1.44213502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.9892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:913.88, Y:69.38, Z:14.42 [[ 5.43216620e-01 -8.39548571e-01 -8.59660035e-03 9.13875558e+02] [ 8.39451410e-01 5.43284567e-01 -1.27753335e-02 6.93761191e+01] [ 1.53959132e-02 -2.76654829e-04 9.99881438e-01 1.44212452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.0192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:913.89, Y:69.40, Z:14.42 [[ 5.46102484e-01 -8.37674303e-01 -8.59294573e-03 9.13890948e+02] [ 8.37576871e-01 5.46170041e-01 -1.27777912e-02 6.93984338e+01] [ 1.53968368e-02 -2.19269111e-04 9.99881438e-01 1.44189743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.0492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:913.91, Y:69.42, Z:14.42 [[ 5.47716446e-01 -8.36619933e-01 -8.58972176e-03 9.13906784e+02] [ 8.36522336e-01 5.47783765e-01 -1.27799581e-02 6.94216714e+01] [ 1.53972778e-02 -1.85700910e-04 9.99881438e-01 1.44210742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.0792541539998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:913.92, Y:69.45, Z:14.42 [[ 5.51959695e-01 -8.33826584e-01 -8.58615092e-03 9.13922460e+02] [ 8.33728610e-01 5.52026464e-01 -1.27823567e-02 6.94453089e+01] [ 1.53980513e-02 -1.03173983e-04 9.99881438e-01 1.44221421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.1092541539998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:913.94, Y:69.47, Z:14.42 [[ 5.54687346e-01 -8.32014596e-01 -8.58252491e-03 9.13937408e+02] [ 8.31916366e-01 5.54753738e-01 -1.27847908e-02 6.94677820e+01] [ 1.53983203e-02 -4.83812453e-05 9.99881438e-01 1.44212680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.1392541539999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:913.95, Y:69.49, Z:14.42 [[ 5.56974138e-01 -8.30485525e-01 -8.57923785e-03 9.13953073e+02] [ 8.30387078e-01 5.57040208e-01 -1.27869962e-02 6.94913884e+01] [ 1.53983957e-02 -2.06205299e-06 9.99881438e-01 1.44232730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.1692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:913.97, Y:69.51, Z:14.43 [[ 5.59783667e-01 -8.28594414e-01 -8.57567803e-03 9.13968793e+02] [ 8.28495708e-01 5.59849349e-01 -1.27893832e-02 6.95147536e+01] [ 1.53982992e-02 5.43753929e-05 9.99881438e-01 1.44252310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.1992541539998 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:913.99, Y:69.54, Z:14.43 [[ 5.64841811e-01 -8.25154682e-01 -8.57204764e-03 9.13985098e+02] [ 8.25055538e-01 5.64906831e-01 -1.27918160e-02 6.95377405e+01] [ 1.53976351e-02 1.52937134e-04 9.99881438e-01 1.44259338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.2292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:914.00, Y:69.56, Z:14.43 [[ 5.67192837e-01 -8.23540447e-01 -8.56843583e-03 9.14000909e+02] [ 8.23441082e-01 5.67257518e-01 -1.27942349e-02 6.95613574e+01] [ 1.53970795e-02 2.01196296e-04 9.99881438e-01 1.44274439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.2592541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:914.02, Y:69.58, Z:14.43 [[ 5.68948866e-01 -8.22328299e-01 -8.56481136e-03 9.14017026e+02] [ 8.22228760e-01 5.69013279e-01 -1.27966607e-02 6.95847099e+01] [ 1.53965476e-02 2.38411373e-04 9.99881438e-01 1.44281317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.2892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:914.03, Y:69.61, Z:14.43 [[ 5.71621320e-01 -8.20472896e-01 -8.56116963e-03 9.14032387e+02] [ 8.20373111e-01 5.71685352e-01 -1.27990966e-02 6.96066053e+01] [ 1.53956072e-02 2.92883144e-04 9.99881438e-01 1.44283828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.3192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:914.05, Y:69.63, Z:14.43 [[ 5.72292385e-01 -8.20004993e-01 -8.55790013e-03 9.14047916e+02] [ 8.19905124e-01 5.72356284e-01 -1.28012824e-02 6.96300692e+01] [ 1.53952834e-02 3.09410250e-04 9.99881438e-01 1.44287517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.3492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:914.06, Y:69.65, Z:14.43 [[ 5.73419286e-01 -8.19217399e-01 -8.55434318e-03 9.14063064e+02] [ 8.19117406e-01 5.73482992e-01 -1.28036588e-02 6.96530381e+01] [ 1.53947504e-02 3.34853494e-04 9.99881438e-01 1.44283834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.3792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:914.08, Y:69.68, Z:14.43 [[ 5.73433319e-01 -8.19207609e-01 -8.55117276e-03 9.14078772e+02] [ 8.19107584e-01 5.73496973e-01 -1.28057759e-02 6.96765879e+01] [ 1.53946607e-02 3.38928114e-04 9.99881438e-01 1.44284929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.4092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:914.09, Y:69.70, Z:14.43 [[ 5.72888750e-01 -8.19588567e-01 -8.54754011e-03 9.14094380e+02] [ 8.19488548e-01 5.72952415e-01 -1.28082001e-02 6.97001621e+01] [ 1.53947881e-02 3.33062531e-04 9.99881438e-01 1.44284856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.4392541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:914.11, Y:69.72, Z:14.43 [[ 5.71571283e-01 -8.20507935e-01 -8.54386329e-03 9.14109446e+02] [ 8.20407982e-01 5.71635051e-01 -1.28106523e-02 6.97224941e+01] [ 1.53952136e-02 3.12747354e-04 9.99881438e-01 1.44269418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.4692541539998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:914.13, Y:69.75, Z:14.43 [[ 5.68079331e-01 -8.22929480e-01 -8.54081847e-03 9.14126701e+02] [ 8.22829768e-01 5.68143475e-01 -1.28126820e-02 6.97453514e+01] [ 1.53963440e-02 2.50980129e-04 9.99881438e-01 1.44271954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.4992541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:914.14, Y:69.77, Z:14.43 [[ 5.65276411e-01 -8.24857379e-01 -8.53723997e-03 9.14143523e+02] [ 8.24757850e-01 5.65340839e-01 -1.28150659e-02 6.97683056e+01] [ 1.53970521e-02 2.02898791e-04 9.99881438e-01 1.44277095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.5292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:914.16, Y:69.79, Z:14.43 [[ 5.58839135e-01 -8.29232174e-01 -8.53365064e-03 9.14161746e+02] [ 8.29133112e-01 5.58904281e-01 -1.28174557e-02 6.97902380e+01] [ 1.53981405e-02 8.73635275e-05 9.99881438e-01 1.44290194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.5592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:914.18, Y:69.81, Z:14.43 [[ 5.54753256e-01 -8.31971190e-01 -8.53013291e-03 9.14178114e+02] [ 8.31872415e-01 5.54818834e-01 -1.28197963e-02 6.98125075e+01] [ 1.53983796e-02 1.58414919e-05 9.99881438e-01 1.44301288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.5892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:914.19, Y:69.84, Z:14.43 [[ 5.51665002e-01 -8.34022196e-01 -8.52657813e-03 9.14193409e+02] [ 8.33923628e-01 5.51730890e-01 -1.28221602e-02 6.98360751e+01] [ 1.53983427e-02 -3.69779440e-05 9.99881438e-01 1.44318532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.6192541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:914.21, Y:69.86, Z:14.43 [[ 5.45847066e-01 -8.37841475e-01 -8.52312658e-03 9.14208016e+02] [ 8.37743332e-01 5.45913586e-01 -1.28244541e-02 6.98595089e+01] [ 1.53977501e-02 -1.40001822e-04 9.99881438e-01 1.44329556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.6492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:914.22, Y:69.88, Z:14.43 [[ 5.40952863e-01 -8.41009761e-01 -8.51955286e-03 9.14220929e+02] [ 8.40911970e-01 5.41019899e-01 -1.28268278e-02 6.98829476e+01] [ 1.53967350e-02 -2.25484781e-04 9.99881438e-01 1.44313189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.6792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:914.24, Y:69.91, Z:14.43 [[ 5.36621633e-01 -8.43780555e-01 -8.46161342e-03 9.14236591e+02] [ 8.43682502e-01 5.36688290e-01 -1.28652901e-02 6.99069800e+01] [ 1.53967305e-02 -2.35122204e-04 9.99881436e-01 1.44330963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.7092541539998 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:914.25, Y:69.93, Z:14.43 [[ 5.35492554e-01 -8.44497596e-01 -8.45785192e-03 9.14253290e+02] [ 8.44399593e-01 5.35559285e-01 -1.28677860e-02 6.99304834e+01] [ 1.53964954e-02 -2.51203153e-04 9.99881435e-01 1.44310733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.7392541539999 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:914.27, Y:69.95, Z:14.43 [[ 5.33693723e-01 -8.45634996e-01 -8.51255747e-03 9.14268417e+02] [ 8.45537711e-01 5.33761493e-01 -1.28314937e-02 6.99547358e+01] [ 1.53944355e-02 -3.49600698e-04 9.99881438e-01 1.44307118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.7692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:914.28, Y:69.98, Z:14.43 [[ 5.32488526e-01 -8.46394449e-01 -8.50916111e-03 9.14283027e+02] [ 8.46297225e-01 5.32556383e-01 -1.28337456e-02 6.99783382e+01] [ 1.53940191e-02 -3.67457141e-04 9.99881438e-01 1.44307305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.7992541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:914.30, Y:70.00, Z:14.43 [[ 5.28660414e-01 -8.48790799e-01 -8.50567297e-03 9.14296318e+02] [ 8.48693846e-01 5.28728656e-01 -1.28360570e-02 7.00029666e+01] [ 1.53923201e-02 -4.32797098e-04 9.99881438e-01 1.44287518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.8292541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:914.31, Y:70.03, Z:14.43 [[ 5.26300163e-01 -8.50256320e-01 -8.50459311e-03 9.14310709e+02] [ 8.50159545e-01 5.26368659e-01 -1.28367724e-02 7.00266760e+01] [ 1.53910982e-02 -4.74265594e-04 9.99881438e-01 1.44288970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.8592541539998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:914.32, Y:70.05, Z:14.43 [[ 5.21308152e-01 -8.53326164e-01 -8.50112217e-03 9.14323785e+02] [ 8.53229754e-01 5.21377162e-01 -1.28390706e-02 7.00513370e+01] [ 1.53882058e-02 -5.60298188e-04 9.99881438e-01 1.44316619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.8892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:914.34, Y:70.08, Z:14.43 [[ 5.19588681e-01 -8.54374271e-01 -8.49746655e-03 9.14338177e+02] [ 8.54277962e-01 5.19657830e-01 -1.28414896e-02 7.00751047e+01] [ 1.53872134e-02 -5.86905746e-04 9.99881438e-01 1.44330399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.9192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:914.35, Y:70.10, Z:14.43 [[ 5.17921876e-01 -8.55385734e-01 -8.49570649e-03 9.14352791e+02] [ 8.55289540e-01 5.17991186e-01 -1.28426540e-02 7.01001900e+01] [ 1.53861241e-02 -6.14797476e-04 9.99881438e-01 1.44345278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.9492541539998 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:914.37, Y:70.13, Z:14.44 [[ 5.16320455e-01 -8.56353352e-01 -8.49255393e-03 9.14365082e+02] [ 8.56257255e-01 5.16389898e-01 -1.28447383e-02 7.01266424e+01] [ 1.53851038e-02 -6.39809767e-04 9.99881438e-01 1.44378842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.9792541539998 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:914.38, Y:70.15, Z:14.44 [[ 5.16998917e-01 -8.55943953e-01 -8.48938101e-03 9.14379073e+02] [ 8.55847766e-01 5.17068236e-01 -1.28468350e-02 7.01519754e+01] [ 1.53857600e-02 -6.23817959e-04 9.99881438e-01 1.44388651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.0092541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:914.39, Y:70.18, Z:14.44 [[ 5.17926301e-01 -8.55383149e-01 -8.48620616e-03 9.14392058e+02] [ 8.55286853e-01 5.17995468e-01 -1.28489319e-02 7.01770838e+01] [ 1.53865762e-02 -6.03340782e-04 9.99881438e-01 1.44407495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.0392541539999 meters Centerline goodness : 0.995517 Centerline is valid? [True, True] Translation: X:914.40, Y:70.20, Z:14.44 [[ 5.23124809e-01 -8.52213871e-01 -8.48247865e-03 9.14403316e+02] [ 8.52117116e-01 5.23193332e-01 -1.28513922e-02 7.02030374e+01] [ 1.53901110e-02 -5.05183148e-04 9.99881438e-01 1.44366803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.0692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:914.42, Y:70.23, Z:14.44 [[ 5.27108261e-01 -8.49755384e-01 -8.52460268e-03 9.14416229e+02] [ 8.49658756e-01 5.27176966e-01 -1.28235925e-02 7.02268640e+01] [ 1.53908909e-02 -4.83581784e-04 9.99881436e-01 1.44396214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.0992541539998 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:914.43, Y:70.25, Z:14.44 [[ 5.34626318e-01 -8.45046080e-01 -8.47486800e-03 9.14426742e+02] [ 8.44948326e-01 5.34693408e-01 -1.28563774e-02 7.02538123e+01] [ 1.53956874e-02 -2.87467823e-04 9.99881438e-01 1.44384216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.1292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:914.44, Y:70.28, Z:14.44 [[ 5.38860415e-01 -8.42352474e-01 -8.47127191e-03 9.14440365e+02] [ 8.42254348e-01 5.38926959e-01 -1.28587465e-02 7.02789895e+01] [ 1.53969937e-02 -2.05896135e-04 9.99881438e-01 1.44382735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.1592541539999 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:914.45, Y:70.30, Z:14.44 [[ 5.42785267e-01 -8.39828824e-01 -8.46758244e-03 9.14453362e+02] [ 8.39730350e-01 5.42851295e-01 -1.28611756e-02 7.03036090e+01] [ 1.53978240e-02 -1.29629362e-04 9.99881438e-01 1.44370391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.1892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:914.47, Y:70.33, Z:14.44 [[ 5.46851004e-01 -8.37187139e-01 -8.46606821e-03 9.14466500e+02] [ 8.37088330e-01 5.46916531e-01 -1.28621722e-02 7.03275884e+01] [ 1.53982778e-02 -5.31550974e-05 9.99881438e-01 1.44366952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.2192541539998 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:914.48, Y:70.35, Z:14.44 [[ 5.53103360e-01 -8.33069657e-01 -8.46282222e-03 9.14478699e+02] [ 8.32970328e-01 5.53168095e-01 -1.28643076e-02 7.03547092e+01] [ 1.53982276e-02 6.60119758e-05 9.99881438e-01 1.44353238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.2492541539999 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:914.49, Y:70.38, Z:14.44 [[ 5.55999620e-01 -8.31139165e-01 -8.49180199e-03 9.14492722e+02] [ 8.31039902e-01 5.56064458e-01 -1.28452512e-02 7.03794130e+01] [ 1.53981807e-02 8.49285225e-05 9.99881437e-01 1.44365486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.2792541539999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:914.50, Y:70.40, Z:14.44 [[ 5.60103762e-01 -8.28379296e-01 -8.45687994e-03 9.14504327e+02] [ 8.28279366e-01 5.60167566e-01 -1.28682017e-02 7.04039466e+01] [ 1.53970217e-02 2.02869042e-04 9.99881438e-01 1.44367957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.3092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:914.52, Y:70.43, Z:14.44 [[ 5.61623022e-01 -8.27350057e-01 -8.45366020e-03 9.14518540e+02] [ 8.27249979e-01 5.61686592e-01 -1.28703166e-02 7.04286062e+01] [ 1.53965647e-02 2.34975871e-04 9.99881438e-01 1.44374722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.3392541539998 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:914.53, Y:70.45, Z:14.44 [[ 5.62325585e-01 -8.26872743e-01 -8.45007457e-03 9.14532875e+02] [ 8.26772575e-01 5.62389015e-01 -1.28726703e-02 7.04524534e+01] [ 1.53962893e-02 2.52341953e-04 9.99881438e-01 1.44377697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.3692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:914.55, Y:70.48, Z:14.44 [[ 5.63398147e-01 -8.26142353e-01 -8.44635376e-03 9.14547137e+02] [ 8.26042067e-01 5.63461388e-01 -1.28751112e-02 7.04750687e+01] [ 1.53958689e-02 2.76770297e-04 9.99881438e-01 1.44382722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.3992541539999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:914.56, Y:70.50, Z:14.44 [[ 5.61122166e-01 -8.27689924e-01 -8.44423218e-03 9.14558450e+02] [ 8.27589791e-01 5.61185651e-01 -1.28765025e-02 7.04973694e+01] [ 1.53965333e-02 2.36930664e-04 9.99881438e-01 1.44380334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.4292541539999 meters Centerline goodness : 0.999640 Centerline is valid? [True, True] Translation: X:914.57, Y:70.52, Z:14.44 [[ 5.60734516e-01 -8.27953706e-01 -8.33451284e-03 9.14574400e+02] [ 8.27852528e-01 5.60796337e-01 -1.29483937e-02 7.05213534e+01] [ 1.53946348e-02 3.60863745e-04 9.99881430e-01 1.44376057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.4592541539998 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:914.59, Y:70.54, Z:14.44 [[ 5.60277928e-01 -8.28262645e-01 -8.34478305e-03 9.14592462e+02] [ 8.28161601e-01 5.60339965e-01 -1.29416599e-02 7.05449648e+01] [ 1.53950089e-02 3.40097503e-04 9.99881432e-01 1.44374303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.4892541539999 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:914.61, Y:70.57, Z:14.44 [[ 5.59088502e-01 -8.29065628e-01 -8.38034756e-03 9.14607602e+02] [ 8.28965023e-01 5.59151239e-01 -1.29183450e-02 7.05675673e+01] [ 1.53960375e-02 2.75483154e-04 9.99881436e-01 1.44357472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.5192541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:914.62, Y:70.59, Z:14.44 [[ 5.58000650e-01 -8.29798245e-01 -8.37539747e-03 9.14624813e+02] [ 8.29697673e-01 5.58063441e-01 -1.29215899e-02 7.05912386e+01] [ 1.53963158e-02 2.61207771e-04 9.99881436e-01 1.44356572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.5492541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:914.64, Y:70.61, Z:14.43 [[ 5.56621723e-01 -8.30723696e-01 -8.39040362e-03 9.14638925e+02] [ 8.30623376e-01 5.56684914e-01 -1.29117568e-02 7.06137260e+01] [ 1.53969135e-02 2.17698942e-04 9.99881437e-01 1.44343568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.5792541539998 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:914.66, Y:70.64, Z:14.43 [[ 5.56476183e-01 -8.30821452e-01 -8.36493757e-03 9.14656147e+02] [ 8.30720893e-01 5.56538996e-01 -1.29284332e-02 7.06370911e+01] [ 1.53966336e-02 2.45436766e-04 9.99881435e-01 1.44327588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.6092541539998 meters Centerline goodness : 0.999637 Centerline is valid? [True, True] Translation: X:914.67, Y:70.66, Z:14.43 [[ 5.54398000e-01 -8.32209333e-01 -8.39540235e-03 9.14673661e+02] [ 8.32109232e-01 5.54461537e-01 -1.29084896e-02 7.06599903e+01] [ 1.53974932e-02 1.70549012e-04 9.99881437e-01 1.44337249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.6392541539999 meters Centerline goodness : 0.999637 Centerline is valid? [True, True] Translation: X:914.69, Y:70.68, Z:14.43 [[ 5.52931822e-01 -8.33183831e-01 -8.43234578e-03 9.14688629e+02] [ 8.33084209e-01 5.52996107e-01 -1.28843114e-02 7.06808381e+01] [ 1.53980543e-02 9.92916635e-05 9.99881438e-01 1.44338276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.6692541539999 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:914.71, Y:70.70, Z:14.43 [[ 5.49991996e-01 -8.35127822e-01 -8.38601296e-03 9.14706538e+02] [ 8.35027965e-01 5.50055916e-01 -1.29146188e-02 7.07049309e+01] [ 1.53981335e-02 1.00381626e-04 9.99881437e-01 1.44332460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.6992541539998 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:914.72, Y:70.73, Z:14.43 [[ 5.43193013e-01 -8.39565539e-01 -8.42946060e-03 9.14724888e+02] [ 8.39466644e-01 5.43258409e-01 -1.28861977e-02 7.07267302e+01] [ 1.53981829e-02 -7.65584575e-05 9.99881438e-01 1.44335358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.7292541539998 meters Centerline goodness : 0.999530 Centerline is valid? [True, True] Translation: X:914.74, Y:70.75, Z:14.43 [[ 5.39016538e-01 -8.42253036e-01 -8.42581232e-03 9.14741788e+02] [ 8.42154430e-01 5.39082369e-01 -1.28885827e-02 7.07485100e+01] [ 1.53976548e-02 -1.48675935e-04 9.99881438e-01 1.44337124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.7592541539999 meters Centerline goodness : 0.999612 Centerline is valid? [True, True] Translation: X:914.76, Y:70.77, Z:14.44 [[ 5.30670899e-01 -8.47536110e-01 -8.42253402e-03 9.14761289e+02] [ 8.47438125e-01 5.30737650e-01 -1.28907247e-02 7.07688768e+01] [ 1.53955106e-02 -2.96843979e-04 9.99881438e-01 1.44357014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.7892541539999 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:914.78, Y:70.79, Z:14.44 [[ 5.27252092e-01 -8.49667201e-01 -8.41894555e-03 9.14777460e+02] [ 8.49569448e-01 5.27319184e-01 -1.28930679e-02 7.07889032e+01] [ 1.53942884e-02 -3.54581899e-04 9.99881438e-01 1.44371500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.8192541539999 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:914.79, Y:70.81, Z:14.44 [[ 5.27072809e-01 -8.49778849e-01 -8.37624357e-03 9.14792994e+02] [ 8.49680667e-01 5.27139273e-01 -1.29209354e-02 7.08128565e+01] [ 1.53953846e-02 -3.06858482e-04 9.99881437e-01 1.44375729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.8492541539998 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:914.81, Y:70.83, Z:14.44 [[ 5.20476514e-01 -8.53834885e-01 -8.37775616e-03 9.14805850e+02] [ 8.53737237e-01 5.20543760e-01 -1.29199484e-02 7.08348537e+01] [ 1.53924913e-02 -4.27872688e-04 9.99881437e-01 1.44377993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.8792541539999 meters Centerline goodness : 0.999545 Centerline is valid? [True, True] Translation: X:914.82, Y:70.86, Z:14.44 [[ 5.14826896e-01 -8.57254227e-01 -8.27388445e-03 9.14823450e+02] [ 8.57155935e-01 5.14893217e-01 -1.29876043e-02 7.08560818e+01] [ 1.53938457e-02 -4.05641147e-04 9.99881425e-01 1.44386960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.9092541539999 meters Centerline goodness : 0.999479 Centerline is valid? [True, True] Translation: X:914.85, Y:70.88, Z:14.44 [[ 5.18497113e-01 -8.55039687e-01 -8.23886130e-03 9.14851392e+02] [ 8.54940749e-01 5.18562480e-01 -1.30103757e-02 7.08798916e+01] [ 1.53967519e-02 -2.97896022e-04 9.99881419e-01 1.44404455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.9392541539999 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:914.87, Y:70.91, Z:14.44 [[ 5.17277443e-01 -8.55775674e-01 -8.48774378e-03 9.14871964e+02] [ 8.55679435e-01 5.17346707e-01 -1.28487267e-02 7.09057060e+01] [ 1.53867341e-02 -6.16431289e-04 9.99881427e-01 1.44428400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.9692541539998 meters Centerline goodness : 0.999456 Centerline is valid? [True, True] Translation: X:914.89, Y:70.93, Z:14.44 [[ 5.15349716e-01 -8.56936438e-01 -8.63784701e-03 9.14888758e+02] [ 8.56841963e-01 5.15421433e-01 -1.27513652e-02 7.09288324e+01] [ 1.53792409e-02 -8.29857374e-04 9.99881388e-01 1.44424733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.9992541539999 meters Centerline goodness : 0.999501 Centerline is valid? [True, True] Translation: X:914.91, Y:70.95, Z:14.44 [[ 5.18080819e-01 -8.55288502e-01 -8.59318733e-03 9.14906682e+02] [ 8.55193320e-01 5.18151569e-01 -1.27803211e-02 7.09517278e+01] [ 1.53834352e-02 -7.27597161e-04 9.99881403e-01 1.44424786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.0292541539999 meters Centerline goodness : 0.999479 Centerline is valid? [True, True] Translation: X:914.92, Y:70.97, Z:14.44 [[ 5.20382895e-01 -8.53889059e-01 -8.66704685e-03 9.14919730e+02] [ 8.53794478e-01 5.20454489e-01 -1.27324172e-02 7.09748970e+01] [ 1.53828752e-02 -7.74144610e-04 9.99881377e-01 1.44410319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.0592541539999 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:914.93, Y:71.00, Z:14.44 [[ 5.21711901e-01 -8.53078557e-01 -8.58298760e-03 9.14931347e+02] [ 8.52982968e-01 5.21782093e-01 -1.27868295e-02 7.09975470e+01] [ 1.53866193e-02 -6.50101091e-04 9.99881408e-01 1.44396904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.0892541539998 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:914.94, Y:71.02, Z:14.44 [[ 5.21416057e-01 -8.53260286e-01 -8.49583641e-03 9.14939999e+02] [ 8.53163802e-01 5.21484976e-01 -1.28432041e-02 7.10201876e+01] [ 1.53890471e-02 -5.51687222e-04 9.99881429e-01 1.44415695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.1192541539999 meters Centerline goodness : 0.999631 Centerline is valid? [True, True] Translation: X:914.96, Y:71.05, Z:14.44 [[ 5.28343780e-01 -8.48989431e-01 -8.35441608e-03 9.14962239e+02] [ 8.48890934e-01 5.28409765e-01 -1.29345477e-02 7.10453380e+01] [ 1.53958493e-02 -2.58100255e-04 9.99881444e-01 1.44413709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.1492541539999 meters Centerline goodness : 0.999200 Centerline is valid? [True, True] Translation: X:914.97, Y:71.07, Z:14.44 [[ 5.32669434e-01 -8.46280591e-01 -8.51090198e-03 9.14970170e+02] [ 8.46183362e-01 5.32737296e-01 -1.28332195e-02 7.10666143e+01] [ 1.53945795e-02 -3.65919879e-04 9.99881429e-01 1.44420508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.1792541539999 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:914.99, Y:71.09, Z:14.45 [[ 5.37187139e-01 -8.43421955e-01 -8.32972864e-03 9.14985416e+02] [ 8.43322529e-01 5.37251712e-01 -1.29503221e-02 7.10913047e+01] [ 1.53977470e-02 -6.79013304e-05 9.99881445e-01 1.44453733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.2092541539998 meters Centerline goodness : 0.997008 Centerline is valid? [True, True] Translation: X:915.00, Y:71.11, Z:14.44 [[ 5.41006383e-01 -8.40976986e-01 -8.35482347e-03 9.14999054e+02] [ 8.40877518e-01 5.41070890e-01 -1.29341121e-02 7.11128621e+01] [ 1.53978424e-02 -2.79460408e-05 9.99881446e-01 1.44430292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.2392541539999 meters Centerline goodness : 0.999610 Centerline is valid? [True, True] Translation: X:915.01, Y:71.14, Z:14.45 [[ 5.41061198e-01 -8.40942638e-01 -8.26191346e-03 9.15014392e+02] [ 8.40842245e-01 5.41124267e-01 -1.29941041e-02 7.11380865e+01] [ 1.53980180e-02 8.36396729e-05 9.99881440e-01 1.44472720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.2692541539999 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:915.03, Y:71.16, Z:14.45 [[ 5.41776275e-01 -8.40481234e-01 -8.35240724e-03 9.15029610e+02] [ 8.40381683e-01 5.41840654e-01 -1.29356735e-02 7.11615352e+01] [ 1.53978646e-02 -1.09690744e-05 9.99881446e-01 1.44466114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.2992541539999 meters Centerline goodness : 0.999590 Centerline is valid? [True, True] Translation: X:915.04, Y:71.18, Z:14.45 [[ 5.42166022e-01 -8.40229912e-01 -8.34864512e-03 9.15044165e+02] [ 8.40130294e-01 5.42230297e-01 -1.29381011e-02 7.11845193e+01] [ 1.53978679e-02 6.49104869e-07 9.99881446e-01 1.44470249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.3292541539998 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:915.06, Y:71.21, Z:14.45 [[ 5.41469945e-01 -8.40678674e-01 -8.34663776e-03 9.15059114e+02] [ 8.40579089e-01 5.41534272e-01 -1.29393959e-02 7.12067976e+01] [ 1.53978646e-02 -9.71515587e-06 9.99881446e-01 1.44465215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.3592541539998 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] Translation: X:915.08, Y:71.23, Z:14.45 [[ 5.41821838e-01 -8.40451953e-01 -8.34335374e-03 9.15081638e+02] [ 8.40352308e-01 5.41886072e-01 -1.29415131e-02 7.12311182e+01] [ 1.53978672e-02 6.37848129e-07 9.99881446e-01 1.44455330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.3892541539999 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:915.10, Y:71.25, Z:14.45 [[ 5.39883880e-01 -8.41696819e-01 -8.47712639e-03 9.15098278e+02] [ 8.41598666e-01 5.39950394e-01 -1.28552587e-02 7.12544312e+01] [ 1.53974581e-02 -1.93991311e-04 9.99881433e-01 1.44456093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.4192541539999 meters Centerline goodness : 0.999654 Centerline is valid? [True, True] Translation: X:915.11, Y:71.28, Z:14.45 [[ 5.33964958e-01 -8.45464056e-01 -8.48253612e-03 9.15114261e+02] [ 8.45366428e-01 5.34032241e-01 -1.28517729e-02 7.12777388e+01] [ 1.53956598e-02 -3.08454870e-04 9.99881432e-01 1.44456236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.4492541539998 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:915.12, Y:71.30, Z:14.45 [[ 5.28689742e-01 -8.48773041e-01 -8.45467373e-03 9.15123468e+02] [ 8.48675547e-01 5.28757210e-01 -1.28697114e-02 7.13006503e+01] [ 1.53939337e-02 -3.71190466e-04 9.99881437e-01 1.44474142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.4792541539998 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:915.14, Y:71.32, Z:14.45 [[ 5.26010233e-01 -8.50437454e-01 -8.32892976e-03 9.15139768e+02] [ 8.50338885e-01 5.26076100e-01 -1.29505815e-02 7.13241490e+01] [ 1.53953105e-02 -2.70274448e-04 9.99881449e-01 1.44471441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.5092541539999 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:915.16, Y:71.35, Z:14.45 [[ 5.20568291e-01 -8.53779446e-01 -8.32534755e-03 9.15155700e+02] [ 8.53681263e-01 5.20634732e-01 -1.29528839e-02 7.13461594e+01] [ 1.53933712e-02 -3.64332550e-04 9.99881449e-01 1.44468352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.5392541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:915.17, Y:71.37, Z:14.45 [[ 5.14781090e-01 -8.57281268e-01 -8.32210182e-03 9.15172858e+02] [ 8.57183502e-01 5.14848145e-01 -1.29549690e-02 7.13687454e+01] [ 1.53906709e-02 -4.64595346e-04 9.99881449e-01 1.44493349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.5692541539999 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:915.19, Y:71.39, Z:14.45 [[ 5.11723649e-01 -8.59109836e-01 -8.31847025e-03 9.15188760e+02] [ 8.59012272e-01 5.11790997e-01 -1.29573004e-02 7.13914064e+01] [ 1.53890624e-02 -5.15110990e-04 9.99881449e-01 1.44495875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.5992541539998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:915.20, Y:71.41, Z:14.45 [[ 5.09492412e-01 -8.60434975e-01 -8.31486304e-03 9.15204207e+02] [ 8.60337548e-01 5.09559958e-01 -1.29596148e-02 7.14143940e+01] [ 1.53878271e-02 -5.50763499e-04 9.99881449e-01 1.44505224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.6292541539999 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:915.22, Y:71.44, Z:14.45 [[ 5.07557791e-01 -8.61577626e-01 -8.31165315e-03 9.15220121e+02] [ 8.61480318e-01 5.07625509e-01 -1.29616731e-02 7.14372925e+01] [ 1.53866947e-02 -5.81527427e-04 9.99881449e-01 1.44516157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.6592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:915.24, Y:71.46, Z:14.46 [[ 5.08313951e-01 -8.61131757e-01 -8.30812002e-03 9.15238080e+02] [ 8.61034353e-01 5.08381530e-01 -1.29639374e-02 7.14609939e+01] [ 1.53873529e-02 -5.63826521e-04 9.99881449e-01 1.44558651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.6892541539999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:915.25, Y:71.49, Z:14.46 [[ 5.08898415e-01 -8.60786020e-01 -8.35651529e-03 9.15253912e+02] [ 8.60689075e-01 5.08966654e-01 -1.29329276e-02 7.14858168e+01] [ 1.53856709e-02 -6.10815064e-04 9.99881447e-01 1.44557545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.7192541539998 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:915.26, Y:71.51, Z:14.45 [[ 5.11122546e-01 -8.59467193e-01 -8.35988372e-03 9.15264403e+02] [ 8.59370107e-01 5.11190585e-01 -1.29307697e-02 7.15097225e+01] [ 1.53870662e-02 -5.75026219e-04 9.99881447e-01 1.44527287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.7492541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:915.28, Y:71.53, Z:14.45 [[ 5.14806870e-01 -8.57265980e-01 -8.30223714e-03 9.15277630e+02] [ 8.57168008e-01 5.14873622e-01 -1.29676766e-02 7.15329126e+01] [ 1.53913509e-02 -4.40563066e-04 9.99881449e-01 1.44515729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.7792541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:915.29, Y:71.56, Z:14.45 [[ 5.16853302e-01 -8.56034186e-01 -8.25452288e-03 9.15292461e+02] [ 8.55935566e-01 5.16919097e-01 -1.29982120e-02 7.15588531e+01] [ 1.53938343e-02 -3.47170919e-04 9.99881448e-01 1.44544271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.8092541539999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:915.31, Y:71.58, Z:14.46 [[ 5.22712894e-01 -8.52468381e-01 -8.29997969e-03 9.15307262e+02] [ 8.52369773e-01 5.22778702e-01 -1.29691206e-02 7.15840443e+01] [ 1.53948178e-02 -2.95525261e-04 9.99881449e-01 1.44555927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.8392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:915.32, Y:71.61, Z:14.46 [[ 5.26535859e-01 -8.50112197e-01 -8.32117772e-03 9.15323257e+02] [ 8.50013508e-01 5.26601547e-01 -1.29555593e-02 7.16095392e+01] [ 1.53956241e-02 -2.51546907e-04 9.99881449e-01 1.44583936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.8692541539999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:915.34, Y:71.63, Z:14.46 [[ 5.30208442e-01 -8.47826053e-01 -8.36614625e-03 9.15335844e+02] [ 8.47727533e-01 5.30274389e-01 -1.29268004e-02 7.16346439e+01] [ 1.53960312e-02 -2.38313834e-04 9.99881446e-01 1.44571292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.8992541539999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:915.35, Y:71.66, Z:14.46 [[ 5.30357078e-01 -8.47733034e-01 -8.37090020e-03 9.15345836e+02] [ 8.47634551e-01 5.30423080e-01 -1.29237593e-02 7.16583849e+01] [ 1.53960163e-02 -2.41257033e-04 9.99881445e-01 1.44578513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.9292541539999 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:915.36, Y:71.68, Z:14.46 [[ 5.32351415e-01 -8.46482839e-01 -8.29298916e-03 9.15358843e+02] [ 8.46383422e-01 5.32415994e-01 -1.29735618e-02 7.16827924e+01] [ 1.53972175e-02 -1.12554560e-04 9.99881449e-01 1.44572663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.9592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:915.37, Y:71.71, Z:14.46 [[ 5.33535651e-01 -8.45736946e-01 -8.29017514e-03 9.15373618e+02] [ 8.45637411e-01 5.33600047e-01 -1.29753597e-02 7.17071093e+01] [ 1.53973790e-02 -8.76652463e-05 9.99881449e-01 1.44601784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.9892541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:915.39, Y:71.73, Z:14.46 [[ 5.33649416e-01 -8.45665095e-01 -8.29740929e-03 9.15386991e+02] [ 8.45565623e-01 5.33713910e-01 -1.29707392e-02 7.17308584e+01] [ 1.53973441e-02 -9.41766662e-05 9.99881449e-01 1.44574130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.0192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:915.40, Y:71.76, Z:14.46 [[ 5.33994662e-01 -8.45447251e-01 -8.28535698e-03 9.15401317e+02] [ 8.45347632e-01 5.34058931e-01 -1.29784333e-02 7.17555790e+01] [ 1.53974496e-02 -7.35928001e-05 9.99881450e-01 1.44602587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.0492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:915.41, Y:71.78, Z:14.46 [[ 5.35723236e-01 -8.44353022e-01 -8.28188117e-03 9.15414666e+02] [ 8.44253238e-01 5.35787247e-01 -1.29806509e-02 7.17796891e+01] [ 1.53975781e-02 -3.79686699e-05 9.99881450e-01 1.44640624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.0792541539998 meters Centerline goodness : 0.996277 Centerline is valid? [True, True] Translation: X:915.43, Y:71.81, Z:14.46 [[ 5.35889277e-01 -8.44247837e-01 -8.26271774e-03 9.15428982e+02] [ 8.44147852e-01 5.35952973e-01 -1.29928669e-02 7.18054383e+01] [ 1.53976280e-02 -1.22173692e-05 9.99881449e-01 1.44550791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.1092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:915.44, Y:71.83, Z:14.47 [[ 5.39138781e-01 -8.42175766e-01 -8.32787426e-03 9.15441693e+02] [ 8.42076175e-01 5.39203095e-01 -1.29513697e-02 7.18287129e+01] [ 1.53977453e-02 -3.01188441e-05 9.99881447e-01 1.44678850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.1392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:915.46, Y:71.85, Z:14.47 [[ 5.40953599e-01 -8.41011987e-01 -8.24876320e-03 9.15456379e+02] [ 8.40911485e-01 5.41016478e-01 -1.30017467e-02 7.18536500e+01] [ 1.53973416e-02 9.68619531e-05 9.99881449e-01 1.44660147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.1692541539999 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:915.47, Y:71.88, Z:14.47 [[ 5.42257543e-01 -8.40171626e-01 -8.27020859e-03 9.15470524e+02] [ 8.40071235e-01 5.42320597e-01 -1.29880913e-02 7.18772210e+01] [ 1.53973302e-02 9.53261250e-05 9.99881450e-01 1.44658067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.1992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:915.49, Y:71.90, Z:14.47 [[ 5.43515210e-01 -8.39358596e-01 -8.26825407e-03 9.15485502e+02] [ 8.39258091e-01 5.43578084e-01 -1.29893354e-02 7.19012558e+01] [ 1.53971520e-02 1.20702229e-04 9.99881450e-01 1.44691039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.2292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:915.50, Y:71.92, Z:14.47 [[ 5.46312362e-01 -8.37540864e-01 -8.25253597e-03 9.15498825e+02] [ 8.37439999e-01 5.46374656e-01 -1.29993362e-02 7.19249527e+01] [ 1.53964518e-02 1.90694363e-04 9.99881449e-01 1.44677007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.2592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:915.51, Y:71.95, Z:14.47 [[ 5.47955010e-01 -8.36467216e-01 -8.24033828e-03 9.15514042e+02] [ 8.36366113e-01 5.48016917e-01 -1.30070943e-02 7.19499426e+01] [ 1.53958528e-02 2.35362808e-04 9.99881449e-01 1.44693575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.2892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:915.53, Y:71.97, Z:14.47 [[ 5.50729667e-01 -8.34642932e-01 -8.24683281e-03 9.15526395e+02] [ 8.34541685e-01 5.50791339e-01 -1.30029648e-02 7.19736194e+01] [ 1.53951167e-02 2.78792705e-04 9.99881449e-01 1.44675297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.3192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:915.54, Y:72.00, Z:14.46 [[ 5.52746043e-01 -8.33309128e-01 -8.22856201e-03 9.15541349e+02] [ 8.33207560e-01 5.52807185e-01 -1.30145760e-02 7.19981580e+01] [ 1.53939732e-02 3.37655294e-04 9.99881449e-01 1.44639193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.3492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:915.56, Y:72.02, Z:14.46 [[ 5.54630300e-01 -8.32055912e-01 -8.25773768e-03 9.15555923e+02] [ 8.31954481e-01 5.54691667e-01 -1.29960376e-02 7.20220816e+01] [ 1.53939282e-02 3.37934383e-04 9.99881449e-01 1.44599640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.3792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:915.57, Y:72.05, Z:14.46 [[ 5.55181840e-01 -8.31688343e-01 -8.22340269e-03 9.15571825e+02] [ 8.31586548e-01 5.55242603e-01 -1.30178429e-02 7.20469530e+01] [ 1.53927717e-02 3.88798898e-04 9.99881449e-01 1.44637190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.4092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:915.59, Y:72.07, Z:14.47 [[ 5.55509944e-01 -8.31468930e-01 -8.25348945e-03 9.15589115e+02] [ 8.31367394e-01 5.55571138e-01 -1.29987394e-02 7.20710524e+01] [ 1.53934485e-02 3.59247003e-04 9.99881449e-01 1.44663301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.4392541539999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:915.60, Y:72.09, Z:14.47 [[ 5.54059132e-01 -8.32436035e-01 -8.29010692e-03 9.15602361e+02] [ 8.32334952e-01 5.54121074e-01 -1.29754917e-02 7.20940500e+01] [ 1.53949898e-02 2.89043916e-04 9.99881448e-01 1.44657503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.4692541539998 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:915.62, Y:72.12, Z:14.47 [[ 5.51694334e-01 -8.34005580e-01 -8.24948712e-03 9.15618973e+02] [ 8.33904288e-01 5.51755930e-01 -1.30012656e-02 7.21181913e+01] [ 1.53948315e-02 2.93441862e-04 9.99881450e-01 1.44676242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.4992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:915.63, Y:72.14, Z:14.47 [[ 5.50425914e-01 -8.34843284e-01 -8.24646262e-03 9.15633952e+02] [ 8.34742056e-01 5.50487617e-01 -1.30031837e-02 7.21421339e+01] [ 1.53951961e-02 2.73620096e-04 9.99881450e-01 1.44689915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.5292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:915.65, Y:72.16, Z:14.47 [[ 5.47679213e-01 -8.36647794e-01 -8.24305379e-03 9.15650798e+02] [ 8.36546737e-01 5.47741195e-01 -1.30053442e-02 7.21648848e+01] [ 1.53959527e-02 2.27056946e-04 9.99881450e-01 1.44686148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.5592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:915.67, Y:72.19, Z:14.47 [[ 5.45158833e-01 -8.38292591e-01 -8.20846020e-03 9.15667105e+02] [ 8.38191391e-01 5.45220582e-01 -1.30272617e-02 7.21894291e+01] [ 1.53960784e-02 2.21666118e-04 9.99881449e-01 1.44727206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.5892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:915.68, Y:72.21, Z:14.47 [[ 5.43316154e-01 -8.39487738e-01 -8.23985664e-03 9.15683088e+02] [ 8.39386975e-01 5.43378611e-01 -1.30073728e-02 7.22131801e+01] [ 1.53968919e-02 1.50687443e-04 9.99881449e-01 1.44740420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.6192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:915.70, Y:72.24, Z:14.47 [[ 5.40835792e-01 -8.41087871e-01 -8.23653539e-03 9.15698551e+02] [ 8.40987260e-01 5.40898495e-01 -1.30094756e-02 7.22358085e+01] [ 1.53972417e-02 1.09168691e-04 9.99881449e-01 1.44748710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.6492541539999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:915.72, Y:72.26, Z:14.48 [[ 5.39976589e-01 -8.41639757e-01 -8.23422367e-03 9.15715318e+02] [ 8.41539188e-01 5.40039360e-01 -1.30109386e-02 7.22591805e+01] [ 1.53973281e-02 9.61803388e-05 9.99881449e-01 1.44752500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.6792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:915.73, Y:72.28, Z:14.48 [[ 5.39734879e-01 -8.41794642e-01 -8.24875880e-03 9.15731328e+02] [ 8.41694231e-01 5.39797903e-01 -1.30017441e-02 7.22836390e+01] [ 1.53974613e-02 7.45621009e-05 9.99881449e-01 1.44750828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.7092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:915.75, Y:72.31, Z:14.48 [[ 5.39574701e-01 -8.41897129e-01 -8.26835805e-03 9.15746436e+02] [ 8.41796920e-01 5.39638047e-01 -1.29893540e-02 7.23076605e+01] [ 1.53976205e-02 4.84484822e-05 9.99881448e-01 1.44755275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.7392541539999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:915.76, Y:72.33, Z:14.47 [[ 5.39116369e-01 -8.42190723e-01 -8.26599712e-03 9.15762852e+02] [ 8.42090526e-01 5.39179733e-01 -1.29908468e-02 7.23314333e+01] [ 1.53976287e-02 4.28602684e-05 9.99881449e-01 1.44697401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.7692541539999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:915.78, Y:72.35, Z:14.47 [[ 5.37025200e-01 -8.43525545e-01 -8.28192676e-03 9.15776766e+02] [ 8.43425660e-01 5.37089057e-01 -1.29807793e-02 7.23536429e+01] [ 1.53977511e-02 -1.41839636e-05 9.99881448e-01 1.44717033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.7992541539999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:915.79, Y:72.38, Z:14.47 [[ 5.36050044e-01 -8.44146174e-01 -8.22121984e-03 9.15792325e+02] [ 8.44045773e-01 5.36113082e-01 -1.30191141e-02 7.23773900e+01] [ 1.53975388e-02 3.98108142e-05 9.99881450e-01 1.44748072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.8292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:915.81, Y:72.40, Z:14.47 [[ 5.35472081e-01 -8.44512952e-01 -8.21734439e-03 9.15807649e+02] [ 8.44412557e-01 5.35535128e-01 -1.30215597e-02 7.24015264e+01] [ 1.53975524e-02 3.38528901e-05 9.99881450e-01 1.44726225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.8592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:915.82, Y:72.42, Z:14.47 [[ 5.34450104e-01 -8.45160012e-01 -8.22443083e-03 9.15822658e+02] [ 8.45059762e-01 5.34513381e-01 -1.30170893e-02 7.24236046e+01] [ 1.53975917e-02 6.84917715e-06 9.99881450e-01 1.44746598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.8892541539999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:915.85, Y:72.45, Z:14.47 [[ 5.37269238e-01 -8.43370806e-01 -8.21275770e-03 9.15846331e+02] [ 8.43270233e-01 5.37332000e-01 -1.30244500e-02 7.24485981e+01] [ 1.53974184e-02 7.20622159e-05 9.99881450e-01 1.44690565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.9192541539999 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:915.85, Y:72.47, Z:14.47 [[ 5.34797149e-01 -8.44938573e-01 -8.41533049e-03 9.15854374e+02] [ 8.44840174e-01 5.34863312e-01 -1.28963938e-02 7.24681137e+01] [ 1.53977121e-02 -2.12654666e-04 9.99881426e-01 1.44722278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.9492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:915.87, Y:72.49, Z:14.48 [[ 5.33567064e-01 -8.45718268e-01 -8.17310994e-03 9.15870178e+02] [ 8.45617591e-01 5.33629656e-01 -1.30491675e-02 7.24925936e+01] [ 1.53973332e-02 5.12804579e-05 9.99881453e-01 1.44777430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.9792541539998 meters Centerline goodness : 0.999589 Centerline is valid? [True, True] Translation: X:915.88, Y:72.52, Z:14.48 [[ 5.33129688e-01 -8.45993677e-01 -8.21185016e-03 9.15884990e+02] [ 8.45893408e-01 5.33192929e-01 -1.30247425e-02 7.25158073e+01] [ 1.53973503e-02 -2.47297919e-06 9.99881454e-01 1.44762027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.0092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:915.90, Y:72.54, Z:14.48 [[ 5.32319753e-01 -8.46503921e-01 -8.17261016e-03 9.15898622e+02] [ 8.46403332e-01 5.32382485e-01 -1.30494656e-02 7.25385647e+01] [ 1.53973783e-02 2.91638430e-05 9.99881453e-01 1.44795886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.0392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:915.92, Y:72.56, Z:14.48 [[ 5.34137576e-01 -8.45358631e-01 -8.11385680e-03 9.15916554e+02] [ 8.45257343e-01 5.34199184e-01 -1.30864805e-02 7.25626885e+01] [ 1.53971849e-02 1.31683928e-04 9.99881448e-01 1.44806441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.0692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:915.93, Y:72.59, Z:14.48 [[ 5.33643980e-01 -8.45669391e-01 -8.20873561e-03 9.15928591e+02] [ 8.45569054e-01 5.33707111e-01 -1.30266930e-02 7.25854155e+01] [ 1.53973361e-02 1.05634935e-05 9.99881454e-01 1.44847340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.0992541539998 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:915.94, Y:72.61, Z:14.48 [[ 5.33172030e-01 -8.45967973e-01 -8.11024646e-03 9.15943050e+02] [ 8.45866722e-01 5.33233697e-01 -1.30886515e-02 7.26098116e+01] [ 1.53972367e-02 1.18315305e-04 9.99881449e-01 1.44840595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.1292541539999 meters Centerline goodness : 0.999135 Centerline is valid? [True, True] Translation: X:915.96, Y:72.63, Z:14.48 [[ 5.35594732e-01 -8.44436554e-01 -8.07394277e-03 9.15958234e+02] [ 8.44334783e-01 5.35655546e-01 -1.31114437e-02 7.26345767e+01] [ 1.53966346e-02 2.05309471e-04 9.99881444e-01 1.44820269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.1592541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:915.97, Y:72.66, Z:14.49 [[ 5.37068287e-01 -8.43499786e-01 -8.10962946e-03 9.15973243e+02] [ 8.43398247e-01 5.37129477e-01 -1.30890368e-02 7.26579246e+01] [ 1.53965208e-02 1.90059319e-04 9.99881448e-01 1.44861192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.1892541539999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:915.99, Y:72.68, Z:14.49 [[ 5.39258280e-01 -8.42101549e-01 -8.09246283e-03 9.15985662e+02] [ 8.41999689e-01 5.39318939e-01 -1.30998424e-02 7.26827622e+01] [ 1.53958160e-02 2.50347293e-04 9.99881446e-01 1.44854566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.2192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:916.01, Y:72.71, Z:14.48 [[ 5.43574851e-01 -8.39322082e-01 -8.05133737e-03 9.16005942e+02] [ 8.39219528e-01 5.43634343e-01 -1.31257189e-02 7.27079094e+01] [ 1.53936892e-02 3.77971154e-04 9.99881439e-01 1.44832707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.2492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:916.01, Y:72.73, Z:14.48 [[ 5.38648274e-01 -8.42490796e-01 -8.20345147e-03 9.16009183e+02] [ 8.42390036e-01 5.38710727e-01 -1.30299506e-02 7.27293551e+01] [ 1.53969007e-02 1.08054605e-04 9.99881455e-01 1.44773778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.2792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:916.04, Y:72.76, Z:14.48 [[ 5.45284738e-01 -8.38214014e-01 -7.86272334e-03 9.16035856e+02] [ 8.38109616e-01 5.45341057e-01 -1.32440119e-02 7.27552049e+01] [ 1.53891823e-02 6.31933546e-04 9.99881380e-01 1.44831969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.3092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:916.05, Y:72.78, Z:14.49 [[ 5.41798817e-01 -8.40468195e-01 -8.20089616e-03 9.16046045e+02] [ 8.40367184e-01 5.41860853e-01 -1.30311917e-02 7.27779628e+01] [ 1.53960468e-02 1.68520242e-04 9.99881460e-01 1.44858387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.3392541539998 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:916.07, Y:72.80, Z:14.48 [[ 5.43038566e-01 -8.39669051e-01 -8.06229782e-03 9.16067428e+02] [ 8.39566644e-01 5.43098296e-01 -1.31183304e-02 7.28017923e+01] [ 1.53936762e-02 3.54922994e-04 9.99881447e-01 1.44837498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.3692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:916.08, Y:72.83, Z:14.49 [[ 5.42363023e-01 -8.40104242e-01 -8.19844993e-03 9.16083536e+02] [ 8.40003166e-01 5.42424954e-01 -1.30326816e-02 7.28261765e+01] [ 1.53958549e-02 1.81720695e-04 9.99881460e-01 1.44856974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.3992541539999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:916.10, Y:72.85, Z:14.49 [[ 5.40678580e-01 -8.41189344e-01 -8.19518069e-03 9.16099466e+02] [ 8.41088361e-01 5.40740663e-01 -1.30347370e-02 7.28489249e+01] [ 1.53961493e-02 1.54732025e-04 9.99881460e-01 1.44871055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.4292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:916.12, Y:72.87, Z:14.49 [[ 5.39070644e-01 -8.42220720e-01 -8.19138688e-03 9.16115769e+02] [ 8.42119820e-01 5.39132861e-01 -1.30371207e-02 7.28730616e+01] [ 1.53963791e-02 1.29799829e-04 9.99881460e-01 1.44881130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.4592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:916.13, Y:72.90, Z:14.49 [[ 5.38148042e-01 -8.42810560e-01 -8.18805185e-03 9.16130551e+02] [ 8.42709697e-01 5.38210318e-01 -1.30392150e-02 7.28953982e+01] [ 1.53964821e-02 1.16877327e-04 9.99881460e-01 1.44881634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.4892541539999 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:916.14, Y:72.92, Z:14.48 [[ 5.30563352e-01 -8.47605762e-01 -8.18546063e-03 9.16137999e+02] [ 8.47505437e-01 5.30626490e-01 -1.30408414e-02 7.29159714e+01] [ 1.53969146e-02 -1.82298404e-05 9.99881460e-01 1.44823658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.5192541539999 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:916.16, Y:72.94, Z:14.49 [[ 5.36857979e-01 -8.43635419e-01 -7.92398320e-03 9.16163037e+02] [ 8.43532169e-01 5.36916302e-01 -1.32046899e-02 7.29409603e+01] [ 1.53944598e-02 4.04908384e-04 9.99881416e-01 1.44889747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.5492541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:916.17, Y:72.96, Z:14.48 [[ 5.32205976e-01 -8.46575364e-01 -8.18241597e-03 9.16170432e+02] [ 8.46474890e-01 5.32268872e-01 -1.30425596e-02 7.29631676e+01] [ 1.53967550e-02 1.51185195e-05 9.99881463e-01 1.44831886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.5792541539998 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:916.19, Y:72.99, Z:14.48 [[ 5.34271798e-01 -8.45275433e-01 -7.94280802e-03 9.16186701e+02] [ 8.45172541e-01 5.34330731e-01 -1.31926478e-02 7.29866553e+01] [ 1.53955075e-02 3.35416437e-04 9.99881426e-01 1.44821975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.6092541539998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:916.20, Y:73.01, Z:14.48 [[ 5.36243936e-01 -8.44025774e-01 -7.93317269e-03 9.16202319e+02] [ 8.43922655e-01 5.36302477e-01 -1.31986773e-02 7.30106006e+01] [ 1.53946039e-02 3.82726472e-04 9.99881423e-01 1.44824622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.6392541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:916.22, Y:73.03, Z:14.48 [[ 5.38902999e-01 -8.42330400e-01 -7.94072776e-03 9.16216780e+02] [ 8.42227167e-01 5.38961334e-01 -1.31939501e-02 7.30344393e+01] [ 1.53934105e-02 4.22362620e-04 9.99881425e-01 1.44811993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.6692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:916.23, Y:73.06, Z:14.48 [[ 5.41210458e-01 -8.40849674e-01 -7.94147247e-03 9.16232857e+02] [ 8.40746288e-01 5.41268521e-01 -1.31934843e-02 7.30579697e+01] [ 1.53922060e-02 4.63688182e-04 9.99881425e-01 1.44829115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.6992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:916.25, Y:73.08, Z:14.48 [[ 5.42478151e-01 -8.40032056e-01 -7.97499184e-03 9.16248887e+02] [ 8.39928891e-01 5.42536584e-01 -1.31724673e-02 7.30817963e+01] [ 1.53920196e-02 4.47349639e-04 9.99881436e-01 1.44848883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.7292541539998 meters Centerline goodness : 0.999675 Centerline is valid? [True, True] Translation: X:916.26, Y:73.10, Z:14.48 [[ 5.41615568e-01 -8.40588409e-01 -7.98141344e-03 9.16264216e+02] [ 8.40485363e-01 5.41674208e-01 -1.31684390e-02 7.31040393e+01] [ 1.53925630e-02 4.23970408e-04 9.99881438e-01 1.44842836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.7592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:916.28, Y:73.13, Z:14.49 [[ 5.42405435e-01 -8.40079462e-01 -7.92719783e-03 9.16282670e+02] [ 8.39975863e-01 5.42463127e-01 -1.32024482e-02 7.31278570e+01] [ 1.53913181e-02 5.02424822e-04 9.99881420e-01 1.44875878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.7892541539999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:916.30, Y:73.15, Z:14.49 [[ 5.39611986e-01 -8.41876006e-01 -7.98087647e-03 9.16299202e+02] [ 8.41773095e-01 5.39670862e-01 -1.31687721e-02 7.31503810e+01] [ 1.53935198e-02 3.87940182e-04 9.99881438e-01 1.44873506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.8192541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:916.32, Y:73.17, Z:14.49 [[ 5.39007036e-01 -8.42263474e-01 -7.97848162e-03 9.16316061e+02] [ 8.42160583e-01 5.39065949e-01 -1.31702737e-02 7.31743323e+01] [ 1.53937683e-02 3.79707487e-04 9.99881437e-01 1.44893767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.8492541539998 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:916.33, Y:73.20, Z:14.49 [[ 5.36031018e-01 -8.44160441e-01 -7.99355126e-03 9.16332288e+02] [ 8.44057900e-01 5.36090529e-01 -1.31608222e-02 7.31973062e+01] [ 1.53951126e-02 3.07588820e-04 9.99881441e-01 1.44913530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.8792541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:916.36, Y:73.22, Z:14.50 [[ 5.40036512e-01 -8.41603890e-01 -7.96609033e-03 9.16356420e+02] [ 8.41500812e-01 5.40095105e-01 -1.31780378e-02 7.32218970e+01] [ 1.53931343e-02 4.13150112e-04 9.99881433e-01 1.44963353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.9092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:916.37, Y:73.25, Z:14.50 [[ 5.39321358e-01 -8.42060265e-01 -8.18435557e-03 9.16372417e+02] [ 8.41959287e-01 5.39383436e-01 -1.30410588e-02 7.32451621e+01] [ 1.53958632e-02 1.42427345e-04 9.99881467e-01 1.44981809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.9392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:916.39, Y:73.27, Z:14.50 [[ 5.37926366e-01 -8.42952133e-01 -8.18083455e-03 9.16388985e+02] [ 8.42851224e-01 5.37988556e-01 -1.30432672e-02 7.32674229e+01] [ 1.53960452e-02 1.21090887e-04 9.99881467e-01 1.45002708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.9692541539998 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:916.40, Y:73.29, Z:14.50 [[ 5.32992106e-01 -8.46080700e-01 -8.17710562e-03 9.16395806e+02] [ 8.45980120e-01 5.33054827e-01 -1.30456045e-02 7.32897922e+01] [ 1.53964798e-02 3.55354036e-05 9.99881467e-01 1.44959168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.9992541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:916.42, Y:73.32, Z:14.50 [[ 5.36814378e-01 -8.43662989e-01 -7.94264768e-03 9.16419721e+02] [ 8.43559924e-01 5.36872998e-01 -1.31923756e-02 7.33150865e+01] [ 1.53941121e-02 3.81757622e-04 9.99881431e-01 1.44995985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.0292541539999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:916.44, Y:73.34, Z:14.50 [[ 5.36591424e-01 -8.43802584e-01 -8.17577622e-03 9.16435022e+02] [ 8.43701728e-01 5.36653696e-01 -1.30462805e-02 7.33389960e+01] [ 1.53960457e-02 1.02605697e-04 9.99881469e-01 1.44991923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.0592541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:916.45, Y:73.36, Z:14.50 [[ 5.37398194e-01 -8.43289036e-01 -8.17203997e-03 9.16450216e+02] [ 8.43188085e-01 5.37460312e-01 -1.30486204e-02 7.33620949e+01] [ 1.53959057e-02 1.21738309e-04 9.99881469e-01 1.44985500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.0892541539998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:916.47, Y:73.39, Z:14.50 [[ 5.36736627e-01 -8.43710293e-01 -8.16908888e-03 9.16465647e+02] [ 8.43609363e-01 5.36798778e-01 -1.30504677e-02 7.33861337e+01] [ 1.53959708e-02 1.13144129e-04 9.99881469e-01 1.44969126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.1192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:916.48, Y:73.41, Z:14.50 [[ 5.34238513e-01 -8.45294346e-01 -8.16583227e-03 9.16475079e+02] [ 8.45193568e-01 5.34300912e-01 -1.30525050e-02 7.34083958e+01] [ 1.53962203e-02 7.14419678e-05 9.99881469e-01 1.44973523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.1492541539999 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:916.49, Y:73.43, Z:14.50 [[ 5.32463682e-01 -8.46414806e-01 -8.02518999e-03 9.16490444e+02] [ 8.46312821e-01 5.32524116e-01 -1.31405744e-02 7.34313876e+01] [ 1.53959840e-02 2.05057462e-04 9.99881454e-01 1.45000905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.1792541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:916.51, Y:73.46, Z:14.50 [[ 5.36562328e-01 -8.43822719e-01 -8.00545677e-03 9.16511857e+02] [ 8.43720258e-01 5.36621959e-01 -1.31529277e-02 7.34554309e+01] [ 1.53946431e-02 3.02999470e-04 9.99881450e-01 1.45001847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.2092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:916.52, Y:73.48, Z:14.50 [[ 5.33046078e-01 -8.46046729e-01 -8.17383763e-03 9.16519778e+02] [ 8.45946117e-01 5.33108742e-01 -1.30474424e-02 7.34775287e+01] [ 1.53962903e-02 4.02618106e-05 9.99881469e-01 1.45005829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.2392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:916.54, Y:73.50, Z:14.50 [[ 5.32334638e-01 -8.46496415e-01 -7.97824252e-03 9.16535182e+02] [ 8.46394000e-01 5.32394358e-01 -1.31698210e-02 7.35014741e+01] [ 1.53957776e-02 2.58015286e-04 9.99881445e-01 1.45007591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.2692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:916.55, Y:73.53, Z:14.50 [[ 5.30333718e-01 -8.47751250e-01 -7.99791456e-03 9.16550295e+02] [ 8.47649161e-01 5.30393985e-01 -1.31575071e-02 7.35256095e+01] [ 1.53963389e-02 1.98444087e-04 9.99881450e-01 1.45015106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.2992541539999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:916.57, Y:73.55, Z:14.51 [[ 5.31792182e-01 -8.46837187e-01 -7.99089259e-03 9.16572096e+02] [ 8.46734929e-01 5.31852165e-01 -1.31619008e-02 7.35501622e+01] [ 1.53959606e-02 2.33228074e-04 9.99881448e-01 1.45051779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.3292541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:916.58, Y:73.57, Z:14.50 [[ 5.25635506e-01 -8.50670647e-01 -8.17096488e-03 9.16579706e+02] [ 8.50570561e-01 5.25699003e-01 -1.30491456e-02 7.35720513e+01] [ 1.53959932e-02 -9.08879377e-05 9.99881471e-01 1.45016646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.3592541539998 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:916.60, Y:73.60, Z:14.51 [[ 5.28392962e-01 -8.48962765e-01 -7.94368218e-03 9.16603427e+02] [ 8.48860305e-01 5.28452621e-01 -1.31912618e-02 7.35971750e+01] [ 1.53967497e-02 2.27093394e-04 9.99881437e-01 1.45082192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.3892541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:916.61, Y:73.62, Z:14.50 [[ 5.23793808e-01 -8.51805922e-01 -8.16814161e-03 9.16611650e+02] [ 8.51705947e-01 5.23857478e-01 -1.30507791e-02 7.36205488e+01] [ 1.53956730e-02 -1.20937489e-04 9.99881472e-01 1.45032490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.4192541539999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:916.63, Y:73.65, Z:14.51 [[ 5.27055933e-01 -8.49793111e-01 -7.98194444e-03 9.16633222e+02] [ 8.49691110e-01 5.27116347e-01 -1.31671731e-02 7.36453148e+01] [ 1.53967864e-02 1.57649481e-04 9.99881450e-01 1.45081565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.4492541539998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:916.65, Y:73.67, Z:14.51 [[ 5.27344685e-01 -8.49612219e-01 -8.16460244e-03 9.16647613e+02] [ 8.49511946e-01 5.27407883e-01 -1.30529210e-02 7.36691599e+01] [ 1.53959968e-02 -5.25388056e-05 9.99881473e-01 1.45083613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.4792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:916.66, Y:73.69, Z:14.50 [[ 5.24919124e-01 -8.51112985e-01 -8.16094342e-03 9.16656223e+02] [ 8.51012857e-01 5.24982551e-01 -1.30552083e-02 7.36926780e+01] [ 1.53958102e-02 -9.21392953e-05 9.99881473e-01 1.45044035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.5092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:916.67, Y:73.72, Z:14.50 [[ 5.24849137e-01 -8.51157708e-01 -7.99620192e-03 9.16667101e+02] [ 8.51056003e-01 5.24910035e-01 -1.31580530e-02 7.37168861e+01] [ 1.53968649e-02 1.00777133e-04 9.99881456e-01 1.45005327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.5392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:916.68, Y:73.74, Z:14.50 [[ 5.27093793e-01 -8.49770361e-01 -7.90363104e-03 9.16684148e+02] [ 8.49667625e-01 5.27152987e-01 -1.32157248e-02 7.37416283e+01] [ 1.53967540e-02 2.50467103e-04 9.99881432e-01 1.45014169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.5692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:916.70, Y:73.77, Z:14.50 [[ 5.28105479e-01 -8.49140928e-01 -8.01799316e-03 9.16696743e+02] [ 8.49039196e-01 5.28166325e-01 -1.31444278e-02 7.37652231e+01] [ 1.53963056e-02 1.34053870e-04 9.99881461e-01 1.45010444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.5992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:916.71, Y:73.79, Z:14.50 [[ 5.28662928e-01 -8.48794578e-01 -7.95445099e-03 9.16711771e+02] [ 8.48692209e-01 5.28722722e-01 -1.31840248e-02 7.37897273e+01] [ 1.53962277e-02 2.19024553e-04 9.99881447e-01 1.45016026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.6292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:916.73, Y:73.81, Z:14.50 [[ 5.28626362e-01 -8.48817289e-01 -7.96113494e-03 9.16726892e+02] [ 8.48714985e-01 5.28686264e-01 -1.31798593e-02 7.38138810e+01] [ 1.53962351e-02 2.10486544e-04 9.99881449e-01 1.45020442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.6592541539999 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:916.74, Y:73.84, Z:14.50 [[ 5.28625651e-01 -8.48817567e-01 -7.97868642e-03 9.16743333e+02] [ 8.48715427e-01 5.28685826e-01 -1.31689300e-02 7.38389919e+01] [ 1.53962376e-02 1.89799956e-04 9.99881453e-01 1.45032871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.6892541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:916.76, Y:73.86, Z:14.51 [[ 5.27499036e-01 -8.49517336e-01 -8.06618740e-03 9.16756668e+02] [ 8.49416105e-01 5.27560700e-01 -1.31144341e-02 7.38619584e+01] [ 1.53963426e-02 6.63018494e-05 9.99881467e-01 1.45061912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.7192541539998 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:916.78, Y:73.89, Z:14.51 [[ 5.28377524e-01 -8.48971640e-01 -8.02166016e-03 9.16777064e+02] [ 8.48869922e-01 5.28438395e-01 -1.31422073e-02 7.38861790e+01] [ 1.53963145e-02 1.34700942e-04 9.99881461e-01 1.45111133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.7492541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:916.79, Y:73.91, Z:14.51 [[ 5.24559059e-01 -8.51335056e-01 -8.14963613e-03 9.16788226e+02] [ 8.51234844e-01 5.24622355e-01 -1.30623631e-02 7.39094412e+01] [ 1.53959289e-02 -8.52733639e-05 9.99881472e-01 1.45126440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.7792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:916.80, Y:73.93, Z:14.51 [[ 5.22964058e-01 -8.52316726e-01 -8.04941250e-03 9.16803857e+02] [ 8.52215665e-01 5.23026003e-01 -1.31248344e-02 7.39339279e+01] [ 1.53965679e-02 3.98124811e-06 9.99881466e-01 1.45133521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.8092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:916.82, Y:73.96, Z:14.51 [[ 5.22829750e-01 -8.52399138e-01 -8.04748922e-03 9.16818952e+02] [ 8.52298069e-01 5.22891680e-01 -1.31260329e-02 7.39581467e+01] [ 1.53965843e-02 3.82097759e-06 9.99881466e-01 1.45137908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.8392541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:916.83, Y:73.98, Z:14.52 [[ 5.21884315e-01 -8.52978333e-01 -8.04520539e-03 9.16833733e+02] [ 8.52877310e-01 5.21946322e-01 -1.31274555e-02 7.39827969e+01] [ 1.53966005e-02 -1.05600211e-05 9.99881465e-01 1.45152139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.8692541539999 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:916.85, Y:74.01, Z:14.51 [[ 5.23379511e-01 -8.52061551e-01 -8.06237653e-03 9.16851132e+02] [ 8.51960584e-01 5.23441605e-01 -1.31167639e-02 7.40073604e+01] [ 1.53964735e-02 -3.78155599e-06 9.99881467e-01 1.45131885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.8992541539999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:916.86, Y:74.03, Z:14.51 [[ 5.22985437e-01 -8.52302764e-01 -8.13819362e-03 9.16864778e+02] [ 8.52202558e-01 5.23048743e-01 -1.30695539e-02 7.40326027e+01] [ 1.53958889e-02 -1.00203047e-04 9.99881471e-01 1.45134723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.9292541539999 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:916.88, Y:74.06, Z:14.51 [[ 5.23533236e-01 -8.51966274e-01 -8.14977701e-03 9.16878665e+02] [ 8.51866139e-01 5.23596655e-01 -1.30623435e-02 7.40559047e+01] [ 1.53958721e-02 -1.03948085e-04 9.99881471e-01 1.45139019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.9592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:916.89, Y:74.08, Z:14.52 [[ 5.24630168e-01 -8.51291397e-01 -8.13289656e-03 9.16891993e+02] [ 8.51191017e-01 5.24693199e-01 -1.30728452e-02 7.40792418e+01] [ 1.53960762e-02 -6.42394941e-05 9.99881471e-01 1.45158976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.9892541539999 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:916.91, Y:74.10, Z:14.51 [[ 5.23686691e-01 -8.51872142e-01 -8.13035914e-03 9.16905964e+02] [ 8.51771808e-01 5.23749794e-01 -1.30744231e-02 7.41033701e+01] [ 1.53960108e-02 -7.83093165e-05 9.99881471e-01 1.45139505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.0192541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:916.92, Y:74.13, Z:14.52 [[ 5.23664229e-01 -8.51885986e-01 -8.12660363e-03 9.16920562e+02] [ 8.51785617e-01 5.23727277e-01 -1.30767570e-02 7.41275402e+01] [ 1.53960300e-02 -7.42942062e-05 9.99881471e-01 1.45160256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.0492541539999 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:916.93, Y:74.15, Z:14.52 [[ 5.23487721e-01 -8.51994498e-01 -8.12286096e-03 9.16934545e+02] [ 8.51894106e-01 5.23550733e-01 -1.30790814e-02 7.41519608e+01] [ 1.53960352e-02 -7.30788499e-05 9.99881471e-01 1.45152781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.0792541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:916.95, Y:74.18, Z:14.52 [[ 5.23783377e-01 -8.51812968e-01 -8.10191624e-03 9.16947754e+02] [ 8.51712353e-01 5.23846032e-01 -1.30920819e-02 7.41762131e+01] [ 1.53961618e-02 -4.30872687e-05 9.99881471e-01 1.45175941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.1092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:916.96, Y:74.20, Z:14.52 [[ 5.21035726e-01 -8.53496275e-01 -8.11675160e-03 9.16958175e+02] [ 8.53396005e-01 5.21098932e-01 -1.30828779e-02 7.42002796e+01] [ 1.53958182e-02 -1.10156605e-04 9.99881471e-01 1.45159724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.1392541539999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:916.98, Y:74.22, Z:14.52 [[ 5.23352876e-01 -8.52078329e-01 -8.01800259e-03 9.16975543e+02] [ 8.51976945e-01 5.23414290e-01 -1.31440815e-02 7.42246503e+01] [ 1.53965241e-02 4.78395073e-05 9.99881465e-01 1.45169582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.1692541539999 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:916.98, Y:74.25, Z:14.51 [[ 5.20194821e-01 -8.54009099e-01 -8.11216411e-03 9.16984659e+02] [ 8.53908847e-01 5.20258056e-01 -1.30857085e-02 7.42489351e+01] [ 1.53957328e-02 -1.19930906e-04 9.99881471e-01 1.45132466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.1992541539998 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:917.00, Y:74.27, Z:14.52 [[ 5.22614738e-01 -8.52531360e-01 -8.00722825e-03 9.17002587e+02] [ 8.52429928e-01 5.22676074e-01 -1.31506596e-02 7.42734613e+01] [ 1.53965364e-02 4.71275378e-05 9.99881465e-01 1.45152825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.2292541539998 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:917.02, Y:74.30, Z:14.52 [[ 5.22880268e-01 -8.52367610e-01 -8.10451923e-03 9.17015909e+02] [ 8.52267087e-01 5.22943070e-01 -1.30904251e-02 7.42984932e+01] [ 1.53960565e-02 -6.24899851e-05 9.99881472e-01 1.45191052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.2592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:917.03, Y:74.32, Z:14.52 [[ 5.23643565e-01 -8.51898936e-01 -8.10062483e-03 9.17029552e+02] [ 8.51798319e-01 5.23706216e-01 -1.30928346e-02 7.43218393e+01] [ 1.53961195e-02 -4.41200132e-05 9.99881472e-01 1.45222391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.2892541539999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:917.04, Y:74.35, Z:14.52 [[ 5.20808422e-01 -8.53635181e-01 -8.09721008e-03 9.17039867e+02] [ 8.53534741e-01 5.20871356e-01 -1.30949461e-02 7.43470298e+01] [ 1.53959115e-02 -9.12918692e-05 9.99881472e-01 1.45156189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.3192541539999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:917.05, Y:74.37, Z:14.52 [[ 5.24000030e-01 -8.51680497e-01 -8.01873504e-03 9.17054645e+02] [ 8.51579076e-01 5.24061378e-01 -1.31434204e-02 7.43721652e+01] [ 1.53963041e-02 5.85656851e-05 9.99881468e-01 1.45220349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.3492541539998 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:917.07, Y:74.40, Z:14.52 [[ 5.24448231e-01 -8.51403845e-01 -8.09606210e-03 9.17068000e+02] [ 8.51303125e-01 5.24510718e-01 -1.30956502e-02 7.43972412e+01] [ 1.53961583e-02 -2.42123959e-05 9.99881472e-01 1.45234166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.3792541539999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:917.08, Y:74.42, Z:14.52 [[ 5.24200550e-01 -8.51556435e-01 -8.08830335e-03 9.17081035e+02] [ 8.51455660e-01 5.24262947e-01 -1.31004405e-02 7.44221040e+01] [ 1.53961622e-02 -1.95735507e-05 9.99881472e-01 1.45230803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.4092541539999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:917.09, Y:74.45, Z:14.53 [[ 5.24199350e-01 -8.51557209e-01 -8.08460628e-03 9.17093364e+02] [ 8.51456399e-01 5.24261690e-01 -1.31027217e-02 7.44468926e+01] [ 1.53961664e-02 -1.52515701e-05 9.99881472e-01 1.45251528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.4392541539999 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:917.11, Y:74.47, Z:14.52 [[ 5.23455515e-01 -8.52014686e-01 -8.08079896e-03 9.17106041e+02] [ 8.51913894e-01 5.23517884e-01 -1.31050693e-02 7.44707129e+01] [ 1.53961543e-02 -2.42241074e-05 9.99881472e-01 1.45237376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.4692541539998 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:917.12, Y:74.50, Z:14.53 [[ 5.22423291e-01 -8.52648028e-01 -8.07743983e-03 9.17117920e+02] [ 8.52547280e-01 5.22485731e-01 -1.31071394e-02 7.44964153e+01] [ 1.53961236e-02 -3.89244442e-05 9.99881472e-01 1.45252745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.4992541539999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:917.13, Y:74.52, Z:14.53 [[ 5.21857989e-01 -8.52994170e-01 -8.07371073e-03 9.17130680e+02] [ 8.52893428e-01 5.21920438e-01 -1.31094361e-02 7.45208205e+01] [ 1.53961072e-02 -4.47508816e-05 9.99881472e-01 1.45256277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.5292541539999 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:917.14, Y:74.55, Z:14.53 [[ 5.21044395e-01 -8.53491423e-01 -8.07034123e-03 9.17143686e+02] [ 8.53390708e-01 5.21106888e-01 -1.31115100e-02 7.45461088e+01] [ 1.53960718e-02 -5.54754036e-05 9.99881472e-01 1.45264883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.5592541539999 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:917.16, Y:74.57, Z:14.53 [[ 5.20882316e-01 -8.53590384e-01 -8.06654906e-03 9.17156918e+02] [ 8.53489645e-01 5.20944770e-01 -1.31138427e-02 7.45706840e+01] [ 1.53960765e-02 -5.39473669e-05 9.99881472e-01 1.45277964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.5892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:917.17, Y:74.60, Z:14.53 [[ 5.21632354e-01 -8.53132275e-01 -8.06278318e-03 9.17168988e+02] [ 8.53031445e-01 5.21694661e-01 -1.31161576e-02 7.45959949e+01] [ 1.53961283e-02 -3.59954138e-05 9.99881472e-01 1.45307986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.6192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:917.18, Y:74.62, Z:14.53 [[ 5.22191205e-01 -8.52790360e-01 -8.05903019e-03 9.17181867e+02] [ 8.52689454e-01 5.22253388e-01 -1.31184632e-02 7.46204245e+01] [ 1.53961548e-02 -2.15039462e-05 9.99881472e-01 1.45307459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.6492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:917.19, Y:74.65, Z:14.53 [[ 5.23828639e-01 -8.51785573e-01 -8.05568673e-03 9.17192743e+02] [ 8.51684516e-01 5.23890577e-01 -1.31205160e-02 7.46465929e+01] [ 1.53961646e-02 1.19983814e-05 9.99881472e-01 1.45311691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.6792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:917.20, Y:74.67, Z:14.53 [[ 5.24759540e-01 -8.51212424e-01 -8.05194968e-03 9.17204883e+02] [ 8.51111264e-01 5.24821311e-01 -1.31228090e-02 7.46719926e+01] [ 1.53961328e-02 3.32141468e-05 9.99881472e-01 1.45315788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.7092541539998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:917.22, Y:74.70, Z:14.53 [[ 5.25846470e-01 -8.50541426e-01 -8.04813846e-03 9.17216370e+02] [ 8.50440151e-01 5.25908052e-01 -1.31251460e-02 7.46971267e+01] [ 1.53960612e-02 5.73515899e-05 9.99881472e-01 1.45299310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.7392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:917.23, Y:74.72, Z:14.53 [[ 5.29225013e-01 -8.48443366e-01 -8.04618553e-03 9.17226508e+02] [ 8.48341829e-01 5.29286162e-01 -1.31263431e-02 7.47227163e+01] [ 1.53956934e-02 1.20873346e-04 9.99881472e-01 1.45298164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.7692541539999 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:917.24, Y:74.75, Z:14.53 [[ 5.30188316e-01 -8.47841759e-01 -8.04368808e-03 9.17238620e+02] [ 8.47740130e-01 5.30249310e-01 -1.31278733e-02 7.47479075e+01] [ 1.53955193e-02 1.41287867e-04 9.99881472e-01 1.45287048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.7992541539999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:917.25, Y:74.77, Z:14.53 [[ 5.31726295e-01 -8.46878095e-01 -8.03990125e-03 9.17251378e+02] [ 8.46776320e-01 5.31787046e-01 -1.31301921e-02 7.47718151e+01] [ 1.53951874e-02 1.73670392e-04 9.99881472e-01 1.45294707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.8292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:917.26, Y:74.80, Z:14.53 [[ 5.34689999e-01 -8.45010058e-01 -8.03776538e-03 9.17263460e+02] [ 8.44908052e-01 5.34750361e-01 -1.31314994e-02 7.47964670e+01] [ 1.53944470e-02 2.30108740e-04 9.99881472e-01 1.45324565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.8592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:917.28, Y:74.82, Z:14.53 [[ 5.34660435e-01 -8.45029224e-01 -7.98935806e-03 9.17277501e+02] [ 8.44926776e-01 5.34720047e-01 -1.31611194e-02 7.48223783e+01] [ 1.53936004e-02 2.86307259e-04 9.99881471e-01 1.45336792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.8892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:917.29, Y:74.85, Z:14.53 [[ 5.35055056e-01 -8.44778977e-01 -8.03537878e-03 9.17290898e+02] [ 8.44676922e-01 5.35115336e-01 -1.31329617e-02 7.48484004e+01] [ 1.53943044e-02 2.39558550e-04 9.99881472e-01 1.45349170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.9192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:917.30, Y:74.87, Z:14.54 [[ 5.34812397e-01 -8.44932652e-01 -8.03202516e-03 9.17304672e+02] [ 8.44830584e-01 5.34872654e-01 -1.31350124e-02 7.48724895e+01] [ 1.53943115e-02 2.39066973e-04 9.99881472e-01 1.45356740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.9492541539998 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:917.32, Y:74.90, Z:14.53 [[ 5.34357738e-01 -8.45220300e-01 -8.02819882e-03 9.17317667e+02] [ 8.45118229e-01 5.34417991e-01 -1.31373507e-02 7.48960807e+01] [ 1.53943694e-02 2.35267842e-04 9.99881472e-01 1.45332957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.9792541539998 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:917.33, Y:74.92, Z:14.53 [[ 5.34359883e-01 -8.45218962e-01 -8.02638216e-03 9.17330368e+02] [ 8.45116874e-01 5.34420107e-01 -1.31384605e-02 7.49196280e+01] [ 1.53943360e-02 2.37435219e-04 9.99881472e-01 1.45334491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.0092541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:917.35, Y:74.94, Z:14.54 [[ 5.34833703e-01 -8.44919240e-01 -8.02425061e-03 9.17345433e+02] [ 8.44817099e-01 5.34893837e-01 -1.31397622e-02 7.49439433e+01] [ 1.53941601e-02 2.48563558e-04 9.99881472e-01 1.45365389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.0392541539999 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:917.36, Y:74.97, Z:14.53 [[ 5.34943490e-01 -8.44849766e-01 -8.02093713e-03 9.17358933e+02] [ 8.44747587e-01 5.35003559e-01 -1.31417846e-02 7.49676770e+01] [ 1.53940635e-02 2.54444814e-04 9.99881472e-01 1.45343066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.0692541539999 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:917.37, Y:74.99, Z:14.54 [[ 5.35522194e-01 -8.44483080e-01 -8.01918482e-03 9.17373376e+02] [ 8.44380844e-01 5.35582165e-01 -1.31428537e-02 7.49922091e+01] [ 1.53938500e-02 2.67043818e-04 9.99881472e-01 1.45353640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.0992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:917.39, Y:75.02, Z:14.54 [[ 5.37099871e-01 -8.43480575e-01 -8.01546895e-03 9.17387384e+02] [ 8.43378193e-01 5.37159594e-01 -1.31451196e-02 7.50161133e+01] [ 1.53932391e-02 3.00170306e-04 9.99881472e-01 1.45371041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.1292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:917.40, Y:75.04, Z:14.54 [[ 5.37650502e-01 -8.43129731e-01 -8.01216034e-03 9.17401808e+02] [ 8.43027280e-01 5.37710107e-01 -1.31471359e-02 7.50401695e+01] [ 1.53929607e-02 3.14094491e-04 9.99881472e-01 1.45379038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.1592541539999 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:917.42, Y:75.07, Z:14.54 [[ 5.38642817e-01 -8.42496161e-01 -8.00847089e-03 9.17416759e+02] [ 8.42393606e-01 5.38702243e-01 -1.31493829e-02 7.50651485e+01] [ 1.53924859e-02 3.36535976e-04 9.99881472e-01 1.45356300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.1892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:917.41, Y:75.08, Z:14.53 [[ 5.31016528e-01 -8.47323648e-01 -8.00518736e-03 9.17414842e+02] [ 8.47221604e-01 5.31076826e-01 -1.31513816e-02 7.50844483e+01] [ 1.53948461e-02 2.01433316e-04 9.99881472e-01 1.45305562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.2192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:917.45, Y:75.11, Z:14.54 [[ 5.40593513e-01 -8.41250198e-01 -7.53382275e-03 9.17446436e+02] [ 8.41143381e-01 5.40645211e-01 -1.34375893e-02 7.51120806e+01] [ 1.53774999e-02 9.27248471e-04 9.99881329e-01 1.45378983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.2492541539999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:917.46, Y:75.14, Z:14.54 [[ 5.41826948e-01 -8.40451950e-01 -8.00488773e-03 9.17461110e+02] [ 8.40349150e-01 5.41885930e-01 -1.31508562e-02 7.51366365e+01] [ 1.53903988e-02 3.98587668e-04 9.99881481e-01 1.45357648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.2792541539999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:917.48, Y:75.16, Z:14.54 [[ 5.42396420e-01 -8.40084578e-01 -8.00157450e-03 9.17475537e+02] [ 8.39981709e-01 5.42455280e-01 -1.31528718e-02 7.51600525e+01] [ 1.53900211e-02 4.12894347e-04 9.99881481e-01 1.45361171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.3092541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:917.49, Y:75.18, Z:14.54 [[ 5.42870925e-01 -8.39778047e-01 -7.99943496e-03 9.17489968e+02] [ 8.39675125e-01 5.42929693e-01 -1.31541729e-02 7.51828742e+01] [ 1.53897164e-02 4.24091453e-04 9.99881481e-01 1.45364608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.3392541539998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:917.51, Y:75.21, Z:14.54 [[ 5.42742700e-01 -8.39860955e-01 -7.99608208e-03 9.17505870e+02] [ 8.39758012e-01 5.42801432e-01 -1.31562107e-02 7.52058660e+01] [ 1.53896725e-02 4.25663332e-04 9.99881481e-01 1.45377753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.3692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:917.52, Y:75.23, Z:14.54 [[ 5.39140670e-01 -8.42177808e-01 -7.99234638e-03 9.17515909e+02] [ 8.42075084e-01 5.39199784e-01 -1.31584797e-02 7.52285090e+01] [ 1.53912511e-02 3.64115835e-04 9.99881481e-01 1.45355480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.3992541539999 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:917.54, Y:75.25, Z:14.54 [[ 5.39923557e-01 -8.41677549e-01 -7.83941681e-03 9.17538124e+02] [ 8.41573413e-01 5.39980179e-01 -1.32512781e-02 7.52522967e+01] [ 1.53864330e-02 5.57232446e-04 9.99881467e-01 1.45374054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.4292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:917.55, Y:75.27, Z:14.54 [[ 5.35856202e-01 -8.44271447e-01 -7.99097595e-03 9.17548417e+02] [ 8.44168942e-01 5.35915694e-01 -1.31592438e-02 7.52745156e+01] [ 1.53924632e-02 3.05728696e-04 9.99881482e-01 1.45368680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.4592541539998 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:917.57, Y:75.30, Z:14.54 [[ 5.34274243e-01 -8.45274854e-01 -7.83928398e-03 9.17567188e+02] [ 8.45171101e-01 5.34331559e-01 -1.32512130e-02 7.52979829e+01] [ 1.53896940e-02 4.54245537e-04 9.99881468e-01 1.45370951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.4892541539999 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:917.58, Y:75.32, Z:14.54 [[ 5.31643633e-01 -8.46931517e-01 -7.87734846e-03 9.17580348e+02] [ 8.46828284e-01 5.31701866e-01 -1.32281406e-02 7.53199600e+01] [ 1.53917301e-02 3.61895277e-04 9.99881475e-01 1.45361689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.5192541539999 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:917.59, Y:75.34, Z:14.54 [[ 5.31739112e-01 -8.46872351e-01 -7.79340892e-03 9.17594580e+02] [ 8.46768363e-01 5.31796020e-01 -1.32790486e-02 7.53434405e+01] [ 1.53901630e-02 4.61777396e-04 9.99881458e-01 1.45365624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.5492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:917.61, Y:75.37, Z:14.54 [[ 5.31073208e-01 -8.47290129e-01 -7.79001237e-03 9.17610881e+02] [ 8.47186155e-01 5.31130145e-01 -1.32811075e-02 7.53665089e+01] [ 1.53904617e-02 4.53649735e-04 9.99881457e-01 1.45382972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.5792541539998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:917.63, Y:75.39, Z:14.54 [[ 5.33368094e-01 -8.45847318e-01 -7.79683988e-03 9.17633928e+02] [ 8.45743250e-01 5.33424856e-01 -1.32769730e-02 7.53913881e+01] [ 1.53893202e-02 4.87389064e-04 9.99881459e-01 1.45432472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.6092541539998 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:917.65, Y:75.41, Z:14.54 [[ 5.32153771e-01 -8.46609539e-01 -8.04070988e-03 9.17650207e+02] [ 8.46507750e-01 5.32214483e-01 -1.31290900e-02 7.54131775e+01] [ 1.53945951e-02 1.80171521e-04 9.99881480e-01 1.45418329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.6392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:917.66, Y:75.44, Z:14.54 [[ 5.29283886e-01 -8.48407282e-01 -7.97823558e-03 9.17662162e+02] [ 8.48305127e-01 5.29343975e-01 -1.31669450e-02 7.54361795e+01] [ 1.53941630e-02 2.01073690e-04 9.99881483e-01 1.45384966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.6692541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:917.68, Y:75.46, Z:14.54 [[ 5.30575841e-01 -8.47600998e-01 -7.86291628e-03 9.17683673e+02] [ 8.47497710e-01 5.30633979e-01 -1.32367438e-02 7.54584835e+01] [ 1.53918078e-02 3.59292963e-04 9.99881475e-01 1.45446418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.6992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:917.70, Y:75.48, Z:14.55 [[ 5.29363339e-01 -8.48357756e-01 -7.97324124e-03 9.17700339e+02] [ 8.48255550e-01 5.29423341e-01 -1.31699520e-02 7.54825248e+01] [ 1.53940509e-02 2.08343623e-04 9.99881483e-01 1.45457675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.7292541539998 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:917.72, Y:75.51, Z:14.55 [[ 5.28777132e-01 -8.48723120e-01 -7.98812359e-03 9.17716351e+02] [ 8.48621091e-01 5.28837435e-01 -1.31609469e-02 7.55055902e+01] [ 1.53944187e-02 1.80317590e-04 9.99881483e-01 1.45469012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.7592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:917.73, Y:75.53, Z:14.55 [[ 5.26897848e-01 -8.49891271e-01 -7.96774663e-03 9.17734097e+02] [ 8.49789189e-01 5.26958062e-01 -1.31732717e-02 7.55283388e+01] [ 1.53945170e-02 1.70063576e-04 9.99881483e-01 1.45485419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.7892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:917.75, Y:75.55, Z:14.55 [[ 5.25995677e-01 -8.50449949e-01 -7.96439317e-03 9.17750125e+02] [ 8.50347901e-01 5.26055947e-01 -1.31752989e-02 7.55518474e+01] [ 1.53946487e-02 1.57645236e-04 9.99881483e-01 1.45493181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.8192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:917.77, Y:75.57, Z:14.55 [[ 5.25165530e-01 -8.50962864e-01 -7.96058590e-03 9.17765676e+02] [ 8.50860839e-01 5.25225840e-01 -1.31775988e-02 7.55748370e+01] [ 1.53947527e-02 1.47069879e-04 9.99881483e-01 1.45505029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.8492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:917.78, Y:75.60, Z:14.55 [[ 5.24215518e-01 -8.51548461e-01 -7.95670051e-03 9.17781862e+02] [ 8.51446469e-01 5.24275881e-01 -1.31799445e-02 7.55965690e+01] [ 1.53948676e-02 1.34426851e-04 9.99881483e-01 1.45508717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.8792541539999 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:917.80, Y:75.62, Z:14.55 [[ 5.23775352e-01 -8.51819292e-01 -7.95453165e-03 9.17796637e+02] [ 8.51717311e-01 5.23835735e-01 -1.31812533e-02 7.56190728e+01] [ 1.53949138e-02 1.29003277e-04 9.99881483e-01 1.45509060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.9092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:917.81, Y:75.64, Z:14.55 [[ 5.23780127e-01 -8.51816376e-01 -7.95238490e-03 9.17812792e+02] [ 8.51714375e-01 5.23840476e-01 -1.31825483e-02 7.56419952e+01] [ 1.53948916e-02 1.31596299e-04 9.99881483e-01 1.45523940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.9392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:917.83, Y:75.67, Z:14.55 [[ 5.23859433e-01 -8.51767641e-01 -7.94856261e-03 9.17828096e+02] [ 8.51665600e-01 5.23919713e-01 -1.31848526e-02 7.56657481e+01] [ 1.53948395e-02 1.37492068e-04 9.99881483e-01 1.45530628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.9692541539998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:917.84, Y:75.69, Z:14.55 [[ 5.24237177e-01 -8.51535240e-01 -7.94470666e-03 9.17842119e+02] [ 8.51433136e-01 5.24297352e-01 -1.31871757e-02 7.56884587e+01] [ 1.53947335e-02 1.48821236e-04 9.99881483e-01 1.45512375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.9992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:917.85, Y:75.70, Z:14.55 [[ 5.29714760e-01 -8.48138661e-01 -7.94260264e-03 9.17853501e+02] [ 8.48036152e-01 5.29774244e-01 -1.31884428e-02 7.57043432e+01] [ 1.53934145e-02 2.50498625e-04 9.99881483e-01 1.45508993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.0292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:917.87, Y:75.73, Z:14.55 [[ 5.28277562e-01 -8.49036705e-01 -7.71302519e-03 9.17871562e+02] [ 8.48932248e-01 5.28333636e-01 -1.33269629e-02 7.57331041e+01] [ 1.53901313e-02 4.92499683e-04 9.99881444e-01 1.45531407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.0592541539999 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:917.89, Y:75.76, Z:14.55 [[ 5.28680133e-01 -8.48783814e-01 -7.95952361e-03 9.17886183e+02] [ 8.48681534e-01 5.28740004e-01 -1.31780793e-02 7.57573645e+01] [ 1.53938590e-02 2.11888022e-04 9.99881485e-01 1.45508681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.0892541539998 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:917.90, Y:75.78, Z:14.55 [[ 5.31461075e-01 -8.47045354e-01 -7.95579133e-03 9.17900716e+02] [ 8.46942844e-01 5.31520552e-01 -1.31803322e-02 7.57802416e+01] [ 1.53930057e-02 2.66732962e-04 9.99881485e-01 1.45507321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.1192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:917.92, Y:75.80, Z:14.55 [[ 5.33010089e-01 -8.46071513e-01 -7.95239111e-03 9.17915971e+02] [ 8.45968864e-01 5.33069326e-01 -1.31823834e-02 7.58036674e+01] [ 1.53924148e-02 2.98868069e-04 9.99881485e-01 1.45540463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.1492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:917.93, Y:75.83, Z:14.55 [[ 5.34232968e-01 -8.45299919e-01 -7.94876339e-03 9.17930808e+02] [ 8.45197152e-01 5.34291999e-01 -1.31845705e-02 7.58270545e+01] [ 1.53918770e-02 3.25360019e-04 9.99881485e-01 1.45549306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.1792541539999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:917.95, Y:75.85, Z:14.55 [[ 5.36195409e-01 -8.44056492e-01 -7.94492698e-03 9.17945223e+02] [ 8.43953554e-01 5.36254142e-01 -1.31868819e-02 7.58497665e+01] [ 1.53909732e-02 3.65596142e-04 9.99881485e-01 1.45531185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.2092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:917.96, Y:75.87, Z:14.56 [[ 5.37228936e-01 -8.43399076e-01 -7.94156640e-03 9.17960425e+02] [ 8.43296036e-01 5.37287491e-01 -1.31889054e-02 7.58720025e+01] [ 1.53904149e-02 3.88370150e-04 9.99881485e-01 1.45550088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.2392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:917.98, Y:75.89, Z:14.56 [[ 5.38277204e-01 -8.42730465e-01 -7.93820629e-03 9.17977876e+02] [ 8.42627323e-01 5.38335578e-01 -1.31909275e-02 7.58947483e+01] [ 1.53898153e-02 4.11426055e-04 9.99881485e-01 1.45562876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.2692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:917.99, Y:75.92, Z:14.56 [[ 5.37698767e-01 -8.43099686e-01 -7.93442864e-03 9.17992151e+02] [ 8.42996551e-01 5.37757152e-01 -1.31931994e-02 7.59178537e+01] [ 1.53899780e-02 4.05271057e-04 9.99881485e-01 1.45557367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.2992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:918.01, Y:75.94, Z:14.56 [[ 5.38608474e-01 -8.42519514e-01 -7.86003853e-03 9.18009782e+02] [ 8.42415662e-01 5.38665583e-01 -1.32378993e-02 7.59426405e+01] [ 1.53871207e-02 5.08625181e-04 9.99881482e-01 1.45571369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.3292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:918.03, Y:75.97, Z:14.56 [[ 5.39201254e-01 -8.42139608e-01 -7.93028729e-03 9.18025193e+02] [ 8.42036332e-01 5.39259390e-01 -1.31956816e-02 7.59654138e+01] [ 1.53890880e-02 4.37538020e-04 9.99881485e-01 1.45570702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.3592541539998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:918.04, Y:75.99, Z:14.56 [[ 5.39388979e-01 -8.42019414e-01 -7.92691122e-03 9.18040081e+02] [ 8.41916095e-01 5.39447040e-01 -1.31977093e-02 7.59886978e+01] [ 1.53888763e-02 4.44904813e-04 9.99881485e-01 1.45573706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.3892541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:918.06, Y:76.01, Z:14.56 [[ 5.40197652e-01 -8.41500874e-01 -7.92314520e-03 9.18056146e+02] [ 8.41397467e-01 5.40255554e-01 -1.31999698e-02 7.60122044e+01] [ 1.53883093e-02 4.64078414e-04 9.99881485e-01 1.45580261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.4192541539999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:918.07, Y:76.04, Z:14.56 [[ 5.40335414e-01 -8.41412457e-01 -7.91940814e-03 9.18070504e+02] [ 8.41309008e-01 5.40393241e-01 -1.32022115e-02 7.60355300e+01] [ 1.53880999e-02 4.70953023e-04 9.99881485e-01 1.45563876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.4492541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:918.09, Y:76.06, Z:14.56 [[ 5.40735702e-01 -8.41155290e-01 -7.91698335e-03 9.18085871e+02] [ 8.41051792e-01 5.40793442e-01 -1.32036654e-02 7.60587717e+01] [ 1.53877857e-02 4.81100272e-04 9.99881485e-01 1.45575599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.4792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:918.10, Y:76.08, Z:14.56 [[ 5.43503477e-01 -8.39369615e-01 -7.91327441e-03 9.18104877e+02] [ 8.39265895e-01 5.43560817e-01 -1.32058879e-02 7.60819930e+01] [ 1.53859670e-02 5.36104668e-04 9.99881485e-01 1.45562397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.5092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:918.12, Y:76.10, Z:14.56 [[ 5.42799994e-01 -8.39824342e-01 -7.95242957e-03 9.18116224e+02] [ 8.39721011e-01 5.42858036e-01 -1.31824254e-02 7.61038813e+01] [ 1.53879620e-02 4.77598204e-04 9.99881484e-01 1.45555439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.5392541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:918.13, Y:76.13, Z:14.56 [[ 5.42687129e-01 -8.39898283e-01 -7.84564264e-03 9.18134373e+02] [ 8.39794034e-01 5.42743506e-01 -1.32463553e-02 7.61288109e+01] [ 1.53837627e-02 5.99902654e-04 9.99881483e-01 1.45556311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.5692541539999 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:918.15, Y:76.15, Z:14.56 [[ 5.40491469e-01 -8.41311960e-01 -7.94716795e-03 9.18147325e+02] [ 8.41208743e-01 5.40549711e-01 -1.31855897e-02 7.61516867e+01] [ 1.53890337e-02 4.41471579e-04 9.99881484e-01 1.45551493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.5992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:918.17, Y:76.17, Z:14.56 [[ 5.40766305e-01 -8.41135746e-01 -7.90316779e-03 9.18166022e+02] [ 8.41032126e-01 5.40823824e-01 -1.32119100e-02 7.61749131e+01] [ 1.53872312e-02 4.97737721e-04 9.99881486e-01 1.45589854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.6292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:918.18, Y:76.20, Z:14.56 [[ 5.37903917e-01 -8.42968839e-01 -7.93167063e-03 9.18180354e+02] [ 8.42865665e-01 5.37962235e-01 -1.31948636e-02 7.61980229e+01] [ 1.53897981e-02 4.12235992e-04 9.99881485e-01 1.45604570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.6592541539999 meters Centerline goodness : 0.997019 Centerline is valid? [True, True] Translation: X:918.20, Y:76.22, Z:14.56 [[ 5.33191148e-01 -8.45957931e-01 -7.89806136e-03 9.18198784e+02] [ 8.45854786e-01 5.33249516e-01 -1.32149506e-02 7.62214743e+01] [ 1.53909297e-02 3.65481672e-04 9.99881486e-01 1.45574211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.6892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:918.21, Y:76.24, Z:14.56 [[ 5.32280344e-01 -8.46530606e-01 -7.97303592e-03 9.18213568e+02] [ 8.46428191e-01 5.32339990e-01 -1.31701379e-02 7.62415974e+01] [ 1.53932907e-02 2.61603165e-04 9.99881482e-01 1.45606180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.7192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:918.23, Y:76.26, Z:14.56 [[ 5.28885539e-01 -8.48656481e-01 -7.89075425e-03 9.18230971e+02] [ 8.48553570e-01 5.28944317e-01 -1.32192531e-02 7.62642047e+01] [ 1.53923744e-02 2.95744098e-04 9.99881487e-01 1.45631544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.7492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:918.25, Y:76.29, Z:14.56 [[ 5.27629448e-01 -8.49438027e-01 -7.88697599e-03 9.18246901e+02] [ 8.49335169e-01 5.27688319e-01 -1.32215069e-02 7.62876580e+01] [ 1.53927158e-02 2.77370301e-04 9.99881487e-01 1.45633448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.7792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:918.26, Y:76.31, Z:14.56 [[ 5.26442890e-01 -8.50173946e-01 -7.88323377e-03 9.18262334e+02] [ 8.50071137e-01 5.26501846e-01 -1.32237378e-02 7.63109998e+01] [ 1.53930145e-02 2.60233245e-04 9.99881487e-01 1.45640172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.8092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:918.28, Y:76.33, Z:14.57 [[ 5.24984891e-01 -8.51075072e-01 -7.87949277e-03 9.18279369e+02] [ 8.50972331e-01 5.25043966e-01 -1.32259665e-02 7.63333823e+01] [ 1.53933705e-02 2.38202277e-04 9.99881487e-01 1.45665318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.8392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:918.29, Y:76.36, Z:14.57 [[ 5.24399978e-01 -8.51435633e-01 -7.87560653e-03 9.18294905e+02] [ 8.51332899e-01 5.24459063e-01 -1.32282802e-02 7.63573052e+01] [ 1.53934624e-02 2.32146939e-04 9.99881487e-01 1.45672444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.8692541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:918.31, Y:76.38, Z:14.57 [[ 5.24336352e-01 -8.51474854e-01 -7.87170620e-03 9.18309861e+02] [ 8.51372089e-01 5.24395383e-01 -1.32306008e-02 7.63804451e+01] [ 1.53934103e-02 2.35534001e-04 9.99881487e-01 1.45657398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.8992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:918.33, Y:76.40, Z:14.57 [[ 5.24542379e-01 -8.51347971e-01 -7.86920227e-03 9.18326261e+02] [ 8.51245169e-01 5.24601347e-01 -1.32320899e-02 7.64032673e+01] [ 1.53933070e-02 2.42171500e-04 9.99881487e-01 1.45681449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.9292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:918.34, Y:76.43, Z:14.57 [[ 5.24855625e-01 -8.51154925e-01 -7.86550733e-03 9.18341187e+02] [ 8.51052069e-01 5.24914498e-01 -1.32342859e-02 7.64264035e+01] [ 1.53931465e-02 2.52133123e-04 9.99881487e-01 1.45679215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.9592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:918.35, Y:76.45, Z:14.57 [[ 5.24010795e-01 -8.51675333e-01 -7.86221297e-03 9.18354695e+02] [ 8.51572506e-01 5.24069718e-01 -1.32362427e-02 7.64499169e+01] [ 1.53933292e-02 2.40689673e-04 9.99881487e-01 1.45715287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.9892541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:918.37, Y:76.47, Z:14.57 [[ 5.25465321e-01 -8.50779386e-01 -7.78668848e-03 9.18372079e+02] [ 8.50675792e-01 5.25522893e-01 -1.32810645e-02 7.64746667e+01] [ 1.53913389e-02 3.54791428e-04 9.99881483e-01 1.45682950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.0192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:918.39, Y:76.50, Z:14.57 [[ 5.25245526e-01 -8.50914441e-01 -7.85823687e-03 9.18387430e+02] [ 8.50811493e-01 5.25304238e-01 -1.32385945e-02 7.64984316e+01] [ 1.53928763e-02 2.67634259e-04 9.99881487e-01 1.45694174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.0492541539999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:918.40, Y:76.52, Z:14.57 [[ 5.23939910e-01 -8.51719013e-01 -7.85453525e-03 9.18403206e+02] [ 8.51616123e-01 5.23998722e-01 -1.32407903e-02 7.65216488e+01] [ 1.53931993e-02 2.48329608e-04 9.99881487e-01 1.45693902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.0792541539998 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:918.42, Y:76.54, Z:14.57 [[ 5.22714895e-01 -8.52471386e-01 -7.85334095e-03 9.18417932e+02] [ 8.52368569e-01 5.22773837e-01 -1.32414986e-02 7.65445369e+01] [ 1.53935198e-02 2.27587571e-04 9.99881487e-01 1.45702341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.1092541539998 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:918.43, Y:76.57, Z:14.57 [[ 5.21004541e-01 -8.53517807e-01 -7.84991634e-03 9.18433218e+02] [ 8.53415079e-01 5.21063636e-01 -1.32435285e-02 7.65688705e+01] [ 1.53938934e-02 2.00701506e-04 9.99881487e-01 1.45714025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.1392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:918.45, Y:76.59, Z:14.58 [[ 5.17959157e-01 -8.55369362e-01 -7.84635394e-03 9.18449543e+02] [ 8.55266813e-01 5.18018563e-01 -1.32456388e-02 7.65925912e+01] [ 1.53944706e-02 1.49973764e-04 9.99881487e-01 1.45750860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.1692541539999 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:918.46, Y:76.62, Z:14.58 [[ 5.16355813e-01 -8.56338229e-01 -7.84303281e-03 9.18464536e+02] [ 8.56235761e-01 5.16415359e-01 -1.32476050e-02 7.66176096e+01] [ 1.53946932e-02 1.24992673e-04 9.99881487e-01 1.45762478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.1992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:918.48, Y:76.64, Z:14.58 [[ 5.14105148e-01 -8.57691341e-01 -7.83969215e-03 9.18479408e+02] [ 8.57589000e-01 5.14164911e-01 -1.32495816e-02 7.66425611e+01] [ 1.53949461e-02 8.84443768e-05 9.99881487e-01 1.45773009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.2292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:918.49, Y:76.67, Z:14.58 [[ 5.13125678e-01 -8.58277711e-01 -7.83638361e-03 9.18493149e+02] [ 8.58175409e-01 5.13185507e-01 -1.32515382e-02 7.66660257e+01] [ 1.53950183e-02 7.47127986e-05 9.99881487e-01 1.45768853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.2592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:918.51, Y:76.69, Z:14.58 [[ 5.12314579e-01 -8.58762142e-01 -7.83296824e-03 9.18507344e+02] [ 8.58659866e-01 5.12374452e-01 -1.32535567e-02 7.66902678e+01] [ 1.53950655e-02 6.41348492e-05 9.99881487e-01 1.45775190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.2892541539999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:918.52, Y:76.71, Z:14.58 [[ 5.11612076e-01 -8.59180882e-01 -7.82918629e-03 9.18521162e+02] [ 8.59078619e-01 5.11671975e-01 -1.32557904e-02 7.67147287e+01] [ 1.53950969e-02 5.59359001e-05 9.99881487e-01 1.45763244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.3192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:918.54, Y:76.74, Z:14.58 [[ 5.11189142e-01 -8.59432594e-01 -7.82801800e-03 9.18536048e+02] [ 8.59330351e-01 5.11249073e-01 -1.32564803e-02 7.67398507e+01] [ 1.53951182e-02 4.97153238e-05 9.99881487e-01 1.45773065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.3492541539998 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:918.55, Y:76.76, Z:14.58 [[ 5.10911127e-01 -8.59597925e-01 -7.82475809e-03 9.18548707e+02] [ 8.59495672e-01 5.10971041e-01 -1.32584042e-02 7.67642428e+01] [ 1.53951215e-02 4.85205097e-05 9.99881487e-01 1.45773076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.3792541539999 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:918.56, Y:76.79, Z:14.58 [[ 5.10990705e-01 -8.59550648e-01 -7.82199055e-03 9.18562055e+02] [ 8.59448364e-01 5.11050566e-01 -1.32600367e-02 7.67890179e+01] [ 1.53951059e-02 5.31585340e-05 9.99881487e-01 1.45784957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.4092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:918.58, Y:76.81, Z:14.58 [[ 5.11902469e-01 -8.59007996e-01 -7.81828162e-03 9.18576385e+02] [ 8.58905615e-01 5.11962164e-01 -1.32622232e-02 7.68140814e+01] [ 1.53950202e-02 7.37988204e-05 9.99881487e-01 1.45797162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.4392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:918.59, Y:76.84, Z:14.58 [[ 5.11662423e-01 -8.59151029e-01 -7.81504706e-03 9.18590823e+02] [ 8.59048636e-01 5.11722097e-01 -1.32641290e-02 7.68387524e+01] [ 1.53950223e-02 7.32508388e-05 9.99881487e-01 1.45801548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.4692541539998 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:918.60, Y:76.86, Z:14.58 [[ 5.12020521e-01 -8.58937698e-01 -7.81133971e-03 9.18602859e+02] [ 8.58835247e-01 5.12080095e-01 -1.32663119e-02 7.68630196e+01] [ 1.53949670e-02 8.39700492e-05 9.99881487e-01 1.45799601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.4992541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:918.62, Y:76.89, Z:14.58 [[ 5.14296865e-01 -8.57576676e-01 -7.80897157e-03 9.18615781e+02] [ 8.57474046e-01 5.14356130e-01 -1.32677057e-02 7.68890330e+01] [ 1.53946673e-02 1.27548995e-04 9.99881487e-01 1.45808323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.5292541539999 meters Centerline goodness : 0.995463 Centerline is valid? [True, True] Translation: X:918.63, Y:76.91, Z:14.57 [[ 5.14945267e-01 -8.57187519e-01 -7.80568760e-03 9.18629493e+02] [ 8.57084815e-01 5.15004404e-01 -1.32696374e-02 7.69137990e+01] [ 1.53945311e-02 1.43000680e-04 9.99881487e-01 1.45737496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.5592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:918.64, Y:76.94, Z:14.58 [[ 5.17627694e-01 -8.55570129e-01 -7.83098255e-03 9.18641815e+02] [ 8.55467465e-01 5.17686901e-01 -1.32547701e-02 7.69379645e+01] [ 1.53943825e-02 1.61885310e-04 9.99881486e-01 1.45800023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.5892541539998 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:918.65, Y:76.96, Z:14.58 [[ 5.18035472e-01 -8.55323612e-01 -7.79536388e-03 9.18654950e+02] [ 8.55220604e-01 5.18094078e-01 -1.32756851e-02 7.69635326e+01] [ 1.53937388e-02 2.10519990e-04 9.99881487e-01 1.45801064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.6192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:918.67, Y:76.99, Z:14.58 [[ 5.19441168e-01 -8.54470689e-01 -7.79203827e-03 9.18668894e+02] [ 8.54367555e-01 5.19499552e-01 -1.32776368e-02 7.69876585e+01] [ 1.53933118e-02 2.39686456e-04 9.99881487e-01 1.45801299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.6492541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:918.68, Y:77.01, Z:14.58 [[ 5.20851427e-01 -8.53611800e-01 -7.79008768e-03 9.18681160e+02] [ 8.53508554e-01 5.20909611e-01 -1.32787811e-02 7.70132264e+01] [ 1.53928558e-02 2.67365611e-04 9.99881487e-01 1.45822100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.6792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:918.69, Y:77.04, Z:14.58 [[ 5.17593924e-01 -8.55590968e-01 -7.78623991e-03 9.18686269e+02] [ 8.55487910e-01 5.17652441e-01 -1.32810369e-02 7.70367192e+01] [ 1.53937013e-02 2.13149895e-04 9.99881487e-01 1.45782950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.7092541539998 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:918.71, Y:77.06, Z:14.58 [[ 5.22434439e-01 -8.52645843e-01 -7.57124571e-03 9.18707732e+02] [ 8.52540609e-01 5.22489009e-01 -1.34069215e-02 7.70620616e+01] [ 1.53872486e-02 5.49443108e-04 9.99881458e-01 1.45849058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.7392541539999 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:918.71, Y:77.09, Z:14.58 [[ 5.18280843e-01 -8.55175064e-01 -7.78317835e-03 9.18714506e+02] [ 8.55071933e-01 5.18339230e-01 -1.32827376e-02 7.70857739e+01] [ 1.53933927e-02 2.29011096e-04 9.99881488e-01 1.45803905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.7692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:918.74, Y:77.11, Z:14.59 [[ 5.22910371e-01 -8.52353922e-01 -7.58519486e-03 9.18736532e+02] [ 8.52248778e-01 5.22965102e-01 -1.33986212e-02 7.71104496e+01] [ 1.53871595e-02 5.41804930e-04 9.99881464e-01 1.45872558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.7992541539999 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:918.75, Y:77.14, Z:14.59 [[ 5.22170271e-01 -8.52805752e-01 -7.78186001e-03 9.18749517e+02] [ 8.52702347e-01 5.22228167e-01 -1.32834087e-02 7.71357227e+01] [ 1.53920738e-02 3.00590828e-04 9.99881490e-01 1.45882118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.8292541539998 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:918.76, Y:77.16, Z:14.58 [[ 5.17763172e-01 -8.55488633e-01 -7.77798948e-03 9.18756214e+02] [ 8.55385494e-01 5.17821541e-01 -1.32856747e-02 7.71593881e+01] [ 1.53933542e-02 2.25653688e-04 9.99881490e-01 1.45841805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.8592541539998 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:918.78, Y:77.19, Z:14.59 [[ 5.20681364e-01 -8.53717413e-01 -7.58254848e-03 9.18776392e+02] [ 8.53612393e-01 5.20736328e-01 -1.33999625e-02 7.71854154e+01] [ 1.53882898e-02 5.04553402e-04 9.99881466e-01 1.45881536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.8892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:918.79, Y:77.21, Z:14.59 [[ 5.19999505e-01 -8.54131175e-01 -7.77498471e-03 9.18790939e+02] [ 8.54027858e-01 5.20057558e-01 -1.32873605e-02 7.72098440e+01] [ 1.53925884e-02 2.69367358e-04 9.99881491e-01 1.45886062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.9192541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:918.80, Y:77.23, Z:14.58 [[ 5.14553691e-01 -8.57422945e-01 -7.77124268e-03 9.18797562e+02] [ 8.57319967e-01 5.14612342e-01 -1.32895487e-02 7.72336291e+01] [ 1.53939414e-02 1.75744835e-04 9.99881491e-01 1.45839253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.9492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:918.82, Y:77.26, Z:14.59 [[ 5.16422493e-01 -8.56300462e-01 -7.57156419e-03 9.18820035e+02] [ 8.56195625e-01 5.16477807e-01 -1.34061691e-02 7.72586961e+01] [ 1.53902537e-02 4.40507136e-04 9.99881466e-01 1.45885658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.9792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:918.83, Y:77.28, Z:14.59 [[ 5.14786251e-01 -8.57283369e-01 -7.76803428e-03 9.18833922e+02] [ 8.57180347e-01 5.14844824e-01 -1.32913440e-02 7.72816645e+01] [ 1.53937804e-02 1.83594808e-04 9.99881492e-01 1.45880491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.0092541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:918.84, Y:77.30, Z:14.58 [[ 5.07598323e-01 -8.61558844e-01 -7.76540944e-03 9.18841002e+02] [ 8.61456292e-01 5.07657715e-01 -1.32928774e-02 7.73044354e+01] [ 1.53947661e-02 5.78814265e-05 9.99881492e-01 1.45849194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.0392541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:918.86, Y:77.33, Z:14.59 [[ 5.07150819e-01 -8.61824205e-01 -7.55554527e-03 9.18856569e+02] [ 8.61719836e-01 5.07207012e-01 -1.34152983e-02 7.73293090e+01] [ 1.53938544e-02 2.92816300e-04 9.99881465e-01 1.45859096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.0692541539999 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:918.88, Y:77.35, Z:14.59 [[ 5.08995232e-01 -8.60735738e-01 -7.60552294e-03 9.18876173e+02] [ 8.60631682e-01 5.09051980e-01 -1.33861637e-02 7.73546114e+01] [ 1.53935560e-02 2.67939513e-04 9.99881476e-01 1.45886565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.0992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:918.88, Y:77.38, Z:14.59 [[ 5.03570068e-01 -8.63919580e-01 -7.75533824e-03 9.18884565e+02] [ 8.63817216e-01 5.03629783e-01 -1.32987976e-02 7.73772176e+01] [ 1.53949110e-02 -2.31827447e-06 9.99881491e-01 1.45876448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.1292541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:918.90, Y:77.40, Z:14.59 [[ 5.01729648e-01 -8.64991386e-01 -7.56721301e-03 9.18897692e+02] [ 8.64887477e-01 5.01786676e-01 -1.34083604e-02 7.74007271e+01] [ 1.53952429e-02 1.82584179e-04 9.99881470e-01 1.45869648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.1592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:918.91, Y:77.42, Z:14.59 [[ 4.99396695e-01 -8.66340417e-01 -7.56456716e-03 9.18911882e+02] [ 8.66236639e-01 4.99453962e-01 -1.34099022e-02 7.74242876e+01] [ 1.53956933e-02 1.44155621e-04 9.99881469e-01 1.45879647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.1892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:918.93, Y:77.45, Z:14.59 [[ 4.97775738e-01 -8.67272869e-01 -7.55550414e-03 9.18925967e+02] [ 8.67169117e-01 4.97833060e-01 -1.34151813e-02 7.74480154e+01] [ 1.53960025e-02 1.25851899e-04 9.99881467e-01 1.45887538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.2192541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:918.94, Y:77.47, Z:14.59 [[ 4.95583652e-01 -8.68527263e-01 -7.56556203e-03 9.18939377e+02] [ 8.68423746e-01 4.95641391e-01 -1.34093195e-02 7.74723367e+01] [ 1.53961653e-02 7.53258333e-05 9.99881469e-01 1.45886239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.2492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:918.96, Y:77.50, Z:14.59 [[ 4.97992251e-01 -8.67148705e-01 -7.53932520e-03 9.18961235e+02] [ 8.67044796e-01 4.98049296e-01 -1.34246006e-02 7.74976509e+01] [ 1.53960806e-02 1.48414369e-04 9.99881462e-01 1.45943301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.2792541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:918.97, Y:77.52, Z:14.59 [[ 4.90764928e-01 -8.71257526e-01 -7.75304058e-03 9.18969116e+02] [ 8.71156035e-01 4.90826113e-01 -1.33000190e-02 7.75216152e+01] [ 1.53931364e-02 -2.26925210e-04 9.99881493e-01 1.45923913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.3092541539999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:918.98, Y:77.55, Z:14.59 [[ 4.89046913e-01 -8.72224450e-01 -7.59116387e-03 9.18981774e+02] [ 8.72121603e-01 4.89105821e-01 -1.33942654e-02 7.75452688e+01] [ 1.53956882e-02 -6.99938666e-05 9.99881477e-01 1.45922398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.3392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:919.00, Y:77.57, Z:14.60 [[ 4.88935831e-01 -8.72286823e-01 -7.57972154e-03 9.18996282e+02] [ 8.72183879e-01 4.88994576e-01 -1.34009317e-02 7.75703288e+01] [ 1.53958988e-02 -5.87152677e-05 9.99881474e-01 1.45972718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.3692541539999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:919.01, Y:77.60, Z:14.60 [[ 4.88253951e-01 -8.72668384e-01 -7.61391296e-03 9.19008626e+02] [ 8.72565796e-01 4.88313301e-01 -1.33810098e-02 7.75953751e+01] [ 1.53951592e-02 -1.10309101e-04 9.99881481e-01 1.45960050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.3992541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:919.02, Y:77.62, Z:14.60 [[ 4.87554040e-01 -8.73059623e-01 -7.61267274e-03 9.19019125e+02] [ 8.72957072e-01 4.87613454e-01 -1.33817320e-02 7.76211658e+01] [ 1.53950916e-02 -1.21218984e-04 9.99881481e-01 1.45959901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.4292541539999 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:919.04, Y:77.65, Z:14.60 [[ 4.90136795e-01 -8.71612414e-01 -7.59745089e-03 9.19036907e+02] [ 8.71509550e-01 4.90195671e-01 -1.33905865e-02 7.76472781e+01] [ 1.53956389e-02 -5.80318739e-05 9.99881478e-01 1.45968404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.4592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:919.05, Y:77.67, Z:14.60 [[ 4.87367757e-01 -8.73162481e-01 -7.74282015e-03 9.19045305e+02] [ 8.73061134e-01 4.87429181e-01 -1.33059957e-02 7.76710925e+01] [ 1.53923727e-02 -2.75042077e-04 9.99881493e-01 1.45985151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.4892541539999 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:919.06, Y:77.70, Z:14.60 [[ 4.86870923e-01 -8.73440795e-01 -7.60802139e-03 9.19057483e+02] [ 8.73338249e-01 4.86930345e-01 -1.33843633e-02 7.76965770e+01] [ 1.53950254e-02 -1.27918800e-04 9.99881481e-01 1.45992615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.5192541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:919.07, Y:77.72, Z:14.60 [[ 4.86540738e-01 -8.73624488e-01 -7.63966561e-03 9.19071278e+02] [ 8.73522252e-01 4.86600684e-01 -1.33659692e-02 7.77219808e+01] [ 1.53943045e-02 -1.70329387e-04 9.99881486e-01 1.46003064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.5492541539999 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:919.08, Y:77.75, Z:14.60 [[ 4.85817332e-01 -8.74026885e-01 -7.65012589e-03 9.19082953e+02] [ 8.73924795e-01 4.85877522e-01 -1.33598904e-02 7.77478810e+01] [ 1.53939276e-02 -1.95168365e-04 9.99881487e-01 1.46004313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.5792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:919.10, Y:77.77, Z:14.60 [[ 4.85918204e-01 -8.73970614e-01 -7.67230770e-03 9.19096483e+02] [ 8.73868720e-01 4.85978721e-01 -1.33469990e-02 7.77734318e+01] [ 1.53934632e-02 -2.19039920e-04 9.99881490e-01 1.46019362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.6092541539998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:919.11, Y:77.80, Z:14.60 [[ 4.84862362e-01 -8.74556714e-01 -7.68404119e-03 9.19108217e+02] [ 8.74455001e-01 4.84923181e-01 -1.33401815e-02 7.77987124e+01] [ 1.53929150e-02 -2.51196351e-04 9.99881491e-01 1.46012341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.6392541539999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:919.12, Y:77.82, Z:14.60 [[ 4.86106141e-01 -8.73866251e-01 -7.65480601e-03 9.19123189e+02] [ 8.73764184e-01 4.86166369e-01 -1.33571573e-02 7.78242579e+01] [ 1.53938782e-02 -1.95499138e-04 9.99881488e-01 1.46002282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.6692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:919.13, Y:77.85, Z:14.60 [[ 4.84899778e-01 -8.74535556e-01 -7.73090670e-03 9.19133803e+02] [ 8.74434272e-01 4.84961306e-01 -1.33129653e-02 7.78506956e+01] [ 1.53918521e-02 -3.04715865e-04 9.99881492e-01 1.46001263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.6992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:919.15, Y:77.88, Z:14.60 [[ 4.83868635e-01 -8.75106529e-01 -7.72705729e-03 9.19146496e+02] [ 8.75005282e-01 4.83930224e-01 -1.33151992e-02 7.78763499e+01] [ 1.53915743e-02 -3.18408695e-04 9.99881492e-01 1.45999251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.7292541539998 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:919.16, Y:77.90, Z:14.60 [[ 4.81206584e-01 -8.76573066e-01 -7.73841624e-03 9.19157941e+02] [ 8.76472113e-01 4.81268653e-01 -1.33086096e-02 7.79032853e+01] [ 1.53902259e-02 -3.78315448e-04 9.99881492e-01 1.46008192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.7592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:919.17, Y:77.93, Z:14.60 [[ 4.80421370e-01 -8.77003492e-01 -7.75775843e-03 9.19170934e+02] [ 8.76902774e-01 4.80483823e-01 -1.32973941e-02 7.79284351e+01] [ 1.53893385e-02 -4.14447597e-04 9.99881491e-01 1.46017482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.7892541539999 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:919.18, Y:77.95, Z:14.60 [[ 4.77907689e-01 -8.78375639e-01 -7.77678004e-03 9.19180078e+02] [ 8.78275279e-01 4.77970717e-01 -1.32863717e-02 7.79529901e+01] [ 1.53874984e-02 -4.80494461e-04 9.99881490e-01 1.46011903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.8192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:919.19, Y:77.98, Z:14.60 [[ 4.75305349e-01 -8.79787087e-01 -7.71410183e-03 9.19189964e+02] [ 8.79686325e-01 4.75367727e-01 -1.33226638e-02 7.79797046e+01] [ 1.53881426e-02 -4.53656549e-04 9.99881493e-01 1.46030504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.8492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:919.20, Y:78.01, Z:14.60 [[ 4.72170999e-01 -8.81473255e-01 -7.71021546e-03 9.19199830e+02] [ 8.81372680e-01 4.72233678e-01 -1.33249125e-02 7.80051294e+01] [ 1.53865774e-02 -5.03935989e-04 9.99881493e-01 1.46008110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.8792541539999 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:919.21, Y:78.03, Z:14.60 [[ 4.70375512e-01 -8.82433189e-01 -7.65152041e-03 9.19209734e+02] [ 8.82332189e-01 4.70437508e-01 -1.33588507e-02 7.80318314e+01] [ 1.53878554e-02 -4.67506540e-04 9.99881491e-01 1.46002284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.9092541539999 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:919.22, Y:78.06, Z:14.60 [[ 4.68815057e-01 -8.83263009e-01 -7.67461259e-03 9.19219668e+02] [ 8.83162336e-01 4.68877580e-01 -1.33455015e-02 7.80570682e+01] [ 1.53860416e-02 -5.21356764e-04 9.99881492e-01 1.46000091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.9392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:919.23, Y:78.08, Z:14.60 [[ 4.70718103e-01 -8.82250648e-01 -7.63289302e-03 9.19233346e+02] [ 8.82149451e-01 4.70779778e-01 -1.33696064e-02 7.80823008e+01] [ 1.53887556e-02 -4.40036648e-04 9.99881489e-01 1.46048066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.9692541539998 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:919.24, Y:78.11, Z:14.60 [[ 4.68636262e-01 -8.83357649e-01 -7.70185483e-03 9.19237013e+02] [ 8.83257246e-01 4.68699217e-01 -1.33297607e-02 7.81096491e+01] [ 1.53847994e-02 -5.55909849e-04 9.99881492e-01 1.45986655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.9992541539999 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:919.25, Y:78.14, Z:14.60 [[ 4.69860024e-01 -8.82708198e-01 -7.60223907e-03 9.19248677e+02] [ 8.82606776e-01 4.69921334e-01 -1.33872792e-02 7.81364440e+01] [ 1.53895154e-02 -4.19640382e-04 9.99881486e-01 1.45979124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.0292541539999 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:919.26, Y:78.16, Z:14.60 [[ 4.71379705e-01 -8.81897523e-01 -7.61136409e-03 9.19260970e+02] [ 8.81796079e-01 4.71440978e-01 -1.33820113e-02 7.81633887e+01] [ 1.53898715e-02 -4.03662494e-04 9.99881487e-01 1.45975393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.0592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:919.27, Y:78.19, Z:14.60 [[ 4.73470387e-01 -8.80776673e-01 -7.63186838e-03 9.19272920e+02] [ 8.80675274e-01 4.73531731e-01 -1.33701796e-02 7.81883445e+01] [ 1.53900741e-02 -3.90813680e-04 9.99881489e-01 1.45996332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.0892541539998 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:919.29, Y:78.22, Z:14.60 [[ 4.77766723e-01 -8.78453329e-01 -7.66200252e-03 9.19285077e+02] [ 8.78351910e-01 4.77828029e-01 -1.33527913e-02 7.82167917e+01] [ 1.53909235e-02 -3.50415204e-04 9.99881491e-01 1.46022927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.1192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:919.30, Y:78.24, Z:14.60 [[ 4.79433490e-01 -8.77544019e-01 -7.74746918e-03 9.19296616e+02] [ 8.77443274e-01 4.79495900e-01 -1.33034788e-02 7.82425276e+01] [ 1.53892680e-02 -4.19831432e-04 9.99881490e-01 1.46034591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.1492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:919.31, Y:78.27, Z:14.60 [[ 4.84887990e-01 -8.74541945e-01 -7.74749157e-03 9.19310401e+02] [ 8.74440814e-01 4.84949772e-01 -1.33034659e-02 7.82713516e+01] [ 1.53915832e-02 -3.24031987e-04 9.99881490e-01 1.46034776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.1792541539999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:919.32, Y:78.30, Z:14.60 [[ 4.87770125e-01 -8.72936734e-01 -7.85903888e-03 9.19324388e+02] [ 8.72836428e-01 4.87833268e-01 -1.32390781e-02 7.82976642e+01] [ 1.53907782e-02 -4.02028643e-04 9.99881474e-01 1.46027408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.2092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:919.33, Y:78.32, Z:14.61 [[ 4.86363654e-01 -8.73720428e-01 -7.93789412e-03 9.19327429e+02] [ 8.73620961e-01 4.86428151e-01 -1.31935638e-02 7.83203478e+01] [ 1.53887014e-02 -5.17840778e-04 9.99881453e-01 1.46063845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.2392541539999 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:919.34, Y:78.35, Z:14.60 [[ 4.90753539e-01 -8.71264559e-01 -7.68326629e-03 9.19335273e+02] [ 8.71162437e-01 4.90813659e-01 -1.33402169e-02 7.83469462e+01] [ 1.53939102e-02 -1.46614333e-04 9.99881496e-01 1.46048975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.2692541539999 meters Centerline goodness : 0.999563 Centerline is valid? [True, True] Translation: X:919.35, Y:78.37, Z:14.61 [[ 4.93278581e-01 -8.69837491e-01 -7.67994380e-03 9.19346630e+02] [ 8.69735165e-01 4.93338353e-01 -1.33421294e-02 7.83725054e+01] [ 1.53942951e-02 -9.81305509e-05 9.99881496e-01 1.46059351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.2992541539999 meters Centerline goodness : 0.999294 Centerline is valid? [True, True] Translation: X:919.36, Y:78.40, Z:14.61 [[ 5.00611707e-01 -8.65637911e-01 -7.67632227e-03 9.19356918e+02] [ 8.65535052e-01 5.00670556e-01 -1.33442127e-02 7.83989402e+01] [ 1.53945649e-02 3.61430813e-05 9.99881496e-01 1.46080400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.3292541539998 meters Centerline goodness : 0.999294 Centerline is valid? [True, True] Translation: X:919.37, Y:78.42, Z:14.61 [[ 5.00368450e-01 -8.65778578e-01 -7.67257889e-03 9.19371078e+02] [ 8.65675702e-01 5.00427271e-01 -1.33463647e-02 7.84237376e+01] [ 1.53945643e-02 3.61346784e-05 9.99881496e-01 1.46084785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.3592541539998 meters Centerline goodness : 0.998021 Centerline is valid? [True, True] Translation: X:919.38, Y:78.45, Z:14.61 [[ 5.03854494e-01 -8.63754501e-01 -7.66882763e-03 9.19382543e+02] [ 8.63651356e-01 5.03912842e-01 -1.33485198e-02 7.84487470e+01] [ 1.53942648e-02 1.02518307e-04 9.99881496e-01 1.46084921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.3892541539999 meters Centerline goodness : 0.996841 Centerline is valid? [True, True] Translation: X:919.39, Y:78.47, Z:14.61 [[ 5.07014316e-01 -8.61903547e-01 -7.66546159e-03 9.19393797e+02] [ 8.61800160e-01 5.07072233e-01 -1.33504525e-02 7.84741542e+01] [ 1.53937451e-02 1.62774500e-04 9.99881496e-01 1.46073048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.4192541539999 meters Centerline goodness : 0.996128 Centerline is valid? [True, True] Translation: X:919.40, Y:78.50, Z:14.61 [[ 5.13953159e-01 -8.57784034e-01 -7.66175306e-03 9.19403539e+02] [ 8.57680151e-01 5.14010182e-01 -1.33525804e-02 7.85006070e+01] [ 1.53918494e-02 2.91267371e-04 9.99881496e-01 1.46061092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.4492541539998 meters Centerline goodness : 0.995340 Centerline is valid? [True, True] Translation: X:919.42, Y:78.52, Z:14.61 [[ 5.17395676e-01 -8.55712026e-01 -7.65785697e-03 9.19415647e+02] [ 8.55607882e-01 5.17452220e-01 -1.33548145e-02 7.85246831e+01] [ 1.53904505e-02 3.57600503e-04 9.99881496e-01 1.46064636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.4792541539998 meters Centerline goodness : 0.994924 Centerline is valid? [True, True] Translation: X:919.43, Y:78.55, Z:14.61 [[ 5.21366821e-01 -8.53298323e-01 -7.65569824e-03 9.19426893e+02] [ 8.53193900e-01 5.21422847e-01 -1.33560519e-02 7.85499065e+01] [ 1.53885527e-02 4.31607278e-04 9.99881496e-01 1.46053568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.5092541539999 meters Centerline goodness : 0.994520 Centerline is valid? [True, True] Translation: X:919.44, Y:78.57, Z:14.61 [[ 5.23407090e-01 -8.52048380e-01 -7.65356453e-03 9.19440195e+02] [ 8.51943805e-01 5.23462833e-01 -1.33572745e-02 7.85729570e+01] [ 1.53874007e-02 4.70885292e-04 9.99881496e-01 1.46066476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.5392541539999 meters Centerline goodness : 0.994016 Centerline is valid? [True, True] Translation: X:919.45, Y:78.60, Z:14.61 [[ 5.23356230e-01 -8.52079644e-01 -7.65097511e-03 9.19453211e+02] [ 8.51975050e-01 5.23411938e-01 -1.33587575e-02 7.85977885e+01] [ 1.53873371e-02 4.72949082e-04 9.99881496e-01 1.46053372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.5692541539999 meters Centerline goodness : 0.994293 Centerline is valid? [True, True] Translation: X:919.47, Y:78.62, Z:14.61 [[ 5.24057741e-01 -8.51648405e-01 -7.64707721e-03 9.19467084e+02] [ 8.51543734e-01 5.24113303e-01 -1.33609885e-02 7.86208945e+01] [ 1.53867994e-02 4.90108760e-04 9.99881496e-01 1.46068108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.5992541539998 meters Centerline goodness : 0.993637 Centerline is valid? [True, True] Translation: X:919.48, Y:78.65, Z:14.60 [[ 5.22937229e-01 -8.52336911e-01 -7.64491037e-03 9.19480490e+02] [ 8.52232295e-01 5.22992893e-01 -1.33622282e-02 7.86451846e+01] [ 1.53873541e-02 4.72367073e-04 9.99881496e-01 1.46041250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.6292541539999 meters Centerline goodness : 0.993702 Centerline is valid? [True, True] Translation: X:919.50, Y:78.67, Z:14.60 [[ 5.21928389e-01 -8.52955081e-01 -7.64110166e-03 9.19495317e+02] [ 8.52850499e-01 5.21984118e-01 -1.33644058e-02 7.86684752e+01] [ 1.53877716e-02 4.58545427e-04 9.99881496e-01 1.46035149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.6592541539999 meters Centerline goodness : 0.993646 Centerline is valid? [True, True] Translation: X:919.51, Y:78.69, Z:14.60 [[ 5.21762675e-01 -8.53056495e-01 -7.63724510e-03 9.19509911e+02] [ 8.52951891e-01 5.21818364e-01 -1.33666093e-02 7.86907005e+01] [ 1.53877276e-02 4.59995182e-04 9.99881496e-01 1.46037849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.6892541539999 meters Centerline goodness : 0.994184 Centerline is valid? [True, True] Translation: X:919.52, Y:78.71, Z:14.60 [[ 5.21094255e-01 -8.53464986e-01 -7.63513369e-03 9.19524761e+02] [ 8.53360408e-01 5.21149993e-01 -1.33678153e-02 7.87143714e+01] [ 1.53880121e-02 4.50370941e-04 9.99881496e-01 1.46040028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.7192541539998 meters Centerline goodness : 0.993822 Centerline is valid? [True, True] Translation: X:919.54, Y:78.74, Z:14.60 [[ 5.20540064e-01 -8.53803142e-01 -7.63129633e-03 9.19539318e+02] [ 8.53698569e-01 5.20595810e-01 -1.33700056e-02 7.87372569e+01] [ 1.53881736e-02 4.44796799e-04 9.99881496e-01 1.46040122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.7492541539999 meters Centerline goodness : 0.994207 Centerline is valid? [True, True] Translation: X:919.56, Y:78.76, Z:14.61 [[ 5.20393799e-01 -8.53892322e-01 -7.62868847e-03 9.19556910e+02] [ 8.53787736e-01 5.20449522e-01 -1.33714934e-02 7.87599925e+01] [ 1.53881628e-02 4.45161587e-04 9.99881496e-01 1.46064680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.7792541539999 meters Centerline goodness : 0.993848 Centerline is valid? [True, True] Translation: X:919.57, Y:78.78, Z:14.61 [[ 5.19711469e-01 -8.54307819e-01 -7.62493611e-03 9.19571500e+02] [ 8.54203247e-01 5.19767217e-01 -1.33736328e-02 7.87836323e+01] [ 1.53883909e-02 4.37185163e-04 9.99881496e-01 1.46064165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.8092541539999 meters Centerline goodness : 0.994400 Centerline is valid? [True, True] Translation: X:919.59, Y:78.81, Z:14.61 [[ 5.20336371e-01 -8.53927385e-01 -7.62119725e-03 9.19587164e+02] [ 8.53822741e-01 5.20391983e-01 -1.33757631e-02 7.88063765e+01] [ 1.53879404e-02 4.52744496e-04 9.99881496e-01 1.46093791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.8392541539998 meters Centerline goodness : 0.994457 Centerline is valid? [True, True] Translation: X:919.60, Y:78.83, Z:14.61 [[ 5.21283177e-01 -8.53349957e-01 -7.59610101e-03 9.19603921e+02] [ 8.53245043e-01 5.21338281e-01 -1.33900510e-02 7.88291824e+01] [ 1.53865377e-02 4.98672787e-04 9.99881496e-01 1.46100933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.8692541539999 meters Centerline goodness : 0.994732 Centerline is valid? [True, True] Translation: X:919.62, Y:78.85, Z:14.61 [[ 5.22034210e-01 -8.52890556e-01 -7.61466343e-03 9.19619327e+02] [ 8.52785747e-01 5.22089512e-01 -1.33794866e-02 7.88519844e+01] [ 1.53867736e-02 4.90873255e-04 9.99881496e-01 1.46115327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.8992541539999 meters Centerline goodness : 0.994579 Centerline is valid? [True, True] Translation: X:919.64, Y:78.87, Z:14.61 [[ 5.22599558e-01 -8.52544292e-01 -7.61133533e-03 9.19635754e+02] [ 8.52439419e-01 5.22654738e-01 -1.33813796e-02 7.88746913e+01] [ 1.53863193e-02 5.04900785e-04 9.99881496e-01 1.46099000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.9292541539999 meters Centerline goodness : 0.994978 Centerline is valid? [True, True] Translation: X:919.65, Y:78.90, Z:14.61 [[ 5.22683509e-01 -8.52492859e-01 -7.60752212e-03 9.19650710e+02] [ 8.52387950e-01 5.22738619e-01 -1.33835471e-02 7.88973047e+01] [ 1.53861239e-02 5.10799181e-04 9.99881496e-01 1.46099561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.9592541539998 meters Centerline goodness : 0.995107 Centerline is valid? [True, True] Translation: X:919.67, Y:78.92, Z:14.61 [[ 5.22963024e-01 -8.52321449e-01 -7.60410469e-03 9.19666314e+02] [ 8.52216494e-01 5.23018046e-01 -1.33854885e-02 7.89207723e+01] [ 1.53858229e-02 5.19772108e-04 9.99881496e-01 1.46095400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.9892541539999 meters Centerline goodness : 0.995241 Centerline is valid? [True, True] Translation: X:919.68, Y:78.94, Z:14.61 [[ 5.24140270e-01 -8.51598035e-01 -7.60029972e-03 9.19683388e+02] [ 8.51492972e-01 5.24195087e-01 -1.33876486e-02 7.89425234e+01] [ 1.53849350e-02 5.45403960e-04 9.99881496e-01 1.46082078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.0192541539999 meters Centerline goodness : 0.995464 Centerline is valid? [True, True] Translation: X:919.70, Y:78.96, Z:14.61 [[ 5.25043405e-01 -8.51041543e-01 -7.59706367e-03 9.19698908e+02] [ 8.50936395e-01 5.25098061e-01 -1.33894847e-02 7.89649012e+01] [ 1.53842111e-02 5.65442676e-04 9.99881496e-01 1.46099863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.0492541539999 meters Centerline goodness : 0.995580 Centerline is valid? [True, True] Translation: X:919.71, Y:78.99, Z:14.61 [[ 5.25351722e-01 -8.50851282e-01 -7.59367804e-03 9.19713991e+02] [ 8.50746087e-01 5.25406286e-01 -1.33914046e-02 7.89875073e+01] [ 1.53838599e-02 5.74905570e-04 9.99881496e-01 1.46093405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.0792541539998 meters Centerline goodness : 0.995367 Centerline is valid? [True, True] Translation: X:919.73, Y:79.01, Z:14.61 [[ 5.25436803e-01 -8.50798772e-01 -7.59044706e-03 9.19729914e+02] [ 8.50693546e-01 5.25491306e-01 -1.33932357e-02 7.90112386e+01] [ 1.53836624e-02 5.80154615e-04 9.99881496e-01 1.46094406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.1092541539998 meters Centerline goodness : 0.995480 Centerline is valid? [True, True] Translation: X:919.75, Y:79.03, Z:14.61 [[ 5.24849911e-01 -8.51160980e-01 -7.58662719e-03 9.19747043e+02] [ 8.51055760e-01 5.24904426e-01 -1.33953991e-02 7.90324291e+01] [ 1.53838952e-02 5.73931254e-04 9.99881496e-01 1.46066325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.1392541539999 meters Centerline goodness : 0.995358 Centerline is valid? [True, True] Translation: X:919.76, Y:79.06, Z:14.61 [[ 5.23711858e-01 -8.51861712e-01 -7.58374256e-03 9.19763259e+02] [ 8.51756542e-01 5.23766469e-01 -1.33970320e-02 7.90560664e+01] [ 1.53845287e-02 5.56682198e-04 9.99881496e-01 1.46063540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.1692541539999 meters Centerline goodness : 0.995706 Centerline is valid? [True, True] Translation: X:919.78, Y:79.08, Z:14.61 [[ 5.20477208e-01 -8.53841914e-01 -7.58033892e-03 9.19782577e+02] [ 8.53736924e-01 5.20532163e-01 -1.33989576e-02 7.90777541e+01] [ 1.53864018e-02 5.02236815e-04 9.99881496e-01 1.46087108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.1992541539998 meters Centerline goodness : 0.995826 Centerline is valid? [True, True] Translation: X:919.80, Y:79.10, Z:14.61 [[ 5.18219065e-01 -8.55214356e-01 -7.57667522e-03 9.19799271e+02] [ 8.55109481e-01 5.18274241e-01 -1.34010290e-02 7.91009052e+01] [ 1.53875480e-02 4.65781899e-04 9.99881496e-01 1.46114769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.2292541539998 meters Centerline goodness : 0.995788 Centerline is valid? [True, True] Translation: X:919.82, Y:79.12, Z:14.61 [[ 5.15124676e-01 -8.57081805e-01 -7.57284408e-03 9.19815082e+02] [ 8.56977098e-01 5.15180170e-01 -1.34031936e-02 7.91236932e+01] [ 1.53890125e-02 4.14561801e-04 9.99881496e-01 1.46117099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.2592541539999 meters Centerline goodness : 0.996000 Centerline is valid? [True, True] Translation: X:919.83, Y:79.14, Z:14.61 [[ 5.08960255e-01 -8.60756743e-01 -7.56891435e-03 9.19834286e+02] [ 8.60652404e-01 5.09016438e-01 -1.34054124e-02 7.91439046e+01] [ 1.53915009e-02 3.08617778e-04 9.99881496e-01 1.46138778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.2892541539999 meters Centerline goodness : 0.996186 Centerline is valid? [True, True] Translation: X:919.85, Y:79.17, Z:14.62 [[ 5.03481515e-01 -8.63972864e-01 -7.56665869e-03 9.19847456e+02] [ 8.63868865e-01 5.03538325e-01 -1.34066855e-02 7.91660904e+01] [ 1.53931151e-02 2.13417453e-04 9.99881496e-01 1.46168028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.3192541539999 meters Centerline goodness : 0.996309 Centerline is valid? [True, True] Translation: X:919.86, Y:79.19, Z:14.62 [[ 4.99556152e-01 -8.66249434e-01 -7.45446423e-03 9.19863586e+02] [ 8.66144744e-01 4.99611693e-01 -1.34699622e-02 7.91888013e+01] [ 1.53926846e-02 2.72357466e-04 9.99881489e-01 1.46184683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.3492541539998 meters Centerline goodness : 0.996334 Centerline is valid? [True, True] Translation: X:919.89, Y:79.21, Z:14.62 [[ 4.94510016e-01 -8.69140115e-01 -7.43676369e-03 9.19887409e+02] [ 8.69035598e-01 4.94565890e-01 -1.34799418e-02 7.92112603e+01] [ 1.53939278e-02 2.03153822e-04 9.99881486e-01 1.46178985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.3792541539999 meters Centerline goodness : 0.996377 Centerline is valid? [True, True] Translation: X:919.90, Y:79.23, Z:14.62 [[ 4.91113874e-01 -8.71062557e-01 -7.56212617e-03 9.19903470e+02] [ 8.70959339e-01 4.91172091e-01 -1.34092439e-02 7.92340155e+01] [ 1.53945956e-02 -8.38678783e-07 9.99881496e-01 1.46189543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.4092541539999 meters Centerline goodness : 0.996459 Centerline is valid? [True, True] Translation: X:919.92, Y:79.26, Z:14.62 [[ 4.87998149e-01 -8.72811938e-01 -7.55830407e-03 9.19918726e+02] [ 8.72708895e-01 4.88056676e-01 -1.34113980e-02 7.92564819e+01] [ 1.53945090e-02 -5.14618083e-05 9.99881496e-01 1.46186482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.4392541539999 meters Centerline goodness : 0.996459 Centerline is valid? [True, True] Translation: X:919.93, Y:79.28, Z:14.62 [[ 4.80532104e-01 -8.76944587e-01 -7.55571051e-03 9.19930862e+02] [ 8.76842025e-01 4.80591468e-01 -1.34128590e-02 7.92779286e+01] [ 1.53935441e-02 -1.79855162e-04 9.99881496e-01 1.46179392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.4692541539998 meters Centerline goodness : 0.996719 Centerline is valid? [True, True] Translation: X:919.95, Y:79.30, Z:14.62 [[ 4.78525735e-01 -8.78042189e-01 -7.41857815e-03 9.19946252e+02] [ 8.77938556e-01 4.78583234e-01 -1.34900179e-02 7.93014781e+01] [ 1.53952119e-02 -5.77350643e-05 9.99881485e-01 1.46171424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.4992541539999 meters Centerline goodness : 0.996719 Centerline is valid? [True, True] Translation: X:919.96, Y:79.32, Z:14.62 [[ 4.75198197e-01 -8.79847401e-01 -7.43136836e-03 9.19962759e+02] [ 8.79744099e-01 4.75256283e-01 -1.34828140e-02 7.93235755e+01] [ 1.53946234e-02 -1.30693568e-04 9.99881487e-01 1.46170581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.5292541539999 meters Centerline goodness : 0.996519 Centerline is valid? [True, True] Translation: X:919.98, Y:79.35, Z:14.62 [[ 4.74229762e-01 -8.80369883e-01 -7.41626866e-03 9.19978876e+02] [ 8.80266513e-01 4.74287731e-01 -1.34913182e-02 7.93474916e+01] [ 1.53947954e-02 -1.30308342e-04 9.99881485e-01 1.46180729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.5592541539999 meters Centerline goodness : 0.996754 Centerline is valid? [True, True] Translation: X:919.99, Y:79.37, Z:14.62 [[ 4.73057018e-01 -8.81000398e-01 -7.44013320e-03 9.19994365e+02] [ 8.80897316e-01 4.73115489e-01 -1.34778761e-02 7.93718781e+01] [ 1.53940565e-02 -1.78189463e-04 9.99881489e-01 1.46177163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.5892541539998 meters Centerline goodness : 0.996844 Centerline is valid? [True, True] Translation: X:920.01, Y:79.40, Z:14.62 [[ 4.72180341e-01 -8.81470583e-01 -7.43882885e-03 9.20011706e+02] [ 8.81367547e-01 4.72238895e-01 -1.34786105e-02 7.93953427e+01] [ 1.53939029e-02 -1.92007444e-04 9.99881488e-01 1.46193888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.6192541539999 meters Centerline goodness : 0.996886 Centerline is valid? [True, True] Translation: X:920.03, Y:79.42, Z:14.62 [[ 4.72124293e-01 -8.81500103e-01 -7.49805043e-03 9.20028432e+02] [ 8.81397597e-01 4.72183757e-01 -1.34452697e-02 7.94195367e+01] [ 1.53924642e-02 -2.60925201e-04 9.99881495e-01 1.46196535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.6492541539999 meters Centerline goodness : 0.997089 Centerline is valid? [True, True] Translation: X:920.04, Y:79.44, Z:14.62 [[ 4.70847135e-01 -8.82182492e-01 -7.55160282e-03 9.20044153e+02] [ 8.82080553e-01 4.70907563e-01 -1.34151241e-02 7.94437418e+01] [ 1.53906945e-02 -3.44649217e-04 9.99881497e-01 1.46217624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.6792541539999 meters Centerline goodness : 0.997098 Centerline is valid? [True, True] Translation: X:920.06, Y:79.47, Z:14.62 [[ 4.70853661e-01 -8.82179038e-01 -7.54813891e-03 9.20058543e+02] [ 8.82077068e-01 4.70914036e-01 -1.34170729e-02 7.94672667e+01] [ 1.53907850e-02 -3.40562358e-04 9.99881497e-01 1.46224942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.7092541539998 meters Centerline goodness : 0.997169 Centerline is valid? [True, True] Translation: X:920.07, Y:79.49, Z:14.62 [[ 4.71073673e-01 -8.82061596e-01 -7.54558324e-03 9.20072935e+02] [ 8.81959588e-01 4.71133983e-01 -1.34185100e-02 7.94914598e+01] [ 1.53909330e-02 -3.33792699e-04 9.99881497e-01 1.46236002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.7392541539999 meters Centerline goodness : 0.997376 Centerline is valid? [True, True] Translation: X:920.09, Y:79.52, Z:14.62 [[ 4.73114871e-01 -8.80968467e-01 -7.54181078e-03 9.20086789e+02] [ 8.80866285e-01 4.73174887e-01 -1.34206299e-02 7.95157715e+01] [ 1.53917472e-02 -2.93827241e-04 9.99881497e-01 1.46247390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.7692541539999 meters Centerline goodness : 0.997442 Centerline is valid? [True, True] Translation: X:920.10, Y:79.54, Z:14.62 [[ 4.74987976e-01 -8.79960000e-01 -7.53801035e-03 9.20099791e+02] [ 8.79857657e-01 4.75047716e-01 -1.34227642e-02 7.95402496e+01] [ 1.53924102e-02 -2.56724532e-04 9.99881497e-01 1.46247567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.7992541539999 meters Centerline goodness : 0.997424 Centerline is valid? [True, True] Translation: X:920.11, Y:79.56, Z:14.62 [[ 4.77306379e-01 -8.78704647e-01 -7.53421026e-03 9.20112026e+02] [ 8.78602113e-01 4.77365791e-01 -1.34248969e-02 7.95641979e+01] [ 1.53930935e-02 -2.11784157e-04 9.99881497e-01 1.46245061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.8292541539998 meters Centerline goodness : 0.997599 Centerline is valid? [True, True] Translation: X:920.12, Y:79.59, Z:14.62 [[ 4.82773990e-01 -8.75712602e-01 -7.53081510e-03 9.20124423e+02] [ 8.75609671e-01 4.82832710e-01 -1.34268011e-02 7.95892439e+01] [ 1.53941428e-02 -1.11944183e-04 9.99881497e-01 1.46243245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.8592541539998 meters Centerline goodness : 0.997632 Centerline is valid? [True, True] Translation: X:920.14, Y:79.61, Z:14.62 [[ 4.85238425e-01 -8.74349481e-01 -7.52700778e-03 9.20137368e+02] [ 8.74246352e-01 4.85296796e-01 -1.34289352e-02 7.96138530e+01] [ 1.53944153e-02 -6.42237448e-05 9.99881497e-01 1.46241787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.8892541539999 meters Centerline goodness : 0.997802 Centerline is valid? [True, True] Translation: X:920.15, Y:79.64, Z:14.62 [[ 4.89422796e-01 -8.72014179e-01 -7.52319985e-03 9.20150916e+02] [ 8.71910738e-01 4.89480614e-01 -1.34310681e-02 7.96389453e+01] [ 1.53945423e-02 1.39121775e-05 9.99881497e-01 1.46233216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.9192541539999 meters Centerline goodness : 0.997869 Centerline is valid? [True, True] Translation: X:920.16, Y:79.66, Z:14.62 [[ 4.89691426e-01 -8.71863387e-01 -7.51939912e-03 9.20163148e+02] [ 8.71759896e-01 4.89749154e-01 -1.34331956e-02 7.96638740e+01] [ 1.53945308e-02 2.30101307e-05 9.99881497e-01 1.46232908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.9492541539998 meters Centerline goodness : 0.997943 Centerline is valid? [True, True] Translation: X:920.18, Y:79.69, Z:14.62 [[ 4.90639167e-01 -8.71330703e-01 -7.48430494e-03 9.20176975e+02] [ 8.71226848e-01 4.90696240e-01 -1.34528296e-02 7.96888426e+01] [ 1.53943838e-02 7.99576957e-05 9.99881496e-01 1.46232928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.9792541539998 meters Centerline goodness : 0.998062 Centerline is valid? [True, True] Translation: X:920.19, Y:79.71, Z:14.62 [[ 4.92672754e-01 -8.70182481e-01 -7.48378482e-03 9.20188999e+02] [ 8.70078489e-01 4.92729577e-01 -1.34531204e-02 7.97113550e+01] [ 1.53941518e-02 1.16505694e-04 9.99881496e-01 1.46205148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.0092541539999 meters Centerline goodness : 0.998145 Centerline is valid? [True, True] Translation: X:920.21, Y:79.74, Z:14.62 [[ 4.94228770e-01 -8.69300512e-01 -7.38532011e-03 9.20206202e+02] [ 8.69195591e-01 4.94283880e-01 -1.35081402e-02 7.97377931e+01] [ 1.53930778e-02 2.56823812e-04 9.99881487e-01 1.46242871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.0392541539999 meters Centerline goodness : 0.998183 Centerline is valid? [True, True] Translation: X:920.22, Y:79.76, Z:14.63 [[ 4.96507389e-01 -8.67999930e-01 -7.51894652e-03 9.20220823e+02] [ 8.67895985e-01 4.96564297e-01 -1.34334594e-02 7.97601448e+01] [ 1.53938822e-02 1.44148350e-04 9.99881497e-01 1.46266665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.0692541539999 meters Centerline goodness : 0.998205 Centerline is valid? [True, True] Translation: X:920.24, Y:79.78, Z:14.63 [[ 4.97172670e-01 -8.67619136e-01 -7.50811687e-03 9.20235408e+02] [ 8.67515056e-01 4.97229331e-01 -1.34395095e-02 7.97845852e+01] [ 1.53936315e-02 1.68352393e-04 9.99881497e-01 1.46276181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.0992541539998 meters Centerline goodness : 0.998270 Centerline is valid? [True, True] Translation: X:920.25, Y:79.81, Z:14.63 [[ 4.97987929e-01 -8.67151491e-01 -7.50426809e-03 9.20249846e+02] [ 8.67047326e-01 4.98044432e-01 -1.34416582e-02 7.98087583e+01] [ 1.53934129e-02 1.87227958e-04 9.99881497e-01 1.46293801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.1292541539999 meters Centerline goodness : 0.998253 Centerline is valid? [True, True] Translation: X:920.27, Y:79.83, Z:14.63 [[ 5.00524791e-01 -8.65689713e-01 -7.50031194e-03 9.20269034e+02] [ 8.65585349e-01 5.00580928e-01 -1.34438653e-02 7.98347496e+01] [ 1.53927290e-02 2.36827763e-04 9.99881497e-01 1.46297953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.1592541539999 meters Centerline goodness : 0.998491 Centerline is valid? [True, True] Translation: X:920.29, Y:79.86, Z:14.63 [[ 5.03462611e-01 -8.63983310e-01 -7.63143875e-03 9.20285557e+02] [ 8.63879854e-01 5.03520427e-01 -1.33707455e-02 7.98598873e+01] [ 1.53946862e-02 1.39024234e-04 9.99881485e-01 1.46301979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.1892541539999 meters Centerline goodness : 0.998516 Centerline is valid? [True, True] Translation: X:920.30, Y:79.88, Z:14.63 [[ 5.04952144e-01 -8.63113313e-01 -7.66429228e-03 9.20299735e+02] [ 8.63010035e-01 5.05010290e-01 -1.33524242e-02 7.98834001e+01] [ 1.53952016e-02 1.27974077e-04 9.99881479e-01 1.46296397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.2192541539998 meters Centerline goodness : 0.998508 Centerline is valid? [True, True] Translation: X:920.31, Y:79.91, Z:14.63 [[ 5.05745326e-01 -8.62648794e-01 -7.66315032e-03 9.20314495e+02] [ 8.62545453e-01 5.05803359e-01 -1.33530610e-02 7.99085399e+01] [ 1.53950492e-02 1.43432730e-04 9.99881479e-01 1.46302176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.2492541539999 meters Centerline goodness : 0.998508 Centerline is valid? [True, True] Translation: X:920.33, Y:79.93, Z:14.63 [[ 5.05387975e-01 -8.62858174e-01 -7.66594941e-03 9.20327771e+02] [ 8.62754880e-01 5.05446094e-01 -1.33515024e-02 7.99327767e+01] [ 1.53951772e-02 1.33853508e-04 9.99881478e-01 1.46306441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.2792541539999 meters Centerline goodness : 0.998744 Centerline is valid? [True, True] Translation: X:920.34, Y:79.95, Z:14.63 [[ 5.05516009e-01 -8.62783192e-01 -7.66348232e-03 9.20336603e+02] [ 8.62679869e-01 5.05574075e-01 -1.33528751e-02 7.99534995e+01] [ 1.53950942e-02 1.38960228e-04 9.99881479e-01 1.46301079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.3092541539999 meters Centerline goodness : 0.998808 Centerline is valid? [True, True] Translation: X:920.36, Y:79.98, Z:14.63 [[ 5.08309887e-01 -8.61141786e-01 -7.47547144e-03 9.20357603e+02] [ 8.61036724e-01 5.08364693e-01 -1.34573146e-02 7.99797498e+01] [ 1.53889217e-02 4.03830642e-04 9.99881502e-01 1.46291601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.3392541539998 meters Centerline goodness : 0.998658 Centerline is valid? [True, True] Translation: X:920.37, Y:80.00, Z:14.63 [[ 5.06039257e-01 -8.62476386e-01 -7.66505564e-03 9.20366644e+02] [ 8.62373042e-01 5.06097285e-01 -1.33519407e-02 8.00011084e+01] [ 1.53949974e-02 1.46468781e-04 9.99881479e-01 1.46309069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.3692541539999 meters Centerline goodness : 0.998784 Centerline is valid? [True, True] Translation: X:920.39, Y:80.03, Z:14.63 [[ 5.05912595e-01 -8.62552415e-01 -7.46843738e-03 9.20390587e+02] [ 8.62447451e-01 5.05967583e-01 -1.34610287e-02 8.00263644e+01] [ 1.53896300e-02 3.68969167e-04 9.99881505e-01 1.46292871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.3992541539999 meters Centerline goodness : 0.998605 Centerline is valid? [True, True] Translation: X:920.40, Y:80.05, Z:14.63 [[ 5.01437822e-01 -8.65159672e-01 -7.67159643e-03 9.20399557e+02] [ 8.65056695e-01 5.01496500e-01 -1.33481979e-02 8.00466258e+01] [ 1.53956013e-02 5.69254405e-05 9.99881479e-01 1.46332387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.4292541539999 meters Centerline goodness : 0.998843 Centerline is valid? [True, True] Translation: X:920.42, Y:80.07, Z:14.63 [[ 4.95061239e-01 -8.68826028e-01 -7.46349294e-03 9.20417939e+02] [ 8.68721723e-01 4.95117462e-01 -1.34635601e-02 8.00690547e+01] [ 1.53927971e-02 1.81588306e-04 9.99881507e-01 1.46349467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.4592541539998 meters Centerline goodness : 0.998867 Centerline is valid? [True, True] Translation: X:920.43, Y:80.09, Z:14.64 [[ 4.90733438e-01 -8.71277820e-01 -7.46011257e-03 9.20433715e+02] [ 8.71173768e-01 4.90790127e-01 -1.34654329e-02 8.00916988e+01] [ 1.53934826e-02 1.08883803e-04 9.99881507e-01 1.46354702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.4892541539999 meters Centerline goodness : 0.998779 Centerline is valid? [True, True] Translation: X:920.45, Y:80.11, Z:14.64 [[ 4.86117830e-01 -8.73861462e-01 -7.45660666e-03 9.20449750e+02] [ 8.73757681e-01 4.86175015e-01 -1.34673741e-02 8.01146086e+01] [ 1.53938350e-02 3.14633111e-05 9.99881507e-01 1.46357923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.5192541539999 meters Centerline goodness : 0.998901 Centerline is valid? [True, True] Translation: X:920.47, Y:80.14, Z:14.64 [[ 4.76976190e-01 -8.78884617e-01 -7.45279395e-03 9.20467701e+02] [ 8.78781406e-01 4.77034395e-01 -1.34694837e-02 8.01358958e+01] [ 1.53933610e-02 -1.24753743e-04 9.99881507e-01 1.46379191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.5492541539999 meters Centerline goodness : 0.998901 Centerline is valid? [True, True] Translation: X:920.48, Y:80.16, Z:14.64 [[ 4.72499009e-01 -8.81299701e-01 -7.45137885e-03 9.20483805e+02] [ 8.81196775e-01 4.72557717e-01 -1.34702665e-02 8.01596183e+01] [ 1.53925484e-02 -2.01443462e-04 9.99881507e-01 1.46388164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.5792541539998 meters Centerline goodness : 0.998852 Centerline is valid? [True, True] Translation: X:920.50, Y:80.18, Z:14.64 [[ 4.65804109e-01 -8.84856522e-01 -7.44765020e-03 9.20500698e+02] [ 8.84754011e-01 4.65863539e-01 -1.34723277e-02 8.01815557e+01] [ 1.53906657e-02 -3.13872798e-04 9.99881507e-01 1.46387186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.6092541539998 meters Centerline goodness : 0.999026 Centerline is valid? [True, True] Translation: X:920.51, Y:80.21, Z:14.64 [[ 4.64510948e-01 -8.85536085e-01 -7.44453141e-03 9.20514660e+02] [ 8.85433633e-01 4.64570481e-01 -1.34740509e-02 8.02064213e+01] [ 1.53902678e-02 -3.32794348e-04 9.99881507e-01 1.46402512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.6392541539999 meters Centerline goodness : 0.999136 Centerline is valid? [True, True] Translation: X:920.53, Y:80.23, Z:14.64 [[ 4.64045833e-01 -8.85779939e-01 -7.44075349e-03 9.20527815e+02] [ 8.85677485e-01 4.64105361e-01 -1.34761368e-02 8.02314296e+01] [ 1.53901852e-02 -3.36562709e-04 9.99881507e-01 1.46408728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.6692541539999 meters Centerline goodness : 0.999004 Centerline is valid? [True, True] Translation: X:920.54, Y:80.26, Z:14.64 [[ 4.65837155e-01 -8.84839214e-01 -7.43713073e-03 9.20541303e+02] [ 8.84736608e-01 4.65896421e-01 -1.34781358e-02 8.02567085e+01] [ 1.53909157e-02 -3.01285372e-04 9.99881507e-01 1.46396672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.6992541539998 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:920.55, Y:80.28, Z:14.64 [[ 4.66994988e-01 -8.84228715e-01 -7.43378493e-03 9.20554751e+02] [ 8.84126002e-01 4.67054069e-01 -1.34799809e-02 8.02808657e+01] [ 1.53913657e-02 -2.77319019e-04 9.99881507e-01 1.46412825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.7292541539998 meters Centerline goodness : 0.998963 Centerline is valid? [True, True] Translation: X:920.57, Y:80.31, Z:14.64 [[ 4.68059645e-01 -8.83665641e-01 -7.42991830e-03 9.20568229e+02] [ 8.83562823e-01 4.68118543e-01 -1.34821118e-02 8.03055224e+01] [ 1.53917615e-02 -2.54367132e-04 9.99881507e-01 1.46410511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.7592541539999 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:920.58, Y:80.33, Z:14.64 [[ 4.70711982e-01 -8.82255679e-01 -7.42608163e-03 9.20581189e+02] [ 8.82152652e-01 4.70770512e-01 -1.34842247e-02 8.03296296e+01] [ 1.53925141e-02 -2.03751449e-04 9.99881507e-01 1.46404976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.7892541539999 meters Centerline goodness : 0.998386 Centerline is valid? [True, True] Translation: X:920.59, Y:80.35, Z:14.64 [[ 4.72656084e-01 -8.81215710e-01 -7.42282139e-03 9.20593497e+02] [ 8.81112526e-01 4.72714337e-01 -1.34860192e-02 8.03537363e+01] [ 1.53929661e-02 -1.66091875e-04 9.99881507e-01 1.46376485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.8192541539999 meters Centerline goodness : 0.999339 Centerline is valid? [True, True] Translation: X:920.60, Y:80.38, Z:14.64 [[ 4.74336373e-01 -8.80312861e-01 -7.36693485e-03 9.20604069e+02] [ 8.80209087e-01 4.74393572e-01 -1.35167560e-02 8.03804211e+01] [ 1.53938007e-02 -7.29539517e-05 9.99881506e-01 1.46424915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.8492541539998 meters Centerline goodness : 0.999405 Centerline is valid? [True, True] Translation: X:920.62, Y:80.41, Z:14.64 [[ 4.75498453e-01 -8.79685292e-01 -7.41675593e-03 9.20616095e+02] [ 8.79581868e-01 4.75556280e-01 -1.34893633e-02 8.04059510e+01] [ 1.53934794e-02 -1.09472638e-04 9.99881507e-01 1.46437817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.8792541539999 meters Centerline goodness : 0.999451 Centerline is valid? [True, True] Translation: X:920.63, Y:80.43, Z:14.64 [[ 4.76794191e-01 -8.78983701e-01 -7.41305859e-03 9.20628121e+02] [ 8.78880160e-01 4.76851808e-01 -1.34913949e-02 8.04309107e+01] [ 1.53936466e-02 -8.25714164e-05 9.99881507e-01 1.46439678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.9092541539999 meters Centerline goodness : 0.999562 Centerline is valid? [True, True] Translation: X:920.64, Y:80.46, Z:14.65 [[ 4.79791032e-01 -8.77351505e-01 -7.40963131e-03 9.20640021e+02] [ 8.77247739e-01 4.79848243e-01 -1.34932769e-02 8.04570921e+01] [ 1.53938454e-02 -2.61290589e-05 9.99881507e-01 1.46457470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.9392541539999 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:920.65, Y:80.48, Z:14.65 [[ 4.80909156e-01 -8.76739148e-01 -7.40609854e-03 9.20651767e+02] [ 8.76635279e-01 4.80966180e-01 -1.34952157e-02 8.04811328e+01] [ 1.53938668e-02 -2.47447431e-06 9.99881507e-01 1.46465183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.9692541539998 meters Centerline goodness : 0.999497 Centerline is valid? [True, True] Translation: X:920.66, Y:80.51, Z:14.65 [[ 4.82160859e-01 -8.76051433e-01 -7.40217773e-03 9.20663944e+02] [ 8.75947450e-01 4.82217675e-01 -1.34973659e-02 8.05058356e+01] [ 1.53938477e-02 2.39828462e-05 9.99881507e-01 1.46469810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.9992541539999 meters Centerline goodness : 0.999389 Centerline is valid? [True, True] Translation: X:920.68, Y:80.53, Z:14.65 [[ 4.85107293e-01 -8.74423341e-01 -7.39829683e-03 9.20675343e+02] [ 8.74319135e-01 4.85163698e-01 -1.34994928e-02 8.05314943e+01] [ 1.53936567e-02 8.02299441e-05 9.99881507e-01 1.46462463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.0292541539999 meters Centerline goodness : 0.999628 Centerline is valid? [True, True] Translation: X:920.68, Y:80.56, Z:14.64 [[ 4.83178359e-01 -8.75490715e-01 -7.39461224e-03 9.20680968e+02] [ 8.75386603e-01 4.83234937e-01 -1.35015108e-02 8.05557671e+01] [ 1.53937824e-02 5.04933684e-05 9.99881507e-01 1.46413272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.0592541539999 meters Centerline goodness : 0.999695 Centerline is valid? [True, True] Translation: X:920.70, Y:80.58, Z:14.65 [[ 4.91432664e-01 -8.70885770e-01 -7.20507823e-03 9.20699620e+02] [ 8.70779589e-01 4.91485306e-01 -1.36051808e-02 8.05827216e+01] [ 1.53897484e-02 4.11995166e-04 9.99881486e-01 1.46468476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.0892541539998 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:920.71, Y:80.61, Z:14.65 [[ 4.93148195e-01 -8.69913921e-01 -7.39100227e-03 9.20712707e+02] [ 8.69809141e-01 4.93203524e-01 -1.35034169e-02 8.06079501e+01] [ 1.53920787e-02 2.30424357e-04 9.99881508e-01 1.46479677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.1192541539999 meters Centerline goodness : 0.999673 Centerline is valid? [True, True] Translation: X:920.73, Y:80.63, Z:14.65 [[ 4.94268127e-01 -8.69278118e-01 -7.38727418e-03 9.20725220e+02] [ 8.69173236e-01 4.94323263e-01 -1.35054561e-02 8.06325690e+01] [ 1.53916990e-02 2.54495502e-04 9.99881508e-01 1.46485604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.1492541539999 meters Centerline goodness : 0.998669 Centerline is valid? [True, True] Translation: X:920.73, Y:80.66, Z:14.64 [[ 4.93817761e-01 -8.69534072e-01 -7.38348932e-03 9.20734803e+02] [ 8.69429188e-01 4.93872893e-01 -1.35075250e-02 8.06570152e+01] [ 1.53917585e-02 2.50834639e-04 9.99881508e-01 1.46426824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.1792541539999 meters Centerline goodness : 0.999501 Centerline is valid? [True, True] Translation: X:920.75, Y:80.68, Z:14.65 [[ 4.96430796e-01 -8.68045586e-01 -7.30244854e-03 9.20749474e+02] [ 8.67939883e-01 4.96484350e-01 -1.35517707e-02 8.06815507e+01] [ 1.53891061e-02 3.89429968e-04 9.99881505e-01 1.46484910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.2092541539998 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:920.76, Y:80.71, Z:14.65 [[ 4.97030533e-01 -8.67701705e-01 -7.37569418e-03 9.20763038e+02] [ 8.67596554e-01 4.97085155e-01 -1.35117880e-02 8.07065183e+01] [ 1.53905496e-02 3.16644360e-04 9.99881508e-01 1.46491375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.2392541539999 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:920.78, Y:80.73, Z:14.65 [[ 4.97188660e-01 -8.67611140e-01 -7.37198026e-03 9.20775337e+02] [ 8.67505949e-01 4.97243205e-01 -1.35138140e-02 8.07307115e+01] [ 1.53904027e-02 3.23678360e-04 9.99881508e-01 1.46475265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.2692541539999 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:920.79, Y:80.75, Z:14.65 [[ 4.97464158e-01 -8.67453232e-01 -7.36901835e-03 9.20788650e+02] [ 8.67348000e-01 4.97518624e-01 -1.35154290e-02 8.07543068e+01] [ 1.53902264e-02 3.31938165e-04 9.99881508e-01 1.46474439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.2992541539999 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:920.80, Y:80.78, Z:14.65 [[ 4.97351075e-01 -8.67518105e-01 -7.36515319e-03 9.20802226e+02] [ 8.67412849e-01 4.97405494e-01 -1.35175349e-02 8.07787002e+01] [ 1.53901739e-02 3.34332021e-04 9.99881508e-01 1.46471584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.3292541539998 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:920.82, Y:80.80, Z:14.65 [[ 4.96047797e-01 -8.68264010e-01 -7.36150386e-03 9.20816209e+02] [ 8.68158806e-01 4.96102318e-01 -1.35195220e-02 8.08020875e+01] [ 1.53905735e-02 3.15374719e-04 9.99881508e-01 1.46458943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.3592541539998 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:920.83, Y:80.83, Z:14.65 [[ 4.94784676e-01 -8.68984458e-01 -7.35776656e-03 9.20830436e+02] [ 8.68879303e-01 4.94839291e-01 -1.35215557e-02 8.08268439e+01] [ 1.53909337e-02 2.97247469e-04 9.99881508e-01 1.46463650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.3892541539999 meters Centerline goodness : 0.999651 Centerline is valid? [True, True] Translation: X:920.84, Y:80.85, Z:14.64 [[ 4.90829972e-01 -8.71224342e-01 -7.35416797e-03 9.20838181e+02] [ 8.71119408e-01 4.90885009e-01 -1.35235126e-02 8.08499856e+01] [ 1.53920642e-02 2.31386873e-04 9.99881508e-01 1.46441179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.4192541539999 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:920.86, Y:80.87, Z:14.65 [[ 4.90730164e-01 -8.71281829e-01 -7.20286525e-03 9.20859617e+02] [ 8.71175684e-01 4.90782858e-01 -1.36056852e-02 8.08743207e+01] [ 1.53894290e-02 4.01759045e-04 9.99881495e-01 1.46468590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.4492541539998 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:920.87, Y:80.90, Z:14.65 [[ 4.88624819e-01 -8.72463046e-01 -7.34979052e-03 9.20873582e+02] [ 8.72358216e-01 4.88680053e-01 -1.35258479e-02 8.08970269e+01] [ 1.53924985e-02 1.97414823e-04 9.99881509e-01 1.46471272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.4792541539998 meters Centerline goodness : 0.999715 Centerline is valid? [True, True] Translation: X:920.89, Y:80.92, Z:14.65 [[ 4.85499121e-01 -8.74206291e-01 -7.34605121e-03 9.20887702e+02] [ 8.74101628e-01 4.85554672e-01 -1.35278785e-02 8.09211124e+01] [ 1.53930659e-02 1.46577784e-04 9.99881509e-01 1.46467327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.5092541539999 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:920.90, Y:80.94, Z:14.65 [[ 4.79377500e-01 -8.77578088e-01 -7.34254376e-03 9.20904321e+02] [ 8.77473787e-01 4.79433727e-01 -1.35297819e-02 8.09431275e+01] [ 1.53937033e-02 4.29833589e-05 9.99881509e-01 1.46489965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.5392541539999 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:920.92, Y:80.97, Z:14.65 [[ 4.75230495e-01 -8.79830728e-01 -7.33942137e-03 9.20919374e+02] [ 8.79726668e-01 4.75287165e-01 -1.35314755e-02 8.09673311e+01] [ 1.53937407e-02 -2.61149063e-05 9.99881509e-01 1.46495201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.5692541539999 meters Centerline goodness : 0.999713 Centerline is valid? [True, True] Translation: X:920.94, Y:80.99, Z:14.65 [[ 4.67031295e-01 -8.84210355e-01 -7.33599245e-03 9.20935708e+02] [ 8.84106797e-01 4.67088878e-01 -1.35333342e-02 8.09906290e+01] [ 1.53928747e-02 -1.65310182e-04 9.99881509e-01 1.46517191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.5992541539998 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:920.95, Y:81.01, Z:14.65 [[ 4.63487638e-01 -8.86073046e-01 -7.33258628e-03 9.20949763e+02] [ 8.85969690e-01 4.63545583e-01 -1.35351795e-02 8.10132283e+01] [ 1.53921457e-02 -2.23060832e-04 9.99881509e-01 1.46533247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.6292541539999 meters Centerline goodness : 0.999778 Centerline is valid? [True, True] Translation: X:920.96, Y:81.04, Z:14.65 [[ 4.60030958e-01 -8.87872621e-01 -7.32984005e-03 9.20963850e+02] [ 8.87769468e-01 4.60089263e-01 -1.35366665e-02 8.10368571e+01] [ 1.53912163e-02 -2.79922540e-04 9.99881509e-01 1.46539127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.6592541539999 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:920.98, Y:81.06, Z:14.65 [[ 4.56213318e-01 -8.89840287e-01 -7.32605964e-03 9.20976169e+02] [ 8.89737353e-01 4.56272009e-01 -1.35387122e-02 8.10608411e+01] [ 1.53899675e-02 -3.41728112e-04 9.99881509e-01 1.46536225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.6892541539999 meters Centerline goodness : 0.999757 Centerline is valid? [True, True] Translation: X:920.99, Y:81.08, Z:14.65 [[ 4.55457750e-01 -8.90227287e-01 -7.32230717e-03 9.20988291e+02] [ 8.90124370e-01 4.55516471e-01 -1.35407414e-02 8.10844993e+01] [ 1.53897690e-02 -3.50528464e-04 9.99881509e-01 1.46532282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.7192541539998 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:921.00, Y:81.11, Z:14.65 [[ 4.56543541e-01 -8.89670971e-01 -7.31837508e-03 9.21001454e+02] [ 8.89567948e-01 4.56602077e-01 -1.35428662e-02 8.11071300e+01] [ 1.53902802e-02 -3.27283809e-04 9.99881509e-01 1.46540680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.7492541539999 meters Centerline goodness : 0.995845 Centerline is valid? [True, True] Translation: X:921.01, Y:81.13, Z:14.65 [[ 4.56617684e-01 -8.89632952e-01 -7.31447334e-03 9.21012258e+02] [ 8.89529891e-01 4.56676151e-01 -1.35449732e-02 8.11313451e+01] [ 1.53904000e-02 -3.21568378e-04 9.99881509e-01 1.46511677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.7792541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:921.02, Y:81.15, Z:14.65 [[ 4.58190053e-01 -8.88824384e-01 -7.28623312e-03 9.21024644e+02] [ 8.88720978e-01 4.58247908e-01 -1.35602101e-02 8.11547467e+01] [ 1.53915465e-02 -2.62274840e-04 9.99881509e-01 1.46528555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.8092541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:921.03, Y:81.18, Z:14.65 [[ 4.58549721e-01 -8.88638727e-01 -7.30528256e-03 9.21032822e+02] [ 8.88535460e-01 4.58607824e-01 -1.35499398e-02 8.11783639e+01] [ 1.53912610e-02 -2.77681474e-04 9.99881509e-01 1.46513639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.8392541539998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:921.05, Y:81.20, Z:14.65 [[ 4.63449185e-01 -8.86094020e-01 -7.22779908e-03 9.21046059e+02] [ 8.85989780e-01 4.63505531e-01 -1.35916584e-02 8.12033828e+01] [ 1.53936120e-02 -1.04713125e-04 9.99881506e-01 1.46514911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.8692541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:921.06, Y:81.23, Z:14.65 [[ 4.65343100e-01 -8.85100308e-01 -7.29686051e-03 9.21057363e+02] [ 8.84996528e-01 4.65400281e-01 -1.35544802e-02 8.12278019e+01] [ 1.53930355e-02 -1.50212399e-04 9.99881509e-01 1.46517321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.8992541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:921.07, Y:81.25, Z:14.65 [[ 4.69510909e-01 -8.82896548e-01 -7.29326925e-03 9.21066530e+02] [ 8.82792469e-01 4.69567546e-01 -1.35564123e-02 8.12522980e+01] [ 1.53935921e-02 -7.35597306e-05 9.99881509e-01 1.46514892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.9292541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:921.08, Y:81.28, Z:14.65 [[ 4.71955845e-01 -8.81592050e-01 -7.28949985e-03 9.21078993e+02] [ 8.81487784e-01 4.72012136e-01 -1.35584388e-02 8.12765394e+01] [ 1.53937443e-02 -2.66206065e-05 9.99881509e-01 1.46530848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.9592541539998 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:921.09, Y:81.30, Z:14.65 [[ 4.73569819e-01 -8.80726145e-01 -7.28595375e-03 9.21090564e+02] [ 8.80621746e-01 4.73625863e-01 -1.35603441e-02 8.13017902e+01] [ 1.53937657e-02 5.60039705e-06 9.99881509e-01 1.46527235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.9892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:921.10, Y:81.33, Z:14.65 [[ 4.78126657e-01 -8.78260705e-01 -7.28241662e-03 9.21101667e+02] [ 8.78155989e-01 4.78182105e-01 -1.35622434e-02 8.13250503e+01] [ 1.53935068e-02 8.93723473e-05 9.99881509e-01 1.46546690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.0192541539999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:921.11, Y:81.35, Z:14.65 [[ 4.78965940e-01 -8.77803305e-01 -7.27911528e-03 9.21112408e+02] [ 8.77698509e-01 4.79021237e-01 -1.35640151e-02 8.13501649e+01] [ 1.53933881e-02 1.07832617e-04 9.99881509e-01 1.46539227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.0492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:921.12, Y:81.37, Z:14.66 [[ 4.78071945e-01 -8.78290545e-01 -7.27562963e-03 9.21118284e+02] [ 8.78185776e-01 4.78127295e-01 -1.35658845e-02 8.13741105e+01] [ 1.53934652e-02 9.61143449e-05 9.99881509e-01 1.46560134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.0792541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:921.13, Y:81.40, Z:14.66 [[ 4.78475259e-01 -8.78072089e-01 -7.12973975e-03 9.21130424e+02] [ 8.77966116e-01 4.78528301e-01 -1.36441797e-02 8.13986302e+01] [ 1.53923556e-02 2.68732495e-04 9.99881495e-01 1.46582953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.1092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:921.15, Y:81.42, Z:14.66 [[ 4.81313227e-01 -8.76519870e-01 -7.10601979e-03 9.21149529e+02] [ 8.76413538e-01 4.81365556e-01 -1.36569067e-02 8.14248903e+01] [ 1.53911432e-02 3.45437891e-04 9.99881490e-01 1.46586804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.1392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:921.16, Y:81.45, Z:14.66 [[ 4.81065237e-01 -8.76654562e-01 -7.28122325e-03 9.21163062e+02] [ 8.76549651e-01 4.81120315e-01 -1.35628490e-02 8.14500678e+01] [ 1.53930779e-02 1.42261445e-04 9.99881509e-01 1.46591952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.1692541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:921.18, Y:81.47, Z:14.66 [[ 4.78096935e-01 -8.78276927e-01 -7.27738543e-03 9.21175664e+02] [ 8.78172171e-01 4.78152309e-01 -1.35649079e-02 8.14738086e+01] [ 1.53934443e-02 9.45435290e-05 9.99881509e-01 1.46581696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.1992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:921.19, Y:81.50, Z:14.66 [[ 4.75586987e-01 -8.79638623e-01 -7.27400944e-03 9.21188887e+02] [ 8.79533998e-01 4.75642608e-01 -1.35667180e-02 8.14976179e+01] [ 1.53936380e-02 5.44159250e-05 9.99881509e-01 1.46554376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.2292541539998 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:921.20, Y:81.52, Z:14.66 [[ 4.69519888e-01 -8.82891963e-01 -7.27023719e-03 9.21201824e+02] [ 8.82787692e-01 4.69576170e-01 -1.35687392e-02 8.15225599e+01] [ 1.53936609e-02 -4.72829973e-05 9.99881509e-01 1.46601593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.2592541539999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:921.22, Y:81.55, Z:14.66 [[ 4.66059065e-01 -8.84723768e-01 -7.26656458e-03 9.21215032e+02] [ 8.84619687e-01 4.66115699e-01 -1.35707057e-02 8.15471228e+01] [ 1.53933857e-02 -1.03395663e-04 9.99881509e-01 1.46609961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.2892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:921.23, Y:81.57, Z:14.66 [[ 4.63000580e-01 -8.86328220e-01 -7.26287884e-03 9.21228894e+02] [ 8.86224305e-01 4.63057516e-01 -1.35726780e-02 8.15718236e+01] [ 1.53929782e-02 -1.52381971e-04 9.99881509e-01 1.46618891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.3192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:921.24, Y:81.60, Z:14.66 [[ 4.59706896e-01 -8.88041032e-01 -7.25920211e-03 9.21241920e+02] [ 8.87937298e-01 4.59764161e-01 -1.35746442e-02 8.15962568e+01] [ 1.53923620e-02 -2.05358770e-04 9.99881509e-01 1.46619369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.3492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:921.25, Y:81.62, Z:14.66 [[ 4.54268023e-01 -8.90835518e-01 -7.25554463e-03 9.21254971e+02] [ 8.90732106e-01 4.54325866e-01 -1.35765988e-02 8.16198068e+01] [ 1.53908980e-02 -2.95331854e-04 9.99881510e-01 1.46612082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.3792541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:921.27, Y:81.64, Z:14.66 [[ 4.51516199e-01 -8.92233444e-01 -7.25287773e-03 9.21268123e+02] [ 8.92130187e-01 4.51574320e-01 -1.35780234e-02 8.16447281e+01] [ 1.53899799e-02 -3.39813670e-04 9.99881510e-01 1.46616125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.4092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:921.27, Y:81.67, Z:14.66 [[ 4.44806785e-01 -8.95597216e-01 -7.24915847e-03 9.21274642e+02] [ 8.95494367e-01 4.44865623e-01 -1.35800087e-02 8.16673554e+01] [ 1.53871194e-02 -4.51100540e-04 9.99881510e-01 1.46568206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.4392541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:921.29, Y:81.69, Z:14.66 [[ 4.43376970e-01 -8.96307514e-01 -7.04999554e-03 9.21286765e+02] [ 8.96203052e-01 4.43432945e-01 -1.36862371e-02 8.16924263e+01] [ 1.53932774e-02 -2.50065200e-04 9.99881485e-01 1.46552408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.4692541539998 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:921.30, Y:81.72, Z:14.66 [[ 4.43656926e-01 -8.96169069e-01 -7.03789092e-03 9.21301243e+02] [ 8.96064487e-01 4.43712684e-01 -1.36926935e-02 8.17178896e+01] [ 1.53937699e-02 -2.31545793e-04 9.99881482e-01 1.46567395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.4992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:921.32, Y:81.74, Z:14.66 [[ 4.48018791e-01 -8.93996215e-01 -7.06615192e-03 9.21322268e+02] [ 8.93891599e-01 4.48074472e-01 -1.36776198e-02 8.17434578e+01] [ 1.53939026e-02 -1.88543164e-04 9.99881489e-01 1.46612334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.5292541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:921.34, Y:81.77, Z:14.66 [[ 4.48681223e-01 -8.93662475e-01 -7.24847610e-03 9.21335415e+02] [ 8.93559367e-01 4.48739605e-01 -1.35803048e-02 8.17676784e+01] [ 1.53888871e-02 -3.83715972e-04 9.99881510e-01 1.46611883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.5592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:921.34, Y:81.79, Z:14.66 [[ 4.45825313e-01 -8.95090665e-01 -7.24509662e-03 9.21341634e+02] [ 8.94987715e-01 4.45883973e-01 -1.35821075e-02 8.17911515e+01] [ 1.53876901e-02 -4.29025151e-04 9.99881510e-01 1.46575419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.5892541539998 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:921.36, Y:81.82, Z:14.66 [[ 4.52518640e-01 -8.91726935e-01 -7.06779594e-03 9.21360193e+02] [ 8.91622056e-01 4.52573818e-01 -1.36765703e-02 8.18170909e+01] [ 1.53944655e-02 -1.12899769e-04 9.99881492e-01 1.46620607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.6192541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:921.37, Y:81.84, Z:14.66 [[ 4.54772852e-01 -8.90578023e-01 -7.24145274e-03 9.21373682e+02] [ 8.90474460e-01 4.54830421e-01 -1.35839964e-02 8.18415575e+01] [ 1.53912417e-02 -2.70695932e-04 9.99881511e-01 1.46631932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.6492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:921.39, Y:81.87, Z:14.67 [[ 4.59490799e-01 -8.88153039e-01 -7.23774110e-03 9.21385830e+02] [ 8.88049141e-01 4.59547761e-01 -1.35859737e-02 8.18675271e+01] [ 1.53925116e-02 -1.84839840e-04 9.99881511e-01 1.46651992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.6792541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:921.40, Y:81.89, Z:14.67 [[ 4.62026391e-01 -8.86836672e-01 -7.23400079e-03 9.21397624e+02] [ 8.86732580e-01 4.62082999e-01 -1.35879650e-02 8.18922333e+01] [ 1.53930145e-02 -1.36625747e-04 9.99881511e-01 1.46652956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.7092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:921.41, Y:81.92, Z:14.67 [[ 4.65295495e-01 -8.85125879e-01 -7.23051468e-03 9.21410607e+02] [ 8.85021550e-01 4.65351665e-01 -1.35898198e-02 8.19173870e+01] [ 1.53934333e-02 -7.58793755e-05 9.99881511e-01 1.46666582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.7392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:921.42, Y:81.94, Z:14.67 [[ 4.72071480e-01 -8.81530653e-01 -7.22677965e-03 9.21421820e+02] [ 8.81425866e-01 4.72126791e-01 -1.35918057e-02 8.19419863e+01] [ 1.53935497e-02 4.64333379e-05 9.99881511e-01 1.46678024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.7692541539999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:921.43, Y:81.97, Z:14.67 [[ 4.75036726e-01 -8.79936323e-01 -7.22334914e-03 9.21433366e+02] [ 8.79831323e-01 4.75091630e-01 -1.35936286e-02 8.19674481e+01] [ 1.53932803e-02 1.02144005e-04 9.99881511e-01 1.46681661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.7992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:921.45, Y:81.99, Z:14.67 [[ 4.78676363e-01 -8.77961741e-01 -7.21952329e-03 9.21445928e+02] [ 8.77856483e-01 4.78730773e-01 -1.35956602e-02 8.19923282e+01] [ 1.53926775e-02 1.70215855e-04 9.99881511e-01 1.46699313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.8292541539998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:921.46, Y:82.02, Z:14.67 [[ 4.85364354e-01 -8.74282207e-01 -7.21573398e-03 9.21455930e+02] [ 8.74176507e-01 4.85417900e-01 -1.35976711e-02 8.20174715e+01] [ 1.53908483e-02 2.91999705e-04 9.99881511e-01 1.46702291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.8592541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:921.46, Y:82.04, Z:14.67 [[ 4.85668042e-01 -8.74113572e-01 -7.21222569e-03 9.21464093e+02] [ 8.74007826e-01 4.85721497e-01 -1.35995316e-02 8.20423200e+01] [ 1.53906682e-02 3.01316189e-04 9.99881511e-01 1.46660642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.8892541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:921.48, Y:82.07, Z:14.67 [[ 4.90146909e-01 -8.71610796e-01 -7.11532653e-03 9.21475097e+02] [ 8.71504030e-01 4.90198307e-01 -1.36508817e-02 8.20686349e+01] [ 1.53861769e-02 4.89901703e-04 9.99881506e-01 1.46653193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.9192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:921.49, Y:82.09, Z:14.67 [[ 4.95088851e-01 -8.68813443e-01 -7.08737372e-03 9.21492134e+02] [ 8.68706175e-01 4.95139203e-01 -1.36656844e-02 8.20939786e+01] [ 1.53821669e-02 6.08882664e-04 9.99881502e-01 1.46699521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.9492541539998 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:921.50, Y:82.12, Z:14.66 [[ 4.92576310e-01 -8.70239421e-01 -7.20616274e-03 9.21499446e+02] [ 8.70133208e-01 4.92628830e-01 -1.36027552e-02 8.21184557e+01] [ 1.53876173e-02 4.30073433e-04 9.99881511e-01 1.46646376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.9792541539998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:921.51, Y:82.14, Z:14.66 [[ 4.92809093e-01 -8.70108653e-01 -7.08028178e-03 9.21511347e+02] [ 8.70001464e-01 4.92859615e-01 -1.36693610e-02 8.21427025e+01] [ 1.53834143e-02 5.76529898e-04 9.99881502e-01 1.46644892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.0092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:921.53, Y:82.17, Z:14.67 [[ 4.95276023e-01 -8.68706899e-01 -7.07000857e-03 9.21529982e+02] [ 8.68599491e-01 4.95326079e-01 -1.36747935e-02 8.21683128e+01] [ 1.53813471e-02 6.31791501e-04 9.99881500e-01 1.46693308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.0392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:921.54, Y:82.19, Z:14.67 [[ 4.86816444e-01 -8.73474639e-01 -7.19762672e-03 9.21537500e+02] [ 8.73368708e-01 4.86869532e-01 -1.36072896e-02 8.21911213e+01] [ 1.53899275e-02 3.38070380e-04 9.99881511e-01 1.46650476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.0692541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:921.56, Y:82.22, Z:14.67 [[ 4.88646190e-01 -8.72453881e-01 -7.00903852e-03 9.21558209e+02] [ 8.72346397e-01 4.88696107e-01 -1.37068906e-02 8.22169075e+01] [ 1.53839197e-02 5.83510368e-04 9.99881490e-01 1.46702555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.0992541539998 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:921.57, Y:82.24, Z:14.67 [[ 4.85178561e-01 -8.74385508e-01 -7.19362654e-03 9.21572070e+02] [ 8.74279647e-01 4.85231785e-01 -1.36093213e-02 8.22414519e+01] [ 1.53903695e-02 3.13709634e-04 9.99881512e-01 1.46706488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.1292541539999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:921.59, Y:82.27, Z:14.67 [[ 4.81556643e-01 -8.76385478e-01 -7.18986203e-03 9.21586446e+02] [ 8.76279808e-01 4.81610247e-01 -1.36113098e-02 8.22656660e+01] [ 1.53914655e-02 2.54285720e-04 9.99881512e-01 1.46715659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.1592541539999 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:921.60, Y:82.29, Z:14.67 [[ 4.73670694e-01 -8.80672716e-01 -7.18610690e-03 9.21601306e+02] [ 8.80567502e-01 4.73725186e-01 -1.36132920e-02 8.22880077e+01] [ 1.53930947e-02 1.20365278e-04 9.99881512e-01 1.46710220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.1892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:921.61, Y:82.31, Z:14.67 [[ 4.65726521e-01 -8.84899551e-01 -7.18280195e-03 9.21609759e+02] [ 8.84794804e-01 4.65781907e-01 -1.36150356e-02 8.23106304e+01] [ 1.53935581e-02 -1.44226883e-05 9.99881512e-01 1.46687413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.2192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:921.63, Y:82.34, Z:14.67 [[ 4.61052399e-01 -8.87345278e-01 -7.00305196e-03 9.21631808e+02] [ 8.87239369e-01 4.61105569e-01 -1.37097545e-02 8.23357717e+01] [ 1.53944321e-02 1.07531785e-04 9.99881493e-01 1.46729496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.2492541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:921.65, Y:82.36, Z:14.67 [[ 4.56551767e-01 -8.89667884e-01 -7.17913684e-03 9.21645454e+02] [ 8.89563686e-01 4.56608177e-01 -1.36169190e-02 8.23589103e+01] [ 1.53925881e-02 -1.69471000e-04 9.99881513e-01 1.46727773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.2792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:921.66, Y:82.38, Z:14.67 [[ 4.52294842e-01 -8.91839607e-01 -7.17576641e-03 9.21659972e+02] [ 8.91735652e-01 4.52351698e-01 -1.36186949e-02 8.23822620e+01] [ 1.53916616e-02 -2.39221276e-04 9.99881513e-01 1.46734491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.3092541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:921.67, Y:82.41, Z:14.67 [[ 4.42211976e-01 -8.96881891e-01 -7.17233977e-03 9.21673414e+02] [ 8.96778554e-01 4.42269948e-01 -1.36204993e-02 8.24059992e+01] [ 1.53880895e-02 -4.08852563e-04 9.99881513e-01 1.46729351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.3392541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:921.69, Y:82.43, Z:14.67 [[ 4.37817441e-01 -8.99035887e-01 -7.09663131e-03 9.21687413e+02] [ 8.98932189e-01 4.37874771e-01 -1.36603379e-02 8.24304991e+01] [ 1.53885698e-02 -3.98656121e-04 9.99881509e-01 1.46743041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.3692541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:921.70, Y:82.46, Z:14.67 [[ 4.31793788e-01 -9.01944457e-01 -7.09368035e-03 9.21703945e+02] [ 9.01841120e-01 4.31851766e-01 -1.36618898e-02 8.24550059e+01] [ 1.53856841e-02 -4.98253484e-04 9.99881509e-01 1.46746413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.3992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:921.72, Y:82.48, Z:14.68 [[ 4.28631021e-01 -9.03451220e-01 -7.16529330e-03 9.21717955e+02] [ 9.03348707e-01 4.28690440e-01 -1.36242269e-02 8.24796803e+01] [ 1.53805172e-02 -6.32992127e-04 9.99881512e-01 1.46766055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.4292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:921.73, Y:82.50, Z:14.67 [[ 4.26539028e-01 -9.04440806e-01 -7.16145884e-03 9.21731660e+02] [ 9.04338398e-01 4.26598626e-01 -1.36262422e-02 8.25044476e+01] [ 1.53791980e-02 -6.64258115e-04 9.99881513e-01 1.46749321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.4592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:921.74, Y:82.53, Z:14.68 [[ 4.24380308e-01 -9.05455661e-01 -7.16946239e-03 9.21744976e+02] [ 9.05353465e-01 4.24440270e-01 -1.36220377e-02 8.25312761e+01] [ 1.53771597e-02 -7.09973048e-04 9.99881512e-01 1.46763542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.4892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:921.75, Y:82.56, Z:14.68 [[ 4.22017542e-01 -9.06559016e-01 -7.20722630e-03 9.21754939e+02] [ 9.06457312e-01 4.22078336e-01 -1.36022062e-02 8.25557870e+01] [ 1.53732168e-02 -7.92673344e-04 9.99881511e-01 1.46783646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.5192541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:921.77, Y:82.58, Z:14.68 [[ 4.21047442e-01 -9.07010412e-01 -7.15298984e-03 9.21765907e+02] [ 9.06908292e-01 4.21107533e-01 -1.36306680e-02 8.25822827e+01] [ 1.53753357e-02 -7.47947904e-04 9.99881513e-01 1.46781858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.5492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:921.78, Y:82.61, Z:14.68 [[ 4.21232864e-01 -9.06924343e-01 -7.14922664e-03 9.21777621e+02] [ 9.06822178e-01 4.21292877e-01 -1.36326415e-02 8.26071257e+01] [ 1.53756927e-02 -7.40560649e-04 9.99881513e-01 1.46787651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.5792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:921.79, Y:82.63, Z:14.68 [[ 4.21658307e-01 -9.06726650e-01 -7.14525655e-03 9.21789232e+02] [ 9.06624422e-01 4.21718213e-01 -1.36347220e-02 8.26331278e+01] [ 1.53762506e-02 -7.28870295e-04 9.99881513e-01 1.46799310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.6092541539998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:921.80, Y:82.66, Z:14.68 [[ 4.24283965e-01 -9.05501031e-01 -7.14138367e-03 9.21797367e+02] [ 9.05398597e-01 4.24343517e-01 -1.36367502e-02 8.26600899e+01] [ 1.53784912e-02 -6.79944304e-04 9.99881513e-01 1.46796930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.6392541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:921.81, Y:82.69, Z:14.68 [[ 4.25669312e-01 -9.04850647e-01 -7.13750636e-03 9.21807412e+02] [ 9.04748087e-01 4.25728649e-01 -1.36387793e-02 8.26869026e+01] [ 1.53796992e-02 -6.52035422e-04 9.99881513e-01 1.46799265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.6692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:921.82, Y:82.72, Z:14.68 [[ 4.31634268e-01 -9.02020662e-01 -7.11230668e-03 9.21817958e+02] [ 9.01917497e-01 4.31692545e-01 -1.36519610e-02 8.27155086e+01] [ 1.53846806e-02 -5.22059661e-04 9.99881513e-01 1.46812658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.6992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:921.83, Y:82.74, Z:14.68 [[ 4.33452280e-01 -9.01148032e-01 -7.16552735e-03 9.21827914e+02] [ 9.01045206e-01 4.33511153e-01 -1.36241295e-02 8.27415660e+01] [ 1.53836936e-02 -5.51054049e-04 9.99881512e-01 1.46827444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.7292541539998 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:921.84, Y:82.77, Z:14.68 [[ 4.36216352e-01 -8.99813519e-01 -7.13616191e-03 9.21837973e+02] [ 8.99710262e-01 4.36274465e-01 -1.36394738e-02 8.27670696e+01] [ 1.53863082e-02 -4.70716594e-04 9.99881513e-01 1.46824629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.7592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:921.85, Y:82.79, Z:14.68 [[ 4.38803973e-01 -8.98554553e-01 -7.12656143e-03 9.21848185e+02] [ 8.98451048e-01 4.38861643e-01 -1.36444882e-02 8.27928664e+01] [ 1.53878915e-02 -4.15610960e-04 9.99881513e-01 1.46828620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.7892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:921.85, Y:82.82, Z:14.68 [[ 4.42928375e-01 -8.96528706e-01 -7.12274181e-03 9.21853488e+02] [ 8.96424905e-01 4.42985511e-01 -1.36464818e-02 8.28203435e+01] [ 1.53897341e-02 -3.40589132e-04 9.99881513e-01 1.46805624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.8192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:921.86, Y:82.85, Z:14.68 [[ 4.50019402e-01 -8.92990714e-01 -7.07975924e-03 9.21861713e+02] [ 8.92886110e-01 4.50075056e-01 -1.36689035e-02 8.28483400e+01] [ 1.53926269e-02 -1.70146916e-04 9.99881512e-01 1.46823460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.8492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:921.87, Y:82.87, Z:14.68 [[ 4.52391973e-01 -8.91790808e-01 -7.11742044e-03 9.21871636e+02] [ 8.91686364e-01 4.52447926e-01 -1.36492650e-02 8.28747260e+01] [ 1.53925512e-02 -1.71688818e-04 9.99881513e-01 1.46826390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.8792541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:921.88, Y:82.90, Z:14.68 [[ 4.54583634e-01 -8.90675651e-01 -7.11363899e-03 9.21881686e+02] [ 8.90571040e-01 4.54639272e-01 -1.36512355e-02 8.29008435e+01] [ 1.53929628e-02 -1.29572607e-04 9.99881513e-01 1.46830377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.9092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:921.89, Y:82.93, Z:14.68 [[ 4.56763252e-01 -8.89559882e-01 -7.10972327e-03 9.21892166e+02] [ 8.89455103e-01 4.56818573e-01 -1.36532746e-02 8.29263505e+01] [ 1.53932590e-02 -8.74655469e-05 9.99881513e-01 1.46835484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.9392541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:921.90, Y:82.95, Z:14.68 [[ 4.59876905e-01 -8.87954241e-01 -7.10619354e-03 9.21900794e+02] [ 8.87849240e-01 4.59931804e-01 -1.36551115e-02 8.29544674e+01] [ 1.53934786e-02 -2.95581358e-05 9.99881513e-01 1.46790484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.9692541539998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:921.91, Y:82.98, Z:14.68 [[ 4.60074942e-01 -8.87851377e-01 -7.14011834e-03 9.21908314e+02] [ 8.87746637e-01 4.60130339e-01 -1.36374616e-02 8.29798393e+01] [ 1.53934241e-02 -6.43617020e-05 9.99881512e-01 1.46782977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.9992541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:921.92, Y:83.01, Z:14.68 [[ 4.60189981e-01 -8.87792607e-01 -7.03340571e-03 9.21915541e+02] [ 8.87687005e-01 4.60243723e-01 -1.36929461e-02 8.30050504e+01] [ 1.53935771e-02 5.78937447e-05 9.99881510e-01 1.46769817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.0292541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:921.93, Y:83.03, Z:14.68 [[ 4.68086794e-01 -8.83655363e-01 -6.92474935e-03 9.21931066e+02] [ 8.83548446e-01 4.68137905e-01 -1.37494153e-02 8.30343627e+01] [ 1.53914822e-02 3.17568203e-04 9.99881494e-01 1.46848345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.0592541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:921.94, Y:83.06, Z:14.69 [[ 4.67826027e-01 -8.83792041e-01 -7.10192560e-03 9.21944278e+02] [ 8.83686518e-01 4.67879917e-01 -1.36572822e-02 8.30596974e+01] [ 1.53930457e-02 1.13356165e-04 9.99881514e-01 1.46853378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.0892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:921.95, Y:83.09, Z:14.68 [[ 4.66495558e-01 -8.84495062e-01 -7.09789471e-03 9.21952399e+02] [ 8.84389589e-01 4.66549544e-01 -1.36593768e-02 8.30856881e+01] [ 1.53931709e-02 9.47344056e-05 9.99881514e-01 1.46804027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.1192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:921.96, Y:83.11, Z:14.68 [[ 4.70142084e-01 -8.82562722e-01 -7.03296081e-03 9.21963241e+02] [ 8.82456521e-01 4.70194628e-01 -1.36931099e-02 8.31127656e+01] [ 1.53918887e-02 2.31425078e-04 9.99881511e-01 1.46813670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.1492541539999 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:921.98, Y:83.14, Z:14.69 [[ 4.73616120e-01 -8.80703209e-01 -7.04471494e-03 9.21976912e+02] [ 8.80596892e-01 4.73668428e-01 -1.36870050e-02 8.31383270e+01] [ 1.53910483e-02 2.78832145e-04 9.99881512e-01 1.46850022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.1792541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:921.99, Y:83.16, Z:14.68 [[ 4.72742332e-01 -8.81172145e-01 -7.09493001e-03 9.21987283e+02] [ 8.81066270e-01 4.72795524e-01 -1.36609254e-02 8.31649038e+01] [ 1.53920781e-02 2.06994213e-04 9.99881514e-01 1.46831053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.2092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:922.00, Y:83.19, Z:14.69 [[ 4.76682773e-01 -8.79047149e-01 -7.04587017e-03 9.22001255e+02] [ 8.78940659e-01 4.76734728e-01 -1.36863821e-02 8.31896819e+01] [ 1.53899862e-02 3.31160825e-04 9.99881512e-01 1.46865858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.2392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:922.01, Y:83.22, Z:14.68 [[ 4.76992139e-01 -8.78878962e-01 -7.09015222e-03 9.22011520e+02] [ 8.78772794e-01 4.77044745e-01 -1.36634035e-02 8.32170007e+01] [ 1.53907978e-02 2.86703198e-04 9.99881514e-01 1.46846957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.2692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:922.02, Y:83.24, Z:14.68 [[ 4.76717536e-01 -8.79027904e-01 -7.09474736e-03 9.22023822e+02] [ 8.78921788e-01 4.76770246e-01 -1.36610198e-02 8.32422652e+01] [ 1.53909821e-02 2.76719674e-04 9.99881514e-01 1.46849264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.2992541539999 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:922.04, Y:83.27, Z:14.68 [[ 4.77260841e-01 -8.78733125e-01 -7.08417022e-03 9.22037447e+02] [ 8.78626895e-01 4.77313322e-01 -1.36665043e-02 8.32670690e+01] [ 1.53905789e-02 2.98144868e-04 9.99881514e-01 1.46841238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.3292541539998 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:922.05, Y:83.29, Z:14.69 [[ 4.76041770e-01 -8.79394139e-01 -7.08386941e-03 9.22050647e+02] [ 8.79287979e-01 4.76094394e-01 -1.36666603e-02 8.32918026e+01] [ 1.53909714e-02 2.77139918e-04 9.99881514e-01 1.46860295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.3592541539998 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:922.06, Y:83.32, Z:14.69 [[ 4.72529775e-01 -8.81286268e-01 -7.07988628e-03 9.22063534e+02] [ 8.81180289e-01 4.72582760e-01 -1.36687234e-02 8.33169063e+01] [ 1.53918904e-02 2.20222546e-04 9.99881514e-01 1.46874026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.3892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:922.08, Y:83.34, Z:14.69 [[ 4.70874368e-01 -8.82171900e-01 -7.07595712e-03 9.22076710e+02] [ 8.82065989e-01 4.70927490e-01 -1.36707571e-02 8.33402627e+01] [ 1.53922205e-02 1.95747986e-04 9.99881514e-01 1.46896991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.4192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:922.09, Y:83.36, Z:14.69 [[ 4.68698455e-01 -8.83329909e-01 -7.07324385e-03 9.22090174e+02] [ 8.83224109e-01 4.68751796e-01 -1.36721608e-02 8.33649377e+01] [ 1.53926243e-02 1.60861134e-04 9.99881514e-01 1.46909162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.4492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:922.10, Y:83.39, Z:14.69 [[ 4.64096190e-01 -8.85756599e-01 -7.06928011e-03 9.22104249e+02] [ 8.85651046e-01 4.64150020e-01 -1.36742100e-02 8.33881766e+01] [ 1.53932282e-02 8.52334162e-05 9.99881514e-01 1.46918407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.4792541539998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:922.12, Y:83.41, Z:14.69 [[ 4.61737460e-01 -8.86988497e-01 -7.06568534e-03 9.22117557e+02] [ 8.86883060e-01 4.61791515e-01 -1.36760672e-02 8.34123367e+01] [ 1.53933878e-02 4.83158848e-05 9.99881514e-01 1.46924371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.5092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:922.13, Y:83.44, Z:14.69 [[ 4.59567648e-01 -8.88114693e-01 -7.06177661e-03 9.22131685e+02] [ 8.88009357e-01 4.59621901e-01 -1.36780852e-02 8.34368752e+01] [ 1.53934556e-02 1.50817432e-05 9.99881514e-01 1.46939212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.5392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:922.15, Y:83.46, Z:14.69 [[ 4.56031787e-01 -8.89935501e-01 -7.05784485e-03 9.22145960e+02] [ 8.89830350e-01 4.56086398e-01 -1.36801137e-02 8.34616118e+01] [ 1.53934059e-02 -4.17178660e-05 9.99881514e-01 1.46946405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.5692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:922.16, Y:83.49, Z:14.69 [[ 4.52090972e-01 -8.91943942e-01 -7.05384108e-03 9.22156312e+02] [ 8.91839002e-01 4.52145986e-01 -1.36821778e-02 8.34865849e+01] [ 1.53931016e-02 -1.05301523e-04 9.99881514e-01 1.46940604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.5992541539998 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:922.17, Y:83.51, Z:14.69 [[ 4.51989955e-01 -8.91995758e-01 -6.97486932e-03 9.22173228e+02] [ 8.91890193e-01 4.52043767e-01 -1.37228528e-02 8.35118388e+01] [ 1.53936727e-02 -1.82258999e-05 9.99881510e-01 1.46923084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.6292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:922.18, Y:83.54, Z:14.69 [[ 4.48632401e-01 -8.93688579e-01 -7.04928713e-03 9.22183433e+02] [ 8.93583816e-01 4.48687751e-01 -1.36845182e-02 8.35357328e+01] [ 1.53926264e-02 -1.59810657e-04 9.99881514e-01 1.46935404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.6592541539999 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:922.20, Y:83.56, Z:14.69 [[ 4.47865150e-01 -8.94074277e-01 -6.92778955e-03 9.22196826e+02] [ 8.93968586e-01 4.47918727e-01 -1.37470315e-02 8.35603069e+01] [ 1.53939540e-02 -3.64098906e-05 9.99881505e-01 1.46919816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.6892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:922.21, Y:83.59, Z:14.69 [[ 4.47403431e-01 -8.94305309e-01 -6.94153489e-03 9.22210346e+02] [ 8.94199755e-01 4.47457273e-01 -1.37399633e-02 8.35850257e+01] [ 1.53937624e-02 -5.98120573e-05 9.99881507e-01 1.46924720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.7192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:922.22, Y:83.61, Z:14.69 [[ 4.47086076e-01 -8.94464207e-01 -6.91539776e-03 9.22223866e+02] [ 8.94358465e-01 4.47139554e-01 -1.37533945e-02 8.36080153e+01] [ 1.53940669e-02 -3.58933604e-05 9.99881504e-01 1.46917873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.7492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:922.24, Y:83.63, Z:14.69 [[ 4.47542518e-01 -8.94235968e-01 -6.90854527e-03 9.22237434e+02] [ 8.94130144e-01 4.47595836e-01 -1.37569156e-02 8.36327998e+01] [ 1.53941649e-02 -2.03339293e-05 9.99881503e-01 1.46920724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.7792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:922.25, Y:83.66, Z:14.69 [[ 4.48779196e-01 -8.93616030e-01 -6.90100475e-03 9.22251789e+02] [ 8.93510073e-01 4.48832252e-01 -1.37607897e-02 8.36584358e+01] [ 1.53942557e-02 9.43886239e-06 9.99881501e-01 1.46929792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.8092541539999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:922.26, Y:83.68, Z:14.69 [[ 4.50043321e-01 -8.92979853e-01 -6.92759351e-03 9.22264953e+02] [ 8.92874031e-01 4.50096637e-01 -1.37471280e-02 8.36835718e+01] [ 1.53939949e-02 1.33481994e-06 9.99881505e-01 1.46916656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.8392541539998 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:922.28, Y:83.71, Z:14.70 [[ 4.53925163e-01 -8.91013070e-01 -6.90326237e-03 9.22282803e+02] [ 8.90906826e-01 4.53977642e-01 -1.37596208e-02 8.37088990e+01] [ 1.53939288e-02 9.56745488e-05 9.99881502e-01 1.46968167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.8692541539999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:922.29, Y:83.73, Z:14.69 [[ 4.53125338e-01 -8.91419078e-01 -7.03245383e-03 9.22293081e+02] [ 8.91313902e-01 4.53179902e-01 -1.36932721e-02 8.37332953e+01] [ 1.53934108e-02 -6.33552970e-05 9.99881512e-01 1.46932854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.8992541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:922.31, Y:83.76, Z:14.70 [[ 4.58921807e-01 -8.88449525e-01 -6.94384592e-03 9.22310410e+02] [ 8.88343303e-01 4.58974316e-01 -1.37387431e-02 8.37578063e+01] [ 1.53932267e-02 1.36489794e-04 9.99881508e-01 1.46993830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.9292541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:922.32, Y:83.78, Z:14.70 [[ 4.60918447e-01 -8.87414659e-01 -7.02910169e-03 9.22323455e+02] [ 8.87308983e-01 4.60972035e-01 -1.36949847e-02 8.37823886e+01] [ 1.53933495e-02 7.52860183e-05 9.99881513e-01 1.46998733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.9592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:922.34, Y:83.81, Z:14.70 [[ 4.66735551e-01 -8.84369026e-01 -7.02508899e-03 9.22336106e+02] [ 8.84262968e-01 4.66788382e-01 -1.36970428e-02 8.38060530e+01] [ 1.53924703e-02 1.80870781e-04 9.99881513e-01 1.47003741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.9892541539998 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:922.35, Y:83.83, Z:14.70 [[ 4.69082194e-01 -8.83126601e-01 -7.02151443e-03 9.22347817e+02] [ 8.83020377e-01 4.69134688e-01 -1.36988750e-02 8.38314462e+01] [ 1.53918769e-02 2.25758017e-04 9.99881513e-01 1.46980046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.0192541539999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:922.36, Y:83.85, Z:14.70 [[ 4.69372188e-01 -8.82972539e-01 -7.01743207e-03 9.22355902e+02] [ 8.82866266e-01 4.69424584e-01 -1.37009659e-02 8.38548927e+01] [ 1.53917318e-02 2.35398309e-04 9.99881513e-01 1.46956172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.0492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:922.37, Y:83.88, Z:14.70 [[ 4.75591512e-01 -8.79639353e-01 -6.87911118e-03 9.22373748e+02] [ 8.79531682e-01 4.75640998e-01 -1.37717329e-02 8.38803144e+01] [ 1.53861455e-02 4.99323031e-04 9.99881502e-01 1.47009968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.0792541539998 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:922.39, Y:83.90, Z:14.70 [[ 4.80388708e-01 -8.77027657e-01 -7.01263120e-03 9.22387411e+02] [ 8.76920701e-01 4.80439695e-01 -1.37034050e-02 8.39043004e+01] [ 1.53874116e-02 4.33439583e-04 9.99881513e-01 1.47007099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.1092541539998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:922.40, Y:83.93, Z:14.70 [[ 4.80221804e-01 -8.77119087e-01 -7.00898603e-03 9.22396875e+02] [ 8.77012114e-01 4.80272753e-01 -1.37052692e-02 8.39279336e+01] [ 1.53873782e-02 4.34603439e-04 9.99881513e-01 1.46973044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.1392541539999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:922.41, Y:83.95, Z:14.70 [[ 4.82735793e-01 -8.75738830e-01 -6.90328253e-03 9.22413893e+02] [ 8.75630937e-01 4.82784781e-01 -1.37592817e-02 8.39540480e+01] [ 1.53823370e-02 5.97370000e-04 9.99881506e-01 1.47001926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.1692541539999 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:922.43, Y:83.98, Z:14.70 [[ 4.83260130e-01 -8.75448787e-01 -7.00485710e-03 9.22428259e+02] [ 8.75341607e-01 4.83310644e-01 -1.37073743e-02 8.39774889e+01] [ 1.53856262e-02 4.92584620e-04 9.99881513e-01 1.47007325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.1992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:922.44, Y:84.00, Z:14.70 [[ 4.80347183e-01 -8.77050492e-01 -7.00137048e-03 9.22438286e+02] [ 8.76943454e-01 4.80397999e-01 -1.37091549e-02 8.40015058e+01] [ 1.53870654e-02 4.45347941e-04 9.99881513e-01 1.46998510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.2292541539998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:922.46, Y:84.03, Z:14.70 [[ 4.82050320e-01 -8.76116539e-01 -6.87740836e-03 9.22457449e+02] [ 8.76008498e-01 4.82098986e-01 -1.37723884e-02 8.40266027e+01] [ 1.53818089e-02 6.14316082e-04 9.99881504e-01 1.47029348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.2592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:922.47, Y:84.05, Z:14.70 [[ 4.81093477e-01 -8.76641379e-01 -6.99704259e-03 9.22471122e+02] [ 8.76534267e-01 4.81144134e-01 -1.37113380e-02 8.40507170e+01] [ 1.53865122e-02 4.63287644e-04 9.99881513e-01 1.47035847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.2892541539999 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:922.48, Y:84.07, Z:14.70 [[ 4.79948964e-01 -8.77268538e-01 -6.99312574e-03 9.22483904e+02] [ 8.77161464e-01 4.79999699e-01 -1.37133354e-02 8.40744406e+01] [ 1.53869759e-02 4.47600681e-04 9.99881513e-01 1.46999337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.3192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:922.50, Y:84.10, Z:14.70 [[ 4.79565328e-01 -8.77478342e-01 -6.98962907e-03 9.22499610e+02] [ 8.77371264e-01 4.79616056e-01 -1.37151174e-02 8.40984498e+01] [ 1.53870568e-02 4.44795073e-04 9.99881513e-01 1.47028945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.3492541539998 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:922.51, Y:84.12, Z:14.70 [[ 4.78879560e-01 -8.77852814e-01 -6.98601539e-03 9.22512183e+02] [ 8.77745748e-01 4.78930315e-01 -1.37169578e-02 8.41224311e+01] [ 1.53872846e-02 4.36825419e-04 9.99881513e-01 1.46999557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.3792541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:922.53, Y:84.15, Z:14.70 [[ 4.78595415e-01 -8.78007780e-01 -6.98339791e-03 9.22526081e+02] [ 8.77900711e-01 4.78646163e-01 -1.37182903e-02 8.41473878e+01] [ 1.53873422e-02 4.34780823e-04 9.99881513e-01 1.47015648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.4092541539999 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:922.54, Y:84.17, Z:14.70 [[ 4.77980592e-01 -8.78342667e-01 -6.97951517e-03 9.22540919e+02] [ 8.78235605e-01 4.78031355e-01 -1.37202654e-02 8.41713524e+01] [ 1.53875216e-02 4.28361854e-04 9.99881513e-01 1.47007666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.4392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:922.55, Y:84.19, Z:14.70 [[ 4.74220021e-01 -8.80378734e-01 -6.97549047e-03 9.22548400e+02] [ 8.80271860e-01 4.74271179e-01 -1.37223113e-02 8.41927823e+01] [ 1.53891051e-02 3.67066771e-04 9.99881513e-01 1.46970756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.4692541539998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:922.57, Y:84.22, Z:14.70 [[ 4.77239436e-01 -8.78747127e-01 -6.78286044e-03 9.22571747e+02] [ 8.78638675e-01 4.77287211e-01 -1.38201259e-02 8.42189024e+01] [ 1.53817685e-02 6.35825597e-04 9.99881491e-01 1.47031917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.4992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:922.58, Y:84.24, Z:14.70 [[ 4.72854868e-01 -8.81112728e-01 -6.97384467e-03 9.22579981e+02] [ 8.81005923e-01 4.72906166e-01 -1.37230712e-02 8.42416279e+01] [ 1.53895469e-02 3.45022562e-04 9.99881514e-01 1.46987160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.5292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:922.59, Y:84.27, Z:14.70 [[ 4.72557312e-01 -8.81273660e-01 -6.80604858e-03 9.22594380e+02] [ 8.81165633e-01 4.72606027e-01 -1.38083344e-02 8.42654907e+01] [ 1.53855010e-02 5.27973274e-04 9.99881497e-01 1.46997538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.5592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:922.61, Y:84.29, Z:14.70 [[ 4.72208295e-01 -8.81460792e-01 -6.79690279e-03 9.22608241e+02] [ 8.81352718e-01 4.72256910e-01 -1.38129793e-02 8.42890952e+01] [ 1.53854840e-02 5.32134669e-04 9.99881495e-01 1.47001010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.5892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:922.63, Y:84.31, Z:14.71 [[ 4.75735707e-01 -8.79562070e-01 -6.78986933e-03 9.22630804e+02] [ 8.79453751e-01 4.75783777e-01 -1.38165491e-02 8.43133555e+01] [ 1.53830222e-02 6.01649712e-04 9.99881493e-01 1.47061192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.6192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:922.65, Y:84.34, Z:14.71 [[ 4.75200800e-01 -8.79849764e-01 -6.97082454e-03 9.22645119e+02] [ 8.79742800e-01 4.75251766e-01 -1.37246413e-02 8.43371036e+01] [ 1.53885191e-02 3.89427822e-04 9.99881514e-01 1.47073162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.6492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:922.65, Y:84.36, Z:14.70 [[ 4.70341406e-01 -8.82457038e-01 -6.96687154e-03 9.22654829e+02] [ 8.82350327e-01 4.70392900e-01 -1.37266476e-02 8.43590341e+01] [ 1.53903437e-02 3.08989359e-04 9.99881514e-01 1.47028765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.6792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:922.67, Y:84.38, Z:14.70 [[ 4.70493614e-01 -8.82377254e-01 -6.79275697e-03 9.22669999e+02] [ 8.82269245e-01 4.70542373e-01 -1.38150206e-02 8.43836439e+01] [ 1.53863399e-02 5.06838380e-04 9.99881495e-01 1.47040084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.7092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:922.69, Y:84.41, Z:14.71 [[ 4.73670817e-01 -8.80675727e-01 -6.79858613e-03 9.22692222e+02] [ 8.80567585e-01 4.73719279e-01 -1.38120625e-02 8.44080526e+01] [ 1.53845695e-02 5.55756370e-04 9.99881496e-01 1.47095567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.7392541539998 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:922.70, Y:84.43, Z:14.70 [[ 4.69537515e-01 -8.82885009e-01 -6.97009211e-03 9.22701175e+02] [ 8.82778370e-01 4.69589156e-01 -1.37249652e-02 8.44317242e+01] [ 1.53906457e-02 2.91339492e-04 9.99881515e-01 1.47033728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.7692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:922.72, Y:84.46, Z:14.71 [[ 4.72120687e-01 -8.81507454e-01 -6.83121478e-03 9.22720572e+02] [ 8.81399637e-01 4.72169849e-01 -1.37953910e-02 8.44566426e+01] [ 1.53862336e-02 4.92059236e-04 9.99881504e-01 1.47099490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.7992541539999 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:922.73, Y:84.48, Z:14.70 [[ 4.66943764e-01 -8.84259589e-01 -6.96421650e-03 9.22727548e+02] [ 8.84153058e-01 4.66995626e-01 -1.37279190e-02 8.44795683e+01] [ 1.53913026e-02 2.52732850e-04 9.99881515e-01 1.47048125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.8292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:922.75, Y:84.50, Z:14.71 [[ 4.69749671e-01 -8.82773726e-01 -6.76718881e-03 9.22749864e+02] [ 8.82665576e-01 4.69798122e-01 -1.38277366e-02 8.45040473e+01] [ 1.53859751e-02 5.22410093e-04 9.99881492e-01 1.47100993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.8592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:922.76, Y:84.53, Z:14.71 [[ 4.66543070e-01 -8.84471093e-01 -6.96058406e-03 9.22760348e+02] [ 8.84364558e-01 4.66594924e-01 -1.37296908e-02 8.45277827e+01] [ 1.53912878e-02 2.49798233e-04 9.99881516e-01 1.47097733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.8892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:922.78, Y:84.55, Z:14.71 [[ 4.67641101e-01 -8.83891961e-01 -6.84119516e-03 9.22779176e+02] [ 8.83784472e-01 4.67690966e-01 -1.37901488e-02 8.45514554e+01] [ 1.53885668e-02 4.02698304e-04 9.99881508e-01 1.47104445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.9192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:922.79, Y:84.58, Z:14.71 [[ 4.67027157e-01 -8.84215621e-01 -6.95485811e-03 9.22792587e+02] [ 8.84109015e-01 4.67078864e-01 -1.37325844e-02 8.45758369e+01] [ 1.53910328e-02 2.64637082e-04 9.99881516e-01 1.47127973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.9492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:922.81, Y:84.60, Z:14.71 [[ 4.66764757e-01 -8.84354199e-01 -6.95078204e-03 9.22805441e+02] [ 8.84247577e-01 4.66816432e-01 -1.37346472e-02 8.46013783e+01] [ 1.53910322e-02 2.64637071e-04 9.99881516e-01 1.47132357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.9792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:922.82, Y:84.62, Z:14.71 [[ 4.66354624e-01 -8.84570578e-01 -6.94670536e-03 9.22818257e+02] [ 8.84463951e-01 4.66406285e-01 -1.37367088e-02 8.46247318e+01] [ 1.53910755e-02 2.62067188e-04 9.99881516e-01 1.47126997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.0092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:922.83, Y:84.65, Z:14.71 [[ 4.66016190e-01 -8.84748950e-01 -6.94304113e-03 9.22832517e+02] [ 8.84642314e-01 4.66067836e-01 -1.37385606e-02 8.46478565e+01] [ 1.53911052e-02 2.60283686e-04 9.99881516e-01 1.47124508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.0392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:922.85, Y:84.67, Z:14.71 [[ 4.65755131e-01 -8.84886434e-01 -6.93956915e-03 9.22845765e+02] [ 8.84779787e-01 4.65806754e-01 -1.37403141e-02 8.46723454e+01] [ 1.53911157e-02 2.59631277e-04 9.99881516e-01 1.47123375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.0692541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:922.86, Y:84.70, Z:14.71 [[ 4.65451974e-01 -8.85045963e-01 -6.93565035e-03 9.22859252e+02] [ 8.84939305e-01 4.65503573e-01 -1.37422919e-02 8.46973953e+01] [ 1.53911300e-02 2.58747281e-04 9.99881516e-01 1.47125547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.0992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:922.87, Y:84.72, Z:14.71 [[ 4.65119710e-01 -8.85220654e-01 -6.93170755e-03 9.22872949e+02] [ 8.85113986e-01 4.65171288e-01 -1.37442804e-02 8.47221798e+01] [ 1.53911522e-02 2.57384410e-04 9.99881516e-01 1.47122173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.1292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:922.89, Y:84.75, Z:14.71 [[ 4.65000079e-01 -8.85283532e-01 -6.92774790e-03 9.22885898e+02] [ 8.85176841e-01 4.65051610e-01 -1.37462759e-02 8.47474016e+01] [ 1.53911120e-02 2.59737391e-04 9.99881516e-01 1.47124574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.1592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:922.90, Y:84.77, Z:14.71 [[ 4.64795654e-01 -8.85390909e-01 -6.92378423e-03 9.22898363e+02] [ 8.85284200e-01 4.64847148e-01 -1.37482721e-02 8.47728472e+01] [ 1.53910965e-02 2.60620328e-04 9.99881516e-01 1.47127307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.1892541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:922.91, Y:84.80, Z:14.71 [[ 4.64532792e-01 -8.85528882e-01 -6.91984313e-03 9.22910330e+02] [ 8.85422159e-01 4.64584257e-01 -1.37502554e-02 8.47970106e+01] [ 1.53910985e-02 2.60462114e-04 9.99881516e-01 1.47116975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.2192541539998 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:922.92, Y:84.82, Z:14.71 [[ 4.64251004e-01 -8.85676667e-01 -6.91716774e-03 9.22923179e+02] [ 8.85569940e-01 4.64302461e-01 -1.37516012e-02 8.48215495e+01] [ 1.53911303e-02 2.58558847e-04 9.99881516e-01 1.47138892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.2492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:922.94, Y:84.85, Z:14.71 [[ 4.64484300e-01 -8.85554370e-01 -6.91322766e-03 9.22936004e+02] [ 8.85447600e-01 4.64535668e-01 -1.37535817e-02 8.48463879e+01] [ 1.53909852e-02 2.67021910e-04 9.99881516e-01 1.47143823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.2792541539999 meters Centerline goodness : 0.997230 Centerline is valid? [True, True] Translation: X:922.95, Y:84.87, Z:14.71 [[ 4.64357374e-01 -8.85621213e-01 -6.87730144e-03 9.22948050e+02] [ 8.85514183e-01 4.64408198e-01 -1.37716170e-02 8.48711978e+01] [ 1.53903113e-02 3.05003936e-04 9.99881516e-01 1.47131789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.3092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:922.96, Y:84.90, Z:14.72 [[ 4.63273691e-01 -8.86188857e-01 -6.84084128e-03 9.22960682e+02] [ 8.86081619e-01 4.63324080e-01 -1.37899033e-02 8.48976515e+01] [ 1.53899851e-02 3.26955667e-04 9.99881514e-01 1.47158419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.3392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:922.97, Y:84.92, Z:14.72 [[ 4.63236963e-01 -8.86207618e-01 -6.89742100e-03 9.22973141e+02] [ 8.86100802e-01 4.63288235e-01 -1.37615450e-02 8.49231786e+01] [ 1.53910800e-02 2.63046038e-04 9.99881516e-01 1.47160737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.3692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:922.98, Y:84.95, Z:14.72 [[ 4.63652766e-01 -8.85990176e-01 -6.89351979e-03 9.22984435e+02] [ 8.85883307e-01 4.63703928e-01 -1.37634989e-02 8.49475331e+01] [ 1.53908771e-02 2.74630245e-04 9.99881516e-01 1.47156992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.3992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:923.00, Y:84.97, Z:14.72 [[ 4.63526803e-01 -8.86056110e-01 -6.89000284e-03 9.22996416e+02] [ 8.85949222e-01 4.63577926e-01 -1.37652593e-02 8.49729050e+01] [ 1.53908453e-02 2.76373987e-04 9.99881516e-01 1.47159014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.4292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:923.01, Y:85.00, Z:14.72 [[ 4.63424644e-01 -8.86109576e-01 -6.88613392e-03 9.23008231e+02] [ 8.86002665e-01 4.63475718e-01 -1.37671945e-02 8.49983222e+01] [ 1.53907987e-02 2.78924194e-04 9.99881516e-01 1.47164039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.4592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:923.02, Y:85.02, Z:14.72 [[ 4.63049414e-01 -8.86305746e-01 -6.88219916e-03 9.23019865e+02] [ 8.86198828e-01 4.63100472e-01 -1.37691612e-02 8.50223359e+01] [ 1.53908364e-02 2.76805185e-04 9.99881516e-01 1.47164416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.4892541539998 meters Centerline goodness : 0.996708 Centerline is valid? [True, True] Translation: X:923.03, Y:85.05, Z:14.72 [[ 4.62803814e-01 -8.86434044e-01 -6.87865705e-03 9.23031571e+02] [ 8.86327113e-01 4.62854847e-01 -1.37709305e-02 8.50453831e+01] [ 1.53908414e-02 2.76498908e-04 9.99881516e-01 1.47153126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.5192541539999 meters Centerline goodness : 0.997740 Centerline is valid? [True, True] Translation: X:923.04, Y:85.07, Z:14.71 [[ 4.61746137e-01 -8.86985889e-01 -6.82193385e-03 9.23043798e+02] [ 8.86878600e-01 4.61796416e-01 -1.37992262e-02 8.50704044e+01] [ 1.53900635e-02 3.21512238e-04 9.99881514e-01 1.47147606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.5492541539999 meters Centerline goodness : 0.997535 Centerline is valid? [True, True] Translation: X:923.06, Y:85.10, Z:14.71 [[ 4.59641818e-01 -8.88077826e-01 -6.86835562e-03 9.23055508e+02] [ 8.87971001e-01 4.59693072e-01 -1.37760817e-02 8.50952167e+01] [ 1.53915681e-02 2.33162604e-04 9.99881516e-01 1.47145618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.5792541539998 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:923.07, Y:85.12, Z:14.72 [[ 4.57506368e-01 -8.89179859e-01 -6.86309072e-03 9.23066290e+02] [ 8.89073118e-01 4.57557797e-01 -1.37787041e-02 8.51189270e+01] [ 1.53920068e-02 2.02055390e-04 9.99881516e-01 1.47154237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.6092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:923.08, Y:85.14, Z:14.72 [[ 4.54743007e-01 -8.90596301e-01 -6.85758201e-03 9.23078863e+02] [ 8.90489679e-01 4.54794682e-01 -1.37814452e-02 8.51445087e+01] [ 1.53924959e-02 1.60409811e-04 9.99881516e-01 1.47188760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.6392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:923.09, Y:85.17, Z:14.72 [[ 4.52906164e-01 -8.91531847e-01 -6.85366336e-03 9.23091227e+02] [ 8.91425303e-01 4.52957998e-01 -1.37833937e-02 8.51696520e+01] [ 1.53927561e-02 1.33055026e-04 9.99881516e-01 1.47188988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.6692541539999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:923.10, Y:85.19, Z:14.72 [[ 4.48168363e-01 -8.93922927e-01 -6.84968698e-03 9.23102804e+02] [ 8.93816629e-01 4.48220701e-01 -1.37853695e-02 8.51939120e+01] [ 1.53932293e-02 5.58023476e-05 9.99881516e-01 1.47161590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.6992541539998 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:923.12, Y:85.22, Z:14.72 [[ 4.45573809e-01 -8.95219023e-01 -6.84708370e-03 9.23115342e+02] [ 8.95112857e-01 4.45626414e-01 -1.37866624e-02 8.52191793e+01] [ 1.53933238e-02 1.40630206e-05 9.99881516e-01 1.47173878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.7292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:923.13, Y:85.24, Z:14.72 [[ 4.43472683e-01 -8.96261765e-01 -6.84317634e-03 9.23128271e+02] [ 8.96155693e-01 4.43525477e-01 -1.37886016e-02 8.52437483e+01] [ 1.53933194e-02 -1.76832978e-05 9.99881516e-01 1.47194843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.7592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:923.14, Y:85.27, Z:14.72 [[ 4.38186750e-01 -8.98857940e-01 -6.83933164e-03 9.23140113e+02] [ 8.98752151e-01 4.38240110e-01 -1.37905083e-02 8.52678569e+01] [ 1.53929774e-02 -1.04045982e-04 9.99881516e-01 1.47194242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.7892541539999 meters Centerline goodness : 0.999671 Centerline is valid? [True, True] Translation: X:923.15, Y:85.29, Z:14.72 [[ 4.35377781e-01 -9.00221894e-01 -6.83586232e-03 9.23151978e+02] [ 9.00116245e-01 4.35431418e-01 -1.37922278e-02 8.52933123e+01] [ 1.53926147e-02 -1.48241165e-04 9.99881516e-01 1.47178131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.8192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:923.16, Y:85.32, Z:14.72 [[ 4.33743573e-01 -9.01010453e-01 -6.83202793e-03 9.23164542e+02] [ 9.00904872e-01 4.33797342e-01 -1.37941270e-02 8.53182287e+01] [ 1.53923681e-02 -1.71893333e-04 9.99881516e-01 1.47205576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.8492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:923.17, Y:85.34, Z:14.72 [[ 4.27845282e-01 -9.03826195e-01 -6.82824564e-03 9.23171812e+02] [ 9.03720937e-01 4.27899682e-01 -1.37959990e-02 8.53419356e+01] [ 1.53909894e-02 -2.68275478e-04 9.99881516e-01 1.47215136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.8792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:923.19, Y:85.37, Z:14.72 [[ 4.29766133e-01 -9.02915444e-01 -6.69117579e-03 9.23188426e+02] [ 9.02809006e-01 4.29818211e-01 -1.38637624e-02 8.53687776e+01] [ 1.53937944e-02 -8.26782001e-05 9.99881505e-01 1.47217216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.9092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:923.20, Y:85.39, Z:14.72 [[ 4.29185773e-01 -9.03190463e-01 -6.82352687e-03 9.23199520e+02] [ 9.03085088e-01 4.29239945e-01 -1.37983125e-02 8.53933612e+01] [ 1.53914345e-02 -2.40185947e-04 9.99881516e-01 1.47225443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.9392541539999 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:923.21, Y:85.42, Z:14.72 [[ 4.28749324e-01 -9.03397755e-01 -6.82003637e-03 9.23210751e+02] [ 9.03292379e-01 4.28803494e-01 -1.38000375e-02 8.54182216e+01] [ 1.53913783e-02 -2.43730120e-04 9.99881516e-01 1.47211767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.9692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:923.22, Y:85.44, Z:14.72 [[ 4.30342878e-01 -9.02639760e-01 -6.81692848e-03 9.23223508e+02] [ 9.02534264e-01 4.30396815e-01 -1.38015726e-02 8.54439855e+01] [ 1.53918325e-02 -2.13103068e-04 9.99881516e-01 1.47244884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.9992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:923.23, Y:85.47, Z:14.73 [[ 4.29707237e-01 -9.02942562e-01 -6.81324800e-03 9.23232434e+02] [ 9.02837076e-01 4.29761191e-01 -1.38033892e-02 8.54690863e+01] [ 1.53917372e-02 -2.19836660e-04 9.99881516e-01 1.47258177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.0292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:923.24, Y:85.49, Z:14.72 [[ 4.33591528e-01 -9.01084478e-01 -6.71945279e-03 9.23241276e+02] [ 9.00978039e-01 4.33643588e-01 -1.38496384e-02 8.54946995e+01] [ 1.53935418e-02 -4.89935339e-05 9.99881511e-01 1.47244384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.0592541539999 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:923.25, Y:85.52, Z:14.72 [[ 4.36081293e-01 -8.99882660e-01 -6.65616611e-03 9.23252274e+02] [ 8.99775599e-01 4.36132084e-01 -1.38808347e-02 8.55210203e+01] [ 1.53940900e-02 6.41164918e-05 9.99881502e-01 1.47218017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.0892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:923.27, Y:85.55, Z:14.73 [[ 4.47033413e-01 -8.94492480e-01 -6.65807849e-03 9.23267535e+02] [ 8.94384821e-01 4.47082923e-01 -1.38798922e-02 8.55477162e+01] [ 1.53921724e-02 2.49891252e-04 9.99881502e-01 1.47258701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.1192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:923.28, Y:85.57, Z:14.73 [[ 4.50489550e-01 -8.92755750e-01 -6.80702103e-03 9.23278817e+02] [ 8.92648997e-01 4.50540953e-01 -1.38064591e-02 8.55730753e+01] [ 1.53926375e-02 1.43385046e-04 9.99881516e-01 1.47262891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.1492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:923.29, Y:85.60, Z:14.73 [[ 4.52234653e-01 -8.91873049e-01 -6.80314669e-03 9.23288126e+02] [ 8.91766167e-01 4.52285787e-01 -1.38083679e-02 8.55986416e+01] [ 1.53922777e-02 1.77806421e-04 9.99881516e-01 1.47276455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.1792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:923.30, Y:85.63, Z:14.73 [[ 4.59559000e-01 -8.88121759e-01 -6.72804776e-03 9.23300999e+02] [ 8.88013917e-01 4.59608084e-01 -1.38453305e-02 8.56251237e+01] [ 1.53886044e-02 3.88146215e-04 9.99881513e-01 1.47274446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.2092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:923.31, Y:85.65, Z:14.73 [[ 4.61457942e-01 -8.87136039e-01 -6.79819934e-03 9.23312087e+02] [ 8.87028597e-01 4.61507888e-01 -1.38107993e-02 8.56496831e+01] [ 1.53894804e-02 3.42905810e-04 9.99881516e-01 1.47283308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.2392541539998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:923.32, Y:85.67, Z:14.73 [[ 4.64091301e-01 -8.85761313e-01 -6.79414558e-03 9.23322668e+02] [ 8.85653694e-01 4.64140864e-01 -1.38127932e-02 8.56748476e+01] [ 1.53882785e-02 3.93137059e-04 9.99881516e-01 1.47281398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.2692541539999 meters Centerline goodness : 0.999237 Centerline is valid? [True, True] Translation: X:923.33, Y:85.70, Z:14.73 [[ 4.64980520e-01 -8.85294872e-01 -6.79013032e-03 9.23334039e+02] [ 8.85187174e-01 4.65029912e-01 -1.38147668e-02 8.56994150e+01] [ 1.53877559e-02 4.13061179e-04 9.99881516e-01 1.47300466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.2992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:923.35, Y:85.73, Z:14.73 [[ 4.65634026e-01 -8.84951337e-01 -6.78857247e-03 9.23345925e+02] [ 8.84843592e-01 4.65683314e-01 -1.38155318e-02 8.57251552e+01] [ 1.53873982e-02 4.26156821e-04 9.99881516e-01 1.47320934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.3292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:923.36, Y:85.75, Z:14.73 [[ 4.66850157e-01 -8.84310442e-01 -6.78034721e-03 9.23358489e+02] [ 8.84202571e-01 4.66899168e-01 -1.38195673e-02 8.57498222e+01] [ 1.53865262e-02 4.56466743e-04 9.99881516e-01 1.47292501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.3592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:923.37, Y:85.78, Z:14.73 [[ 4.67839857e-01 -8.83787201e-01 -6.78613213e-03 9.23372095e+02] [ 8.83679316e-01 4.67888838e-01 -1.38167303e-02 8.57766245e+01] [ 1.53862049e-02 4.67252534e-04 9.99881516e-01 1.47300406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.3892541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:923.38, Y:85.80, Z:14.73 [[ 4.65688523e-01 -8.84922237e-01 -6.84353127e-03 9.23381076e+02] [ 8.84814882e-01 4.65738661e-01 -1.37885866e-02 8.58010999e+01] [ 1.53891240e-02 3.65928203e-04 9.99881513e-01 1.47298660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.4192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:923.39, Y:85.83, Z:14.73 [[ 4.65248119e-01 -8.85154419e-01 -6.77070453e-03 9.23393386e+02] [ 8.85046568e-01 4.65297176e-01 -1.38242550e-02 8.58262436e+01] [ 1.53869901e-02 4.39319817e-04 9.99881517e-01 1.47320092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.4492541539998 meters Centerline goodness : 0.999544 Centerline is valid? [True, True] Translation: X:923.41, Y:85.85, Z:14.73 [[ 4.63853524e-01 -8.85886065e-01 -6.76673623e-03 9.23406190e+02] [ 8.85778263e-01 4.63902689e-01 -1.38261971e-02 8.58515938e+01] [ 1.53875425e-02 4.19502394e-04 9.99881517e-01 1.47277237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.4792541539998 meters Centerline goodness : 0.998759 Centerline is valid? [True, True] Translation: X:923.42, Y:85.88, Z:14.73 [[ 4.63604752e-01 -8.86016129e-01 -6.78629153e-03 9.23420609e+02] [ 8.85908480e-01 4.63654252e-01 -1.38166320e-02 8.58779011e+01] [ 1.53882517e-02 3.93423042e-04 9.99881516e-01 1.47272603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.5092541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:923.43, Y:85.90, Z:14.73 [[ 4.61222264e-01 -8.87258301e-01 -6.83592655e-03 9.23434395e+02] [ 8.87151144e-01 4.61272824e-01 -1.37923642e-02 8.59044891e+01] [ 1.53906168e-02 2.96845378e-04 9.99881513e-01 1.47277508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.5392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:923.44, Y:85.93, Z:14.73 [[ 4.57255968e-01 -8.89308546e-01 -6.87675159e-03 9.23441629e+02] [ 8.89201913e-01 4.57307639e-01 -1.37724612e-02 8.59272991e+01] [ 1.53927585e-02 1.82719403e-04 9.99881508e-01 1.47313901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.5692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:923.46, Y:85.95, Z:14.73 [[ 4.56625860e-01 -8.89633313e-01 -6.73744304e-03 9.23460320e+02] [ 8.89525708e-01 4.56675445e-01 -1.38402768e-02 8.59530104e+01] [ 1.53895961e-02 3.26699488e-04 9.99881520e-01 1.47289848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.5992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:923.47, Y:85.98, Z:14.73 [[ 4.51788603e-01 -8.92098521e-01 -6.87651229e-03 9.23467907e+02] [ 8.91992206e-01 4.51840924e-01 -1.37725518e-02 8.59757297e+01] [ 1.53935628e-02 8.84865792e-05 9.99881508e-01 1.47317954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.6292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:923.48, Y:86.00, Z:14.73 [[ 4.49211106e-01 -8.93400282e-01 -6.73180891e-03 9.23480506e+02] [ 8.93293054e-01 4.49261498e-01 -1.38429213e-02 8.59999729e+01] [ 1.53916123e-02 2.04915837e-04 9.99881521e-01 1.47323316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.6592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:923.49, Y:86.02, Z:14.73 [[ 4.43681881e-01 -8.96159087e-01 -6.72899523e-03 9.23494683e+02] [ 8.96052151e-01 4.43732891e-01 -1.38442888e-02 8.60245528e+01] [ 1.53925618e-02 1.12929464e-04 9.99881521e-01 1.47333996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.6892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:923.51, Y:86.05, Z:14.73 [[ 4.40408208e-01 -8.97772456e-01 -6.72520171e-03 9.23508216e+02] [ 8.97665679e-01 4.40459549e-01 -1.38461314e-02 8.60494947e+01] [ 1.53928547e-02 6.09671570e-05 9.99881521e-01 1.47342310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.7192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:923.52, Y:86.07, Z:14.73 [[ 4.37396531e-01 -8.99243625e-01 -6.72142252e-03 9.23521355e+02] [ 8.99136992e-01 4.37448172e-01 -1.38479657e-02 8.60730573e+01] [ 1.53929689e-02 1.35725387e-05 9.99881521e-01 1.47349614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.7492541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:923.54, Y:86.10, Z:14.74 [[ 4.31792047e-01 -9.01948162e-01 -6.71866790e-03 9.23536151e+02] [ 9.01841832e-01 4.31844308e-01 -1.38493020e-02 8.60970175e+01] [ 1.53927710e-02 -7.91572889e-05 9.99881521e-01 1.47383023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.7792541539999 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:923.55, Y:86.12, Z:14.74 [[ 4.29147123e-01 -9.03209643e-01 -6.71467353e-03 9.23549463e+02] [ 9.03103437e-01 4.29199634e-01 -1.38512384e-02 8.61216148e+01] [ 1.53925075e-02 -1.19825627e-04 9.99881521e-01 1.47384505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.8092541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:923.56, Y:86.15, Z:14.74 [[ 4.27436338e-01 -9.04020544e-01 -6.71075254e-03 9.23562191e+02] [ 9.03914407e-01 4.27488989e-01 -1.38531378e-02 8.61456159e+01] [ 1.53922940e-02 -1.44611412e-04 9.99881521e-01 1.47393059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.8392541539998 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:923.58, Y:86.17, Z:14.74 [[ 4.25646579e-01 -9.04864632e-01 -6.70723062e-03 9.23575384e+02] [ 9.04758573e-01 4.25699387e-01 -1.38548428e-02 8.61692107e+01] [ 1.53920212e-02 -1.71157960e-04 9.99881521e-01 1.47392127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.8692541539999 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:923.59, Y:86.19, Z:14.74 [[ 4.25395154e-01 -9.04982885e-01 -6.70382937e-03 9.23587758e+02] [ 9.04876814e-01 4.25447939e-01 -1.38564883e-02 8.61949772e+01] [ 1.53920152e-02 -1.71656772e-04 9.99881521e-01 1.47396513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.8992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:923.60, Y:86.22, Z:14.74 [[ 4.25670725e-01 -9.04853327e-01 -6.69997849e-03 9.23600561e+02] [ 9.04747212e-01 4.25723419e-01 -1.38583501e-02 8.62208402e+01] [ 1.53921119e-02 -1.62692922e-04 9.99881521e-01 1.47424589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.9292541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:923.61, Y:86.24, Z:14.74 [[ 4.27453414e-01 -9.04012575e-01 -6.69646376e-03 9.23612993e+02] [ 9.03906329e-01 4.27505844e-01 -1.38600482e-02 8.62448658e+01] [ 1.53924353e-02 -1.28451054e-04 9.99881521e-01 1.47415544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.9592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:923.63, Y:86.27, Z:14.74 [[ 4.29193623e-01 -9.03187709e-01 -6.69306506e-03 9.23625114e+02] [ 9.03081336e-01 4.29245797e-01 -1.38616893e-02 8.62695665e+01] [ 1.53926774e-02 -9.50335026e-05 9.99881521e-01 1.47415894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.9892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:923.64, Y:86.30, Z:14.74 [[ 4.31223624e-01 -9.02220281e-01 -6.68962215e-03 9.23637455e+02] [ 9.02113765e-01 4.31275506e-01 -1.38633506e-02 8.62950383e+01] [ 1.53928663e-02 -5.65959292e-05 9.99881521e-01 1.47418901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.0192541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:923.65, Y:86.32, Z:14.74 [[ 4.36439554e-01 -8.99708740e-01 -6.68572044e-03 9.23649291e+02] [ 8.99601897e-01 4.36490758e-01 -1.38652320e-02 8.63201157e+01] [ 1.53929256e-02 3.68488750e-05 9.99881521e-01 1.47421267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.0492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:923.66, Y:86.35, Z:14.74 [[ 4.39198746e-01 -8.98365078e-01 -6.68196012e-03 9.23661081e+02] [ 8.98258051e-01 4.39249564e-01 -1.38670439e-02 8.63453722e+01] [ 1.53927161e-02 8.82638352e-05 9.99881521e-01 1.47428017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.0792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:923.67, Y:86.37, Z:14.74 [[ 4.45066251e-01 -8.95472744e-01 -6.67808793e-03 9.23673301e+02] [ 8.95365359e-01 4.45116308e-01 -1.38689085e-02 8.63713407e+01] [ 1.53917554e-02 1.93254500e-04 9.99881521e-01 1.47449179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.1092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:923.69, Y:86.40, Z:14.75 [[ 4.47552720e-01 -8.94232642e-01 -6.67422927e-03 9.23685130e+02] [ 8.94125090e-01 4.47602418e-01 -1.38707651e-02 8.63962833e+01] [ 1.53910921e-02 2.40302817e-04 9.99881521e-01 1.47458114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.1392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:923.70, Y:86.42, Z:14.75 [[ 4.49971418e-01 -8.93018046e-01 -6.67027572e-03 9.23697360e+02] [ 8.92910332e-01 4.50020763e-01 -1.38726661e-02 8.64216799e+01] [ 1.53903037e-02 2.86345125e-04 9.99881521e-01 1.47476729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.1692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:923.71, Y:86.45, Z:14.75 [[ 4.52286757e-01 -8.91847661e-01 -6.66627158e-03 9.23709262e+02] [ 8.91739791e-01 4.52335761e-01 -1.38745899e-02 8.64465140e+01] [ 1.53894136e-02 3.30713664e-04 9.99881521e-01 1.47487001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.1992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:923.72, Y:86.47, Z:14.75 [[ 4.56075625e-01 -8.89916082e-01 -6.66265044e-03 9.23720965e+02] [ 8.89807980e-01 4.56124113e-01 -1.38763286e-02 8.64724486e+01] [ 1.53877635e-02 4.00175716e-04 9.99881521e-01 1.47515575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.2292541539998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:923.73, Y:86.50, Z:14.75 [[ 4.57381516e-01 -8.89245638e-01 -6.65914491e-03 9.23732494e+02] [ 8.89137440e-01 4.57429790e-01 -1.38780107e-02 8.64977426e+01] [ 1.53870517e-02 4.26650508e-04 9.99881521e-01 1.47517945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.2592541539999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:923.74, Y:86.52, Z:14.75 [[ 4.59184227e-01 -8.88316133e-01 -6.65527266e-03 9.23743705e+02] [ 8.88207811e-01 4.59232222e-01 -1.38798674e-02 8.65228422e+01] [ 1.53860258e-02 4.62151027e-04 9.99881521e-01 1.47527348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.2892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:923.76, Y:86.55, Z:14.76 [[ 4.59517357e-01 -8.88143881e-01 -6.65171772e-03 9.23755735e+02] [ 8.88035516e-01 4.59565255e-01 -1.38815708e-02 8.65485504e+01] [ 1.53857306e-02 4.71861160e-04 9.99881521e-01 1.47551770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.3192541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:923.77, Y:86.57, Z:14.75 [[ 4.59189306e-01 -8.88313564e-01 -6.64781811e-03 9.23767192e+02] [ 8.88205190e-01 4.59237184e-01 -1.38834381e-02 8.65729446e+01] [ 1.53857716e-02 4.70499771e-04 9.99881521e-01 1.47536604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.3492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:923.78, Y:86.60, Z:14.76 [[ 4.58632724e-01 -8.88601076e-01 -6.64477299e-03 9.23779165e+02] [ 8.88492710e-01 4.58680622e-01 -1.38848954e-02 8.65983046e+01] [ 1.53859616e-02 4.64235023e-04 9.99881521e-01 1.47572015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.3792541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:923.79, Y:86.62, Z:14.76 [[ 4.57687543e-01 -8.89088305e-01 -6.64070678e-03 9.23790625e+02] [ 8.88979963e-01 4.57735493e-01 -1.38868398e-02 8.66226871e+01] [ 1.53863141e-02 4.52378353e-04 9.99881521e-01 1.47560368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.4092541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:923.80, Y:86.65, Z:14.76 [[ 4.56739818e-01 -8.89575562e-01 -6.63770244e-03 9.23803155e+02] [ 8.89467250e-01 4.56787836e-01 -1.38882757e-02 8.66484499e+01] [ 1.53866924e-02 4.39309595e-04 9.99881521e-01 1.47556848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.4392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:923.82, Y:86.67, Z:14.76 [[ 4.54822246e-01 -8.90557531e-01 -6.63389290e-03 9.23815638e+02] [ 8.90449296e-01 4.54870439e-01 -1.38900952e-02 8.66744442e+01] [ 1.53874906e-02 4.10379018e-04 9.99881521e-01 1.47559297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.4692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:923.83, Y:86.70, Z:14.76 [[ 4.53288502e-01 -8.91339201e-01 -6.63044099e-03 9.23828346e+02] [ 8.91231026e-01 4.53336827e-01 -1.38917427e-02 8.66997432e+01] [ 1.53880779e-02 3.87712529e-04 9.99881521e-01 1.47571458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.4992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:923.84, Y:86.73, Z:14.76 [[ 4.48973939e-01 -8.93520281e-01 -6.62645431e-03 9.23842243e+02] [ 8.93412312e-01 4.49022724e-01 -1.38936441e-02 8.67257732e+01] [ 1.53896814e-02 3.17728274e-04 9.99881521e-01 1.47566492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.5292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:923.85, Y:86.75, Z:14.76 [[ 4.45827164e-01 -8.95094561e-01 -6.62318417e-03 9.23854970e+02] [ 8.94986742e-01 4.45876278e-01 -1.38952029e-02 8.67509976e+01] [ 1.53906412e-02 2.67196862e-04 9.99881521e-01 1.47575524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.5592541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:923.87, Y:86.77, Z:14.76 [[ 4.41832215e-01 -8.97073286e-01 -6.61912222e-03 9.23867377e+02] [ 8.96965658e-01 4.41881747e-01 -1.38971375e-02 8.67748902e+01] [ 1.53916201e-02 2.03077751e-04 9.99881521e-01 1.47558914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.5892541539998 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:923.88, Y:86.80, Z:14.75 [[ 4.32681713e-01 -9.01522467e-01 -6.61644729e-03 9.23881552e+02] [ 9.01415329e-01 4.32732296e-01 -1.38984110e-02 8.68000859e+01] [ 1.53928802e-02 4.94212626e-05 9.99881521e-01 1.47546640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.6192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:923.89, Y:86.82, Z:14.76 [[ 4.29955740e-01 -9.02825600e-01 -6.63312334e-03 9.23893833e+02] [ 9.02718737e-01 4.30006903e-01 -1.38904760e-02 8.68239269e+01] [ 1.53929662e-02 -1.55548354e-05 9.99881521e-01 1.47592830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.6492541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:923.91, Y:86.85, Z:14.76 [[ 4.26656827e-01 -9.04389452e-01 -6.60843145e-03 9.23905341e+02] [ 9.04282595e-01 4.26708000e-01 -1.39022133e-02 8.68491881e+01] [ 1.53928857e-02 -4.44153038e-05 9.99881522e-01 1.47609369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.6792541539999 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:923.92, Y:86.87, Z:14.76 [[ 4.20872686e-01 -9.07095672e-01 -6.60485826e-03 9.23918049e+02] [ 9.06989117e-01 4.20924486e-01 -1.39039107e-02 8.68741670e+01] [ 1.53923238e-02 -1.38758308e-04 9.99881522e-01 1.47618577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.7092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:923.93, Y:86.90, Z:14.76 [[ 4.18741276e-01 -9.08081573e-01 -6.60309571e-03 9.23929821e+02] [ 9.07975127e-01 4.18793299e-01 -1.39047477e-02 8.68988325e+01] [ 1.53919774e-02 -1.72954860e-04 9.99881522e-01 1.47630714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.7392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:923.94, Y:86.92, Z:14.76 [[ 4.14617575e-01 -9.09971820e-01 -6.59955559e-03 9.23941640e+02] [ 9.09865584e-01 4.14670026e-01 -1.39064278e-02 8.69247690e+01] [ 1.53910953e-02 -2.38859149e-04 9.99881522e-01 1.47632506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.7692541539999 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:923.95, Y:86.95, Z:14.76 [[ 4.12395503e-01 -9.10981035e-01 -6.59567913e-03 9.23952507e+02] [ 9.10874898e-01 4.12448154e-01 -1.39082661e-02 8.69496831e+01] [ 1.53905423e-02 -2.72132166e-04 9.99881522e-01 1.47625396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.7992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:923.96, Y:86.98, Z:14.76 [[ 4.11241769e-01 -9.11502473e-01 -6.59156318e-03 9.23963661e+02] [ 9.11396372e-01 4.11294492e-01 -1.39102165e-02 8.69759859e+01] [ 1.53902704e-02 -2.87064728e-04 9.99881522e-01 1.47636835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.8292541539998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:923.97, Y:87.00, Z:14.76 [[ 4.08635312e-01 -9.12673973e-01 -6.58791024e-03 9.23972604e+02] [ 9.12567995e-01 4.08688282e-01 -1.39119463e-02 8.70025107e+01] [ 1.53894730e-02 -3.27003518e-04 9.99881522e-01 1.47636100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.8592541539998 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:923.98, Y:87.03, Z:14.77 [[ 4.07560354e-01 -9.13154534e-01 -6.58450776e-03 9.23983089e+02] [ 9.13048592e-01 4.07613397e-01 -1.39135565e-02 8.70283325e+01] [ 1.53891608e-02 -3.41361531e-04 9.99881522e-01 1.47670063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.8892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:923.99, Y:87.06, Z:14.77 [[ 4.07165198e-01 -9.13330826e-01 -6.58061119e-03 9.23994128e+02] [ 9.13224878e-01 4.07218227e-01 -1.39153992e-02 8.70554167e+01] [ 1.53891079e-02 -3.43711579e-04 9.99881522e-01 1.47687444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.9192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:924.00, Y:87.08, Z:14.77 [[ 4.06712524e-01 -9.13532520e-01 -6.57711507e-03 9.24003289e+02] [ 9.13426571e-01 4.06765552e-01 -1.39170515e-02 8.70824674e+01] [ 1.53890229e-02 -3.47472555e-04 9.99881522e-01 1.47702004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.9492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:924.01, Y:87.11, Z:14.77 [[ 4.06677099e-01 -9.13548305e-01 -6.57506053e-03 9.24013285e+02] [ 9.13442343e-01 4.06730101e-01 -1.39180220e-02 8.71080109e+01] [ 1.53890605e-02 -3.45797863e-04 9.99881522e-01 1.47701435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.9792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:924.02, Y:87.13, Z:14.77 [[ 4.07310737e-01 -9.13265996e-01 -6.57145644e-03 9.24021411e+02] [ 9.13159970e-01 4.07363610e-01 -1.39197235e-02 8.71342397e+01] [ 1.53893824e-02 -3.31138124e-04 9.99881522e-01 1.47701173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.0092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:924.03, Y:87.16, Z:14.77 [[ 4.07614906e-01 -9.13130296e-01 -6.56897550e-03 9.24031179e+02] [ 9.13024233e-01 4.07667706e-01 -1.39208942e-02 8.71601932e+01] [ 1.53895494e-02 -3.23269837e-04 9.99881522e-01 1.47707409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.0392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:924.04, Y:87.19, Z:14.77 [[ 4.07996693e-01 -9.12959801e-01 -6.56507238e-03 9.24040134e+02] [ 9.12853687e-01 4.08049389e-01 -1.39227347e-02 8.71857568e+01] [ 1.53897709e-02 -3.12520817e-04 9.99881522e-01 1.47704960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.0692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:924.05, Y:87.21, Z:14.77 [[ 4.09702434e-01 -9.12195627e-01 -6.56154692e-03 9.24047333e+02] [ 9.12089388e-01 4.09754878e-01 -1.39243960e-02 8.72136619e+01] [ 1.53903990e-02 -2.79858381e-04 9.99881522e-01 1.47707101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.0992541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:924.06, Y:87.24, Z:14.77 [[ 4.10519194e-01 -9.11828376e-01 -6.55769806e-03 9.24056095e+02] [ 9.11722061e-01 4.10571484e-01 -1.39262084e-02 8.72388962e+01] [ 1.53907158e-02 -2.61822160e-04 9.99881522e-01 1.47711083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.1292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:924.06, Y:87.27, Z:14.77 [[ 4.12474628e-01 -9.10945508e-01 -6.55459413e-03 9.24063514e+02] [ 9.10839058e-01 4.12526643e-01 -1.39276691e-02 8.72664640e+01] [ 1.53912923e-02 -2.25370195e-04 9.99881522e-01 1.47734277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.1592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:924.07, Y:87.29, Z:14.77 [[ 4.13172865e-01 -9.10629052e-01 -6.55086268e-03 9.24072790e+02] [ 9.10522534e-01 4.13224741e-01 -1.39294240e-02 8.72920573e+01] [ 1.53915167e-02 -2.09448069e-04 9.99881522e-01 1.47728140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.1892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:924.08, Y:87.32, Z:14.77 [[ 4.13517502e-01 -9.10472621e-01 -6.54838951e-03 9.24082164e+02] [ 9.10366066e-01 4.13569300e-01 -1.39305866e-02 8.73183745e+01] [ 1.53916305e-02 -2.00890237e-04 9.99881522e-01 1.47744236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.2192541539998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:924.09, Y:87.35, Z:14.78 [[ 4.14185190e-01 -9.10169104e-01 -6.54449930e-03 9.24089673e+02] [ 9.10062482e-01 4.14236850e-01 -1.39324139e-02 8.73460953e+01] [ 1.53918255e-02 -1.85303769e-04 9.99881522e-01 1.47756901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.2492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:924.10, Y:87.37, Z:14.77 [[ 4.14269284e-01 -9.10130860e-01 -6.54045312e-03 9.24098726e+02] [ 9.10024203e-01 4.14320872e-01 -1.39343131e-02 8.73718285e+01] [ 1.53918946e-02 -1.79412730e-04 9.99881522e-01 1.47747025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.2792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:924.11, Y:87.40, Z:14.78 [[ 4.14612226e-01 -9.09974710e-01 -6.53677466e-03 9.24105641e+02] [ 9.09868006e-01 4.14663717e-01 -1.39360385e-02 8.73992735e+01] [ 1.53920059e-02 -1.69550179e-04 9.99881522e-01 1.47756473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.3092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:924.11, Y:87.43, Z:14.78 [[ 4.14438524e-01 -9.10053862e-01 -6.53281330e-03 9.24114766e+02] [ 9.09947139e-01 4.14489975e-01 -1.39378952e-02 8.74256718e+01] [ 1.53920210e-02 -1.68114040e-04 9.99881522e-01 1.47759035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.3392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:924.12, Y:87.45, Z:14.78 [[ 4.14611216e-01 -9.09975227e-01 -6.52884800e-03 9.24124024e+02] [ 9.09868465e-01 4.14662586e-01 -1.39397524e-02 8.74520182e+01] [ 1.53920984e-02 -1.60815208e-04 9.99881522e-01 1.47762110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.3692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:924.13, Y:87.48, Z:14.78 [[ 4.15892740e-01 -9.09390265e-01 -6.52490600e-03 9.24131484e+02] [ 9.09283402e-01 4.15943900e-01 -1.39415973e-02 8.74793128e+01] [ 1.53923478e-02 -1.34779601e-04 9.99881522e-01 1.47772177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.3992541539999 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:924.14, Y:87.51, Z:14.78 [[ 4.16154298e-01 -9.09270629e-01 -6.52098214e-03 9.24140574e+02] [ 9.09163722e-01 4.16205366e-01 -1.39434324e-02 8.75050779e+01] [ 1.53924213e-02 -1.26021063e-04 9.99881522e-01 1.47769071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.4292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:924.15, Y:87.53, Z:14.78 [[ 4.17476649e-01 -9.08664279e-01 -6.51737375e-03 9.24150407e+02] [ 9.08557271e-01 4.17527507e-01 -1.39451188e-02 8.75314270e+01] [ 1.53926142e-02 -9.96458192e-05 9.99881522e-01 1.47785343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.4592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:924.16, Y:87.56, Z:14.78 [[ 4.19542778e-01 -9.07712198e-01 -6.51331723e-03 9.24157159e+02] [ 9.07605046e-01 4.19593329e-01 -1.39470133e-02 8.75584403e+01] [ 1.53928185e-02 -6.01508961e-05 9.99881522e-01 1.47781302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.4892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:924.17, Y:87.58, Z:14.78 [[ 4.20537845e-01 -9.07251643e-01 -6.50969802e-03 9.24166440e+02] [ 9.07144410e-01 4.20588224e-01 -1.39487023e-02 8.75840051e+01] [ 1.53928854e-02 -3.92789528e-05 9.99881522e-01 1.47780161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.5192541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:924.17, Y:87.61, Z:14.78 [[ 4.22092740e-01 -9.06529310e-01 -6.50610475e-03 9.24173554e+02] [ 9.06421964e-01 4.22142879e-01 -1.39503781e-02 8.76100769e+01] [ 1.53929324e-02 -8.92292699e-06 9.99881522e-01 1.47775491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.5492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:924.18, Y:87.64, Z:14.78 [[ 4.22566599e-01 -9.06308549e-01 -6.50257033e-03 9.24183498e+02] [ 9.06201152e-01 4.22616628e-01 -1.39520254e-02 8.76362949e+01] [ 1.53929342e-02 3.02319306e-06 9.99881522e-01 1.47793295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.5792541539998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:924.19, Y:87.66, Z:14.78 [[ 4.22918160e-01 -9.06144580e-01 -6.49852099e-03 9.24193307e+02] [ 9.06037134e-01 4.22968085e-01 -1.39539112e-02 8.76622853e+01] [ 1.53929280e-02 1.34611280e-05 9.99881522e-01 1.47792956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.6092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:924.20, Y:87.69, Z:14.78 [[ 4.23474909e-01 -9.05884553e-01 -6.49448434e-03 9.24202321e+02] [ 9.05777047e-01 4.23524706e-01 -1.39557897e-02 8.76891915e+01] [ 1.53929089e-02 2.73719353e-05 9.99881522e-01 1.47800287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.6392541539999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:924.21, Y:87.72, Z:14.78 [[ 4.23356300e-01 -9.05940019e-01 -6.49043241e-03 9.24212493e+02] [ 9.05832491e-01 4.23406048e-01 -1.39576739e-02 8.77156680e+01] [ 1.53929037e-02 2.98246263e-05 9.99881522e-01 1.47797150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.6692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:924.22, Y:87.74, Z:14.78 [[ 4.23508958e-01 -9.05868694e-01 -6.48637224e-03 9.24221705e+02] [ 9.05761129e-01 4.23558625e-01 -1.39595605e-02 8.77407160e+01] [ 1.53928877e-02 3.68950688e-05 9.99881522e-01 1.47784537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.6992541539998 meters Centerline goodness : 0.999661 Centerline is valid? [True, True] Translation: X:924.23, Y:87.77, Z:14.78 [[ 4.22822940e-01 -9.06189128e-01 -6.48270112e-03 9.24232413e+02] [ 9.06081575e-01 4.22872633e-01 -1.39612651e-02 8.77671317e+01] [ 1.53929035e-02 2.92871226e-05 9.99881522e-01 1.47802602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.7292541539998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:924.24, Y:87.79, Z:14.78 [[ 4.23018986e-01 -9.06097657e-01 -6.47873072e-03 9.24243703e+02] [ 9.05990065e-01 4.23068593e-01 -1.39631073e-02 8.77928387e+01] [ 1.53928863e-02 3.69938321e-05 9.99881522e-01 1.47820825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.7592541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:924.26, Y:87.82, Z:14.78 [[ 4.22758485e-01 -9.06219257e-01 -6.47471710e-03 9.24255651e+02] [ 9.06111650e-01 4.22808062e-01 -1.39649682e-02 8.78187833e+01] [ 1.53928857e-02 3.69922102e-05 9.99881522e-01 1.47825209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.7892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:924.26, Y:87.84, Z:14.78 [[ 4.23051591e-01 -9.06082492e-01 -6.47070147e-03 9.24264946e+02] [ 9.05974840e-01 4.23101071e-01 -1.39668286e-02 8.78446398e+01] [ 1.53928596e-02 4.63963341e-05 9.99881522e-01 1.47834000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.8192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:924.28, Y:87.87, Z:14.78 [[ 4.23225346e-01 -9.06001363e-01 -6.46814274e-03 9.24275978e+02] [ 9.05893684e-01 4.23274766e-01 -1.39680135e-02 8.78703892e+01] [ 1.53928409e-02 5.21676792e-05 9.99881522e-01 1.47842928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.8492541539998 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:924.29, Y:87.90, Z:14.78 [[ 4.23598149e-01 -9.05827148e-01 -6.46423192e-03 9.24285636e+02] [ 9.05719421e-01 4.23647464e-01 -1.39698231e-02 8.78964673e+01] [ 1.53928005e-02 6.28108096e-05 9.99881522e-01 1.47843449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.8792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:924.30, Y:87.92, Z:14.79 [[ 4.24487796e-01 -9.05410612e-01 -6.46021839e-03 9.24297549e+02] [ 9.05302809e-01 4.24536944e-01 -1.39716789e-02 8.79218411e+01] [ 1.53927077e-02 8.23533215e-05 9.99881522e-01 1.47866669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.9092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:924.31, Y:87.95, Z:14.79 [[ 4.24892048e-01 -9.05221003e-01 -6.45630905e-03 9.24308665e+02] [ 9.05113150e-01 4.24941087e-01 -1.39734852e-02 8.79468482e+01] [ 1.53926432e-02 9.35325078e-05 9.99881522e-01 1.47866924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.9392541539999 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:924.32, Y:87.97, Z:14.79 [[ 4.24429566e-01 -9.05437964e-01 -6.45266016e-03 9.24319589e+02] [ 9.05330111e-01 4.24478604e-01 -1.39751699e-02 8.79731801e+01] [ 1.53926656e-02 8.96877792e-05 9.99881522e-01 1.47859506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.9692541539998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:924.33, Y:88.00, Z:14.79 [[ 4.25414488e-01 -9.04975650e-01 -6.44870040e-03 9.24331054e+02] [ 9.04867716e-01 4.25463348e-01 -1.39769969e-02 8.79979076e+01] [ 1.53925275e-02 1.10796175e-04 9.99881522e-01 1.47879406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.9992541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:924.34, Y:88.02, Z:14.79 [[ 4.25342962e-01 -9.05009295e-01 -6.44516469e-03 9.24342268e+02] [ 9.04901340e-01 4.25391776e-01 -1.39786271e-02 8.80232157e+01] [ 1.53925075e-02 1.13472496e-04 9.99881522e-01 1.47883720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.0292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:924.35, Y:88.05, Z:14.79 [[ 4.25335787e-01 -9.05012696e-01 -6.44111736e-03 9.24354805e+02] [ 9.04904713e-01 4.25384539e-01 -1.39804918e-02 8.80487429e+01] [ 1.53924743e-02 1.17806031e-04 9.99881522e-01 1.47890051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.0592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:924.37, Y:88.07, Z:14.79 [[ 4.25280693e-01 -9.05038617e-01 -6.43695813e-03 9.24366702e+02] [ 9.04930608e-01 4.25329387e-01 -1.39824066e-02 8.80733481e+01] [ 1.53924453e-02 1.21447122e-04 9.99881522e-01 1.47891536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.0892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:924.38, Y:88.10, Z:14.79 [[ 4.25099083e-01 -9.05123954e-01 -6.43413350e-03 9.24378349e+02] [ 9.05015935e-01 4.25147755e-01 -1.39837062e-02 8.80982072e+01] [ 1.53924449e-02 1.21467347e-04 9.99881522e-01 1.47888416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.1192541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:924.39, Y:88.12, Z:14.79 [[ 4.24703411e-01 -9.05309698e-01 -6.43141605e-03 9.24390378e+02] [ 9.05201682e-01 4.24752089e-01 -1.39849559e-02 8.81239243e+01] [ 1.53924736e-02 1.17729868e-04 9.99881522e-01 1.47888933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.1492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:924.40, Y:88.15, Z:14.79 [[ 4.24359576e-01 -9.05470947e-01 -6.42754678e-03 9.24402786e+02] [ 9.05362922e-01 4.24408235e-01 -1.39867340e-02 8.81486222e+01] [ 1.53924851e-02 1.16141997e-04 9.99881522e-01 1.47898238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.1792541539999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:924.42, Y:88.17, Z:14.79 [[ 4.23117800e-01 -9.06051911e-01 -6.42362425e-03 9.24415693e+02] [ 9.05943925e-01 4.23166546e-01 -1.39885353e-02 8.81736951e+01] [ 1.53926020e-02 9.93549055e-05 9.99881522e-01 1.47899798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.2092541539998 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:924.43, Y:88.20, Z:14.79 [[ 4.23144195e-01 -9.06039613e-01 -6.41947069e-03 9.24428540e+02] [ 9.05931598e-01 4.23192873e-01 -1.39904411e-02 8.81978815e+01] [ 1.53925681e-02 1.04372601e-04 9.99881522e-01 1.47910953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.2392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:924.44, Y:88.22, Z:14.79 [[ 4.22821069e-01 -9.06190478e-01 -6.41571248e-03 9.24441954e+02] [ 9.06082454e-01 4.22869728e-01 -1.39921643e-02 8.82225756e+01] [ 1.53925767e-02 1.03017373e-04 9.99881522e-01 1.47915516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.2692541539999 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:924.45, Y:88.25, Z:14.79 [[ 4.22432944e-01 -9.06371502e-01 -6.41158021e-03 9.24453028e+02] [ 9.06263470e-01 4.22481586e-01 -1.39940576e-02 8.82468920e+01] [ 1.53925896e-02 1.00970022e-04 9.99881522e-01 1.47900282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.2992541539999 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:924.47, Y:88.27, Z:14.79 [[ 4.22567594e-01 -9.06308759e-01 -6.40790316e-03 9.24465200e+02] [ 9.06200694e-01 4.22616163e-01 -1.39957411e-02 8.82718484e+01] [ 1.53925462e-02 1.07300364e-04 9.99881522e-01 1.47903848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.3292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:924.48, Y:88.30, Z:14.79 [[ 4.23757194e-01 -9.05753185e-01 -6.40382627e-03 9.24479897e+02] [ 9.05645027e-01 4.23805558e-01 -1.39976063e-02 8.82960108e+01] [ 1.53923536e-02 1.31992955e-04 9.99881522e-01 1.47926181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.3592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:924.49, Y:88.32, Z:14.79 [[ 4.23785103e-01 -9.05740156e-01 -6.39976577e-03 9.24492257e+02] [ 9.05631969e-01 4.23833401e-01 -1.39994625e-02 8.83203618e+01] [ 1.53923099e-02 1.36931186e-04 9.99881522e-01 1.47923926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.3892541539999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:924.51, Y:88.35, Z:14.79 [[ 4.24156436e-01 -9.05566346e-01 -6.39614255e-03 9.24506174e+02] [ 9.05458115e-01 4.24204634e-01 -1.40011177e-02 8.83453001e+01] [ 1.53922143e-02 1.47225013e-04 9.99881522e-01 1.47922145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.4192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:924.52, Y:88.37, Z:14.79 [[ 4.24563724e-01 -9.05375495e-01 -6.39206513e-03 9.24519601e+02] [ 9.05267214e-01 4.24611809e-01 -1.40029790e-02 8.83693515e+01] [ 1.53921004e-02 1.58629907e-04 9.99881522e-01 1.47933752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.4492541539998 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:924.53, Y:88.39, Z:14.79 [[ 4.24101510e-01 -9.05592126e-01 -6.38837243e-03 9.24532180e+02] [ 9.05483844e-01 4.24149594e-01 -1.40046634e-02 8.83945857e+01] [ 1.53921385e-02 1.54830883e-04 9.99881522e-01 1.47925430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.4792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:924.55, Y:88.42, Z:14.80 [[ 4.24930552e-01 -9.05203439e-01 -6.38435056e-03 9.24546769e+02] [ 9.05095086e-01 4.24978475e-01 -1.40064967e-02 8.84178471e+01] [ 1.53919405e-02 1.73344038e-04 9.99881522e-01 1.47951246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.5092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:924.56, Y:88.44, Z:14.80 [[ 4.25005875e-01 -9.05168094e-01 -6.38176507e-03 9.24559908e+02] [ 9.05059719e-01 4.25053749e-01 -1.40076746e-02 8.84431392e+01] [ 1.53918933e-02 1.77465498e-04 9.99881522e-01 1.47957816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.5392541539999 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:924.57, Y:88.47, Z:14.79 [[ 4.26067989e-01 -9.04668665e-01 -6.37778336e-03 9.24573508e+02] [ 9.04560207e-01 4.26115673e-01 -1.40094873e-02 8.84667652e+01] [ 1.53916176e-02 1.99905025e-04 9.99881522e-01 1.47948946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.5692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:924.59, Y:88.49, Z:14.80 [[ 4.27087391e-01 -9.04187878e-01 -6.37507749e-03 9.24587058e+02] [ 9.04079348e-01 4.27134912e-01 -1.40107185e-02 8.84912187e+01] [ 1.53913400e-02 2.20225296e-04 9.99881522e-01 1.47971279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.5992541539998 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:924.60, Y:88.52, Z:14.80 [[ 4.27726198e-01 -9.03885893e-01 -6.37118245e-03 9.24599532e+02] [ 9.03777303e-01 4.27773582e-01 -1.40124895e-02 8.85164735e+01] [ 1.53911151e-02 2.35378752e-04 9.99881522e-01 1.47955198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.6292541539999 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:924.61, Y:88.54, Z:14.80 [[ 4.29881031e-01 -9.02863089e-01 -6.36727521e-03 9.24614348e+02] [ 9.02754359e-01 4.29928095e-01 -1.40142647e-02 8.85408465e+01] [ 1.53904328e-02 2.76381097e-04 9.99881522e-01 1.47958371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.6592541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:924.63, Y:88.56, Z:14.80 [[ 4.31046076e-01 -9.02307480e-01 -6.36332479e-03 9.24627525e+02] [ 9.02198664e-01 4.31092938e-01 -1.40160582e-02 8.85644593e+01] [ 1.53899785e-02 3.00583756e-04 9.99881522e-01 1.47973867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.6892541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:924.64, Y:88.59, Z:14.80 [[ 4.31858477e-01 -9.01918960e-01 -6.35973849e-03 9.24640680e+02] [ 9.01810078e-01 4.31905185e-01 -1.40176853e-02 8.85897428e+01] [ 1.53896201e-02 3.18379939e-04 9.99881522e-01 1.47976800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.7192541539998 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:924.66, Y:88.61, Z:14.80 [[ 4.32750734e-01 -9.01491212e-01 -6.35584663e-03 9.24655258e+02] [ 9.01382258e-01 4.32797274e-01 -1.40194497e-02 8.86142675e+01] [ 1.53892038e-02 3.37879750e-04 9.99881522e-01 1.47980931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.7492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:924.67, Y:88.64, Z:14.80 [[ 4.33465478e-01 -9.01147788e-01 -6.35170046e-03 9.24668565e+02] [ 9.01038769e-01 4.33511868e-01 -1.40213279e-02 8.86374925e+01] [ 1.53888261e-02 3.54633239e-04 9.99881522e-01 1.47985000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.7792541539999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:924.68, Y:88.66, Z:14.80 [[ 4.33906200e-01 -9.00935687e-01 -6.34797696e-03 9.24682424e+02] [ 9.00826621e-01 4.33952478e-01 -1.40230135e-02 8.86613919e+01] [ 1.53885536e-02 3.66245852e-04 9.99881522e-01 1.47969544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.8092541539999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:924.70, Y:88.69, Z:14.80 [[ 4.34040501e-01 -9.00871022e-01 -6.34389810e-03 9.24695604e+02] [ 9.00761923e-01 4.34086699e-01 -1.40248585e-02 8.86866937e+01] [ 1.53883904e-02 3.73014742e-04 9.99881522e-01 1.47970375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.8392541539998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:924.71, Y:88.71, Z:14.80 [[ 4.34215870e-01 -9.00786535e-01 -6.34007199e-03 9.24709327e+02] [ 9.00677401e-01 4.34261987e-01 -1.40265879e-02 8.87116700e+01] [ 1.53882138e-02 3.80207502e-04 9.99881522e-01 1.47982654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.8692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:924.72, Y:88.73, Z:14.80 [[ 4.34173018e-01 -9.00807217e-01 -6.33627417e-03 9.24724003e+02] [ 9.00698060e-01 4.34219082e-01 -1.40283033e-02 8.87343059e+01] [ 1.53881280e-02 3.83640919e-04 9.99881522e-01 1.47981980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.8992541539999 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:924.74, Y:88.76, Z:14.80 [[ 4.33688425e-01 -9.01040650e-01 -6.33228261e-03 9.24736862e+02] [ 9.00931492e-01 4.33734485e-01 -1.40301048e-02 8.87591461e+01] [ 1.53882241e-02 3.79741236e-04 9.99881522e-01 1.47964724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.9292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:924.75, Y:88.78, Z:14.80 [[ 4.33852817e-01 -9.00961532e-01 -6.32853629e-03 9.24752887e+02] [ 9.00852341e-01 4.33898799e-01 -1.40317944e-02 8.87818394e+01] [ 1.53880513e-02 3.86656824e-04 9.99881522e-01 1.47985014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.9592541539998 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:924.77, Y:88.81, Z:14.80 [[ 4.33216952e-01 -9.01267472e-01 -6.32580684e-03 9.24765797e+02] [ 9.01158296e-01 4.33262968e-01 -1.40330248e-02 8.88064371e+01] [ 1.53882467e-02 3.78790926e-04 9.99881522e-01 1.47996058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.9892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:924.78, Y:88.83, Z:14.80 [[ 4.32963804e-01 -9.01389139e-01 -6.32182873e-03 9.24779443e+02] [ 9.01279949e-01 4.33009789e-01 -1.40348167e-02 8.88302368e+01] [ 1.53882451e-02 3.78830156e-04 9.99881522e-01 1.47998507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.0192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:924.80, Y:88.85, Z:14.80 [[ 4.33177634e-01 -9.01286423e-01 -6.31824205e-03 9.24797473e+02] [ 9.01177200e-01 4.33223538e-01 -1.40364312e-02 8.88543349e+01] [ 1.53880561e-02 3.86412385e-04 9.99881522e-01 1.47982463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.0492541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:924.81, Y:88.88, Z:14.80 [[ 4.30820577e-01 -9.02414927e-01 -6.39771322e-03 9.24807088e+02] [ 9.02306349e-01 4.30868000e-01 -1.40007149e-02 8.88787531e+01] [ 1.53910240e-02 2.59098836e-04 9.99881518e-01 1.48019764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.0792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:924.82, Y:88.90, Z:14.80 [[ 4.29044765e-01 -9.03261226e-01 -6.30449207e-03 9.24822640e+02] [ 9.03152124e-01 4.29090955e-01 -1.40425672e-02 8.89021329e+01] [ 1.53893070e-02 3.30974541e-04 9.99881523e-01 1.48034306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.1092541539998 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:924.84, Y:88.93, Z:14.80 [[ 4.27557437e-01 -9.03966228e-01 -6.30054862e-03 9.24835149e+02] [ 9.03857176e-01 4.27603745e-01 -1.40443363e-02 8.89269396e+01] [ 1.53897439e-02 3.09964361e-04 9.99881523e-01 1.48019517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.1392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:924.85, Y:88.95, Z:14.80 [[ 4.26671306e-01 -9.04384846e-01 -6.29660229e-03 9.24848917e+02] [ 9.04275813e-01 4.26717659e-01 -1.40461054e-02 8.89515831e+01] [ 1.53899562e-02 2.99204966e-04 9.99881523e-01 1.48039558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.1692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:924.86, Y:88.98, Z:14.80 [[ 4.24522787e-01 -9.05395386e-01 -6.29275820e-03 9.24864015e+02] [ 9.05286438e-01 4.24569339e-01 -1.40478273e-02 8.89758705e+01] [ 1.53905502e-02 2.66874158e-04 9.99881523e-01 1.48041916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.1992541539998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:924.88, Y:89.00, Z:14.80 [[ 4.21858166e-01 -9.06640028e-01 -6.28873881e-03 9.24878509e+02] [ 9.06531190e-01 4.21904976e-01 -1.40496265e-02 8.89991755e+01] [ 1.53912039e-02 2.26011767e-04 9.99881523e-01 1.48031843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.2292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:924.89, Y:89.02, Z:14.80 [[ 4.20579003e-01 -9.07234148e-01 -6.28517498e-03 9.24892169e+02] [ 9.07125353e-01 4.20625912e-01 -1.40512206e-02 8.90234046e+01] [ 1.53914546e-02 2.08206772e-04 9.99881523e-01 1.48048196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.2592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:924.91, Y:89.05, Z:14.81 [[ 4.19063843e-01 -9.07935043e-01 -6.28117448e-03 9.24905859e+02] [ 9.07826300e-01 4.19110871e-01 -1.40530086e-02 8.90483785e+01] [ 1.53917275e-02 1.86892422e-04 9.99881523e-01 1.48057158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.2892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:924.92, Y:89.07, Z:14.81 [[ 4.17921470e-01 -9.08461470e-01 -6.27713152e-03 9.24919282e+02] [ 9.08352759e-01 4.17968573e-01 -1.40548143e-02 8.90725491e+01] [ 1.53919010e-02 1.71958919e-04 9.99881523e-01 1.48059565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.3192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:924.93, Y:89.10, Z:14.81 [[ 4.16297450e-01 -9.09206839e-01 -6.27350306e-03 9.24933840e+02] [ 9.09098188e-01 4.16344691e-01 -1.40564337e-02 8.90954595e+01] [ 1.53921454e-02 1.48427251e-04 9.99881523e-01 1.48068486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.3492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:924.95, Y:89.12, Z:14.81 [[ 4.15800754e-01 -9.09434125e-01 -6.26935982e-03 9.24947765e+02] [ 9.09325472e-01 4.15847990e-01 -1.40582814e-02 8.91196464e+01] [ 1.53921815e-02 1.44555434e-04 9.99881523e-01 1.48078885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.3792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:924.96, Y:89.14, Z:14.81 [[ 4.15951092e-01 -9.09365402e-01 -6.26532845e-03 9.24960018e+02] [ 9.09256714e-01 4.15998248e-01 -1.40600778e-02 8.91447310e+01] [ 1.53921140e-02 1.51512766e-04 9.99881523e-01 1.48080337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.4092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:924.97, Y:89.17, Z:14.81 [[ 4.16221679e-01 -9.09241613e-01 -6.26126317e-03 9.24971796e+02] [ 9.09132883e-01 4.16268740e-01 -1.40618880e-02 8.91702019e+01] [ 1.53920218e-02 1.60542391e-04 9.99881523e-01 1.48074612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.4392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:924.98, Y:89.20, Z:14.81 [[ 4.17029529e-01 -9.08871399e-01 -6.25720297e-03 9.24983822e+02] [ 9.08762600e-01 4.17076430e-01 -1.40636944e-02 8.91957138e+01] [ 1.53918215e-02 1.78663826e-04 9.99881523e-01 1.48073816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.4692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:925.00, Y:89.22, Z:14.81 [[ 4.23325974e-01 -9.05955858e-01 -6.25316451e-03 9.25002327e+02] [ 9.05846711e-01 4.23372057e-01 -1.40654898e-02 8.92246328e+01] [ 1.53901280e-02 2.89878679e-04 9.99881523e-01 1.48051710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.4992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:925.01, Y:89.25, Z:14.81 [[ 4.19359189e-01 -9.07797431e-01 -6.45709110e-03 9.25005168e+02] [ 9.07689860e-01 4.19408898e-01 -1.39748114e-02 8.92479871e+01] [ 1.53944593e-02 -5.70554756e-07 9.99881498e-01 1.48069798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.5292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:925.01, Y:89.27, Z:14.81 [[ 4.18098557e-01 -9.08380214e-01 -6.24370016e-03 9.25013607e+02] [ 9.08271274e-01 4.18145121e-01 -1.40695094e-02 8.92734326e+01] [ 1.53912368e-02 2.11468103e-04 9.99881526e-01 1.48058458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.5592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:925.02, Y:89.30, Z:14.81 [[ 4.16797731e-01 -9.08977839e-01 -6.24011247e-03 9.25023960e+02] [ 9.08868942e-01 4.16844396e-01 -1.40711005e-02 8.92996003e+01] [ 1.53914744e-02 1.93358330e-04 9.99881526e-01 1.48055850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.5892541539998 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:925.03, Y:89.33, Z:14.81 [[ 4.14367319e-01 -9.10088367e-01 -6.23613625e-03 9.25033885e+02] [ 9.09979568e-01 4.14414213e-01 -1.40728625e-02 8.93251038e+01] [ 1.53918919e-02 1.56577716e-04 9.99881526e-01 1.48055922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.6192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:925.05, Y:89.35, Z:14.81 [[ 4.14564823e-01 -9.09998445e-01 -6.23193920e-03 9.25047855e+02] [ 9.09889608e-01 4.14611629e-01 -1.40747208e-02 8.93509644e+01] [ 1.53918085e-02 1.64507423e-04 9.99881526e-01 1.48063490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.6492541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:925.06, Y:89.38, Z:14.81 [[ 4.12522553e-01 -9.10925764e-01 -6.27657397e-03 9.25057136e+02] [ 9.10817332e-01 4.12570292e-01 -1.40549762e-02 8.93768698e+01] [ 1.53925679e-02 8.11823058e-05 9.99881524e-01 1.48087410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.6792541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:925.07, Y:89.40, Z:14.81 [[ 4.12264215e-01 -9.11043092e-01 -6.22114963e-03 9.25068594e+02] [ 9.10934302e-01 4.12311128e-01 -1.40794660e-02 8.94030648e+01] [ 1.53920495e-02 1.37401408e-04 9.99881526e-01 1.48091574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.7092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:925.08, Y:89.43, Z:14.81 [[ 4.11843520e-01 -9.11233374e-01 -6.21715593e-03 9.25080300e+02] [ 9.11124579e-01 4.11890422e-01 -1.40812293e-02 8.94290100e+01] [ 1.53920731e-02 1.34659468e-04 9.99881526e-01 1.48102067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.7392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:925.09, Y:89.45, Z:14.81 [[ 4.11762406e-01 -9.11270057e-01 -6.21320339e-03 9.25090724e+02] [ 9.11161241e-01 4.11809256e-01 -1.40829731e-02 8.94546257e+01] [ 1.53920464e-02 1.37608782e-04 9.99881526e-01 1.48095368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.7692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:925.10, Y:89.48, Z:14.81 [[ 4.11380404e-01 -9.11442598e-01 -6.20917395e-03 9.25101207e+02] [ 9.11333774e-01 4.11427238e-01 -1.40847495e-02 8.94805063e+01] [ 1.53920639e-02 1.35560000e-04 9.99881526e-01 1.48087970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.7992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:925.11, Y:89.51, Z:14.81 [[ 4.10057946e-01 -9.12038364e-01 -6.20517135e-03 9.25111078e+02] [ 9.11929581e-01 4.10104876e-01 -1.40865126e-02 8.95066029e+01] [ 1.53922110e-02 1.17607122e-04 9.99881526e-01 1.48063864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.8292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:925.12, Y:89.53, Z:14.81 [[ 4.09209213e-01 -9.12419512e-01 -6.20119522e-03 9.25122121e+02] [ 9.12310746e-01 4.09256183e-01 -1.40882628e-02 8.95321558e+01] [ 1.53922833e-02 1.07629891e-04 9.99881526e-01 1.48058911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.8592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:925.13, Y:89.56, Z:14.81 [[ 4.08255891e-01 -9.12846495e-01 -6.19716876e-03 9.25133006e+02] [ 9.12737751e-01 4.08302912e-01 -1.40900337e-02 8.95571324e+01] [ 1.53923600e-02 9.59493995e-05 9.99881526e-01 1.48055872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.8892541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:925.14, Y:89.58, Z:14.81 [[ 4.07854774e-01 -9.13025806e-01 -6.19356502e-03 9.25144890e+02] [ 9.12917060e-01 4.07901788e-01 -1.40916177e-02 8.95825824e+01] [ 1.53923768e-02 9.31223704e-05 9.99881526e-01 1.48058851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.9192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:925.16, Y:89.61, Z:14.81 [[ 4.07796806e-01 -9.13051726e-01 -6.18959373e-03 9.25156188e+02] [ 9.12942956e-01 4.07843766e-01 -1.40933618e-02 8.96078432e+01] [ 1.53923555e-02 9.64819399e-05 9.99881526e-01 1.48062165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.9492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:925.17, Y:89.63, Z:14.81 [[ 4.08413450e-01 -9.12776091e-01 -6.18559410e-03 9.25167559e+02] [ 9.12667263e-01 4.08460274e-01 -1.40951170e-02 8.96340335e+01] [ 1.53922553e-02 1.11246128e-04 9.99881526e-01 1.48066455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.9792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:925.18, Y:89.66, Z:14.81 [[ 4.09714257e-01 -9.12192970e-01 -6.18159597e-03 9.25178165e+02] [ 9.12084049e-01 4.09760864e-01 -1.40968702e-02 8.96596823e+01] [ 1.53920420e-02 1.37553639e-04 9.99881526e-01 1.48070722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.0092541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:925.19, Y:89.68, Z:14.81 [[ 4.10381802e-01 -9.11892874e-01 -6.17756806e-03 9.25188766e+02] [ 9.11783892e-01 4.10428267e-01 -1.40986351e-02 8.96849460e+01] [ 1.53918935e-02 1.53216234e-04 9.99881526e-01 1.48068362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.0392541539999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:925.20, Y:89.71, Z:14.81 [[ 4.11265737e-01 -9.11494583e-01 -6.17397870e-03 9.25199366e+02] [ 9.11385533e-01 4.11312041e-01 -1.41002068e-02 8.97096396e+01] [ 1.53916939e-02 1.72057075e-04 9.99881526e-01 1.48061509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.0692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:925.21, Y:89.74, Z:14.81 [[ 4.10939601e-01 -9.11641685e-01 -6.17107139e-03 9.25210709e+02] [ 9.11532632e-01 4.10985898e-01 -1.41014791e-02 8.97355630e+01] [ 1.53917195e-02 1.69723238e-04 9.99881526e-01 1.48064869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.0992541539998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:925.22, Y:89.76, Z:14.81 [[ 4.11932269e-01 -9.11193598e-01 -6.16711762e-03 9.25224823e+02] [ 9.11084468e-01 4.11978387e-01 -1.41032080e-02 8.97620831e+01] [ 1.53914720e-02 1.90801395e-04 9.99881526e-01 1.48065486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.1292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:925.24, Y:89.79, Z:14.81 [[ 4.11499326e-01 -9.11388638e-01 -6.24941891e-03 9.25237306e+02] [ 9.11280074e-01 4.11546767e-01 -1.40671865e-02 8.97866583e+01] [ 1.53926021e-02 9.36668331e-05 9.99881523e-01 1.48083553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.1592541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:925.25, Y:89.81, Z:14.81 [[ 4.10498895e-01 -9.11839515e-01 -6.27349517e-03 9.25248083e+02] [ 9.11731163e-01 4.10546827e-01 -1.40566537e-02 8.98117801e+01] [ 1.53929758e-02 5.04997460e-05 9.99881520e-01 1.48095004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.1892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:925.26, Y:89.84, Z:14.81 [[ 4.09518171e-01 -9.12280552e-01 -6.25002284e-03 9.25259695e+02] [ 9.12172095e-01 4.09565858e-01 -1.40668969e-02 8.98368186e+01] [ 1.53927524e-02 5.95534670e-05 9.99881523e-01 1.48108653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.2192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:925.26, Y:89.86, Z:14.81 [[ 4.04327549e-01 -9.14592935e-01 -6.24465222e-03 9.25262713e+02] [ 9.14484715e-01 4.04375769e-01 -1.40692377e-02 8.98609780e+01] [ 1.53928114e-02 -2.20586140e-05 9.99881523e-01 1.48079750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.2492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:925.28, Y:89.89, Z:14.81 [[ 4.08096390e-01 -9.12918909e-01 -6.03344281e-03 9.25284171e+02] [ 9.12809110e-01 4.08140897e-01 -1.41611046e-02 8.98891647e+01] [ 1.53904349e-02 2.71714094e-04 9.99881523e-01 1.48116529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.2792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:925.29, Y:89.91, Z:14.81 [[ 4.06726113e-01 -9.13528855e-01 -6.23697116e-03 9.25293385e+02] [ 9.13420458e-01 4.06773930e-01 -1.40725851e-02 8.99140046e+01] [ 1.53927498e-02 2.67107692e-05 9.99881524e-01 1.48113272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.3092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:925.31, Y:89.94, Z:14.81 [[ 4.06692536e-01 -9.13544517e-01 -6.13166779e-03 9.25307747e+02] [ 9.13435426e-01 4.06738733e-01 -1.41183190e-02 8.99416716e+01] [ 1.53916997e-02 1.40932393e-04 9.99881531e-01 1.48115383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.3392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:925.31, Y:89.96, Z:14.81 [[ 4.02691641e-01 -9.15314435e-01 -6.23924101e-03 9.25310912e+02] [ 9.15206264e-01 4.02739971e-01 -1.40715916e-02 8.99623819e+01] [ 1.53927227e-02 -4.36801291e-05 9.99881524e-01 1.48087000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.3692541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:925.33, Y:89.99, Z:14.81 [[ 4.06921326e-01 -9.13443891e-01 -5.94073130e-03 9.25328518e+02] [ 9.13333560e-01 4.06964536e-01 -1.42012309e-02 8.99893555e+01] [ 1.53896946e-02 3.52914455e-04 9.99881509e-01 1.48110266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.3992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:925.33, Y:90.01, Z:14.81 [[ 4.03029131e-01 -9.15166582e-01 -6.13575388e-03 9.25334847e+02] [ 9.15057705e-01 4.03075827e-01 -1.41164643e-02 9.00140162e+01] [ 1.53920904e-02 7.47774664e-05 9.99881532e-01 1.48083189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.4292541539999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:925.35, Y:90.04, Z:14.81 [[ 4.07872716e-01 -9.13019040e-01 -6.00663242e-03 9.25351169e+02] [ 9.12909084e-01 4.07916834e-01 -1.41725126e-02 9.00405414e+01] [ 1.53899804e-02 2.97071919e-04 9.99881523e-01 1.48110611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.4592541539998 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:925.36, Y:90.07, Z:14.81 [[ 4.08153707e-01 -9.12892634e-01 -6.13114379e-03 9.25362473e+02] [ 9.12783467e-01 4.08199720e-01 -1.41184419e-02 9.00666788e+01] [ 1.53913528e-02 1.66087692e-04 9.99881532e-01 1.48109390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.4892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:925.37, Y:90.09, Z:14.81 [[ 4.05101596e-01 -9.14251145e-01 -6.12705497e-03 9.25370832e+02] [ 9.14142106e-01 4.05147911e-01 -1.41202161e-02 9.00938009e+01] [ 1.53917873e-02 1.19123154e-04 9.99881532e-01 1.48092999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.5192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:925.38, Y:90.12, Z:14.81 [[ 4.07048337e-01 -9.13386097e-01 -6.12292931e-03 9.25383110e+02] [ 9.13276932e-01 4.07094355e-01 -1.41220049e-02 9.01195507e+01] [ 1.53914529e-02 1.56408497e-04 9.99881532e-01 1.48103111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.5492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:925.39, Y:90.14, Z:14.81 [[ 4.08489654e-01 -9.12742441e-01 -6.11884407e-03 9.25392071e+02] [ 9.12633177e-01 4.08535437e-01 -1.41237747e-02 9.01429705e+01] [ 1.53911332e-02 1.85155736e-04 9.99881532e-01 1.48105352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.5792541539998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:925.41, Y:90.17, Z:14.81 [[ 4.11869664e-01 -9.11223099e-01 -5.98689145e-03 9.25405806e+02] [ 9.11112830e-01 4.11912993e-01 -1.41808561e-02 9.01705981e+01] [ 1.53880020e-02 3.85930833e-04 9.99881523e-01 1.48110503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.6092541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:925.41, Y:90.20, Z:14.81 [[ 4.09403152e-01 -9.12333098e-01 -6.11366115e-03 9.25412287e+02] [ 9.12223756e-01 4.09448746e-01 -1.41259910e-02 9.01950401e+01] [ 1.53908400e-02 2.06198290e-04 9.99881533e-01 1.48106952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.6392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:925.43, Y:90.22, Z:14.81 [[ 4.12265512e-01 -9.11044201e-01 -5.96750823e-03 9.25427987e+02] [ 9.10933793e-01 4.12308492e-01 -1.41891585e-02 9.02218186e+01] [ 1.53874049e-02 4.13695795e-04 9.99881521e-01 1.48122673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.6692541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:925.43, Y:90.25, Z:14.81 [[ 4.06497208e-01 -9.13631598e-01 -6.10931320e-03 9.25433053e+02] [ 9.13522373e-01 4.06543082e-01 -1.41278379e-02 9.02456642e+01] [ 1.53913381e-02 1.61932363e-04 9.99881533e-01 1.48110763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.6992541539998 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:925.45, Y:90.27, Z:14.81 [[ 4.05609388e-01 -9.14027294e-01 -5.92702869e-03 9.25445740e+02] [ 9.13916947e-01 4.05652544e-01 -1.42065882e-02 9.02716583e+01] [ 1.53895237e-02 3.45513599e-04 9.99881515e-01 1.48128214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.7292541539998 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:925.46, Y:90.30, Z:14.81 [[ 4.03538696e-01 -9.14943179e-01 -5.95825282e-03 9.25456796e+02] [ 9.14833128e-01 4.03582586e-01 -1.41930959e-02 9.02968157e+01] [ 1.53905233e-02 2.76656335e-04 9.99881521e-01 1.48127599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.7592541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:925.47, Y:90.32, Z:14.82 [[ 4.00379742e-01 -9.16330083e-01 -5.93649610e-03 9.25471032e+02] [ 9.16220045e-01 4.00423674e-01 -1.42024944e-02 9.03210234e+01] [ 1.53912864e-02 2.47254310e-04 9.99881517e-01 1.48161368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.7892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:925.48, Y:90.35, Z:14.82 [[ 3.99016478e-01 -9.16924493e-01 -5.94339234e-03 9.25482104e+02] [ 9.16814565e-01 3.99060680e-01 -1.41995161e-02 9.03467209e+01] [ 1.53916583e-02 2.16852247e-04 9.99881518e-01 1.48159955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.8192541539999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:925.49, Y:90.37, Z:14.82 [[ 3.97687028e-01 -9.17501798e-01 -5.95645594e-03 9.25491759e+02] [ 9.17392018e-01 3.97731592e-01 -1.41938724e-02 9.03732031e+01] [ 1.53919742e-02 1.80313808e-04 9.99881520e-01 1.48155591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.8492541539998 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:925.50, Y:90.40, Z:14.82 [[ 3.97791876e-01 -9.17456359e-01 -5.95415139e-03 9.25502967e+02] [ 9.17346560e-01 3.97836392e-01 -1.41948676e-02 9.03994122e+01] [ 1.53919496e-02 1.84582714e-04 9.99881520e-01 1.48153165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.8792541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:925.51, Y:90.43, Z:14.81 [[ 3.97118400e-01 -9.17747989e-01 -5.96692694e-03 9.25513331e+02] [ 9.17638305e-01 3.97163194e-01 -1.41893514e-02 9.04252077e+01] [ 1.53920925e-02 1.59371794e-04 9.99881522e-01 1.48138084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.9092541539999 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:925.52, Y:90.45, Z:14.81 [[ 3.96845368e-01 -9.17866071e-01 -5.96908530e-03 9.25524036e+02] [ 9.17756414e-01 3.96890228e-01 -1.41884183e-02 9.04506112e+01] [ 1.53921394e-02 1.52441759e-04 9.99881522e-01 1.48137574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.9392541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:925.53, Y:90.48, Z:14.81 [[ 3.96406328e-01 -9.18055876e-01 -5.95242091e-03 9.25534788e+02] [ 9.17946133e-01 3.96450982e-01 -1.41956208e-02 9.04760412e+01] [ 1.53922162e-02 1.63232147e-04 9.99881520e-01 1.48142984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.9692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:925.54, Y:90.50, Z:14.81 [[ 3.95313920e-01 -9.18526912e-01 -5.93439329e-03 9.25544918e+02] [ 9.18417105e-01 3.95358426e-01 -1.42034049e-02 9.05019070e+01] [ 1.53924221e-02 1.64555377e-04 9.99881516e-01 1.48146479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.9992541539999 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:925.56, Y:90.53, Z:14.82 [[ 3.95245823e-01 -9.18556360e-01 -5.91215387e-03 9.25556702e+02] [ 9.18446412e-01 3.95289994e-01 -1.42130077e-02 9.05287813e+01] [ 1.53924639e-02 1.87635437e-04 9.99881511e-01 1.48150555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.0292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:925.57, Y:90.55, Z:14.82 [[ 3.94918851e-01 -9.18696771e-01 -5.94504009e-03 9.25566502e+02] [ 9.18587052e-01 3.94963569e-01 -1.41988099e-02 9.05545334e+01] [ 1.53924750e-02 1.46340828e-04 9.99881518e-01 1.48156994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.0592541539999 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:925.58, Y:90.58, Z:14.82 [[ 3.94707861e-01 -9.18787454e-01 -5.94291994e-03 9.25576506e+02] [ 9.18677732e-01 3.94752571e-01 -1.41997247e-02 9.05793605e+01] [ 1.53925118e-02 1.45114733e-04 9.99881518e-01 1.48166164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.0892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:925.59, Y:90.60, Z:14.82 [[ 3.94971404e-01 -9.18674249e-01 -5.93414436e-03 9.25585572e+02] [ 9.18564457e-01 3.95015947e-01 -1.42035146e-02 9.06049250e+01] [ 1.53924847e-02 1.59087994e-04 9.99881516e-01 1.48151740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.1192541539999 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:925.59, Y:90.63, Z:14.82 [[ 3.94939210e-01 -9.18688411e-01 -5.88426922e-03 9.25594836e+02] [ 9.18578298e-01 3.94982986e-01 -1.42250370e-02 9.06303023e+01] [ 1.53925629e-02 2.12862868e-04 9.99881505e-01 1.48150969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.1492541539999 meters Centerline goodness : 0.999737 Centerline is valid? [True, True] Translation: X:925.61, Y:90.66, Z:14.81 [[ 3.97084313e-01 -9.17763431e-01 -5.85939970e-03 9.25606387e+02] [ 9.17653058e-01 3.97127446e-01 -1.42357489e-02 9.06571302e+01] [ 1.53919782e-02 2.75896528e-04 9.99881498e-01 1.48146677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.1792541539999 meters Centerline goodness : 0.999737 Centerline is valid? [True, True] Translation: X:925.62, Y:90.68, Z:14.82 [[ 3.98846422e-01 -9.16998812e-01 -5.89160788e-03 9.25615849e+02] [ 9.16888560e-01 3.98889843e-01 -1.42218802e-02 9.06826609e+01] [ 1.53915498e-02 2.70398173e-04 9.99881507e-01 1.48159867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.2092541539998 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:925.62, Y:90.71, Z:14.82 [[ 4.03035255e-01 -9.15165433e-01 -5.90035295e-03 9.25622978e+02] [ 9.15055039e-01 4.03078306e-01 -1.42181057e-02 9.07092242e+01] [ 1.53902231e-02 3.31250139e-04 9.99881509e-01 1.48153056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.2392541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:925.63, Y:90.74, Z:14.82 [[ 4.06201524e-01 -9.13764655e-01 -5.87172308e-03 9.25634160e+02] [ 9.13653934e-01 4.06243748e-01 -1.42304545e-02 9.07364074e+01] [ 1.53886372e-02 4.15709419e-04 9.99881502e-01 1.48162546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.2692541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:925.64, Y:90.76, Z:14.82 [[ 4.10690935e-01 -9.11755413e-01 -5.91794919e-03 9.25642251e+02] [ 9.11644771e-01 4.10733334e-01 -1.42105297e-02 9.07614302e+01] [ 1.53872264e-02 4.41068294e-04 9.99881512e-01 1.48170857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.2992541539999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:925.66, Y:90.79, Z:14.82 [[ 4.12859524e-01 -9.10775783e-01 -5.87250898e-03 9.25655733e+02] [ 9.10664762e-01 4.12900951e-01 -1.42300861e-02 9.07893853e+01] [ 1.53851824e-02 5.27139588e-04 9.99881502e-01 1.48159484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.3292541539998 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:925.67, Y:90.82, Z:14.82 [[ 4.12889102e-01 -9.10761546e-01 -5.99960885e-03 9.25668000e+02] [ 9.10651308e-01 4.12932505e-01 -1.41753907e-02 9.08156671e+01] [ 1.53878343e-02 3.89312698e-04 9.99881524e-01 1.48192548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.3592541539998 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:925.68, Y:90.84, Z:14.82 [[ 4.14376434e-01 -9.10085244e-01 -6.08439007e-03 9.25678329e+02] [ 9.09975465e-01 4.14420975e-01 -1.41389069e-02 9.08401764e+01] [ 1.53891094e-02 3.22184145e-04 9.99881529e-01 1.48202374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.3892541539999 meters Centerline goodness : 0.999716 Centerline is valid? [True, True] Translation: X:925.69, Y:90.87, Z:14.82 [[ 4.13673377e-01 -9.10405519e-01 -6.01065303e-03 9.25688064e+02] [ 9.10295313e-01 4.13716858e-01 -1.41705907e-02 9.08661172e+01] [ 1.53876925e-02 3.90526828e-04 9.99881526e-01 1.48203992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.4192541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:925.70, Y:90.89, Z:14.82 [[ 4.11146247e-01 -9.11549803e-01 -5.97667127e-03 9.25698740e+02] [ 9.11439505e-01 4.11189505e-01 -1.41851795e-02 9.08944906e+01] [ 1.53880421e-02 3.84809007e-04 9.99881523e-01 1.48207773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.4492541539998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:925.71, Y:90.92, Z:14.82 [[ 4.10588753e-01 -9.11800420e-01 -6.07205287e-03 9.25707791e+02] [ 9.11690749e-01 4.10633559e-01 -1.41442327e-02 9.09196963e+01] [ 1.53901060e-02 2.71628439e-04 9.99881528e-01 1.48198142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.4792541539998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:925.72, Y:90.95, Z:14.82 [[ 4.07673886e-01 -9.13107816e-01 -6.00992202e-03 9.25717237e+02] [ 9.12997893e-01 4.07718080e-01 -1.41708943e-02 9.09454787e+01] [ 1.53899082e-02 2.90057387e-04 9.99881526e-01 1.48195387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.5092541539999 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:925.73, Y:90.97, Z:14.82 [[ 4.07619930e-01 -9.13132149e-01 -5.97259281e-03 9.25729380e+02] [ 9.13021994e-01 4.07663550e-01 -1.41869029e-02 9.09695234e+01] [ 1.53893256e-02 3.29755782e-04 9.99881523e-01 1.48189446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.5392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:925.74, Y:91.00, Z:14.82 [[ 4.03535423e-01 -9.14944728e-01 -5.94202427e-03 9.25741698e+02] [ 9.14834576e-01 4.03579062e-01 -1.42000068e-02 9.09976715e+01] [ 1.53902979e-02 2.94236486e-04 9.99881519e-01 1.48205772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.5692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:925.75, Y:91.02, Z:14.82 [[ 4.03270652e-01 -9.15060655e-01 -6.06456512e-03 9.25752956e+02] [ 9.14951297e-01 4.03316220e-01 -1.41474776e-02 9.10239499e+01] [ 1.53917376e-02 1.56480802e-04 9.99881528e-01 1.48210676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.5992541539998 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:925.76, Y:91.05, Z:14.82 [[ 4.01702508e-01 -9.15750166e-01 -6.06047044e-03 9.25764981e+02] [ 9.15640859e-01 4.01748199e-01 -1.41492315e-02 9.10488123e+01] [ 1.53919442e-02 1.34567400e-04 9.99881528e-01 1.48216201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.6292541539999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:925.77, Y:91.07, Z:14.82 [[ 3.99890548e-01 -9.16542890e-01 -6.05640643e-03 9.25773619e+02] [ 9.16433648e-01 3.99936394e-01 -1.41509708e-02 9.10698824e+01] [ 1.53921490e-02 1.08544845e-04 9.99881528e-01 1.48202549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.6592541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:925.78, Y:91.10, Z:14.82 [[ 3.98887678e-01 -9.16980975e-01 -5.87470787e-03 9.25784905e+02] [ 9.16870623e-01 3.98930831e-01 -1.42285804e-02 9.10956351e+01] [ 1.53909397e-02 2.89258353e-04 9.99881511e-01 1.48218053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.6892541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:925.80, Y:91.13, Z:14.82 [[ 3.93715325e-01 -9.19213697e-01 -5.86703815e-03 9.25799125e+02] [ 9.19103541e-01 3.93758981e-01 -1.42318572e-02 9.11258786e+01] [ 1.53923170e-02 2.10884738e-04 9.99881509e-01 1.48227647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.7192541539998 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:925.81, Y:91.15, Z:14.82 [[ 3.92137345e-01 -9.19886790e-01 -6.04952735e-03 9.25810600e+02] [ 9.19777894e-01 3.92184005e-01 -1.41538594e-02 9.11509809e+01] [ 1.53924762e-02 -1.39646651e-05 9.99881529e-01 1.48245376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.7492541539999 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:925.82, Y:91.18, Z:14.83 [[ 3.90556835e-01 -9.20559163e-01 -6.01547341e-03 9.25822296e+02] [ 9.20450123e-01 3.90603158e-01 -1.41684032e-02 9.11755108e+01] [ 1.53925163e-02 -3.37654350e-06 9.99881528e-01 1.48250891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.7792541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:925.83, Y:91.20, Z:14.83 [[ 3.88810171e-01 -9.21298303e-01 -6.00730567e-03 9.25834793e+02] [ 9.21189297e-01 3.88856575e-01 -1.41718886e-02 9.12001604e+01] [ 1.53925172e-02 -2.36912612e-05 9.99881528e-01 1.48251214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.8092541539999 meters Centerline goodness : 0.999649 Centerline is valid? [True, True] Translation: X:925.85, Y:91.23, Z:14.83 [[ 3.89152222e-01 -9.21153737e-01 -6.02831657e-03 9.25847163e+02] [ 9.21044853e-01 3.89198909e-01 -1.41629262e-02 9.12258132e+01] [ 1.53924466e-02 -4.08157508e-05 9.99881528e-01 1.48250649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.8392541539998 meters Centerline goodness : 0.999692 Centerline is valid? [True, True] Translation: X:925.86, Y:91.25, Z:14.82 [[ 3.88022876e-01 -9.21629968e-01 -6.03735595e-03 9.25859144e+02] [ 9.21521201e-01 3.88069835e-01 -1.41590719e-02 9.12519991e+01] [ 1.53923407e-02 -6.95077196e-05 9.99881528e-01 1.48245488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.8692541539999 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:925.87, Y:91.28, Z:14.83 [[ 3.86718070e-01 -9.22178055e-01 -6.06381636e-03 9.25869371e+02] [ 9.22069531e-01 3.86765589e-01 -1.41477927e-02 9.12782868e+01] [ 1.53920595e-02 -1.20053218e-04 9.99881528e-01 1.48254228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.8992541539999 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:925.88, Y:91.30, Z:14.82 [[ 3.87602523e-01 -9.21806852e-01 -6.03418292e-03 9.25880679e+02] [ 9.21698086e-01 3.87649483e-01 -1.41604136e-02 9.13024649e+01] [ 1.53923142e-02 -7.30828122e-05 9.99881529e-01 1.48244601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.9292541539999 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:925.89, Y:91.33, Z:14.83 [[ 3.87400768e-01 -9.21891697e-01 -6.02863309e-03 9.25892104e+02] [ 9.21782904e-01 3.87447666e-01 -1.41627760e-02 9.13283327e+01] [ 1.53923254e-02 -7.04206279e-05 9.99881529e-01 1.48256130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.9592541539998 meters Centerline goodness : 0.999693 Centerline is valid? [True, True] Translation: X:925.90, Y:91.35, Z:14.83 [[ 3.86197816e-01 -9.22396309e-01 -6.02467662e-03 9.25902939e+02] [ 9.22287551e-01 3.86244795e-01 -1.41644588e-02 9.13545015e+01] [ 1.53922445e-02 -8.62011889e-05 9.99881529e-01 1.48273379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.9892541539998 meters Centerline goodness : 0.999409 Centerline is valid? [True, True] Translation: X:925.91, Y:91.38, Z:14.83 [[ 3.86780298e-01 -9.22152237e-01 -6.02106105e-03 9.25914519e+02] [ 9.22043425e-01 3.86827154e-01 -1.41659954e-02 9.13794116e+01] [ 1.53923142e-02 -7.25518387e-05 9.99881529e-01 1.48260282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.0192541539999 meters Centerline goodness : 0.999451 Centerline is valid? [True, True] Translation: X:925.93, Y:91.41, Z:14.83 [[ 3.86987078e-01 -9.22065509e-01 -6.01654766e-03 9.25925433e+02] [ 9.21956657e-01 3.87033840e-01 -1.41679120e-02 9.14057012e+01] [ 1.53923506e-02 -6.41972947e-05 9.99881529e-01 1.48269802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.0492541539999 meters Centerline goodness : 0.999473 Centerline is valid? [True, True] Translation: X:925.94, Y:91.43, Z:14.83 [[ 3.86458453e-01 -9.22287218e-01 -6.01263387e-03 9.25936393e+02] [ 9.22178367e-01 3.86505217e-01 -1.41695728e-02 9.14326863e+01] [ 1.53923302e-02 -6.87697119e-05 9.99881529e-01 1.48293841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.0792541539998 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:925.95, Y:91.46, Z:14.83 [[ 3.88247929e-01 -9.21535229e-01 -6.03062133e-03 9.25946765e+02] [ 9.21426405e-01 3.88294758e-01 -1.41619446e-02 9.14575246e+01] [ 1.53923895e-02 -5.84280726e-05 9.99881528e-01 1.48278034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.1092541539998 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:925.96, Y:91.48, Z:14.83 [[ 3.88685978e-01 -9.21350707e-01 -6.00703623e-03 9.25957434e+02] [ 9.21241707e-01 3.88732393e-01 -1.41719416e-02 9.14833913e+01] [ 1.53924580e-02 -2.54973360e-05 9.99881529e-01 1.48289741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.1392541539999 meters Centerline goodness : 0.999715 Centerline is valid? [True, True] Translation: X:925.97, Y:91.51, Z:14.83 [[ 3.89264279e-01 -9.21106555e-01 -6.00296113e-03 9.25967644e+02] [ 9.20997499e-01 3.89310563e-01 -1.41736675e-02 9.15079543e+01] [ 1.53924742e-02 -1.14097177e-05 9.99881529e-01 1.48289315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.1692541539999 meters Centerline goodness : 0.999627 Centerline is valid? [True, True] Translation: X:925.98, Y:91.53, Z:14.83 [[ 3.89242486e-01 -9.21115783e-01 -6.00019319e-03 9.25978765e+02] [ 9.21006710e-01 3.89288730e-01 -1.41748392e-02 9.15336001e+01] [ 1.53924757e-02 -8.76855210e-06 9.99881529e-01 1.48287637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.1992541539998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:925.99, Y:91.56, Z:14.83 [[ 3.89682412e-01 -9.20929783e-01 -5.99614854e-03 9.25989503e+02] [ 9.20820661e-01 3.89728541e-01 -1.41765499e-02 9.15580334e+01] [ 1.53924772e-02 2.97469335e-06 9.99881529e-01 1.48300617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.2292541539998 meters Centerline goodness : 0.997626 Centerline is valid? [True, True] Translation: X:926.00, Y:91.58, Z:14.83 [[ 3.88150000e-01 -9.21576729e-01 -5.99246557e-03 9.25999748e+02] [ 9.21467661e-01 3.88196254e-01 -1.41781065e-02 9.15849722e+01] [ 1.53924657e-02 -1.86311740e-05 9.99881529e-01 1.48287802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.2592541539999 meters Centerline goodness : 0.997966 Centerline is valid? [True, True] Translation: X:926.01, Y:91.61, Z:14.83 [[ 3.87959579e-01 -9.21656719e-01 -6.02146912e-03 9.26009159e+02] [ 9.21547849e-01 3.88006301e-01 -1.41658586e-02 9.16095553e+01] [ 1.53924267e-02 -5.32913718e-05 9.99881528e-01 1.48289577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.2892541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:926.02, Y:91.63, Z:14.83 [[ 3.86916981e-01 -9.22094899e-01 -6.02051299e-03 9.26018090e+02] [ 9.21986076e-01 3.86963812e-01 -1.41662620e-02 9.16347667e+01] [ 1.53923586e-02 -6.96618214e-05 9.99881528e-01 1.48278073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.3192541539999 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:926.03, Y:91.66, Z:14.83 [[ 3.86492579e-01 -9.22272986e-01 -6.00214728e-03 9.26028404e+02] [ 9.22164065e-01 3.86539178e-01 -1.41739994e-02 9.16595711e+01] [ 1.53923618e-02 -5.68189659e-05 9.99881529e-01 1.48301555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.3492541539998 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:926.04, Y:91.69, Z:14.83 [[ 3.85288987e-01 -9.22776650e-01 -5.97077222e-03 9.26040287e+02] [ 9.22667585e-01 3.85335246e-01 -1.41872038e-02 9.16871503e+01] [ 1.53923694e-02 -4.28646199e-05 9.99881530e-01 1.48299218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.3792541539999 meters Centerline goodness : 0.999649 Centerline is valid? [True, True] Translation: X:926.05, Y:91.71, Z:14.83 [[ 3.82216869e-01 -9.24052816e-01 -6.05462638e-03 9.26049298e+02] [ 9.23944459e-01 3.82264776e-01 -1.41519202e-02 9.17104728e+01] [ 1.53915921e-02 -1.85035881e-04 9.99881525e-01 1.48297977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.4092541539999 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:926.06, Y:91.74, Z:14.83 [[ 3.81469960e-01 -9.24362005e-01 -5.96265009e-03 9.26062762e+02] [ 9.24253079e-01 3.81516545e-01 -1.41905672e-02 9.17387561e+01] [ 1.53920708e-02 -9.77225948e-05 9.99881530e-01 1.48306547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.4392541539999 meters Centerline goodness : 0.999693 Centerline is valid? [True, True] Translation: X:926.07, Y:91.76, Z:14.83 [[ 3.78897740e-01 -9.25418650e-01 -6.06830148e-03 9.26070622e+02] [ 9.25310558e-01 3.78946245e-01 -1.41461766e-02 9.17628185e+01] [ 1.53906958e-02 -2.55109075e-04 9.99881524e-01 1.48327342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.4692541539998 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:926.08, Y:91.79, Z:14.83 [[ 3.78139344e-01 -9.25729540e-01 -5.95443786e-03 9.26080689e+02] [ 9.25620729e-01 3.78186195e-01 -1.41939432e-02 9.17885395e+01] [ 1.53916387e-02 -1.44262751e-04 9.99881531e-01 1.48316259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.4992541539999 meters Centerline goodness : 0.999693 Centerline is valid? [True, True] Translation: X:926.09, Y:91.81, Z:14.83 [[ 3.77726726e-01 -9.25898004e-01 -5.95042061e-03 9.26090419e+02] [ 9.25789187e-01 3.77773563e-01 -1.41956271e-02 9.18144530e+01] [ 1.53916144e-02 -1.46767309e-04 9.99881531e-01 1.48320922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.5292541539999 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:926.10, Y:91.84, Z:14.83 [[ 3.78745579e-01 -9.25481727e-01 -5.94639643e-03 9.26099037e+02] [ 9.25372832e-01 3.78792236e-01 -1.41973126e-02 9.18401085e+01] [ 1.53918022e-02 -1.25464326e-04 9.99881531e-01 1.48309793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.5592541539999 meters Centerline goodness : 0.999673 Centerline is valid? [True, True] Translation: X:926.11, Y:91.87, Z:14.83 [[ 3.79102595e-01 -9.25335568e-01 -5.94220871e-03 9.26109344e+02] [ 9.25226628e-01 3.79149145e-01 -1.41990651e-02 9.18666176e+01] [ 1.53918833e-02 -1.14987297e-04 9.99881531e-01 1.48297630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.5892541539998 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:926.12, Y:91.89, Z:14.83 [[ 3.81165838e-01 -9.24487610e-01 -5.93823926e-03 9.26118558e+02] [ 9.24378541e-01 3.81212084e-01 -1.42007250e-02 9.18931854e+01] [ 1.53921229e-02 -7.63496939e-05 9.99881531e-01 1.48292368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.6192541539999 meters Centerline goodness : 0.999695 Centerline is valid? [True, True] Translation: X:926.13, Y:91.92, Z:14.83 [[ 3.81801183e-01 -9.24225428e-01 -5.93423290e-03 9.26128516e+02] [ 9.24116301e-01 3.81847293e-01 -1.42023990e-02 9.19183918e+01] [ 1.53921891e-02 -6.14286111e-05 9.99881531e-01 1.48280537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.6492541539999 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:926.14, Y:91.94, Z:14.83 [[ 3.82491661e-01 -9.23939914e-01 -5.93003705e-03 9.26138294e+02] [ 9.23830725e-01 3.82537624e-01 -1.42041507e-02 9.19437390e+01] [ 1.53922441e-02 -4.53812361e-05 9.99881531e-01 1.48287446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.6792541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:926.15, Y:91.97, Z:14.83 [[ 3.83725378e-01 -9.23428242e-01 -5.92584476e-03 9.26148239e+02] [ 9.23318965e-01 3.83771131e-01 -1.42058995e-02 9.19701442e+01] [ 1.53922969e-02 -2.02807014e-05 9.99881531e-01 1.48311502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.7092541539998 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:926.16, Y:92.00, Z:14.83 [[ 3.83837888e-01 -9.23381507e-01 -5.92184128e-03 9.26158366e+02] [ 9.23272199e-01 3.83883566e-01 -1.42075682e-02 9.19953362e+01] [ 1.53923033e-02 -1.40684672e-05 9.99881531e-01 1.48309323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.7392541539998 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:926.17, Y:92.02, Z:14.83 [[ 3.85883787e-01 -9.22528420e-01 -5.91761998e-03 9.26167921e+02] [ 9.22418983e-01 3.85929157e-01 -1.42093262e-02 9.20209771e+01] [ 1.53922893e-02 2.46235773e-05 9.99881531e-01 1.48333069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.7692541539999 meters Centerline goodness : 0.999588 Centerline is valid? [True, True] Translation: X:926.18, Y:92.05, Z:14.83 [[ 3.86279773e-01 -9.22362705e-01 -5.91411415e-03 9.26178477e+02] [ 9.22253227e-01 3.86325043e-01 -1.42107852e-02 9.20475456e+01] [ 1.53922687e-02 3.50280223e-05 9.99881531e-01 1.48326500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.7992541539999 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:926.19, Y:92.07, Z:14.84 [[ 3.87917784e-01 -9.21675031e-01 -5.91022028e-03 9.26188402e+02] [ 9.21565448e-01 3.87962799e-01 -1.42124045e-02 9.20738788e+01] [ 1.53921639e-02 6.65896443e-05 9.99881531e-01 1.48357186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.8292541539998 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:926.20, Y:92.10, Z:14.84 [[ 3.91247305e-01 -9.20266626e-01 -5.90624802e-03 9.26197311e+02] [ 9.20156856e-01 3.91291862e-01 -1.42140550e-02 9.20993798e+01] [ 1.53917872e-02 1.26536112e-04 9.99881531e-01 1.48366591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.8592541539998 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:926.21, Y:92.13, Z:14.84 [[ 3.92751999e-01 -9.19625485e-01 -5.90205598e-03 9.26207428e+02] [ 9.19515616e-01 3.92796312e-01 -1.42157955e-02 9.21258170e+01] [ 1.53915136e-02 1.56249438e-04 9.99881531e-01 1.48372593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.8892541539999 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:926.22, Y:92.15, Z:14.84 [[ 3.95873141e-01 -9.18286267e-01 -5.89810910e-03 9.26215976e+02] [ 9.18176224e-01 3.95917019e-01 -1.42174328e-02 9.21511403e+01] [ 1.53908351e-02 2.12796241e-04 9.99881531e-01 1.48377137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.9192541539999 meters Centerline goodness : 0.999695 Centerline is valid? [True, True] Translation: X:926.23, Y:92.18, Z:14.84 [[ 3.96796711e-01 -9.17887592e-01 -5.89394810e-03 9.26225798e+02] [ 9.17777479e-01 3.96840414e-01 -1.42191576e-02 9.21779706e+01] [ 1.53905451e-02 2.32782134e-04 9.99881531e-01 1.48368376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.9492541539998 meters Centerline goodness : 0.999589 Centerline is valid? [True, True] Translation: X:926.23, Y:92.20, Z:14.84 [[ 3.97921830e-01 -9.17400417e-01 -5.89006396e-03 9.26234993e+02] [ 9.17290227e-01 3.97965338e-01 -1.42207663e-02 9.22040961e+01] [ 1.53901783e-02 2.55855262e-04 9.99881531e-01 1.48378188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.9792541539998 meters Centerline goodness : 0.999675 Centerline is valid? [True, True] Translation: X:926.25, Y:92.23, Z:14.84 [[ 4.00721072e-01 -9.16181193e-01 -5.88597277e-03 9.26246389e+02] [ 9.16070845e-01 4.00764180e-01 -1.42224595e-02 9.22327970e+01] [ 1.53892369e-02 3.07271155e-04 9.99881531e-01 1.48373478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.0092541539999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:926.25, Y:92.26, Z:14.84 [[ 4.01167774e-01 -9.15984921e-01 -6.00340853e-03 9.26254965e+02] [ 9.15875271e-01 4.01212648e-01 -1.41738594e-02 9.22589172e+01] [ 1.53916849e-02 1.87722204e-04 9.99881523e-01 1.48396678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.0392541539999 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:926.26, Y:92.28, Z:14.84 [[ 4.01853381e-01 -9.15684665e-01 -5.95445969e-03 9.26262738e+02] [ 9.15574681e-01 4.01897414e-01 -1.41940693e-02 9.22834241e+01] [ 1.53903735e-02 2.52182211e-04 9.99881529e-01 1.48378448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.0692541539999 meters Centerline goodness : 0.999654 Centerline is valid? [True, True] Translation: X:926.28, Y:92.31, Z:14.84 [[ 4.02167019e-01 -9.15547520e-01 -5.86752353e-03 9.26275321e+02] [ 9.15436996e-01 4.02209666e-01 -1.42299164e-02 9.23118053e+01] [ 1.53881393e-02 3.51454937e-04 9.99881534e-01 1.48365789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.0992541539998 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:926.28, Y:92.34, Z:14.84 [[ 4.00439575e-01 -9.16303541e-01 -5.99727956e-03 9.26284923e+02] [ 9.16193889e-01 4.00484441e-01 -1.41763951e-02 9.23374400e+01] [ 1.53916982e-02 1.82118770e-04 9.99881524e-01 1.48367206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.1292541539999 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:926.29, Y:92.36, Z:14.84 [[ 3.96597111e-01 -9.17973416e-01 -5.96149542e-03 9.26293723e+02] [ 9.17863731e-01 3.96641884e-01 -1.41911293e-02 9.23606501e+01] [ 1.53916582e-02 1.56320457e-04 9.99881529e-01 1.48370595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.1592541539999 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:926.30, Y:92.39, Z:14.84 [[ 3.94065249e-01 -9.19063827e-01 -5.85337696e-03 9.26304829e+02] [ 9.18953600e-01 3.94108651e-01 -1.42355855e-02 9.23858455e+01] [ 1.53902782e-02 2.30767703e-04 9.99881536e-01 1.48371369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.1892541539999 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:926.32, Y:92.41, Z:14.84 [[ 3.89489210e-01 -9.21012447e-01 -5.85044943e-03 9.26317233e+02] [ 9.20902420e-01 3.89533115e-01 -1.42367885e-02 9.24101411e+01] [ 1.53912032e-02 1.57382469e-04 9.99881536e-01 1.48406087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.2192541539998 meters Centerline goodness : 0.999566 Centerline is valid? [True, True] Translation: X:926.33, Y:92.44, Z:14.84 [[ 3.85748345e-01 -9.22585512e-01 -5.84704849e-03 9.26328337e+02] [ 9.22475642e-01 3.85792643e-01 -1.42381851e-02 9.24356352e+01] [ 1.53916916e-02 9.85965297e-05 9.99881536e-01 1.48412840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.2492541539999 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:926.34, Y:92.46, Z:14.84 [[ 3.81164915e-01 -9.24488598e-01 -5.84300680e-03 9.26340051e+02] [ 9.24378924e-01 3.81209696e-01 -1.42398436e-02 9.24601456e+01] [ 1.53919838e-02 2.65764221e-05 9.99881536e-01 1.48433203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.2792541539999 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:926.35, Y:92.49, Z:14.85 [[ 3.78588757e-01 -9.25546575e-01 -5.83873930e-03 9.26351167e+02] [ 9.25436999e-01 3.78633778e-01 -1.42415931e-02 9.24855250e+01] [ 1.53920017e-02 -1.16783225e-05 9.99881536e-01 1.48450013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.3092541539999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:926.36, Y:92.51, Z:14.85 [[ 3.76239275e-01 -9.26504163e-01 -5.83472873e-03 9.26362226e+02] [ 9.26394676e-01 3.76284512e-01 -1.42432361e-02 9.25115035e+01] [ 1.53919356e-02 -4.63968231e-05 9.99881536e-01 1.48454372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.3392541539998 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:926.37, Y:92.54, Z:14.85 [[ 3.72848773e-01 -9.27873804e-01 -5.83071038e-03 9.26373724e+02] [ 9.27764458e-01 3.72894348e-01 -1.42448808e-02 9.25371234e+01] [ 1.53916907e-02 -9.83395151e-05 9.99881536e-01 1.48455489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.3692541539999 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:926.38, Y:92.56, Z:14.84 [[ 3.70715494e-01 -9.28728201e-01 -5.82671937e-03 9.26384410e+02] [ 9.28618934e-01 3.70761260e-01 -1.42465131e-02 9.25625526e+01] [ 1.53914603e-02 -1.29398771e-04 9.99881536e-01 1.48441673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.3992541539999 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:926.39, Y:92.59, Z:14.85 [[ 3.70079674e-01 -9.28981772e-01 -5.82254494e-03 9.26394628e+02] [ 9.28872510e-01 3.70125450e-01 -1.42482190e-02 9.25877718e+01] [ 1.53914078e-02 -1.35425689e-04 9.99881536e-01 1.48458377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.4292541539999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:926.40, Y:92.61, Z:14.85 [[ 3.69990567e-01 -9.29017291e-01 -5.81841093e-03 9.26404445e+02] [ 9.28908006e-01 3.70036290e-01 -1.42499070e-02 9.26135297e+01] [ 1.53914332e-02 -1.32437328e-04 9.99881536e-01 1.48461154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.4592541539998 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:926.41, Y:92.64, Z:14.85 [[ 3.70933674e-01 -9.28641160e-01 -5.81431155e-03 9.26414085e+02] [ 9.28531803e-01 3.70979223e-01 -1.42515794e-02 9.26398225e+01] [ 1.53915920e-02 -1.12382464e-04 9.99881536e-01 1.48477923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.4892541539998 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:926.42, Y:92.67, Z:14.85 [[ 3.70669169e-01 -9.28746794e-01 -5.81025506e-03 9.26424804e+02] [ 9.28637424e-01 3.70714688e-01 -1.42532331e-02 9.26663198e+01] [ 1.53915914e-02 -1.12386231e-04 9.99881536e-01 1.48482307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.5192541539999 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:926.43, Y:92.69, Z:14.85 [[ 3.71250693e-01 -9.28514518e-01 -5.80619460e-03 9.26434333e+02] [ 9.28405094e-01 3.71296081e-01 -1.42548869e-02 9.26915706e+01] [ 1.53916868e-02 -9.83639899e-05 9.99881536e-01 1.48477858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.5492541539999 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:926.44, Y:92.72, Z:14.85 [[ 3.73450471e-01 -9.27631972e-01 -5.80256022e-03 9.26443532e+02] [ 9.27522418e-01 3.73495543e-01 -1.42563662e-02 9.27171961e+01] [ 1.53918915e-02 -5.79580201e-05 9.99881536e-01 1.48478157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.5792541539998 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:926.45, Y:92.74, Z:14.85 [[ 3.74450675e-01 -9.27228696e-01 -5.79968856e-03 9.26453747e+02] [ 9.27119075e-01 3.74495585e-01 -1.42575343e-02 9.27432408e+01] [ 1.53919527e-02 -3.82585427e-05 9.99881536e-01 1.48478007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.6092541539998 meters Centerline goodness : 0.999651 Centerline is valid? [True, True] Translation: X:926.46, Y:92.77, Z:14.85 [[ 3.74809912e-01 -9.27083566e-01 -5.79580635e-03 9.26463557e+02] [ 9.26973903e-01 3.74854720e-01 -1.42591123e-02 9.27690950e+01] [ 1.53919740e-02 -2.81046069e-05 9.99881536e-01 1.48469350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.6392541539999 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:926.47, Y:92.80, Z:14.85 [[ 3.77835600e-01 -9.25854586e-01 -5.79183602e-03 9.26472896e+02] [ 9.25744753e-01 3.77879988e-01 -1.42607248e-02 9.27952284e+01] [ 1.53919764e-02 2.64476957e-05 9.99881536e-01 1.48489764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.6692541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:926.48, Y:92.82, Z:14.85 [[ 3.78865484e-01 -9.25433654e-01 -5.78773129e-03 9.26482694e+02] [ 9.25323746e-01 3.78909686e-01 -1.42623905e-02 9.28201502e+01] [ 1.53919236e-02 4.80022876e-05 9.99881536e-01 1.48492008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.6992541539998 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:926.49, Y:92.85, Z:14.85 [[ 3.79488453e-01 -9.25178393e-01 -5.78403930e-03 9.26492176e+02] [ 9.25068432e-01 3.79532524e-01 -1.42638876e-02 9.28464479e+01] [ 1.53918717e-02 6.23484752e-05 9.99881536e-01 1.48487218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.7292541539998 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:926.50, Y:92.87, Z:14.85 [[ 3.80356107e-01 -9.24822050e-01 -5.77998784e-03 9.26502039e+02] [ 9.24712023e-01 3.80400013e-01 -1.42655292e-02 9.28721620e+01] [ 1.53917834e-02 8.11568941e-05 9.99881536e-01 1.48489767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.7592541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:926.51, Y:92.90, Z:14.85 [[ 3.80385162e-01 -9.24810126e-01 -5.77571264e-03 9.26512170e+02] [ 9.24700072e-01 3.80428999e-01 -1.42672599e-02 9.28982894e+01] [ 1.53917550e-02 8.62520581e-05 9.99881536e-01 1.48506953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.7892541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:926.52, Y:92.92, Z:14.85 [[ 3.80297701e-01 -9.24846119e-01 -5.77183376e-03 9.26522474e+02] [ 9.24736045e-01 3.80341488e-01 -1.42688289e-02 9.29244193e+01] [ 1.53917389e-02 8.89801033e-05 9.99881536e-01 1.48523270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.8192541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:926.53, Y:92.95, Z:14.85 [[ 3.80270174e-01 -9.24857463e-01 -5.76779532e-03 9.26532346e+02] [ 9.24747365e-01 3.80313902e-01 -1.42704611e-02 9.29499753e+01] [ 1.53917152e-02 9.28772167e-05 9.99881536e-01 1.48533244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.8492541539998 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:926.54, Y:92.98, Z:14.85 [[ 3.79408210e-01 -9.25211431e-01 -5.76352904e-03 9.26542571e+02] [ 9.25101348e-01 3.79451975e-01 -1.42721840e-02 9.29765922e+01] [ 1.53917702e-02 8.31352876e-05 9.99881536e-01 1.48530666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.8792541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:926.55, Y:93.00, Z:14.85 [[ 3.79136010e-01 -9.25323033e-01 -5.75948072e-03 9.26551365e+02] [ 9.25212937e-01 3.79179744e-01 -1.42738175e-02 9.30019224e+01] [ 1.53917705e-02 8.29721241e-05 9.99881536e-01 1.48544191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.9092541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:926.56, Y:93.03, Z:14.85 [[ 3.76482853e-01 -9.26405710e-01 -5.75521126e-03 9.26558766e+02] [ 9.26295714e-01 3.76526837e-01 -1.42755387e-02 9.30276461e+01] [ 1.53919321e-02 4.34680213e-05 9.99881536e-01 1.48528824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.9392541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:926.57, Y:93.06, Z:14.86 [[ 3.76138189e-01 -9.26546193e-01 -5.67583253e-03 9.26570523e+02] [ 9.26435728e-01 3.76180990e-01 -1.43075070e-02 9.30552178e+01] [ 1.53917065e-02 1.23305742e-04 9.99881533e-01 1.48555167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.9692541539998 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:926.58, Y:93.08, Z:14.85 [[ 3.73528271e-01 -9.27601163e-01 -5.71954743e-03 9.26580887e+02] [ 9.27491087e-01 3.73572056e-01 -1.42899082e-02 9.30808910e+01] [ 1.53919985e-02 3.28554215e-05 9.99881536e-01 1.48532751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.9992541539999 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:926.59, Y:93.11, Z:14.85 [[ 3.70434453e-01 -9.28840831e-01 -5.74695142e-03 9.26589460e+02] [ 9.28731072e-01 3.70479026e-01 -1.42788786e-02 9.31065484e+01] [ 1.53919305e-02 -4.79837633e-05 9.99881536e-01 1.48531908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.0292541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:926.60, Y:93.13, Z:14.85 [[ 3.67538076e-01 -9.29990997e-01 -5.70165209e-03 9.26599875e+02] [ 9.29881094e-01 3.67582296e-01 -1.42970952e-02 9.31323578e+01] [ 1.53919962e-02 -4.71316157e-05 9.99881535e-01 1.48544639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.0592541539999 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:926.61, Y:93.16, Z:14.85 [[ 3.65794502e-01 -9.30678088e-01 -5.71655470e-03 9.26610724e+02] [ 9.30568362e-01 3.65839156e-01 -1.42911056e-02 9.31590765e+01] [ 1.53917584e-02 -9.20370799e-05 9.99881536e-01 1.48546875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.0892541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:926.62, Y:93.18, Z:14.85 [[ 3.64330438e-01 -9.31252104e-01 -5.73150082e-03 9.26619503e+02] [ 9.31142543e-01 3.64375494e-01 -1.42851016e-02 9.31847156e+01] [ 1.53914493e-02 -1.32346935e-04 9.99881536e-01 1.48533991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.1192541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:926.63, Y:93.21, Z:14.85 [[ 3.62563821e-01 -9.31941559e-01 -5.69271855e-03 9.26629281e+02] [ 9.31831838e-01 3.62608490e-01 -1.43006698e-02 9.32108337e+01] [ 1.53916166e-02 -1.19750890e-04 9.99881535e-01 1.48540208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.1492541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:926.64, Y:93.24, Z:14.85 [[ 3.63797944e-01 -9.31460407e-01 -5.70667081e-03 9.26640013e+02] [ 9.31350715e-01 3.63842682e-01 -1.42950721e-02 9.32364561e+01] [ 1.53916241e-02 -1.14394102e-04 9.99881535e-01 1.48483993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.1792541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:926.65, Y:93.26, Z:14.85 [[ 3.64035943e-01 -9.31367273e-01 -5.73021667e-03 9.26650119e+02] [ 9.31257717e-01 3.64081014e-01 -1.42856274e-02 9.32624893e+01] [ 1.53914289e-02 -1.35826653e-04 9.99881536e-01 1.48536002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.2092541539998 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:926.66, Y:93.29, Z:14.85 [[ 3.63941329e-01 -9.31404272e-01 -5.72632960e-03 9.26662073e+02] [ 9.31294697e-01 3.63986351e-01 -1.42871854e-02 9.32898675e+01] [ 1.53914513e-02 -1.33203165e-04 9.99881536e-01 1.48506969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.2392541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:926.67, Y:93.31, Z:14.86 [[ 3.63909686e-01 -9.31416054e-01 -5.82017540e-03 9.26668389e+02] [ 9.31307076e-01 3.63956150e-01 -1.42495803e-02 9.33130682e+01] [ 1.53905765e-02 -2.34810225e-04 9.99881530e-01 1.48554378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.2692541539999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:926.68, Y:93.34, Z:14.85 [[ 3.65646350e-01 -9.30736414e-01 -5.69861507e-03 9.26680085e+02] [ 9.30626584e-01 3.65690746e-01 -1.42982322e-02 9.33391209e+01] [ 1.53918161e-02 -7.51862723e-05 9.99881536e-01 1.48546159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.2992541539999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:926.69, Y:93.36, Z:14.86 [[ 3.67262687e-01 -9.30099695e-01 -5.71629180e-03 9.26689575e+02] [ 9.29989898e-01 3.67307163e-01 -1.42911617e-02 9.33647435e+01] [ 1.53918401e-02 -6.74831877e-05 9.99881536e-01 1.48553137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.3292541539998 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:926.70, Y:93.39, Z:14.86 [[ 3.69325651e-01 -9.29282483e-01 -5.71227307e-03 9.26701587e+02] [ 9.29172562e-01 3.69369823e-01 -1.42927678e-02 9.33912843e+01] [ 1.53919601e-02 -2.90016201e-05 9.99881536e-01 1.48550325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.3592541539998 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:926.71, Y:93.41, Z:14.86 [[ 3.71726752e-01 -9.28324105e-01 -5.79460181e-03 9.26709519e+02] [ 9.28214580e-01 3.71771905e-01 -1.42598645e-02 9.34142679e+01] [ 1.53920461e-02 -7.78607793e-05 9.99881532e-01 1.48578532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.3892541539999 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:926.72, Y:93.44, Z:14.86 [[ 3.73223585e-01 -9.27723882e-01 -5.70559083e-03 9.26719964e+02] [ 9.27613737e-01 3.73267191e-01 -1.42953907e-02 9.34404309e+01] [ 1.53918852e-02 4.27925200e-05 9.99881537e-01 1.48580471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.4192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:926.73, Y:93.47, Z:14.86 [[ 3.77724393e-01 -9.25900519e-01 -5.70187950e-03 9.26730369e+02] [ 9.25790141e-01 3.77767407e-01 -1.42968708e-02 9.34657644e+01] [ 1.53914644e-02 1.21533037e-04 9.99881537e-01 1.48621542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.4492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:926.74, Y:93.49, Z:14.86 [[ 3.79870406e-01 -9.25022159e-01 -5.69917180e-03 9.26740234e+02] [ 9.24911665e-01 3.79913122e-01 -1.42979501e-02 9.34910512e+01] [ 1.53911109e-02 1.60137638e-04 9.99881537e-01 1.48625113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.4792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:926.75, Y:93.52, Z:14.86 [[ 3.84105753e-01 -9.23271540e-01 -5.69505802e-03 9.26749888e+02] [ 9.23160828e-01 3.84147899e-01 -1.42995885e-02 9.35157920e+01] [ 1.53901477e-02 2.35099743e-04 9.99881537e-01 1.48615973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.5092541539999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:926.76, Y:93.54, Z:14.86 [[ 3.85278927e-01 -9.22782613e-01 -5.69187860e-03 9.26759971e+02] [ 9.22671828e-01 3.85320883e-01 -1.43008540e-02 9.35414798e+01] [ 1.53897791e-02 2.58081642e-04 9.99881537e-01 1.48593513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.5392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:926.77, Y:93.57, Z:14.86 [[ 3.87145225e-01 -9.22001206e-01 -5.68782340e-03 9.26770127e+02] [ 9.21890313e-01 3.87186894e-01 -1.43024666e-02 9.35665132e+01] [ 1.53891422e-02 2.93582376e-04 9.99881537e-01 1.48611656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.5692541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:926.78, Y:93.59, Z:14.86 [[ 3.89822343e-01 -9.20872540e-01 -5.68378821e-03 9.26780182e+02] [ 9.20761503e-01 3.89863627e-01 -1.43040700e-02 9.35905084e+01] [ 1.53881276e-02 3.42632728e-04 9.99881537e-01 1.48609066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.5992541539998 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:926.79, Y:93.62, Z:14.86 [[ 3.90699249e-01 -9.20500864e-01 -5.67955556e-03 9.26790877e+02] [ 9.20389763e-01 3.90740360e-01 -1.43057505e-02 9.36162077e+01] [ 1.53876872e-02 3.61841154e-04 9.99881537e-01 1.48581993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.6292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:926.80, Y:93.64, Z:14.86 [[ 3.92811332e-01 -9.19601567e-01 -5.67580312e-03 9.26801446e+02] [ 9.19490352e-01 3.92852131e-01 -1.43072391e-02 9.36408217e+01] [ 1.53867108e-02 4.01199439e-04 9.99881537e-01 1.48591864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.6592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:926.81, Y:93.67, Z:14.86 [[ 3.93265603e-01 -9.19407415e-01 -5.67185174e-03 9.26811622e+02] [ 9.19296157e-01 3.93306285e-01 -1.43088054e-02 9.36656330e+01] [ 1.53863967e-02 4.13049467e-04 9.99881537e-01 1.48584219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.6892541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:926.82, Y:93.69, Z:14.86 [[ 3.93318804e-01 -9.19384682e-01 -5.66791927e-03 9.26822209e+02] [ 9.19273399e-01 3.93359418e-01 -1.43103629e-02 9.36903608e+01] [ 1.53862579e-02 4.18167413e-04 9.99881537e-01 1.48568564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.7192541539998 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:926.83, Y:93.72, Z:14.85 [[ 3.92530575e-01 -9.19721516e-01 -5.66399552e-03 9.26834273e+02] [ 9.19610246e-01 3.92571223e-01 -1.43119157e-02 9.37150472e+01] [ 1.53864985e-02 4.09196197e-04 9.99881537e-01 1.48543063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.7492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:926.85, Y:93.74, Z:14.86 [[ 3.91273802e-01 -9.20256904e-01 -5.66057308e-03 9.26847298e+02] [ 9.20145670e-01 3.91314550e-01 -1.43132692e-02 9.37390298e+01] [ 1.53869494e-02 3.91855474e-04 9.99881537e-01 1.48570910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.7792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:926.86, Y:93.76, Z:14.86 [[ 3.89889681e-01 -9.20844197e-01 -5.65691766e-03 9.26858725e+02] [ 9.20733003e-01 3.89930539e-01 -1.43147138e-02 9.37636566e+01] [ 1.53874261e-02 3.72648411e-04 9.99881537e-01 1.48576374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.8092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:926.87, Y:93.79, Z:14.86 [[ 3.88393983e-01 -9.21476075e-01 -5.65308635e-03 9.26870405e+02] [ 9.21364925e-01 3.88434962e-01 -1.43162267e-02 9.37882675e+01] [ 1.53879167e-02 3.51780825e-04 9.99881537e-01 1.48587842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.8392541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:926.88, Y:93.81, Z:14.86 [[ 3.85277711e-01 -9.22783383e-01 -5.64926246e-03 9.26883236e+02] [ 9.22672350e-01 3.85319006e-01 -1.43177354e-02 9.38103656e+01] [ 1.53889365e-02 3.03886071e-04 9.99881537e-01 1.48602984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.8692541539999 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:926.89, Y:93.83, Z:14.86 [[ 3.83244834e-01 -9.23629543e-01 -5.64483199e-03 9.26894373e+02] [ 9.23518577e-01 3.83286304e-01 -1.43194820e-02 9.38341782e+01] [ 1.53894834e-02 2.74760278e-04 9.99881537e-01 1.48595216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.8992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:926.90, Y:93.86, Z:14.86 [[ 3.80065745e-01 -9.24942275e-01 -5.64061576e-03 9.26904391e+02] [ 9.24831427e-01 3.80107532e-01 -1.43211426e-02 9.38559293e+01] [ 1.53902708e-02 2.26357005e-04 9.99881537e-01 1.48635802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.9292541539999 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:926.92, Y:93.88, Z:14.86 [[ 3.79464669e-01 -9.25189340e-01 -5.59015589e-03 9.26917824e+02] [ 9.25078226e-01 3.79505746e-01 -1.43409978e-02 9.38812347e+01] [ 1.53896346e-02 2.70570484e-04 9.99881536e-01 1.48611643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.9592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:926.93, Y:93.91, Z:14.87 [[ 3.78755128e-01 -9.25479769e-01 -5.63467988e-03 9.26929850e+02] [ 9.25368946e-01 3.78796980e-01 -1.43234826e-02 9.39078257e+01] [ 1.53904931e-02 2.10934718e-04 9.99881537e-01 1.48705550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.9892541539998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:926.94, Y:93.93, Z:14.87 [[ 3.77276326e-01 -9.26083617e-01 -5.63105647e-03 9.26942880e+02] [ 9.25972839e-01 3.77318299e-01 -1.43249070e-02 9.39342356e+01] [ 1.53907623e-02 1.90242924e-04 9.99881537e-01 1.48684486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.0192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:926.95, Y:93.96, Z:14.87 [[ 3.75775165e-01 -9.26693704e-01 -5.63956350e-03 9.26952445e+02] [ 9.26583044e-01 3.75817449e-01 -1.43215641e-02 9.39585449e+01] [ 1.53911497e-02 1.56164204e-04 9.99881537e-01 1.48712094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.0492541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:926.97, Y:93.98, Z:14.87 [[ 3.75882243e-01 -9.26650654e-01 -5.57722653e-03 9.26966720e+02] [ 9.26539624e-01 3.75923550e-01 -1.43460583e-02 9.39846212e+01] [ 1.53903951e-02 2.24907193e-04 9.99881536e-01 1.48685594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.0792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:926.98, Y:94.01, Z:14.87 [[ 3.75726339e-01 -9.26713566e-01 -5.62900836e-03 9.26978106e+02] [ 9.26602846e-01 3.75768465e-01 -1.43257117e-02 9.40105850e+01] [ 1.53910352e-02 1.66692020e-04 9.99881537e-01 1.48707074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.1092541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:926.99, Y:94.04, Z:14.87 [[ 3.73504081e-01 -9.27611481e-01 -5.62501237e-03 9.26988587e+02] [ 9.27500840e-01 3.73546412e-01 -1.43272805e-02 9.40353378e+01] [ 1.53913531e-02 1.34094055e-04 9.99881537e-01 1.48700233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.1392541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:927.00, Y:94.06, Z:14.87 [[ 3.72735389e-01 -9.27920647e-01 -5.62158542e-03 9.26998907e+02] [ 9.27810020e-01 3.72777758e-01 -1.43286250e-02 9.40617545e+01] [ 1.53914290e-02 1.25022335e-04 9.99881537e-01 1.48704325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.1692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:927.01, Y:94.09, Z:14.87 [[ 3.72322556e-01 -9.28086396e-01 -5.61753102e-03 9.27008989e+02] [ 9.27975764e-01 3.72364911e-01 -1.43302144e-02 9.40878826e+01] [ 1.53914484e-02 1.22529400e-04 9.99881537e-01 1.48713100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.1992541539998 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:927.02, Y:94.11, Z:14.87 [[ 3.72026877e-01 -9.28204983e-01 -5.61350634e-03 9.27018015e+02] [ 9.28094341e-01 3.72069206e-01 -1.43317908e-02 9.41140710e+01] [ 1.53914525e-02 1.21947899e-04 9.99881537e-01 1.48707751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.2292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:927.03, Y:94.14, Z:14.87 [[ 3.72930146e-01 -9.27842465e-01 -5.60949348e-03 9.27027135e+02] [ 9.27731758e-01 3.72972305e-01 -1.43333612e-02 9.41412336e+01] [ 1.53912869e-02 1.41237256e-04 9.99881537e-01 1.48723654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.2592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:927.04, Y:94.17, Z:14.87 [[ 3.73068079e-01 -9.27787037e-01 -5.60561504e-03 9.27036830e+02] [ 9.27676300e-01 3.73110162e-01 -1.43348779e-02 9.41679714e+01] [ 1.53912258e-02 1.47689144e-04 9.99881537e-01 1.48727228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.2892541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:927.05, Y:94.19, Z:14.87 [[ 3.72691425e-01 -9.27938427e-01 -5.60153433e-03 9.27046045e+02] [ 9.27827684e-01 3.72733489e-01 -1.43364723e-02 9.41936745e+01] [ 1.53912430e-02 1.45821658e-04 9.99881537e-01 1.48722519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.3192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:927.06, Y:94.22, Z:14.87 [[ 3.72960178e-01 -9.27830467e-01 -5.59725480e-03 9.27055884e+02] [ 9.27719687e-01 3.73002145e-01 -1.43381429e-02 9.42203831e+01] [ 1.53911539e-02 1.54872871e-04 9.99881537e-01 1.48740761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.3492541539998 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:927.06, Y:94.25, Z:14.87 [[ 3.72120660e-01 -9.28167511e-01 -5.59343386e-03 9.27064496e+02] [ 9.28056746e-01 3.72162668e-01 -1.43396334e-02 9.42461514e+01] [ 1.53912491e-02 1.45049807e-04 9.99881537e-01 1.48742193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.3792541539999 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:927.07, Y:94.27, Z:14.87 [[ 3.71862451e-01 -9.28271016e-01 -5.58919143e-03 9.27074794e+02] [ 9.28160238e-01 3.71904424e-01 -1.43412867e-02 9.42728159e+01] [ 1.53912458e-02 1.45320789e-04 9.99881537e-01 1.48746575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.4092541539999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:927.08, Y:94.30, Z:14.88 [[ 3.71790604e-01 -9.28299818e-01 -5.58520110e-03 9.27083886e+02] [ 9.28189020e-01 3.71832523e-01 -1.43428406e-02 9.42991111e+01] [ 1.53912157e-02 1.48411031e-04 9.99881537e-01 1.48776004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.4392541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:927.09, Y:94.33, Z:14.88 [[ 3.71550900e-01 -9.28395810e-01 -5.58112920e-03 9.27093112e+02] [ 9.28284999e-01 3.71592785e-01 -1.43444249e-02 9.43251121e+01] [ 1.53912113e-02 1.48805473e-04 9.99881537e-01 1.48768171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.4692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:927.09, Y:94.35, Z:14.87 [[ 3.66739576e-01 -9.30306929e-01 -5.57683616e-03 9.27094438e+02] [ 9.30196311e-01 3.66781968e-01 -1.43460938e-02 9.43498066e+01] [ 1.53917534e-02 7.37279160e-05 9.99881537e-01 1.48721369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.4992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:927.11, Y:94.38, Z:14.88 [[ 3.70512868e-01 -9.28811684e-01 -5.39162984e-03 9.27110040e+02] [ 9.28699833e-01 3.70551944e-01 -1.44179696e-02 9.43780834e+01] [ 1.53894575e-02 3.34837526e-04 9.99881519e-01 1.48784819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.5292541539999 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:927.11, Y:94.40, Z:14.87 [[ 3.61723380e-01 -9.32268818e-01 -5.57200349e-03 9.27109302e+02] [ 9.32158402e-01 3.61766293e-01 -1.43479219e-02 9.44014948e+01] [ 1.53918833e-02 -4.01105452e-06 9.99881538e-01 1.48687626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.5592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:927.12, Y:94.43, Z:14.87 [[ 3.62223090e-01 -9.32076341e-01 -5.30348066e-03 9.27121105e+02] [ 9.31964343e-01 3.62261796e-01 -1.44518271e-02 9.44296430e+01] [ 1.53914545e-02 2.92130598e-04 9.99881502e-01 1.48717816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.5892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:927.13, Y:94.46, Z:14.87 [[ 3.60286161e-01 -9.32826380e-01 -5.36903658e-03 9.27129768e+02] [ 9.32714838e-01 3.60326114e-01 -1.44264552e-02 9.44552975e+01] [ 1.53919821e-02 1.89872090e-04 9.99881518e-01 1.48717050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.6192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:927.15, Y:94.48, Z:14.88 [[ 3.63531930e-01 -9.31566515e-01 -5.32576911e-03 9.27147835e+02] [ 9.31454588e-01 3.63570824e-01 -1.44432317e-02 9.44837891e+01] [ 1.53911253e-02 2.89863822e-04 9.99881508e-01 1.48795658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.6492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:927.15, Y:94.51, Z:14.87 [[ 3.58026268e-01 -9.33694895e-01 -5.57086667e-03 9.27151656e+02] [ 9.33584648e-01 3.58069601e-01 -1.43480692e-02 9.45088049e+01] [ 1.53914770e-02 -6.38899247e-05 9.99881542e-01 1.48741413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.6792541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:927.17, Y:94.54, Z:14.88 [[ 3.58862644e-01 -9.33374655e-01 -5.41822075e-03 9.27166189e+02] [ 9.33263463e-01 3.58903526e-01 -1.44072226e-02 9.45367345e+01] [ 1.53919549e-02 1.13586527e-04 9.99881530e-01 1.48790150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.7092541539998 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:927.18, Y:94.56, Z:14.88 [[ 3.57299832e-01 -9.33973170e-01 -5.56301474e-03 9.27175706e+02] [ 9.33862909e-01 3.57343130e-01 -1.43510953e-02 9.45621064e+01] [ 1.53914431e-02 -6.74491943e-05 9.99881542e-01 1.48779251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.7392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:927.19, Y:94.59, Z:14.88 [[ 3.54725057e-01 -9.34954131e-01 -5.55933471e-03 9.27185171e+02] [ 9.34843968e-01 3.54768602e-01 -1.43525207e-02 9.45881298e+01] [ 1.53912259e-02 -1.05911788e-04 9.99881542e-01 1.48782565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.7692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:927.20, Y:94.61, Z:14.88 [[ 3.53498360e-01 -9.35418649e-01 -5.55530522e-03 9.27195434e+02] [ 9.35308518e-01 3.53541987e-01 -1.43540802e-02 9.46136601e+01] [ 1.53911080e-02 -1.21780482e-04 9.99881542e-01 1.48781214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.7992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:927.21, Y:94.64, Z:14.88 [[ 3.52251885e-01 -9.35888773e-01 -5.55105394e-03 9.27205618e+02] [ 9.35778674e-01 3.52295594e-01 -1.43557241e-02 9.46399183e+01] [ 1.53909728e-02 -1.37727030e-04 9.99881542e-01 1.48792336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.8292541539998 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:927.21, Y:94.67, Z:14.88 [[ 3.48661472e-01 -9.37232313e-01 -5.54701814e-03 9.27212622e+02] [ 9.37122358e-01 3.48705542e-01 -1.43572833e-02 9.46651838e+01] [ 1.53903858e-02 -1.92403172e-04 9.99881542e-01 1.48778886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.8592541539998 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:927.22, Y:94.69, Z:14.88 [[ 3.49863999e-01 -9.36784622e-01 -5.45475077e-03 9.27222422e+02] [ 9.36674051e-01 3.49906511e-01 -1.43928832e-02 9.46922703e+01] [ 1.53916845e-02 -7.37718215e-05 9.99881538e-01 1.48776189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.8892541539999 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:927.23, Y:94.72, Z:14.88 [[ 3.52813514e-01 -9.35677705e-01 -5.46414137e-03 9.27234627e+02] [ 9.35567057e-01 3.52855823e-01 -1.43892616e-02 9.47189097e+01] [ 1.53917654e-02 -3.53447038e-05 9.99881539e-01 1.48769708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.9192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:927.24, Y:94.74, Z:14.88 [[ 3.54578884e-01 -9.35009707e-01 -5.53750650e-03 9.27244593e+02] [ 9.34899418e-01 3.54622111e-01 -1.43609725e-02 9.47449330e+01] [ 1.53913709e-02 -8.49140071e-05 9.99881542e-01 1.48780493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.9492541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:927.26, Y:94.77, Z:14.88 [[ 3.58101024e-01 -9.33666448e-01 -5.53360401e-03 9.27256212e+02] [ 9.33555973e-01 3.58143775e-01 -1.43624760e-02 9.47722412e+01] [ 1.53915878e-02 -2.27116934e-05 9.99881542e-01 1.48770492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.9792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:927.27, Y:94.80, Z:14.88 [[ 3.60051639e-01 -9.32915787e-01 -5.56343945e-03 9.27265309e+02] [ 9.32805401e-01 3.60094618e-01 -1.43509824e-02 9.47972638e+01] [ 1.53916227e-02 -2.25116169e-05 9.99881542e-01 1.48801136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.0092541539999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:927.27, Y:94.82, Z:14.88 [[ 3.64035158e-01 -9.31368801e-01 -5.52810732e-03 9.27274830e+02] [ 9.31258025e-01 3.64077121e-01 -1.43645798e-02 9.48239183e+01] [ 1.53913788e-02 8.11177690e-05 9.99881542e-01 1.48812319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.0392541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:927.28, Y:94.85, Z:14.88 [[ 3.66161356e-01 -9.30534979e-01 -5.52397271e-03 9.27283518e+02] [ 9.30424083e-01 3.66203001e-01 -1.43661696e-02 9.48501388e+01] [ 1.53911187e-02 1.20698883e-04 9.99881542e-01 1.48825382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.0692541539999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:927.29, Y:94.88, Z:14.88 [[ 3.68931631e-01 -9.29440145e-01 -5.51980173e-03 9.27292272e+02] [ 9.29329102e-01 3.68972882e-01 -1.43677720e-02 9.48763572e+01] [ 1.53906412e-02 1.71013178e-04 9.99881542e-01 1.48823967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.0992541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:927.30, Y:94.90, Z:14.88 [[ 3.70199134e-01 -9.28936047e-01 -5.51563865e-03 9.27301619e+02] [ 9.28824924e-01 3.70240169e-01 -1.43693700e-02 9.49013952e+01] [ 1.53903367e-02 1.96465678e-04 9.99881542e-01 1.48832858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.1292541539999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:927.31, Y:94.93, Z:14.88 [[ 3.71562159e-01 -9.28391718e-01 -5.51186534e-03 9.27312562e+02] [ 9.28280513e-01 3.71602972e-01 -1.43708172e-02 9.49269575e+01] [ 1.53899732e-02 2.23094677e-04 9.99881542e-01 1.48835932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.1592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:927.32, Y:94.95, Z:14.89 [[ 3.72117740e-01 -9.28169194e-01 -5.50775465e-03 9.27322978e+02] [ 9.28057942e-01 3.72158423e-01 -1.43723925e-02 9.49527722e+01] [ 1.53897692e-02 2.36706773e-04 9.99881542e-01 1.48850950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.1892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:927.33, Y:94.98, Z:14.88 [[ 3.72826712e-01 -9.27884666e-01 -5.50357761e-03 9.27333693e+02] [ 9.27773359e-01 3.72867245e-01 -1.43739918e-02 9.49783848e+01] [ 1.53895104e-02 2.52935415e-04 9.99881542e-01 1.48848425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.2192541539998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:927.34, Y:95.00, Z:14.88 [[ 3.73119869e-01 -9.27766846e-01 -5.49939750e-03 9.27343251e+02] [ 9.27655503e-01 3.73160302e-01 -1.43755909e-02 9.50035519e+01] [ 1.53893535e-02 2.62272242e-04 9.99881542e-01 1.48836133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.2492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:927.35, Y:95.03, Z:14.88 [[ 3.73871274e-01 -9.27464316e-01 -5.49655511e-03 9.27351943e+02] [ 9.27352925e-01 3.73911573e-01 -1.43766776e-02 9.50300075e+01] [ 1.53890811e-02 2.77780337e-04 9.99881543e-01 1.48830349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.2792541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:927.36, Y:95.06, Z:14.88 [[ 3.73977807e-01 -9.27421390e-01 -5.49233101e-03 9.27361521e+02] [ 9.27309969e-01 3.74018028e-01 -1.43782912e-02 9.50558628e+01] [ 1.53889656e-02 2.84068513e-04 9.99881543e-01 1.48823073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.3092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:927.37, Y:95.08, Z:14.88 [[ 3.73431496e-01 -9.27641522e-01 -5.48867125e-03 9.27371181e+02] [ 9.27530105e-01 3.73471726e-01 -1.43796881e-02 9.50808407e+01] [ 1.53890593e-02 2.78920623e-04 9.99881543e-01 1.48816443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.3392541539998 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:927.38, Y:95.11, Z:14.88 [[ 3.72028908e-01 -9.28204937e-01 -5.48506365e-03 9.27382186e+02] [ 9.28093561e-01 3.72069250e-01 -1.43810641e-02 9.51071701e+01] [ 1.53893982e-02 2.59519310e-04 9.99881543e-01 1.48799485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.3692541539999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:927.39, Y:95.13, Z:14.88 [[ 3.70232132e-01 -9.28923101e-01 -5.48100345e-03 9.27393360e+02] [ 9.28811780e-01 3.70272627e-01 -1.43826114e-02 9.51321280e+01] [ 1.53898055e-02 2.34084310e-04 9.99881543e-01 1.48807253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.3992541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:927.40, Y:95.16, Z:14.88 [[ 3.68775375e-01 -9.29502401e-01 -5.47804183e-03 9.27403720e+02] [ 9.29391127e-01 3.68815999e-01 -1.43837393e-02 9.51579455e+01] [ 1.53901097e-02 2.13125393e-04 9.99881543e-01 1.48827369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.4292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:927.41, Y:95.18, Z:14.88 [[ 3.65669736e-01 -9.30728575e-01 -5.47383817e-03 9.27414686e+02] [ 9.30617414e-01 3.65710666e-01 -1.43853389e-02 9.51824671e+01] [ 1.53906869e-02 1.66233948e-04 9.99881543e-01 1.48833693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.4592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:927.43, Y:95.21, Z:14.88 [[ 3.63849580e-01 -9.31441652e-01 -5.47098316e-03 9.27425428e+02] [ 9.31330555e-01 3.63890683e-01 -1.43864246e-02 9.52085226e+01] [ 1.53909549e-02 1.39200765e-04 9.99881543e-01 1.48842602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.4892541539998 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:927.44, Y:95.23, Z:14.88 [[ 3.61668182e-01 -9.32290856e-01 -5.46682359e-03 9.27435862e+02] [ 9.32179831e-01 3.61709480e-01 -1.43880050e-02 9.52343194e+01] [ 1.53912075e-02 1.07620925e-04 9.99881543e-01 1.48839880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.5192541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:927.45, Y:95.26, Z:14.89 [[ 3.58984725e-01 -9.33327449e-01 -5.46266931e-03 9.27446946e+02] [ 9.33216519e-01 3.59026279e-01 -1.43895821e-02 9.52600923e+01] [ 1.53914338e-02 6.77869445e-05 9.99881543e-01 1.48860702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.5492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:927.46, Y:95.29, Z:14.89 [[ 3.58314087e-01 -9.33585143e-01 -5.45862792e-03 9.27456970e+02] [ 9.33474219e-01 3.58355658e-01 -1.43911150e-02 9.52853168e+01] [ 1.53914614e-02 6.10508043e-05 9.99881543e-01 1.48880773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.5792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:927.46, Y:95.31, Z:14.89 [[ 3.55417810e-01 -9.34691620e-01 -5.45489568e-03 9.27464629e+02] [ 9.34580805e-01 3.55459667e-01 -1.43925296e-02 9.53103882e+01] [ 1.53915722e-02 1.73205492e-05 9.99881543e-01 1.48890194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.6092541539998 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:927.48, Y:95.34, Z:14.89 [[ 3.56028326e-01 -9.34459755e-01 -5.36626163e-03 9.27476844e+02] [ 9.34348403e-01 3.56068744e-01 -1.44260872e-02 9.53375890e+01] [ 1.53913560e-02 1.22137689e-04 9.99881539e-01 1.48872701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.6392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:927.49, Y:95.36, Z:14.89 [[ 3.57881571e-01 -9.33751072e-01 -5.45127606e-03 9.27486500e+02] [ 9.33640126e-01 3.57923081e-01 -1.43938905e-02 9.53638244e+01] [ 1.53914482e-02 6.17780666e-05 9.99881543e-01 1.48886772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.6692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:927.50, Y:95.39, Z:14.89 [[ 3.59114857e-01 -9.33277476e-01 -5.44720522e-03 9.27496124e+02] [ 9.33166452e-01 3.59156157e-01 -1.43954309e-02 9.53901320e+01] [ 1.53913287e-02 8.64639189e-05 9.99881543e-01 1.48889366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.6992541539998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:927.50, Y:95.42, Z:14.89 [[ 3.61673986e-01 -9.32288743e-01 -5.44312446e-03 9.27504054e+02] [ 9.32177583e-01 3.61714918e-01 -1.43969737e-02 9.54161802e+01] [ 1.53909958e-02 1.33052257e-04 9.99881543e-01 1.48874628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.7292541539998 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:927.51, Y:95.44, Z:14.89 [[ 3.62596886e-01 -9.31930210e-01 -5.43895082e-03 9.27512755e+02] [ 9.31818985e-01 3.62637643e-01 -1.43985503e-02 9.54424446e+01] [ 1.53908123e-02 1.52751846e-04 9.99881543e-01 1.48876691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.7592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:927.52, Y:95.47, Z:14.89 [[ 3.64936846e-01 -9.31016413e-01 -5.43488468e-03 9.27521335e+02] [ 9.30905063e-01 3.64977261e-01 -1.44000849e-02 9.54695547e+01] [ 1.53903247e-02 1.95759909e-04 9.99881543e-01 1.48899895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.7892541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:927.53, Y:95.50, Z:14.89 [[ 3.64921477e-01 -9.31022461e-01 -5.43078140e-03 9.27530207e+02] [ 9.30911089e-01 3.64961831e-01 -1.44016322e-02 9.54950511e+01] [ 1.53902710e-02 1.99890282e-04 9.99881543e-01 1.48904506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.8192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:927.54, Y:95.52, Z:14.89 [[ 3.64405588e-01 -9.31224528e-01 -5.42644794e-03 9.27539487e+02] [ 9.31113154e-01 3.64445936e-01 -1.44032649e-02 9.55214723e+01] [ 1.53903204e-02 1.95993143e-04 9.99881543e-01 1.48924748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.8492541539998 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:927.55, Y:95.55, Z:14.89 [[ 3.61540884e-01 -9.32340488e-01 -5.42248589e-03 9.27548624e+02] [ 9.32229217e-01 3.61581513e-01 -1.44047563e-02 9.55467568e+01] [ 1.53908082e-02 1.52908557e-04 9.99881543e-01 1.48938510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.8792541539999 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:927.56, Y:95.57, Z:14.89 [[ 3.59341275e-01 -9.33190487e-01 -5.41879758e-03 9.27558406e+02] [ 9.33079291e-01 3.59382109e-01 -1.44061437e-02 9.55731107e+01] [ 1.53910951e-02 1.20554228e-04 9.99881543e-01 1.48948620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.9092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:927.56, Y:95.60, Z:14.90 [[ 3.52466883e-01 -9.35808622e-01 -5.41470013e-03 9.27564574e+02] [ 9.35697706e-01 3.52508471e-01 -1.44076836e-02 9.55981573e+01] [ 1.53915622e-02 1.17088294e-05 9.99881543e-01 1.48984963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.9392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:927.57, Y:95.62, Z:14.90 [[ 3.49115977e-01 -9.37064595e-01 -5.28948051e-03 9.27573559e+02] [ 9.36953108e-01 3.49156034e-01 -1.44546776e-02 9.56234099e+01] [ 1.53918207e-02 9.03636937e-05 9.99881535e-01 1.48986354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.9692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:927.59, Y:95.65, Z:14.90 [[ 3.44634894e-01 -9.38721932e-01 -5.28432604e-03 9.27586861e+02] [ 9.38610608e-01 3.44675403e-01 -1.44566110e-02 9.56516276e+01] [ 1.53921150e-02 2.23281174e-05 9.99881534e-01 1.48993181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.9992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:927.59, Y:95.68, Z:14.90 [[ 3.38690107e-01 -9.40882440e-01 -5.40790923e-03 9.27592291e+02] [ 9.40772105e-01 3.38733216e-01 -1.44102325e-02 9.56766335e+01] [ 1.53901732e-02 -2.07006954e-04 9.99881543e-01 1.48992020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.0292541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:927.60, Y:95.70, Z:14.90 [[ 3.32691558e-01 -9.43020829e-01 -5.29550044e-03 9.27602259e+02] [ 9.42910095e-01 3.32733649e-01 -1.44523725e-02 9.57033396e+01] [ 1.53908795e-02 -1.84998502e-04 9.99881536e-01 1.48997048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.0592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:927.61, Y:95.73, Z:14.90 [[ 3.30556186e-01 -9.43771235e-01 -5.33518777e-03 9.27611408e+02] [ 9.43660835e-01 3.30599134e-01 -1.44374828e-02 9.57293433e+01] [ 1.53894894e-02 -2.62208507e-04 9.99881540e-01 1.49014345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.0892541539998 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:927.62, Y:95.76, Z:14.90 [[ 3.27113192e-01 -9.44970157e-01 -5.32553250e-03 9.27620233e+02] [ 9.44859856e-01 3.27156395e-01 -1.44411034e-02 9.57569333e+01] [ 1.53886938e-02 -3.08006432e-04 9.99881540e-01 1.49000567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.1192541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:927.63, Y:95.78, Z:14.90 [[ 3.27221303e-01 -9.44932634e-01 -5.34185352e-03 9.27630685e+02] [ 9.44822428e-01 3.27264743e-01 -1.44349819e-02 9.57845125e+01] [ 1.53882858e-02 -3.23669438e-04 9.99881541e-01 1.49003352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.1492541539999 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:927.64, Y:95.81, Z:14.90 [[ 3.26718546e-01 -9.45106317e-01 -5.38904366e-03 9.27639726e+02] [ 9.44996422e-01 3.26762764e-01 -1.44172902e-02 9.58115494e+01] [ 1.53868109e-02 -3.82230880e-04 9.99881543e-01 1.48973464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.1792541539999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:927.65, Y:95.84, Z:14.90 [[ 3.26308504e-01 -9.45247901e-01 -5.40048577e-03 9.27645881e+02] [ 9.45138096e-01 3.26352944e-01 -1.44130029e-02 9.58378305e+01] [ 1.53863252e-02 -4.01119411e-04 9.99881543e-01 1.48974822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.2092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:927.65, Y:95.87, Z:14.90 [[ 3.27218395e-01 -9.44933325e-01 -5.39760839e-03 9.27652360e+02] [ 9.44823459e-01 3.27262686e-01 -1.44140804e-02 9.58656616e+01] [ 1.53867807e-02 -3.83234773e-04 9.99881543e-01 1.48987286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.2392541539998 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:927.66, Y:95.89, Z:14.90 [[ 3.27412809e-01 -9.44866001e-01 -5.39369284e-03 9.27660546e+02] [ 9.44756103e-01 3.27457017e-01 -1.44155454e-02 9.58912909e+01] [ 1.53869613e-02 -3.75890001e-04 9.99881543e-01 1.48982539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.2692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:927.67, Y:95.92, Z:14.90 [[ 3.28645611e-01 -9.44437936e-01 -5.38959919e-03 9.27668855e+02] [ 9.44327955e-01 3.28689613e-01 -1.44170758e-02 9.59176882e+01] [ 1.53875386e-02 -3.51440493e-04 9.99881543e-01 1.49004123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.2992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:927.68, Y:95.94, Z:14.90 [[ 3.28386751e-01 -9.44527997e-01 -5.38564978e-03 9.27678773e+02] [ 9.44418004e-01 3.28430723e-01 -1.44185510e-02 9.59444876e+01] [ 1.53875379e-02 -3.51443510e-04 9.99881543e-01 1.49008507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.3292541539998 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:927.69, Y:95.97, Z:14.90 [[ 3.31029910e-01 -9.43604915e-01 -5.38169713e-03 9.27685735e+02] [ 9.43494776e-01 3.31073514e-01 -1.44200261e-02 9.59718066e+01] [ 1.53885449e-02 -3.04143173e-04 9.99881543e-01 1.49018867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.3592541539998 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:927.69, Y:96.00, Z:14.90 [[ 3.32906285e-01 -9.42944583e-01 -5.37766923e-03 9.27693258e+02] [ 9.42834332e-01 3.32949608e-01 -1.44215281e-02 9.59989437e+01] [ 1.53891947e-02 -2.69233822e-04 9.99881543e-01 1.49024413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.3892541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:927.70, Y:96.03, Z:14.90 [[ 3.36536398e-01 -9.41655127e-01 -5.37352498e-03 9.27697553e+02] [ 9.41544686e-01 3.36579232e-01 -1.44230721e-02 9.60268352e+01] [ 1.53901767e-02 -2.05525156e-04 9.99881543e-01 1.49046104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.4192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:927.71, Y:96.05, Z:14.91 [[ 3.39684027e-01 -9.40524501e-01 -5.33153256e-03 9.27705759e+02] [ 9.40413671e-01 3.39725848e-01 -1.44387074e-02 9.60542812e+01] [ 1.53912175e-02 -1.09247831e-04 9.99881542e-01 1.49053703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.4492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:927.71, Y:96.08, Z:14.90 [[ 3.45896421e-01 -9.38257481e-01 -5.34465671e-03 9.27712456e+02] [ 9.38146452e-01 3.45937709e-01 -1.44338232e-02 9.60818038e+01] [ 1.53915609e-02 -2.14629409e-05 9.99881543e-01 1.49015825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.4792541539998 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:927.72, Y:96.11, Z:14.90 [[ 3.49637800e-01 -9.36869578e-01 -5.36682394e-03 9.27719680e+02] [ 9.36758512e-01 3.49678987e-01 -1.44255762e-02 9.61061963e+01] [ 1.53915491e-02 1.63087339e-05 9.99881543e-01 1.48997236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.5092541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:927.72, Y:96.13, Z:14.91 [[ 3.51776112e-01 -9.36069187e-01 -5.29568930e-03 9.27723952e+02] [ 9.35957625e-01 3.51815948e-01 -1.44520850e-02 9.61344913e+01] [ 1.53912594e-02 1.27357476e-04 9.99881539e-01 1.49081133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.5392541539999 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:927.73, Y:96.16, Z:14.90 [[ 3.54659042e-01 -9.34980610e-01 -5.31256013e-03 9.27733696e+02] [ 9.34869020e-01 3.54698795e-01 -1.44457963e-02 9.61619520e+01] [ 1.53908981e-02 1.56784413e-04 9.99881541e-01 1.49044768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.5692541539999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:927.74, Y:96.19, Z:14.91 [[ 3.56197501e-01 -9.34395234e-01 -5.37471150e-03 9.27741414e+02] [ 9.34283926e-01 3.56238030e-01 -1.44226352e-02 9.61896564e+01] [ 1.53911182e-02 1.15800040e-04 9.99881543e-01 1.49066779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.5992541539998 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:927.75, Y:96.22, Z:14.91 [[ 3.57821466e-01 -9.33774573e-01 -5.37075722e-03 9.27748324e+02] [ 9.33663173e-01 3.57861740e-01 -1.44241075e-02 9.62179963e+01] [ 1.53908534e-02 1.46777070e-04 9.99881543e-01 1.49073980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.6292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:927.76, Y:96.25, Z:14.91 [[ 3.59201021e-01 -9.33244651e-01 -5.38962698e-03 9.27757430e+02] [ 9.33133296e-01 3.59241422e-01 -1.44170849e-02 9.62461697e+01] [ 1.53908447e-02 1.49391243e-04 9.99881543e-01 1.49072972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.6592541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:927.76, Y:96.27, Z:14.91 [[ 3.58800309e-01 -9.33398574e-01 -5.42599281e-03 9.27763092e+02] [ 9.33287440e-01 3.58841319e-01 -1.44035544e-02 9.62713435e+01] [ 1.53913275e-02 1.03988816e-04 9.99881541e-01 1.49068520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.6892541539999 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:927.77, Y:96.30, Z:14.91 [[ 3.57833714e-01 -9.33769933e-01 -5.36146431e-03 9.27771837e+02] [ 9.33658481e-01 3.57873843e-01 -1.44275341e-02 9.62992456e+01] [ 1.53907253e-02 1.56881476e-04 9.99881543e-01 1.49063668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.7192541539998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:927.78, Y:96.33, Z:14.91 [[ 3.57724472e-01 -9.33811602e-01 -5.39379633e-03 9.27779503e+02] [ 9.33700335e-01 3.57765114e-01 -1.44155214e-02 9.63254546e+01] [ 1.53910933e-02 1.20595346e-04 9.99881543e-01 1.49071008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.7492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:927.79, Y:96.35, Z:14.91 [[ 3.57667074e-01 -9.33833805e-01 -5.35618028e-03 9.27788605e+02] [ 9.33722331e-01 3.57707142e-01 -1.44294844e-02 9.63528960e+01] [ 1.53906842e-02 1.59766328e-04 9.99881544e-01 1.49079390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.7792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:927.80, Y:96.38, Z:14.91 [[ 3.57599895e-01 -9.33859377e-01 -5.38318575e-03 9.27795198e+02] [ 9.33748056e-01 3.57640387e-01 -1.44194625e-02 9.63795611e+01] [ 1.53909949e-02 1.29859029e-04 9.99881543e-01 1.49063948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.8092541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:927.81, Y:96.41, Z:14.91 [[ 3.57144536e-01 -9.34033808e-01 -5.35038780e-03 9.27805177e+02] [ 9.33922324e-01 3.57184577e-01 -1.44316220e-02 9.64068074e+01] [ 1.53906989e-02 1.57328352e-04 9.99881544e-01 1.49083301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.8392541539998 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:927.81, Y:96.43, Z:14.90 [[ 3.56499052e-01 -9.34280250e-01 -5.37030579e-03 9.27813419e+02] [ 9.34168905e-01 3.56539477e-01 -1.44242429e-02 9.64327826e+01] [ 1.53910113e-02 1.25456246e-04 9.99881544e-01 1.49044055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.8692541539999 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:927.82, Y:96.46, Z:14.91 [[ 3.55780216e-01 -9.34554372e-01 -5.34446729e-03 9.27824499e+02] [ 9.34442914e-01 3.55820327e-01 -1.44338102e-02 9.64608373e+01] [ 1.53908506e-02 1.41164529e-04 9.99881544e-01 1.49072081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.8992541539999 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:927.83, Y:96.49, Z:14.91 [[ 3.54040811e-01 -9.35214410e-01 -5.39543632e-03 9.27833953e+02] [ 9.35103313e-01 3.54081916e-01 -1.44149408e-02 9.64874450e+01] [ 1.53914868e-02 5.81869489e-05 9.99881542e-01 1.49085560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.9292541539999 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:927.84, Y:96.51, Z:14.91 [[ 3.51361701e-01 -9.36224358e-01 -5.37638950e-03 9.27841462e+02] [ 9.36113271e-01 3.51402831e-01 -1.44219844e-02 9.65133169e+01] [ 1.53914916e-02 3.44234079e-05 9.99881543e-01 1.49109986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.9592541539998 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:927.85, Y:96.54, Z:14.91 [[ 3.50637462e-01 -9.36496276e-01 -5.30053085e-03 9.27853807e+02] [ 9.36384794e-01 3.50677509e-01 -1.44500000e-02 9.65415773e+01] [ 1.53911481e-02 1.03374842e-04 9.99881544e-01 1.49122131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.9892541539998 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:927.86, Y:96.57, Z:14.91 [[ 3.49906903e-01 -9.36769013e-01 -5.38290617e-03 9.27861644e+02] [ 9.36658027e-01 3.49948305e-01 -1.44195735e-02 9.65661151e+01] [ 1.53915485e-02 3.56601695e-06 9.99881543e-01 1.49110364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.0192541539999 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:927.87, Y:96.59, Z:14.91 [[ 3.49012210e-01 -9.37103023e-01 -5.32926192e-03 9.27871259e+02] [ 9.36991773e-01 3.49052892e-01 -1.44393724e-02 9.65929047e+01] [ 1.53913739e-02 4.60427077e-05 9.99881545e-01 1.49116267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.0492541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:927.88, Y:96.62, Z:14.91 [[ 3.49114160e-01 -9.37065070e-01 -5.32526697e-03 9.27880771e+02] [ 9.36953793e-01 3.49154769e-01 -1.44408456e-02 9.66199123e+01] [ 1.53913544e-02 5.19746152e-05 9.99881545e-01 1.49131024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.0792541539998 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:927.89, Y:96.65, Z:14.91 [[ 3.48497264e-01 -9.37294691e-01 -5.32148163e-03 9.27888928e+02] [ 9.37183420e-01 3.48537888e-01 -1.44422404e-02 9.66473641e+01] [ 1.53913732e-02 4.58769225e-05 9.99881545e-01 1.49121281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.1092541539998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:927.90, Y:96.67, Z:14.91 [[ 3.51189707e-01 -9.36289257e-01 -5.31190100e-03 9.27898687e+02] [ 9.36177816e-01 3.51229863e-01 -1.44457678e-02 9.66729894e+01] [ 1.53911155e-02 1.00321087e-04 9.99881545e-01 1.49129960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.1392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:927.91, Y:96.70, Z:14.91 [[ 3.52407437e-01 -9.35831577e-01 -5.31583444e-03 9.27909570e+02] [ 9.35720105e-01 3.52447509e-01 -1.44443202e-02 9.67007079e+01] [ 1.53910036e-02 1.16152714e-04 9.99881545e-01 1.49141965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.1692541539999 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:927.92, Y:96.73, Z:14.91 [[ 3.54960587e-01 -9.34865835e-01 -5.37149229e-03 9.27917871e+02] [ 9.34754562e-01 3.55001213e-01 -1.44238393e-02 9.67255782e+01] [ 1.53912408e-02 9.88675297e-05 9.99881543e-01 1.49116261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.1992541539998 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:927.93, Y:96.75, Z:14.91 [[ 3.56463298e-01 -9.34294230e-01 -5.31127017e-03 9.27927073e+02] [ 9.34182561e-01 3.56502815e-01 -1.44459808e-02 9.67513846e+01] [ 1.53902793e-02 1.87765994e-04 9.99881545e-01 1.49105113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.2292541539998 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:927.94, Y:96.78, Z:14.91 [[ 3.59380316e-01 -9.33176087e-01 -5.30846637e-03 9.27936679e+02] [ 9.33064280e-01 3.59419440e-01 -1.44470111e-02 9.67772965e+01] [ 1.53895712e-02 2.38831048e-04 9.99881545e-01 1.49130836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.2592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:927.95, Y:96.80, Z:14.91 [[ 3.60544835e-01 -9.32726802e-01 -5.30417842e-03 9.27946219e+02] [ 9.32614923e-01 3.60583754e-01 -1.44485852e-02 9.68029554e+01] [ 1.53891832e-02 2.62606819e-04 9.99881545e-01 1.49136999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.2892541539999 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:927.96, Y:96.83, Z:14.91 [[ 3.61273463e-01 -9.32444846e-01 -5.30035899e-03 9.27957258e+02] [ 9.32332916e-01 3.61312235e-01 -1.44499862e-02 9.68290695e+01] [ 1.53888997e-02 2.78697395e-04 9.99881545e-01 1.49137592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.3192541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:927.97, Y:96.86, Z:14.92 [[ 3.61955641e-01 -9.32180275e-01 -5.29614989e-03 9.27967413e+02] [ 9.32068294e-01 3.61994266e-01 -1.44515287e-02 9.68550661e+01] [ 1.53886059e-02 2.94438955e-04 9.99881545e-01 1.49150269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.3492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:927.98, Y:96.88, Z:14.92 [[ 3.62231361e-01 -9.32073180e-01 -5.29424686e-03 9.27979372e+02] [ 9.31961177e-01 3.62269923e-01 -1.44522258e-02 9.68810946e+01] [ 1.53884785e-02 3.01016898e-04 9.99881545e-01 1.49169981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.3792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:927.99, Y:96.91, Z:14.92 [[ 3.62396021e-01 -9.32009194e-01 -5.29026288e-03 9.27990246e+02] [ 9.31897163e-01 3.62434502e-01 -1.44536840e-02 9.69070780e+01] [ 1.53883402e-02 3.07976608e-04 9.99881545e-01 1.49179767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.4092541539999 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:928.00, Y:96.93, Z:14.92 [[ 3.61726019e-01 -9.32269459e-01 -5.28610836e-03 9.28001378e+02] [ 9.32157434e-01 3.61764516e-01 -1.44552033e-02 9.69325317e+01] [ 1.53884710e-02 3.01337941e-04 9.99881545e-01 1.49177779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.4392541539999 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:928.01, Y:96.96, Z:14.92 [[ 3.63005048e-01 -9.31772208e-01 -5.28085256e-03 9.28011916e+02] [ 9.31660103e-01 3.63043310e-01 -1.44571236e-02 9.69581241e+01] [ 1.53879242e-02 3.28049212e-04 9.99881545e-01 1.49186564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.4692541539998 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:928.02, Y:96.99, Z:14.92 [[ 3.64755884e-01 -9.31088278e-01 -5.26918392e-03 9.28023782e+02] [ 9.30976039e-01 3.64793753e-01 -1.44613838e-02 9.69852864e+01] [ 1.53869903e-02 3.69390852e-04 9.99881545e-01 1.49178556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.4992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:928.03, Y:97.01, Z:14.92 [[ 3.66607300e-01 -9.30360576e-01 -5.31849649e-03 9.28032497e+02] [ 9.30248521e-01 3.66645712e-01 -1.44433877e-02 9.70097115e+01] [ 1.53875624e-02 3.47527872e-04 9.99881544e-01 1.49189728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.5292541539999 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:928.04, Y:97.04, Z:14.92 [[ 3.67476201e-01 -9.30017979e-01 -5.27269864e-03 9.28044369e+02] [ 9.29905648e-01 3.67513797e-01 -1.44600873e-02 9.70365263e+01] [ 1.53859307e-02 4.10625713e-04 9.99881545e-01 1.49193262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.5592541539999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:928.05, Y:97.06, Z:14.92 [[ 3.67742461e-01 -9.29912711e-01 -5.27566361e-03 9.28054574e+02] [ 9.29800385e-01 3.67780071e-01 -1.44590066e-02 9.70628713e+01] [ 1.53858979e-02 4.11876607e-04 9.99881545e-01 1.49205550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.5892541539998 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:928.07, Y:97.09, Z:14.92 [[ 3.68719273e-01 -9.29525983e-01 -5.24824813e-03 9.28066955e+02] [ 9.29413477e-01 3.68756339e-01 -1.44689900e-02 9.70890272e+01] [ 1.53846270e-02 4.57202947e-04 9.99881545e-01 1.49208828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.6192541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:928.08, Y:97.12, Z:14.92 [[ 3.67658636e-01 -9.29945803e-01 -5.28489259e-03 9.28077082e+02] [ 9.29833529e-01 3.67696399e-01 -1.44556545e-02 9.71150510e+01] [ 1.53862112e-02 4.00675880e-04 9.99881545e-01 1.49222349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.6492541539999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:928.09, Y:97.14, Z:14.92 [[ 3.65524342e-01 -9.30786977e-01 -5.24971097e-03 9.28090404e+02] [ 9.30674606e-01 3.65561817e-01 -1.44684455e-02 9.71395100e+01] [ 1.53861345e-02 4.02796331e-04 9.99881545e-01 1.49206565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.6792541539999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:928.10, Y:97.17, Z:14.92 [[ 3.62717595e-01 -9.31884281e-01 -5.25682515e-03 9.28101936e+02] [ 9.31772061e-01 3.62755518e-01 -1.44658602e-02 9.71655200e+01] [ 1.53874501e-02 3.48859230e-04 9.99881545e-01 1.49212557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.7092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:928.12, Y:97.19, Z:14.92 [[ 3.56038396e-01 -9.34456563e-01 -5.25282911e-03 9.28117691e+02] [ 9.34344596e-01 3.56077060e-01 -1.44673111e-02 9.71919690e+01] [ 1.53894858e-02 2.42965741e-04 9.99881545e-01 1.49245779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.7392541539998 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:928.13, Y:97.21, Z:14.92 [[ 3.46508392e-01 -9.38031850e-01 -5.30875498e-03 9.28131234e+02] [ 9.37920592e-01 3.46549056e-01 -1.44470072e-02 9.72142027e+01] [ 1.53914969e-02 2.68186176e-05 9.99881544e-01 1.49232823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.7692541539999 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:928.14, Y:97.24, Z:14.92 [[ 3.41936653e-01 -9.39708357e-01 -5.24689043e-03 9.28143113e+02] [ 9.39596951e-01 3.41976906e-01 -1.44694405e-02 9.72401874e+01] [ 1.53913695e-02 1.76698022e-05 9.99881546e-01 1.49238946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.7992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:928.15, Y:97.27, Z:14.93 [[ 3.38231142e-01 -9.41048462e-01 -5.24275719e-03 9.28154571e+02] [ 9.40937193e-01 3.38271770e-01 -1.44709379e-02 9.72654739e+01] [ 1.53913306e-02 -3.85833804e-05 9.99881546e-01 1.49259132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.8292541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:928.17, Y:97.29, Z:14.93 [[ 3.32420796e-01 -9.43116626e-01 -5.23865402e-03 9.28170934e+02] [ 9.43005587e-01 3.32462046e-01 -1.44724232e-02 9.72929752e+01] [ 1.53908365e-02 -1.29145580e-04 9.99881546e-01 1.49253065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.8592541539998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:928.18, Y:97.32, Z:14.93 [[ 3.29515320e-01 -9.44135183e-01 -5.33011458e-03 9.28182047e+02] [ 9.44024801e-01 3.29558312e-01 -1.44393273e-02 9.73189929e+01] [ 1.53892605e-02 -2.73780802e-04 9.99881541e-01 1.49257028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.8892541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:928.19, Y:97.34, Z:14.93 [[ 3.25658140e-01 -9.45472585e-01 -5.32610967e-03 9.28191041e+02] [ 9.45362355e-01 3.25701522e-01 -1.44407749e-02 9.73423983e+01] [ 1.53880788e-02 -3.32347691e-04 9.99881541e-01 1.49264863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.9192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:928.20, Y:97.37, Z:14.93 [[ 3.26290514e-01 -9.45255098e-01 -5.22494039e-03 9.28204440e+02] [ 9.45144251e-01 3.26332275e-01 -1.44772876e-02 9.73701897e+01] [ 1.53897966e-02 -2.14520760e-04 9.99881547e-01 1.49281158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.9492541539998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:928.22, Y:97.40, Z:14.93 [[ 3.23927068e-01 -9.46067044e-01 -5.32948944e-03 9.28215049e+02] [ 9.45956914e-01 3.23970702e-01 -1.44395497e-02 9.73963174e+01] [ 1.53873805e-02 -3.64106388e-04 9.99881541e-01 1.49285434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.9792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:928.22, Y:97.42, Z:14.93 [[ 3.24521389e-01 -9.45863534e-01 -5.29555489e-03 9.28223861e+02] [ 9.45753178e-01 3.24564436e-01 -1.44517846e-02 9.74209216e+01] [ 1.53881648e-02 -3.18374678e-04 9.99881545e-01 1.49286941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.0092541539999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:928.23, Y:97.45, Z:14.93 [[ 3.24702073e-01 -9.45801978e-01 -5.21357893e-03 9.28233637e+02] [ 9.45691137e-01 3.24743846e-01 -1.44812977e-02 9.74472418e+01] [ 1.53895177e-02 -2.28327993e-04 9.99881548e-01 1.49276508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.0392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:928.25, Y:97.47, Z:14.93 [[ 3.26398736e-01 -9.45217819e-01 -5.20958295e-03 9.28245033e+02] [ 9.45106880e-01 3.26440249e-01 -1.44827351e-02 9.74747372e+01] [ 1.53899569e-02 -1.96466249e-04 9.99881548e-01 1.49301219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.0692541539999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:928.25, Y:97.50, Z:14.93 [[ 3.29246449e-01 -9.44229319e-01 -5.26966090e-03 9.28252324e+02] [ 9.44118599e-01 3.29288548e-01 -1.44611252e-02 9.74992410e+01] [ 1.53898574e-02 -2.13910747e-04 9.99881546e-01 1.49290284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.0992541539998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:928.26, Y:97.53, Z:14.93 [[ 3.31599676e-01 -9.43405837e-01 -5.20401807e-03 9.28261620e+02] [ 9.43294640e-01 3.31640492e-01 -1.44847092e-02 9.75259956e+01] [ 1.53908223e-02 -1.05797483e-04 9.99881549e-01 1.49306245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.1292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:928.27, Y:97.55, Z:14.93 [[ 3.36609153e-01 -9.41630097e-01 -5.19984060e-03 9.28270420e+02] [ 9.41518662e-01 3.36649313e-01 -1.44862087e-02 9.75519913e+01] [ 1.53911728e-02 -1.95565254e-05 9.99881549e-01 1.49302322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.1592541539999 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:928.28, Y:97.58, Z:14.93 [[ 3.37821767e-01 -9.41195758e-01 -5.19607975e-03 9.28279599e+02] [ 9.41084250e-01 3.37861726e-01 -1.44875575e-02 9.75787061e+01] [ 1.53911842e-02 4.26347682e-06 9.99881549e-01 1.49293705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.1892541539999 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:928.29, Y:97.61, Z:14.93 [[ 3.37555070e-01 -9.41291463e-01 -5.19197589e-03 9.28289166e+02] [ 9.41179944e-01 3.37594996e-01 -1.44890281e-02 9.76056387e+01] [ 1.53911835e-02 4.26131781e-06 9.99881549e-01 1.49298088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.2192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:928.30, Y:97.63, Z:14.93 [[ 3.42891881e-01 -9.39360551e-01 -5.18786957e-03 9.28298688e+02] [ 9.39248784e-01 3.42931111e-01 -1.44904982e-02 9.76318120e+01] [ 1.53908843e-02 9.59740050e-05 9.99881549e-01 1.49332559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.2492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:928.31, Y:97.66, Z:14.93 [[ 3.44854913e-01 -9.38641688e-01 -5.18370867e-03 9.28307781e+02] [ 9.38529817e-01 3.44893845e-01 -1.44919866e-02 9.76574962e+01] [ 1.53906120e-02 1.32567623e-04 9.99881549e-01 1.49335207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.2792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:928.32, Y:97.68, Z:14.93 [[ 3.48546107e-01 -9.37277323e-01 -5.17997305e-03 9.28317322e+02] [ 9.37165280e-01 3.48584540e-01 -1.44933217e-02 9.76843214e+01] [ 1.53899203e-02 1.97099957e-04 9.99881549e-01 1.49343573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.3092541539999 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:928.33, Y:97.71, Z:14.93 [[ 3.49420082e-01 -9.36951876e-01 -5.17575612e-03 9.28326499e+02] [ 9.36839775e-01 3.49458346e-01 -1.44948275e-02 9.77099354e+01] [ 1.53896670e-02 2.15929594e-04 9.99881549e-01 1.49320897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.3392541539998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:928.34, Y:97.74, Z:14.93 [[ 3.52244914e-01 -9.35893569e-01 -5.17195791e-03 9.28336365e+02] [ 9.35781333e-01 3.52282781e-01 -1.44961826e-02 9.77359980e+01] [ 1.53888758e-02 2.66384917e-04 9.99881549e-01 1.49346677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.3692541539999 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:928.35, Y:97.76, Z:14.93 [[ 3.52590260e-01 -9.35763540e-01 -5.16778861e-03 9.28346265e+02] [ 9.35651269e-01 3.52628021e-01 -1.44976688e-02 9.77625858e+01] [ 1.53886969e-02 2.76488827e-04 9.99881549e-01 1.49337682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.3992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:928.35, Y:97.79, Z:14.93 [[ 3.52395109e-01 -9.35837072e-01 -5.16361888e-03 9.28353999e+02] [ 9.35724787e-01 3.52432828e-01 -1.44991537e-02 9.77883280e+01] [ 1.53886744e-02 2.77704684e-04 9.99881549e-01 1.49342587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.4292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:928.36, Y:97.81, Z:14.93 [[ 3.53463610e-01 -9.35434377e-01 -5.09935046e-03 9.28363883e+02] [ 9.35321718e-01 3.53500205e-01 -1.45220252e-02 9.78146450e+01] [ 1.53870231e-02 3.63474239e-04 9.99881547e-01 1.49338968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.4592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:928.37, Y:97.84, Z:14.93 [[ 3.53573597e-01 -9.35392921e-01 -5.07877898e-03 9.28372840e+02] [ 9.35280154e-01 3.53609859e-01 -1.45293430e-02 9.78403117e+01] [ 1.53865509e-02 3.87110873e-04 9.99881545e-01 1.49328303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.4892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:928.38, Y:97.87, Z:14.93 [[ 3.55753720e-01 -9.34566120e-01 -5.04556624e-03 9.28384145e+02] [ 9.34453101e-01 3.55789203e-01 -1.45411452e-02 9.78673842e+01] [ 1.53848197e-02 4.58221481e-04 9.99881542e-01 1.49326494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.5192541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:928.40, Y:97.89, Z:14.94 [[ 3.58351950e-01 -9.33572799e-01 -5.07039203e-03 9.28396932e+02] [ 9.33459805e-01 3.58387505e-01 -1.45323290e-02 9.78936183e+01] [ 1.53841522e-02 4.74681289e-04 9.99881544e-01 1.49350349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.5492541539999 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:928.41, Y:97.92, Z:14.93 [[ 3.58413740e-01 -9.33548636e-01 -5.15115720e-03 9.28406947e+02] [ 9.33436047e-01 3.58450543e-01 -1.45036443e-02 9.79193343e+01] [ 1.53862925e-02 3.90029590e-04 9.99881548e-01 1.49324272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.5792541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:928.42, Y:97.95, Z:14.93 [[ 3.58514701e-01 -9.33509887e-01 -5.14773138e-03 9.28417355e+02] [ 9.33397276e-01 3.58551438e-01 -1.45048601e-02 9.79456735e+01] [ 1.53861568e-02 3.95327147e-04 9.99881548e-01 1.49318682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.6092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:928.43, Y:97.97, Z:14.93 [[ 3.60699585e-01 -9.32667967e-01 -5.12571981e-03 9.28430074e+02] [ 9.32555160e-01 3.60735716e-01 -1.45126654e-02 9.79708862e+01] [ 1.53845284e-02 4.54695942e-04 9.99881548e-01 1.49343589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.6392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:928.44, Y:98.00, Z:14.93 [[ 3.60427561e-01 -9.32773040e-01 -5.14090584e-03 9.28440698e+02] [ 9.32660319e-01 3.60463961e-01 -1.45072840e-02 9.79966578e+01] [ 1.53851147e-02 4.34106104e-04 9.99881548e-01 1.49347934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.6692541539999 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:928.45, Y:98.02, Z:14.93 [[ 3.58765711e-01 -9.33413510e-01 -5.13665266e-03 9.28453272e+02] [ 9.33300832e-01 3.58802245e-01 -1.45087898e-02 9.80220943e+01] [ 1.53857429e-02 4.11214074e-04 9.99881548e-01 1.49340822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.6992541539998 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:928.46, Y:98.05, Z:14.94 [[ 3.57735402e-01 -9.33808889e-01 -5.13244046e-03 9.28463863e+02] [ 9.33696231e-01 3.57771996e-01 -1.45102797e-02 9.80471494e+01] [ 1.53860716e-02 3.98700419e-04 9.99881548e-01 1.49350227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.7292541539998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:928.48, Y:98.07, Z:14.94 [[ 3.55434435e-01 -9.34687145e-01 -5.12864455e-03 9.28477008e+02] [ 9.34574559e-01 3.55471247e-01 -1.45116212e-02 9.80733242e+01] [ 1.53869115e-02 3.64829170e-04 9.99881548e-01 1.49385569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.7592541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:928.49, Y:98.10, Z:14.94 [[ 3.52540162e-01 -9.35782651e-01 -5.12490038e-03 9.28489473e+02] [ 9.35670159e-01 3.52577264e-01 -1.45129434e-02 9.80992015e+01] [ 1.53878840e-02 3.21179058e-04 9.99881548e-01 1.49418583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.7892541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:928.50, Y:98.12, Z:14.94 [[ 3.50480705e-01 -9.36555953e-01 -5.12080851e-03 9.28499833e+02] [ 9.36443522e-01 3.50517992e-01 -1.45143870e-02 9.81249269e+01] [ 1.53884711e-02 2.91664648e-04 9.99881548e-01 1.49420374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.8192541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:928.51, Y:98.15, Z:14.94 [[ 3.47124950e-01 -9.37804932e-01 -5.11655215e-03 9.28511223e+02] [ 9.37692614e-01 3.47162572e-01 -1.45158873e-02 9.81497862e+01] [ 1.53893461e-02 2.41073491e-04 9.99881548e-01 1.49425315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.8492541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:928.52, Y:98.18, Z:14.94 [[ 3.44736259e-01 -9.38685662e-01 -5.11274332e-03 9.28522123e+02] [ 9.38573420e-01 3.44774108e-01 -1.45172287e-02 9.81760625e+01] [ 1.53898560e-02 2.05930135e-04 9.99881548e-01 1.49435120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.8792541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:928.53, Y:98.20, Z:14.94 [[ 3.44466086e-01 -9.38784863e-01 -5.10856111e-03 9.28531541e+02] [ 9.38672610e-01 3.44503904e-01 -1.45187003e-02 9.82030580e+01] [ 1.53898553e-02 2.05933473e-04 9.99881548e-01 1.49439504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.9092541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:928.54, Y:98.23, Z:14.94 [[ 3.44511554e-01 -9.38768201e-01 -5.10438164e-03 9.28539216e+02] [ 9.38655924e-01 3.44549301e-01 -1.45201695e-02 9.82289709e+01] [ 1.53897845e-02 2.11108092e-04 9.99881548e-01 1.49420647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.9392541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:928.55, Y:98.26, Z:14.94 [[ 3.45493500e-01 -9.38407284e-01 -5.10002594e-03 9.28547751e+02] [ 9.38294946e-01 3.45531062e-01 -1.45216992e-02 9.82561765e+01] [ 1.53894857e-02 2.31824131e-04 9.99881548e-01 1.49437733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.9692541539998 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:928.55, Y:98.28, Z:14.94 [[ 3.46526486e-01 -9.38026347e-01 -5.09585811e-03 9.28554597e+02] [ 9.37913945e-01 3.46563860e-01 -1.45231616e-02 9.82823356e+01] [ 1.53891485e-02 2.53183772e-04 9.99881548e-01 1.49400701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.9992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:928.56, Y:98.31, Z:14.94 [[ 3.48506556e-01 -9.37292507e-01 -5.09281225e-03 9.28563744e+02] [ 9.37180012e-01 3.48543645e-01 -1.45242296e-02 9.83093064e+01] [ 1.53885190e-02 2.88907410e-04 9.99881548e-01 1.49440029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.0292541539999 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:928.57, Y:98.33, Z:14.94 [[ 3.47534574e-01 -9.37653361e-01 -5.08862127e-03 9.28572370e+02] [ 9.37540883e-01 3.47571715e-01 -1.45256978e-02 9.83348841e+01] [ 1.53887302e-02 2.77391724e-04 9.99881548e-01 1.49410611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.0592541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:928.58, Y:98.36, Z:14.94 [[ 3.47187087e-01 -9.37782106e-01 -5.08423207e-03 9.28581465e+02] [ 9.37669619e-01 3.47224201e-01 -1.45272340e-02 9.83614658e+01] [ 1.53887485e-02 2.76338090e-04 9.99881548e-01 1.49433613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.0892541539998 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:928.59, Y:98.39, Z:14.94 [[ 3.44836527e-01 -9.38649009e-01 -5.08008896e-03 9.28590285e+02] [ 9.38536594e-01 3.44873860e-01 -1.45286826e-02 9.83880144e+01] [ 1.53893234e-02 2.42171076e-04 9.99881548e-01 1.49440130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.1192541539999 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:928.60, Y:98.41, Z:14.94 [[ 3.43036597e-01 -9.39308325e-01 -5.07589303e-03 9.28599154e+02] [ 9.39195960e-01 3.43074080e-01 -1.45301484e-02 9.84132129e+01] [ 1.53896967e-02 2.17114434e-04 9.99881548e-01 1.49437412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.1492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:928.61, Y:98.44, Z:14.95 [[ 3.39662818e-01 -9.40533599e-01 -5.07146362e-03 9.28608532e+02] [ 9.40421346e-01 3.39700635e-01 -1.45316943e-02 9.84380219e+01] [ 1.53903261e-02 1.66563570e-04 9.99881548e-01 1.49475964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.1792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:928.62, Y:98.46, Z:14.95 [[ 3.37159994e-01 -9.41433719e-01 -5.06866175e-03 9.28618285e+02] [ 9.41321553e-01 3.37198067e-01 -1.45326715e-02 9.84648589e+01] [ 1.53906899e-02 1.28594878e-04 9.99881548e-01 1.49484486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.2092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:928.63, Y:98.49, Z:14.95 [[ 3.32406450e-01 -9.43122633e-01 -5.06460546e-03 9.28628521e+02] [ 9.43010639e-01 3.32445026e-01 -1.45340850e-02 9.84909982e+01] [ 1.53911274e-02 5.52467582e-05 9.99881548e-01 1.49509041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.2392541539998 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:928.64, Y:98.52, Z:14.95 [[ 3.29020050e-01 -9.44309377e-01 -5.06043199e-03 9.28637894e+02] [ 9.44197499e-01 3.29058963e-01 -1.45355379e-02 9.85169377e+01] [ 1.53912253e-02 4.43618691e-06 9.99881548e-01 1.49477060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.2692541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:928.65, Y:98.54, Z:14.95 [[ 3.25442393e-01 -9.45548352e-01 -5.05604302e-03 9.28646544e+02] [ 9.45436598e-01 3.25481662e-01 -1.45370644e-02 9.85423678e+01] [ 1.53911466e-02 -4.91910866e-05 9.99881548e-01 1.49507795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.2992541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:928.66, Y:98.57, Z:14.95 [[ 3.22305687e-01 -9.46622165e-01 -5.05178082e-03 9.28655274e+02] [ 9.46510519e-01 3.22345261e-01 -1.45385454e-02 9.85690699e+01] [ 1.53909270e-02 -9.57078106e-05 9.99881548e-01 1.49498738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.3292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:928.66, Y:98.60, Z:14.95 [[ 3.18407054e-01 -9.47940647e-01 -5.04764780e-03 9.28664001e+02] [ 9.47829142e-01 3.18447023e-01 -1.45399802e-02 9.85950061e+01] [ 1.53904467e-02 -1.54675423e-04 9.99881548e-01 1.49515923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.3592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:928.67, Y:98.62, Z:14.95 [[ 3.14511505e-01 -9.49240264e-01 -5.04329518e-03 9.28672641e+02] [ 9.49128900e-01 3.14551866e-01 -1.45414898e-02 9.86219393e+01] [ 1.53897455e-02 -2.13271360e-04 9.99881548e-01 1.49524221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.3892541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:928.68, Y:98.65, Z:14.95 [[ 3.12149894e-01 -9.50019500e-01 -5.03913826e-03 9.28681345e+02] [ 9.49908214e-01 3.12190468e-01 -1.45429302e-02 9.86489452e+01] [ 1.53892382e-02 -2.47144709e-04 9.99881548e-01 1.49506622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.4192541539999 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:928.69, Y:98.68, Z:14.95 [[ 3.10560801e-01 -9.50540182e-01 -5.03495553e-03 9.28689839e+02] [ 9.50428941e-01 3.10601497e-01 -1.45443782e-02 9.86750497e+01] [ 1.53888806e-02 -2.68453714e-04 9.99881548e-01 1.49489504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.4492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:928.69, Y:98.70, Z:14.95 [[ 3.07068717e-01 -9.51674042e-01 -5.03190113e-03 9.28694022e+02] [ 9.51562934e-01 3.07109775e-01 -1.45454348e-02 9.87002904e+01] [ 1.53878588e-02 -3.21722596e-04 9.99881548e-01 1.49525739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.4792541539998 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:928.71, Y:98.73, Z:14.95 [[ 3.08101135e-01 -9.51340966e-01 -4.90470604e-03 9.28706377e+02] [ 9.51229107e-01 3.08140125e-01 -1.45893831e-02 9.87299421e+01] [ 1.53908146e-02 -1.70493641e-04 9.99881540e-01 1.49538096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.5092541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:928.71, Y:98.76, Z:14.95 [[ 3.06995204e-01 -9.51697778e-01 -5.02832494e-03 9.28714220e+02] [ 9.51586653e-01 3.07036215e-01 -1.45466520e-02 9.87574232e+01] [ 1.53878943e-02 -3.19134483e-04 9.99881548e-01 1.49534838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.5392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:928.72, Y:98.78, Z:14.96 [[ 3.07039845e-01 -9.51683399e-01 -5.02419421e-03 9.28722137e+02] [ 9.51572248e-01 3.07080788e-01 -1.45480786e-02 9.87831922e+01] [ 1.53879984e-02 -3.14043978e-04 9.99881548e-01 1.49552756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.5692541539999 meters Centerline goodness : 0.999694 Centerline is valid? [True, True] Translation: X:928.73, Y:98.81, Z:14.95 [[ 3.07457057e-01 -9.51548716e-01 -5.01984027e-03 9.28729274e+02] [ 9.51437523e-01 3.07497884e-01 -1.45495808e-02 9.88101650e+01] [ 1.53882252e-02 -3.02693115e-04 9.99881548e-01 1.49523129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.5992541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:928.74, Y:98.84, Z:14.96 [[ 3.08612164e-01 -9.51174734e-01 -5.01580178e-03 9.28737327e+02] [ 9.51063469e-01 3.08652795e-01 -1.45509729e-02 9.88365278e+01] [ 1.53886590e-02 -2.79738622e-04 9.99881548e-01 1.49552440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.6292541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:928.74, Y:98.86, Z:14.95 [[ 3.11722424e-01 -9.50159995e-01 -5.01139249e-03 9.28743784e+02] [ 9.50048573e-01 3.11762624e-01 -1.45524913e-02 9.88624229e+01] [ 1.53895599e-02 -2.24728424e-04 9.99881548e-01 1.49547244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.6592541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:928.75, Y:98.89, Z:14.96 [[ 3.13667216e-01 -9.49519770e-01 -5.00836416e-03 9.28751843e+02] [ 9.49408250e-01 3.13707141e-01 -1.45535334e-02 9.88895121e+01] [ 1.53900273e-02 -1.90015939e-04 9.99881548e-01 1.49561315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.6892541539999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:928.76, Y:98.92, Z:14.95 [[ 3.15715937e-01 -9.48840559e-01 -5.00411685e-03 9.28759490e+02] [ 9.48728930e-01 3.15755555e-01 -1.45549937e-02 9.89158177e+01] [ 1.53904460e-02 -1.52306963e-04 9.99881548e-01 1.49549635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.7192541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:928.77, Y:98.94, Z:14.96 [[ 3.20564640e-01 -9.47213444e-01 -5.00031628e-03 9.28766046e+02] [ 9.47101593e-01 3.20603629e-01 -1.45562992e-02 9.89435103e+01] [ 1.53910419e-02 -6.95726880e-05 9.99881548e-01 1.49568799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.7492541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:928.77, Y:98.97, Z:14.96 [[ 3.24638747e-01 -9.45824890e-01 -4.99615716e-03 9.28772726e+02] [ 9.45712850e-01 3.24677190e-01 -1.45577266e-02 9.89713922e+01] [ 1.53911985e-02 1.07211174e-06 9.99881548e-01 1.49572424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.7792541539999 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:928.78, Y:99.00, Z:14.96 [[ 3.25909732e-01 -9.45387713e-01 -4.99192738e-03 9.28780789e+02] [ 9.45275599e-01 3.25947959e-01 -1.45591769e-02 9.89986968e+01] [ 1.53911755e-02 2.62302892e-05 9.99881549e-01 1.49570344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.8092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:928.79, Y:99.03, Z:14.96 [[ 3.28930328e-01 -9.44341020e-01 -4.98768866e-03 9.28788190e+02] [ 9.44228763e-01 3.28968131e-01 -1.45606289e-02 9.90255792e+01] [ 1.53909897e-02 7.99133318e-05 9.99881549e-01 1.49607885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.8392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:928.80, Y:99.05, Z:14.96 [[ 3.29907070e-01 -9.44000259e-01 -4.98358522e-03 9.28796145e+02] [ 9.43887942e-01 3.29944693e-01 -1.45620332e-02 9.90524094e+01] [ 1.53908706e-02 1.00171701e-04 9.99881549e-01 1.49613439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.8692541539999 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:928.80, Y:99.08, Z:14.96 [[ 3.30198528e-01 -9.43898373e-01 -4.97931869e-03 9.28803600e+02] [ 9.43786022e-01 3.30236051e-01 -1.45634919e-02 9.90789980e+01] [ 1.53908069e-02 1.09432224e-04 9.99881549e-01 1.49574822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.8992541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:928.81, Y:99.11, Z:14.96 [[ 3.32556126e-01 -9.43070336e-01 -4.97642108e-03 9.28810754e+02] [ 9.42957877e-01 3.32593324e-01 -1.45644820e-02 9.91058959e+01] [ 1.53904554e-02 1.50952253e-04 9.99881549e-01 1.49620934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.9292541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:928.82, Y:99.13, Z:14.96 [[ 3.33378251e-01 -9.42780047e-01 -4.97231693e-03 9.28818232e+02] [ 9.42667535e-01 3.33415287e-01 -1.45658830e-02 9.91332674e+01] [ 1.53902704e-02 1.68706871e-04 9.99881549e-01 1.49606284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.9592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:928.83, Y:99.16, Z:14.96 [[ 3.34171986e-01 -9.42499020e-01 -4.96813901e-03 9.28826701e+02] [ 9.42386455e-01 3.34208862e-01 -1.45673079e-02 9.91599850e+01] [ 1.53900695e-02 1.86079293e-04 9.99881549e-01 1.49636479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.9892541539998 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:928.83, Y:99.19, Z:14.96 [[ 3.33702247e-01 -9.42665460e-01 -4.96392031e-03 9.28834553e+02] [ 9.42552893e-01 3.33739114e-01 -1.45687453e-02 9.91858332e+01] [ 1.53901074e-02 1.82865595e-04 9.99881549e-01 1.49600545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.0192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:928.84, Y:99.21, Z:14.96 [[ 3.33805281e-01 -9.42628999e-01 -4.96026290e-03 9.28841241e+02] [ 9.42516409e-01 3.33842080e-01 -1.45699904e-02 9.92124447e+01] [ 1.53900400e-02 1.88410583e-04 9.99881549e-01 1.49640064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.0492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:928.85, Y:99.24, Z:14.96 [[ 3.34315469e-01 -9.42448419e-01 -4.91372916e-03 9.28848326e+02] [ 9.42335576e-01 3.34351487e-01 -1.45858221e-02 9.92392848e+01] [ 1.53892976e-02 2.45884144e-04 9.99881548e-01 1.49633579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.0792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:928.86, Y:99.27, Z:14.96 [[ 3.34603951e-01 -9.42346101e-01 -4.90120114e-03 9.28857001e+02] [ 9.42233184e-01 3.34639741e-01 -1.45900813e-02 9.92660451e+01] [ 1.53890429e-02 2.63824480e-04 9.99881547e-01 1.49618064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.1092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:928.87, Y:99.29, Z:14.96 [[ 3.34397938e-01 -9.42419160e-01 -4.91393205e-03 9.28866131e+02] [ 9.42306314e-01 3.34433950e-01 -1.45857569e-02 9.92931037e+01] [ 1.53892825e-02 2.47017846e-04 9.99881547e-01 1.49622508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.1392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:928.87, Y:99.32, Z:14.96 [[ 3.34005729e-01 -9.42558221e-01 -4.91651497e-03 9.28874489e+02] [ 9.42445404e-01 3.34041828e-01 -1.45848796e-02 9.93201601e+01] [ 1.53894198e-02 2.37886422e-04 9.99881548e-01 1.49632670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.1692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:928.88, Y:99.35, Z:14.96 [[ 3.33484901e-01 -9.42742799e-01 -4.88224192e-03 9.28884053e+02] [ 9.42629830e-01 3.33520531e-01 -1.45965114e-02 9.93473287e+01] [ 1.53890840e-02 2.65569290e-04 9.99881546e-01 1.49632699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.1992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:928.89, Y:99.37, Z:14.96 [[ 3.32769334e-01 -9.42995467e-01 -4.91123241e-03 9.28894782e+02] [ 9.42882670e-01 3.32805499e-01 -1.45866730e-02 9.93747587e+01] [ 1.53896517e-02 2.23281530e-04 9.99881547e-01 1.49646778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.2292541539998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:928.91, Y:99.40, Z:14.96 [[ 3.28366124e-01 -9.44537579e-01 -4.94484058e-03 9.28907163e+02] [ 9.44425123e-01 3.28403333e-01 -1.45752710e-02 9.94025839e+01] [ 1.53907933e-02 1.15993581e-04 9.99881548e-01 1.49623908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.2592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:928.92, Y:99.43, Z:14.97 [[ 3.25212633e-01 -9.45627748e-01 -4.99056267e-03 9.28916953e+02] [ 9.45515654e-01 3.25250922e-01 -1.45597674e-02 9.94293177e+01] [ 1.53913052e-02 1.63651675e-05 9.99881547e-01 1.49651167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.2892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:928.93, Y:99.45, Z:14.97 [[ 3.16435007e-01 -9.48601040e-01 -4.99530611e-03 9.28925437e+02] [ 9.48489331e-01 3.16474406e-01 -1.45581599e-02 9.94542652e+01] [ 1.53907722e-02 -1.31283100e-04 9.99881546e-01 1.49692699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.3192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:928.93, Y:99.48, Z:14.97 [[ 3.12088552e-01 -9.50040203e-01 -4.93449039e-03 9.28934681e+02] [ 9.49928348e-01 3.12127530e-01 -1.45787444e-02 9.94808046e+01] [ 1.53905835e-02 -1.37553078e-04 9.99881549e-01 1.49704492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.3492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:928.95, Y:99.51, Z:14.97 [[ 3.08943367e-01 -9.51067657e-01 -4.93031764e-03 9.28945472e+02] [ 9.50955909e-01 3.08982650e-01 -1.45801554e-02 9.95086519e+01] [ 1.53900968e-02 -1.84072394e-04 9.99881549e-01 1.49701205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.3792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:928.95, Y:99.53, Z:14.97 [[ 3.01443292e-01 -9.53471165e-01 -4.96783203e-03 9.28952756e+02] [ 9.53359937e-01 3.01484027e-01 -1.45674747e-02 9.95337487e+01] [ 1.53873891e-02 -3.44864509e-04 9.99881548e-01 1.49717478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.4092541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:928.97, Y:99.56, Z:14.97 [[ 3.00608655e-01 -9.53734861e-01 -4.92464851e-03 9.28965895e+02] [ 9.53623430e-01 3.00648828e-01 -1.45820586e-02 9.95629954e+01] [ 1.53880075e-02 -3.12767169e-04 9.99881549e-01 1.49685904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.4392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:928.97, Y:99.59, Z:14.97 [[ 2.95057647e-01 -9.55466009e-01 -5.06869704e-03 9.28972886e+02] [ 9.55355631e-01 2.95100660e-01 -1.45333984e-02 9.95902064e+01] [ 1.53819440e-02 -5.54217934e-04 9.99881537e-01 1.49707238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.4692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:928.98, Y:99.62, Z:14.97 [[ 2.91549142e-01 -9.56542622e-01 -5.03097997e-03 9.28980135e+02] [ 9.56432185e-01 2.91591988e-01 -1.45460877e-02 9.96178629e+01] [ 1.53809463e-02 -5.70891774e-04 9.99881543e-01 1.49709307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.4992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:928.98, Y:99.64, Z:14.97 [[ 2.84758380e-01 -9.58586279e-01 -5.00117159e-03 9.28984393e+02] [ 9.58475975e-01 2.84801556e-01 -1.45561036e-02 9.96433684e+01] [ 1.53776226e-02 -6.48530345e-04 9.99881547e-01 1.49713165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.5292541539999 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:928.99, Y:99.67, Z:14.97 [[ 2.82141740e-01 -9.59360246e-01 -4.89468731e-03 9.28992590e+02] [ 9.59249443e-01 2.82183602e-01 -1.45918228e-02 9.96696681e+01] [ 1.53800152e-02 -5.78263803e-04 9.99881553e-01 1.49684550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.5592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:929.00, Y:99.70, Z:14.97 [[ 2.78146271e-01 -9.60526274e-01 -4.89172205e-03 9.29000368e+02] [ 9.60415629e-01 2.78188549e-01 -1.45928168e-02 9.96973561e+01] [ 1.53776050e-02 -6.39148725e-04 9.99881553e-01 1.49727780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.5892541539998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:929.01, Y:99.73, Z:14.97 [[ 2.77394981e-01 -9.60743532e-01 -4.88770085e-03 9.29011006e+02] [ 9.60632898e-01 2.77437284e-01 -1.45941635e-02 9.97255750e+01] [ 1.53772787e-02 -6.46938525e-04 9.99881553e-01 1.49722277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.6192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:929.02, Y:99.75, Z:14.97 [[ 2.73253423e-01 -9.61929335e-01 -4.95190657e-03 9.29017278e+02] [ 9.61819262e-01 2.73297174e-01 -1.45726665e-02 9.97525372e+01] [ 1.53712174e-02 -7.80808122e-04 9.99881551e-01 1.49728659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.6492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:929.02, Y:99.78, Z:14.97 [[ 2.71083930e-01 -9.62543176e-01 -4.91292424e-03 9.29023364e+02] [ 9.62432971e-01 2.71127340e-01 -1.45857037e-02 9.97788685e+01] [ 1.53713976e-02 -7.74410389e-04 9.99881553e-01 1.49733248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.6792541539999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:929.03, Y:99.81, Z:14.97 [[ 2.69688376e-01 -9.62935302e-01 -4.87691700e-03 9.29030226e+02] [ 9.62824946e-01 2.69731401e-01 -1.45977333e-02 9.98054491e+01] [ 1.53721304e-02 -7.58778367e-04 9.99881554e-01 1.49700147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.7092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:929.04, Y:99.83, Z:14.98 [[ 2.69779448e-01 -9.62909813e-01 -4.87256938e-03 9.29036664e+02] [ 9.62799428e-01 2.69822397e-01 -1.45991843e-02 9.98333508e+01] [ 1.53724262e-02 -7.52747120e-04 9.99881554e-01 1.49753160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.7392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:929.04, Y:99.86, Z:14.98 [[ 2.71671678e-01 -9.62377678e-01 -4.86871396e-03 9.29041727e+02] [ 9.62267186e-01 2.71714352e-01 -1.46004700e-02 9.98609468e+01] [ 1.53740658e-02 -7.18469503e-04 9.99881554e-01 1.49768812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.7692541539999 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:929.05, Y:99.89, Z:14.97 [[ 2.73235895e-01 -9.61934760e-01 -4.86459133e-03 9.29048089e+02] [ 9.61824174e-01 2.73278326e-01 -1.46018434e-02 9.98885593e+01] [ 1.53754081e-02 -6.89133792e-04 9.99881554e-01 1.49744652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.7992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:929.05, Y:99.91, Z:14.98 [[ 2.76479702e-01 -9.61007466e-01 -4.86050192e-03 9.29054160e+02] [ 9.60896715e-01 2.76521698e-01 -1.46032045e-02 9.99147297e+01] [ 1.53778228e-02 -6.32950705e-04 9.99881554e-01 1.49770287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.8292541539998 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:929.06, Y:99.94, Z:14.97 [[ 2.84097034e-01 -9.58783229e-01 -4.85751783e-03 9.29056855e+02] [ 9.58672131e-01 2.84138105e-01 -1.46041971e-02 9.99433600e+01] [ 1.53824651e-02 -5.07757897e-04 9.99881554e-01 1.49738773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.8592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:929.06, Y:99.97, Z:14.98 [[ 2.88888618e-01 -9.57350412e-01 -4.85345591e-03 9.29062749e+02] [ 9.57239087e-01 2.88929070e-01 -1.46055468e-02 9.99715746e+01] [ 1.53849308e-02 -4.26541470e-04 9.99881554e-01 1.49773742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.8892541539999 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:929.07, Y:100.00, Z:14.97 [[ 2.97977144e-01 -9.54560687e-01 -4.84941045e-03 9.29065065e+02] [ 9.54448961e-01 2.98016474e-01 -1.46068899e-02 9.99992073e+01] [ 1.53883671e-02 -2.75995435e-04 9.99881554e-01 1.49734923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.9192541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:929.07, Y:100.03, Z:14.98 [[ 3.02416992e-01 -9.53163405e-01 -4.84627021e-03 9.29070954e+02] [ 9.53051481e-01 3.02455754e-01 -1.46079317e-02 1.00026308e+02] [ 1.53895282e-02 -2.01058237e-04 9.99881554e-01 1.49752618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.9492541539998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:929.07, Y:100.05, Z:14.98 [[ 3.09365182e-01 -9.50930983e-01 -4.84256645e-03 9.29074589e+02] [ 9.50818759e-01 3.09403069e-01 -1.46091594e-02 1.00054373e+02] [ 1.53906072e-02 -8.48377589e-05 9.99881554e-01 1.49761526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.9792541539998 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:929.08, Y:100.08, Z:14.97 [[ 3.11707990e-01 -9.50165628e-01 -4.83834255e-03 9.29080779e+02] [ 9.50053290e-01 3.11745535e-01 -1.46105582e-02 1.00080837e+02] [ 1.53907819e-02 -4.24555384e-05 9.99881554e-01 1.49743632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.0092541539999 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:929.09, Y:100.11, Z:14.97 [[ 3.12613147e-01 -9.49868226e-01 -4.83458053e-03 9.29087430e+02] [ 9.49755833e-01 3.12650527e-01 -1.46118029e-02 1.00108405e+02] [ 1.53908215e-02 -2.38293722e-05 9.99881554e-01 1.49741116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.0392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:929.10, Y:100.14, Z:14.98 [[ 3.16647114e-01 -9.48531230e-01 -4.80741440e-03 9.29095273e+02] [ 9.48418543e-01 3.16683598e-01 -1.46207820e-02 1.00137247e+02] [ 1.53906976e-02 7.01874779e-05 9.99881554e-01 1.49775627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.0692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:929.10, Y:100.16, Z:14.98 [[ 3.17676950e-01 -9.48186611e-01 -4.84831576e-03 9.29102351e+02] [ 9.48074089e-01 3.17713942e-01 -1.46072688e-02 1.00163137e+02] [ 1.53907942e-02 4.38300503e-05 9.99881554e-01 1.49783247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.0992541539998 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:929.11, Y:100.19, Z:14.98 [[ 3.18534766e-01 -9.47898896e-01 -4.82548328e-03 9.29109396e+02] [ 9.47786227e-01 3.18571304e-01 -1.46148076e-02 1.00189053e+02] [ 1.53906205e-02 8.17977095e-05 9.99881554e-01 1.49767199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.1292541539999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:929.12, Y:100.22, Z:14.98 [[ 3.19092824e-01 -9.47711201e-01 -4.82174552e-03 9.29117658e+02] [ 9.47598491e-01 3.19129238e-01 -1.46160406e-02 1.00216203e+02] [ 1.53905454e-02 9.47949025e-05 9.99881554e-01 1.49794481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.1592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:929.13, Y:100.24, Z:14.98 [[ 3.20421865e-01 -9.47262697e-01 -4.81770403e-03 9.29125508e+02] [ 9.47149917e-01 3.20458059e-01 -1.46173727e-02 1.00242981e+02] [ 1.53903639e-02 1.20637841e-04 9.99881554e-01 1.49820817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.1892541539999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:929.13, Y:100.27, Z:14.98 [[ 3.20772129e-01 -9.47144167e-01 -4.81342431e-03 9.29133899e+02] [ 9.47031352e-01 3.20808214e-01 -1.46187818e-02 1.00270181e+02] [ 1.53902800e-02 1.30834036e-04 9.99881554e-01 1.49805553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.2192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:929.14, Y:100.30, Z:14.98 [[ 3.21604122e-01 -9.46862007e-01 -4.80918640e-03 9.29142304e+02] [ 9.46749139e-01 3.21640043e-01 -1.46201758e-02 1.00297375e+02] [ 1.53901160e-02 1.48815735e-04 9.99881554e-01 1.49819459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.2492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:929.15, Y:100.32, Z:14.98 [[ 3.23459041e-01 -9.46229973e-01 -4.80492292e-03 9.29150043e+02] [ 9.46117014e-01 3.23494675e-01 -1.46215769e-02 1.00323481e+02] [ 1.53897413e-02 1.83461912e-04 9.99881554e-01 1.49808508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.2792541539999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:929.16, Y:100.35, Z:14.98 [[ 3.24308478e-01 -9.45939190e-01 -4.80213518e-03 9.29159078e+02] [ 9.45826186e-01 3.24343967e-01 -1.46224924e-02 1.00349091e+02] [ 1.53895322e-02 2.00213047e-04 9.99881554e-01 1.49786949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.3092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:929.17, Y:100.38, Z:14.98 [[ 3.24320884e-01 -9.45934952e-01 -4.79908586e-03 9.29168540e+02] [ 9.45821933e-01 3.24356325e-01 -1.46234931e-02 1.00375877e+02] [ 1.53894871e-02 2.03623550e-04 9.99881554e-01 1.49797148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.3392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:929.18, Y:100.40, Z:14.98 [[ 3.23783056e-01 -9.46119201e-01 -4.79492105e-03 9.29177897e+02] [ 9.46006181e-01 3.23818496e-01 -1.46248586e-02 1.00402333e+02] [ 1.53895437e-02 1.99256451e-04 9.99881554e-01 1.49803028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.3692541539999 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:929.19, Y:100.43, Z:14.98 [[ 3.21607709e-01 -9.46860882e-01 -4.79074346e-03 9.29187616e+02] [ 9.46747924e-01 3.21643345e-01 -1.46262270e-02 1.00427434e+02] [ 1.53899129e-02 1.68280916e-04 9.99881554e-01 1.49782941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.3992541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:929.20, Y:100.45, Z:14.98 [[ 3.20399275e-01 -9.47270493e-01 -4.78726174e-03 9.29197484e+02] [ 9.47157563e-01 3.20435002e-01 -1.46273665e-02 1.00454083e+02] [ 1.53900789e-02 1.52306451e-04 9.99881554e-01 1.49822335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.4292541539999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:929.21, Y:100.48, Z:14.98 [[ 3.17049562e-01 -9.48396909e-01 -4.78317875e-03 9.29208540e+02] [ 9.48284086e-01 3.17085625e-01 -1.46287015e-02 1.00480296e+02] [ 1.53904925e-02 1.02211109e-04 9.99881554e-01 1.49833008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.4592541539998 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:929.22, Y:100.51, Z:14.98 [[ 3.14937885e-01 -9.49100253e-01 -4.77897090e-03 9.29218373e+02] [ 9.48987490e-01 3.14974134e-01 -1.46300760e-02 1.00505322e+02] [ 1.53906610e-02 7.23815951e-05 9.99881554e-01 1.49828337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.4892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:929.23, Y:100.53, Z:14.99 [[ 3.11221407e-01 -9.50325435e-01 -4.77529310e-03 9.29230723e+02] [ 9.50212797e-01 3.11258039e-01 -1.46312763e-02 1.00530259e+02] [ 1.53908224e-02 1.60217902e-05 9.99881554e-01 1.49850484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.5192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:929.24, Y:100.56, Z:14.99 [[ 3.08953525e-01 -9.51065167e-01 -4.77153964e-03 9.29240814e+02] [ 9.50952597e-01 3.08990368e-01 -1.46325003e-02 1.00555820e+02] [ 1.53908211e-02 -1.67454629e-05 9.99881554e-01 1.49853341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.5492541539999 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:929.25, Y:100.58, Z:14.99 [[ 3.05283992e-01 -9.52249420e-01 -4.76717110e-03 9.29253094e+02] [ 9.52136971e-01 3.05321202e-01 -1.46339234e-02 1.00582099e+02] [ 1.53906635e-02 -7.14972908e-05 9.99881554e-01 1.49856060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.5792541539998 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:929.26, Y:100.61, Z:14.99 [[ 3.04191712e-01 -9.52598925e-01 -4.76339236e-03 9.29263173e+02] [ 9.52486500e-01 3.04228994e-01 -1.46351533e-02 1.00608403e+02] [ 1.53905934e-02 -8.51745721e-05 9.99881554e-01 1.49864888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.6092541539998 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:929.27, Y:100.64, Z:14.99 [[ 3.04077461e-01 -9.52635422e-01 -4.75919935e-03 9.29273558e+02] [ 9.52522980e-01 3.04114692e-01 -1.46365167e-02 1.00635172e+02] [ 1.53906067e-02 -8.26119015e-05 9.99881554e-01 1.49886673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.6392541539999 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:929.28, Y:100.66, Z:14.99 [[ 3.03561578e-01 -9.52799956e-01 -4.75516372e-03 9.29283827e+02] [ 9.52687513e-01 3.03598807e-01 -1.46378277e-02 1.00660400e+02] [ 1.53905836e-02 -8.67030233e-05 9.99881554e-01 1.49876137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.6692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:929.29, Y:100.69, Z:14.99 [[ 3.04315013e-01 -9.52559601e-01 -4.75185434e-03 9.29294442e+02] [ 9.52447112e-01 3.04352102e-01 -1.46389019e-02 1.00687158e+02] [ 1.53906634e-02 -7.10523157e-05 9.99881554e-01 1.49900583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.6992541539998 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:929.30, Y:100.71, Z:14.99 [[ 3.04485547e-01 -9.52505123e-01 -4.74793270e-03 9.29304146e+02] [ 9.52392607e-01 3.04522556e-01 -1.46401738e-02 1.00712401e+02] [ 1.53906931e-02 -6.41746983e-05 9.99881554e-01 1.49892613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.7292541539998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:929.31, Y:100.74, Z:14.99 [[ 3.04646259e-01 -9.52453755e-01 -4.74364967e-03 9.29313471e+02] [ 9.52341211e-01 3.04683183e-01 -1.46415614e-02 1.00737987e+02] [ 1.53907204e-02 -5.70761677e-05 9.99881554e-01 1.49897366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.7592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:929.32, Y:100.76, Z:14.99 [[ 3.04308416e-01 -9.52561770e-01 -4.73934552e-03 9.29323711e+02] [ 9.52449219e-01 3.04345314e-01 -1.46429545e-02 1.00763816e+02] [ 1.53907162e-02 -5.80116502e-05 9.99881554e-01 1.49906933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.7892541539999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:929.33, Y:100.79, Z:14.99 [[ 3.00996922e-01 -9.53613355e-01 -4.73529188e-03 9.29330860e+02] [ 9.53500911e-01 3.01034148e-01 -1.46442652e-02 1.00790155e+02] [ 1.53904515e-02 -1.07226359e-04 9.99881554e-01 1.49921355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.8192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:929.34, Y:100.82, Z:14.99 [[ 3.02106342e-01 -9.53262728e-01 -4.68295270e-03 9.29344095e+02] [ 9.53149977e-01 3.02142633e-01 -1.46611673e-02 1.00816282e+02] [ 1.53908640e-02 -3.43246411e-05 9.99881553e-01 1.49936059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.8492541539998 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:929.35, Y:100.84, Z:14.99 [[ 3.00230633e-01 -9.53854917e-01 -4.72915557e-03 9.29352963e+02] [ 9.53742472e-01 3.00267855e-01 -1.46462488e-02 1.00841834e+02] [ 1.53904098e-02 -1.13143989e-04 9.99881554e-01 1.49921640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.8792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:929.36, Y:100.87, Z:15.00 [[ 2.98830121e-01 -9.54294627e-01 -4.72491170e-03 9.29363858e+02] [ 9.54182215e-01 2.98867443e-01 -1.46476177e-02 1.00869018e+02] [ 1.53902652e-02 -1.31277329e-04 9.99881554e-01 1.49954001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.9092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:929.37, Y:100.89, Z:15.00 [[ 2.98115831e-01 -9.54518026e-01 -4.72120038e-03 9.29373042e+02] [ 9.54405623e-01 2.98153180e-01 -1.46488139e-02 1.00894828e+02] [ 1.53901978e-02 -1.38896882e-04 9.99881554e-01 1.49962136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.9392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:929.38, Y:100.92, Z:15.00 [[ 2.96909637e-01 -9.54893928e-01 -4.71739981e-03 9.29382131e+02] [ 9.54781553e-01 2.96947070e-01 -1.46500377e-02 1.00920847e+02] [ 1.53900501e-02 -1.54348954e-04 9.99881554e-01 1.49968701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.9692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:929.39, Y:100.95, Z:15.00 [[ 2.96521534e-01 -9.55014535e-01 -4.71358570e-03 9.29390698e+02] [ 9.54902156e-01 2.96558954e-01 -1.46512647e-02 1.00947219e+02] [ 1.53900268e-02 -1.56597655e-04 9.99881554e-01 1.49976094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.9992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:929.40, Y:100.97, Z:15.00 [[ 2.96252149e-01 -9.55098155e-01 -4.70945024e-03 9.29399366e+02] [ 9.54985765e-01 2.96289538e-01 -1.46525939e-02 1.00974446e+02] [ 1.53900262e-02 -1.56595508e-04 9.99881554e-01 1.49980477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.0292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:929.41, Y:101.00, Z:15.00 [[ 2.94086464e-01 -9.55767237e-01 -4.70531644e-03 9.29405110e+02] [ 9.55654911e-01 2.94124044e-01 -1.46539213e-02 1.00999618e+02] [ 1.53896845e-02 -1.87138881e-04 9.99881554e-01 1.49983611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.0592541539999 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:929.42, Y:101.03, Z:15.00 [[ 2.96400446e-01 -9.55052749e-01 -4.58490888e-03 9.29417302e+02] [ 9.54939728e-01 2.96435904e-01 -1.46925405e-02 1.01027087e+02] [ 1.53912828e-02 -2.34360778e-05 9.99881547e-01 1.49976504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.0892541539998 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:929.43, Y:101.05, Z:15.00 [[ 2.98403948e-01 -9.54428094e-01 -4.70083512e-03 9.29426401e+02] [ 9.54315576e-01 2.98440951e-01 -1.46553563e-02 1.01052747e+02] [ 1.53904054e-02 -1.12864003e-04 9.99881554e-01 1.49977846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.1192541539999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:929.43, Y:101.08, Z:15.00 [[ 2.99637273e-01 -9.54041639e-01 -4.69638326e-03 9.29434902e+02] [ 9.53929051e-01 2.99674063e-01 -1.46567827e-02 1.01079223e+02] [ 1.53905653e-02 -8.82980091e-05 9.99881554e-01 1.49978136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.1492541539999 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:929.44, Y:101.11, Z:15.00 [[ 3.00899330e-01 -9.53644366e-01 -4.69226498e-03 9.29443540e+02] [ 9.53531709e-01 3.00935907e-01 -1.46581011e-02 1.01106406e+02] [ 1.53906865e-02 -6.36106680e-05 9.99881554e-01 1.49972728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.1792541539999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:929.45, Y:101.13, Z:15.00 [[ 3.04409959e-01 -9.52529578e-01 -4.68817178e-03 9.29451822e+02] [ 9.52416768e-01 3.04446058e-01 -1.46594101e-02 1.01132149e+02] [ 1.53908171e-02 -2.62298265e-06 9.99881554e-01 1.49977683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.2092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:929.46, Y:101.16, Z:15.00 [[ 3.08705035e-01 -9.51146289e-01 -4.68385097e-03 9.29460938e+02] [ 9.51033296e-01 3.08740557e-01 -1.46607905e-02 1.01158917e+02] [ 1.53906513e-02 7.13616179e-05 9.99881554e-01 1.49998032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.2392541539998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:929.46, Y:101.18, Z:15.00 [[ 3.06944784e-01 -9.51715819e-01 -4.67963543e-03 9.29463941e+02] [ 9.51602871e-01 3.06980450e-01 -1.46621360e-02 1.01183525e+02] [ 1.53907433e-02 4.73116343e-05 9.99881554e-01 1.50001752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.2692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:929.47, Y:101.21, Z:15.00 [[ 3.08809249e-01 -9.51113388e-01 -4.49109474e-03 9.29472152e+02] [ 9.50999479e-01 3.08841782e-01 -1.47222320e-02 1.01210158e+02] [ 1.53895497e-02 2.75332658e-04 9.99881536e-01 1.50012167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.2992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:929.48, Y:101.24, Z:15.00 [[ 3.14112079e-01 -9.49375419e-01 -4.46276079e-03 9.29482867e+02] [ 9.49261201e-01 3.14143537e-01 -1.47312616e-02 1.01237833e+02] [ 1.53874451e-02 3.90941531e-04 9.99881530e-01 1.50016401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.3292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:929.50, Y:101.27, Z:15.00 [[ 3.18593017e-01 -9.47880921e-01 -4.49993514e-03 9.29496890e+02] [ 9.47766722e-01 3.18624512e-01 -1.47194171e-02 1.01266422e+02] [ 1.53860443e-02 4.24614733e-04 9.99881538e-01 1.50024678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.3592541539998 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:929.51, Y:101.29, Z:15.00 [[ 3.21650882e-01 -9.46846787e-01 -4.67672239e-03 9.29506198e+02] [ 9.46733287e-01 3.21684749e-01 -1.46630318e-02 1.01292178e+02] [ 1.53880748e-02 2.88768328e-04 9.99881555e-01 1.50008313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.3892541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:929.52, Y:101.32, Z:15.00 [[ 3.23100486e-01 -9.46353126e-01 -4.67302339e-03 9.29515495e+02] [ 9.46239557e-01 3.23134123e-01 -1.46642105e-02 1.01319177e+02] [ 1.53875348e-02 3.16213961e-04 9.99881555e-01 1.50037260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.4192541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:929.52, Y:101.34, Z:15.00 [[ 3.25968955e-01 -9.45368945e-01 -4.66897729e-03 9.29524870e+02] [ 9.45255256e-01 3.26002184e-01 -1.46654986e-02 1.01344834e+02] [ 1.53864038e-02 3.67121938e-04 9.99881555e-01 1.50035812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.4492541539998 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:929.53, Y:101.37, Z:15.00 [[ 3.22147079e-01 -9.46678138e-01 -4.66513458e-03 9.29525483e+02] [ 9.46564567e-01 3.22180708e-01 -1.46667209e-02 1.01367632e+02] [ 1.53876804e-02 3.08990212e-04 9.99881555e-01 1.49979303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.4792541539998 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:929.53, Y:101.39, Z:15.00 [[ 3.25036734e-01 -9.45691167e-01 -4.39751674e-03 9.29534100e+02] [ 9.45576320e-01 3.25065857e-01 -1.47516774e-02 1.01394570e+02] [ 1.53800135e-02 6.36649336e-04 9.99881518e-01 1.49968411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.5092541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:929.54, Y:101.42, Z:15.00 [[ 3.26536888e-01 -9.45174401e-01 -4.36036393e-03 9.29542802e+02] [ 9.45059352e-01 3.26565249e-01 -1.47634735e-02 1.01421068e+02] [ 1.53780006e-02 7.00015982e-04 9.99881507e-01 1.49974791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.5392541539999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:929.56, Y:101.45, Z:15.00 [[ 3.34051372e-01 -9.42544872e-01 -4.34111449e-03 9.29562016e+02] [ 9.42429523e-01 3.34078516e-01 -1.47695829e-02 1.01451756e+02] [ 1.53712677e-02 8.42604988e-04 9.99881500e-01 1.50037648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.5692541539999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:929.56, Y:101.47, Z:15.00 [[ 3.31243218e-01 -9.43533870e-01 -4.66546411e-03 9.29564335e+02] [ 9.43419986e-01 3.31275757e-01 -1.46664065e-02 1.01474206e+02] [ 1.53838064e-02 4.56655584e-04 9.99881558e-01 1.49978888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.5992541539998 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:929.57, Y:101.50, Z:15.00 [[ 3.31987149e-01 -9.43273754e-01 -4.37700304e-03 9.29574752e+02] [ 9.43158615e-01 3.32015106e-01 -1.47579652e-02 1.01500922e+02] [ 1.53740324e-02 7.71246677e-04 9.99881515e-01 1.49974204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.6292541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:929.59, Y:101.53, Z:15.00 [[ 3.33250533e-01 -9.42827946e-01 -4.42127798e-03 9.29586322e+02] [ 9.42712951e-01 3.33279027e-01 -1.47438955e-02 1.01525647e+02] [ 1.53744759e-02 7.45415022e-04 9.99881528e-01 1.50001461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.6592541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:929.60, Y:101.55, Z:15.00 [[ 3.33302118e-01 -9.42809701e-01 -4.42341381e-03 9.29596656e+02] [ 9.42694713e-01 3.33330639e-01 -1.47432150e-02 1.01551377e+02] [ 1.53745055e-02 7.44015987e-04 9.99881529e-01 1.50013227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.6892541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:929.61, Y:101.58, Z:15.00 [[ 3.31583016e-01 -9.43415713e-01 -4.41541921e-03 9.29609672e+02] [ 9.43300745e-01 3.31611622e-01 -1.47457606e-02 1.01576899e+02] [ 1.53755866e-02 7.24375566e-04 9.99881526e-01 1.50025009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.7192541539998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:929.62, Y:101.60, Z:15.01 [[ 3.30674193e-01 -9.43734553e-01 -4.43533827e-03 9.29621605e+02] [ 9.43619695e-01 3.30703220e-01 -1.47394225e-02 1.01602963e+02] [ 1.53768829e-02 6.88674096e-04 9.99881532e-01 1.50059957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.7492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:929.64, Y:101.63, Z:15.01 [[ 3.30978489e-01 -9.43627771e-01 -4.45761912e-03 9.29641919e+02] [ 9.43512998e-01 3.31007826e-01 -1.47323365e-02 1.01630954e+02] [ 1.53773486e-02 6.70264885e-04 9.99881537e-01 1.50078157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.7792541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:929.65, Y:101.66, Z:15.01 [[ 3.27183763e-01 -9.44949198e-01 -4.66894280e-03 9.29654368e+02] [ 9.44835474e-01 3.27216845e-01 -1.46650573e-02 1.01655070e+02] [ 1.53854909e-02 3.86785857e-04 9.99881562e-01 1.50077677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.8092541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:929.67, Y:101.68, Z:15.01 [[ 3.26499215e-01 -9.45185964e-01 -4.66445003e-03 9.29665016e+02] [ 9.45072243e-01 3.26532310e-01 -1.46664862e-02 1.01679997e+02] [ 1.53856505e-02 3.80353974e-04 9.99881562e-01 1.50073629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.8392541539998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:929.68, Y:101.71, Z:15.01 [[ 3.23406874e-01 -9.46248568e-01 -4.65202206e-03 9.29677050e+02] [ 9.46134900e-01 3.23440148e-01 -1.46704354e-02 1.01706052e+02] [ 1.53865292e-02 3.43079214e-04 9.99881562e-01 1.50074860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.8692541539999 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:929.69, Y:101.73, Z:15.01 [[ 3.22141981e-01 -9.46679903e-01 -4.65892464e-03 9.29687389e+02] [ 9.46566311e-01 3.22175514e-01 -1.46682430e-02 1.01732534e+02] [ 1.53871223e-02 3.15275735e-04 9.99881562e-01 1.50079119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.8992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:929.70, Y:101.76, Z:15.01 [[ 3.21520403e-01 -9.46891210e-01 -4.65471057e-03 9.29698519e+02] [ 9.46777621e-01 3.21553946e-01 -1.46695801e-02 1.01758962e+02] [ 1.53872370e-02 3.09593518e-04 9.99881562e-01 1.50098915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.9292541539999 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:929.71, Y:101.78, Z:15.01 [[ 3.19652675e-01 -9.47523372e-01 -4.65039993e-03 9.29711037e+02] [ 9.47409829e-01 3.19686375e-01 -1.46709465e-02 1.01784232e+02] [ 1.53877342e-02 2.83772695e-04 9.99881562e-01 1.50106531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.9592541539998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:929.72, Y:101.81, Z:15.01 [[ 3.18627772e-01 -9.47868533e-01 -4.64610642e-03 9.29720996e+02] [ 9.47755007e-01 3.18661528e-01 -1.46723061e-02 1.01809807e+02] [ 1.53879526e-02 2.71633574e-04 9.99881562e-01 1.50105496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.9892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:929.73, Y:101.84, Z:15.01 [[ 3.17184101e-01 -9.48352622e-01 -4.64225622e-03 9.29733145e+02] [ 9.48239129e-01 3.17217971e-01 -1.46735242e-02 1.01835152e+02] [ 1.53882822e-02 2.52239582e-04 9.99881562e-01 1.50108172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.0192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:929.74, Y:101.86, Z:15.01 [[ 3.16068938e-01 -9.48724889e-01 -4.63808742e-03 9.29743208e+02] [ 9.48611417e-01 3.16102876e-01 -1.46748417e-02 1.01861696e+02] [ 1.53885004e-02 2.38518958e-04 9.99881562e-01 1.50112035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.0492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:929.75, Y:101.89, Z:15.01 [[ 3.15104444e-01 -9.49045687e-01 -4.63390691e-03 9.29753304e+02] [ 9.48932231e-01 3.15138433e-01 -1.46761617e-02 1.01887934e+02] [ 1.53886701e-02 2.27260165e-04 9.99881562e-01 1.50118312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.0792541539998 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:929.76, Y:101.91, Z:15.01 [[ 3.12998737e-01 -9.49742258e-01 -4.62968215e-03 9.29763416e+02] [ 9.49628858e-01 3.13032912e-01 -1.46774943e-02 1.01914287e+02] [ 1.53890795e-02 1.97557408e-04 9.99881562e-01 1.50100606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.1092541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:929.77, Y:101.94, Z:15.01 [[ 3.14764131e-01 -9.49158816e-01 -4.59169559e-03 9.29772223e+02] [ 9.49045177e-01 3.14797508e-01 -1.46894642e-02 1.01940708e+02] [ 1.53880887e-02 2.65989867e-04 9.99881561e-01 1.50121338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.1392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:929.78, Y:101.97, Z:15.01 [[ 3.14542372e-01 -9.49232172e-01 -4.62382343e-03 9.29779927e+02] [ 9.49118689e-01 3.14576273e-01 -1.46793443e-02 1.01967564e+02] [ 1.53886510e-02 2.28718536e-04 9.99881562e-01 1.50125282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.1692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:929.79, Y:101.99, Z:15.01 [[ 3.14387383e-01 -9.49283536e-01 -4.61964476e-03 9.29788029e+02] [ 9.49170039e-01 3.14421238e-01 -1.46806592e-02 1.01994363e+02] [ 1.53886225e-02 2.30585630e-04 9.99881562e-01 1.50126654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.1992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:929.79, Y:102.02, Z:15.01 [[ 3.13378769e-01 -9.49616999e-01 -4.61549747e-03 9.29794827e+02] [ 9.49503519e-01 3.13412680e-01 -1.46819630e-02 1.02021156e+02] [ 1.53887970e-02 2.18584394e-04 9.99881562e-01 1.50129540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.2292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:929.80, Y:102.05, Z:15.01 [[ 3.12957835e-01 -9.49755827e-01 -4.61110829e-03 9.29802638e+02] [ 9.49642342e-01 3.12991728e-01 -1.46833413e-02 1.02048349e+02] [ 1.53888277e-02 2.16363044e-04 9.99881562e-01 1.50141829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.2592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:929.81, Y:102.08, Z:15.02 [[ 3.13211213e-01 -9.49672318e-01 -4.60688988e-03 9.29809679e+02] [ 9.49558805e-01 3.13245011e-01 -1.46846647e-02 1.02075853e+02] [ 1.53887049e-02 2.24888814e-04 9.99881562e-01 1.50157636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.2892541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:929.81, Y:102.10, Z:15.02 [[ 3.15039960e-01 -9.49067246e-01 -4.60284582e-03 9.29814817e+02] [ 9.48953649e-01 3.15073477e-01 -1.46859322e-02 1.02102201e+02] [ 1.53881719e-02 2.58768172e-04 9.99881562e-01 1.50159603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.3192541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:929.82, Y:102.13, Z:15.02 [[ 3.16474066e-01 -9.48590010e-01 -4.59975702e-03 9.29822257e+02] [ 9.48476349e-01 3.16507363e-01 -1.46868996e-02 1.02129649e+02] [ 1.53877032e-02 2.85262098e-04 9.99881562e-01 1.50168692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.3492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:929.83, Y:102.16, Z:15.02 [[ 3.17811800e-01 -9.48142679e-01 -4.59555593e-03 9.29829256e+02] [ 9.48028952e-01 3.17844872e-01 -1.46882140e-02 1.02155921e+02] [ 1.53871965e-02 3.11367667e-04 9.99881562e-01 1.50170054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.3792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:929.84, Y:102.18, Z:15.02 [[ 3.18518084e-01 -9.47905666e-01 -4.59112320e-03 9.29836253e+02] [ 9.47791894e-01 3.18551002e-01 -1.46895994e-02 1.02182929e+02] [ 1.53868614e-02 3.27473708e-04 9.99881562e-01 1.50171858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.4092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:929.84, Y:102.21, Z:15.02 [[ 3.19960543e-01 -9.47419765e-01 -4.58692602e-03 9.29842349e+02] [ 9.47305924e-01 3.19993223e-01 -1.46909099e-02 1.02209939e+02] [ 1.53862436e-02 3.55289317e-04 9.99881562e-01 1.50156397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.4392541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:929.85, Y:102.24, Z:15.02 [[ 3.19272806e-01 -9.47651768e-01 -4.58277487e-03 9.29848651e+02] [ 9.47537933e-01 3.19305504e-01 -1.46922047e-02 1.02237594e+02] [ 1.53863990e-02 3.48468397e-04 9.99881562e-01 1.50151814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.4692541539998 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:929.86, Y:102.26, Z:15.02 [[ 3.18639326e-01 -9.47864978e-01 -4.57867015e-03 9.29856895e+02] [ 9.47751146e-01 3.18672037e-01 -1.46934838e-02 1.02264556e+02] [ 1.53865328e-02 3.42481898e-04 9.99881562e-01 1.50168991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.4992541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:929.86, Y:102.29, Z:15.02 [[ 3.15880515e-01 -9.48787950e-01 -4.57446354e-03 9.29864141e+02] [ 9.48674195e-01 3.15913491e-01 -1.46947933e-02 1.02291212e+02] [ 1.53873776e-02 3.02123357e-04 9.99881562e-01 1.50162575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.5292541539999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:929.87, Y:102.32, Z:15.02 [[ 3.13850497e-01 -9.49461415e-01 -4.57028511e-03 9.29872150e+02] [ 9.49347712e-01 3.13883652e-01 -1.46960927e-02 1.02318398e+02] [ 1.53879108e-02 2.73586301e-04 9.99881562e-01 1.50171405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.5592541539999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:929.88, Y:102.34, Z:15.02 [[ 3.09931493e-01 -9.50747927e-01 -4.56613449e-03 9.29880372e+02] [ 9.50634342e-01 3.09965053e-01 -1.46973823e-02 1.02344389e+02] [ 1.53888478e-02 2.14457368e-04 9.99881562e-01 1.50171213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.5892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:929.89, Y:102.37, Z:15.02 [[ 3.07635643e-01 -9.51493301e-01 -4.56175723e-03 9.29889168e+02] [ 9.51379778e-01 3.07669409e-01 -1.46987407e-02 1.02370991e+02] [ 1.53892665e-02 1.81892983e-04 9.99881562e-01 1.50178892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.6192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:929.90, Y:102.40, Z:15.02 [[ 3.03295878e-01 -9.52885532e-01 -4.55767295e-03 9.29898997e+02] [ 9.52772145e-01 3.03330099e-01 -1.47000070e-02 1.02397222e+02] [ 1.53899034e-02 1.16027716e-04 9.99881562e-01 1.50172578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.6492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:929.91, Y:102.42, Z:15.02 [[ 3.00942392e-01 -9.53631450e-01 -4.55357552e-03 9.29907854e+02] [ 9.53518128e-01 3.00976829e-01 -1.47012762e-02 1.02423004e+02] [ 1.53901200e-02 8.23204102e-05 9.99881562e-01 1.50169575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.6792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:929.92, Y:102.45, Z:15.02 [[ 2.97151488e-01 -9.54819511e-01 -4.54927375e-03 9.29917930e+02] [ 9.54706306e-01 2.97186308e-01 -1.47026072e-02 1.02448556e+02] [ 1.53903181e-02 2.56812700e-05 9.99881562e-01 1.50164186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.7092541539998 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:929.93, Y:102.47, Z:15.02 [[ 2.94962117e-01 -9.55498138e-01 -4.54502540e-03 9.29926572e+02] [ 9.55384994e-01 2.94997131e-01 -1.47039204e-02 1.02474875e+02] [ 1.53903380e-02 -5.14957589e-06 9.99881562e-01 1.50164081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.7392541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:929.94, Y:102.50, Z:15.02 [[ 2.93724865e-01 -9.55879220e-01 -4.54103547e-03 9.29936106e+02] [ 9.55766102e-01 2.93759965e-01 -1.47051525e-02 1.02501287e+02] [ 1.53903241e-02 -2.08988219e-05 9.99881562e-01 1.50184862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.7692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:929.95, Y:102.53, Z:15.02 [[ 2.91939772e-01 -9.56425943e-01 -4.53713466e-03 9.29946127e+02] [ 9.56312872e-01 2.91975023e-01 -1.47063560e-02 1.02528188e+02] [ 1.53902704e-02 -4.55500603e-05 9.99881562e-01 1.50205254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.7992541539999 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:929.95, Y:102.55, Z:15.02 [[ 2.91242226e-01 -9.56638603e-01 -4.53319255e-03 9.29954383e+02] [ 9.56525539e-01 2.91277499e-01 -1.47075710e-02 1.02553648e+02] [ 1.53902472e-02 -5.26487184e-05 9.99881562e-01 1.50201112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.8292541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:929.96, Y:102.58, Z:15.02 [[ 2.91619059e-01 -9.56523818e-01 -4.52883065e-03 9.29964203e+02] [ 9.56410719e-01 2.91654220e-01 -1.47089140e-02 1.02579867e+02] [ 1.53902792e-02 -4.20225038e-05 9.99881562e-01 1.50230881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.8592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:929.97, Y:102.61, Z:15.02 [[ 2.92124872e-01 -9.56369481e-01 -4.52485976e-03 9.29972927e+02] [ 9.56256345e-01 2.92159912e-01 -1.47101355e-02 1.02605817e+02] [ 1.53903073e-02 -2.97294085e-05 9.99881562e-01 1.50240255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.8892541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:929.98, Y:102.63, Z:15.03 [[ 2.92409497e-01 -9.56282517e-01 -4.52045399e-03 9.29981130e+02] [ 9.56169349e-01 2.92444436e-01 -1.47114893e-02 1.02632680e+02] [ 1.53903216e-02 -2.05403619e-05 9.99881562e-01 1.50252040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.9192541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:929.99, Y:102.66, Z:15.03 [[ 2.92131904e-01 -9.56367375e-01 -4.51618061e-03 9.29989454e+02] [ 9.56254197e-01 2.92166810e-01 -1.47128010e-02 1.02660035e+02] [ 1.53903210e-02 -2.05380923e-05 9.99881562e-01 1.50256423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.9492541539998 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:930.00, Y:102.69, Z:15.03 [[ 2.93991601e-01 -9.55797354e-01 -4.51190902e-03 9.29997418e+02] [ 9.55684088e-01 2.94026221e-01 -1.47141108e-02 1.02685995e+02] [ 1.53903278e-02 1.38653499e-05 9.99881562e-01 1.50255386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.9792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:930.01, Y:102.71, Z:15.03 [[ 2.96851881e-01 -9.54912899e-01 -4.50740744e-03 9.30005286e+02] [ 9.54799509e-01 2.96886093e-01 -1.47154897e-02 1.02711752e+02] [ 1.53901975e-02 6.46503902e-05 9.99881562e-01 1.50267294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.0092541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:930.01, Y:102.74, Z:15.03 [[ 2.97824348e-01 -9.54610061e-01 -4.50438470e-03 9.30013437e+02] [ 9.54496622e-01 2.97858398e-01 -1.47164149e-02 1.02738973e+02] [ 1.53901065e-02 8.34866973e-05 9.99881562e-01 1.50276273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.0392541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:930.02, Y:102.76, Z:15.03 [[ 2.98637927e-01 -9.54355876e-01 -4.50012279e-03 9.30020947e+02] [ 9.54242389e-01 2.98671814e-01 -1.47177180e-02 1.02764891e+02] [ 1.53900005e-02 1.01060879e-04 9.99881562e-01 1.50270854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.0692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:930.03, Y:102.79, Z:15.03 [[ 3.00841131e-01 -9.53663674e-01 -4.49563246e-03 9.30028238e+02] [ 9.53550089e-01 3.00874686e-01 -1.47190895e-02 1.02790718e+02] [ 1.53896830e-02 1.41296808e-04 9.99881562e-01 1.50262996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.0992541539998 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:930.04, Y:102.82, Z:15.03 [[ 3.01510820e-01 -9.53452177e-01 -4.49121211e-03 9.30035544e+02] [ 9.53338548e-01 3.01544227e-01 -1.47204382e-02 1.02817461e+02] [ 1.53895329e-02 1.56725747e-04 9.99881562e-01 1.50272166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.1292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:930.04, Y:102.84, Z:15.03 [[ 3.03663405e-01 -9.52768809e-01 -4.48701659e-03 9.30042457e+02] [ 9.52655086e-01 3.03696490e-01 -1.47217169e-02 1.02843847e+02] [ 1.53890839e-02 1.95867503e-04 9.99881562e-01 1.50276064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.1592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:930.05, Y:102.87, Z:15.03 [[ 3.05079171e-01 -9.52316436e-01 -4.48395308e-03 9.30049074e+02] [ 9.52202650e-01 3.05112040e-01 -1.47226499e-02 1.02871216e+02] [ 1.53887296e-02 2.21941832e-04 9.99881562e-01 1.50275582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.1892541539999 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:930.06, Y:102.90, Z:15.03 [[ 3.05203273e-01 -9.52276690e-01 -4.47979188e-03 9.30056580e+02] [ 9.52162881e-01 3.05236063e-01 -1.47239160e-02 1.02898307e+02] [ 1.53886360e-02 2.28295814e-04 9.99881562e-01 1.50273646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.2192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:930.06, Y:102.92, Z:15.03 [[ 3.05314179e-01 -9.52241157e-01 -4.47560205e-03 9.30064298e+02] [ 9.52127326e-01 3.05346891e-01 -1.47251895e-02 1.02923913e+02] [ 1.53885426e-02 2.34466114e-04 9.99881562e-01 1.50278080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.2492541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:930.07, Y:102.95, Z:15.03 [[ 3.04266934e-01 -9.52576312e-01 -4.47254591e-03 9.30072484e+02] [ 9.52462503e-01 3.04299724e-01 -1.47261177e-02 1.02950999e+02] [ 1.53887453e-02 2.20738389e-04 9.99881562e-01 1.50295238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.2792541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:930.08, Y:102.98, Z:15.03 [[ 3.03332114e-01 -9.52874421e-01 -4.46831629e-03 9.30080768e+02] [ 9.52760626e-01 3.03364950e-01 -1.47274009e-02 1.02978256e+02] [ 1.53888942e-02 2.10057832e-04 9.99881562e-01 1.50297658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.3092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:930.09, Y:103.00, Z:15.03 [[ 3.02303729e-01 -9.53201200e-01 -4.46410103e-03 9.30089203e+02] [ 9.53087421e-01 3.02336623e-01 -1.47286785e-02 1.03004809e+02] [ 1.53890553e-02 1.97855909e-04 9.99881562e-01 1.50303381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.3392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:930.10, Y:103.03, Z:15.03 [[ 3.01746834e-01 -9.53377657e-01 -4.45986011e-03 9.30097233e+02] [ 9.53263879e-01 3.01779729e-01 -1.47299626e-02 1.03031001e+02] [ 1.53891126e-02 1.93296030e-04 9.99881562e-01 1.50293809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.3692541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:930.11, Y:103.06, Z:15.03 [[ 3.01747755e-01 -9.53377387e-01 -4.45539779e-03 9.30105347e+02] [ 9.53263589e-01 3.01780581e-01 -1.47313122e-02 1.03058262e+02] [ 1.53890524e-02 1.97971885e-04 9.99881562e-01 1.50295593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.3992541539999 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:930.11, Y:103.09, Z:15.03 [[ 3.01876091e-01 -9.53336778e-01 -4.45123826e-03 9.30113446e+02] [ 9.53222957e-01 3.01908838e-01 -1.47325689e-02 1.03085293e+02] [ 1.53889679e-02 2.04387825e-04 9.99881562e-01 1.50291417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.4292541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:930.12, Y:103.11, Z:15.03 [[ 3.02323707e-01 -9.53194944e-01 -4.44700891e-03 9.30121137e+02] [ 9.53081088e-01 3.02356335e-01 -1.47338454e-02 1.03110941e+02] [ 1.53888083e-02 2.16030680e-04 9.99881562e-01 1.50298706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.4592541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:930.13, Y:103.14, Z:15.03 [[ 3.01335980e-01 -9.53507677e-01 -4.44254802e-03 9.30125971e+02] [ 9.53393836e-01 3.01368657e-01 -1.47351904e-02 1.03136874e+02] [ 1.53889619e-02 2.04745134e-04 9.99881562e-01 1.50284337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.4892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:930.14, Y:103.16, Z:15.03 [[ 3.05432663e-01 -9.52203746e-01 -4.34913020e-03 9.30137431e+02] [ 9.52089362e-01 3.05463404e-01 -1.47633193e-02 1.03164253e+02] [ 1.53861881e-02 3.68439345e-04 9.99881558e-01 1.50313141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.5192541539999 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:930.15, Y:103.19, Z:15.03 [[ 3.05647288e-01 -9.52134468e-01 -4.43738334e-03 9.30145465e+02] [ 9.52020457e-01 3.05679370e-01 -1.47367455e-02 1.03191593e+02] [ 1.53877799e-02 2.79766582e-04 9.99881562e-01 1.50315372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.5492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:930.15, Y:103.22, Z:15.03 [[ 3.07056297e-01 -9.51681027e-01 -4.43328307e-03 9.30153422e+02] [ 9.51566951e-01 3.07088145e-01 -1.47379789e-02 1.03218477e+02] [ 1.53872635e-02 3.06823552e-04 9.99881562e-01 1.50332343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.5792541539998 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:930.16, Y:103.25, Z:15.03 [[ 3.06915655e-01 -9.51726412e-01 -4.42916505e-03 9.30161580e+02] [ 9.51612323e-01 3.06947457e-01 -1.47392163e-02 1.03245772e+02] [ 1.53872224e-02 3.08848193e-04 9.99881562e-01 1.50326392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.6092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:930.17, Y:103.27, Z:15.03 [[ 3.06705692e-01 -9.51794116e-01 -4.42496155e-03 9.30169446e+02] [ 9.51680016e-01 3.06737454e-01 -1.47404782e-02 1.03272098e+02] [ 1.53872018e-02 3.09841088e-04 9.99881562e-01 1.50336129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.6392541539999 meters Centerline goodness : 0.999757 Centerline is valid? [True, True] Translation: X:930.18, Y:103.30, Z:15.03 [[ 3.05373746e-01 -9.52222314e-01 -4.42051909e-03 9.30177785e+02] [ 9.52108239e-01 3.05405599e-01 -1.47418103e-02 1.03298812e+02] [ 1.53875320e-02 2.92949192e-04 9.99881562e-01 1.50330993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.6692541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:930.19, Y:103.32, Z:15.03 [[ 3.02525313e-01 -9.53131120e-01 -4.41617781e-03 9.30186835e+02] [ 9.53017123e-01 3.02557440e-01 -1.47431107e-02 1.03324368e+02] [ 1.53882651e-02 2.51471120e-04 9.99881562e-01 1.50336173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.6992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:930.20, Y:103.35, Z:15.04 [[ 3.00635670e-01 -9.53728857e-01 -4.41162745e-03 9.30195496e+02] [ 9.53614903e-01 3.00667952e-01 -1.47444722e-02 1.03350802e+02] [ 1.53886636e-02 2.25720595e-04 9.99881562e-01 1.50352970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.7292541539998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:930.20, Y:103.38, Z:15.04 [[ 2.97808531e-01 -9.54615448e-01 -4.40737242e-03 9.30204183e+02] [ 9.54501572e-01 2.97841085e-01 -1.47457440e-02 1.03377172e+02] [ 1.53892116e-02 1.84564454e-04 9.99881562e-01 1.50351048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.7592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:930.21, Y:103.40, Z:15.04 [[ 2.92435242e-01 -9.56275192e-01 -4.40313455e-03 9.30213472e+02] [ 9.56161481e-01 2.92468370e-01 -1.47470093e-02 1.03403510e+02] [ 1.53899768e-02 1.02437587e-04 9.99881562e-01 1.50369098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.7892541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:930.22, Y:103.43, Z:15.04 [[ 2.86480678e-01 -9.58075921e-01 -4.39893350e-03 9.30221637e+02] [ 9.57962400e-01 2.86514449e-01 -1.47482624e-02 1.03429839e+02] [ 1.53903131e-02 1.10793162e-05 9.99881562e-01 1.50371439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.8192541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:930.23, Y:103.46, Z:15.04 [[ 2.83451560e-01 -9.58976486e-01 -4.39451264e-03 9.30229098e+02] [ 9.58863052e-01 2.83485621e-01 -1.47495795e-02 1.03455863e+02] [ 1.53902811e-02 -3.29444761e-05 9.99881562e-01 1.50384276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.8492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:930.24, Y:103.48, Z:15.04 [[ 2.80366165e-01 -9.59883087e-01 -4.39012460e-03 9.30236694e+02] [ 9.59769742e-01 2.80400524e-01 -1.47508855e-02 1.03482875e+02] [ 1.53901187e-02 -7.78595578e-05 9.99881562e-01 1.50395046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.8792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:930.24, Y:103.51, Z:15.03 [[ 2.69211733e-01 -9.63071029e-01 -4.38597633e-03 9.30236512e+02] [ 9.62958070e-01 2.69247341e-01 -1.47521188e-02 1.03506054e+02] [ 1.53882507e-02 -2.52067826e-04 9.99881562e-01 1.50349787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.9092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:930.25, Y:103.54, Z:15.04 [[ 2.69658398e-01 -9.62947154e-01 -4.13856879e-03 9.30251667e+02] [ 9.62833021e-01 2.69690154e-01 -1.48254965e-02 1.03535868e+02] [ 1.53923010e-02 1.30689663e-05 9.99881531e-01 1.50395350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.9392541539999 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:930.26, Y:103.56, Z:15.04 [[ 2.60840460e-01 -9.65371978e-01 -4.38156735e-03 9.30259063e+02] [ 9.65259313e-01 2.60876980e-01 -1.47533293e-02 1.03563374e+02] [ 1.53855008e-02 -3.81083485e-04 9.99881564e-01 1.50378668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.9692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:930.27, Y:103.59, Z:15.04 [[ 2.56598888e-01 -9.66508069e-01 -4.37753980e-03 9.30266114e+02] [ 9.66395545e-01 2.56635841e-01 -1.47545243e-02 1.03590287e+02] [ 1.53838004e-02 -4.44440439e-04 9.99881564e-01 1.50406212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.9992541539999 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:930.27, Y:103.62, Z:15.04 [[ 2.44604240e-01 -9.69613140e-01 -4.37325022e-03 9.30267714e+02] [ 9.69501060e-01 2.44642518e-01 -1.47557956e-02 1.03616012e+02] [ 1.53772962e-02 -6.30540568e-04 9.99881564e-01 1.50369374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.0292541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:930.28, Y:103.64, Z:15.04 [[ 2.42296204e-01 -9.70193131e-01 -4.22357089e-03 9.30275826e+02] [ 9.70080372e-01 2.42332474e-01 -1.48001140e-02 1.03644081e+02] [ 1.53824774e-02 -5.11191768e-04 9.99881552e-01 1.50402327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.0592541539999 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:930.28, Y:103.67, Z:15.04 [[ 2.34764632e-01 -9.72042880e-01 -4.26702352e-03 9.30279129e+02] [ 9.71930632e-01 2.34802435e-01 -1.47872571e-02 1.03670920e+02] [ 1.53757555e-02 -6.75725884e-04 9.99881558e-01 1.50361878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.0892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:930.29, Y:103.70, Z:15.04 [[ 2.34208539e-01 -9.72177344e-01 -4.19198215e-03 9.30286184e+02] [ 9.72064729e-01 2.34245267e-01 -1.48094012e-02 1.03699307e+02] [ 1.53793163e-02 -6.06389777e-04 9.99881547e-01 1.50390490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.1192541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:930.29, Y:103.73, Z:15.04 [[ 2.35853991e-01 -9.71779320e-01 -4.22462949e-03 9.30292162e+02] [ 9.71666811e-01 2.35891024e-01 -1.47997504e-02 1.03728777e+02] [ 1.53786436e-02 -6.14352056e-04 9.99881553e-01 1.50412673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.1492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:930.30, Y:103.76, Z:15.04 [[ 2.36079640e-01 -9.71724213e-01 -4.29624929e-03 9.30296084e+02] [ 9.71612067e-01 2.36117735e-01 -1.47785861e-02 1.03755827e+02] [ 1.53751306e-02 -6.85364360e-04 9.99881561e-01 1.50407808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.1792541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:930.30, Y:103.79, Z:15.04 [[ 2.41229589e-01 -9.70458770e-01 -4.24994715e-03 9.30299068e+02] [ 9.70346186e-01 2.41266384e-01 -1.47922489e-02 1.03785440e+02] [ 1.53806371e-02 -5.55591883e-04 9.99881557e-01 1.50408449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.2092541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:930.31, Y:103.81, Z:15.04 [[ 2.46829915e-01 -9.69049402e-01 -4.27182085e-03 9.30306584e+02] [ 9.68936718e-01 2.46866393e-01 -1.47857995e-02 1.03813811e+02] [ 1.53827392e-02 -4.89546437e-04 9.99881559e-01 1.50435192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.2392541539998 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:930.31, Y:103.84, Z:15.04 [[ 2.54718753e-01 -9.67005382e-01 -4.35286474e-03 9.30307663e+02] [ 9.66892805e-01 2.54755548e-01 -1.47619020e-02 1.03841610e+02] [ 1.53837551e-02 -4.48620326e-04 9.99881562e-01 1.50414192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.2692541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:930.31, Y:103.87, Z:15.04 [[ 2.59269287e-01 -9.65795283e-01 -4.34847052e-03 9.30312433e+02] [ 9.65682512e-01 2.59305484e-01 -1.47631963e-02 1.03869527e+02] [ 1.53858076e-02 -3.71598562e-04 9.99881562e-01 1.50420505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.2992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:930.32, Y:103.90, Z:15.04 [[ 2.64433228e-01 -9.64394212e-01 -4.34423500e-03 9.30316979e+02] [ 9.64281229e-01 2.64468757e-01 -1.47644425e-02 1.03895922e+02] [ 1.53876574e-02 -2.84855062e-04 9.99881562e-01 1.50432997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.3292541539998 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:930.32, Y:103.93, Z:15.04 [[ 2.72951992e-01 -9.62017867e-01 -4.33976718e-03 9.30318113e+02] [ 9.61904553e-01 2.72986451e-01 -1.47657557e-02 1.03925267e+02] [ 1.53896184e-02 -1.44099385e-04 9.99881562e-01 1.50426199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.3592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:930.32, Y:103.95, Z:15.05 [[ 2.81415998e-01 -9.59576073e-01 -4.33557220e-03 9.30320132e+02] [ 9.59462441e-01 2.81449393e-01 -1.47669873e-02 1.03953831e+02] [ 1.53902919e-02 -4.15221744e-06 9.99881562e-01 1.50453566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.3892541539999 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:930.32, Y:103.98, Z:15.04 [[ 2.83559164e-01 -9.58944962e-01 -4.33136441e-03 9.30324745e+02] [ 9.58831237e-01 2.83592240e-01 -1.47682214e-02 1.03981668e+02] [ 1.53902529e-02 3.46170122e-05 9.99881562e-01 1.50440851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.4192541539999 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:930.33, Y:104.01, Z:15.04 [[ 2.85625945e-01 -9.58331412e-01 -4.32707681e-03 9.30326263e+02] [ 9.58217597e-01 2.85658710e-01 -1.47694776e-02 1.04009649e+02] [ 1.53901215e-02 7.22648392e-05 9.99881562e-01 1.50411184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.4492541539998 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:930.33, Y:104.04, Z:15.05 [[ 2.88788905e-01 -9.57383301e-01 -4.26430684e-03 9.30334108e+02] [ 9.57269105e-01 2.88820326e-01 -1.47878433e-02 1.04037555e+02] [ 1.53892527e-02 1.88475871e-04 9.99881561e-01 1.50454270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.4792541539998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:930.34, Y:104.06, Z:15.04 [[ 2.87314094e-01 -9.57826674e-01 -4.32134806e-03 9.30337936e+02] [ 9.57712776e-01 2.87346571e-01 -1.47711557e-02 1.04064809e+02] [ 1.53899315e-02 1.05350976e-04 9.99881562e-01 1.50425318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.5092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:930.34, Y:104.09, Z:15.05 [[ 2.90020137e-01 -9.57011064e-01 -4.25959602e-03 9.30344627e+02] [ 9.56896808e-01 2.90051338e-01 -1.47891972e-02 1.04093343e+02] [ 1.53889269e-02 2.13171182e-04 9.99881561e-01 1.50461434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.5392541539999 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:930.35, Y:104.12, Z:15.04 [[ 2.89016504e-01 -9.57314387e-01 -4.31569626e-03 9.30350290e+02] [ 9.57200407e-01 2.89048691e-01 -1.47728083e-02 1.04121431e+02] [ 1.53896682e-02 1.38599187e-04 9.99881562e-01 1.50444403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.5692541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:930.36, Y:104.15, Z:15.04 [[ 2.89331549e-01 -9.57219237e-01 -4.31136419e-03 9.30355331e+02] [ 9.57105227e-01 2.89363631e-01 -1.47740725e-02 1.04149100e+02] [ 1.53895784e-02 1.48176058e-04 9.99881562e-01 1.50444414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.5992541539998 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:930.36, Y:104.18, Z:15.04 [[ 2.89388010e-01 -9.57202188e-01 -4.30706785e-03 9.30361597e+02] [ 9.57088158e-01 2.89420019e-01 -1.47753249e-02 1.04175314e+02] [ 1.53895249e-02 1.53558215e-04 9.99881562e-01 1.50436894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.6292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:930.37, Y:104.20, Z:15.04 [[ 2.90084530e-01 -9.56991352e-01 -4.30323455e-03 9.30368775e+02] [ 9.56877282e-01 2.90116397e-01 -1.47764412e-02 1.04202053e+02] [ 1.53893653e-02 1.68749620e-04 9.99881562e-01 1.50449766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.6592541539999 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:930.37, Y:104.23, Z:15.04 [[ 2.88234186e-01 -9.57550298e-01 -4.29893643e-03 9.30372633e+02] [ 9.57436271e-01 2.88266207e-01 -1.47776916e-02 1.04230263e+02] [ 1.53896211e-02 1.43478227e-04 9.99881562e-01 1.50386934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.6892541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:930.38, Y:104.26, Z:15.04 [[ 2.88179555e-01 -9.57566914e-01 -4.26015879e-03 9.30378821e+02] [ 9.57452722e-01 2.88210984e-01 -1.47889630e-02 1.04257796e+02] [ 1.53892462e-02 1.82976148e-04 9.99881562e-01 1.50404912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.7192541539998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:930.39, Y:104.29, Z:15.04 [[ 2.87412220e-01 -9.57797586e-01 -4.24271551e-03 9.30385779e+02] [ 9.57683344e-01 2.87443471e-01 -1.47940295e-02 1.04285240e+02] [ 1.53892266e-02 1.88806872e-04 9.99881561e-01 1.50392774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.7492541539999 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:930.40, Y:104.31, Z:15.04 [[ 2.87478105e-01 -9.57777939e-01 -4.21413280e-03 9.30395780e+02] [ 9.57663573e-01 2.87508907e-01 -1.48023242e-02 1.04312302e+02] [ 1.53889403e-02 2.19622640e-04 9.99881559e-01 1.50410040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.7792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:930.40, Y:104.34, Z:15.05 [[ 2.86797273e-01 -9.57981695e-01 -4.28906534e-03 9.30404195e+02] [ 9.57867673e-01 2.86829313e-01 -1.47805801e-02 1.04339130e+02] [ 1.53897549e-02 1.30673038e-04 9.99881562e-01 1.50452959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.8092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:930.41, Y:104.37, Z:15.05 [[ 2.86519575e-01 -9.58064807e-01 -4.28478868e-03 9.30412078e+02] [ 9.57950776e-01 2.86551583e-01 -1.47818198e-02 1.04366592e+02] [ 1.53897543e-02 1.30664097e-04 9.99881562e-01 1.50457342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.8392541539998 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:930.42, Y:104.39, Z:15.04 [[ 2.84695910e-01 -9.58608323e-01 -4.28050308e-03 9.30419724e+02] [ 9.58494334e-01 2.84728068e-01 -1.47830607e-02 1.04393420e+02] [ 1.53899444e-02 1.05838977e-04 9.99881562e-01 1.50437281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.8692541539999 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:930.43, Y:104.42, Z:15.05 [[ 2.82281049e-01 -9.59322221e-01 -4.27621979e-03 9.30428065e+02] [ 9.59208295e-01 2.82313428e-01 -1.47842996e-02 1.04420655e+02] [ 1.53901414e-02 7.15421229e-05 9.99881562e-01 1.50452166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.8992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:930.44, Y:104.45, Z:15.05 [[ 2.80889603e-01 -9.59730577e-01 -4.27196663e-03 9.30436651e+02] [ 9.59616680e-01 2.80922082e-01 -1.47855285e-02 1.04447396e+02] [ 1.53902136e-02 5.36508015e-05 9.99881562e-01 1.50498585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.9292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:930.44, Y:104.47, Z:15.05 [[ 2.80123629e-01 -9.59954447e-01 -4.26768588e-03 9.30444257e+02] [ 9.59840556e-01 2.80156133e-01 -1.47867640e-02 1.04473344e+02] [ 1.53902382e-02 4.58240030e-05 9.99881562e-01 1.50507152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.9592541539998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:930.45, Y:104.50, Z:15.05 [[ 2.79034726e-01 -9.60271546e-01 -4.26381803e-03 9.30451784e+02] [ 9.60157675e-01 2.79067299e-01 -1.47878792e-02 1.04499956e+02] [ 1.53902718e-02 3.23942192e-05 9.99881562e-01 1.50503950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.9892541539998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:930.46, Y:104.53, Z:15.05 [[ 2.77517816e-01 -9.60711048e-01 -4.25957969e-03 9.30459520e+02] [ 9.60597210e-01 2.77550504e-01 -1.47890999e-02 1.04526519e+02] [ 1.53903002e-02 1.24983590e-05 9.99881562e-01 1.50520154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.0192541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:930.47, Y:104.55, Z:15.05 [[ 2.76279989e-01 -9.61067771e-01 -4.25535257e-03 9.30467079e+02] [ 9.60953956e-01 2.76312759e-01 -1.47903161e-02 1.04552823e+02] [ 1.53903044e-02 -2.92949847e-06 9.99881562e-01 1.50518510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.0492541539999 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:930.48, Y:104.58, Z:15.05 [[ 2.72615747e-01 -9.62113597e-01 -4.25227070e-03 9.30475294e+02] [ 9.61999894e-01 2.72648902e-01 -1.47912021e-02 1.04579580e+02] [ 1.53901936e-02 -5.83693571e-05 9.99881562e-01 1.50514697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.0792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:930.48, Y:104.61, Z:15.05 [[ 2.70321383e-01 -9.62760772e-01 -4.24811362e-03 9.30483780e+02] [ 9.62647130e-01 2.70354746e-01 -1.47923960e-02 1.04606444e+02] [ 1.53900362e-02 -9.07334354e-05 9.99881562e-01 1.50544256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.1092541539998 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:930.49, Y:104.63, Z:15.05 [[ 2.63395255e-01 -9.64678666e-01 -4.24394501e-03 9.30492653e+02] [ 9.64565248e-01 2.63429370e-01 -1.47935919e-02 1.04631984e+02] [ 1.53890422e-02 -1.96999962e-04 9.99881562e-01 1.50511564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.1392541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:930.50, Y:104.66, Z:15.05 [[ 2.60617526e-01 -9.65432821e-01 -4.23955200e-03 9.30503763e+02] [ 9.65319481e-01 2.60651900e-01 -1.47948507e-02 1.04660329e+02] [ 1.53884817e-02 -2.36724741e-04 9.99881562e-01 1.50520904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.1692541539999 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:930.51, Y:104.68, Z:15.05 [[ 2.51623521e-01 -9.67815487e-01 -4.33439772e-03 9.30510801e+02] [ 9.67702930e-01 2.51660395e-01 -1.47676685e-02 1.04684529e+02] [ 1.53831745e-02 -4.78516638e-04 9.99881557e-01 1.50524635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.1992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:930.52, Y:104.71, Z:15.05 [[ 2.49278722e-01 -9.68422529e-01 -4.23377451e-03 9.30523152e+02] [ 9.68309572e-01 2.49314334e-01 -1.47964603e-02 1.04714485e+02] [ 1.53847662e-02 -4.11161665e-04 9.99881563e-01 1.50538422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.2292541539998 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:930.53, Y:104.74, Z:15.05 [[ 2.43385545e-01 -9.69919721e-01 -4.38318149e-03 9.30527763e+02] [ 9.69807728e-01 2.43424116e-01 -1.47536740e-02 1.04738297e+02] [ 1.53768514e-02 -6.60012307e-04 9.99881551e-01 1.50523608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.2592541539999 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:930.54, Y:104.77, Z:15.05 [[ 2.36486452e-01 -9.71625589e-01 -4.22775190e-03 9.30536321e+02] [ 9.71513083e-01 2.36523458e-01 -1.47980798e-02 1.04765008e+02] [ 1.53781555e-02 -6.07770900e-04 9.99881564e-01 1.50532231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.2892541539999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:930.54, Y:104.79, Z:15.05 [[ 2.33980459e-01 -9.72232126e-01 -4.22353169e-03 9.30544424e+02] [ 9.72119695e-01 2.34017692e-01 -1.47992842e-02 1.04791646e+02] [ 1.53767207e-02 -6.43035022e-04 9.99881564e-01 1.50548367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.3192541539999 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:930.55, Y:104.82, Z:15.06 [[ 2.32123150e-01 -9.72677254e-01 -4.21931317e-03 9.30553918e+02] [ 9.72564873e-01 2.32160533e-01 -1.48004868e-02 1.04820499e+02] [ 1.53756549e-02 -6.68020167e-04 9.99881564e-01 1.50552153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.3492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:930.56, Y:104.85, Z:15.06 [[ 2.32244121e-01 -9.72648119e-01 -4.27837923e-03 9.30559270e+02] [ 9.72536034e-01 2.32282387e-01 -1.47836524e-02 1.04846260e+02] [ 1.53730838e-02 -7.27461616e-04 9.99881563e-01 1.50578004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.3792541539999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:930.56, Y:104.87, Z:15.05 [[ 2.35795198e-01 -9.71793637e-01 -4.21325596e-03 9.30564469e+02] [ 9.71681086e-01 2.35832064e-01 -1.48021889e-02 1.04873451e+02] [ 1.53782938e-02 -6.03656071e-04 9.99881565e-01 1.50548782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.4092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:930.57, Y:104.90, Z:15.06 [[ 2.39095954e-01 -9.70986817e-01 -4.21021994e-03 9.30570573e+02] [ 9.70874126e-01 2.39132391e-01 -1.48030524e-02 1.04900800e+02] [ 1.53803687e-02 -5.48243681e-04 9.99881565e-01 1.50570160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.4392541539999 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:930.58, Y:104.93, Z:15.05 [[ 2.47078018e-01 -9.68986461e-01 -4.20612302e-03 9.30575753e+02] [ 9.68873454e-01 2.47113465e-01 -1.48042164e-02 1.04930478e+02] [ 1.53844749e-02 -4.17404489e-04 9.99881565e-01 1.50543764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.4692541539998 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:930.58, Y:104.96, Z:15.05 [[ 2.50862461e-01 -9.68013422e-01 -4.24728168e-03 9.30579983e+02] [ 9.67900474e-01 2.50898095e-01 -1.47925284e-02 1.04956843e+02] [ 1.53850009e-02 -4.00055869e-04 9.99881564e-01 1.50537472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.4992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:930.58, Y:104.99, Z:15.06 [[ 2.59498702e-01 -9.65734322e-01 -4.20027421e-03 9.30584586e+02] [ 9.65620844e-01 2.59532605e-01 -1.48058640e-02 1.04985798e+02] [ 1.53886391e-02 -2.13769843e-04 9.99881565e-01 1.50576865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.5292541539999 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:930.59, Y:105.01, Z:15.06 [[ 2.62896827e-01 -9.64814669e-01 -4.23238740e-03 9.30589308e+02] [ 9.64701217e-01 2.62930822e-01 -1.47967574e-02 1.05012281e+02] [ 1.53889537e-02 -1.92968709e-04 9.99881564e-01 1.50557582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.5592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:930.59, Y:105.04, Z:15.06 [[ 2.68944739e-01 -9.63146476e-01 -4.19435863e-03 9.30593830e+02] [ 9.63032645e-01 2.68977438e-01 -1.48075294e-02 1.05041213e+02] [ 1.53900076e-02 -5.68971563e-05 9.99881565e-01 1.50592218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.5892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:930.60, Y:105.07, Z:15.06 [[ 2.73828442e-01 -9.61769381e-01 -4.20022086e-03 9.30599244e+02] [ 9.61655411e-01 2.73860653e-01 -1.48058695e-02 1.05068161e+02] [ 1.53901072e-02 1.51030488e-05 9.99881565e-01 1.50583711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.6192541539999 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:930.61, Y:105.10, Z:15.06 [[ 2.74847992e-01 -9.61478568e-01 -4.18868888e-03 9.30606028e+02] [ 9.61364513e-01 2.74879905e-01 -1.48091312e-02 1.05095075e+02] [ 1.53900487e-02 4.34031450e-05 9.99881565e-01 1.50560336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.6492541539999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:930.61, Y:105.12, Z:15.06 [[ 2.75648456e-01 -9.61249405e-01 -4.18450793e-03 9.30612923e+02] [ 9.61135306e-01 2.75680210e-01 -1.48103125e-02 1.05122139e+02] [ 1.53899901e-02 6.05614772e-05 9.99881565e-01 1.50585734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.6792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:930.62, Y:105.15, Z:15.06 [[ 2.76422953e-01 -9.61026991e-01 -4.18025034e-03 9.30619382e+02] [ 9.60912848e-01 2.76454549e-01 -1.48115142e-02 1.05149757e+02] [ 1.53899141e-02 7.73862232e-05 9.99881565e-01 1.50610163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.7092541539998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:930.63, Y:105.18, Z:15.06 [[ 2.76211876e-01 -9.61087697e-01 -4.17594909e-03 9.30626897e+02] [ 9.60973543e-01 2.76243430e-01 -1.48127267e-02 1.05176978e+02] [ 1.53899079e-02 7.84744442e-05 9.99881565e-01 1.50607873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.7392541539998 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:930.63, Y:105.20, Z:15.06 [[ 2.74792663e-01 -9.61494457e-01 -4.17159589e-03 9.30634798e+02] [ 9.61380331e-01 2.74824318e-01 -1.48139526e-02 1.05204193e+02] [ 1.53899893e-02 6.02752390e-05 9.99881565e-01 1.50581887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.7692541539999 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:930.64, Y:105.23, Z:15.06 [[ 2.73719976e-01 -9.61800400e-01 -4.16726773e-03 9.30642823e+02] [ 9.61686291e-01 2.73751692e-01 -1.48151700e-02 1.05231308e+02] [ 1.53900331e-02 4.76037375e-05 9.99881565e-01 1.50594714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.7992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:930.65, Y:105.26, Z:15.06 [[ 2.71995013e-01 -9.62289656e-01 -4.16297623e-03 9.30651596e+02] [ 9.62175586e-01 2.72026867e-01 -1.48163758e-02 1.05257969e+02] [ 1.53900866e-02 2.44662324e-05 9.99881565e-01 1.50632080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.8292541539998 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:930.66, Y:105.29, Z:15.06 [[ 2.69766503e-01 -9.62916787e-01 -4.15867467e-03 9.30659188e+02] [ 9.62802772e-01 2.69798556e-01 -1.48175831e-02 1.05285339e+02] [ 1.53901039e-02 -6.69592010e-06 9.99881565e-01 1.50612174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.8592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:930.67, Y:105.31, Z:15.06 [[ 2.68326904e-01 -9.63318958e-01 -4.15425849e-03 9.30668489e+02] [ 9.63204972e-01 2.68359059e-01 -1.48188211e-02 1.05310712e+02] [ 1.53900842e-02 -2.51140384e-05 9.99881565e-01 1.50636166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.8892541539999 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:930.68, Y:105.34, Z:15.06 [[ 2.68016630e-01 -9.63405496e-01 -4.11532219e-03 9.30678492e+02] [ 9.63291353e-01 2.68048222e-01 -1.48297247e-02 1.05338387e+02] [ 1.53901431e-02 1.03585609e-05 9.99881565e-01 1.50599265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.9192541539999 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:930.69, Y:105.37, Z:15.06 [[ 2.67487828e-01 -9.63552309e-01 -4.14856479e-03 9.30687822e+02] [ 9.63438326e-01 2.67519995e-01 -1.48204194e-02 1.05365368e+02] [ 1.53900733e-02 -3.26045256e-05 9.99881565e-01 1.50602396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.9492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:930.70, Y:105.39, Z:15.06 [[ 2.67572694e-01 -9.63528764e-01 -4.14426253e-03 9.30697993e+02] [ 9.63414760e-01 2.67604784e-01 -1.48216223e-02 1.05391339e+02] [ 1.53900839e-02 -2.67822850e-05 9.99881565e-01 1.50638798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.9792541539998 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:930.71, Y:105.42, Z:15.06 [[ 2.68026252e-01 -9.63402714e-01 -4.13990672e-03 9.30706485e+02] [ 9.63288676e-01 2.68058222e-01 -1.48228389e-02 1.05417454e+02] [ 1.53900992e-02 -1.50153158e-05 9.99881565e-01 1.50633459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.0092541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:930.72, Y:105.45, Z:15.06 [[ 2.70716349e-01 -9.62650275e-01 -4.13610932e-03 9.30717591e+02] [ 9.62536131e-01 2.70747942e-01 -1.48238984e-02 1.05445337e+02] [ 1.53900730e-02 3.19169928e-05 9.99881565e-01 1.50616522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.0392541539999 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:930.72, Y:105.47, Z:15.06 [[ 2.71106321e-01 -9.62540259e-01 -4.19681704e-03 9.30724861e+02] [ 9.62426363e-01 2.71138802e-01 -1.48069579e-02 1.05470540e+02] [ 1.53902131e-02 -2.48674626e-05 9.99881563e-01 1.50612754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.0692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:930.74, Y:105.50, Z:15.07 [[ 2.73902298e-01 -9.61748654e-01 -4.13012577e-03 9.30735818e+02] [ 9.61634382e-01 2.73933420e-01 -1.48255369e-02 1.05496157e+02] [ 1.53898197e-02 8.90776930e-05 9.99881566e-01 1.50656500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.0992541539998 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:930.74, Y:105.52, Z:15.06 [[ 2.74914996e-01 -9.61459683e-01 -4.12586499e-03 9.30744994e+02] [ 9.61345361e-01 2.74945932e-01 -1.48267226e-02 1.05521818e+02] [ 1.53896858e-02 1.09707211e-04 9.99881566e-01 1.50635678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.1292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:930.76, Y:105.55, Z:15.07 [[ 2.76456438e-01 -9.61017613e-01 -4.12139841e-03 9.30756026e+02] [ 9.60903223e-01 2.76487122e-01 -1.48279641e-02 1.05547750e+02] [ 1.53894482e-02 1.39021115e-04 9.99881566e-01 1.50683146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.1592541539999 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:930.77, Y:105.57, Z:15.07 [[ 2.77523956e-01 -9.60709867e-01 -4.12384870e-03 9.30765391e+02] [ 9.60595452e-01 2.77554551e-01 -1.48272836e-02 1.05573864e+02] [ 1.53893106e-02 1.53576083e-04 9.99881566e-01 1.50667998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.1892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:930.78, Y:105.60, Z:15.07 [[ 2.78075621e-01 -9.60550375e-01 -4.11418923e-03 9.30775016e+02] [ 9.60435903e-01 2.78106001e-01 -1.48299634e-02 1.05600779e+02] [ 1.53891076e-02 1.72436210e-04 9.99881566e-01 1.50705381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.2192541539998 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:930.79, Y:105.63, Z:15.07 [[ 2.77869102e-01 -9.60610154e-01 -4.11035578e-03 9.30786944e+02] [ 9.60495673e-01 2.77899447e-01 -1.48310258e-02 1.05626653e+02] [ 1.53890996e-02 1.73104868e-04 9.99881566e-01 1.50691179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.2492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:930.80, Y:105.65, Z:15.07 [[ 2.78144183e-01 -9.60530559e-01 -4.10600168e-03 9.30799284e+02] [ 9.60416052e-01 2.78174428e-01 -1.48322311e-02 1.05652942e+02] [ 1.53889959e-02 1.82028878e-04 9.99881566e-01 1.50738143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.2792541539999 meters Centerline goodness : 0.997078 Centerline is valid? [True, True] Translation: X:930.81, Y:105.68, Z:15.07 [[ 2.78460093e-01 -9.60439041e-01 -4.10181438e-03 9.30810669e+02] [ 9.60324507e-01 2.78490236e-01 -1.48333890e-02 1.05681003e+02] [ 1.53888812e-02 1.91434014e-04 9.99881566e-01 1.50725664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.3092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:930.82, Y:105.70, Z:15.07 [[ 2.77705701e-01 -9.60656924e-01 -4.22107889e-03 9.30820145e+02] [ 9.60542907e-01 2.77737774e-01 -1.48004147e-02 1.05703706e+02] [ 1.53904739e-02 5.56321497e-05 9.99881558e-01 1.50747842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.3392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:930.83, Y:105.73, Z:15.07 [[ 2.77269933e-01 -9.60783353e-01 -4.09067396e-03 9.30829430e+02] [ 9.60668812e-01 2.77300047e-01 -1.48363700e-02 1.05729118e+02] [ 1.53888814e-02 1.83896422e-04 9.99881567e-01 1.50748665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.3692541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:930.84, Y:105.76, Z:15.07 [[ 2.76442627e-01 -9.61021736e-01 -4.08612877e-03 9.30839151e+02] [ 9.60907203e-01 2.76472768e-01 -1.48376217e-02 1.05755797e+02] [ 1.53889803e-02 1.75360544e-04 9.99881567e-01 1.50735646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.3992541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:930.85, Y:105.78, Z:15.07 [[ 2.75167813e-01 -9.61387546e-01 -4.08186400e-03 9.30851311e+02] [ 9.61273035e-01 2.75198041e-01 -1.48387948e-02 1.05781463e+02] [ 1.53891535e-02 1.59372929e-04 9.99881567e-01 1.50737918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.4292541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:930.86, Y:105.81, Z:15.07 [[ 2.74039760e-01 -9.61709719e-01 -4.07762796e-03 9.30860923e+02] [ 9.61595227e-01 2.74070057e-01 -1.48399588e-02 1.05807002e+02] [ 1.53892883e-02 1.45711162e-04 9.99881567e-01 1.50729075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.4592541539998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:930.88, Y:105.84, Z:15.07 [[ 2.73660057e-01 -9.61817853e-01 -4.07318401e-03 9.30876592e+02] [ 9.61703355e-01 2.73690330e-01 -1.48411784e-02 1.05835078e+02] [ 1.53893015e-02 1.44243007e-04 9.99881567e-01 1.50718771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.4892541539998 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:930.89, Y:105.86, Z:15.07 [[ 2.72036446e-01 -9.62277785e-01 -4.19966597e-03 9.30885268e+02] [ 9.62163865e-01 2.72068861e-01 -1.48064550e-02 1.05860021e+02] [ 1.53905210e-02 -1.28714538e-05 9.99881559e-01 1.50712962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.5192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:930.90, Y:105.89, Z:15.07 [[ 2.70268069e-01 -9.62776143e-01 -4.15563044e-03 9.30897227e+02] [ 9.62662097e-01 2.70300015e-01 -1.48185173e-02 1.05886387e+02] [ 1.53901819e-02 4.50412412e-06 9.99881564e-01 1.50735681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.5492541539999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:930.91, Y:105.91, Z:15.07 [[ 2.69491666e-01 -9.62993726e-01 -4.16236793e-03 9.30908069e+02] [ 9.62879734e-01 2.69523808e-01 -1.48166728e-02 1.05913130e+02] [ 1.53902202e-02 -1.48898696e-05 9.99881563e-01 1.50706426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.5792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:930.92, Y:105.94, Z:15.07 [[ 2.67339988e-01 -9.63593193e-01 -4.18196706e-03 9.30921452e+02] [ 9.63479357e-01 2.67372686e-01 -1.48113192e-02 1.05939980e+02] [ 1.53902301e-02 -6.95810435e-05 9.99881561e-01 1.50741005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.6092541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:930.93, Y:105.97, Z:15.07 [[ 2.66020665e-01 -9.63958174e-01 -4.20046145e-03 9.30931083e+02] [ 9.63844463e-01 2.66053803e-01 -1.48062706e-02 1.05965369e+02] [ 1.53901743e-02 -1.09817551e-04 9.99881558e-01 1.50736126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.6392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:930.94, Y:105.99, Z:15.08 [[ 2.63209856e-01 -9.64729491e-01 -4.19294221e-03 9.30939950e+02] [ 9.64615844e-01 2.63243210e-01 -1.48083206e-02 1.05988130e+02] [ 1.53897871e-02 -1.46882557e-04 9.99881559e-01 1.50769675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.6692541539999 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:930.95, Y:106.01, Z:15.07 [[ 2.62263609e-01 -9.64987815e-01 -4.03946261e-03 9.30948815e+02] [ 9.64873545e-01 2.62294716e-01 -1.48500698e-02 1.06013637e+02] [ 1.53896661e-02 -2.93771503e-06 9.99881572e-01 1.50732239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.6992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:930.96, Y:106.04, Z:15.08 [[ 2.63826747e-01 -9.64561644e-01 -4.03507662e-03 9.30961350e+02] [ 9.64447306e-01 2.63857601e-01 -1.48512614e-02 1.06042561e+02] [ 1.53896428e-02 2.65412117e-05 9.99881572e-01 1.50780052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.7292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:930.97, Y:106.07, Z:15.08 [[ 2.63357206e-01 -9.64689390e-01 -4.16694066e-03 9.30968492e+02] [ 9.64575625e-01 2.63390143e-01 -1.48154388e-02 1.06069293e+02] [ 1.53898277e-02 -1.17576834e-04 9.99881563e-01 1.50784858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.7592541539999 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:930.98, Y:106.09, Z:15.08 [[ 2.62709430e-01 -9.64866023e-01 -4.16089702e-03 9.30975969e+02] [ 9.64752254e-01 2.62742351e-01 -1.48170779e-02 1.06092639e+02] [ 1.53897389e-02 -1.21648676e-04 9.99881564e-01 1.50792736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.7892541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:930.99, Y:106.12, Z:15.08 [[ 2.64127653e-01 -9.64479357e-01 -4.01910538e-03 9.30986637e+02] [ 9.64364945e-01 2.64158226e-01 -1.48554395e-02 1.06119089e+02] [ 1.53894445e-02 4.78480361e-05 9.99881574e-01 1.50814199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.8192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:931.00, Y:106.15, Z:15.08 [[ 2.64896350e-01 -9.64268533e-01 -4.01488390e-03 9.30995588e+02] [ 9.64154080e-01 2.64926766e-01 -1.48565803e-02 1.06146192e+02] [ 1.53893831e-02 6.44872013e-05 9.99881574e-01 1.50823637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.8492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:931.00, Y:106.17, Z:15.08 [[ 2.66614678e-01 -9.63794858e-01 -4.01068593e-03 9.31002933e+02] [ 9.63680334e-01 2.66644825e-01 -1.48577135e-02 1.06173049e+02] [ 1.53892165e-02 9.62653484e-05 9.99881574e-01 1.50832915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.8792541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:931.01, Y:106.20, Z:15.08 [[ 2.71050448e-01 -9.62556805e-01 -4.00645443e-03 9.31012587e+02] [ 9.62442126e-01 2.71080003e-01 -1.48588545e-02 1.06203125e+02] [ 1.53885612e-02 1.71518648e-04 9.99881574e-01 1.50808943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.9092541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:931.02, Y:106.23, Z:15.08 [[ 2.70714130e-01 -9.62650942e-01 -4.12594512e-03 9.31017261e+02] [ 9.62536757e-01 2.70745567e-01 -1.48266508e-02 1.06229259e+02] [ 1.53899708e-02 4.24100520e-05 9.99881566e-01 1.50833291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.9392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:931.02, Y:106.26, Z:15.08 [[ 2.72627772e-01 -9.62111158e-01 -4.02712335e-03 9.31023488e+02] [ 9.61996514e-01 2.72657457e-01 -1.48532142e-02 1.06255497e+02] [ 1.53884683e-02 1.75320063e-04 9.99881575e-01 1.50831483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.9692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:931.03, Y:106.28, Z:15.08 [[ 2.71331554e-01 -9.62477670e-01 -3.99021556e-03 9.31029665e+02] [ 9.62362920e-01 2.71360825e-01 -1.48631226e-02 1.06283293e+02] [ 1.53882118e-02 1.92798663e-04 9.99881576e-01 1.50834587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.9992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:931.04, Y:106.31, Z:15.08 [[ 2.72189543e-01 -9.62235454e-01 -3.97290822e-03 9.31037345e+02] [ 9.62120610e-01 2.72218443e-01 -1.48677653e-02 1.06310294e+02] [ 1.53877898e-02 2.24433362e-04 9.99881576e-01 1.50823068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.0292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:931.04, Y:106.34, Z:15.08 [[ 2.71412560e-01 -9.62454854e-01 -3.98449588e-03 9.31044145e+02] [ 9.62340079e-01 2.71441732e-01 -1.48646592e-02 1.06337914e+02] [ 1.53881219e-02 2.00015127e-04 9.99881576e-01 1.50823385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.0592541539999 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:931.05, Y:106.37, Z:15.08 [[ 2.70291280e-01 -9.62770368e-01 -3.98029459e-03 9.31050723e+02] [ 9.62655611e-01 2.70320520e-01 -1.48657841e-02 1.06365141e+02] [ 1.53882917e-02 1.86438888e-04 9.99881576e-01 1.50799569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.0892541539998 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:931.06, Y:106.39, Z:15.08 [[ 2.69390539e-01 -9.63022808e-01 -3.97608062e-03 9.31057422e+02] [ 9.62908061e-01 2.69419822e-01 -1.48669111e-02 1.06391580e+02] [ 1.53884094e-02 1.76405107e-04 9.99881576e-01 1.50809159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.1192541539999 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:931.06, Y:106.42, Z:15.08 [[ 2.68867992e-01 -9.63168848e-01 -3.97163621e-03 9.31064503e+02] [ 9.63054099e-01 2.68897269e-01 -1.48680983e-02 1.06418362e+02] [ 1.53884512e-02 1.72655209e-04 9.99881576e-01 1.50809618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.1492541539999 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:931.07, Y:106.45, Z:15.08 [[ 2.67942173e-01 -9.63426827e-01 -3.96747531e-03 9.31071271e+02] [ 9.63312091e-01 2.67971496e-01 -1.48692085e-02 1.06446063e+02] [ 1.53885647e-02 1.62171111e-04 9.99881576e-01 1.50811300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.1792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:931.07, Y:106.47, Z:15.08 [[ 2.65026567e-01 -9.64232965e-01 -3.96327273e-03 9.31074110e+02] [ 9.64118301e-01 2.65056172e-01 -1.48703286e-02 1.06471823e+02] [ 1.53889510e-02 1.19968368e-04 9.99881576e-01 1.50816843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.2092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:931.08, Y:106.50, Z:15.08 [[ 2.64901982e-01 -9.64267695e-01 -3.84093193e-03 9.31080730e+02] [ 9.64152556e-01 2.64929713e-01 -1.49028991e-02 1.06499567e+02] [ 1.53879611e-02 2.44563162e-04 9.99881568e-01 1.50825067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.2392541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:931.09, Y:106.53, Z:15.09 [[ 2.67651256e-01 -9.63508184e-01 -3.84507671e-03 9.31091453e+02] [ 9.63392982e-01 2.67678723e-01 -1.49017960e-02 1.06528068e+02] [ 1.53872477e-02 2.84164508e-04 9.99881569e-01 1.50853925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.2692541539999 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:931.10, Y:106.55, Z:15.08 [[ 2.67526255e-01 -9.63542440e-01 -3.95844907e-03 9.31097360e+02] [ 9.63427681e-01 2.67555488e-01 -1.48716193e-02 1.06554620e+02] [ 1.53885411e-02 1.64869201e-04 9.99881576e-01 1.50831755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.2992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:931.10, Y:106.58, Z:15.08 [[ 2.65262509e-01 -9.64168122e-01 -3.95407934e-03 9.31100017e+02] [ 9.64053414e-01 2.65291944e-01 -1.48727810e-02 1.06580355e+02] [ 1.53888467e-02 1.33247523e-04 9.99881576e-01 1.50836265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.3292541539998 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:931.11, Y:106.61, Z:15.08 [[ 2.65844154e-01 -9.64008408e-01 -3.83086859e-03 9.31105821e+02] [ 9.63893204e-01 2.65871618e-01 -1.49054919e-02 1.06606373e+02] [ 1.53875387e-02 2.69989686e-04 9.99881568e-01 1.50828095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.3592541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:931.11, Y:106.63, Z:15.08 [[ 2.66728031e-01 -9.63764245e-01 -3.82592939e-03 9.31113755e+02] [ 9.63648998e-01 2.66755312e-01 -1.49068028e-02 1.06634650e+02] [ 1.53872305e-02 2.89209130e-04 9.99881568e-01 1.50848907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.3892541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:931.12, Y:106.66, Z:15.08 [[ 2.66448054e-01 -9.63841598e-01 -3.84812153e-03 9.31119241e+02] [ 9.63726443e-01 2.66475712e-01 -1.49009171e-02 1.06661245e+02] [ 1.53875547e-02 2.61783893e-04 9.99881570e-01 1.50830500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.4192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:931.13, Y:106.69, Z:15.09 [[ 2.67445573e-01 -9.63565348e-01 -3.83217027e-03 9.31126665e+02] [ 9.63450104e-01 2.67472865e-01 -1.49051440e-02 1.06688439e+02] [ 1.53870818e-02 2.94209923e-04 9.99881569e-01 1.50858178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.4492541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:931.14, Y:106.72, Z:15.09 [[ 2.69419803e-01 -9.63015075e-01 -3.86457124e-03 9.31136427e+02] [ 9.62899898e-01 2.69447360e-01 -1.48965619e-02 1.06716866e+02] [ 1.53869122e-02 2.92233510e-04 9.99881572e-01 1.50884116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.4792541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:931.14, Y:106.74, Z:15.09 [[ 2.67591790e-01 -9.63524324e-01 -3.93843219e-03 9.31140030e+02] [ 9.63409483e-01 2.67620706e-01 -1.48770085e-02 1.06743792e+02] [ 1.53883656e-02 1.86642410e-04 9.99881575e-01 1.50863752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.5092541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:931.15, Y:106.77, Z:15.09 [[ 2.68997309e-01 -9.63133147e-01 -3.87150670e-03 9.31149217e+02] [ 9.63018008e-01 2.69025023e-01 -1.48947054e-02 1.06771091e+02] [ 1.53871166e-02 2.78304983e-04 9.99881573e-01 1.50880023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.5392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:931.16, Y:106.80, Z:15.09 [[ 2.68829638e-01 -9.63179712e-01 -3.93303466e-03 9.31155934e+02] [ 9.63064813e-01 2.68858323e-01 -1.48784408e-02 1.06798094e+02] [ 1.53880414e-02 2.11998566e-04 9.99881575e-01 1.50904326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.5692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:931.16, Y:106.82, Z:15.09 [[ 2.66326793e-01 -9.63874786e-01 -3.92883514e-03 9.31160339e+02] [ 9.63759946e-01 2.66355712e-01 -1.48795497e-02 1.06824885e+02] [ 1.53884904e-02 1.76368802e-04 9.99881575e-01 1.50872759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.5992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:931.17, Y:106.85, Z:15.09 [[ 2.68187118e-01 -9.63359126e-01 -3.85529105e-03 9.31170101e+02] [ 9.63243950e-01 2.68214679e-01 -1.48989393e-02 1.06853455e+02] [ 1.53870748e-02 2.82117824e-04 9.99881572e-01 1.50911309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.6292541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:931.17, Y:106.88, Z:15.09 [[ 2.65442042e-01 -9.64118842e-01 -3.92191874e-03 9.31174155e+02] [ 9.64004001e-01 2.65470960e-01 -1.48813800e-02 1.06879214e+02] [ 1.53885743e-02 1.69398531e-04 9.99881575e-01 1.50872394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.6592541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:931.18, Y:106.91, Z:15.09 [[ 2.66745614e-01 -9.63759272e-01 -3.85274925e-03 9.31183964e+02] [ 9.63644128e-01 2.66773308e-01 -1.48995855e-02 1.06907463e+02] [ 1.53874243e-02 2.61719903e-04 9.99881572e-01 1.50881557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.6892541539999 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:931.19, Y:106.93, Z:15.09 [[ 2.65894536e-01 -9.63994171e-01 -3.91596005e-03 9.31191348e+02] [ 9.63879293e-01 2.65923308e-01 -1.48829537e-02 1.06934074e+02] [ 1.53884257e-02 1.82783267e-04 9.99881574e-01 1.50870424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.7192541539998 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:931.20, Y:106.96, Z:15.09 [[ 2.63457036e-01 -9.64663199e-01 -3.91186222e-03 9.31199080e+02] [ 9.64548379e-01 2.63486034e-01 -1.48840307e-02 1.06961154e+02] [ 1.53887977e-02 1.48122244e-04 9.99881574e-01 1.50883980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.7492541539999 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:931.21, Y:106.99, Z:15.09 [[ 2.62061264e-01 -9.65043328e-01 -3.90758837e-03 9.31206779e+02] [ 9.64928533e-01 2.62090363e-01 -1.48851527e-02 1.06987568e+02] [ 1.53889585e-02 1.30278412e-04 9.99881574e-01 1.50887541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.7792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:931.21, Y:107.02, Z:15.09 [[ 2.59678342e-01 -9.65687281e-01 -3.90310004e-03 9.31214218e+02] [ 9.65572541e-01 2.59707655e-01 -1.48863295e-02 1.07015997e+02] [ 1.53892040e-02 9.69311400e-05 9.99881574e-01 1.50913680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.8092541539999 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:931.22, Y:107.04, Z:15.09 [[ 2.56684830e-01 -9.66487231e-01 -3.91550774e-03 9.31222623e+02] [ 9.66372631e-01 2.56714689e-01 -1.48830781e-02 1.07041777e+02] [ 1.53894733e-02 3.64208560e-05 9.99881574e-01 1.50904484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.8392541539998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:931.23, Y:107.07, Z:15.09 [[ 2.53135165e-01 -9.67423071e-01 -3.89734091e-03 9.31230547e+02] [ 9.67308509e-01 2.53165166e-01 -1.48878338e-02 1.07068875e+02] [ 1.53895049e-02 -1.29674334e-06 9.99881575e-01 1.50929718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.8692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:931.24, Y:107.10, Z:15.09 [[ 2.51425457e-01 -9.67868836e-01 -3.89310765e-03 9.31237945e+02] [ 9.67754309e-01 2.51455595e-01 -1.48889407e-02 1.07095324e+02] [ 1.53894854e-02 -2.41129729e-05 9.99881575e-01 1.50949099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.8992541539999 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:931.25, Y:107.12, Z:15.09 [[ 2.49279750e-01 -9.68423711e-01 -3.88864238e-03 9.31245369e+02] [ 9.68309234e-01 2.49310073e-01 -1.48901069e-02 1.07122385e+02] [ 1.53894103e-02 -5.36062027e-05 9.99881575e-01 1.50922967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.9292541539999 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:931.25, Y:107.15, Z:15.10 [[ 2.47627758e-01 -9.68847462e-01 -3.88449350e-03 9.31253479e+02] [ 9.68733019e-01 2.47658213e-01 -1.48911891e-02 1.07148674e+02] [ 1.53893175e-02 -7.55653249e-05 9.99881575e-01 1.50964165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.9592541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:931.26, Y:107.18, Z:15.10 [[ 2.46644988e-01 -9.69098135e-01 -3.88011715e-03 9.31260520e+02] [ 9.68983705e-01 2.46675491e-01 -1.48923294e-02 1.07175533e+02] [ 1.53892584e-02 -8.66518835e-05 9.99881575e-01 1.50966592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.9892541539998 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:931.27, Y:107.20, Z:15.10 [[ 2.45919709e-01 -9.69282453e-01 -3.87595151e-03 9.31266758e+02] [ 9.69168029e-01 2.45950234e-01 -1.48934135e-02 1.07201499e+02] [ 1.53892155e-02 -9.38643793e-05 9.99881575e-01 1.50953910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.0192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:931.27, Y:107.23, Z:15.10 [[ 2.46857659e-01 -9.69044017e-01 -3.87156180e-03 9.31273527e+02] [ 9.68929546e-01 2.46888006e-01 -1.48945545e-02 1.07229115e+02] [ 1.53893211e-02 -7.44357643e-05 9.99881575e-01 1.50988640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.0492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:931.28, Y:107.26, Z:15.10 [[ 2.48380558e-01 -9.68654811e-01 -3.86734638e-03 9.31279500e+02] [ 9.68540275e-01 2.48410660e-01 -1.48956489e-02 1.07255948e+02] [ 1.53894321e-02 -4.58911311e-05 9.99881575e-01 1.50987534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.0792541539998 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:931.29, Y:107.28, Z:15.10 [[ 2.48894006e-01 -9.68523026e-01 -3.86291127e-03 9.31285878e+02] [ 9.68408456e-01 2.48923978e-01 -1.48967990e-02 1.07283154e+02] [ 1.53894641e-02 -3.31519576e-05 9.99881575e-01 1.50965427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.1092541539998 meters Centerline goodness : 0.999756 Centerline is valid? [True, True] Translation: X:931.29, Y:107.31, Z:15.10 [[ 2.50048919e-01 -9.68225515e-01 -3.85869888e-03 9.31292109e+02] [ 9.68110893e-01 2.50078690e-01 -1.48978901e-02 1.07309659e+02] [ 1.53894957e-02 -1.04471160e-05 9.99881575e-01 1.50951100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.1392541539999 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:931.30, Y:107.34, Z:15.10 [[ 2.53255908e-01 -9.67391643e-01 -3.85426969e-03 9.31298113e+02] [ 9.67276905e-01 2.53285231e-01 -1.48990359e-02 1.07336829e+02] [ 1.53894324e-02 4.51227983e-05 9.99881575e-01 1.50964024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.1692541539999 meters Centerline goodness : 0.999713 Centerline is valid? [True, True] Translation: X:931.30, Y:107.36, Z:15.10 [[ 2.55895746e-01 -9.66696718e-01 -3.85007930e-03 9.31303785e+02] [ 9.66581884e-01 2.55924691e-01 -1.49001186e-02 1.07364213e+02] [ 1.53892261e-02 9.14600672e-05 9.99881575e-01 1.50959163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.1992541539998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:931.31, Y:107.39, Z:15.10 [[ 2.57066746e-01 -9.66385998e-01 -3.84577403e-03 9.31309995e+02] [ 9.66271113e-01 2.57095486e-01 -1.49012298e-02 1.07390587e+02] [ 1.53890709e-02 1.14550293e-04 9.99881575e-01 1.50977654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.2292541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:931.32, Y:107.42, Z:15.10 [[ 2.58066681e-01 -9.66119471e-01 -3.84122777e-03 9.31316198e+02] [ 9.66004539e-01 2.58095232e-01 -1.49024016e-02 1.07416502e+02] [ 1.53889029e-02 1.35169856e-04 9.99881575e-01 1.50992258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.2592541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:931.32, Y:107.44, Z:15.10 [[ 2.58516474e-01 -9.65999229e-01 -3.83682710e-03 9.31322816e+02] [ 9.65884267e-01 2.58544904e-01 -1.49035345e-02 1.07444007e+02] [ 1.53887950e-02 1.46878272e-04 9.99881575e-01 1.51012319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.2892541539999 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:931.33, Y:107.47, Z:15.10 [[ 2.58301368e-01 -9.66056787e-01 -3.83255828e-03 9.31329143e+02] [ 9.65941814e-01 2.58329757e-01 -1.49046322e-02 1.07471586e+02] [ 1.53887849e-02 1.47858584e-04 9.99881575e-01 1.50995966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.3192541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:931.34, Y:107.50, Z:15.10 [[ 2.58631638e-01 -9.65968437e-01 -3.82828331e-03 9.31335233e+02] [ 9.65853438e-01 2.58659921e-01 -1.49057302e-02 1.07498406e+02] [ 1.53886883e-02 1.57532806e-04 9.99881575e-01 1.51016709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.3492541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:931.34, Y:107.53, Z:15.10 [[ 2.58930915e-01 -9.65888275e-01 -3.82377890e-03 9.31341704e+02] [ 9.65773251e-01 2.58959093e-01 -1.49068856e-02 1.07525360e+02] [ 1.53885883e-02 1.66950142e-04 9.99881575e-01 1.51029028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.3792541539999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:931.35, Y:107.55, Z:15.10 [[ 2.58498095e-01 -9.66004216e-01 -3.81957448e-03 9.31347709e+02] [ 9.65889189e-01 2.58526261e-01 -1.49079628e-02 1.07552574e+02] [ 1.53886152e-02 1.64394296e-04 9.99881575e-01 1.51014470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.4092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:931.35, Y:107.58, Z:15.10 [[ 2.58841703e-01 -9.65912220e-01 -3.81537904e-03 9.31354002e+02] [ 9.65797166e-01 2.58869762e-01 -1.49090365e-02 1.07578632e+02] [ 1.53885068e-02 1.74198120e-04 9.99881575e-01 1.51035657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.4392541539999 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:931.36, Y:107.61, Z:15.10 [[ 2.57682772e-01 -9.66222053e-01 -3.81231713e-03 9.31360245e+02] [ 9.66107022e-01 2.57710922e-01 -1.49098194e-02 1.07605519e+02] [ 1.53886720e-02 1.58897240e-04 9.99881575e-01 1.51002177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.4692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:931.37, Y:107.63, Z:15.10 [[ 2.58204790e-01 -9.66082701e-01 -3.80801871e-03 9.31366618e+02] [ 9.65967639e-01 2.58232812e-01 -1.49109171e-02 1.07631418e+02] [ 1.53885345e-02 1.71647383e-04 9.99881575e-01 1.51030136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.4992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:931.37, Y:107.66, Z:15.10 [[ 2.58140854e-01 -9.66099799e-01 -3.80503770e-03 9.31372784e+02] [ 9.65984727e-01 2.58168837e-01 -1.49116778e-02 1.07658366e+02] [ 1.53885111e-02 1.73704929e-04 9.99881575e-01 1.51037129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.5292541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:931.38, Y:107.69, Z:15.10 [[ 2.58196293e-01 -9.66085000e-01 -3.80081486e-03 9.31378598e+02] [ 9.65969911e-01 2.58224205e-01 -1.49127541e-02 1.07685724e+02] [ 1.53884504e-02 1.78945025e-04 9.99881575e-01 1.51020186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.5592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:931.38, Y:107.71, Z:15.10 [[ 2.58199563e-01 -9.66084143e-01 -3.79659227e-03 9.31384847e+02] [ 9.65969038e-01 2.58227409e-01 -1.49138290e-02 1.07711649e+02] [ 1.53883979e-02 1.83353553e-04 9.99881575e-01 1.51025198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.5892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:931.39, Y:107.74, Z:15.10 [[ 2.57696827e-01 -9.66218384e-01 -3.79212671e-03 9.31391424e+02] [ 9.66103277e-01 2.57724664e-01 -1.49149644e-02 1.07738641e+02] [ 1.53884373e-02 1.79952950e-04 9.99881575e-01 1.51020232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.6192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:931.40, Y:107.77, Z:15.10 [[ 2.57418976e-01 -9.66292463e-01 -3.78783385e-03 9.31398389e+02] [ 9.66177348e-01 2.57446780e-01 -1.49160545e-02 1.07766371e+02] [ 1.53884367e-02 1.79956220e-04 9.99881575e-01 1.51024616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.6492541539999 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:931.41, Y:107.79, Z:15.10 [[ 2.56417972e-01 -9.66558590e-01 -3.78354385e-03 9.31405234e+02] [ 9.66443488e-01 2.56445829e-01 -1.49171426e-02 1.07792602e+02] [ 1.53885664e-02 1.68442142e-04 9.99881575e-01 1.50993260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.6792541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:931.41, Y:107.82, Z:15.10 [[ 2.55439073e-01 -9.66817769e-01 -3.77916999e-03 9.31413897e+02] [ 9.66702679e-01 2.55466979e-01 -1.49182506e-02 1.07819548e+02] [ 1.53886829e-02 1.57370359e-04 9.99881575e-01 1.51007208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.7092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:931.42, Y:107.85, Z:15.10 [[ 2.53460626e-01 -9.67338339e-01 -3.77489910e-03 9.31421792e+02] [ 9.67223289e-01 2.53488702e-01 -1.49193312e-02 1.07846395e+02] [ 1.53889354e-02 1.30292720e-04 9.99881575e-01 1.51021614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.7392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:931.43, Y:107.87, Z:15.10 [[ 2.51902661e-01 -9.67745231e-01 -3.77064535e-03 9.31429156e+02] [ 9.67630211e-01 2.51930856e-01 -1.49204062e-02 1.07873251e+02] [ 1.53890939e-02 1.09899687e-04 9.99881575e-01 1.51029468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.7692541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:931.44, Y:107.90, Z:15.10 [[ 2.50089970e-01 -9.68215276e-01 -3.76638548e-03 9.31436870e+02] [ 9.68100293e-01 2.50118315e-01 -1.49214815e-02 1.07900798e+02] [ 1.53892483e-02 8.54739709e-05 9.99881575e-01 1.51029436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.7992541539999 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:931.45, Y:107.93, Z:15.10 [[ 2.47467016e-01 -9.68889015e-01 -3.76213373e-03 9.31445448e+02] [ 9.68774093e-01 2.47495606e-01 -1.49225534e-02 1.07927363e+02] [ 1.53894096e-02 4.81820682e-05 9.99881575e-01 1.51044159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.8292541539998 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:931.45, Y:107.95, Z:15.11 [[ 2.46533044e-01 -9.69127100e-01 -3.75786851e-03 9.31452671e+02] [ 9.69012190e-01 2.46561680e-01 -1.49236274e-02 1.07954308e+02] [ 1.53894381e-02 3.77469048e-05 9.99881575e-01 1.51056627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.8592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:931.46, Y:107.98, Z:15.11 [[ 2.46982144e-01 -9.69012761e-01 -3.75361459e-03 9.31459442e+02] [ 9.68897821e-01 2.47010661e-01 -1.49246973e-02 1.07980411e+02] [ 1.53894050e-02 4.92647397e-05 9.99881575e-01 1.51090274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.8892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:931.47, Y:108.01, Z:15.11 [[ 2.47108299e-01 -9.68980612e-01 -3.74983818e-03 9.31466335e+02] [ 9.68865654e-01 2.47136743e-01 -1.49256461e-02 1.08007322e+02] [ 1.53893845e-02 5.51615952e-05 9.99881575e-01 1.51093292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.9192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:931.47, Y:108.03, Z:15.11 [[ 2.47881126e-01 -9.68783215e-01 -3.74564335e-03 9.31472417e+02] [ 9.68668218e-01 2.47909414e-01 -1.49266987e-02 1.08034053e+02] [ 1.53893154e-02 7.17612135e-05 9.99881575e-01 1.51080711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.9492541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:931.48, Y:108.06, Z:15.11 [[ 2.48184779e-01 -9.68705486e-01 -3.74122266e-03 9.31479127e+02] [ 9.68590464e-01 2.48212962e-01 -1.49278066e-02 1.08061588e+02] [ 1.53892681e-02 8.11417913e-05 9.99881575e-01 1.51075884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.9792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:931.49, Y:108.09, Z:15.11 [[ 2.49279720e-01 -9.68424316e-01 -3.73708724e-03 9.31485242e+02] [ 9.68309246e-01 2.49307710e-01 -1.49288418e-02 1.08087490e+02] [ 1.53891381e-02 1.02801386e-04 9.99881575e-01 1.51074633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.0092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:931.49, Y:108.11, Z:15.11 [[ 2.50266337e-01 -9.68169834e-01 -3.73271934e-03 9.31490903e+02] [ 9.68054719e-01 2.50294142e-01 -1.49299339e-02 1.08114774e+02] [ 1.53889894e-02 1.22983294e-04 9.99881575e-01 1.51080732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.0392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:931.50, Y:108.14, Z:15.11 [[ 2.50694940e-01 -9.68058958e-01 -3.72849030e-03 9.31497108e+02] [ 9.67943815e-01 2.50722629e-01 -1.49309899e-02 1.08142248e+02] [ 1.53888954e-02 1.34154501e-04 9.99881575e-01 1.51083849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.0692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:931.50, Y:108.17, Z:15.11 [[ 2.51142823e-01 -9.67942877e-01 -3.72427701e-03 9.31503354e+02] [ 9.67827706e-01 2.51170393e-01 -1.49320408e-02 1.08169191e+02] [ 1.53887906e-02 1.45616403e-04 9.99881575e-01 1.51087363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.0992541539998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:931.51, Y:108.20, Z:15.11 [[ 2.51761462e-01 -9.67782169e-01 -3.72007935e-03 9.31509159e+02] [ 9.67666965e-01 2.51788895e-01 -1.49330865e-02 1.08196745e+02] [ 1.53886495e-02 1.59777797e-04 9.99881575e-01 1.51076367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.1292541539999 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:931.52, Y:108.22, Z:15.11 [[ 2.53179109e-01 -9.67412286e-01 -3.71590938e-03 9.31515445e+02] [ 9.67297027e-01 2.53206308e-01 -1.49341241e-02 1.08223194e+02] [ 1.53883468e-02 1.86620121e-04 9.99881575e-01 1.51072017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.1592541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:931.52, Y:108.25, Z:15.11 [[ 2.52681214e-01 -9.67542687e-01 -3.65406439e-03 9.31522440e+02] [ 9.67427219e-01 2.52707517e-01 -1.49494917e-02 1.08251052e+02] [ 1.53876809e-02 2.42414365e-04 9.99881573e-01 1.51074199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.1892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:931.53, Y:108.28, Z:15.11 [[ 2.52408503e-01 -9.67613652e-01 -3.71055471e-03 9.31529054e+02] [ 9.67498395e-01 2.52435712e-01 -1.49354573e-02 1.08278168e+02] [ 1.53884289e-02 1.79880702e-04 9.99881575e-01 1.51097343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.2192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:931.54, Y:108.30, Z:15.11 [[ 2.51143029e-01 -9.67942882e-01 -3.70903569e-03 9.31535416e+02] [ 9.67827655e-01 2.51170365e-01 -1.49358342e-02 1.08304982e+02] [ 1.53886343e-02 1.61323343e-04 9.99881575e-01 1.51087515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.2492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:931.54, Y:108.33, Z:15.11 [[ 2.49834431e-01 -9.68281494e-01 -3.70202632e-03 9.31541989e+02] [ 9.68166279e-01 2.49861814e-01 -1.49375714e-02 1.08332131e+02] [ 1.53887690e-02 1.47742599e-04 9.99881575e-01 1.51103570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.2792541539999 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:931.55, Y:108.36, Z:15.11 [[ 2.46945285e-01 -9.69022369e-01 -3.69785055e-03 9.31548781e+02] [ 9.68907220e-01 2.46972947e-01 -1.49386050e-02 1.08358003e+02] [ 1.53891115e-02 1.06143971e-04 9.99881575e-01 1.51098576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.3092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:931.56, Y:108.38, Z:15.11 [[ 2.46024661e-01 -9.69256527e-01 -3.69479456e-03 9.31555829e+02] [ 9.69141393e-01 2.46052385e-01 -1.49393609e-02 1.08384800e+02] [ 1.53891860e-02 9.46728459e-05 9.99881575e-01 1.51122813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.3392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:931.56, Y:108.41, Z:15.11 [[ 2.44371227e-01 -9.69674730e-01 -3.69069588e-03 9.31563063e+02] [ 9.69559628e-01 2.44399084e-01 -1.49403733e-02 1.08411438e+02] [ 1.53893052e-02 7.26476435e-05 9.99881575e-01 1.51130349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.3692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:931.57, Y:108.44, Z:15.11 [[ 2.41161246e-01 -9.70478059e-01 -3.68662023e-03 9.31570729e+02] [ 9.70363034e-01 2.41189421e-01 -1.49413790e-02 1.08438719e+02] [ 1.53894543e-02 2.59215704e-05 9.99881575e-01 1.51145283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.3992541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:931.58, Y:108.47, Z:15.11 [[ 2.37358543e-01 -9.71415133e-01 -3.68247008e-03 9.31577787e+02] [ 9.71300204e-01 2.37387105e-01 -1.49424017e-02 1.08465675e+02] [ 1.53894461e-02 -3.00772285e-05 9.99881575e-01 1.51134876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.4292541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:931.58, Y:108.49, Z:15.11 [[ 2.35702666e-01 -9.71818256e-01 -3.67835638e-03 9.31584471e+02] [ 9.71703360e-01 2.35731360e-01 -1.49434143e-02 1.08493079e+02] [ 1.53893868e-02 -5.20686547e-05 9.99881575e-01 1.51138568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.4592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:931.59, Y:108.52, Z:15.11 [[ 2.33287605e-01 -9.72400840e-01 -3.67426730e-03 9.31591390e+02] [ 9.72286000e-01 2.33316522e-01 -1.49444197e-02 1.08518848e+02] [ 1.53892335e-02 -8.60907718e-05 9.99881575e-01 1.51141566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.4892541539998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:931.60, Y:108.55, Z:15.11 [[ 2.31320085e-01 -9.72870778e-01 -3.66995611e-03 9.31598382e+02] [ 9.72755979e-01 2.31349168e-01 -1.49454783e-02 1.08546540e+02] [ 1.53890604e-02 -1.12782433e-04 9.99881575e-01 1.51139243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.5192541539999 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:931.60, Y:108.57, Z:15.11 [[ 2.30308100e-01 -9.73110852e-01 -3.66732866e-03 9.31604989e+02] [ 9.72996074e-01 2.30337262e-01 -1.49461230e-02 1.08573693e+02] [ 1.53889570e-02 -1.26083195e-04 9.99881575e-01 1.51141313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.5492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:931.61, Y:108.60, Z:15.12 [[ 2.30528776e-01 -9.73058613e-01 -3.66313474e-03 9.31610713e+02] [ 9.72943812e-01 2.30557847e-01 -1.49471508e-02 1.08599889e+02] [ 1.53890183e-02 -1.18275893e-04 9.99881575e-01 1.51153937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.5792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:931.62, Y:108.63, Z:15.12 [[ 2.30463702e-01 -9.73074044e-01 -3.65871863e-03 9.31617134e+02] [ 9.72959228e-01 2.30492713e-01 -1.49482317e-02 1.08626904e+02] [ 1.53890443e-02 -1.14759239e-04 9.99881575e-01 1.51157533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.6092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:931.62, Y:108.65, Z:15.12 [[ 2.30343442e-01 -9.73102534e-01 -3.65459692e-03 9.31623334e+02] [ 9.72987706e-01 2.30372405e-01 -1.49492394e-02 1.08653857e+02] [ 1.53890610e-02 -1.12418617e-04 9.99881575e-01 1.51160476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.6392541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:931.62, Y:108.68, Z:15.11 [[ 2.26221844e-01 -9.74068966e-01 -3.65048626e-03 9.31624834e+02] [ 9.73954245e-01 2.26251230e-01 -1.49502431e-02 1.08679233e+02] [ 1.53884948e-02 -1.73335024e-04 9.99881575e-01 1.51123266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.6692541539999 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:931.64, Y:108.71, Z:15.12 [[ 2.28552802e-01 -9.73525270e-01 -3.48787936e-03 9.31635459e+02] [ 9.73409861e-01 2.28579412e-01 -1.49898559e-02 1.08708708e+02] [ 1.53902610e-02 3.08374164e-05 9.99881562e-01 1.51160012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.6992541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:931.64, Y:108.74, Z:15.12 [[ 2.28014358e-01 -9.73650946e-01 -3.64532781e-03 9.31641295e+02] [ 9.73536151e-01 2.28043453e-01 -1.49514685e-02 1.08735093e+02] [ 1.53888046e-02 -1.39708910e-04 9.99881576e-01 1.51169845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.7292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:931.65, Y:108.76, Z:15.12 [[ 2.27391509e-01 -9.73796614e-01 -3.64093487e-03 9.31646829e+02] [ 9.73681821e-01 2.27420610e-01 -1.49525382e-02 1.08763093e+02] [ 1.53887547e-02 -1.45031869e-04 9.99881576e-01 1.51182404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.7592541539999 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:931.65, Y:108.79, Z:15.12 [[ 2.26021945e-01 -9.74115421e-01 -3.63683991e-03 9.31652000e+02] [ 9.74000653e-01 2.26051144e-01 -1.49535341e-02 1.08790299e+02] [ 1.53885800e-02 -1.62457575e-04 9.99881576e-01 1.51171904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.7892541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:931.66, Y:108.82, Z:15.12 [[ 2.26435309e-01 -9.74019432e-01 -3.63274813e-03 9.31657413e+02] [ 9.73904636e-01 2.26464397e-01 -1.49545281e-02 1.08816665e+02] [ 1.53886891e-02 -1.51717042e-04 9.99881576e-01 1.51189180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.8192541539999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:931.66, Y:108.84, Z:15.12 [[ 2.27064254e-01 -9.73873020e-01 -3.62843296e-03 9.31662591e+02] [ 9.73758188e-01 2.27093201e-01 -1.49555750e-02 1.08844257e+02] [ 1.53888235e-02 -1.37339824e-04 9.99881576e-01 1.51195666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.8492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:931.67, Y:108.87, Z:15.12 [[ 2.26191021e-01 -9.74076222e-01 -3.62419771e-03 9.31665199e+02] [ 9.73961400e-01 2.26220007e-01 -1.49566013e-02 1.08869943e+02] [ 1.53887357e-02 -1.46779755e-04 9.99881576e-01 1.51207669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.8792541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:931.67, Y:108.90, Z:15.12 [[ 2.26855131e-01 -9.73922160e-01 -3.51794621e-03 9.31670698e+02] [ 9.73806913e-01 2.26882405e-01 -1.49823160e-02 1.08897861e+02] [ 1.53897697e-02 -2.69850717e-05 9.99881570e-01 1.51195170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.9092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:931.68, Y:108.93, Z:15.12 [[ 2.32483132e-01 -9.72594173e-01 -3.48841398e-03 9.31679312e+02] [ 9.72478663e-01 2.32509284e-01 -1.49894540e-02 1.08927313e+02] [ 1.53897442e-02 9.23870390e-05 9.99881567e-01 1.51226491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.9392541539999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:931.68, Y:108.96, Z:15.12 [[ 2.34045287e-01 -9.72218964e-01 -3.61802735e-03 9.31683818e+02] [ 9.72103888e-01 2.34073250e-01 -1.49581036e-02 1.08955657e+02] [ 1.53894354e-02 -1.62248130e-05 9.99881576e-01 1.51212808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.9692541539998 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:931.69, Y:108.98, Z:15.12 [[ 2.34610108e-01 -9.72082834e-01 -3.61407397e-03 9.31689440e+02] [ 9.71967727e-01 2.34637943e-01 -1.49590587e-02 1.08983701e+02] [ 1.53894430e-02 -3.21689058e-06 9.99881576e-01 1.51211932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.9992541539999 meters Centerline goodness : 0.999279 Centerline is valid? [True, True] Translation: X:931.70, Y:109.01, Z:15.12 [[ 2.35613202e-01 -9.71840208e-01 -3.60976571e-03 9.31695079e+02] [ 9.71725056e-01 2.35640851e-01 -1.49600982e-02 1.09010412e+02] [ 1.53894332e-02 1.70968561e-05 9.99881576e-01 1.51211368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.0292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:931.70, Y:109.04, Z:15.12 [[ 2.36597533e-01 -9.71601059e-01 -3.60407476e-03 9.31699825e+02] [ 9.71485859e-01 2.36624979e-01 -1.49614693e-02 1.09036217e+02] [ 1.53893935e-02 3.85390626e-05 9.99881576e-01 1.51228601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.0592541539999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:931.71, Y:109.06, Z:15.12 [[ 2.36000750e-01 -9.71746210e-01 -3.59855035e-03 9.31705681e+02] [ 9.71631006e-01 2.36028181e-01 -1.49627979e-02 1.09063169e+02] [ 1.53894015e-02 3.47684371e-05 9.99881576e-01 1.51213271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.0892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:931.71, Y:109.09, Z:15.12 [[ 2.36530572e-01 -9.71617399e-01 -3.59410294e-03 9.31711049e+02] [ 9.71502165e-01 2.36557872e-01 -1.49638661e-02 1.09090871e+02] [ 1.53893660e-02 4.77330296e-05 9.99881576e-01 1.51219921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.1192541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:931.72, Y:109.12, Z:15.12 [[ 2.35898451e-01 -9.71771081e-01 -3.58990199e-03 9.31717132e+02] [ 9.71655848e-01 2.35925761e-01 -1.49648739e-02 1.09118779e+02] [ 1.53893820e-02 4.20413116e-05 9.99881576e-01 1.51211766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.1492541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:931.72, Y:109.15, Z:15.12 [[ 2.35741317e-01 -9.71809227e-01 -3.58569620e-03 9.31722559e+02] [ 9.71693984e-01 2.35768581e-01 -1.49658816e-02 1.09145408e+02] [ 1.53893763e-02 4.38772021e-05 9.99881576e-01 1.51199802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.1792541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:931.73, Y:109.17, Z:15.12 [[ 2.35634233e-01 -9.71835209e-01 -3.58262664e-03 9.31728731e+02] [ 9.71719957e-01 2.35661463e-01 -1.49666163e-02 1.09172830e+02] [ 1.53893717e-02 4.53373617e-05 9.99881576e-01 1.51204590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.2092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:931.73, Y:109.20, Z:15.12 [[ 2.34403283e-01 -9.72132859e-01 -3.57847901e-03 9.31731829e+02] [ 9.72017627e-01 2.34430595e-01 -1.49676080e-02 1.09198842e+02] [ 1.53894085e-02 3.01117664e-05 9.99881576e-01 1.51227687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.2392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:931.74, Y:109.23, Z:15.12 [[ 2.36914913e-01 -9.71524143e-01 -3.48754506e-03 9.31740640e+02] [ 9.71408518e-01 2.36940525e-01 -1.49893128e-02 1.09227658e+02] [ 1.53888201e-02 1.63360776e-04 9.99881572e-01 1.51219767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.2692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:931.74, Y:109.25, Z:15.12 [[ 2.35259254e-01 -9.71926085e-01 -3.57328043e-03 9.31743947e+02] [ 9.71810810e-01 2.35286384e-01 -1.49688466e-02 1.09253727e+02] [ 1.53893567e-02 4.90071397e-05 9.99881576e-01 1.51230671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.2992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:931.75, Y:109.28, Z:15.12 [[ 2.38085418e-01 -9.71237984e-01 -3.48014105e-03 9.31751928e+02] [ 9.71122303e-01 2.38110776e-01 -1.49910475e-02 1.09281996e+02] [ 1.53885338e-02 1.89507225e-04 9.99881572e-01 1.51218696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.3292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:931.76, Y:109.31, Z:15.12 [[ 2.38100089e-01 -9.71234069e-01 -3.56805138e-03 9.31758022e+02] [ 9.71118697e-01 2.38126801e-01 -1.49700946e-02 1.09309380e+02] [ 1.53891145e-02 9.93794389e-05 9.99881576e-01 1.51226671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.3592541539998 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:931.76, Y:109.34, Z:15.12 [[ 2.37406358e-01 -9.71403892e-01 -3.56375873e-03 9.31763575e+02] [ 9.71288523e-01 2.37433086e-01 -1.49711164e-02 1.09336700e+02] [ 1.53891550e-02 9.28002615e-05 9.99881576e-01 1.51217396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.3892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:931.77, Y:109.36, Z:15.12 [[ 2.38339464e-01 -9.71175386e-01 -3.55946261e-03 9.31770420e+02] [ 9.71059976e-01 2.38366016e-01 -1.49721377e-02 1.09364490e+02] [ 1.53890266e-02 1.11999612e-04 9.99881576e-01 1.51243519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.4192541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:931.78, Y:109.39, Z:15.12 [[ 2.38364067e-01 -9.71169363e-01 -3.55540419e-03 9.31775851e+02] [ 9.71053938e-01 2.38390553e-01 -1.49731014e-02 1.09390616e+02] [ 1.53889921e-02 1.16560112e-04 9.99881576e-01 1.51246555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.4492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:931.78, Y:109.42, Z:15.13 [[ 2.38341537e-01 -9.71174908e-01 -3.55090881e-03 9.31781731e+02] [ 9.71059469e-01 2.38367957e-01 -1.49741674e-02 1.09417720e+02] [ 1.53889586e-02 1.20822470e-04 9.99881576e-01 1.51253563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.4792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:931.79, Y:109.44, Z:15.13 [[ 2.37393068e-01 -9.71407202e-01 -3.54670599e-03 9.31786929e+02] [ 9.71291773e-01 2.37419535e-01 -1.49751628e-02 1.09444110e+02] [ 1.53890383e-02 1.10113489e-04 9.99881576e-01 1.51252194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.5092541539999 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:931.79, Y:109.47, Z:15.12 [[ 2.35612146e-01 -9.71840712e-01 -3.54226872e-03 9.31792875e+02] [ 9.71725316e-01 2.35638756e-01 -1.49762124e-02 1.09472072e+02] [ 1.53891887e-02 8.64653406e-05 9.99881576e-01 1.51243585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.5392541539999 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:931.80, Y:109.50, Z:15.12 [[ 2.35342670e-01 -9.71906018e-01 -3.53837619e-03 9.31799361e+02] [ 9.71790616e-01 2.35369252e-01 -1.49771320e-02 1.09499907e+02] [ 1.53891897e-02 8.61974523e-05 9.99881576e-01 1.51247969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.5692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:931.81, Y:109.53, Z:15.13 [[ 2.33844654e-01 -9.72267549e-01 -3.53422264e-03 9.31805456e+02] [ 9.72152173e-01 2.33871350e-01 -1.49781120e-02 1.09525871e+02] [ 1.53892857e-02 6.67492099e-05 9.99881576e-01 1.51262877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.5992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:931.81, Y:109.55, Z:15.13 [[ 2.31405542e-01 -9.72850973e-01 -3.52984390e-03 9.31810106e+02] [ 9.72735649e-01 2.31432460e-01 -1.49791439e-02 1.09551869e+02] [ 1.53893952e-02 3.26519112e-05 9.99881576e-01 1.51263524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.6292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:931.82, Y:109.58, Z:15.13 [[ 2.30939210e-01 -9.72961916e-01 -3.49152997e-03 9.31817502e+02] [ 9.72846468e-01 2.30965593e-01 -1.49881618e-02 1.09579699e+02] [ 1.53893339e-02 6.46316532e-05 9.99881575e-01 1.51267012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.6592541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:931.82, Y:109.61, Z:15.13 [[ 2.30156966e-01 -9.73147137e-01 -3.52429774e-03 9.31823346e+02] [ 9.73031827e-01 2.30183947e-01 -1.49804529e-02 1.09606718e+02] [ 1.53894216e-02 1.86017210e-05 9.99881576e-01 1.51274500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.6892541539999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:931.83, Y:109.63, Z:15.13 [[ 2.29766920e-01 -9.73239319e-01 -3.52004450e-03 9.31829024e+02] [ 9.73124005e-01 2.29793881e-01 -1.49814522e-02 1.09633889e+02] [ 1.53894231e-02 1.68023391e-05 9.99881576e-01 1.51267110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.7192541539998 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:931.83, Y:109.66, Z:15.12 [[ 2.29985501e-01 -9.73187705e-01 -3.51578047e-03 9.31834148e+02] [ 9.73072369e-01 2.30012371e-01 -1.49824528e-02 1.09660463e+02] [ 1.53894119e-02 2.46380931e-05 9.99881576e-01 1.51236944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.7492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:931.84, Y:109.69, Z:15.13 [[ 2.30225068e-01 -9.73131075e-01 -3.51130586e-03 9.31840246e+02] [ 9.73015717e-01 2.30251841e-01 -1.49835014e-02 1.09687596e+02] [ 1.53893955e-02 3.30218532e-05 9.99881576e-01 1.51277955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.7792541539999 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:931.85, Y:109.71, Z:15.13 [[ 2.30231424e-01 -9.73129588e-01 -3.50667221e-03 9.31846078e+02] [ 9.73014213e-01 2.30258125e-01 -1.49845858e-02 1.09714254e+02] [ 1.53893836e-02 3.78806368e-05 9.99881576e-01 1.51271938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.8092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:931.85, Y:109.74, Z:15.13 [[ 2.32154511e-01 -9.72672618e-01 -3.50154825e-03 9.31852268e+02] [ 9.72557173e-01 2.32180904e-01 -1.49857831e-02 1.09742021e+02] [ 1.53892535e-02 7.35612698e-05 9.99881576e-01 1.51300990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.8392541539998 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:931.86, Y:109.77, Z:15.13 [[ 2.33246782e-01 -9.72411285e-01 -3.49751673e-03 9.31857319e+02] [ 9.72295795e-01 2.33272983e-01 -1.49867239e-02 1.09768804e+02] [ 1.53891356e-02 9.49843072e-05 9.99881576e-01 1.51303450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.8692541539998 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:931.86, Y:109.80, Z:15.13 [[ 2.34314736e-01 -9.72154516e-01 -3.49300742e-03 9.31863071e+02] [ 9.72038983e-01 2.34340741e-01 -1.49877748e-02 1.09795966e+02] [ 1.53889869e-02 1.16517121e-04 9.99881576e-01 1.51316333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.8992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:931.87, Y:109.82, Z:15.13 [[ 2.35663533e-01 -9.71828445e-01 -3.48880389e-03 9.31868531e+02] [ 9.71712861e-01 2.35689313e-01 -1.49887533e-02 1.09823818e+02] [ 1.53887706e-02 1.42186944e-04 9.99881576e-01 1.51327375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.9292541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:931.87, Y:109.85, Z:15.13 [[ 2.35640625e-01 -9.71834016e-01 -3.48456184e-03 9.31874744e+02] [ 9.71718418e-01 2.35666342e-01 -1.49897394e-02 1.09851192e+02] [ 1.53887326e-02 1.46178638e-04 9.99881576e-01 1.51322275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.9592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:931.88, Y:109.88, Z:15.13 [[ 2.35511045e-01 -9.71865441e-01 -3.48032739e-03 9.31880871e+02] [ 9.71749832e-01 2.35536713e-01 -1.49907225e-02 1.09877123e+02] [ 1.53887100e-02 1.48473159e-04 9.99881576e-01 1.51329003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.9892541539998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:931.89, Y:109.90, Z:15.13 [[ 2.34225283e-01 -9.72176134e-01 -3.47585689e-03 9.31886908e+02] [ 9.72060543e-01 2.34251034e-01 -1.49917590e-02 1.09904532e+02] [ 1.53888533e-02 1.32705650e-04 9.99881576e-01 1.51324517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.0192541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:931.89, Y:109.93, Z:15.13 [[ 2.33587624e-01 -9.72329558e-01 -3.47160149e-03 9.31893078e+02] [ 9.72213970e-01 2.33613386e-01 -1.49927443e-02 1.09931804e+02] [ 1.53889010e-02 1.26980050e-04 9.99881576e-01 1.51326843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.0492541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:931.90, Y:109.96, Z:15.13 [[ 2.32001553e-01 -9.72709236e-01 -3.46738113e-03 9.31899156e+02] [ 9.72593675e-01 2.32027438e-01 -1.49937203e-02 1.09957810e+02] [ 1.53890578e-02 1.06213436e-04 9.99881576e-01 1.51287811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.0792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:931.91, Y:109.99, Z:15.13 [[ 2.30972219e-01 -9.72954183e-01 -3.46298784e-03 9.31905281e+02] [ 9.72838634e-01 2.30998159e-01 -1.49947349e-02 1.09985001e+02] [ 1.53891339e-02 9.44388333e-05 9.99881576e-01 1.51341160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.1092541539998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:931.91, Y:110.01, Z:15.13 [[ 2.28539319e-01 -9.73528540e-01 -3.45865741e-03 9.31911930e+02] [ 9.73413041e-01 2.28565481e-01 -1.49957337e-02 1.10012748e+02] [ 1.53893044e-02 6.04125370e-05 9.99881576e-01 1.51335258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.1392541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:931.92, Y:110.04, Z:15.13 [[ 2.27052637e-01 -9.73876362e-01 -3.45430273e-03 9.31918806e+02] [ 9.73760888e-01 2.27078908e-01 -1.49967367e-02 1.10039607e+02] [ 1.53893667e-02 4.13837321e-05 9.99881576e-01 1.51339878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.1692541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:931.93, Y:110.07, Z:15.13 [[ 2.23322296e-01 -9.74738555e-01 -3.44995373e-03 9.31926393e+02] [ 9.74623167e-01 2.23348942e-01 -1.49977371e-02 1.10065801e+02] [ 1.53894161e-02 -1.30757284e-05 9.99881576e-01 1.51337207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.1992541539998 meters Centerline goodness : 0.999587 Centerline is valid? [True, True] Translation: X:931.93, Y:110.09, Z:15.13 [[ 2.21897772e-01 -9.75063848e-01 -3.44536938e-03 9.31933069e+02] [ 9.74948483e-01 2.21924516e-01 -1.49987902e-02 1.10089987e+02] [ 1.53893900e-02 -3.08595195e-05 9.99881576e-01 1.51290445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.2292541539998 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:931.94, Y:110.12, Z:15.13 [[ 2.16670098e-01 -9.76239011e-01 -3.38551421e-03 9.31941263e+02] [ 9.76123575e-01 2.16696539e-01 -1.50125126e-02 1.10118013e+02] [ 1.53894297e-02 -5.19176693e-05 9.99881574e-01 1.51349026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.2592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:931.95, Y:110.14, Z:15.14 [[ 2.14876718e-01 -9.76635137e-01 -3.43602002e-03 9.31948641e+02] [ 9.76519933e-01 2.14904148e-01 -1.50009441e-02 1.10144998e+02] [ 1.53888640e-02 -1.31988415e-04 9.99881576e-01 1.51368660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.2892541539999 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:931.96, Y:110.17, Z:15.14 [[ 2.11232634e-01 -9.77429790e-01 -3.43210357e-03 9.31955801e+02] [ 9.77314675e-01 2.11260433e-01 -1.50018401e-02 1.10171291e+02] [ 1.53883131e-02 -1.85366992e-04 9.99881576e-01 1.51369624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.3192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:931.96, Y:110.20, Z:15.14 [[ 2.09955829e-01 -9.77704860e-01 -3.42895319e-03 9.31962775e+02] [ 9.77589769e-01 2.09983730e-01 -1.50025601e-02 1.10198658e+02] [ 1.53881003e-02 -2.02234611e-04 9.99881576e-01 1.51381433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.3492541539998 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:931.97, Y:110.23, Z:15.14 [[ 2.07996254e-01 -9.78123627e-01 -3.42482635e-03 9.31969621e+02] [ 9.78008577e-01 2.08024323e-01 -1.50035022e-02 1.10225695e+02] [ 1.53877271e-02 -2.28837297e-04 9.99881576e-01 1.51378201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.3792541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:931.97, Y:110.25, Z:15.14 [[ 2.01996811e-01 -9.79380206e-01 -3.42049344e-03 9.31972953e+02] [ 9.79265314e-01 2.02025518e-01 -1.50044899e-02 1.10250161e+02] [ 1.53861274e-02 -3.18711476e-04 9.99881576e-01 1.51351956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.4092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:931.98, Y:110.28, Z:15.14 [[ 2.00530375e-01 -9.79682074e-01 -3.25621691e-03 9.31981632e+02] [ 9.79566607e-01 2.00556736e-01 -1.50418790e-02 1.10277720e+02] [ 1.53893154e-02 -1.73327712e-04 9.99881562e-01 1.51374582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.4392541539999 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:931.99, Y:110.31, Z:15.14 [[ 1.99648237e-01 -9.79862099e-01 -3.29363491e-03 9.31988836e+02] [ 9.79746795e-01 1.99675275e-01 -1.50333625e-02 1.10305629e+02] [ 1.53882796e-02 -2.25543920e-04 9.99881568e-01 1.51379275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.4692541539998 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:932.00, Y:110.33, Z:15.14 [[ 2.01060949e-01 -9.79573059e-01 -3.33426371e-03 9.31997558e+02] [ 9.79457867e-01 2.01088444e-01 -1.50241200e-02 1.10333729e+02] [ 1.53877051e-02 -2.45006997e-04 9.99881572e-01 1.51402061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.4992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:932.00, Y:110.36, Z:15.14 [[ 2.00814979e-01 -9.79623237e-01 -3.41424290e-03 9.32003736e+02] [ 9.79508356e-01 2.00843729e-01 -1.50059227e-02 1.10360431e+02] [ 1.53858798e-02 -3.30865407e-04 9.99881576e-01 1.51403907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.5292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:932.01, Y:110.39, Z:15.14 [[ 1.99121250e-01 -9.79968923e-01 -3.41152924e-03 9.32008732e+02] [ 9.79854080e-01 1.99150157e-01 -1.50065396e-02 1.10387556e+02] [ 1.53853490e-02 -3.54679916e-04 9.99881576e-01 1.51419602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.5592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:932.02, Y:110.41, Z:15.14 [[ 2.00750937e-01 -9.79636525e-01 -3.36753012e-03 9.32016691e+02] [ 9.79521468e-01 2.00778979e-01 -1.50165307e-02 1.10414606e+02] [ 1.53868713e-02 -2.83985431e-04 9.99881575e-01 1.51421630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.5892541539998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:932.02, Y:110.44, Z:15.14 [[ 2.01664636e-01 -9.79448711e-01 -3.40556392e-03 9.32022603e+02] [ 9.79333771e-01 2.01693153e-01 -1.50079002e-02 1.10441557e+02] [ 1.53863474e-02 -3.08621030e-04 9.99881576e-01 1.51429469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.6192541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:932.03, Y:110.47, Z:15.14 [[ 2.02006203e-01 -9.79378336e-01 -3.40128758e-03 9.32027828e+02] [ 9.79263370e-01 2.02034615e-01 -1.50088693e-02 1.10468594e+02] [ 1.53865393e-02 -2.98871633e-04 9.99881576e-01 1.51443570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.6492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:932.03, Y:110.50, Z:15.14 [[ 2.04382443e-01 -9.78885259e-01 -3.38634268e-03 9.32033589e+02] [ 9.78770168e-01 2.04410347e-01 -1.50122521e-02 1.10495778e+02] [ 1.53874758e-02 -2.46210434e-04 9.99881575e-01 1.51435245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.6792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:932.04, Y:110.52, Z:15.14 [[ 2.09360606e-01 -9.77832609e-01 -3.39504364e-03 9.32039359e+02] [ 9.77717410e-01 2.09388057e-01 -1.50102841e-02 1.10524708e+02] [ 1.53884268e-02 -1.76831096e-04 9.99881576e-01 1.51432063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.7092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:932.04, Y:110.55, Z:15.14 [[ 2.14481072e-01 -9.76722151e-01 -3.42202892e-03 9.32042913e+02] [ 9.76606906e-01 2.14508334e-01 -1.50041859e-02 1.10551901e+02] [ 1.53889744e-02 -1.23863197e-04 9.99881575e-01 1.51435480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.7392541539998 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:932.05, Y:110.58, Z:15.14 [[ 2.17235571e-01 -9.76113355e-01 -3.38018272e-03 9.32048299e+02] [ 9.75997886e-01 2.17261864e-01 -1.50136302e-02 1.10579511e+02] [ 1.53893898e-02 -3.75566537e-05 9.99881576e-01 1.51424264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.7692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:932.05, Y:110.61, Z:15.14 [[ 2.23625371e-01 -9.74669292e-01 -3.38602982e-03 9.32053988e+02] [ 9.74553673e-01 2.23650997e-01 -1.50123114e-02 1.10607971e+02] [ 1.53893279e-02 5.72659210e-05 9.99881576e-01 1.51421406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.7992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:932.06, Y:110.64, Z:15.14 [[ 2.24561951e-01 -9.74453850e-01 -3.40956642e-03 9.32057795e+02] [ 9.74338287e-01 2.24587829e-01 -1.50070094e-02 1.10635374e+02] [ 1.53893852e-02 4.79322169e-05 9.99881575e-01 1.51432832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.8292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:932.06, Y:110.66, Z:15.14 [[ 2.26245919e-01 -9.74064421e-01 -3.35962815e-03 9.32062903e+02] [ 9.73948646e-01 2.26270827e-01 -1.50182413e-02 1.10662814e+02] [ 1.53889204e-02 1.25710528e-04 9.99881576e-01 1.51437311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.8592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:932.07, Y:110.69, Z:15.14 [[ 2.28900813e-01 -9.73444017e-01 -3.34131198e-03 9.32068886e+02] [ 9.73328114e-01 2.28925123e-01 -1.50223572e-02 1.10689848e+02] [ 1.53883340e-02 1.86436904e-04 9.99881575e-01 1.51446760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.8892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:932.07, Y:110.72, Z:15.15 [[ 2.28508169e-01 -9.73536154e-01 -3.37252272e-03 9.32074218e+02] [ 9.73420364e-01 2.28533007e-01 -1.50153472e-02 1.10717630e+02] [ 1.53887161e-02 1.48247189e-04 9.99881576e-01 1.51466780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.9192541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:932.08, Y:110.74, Z:15.15 [[ 2.27477436e-01 -9.73777654e-01 -3.33125567e-03 9.32079147e+02] [ 9.73661754e-01 2.27501760e-01 -1.50246048e-02 1.10743834e+02] [ 1.53884910e-02 1.74242347e-04 9.99881575e-01 1.51481820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.9492541539998 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:932.08, Y:110.77, Z:15.15 [[ 2.26261071e-01 -9.74061065e-01 -3.31204013e-03 9.32084970e+02] [ 9.73945132e-01 2.26285243e-01 -1.50289091e-02 1.10771166e+02] [ 1.53885411e-02 1.74711725e-04 9.99881574e-01 1.51479083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.9792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:932.09, Y:110.80, Z:15.15 [[ 2.23881862e-01 -9.74610626e-01 -3.32272763e-03 9.32089967e+02] [ 9.74494788e-01 2.23906482e-01 -1.50265157e-02 1.10797963e+02] [ 1.53889821e-02 1.26183560e-04 9.99881575e-01 1.51491959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.0092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:932.10, Y:110.83, Z:15.15 [[ 2.24437846e-01 -9.74482944e-01 -3.26268484e-03 9.32098987e+02] [ 9.74366895e-01 2.24461474e-01 -1.50399416e-02 1.10826990e+02] [ 1.53885136e-02 1.96480008e-04 9.99881571e-01 1.51483070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.0392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:932.11, Y:110.85, Z:15.15 [[ 2.21875294e-01 -9.75069269e-01 -3.35781283e-03 9.32105588e+02] [ 9.74953600e-01 2.21900693e-01 -1.50186734e-02 1.10853347e+02] [ 1.53893479e-02 5.85608655e-05 9.99881575e-01 1.51481329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.0692541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:932.11, Y:110.88, Z:15.15 [[ 2.17248192e-01 -9.76110634e-01 -3.35465892e-03 9.32107955e+02] [ 9.75995076e-01 2.17274091e-01 -1.50193778e-02 1.10878625e+02] [ 1.53894549e-02 -1.11979040e-05 9.99881575e-01 1.51467506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.0992541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:932.12, Y:110.91, Z:15.15 [[ 2.17050430e-01 -9.76155096e-01 -3.21543175e-03 9.32117981e+02] [ 9.76039074e-01 2.17074208e-01 -1.50504032e-02 1.10908211e+02] [ 1.53895151e-02 1.28309474e-04 9.99881566e-01 1.51480961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.1292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:932.12, Y:110.93, Z:15.15 [[ 2.12162777e-01 -9.77228601e-01 -3.34933969e-03 9.32119710e+02] [ 9.77113161e-01 2.12189196e-01 -1.50205441e-02 1.10933618e+02] [ 1.53891990e-02 -8.58835378e-05 9.99881576e-01 1.51461715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.1592541539999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:932.13, Y:110.96, Z:15.15 [[ 2.11278910e-01 -9.77420607e-01 -3.19032994e-03 9.32130981e+02] [ 9.77304644e-01 2.11302987e-01 -1.50559075e-02 1.10963118e+02] [ 1.53900805e-02 6.30714664e-05 9.99881564e-01 1.51473942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.1892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:932.14, Y:110.99, Z:15.15 [[ 2.09189669e-01 -9.77869367e-01 -3.34417737e-03 9.32137780e+02] [ 9.77753990e-01 2.09216359e-01 -1.50216576e-02 1.10990834e+02] [ 1.53888754e-02 -1.27407190e-04 9.99881576e-01 1.51475689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.2192541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:932.15, Y:111.02, Z:15.15 [[ 2.04429248e-01 -9.78875644e-01 -3.33996228e-03 9.32145034e+02] [ 9.78760383e-01 2.04456435e-01 -1.50225947e-02 1.11018397e+02] [ 1.53881289e-02 -1.97965009e-04 9.99881576e-01 1.51484440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.2492541539999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:932.15, Y:111.05, Z:15.15 [[ 2.01167958e-01 -9.79551084e-01 -3.33560696e-03 9.32151023e+02] [ 9.79435898e-01 2.01195462e-01 -1.50235617e-02 1.11045985e+02] [ 1.53874552e-02 -2.44753956e-04 9.99881576e-01 1.51492250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.2792541539999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:932.16, Y:111.07, Z:15.15 [[ 1.98124645e-01 -9.80171173e-01 -3.33129169e-03 9.32159001e+02] [ 9.80056057e-01 1.98152440e-01 -1.50245185e-02 1.11074010e+02] [ 1.53867035e-02 -2.88125188e-04 9.99881576e-01 1.51497049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.3092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:932.17, Y:111.10, Z:15.15 [[ 1.97918011e-01 -9.80212880e-01 -3.34235417e-03 9.32166693e+02] [ 9.80097811e-01 1.97945999e-01 -1.50220677e-02 1.11101957e+02] [ 1.53864299e-02 -3.02696250e-04 9.99881576e-01 1.51494661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.3392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:932.17, Y:111.13, Z:15.15 [[ 1.95702546e-01 -9.80657495e-01 -3.37514432e-03 9.32172954e+02] [ 9.80542613e-01 1.95731297e-01 -1.50148087e-02 1.11129514e+02] [ 1.53850061e-02 -3.71036533e-04 9.99881575e-01 1.51514487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.3692541539998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:932.18, Y:111.16, Z:15.15 [[ 1.92103822e-01 -9.81368823e-01 -3.36964023e-03 9.32178327e+02] [ 9.81254026e-01 1.92132909e-01 -1.50160255e-02 1.11155507e+02] [ 1.53836780e-02 -4.21837166e-04 9.99881575e-01 1.51519300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.3992541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:932.19, Y:111.19, Z:15.15 [[ 1.93482532e-01 -9.81098112e-01 -3.31741326e-03 9.32189493e+02] [ 9.80983077e-01 1.93510659e-01 -1.50275549e-02 1.11185448e+02] [ 1.53854605e-02 -3.46756900e-04 9.99881577e-01 1.51518747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.4292541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:932.20, Y:111.21, Z:15.15 [[ 1.93066071e-01 -9.81179663e-01 -3.45836803e-03 9.32195442e+02] [ 9.81065179e-01 1.93096402e-01 -1.49964470e-02 1.11212669e+02] [ 1.53820073e-02 -4.97579347e-04 9.99881566e-01 1.51523587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.4592541539998 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:932.20, Y:111.24, Z:15.15 [[ 1.88558324e-01 -9.82055923e-01 -3.45303247e-03 9.32196670e+02] [ 9.81941558e-01 1.88589099e-01 -1.49976226e-02 1.11236323e+02] [ 1.53797084e-02 -5.62749503e-04 9.99881567e-01 1.51549628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.4892541539998 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:932.21, Y:111.27, Z:15.15 [[ 1.92444453e-01 -9.81302308e-01 -3.30350822e-03 9.32209175e+02] [ 9.81187253e-01 1.92472489e-01 -1.50304863e-02 1.11267932e+02] [ 1.53852853e-02 -3.48826440e-04 9.99881579e-01 1.51539426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.5192541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:932.21, Y:111.29, Z:15.16 [[ 1.88927069e-01 -9.81984829e-01 -3.51546465e-03 9.32207227e+02] [ 9.81870701e-01 1.88958753e-01 -1.49838559e-02 1.11291272e+02] [ 1.53781970e-02 -6.20875767e-04 9.99881556e-01 1.51564034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.5492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:932.22, Y:111.32, Z:15.16 [[ 1.94757203e-01 -9.80845947e-01 -3.29537019e-03 9.32219787e+02] [ 9.80730799e-01 1.94784843e-01 -1.50321058e-02 1.11323207e+02] [ 1.53860683e-02 -3.04260150e-04 9.99881581e-01 1.51552054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.5792541539998 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:932.23, Y:111.35, Z:15.15 [[ 1.98903545e-01 -9.80012744e-01 -3.52168559e-03 9.32228058e+02] [ 9.79898326e-01 1.98934162e-01 -1.49822888e-02 1.11353291e+02] [ 1.53834175e-02 -4.70863460e-04 9.99881557e-01 1.51527069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.6092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:932.23, Y:111.38, Z:15.15 [[ 2.01075608e-01 -9.79568909e-01 -3.65407309e-03 9.32231023e+02] [ 9.79454940e-01 2.01107993e-01 -1.49531344e-02 1.11380027e+02] [ 1.53824889e-02 -5.72289351e-04 9.99881519e-01 1.51543148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.6392541539999 meters Centerline goodness : 0.994754 Centerline is valid? [True, True] Translation: X:932.23, Y:111.41, Z:15.15 [[ 2.01174497e-01 -9.79548819e-01 -3.59634872e-03 9.32234241e+02] [ 9.79434617e-01 2.01205990e-01 -1.49659715e-02 1.11405481e+02] [ 1.53835066e-02 -5.11616648e-04 9.99881536e-01 1.51520255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.6692541539999 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:932.24, Y:111.43, Z:15.16 [[ 2.02061888e-01 -9.79366450e-01 -3.51435883e-03 9.32239189e+02] [ 9.79251903e-01 2.02092024e-01 -1.49841501e-02 1.11434364e+02] [ 1.53851978e-02 -4.13716913e-04 9.99881555e-01 1.51555834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.6992541539998 meters Centerline goodness : 0.995330 Centerline is valid? [True, True] Translation: X:932.24, Y:111.46, Z:15.15 [[ 2.04944801e-01 -9.78767276e-01 -3.49961285e-03 9.32243730e+02] [ 9.78652586e-01 2.04974374e-01 -1.49874049e-02 1.11461417e+02] [ 1.53865124e-02 -3.53314449e-04 9.99881558e-01 1.51519476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.7292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:932.24, Y:111.48, Z:15.16 [[ 2.05374298e-01 -9.78677176e-01 -3.51903884e-03 9.32244625e+02] [ 9.78562545e-01 2.05404118e-01 -1.49831215e-02 1.11483615e+02] [ 1.53864641e-02 -3.66451546e-04 9.99881554e-01 1.51581094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.7592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:932.25, Y:111.51, Z:15.16 [[ 2.08751769e-01 -9.77963085e-01 -3.30192076e-03 9.32249208e+02] [ 9.77847575e-01 2.08777861e-01 -1.50308177e-02 1.11511041e+02] [ 1.53889528e-02 -9.10654373e-05 9.99881579e-01 1.51586792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.7892541539999 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:932.25, Y:111.54, Z:15.16 [[ 2.09641081e-01 -9.77772849e-01 -3.29750915e-03 9.32254613e+02] [ 9.77657299e-01 2.09667000e-01 -1.50317854e-02 1.11537782e+02] [ 1.53890505e-02 -7.25541479e-05 9.99881579e-01 1.51576492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.8192541539999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:932.26, Y:111.56, Z:15.16 [[ 2.12688805e-01 -9.77114440e-01 -3.29289970e-03 9.32259613e+02] [ 9.76998795e-01 2.12714293e-01 -1.50327951e-02 1.11564997e+02] [ 1.53892080e-02 -1.98518129e-05 9.99881579e-01 1.51578678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.8492541539998 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:932.26, Y:111.59, Z:15.16 [[ 2.13863830e-01 -9.76857946e-01 -3.28862422e-03 9.32264758e+02] [ 9.76742256e-01 2.13889114e-01 -1.50337304e-02 1.11592835e+02] [ 1.53892199e-02 3.03292736e-06 9.99881579e-01 1.51578235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.8792541539999 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:932.27, Y:111.62, Z:15.16 [[ 2.17027079e-01 -9.76160059e-01 -3.28435059e-03 9.32271457e+02] [ 9.76044273e-01 2.17051922e-01 -1.50346640e-02 1.11621410e+02] [ 1.53891131e-02 5.72576287e-05 9.99881579e-01 1.51588221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.9092541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:932.28, Y:111.65, Z:15.16 [[ 2.18831319e-01 -9.75757109e-01 -3.30428352e-03 9.32277026e+02] [ 9.75641343e-01 2.18856255e-01 -1.50303143e-02 1.11647500e+02] [ 1.53890991e-02 6.53078839e-05 9.99881579e-01 1.51589374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.9392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:932.28, Y:111.67, Z:15.16 [[ 2.20527932e-01 -9.75375158e-01 -3.27621832e-03 9.32283275e+02] [ 9.75259257e-01 2.20552233e-01 -1.50364293e-02 1.11673579e+02] [ 1.53887368e-02 1.20790398e-04 9.99881579e-01 1.51593148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.9692541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:932.29, Y:111.70, Z:15.16 [[ 2.22685980e-01 -9.74884737e-01 -3.27169291e-03 9.32290579e+02] [ 9.74768768e-01 2.22709956e-01 -1.50374139e-02 1.11700381e+02] [ 1.53883838e-02 1.59477183e-04 9.99881579e-01 1.51605296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.9992541539999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:932.30, Y:111.73, Z:15.16 [[ 2.23518526e-01 -9.74694205e-01 -3.26737990e-03 9.32297068e+02] [ 9.74578202e-01 2.23542336e-01 -1.50383509e-02 1.11727126e+02] [ 1.53881913e-02 1.77032810e-04 9.99881579e-01 1.51603775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.0292541539999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:932.30, Y:111.75, Z:15.16 [[ 2.19367875e-01 -9.75636761e-01 -3.26282309e-03 9.32295491e+02] [ 9.75520846e-01 2.19392108e-01 -1.50393396e-02 1.11748581e+02] [ 1.53887702e-02 1.16196015e-04 9.99881579e-01 1.51556340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.0592541539999 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:932.31, Y:111.78, Z:15.16 [[ 2.27647425e-01 -9.73739258e-01 -2.91676577e-03 9.32311017e+02] [ 9.73622137e-01 2.27665317e-01 -1.51141292e-02 1.11781673e+02] [ 1.53812673e-02 6.00864863e-04 9.99881521e-01 1.51602835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.0892541539998 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:932.32, Y:111.81, Z:15.16 [[ 2.28962997e-01 -9.73429671e-01 -3.25921840e-03 9.32317936e+02] [ 9.73313515e-01 2.28986032e-01 -1.50399191e-02 1.11809188e+02] [ 1.53866190e-02 2.71343633e-04 9.99881582e-01 1.51602915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.1192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:932.33, Y:111.84, Z:15.16 [[ 2.32047327e-01 -9.72699051e-01 -3.25495248e-03 9.32326272e+02] [ 9.72582810e-01 2.32069928e-01 -1.50408423e-02 1.11836326e+02] [ 1.53855896e-02 3.24476425e-04 9.99881582e-01 1.51602847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.1492541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:932.33, Y:111.86, Z:15.16 [[ 2.34065501e-01 -9.72215395e-01 -3.25060170e-03 9.32334741e+02] [ 9.72099095e-01 2.34087793e-01 -1.50417825e-02 1.11863413e+02] [ 1.53847787e-02 3.60855391e-04 9.99881582e-01 1.51595936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.1792541539999 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:932.34, Y:111.89, Z:15.16 [[ 2.33984976e-01 -9.72234793e-01 -3.24621817e-03 9.32341923e+02] [ 9.72118482e-01 2.34007210e-01 -1.50427285e-02 1.11890530e+02] [ 1.53847025e-02 3.64063774e-04 9.99881582e-01 1.51584764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.2092541539998 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:932.35, Y:111.92, Z:15.16 [[ 2.34617600e-01 -9.72082338e-01 -3.24187066e-03 9.32350385e+02] [ 9.71965999e-01 2.34639691e-01 -1.50436654e-02 1.11915948e+02] [ 1.53843529e-02 3.78520602e-04 9.99881582e-01 1.51578213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.2392541539998 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:932.36, Y:111.94, Z:15.16 [[ 2.34454756e-01 -9.72121638e-01 -3.23869453e-03 9.32357865e+02] [ 9.72005293e-01 2.34476817e-01 -1.50443491e-02 1.11942670e+02] [ 1.53843361e-02 3.79190976e-04 9.99881582e-01 1.51594226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.2692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:932.37, Y:111.97, Z:15.16 [[ 2.33670050e-01 -9.72310571e-01 -3.23438759e-03 9.32367482e+02] [ 9.72194232e-01 2.33692139e-01 -1.50452750e-02 1.11968854e+02] [ 1.53845309e-02 3.71177209e-04 9.99881582e-01 1.51614589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.2992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:932.37, Y:111.99, Z:15.16 [[ 2.27211450e-01 -9.73840091e-01 -3.23008998e-03 9.32368255e+02] [ 9.73723888e-01 2.27234245e-01 -1.50461976e-02 1.11991383e+02] [ 1.53865775e-02 2.73452610e-04 9.99881582e-01 1.51582302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.3292541539998 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:932.38, Y:112.02, Z:15.16 [[ 2.27391221e-01 -9.73798935e-01 -2.97757726e-03 9.32384655e+02] [ 9.73681999e-01 2.27410087e-01 -1.51002150e-02 1.12021203e+02] [ 1.53817044e-02 5.34442960e-04 9.99881552e-01 1.51641400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.3592541539998 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:932.39, Y:112.05, Z:15.17 [[ 2.24732079e-01 -9.74415255e-01 -3.22550478e-03 9.32392084e+02] [ 9.74299098e-01 2.24755098e-01 -1.50470695e-02 1.12048739e+02] [ 1.53870427e-02 2.38952827e-04 9.99881584e-01 1.51657497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.3892541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:932.39, Y:112.07, Z:15.16 [[ 2.18331106e-01 -9.75869434e-01 -3.22112411e-03 9.32391319e+02] [ 9.75753417e-01 2.18354819e-01 -1.50480073e-02 1.12071857e+02] [ 1.53882383e-02 1.42425201e-04 9.99881584e-01 1.51621879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.4192541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:932.40, Y:112.10, Z:15.16 [[ 2.15046749e-01 -9.76599227e-01 -2.97417618e-03 9.32396758e+02] [ 9.76482532e-01 2.15067041e-01 -1.51007653e-02 1.12099222e+02] [ 1.53870430e-02 3.43139395e-04 9.99881554e-01 1.51629656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.4492541539998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:932.40, Y:112.13, Z:15.16 [[ 2.13664527e-01 -9.76902632e-01 -2.95249800e-03 9.32403265e+02] [ 9.76785902e-01 2.13684650e-01 -1.51053987e-02 1.12127492e+02] [ 1.53874073e-02 3.43529457e-04 9.99881548e-01 1.51631784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.4792541539998 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:932.41, Y:112.16, Z:15.17 [[ 2.14872272e-01 -9.76637573e-01 -2.99280210e-03 9.32414822e+02] [ 9.76520937e-01 2.14892873e-01 -1.50967880e-02 1.12158615e+02] [ 1.53872222e-02 3.21347220e-04 9.99881558e-01 1.51676349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.5092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:932.41, Y:112.18, Z:15.16 [[ 2.08418146e-01 -9.78034516e-01 -3.21886788e-03 9.32413178e+02] [ 9.77918739e-01 2.08443001e-01 -1.50484328e-02 1.12181196e+02] [ 1.53888372e-02 -1.14247536e-05 9.99881585e-01 1.51634134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.5392541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:932.42, Y:112.21, Z:15.17 [[ 2.06237806e-01 -9.78497512e-01 -2.93023751e-03 9.32420723e+02] [ 9.78380873e-01 2.06258471e-01 -1.51099588e-02 1.12210100e+02] [ 1.53894434e-02 2.49356422e-04 9.99881544e-01 1.51652130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.5692541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:932.43, Y:112.24, Z:15.16 [[ 2.05124408e-01 -9.78731256e-01 -3.01749762e-03 9.32425146e+02] [ 9.78614911e-01 2.05146551e-01 -1.50913450e-02 1.12236489e+02] [ 1.53894003e-02 1.42635041e-04 9.99881566e-01 1.51649939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.5992541539998 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:932.43, Y:112.27, Z:15.16 [[ 2.04110606e-01 -9.78943360e-01 -2.95960967e-03 9.32431234e+02] [ 9.78826856e-01 2.04131977e-01 -1.51036893e-02 1.12265280e+02] [ 1.53898073e-02 1.85877732e-04 9.99881553e-01 1.51648314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.6292541539999 meters Centerline goodness : 0.999735 Centerline is valid? [True, True] Translation: X:932.44, Y:112.29, Z:15.16 [[ 2.02909197e-01 -9.79192977e-01 -2.99513613e-03 9.32435950e+02] [ 9.79076612e-01 2.02931259e-01 -1.50961089e-02 1.12294073e+02] [ 1.53898105e-02 1.30671592e-04 9.99881561e-01 1.51641812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.6592541539999 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:932.44, Y:112.32, Z:15.16 [[ 2.00522059e-01 -9.79684510e-01 -3.02726531e-03 9.32439218e+02] [ 9.79568302e-01 2.00544899e-01 -1.50892537e-02 1.12321391e+02] [ 1.53898107e-02 6.03150700e-05 9.99881568e-01 1.51623116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.6892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:932.44, Y:112.35, Z:15.16 [[ 1.99585615e-01 -9.79875779e-01 -3.00679298e-03 9.32443526e+02] [ 9.79759526e-01 1.99608252e-01 -1.50936231e-02 1.12347725e+02] [ 1.53900564e-02 6.65359849e-05 9.99881564e-01 1.51628057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.7192541539998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:932.45, Y:112.38, Z:15.16 [[ 1.98905703e-01 -9.80014201e-01 -2.94743005e-03 9.32450041e+02] [ 9.79897774e-01 1.98927506e-01 -1.51062982e-02 1.12376170e+02] [ 1.53907117e-02 1.16548728e-04 9.99881549e-01 1.51633367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.7492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:932.46, Y:112.41, Z:15.17 [[ 2.02455976e-01 -9.79286835e-01 -2.97877734e-03 9.32462161e+02] [ 9.79170428e-01 2.02477840e-01 -1.50996061e-02 1.12407091e+02] [ 1.53899818e-02 1.40274804e-04 9.99881557e-01 1.51711014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.7792541539999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:932.47, Y:112.43, Z:15.17 [[ 2.01175209e-01 -9.79549988e-01 -3.21806409e-03 9.32467090e+02] [ 9.79434398e-01 2.01200908e-01 -1.50484358e-02 1.12434026e+02] [ 1.53881725e-02 -1.24510451e-04 9.99881587e-01 1.51710014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.8092541539999 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:932.47, Y:112.46, Z:15.17 [[ 2.01257487e-01 -9.79533102e-01 -3.21347927e-03 9.32470179e+02] [ 9.79417494e-01 2.01283105e-01 -1.50494148e-02 1.12460665e+02] [ 1.53882190e-02 -1.18530418e-04 9.99881587e-01 1.51708496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.8392541539998 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:932.47, Y:112.49, Z:15.17 [[ 1.98032030e-01 -9.80190297e-01 -3.20895112e-03 9.32468896e+02] [ 9.80074758e-01 1.98057960e-01 -1.50503802e-02 1.12485068e+02] [ 1.53877950e-02 -1.64554638e-04 9.99881587e-01 1.51673888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.8692541539998 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:932.47, Y:112.51, Z:15.17 [[ 2.00775621e-01 -9.79632586e-01 -3.02448862e-03 9.32472781e+02] [ 9.79516366e-01 2.00798389e-01 -1.50896129e-02 1.12512809e+02] [ 1.53895890e-02 6.70902964e-05 9.99881571e-01 1.51664806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.8992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:932.48, Y:112.54, Z:15.17 [[ 2.01858742e-01 -9.79409867e-01 -3.05946377e-03 9.32476630e+02] [ 9.79293735e-01 2.01881920e-01 -1.50821584e-02 1.12539693e+02] [ 1.53892651e-02 4.83518146e-05 9.99881577e-01 1.51678729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.9292541539999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:932.48, Y:112.57, Z:15.17 [[ 2.05559284e-01 -9.78640093e-01 -2.99161925e-03 9.32482152e+02] [ 9.78523661e-01 2.05580977e-01 -1.50966013e-02 1.12568377e+02] [ 1.53891593e-02 1.75876319e-04 9.99881564e-01 1.51670154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.9592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:932.49, Y:112.60, Z:15.17 [[ 2.07129755e-01 -9.78308671e-01 -3.06753719e-03 9.32486449e+02] [ 9.78192440e-01 2.07152432e-01 -1.50804622e-02 1.12596048e+02] [ 1.53887947e-02 1.22970741e-04 9.99881578e-01 1.51684303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.9892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:932.50, Y:112.63, Z:15.17 [[ 2.13792007e-01 -9.76874466e-01 -3.04240301e-03 9.32495156e+02] [ 9.76758007e-01 2.13813504e-01 -1.50857974e-02 1.12626313e+02] [ 1.53874371e-02 2.53531409e-04 9.99881574e-01 1.51740029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.0192541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:932.50, Y:112.65, Z:15.17 [[ 2.16301792e-01 -9.76321312e-01 -3.19859946e-03 9.32498671e+02] [ 9.76205276e-01 2.16325399e-01 -1.50526067e-02 1.12654005e+02] [ 1.53881190e-02 1.33416127e-04 9.99881587e-01 1.51739031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.0492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:932.50, Y:112.68, Z:15.17 [[ 2.15522627e-01 -9.76493622e-01 -3.19435085e-03 9.32501542e+02] [ 9.76377591e-01 2.15546262e-01 -1.50535082e-02 1.12681216e+02] [ 1.53881852e-02 1.25479060e-04 9.99881587e-01 1.51711211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.0792541539998 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:932.51, Y:112.71, Z:15.17 [[ 2.17357496e-01 -9.76087035e-01 -3.13372822e-03 9.32508560e+02] [ 9.75970774e-01 2.17379977e-01 -1.50663498e-02 1.12709393e+02] [ 1.53872784e-02 2.16356901e-04 9.99881585e-01 1.51715740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.1092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:932.51, Y:112.74, Z:15.17 [[ 2.17365497e-01 -9.76085074e-01 -3.18876596e-03 9.32511753e+02] [ 9.75968982e-01 2.17388827e-01 -1.50546921e-02 1.12735954e+02] [ 1.53878624e-02 1.60233979e-04 9.99881587e-01 1.51704812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.1392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:932.52, Y:112.76, Z:15.17 [[ 2.19607803e-01 -9.75583198e-01 -3.13623646e-03 9.32519132e+02] [ 9.75466894e-01 2.19630055e-01 -1.50657957e-02 1.12763417e+02] [ 1.53867490e-02 2.49271463e-04 9.99881586e-01 1.51720945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.1692541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:932.52, Y:112.79, Z:15.17 [[ 2.19466495e-01 -9.75614855e-01 -3.18009578e-03 9.32524692e+02] [ 9.75498686e-01 2.19489441e-01 -1.50565322e-02 1.12790701e+02] [ 1.53873739e-02 2.02225106e-04 9.99881587e-01 1.51713796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.1992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:932.53, Y:112.82, Z:15.17 [[ 2.17602261e-01 -9.76032361e-01 -3.17577729e-03 9.32528166e+02] [ 9.75916224e-01 2.17625362e-01 -1.50574430e-02 1.12817569e+02] [ 1.53876814e-02 1.77241065e-04 9.99881587e-01 1.51700098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.2292541539998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:932.54, Y:112.85, Z:15.17 [[ 2.19552690e-01 -9.75595749e-01 -3.09051279e-03 9.32536436e+02] [ 9.75479310e-01 2.19574242e-01 -1.50753900e-02 1.12845166e+02] [ 1.53860834e-02 2.95111137e-04 9.99881584e-01 1.51713655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.2592541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:932.54, Y:112.87, Z:15.17 [[ 2.17350265e-01 -9.76088527e-01 -3.17025808e-03 9.32541864e+02] [ 9.75972378e-01 2.17373310e-01 -1.50586014e-02 1.12873078e+02] [ 1.53876576e-02 1.78906694e-04 9.99881587e-01 1.51713722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.2892541539999 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:932.55, Y:112.90, Z:15.17 [[ 2.18086981e-01 -9.75924273e-01 -3.14373910e-03 9.32549501e+02] [ 9.75808026e-01 2.18109529e-01 -1.50641749e-02 1.12899705e+02] [ 1.53871734e-02 2.17614575e-04 9.99881587e-01 1.51722797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.3192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:932.55, Y:112.93, Z:15.17 [[ 2.15833257e-01 -9.76425117e-01 -3.16172041e-03 9.32554832e+02] [ 9.76308978e-01 2.15856351e-01 -1.50604000e-02 1.12927426e+02] [ 1.53878302e-02 1.63719153e-04 9.99881587e-01 1.51722036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.3492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:932.56, Y:112.96, Z:15.17 [[ 2.15677052e-01 -9.76459726e-01 -3.13264046e-03 9.32560609e+02] [ 9.76343501e-01 2.15699717e-01 -1.50664987e-02 1.12955382e+02] [ 1.53875388e-02 1.90964868e-04 9.99881587e-01 1.51726319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.3792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:932.57, Y:112.98, Z:15.17 [[ 2.14138950e-01 -9.76798187e-01 -3.13237365e-03 9.32568517e+02] [ 9.76681998e-01 2.14161793e-01 -1.50665546e-02 1.12982407e+02] [ 1.53878180e-02 1.67003232e-04 9.99881587e-01 1.51732839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.4092541539999 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:932.58, Y:113.01, Z:15.17 [[ 2.14746802e-01 -9.76664810e-01 -3.10795499e-03 9.32577288e+02] [ 9.76548533e-01 2.14769196e-01 -1.50716716e-02 1.13009993e+02] [ 1.53874642e-02 2.01524378e-04 9.99881586e-01 1.51728347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.4392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:932.58, Y:113.04, Z:15.17 [[ 2.12904237e-01 -9.77067980e-01 -3.15415992e-03 9.32584233e+02] [ 9.76951887e-01 2.12927563e-01 -1.50619957e-02 1.13037408e+02] [ 1.53882013e-02 1.25300225e-04 9.99881587e-01 1.51749219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.4692541539998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:932.59, Y:113.06, Z:15.18 [[ 2.13453703e-01 -9.76948150e-01 -3.13523620e-03 9.32591704e+02] [ 9.76831985e-01 2.13476672e-01 -1.50659545e-02 1.13064238e+02] [ 1.53879561e-02 1.53284778e-04 9.99881587e-01 1.51763136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.4992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:932.60, Y:113.09, Z:15.18 [[ 2.13849839e-01 -9.76861472e-01 -3.14812721e-03 9.32598941e+02] [ 9.76745338e-01 2.13872960e-01 -1.50632603e-02 1.13091265e+02] [ 1.53880180e-02 1.46357225e-04 9.99881587e-01 1.51790189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.5292541539999 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:932.60, Y:113.12, Z:15.18 [[ 2.12851154e-01 -9.77079578e-01 -3.14388131e-03 9.32604723e+02] [ 9.76963455e-01 2.12874328e-01 -1.50641465e-02 1.13118778e+02] [ 1.53881215e-02 1.34963814e-04 9.99881587e-01 1.51767451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.5592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:932.61, Y:113.15, Z:15.18 [[ 2.11888637e-01 -9.77288775e-01 -3.13954610e-03 9.32609662e+02] [ 9.77172661e-01 2.11911858e-01 -1.50650499e-02 1.13146082e+02] [ 1.53882112e-02 1.24234277e-04 9.99881587e-01 1.51768175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.5892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:932.62, Y:113.17, Z:15.18 [[ 2.14416477e-01 -9.76737415e-01 -3.09788338e-03 9.32619021e+02] [ 9.76621115e-01 2.14438755e-01 -1.50737212e-02 1.13172944e+02] [ 1.53873738e-02 2.06595874e-04 9.99881586e-01 1.51795075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.6192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:932.63, Y:113.20, Z:15.18 [[ 2.13014055e-01 -9.77044107e-01 -3.13467072e-03 9.32625338e+02] [ 9.76927951e-01 2.13037068e-01 -1.50660672e-02 1.13200361e+02] [ 1.53880132e-02 1.46936629e-04 9.99881587e-01 1.51763728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.6492541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:932.63, Y:113.23, Z:15.18 [[ 2.15309041e-01 -9.76541049e-01 -3.09786604e-03 9.32633751e+02] [ 9.76424729e-01 2.15331213e-01 -1.50737143e-02 1.13227144e+02] [ 1.53871680e-02 2.20673963e-04 9.99881586e-01 1.51802074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.6792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:932.64, Y:113.25, Z:15.18 [[ 2.13972428e-01 -9.76834690e-01 -3.12876423e-03 9.32638874e+02] [ 9.76718494e-01 2.13995235e-01 -1.50672982e-02 1.13254471e+02] [ 1.53878002e-02 1.68064496e-04 9.99881587e-01 1.51790844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.7092541539998 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:932.65, Y:113.28, Z:15.18 [[ 2.16179330e-01 -9.76348718e-01 -3.11093953e-03 9.32645458e+02] [ 9.76232418e-01 2.16201600e-01 -1.50709957e-02 1.13281758e+02] [ 1.53871374e-02 2.21037736e-04 9.99881587e-01 1.51789267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.7392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:932.65, Y:113.31, Z:15.18 [[ 2.15931645e-01 -9.76403489e-01 -3.12286816e-03 9.32649905e+02] [ 9.76287229e-01 2.15954129e-01 -1.50685235e-02 1.13309852e+02] [ 1.53873552e-02 2.04954775e-04 9.99881587e-01 1.51793009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.7692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:932.66, Y:113.34, Z:15.18 [[ 2.18163408e-01 -9.75907269e-01 -3.11936870e-03 9.32655818e+02] [ 9.75790948e-01 2.18185572e-01 -1.50692477e-02 1.13336301e+02] [ 1.53867896e-02 2.43706700e-04 9.99881587e-01 1.51831419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.7992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:932.66, Y:113.36, Z:15.18 [[ 2.15632414e-01 -9.76469646e-01 -3.11339217e-03 9.32659223e+02] [ 9.76353365e-01 2.15654787e-01 -1.50704824e-02 1.13364165e+02] [ 1.53872865e-02 2.09913580e-04 9.99881587e-01 1.51793794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.8292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:932.67, Y:113.39, Z:15.18 [[ 2.15662841e-01 -9.76463042e-01 -3.07675242e-03 9.32667180e+02] [ 9.76346653e-01 2.15684645e-01 -1.50780392e-02 1.13392729e+02] [ 1.53867563e-02 2.47795841e-04 9.99881586e-01 1.51799129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.8592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:932.67, Y:113.42, Z:15.18 [[ 2.15574992e-01 -9.76482228e-01 -3.14332984e-03 9.32674013e+02] [ 9.76366038e-01 2.15597833e-01 -1.50643093e-02 1.13418767e+02] [ 1.53877254e-02 1.78447852e-04 9.99881586e-01 1.51827805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.8892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:932.68, Y:113.45, Z:15.18 [[ 2.12686568e-01 -9.77115548e-01 -3.10325852e-03 9.32680698e+02] [ 9.76999305e-01 2.12709135e-01 -1.50725595e-02 1.13446418e+02] [ 1.53877237e-02 1.73849534e-04 9.99881587e-01 1.51839981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.9192541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:932.69, Y:113.47, Z:15.18 [[ 2.11116649e-01 -9.77455962e-01 -3.09899854e-03 9.32685932e+02] [ 9.77339742e-01 2.11139337e-01 -1.50734353e-02 1.13473870e+02] [ 1.53879397e-02 1.53478727e-04 9.99881587e-01 1.51838096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.9492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:932.69, Y:113.50, Z:15.19 [[ 2.09191504e-01 -9.77869796e-01 -3.09469290e-03 9.32691280e+02] [ 9.77753608e-01 2.09214354e-01 -1.50743193e-02 1.13499857e+02] [ 1.53881757e-02 1.27572366e-04 9.99881587e-01 1.51858986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.9792541539998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:932.70, Y:113.53, Z:15.19 [[ 2.07578710e-01 -9.78213432e-01 -3.09191681e-03 9.32696721e+02] [ 9.78097274e-01 2.07601710e-01 -1.50748887e-02 1.13527044e+02] [ 1.53883458e-02 1.05030550e-04 9.99881587e-01 1.51850287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.0092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:932.70, Y:113.55, Z:15.19 [[ 2.06763292e-01 -9.78386124e-01 -3.08769246e-03 9.32702208e+02] [ 9.78269972e-01 2.06786323e-01 -1.50757539e-02 1.13554581e+02] [ 1.53884010e-02 9.65156756e-05 9.99881587e-01 1.51866587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.0392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:932.71, Y:113.58, Z:15.19 [[ 2.06567303e-01 -9.78427535e-01 -3.08345654e-03 9.32707379e+02] [ 9.78311375e-01 2.06590292e-01 -1.50766202e-02 1.13581825e+02] [ 1.53883925e-02 9.77561611e-05 9.99881587e-01 1.51870927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.0692541539999 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:932.71, Y:113.61, Z:15.18 [[ 2.06216049e-01 -9.78501640e-01 -3.07911555e-03 9.32711974e+02] [ 9.78385475e-01 2.06239013e-01 -1.50775067e-02 1.13609800e+02] [ 1.53883988e-02 9.66619339e-05 9.99881587e-01 1.51837378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.0992541539998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:932.72, Y:113.64, Z:15.19 [[ 2.08819347e-01 -9.77949398e-01 -3.07480021e-03 9.32715193e+02] [ 9.77833160e-01 2.08841936e-01 -1.50783867e-02 1.13637445e+02] [ 1.53880464e-02 1.42017263e-04 9.99881587e-01 1.51853000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.1292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:932.72, Y:113.66, Z:15.19 [[ 2.10062599e-01 -9.77683117e-01 -3.07048354e-03 9.32718850e+02] [ 9.77566837e-01 2.10084972e-01 -1.50792657e-02 1.13664517e+02] [ 1.53878059e-02 1.65986848e-04 9.99881587e-01 1.51871116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.1592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:932.72, Y:113.69, Z:15.19 [[ 2.11835666e-01 -9.77300492e-01 -3.06592441e-03 9.32720904e+02] [ 9.77184158e-01 2.11857758e-01 -1.50801926e-02 1.13692918e+02] [ 1.53874195e-02 1.98549875e-04 9.99881587e-01 1.51871890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.1892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:932.73, Y:113.72, Z:15.19 [[ 2.12106497e-01 -9.77241762e-01 -3.06162749e-03 9.32725029e+02] [ 9.77125409e-01 2.12128491e-01 -1.50810649e-02 1.13720695e+02] [ 1.53873048e-02 2.07197826e-04 9.99881587e-01 1.51873821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.2192541539998 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:932.73, Y:113.75, Z:15.18 [[ 2.11912348e-01 -9.77283894e-01 -3.05733616e-03 9.32728192e+02] [ 9.77167533e-01 2.11934299e-01 -1.50819348e-02 1.13747437e+02] [ 1.53872864e-02 2.08518583e-04 9.99881587e-01 1.51849614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.2492541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:932.73, Y:113.77, Z:15.19 [[ 2.11792191e-01 -9.77309955e-01 -3.05283245e-03 9.32732952e+02] [ 9.77193584e-01 2.11814086e-01 -1.50828464e-02 1.13774170e+02] [ 1.53872488e-02 2.11220792e-04 9.99881587e-01 1.51872241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.2792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:932.74, Y:113.80, Z:15.19 [[ 2.09848641e-01 -9.77729132e-01 -3.04837631e-03 9.32736615e+02] [ 9.77612792e-01 2.09870699e-01 -1.50837470e-02 1.13802272e+02] [ 1.53875837e-02 1.85172115e-04 9.99881587e-01 1.51858432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.3092541539999 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:932.74, Y:113.83, Z:15.18 [[ 2.10127744e-01 -9.77669246e-01 -3.02932833e-03 9.32740706e+02] [ 9.77552844e-01 2.10149475e-01 -1.50875925e-02 1.13829699e+02] [ 1.53872869e-02 2.08993248e-04 9.99881587e-01 1.51838144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.3392541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:932.75, Y:113.86, Z:15.19 [[ 2.09962788e-01 -9.77704640e-01 -3.04388701e-03 9.32745414e+02] [ 9.77588284e-01 2.09984763e-01 -1.50846547e-02 1.13857299e+02] [ 1.53875068e-02 1.91547884e-04 9.99881587e-01 1.51870375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.3692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:932.75, Y:113.88, Z:15.19 [[ 2.06741804e-01 -9.78390815e-01 -3.03976275e-03 9.32748373e+02] [ 9.78274520e-01 2.06764099e-01 -1.50854858e-02 1.13884492e+02] [ 1.53880145e-02 1.45078096e-04 9.99881587e-01 1.51872291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.3992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:932.75, Y:113.91, Z:15.19 [[ 2.05592852e-01 -9.78633055e-01 -2.98717797e-03 9.32753597e+02] [ 9.78516631e-01 2.05614473e-01 -1.50960640e-02 1.13912234e+02] [ 1.53877143e-02 1.80639541e-04 9.99881586e-01 1.51885850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.4292541539999 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:932.76, Y:113.94, Z:15.19 [[ 2.04998178e-01 -9.78757816e-01 -2.98079169e-03 9.32760943e+02] [ 9.78641387e-01 2.05019771e-01 -1.50973471e-02 1.13940626e+02] [ 1.53877677e-02 1.77802540e-04 9.99881585e-01 1.51890901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.4592541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:932.76, Y:113.97, Z:15.19 [[ 2.02025663e-01 -9.79375542e-01 -3.02964347e-03 9.32764173e+02] [ 9.79259325e-01 2.02048362e-01 -1.50875375e-02 1.13967173e+02] [ 1.53884997e-02 8.12631374e-05 9.99881587e-01 1.51903520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.4892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:932.77, Y:113.99, Z:15.19 [[ 1.99559588e-01 -9.79881199e-01 -2.96765745e-03 9.32768478e+02] [ 9.79764853e-01 1.99581624e-01 -1.50999658e-02 1.13993459e+02] [ 1.53884625e-02 1.05736487e-04 9.99881585e-01 1.51911926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.5192541539999 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:932.78, Y:114.02, Z:15.19 [[ 2.00699887e-01 -9.79648344e-01 -2.94589449e-03 9.32776059e+02] [ 9.79531907e-01 2.00721453e-01 -1.51043259e-02 1.14021498e+02] [ 1.53882320e-02 1.45838847e-04 9.99881584e-01 1.51904001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.5492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:932.78, Y:114.05, Z:15.19 [[ 2.00294441e-01 -9.79731084e-01 -3.02334749e-03 9.32781633e+02] [ 9.79614887e-01 2.00317249e-01 -1.50888066e-02 1.14048849e+02] [ 1.53886015e-02 6.04878842e-05 9.99881587e-01 1.51943322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.5792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:932.79, Y:114.08, Z:15.19 [[ 1.99785266e-01 -9.79835054e-01 -3.01909860e-03 9.32786778e+02] [ 9.79718857e-01 1.99808069e-01 -1.50896567e-02 1.14076008e+02] [ 1.53886149e-02 5.68232664e-05 9.99881587e-01 1.51944941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.6092541539998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:932.79, Y:114.10, Z:15.19 [[ 1.99451387e-01 -9.79903085e-01 -3.01480482e-03 9.32791244e+02] [ 9.79786882e-01 1.99474163e-01 -1.50905146e-02 1.14102393e+02] [ 1.53886174e-02 5.59578483e-05 9.99881587e-01 1.51919297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.6392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:932.80, Y:114.13, Z:15.19 [[ 1.99987724e-01 -9.79793779e-01 -3.01028267e-03 9.32796823e+02] [ 9.79677550e-01 2.00010366e-01 -1.50914166e-02 1.14130254e+02] [ 1.53885638e-02 6.89916982e-05 9.99881587e-01 1.51943593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.6692541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:932.80, Y:114.16, Z:15.19 [[ 1.99635817e-01 -9.79865554e-01 -3.00602312e-03 9.32801696e+02] [ 9.79749321e-01 1.99658436e-01 -1.50922650e-02 1.14157816e+02] [ 1.53885685e-02 6.78075393e-05 9.99881587e-01 1.51928981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.6992541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:932.81, Y:114.18, Z:15.19 [[ 2.00630974e-01 -9.79662290e-01 -3.00176906e-03 9.32806525e+02] [ 9.79546021e-01 2.00653409e-01 -1.50931110e-02 1.14184388e+02] [ 1.53884669e-02 8.77746265e-05 9.99881587e-01 1.51944125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.7292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:932.81, Y:114.21, Z:15.20 [[ 1.99557856e-01 -9.79881461e-01 -2.99728124e-03 9.32810625e+02] [ 9.79765204e-01 1.99580349e-01 -1.50940022e-02 1.14211748e+02] [ 1.53885314e-02 7.54948571e-05 9.99881587e-01 1.51953289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.7592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:932.82, Y:114.24, Z:15.20 [[ 2.02090335e-01 -9.79362407e-01 -2.96183482e-03 9.32817725e+02] [ 9.79245989e-01 2.02111981e-01 -1.51010307e-02 1.14238949e+02] [ 1.53880040e-02 1.51407474e-04 9.99881586e-01 1.51969461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.7892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:932.82, Y:114.27, Z:15.20 [[ 2.00363992e-01 -9.79716960e-01 -2.99164831e-03 9.32820659e+02] [ 9.79600667e-01 2.00386303e-01 -1.50951220e-02 1.14265964e+02] [ 1.53884324e-02 9.38982290e-05 9.99881587e-01 1.51950863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.8192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:932.83, Y:114.29, Z:15.20 [[ 2.02150046e-01 -9.79350202e-01 -2.92231761e-03 9.32826529e+02] [ 9.79233669e-01 2.02171076e-01 -1.51088358e-02 1.14294760e+02] [ 1.53876494e-02 1.92620040e-04 9.99881585e-01 1.51957079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.8492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:932.83, Y:114.32, Z:15.20 [[ 2.02207719e-01 -9.79338244e-01 -2.93982532e-03 9.32831443e+02] [ 9.79221760e-01 2.02229012e-01 -1.51053753e-02 1.14322644e+02] [ 1.53877897e-02 1.75682558e-04 9.99881586e-01 1.51951999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.8792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:932.84, Y:114.35, Z:15.20 [[ 2.06072428e-01 -9.78532423e-01 -2.90728774e-03 9.32839629e+02] [ 9.78415765e-01 2.06092758e-01 -1.51118024e-02 1.14350200e+02] [ 1.53865596e-02 2.69589647e-04 9.99881584e-01 1.51993484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.9092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:932.85, Y:114.38, Z:15.20 [[ 2.06508060e-01 -9.78440361e-01 -2.98025117e-03 9.32845234e+02] [ 9.78323898e-01 2.06529465e-01 -1.50973994e-02 1.14377701e+02] [ 1.53874145e-02 2.02083717e-04 9.99881586e-01 1.52000287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.9392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:932.85, Y:114.40, Z:15.20 [[ 2.06499907e-01 -9.78442095e-01 -2.97588511e-03 9.32851462e+02] [ 9.78325619e-01 2.06521246e-01 -1.50982599e-02 1.14404940e+02] [ 1.53873566e-02 2.06404630e-04 9.99881586e-01 1.52006787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.9692541539998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:932.86, Y:114.43, Z:15.20 [[ 2.05588055e-01 -9.78634110e-01 -2.97152210e-03 9.32857120e+02] [ 9.78517643e-01 2.05609435e-01 -1.50991186e-02 1.14432663e+02] [ 1.53874854e-02 1.96511612e-04 9.99881586e-01 1.51993825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.9992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:932.86, Y:114.46, Z:15.20 [[ 2.04150297e-01 -9.78935060e-01 -2.96718062e-03 9.32863753e+02] [ 9.78818612e-01 2.04171781e-01 -1.50999717e-02 1.14460420e+02] [ 1.53877062e-02 1.78332084e-04 9.99881586e-01 1.52019096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.0292541539999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:932.87, Y:114.49, Z:15.20 [[ 2.02440917e-01 -9.79289996e-01 -2.96279453e-03 9.32869742e+02] [ 9.79173573e-01 2.02462536e-01 -1.51008322e-02 1.14488287e+02] [ 1.53879488e-02 1.55936209e-04 9.99881586e-01 1.51998272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.0592541539999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:932.88, Y:114.51, Z:15.20 [[ 2.01018289e-01 -9.79583021e-01 -2.95841871e-03 9.32875678e+02] [ 9.79466617e-01 2.01040011e-01 -1.51016894e-02 1.14514689e+02] [ 1.53881191e-02 1.38043413e-04 9.99881586e-01 1.52002118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.0892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:932.88, Y:114.54, Z:15.20 [[ 1.98078367e-01 -9.80181736e-01 -2.95380626e-03 9.32882655e+02] [ 9.80065384e-01 1.98100366e-01 -1.51025916e-02 1.14542154e+02] [ 1.53884345e-02 9.65734075e-05 9.99881586e-01 1.52044414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.1192541539998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:932.89, Y:114.57, Z:15.20 [[ 1.93872130e-01 -9.81022374e-01 -2.94944963e-03 9.32888538e+02] [ 9.80906104e-01 1.93894561e-01 -1.51034423e-02 1.14569034e+02] [ 1.53886971e-02 3.50033863e-05 9.99881586e-01 1.52024644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.1492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:932.89, Y:114.60, Z:15.20 [[ 1.92307918e-01 -9.81330216e-01 -2.94486183e-03 9.32894384e+02] [ 9.81213968e-01 1.92330464e-01 -1.51043368e-02 1.14596796e+02] [ 1.53887287e-02 1.51440032e-05 9.99881586e-01 1.52043368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.1792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:932.90, Y:114.62, Z:15.20 [[ 1.90574938e-01 -9.81668246e-01 -2.94068714e-03 9.32900065e+02] [ 9.81552026e-01 1.90597625e-01 -1.51051495e-02 1.14624496e+02] [ 1.53887336e-02 -7.77447819e-06 9.99881586e-01 1.52047148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.2092541539998 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:932.91, Y:114.65, Z:15.20 [[ 1.87557819e-01 -9.82249175e-01 -2.93642946e-03 9.32905866e+02] [ 9.82133012e-01 1.87580797e-01 -1.51059772e-02 1.14651698e+02] [ 1.53886514e-02 -5.07201719e-05 9.99881586e-01 1.52011368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.2392541539998 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:932.91, Y:114.68, Z:15.20 [[ 1.87278878e-01 -9.82302410e-01 -2.93213211e-03 9.32911236e+02] [ 9.82186241e-01 1.87301823e-01 -1.51068113e-02 1.14679776e+02] [ 1.53886508e-02 -5.07131471e-05 9.99881586e-01 1.52015751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.2692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:932.92, Y:114.71, Z:15.21 [[ 1.86862512e-01 -9.82381713e-01 -2.92784143e-03 9.32916889e+02] [ 9.82265540e-01 1.86885440e-01 -1.51076428e-02 1.14706872e+02] [ 1.53886429e-02 -5.28656598e-05 9.99881586e-01 1.52050922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.2992541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:932.92, Y:114.73, Z:15.20 [[ 1.86592490e-01 -9.82433049e-01 -2.92352338e-03 9.32922402e+02] [ 9.82316870e-01 1.86615384e-01 -1.51084784e-02 1.14734870e+02] [ 1.53886429e-02 -5.26977310e-05 9.99881586e-01 1.52049922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.3292541539998 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:932.93, Y:114.76, Z:15.20 [[ 1.85946219e-01 -9.82555587e-01 -2.91918734e-03 9.32926885e+02] [ 9.82439410e-01 1.85969123e-01 -1.51093161e-02 1.14762401e+02] [ 1.53886217e-02 -5.84044848e-05 9.99881586e-01 1.52021002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.3592541539998 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:932.93, Y:114.79, Z:15.20 [[ 1.87255812e-01 -9.82306859e-01 -2.91484183e-03 9.32932139e+02] [ 9.82190638e-01 1.87278494e-01 -1.51101544e-02 1.14789978e+02] [ 1.53886955e-02 -3.34661250e-05 9.99881586e-01 1.52045961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.3892541539999 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:932.94, Y:114.82, Z:15.20 [[ 1.86957027e-01 -9.82363782e-01 -2.91051983e-03 9.32936866e+02] [ 9.82247555e-01 1.86979677e-01 -1.51109868e-02 1.14817595e+02] [ 1.53886942e-02 -3.37458140e-05 9.99881586e-01 1.52009860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.4192541539999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:932.94, Y:114.84, Z:15.20 [[ 1.87551002e-01 -9.82250567e-01 -2.90620726e-03 9.32941832e+02] [ 9.82134313e-01 1.87573517e-01 -1.51118162e-02 1.14844328e+02] [ 1.53887175e-02 -2.00495986e-05 9.99881586e-01 1.52018381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.4492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:932.95, Y:114.87, Z:15.20 [[ 1.89585822e-01 -9.81859866e-01 -2.90166638e-03 9.32947088e+02] [ 9.81743553e-01 1.89608025e-01 -1.51126881e-02 1.14871559e+02] [ 1.53887211e-02 1.64591267e-05 9.99881586e-01 1.52036149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.4792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:932.95, Y:114.90, Z:15.20 [[ 1.91645212e-01 -9.81459993e-01 -2.89736398e-03 9.32950830e+02] [ 9.81343621e-01 1.91667105e-01 -1.51135129e-02 1.14898819e+02] [ 1.53886376e-02 5.31227080e-05 9.99881587e-01 1.52036277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.5092541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:932.96, Y:114.93, Z:15.20 [[ 1.92109660e-01 -9.81369202e-01 -2.89282535e-03 9.32955246e+02] [ 9.81252806e-01 1.92131428e-01 -1.51143815e-02 1.14926752e+02] [ 1.53885912e-02 6.50257026e-05 9.99881587e-01 1.52031387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.5392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:932.96, Y:114.95, Z:15.21 [[ 1.93201589e-01 -9.81154831e-01 -2.88849246e-03 9.32960300e+02] [ 9.81038399e-01 1.93223161e-01 -1.51152095e-02 1.14954405e+02] [ 1.53884845e-02 8.65604844e-05 9.99881587e-01 1.52063646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.5692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:932.97, Y:114.98, Z:15.21 [[ 1.93866549e-01 -9.81023671e-01 -2.88415449e-03 9.32965331e+02] [ 9.80907212e-01 1.93887975e-01 -1.51160372e-02 1.14982321e+02] [ 1.53883932e-02 1.01406033e-04 9.99881587e-01 1.52077025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.5992541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:932.97, Y:115.01, Z:15.21 [[ 1.94500223e-01 -9.80898247e-01 -2.87982814e-03 9.32969969e+02] [ 9.80781762e-01 1.94521507e-01 -1.51168614e-02 1.15009227e+02] [ 1.53882914e-02 1.15749998e-04 9.99881587e-01 1.52099456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.6292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:932.97, Y:115.04, Z:15.21 [[ 1.94135103e-01 -9.80970588e-01 -2.87526386e-03 9.32974524e+02] [ 9.80854098e-01 1.94156360e-01 -1.51177295e-02 1.15036745e+02] [ 1.53882988e-02 1.14667625e-04 9.99881587e-01 1.52112551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.6592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:932.98, Y:115.06, Z:15.21 [[ 1.93717559e-01 -9.81053141e-01 -2.87100683e-03 9.32979558e+02] [ 9.80936648e-01 1.93738801e-01 -1.51185379e-02 1.15064659e+02] [ 1.53883145e-02 1.12450449e-04 9.99881587e-01 1.52120018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.6892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:932.98, Y:115.09, Z:15.21 [[ 1.93379689e-01 -9.81119808e-01 -2.86675425e-03 9.32984471e+02] [ 9.81003311e-01 1.93400905e-01 -1.51193442e-02 1.15092554e+02] [ 1.53883210e-02 1.11478683e-04 9.99881587e-01 1.52123205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.7192541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:932.99, Y:115.12, Z:15.21 [[ 1.93288514e-01 -9.81137787e-01 -2.86251387e-03 9.32988859e+02] [ 9.81021279e-01 1.93309675e-01 -1.51201470e-02 1.15119865e+02] [ 1.53882992e-02 1.14363736e-04 9.99881587e-01 1.52128123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.7492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:932.99, Y:115.15, Z:15.21 [[ 1.93988946e-01 -9.80999551e-01 -2.85811918e-03 9.32992837e+02] [ 9.80883017e-01 1.94009957e-01 -1.51209777e-02 1.15146778e+02] [ 1.53881759e-02 1.29821962e-04 9.99881587e-01 1.52111652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.7792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.00, Y:115.17, Z:15.21 [[ 1.93866936e-01 -9.81023680e-01 -2.85490949e-03 9.32997452e+02] [ 9.80907139e-01 1.93887912e-01 -1.51215837e-02 1.15174925e+02] [ 1.53881641e-02 1.31173996e-04 9.99881587e-01 1.52101999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.8092541539999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:933.00, Y:115.20, Z:15.21 [[ 1.93918611e-01 -9.81013479e-01 -2.85059391e-03 9.33002067e+02] [ 9.80896925e-01 1.93939514e-01 -1.51223972e-02 1.15202868e+02] [ 1.53881183e-02 1.36375457e-04 9.99881587e-01 1.52078099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.8392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.01, Y:115.23, Z:15.21 [[ 1.94037724e-01 -9.80989939e-01 -2.84627544e-03 9.33006859e+02] [ 9.80873371e-01 1.94058546e-01 -1.51232099e-02 1.15230856e+02] [ 1.53880609e-02 1.42637447e-04 9.99881587e-01 1.52077987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.8692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.01, Y:115.26, Z:15.21 [[ 1.93692912e-01 -9.81058092e-01 -2.84194385e-03 9.33012013e+02] [ 9.80941519e-01 1.93713708e-01 -1.51240239e-02 1.15258465e+02] [ 1.53880695e-02 1.41635498e-04 9.99881587e-01 1.52082339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.8992541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:933.02, Y:115.29, Z:15.21 [[ 1.93098941e-01 -9.81175187e-01 -2.83755688e-03 9.33017167e+02] [ 9.81058615e-01 1.93119740e-01 -1.51248469e-02 1.15285045e+02] [ 1.53881127e-02 1.36782293e-04 9.99881587e-01 1.52081386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.9292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.02, Y:115.31, Z:15.21 [[ 1.92311190e-01 -9.81329904e-01 -2.83298554e-03 9.33022112e+02] [ 9.81213336e-01 1.92332013e-01 -1.51257031e-02 1.15311382e+02] [ 1.53881786e-02 1.29078775e-04 9.99881587e-01 1.52084821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.9592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.03, Y:115.34, Z:15.21 [[ 1.90562314e-01 -9.81671027e-01 -2.82847369e-03 9.33026979e+02] [ 9.81554483e-01 1.90583274e-01 -1.51265468e-02 1.15339227e+02] [ 1.53883525e-02 1.06248715e-04 9.99881587e-01 1.52100286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.9892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.03, Y:115.37, Z:15.21 [[ 1.89465954e-01 -9.81883229e-01 -2.82419482e-03 9.33031929e+02] [ 9.81766698e-01 1.89486979e-01 -1.51273456e-02 1.15366543e+02] [ 1.53884351e-02 9.34165448e-05 9.99881587e-01 1.52108790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.0192541539999 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:933.04, Y:115.39, Z:15.21 [[ 1.88205513e-01 -9.82125620e-01 -2.81993662e-03 9.33036699e+02] [ 9.82009103e-01 1.88226622e-01 -1.51281393e-02 1.15393093e+02] [ 1.53885204e-02 7.79958019e-05 9.99881587e-01 1.52094427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.0492541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:933.04, Y:115.42, Z:15.21 [[ 1.86462064e-01 -9.82458123e-01 -2.81682625e-03 9.33043097e+02] [ 9.82341636e-01 1.86483332e-01 -1.51287185e-02 1.15420038e+02] [ 1.53886235e-02 5.38463683e-05 9.99881587e-01 1.52117044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.0792541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:933.06, Y:115.45, Z:15.21 [[ 1.90095502e-01 -9.81761575e-01 -2.81263072e-03 9.33055663e+02] [ 9.81644997e-01 1.90116273e-01 -1.51294984e-02 1.15451480e+02] [ 1.53882871e-02 1.15044715e-04 9.99881587e-01 1.52122962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.1092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.06, Y:115.48, Z:15.21 [[ 1.87656784e-01 -9.82229861e-01 -3.07117774e-03 9.33060440e+02] [ 9.82114091e-01 1.87681822e-01 -1.50813403e-02 1.15476806e+02] [ 1.53897470e-02 -1.86131111e-04 9.99881554e-01 1.52135492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.1392541539999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:933.07, Y:115.51, Z:15.21 [[ 1.85617711e-01 -9.82617445e-01 -3.00359823e-03 9.33065084e+02] [ 9.82501522e-01 1.85641951e-01 -1.50938973e-02 1.15505182e+02] [ 1.53891206e-02 -1.49345171e-04 9.99881569e-01 1.52125220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.1692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.07, Y:115.53, Z:15.21 [[ 1.84539527e-01 -9.82820579e-01 -2.97879144e-03 9.33068219e+02] [ 9.82704607e-01 1.84563513e-01 -1.50984920e-02 1.15528353e+02] [ 1.53888849e-02 -1.41003488e-04 9.99881574e-01 1.52127187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.1992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.07, Y:115.56, Z:15.21 [[ 1.80955075e-01 -9.83487393e-01 -2.79432854e-03 9.33070271e+02] [ 9.83370967e-01 1.80976649e-01 -1.51325390e-02 1.15555705e+02] [ 1.53883695e-02 -9.55183283e-06 9.99881592e-01 1.52143817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.2292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.08, Y:115.58, Z:15.21 [[ 1.80243643e-01 -9.83618044e-01 -2.78804109e-03 9.33075903e+02] [ 9.83501615e-01 1.80265204e-01 -1.51336973e-02 1.15581738e+02] [ 1.53883645e-02 -1.42901896e-05 9.99881592e-01 1.52146872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.2592541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:933.08, Y:115.61, Z:15.21 [[ 1.79883295e-01 -9.83684020e-01 -2.78360241e-03 9.33081343e+02] [ 9.83567587e-01 1.79904830e-01 -1.51345137e-02 1.15609193e+02] [ 1.53883628e-02 -1.54149320e-05 9.99881592e-01 1.52148607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.2892541539999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:933.09, Y:115.64, Z:15.21 [[ 1.78841493e-01 -9.83873973e-01 -2.77933758e-03 9.33086798e+02] [ 9.83757551e-01 1.78863086e-01 -1.51352968e-02 1.15636265e+02] [ 1.53883455e-02 -2.73752429e-05 9.99881592e-01 1.52149217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.3192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.09, Y:115.66, Z:15.22 [[ 1.78503123e-01 -9.83935432e-01 -2.77503882e-03 9.33092752e+02] [ 9.83819005e-01 1.78524690e-01 -1.51360850e-02 1.15664263e+02] [ 1.53883432e-02 -2.82974902e-05 9.99881592e-01 1.52170743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.3492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.10, Y:115.69, Z:15.22 [[ 1.77246823e-01 -9.84162530e-01 -2.77093150e-03 9.33099719e+02] [ 9.84046119e-01 1.77268475e-01 -1.51368368e-02 1.15690537e+02] [ 1.53883064e-02 -4.37681514e-05 9.99881592e-01 1.52170543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.3792541539999 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:933.11, Y:115.72, Z:15.22 [[ 1.76816802e-01 -9.84239890e-01 -2.76709228e-03 9.33105672e+02] [ 9.84123477e-01 1.76838447e-01 -1.51375386e-02 1.15718485e+02] [ 1.53882977e-02 -4.65893024e-05 9.99881592e-01 1.52159647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.4092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.11, Y:115.75, Z:15.22 [[ 1.78090424e-01 -9.84010243e-01 -2.76446636e-03 9.33113290e+02] [ 9.83893795e-01 1.78111877e-01 -1.51380182e-02 1.15746374e+02] [ 1.53883492e-02 -2.40052266e-05 9.99881592e-01 1.52184183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.4392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.12, Y:115.77, Z:15.22 [[ 1.79294596e-01 -9.83791557e-01 -2.76038942e-03 9.33118818e+02] [ 9.83675071e-01 1.79315844e-01 -1.51387616e-02 1.15774063e+02] [ 1.53883674e-02 -1.02812380e-06 9.99881592e-01 1.52187678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.4692541539998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:933.12, Y:115.80, Z:15.22 [[ 1.82932969e-01 -9.83121525e-01 -2.75608598e-03 9.33123822e+02] [ 9.83004949e-01 1.82953720e-01 -1.51395450e-02 1.15801351e+02] [ 1.53882487e-02 6.02757581e-05 9.99881592e-01 1.52189419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.4992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.13, Y:115.83, Z:15.22 [[ 1.83711515e-01 -9.82976351e-01 -2.75171981e-03 9.33127893e+02] [ 9.82859748e-01 1.83732106e-01 -1.51403385e-02 1.15828799e+02] [ 1.53881740e-02 7.68998979e-05 9.99881592e-01 1.52160257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.5292541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:933.13, Y:115.85, Z:15.22 [[ 1.87547231e-01 -9.82251701e-01 -2.76247952e-03 9.33133412e+02] [ 9.82135047e-01 1.87567532e-01 -1.51383852e-02 1.15853994e+02] [ 1.53878561e-02 1.26034276e-04 9.99881592e-01 1.52174300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.5592541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:933.14, Y:115.88, Z:15.22 [[ 1.91618709e-01 -9.81465682e-01 -2.71758825e-03 9.33138582e+02] [ 9.81348829e-01 1.91637834e-01 -1.51465182e-02 1.15881999e+02] [ 1.53865806e-02 2.35454223e-04 9.99881592e-01 1.52191839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.5892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.14, Y:115.91, Z:15.22 [[ 1.94960768e-01 -9.80807216e-01 -2.73923396e-03 9.33144078e+02] [ 9.80690353e-01 1.94979829e-01 -1.51426026e-02 1.15909859e+02] [ 1.53860693e-02 2.65873114e-04 9.99881592e-01 1.52205956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.6192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.15, Y:115.94, Z:15.22 [[ 1.95838248e-01 -9.80632399e-01 -2.73487999e-03 9.33148841e+02] [ 9.80515507e-01 1.95857137e-01 -1.51433889e-02 1.15937486e+02] [ 1.53857436e-02 2.84062506e-04 9.99881592e-01 1.52214004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.6492541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:933.15, Y:115.96, Z:15.22 [[ 1.96540071e-01 -9.80491991e-01 -2.73046294e-03 9.33152291e+02] [ 9.80375076e-01 1.96558808e-01 -1.51441853e-02 1.15964617e+02] [ 1.53854490e-02 2.99561437e-04 9.99881592e-01 1.52195481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.6792541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:933.16, Y:115.99, Z:15.22 [[ 1.96074785e-01 -9.80585156e-01 -2.72580667e-03 9.33156666e+02] [ 9.80468238e-01 1.96093506e-01 -1.51450234e-02 1.15992702e+02] [ 1.53854981e-02 2.96990327e-04 9.99881592e-01 1.52198994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.7092541539998 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:933.16, Y:116.02, Z:15.22 [[ 1.95426521e-01 -9.80714571e-01 -2.72138418e-03 9.33161344e+02] [ 9.80597653e-01 1.95445252e-01 -1.51458180e-02 1.16020943e+02] [ 1.53856060e-02 2.91311584e-04 9.99881592e-01 1.52191312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.7392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.17, Y:116.05, Z:15.22 [[ 1.93808422e-01 -9.81035633e-01 -2.71724187e-03 9.33166508e+02] [ 9.80918736e-01 1.93827281e-01 -1.51465611e-02 1.16047503e+02] [ 1.53859918e-02 2.70137639e-04 9.99881592e-01 1.52203213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.7692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.17, Y:116.08, Z:15.22 [[ 1.92730954e-01 -9.81247885e-01 -2.71449614e-03 9.33171567e+02] [ 9.81131002e-01 1.92749899e-01 -1.51470532e-02 1.16075007e+02] [ 1.53862327e-02 2.56029685e-04 9.99881592e-01 1.52211612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.7992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.18, Y:116.10, Z:15.22 [[ 1.91410311e-01 -9.81506367e-01 -2.71013600e-03 9.33177112e+02] [ 9.81389499e-01 1.91429346e-01 -1.51478332e-02 1.16102837e+02] [ 1.53864943e-02 2.39752459e-04 9.99881592e-01 1.52223262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.8292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.18, Y:116.13, Z:15.22 [[ 1.90361023e-01 -9.81710425e-01 -2.70580057e-03 9.33181967e+02] [ 9.81593567e-01 1.90380117e-01 -1.51486076e-02 1.16129703e+02] [ 1.53866767e-02 2.27708019e-04 9.99881592e-01 1.52225914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.8592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.19, Y:116.16, Z:15.22 [[ 1.89554921e-01 -9.81866404e-01 -2.70122790e-03 9.33186941e+02] [ 9.81749550e-01 1.89574040e-01 -1.51494230e-02 1.16157100e+02] [ 1.53867921e-02 2.19718403e-04 9.99881592e-01 1.52228775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.8892541539999 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:933.19, Y:116.18, Z:15.22 [[ 1.87417497e-01 -9.82276646e-01 -2.69688608e-03 9.33192436e+02] [ 9.82159822e-01 1.87436803e-01 -1.51501958e-02 1.16184548e+02] [ 1.53871793e-02 1.90638636e-04 9.99881592e-01 1.52223055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.9192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.20, Y:116.21, Z:15.22 [[ 1.86086846e-01 -9.82529611e-01 -2.69254944e-03 9.33197668e+02] [ 9.82412803e-01 1.86106243e-01 -1.51509665e-02 1.16211777e+02] [ 1.53873735e-02 1.74200528e-04 9.99881592e-01 1.52230987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.9492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.20, Y:116.24, Z:15.22 [[ 1.84437871e-01 -9.82840498e-01 -2.68820391e-03 9.33202535e+02] [ 9.82723712e-01 1.84457397e-01 -1.51517375e-02 1.16238191e+02] [ 1.53876003e-02 1.52792485e-04 9.99881592e-01 1.52233871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.9792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.21, Y:116.27, Z:15.22 [[ 1.83077641e-01 -9.83094791e-01 -2.68503420e-03 9.33207879e+02] [ 9.82978023e-01 1.83097280e-01 -1.51522992e-02 1.16265745e+02] [ 1.53877689e-02 1.34717582e-04 9.99881592e-01 1.52240675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.0092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.21, Y:116.29, Z:15.22 [[ 1.80773358e-01 -9.83521127e-01 -2.68073645e-03 9.33212954e+02] [ 9.83404394e-01 1.80793205e-01 -1.51530595e-02 1.16293645e+02] [ 1.53880131e-02 1.03021455e-04 9.99881592e-01 1.52249220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.0392541539999 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:933.22, Y:116.32, Z:15.22 [[ 1.79780156e-01 -9.83703173e-01 -2.67647207e-03 9.33217899e+02] [ 9.83586449e-01 1.79800055e-01 -1.51538127e-02 1.16321617e+02] [ 1.53880834e-02 9.18131551e-05 9.99881592e-01 1.52247753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.0692541539999 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:933.22, Y:116.35, Z:15.22 [[ 1.78261404e-01 -9.83979538e-01 -2.67220754e-03 9.33221658e+02] [ 9.83862834e-01 1.78281417e-01 -1.51545647e-02 1.16349275e+02] [ 1.53881865e-02 7.23882871e-05 9.99881592e-01 1.52245210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.0992541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:933.23, Y:116.38, Z:15.23 [[ 1.77760992e-01 -9.84070075e-01 -2.66796450e-03 9.33225220e+02] [ 9.83953369e-01 1.77780999e-01 -1.51553116e-02 1.16376878e+02] [ 1.53882020e-02 6.88705661e-05 9.99881592e-01 1.52252484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.1292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.23, Y:116.41, Z:15.22 [[ 1.80803180e-01 -9.83515692e-01 -2.66360469e-03 9.33233754e+02] [ 9.83398914e-01 1.80822759e-01 -1.51560778e-02 1.16406922e+02] [ 1.53878807e-02 1.20881102e-04 9.99881592e-01 1.52236683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.1592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.24, Y:116.43, Z:15.22 [[ 1.80411727e-01 -9.83587255e-01 -2.77861527e-03 9.33238504e+02] [ 9.83470789e-01 1.80433123e-01 -1.51358689e-02 1.16434317e+02] [ 1.53888020e-02 -1.99870468e-06 9.99881585e-01 1.52241413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.1892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.24, Y:116.46, Z:15.22 [[ 1.79547438e-01 -9.83745412e-01 -2.77167819e-03 9.33241626e+02] [ 9.83628946e-01 1.79568830e-01 -1.51370850e-02 1.16461205e+02] [ 1.53887449e-02 -8.47807112e-06 9.99881586e-01 1.52244404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.2192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.24, Y:116.49, Z:15.23 [[ 1.78482554e-01 -9.83939306e-01 -2.72401285e-03 9.33244709e+02] [ 9.83822735e-01 1.78503338e-01 -1.51454255e-02 1.16488504e+02] [ 1.53884248e-02 2.32484509e-05 9.99881591e-01 1.52253571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.2492541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:933.25, Y:116.52, Z:15.22 [[ 1.77477637e-01 -9.84121173e-01 -2.68446151e-03 9.33247645e+02] [ 9.84004518e-01 1.77497931e-01 -1.51523323e-02 1.16516499e+02] [ 1.53882174e-02 4.76778666e-05 9.99881593e-01 1.52248754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.2792541539999 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:933.25, Y:116.54, Z:15.22 [[ 1.76523118e-01 -9.84292871e-01 -2.67088105e-03 9.33251840e+02] [ 9.84176200e-01 1.76543317e-01 -1.51546995e-02 1.16544459e+02] [ 1.53881889e-02 4.65372557e-05 9.99881594e-01 1.52247698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.3092541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:933.25, Y:116.57, Z:15.23 [[ 1.73872722e-01 -9.84764517e-01 -2.66878471e-03 9.33253978e+02] [ 9.84647896e-01 1.73893202e-01 -1.51550643e-02 1.16571383e+02] [ 1.53882531e-02 7.23902472e-06 9.99881594e-01 1.52256066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.3392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.26, Y:116.60, Z:15.23 [[ 1.73555068e-01 -9.84820647e-01 -2.63265602e-03 9.33259991e+02] [ 9.84703937e-01 1.73575030e-01 -1.51613378e-02 1.16599762e+02] [ 1.53881618e-02 3.89402621e-05 9.99881594e-01 1.52259924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.3692541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:933.27, Y:116.63, Z:15.23 [[ 1.72217097e-01 -9.85055443e-01 -2.65453613e-03 9.33265036e+02] [ 9.84938817e-01 1.72237555e-01 -1.51575444e-02 1.16627732e+02] [ 1.53882324e-02 -4.16737859e-06 9.99881594e-01 1.52260431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.3992541539999 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:933.27, Y:116.66, Z:15.23 [[ 1.68135934e-01 -9.85760254e-01 -2.65128896e-03 9.33269239e+02] [ 9.85643706e-01 1.68156824e-01 -1.51581062e-02 1.16655419e+02] [ 1.53880910e-02 -6.46039195e-05 9.99881594e-01 1.52258910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.4292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.27, Y:116.68, Z:15.23 [[ 1.67359632e-01 -9.85892444e-01 -2.61578415e-03 9.33274238e+02] [ 9.85775816e-01 1.67380068e-01 -1.51642383e-02 1.16683634e+02] [ 1.53881380e-02 -4.06954160e-05 9.99881595e-01 1.52264538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.4592541539998 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:933.28, Y:116.71, Z:15.23 [[ 1.63309189e-01 -9.86571449e-01 -2.62400883e-03 9.33276090e+02] [ 9.86454928e-01 1.63330230e-01 -1.51628193e-02 1.16710769e+02] [ 1.53877845e-02 -1.12238719e-04 9.99881595e-01 1.52279923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.4892541539998 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:933.28, Y:116.74, Z:15.23 [[ 1.63371171e-01 -9.86561369e-01 -2.55453402e-03 9.33282020e+02] [ 9.86444658e-01 1.63391137e-01 -1.51747839e-02 1.16739541e+02] [ 1.53882438e-02 -4.07842146e-05 9.99881593e-01 1.52268645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.5192541539999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:933.29, Y:116.77, Z:15.23 [[ 1.61479310e-01 -9.86872619e-01 -2.62017799e-03 9.33285961e+02] [ 9.86756127e-01 1.61500509e-01 -1.51634843e-02 1.16767232e+02] [ 1.53875876e-02 -1.36887700e-04 9.99881595e-01 1.52284558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.5492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.29, Y:116.80, Z:15.23 [[ 1.61628351e-01 -9.86848249e-01 -2.60961266e-03 9.33291171e+02] [ 9.86731724e-01 1.61649369e-01 -1.51653001e-02 1.16795774e+02] [ 1.53876921e-02 -1.23845149e-04 9.99881595e-01 1.52300314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.5792541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:933.29, Y:116.82, Z:15.23 [[ 1.60893460e-01 -9.86968308e-01 -2.61811103e-03 9.33294972e+02] [ 9.86851822e-01 1.60914695e-01 -1.51638408e-02 1.16822537e+02] [ 1.53875228e-02 -1.43924833e-04 9.99881595e-01 1.52294121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.6092541539998 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:933.30, Y:116.85, Z:15.23 [[ 1.59734032e-01 -9.87156662e-01 -2.60089588e-03 9.33298324e+02] [ 9.87040153e-01 1.59755140e-01 -1.51667930e-02 1.16849056e+02] [ 1.53875072e-02 -1.44535670e-04 9.99881595e-01 1.52299447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.6392541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:933.30, Y:116.88, Z:15.23 [[ 1.60723402e-01 -9.86996196e-01 -2.54892215e-03 9.33302242e+02] [ 9.86879524e-01 1.60743594e-01 -1.51756860e-02 1.16877372e+02] [ 1.53880673e-02 -7.63911957e-05 9.99881594e-01 1.52311313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.6692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.31, Y:116.91, Z:15.23 [[ 1.63127865e-01 -9.86601651e-01 -2.54597201e-03 9.33306263e+02] [ 9.86484922e-01 1.63147728e-01 -1.51761905e-02 1.16906485e+02] [ 1.53882242e-02 -3.59034396e-05 9.99881594e-01 1.52318521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.6992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.31, Y:116.93, Z:15.23 [[ 1.64975022e-01 -9.86294421e-01 -2.56091699e-03 9.33308991e+02] [ 9.86177695e-01 1.64994896e-01 -1.51736372e-02 1.16933634e+02] [ 1.53882120e-02 -2.22480821e-05 9.99881594e-01 1.52311599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.7292541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:933.31, Y:116.96, Z:15.23 [[ 1.64484464e-01 -9.86376384e-01 -2.54741632e-03 9.33310321e+02] [ 9.86259633e-01 1.64504188e-01 -1.51759393e-02 1.16957728e+02] [ 1.53882488e-02 -1.62076389e-05 9.99881594e-01 1.52303265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.7592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.32, Y:116.99, Z:15.23 [[ 1.67080229e-01 -9.85940356e-01 -2.41079379e-03 9.33315782e+02] [ 9.85823208e-01 1.67097541e-01 -1.51991368e-02 1.16988460e+02] [ 1.53882801e-02 1.62858794e-04 9.99881580e-01 1.52314910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.7892541539999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:933.32, Y:117.02, Z:15.23 [[ 1.66691804e-01 -9.86005853e-01 -2.51021286e-03 9.33319330e+02] [ 9.85888961e-01 1.66710694e-01 -1.51822306e-02 1.17015966e+02] [ 1.53882476e-02 5.59622606e-05 9.99881592e-01 1.52298999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.8192541539999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:933.33, Y:117.05, Z:15.23 [[ 1.69098966e-01 -9.85595972e-01 -2.47381806e-03 9.33327038e+02] [ 9.85478944e-01 1.69117010e-01 -1.51883998e-02 1.17045360e+02] [ 1.53879904e-02 1.30447095e-04 9.99881589e-01 1.52292008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.8492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.33, Y:117.07, Z:15.23 [[ 1.68586768e-01 -9.85683470e-01 -2.56898075e-03 9.33331303e+02] [ 9.85566692e-01 1.68606338e-01 -1.51722683e-02 1.17071961e+02] [ 1.53882005e-02 2.59418085e-05 9.99881594e-01 1.52304863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.8792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.33, Y:117.10, Z:15.23 [[ 1.65245065e-01 -9.86249196e-01 -2.56747054e-03 9.33333444e+02] [ 9.86132482e-01 1.65265007e-01 -1.51725238e-02 1.17098655e+02] [ 1.53882025e-02 -2.46814119e-05 9.99881594e-01 1.52323561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.9092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.34, Y:117.13, Z:15.23 [[ 1.65030143e-01 -9.86285401e-01 -2.48179961e-03 9.33339400e+02] [ 9.86168470e-01 1.65048792e-01 -1.51869854e-02 1.17127418e+02] [ 1.53883200e-02 5.88378368e-05 9.99881591e-01 1.52315543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.9392541539999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:933.34, Y:117.15, Z:15.23 [[ 1.62276691e-01 -9.86741969e-01 -2.56168716e-03 9.33344607e+02] [ 9.86625300e-01 1.62296896e-01 -1.51734983e-02 1.17153907e+02] [ 1.53880815e-02 -6.51202634e-05 9.99881594e-01 1.52320989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.9692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.35, Y:117.18, Z:15.23 [[ 1.62573188e-01 -9.86693319e-01 -2.50049160e-03 9.33350678e+02] [ 9.86576483e-01 1.62592417e-01 -1.51838213e-02 1.17182646e+02] [ 1.53883360e-02 1.55602737e-06 9.99881593e-01 1.52329797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.9992541539999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:933.36, Y:117.21, Z:15.23 [[ 1.61933202e-01 -9.86798460e-01 -2.53725089e-03 9.33356026e+02] [ 9.86681733e-01 1.61953072e-01 -1.51776228e-02 1.17210632e+02] [ 1.53881704e-02 -4.56980534e-05 9.99881594e-01 1.52328639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.0292541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:933.36, Y:117.24, Z:15.23 [[ 1.61843812e-01 -9.86813078e-01 -2.55543829e-03 9.33362355e+02] [ 9.86696401e-01 1.61863973e-01 -1.51745600e-02 1.17239010e+02] [ 1.53880876e-02 -6.55331255e-05 9.99881594e-01 1.52327125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.0592541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:933.37, Y:117.27, Z:15.23 [[ 1.59964218e-01 -9.87119383e-01 -2.60238607e-03 9.33365258e+02] [ 9.87002872e-01 1.59985322e-01 -1.51666634e-02 1.17265054e+02] [ 1.53876510e-02 -1.42439073e-04 9.99881593e-01 1.52346464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.0892541539998 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:933.37, Y:117.29, Z:15.23 [[ 1.60203499e-01 -9.87080725e-01 -2.54597063e-03 9.33369685e+02] [ 9.86964056e-01 1.60223708e-01 -1.51761278e-02 1.17291635e+02] [ 1.53879880e-02 -8.15127228e-05 9.99881595e-01 1.52340344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.1192541539998 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:933.37, Y:117.32, Z:15.23 [[ 1.61032372e-01 -9.86945923e-01 -2.51387667e-03 9.33374112e+02] [ 9.86829154e-01 1.61051988e-01 -1.51814997e-02 1.17316815e+02] [ 1.53881840e-02 -3.60538936e-05 9.99881594e-01 1.52333092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.1492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.38, Y:117.35, Z:15.24 [[ 1.60595323e-01 -9.87017246e-01 -2.46952742e-03 9.33378797e+02] [ 9.86900370e-01 1.60614309e-01 -1.51889053e-02 1.17345629e+02] [ 1.53883529e-02 2.08961632e-06 9.99881592e-01 1.52357059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.1792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.39, Y:117.37, Z:15.24 [[ 1.62047002e-01 -9.86779789e-01 -2.53320186e-03 9.33386075e+02] [ 9.86663050e-01 1.62066797e-01 -1.51782783e-02 1.17374429e+02] [ 1.53881661e-02 -3.98221713e-05 9.99881594e-01 1.52354028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.2092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.39, Y:117.40, Z:15.24 [[ 1.61558019e-01 -9.86859787e-01 -2.60150631e-03 9.33388243e+02] [ 9.86743238e-01 1.61578921e-01 -1.51668873e-02 1.17399867e+02] [ 1.53879398e-02 -1.16686486e-04 9.99881592e-01 1.52372624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.2392541539998 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:933.40, Y:117.43, Z:15.24 [[ 1.64005671e-01 -9.86456164e-01 -2.52525256e-03 9.33396086e+02] [ 9.86339365e-01 1.64025111e-01 -1.51795728e-02 1.17429330e+02] [ 1.53881880e-02 -1.21996900e-06 9.99881595e-01 1.52365207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.2692541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:933.40, Y:117.46, Z:15.24 [[ 1.64938323e-01 -9.86300417e-01 -2.61487883e-03 9.33401063e+02] [ 9.86183832e-01 1.64959031e-01 -1.51646842e-02 1.17457422e+02] [ 1.53882822e-02 -7.75136486e-05 9.99881590e-01 1.52378204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.2992541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:933.41, Y:117.48, Z:15.24 [[ 1.65203978e-01 -9.86255959e-01 -2.61326239e-03 9.33405329e+02] [ 9.86139364e-01 1.65224630e-01 -1.51649522e-02 1.17484218e+02] [ 1.53882997e-02 -7.17304948e-05 9.99881591e-01 1.52376354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.3292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.41, Y:117.51, Z:15.24 [[ 1.64686445e-01 -9.86342542e-01 -2.60084353e-03 9.33408406e+02] [ 9.86225926e-01 1.64706967e-01 -1.51670086e-02 1.17511027e+02] [ 1.53882429e-02 -6.72185860e-05 9.99881592e-01 1.52392777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.3592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.41, Y:117.54, Z:15.24 [[ 1.64216617e-01 -9.86421018e-01 -2.54513815e-03 9.33412807e+02] [ 9.86304267e-01 1.64236338e-01 -1.51762088e-02 1.17537950e+02] [ 1.53881355e-02 -1.80949435e-05 9.99881595e-01 1.52398099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.3892541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:933.42, Y:117.57, Z:15.24 [[ 1.63543271e-01 -9.86532919e-01 -2.52956682e-03 9.33418699e+02] [ 9.86416142e-01 1.63562832e-01 -1.51787757e-02 1.17565932e+02] [ 1.53881050e-02 -1.28189165e-05 9.99881596e-01 1.52403756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.4192541539999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:933.42, Y:117.59, Z:15.24 [[ 1.62699209e-01 -9.86672435e-01 -2.54429937e-03 9.33421924e+02] [ 9.86555713e-01 1.62719097e-01 -1.51763500e-02 1.17591458e+02] [ 1.53880923e-02 -4.09129390e-05 9.99881595e-01 1.52393985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.4492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.43, Y:117.62, Z:15.24 [[ 1.63427059e-01 -9.86552265e-01 -2.49487161e-03 9.33426854e+02] [ 9.86435403e-01 1.63446100e-01 -1.51844712e-02 1.17619455e+02] [ 1.53880515e-02 2.05237951e-05 9.99881597e-01 1.52436501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.4792541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:933.43, Y:117.65, Z:15.24 [[ 1.63763154e-01 -9.86496558e-01 -2.48414501e-03 9.33431549e+02] [ 9.86379662e-01 1.63781990e-01 -1.51862309e-02 1.17648107e+02] [ 1.53880227e-02 3.66349446e-05 9.99881597e-01 1.52440820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.5092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.43, Y:117.68, Z:15.24 [[ 1.65767829e-01 -9.86161664e-01 -2.48995256e-03 9.33434988e+02] [ 9.86044745e-01 1.65786517e-01 -1.51852788e-02 1.17676058e+02] [ 1.53879404e-02 6.20260739e-05 9.99881597e-01 1.52448102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.5392541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:933.44, Y:117.70, Z:15.24 [[ 1.66304294e-01 -9.86071368e-01 -2.47753633e-03 9.33438931e+02] [ 9.85954409e-01 1.66322727e-01 -1.51873111e-02 1.17704036e+02] [ 1.53878433e-02 8.29771916e-05 9.99881597e-01 1.52434250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.5692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.44, Y:117.73, Z:15.25 [[ 1.67459468e-01 -9.85875833e-01 -2.48351950e-03 9.33441646e+02] [ 9.85758867e-01 1.67477856e-01 -1.51863327e-02 1.17731030e+02] [ 1.53877729e-02 9.49438179e-05 9.99881597e-01 1.52466209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.5992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.45, Y:117.76, Z:15.24 [[ 1.69645508e-01 -9.85502159e-01 -2.42823106e-03 9.33447454e+02] [ 9.85385022e-01 1.69662784e-01 -1.51953523e-02 1.17759576e+02] [ 1.53870330e-02 1.85080745e-04 9.99881595e-01 1.52444073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.6292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.45, Y:117.79, Z:15.25 [[ 1.70225405e-01 -9.85402041e-01 -2.47562757e-03 9.33450320e+02] [ 9.85285005e-01 1.70243343e-01 -1.51876266e-02 1.17787087e+02] [ 1.53873774e-02 1.46121161e-04 9.99881597e-01 1.52472790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.6592541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:933.46, Y:117.82, Z:15.25 [[ 1.72446367e-01 -9.85015909e-01 -2.43096111e-03 9.33455947e+02] [ 9.84898729e-01 1.72463352e-01 -1.51948967e-02 1.17815346e+02] [ 1.53864667e-02 2.26054211e-04 9.99881596e-01 1.52456641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.6892541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:933.46, Y:117.84, Z:15.24 [[ 1.70593571e-01 -9.85338385e-01 -2.47009363e-03 9.33457019e+02] [ 9.85221328e-01 1.70611380e-01 -1.51885326e-02 1.17841213e+02] [ 1.53872703e-02 1.57477092e-04 9.99881597e-01 1.52427811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.7192541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:933.46, Y:117.87, Z:15.25 [[ 1.72961945e-01 -9.84925661e-01 -2.36819719e-03 9.33464730e+02] [ 9.84808332e-01 1.72977901e-01 -1.52050696e-02 1.17870429e+02] [ 1.53855090e-02 2.97678091e-04 9.99881592e-01 1.52450003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.7492541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:933.47, Y:117.90, Z:15.25 [[ 1.70748146e-01 -9.85311624e-01 -2.46460035e-03 9.33469778e+02] [ 9.85194552e-01 1.70765853e-01 -1.51894275e-02 1.17898479e+02] [ 1.53871891e-02 1.65455754e-04 9.99881597e-01 1.52456692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.7792541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:933.47, Y:117.93, Z:15.25 [[ 1.68939365e-01 -9.85623375e-01 -2.46029791e-03 9.33474675e+02] [ 9.85506326e-01 1.68957220e-01 -1.51901244e-02 1.17926584e+02] [ 1.53874267e-02 1.41570813e-04 9.99881597e-01 1.52464964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.8092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.48, Y:117.95, Z:15.25 [[ 1.66447038e-01 -9.86047338e-01 -2.45595307e-03 9.33479803e+02] [ 9.85930323e-01 1.66465121e-01 -1.51908268e-02 1.17954085e+02] [ 1.53877049e-02 1.07069522e-04 9.99881597e-01 1.52474257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.8392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.49, Y:117.98, Z:15.25 [[ 1.60963981e-01 -9.86957237e-01 -2.45154064e-03 9.33485698e+02] [ 9.86840314e-01 1.60982647e-01 -1.51915389e-02 1.17980115e+02] [ 1.53880547e-02 2.60114404e-05 9.99881597e-01 1.52483236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.8692541539998 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:933.49, Y:118.01, Z:15.24 [[ 1.54604617e-01 -9.87973393e-01 -2.44689442e-03 9.33488686e+02] [ 9.87856581e-01 1.54623964e-01 -1.51922872e-02 1.18006693e+02] [ 1.53879240e-02 -6.83830065e-05 9.99881597e-01 1.52433752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.8992541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:933.49, Y:118.03, Z:15.24 [[ 1.47572628e-01 -9.89048357e-01 -2.38074027e-03 9.33492672e+02] [ 9.88931512e-01 1.47591789e-01 -1.52029352e-02 1.18033214e+02] [ 1.53878157e-02 -1.10851985e-04 9.99881594e-01 1.52438836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.9292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.50, Y:118.06, Z:15.25 [[ 1.45225078e-01 -9.89395990e-01 -2.29155309e-03 9.33498167e+02] [ 9.89278962e-01 1.45243146e-01 -1.52172598e-02 1.18060911e+02] [ 1.53887282e-02 -5.70575165e-05 9.99881585e-01 1.52450845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.9592541539998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:933.50, Y:118.09, Z:15.25 [[ 1.40359093e-01 -9.90097946e-01 -2.31980176e-03 9.33503996e+02] [ 9.89981082e-01 1.40378170e-01 -1.52127282e-02 1.18089442e+02] [ 1.53877405e-02 -1.61315123e-04 9.99881589e-01 1.52454930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.9892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.51, Y:118.12, Z:15.25 [[ 1.40678777e-01 -9.90052530e-01 -2.33861445e-03 9.33511532e+02] [ 9.89935709e-01 1.40698104e-01 -1.52097058e-02 1.18119931e+02] [ 1.53874463e-02 -1.75395149e-04 9.99881591e-01 1.52490073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.0192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.51, Y:118.15, Z:15.25 [[ 1.38193048e-01 -9.90402304e-01 -2.44075161e-03 9.33514841e+02] [ 9.90285812e-01 1.38214236e-01 -1.51932995e-02 1.18145795e+02] [ 1.53848254e-02 -3.17433324e-04 9.99881596e-01 1.52472520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.0492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.52, Y:118.17, Z:15.25 [[ 1.38024092e-01 -9.90426018e-01 -2.37771150e-03 9.33519098e+02] [ 9.90309355e-01 1.38044332e-01 -1.52033922e-02 1.18173015e+02] [ 1.53860648e-02 -2.56235540e-04 9.99881595e-01 1.52476517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.0792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.53, Y:118.20, Z:15.25 [[ 1.39591554e-01 -9.90206323e-01 -2.37383158e-03 9.33526069e+02] [ 9.90089619e-01 1.39611551e-01 -1.52040126e-02 1.18200687e+02] [ 1.53865237e-02 -2.27954254e-04 9.99881594e-01 1.52540010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.1092541539998 meters Centerline goodness : 0.999385 Centerline is valid? [True, True] Translation: X:933.53, Y:118.23, Z:15.25 [[ 1.40848889e-01 -9.90028129e-01 -2.42769020e-03 9.33531209e+02] [ 9.89911544e-01 1.40869564e-01 -1.51954079e-02 1.18230576e+02] [ 1.53858689e-02 -2.62942243e-04 9.99881596e-01 1.52516413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.1392541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:933.53, Y:118.25, Z:15.25 [[ 1.42342049e-01 -9.89814302e-01 -2.52760242e-03 9.33533493e+02] [ 9.89697961e-01 1.42364081e-01 -1.51794400e-02 1.18254260e+02] [ 1.53846666e-02 -3.40890361e-04 9.99881591e-01 1.52549179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.1692541539999 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:933.54, Y:118.28, Z:15.25 [[ 1.46496799e-01 -9.89208184e-01 -2.42013675e-03 9.33536016e+02] [ 9.89091464e-01 1.46516692e-01 -1.51965546e-02 1.18281723e+02] [ 1.53871467e-02 -1.67489989e-04 9.99881597e-01 1.52531367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.1992541539998 meters Centerline goodness : 0.995749 Centerline is valid? [True, True] Translation: X:933.54, Y:118.31, Z:15.25 [[ 1.48927604e-01 -9.88845151e-01 -2.41571138e-03 9.33539266e+02] [ 9.88728371e-01 1.48947143e-01 -1.51972581e-02 1.18310884e+02] [ 1.53875483e-02 -1.25191134e-04 9.99881597e-01 1.52510890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.2292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.54, Y:118.34, Z:15.25 [[ 1.55747479e-01 -9.87793740e-01 -2.49986273e-03 9.33540954e+02] [ 9.87677039e-01 1.55767505e-01 -1.51838898e-02 1.18335694e+02] [ 1.53879487e-02 -1.04204458e-04 9.99881593e-01 1.52522447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.2592541539999 meters Centerline goodness : 0.998317 Centerline is valid? [True, True] Translation: X:933.54, Y:118.36, Z:15.25 [[ 1.57290790e-01 -9.87549406e-01 -2.40370925e-03 9.33544700e+02] [ 9.87432437e-01 1.57309155e-01 -1.51990964e-02 1.18364905e+02] [ 1.53879841e-02 1.71773942e-05 9.99881598e-01 1.52497829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.2892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.55, Y:118.39, Z:15.25 [[ 1.64228224e-01 -9.86419224e-01 -2.49079405e-03 9.33547198e+02] [ 9.86302334e-01 1.64247107e-01 -1.51853363e-02 1.18389465e+02] [ 1.53882134e-02 3.71848331e-05 9.99881594e-01 1.52525555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.3192541539999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:933.55, Y:118.42, Z:15.25 [[ 1.64641902e-01 -9.86350505e-01 -2.39268166e-03 9.33550900e+02] [ 9.86233378e-01 1.64659225e-01 -1.52007798e-02 1.18418524e+02] [ 1.53872739e-02 1.42942773e-04 9.99881599e-01 1.52537050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.3492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.55, Y:118.45, Z:15.26 [[ 1.67757424e-01 -9.85825364e-01 -2.40797996e-03 9.33552894e+02] [ 9.85708217e-01 1.67774613e-01 -1.51983753e-02 1.18445327e+02] [ 1.53869418e-02 1.76074663e-04 9.99881599e-01 1.52589940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.3792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.56, Y:118.47, Z:15.26 [[ 1.71248856e-01 -9.85225044e-01 -2.33302403e-03 9.33558539e+02] [ 9.85107675e-01 1.71264473e-01 -1.52101449e-02 1.18473361e+02] [ 1.53849798e-02 3.06440041e-04 9.99881597e-01 1.52574521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.4092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.56, Y:118.50, Z:15.26 [[ 1.71400275e-01 -9.85198583e-01 -2.38698410e-03 9.33561739e+02] [ 9.85081328e-01 1.71416707e-01 -1.52016721e-02 1.18501434e+02] [ 1.53858348e-02 2.54197310e-04 9.99881599e-01 1.52588620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.4392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.56, Y:118.53, Z:15.26 [[ 1.69897192e-01 -9.85458912e-01 -2.38281399e-03 9.33563415e+02] [ 9.85341672e-01 1.69913738e-01 -1.52023257e-02 1.18527998e+02] [ 1.53861402e-02 2.34946525e-04 9.99881599e-01 1.52582237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.4692541539998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:933.57, Y:118.56, Z:15.26 [[ 1.69947533e-01 -9.85450438e-01 -2.29558490e-03 9.33567632e+02] [ 9.85333012e-01 1.69962728e-01 -1.52159834e-02 1.18555565e+02] [ 1.53847614e-02 3.24003259e-04 9.99881595e-01 1.52579687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.4992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.57, Y:118.58, Z:15.26 [[ 1.70754611e-01 -9.85310868e-01 -2.31423056e-03 9.33572122e+02] [ 9.85193469e-01 1.70769997e-01 -1.52130671e-02 1.18584212e+02] [ 1.53848015e-02 3.17736517e-04 9.99881596e-01 1.52594425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.5292541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:933.58, Y:118.61, Z:15.26 [[ 1.71361184e-01 -9.85205522e-01 -2.32892396e-03 9.33576003e+02] [ 9.85088144e-01 1.71376725e-01 -1.52107709e-02 1.18612305e+02] [ 1.53848588e-02 3.12340334e-04 9.99881597e-01 1.52588539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.5592541539999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:933.58, Y:118.64, Z:15.26 [[ 1.72338899e-01 -9.85034952e-01 -2.33419363e-03 9.33580720e+02] [ 9.84917569e-01 1.72354404e-01 -1.52099480e-02 1.18640854e+02] [ 1.53846389e-02 3.22277369e-04 9.99881598e-01 1.52592294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.5892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.58, Y:118.67, Z:15.26 [[ 1.73078933e-01 -9.84905146e-01 -2.35282069e-03 9.33583831e+02] [ 9.84787790e-01 1.73094638e-01 -1.52070414e-02 1.18669011e+02] [ 1.53847539e-02 3.14989411e-04 9.99881598e-01 1.52596502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.6192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.59, Y:118.70, Z:15.26 [[ 1.74701262e-01 -9.84618765e-01 -2.31451570e-03 9.33587646e+02] [ 9.84501305e-01 1.74716182e-01 -1.52130081e-02 1.18696859e+02] [ 1.53833966e-02 3.79087998e-04 9.99881597e-01 1.52594361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.6492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.59, Y:118.72, Z:15.26 [[ 1.76969060e-01 -9.84213655e-01 -2.33084478e-03 9.33593146e+02] [ 9.84096194e-01 1.76983962e-01 -1.52104691e-02 1.18724616e+02] [ 1.53828735e-02 3.98006947e-04 9.99881597e-01 1.52576802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.6792541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:933.60, Y:118.75, Z:15.26 [[ 1.75412450e-01 -9.84492199e-01 -2.36263755e-03 9.33597878e+02] [ 9.84374826e-01 1.75428028e-01 -1.52055292e-02 1.18750942e+02] [ 1.53841977e-02 3.41518192e-04 9.99881598e-01 1.52551698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.7092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.60, Y:118.78, Z:15.26 [[ 1.73944897e-01 -9.84752564e-01 -2.35824481e-03 9.33602922e+02] [ 9.84635205e-01 1.73960582e-01 -1.52062104e-02 1.18778815e+02] [ 1.53845963e-02 3.23031837e-04 9.99881598e-01 1.52563742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.7392541539998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:933.61, Y:118.80, Z:15.26 [[ 1.63568165e-01 -9.86529226e-01 -2.35397019e-03 9.33605347e+02] [ 9.86412030e-01 1.63585019e-01 -1.52068721e-02 1.18803710e+02] [ 1.53870980e-02 1.65375650e-04 9.99881598e-01 1.52577999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.7692541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:933.62, Y:118.83, Z:15.26 [[ 1.63831782e-01 -9.86485862e-01 -2.18896092e-03 9.33616074e+02] [ 9.86368311e-01 1.63846060e-01 -1.52323192e-02 1.18833741e+02] [ 1.53851202e-02 3.36416329e-04 9.99881585e-01 1.52579179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.7992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.62, Y:118.86, Z:15.26 [[ 1.52629799e-01 -9.88280642e-01 -2.34898101e-03 9.33620466e+02] [ 9.88163628e-01 1.52647873e-01 -1.52076026e-02 1.18859186e+02] [ 1.53879462e-02 -4.42729842e-08 9.99881599e-01 1.52624550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.8292541539998 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:933.63, Y:118.89, Z:15.26 [[ 1.49460658e-01 -9.88765097e-01 -2.25702020e-03 9.33628604e+02] [ 9.88647924e-01 1.49477693e-01 -1.52217645e-02 1.18888094e+02] [ 1.53881237e-02 4.36566145e-05 9.99881595e-01 1.52623583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.8592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.63, Y:118.91, Z:15.27 [[ 1.37497544e-01 -9.90499337e-01 -2.34266666e-03 9.33632175e+02] [ 9.90382597e-01 1.37517309e-01 -1.52085720e-02 1.18913728e+02] [ 1.53862377e-02 -2.28994999e-04 9.99881599e-01 1.52660161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.8892541539999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:933.64, Y:118.94, Z:15.27 [[ 1.30388209e-01 -9.91460476e-01 -2.24501047e-03 9.33641389e+02] [ 9.91343621e-01 1.30407313e-01 -1.52235697e-02 1.18942148e+02] [ 1.53863334e-02 -2.40602817e-04 9.99881594e-01 1.52655978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.9192541539999 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:933.65, Y:118.97, Z:15.27 [[ 1.26160720e-01 -9.92007062e-01 -2.33707699e-03 9.33646230e+02] [ 9.91890540e-01 1.26181733e-01 -1.52094228e-02 1.18969033e+02] [ 1.53827513e-02 -3.99292829e-04 9.99881599e-01 1.52658092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.9492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.65, Y:118.99, Z:15.27 [[ 1.19418568e-01 -9.92841259e-01 -2.33255670e-03 9.33650496e+02] [ 9.92724869e-01 1.19440303e-01 -1.52101161e-02 1.18994853e+02] [ 1.53798320e-02 -4.99216762e-04 9.99881599e-01 1.52664237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.9792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.65, Y:119.02, Z:15.27 [[ 1.16124633e-01 -9.93231922e-01 -2.32782311e-03 9.33654154e+02] [ 9.93115592e-01 1.16146682e-01 -1.52108405e-02 1.19022446e+02] [ 1.53782612e-02 -5.45444153e-04 9.99881599e-01 1.52680130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.0092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.66, Y:119.05, Z:15.27 [[ 1.13298140e-01 -9.93558319e-01 -2.32345774e-03 9.33657489e+02] [ 9.93442039e-01 1.13320453e-01 -1.52115073e-02 1.19049360e+02] [ 1.53768149e-02 -5.84785122e-04 9.99881599e-01 1.52672120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.0392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.66, Y:119.08, Z:15.27 [[ 1.08822042e-01 -9.94058543e-01 -2.31885989e-03 9.33659884e+02] [ 9.93942351e-01 1.08844808e-01 -1.52122081e-02 1.19077033e+02] [ 1.53742213e-02 -6.49389500e-04 9.99881599e-01 1.52672341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.0692541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:933.66, Y:119.10, Z:15.27 [[ 1.03286630e-01 -9.94648941e-01 -2.31458470e-03 9.33657862e+02] [ 9.94532864e-01 1.03309977e-01 -1.52128586e-02 1.19100858e+02] [ 1.53705734e-02 -7.30645659e-04 9.99881599e-01 1.52681483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.0992541539998 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:933.66, Y:119.13, Z:15.27 [[ 1.03767099e-01 -9.94599365e-01 -2.11943801e-03 9.33663702e+02] [ 9.94482700e-01 1.03787408e-01 -1.52424660e-02 1.19130584e+02] [ 1.53801180e-02 -5.26077965e-04 9.99881581e-01 1.52671506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.1292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.66, Y:119.16, Z:15.27 [[ 1.02247356e-01 -9.94756534e-01 -2.21743535e-03 9.33662973e+02] [ 9.94640188e-01 1.02269341e-01 -1.52275570e-02 1.19158107e+02] [ 1.53744875e-02 -6.48572872e-04 9.99881595e-01 1.52710316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.1592541539999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:933.67, Y:119.19, Z:15.27 [[ 1.03605865e-01 -9.94616145e-01 -2.13262865e-03 9.33666895e+02] [ 9.94499523e-01 1.03626395e-01 -1.52403746e-02 1.19187549e+02] [ 1.53793192e-02 -5.41905980e-04 9.99881584e-01 1.52687194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.1892541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:933.67, Y:119.22, Z:15.27 [[ 1.08858422e-01 -9.94054843e-01 -2.19394272e-03 9.33668855e+02] [ 9.93938286e-01 1.08879274e-01 -1.52311267e-02 1.19217716e+02] [ 1.53794501e-02 -5.22607252e-04 9.99881593e-01 1.52704920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.2192541539998 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:933.67, Y:119.25, Z:15.27 [[ 1.11037193e-01 -9.93813603e-01 -2.29447501e-03 9.33670353e+02] [ 9.93697288e-01 1.11059327e-01 -1.52159671e-02 1.19245731e+02] [ 1.53766579e-02 -5.90475326e-04 9.99881598e-01 1.52710546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.2492541539999 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:933.67, Y:119.27, Z:15.27 [[ 1.17824948e-01 -9.93031740e-01 -2.29014055e-03 9.33668308e+02] [ 9.92915265e-01 1.17846220e-01 -1.52166194e-02 1.19273497e+02] [ 1.53804705e-02 -4.81018120e-04 9.99881598e-01 1.52723059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.2792541539999 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:933.67, Y:119.30, Z:15.27 [[ 1.21798311e-01 -9.92552239e-01 -2.28556718e-03 9.33669211e+02] [ 9.92435667e-01 1.21819047e-01 -1.52173063e-02 1.19301820e+02] [ 1.53823971e-02 -4.14836189e-04 9.99881598e-01 1.52734641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.3092541539999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:933.67, Y:119.33, Z:15.27 [[ 1.31435901e-01 -9.91322046e-01 -2.28124732e-03 9.33666758e+02] [ 9.91205267e-01 1.31455438e-01 -1.52179539e-02 1.19329759e+02] [ 1.53857756e-02 -2.60998866e-04 9.99881598e-01 1.52739338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.3392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.66, Y:119.36, Z:15.28 [[ 1.42820829e-01 -9.89745938e-01 -2.27809317e-03 9.33664708e+02] [ 9.89628934e-01 1.42838973e-01 -1.52184261e-02 1.19358711e+02] [ 1.53877759e-02 -8.09586935e-05 9.99881598e-01 1.52756235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.3692541539998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:933.66, Y:119.39, Z:15.28 [[ 1.47836443e-01 -9.89009209e-01 -2.27377299e-03 9.33664876e+02] [ 9.88892105e-01 1.47853927e-01 -1.52190715e-02 1.19385898e+02] [ 1.53879882e-02 1.41724126e-06 9.99881598e-01 1.52755227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.3992541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:933.66, Y:119.41, Z:15.28 [[ 1.57481014e-01 -9.87519408e-01 -2.26921120e-03 9.33661840e+02] [ 9.87402129e-01 1.57497285e-01 -1.52197517e-02 1.19414560e+02] [ 1.53871948e-02 1.56197951e-04 9.99881598e-01 1.52758084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.4292541539999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:933.66, Y:119.44, Z:15.27 [[ 1.60557935e-01 -9.87023820e-01 -2.26479875e-03 9.33662658e+02] [ 9.86906481e-01 1.60573772e-01 -1.52204082e-02 1.19441473e+02] [ 1.53865727e-02 2.08612750e-04 9.99881598e-01 1.52741601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.4592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.66, Y:119.47, Z:15.28 [[ 1.63693713e-01 -9.86508621e-01 -2.26014128e-03 9.33663998e+02] [ 9.86391224e-01 1.63709105e-01 -1.52210998e-02 1.19468678e+02] [ 1.53857519e-02 2.62214820e-04 9.99881598e-01 1.52762468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.4892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.67, Y:119.50, Z:15.28 [[ 1.64949887e-01 -9.86299438e-01 -2.22583407e-03 9.33665160e+02] [ 9.86181953e-01 1.64964600e-01 -1.52261825e-02 1.19497567e+02] [ 1.53847590e-02 3.16479683e-04 9.99881598e-01 1.52761840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.5192541539999 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:933.67, Y:119.53, Z:15.27 [[ 1.61647711e-01 -9.86845960e-01 -2.25131950e-03 9.33667986e+02] [ 9.86728577e-01 1.61663210e-01 -1.52224133e-02 1.19525092e+02] [ 1.53861326e-02 2.39226976e-04 9.99881598e-01 1.52735036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.5492541539999 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:933.67, Y:119.55, Z:15.27 [[ 1.58074586e-01 -9.87424618e-01 -2.24692068e-03 9.33671646e+02] [ 9.87307283e-01 1.58090443e-01 -1.52230626e-02 1.19552397e+02] [ 1.53868434e-02 1.87978160e-04 9.99881598e-01 1.52737077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.5792541539998 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:933.68, Y:119.58, Z:15.27 [[ 1.57795451e-01 -9.87469274e-01 -2.24229029e-03 9.33675726e+02] [ 9.87351934e-01 1.57811269e-01 -1.52237446e-02 1.19580675e+02] [ 1.53868387e-02 1.88307987e-04 9.99881598e-01 1.52741459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.6092541539998 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:933.68, Y:119.61, Z:15.27 [[ 1.54453471e-01 -9.87997529e-01 -2.23798610e-03 9.33679159e+02] [ 9.87880233e-01 1.54469620e-01 -1.52243773e-02 1.19608241e+02] [ 1.53873480e-02 1.40595688e-04 9.99881598e-01 1.52740355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.6392541539999 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:933.68, Y:119.63, Z:15.27 [[ 1.53025627e-01 -9.88219697e-01 -2.23361247e-03 9.33683069e+02] [ 9.88102415e-01 1.53041878e-01 -1.52250189e-02 1.19634656e+02] [ 1.53874998e-02 1.22780194e-04 9.99881598e-01 1.52731075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.6692541539999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:933.69, Y:119.66, Z:15.27 [[ 1.52130618e-01 -9.88357881e-01 -2.23042380e-03 9.33688223e+02] [ 9.88240607e-01 1.52146927e-01 -1.52254860e-02 1.19660892e+02] [ 1.53875812e-02 1.12067243e-04 9.99881598e-01 1.52734997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.6992541539998 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:933.69, Y:119.69, Z:15.27 [[ 1.50095925e-01 -9.88668930e-01 -2.22726867e-03 9.33692721e+02] [ 9.88551683e-01 1.50112426e-01 -1.52259476e-02 1.19689007e+02] [ 1.53877620e-02 8.35824948e-05 9.99881598e-01 1.52707534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.7292541539998 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:933.70, Y:119.72, Z:15.27 [[ 1.48964700e-01 -9.88840016e-01 -2.22300003e-03 9.33697470e+02] [ 9.88722779e-01 1.48981269e-01 -1.52265708e-02 1.19715489e+02] [ 1.53878279e-02 7.02907783e-05 9.99881598e-01 1.52709590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.7592541539999 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:933.70, Y:119.74, Z:15.27 [[ 1.45998285e-01 -9.89282355e-01 -2.21857010e-03 9.33703434e+02] [ 9.89165159e-01 1.46015138e-01 -1.52272162e-02 1.19743253e+02] [ 1.53879611e-02 2.86152052e-05 9.99881598e-01 1.52721719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.7892541539999 meters Centerline goodness : 0.999614 Centerline is valid? [True, True] Translation: X:933.71, Y:119.77, Z:15.27 [[ 1.43185823e-01 -9.89693345e-01 -2.21436049e-03 9.33708157e+02] [ 9.89576187e-01 1.43202944e-01 -1.52278284e-02 1.19771332e+02] [ 1.53879833e-02 -1.08692681e-05 9.99881598e-01 1.52724080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.8192541539999 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:933.71, Y:119.80, Z:15.28 [[ 1.37850798e-01 -9.90450541e-01 -2.20998426e-03 9.33714741e+02] [ 9.90333467e-01 1.37868483e-01 -1.52284634e-02 1.19798999e+02] [ 1.53877270e-02 -8.93655360e-05 9.99881598e-01 1.52755823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.8492541539998 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:933.72, Y:119.83, Z:15.28 [[ 1.34656435e-01 -9.90889892e-01 -2.20585928e-03 9.33720422e+02] [ 9.90772866e-01 1.34674434e-01 -1.52290609e-02 1.19826263e+02] [ 1.53873954e-02 -1.34814459e-04 9.99881598e-01 1.52770298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.8792541539999 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:933.73, Y:119.85, Z:15.28 [[ 1.27818060e-01 -9.91795189e-01 -2.20143075e-03 9.33726848e+02] [ 9.91678279e-01 1.27836797e-01 -1.52297011e-02 1.19853091e+02] [ 1.53861681e-02 -2.36480219e-04 9.99881598e-01 1.52785323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.9092541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:933.73, Y:119.88, Z:15.28 [[ 1.24630238e-01 -9.92200825e-01 -2.19676402e-03 9.33732032e+02] [ 9.92083965e-01 1.24649280e-01 -1.52303742e-02 1.19879597e+02] [ 1.53854149e-02 -2.81209198e-04 9.99881598e-01 1.52806361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.9392541539999 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:933.74, Y:119.91, Z:15.28 [[ 1.18141241e-01 -9.92994381e-01 -2.19217413e-03 9.33738005e+02] [ 9.92877636e-01 1.18160976e-01 -1.52310348e-02 1.19906913e+02] [ 1.53833614e-02 -3.77147317e-04 9.99881598e-01 1.52809634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.9692541539998 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:933.74, Y:119.94, Z:15.28 [[ 1.17855768e-01 -9.93028314e-01 -2.18779097e-03 9.33742000e+02] [ 9.92911562e-01 1.17875469e-01 -1.52316644e-02 1.19935209e+02] [ 1.53833609e-02 -3.77143451e-04 9.99881598e-01 1.52814016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.9992541539999 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:933.75, Y:119.96, Z:15.28 [[ 1.13263022e-01 -9.93562640e-01 -2.18341144e-03 9.33747219e+02] [ 9.93445970e-01 1.13283196e-01 -1.52322921e-02 1.19962822e+02] [ 1.53815802e-02 -4.43845851e-04 9.99881598e-01 1.52823824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.0292541539999 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:933.75, Y:119.99, Z:15.28 [[ 1.12580256e-01 -9.93640246e-01 -2.17905782e-03 9.33753532e+02] [ 9.93523577e-01 1.12600443e-01 -1.52329149e-02 1.19991978e+02] [ 1.53814002e-02 -4.50019863e-04 9.99881598e-01 1.52831672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.0592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.76, Y:120.02, Z:15.29 [[ 1.12236381e-01 -9.93679034e-01 -2.22984314e-03 9.33757884e+02] [ 9.93562509e-01 1.12257386e-01 -1.52256604e-02 1.20020107e+02] [ 1.53797359e-02 -5.06615529e-04 9.99881597e-01 1.52864909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.0892541539998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:933.76, Y:120.05, Z:15.29 [[ 1.12297573e-01 -9.93672132e-01 -2.22492156e-03 9.33760780e+02] [ 9.93555592e-01 1.12318496e-01 -1.52263618e-02 1.20045859e+02] [ 1.53799112e-02 -5.00699786e-04 9.99881597e-01 1.52863414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.1192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.77, Y:120.07, Z:15.29 [[ 1.13578563e-01 -9.93526657e-01 -2.16626297e-03 9.33765302e+02] [ 9.93409935e-01 1.13598437e-01 -1.52347026e-02 1.20074297e+02] [ 1.53821672e-02 -4.21651527e-04 9.99881599e-01 1.52880493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.1492541539999 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:933.77, Y:120.10, Z:15.29 [[ 1.16586890e-01 -9.93178049e-01 -2.20458214e-03 9.33766797e+02] [ 9.93061367e-01 1.16606998e-01 -1.52292596e-02 1.20100576e+02] [ 1.53824360e-02 -4.13753337e-04 9.99881598e-01 1.52861320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.1792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.77, Y:120.13, Z:15.29 [[ 1.18874716e-01 -9.92906913e-01 -2.15962980e-03 9.33770484e+02] [ 9.92790071e-01 1.18893866e-01 -1.52356315e-02 1.20128158e+02] [ 1.53843306e-02 -3.32927652e-04 9.99881599e-01 1.52890978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.2092541539998 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:933.77, Y:120.16, Z:15.29 [[ 1.20490773e-01 -9.92712108e-01 -2.15524914e-03 9.33774073e+02] [ 9.92595223e-01 1.20509666e-01 -1.52362512e-02 1.20156018e+02] [ 1.53849394e-02 -3.03462304e-04 9.99881599e-01 1.52872281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.2392541539998 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:933.78, Y:120.18, Z:15.29 [[ 1.24997656e-01 -9.92154706e-01 -2.15087649e-03 9.33776870e+02] [ 9.92037726e-01 1.25015950e-01 -1.52368685e-02 1.20182635e+02] [ 1.53862246e-02 -2.29177773e-04 9.99881599e-01 1.52882701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.2692541539999 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:933.78, Y:120.21, Z:15.29 [[ 1.29496935e-01 -9.91577499e-01 -2.14626592e-03 9.33778724e+02] [ 9.91460428e-01 1.29514628e-01 -1.52375179e-02 1.20209259e+02] [ 1.53871527e-02 -1.54725859e-04 9.99881599e-01 1.52878697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.2992541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:933.78, Y:120.24, Z:15.29 [[ 1.28733774e-01 -9.91676874e-01 -2.14312017e-03 9.33778817e+02] [ 9.91559808e-01 1.28751508e-01 -1.52379603e-02 1.20235454e+02] [ 1.53870628e-02 -1.63391685e-04 9.99881599e-01 1.52889683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.3292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.78, Y:120.26, Z:15.29 [[ 1.33315060e-01 -9.91071568e-01 -2.05940708e-03 9.33784345e+02] [ 9.90954237e-01 1.33330965e-01 -1.52497026e-02 1.20264495e+02] [ 1.53881294e-02 -7.76316672e-06 9.99881596e-01 1.52909131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.3592541539998 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:933.78, Y:120.29, Z:15.29 [[ 1.33746582e-01 -9.91013265e-01 -2.13554008e-03 9.33784158e+02] [ 9.90896094e-01 1.33763607e-01 -1.52390336e-02 1.20290603e+02] [ 1.53877420e-02 -7.79296665e-05 9.99881599e-01 1.52869365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.3892541539999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:933.79, Y:120.32, Z:15.29 [[ 1.38022461e-01 -9.90427005e-01 -2.03670885e-03 9.33790656e+02] [ 9.90309553e-01 1.38037459e-01 -1.52528462e-02 1.20320131e+02] [ 1.53879729e-02 8.82631452e-05 9.99881594e-01 1.52898357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.4192541539999 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:933.79, Y:120.35, Z:15.29 [[ 1.42194999e-01 -9.89836374e-01 -2.12961833e-03 9.33793618e+02] [ 9.89719050e-01 1.42210933e-01 -1.52398631e-02 1.20348485e+02] [ 1.53878259e-02 5.93084887e-05 9.99881599e-01 1.52902363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.4492541539998 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:933.80, Y:120.38, Z:15.29 [[ 1.43159205e-01 -9.89697391e-01 -2.12524026e-03 9.33796891e+02] [ 9.89580042e-01 1.43174957e-01 -1.52404737e-02 1.20376243e+02] [ 1.53877382e-02 7.87187385e-05 9.99881599e-01 1.52897789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.4792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.80, Y:120.40, Z:15.29 [[ 1.44339153e-01 -9.89526003e-01 -2.12082293e-03 9.33800450e+02] [ 9.89408627e-01 1.44354697e-01 -1.52410883e-02 1.20404253e+02] [ 1.53876040e-02 1.01525277e-04 9.99881599e-01 1.52930860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.5092541539999 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:933.81, Y:120.43, Z:15.29 [[ 1.45443456e-01 -9.89364302e-01 -2.11643577e-03 9.33805209e+02] [ 9.89246899e-01 1.45458802e-01 -1.52416975e-02 1.20431374e+02] [ 1.53874456e-02 1.23127631e-04 9.99881599e-01 1.52910350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.5392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.81, Y:120.46, Z:15.29 [[ 1.46515322e-01 -9.89206147e-01 -2.11181117e-03 9.33809637e+02] [ 9.89088718e-01 1.46530470e-01 -1.52423383e-02 1.20459347e+02] [ 1.53872594e-02 1.44467501e-04 9.99881599e-01 1.52939964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.5692541539999 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:933.81, Y:120.49, Z:15.29 [[ 1.47665747e-01 -9.89035078e-01 -2.10746546e-03 9.33814480e+02] [ 9.88917624e-01 1.47680691e-01 -1.52429391e-02 1.20486277e+02] [ 1.53870334e-02 1.66750258e-04 9.99881599e-01 1.52921290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.5992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.82, Y:120.51, Z:15.29 [[ 1.48578976e-01 -9.88898309e-01 -2.10288538e-03 9.33818728e+02] [ 9.88780832e-01 1.48593741e-01 -1.52435709e-02 1.20514024e+02] [ 1.53868171e-02 1.85581401e-04 9.99881599e-01 1.52946195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.6292541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:933.82, Y:120.54, Z:15.29 [[ 1.48012106e-01 -9.88983323e-01 -2.09859663e-03 9.33823010e+02] [ 9.88865846e-01 1.48026872e-01 -1.52441613e-02 1.20541546e+02] [ 1.53868700e-02 1.81089886e-04 9.99881599e-01 1.52912984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.6592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.83, Y:120.57, Z:15.30 [[ 1.49871649e-01 -9.88703303e-01 -2.06605487e-03 9.33828878e+02] [ 9.88585737e-01 1.49885692e-01 -1.52486307e-02 1.20568759e+02] [ 1.53860436e-02 2.42865055e-04 9.99881598e-01 1.52954524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.6892541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:933.83, Y:120.60, Z:15.29 [[ 1.50225953e-01 -9.88649476e-01 -2.09202209e-03 9.33834033e+02] [ 9.88531954e-01 1.50240355e-01 -1.52450674e-02 1.20596881e+02] [ 1.53863340e-02 2.22174093e-04 9.99881599e-01 1.52943081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.7192541539998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:933.84, Y:120.63, Z:15.29 [[ 1.51913609e-01 -9.88391571e-01 -2.08766860e-03 9.33842046e+02] [ 9.88274016e-01 1.51927742e-01 -1.52456635e-02 1.20626529e+02] [ 1.53858601e-02 2.52835128e-04 9.99881599e-01 1.52942772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.7492541539999 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:933.85, Y:120.65, Z:15.29 [[ 1.51717015e-01 -9.88421567e-01 -2.18022153e-03 9.33846019e+02] [ 9.88304191e-01 1.51732598e-01 -1.52329928e-02 1.20654318e+02] [ 1.53874293e-02 1.56382109e-04 9.99881594e-01 1.52938757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.7792541539999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:933.85, Y:120.68, Z:15.29 [[ 1.52710259e-01 -9.88268682e-01 -2.14211995e-03 9.33850349e+02] [ 9.88151218e-01 1.52725137e-01 -1.52381955e-02 1.20679478e+02] [ 1.53865869e-02 2.10290338e-04 9.99881597e-01 1.52930347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.8092541539999 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:933.86, Y:120.71, Z:15.29 [[ 1.52639335e-01 -9.88279778e-01 -2.07688561e-03 9.33855186e+02] [ 9.88162194e-01 1.52653216e-01 -1.52470814e-02 1.20707042e+02] [ 1.53854255e-02 2.75004523e-04 9.99881600e-01 1.52898005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.8392541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:933.86, Y:120.73, Z:15.29 [[ 1.53447300e-01 -9.88154660e-01 -2.07247914e-03 9.33862112e+02] [ 9.88037056e-01 1.53461017e-01 -1.52476803e-02 1.20733755e+02] [ 1.53851111e-02 2.92029187e-04 9.99881600e-01 1.52928915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.8692541539998 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:933.87, Y:120.76, Z:15.29 [[ 1.53274277e-01 -9.88181522e-01 -2.06782856e-03 9.33867824e+02] [ 9.88063913e-01 1.53287943e-01 -1.52483110e-02 1.20761840e+02] [ 1.53850724e-02 2.94027066e-04 9.99881600e-01 1.52920253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.8992541539999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:933.87, Y:120.79, Z:15.30 [[ 1.53538686e-01 -9.88140482e-01 -2.06377322e-03 9.33873269e+02] [ 9.88022862e-01 1.53552257e-01 -1.52488599e-02 1.20787967e+02] [ 1.53849128e-02 3.02234777e-04 9.99881600e-01 1.52950443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.9292541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:933.88, Y:120.82, Z:15.30 [[ 1.54410683e-01 -9.88004606e-01 -2.05920985e-03 9.33880804e+02] [ 9.87886966e-01 1.54424081e-01 -1.52494761e-02 1.20815191e+02] [ 1.53845442e-02 3.20415454e-04 9.99881600e-01 1.52961357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.9592541539998 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:933.89, Y:120.84, Z:15.30 [[ 1.56388347e-01 -9.87693507e-01 -2.05477036e-03 9.33887327e+02] [ 9.87575832e-01 1.56401441e-01 -1.52500742e-02 1.20842131e+02] [ 1.53837684e-02 3.55692366e-04 9.99881600e-01 1.52966872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.9892541539998 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:933.89, Y:120.87, Z:15.30 [[ 1.58022389e-01 -9.87433401e-01 -2.05008049e-03 9.33892435e+02] [ 9.87315698e-01 1.58035216e-01 -1.52507047e-02 1.20868847e+02] [ 1.53830401e-02 3.85876139e-04 9.99881600e-01 1.52980753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.0192541539999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:933.90, Y:120.90, Z:15.30 [[ 1.58934106e-01 -9.87287074e-01 -2.04549188e-03 9.33897497e+02] [ 9.87169351e-01 1.58946754e-01 -1.52513201e-02 1.20896953e+02] [ 1.53825555e-02 4.04708039e-04 9.99881600e-01 1.52974943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.0492541539999 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:933.90, Y:120.92, Z:15.30 [[ 1.61578167e-01 -9.86857806e-01 -2.04114629e-03 9.33904655e+02] [ 9.86740043e-01 1.61590432e-01 -1.52519017e-02 1.20924468e+02] [ 1.53812879e-02 4.50293541e-04 9.99881600e-01 1.52960586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.0792541539998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:933.91, Y:120.95, Z:15.30 [[ 1.63870489e-01 -9.86479759e-01 -2.03674672e-03 9.33911786e+02] [ 9.86361960e-01 1.63882412e-01 -1.52524892e-02 1.20951435e+02] [ 1.53800588e-02 4.90463376e-04 9.99881600e-01 1.52967582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.1092541539998 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:933.92, Y:120.98, Z:15.30 [[ 1.64486535e-01 -9.86377235e-01 -2.03227925e-03 9.33917194e+02] [ 9.86259422e-01 1.64498315e-01 -1.52530844e-02 1.20978388e+02] [ 1.53796017e-02 5.04572444e-04 9.99881600e-01 1.52977379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.1392541539999 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:933.92, Y:121.01, Z:15.29 [[ 1.64059853e-01 -9.86448303e-01 -2.02756239e-03 9.33924413e+02] [ 9.86330488e-01 1.64071611e-01 -1.52537114e-02 1.21005327e+02] [ 1.53796631e-02 5.02675050e-04 9.99881600e-01 1.52944330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.1692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.93, Y:121.03, Z:15.30 [[ 1.63465965e-01 -9.86546900e-01 -2.02319129e-03 9.33929598e+02] [ 9.86429085e-01 1.63477727e-01 -1.52542911e-02 1.21032101e+02] [ 1.53798203e-02 4.97822678e-04 9.99881600e-01 1.52967341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.1992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.93, Y:121.06, Z:15.30 [[ 1.60742227e-01 -9.86994358e-01 -2.01858560e-03 9.33934094e+02] [ 9.86876568e-01 1.60754243e-01 -1.52549006e-02 1.21060290e+02] [ 1.53809970e-02 4.60011859e-04 9.99881600e-01 1.52968912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.2292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.94, Y:121.09, Z:15.30 [[ 1.59278970e-01 -9.87231560e-01 -2.01423415e-03 9.33936915e+02] [ 9.87113782e-01 1.59291094e-01 -1.52554751e-02 1.21088113e+02] [ 1.53815360e-02 4.41598076e-04 9.99881600e-01 1.52972821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.2592541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:933.94, Y:121.12, Z:15.30 [[ 1.57629048e-01 -9.87496351e-01 -2.00986199e-03 9.33940006e+02] [ 9.87378587e-01 1.57641301e-01 -1.52560511e-02 1.21115564e+02] [ 1.53821321e-02 4.20302122e-04 9.99881600e-01 1.52968948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.2892541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:933.94, Y:121.14, Z:15.30 [[ 1.54257815e-01 -9.88028595e-01 -2.00552527e-03 9.33942544e+02] [ 9.87910866e-01 1.54270403e-01 -1.52566212e-02 1.21143972e+02] [ 1.53833712e-02 3.72172847e-04 9.99881600e-01 1.52977078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.3192541539999 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:933.95, Y:121.17, Z:15.30 [[ 1.52205366e-01 -9.88346863e-01 -2.00118731e-03 9.33946039e+02] [ 9.88229153e-01 1.52218131e-01 -1.52571902e-02 1.21170935e+02] [ 1.53840130e-02 3.44594575e-04 9.99881600e-01 1.52958806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.3492541539998 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:933.95, Y:121.20, Z:15.30 [[ 1.50199406e-01 -9.88653707e-01 -1.99661794e-03 9.33950410e+02] [ 9.88536015e-01 1.50212340e-01 -1.52577881e-02 1.21199091e+02] [ 1.53845854e-02 3.17981973e-04 9.99881600e-01 1.52987339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.3792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.95, Y:121.23, Z:15.30 [[ 1.50303341e-01 -9.88637920e-01 -1.99209430e-03 9.33953852e+02] [ 9.88520219e-01 1.50316192e-01 -1.52583787e-02 1.21225785e+02] [ 1.53844558e-02 3.24159800e-04 9.99881600e-01 1.53020708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.4092541539999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:933.96, Y:121.25, Z:15.30 [[ 1.50388283e-01 -9.88625012e-01 -1.98731892e-03 9.33956895e+02] [ 9.88507302e-01 1.50401050e-01 -1.52590006e-02 1.21253956e+02] [ 1.53843245e-02 3.30295633e-04 9.99881600e-01 1.53011056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.4392541539999 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:933.96, Y:121.28, Z:15.30 [[ 1.52065256e-01 -9.88368467e-01 -1.98283302e-03 9.33958493e+02] [ 9.88250728e-01 1.52077755e-01 -1.52595835e-02 1.21281051e+02] [ 1.53836360e-02 3.60916298e-04 9.99881600e-01 1.52989892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.4692541539998 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:933.96, Y:121.31, Z:15.30 [[ 1.52889428e-01 -9.88241322e-01 -1.97813064e-03 9.33961067e+02] [ 9.88123565e-01 1.52901756e-01 -1.52601931e-02 1.21309102e+02] [ 1.53832130e-02 3.78484699e-04 9.99881600e-01 1.52984658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.4992541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:933.96, Y:121.34, Z:15.30 [[ 1.54792220e-01 -9.87945076e-01 -1.97374680e-03 9.33963004e+02] [ 9.87827289e-01 1.54804254e-01 -1.52607601e-02 1.21336240e+02] [ 1.53823372e-02 4.12525984e-04 9.99881600e-01 1.52967949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.5292541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:933.97, Y:121.36, Z:15.30 [[ 1.54512113e-01 -9.87988931e-01 -1.96931532e-03 9.33966579e+02] [ 9.87871141e-01 1.54524112e-01 -1.52613319e-02 1.21364600e+02] [ 1.53823337e-02 4.12630870e-04 9.99881600e-01 1.52972332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.5592541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:933.97, Y:121.39, Z:15.30 [[ 1.55300899e-01 -9.87865259e-01 -1.96498778e-03 9.33968500e+02] [ 9.87747452e-01 1.55312736e-01 -1.52618891e-02 1.21392828e+02] [ 1.53818776e-02 4.29273419e-04 9.99881600e-01 1.52962546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.5892541539998 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:933.97, Y:121.42, Z:15.30 [[ 1.55618597e-01 -9.87815270e-01 -1.96055368e-03 9.33970710e+02] [ 9.87697453e-01 1.55630329e-01 -1.52624587e-02 1.21419375e+02] [ 1.53816114e-02 4.38688532e-04 9.99881600e-01 1.52954396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.6192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.97, Y:121.45, Z:15.30 [[ 1.55844385e-01 -9.87779680e-01 -1.95731837e-03 9.33974193e+02] [ 9.87661855e-01 1.55856039e-01 -1.52628736e-02 1.21446918e+02] [ 1.53814163e-02 4.45464446e-04 9.99881600e-01 1.52989532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.6492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.98, Y:121.47, Z:15.30 [[ 1.54790361e-01 -9.87945409e-01 -1.95293209e-03 9.33977730e+02] [ 9.87827589e-01 1.54802073e-01 -1.52634348e-02 1.21474246e+02] [ 1.53817583e-02 4.33472382e-04 9.99881600e-01 1.53003525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.6792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.98, Y:121.50, Z:15.30 [[ 1.50944983e-01 -9.88540242e-01 -1.94973905e-03 9.33978033e+02] [ 9.88422464e-01 1.50957105e-01 -1.52638427e-02 1.21500270e+02] [ 1.53832497e-02 3.76834600e-04 9.99881600e-01 1.52974179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.7092541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:933.99, Y:121.53, Z:15.30 [[ 1.52462348e-01 -9.88307630e-01 -1.80576585e-03 9.33985006e+02] [ 9.88189620e-01 1.52472065e-01 -1.52821392e-02 1.21530008e+02] [ 1.53787836e-02 5.45511751e-04 9.99881591e-01 1.53016078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.7392541539998 meters Centerline goodness : 0.999456 Centerline is valid? [True, True] Translation: X:933.99, Y:121.56, Z:15.30 [[ 1.47954069e-01 -9.88992330e-01 -1.94015579e-03 9.33987509e+02] [ 9.88874574e-01 1.47966399e-01 -1.52650587e-02 1.21556471e+02] [ 1.53841038e-02 3.39956815e-04 9.99881600e-01 1.52994312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.7692541539999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:933.99, Y:121.58, Z:15.30 [[ 1.46359654e-01 -9.89229687e-01 -1.86474186e-03 9.33992639e+02] [ 9.89111831e-01 1.46371010e-01 -1.52746087e-02 1.21584312e+02] [ 1.53830405e-02 3.91148206e-04 9.99881598e-01 1.53012380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.7992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.00, Y:121.61, Z:15.30 [[ 1.45808051e-01 -9.89311013e-01 -1.93200432e-03 9.33995827e+02] [ 9.89193270e-01 1.45820511e-01 -1.52660963e-02 1.21611631e+02] [ 1.53846430e-02 3.14794075e-04 9.99881600e-01 1.53037236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.8292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.00, Y:121.64, Z:15.30 [[ 1.45087842e-01 -9.89416898e-01 -1.92879792e-03 9.33999223e+02] [ 9.89299159e-01 1.45100337e-01 -1.52665014e-02 1.21639277e+02] [ 1.53848037e-02 3.06825574e-04 9.99881600e-01 1.53049526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.8592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.00, Y:121.67, Z:15.31 [[ 1.44799584e-01 -9.89459134e-01 -1.92435349e-03 9.34002725e+02] [ 9.89341391e-01 1.44812045e-01 -1.52670616e-02 1.21667649e+02] [ 1.53848031e-02 3.06821613e-04 9.99881600e-01 1.53053909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.8892541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:934.01, Y:121.69, Z:15.30 [[ 1.44359069e-01 -9.89523508e-01 -1.91990497e-03 9.34006411e+02] [ 9.89405764e-01 1.44371514e-01 -1.52676210e-02 1.21694029e+02] [ 1.53848495e-02 3.04454510e-04 9.99881600e-01 1.53034544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.9192541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:934.01, Y:121.72, Z:15.30 [[ 1.43871710e-01 -9.89594491e-01 -1.91665981e-03 9.34010329e+02] [ 9.89476748e-01 1.43884164e-01 -1.52680284e-02 1.21722136e+02] [ 1.53849338e-02 3.00147046e-04 9.99881600e-01 1.53041967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.9492541539998 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:934.01, Y:121.75, Z:15.30 [[ 1.43039965e-01 -9.89715066e-01 -1.91215460e-03 9.34014344e+02] [ 9.89597326e-01 1.43052448e-01 -1.52685926e-02 1.21748572e+02] [ 1.53850945e-02 2.91755869e-04 9.99881600e-01 1.53011809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.9792541539998 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:934.02, Y:121.78, Z:15.30 [[ 1.42272973e-01 -9.89825622e-01 -1.90751386e-03 9.34019165e+02] [ 9.89707884e-01 1.42285475e-01 -1.52691723e-02 1.21776482e+02] [ 1.53852295e-02 2.84509035e-04 9.99881600e-01 1.53012959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.0092541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:934.02, Y:121.80, Z:15.30 [[ 1.41863224e-01 -9.89884440e-01 -1.90314055e-03 9.34023175e+02] [ 9.89766699e-01 1.41875708e-01 -1.52697174e-02 1.21802802e+02] [ 1.53852651e-02 2.82546210e-04 9.99881600e-01 1.53024573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.0392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.03, Y:121.83, Z:15.30 [[ 1.40665163e-01 -9.90055406e-01 -1.89852760e-03 9.34028047e+02] [ 9.89937674e-01 1.40677718e-01 -1.52702909e-02 1.21829479e+02] [ 1.53855146e-02 2.68573967e-04 9.99881600e-01 1.53034562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.0692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.03, Y:121.86, Z:15.30 [[ 1.40475609e-01 -9.90082328e-01 -1.89395168e-03 9.34032113e+02] [ 9.89964590e-01 1.40488116e-01 -1.52708584e-02 1.21855664e+02] [ 1.53854848e-02 2.70238039e-04 9.99881600e-01 1.53028961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.0992541539998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:934.04, Y:121.88, Z:15.30 [[ 1.37618050e-01 -9.90483691e-01 -1.82513039e-03 9.34035803e+02] [ 9.90365876e-01 1.37629836e-01 -1.52793658e-02 1.21883209e+02] [ 1.53851550e-02 2.95169676e-04 9.99881598e-01 1.53031956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.1292541539999 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:934.04, Y:121.91, Z:15.30 [[ 1.34380271e-01 -9.90928042e-01 -1.88661009e-03 9.34040728e+02] [ 9.90810370e-01 1.34393389e-01 -1.52717709e-02 1.21909843e+02] [ 1.53867740e-02 1.82951868e-04 9.99881600e-01 1.53034621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.1592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.05, Y:121.94, Z:15.31 [[ 1.33440519e-01 -9.91055034e-01 -1.88349357e-03 9.34045159e+02] [ 9.90937370e-01 1.33453701e-01 -1.52721553e-02 1.21937151e+02] [ 1.53869055e-02 1.71500157e-04 9.99881600e-01 1.53091941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.1892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.05, Y:121.96, Z:15.31 [[ 1.31704539e-01 -9.91287236e-01 -1.87908538e-03 9.34049447e+02] [ 9.91169587e-01 1.31717859e-01 -1.52726976e-02 1.21964188e+02] [ 1.53871393e-02 1.48991326e-04 9.99881600e-01 1.53102609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.2192541539998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:934.05, Y:121.99, Z:15.31 [[ 1.28650753e-01 -9.91688192e-01 -1.87444898e-03 9.34053558e+02] [ 9.91570577e-01 1.28664364e-01 -1.52732666e-02 1.21991308e+02] [ 1.53874930e-02 1.06268796e-04 9.99881600e-01 1.53105951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.2492541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:934.06, Y:122.02, Z:15.31 [[ 1.26719526e-01 -9.91936910e-01 -1.82439698e-03 9.34057171e+02] [ 9.91819232e-01 1.26732595e-01 -1.52793878e-02 1.22019268e+02] [ 1.53873993e-02 1.26724764e-04 9.99881599e-01 1.53120737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.2792541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:934.06, Y:122.05, Z:15.31 [[ 1.24508642e-01 -9.92216770e-01 -1.86541180e-03 9.34060920e+02] [ 9.92099196e-01 1.24522605e-01 -1.52743788e-02 1.22046734e+02] [ 1.53877807e-02 5.11186178e-05 9.99881600e-01 1.53119613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.3092541539999 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:934.06, Y:122.07, Z:15.31 [[ 1.23078987e-01 -9.92395133e-01 -1.86112697e-03 9.34063913e+02] [ 9.92277571e-01 1.23093054e-01 -1.52749009e-02 1.22073783e+02] [ 1.53878291e-02 3.32647866e-05 9.99881600e-01 1.53090557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.3392541539998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:934.07, Y:122.10, Z:15.31 [[ 1.22682272e-01 -9.92444262e-01 -1.85668414e-03 9.34066266e+02] [ 9.92326698e-01 1.22696317e-01 -1.52754409e-02 1.22101490e+02] [ 1.53878320e-02 3.15885583e-05 9.99881600e-01 1.53112272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.3692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.07, Y:122.13, Z:15.31 [[ 1.22386679e-01 -9.92480765e-01 -1.85235745e-03 9.34069316e+02] [ 9.92363197e-01 1.22400692e-01 -1.52759655e-02 1.22129819e+02] [ 1.53878318e-02 3.13633338e-05 9.99881600e-01 1.53115513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.3992541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:934.07, Y:122.16, Z:15.31 [[ 1.21578937e-01 -9.92580057e-01 -1.84174659e-03 9.34071887e+02] [ 9.92462481e-01 1.21592882e-01 -1.52772496e-02 1.22156659e+02] [ 1.53878366e-02 2.95273824e-05 9.99881600e-01 1.53094635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.4292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.07, Y:122.18, Z:15.31 [[ 1.21184415e-01 -9.92628294e-01 -1.84619392e-03 9.34074247e+02] [ 9.92510731e-01 1.21198475e-01 -1.52767122e-02 1.22184673e+02] [ 1.53878526e-02 1.89321491e-05 9.99881600e-01 1.53119403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.4592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.07, Y:122.21, Z:15.31 [[ 1.17151572e-01 -9.93112339e-01 -1.84176723e-03 9.34073253e+02] [ 9.92994826e-01 1.17166042e-01 -1.52772459e-02 1.22211400e+02] [ 1.53878139e-02 -3.91119642e-05 9.99881600e-01 1.53123420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.4892541539998 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:934.08, Y:122.24, Z:15.31 [[ 1.18860481e-01 -9.92909435e-01 -1.74352951e-03 9.34079200e+02] [ 9.92791720e-01 1.18873237e-01 -1.52890544e-02 1.22240493e+02] [ 1.53879054e-02 8.63027001e-05 9.99881595e-01 1.53104932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.5192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.08, Y:122.27, Z:15.31 [[ 1.16125699e-01 -9.93232828e-01 -1.83598512e-03 9.34081650e+02] [ 9.93115320e-01 1.16140202e-01 -1.52779439e-02 1.22268417e+02] [ 1.53877871e-02 -4.91830255e-05 9.99881600e-01 1.53134850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.5492541539999 meters Centerline goodness : 0.999671 Centerline is valid? [True, True] Translation: X:934.08, Y:122.30, Z:15.31 [[ 1.13905711e-01 -9.93489876e-01 -1.83187522e-03 9.34084732e+02] [ 9.93372392e-01 1.13920413e-01 -1.52784367e-02 1.22296103e+02] [ 1.53876601e-02 -7.94330844e-05 9.99881600e-01 1.53117134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.5792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.09, Y:122.32, Z:15.32 [[ 1.10271834e-01 -9.93899785e-01 -1.82754769e-03 9.34086368e+02] [ 9.93782347e-01 1.10286898e-01 -1.52789543e-02 1.22323758e+02] [ 1.53873039e-02 -1.31346326e-04 9.99881600e-01 1.53163755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.6092541539998 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:934.09, Y:122.35, Z:15.32 [[ 1.10562473e-01 -9.93867551e-01 -1.79742860e-03 9.34090462e+02] [ 9.93750050e-01 1.10577041e-01 -1.52825465e-02 1.22351173e+02] [ 1.53875814e-02 -9.65186260e-05 9.99881600e-01 1.53152375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.6392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.09, Y:122.38, Z:15.32 [[ 1.08853674e-01 -9.94056120e-01 -1.81862889e-03 9.34091518e+02] [ 9.93938686e-01 1.08868770e-01 -1.52800232e-02 1.22379278e+02] [ 1.53871925e-02 -1.44318934e-04 9.99881600e-01 1.53194854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.6692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.09, Y:122.41, Z:15.32 [[ 1.10612717e-01 -9.93861975e-01 -1.78957905e-03 9.34093769e+02] [ 9.93744458e-01 1.10627158e-01 -1.52834711e-02 1.22407075e+02] [ 1.53876368e-02 -8.78379930e-05 9.99881599e-01 1.53199819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.6992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.10, Y:122.44, Z:15.32 [[ 1.10998084e-01 -9.93818972e-01 -1.81011916e-03 9.34095953e+02] [ 9.93701489e-01 1.11012795e-01 -1.52810380e-02 1.22435219e+02] [ 1.53875319e-02 -1.02552166e-04 9.99881600e-01 1.53203780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.7292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.10, Y:122.46, Z:15.32 [[ 1.11072310e-01 -9.93810687e-01 -1.80579454e-03 9.34095319e+02] [ 9.93693195e-01 1.11086946e-01 -1.52815491e-02 1.22462683e+02] [ 1.53875670e-02 -9.70487881e-05 9.99881600e-01 1.53201759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.7592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.10, Y:122.49, Z:15.32 [[ 1.12514207e-01 -9.93648571e-01 -1.75259930e-03 9.34097808e+02] [ 9.93530958e-01 1.12527854e-01 -1.52878187e-02 1.22491276e+02] [ 1.53879354e-02 -2.11648751e-05 9.99881598e-01 1.53203098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.7892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.10, Y:122.52, Z:15.32 [[ 1.15902391e-01 -9.93259053e-01 -1.75773638e-03 9.34099310e+02] [ 9.93141404e-01 1.15915715e-01 -1.52872137e-02 1.22519619e+02] [ 1.53879127e-02 2.61438356e-05 9.99881599e-01 1.53196320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.8192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.10, Y:122.55, Z:15.32 [[ 1.17658319e-01 -9.93052566e-01 -1.76689600e-03 9.34101534e+02] [ 9.92934909e-01 1.17671577e-01 -1.52861367e-02 1.22548933e+02] [ 1.53878507e-02 4.41284405e-05 9.99881599e-01 1.53198249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.8492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.10, Y:122.58, Z:15.32 [[ 1.21146290e-01 -9.92633072e-01 -1.77769438e-03 9.34102105e+02] [ 9.92515389e-01 1.21159300e-01 -1.52848684e-02 1.22578014e+02] [ 1.53876501e-02 8.73160642e-05 9.99881599e-01 1.53195883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.8792541539999 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:934.11, Y:122.61, Z:15.32 [[ 1.22977157e-01 -9.92407899e-01 -1.78362973e-03 9.34105034e+02] [ 9.92290201e-01 1.22990042e-01 -1.52841720e-02 1.22605687e+02] [ 1.53875017e-02 1.09725706e-04 9.99881599e-01 1.53152260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.9092541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:934.11, Y:122.63, Z:15.32 [[ 1.22319731e-01 -9.92489132e-01 -1.79079210e-03 9.34105648e+02] [ 9.92371455e-01 1.22332804e-01 -1.52833327e-02 1.22632979e+02] [ 1.53876143e-02 9.23221883e-05 9.99881599e-01 1.53192401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.9392541539999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:934.11, Y:122.66, Z:15.32 [[ 1.22816633e-01 -9.92427877e-01 -1.72753167e-03 9.34107347e+02] [ 9.92310088e-01 1.22828673e-01 -1.52907269e-02 1.22660419e+02] [ 1.53871341e-02 1.63708497e-04 9.99881598e-01 1.53205505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.9692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.11, Y:122.69, Z:15.32 [[ 1.21528637e-01 -9.92586466e-01 -1.70208047e-03 9.34109257e+02] [ 9.92468652e-01 1.21540438e-01 -1.52936981e-02 1.22687479e+02] [ 1.53871894e-02 1.69360779e-04 9.99881596e-01 1.53233835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.9992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.12, Y:122.72, Z:15.32 [[ 1.23838792e-01 -9.92300977e-01 -1.65060337e-03 9.34116068e+02] [ 9.92183055e-01 1.23849525e-01 -1.52996883e-02 1.22717534e+02] [ 1.53863221e-02 2.56994214e-04 9.99881591e-01 1.53237613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.0292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.12, Y:122.74, Z:15.32 [[ 1.20919135e-01 -9.92660763e-01 -1.78114252e-03 9.34117365e+02] [ 9.92543088e-01 1.20932226e-01 -1.52844763e-02 1.22744952e+02] [ 1.53876974e-02 8.03249535e-05 9.99881599e-01 1.53243735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.0592541539999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:934.12, Y:122.77, Z:15.32 [[ 1.18086226e-01 -9.93001878e-01 -1.70682499e-03 9.34119701e+02] [ 9.92884114e-01 1.18098508e-01 -1.52931214e-02 1.22772737e+02] [ 1.53876717e-02 1.11227563e-04 9.99881597e-01 1.53241275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.0892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.12, Y:122.80, Z:15.33 [[ 1.16197522e-01 -9.93224697e-01 -1.68430304e-03 9.34121195e+02] [ 9.93106918e-01 1.16209682e-01 -1.52957379e-02 1.22798985e+02] [ 1.53878370e-02 1.04633840e-04 9.99881595e-01 1.53261088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.1192541539998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:934.12, Y:122.83, Z:15.33 [[ 1.14093539e-01 -9.93468677e-01 -1.62875912e-03 9.34124856e+02] [ 9.93350830e-01 1.14105093e-01 -1.53021727e-02 1.22827520e+02] [ 1.53880790e-02 1.27949826e-04 9.99881588e-01 1.53254931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.1492541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:934.13, Y:122.86, Z:15.33 [[ 1.13008843e-01 -9.93592620e-01 -1.64535397e-03 9.34128729e+02] [ 9.93474814e-01 1.13020780e-01 -1.53002512e-02 1.22856262e+02] [ 1.53881758e-02 9.44459511e-05 9.99881591e-01 1.53254691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.1792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.13, Y:122.89, Z:15.33 [[ 1.12404414e-01 -9.93661145e-01 -1.66644147e-03 9.34132066e+02] [ 9.93543382e-01 1.12416748e-01 -1.52978114e-02 1.22885258e+02] [ 1.53881767e-02 6.38596389e-05 9.99881593e-01 1.53276855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.2092541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:934.14, Y:122.91, Z:15.33 [[ 1.11975857e-01 -9.93709510e-01 -1.67838129e-03 9.34137663e+02] [ 9.93591773e-01 1.11988425e-01 -1.52964315e-02 1.22914931e+02] [ 1.53881687e-02 4.52051823e-05 9.99881594e-01 1.53270087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.2392541539998 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:934.14, Y:122.94, Z:15.32 [[ 1.10222854e-01 -9.93905328e-01 -1.76695493e-03 9.34140808e+02] [ 9.93787773e-01 1.10236993e-01 -1.52861932e-02 1.22941723e+02] [ 1.53878127e-02 -7.10903630e-05 9.99881598e-01 1.53233628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.2692541539999 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:934.14, Y:122.97, Z:15.33 [[ 1.08158789e-01 -9.94132069e-01 -1.76261738e-03 9.34144048e+02] [ 9.94014535e-01 1.08173105e-01 -1.52866933e-02 1.22969922e+02] [ 1.53876599e-02 -9.86770572e-05 9.99881598e-01 1.53253056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.2992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.15, Y:123.00, Z:15.33 [[ 1.06286961e-01 -9.94333943e-01 -1.75830288e-03 9.34145575e+02] [ 9.94216429e-01 1.06301432e-01 -1.52871896e-02 1.22997009e+02] [ 1.53874816e-02 -1.23304684e-04 9.99881598e-01 1.53292508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.3292541539998 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:934.15, Y:123.03, Z:15.33 [[ 1.04060642e-01 -9.94569495e-01 -1.70359655e-03 9.34149456e+02] [ 9.94451910e-01 1.04074535e-01 -1.52934661e-02 1.23025362e+02] [ 1.53877158e-02 -1.02696954e-04 9.99881597e-01 1.53264550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.3592541539998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:934.15, Y:123.05, Z:15.33 [[ 1.02368237e-01 -9.94745123e-01 -1.69816874e-03 9.34151395e+02] [ 9.94627552e-01 1.02382247e-01 -1.52940872e-02 1.23052493e+02] [ 1.53875810e-02 -1.23416667e-04 9.99881597e-01 1.53310214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.3892541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:934.16, Y:123.08, Z:15.33 [[ 1.01924650e-01 -9.94790669e-01 -1.70024668e-03 9.34155184e+02] [ 9.94673107e-01 1.01938744e-01 -1.52938496e-02 1.23080421e+02] [ 1.53874999e-02 -1.32369378e-04 9.99881597e-01 1.53313000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.4192541539999 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:934.16, Y:123.11, Z:15.33 [[ 1.00093744e-01 -9.94976598e-01 -1.67676525e-03 9.34159443e+02] [ 9.94859018e-01 1.00107693e-01 -1.52965238e-02 1.23109659e+02] [ 1.53875403e-02 -1.37058701e-04 9.99881595e-01 1.53291697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.4492541539998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:934.16, Y:123.14, Z:15.33 [[ 9.92269520e-02 -9.95063375e-01 -1.70055517e-03 9.34164002e+02] [ 9.94945853e-01 9.92413698e-02 -1.52938199e-02 1.23136946e+02] [ 1.53870854e-02 -1.74401187e-04 9.99881597e-01 1.53310122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.4792541539998 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:934.17, Y:123.17, Z:15.33 [[ 9.85755950e-02 -9.95128051e-01 -1.73591446e-03 9.34167754e+02] [ 9.95010607e-01 9.85906330e-02 -1.52898054e-02 1.23165154e+02] [ 1.53864592e-02 -2.20051635e-04 9.99881597e-01 1.53306457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.5092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.17, Y:123.19, Z:15.33 [[ 9.74575921e-02 -9.95238201e-01 -1.71516487e-03 9.34170561e+02] [ 9.95120733e-01 9.74724432e-02 -1.52921561e-02 1.23192115e+02] [ 1.53865192e-02 -2.16459414e-04 9.99881597e-01 1.53342826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.5392541539999 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:934.17, Y:123.22, Z:15.33 [[ 9.32202422e-02 -9.95643985e-01 -1.74381094e-03 9.34171320e+02] [ 9.95526640e-01 9.32360330e-02 -1.52889189e-02 1.23218004e+02] [ 1.53849062e-02 -3.10773518e-04 9.99881597e-01 1.53320969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.5692541539999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:934.18, Y:123.25, Z:15.33 [[ 9.49293027e-02 -9.95482682e-01 -1.63010321e-03 9.34175997e+02] [ 9.95365087e-01 9.49431454e-02 -1.53017141e-02 1.23246960e+02] [ 1.53873585e-02 -1.69966774e-04 9.99881593e-01 1.53336590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.5992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.18, Y:123.28, Z:15.34 [[ 9.52458850e-02 -9.95452290e-01 -1.72053907e-03 9.34178481e+02] [ 9.95334866e-01 9.52610796e-02 -1.52915387e-02 1.23275297e+02] [ 1.53858976e-02 -2.56056389e-04 9.99881597e-01 1.53373290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.6292541539999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:934.18, Y:123.30, Z:15.34 [[ 9.44091346e-02 -9.95532004e-01 -1.71618204e-03 9.34181046e+02] [ 9.95414584e-01 9.44243611e-02 -1.52920277e-02 1.23303594e+02] [ 1.53857523e-02 -2.64605536e-04 9.99881597e-01 1.53368731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.6592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.18, Y:123.33, Z:15.34 [[ 9.46368340e-02 -9.95510391e-01 -1.71181894e-03 9.34183624e+02] [ 9.95392960e-01 9.46519666e-02 -1.52925161e-02 1.23330405e+02] [ 1.53858857e-02 -2.56697216e-04 9.99881597e-01 1.53385461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.6892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.19, Y:123.36, Z:15.34 [[ 9.44163119e-02 -9.95531338e-01 -1.70722045e-03 9.34186248e+02] [ 9.95413901e-01 9.44313999e-02 -1.52930294e-02 1.23357983e+02] [ 1.53859053e-02 -2.55479536e-04 9.99881597e-01 1.53400092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.7192541539998 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:934.19, Y:123.39, Z:15.34 [[ 9.40067294e-02 -9.95570106e-01 -1.70288071e-03 9.34187248e+02] [ 9.95452666e-01 9.40217991e-02 -1.52935126e-02 1.23385688e+02] [ 1.53858719e-02 -2.57444039e-04 9.99881597e-01 1.53384406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.7492541539999 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:934.19, Y:123.42, Z:15.34 [[ 9.48833590e-02 -9.95486948e-01 -1.69848129e-03 9.34191474e+02] [ 9.95369486e-01 9.48982576e-02 -1.52940012e-02 1.23415432e+02] [ 1.53861615e-02 -2.39470241e-04 9.99881597e-01 1.53364563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.7792541539999 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:934.19, Y:123.44, Z:15.34 [[ 9.44745740e-02 -9.95525612e-01 -1.81973486e-03 9.34194339e+02] [ 9.95408401e-01 9.44913822e-02 -1.52805416e-02 1.23443082e+02] [ 1.53841198e-02 -3.67756704e-04 9.99881590e-01 1.53369279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.8092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.20, Y:123.47, Z:15.34 [[ 9.45680058e-02 -9.95516753e-01 -1.81286655e-03 9.34195481e+02] [ 9.95399526e-01 9.45846977e-02 -1.52813013e-02 1.23470758e+02] [ 1.53842609e-02 -3.59404316e-04 9.99881591e-01 1.53406108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.8392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.20, Y:123.50, Z:15.34 [[ 9.34396791e-02 -9.95623354e-01 -1.77882308e-03 9.34196491e+02] [ 9.95506076e-01 9.34559815e-02 -1.52850392e-02 1.23499265e+02] [ 1.53843837e-02 -3.42600021e-04 9.99881595e-01 1.53397493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.8692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.20, Y:123.53, Z:15.34 [[ 9.13509236e-02 -9.95817195e-01 -1.76726469e-03 9.34197058e+02] [ 9.95699928e-01 9.13672946e-02 -1.52863023e-02 1.23526449e+02] [ 1.53838329e-02 -3.63247490e-04 9.99881596e-01 1.53401652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.8992541539999 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:934.20, Y:123.55, Z:15.34 [[ 9.19602132e-02 -9.95761200e-01 -1.71837787e-03 9.34199946e+02] [ 9.95643824e-01 9.19757621e-02 -1.52916337e-02 1.23552131e+02] [ 1.53848647e-02 -3.04670420e-04 9.99881600e-01 1.53406691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.9292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.20, Y:123.58, Z:15.34 [[ 8.95726905e-02 -9.95978871e-01 -1.67979769e-03 9.34201473e+02] [ 9.95861457e-01 8.95879285e-02 -1.52958238e-02 1.23581656e+02] [ 1.53848069e-02 -3.02757685e-04 9.99881601e-01 1.53417598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.9592541539998 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:934.20, Y:123.61, Z:15.34 [[ 8.73621188e-02 -9.96175105e-01 -1.73799746e-03 9.34199864e+02] [ 9.96057843e-01 8.73785104e-02 -1.52895300e-02 1.23608020e+02] [ 1.53829128e-02 -3.95420268e-04 9.99881598e-01 1.53402675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.9892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.20, Y:123.64, Z:15.34 [[ 8.73129183e-02 -9.96179571e-01 -1.64818754e-03 9.34200547e+02] [ 9.96062129e-01 8.73279375e-02 -1.52992053e-02 1.23635912e+02] [ 1.53846886e-02 -3.05878924e-04 9.99881602e-01 1.53436964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.0192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.20, Y:123.66, Z:15.34 [[ 8.70412508e-02 -9.96203352e-01 -1.64375435e-03 9.34202307e+02] [ 9.96085906e-01 8.70562340e-02 -1.52996816e-02 1.23662993e+02] [ 1.53846932e-02 -3.05617115e-04 9.99881602e-01 1.53433592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.0492541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:934.20, Y:123.69, Z:15.34 [[ 8.65799545e-02 -9.96243557e-01 -1.63908430e-03 9.34202967e+02] [ 9.96126109e-01 8.65949203e-02 -1.53001819e-02 1.23691669e+02] [ 1.53846440e-02 -3.08045610e-04 9.99881602e-01 1.53444858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.0792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.21, Y:123.72, Z:15.34 [[ 8.81355030e-02 -9.96107122e-01 -1.65349875e-03 9.34205751e+02] [ 9.95989679e-01 8.81505068e-02 -1.52986401e-02 1.23721198e+02] [ 1.53848411e-02 -2.98514354e-04 9.99881602e-01 1.53448843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.1092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.21, Y:123.75, Z:15.35 [[ 8.83422500e-02 -9.96088724e-01 -1.70311817e-03 9.34205519e+02] [ 9.95971375e-01 8.83579910e-02 -1.52933461e-02 1.23747504e+02] [ 1.53840137e-02 -3.45208347e-04 9.99881599e-01 1.53451716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.1392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.21, Y:123.78, Z:15.34 [[ 9.14391431e-02 -9.95809336e-01 -1.62770918e-03 9.34207364e+02] [ 9.95691795e-01 9.14533610e-02 -1.53013679e-02 1.23778265e+02] [ 1.53861044e-02 -2.21552713e-04 9.99881602e-01 1.53446122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.1692541539999 meters Centerline goodness : 0.995721 Centerline is valid? [True, True] Translation: X:934.21, Y:123.81, Z:15.34 [[ 9.17211058e-02 -9.95783231e-01 -1.73083802e-03 9.34208787e+02] [ 9.95665884e-01 9.17368742e-02 -1.52903110e-02 1.23805954e+02] [ 1.53846170e-02 -3.20892128e-04 9.99881598e-01 1.53385293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.1992541539998 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:934.21, Y:123.83, Z:15.34 [[ 9.38730335e-02 -9.95582582e-01 -1.78198536e-03 9.34205520e+02] [ 9.95465302e-01 9.38893334e-02 -1.52848367e-02 1.23829477e+02] [ 1.53846266e-02 -3.39070604e-04 9.99881592e-01 1.53423226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.2292541539998 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:934.21, Y:123.86, Z:15.34 [[ 9.49811314e-02 -9.95477744e-01 -1.62634495e-03 9.34206725e+02] [ 9.95360153e-01 9.49949101e-02 -1.53013795e-02 1.23857201e+02] [ 1.53866773e-02 -1.65456614e-04 9.99881604e-01 1.53431835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.2592541539999 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:934.21, Y:123.89, Z:15.35 [[ 9.71997483e-02 -9.95263572e-01 -1.62187173e-03 9.34207855e+02] [ 9.95145943e-01 9.72131961e-02 -1.53018537e-02 1.23886264e+02] [ 1.53870449e-02 -1.26662748e-04 9.99881604e-01 1.53454233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.2892541539999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:934.21, Y:123.91, Z:15.35 [[ 9.88269592e-02 -9.95103249e-01 -1.66044097e-03 9.34209036e+02] [ 9.94985665e-01 9.88408076e-02 -1.52977694e-02 1.23912675e+02] [ 1.53869794e-02 -1.40282923e-04 9.99881604e-01 1.53465296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.3192541539999 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:934.21, Y:123.94, Z:15.35 [[ 1.01176326e-01 -9.94867197e-01 -1.61591203e-03 9.34209148e+02] [ 9.94749505e-01 1.01189212e-01 -1.53024716e-02 1.23939942e+02] [ 1.53874399e-02 -5.91798383e-05 9.99881605e-01 1.53464404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.3492541539998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:934.21, Y:123.97, Z:15.35 [[ 1.05540922e-01 -9.94413653e-01 -1.61270229e-03 9.34209525e+02] [ 9.94295900e-01 1.05553242e-01 -1.53028099e-02 1.23967065e+02] [ 1.53875490e-02 1.15693841e-05 9.99881605e-01 1.53490470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.3792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.21, Y:123.99, Z:15.35 [[ 1.07965493e-01 -9.94153340e-01 -1.60882122e-03 9.34211112e+02] [ 9.94035552e-01 1.07977466e-01 -1.53032179e-02 1.23994728e+02] [ 1.53874616e-02 5.29939764e-05 9.99881605e-01 1.53502783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.4092541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:934.21, Y:124.02, Z:15.35 [[ 1.13114279e-01 -9.93580689e-01 -1.60448182e-03 9.34211590e+02] [ 9.93462834e-01 1.13125575e-01 -1.53036728e-02 1.24022996e+02] [ 1.53869417e-02 1.37070864e-04 9.99881605e-01 1.53494050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.4392541539999 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:934.21, Y:124.05, Z:15.35 [[ 1.17099951e-01 -9.93118845e-01 -1.60015772e-03 9.34213047e+02] [ 9.93000940e-01 1.17110707e-01 -1.53041250e-02 1.24046135e+02] [ 1.53862105e-02 2.03154162e-04 9.99881605e-01 1.53460453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.4692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.22, Y:124.08, Z:15.35 [[ 1.18102706e-01 -9.93000272e-01 -1.48694808e-03 9.34215224e+02] [ 9.92882205e-01 1.18111598e-01 -1.53159512e-02 1.24076641e+02] [ 1.53843695e-02 3.32490993e-04 9.99881598e-01 1.53506023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.4992541539999 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:934.22, Y:124.10, Z:15.35 [[ 1.22151702e-01 -9.92510139e-01 -1.60795006e-03 9.34216456e+02] [ 9.92392191e-01 1.22161978e-01 -1.53033048e-02 1.24103702e+02] [ 1.53851155e-02 2.73607635e-04 9.99881605e-01 1.53460984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.5292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.22, Y:124.13, Z:15.35 [[ 1.23758244e-01 -9.92311114e-01 -1.59677052e-03 9.34219173e+02] [ 9.92193135e-01 1.23768157e-01 -1.53044712e-02 1.24132552e+02] [ 1.53844262e-02 3.09749736e-04 9.99881605e-01 1.53508052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.5592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.22, Y:124.16, Z:15.35 [[ 1.26183284e-01 -9.92005595e-01 -1.63667967e-03 9.34220927e+02] [ 9.91887642e-01 1.26193524e-01 -1.53003128e-02 1.24158719e+02] [ 1.53845343e-02 3.07241382e-04 9.99881604e-01 1.53495217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.5892541539998 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:934.22, Y:124.19, Z:15.35 [[ 1.26531280e-01 -9.91961343e-01 -1.59018464e-03 9.34223583e+02] [ 9.91843328e-01 1.26540762e-01 -1.53051436e-02 1.24186188e+02] [ 1.53833340e-02 3.59365387e-04 9.99881605e-01 1.53477487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.6192541539998 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:934.23, Y:124.22, Z:15.35 [[ 1.26538346e-01 -9.91960473e-01 -1.57064280e-03 9.34226200e+02] [ 9.91842434e-01 1.26547525e-01 -1.53071704e-02 1.24215046e+02] [ 1.53828690e-02 3.79113850e-04 9.99881605e-01 1.53479177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.6492541539999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:934.23, Y:124.24, Z:15.35 [[ 1.27131005e-01 -9.91884669e-01 -1.58474693e-03 9.34229638e+02] [ 9.91766642e-01 1.27140331e-01 -1.53057101e-02 1.24242403e+02] [ 1.53829844e-02 3.74131168e-04 9.99881605e-01 1.53477918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.6792541539999 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:934.23, Y:124.27, Z:15.35 [[ 1.26270122e-01 -9.91994637e-01 -1.58003065e-03 9.34233806e+02] [ 9.91876612e-01 1.26279478e-01 -1.53061970e-02 1.24270110e+02] [ 1.53831907e-02 3.65519912e-04 9.99881605e-01 1.53461644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.7092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.24, Y:124.30, Z:15.35 [[ 1.27008371e-01 -9.91900394e-01 -1.57574062e-03 9.34237356e+02] [ 9.91782357e-01 1.27017573e-01 -1.53066386e-02 1.24295200e+02] [ 1.53828076e-02 3.81279482e-04 9.99881605e-01 1.53491815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.7392541539998 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:934.24, Y:124.32, Z:15.35 [[ 1.24999093e-01 -9.92155684e-01 -1.52521471e-03 9.34241263e+02] [ 9.92037605e-01 1.25007755e-01 -1.53118221e-02 1.24324219e+02] [ 1.53823750e-02 4.00893527e-04 9.99881604e-01 1.53497222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.7692541539999 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:934.25, Y:124.35, Z:15.35 [[ 1.22971044e-01 -9.92409020e-01 -1.56810447e-03 9.34247424e+02] [ 9.92291012e-01 1.22980609e-01 -1.53074284e-02 1.24351592e+02] [ 1.53840765e-02 3.26354495e-04 9.99881605e-01 1.53494849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.7992541539999 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:934.25, Y:124.38, Z:15.35 [[ 1.21971360e-01 -9.92532389e-01 -1.56374885e-03 9.34252198e+02] [ 9.92414385e-01 1.21980976e-01 -1.53078734e-02 1.24378884e+02] [ 1.53843077e-02 3.15235277e-04 9.99881605e-01 1.53519133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.8292541539998 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:934.26, Y:124.41, Z:15.35 [[ 1.19960955e-01 -9.92777386e-01 -1.55939152e-03 9.34258814e+02] [ 9.92659396e-01 1.19970743e-01 -1.53083173e-02 1.24405999e+02] [ 1.53848325e-02 2.88455707e-04 9.99881605e-01 1.53535123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.8592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.26, Y:124.43, Z:15.36 [[ 1.19731276e-01 -9.92805119e-01 -1.55490376e-03 9.34263431e+02] [ 9.92687126e-01 1.19741022e-01 -1.53087731e-02 1.24432400e+02] [ 1.53848140e-02 2.89405989e-04 9.99881605e-01 1.53563308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.8892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.26, Y:124.46, Z:15.35 [[ 1.13724026e-01 -9.93511169e-01 -1.55017910e-03 9.34264796e+02] [ 9.93393230e-01 1.13734413e-01 -1.53092515e-02 1.24456295e+02] [ 1.53862210e-02 2.01092292e-04 9.99881605e-01 1.53505495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.9192541539999 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:934.28, Y:124.49, Z:15.35 [[ 1.16261165e-01 -9.93217750e-01 -1.35719944e-03 9.34276880e+02] [ 9.93099552e-01 1.16268275e-01 -1.53286768e-02 1.24486573e+02] [ 1.53825132e-02 4.34295664e-04 9.99881588e-01 1.53534206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.9492541539998 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:934.28, Y:124.51, Z:15.35 [[ 1.15473278e-01 -9.93309386e-01 -1.54482842e-03 9.34281963e+02] [ 9.93191423e-01 1.15483375e-01 -1.53097444e-02 1.24513990e+02] [ 1.53857148e-02 2.33556040e-04 9.99881606e-01 1.53549827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.9792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.29, Y:124.54, Z:15.36 [[ 1.14757294e-01 -9.93392365e-01 -1.54043855e-03 9.34286576e+02] [ 9.93274403e-01 1.14767408e-01 -1.53101861e-02 1.24540526e+02] [ 1.53858141e-02 2.26877350e-04 9.99881606e-01 1.53574741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.0092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.29, Y:124.57, Z:15.35 [[ 1.10056133e-01 -9.93924187e-01 -1.53581333e-03 9.34287617e+02] [ 9.93806268e-01 1.10066734e-01 -1.53106501e-02 1.24566192e+02] [ 1.53866674e-02 1.58730028e-04 9.99881606e-01 1.53533492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.0392541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:934.30, Y:124.60, Z:15.36 [[ 1.11491231e-01 -9.93764426e-01 -1.40386870e-03 9.34298453e+02] [ 9.93646322e-01 1.11499628e-01 -1.53238071e-02 1.24595385e+02] [ 1.53847852e-02 3.13521143e-04 9.99881598e-01 1.53596737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.0692541539999 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:934.31, Y:124.62, Z:15.36 [[ 1.09056510e-01 -9.94034379e-01 -1.52690865e-03 9.34305664e+02] [ 9.93916458e-01 1.09067093e-01 -1.53115373e-02 1.24621706e+02] [ 1.53867300e-02 1.52203192e-04 9.99881606e-01 1.53575731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.0992541539998 meters Centerline goodness : 0.999654 Centerline is valid? [True, True] Translation: X:934.31, Y:124.65, Z:15.36 [[ 1.07782202e-01 -9.94173365e-01 -1.52226661e-03 9.34310280e+02] [ 9.94055452e-01 1.07792865e-01 -1.53119988e-02 1.24649531e+02] [ 1.53868709e-02 1.37143536e-04 9.99881606e-01 1.53578836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.1292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.32, Y:124.68, Z:15.36 [[ 1.08251240e-01 -9.94122410e-01 -1.51777378e-03 9.34317609e+02] [ 9.94004485e-01 1.08261778e-01 -1.53124442e-02 1.24676085e+02] [ 1.53867608e-02 1.48917123e-04 9.99881606e-01 1.53584256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.1592541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:934.32, Y:124.70, Z:15.36 [[ 1.07479590e-01 -9.94206138e-01 -1.51449695e-03 9.34322503e+02] [ 9.94088217e-01 1.07490168e-01 -1.53127683e-02 1.24704238e+02] [ 1.53868417e-02 1.40266484e-04 9.99881606e-01 1.53590135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.1892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.33, Y:124.73, Z:15.36 [[ 1.08452239e-01 -9.94100514e-01 -1.51008483e-03 9.34329490e+02] [ 9.93982577e-01 1.08462634e-01 -1.53132034e-02 1.24731274e+02] [ 1.53866511e-02 1.59753170e-04 9.99881606e-01 1.53612071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.2192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.33, Y:124.76, Z:15.36 [[ 1.08644463e-01 -9.94079531e-01 -1.50565373e-03 9.34334009e+02] [ 9.93961586e-01 1.08654766e-01 -1.53136390e-02 1.24757916e+02] [ 1.53865716e-02 1.67180112e-04 9.99881606e-01 1.53614892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.2492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.34, Y:124.79, Z:15.36 [[ 1.08622704e-01 -9.94081916e-01 -1.50098309e-03 9.34338581e+02] [ 9.93963965e-01 1.08632938e-01 -1.53140968e-02 1.24785506e+02] [ 1.53865229e-02 1.71535493e-04 9.99881606e-01 1.53623674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.2792541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:934.34, Y:124.81, Z:15.36 [[ 1.07997598e-01 -9.94150029e-01 -1.49653720e-03 9.34344846e+02] [ 9.94032078e-01 1.08007838e-01 -1.53145313e-02 1.24812031e+02] [ 1.53865794e-02 1.66326613e-04 9.99881606e-01 1.53605162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.3092541539999 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:934.35, Y:124.84, Z:15.36 [[ 1.06622080e-01 -9.94298500e-01 -1.49193123e-03 9.34349384e+02] [ 9.94180557e-01 1.06632412e-01 -1.53149800e-02 1.24840245e+02] [ 1.53867498e-02 1.49665996e-04 9.99881606e-01 1.53585166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.3392541539998 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:934.36, Y:124.87, Z:15.36 [[ 1.04523233e-01 -9.94521333e-01 -1.48756760e-03 9.34356836e+02] [ 9.94403406e-01 1.04533748e-01 -1.53154038e-02 1.24867703e+02] [ 1.53869968e-02 1.21573239e-04 9.99881606e-01 1.53594407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.3692541539998 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:934.36, Y:124.90, Z:15.36 [[ 1.02737867e-01 -9.94707359e-01 -1.48319407e-03 9.34361829e+02] [ 9.94589446e-01 1.02748526e-01 -1.53158273e-02 1.24895684e+02] [ 1.53871622e-02 9.83462655e-05 9.99881606e-01 1.53602438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.3992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.37, Y:124.92, Z:15.37 [[ 1.00744088e-01 -9.94911273e-01 -1.47883824e-03 9.34369354e+02] [ 9.94793375e-01 1.00754916e-01 -1.53162479e-02 1.24922466e+02] [ 1.53873079e-02 7.18829439e-05 9.99881606e-01 1.53655157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.4292541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:934.37, Y:124.95, Z:15.37 [[ 9.80467426e-02 -9.95180718e-01 -1.47495626e-03 9.34373965e+02] [ 9.95062844e-01 9.80578303e-02 -1.53166217e-02 1.24950136e+02] [ 1.53874376e-02 3.40706959e-05 9.99881606e-01 1.53650762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.4592541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:934.38, Y:124.98, Z:15.37 [[ 9.64707593e-02 -9.95334733e-01 -1.47045462e-03 9.34378562e+02] [ 9.95216870e-01 9.64819642e-02 -1.53170539e-02 1.24976566e+02] [ 1.53874681e-02 1.42265722e-05 9.99881606e-01 1.53662626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.4892541539998 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:934.38, Y:125.00, Z:15.37 [[ 9.34904278e-02 -9.95619100e-01 -1.46570767e-03 9.34384487e+02] [ 9.95501264e-01 9.35019126e-02 -1.53175081e-02 1.25003799e+02] [ 1.53874501e-02 -2.70734478e-05 9.99881606e-01 1.53658184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.5192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.39, Y:125.03, Z:15.37 [[ 9.44903116e-02 -9.95524709e-01 -1.46134435e-03 9.34388996e+02] [ 9.95406855e-01 9.45016109e-02 -1.53179244e-02 1.25030780e+02] [ 1.53874716e-02 -7.23673332e-06 9.99881606e-01 1.53695320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.5492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.39, Y:125.06, Z:15.37 [[ 9.60645745e-02 -9.95374037e-01 -1.45746941e-03 9.34391293e+02] [ 9.95256160e-01 9.60756277e-02 -1.53182931e-02 1.25058800e+02] [ 1.53874585e-02 2.09898962e-05 9.99881606e-01 1.53700291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.5792541539998 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:934.39, Y:125.09, Z:15.37 [[ 9.86695739e-02 -9.95119191e-01 -1.45318635e-03 9.34393210e+02] [ 9.95001279e-01 9.86802526e-02 -1.53186994e-02 1.25086969e+02] [ 1.53873325e-02 6.55672603e-05 9.99881606e-01 1.53665696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.6092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.40, Y:125.11, Z:15.37 [[ 1.01355440e-01 -9.94849223e-01 -1.44881195e-03 9.34395810e+02] [ 9.94731277e-01 1.01365734e-01 -1.53191131e-02 1.25113454e+02] [ 1.53870676e-02 1.11496895e-04 9.99881606e-01 1.53698817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.6392541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:934.40, Y:125.14, Z:15.37 [[ 1.01966076e-01 -9.94786828e-01 -1.44420282e-03 9.34398199e+02] [ 9.94668870e-01 1.01976226e-01 -1.53195476e-02 1.25141187e+02] [ 1.53869585e-02 1.25570576e-04 9.99881606e-01 1.53686793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.6692541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:934.40, Y:125.17, Z:15.37 [[ 1.01680337e-01 -9.94816082e-01 -1.43980690e-03 9.34400799e+02] [ 9.94698120e-01 1.01690453e-01 -1.53199607e-02 1.25169660e+02] [ 1.53869579e-02 1.25565564e-04 9.99881606e-01 1.53691176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.6992541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:934.40, Y:125.20, Z:15.37 [[ 1.03321841e-01 -9.94646941e-01 -1.43540587e-03 9.34403689e+02] [ 9.94528957e-01 1.03331694e-01 -1.53203731e-02 1.25197774e+02] [ 1.53866851e-02 1.55376448e-04 9.99881606e-01 1.53695000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.7292541539998 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:934.41, Y:125.22, Z:15.37 [[ 1.02269833e-01 -9.94755665e-01 -1.43100700e-03 9.34405209e+02] [ 9.94637687e-01 1.02279744e-01 -1.53207840e-02 1.25224635e+02] [ 1.53867997e-02 1.43520528e-04 9.99881606e-01 1.53670767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.7592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.41, Y:125.25, Z:15.37 [[ 1.02146252e-01 -9.94768369e-01 -1.42641409e-03 9.34407484e+02] [ 9.94650386e-01 1.02156107e-01 -1.53212116e-02 1.25252541e+02] [ 1.53867735e-02 1.46221017e-04 9.99881606e-01 1.53704382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.7892541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:934.41, Y:125.28, Z:15.37 [[ 9.83345284e-02 -9.95152400e-01 -1.42206961e-03 9.34409796e+02] [ 9.95034449e-01 9.83447678e-02 -1.53216148e-02 1.25280756e+02] [ 1.53871948e-02 9.16355150e-05 9.99881606e-01 1.53696828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.8192541539999 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:934.41, Y:125.31, Z:15.37 [[ 9.60809377e-02 -9.95372515e-01 -1.41766317e-03 9.34412352e+02] [ 9.95254582e-01 9.60913764e-02 -1.53220225e-02 1.25308926e+02] [ 1.53873453e-02 6.12185204e-05 9.99881606e-01 1.53698966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.8492541539998 meters Centerline goodness : 0.999713 Centerline is valid? [True, True] Translation: X:934.42, Y:125.34, Z:15.37 [[ 9.24004060e-02 -9.95720929e-01 -1.41325551e-03 9.34415300e+02] [ 9.95603029e-01 9.24112127e-02 -1.53224290e-02 1.25336846e+02] [ 1.53874639e-02 8.75719574e-06 9.99881606e-01 1.53702835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.8792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.41, Y:125.36, Z:15.37 [[ 8.84498374e-02 -9.96079636e-01 -1.40888107e-03 9.34414060e+02] [ 9.95961774e-01 8.84610445e-02 -1.53228312e-02 1.25361487e+02] [ 1.53873913e-02 -4.78897589e-05 9.99881606e-01 1.53721625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.9092541539999 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:934.42, Y:125.39, Z:15.37 [[ 8.96871890e-02 -9.95969180e-01 -1.26542969e-03 9.34420538e+02] [ 9.95851108e-01 8.96960417e-02 -1.53359591e-02 1.25391356e+02] [ 1.53876466e-02 1.15259504e-04 9.99881597e-01 1.53728855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.9392541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:934.42, Y:125.42, Z:15.37 [[ 8.83456232e-02 -9.96088891e-01 -1.40401536e-03 9.34422057e+02] [ 9.95971023e-01 8.83567678e-02 -1.53232611e-02 1.25418951e+02] [ 1.53873844e-02 -4.46155611e-05 9.99881606e-01 1.53747588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.9692541539998 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:934.42, Y:125.45, Z:15.37 [[ 8.74574427e-02 -9.96167274e-01 -1.39962543e-03 9.34424119e+02] [ 9.96049409e-01 8.74686248e-02 -1.53236621e-02 1.25446906e+02] [ 1.53873540e-02 -5.39277828e-05 9.99881606e-01 1.53731470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.9992541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:934.43, Y:125.48, Z:15.38 [[ 8.80294716e-02 -9.96116894e-01 -1.39523054e-03 9.34425963e+02] [ 9.95999016e-01 8.80405184e-02 -1.53240622e-02 1.25475096e+02] [ 1.53873941e-02 -4.06791454e-05 9.99881606e-01 1.53764139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.0292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.43, Y:125.50, Z:15.38 [[ 8.85734941e-02 -9.96068673e-01 -1.39080629e-03 9.34427996e+02] [ 9.95950784e-01 8.85844084e-02 -1.53244638e-02 1.25501616e+02] [ 1.53874220e-02 -2.78333142e-05 9.99881606e-01 1.53774442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.0592541539999 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:934.43, Y:125.53, Z:15.37 [[ 8.87356851e-02 -9.96054244e-01 -1.38614150e-03 9.34429577e+02] [ 9.95936346e-01 8.87465085e-02 -1.53248857e-02 1.25530099e+02] [ 1.53874327e-02 -2.06444668e-05 9.99881606e-01 1.53746182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.0892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.43, Y:125.56, Z:15.38 [[ 9.01740570e-02 -9.95925063e-01 -1.38174405e-03 9.34431404e+02] [ 9.95807143e-01 9.01846424e-02 -1.53252822e-02 1.25557188e+02] [ 1.53874447e-02 5.99227508e-06 9.99881606e-01 1.53779071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.1192541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:934.43, Y:125.58, Z:15.37 [[ 8.69629442e-02 -9.96210593e-01 -1.37852093e-03 9.34428626e+02] [ 9.96092704e-01 8.69738601e-02 -1.53255721e-02 1.25582836e+02] [ 1.53873926e-02 -4.03777702e-05 9.99881606e-01 1.53736057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.1492541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:934.43, Y:125.61, Z:15.38 [[ 9.27142928e-02 -9.95692004e-01 -1.22228694e-03 9.34434245e+02] [ 9.95573858e-01 9.27221221e-02 -1.53395351e-02 1.25613519e+02] [ 1.53867854e-02 2.05317216e-04 9.99881595e-01 1.53785493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.1792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.44, Y:125.64, Z:15.38 [[ 9.38948244e-02 -9.95581178e-01 -1.37109516e-03 9.34436322e+02] [ 9.95463206e-01 9.39048053e-02 -1.53262227e-02 1.25641030e+02] [ 1.53872513e-02 7.41782114e-05 9.99881606e-01 1.53793814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.2092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.44, Y:125.67, Z:15.38 [[ 9.52840928e-02 -9.95449182e-01 -1.36646272e-03 9.34437890e+02] [ 9.95331191e-01 9.52938377e-02 -1.53266357e-02 1.25669420e+02] [ 1.53871025e-02 1.00301619e-04 9.99881607e-01 1.53794903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.2392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.44, Y:125.70, Z:15.38 [[ 9.54226937e-02 -9.95435912e-01 -1.36210274e-03 9.34440105e+02] [ 9.95317913e-01 9.54323550e-02 -1.53270232e-02 1.25697446e+02] [ 1.53870580e-02 1.06820589e-04 9.99881607e-01 1.53797528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.2692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.44, Y:125.72, Z:15.38 [[ 9.50420114e-02 -9.95472337e-01 -1.35769586e-03 9.34442992e+02] [ 9.95354336e-01 9.50516500e-02 -1.53274136e-02 1.25724845e+02] [ 1.53870674e-02 1.05359757e-04 9.99881607e-01 1.53790781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.2992541539999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:934.45, Y:125.75, Z:15.38 [[ 9.37196965e-02 -9.95597704e-01 -1.35309847e-03 9.34445453e+02] [ 9.95479710e-01 9.37294210e-02 -1.53278194e-02 1.25751482e+02] [ 1.53871670e-02 8.95365110e-05 9.99881607e-01 1.53761911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.3292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.45, Y:125.78, Z:15.38 [[ 9.29181921e-02 -9.95672833e-01 -1.34862964e-03 9.34448510e+02] [ 9.95554842e-01 9.29279428e-02 -1.53282126e-02 1.25779634e+02] [ 1.53872102e-02 8.16350352e-05 9.99881607e-01 1.53795436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.3592541539998 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:934.45, Y:125.81, Z:15.38 [[ 9.17446384e-02 -9.95781660e-01 -1.34423559e-03 9.34451440e+02] [ 9.95663675e-01 9.17544606e-02 -1.53285979e-02 1.25807537e+02] [ 1.53872763e-02 6.79101307e-05 9.99881607e-01 1.53778409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.3892541539999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:934.45, Y:125.83, Z:15.38 [[ 9.16657139e-02 -9.95788934e-01 -1.33986426e-03 9.34454871e+02] [ 9.95670944e-01 9.16754781e-02 -1.53289800e-02 1.25833279e+02] [ 1.53872614e-02 7.10779821e-05 9.99881607e-01 1.53785292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.4192541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:934.46, Y:125.86, Z:15.38 [[ 8.87933051e-02 -9.96049240e-01 -1.28846385e-03 9.34455536e+02] [ 9.95931213e-01 8.88026184e-02 -1.53334538e-02 1.25860092e+02] [ 1.53872940e-02 7.82866724e-05 9.99881606e-01 1.53812130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.4492541539998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:934.46, Y:125.89, Z:15.38 [[ 9.11454669e-02 -9.95836821e-01 -1.23699505e-03 9.34462467e+02] [ 9.95718710e-01 9.11537089e-02 -1.53379548e-02 1.25889903e+02] [ 1.53868569e-02 1.66285943e-04 9.99881601e-01 1.53823726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.4792541539998 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:934.47, Y:125.92, Z:15.38 [[ 9.11226023e-02 -9.95838778e-01 -1.34124672e-03 9.34465341e+02] [ 9.95720796e-01 9.11324521e-02 -1.53288331e-02 1.25917422e+02] [ 1.53872775e-02 6.12959105e-05 9.99881607e-01 1.53830298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.5092541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:934.47, Y:125.94, Z:15.38 [[ 9.24893841e-02 -9.95712773e-01 -1.33685520e-03 9.34467967e+02] [ 9.95594772e-01 9.24990044e-02 -1.53292160e-02 1.25944853e+02] [ 1.53871540e-02 8.68237074e-05 9.99881607e-01 1.53829292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.5392541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:934.47, Y:125.97, Z:15.38 [[ 9.32747242e-02 -9.95639519e-01 -1.33222694e-03 9.34470467e+02] [ 9.95521504e-01 9.32841801e-02 -1.53296183e-02 1.25973106e+02] [ 1.53870495e-02 1.03605345e-04 9.99881607e-01 1.53832068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.5692541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:934.47, Y:126.00, Z:15.39 [[ 9.63391652e-02 -9.95347679e-01 -1.32780110e-03 9.34473608e+02] [ 9.95229631e-01 9.63481897e-02 -1.53300016e-02 1.26001264e+02] [ 1.53866128e-02 1.55412564e-04 9.99881607e-01 1.53854692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.5992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.47, Y:126.03, Z:15.39 [[ 9.52356666e-02 -9.95453875e-01 -1.32337402e-03 9.34473353e+02] [ 9.95335831e-01 9.52447538e-02 -1.53303838e-02 1.26027302e+02] [ 1.53867344e-02 1.42797738e-04 9.99881607e-01 1.53858912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.6292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.48, Y:126.06, Z:15.39 [[ 1.00027509e-01 -9.94983909e-01 -1.23250767e-03 9.34478513e+02] [ 9.94865726e-01 1.00034628e-01 -1.53381929e-02 1.26056326e+02] [ 1.53845486e-02 3.08061596e-04 9.99881603e-01 1.53862958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.6592541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:934.48, Y:126.08, Z:15.38 [[ 1.00123785e-01 -9.94974116e-01 -1.31782628e-03 9.34480752e+02] [ 9.94856023e-01 1.00132207e-01 -1.53308591e-02 1.26084792e+02] [ 1.53857648e-02 2.23936223e-04 9.99881607e-01 1.53849706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.6892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.48, Y:126.11, Z:15.39 [[ 1.00964493e-01 -9.94889163e-01 -1.31347590e-03 9.34483192e+02] [ 9.94771058e-01 1.00972748e-01 -1.53312318e-02 1.26111982e+02] [ 1.53855016e-02 2.41302239e-04 9.99881607e-01 1.53865544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.7192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.49, Y:126.14, Z:15.39 [[ 1.01718298e-01 -9.94812382e-01 -1.30888794e-03 9.34485958e+02] [ 9.94694266e-01 1.01726393e-01 -1.53316234e-02 1.26140262e+02] [ 1.53852373e-02 2.57563319e-04 9.99881607e-01 1.53876962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.7492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.49, Y:126.17, Z:15.39 [[ 1.01133330e-01 -9.94872026e-01 -1.30447590e-03 9.34488673e+02] [ 9.94753910e-01 1.01141427e-01 -1.53319988e-02 1.26167562e+02] [ 1.53853133e-02 2.52943596e-04 9.99881607e-01 1.53873814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.7792541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:934.49, Y:126.20, Z:15.39 [[ 9.88344192e-02 -9.95103044e-01 -1.29983031e-03 9.34491568e+02] [ 9.94984942e-01 9.88427168e-02 -1.53323927e-02 1.26195427e+02] [ 1.53857894e-02 2.22056542e-04 9.99881607e-01 1.53869655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.8092541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:934.49, Y:126.22, Z:15.39 [[ 9.75790930e-02 -9.95226930e-01 -1.29547142e-03 9.34494612e+02] [ 9.95108834e-01 9.75874725e-02 -1.53327610e-02 1.26223111e+02] [ 1.53859984e-02 2.07021853e-04 9.99881607e-01 1.53884131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.8392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.50, Y:126.25, Z:15.39 [[ 9.61338518e-02 -9.95367578e-01 -1.29112367e-03 9.34497630e+02] [ 9.95249490e-01 9.61423358e-02 -1.53331271e-02 1.26251081e+02] [ 1.53862292e-02 1.89042390e-04 9.99881607e-01 1.53897347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.8692541539998 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:934.50, Y:126.28, Z:15.39 [[ 9.30531924e-02 -9.95660307e-01 -1.28676185e-03 9.34501123e+02] [ 9.95542241e-01 9.30619746e-02 -1.53334931e-02 1.26278554e+02] [ 1.53866990e-02 1.45804709e-04 9.99881607e-01 1.53892079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.8992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.51, Y:126.31, Z:15.39 [[ 9.13779139e-02 -9.95815461e-01 -1.28243625e-03 9.34505137e+02] [ 9.95697404e-01 9.13868281e-02 -1.53338549e-02 1.26305451e+02] [ 1.53868875e-02 1.24257226e-04 9.99881607e-01 1.53917638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.9292541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:934.51, Y:126.33, Z:15.39 [[ 9.00093200e-02 -9.95940103e-01 -1.27788076e-03 9.34507713e+02] [ 9.95822054e-01 9.00183263e-02 -1.53342345e-02 1.26333859e+02] [ 1.53870118e-02 1.07682173e-04 9.99881607e-01 1.53917967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.9592541539998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:934.51, Y:126.36, Z:15.39 [[ 8.88568277e-02 -9.96043595e-01 -1.27349590e-03 9.34510029e+02] [ 9.95925550e-01 8.88659031e-02 -1.53345986e-02 1.26360674e+02] [ 1.53870991e-02 9.42766889e-05 9.99881607e-01 1.53922745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.9892541539998 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:934.51, Y:126.39, Z:15.39 [[ 8.89720606e-02 -9.96033314e-01 -1.26888479e-03 9.34512395e+02] [ 9.95915263e-01 8.89810513e-02 -1.53349802e-02 1.26388344e+02] [ 1.53870578e-02 1.00683055e-04 9.99881607e-01 1.53940340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.0192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.51, Y:126.42, Z:15.39 [[ 8.89042745e-02 -9.96039372e-01 -1.26450947e-03 9.34513891e+02] [ 9.95921317e-01 8.89132060e-02 -1.53353410e-02 1.26415312e+02] [ 1.53870350e-02 1.04025425e-04 9.99881607e-01 1.53937892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.0492541539999 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:934.52, Y:126.44, Z:15.39 [[ 8.98122211e-02 -9.95957918e-01 -1.26131841e-03 9.34515204e+02] [ 9.95839851e-01 8.98209958e-02 -1.53356034e-02 1.26443084e+02] [ 1.53869085e-02 1.21253467e-04 9.99881607e-01 1.53927999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.0792541539998 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:934.52, Y:126.47, Z:15.39 [[ 9.16348020e-02 -9.95791888e-01 -1.25690803e-03 9.34516667e+02] [ 9.95673800e-01 9.16432926e-02 -1.53359649e-02 1.26471599e+02] [ 1.53866166e-02 1.53837711e-04 9.99881607e-01 1.53915696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.1092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.52, Y:126.50, Z:15.39 [[ 9.28051591e-02 -9.95683501e-01 -1.25252273e-03 9.34518496e+02] [ 9.95565398e-01 9.28134434e-02 -1.53363230e-02 1.26499903e+02] [ 1.53863748e-02 1.76321606e-04 9.99881607e-01 1.53945539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.1392541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:934.52, Y:126.53, Z:15.39 [[ 9.36357302e-02 -9.95605741e-01 -1.24814812e-03 9.34519926e+02] [ 9.95487627e-01 9.36438486e-02 -1.53366791e-02 1.26528158e+02] [ 1.53861671e-02 1.93545132e-04 9.99881607e-01 1.53938133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.1692541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:934.52, Y:126.56, Z:15.39 [[ 9.48772582e-02 -9.95488201e-01 -1.24376262e-03 9.34521102e+02] [ 9.95370073e-01 9.48851618e-02 -1.53370347e-02 1.26555941e+02] [ 1.53858517e-02 2.17131711e-04 9.99881607e-01 1.53929003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.1992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.52, Y:126.58, Z:15.39 [[ 9.63175912e-02 -9.95349881e-01 -1.23940669e-03 9.34522688e+02] [ 9.95231737e-01 9.63252567e-02 -1.53373867e-02 1.26583295e+02] [ 1.53854522e-02 2.43763271e-04 9.99881607e-01 1.53945982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.2292541539998 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:934.52, Y:126.61, Z:15.39 [[ 9.59450406e-02 -9.95385867e-01 -1.23481072e-03 9.34524132e+02] [ 9.95267721e-01 9.59526796e-02 -1.53377567e-02 1.26611808e+02] [ 1.53854697e-02 2.42614442e-04 9.99881607e-01 1.53927124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.2592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.53, Y:126.64, Z:15.40 [[ 9.64137586e-02 -9.95340581e-01 -1.23048873e-03 9.34526306e+02] [ 9.95222428e-01 9.64212753e-02 -1.53381034e-02 1.26639032e+02] [ 1.53852821e-02 2.54194218e-04 9.99881607e-01 1.53954420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.2892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.53, Y:126.67, Z:15.40 [[ 9.61709351e-02 -9.95364078e-01 -1.22592329e-03 9.34528281e+02] [ 9.95245922e-01 9.61784103e-02 -1.53384683e-02 1.26667266e+02] [ 1.53852678e-02 2.55019691e-04 9.99881607e-01 1.53963328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.3192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.53, Y:126.69, Z:15.40 [[ 9.49051693e-02 -9.95485568e-01 -1.22159045e-03 9.34529401e+02] [ 9.95367417e-01 9.49127280e-02 -1.53388134e-02 1.26694871e+02] [ 1.53855119e-02 2.39801352e-04 9.99881607e-01 1.53980098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.3492541539998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:934.53, Y:126.72, Z:15.40 [[ 9.23540327e-02 -9.95725490e-01 -1.21711995e-03 9.34530154e+02] [ 9.95607354e-01 9.23618253e-02 -1.53391681e-02 1.26721906e+02] [ 1.53860161e-02 2.04860464e-04 9.99881607e-01 1.53966501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.3792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.53, Y:126.75, Z:15.40 [[ 9.10718643e-02 -9.95843583e-01 -1.21386341e-03 9.34532511e+02] [ 9.95725454e-01 9.10797588e-02 -1.53394258e-02 1.26749698e+02] [ 1.53862272e-02 1.88315416e-04 9.99881607e-01 1.53994117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.4092541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:934.53, Y:126.78, Z:15.40 [[ 8.86546937e-02 -9.96061686e-01 -1.20942474e-03 9.34534302e+02] [ 9.95943572e-01 8.86628065e-02 -1.53397758e-02 1.26777958e+02] [ 1.53865939e-02 1.55424329e-04 9.99881607e-01 1.53988012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.4392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.54, Y:126.81, Z:15.40 [[ 8.52160473e-02 -9.96361768e-01 -1.20496750e-03 9.34537024e+02] [ 9.96243678e-01 8.52244992e-02 -1.53401259e-02 1.26805333e+02] [ 1.53870077e-02 1.06783643e-04 9.99881607e-01 1.54022308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.4692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.54, Y:126.83, Z:15.40 [[ 8.31043788e-02 -9.96540125e-01 -1.20101417e-03 9.34539174e+02] [ 9.96422048e-01 8.31130201e-02 -1.53404354e-02 1.26833089e+02] [ 1.53871793e-02 7.81403564e-05 9.99881607e-01 1.54027578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.4992541539999 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:934.54, Y:126.86, Z:15.40 [[ 7.83215398e-02 -9.96927432e-01 -1.19668185e-03 9.34540366e+02] [ 9.96809393e-01 7.83306809e-02 -1.53407734e-02 1.26860743e+02] [ 1.53873747e-02 8.64928165e-06 9.99881607e-01 1.54001034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.5292541539999 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:934.54, Y:126.89, Z:15.40 [[ 7.61191691e-02 -9.97098015e-01 -1.19234521e-03 9.34541892e+02] [ 9.96979990e-01 7.61285042e-02 -1.53411104e-02 1.26888328e+02] [ 1.53873622e-02 -2.09917415e-05 9.99881607e-01 1.54000806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.5592541539999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:934.54, Y:126.92, Z:15.40 [[ 7.28634692e-02 -9.97341217e-01 -1.18786781e-03 9.34542945e+02] [ 9.97223219e-01 7.28731207e-02 -1.53414571e-02 1.26915748e+02] [ 1.53872311e-02 -6.67375787e-05 9.99881607e-01 1.53986917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.5892541539998 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:934.55, Y:126.94, Z:15.40 [[ 7.25807712e-02 -9.97361836e-01 -1.18316136e-03 9.34545062e+02] [ 9.97243834e-01 7.25903837e-02 -1.53418201e-02 1.26944259e+02] [ 1.53872320e-02 -6.63792355e-05 9.99881607e-01 1.53991298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.6192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.55, Y:126.97, Z:15.40 [[ 7.13692315e-02 -9.97449269e-01 -1.17881213e-03 9.34547108e+02] [ 9.97331273e-01 7.13789205e-02 -1.53421542e-02 1.26971953e+02] [ 1.53871629e-02 -8.07084407e-05 9.99881607e-01 1.54017082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.6492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.55, Y:127.00, Z:15.40 [[ 6.82772507e-02 -9.97665695e-01 -1.17436930e-03 9.34548428e+02] [ 9.97547724e-01 6.82872371e-02 -1.53424943e-02 1.26999588e+02] [ 1.53868747e-02 -1.23946094e-04 9.99881607e-01 1.54013025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.6792541539999 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:934.55, Y:127.03, Z:15.40 [[ 6.64719360e-02 -9.97787609e-01 -1.16996786e-03 9.34550018e+02] [ 9.97669651e-01 6.64820681e-02 -1.53428299e-02 1.27027681e+02] [ 1.53866675e-02 -1.47373819e-04 9.99881607e-01 1.53986605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.7092541539998 meters Centerline goodness : 0.999450 Centerline is valid? [True, True] Translation: X:934.55, Y:127.06, Z:15.40 [[ 6.41947035e-02 -9.97936712e-01 -1.16559146e-03 9.34551154e+02] [ 9.97818771e-01 6.42050375e-02 -1.53431624e-02 1.27055708e+02] [ 1.53863419e-02 -1.78099282e-04 9.99881607e-01 1.53959752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.7392541539998 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:934.55, Y:127.08, Z:15.40 [[ 6.41236788e-02 -9.97941240e-01 -1.19812740e-03 9.34551999e+02] [ 9.97823344e-01 6.41345213e-02 -1.53406998e-02 1.27080651e+02] [ 1.53859583e-02 -2.11817382e-04 9.99881607e-01 1.53999424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.7692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.55, Y:127.11, Z:15.40 [[ 6.43034481e-02 -9.97929723e-01 -1.15487186e-03 9.34553125e+02] [ 9.97811768e-01 6.43136044e-02 -1.53439555e-02 1.27107396e+02] [ 1.53864632e-02 -1.65675488e-04 9.99881608e-01 1.54022424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.7992541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:934.55, Y:127.14, Z:15.40 [[ 6.50063822e-02 -9.97884185e-01 -1.15032668e-03 9.34553479e+02] [ 9.97766216e-01 6.50163856e-02 -1.53442963e-02 1.27135922e+02] [ 1.53866206e-02 -1.50279913e-04 9.99881608e-01 1.54023233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.8292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.55, Y:127.16, Z:15.40 [[ 6.56824162e-02 -9.97839921e-01 -1.14602489e-03 9.34554849e+02] [ 9.97721939e-01 6.56922735e-02 -1.53446175e-02 1.27162913e+02] [ 1.53867569e-02 -1.35542622e-04 9.99881608e-01 1.54029999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.8592541539998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:934.56, Y:127.19, Z:15.40 [[ 6.57560641e-02 -9.97835075e-01 -1.14150245e-03 9.34555573e+02] [ 9.97717087e-01 6.57658431e-02 -1.53449540e-02 1.27190560e+02] [ 1.53868052e-02 -1.29872722e-04 9.99881608e-01 1.54017098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.8892541539999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:934.56, Y:127.22, Z:15.40 [[ 6.73979119e-02 -9.97725528e-01 -1.13677380e-03 9.34555865e+02] [ 9.97607518e-01 6.74074241e-02 -1.53453043e-02 1.27219173e+02] [ 1.53870288e-02 -9.98126289e-05 9.99881608e-01 1.54024739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.9192541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:934.56, Y:127.25, Z:15.41 [[ 6.87180746e-02 -9.97635476e-01 -1.13251015e-03 9.34557089e+02] [ 9.97517449e-01 6.87273650e-02 -1.53456189e-02 1.27247079e+02] [ 1.53871683e-02 -7.51772535e-05 9.99881608e-01 1.54055662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.9492541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:934.56, Y:127.27, Z:15.41 [[ 7.06207883e-02 -9.97502598e-01 -1.12797105e-03 9.34556366e+02] [ 9.97384547e-01 7.06297838e-02 -1.53459525e-02 1.27274763e+02] [ 1.53872959e-02 -4.12776249e-05 9.99881608e-01 1.54052799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.9792541539998 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:934.56, Y:127.30, Z:15.40 [[ 7.07695729e-02 -9.97492058e-01 -1.12318980e-03 9.34556855e+02] [ 9.97374001e-01 7.07784772e-02 -1.53463025e-02 1.27303216e+02] [ 1.53873125e-02 -3.41890367e-05 9.99881608e-01 1.54038498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.0092541539999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:934.56, Y:127.33, Z:15.41 [[ 7.17719927e-02 -9.97420438e-01 -1.11876139e-03 9.34556847e+02] [ 9.97302367e-01 7.17807103e-02 -1.53466253e-02 1.27329857e+02] [ 1.53873432e-02 -1.42854999e-05 9.99881608e-01 1.54051115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.0392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.56, Y:127.36, Z:15.41 [[ 7.18664947e-02 -9.97413637e-01 -1.11553811e-03 9.34558445e+02] [ 9.97295561e-01 7.18751515e-02 -1.53468596e-02 1.27357440e+02] [ 1.53873465e-02 -9.59619725e-06 9.99881608e-01 1.54085383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.0692541539999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:934.56, Y:127.39, Z:15.41 [[ 7.03482249e-02 -9.97521876e-01 -1.11117831e-03 9.34558928e+02] [ 9.97403809e-01 7.03569943e-02 -1.53471753e-02 1.27386015e+02] [ 1.53873222e-02 -2.86469424e-05 9.99881608e-01 1.54077876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.0992541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:934.56, Y:127.41, Z:15.41 [[ 6.94382821e-02 -9.97585636e-01 -1.10675848e-03 9.34560373e+02] [ 9.97467571e-01 6.94470912e-02 -1.53474940e-02 1.27412630e+02] [ 1.53873007e-02 -3.82520784e-05 9.99881608e-01 1.54106778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.1292541539999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:934.56, Y:127.44, Z:15.41 [[ 6.66734866e-02 -9.97774239e-01 -1.10210066e-03 9.34560165e+02] [ 9.97656194e-01 6.66825512e-02 -1.53478285e-02 1.27441300e+02] [ 1.53871588e-02 -7.62243144e-05 9.99881608e-01 1.54099767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.1592541539999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:934.56, Y:127.47, Z:15.41 [[ 6.49571624e-02 -9.97887450e-01 -1.09772278e-03 9.34560823e+02] [ 9.97769415e-01 6.49663627e-02 -1.53481416e-02 1.27469003e+02] [ 1.53870329e-02 -9.83024899e-05 9.99881608e-01 1.54096524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.1892541539999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:934.56, Y:127.50, Z:15.41 [[ 6.07469454e-02 -9.98152600e-01 -1.09336479e-03 9.34559287e+02] [ 9.98034600e-01 6.07565766e-02 -1.53484520e-02 1.27496008e+02] [ 1.53865264e-02 -1.58844311e-04 9.99881608e-01 1.54090766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.2192541539998 meters Centerline goodness : 0.996680 Centerline is valid? [True, True] Translation: X:934.56, Y:127.53, Z:15.41 [[ 6.09943893e-02 -9.98137568e-01 -1.03910036e-03 9.34561741e+02] [ 9.98019500e-01 6.10031567e-02 -1.53522708e-02 1.27526102e+02] [ 1.53870666e-02 -1.00640039e-04 9.99881607e-01 1.54084806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.2492541539999 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:934.56, Y:127.55, Z:15.41 [[ 6.09556923e-02 -9.98139809e-01 -1.15121063e-03 9.34561341e+02] [ 9.98021881e-01 6.09661880e-02 -1.53443794e-02 1.27551858e+02] [ 1.53860209e-02 -2.13606128e-04 9.99881605e-01 1.54076074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.2792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.56, Y:127.58, Z:15.41 [[ 6.04000103e-02 -9.98173676e-01 -1.07281314e-03 9.34561808e+02] [ 9.98055655e-01 6.04093664e-02 -1.53498587e-02 1.27579574e+02] [ 1.53866329e-02 -1.43595600e-04 9.99881608e-01 1.54103988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.3092541539999 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:934.56, Y:127.61, Z:15.41 [[ 6.31325769e-02 -9.98004576e-01 -1.06925463e-03 9.34561586e+02] [ 9.97886526e-01 6.31415551e-02 -1.53501064e-02 1.27606939e+02] [ 1.53869908e-02 -9.79030219e-05 9.99881608e-01 1.54076054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.3392541539998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:934.56, Y:127.64, Z:15.41 [[ 6.41563225e-02 -9.97939294e-01 -1.06373302e-03 9.34562444e+02] [ 9.97821228e-01 6.41650947e-02 -1.53504890e-02 1.27636132e+02] [ 1.53871107e-02 -7.65844624e-05 9.99881608e-01 1.54095004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.3692541539998 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:934.56, Y:127.66, Z:15.41 [[ 6.48688622e-02 -9.97893184e-01 -1.10659908e-03 9.34562006e+02] [ 9.97775161e-01 6.48782094e-02 -1.53475254e-02 1.27663638e+02] [ 1.53869851e-02 -1.08560568e-04 9.99881607e-01 1.54083839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.3992541539999 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:934.56, Y:127.69, Z:15.41 [[ 6.94934417e-02 -9.97581840e-01 -1.06457495e-03 9.34563220e+02] [ 9.97463730e-01 6.95015952e-02 -1.53504190e-02 1.27692565e+02] [ 1.53872889e-02 4.87855105e-06 9.99881609e-01 1.54088717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.4292541539999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:934.56, Y:127.72, Z:15.41 [[ 7.17947078e-02 -9.97418725e-01 -1.18660671e-03 9.34560842e+02] [ 9.97300727e-01 7.18044663e-02 -1.53420300e-02 1.27718854e+02] [ 1.53876316e-02 -8.19271797e-05 9.99881600e-01 1.54098281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.4592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.56, Y:127.74, Z:15.41 [[ 7.15950211e-02 -9.97433163e-01 -1.11288879e-03 9.34558899e+02] [ 9.97315087e-01 7.16036692e-02 -1.53470358e-02 1.27744688e+02] [ 1.53873294e-02 -1.11294298e-05 9.99881608e-01 1.54122241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.4892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.56, Y:127.77, Z:15.41 [[ 7.39182607e-02 -9.97263813e-01 -9.88706803e-04 9.34560657e+02] [ 9.97145599e-01 7.39247222e-02 -1.53554381e-02 1.27773836e+02] [ 1.53865126e-02 1.49162636e-04 9.99881609e-01 1.54142869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.5192541539999 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:934.56, Y:127.80, Z:15.41 [[ 7.67133217e-02 -9.97052655e-01 -1.03397543e-03 9.34562050e+02] [ 9.96934463e-01 7.67201488e-02 -1.53523828e-02 1.27801702e+02] [ 1.53864607e-02 1.46926535e-04 9.99881611e-01 1.54126844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.5492541539999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:934.56, Y:127.83, Z:15.41 [[ 7.89803412e-02 -9.96875637e-01 -1.03430423e-03 9.34561763e+02] [ 9.96757430e-01 7.89869047e-02 -1.53523606e-02 1.27829388e+02] [ 1.53860908e-02 1.81584250e-04 9.99881611e-01 1.54142591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.5792541539998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:934.56, Y:127.86, Z:15.42 [[ 8.05590350e-02 -9.96749307e-01 -1.02992725e-03 9.34561966e+02] [ 9.96631086e-01 8.05653438e-02 -1.53526542e-02 1.27856884e+02] [ 1.53857239e-02 2.10337497e-04 9.99881611e-01 1.54156599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.6092541539998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:934.56, Y:127.88, Z:15.42 [[ 8.06547535e-02 -9.96741571e-01 -1.02530449e-03 9.34563169e+02] [ 9.96623346e-01 8.06609798e-02 -1.53529630e-02 1.27882599e+02] [ 1.53856385e-02 2.16447051e-04 9.99881611e-01 1.54165145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.6392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.56, Y:127.91, Z:15.42 [[ 8.02986762e-02 -9.96770325e-01 -1.02107093e-03 9.34564460e+02] [ 9.96652098e-01 8.03048796e-02 -1.53532445e-02 1.27910158e+02] [ 1.53856555e-02 2.15192726e-04 9.99881611e-01 1.54189841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.6692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.57, Y:127.94, Z:15.42 [[ 7.91199743e-02 -9.96864583e-01 -1.01662715e-03 9.34565131e+02] [ 9.96746360e-01 7.91262490e-02 -1.53535388e-02 1.27937788e+02] [ 1.53858409e-02 2.01452177e-04 9.99881611e-01 1.54189577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.6992541539998 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:934.57, Y:127.97, Z:15.42 [[ 7.76882622e-02 -9.96977186e-01 -1.01219331e-03 9.34566409e+02] [ 9.96858969e-01 7.76946384e-02 -1.53538311e-02 1.27965311e+02] [ 1.53860613e-02 1.83798476e-04 9.99881611e-01 1.54173407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.7292541539998 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:934.57, Y:127.99, Z:15.42 [[ 7.48929988e-02 -9.97191067e-01 -1.00751565e-03 9.34567936e+02] [ 9.97072864e-01 7.48996344e-02 -1.53541380e-02 1.27993456e+02] [ 1.53864718e-02 1.45350926e-04 9.99881611e-01 1.54164099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.7592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.57, Y:128.02, Z:15.42 [[ 7.36924349e-02 -9.97280512e-01 -1.00300994e-03 9.34570000e+02] [ 9.97162313e-01 7.36991434e-02 -1.53544323e-02 1.28021908e+02] [ 1.53865971e-02 1.31341790e-04 9.99881611e-01 1.54197912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.7892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.57, Y:128.05, Z:15.42 [[ 7.02309136e-02 -9.97530261e-01 -9.98489728e-04 9.34572119e+02] [ 9.97412082e-01 7.02379627e-02 -1.53547263e-02 1.28048764e+02] [ 1.53869360e-02 8.24707364e-05 9.99881611e-01 1.54196265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.8192541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:934.57, Y:128.08, Z:15.42 [[ 6.84608775e-02 -9.97653305e-01 -9.95194895e-04 9.34574404e+02] [ 9.97535136e-01 6.84680856e-02 -1.53549398e-02 1.28076347e+02] [ 1.53870456e-02 5.84707787e-05 9.99881611e-01 1.54196511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.8492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.58, Y:128.10, Z:15.42 [[ 6.52009479e-02 -9.97871663e-01 -9.90733265e-04 9.34576791e+02] [ 9.97753513e-01 6.52084734e-02 -1.53552277e-02 1.28104389e+02] [ 1.53871508e-02 1.26678045e-05 9.99881611e-01 1.54201298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.8792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.58, Y:128.13, Z:15.42 [[ 6.37826444e-02 -9.97963327e-01 -9.86307843e-04 9.34579066e+02] [ 9.97845183e-01 6.37902697e-02 -1.53555119e-02 1.28132428e+02] [ 1.53871546e-02 -4.76737328e-06 9.99881611e-01 1.54207355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.9092541539999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:934.58, Y:128.16, Z:15.42 [[ 6.13958853e-02 -9.98113010e-01 -9.81806295e-04 9.34581492e+02] [ 9.97994881e-01 6.14037238e-02 -1.53557998e-02 1.28159618e+02] [ 1.53871101e-02 -3.70547368e-05 9.99881611e-01 1.54187151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.9392541539999 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:934.58, Y:128.19, Z:15.42 [[ 6.02394765e-02 -9.98183475e-01 -9.77160479e-04 9.34583371e+02] [ 9.98065350e-01 6.02473805e-02 -1.53560954e-02 1.28186854e+02] [ 1.53870720e-02 -5.02268685e-05 9.99881611e-01 1.54163674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.9692541539998 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:934.59, Y:128.21, Z:15.42 [[ 6.01043089e-02 -9.98191628e-01 -9.72580511e-04 9.34585653e+02] [ 9.98073499e-01 6.01121583e-02 -1.53563854e-02 1.28214426e+02] [ 1.53870793e-02 -4.77218994e-05 9.99881611e-01 1.54188472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.9992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.58, Y:128.24, Z:15.42 [[ 5.69280558e-02 -9.98377814e-01 -9.68291034e-04 9.34584471e+02] [ 9.98259706e-01 5.69362151e-02 -1.53566559e-02 1.28238840e+02] [ 1.53868754e-02 -9.23813588e-05 9.99881611e-01 1.54218890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.0292541539999 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:934.59, Y:128.27, Z:15.42 [[ 5.71044358e-02 -9.98367893e-01 -7.96133205e-04 9.34587739e+02] [ 9.98249617e-01 5.71099252e-02 -1.53674849e-02 1.28267684e+02] [ 1.53878706e-02 8.28118882e-05 9.99881596e-01 1.54214577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.0592541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:934.59, Y:128.29, Z:15.42 [[ 5.66544836e-02 -9.98393513e-01 -8.14427273e-04 9.34589857e+02] [ 9.98275255e-01 5.66603079e-02 -1.53663368e-02 1.28294887e+02] [ 1.53877967e-02 5.75492849e-05 9.99881599e-01 1.54236165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.0892541539998 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:934.60, Y:128.33, Z:15.42 [[ 5.87016920e-02 -9.98275256e-01 -7.90994432e-04 9.34596515e+02] [ 9.98156966e-01 5.87069131e-02 -1.53677993e-02 1.28325658e+02] [ 1.53877306e-02 1.12579220e-04 9.99881596e-01 1.54216811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.1192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.60, Y:128.35, Z:15.43 [[ 5.67425469e-02 -9.98388382e-01 -9.60749953e-04 9.34595639e+02] [ 9.98270267e-01 5.67506122e-02 -1.53571796e-02 1.28350095e+02] [ 1.53869528e-02 -8.76826283e-05 9.99881610e-01 1.54256769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.1492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.60, Y:128.38, Z:15.43 [[ 5.78682099e-02 -9.98323901e-01 -8.12160340e-04 9.34598208e+02] [ 9.98205635e-01 5.78738555e-02 -1.53664095e-02 1.28376909e+02] [ 1.53876567e-02 7.85235803e-05 9.99881600e-01 1.54265023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.1792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.60, Y:128.40, Z:15.43 [[ 5.91460282e-02 -9.98249019e-01 -8.02302714e-04 9.34600933e+02] [ 9.98130738e-01 5.91513707e-02 -1.53670193e-02 1.28404983e+02] [ 1.53875692e-02 1.08095157e-04 9.99881599e-01 1.54264569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.2092541539998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:934.60, Y:128.43, Z:15.42 [[ 5.91033671e-02 -9.98251521e-01 -8.32637431e-04 9.34601469e+02] [ 9.98133266e-01 5.91091816e-02 -1.53651388e-02 1.28431701e+02] [ 1.53874897e-02 7.70483197e-05 9.99881603e-01 1.54247127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.2392541539998 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:934.60, Y:128.46, Z:15.42 [[ 6.04988266e-02 -9.98167971e-01 -7.70169184e-04 9.34603787e+02] [ 9.98049658e-01 6.05035141e-02 -1.53689504e-02 1.28460376e+02] [ 1.53873920e-02 1.61136376e-04 9.99881594e-01 1.54215440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.2692541539999 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:934.60, Y:128.49, Z:15.42 [[ 5.97704937e-02 -9.98211837e-01 -7.85472499e-04 9.34603932e+02] [ 9.98093539e-01 5.97755031e-02 -1.53680243e-02 1.28485050e+02] [ 1.53874958e-02 1.34579375e-04 9.99881596e-01 1.54176969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.2992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.61, Y:128.51, Z:15.42 [[ 6.22328947e-02 -9.98061399e-01 -7.14280654e-04 9.34607371e+02] [ 9.97943037e-01 6.22365160e-02 -1.53724329e-02 1.28512291e+02] [ 1.53870862e-02 2.43859592e-04 9.99881582e-01 1.54205040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.3292541539998 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:934.61, Y:128.54, Z:15.42 [[ 6.39113378e-02 -9.97955327e-01 -7.10951153e-04 9.34610789e+02] [ 9.97836957e-01 6.39147086e-02 -1.53726394e-02 1.28540811e+02] [ 1.53866476e-02 2.73072614e-04 9.99881581e-01 1.54211087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.3592541539998 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:934.61, Y:128.57, Z:15.42 [[ 6.58927747e-02 -9.97826425e-01 -7.54069232e-04 9.34614374e+02] [ 9.97708075e-01 6.58965747e-02 -1.53700253e-02 1.28570036e+02] [ 1.53863080e-02 2.60432654e-04 9.99881590e-01 1.54215543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.3892541539999 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:934.62, Y:128.60, Z:15.42 [[ 6.83952574e-02 -9.97657975e-01 -8.08901408e-04 9.34618710e+02] [ 9.97539652e-01 6.83996051e-02 -1.53667130e-02 1.28598923e+02] [ 1.53860523e-02 2.44099061e-04 9.99881598e-01 1.54249821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.4192541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:934.62, Y:128.62, Z:15.42 [[ 6.57000088e-02 -9.97838989e-01 -9.27999668e-04 9.34615719e+02] [ 9.97720773e-01 6.57065097e-02 -1.53595174e-02 1.28622907e+02] [ 1.53873009e-02 8.32358804e-05 9.99881605e-01 1.54218675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.4492541539998 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:934.62, Y:128.65, Z:15.42 [[ 6.64209041e-02 -9.97791435e-01 -7.18451432e-04 9.34618155e+02] [ 9.97673068e-01 6.64240929e-02 -1.53717258e-02 1.28651270e+02] [ 1.53854988e-02 3.04224279e-04 9.99881590e-01 1.54226613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.4792541539998 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:934.62, Y:128.68, Z:15.42 [[ 6.62172639e-02 -9.97804937e-01 -7.62211561e-04 9.34619705e+02] [ 9.97686598e-01 6.62211509e-02 -1.53691802e-02 1.28678945e+02] [ 1.53859185e-02 2.57256805e-04 9.99881597e-01 1.54231035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.5092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.62, Y:128.71, Z:15.43 [[ 6.83638756e-02 -9.97660167e-01 -7.56754990e-04 9.34624958e+02] [ 9.97541816e-01 6.83674239e-02 -1.53694959e-02 1.28707792e+02] [ 1.53852713e-02 2.95823562e-04 9.99881596e-01 1.54286006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.5392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.63, Y:128.74, Z:15.43 [[ 6.84327517e-02 -9.97655335e-01 -8.89138231e-04 9.34627865e+02] [ 9.97537072e-01 6.84383305e-02 -1.53618338e-02 1.28735572e+02] [ 1.53866666e-02 1.64304210e-04 9.99881605e-01 1.54299804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.5692541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:934.63, Y:128.76, Z:15.43 [[ 6.80051647e-02 -9.97684577e-01 -8.84753679e-04 9.34629967e+02] [ 9.97566312e-01 6.80107267e-02 -1.53620863e-02 1.28762373e+02] [ 1.53866893e-02 1.62100744e-04 9.99881605e-01 1.54272633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.5992541539998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:934.63, Y:128.79, Z:15.43 [[ 6.79394993e-02 -9.97689055e-01 -8.80218139e-04 9.34631988e+02] [ 9.97570787e-01 6.79449992e-02 -1.53623462e-02 1.28790790e+02] [ 1.53866510e-02 1.65630205e-04 9.99881605e-01 1.54288805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.6292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.63, Y:128.81, Z:15.42 [[ 6.36179733e-02 -9.97973941e-01 -8.75843182e-04 9.34628918e+02] [ 9.97855695e-01 6.36239180e-02 -1.53625956e-02 1.28814511e+02] [ 1.53871946e-02 1.03372088e-04 9.99881605e-01 1.54225897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.6592541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:934.64, Y:128.85, Z:15.43 [[ 6.86358465e-02 -9.97641569e-01 -6.48149505e-04 9.34637229e+02] [ 9.97523164e-01 6.86376896e-02 -1.53754435e-02 1.28846483e+02] [ 1.53836691e-02 4.08762434e-04 9.99881581e-01 1.54293941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.6892541539999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:934.64, Y:128.87, Z:15.43 [[ 6.86262035e-02 -9.97642062e-01 -8.72090107e-04 9.34639604e+02] [ 9.97523786e-01 6.86314968e-02 -1.53627315e-02 1.28873658e+02] [ 1.53863600e-02 1.84355315e-04 9.99881606e-01 1.54285689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.7192541539998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:934.64, Y:128.90, Z:15.43 [[ 6.91010289e-02 -9.97609290e-01 -8.67413991e-04 9.34642778e+02] [ 9.97491009e-01 6.91061939e-02 -1.53629956e-02 1.28901719e+02] [ 1.53862108e-02 1.96361143e-04 9.99881606e-01 1.54295957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.7492541539999 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:934.64, Y:128.93, Z:15.43 [[ 6.92625396e-02 -9.97598093e-01 -8.62991848e-04 9.34644990e+02] [ 9.97479808e-01 6.92676174e-02 -1.53632440e-02 1.28929616e+02] [ 1.53861203e-02 2.03280349e-04 9.99881606e-01 1.54293063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.7792541539999 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:934.65, Y:128.96, Z:15.43 [[ 7.00007399e-02 -9.97546570e-01 -8.58567412e-04 9.34647905e+02] [ 9.97428278e-01 7.00056621e-02 -1.53634912e-02 1.28956224e+02] [ 1.53859025e-02 2.19096337e-04 9.99881606e-01 1.54297104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.8092541539999 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:934.65, Y:128.98, Z:15.43 [[ 7.00185029e-02 -9.97545327e-01 -8.53900817e-04 9.34650470e+02] [ 9.97427033e-01 7.00233511e-02 -1.53637506e-02 1.28984610e+02] [ 1.53858306e-02 2.24043056e-04 9.99881606e-01 1.54308863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.8392541539998 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:934.65, Y:129.01, Z:15.43 [[ 7.00682168e-02 -9.97541841e-01 -8.49389393e-04 9.34654494e+02] [ 9.97423543e-01 7.00729896e-02 -1.53640000e-02 1.29011202e+02] [ 1.53857521e-02 2.29327105e-04 9.99881606e-01 1.54305740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.8692541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:934.66, Y:129.04, Z:15.43 [[ 6.98050725e-02 -9.97560293e-01 -8.44635830e-04 9.34657443e+02] [ 9.97441994e-01 6.98098033e-02 -1.53642613e-02 1.29038884e+02] [ 1.53857409e-02 2.30028128e-04 9.99881606e-01 1.54327404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.8992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.66, Y:129.07, Z:15.43 [[ 6.93821479e-02 -9.97589801e-01 -8.40146592e-04 9.34660478e+02] [ 9.97471501e-01 6.93868598e-02 -1.53645068e-02 1.29067124e+02] [ 1.53857704e-02 2.28000200e-04 9.99881606e-01 1.54335363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.9292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.66, Y:129.10, Z:15.43 [[ 6.80074682e-02 -9.97684462e-01 -8.35684987e-04 9.34664803e+02] [ 9.97566166e-01 6.80122744e-02 -1.53647495e-02 1.29095087e+02] [ 1.53860086e-02 2.11266642e-04 9.99881606e-01 1.54338551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.9592541539998 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:934.67, Y:129.12, Z:15.43 [[ 6.64769554e-02 -9.97787614e-01 -8.31240666e-04 9.34668326e+02] [ 9.97669323e-01 6.64818746e-02 -1.53649899e-02 1.29122838e+02] [ 1.53862590e-02 1.92114435e-04 9.99881606e-01 1.54322725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.9892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.67, Y:129.15, Z:15.44 [[ 6.66533744e-02 -9.97775849e-01 -8.26832802e-04 9.34671364e+02] [ 9.97657553e-01 6.66582048e-02 -1.53652271e-02 1.29150705e+02] [ 1.53861677e-02 1.99248243e-04 9.99881606e-01 1.54353296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.0192541539999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:934.67, Y:129.18, Z:15.43 [[ 6.60563081e-02 -9.97815558e-01 -8.22327264e-04 9.34674505e+02] [ 9.97697263e-01 6.60611400e-02 -1.53654682e-02 1.29177989e+02] [ 1.53862271e-02 1.94552442e-04 9.99881606e-01 1.54337985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.0492541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:934.67, Y:129.20, Z:15.43 [[ 6.31923983e-02 -9.98001028e-01 -8.17573248e-04 9.34673521e+02] [ 9.97882744e-01 6.31974964e-02 -1.53657212e-02 1.29204407e+02] [ 1.53866741e-02 1.55154535e-04 9.99881606e-01 1.54288681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.0792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.68, Y:129.23, Z:15.44 [[ 6.66879645e-02 -9.97773618e-01 -7.23559471e-04 9.34680200e+02] [ 9.97655264e-01 6.66912005e-02 -1.53706815e-02 1.29232103e+02] [ 1.53847156e-02 3.03176550e-04 9.99881602e-01 1.54351782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.1092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.68, Y:129.26, Z:15.43 [[ 6.30545805e-02 -9.98009752e-01 -8.09360213e-04 9.34680324e+02] [ 9.97891463e-01 6.30595685e-02 -1.53661623e-02 1.29257812e+02] [ 1.53866178e-02 1.61253273e-04 9.99881606e-01 1.54278698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.1392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.69, Y:129.29, Z:15.43 [[ 6.59877006e-02 -9.97820178e-01 -7.18648777e-04 9.34685985e+02] [ 9.97701825e-01 6.59909441e-02 -1.53708952e-02 1.29285487e+02] [ 1.53848137e-02 2.97292836e-04 9.99881603e-01 1.54346293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.1692541539999 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:934.69, Y:129.31, Z:15.43 [[ 6.47796563e-02 -9.97899271e-01 -8.00135804e-04 9.34688215e+02] [ 9.97780968e-01 6.47842978e-02 -1.53666523e-02 1.29313752e+02] [ 1.53862073e-02 1.97086175e-04 9.99881606e-01 1.54326797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.1992541539998 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:934.69, Y:129.34, Z:15.44 [[ 6.43352851e-02 -9.97928022e-01 -7.95741769e-04 9.34691810e+02] [ 9.97809719e-01 6.43399117e-02 -1.53668798e-02 1.29340728e+02] [ 1.53862379e-02 1.94633723e-04 9.99881606e-01 1.54355340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.2292541539998 meters Centerline goodness : 0.999648 Centerline is valid? [True, True] Translation: X:934.69, Y:129.37, Z:15.43 [[ 6.24079807e-02 -9.98050408e-01 -7.92531413e-04 9.34693536e+02] [ 9.97932111e-01 6.24127863e-02 -1.53670454e-02 1.29370192e+02] [ 1.53865500e-02 1.68133726e-04 9.99881606e-01 1.54321760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.2592541539999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:934.70, Y:129.39, Z:15.44 [[ 6.15055509e-02 -9.98106384e-01 -8.44842970e-04 9.34696551e+02] [ 9.97988126e-01 6.15112687e-02 -1.53643557e-02 1.29394811e+02] [ 1.53872289e-02 1.01849910e-04 9.99881604e-01 1.54358871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.2892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.70, Y:129.42, Z:15.44 [[ 6.09706287e-02 -9.98139254e-01 -7.81867935e-04 9.34699329e+02] [ 9.98020959e-01 6.09754405e-02 -1.53675598e-02 1.29423216e+02] [ 1.53866394e-02 1.56649196e-04 9.99881606e-01 1.54387995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.3192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.70, Y:129.45, Z:15.44 [[ 5.94654480e-02 -9.98230062e-01 -7.77465367e-04 9.34702062e+02] [ 9.98111770e-01 5.94703704e-02 -1.53677825e-02 1.29450309e+02] [ 1.53868186e-02 1.37854738e-04 9.99881606e-01 1.54390866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.3492541539998 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:934.70, Y:129.48, Z:15.44 [[ 5.79874979e-02 -9.98317009e-01 -7.74254821e-04 9.34703126e+02] [ 9.98198723e-01 5.79925460e-02 -1.53679443e-02 1.29477360e+02] [ 1.53869812e-02 1.18288461e-04 9.99881606e-01 1.54371140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.3792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.70, Y:129.51, Z:15.44 [[ 5.85073542e-02 -9.98286681e-01 -7.69655928e-04 9.34704570e+02] [ 9.98168389e-01 5.85122699e-02 -1.53681746e-02 1.29505654e+02] [ 1.53868783e-02 1.30905014e-04 9.99881606e-01 1.54387997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.4092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.70, Y:129.53, Z:15.44 [[ 5.91872726e-02 -9.98246603e-01 -7.65326417e-04 9.34704229e+02] [ 9.98128306e-01 5.91920411e-02 -1.53683902e-02 1.29533608e+02] [ 1.53867445e-02 1.45719139e-04 9.99881606e-01 1.54380244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.4392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.70, Y:129.56, Z:15.44 [[ 5.90808152e-02 -9.98252913e-01 -7.60952490e-04 9.34704655e+02] [ 9.98134613e-01 5.90855290e-02 -1.53686067e-02 1.29561572e+02] [ 1.53867177e-02 1.48456796e-04 9.99881606e-01 1.54386572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.4692541539998 meters Centerline goodness : 0.999626 Centerline is valid? [True, True] Translation: X:934.70, Y:129.59, Z:15.44 [[ 5.87403602e-02 -9.98273008e-01 -7.56416538e-04 9.34703970e+02] [ 9.98154707e-01 5.87450445e-02 -1.53688300e-02 1.29588306e+02] [ 1.53867239e-02 1.47749882e-04 9.99881606e-01 1.54359287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.4992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.71, Y:129.62, Z:15.44 [[ 5.92823240e-02 -9.98240974e-01 -7.51641344e-04 9.34705354e+02] [ 9.98122667e-01 5.92868705e-02 -1.53690635e-02 1.29616088e+02] [ 1.53865914e-02 1.60883540e-04 9.99881606e-01 1.54396179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.5292541539999 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:934.71, Y:129.64, Z:15.44 [[ 5.81222000e-02 -9.98309196e-01 -7.47250360e-04 9.34705700e+02] [ 9.98190893e-01 5.81268164e-02 -1.53692770e-02 1.29644309e+02] [ 1.53867259e-02 1.47397689e-04 9.99881606e-01 1.54396230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.5592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.70, Y:129.67, Z:15.44 [[ 5.55983836e-02 -9.98452937e-01 -7.42778382e-04 9.34704530e+02] [ 9.98334643e-01 5.56032303e-02 -1.53694931e-02 1.29670974e+02] [ 1.53870165e-02 1.12977585e-04 9.99881606e-01 1.54374474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.5892541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:934.70, Y:129.70, Z:15.44 [[ 5.46931082e-02 -9.98502975e-01 -6.88349881e-04 9.34704511e+02] [ 9.98384651e-01 5.46972243e-02 -1.53721073e-02 1.29698789e+02] [ 1.53867456e-02 1.53510370e-04 9.99881605e-01 1.54369375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.6192541539998 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:934.71, Y:129.73, Z:15.44 [[ 5.68729215e-02 -9.98381181e-01 -6.99277900e-04 9.34706688e+02] [ 9.98262855e-01 5.68769474e-02 -1.53715844e-02 1.29726976e+02] [ 1.53864733e-02 1.76163757e-04 9.99881606e-01 1.54423316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.6492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.71, Y:129.75, Z:15.44 [[ 5.66854348e-02 -9.98391819e-01 -7.33639693e-04 9.34707302e+02] [ 9.98273513e-01 5.66900120e-02 -1.53699442e-02 1.29754975e+02] [ 1.53868166e-02 1.38878897e-04 9.99881606e-01 1.54427739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.6792541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:934.71, Y:129.78, Z:15.44 [[ 5.63451050e-02 -9.98411086e-01 -7.29266355e-04 9.34707938e+02] [ 9.98292780e-01 5.63496552e-02 -1.53701517e-02 1.29782091e+02] [ 1.53868238e-02 1.38011475e-04 9.99881606e-01 1.54422714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.7092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.71, Y:129.81, Z:15.44 [[ 5.61393521e-02 -9.98422679e-01 -7.26076521e-04 9.34708323e+02] [ 9.98304372e-01 5.61438775e-02 -1.53703024e-02 1.29809750e+02] [ 1.53868233e-02 1.38033453e-04 9.99881606e-01 1.54442731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.7392541539998 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:934.71, Y:129.84, Z:15.44 [[ 5.52766864e-02 -9.98470814e-01 -7.21616639e-04 9.34708806e+02] [ 9.98352509e-01 5.52812455e-02 -1.53705118e-02 1.29836861e+02] [ 1.53868993e-02 1.29203178e-04 9.99881606e-01 1.54421115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.7692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.71, Y:129.86, Z:15.44 [[ 5.49930196e-02 -9.98486482e-01 -7.16912149e-04 9.34709669e+02] [ 9.98368174e-01 5.49975398e-02 -1.53707312e-02 1.29863633e+02] [ 1.53868957e-02 1.29540649e-04 9.99881606e-01 1.54445188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.7992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.71, Y:129.89, Z:15.44 [[ 5.20864284e-02 -9.98642327e-01 -7.12277709e-04 9.34708691e+02] [ 9.98524030e-01 5.20912216e-02 -1.53709460e-02 1.29891223e+02] [ 1.53871807e-02 8.93912681e-05 9.99881606e-01 1.54400755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.8292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.71, Y:129.92, Z:15.44 [[ 5.46478351e-02 -9.98505463e-01 -6.74466346e-04 9.34711872e+02] [ 9.98387133e-01 5.46517428e-02 -1.53726873e-02 1.29919610e+02] [ 1.53865730e-02 1.66705560e-04 9.99881606e-01 1.54446867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.8592541539998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:934.71, Y:129.95, Z:15.44 [[ 5.31236506e-02 -9.98587692e-01 -7.06641957e-04 9.34712703e+02] [ 9.98469387e-01 5.31282342e-02 -1.53712082e-02 1.29949272e+02] [ 1.53870419e-02 1.11014331e-04 9.99881606e-01 1.54422610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.8892541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:934.71, Y:129.97, Z:15.45 [[ 5.32936346e-02 -9.98578584e-01 -7.75067356e-04 9.34713941e+02] [ 9.98460321e-01 5.32992512e-02 -1.53680704e-02 1.29974733e+02] [ 1.53875365e-02 4.51463254e-05 9.99881604e-01 1.54452953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.9192541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:934.71, Y:130.00, Z:15.44 [[ 5.15467597e-02 -9.98670339e-01 -6.97593436e-04 9.34714405e+02] [ 9.98552036e-01 5.15513909e-02 -1.53715863e-02 1.30004324e+02] [ 1.53871092e-02 9.57721213e-05 9.99881607e-01 1.54424258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.9492541539998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:934.72, Y:130.03, Z:15.45 [[ 5.21819424e-02 -9.98637320e-01 -7.39725379e-04 9.34715739e+02] [ 9.98519041e-01 5.21871468e-02 -1.53696791e-02 1.30030527e+02] [ 1.53873393e-02 6.33898350e-05 9.99881606e-01 1.54468785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.9792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.72, Y:130.06, Z:15.45 [[ 5.16336586e-02 -9.98665854e-01 -6.90731272e-04 9.34716905e+02] [ 9.98547547e-01 5.16381738e-02 -1.53718807e-02 1.30059032e+02] [ 1.53870405e-02 1.03978422e-04 9.99881607e-01 1.54473262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.0092541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:934.72, Y:130.09, Z:15.45 [[ 5.10430187e-02 -9.98696220e-01 -6.86353617e-04 9.34718379e+02] [ 9.98577913e-01 5.10475365e-02 -1.53720761e-02 1.30086935e+02] [ 1.53870710e-02 9.92596079e-05 9.99881607e-01 1.54472034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.0392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.72, Y:130.12, Z:15.45 [[ 5.07736666e-02 -9.98709953e-01 -6.81992609e-04 9.34719827e+02] [ 9.98591645e-01 5.07781492e-02 -1.53722696e-02 1.30115262e+02] [ 1.53870690e-02 9.94743719e-05 9.99881607e-01 1.54476645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.0692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.72, Y:130.14, Z:15.45 [[ 5.07561254e-02 -9.98710847e-01 -6.77612663e-04 9.34721374e+02] [ 9.98592537e-01 5.07605427e-02 -1.53724627e-02 1.30142884e+02] [ 1.53870412e-02 1.03587696e-04 9.99881607e-01 1.54466916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.0992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.72, Y:130.17, Z:15.45 [[ 5.07401882e-02 -9.98711660e-01 -6.73248881e-04 9.34722604e+02] [ 9.98593347e-01 5.07445402e-02 -1.53726538e-02 1.30171095e+02] [ 1.53870123e-02 1.07709493e-04 9.99881607e-01 1.54463477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.1292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.72, Y:130.20, Z:15.45 [[ 5.16618923e-02 -9.98664409e-01 -6.68817888e-04 9.34724335e+02] [ 9.98546090e-01 5.16660670e-02 -1.53728466e-02 1.30199633e+02] [ 1.53868699e-02 1.26344858e-04 9.99881607e-01 1.54461490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.1592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.73, Y:130.23, Z:15.45 [[ 5.30162643e-02 -9.98593428e-01 -6.64361185e-04 9.34726086e+02] [ 9.98475101e-01 5.30202098e-02 -1.53730392e-02 1.30227962e+02] [ 1.53866405e-02 1.51673007e-04 9.99881607e-01 1.54469513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.1892541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:934.73, Y:130.26, Z:15.45 [[ 5.33053610e-02 -9.98578041e-01 -6.59830318e-04 9.34727188e+02] [ 9.98459710e-01 5.33092026e-02 -1.53732337e-02 1.30255529e+02] [ 1.53865486e-02 1.60661782e-04 9.99881607e-01 1.54450623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.2192541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:934.73, Y:130.28, Z:15.45 [[ 5.39222783e-02 -9.98544920e-01 -6.56531530e-04 9.34728366e+02] [ 9.98426585e-01 5.39259960e-02 -1.53733745e-02 1.30284005e+02] [ 1.53864092e-02 1.73468846e-04 9.99881607e-01 1.54468334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.2492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.73, Y:130.31, Z:15.45 [[ 5.47860071e-02 -9.98497906e-01 -6.52101445e-04 9.34730281e+02] [ 9.98379566e-01 5.47895542e-02 -1.53735624e-02 1.30311708e+02] [ 1.53861983e-02 1.91211344e-04 9.99881607e-01 1.54481178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.2792541539999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:934.73, Y:130.34, Z:15.45 [[ 5.40924803e-02 -9.98535720e-01 -6.47693347e-04 9.34731789e+02] [ 9.98417381e-01 5.40960417e-02 -1.53737482e-02 1.30339338e+02] [ 1.53862743e-02 1.84935874e-04 9.99881607e-01 1.54457662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.3092541539999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:934.73, Y:130.37, Z:15.45 [[ 5.26336096e-02 -9.98613684e-01 -6.43318933e-04 9.34734649e+02] [ 9.98495348e-01 5.26372766e-02 -1.53739312e-02 1.30367161e+02] [ 1.53864806e-02 1.66834531e-04 9.99881607e-01 1.54474224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.3392541539998 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:934.74, Y:130.39, Z:15.45 [[ 5.17140622e-02 -9.98661728e-01 -6.38885342e-04 9.34736641e+02] [ 9.98543394e-01 5.17177699e-02 -1.53741154e-02 1.30393849e+02] [ 1.53865824e-02 1.57103224e-04 9.99881607e-01 1.54508514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.3692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.74, Y:130.42, Z:15.45 [[ 5.04946915e-02 -9.98724128e-01 -6.34240895e-04 9.34738295e+02] [ 9.98605796e-01 5.04984722e-02 -1.53743070e-02 1.30422320e+02] [ 1.53867196e-02 1.42964258e-04 9.99881607e-01 1.54518639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.3992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.74, Y:130.45, Z:15.45 [[ 5.02127472e-02 -9.98738346e-01 -6.29897983e-04 9.34739383e+02] [ 9.98620012e-01 5.02164945e-02 -1.53744850e-02 1.30450890e+02] [ 1.53867190e-02 1.42966396e-04 9.99881607e-01 1.54523022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.4292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.74, Y:130.48, Z:15.45 [[ 4.80744336e-02 -9.98843560e-01 -6.25557163e-04 9.34741017e+02] [ 9.98725233e-01 4.80783673e-02 -1.53746616e-02 1.30477673e+02] [ 1.53869575e-02 1.14368424e-04 9.99881607e-01 1.54531372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.4592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.74, Y:130.50, Z:15.45 [[ 4.60534255e-02 -9.98938784e-01 -6.22391487e-04 9.34742769e+02] [ 9.98820463e-01 4.60575499e-02 -1.53747897e-02 1.30503419e+02] [ 1.53871396e-02 8.64043809e-05 9.99881607e-01 1.54535573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.4892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.74, Y:130.53, Z:15.45 [[ 4.53408047e-02 -9.98971386e-01 -6.17334766e-04 9.34744102e+02] [ 9.98853066e-01 4.53449357e-02 -1.53749928e-02 1.30531120e+02] [ 1.53871709e-02 8.04878216e-05 9.99881607e-01 1.54540066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.5192541539999 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:934.74, Y:130.56, Z:15.45 [[ 4.40803242e-02 -9.99027802e-01 -6.12600667e-04 9.34744718e+02] [ 9.98909484e-01 4.40845317e-02 -1.53751814e-02 1.30557878e+02] [ 1.53872399e-02 6.58103642e-05 9.99881607e-01 1.54507495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.5492541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:934.75, Y:130.58, Z:15.45 [[ 4.40463143e-02 -9.99029305e-01 -6.07649892e-04 9.34745562e+02] [ 9.98910985e-01 4.40504496e-02 -1.53753771e-02 1.30584922e+02] [ 1.53872195e-02 7.02405381e-05 9.99881607e-01 1.54508585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.5792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.75, Y:130.61, Z:15.45 [[ 4.48180786e-02 -9.98994983e-01 -6.02993488e-04 9.34746657e+02] [ 9.98876657e-01 4.48220508e-02 -1.53755597e-02 1.30611630e+02] [ 1.53871344e-02 8.67869222e-05 9.99881607e-01 1.54520439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.6092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.75, Y:130.64, Z:15.45 [[ 4.57092062e-02 -9.98954609e-01 -5.98117065e-04 9.34747642e+02] [ 9.98836277e-01 4.57129978e-02 -1.53757494e-02 1.30639224e+02] [ 1.53870174e-02 1.05392276e-04 9.99881607e-01 1.54515458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.6392541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:934.75, Y:130.67, Z:15.45 [[ 4.62166815e-02 -9.98931262e-01 -5.93523169e-04 9.34748215e+02] [ 9.98812926e-01 4.62203422e-02 -1.53759267e-02 1.30667466e+02] [ 1.53869267e-02 1.17805693e-04 9.99881607e-01 1.54512487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.6692541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:934.75, Y:130.70, Z:15.45 [[ 4.71140357e-02 -9.98889344e-01 -5.89139502e-04 9.34748971e+02] [ 9.98771002e-01 4.71175227e-02 -1.53760947e-02 1.30695716e+02] [ 1.53867759e-02 1.36014421e-04 9.99881607e-01 1.54518108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.6992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.75, Y:130.72, Z:15.45 [[ 4.97184899e-02 -9.98763100e-01 -5.84759564e-04 9.34749745e+02] [ 9.98644748e-01 4.97216009e-02 -1.53762612e-02 1.30722838e+02] [ 1.53863175e-02 1.80517421e-04 9.99881607e-01 1.54519625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.7292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.75, Y:130.75, Z:15.45 [[ 5.08457324e-02 -9.98706351e-01 -5.80158198e-04 9.34750466e+02] [ 9.98587994e-01 5.08486389e-02 -1.53764348e-02 1.30751396e+02] [ 1.53860434e-02 2.02487079e-04 9.99881607e-01 1.54540165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.7592541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:934.75, Y:130.78, Z:15.45 [[ 5.26998132e-02 -9.98610233e-01 -5.75711645e-04 9.34751113e+02] [ 9.98491870e-01 5.27024316e-02 -1.53766013e-02 1.30778792e+02] [ 1.53855728e-02 2.35500620e-04 9.99881607e-01 1.54517692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.7892541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:934.75, Y:130.81, Z:15.46 [[ 5.36475470e-02 -9.98559770e-01 -5.71021892e-04 9.34752521e+02] [ 9.98441403e-01 5.36499808e-02 -1.53767755e-02 1.30806909e+02] [ 1.53852647e-02 2.54794386e-04 9.99881607e-01 1.54557357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.8192541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:934.75, Y:130.83, Z:15.46 [[ 5.50150205e-02 -9.98485366e-01 -5.66649883e-04 9.34753508e+02] [ 9.98366994e-01 5.50172249e-02 -1.53769366e-02 1.30834894e+02] [ 1.53848217e-02 2.80237940e-04 9.99881607e-01 1.54555399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.8492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.75, Y:130.86, Z:15.46 [[ 5.57227985e-02 -9.98446120e-01 -5.62289670e-04 9.34754965e+02] [ 9.98327745e-01 5.57248519e-02 -1.53770960e-02 1.30862697e+02] [ 1.53845354e-02 2.95505445e-04 9.99881607e-01 1.54587055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.8792541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:934.76, Y:130.89, Z:15.46 [[ 5.62897629e-02 -9.98414319e-01 -5.57933149e-04 9.34755026e+02] [ 9.98295941e-01 5.62916820e-02 -1.53772541e-02 1.30890020e+02] [ 1.53842777e-02 3.08599588e-04 9.99881607e-01 1.54576378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.9092541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:934.76, Y:130.92, Z:15.46 [[ 5.66646231e-02 -9.98393116e-01 -5.53340311e-04 9.34755604e+02] [ 9.98274737e-01 5.66664271e-02 -1.53774194e-02 1.30917585e+02] [ 1.53840655e-02 3.18970019e-04 9.99881607e-01 1.54599553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.9392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.76, Y:130.95, Z:15.46 [[ 5.79141616e-02 -9.98321416e-01 -5.48643875e-04 9.34755679e+02] [ 9.98203034e-01 5.79157451e-02 -1.53775869e-02 1.30945977e+02] [ 1.53835495e-02 3.42922074e-04 9.99881607e-01 1.54605777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.9692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.76, Y:130.97, Z:15.46 [[ 5.87260563e-02 -9.98273988e-01 -5.44247768e-04 9.34755614e+02] [ 9.98155603e-01 5.87274758e-02 -1.53777425e-02 1.30974421e+02] [ 1.53831626e-02 3.59830213e-04 9.99881607e-01 1.54602195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.9992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.76, Y:131.00, Z:15.46 [[ 5.88685627e-02 -9.98265596e-01 -5.39788591e-04 9.34755940e+02] [ 9.98147211e-01 5.88698967e-02 -1.53778990e-02 1.31001439e+02] [ 1.53830048e-02 3.66486337e-04 9.99881607e-01 1.54600190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.0292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.76, Y:131.03, Z:15.46 [[ 5.91466978e-02 -9.98249158e-01 -5.35083092e-04 9.34756471e+02] [ 9.98130772e-01 5.91479263e-02 -1.53780628e-02 1.31028329e+02] [ 1.53827873e-02 3.75478731e-04 9.99881607e-01 1.54598098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.0592541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:934.76, Y:131.06, Z:15.46 [[ 5.90485967e-02 -9.98254968e-01 -5.30416044e-04 9.34756722e+02] [ 9.98136582e-01 5.90497651e-02 -1.53782237e-02 1.31056449e+02] [ 1.53827092e-02 3.78634875e-04 9.99881607e-01 1.54586911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.0892541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:934.76, Y:131.08, Z:15.46 [[ 5.89653230e-02 -9.98259893e-01 -5.25970102e-04 9.34756889e+02] [ 9.98141506e-01 5.89664327e-02 -1.53783758e-02 1.31084285e+02] [ 1.53826304e-02 3.81798305e-04 9.99881607e-01 1.54591263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.1192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.76, Y:131.11, Z:15.46 [[ 5.80249927e-02 -9.98314995e-01 -5.21460732e-04 9.34757149e+02] [ 9.98196608e-01 5.80261446e-02 -1.53785287e-02 1.31111590e+02] [ 1.53828742e-02 3.71818683e-04 9.99881607e-01 1.54587362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.1492541539999 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:934.76, Y:131.14, Z:15.46 [[ 5.68356528e-02 -9.98383414e-01 -5.16694818e-04 9.34757516e+02] [ 9.98265028e-01 5.68368723e-02 -1.53786888e-02 1.31139828e+02] [ 1.53831952e-02 3.58259451e-04 9.99881607e-01 1.54560939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.1792541539999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:934.76, Y:131.17, Z:15.46 [[ 5.51519307e-02 -9.98477843e-01 -5.12367180e-04 9.34758944e+02] [ 9.98359458e-01 5.51532832e-02 -1.53788330e-02 1.31167747e+02] [ 1.53836827e-02 3.36645712e-04 9.99881607e-01 1.54583327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.2092541539998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:934.76, Y:131.20, Z:15.46 [[ 5.42484009e-02 -9.98527342e-01 -5.07932184e-04 9.34760114e+02] [ 9.98408958e-01 5.42497923e-02 -1.53789795e-02 1.31196019e+02] [ 1.53838867e-02 3.27161002e-04 9.99881608e-01 1.54588744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.2392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.76, Y:131.22, Z:15.46 [[ 5.40168520e-02 -9.98539897e-01 -5.03508214e-04 9.34761479e+02] [ 9.98421512e-01 5.40182027e-02 -1.53791243e-02 1.31224139e+02] [ 1.53838678e-02 3.28018450e-04 9.99881608e-01 1.54619009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.2692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.76, Y:131.25, Z:15.46 [[ 5.34447884e-02 -9.98570681e-01 -4.99110574e-04 9.34762022e+02] [ 9.98452297e-01 5.34461392e-02 -1.53792670e-02 1.31252075e+02] [ 1.53839607e-02 3.23603574e-04 9.99881608e-01 1.54630822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.2992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.76, Y:131.28, Z:15.46 [[ 5.33529144e-02 -9.98575597e-01 -4.94663207e-04 9.34762879e+02] [ 9.98457211e-01 5.33542077e-02 -1.53794101e-02 1.31279500e+02] [ 1.53838960e-02 3.26636303e-04 9.99881608e-01 1.54636676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.3292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.76, Y:131.31, Z:15.46 [[ 5.28037186e-02 -9.98604790e-01 -4.89971380e-04 9.34763713e+02] [ 9.98486405e-01 5.28050047e-02 -1.53795596e-02 1.31307228e+02] [ 1.53839748e-02 3.22868173e-04 9.99881608e-01 1.54647097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.3592541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:934.76, Y:131.33, Z:15.46 [[ 5.21983196e-02 -9.98636620e-01 -4.85539529e-04 9.34764755e+02] [ 9.98518235e-01 5.21996093e-02 -1.53796995e-02 1.31334757e+02] [ 1.53840761e-02 3.17974396e-04 9.99881608e-01 1.54643041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.3892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.77, Y:131.36, Z:15.47 [[ 5.09987063e-02 -9.98698604e-01 -4.80866830e-04 9.34765766e+02] [ 9.98580219e-01 5.10000662e-02 -1.53798456e-02 1.31362525e+02] [ 1.53843545e-02 3.04168123e-04 9.99881608e-01 1.54659867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.4192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.77, Y:131.39, Z:15.47 [[ 5.01654665e-02 -9.98740807e-01 -4.76545677e-04 9.34766322e+02] [ 9.98622422e-01 5.01668587e-02 -1.53799795e-02 1.31388780e+02] [ 1.53845199e-02 2.95654646e-04 9.99881608e-01 1.54661198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.4492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.77, Y:131.42, Z:15.47 [[ 4.92888925e-02 -9.98784453e-01 -4.71456344e-04 9.34766810e+02] [ 9.98666069e-01 4.92903103e-02 -1.53801355e-02 1.31416733e+02] [ 1.53846784e-02 2.87242390e-04 9.99881608e-01 1.54670819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.4792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.77, Y:131.44, Z:15.47 [[ 4.87494580e-02 -9.98810929e-01 -4.66996414e-04 9.34766986e+02] [ 9.98692545e-01 4.87508711e-02 -1.53802709e-02 1.31444676e+02] [ 1.53847491e-02 2.83394033e-04 9.99881608e-01 1.54661581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.5092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.77, Y:131.47, Z:15.47 [[ 4.82485504e-02 -9.98835253e-01 -4.62542677e-04 9.34767553e+02] [ 9.98716869e-01 4.82499543e-02 -1.53804048e-02 1.31472238e+02] [ 1.53848082e-02 2.80133064e-04 9.99881608e-01 1.54659988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.5392541539999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:934.77, Y:131.50, Z:15.47 [[ 4.74360593e-02 -9.98874172e-01 -4.57849324e-04 9.34768043e+02] [ 9.98755788e-01 4.74374873e-02 -1.53805445e-02 1.31500115e+02] [ 1.53849479e-02 2.72312761e-04 9.99881608e-01 1.54659415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.5692541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:934.77, Y:131.53, Z:15.47 [[ 4.65240891e-02 -9.98917065e-01 -4.53419939e-04 9.34768755e+02] [ 9.98798682e-01 4.65255569e-02 -1.53806751e-02 1.31528178e+02] [ 1.53851145e-02 2.62696663e-04 9.99881608e-01 1.54662881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.5992541539998 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:934.77, Y:131.56, Z:15.46 [[ 4.37568979e-02 -9.99042107e-01 -4.48968274e-04 9.34769636e+02] [ 9.98923728e-01 4.37586251e-02 -1.53808051e-02 1.31555068e+02] [ 1.53857181e-02 2.24531254e-04 9.99881608e-01 1.54604651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.6292541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:934.77, Y:131.58, Z:15.46 [[ 4.05152644e-02 -9.99178821e-01 -4.44442383e-04 9.34771145e+02] [ 9.99060446e-01 4.05173060e-02 -1.53809358e-02 1.31582842e+02] [ 1.53863129e-02 1.79137876e-04 9.99881608e-01 1.54648765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.6592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.77, Y:131.61, Z:15.47 [[ 3.87057368e-02 -9.99250555e-01 -4.40062170e-04 9.34772507e+02] [ 9.99132183e-01 3.87079254e-02 -1.53810612e-02 1.31611229e+02] [ 1.53865678e-02 1.55655029e-04 9.99881608e-01 1.54673534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.6892541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:934.77, Y:131.64, Z:15.47 [[ 3.60295988e-02 -9.99350628e-01 -4.35647000e-04 9.34773166e+02] [ 9.99232261e-01 3.60320364e-02 -1.53811862e-02 1.31639207e+02] [ 1.53868954e-02 1.18865431e-04 9.99881608e-01 1.54656115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.7192541539998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:934.77, Y:131.67, Z:15.47 [[ 3.11259719e-02 -9.99515377e-01 -4.31268367e-04 9.34774494e+02] [ 9.99397021e-01 3.11289229e-02 -1.53813090e-02 1.31666930e+02] [ 1.53872798e-02 4.77498704e-05 9.99881608e-01 1.54679326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.7492541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:934.78, Y:131.70, Z:15.47 [[ 2.82780690e-02 -9.99600004e-01 -4.26845958e-04 9.34775534e+02] [ 9.99481656e-01 2.82812891e-02 -1.53814317e-02 1.31695445e+02] [ 1.53873510e-02 8.33248171e-06 9.99881608e-01 1.54691059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.7792541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:934.78, Y:131.72, Z:15.47 [[ 2.20699819e-02 -9.99756339e-01 -4.22358001e-04 9.34776747e+02] [ 9.99638011e-01 2.20738679e-02 -1.53815549e-02 1.31722229e+02] [ 1.53871301e-02 -8.27344726e-05 9.99881608e-01 1.54697032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.8092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.78, Y:131.75, Z:15.47 [[ 1.91140685e-02 -9.99817222e-01 -4.17625365e-04 9.34778014e+02] [ 9.99698903e-01 1.91182314e-02 -1.53816834e-02 1.31749794e+02] [ 1.53868563e-02 -1.23493069e-04 9.99881608e-01 1.54706895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.8392541539998 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:934.78, Y:131.78, Z:15.47 [[ 1.40475016e-02 -9.99901244e-01 -4.13207802e-04 9.34779036e+02] [ 9.99782944e-01 1.40521962e-02 -1.53818021e-02 1.31778283e+02] [ 1.53860895e-02 -1.97042223e-04 9.99881608e-01 1.54711747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.8692541539998 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:934.78, Y:131.81, Z:15.47 [[ 1.17337434e-02 -9.99931074e-01 -4.08807204e-04 9.34779582e+02] [ 9.99812783e-01 1.17386439e-02 -1.53819191e-02 1.31806022e+02] [ 1.53856577e-02 -2.28243178e-04 9.99881608e-01 1.54696008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.8992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.78, Y:131.83, Z:15.47 [[ 9.64560649e-03 -9.99953398e-01 -4.04446146e-04 9.34779679e+02] [ 9.99835115e-01 9.65068701e-03 -1.53820337e-02 1.31834306e+02] [ 1.53852201e-02 -2.56010415e-04 9.99881608e-01 1.54721307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.9292541539999 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:934.78, Y:131.86, Z:15.47 [[ 8.93631696e-03 -9.99959990e-01 -4.00070484e-04 9.34779325e+02] [ 9.99841708e-01 8.94141410e-03 -1.53821475e-02 1.31861472e+02] [ 1.53851093e-02 -2.62547410e-04 9.99881608e-01 1.54692080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.9592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.78, Y:131.89, Z:15.47 [[ 9.97683201e-03 -9.99950152e-01 -3.95519295e-04 9.34777868e+02] [ 9.99831861e-01 9.98173607e-03 -1.53822646e-02 1.31889604e+02] [ 1.53854458e-02 -2.41986524e-04 9.99881608e-01 1.54718341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.9892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.78, Y:131.92, Z:15.47 [[ 1.06921058e-02 -9.99942761e-01 -3.91133836e-04 9.34777252e+02] [ 9.99824465e-01 1.06968578e-02 -1.53823761e-02 1.31917011e+02] [ 1.53856795e-02 -2.26595186e-04 9.99881608e-01 1.54713415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.0192541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:934.78, Y:131.95, Z:15.47 [[ 1.32830766e-02 -9.99911701e-01 -3.86512014e-04 9.34775271e+02] [ 9.99793390e-01 1.32874510e-02 -1.53824922e-02 1.31945013e+02] [ 1.53862697e-02 -1.82105334e-04 9.99881608e-01 1.54707793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.0492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.77, Y:131.97, Z:15.47 [[ 1.51635485e-02 -9.99884954e-01 -3.82175351e-04 9.34774817e+02] [ 9.99766632e-01 1.51676336e-02 -1.53826000e-02 1.31972411e+02] [ 1.53866269e-02 -1.48831364e-04 9.99881608e-01 1.54725771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.0792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.77, Y:132.00, Z:15.47 [[ 1.63929227e-02 -9.99865563e-01 -3.57835234e-04 9.34773985e+02] [ 9.99747224e-01 1.63964880e-02 -1.53831958e-02 1.32000534e+02] [ 1.53869950e-02 -1.05569242e-04 9.99881608e-01 1.54717484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.1092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.77, Y:132.03, Z:15.47 [[ 1.89731209e-02 -9.99819925e-01 -3.73231951e-04 9.34771118e+02] [ 9.99701584e-01 1.89766176e-02 -1.53828222e-02 1.32028215e+02] [ 1.53871349e-02 -8.12604257e-05 9.99881608e-01 1.54728629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.1392541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:934.77, Y:132.06, Z:15.47 [[ 2.19432600e-02 -9.99759154e-01 -3.58081546e-04 9.34771223e+02] [ 9.99640797e-01 2.19461721e-02 -1.53831865e-02 1.32056445e+02] [ 1.53873401e-02 -2.03956596e-05 9.99881608e-01 1.54722171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.1692541539999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:934.77, Y:132.08, Z:15.47 [[ 2.56818181e-02 -9.99670100e-01 -3.67313901e-04 9.34769087e+02] [ 9.99551737e-01 2.56844295e-02 -1.53829661e-02 1.32084803e+02] [ 1.53873255e-02 2.79132882e-05 9.99881608e-01 1.54732566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.1992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.77, Y:132.11, Z:15.48 [[ 2.77683672e-02 -9.99614319e-01 -3.62884942e-04 9.34768661e+02] [ 9.99495949e-01 2.77706634e-02 -1.53830705e-02 1.32112618e+02] [ 1.53872151e-02 6.44607220e-05 9.99881608e-01 1.54759762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.2292541539998 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:934.77, Y:132.14, Z:15.47 [[ 3.13153103e-02 -9.99509491e-01 -3.58480169e-04 9.34766715e+02] [ 9.99391113e-01 3.13171187e-02 -1.53831732e-02 1.32140860e+02] [ 1.53868542e-02 1.23466946e-04 9.99881608e-01 1.54741185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.2592541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:934.77, Y:132.17, Z:15.48 [[ 3.29144488e-02 -9.99458110e-01 -3.54095546e-04 9.34766187e+02] [ 9.99339728e-01 3.29160003e-02 -1.53832741e-02 1.32168682e+02] [ 1.53865935e-02 1.52470242e-04 9.99881608e-01 1.54760231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.2892541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:934.77, Y:132.20, Z:15.48 [[ 3.26308713e-02 -9.99467410e-01 -3.49731389e-04 9.34766756e+02] [ 9.99349028e-01 3.26323893e-02 -1.53833733e-02 1.32197261e+02] [ 1.53865929e-02 1.52469152e-04 9.99881608e-01 1.54764614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.3192541539999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:934.76, Y:132.23, Z:15.48 [[ 3.47857515e-02 -9.99394733e-01 -3.45366119e-04 9.34764378e+02] [ 9.99276347e-01 3.47869470e-02 -1.53834713e-02 1.32225159e+02] [ 1.53861745e-02 1.90009417e-04 9.99881608e-01 1.54764375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.3492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.76, Y:132.25, Z:15.48 [[ 3.56880327e-02 -9.99362921e-01 -3.40995987e-04 9.34763448e+02] [ 9.99244533e-01 3.56890541e-02 -1.53835682e-02 1.32252888e+02] [ 1.53859375e-02 2.08270910e-04 9.99881608e-01 1.54794751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.3792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.76, Y:132.28, Z:15.48 [[ 3.38244223e-02 -9.99427734e-01 -3.36530021e-04 9.34758476e+02] [ 9.99309347e-01 3.38255957e-02 -1.53836659e-02 1.32279244e+02] [ 1.53862457e-02 1.84046016e-04 9.99881608e-01 1.54752771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.4092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.76, Y:132.31, Z:15.48 [[ 3.61422100e-02 -9.99346625e-01 -2.54510680e-04 9.34760511e+02] [ 9.99228230e-01 3.61418465e-02 -1.53854188e-02 1.32307168e+02] [ 1.53845648e-02 3.01748782e-04 9.99881605e-01 1.54791823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.4392541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:934.76, Y:132.34, Z:15.48 [[ 3.54541203e-02 -9.99371252e-01 -3.26465603e-04 9.34759940e+02] [ 9.99252862e-01 3.54549458e-02 -1.53838919e-02 1.32335403e+02] [ 1.53857941e-02 2.19200665e-04 9.99881608e-01 1.54795212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.4692541539998 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:934.76, Y:132.36, Z:15.48 [[ 3.43315815e-02 -9.99410446e-01 -3.22006855e-04 9.34758659e+02] [ 9.99292057e-01 3.43324713e-02 -1.53839852e-02 1.32362130e+02] [ 1.53859708e-02 2.06377649e-04 9.99881608e-01 1.54774757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.4992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.76, Y:132.39, Z:15.48 [[ 3.38211907e-02 -9.99427850e-01 -3.17307206e-04 9.34756995e+02] [ 9.99309460e-01 3.38220686e-02 -1.53840821e-02 1.32390501e+02] [ 1.53860121e-02 2.03219883e-04 9.99881608e-01 1.54800597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.5292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.76, Y:132.42, Z:15.48 [[ 3.33891938e-02 -9.99442377e-01 -3.12895013e-04 9.34756149e+02] [ 9.99323987e-01 3.33900550e-02 -1.53841719e-02 1.32418137e+02] [ 1.53860409e-02 2.00981604e-04 9.99881608e-01 1.54798227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.5592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.75, Y:132.44, Z:15.48 [[ 2.94989193e-02 -9.99564765e-01 -3.08495944e-04 9.34751288e+02] [ 9.99446379e-01 2.95001736e-02 -1.53842601e-02 1.32442490e+02] [ 1.53866650e-02 1.45493893e-04 9.99881608e-01 1.54764569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.5892541539998 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:934.75, Y:132.47, Z:15.48 [[ 3.00348674e-02 -9.99548845e-01 -1.18028149e-04 9.34751026e+02] [ 9.99430448e-01 3.00331268e-02 -1.53879933e-02 1.32471740e+02] [ 1.53845957e-02 3.44215412e-04 9.99881591e-01 1.54756181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.6192541539998 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:934.76, Y:132.50, Z:15.48 [[ 3.34368914e-02 -9.99440823e-01 -1.24723053e-04 9.34755431e+02] [ 9.99322433e-01 3.34348509e-02 -1.53878625e-02 1.32503715e+02] [ 1.53834281e-02 3.89883744e-04 9.99881592e-01 1.54778952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.6492541539999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:934.75, Y:132.53, Z:15.47 [[ 2.83969266e-02 -9.99596680e-01 -3.02375777e-04 9.34750759e+02] [ 9.99478295e-01 2.83982172e-02 -1.53843711e-02 1.32527450e+02] [ 1.53867532e-02 1.34650829e-04 9.99881608e-01 1.54742966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.6792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.75, Y:132.56, Z:15.48 [[ 2.80705409e-02 -9.99605939e-01 -1.03565221e-04 9.34752394e+02] [ 9.99487541e-01 2.80688104e-02 -1.53882151e-02 1.32555913e+02] [ 1.53850581e-02 3.28443372e-04 9.99881589e-01 1.54779103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.7092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.75, Y:132.58, Z:15.48 [[ 2.62284709e-02 -9.99655964e-01 -1.43945905e-04 9.34751655e+02] [ 9.99537564e-01 2.62275801e-02 -1.53874378e-02 1.32581852e+02] [ 1.53859194e-02 2.59709626e-04 9.99881596e-01 1.54768115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.7392541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:934.75, Y:132.61, Z:15.48 [[ 2.60316767e-02 -9.99661113e-01 -1.05882495e-04 9.34753146e+02] [ 9.99542711e-01 2.60302234e-02 -1.53881737e-02 1.32610757e+02] [ 1.53857150e-02 2.94745887e-04 9.99881589e-01 1.54784964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.7692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.76, Y:132.64, Z:15.48 [[ 2.81724775e-02 -9.99603069e-01 -1.28175931e-04 9.34758783e+02] [ 9.99484670e-01 2.81711137e-02 -1.53877471e-02 1.32641522e+02] [ 1.53852500e-02 3.05401079e-04 9.99881593e-01 1.54845782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.7992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.75, Y:132.67, Z:15.48 [[ 2.32085351e-02 -9.99730602e-01 -2.96831278e-04 9.34754882e+02] [ 9.99612223e-01 2.32103548e-02 -1.53844932e-02 1.32666462e+02] [ 1.53872382e-02 6.03353772e-05 9.99881608e-01 1.54812771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.8292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.76, Y:132.70, Z:15.49 [[ 2.59801710e-02 -9.99662451e-01 -1.24624383e-04 9.34759621e+02] [ 9.99544050e-01 2.59790122e-02 -1.53877298e-02 1.32697060e+02] [ 1.53857733e-02 2.75208290e-04 9.99881594e-01 1.54867436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.8592541539998 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:934.76, Y:132.73, Z:15.48 [[ 2.44567474e-02 -9.99700846e-01 -2.92505867e-04 9.34758797e+02] [ 9.99582465e-01 2.44583527e-02 -1.53845381e-02 1.32725293e+02] [ 1.53870899e-02 8.38720256e-05 9.99881608e-01 1.54839665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.8892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.76, Y:132.75, Z:15.49 [[ 2.51517715e-02 -9.99683603e-01 -2.88221533e-04 9.34759127e+02] [ 9.99565220e-01 2.51532286e-02 -1.53846183e-02 1.32753779e+02] [ 1.53870004e-02 9.88541848e-05 9.99881608e-01 1.54876328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.9192541539999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:934.76, Y:132.78, Z:15.49 [[ 2.53970878e-02 -9.99677402e-01 -2.83804246e-04 9.34758836e+02] [ 9.99559018e-01 2.53984478e-02 -1.53846998e-02 1.32782134e+02] [ 1.53869449e-02 1.07047478e-04 9.99881608e-01 1.54876158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.9492541539998 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:934.76, Y:132.81, Z:15.49 [[ 2.52428620e-02 -9.99681309e-01 -2.79369814e-04 9.34758520e+02] [ 9.99562925e-01 2.52441721e-02 -1.53847804e-02 1.32810303e+02] [ 1.53869298e-02 1.09108179e-04 9.99881608e-01 1.54852506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.9792541539998 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:934.76, Y:132.84, Z:15.49 [[ 2.72110715e-02 -9.99629673e-01 -2.74859811e-04 9.34757894e+02] [ 9.99511285e-01 2.72120791e-02 -1.53848609e-02 1.32837244e+02] [ 1.53866430e-02 1.43913068e-04 9.99881608e-01 1.54854889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.0092541539999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:934.76, Y:132.87, Z:15.49 [[ 3.01766611e-02 -9.99544544e-01 -2.70105200e-04 9.34757134e+02] [ 9.99426154e-01 3.01772443e-02 -1.53849444e-02 1.32865502e+02] [ 1.53860883e-02 1.94316052e-04 9.99881608e-01 1.54854159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.0392541539999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:934.76, Y:132.89, Z:15.48 [[ 3.13080378e-02 -9.99509748e-01 -2.65656276e-04 9.34756952e+02] [ 9.99391357e-01 3.13084185e-02 -1.53850212e-02 1.32892360e+02] [ 1.53857960e-02 2.16180239e-04 9.99881608e-01 1.54847959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.0692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.75, Y:132.92, Z:15.49 [[ 3.20769883e-02 -9.99485367e-01 -2.60957543e-04 9.34754076e+02] [ 9.99366975e-01 3.20772057e-02 -1.53851009e-02 1.32919604e+02] [ 1.53855540e-02 2.32715353e-04 9.99881608e-01 1.54864734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.0992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.76, Y:132.95, Z:15.49 [[ 3.51857249e-02 -9.99380774e-01 -1.81620058e-04 9.34756358e+02] [ 9.99262388e-01 3.51843530e-02 -1.53864124e-02 1.32948879e+02] [ 1.53832749e-02 3.59895979e-04 9.99881606e-01 1.54864966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.1292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.76, Y:132.98, Z:15.49 [[ 3.39415296e-02 -9.99423788e-01 -2.52600823e-04 9.34755291e+02] [ 9.99305397e-01 3.39413975e-02 -1.53852470e-02 1.32975785e+02] [ 1.53849555e-02 2.69773451e-04 9.99881608e-01 1.54850059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.1592541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:934.76, Y:133.00, Z:15.49 [[ 3.61089837e-02 -9.99347835e-01 -2.15163786e-04 9.34757749e+02] [ 9.99229447e-01 3.61080187e-02 -1.53858465e-02 1.33004125e+02] [ 1.53835815e-02 3.40569288e-04 9.99881608e-01 1.54854235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.1892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.76, Y:133.03, Z:15.49 [[ 3.51771548e-02 -9.99381063e-01 -2.44568612e-04 9.34758143e+02] [ 9.99262671e-01 3.51767527e-02 -1.53853790e-02 1.33031825e+02] [ 1.53844596e-02 2.96825576e-04 9.99881608e-01 1.54876246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.2192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.76, Y:133.06, Z:15.49 [[ 3.43076796e-02 -9.99411290e-01 -2.40029210e-04 9.34759628e+02] [ 9.99292898e-01 3.43073106e-02 -1.53854499e-02 1.33058650e+02] [ 1.53846270e-02 2.87979599e-04 9.99881608e-01 1.54890214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.2492541539999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:934.76, Y:133.09, Z:15.49 [[ 3.35006604e-02 -9.99438665e-01 -2.47921978e-04 9.34760190e+02] [ 9.99320273e-01 3.35005085e-02 -1.53853286e-02 1.33085936e+02] [ 1.53849978e-02 2.67665211e-04 9.99881608e-01 1.54893849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.2792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.76, Y:133.11, Z:15.49 [[ 3.23728313e-02 -9.99475836e-01 -2.32504523e-04 9.34761461e+02] [ 9.99357444e-01 3.23725757e-02 -1.53855616e-02 1.33113493e+02] [ 1.53850238e-02 2.65719065e-04 9.99881608e-01 1.54924279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.3092541539999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:934.76, Y:133.14, Z:15.49 [[ 3.08231762e-02 -9.99524827e-01 -2.28067611e-04 9.34761991e+02] [ 9.99406435e-01 3.08230359e-02 -1.53856274e-02 1.33141009e+02] [ 1.53853463e-02 2.46301666e-04 9.99881608e-01 1.54912799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.3392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.76, Y:133.17, Z:15.49 [[ 2.88404358e-02 -9.99584003e-01 -2.23400804e-04 9.34762905e+02] [ 9.99465611e-01 2.88404585e-02 -1.53856952e-02 1.33169317e+02] [ 1.53857377e-02 2.20448732e-04 9.99881608e-01 1.54932262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.3692541539998 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:934.76, Y:133.20, Z:15.49 [[ 2.72869552e-02 -9.99627618e-01 -2.19039213e-04 9.34763144e+02] [ 9.99509226e-01 2.72870948e-02 -1.53857573e-02 1.33197830e+02] [ 1.53860048e-02 2.00898755e-04 9.99881608e-01 1.54918381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.3992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.76, Y:133.22, Z:15.49 [[ 2.56565530e-02 -9.99670793e-01 -2.14679247e-04 9.34764033e+02] [ 9.99552402e-01 2.56568186e-02 -1.53858181e-02 1.33224396e+02] [ 1.53862610e-02 1.80163900e-04 9.99881608e-01 1.54936388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.4292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.76, Y:133.25, Z:15.49 [[ 2.46298136e-02 -9.99696618e-01 -2.10073876e-04 9.34764570e+02] [ 9.99578227e-01 2.46301299e-02 -1.53858810e-02 1.33252226e+02] [ 1.53863873e-02 1.68966108e-04 9.99881608e-01 1.54937269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.4592541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:934.76, Y:133.28, Z:15.49 [[ 2.19758583e-02 -9.99758481e-01 -2.05780895e-04 9.34764227e+02] [ 9.99640090e-01 2.19764228e-02 -1.53859384e-02 1.33279801e+02] [ 1.53867447e-02 1.32412369e-04 9.99881608e-01 1.54935045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.4892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.77, Y:133.31, Z:15.49 [[ 2.19956238e-02 -9.99758053e-01 -1.66707217e-04 9.34765510e+02] [ 9.99639661e-01 2.19955847e-02 -1.53864495e-02 1.33307631e+02] [ 1.53863936e-02 1.71787409e-04 9.99881608e-01 1.54932697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.5192541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:934.77, Y:133.34, Z:15.49 [[ 2.01310164e-02 -9.99797331e-01 -1.99657377e-04 9.34766996e+02] [ 9.99678941e-01 2.01317051e-02 -1.53860219e-02 1.33336176e+02] [ 1.53869231e-02 1.10142984e-04 9.99881608e-01 1.54926142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.5492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.77, Y:133.36, Z:15.50 [[ 1.87037883e-02 -9.99825050e-01 -1.95263851e-04 9.34767291e+02] [ 9.99706661e-01 1.87045784e-02 -1.53860777e-02 1.33364021e+02] [ 1.53870382e-02 9.25713669e-05 9.99881608e-01 1.54959436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.5792541539998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:934.77, Y:133.39, Z:15.49 [[ 1.78234913e-02 -9.99841136e-01 -1.60163859e-04 9.34768795e+02] [ 9.99722744e-01 1.78238456e-02 -1.53865123e-02 1.33392202e+02] [ 1.53869227e-02 1.14121916e-04 9.99881608e-01 1.54936573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.6092541539998 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:934.77, Y:133.42, Z:15.49 [[ 1.69472891e-02 -9.99856367e-01 -1.89284835e-04 9.34769417e+02] [ 9.99737978e-01 1.69481953e-02 -1.53861541e-02 1.33420406e+02] [ 1.53871521e-02 7.15183635e-05 9.99881608e-01 1.54931202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.6392541539999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:934.77, Y:133.45, Z:15.49 [[ 1.60897596e-02 -9.99870534e-01 -1.84835567e-04 9.34770363e+02] [ 9.99752146e-01 1.60906989e-02 -1.53862075e-02 1.33448397e+02] [ 1.53871897e-02 6.27706262e-05 9.99881608e-01 1.54938476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.6692541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:934.77, Y:133.48, Z:15.49 [[ 1.57901402e-02 -9.99875312e-01 -1.80391234e-04 9.34771207e+02] [ 9.99756923e-01 1.57910464e-02 -1.53862596e-02 1.33476365e+02] [ 1.53871897e-02 6.26038112e-05 9.99881608e-01 1.54948295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.6992541539998 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:934.77, Y:133.50, Z:15.49 [[ 1.53656179e-02 -9.99881927e-01 -1.75953004e-04 9.34771687e+02] [ 9.99763538e-01 1.53665062e-02 -1.53863104e-02 1.33503350e+02] [ 1.53871975e-02 6.05087683e-05 9.99881608e-01 1.54940801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.7292541539998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:934.77, Y:133.53, Z:15.50 [[ 1.58051279e-02 -9.99875077e-01 -1.71339268e-04 9.34772245e+02] [ 9.99756687e-01 1.58058932e-02 -1.53863618e-02 1.33529893e+02] [ 1.53871478e-02 7.18858379e-05 9.99881608e-01 1.54951614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.7592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.77, Y:133.56, Z:15.50 [[ 1.41415781e-02 -9.99899989e-01 -1.67808523e-04 9.34770124e+02] [ 9.99781601e-01 1.41424859e-02 -1.53864003e-02 1.33555699e+02] [ 1.53872347e-02 4.98161066e-05 9.99881608e-01 1.54971735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.7892541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:934.77, Y:133.59, Z:15.50 [[ 1.69420269e-02 -9.99856473e-01 -4.64013068e-05 9.34773492e+02] [ 9.99738081e-01 1.69407349e-02 -1.53876760e-02 1.33585992e+02] [ 1.53862535e-02 2.14309267e-04 9.99881602e-01 1.54973209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.8192541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:934.77, Y:133.61, Z:15.50 [[ 1.50444635e-02 -9.99886813e-01 -1.62339753e-04 9.34771370e+02] [ 9.99768423e-01 1.50451803e-02 -1.53864528e-02 1.33611904e+02] [ 1.53871537e-02 6.91787699e-05 9.99881608e-01 1.54987057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.8492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.77, Y:133.64, Z:15.50 [[ 1.57058254e-02 -9.99876654e-01 -6.89633650e-05 9.34772348e+02] [ 9.99758261e-01 1.57050270e-02 -1.53874060e-02 1.33641146e+02] [ 1.53865911e-02 1.72725217e-04 9.99881604e-01 1.55001811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.8792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.78, Y:133.67, Z:15.50 [[ 1.86820244e-02 -9.99825473e-01 -7.56566236e-05 9.34775929e+02] [ 9.99707083e-01 1.86809766e-02 -1.53873383e-02 1.33670580e+02] [ 1.53860662e-02 2.11832168e-04 9.99881605e-01 1.55015827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.9092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.78, Y:133.70, Z:15.50 [[ 1.88120739e-02 -9.99823025e-01 -1.56005181e-04 9.34776416e+02] [ 9.99704634e-01 1.88122471e-02 -1.53865237e-02 1.33698452e+02] [ 1.53867355e-02 1.33493319e-04 9.99881608e-01 1.55020203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.9392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.77, Y:133.72, Z:15.50 [[ 1.77028237e-02 -9.99843281e-01 -1.51643362e-04 9.34774436e+02] [ 9.99724890e-01 1.77030612e-02 -1.53865667e-02 1.33724087e+02] [ 1.53868399e-02 1.20784036e-04 9.99881608e-01 1.55031078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.9692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.78, Y:133.75, Z:15.50 [[ 1.88057278e-02 -9.99823155e-01 -5.43155640e-05 9.34775630e+02] [ 9.99704767e-01 1.88043370e-02 -1.53874972e-02 1.33752781e+02] [ 1.53857974e-02 2.35073556e-04 9.99881604e-01 1.55036520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.9992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.78, Y:133.78, Z:15.50 [[ 2.08412694e-02 -9.99782793e-01 -8.94370384e-05 9.34777899e+02] [ 9.99664405e-01 2.08401780e-02 -1.53871644e-02 1.33781488e+02] [ 1.53856861e-02 2.31281015e-04 9.99881607e-01 1.55020907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.0292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.78, Y:133.81, Z:15.50 [[ 2.00712017e-02 -9.99798543e-01 -1.45455966e-04 9.34777748e+02] [ 9.99680151e-01 2.00710635e-02 -1.53866348e-02 1.33808308e+02] [ 1.53864545e-02 1.63418809e-04 9.99881608e-01 1.55047755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.0592541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:934.78, Y:133.84, Z:15.50 [[ 2.30457118e-02 -9.99734410e-01 -6.54387704e-05 9.34781397e+02] [ 9.99616028e-01 2.30439901e-02 -1.53873542e-02 1.33837665e+02] [ 1.53847754e-02 2.89198886e-04 9.99881606e-01 1.55018589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.0892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.78, Y:133.87, Z:15.50 [[ 2.41842678e-02 -9.99707509e-01 -1.36811821e-04 9.34782505e+02] [ 9.99589119e-01 2.41835095e-02 -1.53867196e-02 1.33865687e+02] [ 1.53855277e-02 2.35360939e-04 9.99881608e-01 1.55044800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.1192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.78, Y:133.89, Z:15.50 [[ 2.51902880e-02 -9.99682666e-01 -1.32307499e-04 9.34783311e+02] [ 9.99564277e-01 2.51893413e-02 -1.53867583e-02 1.33893685e+02] [ 1.53852083e-02 2.55347024e-04 9.99881608e-01 1.55047490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.1492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.78, Y:133.92, Z:15.50 [[ 2.68552620e-02 -9.99639324e-01 -1.27766247e-04 9.34783557e+02] [ 9.99520939e-01 2.68540482e-02 -1.53867960e-02 1.33921772e+02] [ 1.53846774e-02 2.85511400e-04 9.99881608e-01 1.55044380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.1792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.79, Y:133.95, Z:15.50 [[ 3.09531814e-02 -9.99520831e-01 -9.63748790e-05 9.34787065e+02] [ 9.99402459e-01 3.09509993e-02 -1.53870442e-02 1.33951053e+02] [ 1.53826541e-02 3.79960679e-04 9.99881608e-01 1.55018379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.2092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.79, Y:133.98, Z:15.50 [[ 3.05711792e-02 -9.99532575e-01 -1.87658848e-04 9.34787183e+02] [ 9.99414183e-01 3.05704468e-02 -1.53863171e-02 1.33979669e+02] [ 1.53848620e-02 2.82828944e-04 9.99881606e-01 1.55023119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.2392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.79, Y:134.00, Z:15.51 [[ 3.03914830e-02 -9.99538056e-01 -1.82576227e-04 9.34786963e+02] [ 9.99419665e-01 3.03906937e-02 -1.53863559e-02 1.34004524e+02] [ 1.53847969e-02 2.85143901e-04 9.99881606e-01 1.55052196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.2692541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:934.79, Y:134.03, Z:15.50 [[ 3.05000881e-02 -9.99534758e-01 -1.11102133e-04 9.34788274e+02] [ 9.99416382e-01 3.04981862e-02 -1.53868720e-02 1.34031193e+02] [ 1.53831018e-02 3.58263660e-04 9.99881609e-01 1.55030246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.2992541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:934.79, Y:134.06, Z:15.51 [[ 3.03845636e-02 -9.99538277e-01 -1.06597652e-04 9.34790794e+02] [ 9.99419902e-01 3.03826061e-02 -1.53869032e-02 1.34058232e+02] [ 1.53830375e-02 3.60988524e-04 9.99881609e-01 1.55050455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.3292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.79, Y:134.09, Z:15.51 [[ 3.01253055e-02 -9.99546125e-01 -1.02017889e-04 9.34791960e+02] [ 9.99427751e-01 3.01233083e-02 -1.53869336e-02 1.34085686e+02] [ 1.53830230e-02 3.61576566e-04 9.99881609e-01 1.55066741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.3592541539998 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:934.79, Y:134.11, Z:15.51 [[ 2.95035499e-02 -9.99564671e-01 -9.77230341e-05 9.34793963e+02] [ 9.99446296e-01 2.95015602e-02 -1.53869609e-02 1.34111795e+02] [ 1.53831455e-02 3.56301043e-04 9.99881609e-01 1.55055548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.3892541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:934.80, Y:134.14, Z:15.51 [[ 2.93002496e-02 -9.99570651e-01 -9.29879529e-05 9.34795128e+02] [ 9.99452278e-01 2.92982112e-02 -1.53869895e-02 1.34139511e+02] [ 1.53831075e-02 3.57905612e-04 9.99881609e-01 1.55103297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.4192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.80, Y:134.17, Z:15.51 [[ 2.90699493e-02 -9.99577376e-01 -8.86022642e-05 9.34796269e+02] [ 9.99459003e-01 2.90678707e-02 -1.53870147e-02 1.34166293e+02] [ 1.53830873e-02 3.58745408e-04 9.99881609e-01 1.55085046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.4492541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:934.80, Y:134.19, Z:15.51 [[ 2.89426460e-02 -9.99581070e-01 -8.39841241e-05 9.34798816e+02] [ 9.99462699e-01 2.89405114e-02 -1.53870399e-02 1.34194302e+02] [ 1.53830244e-02 3.61402651e-04 9.99881609e-01 1.55118930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.4792541539998 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:934.80, Y:134.22, Z:15.51 [[ 2.84616283e-02 -9.99594883e-01 -7.95640042e-05 9.34800944e+02] [ 9.99476511e-01 2.84594826e-02 -1.53870628e-02 1.34223011e+02] [ 1.53830936e-02 3.58418508e-04 9.99881609e-01 1.55117934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.5092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.80, Y:134.25, Z:15.51 [[ 2.83332321e-02 -9.99598531e-01 -7.52899973e-05 9.34801816e+02] [ 9.99480160e-01 2.83310359e-02 -1.53870837e-02 1.34251196e+02] [ 1.53830393e-02 3.60714956e-04 9.99881609e-01 1.55128181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.5392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.80, Y:134.28, Z:15.51 [[ 2.80926182e-02 -9.99605322e-01 -7.11047270e-05 9.34802925e+02] [ 9.99486952e-01 2.80903861e-02 -1.53871031e-02 1.34278935e+02] [ 1.53830275e-02 3.61195765e-04 9.99881609e-01 1.55132222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.5692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.81, Y:134.31, Z:15.51 [[ 2.73026626e-02 -9.99627211e-01 -6.66529440e-05 9.34805026e+02] [ 9.99508840e-01 2.73004555e-02 -1.53871223e-02 1.34306322e+02] [ 1.53832058e-02 3.53489202e-04 9.99881609e-01 1.55127246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.5992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.81, Y:134.33, Z:15.51 [[ 2.63112309e-02 -9.99653798e-01 -6.20526592e-05 9.34806249e+02] [ 9.99535426e-01 2.63090705e-02 -1.53871409e-02 1.34334150e+02] [ 1.53834464e-02 3.42830786e-04 9.99881609e-01 1.55139252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.6292541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:934.81, Y:134.36, Z:15.52 [[ 2.37846121e-02 -9.99717105e-01 -5.76008634e-05 9.34809071e+02] [ 9.99598729e-01 2.37826824e-02 -1.53871576e-02 1.34362227e+02] [ 1.53841745e-02 3.08399824e-04 9.99881609e-01 1.55154467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.6592541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:934.81, Y:134.39, Z:15.52 [[ 2.00602574e-02 -9.99798771e-01 -5.31078317e-05 9.34811850e+02] [ 9.99680391e-01 2.00586996e-02 -1.53871731e-02 1.34389628e+02] [ 1.53851420e-02 2.55579795e-04 9.99881609e-01 1.55160455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.6892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.81, Y:134.42, Z:15.52 [[ 1.80441090e-02 -9.99837191e-01 -4.84103809e-05 9.34813424e+02] [ 9.99718808e-01 1.80427176e-02 -1.53871878e-02 1.34417097e+02] [ 1.53855561e-02 2.29251327e-04 9.99881609e-01 1.55170668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.7192541539998 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:934.81, Y:134.45, Z:15.52 [[ 1.57144663e-02 -9.99876519e-01 -4.44722911e-05 9.34814704e+02] [ 9.99758134e-01 1.57132901e-02 -1.53871992e-02 1.34445457e+02] [ 1.53859980e-02 1.97340088e-04 9.99881609e-01 1.55177963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.7492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.82, Y:134.47, Z:15.52 [[ 1.24408476e-02 -9.99922609e-01 -4.01226237e-05 9.34817041e+02] [ 9.99804221e-01 1.24399920e-02 -1.53872106e-02 1.34474082e+02] [ 1.53865189e-02 1.51315173e-04 9.99881609e-01 1.55208822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.7792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.82, Y:134.50, Z:15.52 [[ 1.02534223e-02 -9.99947432e-01 -3.59368108e-05 9.34818448e+02] [ 9.99829043e-01 1.02527614e-02 -1.53872203e-02 1.34500999e+02] [ 1.53867799e-02 1.21841001e-04 9.99881609e-01 1.55215296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.8092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.82, Y:134.53, Z:15.52 [[ 9.73091228e-03 -9.99952653e-01 -3.12077630e-05 9.34818769e+02] [ 9.99834264e-01 9.73024041e-03 -1.53872299e-02 1.34529094e+02] [ 1.53868051e-02 1.18529194e-04 9.99881609e-01 1.55230117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.8392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.82, Y:134.56, Z:15.52 [[ 9.58517228e-03 -9.99954061e-01 -2.67283431e-05 9.34818329e+02] [ 9.99835672e-01 9.58444874e-03 -1.53872377e-02 1.34556131e+02] [ 1.53867870e-02 1.20765374e-04 9.99881609e-01 1.55227710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.8692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.82, Y:134.58, Z:15.52 [[ 1.09232615e-02 -9.99940339e-01 -2.20070513e-05 9.34816776e+02] [ 9.99821952e-01 1.09223069e-02 -1.53872445e-02 1.34584591e+02] [ 1.53865668e-02 1.46075762e-04 9.99881609e-01 1.55222525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.8992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.82, Y:134.61, Z:15.52 [[ 1.16208923e-02 -9.99932475e-01 -1.76455986e-05 9.34815563e+02] [ 9.99814089e-01 1.16197880e-02 -1.53872495e-02 1.34612796e+02] [ 1.53864155e-02 1.61171251e-04 9.99881609e-01 1.55227533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.9292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.81, Y:134.64, Z:15.52 [[ 1.40871906e-02 -9.99900771e-01 -1.32292588e-05 9.34813516e+02] [ 9.99782389e-01 1.40857263e-02 -1.53872533e-02 1.34640206e+02] [ 1.53859127e-02 2.03536789e-04 9.99881609e-01 1.55214534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.9592541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:934.81, Y:134.67, Z:15.52 [[ 1.47686256e-02 -9.99890938e-01 -1.00730816e-05 9.34812545e+02] [ 9.99772558e-01 1.47670321e-02 -1.53872553e-02 1.34668493e+02] [ 1.53857259e-02 2.17177822e-04 9.99881609e-01 1.55222005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.9892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.81, Y:134.70, Z:15.52 [[ 1.58629528e-02 -9.99874175e-01 -5.64074864e-06 9.34811256e+02] [ 9.99755798e-01 1.58611616e-02 -1.53872570e-02 1.34696352e+02] [ 1.53854103e-02 2.38447960e-04 9.99881609e-01 1.55226100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.0192541539999 meters Centerline goodness : 0.999714 Centerline is valid? [True, True] Translation: X:934.81, Y:134.72, Z:15.52 [[ 1.57418540e-02 -9.99876089e-01 -1.14141715e-06 9.34810126e+02] [ 9.99757713e-01 1.57400079e-02 -1.53872573e-02 1.34723982e+02] [ 1.53853686e-02 2.41082818e-04 9.99881609e-01 1.55226761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.0492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.81, Y:134.72, Z:15.52 [[ 1.52545810e-02 -9.99883642e-01 1.91267999e-06 9.34810008e+02] [ 9.99765266e-01 1.52527456e-02 -1.53872569e-02 1.34722112e+02] [ 1.53854373e-02 2.36638388e-04 9.99881609e-01 1.55233279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.0792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.81, Y:134.72, Z:15.52 [[ 1.30650925e-02 -9.99914648e-01 7.19812461e-06 9.34809241e+02] [ 9.99796269e-01 1.30634349e-02 -1.53872544e-02 1.34715483e+02] [ 1.53858471e-02 2.08232560e-04 9.99881609e-01 1.55238691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.1092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.81, Y:134.71, Z:15.52 [[ 1.17029219e-02 -9.99931518e-01 1.24736806e-05 9.34808884e+02] [ 9.99813138e-01 1.17013444e-02 -1.53872502e-02 1.34714881e+02] [ 1.53860505e-02 1.92547137e-04 9.99881609e-01 1.55242227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.1392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.80, Y:134.92, Z:15.52 [[ 5.93499911e-04 -9.99999824e-01 1.77410098e-05 9.34802359e+02] [ 9.99881433e-01 5.93156659e-04 -1.53872441e-02 1.34921223e+02] [ 1.53872309e-02 2.68712343e-05 9.99881609e-01 1.55176892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.1692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.81, Y:134.71, Z:15.52 [[ 8.44989859e-03 -9.99964284e-01 1.75590891e-04 9.34808012e+02] [ 9.99845940e-01 8.44619666e-03 -1.53869530e-02 1.34711588e+02] [ 1.53849204e-02 3.05582032e-04 9.99881598e-01 1.55248425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.1992541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:934.81, Y:134.71, Z:15.52 [[ 7.10931305e-03 -9.99974728e-01 2.45542318e-05 9.34808215e+02] [ 9.99856344e-01 7.10809357e-03 -1.53871942e-02 1.34709533e+02] [ 1.53866308e-02 1.33943085e-04 9.99881610e-01 1.55247877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.2292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.81, Y:134.70, Z:15.52 [[ 5.05655634e-03 -9.99987215e-01 3.05788797e-05 9.34808540e+02] [ 9.99868830e-01 5.05548718e-03 -1.53871823e-02 1.34703541e+02] [ 1.53868309e-02 1.08381023e-04 9.99881610e-01 1.55227003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.2592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.81, Y:134.71, Z:15.52 [[ 3.69107783e-03 -9.99993187e-01 3.65973431e-05 9.34808698e+02] [ 9.99874801e-01 3.69007773e-03 -1.53871679e-02 1.34707152e+02] [ 1.53869281e-02 9.33879957e-05 9.99881610e-01 1.55231919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.2892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.81, Y:134.70, Z:15.52 [[ 1.50887861e-03 -9.99998861e-01 4.26199172e-05 9.34808840e+02] [ 9.99880474e-01 1.50804418e-03 -1.53871513e-02 1.34701519e+02] [ 1.53870695e-02 6.58321664e-05 9.99881610e-01 1.55228587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.3192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.81, Y:134.70, Z:15.52 [[ 3.77368268e-04 -9.99999928e-01 4.86496265e-05 9.34809005e+02] [ 9.99881540e-01 3.76575012e-04 -1.53871322e-02 1.34696181e+02] [ 1.53871128e-02 5.44504789e-05 9.99881610e-01 1.55224121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.3492541539998 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:934.81, Y:134.69, Z:15.52 [[-2.16350617e-03 -9.99997658e-01 5.46630072e-05 9.34808666e+02] [ 9.99879270e-01 -2.16409114e-03 -1.53871108e-02 1.34691391e+02] [ 1.53871931e-02 2.13662985e-05 9.99881610e-01 1.55220666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.3792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.81, Y:134.69, Z:15.52 [[-2.49119797e-03 -9.99996895e-01 6.06651764e-05 9.34809423e+02] [ 9.99878507e-01 -2.49183651e-03 -1.53870872e-02 1.34694288e+02] [ 1.53871906e-02 2.23255256e-05 9.99881610e-01 1.55228664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.4092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.81, Y:134.70, Z:15.52 [[-3.68747892e-03 -9.99993199e-01 6.59161448e-05 9.34810042e+02] [ 9.99874810e-01 -3.68805663e-03 -1.53870647e-02 1.34695489e+02] [ 1.53872031e-02 9.16841603e-06 9.99881610e-01 1.55231479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.4392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.81, Y:134.69, Z:15.52 [[-4.13139288e-03 -9.99991463e-01 7.11801500e-05 9.34810401e+02] [ 9.99873075e-01 -4.13199903e-03 -1.53870403e-02 1.34689958e+02] [ 1.53872031e-02 7.60120652e-06 9.99881610e-01 1.55235461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.4692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.81, Y:134.69, Z:15.52 [[-4.85715612e-03 -9.99988201e-01 7.72026691e-05 9.34810498e+02] [ 9.99869813e-01 -4.85776901e-03 -1.53870101e-02 1.34687593e+02] [ 1.53872036e-02 2.45550799e-06 9.99881610e-01 1.55231929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.4992541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:934.81, Y:134.68, Z:15.52 [[-5.35060083e-03 -9.99985682e-01 8.32180516e-05 9.34811149e+02] [ 9.99867294e-01 -5.35124787e-03 -1.53869776e-02 1.34681967e+02] [ 1.53872026e-02 8.77432945e-07 9.99881610e-01 1.55226557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.5292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.81, Y:134.68, Z:15.52 [[-5.26962972e-03 -9.99986111e-01 8.92252079e-05 9.34811720e+02] [ 9.99867724e-01 -5.27037878e-03 -1.53869427e-02 1.34680785e+02] [ 1.53871993e-02 8.12991471e-06 9.99881610e-01 1.55230212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.5592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.81, Y:134.88, Z:15.52 [[-7.34125899e-03 -9.99973048e-01 9.52273074e-05 9.34808586e+02] [ 9.99854660e-01 -7.34185514e-03 -1.53869056e-02 1.34879973e+02] [ 1.53871900e-02 -1.77457920e-05 9.99881610e-01 1.55190441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.5892541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:934.81, Y:134.68, Z:15.52 [[-4.49092879e-03 -9.99989910e-01 1.05212830e-04 9.34811385e+02] [ 9.99871525e-01 -4.49201604e-03 -1.53868405e-02 1.34680382e+02] [ 1.53871579e-02 3.60981078e-05 9.99881610e-01 1.55233651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.6192541539998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:934.81, Y:134.99, Z:15.52 [[-3.69661653e-03 -9.99993162e-01 1.02016386e-04 9.34807118e+02] [ 9.99874778e-01 -3.69774863e-03 -1.53868617e-02 1.34986611e+02] [ 1.53871337e-02 4.51242837e-05 9.99881610e-01 1.55207706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.6492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.07, Y:134.63, Z:16.46 [[-9.16669893e-02 9.95789714e-01 -9.27623057e-05 9.34074655e+02] [ 9.95671700e-01 9.16575589e-02 1.53869228e-02 1.34632644e+02] [ 1.53306418e-02 1.31811208e-03 -9.99881610e-01 1.64640812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.6792541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:934.11, Y:134.60, Z:16.47 [[-1.72245013e-01 9.85053274e-01 -1.30516851e-03 9.34114451e+02] [ 9.84935624e-01 1.72244691e-01 1.52833973e-02 1.34604981e+02] [ 1.52797689e-02 1.34698201e-03 -9.99882350e-01 1.64651853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.7092541539998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:934.15, Y:134.58, Z:16.47 [[-2.51623878e-01 9.67821896e-01 -2.49015411e-03 9.34154687e+02] [ 9.67705277e-01 2.51632379e-01 1.50878339e-02 1.34583077e+02] [ 1.52289395e-02 1.38672402e-03 -9.99883071e-01 1.64657661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.7392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.20, Y:134.56, Z:16.47 [[-3.27766288e-01 9.44751773e-01 -3.65346600e-03 9.34196962e+02] [ 9.44636868e-01 3.27783659e-01 1.48006883e-02 1.34561743e+02] [ 1.51805229e-02 1.39996798e-03 -9.99883789e-01 1.64650830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.7692541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:934.24, Y:134.55, Z:16.47 [[-4.01101448e-01 9.16021134e-01 -4.78644252e-03 9.34239545e+02] [ 9.15908625e-01 4.01127556e-01 1.44247538e-02 1.34549534e+02] [ 1.51333533e-02 1.40184564e-03 -9.99884502e-01 1.64652087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.7992541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:934.29, Y:134.53, Z:16.46 [[-4.72940367e-01 8.81074795e-01 -5.88340809e-03 9.34286936e+02] [ 8.80965300e-01 4.72974828e-01 1.39625359e-02 1.34529621e+02] [ 1.50847424e-02 1.42036849e-03 -9.99885210e-01 1.64641855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.8292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.33, Y:134.52, Z:16.46 [[-5.41721503e-01 8.40529407e-01 -6.93759166e-03 9.34329647e+02] [ 8.40423538e-01 5.41764016e-01 1.34174755e-02 1.34522713e+02] [ 1.50363203e-02 1.43801968e-03 -9.99885914e-01 1.64644323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.8592541539998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:934.38, Y:134.52, Z:16.46 [[-6.05935729e-01 7.95473950e-01 -7.94274970e-03 9.34376068e+02] [ 7.95372360e-01 6.05986087e-01 1.27934401e-02 1.34517328e+02] [ 1.49900441e-02 1.43455888e-03 -9.99886614e-01 1.64645809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.8892541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:934.43, Y:134.51, Z:16.46 [[-6.66838218e-01 7.45149444e-01 -8.89367706e-03 9.34426491e+02] [ 7.45052679e-01 6.66895972e-01 1.20941707e-02 1.34509662e+02] [ 1.49431219e-02 1.43859731e-03 -9.99887310e-01 1.64645261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.9192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.47, Y:134.51, Z:16.46 [[-7.23677633e-01 6.90068809e-01 -9.78377997e-03 9.34470096e+02] [ 6.89977383e-01 7.23742324e-01 1.13252313e-02 1.34512282e+02] [ 1.48961245e-02 1.44522970e-03 -9.99888002e-01 1.64645591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.9492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.51, Y:134.52, Z:16.46 [[-7.75476255e-01 6.31287607e-01 -1.06082069e-02 9.34507608e+02] [ 6.31202061e-01 7.75547473e-01 1.04916609e-02 1.34524791e+02] [ 1.48504235e-02 1.44011180e-03 -9.99888689e-01 1.64646176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.9792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.57, Y:134.52, Z:16.46 [[-8.22331960e-01 5.68894574e-01 -1.13626982e-02 9.34566873e+02] [ 5.68815392e-01 8.22409216e-01 9.59851129e-03 1.34522403e+02] [ 1.48053288e-02 1.42988495e-03 -9.99889373e-01 1.64646316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.0092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.61, Y:134.53, Z:16.46 [[-8.64197014e-01 5.03009442e-01 -1.20424805e-02 9.34612424e+02] [ 5.02937027e-01 8.64279748e-01 8.65240230e-03 1.34533706e+02] [ 1.47603121e-02 1.42077088e-03 -9.99890051e-01 1.64647186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.0392541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:934.65, Y:134.55, Z:16.47 [[-9.00576338e-01 4.34513957e-01 -1.26444267e-02 9.34650920e+02] [ 4.34448725e-01 9.00664006e-01 7.65860266e-03 1.34551934e+02] [ 1.47161497e-02 1.40380128e-03 -9.99890726e-01 1.64657383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.0692541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:934.70, Y:134.57, Z:16.47 [[-9.31630650e-01 3.63168035e-01 -1.31647154e-02 9.34704176e+02] [ 3.63110274e-01 9.31722621e-01 6.62469771e-03 1.34566226e+02] [ 1.46717416e-02 1.39152801e-03 -9.99891396e-01 1.64664915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.0992541539998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:934.75, Y:134.59, Z:16.47 [[-9.57213452e-01 2.89062986e-01 -1.36013900e-02 9.34746740e+02] [ 2.89012921e-01 9.57309076e-01 5.55565384e-03 1.34587746e+02] [ 1.46266680e-02 1.38696913e-03 -9.99892063e-01 1.64664826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.1292541539999 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:934.57, Y:134.67, Z:16.47 [[-9.76556059e-01 2.14810641e-01 -1.39518095e-02 9.34571048e+02] [ 2.14768645e-01 9.76654772e-01 4.45933761e-03 1.34669057e+02] [ 1.45840145e-02 1.35838193e-03 -9.99892725e-01 1.64728701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.1592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.95, Y:135.38, Z:15.52 [[-9.69664895e-01 -2.44024382e-01 1.42159370e-02 9.34951864e+02] [ 2.44001688e-01 -9.69769069e-01 -3.33616561e-03 1.35382889e+02] [ 1.46002817e-02 2.33749945e-04 9.99893383e-01 1.55197128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.1892541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:934.95, Y:135.38, Z:15.52 [[-9.69944593e-01 -2.42910416e-01 1.42132401e-02 9.34953855e+02] [ 2.42887435e-01 -9.70048704e-01 -3.34761591e-03 1.35382249e+02] [ 1.46007059e-02 2.05215482e-04 9.99893383e-01 1.55189763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.2192541539998 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:934.83, Y:134.64, Z:16.47 [[-9.90200092e-01 1.38930648e-01 -1.42145560e-02 9.34829559e+02] [ 1.38896860e-01 9.90301213e-01 3.34201907e-03 1.34644238e+02] [ 1.45410009e-02 1.33491039e-03 -9.99893383e-01 1.64682291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.2492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.86, Y:134.67, Z:16.47 [[-9.97937199e-01 6.25645514e-02 -1.43882956e-02 9.34864036e+02] [ 6.25391087e-02 9.98040063e-01 2.21193010e-03 1.34673870e+02] [ 1.44984838e-02 1.30753615e-03 -9.99894037e-01 1.64684111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.2792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.90, Y:134.71, Z:16.47 [[-9.99790594e-01 -1.44674335e-02 -1.44727552e-02 9.34901359e+02] [-1.44845050e-02 9.99894516e-01 1.07543191e-03 1.34707136e+02] [ 1.44556698e-02 1.28483740e-03 -9.99894686e-01 1.64679334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.3092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.93, Y:134.74, Z:16.47 [[-9.95727857e-01 -9.11960239e-02 -1.44679207e-02 9.34933660e+02] [-9.12046817e-02 9.95832166e-01 -6.16324775e-05 1.34742852e+02] [ 1.44132415e-02 1.25817293e-03 -9.99895332e-01 1.64676566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.3392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.96, Y:134.78, Z:16.47 [[-9.86248891e-01 -1.64640538e-01 -1.43742539e-02 9.34961927e+02] [-1.64640536e-01 9.86352916e-01 -1.19162342e-03 1.34780046e+02] [ 1.43742768e-02 1.19134760e-03 -9.99895975e-01 1.64668143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.3692541539998 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:934.82, Y:135.56, Z:15.52 [[-9.87086878e-01 1.59555742e-01 1.41936665e-02 9.34821221e+02] [-1.59539104e-01 -9.87188921e-01 2.30412106e-03 1.35558608e+02] [ 1.43794661e-02 9.92281856e-06 9.99896610e-01 1.55207847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.3992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.82, Y:135.56, Z:15.52 [[-9.86879178e-01 1.60835330e-01 1.41945653e-02 9.34820194e+02] [-1.60818904e-01 -9.86981254e-01 2.29857064e-03 1.35559316e+02] [ 1.43794612e-02 -1.43429407e-05 9.99896610e-01 1.55206416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.4292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.98, Y:134.82, Z:16.47 [[-9.72274623e-01 -2.33410682e-01 -1.41954606e-02 9.34982943e+02] [-2.33401934e-01 9.72377642e-01 -2.29302832e-03 1.34818014e+02] [ 1.43385658e-02 1.08379471e-03 -9.99896610e-01 1.64666108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.4592541539998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:935.00, Y:134.86, Z:16.47 [[-9.51765518e-01 -3.06509959e-01 -1.39299457e-02 9.35004224e+02] [-3.06493050e-01 9.51866875e-01 -3.38553907e-03 1.34861275e+02] [ 1.42971553e-02 1.04719219e-03 -9.99897242e-01 1.64667790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.4892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.58, Y:135.56, Z:15.52 [[-9.48123637e-01 3.17611604e-01 1.35807729e-02 9.34577393e+02] [-3.17580428e-01 -9.48220892e-01 4.45096349e-03 1.35555651e+02] [ 1.42912502e-02 -9.29239589e-05 9.99897871e-01 1.55237732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.5192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.44, Y:135.51, Z:15.53 [[-9.48010148e-01 3.17950331e-01 1.35774627e-02 9.34442675e+02] [-3.17919045e-01 -9.48107367e-01 4.46105323e-03 1.35510565e+02] [ 1.42912857e-02 -8.74102375e-05 9.99897871e-01 1.55254861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.5492541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:934.90, Y:134.87, Z:16.47 [[-9.28931554e-01 -3.70002460e-01 -1.35774627e-02 9.34900815e+02] [-3.69976611e-01 9.29030358e-01 -4.46105324e-03 1.34868878e+02] [ 1.42644757e-02 8.79330511e-04 -9.99897871e-01 1.64692301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.5792541539998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:934.90, Y:134.91, Z:16.47 [[-8.97067697e-01 -4.41695494e-01 -1.32150195e-02 9.34897093e+02] [-4.41664233e-01 8.97164436e-01 -5.35543264e-03 1.34906785e+02] [ 1.42215160e-02 1.03241582e-03 -9.99898336e-01 1.64705038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.6092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.53, Y:135.60, Z:15.52 [[-8.93202349e-01 4.49474934e-01 1.27219271e-02 9.34528210e+02] [-4.49430160e-01 -8.93292943e-01 6.34423686e-03 1.35600917e+02] [ 1.42159832e-02 -5.09304792e-05 9.99898947e-01 1.55203124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.6392541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:934.53, Y:135.60, Z:15.52 [[-8.93921760e-01 4.48042383e-01 1.27244042e-02 9.34530122e+02] [-4.47997535e-01 -8.94012317e-01 6.33926472e-03 1.35598979e+02] [ 1.42160334e-02 -3.36950549e-05 9.99898947e-01 1.55197327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.6692541539999 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:934.53, Y:135.60, Z:15.52 [[-8.94354100e-01 4.47178679e-01 1.27268802e-02 9.34530233e+02] [-4.47133814e-01 -8.94444648e-01 6.33428992e-03 1.35597667e+02] [ 1.42160493e-02 -2.55203541e-05 9.99898947e-01 1.55200924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.6992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.53, Y:135.60, Z:15.52 [[-8.94786477e-01 4.46312809e-01 1.27293497e-02 9.34528573e+02] [-4.46267928e-01 -8.94877017e-01 6.32932341e-03 1.35596899e+02] [ 1.42160606e-02 -1.73075203e-05 9.99898947e-01 1.55197340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.7292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.52, Y:135.59, Z:15.52 [[-8.95252149e-01 4.45377919e-01 1.27318143e-02 9.34524582e+02] [-4.45333014e-01 -8.95342677e-01 6.32436181e-03 1.35593243e+02] [ 1.42160678e-02 -7.99873982e-06 9.99898947e-01 1.55214917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.7592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.53, Y:135.59, Z:15.52 [[-8.95641943e-01 4.44593463e-01 1.27342799e-02 9.34525168e+02] [-4.44548550e-01 -8.95732467e-01 6.31939338e-03 1.35591661e+02] [ 1.42160689e-02 -1.09189355e-06 9.99898947e-01 1.55215188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.7892541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:934.52, Y:135.59, Z:15.52 [[-8.95785270e-01 4.44304541e-01 1.27367435e-02 9.34522500e+02] [-4.44259669e-01 -8.95875814e-01 6.31442399e-03 1.35589110e+02] [ 1.42160678e-02 -2.05347351e-06 9.99898947e-01 1.55223993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.8192541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:934.52, Y:135.58, Z:15.52 [[-8.96054825e-01 4.43760592e-01 1.27392044e-02 9.34515358e+02] [-4.43715736e-01 -8.96145377e-01 6.30945534e-03 1.35583904e+02] [ 1.42160668e-02 1.03243796e-06 9.99898947e-01 1.55232989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.8492541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:934.52, Y:135.58, Z:15.52 [[-8.94360577e-01 4.47165303e-01 1.27416705e-02 9.34519570e+02] [-4.47120862e-01 -8.94451334e-01 6.30447134e-03 1.35582631e+02] [ 1.42159450e-02 -5.85960432e-05 9.99898947e-01 1.55230079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.8792541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:934.52, Y:135.58, Z:15.52 [[-8.96253353e-01 4.43360510e-01 1.27037756e-02 9.34517353e+02] [-4.43314597e-01 -8.96343377e-01 6.38108049e-03 1.35581410e+02] [ 1.42160643e-02 8.72956102e-05 9.99898943e-01 1.55231521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.9092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.52, Y:135.58, Z:15.52 [[-8.96473691e-01 4.42913640e-01 1.27447176e-02 9.34518290e+02] [-4.42868858e-01 -8.96564280e-01 6.29823290e-03 1.35580647e+02] [ 1.42160318e-02 1.96155541e-06 9.99898947e-01 1.55227807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.9392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.52, Y:135.58, Z:15.52 [[-8.96917306e-01 4.42014542e-01 1.27471739e-02 9.34515506e+02] [-4.41969739e-01 -8.97007884e-01 6.29325774e-03 1.35576308e+02] [ 1.42160269e-02 1.06666769e-05 9.99898947e-01 1.55223618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.9692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.51, Y:135.57, Z:15.52 [[-8.97326247e-01 4.41183695e-01 1.27496273e-02 9.34512930e+02] [-4.41138879e-01 -8.97416819e-01 6.28828333e-03 1.35573319e+02] [ 1.42160181e-02 1.82853776e-05 9.99898947e-01 1.55220155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.9992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.51, Y:135.57, Z:15.52 [[-8.97594032e-01 4.40638557e-01 1.27520813e-02 9.34509225e+02] [-4.40593757e-01 -8.97684611e-01 6.28330286e-03 1.35569556e+02] [ 1.42160127e-02 2.13677368e-05 9.99898947e-01 1.55211141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.0292541539999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:934.71, Y:134.87, Z:16.48 [[-8.60194611e-01 -5.09806387e-01 -1.27545371e-02 9.34712005e+02] [-5.09768917e-01 8.60288460e-01 -6.27831384e-03 1.34873066e+02] [ 1.41733056e-02 1.10129484e-03 -9.99898947e-01 1.64768125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.0592541539999 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:934.76, Y:134.94, Z:16.47 [[-8.21355231e-01 -5.70274414e-01 -1.27545371e-02 9.34760149e+02] [-5.70243781e-01 8.21451528e-01 -6.27831384e-03 1.34939575e+02] [ 1.40575958e-02 2.11646956e-03 -9.99898947e-01 1.64740773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.0892541539998 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:934.33, Y:135.54, Z:15.52 [[-8.25383113e-01 5.64454338e-01 1.15765594e-02 9.34331400e+02] [-5.64397845e-01 -8.25464292e-01 7.98597655e-03 1.35536039e+02] [ 1.40637555e-02 5.77049948e-05 9.99901099e-01 1.55211959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.1192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.33, Y:135.53, Z:15.52 [[-8.23566556e-01 5.67101444e-01 1.15792813e-02 9.34331564e+02] [-5.67045267e-01 -8.23647954e-01 7.98202808e-03 1.35532502e+02] [ 1.40638710e-02 7.75474285e-06 9.99901099e-01 1.55192963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.1492541539999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:934.33, Y:135.53, Z:15.52 [[-8.26466251e-01 5.62867910e-01 1.15434977e-02 9.34330777e+02] [-5.62810590e-01 -8.26546850e-01 8.03394385e-03 1.35529358e+02] [ 1.40632908e-02 1.42980708e-04 9.99901097e-01 1.55194359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.1792541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:934.33, Y:135.53, Z:15.52 [[-8.26757799e-01 5.62438802e-01 1.15816759e-02 9.34330723e+02] [-5.62382216e-01 -8.26838912e-01 7.97852415e-03 1.35527764e+02] [ 1.40636119e-02 8.29785065e-05 9.99901099e-01 1.55192423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.2092541539998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:934.33, Y:135.52, Z:15.52 [[-8.26448724e-01 5.62892796e-01 1.15847892e-02 9.34325575e+02] [-5.62836317e-01 -8.26529912e-01 7.97400114e-03 1.35522102e+02] [ 1.40636826e-02 6.97629894e-05 9.99901099e-01 1.55202852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.2392541539998 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:934.33, Y:135.52, Z:15.52 [[-8.26146172e-01 5.63336688e-01 1.15879054e-02 9.34328578e+02] [-5.63280316e-01 -8.26227434e-01 7.96947001e-03 1.35523462e+02] [ 1.40637402e-02 5.67081110e-05 9.99901099e-01 1.55195074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.2692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.33, Y:135.52, Z:15.52 [[-8.25737056e-01 5.63936134e-01 1.15910199e-02 9.34325107e+02] [-5.63879885e-01 -8.25818403e-01 7.96493766e-03 1.35521308e+02] [ 1.40637937e-02 4.10012036e-05 9.99901099e-01 1.55224339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.2992541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:934.45, Y:134.76, Z:16.48 [[-7.75539521e-01 -6.31192544e-01 -1.15941279e-02 9.34454677e+02] [-6.31143381e-01 7.75625338e-01 -7.96041100e-03 1.34763736e+02] [ 1.40172514e-02 1.14394372e-03 -9.99901099e-01 1.64779918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.3292541539998 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:934.27, Y:135.53, Z:15.52 [[-7.78553147e-01 6.27484604e-01 1.08659674e-02 9.34272848e+02] [-6.27422037e-01 -7.78628965e-01 8.86126566e-03 1.35532940e+02] [ 1.40208647e-02 8.14188606e-05 9.99901700e-01 1.55240294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.3592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.27, Y:135.53, Z:15.52 [[-7.78220061e-01 6.27896762e-01 1.09175652e-02 9.34272290e+02] [-6.27835132e-01 -7.78296638e-01 8.79723166e-03 1.35530182e+02] [ 1.40208576e-02 -8.24885155e-06 9.99901703e-01 1.55241228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.3892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.27, Y:135.53, Z:15.52 [[-7.78441685e-01 6.27621920e-01 1.09209930e-02 9.34270100e+02] [-6.27560322e-01 -7.78518288e-01 8.79297430e-03 1.35527367e+02] [ 1.40208562e-02 -8.76417412e-06 9.99901703e-01 1.55236568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.4192541539999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:934.27, Y:135.53, Z:15.52 [[-7.78689543e-01 6.27314317e-01 1.09244209e-02 9.34270698e+02] [-6.27252749e-01 -7.78766170e-01 8.78871347e-03 1.35525432e+02] [ 1.40208552e-02 -8.69374768e-06 9.99901703e-01 1.55219993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.4492541539998 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:934.27, Y:135.52, Z:15.52 [[-7.78670411e-01 6.27338036e-01 1.09260549e-02 9.34269800e+02] [-6.27276499e-01 -7.78747063e-01 8.78668153e-03 1.35523309e+02] [ 1.40208527e-02 -1.17285740e-05 9.99901703e-01 1.55211929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.4792541539998 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:934.26, Y:135.52, Z:15.52 [[-7.78999183e-01 6.26929676e-01 1.09294763e-02 9.34263699e+02] [-6.26868158e-01 -7.79075851e-01 8.78242376e-03 1.35517300e+02] [ 1.40208531e-02 -9.83974423e-06 9.99901703e-01 1.55207271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.5092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.27, Y:135.52, Z:15.52 [[-7.79068688e-01 6.26843243e-01 1.09329035e-02 9.34268072e+02] [-6.26781777e-01 -7.79145396e-01 8.77815526e-03 1.35519424e+02] [ 1.40208488e-02 -1.37587994e-05 9.99901703e-01 1.55209653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.5392541539999 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:934.27, Y:135.52, Z:15.52 [[-7.79643791e-01 6.26127748e-01 1.09363279e-02 9.34266064e+02] [-6.26066271e-01 -7.79720491e-01 8.77388688e-03 1.35516084e+02] [ 1.40208530e-02 -6.35960917e-06 9.99901703e-01 1.55207346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.5692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.26, Y:135.51, Z:15.52 [[-7.79919472e-01 6.25784260e-01 1.09397431e-02 9.34262041e+02] [-6.25722809e-01 -7.79996193e-01 8.76962656e-03 1.35512574e+02] [ 1.40208522e-02 -5.64426838e-06 9.99901703e-01 1.55211040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.5992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.26, Y:135.51, Z:15.52 [[-7.81072993e-01 6.24343837e-01 1.09431618e-02 9.34263236e+02] [-6.24282304e-01 -7.81149648e-01 8.76535843e-03 1.35511178e+02] [ 1.40208445e-02 1.47624466e-05 9.99901703e-01 1.55209472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.6292541539999 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:934.26, Y:135.51, Z:15.52 [[-7.82251572e-01 6.22866479e-01 1.09465801e-02 9.34261660e+02] [-6.22804861e-01 -7.82328159e-01 8.76108750e-03 1.35507894e+02] [ 1.40208056e-02 3.57911874e-05 9.99901703e-01 1.55207498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.6592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.26, Y:135.50, Z:15.52 [[-7.84494799e-01 6.20038715e-01 1.09499938e-02 9.34257111e+02] [-6.19976880e-01 -7.84571212e-01 8.75681884e-03 1.35502788e+02] [ 1.40206166e-02 8.09358551e-05 9.99901703e-01 1.55200456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.6892541539999 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:934.51, Y:134.86, Z:16.48 [[-7.24796262e-01 -6.88876187e-01 -1.09534139e-02 9.34510599e+02] [-6.88821629e-01 7.24878029e-01 -8.75253873e-03 1.34861006e+02] [ 1.39693046e-02 1.20114103e-03 -9.99901703e-01 1.64830729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.7192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.21, Y:135.51, Z:15.52 [[-7.36995669e-01 6.75820459e-01 1.02025314e-02 9.34207656e+02] [-6.75752934e-01 -7.37066270e-01 9.55437268e-03 1.35509549e+02] [ 1.39769823e-02 1.47140784e-04 9.99902306e-01 1.55199658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.7492541539998 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:934.21, Y:135.50, Z:15.52 [[-7.40904793e-01 6.71532478e-01 1.02087872e-02 9.34206957e+02] [-6.71464637e-01 -7.40975090e-01 9.54768363e-03 1.35504749e+02] [ 1.39760367e-02 2.19084949e-04 9.99902306e-01 1.55193183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.7792541539999 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:934.20, Y:135.50, Z:15.52 [[-7.42800739e-01 6.69434662e-01 1.02125304e-02 9.34202372e+02] [-6.69366678e-01 -7.42870897e-01 9.54367809e-03 1.35498895e+02] [ 1.39754606e-02 2.53123559e-04 9.99902306e-01 1.55192319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.8092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.20, Y:135.49, Z:15.52 [[-7.45779215e-01 6.66114848e-01 1.02162817e-02 9.34199487e+02] [-6.66046606e-01 -7.45849123e-01 9.53966080e-03 1.35494626e+02] [ 1.39743144e-02 3.09961009e-04 9.99902306e-01 1.55202460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.8392541539998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:934.20, Y:135.49, Z:15.52 [[-7.47163994e-01 6.64561146e-01 1.02200410e-02 9.34198513e+02] [-6.64492814e-01 -7.47233813e-01 9.53563170e-03 1.35492309e+02] [ 1.39737705e-02 3.33536893e-04 9.99902306e-01 1.55203689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.8692541539998 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:934.20, Y:135.49, Z:15.52 [[-7.48928834e-01 6.62571563e-01 1.02238031e-02 9.34196094e+02] [-6.62503100e-01 -7.48998526e-01 9.53159630e-03 1.35488603e+02] [ 1.39729781e-02 3.65186031e-04 9.99902307e-01 1.55211923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.8992541539999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:934.19, Y:135.49, Z:15.52 [[-7.49638344e-01 6.61768654e-01 1.02275663e-02 9.34193141e+02] [-6.61700171e-01 -7.49708016e-01 9.52755663e-03 1.35485782e+02] [ 1.39727268e-02 3.74639383e-04 9.99902307e-01 1.55216452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.9292541539999 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:934.19, Y:135.48, Z:15.52 [[-7.50539515e-01 6.60746363e-01 1.02313324e-02 9.34186446e+02] [-6.60677841e-01 -7.50609148e-01 9.52351063e-03 1.35477440e+02] [ 1.39723567e-02 3.88156451e-04 9.99902307e-01 1.55214968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.9592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.19, Y:135.48, Z:15.52 [[-7.50802824e-01 6.60447093e-01 1.02351112e-02 9.34192407e+02] [-6.60378598e-01 -7.50872484e-01 9.51944780e-03 1.35483133e+02] [ 1.39723550e-02 3.88179936e-04 9.99902307e-01 1.55218259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.9892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.19, Y:135.48, Z:15.52 [[-7.51125125e-01 6.60080459e-01 1.02388857e-02 9.34186057e+02] [-6.60011986e-01 -7.51194805e-01 9.51538628e-03 1.35477200e+02] [ 1.39723183e-02 3.89458438e-04 9.99902307e-01 1.55211878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.0192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.18, Y:135.48, Z:15.52 [[-7.51387057e-01 6.59782220e-01 1.02426515e-02 9.34184356e+02] [-6.59713775e-01 -7.51456765e-01 9.51133095e-03 1.35475523e+02] [ 1.39723168e-02 3.89472726e-04 9.99902307e-01 1.55212230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.0492541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:934.19, Y:135.48, Z:15.52 [[-7.51537661e-01 6.59610609e-01 1.02464254e-02 9.34186803e+02] [-6.59542203e-01 -7.51607407e-01 9.50726363e-03 1.35477665e+02] [ 1.39723812e-02 3.87116711e-04 9.99902307e-01 1.55201732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.0792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.18, Y:135.47, Z:15.52 [[-7.51878802e-01 6.59221663e-01 1.02501892e-02 9.34179649e+02] [-6.59153276e-01 -7.51948567e-01 9.50320391e-03 1.35471381e+02] [ 1.39723330e-02 3.88811759e-04 9.99902307e-01 1.55201014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.1092541539998 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:934.18, Y:135.48, Z:15.52 [[-7.52506969e-01 6.58504456e-01 1.02539528e-02 9.34184529e+02] [-6.58436058e-01 -7.52576723e-01 9.49914130e-03 1.35475411e+02] [ 1.39721131e-02 3.96597781e-04 9.99902307e-01 1.55183719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.1392541539999 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:934.18, Y:135.47, Z:15.52 [[-7.53235252e-01 6.57671228e-01 1.02572376e-02 9.34179297e+02] [-6.57602801e-01 -7.53304978e-01 9.49559302e-03 1.35471132e+02] [ 1.39718065e-02 4.07227223e-04 9.99902307e-01 1.55176447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.1692541539999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:934.18, Y:135.47, Z:15.52 [[-7.54025407e-01 6.56765071e-01 1.02629329e-02 9.34176112e+02] [-6.56696644e-01 -7.54095133e-01 9.48943352e-03 1.35468729e+02] [ 1.39715562e-02 4.15640400e-04 9.99902307e-01 1.55167341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.1992541539998 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:934.17, Y:135.47, Z:15.52 [[-7.54448414e-01 6.56279046e-01 1.02666839e-02 9.34173708e+02] [-6.56210629e-01 -7.54518150e-01 9.48537354e-03 1.35467252e+02] [ 1.39714512e-02 4.19117944e-04 9.99902307e-01 1.55166198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.2292541539998 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:934.17, Y:135.47, Z:15.52 [[-7.54765825e-01 6.55913918e-01 1.02704359e-02 9.34171819e+02] [-6.55845522e-01 -7.54835582e-01 9.48130927e-03 1.35467456e+02] [ 1.39714131e-02 4.20348842e-04 9.99902307e-01 1.55168320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.2592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.16, Y:135.46, Z:15.52 [[-7.54767378e-01 6.55912072e-01 1.02741862e-02 9.34164473e+02] [-6.55843731e-01 -7.54837189e-01 9.47724352e-03 1.35462478e+02] [ 1.39715763e-02 4.14853609e-04 9.99902307e-01 1.55184223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.2892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.17, Y:135.47, Z:15.52 [[-7.54047561e-01 6.56739401e-01 1.02779421e-02 9.34166939e+02] [-6.56671192e-01 -7.54117500e-01 9.47316859e-03 1.35468116e+02] [ 1.39721791e-02 3.93991166e-04 9.99902307e-01 1.55194246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.3192541539999 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:934.17, Y:135.47, Z:15.52 [[-7.53638438e-01 6.57208788e-01 1.02816938e-02 9.34165771e+02] [-6.57140679e-01 -7.53708475e-01 9.46909498e-03 1.35467833e+02] [ 1.39725722e-02 3.79754743e-04 9.99902307e-01 1.55190341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.3492541539998 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:934.16, Y:135.47, Z:15.52 [[-7.53292897e-01 6.57604761e-01 1.02854310e-02 9.34162460e+02] [-6.57536744e-01 -7.53363023e-01 9.46503386e-03 1.35466197e+02] [ 1.39729147e-02 3.66893992e-04 9.99902307e-01 1.55197610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.3792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.16, Y:135.47, Z:15.52 [[-7.52345613e-01 6.58688251e-01 1.02891665e-02 9.34159199e+02] [-6.58620390e-01 -7.52415890e-01 9.46097126e-03 1.35467138e+02] [ 1.39735630e-02 3.41265334e-04 9.99902307e-01 1.55218782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.4092541539999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:934.16, Y:135.47, Z:15.52 [[-7.52162398e-01 6.58897400e-01 1.02929005e-02 9.34157689e+02] [-6.58829614e-01 -7.52232748e-01 9.45690719e-03 1.35466468e+02] [ 1.39737884e-02 3.31862297e-04 9.99902307e-01 1.55203649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.4392541539999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:934.16, Y:135.47, Z:15.52 [[-7.52752725e-01 6.58222846e-01 1.02966316e-02 9.34155981e+02] [-6.58155052e-01 -7.52823067e-01 9.45284304e-03 1.35466928e+02] [ 1.39736191e-02 3.38873224e-04 9.99902307e-01 1.55207960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.4692541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:934.15, Y:135.46, Z:15.52 [[-7.54217451e-01 6.56543936e-01 1.03003586e-02 9.34148716e+02] [-6.56476042e-01 -7.54287695e-01 9.44878022e-03 1.35462215e+02] [ 1.39729731e-02 3.64496319e-04 9.99902307e-01 1.55193288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.4992541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:934.15, Y:135.46, Z:15.52 [[-7.55443597e-01 6.55132657e-01 1.03040890e-02 9.34148833e+02] [-6.55064687e-01 -7.55513768e-01 9.44471033e-03 1.35462990e+02] [ 1.39724193e-02 3.85101092e-04 9.99902307e-01 1.55193746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.5292541539999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:934.14, Y:135.46, Z:15.52 [[-7.56983525e-01 6.53352688e-01 1.03057297e-02 9.34142656e+02] [-6.53284577e-01 -7.57053560e-01 9.44291974e-03 1.35457400e+02] [ 1.39715463e-02 4.15560404e-04 9.99902307e-01 1.55188352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.5592541539999 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:934.14, Y:135.45, Z:15.52 [[-7.59660783e-01 6.50237779e-01 1.03113933e-02 9.34138579e+02] [-6.50169465e-01 -7.59730620e-01 9.43673115e-03 1.35454647e+02] [ 1.39700004e-02 4.64561487e-04 9.99902307e-01 1.55184116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.5892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.14, Y:135.45, Z:15.52 [[-7.61237247e-01 6.48391434e-01 1.03151280e-02 9.34136770e+02] [-6.48323006e-01 -7.61306972e-01 9.43264713e-03 1.35454507e+02] [ 1.39690264e-02 4.92947568e-04 9.99902307e-01 1.55187992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.6192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.13, Y:135.45, Z:15.52 [[-7.63658688e-01 6.45537705e-01 1.03188636e-02 9.34132143e+02] [-6.45469072e-01 -7.63728211e-01 9.42855880e-03 1.35451412e+02] [ 1.39672974e-02 5.39693565e-04 9.99902307e-01 1.55189864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.6492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.13, Y:135.45, Z:15.52 [[-7.64723417e-01 6.44275981e-01 1.03226001e-02 9.34126118e+02] [-6.44207288e-01 -7.64792880e-01 9.42446616e-03 1.35446344e+02] [ 1.39666083e-02 5.57215733e-04 9.99902307e-01 1.55194452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.6792541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:934.13, Y:135.45, Z:15.52 [[-7.65849511e-01 6.42936928e-01 1.03263479e-02 9.34126682e+02] [-6.42868169e-01 -7.65918909e-01 9.42035790e-03 1.35448683e+02] [ 1.39658411e-02 5.76096103e-04 9.99902307e-01 1.55187827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.7092541539998 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:934.13, Y:135.45, Z:15.52 [[-7.66336430e-01 6.42356416e-01 1.03300954e-02 9.34125048e+02] [-6.42287659e-01 -7.66405830e-01 9.41624672e-03 1.35448614e+02] [ 1.39656319e-02 5.81120085e-04 9.99902307e-01 1.55188946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.7392541539998 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:934.12, Y:135.45, Z:15.52 [[-7.66676817e-01 6.41950045e-01 1.03343097e-02 9.34121172e+02] [-6.41881314e-01 -7.66746243e-01 9.41161928e-03 1.35448486e+02] [ 1.39655826e-02 5.82270025e-04 9.99902307e-01 1.55184754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.7692541539999 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:934.12, Y:135.45, Z:15.52 [[-7.66841845e-01 6.41752842e-01 1.03380427e-02 9.34118662e+02] [-6.41684148e-01 -7.66911307e-01 9.40751701e-03 1.35447545e+02] [ 1.39656626e-02 5.80319556e-04 9.99902307e-01 1.55179023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.7992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.11, Y:135.45, Z:15.52 [[-7.67345870e-01 6.41150032e-01 1.03417754e-02 9.34114052e+02] [-6.41081338e-01 -7.67415333e-01 9.40341184e-03 1.35447149e+02] [ 1.39654348e-02 5.85750018e-04 9.99902307e-01 1.55195632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.8292541539998 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:934.11, Y:135.45, Z:15.52 [[-7.67446170e-01 6.41029910e-01 1.03455078e-02 9.34111676e+02] [-6.40961261e-01 -7.67515677e-01 9.39930376e-03 1.35445316e+02] [ 1.39655742e-02 5.82389964e-04 9.99902307e-01 1.55176531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.8592541539998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:934.44, Y:134.80, Z:16.49 [[-6.53300110e-01 -7.57028308e-01 -1.03492417e-02 9.34444382e+02] [-7.56971906e-01 6.53379877e-01 -9.39519068e-03 1.34803584e+02] [ 1.38744116e-02 1.69620610e-03 -9.99902307e-01 1.64855948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.8892541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:934.05, Y:135.45, Z:15.52 [[-7.17536918e-01 6.96455460e-01 9.51653332e-03 9.34053780e+02] [-6.96381388e-01 -7.17599703e-01 1.01798367e-02 1.35445869e+02] [ 1.39188643e-02 6.77271950e-04 9.99902899e-01 1.55190462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.9192541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:934.05, Y:135.44, Z:15.52 [[-7.18296322e-01 6.95671536e-01 9.56594678e-03 9.34051885e+02] [-6.95598013e-01 -7.18359745e-01 1.01331894e-02 1.35444543e+02] [ 1.39211625e-02 6.24579085e-04 9.99902901e-01 1.55190637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.9492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.05, Y:135.44, Z:15.52 [[-7.19316037e-01 6.94617056e-01 9.56998781e-03 9.34049766e+02] [-6.94543490e-01 -7.19379410e-01 1.01293715e-02 1.35444729e+02] [ 1.39204864e-02 6.39446625e-04 9.99902901e-01 1.55200441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.9792541539998 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:934.05, Y:135.44, Z:15.52 [[-7.19435137e-01 6.94493644e-01 9.57402525e-03 9.34046927e+02] [-6.94420118e-01 -7.19498557e-01 1.01255540e-02 1.35442038e+02] [ 1.39206302e-02 6.36283563e-04 9.99902901e-01 1.55175551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.0092541539999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:934.04, Y:135.44, Z:15.52 [[-7.19751530e-01 6.94165684e-01 9.57807599e-03 9.34041762e+02] [-6.94092179e-01 -7.19814975e-01 1.01217208e-02 1.35439467e+02] [ 1.39205938e-02 6.37056394e-04 9.99902901e-01 1.55180491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.0392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.04, Y:135.44, Z:15.52 [[-7.20104895e-01 6.93799051e-01 9.58213294e-03 9.34043344e+02] [-6.93725565e-01 -7.20168361e-01 1.01178787e-02 1.35443112e+02] [ 1.39205236e-02 6.38563362e-04 9.99902901e-01 1.55190964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.0692541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:934.04, Y:135.44, Z:15.52 [[-7.20080332e-01 6.93824489e-01 9.58616786e-03 9.34041583e+02] [-6.93751056e-01 -7.20143860e-01 1.01140543e-02 1.35442372e+02] [ 1.39207985e-02 6.32517531e-04 9.99902901e-01 1.55187181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.0992541539998 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:934.04, Y:135.44, Z:15.52 [[-7.19992932e-01 6.93915129e-01 9.59019154e-03 9.34036571e+02] [-6.93841754e-01 -7.20056528e-01 1.01102376e-02 1.35439468e+02] [ 1.39211269e-02 6.25224317e-04 9.99902901e-01 1.55174570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.1292541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:934.03, Y:135.44, Z:15.52 [[-7.20967813e-01 6.92902131e-01 9.59421714e-03 9.34030534e+02] [-6.92828718e-01 -7.21031364e-01 1.01064160e-02 1.35436126e+02] [ 1.39204887e-02 6.39251509e-04 9.99902901e-01 1.55179024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.1592541539999 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:934.03, Y:135.44, Z:15.52 [[-7.21133498e-01 6.92729638e-01 9.59825311e-03 9.34032479e+02] [-6.92656260e-01 -7.21197090e-01 1.01025816e-02 1.35438088e+02] [ 1.39205899e-02 6.37019876e-04 9.99902901e-01 1.55153034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.1892541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:934.34, Y:134.70, Z:16.49 [[-5.93682373e-01 -8.04642179e-01 -9.60228614e-03 9.34344074e+02] [-8.04580664e-01 5.93757501e-01 -1.00987468e-02 1.34702876e+02] [ 1.38273070e-02 1.73036580e-03 -9.99902901e-01 1.64932482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.2192541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:933.97, Y:135.43, Z:15.52 [[-6.66651350e-01 7.45318664e-01 8.72160095e-03 9.33968900e+02] [-7.45240548e-01 -6.66708021e-01 1.08138895e-02 1.35431665e+02] [ 1.38745550e-02 7.09403390e-04 9.99903492e-01 1.55164303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.2492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.96, Y:135.43, Z:15.52 [[-6.67045488e-01 7.44965307e-01 8.77551590e-03 9.33962920e+02] [-7.44887733e-01 -6.67102895e-01 1.07699589e-02 1.35425441e+02] [ 1.38774178e-02 6.47278354e-04 9.99903495e-01 1.55167483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.2792541539999 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:933.97, Y:135.43, Z:15.52 [[-6.66215488e-01 7.45707609e-01 8.77984182e-03 9.33971232e+02] [-7.45630146e-01 -6.66273045e-01 1.07664312e-02 1.35434590e+02] [ 1.38783816e-02 6.26248482e-04 9.99903495e-01 1.55155488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.3092541539999 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:933.97, Y:135.43, Z:15.52 [[-6.65318834e-01 7.46507660e-01 8.78416794e-03 9.33968964e+02] [-7.46430313e-01 -6.65376546e-01 1.07629004e-02 1.35431445e+02] [ 1.38793669e-02 6.03991150e-04 9.99903495e-01 1.55170483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.3392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.97, Y:135.43, Z:15.52 [[-6.65062978e-01 7.46735554e-01 8.78900209e-03 9.33966033e+02] [-7.46658278e-01 -6.65120786e-01 1.07589514e-02 1.35428184e+02] [ 1.38798395e-02 5.92999096e-04 9.99903495e-01 1.55195832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.3692541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:933.96, Y:135.42, Z:15.52 [[-6.64558667e-01 7.47184352e-01 8.79330644e-03 9.33962244e+02] [-7.47107161e-01 -6.64616589e-01 1.07554323e-02 1.35423243e+02] [ 1.38804680e-02 5.78073545e-04 9.99903495e-01 1.55197489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.3992541539999 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:933.96, Y:135.42, Z:15.52 [[-6.63916574e-01 7.47754877e-01 8.79926434e-03 9.33963011e+02] [-7.47677801e-01 -6.63974647e-01 1.07505558e-02 1.35424455e+02] [ 1.38812690e-02 5.58457556e-04 9.99903495e-01 1.55186443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.4292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.96, Y:135.42, Z:15.52 [[-6.63860610e-01 7.47804505e-01 8.80409836e-03 9.33956790e+02] [-7.47727486e-01 -6.63918759e-01 1.07465955e-02 1.35416835e+02] [ 1.38815586e-02 5.51175147e-04 9.99903495e-01 1.55210301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.4592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.37, Y:134.77, Z:16.49 [[-5.39067585e-01 -8.42216435e-01 -8.81004404e-03 9.34371320e+02] [-8.42149506e-01 5.39137111e-01 -1.07417191e-02 1.34768385e+02] [ 1.37966740e-02 1.62886168e-03 -9.99903495e-01 1.64873277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.4892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.90, Y:135.41, Z:15.52 [[-6.04158389e-01 7.96824912e-01 7.91839937e-03 9.33900818e+02] [-7.96744081e-01 -6.04210022e-01 1.13630748e-02 1.35407254e+02] [ 1.38387574e-02 5.56159150e-04 9.99904085e-01 1.55215201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.5192541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:933.91, Y:135.41, Z:15.52 [[-6.04207668e-01 7.96787410e-01 7.93203801e-03 9.33906530e+02] [-7.96706700e-01 -6.04259490e-01 1.13535463e-02 1.35414073e+02] [ 1.38393720e-02 5.40391923e-04 9.99904085e-01 1.55204413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.5492541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:933.90, Y:135.41, Z:15.52 [[-6.04809378e-01 7.96330727e-01 7.93657887e-03 9.33902803e+02] [-7.96250019e-01 -6.04861204e-01 1.13503712e-02 1.35408116e+02] [ 1.38391780e-02 5.45309866e-04 9.99904085e-01 1.55205266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.5792541539998 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:933.90, Y:135.41, Z:15.52 [[-6.05279767e-01 7.95973204e-01 7.94110667e-03 9.33903789e+02] [-7.95892507e-01 -6.05331610e-01 1.13472025e-02 1.35408638e+02] [ 1.38390720e-02 5.47964800e-04 9.99904085e-01 1.55198520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.6092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.90, Y:135.41, Z:15.52 [[-6.05883096e-01 7.95514010e-01 7.94563634e-03 9.33904828e+02] [-7.95433315e-01 -6.05934942e-01 1.13440298e-02 1.35410186e+02] [ 1.38388734e-02 5.52932054e-04 9.99904085e-01 1.55226543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.6392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.90, Y:135.41, Z:15.52 [[-6.06808677e-01 7.94808168e-01 7.95015144e-03 9.33902143e+02] [-7.94727454e-01 -6.06860493e-01 1.13408647e-02 1.35405440e+02] [ 1.38384447e-02 5.63531464e-04 9.99904085e-01 1.55208626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.6692541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:933.90, Y:135.40, Z:15.52 [[-6.07157688e-01 7.94541539e-01 7.95522025e-03 9.33899190e+02] [-7.94460848e-01 -6.07209541e-01 1.13373080e-02 1.35399832e+02] [ 1.38384477e-02 5.63422658e-04 9.99904085e-01 1.55214431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.6992541539998 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:933.89, Y:135.39, Z:15.52 [[-6.09579249e-01 7.92685172e-01 7.95973892e-03 9.33891496e+02] [-7.92604365e-01 -6.09630919e-01 1.13341346e-02 1.35386591e+02] [ 1.38369034e-02 6.00129423e-04 9.99904085e-01 1.55188042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.7292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.88, Y:135.38, Z:15.52 [[-6.10709069e-01 7.91814782e-01 7.98652055e-03 9.33884671e+02] [-7.91734146e-01 -6.10761006e-01 1.13152316e-02 1.35377371e+02] [ 1.38374229e-02 5.87113507e-04 9.99904086e-01 1.55216966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.7592541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:933.89, Y:135.38, Z:15.52 [[-6.10805636e-01 7.91740223e-01 7.99334624e-03 9.33885675e+02] [-7.91659644e-01 -6.10857661e-01 1.13104077e-02 1.35377256e+02] [ 1.38377015e-02 5.80451123e-04 9.99904086e-01 1.55223790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.7892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.88, Y:135.38, Z:15.52 [[-6.11147140e-01 7.91476600e-01 7.99785964e-03 9.33884647e+02] [-7.91396040e-01 -6.11199194e-01 1.13072152e-02 1.35375920e+02] [ 1.38376816e-02 5.80897801e-04 9.99904086e-01 1.55234677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.8192541539999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:933.88, Y:135.37, Z:15.52 [[-6.11071645e-01 7.91534843e-01 8.00236632e-03 9.33882190e+02] [-7.91454330e-01 -6.11123771e-01 1.13040249e-02 1.35370899e+02] [ 1.38379658e-02 5.74061602e-04 9.99904086e-01 1.55222190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.8492541539998 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:933.88, Y:135.37, Z:15.52 [[-6.11048253e-01 7.91552855e-01 8.00687561e-03 9.33883547e+02] [-7.91472385e-01 -6.11100446e-01 1.13008299e-02 1.35372713e+02] [ 1.38382095e-02 5.68131458e-04 9.99904086e-01 1.55227350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.8792541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:933.84, Y:135.29, Z:15.52 [[-6.36938503e-01 7.70872986e-01 8.01138206e-03 9.33839889e+02] [-7.70790871e-01 -6.36988067e-01 1.12976343e-02 1.35289941e+02] [ 1.38121959e-02 1.02079815e-03 9.99904086e-01 1.55239737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.9092541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:933.84, Y:135.29, Z:15.52 [[-6.37243477e-01 7.70616930e-01 8.38439617e-03 9.33838334e+02] [-7.70538424e-01 -6.37298389e-01 1.10136712e-02 1.35288146e+02] [ 1.38306836e-02 5.57890697e-04 9.99904196e-01 1.55241798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.9392541539999 meters Centerline goodness : 0.999520 Centerline is valid? [True, True] Translation: X:933.56, Y:134.93, Z:15.53 [[-6.38760305e-01 7.69360060e-01 8.38875544e-03 9.33561129e+02] [-7.69281489e-01 -6.38815124e-01 1.10103498e-02 1.34927277e+02] [ 1.38297873e-02 5.79660153e-04 9.99904196e-01 1.55297119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.9692541539998 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:934.34, Y:134.79, Z:16.48 [[-5.16756217e-01 -8.56091491e-01 -8.38875544e-03 9.34337216e+02] [-8.56021984e-01 5.16822151e-01 -1.10103498e-02 1.34788382e+02] [ 1.37613614e-02 1.49129234e-03 -9.99904196e-01 1.64840735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.9992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.71, Y:135.18, Z:15.53 [[-5.83451793e-01 8.12112210e-01 7.60026879e-03 9.33709473e+02] [-8.12030545e-01 -5.83501028e-01 1.15301020e-02 1.35178672e+02] [ 1.37985013e-02 5.55608279e-04 9.99904642e-01 1.55276840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.0292541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:933.69, Y:135.13, Z:15.53 [[-5.77776387e-01 8.16159674e-01 7.60484605e-03 9.33685048e+02] [-8.16078394e-01 -5.77826255e-01 1.15270822e-02 1.35132586e+02] [ 1.38022194e-02 4.53925369e-04 9.99904642e-01 1.55308886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.0592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.71, Y:135.18, Z:15.53 [[-5.84267622e-01 8.11526498e-01 7.48928400e-03 9.33711575e+02] [-8.11443845e-01 -5.84315198e-01 1.16033045e-02 1.35178410e+02] [ 1.37924915e-02 7.02301739e-04 9.99904632e-01 1.55272048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.0892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.71, Y:135.18, Z:15.53 [[-5.85279408e-01 8.10795951e-01 7.61185460e-03 9.33712158e+02] [-8.10714276e-01 -5.85328624e-01 1.15223324e-02 1.35176787e+02] [ 1.37976968e-02 5.72744696e-04 9.99904643e-01 1.55279124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.1192541539998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:933.70, Y:135.16, Z:15.53 [[-5.86703550e-01 8.09765975e-01 7.61643204e-03 9.33701099e+02] [-8.09684253e-01 -5.86752687e-01 1.15193059e-02 1.35158499e+02] [ 1.37969039e-02 5.91512547e-04 9.99904643e-01 1.55308241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.1492541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:933.70, Y:135.16, Z:15.53 [[-5.86992621e-01 8.09556283e-01 7.63466661e-03 9.33703111e+02] [-8.09474700e-01 -5.87041987e-01 1.15072078e-02 1.35160448e+02] [ 1.37976022e-02 5.74576615e-04 9.99904643e-01 1.55302344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.1792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.70, Y:135.16, Z:15.53 [[-5.86744387e-01 8.09736165e-01 7.63982366e-03 9.33703686e+02] [-8.09654641e-01 -5.86793852e-01 1.15037829e-02 1.35158936e+02] [ 1.37980306e-02 5.64161392e-04 9.99904644e-01 1.55274842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.2092541539998 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:933.70, Y:135.16, Z:15.53 [[-5.85077994e-01 8.10941000e-01 7.64439688e-03 9.33703635e+02] [-8.10859617e-01 -5.85127690e-01 1.15007432e-02 1.35156944e+02] [ 1.37993725e-02 5.30299015e-04 9.99904644e-01 1.55308317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.2392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.70, Y:135.15, Z:15.53 [[-5.84302761e-01 8.11499709e-01 7.64896573e-03 9.33702089e+02] [-8.11418414e-01 -5.84352600e-01 1.14977037e-02 1.35154939e+02] [ 1.38000762e-02 5.11628370e-04 9.99904644e-01 1.55313660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.2692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.70, Y:135.15, Z:15.53 [[-5.82026326e-01 8.13133919e-01 7.65409689e-03 9.33701857e+02] [-8.13052809e-01 -5.82076465e-01 1.14942868e-02 1.35153731e+02] [ 1.38016642e-02 4.66792564e-04 9.99904644e-01 1.55316766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.2992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.70, Y:135.15, Z:15.53 [[-5.80735371e-01 8.14056371e-01 7.65864112e-03 9.33700818e+02] [-8.13975380e-01 -5.80785703e-01 1.14912582e-02 1.35151245e+02] [ 1.38025612e-02 4.39434793e-04 9.99904644e-01 1.55318590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.3292541539998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:933.70, Y:135.15, Z:15.53 [[-5.79972727e-01 8.14599848e-01 7.66319913e-03 9.33701359e+02] [-8.14518944e-01 -5.80023199e-01 1.14882178e-02 1.35150981e+02] [ 1.38031337e-02 4.21032142e-04 9.99904644e-01 1.55318753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.3592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.70, Y:135.15, Z:15.53 [[-5.77889729e-01 8.16078836e-01 7.66775202e-03 9.33701736e+02] [-8.15998102e-01 -5.77940472e-01 1.14851782e-02 1.35149396e+02] [ 1.38043151e-02 3.80295424e-04 9.99904644e-01 1.55329329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.3892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.70, Y:135.14, Z:15.53 [[-5.75807352e-01 8.17549405e-01 7.67228097e-03 9.33699173e+02] [-8.17468840e-01 -5.75858364e-01 1.14821520e-02 1.35143926e+02] [ 1.38053737e-02 3.39656915e-04 9.99904644e-01 1.55317090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.4192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.70, Y:135.15, Z:15.53 [[-5.74831048e-01 8.18236110e-01 7.67682832e-03 9.33701671e+02] [-8.18155647e-01 -5.74882220e-01 1.14791109e-02 1.35147594e+02] [ 1.38058951e-02 3.17708895e-04 9.99904644e-01 1.55325927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.4492541539998 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:933.68, Y:135.12, Z:15.53 [[-5.75214503e-01 8.17966542e-01 7.68192996e-03 9.33683867e+02] [-8.17886101e-01 -5.75265708e-01 1.14756958e-02 1.35118528e+02] [ 1.38058861e-02 3.18042916e-04 9.99904644e-01 1.55316235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.4792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.68, Y:135.12, Z:15.53 [[-5.73909841e-01 8.18881974e-01 7.73355750e-03 9.33684406e+02] [-8.18802082e-01 -5.73961896e-01 1.14407975e-02 1.35119174e+02] [ 1.38074302e-02 2.33733306e-04 9.99904646e-01 1.55325793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.5092541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:933.68, Y:135.12, Z:15.53 [[-5.70926541e-01 8.20964681e-01 7.73805752e-03 9.33683971e+02] [-8.20885020e-01 -5.70978950e-01 1.14377531e-02 1.35117990e+02] [ 1.38082593e-02 1.78061309e-04 9.99904646e-01 1.55324759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.5392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.68, Y:135.11, Z:15.53 [[-5.69548669e-01 8.21921144e-01 7.74255021e-03 9.33679745e+02] [-8.21841613e-01 -5.69601273e-01 1.14347111e-02 1.35111415e+02] [ 1.38085972e-02 1.49474504e-04 9.99904646e-01 1.55319801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.5692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.68, Y:135.11, Z:15.53 [[-5.67169550e-01 8.23564616e-01 7.74760536e-03 9.33678393e+02] [-8.23485284e-01 -5.67222454e-01 1.14312849e-02 1.35110031e+02] [ 1.38090175e-02 1.03437713e-04 9.99904646e-01 1.55321963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.5992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.68, Y:135.11, Z:15.53 [[-5.66142011e-01 8.24271201e-01 7.75957661e-03 9.33676219e+02] [-8.24192046e-01 -5.66195181e-01 1.14231530e-02 1.35107570e+02] [ 1.38092109e-02 7.17455026e-05 9.99904646e-01 1.55326171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.6292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.68, Y:135.11, Z:15.53 [[-5.64045506e-01 8.25707194e-01 7.76518153e-03 9.33676044e+02] [-8.25628227e-01 -5.64098954e-01 1.14193417e-02 1.35108079e+02] [ 1.38093633e-02 2.98752811e-05 9.99904646e-01 1.55342370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.6592541539999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:934.20, Y:134.65, Z:16.48 [[-5.04885636e-01 -8.63144212e-01 -8.51838602e-03 9.34200122e+02] [-8.63077274e-01 5.04954120e-01 -1.09066693e-02 1.34652171e+02] [ 1.37154226e-02 1.84540472e-03 -9.99904236e-01 1.64803889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.6892541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:933.57, Y:135.00, Z:15.54 [[-5.06437822e-01 8.62248613e-01 6.93269729e-03 9.33571508e+02] [-8.62167380e-01 -5.06485271e-01 1.18355190e-02 1.35001013e+02] [ 1.37164689e-02 1.68089856e-05 9.99905925e-01 1.55372300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.7192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.57, Y:135.00, Z:15.54 [[-5.07771754e-01 8.61463708e-01 6.93730382e-03 9.33569996e+02] [-8.61382438e-01 -5.07819140e-01 1.18328183e-02 1.34998017e+02] [ 1.37164392e-02 3.26992061e-05 9.99905925e-01 1.55383024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.7492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.57, Y:134.99, Z:15.54 [[-5.10239064e-01 8.60004597e-01 6.94193055e-03 9.33569248e+02] [-8.59923229e-01 -5.10286281e-01 1.18301033e-02 1.34992814e+02] [ 1.37163151e-02 6.66534937e-05 9.99905925e-01 1.55385832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.7792541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:933.57, Y:134.99, Z:15.54 [[-5.13905032e-01 8.57818958e-01 6.94654511e-03 9.33568805e+02] [-8.57737426e-01 -5.13951964e-01 1.18273930e-02 1.34987711e+02] [ 1.37159525e-02 1.19845069e-04 9.99905925e-01 1.55369698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.8092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.57, Y:134.98, Z:15.54 [[-5.16214384e-01 8.56431194e-01 6.95118389e-03 9.33567684e+02] [-8.56349573e-01 -5.16261161e-01 1.18246661e-02 1.34984965e+02] [ 1.37156392e-02 1.51419387e-04 9.99905925e-01 1.55371254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.8392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.56, Y:134.97, Z:15.53 [[-5.19615234e-01 8.54372065e-01 6.95582634e-03 9.33563180e+02] [-8.54290294e-01 -5.19661750e-01 1.18219346e-02 1.34973949e+02] [ 1.37150075e-02 2.00562366e-04 9.99905925e-01 1.55330977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.8692541539998 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:933.57, Y:134.98, Z:15.53 [[-5.20358061e-01 8.53919806e-01 6.96076916e-03 9.33566426e+02] [-8.53838035e-01 -5.20404575e-01 1.18190235e-02 1.34975870e+02] [ 1.37149144e-02 2.06754699e-04 9.99905925e-01 1.55334047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.8992541539999 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:933.56, Y:134.97, Z:15.53 [[-5.21400463e-01 8.53283676e-01 6.96600423e-03 9.33564522e+02] [-8.53201889e-01 -5.21446950e-01 1.18159372e-02 1.34971653e+02] [ 1.37147480e-02 2.17427169e-04 9.99905925e-01 1.55326224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.9292541539999 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:933.56, Y:134.96, Z:15.53 [[-5.22467099e-01 8.52630947e-01 6.97122811e-03 9.33561216e+02] [-8.52549143e-01 -5.22513555e-01 1.18128544e-02 1.34964883e+02] [ 1.37145664e-02 2.28513211e-04 9.99905925e-01 1.55335886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.9592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.56, Y:134.96, Z:15.54 [[-5.22549741e-01 8.52580210e-01 6.98237194e-03 9.33559255e+02] [-8.52498489e-01 -5.22596343e-01 1.18062638e-02 1.34963510e+02] [ 1.37147489e-02 2.16898555e-04 9.99905925e-01 1.55360159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.9892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.55, Y:134.95, Z:15.54 [[-5.22715962e-01 8.52478267e-01 6.98759366e-03 9.33552605e+02] [-8.52396579e-01 -5.22762621e-01 1.18031725e-02 1.34953351e+02] [ 1.37148008e-02 2.13505736e-04 9.99905925e-01 1.55367180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.0192541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:933.55, Y:134.95, Z:15.54 [[-5.20539134e-01 8.53809108e-01 7.00125016e-03 9.33551985e+02] [-8.53727647e-01 -5.20586190e-01 1.17950663e-02 1.34954996e+02] [ 1.37154892e-02 1.62632794e-04 9.99905925e-01 1.55378728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.0492541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:933.55, Y:134.95, Z:15.54 [[-5.19325388e-01 8.54547868e-01 7.00587299e-03 9.33550933e+02] [-8.54466512e-01 -5.19372623e-01 1.17923199e-02 1.34953861e+02] [ 1.37157605e-02 1.37767250e-04 9.99905925e-01 1.55386596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.0792541539998 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:933.55, Y:134.95, Z:15.54 [[-5.17995880e-01 8.55354379e-01 7.01107666e-03 9.33549134e+02] [-8.55273137e-01 -5.18043314e-01 1.17892253e-02 1.34951593e+02] [ 1.37160068e-02 1.10384591e-04 9.99905925e-01 1.55389445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.1092541539998 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:933.52, Y:134.91, Z:15.54 [[-5.21938097e-01 8.52954514e-01 7.01570360e-03 9.33515791e+02] [-8.52873091e-01 -5.21985219e-01 1.17864712e-02 1.34906498e+02] [ 1.37154174e-02 1.68303504e-04 9.99905925e-01 1.55398761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.1392541539999 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:934.06, Y:134.47, Z:16.48 [[-4.42917900e-01 -8.96534725e-01 -7.01570360e-03 9.34064626e+02] [-8.96457883e-01 4.42972170e-01 -1.17864712e-02 1.34473994e+02] [ 1.36747421e-02 1.06884375e-03 -9.99905925e-01 1.64822414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.1692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.41, Y:134.79, Z:15.54 [[-4.65098139e-01 8.85238268e-01 6.07708498e-03 9.33414282e+02] [-8.85153379e-01 -4.65137726e-01 1.22634244e-02 1.34788401e+02] [ 1.36827340e-02 3.24543540e-04 9.99906334e-01 1.55423445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.1992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.92, Y:134.23, Z:16.49 [[-3.68823232e-01 -9.29478213e-01 -6.29881881e-03 9.33924481e+02] [-9.29399810e-01 3.68874460e-01 -1.21501440e-02 1.34231450e+02] [ 1.36167675e-02 1.37286564e-03 -9.99906345e-01 1.64879934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.2292541539998 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:933.27, Y:134.55, Z:15.54 [[-4.01734503e-01 9.15741974e-01 5.10163086e-03 9.33269988e+02] [-9.15654713e-01 -4.01766686e-01 1.26482177e-02 1.34550300e+02] [ 1.36321692e-02 4.09893114e-04 9.99906994e-01 1.55420765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.2592541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:933.89, Y:134.22, Z:16.49 [[-3.05772166e-01 -9.52091044e-01 -5.10163086e-03 9.33894881e+02] [-9.52007541e-01 3.05813122e-01 -1.26482177e-02 1.34219226e+02] [ 1.36024005e-02 9.89318123e-04 -9.99906994e-01 1.64894760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.2892541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:933.20, Y:134.43, Z:15.54 [[-3.40632411e-01 9.40186911e-01 4.25825164e-03 9.33198376e+02] [-9.40097997e-01 -3.40658787e-01 1.29362442e-02 1.34428875e+02] [ 1.36130983e-02 4.03330207e-04 9.99907256e-01 1.55447124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.3192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.91, Y:134.38, Z:16.48 [[-2.53133123e-01 -9.67422084e-01 -4.25825164e-03 9.33907291e+02] [-9.67335958e-01 2.53167528e-01 -1.29362442e-02 1.34378579e+02] [ 1.35928594e-02 8.44568042e-04 -9.99907256e-01 1.64841430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.3492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.21, Y:134.55, Z:15.55 [[-2.67645201e-01 9.63511024e-01 3.54316491e-03 9.33210932e+02] [-9.63421572e-01 -2.67668633e-01 1.31292274e-02 1.34554462e+02] [ 1.35985495e-02 1.00413196e-04 9.99907530e-01 1.55473309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.3792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.21, Y:134.55, Z:15.55 [[-2.67253589e-01 9.63619696e-01 3.54962996e-03 9.33208577e+02] [-9.63530278e-01 -2.67277147e-01 1.31274793e-02 1.34550347e+02] [ 1.35986326e-02 8.81900214e-05 9.99907530e-01 1.55489729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.4092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.21, Y:134.55, Z:15.55 [[-2.67493490e-01 9.63553105e-01 3.55608201e-03 9.33207495e+02] [-9.63463704e-01 -2.67517113e-01 1.31257313e-02 1.34547563e+02] [ 1.35986519e-02 8.48917266e-05 9.99907530e-01 1.55492989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.4392541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:933.21, Y:134.54, Z:15.55 [[-2.67953831e-01 9.63425167e-01 3.56253320e-03 9.33206293e+02] [-9.63335778e-01 -2.67977499e-01 1.31239801e-02 1.34543745e+02] [ 1.35986515e-02 8.47050536e-05 9.99907530e-01 1.55503568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.4692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.21, Y:134.54, Z:15.55 [[-2.68995013e-01 9.63134957e-01 3.56898103e-03 9.33205560e+02] [-9.63045565e-01 -2.69018672e-01 1.31222264e-02 1.34538423e+02] [ 1.35985975e-02 9.27221104e-05 9.99907531e-01 1.55496876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.4992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.21, Y:134.54, Z:15.55 [[-2.70519585e-01 9.62707835e-01 3.57477024e-03 9.33205048e+02] [-9.62618427e-01 -2.70543181e-01 1.31206491e-02 1.34535285e+02] [ 1.35984814e-02 1.08252843e-04 9.99907531e-01 1.55494258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.5292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.20, Y:134.53, Z:15.55 [[-2.73178444e-01 9.61956708e-01 3.58189273e-03 9.33204464e+02] [-9.61867260e-01 -2.73201891e-01 1.31187044e-02 1.34531715e+02] [ 1.35982056e-02 1.38441913e-04 9.99907531e-01 1.55481132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.5592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.20, Y:134.53, Z:15.55 [[-2.74744113e-01 9.61510687e-01 3.58767826e-03 9.33203582e+02] [-9.61421222e-01 -2.74767493e-01 1.31171220e-02 1.34527423e+02] [ 1.35980304e-02 1.54582039e-04 9.99907531e-01 1.55479398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.5892541539998 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:933.20, Y:134.52, Z:15.55 [[-2.76903799e-01 9.60890927e-01 3.59346734e-03 9.33202356e+02] [-9.60801430e-01 -2.76927057e-01 1.31155359e-02 1.34523722e+02] [ 1.35977278e-02 1.79133157e-04 9.99907531e-01 1.55456188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.6192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.20, Y:134.52, Z:15.55 [[-2.77746359e-01 9.60647701e-01 3.59926019e-03 9.33201292e+02] [-9.60558204e-01 -2.77769618e-01 1.31139460e-02 1.34519644e+02] [ 1.35976472e-02 1.85051841e-04 9.99907531e-01 1.55450640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.6492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.20, Y:134.51, Z:15.55 [[-2.77895935e-01 9.60604419e-01 3.60540237e-03 9.33197360e+02] [-9.60514941e-01 -2.77919263e-01 1.31122571e-02 1.34508163e+02] [ 1.35977029e-02 1.80800102e-04 9.99907531e-01 1.55463287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.6792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.20, Y:134.51, Z:15.55 [[-2.77319204e-01 9.60771027e-01 3.61847804e-03 9.33195967e+02] [-9.60681609e-01 -2.77342765e-01 1.31086477e-02 1.34505684e+02] [ 1.35979676e-02 1.59074450e-04 9.99907531e-01 1.55470509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.7092541539998 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:933.20, Y:134.51, Z:15.55 [[-2.74830024e-01 9.61485995e-01 3.62495478e-03 9.33195176e+02] [-9.61396662e-01 -2.74853904e-01 1.31068565e-02 1.34508897e+02] [ 1.35983919e-02 1.17138238e-04 9.99907531e-01 1.55462990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.7392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.19, Y:134.50, Z:15.55 [[-2.73865339e-01 9.61761189e-01 3.63207745e-03 9.33192115e+02] [-9.61671907e-01 -2.73889405e-01 1.31048824e-02 1.34501768e+02] [ 1.35985548e-02 9.61062001e-05 9.99907531e-01 1.55474113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.7692541539999 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:933.19, Y:134.50, Z:15.55 [[-2.71338722e-01 9.62477044e-01 3.63852086e-03 9.33190665e+02] [-9.62387849e-01 -2.71363111e-01 1.31030931e-02 1.34504784e+02] [ 1.35987867e-02 5.37082760e-05 9.99907531e-01 1.55462093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.7992541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:933.19, Y:134.50, Z:15.55 [[-2.70631562e-01 9.62676099e-01 3.64495593e-03 9.33187499e+02] [-9.62586946e-01 -2.70656104e-01 1.31013028e-02 1.34497057e+02] [ 1.35988407e-02 3.70390452e-05 9.99907531e-01 1.55462755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.8292541539998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:933.19, Y:134.49, Z:15.55 [[-2.71104696e-01 9.62542940e-01 3.65138303e-03 9.33186470e+02] [-9.62453799e-01 -2.71129281e-01 1.30995113e-02 1.34493180e+02] [ 1.35988390e-02 3.70515655e-05 9.99907531e-01 1.55463325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.8592541539998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:933.18, Y:134.49, Z:15.55 [[-2.70133171e-01 9.62816021e-01 3.65782130e-03 9.33183532e+02] [-9.62726929e-01 -2.70157934e-01 1.30977133e-02 1.34490237e+02] [ 1.35988776e-02 1.66437575e-05 9.99907531e-01 1.55457693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.8892541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:933.18, Y:134.49, Z:15.55 [[-2.70428550e-01 9.62733075e-01 3.66425621e-03 9.33182352e+02] [-9.62644000e-01 -2.70453373e-01 1.30959128e-02 1.34489430e+02] [ 1.35988788e-02 1.41344571e-05 9.99907531e-01 1.55467055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.9192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.11, Y:134.23, Z:15.55 [[-2.72088159e-01 9.62265327e-01 3.67068313e-03 9.33107698e+02] [-9.62176234e-01 -2.72112917e-01 1.30941111e-02 1.34227171e+02] [ 1.35988494e-02 3.09085255e-05 9.99907531e-01 1.55492382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.9492541539998 meters Centerline goodness : 0.999672 Centerline is valid? [True, True] Translation: X:933.84, Y:134.20, Z:16.49 [[-2.02469672e-01 -9.79281654e-01 -3.67068313e-03 9.33835019e+02] [-9.79194563e-01 2.02500746e-01 -1.30941111e-02 1.34195835e+02] [ 1.35661389e-02 9.43152584e-04 -9.99907531e-01 1.64877688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.9792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.10, Y:134.33, Z:15.55 [[-2.08909569e-01 9.77931034e-01 2.77204437e-03 9.33102043e+02] [-9.77840840e-01 -2.08927950e-01 1.32816736e-02 1.34331386e+02] [ 1.35677184e-02 6.40505271e-05 9.99907952e-01 1.55486488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.0092541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:933.10, Y:134.33, Z:15.55 [[-2.10607106e-01 9.77566840e-01 2.77857240e-03 9.33101582e+02] [-9.77476632e-01 -2.10625419e-01 1.32803078e-02 1.34327716e+02] [ 1.35676265e-02 8.09376103e-05 9.99907952e-01 1.55495960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.0392541539999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:933.10, Y:134.32, Z:15.55 [[-2.13085447e-01 9.77029596e-01 2.78577310e-03 9.33101246e+02] [-9.76939362e-01 -2.13103628e-01 1.32787972e-02 1.34323040e+02] [ 1.35674362e-02 1.07987037e-04 9.99907952e-01 1.55501066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.0692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.10, Y:134.32, Z:15.55 [[-2.14622545e-01 9.76693077e-01 2.79229719e-03 9.33100251e+02] [-9.76602832e-01 -2.14640674e-01 1.32774251e-02 1.34317974e+02] [ 1.35673098e-02 1.22669442e-04 9.99907952e-01 1.55496941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.0992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.10, Y:134.31, Z:15.55 [[-2.17064186e-01 9.76153321e-01 2.79882312e-03 9.33099232e+02] [-9.76063049e-01 -2.17082177e-01 1.32760494e-02 1.34312013e+02] [ 1.35670343e-02 1.49927010e-04 9.99907952e-01 1.55511377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.1292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.78, Y:134.07, Z:16.49 [[-1.27256598e-01 -9.91862818e-01 -3.72949330e-03 9.33778494e+02] [-9.91778664e-01 1.27294981e-01 -1.30793864e-02 1.34072189e+02] [ 1.34477029e-02 2.03439366e-03 -9.99907506e-01 1.64871942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.1592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.04, Y:134.16, Z:15.55 [[-1.54222572e-01 9.88034332e-01 1.88609622e-03 9.33039964e+02] [-9.87944291e-01 -1.54233983e-01 1.33400407e-02 1.34159803e+02] [ 1.34713184e-02 1.93977401e-04 9.99909239e-01 1.55534393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.1892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.04, Y:134.15, Z:15.55 [[-1.55721054e-01 9.87799255e-01 1.89335983e-03 9.33039164e+02] [-9.87709209e-01 -1.55732427e-01 1.33390097e-02 1.34151115e+02] [ 1.34711214e-02 2.07075713e-04 9.99909239e-01 1.55522735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.2192541539998 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:933.03, Y:134.06, Z:15.55 [[-1.73630998e-01 9.84808949e-01 1.89995082e-03 9.33031367e+02] [-9.84718722e-01 -1.73640822e-01 1.33380709e-02 1.34060997e+02] [ 1.34653606e-02 4.44985408e-04 9.99909239e-01 1.55529102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.2492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.03, Y:134.06, Z:15.55 [[-1.75437216e-01 9.84488347e-01 2.11630219e-03 9.33030621e+02] [-9.84398486e-01 -1.75449801e-01 1.33036547e-02 1.34056891e+02] [ 1.34685978e-02 2.50671478e-04 9.99909263e-01 1.55525438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.2792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.03, Y:134.05, Z:15.55 [[-1.77793226e-01 9.84065575e-01 2.12425877e-03 9.33029816e+02] [-9.83975700e-01 -1.77805703e-01 1.33023841e-02 1.34051063e+02] [ 1.34681236e-02 2.74854769e-04 9.99909263e-01 1.55527941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.3092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.03, Y:134.05, Z:15.55 [[-1.79098120e-01 9.83828909e-01 2.13084660e-03 9.33028877e+02] [-9.83739030e-01 -1.79110568e-01 1.33013288e-02 1.34045747e+02] [ 1.34678889e-02 2.86046016e-04 9.99909263e-01 1.55518683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.3392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.03, Y:134.04, Z:15.55 [[-1.79972966e-01 9.83669233e-01 2.13812245e-03 9.33027581e+02] [-9.83579356e-01 -1.79985432e-01 1.33001591e-02 1.34038026e+02] [ 1.34677882e-02 2.90655987e-04 9.99909263e-01 1.55505688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.3692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.03, Y:134.04, Z:15.55 [[-1.80036958e-01 9.83657508e-01 2.14472680e-03 9.33027672e+02] [-9.83567643e-01 -1.80049507e-01 1.32990940e-02 1.34039311e+02] [ 1.34679107e-02 2.84844550e-04 9.99909263e-01 1.55488813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.3992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.72, Y:133.84, Z:16.49 [[-7.25218739e-02 -9.97362187e-01 -3.04085341e-03 9.33715710e+02] [-9.97277605e-01 7.25558292e-02 -1.31541151e-02 1.33836073e+02] [ 1.33400486e-02 2.07861393e-03 -9.99908857e-01 1.64945826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.4292541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:932.97, Y:133.89, Z:15.55 [[-1.10516418e-01 9.93873529e-01 1.23647231e-03 9.32973725e+02] [-9.93784276e-01 -1.10523067e-01 1.33216144e-02 1.33889089e+02] [ 1.33766586e-02 2.43470371e-04 9.99910499e-01 1.55523319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.4592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:932.97, Y:133.88, Z:15.55 [[-1.09239791e-01 9.94014648e-01 1.24373393e-03 9.32971799e+02] [-9.93925411e-01 -1.09246652e-01 1.33209364e-02 1.33883144e+02] [ 1.33770797e-02 2.18997552e-04 9.99910499e-01 1.55534412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.4892541539998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:932.97, Y:133.88, Z:15.55 [[-1.05605963e-01 9.94407269e-01 1.25031358e-03 9.32969616e+02] [-9.94318064e-01 -1.05613238e-01 1.33203188e-02 1.33884202e+02] [ 1.33778715e-02 1.63495721e-04 9.99910499e-01 1.55542546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.5192541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:932.97, Y:133.88, Z:15.55 [[-1.03792778e-01 9.94598149e-01 1.25756663e-03 9.32968286e+02] [-9.94508966e-01 -1.03800313e-01 1.33196340e-02 1.33883119e+02] [ 1.33782192e-02 1.31820530e-04 9.99910499e-01 1.55539461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.5492541539999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:932.97, Y:133.88, Z:15.56 [[-1.02091547e-01 9.94774205e-01 1.26411621e-03 9.32966989e+02] [-9.94685042e-01 -1.02099322e-01 1.33190124e-02 1.33879598e+02] [ 1.33784754e-02 1.02361098e-04 9.99910499e-01 1.55550282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.5792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.68, Y:133.72, Z:16.49 [[-2.34321801e-02 -9.99723158e-01 -2.13072486e-03 9.33684680e+02] [-9.99637186e-01 2.34583758e-02 -1.32363275e-02 1.33715971e+02] [ 1.32826464e-02 1.81979579e-03 -9.99910126e-01 1.64942680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.6092541539998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:932.92, Y:133.72, Z:15.56 [[-2.97022777e-02 9.99558724e-01 3.62458248e-04 9.32921578e+02] [-9.99470442e-01 -2.97044716e-02 1.32845938e-02 1.33719291e+02] [ 1.32894983e-02 3.23163897e-05 9.99911690e-01 1.55573338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.6392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:932.92, Y:133.71, Z:15.56 [[-3.03097445e-02 9.99540486e-01 3.69654202e-04 9.32920734e+02] [-9.99452204e-01 -3.03119804e-02 1.32843936e-02 1.33712776e+02] [ 1.32894942e-02 3.31948690e-05 9.99911690e-01 1.55571035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.6692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:932.92, Y:133.71, Z:15.56 [[-3.11050726e-02 9.99516049e-01 3.76854898e-04 9.32920437e+02] [-9.99427768e-01 -3.11073339e-02 1.32841893e-02 1.33708276e+02] [ 1.32894834e-02 3.65664235e-05 9.99911690e-01 1.55569965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.6992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:932.92, Y:133.70, Z:15.56 [[-3.29764537e-02 9.99456055e-01 3.85424615e-04 9.32920594e+02] [-9.99367773e-01 -3.29786637e-02 1.32839407e-02 1.33701644e+02] [ 1.32894257e-02 5.28763163e-05 9.99911690e-01 1.55571340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.7292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:932.92, Y:133.70, Z:15.56 [[-3.64346073e-02 9.99335962e-01 3.92625064e-04 9.32921318e+02] [-9.99247675e-01 -3.64366074e-02 1.32837279e-02 1.33695149e+02] [ 1.32892129e-02 9.16577254e-05 9.99911690e-01 1.55560493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.7592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:932.92, Y:133.69, Z:15.56 [[-3.87288637e-02 9.99249676e-01 3.99834096e-04 9.32921628e+02] [-9.99161387e-01 -3.87307570e-02 1.32835109e-02 1.33688352e+02] [ 1.32890298e-02 1.14956493e-04 9.99911690e-01 1.55552589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.7892541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:932.92, Y:133.67, Z:15.55 [[-4.42194399e-02 9.99021759e-01 4.07053700e-04 9.32921992e+02] [-9.98933462e-01 -4.42209439e-02 1.32832896e-02 1.33669814e+02] [ 1.32882957e-02 1.80760066e-04 9.99911690e-01 1.55546308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.8192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:932.92, Y:133.66, Z:15.55 [[-4.74218413e-02 9.98874859e-01 4.29356238e-04 9.32921753e+02] [-9.98786563e-01 -4.74233587e-02 1.32825687e-02 1.33659852e+02] [ 1.32879855e-02 2.01048624e-04 9.99911691e-01 1.55541334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.8492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:932.92, Y:133.66, Z:15.55 [[-4.97185697e-02 9.98763169e-01 4.42635297e-04 9.32922125e+02] [-9.98674872e-01 -4.97200607e-02 1.32821262e-02 1.33659203e+02] [ 1.32877063e-02 2.18319568e-04 9.99911691e-01 1.55534046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.8792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:932.92, Y:133.65, Z:15.55 [[-5.35404100e-02 9.98565582e-01 4.49881483e-04 9.32922516e+02] [-9.98477282e-01 -5.35416594e-02 1.32818807e-02 1.33649364e+02] [ 1.32869164e-02 2.61920900e-04 9.99911691e-01 1.55526994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.9092541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:932.92, Y:133.64, Z:15.55 [[-5.53723901e-02 9.98465668e-01 4.57127532e-04 9.32922684e+02] [-9.98377366e-01 -5.53735738e-02 1.32816314e-02 1.33638949e+02] [ 1.32865657e-02 2.79049891e-04 9.99911691e-01 1.55515677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.9392541539999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:932.92, Y:133.64, Z:15.55 [[-5.74410210e-02 9.98348794e-01 4.64403951e-04 9.32923083e+02] [-9.98260491e-01 -5.74421186e-02 1.32813769e-02 1.33641631e+02] [ 1.32861230e-02 2.99299734e-04 9.99911691e-01 1.55521159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.9692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:932.92, Y:133.64, Z:15.55 [[-5.84064524e-02 9.98292775e-01 4.71674317e-04 9.32922184e+02] [-9.98204472e-01 -5.84075612e-02 1.32811187e-02 1.33635260e+02] [ 1.32859942e-02 3.04875615e-04 9.99911691e-01 1.55519549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.9992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:932.92, Y:133.62, Z:15.55 [[-5.87492374e-02 9.98272657e-01 4.78927807e-04 9.32920870e+02] [-9.98184356e-01 -5.87504124e-02 1.32808571e-02 1.33616116e+02] [ 1.32860538e-02 3.02181985e-04 9.99911691e-01 1.55535372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.0292541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:932.92, Y:133.61, Z:15.55 [[-5.92132779e-02 9.98245236e-01 4.86225622e-04 9.32920823e+02] [-9.98156936e-01 -5.92145088e-02 1.32805900e-02 1.33613597e+02] [ 1.32860773e-02 3.01057786e-04 9.99911691e-01 1.55546672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.0592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:932.92, Y:133.60, Z:15.55 [[-5.94008435e-02 9.98234089e-01 4.94248679e-04 9.32919938e+02] [-9.98145789e-01 -5.94021646e-02 1.32802914e-02 1.33602314e+02] [ 1.32861990e-02 2.95528272e-04 9.99911691e-01 1.55544616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.0892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.65, Y:133.49, Z:16.50 [[ 5.11608900e-02 -9.98689449e-01 -1.39589376e-03 9.33647837e+02] [-9.98603747e-01 -5.11379851e-02 -1.32462308e-02 1.33494786e+02] [ 1.31574877e-02 2.07163370e-03 -9.99911291e-01 1.65018434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.1192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:932.89, Y:133.43, Z:15.56 [[ 9.00480677e-03 9.99959377e-01 -3.96748010e-04 9.32887498e+02] [-9.99872390e-01 9.00925769e-03 1.31923399e-02 1.33431770e+02] [ 1.31953784e-02 2.77902909e-04 9.99912899e-01 1.55567758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.1492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.64, Y:133.47, Z:16.50 [[ 1.29848423e-01 -9.91533775e-01 4.00541766e-04 9.33640368e+02] [-9.91446884e-01 -1.29842373e-01 -1.31922247e-02 1.33468120e+02] [ 1.31325436e-02 1.31587369e-03 -9.99912899e-01 1.65027890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.1792541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:933.63, Y:133.47, Z:16.50 [[ 2.07351315e-01 -9.78265503e-01 1.42753367e-03 9.33632144e+02] [-9.78178938e-01 -2.07352054e-01 -1.30801485e-02 1.33468658e+02] [ 1.30918601e-02 1.31580263e-03 -9.99913432e-01 1.65028702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.2092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.62, Y:133.47, Z:16.51 [[ 2.84456102e-01 -9.58685961e-01 2.44017623e-03 9.33624323e+02] [-9.58600241e-01 -2.84463472e-01 -1.28884312e-02 1.33469773e+02] [ 1.30500991e-02 1.32703938e-03 -9.99913963e-01 1.65052740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.2392541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:933.62, Y:133.47, Z:16.51 [[ 3.60428500e-01 -9.32780533e-01 3.43119550e-03 9.33617347e+02] [-9.32696147e-01 -3.60442311e-01 -1.26189726e-02 1.33469327e+02] [ 1.30074801e-02 1.34797455e-03 -9.99914491e-01 1.65061551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.2692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:932.92, Y:133.18, Z:15.56 [[ 3.12680316e-01 9.49848253e-01 -4.39505363e-03 9.32916605e+02] [-9.49769009e-01 3.12711022e-01 1.22738386e-02 1.33175626e+02] [ 1.30326659e-02 3.36497988e-04 9.99915015e-01 1.55556672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.2992541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:932.93, Y:133.15, Z:15.56 [[ 3.12117434e-01 9.50033357e-01 -4.39635624e-03 9.32926653e+02] [-9.49954138e-01 3.12148204e-01 1.22733720e-02 1.33148807e+02] [ 1.30324275e-02 3.45603412e-04 9.99915015e-01 1.55567954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.3292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.63, Y:133.42, Z:16.51 [[ 4.35409126e-01 -9.00221949e-01 4.39723769e-03 9.33627660e+02] [-9.00139350e-01 -4.35429124e-01 -1.22730562e-02 1.33415812e+02] [ 1.29631600e-02 1.38567401e-03 -9.99915015e-01 1.65067681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.3592541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:933.62, Y:133.41, Z:16.51 [[ 5.05010703e-01 -8.63096633e-01 5.32837535e-03 9.33621192e+02] [-8.63016336e-01 -5.05036904e-01 -1.18545360e-02 1.33413574e+02] [ 1.29226363e-02 1.38819260e-03 -9.99915536e-01 1.65067468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.3892541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:933.62, Y:133.41, Z:16.51 [[ 5.72225938e-01 -8.20072422e-01 6.22082976e-03 9.33615460e+02] [-8.19994852e-01 -5.72258032e-01 -1.13660901e-02 1.33407231e+02] [ 1.28809368e-02 1.40292321e-03 -9.99916053e-01 1.65062962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.4192541539999 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:933.61, Y:133.40, Z:16.51 [[ 6.35081332e-01 -7.72412934e-01 7.06838417e-03 9.33610318e+02] [-7.72338541e-01 -6.35119106e-01 -1.08120066e-02 1.33402141e+02] [ 1.28405996e-02 1.40731803e-03 -9.99916566e-01 1.65059033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.4492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.61, Y:133.40, Z:16.51 [[ 6.94774717e-01 -7.19184392e-01 7.86780580e-03 9.33606323e+02] [-7.19113539e-01 -6.94817802e-01 -1.01950807e-02 1.33395207e+02] [ 1.27988344e-02 1.42543862e-03 -9.99917076e-01 1.65057762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.4792541539998 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:933.60, Y:133.39, Z:16.51 [[ 7.49465213e-01 -6.61987677e-01 8.61455506e-03 9.33603351e+02] [-6.61920779e-01 -7.49513352e-01 -9.51931470e-03 1.33389452e+02] [ 1.27583931e-02 1.43224222e-03 -9.99917583e-01 1.65054222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.5092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.60, Y:133.38, Z:16.51 [[ 8.00442609e-01 -5.99337188e-01 9.30396596e-03 9.33601032e+02] [-5.99274512e-01 -8.00495349e-01 -8.78956617e-03 1.33382200e+02] [ 1.27156953e-02 1.45991362e-03 -9.99918087e-01 1.65061397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.5392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.60, Y:133.38, Z:16.51 [[ 8.45440900e-01 -5.33976626e-01 9.93210729e-03 9.33600121e+02] [-5.33918556e-01 -8.45497961e-01 -8.01077986e-03 1.33375841e+02] [ 1.26751457e-02 1.46970455e-03 -9.99918587e-01 1.65069191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.5692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.60, Y:133.37, Z:16.51 [[ 8.85196958e-01 -4.65098034e-01 1.04959137e-02 9.33600096e+02] [-4.65044854e-01 -8.85257942e-01 -7.18745926e-03 1.33369724e+02] [ 1.26344642e-02 1.48124641e-03 -9.99919085e-01 1.65082077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.5992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.60, Y:133.36, Z:16.51 [[ 9.19805298e-01 -3.92221102e-01 1.09918892e-02 9.33598968e+02] [-3.92172987e-01 -9.19869738e-01 -6.32562738e-03 1.33359543e+02] [ 1.25921507e-02 1.50762356e-03 -9.99919579e-01 1.65099897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.6292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.60, Y:133.35, Z:16.51 [[ 9.48367833e-01 -3.16967024e-01 1.14175425e-02 9.33598442e+02] [-3.16924198e-01 -9.48435322e-01 -5.43075419e-03 1.33350917e+02] [ 1.25501706e-02 1.53185708e-03 -9.99920070e-01 1.65114616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.6592541539999 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:933.60, Y:133.34, Z:16.51 [[ 9.70352578e-01 -2.41406955e-01 1.17710110e-02 9.33599949e+02] [-2.41369733e-01 -9.70422760e-01 -4.50776898e-03 1.33343354e+02] [ 1.25110637e-02 1.53295948e-03 -9.99920559e-01 1.65119127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.6892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.60, Y:133.34, Z:16.51 [[ 9.86327129e-01 -1.64358097e-01 1.20503779e-02 9.33602291e+02] [-1.64326634e-01 -9.86399545e-01 -3.56292797e-03 1.33337222e+02] [ 1.24720834e-02 1.53401447e-03 -9.99921044e-01 1.65129133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.7192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.61, Y:133.33, Z:16.51 [[ 9.96152404e-01 -8.67768282e-02 1.22544237e-02 9.33606046e+02] [-8.67512831e-02 -9.96226603e-01 -2.60196744e-03 1.33331481e+02] [ 1.24339734e-02 1.52886914e-03 -9.99921526e-01 1.65133218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.7492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.61, Y:133.32, Z:16.51 [[ 9.99888478e-01 -8.34930514e-03 1.23823028e-02 9.33606347e+02] [-8.32973245e-03 -9.99963976e-01 -1.63143100e-03 1.33324245e+02] [ 1.23954781e-02 1.52810779e-03 -9.99922005e-01 1.65136162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.7792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.61, Y:133.32, Z:16.51 [[ 9.97474695e-01 6.99259191e-02 1.24337610e-02 9.33606957e+02] [ 6.99394418e-02 -9.97551024e-01 -6.55568780e-04 1.33316246e+02] [ 1.23574698e-02 1.52352358e-03 -9.99922483e-01 1.65134247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.8092541539999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:933.61, Y:133.31, Z:16.51 [[ 9.89050193e-01 1.47056925e-01 1.24087239e-02 9.33607399e+02] [ 1.47064326e-01 -9.89126879e-01 3.18895482e-04 1.33307672e+02] [ 1.23206981e-02 1.50947698e-03 -9.99922958e-01 1.65133929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.8392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.61, Y:133.31, Z:16.51 [[ 9.74586562e-01 2.23672874e-01 1.23077007e-02 9.33607139e+02] [ 2.23674205e-01 -9.74663120e-01 1.28588426e-03 1.33305403e+02] [ 1.22834794e-02 1.49970965e-03 -9.99923431e-01 1.65136971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.8692541539998 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:933.61, Y:133.30, Z:16.51 [[ 9.54529783e-01 2.97868617e-01 1.21318257e-02 9.33609281e+02] [ 2.97863862e-01 -9.54605734e-01 2.23891544e-03 1.33299801e+02] [ 1.22480130e-02 1.47652099e-03 -9.99923900e-01 1.65130018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.8992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.61, Y:133.30, Z:16.51 [[ 9.28534915e-01 3.71054868e-01 1.18826123e-02 9.33611233e+02] [ 3.71044192e-01 -9.28609791e-01 3.17239763e-03 1.33296486e+02] [ 1.22114437e-02 1.46329232e-03 -9.99924367e-01 1.65131422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.9292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.61, Y:133.29, Z:16.51 [[ 8.96963651e-01 4.41953082e-01 1.15621230e-02 9.33613882e+02] [ 4.41936622e-01 -8.97036996e-01 4.08051909e-03 1.33292853e+02] [ 1.21750500e-02 1.44964826e-03 -9.99924831e-01 1.65134357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.9592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.62, Y:133.28, Z:16.52 [[ 8.61679573e-01 5.07329761e-01 1.11726434e-02 9.33621351e+02] [ 5.07307452e-01 -8.61750872e-01 4.95817732e-03 1.33278009e+02] [ 1.21434661e-02 1.39560513e-03 -9.99925291e-01 1.65172595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.9892541539998 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:933.63, Y:133.27, Z:16.51 [[ 8.17584220e-01 5.75708481e-01 1.07605042e-02 9.33627227e+02] [ 5.75682052e-01 -8.17653621e-01 5.72113454e-03 1.33270213e+02] [ 1.20920709e-02 1.51711982e-03 -9.99925737e-01 1.65141068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.0192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.64, Y:133.26, Z:16.52 [[ 7.72092919e-01 6.35427906e-01 1.01932194e-02 9.33637522e+02] [ 6.35395158e-01 -7.72158963e-01 6.59759601e-03 1.33256984e+02] [ 1.20630823e-02 1.38276509e-03 -9.99926282e-01 1.65184057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.0492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.65, Y:133.25, Z:16.52 [[ 7.18044420e-01 6.95930058e-01 9.67286408e-03 9.33645620e+02] [ 6.95893615e-01 -7.18107994e-01 7.27913384e-03 1.33250112e+02] [ 1.20119291e-02 1.50454292e-03 -9.99926722e-01 1.65165801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.0792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.65, Y:133.25, Z:16.52 [[ 6.61137078e-01 7.50211423e-01 8.97695573e-03 9.33650732e+02] [ 7.50169505e-01 -6.61196518e-01 8.05472997e-03 1.33246833e+02] [ 1.19782823e-02 1.40895780e-03 -9.99927265e-01 1.65177362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.1092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.66, Y:133.24, Z:16.52 [[ 5.99766317e-01 8.00132234e-01 8.29292440e-03 9.33655588e+02] [ 8.00086114e-01 -5.99821982e-01 8.70629150e-03 1.33243029e+02] [ 1.19404628e-02 1.41331327e-03 -9.99927711e-01 1.65195140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.1392541539999 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:933.66, Y:133.24, Z:16.52 [[ 5.34943172e-01 8.44854194e-01 7.56264315e-03 9.33659243e+02] [ 8.44804188e-01 -5.34994759e-01 9.30014465e-03 1.33240616e+02] [ 1.19032407e-02 1.41390373e-03 -9.99928154e-01 1.65217972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.1692541539999 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:933.66, Y:133.24, Z:16.52 [[ 4.67624382e-01 8.83901201e-01 6.79010777e-03 9.33662529e+02] [ 8.83847612e-01 -4.67671572e-01 9.83358793e-03 1.33240336e+02] [ 1.18674606e-02 1.40299506e-03 -9.99928595e-01 1.65224144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.1992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.67, Y:133.24, Z:16.52 [[ 3.97671536e-01 9.17508354e-01 5.98081379e-03 9.33666449e+02] [ 9.17451553e-01 -3.97714079e-01 1.03033663e-02 1.33240388e+02] [ 1.18320785e-02 1.38975140e-03 -9.99929033e-01 1.65224162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.2292541539998 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:933.67, Y:133.24, Z:16.52 [[ 3.24642468e-01 9.45822846e-01 5.13925977e-03 9.33668582e+02] [ 9.45763251e-01 -3.24680192e-01 1.07072988e-02 1.33240288e+02] [ 1.17958237e-02 1.38447910e-03 -9.99929468e-01 1.65232130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.2592541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:933.67, Y:133.24, Z:16.52 [[ 2.49914727e-01 9.68258426e-01 4.27206914e-03 9.33669350e+02] [ 9.68196431e-01 -2.49947448e-01 1.10427900e-02 1.33241059e+02] [ 1.17600673e-02 1.37644624e-03 -9.99929901e-01 1.65230565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.2892541539999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:933.67, Y:133.24, Z:16.52 [[ 1.74188085e-01 9.84706586e-01 3.38400911e-03 9.33670409e+02] [ 9.84642591e-01 -1.74215627e-01 1.13085416e-02 1.33240735e+02] [ 1.17251427e-02 1.36222629e-03 -9.99930330e-01 1.65230866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.3192541539999 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:933.67, Y:133.24, Z:16.52 [[ 9.66668021e-02 9.95313707e-01 2.48065495e-03 9.33669128e+02] [ 9.95248155e-01 -9.66891057e-02 1.15033517e-02 1.33241501e+02] [ 1.16892960e-02 1.35687503e-03 -9.99930757e-01 1.65234501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.3492541539998 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:933.68, Y:133.24, Z:16.52 [[ 1.91390433e-02 9.99815603e-01 1.56768476e-03 9.33677087e+02] [ 9.99748905e-01 -1.91559965e-02 1.16264595e-02 1.33242236e+02] [ 1.16543462e-02 1.34477181e-03 -9.99931182e-01 1.65246271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.3792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.68, Y:133.24, Z:16.52 [[-5.85341845e-02 9.98285193e-01 6.49943590e-04 9.33683585e+02] [ 9.98217780e-01 5.85226290e-02 1.16775437e-02 1.33243216e+02] [ 1.16194826e-02 1.33232075e-03 -9.99931604e-01 1.65248289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.4092541539999 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:933.72, Y:133.23, Z:16.53 [[-1.35707834e-01 9.90748865e-01 -2.65747119e-04 9.33719943e+02] [ 9.90681167e-01 1.35701688e-01 1.16566728e-02 1.33230464e+02] [ 1.15848977e-02 1.31863116e-03 -9.99932023e-01 1.65269001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.4392541539999 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:933.76, Y:133.20, Z:16.53 [[-2.11939095e-01 9.77282171e-01 -1.17432622e-03 9.33759324e+02] [ 9.77214615e-01 2.11938341e-01 1.15644146e-02 1.33198322e+02] [ 1.15505810e-02 1.30338283e-03 -9.99932440e-01 1.65268174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.4692541539998 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:933.80, Y:133.18, Z:16.53 [[-2.86773731e-01 9.57996107e-01 -2.07026717e-03 9.33798569e+02] [ 9.57929119e-01 2.86778318e-01 1.14017393e-02 1.33179901e+02] [ 1.15165296e-02 1.28655013e-03 -9.99932855e-01 1.65263725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.4992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.84, Y:133.16, Z:16.53 [[-3.59365457e-01 9.33192251e-01 -2.94813618e-03 9.33839408e+02] [ 9.33126252e-01 3.59375330e-01 1.11700463e-02 1.33163528e+02] [ 1.14832880e-02 1.26314551e-03 -9.99933267e-01 1.65258732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.5292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.88, Y:133.15, Z:16.52 [[-4.28943570e-01 9.03323285e-01 -3.80228484e-03 9.33881309e+02] [ 9.03258701e-01 4.28958662e-01 1.08713093e-02 1.33148270e+02] [ 1.14513298e-02 1.22873134e-03 -9.99933676e-01 1.65249098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.5592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.92, Y:133.14, Z:16.52 [[-4.95810880e-01 8.68418188e-01 -4.62846956e-03 9.33924360e+02] [ 8.68355435e-01 4.95831054e-01 1.05073826e-02 1.33136262e+02] [ 1.14197411e-02 1.19051790e-03 -9.99934084e-01 1.65241488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.5892541539998 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:933.97, Y:133.13, Z:16.52 [[-5.61211105e-01 8.27654946e-01 -5.42084657e-03 9.33968029e+02] [ 8.27594375e-01 5.61236063e-01 1.00813171e-02 1.33128955e+02] [ 1.13862265e-02 1.17148497e-03 -9.99934489e-01 1.65248963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.6192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.01, Y:133.13, Z:16.52 [[-6.23072673e-01 7.82139573e-01 -6.17516156e-03 9.34012354e+02] [ 7.82081551e-01 6.23102212e-01 9.59590541e-03 1.33125234e+02] [ 1.13530942e-02 1.14946650e-03 -9.99934891e-01 1.65238714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.6492541539999 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:934.06, Y:133.12, Z:16.53 [[-6.80088719e-01 7.33097477e-01 -6.88652054e-03 9.34059044e+02] [ 7.33042394e-01 6.80122678e-01 9.05490157e-03 1.33122862e+02] [ 1.13218043e-02 1.11002491e-03 -9.99935290e-01 1.65252899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.6792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.10, Y:133.13, Z:16.52 [[-7.34942132e-01 6.78088253e-01 -7.50896761e-03 9.34102210e+02] [ 6.78035960e-01 7.34979582e-01 8.50003429e-03 1.33126827e+02] [ 1.12827113e-02 1.15568326e-03 -9.99935680e-01 1.65246905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.7092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.15, Y:133.13, Z:16.53 [[-7.84187198e-01 6.20471167e-01 -8.12217390e-03 9.34149540e+02] [ 6.20422394e-01 7.84228453e-01 7.86044137e-03 1.33131446e+02] [ 1.12468171e-02 1.12487892e-03 -9.99936120e-01 1.65264746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.7392541539998 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:934.13, Y:133.19, Z:16.53 [[-8.30657189e-01 5.56716969e-01 -8.65167234e-03 9.34133396e+02] [ 5.56671470e-01 8.30701410e-01 7.21399688e-03 1.33185271e+02] [ 1.12031109e-02 1.17621921e-03 -9.99936551e-01 1.65282450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.7692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.23, Y:133.16, Z:16.53 [[-8.73395567e-01 4.86925413e-01 -9.15561918e-03 9.34228684e+02] [ 4.86883669e-01 8.73442715e-01 6.48969059e-03 1.33160000e+02] [ 1.11569042e-02 1.21034553e-03 -9.99937027e-01 1.65268649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.7992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.27, Y:133.18, Z:16.53 [[-9.08870790e-01 4.16966059e-01 -9.65368546e-03 9.34271000e+02] [ 4.16929404e-01 9.08921394e-01 5.63668701e-03 1.33175734e+02] [ 1.11247484e-02 1.09811485e-03 -9.99937515e-01 1.65270642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.8292541539998 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:934.31, Y:133.20, Z:16.53 [[-9.38769664e-01 3.44399224e-01 -1.00345981e-02 9.34308341e+02] [ 3.44366839e-01 9.38822653e-01 4.84831944e-03 1.33196457e+02] [ 1.10904655e-02 1.09587237e-03 -9.99937898e-01 1.65274227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.8592541539998 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:934.34, Y:133.22, Z:16.53 [[-9.62835357e-01 2.69890567e-01 -1.03516931e-02 9.34342987e+02] [ 2.69862612e-01 9.62890384e-01 4.03478935e-03 1.33219363e+02] [ 1.10564973e-02 1.09130291e-03 -9.99938280e-01 1.65284765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.8892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.38, Y:133.24, Z:16.53 [[-9.81006308e-01 1.93685817e-01 -1.06032334e-02 9.34380441e+02] [ 1.93662405e-01 9.81063006e-01 3.20178765e-03 1.33244267e+02] [ 1.10225809e-02 1.08752620e-03 -9.99938658e-01 1.65271956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.9192541539999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:934.41, Y:133.27, Z:16.53 [[-9.93111358e-01 1.16676667e-01 -1.07881896e-02 9.34414365e+02] [ 1.16657908e-01 9.93169366e-01 2.35426236e-03 1.33271552e+02] [ 1.09891869e-02 1.07951706e-03 -9.99939034e-01 1.65269593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.9492541539998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:934.45, Y:133.30, Z:16.53 [[-9.99184684e-01 3.88719768e-02 -1.09058403e-02 9.34445450e+02] [ 3.88579255e-02 9.99243624e-01 1.49744887e-03 1.33302053e+02] [ 1.09558002e-02 1.07244965e-03 -9.99939408e-01 1.65280096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.9792541539998 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:934.34, Y:133.34, Z:16.53 [[-9.99209803e-01 -3.82065159e-02 -1.09558619e-02 9.34338695e+02] [-3.82157696e-02 9.99269308e-01 6.36457558e-04 1.33335303e+02] [ 1.09235397e-02 1.05464132e-03 -9.99939780e-01 1.65310373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.0092541539999 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:934.49, Y:133.37, Z:16.53 [[-9.93473958e-01 -1.13533045e-01 -1.09426809e-02 9.34487789e+02] [-1.13539182e-01 9.93533518e-01 -6.07495802e-05 1.33374428e+02] [ 1.08788174e-02 1.18206992e-03 -9.99940125e-01 1.65266949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.0392541539999 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:934.51, Y:133.41, Z:16.53 [[-9.81810773e-01 -1.89552161e-01 -1.08436362e-02 9.34511920e+02] [-1.89551835e-01 9.81870135e-01 -1.06719113e-03 1.33411213e+02] [ 1.08493309e-02 1.00765140e-03 -9.99940637e-01 1.65272967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.0692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.29, Y:133.39, Z:16.53 [[-9.64644021e-01 -2.63339228e-01 -1.06941523e-02 9.34292139e+02] [-2.63334145e-01 9.64702802e-01 -1.90595528e-03 1.33391718e+02] [ 1.08185914e-02 9.77567071e-04 -9.99940999e-01 1.65306152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.0992541539998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:934.44, Y:133.46, Z:16.53 [[-9.44947618e-01 -3.27046839e-01 -1.06941523e-02 9.34436785e+02] [-3.27045685e-01 9.45006607e-01 -1.90595528e-03 1.33464214e+02] [ 1.07293812e-02 1.69644845e-03 -9.99940999e-01 1.65272086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.1292541539999 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:934.20, Y:134.11, Z:15.56 [[-9.51315680e-01 3.08049699e-01 1.01911787e-02 9.34204503e+02] [-3.08030848e-01 -9.51370260e-01 3.40943953e-03 1.34110776e+02] [ 1.07458611e-02 1.04255872e-04 9.99942256e-01 1.55626666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.1592541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:934.22, Y:133.41, Z:16.53 [[-9.17416018e-01 -3.97798896e-01 -1.01925132e-02 9.34218544e+02] [-3.97785407e-01 9.17472165e-01 -3.40544538e-03 1.33410949e+02] [ 1.07060296e-02 9.30222871e-04 -9.99942256e-01 1.65304525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.1892541539999 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:934.17, Y:134.14, Z:15.56 [[-9.23371003e-01 3.83782093e-01 9.86390195e-03 9.34166133e+02] [-3.83759328e-01 -9.23423684e-01 4.18076513e-03 1.34144157e+02] [ 1.07130635e-02 7.50329033e-05 9.99942611e-01 1.55640292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.2192541539998 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:934.45, Y:133.54, Z:16.53 [[-8.85203362e-01 -4.65099627e-01 -9.86640211e-03 9.34448866e+02] [-4.65081747e-01 8.85257894e-01 -4.17485652e-03 1.33543927e+02] [ 1.06760346e-02 8.93086498e-04 -9.99942611e-01 1.65262730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.2492541539998 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:934.12, Y:134.16, Z:15.57 [[-8.89554203e-01 4.56731230e-01 9.48179322e-03 9.34115943e+02] [-4.56704768e-01 -8.89604733e-01 4.91659395e-03 1.34162824e+02] [ 1.06806101e-02 4.31966299e-05 9.99942960e-01 1.55657329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.2792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.14, Y:133.40, Z:16.53 [[-8.48682876e-01 -5.28817015e-01 -9.48371550e-03 9.34143194e+02] [-5.28794869e-01 8.48735442e-01 -4.91288322e-03 1.33401246e+02] [ 1.06471817e-02 8.45460237e-04 -9.99942960e-01 1.65324705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.3092541539999 meters Centerline goodness : 0.997113 Centerline is valid? [True, True] Translation: X:933.94, Y:133.29, Z:16.53 [[-8.03558639e-01 -5.95156681e-01 -9.05746102e-03 9.33944006e+02] [-5.95131025e-01 8.03609189e-01 -5.59771431e-03 1.33288496e+02] [ 1.06101760e-02 8.92284364e-04 -9.99943312e-01 1.65346068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.3392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.33, Y:133.63, Z:16.53 [[-7.60654340e-01 -6.49093935e-01 -9.05746102e-03 9.34332416e+02] [-6.49071822e-01 7.60706537e-01 -5.59771431e-03 1.33626978e+02] [ 1.05235122e-02 1.62101704e-03 -9.99943312e-01 1.65257029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.3692541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:933.86, Y:134.17, Z:15.57 [[-7.65630417e-01 6.43230597e-01 8.02891883e-03 9.33861050e+02] [-6.43194545e-01 -7.65672513e-01 6.81031865e-03 1.34168247e+02] [ 1.05281278e-02 5.00303088e-05 9.99944576e-01 1.55680016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.3992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.86, Y:134.17, Z:15.57 [[-7.66436683e-01 6.42269651e-01 8.03158363e-03 9.33859791e+02] [-6.42233580e-01 -7.66478761e-01 6.80717453e-03 1.34168288e+02] [ 1.05280799e-02 5.91155636e-05 9.99944576e-01 1.55681643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.4292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.86, Y:134.17, Z:15.57 [[-7.67375738e-01 6.41147352e-01 8.03424313e-03 9.33855592e+02] [-6.41111252e-01 -7.67417792e-01 6.80403417e-03 1.34165741e+02] [ 1.05280096e-02 7.04070684e-05 9.99944577e-01 1.55684184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.4592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.85, Y:134.16, Z:15.57 [[-7.69325104e-01 6.38806929e-01 8.03690232e-03 9.33852215e+02] [-6.38770734e-01 -7.69367076e-01 6.80089170e-03 1.34164109e+02] [ 1.05277848e-02 9.83587222e-05 9.99944577e-01 1.55680023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.4892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.85, Y:134.16, Z:15.57 [[-7.70712616e-01 6.37132191e-01 8.03956342e-03 9.33849147e+02] [-6.37095937e-01 -7.70754538e-01 6.79774446e-03 1.34162073e+02] [ 1.05275918e-02 1.17134222e-04 9.99944577e-01 1.55676216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.5192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.85, Y:134.16, Z:15.57 [[-7.71543638e-01 6.36125567e-01 8.04222603e-03 9.33846478e+02] [-6.36089291e-01 -7.71585541e-01 6.79459295e-03 1.34159606e+02] [ 1.05274796e-02 1.26751109e-04 9.99944577e-01 1.55674152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.5492541539999 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:934.24, Y:133.58, Z:16.53 [[-7.06672987e-01 -7.07494550e-01 -8.04682041e-03 9.34243718e+02] [-7.07462541e-01 7.06718233e-01 -6.78915036e-03 1.33583661e+02] [ 1.04901216e-02 8.95114852e-04 -9.99944577e-01 1.65310180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.5792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.73, Y:134.10, Z:15.57 [[-7.29288584e-01 6.84164727e-01 7.53576791e-03 9.33727618e+02] [-6.84125638e-01 -7.29327494e-01 7.31558823e-03 1.34097444e+02] [ 1.05011102e-02 1.79762948e-04 9.99944846e-01 1.55668308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.6092541539998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:933.52, Y:133.90, Z:15.57 [[-7.29470334e-01 6.83970907e-01 7.53864672e-03 9.33518553e+02] [-6.83931838e-01 -7.29509264e-01 7.31262044e-03 1.33895139e+02] [ 1.05011323e-02 1.78419169e-04 9.99944846e-01 1.55695184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.6392541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:933.97, Y:133.35, Z:16.53 [[-6.55671635e-01 -7.55008527e-01 -7.53864672e-03 9.33967308e+02] [-7.54973646e-01 6.55714359e-01 -7.31262044e-03 1.33346531e+02] [ 1.04642897e-02 8.96801793e-04 -9.99944846e-01 1.65342735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.6692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.61, Y:134.04, Z:15.57 [[-6.81002161e-01 7.32247981e-01 6.99645417e-03 9.33606425e+02] [-7.32206460e-01 -6.81038074e-01 7.80013791e-03 1.34036397e+02] [ 1.04764869e-02 1.89061831e-04 9.99945102e-01 1.55664456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.6992541539998 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:933.60, Y:134.04, Z:15.57 [[-6.83915782e-01 7.29527448e-01 6.99331103e-03 9.33603113e+02] [-7.29485755e-01 -6.83951495e-01 7.80296813e-03 1.34036782e+02] [ 1.04755650e-02 2.35052278e-04 9.99945102e-01 1.55693464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.7292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.60, Y:134.03, Z:15.57 [[-6.85309011e-01 7.28218616e-01 7.01477308e-03 9.33597175e+02] [-7.28177052e-01 -6.85344874e-01 7.78362607e-03 1.34031398e+02] [ 1.04757202e-02 2.26192311e-04 9.99945103e-01 1.55708171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.7592541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:933.59, Y:134.03, Z:15.57 [[-6.86592776e-01 7.27008283e-01 7.02255645e-03 9.33593571e+02] [-7.26966728e-01 -6.86628649e-01 7.77659740e-03 1.34029427e+02] [ 1.04755392e-02 2.34190710e-04 9.99945103e-01 1.55701775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.7892541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:933.59, Y:134.02, Z:15.57 [[-6.87328876e-01 7.26312358e-01 7.02680321e-03 9.33588185e+02] [-7.26270805e-01 -6.87364752e-01 7.77275820e-03 1.34023759e+02] [ 1.04754272e-02 2.39079129e-04 9.99945103e-01 1.55699377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.8192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.06, Y:133.48, Z:16.53 [[-5.98154353e-01 -8.01350030e-01 -7.03565244e-03 9.34059108e+02] [-8.01313026e-01 5.98194904e-01 -7.76475097e-03 1.33481203e+02] [ 1.04309749e-02 9.93240351e-04 -9.99945103e-01 1.65293902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.8492541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:933.47, Y:133.94, Z:15.57 [[-6.42022703e-01 7.66658554e-01 6.44292363e-03 9.33469319e+02] [-7.66614437e-01 -6.42054937e-01 8.23176081e-03 1.33936952e+02] [ 1.04476608e-02 3.45739053e-04 9.99945362e-01 1.55707555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.8792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.98, Y:133.43, Z:16.53 [[-5.40967506e-01 -8.41018814e-01 -6.44292363e-03 9.33984654e+02] [-8.40979082e-01 5.41005012e-01 -8.23176081e-03 1.33430959e+02] [ 1.04087197e-02 9.65248875e-04 -9.99945362e-01 1.65323160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.9092541539999 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:933.36, Y:133.84, Z:15.57 [[-5.89771295e-01 8.07549072e-01 5.85803723e-03 9.33359167e+02] [-8.07503014e-01 -5.89800277e-01 8.63223433e-03 1.33840816e+02] [ 1.04260248e-02 3.60661294e-04 9.99945582e-01 1.55703431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.9392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.91, Y:133.37, Z:16.53 [[-4.83414640e-01 -8.75371904e-01 -5.85803723e-03 9.33905654e+02] [-8.75329861e-01 4.83449190e-01 -8.63223433e-03 1.33365761e+02] [ 1.03884787e-02 9.54766468e-04 -9.99945582e-01 1.65347257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.9692541539998 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:933.25, Y:133.74, Z:15.57 [[-5.33178739e-01 8.45986065e-01 5.29241675e-03 9.33253153e+02] [-8.45938605e-01 -5.33204919e-01 8.96610535e-03 1.33736292e+02] [ 1.04071428e-02 3.03477101e-04 9.99945798e-01 1.55721989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.9992541539998 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:933.25, Y:133.73, Z:15.57 [[-5.33691037e-01 8.45662950e-01 5.29640756e-03 9.33250633e+02] [-8.45615497e-01 -5.33717230e-01 8.96374729e-03 1.33733698e+02] [ 1.04070930e-02 3.05147279e-04 9.99945798e-01 1.55721573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.0292541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:933.25, Y:133.73, Z:15.57 [[-5.37589343e-01 8.43190134e-01 5.30063537e-03 9.33245993e+02] [-8.43142585e-01 -5.37615362e-01 8.96124652e-03 1.33732654e+02] [ 1.04057377e-02 3.48279223e-04 9.99945798e-01 1.55728311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.0592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.83, Y:133.28, Z:16.53 [[-4.23980969e-01 -9.05655587e-01 -5.30063537e-03 9.33828135e+02] [-9.05611804e-01 4.24012921e-01 -8.96124652e-03 1.33282310e+02] [ 1.03633409e-02 1.00091997e-03 -9.99945798e-01 1.65346995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.0892541539998 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:933.14, Y:133.61, Z:15.57 [[-4.76187310e-01 8.79331449e-01 4.67436188e-03 9.33142074e+02] [-8.79282567e-01 -4.76210152e-01 9.27681344e-03 1.33608393e+02] [ 1.03833724e-02 3.07415926e-04 9.99946044e-01 1.55742179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.1192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.14, Y:133.61, Z:15.58 [[-4.78492801e-01 8.78079012e-01 4.67850373e-03 9.33139395e+02] [-8.78030091e-01 -4.78515559e-01 9.27472414e-03 1.33606893e+02] [ 1.03826774e-02 3.30021681e-04 9.99946044e-01 1.55755070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.1492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.76, Y:133.19, Z:16.54 [[-3.61526717e-01 -9.32350012e-01 -4.67850373e-03 9.33755287e+02] [-9.32304425e-01 3.61555581e-01 -9.27472414e-03 1.33194989e+02] [ 1.03388283e-02 1.00872916e-03 -9.99946044e-01 1.65359599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.1792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.05, Y:133.48, Z:15.58 [[-4.17912105e-01 9.08478639e-01 4.00437599e-03 9.33045636e+02] [-9.08428409e-01 -4.17931136e-01 9.55988959e-03 1.33479585e+02] [ 1.03585089e-02 3.57504674e-04 9.99946285e-01 1.55766692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.2092541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:933.69, Y:133.11, Z:16.54 [[-2.98090247e-01 -9.54529292e-01 -4.00437599e-03 9.33686131e+02] [-9.54481914e-01 2.98115556e-01 -9.55988959e-03 1.33106733e+02] [ 1.03189614e-02 9.72394608e-04 -9.99946285e-01 1.65370105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.2392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:932.96, Y:133.34, Z:15.58 [[-3.56245049e-01 9.34386564e-01 3.34876868e-03 9.32959141e+02] [-9.34335377e-01 -3.56260608e-01 9.78680108e-03 1.33338049e+02] [ 1.03376898e-02 3.57626380e-04 9.99946501e-01 1.55773165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.2692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:932.96, Y:133.34, Z:15.58 [[-3.58203266e-01 9.33637471e-01 3.38998705e-03 9.32959380e+02] [-9.33586385e-01 -3.58219150e-01 9.77250284e-03 1.33339859e+02] [ 1.03383331e-02 3.35696684e-04 9.99946502e-01 1.55769324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.2992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.62, Y:133.01, Z:16.54 [[-2.32745687e-01 -9.72531724e-01 -3.38998705e-03 9.33618434e+02] [-9.72483160e-01 2.32768129e-01 -9.77250283e-03 1.33005255e+02] [ 1.02931500e-02 1.02219743e-03 -9.99946502e-01 1.65396649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.3292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:932.88, Y:133.20, Z:15.58 [[-2.95041767e-01 9.55480488e-01 2.71904183e-03 9.32882789e+02] [-9.55428679e-01 -2.95054100e-01 9.95574910e-03 1.33195689e+02] [ 1.03147885e-02 3.39511262e-04 9.99946744e-01 1.55770847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.3592541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:932.89, Y:133.21, Z:15.58 [[-2.91901760e-01 9.56444427e-01 2.72400550e-03 9.32888953e+02] [-9.56392672e-01 -2.91914315e-01 9.95439080e-03 1.33212762e+02] [ 1.03159978e-02 3.00485295e-04 9.99946744e-01 1.55800530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.3892541539999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:932.88, Y:133.18, Z:15.58 [[-2.96492516e-01 9.55031451e-01 2.66767893e-03 9.32879903e+02] [-9.54979498e-01 -2.96504236e-01 9.96982146e-03 1.33182596e+02] [ 1.03124712e-02 4.08398765e-04 9.99946742e-01 1.55771549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.4192541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:932.88, Y:133.18, Z:15.58 [[-2.95638250e-01 9.55296053e-01 2.73418148e-03 9.32881679e+02] [-9.55244275e-01 -2.95650709e-01 9.95154996e-03 1.33182878e+02] [ 1.03150391e-02 3.30247606e-04 9.99946744e-01 1.55764677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.4492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:932.88, Y:133.18, Z:15.58 [[-2.95552469e-01 9.55322582e-01 2.73914695e-03 9.32882234e+02] [-9.55270817e-01 -2.95564984e-01 9.95018303e-03 1.33181779e+02] [ 1.03152305e-02 3.24174015e-04 9.99946744e-01 1.55788031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.4792541539998 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:933.55, Y:132.89, Z:16.54 [[-1.71303084e-01 -9.85214571e-01 -2.73914695e-03 9.33552271e+02] [-9.85164825e-01 1.71322098e-01 -9.95018303e-03 1.32887448e+02] [ 1.02723417e-02 9.94014187e-04 -9.99946744e-01 1.65425187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.5092541539999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:932.81, Y:133.04, Z:15.58 [[-2.29102143e-01 9.73400206e-01 2.06098445e-03 9.32814457e+02] [-9.73347970e-01 -2.29111209e-01 1.00887246e-02 1.33035771e+02] [ 1.02925612e-02 3.05293388e-04 9.99946984e-01 1.55804196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.5392541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:932.81, Y:133.03, Z:15.58 [[-2.29656377e-01 9.73269581e-01 2.06653808e-03 9.32812588e+02] [-9.73217351e-01 -2.29665471e-01 1.00875869e-02 1.33027181e+02] [ 1.02925539e-02 3.05487941e-04 9.99946984e-01 1.55806415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.5692541539999 meters Centerline goodness : 0.998801 Centerline is valid? [True, True] Translation: X:933.44, Y:132.38, Z:16.55 [[-9.47732449e-02 -9.95496727e-01 -2.07312232e-03 9.33439442e+02] [-9.95446246e-01 9.47894436e-02 -1.00862336e-02 1.32376192e+02] [ 1.02373226e-02 1.10777675e-03 -9.99946984e-01 1.65458661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.5992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:932.76, Y:133.00, Z:15.58 [[-1.50445525e-01 9.88617496e-01 1.26097616e-03 9.32763994e+02] [-9.88565043e-01 -1.50450537e-01 1.01878627e-02 1.32996813e+02] [ 1.02616139e-02 2.86161405e-04 9.99947307e-01 1.55833476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.6292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:932.76, Y:132.99, Z:15.58 [[-1.51739892e-01 9.88419688e-01 1.23495680e-03 9.32764529e+02] [-9.88367202e-01 -1.51744568e-01 1.01911437e-02 1.32989346e+02] [ 1.02605251e-02 3.25812256e-04 9.99947306e-01 1.55829564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.6592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:932.76, Y:132.98, Z:15.58 [[-1.55716835e-01 9.87800939e-01 1.25358549e-03 9.32761973e+02] [-9.87748453e-01 -1.55721491e-01 1.01887828e-02 1.32980611e+02] [ 1.02596995e-02 3.48337882e-04 9.99947307e-01 1.55814746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.6892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:932.76, Y:132.95, Z:15.58 [[-1.57756364e-01 9.87477214e-01 1.29648717e-03 9.32760309e+02] [-9.87424759e-01 -1.57761354e-01 1.01833208e-02 1.32953856e+02] [ 1.02603329e-02 3.26300142e-04 9.99947308e-01 1.55828934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.7192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:932.76, Y:132.95, Z:15.58 [[-1.61219733e-01 9.86917664e-01 1.31247720e-03 9.32759053e+02] [-9.86865207e-01 -1.61224704e-01 1.01812209e-02 1.32946469e+02] [ 1.02596305e-02 3.46175643e-04 9.99947309e-01 1.55819999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.7492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:932.76, Y:132.94, Z:15.58 [[-1.62156478e-01 9.86764144e-01 1.34201518e-03 9.32758458e+02] [-9.86711713e-01 -1.62161703e-01 1.01773260e-02 1.32938978e+02] [ 1.02602438e-02 3.26137237e-04 9.99947309e-01 1.55829669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.7792541539999 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:932.73, Y:132.74, Z:15.58 [[-1.65263816e-01 9.86248476e-01 1.34707834e-03 9.32730670e+02] [-9.86196034e-01 -1.65268928e-01 1.01766558e-02 1.32736833e+02] [ 1.02593414e-02 3.53349653e-04 9.99947309e-01 1.55820278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.8092541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:933.45, Y:132.75, Z:16.54 [[-3.20009173e-02 -9.99486932e-01 -1.34707834e-03 9.33445205e+02] [-9.99435643e-01 3.20129910e-02 -1.01766558e-02 1.32745639e+02] [ 1.02145585e-02 1.02065578e-03 -9.99947309e-01 1.65397984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.8392541539998 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:932.71, Y:132.78, Z:15.59 [[-9.65748881e-02 9.95325506e-01 6.55036476e-04 9.32708234e+02] [-9.95273081e-01 -9.65765280e-02 1.02210093e-02 1.32777315e+02] [ 1.02364924e-02 3.35152658e-04 9.99947550e-01 1.55851789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.8692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:932.71, Y:132.76, Z:15.59 [[-1.00162852e-01 9.94970837e-01 6.60119547e-04 9.32707414e+02] [-9.94918409e-01 -1.00164355e-01 1.02206810e-02 1.32755013e+02] [ 1.02354000e-02 3.66967475e-04 9.99947550e-01 1.55875599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.8992541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:932.71, Y:132.75, Z:15.59 [[-1.02156653e-01 9.94768085e-01 6.89834385e-04 9.32708365e+02] [-9.94715662e-01 -1.02158356e-01 1.02186750e-02 1.32749809e+02] [ 1.02356841e-02 3.57716575e-04 9.99947550e-01 1.55877291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.9292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:932.71, Y:132.74, Z:15.59 [[-1.03474481e-01 9.94631866e-01 6.95438545e-04 9.32709090e+02] [-9.94579443e-01 -1.03476172e-01 1.02182936e-02 1.32744846e+02] [ 1.02354018e-02 3.65663751e-04 9.99947550e-01 1.55886597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.9592541539998 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:932.71, Y:132.74, Z:15.59 [[-1.05558099e-01 9.94412890e-01 7.01044777e-04 9.32710990e+02] [-9.94360466e-01 -1.05559737e-01 1.02179090e-02 1.32739070e+02] [ 1.02348225e-02 3.81491836e-04 9.99947550e-01 1.55873212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.9892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:932.71, Y:132.73, Z:15.59 [[-1.07370114e-01 9.94218869e-01 7.06653080e-04 9.32711953e+02] [-9.94166443e-01 -1.07371715e-01 1.02175211e-02 1.32732455e+02] [ 1.02343268e-02 3.94525633e-04 9.99947550e-01 1.55861828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.0192541539999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:932.72, Y:132.62, Z:15.59 [[-1.43015545e-01 9.89720186e-01 7.11740085e-04 9.32717616e+02] [-9.89667737e-01 -1.43015314e-01 1.02171668e-02 1.32621644e+02] [ 1.02139259e-02 7.56827476e-04 9.99947550e-01 1.55854146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.0492541539999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:933.39, Y:132.46, Z:16.54 [[ 3.83892710e-03 -9.99991628e-01 -1.41689264e-03 9.33394754e+02] [-9.99941242e-01 -3.82436160e-03 -1.01432924e-02 1.32455280e+02] [ 1.01377888e-02 1.45574875e-03 -9.99947552e-01 1.65435443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.0792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:932.68, Y:132.47, Z:15.59 [[-7.96286169e-02 9.96824531e-01 3.72599173e-04 9.32678581e+02] [-9.96772629e-01 -7.96282766e-02 1.01815146e-02 1.32465560e+02] [ 1.01788530e-02 4.39343270e-04 9.99948098e-01 1.55890895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.1092541539998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:932.68, Y:132.46, Z:15.59 [[-8.15003164e-02 9.96673244e-01 3.77693690e-04 9.32680954e+02] [-9.96621343e-01 -8.14999306e-02 1.01813256e-02 1.32462139e+02] [ 1.01782369e-02 4.53363668e-04 9.99948098e-01 1.55890046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.1392541539999 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:932.68, Y:132.44, Z:15.59 [[-8.43910683e-02 9.96432637e-01 3.84423461e-04 9.32681464e+02] [-9.96380737e-01 -8.43906006e-02 1.01810715e-02 1.32437068e+02] [ 1.01771937e-02 4.76159371e-04 9.99948098e-01 1.55871906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.1692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:932.68, Y:132.43, Z:15.59 [[-8.47607917e-02 9.96401243e-01 4.14036438e-04 9.32681962e+02] [-9.96349341e-01 -8.47606066e-02 1.01798671e-02 1.32426728e+02] [ 1.01783262e-02 4.50328663e-04 9.99948098e-01 1.55889719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.1992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:932.68, Y:132.43, Z:15.59 [[-8.44672772e-02 9.96426166e-01 4.19137863e-04 9.32683287e+02] [-9.96374264e-01 -8.44671594e-02 1.01796571e-02 1.32429182e+02] [ 1.01786800e-02 4.42229735e-04 9.99948098e-01 1.55887084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.2292541539998 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:932.69, Y:132.43, Z:15.59 [[-8.29498698e-02 9.96553631e-01 4.24239181e-04 9.32685293e+02] [-9.96501729e-01 -8.29498831e-02 1.01794445e-02 1.32428553e+02] [ 1.01795529e-02 4.21628515e-04 9.99948098e-01 1.55878412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.2592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:932.69, Y:132.42, Z:15.59 [[-8.05632832e-02 9.96749403e-01 4.29320939e-04 9.32686533e+02] [-9.96697502e-01 -8.05634726e-02 1.01792301e-02 1.32420602e+02] [ 1.01807291e-02 3.92169092e-04 9.99948098e-01 1.55894683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.2892541539999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:932.69, Y:132.42, Z:15.59 [[-7.87872361e-02 9.96891359e-01 4.35455775e-04 9.32687289e+02] [-9.96839458e-01 -7.87875805e-02 1.01789677e-02 1.32418935e+02] [ 1.01816334e-02 3.67893231e-04 9.99948098e-01 1.55888277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.3192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:932.69, Y:132.41, Z:15.59 [[-7.70749900e-02 9.97025201e-01 4.40533304e-04 9.32687828e+02] [-9.96973302e-01 -7.70754753e-02 1.01787479e-02 1.32414455e+02] [ 1.01824225e-02 3.45326951e-04 9.99948098e-01 1.55894826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.3492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:932.69, Y:132.42, Z:15.59 [[-7.25669991e-02 9.97363440e-01 4.45607029e-04 9.32689311e+02] [-9.97311544e-01 -7.25677709e-02 1.01785258e-02 1.32416023e+02] [ 1.01840262e-02 2.94216038e-04 9.99948098e-01 1.55880801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.3792541539999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:932.69, Y:132.41, Z:15.59 [[-7.06201242e-02 9.97503180e-01 4.50671000e-04 9.32689688e+02] [-9.97451287e-01 -7.06210489e-02 1.01783016e-02 1.32412028e+02] [ 1.01847151e-02 2.69270553e-04 9.99948098e-01 1.55865440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.4092541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:932.69, Y:132.41, Z:15.59 [[-6.65022259e-02 9.97786173e-01 4.55723283e-04 9.32690340e+02] [-9.97734285e-01 -6.65034162e-02 1.01780754e-02 1.32407232e+02] [ 1.01858500e-02 2.22173924e-04 9.99948098e-01 1.55868570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.4392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:932.69, Y:132.41, Z:15.59 [[-6.49117414e-02 9.97890903e-01 4.60777424e-04 9.32690816e+02] [-9.97839018e-01 -6.49130660e-02 1.01778465e-02 1.32405306e+02] [ 1.01862910e-02 2.00880051e-04 9.99948098e-01 1.55867003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.4692541539998 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:932.69, Y:132.40, Z:15.59 [[-6.36869552e-02 9.97969817e-01 4.65829478e-04 9.32691702e+02] [-9.97917935e-01 -6.36883949e-02 1.01776153e-02 1.32403893e+02] [ 1.01866208e-02 1.83321740e-04 9.99948098e-01 1.55863206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.4992541539998 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:932.69, Y:132.38, Z:15.59 [[-6.50717289e-02 9.97880478e-01 4.70871856e-04 9.32691671e+02] [-9.97828596e-01 -6.50731481e-02 1.01773820e-02 1.32384518e+02] [ 1.01864520e-02 1.92410441e-04 9.99948098e-01 1.55855917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.5292541539999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:933.34, Y:132.26, Z:16.55 [[ 3.46648991e-02 -9.99398319e-01 -1.15985856e-03 9.33339512e+02] [-9.99347983e-01 -3.46513810e-02 -1.01435187e-02 1.32257180e+02] [ 1.00972248e-02 1.51072636e-03 -9.99947881e-01 1.65493356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.5592541539999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:933.33, Y:132.26, Z:16.55 [[ 1.10743107e-01 -9.93849047e-01 1.88823174e-04 9.33327620e+02] [-9.93797976e-01 -1.10739339e-01 -1.01183595e-02 1.32255093e+02] [ 1.00770321e-02 9.32886487e-04 -9.99948790e-01 1.65490160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.5892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:932.65, Y:132.15, Z:15.59 [[ 8.28257895e-02 9.96563562e-01 -9.77212592e-04 9.32654927e+02] [-9.96512980e-01 8.28314322e-02 1.00416398e-02 1.32149980e+02] [ 1.00880762e-02 1.42098289e-04 9.99949104e-01 1.55892267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.6192541539998 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:933.32, Y:132.22, Z:16.55 [[ 1.88083272e-01 -9.82152630e-01 9.45512401e-04 9.33318509e+02] [-9.82101734e-01 -1.88083196e-01 -1.00447037e-02 1.32222392e+02] [ 1.00432671e-02 9.60651369e-04 -9.99949104e-01 1.65504571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.6492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.33, Y:132.22, Z:16.55 [[ 2.66043810e-01 -9.63959341e-01 1.75511827e-03 9.33326012e+02] [-9.63908951e-01 -2.66047930e-01 -9.90119372e-03 1.32219972e+02] [ 1.00112938e-02 9.42377093e-04 -9.99949442e-01 1.65503591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.6792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:932.68, Y:132.01, Z:15.59 [[ 2.34735124e-01 9.72055933e-01 -2.58544917e-03 9.32679754e+02] [-9.72007703e-01 2.34749240e-01 9.68609410e-03 1.32007832e+02] [ 1.00223575e-02 2.39410007e-04 9.99949746e-01 1.55890136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.7092541539998 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:933.33, Y:132.19, Z:16.55 [[ 3.40755217e-01 -9.40148870e-01 2.44640110e-03 9.33333723e+02] [-9.40099149e-01 -3.40762493e-01 -9.72180185e-03 1.32185699e+02] [ 9.97358276e-03 1.01289510e-03 -9.99949750e-01 1.65511135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.7392541539998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:932.71, Y:131.93, Z:15.59 [[ 3.06998138e-01 9.51704563e-01 -3.25086307e-03 9.32711572e+02] [-9.51657715e-01 3.07015288e-01 9.44491644e-03 1.31927705e+02] [ 9.98683474e-03 1.94137153e-04 9.99950111e-01 1.55883499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.7692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.35, Y:132.16, Z:16.55 [[ 4.17134751e-01 -9.08839186e-01 3.15167956e-03 9.33350932e+02] [-9.08790409e-01 -4.17145234e-01 -9.47871024e-03 1.32155792e+02] [ 9.92933141e-03 1.08968328e-03 -9.99950109e-01 1.65504704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.7992541539999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:933.34, Y:132.15, Z:16.55 [[ 4.88634792e-01 -8.72479436e-01 3.95897618e-03 9.33344499e+02] [-8.72432260e-01 -4.88649793e-01 -9.12859848e-03 1.32150952e+02] [ 9.89906734e-03 1.00661228e-03 -9.99950496e-01 1.65520992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.8292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.36, Y:132.15, Z:16.55 [[ 5.60239998e-01 -8.28317299e-01 4.64728421e-03 9.33355581e+02] [-8.28271617e-01 -5.60258269e-01 -8.76359613e-03 1.32150607e+02] [ 9.86271768e-03 1.06050347e-03 -9.99950800e-01 1.65538844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.8592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:932.82, Y:131.76, Z:15.59 [[ 5.09509200e-01 8.60448231e-01 -5.40520858e-03 9.32818871e+02] [-8.60408468e-01 5.09537689e-01 8.28318405e-03 1.31756607e+02] [ 9.88140855e-03 4.30328754e-04 9.99951085e-01 1.55918784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.8892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.38, Y:132.11, Z:16.55 [[ 6.25327082e-01 -7.80345135e-01 5.24513627e-03 9.33377748e+02] [-7.80300940e-01 -6.25348021e-01 -8.38424100e-03 1.32114968e+02] [ 9.82263726e-03 1.15010819e-03 -9.99951095e-01 1.65531068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.9192541539999 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:932.88, Y:131.69, Z:15.59 [[ 5.71146041e-01 8.20826531e-01 -6.00043930e-03 9.32876755e+02] [-8.20789417e-01 5.71177376e-01 7.81912647e-03 1.31686213e+02] [ 9.84546163e-03 4.59233944e-04 9.99951427e-01 1.55894126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.9492541539998 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:932.89, Y:131.66, Z:15.59 [[ 5.68797205e-01 8.22456643e-01 -5.90011547e-03 9.32894148e+02] [-8.22418837e-01 5.68827689e-01 7.89410934e-03 1.31657666e+02] [ 9.84871171e-03 3.62218781e-04 9.99951435e-01 1.55896101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.9792541539998 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:933.43, Y:132.06, Z:16.55 [[ 6.85339051e-01 -7.28200978e-01 5.80699032e-03 9.33425123e+02] [-7.28158474e-01 -6.85362550e-01 -7.96318762e-03 1.32063686e+02] [ 9.77869471e-03 1.22907423e-03 -9.99951432e-01 1.65528922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.0092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.42, Y:132.05, Z:16.55 [[ 7.40649180e-01 -6.71860817e-01 6.46799792e-03 9.33423943e+02] [-6.71821177e-01 -7.40676569e-01 -7.38420027e-03 1.32054262e+02] [ 9.75184933e-03 1.12376389e-03 -9.99951818e-01 1.65516017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.0392541539999 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:933.42, Y:132.05, Z:16.55 [[ 7.90807894e-01 -6.12024364e-01 7.00372474e-03 9.33423978e+02] [-6.11987217e-01 -7.90838115e-01 -6.83527503e-03 1.32045141e+02] [ 9.72216733e-03 1.11919943e-03 -9.99952112e-01 1.65532972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.0692541539999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:933.42, Y:132.04, Z:16.55 [[ 8.35900790e-01 -5.48829405e-01 7.49361151e-03 9.33424509e+02] [-5.48794965e-01 -8.35933641e-01 -6.24769986e-03 1.32037267e+02] [ 9.69308335e-03 1.11000098e-03 -9.99952405e-01 1.65547718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.0992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.43, Y:132.03, Z:16.55 [[ 8.76281424e-01 -4.81734270e-01 7.93471073e-03 9.33426924e+02] [-4.81702695e-01 -8.76316648e-01 -5.62554358e-03 1.32028808e+02] [ 9.66333624e-03 1.10738779e-03 -9.99952696e-01 1.65542588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.1292541539999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:933.44, Y:132.04, Z:16.56 [[ 9.10749836e-01 -4.12874600e-01 8.32473821e-03 9.33439317e+02] [-4.12846099e-01 -9.10787227e-01 -4.97259487e-03 1.32035465e+02] [ 9.63512334e-03 1.09195426e-03 -9.99952985e-01 1.65595820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.1592541539999 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:933.45, Y:132.04, Z:16.56 [[ 9.39880731e-01 -3.41391632e-01 8.71582725e-03 9.33448410e+02] [-3.41367360e-01 -9.39920658e-01 -4.18131448e-03 1.32044800e+02] [ 9.61965185e-03 9.54637973e-04 -9.99953274e-01 1.65572056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.1892541539999 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:933.45, Y:132.04, Z:16.56 [[ 9.63459119e-01 -2.67705805e-01 8.95138089e-03 9.33452862e+02] [-2.67683796e-01 -9.63500111e-01 -3.59476360e-03 1.32039515e+02] [ 9.58699556e-03 1.06726816e-03 -9.99953474e-01 1.65579019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.2192541539998 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:933.46, Y:132.04, Z:16.56 [[ 9.81055822e-01 -1.93507777e-01 9.17680856e-03 9.33458183e+02] [-1.93489237e-01 -9.81098185e-01 -2.87529691e-03 1.32035884e+02] [ 9.55974254e-03 1.04521308e-03 -9.99953758e-01 1.65578679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.2492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.46, Y:132.03, Z:16.56 [[ 9.93059430e-01 -1.17241808e-01 9.34486523e-03 9.33463784e+02] [-1.17226777e-01 -9.93102862e-01 -2.14219953e-03 1.32032490e+02] [ 9.53156774e-03 1.03186302e-03 -9.99954041e-01 1.65571977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.2792541539999 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:933.47, Y:132.03, Z:16.56 [[ 9.99086156e-01 -4.16828729e-02 9.45468495e-03 9.33465221e+02] [-4.16714581e-02 -9.99130385e-01 -1.40120491e-03 1.32032042e+02] [ 9.50486926e-03 1.00593392e-03 -9.99954322e-01 1.65588795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.3092541539999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:933.47, Y:132.04, Z:16.56 [[ 9.99348055e-01 3.48295789e-02 9.50609469e-03 9.33467068e+02] [ 3.48373597e-02 -9.99392781e-01 -6.54089741e-04 1.32041308e+02] [ 9.47754074e-03 9.84830550e-04 -9.99954602e-01 1.65602057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.3392541539998 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:933.47, Y:132.05, Z:16.56 [[ 9.93556618e-01 1.12938077e-01 9.49935665e-03 9.33467584e+02] [ 1.12942566e-01 -9.93601516e-01 6.42141102e-05 1.32054516e+02] [ 9.44582738e-03 1.00908136e-03 -9.99954878e-01 1.65586930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.3692541539998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:933.47, Y:132.05, Z:16.56 [[ 9.81819862e-01 1.89580606e-01 9.43148309e-03 9.33470783e+02] [ 1.89581260e-01 -9.81864681e-01 8.32860337e-04 1.32048544e+02] [ 9.41833431e-03 9.70313625e-04 -9.99955176e-01 1.65566321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.3992541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:933.47, Y:132.04, Z:16.56 [[ 9.63870814e-01 2.66207442e-01 9.30865697e-03 9.33473449e+02] [ 2.66204617e-01 -9.63915274e-01 1.56394260e-03 1.32042708e+02] [ 9.38908980e-03 9.70568841e-04 -9.99955451e-01 1.65576744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.4292541539999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:933.47, Y:132.05, Z:16.56 [[ 9.39366804e-01 3.42792442e-01 9.12957866e-03 9.33473140e+02] [ 3.42786276e-01 -9.39410649e-01 2.28077510e-03 1.32045567e+02] [ 9.35825588e-03 9.87009846e-04 -9.99955723e-01 1.65589343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.4592541539998 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:933.47, Y:132.05, Z:16.56 [[ 9.09268065e-01 4.16115913e-01 8.89567723e-03 9.33473536e+02] [ 4.16106432e-01 -9.09311037e-01 2.97919674e-03 1.32048864e+02] [ 9.32862866e-03 9.92660052e-04 -9.99955995e-01 1.65599926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.4892541539998 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:933.47, Y:132.05, Z:16.56 [[ 8.73430755e-01 4.86872272e-01 8.60859350e-03 9.33473913e+02] [ 4.86859574e-01 -8.73472606e-01 3.65531166e-03 1.32053434e+02] [ 9.29904049e-03 9.98514540e-04 -9.99956264e-01 1.65609682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.5192541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:933.48, Y:132.05, Z:16.56 [[ 8.31994249e-01 5.54722602e-01 8.27066728e-03 9.33478438e+02] [ 5.54706813e-01 -8.32034748e-01 4.30459435e-03 1.32049373e+02] [ 9.26933835e-03 1.00639775e-03 -9.99956532e-01 1.65593693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.5492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.48, Y:132.05, Z:16.56 [[ 7.85956631e-01 6.18231363e-01 7.88387138e-03 9.33482404e+02] [ 6.18212570e-01 -7.85995530e-01 4.92391318e-03 1.32046086e+02] [ 9.24080523e-03 1.00392617e-03 -9.99956799e-01 1.65629742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.5792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.49, Y:132.04, Z:16.56 [[ 7.35797818e-01 6.77160283e-01 7.45131516e-03 9.33487444e+02] [ 6.77138600e-01 -7.35834878e-01 5.50898231e-03 1.32043307e+02] [ 9.21340160e-03 9.92075961e-04 -9.99957064e-01 1.65600722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.6092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.49, Y:132.04, Z:16.56 [[ 6.81333791e-01 7.31939616e-01 6.97586288e-03 9.33489019e+02] [ 7.31915213e-01 -6.81368798e-01 6.05660167e-03 1.32042356e+02] [ 9.18620201e-03 9.79172783e-04 -9.99957327e-01 1.65637211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.6392541539999 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:933.48, Y:132.05, Z:16.56 [[ 6.23544028e-01 7.81761348e-01 6.48387677e-03 9.33478524e+02] [ 7.81734607e-01 -6.23576952e-01 6.54136386e-03 1.32052650e+02] [ 9.15698154e-03 9.89842484e-04 -9.99957584e-01 1.65640270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.6692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.48, Y:132.05, Z:16.56 [[ 5.63412775e-01 8.26154426e-01 5.90846745e-03 9.33478211e+02] [ 8.26125071e-01 -5.63442999e-01 7.02530193e-03 1.32053969e+02] [ 9.13306890e-03 9.22988239e-04 -9.99957867e-01 1.65586528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.6992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.48, Y:132.05, Z:16.56 [[ 4.98781816e-01 8.66711232e-01 5.32355720e-03 9.33484334e+02] [ 8.66679736e-01 -4.98809411e-01 7.44362307e-03 1.32050403e+02] [ 9.10691215e-03 9.01075311e-04 -9.99958125e-01 1.65569277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.7292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.49, Y:132.05, Z:16.56 [[ 4.30926129e-01 9.02374916e-01 4.70980997e-03 9.33489792e+02] [ 9.02341519e-01 -4.30950962e-01 7.81357586e-03 1.32047193e+02] [ 9.08047199e-03 8.82783086e-04 -9.99958382e-01 1.65586071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.7592541539999 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:933.49, Y:132.04, Z:16.56 [[ 3.60872972e-01 9.32606093e-01 4.07097334e-03 9.33494982e+02] [ 9.32571025e-01 -3.60894906e-01 8.13333497e-03 1.32044822e+02] [ 9.05439129e-03 8.61371014e-04 -9.99958637e-01 1.65574641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.7892541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:933.50, Y:132.04, Z:16.56 [[ 2.86737479e-01 9.58003124e-01 3.41061914e-03 9.33501005e+02] [ 9.57966669e-01 -2.86756478e-01 8.40141338e-03 1.32041138e+02] [ 9.02659740e-03 8.58259363e-04 -9.99958891e-01 1.65570663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.8192541539999 meters Centerline goodness : 0.998729 Centerline is valid? [True, True] Translation: X:934.18, Y:131.86, Z:15.60 [[ 3.18275870e-01 -9.47994198e-01 -2.73349531e-03 9.34176047e+02] [ 9.47955053e-01 3.18287572e-01 -8.61623295e-03 1.31863921e+02] [ 9.03817643e-03 1.51108347e-04 9.99959143e-01 1.56008481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.8492541539998 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:934.19, Y:131.89, Z:15.60 [[ 3.19517581e-01 -9.47576360e-01 -2.74902081e-03 9.34185016e+02] [ 9.47537242e-01 3.19529372e-01 -8.61131446e-03 1.31889674e+02] [ 9.03827090e-03 1.46666764e-04 9.99959143e-01 1.56037825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.8792541539999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:934.19, Y:131.92, Z:15.60 [[ 3.20575626e-01 -9.47219000e-01 -2.72662285e-03 9.34193942e+02] [ 9.47179808e-01 3.20587171e-01 -8.61840055e-03 1.31916356e+02] [ 9.03763306e-03 1.80247044e-04 9.99959144e-01 1.56040756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.9092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.20, Y:131.94, Z:15.60 [[ 3.22130083e-01 -9.46691496e-01 -2.72411044e-03 9.34200880e+02] [ 9.46652279e-01 3.22141541e-01 -8.61919460e-03 1.31941998e+02] [ 9.03726737e-03 1.97716525e-04 9.99959144e-01 1.56032130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.9392541539999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:934.21, Y:131.97, Z:15.60 [[ 3.25370581e-01 -9.45582834e-01 -2.66265615e-03 9.34212619e+02] [ 9.45543418e-01 3.25381344e-01 -8.63858275e-03 1.31969818e+02] [ 9.03487419e-03 2.93083690e-04 9.99959142e-01 1.56009968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.9692541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:934.22, Y:132.00, Z:15.60 [[ 3.28496849e-01 -9.44501152e-01 -2.71933981e-03 9.34221937e+02] [ 9.44461846e-01 3.28507998e-01 -8.62070231e-03 1.31996334e+02] [ 9.03558814e-03 2.63560843e-04 9.99959144e-01 1.56012750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.9992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.23, Y:132.02, Z:15.60 [[ 3.29552931e-01 -9.44133192e-01 -2.71687074e-03 9.34230599e+02] [ 9.44093868e-01 3.29564014e-01 -8.62148038e-03 1.32022382e+02] [ 9.03520862e-03 2.76253126e-04 9.99959144e-01 1.56005650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.0292541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:934.24, Y:132.05, Z:15.60 [[ 3.30324217e-01 -9.43863626e-01 -2.71426487e-03 9.34239721e+02] [ 9.43824286e-01 3.30335244e-01 -8.62230070e-03 1.32049424e+02] [ 9.03489335e-03 2.86365626e-04 9.99959144e-01 1.56003918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.0592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.25, Y:132.07, Z:15.60 [[ 3.31334873e-01 -9.43509326e-01 -2.71183257e-03 9.34249328e+02] [ 9.43469968e-01 3.31345836e-01 -8.62306562e-03 1.32074846e+02] [ 9.03449726e-03 2.98589766e-04 9.99959144e-01 1.56001918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.0892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.26, Y:132.10, Z:15.60 [[ 3.31431194e-01 -9.43475500e-01 -2.71005477e-03 9.34259911e+02] [ 9.43436136e-01 3.31442136e-01 -8.62362431e-03 1.32100579e+02] [ 9.03440460e-03 3.01374496e-04 9.99959144e-01 1.56010498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.1192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.27, Y:132.13, Z:15.60 [[ 3.29333434e-01 -9.44209806e-01 -2.70767139e-03 9.34267043e+02] [ 9.44170461e-01 3.29344442e-01 -8.62437259e-03 1.32125879e+02] [ 9.03497369e-03 2.83790893e-04 9.99959144e-01 1.56026038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.1492541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:934.28, Y:132.15, Z:15.60 [[ 3.28533096e-01 -9.44488733e-01 -2.65279286e-03 9.34275968e+02] [ 9.44449258e-01 3.28543637e-01 -8.64158255e-03 1.32151116e+02] [ 9.03343557e-03 3.33617622e-04 9.99959142e-01 1.56029187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.1792541539999 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:934.29, Y:132.18, Z:15.60 [[ 3.28056692e-01 -9.44654345e-01 -2.64123251e-03 9.34288484e+02] [ 9.44614846e-01 3.28067147e-01 -8.64520789e-03 1.32177242e+02] [ 9.03323481e-03 3.41170859e-04 9.99959141e-01 1.56024556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.2092541539998 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:934.30, Y:132.20, Z:15.60 [[ 3.27490070e-01 -9.44850868e-01 -2.66288630e-03 9.34298168e+02] [ 9.44811431e-01 3.27500746e-01 -8.63841892e-03 1.32203790e+02] [ 9.03411487e-03 3.13070995e-04 9.99959143e-01 1.56028150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.2392541539998 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:934.31, Y:132.23, Z:15.60 [[ 3.28877836e-01 -9.44368736e-01 -2.65698670e-03 9.34311179e+02] [ 9.44329268e-01 3.28888400e-01 -8.64026715e-03 1.32230514e+02] [ 9.03345027e-03 3.32522056e-04 9.99959142e-01 1.56019092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.2692541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:934.32, Y:132.26, Z:15.60 [[ 3.28625386e-01 -9.44456486e-01 -2.70231085e-03 9.34320497e+02] [ 9.44417135e-01 3.28636375e-01 -8.62606834e-03 1.32257186e+02] [ 9.03502383e-03 2.82636365e-04 9.99959143e-01 1.56016265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.2992541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:934.33, Y:132.28, Z:15.60 [[ 3.28288680e-01 -9.44573583e-01 -2.69981451e-03 9.34329369e+02] [ 9.44534229e-01 3.28299660e-01 -8.62684958e-03 1.32282307e+02] [ 9.03504241e-03 2.82029850e-04 9.99959143e-01 1.56003543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.3292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.34, Y:132.31, Z:15.60 [[ 3.27463708e-01 -9.44859908e-01 -2.69720241e-03 9.34339452e+02] [ 9.44820557e-01 3.27474698e-01 -8.62766618e-03 1.32308251e+02] [ 9.03520142e-03 2.76875272e-04 9.99959143e-01 1.55991066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.3592541539998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:934.35, Y:132.33, Z:15.60 [[ 3.26546185e-01 -9.45177405e-01 -2.69477127e-03 9.34348779e+02] [ 9.45138059e-01 3.26557191e-01 -8.62842546e-03 1.32334397e+02] [ 9.03538973e-03 2.70648520e-04 9.99959143e-01 1.55993388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.3892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.36, Y:132.36, Z:15.60 [[ 3.24888304e-01 -9.45748561e-01 -2.69229879e-03 9.34358685e+02] [ 9.45709228e-01 3.24899358e-01 -8.62919687e-03 1.32360270e+02] [ 9.03577667e-03 2.57393333e-04 9.99959143e-01 1.56008243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.4192541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:934.37, Y:132.39, Z:15.60 [[ 3.23886461e-01 -9.46092134e-01 -2.68981897e-03 9.34367102e+02] [ 9.46052806e-01 3.23897533e-01 -8.62996979e-03 1.32385797e+02] [ 9.03597226e-03 2.50419592e-04 9.99959143e-01 1.56017382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.4492541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:934.38, Y:132.41, Z:15.60 [[ 3.23616985e-01 -9.46184351e-01 -2.68720479e-03 9.34375522e+02] [ 9.46145020e-01 3.23628045e-01 -8.63078372e-03 1.32413116e+02] [ 9.03596732e-03 2.50582778e-04 9.99959143e-01 1.56019955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.4792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.38, Y:132.44, Z:15.60 [[ 3.22507139e-01 -9.46563224e-01 -2.68474628e-03 9.34383789e+02] [ 9.46523900e-01 3.22518222e-01 -8.63154841e-03 1.32440462e+02] [ 9.03618589e-03 2.42559463e-04 9.99959143e-01 1.56042577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.5092541539999 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:934.39, Y:132.47, Z:15.60 [[ 3.19653283e-01 -9.47530783e-01 -2.68234164e-03 9.34391049e+02] [ 9.47491485e-01 3.19664462e-01 -8.63229561e-03 1.32466861e+02] [ 9.03681512e-03 2.17845759e-04 9.99959143e-01 1.56045602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.5392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.40, Y:132.49, Z:15.61 [[ 3.16770373e-01 -9.48498470e-01 -2.68009672e-03 9.34396757e+02] [ 9.48459201e-01 3.16781652e-01 -8.63299254e-03 1.32492725e+02] [ 9.03738569e-03 1.92713877e-04 9.99959143e-01 1.56069410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.5692541539999 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:934.41, Y:132.52, Z:15.61 [[ 3.12790500e-01 -9.49818514e-01 -2.62540852e-03 9.34406973e+02] [ 9.49779150e-01 3.12801447e-01 -8.64994646e-03 1.32519390e+02] [ 9.03711088e-03 2.12062815e-04 9.99959142e-01 1.56059028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.5992541539998 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:934.42, Y:132.55, Z:15.61 [[ 3.12211024e-01 -9.50009135e-01 -2.63071023e-03 9.34418351e+02] [ 9.49969791e-01 3.12222042e-01 -8.64830369e-03 1.32546189e+02] [ 9.03733322e-03 2.01000502e-04 9.99959142e-01 1.56061120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.6292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.43, Y:132.57, Z:15.61 [[ 3.10694676e-01 -9.50506001e-01 -2.67581568e-03 9.34427412e+02] [ 9.50466794e-01 3.10706167e-01 -8.63432532e-03 1.32571203e+02] [ 9.03837047e-03 1.39364958e-04 9.99959143e-01 1.56058924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.6592541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:934.43, Y:132.60, Z:15.61 [[ 3.09940346e-01 -9.50752245e-01 -2.67420099e-03 9.34434925e+02] [ 9.50713042e-01 3.09951854e-01 -8.63482539e-03 1.32598607e+02] [ 9.03845317e-03 1.33883012e-04 9.99959143e-01 1.56056496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.6892541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:934.44, Y:132.63, Z:15.61 [[ 3.10209946e-01 -9.50664321e-01 -2.67169646e-03 9.34442493e+02] [ 9.50625109e-01 3.10221419e-01 -8.63560024e-03 1.32625355e+02] [ 9.03837451e-03 1.39067346e-04 9.99959143e-01 1.56053549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.7192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.45, Y:132.65, Z:15.60 [[ 3.11676150e-01 -9.50184642e-01 -2.66917007e-03 9.34449318e+02] [ 9.50145405e-01 3.11687540e-01 -8.63638105e-03 1.32651481e+02] [ 9.03810369e-03 1.55654326e-04 9.99959143e-01 1.56039756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.7492541539998 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:934.46, Y:132.68, Z:15.60 [[ 3.11837135e-01 -9.50131826e-01 -2.66717699e-03 9.34456943e+02] [ 9.50092582e-01 3.11848501e-01 -8.63699653e-03 1.32678880e+02] [ 9.03804043e-03 1.59271188e-04 9.99959143e-01 1.56029665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.7792541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:934.46, Y:132.71, Z:15.60 [[ 3.11998889e-01 -9.50078730e-01 -2.66468001e-03 9.34464657e+02] [ 9.50039477e-01 3.12010225e-01 -8.63776683e-03 1.32705629e+02] [ 9.03796595e-03 1.63422450e-04 9.99959143e-01 1.56028630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.8092541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:934.47, Y:132.73, Z:15.60 [[ 3.11909660e-01 -9.50108034e-01 -2.66218842e-03 9.34472129e+02] [ 9.50068776e-01 3.11920977e-01 -8.63853468e-03 1.32731126e+02] [ 9.03793362e-03 1.65180313e-04 9.99959143e-01 1.56021303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.8392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.48, Y:132.76, Z:15.60 [[ 3.10943118e-01 -9.50424799e-01 -2.66057830e-03 9.34479875e+02] [ 9.50385548e-01 3.10954461e-01 -8.63903055e-03 1.32757138e+02] [ 9.03806756e-03 1.57671926e-04 9.99959143e-01 1.56022240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.8692541539998 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:934.49, Y:132.78, Z:15.60 [[ 3.06909046e-01 -9.51735136e-01 -2.65879253e-03 9.34488151e+02] [ 9.51695929e-01 3.06920538e-01 -8.63958011e-03 1.32783827e+02] [ 9.03862999e-03 1.21203263e-04 9.99959143e-01 1.56031031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.8992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.50, Y:132.81, Z:15.60 [[ 3.04544878e-01 -9.52494284e-01 -2.65632878e-03 9.34496807e+02] [ 9.52455099e-01 3.04556445e-01 -8.64033755e-03 1.32809303e+02] [ 9.03887418e-03 1.01336655e-04 9.99959143e-01 1.56040413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.9292541539999 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:934.51, Y:132.84, Z:15.60 [[ 3.01180848e-01 -9.53563344e-01 -2.65454575e-03 9.34505761e+02] [ 9.53524195e-01 3.01192537e-01 -8.64088531e-03 1.32835669e+02] [ 9.03916086e-03 7.12955686e-05 9.99959143e-01 1.56043292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.9592541539998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:934.52, Y:132.86, Z:15.61 [[ 2.95403514e-01 -9.55368897e-01 -2.65212214e-03 9.34515444e+02] [ 9.55329814e-01 2.95415419e-01 -8.64162912e-03 1.32862251e+02] [ 9.03942146e-03 1.91162649e-05 9.99959143e-01 1.56063466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.9892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.52, Y:132.89, Z:15.61 [[ 2.92615604e-01 -9.56226483e-01 -2.64981688e-03 9.34524464e+02] [ 9.56187428e-01 2.92627602e-01 -8.64233593e-03 1.32889157e+02] [ 9.03944005e-03 -4.83923256e-06 9.99959143e-01 1.56074060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.0192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.53, Y:132.92, Z:15.61 [[ 2.88213782e-01 -9.57562430e-01 -2.64738811e-03 9.34533878e+02] [ 9.57523423e-01 2.88225937e-01 -8.64307987e-03 1.32915501e+02] [ 9.03933448e-03 -4.38813917e-05 9.99959143e-01 1.56082750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.0492541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:934.54, Y:132.94, Z:15.61 [[ 2.86373611e-01 -9.58114377e-01 -2.64497211e-03 9.34542085e+02] [ 9.58075387e-01 2.86385819e-01 -8.64381916e-03 1.32942048e+02] [ 9.03924991e-03 -5.87209739e-05 9.99959143e-01 1.56082863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.0792541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:934.55, Y:132.97, Z:15.61 [[ 2.84829287e-01 -9.58574616e-01 -2.64256350e-03 9.34550220e+02] [ 9.58535639e-01 2.84841537e-01 -8.64455545e-03 1.32968993e+02] [ 9.03916326e-03 -7.07687270e-05 9.99959143e-01 1.56082339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.1092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.56, Y:132.99, Z:15.61 [[ 2.83010295e-01 -9.59113238e-01 -2.64014975e-03 9.34558374e+02] [ 9.59074277e-01 2.83022596e-01 -8.64529257e-03 1.32994829e+02] [ 9.03903659e-03 -8.53929123e-05 9.99959143e-01 1.56081499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.1392541539999 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:934.57, Y:133.02, Z:15.61 [[ 2.81724827e-01 -9.59491618e-01 -2.63761159e-03 9.34566317e+02] [ 9.59452667e-01 2.81737158e-01 -8.64606687e-03 1.33021876e+02] [ 9.03894189e-03 -9.48517802e-05 9.99959143e-01 1.56084589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.1692541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:934.57, Y:133.05, Z:15.61 [[ 2.81389095e-01 -9.59590138e-01 -2.63513066e-03 9.34574929e+02] [ 9.59551184e-01 2.81401417e-01 -8.64682294e-03 1.33050057e+02] [ 9.03893552e-03 -9.54210630e-05 9.99959143e-01 1.56074325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.1992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.58, Y:133.08, Z:15.61 [[ 2.80289732e-01 -9.59911750e-01 -2.66444292e-03 9.34580389e+02] [ 9.59872894e-01 2.80302363e-01 -8.63789423e-03 1.33075444e+02] [ 9.03846581e-03 -1.36413473e-04 9.99959143e-01 1.56100198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.2292541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:934.59, Y:133.10, Z:15.61 [[ 2.81473594e-01 -9.59565438e-01 -2.60495159e-03 9.34589234e+02] [ 9.59526398e-01 2.81485641e-01 -8.65600592e-03 1.33102877e+02] [ 9.03926058e-03 -6.30827173e-05 9.99959143e-01 1.56099042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.2592541539999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:934.60, Y:133.13, Z:15.61 [[ 2.83461133e-01 -9.58980119e-01 -2.63017129e-03 9.34595499e+02] [ 9.58941124e-01 2.83473327e-01 -8.64833038e-03 1.33128523e+02] [ 9.03916029e-03 -7.07138797e-05 9.99959143e-01 1.56116693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.2892541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:934.61, Y:133.16, Z:15.61 [[ 2.87199218e-01 -9.57867322e-01 -2.60833690e-03 9.34605233e+02] [ 9.57828219e-01 2.87211062e-01 -8.65497211e-03 1.33155055e+02] [ 9.03945816e-03 -1.26374632e-05 9.99959143e-01 1.56125001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.3192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.61, Y:133.18, Z:15.61 [[ 2.88764785e-01 -9.57396462e-01 -2.62958145e-03 9.34612976e+02] [ 9.57357398e-01 2.88776756e-01 -8.64851270e-03 1.33182458e+02] [ 9.03941746e-03 -2.00633517e-05 9.99959143e-01 1.56140447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.3492541539998 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:934.62, Y:133.21, Z:15.61 [[ 2.92490359e-01 -9.56264863e-01 -2.62709017e-03 9.34618846e+02] [ 9.56225747e-01 2.92502157e-01 -8.64926939e-03 1.33208675e+02] [ 9.03942195e-03 1.77366540e-05 9.99959143e-01 1.56132267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.3792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.63, Y:133.24, Z:15.62 [[ 2.95255396e-01 -9.55414758e-01 -2.62527117e-03 9.34626380e+02] [ 9.55375603e-01 2.95267063e-01 -8.64982147e-03 1.33236144e+02] [ 9.03932319e-03 4.57864382e-05 9.99959143e-01 1.56153039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.4092541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:934.63, Y:133.26, Z:15.62 [[ 3.00759485e-01 -9.53696416e-01 -2.62278356e-03 9.34632237e+02] [ 9.53657187e-01 3.00770904e-01 -8.65057569e-03 1.33263860e+02] [ 9.03888001e-03 1.00506302e-04 9.99959143e-01 1.56152165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.4392541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:934.64, Y:133.29, Z:15.61 [[ 3.02835016e-01 -9.53039394e-01 -2.62031117e-03 9.34638407e+02] [ 9.53000135e-01 3.02846327e-01 -8.65132453e-03 1.33289921e+02] [ 9.03860470e-03 1.22767106e-04 9.99959143e-01 1.56140198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.4692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.65, Y:133.32, Z:15.62 [[ 3.05257706e-01 -9.52266182e-01 -2.61770690e-03 9.34645222e+02] [ 9.52226887e-01 3.05268894e-01 -8.65211245e-03 1.33317224e+02] [ 9.03821858e-03 1.48473105e-04 9.99959143e-01 1.56153009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.4992541539998 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:934.65, Y:133.34, Z:15.61 [[ 3.08056598e-01 -9.51364438e-01 -2.61525627e-03 9.34650205e+02] [ 9.51325104e-01 3.08067647e-01 -8.65285314e-03 1.33343662e+02] [ 9.03769260e-03 1.77609560e-04 9.99959143e-01 1.56127735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.5292541539999 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:934.66, Y:133.37, Z:15.61 [[ 3.09257745e-01 -9.50974669e-01 -2.61269008e-03 9.34657502e+02] [ 9.50935315e-01 3.09268722e-01 -8.65362792e-03 1.33371152e+02] [ 9.03740426e-03 1.91702195e-04 9.99959143e-01 1.56129918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.5592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.66, Y:133.40, Z:15.61 [[ 3.11321769e-01 -9.50300975e-01 -2.61025160e-03 9.34664267e+02] [ 9.50261591e-01 3.11332638e-01 -8.65436339e-03 1.33398417e+02] [ 9.03690648e-03 2.13869886e-04 9.99959143e-01 1.56136014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.5892541539998 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:934.67, Y:133.43, Z:15.61 [[ 3.11279034e-01 -9.50314981e-01 -2.60780902e-03 9.34671397e+02] [ 9.50275591e-01 3.11289883e-01 -8.65509934e-03 1.33425447e+02] [ 9.03685513e-03 2.16013705e-04 9.99959143e-01 1.56120355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.6192541539998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:934.68, Y:133.45, Z:15.61 [[ 3.11351409e-01 -9.50291278e-01 -2.60539084e-03 9.34678750e+02] [ 9.50251881e-01 3.11362233e-01 -8.65582721e-03 1.33452151e+02] [ 9.03677741e-03 2.19226452e-04 9.99959143e-01 1.56128702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.6492541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:934.69, Y:133.48, Z:15.61 [[ 3.10505986e-01 -9.50567861e-01 -2.60292250e-03 9.34685411e+02] [ 9.50528467e-01 3.10516822e-01 -8.65656941e-03 1.33478145e+02] [ 9.03690789e-03 2.13764687e-04 9.99959143e-01 1.56120573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.6792541539999 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:934.69, Y:133.50, Z:15.61 [[ 3.08938711e-01 -9.51078394e-01 -2.60033724e-03 9.34692877e+02] [ 9.51039012e-01 3.08949589e-01 -8.65734593e-03 1.33503766e+02] [ 9.03718778e-03 2.01567132e-04 9.99959143e-01 1.56106367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.7092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.70, Y:133.53, Z:15.61 [[ 3.05991846e-01 -9.52030589e-01 -2.59782034e-03 9.34702113e+02] [ 9.51991234e-01 3.06002822e-01 -8.65810111e-03 1.33530462e+02] [ 9.03771745e-03 1.76206151e-04 9.99959143e-01 1.56136265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.7392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.71, Y:133.56, Z:15.62 [[ 3.03949112e-01 -9.52684733e-01 -2.59547525e-03 9.34710987e+02] [ 9.52645397e-01 3.03960151e-01 -8.65880405e-03 1.33556622e+02] [ 9.03803148e-03 1.59268246e-04 9.99959143e-01 1.56160324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.7692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.72, Y:133.58, Z:15.62 [[ 3.01160674e-01 -9.53569885e-01 -2.59300815e-03 9.34719362e+02] [ 9.53530574e-01 3.01171807e-01 -8.65954280e-03 1.33582415e+02] [ 9.03842017e-03 1.35401193e-04 9.99959143e-01 1.56169205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.7992541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:934.73, Y:133.61, Z:15.62 [[ 2.96083011e-01 -9.55158699e-01 -2.59040979e-03 9.34728696e+02] [ 9.55119441e-01 2.96094329e-01 -8.66032000e-03 1.33608554e+02] [ 9.03898563e-03 9.00228745e-05 9.99959143e-01 1.56183074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.8292541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:934.74, Y:133.63, Z:15.62 [[ 2.93628729e-01 -9.55916038e-01 -2.58796405e-03 9.34736825e+02] [ 9.55876803e-01 2.93640125e-01 -8.66105080e-03 1.33634420e+02] [ 9.03916745e-03 6.93585387e-05 9.99959143e-01 1.56184868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.8592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.75, Y:133.66, Z:15.62 [[ 2.91597119e-01 -9.56537734e-01 -2.58538608e-03 9.34745249e+02] [ 9.56498516e-01 2.91608575e-01 -8.66182027e-03 1.33661521e+02] [ 9.03927868e-03 5.28438867e-05 9.99959144e-01 1.56193851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.8892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.75, Y:133.69, Z:15.62 [[ 2.88990694e-01 -9.57328422e-01 -2.58300671e-03 9.34754562e+02] [ 9.57289229e-01 2.89002236e-01 -8.66252976e-03 1.33688234e+02] [ 9.03938065e-03 3.07059893e-05 9.99959144e-01 1.56213625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.9192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.76, Y:133.71, Z:15.62 [[ 2.88196296e-01 -9.57567876e-01 -2.58051265e-03 9.34762880e+02] [ 9.57528686e-01 2.88207847e-01 -8.66327266e-03 1.33714239e+02] [ 9.03939559e-03 2.58082034e-05 9.99959144e-01 1.56206776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.9492541539998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:934.77, Y:133.74, Z:15.62 [[ 2.84138230e-01 -9.58779858e-01 -2.57869557e-03 9.34767163e+02] [ 9.58740713e-01 2.84149931e-01 -8.66381349e-03 1.33739364e+02] [ 9.03942604e-03 -1.05797920e-05 9.99959144e-01 1.56206209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.9792541539998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:934.78, Y:133.77, Z:15.62 [[ 2.85166902e-01 -9.58474602e-01 -2.50490147e-03 9.34776442e+02] [ 9.58435249e-01 2.85177893e-01 -8.68576484e-03 1.33767219e+02] [ 9.03942752e-03 7.61067810e-05 9.99959141e-01 1.56228342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.0092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.79, Y:133.80, Z:15.62 [[ 2.87818986e-01 -9.57681508e-01 -2.52189510e-03 9.34787346e+02] [ 9.57642169e-01 2.87830022e-01 -8.68071023e-03 1.33795033e+02] [ 9.03923279e-03 8.34001273e-05 9.99959142e-01 1.56228869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.0392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.79, Y:133.82, Z:15.62 [[ 2.85705949e-01 -9.58313868e-01 -2.57692164e-03 9.34791884e+02] [ 9.58274699e-01 2.85717570e-01 -8.66434443e-03 1.33821505e+02] [ 9.03943321e-03 6.05594452e-06 9.99959143e-01 1.56228543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.0692541539999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:934.80, Y:133.85, Z:15.62 [[ 2.87216845e-01 -9.57862253e-01 -2.52762336e-03 9.34801904e+02] [ 9.57822935e-01 2.87227958e-01 -8.67898532e-03 1.33848855e+02] [ 9.03927653e-03 7.17351573e-05 9.99959142e-01 1.56215723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.0992541539998 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:934.81, Y:133.88, Z:15.62 [[ 2.84969017e-01 -9.58533273e-01 -2.57375075e-03 9.34808132e+02] [ 9.58494104e-01 2.84980640e-01 -8.66528464e-03 1.33875241e+02] [ 9.03943278e-03 2.41273229e-06 9.99959144e-01 1.56223471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.1292541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:934.82, Y:133.90, Z:15.63 [[ 2.82295482e-01 -9.59324131e-01 -2.54403992e-03 9.34815953e+02] [ 9.59284915e-01 2.82306945e-01 -8.67409927e-03 1.33900991e+02] [ 9.03947288e-03 8.19991210e-06 9.99959143e-01 1.56250717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.1592541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:934.82, Y:133.93, Z:15.63 [[ 2.79832277e-01 -9.60045575e-01 -2.52801496e-03 9.34824106e+02] [ 9.60006346e-01 2.79843696e-01 -8.67885057e-03 1.33928249e+02] [ 9.03954114e-03 1.71211048e-06 9.99959143e-01 1.56258254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.1892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.83, Y:133.96, Z:15.63 [[ 2.79212650e-01 -9.60225968e-01 -2.52706625e-03 9.34834516e+02] [ 9.60186744e-01 2.79224086e-01 -8.67913159e-03 1.33955439e+02] [ 9.03954530e-03 -3.13218080e-06 9.99959142e-01 1.56273087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.2192541539998 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:934.84, Y:133.98, Z:15.63 [[ 2.73104156e-01 -9.61981044e-01 -2.56721887e-03 9.34842638e+02] [ 9.61942004e-01 2.73116202e-01 -8.66723848e-03 1.33982754e+02] [ 9.03886819e-03 -1.02456813e-04 9.99959143e-01 1.56273133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.2492541539998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:934.85, Y:134.01, Z:15.63 [[ 2.70118087e-01 -9.62823785e-01 -2.56474172e-03 9.34850372e+02] [ 9.62784775e-01 2.70130233e-01 -8.66797143e-03 1.34008954e+02] [ 9.03854334e-03 -1.27918421e-04 9.99959143e-01 1.56286521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.2792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.86, Y:134.04, Z:15.63 [[ 2.62882921e-01 -9.64824339e-01 -2.56213027e-03 9.34855512e+02] [ 9.64785414e-01 2.62895335e-01 -8.66874327e-03 1.34035154e+02] [ 9.03738659e-03 -1.93041361e-04 9.99959143e-01 1.56305855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.3092541539999 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:934.86, Y:134.06, Z:15.63 [[ 2.61614058e-01 -9.65169290e-01 -2.51539499e-03 9.34864988e+02] [ 9.65130248e-01 2.61626104e-01 -8.68253952e-03 1.34062423e+02] [ 9.03821350e-03 -1.56209393e-04 9.99959142e-01 1.56290698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.3392541539998 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:934.87, Y:134.09, Z:15.63 [[ 2.61343995e-01 -9.65242336e-01 -2.55917120e-03 9.34873028e+02] [ 9.65203422e-01 2.61356445e-01 -8.66961730e-03 1.34089853e+02] [ 9.03713754e-03 -2.04368373e-04 9.99959143e-01 1.56293451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.3692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.88, Y:134.12, Z:15.63 [[ 2.58726452e-01 -9.65947248e-01 -2.55674514e-03 9.34879513e+02] [ 9.65908362e-01 2.58738985e-01 -8.67033271e-03 1.34116895e+02] [ 9.03661366e-03 -2.26337087e-04 9.99959143e-01 1.56298425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.3992541539999 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:934.89, Y:134.14, Z:15.63 [[ 2.56355262e-01 -9.66579304e-01 -2.53540370e-03 9.34886694e+02] [ 9.66540387e-01 2.56367699e-01 -8.67661902e-03 1.34143668e+02] [ 9.03663599e-03 -2.26273129e-04 9.99959143e-01 1.56291509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.4292541539999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:934.89, Y:134.17, Z:15.63 [[ 2.55503357e-01 -9.66804797e-01 -2.55332433e-03 9.34893579e+02] [ 9.66765942e-01 2.55515990e-01 -8.67134220e-03 1.34170822e+02] [ 9.03591042e-03 -2.52909954e-04 9.99959143e-01 1.56288748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.4592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.90, Y:134.20, Z:15.63 [[ 2.55825091e-01 -9.66719719e-01 -2.55089219e-03 9.34898426e+02] [ 9.66680854e-01 2.55837689e-01 -8.67205761e-03 1.34198219e+02] [ 9.03606346e-03 -2.47368711e-04 9.99959143e-01 1.56298889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.4892541539998 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:934.91, Y:134.23, Z:15.63 [[ 2.56139891e-01 -9.66636365e-01 -2.54846160e-03 9.34905280e+02] [ 9.66597488e-01 2.56152455e-01 -8.67277183e-03 1.34226011e+02] [ 9.03621133e-03 -2.41893745e-04 9.99959143e-01 1.56296399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.5192541539999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:934.92, Y:134.26, Z:15.63 [[ 2.63057118e-01 -9.64776902e-01 -2.54613678e-03 9.34920842e+02] [ 9.64737929e-01 2.63069382e-01 -8.67345429e-03 1.34258556e+02] [ 9.03775899e-03 -1.74740835e-04 9.99959143e-01 1.56255779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.5492541539999 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:934.92, Y:134.28, Z:15.63 [[ 2.58245770e-01 -9.66075436e-01 -2.71574671e-03 9.34918155e+02] [ 9.66037027e-01 2.58259745e-01 -8.62356475e-03 1.34280308e+02] [ 9.03238213e-03 -3.96512762e-04 9.99959129e-01 1.56296586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.5792541539998 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:934.92, Y:134.31, Z:15.63 [[ 2.61363246e-01 -9.65237166e-01 -2.54320960e-03 9.34922732e+02] [ 9.65198208e-01 2.61375552e-01 -8.67415176e-03 1.34308256e+02] [ 9.03734647e-03 -1.87596883e-04 9.99959145e-01 1.56310841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.6092541539998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:934.93, Y:134.34, Z:15.63 [[ 2.67455470e-01 -9.63566872e-01 -2.54073874e-03 9.34934314e+02] [ 9.63527830e-01 2.67467507e-01 -8.67487543e-03 1.34338609e+02] [ 9.03838764e-03 -1.27929600e-04 9.99959145e-01 1.56275433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.6392541539999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:934.93, Y:134.36, Z:15.63 [[ 2.65919818e-01 -9.63991547e-01 -2.63575694e-03 9.34933968e+02] [ 9.63952795e-01 2.65932771e-01 -8.64702632e-03 1.34362750e+02] [ 9.03659443e-03 -2.41329600e-04 9.99959140e-01 1.56335046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.6692541539999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:934.94, Y:134.39, Z:15.63 [[ 2.72050877e-01 -9.62279524e-01 -2.53735509e-03 9.34938058e+02] [ 9.62240417e-01 2.72062697e-01 -8.67580531e-03 1.34390355e+02] [ 9.03886947e-03 -8.12851729e-05 9.99959145e-01 1.56345872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.6992541539998 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:934.94, Y:134.42, Z:15.63 [[ 2.75244607e-01 -9.61370886e-01 -2.53480757e-03 9.34943815e+02] [ 9.61331733e-01 2.75256274e-01 -8.67654955e-03 1.34417063e+02] [ 9.03910382e-03 -4.86174868e-05 9.99959145e-01 1.56342691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.7292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.95, Y:134.45, Z:15.64 [[ 2.82050599e-01 -9.59396188e-01 -2.53252834e-03 9.34947194e+02] [ 9.59356947e-01 2.82061968e-01 -8.67721477e-03 1.34445448e+02] [ 9.03921670e-03 1.78149635e-05 9.99959145e-01 1.56360937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.7592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.95, Y:134.47, Z:15.64 [[ 2.85242528e-01 -9.58452032e-01 -2.53020916e-03 9.34952975e+02] [ 9.58412748e-01 2.85253745e-01 -8.67789097e-03 1.34472746e+02] [ 9.03909388e-03 5.03188505e-05 9.99959145e-01 1.56369202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.7892541539999 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:934.96, Y:134.50, Z:15.63 [[ 2.92255329e-01 -9.56336988e-01 -2.52765745e-03 9.34964865e+02] [ 9.56297616e-01 2.92266235e-01 -8.67863416e-03 1.34502446e+02] [ 9.03844777e-03 1.19184282e-04 9.99959145e-01 1.56310094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.8192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.97, Y:134.53, Z:15.63 [[ 2.97486805e-01 -9.54722342e-01 -2.61720925e-03 9.34967956e+02] [ 9.54683136e-01 2.97498308e-01 -8.65259550e-03 1.34531074e+02] [ 9.03944157e-03 7.54274604e-05 9.99959141e-01 1.56323612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.8492541539998 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:934.97, Y:134.56, Z:15.63 [[ 2.96823877e-01 -9.54928681e-01 -2.60777520e-03 9.34969814e+02] [ 9.54889458e-01 2.96835322e-01 -8.65533583e-03 1.34555559e+02] [ 9.03930821e-03 7.89732873e-05 9.99959142e-01 1.56315451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.8792541539999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:934.98, Y:134.58, Z:15.63 [[ 2.98725207e-01 -9.54335852e-01 -2.51644222e-03 9.34975807e+02] [ 9.54296380e-01 2.98735744e-01 -8.68180894e-03 1.34583267e+02] [ 9.03711277e-03 1.92043473e-04 9.99959146e-01 1.56329125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.9092541539999 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:934.98, Y:134.61, Z:15.63 [[ 3.00556454e-01 -9.53760713e-01 -2.51407088e-03 9.34982091e+02] [ 9.53721216e-01 3.00566893e-01 -8.68249558e-03 1.34609750e+02] [ 9.03666965e-03 2.11857343e-04 9.99959146e-01 1.56308901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.9392541539999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:934.99, Y:134.64, Z:15.63 [[ 3.00273995e-01 -9.53849681e-01 -2.51258781e-03 9.34989258e+02] [ 9.53810183e-01 3.00284434e-01 -8.68292474e-03 1.34637185e+02] [ 9.03669600e-03 2.10724660e-04 9.99959146e-01 1.56332764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.9692541539998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:935.00, Y:134.66, Z:15.63 [[ 2.98313755e-01 -9.54464560e-01 -2.51127411e-03 9.34997041e+02] [ 9.54425081e-01 2.98324262e-01 -8.68330467e-03 1.34664209e+02] [ 9.03708057e-03 1.93526226e-04 9.99959146e-01 1.56334096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.9992541539998 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:935.01, Y:134.69, Z:15.63 [[ 2.96335676e-01 -9.55080556e-01 -2.50989728e-03 9.35005800e+02] [ 9.55041094e-01 2.96346252e-01 -8.68370262e-03 1.34691592e+02] [ 9.03743418e-03 1.76235844e-04 9.99959146e-01 1.56341748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.0292541539999 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:935.01, Y:134.72, Z:15.64 [[ 2.94072563e-01 -9.55779807e-01 -2.50765047e-03 9.35014065e+02] [ 9.55740365e-01 2.94083213e-01 -8.68435140e-03 1.34718340e+02] [ 9.03778561e-03 1.57166701e-04 9.99959146e-01 1.56353507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.0592541539999 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:935.02, Y:134.74, Z:15.64 [[ 2.89653032e-01 -9.57128437e-01 -2.50510693e-03 9.35023330e+02] [ 9.57089039e-01 2.89663841e-01 -8.68508505e-03 1.34744251e+02] [ 9.03838078e-03 1.18050836e-04 9.99959146e-01 1.56359102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.0892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:935.03, Y:134.77, Z:15.64 [[ 2.87581265e-01 -9.57752970e-01 -2.50283909e-03 9.35031741e+02] [ 9.57713590e-01 2.87592139e-01 -8.68573854e-03 1.34771774e+02] [ 9.03858873e-03 1.00852672e-04 9.99959146e-01 1.56375317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.1192541539998 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:935.04, Y:134.80, Z:15.64 [[ 2.85660909e-01 -9.58327498e-01 -2.50046954e-03 9.35040574e+02] [ 9.58288133e-01 2.85671840e-01 -8.68642064e-03 1.34797876e+02] [ 9.03874949e-03 8.52005336e-05 9.99959146e-01 1.56371764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.1492541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:935.05, Y:134.82, Z:15.64 [[ 2.83474083e-01 -9.58976642e-01 -2.49885509e-03 9.35049626e+02] [ 9.58937299e-01 2.83485089e-01 -8.68688505e-03 1.34823302e+02] [ 9.03890801e-03 6.62614213e-05 9.99959146e-01 1.56376513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.1792541539999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:935.06, Y:134.85, Z:15.64 [[ 2.81927698e-01 -9.59432406e-01 -2.49622727e-03 9.35057864e+02] [ 9.59393074e-01 2.81938743e-01 -8.68764010e-03 1.34850597e+02] [ 9.03898663e-03 5.44232228e-05 9.99959146e-01 1.56386081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.2092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:935.07, Y:134.88, Z:15.64 [[ 2.81040246e-01 -9.59692743e-01 -2.49367138e-03 9.35067255e+02] [ 9.59653415e-01 2.81051305e-01 -8.68837367e-03 1.34877499e+02] [ 9.03901876e-03 4.87224182e-05 9.99959146e-01 1.56398406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.2392541539998 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:935.08, Y:134.90, Z:15.64 [[ 2.81477242e-01 -9.59564670e-01 -2.49138591e-03 9.35076378e+02] [ 9.59525330e-01 2.81488262e-01 -8.68902898e-03 1.34903759e+02] [ 9.03898112e-03 5.52160260e-05 9.99959146e-01 1.56371431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.2692541539999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:935.08, Y:134.93, Z:15.64 [[ 2.81782602e-01 -9.59475045e-01 -2.49057625e-03 9.35084971e+02] [ 9.59435700e-01 2.81793602e-01 -8.68926106e-03 1.34930373e+02] [ 9.03895760e-03 5.89348220e-05 9.99959146e-01 1.56390822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.2992541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:935.09, Y:134.96, Z:15.64 [[ 2.81176818e-01 -9.59652753e-01 -2.48811591e-03 9.35092757e+02] [ 9.59613409e-01 2.81187821e-01 -8.68996550e-03 1.34955995e+02] [ 9.03897721e-03 5.57874626e-05 9.99959146e-01 1.56394778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.3292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:935.10, Y:134.98, Z:15.64 [[ 2.81394370e-01 -9.59589084e-01 -2.44897282e-03 9.35100483e+02] [ 9.59549639e-01 2.81405009e-01 -8.70116007e-03 1.34981902e+02] [ 9.03869145e-03 9.85464755e-05 9.99959145e-01 1.56393086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.3592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:935.11, Y:135.01, Z:15.64 [[ 2.83136487e-01 -9.59076516e-01 -2.44266947e-03 9.35110761e+02] [ 9.59037036e-01 2.83146998e-01 -8.70296086e-03 1.35009259e+02] [ 9.03843990e-03 1.21515278e-04 9.99959145e-01 1.56375486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.3892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:935.12, Y:135.04, Z:15.64 [[ 2.83135995e-01 -9.59076560e-01 -2.48214012e-03 9.35119027e+02] [ 9.59037178e-01 2.83146863e-01 -8.69168898e-03 1.35035927e+02] [ 9.03880536e-03 8.04653491e-05 9.99959146e-01 1.56383926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.4192541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:935.13, Y:135.06, Z:15.64 [[ 2.82446545e-01 -9.59279834e-01 -2.47968371e-03 9.35128656e+02] [ 9.59240454e-01 2.82457420e-01 -8.69238973e-03 1.35061792e+02] [ 9.03883924e-03 7.65225164e-05 9.99959146e-01 1.56386644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.4492541539998 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:935.14, Y:135.09, Z:15.64 [[ 2.81973255e-01 -9.59419068e-01 -2.47709445e-03 9.35137498e+02] [ 9.59379686e-01 2.81984125e-01 -8.69312753e-03 1.35088637e+02] [ 9.03885362e-03 7.47553638e-05 9.99959146e-01 1.56408307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.4792541539998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:935.15, Y:135.11, Z:15.64 [[ 2.82336505e-01 -9.59312240e-01 -2.47457017e-03 9.35147097e+02] [ 9.59272849e-01 2.82347338e-01 -8.69384603e-03 1.35114643e+02] [ 9.03880121e-03 8.08021237e-05 9.99959146e-01 1.56429584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.5092541539999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:935.16, Y:135.14, Z:15.64 [[ 2.82312955e-01 -9.59319177e-01 -2.47215589e-03 9.35155270e+02] [ 9.59279780e-01 2.82323766e-01 -8.69453249e-03 1.35141710e+02] [ 9.03878012e-03 8.30899960e-05 9.99959146e-01 1.56438493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.5392541539999 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:935.16, Y:135.17, Z:15.64 [[ 2.82510013e-01 -9.59261170e-01 -2.46967096e-03 9.35163351e+02] [ 9.59221765e-01 2.82520795e-01 -8.69523828e-03 1.35168324e+02] [ 9.03873785e-03 8.75297476e-05 9.99959146e-01 1.56436598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.5692541539999 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:935.17, Y:135.20, Z:15.64 [[ 2.84750387e-01 -9.58598524e-01 -2.46717530e-03 9.35171605e+02] [ 9.58559087e-01 2.84761053e-01 -8.69594633e-03 1.35195277e+02] [ 9.03847676e-03 1.11240772e-04 9.99959146e-01 1.56430081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.5992541539998 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:935.18, Y:135.22, Z:15.64 [[ 2.86081632e-01 -9.58202079e-01 -2.46469673e-03 9.35179482e+02] [ 9.58162621e-01 2.86092221e-01 -8.69664878e-03 1.35221713e+02] [ 9.03827751e-03 1.26371197e-04 9.99959146e-01 1.56428990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.6292541539999 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:935.19, Y:135.25, Z:15.64 [[ 2.87004711e-01 -9.57926007e-01 -2.46207597e-03 9.35187802e+02] [ 9.57886532e-01 2.87015238e-01 -8.69739067e-03 1.35249006e+02] [ 9.03811003e-03 1.37802685e-04 9.99959146e-01 1.56417757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.6592541539999 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:935.20, Y:135.27, Z:15.64 [[ 2.89762475e-01 -9.57095428e-01 -2.45962008e-03 9.35196509e+02] [ 9.57055917e-01 2.89772867e-01 -8.69808514e-03 1.35274289e+02] [ 9.03762868e-03 1.66384726e-04 9.99959146e-01 1.56392405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.6892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:935.20, Y:135.30, Z:15.64 [[ 2.90742482e-01 -9.56798220e-01 -2.44428971e-03 9.35204450e+02] [ 9.56758663e-01 2.90752694e-01 -8.70241456e-03 1.35300962e+02] [ 9.03713858e-03 1.91566259e-04 9.99959146e-01 1.56422654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.7192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:935.21, Y:135.33, Z:15.64 [[ 2.91238499e-01 -9.56647329e-01 -2.45450209e-03 9.35212706e+02] [ 9.56607790e-01 2.91248783e-01 -8.69953323e-03 1.35327858e+02] [ 9.03725597e-03 1.85643179e-04 9.99959146e-01 1.56425226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.7492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:935.22, Y:135.35, Z:15.64 [[ 2.88668061e-01 -9.57426101e-01 -2.45203681e-03 9.35217420e+02] [ 9.57386584e-01 2.88678428e-01 -8.70022803e-03 1.35352759e+02] [ 9.03767553e-03 1.63930803e-04 9.99959146e-01 1.56402450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.7792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:935.23, Y:135.38, Z:15.64 [[ 2.88205141e-01 -9.57565760e-01 -2.36885482e-03 9.35226694e+02] [ 9.57526054e-01 2.88214771e-01 -8.72363032e-03 1.35380728e+02] [ 9.03618865e-03 2.45954904e-04 9.99959143e-01 1.56395175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.8092541539999 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:935.24, Y:135.41, Z:15.64 [[ 2.90136764e-01 -9.56982196e-01 -2.39473830e-03 9.35239116e+02] [ 9.56942530e-01 2.90146550e-01 -8.71635575e-03 1.35408329e+02] [ 9.03622232e-03 2.37308330e-04 9.99959144e-01 1.56403393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.8392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:935.25, Y:135.43, Z:15.64 [[ 2.85771108e-01 -9.58294784e-01 -2.44554389e-03 9.35245995e+02] [ 9.58255283e-01 2.85781535e-01 -8.70207788e-03 1.35432862e+02] [ 9.03804713e-03 1.43347078e-04 9.99959146e-01 1.56407652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.8692541539998 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:935.26, Y:135.46, Z:15.64 [[ 2.87201118e-01 -9.57867384e-01 -2.36472690e-03 9.35259015e+02] [ 9.57827679e-01 2.87210752e-01 -8.72474672e-03 1.35460803e+02] [ 9.03632531e-03 2.40756130e-04 9.99959143e-01 1.56417998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.8992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:935.27, Y:135.49, Z:15.64 [[ 2.85905759e-01 -9.58254627e-01 -2.44268985e-03 9.35269634e+02] [ 9.58215118e-01 2.85916155e-01 -8.70286438e-03 1.35487651e+02] [ 9.03796455e-03 1.47576696e-04 9.99959146e-01 1.56438010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.9292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:935.28, Y:135.51, Z:15.64 [[ 2.85170333e-01 -9.58473748e-01 -2.44033164e-03 9.35278582e+02] [ 9.58434241e-01 2.85180739e-01 -8.70352558e-03 1.35513805e+02] [ 9.03803637e-03 1.43089886e-04 9.99959146e-01 1.56441360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.9592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:935.29, Y:135.54, Z:15.64 [[ 2.84366195e-01 -9.58712639e-01 -2.43768801e-03 9.35287504e+02] [ 9.58673135e-01 2.84376610e-01 -8.70426595e-03 1.35540581e+02] [ 9.03811123e-03 1.38252984e-04 9.99959146e-01 1.56446655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.9892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:935.30, Y:135.57, Z:15.65 [[ 2.84746398e-01 -9.58599791e-01 -2.43521531e-03 9.35297607e+02] [ 9.58560276e-01 2.84756775e-01 -8.70495769e-03 1.35566606e+02] [ 9.03801467e-03 1.44404685e-04 9.99959146e-01 1.56454314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.0192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:935.31, Y:135.59, Z:15.65 [[ 2.85389418e-01 -9.58408557e-01 -2.43267510e-03 9.35306090e+02] [ 9.58369030e-01 2.85399745e-01 -8.70566751e-03 1.35593043e+02] [ 9.03787109e-03 1.53104915e-04 9.99959146e-01 1.56456766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.0492541539999 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:935.32, Y:135.62, Z:15.64 [[ 2.86664330e-01 -9.58028004e-01 -2.43009416e-03 9.35315179e+02] [ 9.57988457e-01 2.86674581e-01 -8.70638790e-03 1.35619110e+02] [ 9.03760964e-03 1.67808704e-04 9.99959146e-01 1.56435722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.0792541539998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:935.32, Y:135.65, Z:15.64 [[ 2.88298215e-01 -9.57537593e-01 -2.42842060e-03 9.35323639e+02] [ 9.57498025e-01 2.88308383e-01 -8.70685467e-03 1.35646228e+02] [ 9.03727468e-03 1.84962728e-04 9.99959146e-01 1.56444573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.1092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:935.33, Y:135.67, Z:15.64 [[ 2.90124708e-01 -9.56985773e-01 -2.42589779e-03 9.35331702e+02] [ 9.56946179e-01 2.90134778e-01 -8.70755751e-03 1.35671788e+02] [ 9.03684597e-03 2.04823961e-04 9.99959146e-01 1.56448354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.1392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:935.34, Y:135.70, Z:15.64 [[ 2.91681644e-01 -9.56512385e-01 -2.42418416e-03 9.35340192e+02] [ 9.56472771e-01 2.91691634e-01 -8.70803456e-03 1.35697316e+02] [ 9.03645714e-03 2.21307706e-04 9.99959146e-01 1.56449641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.1692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:935.35, Y:135.72, Z:15.65 [[ 2.94561468e-01 -9.55629467e-01 -2.42149671e-03 9.35350550e+02] [ 9.55589817e-01 2.94571314e-01 -8.70878181e-03 1.35723475e+02] [ 9.03567199e-03 2.51313960e-04 9.99959146e-01 1.56471019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.1992541539998 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:935.36, Y:135.75, Z:15.65 [[ 2.94725901e-01 -9.55578773e-01 -2.41897263e-03 9.35358822e+02] [ 9.55539116e-01 2.94735717e-01 -8.70948285e-03 1.35749325e+02] [ 9.03555457e-03 2.55487217e-04 9.99959146e-01 1.56464091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.2292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:935.37, Y:135.78, Z:15.65 [[ 2.94940028e-01 -9.55512711e-01 -2.41630534e-03 9.35367351e+02] [ 9.55473046e-01 2.94949810e-01 -8.71022278e-03 1.35776277e+02] [ 9.03541739e-03 2.60278722e-04 9.99959146e-01 1.56480108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.2592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:935.37, Y:135.80, Z:15.65 [[ 2.94664945e-01 -9.55597585e-01 -2.41379883e-03 9.35374912e+02] [ 9.55557916e-01 2.94674717e-01 -8.71091734e-03 1.35803851e+02] [ 9.03541706e-03 2.60277403e-04 9.99959146e-01 1.56482682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.2892541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:935.38, Y:135.83, Z:15.65 [[ 2.92940359e-01 -9.56127676e-01 -2.41129085e-03 9.35382910e+02] [ 9.56088019e-01 2.92950179e-01 -8.71161153e-03 1.35830478e+02] [ 9.03580096e-03 2.46576315e-04 9.99959146e-01 1.56481026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.3192541539999 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:935.39, Y:135.86, Z:15.65 [[ 2.90893769e-01 -9.56752326e-01 -2.40873868e-03 9.35390675e+02] [ 9.56712685e-01 2.90903650e-01 -8.71231714e-03 1.35856856e+02] [ 9.03624056e-03 2.29887916e-04 9.99959146e-01 1.56473486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.3492541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:935.40, Y:135.88, Z:15.65 [[ 2.89076270e-01 -9.57303046e-01 -2.40603868e-03 9.35399354e+02] [ 9.57263417e-01 2.89086202e-01 -8.71306272e-03 1.35883887e+02] [ 9.03659406e-03 2.15526863e-04 9.99959146e-01 1.56485696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.3792541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:935.41, Y:135.91, Z:15.65 [[ 2.87773409e-01 -9.57695509e-01 -2.40350986e-03 9.35406923e+02] [ 9.57655889e-01 2.87783372e-01 -8.71376024e-03 1.35909538e+02] [ 9.03681922e-03 2.05853115e-04 9.99959146e-01 1.56480642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.4092541539999 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:935.41, Y:135.94, Z:15.65 [[ 2.86904307e-01 -9.57956236e-01 -2.40166282e-03 9.35414920e+02] [ 9.57916621e-01 2.86914289e-01 -8.71426929e-03 1.35936266e+02] [ 9.03695999e-03 1.99568658e-04 9.99959146e-01 1.56478948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.4392541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:935.42, Y:135.96, Z:15.65 [[ 2.86785791e-01 -9.57991730e-01 -2.39916418e-03 9.35422430e+02] [ 9.57952110e-01 2.86795755e-01 -8.71495715e-03 1.35962883e+02] [ 9.03692697e-03 2.01041489e-04 9.99959146e-01 1.56494340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.4692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:935.43, Y:135.99, Z:15.65 [[ 2.87061608e-01 -9.57909124e-01 -2.39660680e-03 9.35429466e+02] [ 9.57869495e-01 2.87071538e-01 -8.71566037e-03 1.35989085e+02] [ 9.03680819e-03 2.06294939e-04 9.99959146e-01 1.56498535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.4992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:935.44, Y:136.02, Z:15.65 [[ 2.87217371e-01 -9.57862439e-01 -2.39390648e-03 9.35436545e+02] [ 9.57822802e-01 2.87227270e-01 -8.71640199e-03 1.36015942e+02] [ 9.03670929e-03 2.10563857e-04 9.99959146e-01 1.56509122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.5292541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:935.44, Y:136.04, Z:15.65 [[ 2.86940959e-01 -9.57945284e-01 -2.39138525e-03 9.35442918e+02] [ 9.57905645e-01 2.86950847e-01 -8.71709365e-03 1.36042109e+02] [ 9.03670877e-03 2.10569778e-04 9.99959146e-01 1.56506662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.5592541539999 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:935.46, Y:136.07, Z:15.65 [[ 2.90588241e-01 -9.56845217e-01 -2.38873388e-03 9.35456521e+02] [ 9.56805534e-01 2.90597953e-01 -8.71782014e-03 1.36074466e+02] [ 9.03576568e-03 2.47742219e-04 9.99959146e-01 1.56492095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.5892541539998 meters Centerline goodness : 0.999189 Centerline is valid? [True, True] Translation: X:935.46, Y:136.10, Z:15.65 [[ 2.92479477e-01 -9.56268395e-01 -2.55183568e-03 9.35464304e+02] [ 9.56229072e-01 2.92490593e-01 -8.67261044e-03 1.36099573e+02] [ 9.03973120e-03 9.64211022e-05 9.99959136e-01 1.56496665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.6192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:935.47, Y:136.12, Z:15.65 [[ 2.91472120e-01 -9.56575898e-01 -2.56010257e-03 9.35466877e+02] [ 9.56536607e-01 2.91483352e-01 -8.67031885e-03 1.36121176e+02] [ 9.04004532e-03 7.83243860e-05 9.99959135e-01 1.56538178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.6492541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:935.48, Y:136.15, Z:15.65 [[ 2.93863247e-01 -9.55844443e-01 -2.40673104e-03 9.35480099e+02] [ 9.55804769e-01 2.93872987e-01 -8.71268525e-03 1.36153531e+02] [ 9.03524502e-03 2.59972971e-04 9.99959148e-01 1.56507994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.6792541539999 meters Centerline goodness : 0.999473 Centerline is valid? [True, True] Translation: X:935.49, Y:136.18, Z:15.65 [[ 2.94399378e-01 -9.55679002e-01 -2.57916232e-03 9.35486284e+02] [ 9.55639724e-01 2.94410663e-01 -8.66479123e-03 1.36180578e+02] [ 9.04009192e-03 8.61591826e-05 9.99959134e-01 1.56515650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.7092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:935.49, Y:136.20, Z:15.65 [[ 2.96068983e-01 -9.55163138e-01 -2.55667446e-03 9.35487311e+02] [ 9.55123788e-01 2.96079995e-01 -8.67102803e-03 1.36203009e+02] [ 9.03922650e-03 1.25281854e-04 9.99959138e-01 1.56533950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.7392541539998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:935.49, Y:136.23, Z:15.65 [[ 2.96042600e-01 -9.55171702e-01 -2.40793556e-03 9.35493357e+02] [ 9.55132010e-01 2.96052261e-01 -8.71213787e-03 1.36230421e+02] [ 9.03446233e-03 2.79267620e-04 9.99959149e-01 1.56522015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.7692541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:935.50, Y:136.26, Z:15.65 [[ 2.98404780e-01 -9.54436379e-01 -2.40544095e-03 9.35500018e+02] [ 9.54396658e-01 2.98414320e-01 -8.71282659e-03 1.36258092e+02] [ 9.03365668e-03 3.04204303e-04 9.99959149e-01 1.56518334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.7992541539999 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:935.51, Y:136.28, Z:15.65 [[ 2.98063731e-01 -9.54542948e-01 -2.40289489e-03 9.35506269e+02] [ 9.54503224e-01 2.98073262e-01 -8.71352870e-03 1.36284974e+02] [ 9.03367609e-03 3.03615953e-04 9.99959149e-01 1.56501751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.8292541539998 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:935.51, Y:136.31, Z:15.65 [[ 2.98248794e-01 -9.54485147e-01 -2.40020575e-03 9.35512794e+02] [ 9.54445416e-01 2.98258293e-01 -8.71426938e-03 1.36311423e+02] [ 9.03352196e-03 3.08154961e-04 9.99959149e-01 1.56491123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.8592541539998 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:935.52, Y:136.34, Z:15.65 [[ 2.98670175e-01 -9.54353351e-01 -2.40996871e-03 9.35518999e+02] [ 9.54313637e-01 2.98679745e-01 -8.71158325e-03 1.36337875e+02] [ 9.03373751e-03 3.02024086e-04 9.99959149e-01 1.56506305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.8892541539999 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:935.53, Y:136.37, Z:15.65 [[ 2.99250462e-01 -9.54171594e-01 -2.39377519e-03 9.35528512e+02] [ 9.54131839e-01 2.99259860e-01 -8.71603065e-03 1.36368269e+02] [ 9.03294969e-03 3.24299075e-04 9.99959150e-01 1.56497961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.9192541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:935.53, Y:136.39, Z:15.65 [[ 2.98251672e-01 -9.54483973e-01 -2.50721681e-03 9.35532758e+02] [ 9.54444480e-01 2.98262145e-01 -8.68485673e-03 1.36391736e+02] [ 9.03736442e-03 1.97273793e-04 9.99959143e-01 1.56524485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.9492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:935.54, Y:136.42, Z:15.65 [[ 2.96884560e-01 -9.54910390e-01 -2.38836519e-03 9.35540391e+02] [ 9.54870648e-01 2.96894008e-01 -8.71741931e-03 1.36418126e+02] [ 9.03344560e-03 3.07487378e-04 9.99959150e-01 1.56543512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.9792541539998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:935.55, Y:136.45, Z:15.65 [[ 2.94211667e-01 -9.55737309e-01 -2.38570438e-03 9.35547222e+02] [ 9.55697587e-01 2.94221201e-01 -8.71814744e-03 1.36445137e+02] [ 9.03418358e-03 2.84968777e-04 9.99959150e-01 1.56539509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.0092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:935.56, Y:136.47, Z:15.65 [[ 2.91458715e-01 -9.56580440e-01 -2.38317823e-03 9.35555905e+02] [ 9.56540740e-01 2.91468341e-01 -8.71883793e-03 1.36471752e+02] [ 9.03489083e-03 2.61574237e-04 9.99959150e-01 1.56546213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.0392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:935.56, Y:136.50, Z:15.65 [[ 2.86555524e-01 -9.58060679e-01 -2.38067703e-03 9.35562050e+02] [ 9.58021023e-01 2.86565331e-01 -8.71952083e-03 1.36499961e+02] [ 9.03604954e-03 2.17888222e-04 9.99959150e-01 1.56486534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.0692541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:935.57, Y:136.53, Z:15.65 [[ 2.86447339e-01 -9.58093025e-01 -2.38290634e-03 9.35570713e+02] [ 9.58053376e-01 2.86457170e-01 -8.71891242e-03 1.36525470e+02] [ 9.03612978e-03 2.14557795e-04 9.99959150e-01 1.56523790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.0992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:935.58, Y:136.55, Z:15.65 [[ 2.83480130e-01 -9.58975164e-01 -2.37723982e-03 9.35579149e+02] [ 9.58935532e-01 2.83490032e-01 -8.72045715e-03 1.36551928e+02] [ 9.03662561e-03 1.92456597e-04 9.99959150e-01 1.56521695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.1292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:935.59, Y:136.58, Z:15.65 [[ 2.81378886e-01 -9.59593812e-01 -2.37473068e-03 9.35586386e+02] [ 9.59554196e-01 2.81388852e-01 -8.72114038e-03 1.36577561e+02] [ 9.03697508e-03 1.75261971e-04 9.99959150e-01 1.56511694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.1592541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:935.59, Y:136.61, Z:15.65 [[ 2.79090605e-01 -9.60261843e-01 -2.37211060e-03 9.35594012e+02] [ 9.60222246e-01 2.79100642e-01 -8.72185297e-03 1.36605101e+02] [ 9.03732020e-03 1.56433853e-04 9.99959150e-01 1.56509926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.1892541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:935.60, Y:136.63, Z:15.65 [[ 2.76355892e-01 -9.61052447e-01 -2.36955547e-03 9.35602682e+02] [ 9.61012873e-01 2.76366018e-01 -8.72254709e-03 1.36631313e+02] [ 9.03768984e-03 1.33353973e-04 9.99959150e-01 1.56506830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.2192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:935.61, Y:136.66, Z:15.65 [[ 2.75065379e-01 -9.61422609e-01 -2.36745779e-03 9.35610875e+02] [ 9.61383043e-01 2.75075539e-01 -8.72311640e-03 1.36658680e+02] [ 9.03783106e-03 1.23393540e-04 9.99959150e-01 1.56525080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.2492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:935.62, Y:136.68, Z:15.65 [[ 2.72865012e-01 -9.62049423e-01 -2.36490713e-03 9.35619184e+02] [ 9.62009875e-01 2.72875240e-01 -8.72380785e-03 1.36684870e+02] [ 9.03805891e-03 1.05357921e-04 9.99959150e-01 1.56533581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.2792541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:935.63, Y:136.71, Z:15.65 [[ 2.71217431e-01 -9.62515206e-01 -2.36304505e-03 9.35626494e+02] [ 9.62475670e-01 2.71227709e-01 -8.72431221e-03 1.36711891e+02] [ 9.03820646e-03 9.18121747e-05 9.99959150e-01 1.56540121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.3092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:935.63, Y:136.74, Z:15.65 [[ 2.65691345e-01 -9.64055256e-01 -2.36051648e-03 9.35627412e+02] [ 9.64015774e-01 2.65701828e-01 -8.72499631e-03 1.36735701e+02] [ 9.03857209e-03 4.25808890e-05 9.99959150e-01 1.56493374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.3392541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:935.63, Y:136.76, Z:15.65 [[ 2.64675938e-01 -9.64334857e-01 -2.22066987e-03 9.35634570e+02] [ 9.64295060e-01 2.64685194e-01 -8.76278217e-03 1.36762826e+02] [ 9.03803473e-03 1.77916605e-04 9.99959140e-01 1.56504596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.3692541539998 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:935.65, Y:136.79, Z:15.66 [[ 2.69824601e-01 -9.62906961e-01 -2.20650255e-03 9.35649385e+02] [ 9.62867084e-01 2.69833515e-01 -8.76660832e-03 1.36793390e+02] [ 9.03681652e-03 2.40877912e-04 9.99959138e-01 1.56563191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.3992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:935.66, Y:136.82, Z:15.66 [[ 2.70086545e-01 -9.62833157e-01 -2.36020807e-03 9.35657164e+02] [ 9.62793627e-01 2.70096844e-01 -8.72502955e-03 1.36820409e+02] [ 9.03823250e-03 8.41197955e-05 9.99959151e-01 1.56580816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.4292541539999 meters Centerline goodness : 0.997156 Centerline is valid? [True, True] Translation: X:935.66, Y:136.85, Z:15.65 [[ 2.69043163e-01 -9.63125235e-01 -2.35776859e-03 9.35661059e+02] [ 9.63085710e-01 2.69053483e-01 -8.72568873e-03 1.36846206e+02] [ 9.03829685e-03 7.68536639e-05 9.99959151e-01 1.56521958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.4592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:935.67, Y:136.87, Z:15.65 [[ 2.68093005e-01 -9.63390240e-01 -2.32072736e-03 9.35666016e+02] [ 9.63350639e-01 2.68103029e-01 -8.73569108e-03 1.36869728e+02] [ 9.03807356e-03 1.06303490e-04 9.99959150e-01 1.56518018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.4892541539998 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:935.68, Y:136.90, Z:15.66 [[ 2.73041001e-01 -9.61999810e-01 -2.23074823e-03 9.35680231e+02] [ 9.61959955e-01 2.73050003e-01 -8.76022992e-03 1.36900494e+02] [ 9.03644534e-03 2.46011481e-04 9.99959140e-01 1.56553684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.5192541539999 meters Centerline goodness : 0.999693 Centerline is valid? [True, True] Translation: X:935.69, Y:136.93, Z:15.66 [[ 2.72431107e-01 -9.62172344e-01 -2.38161985e-03 9.35686935e+02] [ 9.62132842e-01 2.72441505e-01 -8.71901912e-03 1.36927893e+02] [ 9.03805115e-03 8.38973635e-05 9.99959152e-01 1.56560488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.5492541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:935.69, Y:136.95, Z:15.66 [[ 2.72281810e-01 -9.62214610e-01 -2.37909028e-03 9.35693905e+02] [ 9.62175104e-01 2.72292190e-01 -8.71970929e-03 1.36954546e+02] [ 9.03803937e-03 8.51167917e-05 9.99959152e-01 1.56561709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.5792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:935.70, Y:136.98, Z:15.66 [[ 2.71948859e-01 -9.62308771e-01 -2.37642214e-03 9.35700916e+02] [ 9.62269262e-01 2.71959229e-01 -8.72043639e-03 1.36981515e+02] [ 9.03804235e-03 8.47547506e-05 9.99959152e-01 1.56567496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.6092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:935.71, Y:137.01, Z:15.66 [[ 2.69638552e-01 -9.62958678e-01 -2.37404960e-03 9.35707723e+02] [ 9.62919188e-01 2.69648995e-01 -8.72108224e-03 1.37008382e+02] [ 9.03820191e-03 6.55220703e-05 9.99959152e-01 1.56581277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.6392541539999 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:935.71, Y:137.04, Z:15.66 [[ 2.67378225e-01 -9.63588740e-01 -2.37160796e-03 9.35714838e+02] [ 9.63549269e-01 2.67388738e-01 -8.72174616e-03 1.37036009e+02] [ 9.03831766e-03 4.68438903e-05 9.99959152e-01 1.56576108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.6692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:935.72, Y:137.06, Z:15.66 [[ 2.63607679e-01 -9.64627067e-01 -2.36911276e-03 9.35723187e+02] [ 9.64587631e-01 2.63618325e-01 -8.72242389e-03 1.37061280e+02] [ 9.03842771e-03 1.40810533e-05 9.99959152e-01 1.56599573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.6992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:935.73, Y:137.09, Z:15.66 [[ 2.61280567e-01 -9.65259997e-01 -2.36710102e-03 9.35730940e+02] [ 9.65220582e-01 2.61291289e-01 -8.72296981e-03 1.37087825e+02] [ 9.03843669e-03 -5.63212397e-06 9.99959152e-01 1.56612079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.7292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:935.74, Y:137.11, Z:15.66 [[ 2.58984062e-01 -9.65878700e-01 -2.36463428e-03 9.35738182e+02] [ 9.65839305e-01 2.58994856e-01 -8.72363844e-03 1.37113833e+02] [ 9.03840467e-03 -2.45734032e-05 9.99959152e-01 1.56612475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.7592541539999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:935.74, Y:137.14, Z:15.66 [[ 2.54848075e-01 -9.66978219e-01 -2.36283576e-03 9.35744644e+02] [ 9.66938865e-01 2.54859021e-01 -8.72412555e-03 1.37140286e+02] [ 9.03822939e-03 -6.13911252e-05 9.99959152e-01 1.56604790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.7892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:935.75, Y:137.17, Z:15.66 [[ 2.51409396e-01 -9.67877960e-01 -2.36030277e-03 9.35748201e+02] [ 9.67838639e-01 2.51420459e-01 -8.72481079e-03 1.37165072e+02] [ 9.03798047e-03 -9.08928102e-05 9.99959153e-01 1.56634268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.8192541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:935.76, Y:137.19, Z:15.66 [[ 2.51632540e-01 -9.67820182e-01 -2.27161944e-03 9.35758860e+02] [ 9.67780638e-01 2.51642793e-01 -8.74876469e-03 1.37194859e+02] [ 9.03886770e-03 3.04456730e-06 9.99959149e-01 1.56608238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.8492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:935.76, Y:137.22, Z:15.66 [[ 2.48670251e-01 -9.68585333e-01 -2.35768274e-03 9.35762403e+02] [ 9.68546037e-01 2.48681402e-01 -8.72550993e-03 1.37219216e+02] [ 9.03771279e-03 -1.13749524e-04 9.99959153e-01 1.56634863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.8792541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:935.77, Y:137.25, Z:15.66 [[ 2.49588457e-01 -9.68349335e-01 -2.27338149e-03 9.35772781e+02] [ 9.68309817e-01 2.49598810e-01 -8.74824702e-03 1.37248876e+02] [ 9.03879250e-03 -1.78761401e-05 9.99959149e-01 1.56621834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.9092541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:935.78, Y:137.28, Z:15.66 [[ 2.47971242e-01 -9.68764532e-01 -2.35471374e-03 9.35778412e+02] [ 9.68725237e-01 2.47982394e-01 -8.72630028e-03 1.37275600e+02] [ 9.03765776e-03 -1.17199104e-04 9.99959153e-01 1.56615255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.9392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:935.78, Y:137.30, Z:15.66 [[ 2.45479313e-01 -9.69398976e-01 -2.35207972e-03 9.35782085e+02] [ 9.69359702e-01 2.45490543e-01 -8.72701019e-03 1.37301455e+02] [ 9.03736807e-03 -1.37710832e-04 9.99959153e-01 1.56631405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.9692541539998 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:935.79, Y:137.33, Z:15.66 [[ 2.44282603e-01 -9.69701404e-01 -2.27952851e-03 9.35788405e+02] [ 9.69661961e-01 2.44293227e-01 -8.74651440e-03 1.37329958e+02] [ 9.03838068e-03 -7.37507805e-05 9.99959150e-01 1.56634922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.9992541539998 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:935.79, Y:137.36, Z:15.66 [[ 2.42826895e-01 -9.70066936e-01 -2.28864573e-03 9.35794301e+02] [ 9.70027531e-01 2.42837661e-01 -8.74406465e-03 1.37357694e+02] [ 9.03809738e-03 -9.67552930e-05 9.99959151e-01 1.56630883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.0292541539999 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:935.80, Y:137.39, Z:15.66 [[ 2.43029830e-01 -9.70016152e-01 -2.27303909e-03 9.35801872e+02] [ 9.69976706e-01 2.43040447e-01 -8.74825309e-03 1.37385697e+02] [ 9.03838724e-03 -7.87085073e-05 9.99959150e-01 1.56627473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.0592541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:935.81, Y:137.41, Z:15.67 [[ 2.45298246e-01 -9.69444951e-01 -2.29284395e-03 9.35810095e+02] [ 9.69405530e-01 2.45308949e-01 -8.74293991e-03 1.37413460e+02] [ 9.03825409e-03 -7.80677824e-05 9.99959151e-01 1.56670679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.0892541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:935.81, Y:137.44, Z:15.67 [[ 2.43802230e-01 -9.69822142e-01 -2.34220841e-03 9.35813006e+02] [ 9.69782862e-01 2.43813438e-01 -8.72969526e-03 1.37439512e+02] [ 9.03731364e-03 -1.43114401e-04 9.99959152e-01 1.56655187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.1192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:935.82, Y:137.47, Z:15.66 [[ 2.43706811e-01 -9.69846254e-01 -2.28789451e-03 9.35817337e+02] [ 9.69806837e-01 2.43717534e-01 -8.74422976e-03 1.37466011e+02] [ 9.03815849e-03 -8.77873884e-05 9.99959151e-01 1.56633435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.1492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:935.82, Y:137.49, Z:15.66 [[ 2.43533742e-01 -9.69889805e-01 -2.25436667e-03 9.35824427e+02] [ 9.69850308e-01 2.43544170e-01 -8.75318980e-03 1.37492633e+02] [ 9.03866741e-03 -5.47011359e-05 9.99959149e-01 1.56635796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.1792541539999 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:935.83, Y:137.52, Z:15.67 [[ 2.49341181e-01 -9.68413088e-01 -2.25099105e-03 9.35831571e+02] [ 9.68373520e-01 2.49351341e-01 -8.75409089e-03 1.37522114e+02] [ 9.03886383e-03 2.95522852e-06 9.99959149e-01 1.56662558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.2092541539998 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:935.84, Y:137.55, Z:15.66 [[ 2.50072165e-01 -9.68224392e-01 -2.33241996e-03 9.35835084e+02] [ 9.68185015e-01 2.50083030e-01 -8.73234115e-03 1.37549447e+02] [ 9.03816435e-03 -7.44985984e-05 9.99959152e-01 1.56630693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.2392541539998 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:935.84, Y:137.58, Z:15.66 [[ 2.56807322e-01 -9.66459898e-01 -2.29457531e-03 9.35839978e+02] [ 9.66420356e-01 2.56817572e-01 -8.74243483e-03 1.37577603e+02] [ 9.03849993e-03 2.75969894e-05 9.99959152e-01 1.56645406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.2692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:935.85, Y:137.60, Z:15.67 [[ 2.59515748e-01 -9.65736068e-01 -2.32892610e-03 9.35845969e+02] [ 9.65696579e-01 2.59526197e-01 -8.73327442e-03 1.37604811e+02] [ 9.03845543e-03 1.73862706e-05 9.99959152e-01 1.56668923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.2992541539999 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:935.85, Y:137.63, Z:15.66 [[ 2.60985170e-01 -9.65340007e-01 -2.32645795e-03 9.35850448e+02] [ 9.65300496e-01 2.60995537e-01 -8.73393186e-03 1.37631264e+02] [ 9.03840898e-03 3.36956743e-05 9.99959152e-01 1.56647276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.3292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:935.86, Y:137.66, Z:15.67 [[ 2.64036760e-01 -9.64509818e-01 -2.32388678e-03 9.35855868e+02] [ 9.64470269e-01 2.64046978e-01 -8.73461593e-03 1.37659092e+02] [ 9.03823811e-03 6.49399755e-05 9.99959152e-01 1.56673563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.3592541539998 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:935.86, Y:137.69, Z:15.67 [[ 2.65052507e-01 -9.64231186e-01 -2.32140149e-03 9.35860675e+02] [ 9.64191620e-01 2.65062661e-01 -8.73527640e-03 1.37687192e+02] [ 9.03814278e-03 7.70310405e-05 9.99959152e-01 1.56663653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.3892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:935.87, Y:137.71, Z:15.67 [[ 2.65890377e-01 -9.64000482e-01 -2.31891880e-03 9.35867532e+02] [ 9.63960902e-01 2.65900475e-01 -8.73593542e-03 1.37713868e+02] [ 9.03804757e-03 8.74541098e-05 9.99959152e-01 1.56685589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.4192541539999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:935.87, Y:137.74, Z:15.66 [[ 2.64107628e-01 -9.64490431e-01 -2.31708404e-03 9.35870795e+02] [ 9.64450866e-01 2.64117782e-01 -8.73642204e-03 1.37740776e+02] [ 9.03817855e-03 7.26419891e-05 9.99959152e-01 1.56639163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.4492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:935.88, Y:137.77, Z:15.67 [[ 2.66754206e-01 -9.63761913e-01 -2.27356032e-03 9.35879987e+02] [ 9.63722220e-01 2.66763857e-01 -8.74795012e-03 1.37768364e+02] [ 9.03744486e-03 1.42471889e-04 9.99959151e-01 1.56699297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.4792541539998 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:935.88, Y:137.80, Z:15.67 [[ 2.67725116e-01 -9.63492558e-01 -2.31347681e-03 9.35884486e+02] [ 9.63452947e-01 2.67735089e-01 -8.73738107e-03 1.37796521e+02] [ 9.03780056e-03 1.10290320e-04 9.99959152e-01 1.56687613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.5092541539999 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:935.89, Y:137.82, Z:15.67 [[ 2.68215437e-01 -9.63356185e-01 -2.31095525e-03 9.35890323e+02] [ 9.63316562e-01 2.68225366e-01 -8.73804795e-03 1.37824456e+02] [ 9.03770935e-03 1.17497881e-04 9.99959152e-01 1.56676090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.5392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:935.90, Y:137.85, Z:15.67 [[ 2.69631849e-01 -9.62960714e-01 -2.30844514e-03 9.35896794e+02] [ 9.62921071e-01 2.69641698e-01 -8.73871102e-03 1.37852301e+02] [ 9.03748848e-03 1.33384341e-04 9.99959152e-01 1.56683148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.5692541539999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:935.90, Y:137.88, Z:15.67 [[ 2.69546113e-01 -9.62984722e-01 -2.30609457e-03 9.35903317e+02] [ 9.62945075e-01 2.69555944e-01 -8.73933128e-03 1.37880157e+02] [ 9.03746400e-03 1.35010373e-04 9.99959152e-01 1.56676410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.5992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:935.91, Y:137.91, Z:15.67 [[ 2.69659700e-01 -9.62952927e-01 -2.30360768e-03 9.35910218e+02] [ 9.62913273e-01 2.69669503e-01 -8.73998676e-03 1.37906834e+02] [ 9.03740857e-03 1.38647796e-04 9.99959152e-01 1.56681933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.6292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:935.92, Y:137.93, Z:15.67 [[ 2.68636208e-01 -9.63238959e-01 -2.30127997e-03 9.35917011e+02] [ 9.63199310e-01 2.68646032e-01 -8.74059961e-03 1.37934420e+02] [ 9.03751580e-03 1.31450250e-04 9.99959152e-01 1.56693334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.6592541539999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:935.92, Y:137.96, Z:15.67 [[ 2.67898893e-01 -9.63444290e-01 -2.29871932e-03 9.35924045e+02] [ 9.63404643e-01 2.67908725e-01 -8.74127299e-03 1.37962116e+02] [ 9.03757651e-03 1.27180496e-04 9.99959152e-01 1.56690625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.6892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:935.93, Y:137.99, Z:15.67 [[ 2.66939811e-01 -9.63710467e-01 -2.29631990e-03 9.35931477e+02] [ 9.63670824e-01 2.66949661e-01 -8.74190327e-03 1.37989197e+02] [ 9.03766550e-03 1.20665520e-04 9.99959152e-01 1.56658302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.7192541539998 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:935.94, Y:138.02, Z:15.67 [[ 2.66834419e-01 -9.63739589e-01 -2.32325232e-03 9.35938534e+02] [ 9.63700009e-01 2.66844517e-01 -8.73483072e-03 1.38015684e+02] [ 9.03804931e-03 9.18352004e-05 9.99959152e-01 1.56696463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.7492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:935.95, Y:138.04, Z:15.67 [[ 2.66729766e-01 -9.63768632e-01 -2.29270258e-03 9.35946473e+02] [ 9.63728983e-01 2.66739591e-01 -8.74284202e-03 1.38041980e+02] [ 9.03763144e-03 1.22432273e-04 9.99959152e-01 1.56714350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.7792541539999 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:935.95, Y:138.07, Z:15.67 [[ 2.66083521e-01 -9.63947256e-01 -2.29086145e-03 9.35954791e+02] [ 9.63907610e-01 2.66093356e-01 -8.74332442e-03 1.38068348e+02] [ 9.03768659e-03 1.18275758e-04 9.99959152e-01 1.56719256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.8092541539999 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:935.96, Y:138.10, Z:15.67 [[ 2.65637942e-01 -9.64070147e-01 -2.28835106e-03 9.35961872e+02] [ 9.64030499e-01 2.65647772e-01 -8.74398140e-03 1.38095534e+02] [ 9.03770679e-03 1.16693006e-04 9.99959152e-01 1.56702832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.8392541539998 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:935.97, Y:138.12, Z:15.67 [[ 2.65990502e-01 -9.63972939e-01 -2.28586190e-03 9.35970889e+02] [ 9.63933283e-01 2.66000296e-01 -8.74463207e-03 1.38122448e+02] [ 9.03762862e-03 1.22570710e-04 9.99959152e-01 1.56715810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.8692541539998 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:935.98, Y:138.15, Z:15.67 [[ 2.66414280e-01 -9.63855911e-01 -2.28335582e-03 9.35978444e+02] [ 9.63816245e-01 2.66424033e-01 -8.74528640e-03 1.38148345e+02] [ 9.03753686e-03 1.29133741e-04 9.99959152e-01 1.56723247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.8992541539999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:935.99, Y:138.18, Z:15.67 [[ 2.67240696e-01 -9.63627109e-01 -2.28152887e-03 9.35986080e+02] [ 9.63587430e-01 2.67250399e-01 -8.74576300e-03 1.38175136e+02] [ 9.03739382e-03 1.38771247e-04 9.99959152e-01 1.56734654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.9292541539999 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:935.99, Y:138.20, Z:15.67 [[ 2.69104036e-01 -9.63108418e-01 -2.27905235e-03 9.35993914e+02] [ 9.63068715e-01 2.69113639e-01 -8.74640831e-03 1.38202585e+02] [ 9.03706354e-03 1.58809755e-04 9.99959152e-01 1.56731352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.9592541539998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:936.00, Y:138.23, Z:15.67 [[ 2.70614981e-01 -9.62684969e-01 -2.27658657e-03 9.36001877e+02] [ 9.62645246e-01 2.70624500e-01 -8.74705007e-03 1.38229287e+02] [ 9.03675373e-03 1.75537550e-04 9.99959152e-01 1.56744924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.9892541539998 meters Centerline goodness : 0.998966 Centerline is valid? [True, True] Translation: X:936.02, Y:138.26, Z:15.67 [[ 2.74556302e-01 -9.61568336e-01 -2.27411454e-03 9.36015212e+02] [ 9.61528569e-01 2.74565636e-01 -8.74769272e-03 1.38260096e+02] [ 9.03589804e-03 2.15108072e-04 9.99959152e-01 1.56716931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.0192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.02, Y:138.28, Z:15.68 [[ 2.72229118e-01 -9.62229362e-01 -2.44185336e-03 9.36018118e+02] [ 9.62189994e-01 2.72240069e-01 -8.70404487e-03 1.38284258e+02] [ 9.04005787e-03 1.99675868e-05 9.99959138e-01 1.56757205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.0492541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:936.02, Y:138.31, Z:15.68 [[ 2.72623682e-01 -9.62117931e-01 -2.32699182e-03 9.36023406e+02] [ 9.62078300e-01 2.72633576e-01 -8.73370853e-03 1.38308813e+02] [ 9.03727368e-03 1.42267436e-04 9.99959153e-01 1.56750156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.0792541539998 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:936.03, Y:138.34, Z:15.68 [[ 2.72695228e-01 -9.62097824e-01 -2.25594735e-03 9.36031532e+02] [ 9.62058040e-01 2.72704473e-01 -8.75202119e-03 1.38335572e+02] [ 9.03550748e-03 2.16282129e-04 9.99959156e-01 1.56751654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.1092541539998 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:936.04, Y:138.37, Z:15.68 [[ 2.73337081e-01 -9.61915673e-01 -2.25346295e-03 9.36042983e+02] [ 9.61875877e-01 2.73346278e-01 -8.75266082e-03 1.38366242e+02] [ 9.03529734e-03 2.24875110e-04 9.99959156e-01 1.56752654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.1392541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:936.05, Y:138.39, Z:15.68 [[ 2.71985747e-01 -9.62298355e-01 -2.37265334e-03 9.36048641e+02] [ 9.62258832e-01 2.71996081e-01 -8.72193660e-03 1.38388542e+02] [ 9.03845765e-03 8.91358013e-05 9.99959148e-01 1.56794645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.1692541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:936.06, Y:138.41, Z:15.68 [[ 2.71556375e-01 -9.62419906e-01 -2.24951676e-03 9.36056544e+02] [ 9.62380120e-01 2.71565609e-01 -8.75358062e-03 1.38414980e+02] [ 9.03551162e-03 2.12200417e-04 9.99959156e-01 1.56781895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.1992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.06, Y:138.44, Z:15.68 [[ 2.71530164e-01 -9.62427307e-01 -2.24682345e-03 9.36064872e+02] [ 9.62387516e-01 2.71539375e-01 -8.75427187e-03 1.38441604e+02] [ 9.03545134e-03 2.14734038e-04 9.99959156e-01 1.56788132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.2292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.07, Y:138.47, Z:15.68 [[ 2.71493296e-01 -9.62437714e-01 -2.24444984e-03 9.36072951e+02] [ 9.62397918e-01 2.71502486e-01 -8.75488038e-03 1.38468691e+02] [ 9.03540077e-03 2.16837474e-04 9.99959156e-01 1.56806581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.2592541539999 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:936.08, Y:138.49, Z:15.68 [[ 2.71115948e-01 -9.62544086e-01 -2.24189474e-03 9.36080266e+02] [ 9.62504288e-01 2.71125131e-01 -8.75553463e-03 1.38494451e+02] [ 9.03542207e-03 2.15931768e-04 9.99959156e-01 1.56773420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.2892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.09, Y:138.52, Z:15.68 [[ 2.71514982e-01 -9.62431608e-01 -2.23931146e-03 9.36087710e+02] [ 9.62391801e-01 2.71524125e-01 -8.75619527e-03 1.38520701e+02] [ 9.03526618e-03 2.22343211e-04 9.99959156e-01 1.56764199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.3192541539999 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:936.10, Y:138.55, Z:15.68 [[ 2.71829881e-01 -9.62342721e-01 -2.23672939e-03 9.36095487e+02] [ 9.62302906e-01 2.71838988e-01 -8.75685480e-03 1.38547536e+02] [ 9.03512573e-03 2.27963615e-04 9.99959156e-01 1.56770064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.3492541539998 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:936.10, Y:138.57, Z:15.68 [[ 2.71646774e-01 -9.62394430e-01 -2.23424730e-03 9.36103374e+02] [ 9.62354611e-01 2.71655866e-01 -8.75748804e-03 1.38574759e+02] [ 9.03510410e-03 2.28805182e-04 9.99959156e-01 1.56776437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.3792541539999 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:936.11, Y:138.60, Z:15.68 [[ 2.70887477e-01 -9.62608432e-01 -2.23177081e-03 9.36110999e+02] [ 9.62568616e-01 2.70896578e-01 -8.75811911e-03 1.38602091e+02] [ 9.03521838e-03 2.24232246e-04 9.99959156e-01 1.56779363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.4092541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:936.11, Y:138.62, Z:15.68 [[ 2.64522769e-01 -9.64376864e-01 -2.22928683e-03 9.36112313e+02] [ 9.64337102e-01 2.64532110e-01 -8.75875134e-03 1.38623757e+02] [ 9.03645509e-03 1.67105161e-04 9.99959156e-01 1.56756876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.4392541539999 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:936.13, Y:138.66, Z:15.68 [[ 2.68707631e-01 -9.63219594e-01 -2.05471436e-03 9.36127647e+02] [ 9.63179445e-01 2.68715209e-01 -8.80306207e-03 1.38655388e+02] [ 9.03141487e-03 3.86391317e-04 9.99959141e-01 1.56784101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.4692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.14, Y:138.68, Z:15.68 [[ 2.67929617e-01 -9.63435913e-01 -2.22742349e-03 9.36136098e+02] [ 9.63396116e-01 2.67938800e-01 -8.75914281e-03 1.38682644e+02] [ 9.03568593e-03 2.00942641e-04 9.99959157e-01 1.56804454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.4992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.14, Y:138.71, Z:15.68 [[ 2.66280024e-01 -9.63893147e-01 -2.22508280e-03 9.36144198e+02] [ 9.63853360e-01 2.66289254e-01 -8.75973737e-03 1.38708121e+02] [ 9.03596646e-03 1.87889539e-04 9.99959157e-01 1.56802047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.5292541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:936.15, Y:138.73, Z:15.68 [[ 2.65402571e-01 -9.64135121e-01 -2.22328595e-03 9.36151549e+02] [ 9.64095340e-01 2.65411821e-01 -8.76019340e-03 1.38734883e+02] [ 9.03609650e-03 1.81518224e-04 9.99959157e-01 1.56802145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.5592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.16, Y:138.76, Z:15.68 [[ 2.65166738e-01 -9.64200015e-01 -2.22085611e-03 9.36159795e+02] [ 9.64160231e-01 2.65175976e-01 -8.76080936e-03 1.38760594e+02] [ 9.03609021e-03 1.81814099e-04 9.99959157e-01 1.56811999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.5892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.16, Y:138.79, Z:15.68 [[ 2.62321763e-01 -9.64977913e-01 -2.21829242e-03 9.36162478e+02] [ 9.64938150e-01 2.62331095e-01 -8.76145846e-03 1.38785562e+02] [ 9.03654097e-03 1.57806247e-04 9.99959157e-01 1.56833630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.6192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.17, Y:138.82, Z:15.68 [[ 2.65934293e-01 -9.63988818e-01 -2.12381694e-03 9.36174047e+02] [ 9.63948828e-01 2.65942616e-01 -8.78532467e-03 1.38815113e+02] [ 9.03376818e-03 2.89068252e-04 9.99959153e-01 1.56829242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.6492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.18, Y:138.84, Z:15.68 [[ 2.64682973e-01 -9.64332938e-01 -2.21552923e-03 9.36178994e+02] [ 9.64293147e-01 2.64692182e-01 -8.76213502e-03 1.38841955e+02] [ 9.03604867e-03 1.82768296e-04 9.99959157e-01 1.56826383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.6792541539999 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:936.19, Y:138.87, Z:15.68 [[ 2.67555935e-01 -9.63539793e-01 -2.21123777e-03 9.36187624e+02] [ 9.63499966e-01 2.67564986e-01 -8.76321884e-03 1.38867901e+02] [ 9.03535987e-03 2.14123694e-04 9.99959157e-01 1.56803036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.7092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.19, Y:138.89, Z:15.68 [[ 2.67762826e-01 -9.63482320e-01 -2.21087986e-03 9.36193778e+02] [ 9.63442490e-01 2.67771866e-01 -8.76330914e-03 1.38894747e+02] [ 9.03530484e-03 2.16432819e-04 9.99959157e-01 1.56808984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.7392541539998 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:936.20, Y:138.92, Z:15.68 [[ 2.68896517e-01 -9.63166591e-01 -2.18661618e-03 9.36201587e+02] [ 9.63126701e-01 2.68905290e-01 -8.76942344e-03 1.38922225e+02] [ 9.03440833e-03 2.52078990e-04 9.99959157e-01 1.56791672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.7692541539999 meters Centerline goodness : 0.998335 Centerline is valid? [True, True] Translation: X:936.21, Y:138.95, Z:15.68 [[ 2.70371648e-01 -9.62753499e-01 -2.20751195e-03 9.36210296e+02] [ 9.62713638e-01 2.70380549e-01 -8.76416022e-03 1.38948872e+02] [ 9.03459421e-03 2.44378584e-04 9.99959157e-01 1.56767871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.7992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.22, Y:138.98, Z:15.68 [[ 2.68770752e-01 -9.63201598e-01 -2.22834447e-03 9.36215938e+02] [ 9.63161794e-01 2.68779909e-01 -8.75891856e-03 1.38975344e+02] [ 9.03553857e-03 2.07884867e-04 9.99959157e-01 1.56820385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.8292541539998 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:936.22, Y:139.00, Z:15.68 [[ 2.68296904e-01 -9.63333754e-01 -2.20212565e-03 9.36222631e+02] [ 9.63293902e-01 2.68305842e-01 -8.76550542e-03 1.39001451e+02] [ 9.03495042e-03 2.30463748e-04 9.99959157e-01 1.56818561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.8592541539998 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:936.23, Y:139.03, Z:15.68 [[ 2.67565783e-01 -9.63537085e-01 -2.19948239e-03 9.36229486e+02] [ 9.63497234e-01 2.67574727e-01 -8.76616863e-03 1.39028286e+02] [ 9.03505447e-03 2.26331571e-04 9.99959157e-01 1.56825616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.8892541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:936.24, Y:139.06, Z:15.68 [[ 2.65989012e-01 -9.63973557e-01 -2.19698937e-03 9.36236983e+02] [ 9.63933716e-01 2.65997998e-01 -8.76679339e-03 1.39055549e+02] [ 9.03535178e-03 2.14118584e-04 9.99959157e-01 1.56842834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.9192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.24, Y:139.08, Z:15.68 [[ 2.64814092e-01 -9.64296988e-01 -2.19446879e-03 9.36243659e+02] [ 9.64257152e-01 2.64823105e-01 -8.76742428e-03 1.39081815e+02] [ 9.03554687e-03 2.05705283e-04 9.99959157e-01 1.56839303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.9492541539998 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:936.25, Y:139.11, Z:15.68 [[ 2.61841194e-01 -9.65108484e-01 -2.19181095e-03 9.36250842e+02] [ 9.65068670e-01 2.61850305e-01 -8.76808868e-03 1.39108703e+02] [ 9.03608314e-03 1.80598724e-04 9.99959157e-01 1.56832116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.9792541539998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:936.26, Y:139.13, Z:15.68 [[ 2.60074184e-01 -9.65586157e-01 -2.18934571e-03 9.36257977e+02] [ 9.65546355e-01 2.60083345e-01 -8.76870419e-03 1.39134881e+02] [ 9.03635174e-03 1.66598817e-04 9.99959157e-01 1.56832472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.0092541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:936.27, Y:139.16, Z:15.68 [[ 2.58146921e-01 -9.66103196e-01 -2.18674485e-03 9.36265365e+02] [ 9.66063407e-01 2.58156139e-01 -8.76935275e-03 1.39162453e+02] [ 9.03662132e-03 1.51247235e-04 9.99959157e-01 1.56837370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.0392541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:936.27, Y:139.19, Z:15.68 [[ 2.54076477e-01 -9.67181665e-01 -2.18426378e-03 9.36272582e+02] [ 9.67141910e-01 2.54085840e-01 -8.76997069e-03 1.39188301e+02] [ 9.03714535e-03 1.15750213e-04 9.99959157e-01 1.56833996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.0692541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:936.28, Y:139.22, Z:15.68 [[ 2.53806799e-01 -9.67252474e-01 -2.18165211e-03 9.36279400e+02] [ 9.67212717e-01 2.53816149e-01 -8.77062033e-03 1.39216065e+02] [ 9.03714275e-03 1.15921408e-04 9.99959157e-01 1.56836569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.0992541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:936.29, Y:139.24, Z:15.68 [[ 2.51636687e-01 -9.67819316e-01 -2.17920642e-03 9.36286410e+02] [ 9.67779574e-01 2.51646104e-01 -8.77122796e-03 1.39242900e+02] [ 9.03735265e-03 9.81712843e-05 9.99959157e-01 1.56836901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.1292541539999 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:936.29, Y:139.27, Z:15.68 [[ 2.49105797e-01 -9.68473832e-01 -2.17677674e-03 9.36293503e+02] [ 9.68434109e-01 2.49115296e-01 -8.77183090e-03 1.39269932e+02] [ 9.03755707e-03 7.70490881e-05 9.99959157e-01 1.56829154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.1592541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:936.30, Y:139.30, Z:15.68 [[ 2.44990845e-01 -9.69522954e-01 -2.17436547e-03 9.36300661e+02] [ 9.69483267e-01 2.45000490e-01 -8.77242856e-03 1.39295940e+02] [ 9.03779146e-03 4.11537409e-05 9.99959157e-01 1.56837137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.1892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.31, Y:139.32, Z:15.68 [[ 2.43015699e-01 -9.70019924e-01 -2.17181911e-03 9.36307535e+02] [ 9.69980251e-01 2.43025402e-01 -8.77305893e-03 1.39322668e+02] [ 9.03784917e-03 2.53693969e-05 9.99959157e-01 1.56842458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.2192541539998 meters Centerline goodness : 0.999757 Centerline is valid? [True, True] Translation: X:936.31, Y:139.35, Z:15.68 [[ 2.38568631e-01 -9.71123217e-01 -2.16944850e-03 9.36314873e+02] [ 9.71083583e-01 2.38578494e-01 -8.77364511e-03 1.39348962e+02] [ 9.03787422e-03 -1.35993175e-05 9.99959158e-01 1.56839311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.2492541539998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:936.32, Y:139.38, Z:15.69 [[ 2.37322339e-01 -9.71428542e-01 -2.16680304e-03 9.36323864e+02] [ 9.71388915e-01 2.37332229e-01 -8.77429840e-03 1.39376168e+02] [ 9.03785610e-03 -2.24714406e-05 9.99959158e-01 1.56852366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.2792541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:936.33, Y:139.40, Z:15.69 [[ 2.33822038e-01 -9.72276952e-01 -2.18688611e-03 9.36329841e+02] [ 9.72237408e-01 2.33832252e-01 -8.76934553e-03 1.39403926e+02] [ 9.03759705e-03 -7.57062434e-05 9.99959157e-01 1.56876673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.3092541539999 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:936.34, Y:139.43, Z:15.69 [[ 2.31554099e-01 -9.72819621e-01 -2.16424164e-03 9.36336658e+02] [ 9.72780048e-01 2.31564202e-01 -8.77492222e-03 1.39429910e+02] [ 9.03757740e-03 -7.34618690e-05 9.99959158e-01 1.56865764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.3392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.34, Y:139.46, Z:15.69 [[ 2.27774128e-01 -9.73711606e-01 -2.15762538e-03 9.36343883e+02] [ 9.73672057e-01 2.27784324e-01 -8.77654971e-03 1.39456881e+02] [ 9.03730155e-03 -1.01748582e-04 9.99959158e-01 1.56874192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.3692541539998 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:936.35, Y:139.48, Z:15.69 [[ 2.25634084e-01 -9.74209736e-01 -2.15633322e-03 9.36350877e+02] [ 9.74170207e-01 2.25644356e-01 -8.77686717e-03 1.39484370e+02] [ 9.03707387e-03 -1.20275185e-04 9.99959158e-01 1.56877019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.3992541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:936.36, Y:139.51, Z:15.69 [[ 2.22175007e-01 -9.75004424e-01 -2.15388049e-03 9.36357708e+02] [ 9.74964925e-01 2.22185396e-01 -8.77746904e-03 1.39511360e+02] [ 9.03663194e-03 -1.49823687e-04 9.99959158e-01 1.56888991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.4292541539999 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:936.36, Y:139.54, Z:15.69 [[ 2.21097776e-01 -9.75249273e-01 -2.15137279e-03 9.36364564e+02] [ 9.75209780e-01 2.21108187e-01 -8.77808364e-03 1.39539066e+02] [ 9.03650583e-03 -1.57225019e-04 9.99959158e-01 1.56889909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.4592541539998 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:936.37, Y:139.57, Z:15.69 [[ 2.18975083e-01 -9.75728083e-01 -2.14980657e-03 9.36369982e+02] [ 9.75688608e-01 2.18985566e-01 -8.77846720e-03 1.39566198e+02] [ 9.03617358e-03 -1.75276195e-04 9.99959158e-01 1.56894007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.4892541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:936.38, Y:139.59, Z:15.69 [[ 2.19233650e-01 -9.75670049e-01 -2.13612454e-03 9.36376691e+02] [ 9.75630539e-01 2.19243999e-01 -8.78181367e-03 1.39593179e+02] [ 9.03648506e-03 -1.58799267e-04 9.99959158e-01 1.56898338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.5192541539999 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:936.38, Y:139.62, Z:15.69 [[ 2.19797940e-01 -9.75543061e-01 -2.14531497e-03 9.36382602e+02] [ 9.75503567e-01 2.19808349e-01 -8.77956796e-03 1.39618918e+02] [ 9.03640474e-03 -1.63031455e-04 9.99959158e-01 1.56877962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.5492541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:936.39, Y:139.65, Z:15.69 [[ 2.19448621e-01 -9.75621760e-01 -2.11735458e-03 9.36388563e+02] [ 9.75582205e-01 2.19458793e-01 -8.78639090e-03 1.39647018e+02] [ 9.03686624e-03 -1.37492075e-04 9.99959157e-01 1.56890832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.5792541539998 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:936.40, Y:139.67, Z:15.69 [[ 2.20021500e-01 -9.75492673e-01 -2.14129705e-03 9.36395025e+02] [ 9.75453167e-01 2.20031864e-01 -8.78055210e-03 1.39674642e+02] [ 9.03651781e-03 -1.56824743e-04 9.99959158e-01 1.56895826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.6092541539998 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:936.40, Y:139.70, Z:15.69 [[ 2.20959644e-01 -9.75280607e-01 -2.13877757e-03 9.36398403e+02] [ 9.75241085e-01 2.20969947e-01 -8.78116575e-03 1.39702102e+02] [ 9.03670623e-03 -1.45540504e-04 9.99959158e-01 1.56879697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.6392541539999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:936.41, Y:139.73, Z:15.69 [[ 2.24768081e-01 -9.74409962e-01 -2.12985827e-03 9.36405184e+02] [ 9.74370380e-01 2.24778149e-01 -8.78333619e-03 1.39730208e+02] [ 9.03731588e-03 -1.01057191e-04 9.99959158e-01 1.56903534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.6692541539999 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:936.41, Y:139.76, Z:15.69 [[ 2.27522314e-01 -9.73770525e-01 -2.13568381e-03 9.36409948e+02] [ 9.73730928e-01 2.27532323e-01 -8.78191948e-03 1.39756722e+02] [ 9.03751144e-03 -8.14987355e-05 9.99959158e-01 1.56902106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.6992541539998 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:936.41, Y:139.78, Z:15.69 [[ 2.31134466e-01 -9.72919477e-01 -2.13306575e-03 9.36414563e+02] [ 9.72879837e-01 2.31144304e-01 -8.78255534e-03 1.39783999e+02] [ 9.03776514e-03 -4.52654136e-05 9.99959158e-01 1.56913074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.7292541539998 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:936.42, Y:139.81, Z:15.69 [[ 2.38933640e-01 -9.71033561e-01 -2.13043339e-03 9.36417087e+02] [ 9.70993838e-01 2.38943136e-01 -8.78319384e-03 1.39812551e+02] [ 9.03782843e-03 2.99627856e-05 9.99959158e-01 1.56919333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.7592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.42, Y:139.84, Z:15.69 [[ 2.46657346e-01 -9.69100421e-01 -2.12796447e-03 9.36420311e+02] [ 9.69060618e-01 2.46666503e-01 -8.78379196e-03 1.39841026e+02] [ 9.03727404e-03 1.04460242e-04 9.99959158e-01 1.56930123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.7892541539999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:936.42, Y:139.87, Z:15.69 [[ 2.49686448e-01 -9.68324409e-01 -2.12548268e-03 9.36424839e+02] [ 9.68284572e-01 2.49695457e-01 -8.78439246e-03 1.39868455e+02] [ 9.03686500e-03 1.35271661e-04 9.99959158e-01 1.56929164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.8192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.43, Y:139.90, Z:15.69 [[ 2.52877595e-01 -9.67495951e-01 -2.12294023e-03 9.36430068e+02] [ 9.67456080e-01 2.52886450e-01 -8.78500685e-03 1.39895905e+02] [ 9.03632138e-03 1.67679970e-04 9.99959158e-01 1.56935956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.8492541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:936.43, Y:139.92, Z:15.69 [[ 2.55142077e-01 -9.66901249e-01 -2.12040461e-03 9.36434972e+02] [ 9.66861352e-01 2.55150816e-01 -8.78561882e-03 1.39924110e+02] [ 9.03584878e-03 1.91443759e-04 9.99959158e-01 1.56938124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.8792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.44, Y:139.95, Z:15.69 [[ 2.59080858e-01 -9.65853314e-01 -2.11784216e-03 9.36438376e+02] [ 9.65813377e-01 2.59089411e-01 -8.78623648e-03 1.39952571e+02] [ 9.03492610e-03 2.30905396e-04 9.99959158e-01 1.56934486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.9092541539999 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:936.44, Y:139.98, Z:15.69 [[ 2.59831305e-01 -9.65651707e-01 -2.11528570e-03 9.36442947e+02] [ 9.65611758e-01 2.59839804e-01 -8.78685190e-03 1.39979592e+02] [ 9.03467396e-03 2.40554452e-04 9.99959158e-01 1.56918185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.9392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.45, Y:140.01, Z:15.69 [[ 2.61584370e-01 -9.65178302e-01 -2.11259033e-03 9.36447834e+02] [ 9.65138333e-01 2.61592772e-01 -8.78749989e-03 1.40007759e+02] [ 9.03414258e-03 2.59730712e-04 9.99959158e-01 1.56941392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.9692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.45, Y:140.04, Z:15.69 [[ 2.58455886e-01 -9.66020757e-01 -2.11007009e-03 9.36450706e+02] [ 9.65980810e-01 2.58464395e-01 -8.78810501e-03 1.40035160e+02] [ 9.03486985e-03 2.33050252e-04 9.99959158e-01 1.56894741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.9992541539998 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:936.46, Y:140.06, Z:15.69 [[ 2.60838958e-01 -9.65380080e-01 -2.08307374e-03 9.36458896e+02] [ 9.65340061e-01 2.60847122e-01 -8.79457970e-03 1.40062272e+02] [ 9.03347584e-03 2.83094479e-04 9.99959157e-01 1.56936573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.0292541539999 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:936.46, Y:140.09, Z:15.69 [[ 2.58390569e-01 -9.66038237e-01 -2.10661384e-03 9.36463905e+02] [ 9.65998285e-01 2.58399049e-01 -8.78893739e-03 1.40090113e+02] [ 9.03479660e-03 2.35993179e-04 9.99959158e-01 1.56933939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.0592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.47, Y:140.12, Z:15.69 [[ 2.56863659e-01 -9.66445360e-01 -2.10414784e-03 9.36470227e+02] [ 9.66405416e-01 2.56872180e-01 -8.78952774e-03 1.40117896e+02] [ 9.03509533e-03 2.24250394e-04 9.99959158e-01 1.56948298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.0892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.48, Y:140.14, Z:15.69 [[ 2.54519950e-01 -9.67065240e-01 -2.10166291e-03 9.36475931e+02] [ 9.67025312e-01 2.54528545e-01 -8.79012187e-03 1.40143971e+02] [ 9.03555451e-03 2.04900150e-04 9.99959158e-01 1.56943700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.1192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.48, Y:140.17, Z:15.69 [[ 2.49531671e-01 -9.68364361e-01 -2.09985070e-03 9.36482650e+02] [ 9.68324474e-01 2.49540455e-01 -8.79055476e-03 1.40171410e+02] [ 9.03645764e-03 1.60184996e-04 9.99959158e-01 1.56945324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.1492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.49, Y:140.20, Z:15.69 [[ 2.46674042e-01 -9.69096238e-01 -2.09740450e-03 9.36489486e+02] [ 9.69056372e-01 2.46682921e-01 -8.79113838e-03 1.40199126e+02] [ 9.03685300e-03 1.36042440e-04 9.99959158e-01 1.56948671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.1792541539999 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:936.50, Y:140.23, Z:15.70 [[ 2.41990075e-01 -9.70276463e-01 -2.09496139e-03 9.36496434e+02] [ 9.70236636e-01 2.41999125e-01 -8.79172054e-03 1.40225899e+02] [ 9.03737833e-03 9.49008228e-05 9.99959158e-01 1.56952680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.2092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.50, Y:140.25, Z:15.70 [[ 2.40455735e-01 -9.70657850e-01 -2.09252282e-03 9.36502908e+02] [ 9.70618032e-01 2.40464825e-01 -8.79230091e-03 1.40252735e+02] [ 9.03749403e-03 8.31188012e-05 9.99959158e-01 1.56977420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.2392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.51, Y:140.28, Z:15.70 [[ 2.38088429e-01 -9.71241233e-01 -2.08999016e-03 9.36509618e+02] [ 9.71201432e-01 2.38097594e-01 -8.79290290e-03 1.40280355e+02] [ 9.03765148e-03 6.36870007e-05 9.99959158e-01 1.56980989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.2692541539999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:936.52, Y:140.31, Z:15.70 [[ 2.37168079e-01 -9.71466389e-01 -2.08745512e-03 9.36516148e+02] [ 9.71426591e-01 2.37177259e-01 -8.79350468e-03 1.40307951e+02] [ 9.03769112e-03 5.77292010e-05 9.99959158e-01 1.56982814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.2992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.52, Y:140.34, Z:15.70 [[ 2.36652455e-01 -9.71592131e-01 -2.08492212e-03 9.36522462e+02] [ 9.71552333e-01 2.36661632e-01 -8.79410521e-03 1.40335029e+02] [ 9.03770449e-03 5.55356332e-05 9.99959158e-01 1.56983748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.3292541539998 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:936.53, Y:140.36, Z:15.70 [[ 2.36508459e-01 -9.71627198e-01 -2.08239590e-03 9.36528675e+02] [ 9.71587396e-01 2.36517619e-01 -8.79470336e-03 1.40362692e+02] [ 9.03769631e-03 5.67921320e-05 9.99959158e-01 1.56963934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.3592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.53, Y:140.39, Z:15.70 [[ 2.37313982e-01 -9.71430774e-01 -2.07987296e-03 9.36534763e+02] [ 9.71390959e-01 2.37323087e-01 -8.79529998e-03 1.40388753e+02] [ 9.03762693e-03 6.68778745e-05 9.99959158e-01 1.56969733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.3892541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:936.54, Y:140.42, Z:15.70 [[ 2.38282088e-01 -9.71193765e-01 -2.07803101e-03 9.36540573e+02] [ 9.71153937e-01 2.38291136e-01 -8.79573515e-03 1.40416629e+02] [ 9.03753950e-03 7.77781345e-05 9.99959158e-01 1.56970055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.4192541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:936.55, Y:140.44, Z:15.70 [[ 2.39097595e-01 -9.70993323e-01 -2.07554249e-03 9.36546567e+02] [ 9.70953482e-01 2.39106587e-01 -8.79632233e-03 1.40444407e+02] [ 9.03744612e-03 8.79243002e-05 9.99959158e-01 1.56978366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.4492541539998 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:936.55, Y:140.47, Z:15.70 [[ 2.39399865e-01 -9.70918847e-01 -2.07303626e-03 9.36552337e+02] [ 9.70878999e-01 2.39408823e-01 -8.79691293e-03 1.40470989e+02] [ 9.03739173e-03 9.33124074e-05 9.99959158e-01 1.56970151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.4792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.56, Y:140.50, Z:15.70 [[ 2.40767269e-01 -9.70580669e-01 -2.07039892e-03 9.36558724e+02] [ 9.70540803e-01 2.40776146e-01 -8.79753360e-03 1.40498159e+02] [ 9.03721872e-03 1.08751510e-04 9.99959158e-01 1.56988252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.5092541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:936.56, Y:140.53, Z:15.70 [[ 2.41833859e-01 -9.70315469e-01 -2.06792509e-03 9.36564458e+02] [ 9.70275588e-01 2.41842670e-01 -8.79811505e-03 1.40525436e+02] [ 9.03705966e-03 1.21224877e-04 9.99959158e-01 1.56980933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.5392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.57, Y:140.55, Z:15.70 [[ 2.42798755e-01 -9.70074481e-01 -2.06546251e-03 9.36570584e+02] [ 9.70034586e-01 2.42807504e-01 -8.79869314e-03 1.40552141e+02] [ 9.03689747e-03 1.32741669e-04 9.99959158e-01 1.56986244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.5692541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:936.58, Y:140.58, Z:15.70 [[ 2.43418566e-01 -9.69919144e-01 -2.06286448e-03 9.36576942e+02] [ 9.69879239e-01 2.43427266e-01 -8.79930221e-03 1.40579659e+02] [ 9.03676912e-03 1.41184092e-04 9.99959158e-01 1.56985274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.5992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.58, Y:140.61, Z:15.70 [[ 2.43679353e-01 -9.69853663e-01 -2.06043346e-03 9.36583381e+02] [ 9.69813751e-01 2.43688020e-01 -8.79987141e-03 1.40606846e+02] [ 9.03669047e-03 1.46110271e-04 9.99959158e-01 1.56999702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.6292541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:936.59, Y:140.63, Z:15.70 [[ 2.43099195e-01 -9.69999251e-01 -2.05800084e-03 9.36589792e+02] [ 9.69959339e-01 2.43107864e-01 -8.80044029e-03 1.40634143e+02] [ 9.03673667e-03 1.43202820e-04 9.99959158e-01 1.57007123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.6592541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:936.60, Y:140.66, Z:15.70 [[ 2.42224105e-01 -9.70218150e-01 -2.05552830e-03 9.36596283e+02] [ 9.70178241e-01 2.42232787e-01 -8.80101776e-03 1.40660054e+02] [ 9.03682352e-03 1.37589821e-04 9.99959158e-01 1.57020600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.6892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.60, Y:140.69, Z:15.70 [[ 2.41897813e-01 -9.70299559e-01 -2.05292613e-03 9.36602929e+02] [ 9.70259648e-01 2.41906485e-01 -8.80162470e-03 1.40687057e+02] [ 9.03682871e-03 1.37222386e-04 9.99959158e-01 1.57034566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.7192541539998 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:936.61, Y:140.71, Z:15.70 [[ 2.39872355e-01 -9.70802271e-01 -2.05054165e-03 9.36609276e+02] [ 9.70762373e-01 2.39881089e-01 -8.80218019e-03 1.40712035e+02] [ 9.03706268e-03 1.20811012e-04 9.99959158e-01 1.57024179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.7492541539998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:936.62, Y:140.74, Z:15.70 [[ 2.43003534e-01 -9.70023240e-01 -2.04846910e-03 9.36622812e+02] [ 9.69983311e-01 2.43012120e-01 -8.80266249e-03 1.40744140e+02] [ 9.03659001e-03 1.52097246e-04 9.99959158e-01 1.57023146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.7792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.62, Y:140.77, Z:15.71 [[ 2.38879668e-01 -9.71046647e-01 -2.21666939e-03 9.36623121e+02] [ 9.71007104e-01 2.38889945e-01 -8.76344433e-03 1.40765505e+02] [ 9.03925327e-03 -5.89930543e-05 9.99959143e-01 1.57050808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.8092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.63, Y:140.79, Z:15.70 [[ 2.37737807e-01 -9.71327216e-01 -2.04325707e-03 9.36630106e+02] [ 9.71287325e-01 2.37746562e-01 -8.80369191e-03 1.40791731e+02] [ 9.03704289e-03 1.08380717e-04 9.99959159e-01 1.57048719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.8392541539998 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:936.64, Y:140.82, Z:15.70 [[ 2.36463932e-01 -9.71638124e-01 -2.04064651e-03 9.36636503e+02] [ 9.71598239e-01 2.36472717e-01 -8.80429698e-03 1.40819537e+02] [ 9.03714783e-03 9.92101326e-05 9.99959159e-01 1.57039388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.8692541539998 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:936.64, Y:140.85, Z:15.70 [[ 2.36162289e-01 -9.71711490e-01 -2.03811990e-03 9.36642876e+02] [ 9.71671603e-01 2.36171063e-01 -8.80488183e-03 1.40846208e+02] [ 9.03714978e-03 9.89978224e-05 9.99959159e-01 1.57035834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.8992541539999 meters Centerline goodness : 0.999695 Centerline is valid? [True, True] Translation: X:936.66, Y:140.88, Z:15.70 [[ 2.39216798e-01 -9.70964047e-01 -2.03545797e-03 9.36655535e+02] [ 9.70924127e-01 2.39225422e-01 -8.80549715e-03 1.40878298e+02] [ 9.03675445e-03 1.30147579e-04 9.99959159e-01 1.57006515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.9292541539999 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:936.66, Y:140.91, Z:15.70 [[ 2.38539900e-01 -9.71130230e-01 -2.18933234e-03 9.36662198e+02] [ 9.71090631e-01 2.38549944e-01 -8.76989997e-03 1.40905518e+02] [ 9.03898008e-03 -3.40690656e-05 9.99959147e-01 1.57002689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.9592541539998 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:936.67, Y:140.93, Z:15.70 [[ 2.37873301e-01 -9.71293767e-01 -2.17047326e-03 9.36668082e+02] [ 9.71254135e-01 2.37883202e-01 -8.77425124e-03 1.40932624e+02] [ 9.03869467e-03 -2.09210283e-05 9.99959150e-01 1.57005123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.9892541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:936.67, Y:140.96, Z:15.70 [[ 2.35075447e-01 -9.71974709e-01 -2.16763470e-03 9.36669385e+02] [ 9.71935100e-01 2.35085437e-01 -8.77490452e-03 1.40955464e+02] [ 9.03856462e-03 -4.40356489e-05 9.99959150e-01 1.57037059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.0192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.68, Y:140.98, Z:15.70 [[ 2.35878800e-01 -9.71780385e-01 -2.01887057e-03 9.36676838e+02] [ 9.71740465e-01 2.35887411e-01 -8.80899880e-03 1.40982013e+02] [ 9.03663839e-03 1.16037845e-04 9.99959162e-01 1.57033705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.0492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.68, Y:141.01, Z:15.70 [[ 2.36065186e-01 -9.71735130e-01 -2.01621308e-03 9.36683667e+02] [ 9.71695203e-01 2.36073766e-01 -8.80960701e-03 1.41009559e+02] [ 9.03657962e-03 1.20496946e-04 9.99959162e-01 1.57038583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.0792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.69, Y:141.04, Z:15.70 [[ 2.37134230e-01 -9.71474808e-01 -2.01374849e-03 9.36690964e+02] [ 9.71434867e-01 2.37142743e-01 -8.81017034e-03 1.41036213e+02] [ 9.03640438e-03 1.32967465e-04 9.99959162e-01 1.57038748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.1092541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:936.70, Y:141.06, Z:15.70 [[ 2.37648389e-01 -9.71349164e-01 -2.01125864e-03 9.36697824e+02] [ 9.71309214e-01 2.37656859e-01 -8.81073871e-03 1.41063570e+02] [ 9.03629308e-03 1.40303820e-04 9.99959162e-01 1.57039113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.1392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.70, Y:141.09, Z:15.70 [[ 2.38298275e-01 -9.71189939e-01 -2.00876587e-03 9.36704609e+02] [ 9.71149978e-01 2.38306695e-01 -8.81130700e-03 1.41090334e+02] [ 9.03615506e-03 1.48906324e-04 9.99959162e-01 1.57045379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.1692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.71, Y:141.12, Z:15.70 [[ 2.39138731e-01 -9.70983338e-01 -2.00624416e-03 9.36711577e+02] [ 9.70943365e-01 2.39147093e-01 -8.81188113e-03 1.41117510e+02] [ 9.03597721e-03 1.59312609e-04 9.99959162e-01 1.57045854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.1992541539998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:936.72, Y:141.14, Z:15.70 [[ 2.41168819e-01 -9.70481111e-01 -2.00371694e-03 9.36718825e+02] [ 9.70441116e-01 2.41177075e-01 -8.81245575e-03 1.41144915e+02] [ 9.03557243e-03 1.80800244e-04 9.99959162e-01 1.57036259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.2292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.73, Y:141.17, Z:15.70 [[ 2.42494572e-01 -9.70150698e-01 -2.00121015e-03 9.36725541e+02] [ 9.70110688e-01 2.42502751e-01 -8.81302498e-03 1.41172109e+02] [ 9.03526130e-03 1.95715367e-04 9.99959162e-01 1.57036261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.2592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.73, Y:141.20, Z:15.70 [[ 2.44120191e-01 -9.69742924e-01 -1.99872619e-03 9.36733038e+02] [ 9.69702895e-01 2.44128279e-01 -8.81358828e-03 1.41199306e+02] [ 9.03486045e-03 2.13404275e-04 9.99959162e-01 1.57034180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.2892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.75, Y:141.23, Z:15.70 [[ 2.49015960e-01 -9.68497324e-01 -1.99615332e-03 9.36747945e+02] [ 9.68457251e-01 2.49023823e-01 -8.81417096e-03 1.41231458e+02] [ 9.03359073e-03 2.61680082e-04 9.99959162e-01 1.57011340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.3192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.75, Y:141.25, Z:15.70 [[ 2.44671740e-01 -9.69603534e-01 -2.17407497e-03 9.36747274e+02] [ 9.69563838e-01 2.44681396e-01 -8.77379273e-03 1.41252460e+02] [ 9.03905614e-03 3.87946663e-05 9.99959146e-01 1.57032106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.3492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.76, Y:141.28, Z:15.70 [[ 2.44527083e-01 -9.69640419e-01 -1.99101145e-03 9.36755829e+02] [ 9.69600374e-01 2.44535085e-01 -8.81514012e-03 1.41278214e+02] [ 9.03438831e-03 2.25055058e-04 9.99959164e-01 1.57028423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.3792541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:936.77, Y:141.31, Z:15.70 [[ 2.48330648e-01 -9.68673286e-01 -1.98829852e-03 9.36770405e+02] [ 9.68633206e-01 2.48338468e-01 -8.81575199e-03 1.41310902e+02] [ 9.03335446e-03 2.63289441e-04 9.99959164e-01 1.57009021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.4092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.77, Y:141.33, Z:15.70 [[ 2.44495372e-01 -9.69648041e-01 -2.16569498e-03 9.36770663e+02] [ 9.69608330e-01 2.44504960e-01 -8.77563894e-03 1.41331677e+02] [ 9.03880427e-03 4.57272173e-05 9.99959148e-01 1.57034258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.4392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.78, Y:141.36, Z:15.70 [[ 2.44581239e-01 -9.69626773e-01 -1.98474464e-03 9.36778402e+02] [ 9.69586718e-01 2.44589182e-01 -8.81637469e-03 1.41358658e+02] [ 9.03404001e-03 2.31937804e-04 9.99959165e-01 1.57029693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.4692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.79, Y:141.38, Z:15.70 [[ 2.44255805e-01 -9.69708808e-01 -1.98219166e-03 9.36785233e+02] [ 9.69668752e-01 2.44263738e-01 -8.81694865e-03 1.41384968e+02] [ 9.03405031e-03 2.31521576e-04 9.99959165e-01 1.57027471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.4992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.79, Y:141.41, Z:15.70 [[ 2.43083418e-01 -9.70003368e-01 -1.97949680e-03 9.36793458e+02] [ 9.69963316e-01 2.43091375e-01 -8.81755363e-03 1.41411974e+02] [ 9.03425531e-03 2.23361792e-04 9.99959165e-01 1.57025669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.5292541539999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:936.80, Y:141.44, Z:15.70 [[ 2.41572566e-01 -9.70380743e-01 -1.97693480e-03 9.36800486e+02] [ 9.70340699e-01 2.41580562e-01 -8.81812800e-03 1.41437883e+02] [ 9.03453063e-03 2.11917517e-04 9.99959165e-01 1.57016269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.5592541539999 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:936.81, Y:141.46, Z:15.70 [[ 2.38479594e-01 -9.71145502e-01 -1.97423729e-03 9.36808051e+02] [ 9.71105478e-01 2.38487693e-01 -8.81873189e-03 1.41464406e+02] [ 9.03510310e-03 1.85894956e-04 9.99959165e-01 1.57003541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.5892541539998 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:936.81, Y:141.49, Z:15.70 [[ 2.36876268e-01 -9.71537826e-01 -1.97156531e-03 9.36814605e+02] [ 9.71497811e-01 2.36884409e-01 -8.81932921e-03 1.41491333e+02] [ 9.03534501e-03 1.73718406e-04 9.99959165e-01 1.57006745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.6192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.82, Y:141.52, Z:15.70 [[ 2.35822490e-01 -9.71794153e-01 -1.96907807e-03 9.36820837e+02] [ 9.71754143e-01 2.35830651e-01 -8.81988450e-03 1.41518673e+02] [ 9.03548115e-03 1.66467349e-04 9.99959165e-01 1.57011529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.6492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.83, Y:141.55, Z:15.70 [[ 2.35238375e-01 -9.71935718e-01 -1.96660068e-03 9.36826435e+02] [ 9.71895708e-01 2.35246538e-01 -8.82043686e-03 1.41545977e+02] [ 9.03553363e-03 1.63574467e-04 9.99959165e-01 1.57013392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.6792541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:936.83, Y:141.57, Z:15.70 [[ 2.35175012e-01 -9.71951057e-01 -1.96407729e-03 9.36830949e+02] [ 9.71911042e-01 2.35183155e-01 -8.82099871e-03 1.41572438e+02] [ 9.03549691e-03 1.65570075e-04 9.99959165e-01 1.57001400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.7092541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:936.84, Y:141.60, Z:15.70 [[ 2.34937010e-01 -9.72008619e-01 -1.96142132e-03 9.36836324e+02] [ 9.71968601e-01 2.34945138e-01 -8.82158925e-03 1.41600398e+02] [ 9.03548718e-03 1.66077857e-04 9.99959165e-01 1.56997417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.7392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.84, Y:141.63, Z:15.70 [[ 2.34712297e-01 -9.72062910e-01 -1.95887867e-03 9.36840509e+02] [ 9.72022890e-01 2.34720412e-01 -8.82215382e-03 1.41626936e+02] [ 9.03547732e-03 1.66593083e-04 9.99959165e-01 1.56987724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.7692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.85, Y:141.65, Z:15.70 [[ 2.34303692e-01 -9.72161485e-01 -1.95620201e-03 9.36846433e+02] [ 9.72121464e-01 2.34311799e-01 -8.82274730e-03 1.41654731e+02] [ 9.03549633e-03 1.65536306e-04 9.99959165e-01 1.56988537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.7992541539999 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:936.85, Y:141.68, Z:15.70 [[ 2.33418823e-01 -9.72374329e-01 -1.95368734e-03 9.36852225e+02] [ 9.72334310e-01 2.33426944e-01 -8.82330411e-03 1.41681105e+02] [ 9.03559768e-03 1.59888029e-04 9.99959165e-01 1.56982998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.8292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.86, Y:141.71, Z:15.70 [[ 2.30545573e-01 -9.73059573e-01 -1.95105867e-03 9.36857507e+02] [ 9.73019573e-01 2.30553788e-01 -8.82388533e-03 1.41708218e+02] [ 9.03599006e-03 1.35889428e-04 9.99959165e-01 1.56991729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.8592541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:936.86, Y:141.74, Z:15.70 [[ 2.28486785e-01 -9.73545065e-01 -1.94839101e-03 9.36863328e+02] [ 9.73505077e-01 2.28495061e-01 -8.82447434e-03 1.41735892e+02] [ 9.03622116e-03 1.19507232e-04 9.99959165e-01 1.56991598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.8892541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:936.87, Y:141.76, Z:15.70 [[ 2.26266234e-01 -9.74063553e-01 -1.94590444e-03 9.36869191e+02] [ 9.74023580e-01 2.26274578e-01 -8.82502262e-03 1.41762987e+02] [ 9.03644160e-03 1.01447819e-04 9.99959165e-01 1.56992983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.9192541539999 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:936.88, Y:141.79, Z:15.70 [[ 2.21392861e-01 -9.75182765e-01 -1.94342894e-03 9.36875425e+02] [ 9.75142829e-01 2.21401383e-01 -8.82556774e-03 1.41790067e+02] [ 9.03681940e-03 5.87968981e-05 9.99959165e-01 1.56992924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.9492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.88, Y:141.82, Z:15.70 [[ 2.18646405e-01 -9.75802225e-01 -1.94095868e-03 9.36881360e+02] [ 9.75762309e-01 2.18655017e-01 -8.82611098e-03 1.41817268e+02] [ 9.03693908e-03 3.58831133e-05 9.99959165e-01 1.56998440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.9792541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:936.89, Y:141.84, Z:15.70 [[ 2.14179843e-01 -9.76792321e-01 -1.93848679e-03 9.36888117e+02] [ 9.76752439e-01 2.14188615e-01 -8.82665385e-03 1.41844819e+02] [ 9.03700949e-03 -2.93036426e-06 9.99959165e-01 1.57001445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.0092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.89, Y:141.87, Z:15.70 [[ 2.11998113e-01 -9.77268158e-01 -1.93597721e-03 9.36894331e+02] [ 9.77228291e-01 2.12006951e-01 -8.82720425e-03 1.41872237e+02] [ 9.03698626e-03 -2.05410562e-05 9.99959165e-01 1.57005935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.0392541539999 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:936.90, Y:141.90, Z:15.70 [[ 2.09997344e-01 -9.77700045e-01 -1.93347918e-03 9.36900211e+02] [ 9.77660191e-01 2.10006241e-01 -8.82775137e-03 1.41898311e+02] [ 9.03693560e-03 -3.64812836e-05 9.99959165e-01 1.57007323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.0692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.91, Y:141.93, Z:15.70 [[ 2.08424946e-01 -9.78036457e-01 -1.93165682e-03 9.36906116e+02] [ 9.77996614e-01 2.08433891e-01 -8.82815011e-03 1.41926159e+02] [ 9.03687541e-03 -4.91471204e-05 9.99959165e-01 1.57012010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.0992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.91, Y:141.95, Z:15.70 [[ 2.06213679e-01 -9.78505083e-01 -1.92916587e-03 9.36911265e+02] [ 9.78465255e-01 2.06222691e-01 -8.82869441e-03 1.41952273e+02] [ 9.03676014e-03 -6.70242251e-05 9.99959165e-01 1.57011067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.1292541539999 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:936.91, Y:141.98, Z:15.70 [[ 2.03347798e-01 -9.79104674e-01 -1.92653740e-03 9.36914204e+02] [ 9.79064867e-01 2.03356903e-01 -8.82926794e-03 1.41978506e+02] [ 9.03655219e-03 -9.07928922e-05 9.99959165e-01 1.56997982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.1592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.92, Y:142.01, Z:15.70 [[ 2.03747658e-01 -9.79021665e-01 -1.86322176e-03 9.36920155e+02] [ 9.78981727e-01 2.03756176e-01 -8.84307598e-03 1.42006345e+02] [ 9.03720591e-03 -2.23040329e-05 9.99959163e-01 1.57005360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.1892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.93, Y:142.04, Z:15.70 [[ 2.06435336e-01 -9.78458481e-01 -1.85843761e-03 9.36928941e+02] [ 9.78418510e-01 2.06443701e-01 -8.84411798e-03 1.42035559e+02] [ 9.03726498e-03 7.40871113e-06 9.99959163e-01 1.57013792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.2192541539998 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:936.93, Y:142.06, Z:15.70 [[ 2.05386581e-01 -9.78679034e-01 -1.92373816e-03 9.36931728e+02] [ 9.78639203e-01 2.05395578e-01 -8.82989120e-03 1.42061108e+02] [ 9.03675670e-03 -6.91044193e-05 9.99959165e-01 1.57003770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.2492541539998 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:936.94, Y:142.09, Z:15.70 [[ 2.10292979e-01 -9.77636631e-01 -1.86578754e-03 9.36938813e+02] [ 9.77596641e-01 2.10301253e-01 -8.84248951e-03 1.42090541e+02] [ 9.03711911e-03 3.55258341e-05 9.99959164e-01 1.57012205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.2792541539999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:936.94, Y:142.12, Z:15.70 [[ 2.14882434e-01 -9.76638037e-01 -1.91946842e-03 9.36942713e+02] [ 9.76598112e-01 2.14891005e-01 -8.83082145e-03 1.42118662e+02] [ 9.03699262e-03 2.30391727e-05 9.99959165e-01 1.57011965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.3092541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:936.95, Y:142.15, Z:15.70 [[ 2.17331570e-01 -9.76095955e-01 -1.91705333e-03 9.36947238e+02] [ 9.76056004e-01 2.17340020e-01 -8.83134570e-03 1.42145081e+02] [ 9.03689322e-03 4.81788105e-05 9.99959165e-01 1.57013063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.3392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.95, Y:142.17, Z:15.70 [[ 2.19899124e-01 -9.75520736e-01 -1.91529015e-03 9.36952029e+02] [ 9.75480760e-01 2.19907452e-01 -8.83172807e-03 1.42172959e+02] [ 9.03672045e-03 7.37605742e-05 9.99959165e-01 1.57018621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.3692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.96, Y:142.20, Z:15.70 [[ 2.22090479e-01 -9.75024185e-01 -1.91284491e-03 9.36956937e+02] [ 9.74984185e-01 2.22098695e-01 -8.83225765e-03 1.42200335e+02] [ 9.03650517e-03 9.65667907e-05 9.99959165e-01 1.57019400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.3992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.96, Y:142.23, Z:15.70 [[ 2.25594432e-01 -9.74219432e-01 -1.91040072e-03 9.36961434e+02] [ 9.74179399e-01 2.25602483e-01 -8.83278629e-03 1.42228330e+02] [ 9.03606319e-03 1.31554389e-04 9.99959165e-01 1.57025181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.4292541539999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:936.97, Y:142.26, Z:15.70 [[ 2.26573282e-01 -9.73992252e-01 -1.90790296e-03 9.36966614e+02] [ 9.73952207e-01 2.26581270e-01 -8.83332578e-03 1.42255662e+02] [ 9.03588595e-03 1.43189314e-04 9.99959165e-01 1.57025507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.4592541539998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:936.97, Y:142.28, Z:15.70 [[ 2.28692775e-01 -9.73496782e-01 -1.90536612e-03 9.36970668e+02] [ 9.73456714e-01 2.28700653e-01 -8.83387295e-03 1.42282543e+02] [ 9.03550536e-03 1.65451479e-04 9.99959165e-01 1.57027655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.4892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.97, Y:142.31, Z:15.70 [[ 2.28422382e-01 -9.73560268e-01 -1.90269181e-03 9.36973938e+02] [ 9.73520198e-01 2.28430247e-01 -8.83444892e-03 1.42309468e+02] [ 9.03550081e-03 1.65676959e-04 9.99959165e-01 1.57015006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.5192541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:936.98, Y:142.34, Z:15.70 [[ 2.30365242e-01 -9.73102451e-01 -1.86406932e-03 9.36980301e+02] [ 9.73062298e-01 2.30372675e-01 -8.84275345e-03 1.42337691e+02] [ 9.03433569e-03 2.23207454e-04 9.99959165e-01 1.57017059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.5492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.98, Y:142.36, Z:15.70 [[ 2.28769799e-01 -9.73478696e-01 -1.89932005e-03 9.36983283e+02] [ 9.73438617e-01 2.28777618e-01 -8.83517552e-03 1.42364063e+02] [ 9.03537706e-03 1.72349846e-04 9.99959165e-01 1.57002317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.5792541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:936.99, Y:142.39, Z:15.70 [[ 2.29841449e-01 -9.73226334e-01 -1.84707377e-03 9.36990958e+02] [ 9.73186156e-01 2.29848750e-01 -8.84638742e-03 1.42392131e+02] [ 9.03408479e-03 2.35719882e-04 9.99959164e-01 1.57007268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.6092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:937.00, Y:142.42, Z:15.70 [[ 2.28065499e-01 -9.73643946e-01 -1.89601089e-03 9.36996529e+02] [ 9.73603867e-01 2.28073317e-01 -8.83588647e-03 1.42419013e+02] [ 9.03543686e-03 1.69197319e-04 9.99959165e-01 1.56999271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.6392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:937.00, Y:142.45, Z:15.70 [[ 2.26324836e-01 -9.74050042e-01 -1.89335251e-03 9.37002438e+02] [ 9.74009972e-01 2.26332702e-01 -8.83645607e-03 1.42446323e+02] [ 9.03567799e-03 1.55765250e-04 9.99959165e-01 1.56995882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.6692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:937.01, Y:142.47, Z:15.70 [[ 2.24290880e-01 -9.74520408e-01 -1.89086591e-03 9.37008271e+02] [ 9.74480350e-01 2.24298807e-01 -8.83698813e-03 1.42472791e+02] [ 9.03594425e-03 1.39444163e-04 9.99959165e-01 1.56990376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.6992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:937.02, Y:142.50, Z:15.70 [[ 2.19305927e-01 -9.75654316e-01 -1.88824483e-03 9.37015295e+02] [ 9.75614295e-01 2.19314035e-01 -8.83754815e-03 1.42499569e+02] [ 9.03651060e-03 9.59280428e-05 9.99959165e-01 1.56997384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.7292541539998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:937.02, Y:142.53, Z:15.70 [[ 2.16380024e-01 -9.76307395e-01 -1.88564687e-03 9.37021806e+02] [ 9.76267393e-01 2.16388228e-01 -8.83810244e-03 1.42525582e+02] [ 9.03673656e-03 7.14932608e-05 9.99959165e-01 1.56993559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.7592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:937.03, Y:142.55, Z:15.70 [[ 2.09536335e-01 -9.77799048e-01 -1.88290939e-03 9.37027986e+02] [ 9.77759100e-01 2.09544794e-01 -8.83868561e-03 1.42551333e+02] [ 9.03701224e-03 1.09939954e-05 9.99959165e-01 1.57019446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.7892541539999 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:937.04, Y:142.58, Z:15.70 [[ 2.07580240e-01 -9.78216256e-01 -1.84414039e-03 9.37036284e+02] [ 9.78176250e-01 2.07588429e-01 -8.84693226e-03 1.42578948e+02] [ 9.03703515e-03 3.25539883e-05 9.99959165e-01 1.57009754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.8192541539999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:937.04, Y:142.61, Z:15.70 [[ 2.04858394e-01 -9.78789817e-01 -1.87974958e-03 9.37043077e+02] [ 9.78749902e-01 2.04867016e-01 -8.83935973e-03 1.42605894e+02] [ 9.03697397e-03 -2.89876793e-05 9.99959165e-01 1.57022398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.8492541539998 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:937.05, Y:142.63, Z:15.70 [[ 1.99903391e-01 -9.79813814e-01 -1.87723361e-03 9.37049947e+02] [ 9.79773939e-01 1.99912192e-01 -8.83989402e-03 1.42633436e+02] [ 9.03673216e-03 -7.21397762e-05 9.99959165e-01 1.57030189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.8792541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:937.06, Y:142.66, Z:15.70 [[ 1.99624315e-01 -9.79870715e-01 -1.87471280e-03 9.37055805e+02] [ 9.79830838e-01 1.99633105e-01 -8.84042858e-03 1.42661421e+02] [ 9.03673182e-03 -7.21369123e-05 9.99959165e-01 1.57032763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.9092541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:937.06, Y:142.69, Z:15.70 [[ 1.97528036e-01 -9.80295450e-01 -1.87219464e-03 9.37061734e+02] [ 9.80255587e-01 1.97536888e-01 -8.84096184e-03 1.42688534e+02] [ 9.03658217e-03 -8.88914286e-05 9.99959165e-01 1.57037300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.9392541539999 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:937.07, Y:142.72, Z:15.70 [[ 1.94773882e-01 -9.80846389e-01 -1.86968441e-03 9.37068188e+02] [ 9.80806546e-01 1.94782823e-01 -8.84149267e-03 1.42716076e+02] [ 9.03632857e-03 -1.11706861e-04 9.99959165e-01 1.57035877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.9692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:937.07, Y:142.74, Z:15.70 [[ 1.94029472e-01 -9.80993923e-01 -1.86714587e-03 9.37074421e+02] [ 9.80954081e-01 1.94038421e-01 -8.84202873e-03 1.42743404e+02] [ 9.03627449e-03 -1.15970191e-04 9.99959165e-01 1.57049599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.9992541539998 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:937.08, Y:142.77, Z:15.70 [[ 1.93090682e-01 -9.81179144e-01 -1.86462164e-03 9.37080762e+02] [ 9.81139305e-01 1.93099646e-01 -8.84256101e-03 1.42770781e+02] [ 9.03619422e-03 -1.22037448e-04 9.99959165e-01 1.57048635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.0292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:937.08, Y:142.80, Z:15.70 [[ 1.91533563e-01 -9.81484298e-01 -1.86208343e-03 9.37084681e+02] [ 9.81444468e-01 1.91542568e-01 -8.84309548e-03 1.42796604e+02] [ 9.03602760e-03 -1.33781897e-04 9.99959165e-01 1.57043280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.0592541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:937.09, Y:142.82, Z:15.71 [[ 1.93421817e-01 -9.81113975e-01 -1.83535221e-03 9.37092053e+02] [ 9.81074075e-01 1.93430503e-01 -8.84871577e-03 1.42824205e+02] [ 9.03661180e-03 -8.90817904e-05 9.99959165e-01 1.57050576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.0892541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:937.10, Y:142.85, Z:15.70 [[ 1.95049218e-01 -9.80791696e-01 -1.85788269e-03 9.37097319e+02] [ 9.80751826e-01 1.95058042e-01 -8.84398272e-03 1.42851320e+02] [ 9.03649977e-03 -9.71099284e-05 9.99959165e-01 1.57048106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.1192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:937.10, Y:142.88, Z:15.71 [[ 1.96130290e-01 -9.80576089e-01 -1.85541868e-03 9.37102733e+02] [ 9.80536205e-01 1.96139048e-01 -8.84449963e-03 1.42879110e+02] [ 9.03662491e-03 -8.46309137e-05 9.99959165e-01 1.57051060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.1492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:937.11, Y:142.91, Z:15.71 [[ 1.97283985e-01 -9.80344631e-01 -1.85293772e-03 9.37108067e+02] [ 9.80304732e-01 1.97292674e-01 -8.84501936e-03 1.42906540e+02] [ 9.03673828e-03 -7.14629457e-05 9.99959165e-01 1.57050520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.1792541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:937.11, Y:142.93, Z:15.70 [[ 1.99656047e-01 -9.79864296e-01 -1.85046654e-03 9.37112585e+02] [ 9.79824371e-01 1.99664617e-01 -8.84553633e-03 1.42934256e+02] [ 9.03689792e-03 -4.70673949e-05 9.99959165e-01 1.57041345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.2092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:937.12, Y:142.96, Z:15.71 [[ 2.01150995e-01 -9.79558504e-01 -1.84801574e-03 9.37117916e+02] [ 9.79518561e-01 2.01159481e-01 -8.84604832e-03 1.42962176e+02] [ 9.03696774e-03 -3.07742997e-05 9.99959165e-01 1.57052349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.2392541539998 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:937.12, Y:142.99, Z:15.70 [[ 2.03340231e-01 -9.79106401e-01 -1.84552829e-03 9.37122111e+02] [ 9.79066434e-01 2.03348606e-01 -8.84656724e-03 1.42989292e+02] [ 9.03701622e-03 -8.03177308e-06 9.99959165e-01 1.57048094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.2692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:937.13, Y:143.02, Z:15.71 [[ 2.05374253e-01 -9.78681777e-01 -1.84290570e-03 9.37127503e+02] [ 9.78641788e-01 2.05382521e-01 -8.84711354e-03 1.43016815e+02] [ 9.03700942e-03 1.34248052e-05 9.99959165e-01 1.57062905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.2992541539999 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:937.13, Y:143.04, Z:15.71 [[ 2.06225275e-01 -9.78502810e-01 -1.84043931e-03 9.37132406e+02] [ 9.78462809e-01 2.06233485e-01 -8.84762659e-03 1.43044151e+02] [ 9.03698769e-03 2.38028027e-05 9.99959165e-01 1.57058870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.3292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:937.13, Y:143.07, Z:15.70 [[ 2.07768699e-01 -9.78176257e-01 -1.83793613e-03 9.37132926e+02] [ 9.78136239e-01 2.07776824e-01 -8.84814655e-03 1.43068817e+02] [ 9.03692740e-03 4.06159642e-05 9.99959165e-01 1.57043669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.3592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:937.14, Y:143.10, Z:15.71 [[ 2.12395190e-01 -9.77182230e-01 -1.78102678e-03 9.37141164e+02] [ 9.77142074e-01 2.12402610e-01 -8.85993502e-03 1.43097051e+02] [ 9.03606580e-03 1.41491379e-04 9.99959164e-01 1.57068312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.3892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:937.15, Y:143.13, Z:15.71 [[ 2.16352517e-01 -9.76313591e-01 -1.83334060e-03 9.37145460e+02] [ 9.76273495e-01 2.16360249e-01 -8.84909675e-03 1.43125183e+02] [ 9.03615545e-03 1.24682526e-04 9.99959165e-01 1.57081001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.4192541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:937.15, Y:143.15, Z:15.71 [[ 2.18049359e-01 -9.75936025e-01 -1.83082277e-03 9.37150244e+02] [ 9.75895911e-01 2.18056998e-01 -8.84961764e-03 1.43151874e+02] [ 9.03588438e-03 1.42960996e-04 9.99959165e-01 1.57065348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.4492541539998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:937.16, Y:143.18, Z:15.71 [[ 2.19573246e-01 -9.75594305e-01 -1.82817323e-03 9.37155165e+02] [ 9.75554175e-01 2.19580799e-01 -8.85016496e-03 1.43179067e+02] [ 9.03560226e-03 1.59777425e-04 9.99959165e-01 1.57081609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.4792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:937.16, Y:143.21, Z:15.71 [[ 2.22991078e-01 -9.74818776e-01 -1.82565075e-03 9.37159746e+02] [ 9.74778616e-01 2.22998467e-01 -8.85068527e-03 1.43205395e+02] [ 9.03493150e-03 1.94018534e-04 9.99959165e-01 1.57069925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.5092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:937.17, Y:143.23, Z:15.71 [[ 2.23775698e-01 -9.74638966e-01 -1.82299152e-03 9.37165147e+02] [ 9.74598795e-01 2.23783030e-01 -8.85123297e-03 1.43233172e+02] [ 9.03471111e-03 2.04005497e-04 9.99959165e-01 1.57089767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.5392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:937.17, Y:143.26, Z:15.71 [[ 2.24197802e-01 -9.74541960e-01 -1.82049623e-03 9.37170360e+02] [ 9.74501782e-01 2.24205095e-01 -8.85174616e-03 1.43259967e+02] [ 9.03456258e-03 2.10465216e-04 9.99959165e-01 1.57080177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.5692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:937.18, Y:143.29, Z:15.71 [[ 2.24484467e-01 -9.74475972e-01 -1.81786376e-03 9.37175388e+02] [ 9.74435787e-01 2.24491724e-01 -8.85228675e-03 1.43287678e+02] [ 9.03443610e-03 2.15809371e-04 9.99959165e-01 1.57083756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.5992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:937.18, Y:143.32, Z:15.71 [[ 2.24190808e-01 -9.74543578e-01 -1.81537275e-03 9.37180921e+02] [ 9.74503392e-01 2.24198054e-01 -8.85279756e-03 1.43315523e+02] [ 9.03444005e-03 2.15628932e-04 9.99959165e-01 1.57082960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.6292541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:937.19, Y:143.34, Z:15.71 [[ 2.22496774e-01 -9.74931741e-01 -1.81283449e-03 9.37186633e+02] [ 9.74891563e-01 2.22504067e-01 -8.85331731e-03 1.43341772e+02] [ 9.03474310e-03 2.02517494e-04 9.99959165e-01 1.57060488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.6592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:937.19, Y:143.37, Z:15.71 [[ 2.21776940e-01 -9.75095745e-01 -1.81023004e-03 9.37192791e+02] [ 9.75055568e-01 2.21784239e-01 -8.85384980e-03 1.43369137e+02] [ 9.03483176e-03 1.98504839e-04 9.99959165e-01 1.57070117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.6892541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:937.20, Y:143.40, Z:15.71 [[ 2.19755400e-01 -9.75553328e-01 -1.80777278e-03 9.37198823e+02] [ 9.75513162e-01 2.19762760e-01 -8.85435149e-03 1.43396719e+02] [ 9.03517321e-03 1.82285412e-04 9.99959165e-01 1.57061600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.7192541539998 meters Centerline goodness : 0.999474 Centerline is valid? [True, True] Translation: X:937.20, Y:143.42, Z:15.71 [[ 2.15973996e-01 -9.76397447e-01 -1.80532279e-03 9.37204928e+02] [ 9.76357306e-01 2.15981489e-01 -8.85485100e-03 1.43423571e+02] [ 9.03577021e-03 1.49777460e-04 9.99959165e-01 1.57074652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.7492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:937.21, Y:143.45, Z:15.71 [[ 2.14931187e-01 -9.76627554e-01 -1.79072882e-03 9.37212101e+02] [ 9.76587396e-01 2.14938591e-01 -8.85782006e-03 1.43450202e+02] [ 9.03568786e-03 1.55018579e-04 9.99959165e-01 1.57094137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.7792541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:937.22, Y:143.48, Z:15.71 [[ 2.10421517e-01 -9.77609098e-01 -1.79927969e-03 9.37218844e+02] [ 9.77568989e-01 2.10429183e-01 -8.85608279e-03 1.43476780e+02] [ 9.03640806e-03 1.04590343e-04 9.99959165e-01 1.57087921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.8092541539999 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:937.23, Y:143.50, Z:15.71 [[ 2.11066920e-01 -9.77469963e-01 -1.79662106e-03 9.37225362e+02] [ 9.77429844e-01 2.11074536e-01 -8.85662211e-03 1.43500790e+02] [ 9.03630304e-03 1.13268905e-04 9.99959165e-01 1.57064386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.8392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:937.23, Y:143.53, Z:15.71 [[ 2.07735259e-01 -9.78183545e-01 -1.73616806e-03 9.37231757e+02] [ 9.78143349e-01 2.07742464e-01 -8.86887690e-03 1.43530270e+02] [ 9.03606527e-03 1.44157198e-04 9.99959164e-01 1.57118112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.8692541539998 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:937.24, Y:143.56, Z:15.71 [[ 2.04622476e-01 -9.78839323e-01 -1.79516223e-03 9.37238522e+02] [ 9.78799253e-01 2.04630342e-01 -8.85691970e-03 1.43557138e+02] [ 9.03684594e-03 5.52213834e-05 9.99959165e-01 1.57109743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.8992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:937.24, Y:143.58, Z:15.71 [[ 2.04098043e-01 -9.78948811e-01 -1.79265029e-03 9.37244714e+02] [ 9.78908741e-01 2.04105909e-01 -8.85742809e-03 1.43583486e+02] [ 9.03685921e-03 5.29426972e-05 9.99959165e-01 1.57119452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.9292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:937.25, Y:143.61, Z:15.71 [[ 2.03435550e-01 -9.79086703e-01 -1.79000130e-03 9.37250860e+02] [ 9.79046634e-01 2.03443419e-01 -8.85796339e-03 1.43611036e+02] [ 9.03687816e-03 4.95299100e-05 9.99959165e-01 1.57125002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.9592541539998 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:937.26, Y:143.64, Z:15.71 [[ 2.01893866e-01 -9.79405775e-01 -1.78748283e-03 9.37256788e+02] [ 9.79365713e-01 2.01901775e-01 -8.85847157e-03 1.43637475e+02] [ 9.03693417e-03 3.78716739e-05 9.99959165e-01 1.57111334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.9892541539998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:937.26, Y:143.66, Z:15.71 [[ 2.01558323e-01 -9.79474888e-01 -1.78488274e-03 9.37262718e+02] [ 9.79434825e-01 2.01566222e-01 -8.85899543e-03 1.43664539e+02] [ 9.03693563e-03 3.74279407e-05 9.99959165e-01 1.57117432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.0192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:937.27, Y:143.69, Z:15.71 [[ 2.01488121e-01 -9.79489337e-01 -1.78240044e-03 9.37269267e+02] [ 9.79449269e-01 2.01496001e-01 -8.85949483e-03 1.43691111e+02] [ 9.03692728e-03 3.93121598e-05 9.99959165e-01 1.57124923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.0492541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:937.28, Y:143.72, Z:15.71 [[ 2.01221557e-01 -9.79544138e-01 -1.77978943e-03 9.37275136e+02] [ 9.79504068e-01 2.01229424e-01 -8.86001933e-03 1.43718742e+02] [ 9.03692599e-03 3.95159028e-05 9.99959165e-01 1.57124152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.0792541539998 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:937.28, Y:143.75, Z:15.71 [[ 2.01116851e-01 -9.79565645e-01 -1.77734868e-03 9.37280988e+02] [ 9.79525572e-01 2.01124700e-01 -8.86050892e-03 1.43746644e+02] [ 9.03691886e-03 4.10391660e-05 9.99959165e-01 1.57125815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.1092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:937.29, Y:143.77, Z:15.71 [[ 2.02652145e-01 -9.79249181e-01 -1.77492000e-03 9.37286942e+02] [ 9.79209091e-01 2.02659909e-01 -8.86099541e-03 1.43773328e+02] [ 9.03682762e-03 5.76819235e-05 9.99959165e-01 1.57141964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.1392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:937.29, Y:143.80, Z:15.71 [[ 2.02873091e-01 -9.79203435e-01 -1.77236005e-03 9.37292249e+02] [ 9.79163340e-01 2.02880823e-01 -8.86150741e-03 1.43800534e+02] [ 9.03679637e-03 6.23314095e-05 9.99959165e-01 1.57143147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.1692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:937.30, Y:143.83, Z:15.71 [[ 2.04240588e-01 -9.78919124e-01 -1.76966605e-03 9.37297102e+02] [ 9.78879012e-01 2.04248240e-01 -8.86204538e-03 1.43825870e+02] [ 9.03667687e-03 7.77004024e-05 9.99959165e-01 1.57135532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.1992541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:937.30, Y:143.85, Z:15.71 [[ 2.04469781e-01 -9.78871282e-01 -1.76684689e-03 9.37302306e+02] [ 9.78831164e-01 2.04477398e-01 -8.86260741e-03 1.43853115e+02] [ 9.03663213e-03 8.26905938e-05 9.99959165e-01 1.57134461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.2292541539998 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:937.31, Y:143.88, Z:15.71 [[ 2.04947228e-01 -9.78771435e-01 -1.76418827e-03 9.37307912e+02] [ 9.78731309e-01 2.04954801e-01 -8.86313660e-03 1.43880878e+02] [ 9.03656378e-03 8.98089854e-05 9.99959165e-01 1.57134315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.2592541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:937.31, Y:143.91, Z:15.71 [[ 2.05425275e-01 -9.78671218e-01 -1.76175948e-03 9.37313620e+02] [ 9.78631084e-01 2.05432807e-01 -8.86361935e-03 1.43907807e+02] [ 9.03649234e-03 9.66988569e-05 9.99959165e-01 1.57138856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.2892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:937.32, Y:143.93, Z:15.72 [[ 2.06589055e-01 -9.78426220e-01 -1.75919481e-03 9.37319189e+02] [ 9.78386073e-01 2.06596516e-01 -8.86412834e-03 1.43934865e+02] [ 9.03633910e-03 1.10060198e-04 9.99959165e-01 1.57162226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.3192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:937.32, Y:143.96, Z:15.72 [[ 2.07264412e-01 -9.78283383e-01 -1.75665737e-03 9.37324297e+02] [ 9.78243226e-01 2.07271822e-01 -8.86463117e-03 1.43961466e+02] [ 9.03622695e-03 1.18884399e-04 9.99959165e-01 1.57158403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.3492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:937.33, Y:143.99, Z:15.72 [[ 2.08200547e-01 -9.78084585e-01 -1.75398243e-03 9.37328889e+02] [ 9.78044417e-01 2.08207895e-01 -8.86516041e-03 1.43988827e+02] [ 9.03606973e-03 1.30258530e-04 9.99959165e-01 1.57164625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.3792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:937.33, Y:144.02, Z:15.72 [[ 2.08360497e-01 -9.78050529e-01 -1.75126773e-03 9.37333763e+02] [ 9.78010355e-01 2.08367813e-01 -8.86569666e-03 1.44016702e+02] [ 9.03600713e-03 1.34502979e-04 9.99959165e-01 1.57178260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.4092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:937.34, Y:144.04, Z:15.72 [[ 2.08248198e-01 -9.78074450e-01 -1.74868459e-03 9.37338350e+02] [ 9.78034273e-01 2.08255495e-01 -8.86620613e-03 1.44043173e+02] [ 9.03598286e-03 1.36097981e-04 9.99959165e-01 1.57172512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.4392541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:937.34, Y:144.07, Z:15.72 [[ 2.07697640e-01 -9.78191516e-01 -1.74596724e-03 9.37342787e+02] [ 9.78151339e-01 2.07704935e-01 -8.86674121e-03 1.44070749e+02] [ 9.03601704e-03 1.33781024e-04 9.99959165e-01 1.57166119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.4692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:937.35, Y:144.10, Z:15.72 [[ 2.06908143e-01 -9.78358820e-01 -1.74346727e-03 9.37348077e+02] [ 9.78318644e-01 2.06915448e-01 -8.86723275e-03 1.44098051e+02] [ 9.03608568e-03 1.29036125e-04 9.99959165e-01 1.57169711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.4992541539998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:937.35, Y:144.13, Z:15.72 [[ 2.05870715e-01 -9.78577651e-01 -1.74090860e-03 9.37353542e+02] [ 9.78537478e-01 2.05878040e-01 -8.86773507e-03 1.44125283e+02] [ 9.03618220e-03 1.22062650e-04 9.99959165e-01 1.57168316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.5292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:937.36, Y:144.15, Z:15.72 [[ 2.04343516e-01 -9.78897699e-01 -1.73834145e-03 9.37358791e+02] [ 9.78857534e-01 2.04350880e-01 -8.86823828e-03 1.44151909e+02] [ 9.03632965e-03 1.10578362e-04 9.99959165e-01 1.57173390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.5592541539999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:937.36, Y:144.18, Z:15.72 [[ 2.02929701e-01 -9.79191771e-01 -1.73563978e-03 9.37363941e+02] [ 9.79151612e-01 2.02937099e-01 -8.86876700e-03 1.44180039e+02] [ 9.03644937e-03 1.00281750e-04 9.99959165e-01 1.57167579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.5892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:937.37, Y:144.21, Z:15.72 [[ 2.01611880e-01 -9.79463958e-01 -1.73328332e-03 9.37368438e+02] [ 9.79423805e-01 2.01619311e-01 -8.86922752e-03 1.44207420e+02] [ 9.03655208e-03 9.05226935e-05 9.99959165e-01 1.57175359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.6192541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:937.38, Y:144.24, Z:15.71 [[ 2.04560880e-01 -9.78852313e-01 -1.73075542e-03 9.37380639e+02] [ 9.78812134e-01 2.04568166e-01 -8.86972079e-03 1.44240287e+02] [ 9.03620417e-03 1.20313485e-04 9.99959165e-01 1.57138711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.6492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:937.38, Y:144.26, Z:15.72 [[ 1.99989362e-01 -9.79796249e-01 -1.88829459e-03 9.37378330e+02] [ 9.79756382e-01 1.99998260e-01 -8.83895461e-03 1.44262834e+02] [ 9.03803020e-03 -8.23717770e-05 9.99959153e-01 1.57167821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.6792541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:937.39, Y:144.30, Z:15.71 [[ 2.03930393e-01 -9.78983874e-01 -1.72336577e-03 9.37391584e+02] [ 9.78943689e-01 2.03937638e-01 -8.87099541e-03 1.44296687e+02] [ 9.03602060e-03 1.21987540e-04 9.99959167e-01 1.57122413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.7092541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:937.40, Y:144.32, Z:15.71 [[ 2.03506830e-01 -9.79071622e-01 -1.93133906e-03 9.37395765e+02] [ 9.79031804e-01 2.03515973e-01 -8.83043463e-03 1.44320932e+02] [ 9.03868630e-03 -9.37886053e-05 9.99959146e-01 1.57116922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.7392541539998 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:937.39, Y:144.34, Z:15.71 [[ 1.98604685e-01 -9.80077851e-01 -1.89367206e-03 9.37393029e+02] [ 9.80038008e-01 1.98613687e-01 -8.83780487e-03 1.44342396e+02] [ 9.03784599e-03 -1.00641140e-04 9.99959153e-01 1.57145535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.7692541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:937.40, Y:144.37, Z:15.71 [[ 1.98331548e-01 -9.80133468e-01 -1.72675051e-03 9.37398328e+02] [ 9.80093331e-01 1.98339053e-01 -8.87029904e-03 1.44370489e+02] [ 9.03655903e-03 6.68834758e-05 9.99959167e-01 1.57147462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.7992541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:937.40, Y:144.40, Z:15.72 [[ 1.97727130e-01 -9.80255583e-01 -1.72427827e-03 9.37403169e+02] [ 9.80215447e-01 1.97734638e-01 -8.87077959e-03 1.44398012e+02] [ 9.03658076e-03 6.38295939e-05 9.99959167e-01 1.57154029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.8292541539998 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:937.41, Y:144.43, Z:15.72 [[ 1.97154544e-01 -9.80370910e-01 -1.72179389e-03 9.37408190e+02] [ 9.80330774e-01 1.97162053e-01 -8.87126178e-03 1.44425470e+02] [ 9.03659940e-03 6.10820371e-05 9.99959167e-01 1.57154215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.8592541539998 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:937.41, Y:144.45, Z:15.72 [[ 1.96052238e-01 -9.80591946e-01 -1.71930424e-03 9.37412780e+02] [ 9.80551814e-01 1.96059769e-01 -8.87174426e-03 1.44453346e+02] [ 9.03664736e-03 5.34584231e-05 9.99959167e-01 1.57167016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.8892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:937.42, Y:144.48, Z:15.72 [[ 1.95655698e-01 -9.80671148e-01 -1.71675481e-03 9.37417915e+02] [ 9.80631015e-01 1.95663223e-01 -8.87223757e-03 1.44481077e+02] [ 9.03665318e-03 5.24008258e-05 9.99959167e-01 1.57180261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.9192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:937.42, Y:144.51, Z:15.72 [[ 1.94583630e-01 -9.80884434e-01 -1.71434288e-03 9.37423270e+02] [ 9.80844304e-01 1.94591177e-01 -8.87270359e-03 1.44508209e+02] [ 9.03669283e-03 4.49794296e-05 9.99959167e-01 1.57189436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.9492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:937.43, Y:144.54, Z:15.72 [[ 1.95378472e-01 -9.80726426e-01 -1.71178615e-03 9.37434009e+02] [ 9.80686286e-01 1.95385963e-01 -8.87319682e-03 1.44538686e+02] [ 9.03663759e-03 5.49064283e-05 9.99959167e-01 1.57189609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.9792541539998 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:937.44, Y:144.56, Z:15.72 [[ 1.91196735e-01 -9.81550096e-01 -1.79387194e-03 9.37435325e+02] [ 9.81510134e-01 1.91205138e-01 -8.85735270e-03 1.44562911e+02] [ 9.03693292e-03 -6.72065668e-05 9.99959164e-01 1.57196225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.0092541539998 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:937.44, Y:144.59, Z:15.72 [[ 1.91283367e-01 -9.81533370e-01 -1.70794023e-03 9.37443686e+02] [ 9.81493256e-01 1.91290991e-01 -8.87389184e-03 1.44592298e+02] [ 9.03673454e-03 2.10960999e-05 9.99959168e-01 1.57206197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.0392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:937.45, Y:144.62, Z:15.72 [[ 1.90987225e-01 -9.81590955e-01 -1.75412196e-03 9.37449046e+02] [ 9.81550923e-01 1.90995278e-01 -8.86501700e-03 1.44620297e+02] [ 9.03684952e-03 -2.86550347e-05 9.99959166e-01 1.57223488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.069254154 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:937.45, Y:144.65, Z:15.72 [[ 1.90288657e-01 -9.81726614e-01 -1.75546661e-03 9.37452893e+02] [ 9.81686591e-01 1.90296751e-01 -8.86475884e-03 1.44647455e+02] [ 9.03682927e-03 -3.64549729e-05 9.99959166e-01 1.57214806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.099254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:937.46, Y:144.68, Z:15.72 [[ 1.91532173e-01 -9.81484791e-01 -1.74108022e-03 9.37457498e+02] [ 9.81444732e-01 1.91540086e-01 -8.86751899e-03 1.44676423e+02] [ 9.03682168e-03 -1.03588312e-05 9.99959167e-01 1.57219895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.129254154 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:937.46, Y:144.70, Z:15.72 [[ 1.92149351e-01 -9.81364140e-01 -1.74681855e-03 9.37462571e+02] [ 9.81324086e-01 1.92157291e-01 -8.86641943e-03 1.44704916e+02] [ 9.03685000e-03 -1.05183840e-05 9.99959167e-01 1.57217193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.1592541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:937.46, Y:144.73, Z:15.72 [[ 1.91287934e-01 -9.81532399e-01 -1.75387987e-03 9.37463833e+02] [ 9.81492365e-01 1.91295972e-01 -8.86506794e-03 1.44729756e+02] [ 9.03686156e-03 -2.56391733e-05 9.99959166e-01 1.57216191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.1892541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:937.47, Y:144.76, Z:15.72 [[ 1.92856857e-01 -9.81225438e-01 -1.69462900e-03 9.37467856e+02] [ 9.81185290e-01 1.92864296e-01 -8.87637980e-03 1.44756844e+02] [ 9.03656309e-03 4.91256641e-05 9.99959168e-01 1.57217518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.2192541539998 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:937.47, Y:144.78, Z:15.72 [[ 1.93672246e-01 -9.81064829e-01 -1.69207475e-03 9.37472640e+02] [ 9.81024670e-01 1.93679628e-01 -8.87686668e-03 1.44784231e+02] [ 9.03650210e-03 5.92356306e-05 9.99959168e-01 1.57230321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.2492541539998 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:937.48, Y:144.81, Z:15.72 [[ 1.93750142e-01 -9.81049452e-01 -1.68952418e-03 9.37477315e+02] [ 9.81009289e-01 1.93757498e-01 -8.87735210e-03 1.44811118e+02] [ 9.03647940e-03 6.25493135e-05 9.99959168e-01 1.57223964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.2792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:937.48, Y:144.84, Z:15.72 [[ 1.93730076e-01 -9.81053420e-01 -1.68688009e-03 9.37481873e+02] [ 9.81013252e-01 1.93737410e-01 -8.87785451e-03 1.44839474e+02] [ 9.03646130e-03 6.50557121e-05 9.99959168e-01 1.57230829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.3092541539997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:937.49, Y:144.87, Z:15.72 [[ 1.96096114e-01 -9.80583233e-01 -1.68449153e-03 9.37491058e+02] [ 9.80543044e-01 1.96103329e-01 -8.87830769e-03 1.44869965e+02] [ 9.03625405e-03 8.92851861e-05 9.99959168e-01 1.57208257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.339254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:937.49, Y:144.89, Z:15.72 [[ 1.92596305e-01 -9.81276469e-01 -1.77599836e-03 9.37491137e+02] [ 9.81236462e-01 1.92604490e-01 -8.86092810e-03 1.44894085e+02] [ 9.03708550e-03 -3.60923394e-05 9.99959164e-01 1.57232357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.369254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:937.50, Y:144.92, Z:15.72 [[ 1.91572142e-01 -9.81477096e-01 -1.68086428e-03 9.37496251e+02] [ 9.81436934e-01 1.91579509e-01 -8.87893790e-03 1.44921762e+02] [ 9.03649334e-03 5.12948647e-05 9.99959169e-01 1.57243858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.399254154 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:937.50, Y:144.95, Z:15.73 [[ 1.88960717e-01 -9.81983213e-01 -1.67833798e-03 9.37502001e+02] [ 9.81943067e-01 1.88968168e-01 -8.87941541e-03 1.44948683e+02] [ 9.03658932e-03 2.98283598e-05 9.99959169e-01 1.57250799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.4292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:937.51, Y:144.98, Z:15.73 [[ 1.87832690e-01 -9.82199608e-01 -1.67649285e-03 9.37507424e+02] [ 9.82159468e-01 1.87840170e-01 -8.87976377e-03 1.44976248e+02] [ 9.03661319e-03 2.13265882e-05 9.99959169e-01 1.57266612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.4592541539998 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:937.51, Y:145.00, Z:15.73 [[ 1.85916322e-01 -9.82564155e-01 -1.67409747e-03 9.37512855e+02] [ 9.82524025e-01 1.85923859e-01 -8.88021534e-03 1.45004029e+02] [ 9.03663595e-03 6.13599333e-06 9.99959169e-01 1.57267670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.4892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:937.52, Y:145.03, Z:15.73 [[ 1.84026399e-01 -9.82919880e-01 -1.67159185e-03 9.37517788e+02] [ 9.82879761e-01 1.84033990e-01 -8.88068697e-03 1.45031067e+02] [ 9.03663349e-03 -8.69295643e-06 9.99959169e-01 1.57277434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.5192541539998 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:937.52, Y:145.06, Z:15.73 [[ 1.81441083e-01 -9.83400400e-01 -1.66936936e-03 9.37522680e+02] [ 9.83360297e-01 1.81448760e-01 -8.88110473e-03 1.45058673e+02] [ 9.03658694e-03 -3.01942919e-05 9.99959169e-01 1.57267971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.5492541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:937.53, Y:145.09, Z:15.73 [[ 1.80449893e-01 -9.83582766e-01 -1.66687423e-03 9.37527428e+02] [ 9.83542666e-01 1.80457588e-01 -8.88157301e-03 1.45085875e+02] [ 9.03656225e-03 -3.67630271e-05 9.99959169e-01 1.57272411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.579254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:937.53, Y:145.11, Z:15.73 [[ 1.78717467e-01 -9.83899028e-01 -1.66439346e-03 9.37532091e+02] [ 9.83858937e-01 1.78725210e-01 -8.88203788e-03 1.45112615e+02] [ 9.03649750e-03 -5.01530653e-05 9.99959169e-01 1.57271213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.609254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:937.54, Y:145.14, Z:15.73 [[ 1.77617015e-01 -9.84098285e-01 -1.66177779e-03 9.37536653e+02] [ 9.84058199e-01 1.77624779e-01 -8.88252723e-03 1.45140228e+02] [ 9.03645272e-03 -5.75980895e-05 9.99959169e-01 1.57279430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.639254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:937.54, Y:145.17, Z:15.73 [[ 1.77253925e-01 -9.84163753e-01 -1.65924485e-03 9.37541204e+02] [ 9.84123665e-01 1.77261681e-01 -8.88300035e-03 1.45166861e+02] [ 9.03644750e-03 -5.83554489e-05 9.99959169e-01 1.57276133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.6692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:937.55, Y:145.19, Z:15.73 [[ 1.77535199e-01 -9.84113057e-01 -1.65657523e-03 9.37546115e+02] [ 9.84072962e-01 1.77542919e-01 -8.88349818e-03 1.45194594e+02] [ 9.03647975e-03 -5.30572843e-05 9.99959169e-01 1.57279113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.6992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:937.55, Y:145.22, Z:15.73 [[ 1.77255350e-01 -9.84163505e-01 -1.65404826e-03 9.37551274e+02] [ 9.84123408e-01 1.77263059e-01 -8.88396866e-03 1.45222713e+02] [ 9.03647939e-03 -5.30566422e-05 9.99959169e-01 1.57281687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.7292541539998 meters Centerline goodness : 0.996330 Centerline is valid? [True, True] Translation: X:937.55, Y:145.25, Z:15.72 [[ 1.78283045e-01 -9.83977860e-01 -1.65152179e-03 9.37554386e+02] [ 9.83937751e-01 1.78290689e-01 -8.88443830e-03 1.45248496e+02] [ 9.03654154e-03 -4.10499199e-05 9.99959169e-01 1.57242698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.7592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:937.56, Y:145.28, Z:15.73 [[ 1.78595429e-01 -9.83921234e-01 -1.63648587e-03 9.37558267e+02] [ 9.83881097e-01 1.78602925e-01 -8.88722488e-03 1.45275624e+02] [ 9.03661044e-03 -2.28897735e-05 9.99959169e-01 1.57277852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.7892541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:937.56, Y:145.30, Z:15.73 [[ 1.80332925e-01 -9.83604256e-01 -1.64426411e-03 9.37562062e+02] [ 9.83564119e-01 1.80340420e-01 -8.88578556e-03 1.45303391e+02] [ 9.03662378e-03 -1.48394788e-05 9.99959169e-01 1.57277462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.819254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:937.57, Y:145.33, Z:15.73 [[ 1.81420036e-01 -9.83404330e-01 -1.64178216e-03 9.37566196e+02] [ 9.83364180e-01 1.81427464e-01 -8.88624412e-03 1.45331103e+02] [ 9.03663531e-03 -2.32704611e-06 9.99959169e-01 1.57281091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.849254154 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:937.57, Y:145.36, Z:15.73 [[ 1.82329842e-01 -9.83236056e-01 -1.63932305e-03 9.37570458e+02] [ 9.83195895e-01 1.82337211e-01 -8.88669775e-03 1.45357780e+02] [ 9.03663124e-03 8.53450733e-06 9.99959169e-01 1.57270212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.879254154 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:937.57, Y:145.38, Z:15.72 [[ 1.80239673e-01 -9.83621360e-01 -1.63752631e-03 9.37569210e+02] [ 9.83581212e-01 1.80247111e-01 -8.88702882e-03 1.45383647e+02] [ 9.03663075e-03 -8.84494140e-06 9.99959169e-01 1.57243279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.9092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:937.57, Y:145.41, Z:15.73 [[ 1.81945268e-01 -9.83307442e-01 -1.54739249e-03 9.37574445e+02] [ 9.83267136e-01 1.81951822e-01 -8.90359897e-03 1.45411971e+02] [ 9.03652601e-03 9.84675255e-05 9.99959165e-01 1.57259727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.9392541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:937.58, Y:145.44, Z:15.73 [[ 1.84550226e-01 -9.82821849e-01 -1.55830979e-03 9.37579062e+02] [ 9.82781542e-01 1.84556771e-01 -8.90159264e-03 1.45440841e+02] [ 9.03627635e-03 1.11312835e-04 9.99959166e-01 1.57270162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.9692541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:937.58, Y:145.47, Z:15.73 [[ 1.87048577e-01 -9.82349395e-01 -1.57996760e-03 9.37584868e+02] [ 9.82309105e-01 1.87055216e-01 -8.89761279e-03 1.45470285e+02] [ 9.03610572e-03 1.12269258e-04 9.99959167e-01 1.57298741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.9992541539998 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:937.59, Y:145.50, Z:15.73 [[ 1.87746011e-01 -9.82216283e-01 -1.61520867e-03 9.37589053e+02] [ 9.82176044e-01 1.87752941e-01 -8.89113645e-03 1.45498432e+02] [ 9.03627918e-03 8.28561385e-05 9.99959169e-01 1.57294299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.0292541539998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:937.59, Y:145.53, Z:15.73 [[ 1.92679760e-01 -9.81260389e-01 -1.59963989e-03 9.37594640e+02] [ 9.81220092e-01 1.92686346e-01 -8.89399225e-03 1.45526443e+02] [ 9.03555107e-03 1.44093495e-04 9.99959168e-01 1.57301827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.0592541539997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:937.60, Y:145.55, Z:15.73 [[ 1.92011158e-01 -9.81391389e-01 -1.62986255e-03 9.37596981e+02] [ 9.81351143e-01 1.92018046e-01 -8.88845037e-03 1.45553451e+02] [ 9.03601168e-03 1.07214171e-04 9.99959169e-01 1.57289889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.089254154 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:937.60, Y:145.58, Z:15.73 [[ 1.96692361e-01 -9.80463968e-01 -1.58840266e-03 9.37603105e+02] [ 9.80423628e-01 1.96698680e-01 -8.89604050e-03 1.45582085e+02] [ 9.03468387e-03 1.92475707e-04 9.99959168e-01 1.57307473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.119254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:937.61, Y:145.61, Z:15.73 [[ 1.98250431e-01 -9.80150049e-01 -1.62743023e-03 9.37607327e+02] [ 9.80109756e-01 1.98257041e-01 -8.88889511e-03 1.45610209e+02] [ 9.03510048e-03 1.67167044e-04 9.99959169e-01 1.57314013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.149254154 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:937.61, Y:145.64, Z:15.73 [[ 1.98606096e-01 -9.80078047e-01 -1.62484131e-03 9.37611345e+02] [ 9.80037748e-01 1.98612667e-01 -8.88936833e-03 1.45638113e+02] [ 9.03498882e-03 1.73076923e-04 9.99959169e-01 1.57305981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.1792541539999 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:937.61, Y:145.67, Z:15.73 [[ 2.00859616e-01 -9.79618693e-01 -1.62226917e-03 9.37614843e+02] [ 9.79578375e-01 2.00866071e-01 -8.88983770e-03 1.45666373e+02] [ 9.03451002e-03 1.96469585e-04 9.99959169e-01 1.57302614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.2092541539998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:937.62, Y:145.69, Z:15.73 [[ 2.01578219e-01 -9.79471081e-01 -1.61971805e-03 9.37619356e+02] [ 9.79430755e-01 2.01584622e-01 -8.89030249e-03 1.45693932e+02] [ 9.03430444e-03 2.05689674e-04 9.99959169e-01 1.57308582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.2392541539998 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:937.62, Y:145.72, Z:15.73 [[ 2.02381857e-01 -9.79305350e-01 -1.61709657e-03 9.37624111e+02] [ 9.79265015e-01 2.02388202e-01 -8.89077930e-03 1.45721259e+02] [ 9.03406900e-03 2.15766323e-04 9.99959169e-01 1.57297406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.2692541539998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:937.63, Y:145.75, Z:15.73 [[ 2.02388303e-01 -9.79304022e-01 -1.61447936e-03 9.37629044e+02] [ 9.79263683e-01 2.02394625e-01 -8.89125453e-03 1.45748332e+02] [ 9.03400327e-03 2.18484917e-04 9.99959169e-01 1.57294039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.2992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:937.63, Y:145.78, Z:15.73 [[ 2.01980495e-01 -9.79388218e-01 -1.61171629e-03 9.37633969e+02] [ 9.79347878e-01 2.01986808e-01 -8.89175537e-03 1.45775970e+02] [ 9.03402587e-03 2.17530224e-04 9.99959169e-01 1.57296361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.329254154 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:937.64, Y:145.80, Z:15.73 [[ 2.00793454e-01 -9.79632278e-01 -1.60911338e-03 9.37638838e+02] [ 9.79591941e-01 2.00799792e-01 -8.89222638e-03 1.45803530e+02] [ 9.03422162e-03 2.09226353e-04 9.99959169e-01 1.57287966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.359254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:937.64, Y:145.83, Z:15.73 [[ 1.98847493e-01 -9.80029129e-01 -1.60650405e-03 9.37642083e+02] [ 9.79988802e-01 1.98853888e-01 -8.89269777e-03 1.45830824e+02] [ 9.03456243e-03 1.93934679e-04 9.99959169e-01 1.57300970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.389254154 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:937.65, Y:145.86, Z:15.73 [[ 1.98881153e-01 -9.80022352e-01 -1.57353730e-03 9.37648400e+02] [ 9.79981978e-01 1.98887247e-01 -8.89864028e-03 1.45858801e+02] [ 9.03382288e-03 2.27733638e-04 9.99959168e-01 1.57284809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.4192541539999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:937.65, Y:145.88, Z:15.73 [[ 1.98070828e-01 -9.80186399e-01 -1.60319623e-03 9.37653335e+02] [ 9.80146072e-01 1.98077225e-01 -8.89329366e-03 1.45884918e+02] [ 9.03464215e-03 1.90135553e-04 9.99959169e-01 1.57285598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.4492541539998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:937.66, Y:145.91, Z:15.73 [[ 1.95452383e-01 -9.80711886e-01 -1.60113113e-03 9.37658927e+02] [ 9.80671573e-01 1.95458869e-01 -8.89366544e-03 1.45912051e+02] [ 9.03507869e-03 1.68104326e-04 9.99959169e-01 1.57305249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.4792541539998 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:937.66, Y:145.94, Z:15.73 [[ 1.94337121e-01 -9.80933506e-01 -1.59408900e-03 9.37664500e+02] [ 9.80893190e-01 1.94343589e-01 -8.89493145e-03 1.45939417e+02] [ 9.03513727e-03 1.64984329e-04 9.99959169e-01 1.57306903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.5092541539998 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:937.67, Y:145.97, Z:15.73 [[ 1.92115807e-01 -9.81370962e-01 -1.59768242e-03 9.37669305e+02] [ 9.81330666e-01 1.92122399e-01 -8.89428596e-03 1.45967275e+02] [ 9.03554455e-03 1.40878173e-04 9.99959169e-01 1.57303518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.5392541539998 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:937.67, Y:146.00, Z:15.73 [[ 1.88740313e-01 -9.82025752e-01 -1.58656257e-03 9.37674312e+02] [ 9.81985462e-01 1.88746943e-01 -8.89628075e-03 1.45995625e+02] [ 9.03583563e-03 1.21105443e-04 9.99959169e-01 1.57314865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.569254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:937.68, Y:146.02, Z:15.73 [[ 1.88348841e-01 -9.82100898e-01 -1.59410337e-03 9.37680493e+02] [ 9.82060622e-01 1.88355554e-01 -8.89492933e-03 1.46024156e+02] [ 9.03597630e-03 1.09843481e-04 9.99959169e-01 1.57321189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.599254154 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:937.69, Y:146.05, Z:15.73 [[ 1.85266686e-01 -9.82686973e-01 -1.60243751e-03 9.37686669e+02] [ 9.82646732e-01 1.85273601e-01 -8.89343748e-03 1.46052794e+02] [ 9.03635453e-03 7.30277017e-05 9.99959169e-01 1.57313524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.629254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:937.69, Y:146.08, Z:15.73 [[ 1.83810712e-01 -9.82960348e-01 -1.60498178e-03 9.37691759e+02] [ 9.82920121e-01 1.83817710e-01 -8.89298238e-03 1.46079573e+02] [ 9.03647314e-03 5.70565362e-05 9.99959169e-01 1.57316420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.6592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:937.70, Y:146.11, Z:15.73 [[ 1.82342366e-01 -9.83233805e-01 -1.59599987e-03 9.37696600e+02] [ 9.83193574e-01 1.82349343e-01 -8.89458655e-03 1.46105844e+02] [ 9.03648770e-03 5.26831401e-05 9.99959169e-01 1.57305539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.6892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:937.70, Y:146.13, Z:15.73 [[ 1.82052236e-01 -9.83287581e-01 -1.58651617e-03 9.37701331e+02] [ 9.83247337e-01 1.82059139e-01 -8.89627783e-03 1.46133193e+02] [ 9.03643927e-03 5.96494746e-05 9.99959169e-01 1.57308012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.7192541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:937.71, Y:146.16, Z:15.73 [[ 1.80195756e-01 -9.83629494e-01 -1.58389091e-03 9.37706622e+02] [ 9.83589259e-01 1.80202711e-01 -8.89674520e-03 1.46160944e+02] [ 9.03652242e-03 4.52576451e-05 9.99959169e-01 1.57324409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.7492541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:937.71, Y:146.19, Z:15.73 [[ 1.79476830e-01 -9.83760935e-01 -1.57818492e-03 9.37712855e+02] [ 9.83720697e-01 1.79483763e-01 -8.89775962e-03 1.46189487e+02] [ 9.03652689e-03 4.44485221e-05 9.99959169e-01 1.57321569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.7792541539998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:937.72, Y:146.22, Z:15.73 [[ 1.79014989e-01 -9.83845035e-01 -1.60674469e-03 9.37718091e+02] [ 9.83804845e-01 1.79022199e-01 -8.89268648e-03 1.46216496e+02] [ 9.03666841e-03 1.12009613e-05 9.99959168e-01 1.57306505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.8092541539997 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:937.72, Y:146.24, Z:15.73 [[ 1.77213123e-01 -9.84171169e-01 -1.61868288e-03 9.37720582e+02] [ 9.84131011e-01 1.77220514e-01 -8.89056780e-03 1.46241929e+02] [ 9.03670431e-03 -1.74707410e-05 9.99959168e-01 1.57334474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.839254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:937.73, Y:146.27, Z:15.73 [[ 1.78044783e-01 -9.84021123e-01 -1.57612978e-03 9.37725602e+02] [ 9.83980892e-01 1.78051756e-01 -8.89810528e-03 1.46269952e+02] [ 9.03655622e-03 3.33796294e-05 9.99959169e-01 1.57344766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.869254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:937.73, Y:146.30, Z:15.73 [[ 1.78327564e-01 -9.83969920e-01 -1.57356317e-03 9.37730024e+02] [ 9.83929683e-01 1.78334502e-01 -8.89855914e-03 1.46296249e+02] [ 9.03653513e-03 3.85828694e-05 9.99959169e-01 1.57331466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.899254154 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:937.73, Y:146.33, Z:15.73 [[ 1.78352743e-01 -9.83965361e-01 -1.57087407e-03 9.37734934e+02] [ 9.83925119e-01 1.78359656e-01 -8.89903382e-03 1.46325209e+02] [ 9.03652159e-03 4.15446419e-05 9.99959169e-01 1.57320571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.9292541539999 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:937.74, Y:146.35, Z:15.73 [[ 1.80372816e-01 -9.83597047e-01 -1.57970187e-03 9.37739493e+02] [ 9.83556805e-01 1.80379726e-01 -8.89747735e-03 1.46353237e+02] [ 9.03647864e-03 5.11365266e-05 9.99959169e-01 1.57323112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.9592541539998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:937.74, Y:146.38, Z:15.73 [[ 1.80896692e-01 -9.83500854e-01 -1.56736177e-03 9.37743821e+02] [ 9.83460590e-01 1.80903469e-01 -8.89965063e-03 1.46380028e+02] [ 9.03635518e-03 6.84788240e-05 9.99959169e-01 1.57299032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.9892541539998 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:937.75, Y:146.41, Z:15.73 [[ 1.83255331e-01 -9.83064106e-01 -1.56461374e-03 9.37747907e+02] [ 9.83023821e-01 1.83261987e-01 -8.90013372e-03 1.46406640e+02] [ 9.03613622e-03 9.29443765e-05 9.99959169e-01 1.57326883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.0192541539998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:937.75, Y:146.43, Z:15.73 [[ 1.84131139e-01 -9.82900445e-01 -1.56155969e-03 9.37752659e+02] [ 9.82860150e-01 1.84137731e-01 -8.90066953e-03 1.46433950e+02] [ 9.03601411e-03 1.04095623e-04 9.99959169e-01 1.57339295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.0492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:937.76, Y:146.46, Z:15.73 [[ 1.85975782e-01 -9.82553092e-01 -1.55901117e-03 9.37757477e+02] [ 9.82512780e-01 1.85982276e-01 -8.90111590e-03 1.46460104e+02] [ 9.03576739e-03 1.23643595e-04 9.99959169e-01 1.57344184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.079254154 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:937.76, Y:146.49, Z:15.74 [[ 1.85641096e-01 -9.82616429e-01 -1.52849596e-03 9.37762018e+02] [ 9.82576076e-01 1.85647326e-01 -8.90645029e-03 1.46487372e+02] [ 9.03538558e-03 1.51539628e-04 9.99959169e-01 1.57362305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.109254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:937.77, Y:146.51, Z:15.74 [[ 1.85965076e-01 -9.82555124e-01 -1.55529251e-03 9.37766699e+02] [ 9.82514807e-01 1.85971536e-01 -8.90176848e-03 1.46514962e+02] [ 9.03571837e-03 1.27320126e-04 9.99959169e-01 1.57375455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.139254154 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:937.77, Y:146.54, Z:15.74 [[ 1.85400739e-01 -9.82661770e-01 -1.55279946e-03 9.37770794e+02] [ 9.82621454e-01 1.85407199e-01 -8.90220334e-03 1.46541736e+02] [ 9.03575509e-03 1.24661010e-04 9.99959169e-01 1.57364493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.1692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:937.78, Y:146.57, Z:15.74 [[ 1.85765336e-01 -9.82592915e-01 -1.55022326e-03 9.37775275e+02] [ 9.82552592e-01 1.85771758e-01 -8.90265193e-03 1.46569916e+02] [ 9.03567042e-03 1.30628244e-04 9.99959169e-01 1.57389596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.1992541539998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:937.78, Y:146.60, Z:15.74 [[ 1.85169977e-01 -9.82705289e-01 -1.54778770e-03 9.37779837e+02] [ 9.82664966e-01 1.85176401e-01 -8.90307535e-03 1.46596754e+02] [ 9.03571299e-03 1.27625512e-04 9.99959169e-01 1.57384528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.2292541539998 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:937.78, Y:146.62, Z:15.74 [[ 1.84575784e-01 -9.82817070e-01 -1.54510363e-03 9.37784412e+02] [ 9.82776748e-01 1.84582208e-01 -8.90354114e-03 1.46624945e+02] [ 9.03575086e-03 1.24886165e-04 9.99959169e-01 1.57383491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.2592541539998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:937.79, Y:146.65, Z:15.74 [[ 1.83892791e-01 -9.82945096e-01 -1.54257377e-03 9.37789362e+02] [ 9.82904775e-01 1.83899221e-01 -8.90397943e-03 1.46652440e+02] [ 9.03580103e-03 1.21174501e-04 9.99959169e-01 1.57391599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.2892541539998 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:937.79, Y:146.68, Z:15.74 [[ 1.83284985e-01 -9.83058616e-01 -1.53995998e-03 9.37794215e+02] [ 9.83018295e-01 1.83291416e-01 -8.90443146e-03 1.46679886e+02] [ 9.03583952e-03 1.18239752e-04 9.99959169e-01 1.57389633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.319254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:937.80, Y:146.71, Z:15.74 [[ 1.82316339e-01 -9.83238724e-01 -1.53734976e-03 9.37798743e+02] [ 9.83198406e-01 1.82322786e-01 -8.90488210e-03 1.46706280e+02] [ 9.03591880e-03 1.11985674e-04 9.99959169e-01 1.57378682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.349254154 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:937.80, Y:146.73, Z:15.74 [[ 1.81051375e-01 -9.83472442e-01 -1.53460001e-03 9.37803540e+02] [ 9.83432128e-01 1.81057849e-01 -8.90535594e-03 1.46734049e+02] [ 9.03602353e-03 1.03151977e-04 9.99959169e-01 1.57375107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.379254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:937.81, Y:146.76, Z:15.74 [[ 1.80187287e-01 -9.83631127e-01 -1.53207994e-03 9.37808195e+02] [ 9.83590815e-01 1.80193774e-01 -8.90578947e-03 1.46761689e+02] [ 9.03608301e-03 9.77702942e-05 9.99959169e-01 1.57373721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.4092541539999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:937.81, Y:146.79, Z:15.74 [[ 1.77517946e-01 -9.84116375e-01 -1.52956897e-03 9.37813570e+02] [ 9.84076077e-01 1.77524519e-01 -8.90622071e-03 1.46789552e+02] [ 9.03629364e-03 7.58017744e-05 9.99959169e-01 1.57364246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.4392541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:937.82, Y:146.82, Z:15.74 [[ 1.76229904e-01 -9.84347850e-01 -1.52701890e-03 9.37818692e+02] [ 9.84307556e-01 1.76236507e-01 -8.90665791e-03 1.46816786e+02] [ 9.03636604e-03 6.65632316e-05 9.99959169e-01 1.57360237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.4692541539998 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:937.82, Y:146.84, Z:15.74 [[ 1.74575575e-01 -9.84642597e-01 -1.52448661e-03 9.37824107e+02] [ 9.84602311e-01 1.74582223e-01 -8.90709133e-03 1.46844407e+02] [ 9.03644980e-03 5.39475529e-05 9.99959169e-01 1.57359812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.4992541539998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:937.83, Y:146.87, Z:15.74 [[ 1.71577108e-01 -9.85169518e-01 -1.52194448e-03 9.37830056e+02] [ 9.85129249e-01 1.71583855e-01 -8.90752568e-03 1.46871712e+02] [ 9.03656388e-03 2.90154703e-05 9.99959169e-01 1.57363861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.5292541539998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:937.84, Y:146.90, Z:15.74 [[ 1.69850224e-01 -9.85468717e-01 -1.51940660e-03 9.37835331e+02] [ 9.85428456e-01 1.69857019e-01 -8.90795855e-03 1.46899171e+02] [ 9.03659637e-03 1.57522482e-05 9.99959169e-01 1.57363978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.5592541539997 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:937.84, Y:146.93, Z:15.74 [[ 1.67059271e-01 -9.85945688e-01 -1.51688484e-03 9.37841016e+02] [ 9.85905442e-01 1.67066157e-01 -8.90838795e-03 1.46926857e+02] [ 9.03660681e-03 -7.27622521e-06 9.99959169e-01 1.57378888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.589254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:937.84, Y:146.95, Z:15.74 [[ 1.64978762e-01 -9.86295957e-01 -1.51429451e-03 9.37844904e+02] [ 9.86255722e-01 1.64985710e-01 -8.90882825e-03 1.46953821e+02] [ 9.03657824e-03 -2.37141753e-05 9.99959169e-01 1.57398039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.619254154 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:937.85, Y:146.98, Z:15.74 [[ 1.65467364e-01 -9.86214142e-01 -1.48903039e-03 9.37851890e+02] [ 9.86173864e-01 1.65474063e-01 -8.91311595e-03 1.46981779e+02] [ 9.03663691e-03 6.38694326e-06 9.99959169e-01 1.57383854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.649254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:937.86, Y:147.01, Z:15.74 [[ 1.65722885e-01 -9.86171203e-01 -1.51103811e-03 9.37857744e+02] [ 9.86130958e-01 1.65729773e-01 -8.90938343e-03 1.47010380e+02] [ 9.03660138e-03 -1.35927343e-05 9.99959169e-01 1.57406473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.6792541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:937.86, Y:147.04, Z:15.74 [[ 1.66167489e-01 -9.86096377e-01 -1.51660497e-03 9.37862201e+02] [ 9.86056137e-01 1.66174409e-01 -8.90844013e-03 1.47037020e+02] [ 9.03660148e-03 -1.51645121e-05 9.99959169e-01 1.57397226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.7092541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:937.87, Y:147.06, Z:15.74 [[ 1.67446651e-01 -9.85879986e-01 -1.50754876e-03 9.37866892e+02] [ 9.85839723e-01 1.67453437e-01 -8.90997243e-03 1.47064621e+02] [ 9.03660771e-03 5.74359215e-06 9.99959169e-01 1.57399917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.7392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:937.87, Y:147.09, Z:15.74 [[ 1.70654793e-01 -9.85329730e-01 -1.50501019e-03 9.37871002e+02] [ 9.85289441e-01 1.70661425e-01 -8.91040120e-03 1.47092254e+02] [ 9.03653039e-03 3.77320222e-05 9.99959169e-01 1.57406417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.7692541539998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:937.88, Y:147.12, Z:15.74 [[ 1.72007667e-01 -9.85094465e-01 -1.50246868e-03 9.37875551e+02] [ 9.85054164e-01 1.72014221e-01 -8.91082973e-03 1.47119774e+02] [ 9.03645503e-03 5.27180075e-05 9.99959169e-01 1.57404971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.7992541539998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:937.88, Y:147.15, Z:15.74 [[ 1.75250053e-01 -9.84522813e-01 -1.49993801e-03 9.37880924e+02] [ 9.84482486e-01 1.75256451e-01 -8.91125569e-03 1.47147055e+02] [ 9.03620833e-03 8.50353335e-05 9.99959169e-01 1.57416077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.829254154 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:937.89, Y:147.17, Z:15.74 [[ 1.75883330e-01 -9.84409880e-01 -1.49735989e-03 9.37885726e+02] [ 9.84369546e-01 1.75889679e-01 -8.91168887e-03 1.47174338e+02] [ 9.03612473e-03 9.34620365e-05 9.99959169e-01 1.57420961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.859254154 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:937.89, Y:147.20, Z:15.74 [[ 1.77238472e-01 -9.84166799e-01 -1.49555726e-03 9.37891082e+02] [ 9.84126453e-01 1.77244749e-01 -8.91199119e-03 1.47201734e+02] [ 9.03596551e-03 1.07730243e-04 9.99959169e-01 1.57409811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.889254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:937.90, Y:147.23, Z:15.74 [[ 1.79668249e-01 -9.83726116e-01 -1.49991519e-03 9.37896602e+02] [ 9.83685761e-01 1.79674466e-01 -8.91126092e-03 1.47228143e+02] [ 9.03573655e-03 1.25625429e-04 9.99959169e-01 1.57405074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.9192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:937.90, Y:147.26, Z:15.74 [[ 1.80567047e-01 -9.83561546e-01 -1.49230385e-03 9.37902028e+02] [ 9.83521175e-01 1.80573157e-01 -8.91253435e-03 1.47256028e+02] [ 9.03549608e-03 1.41597566e-04 9.99959169e-01 1.57418172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.9492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:937.91, Y:147.28, Z:15.74 [[ 1.81469251e-01 -9.83395488e-01 -1.49141666e-03 9.37907207e+02] [ 9.83355111e-01 1.81475317e-01 -8.91268250e-03 1.47282904e+02] [ 9.03534707e-03 1.50785628e-04 9.99959169e-01 1.57402479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.9792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:937.91, Y:147.31, Z:15.74 [[ 1.81965819e-01 -9.83303723e-01 -1.49309959e-03 9.37911920e+02] [ 9.83263344e-01 1.81971880e-01 -8.91240173e-03 1.47309471e+02] [ 9.03529994e-03 1.53642383e-04 9.99959169e-01 1.57398825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.0092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:937.92, Y:147.34, Z:15.74 [[ 1.82508276e-01 -9.83203192e-01 -1.48724883e-03 9.37918154e+02] [ 9.83162802e-01 1.82514262e-01 -8.91337612e-03 1.47336958e+02] [ 9.03510398e-03 1.64557189e-04 9.99959169e-01 1.57403692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.0392541539998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:937.92, Y:147.36, Z:15.74 [[ 1.82307362e-01 -9.83240472e-01 -1.48321633e-03 9.37924061e+02] [ 9.83200078e-01 1.82313320e-01 -8.91404654e-03 1.47364762e+02] [ 9.03506142e-03 1.66797905e-04 9.99959169e-01 1.57416769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.069254154 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:937.93, Y:147.39, Z:15.74 [[ 1.82246315e-01 -9.83251785e-01 -1.48570639e-03 9.37929616e+02] [ 9.83211395e-01 1.82252297e-01 -8.91363289e-03 1.47391366e+02] [ 9.03511886e-03 1.63713296e-04 9.99959169e-01 1.57403569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.099254154 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:937.94, Y:147.42, Z:15.74 [[ 1.80701098e-01 -9.83536948e-01 -1.47852403e-03 9.37936437e+02] [ 9.83496557e-01 1.80707078e-01 -8.91482408e-03 1.47419103e+02] [ 9.03523863e-03 1.56795206e-04 9.99959169e-01 1.57421361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.129254154 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:937.94, Y:147.45, Z:15.74 [[ 1.79540772e-01 -9.83749426e-01 -1.47598315e-03 9.37942019e+02] [ 9.83709039e-01 1.79546777e-01 -8.91524474e-03 1.47446229e+02] [ 9.03537492e-03 1.48711954e-04 9.99959169e-01 1.57438955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.1592541539999 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:937.95, Y:147.47, Z:15.75 [[ 1.77663735e-01 -9.84090152e-01 -1.47339443e-03 9.37947081e+02] [ 9.84049773e-01 1.77669794e-01 -8.91567255e-03 1.47473745e+02] [ 9.03560324e-03 1.34098235e-04 9.99959169e-01 1.57451671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.1892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:937.95, Y:147.50, Z:15.75 [[ 1.75307589e-01 -9.84512613e-01 -1.47080492e-03 9.37953243e+02] [ 9.84472246e-01 1.75313721e-01 -8.91609972e-03 1.47500800e+02] [ 9.03586492e-03 1.15093324e-04 9.99959169e-01 1.57460944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.2192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:937.96, Y:147.53, Z:15.75 [[ 1.74121329e-01 -9.84723113e-01 -1.46728332e-03 9.37958295e+02] [ 9.84682748e-01 1.74127478e-01 -8.91667963e-03 1.47527340e+02] [ 9.03595487e-03 1.07775535e-04 9.99959169e-01 1.57466504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.2492541539998 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:937.97, Y:147.56, Z:15.74 [[ 1.72542411e-01 -9.85000998e-01 -1.46659653e-03 9.37966712e+02] [ 9.84960641e-01 1.72548618e-01 -8.91679259e-03 1.47556361e+02] [ 9.03610880e-03 9.39850322e-05 9.99959169e-01 1.57447476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.2792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:937.97, Y:147.58, Z:15.75 [[ 1.69873232e-01 -9.85464760e-01 -1.51393923e-03 9.37969392e+02] [ 9.85424489e-01 1.69879977e-01 -8.90901090e-03 1.47582392e+02] [ 9.03670425e-03 2.15296819e-05 9.99959168e-01 1.57461633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.3092541539997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:937.97, Y:147.61, Z:15.75 [[ 1.67941597e-01 -9.85795851e-01 -1.46993426e-03 9.37973537e+02] [ 9.85755529e-01 1.67948023e-01 -8.91622887e-03 1.47609011e+02] [ 9.03645397e-03 4.84098959e-05 9.99959169e-01 1.57457492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.339254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:937.98, Y:147.64, Z:15.75 [[ 1.66644346e-01 -9.86015988e-01 -1.46086518e-03 9.37978184e+02] [ 9.85975661e-01 1.66650743e-01 -8.91771453e-03 1.47635689e+02] [ 9.03646336e-03 4.57091935e-05 9.99959169e-01 1.57452321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.369254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:937.98, Y:147.66, Z:15.75 [[ 1.64740051e-01 -9.86335941e-01 -1.45824803e-03 9.37982820e+02] [ 9.86295623e-01 1.64746502e-01 -8.91814247e-03 1.47663375e+02] [ 9.03652571e-03 3.09116023e-05 9.99959169e-01 1.57452680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.399254154 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:937.99, Y:147.69, Z:15.75 [[ 1.63396489e-01 -9.86559409e-01 -1.45574737e-03 9.37987035e+02] [ 9.86519097e-01 1.63402972e-01 -8.91855064e-03 1.47691459e+02] [ 9.03655350e-03 2.11372793e-05 9.99959169e-01 1.57452673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.4292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:937.99, Y:147.72, Z:15.74 [[ 1.63267300e-01 -9.86580801e-01 -1.45323313e-03 9.37990925e+02] [ 9.86540486e-01 1.63273766e-01 -8.91896031e-03 1.47718433e+02] [ 9.03654985e-03 2.25012467e-05 9.99959169e-01 1.57449176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.4592541539998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:937.99, Y:147.75, Z:15.75 [[ 1.63015936e-01 -9.86622369e-01 -1.45099226e-03 9.37994375e+02] [ 9.86582052e-01 1.63022392e-01 -8.91932485e-03 1.47746070e+02] [ 9.03654965e-03 2.24691632e-05 9.99959169e-01 1.57465873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.4892541539998 meters Centerline goodness : 0.998989 Centerline is valid? [True, True] Translation: X:938.00, Y:147.77, Z:15.74 [[ 1.62521318e-01 -9.86703969e-01 -1.44852105e-03 9.37997945e+02] [ 9.86663652e-01 1.62527772e-01 -8.91972616e-03 1.47773383e+02] [ 9.03655411e-03 2.04425835e-05 9.99959169e-01 1.57388297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.5192541539998 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:938.00, Y:147.80, Z:15.75 [[ 1.64839068e-01 -9.86319380e-01 -1.47051193e-03 9.38001075e+02] [ 9.86279079e-01 1.64845626e-01 -8.91615957e-03 1.47799199e+02] [ 9.03658844e-03 1.93962766e-05 9.99959169e-01 1.57486666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.5492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.00, Y:147.83, Z:15.75 [[ 1.66365359e-01 -9.86063126e-01 -1.44219716e-03 9.38004493e+02] [ 9.86022775e-01 1.66371598e-01 -8.92073716e-03 1.47826036e+02] [ 9.03635061e-03 6.20623884e-05 9.99959169e-01 1.57490247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.579254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.01, Y:147.85, Z:15.75 [[ 1.66064831e-01 -9.86113786e-01 -1.43959910e-03 9.38008791e+02] [ 9.86073434e-01 1.66071059e-01 -8.92115641e-03 1.47853464e+02] [ 9.03635107e-03 6.19399037e-05 9.99959169e-01 1.57492746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.609254154 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:938.01, Y:147.88, Z:15.75 [[ 1.67149422e-01 -9.85930528e-01 -1.43687998e-03 9.38011970e+02] [ 9.85890165e-01 1.67155581e-01 -8.92159434e-03 1.47879121e+02] [ 9.03625473e-03 7.46334968e-05 9.99959169e-01 1.57493885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.639254154 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:938.01, Y:147.91, Z:15.75 [[ 1.70175339e-01 -9.85412754e-01 -1.43477935e-03 9.38014413e+02] [ 9.85372369e-01 1.70181355e-01 -8.92193215e-03 1.47907607e+02] [ 9.03595843e-03 1.04500893e-04 9.99959169e-01 1.57512438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.6692541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:938.02, Y:147.94, Z:15.75 [[ 1.71851466e-01 -9.85121831e-01 -1.43221363e-03 9.38017455e+02] [ 9.85081433e-01 1.71857390e-01 -8.92234400e-03 1.47935966e+02] [ 9.03573236e-03 1.22470845e-04 9.99959169e-01 1.57515544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.6992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.02, Y:147.96, Z:15.75 [[ 1.73109479e-01 -9.84901551e-01 -1.42973613e-03 9.38020493e+02] [ 9.84861141e-01 1.73115330e-01 -8.92274098e-03 1.47962957e+02] [ 9.03553067e-03 1.36519490e-04 9.99959169e-01 1.57513004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.7292541539998 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:938.02, Y:147.99, Z:15.75 [[ 1.73873269e-01 -9.84767003e-01 -1.42700803e-03 9.38024098e+02] [ 9.84726586e-01 1.73879063e-01 -8.92317727e-03 1.47990858e+02] [ 9.03537735e-03 1.46289258e-04 9.99959169e-01 1.57512841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.7592541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:938.03, Y:148.02, Z:15.75 [[ 1.75554294e-01 -9.84468720e-01 -1.42446510e-03 9.38026700e+02] [ 9.84428290e-01 1.75559996e-01 -8.92358319e-03 1.48019186e+02] [ 9.03506761e-03 1.64289603e-04 9.99959169e-01 1.57530742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.7892541539998 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:938.03, Y:148.05, Z:15.75 [[ 1.75427391e-01 -9.84491345e-01 -1.42184557e-03 9.38030283e+02] [ 9.84450912e-01 1.75433075e-01 -8.92400056e-03 1.48045662e+02] [ 9.03504005e-03 1.65776967e-04 9.99959169e-01 1.57529431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.819254154 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:938.03, Y:148.07, Z:15.75 [[ 1.75189804e-01 -9.84533654e-01 -1.41993337e-03 9.38033662e+02] [ 9.84493220e-01 1.75195480e-01 -8.92430480e-03 1.48073605e+02] [ 9.03504433e-03 1.65532432e-04 9.99959169e-01 1.57535226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.849254154 meters Centerline goodness : 0.997978 Centerline is valid? [True, True] Translation: X:938.04, Y:148.10, Z:15.75 [[ 1.74507357e-01 -9.84654850e-01 -1.41736632e-03 9.38037096e+02] [ 9.84614417e-01 1.74513038e-01 -8.92471249e-03 1.48100985e+02] [ 9.03511034e-03 1.61868678e-04 9.99959169e-01 1.57499382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.879254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.04, Y:148.13, Z:15.75 [[ 1.73745813e-01 -9.84789538e-01 -1.39946755e-03 9.38040336e+02] [ 9.84749086e-01 1.73751363e-01 -8.92754916e-03 1.48127940e+02] [ 9.03491641e-03 1.72999892e-04 9.99959169e-01 1.57541432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.9092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.04, Y:148.16, Z:15.75 [[ 1.71018629e-01 -9.85266783e-01 -1.41277128e-03 9.38043107e+02] [ 9.85226363e-01 1.71024411e-01 -8.92544337e-03 1.48156427e+02] [ 9.03556125e-03 1.34517575e-04 9.99959169e-01 1.57543452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.9392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.05, Y:148.18, Z:15.75 [[ 1.69263748e-01 -9.85569782e-01 -1.41020803e-03 9.38046739e+02] [ 9.85529370e-01 1.69269579e-01 -8.92584835e-03 1.48183196e+02] [ 9.03575173e-03 1.21021109e-04 9.99959169e-01 1.57540124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.9692541539998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:938.05, Y:148.21, Z:15.75 [[ 1.67152128e-01 -9.85930112e-01 -1.40750225e-03 9.38050749e+02] [ 9.85889709e-01 1.67158021e-01 -8.92627500e-03 1.48210889e+02] [ 9.03595859e-03 1.04403880e-04 9.99959169e-01 1.57544278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.9992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.05, Y:148.24, Z:15.75 [[ 1.63700055e-01 -9.86509158e-01 -1.40498521e-03 9.38054189e+02] [ 9.86468772e-01 1.63706067e-01 -8.92667116e-03 1.48237838e+02] [ 9.03624745e-03 7.53225187e-05 9.99959169e-01 1.57542655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.0292541539998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:938.06, Y:148.27, Z:15.75 [[ 1.61283544e-01 -9.86907113e-01 -1.40315177e-03 9.38058453e+02] [ 9.86866740e-01 1.61289638e-01 -8.92695934e-03 1.48266027e+02] [ 9.03639351e-03 5.50478343e-05 9.99959169e-01 1.57546741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.0592541539997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.06, Y:148.29, Z:15.75 [[ 1.57373464e-01 -9.87538167e-01 -1.40067456e-03 9.38062121e+02] [ 9.87497815e-01 1.57379696e-01 -8.92734801e-03 1.48293590e+02] [ 9.03653462e-03 2.17646114e-05 9.99959169e-01 1.57542114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.089254154 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:938.07, Y:148.32, Z:15.75 [[ 1.55565885e-01 -9.87824529e-01 -1.39819574e-03 9.38065952e+02] [ 9.87784185e-01 1.55572168e-01 -8.92773622e-03 1.48321211e+02] [ 9.03655717e-03 7.73554289e-06 9.99959169e-01 1.57549450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.119254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.07, Y:148.35, Z:15.75 [[ 1.56242628e-01 -9.87717720e-01 -1.39563345e-03 9.38074065e+02] [ 9.87677368e-01 1.56248860e-01 -8.92813675e-03 1.48352430e+02] [ 9.03654501e-03 1.65199724e-05 9.99959169e-01 1.57499827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.149254154 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:938.07, Y:148.38, Z:15.75 [[ 1.51563466e-01 -9.88446371e-01 -1.51276061e-03 9.38072682e+02] [ 9.88406224e-01 1.51570946e-01 -8.90981085e-03 1.48375643e+02] [ 9.03616075e-03 -1.44820186e-04 9.99959163e-01 1.57534922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.1792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.08, Y:148.40, Z:15.75 [[ 1.50619477e-01 -9.88590836e-01 -1.39003408e-03 9.38075841e+02] [ 9.88550513e-01 1.50625888e-01 -8.92891671e-03 1.48402424e+02] [ 9.03642035e-03 -2.92501444e-05 9.99959170e-01 1.57513906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.2092541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:938.08, Y:148.43, Z:15.75 [[ 1.49548294e-01 -9.88753448e-01 -1.38820290e-03 9.38079603e+02] [ 9.88713129e-01 1.49554732e-01 -8.92920140e-03 1.48430550e+02] [ 9.03639099e-03 -3.71875970e-05 9.99959170e-01 1.57539120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.2392541539998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:938.08, Y:148.46, Z:15.75 [[ 1.47157537e-01 -9.89112096e-01 -1.38564147e-03 9.38083082e+02] [ 9.89071789e-01 1.47164050e-01 -8.92959887e-03 1.48457910e+02] [ 9.03629087e-03 -5.64411115e-05 9.99959170e-01 1.57540854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.2692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.09, Y:148.49, Z:15.75 [[ 1.46270482e-01 -9.89243667e-01 -1.38310300e-03 9.38087277e+02] [ 9.89203362e-01 1.46277008e-01 -8.92999203e-03 1.48486162e+02] [ 9.03625424e-03 -6.19758973e-05 9.99959170e-01 1.57541544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.2992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.09, Y:148.51, Z:15.75 [[ 1.44644854e-01 -9.89482673e-01 -1.38072918e-03 9.38091343e+02] [ 9.89442375e-01 1.44651425e-01 -8.93035905e-03 1.48513599e+02] [ 9.03615999e-03 -7.44214720e-05 9.99959170e-01 1.57547782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.329254154 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:938.09, Y:148.54, Z:15.76 [[ 1.40116135e-01 -9.90134117e-01 -1.37823236e-03 9.38094362e+02] [ 9.90093846e-01 1.40122868e-01 -8.93074437e-03 1.48541334e+02] [ 9.03575656e-03 -1.13237994e-04 9.99959170e-01 1.57574923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.359254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.10, Y:148.57, Z:15.76 [[ 1.37684619e-01 -9.90475189e-01 -1.35888840e-03 9.38096700e+02] [ 9.90434905e-01 1.37691276e-01 -8.93372337e-03 1.48567956e+02] [ 9.03573842e-03 -1.15854201e-04 9.99959170e-01 1.57579960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.389254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.10, Y:148.60, Z:15.76 [[ 1.37691775e-01 -9.90474259e-01 -1.31079950e-03 9.38103544e+02] [ 9.90433904e-01 1.37697998e-01 -8.94113087e-03 1.48597007e+02] [ 9.03645443e-03 -6.71400797e-05 9.99959168e-01 1.57591993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.4192541539999 meters Centerline goodness : 0.996404 Centerline is valid? [True, True] Translation: X:938.11, Y:148.62, Z:15.76 [[ 1.35008726e-01 -9.90843454e-01 -1.37617610e-03 9.38105886e+02] [ 9.90803215e-01 1.35015647e-01 -8.93105708e-03 1.48624203e+02] [ 9.03508475e-03 -1.57749070e-04 9.99959170e-01 1.57577532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.4492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.11, Y:148.65, Z:15.76 [[ 1.35903358e-01 -9.90721160e-01 -1.36437242e-03 9.38109938e+02] [ 9.90680896e-01 1.35910137e-01 -8.93287234e-03 1.48650549e+02] [ 9.03541768e-03 -1.37650343e-04 9.99959170e-01 1.57603857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.4792541539998 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:938.11, Y:148.68, Z:15.76 [[ 1.35487639e-01 -9.90778088e-01 -1.37126528e-03 9.38113260e+02] [ 9.90737838e-01 1.35494497e-01 -8.93181410e-03 1.48678497e+02] [ 9.03524460e-03 -1.48413991e-04 9.99959170e-01 1.57606506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.5092541539998 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:938.12, Y:148.71, Z:15.76 [[ 1.35228980e-01 -9.90813428e-01 -1.36871071e-03 9.38115101e+02] [ 9.90773177e-01 1.35235825e-01 -8.93220555e-03 1.48706751e+02] [ 9.03524792e-03 -1.48188811e-04 9.99959170e-01 1.57613990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.5392541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:938.12, Y:148.73, Z:15.76 [[ 1.36075361e-01 -9.90697547e-01 -1.36615670e-03 9.38117951e+02] [ 9.90657286e-01 1.36082148e-01 -8.93259616e-03 1.48734590e+02] [ 9.03541064e-03 -1.37886848e-04 9.99959170e-01 1.57605841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.569254154 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:938.12, Y:148.76, Z:15.76 [[ 1.36267876e-01 -9.90671089e-01 -1.36361423e-03 9.38120622e+02] [ 9.90630822e-01 1.36274633e-01 -8.93298427e-03 1.48762122e+02] [ 9.03547528e-03 -1.33559499e-04 9.99959170e-01 1.57610997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.599254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.12, Y:148.79, Z:15.76 [[ 1.37076387e-01 -9.90559545e-01 -1.36102102e-03 9.38121430e+02] [ 9.90519269e-01 1.37083088e-01 -8.93337935e-03 1.48789822e+02] [ 9.03561714e-03 -1.23562184e-04 9.99959170e-01 1.57601259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.629254154 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:938.12, Y:148.82, Z:15.76 [[ 1.36485767e-01 -9.90641101e-01 -1.35830006e-03 9.38123447e+02] [ 9.90600825e-01 1.36492467e-01 -8.93379304e-03 1.48818322e+02] [ 9.03558030e-03 -1.26197564e-04 9.99959170e-01 1.57607547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.6592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.12, Y:148.85, Z:15.76 [[ 1.38340985e-01 -9.90383731e-01 -1.35579104e-03 9.38124833e+02] [ 9.90343438e-01 1.38347587e-01 -8.93417380e-03 1.48846863e+02] [ 9.03583079e-03 -1.06736362e-04 9.99959170e-01 1.57620059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.6892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.13, Y:148.87, Z:15.76 [[ 1.38787131e-01 -9.90321312e-01 -1.35335244e-03 9.38127395e+02] [ 9.90281013e-01 1.38793693e-01 -8.93454318e-03 1.48874971e+02] [ 9.03590531e-03 -1.00199610e-04 9.99959170e-01 1.57629519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.7192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.13, Y:148.90, Z:15.76 [[ 1.40541651e-01 -9.90073846e-01 -1.35077598e-03 9.38127301e+02] [ 9.90033531e-01 1.40548119e-01 -8.93493269e-03 1.48902761e+02] [ 9.03609219e-03 -8.15833232e-05 9.99959170e-01 1.57629658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.7492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.13, Y:148.93, Z:15.76 [[ 1.41391618e-01 -9.89952823e-01 -1.34849106e-03 9.38128922e+02] [ 9.89912500e-01 1.41398030e-01 -8.93527752e-03 1.48931161e+02] [ 9.03617719e-03 -7.15148104e-05 9.99959170e-01 1.57643842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.7792541539998 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:938.13, Y:148.96, Z:15.76 [[ 1.41703895e-01 -9.89908175e-01 -1.34588635e-03 9.38130169e+02] [ 9.89867846e-01 1.41710271e-01 -8.93566984e-03 1.48958799e+02] [ 9.03621855e-03 -6.60304032e-05 9.99959170e-01 1.57641565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.8092541539997 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:938.13, Y:148.99, Z:15.76 [[ 1.42711908e-01 -9.89763359e-01 -1.34313639e-03 9.38131938e+02] [ 9.89723020e-01 1.42718218e-01 -8.93608318e-03 1.48987209e+02] [ 9.03629773e-03 -5.40475180e-05 9.99959170e-01 1.57646640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.839254154 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:938.13, Y:149.01, Z:15.76 [[ 1.46028028e-01 -9.89279545e-01 -1.34048449e-03 9.38131977e+02] [ 9.89239181e-01 1.46034179e-01 -8.93648096e-03 1.49014778e+02] [ 9.03643437e-03 -2.10830822e-05 9.99959170e-01 1.57645720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.869254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.13, Y:149.04, Z:15.76 [[ 1.45474485e-01 -9.89361099e-01 -1.33810222e-03 9.38131932e+02] [ 9.89320735e-01 1.45480637e-01 -8.93683766e-03 1.49041814e+02] [ 9.03642749e-03 -2.37304142e-05 9.99959170e-01 1.57619300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.899254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.13, Y:149.07, Z:15.76 [[ 1.49808783e-01 -9.88714147e-01 -1.28972601e-03 9.38133927e+02] [ 9.88673694e-01 1.49814321e-01 -8.94405971e-03 1.49071105e+02] [ 9.03633780e-03 6.47805227e-05 9.99959169e-01 1.57641358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.9292541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:938.14, Y:149.10, Z:15.76 [[ 1.52120385e-01 -9.88361064e-01 -1.33967115e-03 9.38136194e+02] [ 9.88320663e-01 1.52126280e-01 -8.93660418e-03 1.49098993e+02] [ 9.03639081e-03 3.54149932e-05 9.99959170e-01 1.57638800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.9592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.14, Y:149.13, Z:15.76 [[ 1.53264813e-01 -9.88184256e-01 -1.33202171e-03 9.38137906e+02] [ 9.88143837e-01 1.53270592e-01 -8.93774420e-03 1.49127062e+02] [ 9.03629786e-03 5.36126553e-05 9.99959170e-01 1.57633649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.9892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.14, Y:149.15, Z:15.76 [[ 1.55267558e-01 -9.87871560e-01 -1.32943005e-03 9.38138345e+02] [ 9.87831126e-01 1.55273231e-01 -8.93812968e-03 1.49154450e+02] [ 9.03614900e-03 7.45491807e-05 9.99959170e-01 1.57614694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.0192541539998 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:938.13, Y:149.18, Z:15.76 [[ 1.49437071e-01 -9.88770348e-01 -1.32669661e-03 9.38133497e+02] [ 9.88729945e-01 1.49442958e-01 -8.93853539e-03 1.49175807e+02] [ 9.03642421e-03 2.40038735e-05 9.99959170e-01 1.57553036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.0492541539998 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:938.14, Y:149.21, Z:15.76 [[ 1.56356963e-01 -9.87699956e-01 -1.13937977e-03 9.38144264e+02] [ 9.87659297e-01 1.56360869e-01 -8.96618692e-03 1.49208784e+02] [ 9.03405683e-03 2.76606735e-04 9.99959154e-01 1.57609188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.079254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.15, Y:149.24, Z:15.76 [[ 1.57811254e-01 -9.87468407e-01 -1.32444029e-03 9.38146801e+02] [ 9.87427953e-01 1.57816778e-01 -8.93876701e-03 1.49236375e+02] [ 9.03576892e-03 1.02848668e-04 9.99959171e-01 1.57622269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.109254154 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:938.15, Y:149.26, Z:15.76 [[ 1.57507435e-01 -9.87516917e-01 -1.32182796e-03 9.38149921e+02] [ 9.87476462e-01 1.57512948e-01 -8.93915330e-03 1.49263356e+02] [ 9.03577012e-03 1.02709110e-04 9.99959171e-01 1.57608040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.139254154 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:938.15, Y:149.29, Z:15.76 [[ 1.57853222e-01 -9.87461706e-01 -1.31907384e-03 9.38152523e+02] [ 9.87421246e-01 1.57858696e-01 -8.93955968e-03 1.49291122e+02] [ 9.03570013e-03 1.08656763e-04 9.99959171e-01 1.57617551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.1692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.16, Y:149.32, Z:15.76 [[ 1.58078939e-01 -9.87425600e-01 -1.31653503e-03 9.38155886e+02] [ 9.87385136e-01 1.58084380e-01 -8.93993356e-03 1.49318734e+02] [ 9.03564288e-03 1.13288090e-04 9.99959171e-01 1.57620751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.1992541539998 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:938.16, Y:149.35, Z:15.76 [[ 1.58050610e-01 -9.87430138e-01 -1.31396186e-03 9.38159699e+02] [ 9.87389671e-01 1.58056030e-01 -8.94031174e-03 1.49346325e+02] [ 9.03561285e-03 1.15629357e-04 9.99959171e-01 1.57617721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.2292541539998 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:938.16, Y:149.37, Z:15.76 [[ 1.58695997e-01 -9.87326623e-01 -1.31137597e-03 9.38163469e+02] [ 9.87286149e-01 1.58701367e-01 -8.94069102e-03 1.49372870e+02] [ 9.03549943e-03 1.24148549e-04 9.99959171e-01 1.57611766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.2592541539998 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:938.17, Y:149.40, Z:15.76 [[ 1.58735127e-01 -9.87320335e-01 -1.30949069e-03 9.38165778e+02] [ 9.87279859e-01 1.58740478e-01 -8.94096714e-03 1.49400677e+02] [ 9.03546785e-03 1.26411767e-04 9.99959171e-01 1.57624924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.2892541539998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:938.17, Y:149.43, Z:15.76 [[ 1.60436061e-01 -9.87045370e-01 -1.30679145e-03 9.38170416e+02] [ 9.87004881e-01 1.60441318e-01 -8.94136164e-03 1.49426980e+02] [ 9.03519295e-03 1.44707299e-04 9.99959171e-01 1.57625652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.319254154 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:938.17, Y:149.45, Z:15.76 [[ 1.60840224e-01 -9.86979595e-01 -1.30436830e-03 9.38173876e+02] [ 9.86939101e-01 1.60845442e-01 -8.94171511e-03 1.49454884e+02] [ 9.03509206e-03 1.50855385e-04 9.99959171e-01 1.57617797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.349254154 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:938.18, Y:149.48, Z:15.76 [[ 1.61590419e-01 -9.86857052e-01 -1.30244895e-03 9.38178417e+02] [ 9.86816552e-01 1.61595589e-01 -8.94199449e-03 1.49483452e+02] [ 9.03494033e-03 1.59662454e-04 9.99959171e-01 1.57613317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.379254154 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:938.18, Y:149.51, Z:15.76 [[ 1.62535513e-01 -9.86701834e-01 -1.30292917e-03 9.38182326e+02] [ 9.86661330e-01 1.62540649e-01 -8.94192473e-03 1.49510019e+02] [ 9.03479248e-03 1.67830493e-04 9.99959171e-01 1.57622081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.4092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.19, Y:149.54, Z:15.76 [[ 1.63280291e-01 -9.86578870e-01 -1.29645925e-03 9.38188108e+02] [ 9.86538354e-01 1.63285338e-01 -8.94286268e-03 1.49538998e+02] [ 9.03453214e-03 1.81186448e-04 9.99959171e-01 1.57617819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.4392541539999 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:938.19, Y:149.56, Z:15.76 [[ 1.62593926e-01 -9.86692180e-01 -1.32536502e-03 9.38192007e+02] [ 9.86651701e-01 1.62599263e-01 -8.93867639e-03 1.49564320e+02] [ 9.03522547e-03 1.45700840e-04 9.99959171e-01 1.57608384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.4692541539998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:938.20, Y:149.59, Z:15.76 [[ 1.62287968e-01 -9.86742593e-01 -1.29226201e-03 9.38198176e+02] [ 9.86702078e-01 1.62293017e-01 -8.94345953e-03 1.49593465e+02] [ 9.03461755e-03 1.76338263e-04 9.99959171e-01 1.57619608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.4992541539998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:938.20, Y:149.62, Z:15.76 [[ 1.61873218e-01 -9.86810679e-01 -1.32104957e-03 9.38202001e+02] [ 9.86770199e-01 1.61878545e-01 -8.93930454e-03 1.49620812e+02] [ 9.03525077e-03 1.43461645e-04 9.99959171e-01 1.57622195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.5292541539998 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:938.21, Y:149.65, Z:15.76 [[ 1.59819413e-01 -9.87145389e-01 -1.31777980e-03 9.38208217e+02] [ 9.87104916e-01 1.59824794e-01 -8.93977519e-03 1.49646327e+02] [ 9.03547174e-03 1.27962702e-04 9.99959171e-01 1.57628853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.5592541539997 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:938.21, Y:149.67, Z:15.76 [[ 1.58061553e-01 -9.87428426e-01 -1.28429026e-03 9.38213833e+02] [ 9.87387924e-01 1.58066703e-01 -8.94458372e-03 1.49672591e+02] [ 9.03513975e-03 1.45702104e-04 9.99959172e-01 1.57628566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.589254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.22, Y:149.70, Z:15.77 [[ 1.54624377e-01 -9.87972500e-01 -1.28158757e-03 9.38221990e+02] [ 9.87932012e-01 1.54629644e-01 -8.94497095e-03 1.49700872e+02] [ 9.03555673e-03 1.16989173e-04 9.99959172e-01 1.57651782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.619254154 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:938.23, Y:149.73, Z:15.76 [[ 1.53319731e-01 -9.88175775e-01 -1.30309018e-03 9.38227603e+02] [ 9.88135321e-01 1.53325245e-01 -8.94189184e-03 1.49727216e+02] [ 9.03595752e-03 8.33390202e-05 9.99959171e-01 1.57649389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.649254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.23, Y:149.75, Z:15.77 [[ 1.51656311e-01 -9.88432461e-01 -1.27798554e-03 9.38233151e+02] [ 9.88391986e-01 1.51661666e-01 -8.94547839e-03 1.49753951e+02] [ 9.03582264e-03 9.34875879e-05 9.99959172e-01 1.57657611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.6792541539999 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:938.23, Y:149.78, Z:15.76 [[ 1.45607101e-01 -9.89341673e-01 -1.27529424e-03 9.38234635e+02] [ 9.89301228e-01 1.45612680e-01 -8.94586205e-03 1.49778469e+02] [ 9.03621314e-03 4.09308888e-05 9.99959172e-01 1.57628070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.7092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.25, Y:149.81, Z:15.77 [[ 1.46797364e-01 -9.89165885e-01 -1.17751206e-03 9.38246856e+02] [ 9.89125317e-01 1.46802010e-01 -8.95974886e-03 1.49808138e+02] [ 9.03553904e-03 1.50560524e-04 9.99959167e-01 1.57664526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.7392541539998 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:938.25, Y:149.83, Z:15.76 [[ 1.42754448e-01 -9.89757319e-01 -1.27205532e-03 9.38251021e+02] [ 9.89716886e-01 1.42760114e-01 -8.94630601e-03 1.49834616e+02] [ 9.03627061e-03 1.81503432e-05 9.99959172e-01 1.57648365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.7692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.26, Y:149.86, Z:15.77 [[ 1.42523526e-01 -9.89790654e-01 -1.22682494e-03 9.38259917e+02] [ 9.89750167e-01 1.42528792e-01 -8.95272480e-03 1.49862541e+02] [ 9.03618122e-03 6.17237098e-05 9.99959171e-01 1.57658518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.7992541539998 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:938.27, Y:149.89, Z:15.77 [[ 1.41007017e-01 -9.90007784e-01 -1.26870321e-03 9.38265406e+02] [ 9.89967356e-01 1.41012724e-01 -8.94678624e-03 1.49890302e+02] [ 9.03629132e-03 5.58487920e-06 9.99959172e-01 1.57653205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.829254154 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:938.27, Y:149.92, Z:15.77 [[ 1.38743890e-01 -9.90327486e-01 -1.26613671e-03 9.38272674e+02] [ 9.90287069e-01 1.38749666e-01 -8.94714944e-03 1.49917432e+02] [ 9.03628406e-03 -1.24764986e-05 9.99959172e-01 1.57658739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.859254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.28, Y:149.94, Z:15.77 [[ 1.37694493e-01 -9.90473942e-01 -1.26358410e-03 9.38277667e+02] [ 9.90433528e-01 1.37700289e-01 -8.94750992e-03 1.49943591e+02] [ 9.03627132e-03 -1.94732136e-05 9.99959172e-01 1.57664147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.889254154 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:938.28, Y:149.97, Z:15.77 [[ 1.36733748e-01 -9.90607032e-01 -1.26089514e-03 9.38283051e+02] [ 9.90566620e-01 1.36739559e-01 -8.94788884e-03 1.49970689e+02] [ 9.03625585e-03 -2.55222572e-05 9.99959172e-01 1.57666898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.9192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.29, Y:150.00, Z:15.77 [[ 1.35615054e-01 -9.90760806e-01 -1.25830120e-03 9.38289386e+02] [ 9.90720396e-01 1.35620888e-01 -8.94825360e-03 1.49996922e+02] [ 9.03623087e-03 -3.31067701e-05 9.99959172e-01 1.57669988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.9492541539998 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:938.30, Y:150.02, Z:15.77 [[ 1.35159255e-01 -9.90823092e-01 -1.25556700e-03 9.38295035e+02] [ 9.90782682e-01 1.35165083e-01 -8.94863723e-03 1.50024451e+02] [ 9.03622522e-03 -3.45028945e-05 9.99959172e-01 1.57659711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.9792541539998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:938.30, Y:150.05, Z:15.77 [[ 1.35246983e-01 -9.90811124e-01 -1.25299775e-03 9.38299853e+02] [ 9.90770710e-01 1.35252783e-01 -8.94899696e-03 1.50051332e+02] [ 9.03623717e-03 -3.11086303e-05 9.99959172e-01 1.57667592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.0092541539998 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:938.31, Y:150.08, Z:15.77 [[ 1.35079830e-01 -9.90833930e-01 -1.25029233e-03 9.38306456e+02] [ 9.90793513e-01 1.35085613e-01 -8.94937493e-03 1.50079097e+02] [ 9.03624084e-03 -2.99014827e-05 9.99959172e-01 1.57665711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.0392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.31, Y:150.11, Z:15.77 [[ 1.35233946e-01 -9.90812910e-01 -1.24775761e-03 9.38311830e+02] [ 9.90772490e-01 1.35239699e-01 -8.94972832e-03 1.50107065e+02] [ 9.03625272e-03 -2.59368421e-05 9.99959172e-01 1.57682519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.069254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.32, Y:150.13, Z:15.77 [[ 1.32836680e-01 -9.91137158e-01 -1.24521873e-03 9.38315445e+02] [ 9.91096748e-01 1.32842508e-01 -8.95008155e-03 1.50131628e+02] [ 9.03617637e-03 -4.52331180e-05 9.99959172e-01 1.57673734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.099254154 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:938.32, Y:150.16, Z:15.77 [[ 1.33357118e-01 -9.91067360e-01 -1.16890837e-03 9.38321735e+02] [ 9.91026852e-01 1.33362235e-01 -8.96066366e-03 1.50159950e+02] [ 9.03650952e-03 3.65486957e-05 9.99959169e-01 1.57678183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.129254154 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:938.33, Y:150.19, Z:15.77 [[ 1.34291575e-01 -9.90941163e-01 -1.17633995e-03 9.38327467e+02] [ 9.90900659e-01 1.34296722e-01 -8.95963325e-03 1.50188095e+02] [ 9.03644800e-03 3.75672306e-05 9.99959170e-01 1.57686173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.1592541539999 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:938.33, Y:150.22, Z:15.77 [[ 1.35004816e-01 -9.90844241e-01 -1.17916022e-03 9.38332798e+02] [ 9.90803736e-01 1.35009959e-01 -8.95924235e-03 1.50215815e+02] [ 9.03641206e-03 4.12245204e-05 9.99959170e-01 1.57678832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.1892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.34, Y:150.24, Z:15.77 [[ 1.37614275e-01 -9.90485192e-01 -1.18111841e-03 9.38338626e+02] [ 9.90444677e-01 1.37619329e-01 -8.95897045e-03 1.50242094e+02] [ 9.03627230e-03 6.30497810e-05 9.99959170e-01 1.57672745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.2192541539998 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:938.34, Y:150.27, Z:15.77 [[ 1.38735486e-01 -9.90328808e-01 -1.14771895e-03 9.38344477e+02] [ 9.90288248e-01 1.38740192e-01 -8.96359523e-03 1.50269986e+02] [ 9.03614132e-03 1.06996144e-04 9.99959168e-01 1.57658597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.2492541539998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:938.36, Y:150.30, Z:15.77 [[ 1.45159470e-01 -9.89407595e-01 -1.15737654e-03 9.38355400e+02] [ 9.89367015e-01 1.45164000e-01 -8.96226341e-03 1.50299859e+02] [ 9.03534090e-03 1.55887230e-04 9.99959168e-01 1.57689361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.2792541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:938.36, Y:150.33, Z:15.77 [[ 1.43780604e-01 -9.89608817e-01 -1.23574009e-03 9.38357608e+02] [ 9.89568333e-01 1.43785900e-01 -8.95144541e-03 1.50325482e+02] [ 9.03611131e-03 6.41949702e-05 9.99959171e-01 1.57678728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.3092541539997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.36, Y:150.35, Z:15.77 [[ 1.46482562e-01 -9.89212561e-01 -1.16936999e-03 9.38363195e+02] [ 9.89171989e-01 1.46487147e-01 -8.96057289e-03 1.50351575e+02] [ 9.03520893e-03 1.55859634e-04 9.99959170e-01 1.57678758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.339254154 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:938.37, Y:150.38, Z:15.77 [[ 1.50942759e-01 -9.88541843e-01 -1.14391011e-03 9.38372800e+02] [ 9.88501224e-01 1.50946930e-01 -8.96406457e-03 1.50381731e+02] [ 9.03402262e-03 2.22304099e-04 9.99959168e-01 1.57701312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.369254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.37, Y:150.41, Z:15.77 [[ 1.48913241e-01 -9.88849502e-01 -1.22885231e-03 9.38373350e+02] [ 9.88808983e-01 1.48918264e-01 -8.95240500e-03 1.50406806e+02] [ 9.03557978e-03 1.18031441e-04 9.99959171e-01 1.57673306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.399254154 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:938.38, Y:150.43, Z:15.77 [[ 1.50128765e-01 -9.88665805e-01 -1.13144508e-03 9.38378503e+02] [ 9.88625177e-01 1.50132856e-01 -8.96573738e-03 1.50434755e+02] [ 9.03398505e-03 2.27439989e-04 9.99959167e-01 1.57676933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.4292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.39, Y:150.46, Z:15.77 [[ 1.56692696e-01 -9.87646767e-01 -1.12338050e-03 9.38390734e+02] [ 9.87606106e-01 1.56696444e-01 -8.96683971e-03 1.50464932e+02] [ 9.03209998e-03 2.95580850e-04 9.99959166e-01 1.57720873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.4592541539998 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:938.40, Y:150.49, Z:15.77 [[ 1.56982878e-01 -9.87600565e-01 -1.22496494e-03 9.38395889e+02] [ 9.87560003e-01 1.56987535e-01 -8.95294070e-03 1.50492450e+02] [ 9.03423352e-03 1.95732016e-04 9.99959171e-01 1.57716879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.4892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.40, Y:150.52, Z:15.77 [[ 1.59017001e-01 -9.87275088e-01 -1.22238482e-03 9.38402528e+02] [ 9.87234514e-01 1.59021551e-01 -8.95329296e-03 1.50520358e+02] [ 9.03374863e-03 2.16945308e-04 9.99959171e-01 1.57728381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.5192541539998 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:938.41, Y:150.55, Z:15.77 [[ 1.58528254e-01 -9.87353688e-01 -1.21977488e-03 9.38406861e+02] [ 9.87313113e-01 1.58532801e-01 -8.95364852e-03 1.50548187e+02] [ 9.03379221e-03 2.15106535e-04 9.99959171e-01 1.57707693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.5492541539998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:938.41, Y:150.58, Z:15.77 [[ 1.59199379e-01 -9.87245702e-01 -1.21717572e-03 9.38411280e+02] [ 9.87205122e-01 1.59203875e-01 -8.95400184e-03 1.50575672e+02] [ 9.03357893e-03 2.23869433e-04 9.99959171e-01 1.57712510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.579254154 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:938.42, Y:150.60, Z:15.77 [[ 1.58942328e-01 -9.87287122e-01 -1.21459140e-03 9.38415371e+02] [ 9.87246540e-01 1.58946811e-01 -8.95435239e-03 1.50602137e+02] [ 9.03357223e-03 2.24124454e-04 9.99959171e-01 1.57694148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.609254154 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:938.42, Y:150.63, Z:15.77 [[ 1.58569060e-01 -9.87347145e-01 -1.21189991e-03 9.38419210e+02] [ 9.87306562e-01 1.58573533e-01 -8.95471664e-03 1.50629763e+02] [ 9.03358916e-03 2.23424263e-04 9.99959171e-01 1.57694394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.639254154 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:938.42, Y:150.66, Z:15.77 [[ 1.57834995e-01 -9.87464760e-01 -1.20934866e-03 9.38422074e+02] [ 9.87424178e-01 1.57839475e-01 -8.95506118e-03 1.50657831e+02] [ 9.03369030e-03 2.19281931e-04 9.99959171e-01 1.57698045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.6692541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:938.43, Y:150.69, Z:15.77 [[ 1.56979025e-01 -9.87601200e-01 -1.20676858e-03 9.38425220e+02] [ 9.87560619e-01 1.56983517e-01 -8.95540885e-03 1.50685465e+02] [ 9.03381530e-03 2.14054223e-04 9.99959171e-01 1.57692056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.6992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.43, Y:150.71, Z:15.77 [[ 1.56277268e-01 -9.87712491e-01 -1.20419742e-03 9.38428562e+02] [ 9.87671911e-01 1.56281766e-01 -8.95575457e-03 1.50713111e+02] [ 9.03390476e-03 2.10228892e-04 9.99959171e-01 1.57708066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.7292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.43, Y:150.74, Z:15.77 [[ 1.53292145e-01 -9.88180183e-01 -1.20159335e-03 9.38431587e+02] [ 9.88139614e-01 1.53296742e-01 -8.95610395e-03 1.50740216e+02] [ 9.03444479e-03 1.85558400e-04 9.99959171e-01 1.57709353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.7592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.44, Y:150.77, Z:15.77 [[ 1.51747194e-01 -9.88418612e-01 -1.19884687e-03 9.38435449e+02] [ 9.88378047e-01 1.51751830e-01 -8.95647157e-03 1.50768176e+02] [ 9.03467040e-03 1.74205502e-04 9.99959171e-01 1.57718289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.7892541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:938.44, Y:150.80, Z:15.77 [[ 1.49754377e-01 -9.88722507e-01 -1.19633270e-03 9.38439282e+02] [ 9.88681949e-01 1.49759071e-01 -8.95680738e-03 1.50796073e+02] [ 9.03495872e-03 1.58528557e-04 9.99959171e-01 1.57725703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.819254154 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:938.44, Y:150.82, Z:15.77 [[ 1.45867687e-01 -9.89303388e-01 -1.19374823e-03 9.38443150e+02] [ 9.89262846e-01 1.45872517e-01 -8.95715182e-03 1.50822983e+02] [ 9.03547570e-03 1.25628242e-04 9.99959171e-01 1.57715113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.849254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.45, Y:150.85, Z:15.77 [[ 1.44057572e-01 -9.89568592e-01 -1.19102627e-03 9.38447389e+02] [ 9.89528056e-01 1.44062452e-01 -8.95751374e-03 1.50850461e+02] [ 9.03565643e-03 1.11843770e-04 9.99959171e-01 1.57741382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.879254154 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:938.45, Y:150.88, Z:15.77 [[ 1.38544959e-01 -9.90355432e-01 -1.18846850e-03 9.38452076e+02] [ 9.90314921e-01 1.38550042e-01 -8.95785309e-03 1.50878140e+02] [ 9.03612083e-03 6.41073072e-05 9.99959171e-01 1.57740453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.9092541539999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:938.46, Y:150.91, Z:15.77 [[ 1.35499044e-01 -9.90776767e-01 -1.18590585e-03 9.38456138e+02] [ 9.90736269e-01 1.35504228e-01 -8.95819234e-03 1.50906350e+02] [ 9.03626411e-03 3.89065528e-05 9.99959171e-01 1.57736506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.9392541539999 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:938.46, Y:150.93, Z:15.77 [[ 1.32654696e-01 -9.91161607e-01 -1.18334440e-03 9.38459990e+02] [ 9.91121121e-01 1.32659973e-01 -8.95853069e-03 1.50933335e+02] [ 9.03633411e-03 1.55535423e-05 9.99959171e-01 1.57736141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.9692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.46, Y:150.96, Z:15.78 [[ 1.29646149e-01 -9.91559621e-01 -1.18064048e-03 9.38464101e+02] [ 9.91519148e-01 1.29651525e-01 -8.95888702e-03 1.50960647e+02] [ 9.03634246e-03 -9.14243741e-06 9.99959171e-01 1.57778949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.9992541539998 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:938.47, Y:150.99, Z:15.78 [[ 1.27723629e-01 -9.91809098e-01 -1.17807754e-03 9.38467440e+02] [ 9.91768632e-01 1.27729060e-01 -8.95922403e-03 1.50988744e+02] [ 9.03631464e-03 -2.40757437e-05 9.99959171e-01 1.57762199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.0292541539998 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:938.47, Y:151.02, Z:15.77 [[ 1.29768797e-01 -9.91543583e-01 -1.17551928e-03 9.38474168e+02] [ 9.91503103e-01 1.29774121e-01 -8.95955968e-03 1.51018845e+02] [ 9.03634589e-03 -2.85972977e-06 9.99959171e-01 1.57719091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.0592541539997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:938.47, Y:151.04, Z:15.78 [[ 1.27451275e-01 -9.91844040e-01 -1.25404089e-03 9.38472431e+02] [ 9.91803671e-01 1.27457402e-01 -8.94924906e-03 1.51043389e+02] [ 9.03609613e-03 -1.03169157e-04 9.99959168e-01 1.57785105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.089254154 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:938.48, Y:151.07, Z:15.78 [[ 1.27198594e-01 -9.91876579e-01 -1.17082680e-03 9.38475159e+02] [ 9.91836107e-01 1.27203981e-01 -8.96012274e-03 1.51070546e+02] [ 9.03626972e-03 -2.15532862e-05 9.99959172e-01 1.57761139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.119254154 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:938.48, Y:151.10, Z:15.78 [[ 1.28123674e-01 -9.91757511e-01 -1.16818026e-03 9.38477727e+02] [ 9.91717031e-01 1.28128999e-01 -8.96046777e-03 1.51099003e+02] [ 9.03628898e-03 -1.04562080e-05 9.99959172e-01 1.57760274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.149254154 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:938.48, Y:151.13, Z:15.77 [[ 1.28441354e-01 -9.91716421e-01 -1.16566562e-03 9.38480565e+02] [ 9.91675937e-01 1.28446644e-01 -8.96079489e-03 1.51126089e+02] [ 9.03629328e-03 -5.02591663e-06 9.99959172e-01 1.57741736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.1792541539999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:938.48, Y:151.15, Z:15.78 [[ 1.28663504e-01 -9.91687627e-01 -1.16301428e-03 9.38483597e+02] [ 9.91647139e-01 1.28668760e-01 -8.96113899e-03 1.51154455e+02] [ 9.03629427e-03 -3.28242581e-07 9.99959172e-01 1.57767927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.2092541539998 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:938.49, Y:151.18, Z:15.78 [[ 1.29229464e-01 -9.91614037e-01 -1.16046463e-03 9.38485636e+02] [ 9.91573543e-01 1.29234674e-01 -8.96146916e-03 1.51182352e+02] [ 9.03629088e-03 7.39983213e-06 9.99959172e-01 1.57779735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.2392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.49, Y:151.21, Z:15.78 [[ 1.29951330e-01 -9.91519698e-01 -1.15789458e-03 9.38488095e+02] [ 9.91479197e-01 1.29956488e-01 -8.96180122e-03 1.51210123e+02] [ 9.03627835e-03 1.65696053e-05 9.99959172e-01 1.57806669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.2692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.49, Y:151.24, Z:15.78 [[ 1.29783474e-01 -9.91541685e-01 -1.15628845e-03 9.38490884e+02] [ 9.91501183e-01 1.29788624e-01 -8.96200844e-03 1.51238364e+02] [ 9.03627804e-03 1.66592321e-05 9.99959172e-01 1.57818495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.2992541539998 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:938.49, Y:151.27, Z:15.78 [[ 1.28417422e-01 -9.91719534e-01 -1.15376257e-03 9.38493073e+02] [ 9.91679036e-01 1.28422605e-01 -8.96233361e-03 1.51266712e+02] [ 9.03629051e-03 6.75762505e-06 9.99959172e-01 1.57805151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.329254154 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:938.50, Y:151.29, Z:15.78 [[ 1.28005460e-01 -9.91772795e-01 -1.15123448e-03 9.38496063e+02] [ 9.91732296e-01 1.28010637e-01 -8.96265834e-03 1.51294551e+02] [ 9.03629097e-03 5.55278594e-06 9.99959172e-01 1.57822739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.359254154 meters Centerline goodness : 0.999495 Centerline is valid? [True, True] Translation: X:938.50, Y:151.32, Z:15.78 [[ 1.28494600e-01 -9.91709543e-01 -1.14862478e-03 9.38498426e+02] [ 9.91669039e-01 1.28499733e-01 -8.96299278e-03 1.51318564e+02] [ 9.03628345e-03 1.26405417e-05 9.99959172e-01 1.57780972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.389254154 meters Centerline goodness : 0.999495 Centerline is valid? [True, True] Translation: X:938.50, Y:151.35, Z:15.78 [[ 1.28220600e-01 -9.91745087e-01 -1.07682353e-03 9.38501625e+02] [ 9.91704505e-01 1.28225095e-01 -8.97213054e-03 1.51345292e+02] [ 9.03614219e-03 8.25212151e-05 9.99959170e-01 1.57783127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.4192541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:938.51, Y:151.38, Z:15.78 [[ 1.27842609e-01 -9.91793877e-01 -1.08313746e-03 9.38506396e+02] [ 9.91753303e-01 1.27847176e-01 -8.97132530e-03 1.51375930e+02] [ 9.03618157e-03 7.27124753e-05 9.99959170e-01 1.57824294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.4492541539998 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:938.51, Y:151.40, Z:15.78 [[ 1.27123835e-01 -9.91886154e-01 -1.17802954e-03 9.38508653e+02] [ 9.91845691e-01 1.27129289e-01 -8.95927402e-03 1.51403801e+02] [ 9.03634191e-03 -2.94862510e-05 9.99959171e-01 1.57819661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.4792541539998 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:938.51, Y:151.43, Z:15.78 [[ 1.26379262e-01 -9.91981312e-01 -1.16536186e-03 9.38510389e+02] [ 9.91940839e-01 1.26384632e-01 -8.96087980e-03 1.51430905e+02] [ 9.03630913e-03 -2.35006444e-05 9.99959171e-01 1.57837637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.5092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.51, Y:151.46, Z:15.79 [[ 1.25819937e-01 -9.92052436e-01 -1.14394398e-03 9.38510604e+02] [ 9.92011940e-01 1.25825137e-01 -8.96358919e-03 1.51458421e+02] [ 9.03628740e-03 -7.00785431e-06 9.99959172e-01 1.57863156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.5392541539998 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:938.51, Y:151.49, Z:15.79 [[ 1.25993102e-01 -9.92030500e-01 -1.10731223e-03 9.38513930e+02] [ 9.91989962e-01 1.25997964e-01 -8.96821151e-03 1.51486788e+02] [ 9.03625843e-03 3.14901780e-05 9.99959172e-01 1.57852540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.569254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.52, Y:151.52, Z:15.79 [[ 1.27434932e-01 -9.91846306e-01 -1.11522041e-03 9.38515719e+02] [ 9.91805770e-01 1.27439806e-01 -8.96721481e-03 1.51515190e+02] [ 9.03622235e-03 3.66543693e-05 9.99959172e-01 1.57861462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.599254154 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:938.52, Y:151.54, Z:15.78 [[ 1.28580029e-01 -9.91698526e-01 -1.09962954e-03 9.38519461e+02] [ 9.91657968e-01 1.28584716e-01 -8.96917448e-03 1.51543262e+02] [ 9.03611267e-03 6.28003187e-05 9.99959172e-01 1.57826684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.629254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.52, Y:151.57, Z:15.79 [[ 1.29592747e-01 -9.91566666e-01 -1.12542881e-03 9.38522035e+02] [ 9.91526130e-01 1.29597626e-01 -8.96593609e-03 1.51570922e+02] [ 9.03617626e-03 4.60282181e-05 9.99959172e-01 1.57868557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.6592541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:938.52, Y:151.60, Z:15.79 [[ 1.32006325e-01 -9.91248263e-01 -1.10052039e-03 9.38524015e+02] [ 9.91207690e-01 1.32010880e-01 -8.96905612e-03 1.51598641e+02] [ 9.03584196e-03 9.31278697e-05 9.99959172e-01 1.57853631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.6892541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:938.53, Y:151.63, Z:15.78 [[ 1.33813616e-01 -9.91005905e-01 -1.10126669e-03 9.38527181e+02] [ 9.90965324e-01 1.33818103e-01 -8.96896274e-03 1.51626551e+02] [ 9.03566446e-03 1.08852236e-04 9.99959172e-01 1.57829096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.7192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.53, Y:151.65, Z:15.79 [[ 1.33697481e-01 -9.91021558e-01 -1.12086868e-03 9.38528638e+02] [ 9.90980997e-01 1.33702150e-01 -8.96651238e-03 1.51653946e+02] [ 9.03586961e-03 8.80405497e-05 9.99959172e-01 1.57856353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.7492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.53, Y:151.68, Z:15.79 [[ 1.35946399e-01 -9.90715601e-01 -1.08417153e-03 9.38532295e+02] [ 9.90674993e-01 1.35950644e-01 -8.97108875e-03 1.51682843e+02] [ 9.03519140e-03 1.45525589e-04 9.99959171e-01 1.57865188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.7792541539998 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:938.54, Y:151.71, Z:15.79 [[ 1.36774721e-01 -9.90601575e-01 -1.09375076e-03 9.38536229e+02] [ 9.90560973e-01 1.36779019e-01 -8.96989581e-03 1.51710345e+02] [ 9.03519507e-03 1.43428181e-04 9.99959172e-01 1.57858523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.8092541539997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.54, Y:151.74, Z:15.79 [[ 1.38436542e-01 -9.90370678e-01 -1.11547716e-03 9.38539056e+02] [ 9.90330090e-01 1.38440969e-01 -8.96719315e-03 1.51737566e+02] [ 9.03527290e-03 1.36696614e-04 9.99959172e-01 1.57875029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.839254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.54, Y:151.76, Z:15.79 [[ 1.37245031e-01 -9.90536502e-01 -1.11310918e-03 9.38540646e+02] [ 9.90495918e-01 1.37249485e-01 -8.96748708e-03 1.51764280e+02] [ 9.03539695e-03 1.28212941e-04 9.99959172e-01 1.57893444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.869254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.54, Y:151.79, Z:15.79 [[ 1.38042033e-01 -9.90425783e-01 -1.07959127e-03 9.38544457e+02] [ 9.90385162e-01 1.38046151e-01 -8.97163540e-03 1.51792896e+02] [ 9.03477243e-03 1.69251621e-04 9.99959171e-01 1.57892780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.899254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.55, Y:151.82, Z:15.79 [[ 1.39524303e-01 -9.90218045e-01 -1.09190418e-03 9.38548341e+02] [ 9.90177430e-01 1.39528471e-01 -8.97011407e-03 1.51821003e+02] [ 9.03472053e-03 1.70370041e-04 9.99959172e-01 1.57880697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.9292541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:938.55, Y:151.85, Z:15.79 [[ 1.40557316e-01 -9.90071926e-01 -1.10592428e-03 9.38551456e+02] [ 9.90031319e-01 1.40561569e-01 -8.96838520e-03 1.51848284e+02] [ 9.03479685e-03 1.65672476e-04 9.99959172e-01 1.57867546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.9592541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:938.55, Y:151.88, Z:15.79 [[ 1.40791971e-01 -9.90038587e-01 -1.10331672e-03 9.38554619e+02] [ 9.89997977e-01 1.40796190e-01 -8.96870598e-03 1.51875841e+02] [ 9.03470778e-03 1.70440466e-04 9.99959172e-01 1.57875528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.9892541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:938.56, Y:151.90, Z:15.79 [[ 1.40947876e-01 -9.90016406e-01 -1.10070096e-03 9.38558033e+02] [ 9.89975794e-01 1.40952066e-01 -8.96902699e-03 1.51902818e+02] [ 9.03462994e-03 1.74498001e-04 9.99959172e-01 1.57874844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.0192541539998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:938.56, Y:151.93, Z:15.79 [[ 1.40312868e-01 -9.90106606e-01 -1.09879730e-03 9.38561611e+02] [ 9.90065994e-01 1.40317066e-01 -8.96926020e-03 1.51929170e+02] [ 9.03470379e-03 1.70620778e-04 9.99959172e-01 1.57871041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.0492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.57, Y:151.96, Z:15.79 [[ 1.38375854e-01 -9.90379180e-01 -1.09691646e-03 9.38566311e+02] [ 9.90338575e-01 1.38380115e-01 -8.96949022e-03 1.51956377e+02] [ 9.03498779e-03 1.54842184e-04 9.99959172e-01 1.57888705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.079254154 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:938.57, Y:151.98, Z:15.79 [[ 1.36229889e-01 -9.90676648e-01 -1.09417507e-03 9.38570851e+02] [ 9.90636049e-01 1.36234213e-01 -8.96982462e-03 1.51983819e+02] [ 9.03525986e-03 1.38028949e-04 9.99959172e-01 1.57887445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.109254154 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:938.58, Y:152.01, Z:15.79 [[ 1.34255202e-01 -9.90946189e-01 -1.09160266e-03 9.38575628e+02] [ 9.90905596e-01 1.34259583e-01 -8.97013766e-03 1.52011418e+02] [ 9.03548185e-03 1.22612455e-04 9.99959172e-01 1.57899709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.139254154 meters Centerline goodness : 0.997699 Centerline is valid? [True, True] Translation: X:938.58, Y:152.04, Z:15.78 [[ 1.31082123e-01 -9.91370915e-01 -1.08903142e-03 9.38581016e+02] [ 9.91330334e-01 1.31086612e-01 -8.97044982e-03 1.52036006e+02] [ 9.03580048e-03 9.62757310e-05 9.99959172e-01 1.57821631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.1692541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:938.58, Y:152.06, Z:15.79 [[ 1.25995608e-01 -9.92030237e-01 -1.05598110e-03 9.38584036e+02] [ 9.91989646e-01 1.26000005e-01 -8.97445255e-03 1.52063103e+02] [ 9.03598192e-03 8.32192830e-05 9.99959171e-01 1.57928243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.1992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.59, Y:152.09, Z:15.79 [[ 1.23450417e-01 -9.92350186e-01 -1.05077372e-03 9.38591644e+02] [ 9.92309600e-01 1.23454871e-01 -8.97508517e-03 1.52091102e+02] [ 9.03615056e-03 6.52851551e-05 9.99959171e-01 1.57927939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.2292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.60, Y:152.12, Z:15.79 [[ 1.21260859e-01 -9.92620078e-01 -1.08898961e-03 9.38595837e+02] [ 9.92579543e-01 1.21265749e-01 -8.97044586e-03 1.52117369e+02] [ 9.03630180e-03 6.85516604e-06 9.99959172e-01 1.57923088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.2592541539998 meters Centerline goodness : 0.998114 Centerline is valid? [True, True] Translation: X:938.60, Y:152.15, Z:15.79 [[ 1.19457093e-01 -9.92838769e-01 -1.08693188e-03 9.38600688e+02] [ 9.92798241e-01 1.19462038e-01 -8.97069518e-03 1.52145136e+02] [ 9.03630106e-03 -7.49089111e-06 9.99959172e-01 1.57893413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.2892541539998 meters Centerline goodness : 0.999493 Centerline is valid? [True, True] Translation: X:938.61, Y:152.17, Z:15.79 [[ 1.17144121e-01 -9.93114298e-01 -1.11598471e-03 9.38605645e+02] [ 9.93073815e-01 1.17149422e-01 -8.96717995e-03 1.52173315e+02] [ 9.03617159e-03 -5.78027812e-05 9.99959171e-01 1.57900877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.319254154 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:938.61, Y:152.20, Z:15.79 [[ 1.15988520e-01 -9.93249927e-01 -1.11575496e-03 9.38608079e+02] [ 9.93209450e-01 1.15993866e-01 -8.96720762e-03 1.52198597e+02] [ 9.03609905e-03 -6.80852272e-05 9.99959171e-01 1.57929261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.349254154 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:938.61, Y:152.23, Z:15.79 [[ 1.15523259e-01 -9.93304193e-01 -1.07583527e-03 9.38611623e+02] [ 9.93263673e-01 1.15528264e-01 -8.97199441e-03 1.52225313e+02] [ 9.03620905e-03 -3.21140588e-05 9.99959172e-01 1.57920228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.379254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.61, Y:152.25, Z:15.79 [[ 1.15887925e-01 -9.93261715e-01 -1.07420729e-03 9.38614907e+02] [ 9.93221192e-01 1.15892901e-01 -8.97218932e-03 1.52253176e+02] [ 9.03622516e-03 -2.71570367e-05 9.99959172e-01 1.57931866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.4092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.62, Y:152.28, Z:15.79 [[ 1.16334892e-01 -9.93209466e-01 -1.07181776e-03 9.38618048e+02] [ 9.93168938e-01 1.16339828e-01 -8.97247477e-03 1.52280721e+02] [ 9.03624197e-03 -2.06842185e-05 9.99959172e-01 1.57938480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.4392541539999 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:938.62, Y:152.31, Z:15.79 [[ 1.18071771e-01 -9.93004488e-01 -1.06922681e-03 9.38621378e+02] [ 9.92963948e-01 1.18076613e-01 -8.97278351e-03 1.52308336e+02] [ 9.03626498e-03 -2.27123610e-06 9.99959172e-01 1.57931327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.4692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.62, Y:152.33, Z:15.80 [[ 1.16648760e-01 -9.93172658e-01 -1.06675200e-03 9.38621132e+02] [ 9.93132123e-01 1.16653637e-01 -8.97307773e-03 1.52334401e+02] [ 9.03625596e-03 -1.27272936e-05 9.99959172e-01 1.57960555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.4992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.63, Y:152.36, Z:15.79 [[ 1.20915412e-01 -9.92662310e-01 -1.00080545e-03 9.38627748e+02] [ 9.92621687e-01 1.20919518e-01 -8.98088587e-03 1.52363705e+02] [ 9.03600382e-03 9.25063181e-05 9.99959170e-01 1.57941959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.5292541539998 meters Centerline goodness : 0.999691 Centerline is valid? [True, True] Translation: X:938.63, Y:152.39, Z:15.79 [[ 1.23278058e-01 -9.92371599e-01 -1.06319420e-03 9.38630727e+02] [ 9.92331028e-01 1.23282632e-01 -8.97349396e-03 1.52391318e+02] [ 9.03611393e-03 5.11943208e-05 9.99959172e-01 1.57930259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.5592541539997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.63, Y:152.42, Z:15.80 [[ 1.25209157e-01 -9.92129801e-01 -1.06077816e-03 9.38634001e+02] [ 9.92089219e-01 1.25213630e-01 -8.97377956e-03 1.52419148e+02] [ 9.03597801e-03 7.12127927e-05 9.99959172e-01 1.57952604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.589254154 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:938.64, Y:152.45, Z:15.79 [[ 1.25781917e-01 -9.92057352e-01 -1.05832568e-03 9.38637005e+02] [ 9.92016765e-01 1.25786345e-01 -8.97406879e-03 1.52446081e+02] [ 9.03591383e-03 7.88987591e-05 9.99959172e-01 1.57946354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.619254154 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:938.64, Y:152.47, Z:15.80 [[ 1.26779153e-01 -9.91930407e-01 -1.05567156e-03 9.38640467e+02] [ 9.91889813e-01 1.26783516e-01 -8.97438100e-03 1.52473919e+02] [ 9.03580314e-03 9.06545576e-05 9.99959172e-01 1.57957615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.649254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.64, Y:152.50, Z:15.80 [[ 1.28826641e-01 -9.91666571e-01 -1.05320141e-03 9.38644253e+02] [ 9.91625965e-01 1.28830898e-01 -8.97467087e-03 1.52502373e+02] [ 9.03556597e-03 1.11794837e-04 9.99959172e-01 1.57971554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.6792541539999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:938.65, Y:152.53, Z:15.80 [[ 1.28921124e-01 -9.91654294e-01 -1.05076592e-03 9.38647500e+02] [ 9.91613686e-01 1.28925355e-01 -8.97495602e-03 1.52530269e+02] [ 9.03552404e-03 1.15107553e-04 9.99959172e-01 1.57977110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.7092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.65, Y:152.56, Z:15.80 [[ 1.30978808e-01 -9.91384614e-01 -1.04817138e-03 9.38651041e+02] [ 9.91343995e-01 1.30982931e-01 -8.97525902e-03 1.52557050e+02] [ 9.03522626e-03 1.36470326e-04 9.99959172e-01 1.57983813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.7392541539998 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:938.65, Y:152.59, Z:15.80 [[ 1.30857886e-01 -9.91400585e-01 -1.04632571e-03 9.38653912e+02] [ 9.91359964e-01 1.30861997e-01 -8.97547418e-03 1.52585150e+02] [ 9.03521462e-03 1.37226158e-04 9.99959172e-01 1.57985087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.7692541539998 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:938.65, Y:152.61, Z:15.79 [[ 1.25931562e-01 -9.92038383e-01 -1.04377486e-03 9.38650199e+02] [ 9.91997781e-01 1.25935851e-01 -8.97577081e-03 1.52607411e+02] [ 9.03575783e-03 9.49104933e-05 9.99959172e-01 1.57928726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.7992541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:938.66, Y:152.64, Z:15.80 [[ 1.32886677e-01 -9.91130853e-01 -8.74247559e-04 9.38660407e+02] [ 9.91090086e-01 1.32889146e-01 -8.99534926e-03 1.52639940e+02] [ 9.03174619e-03 3.28903987e-04 9.99959159e-01 1.57980472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.829254154 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:938.66, Y:152.66, Z:15.79 [[ 1.28537485e-01 -9.91704105e-01 -1.04052663e-03 9.38658334e+02] [ 9.91663490e-01 1.28541639e-01 -8.97607395e-03 1.52664180e+02] [ 9.03536038e-03 1.21909701e-04 9.99959173e-01 1.57939815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.859254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.67, Y:152.70, Z:15.80 [[ 1.33454772e-01 -9.91054470e-01 -9.28408804e-04 9.38666985e+02] [ 9.91013743e-01 1.33457709e-01 -8.98900575e-03 1.52695268e+02] [ 9.03249764e-03 2.79559830e-04 9.99959167e-01 1.57972951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.889254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.67, Y:152.72, Z:15.80 [[ 1.33260149e-01 -9.91080550e-01 -1.03760099e-03 9.38670365e+02] [ 9.91039913e-01 1.33264083e-01 -8.97638402e-03 1.52723083e+02] [ 9.03459456e-03 1.67890274e-04 9.99959173e-01 1.57975470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.9192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.67, Y:152.75, Z:15.79 [[ 1.28731661e-01 -9.91678924e-01 -1.03498567e-03 9.38668860e+02] [ 9.91638303e-01 1.28735757e-01 -8.97668556e-03 1.52747571e+02] [ 9.03522954e-03 1.29252212e-04 9.99959173e-01 1.57941196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.9492541539998 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:938.68, Y:152.78, Z:15.80 [[ 1.31674433e-01 -9.91292585e-01 -9.24157405e-04 9.38677064e+02] [ 9.91251861e-01 1.31677404e-01 -8.98939744e-03 1.52778402e+02] [ 9.03281367e-03 2.67601062e-04 9.99959168e-01 1.57963345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.9792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.68, Y:152.81, Z:15.80 [[ 1.31735786e-01 -9.91284327e-01 -1.03200929e-03 9.38680535e+02] [ 9.91243692e-01 1.31739732e-01 -8.97699868e-03 1.52805407e+02] [ 9.03471472e-03 1.59619284e-04 9.99959173e-01 1.57955607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.0092541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:938.68, Y:152.83, Z:15.80 [[ 1.31081178e-01 -9.91371103e-01 -1.03017033e-03 9.38683910e+02] [ 9.91330468e-01 1.31085134e-01 -8.97720970e-03 1.52833069e+02] [ 9.03478630e-03 1.55503993e-04 9.99959173e-01 1.57965296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.0392541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:938.68, Y:152.86, Z:15.80 [[ 1.27732732e-01 -9.91808093e-01 -1.02759933e-03 9.38684566e+02] [ 9.91767470e-01 1.27736802e-01 -8.97750399e-03 1.52858499e+02] [ 9.03522336e-03 1.27581529e-04 9.99959173e-01 1.57967402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.069254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.69, Y:152.89, Z:15.80 [[ 1.30082341e-01 -9.91502731e-01 -9.58582233e-04 9.38691363e+02] [ 9.91462040e-01 1.30085690e-01 -8.98537410e-03 1.52887526e+02] [ 9.03372079e-03 2.18440605e-04 9.99959171e-01 1.57956952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.099254154 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:938.70, Y:152.92, Z:15.80 [[ 1.28604724e-01 -9.91695405e-01 -1.02426215e-03 9.38695505e+02] [ 9.91654775e-01 1.28608728e-01 -8.97788088e-03 1.52915042e+02] [ 9.03505226e-03 1.38883444e-04 9.99959173e-01 1.57953717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.129254154 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:938.70, Y:152.94, Z:15.80 [[ 1.27507200e-01 -9.91837129e-01 -1.01198193e-03 9.38699267e+02] [ 9.91796492e-01 1.27511138e-01 -8.97927813e-03 1.52942980e+02] [ 9.03502041e-03 1.41242486e-04 9.99959173e-01 1.57965199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.1592541539999 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:938.70, Y:152.97, Z:15.80 [[ 1.26753658e-01 -9.91933703e-01 -1.01964683e-03 9.38702870e+02] [ 9.91893076e-01 1.26757696e-01 -8.97840766e-03 1.52969759e+02] [ 9.03523323e-03 1.26665385e-04 9.99959173e-01 1.57965453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.1892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.71, Y:153.00, Z:15.80 [[ 1.25521949e-01 -9.92090321e-01 -1.01778115e-03 9.38706414e+02] [ 9.92049698e-01 1.25526021e-01 -8.97861914e-03 1.52996147e+02] [ 9.03535916e-03 1.17324291e-04 9.99959173e-01 1.57967845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.2192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.71, Y:153.02, Z:15.80 [[ 1.24601496e-01 -9.92206347e-01 -1.01577238e-03 9.38709954e+02] [ 9.92165726e-01 1.24605587e-01 -8.97884639e-03 1.53024222e+02] [ 9.03543930e-03 1.10963150e-04 9.99959173e-01 1.57993662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.2492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.71, Y:153.05, Z:15.80 [[ 1.22601261e-01 -9.92455492e-01 -1.01323340e-03 9.38713833e+02] [ 9.92414877e-01 1.22605411e-01 -8.97913290e-03 1.53051776e+02] [ 9.03561766e-03 9.53051181e-05 9.99959173e-01 1.58001567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.2792541539998 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:938.72, Y:153.08, Z:15.80 [[ 1.22534504e-01 -9.92463739e-01 -1.01068683e-03 9.38719166e+02] [ 9.92423122e-01 1.22538633e-01 -8.97941953e-03 1.53080861e+02] [ 9.03559647e-03 9.72597392e-05 9.99959173e-01 1.57981013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.3092541539997 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:938.72, Y:153.11, Z:15.80 [[ 1.22139029e-01 -9.92512452e-01 -1.04413064e-03 9.38722115e+02] [ 9.92471868e-01 1.22143478e-01 -8.97566093e-03 1.53108340e+02] [ 9.03598899e-03 6.00082315e-05 9.99959173e-01 1.57983644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.339254154 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:938.72, Y:153.13, Z:15.80 [[ 1.19712378e-01 -9.92808069e-01 -1.04105009e-03 9.38723382e+02] [ 9.92767493e-01 1.19716898e-01 -8.97600602e-03 1.53133992e+02] [ 9.03608249e-03 4.10183422e-05 9.99959173e-01 1.57980051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.369254154 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:938.73, Y:153.16, Z:15.80 [[ 1.18269200e-01 -9.92981063e-01 -1.00200091e-03 9.38726580e+02] [ 9.92940456e-01 1.18273426e-01 -8.98036301e-03 1.53162259e+02] [ 9.03584049e-03 6.71731129e-05 9.99959174e-01 1.58011598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.399254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.73, Y:153.19, Z:15.80 [[ 1.17291400e-01 -9.93097039e-01 -9.99475136e-04 9.38729291e+02] [ 9.93056434e-01 1.17295643e-01 -8.98064411e-03 1.53189754e+02] [ 9.03588515e-03 6.08171090e-05 9.99959174e-01 1.58016645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.4292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.73, Y:153.22, Z:15.80 [[ 1.16705933e-01 -9.93166014e-01 -9.96940610e-04 9.38732073e+02] [ 9.93125409e-01 1.16710177e-01 -8.98092546e-03 1.53217838e+02] [ 9.03590305e-03 5.80402354e-05 9.99959174e-01 1.58018853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.4592541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:938.74, Y:153.25, Z:15.80 [[ 1.16150290e-01 -9.93231152e-01 -9.94390711e-04 9.38735116e+02] [ 9.93190547e-01 1.16154534e-01 -8.98120778e-03 1.53246201e+02] [ 9.03591834e-03 5.55504379e-05 9.99959174e-01 1.58020360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.4892541539998 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:938.74, Y:153.27, Z:15.80 [[ 1.14703704e-01 -9.93399253e-01 -9.91861628e-04 9.38738038e+02] [ 9.93358652e-01 1.14707984e-01 -8.98148708e-03 1.53273012e+02] [ 9.03597700e-03 4.49355069e-05 9.99959174e-01 1.58022184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.5192541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:938.74, Y:153.30, Z:15.80 [[ 1.14461699e-01 -9.93427169e-01 -9.89300254e-04 9.38741076e+02] [ 9.93386567e-01 1.14465966e-01 -8.98176920e-03 1.53301220e+02] [ 9.03597476e-03 4.53109837e-05 9.99959174e-01 1.58026180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.5492541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:938.74, Y:153.33, Z:15.80 [[ 1.13470211e-01 -9.93540909e-01 -9.86799724e-04 9.38743853e+02] [ 9.93500308e-01 1.13474495e-01 -8.98204392e-03 1.53327408e+02] [ 9.03600468e-03 3.88085869e-05 9.99959174e-01 1.58029259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.579254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.75, Y:153.35, Z:15.80 [[ 1.11818095e-01 -9.93728205e-01 -9.83844188e-04 9.38745837e+02] [ 9.93687609e-01 1.11822420e-01 -8.98236764e-03 1.53354198e+02] [ 9.03604791e-03 2.67574601e-05 9.99959174e-01 1.58026916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.609254154 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:938.75, Y:153.38, Z:15.80 [[ 1.11103479e-01 -9.93808359e-01 -9.81079305e-04 9.38748441e+02] [ 9.93767763e-01 1.11107808e-01 -8.98266962e-03 1.53381458e+02] [ 9.03605772e-03 2.30408596e-05 9.99959174e-01 1.58025325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.639254154 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:938.75, Y:153.41, Z:15.80 [[ 1.10522413e-01 -9.93873151e-01 -9.78332974e-04 9.38750787e+02] [ 9.93832554e-01 1.10526741e-01 -8.98296872e-03 1.53408751e+02] [ 9.03606338e-03 2.05202165e-05 9.99959174e-01 1.58021545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.6692541539999 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:938.75, Y:153.44, Z:15.80 [[ 1.09081790e-01 -9.94032299e-01 -9.75601428e-04 9.38753460e+02] [ 9.93991706e-01 1.09086152e-01 -8.98326537e-03 1.53437233e+02] [ 9.03608053e-03 1.01709361e-05 9.99959174e-01 1.58040531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.6992541539998 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:938.76, Y:153.46, Z:15.80 [[ 1.08277120e-01 -9.94120274e-01 -9.73120540e-04 9.38756052e+02] [ 9.94079682e-01 1.08281493e-01 -8.98353411e-03 1.53464570e+02] [ 9.03608433e-03 5.35184548e-06 9.99959174e-01 1.58041070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.7292541539998 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:938.76, Y:153.49, Z:15.80 [[ 1.07128106e-01 -9.94244752e-01 -9.70394302e-04 9.38758767e+02] [ 9.94204163e-01 1.07132500e-01 -8.98382858e-03 1.53492429e+02] [ 9.03608519e-03 -2.34951878e-06 9.99959174e-01 1.58047659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.7592541539998 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:938.76, Y:153.52, Z:15.81 [[ 1.04741192e-01 -9.94499043e-01 -9.67841082e-04 9.38761357e+02] [ 9.94458462e-01 1.04745661e-01 -8.98410364e-03 1.53520693e+02] [ 9.03605962e-03 -2.14720292e-05 9.99959174e-01 1.58062843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.7892541539998 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:938.76, Y:153.55, Z:15.81 [[ 1.02878169e-01 -9.94693496e-01 -9.65275736e-04 9.38764016e+02] [ 9.94652921e-01 1.02882691e-01 -8.98437926e-03 1.53548970e+02] [ 9.03601378e-03 -3.58178444e-05 9.99959174e-01 1.58078096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.819254154 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:938.77, Y:153.58, Z:15.81 [[ 9.95320414e-02 -9.95033892e-01 -9.62661056e-04 9.38766539e+02] [ 9.94993330e-01 9.95366763e-02 -8.98465941e-03 1.53577395e+02] [ 9.03586070e-03 -6.35798376e-05 9.99959174e-01 1.58093755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.849254154 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:938.77, Y:153.60, Z:15.81 [[ 9.77809514e-02 -9.95207498e-01 -9.60062367e-04 9.38769003e+02] [ 9.95166941e-01 9.77856342e-02 -8.98493708e-03 1.53604131e+02] [ 9.03575706e-03 -7.68666333e-05 9.99959174e-01 1.58088574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.879254154 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:938.77, Y:153.63, Z:15.81 [[ 9.54756402e-02 -9.95431306e-01 -9.57325930e-04 9.38771603e+02] [ 9.95390758e-01 9.54803923e-02 -8.98522863e-03 1.53632499e+02] [ 9.03558373e-03 -9.50429267e-05 9.99959174e-01 1.58106805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.9092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.77, Y:153.66, Z:15.81 [[ 9.23092241e-02 -9.95729931e-01 -9.54727114e-04 9.38773783e+02] [ 9.95689395e-01 9.23140817e-02 -8.98550476e-03 1.53659850e+02] [ 9.03527080e-03 -1.21166689e-04 9.99959174e-01 1.58101002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.9392541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:938.78, Y:153.69, Z:15.81 [[ 9.02947680e-02 -9.95914628e-01 -9.53105689e-04 9.38776220e+02] [ 9.95874100e-01 9.02996930e-02 -8.98567675e-03 1.53687053e+02] [ 9.03503207e-03 -1.37813673e-04 9.99959174e-01 1.58102514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.9692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.78, Y:153.72, Z:15.81 [[ 8.81990376e-02 -9.96102418e-01 -9.50477168e-04 9.38777816e+02] [ 9.96061897e-01 8.82040241e-02 -8.98595478e-03 1.53715363e+02] [ 9.03476719e-03 -1.54181528e-04 9.99959174e-01 1.58098642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.9992541539998 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:938.78, Y:153.74, Z:15.81 [[ 8.71021213e-02 -9.96198937e-01 -9.47943022e-04 9.38779995e+02] [ 9.96158419e-01 8.71071296e-02 -8.98622210e-03 1.53743403e+02] [ 9.03463750e-03 -1.61582415e-04 9.99959174e-01 1.58101997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.0292541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:938.78, Y:153.77, Z:15.81 [[ 8.67424896e-02 -9.96230318e-01 -9.45526280e-04 9.38781897e+02] [ 9.96189799e-01 8.67474907e-02 -8.98647638e-03 1.53771894e+02] [ 9.03462225e-03 -1.62414302e-04 9.99959174e-01 1.58097231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.0592541539997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.78, Y:153.80, Z:15.81 [[ 8.77346094e-02 -9.96143438e-01 -9.43027156e-04 9.38783173e+02] [ 9.96102912e-01 8.77395476e-02 -8.98673863e-03 1.53800178e+02] [ 9.03482149e-03 -1.50904093e-04 9.99959174e-01 1.58104605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.089254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.78, Y:153.83, Z:15.81 [[ 8.83271771e-02 -9.96091073e-01 -9.40516772e-04 9.38784935e+02] [ 9.96050541e-01 8.83320686e-02 -8.98700135e-03 1.53828236e+02] [ 9.03494960e-03 -1.43005780e-04 9.99959174e-01 1.58115664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.119254154 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:938.79, Y:153.86, Z:15.81 [[ 9.10830893e-02 -9.95842855e-01 -9.37940707e-04 9.38785594e+02] [ 9.95802306e-01 9.10878453e-02 -8.98727019e-03 1.53855320e+02] [ 9.03534380e-03 -1.15415186e-04 9.99959174e-01 1.58117232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.149254154 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:938.79, Y:153.88, Z:15.81 [[ 9.27870105e-02 -9.95685540e-01 -9.36094924e-04 9.38787047e+02] [ 9.95644982e-01 9.27916805e-02 -8.98746244e-03 1.53883893e+02] [ 9.03554821e-03 -9.80984415e-05 9.99959174e-01 1.58115125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.1792541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:938.79, Y:153.91, Z:15.81 [[ 9.45389426e-02 -9.95520727e-01 -9.33539710e-04 9.38788542e+02] [ 9.95480158e-01 9.45435181e-02 -8.98772785e-03 1.53911188e+02] [ 9.03572948e-03 -7.96299708e-05 9.99959174e-01 1.58116708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.2092541539998 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:938.79, Y:153.94, Z:15.81 [[ 9.87702686e-02 -9.95109826e-01 -9.31781116e-04 9.38788279e+02] [ 9.95069236e-01 9.87746558e-02 -8.98791016e-03 1.53939018e+02] [ 9.03599408e-03 -3.94484225e-05 9.99959174e-01 1.58116645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.2392541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:938.79, Y:153.97, Z:15.81 [[ 1.01274773e-01 -9.94858059e-01 -9.29235547e-04 9.38789596e+02] [ 9.94817456e-01 1.01279035e-01 -8.98817333e-03 1.53967051e+02] [ 9.03606875e-03 -1.41445270e-05 9.99959174e-01 1.58122718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.2692541539998 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:938.79, Y:153.99, Z:15.81 [[ 1.05154552e-01 -9.94455460e-01 -9.26871801e-04 9.38790257e+02] [ 9.94414838e-01 1.05158634e-01 -8.98841708e-03 1.53994806e+02] [ 9.03604901e-03 2.34778942e-05 9.99959174e-01 1.58136411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.2992541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:938.79, Y:154.02, Z:15.81 [[ 1.06945130e-01 -9.94264494e-01 -9.24289894e-04 9.38792257e+02] [ 9.94223863e-01 1.06949116e-01 -8.98868257e-03 1.54023029e+02] [ 9.03597992e-03 4.23447578e-05 9.99959174e-01 1.58143894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.329254154 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:938.79, Y:154.05, Z:15.82 [[ 1.10392726e-01 -9.93887618e-01 -9.21826187e-04 9.38793097e+02] [ 9.93846971e-01 1.10396548e-01 -8.98893523e-03 1.54050984e+02] [ 9.03575785e-03 7.61588993e-05 9.99959174e-01 1.58159067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.359254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.79, Y:154.08, Z:15.82 [[ 1.11995684e-01 -9.93708267e-01 -9.20185569e-04 9.38794623e+02] [ 9.93667613e-01 1.11999426e-01 -8.98910317e-03 1.54079095e+02] [ 9.03560639e-03 9.23821623e-05 9.99959174e-01 1.58157821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.389254154 meters Centerline goodness : 0.999674 Centerline is valid? [True, True] Translation: X:938.80, Y:154.11, Z:15.82 [[ 1.13496058e-01 -9.93538023e-01 -9.17586255e-04 9.38796770e+02] [ 9.93497361e-01 1.13499715e-01 -8.98936850e-03 1.54105991e+02] [ 9.03542518e-03 1.08638363e-04 9.99959174e-01 1.58172195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.4192541539999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:938.80, Y:154.13, Z:15.82 [[ 1.17667755e-01 -9.93052598e-01 -9.14962438e-04 9.38797330e+02] [ 9.93011919e-01 1.17671217e-01 -8.98963555e-03 1.54134772e+02] [ 9.03484568e-03 1.49221622e-04 9.99959174e-01 1.58172699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.4492541539998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:938.80, Y:154.16, Z:15.82 [[ 1.19679961e-01 -9.92812104e-01 -9.12483185e-04 9.38798932e+02] [ 9.92771416e-01 1.19683319e-01 -8.98988719e-03 1.54162930e+02] [ 9.03447784e-03 1.70022126e-04 9.99959174e-01 1.58166249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.4792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.80, Y:154.19, Z:15.82 [[ 1.21554172e-01 -9.92584382e-01 -9.09888539e-04 9.38800710e+02] [ 9.92543686e-01 1.21557430e-01 -8.99014980e-03 1.54189905e+02] [ 9.03408599e-03 1.89686092e-04 9.99959174e-01 1.58153205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.5092541539998 meters Centerline goodness : 0.998028 Centerline is valid? [True, True] Translation: X:938.80, Y:154.22, Z:15.81 [[ 1.24340238e-01 -9.92239226e-01 -9.07583432e-04 9.38802257e+02] [ 9.92198519e-01 1.24343360e-01 -8.99038250e-03 1.54215167e+02] [ 9.03346215e-03 2.17363364e-04 9.99959174e-01 1.58084298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.5392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.80, Y:154.24, Z:15.81 [[ 1.24946957e-01 -9.92163023e-01 -8.91374392e-04 9.38804196e+02] [ 9.92122303e-01 1.24949908e-01 -8.99201050e-03 1.54242033e+02] [ 9.03291747e-03 2.39171936e-04 9.99959174e-01 1.58145140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.569254154 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:938.81, Y:154.27, Z:15.81 [[ 1.25488222e-01 -9.92094701e-01 -9.00505295e-04 9.38807259e+02] [ 9.92053986e-01 1.25491233e-01 -8.99109600e-03 1.54270098e+02] [ 9.03302421e-03 2.34926780e-04 9.99959174e-01 1.58145760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.599254154 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:938.81, Y:154.30, Z:15.81 [[ 1.25145705e-01 -9.92137967e-01 -8.97955378e-04 9.38810530e+02] [ 9.92097252e-01 1.25148707e-01 -8.99135065e-03 1.54297249e+02] [ 9.03303832e-03 2.34369853e-04 9.99959174e-01 1.58143896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.629254154 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:938.81, Y:154.33, Z:15.81 [[ 1.24568973e-01 -9.92210547e-01 -8.95330414e-04 9.38813610e+02] [ 9.92169831e-01 1.24571975e-01 -8.99161203e-03 1.54325317e+02] [ 9.03310537e-03 2.31756050e-04 9.99959174e-01 1.58149016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.6592541539999 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:938.82, Y:154.35, Z:15.82 [[ 1.22156774e-01 -9.92510416e-01 -8.92789377e-04 9.38816839e+02] [ 9.92469706e-01 1.22159852e-01 -8.99186433e-03 1.54353247e+02] [ 9.03358202e-03 2.12350729e-04 9.99959174e-01 1.58157301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.6892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.82, Y:154.38, Z:15.81 [[ 1.21362420e-01 -9.92607863e-01 -8.90182766e-04 9.38824161e+02] [ 9.92567154e-01 1.21365507e-01 -8.99212237e-03 1.54383118e+02] [ 9.03368886e-03 2.07739559e-04 9.99959174e-01 1.58103002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.7192541539998 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:938.82, Y:154.41, Z:15.82 [[ 1.17352605e-01 -9.93089808e-01 -9.99796263e-04 9.38824142e+02] [ 9.93049197e-01 1.17356848e-01 -8.98124098e-03 1.54406469e+02] [ 9.03651181e-03 6.11251515e-05 9.99959168e-01 1.58159652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.7492541539998 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:938.83, Y:154.43, Z:15.82 [[ 1.15143847e-01 -9.93348434e-01 -8.85317139e-04 9.38827465e+02] [ 9.93307742e-01 1.15147145e-01 -8.99251156e-03 1.54433577e+02] [ 9.03463902e-03 1.56040009e-04 9.99959175e-01 1.58159732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.7792541539998 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:938.83, Y:154.46, Z:15.82 [[ 1.12673930e-01 -9.93631624e-01 -8.83463253e-04 9.38830878e+02] [ 9.93590939e-01 1.12677312e-01 -8.99269369e-03 1.54461215e+02] [ 9.03497111e-03 1.35441055e-04 9.99959175e-01 1.58162635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.8092541539997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:938.84, Y:154.49, Z:15.82 [[ 1.10657446e-01 -9.93858216e-01 -8.80910656e-04 9.38838407e+02] [ 9.93817536e-01 1.10660888e-01 -8.99294373e-03 1.54492007e+02] [ 9.03519337e-03 1.19671728e-04 9.99959175e-01 1.58156477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.839254154 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:938.84, Y:154.52, Z:15.82 [[ 1.04719672e-01 -9.94501323e-01 -9.53761613e-04 9.38838477e+02] [ 9.94460726e-01 1.04724015e-01 -8.98580734e-03 1.54516070e+02] [ 9.03627903e-03 -7.48766984e-06 9.99959172e-01 1.58161139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.869254154 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:938.85, Y:154.55, Z:15.82 [[ 1.00661478e-01 -9.94920348e-01 -8.76293032e-04 9.38846158e+02] [ 9.94879701e-01 1.00665286e-01 -8.99335573e-03 1.54546328e+02] [ 9.03588491e-03 3.34783286e-05 9.99959175e-01 1.58155024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.899254154 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:938.85, Y:154.57, Z:15.82 [[ 9.52200064e-02 -9.95455813e-01 -9.35791682e-04 9.38847144e+02] [ 9.95415242e-01 9.52245745e-02 -8.98756435e-03 1.54570463e+02] [ 9.03583354e-03 -7.57053687e-05 9.99959173e-01 1.58159556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.9292541539999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:938.85, Y:154.60, Z:15.82 [[ 9.43268774e-02 -9.95540899e-01 -8.70750540e-04 9.38854226e+02] [ 9.95500273e-01 9.43308945e-02 -8.99386140e-03 1.54600910e+02] [ 9.03589554e-03 -1.84695387e-05 9.99959175e-01 1.58174420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.9592541539998 meters Centerline goodness : 0.999714 Centerline is valid? [True, True] Translation: X:938.86, Y:154.63, Z:15.82 [[ 8.78427086e-02 -9.96133916e-01 -9.38332908e-04 9.38858052e+02] [ 9.96093383e-01 8.78476001e-02 -8.98731688e-03 1.54627345e+02] [ 9.03500145e-03 -1.45196942e-04 9.99959173e-01 1.58164146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.9892541539998 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:938.86, Y:154.65, Z:15.82 [[ 8.35395400e-02 -9.96504026e-01 -9.33626458e-04 9.38859570e+02] [ 9.96463510e-01 8.35445641e-02 -8.98777239e-03 1.54653877e+02] [ 9.03435078e-03 -1.79490326e-04 9.99959173e-01 1.58174656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.0192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.86, Y:154.68, Z:15.82 [[ 7.61048352e-02 -9.97099419e-01 -8.95557016e-04 9.38861690e+02] [ 9.97058900e-01 7.61098183e-02 -8.99144384e-03 1.54679997e+02] [ 9.03352412e-03 -2.08630741e-04 9.99959175e-01 1.58168670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.0492541539998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:938.86, Y:154.71, Z:15.82 [[ 7.00804494e-02 -9.97540968e-01 -8.64564077e-04 9.38863949e+02] [ 9.97500445e-01 7.00853979e-02 -8.99442296e-03 1.54708390e+02] [ 9.03289870e-03 -2.32069849e-04 9.99959176e-01 1.58161989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.079254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.87, Y:154.74, Z:15.82 [[ 6.78337214e-02 -9.97696268e-01 -8.62092289e-04 9.38868168e+02] [ 9.97655753e-01 6.78387389e-02 -8.99465987e-03 1.54735122e+02] [ 9.03242183e-03 -2.49930081e-04 9.99959176e-01 1.58174889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.109254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.87, Y:154.76, Z:15.82 [[ 5.79370146e-02 -9.98319883e-01 -8.44861609e-04 9.38872007e+02] [ 9.98279399e-01 5.79422785e-02 -8.99630536e-03 1.54762012e+02] [ 9.03014372e-03 -3.22188864e-04 9.99959176e-01 1.58179738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.139254154 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:938.88, Y:154.79, Z:15.82 [[ 5.39185614e-02 -9.98544969e-01 -8.56596288e-04 9.38875579e+02] [ 9.98504521e-01 5.39240938e-02 -8.99518789e-03 1.54789279e+02] [ 9.02829079e-03 -3.70307676e-04 9.99959176e-01 1.58186404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.1692541539999 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:938.88, Y:154.82, Z:15.82 [[ 4.50563606e-02 -9.98984081e-01 -8.54666642e-04 9.38878449e+02] [ 9.98943681e-01 4.50622344e-02 -8.99537123e-03 1.54815046e+02] [ 9.02474585e-03 -4.48465152e-04 9.99959176e-01 1.58197030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.1992541539998 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:938.88, Y:154.84, Z:15.82 [[ 4.47763761e-02 -9.98996681e-01 -8.41200822e-04 9.38880910e+02] [ 9.98956266e-01 4.47821402e-02 -8.99664530e-03 1.54842691e+02] [ 9.02528957e-03 -4.37485658e-04 9.99959176e-01 1.58199486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.2292541539998 meters Centerline goodness : 0.999735 Centerline is valid? [True, True] Translation: X:938.88, Y:154.87, Z:15.82 [[ 3.85526776e-02 -9.99256215e-01 -8.41638832e-04 9.38879933e+02] [ 9.99215837e-01 3.85586972e-02 -8.99660391e-03 1.54868125e+02] [ 9.02236486e-03 -4.94135680e-04 9.99959176e-01 1.58213800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.2592541539998 meters Centerline goodness : 0.995170 Centerline is valid? [True, True] Translation: X:938.88, Y:154.90, Z:15.82 [[ 3.78497573e-02 -9.99283160e-01 -7.50398382e-04 9.38882590e+02] [ 9.99242668e-01 3.78549858e-02 -9.00502603e-03 1.54898695e+02] [ 9.02697718e-03 -4.08992032e-04 9.99959172e-01 1.58180857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.2892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.88, Y:154.92, Z:15.82 [[ 3.58592153e-02 -9.99356479e-01 -8.63362625e-04 9.38882181e+02] [ 9.99316147e-01 3.58655386e-02 -8.99456906e-03 1.54922178e+02] [ 9.01974583e-03 -5.40234024e-04 9.99959175e-01 1.58227805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.319254154 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:938.89, Y:154.95, Z:15.82 [[ 3.86832235e-02 -9.99251232e-01 -7.64343730e-04 9.38886496e+02] [ 9.99210752e-01 3.86885437e-02 -9.00384108e-03 1.54952340e+02] [ 9.02667063e-03 -4.15442876e-04 9.99959172e-01 1.58214188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.349254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.89, Y:154.98, Z:15.82 [[ 4.36975307e-02 -9.99044451e-01 -8.43585937e-04 9.38885298e+02] [ 9.99004045e-01 4.37033599e-02 -8.99641063e-03 1.54980780e+02] [ 9.02468165e-03 -4.49624833e-04 9.99959176e-01 1.58215497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.379254154 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:938.89, Y:155.01, Z:15.82 [[ 4.65002302e-02 -9.98917925e-01 -8.41023435e-04 9.38886355e+02] [ 9.98877500e-01 4.65059229e-02 -8.99665018e-03 1.55007505e+02] [ 9.02602770e-03 -4.21733082e-04 9.99959176e-01 1.58205251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.4092541539999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:938.89, Y:155.04, Z:15.82 [[ 4.95384755e-02 -9.98771876e-01 -8.24240594e-04 9.38885937e+02] [ 9.98731413e-01 4.95438943e-02 -8.99821361e-03 1.55035492e+02] [ 9.02799877e-03 -3.77437188e-04 9.99959176e-01 1.58217873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.4392541539999 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:938.88, Y:155.06, Z:15.82 [[ 5.78411644e-02 -9.98325449e-01 -8.35796128e-04 9.38883209e+02] [ 9.98284955e-01 5.78463506e-02 -8.99714015e-03 1.55062495e+02] [ 9.03042173e-03 -3.13957637e-04 9.99959176e-01 1.58208735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.4692541539998 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:938.88, Y:155.09, Z:15.82 [[ 6.25165422e-02 -9.98043580e-01 -8.33032572e-04 9.38882874e+02] [ 9.98003060e-01 6.25215138e-02 -8.99739601e-03 1.55090912e+02] [ 9.03187579e-03 -2.68882969e-04 9.99959176e-01 1.58210495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.4992541539998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:938.88, Y:155.12, Z:15.82 [[ 6.93376539e-02 -9.97592903e-01 -8.30458647e-04 9.38876106e+02] [ 9.97552347e-01 6.93423252e-02 -8.99763358e-03 1.55116943e+02] [ 9.03356134e-03 -2.04551170e-04 9.99959176e-01 1.58183750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.5292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.88, Y:155.15, Z:15.82 [[ 7.87129854e-02 -9.96897048e-01 -7.35378956e-04 9.38879825e+02] [ 9.96856365e-01 7.87164168e-02 -9.00635231e-03 1.55147700e+02] [ 9.03629244e-03 -2.41503140e-05 9.99959172e-01 1.58225611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.5592541539997 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:938.88, Y:155.17, Z:15.82 [[ 8.27055778e-02 -9.96573682e-01 -8.27169907e-04 9.38879550e+02] [ 9.96533064e-01 8.27096753e-02 -8.99791410e-03 1.55174903e+02] [ 9.03549933e-03 -8.01244777e-05 9.99959176e-01 1.58227562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.589254154 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:938.87, Y:155.20, Z:15.82 [[ 9.02711883e-02 -9.95916881e-01 -8.24410649e-04 9.38874648e+02] [ 9.95876230e-01 9.02749523e-02 -8.99816690e-03 1.55202292e+02] [ 9.03584994e-03 -8.73575153e-06 9.99959176e-01 1.58224535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.619254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.87, Y:155.23, Z:15.82 [[ 9.51448988e-02 -9.95463125e-01 -7.84037647e-04 9.38874176e+02] [ 9.95422426e-01 9.51480988e-02 -9.00185278e-03 1.55229613e+02] [ 9.03561219e-03 7.60317153e-05 9.99959175e-01 1.58224890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.649254154 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:938.87, Y:155.26, Z:15.82 [[ 1.03903900e-01 -9.94587033e-01 -7.83871790e-04 9.38874145e+02] [ 9.94546307e-01 1.03906740e-01 -9.00186790e-03 1.55259125e+02] [ 9.03459064e-03 1.55732387e-04 9.99959175e-01 1.58248079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.6792541539999 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:938.87, Y:155.29, Z:15.82 [[ 1.06145543e-01 -9.94350266e-01 -8.19874737e-04 9.38874729e+02] [ 9.94309558e-01 1.06148617e-01 -8.99858762e-03 1.55287040e+02] [ 9.03477656e-03 1.39950682e-04 9.99959176e-01 1.58248419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.7092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.88, Y:155.31, Z:15.82 [[ 1.09630074e-01 -9.93972122e-01 -8.17355529e-04 9.38875014e+02] [ 9.93931401e-01 1.09632983e-01 -8.99881644e-03 1.55314423e+02] [ 9.03418179e-03 1.74145587e-04 9.99959176e-01 1.58242611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.7392541539998 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:938.87, Y:155.34, Z:15.82 [[ 1.10153875e-01 -9.93914222e-01 -8.02016199e-04 9.38873083e+02] [ 9.93873490e-01 1.10156624e-01 -9.00020604e-03 1.55343004e+02] [ 9.03378018e-03 1.94304935e-04 9.99959176e-01 1.58233571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.7692541539998 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:938.87, Y:155.37, Z:15.82 [[ 1.09266554e-01 -9.94012170e-01 -7.90839784e-04 9.38871969e+02] [ 9.93971434e-01 1.09269238e-01 -9.00121796e-03 1.55368232e+02] [ 9.03373466e-03 1.97459916e-04 9.99959176e-01 1.58212237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.7992541539998 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:938.88, Y:155.40, Z:15.82 [[ 1.12917700e-01 -9.93604092e-01 -7.07730677e-04 9.38877109e+02] [ 9.93563302e-01 1.12919481e-01 -9.00870326e-03 1.55398810e+02] [ 9.03100101e-03 3.14066823e-04 9.99959170e-01 1.58235276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.829254154 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:938.88, Y:155.43, Z:15.82 [[ 1.12311768e-01 -9.93672687e-01 -8.11718324e-04 9.38877770e+02] [ 9.93631955e-01 1.12314516e-01 -8.99932387e-03 1.55427384e+02] [ 9.03355007e-03 2.04180709e-04 9.99959176e-01 1.58224503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.859254154 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:938.88, Y:155.45, Z:15.82 [[ 1.11708720e-01 -9.93740664e-01 -8.09067859e-04 9.38879734e+02] [ 9.93699932e-01 1.11711469e-01 -8.99956214e-03 1.55454151e+02] [ 9.03361302e-03 2.01358893e-04 9.99959176e-01 1.58217884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.889254154 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:938.88, Y:155.48, Z:15.82 [[ 1.09678343e-01 -9.93966806e-01 -8.06264124e-04 9.38881682e+02] [ 9.93926078e-01 1.09681149e-01 -8.99981332e-03 1.55482250e+02] [ 9.03394768e-03 1.85717669e-04 9.99959176e-01 1.58211078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.9192541539999 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:938.88, Y:155.51, Z:15.82 [[ 1.07988321e-01 -9.94151838e-01 -8.03751326e-04 9.38883763e+02] [ 9.94111113e-01 1.07991174e-01 -9.00003773e-03 1.55510363e+02] [ 9.03420210e-03 1.72880838e-04 9.99959176e-01 1.58208558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.9492541539998 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:938.88, Y:155.54, Z:15.82 [[ 1.03381607e-01 -9.94641444e-01 -8.01194113e-04 9.38883467e+02] [ 9.94600731e-01 1.03384625e-01 -9.00026537e-03 1.55536186e+02] [ 9.03486809e-03 1.33593648e-04 9.99959176e-01 1.58205152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.9792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.89, Y:155.57, Z:15.82 [[ 1.02524691e-01 -9.94730185e-01 -7.39800784e-04 9.38890259e+02] [ 9.94689435e-01 1.02527189e-01 -9.00570150e-03 1.55565086e+02] [ 9.03409281e-03 1.87434741e-04 9.99959174e-01 1.58220266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.0092541539998 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:938.89, Y:155.59, Z:15.82 [[ 9.59336835e-02 -9.95387409e-01 -7.96730459e-04 9.38889229e+02] [ 9.95346717e-01 9.59369660e-02 -9.00066215e-03 1.55589305e+02] [ 9.03558168e-03 7.04436279e-05 9.99959176e-01 1.58184444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.0392541539998 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:938.90, Y:155.62, Z:15.82 [[ 9.25494050e-02 -9.95707839e-01 -7.12206179e-04 9.38896578e+02] [ 9.95667097e-01 9.25520615e-02 -9.00817444e-03 1.55618283e+02] [ 9.03542606e-03 1.24580926e-04 9.99959172e-01 1.58227244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.069254154 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:938.90, Y:155.64, Z:15.82 [[ 8.93549685e-02 -9.95999557e-01 -7.56287438e-04 9.38899095e+02] [ 9.95958856e-01 8.93581543e-02 -9.00426094e-03 1.55644019e+02] [ 9.03582036e-03 5.13442807e-05 9.99959175e-01 1.58227559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.099254154 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:938.90, Y:155.67, Z:15.82 [[ 8.64449501e-02 -9.96256364e-01 -7.26440795e-04 9.38902719e+02] [ 9.96215650e-01 8.64479850e-02 -9.00690213e-03 1.55671472e+02] [ 9.03598291e-03 5.49095169e-05 9.99959173e-01 1.58229098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.129254154 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:938.91, Y:155.70, Z:15.83 [[ 8.38925926e-02 -9.96474539e-01 -7.25052253e-04 9.38908201e+02] [ 9.96433832e-01 8.38957191e-02 -9.00702464e-03 1.55699581e+02] [ 9.03609951e-03 3.31560533e-05 9.99959173e-01 1.58278223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.1592541539999 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:938.91, Y:155.73, Z:15.83 [[ 8.09233225e-02 -9.96720038e-01 -7.62268879e-04 9.38910330e+02] [ 9.96679371e-01 8.09269066e-02 -9.00373935e-03 1.55726717e+02] [ 9.03589549e-03 -3.11251641e-05 9.99959175e-01 1.58255350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.1892541539999 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:938.92, Y:155.76, Z:15.83 [[ 8.00572340e-02 -9.96790005e-01 -7.25231841e-04 9.38915602e+02] [ 9.96749310e-01 8.00605188e-02 -9.00701024e-03 1.55756223e+02] [ 9.03616022e-03 -1.79801061e-06 9.99959173e-01 1.58273056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.2192541539998 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:938.92, Y:155.78, Z:15.83 [[ 7.89387353e-02 -9.96879179e-01 -7.61003359e-04 9.38918274e+02] [ 9.96838518e-01 7.89423889e-02 -9.00385053e-03 1.55783975e+02] [ 9.03582655e-03 -4.78448863e-05 9.99959175e-01 1.58280722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.2492541539998 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:938.92, Y:155.81, Z:15.83 [[ 7.83585276e-02 -9.96924956e-01 -7.57498140e-04 9.38921786e+02] [ 9.96884294e-01 7.83621732e-02 -9.00415965e-03 1.55812333e+02] [ 9.03583066e-03 -4.95853056e-05 9.99959175e-01 1.58289047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.2792541539998 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:938.93, Y:155.84, Z:15.83 [[ 7.69946484e-02 -9.97031215e-01 -7.61950069e-04 9.38925450e+02] [ 9.96990562e-01 7.69983899e-02 -9.00376751e-03 1.55840213e+02] [ 9.03570619e-03 -6.64151134e-05 9.99959175e-01 1.58287363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.3092541539997 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:938.93, Y:155.87, Z:15.83 [[ 7.69239403e-02 -9.97036672e-01 -7.63305846e-04 9.38928817e+02] [ 9.96996020e-01 7.69276968e-02 -9.00364820e-03 1.55868685e+02] [ 9.03568680e-03 -6.84167939e-05 9.99959175e-01 1.58293781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.339254154 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:938.93, Y:155.89, Z:15.83 [[ 7.49056851e-02 -9.97190324e-01 -7.71703529e-04 9.38930987e+02] [ 9.97149688e-01 7.49095997e-02 -9.00291058e-03 1.55894733e+02] [ 9.03542332e-03 -9.51347490e-05 9.99959175e-01 1.58285881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.369254154 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:938.93, Y:155.92, Z:15.83 [[ 7.46925598e-02 -9.97206335e-01 -7.39988190e-04 9.38934802e+02] [ 9.97165671e-01 7.46961968e-02 -9.00568904e-03 1.55923874e+02] [ 9.03580446e-03 -6.52328529e-05 9.99959174e-01 1.58294669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.399254154 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:938.94, Y:155.95, Z:15.83 [[ 7.50582070e-02 -9.97178867e-01 -7.56575579e-04 9.38938409e+02] [ 9.97138217e-01 7.50619788e-02 -9.00423707e-03 1.55952346e+02] [ 9.03562498e-03 -7.85685343e-05 9.99959175e-01 1.58291418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.4292541539999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:938.94, Y:155.98, Z:15.83 [[ 7.47863407e-02 -9.97199281e-01 -7.73487339e-04 9.38940729e+02] [ 9.97158646e-01 7.47902763e-02 -9.00275753e-03 1.55979339e+02] [ 9.03539266e-03 -9.80062952e-05 9.99959175e-01 1.58281640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.4592541539998 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:938.95, Y:156.01, Z:15.83 [[ 7.71469075e-02 -9.97019454e-01 -7.50007327e-04 9.38945000e+02] [ 9.96978790e-01 7.71505349e-02 -9.00480462e-03 1.56007757e+02] [ 9.03582886e-03 -5.30485683e-05 9.99959175e-01 1.58288145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.4892541539998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:938.95, Y:156.04, Z:15.83 [[ 7.88526354e-02 -9.96885975e-01 -7.84481017e-04 9.38947152e+02] [ 9.96845334e-01 7.88565046e-02 -9.00180034e-03 1.56035178e+02] [ 9.03562994e-03 -7.21905600e-05 9.99959175e-01 1.58298604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.5192541539998 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:938.95, Y:156.06, Z:15.83 [[ 7.64094940e-02 -9.97076215e-01 -7.81741068e-04 9.38946790e+02] [ 9.97035581e-01 7.64134380e-02 -9.00203828e-03 1.56061612e+02] [ 9.03545378e-03 -9.15824696e-05 9.99959175e-01 1.58266276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.5492541539998 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:938.95, Y:156.09, Z:15.83 [[ 7.78726143e-02 -9.96963057e-01 -7.20526176e-04 9.38950813e+02] [ 9.96922367e-01 7.78759458e-02 -9.00732903e-03 1.56090704e+02] [ 9.03608594e-03 -1.68844011e-05 9.99959174e-01 1.58289021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.579254154 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:938.95, Y:156.12, Z:15.83 [[ 7.76313944e-02 -9.96981850e-01 -7.46032698e-04 9.38951026e+02] [ 9.96941182e-01 7.76349661e-02 -9.00512726e-03 1.56117146e+02] [ 9.03586666e-03 -4.46701330e-05 9.99959175e-01 1.58271216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.609254154 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:938.95, Y:156.15, Z:15.83 [[ 7.96633725e-02 -9.96821579e-01 -6.97749929e-04 9.38954717e+02] [ 9.96780865e-01 7.96664251e-02 -9.00928037e-03 1.56146625e+02] [ 9.03623232e-03 2.22058797e-05 9.99959172e-01 1.58279792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.639254154 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:938.95, Y:156.17, Z:15.83 [[ 8.01145925e-02 -9.96785390e-01 -7.34115691e-04 9.38953970e+02] [ 9.96744703e-01 8.01179552e-02 -9.00614801e-03 1.56172949e+02] [ 9.03601260e-03 -1.02020486e-05 9.99959174e-01 1.58268142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.6692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.96, Y:156.20, Z:15.83 [[ 8.59874913e-02 -9.96295992e-01 -6.69535165e-04 9.38960957e+02] [ 9.96255241e-01 8.59900303e-02 -9.01168273e-03 1.56203124e+02] [ 9.03587673e-03 1.07864075e-04 9.99959170e-01 1.58314394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.6992541539998 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:938.96, Y:156.23, Z:15.83 [[ 8.31207090e-02 -9.96539187e-01 -7.72530829e-04 9.38958907e+02] [ 9.96498520e-01 8.31242962e-02 -9.00284476e-03 1.56228742e+02] [ 9.03590368e-03 -2.15029874e-05 9.99959175e-01 1.58256842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.7292541539998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:938.97, Y:156.26, Z:15.83 [[ 9.03535992e-02 -9.95909514e-01 -6.83872759e-04 9.38965023e+02] [ 9.95868761e-01 9.03560893e-02 -9.01041112e-03 1.56258946e+02] [ 9.03534622e-03 1.33075558e-04 9.99959172e-01 1.58306852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.7592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.97, Y:156.29, Z:15.83 [[ 9.23140291e-02 -9.95729646e-01 -7.69381683e-04 9.38967705e+02] [ 9.95688946e-01 9.23172123e-02 -9.00310378e-03 1.56287167e+02] [ 9.03568451e-03 6.50479478e-05 9.99959175e-01 1.58315348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.7892541539998 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:938.97, Y:156.31, Z:15.83 [[ 9.54735487e-02 -9.95431672e-01 -7.66727706e-04 9.38969043e+02] [ 9.95390960e-01 9.54765787e-02 -9.00332980e-03 1.56314023e+02] [ 9.03540417e-03 9.63860184e-05 9.99959175e-01 1.58282050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.819254154 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:938.97, Y:156.34, Z:15.83 [[ 9.46752709e-02 -9.95507915e-01 -7.64790612e-04 9.38968708e+02] [ 9.95467204e-01 9.46783161e-02 -9.00349434e-03 1.56340508e+02] [ 9.03545896e-03 9.10842939e-05 9.99959175e-01 1.58258057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.849254154 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:938.97, Y:156.37, Z:15.83 [[ 9.91523552e-02 -9.95072017e-01 -7.00663035e-04 9.38973921e+02] [ 9.95031255e-01 9.91546370e-02 -9.00890868e-03 1.56370557e+02] [ 9.03398692e-03 1.96072895e-04 9.99959173e-01 1.58290219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.879254154 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:938.97, Y:156.40, Z:15.83 [[ 1.00629422e-01 -9.94923686e-01 -7.60181446e-04 9.38974921e+02] [ 9.94882955e-01 1.00632181e-01 -9.00388366e-03 1.56397806e+02] [ 9.03467584e-03 1.49764043e-04 9.99959175e-01 1.58268700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.9092541539999 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:938.98, Y:156.43, Z:15.83 [[ 1.03739670e-01 -9.94604225e-01 -7.18544415e-04 9.38979769e+02] [ 9.94563462e-01 1.03741926e-01 -9.00738659e-03 1.56426841e+02] [ 9.03332794e-03 2.19785295e-04 9.99959175e-01 1.58279166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.9392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.98, Y:156.45, Z:15.83 [[ 1.04281073e-01 -9.94547578e-01 -7.56859182e-04 9.38981620e+02] [ 9.94506835e-01 1.04283653e-01 -9.00416599e-03 1.56453775e+02] [ 9.03399951e-03 1.86262463e-04 9.99959175e-01 1.58277021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.9692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.98, Y:156.48, Z:15.83 [[ 1.04169682e-01 -9.94559275e-01 -7.25632368e-04 9.38983412e+02] [ 9.94518515e-01 1.04171984e-01 -9.00677826e-03 1.56482019e+02] [ 9.03336542e-03 2.16578404e-04 9.99959175e-01 1.58267043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.9992541539998 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:938.99, Y:156.51, Z:15.83 [[ 1.06841377e-01 -9.94275829e-01 -7.03823452e-04 9.38988588e+02] [ 9.94235052e-01 1.06843372e-01 -9.00859698e-03 1.56510645e+02] [ 9.03222910e-03 2.62724959e-04 9.99959174e-01 1.58285454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.0292541539998 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:938.99, Y:156.54, Z:15.82 [[ 1.04353705e-01 -9.94539964e-01 -7.51220796e-04 9.38988576e+02] [ 9.94499217e-01 1.04356231e-01 -9.00464282e-03 1.56536407e+02] [ 9.03387172e-03 1.92579345e-04 9.99959175e-01 1.58235479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.0592541539997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.99, Y:156.57, Z:15.83 [[ 1.05880474e-01 -9.94378629e-01 -6.83109820e-04 9.38993549e+02] [ 9.94337844e-01 1.05882321e-01 -9.01030802e-03 1.56565995e+02] [ 9.03198699e-03 2.74773742e-04 9.99959173e-01 1.58266485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.089254154 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:939.00, Y:156.59, Z:15.83 [[ 1.06943947e-01 -9.94264797e-01 -7.10671841e-04 9.39000243e+02] [ 9.94224023e-01 1.06946000e-01 -9.00801855e-03 1.56594092e+02] [ 9.03235925e-03 2.56786041e-04 9.99959174e-01 1.58277138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.119254154 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:939.00, Y:156.62, Z:15.83 [[ 1.06655482e-01 -9.94295755e-01 -7.47876295e-04 9.39002553e+02] [ 9.94255001e-01 1.06657883e-01 -9.00492866e-03 1.56622581e+02] [ 9.03332924e-03 2.16845257e-04 9.99959175e-01 1.58279851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.149254154 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:939.01, Y:156.65, Z:15.83 [[ 1.06003075e-01 -9.94365523e-01 -7.45263578e-04 9.39006294e+02] [ 9.94324769e-01 1.06005480e-01 -9.00514488e-03 1.56650506e+02] [ 9.03340762e-03 2.13539012e-04 9.99959175e-01 1.58298197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.1792541539999 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:939.01, Y:156.68, Z:15.83 [[ 1.03737108e-01 -9.94604475e-01 -7.42646511e-04 9.39011632e+02] [ 9.94563725e-01 1.03739582e-01 -9.00536071e-03 1.56678478e+02] [ 9.03381389e-03 1.95580794e-04 9.99959175e-01 1.58278202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.2092541539998 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:939.02, Y:156.71, Z:15.83 [[ 1.01099966e-01 -9.94875997e-01 -7.40046758e-04 9.39017788e+02] [ 9.94835252e-01 1.01102524e-01 -9.00557435e-03 1.56706287e+02] [ 9.03425035e-03 1.74238654e-04 9.99959175e-01 1.58280440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.2392541539998 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:939.02, Y:156.73, Z:15.83 [[ 1.00810045e-01 -9.94905418e-01 -7.37429566e-04 9.39020046e+02] [ 9.94864673e-01 1.00812592e-01 -9.00578865e-03 1.56734783e+02] [ 9.03425011e-03 1.74231340e-04 9.99959175e-01 1.58283014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.2692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:939.03, Y:156.76, Z:15.83 [[ 9.80900442e-02 -9.95177272e-01 -7.34805028e-04 9.39026023e+02] [ 9.95136533e-01 9.80926784e-02 -9.00600279e-03 1.56761550e+02] [ 9.03464828e-03 1.52167884e-04 9.99959175e-01 1.58318364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.2992541539998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:939.03, Y:156.79, Z:15.83 [[ 9.35182863e-02 -9.95617293e-01 -7.32039487e-04 9.39027558e+02] [ 9.95576564e-01 9.35210825e-02 -9.00622758e-03 1.56788917e+02] [ 9.03521705e-03 1.13445611e-04 9.99959175e-01 1.58267443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.329254154 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:939.03, Y:156.82, Z:15.83 [[ 9.37398645e-02 -9.95596482e-01 -6.94594319e-04 9.39033940e+02] [ 9.95555730e-01 9.37423130e-02 -9.00925673e-03 1.56817926e+02] [ 9.03469719e-03 1.53019151e-04 9.99959175e-01 1.58309676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.359254154 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:939.04, Y:156.84, Z:15.83 [[ 8.92491337e-02 -9.96009068e-01 -7.26973556e-04 9.39040381e+02] [ 9.95968348e-01 8.92520588e-02 -9.00664324e-03 1.56844292e+02] [ 9.03558222e-03 7.97924552e-05 9.99959175e-01 1.58312257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.389254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:939.05, Y:156.87, Z:15.83 [[ 8.72280280e-02 -9.96188108e-01 -7.25071848e-04 9.39045115e+02] [ 9.96147392e-01 8.72310185e-02 -9.00679633e-03 1.56872417e+02] [ 9.03571214e-03 6.33666515e-05 9.99959175e-01 1.58348404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.4192541539999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:939.05, Y:156.90, Z:15.83 [[ 8.23172713e-02 -9.96605913e-01 -7.22513356e-04 9.39051296e+02] [ 9.96565211e-01 8.23204392e-02 -9.00700156e-03 1.56900116e+02] [ 9.03590863e-03 2.14001157e-05 9.99959175e-01 1.58327455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.4492541539998 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:939.06, Y:156.93, Z:15.83 [[ 8.05208809e-02 -9.96752662e-01 -7.19951968e-04 9.39055476e+02] [ 9.96711964e-01 8.05240991e-02 -9.00720630e-03 1.56927492e+02] [ 9.03593034e-03 7.68344564e-06 9.99959175e-01 1.58329014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.4792541539998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:939.06, Y:156.96, Z:15.83 [[ 7.89110925e-02 -9.96881400e-01 -7.17378761e-04 9.39059413e+02] [ 9.96840705e-01 7.89143532e-02 -9.00741123e-03 1.56955687e+02] [ 9.03593220e-03 -4.32768878e-06 9.99959175e-01 1.58341684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.5092541539998 meters Centerline goodness : 0.999716 Centerline is valid? [True, True] Translation: X:939.06, Y:156.98, Z:15.83 [[ 7.65341523e-02 -9.97066704e-01 -7.14793973e-04 9.39064661e+02] [ 9.97026016e-01 7.65374866e-02 -9.00761635e-03 1.56982631e+02] [ 9.03590288e-03 -2.32779056e-05 9.99959175e-01 1.58320612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.5392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:939.07, Y:157.01, Z:15.84 [[ 7.62673603e-02 -9.97087149e-01 -7.12067887e-04 9.39068489e+02] [ 9.97046459e-01 7.62706809e-02 -9.00783185e-03 1.57009428e+02] [ 9.03590328e-03 -2.29612091e-05 9.99959175e-01 1.58358224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.569254154 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:939.07, Y:157.04, Z:15.83 [[ 7.54497023e-02 -9.97149357e-01 -7.09371078e-04 9.39073079e+02] [ 9.97108668e-01 7.54530319e-02 -9.00804422e-03 1.57036813e+02] [ 9.03588969e-03 -2.76657958e-05 9.99959175e-01 1.58329060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.599254154 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:939.08, Y:157.06, Z:15.83 [[ 7.55592997e-02 -9.97141060e-01 -7.06853827e-04 9.39076468e+02] [ 9.97100368e-01 7.55626020e-02 -9.00824174e-03 1.57064831e+02] [ 9.03589943e-03 -2.41477750e-05 9.99959175e-01 1.58337694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.629254154 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:939.08, Y:157.09, Z:15.83 [[ 7.59878586e-02 -9.97108494e-01 -7.04233866e-04 9.39079580e+02] [ 9.97067800e-01 7.59911198e-02 -9.00844655e-03 1.57091699e+02] [ 9.03591410e-03 -1.76363487e-05 9.99959175e-01 1.58336259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.6592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:939.08, Y:157.12, Z:15.84 [[ 7.78916472e-02 -9.96961584e-01 -7.01471389e-04 9.39083252e+02] [ 9.96920881e-01 7.78948057e-02 -9.00866166e-03 1.57119873e+02] [ 9.03593057e-03 2.38802034e-06 9.99959175e-01 1.58359805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.6892541539999 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:939.09, Y:157.15, Z:15.83 [[ 7.80099271e-02 -9.96952337e-01 -6.98887193e-04 9.39085535e+02] [ 9.96911633e-01 7.80130574e-02 -9.00886213e-03 1.57147883e+02] [ 9.03592849e-03 6.05190484e-06 9.99959175e-01 1.58319161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.7192541539998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:939.09, Y:157.18, Z:15.83 [[ 7.98608638e-02 -9.96805777e-01 -6.96306474e-04 9.39089154e+02] [ 9.96765065e-01 7.98638952e-02 -9.00906160e-03 1.57175927e+02] [ 9.03589439e-03 2.54174733e-05 9.99959175e-01 1.58333769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.7492541539998 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:939.09, Y:157.20, Z:15.83 [[ 8.01787627e-02 -9.96780259e-01 -6.93723458e-04 9.39091911e+02] [ 9.96739544e-01 8.01817578e-02 -9.00926049e-03 1.57204159e+02] [ 9.03587697e-03 3.08897554e-05 9.99959175e-01 1.58326600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.7792541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:939.09, Y:157.23, Z:15.83 [[ 8.06586296e-02 -9.96741545e-01 -6.91151592e-04 9.39094871e+02] [ 9.96700827e-01 8.06615819e-02 -9.00945779e-03 1.57232062e+02] [ 9.03585026e-03 3.78191550e-05 9.99959175e-01 1.58344662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.8092541539997 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:939.10, Y:157.26, Z:15.83 [[ 8.09356862e-02 -9.96719088e-01 -6.88574229e-04 9.39098630e+02] [ 9.96678368e-01 8.09386038e-02 -9.00965477e-03 1.57260079e+02] [ 9.03582712e-03 4.29155521e-05 9.99959175e-01 1.58343291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.839254154 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:939.10, Y:157.29, Z:15.84 [[ 8.07500549e-02 -9.96734146e-01 -6.86007328e-04 9.39101251e+02] [ 9.96693425e-01 8.07529569e-02 -9.00985021e-03 1.57287325e+02] [ 9.03582248e-03 4.38069061e-05 9.99959175e-01 1.58350706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.869254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:939.10, Y:157.31, Z:15.84 [[ 8.07335787e-02 -9.96735483e-01 -6.83299681e-04 9.39103439e+02] [ 9.96694759e-01 8.07364570e-02 -9.01005555e-03 1.57314943e+02] [ 9.03580926e-03 4.63728178e-05 9.99959175e-01 1.58379699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.899254154 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:939.11, Y:157.34, Z:15.84 [[ 8.07226603e-02 -9.96736369e-01 -6.80728231e-04 9.39105061e+02] [ 9.96695644e-01 8.07255157e-02 -9.01024983e-03 1.57341926e+02] [ 9.03579583e-03 4.88524730e-05 9.99959175e-01 1.58374609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.9292541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:939.11, Y:157.37, Z:15.84 [[ 8.04860896e-02 -9.96755501e-01 -6.78850992e-04 9.39106652e+02] [ 9.96714776e-01 8.04889377e-02 -9.01039126e-03 1.57367675e+02] [ 9.03579705e-03 4.85903438e-05 9.99959175e-01 1.58359057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.9592541539998 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:939.11, Y:157.40, Z:15.84 [[ 8.03186410e-02 -9.96769010e-01 -6.75950618e-04 9.39108942e+02] [ 9.96728283e-01 8.03214697e-02 -9.01060884e-03 1.57395298e+02] [ 9.03578900e-03 4.99807570e-05 9.99959175e-01 1.58356445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.9892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:939.11, Y:157.42, Z:15.84 [[ 8.03347804e-02 -9.96767711e-01 -6.73356507e-04 9.39111132e+02] [ 9.96726983e-01 8.03375850e-02 -9.01080269e-03 1.57422322e+02] [ 9.03577301e-03 5.27282549e-05 9.99959175e-01 1.58386881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.0192541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:939.11, Y:157.45, Z:15.84 [[ 8.02624535e-02 -9.96773539e-01 -6.70621311e-04 9.39112729e+02] [ 9.96732810e-01 8.02652364e-02 -9.01100625e-03 1.57450417e+02] [ 9.03576017e-03 5.48152064e-05 9.99959175e-01 1.58378411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.0492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:939.11, Y:157.48, Z:15.84 [[ 8.03627001e-02 -9.96765464e-01 -6.68040627e-04 9.39114271e+02] [ 9.96724732e-01 8.03654555e-02 -9.01119757e-03 1.57477462e+02] [ 9.03573791e-03 5.83115519e-05 9.99959175e-01 1.58385707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.079254154 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:939.12, Y:157.51, Z:15.84 [[ 8.04750407e-02 -9.96756402e-01 -6.65322263e-04 9.39115410e+02] [ 9.96715668e-01 8.04777670e-02 -9.01139827e-03 1.57505348e+02] [ 9.03571256e-03 6.20555175e-05 9.99959175e-01 1.58373745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.109254154 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:939.12, Y:157.53, Z:15.84 [[ 8.16259375e-02 -9.96662815e-01 -6.62759629e-04 9.39115149e+02] [ 9.96622077e-01 8.16285936e-02 -9.01158674e-03 1.57533100e+02] [ 9.03561354e-03 7.50583377e-05 9.99959175e-01 1.58368871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.139254154 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:939.12, Y:157.56, Z:15.84 [[ 8.23299934e-02 -9.96604905e-01 -6.60204516e-04 9.39116237e+02] [ 9.96564163e-01 8.23325976e-02 -9.01177392e-03 1.57561251e+02] [ 9.03553445e-03 8.40031273e-05 9.99959175e-01 1.58368690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.1692541539999 meters Centerline goodness : 0.999715 Centerline is valid? [True, True] Translation: X:939.12, Y:157.59, Z:15.83 [[ 8.27275762e-02 -9.96571982e-01 -6.57586194e-04 9.39117025e+02] [ 9.96531238e-01 8.27301405e-02 -9.01196498e-03 1.57588325e+02] [ 9.03547400e-03 9.02328361e-05 9.99959175e-01 1.58345968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.1992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:939.12, Y:157.62, Z:15.84 [[ 8.46090909e-02 -9.96414007e-01 -6.54831730e-04 9.39117661e+02] [ 9.96373256e-01 8.46115533e-02 -9.01216512e-03 1.57615624e+02] [ 9.03525389e-03 1.10054274e-04 9.99959175e-01 1.58374296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.2292541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:939.12, Y:157.64, Z:15.84 [[ 8.48425881e-02 -9.96394154e-01 -6.52129993e-04 9.39118770e+02] [ 9.96353401e-01 8.48450166e-02 -9.01236062e-03 1.57643429e+02] [ 9.03519341e-03 1.14880063e-04 9.99959175e-01 1.58363610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.2592541539998 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:939.12, Y:157.67, Z:15.83 [[ 8.51037277e-02 -9.96371885e-01 -6.49567724e-04 9.39118933e+02] [ 9.96331131e-01 8.51061223e-02 -9.01254529e-03 1.57670954e+02] [ 9.03512893e-03 1.19816656e-04 9.99959175e-01 1.58329647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.2892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:939.12, Y:157.70, Z:15.84 [[ 8.54902356e-02 -9.96338798e-01 -6.46885780e-04 9.39120264e+02] [ 9.96298042e-01 8.54925901e-02 -9.01273778e-03 1.57698074e+02] [ 9.03504428e-03 1.26010041e-04 9.99959175e-01 1.58376653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.319254154 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:939.12, Y:157.73, Z:15.84 [[ 8.50222413e-02 -9.96378846e-01 -6.44058357e-04 9.39121290e+02] [ 9.96338088e-01 8.50245894e-02 -9.01293983e-03 1.57725756e+02] [ 9.03506338e-03 1.24600473e-04 9.99959175e-01 1.58354988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.349254154 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:939.12, Y:157.75, Z:15.84 [[ 8.43637084e-02 -9.96434822e-01 -6.41231668e-04 9.39122727e+02] [ 9.96394064e-01 8.43660578e-02 -9.01314093e-03 1.57752762e+02] [ 9.03510566e-03 1.21462565e-04 9.99959175e-01 1.58356122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.379254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:939.12, Y:157.78, Z:15.84 [[ 8.35462616e-02 -9.96503695e-01 -6.38409413e-04 9.39124649e+02] [ 9.96462939e-01 8.35486190e-02 -9.01334083e-03 1.57779839e+02] [ 9.03516567e-03 1.16879611e-04 9.99959175e-01 1.58397128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.4092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:939.13, Y:157.81, Z:15.84 [[ 8.13697825e-02 -9.96683779e-01 -6.35604210e-04 9.39126855e+02] [ 9.96643026e-01 8.13722035e-02 -9.01353864e-03 1.57807371e+02] [ 9.03536827e-03 9.99591752e-05 9.99959175e-01 1.58413125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.4392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:939.13, Y:157.83, Z:15.84 [[ 7.97025066e-02 -9.96818494e-01 -6.33005688e-04 9.39128805e+02] [ 9.96777744e-01 7.97049723e-02 -9.01372113e-03 1.57834041e+02] [ 9.03549762e-03 8.74501863e-05 9.99959175e-01 1.58413098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.4692541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:939.13, Y:157.86, Z:15.84 [[ 7.77420415e-02 -9.96973309e-01 -6.30274754e-04 9.39130679e+02] [ 9.96932562e-01 7.77445626e-02 -9.01391208e-03 1.57861616e+02] [ 9.03563019e-03 7.24185028e-05 9.99959175e-01 1.58413537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.4992541539998 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:939.13, Y:157.89, Z:15.84 [[ 7.39755485e-02 -9.97259858e-01 -6.27709201e-04 9.39132932e+02] [ 9.97219119e-01 7.39782004e-02 -9.01409074e-03 1.57889150e+02] [ 9.03582765e-03 4.08586908e-05 9.99959175e-01 1.58395554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.5292541539998 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:939.13, Y:157.92, Z:15.84 [[ 7.24298392e-02 -9.97373314e-01 -6.25114090e-04 9.39134961e+02] [ 9.97332578e-01 7.24325307e-02 -9.01427070e-03 1.57917117e+02] [ 9.03587164e-03 2.94555301e-05 9.99959175e-01 1.58407403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.5592541539997 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:939.14, Y:157.95, Z:15.84 [[ 7.04221913e-02 -9.97517081e-01 -6.22537289e-04 9.39137030e+02] [ 9.97476349e-01 7.04249415e-02 -9.01444866e-03 1.57945419e+02] [ 9.03590867e-03 1.38510058e-05 9.99959175e-01 1.58420550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.589254154 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:939.14, Y:157.97, Z:15.84 [[ 6.97203123e-02 -9.97566386e-01 -6.19977267e-04 9.39138930e+02] [ 9.97525654e-01 6.97230681e-02 -9.01462472e-03 1.57972974e+02] [ 9.03591332e-03 1.00592221e-05 9.99959175e-01 1.58410007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.619254154 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:939.14, Y:158.00, Z:15.84 [[ 6.93820445e-02 -9.97589971e-01 -6.17401007e-04 9.39140918e+02] [ 9.97549239e-01 6.93847907e-02 -9.01480116e-03 1.58000641e+02] [ 9.03591347e-03 9.57743010e-06 9.99959175e-01 1.58425056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.649254154 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:939.14, Y:158.03, Z:15.84 [[ 6.98932645e-02 -9.97554286e-01 -6.14812160e-04 9.39142704e+02] [ 9.97513551e-01 6.98959665e-02 -9.01497772e-03 1.58028203e+02] [ 9.03590255e-03 1.68027613e-05 9.99959175e-01 1.58413562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.6792541539999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:939.14, Y:158.06, Z:15.84 [[ 7.02752865e-02 -9.97527448e-01 -6.12243784e-04 9.39144436e+02] [ 9.97486710e-01 7.02779497e-02 -9.01515215e-03 1.58056363e+02] [ 9.03588895e-03 2.28373616e-05 9.99959175e-01 1.58424466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.7092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:939.15, Y:158.09, Z:15.85 [[ 7.18728897e-02 -9.97413613e-01 -6.09707012e-04 9.39147755e+02] [ 9.97372870e-01 7.18754647e-02 -9.01532371e-03 1.58086157e+02] [ 9.03582957e-03 3.98521341e-05 9.99959175e-01 1.58455019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.7392541539998 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:939.15, Y:158.11, Z:15.84 [[ 7.27343404e-02 -9.97351138e-01 -6.51417982e-04 9.39147473e+02] [ 9.97310416e-01 7.27372572e-02 -9.01250430e-03 1.58112017e+02] [ 9.03601378e-03 5.85261707e-06 9.99959174e-01 1.58438858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.7692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:939.15, Y:158.14, Z:15.85 [[ 7.38322013e-02 -9.97270494e-01 -6.06228627e-04 9.39148873e+02] [ 9.97229744e-01 7.38346649e-02 -9.01554296e-03 1.58140227e+02] [ 9.03569567e-03 6.10881644e-05 9.99959175e-01 1.58472396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.7992541539998 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:939.15, Y:158.17, Z:15.85 [[ 7.60029114e-02 -9.97107413e-01 -6.03717219e-04 9.39149367e+02] [ 9.97066656e-01 7.60052635e-02 -9.01571113e-03 1.58168851e+02] [ 9.03551809e-03 8.32739852e-05 9.99959175e-01 1.58451317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.829254154 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:939.15, Y:158.20, Z:15.85 [[ 7.71311178e-02 -9.97020777e-01 -6.01290685e-04 9.39150896e+02] [ 9.96980016e-01 7.71334018e-02 -9.01587297e-03 1.58196744e+02] [ 9.03539226e-03 9.59295627e-05 9.99959175e-01 1.58454697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.859254154 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:939.15, Y:158.22, Z:15.85 [[ 7.79312008e-02 -9.96958560e-01 -5.98708612e-04 9.39152161e+02] [ 9.96917796e-01 7.79334288e-02 -9.01604443e-03 1.58224543e+02] [ 9.03528208e-03 1.05767899e-04 9.99959175e-01 1.58450328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.889254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:939.15, Y:158.25, Z:15.85 [[ 8.03892895e-02 -9.96763366e-01 -5.96137681e-04 9.39153487e+02] [ 9.96722595e-01 8.03913937e-02 -9.01621441e-03 1.58252775e+02] [ 9.03495656e-03 1.30623174e-04 9.99959175e-01 1.58472296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.9192541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:939.15, Y:158.28, Z:15.85 [[ 8.10462276e-02 -9.96710167e-01 -5.93571474e-04 9.39154954e+02] [ 9.96669394e-01 8.10482818e-02 -9.01638335e-03 1.58280625e+02] [ 9.03482891e-03 1.39149336e-04 9.99959175e-01 1.58463349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.9492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:939.16, Y:158.31, Z:15.85 [[ 8.18965380e-02 -9.96640661e-01 -5.90971478e-04 9.39157006e+02] [ 9.96599886e-01 8.18985338e-02 -9.01655377e-03 1.58309048e+02] [ 9.03466381e-03 1.49462430e-04 9.99959175e-01 1.58471518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.9792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:939.16, Y:158.34, Z:15.85 [[ 8.23154546e-02 -9.96606143e-01 -6.01296757e-04 9.39158768e+02] [ 9.96565371e-01 8.23175267e-02 -9.01587906e-03 1.58335692e+02] [ 9.03477772e-03 1.42914658e-04 9.99959175e-01 1.58475552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.0092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:939.16, Y:158.36, Z:15.85 [[ 8.20319162e-02 -9.96629531e-01 -5.85133202e-04 9.39160533e+02] [ 9.96588753e-01 8.20338537e-02 -9.01692796e-03 1.58364228e+02] [ 9.03453742e-03 1.56538711e-04 9.99959175e-01 1.58478073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.0392541539998 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:939.16, Y:158.39, Z:15.84 [[ 8.19638328e-02 -9.96635134e-01 -5.82567727e-04 9.39162180e+02] [ 9.96594355e-01 8.19657498e-02 -9.01709371e-03 1.58391473e+02] [ 9.03450300e-03 1.58491853e-04 9.99959175e-01 1.58440583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.069254154 meters Centerline goodness : 0.998655 Centerline is valid? [True, True] Translation: X:939.16, Y:158.42, Z:15.85 [[ 8.14617485e-02 -9.96676300e-01 -5.79906368e-04 9.39164104e+02] [ 9.96635521e-01 8.14636621e-02 -9.01726486e-03 1.58419581e+02] [ 9.03453548e-03 1.56606878e-04 9.99959176e-01 1.58462538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.099254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:939.17, Y:158.45, Z:15.85 [[ 8.22495009e-02 -9.96611593e-01 -5.94050015e-04 9.39166452e+02] [ 9.96570818e-01 8.22515101e-02 -9.01635915e-03 1.58445474e+02] [ 9.03466956e-03 1.49578130e-04 9.99959175e-01 1.58481373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.129254154 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:939.17, Y:158.47, Z:15.85 [[ 8.21474592e-02 -9.96620021e-01 -5.73112379e-04 9.39168318e+02] [ 9.96579238e-01 8.21492832e-02 -9.01768982e-03 1.58473957e+02] [ 9.03429099e-03 1.69628409e-04 9.99959176e-01 1.58454708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.1592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:939.17, Y:158.50, Z:15.85 [[ 8.23328525e-02 -9.96604724e-01 -5.70606745e-04 9.39170678e+02] [ 9.96563939e-01 8.23346463e-02 -9.01784837e-03 1.58501983e+02] [ 9.03421099e-03 1.73819074e-04 9.99959176e-01 1.58494648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.1892541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:939.17, Y:158.53, Z:15.85 [[ 8.21009737e-02 -9.96623855e-01 -5.68125665e-04 9.39172547e+02] [ 9.96583069e-01 8.21027545e-02 -9.01800467e-03 1.58530425e+02] [ 9.03420326e-03 1.74202545e-04 9.99959176e-01 1.58480092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.2192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:939.17, Y:158.56, Z:15.85 [[ 8.21947758e-02 -9.96616124e-01 -5.65462191e-04 9.39174550e+02] [ 9.96575338e-01 8.21965287e-02 -9.01817168e-03 1.58557846e+02] [ 9.03413434e-03 1.77720925e-04 9.99959176e-01 1.58501409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.2492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:939.18, Y:158.59, Z:15.85 [[ 8.25447806e-02 -9.96587198e-01 -5.62656610e-04 9.39176859e+02] [ 9.96546409e-01 8.25464939e-02 -9.01834672e-03 1.58585605e+02] [ 9.03401422e-03 1.83704027e-04 9.99959176e-01 1.58504116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.2792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:939.18, Y:158.61, Z:15.85 [[ 8.27690913e-02 -9.96568595e-01 -5.60051808e-04 9.39178460e+02] [ 9.96527805e-01 8.27707718e-02 -9.01850848e-03 1.58612287e+02] [ 9.03391824e-03 1.88346553e-04 9.99959176e-01 1.58503946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.3092541539997 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:939.18, Y:158.64, Z:15.85 [[ 8.36988269e-02 -9.96490941e-01 -5.57304469e-04 9.39179431e+02] [ 9.96450149e-01 8.37004445e-02 -9.01867825e-03 1.58640900e+02] [ 9.03367781e-03 1.99526669e-04 9.99959176e-01 1.58482092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.339254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:939.18, Y:158.67, Z:15.85 [[ 8.43393017e-02 -9.96436940e-01 -5.54867115e-04 9.39180557e+02] [ 9.96396145e-01 8.43408710e-02 -9.01882820e-03 1.58667746e+02] [ 9.03349155e-03 2.07774218e-04 9.99959176e-01 1.58495496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.369254154 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:939.18, Y:158.70, Z:15.85 [[ 8.48971257e-02 -9.96389569e-01 -5.52129495e-04 9.39181414e+02] [ 9.96348773e-01 8.48986474e-02 -9.01899580e-03 1.58696165e+02] [ 9.03330838e-03 2.15573275e-04 9.99959176e-01 1.58473259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.399254154 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:939.18, Y:158.72, Z:15.84 [[ 8.63663107e-02 -9.96263298e-01 -5.49576073e-04 9.39181104e+02] [ 9.96222499e-01 8.63677491e-02 -9.01915139e-03 1.58724095e+02] [ 9.03291515e-03 2.31450782e-04 9.99959176e-01 1.58448244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.4292541539999 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:939.18, Y:158.75, Z:15.85 [[ 8.68742697e-02 -9.96219134e-01 -5.47036341e-04 9.39182196e+02] [ 9.96178333e-01 8.68756644e-02 -9.01930543e-03 1.58751894e+02] [ 9.03272878e-03 2.38599822e-04 9.99959176e-01 1.58451683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.4592541539998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:939.18, Y:158.78, Z:15.85 [[ 8.80739952e-02 -9.96113786e-01 -5.44458750e-04 9.39182528e+02] [ 9.96072983e-01 8.80753174e-02 -9.01946102e-03 1.58778463e+02] [ 9.03236285e-03 2.52059316e-04 9.99959176e-01 1.58467782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.4892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:939.18, Y:158.81, Z:15.85 [[ 8.80829793e-02 -9.96112993e-01 -5.42763449e-04 9.39183354e+02] [ 9.96072189e-01 8.80842858e-02 -9.01956304e-03 1.58806902e+02] [ 9.03231286e-03 2.53838408e-04 9.99959176e-01 1.58490677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.5192541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:939.18, Y:158.83, Z:15.85 [[ 8.79082919e-02 -9.96128426e-01 -5.40228223e-04 9.39184110e+02] [ 9.96087622e-01 8.79095825e-02 -9.01971489e-03 1.58833780e+02] [ 9.03228563e-03 2.54793083e-04 9.99959176e-01 1.58482690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.5492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:939.19, Y:158.86, Z:15.85 [[ 8.70650261e-02 -9.96202486e-01 -5.37555948e-04 9.39185343e+02] [ 9.96161682e-01 8.70663272e-02 -9.01987415e-03 1.58860495e+02] [ 9.03242407e-03 2.49822940e-04 9.99959176e-01 1.58502539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.579254154 meters Centerline goodness : 0.999716 Centerline is valid? [True, True] Translation: X:939.19, Y:158.89, Z:15.85 [[ 8.60841828e-02 -9.96287723e-01 -5.34582484e-04 9.39186756e+02] [ 9.96246920e-01 8.60854971e-02 -9.02005037e-03 1.58888627e+02] [ 9.03258525e-03 2.43907512e-04 9.99959176e-01 1.58479407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.609254154 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:939.18, Y:158.91, Z:15.85 [[ 8.06435164e-02 -9.96742866e-01 -5.32068025e-04 9.39183013e+02] [ 9.96702069e-01 8.06450307e-02 -9.02019869e-03 1.58912931e+02] [ 9.03372733e-03 1.97107239e-04 9.99959176e-01 1.58453621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.639254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:939.19, Y:158.94, Z:15.85 [[ 8.30491573e-02 -9.96545366e-01 -4.13590575e-04 9.39190620e+02] [ 9.96504537e-01 8.30495012e-02 -9.02712119e-03 1.58944405e+02] [ 9.03028428e-03 3.37549924e-04 9.99959169e-01 1.58535580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.6692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:939.19, Y:158.97, Z:15.85 [[ 7.75681832e-02 -9.96986909e-01 -5.29162896e-04 9.39187620e+02] [ 9.96946117e-01 7.75697971e-02 -9.02034140e-03 1.58969814e+02] [ 9.03420935e-03 1.72144599e-04 9.99959176e-01 1.58481594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.6992541539998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:939.19, Y:159.00, Z:15.85 [[ 7.62935108e-02 -9.97085306e-01 -4.39331368e-04 9.39189080e+02] [ 9.97044487e-01 7.62943643e-02 -9.02557669e-03 1.58997659e+02] [ 9.03278840e-03 2.50560014e-04 9.99959172e-01 1.58456888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.7292541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:939.19, Y:159.03, Z:15.85 [[ 7.31892525e-02 -9.97317977e-01 -4.31486012e-04 9.39190707e+02] [ 9.97277159e-01 7.31901621e-02 -9.02603240e-03 1.59025125e+02] [ 9.03340491e-03 2.30297421e-04 9.99959171e-01 1.58450880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.7592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:939.19, Y:159.05, Z:15.85 [[ 7.21388580e-02 -9.97394507e-01 -4.28000142e-04 9.39193168e+02] [ 9.97353688e-01 7.21397791e-02 -9.02623436e-03 1.59053444e+02] [ 9.03359240e-03 2.24274719e-04 9.99959171e-01 1.58462121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.7892541539998 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:939.20, Y:159.08, Z:15.84 [[ 7.09116210e-02 -9.97482508e-01 -4.34947467e-04 9.39195837e+02] [ 9.97441692e-01 7.09126551e-02 -9.02583229e-03 1.59082470e+02] [ 9.03395311e-03 2.06201661e-04 9.99959172e-01 1.58439543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.819254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:939.20, Y:159.11, Z:15.85 [[ 6.79002147e-02 -9.97692018e-01 -4.45585518e-04 9.39198513e+02] [ 9.97651210e-01 6.79014682e-02 -9.02521740e-03 1.59110168e+02] [ 9.03464327e-03 1.68275268e-04 9.99959173e-01 1.58463325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.849254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:939.21, Y:159.14, Z:15.85 [[ 6.99912388e-02 -9.97547508e-01 -4.41558218e-04 9.39205170e+02] [ 9.97506696e-01 6.99923703e-02 -9.02544944e-03 1.59141154e+02] [ 9.03422031e-03 1.91245108e-04 9.99959172e-01 1.58521136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.879254154 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:939.20, Y:159.17, Z:15.85 [[ 6.30326461e-02 -9.98011330e-01 -5.21093774e-04 9.39203248e+02] [ 9.97970561e-01 6.30347813e-02 -9.02085506e-03 1.59165294e+02] [ 9.03576259e-03 4.85721185e-05 9.99959175e-01 1.58455982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.9092541539999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:939.21, Y:159.20, Z:15.85 [[ 6.61699504e-02 -9.97808277e-01 -4.24684268e-04 9.39210033e+02] [ 9.97767464e-01 6.61710857e-02 -9.02636704e-03 1.59196084e+02] [ 9.03468556e-03 1.73538114e-04 9.99959171e-01 1.58496946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.9392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:939.21, Y:159.22, Z:15.85 [[ 6.59933748e-02 -9.97819927e-01 -5.17289017e-04 9.39212204e+02] [ 9.97779151e-01 6.59953546e-02 -9.02105690e-03 1.59222591e+02] [ 9.03552901e-03 7.91897929e-05 9.99959176e-01 1.58524588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.9692541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:939.21, Y:159.25, Z:15.85 [[ 6.63244615e-02 -9.97797976e-01 -5.15504263e-04 9.39214382e+02] [ 9.97757198e-01 6.63264117e-02 -9.02115889e-03 1.59250966e+02] [ 9.03548563e-03 8.39754173e-05 9.99959176e-01 1.58537392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.9992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:939.22, Y:159.28, Z:15.85 [[ 6.64505755e-02 -9.97789586e-01 -5.12876912e-04 9.39215962e+02] [ 9.97748807e-01 6.64524967e-02 -9.02130826e-03 1.59277751e+02] [ 9.03544939e-03 8.77487979e-05 9.99959176e-01 1.58541769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.0292541539998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:939.22, Y:159.30, Z:15.85 [[ 6.67705755e-02 -9.97768225e-01 -5.10106692e-04 9.39217332e+02] [ 9.97727444e-01 6.67724586e-02 -9.02146490e-03 1.59304398e+02] [ 9.03539209e-03 9.34209565e-05 9.99959176e-01 1.58530073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.0592541539997 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:939.22, Y:159.33, Z:15.85 [[ 6.78118822e-02 -9.97697996e-01 -5.07399923e-04 9.39218869e+02] [ 9.97657212e-01 6.78136983e-02 -9.02161713e-03 1.59332153e+02] [ 9.03525800e-03 1.05561645e-04 9.99959176e-01 1.58528062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.089254154 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:939.22, Y:159.36, Z:15.85 [[ 6.38507058e-02 -9.97959334e-01 -5.04882255e-04 9.39215252e+02] [ 9.97918557e-01 6.38526611e-02 -9.02175803e-03 1.59356328e+02] [ 9.03558571e-03 7.22142467e-05 9.99959176e-01 1.58478164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.119254154 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:939.22, Y:159.39, Z:15.85 [[ 6.95471620e-02 -9.97578590e-01 -3.87090803e-04 9.39221920e+02] [ 9.97537764e-01 6.95478190e-02 -9.02828496e-03 1.59387527e+02] [ 9.03334510e-03 2.41753902e-04 9.99959169e-01 1.58537951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.149254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:939.22, Y:159.41, Z:15.85 [[ 6.58042777e-02 -9.97832423e-01 -5.01846663e-04 9.39218661e+02] [ 9.97791641e-01 6.58061257e-02 -9.02190169e-03 1.59411980e+02] [ 9.03537061e-03 9.29413190e-05 9.99959176e-01 1.58501811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.1792541539999 meters Centerline goodness : 0.998750 Centerline is valid? [True, True] Translation: X:939.22, Y:159.44, Z:15.85 [[ 6.80616051e-02 -9.97681038e-01 -4.05298744e-04 9.39221193e+02] [ 9.97640220e-01 6.80624877e-02 -9.02710308e-03 1.59441247e+02] [ 9.03375521e-03 2.10056797e-04 9.99959173e-01 1.58525598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.2092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:939.22, Y:159.47, Z:15.86 [[ 7.01560040e-02 -9.97535922e-01 -4.68085222e-04 9.39223629e+02] [ 9.97495121e-01 7.01573688e-02 -9.02372181e-03 1.59468095e+02] [ 9.03432628e-03 1.66155538e-04 9.99959176e-01 1.58565864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.2392541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:939.22, Y:159.50, Z:15.86 [[ 7.10894145e-02 -9.97469830e-01 -4.82886196e-04 9.39224271e+02] [ 9.97429032e-01 7.10908750e-02 -9.02292969e-03 1.59496021e+02] [ 9.03442895e-03 1.59790079e-04 9.99959176e-01 1.58576679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.2692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:939.23, Y:159.52, Z:15.86 [[ 7.15701411e-02 -9.97435454e-01 -4.80295675e-04 9.39225391e+02] [ 9.97394654e-01 7.15715585e-02 -9.02306759e-03 1.59522812e+02] [ 9.03430302e-03 1.66737881e-04 9.99959176e-01 1.58574687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.2992541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:939.23, Y:159.55, Z:15.86 [[ 7.16275050e-02 -9.97431337e-01 -4.78408266e-04 9.39225954e+02] [ 9.97390537e-01 7.16289029e-02 -9.02316766e-03 1.59550672e+02] [ 9.03425804e-03 1.69147110e-04 9.99959176e-01 1.58566488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.329254154 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:939.23, Y:159.58, Z:15.86 [[ 7.12087408e-02 -9.97461322e-01 -4.75891396e-04 9.39227192e+02] [ 9.97420522e-01 7.12101331e-02 -9.02330040e-03 1.59578496e+02] [ 9.03428143e-03 1.67874015e-04 9.99959176e-01 1.58572785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.359254154 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:939.23, Y:159.61, Z:15.86 [[ 7.04431555e-02 -9.97515683e-01 -4.73260436e-04 9.39228643e+02] [ 9.97474883e-01 7.04445553e-02 -9.02343838e-03 1.59606275e+02] [ 9.03435992e-03 1.63574075e-04 9.99959176e-01 1.58569938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.389254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:939.23, Y:159.63, Z:15.86 [[ 6.89864006e-02 -9.97617489e-01 -4.70587828e-04 9.39230712e+02] [ 9.97576691e-01 6.89878359e-02 -9.02357776e-03 1.59633280e+02] [ 9.03454383e-03 1.53056703e-04 9.99959176e-01 1.58574399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.4192541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:939.23, Y:159.66, Z:15.86 [[ 6.74856948e-02 -9.97720132e-01 -4.67763894e-04 9.39232374e+02] [ 9.97679335e-01 6.74871659e-02 -9.02372415e-03 1.59661806e+02] [ 9.03471931e-03 1.42293923e-04 9.99959176e-01 1.58553616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.4492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:939.23, Y:159.69, Z:15.86 [[ 6.57907144e-02 -9.97833336e-01 -4.65173185e-04 9.39234810e+02] [ 9.97792540e-01 6.57922314e-02 -9.02385770e-03 1.59688310e+02] [ 9.03491081e-03 1.29539711e-04 9.99959176e-01 1.58570331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.4792541539998 meters Centerline goodness : 0.998726 Centerline is valid? [True, True] Translation: X:939.24, Y:159.71, Z:15.85 [[ 6.40855887e-02 -9.97944299e-01 -4.62427982e-04 9.39235991e+02] [ 9.97903505e-01 6.40871506e-02 -9.02399837e-03 1.59714974e+02] [ 9.03508342e-03 1.16849745e-04 9.99959176e-01 1.58528233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.5092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:939.24, Y:159.74, Z:15.86 [[ 6.34146990e-02 -9.97987156e-01 -4.61342571e-04 9.39237699e+02] [ 9.97946362e-01 6.34162784e-02 -9.02405353e-03 1.59741176e+02] [ 9.03514614e-03 1.11862498e-04 9.99959176e-01 1.58576294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.5392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:939.24, Y:159.77, Z:15.86 [[ 6.20316234e-02 -9.98074081e-01 -4.54939240e-04 9.39239450e+02] [ 9.98033287e-01 6.20332015e-02 -9.02437633e-03 1.59769190e+02] [ 9.03521745e-03 1.05752208e-04 9.99959176e-01 1.58583087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.569254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:939.24, Y:159.80, Z:15.86 [[ 6.12204246e-02 -9.98124168e-01 -4.52346053e-04 9.39240735e+02] [ 9.98083375e-01 6.12220124e-02 -9.02450632e-03 1.59797688e+02] [ 9.03527139e-03 1.01005033e-04 9.99959176e-01 1.58589140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.599254154 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:939.24, Y:159.83, Z:15.86 [[ 6.04051001e-02 -9.98173843e-01 -4.49743071e-04 9.39242170e+02] [ 9.98133051e-01 6.04066977e-02 -9.02463604e-03 1.59825156e+02] [ 9.03532313e-03 9.62306198e-05 9.99959176e-01 1.58583947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.629254154 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:939.24, Y:159.85, Z:15.86 [[ 5.93187817e-02 -9.98238991e-01 -4.47001382e-04 9.39243129e+02] [ 9.98198199e-01 5.93203989e-02 -9.02477183e-03 1.59853247e+02] [ 9.03539542e-03 8.91424963e-05 9.99959176e-01 1.58562308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.6592541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:939.24, Y:159.88, Z:15.86 [[ 5.93408587e-02 -9.98237680e-01 -4.44409034e-04 9.39244852e+02] [ 9.98196887e-01 5.93424516e-02 -9.02489949e-03 1.59881682e+02] [ 9.03536704e-03 9.19375708e-05 9.99959176e-01 1.58584985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.6892541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:939.25, Y:159.91, Z:15.86 [[ 5.91634929e-02 -9.98248209e-01 -4.41836232e-04 9.39246451e+02] [ 9.98207415e-01 5.91650697e-02 -9.02502544e-03 1.59910212e+02] [ 9.03535675e-03 9.29078255e-05 9.99959176e-01 1.58584599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.7192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:939.25, Y:159.94, Z:15.86 [[ 5.74059490e-02 -9.98350822e-01 -4.39251551e-04 9.39246349e+02] [ 9.98310031e-01 5.74075743e-02 -9.02515124e-03 1.59938233e+02] [ 9.03548352e-03 7.95881426e-05 9.99959176e-01 1.58594655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.7492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:939.25, Y:159.97, Z:15.86 [[ 6.03969364e-02 -9.98174350e-01 -4.21132417e-04 9.39249311e+02] [ 9.98133548e-01 6.03982757e-02 -9.02602734e-03 1.59965635e+02] [ 9.03498465e-03 1.24798005e-04 9.99959176e-01 1.58614388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.7792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:939.25, Y:159.99, Z:15.86 [[ 5.94363962e-02 -9.98232000e-01 -4.34730337e-04 9.39247746e+02] [ 9.98191204e-01 5.94378977e-02 -9.02537236e-03 1.59993427e+02] [ 9.03525496e-03 1.02491610e-04 9.99959176e-01 1.58604402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.8092541539997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:939.25, Y:160.02, Z:15.86 [[ 6.30521243e-02 -9.98010152e-01 -4.08226471e-04 9.39250633e+02] [ 9.97969343e-01 6.30532384e-02 -9.02664238e-03 1.60022171e+02] [ 9.03442073e-03 1.61751474e-04 9.99959176e-01 1.58622549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.839254154 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:939.25, Y:160.05, Z:15.86 [[ 6.36314771e-02 -9.97973371e-01 -4.31308706e-04 9.39251408e+02] [ 9.97932568e-01 6.36327762e-02 -9.02553934e-03 1.60048935e+02] [ 9.03469329e-03 1.43891395e-04 9.99959176e-01 1.58612640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.869254154 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:939.25, Y:160.08, Z:15.86 [[ 6.57483481e-02 -9.97836144e-01 -4.28594972e-04 9.39251788e+02] [ 9.97795338e-01 6.57495361e-02 -9.02566820e-03 1.60077501e+02] [ 9.03431788e-03 1.65772710e-04 9.99959176e-01 1.58627627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.899254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:939.25, Y:160.10, Z:15.86 [[ 6.66103326e-02 -9.97778974e-01 -4.26955579e-04 9.39252729e+02] [ 9.97738166e-01 6.66114705e-02 -9.02574575e-03 1.60104891e+02] [ 9.03413948e-03 1.75218051e-04 9.99959176e-01 1.58629602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.9292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:939.25, Y:160.13, Z:15.86 [[ 6.63289644e-02 -9.97797719e-01 -4.24179442e-04 9.39253987e+02] [ 9.97756911e-01 6.63300887e-02 -9.02587622e-03 1.60133453e+02] [ 9.03413457e-03 1.75449052e-04 9.99959176e-01 1.58632174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.9592541539998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:939.25, Y:160.16, Z:15.86 [[ 6.64343092e-02 -9.97790712e-01 -4.21634080e-04 9.39254813e+02] [ 9.97749903e-01 6.64354062e-02 -9.02599512e-03 1.60162048e+02] [ 9.03406553e-03 1.78950389e-04 9.99959176e-01 1.58613474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.9892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:939.26, Y:160.19, Z:15.87 [[ 6.74785265e-02 -9.97720639e-01 -4.19266456e-04 9.39256022e+02] [ 9.97679828e-01 6.74795593e-02 -9.02610510e-03 1.60189711e+02] [ 9.03382326e-03 1.90774587e-04 9.99959176e-01 1.58650102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.0192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:939.25, Y:160.22, Z:15.86 [[ 6.38203177e-02 -9.97961319e-01 -4.16683406e-04 9.39254051e+02] [ 9.97920511e-01 6.38214768e-02 -9.02622434e-03 1.60216237e+02] [ 9.03441610e-03 1.60239587e-04 9.99959176e-01 1.58626803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.0492541539998 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:939.26, Y:160.25, Z:15.86 [[ 6.65830410e-02 -9.97780826e-01 -3.48267228e-04 9.39258881e+02] [ 9.97740003e-01 6.65834684e-02 -9.02935392e-03 1.60246454e+02] [ 9.03250506e-03 2.53721698e-04 9.99959174e-01 1.58612845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.079254154 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:939.26, Y:160.27, Z:15.87 [[ 6.66253348e-02 -9.97777978e-01 -4.13705412e-04 9.39260313e+02] [ 9.97737167e-01 6.66263523e-02 -9.02635471e-03 1.60274636e+02] [ 9.03386163e-03 1.88614639e-04 9.99959176e-01 1.58652151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.109254154 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:939.26, Y:160.30, Z:15.87 [[ 6.62882979e-02 -9.97800427e-01 -4.11148958e-04 9.39261341e+02] [ 9.97759616e-01 6.62893060e-02 -9.02647115e-03 1.60302478e+02] [ 9.03387155e-03 1.88121583e-04 9.99959176e-01 1.58661282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.139254154 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:939.26, Y:160.33, Z:15.87 [[ 6.58712921e-02 -9.97828044e-01 -4.08598738e-04 9.39262209e+02] [ 9.97787233e-01 6.58722942e-02 -9.02658659e-03 1.60329118e+02] [ 9.03389658e-03 1.86898318e-04 9.99959176e-01 1.58652822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.1692541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:939.26, Y:160.36, Z:15.87 [[ 6.58933310e-02 -9.97826590e-01 -4.05910121e-04 9.39263568e+02] [ 9.97785778e-01 6.58943079e-02 -9.02670749e-03 1.60357467e+02] [ 9.03383593e-03 1.89788479e-04 9.99959176e-01 1.58662009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.1992541539998 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:939.26, Y:160.39, Z:15.87 [[ 6.56534984e-02 -9.97842400e-01 -4.03371987e-04 9.39264381e+02] [ 9.97801588e-01 6.56544621e-02 -9.02682091e-03 1.60385300e+02] [ 9.03382782e-03 1.90157163e-04 9.99959176e-01 1.58667078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.2292541539998 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:939.27, Y:160.41, Z:15.86 [[ 6.52449558e-02 -9.97869197e-01 -4.00783292e-04 9.39265521e+02] [ 9.97828385e-01 6.52459129e-02 -9.02693585e-03 1.60412697e+02] [ 9.03385070e-03 1.89049086e-04 9.99959176e-01 1.58629735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.2592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:939.27, Y:160.44, Z:15.87 [[ 6.50115769e-02 -9.97884430e-01 -3.98890388e-04 9.39266778e+02] [ 9.97843617e-01 6.50125264e-02 -9.02701949e-03 1.60439264e+02] [ 9.03385507e-03 1.88830544e-04 9.99959176e-01 1.58653394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.2892541539998 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:939.27, Y:160.47, Z:15.86 [[ 6.36453342e-02 -9.97972502e-01 -3.95989208e-04 9.39268694e+02] [ 9.97931690e-01 6.36463134e-02 -9.02714676e-03 1.60467778e+02] [ 9.03404749e-03 1.79365593e-04 9.99959176e-01 1.58646312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.319254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:939.27, Y:160.49, Z:15.87 [[ 6.26855752e-02 -9.98033248e-01 -3.93414486e-04 9.39269771e+02] [ 9.97992436e-01 6.26865703e-02 -9.02725896e-03 1.60494462e+02] [ 9.03416639e-03 1.73254240e-04 9.99959176e-01 1.58680662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.349254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:939.27, Y:160.52, Z:15.87 [[ 6.15982015e-02 -9.98100951e-01 -3.90701634e-04 9.39271118e+02] [ 9.98060140e-01 6.15992165e-02 -9.02737638e-03 1.60522802e+02] [ 9.03429986e-03 1.66126421e-04 9.99959176e-01 1.58691909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.379254154 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:939.27, Y:160.55, Z:15.87 [[ 5.89244337e-02 -9.98262371e-01 -3.88119814e-04 9.39272969e+02] [ 9.98221562e-01 5.89255347e-02 -9.02748738e-03 1.60550237e+02] [ 9.03467112e-03 1.44510015e-04 9.99959176e-01 1.58682188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.4092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:939.27, Y:160.58, Z:15.87 [[ 5.74121811e-02 -9.98350486e-01 -3.85398144e-04 9.39274035e+02] [ 9.98309678e-01 5.74133193e-02 -9.02760357e-03 1.60578295e+02] [ 9.03483940e-03 1.33547713e-04 9.99959176e-01 1.58702166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.4392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:939.27, Y:160.61, Z:15.87 [[ 5.26812667e-02 -9.98611305e-01 -3.82858510e-04 9.39273706e+02] [ 9.98570502e-01 5.26825753e-02 -9.02771127e-03 1.60605102e+02] [ 9.03534450e-03 9.32800511e-05 9.99959176e-01 1.58705826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.4692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:939.28, Y:160.63, Z:15.87 [[ 5.34145299e-02 -9.98572366e-01 -3.43514302e-04 9.39276932e+02] [ 9.98531552e-01 5.34154529e-02 -9.02936885e-03 1.60634444e+02] [ 9.03482719e-03 1.39289623e-04 9.99959175e-01 1.58711780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.4992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:939.28, Y:160.66, Z:15.87 [[ 5.19125325e-02 -9.98651563e-01 -3.79774299e-04 9.39278205e+02] [ 9.98610760e-01 5.19138446e-02 -9.02784350e-03 1.60661573e+02] [ 9.03538557e-03 8.94115178e-05 9.99959176e-01 1.58708480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.5292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:939.28, Y:160.69, Z:15.87 [[ 4.86920131e-02 -9.98813769e-01 -3.77050939e-04 9.39278981e+02] [ 9.98772970e-01 4.86934322e-02 -9.02795725e-03 1.60688690e+02] [ 9.03560791e-03 6.30011266e-05 9.99959176e-01 1.58698619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.5592541539997 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:939.28, Y:160.72, Z:15.87 [[ 4.66032935e-02 -9.98913406e-01 -3.74349519e-04 9.39280091e+02] [ 9.98872609e-01 4.66047735e-02 -9.02806926e-03 1.60716763e+02] [ 9.03570589e-03 4.68102811e-05 9.99959176e-01 1.58681789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.589254154 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:939.28, Y:160.74, Z:15.87 [[ 4.31314205e-02 -9.99069338e-01 -3.71830993e-04 9.39280919e+02] [ 9.99028546e-01 4.31330195e-02 -9.02817299e-03 1.60743983e+02] [ 9.03580900e-03 1.79281491e-05 9.99959176e-01 1.58705755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.619254154 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:939.28, Y:160.77, Z:15.87 [[ 4.07165087e-02 -9.99170671e-01 -3.69019738e-04 9.39281977e+02] [ 9.99129881e-01 4.07181809e-02 -9.02828789e-03 1.60770026e+02] [ 9.03582629e-03 -1.09828409e-06 9.99959176e-01 1.58672694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.649254154 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:939.28, Y:160.80, Z:15.87 [[ 3.90045667e-02 -9.99238965e-01 -3.66076313e-04 9.39283096e+02] [ 9.99198178e-01 3.90062821e-02 -9.02840724e-03 1.60797321e+02] [ 9.03581559e-03 -1.36336728e-05 9.99959176e-01 1.58707154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.6792541539999 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:939.28, Y:160.82, Z:15.87 [[ 3.68375426e-02 -9.99321201e-01 -3.63288543e-04 9.39284404e+02] [ 9.99280416e-01 3.68393213e-02 -9.02851942e-03 1.60824472e+02] [ 9.03577417e-03 -3.04386583e-05 9.99959176e-01 1.58689407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.7092541539998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:939.28, Y:160.85, Z:15.87 [[ 3.36150696e-02 -9.99434789e-01 -3.60491965e-04 9.39284484e+02] [ 9.99394009e-01 3.36169546e-02 -9.02863108e-03 1.60851553e+02] [ 9.03564664e-03 -5.67754476e-05 9.99959176e-01 1.58738807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.7392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:939.29, Y:160.88, Z:15.87 [[ 3.42513673e-02 -9.99413194e-01 -3.32872836e-04 9.39286663e+02] [ 9.99372402e-01 3.42529768e-02 -9.02972709e-03 1.60880854e+02] [ 9.03583028e-03 -2.33834264e-05 9.99959176e-01 1.58745679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.7692541539998 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:939.29, Y:160.91, Z:15.87 [[ 3.24720962e-02 -9.99472574e-01 -3.69785345e-04 9.39286278e+02] [ 9.99431800e-01 3.24741117e-02 -9.02826412e-03 1.60907714e+02] [ 9.03551083e-03 -7.64085717e-05 9.99959176e-01 1.58734882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.7992541539998 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:939.29, Y:160.94, Z:15.87 [[ 3.26980878e-02 -9.99465219e-01 -3.33250305e-04 9.39286152e+02] [ 9.99424429e-01 3.26997641e-02 -9.02969865e-03 1.60935868e+02] [ 9.03576694e-03 -3.78046167e-05 9.99959176e-01 1.58734702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.829254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:939.29, Y:160.96, Z:15.88 [[ 3.45366548e-02 -9.99403375e-01 -3.36558111e-04 9.39287103e+02] [ 9.99362584e-01 3.45382859e-02 -9.02956918e-03 1.60963865e+02] [ 9.03580606e-03 -2.44924698e-05 9.99959176e-01 1.58760533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.859254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:939.29, Y:160.99, Z:15.88 [[ 3.53055544e-02 -9.99376503e-01 -3.52189857e-04 9.39286074e+02] [ 9.99335716e-01 3.53072954e-02 -9.02895944e-03 1.60990819e+02] [ 9.03576478e-03 -3.31834840e-05 9.99959176e-01 1.58779513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.889254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:939.29, Y:161.02, Z:15.88 [[ 3.80280506e-02 -9.99276619e-01 -3.24953539e-04 9.39287631e+02] [ 9.99235819e-01 3.80294344e-02 -9.03001464e-03 1.61018716e+02] [ 9.03584030e-03 1.86886384e-05 9.99959176e-01 1.58762633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.9192541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:939.29, Y:161.05, Z:15.87 [[ 3.94059430e-02 -9.99223223e-01 -3.49405312e-04 9.39288022e+02] [ 9.99182429e-01 3.94074915e-02 -9.02906841e-03 1.61046396e+02] [ 9.03582403e-03 6.67930673e-06 9.99959176e-01 1.58743635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.9492541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:939.29, Y:161.07, Z:15.87 [[ 4.39537075e-02 -9.99033509e-01 -3.46807559e-04 9.39286476e+02] [ 9.98992707e-01 4.39550468e-02 -9.02916819e-03 1.61073085e+02] [ 9.03568552e-03 5.04071958e-05 9.99959176e-01 1.58749743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.9792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:939.29, Y:161.10, Z:15.88 [[ 4.65292167e-02 -9.98916870e-01 -3.44068243e-04 9.39286249e+02] [ 9.98876064e-01 4.65304260e-02 -9.02927258e-03 1.61101060e+02] [ 9.03550234e-03 7.64434483e-05 9.99959176e-01 1.58757082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.0092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:939.28, Y:161.13, Z:15.88 [[ 5.01286506e-02 -9.98742711e-01 -3.41503397e-04 9.39282704e+02] [ 9.98701900e-01 5.01296897e-02 -9.02936958e-03 1.61128527e+02] [ 9.03513651e-03 1.11570022e-04 9.99959176e-01 1.58771270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.0392541539998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:939.28, Y:161.16, Z:15.88 [[ 5.22144944e-02 -9.98635844e-01 -3.11249969e-04 9.39282333e+02] [ 9.98595026e-01 5.22151747e-02 -9.03050561e-03 1.61155632e+02] [ 9.03443857e-03 1.60710613e-04 9.99959176e-01 1.58751850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.069254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:939.28, Y:161.18, Z:15.88 [[ 5.52125382e-02 -9.98474581e-01 -2.95280531e-04 9.39282809e+02] [ 9.98433758e-01 5.52129516e-02 -9.03110137e-03 1.61184706e+02] [ 9.03362846e-03 2.03811980e-04 9.99959175e-01 1.58773541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.099254154 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:939.28, Y:161.21, Z:15.88 [[ 5.68617445e-02 -9.98382010e-01 -3.22341851e-04 9.39280710e+02] [ 9.98341190e-01 5.68623352e-02 -9.03009553e-03 1.61211459e+02] [ 9.03381404e-03 1.91659838e-04 9.99959176e-01 1.58782327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.129254154 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:939.28, Y:161.24, Z:15.88 [[ 5.78534837e-02 -9.98325039e-01 -3.01009794e-04 9.39281469e+02] [ 9.98284216e-01 5.78538409e-02 -9.03088564e-03 1.61239990e+02] [ 9.03317384e-03 2.21974869e-04 9.99959175e-01 1.58766680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.1592541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:939.28, Y:161.27, Z:15.88 [[ 5.80126029e-02 -9.98315801e-01 -3.16015164e-04 9.39280929e+02] [ 9.98274979e-01 5.80130893e-02 -9.03033309e-03 1.61267671e+02] [ 9.03345723e-03 2.08403096e-04 9.99959176e-01 1.58782666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.1892541539999 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:939.28, Y:161.30, Z:15.88 [[ 5.89382637e-02 -9.98261582e-01 -3.07275924e-04 9.39281633e+02] [ 9.98220760e-01 5.89386332e-02 -9.03065300e-03 1.61296003e+02] [ 9.03306438e-03 2.25521801e-04 9.99959176e-01 1.58769351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.2192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:939.28, Y:161.32, Z:15.88 [[ 5.73092460e-02 -9.98356420e-01 -3.29300948e-04 9.39277684e+02] [ 9.98315601e-01 5.73098813e-02 -9.02984979e-03 1.61323684e+02] [ 9.03388071e-03 1.88747609e-04 9.99959176e-01 1.58808955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.2492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:939.28, Y:161.35, Z:15.88 [[ 5.73192428e-02 -9.98355858e-01 -2.93739389e-04 9.39277259e+02] [ 9.98315034e-01 5.73195561e-02 -9.03113327e-03 1.61351234e+02] [ 9.03312181e-03 2.24413272e-04 9.99959175e-01 1.58804656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.2792541539998 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:939.28, Y:161.38, Z:15.88 [[ 5.83606522e-02 -9.98295523e-01 -2.87414472e-04 9.39278763e+02] [ 9.98254699e-01 5.83608658e-02 -9.03135989e-03 1.61379626e+02] [ 9.03273990e-03 2.40163206e-04 9.99959175e-01 1.58774742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.3092541539997 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:939.28, Y:161.41, Z:15.88 [[ 5.79716658e-02 -9.98318177e-01 -3.23105365e-04 9.39277509e+02] [ 9.98277356e-01 5.79722180e-02 -9.03008284e-03 1.61407915e+02] [ 9.03362697e-03 2.00940176e-04 9.99959176e-01 1.58764334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.339254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:939.28, Y:161.44, Z:15.88 [[ 5.79151156e-02 -9.98321460e-01 -3.20497230e-04 9.39277559e+02] [ 9.98280639e-01 5.79156465e-02 -9.03017540e-03 1.61435051e+02] [ 9.03357969e-03 2.03037473e-04 9.99959176e-01 1.58783940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.369254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:939.28, Y:161.46, Z:15.88 [[ 5.59670374e-02 -9.98432567e-01 -3.17746358e-04 9.39277666e+02] [ 9.98391746e-01 5.59676231e-02 -9.03027220e-03 1.61463390e+02] [ 9.03390136e-03 1.88162241e-04 9.99959176e-01 1.58789489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.399254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:939.27, Y:161.49, Z:15.88 [[ 5.02098354e-02 -9.98738641e-01 -3.15115738e-04 9.39273889e+02] [ 9.98697825e-01 5.02106326e-02 -9.03036399e-03 1.61488757e+02] [ 9.03479562e-03 1.38707688e-04 9.99959176e-01 1.58755806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.4292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:939.28, Y:161.52, Z:15.88 [[ 5.24751660e-02 -9.98622207e-01 -2.09776681e-04 9.39279151e+02] [ 9.98581379e-01 5.24749183e-02 -9.03399202e-03 1.61519798e+02] [ 9.03255306e-03 2.64581143e-04 9.99959171e-01 1.58798247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.4592541539998 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:939.27, Y:161.54, Z:15.87 [[ 4.48509589e-02 -9.98993641e-01 -3.12324044e-04 9.39273926e+02] [ 9.98952829e-01 4.48519499e-02 -9.03044540e-03 1.61543211e+02] [ 9.03536586e-03 9.30271484e-05 9.99959176e-01 1.58746241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.4892541539998 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:939.28, Y:161.58, Z:15.88 [[ 4.47304541e-02 -9.98999078e-01 -1.68572874e-04 9.39280775e+02] [ 9.98958246e-01 4.47301505e-02 -9.03531673e-03 1.61575328e+02] [ 9.03381338e-03 2.35756558e-04 9.99959166e-01 1.58786442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.5192541539998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:939.28, Y:161.60, Z:15.88 [[ 3.76536719e-02 -9.99290801e-01 -3.09434754e-04 9.39276677e+02] [ 9.99249997e-01 3.76549307e-02 -9.03049011e-03 1.61599020e+02] [ 9.03573744e-03 3.08284346e-05 9.99959176e-01 1.58759064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.5492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:939.28, Y:161.63, Z:15.88 [[ 3.78594217e-02 -9.99283058e-01 -1.83631201e-04 9.39283505e+02] [ 9.99242228e-01 3.78595350e-02 -9.03472038e-03 1.61631148e+02] [ 9.03519520e-03 1.58557238e-04 9.99959169e-01 1.58833439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.579254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:939.28, Y:161.66, Z:15.88 [[ 3.58854708e-02 -9.99355862e-01 -3.05584283e-04 9.39284343e+02] [ 9.99315060e-01 3.58867670e-02 -9.03059370e-03 1.61659120e+02] [ 9.03574319e-03 1.86921307e-05 9.99959177e-01 1.58842141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.609254154 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:939.28, Y:161.69, Z:15.88 [[ 3.34310120e-02 -9.99440982e-01 -3.02993828e-04 9.39284592e+02] [ 9.99400181e-01 3.34323850e-02 -9.03068061e-03 1.61687661e+02] [ 9.03576210e-03 -9.07295325e-07 9.99959177e-01 1.58831989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.639254154 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:939.28, Y:161.72, Z:15.88 [[ 3.10169945e-02 -9.99518812e-01 -3.00388117e-04 9.39284542e+02] [ 9.99478015e-01 3.10184425e-02 -9.03076729e-03 1.61715275e+02] [ 9.03573936e-03 -2.01240591e-05 9.99959177e-01 1.58819158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.6692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:939.28, Y:161.74, Z:15.89 [[ 3.13495456e-02 -9.99508438e-01 -2.97807605e-04 9.39284823e+02] [ 9.99467639e-01 3.13509567e-02 -9.03085238e-03 1.61743513e+02] [ 9.03574971e-03 -1.45359451e-05 9.99959177e-01 1.58853051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.6992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:939.28, Y:161.77, Z:15.89 [[ 3.12500568e-02 -9.99511554e-01 -2.95233758e-04 9.39284528e+02] [ 9.99470755e-01 3.12514487e-02 -9.03093653e-03 1.61771744e+02] [ 9.03575189e-03 -1.28602276e-05 9.99959177e-01 1.58857001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.7292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:939.28, Y:161.80, Z:15.89 [[ 3.22147839e-02 -9.99480926e-01 -2.92676650e-04 9.39283202e+02] [ 9.99440125e-01 3.22161133e-02 -9.03101940e-03 1.61799620e+02] [ 9.03576054e-03 -1.58044992e-06 9.99959177e-01 1.58864176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.7592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:939.28, Y:161.83, Z:15.89 [[ 3.29373018e-02 -9.99457378e-01 -2.90093151e-04 9.39282771e+02] [ 9.99416574e-01 3.29385784e-02 -9.03110238e-03 1.61827903e+02] [ 9.03575716e-03 7.53624196e-06 9.99959177e-01 1.58866023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.7892541539998 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:939.28, Y:161.85, Z:15.88 [[ 3.37505334e-02 -9.99430247e-01 -2.87506742e-04 9.39280245e+02] [ 9.99389442e-01 3.37517534e-02 -9.03118472e-03 1.61854856e+02] [ 9.03574303e-03 1.74760992e-05 9.99959177e-01 1.58839654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.8192541539997 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:939.28, Y:161.88, Z:15.88 [[ 3.34677300e-02 -9.99439758e-01 -2.84809043e-04 9.39281067e+02] [ 9.99398953e-01 3.34689372e-02 -9.03126980e-03 1.61883423e+02] [ 9.03574236e-03 1.76182400e-05 9.99959177e-01 1.58842227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.849254154 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:939.28, Y:161.91, Z:15.88 [[ 3.37828268e-02 -9.99429158e-01 -2.82253399e-04 9.39280347e+02] [ 9.99388351e-01 3.37839980e-02 -9.03134967e-03 1.61911922e+02] [ 9.03572984e-03 2.30237621e-05 9.99959177e-01 1.58840334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.879254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:939.28, Y:161.94, Z:15.89 [[ 3.54546887e-02 -9.99371246e-01 -2.79653387e-04 9.39280298e+02] [ 9.99330437e-01 3.54557682e-02 -9.03143017e-03 1.61939903e+02] [ 9.03566695e-03 4.07404040e-05 9.99959177e-01 1.58867396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.9092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:939.28, Y:161.97, Z:15.89 [[ 3.69008551e-02 -9.99318893e-01 -2.77067533e-04 9.39278374e+02] [ 9.99278082e-01 3.69018521e-02 -9.03150950e-03 1.61968203e+02] [ 9.03558238e-03 5.64029106e-05 9.99959177e-01 1.58872508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.9392541539999 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:939.28, Y:162.00, Z:15.88 [[ 3.66150848e-02 -9.99329405e-01 -2.74417778e-04 9.39277363e+02] [ 9.99288594e-01 3.66160696e-02 -9.03159001e-03 1.61995205e+02] [ 9.03558158e-03 5.64698793e-05 9.99959177e-01 1.58844722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.9692541539998 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:939.28, Y:162.02, Z:15.89 [[ 3.80579638e-02 -9.99275496e-01 -2.71666007e-04 9.39277344e+02] [ 9.99234683e-01 3.80588648e-02 -9.03167278e-03 1.62023141e+02] [ 9.03546860e-03 7.22689801e-05 9.99959177e-01 1.58871180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.9992541539998 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:939.28, Y:162.05, Z:15.89 [[ 3.89066751e-02 -9.99242813e-01 -2.69014845e-04 9.39275475e+02] [ 9.99201998e-01 3.89075174e-02 -9.03175175e-03 1.62051136e+02] [ 9.03537972e-03 8.25952605e-05 9.99959177e-01 1.58850276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.0292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:939.27, Y:162.08, Z:15.89 [[ 4.16574108e-02 -9.99131918e-01 -2.66359978e-04 9.39274522e+02] [ 9.99091101e-01 4.16581168e-02 -9.03183005e-03 1.62079315e+02] [ 9.03508573e-03 1.10124770e-04 9.99959177e-01 1.58871228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.0592541539997 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:939.27, Y:162.11, Z:15.88 [[ 4.12750865e-02 -9.99147786e-01 -2.63724896e-04 9.39273952e+02] [ 9.99106968e-01 4.12757843e-02 -9.03190699e-03 1.62106296e+02] [ 9.03509532e-03 1.09303361e-04 9.99959177e-01 1.58837763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.089254154 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:939.27, Y:162.13, Z:15.89 [[ 4.20923575e-02 -9.99113690e-01 -2.60996242e-04 9.39274187e+02] [ 9.99072872e-01 4.20929972e-02 -9.03198584e-03 1.62134795e+02] [ 9.03496681e-03 1.19423311e-04 9.99959177e-01 1.58853927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.119254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:939.27, Y:162.16, Z:15.89 [[ 4.32888239e-02 -9.99062566e-01 -2.58383924e-04 9.39274574e+02] [ 9.99021747e-01 4.32893911e-02 -9.03206057e-03 1.62163235e+02] [ 9.03477889e-03 1.32856120e-04 9.99959177e-01 1.58882048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.149254154 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:939.27, Y:162.19, Z:15.89 [[ 4.36811828e-02 -9.99045489e-01 -2.55785936e-04 9.39273522e+02] [ 9.99004669e-01 4.36817105e-02 -9.03213414e-03 1.62190267e+02] [ 9.03468604e-03 1.39002958e-04 9.99959177e-01 1.58873833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.1792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:939.27, Y:162.22, Z:15.89 [[ 4.46164855e-02 -9.99004157e-01 -2.53046438e-04 9.39273666e+02] [ 9.98963336e-01 4.46169503e-02 -9.03221089e-03 1.62218576e+02] [ 9.03450639e-03 1.50201392e-04 9.99959177e-01 1.58898071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.2092541539998 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:939.27, Y:162.25, Z:15.89 [[ 4.54488352e-02 -9.98966636e-01 -2.50459714e-04 9.39272379e+02] [ 9.98925815e-01 4.54492426e-02 -9.03228262e-03 1.62246926e+02] [ 9.03433219e-03 1.60316050e-04 9.99959177e-01 1.58878773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.2392541539998 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:939.27, Y:162.28, Z:15.89 [[ 4.62182532e-02 -9.98931337e-01 -2.38983067e-04 9.39272472e+02] [ 9.98890515e-01 4.62185254e-02 -9.03259822e-03 1.62275695e+02] [ 9.03399086e-03 1.78752994e-04 9.99959177e-01 1.58889586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.2692541539998 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:939.27, Y:162.30, Z:15.89 [[ 4.64861663e-02 -9.98918903e-01 -2.46848818e-04 9.39272158e+02] [ 9.98878081e-01 4.64864986e-02 -9.03238326e-03 1.62302691e+02] [ 9.03409352e-03 1.73308996e-04 9.99959177e-01 1.58870276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.2992541539998 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:939.27, Y:162.33, Z:15.89 [[ 4.86593326e-02 -9.98815403e-01 -2.44061353e-04 9.39272072e+02] [ 9.98774581e-01 4.86595509e-02 -9.03245858e-03 1.62330865e+02] [ 9.03363467e-03 1.95751131e-04 9.99959177e-01 1.58879238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.329254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:939.27, Y:162.36, Z:15.89 [[ 5.15980437e-02 -9.98667905e-01 -2.41458719e-04 9.39272655e+02] [ 9.98627081e-01 5.15981183e-02 -9.03252815e-03 1.62357410e+02] [ 9.03295478e-03 2.24933566e-04 9.99959177e-01 1.58901493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.359254154 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:939.27, Y:162.39, Z:15.89 [[ 5.20843653e-02 -9.98642660e-01 -2.39360695e-04 9.39272958e+02] [ 9.98601836e-01 5.20844011e-02 -9.03258375e-03 1.62385597e+02] [ 9.03279042e-03 2.31430362e-04 9.99959177e-01 1.58892175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.389254154 meters Centerline goodness : 0.999640 Centerline is valid? [True, True] Translation: X:939.27, Y:162.41, Z:15.89 [[ 5.18766892e-02 -9.98653470e-01 -2.36778082e-04 9.39273041e+02] [ 9.98612647e-01 5.18767102e-02 -9.03265145e-03 1.62413672e+02] [ 9.03277198e-03 2.32134464e-04 9.99959177e-01 1.58869386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.4192541539999 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:939.27, Y:162.44, Z:15.89 [[ 5.23474497e-02 -9.98628905e-01 -2.34179309e-04 9.39274135e+02] [ 9.98588082e-01 5.23474280e-02 -9.03271882e-03 1.62440938e+02] [ 9.03259279e-03 2.38991128e-04 9.99959177e-01 1.58869207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.4492541539998 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:939.28, Y:162.47, Z:15.89 [[ 5.14494287e-02 -9.98675574e-01 -2.31438924e-04 9.39276229e+02] [ 9.98634751e-01 5.14494189e-02 -9.03278904e-03 1.62468961e+02] [ 9.03273318e-03 2.33608883e-04 9.99959177e-01 1.58883343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.4792541539998 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:939.28, Y:162.50, Z:15.89 [[ 5.06311340e-02 -9.98717395e-01 -2.28832951e-04 9.39277865e+02] [ 9.98676572e-01 5.06311341e-02 -9.03285505e-03 1.62497191e+02] [ 9.03285555e-03 2.28813588e-04 9.99959177e-01 1.58892066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.5092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:939.28, Y:162.53, Z:15.89 [[ 4.86513308e-02 -9.98815797e-01 -2.26216771e-04 9.39280823e+02] [ 9.98774974e-01 4.86513882e-02 -9.03292057e-03 1.62525551e+02] [ 9.03322952e-03 2.13523958e-04 9.99959177e-01 1.58925724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.5392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:939.28, Y:162.55, Z:15.89 [[ 4.66407961e-02 -9.98911701e-01 -2.23750234e-04 9.39282273e+02] [ 9.98870878e-01 4.66409133e-02 -9.03298167e-03 1.62552883e+02] [ 9.03358700e-03 1.97807863e-04 9.99959177e-01 1.58916185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.5692541539997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:939.29, Y:162.58, Z:15.89 [[ 4.24465736e-02 -9.99098714e-01 -2.21012793e-04 9.39285911e+02] [ 9.99057891e-01 4.24468375e-02 -9.03304865e-03 1.62581290e+02] [ 9.03428858e-03 1.62617389e-04 9.99959177e-01 1.58933685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.599254154 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:939.29, Y:162.61, Z:15.89 [[ 3.93042884e-02 -9.99227264e-01 -2.18375342e-04 9.39288206e+02] [ 9.99186443e-01 3.93046568e-02 -9.03311241e-03 1.62608033e+02] [ 9.03471537e-03 1.36842374e-04 9.99959177e-01 1.58918369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.629254154 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:939.29, Y:162.64, Z:15.89 [[ 3.60819477e-02 -9.99348811e-01 -2.15604472e-04 9.39290621e+02] [ 9.99307991e-01 3.60824227e-02 -9.03317854e-03 1.62635937e+02] [ 9.03507577e-03 1.10479404e-04 9.99959177e-01 1.58926389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.6592541539999 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:939.29, Y:162.66, Z:15.89 [[ 3.03070532e-02 -9.99540613e-01 -2.12934160e-04 9.39294384e+02] [ 9.99499796e-01 3.03077399e-02 -9.03324149e-03 1.62664070e+02] [ 9.03554529e-03 6.09432806e-05 9.99959177e-01 1.58941579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.6892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:939.30, Y:162.69, Z:15.90 [[ 2.80265165e-02 -9.99607158e-01 -2.10250062e-04 9.39296618e+02] [ 9.99566342e-01 2.80272721e-02 -9.03330396e-03 1.62692675e+02] [ 9.03564804e-03 4.30131572e-05 9.99959177e-01 1.58969815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.7192541539998 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:939.30, Y:162.72, Z:15.89 [[ 2.43318596e-02 -9.99703915e-01 -2.07716696e-04 9.39298281e+02] [ 9.99663101e-01 2.43327431e-02 -9.03336221e-03 1.62720002e+02] [ 9.03574189e-03 1.21517847e-05 9.99959177e-01 1.58933620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.7492541539998 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:939.30, Y:162.75, Z:15.89 [[ 1.83831715e-02 -9.99830994e-01 -2.04997446e-04 9.39301896e+02] [ 9.99790186e-01 1.83842734e-02 -9.03342392e-03 1.62747649e+02] [ 9.03566595e-03 -3.88914532e-05 9.99959177e-01 1.58945715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.7792541539998 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:939.30, Y:162.78, Z:15.90 [[ 1.59542109e-02 -9.99872703e-01 -2.02383089e-04 9.39304539e+02] [ 9.99831897e-01 1.59553883e-02 -9.03348249e-03 1.62775993e+02] [ 9.03556166e-03 -5.82269822e-05 9.99959177e-01 1.58978324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.8092541539997 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:939.31, Y:162.80, Z:15.90 [[ 1.26072746e-02 -9.99920505e-01 -1.99749854e-04 9.39306663e+02] [ 9.99879702e-01 1.26085647e-02 -9.03354072e-03 1.62803804e+02] [ 9.03534116e-03 -8.58374965e-05 9.99959177e-01 1.58969960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.839254154 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:939.31, Y:162.83, Z:15.90 [[ 6.23543595e-03 -9.99980540e-01 -1.97120304e-04 9.39309539e+02] [ 9.99939745e-01 6.23696231e-03 -9.03359810e-03 1.62830411e+02] [ 9.03465174e-03 -1.40780004e-04 9.99959177e-01 1.58961246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.869254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:939.31, Y:162.86, Z:15.90 [[ 3.16467412e-03 -9.99994973e-01 -1.95202980e-04 9.39311372e+02] [ 9.99954183e-01 3.16630843e-03 -9.03363953e-03 1.62858739e+02] [ 9.03421219e-03 -1.66605511e-04 9.99959177e-01 1.58976799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.899254154 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:939.31, Y:162.89, Z:15.90 [[-3.81005545e-03 -9.99992723e-01 -1.92606501e-04 9.39314558e+02] [ 9.99951944e-01 -3.80816012e-03 -9.03369489e-03 1.62885760e+02] [ 9.03289568e-03 -2.27016123e-04 9.99959177e-01 1.58968026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.9292541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:939.32, Y:162.91, Z:15.90 [[-7.23613951e-03 -9.99973801e-01 -1.90714362e-04 9.39316707e+02] [ 9.99933027e-01 -7.23412156e-03 -9.03373483e-03 1.62913464e+02] [ 9.03211851e-03 -2.56070955e-04 9.99959177e-01 1.58973765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.9592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:939.32, Y:162.94, Z:15.90 [[-1.01155138e-02 -9.99948819e-01 -1.88159292e-04 9.39318879e+02] [ 9.99908051e-01 -1.01134016e-02 -9.03378805e-03 1.62941765e+02] [ 9.03142277e-03 -2.79523399e-04 9.99959177e-01 1.58987323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.9892541539998 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:939.32, Y:162.97, Z:15.90 [[-1.52274843e-02 -9.99884038e-01 -1.85608912e-04 9.39321269e+02] [ 9.99843279e-01 -1.52251866e-02 -9.03384045e-03 1.62970012e+02] [ 9.02996694e-03 -3.23142487e-04 9.99959177e-01 1.59000321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.0192541539998 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:939.32, Y:163.00, Z:15.90 [[-1.78704709e-02 -9.99840294e-01 -1.82999667e-04 9.39322179e+02] [ 9.99799540e-01 -1.78680890e-02 -9.03389331e-03 1.62998572e+02] [ 9.02918068e-03 -3.44402910e-04 9.99959177e-01 1.58981860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.0492541539998 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:939.32, Y:163.03, Z:15.90 [[-1.98021709e-02 -9.99803902e-01 -1.80404106e-04 9.39323353e+02] [ 9.99763151e-01 -1.97997337e-02 -9.03394514e-03 1.63025511e+02] [ 9.02860164e-03 -3.59253104e-04 9.99959177e-01 1.58993751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.079254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:939.32, Y:163.05, Z:15.90 [[-1.88595890e-02 -9.99822126e-01 -1.78097359e-04 9.39324541e+02] [ 9.99781372e-01 -1.88572110e-02 -9.03399062e-03 1.63053506e+02] [ 9.02902529e-03 -3.48435772e-04 9.99959177e-01 1.59018282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.109254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:939.33, Y:163.08, Z:15.90 [[-1.80291101e-02 -9.99837447e-01 -1.75549100e-04 9.39325148e+02] [ 9.99796690e-01 -1.80267890e-02 -9.03404013e-03 1.63081364e+02] [ 9.02940704e-03 -3.38389114e-04 9.99959177e-01 1.59028155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.139254154 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:939.32, Y:163.11, Z:15.90 [[-1.57992204e-02 -9.99875170e-01 -1.71014012e-04 9.39324373e+02] [ 9.99834406e-01 -1.57970311e-02 -9.03412716e-03 1.63108399e+02] [ 9.03029792e-03 -3.13717859e-04 9.99959177e-01 1.59006946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.1692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:939.32, Y:163.13, Z:15.90 [[-1.50319198e-02 -9.99887000e-01 -1.71472316e-04 9.39319442e+02] [ 9.99846234e-01 -1.50297577e-02 -9.03411847e-03 1.63129220e+02] [ 9.03052042e-03 -3.07246093e-04 9.99959177e-01 1.58971641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.1992541539998 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:939.32, Y:163.16, Z:15.90 [[-1.09178959e-02 -9.99940398e-01 -5.28534790e-06 9.39322877e+02] [ 9.99899565e-01 -1.09174023e-02 -9.03712729e-03 1.63162787e+02] [ 9.03653096e-03 -1.03951232e-04 9.99959164e-01 1.59007812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.2292541539998 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:939.32, Y:163.19, Z:15.90 [[-4.26053611e-03 -9.99990910e-01 -1.67345408e-04 9.39320567e+02] [ 9.99950122e-01 -4.25885050e-03 -9.03412546e-03 1.63191139e+02] [ 9.03333064e-03 -2.05827279e-04 9.99959177e-01 1.59001340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.2592541539998 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:939.32, Y:163.22, Z:15.90 [[-9.39814082e-05 -9.99999982e-01 -1.64814159e-04 9.39319591e+02] [ 9.99959187e-01 -9.24886173e-05 -9.03417164e-03 1.63218815e+02] [ 9.03415623e-03 -1.65656476e-04 9.99959177e-01 1.59009100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.2892541539998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:939.32, Y:163.25, Z:15.90 [[ 9.55978722e-03 -9.99954291e-01 -1.62247298e-04 9.39316725e+02] [ 9.99913483e-01 9.56086292e-03 -9.03421774e-03 1.63246067e+02] [ 9.03535602e-03 -7.58680611e-05 9.99959177e-01 1.59007752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.3192541539997 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:939.32, Y:163.27, Z:15.90 [[ 1.42168171e-02 -9.99898923e-01 -1.59542637e-04 9.39315237e+02] [ 9.99858110e-01 1.42176783e-02 -9.03426550e-03 1.63274471e+02] [ 9.03562067e-03 -3.10814996e-05 9.99959177e-01 1.59008433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.349254154 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:939.31, Y:163.30, Z:15.90 [[ 1.83499413e-02 -9.99831613e-01 -1.57005804e-04 9.39313411e+02] [ 9.99790796e-01 1.83506109e-02 -9.03430959e-03 1.63301321e+02] [ 9.03566948e-03 8.80609291e-06 9.99959177e-01 1.58983222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.379254154 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:939.31, Y:163.33, Z:15.90 [[ 2.76103944e-02 -9.99618749e-01 -1.54332799e-04 9.39310256e+02] [ 9.99577927e-01 2.76106617e-02 -9.03435525e-03 1.63329211e+02] [ 9.03517212e-03 9.51744524e-05 9.99959177e-01 1.58998651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.4092541539999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:939.31, Y:163.36, Z:15.90 [[ 3.09866217e-02 -9.99519788e-01 -1.51736769e-04 9.39308704e+02] [ 9.99478965e-01 3.09867277e-02 -9.03439885e-03 1.63356790e+02] [ 9.03476225e-03 1.28287791e-04 9.99959177e-01 1.58987352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.4392541539999 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:939.30, Y:163.38, Z:15.89 [[ 3.39844118e-02 -9.99422352e-01 -1.48995171e-04 9.39303628e+02] [ 9.99381529e-01 3.39843705e-02 -9.03444407e-03 1.63383359e+02] [ 9.03428884e-03 1.58127245e-04 9.99959177e-01 1.58931908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.4692541539998 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:939.31, Y:163.41, Z:15.90 [[ 3.98476187e-02 -9.99205765e-01 -8.47622594e-05 9.39306501e+02] [ 9.99164950e-01 3.98467575e-02 -9.03546874e-03 1.63413445e+02] [ 9.03166995e-03 2.75350434e-04 9.99959176e-01 1.58999966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.4992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:939.31, Y:163.44, Z:15.90 [[ 4.26474946e-02 -9.99090171e-01 -1.43878761e-04 9.39306739e+02] [ 9.99049351e-01 4.26470532e-02 -9.03452730e-03 1.63439983e+02] [ 9.03244343e-03 2.41557971e-04 9.99959177e-01 1.59021928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.5292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:939.31, Y:163.47, Z:15.90 [[ 4.57107191e-02 -9.98954709e-01 -1.42174389e-04 9.39305946e+02] [ 9.98913890e-01 4.57101371e-02 -9.03455412e-03 1.63468224e+02] [ 9.03160919e-03 2.70955993e-04 9.99959177e-01 1.59027063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.5592541539997 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:939.30, Y:163.50, Z:15.90 [[ 4.66415336e-02 -9.98911682e-01 -1.39603935e-04 9.39304679e+02] [ 9.98870864e-01 4.66408904e-02 -9.03459384e-03 1.63495989e+02] [ 9.03127257e-03 2.81941010e-04 9.99959177e-01 1.58990688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.589254154 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:939.31, Y:163.52, Z:15.90 [[ 4.77471455e-02 -9.98859445e-01 -1.37030010e-04 9.39305633e+02] [ 9.98818629e-01 4.77464338e-02 -9.03463288e-03 1.63524347e+02] [ 9.03087108e-03 2.94509804e-04 9.99959177e-01 1.59019738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.619254154 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:939.31, Y:163.55, Z:15.90 [[ 4.73298796e-02 -9.98879304e-01 -1.34445489e-04 9.39305501e+02] [ 9.98838488e-01 4.73291616e-02 -9.03467134e-03 1.63552317e+02] [ 9.03090941e-03 2.93320577e-04 9.99959178e-01 1.58998266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.649254154 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:939.31, Y:163.58, Z:15.90 [[ 4.70372102e-02 -9.98893129e-01 -1.31874067e-04 9.39305948e+02] [ 9.98852313e-01 4.70364810e-02 -9.03470887e-03 1.63579764e+02] [ 9.03091151e-03 2.93244784e-04 9.99959178e-01 1.58976110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.6792541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:939.31, Y:163.61, Z:15.90 [[ 4.62562017e-02 -9.98929601e-01 -1.29997081e-04 9.39307244e+02] [ 9.98888784e-01 4.62554874e-02 -9.03473588e-03 1.63607904e+02] [ 9.03107818e-03 2.88059939e-04 9.99959178e-01 1.59003298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.7092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:939.31, Y:163.64, Z:15.90 [[ 4.52817578e-02 -9.98974247e-01 -1.27329391e-04 9.39308465e+02] [ 9.98933431e-01 4.52810593e-02 -9.03477347e-03 1.63635556e+02] [ 9.03127164e-03 2.81916839e-04 9.99959178e-01 1.59012695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.7392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:939.31, Y:163.66, Z:15.90 [[ 4.49886062e-02 -9.98987492e-01 -1.24680365e-04 9.39308788e+02] [ 9.98946676e-01 4.49878957e-02 -9.03481003e-03 1.63664135e+02] [ 9.03127132e-03 2.81914475e-04 9.99959178e-01 1.59015269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.7692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:939.31, Y:163.69, Z:15.90 [[ 4.09396614e-02 -9.99161613e-01 -1.22028975e-04 9.39311114e+02] [ 9.99120795e-01 4.09390924e-02 -9.03484584e-03 1.63691994e+02] [ 9.03226690e-03 2.47961843e-04 9.99959178e-01 1.59011342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.7992541539998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:939.31, Y:163.72, Z:15.90 [[ 3.77596697e-02 -9.99286842e-01 -1.19395390e-04 9.39312672e+02] [ 9.99246022e-01 3.77592068e-02 -9.03488064e-03 1.63720004e+02] [ 9.03294562e-03 2.21848741e-04 9.99959178e-01 1.59004547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.829254154 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:939.31, Y:163.75, Z:15.90 [[ 3.37478623e-02 -9.99430372e-01 -1.16753729e-04 9.39314467e+02] [ 9.99389551e-01 3.37475394e-02 -9.03491478e-03 1.63747598e+02] [ 9.03370839e-03 1.88226604e-04 9.99959178e-01 1.59001339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.859254154 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:939.32, Y:163.77, Z:15.90 [[ 2.57511820e-02 -9.99668377e-01 -1.14068444e-04 9.39319143e+02] [ 9.99627554e-01 2.57511614e-02 -9.03494868e-03 1.63774181e+02] [ 9.03488988e-03 1.18634648e-04 9.99959178e-01 1.59015902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.889254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:939.32, Y:163.80, Z:15.90 [[ 1.66560853e-02 -9.99861272e-01 -1.11249808e-04 9.39315783e+02] [ 9.99820450e-01 1.66564106e-02 -9.03498339e-03 1.63796389e+02] [ 9.03558300e-03 3.92576209e-05 9.99959178e-01 1.58982207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.9192541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:939.33, Y:163.83, Z:15.91 [[ 1.48135264e-02 -9.99890273e-01 4.40352825e-05 9.39326974e+02] [ 9.99849452e-01 1.48125236e-02 -9.03678578e-03 1.63829791e+02] [ 9.03514192e-03 1.77895317e-04 9.99959166e-01 1.59051340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.9492541539998 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:939.32, Y:163.86, Z:15.90 [[ 7.69687872e-03 -9.99970373e-01 -1.08854715e-04 9.39324932e+02] [ 9.99929556e-01 7.69754808e-03 -9.03494384e-03 1.63855242e+02] [ 9.03551407e-03 -3.93061803e-05 9.99959178e-01 1.58999720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.9792541539998 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:939.33, Y:163.89, Z:15.90 [[ 8.03110356e-03 -9.99967750e-01 -2.19907237e-05 9.39330344e+02] [ 9.99926925e-01 8.03097439e-03 -9.03593720e-03 1.63885271e+02] [ 9.03582240e-03 5.05794306e-05 9.99959175e-01 1.59045324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.0092541539998 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:939.33, Y:163.91, Z:15.90 [[-1.00066822e-03 -9.99999494e-01 -1.04572397e-04 9.39326698e+02] [ 9.99958684e-01 -9.99682571e-04 -9.03498142e-03 1.63907223e+02] [ 9.03487230e-03 -1.13609095e-04 9.99959178e-01 1.59002630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.0392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:939.33, Y:163.94, Z:15.90 [[ 7.46261100e-04 -9.99999720e-01 6.27861533e-05 9.39330686e+02] [ 9.99958889e-01 7.45663240e-04 -9.03682446e-03 1.63937905e+02] [ 9.03677511e-03 6.95274027e-05 9.99959165e-01 1.59028286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.0692541539997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:939.33, Y:163.97, Z:15.90 [[ 1.22164539e-03 -9.99999254e-01 7.90092074e-06 9.39332891e+02] [ 9.99958427e-01 1.22152412e-03 -9.03619535e-03 1.63965679e+02] [ 9.03617896e-03 1.89396187e-05 9.99959173e-01 1.59016423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.099254154 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:939.34, Y:164.00, Z:15.90 [[ 6.63970331e-03 -9.99977957e-01 1.66800207e-05 9.39339080e+02] [ 9.99937131e-01 6.63928150e-03 -9.03629480e-03 1.63998048e+02] [ 9.03598487e-03 7.66772885e-05 9.99959172e-01 1.59042493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.129254154 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:939.34, Y:164.02, Z:15.90 [[ 3.90863832e-03 -9.99992356e-01 -1.04138718e-04 9.39335736e+02] [ 9.99951542e-01 3.90941968e-03 -9.03490228e-03 1.64022906e+02] [ 9.03524034e-03 -6.88195062e-05 9.99959179e-01 1.58990506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.1592541539999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:939.34, Y:164.05, Z:15.90 [[ 1.22088439e-02 -9.99925469e-01 -6.92804084e-06 9.39342006e+02] [ 9.99884646e-01 1.22084081e-02 -9.03597015e-03 1.64053912e+02] [ 9.03538127e-03 1.03391507e-04 9.99959175e-01 1.59036312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.1892541539999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:939.34, Y:164.08, Z:15.90 [[ 1.45074184e-02 -9.99894757e-01 -1.01066770e-04 9.39342948e+02] [ 9.99853937e-01 1.45077394e-02 -9.03491713e-03 1.64082393e+02] [ 9.03543251e-03 3.00213150e-05 9.99959179e-01 1.59046775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.2192541539998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:939.34, Y:164.11, Z:15.91 [[ 1.97509446e-02 -9.99804926e-01 -9.84214073e-05 9.39344887e+02] [ 9.99764106e-01 1.97510275e-02 -9.03494594e-03 1.64109484e+02] [ 9.03512739e-03 8.00505261e-05 9.99959179e-01 1.59054496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.2492541539998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:939.35, Y:164.14, Z:15.91 [[ 2.22028673e-02 -9.99753481e-01 -9.56316407e-05 9.39346160e+02] [ 9.99712661e-01 2.22028250e-02 -9.03497547e-03 1.64137363e+02] [ 9.03487148e-03 1.04998199e-04 9.99959179e-01 1.59056845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.2792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:939.35, Y:164.17, Z:15.91 [[ 2.78792750e-02 -9.99611293e-01 -9.30075998e-05 9.39348985e+02] [ 9.99570473e-01 2.78789771e-02 -9.03500249e-03 1.64165104e+02] [ 9.03408348e-03 1.58921668e-04 9.99959179e-01 1.59082724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.3092541539997 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:939.35, Y:164.19, Z:15.91 [[ 2.97029457e-02 -9.99558766e-01 -9.04029337e-05 9.39349250e+02] [ 9.99517947e-01 2.97025499e-02 -9.03502855e-03 1.64193453e+02] [ 9.03372718e-03 1.78007608e-04 9.99959179e-01 1.59059244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.339254154 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:939.35, Y:164.22, Z:15.91 [[ 3.28813299e-02 -9.99459259e-01 -8.78089725e-05 9.39350946e+02] [ 9.99418442e-01 3.28807808e-02 -9.03505376e-03 1.64221657e+02] [ 9.03305536e-03 2.09326677e-04 9.99959179e-01 1.59083767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.369254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:939.35, Y:164.25, Z:15.90 [[ 3.58002317e-02 -9.99358963e-01 -8.52127471e-05 9.39349368e+02] [ 9.99318148e-01 3.57995400e-02 -9.03507824e-03 1.64246932e+02] [ 9.03233700e-03 2.38303250e-04 9.99959179e-01 1.59045718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.399254154 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:939.35, Y:164.28, Z:15.91 [[ 4.17828813e-02 -9.99126714e-01 -1.10278306e-05 9.39353689e+02] [ 9.99085922e-01 4.17812751e-02 -9.03574350e-03 1.64277060e+02] [ 9.02831347e-03 3.66521648e-04 9.99959177e-01 1.59095956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.4292541539999 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:939.35, Y:164.31, Z:15.91 [[ 4.57245437e-02 -9.98954083e-01 -8.13158225e-05 9.39354931e+02] [ 9.98913278e-01 4.57234114e-02 -9.03511093e-03 1.64305584e+02] [ 9.02937899e-03 3.31898870e-04 9.99959179e-01 1.59072410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.4592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:939.36, Y:164.33, Z:15.91 [[ 4.78811067e-02 -9.98853039e-01 -7.87231393e-05 9.39357175e+02] [ 9.98812237e-01 4.78798629e-02 -9.03513352e-03 1.64334034e+02] [ 9.02853983e-03 3.53982557e-04 9.99959179e-01 1.59112774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.4892541539998 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:939.36, Y:164.36, Z:15.91 [[ 4.82400713e-02 -9.98835767e-01 -7.60753692e-05 9.39357922e+02] [ 9.98794967e-01 4.82387890e-02 -9.03515582e-03 1.64361392e+02] [ 9.02830658e-03 3.59872865e-04 9.99959179e-01 1.59086401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.5192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:939.36, Y:164.39, Z:15.91 [[ 4.85492183e-02 -9.98820789e-01 -7.41473022e-05 9.39360958e+02] [ 9.98779989e-01 4.85479059e-02 -9.03517164e-03 1.64389722e+02] [ 9.02811696e-03 3.64593679e-04 9.99959179e-01 1.59117243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.5492541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:939.36, Y:164.42, Z:15.91 [[ 4.71044101e-02 -9.98889969e-01 -7.14350020e-05 9.39361999e+02] [ 9.98849168e-01 4.71031322e-02 -9.03519308e-03 1.64417063e+02] [ 9.02852855e-03 3.54244648e-04 9.99959179e-01 1.59100863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.579254154 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:939.37, Y:164.44, Z:15.91 [[ 4.37187221e-02 -9.99043877e-01 -6.85875903e-05 9.39365014e+02] [ 9.99003073e-01 4.37175568e-02 -9.03521470e-03 1.64443208e+02] [ 9.02957441e-03 3.26488827e-04 9.99959179e-01 1.59083735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.609254154 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:939.37, Y:164.47, Z:15.91 [[ 4.11684320e-02 -9.99152219e-01 -6.55988406e-05 9.39367122e+02] [ 9.99111412e-01 4.11673438e-02 -9.03523640e-03 1.64471289e+02] [ 9.03027702e-03 3.06425965e-04 9.99959179e-01 1.59087992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.639254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:939.37, Y:164.50, Z:15.91 [[ 3.58383047e-02 -9.99357600e-01 -6.29846326e-05 9.39372625e+02] [ 9.99316789e-01 3.58374106e-02 -9.03525462e-03 1.64499043e+02] [ 9.03170758e-03 2.60866607e-04 9.99959179e-01 1.59110120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.6692541539999 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:939.37, Y:164.53, Z:15.91 [[ 3.25507720e-02 -9.99470081e-01 -6.03733658e-05 9.39373584e+02] [ 9.99429268e-01 3.25499885e-02 -9.03527207e-03 1.64527302e+02] [ 9.03244927e-03 2.33766172e-04 9.99959179e-01 1.59072596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.6992541539998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:939.38, Y:164.55, Z:15.91 [[ 3.05884142e-02 -9.99532063e-01 -5.77439515e-05 9.39375213e+02] [ 9.99491249e-01 3.05876871e-02 -9.03528888e-03 1.64554769e+02] [ 9.03282719e-03 2.18660584e-04 9.99959179e-01 1.59090863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.7292541539998 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:939.38, Y:164.58, Z:15.91 [[ 2.78544074e-02 -9.99611989e-01 -5.49649163e-05 9.39376074e+02] [ 9.99571174e-01 2.78537669e-02 -9.03530578e-03 1.64582676e+02] [ 9.03333097e-03 1.96731742e-04 9.99959179e-01 1.59087287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.7592541539998 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:939.38, Y:164.61, Z:15.91 [[ 2.69626553e-02 -9.99636440e-01 -5.23738175e-05 9.39376348e+02] [ 9.99595624e-01 2.69620277e-02 -9.03532080e-03 1.64609867e+02] [ 9.03344803e-03 1.91263601e-04 9.99959179e-01 1.59087412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.7892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:939.37, Y:164.63, Z:15.91 [[ 2.14994903e-02 -9.99768858e-01 -4.96424141e-05 9.39371488e+02] [ 9.99728040e-01 2.14990611e-02 -9.03533581e-03 1.64632121e+02] [ 9.03431463e-03 1.44626201e-04 9.99959179e-01 1.59068672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.8192541539997 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:939.38, Y:164.67, Z:15.91 [[ 2.48162774e-02 -9.99692023e-01 1.07845077e-04 9.39376266e+02] [ 9.99651239e-01 2.48142902e-02 -9.03610000e-03 1.64665369e+02] [ 9.03064099e-03 3.32049829e-04 9.99959168e-01 1.59067698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.849254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:939.38, Y:164.69, Z:15.91 [[ 2.42842320e-02 -9.99705093e-01 -4.77214014e-05 9.39377258e+02] [ 9.99664277e-01 2.42836719e-02 -9.03527845e-03 1.64692717e+02] [ 9.03377274e-03 1.71709418e-04 9.99959180e-01 1.59101330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.879254154 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:939.38, Y:164.72, Z:15.91 [[ 2.24562351e-02 -9.99747826e-01 -4.49772285e-05 9.39376152e+02] [ 9.99707009e-01 2.24557248e-02 -9.03529212e-03 1.64720382e+02] [ 9.03402365e-03 1.57934594e-04 9.99959180e-01 1.59089338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.9092541539999 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:939.38, Y:164.75, Z:15.91 [[ 2.10955778e-02 -9.99777463e-01 -4.24298705e-05 9.39375714e+02] [ 9.99736645e-01 2.10951000e-02 -9.03530408e-03 1.64748623e+02] [ 9.03418845e-03 1.48186264e-04 9.99959180e-01 1.59083116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.9392541539999 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:939.38, Y:164.78, Z:15.91 [[ 1.79301698e-02 -9.99839241e-01 -3.98251202e-05 9.39376091e+02] [ 9.99798422e-01 1.79297977e-02 -9.03531556e-03 1.64776443e+02] [ 9.03457711e-03 1.22187650e-04 9.99959180e-01 1.59099462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.9692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:939.38, Y:164.80, Z:15.91 [[ 1.62509923e-02 -9.99867943e-01 -3.71654545e-05 9.39377273e+02] [ 9.99827124e-01 1.62506647e-02 -9.03532650e-03 1.64803966e+02] [ 9.03473729e-03 1.09673992e-04 9.99959180e-01 1.59126390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.9992541539998 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:939.38, Y:164.83, Z:15.91 [[ 1.16950700e-02 -9.99931610e-01 -3.43670702e-05 9.39377272e+02] [ 9.99890790e-01 1.16949031e-02 -9.03533714e-03 1.64832475e+02] [ 9.03512113e-03 7.13055833e-05 9.99959180e-01 1.59109481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.0292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:939.38, Y:164.86, Z:15.91 [[ 9.65960036e-03 -9.99953345e-01 -3.17492177e-05 9.39377959e+02] [ 9.99912525e-01 9.65949291e-03 -9.03534634e-03 1.64860509e+02] [ 9.03523147e-03 5.55313944e-05 9.99959180e-01 1.59145142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.0592541539997 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:939.38, Y:164.89, Z:15.91 [[ 7.26583977e-03 -9.99973603e-01 -2.91438007e-05 9.39376967e+02] [ 9.99932783e-01 7.26580650e-03 -9.03535475e-03 1.64887422e+02] [ 9.03532799e-03 3.65075980e-05 9.99959180e-01 1.59110989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.089254154 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:939.38, Y:164.92, Z:15.91 [[ 3.87759800e-03 -9.99992482e-01 -2.63944264e-05 9.39376338e+02] [ 9.99951662e-01 3.87767820e-03 -9.03536278e-03 1.64915763e+02] [ 9.03539720e-03 8.64235402e-06 9.99959180e-01 1.59135248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.119254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:939.38, Y:164.94, Z:15.92 [[ 1.98284944e-03 -9.99998034e-01 -2.38285129e-05 9.39376053e+02] [ 9.99957214e-01 1.98298380e-03 -9.03536954e-03 1.64943431e+02] [ 9.03539903e-03 -5.91171590e-06 9.99959180e-01 1.59164479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.149254154 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:939.37, Y:164.97, Z:15.92 [[-1.32030611e-03 -9.99999128e-01 -2.12099898e-05 9.39374619e+02] [ 9.99958309e-01 -1.32006058e-03 -9.03537569e-03 1.64970895e+02] [ 9.03533982e-03 -3.31385673e-05 9.99959180e-01 1.59163850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.1792541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:939.37, Y:165.00, Z:15.92 [[-3.43017250e-03 -9.99994117e-01 -1.84500046e-05 9.39374140e+02] [ 9.99953298e-01 -3.42986578e-03 -9.03538133e-03 1.64999019e+02] [ 9.03526489e-03 -4.94420595e-05 9.99959180e-01 1.59172957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.2092541539998 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:939.37, Y:165.03, Z:15.92 [[-5.72707620e-03 -9.99983600e-01 -1.58162327e-05 9.39373509e+02] [ 9.99942782e-01 -5.72669952e-03 -9.03538594e-03 1.65026329e+02] [ 9.03514718e-03 -6.75616715e-05 9.99959180e-01 1.59159355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.2392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:939.37, Y:165.05, Z:15.92 [[-1.01866780e-02 -9.99948114e-01 -1.30417368e-05 9.39372580e+02] [ 9.99907298e-01 -1.01861444e-02 -9.03538994e-03 1.65054069e+02] [ 9.03478829e-03 -1.05081136e-04 9.99959180e-01 1.59193001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.2692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:939.37, Y:165.08, Z:15.92 [[-1.24764739e-02 -9.99922166e-01 -1.04723335e-05 9.39371843e+02] [ 9.99881350e-01 -1.24758700e-02 -9.03539292e-03 1.65081930e+02] [ 9.03455901e-03 -1.23200935e-04 9.99959180e-01 1.59190417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.2992541539998 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:939.37, Y:165.11, Z:15.92 [[-1.66029574e-02 -9.99862161e-01 -7.92369292e-06 9.39369640e+02] [ 9.99821348e-01 -1.66022080e-02 -9.03539516e-03 1.65110367e+02] [ 9.03401818e-03 -1.57936558e-04 9.99959180e-01 1.59167887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.329254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:939.37, Y:165.14, Z:15.92 [[-1.82818965e-02 -9.99832872e-01 -5.38405892e-06 9.39368751e+02] [ 9.99792060e-01 -1.82811016e-02 -9.03539667e-03 1.65138229e+02] [ 9.03378818e-03 -1.70567126e-04 9.99959180e-01 1.59190862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.359254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:939.37, Y:165.17, Z:15.92 [[-2.00307515e-02 -9.99799364e-01 -2.85646665e-06 9.39367096e+02] [ 9.99758553e-01 -2.00299080e-02 -9.03539747e-03 1.65165291e+02] [ 9.03352743e-03 -1.83841578e-04 9.99959180e-01 1.59193440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.389254154 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:939.36, Y:165.19, Z:15.92 [[-2.22129472e-02 -9.99753262e-01 -3.32750432e-08 9.39363113e+02] [ 9.99712452e-01 -2.22120402e-02 -9.03539748e-03 1.65192959e+02] [ 9.03316736e-03 -2.00736073e-04 9.99959180e-01 1.59183392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.4192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:939.36, Y:165.21, Z:15.92 [[-2.66340654e-02 -9.99645250e-01 2.51754499e-06 9.39359438e+02] [ 9.99604444e-01 -2.66330009e-02 -9.03539677e-03 1.65209743e+02] [ 9.03225851e-03 -2.38132799e-04 9.99959180e-01 1.59155304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.4492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:939.36, Y:165.19, Z:15.92 [[-2.23133298e-02 -9.99751026e-01 4.01128016e-05 9.39358553e+02] [ 9.99710209e-01 -2.23127814e-02 -9.03537526e-03 1.65186961e+02] [ 9.03402071e-03 -1.61508131e-04 9.99959179e-01 1.59196509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.4792541539998 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:939.36, Y:165.19, Z:15.92 [[-2.24167800e-02 -9.99748712e-01 6.55031938e-06 9.39356198e+02] [ 9.99707901e-01 -2.24159241e-02 -9.03539960e-03 1.65186929e+02] [ 9.03327594e-03 -1.95996159e-04 9.99959180e-01 1.59179261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.5092541539998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:939.35, Y:165.33, Z:15.91 [[-2.56298825e-02 -9.99671501e-01 1.00420432e-05 9.39351800e+02] [ 9.99630692e-01 -2.56289270e-02 -9.03539572e-03 1.65328438e+02] [ 9.03268496e-03 -2.21537796e-04 9.99959180e-01 1.59145509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.5392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:939.35, Y:165.18, Z:15.92 [[-1.95569963e-02 -9.99808743e-01 4.11377449e-05 9.39350059e+02] [ 9.99767925e-01 -1.95565696e-02 -9.03534891e-03 1.65183611e+02] [ 9.03442535e-03 -1.35576087e-04 9.99959180e-01 1.59194074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.5692541539997 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:939.34, Y:165.18, Z:15.92 [[-1.61953955e-02 -9.99868846e-01 1.46845795e-05 9.39344874e+02] [ 9.99828029e-01 -1.61948671e-02 -9.03539190e-03 1.65182132e+02] [ 9.03444469e-03 -1.31649691e-04 9.99959180e-01 1.59175260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.599254154 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:939.34, Y:165.18, Z:15.92 [[-1.42203037e-02 -9.99898886e-01 1.81827555e-05 9.39342253e+02] [ 9.99858068e-01 -1.42198875e-02 -9.03538486e-03 1.65182167e+02] [ 9.03472982e-03 -1.10305742e-04 9.99959180e-01 1.59159818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.629254154 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:939.34, Y:165.18, Z:15.92 [[-1.46082601e-02 -9.99893294e-01 2.16850312e-05 9.39342331e+02] [ 9.99852475e-01 -1.46078597e-02 -9.03537646e-03 1.65179794e+02] [ 9.03472910e-03 -1.10309297e-04 9.99959180e-01 1.59159591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.6592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:939.34, Y:165.18, Z:15.92 [[-1.20806749e-02 -9.99927026e-01 2.51908667e-05 9.39340820e+02] [ 9.99886207e-01 -1.20804094e-02 -9.03536668e-03 1.65179724e+02] [ 9.03501165e-03 -8.39653274e-05 9.99959180e-01 1.59194704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.6892541539999 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:939.34, Y:165.19, Z:15.92 [[-6.78875295e-03 -9.99976956e-01 2.86996295e-05 9.39335668e+02] [ 9.99936136e-01 -6.78873515e-03 -9.03535554e-03 1.65185419e+02] [ 9.03534216e-03 -3.26410000e-05 9.99959180e-01 1.59173458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.7192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:939.33, Y:165.18, Z:15.92 [[-3.70640473e-03 -9.99993131e-01 3.22214457e-05 9.39334215e+02] [ 9.99952311e-01 -3.70654457e-03 -9.03534298e-03 1.65182870e+02] [ 9.03540034e-03 -1.26872886e-06 9.99959180e-01 1.59201900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.7492541539998 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:939.33, Y:165.18, Z:15.92 [[ 2.70949669e-03 -9.99996329e-01 3.57534409e-05 9.39329017e+02] [ 9.99955511e-01 2.70906304e-03 -9.03532900e-03 1.65184883e+02] [ 9.03519897e-03 6.02330443e-05 9.99959180e-01 1.59178498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.7792541539998 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:939.33, Y:165.18, Z:15.92 [[ 6.03060774e-03 -9.99981815e-01 3.92908242e-05 9.39327052e+02] [ 9.99940999e-01 6.03000658e-03 -9.03531362e-03 1.65183974e+02] [ 9.03491239e-03 9.37769382e-05 9.99959180e-01 1.59186560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.8092541539997 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:939.33, Y:165.19, Z:15.92 [[ 9.43493220e-03 -9.99955489e-01 4.28360414e-05 9.39325012e+02] [ 9.99914676e-01 9.43416006e-03 -9.03529681e-03 1.65185301e+02] [ 9.03449052e-03 1.28079799e-04 9.99959180e-01 1.59185490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.839254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:939.32, Y:165.19, Z:15.92 [[ 1.60718578e-02 -9.99870838e-01 4.63896915e-05 9.39321486e+02] [ 9.99830032e-01 1.60707827e-02 -9.03527857e-03 1.65189236e+02] [ 9.03336604e-03 1.91595519e-04 9.99959180e-01 1.59208863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.869254154 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:939.32, Y:165.19, Z:15.92 [[ 1.82072413e-02 -9.99834233e-01 4.99567319e-05 9.39319176e+02] [ 9.99793431e-01 1.82060468e-02 -9.03525885e-03 1.65185282e+02] [ 9.03285158e-03 2.14453550e-04 9.99959180e-01 1.59176730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.899254154 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:939.32, Y:165.19, Z:15.92 [[ 2.14543402e-02 -9.99769828e-01 5.35286927e-05 9.39316252e+02] [ 9.99729030e-01 2.14529810e-02 -9.03523768e-03 1.65186498e+02] [ 9.03200967e-03 2.47359251e-04 9.99959180e-01 1.59171649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.9292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:939.32, Y:165.19, Z:15.92 [[ 2.19054458e-02 -9.99760045e-01 5.71036883e-05 9.39315631e+02] [ 9.99719250e-01 2.19040359e-02 -9.03521509e-03 1.65185732e+02] [ 9.03179625e-03 2.55008071e-04 9.99959180e-01 1.59197206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.9592541539998 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:939.31, Y:165.18, Z:15.92 [[ 2.14276682e-02 -9.99770399e-01 6.06866809e-05 9.39314212e+02] [ 9.99729604e-01 2.14262454e-02 -9.03519102e-03 1.65183650e+02] [ 9.03181625e-03 2.54273347e-04 9.99959180e-01 1.59153582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.9892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:939.31, Y:165.18, Z:15.92 [[ 1.99313171e-02 -9.99801350e-01 6.42721505e-05 9.39313916e+02] [ 9.99760553e-01 1.99299230e-02 -9.03516552e-03 1.65181014e+02] [ 9.03208974e-03 2.44339510e-04 9.99959180e-01 1.59188794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.0192541539998 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:939.31, Y:165.17, Z:15.92 [[ 1.82652969e-02 -9.99833173e-01 6.78576082e-05 9.39313569e+02] [ 9.99792376e-01 1.82639384e-02 -9.03513859e-03 1.65173858e+02] [ 9.03239194e-03 2.32873008e-04 9.99959180e-01 1.59151541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.0492541539998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:939.31, Y:165.17, Z:15.92 [[ 1.48512197e-02 -9.99889712e-01 7.14362743e-05 9.39314881e+02] [ 9.99848911e-01 1.48499682e-02 -9.03511029e-03 1.65169100e+02] [ 9.03305300e-03 2.05607889e-04 9.99959180e-01 1.59165871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.079254154 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:939.32, Y:165.17, Z:15.92 [[ 1.28183182e-02 -9.99917839e-01 7.50044750e-05 9.39315720e+02] [ 9.99877037e-01 1.28171174e-02 -9.03508067e-03 1.65167420e+02] [ 9.03337700e-03 1.90809791e-04 9.99959180e-01 1.59166154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.109254154 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:939.32, Y:165.17, Z:15.91 [[ 8.26381691e-03 -9.99965851e-01 7.85714337e-05 9.39317184e+02] [ 9.99925045e-01 8.26276975e-03 -9.03504965e-03 1.65165052e+02] [ 9.03409190e-03 1.53229540e-04 9.99959180e-01 1.59141888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.139254154 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:939.32, Y:165.16, Z:15.92 [[ 5.88832061e-03 -9.99982660e-01 8.21383780e-05 9.39318667e+02] [ 9.99941852e-01 5.88733818e-03 -9.03501723e-03 1.65157885e+02] [ 9.03437699e-03 1.35334680e-04 9.99959180e-01 1.59157392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.1692541539999 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:939.32, Y:165.16, Z:15.92 [[ 3.57486761e-03 -9.99993607e-01 8.56998246e-05 9.39320155e+02] [ 9.99952797e-01 3.57394742e-03 -9.03498345e-03 1.65155947e+02] [ 9.03461939e-03 1.17994649e-04 9.99959180e-01 1.59161949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.1992541539998 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:939.32, Y:165.15, Z:15.92 [[-1.99477682e-03 -9.99998007e-01 8.68078088e-05 9.39323133e+02] [ 9.99957193e-01 -1.99547972e-03 -9.03497280e-03 1.65151229e+02] [ 9.03512801e-03 6.87813384e-05 9.99959180e-01 1.59171278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.2292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:939.33, Y:165.15, Z:15.92 [[-4.70808273e-03 -9.99988913e-01 9.03613240e-05 9.39325180e+02] [ 9.99948098e-01 -4.70870699e-03 -9.03493726e-03 1.65145815e+02] [ 9.03526257e-03 4.78194019e-05 9.99959180e-01 1.59197738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.2592541539998 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:939.33, Y:165.14, Z:15.92 [[-1.06237560e-02 -9.99943562e-01 9.34596834e-05 9.39327960e+02] [ 9.99902744e-01 -1.06241668e-02 -9.03490521e-03 1.65139994e+02] [ 9.03538823e-03 -2.53403480e-06 9.99959180e-01 1.59177632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.2892541539998 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:939.33, Y:165.14, Z:15.92 [[-1.39607174e-02 -9.99902540e-01 9.69944712e-05 9.39329298e+02] [ 9.99861721e-01 -1.39610239e-02 -9.03486726e-03 1.65136624e+02] [ 9.03534086e-03 -2.91521694e-05 9.99959180e-01 1.59168997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.3192541539997 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:939.33, Y:165.13, Z:15.92 [[-2.04736388e-02 -9.99790388e-01 1.00523859e-04 9.39331793e+02] [ 9.99749568e-01 -2.04737113e-02 -9.03482799e-03 1.65127895e+02] [ 9.03499228e-03 -8.44771201e-05 9.99959180e-01 1.59171257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.349254154 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:939.33, Y:165.13, Z:15.92 [[-2.40382113e-02 -9.99711035e-01 1.04042507e-04 9.39332700e+02] [ 9.99670215e-01 -2.40381701e-02 -9.03478747e-03 1.65126967e+02] [ 9.03467773e-03 -1.13171935e-04 9.99959180e-01 1.59160789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.379254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:939.33, Y:165.12, Z:15.92 [[-2.74276122e-02 -9.99623787e-01 1.07554609e-04 9.39334100e+02] [ 9.99582967e-01 -2.74274643e-02 -9.03474566e-03 1.65120581e+02] [ 9.03429662e-03 -1.40291745e-04 9.99959180e-01 1.59192992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.4092541539999 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:939.33, Y:165.11, Z:15.92 [[-3.09219896e-02 -9.99521795e-01 1.11064309e-04 9.39334679e+02] [ 9.99480976e-01 -3.09217307e-02 -9.03470252e-03 1.65114438e+02] [ 9.03381638e-03 -1.68364313e-04 9.99959180e-01 1.59161075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.4392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:939.34, Y:165.11, Z:15.92 [[-3.64443096e-02 -9.99335679e-01 1.14563387e-04 9.39336533e+02] [ 9.99294862e-01 -3.64438568e-02 -9.03465815e-03 1.65107689e+02] [ 9.03283137e-03 -2.14779275e-04 9.99959180e-01 1.59181855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.4692541539998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:939.34, Y:165.10, Z:15.92 [[-4.07643543e-02 -9.99168781e-01 1.18052452e-04 9.39336970e+02] [ 9.99127966e-01 -4.07637565e-02 -9.03461256e-03 1.65100971e+02] [ 9.03191508e-03 -2.50340640e-04 9.99959180e-01 1.59162676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.4992541539998 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:939.34, Y:165.10, Z:15.91 [[-4.24417859e-02 -9.99098934e-01 1.21529848e-04 9.39336687e+02] [ 9.99058119e-01 -4.24411510e-02 -9.03456578e-03 1.65098032e+02] [ 9.03158291e-03 -2.62027725e-04 9.99959180e-01 1.59125485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.5292541539998 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:939.34, Y:165.10, Z:15.92 [[-4.31619874e-02 -9.99068079e-01 1.25000848e-04 9.39336819e+02] [ 9.99027264e-01 -4.31613545e-02 -9.03451776e-03 1.65095339e+02] [ 9.03149351e-03 -2.65068487e-04 9.99959180e-01 1.59155770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.5592541539997 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:939.34, Y:165.10, Z:15.92 [[-4.27565486e-02 -9.99085512e-01 1.28470662e-04 9.39335657e+02] [ 9.99044697e-01 -4.27559636e-02 -9.03446842e-03 1.65095537e+02] [ 9.03169939e-03 -2.57934754e-04 9.99959180e-01 1.59156046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.589254154 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:939.34, Y:165.10, Z:15.92 [[-4.14268685e-02 -9.99141530e-01 1.31943956e-04 9.39335061e+02] [ 9.99100713e-01 -4.14263692e-02 -9.03441769e-03 1.65095289e+02] [ 9.03212787e-03 -2.42442333e-04 9.99959180e-01 1.59173007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.619254154 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:939.33, Y:165.10, Z:15.92 [[-3.71254880e-02 -9.99310602e-01 1.35422446e-04 9.39332898e+02] [ 9.99269783e-01 -3.71251958e-02 -9.03436555e-03 1.65097512e+02] [ 9.03316486e-03 -2.00081671e-04 9.99959180e-01 1.59167530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.649254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:939.33, Y:165.09, Z:15.92 [[-3.40233620e-02 -9.99421028e-01 1.38910218e-04 9.39332169e+02] [ 9.99380209e-01 -3.40232280e-02 -9.03431192e-03 1.65094106e+02] [ 9.03380748e-03 -1.68553542e-04 9.99959180e-01 1.59183122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.6792541539999 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:939.33, Y:165.09, Z:15.92 [[-3.11754423e-02 -9.99513918e-01 1.42402682e-04 9.39329945e+02] [ 9.99473098e-01 -3.11754563e-02 -9.03425687e-03 1.65093350e+02] [ 9.03430495e-03 -1.39319305e-04 9.99959180e-01 1.59154901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.7092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:939.33, Y:165.10, Z:15.92 [[-2.35186123e-02 -9.99723389e-01 1.45895125e-04 9.39327215e+02] [ 9.99682570e-01 -2.35189704e-02 -9.03420047e-03 1.65099095e+02] [ 9.03513281e-03 -6.66230449e-05 9.99959180e-01 1.59171949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.7392541539998 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:939.33, Y:165.10, Z:15.92 [[-2.04158478e-02 -9.99791564e-01 1.48957886e-04 9.39325438e+02] [ 9.99750747e-01 -2.04163603e-02 -9.03414997e-03 1.65098631e+02] [ 9.03530811e-03 -3.55190731e-05 9.99959180e-01 1.59153880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.7692541539998 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:939.32, Y:165.10, Z:15.91 [[-1.40550954e-02 -9.99901211e-01 1.52475066e-04 9.39322816e+02] [ 9.99860399e-01 -1.40558993e-02 -9.03409061e-03 1.65098618e+02] [ 9.03534131e-03 2.54787753e-05 9.99959180e-01 1.59143886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.7992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:939.32, Y:165.10, Z:15.92 [[-1.06858232e-02 -9.99942893e-01 1.55997571e-04 9.39322246e+02] [ 9.99902085e-01 -1.06867965e-02 -9.03402978e-03 1.65103837e+02] [ 9.03518099e-03 5.94462514e-05 9.99959180e-01 1.59179433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.829254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:939.32, Y:165.10, Z:15.92 [[-8.09270025e-03 -9.99967241e-01 1.59086958e-04 9.39321022e+02] [ 9.99926436e-01 -8.09380726e-03 -9.03397538e-03 1.65104095e+02] [ 9.03496705e-03 8.59660003e-05 9.99959180e-01 1.59178929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.859254154 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:939.32, Y:165.10, Z:15.92 [[-3.56765598e-03 -9.99993623e-01 1.62634629e-04 9.39318070e+02] [ 9.99952824e-01 -3.56897966e-03 -9.03391151e-03 1.65101861e+02] [ 9.03443434e-03 1.30397068e-04 9.99959180e-01 1.59158520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.889254154 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:939.32, Y:165.10, Z:15.92 [[-1.75756658e-03 -9.99998442e-01 1.66185929e-04 9.39317045e+02] [ 9.99957647e-01 -1.75899618e-03 -9.03384618e-03 1.65101687e+02] [ 9.03412443e-03 1.50301305e-04 9.99959180e-01 1.59164513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.9192541539999 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:939.32, Y:165.10, Z:15.92 [[ 8.39409933e-04 -9.99999633e-01 1.69740212e-04 9.39315116e+02] [ 9.99958844e-01 8.37842295e-04 -9.03377940e-03 1.65101463e+02] [ 9.03363387e-03 1.77316270e-04 9.99959180e-01 1.59160273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.9492541539998 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:939.31, Y:165.10, Z:15.92 [[ 1.43141338e-03 -9.99998961e-01 1.73299930e-04 9.39314610e+02] [ 9.99958173e-01 1.42978945e-03 -9.03371111e-03 1.65101752e+02] [ 9.03345394e-03 1.86223656e-04 9.99959180e-01 1.59165611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.9792541539998 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:939.31, Y:165.10, Z:15.91 [[ 1.62288990e-03 -9.99998668e-01 1.76866332e-04 9.39314467e+02] [ 9.99957882e-01 1.62122596e-03 -9.03364129e-03 1.65099521e+02] [ 9.03334251e-03 1.91519488e-04 9.99959180e-01 1.59142194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.0092541539998 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:939.32, Y:165.10, Z:15.92 [[ 2.35087917e-03 -9.99997220e-01 1.80436400e-04 9.39315004e+02] [ 9.99956437e-01 2.34915330e-03 -9.03356998e-03 1.65095800e+02] [ 9.03312100e-03 2.01665372e-04 9.99959180e-01 1.59157752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.0392541539998 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:939.32, Y:165.09, Z:15.91 [[ 2.84283031e-03 -9.99995942e-01 1.84005208e-04 9.39315818e+02] [ 9.99955161e-01 2.84105216e-03 -9.03349728e-03 1.65092810e+02] [ 9.03293786e-03 2.09677657e-04 9.99959180e-01 1.59134925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.0692541539997 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:939.32, Y:165.09, Z:15.91 [[ 2.55999832e-03 -9.99996706e-01 1.87571522e-04 9.39316149e+02] [ 9.99955926e-01 2.55819950e-03 -9.03342323e-03 1.65094999e+02] [ 9.03291363e-03 2.10688804e-04 9.99959180e-01 1.59112361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.099254154 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:939.32, Y:165.09, Z:15.91 [[ 2.50851510e-03 -9.99996835e-01 1.91142737e-04 9.39317238e+02] [ 9.99956057e-01 2.50668614e-03 -9.03334767e-03 1.65089511e+02] [ 9.03283995e-03 2.13794627e-04 9.99959180e-01 1.59114988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.129254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:939.32, Y:165.09, Z:15.91 [[ 2.58382898e-03 -9.99996643e-01 1.94715727e-04 9.39320305e+02] [ 9.99955866e-01 2.58196469e-03 -9.03327065e-03 1.65087896e+02] [ 9.03273758e-03 2.18047559e-04 9.99959180e-01 1.59129498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.1592541539999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:939.32, Y:165.09, Z:15.91 [[ 1.99772394e-03 -9.99997985e-01 1.98285646e-04 9.39321767e+02] [ 9.99957208e-01 1.99585132e-03 -9.03319229e-03 1.65085083e+02] [ 9.03277834e-03 2.16322986e-04 9.99959180e-01 1.59118212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.1892541539999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:939.33, Y:165.08, Z:15.91 [[ 7.72066214e-04 -9.99999682e-01 2.01855535e-04 9.39325862e+02] [ 9.99958904e-01 7.70211344e-04 -9.03311251e-03 1.65081922e+02] [ 9.03295417e-03 2.08821400e-04 9.99959180e-01 1.59115773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.2192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:939.33, Y:165.08, Z:15.91 [[-3.43586973e-04 -9.99999920e-01 2.05424157e-04 9.39328261e+02] [ 9.99959142e-01 -3.45428568e-04 -9.03303136e-03 1.65084698e+02] [ 9.03310159e-03 2.02312132e-04 9.99959180e-01 1.59134575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.2492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:939.33, Y:165.08, Z:15.91 [[-2.31613374e-03 -9.99997296e-01 2.08998255e-04 9.39330356e+02] [ 9.99956516e-01 -2.31792716e-03 -9.03294866e-03 1.65076136e+02] [ 9.03340868e-03 1.88067650e-04 9.99959180e-01 1.59138261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.2792541539998 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:939.33, Y:165.07, Z:15.91 [[-7.41997964e-03 -9.99972449e-01 2.12571084e-04 9.39334163e+02] [ 9.99931661e-01 -7.42159717e-03 -9.03286458e-03 1.65071713e+02] [ 9.03419334e-03 1.45532886e-04 9.99959180e-01 1.59126351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.3092541539997 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:939.34, Y:165.07, Z:15.91 [[-1.08992808e-02 -9.99940578e-01 2.16132890e-04 9.39336254e+02] [ 9.99899786e-01 -1.09007885e-02 -9.03277936e-03 1.65066496e+02] [ 9.03459863e-03 1.17660432e-04 9.99959180e-01 1.59128855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.339254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:939.34, Y:165.06, Z:15.92 [[-1.62394253e-02 -9.99868108e-01 2.19687967e-04 9.39341313e+02] [ 9.99827309e-01 -1.62407473e-02 -9.03269289e-03 1.65064264e+02] [ 9.03506945e-03 7.29642872e-05 9.99959180e-01 1.59174824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.369254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:939.34, Y:165.06, Z:15.92 [[-1.93539737e-02 -9.99812670e-01 2.22790384e-04 9.39343348e+02] [ 9.99771868e-01 -1.93551966e-02 -9.03261637e-03 1.65059746e+02] [ 9.03523644e-03 4.79225394e-05 9.99959180e-01 1.59176444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.399254154 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:939.34, Y:165.06, Z:15.91 [[-2.26453269e-02 -9.99743536e-01 2.26336294e-04 9.39344804e+02] [ 9.99702732e-01 -2.26464475e-02 -9.03252752e-03 1.65055612e+02] [ 9.03533672e-03 2.17244733e-05 9.99959180e-01 1.59147767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.4292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:939.35, Y:165.05, Z:15.92 [[-2.60600325e-02 -9.99660353e-01 2.29876747e-04 9.39347785e+02] [ 9.99619546e-01 -2.60610457e-02 -9.03243741e-03 1.65053122e+02] [ 9.03536041e-03 -5.59632307e-06 9.99959180e-01 1.59177151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.4592541539998 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:939.35, Y:165.05, Z:15.92 [[-2.76607683e-02 -9.99617341e-01 2.33414178e-04 9.39348811e+02] [ 9.99576533e-01 -2.76617482e-02 -9.03234600e-03 1.65046411e+02] [ 9.03534633e-03 -1.65262949e-05 9.99959180e-01 1.59163833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.4892541539998 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:939.35, Y:165.04, Z:15.91 [[-2.93941517e-02 -9.99567871e-01 2.36944970e-04 9.39349820e+02] [ 9.99527062e-01 -2.93950927e-02 -9.03225338e-03 1.65042329e+02] [ 9.03531529e-03 -2.86625162e-05 9.99959180e-01 1.59140632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.5192541539998 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:939.35, Y:165.04, Z:15.91 [[-2.97526534e-02 -9.99557263e-01 2.40467947e-04 9.39350284e+02] [ 9.99516454e-01 -2.97536116e-02 -9.03215958e-03 1.65042735e+02] [ 9.03531550e-03 -2.83790436e-05 9.99959180e-01 1.59137446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.5492541539998 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:939.35, Y:165.04, Z:15.91 [[-3.01431047e-02 -9.99545564e-01 2.43992090e-04 9.39350420e+02] [ 9.99504756e-01 -3.01440788e-02 -9.03206438e-03 1.65040365e+02] [ 9.03531480e-03 -2.83832081e-05 9.99959180e-01 1.59137219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.579254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:939.35, Y:165.04, Z:15.92 [[-2.98087661e-02 -9.99555589e-01 2.47520360e-04 9.39351481e+02] [ 9.99514782e-01 -2.98097857e-02 -9.03196769e-03 1.65036267e+02] [ 9.03533232e-03 -2.18315535e-05 9.99959180e-01 1.59161673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.609254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:939.35, Y:165.03, Z:15.92 [[-2.96126226e-02 -9.99561419e-01 2.51046183e-04 9.39352237e+02] [ 9.99520613e-01 -2.96136821e-02 -9.03186969e-03 1.65033720e+02] [ 9.03534288e-03 -1.65315137e-05 9.99959180e-01 1.59155161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.639254154 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:939.35, Y:165.03, Z:15.91 [[-3.01408957e-02 -9.99545628e-01 2.54569009e-04 9.39352213e+02] [ 9.99504822e-01 -3.01419655e-02 -9.03177039e-03 1.65031616e+02] [ 9.03533982e-03 -1.77826969e-05 9.99959180e-01 1.59118965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.6692541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:939.35, Y:165.03, Z:15.91 [[-2.91193152e-02 -9.99575910e-01 2.58091795e-04 9.39353358e+02] [ 9.99535106e-01 -2.91204585e-02 -9.03166972e-03 1.65032063e+02] [ 9.03535523e-03 -5.02422825e-06 9.99959180e-01 1.59140465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.6992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:939.35, Y:165.03, Z:15.91 [[-2.86661505e-02 -9.99589007e-01 2.61618704e-04 9.39354036e+02] [ 9.99548205e-01 -2.86673441e-02 -9.03156756e-03 1.65029075e+02] [ 9.03535556e-03 2.60023181e-06 9.99959180e-01 1.59144657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.7292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:939.35, Y:165.05, Z:15.91 [[-2.68714844e-02 -9.99638861e-01 2.65149189e-04 9.39354187e+02] [ 9.99598062e-01 -2.68727832e-02 -9.03146391e-03 1.65045176e+02] [ 9.03532760e-03 2.23537737e-05 9.99959180e-01 1.59143314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.7592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:939.35, Y:165.03, Z:15.91 [[-2.58652497e-02 -9.99665402e-01 2.68702519e-04 9.39354810e+02] [ 9.99624606e-01 -2.58666217e-02 -9.03135819e-03 1.65026600e+02] [ 9.03528675e-03 3.50033142e-05 9.99959180e-01 1.59142072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.7892541539998 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:939.35, Y:165.03, Z:15.91 [[-2.50303275e-02 -9.99686655e-01 2.72259475e-04 9.39354116e+02] [ 9.99645861e-01 -2.50317657e-02 -9.03125096e-03 1.65034403e+02] [ 9.03523620e-03 4.61078884e-05 9.99959180e-01 1.59118327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.8192541539997 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:939.35, Y:165.03, Z:15.91 [[-2.14568444e-02 -9.99769737e-01 2.75808494e-04 9.39354692e+02] [ 9.99728950e-01 -2.14584605e-02 -9.03114258e-03 1.65025534e+02] [ 9.03498147e-03 8.19539149e-05 9.99959180e-01 1.59139473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.849254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:939.35, Y:165.03, Z:15.92 [[-1.95407738e-02 -9.99809022e-01 2.79361696e-04 9.39354810e+02] [ 9.99768239e-01 -1.95425001e-02 -9.03103266e-03 1.65031617e+02] [ 9.03476736e-03 1.02823585e-04 9.99959180e-01 1.59152351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.879254154 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:939.35, Y:165.03, Z:15.91 [[-1.57967278e-02 -9.99875184e-01 2.82917299e-04 9.39354845e+02] [ 9.99834409e-01 -1.57986390e-02 -9.03092127e-03 1.65025896e+02] [ 9.03426378e-03 1.40211445e-04 9.99959180e-01 1.59138981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.9092541539999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:939.35, Y:165.03, Z:15.91 [[-1.40970985e-02 -9.99900590e-01 2.86479554e-04 9.39354905e+02] [ 9.99859820e-01 -1.40991111e-02 -9.03080827e-03 1.65029640e+02] [ 9.03394963e-03 1.59131202e-04 9.99959180e-01 1.59141741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.9392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:939.36, Y:165.03, Z:15.92 [[-1.21377774e-02 -9.99926292e-01 2.90046023e-04 9.39355491e+02] [ 9.99885528e-01 -1.21399021e-02 -9.03069372e-03 1.65032837e+02] [ 9.03354922e-03 1.80400270e-04 9.99959180e-01 1.59156945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.9692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:939.36, Y:165.02, Z:15.92 [[-8.84965496e-03 -9.99960798e-01 2.93628428e-04 9.39356062e+02] [ 9.99920043e-01 -8.85194602e-03 -9.03057724e-03 1.65022173e+02] [ 9.03282241e-03 2.13687457e-04 9.99959180e-01 1.59151454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.9992541539998 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:939.36, Y:165.02, Z:15.91 [[-6.69513754e-03 -9.99977543e-01 2.97207064e-04 9.39356285e+02] [ 9.99936795e-01 -6.69754870e-03 -9.03045946e-03 1.65020617e+02] [ 9.03224723e-03 2.36728111e-04 9.99959180e-01 1.59121241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.0292541539998 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:939.36, Y:165.03, Z:15.91 [[-6.14759249e-03 -9.99981058e-01 3.00775857e-04 9.39356562e+02] [ 9.99940313e-01 -6.15005817e-03 -9.03034060e-03 1.65026598e+02] [ 9.03201934e-03 2.45243051e-04 9.99959180e-01 1.59121051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.0592541539997 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:939.36, Y:165.04, Z:15.91 [[-6.11539374e-03 -9.99981255e-01 3.04356879e-04 9.39356933e+02] [ 9.99940512e-01 -6.11789304e-03 -9.03021990e-03 1.65038150e+02] [ 9.03191265e-03 2.49115423e-04 9.99959180e-01 1.59113859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.089254154 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:939.36, Y:165.02, Z:15.91 [[-6.29865082e-03 -9.99980116e-01 3.07967704e-04 9.39358330e+02] [ 9.99939374e-01 -6.30117523e-03 -9.03009676e-03 1.65024988e+02] [ 9.03185776e-03 2.51071607e-04 9.99959180e-01 1.59114033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.119254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:939.36, Y:165.01, Z:15.91 [[-7.09611309e-03 -9.99974774e-01 3.11582853e-04 9.39361896e+02] [ 9.99934032e-01 -7.09863764e-03 -9.02997201e-03 1.65014216e+02] [ 9.03195604e-03 2.47484596e-04 9.99959180e-01 1.59135196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.149254154 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:939.36, Y:165.01, Z:15.91 [[-8.50973733e-03 -9.99963742e-01 3.15171767e-04 9.39362871e+02] [ 9.99922999e-01 -8.51223666e-03 -9.02984675e-03 1.65009141e+02] [ 9.03220216e-03 2.38305875e-04 9.99959180e-01 1.59104755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.1792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:939.37, Y:165.01, Z:15.91 [[-1.09617687e-02 -9.99939867e-01 3.18744588e-04 9.39365973e+02] [ 9.99899120e-01 -1.09642004e-02 -9.02972063e-03 1.65006397e+02] [ 9.03267243e-03 2.19730724e-04 9.99959180e-01 1.59119127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.2092541539998 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:939.37, Y:165.02, Z:15.91 [[-1.32893013e-02 -9.99911641e-01 3.22313085e-04 9.39366630e+02] [ 9.99870891e-01 -1.32916703e-02 -9.02959325e-03 1.65015821e+02] [ 9.03307949e-03 2.02274486e-04 9.99959180e-01 1.59088648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.2392541539998 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:939.37, Y:165.00, Z:15.91 [[-1.54246571e-02 -9.99880980e-01 3.25896291e-04 9.39368811e+02] [ 9.99840226e-01 -1.54269715e-02 -9.02946393e-03 1.65000548e+02] [ 9.03341683e-03 1.86567836e-04 9.99959180e-01 1.59092339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.2692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:939.37, Y:165.00, Z:15.91 [[-1.96682650e-02 -9.99806507e-01 3.29478203e-04 9.39372591e+02] [ 9.99765745e-01 -1.96704387e-02 -9.02933322e-03 1.64997751e+02] [ 9.03406709e-03 1.51809703e-04 9.99959180e-01 1.59115822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.2992541539998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:939.37, Y:164.99, Z:15.91 [[-2.27109294e-02 -9.99742018e-01 3.33042852e-04 9.39374557e+02] [ 9.99701252e-01 -2.27130112e-02 -9.02920174e-03 1.64991297e+02] [ 9.03443678e-03 1.27881793e-04 9.99959180e-01 1.59102586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.329254154 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:939.38, Y:164.99, Z:15.91 [[-2.91397270e-02 -9.99575291e-01 3.36600741e-04 9.39378134e+02] [ 9.99534514e-01 -2.91415788e-02 -9.02906910e-03 1.64986305e+02] [ 9.03504346e-03 7.33394490e-05 9.99959180e-01 1.59093986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.359254154 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:939.38, Y:164.98, Z:15.91 [[-3.28879804e-02 -9.99458986e-01 3.40148893e-04 9.39379967e+02] [ 9.99418203e-01 -3.28897112e-02 -9.02893543e-03 1.64982043e+02] [ 9.03523805e-03 4.30075441e-05 9.99959180e-01 1.59097612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.389254154 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:939.38, Y:164.98, Z:15.91 [[-3.70701072e-02 -9.99312608e-01 3.43690347e-04 9.39381897e+02] [ 9.99271820e-01 -3.70716994e-02 -9.02880062e-03 1.64976065e+02] [ 9.03533549e-03 8.74147109e-06 9.99959181e-01 1.59091752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.4192541539999 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:939.38, Y:164.97, Z:15.91 [[-4.51989135e-02 -9.98977947e-01 3.47225127e-04 9.39384385e+02] [ 9.98937148e-01 -4.52002057e-02 -9.02866468e-03 1.64970956e+02] [ 9.03513155e-03 -6.12297562e-05 9.99959181e-01 1.59086346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.4492541539998 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:939.38, Y:164.97, Z:15.91 [[-4.83486814e-02 -9.98830457e-01 3.50750849e-04 9.39384225e+02] [ 9.98789655e-01 -4.83498768e-02 -9.02852771e-03 1.64965829e+02] [ 9.03492722e-03 -8.61910907e-05 9.99959181e-01 1.59081823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.4792541539998 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:939.38, Y:164.96, Z:15.91 [[-5.30288194e-02 -9.98592920e-01 3.54268757e-04 9.39383507e+02] [ 9.98552113e-01 -5.30298554e-02 -9.02838967e-03 1.64959950e+02] [ 9.03447282e-03 -1.25009029e-04 9.99959181e-01 1.59084621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.5092541539998 meters Centerline goodness : 0.999646 Centerline is valid? [True, True] Translation: X:939.38, Y:164.96, Z:15.91 [[-5.54172426e-02 -9.98463220e-01 3.57778334e-04 9.39383090e+02] [ 9.98422412e-01 -5.54182128e-02 -9.02825059e-03 1.64959201e+02] [ 9.03420359e-03 -1.43106846e-04 9.99959181e-01 1.59069900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.5392541539998 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:939.38, Y:164.95, Z:15.91 [[-5.75890361e-02 -9.98340309e-01 3.61285473e-04 9.39383059e+02] [ 9.98299500e-01 -5.75899491e-02 -9.02811024e-03 1.64952750e+02] [ 9.03393278e-03 -1.59249059e-04 9.99959181e-01 1.59065678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.5692541539997 meters Centerline goodness : 0.999735 Centerline is valid? [True, True] Translation: X:939.38, Y:164.95, Z:15.90 [[-6.11927349e-02 -9.98125902e-01 3.64790176e-04 9.39382748e+02] [ 9.98085090e-01 -6.11935323e-02 -9.02796863e-03 1.64946252e+02] [ 9.03337213e-03 -1.88354455e-04 9.99959181e-01 1.59048583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.599254154 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:939.38, Y:164.95, Z:15.91 [[-6.19805692e-02 -9.98077288e-01 3.68284243e-04 9.39381085e+02] [ 9.98036477e-01 -6.19813660e-02 -9.02782609e-03 1.64948873e+02] [ 9.03329495e-03 -1.91988692e-04 9.99959181e-01 1.59051670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.629254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:939.38, Y:164.95, Z:15.91 [[-6.24273224e-02 -9.98049443e-01 3.71779436e-04 9.39377790e+02] [ 9.98008632e-01 -6.24281325e-02 -9.02768215e-03 1.64946766e+02] [ 9.03328264e-03 -1.92534938e-04 9.99959181e-01 1.59061013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.6592541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:939.38, Y:164.94, Z:15.90 [[-6.30941196e-02 -9.98007511e-01 3.75281045e-04 9.39376065e+02] [ 9.97966699e-01 -6.30949341e-02 -9.02753659e-03 1.64939452e+02] [ 9.03322765e-03 -1.95066487e-04 9.99959181e-01 1.59045749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.6892541539999 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:939.37, Y:164.94, Z:15.90 [[-6.34609847e-02 -9.97984248e-01 3.78777309e-04 9.39374153e+02] [ 9.97943437e-01 -6.34618159e-02 -9.02738989e-03 1.64936572e+02] [ 9.03323081e-03 -1.94888722e-04 9.99959181e-01 1.59033484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.7192541539998 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:939.37, Y:164.94, Z:15.91 [[-6.21095195e-02 -9.98069267e-01 3.82265883e-04 9.39370869e+02] [ 9.98028458e-01 -6.21104374e-02 -9.02724216e-03 1.64935685e+02] [ 9.03355567e-03 -1.79165443e-04 9.99959181e-01 1.59051335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.7492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:939.37, Y:164.93, Z:15.91 [[-6.11787910e-02 -9.98126749e-01 3.85755578e-04 9.39369218e+02] [ 9.98085941e-01 -6.11797785e-02 -9.02709304e-03 1.64934009e+02] [ 9.03378347e-03 -1.67249419e-04 9.99959181e-01 1.59071555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.7792541539998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:939.36, Y:164.94, Z:15.91 [[-5.82506377e-02 -9.98301914e-01 3.89249303e-04 9.39364893e+02] [ 9.98261111e-01 -5.82517765e-02 -9.02694238e-03 1.64939072e+02] [ 9.03428833e-03 -1.37252709e-04 9.99959181e-01 1.59060925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.8092541539997 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:939.36, Y:164.94, Z:15.90 [[-5.66221158e-02 -9.98395604e-01 3.92753549e-04 9.39362611e+02] [ 9.98354803e-01 -5.66233528e-02 -9.02678992e-03 1.64938565e+02] [ 9.03454639e-03 -1.19008552e-04 9.99959181e-01 1.59041803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.839254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:939.36, Y:164.93, Z:15.91 [[-5.40033916e-02 -9.98540674e-01 3.96270774e-04 9.39361291e+02] [ 9.98499877e-01 -5.40047674e-02 -9.02663551e-03 1.64933304e+02] [ 9.03486321e-03 -9.17926126e-05 9.99959181e-01 1.59071342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.869254154 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:939.36, Y:164.94, Z:15.90 [[-4.80333807e-02 -9.98845651e-01 3.99786187e-04 9.39357167e+02] [ 9.98804865e-01 -4.80350322e-02 -9.02647981e-03 1.64937867e+02] [ 9.03526385e-03 -3.42639522e-05 9.99959181e-01 1.59048048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.899254154 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:939.36, Y:164.93, Z:15.90 [[-4.48737448e-02 -9.98992585e-01 4.03306887e-04 9.39355230e+02] [ 9.98951806e-01 -4.48755571e-02 -9.02632250e-03 1.64934387e+02] [ 9.03532787e-03 -2.16074949e-06 9.99959181e-01 1.59043878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.9292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:939.35, Y:164.94, Z:15.91 [[-3.62244351e-02 -9.99343597e-01 4.06835300e-04 9.39351468e+02] [ 9.99302837e-01 -3.62266322e-02 -9.02616347e-03 1.64937669e+02] [ 9.03497694e-03 7.95839961e-05 9.99959181e-01 1.59058049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.9592541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:939.35, Y:164.94, Z:15.91 [[-3.27882439e-02 -9.99462237e-01 4.10370247e-04 9.39349219e+02] [ 9.99421486e-01 -3.27906130e-02 -9.02600275e-03 1.64938798e+02] [ 9.03460519e-03 1.14186062e-04 9.99959181e-01 1.59050038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.9892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:939.35, Y:164.95, Z:15.91 [[-2.89369678e-02 -9.99581153e-01 4.13918400e-04 9.39347252e+02] [ 9.99540413e-01 -2.89395260e-02 -9.02584003e-03 1.64946886e+02] [ 9.03403819e-03 1.52547726e-04 9.99959181e-01 1.59051911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.0192541539998 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:939.34, Y:164.94, Z:15.90 [[-2.35877905e-02 -9.99721682e-01 4.17485349e-04 9.39343515e+02] [ 9.99680960e-01 -2.35905988e-02 -9.02567504e-03 1.64939747e+02] [ 9.03301177e-03 2.04456422e-04 9.99959181e-01 1.59013989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.0492541539998 meters Centerline goodness : 0.998713 Centerline is valid? [True, True] Translation: X:939.32, Y:165.49, Z:15.91 [[-1.99909461e-02 -9.99800072e-01 4.21060211e-04 9.39317317e+02] [ 9.99759363e-01 -1.99939331e-02 -9.02550827e-03 1.65494415e+02] [ 9.03212247e-03 2.40530439e-04 9.99959181e-01 1.59064554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.079254154 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:938.69, Y:164.88, Z:16.86 [[-1.54093376e-01 9.88056204e-01 -4.11995351e-04 9.38692174e+02] [ 9.88015467e-01 1.54090786e-01 9.02593059e-03 1.64876832e+02] [ 8.98161140e-03 9.83778338e-04 -9.99959181e-01 1.68648349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.109254154 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:938.73, Y:164.85, Z:16.86 [[-2.32336144e-01 9.72634901e-01 -1.12494293e-03 9.38731056e+02] [ 9.72594345e-01 2.32336792e-01 8.93618261e-03 1.64853981e+02] [ 8.95300872e-03 9.82085080e-04 -9.99959439e-01 1.68639156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.139254154 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:938.77, Y:164.83, Z:16.87 [[-3.08079216e-01 9.51358975e-01 -1.81575445e-03 9.38772532e+02] [ 9.51318841e-01 3.08083002e-01 8.79354109e-03 1.64832767e+02] [ 8.92521732e-03 9.81745822e-04 -9.99959688e-01 1.68659159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.1692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.81, Y:164.82, Z:16.86 [[-3.82416990e-01 9.23986493e-01 -2.49152853e-03 9.38813601e+02] [ 9.23947017e-01 3.82423835e-01 8.59771100e-03 1.64816599e+02] [ 8.89698872e-03 9.85870409e-04 -9.99959935e-01 1.68635471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.1992541539998 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:938.86, Y:164.80, Z:16.87 [[-4.52843029e-01 8.91584703e-01 -3.14785972e-03 9.38857367e+02] [ 8.91546132e-01 4.52852921e-01 8.35029224e-03 1.64802354e+02] [ 8.87051029e-03 9.74909479e-04 -9.99960181e-01 1.68670158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.2292541539998 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:938.90, Y:164.79, Z:16.87 [[-5.20790589e-01 8.53676091e-01 -3.78078158e-03 9.38900852e+02] [ 8.53638653e-01 5.20803415e-01 8.05315142e-03 1.64791114e+02] [ 8.84382679e-03 9.66584175e-04 -9.99960425e-01 1.68670109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.2592541539998 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:938.95, Y:164.78, Z:16.87 [[-5.85530953e-01 8.10638182e-01 -4.38648060e-03 9.38946051e+02] [ 8.10602096e-01 5.85546600e-01 7.70848338e-03 1.64782409e+02] [ 8.81727975e-03 9.57865252e-04 -9.99960668e-01 1.68680325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.2892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.99, Y:164.78, Z:16.87 [[-6.47468724e-01 7.62075875e-01 -4.96119261e-03 9.38986503e+02] [ 7.62041331e-01 6.47487022e-01 7.31891208e-03 1.64783070e+02] [ 8.78987415e-03 9.58132841e-04 -9.99960909e-01 1.68658222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.3192541539997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:939.04, Y:164.78, Z:16.87 [[-7.03975984e-01 7.10202463e-01 -5.50243935e-03 9.39036274e+02] [ 7.10169697e-01 7.03996860e-01 6.88644531e-03 1.64775395e+02] [ 8.76447044e-03 9.40226427e-04 -9.99961149e-01 1.68666399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.349254154 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:939.08, Y:164.78, Z:16.87 [[-7.56338852e-01 6.54152478e-01 -6.00639257e-03 9.39077254e+02] [ 6.54121677e-01 7.56362139e-01 6.41456238e-03 1.64782589e+02] [ 8.73910981e-03 9.22671161e-04 -9.99961388e-01 1.68685704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.379254154 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:939.13, Y:164.78, Z:16.87 [[-8.02802023e-01 5.96210570e-01 -6.47051503e-03 9.39126715e+02] [ 5.96181972e-01 8.02827612e-01 5.90608824e-03 1.64783929e+02] [ 8.71598037e-03 8.83815177e-04 -9.99961625e-01 1.68703780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.4092541539999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:939.17, Y:164.80, Z:16.87 [[-8.45742294e-01 5.33547068e-01 -6.89192911e-03 9.39167145e+02] [ 5.33520790e-01 8.45769937e-01 5.36470985e-03 1.64795685e+02] [ 8.69131166e-03 8.60174550e-04 -9.99961860e-01 1.68691660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.4392541539999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:939.21, Y:164.81, Z:16.87 [[-8.84929234e-01 4.65668785e-01 -7.26866066e-03 9.39210394e+02] [ 4.65644902e-01 8.84958670e-01 4.79344751e-03 1.64809699e+02] [ 8.66462314e-03 8.57247054e-04 -9.99962094e-01 1.68691630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.4692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:939.25, Y:164.82, Z:16.87 [[-9.17724772e-01 3.97144191e-01 -7.59834034e-03 9.39254632e+02] [ 3.97122894e-01 9.17755848e-01 4.19652480e-03 1.64823802e+02] [ 8.64004673e-03 8.33779854e-04 -9.99962327e-01 1.68661119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.4992541539998 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:939.30, Y:164.84, Z:16.87 [[-9.43340212e-01 3.31733564e-01 -7.87954151e-03 9.39303826e+02] [ 3.31715149e-01 9.43372813e-01 3.57710861e-03 1.64838035e+02] [ 8.61999223e-03 7.60667108e-04 -9.99962558e-01 1.68676484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.5292541539998 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:939.35, Y:164.86, Z:16.87 [[-9.65416369e-01 2.60586752e-01 -8.11046204e-03 9.39345083e+02] [ 2.60571174e-01 9.65450164e-01 2.94010607e-03 1.64859556e+02] [ 8.59639959e-03 7.25073912e-04 -9.99962787e-01 1.68677581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.5592541539997 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:939.39, Y:164.88, Z:16.87 [[-9.81348043e-01 1.92060639e-01 -8.29034070e-03 9.39386159e+02] [ 1.92048117e-01 9.81382843e-01 2.28847679e-03 1.64882568e+02] [ 8.57552443e-03 6.53647899e-04 -9.99963016e-01 1.68650256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.589254154 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:939.42, Y:164.91, Z:16.87 [[-9.92950389e-01 1.18231384e-01 -8.41816686e-03 9.39420554e+02] [ 1.18221814e-01 9.92985879e-01 1.62718374e-03 1.64911515e+02] [ 8.55150500e-03 6.20501770e-04 -9.99963243e-01 1.68663163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.619254154 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:939.46, Y:164.94, Z:16.86 [[-9.99033670e-01 4.31229045e-02 -8.49359745e-03 9.39458673e+02] [ 4.31162984e-02 9.99069599e-01 9.59438195e-04 1.64942363e+02] [ 8.52706876e-03 5.92298580e-04 -9.99963468e-01 1.68641197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.649254154 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:939.50, Y:164.98, Z:16.86 [[-9.99562415e-01 -2.83275333e-02 -8.51642652e-03 9.39498415e+02] [-2.83310344e-02 9.99598553e-01 2.90709649e-04 1.64976656e+02] [ 8.50477254e-03 5.31861611e-04 -9.99963692e-01 1.68643654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.6792541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:939.27, Y:164.99, Z:16.87 [[-9.94324503e-01 -1.06050658e-01 -8.48766204e-03 9.39268268e+02] [-1.06051437e-01 9.94360580e-01 -3.59610848e-04 1.64987705e+02] [ 8.47793352e-03 5.42558875e-04 -9.99963915e-01 1.68664322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.7092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:939.42, Y:165.76, Z:15.90 [[-9.89581663e-01 1.43727249e-01 8.40296247e-03 9.39423351e+02] [-1.43723547e-01 -9.89617324e-01 1.04593731e-03 1.65755064e+02] [ 8.46604693e-03 -1.72663186e-04 9.99964147e-01 1.59004892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.7392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:939.42, Y:165.76, Z:15.90 [[-9.89790599e-01 1.42281346e-01 8.40171036e-03 9.39421898e+02] [-1.42277505e-01 -9.89826246e-01 1.05608401e-03 1.65756079e+02] [ 8.46649448e-03 -1.50072368e-04 9.99964147e-01 1.59017928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.7692541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:939.54, Y:165.06, Z:16.87 [[-9.84259589e-01 -1.76528819e-01 -8.40463432e-03 9.39543101e+02] [-1.76526420e-01 9.84295361e-01 -1.03230139e-03 1.65058698e+02] [ 8.45487351e-03 4.67587469e-04 -9.99964148e-01 1.68666408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.7992541539998 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:939.56, Y:165.10, Z:16.87 [[-9.66347312e-01 -2.57107438e-01 -8.28480902e-03 9.39560616e+02] [-2.57102922e-01 9.66382663e-01 -1.62381646e-03 1.65097750e+02] [ 8.42379109e-03 5.60877936e-04 -9.99964362e-01 1.68685890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.829254154 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:939.58, Y:165.14, Z:16.87 [[-9.44496167e-01 -3.28422892e-01 -8.08665809e-03 9.39579328e+02] [-3.28415061e-01 9.44530669e-01 -2.31576730e-03 1.65144002e+02] [ 8.39864757e-03 4.68546973e-04 -9.99964621e-01 1.68701376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.859254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:939.59, Y:165.18, Z:16.87 [[-9.14548371e-01 -4.04399466e-01 -7.89612044e-03 9.39587487e+02] [-4.04390027e-01 9.14582257e-01 -2.82864577e-03 1.65184389e+02] [ 8.36555449e-03 6.06178979e-04 -9.99964824e-01 1.68667008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.889254154 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:939.54, Y:165.20, Z:16.87 [[-8.79973588e-01 -4.74961811e-01 -7.60018943e-03 9.39544679e+02] [-4.74949492e-01 8.80006230e-01 -3.46635183e-03 1.65201863e+02] [ 8.33459879e-03 5.59408052e-04 -9.99965110e-01 1.68687509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.9192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:939.51, Y:165.22, Z:16.86 [[-8.42493768e-01 -5.38655939e-01 -7.35052293e-03 9.39507192e+02] [-5.38642161e-01 8.42525570e-01 -3.90967608e-03 1.65215461e+02] [ 8.29897377e-03 6.65423825e-04 -9.99965342e-01 1.68648372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.9492541539998 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:938.95, Y:165.74, Z:15.90 [[-8.25957330e-01 5.63690165e-01 6.92006683e-03 9.38952867e+02] [-5.63671715e-01 -8.25986308e-01 4.56255692e-03 1.65737158e+02] [ 8.28774891e-03 -1.32168611e-04 9.99965647e-01 1.59010380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.9792541539998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:939.10, Y:165.83, Z:15.90 [[-8.25440946e-01 5.64446108e-01 6.91631819e-03 9.39095173e+02] [-5.64427637e-01 -8.25469911e-01 4.56824493e-03 1.65829797e+02] [ 8.28774063e-03 -1.32944715e-04 9.99965647e-01 1.59011779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.0092541539998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:939.09, Y:165.82, Z:15.90 [[-8.27431062e-01 5.61524810e-01 6.90836748e-03 9.39085820e+02] [-5.61506136e-01 -8.27459896e-01 4.58031355e-03 1.65823806e+02] [ 8.28835674e-03 -8.91970191e-05 9.99965647e-01 1.59025048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.0392541539998 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:939.08, Y:165.82, Z:15.90 [[-8.27679826e-01 5.61157885e-01 6.92340219e-03 9.39084152e+02] [-5.61139389e-01 -8.27708774e-01 4.55747386e-03 1.65821591e+02] [ 8.28802313e-03 -1.12864508e-04 9.99965647e-01 1.59014466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.0692541539997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:939.08, Y:165.82, Z:15.90 [[-8.28610674e-01 5.59782452e-01 6.92516930e-03 9.39082934e+02] [-5.59763931e-01 -8.28639606e-01 4.55478712e-03 1.65819166e+02] [ 8.28815946e-03 -1.02314766e-04 9.99965647e-01 1.59041608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.099254154 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:939.08, Y:165.82, Z:15.90 [[-8.28832690e-01 5.59453652e-01 6.92693537e-03 9.39080397e+02] [-5.59435142e-01 -8.28861629e-01 4.55209969e-03 1.65815599e+02] [ 8.28815973e-03 -1.02242035e-04 9.99965647e-01 1.59009365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.129254154 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:939.08, Y:165.81, Z:15.90 [[-8.29548355e-01 5.58391905e-01 6.92870099e-03 9.39078573e+02] [-5.58373380e-01 -8.29577285e-01 4.54941067e-03 1.65813084e+02] [ 8.28824704e-03 -9.48460493e-05 9.99965647e-01 1.59020148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.1592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:939.08, Y:165.81, Z:15.90 [[-8.30795608e-01 5.56534478e-01 6.93046764e-03 9.39075848e+02] [-5.56515911e-01 -8.30824511e-01 4.54671780e-03 1.65808447e+02] [ 8.28840761e-03 -7.95223357e-05 9.99965647e-01 1.59026764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.1892541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:939.08, Y:165.81, Z:15.90 [[-8.31576730e-01 5.55366624e-01 6.93223505e-03 9.39077531e+02] [-5.55348038e-01 -8.31605621e-01 4.54402149e-03 1.65807966e+02] [ 8.28848350e-03 -7.11005997e-05 9.99965647e-01 1.59006392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.2192541539998 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:939.08, Y:165.80, Z:15.90 [[-8.33334879e-01 5.52724976e-01 6.93400080e-03 9.39075038e+02] [-5.52706322e-01 -8.33363725e-01 4.54132542e-03 1.65803751e+02] [ 8.28864872e-03 -4.80212102e-05 9.99965647e-01 1.58979657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.2492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:939.07, Y:165.80, Z:15.90 [[-8.34541394e-01 5.50901585e-01 6.93576431e-03 9.39072443e+02] [-5.50882890e-01 -8.34570214e-01 4.53863049e-03 1.65801052e+02] [ 8.28872104e-03 -3.31188718e-05 9.99965647e-01 1.59003172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.2792541539998 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:939.07, Y:165.80, Z:15.90 [[-8.35438126e-01 5.49540724e-01 6.93752857e-03 9.39071025e+02] [-5.49522005e-01 -8.35466930e-01 4.53593213e-03 1.65798724e+02] [ 8.28875513e-03 -2.28339716e-05 9.99965647e-01 1.58966830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.3092541539997 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:939.07, Y:165.79, Z:15.89 [[-8.37292511e-01 5.46711165e-01 6.93929326e-03 9.39066956e+02] [-5.46692370e-01 -8.37321266e-01 4.53323081e-03 1.65794158e+02] [ 8.28878571e-03 1.98152845e-06 9.99965647e-01 1.58949911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.339254154 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:939.07, Y:165.79, Z:15.89 [[-8.38121113e-01 5.45440029e-01 6.94083529e-03 9.39066311e+02] [-5.45421210e-01 -8.38149852e-01 4.53086858e-03 1.65792988e+02] [ 8.28877716e-03 1.17378309e-05 9.99965647e-01 1.58942725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.369254154 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:939.06, Y:165.79, Z:15.89 [[-8.39541311e-01 5.43251492e-01 6.94282778e-03 9.39064029e+02] [-5.43232624e-01 -8.39570018e-01 4.52781334e-03 1.65790654e+02] [ 8.28873140e-03 2.97157983e-05 9.99965647e-01 1.58936733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.399254154 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:939.06, Y:165.79, Z:15.89 [[-8.40271122e-01 5.42121955e-01 6.94459259e-03 9.39061213e+02] [-5.42103071e-01 -8.40299818e-01 4.52510493e-03 1.65788509e+02] [ 8.28869862e-03 3.76300304e-05 9.99965647e-01 1.58938977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.4292541539999 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:939.06, Y:165.79, Z:15.90 [[-8.41827263e-01 5.39702332e-01 6.94635753e-03 9.39057880e+02] [-5.39683387e-01 -8.41855920e-01 4.52239399e-03 1.65786872e+02] [ 8.28857879e-03 5.82407905e-05 9.99965647e-01 1.58952258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.4592541539998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:939.05, Y:165.78, Z:15.90 [[-8.42940181e-01 5.37962428e-01 6.94812263e-03 9.39051776e+02] [-5.37943447e-01 -8.42968813e-01 4.51968050e-03 1.65783545e+02] [ 8.28846898e-03 7.21232662e-05 9.99965647e-01 1.58972919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.4892541539998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:939.05, Y:165.78, Z:15.90 [[-8.44007785e-01 5.36285892e-01 6.94989084e-03 9.39047046e+02] [-5.36266876e-01 -8.44036394e-01 4.51695989e-03 1.65780617e+02] [ 8.28834267e-03 8.53530690e-05 9.99965647e-01 1.58966831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.5192541539998 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:939.04, Y:165.78, Z:15.90 [[-8.46600590e-01 5.32183348e-01 6.95166311e-03 9.39040947e+02] [-5.32164215e-01 -8.46629122e-01 4.51423069e-03 1.65777731e+02] [ 8.28787884e-03 1.22324021e-04 9.99965647e-01 1.58968826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.5492541539998 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:939.04, Y:165.78, Z:15.90 [[-8.48078439e-01 5.29825075e-01 6.95343975e-03 9.39041013e+02] [-5.29805886e-01 -8.48106933e-01 4.51149240e-03 1.65778179e+02] [ 8.28756226e-03 1.42126122e-04 9.99965647e-01 1.58976660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.579254154 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:939.04, Y:165.78, Z:15.90 [[-8.49672331e-01 5.27265166e-01 6.95521593e-03 9.39037818e+02] [-5.27245914e-01 -8.49700781e-01 4.50875247e-03 1.65776731e+02] [ 8.28716053e-03 1.63853043e-04 9.99965647e-01 1.58997543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.609254154 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:939.04, Y:165.78, Z:15.90 [[-8.52176479e-01 5.23208227e-01 6.95699041e-03 9.39035884e+02] [-5.23188861e-01 -8.52204853e-01 4.50601278e-03 1.65775846e+02] [ 8.28636395e-03 2.00098218e-04 9.99965647e-01 1.58976245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.639254154 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:939.03, Y:165.77, Z:15.90 [[-8.53478693e-01 5.21081276e-01 6.95876382e-03 9.39032326e+02] [-5.21061862e-01 -8.53507034e-01 4.50327240e-03 1.65774349e+02] [ 8.28592479e-03 2.17500610e-04 9.99965647e-01 1.58979075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.6692541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:939.03, Y:165.77, Z:15.90 [[-8.55293626e-01 5.18096868e-01 6.96053736e-03 9.39026336e+02] [-5.18077377e-01 -8.55321914e-01 4.50052943e-03 1.65772351e+02] [ 8.28521034e-03 2.43177192e-04 9.99965648e-01 1.59008358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.6992541539998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:939.02, Y:165.77, Z:15.90 [[-8.56025580e-01 5.16886576e-01 6.96231316e-03 9.39024961e+02] [-5.16867068e-01 -8.56053856e-01 4.49778059e-03 1.65772023e+02] [ 8.28495743e-03 2.51624844e-04 9.99965648e-01 1.58997040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.7292541539998 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:939.35, Y:165.16, Z:16.87 [[-7.78065217e-01 -6.28144904e-01 -6.96409000e-03 9.39352607e+02] [-6.28129433e-01 7.78095888e-01 -4.49502775e-03 1.65164234e+02] [ 8.24225857e-03 8.76925161e-04 -9.99965648e-01 1.68735978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.7592541539998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:939.27, Y:165.13, Z:16.87 [[-7.25474165e-01 -6.88217791e-01 -6.59609260e-03 9.39272808e+02] [-6.88200413e-01 7.25503557e-01 -4.97792852e-03 1.65134334e+02] [ 8.21138762e-03 9.28075117e-04 -9.99965855e-01 1.68733201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.7892541539998 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:939.32, Y:165.22, Z:16.87 [[-6.75861685e-01 -7.36998965e-01 -6.59609260e-03 9.39318454e+02] [-7.36983673e-01 6.75892214e-01 -4.97792852e-03 1.65216627e+02] [ 8.12697580e-03 1.49682139e-03 -9.99965855e-01 1.68730287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.8192541539997 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:938.79, Y:165.72, Z:15.90 [[-7.18332706e-01 6.95676344e-01 5.70508268e-03 9.38788170e+02] [-6.95651809e-01 -7.18355323e-01 5.84727933e-03 1.65721386e+02] [ 8.16609042e-03 2.31540898e-04 9.99966630e-01 1.58969097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.849254154 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:938.78, Y:165.72, Z:15.90 [[-7.16772901e-01 6.97283324e-01 5.70738960e-03 9.38782989e+02] [-6.97258857e-01 -7.16795593e-01 5.84502673e-03 1.65719124e+02] [ 8.16667138e-03 2.10028823e-04 9.99966630e-01 1.58974664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.879254154 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:938.78, Y:165.72, Z:15.90 [[-7.14814333e-01 6.99290976e-01 5.70969722e-03 9.38781063e+02] [-6.99266590e-01 -7.14837113e-01 5.84277167e-03 1.65721066e+02] [ 8.16730097e-03 1.83896428e-04 9.99966630e-01 1.58977818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.9092541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:938.78, Y:165.73, Z:15.90 [[-7.09027906e-01 7.05157289e-01 5.71200395e-03 9.38779706e+02] [-7.05133110e-01 -7.09050905e-01 5.84051569e-03 1.65727735e+02] [ 8.16858378e-03 1.13365500e-04 9.99966630e-01 1.59007735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.9392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.65, Y:165.60, Z:15.90 [[-7.03121905e-01 7.11046365e-01 5.71430308e-03 9.38650361e+02] [-7.11022397e-01 -7.03145124e-01 5.83826538e-03 1.65596967e+02] [ 8.16926172e-03 4.20148066e-05 9.99966630e-01 1.59014669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.9692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.64, Y:165.60, Z:15.90 [[-6.95460497e-01 7.18541728e-01 5.69935662e-03 9.38641131e+02] [-7.18517890e-01 -6.95483850e-01 5.85290344e-03 1.65596319e+02] [ 8.16936584e-03 -2.46265630e-05 9.99966630e-01 1.59026456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.9992541539998 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:938.78, Y:165.74, Z:15.90 [[-6.94350684e-01 7.19614232e-01 5.69956211e-03 9.38775917e+02] [-7.19590432e-01 -6.94374075e-01 5.85270211e-03 1.65740776e+02] [ 8.16931590e-03 -3.75226489e-05 9.99966630e-01 1.59026224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.0292541539998 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:938.77, Y:165.74, Z:15.90 [[-6.91030387e-01 7.22803052e-01 5.72298085e-03 9.38770721e+02] [-7.22779550e-01 -6.91054076e-01 5.82971213e-03 1.65738420e+02] [ 8.16862297e-03 -1.07945295e-04 9.99966630e-01 1.59034437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.0592541539997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.65, Y:165.62, Z:15.90 [[-6.85519566e-01 7.28031693e-01 5.72524592e-03 9.38654254e+02] [-7.28008391e-01 -6.85543451e-01 5.82748680e-03 1.65615724e+02] [ 8.16749993e-03 -1.73170844e-04 9.99966630e-01 1.59043749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.089254154 meters Centerline goodness : 0.996271 Centerline is valid? [True, True] Translation: X:938.31, Y:165.26, Z:15.91 [[-6.88481902e-01 7.25230989e-01 5.71692343e-03 9.38305948e+02] [-7.25207521e-01 -6.88505625e-01 5.83568063e-03 1.65264977e+02] [ 8.16835038e-03 -1.28195370e-04 9.99966630e-01 1.59090880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.119254154 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:939.24, Y:165.16, Z:16.87 [[-6.67567164e-01 -7.44527634e-01 -5.71692343e-03 9.39236150e+02] [-7.44504851e-01 6.67591546e-01 -5.83568063e-03 1.65159687e+02] [ 8.16139524e-03 3.60568455e-04 -9.99966630e-01 1.68674663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.149254154 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:938.63, Y:165.65, Z:15.90 [[-6.35791057e-01 7.71842942e-01 5.31078681e-03 9.38626164e+02] [-7.71818183e-01 -6.35813216e-01 6.18444507e-03 1.65646447e+02] [ 8.15008872e-03 -1.66946954e-04 9.99966774e-01 1.59043015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.1792541539999 meters Centerline goodness : 0.999735 Centerline is valid? [True, True] Translation: X:938.62, Y:165.64, Z:15.90 [[-6.35046531e-01 7.72455531e-01 5.32509525e-03 9.38623832e+02] [-7.72430896e-01 -6.35068828e-01 6.17210020e-03 1.65643718e+02] [ 8.14947493e-03 -1.93697276e-04 9.99966774e-01 1.59033236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.2092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.62, Y:165.64, Z:15.91 [[-6.34163056e-01 7.73180979e-01 5.32839344e-03 9.38621692e+02] [-7.73156394e-01 -6.34185407e-01 6.16925155e-03 1.65637485e+02] [ 8.14913731e-03 -2.07370043e-04 9.99966774e-01 1.59050721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.2392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.62, Y:165.63, Z:15.90 [[-6.33870562e-01 7.73420774e-01 5.33078135e-03 9.38624822e+02] [-7.73396214e-01 -6.33892942e-01 6.16718749e-03 1.65633691e+02] [ 8.14897559e-03 -2.13607512e-04 9.99966774e-01 1.59046109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.2692541539998 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:938.63, Y:165.63, Z:15.90 [[-6.34071395e-01 7.73256118e-01 5.33317007e-03 9.38627947e+02] [-7.73231570e-01 -6.34093787e-01 6.16512112e-03 1.65633255e+02] [ 8.14894762e-03 -2.14648523e-04 9.99966774e-01 1.59035670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.2992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.63, Y:165.63, Z:15.90 [[-6.35102342e-01 7.72409570e-01 5.33584802e-03 9.38627828e+02] [-7.72385012e-01 -6.35124722e-01 6.16280251e-03 1.65629146e+02] [ 8.14913663e-03 -2.07318731e-04 9.99966774e-01 1.59048175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.329254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.63, Y:165.62, Z:15.91 [[-6.36301876e-01 7.71421691e-01 5.33822624e-03 9.38627363e+02] [-7.71397116e-01 -6.36324238e-01 6.16074180e-03 1.65624928e+02] [ 8.14937260e-03 -1.97800761e-04 9.99966774e-01 1.59050436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.359254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.62, Y:165.62, Z:15.91 [[-6.36675212e-01 7.71113579e-01 5.34060447e-03 9.38624774e+02] [-7.71089010e-01 -6.36697581e-01 6.15867948e-03 1.65621864e+02] [ 8.14939132e-03 -1.97002848e-04 9.99966774e-01 1.59050774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.389254154 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:938.62, Y:165.61, Z:15.90 [[-6.38970296e-01 7.69212849e-01 5.34358445e-03 9.38621047e+02] [-7.69188235e-01 -6.38992615e-01 6.15609280e-03 1.65611104e+02] [ 8.14985669e-03 -1.76661854e-04 9.99966774e-01 1.59041361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.4192541539999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:938.62, Y:165.61, Z:15.91 [[-6.40983650e-01 7.67535915e-01 5.34596968e-03 9.38622652e+02] [-7.67511260e-01 -6.41005924e-01 6.15402077e-03 1.65609721e+02] [ 8.15023019e-03 -1.58465220e-04 9.99966774e-01 1.59054210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.4492541539998 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:938.62, Y:165.60, Z:15.90 [[-6.44886593e-01 7.64259557e-01 5.34896074e-03 9.38619382e+02] [-7.64234810e-01 -6.44908765e-01 6.15141990e-03 1.65596687e+02] [ 8.15087311e-03 -1.20893775e-04 9.99966774e-01 1.59049472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.4792541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:938.62, Y:165.60, Z:15.91 [[-6.47356660e-01 7.62168431e-01 5.35134449e-03 9.38622516e+02] [-7.62143630e-01 -6.47378771e-01 6.14934549e-03 1.65595221e+02] [ 8.15118382e-03 -9.76733560e-05 9.99966774e-01 1.59063871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.5092541539998 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:938.62, Y:165.59, Z:15.90 [[-6.51389838e-01 7.58724335e-01 5.35374160e-03 9.38623829e+02] [-7.58699434e-01 -6.51411836e-01 6.14725780e-03 1.65586966e+02] [ 8.15156474e-03 -5.76194612e-05 9.99966774e-01 1.59043312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.5392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.62, Y:165.58, Z:15.91 [[-6.53736561e-01 7.56703258e-01 5.35612816e-03 9.38622713e+02] [-7.56678306e-01 -6.53758501e-01 6.14517769e-03 1.65580970e+02] [ 8.15169029e-03 -3.55386555e-05 9.99966774e-01 1.59051340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.5692541539997 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:938.51, Y:165.45, Z:15.90 [[-6.55828250e-01 7.54891113e-01 5.35852811e-03 9.38514411e+02] [-7.54866118e-01 -6.55850140e-01 6.14308424e-03 1.65447151e+02] [ 8.15175111e-03 -1.61631285e-05 9.99966774e-01 1.59046010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.599254154 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:938.62, Y:165.57, Z:15.90 [[-6.58578129e-01 7.52493321e-01 5.35247811e-03 9.38620281e+02] [-7.52468203e-01 -6.58599879e-01 6.14836316e-03 1.65566532e+02] [ 8.15174366e-03 2.16079208e-05 9.99966774e-01 1.59020296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.629254154 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:938.62, Y:165.56, Z:15.90 [[-6.59135784e-01 7.52004818e-01 5.36396419e-03 9.38622502e+02] [-7.51979765e-01 -6.59157609e-01 6.13832608e-03 1.65564390e+02] [ 8.15174860e-03 1.23978426e-05 9.99966774e-01 1.59022918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.6592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.62, Y:165.56, Z:15.90 [[-6.62109437e-01 7.49387985e-01 5.36106218e-03 9.38621309e+02] [-7.49362825e-01 -6.62131139e-01 6.14086286e-03 1.65556140e+02] [ 8.15161505e-03 4.85425530e-05 9.99966774e-01 1.59043582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.6892541539999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:938.62, Y:165.56, Z:15.90 [[-6.62569985e-01 7.48980780e-01 5.36705243e-03 9.38624127e+02] [-7.48955650e-01 -6.62591721e-01 6.13562297e-03 1.65555907e+02] [ 8.15162819e-03 4.55953846e-05 9.99966774e-01 1.59024698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.7192541539998 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:938.62, Y:165.55, Z:15.90 [[-6.63008883e-01 7.48592272e-01 5.36945674e-03 9.38622046e+02] [-7.48567146e-01 -6.63030624e-01 6.13351817e-03 1.65550864e+02] [ 8.15161855e-03 4.71781216e-05 9.99966774e-01 1.59006414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.7492541539998 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:938.63, Y:165.55, Z:15.90 [[-6.63846231e-01 7.47849801e-01 5.37186809e-03 9.38625136e+02] [-7.47824667e-01 -6.63867963e-01 6.13140553e-03 1.65550056e+02] [ 8.15158153e-03 5.30949913e-05 9.99966774e-01 1.58992551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.7792541539998 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:938.62, Y:165.55, Z:15.90 [[-6.64756258e-01 7.47040986e-01 5.37426910e-03 9.38622769e+02] [-7.47015843e-01 -6.64777980e-01 6.12930028e-03 1.65545689e+02] [ 8.15153428e-03 5.98265551e-05 9.99966774e-01 1.59008055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.8092541539997 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:938.98, Y:165.01, Z:16.88 [[-5.93341000e-01 -8.04933258e-01 -5.37666766e-03 9.38983889e+02] [-8.04910235e-01 5.93364956e-01 -6.12719553e-03 1.65005429e+02] [ 8.12230963e-03 6.92218507e-04 -9.99966774e-01 1.68797665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.839254154 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:938.58, Y:165.54, Z:15.90 [[-6.06024046e-01 7.95431449e-01 4.86474132e-03 9.38575421e+02] [-7.95404813e-01 -6.06043567e-01 6.50993839e-03 1.65543747e+02] [ 8.12645490e-03 7.57405422e-05 9.99966977e-01 1.58975526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.869254154 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:938.98, Y:165.04, Z:16.88 [[-5.26600193e-01 -8.50099122e-01 -4.87031244e-03 9.38977880e+02] [-8.50074527e-01 5.26622230e-01 -6.50576777e-03 1.65044417e+02] [ 8.09536226e-03 7.14189975e-04 -9.99966977e-01 1.68807668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.899254154 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:938.90, Y:164.97, Z:16.88 [[-4.66179767e-01 -8.84676611e-01 -4.87031244e-03 9.38904536e+02] [-8.84653609e-01 4.66203462e-01 -6.50576777e-03 1.64973561e+02] [ 8.02605710e-03 1.27568217e-03 -9.99966977e-01 1.68827548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.9292541539999 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:938.39, Y:165.37, Z:15.90 [[-4.86540651e-01 8.73649621e-01 3.81237571e-03 9.38386877e+02] [-8.73620950e-01 -4.86555574e-01 7.07878053e-03 1.65372919e+02] [ 8.03930658e-03 1.13543202e-04 9.99967678e-01 1.58977987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.9592541539998 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:938.92, Y:165.07, Z:16.88 [[-4.07904480e-01 -9.13016649e-01 -3.81237571e-03 9.38922415e+02] [-9.12989400e-01 4.07921864e-01 -7.07878053e-03 1.65074775e+02] [ 8.01819588e-03 5.93192320e-04 -9.99967678e-01 1.68791803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.9892541539998 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:938.33, Y:165.33, Z:15.90 [[-4.24113927e-01 9.05602679e-01 3.34125728e-03 9.38330878e+02] [-9.05573303e-01 -4.24127083e-01 7.29457600e-03 1.65329812e+02] [ 8.02310528e-03 6.79778848e-05 9.99967812e-01 1.58982073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.0192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.33, Y:165.33, Z:15.90 [[-4.18221608e-01 9.08338870e-01 3.34412653e-03 9.38332268e+02] [-9.08309590e-01 -4.18234978e-01 7.29326039e-03 1.65332710e+02] [ 8.02338259e-03 1.26968876e-05 9.99967812e-01 1.59003862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.0492541539998 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:938.33, Y:165.34, Z:15.90 [[-4.17463552e-01 9.08687560e-01 3.33179560e-03 9.38331614e+02] [-9.08658246e-01 -4.17476847e-01 7.29891652e-03 1.65335853e+02] [ 8.02338216e-03 1.95680731e-05 9.99967812e-01 1.59007126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.079254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.33, Y:165.34, Z:15.90 [[-4.14860328e-01 9.09878945e-01 3.34857491e-03 9.38330394e+02] [-9.09849732e-01 -4.14873842e-01 7.29121042e-03 1.65335334e+02] [ 8.02335498e-03 -2.18660293e-05 9.99967812e-01 1.59024153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.109254154 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:938.86, Y:165.00, Z:16.88 [[-3.68481748e-01 -9.29627377e-01 -3.76059460e-03 9.38858416e+02] [-9.29600665e-01 3.68499889e-01 -7.10176517e-03 1.64996177e+02] [ 7.98777401e-03 8.78980397e-04 -9.99967711e-01 1.68788515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.139254154 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:938.79, Y:164.88, Z:16.88 [[-3.08274673e-01 -9.51289958e-01 -3.76059460e-03 9.38787492e+02] [-9.51264461e-01 3.08294485e-01 -7.10176517e-03 1.64883656e+02] [ 7.91520846e-03 1.38802566e-03 -9.99967711e-01 1.68812670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.1692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.74, Y:164.83, Z:16.88 [[-2.46586832e-01 -9.69113405e-01 -3.76059460e-03 9.38741224e+02] [-9.69089233e-01 2.46608240e-01 -7.10176517e-03 1.64827289e+02] [ 7.80980944e-03 1.89314996e-03 -9.99967711e-01 1.68780509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.1992541539998 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:938.09, Y:164.95, Z:15.90 [[-2.00418914e-01 9.79708735e-01 1.74738410e-03 9.38091327e+02] [-9.79679531e-01 -2.00426436e-01 7.56705414e-03 1.64949929e+02] [ 7.76373101e-03 -1.95295666e-04 9.99969843e-01 1.59033040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.2292541539998 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:938.10, Y:164.97, Z:15.90 [[-1.99270724e-01 9.79942938e-01 1.73695849e-03 9.38095142e+02] [-9.79913722e-01 -1.99278200e-01 7.56946679e-03 1.64970313e+02] [ 7.76378349e-03 -1.93696330e-04 9.99969843e-01 1.59039291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.2592541539998 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:938.09, Y:164.94, Z:15.90 [[-1.98779549e-01 9.80042677e-01 1.74434867e-03 9.38088783e+02] [-9.80013479e-01 -1.98787097e-01 7.56775354e-03 1.64940826e+02] [ 7.76347544e-03 -2.05170571e-04 9.99969843e-01 1.59035366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.2892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.09, Y:164.96, Z:15.91 [[-2.02923357e-01 9.79193078e-01 1.73980508e-03 9.38092418e+02] [-9.79163840e-01 -2.02930746e-01 7.56880797e-03 1.64962480e+02] [ 7.76438432e-03 -1.67666294e-04 9.99969843e-01 1.59067886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.3192541539997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.09, Y:164.96, Z:15.91 [[-2.04437778e-01 9.78877979e-01 1.75992198e-03 9.38092240e+02] [-9.78848769e-01 -2.04445277e-01 7.56412744e-03 1.64957567e+02] [ 7.76416552e-03 -1.76304066e-04 9.99969843e-01 1.59065378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.349254154 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:938.09, Y:164.95, Z:15.90 [[-2.07111440e-01 9.78315771e-01 1.76198896e-03 9.38091176e+02] [-9.78286544e-01 -2.07118875e-01 7.56364554e-03 1.64954059e+02] [ 7.76457488e-03 -1.57212573e-04 9.99969843e-01 1.59035972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.379254154 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:938.09, Y:164.95, Z:15.90 [[-2.11686114e-01 9.77336108e-01 1.76650126e-03 9.38090333e+02] [-9.77306857e-01 -2.11693447e-01 7.56259153e-03 1.64947658e+02] [ 7.76515052e-03 -1.25518181e-04 9.99969843e-01 1.59039952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.4092541539999 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:938.09, Y:164.93, Z:15.90 [[-2.15314318e-01 9.76543195e-01 1.76979438e-03 9.38087426e+02] [-9.76513923e-01 -2.15321568e-01 7.56182080e-03 1.64933825e+02] [ 7.76551955e-03 -1.00060569e-04 9.99969843e-01 1.59040927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.4392541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:938.09, Y:164.93, Z:15.91 [[-2.18559046e-01 9.75822103e-01 1.77969975e-03 9.38086592e+02] [-9.75792825e-01 -2.18566275e-01 7.55948882e-03 1.64929200e+02] [ 7.76569862e-03 -8.44235792e-05 9.99969843e-01 1.59063739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.4692541539998 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:938.68, Y:164.68, Z:16.88 [[-1.68989580e-01 -9.85615089e-01 -2.32785187e-03 9.38676477e+02] [-9.85587629e-01 1.69002421e-01 -7.43018571e-03 1.64684162e+02] [ 7.71671575e-03 1.03867804e-03 -9.99969686e-01 1.68812439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.4992541539998 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:938.02, Y:164.78, Z:15.91 [[-1.61025371e-01 9.86949465e-01 1.25812134e-03 9.38024690e+02] [-9.86920148e-01 -1.61030285e-01 7.60711041e-03 1.64778771e+02] [ 7.71042919e-03 -1.67275277e-05 9.99970274e-01 1.59056981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.5292541539998 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:938.02, Y:164.77, Z:15.91 [[-1.68291298e-01 9.85736499e-01 1.26223530e-03 9.38024988e+02] [-9.85707152e-01 -1.68296028e-01 7.60642773e-03 1.64771962e+02] [ 7.71036263e-03 3.59012279e-05 9.99970274e-01 1.59059552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.5592541539997 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:938.02, Y:164.75, Z:15.91 [[-1.74228408e-01 9.84704453e-01 1.26558475e-03 9.38022437e+02] [-9.84675082e-01 -1.74232987e-01 7.60587040e-03 1.64751766e+02] [ 7.71004106e-03 7.89689202e-05 9.99970274e-01 1.59055631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.589254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.02, Y:164.74, Z:15.91 [[-1.79902413e-01 9.83683630e-01 1.27968382e-03 9.38021224e+02] [-9.83654250e-01 -1.79906932e-01 7.60349750e-03 1.64743789e+02] [ 7.70966001e-03 1.09121123e-04 9.99970274e-01 1.59080045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.619254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.62, Y:164.54, Z:16.88 [[-7.85166542e-02 -9.96911981e-01 -1.27968382e-03 9.38619384e+02] [-9.96883215e-01 7.85241488e-02 -7.60349750e-03 1.64540493e+02] [ 7.68050383e-03 6.78694136e-04 -9.99970274e-01 1.68818972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.649254154 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:937.97, Y:164.55, Z:15.91 [[-1.22403661e-01 9.92480106e-01 7.63105966e-04 9.37965786e+02] [-9.92450601e-01 -1.22405908e-01 7.65499480e-03 1.64551136e+02] [ 7.69083873e-03 1.79654417e-04 9.99970409e-01 1.59088263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.6792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.58, Y:164.43, Z:16.88 [[-3.59871643e-03 -9.99993234e-01 -7.63105971e-04 9.38579136e+02] [-9.99964204e-01 3.60445357e-03 -7.65499480e-03 1.64433335e+02] [ 7.65769358e-03 7.35530499e-04 -9.99970409e-01 1.68830193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.7092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:937.93, Y:164.44, Z:15.91 [[-6.17272952e-02 9.98093022e-01 2.45100953e-04 9.37925011e+02] [-9.98063566e-01 -6.17273574e-02 7.67154576e-03 1.64444602e+02] [ 7.67204573e-03 2.28917439e-04 9.99970543e-01 1.59098861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.7392541539998 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:937.92, Y:164.44, Z:15.91 [[-6.17759125e-02 9.98090013e-01 2.48525328e-04 9.37922698e+02] [-9.98060557e-01 -6.17759995e-02 7.67143482e-03 1.64440230e+02] [ 7.67213539e-03 2.25866559e-04 9.99970543e-01 1.59079756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.7692541539998 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:937.92, Y:164.44, Z:15.91 [[-6.14841715e-02 9.98108027e-01 2.51951056e-04 9.37921384e+02] [-9.98078570e-01 -6.14842934e-02 7.67132231e-03 1.64435033e+02] [ 7.67229941e-03 2.20197946e-04 9.99970543e-01 1.59076985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.7992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:937.92, Y:164.44, Z:15.91 [[-6.03012849e-02 9.98180189e-01 2.55380555e-04 9.37920527e+02] [-9.98150733e-01 -6.03014680e-02 7.67120814e-03 1.64438570e+02] [ 7.67264782e-03 2.07675419e-04 9.99970543e-01 1.59104045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.829254154 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:937.92, Y:164.43, Z:15.91 [[-6.01267619e-02 9.98190717e-01 2.56171688e-04 9.37916297e+02] [-9.98161261e-01 -6.01269562e-02 7.67118142e-03 1.64426822e+02] [ 7.67270491e-03 2.05542643e-04 9.99970543e-01 1.59080032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.859254154 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:937.92, Y:164.43, Z:15.91 [[-6.01968973e-02 9.98186488e-01 2.62253709e-04 9.37915004e+02] [-9.98157032e-01 -6.01971363e-02 7.67097349e-03 1.64431586e+02] [ 7.67284901e-03 1.99998419e-04 9.99970543e-01 1.59068364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.889254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:937.91, Y:164.43, Z:15.91 [[-6.06839831e-02 9.98156993e-01 2.66071346e-04 9.37911924e+02] [-9.98127538e-01 -6.06842371e-02 7.67084107e-03 1.64427943e+02] [ 7.67285000e-03 1.99924053e-04 9.99970543e-01 1.59067708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.9192541539999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:937.91, Y:164.42, Z:15.90 [[-6.14905971e-02 9.98107626e-01 2.69486397e-04 9.37909590e+02] [-9.98078171e-01 -6.14908535e-02 7.67072110e-03 1.64421111e+02] [ 7.67277617e-03 2.02708730e-04 9.99970543e-01 1.59036172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.9492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:937.90, Y:164.42, Z:15.90 [[-6.26402459e-02 9.98036134e-01 2.74488294e-04 9.37904762e+02] [-9.98006678e-01 -6.26405068e-02 7.67054210e-03 1.64415475e+02] [ 7.67267227e-03 2.06543493e-04 9.99970543e-01 1.59043651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.9792541539998 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:937.90, Y:164.41, Z:15.90 [[-6.27035262e-02 9.98032159e-01 2.78692103e-04 9.37901930e+02] [-9.98002704e-01 -6.27038175e-02 7.67038937e-03 1.64408841e+02] [ 7.67277032e-03 2.02824988e-04 9.99970543e-01 1.59010874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.0092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:937.90, Y:164.41, Z:15.90 [[-6.34578224e-02 9.97984481e-01 2.82506675e-04 9.37899592e+02] [-9.97955026e-01 -6.34581207e-02 7.67024887e-03 1.64410627e+02] [ 7.67271668e-03 2.04808334e-04 9.99970543e-01 1.59035172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.0392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:937.90, Y:164.40, Z:15.90 [[-6.40358009e-02 9.97947561e-01 2.86316705e-04 9.37896612e+02] [-9.97918106e-01 -6.40361114e-02 7.67010664e-03 1.64403905e+02] [ 7.67269883e-03 2.05440798e-04 9.99970543e-01 1.59047779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.0692541539997 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:937.89, Y:164.40, Z:15.90 [[-6.38240141e-02 9.97961127e-01 2.90122416e-04 9.37891988e+02] [-9.97931672e-01 -6.38243601e-02 7.66996269e-03 1.64402453e+02] [ 7.67284149e-03 2.00005459e-04 9.99970543e-01 1.59019908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.099254154 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:937.89, Y:164.40, Z:15.90 [[-6.45143963e-02 9.97916733e-01 2.94718428e-04 9.37886410e+02] [-9.97887278e-01 -6.45147572e-02 7.66978609e-03 1.64395258e+02] [ 7.67282156e-03 2.00715848e-04 9.99970543e-01 1.59026411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.129254154 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:937.88, Y:164.39, Z:15.90 [[-6.50484539e-02 9.97882062e-01 2.98521011e-04 9.37883764e+02] [-9.97852608e-01 -6.50488283e-02 7.66963808e-03 1.64393104e+02] [ 7.67281270e-03 2.01018130e-04 9.99970543e-01 1.59046580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.1592541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:938.59, Y:164.27, Z:16.89 [[ 5.36134001e-02 -9.98561432e-01 -8.18484663e-04 9.38587865e+02] [-9.98532889e-01 -5.36055979e-02 -7.64911374e-03 1.64265200e+02] [ 7.59423461e-03 1.22737885e-03 -9.99970410e-01 1.68896037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.1892541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:937.84, Y:164.21, Z:15.91 [[ 4.23763075e-03 9.99990998e-01 -2.16346939e-04 9.37844063e+02] [-9.99961984e-01 4.23915633e-03 7.61973589e-03 1.64208940e+02] [ 7.62058442e-03 1.84049087e-04 9.99970946e-01 1.59057760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.2192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:937.84, Y:164.18, Z:15.91 [[ 4.71453941e-03 9.99988863e-01 -2.18559866e-04 9.37842350e+02] [-9.99959849e-01 4.71606800e-03 7.61967241e-03 1.64181903e+02] [ 7.62061829e-03 1.82627845e-04 9.99970946e-01 1.59073375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.2492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:937.84, Y:164.15, Z:15.91 [[ 4.99735524e-03 9.99987489e-01 -2.19520233e-04 9.37843256e+02] [-9.99958475e-01 4.99888293e-03 7.61964474e-03 1.64153329e+02] [ 7.62064677e-03 1.81433046e-04 9.99970946e-01 1.59075551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.2792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:937.84, Y:164.13, Z:15.91 [[ 4.66738320e-03 9.99989083e-01 -2.21675259e-04 9.37841936e+02] [-9.99960071e-01 4.66893688e-03 7.61958205e-03 1.64125432e+02] [ 7.62053385e-03 1.86102898e-04 9.99970946e-01 1.59086827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.3092541539997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.59, Y:164.16, Z:16.89 [[ 1.32523380e-01 -9.91179854e-01 2.23843050e-04 9.38594135e+02] [-9.91150880e-01 -1.32521227e-01 -7.61951836e-03 1.64156989e+02] [ 7.58197706e-03 7.87902092e-04 -9.99970946e-01 1.68887865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.339254154 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:937.84, Y:164.04, Z:15.91 [[ 8.20117141e-02 9.96631031e-01 -8.16753647e-04 9.37844773e+02] [-9.96602411e-01 8.20155507e-02 7.55542513e-03 1.64040431e+02] [ 7.59695764e-03 1.94345288e-04 9.99971124e-01 1.59059911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.369254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.59, Y:164.13, Z:16.89 [[ 2.10816380e-01 -9.77525338e-01 8.17402566e-04 9.38589549e+02] [-9.77496462e-01 -2.10816470e-01 -7.55535493e-03 1.64130004e+02] [ 7.55787280e-03 7.93784455e-04 -9.99971124e-01 1.68899511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.399254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:937.86, Y:163.96, Z:15.91 [[ 1.60008360e-01 9.87114664e-01 -1.40194708e-03 9.37856654e+02] [-9.87086604e-01 1.60014386e-01 7.44528659e-03 1.63956014e+02] [ 7.57368327e-03 1.92535085e-04 9.99971301e-01 1.59073755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.4292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.58, Y:164.10, Z:16.89 [[ 2.85448071e-01 -9.58393149e-01 1.40405840e-03 9.38584420e+02] [-9.58364549e-01 -2.85450460e-01 -7.44488841e-03 1.64101790e+02] [ 7.53591916e-03 7.79529241e-04 -9.99971301e-01 1.68912076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.4592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.58, Y:164.10, Z:16.89 [[ 3.59174833e-01 -9.33268200e-01 1.97633328e-03 9.38576654e+02] [-9.33240051e-01 -3.59179436e-01 -7.28973940e-03 1.64101028e+02] [ 7.51314024e-03 7.73897560e-04 -9.99971477e-01 1.68907403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.4892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.56, Y:164.10, Z:16.89 [[ 4.28674581e-01 -9.03455414e-01 2.53337142e-03 9.38564147e+02] [-9.03427900e-01 -4.28681409e-01 -7.09072235e-03 1.64095914e+02] [ 7.49216073e-03 7.50894008e-04 -9.99971651e-01 1.68922488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.5192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.55, Y:164.09, Z:16.89 [[ 4.97372575e-01 -8.67531959e-01 2.97011996e-03 9.38554618e+02] [-8.67504972e-01 -4.97380711e-01 -6.89573889e-03 1.64089577e+02] [ 7.45955425e-03 8.53157578e-04 -9.99971813e-01 1.68930130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.5492541539998 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:938.55, Y:164.08, Z:16.89 [[ 5.64080318e-01 -8.25712670e-01 3.46143303e-03 9.38550564e+02] [-8.25686533e-01 -5.64090251e-01 -6.62862646e-03 1.64084451e+02] [ 7.42590148e-03 8.81019084e-04 -9.99972040e-01 1.68934338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.579254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.55, Y:164.08, Z:16.89 [[ 6.26313159e-01 -7.79560956e-01 4.06731274e-03 9.38545766e+02] [-7.79536380e-01 -6.26325937e-01 -6.23328299e-03 1.64078515e+02] [ 7.40668751e-03 7.33368912e-04 -9.99972301e-01 1.68926457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.609254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.53, Y:164.07, Z:16.90 [[ 6.82052106e-01 -7.31289560e-01 4.52814947e-03 9.38534770e+02] [-7.31266268e-01 -6.82066779e-01 -5.87829425e-03 1.64068682e+02] [ 7.38723554e-03 6.98020004e-04 -9.99972470e-01 1.68951092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.639254154 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:938.53, Y:164.06, Z:16.90 [[ 7.37874634e-01 -6.74920269e-01 4.86362770e-03 9.38532875e+02] [-6.74897745e-01 -7.37890194e-01 -5.57640551e-03 1.64062446e+02] [ 7.35245229e-03 8.32236804e-04 -9.99972624e-01 1.68956039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.6692541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:938.53, Y:164.06, Z:16.89 [[ 7.87915827e-01 -6.15759718e-01 5.34964447e-03 9.38530229e+02] [-6.15739297e-01 -7.87933681e-01 -5.06286124e-03 1.64056735e+02] [ 7.33267107e-03 6.95122180e-04 -9.99972874e-01 1.68927594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.6992541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:938.53, Y:164.05, Z:16.89 [[ 8.33803753e-01 -5.52031410e-01 5.71170400e-03 9.38527845e+02] [-5.52012559e-01 -8.33823027e-01 -4.61473882e-03 1.64051220e+02] [ 7.31003110e-03 6.94854208e-04 -9.99973040e-01 1.68927251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.7292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.52, Y:164.04, Z:16.90 [[ 8.73367500e-01 -4.87024406e-01 6.03643441e-03 9.38520234e+02] [-4.87007268e-01 -8.73388098e-01 -4.14142192e-03 1.64041051e+02] [ 7.28912352e-03 6.77195875e-04 -9.99973205e-01 1.68959827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.7592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.52, Y:164.04, Z:16.89 [[ 9.10335967e-01 -4.13822850e-01 6.25109458e-03 9.38520870e+02] [-4.13806532e-01 -9.10357036e-01 -3.77102600e-03 1.64036789e+02] [ 7.25126466e-03 8.46156827e-04 -9.99973351e-01 1.68934746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.7892541539998 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:938.52, Y:164.03, Z:16.90 [[ 9.39213717e-01 -3.43270415e-01 6.55867798e-03 9.38516017e+02] [-3.43256867e-01 -9.39236367e-01 -3.12560667e-03 1.64026495e+02] [ 7.23307718e-03 6.84301404e-04 -9.99973607e-01 1.68977717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.8192541539997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.52, Y:164.03, Z:16.90 [[ 9.63518017e-01 -2.67559240e-01 6.71447417e-03 9.38518052e+02] [-2.67546664e-01 -9.63541058e-01 -2.72268483e-03 1.64029916e+02] [ 7.19815102e-03 8.26920725e-04 -9.99973751e-01 1.68981232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.849254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.52, Y:164.04, Z:16.90 [[ 9.81862327e-01 -1.89470346e-01 6.88177288e-03 9.38523021e+02] [-1.89459779e-01 -9.81886102e-01 -2.16234571e-03 1.64037920e+02] [ 7.16681754e-03 8.19306625e-04 -9.99973982e-01 1.68953822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.879254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.52, Y:164.05, Z:16.90 [[ 9.93580404e-01 -1.12909936e-01 7.02329761e-03 9.38523329e+02] [-1.12902130e-01 -9.93604982e-01 -1.49947455e-03 1.64045431e+02] [ 7.14768907e-03 6.96903272e-04 -9.99974212e-01 1.68972201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.9092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.52, Y:164.06, Z:16.90 [[ 9.99412545e-01 -3.35305522e-02 7.08995360e-03 9.38524059e+02] [-3.35242879e-02 -9.99437402e-01 -1.00057791e-03 1.64058364e+02] [ 7.11951474e-03 7.62304467e-04 -9.99974365e-01 1.68964282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.9392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.52, Y:164.06, Z:16.90 [[ 9.98971310e-01 4.47837282e-02 7.12313111e-03 9.38521286e+02] [ 4.47875801e-02 -9.98996460e-01 -3.82089734e-04 1.64055178e+02] [ 7.09887136e-03 7.00724488e-04 -9.99974557e-01 1.68972152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.9692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.52, Y:164.04, Z:16.90 [[ 9.92544213e-01 1.21677618e-01 7.10928976e-03 9.38519289e+02] [ 1.21679447e-01 -9.92569434e-01 1.76253623e-04 1.64042515e+02] [ 7.07790983e-03 6.90114934e-04 -9.99974713e-01 1.68960664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.9992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.52, Y:164.03, Z:16.90 [[ 9.79845523e-01 1.99631968e-01 7.05890312e-03 9.38518904e+02] [ 1.99632283e-01 -9.79870658e-01 6.67134445e-04 1.64033391e+02] [ 7.04999341e-03 7.55496247e-04 -9.99974863e-01 1.68980333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.0292541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:938.52, Y:164.03, Z:16.90 [[ 9.61421540e-01 2.74991565e-01 6.94706117e-03 9.38517056e+02] [ 2.74989454e-01 -9.61446396e-01 1.27603714e-03 1.64032462e+02] [ 7.03012637e-03 6.83558964e-04 -9.99975055e-01 1.68985981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.0592541539997 meters Centerline goodness : 0.999649 Centerline is valid? [True, True] Translation: X:938.51, Y:164.05, Z:16.90 [[ 9.37351310e-01 3.48319128e-01 6.80490185e-03 9.38509097e+02] [ 3.48315074e-01 -9.37375769e-01 1.81039032e-03 1.64054317e+02] [ 7.00934368e-03 6.73278151e-04 -9.99975208e-01 1.69012828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.089254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.50, Y:164.08, Z:16.90 [[ 9.07836808e-01 4.19271398e-01 6.62012039e-03 9.38497431e+02] [ 4.19265406e-01 -9.07860708e-01 2.33535132e-03 1.64077988e+02] [ 6.98929320e-03 6.55469581e-04 -9.99975360e-01 1.69001645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.119254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.50, Y:164.08, Z:16.90 [[ 8.72825535e-01 4.87990397e-01 6.39979143e-03 9.38495498e+02] [ 4.87982606e-01 -8.72848755e-01 2.83306844e-03 1.64078997e+02] [ 6.96856018e-03 6.50212418e-04 -9.99975508e-01 1.69005836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.149254154 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:938.50, Y:164.07, Z:16.90 [[ 8.33696385e-01 5.52188955e-01 6.13958597e-03 9.38498502e+02] [ 5.52179360e-01 -8.33718757e-01 3.31498892e-03 1.64071160e+02] [ 6.94918826e-03 6.26458370e-04 -9.99975658e-01 1.68981651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.1792541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:938.50, Y:164.06, Z:16.90 [[ 7.89077052e-01 6.14266443e-01 5.84315272e-03 9.38501258e+02] [ 6.14255154e-01 -7.89098450e-01 3.77395374e-03 1.64062770e+02] [ 6.92903589e-03 6.11246379e-04 -9.99975807e-01 1.68997133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.2092541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:938.50, Y:164.06, Z:16.90 [[ 7.39441065e-01 6.73198723e-01 5.51278187e-03 9.38502769e+02] [ 6.73185846e-01 -7.39461371e-01 4.20688016e-03 1.64056461e+02] [ 6.90855559e-03 6.00386784e-04 -9.99975955e-01 1.69006614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.2392541539998 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:938.51, Y:164.05, Z:16.90 [[ 6.87200295e-01 7.26449741e-01 5.15056471e-03 9.38507485e+02] [ 7.26435330e-01 -6.87219358e-01 4.61144529e-03 1.64049308e+02] [ 6.88955101e-03 5.72565609e-04 -9.99976103e-01 1.68978964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.2692541539998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:938.51, Y:164.04, Z:16.90 [[ 6.29303226e-01 7.77145289e-01 4.75919052e-03 9.38511040e+02] [ 7.77129503e-01 -6.29320971e-01 4.98508604e-03 1.64042023e+02] [ 6.86919453e-03 5.61376640e-04 -9.99976249e-01 1.69017078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.2992541539998 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:938.50, Y:164.04, Z:16.90 [[ 5.68221054e-01 8.22864504e-01 4.34081007e-03 9.38504324e+02] [ 8.22847448e-01 -5.68237372e-01 5.32607221e-03 1.64041852e+02] [ 6.84924627e-03 5.45438124e-04 -9.99976395e-01 1.69041753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.329254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.50, Y:164.04, Z:16.90 [[ 5.01359161e-01 8.65230487e-01 3.89829679e-03 9.38497407e+02] [ 8.65212328e-01 -5.01374016e-01 5.63234852e-03 1.64042742e+02] [ 6.82778436e-03 5.49024916e-04 -9.99976540e-01 1.69007663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.359254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.50, Y:164.04, Z:16.90 [[ 4.32031290e-01 9.01852077e-01 3.43457399e-03 9.38495134e+02] [ 9.01832929e-01 -4.32044595e-01 5.90219668e-03 1.64040691e+02] [ 6.80679747e-03 5.47478276e-04 -9.99976684e-01 1.69003839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.389254154 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:938.50, Y:164.04, Z:16.90 [[ 3.59837116e-01 9.33010468e-01 2.95249743e-03 9.38501997e+02] [ 9.32990463e-01 -3.59848813e-01 6.13422854e-03 1.64035278e+02] [ 6.78575213e-03 5.47328835e-04 -9.99976827e-01 1.68996997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.4192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.51, Y:164.03, Z:16.90 [[ 2.84518011e-01 9.58667550e-01 2.45557230e-03 9.38508555e+02] [ 9.58646831e-01 -2.84528068e-01 6.32708852e-03 1.64030504e+02] [ 6.76425369e-03 5.53855964e-04 -9.99976969e-01 1.68983545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.4492541539998 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:938.52, Y:164.03, Z:16.90 [[ 2.08068588e-01 9.78112301e-01 1.94646190e-03 9.38515396e+02] [ 9.78090994e-01 -2.08076950e-01 6.48001569e-03 1.64025552e+02] [ 6.74319691e-03 5.55529145e-04 -9.99977110e-01 1.69005835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.4792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.52, Y:164.02, Z:16.90 [[ 1.29115027e-01 9.91628594e-01 1.42869828e-03 9.38521619e+02] [ 9.91606843e-01 -1.29121692e-01 6.59222878e-03 1.64022222e+02] [ 6.72151850e-03 5.65551199e-04 -9.99977250e-01 1.68981115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.5092541539998 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:938.53, Y:164.02, Z:16.90 [[ 4.99162382e-02 9.98752998e-01 9.05020574e-04 9.38528048e+02] [ 9.98730933e-01 -4.99211734e-02 6.66335591e-03 1.64019527e+02] [ 6.70022638e-03 5.71262382e-04 -9.99977390e-01 1.69008917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.5392541539998 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:938.54, Y:164.02, Z:16.90 [[-2.97526242e-02 9.99557221e-01 3.79204145e-04 9.38538488e+02] [ 9.99534979e-01 2.97494230e-02 6.69314728e-03 1.64017348e+02] [ 6.67890259e-03 5.78166503e-04 -9.99977529e-01 1.68993655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.5692541539997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.58, Y:163.99, Z:16.90 [[-1.07213205e-01 9.94236042e-01 -1.45850560e-04 9.38577062e+02] [ 9.94213754e-01 1.07211782e-01 6.68168710e-03 1.63994630e+02] [ 6.65881103e-03 5.71358455e-04 -9.99977667e-01 1.68976421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.599254154 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:938.61, Y:163.97, Z:16.90 [[-1.89724431e-01 9.81837179e-01 -6.28036842e-04 9.38614507e+02] [ 9.81814980e-01 1.89724384e-01 6.63349978e-03 1.63973879e+02] [ 6.63217062e-03 6.41920991e-04 -9.99977801e-01 1.69010531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.629254154 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:938.66, Y:163.95, Z:16.90 [[-2.67498249e-01 9.63557624e-01 -1.17944890e-03 9.38656343e+02] [ 9.63535664e-01 2.67500151e-01 6.53396521e-03 1.63947000e+02] [ 6.61135476e-03 6.11383178e-04 -9.99977958e-01 1.69024265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.6592541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:938.70, Y:163.93, Z:16.90 [[-3.45623364e-01 9.38371813e-01 -1.68236581e-03 9.38698883e+02] [ 9.38350190e-01 3.45626877e-01 6.40180175e-03 1.63927380e+02] [ 6.58874116e-03 6.33963975e-04 -9.99978093e-01 1.68980278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.6892541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:938.74, Y:163.92, Z:16.90 [[-4.18905739e-01 9.08027128e-01 -2.17191088e-03 9.38740484e+02] [ 9.08005972e-01 4.18910883e-01 6.23116885e-03 1.63916016e+02] [ 6.56790746e-03 6.38164342e-04 -9.99978227e-01 1.68978645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.7192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.79, Y:163.90, Z:16.90 [[-4.85908729e-01 8.74005556e-01 -2.64500625e-03 9.38788092e+02] [ 8.73985016e-01 4.85915538e-01 6.02342415e-03 1.63902382e+02] [ 6.54975581e-03 6.15138544e-04 -9.99978361e-01 1.69002997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.7492541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:938.83, Y:163.90, Z:16.90 [[-5.53667544e-01 8.32732209e-01 -3.05256157e-03 9.38829242e+02] [ 8.32712245e-01 5.53675551e-01 5.80534539e-03 1.63900876e+02] [ 6.52442680e-03 6.72325934e-04 -9.99978490e-01 1.69011615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.7792541539998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:938.88, Y:163.89, Z:16.90 [[-6.16664655e-01 7.87218254e-01 -3.48187809e-03 9.38876650e+02] [ 7.87199113e-01 6.16674121e-01 5.53033806e-03 1.63893409e+02] [ 6.50076718e-03 6.69432668e-04 -9.99978646e-01 1.69029624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.8092541539997 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:938.92, Y:163.89, Z:16.90 [[-6.80365978e-01 7.32862228e-01 -3.88458064e-03 9.38922758e+02] [ 7.32843941e-01 6.80376699e-01 5.22547511e-03 1.63887080e+02] [ 6.47253148e-03 7.08444093e-04 -9.99978802e-01 1.68993008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.839254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.97, Y:163.89, Z:16.90 [[-7.33324527e-01 6.79865090e-01 -4.31251004e-03 9.38971929e+02] [ 6.79848113e-01 7.33336944e-01 4.84454278e-03 1.63889843e+02] [ 6.45615845e-03 6.20770229e-04 -9.99978966e-01 1.69013913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.869254154 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:939.02, Y:163.89, Z:16.90 [[-7.87114727e-01 6.16789306e-01 -4.62160865e-03 9.39016751e+02] [ 6.16773128e-01 7.87127975e-01 4.52324177e-03 1.63892143e+02] [ 6.42768460e-03 7.09826185e-04 -9.99979090e-01 1.68989880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.899254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:939.07, Y:163.90, Z:16.90 [[-8.31273670e-01 5.55841043e-01 -4.98204888e-03 9.39065581e+02] [ 5.55826395e-01 8.31288364e-01 4.08348940e-03 1.63903091e+02] [ 6.41129027e-03 6.25342947e-04 -9.99979252e-01 1.69027562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.9292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:939.11, Y:163.91, Z:16.90 [[-8.75354036e-01 4.83454150e-01 -5.23416221e-03 9.39105698e+02] [ 4.83440369e-01 8.75369382e-01 3.72223606e-03 1.63914349e+02] [ 6.38135580e-03 7.27869046e-04 -9.99979374e-01 1.68988543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.9592541539998 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:939.15, Y:163.93, Z:16.90 [[-9.10591247e-01 4.13271224e-01 -5.52061045e-03 9.39146938e+02] [ 4.13259108e-01 9.10607740e-01 3.23312302e-03 1.63931285e+02] [ 6.36326732e-03 6.62610969e-04 -9.99979535e-01 1.69023190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.9892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:939.01, Y:164.03, Z:16.91 [[-9.39768517e-01 3.41763364e-01 -5.73921013e-03 9.39008521e+02] [ 3.41752664e-01 9.39785814e-01 2.78218870e-03 1.64029866e+02] [ 6.34447843e-03 6.53222994e-04 -9.99979660e-01 1.69074828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.0192541539998 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:939.23, Y:163.98, Z:16.91 [[-9.64767323e-01 2.63038309e-01 -5.90424990e-03 9.39233324e+02] [ 2.63028709e-01 9.64785117e-01 2.36140142e-03 1.63982375e+02] [ 6.31747147e-03 7.25215699e-04 -9.99979782e-01 1.69054504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.0492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:939.27, Y:164.01, Z:16.90 [[-9.83008592e-01 1.83459413e-01 -6.06237771e-03 9.39271714e+02] [ 1.83451504e-01 9.83027038e-01 1.84057161e-03 1.64006820e+02] [ 6.29715139e-03 6.97145393e-04 -9.99979930e-01 1.69019993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.079254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:939.31, Y:164.04, Z:16.91 [[-9.93773028e-01 1.11252480e-01 -6.16892317e-03 9.39306422e+02] [ 1.11246182e-01 9.93791955e-01 1.35578564e-03 1.64038767e+02] [ 6.28146073e-03 6.61074043e-04 -9.99980053e-01 1.69058459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.109254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:939.34, Y:164.07, Z:16.90 [[-9.99616899e-01 2.69678836e-02 -6.22803769e-03 9.39338401e+02] [ 2.69625824e-02 9.99636008e-01 9.33602915e-04 1.64065666e+02] [ 6.25094802e-03 7.65321272e-04 -9.99980170e-01 1.69019992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.139254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:939.37, Y:164.10, Z:16.90 [[-9.98722346e-01 -5.01444851e-02 -6.26145315e-03 9.39370686e+02] [-5.01478012e-02 9.98741738e-01 3.73632472e-04 1.64097755e+02] [ 6.23483899e-03 6.87153207e-04 -9.99980327e-01 1.69014323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.1692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:939.40, Y:164.13, Z:16.90 [[-9.91734572e-01 -1.28154006e-01 -6.25223995e-03 9.39399469e+02] [-1.28155782e-01 9.91754043e-01 -1.17335308e-04 1.64133761e+02] [ 6.21572123e-03 6.84895218e-04 -9.99980448e-01 1.69014294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.1992541539998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:939.43, Y:164.17, Z:16.90 [[-9.78986384e-01 -2.03831207e-01 -6.20479161e-03 9.39425925e+02] [-2.03831422e-01 9.79005815e-01 -6.04427294e-04 1.64170744e+02] [ 6.19772821e-03 6.73005408e-04 -9.99980567e-01 1.69014414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.2292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:939.45, Y:164.21, Z:16.90 [[-9.60160528e-01 -2.79382019e-01 -6.11950798e-03 9.39445390e+02] [-2.79380709e-01 9.60179797e-01 -1.08530469e-03 1.64208614e+02] [ 6.17904254e-03 6.67605751e-04 -9.99980687e-01 1.68992555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.2592541539998 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:939.25, Y:164.93, Z:15.92 [[-9.74356630e-01 2.24929293e-01 5.99761217e-03 9.39254709e+02] [-2.24923977e-01 -9.74375074e-01 1.55535163e-03 1.64929868e+02] [ 6.19376795e-03 1.66460390e-04 9.99980805e-01 1.59165655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.2892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:939.39, Y:164.23, Z:16.90 [[-9.39578875e-01 -3.42279943e-01 -5.99814727e-03 9.39392775e+02] [-3.42276933e-01 9.39597833e-01 -1.55328530e-03 1.64228800e+02] [ 6.16750458e-03 5.93593395e-04 -9.99980805e-01 1.69042927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.3192541539997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:939.41, Y:164.26, Z:16.90 [[-9.10279084e-01 -4.13953277e-01 -5.88846996e-03 9.39412754e+02] [-4.13949689e-01 9.10297835e-01 -1.87292684e-03 1.64262894e+02] [ 6.13556566e-03 7.32644173e-04 -9.99980909e-01 1.68972673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.349254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:939.41, Y:164.30, Z:16.90 [[-8.75543788e-01 -4.83105685e-01 -5.65441843e-03 9.39411438e+02] [-4.83100014e-01 8.75561832e-01 -2.41983651e-03 1.64298885e+02] [ 6.11982973e-03 6.12976801e-04 -9.99981086e-01 1.68962617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.379254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:939.05, Y:164.97, Z:15.92 [[-8.96229818e-01 4.43556746e-01 5.43382856e-03 9.39050890e+02] [-4.43547664e-01 -8.96246280e-01 2.84165169e-03 1.64966411e+02] [ 6.13048241e-03 1.36611008e-04 9.99981199e-01 1.59188458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.4092541539999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:939.05, Y:164.97, Z:15.92 [[-8.96123878e-01 4.43770726e-01 5.43495097e-03 9.39052549e+02] [-4.43761662e-01 -8.96140349e-01 2.83950334e-03 1.64967971e+02] [ 6.13056731e-03 1.32723868e-04 9.99981199e-01 1.59160170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.4392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:939.05, Y:164.97, Z:15.92 [[-8.97116943e-01 4.41759711e-01 5.43592943e-03 9.39052752e+02] [-4.41750621e-01 -8.97133400e-01 2.83762894e-03 1.64968256e+02] [ 6.13030399e-03 1.44359800e-04 9.99981199e-01 1.59175769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.4692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:939.30, Y:164.27, Z:16.90 [[-8.37128139e-01 -5.46979814e-01 -5.43718882e-03 9.39297321e+02] [-5.46972795e-01 8.37145581e-01 -2.83521375e-03 1.64272976e+02] [ 6.10252328e-03 6.00557157e-04 -9.99981199e-01 1.69037183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.4992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:939.32, Y:164.32, Z:16.90 [[-7.94220250e-01 -6.07605654e-01 -5.43718882e-03 9.39317706e+02] [-6.07599950e-01 7.94238165e-01 -2.83521375e-03 1.64319080e+02] [ 6.04111478e-03 1.05185148e-03 -9.99981199e-01 1.68992107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.5292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.86, Y:164.93, Z:15.92 [[-8.25770081e-01 5.63985500e-01 4.91217947e-03 9.38861201e+02] [-5.63974291e-01 -8.25784674e-01 3.55970028e-03 1.64929972e+02] [ 6.06402186e-03 1.69151054e-04 9.99981599e-01 1.59172151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.5592541539997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.86, Y:164.93, Z:15.92 [[-8.26092041e-01 5.63513791e-01 4.91394520e-03 9.38862241e+02] [-5.63502589e-01 -8.26106639e-01 3.55726113e-03 1.64930686e+02] [ 6.06400846e-03 1.69604270e-04 9.99981599e-01 1.59162373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.589254154 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:938.85, Y:164.92, Z:15.92 [[-8.26111495e-01 5.63485259e-01 4.91534791e-03 9.38852806e+02] [-5.63474068e-01 -8.26126101e-01 3.55532184e-03 1.64924407e+02] [ 6.06406865e-03 1.67421158e-04 9.99981599e-01 1.59154667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.619254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.86, Y:164.93, Z:15.92 [[-8.26179314e-01 5.63385807e-01 4.91675250e-03 9.38855093e+02] [-5.63374625e-01 -8.26193927e-01 3.55337832e-03 1.64928086e+02] [ 6.06411397e-03 1.65754068e-04 9.99981599e-01 1.59181552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.649254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.86, Y:164.93, Z:15.92 [[-8.26143558e-01 5.63438224e-01 4.91815778e-03 9.38855417e+02] [-5.63427055e-01 -8.26158182e-01 3.55143224e-03 1.64928823e+02] [ 6.06418897e-03 1.62969714e-04 9.99981599e-01 1.59189000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.6792541539999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:938.85, Y:164.93, Z:15.92 [[-8.25534750e-01 5.64329846e-01 4.91955701e-03 9.38849890e+02] [-5.64318704e-01 -8.25549394e-01 3.54949293e-03 1.64925008e+02] [ 6.06442210e-03 1.54031727e-04 9.99981599e-01 1.59167240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.7092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.85, Y:164.93, Z:15.92 [[-8.26309682e-01 5.63194548e-01 4.92052540e-03 9.38850130e+02] [-5.63183394e-01 -8.26324316e-01 3.54814998e-03 1.64926941e+02] [ 6.06424851e-03 1.60712492e-04 9.99981599e-01 1.59212024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.7392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.85, Y:164.92, Z:15.92 [[-8.20752173e-01 5.71263203e-01 4.92174675e-03 9.38854900e+02] [-5.71252203e-01 -8.20766924e-01 3.54645500e-03 1.64923295e+02] [ 6.06556618e-03 9.92019759e-05 9.99981599e-01 1.59154110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.7692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.85, Y:164.92, Z:15.92 [[-8.20853151e-01 5.71118481e-01 4.87701572e-03 9.38854408e+02] [-5.71107108e-01 -8.20867620e-01 3.60851913e-03 1.64922179e+02] [ 6.06427625e-03 1.76765950e-04 9.99981597e-01 1.59156012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.7992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.85, Y:164.92, Z:15.92 [[-8.21776125e-01 5.69789679e-01 4.87055513e-03 9.38853591e+02] [-5.69778229e-01 -8.21790535e-01 3.61748852e-03 1.64921558e+02] [ 6.06378373e-03 1.97629419e-04 9.99981596e-01 1.59151500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.829254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.85, Y:164.92, Z:15.91 [[-8.21726157e-01 5.69861661e-01 4.87958931e-03 9.38849549e+02] [-5.69850287e-01 -8.21740625e-01 3.60493350e-03 1.64917501e+02] [ 6.06407015e-03 1.81632784e-04 9.99981597e-01 1.59144835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.859254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.84, Y:164.91, Z:15.91 [[-8.22782556e-01 5.68335358e-01 4.87724163e-03 9.38837342e+02] [-5.68323938e-01 -8.22796988e-01 3.60819832e-03 1.64907102e+02] [ 6.06364640e-03 1.96909467e-04 9.99981597e-01 1.59139919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.889254154 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:938.73, Y:164.84, Z:15.92 [[-8.30433634e-01 5.57096157e-01 4.88387781e-03 9.38729220e+02] [-5.57084596e-01 -8.30447952e-01 3.59894702e-03 1.64835186e+02] [ 6.06076588e-03 2.67953554e-04 9.99981598e-01 1.59192296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.9192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:939.19, Y:164.27, Z:16.90 [[-7.50380538e-01 -6.60988045e-01 -4.88387781e-03 9.39191859e+02] [-6.60978458e-01 7.50396246e-01 -3.59894702e-03 1.64265720e+02] [ 6.04370453e-03 5.27558218e-04 -9.99981598e-01 1.68975396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.9492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.71, Y:164.85, Z:15.92 [[-7.85791930e-01 6.18473278e-01 4.67410156e-03 9.38709888e+02] [-6.18461288e-01 -7.85805820e-01 3.85340204e-03 1.64851422e+02] [ 6.05616240e-03 1.37221355e-04 9.99981652e-01 1.59155598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.9792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.71, Y:164.85, Z:15.91 [[-7.86176989e-01 6.17984169e-01 4.61605056e-03 9.38708727e+02] [-6.17971756e-01 -7.86190507e-01 3.92378849e-03 1.64849383e+02] [ 6.05393430e-03 2.32203358e-04 9.99981648e-01 1.59146892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.0092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.71, Y:164.85, Z:15.91 [[-7.86930017e-01 6.17024980e-01 4.61759712e-03 9.38708290e+02] [-6.17012561e-01 -7.86943529e-01 3.92191183e-03 1.64848057e+02] [ 6.05370574e-03 2.37154723e-04 9.99981648e-01 1.59143139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.0392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.70, Y:164.85, Z:15.92 [[-7.87960426e-01 6.15708578e-01 4.61675077e-03 9.38704716e+02] [-6.15696131e-01 -7.87973911e-01 3.92293917e-03 1.64845444e+02] [ 6.05326646e-03 2.48605231e-04 9.99981648e-01 1.59151514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.0692541539997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.70, Y:164.84, Z:15.92 [[-7.88371551e-01 6.15182037e-01 4.62160017e-03 9.38700601e+02] [-6.15169615e-01 -7.88385059e-01 3.91704837e-03 1.64842085e+02] [ 6.05329832e-03 2.45021497e-04 9.99981649e-01 1.59155044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.099254154 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:938.70, Y:164.84, Z:15.91 [[-7.87671878e-01 6.16077609e-01 4.62515514e-03 9.38699813e+02] [-6.16065228e-01 -7.87685423e-01 3.91272653e-03 1.64840487e+02] [ 6.05371049e-03 2.32547401e-04 9.99981649e-01 1.59133310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.129254154 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:938.70, Y:164.84, Z:15.91 [[-7.87379213e-01 6.16451601e-01 4.62593393e-03 9.38695892e+02] [-6.16439232e-01 -7.87392768e-01 3.91177886e-03 1.64836683e+02] [ 6.05384926e-03 2.28446201e-04 9.99981649e-01 1.59147232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.1592541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:938.69, Y:164.84, Z:15.92 [[-7.93180946e-01 6.08968487e-01 4.62270406e-03 9.38688586e+02] [-6.08955967e-01 -7.93194363e-01 3.91571090e-03 1.64839578e+02] [ 6.05124734e-03 2.90844051e-04 9.99981649e-01 1.59213221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.1892541539999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:938.70, Y:164.84, Z:15.91 [[-7.84622911e-01 6.19955605e-01 4.68351672e-03 9.38702377e+02] [-6.19943713e-01 -7.84636881e-01 3.84157013e-03 1.64842405e+02] [ 6.05646289e-03 1.10667194e-04 9.99981653e-01 1.59129650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.2192541539998 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:938.69, Y:164.84, Z:15.92 [[-7.90634364e-01 6.12271128e-01 4.62255283e-03 9.38686750e+02] [-6.12258663e-01 -7.90647833e-01 3.91583801e-03 1.64837962e+02] [ 6.05236594e-03 2.65798081e-04 9.99981649e-01 1.59185882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.2492541539998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:938.69, Y:164.84, Z:15.92 [[-7.90326960e-01 6.12667401e-01 4.68528035e-03 9.38685240e+02] [-6.12655393e-01 -7.90340831e-01 3.83928846e-03 1.64836592e+02] [ 6.05517525e-03 1.63830907e-04 9.99981654e-01 1.59201291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.2792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.70, Y:164.84, Z:15.92 [[-7.82250159e-01 6.22946805e-01 4.68679879e-03 9.38702277e+02] [-6.22934991e-01 -7.82264195e-01 3.83743393e-03 1.64841678e+02] [ 6.05683209e-03 8.22623362e-05 9.99981654e-01 1.59153642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.3092541539997 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:938.70, Y:164.84, Z:15.91 [[-7.80746949e-01 6.24830246e-01 4.62222316e-03 9.38704170e+02] [-6.24817996e-01 -7.80760613e-01 3.91624081e-03 1.64842892e+02] [ 6.05583549e-03 1.69544853e-04 9.99981649e-01 1.59139756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.339254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.70, Y:164.84, Z:15.92 [[-7.80759433e-01 6.24814633e-01 4.62414239e-03 9.38698426e+02] [-6.24802397e-01 -7.80773108e-01 3.91389682e-03 1.64838442e+02] [ 6.05586603e-03 1.66636613e-04 9.99981649e-01 1.59163379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.369254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.69, Y:164.84, Z:15.92 [[-7.86535050e-01 6.17528297e-01 4.62792211e-03 9.38686314e+02] [-6.17515962e-01 -7.86548635e-01 3.90927671e-03 1.64836027e+02] [ 6.05417481e-03 2.16967383e-04 9.99981650e-01 1.59231852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.399254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.69, Y:164.83, Z:15.92 [[-7.79728271e-01 6.26100482e-01 4.69158700e-03 9.38692330e+02] [-6.26088761e-01 -7.79742383e-01 3.83131678e-03 1.64832622e+02] [ 6.05701851e-03 5.00361148e-05 9.99981655e-01 1.59182357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.4292541539999 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:938.69, Y:164.83, Z:15.92 [[-7.84476089e-01 6.20141693e-01 4.64176639e-03 9.38687247e+02] [-6.20129503e-01 -7.84489802e-01 3.89231294e-03 1.64834177e+02] [ 6.05520393e-03 1.74930146e-04 9.99981652e-01 1.59211035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.4592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.70, Y:164.84, Z:15.92 [[-7.77913612e-01 6.28353704e-01 4.69411452e-03 9.38700718e+02] [-6.28342043e-01 -7.77927774e-01 3.82812274e-03 1.64838190e+02] [ 6.05709716e-03 2.84392779e-05 9.99981655e-01 1.59189088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.4892541539998 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:938.69, Y:164.83, Z:15.92 [[-7.82487863e-01 6.22648495e-01 4.64724694e-03 9.38685647e+02] [-6.22636388e-01 -7.82501649e-01 3.88557545e-03 1.64831917e+02] [ 6.05582610e-03 1.46870584e-04 9.99981653e-01 1.59207673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.5192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.70, Y:164.84, Z:15.92 [[-7.76391219e-01 6.30233785e-01 4.69584341e-03 9.38700947e+02] [-6.30222172e-01 -7.76405420e-01 3.82592947e-03 1.64838005e+02] [ 6.05710829e-03 1.09934051e-05 9.99981656e-01 1.59192899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.5492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.68, Y:164.83, Z:15.92 [[-7.81725934e-01 6.23604859e-01 4.64144820e-03 9.38682200e+02] [-6.23592727e-01 -7.81739699e-01 3.89265899e-03 1.64829626e+02] [ 6.05588538e-03 1.48619137e-04 9.99981652e-01 1.59227039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.579254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.70, Y:164.83, Z:15.92 [[-7.74686024e-01 6.32328631e-01 4.69760878e-03 9.38698076e+02] [-6.32317070e-01 -7.74700266e-01 3.82366224e-03 1.64834121e+02] [ 6.05704988e-03 -8.24052516e-06 9.99981656e-01 1.59187740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.609254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.69, Y:164.83, Z:15.92 [[-7.75244534e-01 6.31644155e-01 4.64489970e-03 9.38688920e+02] [-6.31632191e-01 -7.75258444e-01 3.88838302e-03 1.64826107e+02] [ 6.05707212e-03 8.05795099e-05 9.99981653e-01 1.59190909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.639254154 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:938.68, Y:164.83, Z:15.92 [[-7.80751085e-01 6.24824874e-01 4.64978288e-03 9.38681626e+02] [-6.24812825e-01 -7.80764921e-01 3.88238279e-03 1.64825384e+02] [ 6.05619669e-03 1.25930599e-04 9.99981653e-01 1.59218681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.6692541539999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:938.68, Y:164.82, Z:15.92 [[-7.80977256e-01 6.24541779e-01 4.70023072e-03 9.38679247e+02] [-6.24530096e-01 -7.80991398e-01 3.82031557e-03 1.64822098e+02] [ 6.05678644e-03 4.81440273e-05 9.99981656e-01 1.59221546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.6992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.69, Y:164.83, Z:15.92 [[-7.76027561e-01 6.30681471e-01 4.70172473e-03 9.38693482e+02] [-6.30669912e-01 -7.76041804e-01 3.81847598e-03 1.64825948e+02] [ 6.05697699e-03 -1.99371762e-06 9.99981656e-01 1.59223628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.7292541539998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:938.68, Y:164.82, Z:15.92 [[-7.80951323e-01 6.24574542e-01 4.65544618e-03 9.38680147e+02] [-6.24562530e-01 -7.80965190e-01 3.87543988e-03 1.64819284e+02] [ 6.05624250e-03 1.18912656e-04 9.99981654e-01 1.59247472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.7592541539998 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:938.68, Y:164.82, Z:15.92 [[-7.80403229e-01 6.25258889e-01 4.70342293e-03 9.38679826e+02] [-6.25247244e-01 -7.80417401e-01 3.81631083e-03 1.64815433e+02] [ 6.05681537e-03 3.74590683e-05 9.99981657e-01 1.59249769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.7892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.69, Y:164.82, Z:15.92 [[-7.75806511e-01 6.30953344e-01 4.70491922e-03 9.38689314e+02] [-6.30941813e-01 -7.75820777e-01 3.81446524e-03 1.64816492e+02] [ 6.05692368e-03 -9.24329341e-06 9.99981657e-01 1.59231879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.8192541539997 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:938.68, Y:164.81, Z:15.93 [[-7.80348267e-01 6.25327783e-01 4.66316545e-03 9.38678034e+02] [-6.25315841e-01 -7.80362194e-01 3.86596592e-03 1.64810442e+02] [ 6.05645392e-03 1.00848579e-04 9.99981654e-01 1.59257770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.849254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.69, Y:164.81, Z:15.92 [[-7.76920779e-01 6.29580767e-01 4.70759693e-03 9.38687897e+02] [-6.29569232e-01 -7.76935041e-01 3.81108246e-03 1.64810831e+02] [ 6.05688123e-03 -2.84902346e-06 9.99981657e-01 1.59243762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.879254154 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:938.68, Y:164.80, Z:15.92 [[-7.77147719e-01 6.29300807e-01 4.68172595e-03 9.38679804e+02] [-6.29289073e-01 -7.77161819e-01 3.84305690e-03 1.64802037e+02] [ 6.05689746e-03 4.04639203e-05 9.99981656e-01 1.59229027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.9092541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:938.68, Y:164.80, Z:15.92 [[-7.80419889e-01 6.25238217e-01 4.68710148e-03 9.38677395e+02] [-6.25226450e-01 -7.80433961e-01 3.83640886e-03 1.64799135e+02] [ 6.05664261e-03 6.35099535e-05 9.99981656e-01 1.59233839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.9392541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:938.68, Y:164.80, Z:15.92 [[-7.80817474e-01 6.24741447e-01 4.71139655e-03 9.38677615e+02] [-6.24729852e-01 -7.80831688e-01 3.80633700e-03 1.64797371e+02] [ 6.05678420e-03 2.87043733e-05 9.99981657e-01 1.59241334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.9692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.68, Y:164.79, Z:15.92 [[-7.81081644e-01 6.24411126e-01 4.71288407e-03 9.38675777e+02] [-6.24399536e-01 -7.81095862e-01 3.80449430e-03 1.64793757e+02] [ 6.05678281e-03 2.88980364e-05 9.99981657e-01 1.59239749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.9992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.68, Y:164.79, Z:15.92 [[-7.81276968e-01 6.24166703e-01 4.71437087e-03 9.38676075e+02] [-6.24155120e-01 -7.81291191e-01 3.80265103e-03 1.64789968e+02] [ 6.05678459e-03 2.84249474e-05 9.99981657e-01 1.59246365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.0292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.68, Y:164.79, Z:15.93 [[-7.80097946e-01 6.25639637e-01 4.71585746e-03 9.38678449e+02] [-6.25628092e-01 -7.80112200e-01 3.80080654e-03 1.64789050e+02] [ 6.05683316e-03 1.46284683e-05 9.99981657e-01 1.59251551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.0592541539997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.68, Y:164.79, Z:15.93 [[-7.80343650e-01 6.25333193e-01 4.71018312e-03 9.38676642e+02] [-6.25321599e-01 -7.80357865e-01 3.80785383e-03 1.64787496e+02] [ 6.05680584e-03 2.60553160e-05 9.99981657e-01 1.59251664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.089254154 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:938.67, Y:164.78, Z:15.92 [[-7.80673928e-01 6.24920810e-01 4.71167637e-03 9.38673558e+02] [-6.24909220e-01 -7.80688146e-01 3.80599778e-03 1.64782766e+02] [ 6.05679711e-03 2.68732263e-05 9.99981657e-01 1.59233707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.119254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:939.02, Y:164.21, Z:16.89 [[-7.26944999e-01 -6.86679461e-01 -4.72087792e-03 9.39018441e+02] [-6.86669146e-01 7.26960167e-01 -3.79454994e-03 1.64207101e+02] [ 6.03752971e-03 4.83252108e-04 -9.99981657e-01 1.68942527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.149254154 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:939.01, Y:164.25, Z:16.90 [[-6.79672771e-01 -7.33500265e-01 -4.72087792e-03 9.39011325e+02] [-7.33490982e-01 6.79688591e-01 -3.79454994e-03 1.64247330e+02] [ 5.99203025e-03 8.83669109e-04 -9.99981657e-01 1.68970346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.1792541539999 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:938.50, Y:164.71, Z:15.93 [[-6.79257766e-01 7.33888473e-01 4.07384306e-03 9.38501076e+02] [-7.33875316e-01 -6.79269983e-01 4.39439026e-03 1.64707444e+02] [ 5.99223167e-03 -4.76915308e-06 9.99982046e-01 1.59251881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.2092541539998 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:938.50, Y:164.71, Z:15.93 [[-6.79022076e-01 7.34106539e-01 4.07555538e-03 9.38503746e+02] [-7.34093396e-01 -6.79034307e-01 4.39280160e-03 1.64705508e+02] [ 5.99222631e-03 -9.02902471e-06 9.99982046e-01 1.59251367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.2392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.50, Y:164.70, Z:15.93 [[-6.79795885e-01 7.33390026e-01 4.07726592e-03 9.38500532e+02] [-7.33376880e-01 -6.79808112e-01 4.39121336e-03 1.64699693e+02] [ 5.99223053e-03 -5.04378548e-06 9.99982046e-01 1.59263281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.2692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.50, Y:164.70, Z:15.92 [[-6.77056847e-01 7.35919412e-01 4.07986010e-03 9.38504590e+02] [-7.35906326e-01 -6.77069138e-01 4.38880179e-03 1.64697599e+02] [ 5.99215180e-03 -3.09265562e-05 9.99982046e-01 1.59233903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.2992541539998 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:938.50, Y:164.69, Z:15.92 [[-6.80851975e-01 7.32409807e-01 4.05746869e-03 9.38500736e+02] [-7.32396533e-01 -6.80864064e-01 4.40961867e-03 1.64693069e+02] [ 5.99223258e-03 3.06215783e-05 9.99982046e-01 1.59238603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.329254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.84, Y:164.12, Z:16.90 [[-6.21374914e-01 -7.83502746e-01 -4.08210026e-03 9.38838460e+02] [-7.83490608e-01 6.21388142e-01 -4.38669744e-03 1.64122080e+02] [ 5.97355819e-03 4.72503472e-04 -9.99982047e-01 1.68993634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.359254154 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:938.88, Y:164.22, Z:16.90 [[-5.63618033e-01 -8.26025453e-01 -4.08210026e-03 9.38875053e+02] [-8.26014295e-01 5.63632098e-01 -4.38669744e-03 1.64224849e+02] [ 5.92432647e-03 8.99451383e-04 -9.99982047e-01 1.68970131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.389254154 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:938.34, Y:164.59, Z:15.92 [[-5.73423031e-01 8.19252538e-01 3.36263611e-03 9.38336176e+02] [-8.19237991e-01 -5.73432889e-01 4.88223104e-03 1.64585569e+02] [ 5.92802631e-03 4.47844654e-05 9.99982428e-01 1.59228922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.4192541539999 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:938.33, Y:164.58, Z:15.92 [[-5.75481200e-01 8.17808089e-01 3.36436023e-03 9.38331688e+02] [-8.17793525e-01 -5.75491031e-01 4.88104266e-03 1.64575996e+02] [ 5.92791530e-03 5.75962738e-05 9.99982428e-01 1.59230420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.4492541539998 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:938.33, Y:164.57, Z:15.92 [[-5.77388180e-01 8.16462821e-01 3.36920683e-03 9.38330812e+02] [-8.16448253e-01 -5.77398007e-01 4.87769493e-03 1.64570429e+02] [ 5.92782987e-03 6.55403632e-05 9.99982428e-01 1.59238131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.4792541539998 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:938.33, Y:164.56, Z:15.92 [[-5.78288532e-01 8.15825354e-01 3.37112457e-03 9.38327471e+02] [-8.15810784e-01 -5.78298354e-01 4.87636916e-03 1.64564338e+02] [ 5.92778139e-03 6.97485876e-05 9.99982428e-01 1.59249736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.5092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.33, Y:164.56, Z:15.93 [[-5.79200608e-01 8.15178066e-01 3.37304009e-03 9.38327604e+02] [-8.15163492e-01 -5.79210424e-01 4.87504381e-03 1.64563378e+02] [ 5.92772877e-03 7.40492049e-05 9.99982428e-01 1.59260497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.5392541539998 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:938.33, Y:164.56, Z:15.92 [[-5.79202467e-01 8.15176733e-01 3.37594717e-03 9.38327668e+02] [-8.15162170e-01 -5.79212301e-01 4.87302984e-03 1.64560568e+02] [ 5.92777067e-03 7.05264774e-05 9.99982428e-01 1.59242195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.5692541539997 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:938.33, Y:164.56, Z:15.93 [[-5.79509867e-01 8.14958222e-01 3.37786373e-03 9.38326058e+02] [-8.14943664e-01 -5.79519707e-01 4.87170097e-03 1.64556895e+02] [ 5.92777136e-03 7.04301333e-05 9.99982428e-01 1.59251796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.599254154 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:938.33, Y:164.55, Z:15.92 [[-5.80322125e-01 8.14380015e-01 3.37978140e-03 9.38325819e+02] [-8.14365454e-01 -5.80331962e-01 4.87037021e-03 1.64554449e+02] [ 5.92772733e-03 7.40063767e-05 9.99982428e-01 1.59246447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.629254154 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:938.20, Y:164.37, Z:15.93 [[-5.79418526e-01 8.15023151e-01 3.38169228e-03 9.38199445e+02] [-8.15008609e-01 -5.79428391e-01 4.86904304e-03 1.64369624e+02] [ 5.92783131e-03 6.51054193e-05 9.99982428e-01 1.59268252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.6592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.32, Y:164.55, Z:15.93 [[-5.82949598e-01 8.12501302e-01 3.37640538e-03 9.38322016e+02] [-8.12486697e-01 -5.82959367e-01 4.87271678e-03 1.64548026e+02] [ 5.92739587e-03 9.72638284e-05 9.99982428e-01 1.59265885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.6892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.32, Y:164.54, Z:15.93 [[-5.85177618e-01 8.10898072e-01 3.38697489e-03 9.38319875e+02] [-8.10883482e-01 -5.85187411e-01 4.86535891e-03 1.64543322e+02] [ 5.92732523e-03 1.00657147e-04 9.99982428e-01 1.59260264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.7192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.32, Y:164.54, Z:15.93 [[-5.86829225e-01 8.09703635e-01 3.38888446e-03 9.38318040e+02] [-8.09689033e-01 -5.86839000e-01 4.86402847e-03 1.64540096e+02] [ 5.92715110e-03 1.10411474e-04 9.99982428e-01 1.59266086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.7492541539998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:938.32, Y:164.53, Z:15.92 [[-5.89512690e-01 8.07751999e-01 3.39079644e-03 9.38315392e+02] [-8.07737372e-01 -5.89522427e-01 4.86269523e-03 1.64534673e+02] [ 5.92680234e-03 1.27747541e-04 9.99982428e-01 1.59246533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.7792541539998 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:938.32, Y:164.53, Z:15.92 [[-5.90760102e-01 8.06840128e-01 3.39271148e-03 9.38315314e+02] [-8.06825494e-01 -5.90769828e-01 4.86135873e-03 1.64533674e+02] [ 5.92665088e-03 1.34570661e-04 9.99982428e-01 1.59226879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.8092541539997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.31, Y:164.53, Z:15.93 [[-5.92246416e-01 8.05749751e-01 3.39438527e-03 9.38311003e+02] [-8.05735106e-01 -5.92256125e-01 4.86018975e-03 1.64528637e+02] [ 5.92644215e-03 1.43454587e-04 9.99982428e-01 1.59256397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.839254154 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:938.31, Y:164.53, Z:15.93 [[-5.94587288e-01 8.04023895e-01 3.39606539e-03 9.38309865e+02] [-8.04009228e-01 -5.94596966e-01 4.85901548e-03 1.64527031e+02] [ 5.92605473e-03 1.58640923e-04 9.99982428e-01 1.59255210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.869254154 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:938.31, Y:164.53, Z:15.92 [[-5.95619872e-01 8.03259248e-01 3.39823285e-03 9.38309265e+02] [-8.03244578e-01 -5.95629544e-01 4.85749915e-03 1.64525416e+02] [ 5.92591900e-03 1.63610914e-04 9.99982428e-01 1.59223919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.899254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.30, Y:164.52, Z:15.93 [[-5.98131801e-01 8.01390535e-01 3.39990950e-03 9.38304505e+02] [-8.01375841e-01 -5.98141437e-01 4.85632533e-03 1.64520947e+02] [ 5.92543991e-03 1.80117283e-04 9.99982428e-01 1.59263983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.9292541539999 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:938.30, Y:164.52, Z:15.92 [[-5.99297961e-01 8.00518820e-01 3.40183222e-03 9.38302910e+02] [-8.00504120e-01 -5.99307587e-01 4.85497810e-03 1.64518905e+02] [ 5.92524520e-03 1.86397769e-04 9.99982428e-01 1.59246535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.9592541539998 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:938.30, Y:164.52, Z:15.92 [[-6.00484044e-01 7.99629494e-01 3.40375738e-03 9.38302754e+02] [-7.99614786e-01 -6.00493660e-01 4.85362802e-03 1.64520006e+02] [ 5.92503885e-03 1.92831453e-04 9.99982428e-01 1.59245266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.9892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.30, Y:164.52, Z:15.93 [[-6.02104598e-01 7.98409954e-01 3.40567970e-03 9.38295945e+02] [-7.98395235e-01 -6.02114196e-01 4.85227880e-03 1.64515725e+02] [ 5.92471579e-03 2.02500935e-04 9.99982428e-01 1.59266326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.0192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.29, Y:164.52, Z:15.93 [[-6.02605936e-01 7.98031623e-01 3.40809561e-03 9.38294136e+02] [-7.98016907e-01 -6.02615539e-01 4.85058135e-03 1.64515386e+02] [ 5.92468868e-03 2.03271195e-04 9.99982428e-01 1.59266949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.0492541539998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:938.15, Y:164.31, Z:15.93 [[-6.02780423e-01 7.97899826e-01 3.41001902e-03 9.38147328e+02] [-7.97885116e-01 -6.02790035e-01 4.84922879e-03 1.64310787e+02] [ 5.92472429e-03 2.02216755e-04 9.99982428e-01 1.59272134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.079254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.72, Y:164.08, Z:16.90 [[-4.89431572e-01 -8.72035038e-01 -3.41001902e-03 9.38724852e+02] [-8.72021762e-01 4.89443083e-01 -4.84922879e-03 1.64076767e+02] [ 5.89770764e-03 6.00245129e-04 -9.99982428e-01 1.68968731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.109254154 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:938.17, Y:164.41, Z:15.93 [[-5.46997257e-01 8.37128776e-01 3.06810832e-03 9.38170064e+02] [-8.37113527e-01 -5.47005826e-01 5.05668142e-03 1.64406847e+02] [ 5.91136665e-03 1.97635890e-04 9.99982508e-01 1.59268864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.139254154 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:938.17, Y:164.41, Z:15.93 [[-5.46532444e-01 8.37432303e-01 3.07012541e-03 9.38167925e+02] [-8.37417065e-01 -5.46541034e-01 5.05545646e-03 1.64406198e+02] [ 5.91155206e-03 1.91995569e-04 9.99982508e-01 1.59266438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.1692541539999 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:938.17, Y:164.41, Z:15.93 [[-5.45704665e-01 8.37971945e-01 3.07213222e-03 9.38166329e+02] [-8.37956723e-01 -5.45713281e-01 5.05423665e-03 1.64407202e+02] [ 5.91181188e-03 1.83806667e-04 9.99982508e-01 1.59266890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.1992541539998 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:938.16, Y:164.41, Z:15.92 [[-5.42092345e-01 8.40313298e-01 3.07413647e-03 9.38163536e+02] [-8.40298120e-01 -5.42101039e-01 5.05301732e-03 1.64409766e+02] [ 5.91261022e-03 1.56010909e-04 9.99982508e-01 1.59248428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.2292541539998 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:938.16, Y:164.41, Z:15.93 [[-5.39834570e-01 8.41765511e-01 3.07613543e-03 9.38163319e+02] [-8.41750363e-01 -5.39843316e-01 5.05180011e-03 1.64412958e+02] [ 5.91306225e-03 1.37798222e-04 9.99982508e-01 1.59266794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.2592541539998 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:938.16, Y:164.42, Z:15.93 [[-5.33677445e-01 8.45682512e-01 3.07813534e-03 9.38159777e+02] [-8.45667435e-01 -5.33686313e-01 5.05058125e-03 1.64415017e+02] [ 5.91394693e-03 9.23024803e-05 9.99982508e-01 1.59257204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.2892541539998 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:938.16, Y:164.42, Z:15.93 [[-5.30463179e-01 8.47702382e-01 3.08012927e-03 9.38158133e+02] [-8.47687346e-01 -5.30472117e-01 5.04936494e-03 1.64416628e+02] [ 5.91428138e-03 6.75155678e-05 9.99982508e-01 1.59259408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.3192541539997 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:938.15, Y:164.41, Z:15.93 [[-5.28087917e-01 8.49184110e-01 3.08211898e-03 9.38148804e+02] [-8.49169107e-01 -5.28096908e-01 5.04815013e-03 1.64406319e+02] [ 5.91446639e-03 4.86268639e-05 9.99982508e-01 1.59273842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.349254154 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:938.15, Y:164.41, Z:15.93 [[-5.21929426e-01 8.52983080e-01 3.08854948e-03 9.38147712e+02] [-8.52968165e-01 -5.21938564e-01 5.04421277e-03 1.64413414e+02] [ 5.91466123e-03 -1.71130834e-06 9.99982508e-01 1.59272838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.379254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.16, Y:164.43, Z:15.93 [[-5.13182953e-01 8.58273675e-01 3.09128590e-03 9.38156948e+02] [-8.58258864e-01 -5.13192260e-01 5.04253523e-03 1.64425458e+02] [ 5.91429924e-03 -6.53803997e-05 9.99982508e-01 1.59276494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.4092541539999 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:938.15, Y:164.42, Z:15.93 [[-5.14237209e-01 8.57642580e-01 3.04931908e-03 9.38145088e+02] [-8.57627604e-01 -5.14246250e-01 5.06826567e-03 1.64418943e+02] [ 5.91486134e-03 -8.88942310e-06 9.99982507e-01 1.59253419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.4392541539999 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:938.14, Y:164.42, Z:15.93 [[-5.12590105e-01 8.58627862e-01 3.09503147e-03 9.38143497e+02] [-8.58613072e-01 -5.12599444e-01 5.04019508e-03 1.64419177e+02] [ 5.91416333e-03 -7.38803549e-05 9.99982508e-01 1.59255742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.4692541539998 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:938.14, Y:164.42, Z:15.93 [[-5.11496150e-01 8.59279988e-01 3.09699042e-03 9.38142257e+02] [-8.59265217e-01 -5.11505519e-01 5.03899110e-03 1.64419792e+02] [ 5.91403190e-03 -8.37116026e-05 9.99982508e-01 1.59256814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.4992541539998 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:938.14, Y:164.42, Z:15.92 [[-5.10495145e-01 8.59875051e-01 3.09894594e-03 9.38141268e+02] [-8.59860298e-01 -5.10504543e-01 5.03778818e-03 1.64420023e+02] [ 5.91389435e-03 -9.28941680e-05 9.99982508e-01 1.59248115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.5292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.14, Y:164.42, Z:15.93 [[-5.09892174e-01 8.60232734e-01 3.10089737e-03 9.38137505e+02] [-8.60217995e-01 -5.09901593e-01 5.03658674e-03 1.64418583e+02] [ 5.91378928e-03 -9.93315559e-05 9.99982508e-01 1.59280893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.5592541539997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:938.13, Y:164.42, Z:15.93 [[-5.10866338e-01 8.59654557e-01 3.10284767e-03 9.38133346e+02] [-8.59639814e-01 -5.10875752e-01 5.03538494e-03 1.64415630e+02] [ 5.91386125e-03 -9.49227322e-05 9.99982508e-01 1.59277385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.589254154 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:938.13, Y:164.41, Z:15.93 [[-5.12526077e-01 8.58666045e-01 3.10529170e-03 9.38127342e+02] [-8.58651294e-01 -5.12535477e-01 5.03387727e-03 1.64406849e+02] [ 5.91399165e-03 -8.63693644e-05 9.99982508e-01 1.59268004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.619254154 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:938.14, Y:164.42, Z:15.93 [[-5.08542928e-01 8.61031017e-01 3.11105472e-03 9.38136674e+02] [-8.61016331e-01 -5.08552429e-01 5.03031307e-03 1.64416575e+02] [ 5.91339001e-03 -1.20538784e-04 9.99982509e-01 1.59278565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.649254154 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:938.12, Y:164.40, Z:15.93 [[-5.16848460e-01 8.56071413e-01 3.06669190e-03 9.38123285e+02] [-8.56056472e-01 -5.16857558e-01 5.05776208e-03 1.64401903e+02] [ 5.91484842e-03 -1.11649097e-05 9.99982507e-01 1.59257333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.6792541539999 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:938.12, Y:164.40, Z:15.92 [[-5.18692949e-01 8.54954923e-01 3.11523893e-03 9.38121144e+02] [-8.54940141e-01 -5.18702301e-01 5.02768151e-03 1.64398160e+02] [ 5.91432266e-03 -5.55198618e-05 9.99982509e-01 1.59244368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.7092541539998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:938.13, Y:164.40, Z:15.93 [[-5.18532332e-01 8.55052339e-01 3.11743268e-03 9.38125268e+02] [-8.55037567e-01 -5.18541700e-01 5.02632090e-03 1.64399433e+02] [ 5.91428628e-03 -5.92121571e-05 9.99982509e-01 1.59276478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.7392541539998 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:938.12, Y:164.39, Z:15.93 [[-5.21354969e-01 8.53334332e-01 3.08451124e-03 9.38120507e+02] [-8.53319408e-01 -5.21364093e-01 5.04674792e-03 1.64391564e+02] [ 5.91471667e-03 -9.26202489e-07 9.99982508e-01 1.59264620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.7692541539998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:938.12, Y:164.39, Z:15.93 [[-5.24143938e-01 8.51624098e-01 3.08675133e-03 9.38118259e+02] [-8.51609153e-01 -5.24153026e-01 5.04535669e-03 1.64387293e+02] [ 5.91467740e-03 1.57874341e-05 9.99982508e-01 1.59276975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.7992541539998 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:938.11, Y:164.38, Z:15.93 [[-5.34371484e-01 8.45244094e-01 3.08852608e-03 9.38110247e+02] [-8.45229046e-01 -5.34380403e-01 5.04425341e-03 1.64379486e+02] [ 5.91407321e-03 8.49932268e-05 9.99982508e-01 1.59274106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.829254154 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:938.11, Y:164.37, Z:15.93 [[-5.37418613e-01 8.43309827e-01 3.12567559e-03 9.38107213e+02] [-8.43294881e-01 -5.37427699e-01 5.02112767e-03 1.64374479e+02] [ 5.91419095e-03 6.25812490e-05 9.99982509e-01 1.59274760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.859254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.10, Y:164.37, Z:15.93 [[-5.43032212e-01 8.39706040e-01 3.12789109e-03 9.38102558e+02] [-8.39691042e-01 -5.43041211e-01 5.01974715e-03 1.64367393e+02] [ 5.91368577e-03 9.94222703e-05 9.99982509e-01 1.59292042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.889254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.11, Y:164.37, Z:15.93 [[-5.40369584e-01 8.41421960e-01 3.13011268e-03 9.38110115e+02] [-8.41406998e-01 -5.40378644e-01 5.01836148e-03 1.64373631e+02] [ 5.91400560e-03 7.80711947e-05 9.99982509e-01 1.59284426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.9192541539999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:938.10, Y:164.36, Z:15.93 [[-5.47245387e-01 8.36966506e-01 3.09117575e-03 9.38097656e+02] [-8.36951332e-01 -5.47254090e-01 5.04265088e-03 1.64360243e+02] [ 5.91218845e-03 1.72403766e-04 9.99982508e-01 1.59268438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.9492541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:938.10, Y:164.36, Z:15.93 [[-5.45742815e-01 8.37946874e-01 3.13310688e-03 9.38101134e+02] [-8.37931865e-01 -5.45751797e-01 5.01646217e-03 1.64362876e+02] [ 5.91342750e-03 1.12368098e-04 9.99982509e-01 1.59274064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.9792541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:938.10, Y:164.36, Z:15.93 [[-5.46083801e-01 8.37724830e-01 3.09701211e-03 9.38099954e+02] [-8.37709690e-01 -5.46092560e-01 5.03902859e-03 1.64360815e+02] [ 5.91257464e-03 1.57334833e-04 9.99982508e-01 1.59274051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.0092541539998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:938.08, Y:164.34, Z:15.93 [[-5.52019021e-01 8.33825758e-01 3.09926080e-03 9.38084856e+02] [-8.33810563e-01 -5.52027687e-01 5.03762129e-03 1.64344258e+02] [ 5.91137616e-03 1.96666375e-04 9.99982508e-01 1.59285201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.0392541539998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:938.08, Y:164.35, Z:15.93 [[-5.53409698e-01 8.32903262e-01 3.14039203e-03 9.38083954e+02] [-8.32888198e-01 -5.53418586e-01 5.01184874e-03 1.64346051e+02] [ 5.91233648e-03 1.58010238e-04 9.99982510e-01 1.59277464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.0692541539997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.08, Y:164.34, Z:15.93 [[-5.55266300e-01 8.31666676e-01 3.14263281e-03 9.38078203e+02] [-8.31651600e-01 -5.55275168e-01 5.01044328e-03 1.64339082e+02] [ 5.91204467e-03 1.68554699e-04 9.99982510e-01 1.59279979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.099254154 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:938.07, Y:164.33, Z:15.93 [[-5.55543075e-01 8.31481795e-01 3.14906240e-03 9.38074389e+02] [-8.31466739e-01 -5.55551977e-01 5.00639902e-03 1.64334176e+02] [ 5.91219748e-03 1.62929667e-04 9.99982510e-01 1.59260248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.129254154 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:938.07, Y:164.33, Z:15.93 [[-5.56770325e-01 8.30660506e-01 3.15104875e-03 9.38071482e+02] [-8.30645444e-01 -5.56779216e-01 5.00514849e-03 1.64333615e+02] [ 5.91201763e-03 1.69313865e-04 9.99982510e-01 1.59260438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.1592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.07, Y:164.33, Z:15.93 [[-5.57022572e-01 8.30491368e-01 3.15303700e-03 9.38068659e+02] [-8.30476310e-01 -5.57031471e-01 5.00389566e-03 1.64331383e+02] [ 5.91203299e-03 1.68760301e-04 9.99982510e-01 1.59257887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.1892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.07, Y:164.33, Z:15.93 [[-5.57220624e-01 8.30358490e-01 3.15502544e-03 9.38066280e+02] [-8.30343437e-01 -5.57229531e-01 5.00264161e-03 1.64333503e+02] [ 5.91205928e-03 1.67820416e-04 9.99982510e-01 1.59255138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.2192541539998 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:938.06, Y:164.33, Z:15.92 [[-5.56999775e-01 8.30506642e-01 3.15725703e-03 9.38063112e+02] [-8.30491600e-01 -5.57008699e-01 5.00123281e-03 1.64331063e+02] [ 5.91217670e-03 1.63610107e-04 9.99982510e-01 1.59231075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.2492541539998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:938.06, Y:164.33, Z:15.92 [[-5.56803618e-01 8.30638159e-01 3.15924065e-03 9.38062471e+02] [-8.30623125e-01 -5.56812557e-01 4.99997947e-03 1.64333686e+02] [ 5.91227860e-03 1.59868316e-04 9.99982510e-01 1.59238054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.2792541539998 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:938.06, Y:164.33, Z:15.92 [[-5.55508456e-01 8.31504877e-01 3.16146601e-03 9.38055075e+02] [-8.31489865e-01 -5.55517433e-01 4.99857198e-03 1.64329251e+02] [ 5.91258646e-03 1.48022054e-04 9.99982510e-01 1.59237154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.3092541539997 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:938.05, Y:164.33, Z:15.93 [[-5.55106665e-01 8.31773155e-01 3.16369075e-03 9.38054143e+02] [-8.31758156e-01 -5.55115662e-01 4.99716350e-03 1.64331588e+02] [ 5.91272074e-03 1.42533180e-04 9.99982510e-01 1.59254288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.339254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.05, Y:164.33, Z:15.93 [[-5.53976596e-01 8.32526220e-01 3.16591487e-03 9.38049314e+02] [-8.32511242e-01 -5.53985627e-01 4.99575403e-03 1.64331635e+02] [ 5.91296756e-03 1.31871098e-04 9.99982510e-01 1.59269446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.369254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.05, Y:164.33, Z:15.93 [[-5.53385159e-01 8.32919461e-01 3.16813334e-03 9.38046878e+02] [-8.32904497e-01 -5.53394214e-01 4.99434676e-03 1.64331922e+02] [ 5.91311527e-03 1.25044869e-04 9.99982510e-01 1.59273922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.399254154 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:938.04, Y:164.33, Z:15.93 [[-5.51489117e-01 8.34176062e-01 3.17034947e-03 9.38040314e+02] [-8.34161127e-01 -5.51498219e-01 4.99293959e-03 1.64330037e+02] [ 5.91343277e-03 1.08969561e-04 9.99982510e-01 1.59266865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.4292541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:938.04, Y:164.33, Z:15.93 [[-5.50807752e-01 8.34626117e-01 3.17256415e-03 9.38035874e+02] [-8.34611197e-01 -5.50816880e-01 4.99153196e-03 1.64326766e+02] [ 5.91356483e-03 1.01516937e-04 9.99982510e-01 1.59266740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.4592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.04, Y:164.33, Z:15.93 [[-5.50571110e-01 8.34782231e-01 3.17478157e-03 9.38035323e+02] [-8.34767322e-01 -5.50580255e-01 4.99012121e-03 1.64329646e+02] [ 5.91363657e-03 9.72126700e-05 9.99982510e-01 1.59281540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.4892541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:938.03, Y:164.32, Z:15.93 [[-5.50415829e-01 8.34884615e-01 3.17724839e-03 9.38027211e+02] [-8.34869716e-01 -5.50424992e-01 4.98855007e-03 1.64319982e+02] [ 5.91370063e-03 9.31884633e-05 9.99982510e-01 1.59287189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.5192541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:938.03, Y:164.32, Z:15.93 [[-5.50910182e-01 8.34558484e-01 3.17946366e-03 9.38027453e+02] [-8.34543588e-01 -5.50919349e-01 4.98713777e-03 1.64320649e+02] [ 5.91368618e-03 9.40639611e-05 9.99982510e-01 1.59282221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.5492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.02, Y:164.31, Z:15.93 [[-5.51960207e-01 8.33864379e-01 3.18219147e-03 9.38023068e+02] [-8.33849482e-01 -5.51969372e-01 4.98539660e-03 1.64312460e+02] [ 5.91361687e-03 9.82718288e-05 9.99982510e-01 1.59298611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.579254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.03, Y:164.32, Z:15.93 [[-5.52266745e-01 8.33661382e-01 3.18466240e-03 9.38026674e+02] [-8.33646491e-01 -5.52275919e-01 4.98381767e-03 1.64316536e+02] [ 5.91362868e-03 9.75141267e-05 9.99982510e-01 1.59303543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.609254154 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:938.03, Y:164.31, Z:15.93 [[-5.52209172e-01 8.33699510e-01 3.18712884e-03 9.38025078e+02] [-8.33684628e-01 -5.52218362e-01 4.98223989e-03 1.64311319e+02] [ 5.91368203e-03 9.41782434e-05 9.99982510e-01 1.59300795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.639254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.02, Y:164.30, Z:15.93 [[-5.52400685e-01 8.33572618e-01 3.18958712e-03 9.38020806e+02] [-8.33557743e-01 -5.52409885e-01 4.98066563e-03 1.64304175e+02] [ 5.91370595e-03 9.26180561e-05 9.99982510e-01 1.59314331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.6692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.02, Y:164.30, Z:15.93 [[-5.52313756e-01 8.33630210e-01 3.19179717e-03 9.38020751e+02] [-8.33615344e-01 -5.52322971e-01 4.97924894e-03 1.64303186e+02] [ 5.91375524e-03 8.93765833e-05 9.99982510e-01 1.59316886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.6992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.02, Y:164.30, Z:15.93 [[-5.51660892e-01 8.34062383e-01 3.19400913e-03 9.38017645e+02] [-8.34047532e-01 -5.51670133e-01 4.97782965e-03 1.64297563e+02] [ 5.91385990e-03 8.21185141e-05 9.99982510e-01 1.59313157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.7292541539998 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:938.02, Y:164.30, Z:15.93 [[-5.50666234e-01 8.34719403e-01 3.19647356e-03 9.38021050e+02] [-8.34704573e-01 -5.50675507e-01 4.97624663e-03 1.64301540e+02] [ 5.91398931e-03 7.21398924e-05 9.99982510e-01 1.59291435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.7592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.02, Y:164.30, Z:15.93 [[-5.49295599e-01 8.35621992e-01 3.19867921e-03 9.38019225e+02] [-8.35607185e-01 -5.49304909e-01 4.97482846e-03 1.64297822e+02] [ 5.91412626e-03 5.98120511e-05 9.99982510e-01 1.59304354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.7892541539998 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:938.01, Y:164.29, Z:15.93 [[-5.48225404e-01 8.36324495e-01 3.20087838e-03 9.38014989e+02] [-8.36309708e-01 -5.48234746e-01 4.97341307e-03 1.64290360e+02] [ 5.91421992e-03 4.96257260e-05 9.99982510e-01 1.59270920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.8192541539997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:938.01, Y:164.29, Z:15.93 [[-5.47432271e-01 8.36843861e-01 3.20333325e-03 9.38014836e+02] [-8.36829092e-01 -5.47441642e-01 4.97183141e-03 1.64290225e+02] [ 5.91428461e-03 4.10985020e-05 9.99982510e-01 1.59303082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.849254154 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:938.01, Y:164.29, Z:15.93 [[-5.44666835e-01 8.38646388e-01 3.20553694e-03 9.38014240e+02] [-8.38631659e-01 -5.44676267e-01 4.97041020e-03 1.64289412e+02] [ 5.91439645e-03 1.89528287e-05 9.99982510e-01 1.59290579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.879254154 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:938.01, Y:164.29, Z:15.93 [[-5.43367788e-01 8.39488626e-01 3.20849414e-03 9.38013726e+02] [-8.39473923e-01 -5.43377261e-01 4.96850054e-03 1.64288734e+02] [ 5.91442244e-03 6.27598804e-06 9.99982510e-01 1.59292090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.9092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.01, Y:164.29, Z:15.93 [[-5.40505180e-01 8.41334560e-01 3.21068399e-03 9.38013811e+02] [-8.41319898e-01 -5.40514716e-01 4.96708504e-03 1.64289767e+02] [ 5.91440225e-03 -1.64771298e-05 9.99982510e-01 1.59315577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.9392541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:938.01, Y:164.29, Z:15.93 [[-5.39023087e-01 8.42284862e-01 3.21286833e-03 9.38012400e+02] [-8.42270225e-01 -5.39032661e-01 4.96567173e-03 1.64287663e+02] [ 5.91435110e-03 -2.94916232e-05 9.99982510e-01 1.59310304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.9692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.01, Y:164.28, Z:15.93 [[-5.37839835e-01 8.43040907e-01 3.21580049e-03 9.38010332e+02] [-8.43026295e-01 -5.37849447e-01 4.96377212e-03 1.64284547e+02] [ 5.91427946e-03 -4.12899998e-05 9.99982510e-01 1.59324460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.9992541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:938.01, Y:164.28, Z:15.93 [[-5.34655094e-01 8.45064242e-01 3.21822320e-03 9.38009826e+02] [-8.45049676e-01 -5.34664775e-01 4.96220088e-03 1.64282560e+02] [ 5.91404911e-03 -6.64924940e-05 9.99982510e-01 1.59316690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.0292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.01, Y:164.28, Z:15.93 [[-5.33558042e-01 8.45757320e-01 3.22039561e-03 9.38009285e+02] [-8.45742775e-01 -5.33567755e-01 4.96079062e-03 1.64281786e+02] [ 5.91392423e-03 -7.67565878e-05 9.99982510e-01 1.59330115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.0592541539997 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:938.01, Y:164.28, Z:15.93 [[-5.30374767e-01 8.47757171e-01 3.22256416e-03 9.38009697e+02] [-8.47742671e-01 -5.30384547e-01 4.95938151e-03 1.64281434e+02] [ 5.91354947e-03 -1.01574335e-04 9.99982510e-01 1.59304129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.089254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.01, Y:164.28, Z:15.94 [[-5.30051887e-01 8.47959078e-01 3.22472808e-03 9.38008378e+02] [-8.47944590e-01 -5.30061685e-01 4.95797407e-03 1.64279292e+02] [ 5.91346392e-03 -1.06407219e-04 9.99982510e-01 1.59354799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.119254154 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:938.01, Y:164.28, Z:15.93 [[-5.29197858e-01 8.48492319e-01 3.22688825e-03 9.38007939e+02] [-8.48477849e-01 -5.29207683e-01 4.95656773e-03 1.64276944e+02] [ 5.91330370e-03 -1.14938178e-04 9.99982510e-01 1.59336639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.149254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.00, Y:164.27, Z:15.94 [[-5.29516062e-01 8.48293766e-01 3.22904694e-03 9.38004418e+02] [-8.48279301e-01 -5.29525895e-01 4.95516101e-03 1.64269604e+02] [ 5.91329616e-03 -1.15296340e-04 9.99982510e-01 1.59351888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.1792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:937.93, Y:164.15, Z:15.93 [[-5.26562779e-01 8.50130107e-01 3.23120745e-03 9.37929558e+02] [-8.50115685e-01 -5.26572675e-01 4.95375176e-03 1.64147584e+02] [ 5.91279907e-03 -1.38438842e-04 9.99982510e-01 1.59341413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.2092541539998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:938.00, Y:164.26, Z:15.93 [[-5.32979695e-01 8.46121935e-01 3.21189103e-03 9.38004049e+02] [-8.46107362e-01 -5.32989368e-01 4.96635802e-03 1.64261644e+02] [ 5.91404823e-03 -7.06366646e-05 9.99982509e-01 1.59318351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.2392541539998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:938.00, Y:164.26, Z:15.93 [[-5.34754090e-01 8.45001532e-01 3.23639135e-03 9.38002418e+02] [-8.44987036e-01 -5.34763877e-01 4.95034042e-03 1.64256260e+02] [ 5.91375042e-03 -8.74939414e-05 9.99982510e-01 1.59310149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.2692541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:938.00, Y:164.25, Z:15.93 [[-5.36961041e-01 8.43600824e-01 3.23880022e-03 9.38001404e+02] [-8.43586312e-01 -5.36970803e-01 4.94876389e-03 1.64252511e+02] [ 5.91392246e-03 -7.49141256e-05 9.99982510e-01 1.59318296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.2992541539998 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:938.00, Y:164.25, Z:15.93 [[-5.39981892e-01 8.41670393e-01 3.24145869e-03 9.38000789e+02] [-8.41655856e-01 -5.39991618e-01 4.94702197e-03 1.64246690e+02] [ 5.91412245e-03 -5.68904083e-05 9.99982510e-01 1.59292879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.329254154 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:938.00, Y:164.24, Z:15.93 [[-5.42370608e-01 8.40133086e-01 3.24362043e-03 9.37999030e+02] [-8.40118531e-01 -5.42380305e-01 4.94560417e-03 1.64242503e+02] [ 5.91424154e-03 -4.26752907e-05 9.99982510e-01 1.59312533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.359254154 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:938.00, Y:164.24, Z:15.93 [[-5.46274995e-01 8.37599602e-01 3.24603056e-03 9.37996118e+02] [-8.37585011e-01 -5.46284639e-01 4.94402179e-03 1.64235040e+02] [ 5.91436731e-03 -1.80310602e-05 9.99982510e-01 1.59298581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.389254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:937.99, Y:164.23, Z:15.94 [[-5.49066616e-01 8.35772278e-01 3.24819666e-03 9.37993160e+02] [-8.35757663e-01 -5.49076223e-01 4.94259826e-03 1.64229219e+02] [ 5.91439417e-03 -8.89551481e-07 9.99982510e-01 1.59350711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.4192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:937.99, Y:164.22, Z:15.94 [[-5.51364888e-01 8.34257869e-01 3.25086676e-03 9.37990833e+02] [-8.34243238e-01 -5.51374471e-01 4.94084145e-03 1.64223870e+02] [ 5.91438080e-03 1.21928852e-05 9.99982510e-01 1.59360073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.4492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:937.99, Y:164.22, Z:15.94 [[-5.55207308e-01 8.31705635e-01 3.25304034e-03 9.37990839e+02] [-8.31690968e-01 -5.55216836e-01 4.93940996e-03 1.64219800e+02] [ 5.91427786e-03 3.68722336e-05 9.99982510e-01 1.59369521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.4792541539998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:937.99, Y:164.22, Z:15.93 [[-5.56862746e-01 8.30598150e-01 3.25521568e-03 9.37990072e+02] [-8.30583473e-01 -5.56872258e-01 4.93797593e-03 1.64216027e+02] [ 5.91421297e-03 4.60464900e-05 9.99982510e-01 1.59349751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.5092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:937.99, Y:164.21, Z:15.94 [[-5.60492871e-01 8.28152844e-01 3.25715152e-03 9.37987791e+02] [-8.28138133e-01 -5.60502330e-01 4.93669869e-03 1.64209818e+02] [ 5.91398208e-03 6.96130432e-05 9.99982510e-01 1.59368053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.5392541539998 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:937.99, Y:164.20, Z:15.93 [[-5.61879514e-01 8.27212663e-01 3.25932973e-03 9.37985726e+02] [-8.27197944e-01 -5.61888962e-01 4.93526016e-03 1.64204662e+02] [ 5.91389110e-03 7.69107241e-05 9.99982510e-01 1.59339081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.5692541539997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:937.99, Y:164.20, Z:15.94 [[-5.63820727e-01 8.25890763e-01 3.26127244e-03 9.37985791e+02] [-8.25876029e-01 -5.63830152e-01 4.93397606e-03 1.64203486e+02] [ 5.91372899e-03 8.84712314e-05 9.99982510e-01 1.59356632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.599254154 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:937.98, Y:164.20, Z:15.93 [[-5.65960265e-01 8.24426061e-01 3.26321531e-03 9.37983137e+02] [-8.24411310e-01 -5.65969664e-01 4.93269076e-03 1.64195334e+02] [ 5.91351969e-03 1.01475358e-04 9.99982510e-01 1.59333937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.629254154 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:937.98, Y:164.20, Z:15.93 [[-5.67000250e-01 8.23711147e-01 3.26540164e-03 9.37984863e+02] [-8.23696393e-01 -5.67009643e-01 4.93124301e-03 1.64196410e+02] [ 5.91343405e-03 1.06316469e-04 9.99982510e-01 1.59325475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.6592541539999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:937.98, Y:164.19, Z:15.93 [[-5.67956292e-01 8.23052231e-01 3.26734708e-03 9.37983353e+02] [-8.23037474e-01 -5.67965679e-01 4.92995365e-03 1.64193034e+02] [ 5.91335036e-03 1.10849105e-04 9.99982510e-01 1.59322545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.6892541539999 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:937.98, Y:164.19, Z:15.93 [[-5.68261753e-01 8.22841353e-01 3.26928970e-03 9.37982399e+02] [-8.22826599e-01 -5.68271146e-01 4.92866508e-03 1.64190002e+02] [ 5.91335244e-03 1.10713331e-04 9.99982510e-01 1.59321156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.7192541539998 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:937.98, Y:164.19, Z:15.93 [[-5.68362492e-01 8.22771765e-01 3.27123346e-03 9.37981197e+02] [-8.22757017e-01 -5.68371895e-01 4.92737463e-03 1.64188443e+02] [ 5.91338188e-03 1.09104637e-04 9.99982510e-01 1.59330484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.7492541539998 meters Centerline goodness : 0.999522 Centerline is valid? [True, True] Translation: X:938.35, Y:163.41, Z:16.90 [[-4.70937074e-01 -8.82160732e-01 -3.27341662e-03 9.38345346e+02] [-8.82147162e-01 4.70948108e-01 -4.92592386e-03 1.63411225e+02] [ 5.88706596e-03 5.67835012e-04 -9.99982510e-01 1.68989172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.7792541539998 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:937.92, Y:164.17, Z:15.93 [[-5.01591520e-01 8.65099887e-01 2.85173000e-03 9.37919364e+02] [-8.65084502e-01 -5.01599611e-01 5.16087966e-03 1.64174738e+02] [ 5.89510308e-03 1.21666043e-04 9.99982616e-01 1.59332914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.8092541539997 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:937.92, Y:164.17, Z:15.93 [[-5.00512093e-01 8.65724752e-01 2.88070885e-03 9.37918918e+02] [-8.65709469e-01 -5.00520377e-01 5.14465319e-03 1.64173230e+02] [ 5.89570708e-03 8.11042050e-05 9.99982617e-01 1.59338042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.839254154 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:937.92, Y:164.17, Z:15.93 [[-4.99974424e-01 8.66035371e-01 2.88298578e-03 9.37916393e+02] [-8.66020101e-01 -4.99982730e-01 5.14337691e-03 1.64168197e+02] [ 5.89578944e-03 7.48332722e-05 9.99982617e-01 1.59320537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.869254154 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:937.91, Y:164.17, Z:15.93 [[-5.00357896e-01 8.65813866e-01 2.88552268e-03 9.37914886e+02] [-8.65798600e-01 -5.00366210e-01 5.14195327e-03 1.64165384e+02] [ 5.89579249e-03 7.45354221e-05 9.99982617e-01 1.59320736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.899254154 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:937.91, Y:164.16, Z:15.93 [[-5.00119406e-01 8.65951639e-01 2.88779925e-03 9.37912510e+02] [-8.65936383e-01 -5.00127738e-01 5.14067440e-03 1.64161476e+02] [ 5.89584393e-03 7.03005881e-05 9.99982617e-01 1.59308844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.9292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:937.91, Y:164.16, Z:15.93 [[-5.00047152e-01 8.65993357e-01 2.89007702e-03 9.37911526e+02] [-8.65978109e-01 -5.00055499e-01 5.13939352e-03 1.64160950e+02] [ 5.89587955e-03 6.71956621e-05 9.99982617e-01 1.59347403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.9592541539998 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:937.90, Y:164.14, Z:15.93 [[-5.00198925e-01 8.65905693e-01 2.89261294e-03 9.37898558e+02] [-8.65890452e-01 -5.00207284e-01 5.13796583e-03 1.64138478e+02] [ 5.89589993e-03 6.53190650e-05 9.99982617e-01 1.59325086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.9892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:937.89, Y:164.12, Z:15.94 [[-4.97180299e-01 8.67642364e-01 2.91168139e-03 9.37886501e+02] [-8.67627216e-01 -4.97188825e-01 5.12713693e-03 1.64115883e+02] [ 5.89617666e-03 2.28574564e-05 9.99982617e-01 1.59359211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.0192541539998 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:937.90, Y:164.14, Z:15.93 [[-4.95946321e-01 8.68348325e-01 2.90389282e-03 9.37895832e+02] [-8.68333163e-01 -4.95954822e-01 5.13156443e-03 1.64138490e+02] [ 5.89618502e-03 2.34340690e-05 9.99982617e-01 1.59339379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.0492541539998 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:937.89, Y:164.13, Z:15.93 [[-4.94386721e-01 8.69237173e-01 2.91674677e-03 9.37892265e+02] [-8.69222069e-01 -4.94395325e-01 5.12424790e-03 1.64133527e+02] [ 5.89621272e-03 -1.94054860e-06 9.99982617e-01 1.59337632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.079254154 meters Centerline goodness : 0.999674 Centerline is valid? [True, True] Translation: X:937.89, Y:164.13, Z:15.93 [[-4.92436966e-01 8.70343215e-01 2.91925532e-03 9.37892326e+02] [-8.70328139e-01 -4.92445619e-01 5.12281839e-03 1.64134029e+02] [ 5.89618472e-03 -1.80449029e-05 9.99982617e-01 1.59324555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.109254154 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:937.89, Y:164.13, Z:15.94 [[-4.88794974e-01 8.72393798e-01 2.92150485e-03 9.37885906e+02] [-8.72378765e-01 -4.88803702e-01 5.12153518e-03 1.64125078e+02] [ 5.89603791e-03 -4.52781354e-05 9.99982617e-01 1.59358892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.139254154 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:937.89, Y:164.13, Z:15.94 [[-4.86705722e-01 8.73561098e-01 2.92375718e-03 9.37888703e+02] [-8.73546094e-01 -4.86714500e-01 5.12024906e-03 1.64131102e+02] [ 5.89588540e-03 -6.19821518e-05 9.99982617e-01 1.59361504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.1692541539999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:937.89, Y:164.13, Z:15.94 [[-4.84180394e-01 8.74963301e-01 2.92704644e-03 9.37886289e+02] [-8.74948335e-01 -4.84189234e-01 5.11836803e-03 1.64127691e+02] [ 5.89562856e-03 -8.28009611e-05 9.99982617e-01 1.59351865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.1992541539998 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:937.88, Y:164.11, Z:15.93 [[-4.80389393e-01 8.77050426e-01 2.92928232e-03 9.37877594e+02] [-8.77035505e-01 -4.80398312e-01 5.11708809e-03 1.64112737e+02] [ 5.89516657e-03 -1.10889759e-04 9.99982617e-01 1.59348823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.2292541539998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:937.86, Y:164.09, Z:15.94 [[-4.81557493e-01 8.76409560e-01 2.94340762e-03 9.37862207e+02] [-8.76394677e-01 -4.81566474e-01 5.10895012e-03 1.64085845e+02] [ 5.89497915e-03 -1.19333558e-04 9.99982617e-01 1.59375580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.2592541539998 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:937.86, Y:164.08, Z:15.94 [[-4.75901715e-01 8.79493471e-01 2.96527045e-03 9.37861720e+02] [-8.79478724e-01 -4.75910918e-01 5.09622910e-03 1.64084441e+02] [ 5.89330480e-03 -1.82588106e-04 9.99982618e-01 1.59368636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.2892541539998 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:937.86, Y:164.09, Z:15.94 [[-4.73814013e-01 8.80619938e-01 2.96748186e-03 9.37862546e+02] [-8.80605222e-01 -4.73823263e-01 5.09494110e-03 1.64085354e+02] [ 5.89276865e-03 -1.99125541e-04 9.99982618e-01 1.59368779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.3192541539997 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:937.86, Y:164.08, Z:15.94 [[-4.72156439e-01 8.81509772e-01 2.96968706e-03 9.37861565e+02] [-8.81495081e-01 -4.72165730e-01 5.09365543e-03 1.64083154e+02] [ 5.89229150e-03 -2.12762330e-04 9.99982618e-01 1.59367860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.349254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:937.74, Y:163.87, Z:15.94 [[-4.69672216e-01 8.82835873e-01 2.97188766e-03 9.37740146e+02] [-8.82821216e-01 -4.69681561e-01 5.09237117e-03 1.63872080e+02] [ 5.89156878e-03 -2.31900230e-04 9.99982618e-01 1.59406522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.379254154 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:938.43, Y:163.63, Z:16.89 [[-4.80783910e-01 -8.76834078e-01 -2.97188766e-03 9.38427423e+02] [-8.76819304e-01 4.80793069e-01 -5.09237117e-03 1.63627159e+02] [ 5.89402757e-03 1.57478352e-04 -9.99982618e-01 1.68941272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.4092541539999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:937.75, Y:163.95, Z:15.94 [[-4.07874961e-01 9.13034051e-01 2.61486173e-03 9.37754205e+02] [-9.13018876e-01 -4.07883274e-01 5.26953595e-03 1.63952456e+02] [ 5.87782412e-03 -2.38106346e-04 9.99982697e-01 1.59380671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.4392541539999 meters Centerline goodness : 0.999522 Centerline is valid? [True, True] Translation: X:937.75, Y:163.95, Z:15.94 [[-4.08618686e-01 9.12701441e-01 2.61713171e-03 9.37753967e+02] [-9.12686266e-01 -4.08626999e-01 5.26840832e-03 1.63947021e+02] [ 5.87791454e-03 -2.35850082e-04 9.99982697e-01 1.59377362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.4692541539998 meters Centerline goodness : 0.999630 Centerline is valid? [True, True] Translation: X:937.75, Y:163.94, Z:15.94 [[-4.09755575e-01 9.12191594e-01 2.62018552e-03 9.37754586e+02] [-9.12176418e-01 -4.09763887e-01 5.26688910e-03 1.63943086e+02] [ 5.87806936e-03 -2.31934274e-04 9.99982697e-01 1.59386610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.4992541539998 meters Centerline goodness : 0.999022 Centerline is valid? [True, True] Translation: X:937.76, Y:163.94, Z:15.94 [[-4.11817406e-01 9.11262611e-01 2.62245274e-03 9.37757072e+02] [-9.11247424e-01 -4.11825697e-01 5.26575998e-03 1.63937144e+02] [ 5.87848362e-03 -2.21171682e-04 9.99982697e-01 1.59363901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.5292541539998 meters Centerline goodness : 0.998314 Centerline is valid? [True, True] Translation: X:937.76, Y:163.93, Z:15.94 [[-4.13208803e-01 9.10632525e-01 2.62497870e-03 9.37756145e+02] [-9.10617332e-01 -4.13217085e-01 5.26450049e-03 1.63929199e+02] [ 5.87871142e-03 -2.15013155e-04 9.99982697e-01 1.59376004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.5592541539997 meters Centerline goodness : 0.998592 Centerline is valid? [True, True] Translation: X:937.76, Y:163.93, Z:15.94 [[-4.14538417e-01 9.10028019e-01 2.62776837e-03 9.37757567e+02] [-9.10012824e-01 -4.14546692e-01 5.26310766e-03 1.63925761e+02] [ 5.87890812e-03 -2.09542594e-04 9.99982697e-01 1.59385803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.589254154 meters Centerline goodness : 0.998153 Centerline is valid? [True, True] Translation: X:937.76, Y:163.92, Z:15.94 [[-4.17522822e-01 9.08662631e-01 2.63003809e-03 9.37760436e+02] [-9.08647415e-01 -4.17531061e-01 5.26197321e-03 1.63916942e+02] [ 5.87948101e-03 -1.92783416e-04 9.99982697e-01 1.59383672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.619254154 meters Centerline goodness : 0.997885 Centerline is valid? [True, True] Translation: X:937.76, Y:163.90, Z:15.94 [[-4.19956925e-01 9.07540220e-01 2.63256878e-03 9.37755918e+02] [-9.07524990e-01 -4.19965138e-01 5.26070680e-03 1.63900183e+02] [ 5.87989011e-03 -1.79851708e-04 9.99982697e-01 1.59403652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.649254154 meters Centerline goodness : 0.998152 Centerline is valid? [True, True] Translation: X:937.76, Y:163.90, Z:15.94 [[-4.22134096e-01 9.06529560e-01 2.63855401e-03 9.37758626e+02] [-9.06514329e-01 -4.22142307e-01 5.25770314e-03 1.63898090e+02] [ 5.88010859e-03 -1.72431261e-04 9.99982697e-01 1.59400157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.6792541539999 meters Centerline goodness : 0.997903 Centerline is valid? [True, True] Translation: X:937.76, Y:163.89, Z:15.94 [[-4.25666514e-01 9.04876258e-01 2.64135554e-03 9.37763024e+02] [-9.04861004e-01 -4.25674682e-01 5.25629533e-03 1.63891170e+02] [ 5.88065503e-03 -1.52630711e-04 9.99982697e-01 1.59397405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.7092541539998 meters Centerline goodness : 0.997978 Centerline is valid? [True, True] Translation: X:937.76, Y:163.88, Z:15.94 [[-4.27497655e-01 9.04012593e-01 2.64338046e-03 9.37764138e+02] [-9.03997329e-01 -4.27505804e-01 5.25527681e-03 1.63884902e+02] [ 5.88089690e-03 -1.42990364e-04 9.99982697e-01 1.59401721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.7392541539998 meters Centerline goodness : 0.997870 Centerline is valid? [True, True] Translation: X:937.77, Y:163.88, Z:15.94 [[-4.30684968e-01 9.02498454e-01 2.64565932e-03 9.37768325e+02] [-9.02483168e-01 -4.30693076e-01 5.25412931e-03 1.63878360e+02] [ 5.88131073e-03 -1.24788491e-04 9.99982697e-01 1.59388524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.7692541539998 meters Centerline goodness : 0.997658 Centerline is valid? [True, True] Translation: X:937.77, Y:163.87, Z:15.94 [[-4.32219035e-01 9.01764767e-01 2.64768884e-03 9.37769846e+02] [-9.01749474e-01 -4.32227129e-01 5.25310639e-03 1.63873854e+02] [ 5.88146920e-03 -1.17059441e-04 9.99982697e-01 1.59378376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.7992541539998 meters Centerline goodness : 0.997752 Centerline is valid? [True, True] Translation: X:937.77, Y:163.87, Z:15.94 [[-4.34433490e-01 9.00700018e-01 2.64972000e-03 9.37773796e+02] [-9.00684711e-01 -4.34441557e-01 5.25208165e-03 1.63866336e+02] [ 5.88169852e-03 -1.04882139e-04 9.99982697e-01 1.59372165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.829254154 meters Centerline goodness : 0.997755 Centerline is valid? [True, True] Translation: X:937.76, Y:163.83, Z:15.94 [[-4.39643719e-01 8.98168341e-01 2.65175316e-03 9.37760199e+02] [-8.98152994e-01 -4.39651711e-01 5.25105491e-03 1.63831650e+02] [ 5.88217909e-03 -7.30867256e-05 9.99982697e-01 1.59372079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.859254154 meters Centerline goodness : 0.997740 Centerline is valid? [True, True] Translation: X:937.75, Y:163.81, Z:15.94 [[-4.42223384e-01 8.96900955e-01 2.67498175e-03 9.37754565e+02] [-8.96885656e-01 -4.42231467e-01 5.23919507e-03 1.63813740e+02] [ 5.88200016e-03 -8.22581897e-05 9.99982698e-01 1.59369261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.889254154 meters Centerline goodness : 0.997917 Centerline is valid? [True, True] Translation: X:937.76, Y:163.81, Z:15.94 [[-4.43635461e-01 8.96203309e-01 2.68456768e-03 9.37756181e+02] [-8.96188027e-01 -4.43643576e-01 5.23427862e-03 1.63810021e+02] [ 5.88196902e-03 -8.37658056e-05 9.99982698e-01 1.59369153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.9192541539999 meters Centerline goodness : 0.997964 Centerline is valid? [True, True] Translation: X:937.76, Y:163.81, Z:15.94 [[-4.46219853e-01 8.94919340e-01 2.68659975e-03 9.37761044e+02] [-8.94904041e-01 -4.46227936e-01 5.23323541e-03 1.63805921e+02] [ 5.88215944e-03 -6.90754304e-05 9.99982698e-01 1.59393914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.9492541539998 meters Centerline goodness : 0.997757 Centerline is valid? [True, True] Translation: X:937.76, Y:163.80, Z:15.94 [[-4.47764750e-01 8.94147362e-01 2.68782180e-03 9.37761511e+02] [-8.94132053e-01 -4.47772813e-01 5.23260768e-03 1.63800989e+02] [ 5.88225588e-03 -6.02903496e-05 9.99982698e-01 1.59363978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.9792541539998 meters Centerline goodness : 0.997676 Centerline is valid? [True, True] Translation: X:937.77, Y:163.80, Z:15.94 [[-4.50278064e-01 8.92884332e-01 2.68978291e-03 9.37765315e+02] [-8.92869007e-01 -4.50286095e-01 5.23159939e-03 1.63796649e+02] [ 5.88238497e-03 -4.59493525e-05 9.99982698e-01 1.59354864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.0092541539998 meters Centerline goodness : 0.997938 Centerline is valid? [True, True] Translation: X:937.77, Y:163.79, Z:15.94 [[-4.51778113e-01 8.92126275e-01 2.69178631e-03 9.37765881e+02] [-8.92110943e-01 -4.51786130e-01 5.23056839e-03 1.63792519e+02] [ 5.88243922e-03 -3.83157022e-05 9.99982698e-01 1.59365389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.0392541539998 meters Centerline goodness : 0.997711 Centerline is valid? [True, True] Translation: X:937.76, Y:163.79, Z:15.94 [[-4.53099239e-01 8.91456013e-01 2.69381346e-03 9.37764829e+02] [-8.91440674e-01 -4.53107246e-01 5.22952417e-03 1.63786118e+02] [ 5.88247717e-03 -3.18814670e-05 9.99982698e-01 1.59358282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.0692541539997 meters Centerline goodness : 0.997963 Centerline is valid? [True, True] Translation: X:937.77, Y:163.78, Z:15.94 [[-4.55263717e-01 8.90352560e-01 2.69580307e-03 9.37766660e+02] [-8.90337208e-01 -4.55271698e-01 5.22849834e-03 1.63781449e+02] [ 5.88252972e-03 -1.98281894e-05 9.99982698e-01 1.59361656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.099254154 meters Centerline goodness : 0.998117 Centerline is valid? [True, True] Translation: X:937.77, Y:163.78, Z:15.94 [[-4.56474581e-01 8.89732364e-01 2.69779409e-03 9.37766640e+02] [-8.89717007e-01 -4.56482553e-01 5.22747081e-03 1.63777703e+02] [ 5.88254589e-03 -1.40657317e-05 9.99982698e-01 1.59392516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.129254154 meters Centerline goodness : 0.997994 Centerline is valid? [True, True] Translation: X:937.77, Y:163.77, Z:15.93 [[-4.57723949e-01 8.89090264e-01 2.69982927e-03 9.37766252e+02] [-8.89074903e-01 -4.57731911e-01 5.22641949e-03 1.63773632e+02] [ 5.88255669e-03 -8.09308104e-06 9.99982698e-01 1.59341902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.1592541539999 meters Centerline goodness : 0.997878 Centerline is valid? [True, True] Translation: X:937.77, Y:163.77, Z:15.94 [[-4.60663593e-01 8.87570703e-01 2.70225017e-03 9.37767729e+02] [-8.87555322e-01 -4.60671518e-01 5.22516750e-03 1.63768815e+02] [ 5.88255527e-03 8.64791727e-06 9.99982698e-01 1.59382678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.1892541539999 meters Centerline goodness : 0.997896 Centerline is valid? [True, True] Translation: X:937.77, Y:163.76, Z:15.94 [[-4.62523030e-01 8.86603142e-01 2.70454469e-03 9.37766866e+02] [-8.86587752e-01 -4.62530937e-01 5.22397958e-03 1.63763131e+02] [ 5.88253230e-03 1.83946716e-05 9.99982698e-01 1.59393597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.2192541539998 meters Centerline goodness : 0.998163 Centerline is valid? [True, True] Translation: X:937.77, Y:163.75, Z:15.94 [[-4.66390188e-01 8.84574964e-01 2.70658161e-03 9.37765975e+02] [-8.84559546e-01 -4.66398039e-01 5.22292403e-03 1.63754750e+02] [ 5.88241219e-03 4.17879216e-05 9.99982698e-01 1.59397631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.2492541539998 meters Centerline goodness : 0.998035 Centerline is valid? [True, True] Translation: X:937.77, Y:163.75, Z:15.94 [[-4.68340267e-01 8.83544033e-01 2.70862400e-03 9.37766511e+02] [-8.83528603e-01 -4.68348097e-01 5.22186462e-03 1.63753110e+02] [ 5.88232622e-03 5.24626908e-05 9.99982698e-01 1.59390668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.2792541539998 meters Centerline goodness : 0.997933 Centerline is valid? [True, True] Translation: X:937.76, Y:163.73, Z:15.94 [[-4.71452452e-01 8.81887316e-01 2.71066981e-03 9.37758956e+02] [-8.81871865e-01 -4.71460239e-01 5.22080243e-03 1.63734953e+02] [ 5.88213248e-03 7.08966674e-05 9.99982698e-01 1.59418309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.3092541539997 meters Centerline goodness : 0.997979 Centerline is valid? [True, True] Translation: X:937.76, Y:163.73, Z:15.94 [[-4.73483266e-01 8.80798613e-01 2.72035694e-03 9.37757993e+02] [-8.80783173e-01 -4.73491075e-01 5.21574995e-03 1.63731340e+02] [ 5.88209005e-03 7.35257068e-05 9.99982698e-01 1.59398938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.339254154 meters Centerline goodness : 0.998045 Centerline is valid? [True, True] Translation: X:937.76, Y:163.73, Z:15.94 [[-4.74291044e-01 8.80363899e-01 2.72240347e-03 9.37757816e+02] [-8.80348458e-01 -4.74298851e-01 5.21468153e-03 1.63730205e+02] [ 5.88205020e-03 7.66130447e-05 9.99982698e-01 1.59390579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.369254154 meters Centerline goodness : 0.997959 Centerline is valid? [True, True] Translation: X:937.76, Y:163.73, Z:15.94 [[-4.74187249e-01 8.80419804e-01 2.72444958e-03 9.37756408e+02] [-8.80404370e-01 -4.74195070e-01 5.21361230e-03 1.63728206e+02] [ 5.88208808e-03 7.36111543e-05 9.99982698e-01 1.59394060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.399254154 meters Centerline goodness : 0.998124 Centerline is valid? [True, True] Translation: X:937.75, Y:163.72, Z:15.94 [[-4.73696520e-01 8.80683924e-01 2.72649458e-03 9.37752852e+02] [-8.80668500e-01 -4.73704361e-01 5.21254264e-03 1.63723290e+02] [ 5.88215488e-03 6.80254149e-05 9.99982698e-01 1.59402392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.4292541539999 meters Centerline goodness : 0.998163 Centerline is valid? [True, True] Translation: X:937.75, Y:163.73, Z:15.94 [[-4.72367457e-01 8.81397503e-01 2.72528131e-03 9.37754165e+02] [-8.81382088e-01 -4.72375315e-01 5.21317746e-03 1.63728507e+02] [ 5.88223721e-03 6.05212445e-05 9.99982698e-01 1.59422875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.4592541539998 meters Centerline goodness : 0.998105 Centerline is valid? [True, True] Translation: X:937.75, Y:163.73, Z:15.94 [[-4.70404345e-01 8.82446772e-01 2.72905796e-03 9.37754867e+02] [-8.82431386e-01 -4.70412259e-01 5.21119966e-03 1.63731057e+02] [ 5.88238864e-03 4.31645654e-05 9.99982698e-01 1.59406135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.4892541539998 meters Centerline goodness : 0.998205 Centerline is valid? [True, True] Translation: X:937.75, Y:163.73, Z:15.94 [[-4.70865875e-01 8.82200596e-01 2.72695864e-03 9.37749959e+02] [-8.82185200e-01 -4.70873768e-01 5.21230042e-03 1.63725663e+02] [ 5.88234783e-03 4.86118418e-05 9.99982698e-01 1.59406969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.5192541539998 meters Centerline goodness : 0.998299 Centerline is valid? [True, True] Translation: X:937.75, Y:163.73, Z:15.94 [[-4.68297385e-01 8.83566686e-01 2.73319042e-03 9.37748003e+02] [-8.83551332e-01 -4.68305360e-01 5.20903059e-03 1.63726318e+02] [ 5.88249362e-03 2.44613633e-05 9.99982698e-01 1.59418115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.5492541539998 meters Centerline goodness : 0.998226 Centerline is valid? [True, True] Translation: X:937.75, Y:163.73, Z:15.94 [[-4.67007488e-01 8.84249131e-01 2.73522669e-03 9.37747426e+02] [-8.84233794e-01 -4.67015498e-01 5.20796114e-03 1.63727229e+02] [ 5.88252836e-03 1.35769774e-05 9.99982698e-01 1.59420032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.579254154 meters Centerline goodness : 0.998369 Centerline is valid? [True, True] Translation: X:937.75, Y:163.73, Z:15.94 [[-4.63378898e-01 8.86156027e-01 2.73725874e-03 9.37745684e+02] [-8.86140730e-01 -4.63386983e-01 5.20689289e-03 1.63729602e+02] [ 5.88252959e-03 -1.28321645e-05 9.99982698e-01 1.59412594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.609254154 meters Centerline goodness : 0.998150 Centerline is valid? [True, True] Translation: X:937.74, Y:163.73, Z:15.94 [[-4.61528903e-01 8.87120944e-01 2.73928522e-03 9.37744101e+02] [-8.87105669e-01 -4.61537031e-01 5.20582657e-03 1.63729168e+02] [ 5.88247934e-03 -2.73960235e-05 9.99982698e-01 1.59410495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.639254154 meters Centerline goodness : 0.998342 Centerline is valid? [True, True] Translation: X:937.74, Y:163.73, Z:15.94 [[-4.60068754e-01 8.87879061e-01 2.74130752e-03 9.37742322e+02] [-8.87863806e-01 -4.60076920e-01 5.20476143e-03 1.63728364e+02] [ 5.88241101e-03 -3.93596209e-05 9.99982698e-01 1.59403139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.6692541539999 meters Centerline goodness : 0.998329 Centerline is valid? [True, True] Translation: X:937.74, Y:163.73, Z:15.94 [[-4.57444361e-01 8.89234013e-01 2.74332772e-03 9.37740067e+02] [-8.89218789e-01 -4.57452584e-01 5.20369641e-03 1.63728141e+02] [ 5.88224620e-03 -5.90169748e-05 9.99982698e-01 1.59417163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.6992541539998 meters Centerline goodness : 0.998495 Centerline is valid? [True, True] Translation: X:937.74, Y:163.73, Z:15.94 [[-4.56911441e-01 8.89507953e-01 2.74534614e-03 9.37739439e+02] [-8.89492740e-01 -4.56919684e-01 5.20263132e-03 1.63728847e+02] [ 5.88218463e-03 -6.48236881e-05 9.99982698e-01 1.59412062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.7292541539998 meters Centerline goodness : 0.998517 Centerline is valid? [True, True] Translation: X:937.74, Y:163.73, Z:15.94 [[-4.56662376e-01 8.89635839e-01 2.74736109e-03 9.37737313e+02] [-8.89620635e-01 -4.56670635e-01 5.20156706e-03 1.63727235e+02] [ 5.88213962e-03 -6.87491459e-05 9.99982698e-01 1.59423658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.7592541539998 meters Centerline goodness : 0.998623 Centerline is valid? [True, True] Translation: X:937.74, Y:163.73, Z:15.94 [[-4.57127438e-01 8.89396957e-01 2.74937427e-03 9.37736060e+02] [-8.89381755e-01 -4.57135700e-01 5.20050275e-03 1.63725736e+02] [ 5.88214845e-03 -6.79508223e-05 9.99982698e-01 1.59422381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.7892541539998 meters Centerline goodness : 0.998623 Centerline is valid? [True, True] Translation: X:937.73, Y:163.72, Z:15.94 [[-4.57472750e-01 8.89219384e-01 2.75138604e-03 9.37734999e+02] [-8.89204185e-01 -4.57481019e-01 5.19943818e-03 1.63723574e+02] [ 5.88214810e-03 -6.79427040e-05 9.99982698e-01 1.59422529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.8192541539997 meters Centerline goodness : 0.998681 Centerline is valid? [True, True] Translation: X:937.73, Y:163.72, Z:15.94 [[-4.58391088e-01 8.88746324e-01 2.75340457e-03 9.37731888e+02] [-8.88731124e-01 -4.58399353e-01 5.19836903e-03 1.63718601e+02] [ 5.88219024e-03 -6.41503022e-05 9.99982698e-01 1.59444950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.849254154 meters Centerline goodness : 0.998491 Centerline is valid? [True, True] Translation: X:937.73, Y:163.72, Z:15.94 [[-4.60027975e-01 8.87900145e-01 2.75567462e-03 9.37729381e+02] [-8.87884937e-01 -4.60036225e-01 5.19716539e-03 1.63715340e+02] [ 5.88227406e-03 -5.58805132e-05 9.99982698e-01 1.59434187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.879254154 meters Centerline goodness : 0.998850 Centerline is valid? [True, True] Translation: X:937.73, Y:163.71, Z:15.95 [[-4.62412438e-01 8.86660664e-01 2.75769050e-03 9.37726353e+02] [-8.86645439e-01 -4.62420659e-01 5.19609552e-03 1.63710411e+02] [ 5.88238656e-03 -4.23545113e-05 9.99982698e-01 1.59471100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.9092541539999 meters Centerline goodness : 0.998785 Centerline is valid? [True, True] Translation: X:937.72, Y:163.71, Z:15.95 [[-4.65702431e-01 8.84937073e-01 2.76103655e-03 9.37723946e+02] [-8.84921828e-01 -4.65710615e-01 5.19431692e-03 1.63706872e+02] [ 5.88248764e-03 -2.42954973e-05 9.99982698e-01 1.59458982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.9392541539999 meters Centerline goodness : 0.998763 Centerline is valid? [True, True] Translation: X:937.72, Y:163.70, Z:15.94 [[-4.68093969e-01 8.83674375e-01 2.76305991e-03 9.37720203e+02] [-8.83659115e-01 -4.68102124e-01 5.19324040e-03 1.63700230e+02] [ 5.88252768e-03 -1.06785656e-05 9.99982698e-01 1.59435045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.9692541539998 meters Centerline goodness : 0.998715 Centerline is valid? [True, True] Translation: X:937.72, Y:163.70, Z:15.94 [[-4.70994029e-01 8.82132064e-01 2.76508107e-03 9.37717887e+02] [-8.82116784e-01 -4.71002146e-01 5.19216403e-03 1.63695294e+02] [ 5.88253349e-03 6.35383711e-06 9.99982698e-01 1.59429757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.9992541539998 meters Centerline goodness : 0.998826 Centerline is valid? [True, True] Translation: X:937.72, Y:163.69, Z:15.94 [[-4.74545111e-01 8.80226835e-01 2.76710764e-03 9.37717286e+02] [-8.80211528e-01 -4.74553177e-01 5.19108377e-03 1.63694204e+02] [ 5.88247096e-03 2.77633739e-05 9.99982698e-01 1.59434637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.0292541539998 meters Centerline goodness : 0.998863 Centerline is valid? [True, True] Translation: X:937.71, Y:163.69, Z:15.94 [[-4.79961422e-01 8.77285225e-01 2.76913550e-03 9.37712411e+02] [-8.77269875e-01 -4.79969406e-01 5.19000180e-03 1.63687254e+02] [ 5.88221222e-03 6.17214932e-05 9.99982698e-01 1.59422613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.0592541539997 meters Centerline goodness : 0.998954 Centerline is valid? [True, True] Translation: X:937.71, Y:163.69, Z:15.94 [[-4.82859622e-01 8.75693386e-01 2.77117406e-03 9.37711006e+02] [-8.75678016e-01 -4.82867568e-01 5.18891309e-03 1.63685685e+02] [ 5.88200695e-03 7.88604163e-05 9.99982698e-01 1.59415950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.089254154 meters Centerline goodness : 0.998846 Centerline is valid? [True, True] Translation: X:937.69, Y:163.65, Z:15.94 [[-4.83691551e-01 8.75234136e-01 2.77320866e-03 9.37690149e+02] [-8.75218765e-01 -4.83699494e-01 5.18782548e-03 1.63645576e+02] [ 5.88196157e-03 8.21430968e-05 9.99982698e-01 1.59398927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.119254154 meters Centerline goodness : 0.998988 Centerline is valid? [True, True] Translation: X:937.70, Y:163.67, Z:15.94 [[-4.89162623e-01 8.72188248e-01 2.75459508e-03 9.37702862e+02] [-8.72172772e-01 -4.89170359e-01 5.19778076e-03 1.63674131e+02] [ 5.88090956e-03 1.40077241e-04 9.99982698e-01 1.59416377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.149254154 meters Centerline goodness : 0.999114 Centerline is valid? [True, True] Translation: X:937.70, Y:163.68, Z:15.95 [[-4.91225943e-01 8.71027762e-01 2.77697780e-03 9.37703300e+02] [-8.71012334e-01 -4.91233776e-01 5.18579488e-03 1.63676400e+02] [ 5.88111660e-03 1.28615064e-04 9.99982698e-01 1.59454258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.1792541539999 meters Centerline goodness : 0.998949 Centerline is valid? [True, True] Translation: X:937.70, Y:163.67, Z:15.94 [[-4.92283893e-01 8.70430265e-01 2.77900319e-03 9.37697226e+02] [-8.70414833e-01 -4.92291719e-01 5.18470928e-03 1.63670606e+02] [ 5.88100812e-03 1.33463272e-04 9.99982698e-01 1.59420202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.2092541539998 meters Centerline goodness : 0.999197 Centerline is valid? [True, True] Translation: X:937.69, Y:163.67, Z:15.95 [[-4.93381238e-01 8.69808725e-01 2.78157303e-03 9.37694120e+02] [-8.69793291e-01 -4.93389059e-01 5.18333020e-03 1.63667887e+02] [ 5.88090353e-03 1.37964304e-04 9.99982698e-01 1.59465201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.2392541539998 meters Centerline goodness : 0.998966 Centerline is valid? [True, True] Translation: X:937.68, Y:163.65, Z:15.94 [[-4.94192766e-01 8.69347894e-01 2.78360162e-03 9.37681455e+02] [-8.69332460e-01 -4.94200586e-01 5.18224056e-03 1.63651139e+02] [ 5.88082747e-03 1.41150549e-04 9.99982698e-01 1.59419822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.2692541539998 meters Centerline goodness : 0.998984 Centerline is valid? [True, True] Translation: X:937.68, Y:163.66, Z:15.94 [[-4.94768423e-01 8.69020381e-01 2.79027575e-03 9.37684956e+02] [-8.69004961e-01 -4.94776272e-01 5.17864451e-03 1.63661152e+02] [ 5.88090985e-03 1.37466301e-04 9.99982698e-01 1.59431942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.2992541539998 meters Centerline goodness : 0.999087 Centerline is valid? [True, True] Translation: X:937.68, Y:163.66, Z:15.94 [[-4.95380702e-01 8.68671493e-01 2.79233371e-03 9.37680117e+02] [-8.68656074e-01 -4.95388552e-01 5.17753462e-03 1.63659288e+02] [ 5.88086688e-03 1.39273096e-04 9.99982698e-01 1.59424077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.329254154 meters Centerline goodness : 0.999127 Centerline is valid? [True, True] Translation: X:937.68, Y:163.66, Z:15.94 [[-4.96112198e-01 8.68253925e-01 2.79438274e-03 9.37677540e+02] [-8.68238506e-01 -4.96120047e-01 5.17642849e-03 1.63658721e+02] [ 5.88080365e-03 1.41898625e-04 9.99982698e-01 1.59433653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.359254154 meters Centerline goodness : 0.999237 Centerline is valid? [True, True] Translation: X:937.68, Y:163.66, Z:15.94 [[-4.97059032e-01 8.67712221e-01 2.79643203e-03 9.37675338e+02] [-8.67696799e-01 -4.97066877e-01 5.17532118e-03 1.63660016e+02] [ 5.88070317e-03 1.45985014e-04 9.99982698e-01 1.59437602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.389254154 meters Centerline goodness : 0.998997 Centerline is valid? [True, True] Translation: X:937.67, Y:163.66, Z:15.94 [[-4.96550273e-01 8.68003453e-01 2.79847032e-03 9.37667712e+02] [-8.67988042e-01 -4.96558139e-01 5.17421877e-03 1.63657163e+02] [ 5.88084298e-03 1.40220967e-04 9.99982698e-01 1.59401204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.4192541539999 meters Centerline goodness : 0.999043 Centerline is valid? [True, True] Translation: X:937.66, Y:163.65, Z:15.94 [[-4.96613852e-01 8.67967069e-01 2.80156267e-03 9.37663514e+02] [-8.67951668e-01 -4.96621735e-01 5.17254389e-03 1.63654496e+02] [ 5.88091467e-03 1.37135956e-04 9.99982698e-01 1.59399921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.4492541539998 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:937.66, Y:163.66, Z:15.94 [[-4.93047974e-01 8.69997607e-01 2.80360056e-03 9.37660937e+02] [-8.69982244e-01 -4.93055932e-01 5.17143908e-03 1.63657789e+02] [ 5.88147151e-03 1.10684851e-04 9.99982698e-01 1.59440987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.4792541539998 meters Centerline goodness : 0.998841 Centerline is valid? [True, True] Translation: X:937.65, Y:163.65, Z:15.94 [[-4.94636773e-01 8.69095359e-01 2.77861139e-03 9.37653969e+02] [-8.69079905e-01 -4.94644554e-01 5.18499898e-03 1.63654277e+02] [ 5.88068354e-03 1.49855836e-04 9.99982697e-01 1.59407855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.5092541539998 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:937.65, Y:163.66, Z:15.94 [[-4.93838499e-01 8.69549108e-01 2.80811928e-03 9.37650772e+02] [-8.69533752e-01 -4.93846470e-01 5.16896838e-03 1.63655163e+02] [ 5.88145164e-03 1.10881092e-04 9.99982698e-01 1.59421047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.5392541539998 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:937.64, Y:163.65, Z:15.94 [[-4.91999060e-01 8.70591194e-01 2.81041298e-03 9.37643545e+02] [-8.70575861e-01 -4.92007078e-01 5.16772098e-03 1.63654677e+02] [ 5.88171545e-03 9.58361599e-05 9.99982698e-01 1.59431509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.5692541539997 meters Centerline goodness : 0.999333 Centerline is valid? [True, True] Translation: X:937.64, Y:163.65, Z:15.95 [[-4.90452787e-01 8.71463225e-01 2.81270444e-03 9.37641140e+02] [-8.71447914e-01 -4.90460845e-01 5.16647347e-03 1.63654389e+02] [ 5.88191303e-03 8.27858932e-05 9.99982698e-01 1.59475892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.599254154 meters Centerline goodness : 0.999093 Centerline is valid? [True, True] Translation: X:937.64, Y:163.66, Z:15.95 [[-4.91021009e-01 8.71143223e-01 2.80252531e-03 9.37635633e+02] [-8.71127875e-01 -4.91028996e-01 5.17201918e-03 1.63655471e+02] [ 5.88169065e-03 9.82121537e-05 9.99982698e-01 1.59457224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.629254154 meters Centerline goodness : 0.999396 Centerline is valid? [True, True] Translation: X:937.63, Y:163.66, Z:15.95 [[-4.90214571e-01 8.71597236e-01 2.81652661e-03 9.37634754e+02] [-8.71581939e-01 -4.90222656e-01 5.16438322e-03 1.63656023e+02] [ 5.88198729e-03 7.68221859e-05 9.99982698e-01 1.59482930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.6592541539999 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:937.63, Y:163.65, Z:15.95 [[-4.92951001e-01 8.70052567e-01 2.80019689e-03 9.37629097e+02] [-8.70037194e-01 -4.92958941e-01 5.17329641e-03 1.63652128e+02] [ 5.88142192e-03 1.13906196e-04 9.99982698e-01 1.59455481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.6892541539999 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:937.62, Y:163.65, Z:15.94 [[-4.95096317e-01 8.68833519e-01 2.82023902e-03 9.37623373e+02] [-8.68818189e-01 -4.95104338e-01 5.16234721e-03 1.63649008e+02] [ 5.88153287e-03 1.05584129e-04 9.99982698e-01 1.59443160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.7192541539998 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:937.62, Y:163.64, Z:15.94 [[-4.93017104e-01 8.70015040e-01 2.82227504e-03 9.37620585e+02] [-8.69999735e-01 -4.93025174e-01 5.16123387e-03 1.63643636e+02] [ 5.88180374e-03 8.91980364e-05 9.99982698e-01 1.59429402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.7492541539998 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:937.62, Y:163.65, Z:15.94 [[-4.98634527e-01 8.66807807e-01 2.79908275e-03 9.37616245e+02] [-8.66792379e-01 -4.98642359e-01 5.17392328e-03 1.63647584e+02] [ 5.88053832e-03 1.53673185e-04 9.99982698e-01 1.59426241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.7792541539998 meters Centerline goodness : 0.999328 Centerline is valid? [True, True] Translation: X:937.61, Y:163.64, Z:15.94 [[-4.99904827e-01 8.66075733e-01 2.82641181e-03 9.37611967e+02] [-8.66060378e-01 -4.99912799e-01 5.15895063e-03 1.63643607e+02] [ 5.88100139e-03 1.31141045e-04 9.99982698e-01 1.59425712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.8092541539997 meters Centerline goodness : 0.999371 Centerline is valid? [True, True] Translation: X:937.61, Y:163.64, Z:15.94 [[-5.01160326e-01 8.65349830e-01 2.82845102e-03 9.37605529e+02] [-8.65334469e-01 -5.01168289e-01 5.15783237e-03 1.63636378e+02] [ 5.88085932e-03 1.37344788e-04 9.99982698e-01 1.59429445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.839254154 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:937.60, Y:163.64, Z:15.94 [[-4.99177210e-01 8.66495295e-01 2.83127770e-03 9.37603149e+02] [-8.66479962e-01 -4.99185225e-01 5.15628026e-03 1.63638235e+02] [ 5.88122458e-03 1.20652198e-04 9.99982698e-01 1.59434729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.869254154 meters Centerline goodness : 0.999282 Centerline is valid? [True, True] Translation: X:937.60, Y:163.64, Z:15.94 [[-4.98858105e-01 8.66679112e-01 2.81201568e-03 9.37597115e+02] [-8.66663722e-01 -4.98866011e-01 5.16686246e-03 1.63637193e+02] [ 5.88083082e-03 1.40459240e-04 9.99982698e-01 1.59432495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.899254154 meters Centerline goodness : 0.999369 Centerline is valid? [True, True] Translation: X:937.59, Y:163.64, Z:15.94 [[-4.99202960e-01 8.66480463e-01 2.83052205e-03 9.37594755e+02] [-8.66465127e-01 -4.99210970e-01 5.15668425e-03 1.63638691e+02] [ 5.88119382e-03 1.21683393e-04 9.99982698e-01 1.59445686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.9292541539999 meters Centerline goodness : 0.999388 Centerline is valid? [True, True] Translation: X:937.59, Y:163.64, Z:15.94 [[-4.99210330e-01 8.66476200e-01 2.83586143e-03 9.37591919e+02] [-8.66460880e-01 -4.99218371e-01 5.15374497e-03 1.63639774e+02] [ 5.88131149e-03 1.15639734e-04 9.99982698e-01 1.59421136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.9592541539998 meters Centerline goodness : 0.999366 Centerline is valid? [True, True] Translation: X:937.59, Y:163.64, Z:15.94 [[-4.99069637e-01 8.66557233e-01 2.83900520e-03 9.37588015e+02] [-8.66541924e-01 -4.99077700e-01 5.15201261e-03 1.63637520e+02] [ 5.88139797e-03 1.11096037e-04 9.99982698e-01 1.59436592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.9892541539998 meters Centerline goodness : 0.999409 Centerline is valid? [True, True] Translation: X:937.58, Y:163.64, Z:15.94 [[-4.97446944e-01 8.67489748e-01 2.84155117e-03 9.37583117e+02] [-8.67474463e-01 -4.97455051e-01 5.15060802e-03 1.63637507e+02] [ 5.88164363e-03 9.71811489e-05 9.99982698e-01 1.59447356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.0192541539998 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:937.58, Y:163.64, Z:15.95 [[-4.96696695e-01 8.67919528e-01 2.84383419e-03 9.37580363e+02] [-8.67904257e-01 -4.96704828e-01 5.14934717e-03 1.63636906e+02] [ 5.88176514e-03 8.94879240e-05 9.99982698e-01 1.59458838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.0492541539998 meters Centerline goodness : 0.999472 Centerline is valid? [True, True] Translation: X:937.58, Y:163.64, Z:15.95 [[-4.93784146e-01 8.69579851e-01 2.84611488e-03 9.37575109e+02] [-8.69564614e-01 -4.93792344e-01 5.14808630e-03 1.63635686e+02] [ 5.88206185e-03 6.71626080e-05 9.99982698e-01 1.59458926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.079254154 meters Centerline goodness : 0.999648 Centerline is valid? [True, True] Translation: X:937.57, Y:163.63, Z:15.95 [[-4.93293635e-01 8.69858193e-01 2.84865411e-03 9.37572266e+02] [-8.69842969e-01 -4.93301856e-01 5.14668085e-03 1.63634716e+02] [ 5.88212886e-03 6.09431507e-05 9.99982698e-01 1.59472090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.109254154 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:937.57, Y:163.63, Z:15.95 [[-4.91740492e-01 8.70737136e-01 2.85119068e-03 9.37569776e+02] [-8.70721935e-01 -4.91748755e-01 5.14527524e-03 1.63633353e+02] [ 5.88225169e-03 4.75459074e-05 9.99982698e-01 1.59459799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.139254154 meters Centerline goodness : 0.999648 Centerline is valid? [True, True] Translation: X:937.57, Y:163.63, Z:15.95 [[-4.89426020e-01 8.72040152e-01 2.85372375e-03 9.37566058e+02] [-8.72024982e-01 -4.89434339e-01 5.14386994e-03 1.63632966e+02] [ 5.88237152e-03 2.90253873e-05 9.99982698e-01 1.59465350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.1692541539999 meters Centerline goodness : 0.999692 Centerline is valid? [True, True] Translation: X:937.56, Y:163.63, Z:15.94 [[-4.87946462e-01 8.72868886e-01 2.85625236e-03 9.37561729e+02] [-8.72853738e-01 -4.87954821e-01 5.14246549e-03 1.63627686e+02] [ 5.88242023e-03 1.61572933e-05 9.99982698e-01 1.59443065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.1992541539998 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:937.56, Y:163.63, Z:15.94 [[-4.86768035e-01 8.73526593e-01 2.85878125e-03 9.37562500e+02] [-8.73511464e-01 -4.86776429e-01 5.14105925e-03 1.63630965e+02] [ 5.88243930e-03 5.32511297e-06 9.99982698e-01 1.59419296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.2292541539998 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:937.56, Y:163.62, Z:15.94 [[-4.85589983e-01 8.74182007e-01 2.86130554e-03 9.37556434e+02] [-8.74166898e-01 -4.85598413e-01 5.13965395e-03 1.63622713e+02] [ 5.88243843e-03 -5.49411675e-06 9.99982698e-01 1.59413442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.2592541539998 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:937.56, Y:163.62, Z:15.94 [[-4.86808972e-01 8.73503763e-01 2.86382831e-03 9.37555353e+02] [-8.73488650e-01 -4.86817396e-01 5.13824787e-03 1.63620159e+02] [ 5.88244029e-03 -1.76362032e-07 9.99982698e-01 1.59428726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.2892541539998 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:937.55, Y:163.61, Z:15.94 [[-4.88637714e-01 8.72482073e-01 2.86635512e-03 9.37548527e+02] [-8.72466951e-01 -4.88646121e-01 5.13683791e-03 1.63606114e+02] [ 5.88243230e-03 9.25261653e-06 9.99982698e-01 1.59443607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.3192541539997 meters Centerline goodness : 0.999713 Centerline is valid? [True, True] Translation: X:937.55, Y:163.61, Z:15.94 [[-4.88390842e-01 8.72620253e-01 2.87733396e-03 9.37548556e+02] [-8.72605170e-01 -4.88399318e-01 5.13068088e-03 1.63605697e+02] [ 5.88242399e-03 -4.99893398e-06 9.99982698e-01 1.59432277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.349254154 meters Centerline goodness : 0.999646 Centerline is valid? [True, True] Translation: X:937.55, Y:163.60, Z:15.94 [[-4.88721008e-01 8.72435374e-01 2.87984843e-03 9.37546263e+02] [-8.72420296e-01 -4.88729493e-01 5.12926911e-03 1.63601693e+02] [ 5.88242268e-03 -5.65664765e-06 9.99982698e-01 1.59434977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.379254154 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:937.54, Y:163.59, Z:15.94 [[-4.90156159e-01 8.71629871e-01 2.88235848e-03 9.37538931e+02] [-8.71614787e-01 -4.90164633e-01 5.12785822e-03 1.63589356e+02] [ 5.88242459e-03 1.14501051e-06 9.99982698e-01 1.59443410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.4092541539999 meters Centerline goodness : 0.999712 Centerline is valid? [True, True] Translation: X:937.52, Y:163.55, Z:15.94 [[-4.95300630e-01 8.68716830e-01 2.89060791e-03 9.37519784e+02] [-8.68701723e-01 -4.95309064e-01 5.12320374e-03 1.63553898e+02] [ 5.88235761e-03 2.64499602e-05 9.99982698e-01 1.59449657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.4392541539999 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:937.52, Y:163.55, Z:15.94 [[-4.97236012e-01 8.67610418e-01 2.91750855e-03 9.37520138e+02] [-8.67595382e-01 -4.97244571e-01 5.10783856e-03 1.63551106e+02] [ 5.88232924e-03 8.58433430e-06 9.99982699e-01 1.59441497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.4692541539998 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:937.52, Y:163.54, Z:15.94 [[-4.98561703e-01 8.66849297e-01 2.91975395e-03 9.37516971e+02] [-8.66834256e-01 -4.98570252e-01 5.10655472e-03 1.63543504e+02] [ 5.88231583e-03 1.49898722e-05 9.99982699e-01 1.59433745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.4992541539998 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:937.52, Y:163.54, Z:15.94 [[-4.99578381e-01 8.66263759e-01 2.92251793e-03 9.37517456e+02] [-8.66248717e-01 -4.99586929e-01 5.10497238e-03 1.63541961e+02] [ 5.88230432e-03 1.87064294e-05 9.99982699e-01 1.59411678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.5292541539998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:937.52, Y:163.54, Z:15.94 [[-5.02816999e-01 8.64387940e-01 2.92476545e-03 9.37516373e+02] [-8.64372874e-01 -5.02825504e-01 5.10368440e-03 1.63537913e+02] [ 5.88220991e-03 3.81313581e-05 9.99982699e-01 1.59424863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.5592541539997 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:937.51, Y:163.53, Z:15.94 [[-5.03370972e-01 8.64065447e-01 2.92701157e-03 9.37512389e+02] [-8.64050383e-01 -5.03379481e-01 5.10239590e-03 1.63529395e+02] [ 5.88220156e-03 3.93125148e-05 9.99982699e-01 1.59401826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.589254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:937.51, Y:163.53, Z:15.94 [[-5.05005392e-01 8.63111216e-01 2.92951977e-03 9.37511432e+02] [-8.63096144e-01 -5.05013887e-01 5.10095543e-03 1.63527122e+02] [ 5.88214001e-03 4.75527804e-05 9.99982699e-01 1.59430047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.619254154 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:937.51, Y:163.52, Z:15.94 [[-5.04970461e-01 8.63131645e-01 2.93203100e-03 9.37508190e+02] [-8.63116582e-01 -5.04978971e-01 5.09951156e-03 1.63520784e+02] [ 5.88216380e-03 4.44181357e-05 9.99982699e-01 1.59411507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.649254154 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:937.51, Y:163.52, Z:15.94 [[-5.05110365e-01 8.63049770e-01 2.93480269e-03 9.37508578e+02] [-8.63034715e-01 -5.05118889e-01 5.09791594e-03 1.63520942e+02] [ 5.88217945e-03 4.21735795e-05 9.99982699e-01 1.59411702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.6792541539999 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:937.51, Y:163.52, Z:15.94 [[-5.05534339e-01 8.62801486e-01 2.93731047e-03 9.37506626e+02] [-8.62786435e-01 -5.05542871e-01 5.09647059e-03 1.63517452e+02] [ 5.88217877e-03 4.21692618e-05 9.99982699e-01 1.59411948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.7092541539998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:937.50, Y:163.51, Z:15.94 [[-5.05331822e-01 8.62920105e-01 2.93981382e-03 9.37501665e+02] [-8.62905064e-01 -5.05340372e-01 5.09502617e-03 1.63508595e+02] [ 5.88220713e-03 3.78986333e-05 9.99982699e-01 1.59436834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.7392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:937.50, Y:163.51, Z:15.95 [[-5.04597294e-01 8.63349822e-01 2.94206536e-03 9.37502939e+02] [-8.63334796e-01 -5.04605870e-01 5.09372571e-03 1.63511706e+02] [ 5.88225064e-03 3.02928122e-05 9.99982699e-01 1.59459010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.7692541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:937.50, Y:163.51, Z:15.95 [[-5.03885407e-01 8.63765493e-01 2.94431716e-03 9.37501430e+02] [-8.63750482e-01 -5.03894009e-01 5.09242377e-03 1.63509502e+02] [ 5.88228371e-03 2.28426600e-05 9.99982699e-01 1.59456849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.7992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:937.50, Y:163.50, Z:15.94 [[-5.00313475e-01 8.65839329e-01 2.94681851e-03 9.37499206e+02] [-8.65824362e-01 -5.00322153e-01 5.09097591e-03 1.63504295e+02] [ 5.88232575e-03 -4.34341006e-06 9.99982699e-01 1.59446338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.829254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:937.49, Y:163.50, Z:15.95 [[-5.02012418e-01 8.64855408e-01 2.94192229e-03 9.37494409e+02] [-8.64840407e-01 -5.02021038e-01 5.09381210e-03 1.63499685e+02] [ 5.88231782e-03 1.28636568e-05 9.99982699e-01 1.59472890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.859254154 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:937.50, Y:163.50, Z:15.94 [[-5.01577712e-01 8.65107563e-01 2.95012160e-03 9.37495429e+02] [-8.65092594e-01 -5.01586388e-01 5.08905897e-03 1.63502065e+02] [ 5.88232424e-03 4.30209476e-07 9.99982699e-01 1.59439537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.889254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:937.49, Y:163.50, Z:15.95 [[-5.02782931e-01 8.64407661e-01 2.95288239e-03 9.37492923e+02] [-8.64392690e-01 -5.02791602e-01 5.08745654e-03 1.63498137e+02] [ 5.88232088e-03 5.43635647e-06 9.99982699e-01 1.59461912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.9192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:937.49, Y:163.49, Z:15.95 [[-5.03520890e-01 8.63977998e-01 2.95512137e-03 9.37491392e+02] [-8.63963027e-01 -5.03529562e-01 5.08615566e-03 1.63494741e+02] [ 5.88231755e-03 7.87002455e-06 9.99982699e-01 1.59452906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.9492541539998 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:937.39, Y:163.33, Z:15.94 [[-5.01871881e-01 8.64936916e-01 2.95736141e-03 9.37394294e+02] [-8.64921970e-01 -5.01880594e-01 5.08485285e-03 1.63325383e+02] [ 5.88231925e-03 -5.94219457e-06 9.99982699e-01 1.59413443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.9792541539998 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:937.49, Y:163.49, Z:15.94 [[-5.04488065e-01 8.63413608e-01 2.95529739e-03 9.37489730e+02] [-8.63398628e-01 -5.04496720e-01 5.08605373e-03 1.63490592e+02] [ 5.88230585e-03 1.42536859e-05 9.99982699e-01 1.59390989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.0092541539998 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:937.49, Y:163.49, Z:15.94 [[-5.04608263e-01 8.63343339e-01 2.96304993e-03 9.37487158e+02] [-8.63328384e-01 -5.04616963e-01 5.08153322e-03 1.63486802e+02] [ 5.88231311e-03 6.09854450e-06 9.99982699e-01 1.59385056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.0392541539998 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:937.47, Y:163.46, Z:15.94 [[-5.04650573e-01 8.63318600e-01 2.96553755e-03 9.37470991e+02] [-8.63303653e-01 -5.04659287e-01 5.08008105e-03 1.63459389e+02] [ 5.88231452e-03 3.50641076e-06 9.99982699e-01 1.59402621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.0692541539997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:937.48, Y:163.47, Z:15.94 [[-5.05001015e-01 8.63113635e-01 2.97142209e-03 9.37478670e+02] [-8.63098705e-01 -5.05009756e-01 5.07663675e-03 1.63473377e+02] [ 5.88231154e-03 -9.23849692e-07 9.99982699e-01 1.59424831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.099254154 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:937.48, Y:163.47, Z:15.94 [[-5.04497776e-01 8.63407870e-01 2.97392882e-03 9.37476388e+02] [-8.63392954e-01 -5.04506541e-01 5.07516786e-03 1.63470119e+02] [ 5.88230642e-03 -7.25828585e-06 9.99982699e-01 1.59408444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.129254154 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:937.48, Y:163.47, Z:15.94 [[-5.04921314e-01 8.63160245e-01 2.97616157e-03 9.37475255e+02] [-8.63145333e-01 -5.04930085e-01 5.07385821e-03 1.63467700e+02] [ 5.88230621e-03 -6.96081143e-06 9.99982699e-01 1.59433405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.1592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:937.47, Y:163.46, Z:15.94 [[-5.02551219e-01 8.64542307e-01 2.97864816e-03 9.37474820e+02] [-8.64527427e-01 -5.02560046e-01 5.07239801e-03 1.63462141e+02] [ 5.88225223e-03 -2.59832246e-05 9.99982699e-01 1.59432373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.1892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:937.47, Y:163.46, Z:15.95 [[-5.07318353e-01 8.61753634e-01 2.96025000e-03 9.37472006e+02] [-8.61738642e-01 -5.07326989e-01 5.08320860e-03 1.63460834e+02] [ 5.88228820e-03 2.78432006e-05 9.99982699e-01 1.59475589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.2192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:937.47, Y:163.46, Z:15.94 [[-5.03775965e-01 8.63829194e-01 2.98343601e-03 9.37473202e+02] [-8.63814318e-01 -5.03784799e-01 5.06956365e-03 1.63456360e+02] [ 5.88224679e-03 -2.32104199e-05 9.99982699e-01 1.59439515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.2492541539998 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:937.47, Y:163.45, Z:15.95 [[-5.09600341e-01 8.60406168e-01 2.95263920e-03 9.37468051e+02] [-8.60391127e-01 -5.09608892e-01 5.08769831e-03 1.63452862e+02] [ 5.88217820e-03 5.22682244e-05 9.99982698e-01 1.59455602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.2792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:937.47, Y:163.45, Z:15.94 [[-5.08899772e-01 8.60820593e-01 2.98827540e-03 9.37470254e+02] [-8.60805682e-01 -5.08908545e-01 5.06668046e-03 1.63450229e+02] [ 5.88226176e-03 6.10808787e-06 9.99982699e-01 1.59439412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.3092541539997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:937.47, Y:163.45, Z:15.94 [[-5.11236500e-01 8.59434973e-01 2.96120202e-03 9.37468876e+02] [-8.59419945e-01 -5.11245073e-01 5.08265654e-03 1.63445778e+02] [ 5.88211273e-03 5.35234583e-05 9.99982699e-01 1.59442787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.339254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:937.46, Y:163.43, Z:15.95 [[-5.17767162e-01 8.55516438e-01 2.96467103e-03 9.37460408e+02] [-8.55501358e-01 -5.17775641e-01 5.08060734e-03 1.63433847e+02] [ 5.88157754e-03 9.42915504e-05 9.99982699e-01 1.59468649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.369254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:937.46, Y:163.42, Z:15.94 [[-5.17071443e-01 8.55937005e-01 2.99428573e-03 9.37460920e+02] [-8.55922032e-01 -5.17080110e-01 5.06309337e-03 1.63422850e+02] [ 5.88197457e-03 5.51058714e-05 9.99982700e-01 1.59420459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.399254154 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:937.46, Y:163.42, Z:15.94 [[-5.23861834e-01 8.51798107e-01 2.96048274e-03 9.37456677e+02] [-8.51782952e-01 -5.23870180e-01 5.08309726e-03 1.63419741e+02] [ 5.88068125e-03 1.41151928e-04 9.99982699e-01 1.59425735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.4292541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:937.46, Y:163.42, Z:15.94 [[-5.26280134e-01 8.50305960e-01 2.99917064e-03 9.37460337e+02] [-8.50290911e-01 -5.26288667e-01 5.06016688e-03 1.63423166e+02] [ 5.88111957e-03 1.12897765e-04 9.99982700e-01 1.59431505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.4592541539998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:937.45, Y:163.41, Z:15.94 [[-5.27333870e-01 8.49652859e-01 3.00167590e-03 9.37452238e+02] [-8.49637807e-01 -5.27342399e-01 5.05868033e-03 1.63409461e+02] [ 5.88103317e-03 1.17276145e-04 9.99982700e-01 1.59424532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.4892541539998 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:937.45, Y:163.41, Z:15.94 [[-5.26987046e-01 8.49867992e-01 3.00841551e-03 9.37452304e+02] [-8.49852967e-01 -5.26995622e-01 5.05466907e-03 1.63409863e+02] [ 5.88122326e-03 1.07034273e-04 9.99982700e-01 1.59419450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.5192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:937.45, Y:163.41, Z:15.95 [[-5.25139101e-01 8.51011082e-01 3.01065596e-03 9.37450247e+02] [-8.50996083e-01 -5.25147723e-01 5.05333427e-03 1.63407782e+02] [ 5.88148258e-03 9.16469797e-05 9.99982700e-01 1.59451174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.5492541539998 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:937.44, Y:163.40, Z:15.94 [[-5.24231723e-01 8.51570328e-01 3.01289244e-03 9.37442937e+02] [-8.51555346e-01 -5.24240374e-01 5.05200048e-03 1.63396804e+02] [ 5.88161357e-03 8.27742531e-05 9.99982700e-01 1.59444002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.579254154 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:937.44, Y:163.40, Z:15.95 [[-5.21094992e-01 8.53493351e-01 3.01820333e-03 9.37444214e+02] [-8.53478419e-01 -5.21103730e-01 5.04882562e-03 1.63401590e+02] [ 5.88193611e-03 5.49463345e-05 9.99982700e-01 1.59467089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.609254154 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:937.44, Y:163.39, Z:15.95 [[-5.19678122e-01 8.54356791e-01 3.02031672e-03 9.37438898e+02] [-8.54341882e-01 -5.19686897e-01 5.04756103e-03 1.63394360e+02] [ 5.88203707e-03 4.27239693e-05 9.99982700e-01 1.59468949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.639254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:937.44, Y:163.40, Z:15.95 [[-5.18617494e-01 8.55001028e-01 3.02280631e-03 9.37439879e+02] [-8.54986138e-01 -5.18626303e-01 5.04606966e-03 1.63396738e+02] [ 5.88210160e-03 3.25225094e-05 9.99982700e-01 1.59485366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.6692541539999 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:937.43, Y:163.38, Z:15.95 [[-5.16913874e-01 8.56032064e-01 3.02529324e-03 9.37426411e+02] [-8.56017200e-01 -5.16922727e-01 5.04457822e-03 1.63375945e+02] [ 5.88216353e-03 1.79094228e-05 9.99982700e-01 1.59463312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.6992541539998 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:937.42, Y:163.37, Z:15.95 [[-5.16460047e-01 8.56305894e-01 3.03909884e-03 9.37424372e+02] [-8.56291084e-01 -5.16468989e-01 5.03624729e-03 1.63372989e+02] [ 5.88216855e-03 -1.33272674e-06 9.99982700e-01 1.59459424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.7292541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:937.43, Y:163.37, Z:15.94 [[-5.12086876e-01 8.58928264e-01 3.04436709e-03 9.37426736e+02] [-8.58913519e-01 -5.12095924e-01 5.03306067e-03 1.63374663e+02] [ 5.88204604e-03 -3.74837344e-05 9.99982700e-01 1.59435082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.7592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:937.42, Y:163.37, Z:15.95 [[-5.15262203e-01 8.57027248e-01 3.02640672e-03 9.37422308e+02] [-8.57012405e-01 -5.15271091e-01 5.04393067e-03 1.63371239e+02] [ 5.88220591e-03 5.27872695e-06 9.99982700e-01 1.59450214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.7892541539998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:937.42, Y:163.36, Z:15.94 [[-5.12715282e-01 8.58553286e-01 3.04880028e-03 9.37420893e+02] [-8.58538550e-01 -5.12724346e-01 5.03035838e-03 1.63363168e+02] [ 5.88202484e-03 -3.83709493e-05 9.99982700e-01 1.59390765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.8192541539997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:937.42, Y:163.36, Z:15.94 [[-5.17311252e-01 8.55791954e-01 3.03303149e-03 9.37419672e+02] [-8.55777114e-01 -5.17320144e-01 5.03991975e-03 1.63363477e+02] [ 5.88217106e-03 1.16082607e-05 9.99982700e-01 1.59428734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.849254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:937.42, Y:163.36, Z:15.94 [[-5.16637074e-01 8.56199054e-01 3.05196328e-03 9.37417828e+02] [-8.56184288e-01 -5.16646088e-01 5.02842926e-03 1.63356931e+02] [ 5.88212126e-03 -1.51700308e-05 9.99982700e-01 1.59425602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.879254154 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:937.32, Y:163.19, Z:15.94 [[-5.17584728e-01 8.55626542e-01 3.04470319e-03 9.37315742e+02] [-8.55611740e-01 -5.17593683e-01 5.03284265e-03 1.63185769e+02] [ 5.88215290e-03 -1.61302379e-07 9.99982700e-01 1.59392101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.9092541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:937.41, Y:163.35, Z:15.94 [[-5.21561260e-01 8.53208413e-01 3.04245912e-03 9.37411890e+02] [-8.53193562e-01 -5.21570132e-01 5.03420738e-03 1.63345251e+02] [ 5.88208390e-03 2.98410076e-05 9.99982700e-01 1.59405271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.9392541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:937.41, Y:163.33, Z:15.94 [[-5.24706848e-01 8.51277481e-01 3.06182498e-03 9.37406275e+02] [-8.51262665e-01 -5.24715780e-01 5.02240131e-03 1.63334737e+02] [ 5.88204501e-03 2.88710685e-05 9.99982700e-01 1.59415017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.9692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:937.40, Y:163.33, Z:15.94 [[-5.26358086e-01 8.50257453e-01 3.07049491e-03 9.37404605e+02] [-8.50242652e-01 -5.26367041e-01 5.01709525e-03 1.63330357e+02] [ 5.88202995e-03 3.01229214e-05 9.99982700e-01 1.59436065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.9992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:937.35, Y:163.24, Z:15.94 [[-5.25690497e-01 8.50670359e-01 3.07270540e-03 9.37350527e+02] [-8.50655572e-01 -5.25699477e-01 5.01574108e-03 1.63235755e+02] [ 5.88206188e-03 2.29134486e-05 9.99982700e-01 1.59429614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.0292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:937.40, Y:163.31, Z:15.94 [[-5.29746012e-01 8.48150816e-01 3.05863991e-03 9.37397513e+02] [-8.48135937e-01 -5.29754838e-01 5.02436119e-03 1.63313747e+02] [ 5.88174533e-03 6.74928794e-05 9.99982700e-01 1.59443115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.0592541539997 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:937.40, Y:163.31, Z:15.94 [[-5.31861832e-01 8.46825558e-01 3.07664761e-03 9.37397675e+02] [-8.46810720e-01 -5.31870727e-01 5.01330994e-03 1.63312605e+02] [ 5.88177779e-03 6.10500344e-05 9.99982700e-01 1.59414320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.089254154 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:937.40, Y:163.31, Z:15.94 [[-5.33430944e-01 8.45838015e-01 3.07912964e-03 9.37398186e+02] [-8.45823169e-01 -5.33439827e-01 5.01178504e-03 1.63312240e+02] [ 5.88168869e-03 6.90420341e-05 9.99982700e-01 1.59436574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.119254154 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:937.40, Y:163.31, Z:15.94 [[-5.34247933e-01 8.45322217e-01 3.08135025e-03 9.37398885e+02] [-8.45307371e-01 -5.34256814e-01 5.01041939e-03 1.63312852e+02] [ 5.88165119e-03 7.21181265e-05 9.99982700e-01 1.59441181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.149254154 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:937.98, Y:162.84, Z:16.90 [[-4.54952219e-01 -8.90510519e-01 -3.08135026e-03 9.37979121e+02] [-8.90496544e-01 4.54962417e-01 -5.01041938e-03 1.62844882e+02] [ 5.86372972e-03 4.64430342e-04 -9.99982700e-01 1.69004204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.1792541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:937.91, Y:162.76, Z:16.90 [[-3.89893000e-01 -9.20855012e-01 -3.08135026e-03 9.37905573e+02] [-9.20841805e-01 3.89904174e-01 -5.01041938e-03 1.62764386e+02] [ 5.81530113e-03 8.83908688e-04 -9.99982700e-01 1.68994872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.2092541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:937.20, Y:163.07, Z:15.94 [[-4.18934201e-01 9.08013539e-01 2.35546035e-03 9.37196832e+02] [-9.07997894e-01 -4.18940812e-01 5.33114161e-03 1.63069812e+02] [ 5.82754723e-03 9.46445151e-05 9.99983015e-01 1.59447252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.2392541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:937.19, Y:163.06, Z:15.94 [[-4.19106086e-01 9.07934209e-01 2.35809103e-03 9.37193680e+02] [-9.07918569e-01 -4.19112710e-01 5.32997774e-03 1.63063923e+02] [ 5.82757504e-03 9.28714723e-05 9.99983015e-01 1.59447253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.2692541539998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:937.19, Y:163.06, Z:15.94 [[-4.19102305e-01 9.07935948e-01 2.36072217e-03 9.37190989e+02] [-9.07920314e-01 -4.19108944e-01 5.32881212e-03 1.63059704e+02] [ 5.82761985e-03 8.99698312e-05 9.99983015e-01 1.59442944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.2992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:937.19, Y:163.06, Z:15.95 [[-4.19850037e-01 9.07590415e-01 2.36335564e-03 9.37187613e+02] [-9.07574782e-01 -4.19856679e-01 5.32764390e-03 1.63056199e+02] [ 5.82758919e-03 9.18895054e-05 9.99983015e-01 1.59464409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.329254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:937.83, Y:162.66, Z:16.90 [[-3.30032033e-01 -9.43966775e-01 -2.36335564e-03 9.37830743e+02] [-9.43951859e-01 3.30040157e-01 -5.32764390e-03 1.62657468e+02] [ 5.80912110e-03 4.72600803e-04 -9.99983015e-01 1.69012080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.359254154 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:937.10, Y:162.92, Z:15.94 [[-3.56562051e-01 9.34269513e-01 1.99540766e-03 9.37097392e+02] [-9.34253550e-01 -3.56567625e-01 5.46206358e-03 1.62923517e+02] [ 5.81453725e-03 8.33479039e-05 9.99983092e-01 1.59446037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.389254154 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:937.10, Y:162.92, Z:15.94 [[-3.57200163e-01 9.34025722e-01 1.99839002e-03 9.37095707e+02] [-9.34009762e-01 -3.57205744e-01 5.46097221e-03 1.62919461e+02] [ 5.81452491e-03 8.41443817e-05 9.99983092e-01 1.59430249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.4192541539999 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:937.09, Y:162.91, Z:15.94 [[-3.58338806e-01 9.33589468e-01 2.00108383e-03 9.37091685e+02] [-9.33573506e-01 -3.58344383e-01 5.45998493e-03 1.62908836e+02] [ 5.81446158e-03 8.83656387e-05 9.99983092e-01 1.59436115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.4492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:937.09, Y:162.90, Z:15.94 [[-3.60025134e-01 9.32940453e-01 2.00378523e-03 9.37089576e+02] [-9.32924486e-01 -3.60030697e-01 5.45899335e-03 1.62901199e+02] [ 5.81433992e-03 9.59945059e-05 9.99983092e-01 1.59445304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.4792541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:937.09, Y:162.89, Z:15.94 [[-3.61235368e-01 9.32472511e-01 2.00649745e-03 9.37088018e+02] [-9.32456542e-01 -3.61240927e-01 5.45799627e-03 1.62894150e+02] [ 5.81426048e-03 1.00649622e-04 9.99983092e-01 1.59421675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.5092541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:937.09, Y:162.90, Z:15.94 [[-3.62184058e-01 9.32104430e-01 2.00977983e-03 9.37090146e+02] [-9.32088463e-01 -3.62189620e-01 5.45678734e-03 1.62897239e+02] [ 5.81421705e-03 1.03068795e-04 9.99983092e-01 1.59421199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.5392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:937.09, Y:162.89, Z:15.94 [[-3.63250292e-01 9.31689419e-01 2.01305171e-03 9.37087428e+02] [-9.31673452e-01 -3.63255855e-01 5.45558005e-03 1.62887496e+02] [ 5.81415903e-03 1.06234214e-04 9.99983092e-01 1.59417031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.5692541539997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:937.09, Y:162.89, Z:15.94 [[-3.64507645e-01 9.31198213e-01 2.01603536e-03 9.37087007e+02] [-9.31182245e-01 -3.64513203e-01 5.45447726e-03 1.62886670e+02] [ 5.81407099e-03 1.10902326e-04 9.99983092e-01 1.59414124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.599254154 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:937.09, Y:162.88, Z:15.94 [[-3.64969117e-01 9.31017437e-01 2.01874125e-03 9.37085667e+02] [-9.31001472e-01 -3.64974683e-01 5.45347561e-03 1.62882901e+02] [ 5.81407033e-03 1.10899101e-04 9.99983092e-01 1.59414368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.629254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:937.07, Y:162.84, Z:15.94 [[-3.71658001e-01 9.28367515e-01 2.02144364e-03 9.37070796e+02] [-9.28351516e-01 -3.71663469e-01 5.45247373e-03 1.62839681e+02] [ 5.81319624e-03 1.49845226e-04 9.99983092e-01 1.59427766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.6592541539999 meters Centerline goodness : 0.999735 Centerline is valid? [True, True] Translation: X:937.07, Y:162.83, Z:15.94 [[-3.72211476e-01 9.28145672e-01 2.05633459e-03 9.37068718e+02] [-9.28129741e-01 -3.72217138e-01 5.43928312e-03 1.62834557e+02] [ 5.81385007e-03 1.16018307e-04 9.99983093e-01 1.59406196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.6892541539999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:937.06, Y:162.80, Z:15.94 [[-3.75794566e-01 9.26700709e-01 2.05902888e-03 9.37057646e+02] [-9.26684762e-01 -3.75800183e-01 5.43826301e-03 1.62803816e+02] [ 5.81342562e-03 1.35599000e-04 9.99983093e-01 1.59423803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.7192541539998 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:937.06, Y:162.80, Z:15.94 [[-3.76488561e-01 9.26418938e-01 2.07740723e-03 9.37057499e+02] [-9.26403025e-01 -3.76494273e-01 5.43123343e-03 1.62803415e+02] [ 5.81372943e-03 1.20280922e-04 9.99983093e-01 1.59417971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.7492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:937.06, Y:162.80, Z:15.94 [[-3.77377814e-01 9.26057049e-01 2.08010563e-03 9.37056960e+02] [-9.26041137e-01 -3.77383527e-01 5.43019977e-03 1.62801196e+02] [ 5.81367238e-03 1.22973540e-04 9.99983093e-01 1.59444462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.7792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:937.06, Y:162.80, Z:15.94 [[-3.75476081e-01 9.26829744e-01 2.08279841e-03 9.37057122e+02] [-9.26813849e-01 -3.75481842e-01 5.42916674e-03 1.62798128e+02] [ 5.81396620e-03 1.08155839e-04 9.99983093e-01 1.59432502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.8092541539997 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:937.05, Y:162.79, Z:15.94 [[-3.76226424e-01 9.26525420e-01 2.07931690e-03 9.37053144e+02] [-9.26509513e-01 -3.76232152e-01 5.43050535e-03 1.62792477e+02] [ 5.81380713e-03 1.16592720e-04 9.99983093e-01 1.59415528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.839254154 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:937.05, Y:162.79, Z:15.94 [[-3.76378967e-01 9.26463441e-01 2.08941215e-03 9.37051917e+02] [-9.26447554e-01 -3.76384751e-01 5.42661838e-03 1.62789499e+02] [ 5.81398641e-03 1.06734238e-04 9.99983093e-01 1.59416846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.869254154 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:937.05, Y:162.78, Z:15.94 [[-3.76867643e-01 9.26264758e-01 2.09209807e-03 9.37047608e+02] [-9.26248874e-01 -3.76873435e-01 5.42558269e-03 1.62777298e+02] [ 5.81398222e-03 1.06923082e-04 9.99983093e-01 1.59429904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.899254154 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:937.05, Y:162.78, Z:15.94 [[-3.77675046e-01 9.25935836e-01 2.09479171e-03 9.37051378e+02] [-9.25919952e-01 -3.77680840e-01 5.42454249e-03 1.62784294e+02] [ 5.81394097e-03 1.09104898e-04 9.99983093e-01 1.59427336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.9292541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:937.05, Y:162.78, Z:15.94 [[-3.78114712e-01 9.25756375e-01 2.09748168e-03 9.37050137e+02] [-9.25740494e-01 -3.78120514e-01 5.42350217e-03 1.62780087e+02] [ 5.81394256e-03 1.08982240e-04 9.99983093e-01 1.59421438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.9592541539998 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:936.99, Y:162.62, Z:15.94 [[-3.76110836e-01 9.26572301e-01 2.10015905e-03 9.36991353e+02] [-9.26556439e-01 -3.76116688e-01 5.42246521e-03 1.62623651e+02] [ 5.81421093e-03 9.35320304e-05 9.99983093e-01 1.59433472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.9892541539998 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:937.05, Y:162.77, Z:15.94 [[-3.78844729e-01 9.25457882e-01 2.09271314e-03 9.37045643e+02] [-9.25441987e-01 -3.78850490e-01 5.42535134e-03 1.62768254e+02] [ 5.81375957e-03 1.18681147e-04 9.99983093e-01 1.59419188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.0192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:937.71, Y:162.41, Z:16.91 [[-2.82196204e-01 -9.59353572e-01 -2.45499047e-03 9.37705398e+02] [-9.59339406e-01 2.82205561e-01 -5.28456667e-03 1.62408275e+02] [ 5.76257987e-03 8.63884440e-04 -9.99983023e-01 1.69052418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.0492541539998 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:936.96, Y:162.63, Z:15.94 [[-3.13324389e-01 9.49644596e-01 1.72286909e-03 9.36961148e+02] [-9.49628596e-01 -3.13329113e-01 5.51334939e-03 1.62631427e+02] [ 5.77554750e-03 9.13810795e-05 9.99983317e-01 1.59442830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.079254154 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:936.96, Y:162.63, Z:15.95 [[-3.13521358e-01 9.49579580e-01 1.72587627e-03 9.36959792e+02] [-9.49563584e-01 -3.13526095e-01 5.51240787e-03 1.62627219e+02] [ 5.77557721e-03 8.94283442e-05 9.99983317e-01 1.59464493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.109254154 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:936.95, Y:162.61, Z:15.95 [[-3.13108854e-01 9.49715672e-01 1.72888051e-03 9.36954071e+02] [-9.49699683e-01 -3.13113615e-01 5.51146548e-03 1.62612419e+02] [ 5.77566117e-03 8.37713678e-05 9.99983317e-01 1.59461410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.139254154 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:936.88, Y:162.37, Z:15.95 [[-3.10956506e-01 9.50422565e-01 1.73189687e-03 9.36878613e+02] [-9.50406592e-01 -3.10961321e-01 5.51051747e-03 1.62368207e+02] [ 5.77587309e-03 6.75250580e-05 9.99983317e-01 1.59463419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.1692541539999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:936.90, Y:162.43, Z:15.95 [[-3.10057642e-01 9.50716196e-01 1.72408762e-03 9.36899818e+02] [-9.50700215e-01 -3.10062428e-01 5.51297592e-03 1.62430772e+02] [ 5.77585029e-03 7.02498448e-05 9.99983317e-01 1.59452513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.1992541539998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:936.94, Y:162.57, Z:15.94 [[-3.08962899e-01 9.51072544e-01 1.71567461e-03 9.36943373e+02] [-9.51056553e-01 -3.08967654e-01 5.51562928e-03 1.62566319e+02] [ 5.77585153e-03 7.24212330e-05 9.99983317e-01 1.59428029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.2292541539998 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:936.95, Y:162.61, Z:15.94 [[-3.13216381e-01 9.49680255e-01 1.70684383e-03 9.36953848e+02] [-9.49664227e-01 -3.13221013e-01 5.51841819e-03 1.62608189e+02] [ 5.77535214e-03 1.07530445e-04 9.99983317e-01 1.59448917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.2592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.95, Y:162.60, Z:15.95 [[-3.13485446e-01 9.49591403e-01 1.74414534e-03 9.36951092e+02] [-9.49575440e-01 -3.13490290e-01 5.50660342e-03 1.62598906e+02] [ 5.77579590e-03 7.00424554e-05 9.99983318e-01 1.59472034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.2892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.95, Y:162.60, Z:15.95 [[-3.11935713e-01 9.50101604e-01 1.74713992e-03 9.36950890e+02] [-9.50085654e-01 -3.11940601e-01 5.50565313e-03 1.62599686e+02] [ 5.77593375e-03 5.74772658e-05 9.99983318e-01 1.59480493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.3192541539997 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:936.95, Y:162.59, Z:15.95 [[-3.10983369e-01 9.50413743e-01 1.74985282e-03 9.36948436e+02] [-9.50397802e-01 -3.10988288e-01 5.50479076e-03 1.62593341e+02] [ 5.77601252e-03 4.88420988e-05 9.99983318e-01 1.59470956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.349254154 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:936.95, Y:162.59, Z:15.95 [[-3.10294739e-01 9.50638787e-01 1.75269530e-03 9.36947502e+02] [-9.50622855e-01 -3.10299686e-01 5.50388558e-03 1.62589611e+02] [ 5.77606792e-03 4.16745310e-05 9.99983318e-01 1.59477435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.379254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.95, Y:162.59, Z:15.95 [[-3.09499525e-01 9.50897977e-01 1.75540628e-03 9.36947145e+02] [-9.50882054e-01 -3.09504501e-01 5.50302081e-03 1.62588109e+02] [ 5.77611750e-03 3.39979937e-05 9.99983318e-01 1.59490277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.4092541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:936.95, Y:162.59, Z:15.95 [[-3.08120055e-01 9.51345858e-01 1.75811474e-03 9.36947040e+02] [-9.51329947e-01 -3.08125070e-01 5.50215537e-03 1.62585146e+02] [ 5.77617195e-03 2.27772119e-05 9.99983318e-01 1.59475480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.4392541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:936.95, Y:162.58, Z:15.95 [[-3.08163880e-01 9.51331657e-01 1.76081874e-03 9.36945935e+02] [-9.51315751e-01 -3.08168910e-01 5.50128989e-03 1.62580036e+02] [ 5.77618082e-03 2.02042416e-05 9.99983318e-01 1.59472284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.4692541539998 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:936.95, Y:162.58, Z:15.95 [[-3.08241360e-01 9.51306550e-01 1.76380118e-03 9.36945725e+02] [-9.51290649e-01 -3.08246406e-01 5.50033351e-03 1.62578353e+02] [ 5.77618867e-03 1.75427141e-05 9.99983318e-01 1.59462380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.4992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.91, Y:162.44, Z:15.94 [[-3.02457518e-01 9.53161230e-01 1.76650130e-03 9.36906695e+02] [-9.53145364e-01 -3.02462676e-01 5.49946619e-03 1.62439460e+02] [ 5.77617867e-03 -2.03776266e-05 9.99983318e-01 1.59433764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.5292541539998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:936.94, Y:162.57, Z:15.94 [[-3.10038247e-01 9.50722525e-01 1.72225268e-03 9.36944700e+02] [-9.50706539e-01 -3.10043023e-01 5.51368252e-03 1.62568634e+02] [ 5.77595459e-03 7.20955831e-05 9.99983316e-01 1.59447311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.5592541539997 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:936.94, Y:162.56, Z:15.94 [[-3.11376543e-01 9.50284960e-01 1.77277735e-03 9.36944859e+02] [-9.50269060e-01 -3.11381588e-01 5.49738952e-03 1.62563596e+02] [ 5.77609681e-03 2.71426768e-05 9.99983318e-01 1.59423635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.589254154 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:936.94, Y:162.56, Z:15.94 [[-3.12533886e-01 9.49904952e-01 1.77547602e-03 9.36944322e+02] [-9.49889050e-01 -3.12538927e-01 5.49651780e-03 1.62558463e+02] [ 5.77607485e-03 3.13428363e-05 9.99983318e-01 1.59416723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.619254154 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:936.94, Y:162.55, Z:15.94 [[-3.13871383e-01 9.49463845e-01 1.77845467e-03 9.36943888e+02] [-9.49447941e-01 -3.13876419e-01 5.49555386e-03 1.62554542e+02] [ 5.77604468e-03 3.63469603e-05 9.99983318e-01 1.59419574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.649254154 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:936.94, Y:162.54, Z:15.94 [[-3.15778676e-01 9.48831205e-01 1.78115333e-03 9.36941826e+02] [-9.48815296e-01 -3.15783696e-01 5.49467906e-03 1.62544024e+02] [ 5.77598214e-03 4.51169549e-05 9.99983318e-01 1.59416229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.6792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.94, Y:162.54, Z:15.94 [[-3.17539770e-01 9.48243277e-01 1.78385872e-03 9.36942348e+02] [-9.48227364e-01 -3.17544776e-01 5.49380061e-03 1.62543858e+02] [ 5.77591451e-03 5.29965271e-05 9.99983318e-01 1.59430438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.7092541539998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:936.94, Y:162.54, Z:15.94 [[-3.18822443e-01 9.47812776e-01 1.78656578e-03 9.36941486e+02] [-9.47796861e-01 -3.18827443e-01 5.49292015e-03 1.62538553e+02] [ 5.77586609e-03 5.79647823e-05 9.99983318e-01 1.59428455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.7392541539998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:936.94, Y:162.53, Z:15.94 [[-3.20221517e-01 9.47341004e-01 1.78927030e-03 9.36939596e+02] [-9.47325087e-01 -3.20226509e-01 5.49203903e-03 1.62530314e+02] [ 5.77580555e-03 6.36484225e-05 9.99983318e-01 1.59441046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.7692541539998 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:936.94, Y:162.53, Z:15.94 [[-3.20576163e-01 9.47221048e-01 1.79197949e-03 9.36938656e+02] [-9.47205133e-01 -3.20581165e-01 5.49115492e-03 1.62526876e+02] [ 5.77581238e-03 6.29612015e-05 9.99983318e-01 1.59428989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.7992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.94, Y:162.52, Z:15.94 [[-3.22432280e-01 9.46590833e-01 1.79469230e-03 9.36939306e+02] [-9.46574913e-01 -3.22437266e-01 5.49026814e-03 1.62524238e+02] [ 5.77571316e-03 7.14289668e-05 9.99983318e-01 1.59441786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.829254154 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:936.94, Y:162.52, Z:15.94 [[-3.23602036e-01 9.46191573e-01 1.79740271e-03 9.36937876e+02] [-9.46175652e-01 -3.23607019e-01 5.48938066e-03 1.62517961e+02] [ 5.77565785e-03 7.57160765e-05 9.99983318e-01 1.59440776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.859254154 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:936.93, Y:162.50, Z:15.94 [[-3.25770577e-01 9.45447137e-01 1.80067548e-03 9.36933231e+02] [-9.45431211e-01 -3.25775542e-01 5.48830688e-03 1.62501049e+02] [ 5.77552006e-03 8.55140969e-05 9.99983318e-01 1.59428579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.889254154 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:936.93, Y:162.50, Z:15.94 [[-3.27115835e-01 9.44982523e-01 1.80587945e-03 9.36934579e+02] [-9.44966600e-01 -3.27120808e-01 5.48659403e-03 1.62504682e+02] [ 5.77547622e-03 8.82560241e-05 9.99983318e-01 1.59417884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.9192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.94, Y:162.51, Z:15.94 [[-3.20627878e-01 9.47203510e-01 1.80945109e-03 9.36940172e+02] [-9.47187628e-01 -3.20632980e-01 5.48541587e-03 1.62505518e+02] [ 5.77597486e-03 4.48875579e-05 9.99983318e-01 1.59399637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.9492541539998 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:936.93, Y:162.49, Z:15.94 [[-3.29361592e-01 9.44202250e-01 1.74739103e-03 9.36930949e+02] [-9.44186211e-01 -3.29366187e-01 5.50590828e-03 1.62491866e+02] [ 5.77422250e-03 1.63572200e-04 9.99983316e-01 1.59404057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.9792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.94, Y:162.50, Z:15.94 [[-3.23135127e-01 9.46351094e-01 1.81557070e-03 9.36937623e+02] [-9.46335210e-01 -3.23140223e-01 5.48333352e-03 1.62497538e+02] [ 5.77584260e-03 5.37191931e-05 9.99983318e-01 1.59382401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.0092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.93, Y:162.49, Z:15.94 [[-3.29699693e-01 9.44084213e-01 1.76360253e-03 9.36929040e+02] [-9.44068201e-01 -3.29704377e-01 5.50055967e-03 1.62488172e+02] [ 5.77445902e-03 1.48571766e-04 9.99983317e-01 1.59403563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.0392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.93, Y:162.49, Z:15.94 [[-3.28897499e-01 9.44363867e-01 1.82239605e-03 9.36927029e+02] [-9.44347965e-01 -3.28902538e-01 5.48101127e-03 1.62485136e+02] [ 5.77545968e-03 8.17148934e-05 9.99983319e-01 1.59393293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.0692541539997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.93, Y:162.49, Z:15.94 [[-3.19146851e-01 9.47703517e-01 1.82510084e-03 9.36929643e+02] [-9.47687673e-01 -3.19152069e-01 5.48011046e-03 1.62486272e+02] [ 5.77600467e-03 1.93344314e-05 9.99983319e-01 1.59364204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.099254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.92, Y:162.48, Z:15.94 [[-3.26265855e-01 9.45276397e-01 1.76761789e-03 9.36921259e+02] [-9.45260409e-01 -3.26270620e-01 5.49926603e-03 1.62475582e+02] [ 5.77504816e-03 1.23363519e-04 9.99983317e-01 1.59402510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.129254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.92, Y:162.48, Z:15.94 [[-3.26231654e-01 9.45288081e-01 1.83098863e-03 9.36921309e+02] [-9.45272209e-01 -3.26236787e-01 5.47808508e-03 1.62476335e+02] [ 5.77570438e-03 5.63420813e-05 9.99983319e-01 1.59405063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.1592541539999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:936.93, Y:162.48, Z:15.94 [[-3.18952177e-01 9.47769035e-01 1.83453811e-03 9.36927868e+02] [-9.47753210e-01 -3.18957452e-01 5.47689615e-03 1.62483637e+02] [ 5.77597218e-03 8.17857063e-06 9.99983319e-01 1.59375666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.1892541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:936.93, Y:162.47, Z:15.94 [[-3.19992692e-01 9.47418328e-01 1.78557182e-03 9.36925104e+02] [-9.47402405e-01 -3.19997667e-01 5.49331000e-03 1.62474736e+02] [ 5.77584139e-03 6.61640177e-05 9.99983318e-01 1.59372123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.2192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.92, Y:162.47, Z:15.94 [[-3.20367629e-01 9.47291599e-01 1.79138874e-03 9.36924297e+02] [-9.47275684e-01 -3.20372632e-01 5.49135717e-03 1.62474826e+02] [ 5.77582844e-03 6.23140782e-05 9.99983318e-01 1.59371743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.2492541539998 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:936.92, Y:162.46, Z:15.94 [[-3.26434209e-01 9.45218224e-01 1.79341172e-03 9.36915618e+02] [-9.45202281e-01 -3.26439121e-01 5.49067679e-03 1.62460659e+02] [ 5.77532751e-03 9.72078894e-05 9.99983318e-01 1.59369762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.2792541539998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:936.91, Y:162.46, Z:15.94 [[-3.27461942e-01 9.44862567e-01 1.84549868e-03 9.36914077e+02] [-9.44846717e-01 -3.27467139e-01 5.47311341e-03 1.62455404e+02] [ 5.77568016e-03 4.85229737e-05 9.99983319e-01 1.59373008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.3092541539997 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:936.92, Y:162.46, Z:15.94 [[-3.23415335e-01 9.46255307e-01 1.84819553e-03 9.36919009e+02] [-9.46239484e-01 -3.23420615e-01 5.47220257e-03 1.62460585e+02] [ 5.77584525e-03 2.09586431e-05 9.99983319e-01 1.59378828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.339254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.91, Y:162.45, Z:15.94 [[-3.29291477e-01 9.44226574e-01 1.81653890e-03 9.36913983e+02] [-9.44210659e-01 -3.29296475e-01 5.48290586e-03 1.62450734e+02] [ 5.77528527e-03 9.02787836e-05 9.99983319e-01 1.59392098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.369254154 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:936.91, Y:162.43, Z:15.94 [[-3.29388004e-01 9.44192833e-01 1.85388861e-03 9.36909640e+02] [-9.44176988e-01 -3.29393217e-01 5.47024790e-03 1.62434698e+02] [ 5.77562720e-03 5.14350805e-05 9.99983320e-01 1.59390400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.399254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.91, Y:162.44, Z:15.94 [[-3.30162838e-01 9.43922165e-01 1.85658912e-03 9.36911010e+02] [-9.43906321e-01 -3.30168053e-01 5.46933120e-03 1.62437465e+02] [ 5.77560936e-03 5.33237052e-05 9.99983320e-01 1.59398168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.4292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.91, Y:162.43, Z:15.94 [[-3.30029627e-01 9.43968743e-01 1.85929518e-03 9.36909263e+02] [-9.43952905e-01 -3.30034860e-01 5.46841112e-03 1.62432230e+02] [ 5.77564140e-03 4.96505931e-05 9.99983320e-01 1.59408928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.4592541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:936.91, Y:162.43, Z:15.94 [[-3.29504209e-01 9.44152270e-01 1.86199479e-03 9.36909089e+02] [-9.44136440e-01 -3.29509467e-01 5.46749175e-03 1.62430663e+02] [ 5.77568966e-03 4.35844162e-05 9.99983320e-01 1.59403089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.4892541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:936.91, Y:162.43, Z:15.94 [[-3.29969799e-01 9.43989648e-01 1.86469289e-03 9.36907844e+02] [-9.43973820e-01 -3.29975065e-01 5.46657141e-03 1.62426856e+02] [ 5.77568897e-03 4.35821995e-05 9.99983320e-01 1.59403331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.5192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.89, Y:162.36, Z:15.94 [[-3.38974923e-01 9.40793556e-01 1.86738844e-03 9.36889107e+02] [-9.40777684e-01 -3.38980053e-01 5.46565045e-03 1.62364375e+02] [ 5.77505615e-03 9.59210626e-05 9.99983320e-01 1.59418145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.5492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.89, Y:162.36, Z:15.94 [[-3.38470733e-01 9.40974952e-01 1.92416555e-03 9.36886871e+02] [-9.40959195e-01 -3.38476201e-01 5.44558862e-03 1.62357808e+02] [ 5.77544673e-03 3.26111095e-05 9.99983321e-01 1.59420271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.579254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.89, Y:162.36, Z:15.94 [[-3.38394194e-01 9.41002474e-01 1.92684465e-03 9.36887055e+02] [-9.40986723e-01 -3.38399679e-01 5.44464049e-03 1.62358399e+02] [ 5.77546378e-03 2.92994936e-05 9.99983321e-01 1.59422680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.609254154 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:936.89, Y:162.36, Z:15.94 [[-3.36865984e-01 9.41550628e-01 1.92952137e-03 9.36886259e+02] [-9.41534892e-01 -3.36871510e-01 5.44369172e-03 1.62355580e+02] [ 5.77551214e-03 1.70828746e-05 9.99983321e-01 1.59402647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.639254154 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:936.88, Y:162.35, Z:15.94 [[-3.36877554e-01 9.41546483e-01 1.93219158e-03 9.36883425e+02] [-9.41530752e-01 -3.36883095e-01 5.44274379e-03 1.62346951e+02] [ 5.77551895e-03 1.43204289e-05 9.99983321e-01 1.59421448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.6692541539999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:936.88, Y:162.34, Z:15.94 [[-3.37047231e-01 9.41485752e-01 1.93486529e-03 9.36882456e+02] [-9.41470025e-01 -3.37052785e-01 5.44179313e-03 1.62344155e+02] [ 5.77552243e-03 1.25236314e-05 9.99983321e-01 1.59424149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.6992541539998 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:936.88, Y:162.34, Z:15.94 [[-3.36589775e-01 9.41649386e-01 1.93839967e-03 9.36881780e+02] [-9.41633669e-01 -3.36595357e-01 5.44053387e-03 1.62341619e+02] [ 5.77553171e-03 5.96567789e-06 9.99983321e-01 1.59428954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.7292541539998 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:936.88, Y:162.33, Z:15.94 [[-3.34268428e-01 9.42475915e-01 1.94134476e-03 9.36879038e+02] [-9.42460218e-01 -3.34274065e-01 5.43948277e-03 1.62329411e+02] [ 5.77552271e-03 -1.13928530e-05 9.99983321e-01 1.59429946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.7592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.88, Y:162.33, Z:15.95 [[-3.34319560e-01 9.42457801e-01 1.92989548e-03 9.36880816e+02] [-9.42442080e-01 -3.34325130e-01 5.44357464e-03 1.62333820e+02] [ 5.77555194e-03 1.07876489e-06 9.99983321e-01 1.59451843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.7892541539998 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:936.88, Y:162.33, Z:15.94 [[-3.36292930e-01 9.41755453e-01 1.93179929e-03 9.36878739e+02] [-9.41739724e-01 -3.36298479e-01 5.44289316e-03 1.62331984e+02] [ 5.77553548e-03 1.11543593e-05 9.99983321e-01 1.59421797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.8192541539997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.88, Y:162.33, Z:15.94 [[-3.35623807e-01 9.41994088e-01 1.94910664e-03 9.36878182e+02] [-9.41978399e-01 -3.35629467e-01 5.43668831e-03 1.62327259e+02] [ 5.77550586e-03 -1.13343213e-05 9.99983322e-01 1.59446352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.849254154 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:936.82, Y:162.16, Z:15.94 [[-3.38152668e-01 9.41089260e-01 1.94401431e-03 9.36817743e+02] [-9.41073545e-01 -3.38158255e-01 5.43851681e-03 1.62162484e+02] [ 5.77551424e-03 9.58852961e-06 9.99983322e-01 1.59429231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.879254154 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:937.52, Y:161.98, Z:16.91 [[-2.74522118e-01 -9.61578820e-01 -1.94401431e-03 9.37516699e+02] [-9.61563514e-01 2.74528744e-01 -5.43851681e-03 1.61975470e+02] [ 5.76325038e-03 3.76300074e-04 -9.99983322e-01 1.69125906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.9092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:937.46, Y:161.89, Z:16.91 [[-2.07743886e-01 -9.78181322e-01 -1.94401431e-03 9.37459211e+02] [-9.78166508e-01 2.07751548e-01 -5.43851681e-03 1.61887306e+02] [ 5.72372754e-03 7.71751070e-04 -9.99983322e-01 1.69143783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.9392541539999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:937.41, Y:161.79, Z:16.92 [[-1.36813677e-01 -9.90594891e-01 -1.94401431e-03 9.37410285e+02] [-9.90580667e-01 1.36822385e-01 -5.43851681e-03 1.61788127e+02] [ 5.65335164e-03 1.18163951e-03 -9.99983322e-01 1.69156290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.9692541539998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:936.66, Y:161.87, Z:15.94 [[-1.43633884e-01 9.89630575e-01 7.94755565e-04 9.36662244e+02] [-9.89614722e-01 -1.43636082e-01 5.60157823e-03 1.61874914e+02] [ 5.65764867e-03 1.80746310e-05 9.99983995e-01 1.59441272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.9992541539998 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:936.65, Y:161.83, Z:15.94 [[-1.46953108e-01 9.89143152e-01 7.80783417e-04 9.36654046e+02] [-9.89127281e-01 -1.46955174e-01 5.60356858e-03 1.61827259e+02] [ 5.65747165e-03 5.11676424e-05 9.99983995e-01 1.59411403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.0292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.66, Y:161.87, Z:15.94 [[-1.51191108e-01 9.88504229e-01 7.99200397e-04 9.36660249e+02] [-9.88488363e-01 -1.51193209e-01 5.60093562e-03 1.61873685e+02] [ 5.65738222e-03 5.68113680e-05 9.99983995e-01 1.59438434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.0592541539997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.66, Y:161.87, Z:15.94 [[-1.49685398e-01 9.88733349e-01 8.03660131e-04 9.36661422e+02] [-9.88717490e-01 -1.49687549e-01 5.60029564e-03 1.61869327e+02] [ 5.65749698e-03 4.36896518e-05 9.99983995e-01 1.59447644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.089254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.66, Y:161.87, Z:15.95 [[-1.51055071e-01 9.88525031e-01 7.93147955e-04 9.36660909e+02] [-9.88509160e-01 -1.51057140e-01 5.60180920e-03 1.61866122e+02] [ 5.65733928e-03 6.21476656e-05 9.99983995e-01 1.59451482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.119254154 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:936.66, Y:161.86, Z:15.94 [[-1.53664135e-01 9.88122815e-01 7.97686543e-04 9.36657500e+02] [-9.88106943e-01 -1.53666188e-01 5.60115356e-03 1.61860002e+02] [ 5.65720508e-03 7.24968043e-05 9.99983995e-01 1.59400589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.149254154 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:936.66, Y:161.85, Z:15.94 [[-1.50662531e-01 9.88584919e-01 8.12287365e-04 9.36656684e+02] [-9.88569064e-01 -1.50664715e-01 5.59903533e-03 1.61845328e+02] [ 5.65750493e-03 4.05626744e-05 9.99983995e-01 1.59440275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.1792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.66, Y:161.85, Z:15.94 [[-1.48133986e-01 9.88966979e-01 7.97963398e-04 9.36656326e+02] [-9.88951118e-01 -1.48136130e-01 5.60112053e-03 1.61851905e+02] [ 5.65753046e-03 4.05695186e-05 9.99983995e-01 1.59426967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.2092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.66, Y:161.86, Z:15.94 [[-1.46018889e-01 9.89281486e-01 7.91537643e-04 9.36656643e+02] [-9.89265624e-01 -1.46021030e-01 5.60205833e-03 1.61857668e+02] [ 5.65759373e-03 3.49653537e-05 9.99983995e-01 1.59430186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.2392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.65, Y:161.84, Z:15.94 [[-1.45209342e-01 9.89400643e-01 7.83779570e-04 9.36653069e+02] [-9.89384778e-01 -1.45211452e-01 5.60319402e-03 1.61842633e+02] [ 5.65761754e-03 3.81765424e-05 9.99983995e-01 1.59440378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.2692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.65, Y:161.84, Z:15.95 [[-1.49734366e-01 9.88725947e-01 7.88544009e-04 9.36648659e+02] [-9.88710076e-01 -1.49736430e-01 5.60249414e-03 1.61839754e+02] [ 5.65740509e-03 5.92445013e-05 9.99983995e-01 1.59486590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.2992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.65, Y:161.83, Z:15.95 [[-1.47214082e-01 9.89104307e-01 8.26650183e-04 9.36647053e+02] [-9.89088472e-01 -1.47216403e-01 5.59686591e-03 1.61833980e+02] [ 5.65758065e-03 6.30731182e-06 9.99983996e-01 1.59496982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.329254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.65, Y:161.83, Z:15.95 [[-1.46176731e-01 9.89258144e-01 8.29979687e-04 9.36646277e+02] [-9.89242314e-01 -1.46179087e-01 5.59637212e-03 1.61830995e+02] [ 5.65758237e-03 -2.99164426e-06 9.99983996e-01 1.59495830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.359254154 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:937.37, Y:161.63, Z:16.91 [[-8.50071133e-02 -9.96379633e-01 -1.19047633e-03 9.37365313e+02] [-9.96364473e-01 8.50124424e-02 -5.54270750e-03 1.61625037e+02] [ 5.62384617e-03 7.14978753e-04 -9.99983930e-01 1.69110239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.389254154 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:936.59, Y:161.68, Z:15.95 [[-7.30345218e-02 9.97329312e-01 4.48851833e-04 9.36594972e+02] [-9.97313579e-01 -7.30358909e-02 5.60212924e-03 1.61677704e+02] [ 5.61995000e-03 -3.84971972e-05 9.99984207e-01 1.59485040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.4192541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:936.59, Y:161.59, Z:15.95 [[-6.22722412e-02 9.98059098e-01 4.51877944e-04 9.36593228e+02] [-9.98043382e-01 -6.22737970e-02 5.60188514e-03 1.61594150e+02] [ 5.61915259e-03 -1.02151849e-04 9.99984207e-01 1.59457692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.4492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.60, Y:161.67, Z:15.95 [[-5.77768563e-02 9.98329446e-01 3.89123447e-04 9.36598937e+02] [-9.98313703e-01 -5.77781306e-02 5.60695592e-03 1.61674077e+02] [ 5.62007203e-03 -6.45149827e-05 9.99984205e-01 1.59456729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.4792541539998 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:936.59, Y:161.67, Z:15.95 [[-6.52844344e-02 9.97866620e-01 3.88066250e-04 9.36593345e+02] [-9.97850867e-01 -6.52855844e-02 5.60704157e-03 1.61670268e+02] [ 5.62041476e-03 -2.11797060e-05 9.99984205e-01 1.59471188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.5092541539998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:936.59, Y:161.67, Z:15.95 [[-6.25954791e-02 9.98038875e-01 4.58695535e-04 9.36593595e+02] [-9.98023163e-01 -6.25970679e-02 5.60125765e-03 1.61669239e+02] [ 5.61898587e-03 -1.07175362e-04 9.99984208e-01 1.59480955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.5392541539998 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:936.59, Y:161.66, Z:15.95 [[-6.16772428e-02 9.98096040e-01 4.61699839e-04 9.36593354e+02] [-9.98080331e-01 -6.16788629e-02 5.60101000e-03 1.61663147e+02] [ 5.61882302e-03 -1.15358675e-04 9.99984208e-01 1.59470422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.5692541539997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.59, Y:161.66, Z:15.95 [[-6.22044119e-02 9.98063322e-01 4.64700812e-04 9.36593705e+02] [-9.98047614e-01 -6.22060406e-02 5.60076100e-03 1.61660794e+02] [ 5.61882133e-03 -1.15401492e-04 9.99984208e-01 1.59493849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.599254154 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:936.60, Y:161.65, Z:15.95 [[-6.26300805e-02 9.98036700e-01 4.67700457e-04 9.36595002e+02] [-9.98020993e-01 -6.26317193e-02 5.60051050e-03 1.61653632e+02] [ 5.61880790e-03 -1.16014451e-04 9.99984208e-01 1.59487392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.629254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.59, Y:161.53, Z:15.95 [[-5.66694784e-02 9.98392883e-01 4.70830974e-04 9.36589231e+02] [-9.98377188e-01 -5.66712285e-02 5.60024731e-03 1.61525200e+02] [ 5.61792963e-03 -1.52703810e-04 9.99984208e-01 1.59471379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.6592541539999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:936.60, Y:161.64, Z:15.94 [[-6.49050679e-02 9.97891352e-01 4.27520317e-04 9.36597599e+02] [-9.97875618e-01 -6.49064454e-02 5.60389041e-03 1.61644348e+02] [ 5.61982260e-03 -6.28912137e-05 9.99984207e-01 1.59447428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.6892541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:936.60, Y:161.64, Z:15.95 [[-6.61794875e-02 9.97807621e-01 4.77056843e-04 9.36598275e+02] [-9.97791914e-01 -6.61811230e-02 5.59967021e-03 1.61638181e+02] [ 5.61896577e-03 -1.05420156e-04 9.99984208e-01 1.59458155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.7192541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:936.60, Y:161.64, Z:15.95 [[-6.74583014e-02 9.97721979e-01 4.80057901e-04 9.36599102e+02] [-9.97706271e-01 -6.74599335e-02 5.59941292e-03 1.61635905e+02] [ 5.61904202e-03 -1.01229894e-04 9.99984208e-01 1.59453761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.7492541539998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:936.60, Y:161.62, Z:15.95 [[-7.05191065e-02 9.97510312e-01 4.83056820e-04 9.36599816e+02] [-9.97494601e-01 -7.05207073e-02 5.59915420e-03 1.61620847e+02] [ 5.61927956e-03 -8.69992191e-05 9.99984208e-01 1.59465116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.7792541539998 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:936.60, Y:161.62, Z:15.94 [[-7.27168417e-02 9.97352508e-01 4.85783206e-04 9.36601508e+02] [-9.97336795e-01 -7.27184232e-02 5.59891764e-03 1.61620448e+02] [ 5.61941994e-03 -7.73538581e-05 9.99984208e-01 1.59449898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.8092541539997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.60, Y:161.61, Z:15.95 [[-7.90982867e-02 9.96866702e-01 4.88798680e-04 9.36604624e+02] [-9.96850981e-01 -7.90997845e-02 5.59865437e-03 1.61612693e+02] [ 5.61977599e-03 -4.44154748e-05 9.99984208e-01 1.59491010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.839254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.61, Y:161.61, Z:15.95 [[-8.29871572e-02 9.96550495e-01 4.92095414e-04 9.36605803e+02] [-9.96534770e-01 -8.29886122e-02 5.59836459e-03 1.61605238e+02] [ 5.61989132e-03 -2.57978283e-05 9.99984208e-01 1.59488894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.869254154 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:937.30, Y:161.44, Z:16.92 [[-2.26931021e-02 -9.99742084e-01 -8.88005608e-04 9.37302141e+02] [-9.99726894e-01 2.26976989e-02 -5.56336884e-03 1.61439506e+02] [ 5.58208965e-03 7.61512992e-04 -9.99984130e-01 1.69170787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.899254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.57, Y:161.44, Z:15.95 [[-2.60309176e-02 9.99661132e-01 1.13781994e-04 9.36569549e+02] [-9.99645563e-01 -2.60311472e-02 5.57916012e-03 1.61440357e+02] [ 5.58023139e-03 3.14889915e-05 9.99984430e-01 1.59500168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.9292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.57, Y:161.36, Z:15.95 [[-4.16490120e-02 9.99132297e-01 1.16518038e-04 9.36572087e+02] [-9.99116727e-01 -4.16490136e-02 5.57910298e-03 1.61356895e+02] [ 5.57911483e-03 1.15949006e-04 9.99984430e-01 1.59506573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.9592541539998 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:936.57, Y:161.35, Z:15.95 [[-4.58314106e-02 9.98949171e-01 1.87376564e-04 9.36574607e+02] [-9.98933607e-01 -4.58317426e-02 5.57672216e-03 1.61352582e+02] [ 5.57944977e-03 6.84122959e-05 9.99984432e-01 1.59489121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.9892541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:936.57, Y:161.18, Z:15.95 [[-4.49530484e-02 9.98989083e-01 1.90408517e-04 9.36571834e+02] [-9.98973519e-01 -4.49534110e-02 5.57661864e-03 1.61177241e+02] [ 5.57954065e-03 6.04729411e-05 9.99984432e-01 1.59509825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.0192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.58, Y:161.34, Z:15.95 [[-4.99518326e-02 9.98751613e-01 1.72457759e-04 9.36577692e+02] [-9.98736046e-01 -4.99520171e-02 5.57723465e-03 1.61342512e+02] [ 5.57888672e-03 1.06353312e-04 9.99984432e-01 1.59513709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.0492541539998 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:936.58, Y:161.33, Z:15.95 [[-5.08227207e-02 9.98707671e-01 1.96742243e-04 9.36579107e+02] [-9.98692107e-01 -5.08230272e-02 5.57637786e-03 1.61334698e+02] [ 5.57917039e-03 8.69217702e-05 9.99984433e-01 1.59484053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.079254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.58, Y:161.33, Z:15.95 [[-5.23182427e-02 9.98630443e-01 1.99494490e-04 9.36579540e+02] [-9.98614878e-01 -5.23185412e-02 5.57627940e-03 1.61327945e+02] [ 5.57907963e-03 9.25229735e-05 9.99984433e-01 1.59509648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.109254154 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:936.58, Y:161.33, Z:15.95 [[-5.28262274e-02 9.98603700e-01 2.02825968e-04 9.36580632e+02] [-9.98588135e-01 -5.28265367e-02 5.57615822e-03 1.61325480e+02] [ 5.57908682e-03 9.20277970e-05 9.99984433e-01 1.59489988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.139254154 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:936.58, Y:161.32, Z:15.95 [[-5.28810817e-02 9.98600796e-01 2.05582233e-04 9.36581249e+02] [-9.98585232e-01 -5.28814054e-02 5.57605660e-03 1.61323254e+02] [ 5.57912604e-03 8.95765234e-05 9.99984433e-01 1.59478882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.1692541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:936.57, Y:160.92, Z:15.95 [[-5.20720974e-02 9.98643306e-01 2.08335389e-04 9.36568328e+02] [-9.98627743e-01 -5.20724492e-02 5.57595374e-03 1.60924704e+02] [ 5.57923741e-03 8.23021074e-05 9.99984433e-01 1.59481285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.1992541539998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:936.58, Y:161.31, Z:15.95 [[-5.57153401e-02 9.98446675e-01 1.96296610e-04 9.36581864e+02] [-9.98431109e-01 -5.57155678e-02 5.57640802e-03 1.61307452e+02] [ 5.57868282e-03 1.14702827e-04 9.99984432e-01 1.59469178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.2292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:937.25, Y:161.19, Z:16.92 [[ 4.51164603e-02 -9.98981715e-01 -1.96296611e-04 9.37251392e+02] [-9.98966251e-01 -4.51146662e-02 -5.57640802e-03 1.61186635e+02] [ 5.56187379e-03 4.47681481e-04 -9.99984432e-01 1.69177046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.2592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.55, Y:161.13, Z:15.95 [[ 1.30655162e-02 9.99914629e-01 -1.62663580e-04 9.36549473e+02] [-9.99899141e-01 1.30662193e-02 5.56611219e-03 1.61131889e+02] [ 5.56776241e-03 8.99230450e-05 9.99984496e-01 1.59481212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.2892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.55, Y:161.10, Z:15.95 [[ 1.39506824e-02 9.99902672e-01 -1.59823552e-04 9.36549499e+02] [-9.99887182e-01 1.39513560e-02 5.56619374e-03 1.61103954e+02] [ 5.56788174e-03 8.21533202e-05 9.99984496e-01 1.59473815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.3192541539997 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:936.55, Y:161.07, Z:15.95 [[ 1.48854387e-02 9.99889193e-01 -1.60567312e-04 9.36549584e+02] [-9.99873703e-01 1.48861019e-02 5.56617228e-03 1.61074785e+02] [ 5.56794573e-03 7.76921168e-05 9.99984496e-01 1.59495371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.349254154 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:937.25, Y:161.10, Z:16.92 [[ 1.19628365e-01 -9.92818729e-01 1.61941271e-04 9.37251301e+02] [-9.92803254e-01 -1.19627409e-01 -5.56613231e-03 1.61100784e+02] [ 5.54553302e-03 5.05091488e-04 -9.99984496e-01 1.69182979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.379254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:937.24, Y:161.10, Z:16.91 [[ 1.95854262e-01 -9.80632833e-01 5.95466408e-04 9.37236173e+02] [-9.80617427e-01 -1.95854536e-01 -5.51936118e-03 1.61099239e+02] [ 5.52909159e-03 4.97065673e-04 -9.99984591e-01 1.69126959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.4092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:937.22, Y:161.09, Z:16.91 [[ 2.71932564e-01 -9.62315812e-01 9.78877582e-04 9.37223502e+02] [-9.62300544e-01 -2.71933791e-01 -5.44758405e-03 1.61092615e+02] [ 5.50848616e-03 5.39401069e-04 -9.99984683e-01 1.69128572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.4392541539999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:937.21, Y:161.09, Z:16.91 [[ 3.44256054e-01 -9.38874768e-01 1.39299893e-03 9.37210817e+02] [-9.38859753e-01 -3.44258465e-01 -5.33596888e-03 1.61087112e+02] [ 5.48935822e-03 5.29108963e-04 -9.99984793e-01 1.69137887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.4692541539998 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:937.21, Y:161.08, Z:16.92 [[ 4.16252080e-01 -9.09247549e-01 1.76056144e-03 9.37206408e+02] [-9.09232824e-01 -4.16255418e-01 -5.20569497e-03 1.61079738e+02] [ 5.46610864e-03 5.66121113e-04 -9.99984900e-01 1.69161327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.4992541539998 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:937.20, Y:161.07, Z:16.92 [[ 4.84974359e-01 -8.74525518e-01 2.23365394e-03 9.37199044e+02] [-8.74511384e-01 -4.84979276e-01 -4.99410116e-03 1.61072938e+02] [ 5.45074478e-03 4.68655217e-04 -9.99985035e-01 1.69171896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.5292541539998 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:937.20, Y:161.07, Z:16.92 [[ 5.48258148e-01 -8.36305085e-01 2.60944707e-03 9.37201114e+02] [-8.36291488e-01 -5.48264178e-01 -4.78935336e-03 1.61071189e+02] [ 5.43602692e-03 4.43543632e-04 -9.99985126e-01 1.69173938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.5592541539997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:937.21, Y:161.07, Z:16.91 [[ 6.11196390e-01 -7.91473609e-01 2.91534602e-03 9.37206877e+02] [-7.91460452e-01 -6.11203140e-01 -4.59068267e-03 1.61070655e+02] [ 5.41527282e-03 4.98427599e-04 -9.99985213e-01 1.69132590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.589254154 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:937.21, Y:161.07, Z:16.92 [[ 6.67986748e-01 -7.44165966e-01 3.27411118e-03 9.37206356e+02] [-7.44153589e-01 -6.67994623e-01 -4.31511872e-03 1.61068303e+02] [ 5.39825315e-03 4.46000535e-04 -9.99985330e-01 1.69202229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.619254154 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:937.21, Y:161.07, Z:16.92 [[ 7.21648401e-01 -6.92250668e-01 3.54937727e-03 9.37213980e+02] [-6.92238882e-01 -7.21656971e-01 -4.06774848e-03 1.61070232e+02] [ 5.37733445e-03 4.78467228e-04 -9.99985428e-01 1.69170671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.649254154 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:937.21, Y:161.06, Z:16.92 [[ 7.71725258e-01 -6.35944113e-01 3.90017850e-03 9.37211224e+02] [-6.35933473e-01 -7.71735023e-01 -3.69774345e-03 1.61062399e+02] [ 5.36146253e-03 3.73387958e-04 -9.99985558e-01 1.69169246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.6792541539999 meters Centerline goodness : 0.997208 Centerline is valid? [True, True] Translation: X:937.23, Y:161.08, Z:16.92 [[ 8.15953010e-01 -5.78103229e-01 4.16440667e-03 9.37227466e+02] [-5.78093500e-01 -8.15963565e-01 -3.37136168e-03 1.61078143e+02] [ 5.34699918e-03 3.43456286e-04 -9.99985646e-01 1.69171398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.7092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:937.24, Y:161.10, Z:16.91 [[ 8.57757023e-01 -5.14036483e-01 4.40270092e-03 9.37241490e+02] [-5.14027691e-01 -8.57768258e-01 -3.02474178e-03 1.61096388e+02] [ 5.33132473e-03 3.31383315e-04 -9.99985733e-01 1.69133262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.7392541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:937.24, Y:161.08, Z:16.92 [[ 8.94526766e-01 -4.46990741e-01 4.59816485e-03 9.37237698e+02] [-4.46982802e-01 -8.94538516e-01 -2.68654317e-03 1.61084484e+02] [ 5.31409548e-03 3.47884162e-04 -9.99985820e-01 1.69163936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.7692541539998 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:937.24, Y:161.08, Z:16.92 [[ 9.27197806e-01 -3.74541680e-01 4.77057230e-03 9.37236150e+02] [-3.74534640e-01 -9.27210005e-01 -2.32600664e-03 1.61075722e+02] [ 5.29450880e-03 3.69923672e-04 -9.99985916e-01 1.69176390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.7992541539998 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:937.24, Y:161.07, Z:16.92 [[ 9.53896248e-01 -3.00095966e-01 4.93546574e-03 9.37235601e+02] [-3.00090150e-01 -9.53908960e-01 -1.89700181e-03 1.61069496e+02] [ 5.27726758e-03 3.28458257e-04 -9.99986021e-01 1.69186546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.829254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:937.24, Y:161.06, Z:16.92 [[ 9.75426883e-01 -2.20265436e-01 5.05309558e-03 9.37237172e+02] [-2.20260601e-01 -9.75439908e-01 -1.50100562e-03 1.61063731e+02] [ 5.25961075e-03 3.51123364e-04 -9.99986107e-01 1.69182882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.859254154 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:937.24, Y:161.06, Z:16.92 [[ 9.90033010e-01 -1.40741707e-01 5.13920357e-03 9.37235192e+02] [-1.40737895e-01 -9.90046282e-01 -1.09796551e-03 1.61055574e+02] [ 5.24257893e-03 3.63741407e-04 -9.99986191e-01 1.69186529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.889254154 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:937.23, Y:161.05, Z:16.92 [[ 9.98178528e-01 -6.01053722e-02 5.19341126e-03 9.37232238e+02] [-6.01025919e-02 -9.98191967e-01 -6.89913926e-04 1.61047988e+02] [ 5.22548893e-03 3.76519790e-04 -9.99986276e-01 1.69202938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.9192541539999 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:937.23, Y:161.04, Z:16.92 [[ 9.99684169e-01 2.45837900e-02 5.21542173e-03 9.37229800e+02] [ 2.45855839e-02 -9.99697690e-01 -2.80120967e-04 1.61041823e+02] [ 5.20695862e-03 4.08256684e-04 -9.99986360e-01 1.69216478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.9492541539998 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:937.23, Y:161.05, Z:16.92 [[ 9.94401195e-01 1.05542261e-01 5.20531689e-03 9.37228380e+02] [ 1.05543024e-01 -9.94414729e-01 1.28673809e-04 1.61053048e+02] [ 5.18982431e-03 4.21431495e-04 -9.99986444e-01 1.69224832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.9792541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:937.22, Y:161.07, Z:16.92 [[ 9.81703197e-01 1.90347487e-01 5.16408611e-03 9.37224444e+02] [ 1.90347323e-01 -9.81716669e-01 5.27688060e-04 1.61068063e+02] [ 5.17011351e-03 4.64936914e-04 -9.99986527e-01 1.69196122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.0092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:937.22, Y:161.07, Z:16.92 [[ 9.63251389e-01 2.68553269e-01 5.08954682e-03 9.37224145e+02] [ 2.68552051e-01 -9.63264721e-01 9.33909085e-04 1.61068663e+02] [ 5.15338524e-03 4.67219016e-04 -9.99986612e-01 1.69191691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.0392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:937.22, Y:161.07, Z:16.92 [[ 9.37907091e-01 3.46850770e-01 4.98322958e-03 9.37220781e+02] [ 3.46848535e-01 -9.37920207e-01 1.33353291e-03 1.61072351e+02] [ 5.13640864e-03 4.77695913e-04 -9.99986694e-01 1.69186967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.0692541539997 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:937.22, Y:161.07, Z:16.92 [[ 9.06508815e-01 4.22159008e-01 4.85189712e-03 9.37222690e+02] [ 4.22155854e-01 -9.06521661e-01 1.70685835e-03 1.61065592e+02] [ 5.11891547e-03 5.00974638e-04 -9.99986773e-01 1.69195028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.099254154 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:937.22, Y:161.06, Z:16.92 [[ 8.70027296e-01 4.92981256e-01 4.68888038e-03 9.37224879e+02] [ 4.92977148e-01 -8.70039784e-01 2.07519409e-03 1.61059468e+02] [ 5.10254426e-03 5.06035373e-04 -9.99986854e-01 1.69200547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.129254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:937.23, Y:161.04, Z:16.92 [[ 8.28600382e-01 5.59822448e-01 4.49823527e-03 9.37230061e+02] [ 5.59817410e-01 -8.28612437e-01 2.42834371e-03 1.61044940e+02] [ 5.08673501e-03 5.06063891e-04 -9.99986934e-01 1.69208059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.1592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:937.23, Y:161.04, Z:16.92 [[ 7.79938609e-01 6.25841132e-01 4.31787495e-03 9.37233581e+02] [ 6.25835549e-01 -7.79950338e-01 2.70850462e-03 1.61037631e+02] [ 5.06282162e-03 5.89812311e-04 -9.99987010e-01 1.69175829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.1892541539999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:937.24, Y:161.03, Z:16.92 [[ 7.28839565e-01 6.84672628e-01 4.03505702e-03 9.37237573e+02] [ 6.84665900e-01 -7.28850550e-01 3.07912580e-03 1.61030562e+02] [ 5.04914668e-03 5.18477238e-04 -9.99987119e-01 1.69189113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.2192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:937.24, Y:161.03, Z:16.92 [[ 6.72284979e-01 7.40282848e-01 3.76990941e-03 9.37239713e+02] [ 7.40275337e-01 -6.72295347e-01 3.37527487e-03 1.61025047e+02] [ 5.03315065e-03 5.21624362e-04 -9.99987198e-01 1.69185924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.2492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:937.25, Y:161.01, Z:16.92 [[ 6.15695170e-01 7.87976729e-01 3.48320294e-03 9.37246557e+02] [ 7.87968437e-01 -6.15704821e-01 3.64895814e-03 1.61012853e+02] [ 5.01991895e-03 4.98008078e-04 -9.99987276e-01 1.69244489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.2792541539998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:937.25, Y:161.01, Z:16.92 [[ 5.50284292e-01 8.34971042e-01 3.24916418e-03 9.37245484e+02] [ 8.34962425e-01 -5.50293558e-01 3.84053259e-03 1.61011516e+02] [ 4.99472762e-03 5.99545247e-04 -9.99987347e-01 1.69213610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.3092541539997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:937.25, Y:161.01, Z:16.92 [[ 4.83528894e-01 8.75323762e-01 2.84977331e-03 9.37247658e+02] [ 8.75314225e-01 -4.83537029e-01 4.11699091e-03 1.61005955e+02] [ 4.98167089e-03 5.03763059e-04 -9.99987465e-01 1.69212448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.339254154 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:937.25, Y:161.00, Z:16.92 [[ 4.14887594e-01 9.09869211e-01 2.51087108e-03 9.37249656e+02] [ 9.09859117e-01 -4.14894897e-01 4.31423154e-03 1.61001015e+02] [ 4.96713404e-03 4.94617797e-04 -9.99987541e-01 1.69233592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.369254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:937.25, Y:161.00, Z:16.92 [[ 3.44423166e-01 9.38812028e-01 2.15856078e-03 9.37247886e+02] [ 9.38801444e-01 -3.44429592e-01 4.48383740e-03 1.60996998e+02] [ 4.95295269e-03 4.82122501e-04 -9.99987618e-01 1.69236932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.399254154 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:937.25, Y:160.99, Z:16.92 [[ 2.71763566e-01 9.62362375e-01 1.79525400e-03 9.37252003e+02] [ 9.62351377e-01 -2.71769088e-01 4.62486420e-03 1.60991867e+02] [ 4.93868984e-03 4.70795571e-04 -9.99987694e-01 1.69232794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.4292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:937.25, Y:160.99, Z:16.92 [[ 1.98879565e-01 9.80022904e-01 1.42315084e-03 9.37254426e+02] [ 9.80011562e-01 -1.98884142e-01 4.73666456e-03 1.60987502e+02] [ 4.92508189e-03 4.52678494e-04 -9.99987769e-01 1.69232441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.4592541539998 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:937.26, Y:160.98, Z:16.93 [[ 1.23867889e-01 9.92298168e-01 1.04467528e-03 9.37259396e+02] [ 9.92286566e-01 -1.23871514e-01 4.81871667e-03 1.60982559e+02] [ 4.91100923e-03 4.39732983e-04 -9.99987844e-01 1.69253422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.4892541539998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:937.26, Y:160.98, Z:16.92 [[ 4.62179609e-02 9.98931160e-01 6.61778162e-04 9.37264218e+02] [ 9.98919380e-01 -4.62206427e-02 4.87074054e-03 1.60976951e+02] [ 4.89612230e-03 4.35947336e-04 -9.99987919e-01 1.69246897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.5192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:937.27, Y:160.97, Z:16.92 [[-3.17718062e-02 9.99495110e-01 2.77353718e-04 9.37268982e+02] [ 9.99483229e-01 3.17700709e-02 4.89253361e-03 1.60972524e+02] [ 4.88125187e-03 4.32655020e-04 -9.99987993e-01 1.69230488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.5492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:937.31, Y:160.95, Z:16.93 [[-1.02955333e-01 9.94685975e-01 -1.06463579e-04 9.37310042e+02] [ 9.94674063e-01 1.02954623e-01 4.88416763e-03 1.60948152e+02] [ 4.86917396e-03 3.96954545e-04 -9.99988067e-01 1.69276268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.579254154 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:937.35, Y:160.91, Z:16.92 [[-1.87510992e-01 9.82262418e-01 -4.12936013e-04 9.37346923e+02] [ 9.82250555e-01 1.87510768e-01 4.85389333e-03 1.60912943e+02] [ 4.84522695e-03 5.04551723e-04 -9.99988135e-01 1.69242412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.609254154 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:937.39, Y:160.89, Z:16.92 [[-2.64020181e-01 9.64516771e-01 -8.61396830e-04 9.37389008e+02] [ 9.64505057e-01 2.64021237e-01 4.77295814e-03 1.60885795e+02] [ 4.83102523e-03 4.29335674e-04 -9.99988238e-01 1.69248225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.639254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:937.34, Y:161.18, Z:16.93 [[-3.39044550e-01 9.40769516e-01 -1.22884165e-03 9.37335005e+02] [ 9.40757991e-01 3.39046505e-01 4.67640320e-03 1.61176680e+02] [ 4.81605204e-03 4.29466417e-04 -9.99988311e-01 1.69291651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.6692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:937.49, Y:160.86, Z:16.92 [[-4.17258976e-01 9.08786279e-01 -1.56379852e-03 9.37491363e+02] [ 9.08774967e-01 4.17261629e-01 4.55984059e-03 1.60861836e+02] [ 4.79643368e-03 4.81493469e-04 -9.99988381e-01 1.69231000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.6992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:937.54, Y:160.85, Z:16.92 [[-4.88351473e-01 8.72644892e-01 -1.93151057e-03 9.37537567e+02] [ 8.72633930e-01 4.88355074e-01 4.39836281e-03 1.60847068e+02] [ 4.78147183e-03 4.62445303e-04 -9.99988462e-01 1.69225127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.7292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:937.58, Y:160.84, Z:16.92 [[-5.56173489e-01 8.31063132e-01 -2.26293813e-03 9.37581382e+02] [ 8.31052546e-01 5.56177896e-01 4.22066611e-03 1.60841506e+02] [ 4.76623617e-03 4.66802098e-04 -9.99988532e-01 1.69228638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.7592541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:937.63, Y:160.84, Z:16.92 [[-6.20570154e-01 7.84146692e-01 -2.57863979e-03 9.37629216e+02] [ 7.84136539e-01 6.20575332e-01 4.01806111e-03 1.60836100e+02] [ 4.75098958e-03 4.71483120e-04 -9.99988603e-01 1.69233540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.7892541539998 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:937.67, Y:160.84, Z:16.92 [[-6.79848404e-01 7.33347034e-01 -2.87670010e-03 9.37672300e+02] [ 7.33337380e-01 6.79854329e-01 3.79194257e-03 1.60839116e+02] [ 4.73654685e-03 4.68354393e-04 -9.99988673e-01 1.69244757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.8192541539997 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:937.36, Y:161.21, Z:16.93 [[-7.33651042e-01 6.79519091e-01 -3.15499407e-03 9.37359372e+02] [ 6.79510001e-01 7.33657684e-01 3.54421061e-03 1.61205077e+02] [ 4.72304441e-03 4.56363783e-04 -9.99988742e-01 1.69316664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.849254154 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:937.72, Y:160.92, Z:16.93 [[-7.73296189e-01 6.34035817e-01 -3.40387990e-03 9.37721328e+02] [ 6.34027422e-01 7.73303586e-01 3.28498816e-03 1.60918797e+02] [ 4.71503268e-03 3.82115628e-04 -9.99988811e-01 1.69291715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.879254154 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:937.74, Y:160.94, Z:16.93 [[-8.19670625e-01 5.72824015e-01 -3.56584895e-03 9.37742478e+02] [ 5.72815878e-01 8.19678233e-01 3.09254311e-03 1.60944222e+02] [ 4.69433173e-03 4.92291842e-04 -9.99988860e-01 1.69303185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.9092541539999 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:937.82, Y:160.93, Z:16.92 [[-8.63596800e-01 5.04168896e-01 -3.78047408e-03 9.37819823e+02] [ 5.04161416e-01 8.63604926e-01 2.79250310e-03 1.60926316e+02] [ 4.67272925e-03 5.05627577e-04 -9.99988955e-01 1.69225707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.9392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:937.72, Y:161.02, Z:16.93 [[-8.97411000e-01 4.41177301e-01 -4.01087954e-03 9.37721826e+02] [ 4.41170899e-01 8.97419877e-01 2.40886798e-03 1.61019719e+02] [ 4.66218090e-03 3.92261288e-04 -9.99989055e-01 1.69265654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.9692541539998 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:937.91, Y:160.96, Z:16.92 [[-9.29090291e-01 3.69829685e-01 -4.15159574e-03 9.37913872e+02] [ 3.69823829e-01 9.29099462e-01 2.12747290e-03 1.60963626e+02] [ 4.64404799e-03 4.41255382e-04 -9.99989119e-01 1.69212919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.9992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:937.96, Y:160.98, Z:16.92 [[-9.54695501e-01 2.97553260e-01 -4.30781053e-03 9.37959104e+02] [ 2.97548410e-01 9.54705144e-01 1.74093168e-03 1.60983229e+02] [ 4.63070877e-03 3.80277466e-04 -9.99989206e-01 1.69195153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.0292541539998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:938.00, Y:161.01, Z:16.92 [[-9.73693708e-01 2.27818023e-01 -4.41729589e-03 9.38003119e+02] [ 2.27814028e-01 9.73703664e-01 1.39399516e-03 1.61006011e+02] [ 4.61871442e-03 3.51002345e-04 -9.99989272e-01 1.69208193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.0592541539997 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:938.04, Y:161.03, Z:16.92 [[-9.88076369e-01 1.53898822e-01 -4.49908163e-03 9.38041666e+02] [ 1.53895672e-01 9.88086555e-01 1.04028507e-03 1.61033356e+02] [ 4.60558072e-03 3.35491907e-04 -9.99989338e-01 1.69212466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.089254154 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:938.08, Y:161.06, Z:16.92 [[-9.96865985e-01 7.89777291e-02 -4.55272219e-03 9.38081096e+02] [ 7.89754320e-02 9.96876329e-01 6.82435830e-04 1.61063418e+02] [ 4.59239821e-03 3.20743865e-04 -9.99989403e-01 1.69217408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.119254154 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:938.11, Y:161.10, Z:16.92 [[-9.99971807e-01 5.95199020e-03 -4.57807967e-03 9.38110172e+02] [ 5.95057487e-03 9.99982243e-01 3.22712419e-04 1.61096509e+02] [ 4.57991916e-03 2.95461115e-04 -9.99989468e-01 1.69219611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.149254154 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:938.15, Y:161.13, Z:16.92 [[-9.97526054e-01 -7.01486942e-02 -4.57520581e-03 9.38148114e+02] [-7.01492613e-02 9.97536506e-01 -3.65975286e-05 1.61133378e+02] [ 4.56650208e-03 2.84440320e-04 -9.99989533e-01 1.69215450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.1792541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:938.17, Y:161.17, Z:16.92 [[-9.89173634e-01 -1.46679486e-01 -4.54429873e-03 9.38170168e+02] [-1.46679221e-01 9.89184033e-01 -3.93514921e-04 1.61171245e+02] [ 4.55286832e-03 2.77299612e-04 -9.99989597e-01 1.69211645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.2092541539998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:938.20, Y:161.21, Z:16.92 [[-9.75317863e-01 -2.20759924e-01 -4.48583810e-03 9.38197028e+02] [-2.20758823e-01 9.75328143e-01 -7.45355460e-04 1.61213464e+02] [ 4.53970876e-03 2.63329842e-04 -9.99989661e-01 1.69215208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.2392541539998 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:938.22, Y:161.26, Z:16.92 [[-9.56757887e-01 -2.90852166e-01 -4.40030227e-03 9.38218960e+02] [-2.90850218e-01 9.56767977e-01 -1.09050325e-03 1.61259817e+02] [ 4.52724353e-03 2.36481292e-04 -9.99989724e-01 1.69223238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.2692541539998 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:938.23, Y:161.30, Z:16.92 [[-9.29667616e-01 -3.68374246e-01 -4.30560914e-03 9.38229255e+02] [-3.68371803e-01 9.29677536e-01 -1.37627848e-03 1.61297996e+02] [ 4.50981364e-03 3.06583472e-04 -9.99989784e-01 1.69234252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.2992541539998 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:937.92, Y:162.01, Z:15.96 [[-9.12665996e-01 4.08685180e-01 4.14774435e-03 9.37922754e+02] [-4.08681444e-01 -9.12675415e-01 1.75036336e-03 1.62007001e+02] [ 4.50089186e-03 -9.76090336e-05 9.99989866e-01 1.59561520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.329254154 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:937.92, Y:162.01, Z:15.96 [[-9.13067621e-01 4.07787090e-01 4.14841849e-03 9.37919385e+02] [-4.07783352e-01 -9.13077040e-01 1.74876417e-03 1.62005132e+02] [ 4.50094912e-03 -9.49160569e-05 9.99989866e-01 1.59595437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.359254154 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:937.92, Y:162.00, Z:15.96 [[-9.12994735e-01 4.07950241e-01 4.14909257e-03 9.37919615e+02] [-4.07946511e-01 -9.13004157e-01 1.74716339e-03 1.62004316e+02] [ 4.50089449e-03 -9.74568617e-05 9.99989866e-01 1.59571025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.389254154 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:937.92, Y:162.00, Z:15.96 [[-9.13592368e-01 4.06610089e-01 4.14976580e-03 9.37917052e+02] [-4.06606353e-01 -9.13601788e-01 1.74556289e-03 1.62001242e+02] [ 4.50099694e-03 -9.25882036e-05 9.99989866e-01 1.59566936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.4192541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:937.91, Y:162.00, Z:15.96 [[-9.14211313e-01 4.05216547e-01 4.15043809e-03 9.37914625e+02] [-4.05212803e-01 -9.14220730e-01 1.74396292e-03 1.61998637e+02] [ 4.50109917e-03 -8.74600184e-05 9.99989866e-01 1.59569496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.4492541539998 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:937.91, Y:161.99, Z:15.96 [[-9.15521223e-01 4.02248254e-01 4.15111032e-03 9.37912436e+02] [-4.02244488e-01 -9.15530631e-01 1.74236137e-03 1.61994722e+02] [ 4.50133047e-03 -7.45924315e-05 9.99989866e-01 1.59571257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.4792541539998 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:938.20, Y:161.33, Z:16.92 [[-8.96673206e-01 -4.42673608e-01 -4.15178238e-03 9.38197677e+02] [-4.42670272e-01 8.96682775e-01 -1.74075847e-03 1.61331107e+02] [ 4.49341958e-03 2.76979156e-04 -9.99989866e-01 1.69240483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.5092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:937.85, Y:162.00, Z:15.96 [[-8.84618129e-01 4.66299068e-01 3.99321198e-03 9.37847507e+02] [-4.66294566e-01 -8.84627140e-01 2.04968685e-03 1.61998893e+02] [ 4.48827076e-03 -4.88228958e-05 9.99989926e-01 1.59588647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.5392541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:937.85, Y:162.00, Z:15.96 [[-8.83669786e-01 4.68093749e-01 3.99400537e-03 9.37850575e+02] [-4.68089272e-01 -8.83678810e-01 2.04813969e-03 1.61996663e+02] [ 4.48813929e-03 -5.96719060e-05 9.99989926e-01 1.59582648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.5692541539997 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:937.84, Y:161.99, Z:15.96 [[-8.87551465e-01 4.60691349e-01 3.98466167e-03 9.37838538e+02] [-4.60686715e-01 -8.87560410e-01 2.06636066e-03 1.61990173e+02] [ 4.48858243e-03 -1.67926505e-06 9.99989926e-01 1.59577368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.599254154 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:937.84, Y:161.99, Z:15.96 [[-8.88699625e-01 4.58472482e-01 3.99494471e-03 9.37837334e+02] [-4.58467916e-01 -8.88708604e-01 2.04628517e-03 1.61987938e+02] [ 4.48850718e-03 -1.30211098e-05 9.99989927e-01 1.59564896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.629254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:937.83, Y:161.98, Z:15.96 [[-8.89951200e-01 4.56038262e-01 3.99574175e-03 9.37834982e+02] [-4.56033678e-01 -8.89960170e-01 2.04472764e-03 1.61982788e+02] [ 4.48852504e-03 -2.48498862e-06 9.99989927e-01 1.59600237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.6592541539999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:937.83, Y:161.98, Z:15.96 [[-8.91922523e-01 4.52170640e-01 3.99061634e-03 9.37830199e+02] [-4.52165972e-01 -8.91931450e-01 2.05474601e-03 1.61980525e+02] [ 4.48845204e-03 2.82533249e-05 9.99989926e-01 1.59593008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.6892541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:937.83, Y:161.98, Z:15.96 [[-8.91967621e-01 4.52081618e-01 3.99675785e-03 9.37832413e+02] [-4.52077003e-01 -8.91976575e-01 2.04272968e-03 1.61979279e+02] [ 4.48849491e-03 1.52064198e-05 9.99989927e-01 1.59591681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.7192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:937.83, Y:161.98, Z:15.96 [[-8.93664340e-01 4.48718276e-01 3.99457297e-03 9.37827517e+02] [-4.48713608e-01 -8.93673267e-01 2.04700684e-03 1.61976865e+02] [ 4.48837245e-03 3.69177620e-05 9.99989927e-01 1.59610594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.7492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:937.82, Y:161.97, Z:15.96 [[-8.94551917e-01 4.46946178e-01 3.99775916e-03 9.37821217e+02] [-4.46941521e-01 -8.94560849e-01 2.04076524e-03 1.61971314e+02] [ 4.48835106e-03 3.88058968e-05 9.99989927e-01 1.59615305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.7792541539998 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:937.82, Y:161.97, Z:15.96 [[-8.94852764e-01 4.46343524e-01 3.99855918e-03 9.37822710e+02] [-4.46338868e-01 -8.94861697e-01 2.03919653e-03 1.61969727e+02] [ 4.48833962e-03 4.00682776e-05 9.99989927e-01 1.59586838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.8092541539997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:937.82, Y:161.97, Z:15.96 [[-8.95534364e-01 4.44974391e-01 3.99935940e-03 9.37820101e+02] [-4.44969728e-01 -8.95543293e-01 2.03762589e-03 1.61967867e+02] [ 4.48829083e-03 4.51701435e-05 9.99989927e-01 1.59606929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.839254154 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:937.82, Y:161.97, Z:15.96 [[-8.95814291e-01 4.44410570e-01 4.00015846e-03 9.37821380e+02] [-4.44405908e-01 -8.95823221e-01 2.03605602e-03 1.61967627e+02] [ 4.48827965e-03 4.62340280e-05 9.99989927e-01 1.59606576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.869254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:937.83, Y:161.97, Z:15.96 [[-8.93403919e-01 4.49236496e-01 4.00095595e-03 9.37829477e+02] [-4.49231890e-01 -8.93412878e-01 2.03448770e-03 1.61966294e+02] [ 4.48847169e-03 2.02622792e-05 9.99989927e-01 1.59562990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.899254154 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:937.83, Y:161.96, Z:15.96 [[-8.93927025e-01 4.48194819e-01 3.98461338e-03 9.37826586e+02] [-4.48190059e-01 -8.93935904e-01 2.06662647e-03 1.61964563e+02] [ 4.48824024e-03 6.15491473e-05 9.99989926e-01 1.59552419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.9292541539999 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:937.82, Y:161.96, Z:15.96 [[-8.96573567e-01 4.42876882e-01 3.98839501e-03 9.37815472e+02] [-4.42872102e-01 -8.96582434e-01 2.05918474e-03 1.61961708e+02] [ 4.48789022e-03 7.98617243e-05 9.99989926e-01 1.59554190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.9592541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:937.82, Y:161.96, Z:15.95 [[-8.94195675e-01 4.47658434e-01 4.00267924e-03 9.37817182e+02] [-4.47653827e-01 -8.94204633e-01 2.03103396e-03 1.61959123e+02] [ 4.48842381e-03 2.43270997e-05 9.99989927e-01 1.59543699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.9892541539998 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:937.69, Y:161.90, Z:15.95 [[-8.94574383e-01 4.46901260e-01 3.99230582e-03 9.37692951e+02] [-4.46896554e-01 -8.94583289e-01 2.05149894e-03 1.61896619e+02] [ 4.48826754e-03 5.10706891e-05 9.99989926e-01 1.59540631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.0192541539998 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:937.81, Y:161.96, Z:15.96 [[-8.96456194e-01 4.43114365e-01 3.99400556e-03 9.37807770e+02] [-4.43109636e-01 -8.96465089e-01 2.04814339e-03 1.61958770e+02] [ 4.48804830e-03 6.62884761e-05 9.99989926e-01 1.59568092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.0492541539998 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:937.81, Y:161.96, Z:15.96 [[-8.96379544e-01 4.43269300e-01 4.00516319e-03 9.37810963e+02] [-4.43264672e-01 -8.96388491e-01 2.02608702e-03 1.61960993e+02] [ 4.48828436e-03 4.07956152e-05 9.99989927e-01 1.59579121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.079254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:937.81, Y:161.96, Z:15.96 [[-8.95611400e-01 4.44819259e-01 4.00595771e-03 9.37809104e+02] [-4.44814653e-01 -8.95620358e-01 2.02451487e-03 1.61961216e+02] [ 4.48836049e-03 3.12699053e-05 9.99989927e-01 1.59606647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.109254154 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:937.81, Y:161.96, Z:15.96 [[-8.92431454e-01 4.51165209e-01 4.00674960e-03 9.37808605e+02] [-4.51160674e-01 -8.92440448e-01 2.02294642e-03 1.61960797e+02] [ 4.48846846e-03 -2.34683113e-06 9.99989927e-01 1.59580947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.139254154 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:937.81, Y:161.96, Z:15.96 [[-8.93099628e-01 4.49841135e-01 4.00085206e-03 9.37805816e+02] [-4.49836534e-01 -8.93108590e-01 2.03463050e-03 1.61962720e+02] [ 4.48845583e-03 1.73983130e-05 9.99989927e-01 1.59577002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.1692541539999 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:937.81, Y:161.97, Z:15.96 [[-8.91715246e-01 4.52579118e-01 4.00769266e-03 9.37808334e+02] [-4.52574606e-01 -8.91724252e-01 2.02106587e-03 1.61966105e+02] [ 4.48844895e-03 -1.15646753e-05 9.99989927e-01 1.59575954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.1992541539998 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:937.81, Y:161.97, Z:15.96 [[-8.91361425e-01 4.53275570e-01 4.00848052e-03 9.37806385e+02] [-4.53271071e-01 -8.91370438e-01 2.01950206e-03 1.61965681e+02] [ 4.48843198e-03 -1.68220265e-05 9.99989927e-01 1.59577721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.2292541539998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:937.80, Y:161.97, Z:15.96 [[-8.91130016e-01 4.53730340e-01 4.00926565e-03 9.37803676e+02] [-4.53725853e-01 -8.91139034e-01 2.01794215e-03 1.61965130e+02] [ 4.48841470e-03 -2.08586509e-05 9.99989927e-01 1.59600725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.2592541539998 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:937.80, Y:161.96, Z:15.96 [[-8.91209674e-01 4.53573849e-01 4.01005017e-03 9.37802415e+02] [-4.53569367e-01 -8.91218696e-01 2.01638195e-03 1.61964166e+02] [ 4.48840980e-03 -2.18168199e-05 9.99989927e-01 1.59592281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.2892541539998 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:937.80, Y:161.96, Z:15.96 [[-8.91544382e-01 4.52915587e-01 4.01083409e-03 9.37801417e+02] [-4.52911106e-01 -8.91553403e-01 2.01482143e-03 1.61963075e+02] [ 4.48841681e-03 -2.02485696e-05 9.99989927e-01 1.59596985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.3192541539997 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:937.79, Y:161.96, Z:15.96 [[-8.92158982e-01 4.51703728e-01 4.01161686e-03 9.37793353e+02] [-4.51699242e-01 -8.92168001e-01 2.01326168e-03 1.61958531e+02] [ 4.48843400e-03 -1.58948063e-05 9.99989927e-01 1.59602298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.349254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:937.79, Y:161.96, Z:15.96 [[-8.93161222e-01 4.49718727e-01 4.01240075e-03 9.37790869e+02] [-4.49714227e-01 -8.93170234e-01 2.01169818e-03 1.61956701e+02] [ 4.48845526e-03 -7.66289803e-06 9.99989927e-01 1.59623511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.379254154 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:937.79, Y:161.96, Z:15.96 [[-8.94158893e-01 4.47731805e-01 4.01318615e-03 9.37793212e+02] [-4.47727292e-01 -8.94167899e-01 2.01013015e-03 1.61956700e+02] [ 4.48846143e-03 5.62777611e-07 9.99989927e-01 1.59614422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.4092541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:937.79, Y:161.95, Z:15.96 [[-8.94951821e-01 4.46144737e-01 4.01397001e-03 9.37790389e+02] [-4.46140216e-01 -8.94960823e-01 2.00856366e-03 1.61954732e+02] [ 4.48845601e-03 6.77425760e-06 9.99989927e-01 1.59621368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.4392541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:937.81, Y:161.96, Z:15.96 [[-8.92547127e-01 4.50936258e-01 4.01475207e-03 9.37805341e+02] [-4.50931792e-01 -8.92556156e-01 2.00699925e-03 1.61957082e+02] [ 4.48842040e-03 -1.90379338e-05 9.99989927e-01 1.59577933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.4692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:937.80, Y:161.95, Z:15.96 [[-8.94103748e-01 4.47842048e-01 3.99848449e-03 9.37802495e+02] [-4.47837405e-01 -8.94112688e-01 2.03953978e-03 1.61954049e+02] [ 4.48848739e-03 3.28892452e-05 9.99989926e-01 1.59587769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.4992541539998 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:937.78, Y:161.95, Z:15.96 [[-8.97537548e-01 4.40919895e-01 3.99966799e-03 9.37784068e+02] [-4.40915193e-01 -8.97546457e-01 2.03716986e-03 1.61948496e+02] [ 4.48811655e-03 6.49220512e-05 9.99989926e-01 1.59593342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.5292541539998 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:937.78, Y:161.95, Z:15.96 [[-8.98390468e-01 4.39179274e-01 4.01646761e-03 9.37778105e+02] [-4.39174706e-01 -8.98399446e-01 2.00349109e-03 1.61945686e+02] [ 4.48828404e-03 3.59863149e-05 9.99989927e-01 1.59599188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.5592541539997 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:937.77, Y:161.94, Z:15.96 [[-8.98816579e-01 4.38306535e-01 4.01725087e-03 9.37774175e+02] [-4.38301965e-01 -8.98825556e-01 2.00191932e-03 1.61943769e+02] [ 4.48826207e-03 3.85893228e-05 9.99989927e-01 1.59618800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.589254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:937.77, Y:161.94, Z:15.96 [[-8.99276722e-01 4.37361673e-01 4.01803538e-03 9.37773875e+02] [-4.37357101e-01 -8.99285697e-01 2.00034351e-03 1.61943480e+02] [ 4.48823533e-03 4.15460489e-05 9.99989927e-01 1.59632485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.619254154 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:937.77, Y:161.94, Z:15.96 [[-8.99601525e-01 4.36693195e-01 4.01881926e-03 9.37772746e+02] [-4.36688623e-01 -8.99610500e-01 1.99876739e-03 1.61942060e+02] [ 4.48822012e-03 4.31215445e-05 9.99989927e-01 1.59603978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.649254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:937.77, Y:161.94, Z:15.96 [[-9.00026956e-01 4.35815696e-01 4.01960187e-03 9.37768392e+02] [-4.35811122e-01 -9.00035931e-01 1.99719230e-03 1.61939877e+02] [ 4.48819386e-03 4.57397057e-05 9.99989927e-01 1.59627697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.6792541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:937.78, Y:161.94, Z:15.96 [[-8.98873632e-01 4.38189492e-01 4.02038412e-03 9.37776032e+02] [-4.38184948e-01 -8.98882622e-01 1.99561636e-03 1.61941648e+02] [ 4.48831154e-03 3.21351142e-05 9.99989927e-01 1.59614486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.7092541539998 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:937.77, Y:161.94, Z:15.96 [[-9.00195929e-01 4.35466607e-01 4.01541183e-03 9.37767885e+02] [-4.35461992e-01 -9.00204883e-01 2.00563512e-03 1.61939432e+02] [ 4.48808046e-03 5.69053383e-05 9.99989927e-01 1.59609096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.7392541539998 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:937.77, Y:161.94, Z:15.96 [[-8.99303409e-01 4.37306767e-01 4.02130824e-03 9.37769437e+02] [-4.37302224e-01 -8.99312399e-01 1.99374228e-03 1.61939379e+02] [ 4.48828935e-03 3.44521949e-05 9.99989927e-01 1.59606480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.7692541539998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:937.77, Y:161.94, Z:15.96 [[-8.99891032e-01 4.36096300e-01 4.01853535e-03 9.37768607e+02] [-4.36091719e-01 -8.99900003e-01 1.99933855e-03 1.61939339e+02] [ 4.48818412e-03 4.67368350e-05 9.99989927e-01 1.59605217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.7992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:937.76, Y:161.94, Z:15.96 [[-9.00332440e-01 4.35184235e-01 4.02228090e-03 9.37762097e+02] [-4.35179679e-01 -9.00341424e-01 1.99177463e-03 1.61937459e+02] [ 4.48821503e-03 4.28444018e-05 9.99989927e-01 1.59635858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.829254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:937.77, Y:161.94, Z:15.96 [[-8.98495679e-01 4.38963929e-01 4.02296061e-03 9.37772409e+02] [-4.38959417e-01 -8.98504685e-01 1.99040081e-03 1.61940818e+02] [ 4.48836311e-03 2.24500861e-05 9.99989927e-01 1.59636664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.859254154 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:937.76, Y:161.94, Z:15.96 [[-8.99892759e-01 4.36092755e-01 4.01630841e-03 9.37762896e+02] [-4.36088155e-01 -8.99901720e-01 2.00384919e-03 1.61938706e+02] [ 4.48814696e-03 5.17848566e-05 9.99989927e-01 1.59596716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.889254154 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:937.76, Y:161.94, Z:15.96 [[-8.98252922e-01 4.39460461e-01 4.02377836e-03 9.37764441e+02] [-4.39455962e-01 -8.98261934e-01 1.98873535e-03 1.61937499e+02] [ 4.48837749e-03 1.81139548e-05 9.99989927e-01 1.59617286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.9192541539999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:937.76, Y:161.94, Z:15.96 [[-9.00012272e-01 4.35846051e-01 4.01620782e-03 9.37757577e+02] [-4.35841447e-01 -9.00021232e-01 2.00405960e-03 1.61936786e+02] [ 4.48813377e-03 5.32484063e-05 9.99989927e-01 1.59590603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.9492541539998 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:937.76, Y:161.94, Z:15.96 [[-8.98018009e-01 4.39940290e-01 4.02467296e-03 9.37763627e+02] [-4.39935803e-01 -8.98027027e-01 1.98691268e-03 1.61937253e+02] [ 4.48838803e-03 1.36856373e-05 9.99989927e-01 1.59599044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.9792541539998 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:937.75, Y:161.94, Z:15.96 [[-9.00203921e-01 4.35450090e-01 4.01504045e-03 9.37751246e+02] [-4.35445471e-01 -9.00212873e-01 2.00642514e-03 1.61935269e+02] [ 4.48808911e-03 5.78605959e-05 9.99989927e-01 1.59594372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.0092541539998 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:937.75, Y:161.94, Z:15.96 [[-9.00070626e-01 4.35725445e-01 4.02561723e-03 9.37754489e+02] [-4.35720925e-01 -9.00079627e-01 1.98497496e-03 1.61938394e+02] [ 4.48828016e-03 3.25719936e-05 9.99989927e-01 1.59601868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.0392541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:937.76, Y:161.94, Z:15.96 [[-8.97417816e-01 4.41163294e-01 4.02639325e-03 9.37755296e+02] [-4.41158836e-01 -8.97426848e-01 1.98339962e-03 1.61936397e+02] [ 4.48839651e-03 3.65919549e-06 9.99989927e-01 1.59592789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.0692541539997 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:937.75, Y:161.94, Z:15.96 [[-8.99758657e-01 4.36369402e-01 4.01298651e-03 9.37750179e+02] [-4.36364774e-01 -8.99767604e-01 2.01060781e-03 1.61938618e+02] [ 4.48812299e-03 5.79358353e-05 9.99989927e-01 1.59604214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.099254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:938.05, Y:161.30, Z:16.92 [[-8.59330083e-01 -5.11405505e-01 -4.02717330e-03 9.38048679e+02] [-5.11401789e-01 8.59339446e-01 -1.98177884e-03 1.61298616e+02] [ 4.47420148e-03 3.56501452e-04 -9.99989927e-01 1.69157907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.129254154 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:937.89, Y:161.24, Z:16.92 [[-8.19541197e-01 -5.73007289e-01 -3.85661574e-03 9.37888417e+02] [-5.73002893e-01 8.19550197e-01 -2.27137290e-03 1.61236165e+02] [ 4.46220342e-03 3.48368305e-04 -9.99989984e-01 1.69207691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.1592541539999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:937.95, Y:161.32, Z:16.92 [[-7.77622971e-01 -6.28719048e-01 -3.85661574e-03 9.37951814e+02] [-6.28715290e-01 7.77632256e-01 -2.27137290e-03 1.61316983e+02] [ 4.42708421e-03 6.58441533e-04 -9.99989984e-01 1.69179226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.1892541539999 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:937.48, Y:161.89, Z:15.96 [[-7.78391651e-01 6.27769513e-01 3.44621677e-03 9.37477815e+02] [-6.27763357e-01 -7.78399280e-01 2.78010480e-03 1.61892740e+02] [ 4.42779769e-03 6.01761786e-07 9.99990197e-01 1.59638076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.2192541539998 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:937.48, Y:161.89, Z:15.96 [[-7.78636582e-01 6.27465688e-01 3.44730083e-03 9.37476013e+02] [-6.27459535e-01 -7.78644213e-01 2.77875992e-03 1.61891194e+02] [ 4.42779735e-03 6.02350677e-07 9.99990197e-01 1.59638188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.2492541539998 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:937.48, Y:161.89, Z:15.96 [[-7.77035670e-01 6.29447120e-01 3.44838475e-03 9.37476172e+02] [-6.29440992e-01 -7.77043322e-01 2.77741416e-03 1.61893214e+02] [ 4.42777968e-03 -1.24048434e-05 9.99990197e-01 1.59632242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.2792541539998 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:937.48, Y:161.89, Z:15.96 [[-7.75849517e-01 6.30908574e-01 3.44946648e-03 9.37475933e+02] [-6.30902467e-01 -7.75857185e-01 2.77607002e-03 1.61893565e+02] [ 4.42773973e-03 -2.24643309e-05 9.99990197e-01 1.59614088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.3092541539997 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:937.47, Y:161.89, Z:15.96 [[-7.73903175e-01 6.33294537e-01 3.45054533e-03 9.37473691e+02] [-6.33288459e-01 -7.73910866e-01 2.77472841e-03 1.61893673e+02] [ 4.42763487e-03 -3.78194049e-05 9.99990197e-01 1.59623243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.339254154 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:937.47, Y:161.89, Z:15.96 [[-7.72898693e-01 6.34520052e-01 3.45162238e-03 9.37474549e+02] [-6.34513992e-01 -7.72906399e-01 2.77338797e-03 1.61894968e+02] [ 4.42755130e-03 -4.65547610e-05 9.99990197e-01 1.59612358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.369254154 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:937.82, Y:161.24, Z:16.92 [[-7.39344685e-01 -6.73318288e-01 -3.45269692e-03 9.37816273e+02] [-6.73312638e-01 7.39352695e-01 -2.77204958e-03 1.61236541e+02] [ 4.41923245e-03 2.75244345e-04 -9.99990197e-01 1.69224919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.399254154 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:937.84, Y:161.31, Z:16.92 [[-6.90912628e-01 -7.22930024e-01 -3.45269692e-03 9.37844145e+02] [-7.22924943e-01 6.90921011e-01 -2.77204958e-03 1.61305652e+02] [ 4.38953872e-03 5.80796660e-04 -9.99990197e-01 1.69192826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.4292541539999 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:937.70, Y:161.19, Z:16.92 [[-6.34744935e-01 -7.72715983e-01 -2.97960791e-03 9.37697795e+02] [-7.72709356e-01 6.34751873e-01 -3.21104218e-03 1.61186194e+02] [ 4.37253532e-03 2.64178147e-04 -9.99990406e-01 1.69239557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.4592541539998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:937.74, Y:161.29, Z:16.92 [[-5.79179691e-01 -8.15194460e-01 -2.97960791e-03 9.37739017e+02] [-8.15188334e-01 5.79187076e-01 -3.21104218e-03 1.61290268e+02] [ 4.34337419e-03 5.69171189e-04 -9.99990406e-01 1.69179053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.4892541539998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:937.11, Y:161.71, Z:15.97 [[-5.53693292e-01 8.32717070e-01 2.45335319e-03 9.37105498e+02] [-8.32709410e-01 -5.53698724e-01 3.57244521e-03 1.61711251e+02] [ 4.33325464e-03 -6.48913355e-05 9.99990609e-01 1.59669280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.5192541539998 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:937.10, Y:161.71, Z:15.97 [[-5.54765638e-01 8.32003034e-01 2.45723638e-03 9.37102862e+02] [-8.31995378e-01 -5.54771076e-01 3.56977223e-03 1.61707155e+02] [ 4.33326500e-03 -6.40223425e-05 9.99990609e-01 1.59668980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.5492541539998 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:937.10, Y:161.70, Z:15.97 [[-5.55625909e-01 8.31428773e-01 2.45879337e-03 9.37100925e+02] [-8.31421116e-01 -5.55631346e-01 3.56869949e-03 1.61703515e+02] [ 4.33330210e-03 -6.14308348e-05 9.99990609e-01 1.59678709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.579254154 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:937.10, Y:161.70, Z:15.97 [[-5.57926866e-01 8.29886474e-01 2.46035108e-03 9.37097278e+02] [-8.29878807e-01 -5.57932288e-01 3.56762524e-03 1.61697233e+02] [ 4.33343324e-03 -5.13192555e-05 9.99990609e-01 1.59670423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.609254154 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:937.10, Y:161.70, Z:15.97 [[-5.59662948e-01 8.28716673e-01 2.46173975e-03 9.37097194e+02] [-8.28708999e-01 -5.59668361e-01 3.56666677e-03 1.61696262e+02] [ 4.33351407e-03 -4.39346464e-05 9.99990609e-01 1.59678188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.639254154 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:937.10, Y:161.70, Z:15.97 [[-5.58364588e-01 8.29592020e-01 2.46312946e-03 9.37101321e+02] [-8.29584359e-01 -5.58370019e-01 3.56570678e-03 1.61697467e+02] [ 4.33341953e-03 -5.24092727e-05 9.99990609e-01 1.59678739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.6692541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:937.09, Y:161.69, Z:15.97 [[-5.64047629e-01 8.25738622e-01 2.44975637e-03 9.37092094e+02] [-8.25730883e-01 -5.64052948e-01 3.57495473e-03 1.61686004e+02] [ 4.33377050e-03 -6.39475147e-06 9.99990609e-01 1.59672444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.6992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:937.10, Y:161.69, Z:15.97 [[-5.62816223e-01 8.26578377e-01 2.46684721e-03 9.37098373e+02] [-8.26570698e-01 -5.62821628e-01 3.56312228e-03 1.61688428e+02] [ 4.33359479e-03 -3.36405974e-05 9.99990609e-01 1.59676492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.7292541539998 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:937.09, Y:161.67, Z:15.96 [[-5.64372396e-01 8.25516674e-01 2.45353984e-03 9.37087617e+02] [-8.25508945e-01 -5.64377729e-01 3.57233956e-03 1.61672767e+02] [ 4.33374912e-03 -9.28925228e-06 9.99990609e-01 1.59647823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.7592541539998 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:936.94, Y:161.47, Z:15.97 [[-5.66508762e-01 8.24052035e-01 2.46323934e-03 9.36944505e+02] [-8.24044321e-01 -5.66514117e-01 3.56561125e-03 1.61466073e+02] [ 4.33370907e-03 -9.86837349e-06 9.99990609e-01 1.59658836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.7892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:937.62, Y:161.18, Z:16.92 [[-5.16590875e-01 -8.56228825e-01 -2.46323934e-03 9.37615154e+02] [-8.56221442e-01 5.16596679e-01 -3.56561125e-03 1.61183970e+02] [ 4.32548039e-03 2.67116100e-04 -9.99990609e-01 1.69174903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.8192541539997 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:936.97, Y:161.56, Z:15.97 [[-5.10116607e-01 8.60102389e-01 2.21983169e-03 9.36970052e+02] [-8.60094383e-01 -5.10121437e-01 3.71120410e-03 1.61561792e+02] [ 4.32439924e-03 -1.61179295e-05 9.99990650e-01 1.59684418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.849254154 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:936.97, Y:161.56, Z:15.97 [[-5.10355622e-01 8.59960583e-01 2.22146007e-03 9.36969580e+02] [-8.59952579e-01 -5.10360456e-01 3.71022912e-03 1.61560009e+02] [ 4.32439618e-03 -1.68140246e-05 9.99990650e-01 1.59679206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.879254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.97, Y:161.55, Z:15.97 [[-5.11476646e-01 8.59294303e-01 2.22308742e-03 9.36966129e+02] [-8.59286297e-01 -5.11481477e-01 3.70925379e-03 1.61553704e+02] [ 4.32440869e-03 -1.30718701e-05 9.99990650e-01 1.59713367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.9092541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:936.96, Y:161.55, Z:15.97 [[-5.12203485e-01 8.58861246e-01 2.22490123e-03 9.36964631e+02] [-8.58853241e-01 -5.12208317e-01 3.70816551e-03 1.61549863e+02] [ 4.32441256e-03 -1.15283412e-05 9.99990650e-01 1.59697965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.9392541539999 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:936.96, Y:161.55, Z:15.97 [[-5.14494492e-01 8.57490792e-01 2.22690451e-03 9.36964174e+02] [-8.57482779e-01 -5.14499311e-01 3.70696207e-03 1.61546234e+02] [ 4.32442668e-03 -2.32069934e-06 9.99990650e-01 1.59676561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.9692541539998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:936.87, Y:161.39, Z:15.97 [[-5.14376153e-01 8.57561780e-01 2.22853227e-03 9.36872393e+02] [-8.57553773e-01 -5.14380980e-01 3.70598324e-03 1.61389489e+02] [ 4.32442420e-03 -4.81685276e-06 9.99990650e-01 1.59690479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.9992541539998 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:936.96, Y:161.53, Z:15.97 [[-5.21126296e-01 8.53476685e-01 2.22080526e-03 9.36957101e+02] [-8.53468620e-01 -5.21131026e-01 3.71063340e-03 1.61531472e+02] [ 4.32426962e-03 3.83210337e-05 9.99990650e-01 1.59664510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.0292541539998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:936.96, Y:161.53, Z:15.97 [[-5.24118918e-01 8.51642164e-01 2.23263626e-03 9.36957848e+02] [-8.51634112e-01 -5.24123671e-01 3.70350114e-03 1.61531696e+02] [ 4.32423524e-03 3.96858109e-05 9.99990650e-01 1.59677897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.0592541539997 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:936.95, Y:161.52, Z:15.97 [[-5.29098405e-01 8.48557533e-01 2.23426978e-03 9.36953236e+02] [-8.48549457e-01 -5.29103118e-01 3.70251540e-03 1.61521265e+02] [ 4.32395644e-03 6.31065800e-05 9.99990650e-01 1.59689410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.089254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.95, Y:161.52, Z:15.97 [[-5.31421912e-01 8.47104334e-01 2.23590593e-03 9.36953573e+02] [-8.47096250e-01 -5.31426610e-01 3.70152708e-03 1.61520308e+02] [ 4.32379954e-03 7.30450692e-05 9.99990650e-01 1.59689637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.119254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.87, Y:161.37, Z:15.97 [[-5.32331315e-01 8.46533145e-01 2.23736451e-03 9.36866274e+02] [-8.46525059e-01 -5.32336012e-01 3.70064524e-03 1.61372294e+02] [ 4.32374856e-03 7.59842226e-05 9.99990650e-01 1.59685496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.149254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.86, Y:161.36, Z:15.97 [[-5.31787673e-01 8.46874771e-01 2.23450468e-03 9.36861580e+02] [-8.46866682e-01 -5.31792362e-01 3.70237545e-03 1.61363467e+02] [ 4.32374088e-03 7.65500667e-05 9.99990650e-01 1.59674980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.1792541539999 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:936.95, Y:161.51, Z:15.97 [[-5.36316237e-01 8.44014189e-01 2.22321512e-03 9.36945865e+02] [-8.44006046e-01 -5.36320833e-01 3.70920786e-03 1.61509155e+02] [ 4.32298065e-03 1.12901397e-04 9.99990650e-01 1.59685692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.2092541539998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:936.94, Y:161.51, Z:15.97 [[-5.36609887e-01 8.43827472e-01 2.24224531e-03 9.36944490e+02] [-8.43819375e-01 -5.36614563e-01 3.69766806e-03 1.61507887e+02] [ 4.32341538e-03 9.21552027e-05 9.99990650e-01 1.59708021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.2392541539998 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:936.94, Y:161.50, Z:15.97 [[-5.36486638e-01 8.43905831e-01 2.24388426e-03 9.36940041e+02] [-8.43897740e-01 -5.36491323e-01 3.69667322e-03 1.61502244e+02] [ 4.32346852e-03 8.96069325e-05 9.99990650e-01 1.59706798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.2692541539998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:936.94, Y:161.50, Z:15.97 [[-5.36789769e-01 8.43713044e-01 2.24562246e-03 9.36937171e+02] [-8.43704955e-01 -5.36794459e-01 3.69561701e-03 1.61498281e+02] [ 4.32347797e-03 8.91266062e-05 9.99990650e-01 1.59725733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.2992541539998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:936.93, Y:161.49, Z:15.97 [[-5.36761531e-01 8.43731005e-01 2.24726540e-03 9.36932921e+02] [-8.43722920e-01 -5.36766228e-01 3.69461768e-03 1.61491944e+02] [ 4.32351966e-03 8.70593146e-05 9.99990650e-01 1.59708278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.329254154 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:936.93, Y:161.49, Z:15.97 [[-5.36867821e-01 8.43663370e-01 2.24967259e-03 9.36932084e+02] [-8.43655291e-01 -5.36872527e-01 3.69315135e-03 1.61491255e+02] [ 4.32356392e-03 8.47859339e-05 9.99990650e-01 1.59700239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.359254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.93, Y:161.49, Z:15.97 [[-5.37101094e-01 8.43514876e-01 2.25131571e-03 9.36930749e+02] [-8.43506800e-01 -5.37105806e-01 3.69214944e-03 1.61492806e+02] [ 4.32357772e-03 8.40573917e-05 9.99990650e-01 1.59724814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.389254154 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:937.43, Y:160.92, Z:16.92 [[-4.37721318e-01 -8.99107876e-01 -2.25295469e-03 9.37430027e+02] [-8.99100392e-01 4.37726924e-01 -3.69114906e-03 1.60920209e+02] [ 4.30492012e-03 4.09937814e-04 -9.99990650e-01 1.69202415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.4192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.87, Y:161.46, Z:15.97 [[-4.70257685e-01 8.82527000e-01 1.95034462e-03 9.36866254e+02] [-8.82518627e-01 -4.70261721e-01 3.84528554e-03 1.61461406e+02] [ 4.31074073e-03 8.70596186e-05 9.99990705e-01 1.59714116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.4492541539998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:936.86, Y:161.45, Z:15.97 [[-4.69807130e-01 8.82766910e-01 1.96072335e-03 9.36857726e+02] [-8.82758561e-01 -4.69811216e-01 3.83998609e-03 1.61447366e+02] [ 4.31098247e-03 7.32075147e-05 9.99990705e-01 1.59714325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.4792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.86, Y:161.45, Z:15.97 [[-4.69599253e-01 8.82877496e-01 1.96674418e-03 9.36856823e+02] [-8.82869161e-01 -4.69603367e-01 3.83689989e-03 1.61447995e+02] [ 4.31110226e-03 6.54275368e-05 9.99990705e-01 1.59723761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.5092541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:936.85, Y:161.44, Z:15.97 [[-4.68188624e-01 8.83626356e-01 1.96844554e-03 9.36850917e+02] [-8.83618032e-01 -4.68192758e-01 3.83602684e-03 1.61441364e+02] [ 4.31122637e-03 5.66301566e-05 9.99990705e-01 1.59703158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.5392541539998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:936.85, Y:161.44, Z:15.97 [[-4.66712533e-01 8.84406880e-01 1.97034194e-03 9.36848861e+02] [-8.84398566e-01 -4.66716689e-01 3.83505252e-03 1.61442494e+02] [ 4.31133831e-03 4.72994854e-05 9.99990705e-01 1.59683666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.5692541539997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.85, Y:161.44, Z:15.97 [[-4.66432123e-01 8.84554793e-01 1.97283019e-03 9.36847000e+02] [-8.84546486e-01 -4.66436293e-01 3.83377209e-03 1.61442026e+02] [ 4.31138108e-03 4.31344446e-05 9.99990705e-01 1.59699234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.599254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.84, Y:161.44, Z:15.97 [[-4.66169771e-01 8.84693080e-01 1.97452441e-03 9.36842557e+02] [-8.84684778e-01 -4.66173951e-01 3.83289931e-03 1.61436012e+02] [ 4.31141134e-03 3.99501084e-05 9.99990705e-01 1.59702028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.629254154 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:936.84, Y:161.44, Z:15.97 [[-4.65907973e-01 8.84830975e-01 1.97621955e-03 9.36842286e+02] [-8.84822678e-01 -4.65912163e-01 3.83202511e-03 1.61437981e+02] [ 4.31143924e-03 3.67671759e-05 9.99990705e-01 1.59698308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.6592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.84, Y:161.43, Z:15.97 [[-4.65760473e-01 8.84908621e-01 1.97830239e-03 9.36835891e+02] [-8.84900329e-01 -4.65764673e-01 3.83094953e-03 1.61429927e+02] [ 4.31146363e-03 3.37044328e-05 9.99990705e-01 1.59715069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.6892541539999 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:936.83, Y:161.43, Z:15.97 [[-4.65753692e-01 8.84912181e-01 1.98231014e-03 9.36832348e+02] [-8.84903898e-01 -4.65757910e-01 3.82887461e-03 1.61427340e+02] [ 4.31149441e-03 2.91585116e-05 9.99990705e-01 1.59686117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.7192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.83, Y:161.42, Z:15.97 [[-4.66719992e-01 8.84402913e-01 1.98400033e-03 9.36828135e+02] [-8.84394629e-01 -4.66724208e-01 3.82799861e-03 1.61421043e+02] [ 4.31147410e-03 3.19642395e-05 9.99990705e-01 1.59729790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.7492541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:936.83, Y:161.42, Z:15.97 [[-4.67557890e-01 8.83960223e-01 1.98569331e-03 9.36827830e+02] [-8.83951939e-01 -4.67562105e-01 3.82712021e-03 1.61421700e+02] [ 4.31145698e-03 3.41428026e-05 9.99990705e-01 1.59744708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.7792541539998 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:936.82, Y:161.42, Z:15.97 [[-4.68862077e-01 8.83269156e-01 1.98757954e-03 9.36824740e+02] [-8.83260870e-01 -4.68866289e-01 3.82614036e-03 1.61417347e+02] [ 4.31142081e-03 3.83808845e-05 9.99990705e-01 1.59709763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.8092541539997 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:936.82, Y:161.41, Z:15.97 [[-4.70625197e-01 8.82330984e-01 1.98937123e-03 9.36822385e+02] [-8.82322694e-01 -4.70629400e-01 3.82520856e-03 1.61414467e+02] [ 4.31135662e-03 4.49721448e-05 9.99990705e-01 1.59718059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.839254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.82, Y:161.41, Z:15.97 [[-4.72205435e-01 8.81486280e-01 1.99125590e-03 9.36820363e+02] [-8.81477986e-01 -4.72209631e-01 3.82422722e-03 1.61412025e+02] [ 4.31129404e-03 5.05726363e-05 9.99990705e-01 1.59720731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.869254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.82, Y:161.41, Z:15.97 [[-4.73386814e-01 8.80852401e-01 1.99313935e-03 9.36818178e+02] [-8.80844105e-01 -4.73391006e-01 3.82324534e-03 1.61408683e+02] [ 4.31124908e-03 5.42288774e-05 9.99990705e-01 1.59730365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.899254154 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:936.81, Y:161.40, Z:15.97 [[-4.73927189e-01 8.80561775e-01 1.99502159e-03 9.36814970e+02] [-8.80553481e-01 -4.73931385e-01 3.82226291e-03 1.61404180e+02] [ 4.31124195e-03 5.47511091e-05 9.99990705e-01 1.59684922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.9292541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:936.81, Y:161.40, Z:15.97 [[-4.74609847e-01 8.80194016e-01 1.99680335e-03 9.36813145e+02] [-8.80185723e-01 -4.74614044e-01 3.82133186e-03 1.61402148e+02] [ 4.31122435e-03 5.60839289e-05 9.99990705e-01 1.59694437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.9592541539998 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:936.81, Y:161.40, Z:15.97 [[-4.74628277e-01 8.80184074e-01 1.99868538e-03 9.36810063e+02] [-8.80175785e-01 -4.74632482e-01 3.82034725e-03 1.61398478e+02] [ 4.31124980e-03 5.40503620e-05 9.99990705e-01 1.59686402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.9892541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:936.81, Y:161.39, Z:15.97 [[-4.75135057e-01 8.79910606e-01 2.00056691e-03 9.36807068e+02] [-8.79902319e-01 -4.75139266e-01 3.81936170e-03 1.61394826e+02] [ 4.31124477e-03 5.44091763e-05 9.99990705e-01 1.59713049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.0192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.80, Y:161.38, Z:15.97 [[-4.76300262e-01 8.79280417e-01 2.00244870e-03 9.36795722e+02] [-8.79272128e-01 -4.76304467e-01 3.81837485e-03 1.61377357e+02] [ 4.31119749e-03 5.79956152e-05 9.99990705e-01 1.59714200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.0492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.79, Y:161.38, Z:15.97 [[-4.76210939e-01 8.79328776e-01 2.01135682e-03 9.36793906e+02] [-8.79320507e-01 -4.76215184e-01 3.81367666e-03 1.61376100e+02] [ 4.31131428e-03 4.74872462e-05 9.99990705e-01 1.59715244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.079254154 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:936.79, Y:161.37, Z:15.97 [[-4.75261946e-01 8.79842048e-01 2.01323579e-03 9.36790035e+02] [-8.79833788e-01 -4.75266208e-01 3.81268449e-03 1.61371536e+02] [ 4.31138307e-03 4.07109739e-05 9.99990705e-01 1.59690584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.109254154 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:936.79, Y:161.37, Z:15.97 [[-4.76092131e-01 8.79393099e-01 2.01511428e-03 9.36786786e+02] [-8.79384839e-01 -4.76096394e-01 3.81169139e-03 1.61365135e+02] [ 4.31136375e-03 4.26553295e-05 9.99990705e-01 1.59690902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.139254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.78, Y:161.36, Z:15.97 [[-4.77024982e-01 8.78887417e-01 2.01871000e-03 9.36784797e+02] [-8.78879161e-01 -4.77029251e-01 3.80978611e-03 1.61363208e+02] [ 4.31135679e-03 4.31609993e-05 9.99990705e-01 1.59715330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.1692541539999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:936.78, Y:161.36, Z:15.97 [[-4.77644490e-01 8.78550886e-01 2.02058706e-03 9.36783207e+02] [-8.78542631e-01 -4.77648761e-01 3.80879032e-03 1.61360092e+02] [ 4.31134702e-03 4.40758389e-05 9.99990705e-01 1.59715512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.1992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.78, Y:161.35, Z:15.97 [[-4.79716277e-01 8.77421338e-01 2.02246217e-03 9.36780446e+02] [-8.77413077e-01 -4.79720537e-01 3.80779438e-03 1.61354832e+02] [ 4.31125668e-03 5.21261841e-05 9.99990705e-01 1.59712408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.2292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.78, Y:161.35, Z:15.97 [[-4.82259304e-01 8.76026178e-01 2.02472685e-03 9.36778346e+02] [-8.76017910e-01 -4.82263550e-01 3.80658979e-03 1.61349581e+02] [ 4.31112427e-03 6.20663624e-05 9.99990705e-01 1.59728387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.2592541539998 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:936.78, Y:161.34, Z:15.97 [[-4.83386190e-01 8.75404869e-01 2.02660233e-03 9.36776430e+02] [-8.75396599e-01 -4.83390434e-01 3.80559104e-03 1.61344473e+02] [ 4.31107310e-03 6.54893644e-05 9.99990705e-01 1.59696868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.2892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.77, Y:161.34, Z:15.97 [[-4.85215812e-01 8.74392075e-01 2.02847940e-03 9.36774790e+02] [-8.74383801e-01 -4.85220047e-01 3.80459025e-03 1.61340818e+02] [ 4.31096243e-03 7.23778250e-05 9.99990705e-01 1.59729082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.3192541539997 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:936.77, Y:161.33, Z:15.97 [[-4.86991899e-01 8.73404127e-01 2.03035743e-03 9.36772170e+02] [-8.73395848e-01 -4.86996125e-01 3.80358776e-03 1.61333107e+02] [ 4.31084544e-03 7.90106771e-05 9.99990705e-01 1.59695995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.349254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.77, Y:161.32, Z:15.97 [[-4.88766900e-01 8.72412052e-01 2.03223778e-03 9.36767210e+02] [-8.72403769e-01 -4.88771117e-01 3.80258283e-03 1.61322808e+02] [ 4.31071822e-03 8.56447266e-05 9.99990705e-01 1.59710460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.379254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.76, Y:161.31, Z:15.97 [[-4.89488707e-01 8.72007264e-01 2.03412549e-03 9.36762568e+02] [-8.71998981e-01 -4.89492926e-01 3.80157276e-03 1.61312822e+02] [ 4.31068910e-03 8.70715821e-05 9.99990705e-01 1.59704000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.4092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.77, Y:161.32, Z:15.97 [[-4.89660029e-01 8.71911068e-01 2.03621941e-03 9.36765361e+02] [-8.71902789e-01 -4.89664255e-01 3.80045087e-03 1.61316870e+02] [ 4.31071904e-03 8.55434982e-05 9.99990705e-01 1.59699058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.4392541539999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:936.77, Y:161.32, Z:15.97 [[-4.88733738e-01 8.72430616e-01 2.03811388e-03 9.36767050e+02] [-8.72422346e-01 -4.88737982e-01 3.79943463e-03 1.61319289e+02] [ 4.31084676e-03 7.88157937e-05 9.99990705e-01 1.59668074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.4692541539998 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:936.77, Y:161.32, Z:15.97 [[-4.88372616e-01 8.72632813e-01 2.03999646e-03 9.36765660e+02] [-8.72624549e-01 -4.88376871e-01 3.79842356e-03 1.61316889e+02] [ 4.31091613e-03 7.48950591e-05 9.99990705e-01 1.59678288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.4992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.77, Y:161.31, Z:15.97 [[-4.82544969e-01 8.75868816e-01 2.04187280e-03 9.36765257e+02] [-8.75860585e-01 -4.82549287e-01 3.79741466e-03 1.61309549e+02] [ 4.31134135e-03 4.40274340e-05 9.99990705e-01 1.59666092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.5292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.76, Y:161.31, Z:15.97 [[-4.86714298e-01 8.73558863e-01 2.02590033e-03 9.36760849e+02] [-8.73550576e-01 -4.86718508e-01 3.80600735e-03 1.61308779e+02] [ 4.31081464e-03 8.27117986e-05 9.99990705e-01 1.59731364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.5592541539997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.66, Y:161.11, Z:15.97 [[-4.82747672e-01 8.75757103e-01 2.04507818e-03 9.36657081e+02] [-8.75748878e-01 -4.82752002e-01 3.79567449e-03 1.61112479e+02] [ 4.31135448e-03 4.13781030e-05 9.99990705e-01 1.59699121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.589254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.76, Y:161.30, Z:15.97 [[-4.80508541e-01 8.76987671e-01 2.04109682e-03 9.36762518e+02] [-8.76979449e-01 -4.80512875e-01 3.79782063e-03 1.61304625e+02] [ 4.31141518e-03 3.48852851e-05 9.99990705e-01 1.59677670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.619254154 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:936.76, Y:161.30, Z:15.97 [[-4.83488860e-01 8.75348151e-01 2.03416672e-03 9.36757289e+02] [-8.75339898e-01 -4.83493135e-01 3.80156299e-03 1.61299804e+02] [ 4.31119678e-03 5.74260618e-05 9.99990705e-01 1.59681341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.649254154 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:936.75, Y:161.29, Z:15.97 [[-4.83698463e-01 8.75232306e-01 2.05126672e-03 9.36754379e+02] [-8.75224091e-01 -4.83702811e-01 3.79231358e-03 1.61294130e+02] [ 4.31135884e-03 3.90181940e-05 9.99990705e-01 1.59698706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.6792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.75, Y:161.29, Z:15.97 [[-4.83498248e-01 8.75342920e-01 2.05333184e-03 9.36749998e+02] [-8.75334711e-01 -4.83502607e-01 3.79119510e-03 1.61285296e+02] [ 4.31138709e-03 3.56835530e-05 9.99990705e-01 1.59699843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.7092541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:936.75, Y:161.29, Z:15.97 [[-4.83328966e-01 8.75436398e-01 2.05520814e-03 9.36754578e+02] [-8.75428194e-01 -4.83333335e-01 3.79017768e-03 1.61293358e+02] [ 4.31141010e-03 3.27155085e-05 9.99990705e-01 1.59699161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.7392541539998 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:936.75, Y:161.29, Z:15.97 [[-4.83357519e-01 8.75420629e-01 2.05707832e-03 9.36750417e+02] [-8.75412429e-01 -4.83361896e-01 3.78916239e-03 1.61286191e+02] [ 4.31142420e-03 3.07282023e-05 9.99990705e-01 1.59656337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.7692541539998 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:936.75, Y:161.28, Z:15.96 [[-4.82750490e-01 8.75755512e-01 2.06103760e-03 9.36748555e+02] [-8.75747324e-01 -4.82754889e-01 3.78700760e-03 1.61283395e+02] [ 4.31146875e-03 2.32316097e-05 9.99990705e-01 1.59642797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.7992541539998 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:936.75, Y:161.28, Z:15.97 [[-4.82997752e-01 8.75619162e-01 2.06289571e-03 9.36745206e+02] [-8.75610977e-01 -4.83002156e-01 3.78599516e-03 1.61278073e+02] [ 4.31147298e-03 2.23330239e-05 9.99990705e-01 1.59651576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.829254154 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:936.74, Y:161.28, Z:15.97 [[-4.83190021e-01 8.75513072e-01 2.06494658e-03 9.36744285e+02] [-8.75504892e-01 -4.83194433e-01 3.78487625e-03 1.61276849e+02] [ 4.31147932e-03 2.09436023e-05 9.99990705e-01 1.59660988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.859254154 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:936.64, Y:161.09, Z:15.97 [[-4.80897023e-01 8.76774647e-01 2.06680364e-03 9.36643014e+02] [-8.76766482e-01 -4.80901464e-01 3.78386189e-03 1.61088994e+02] [ 4.31152307e-03 7.54376106e-06 9.99990705e-01 1.59700954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.889254154 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:936.74, Y:161.27, Z:15.97 [[-4.83946189e-01 8.75095331e-01 2.06105228e-03 9.36737743e+02] [-8.75087137e-01 -4.83950577e-01 3.78700572e-03 1.61266887e+02] [ 4.31143846e-03 2.91066400e-05 9.99990705e-01 1.59708585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.9192541539999 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:936.74, Y:161.27, Z:15.97 [[-4.84224618e-01 8.74941270e-01 2.07227418e-03 9.36736573e+02] [-8.74933101e-01 -4.84229052e-01 3.78085503e-03 1.61265236e+02] [ 4.31148146e-03 1.76818073e-05 9.99990705e-01 1.59683592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.9492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.73, Y:161.26, Z:15.98 [[-4.85192583e-01 8.74404858e-01 2.07412855e-03 9.36730928e+02] [-8.74396688e-01 -4.85197016e-01 3.77983747e-03 1.61255361e+02] [ 4.31146923e-03 2.03379703e-05 9.99990705e-01 1.59755260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.9792541539998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:936.73, Y:161.25, Z:15.97 [[-4.85389122e-01 8.74295769e-01 2.07579578e-03 9.36730914e+02] [-8.74287602e-01 -4.85393560e-01 3.77892165e-03 1.61254982e+02] [ 4.31147311e-03 1.94049434e-05 9.99990705e-01 1.59737377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.0092541539998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:936.73, Y:161.25, Z:15.97 [[-4.86207878e-01 8.73840707e-01 2.07784889e-03 9.36729217e+02] [-8.73832541e-01 -4.86212318e-01 3.77779241e-03 1.61251661e+02] [ 4.31146451e-03 2.11004529e-05 9.99990705e-01 1.59746986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.0392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.73, Y:161.25, Z:15.98 [[-4.87769566e-01 8.72969944e-01 2.08009052e-03 9.36725734e+02] [-8.72961776e-01 -4.87774001e-01 3.77655774e-03 1.61245531e+02] [ 4.31143547e-03 2.62504137e-05 9.99990705e-01 1.59752207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.0692541539997 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:936.72, Y:161.23, Z:15.97 [[-4.88668027e-01 8.72467320e-01 2.08194626e-03 9.36718460e+02] [-8.72459152e-01 -4.88672461e-01 3.77553443e-03 1.61232168e+02] [ 4.31142021e-03 2.85698907e-05 9.99990705e-01 1.59724079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.099254154 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:936.72, Y:161.24, Z:15.97 [[-4.90539907e-01 8.71416237e-01 2.08362038e-03 9.36722568e+02] [-8.71408063e-01 -4.90544331e-01 3.77461030e-03 1.61239667e+02] [ 4.31136487e-03 3.59133860e-05 9.99990705e-01 1.59717622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.129254154 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:936.72, Y:161.23, Z:15.97 [[-4.91314291e-01 8.70979861e-01 2.08557577e-03 9.36718835e+02] [-8.70971687e-01 -4.91318716e-01 3.77352958e-03 1.61232727e+02] [ 4.31135068e-03 3.75115566e-05 9.99990705e-01 1.59685524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.1592541539999 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:936.72, Y:161.23, Z:15.97 [[-4.92286267e-01 8.70430855e-01 2.08743279e-03 9.36718793e+02] [-8.70422681e-01 -4.92290691e-01 3.77250204e-03 1.61231919e+02] [ 4.31132591e-03 4.02021032e-05 9.99990705e-01 1.59694083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.1892541539999 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:936.70, Y:161.19, Z:15.97 [[-4.97538460e-01 8.67439402e-01 2.08928930e-03 9.36695402e+02] [-8.67431205e-01 -4.97542843e-01 3.77147359e-03 1.61187832e+02] [ 4.31103573e-03 6.41384276e-05 9.99990705e-01 1.59681284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.2192541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:936.70, Y:161.19, Z:15.97 [[-4.97160848e-01 8.67655824e-01 2.11218890e-03 9.36695388e+02] [-8.67647684e-01 -4.97165334e-01 3.75860490e-03 1.61188681e+02] [ 4.31128254e-03 3.59953921e-05 9.99990706e-01 1.59711472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.2492541539998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:936.69, Y:161.18, Z:15.97 [[-4.96426207e-01 8.68076352e-01 2.11403857e-03 9.36692102e+02] [-8.68068220e-01 -4.96430707e-01 3.75756427e-03 1.61183467e+02] [ 4.31132634e-03 3.02236822e-05 9.99990706e-01 1.59711100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.2792541539998 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:936.69, Y:161.17, Z:15.97 [[-4.94125973e-01 8.69387741e-01 2.11607703e-03 9.36686176e+02] [-8.69379626e-01 -4.94130504e-01 3.75641595e-03 1.61174873e+02] [ 4.31140019e-03 1.64684292e-05 9.99990706e-01 1.59709659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.3092541539997 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:936.69, Y:161.18, Z:15.97 [[-4.92054711e-01 8.70561701e-01 2.11792910e-03 9.36688948e+02] [-8.70553602e-01 -4.92059269e-01 3.75537144e-03 1.61181278e+02] [ 4.31142919e-03 4.07740391e-06 9.99990706e-01 1.59723426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.339254154 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:936.67, Y:161.15, Z:15.97 [[-4.94702810e-01 8.69059627e-01 2.11977717e-03 9.36672662e+02] [-8.69051518e-01 -4.94707352e-01 3.75432798e-03 1.61151487e+02] [ 4.31140422e-03 1.50810381e-05 9.99990706e-01 1.59726873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.369254154 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:936.67, Y:161.14, Z:15.98 [[-4.93466852e-01 8.69761980e-01 2.13653835e-03 9.36669300e+02] [-8.69753918e-01 -4.93471477e-01 3.74476505e-03 1.61144785e+02] [ 4.31137500e-03 -1.03451798e-05 9.99990706e-01 1.59752384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.399254154 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:936.66, Y:161.13, Z:15.97 [[-4.93074939e-01 8.69984212e-01 2.13894704e-03 9.36663059e+02] [-8.69976159e-01 -4.93079578e-01 3.74338874e-03 1.61132734e+02] [ 4.31136021e-03 -1.50617585e-05 9.99990706e-01 1.59741306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.4292541539999 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:936.66, Y:161.13, Z:15.97 [[-4.92863724e-01 8.70103883e-01 2.14078789e-03 9.36662895e+02] [-8.70095835e-01 -4.92868373e-01 3.74233569e-03 1.61131691e+02] [ 4.31134746e-03 -1.82291189e-05 9.99990706e-01 1.59730368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.4592541539998 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:936.67, Y:161.14, Z:15.97 [[-4.92532369e-01 8.70291488e-01 2.14263229e-03 9.36666311e+02] [-8.70283447e-01 -4.92537029e-01 3.74127940e-03 1.61136078e+02] [ 4.31132936e-03 -2.19962033e-05 9.99990706e-01 1.59717773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.4892541539998 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:936.66, Y:161.13, Z:15.97 [[-4.93003548e-01 8.70024657e-01 2.14446793e-03 9.36663906e+02] [-8.70016617e-01 -4.93008211e-01 3.74022693e-03 1.61131277e+02] [ 4.31132995e-03 -2.17775892e-05 9.99990706e-01 1.59734019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.5192541539998 meters Centerline goodness : 0.999691 Centerline is valid? [True, True] Translation: X:936.66, Y:161.13, Z:15.97 [[-4.93155566e-01 8.69938492e-01 2.14648639e-03 9.36662911e+02] [-8.69930457e-01 -4.93160237e-01 3.73906820e-03 1.61126213e+02] [ 4.31132109e-03 -2.33515910e-05 9.99990706e-01 1.59719944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.5492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.66, Y:161.12, Z:15.98 [[-4.93933301e-01 8.69497142e-01 2.14831540e-03 9.36661793e+02] [-8.69489107e-01 -4.93937972e-01 3.73801702e-03 1.61122851e+02] [ 4.31132967e-03 -2.16057550e-05 9.99990706e-01 1.59756314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.579254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.66, Y:161.12, Z:15.98 [[-4.94567014e-01 8.69136839e-01 2.15033321e-03 9.36661266e+02] [-8.69128806e-01 -4.94571688e-01 3.73685590e-03 1.61118949e+02] [ 4.31133305e-03 -2.07908729e-05 9.99990706e-01 1.59759427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.609254154 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:936.66, Y:161.11, Z:15.98 [[-4.95090133e-01 8.68838955e-01 2.15197286e-03 9.36659423e+02] [-8.68830923e-01 -4.95094810e-01 3.73591142e-03 1.61113602e+02] [ 4.31133597e-03 -2.00876811e-05 9.99990706e-01 1.59758839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.639254154 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:936.66, Y:161.11, Z:15.97 [[-4.95990924e-01 8.68325034e-01 2.15398953e-03 9.36659217e+02] [-8.68317002e-01 -4.95995601e-01 3.73474832e-03 1.61109827e+02] [ 4.31134479e-03 -1.79444604e-05 9.99990706e-01 1.59727663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.6692541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:936.66, Y:161.11, Z:15.97 [[-4.97442306e-01 8.67494383e-01 2.15562951e-03 9.36658320e+02] [-8.67486348e-01 -4.97446977e-01 3.73380152e-03 1.61105310e+02] [ 4.31136323e-03 -1.26283333e-05 9.99990706e-01 1.59733525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.6992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.66, Y:161.10, Z:15.98 [[-4.98568579e-01 8.66847575e-01 2.15726967e-03 9.36656627e+02] [-8.66839538e-01 -4.98573246e-01 3.73285364e-03 1.61100999e+02] [ 4.31137207e-03 -8.92310909e-06 9.99990706e-01 1.59754897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.7292541539998 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:936.66, Y:161.10, Z:15.97 [[-4.99744656e-01 8.66170085e-01 2.15928712e-03 9.36655860e+02] [-8.66162047e-01 -4.99749321e-01 3.73168628e-03 1.61097002e+02] [ 4.31137729e-03 -5.40227225e-06 9.99990706e-01 1.59721301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.7592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.65, Y:161.09, Z:15.98 [[-5.00894290e-01 8.65505772e-01 2.16092755e-03 9.36654264e+02] [-8.65497731e-01 -5.00898951e-01 3.73073610e-03 1.61092697e+02] [ 4.31137997e-03 -1.57347730e-06 9.99990706e-01 1.59751512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.7892541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:936.65, Y:161.08, Z:15.97 [[-5.01909774e-01 8.64917280e-01 2.16275590e-03 9.36649107e+02] [-8.64909238e-01 -5.01914434e-01 3.72967588e-03 1.61082921e+02] [ 4.31137952e-03 1.37322519e-06 9.99990706e-01 1.59737921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.8192541539997 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:936.65, Y:161.09, Z:15.97 [[-5.03549456e-01 8.63963692e-01 2.16458928e-03 9.36651658e+02] [-8.63955646e-01 -5.03554108e-01 3.72861154e-03 1.61085584e+02] [ 4.31137281e-03 7.43118304e-06 9.99990706e-01 1.59724660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.849254154 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:936.65, Y:161.08, Z:15.97 [[-5.04702915e-01 8.63290377e-01 2.16623389e-03 9.36646598e+02] [-8.63282329e-01 -5.04707563e-01 3.72765582e-03 1.61075216e+02] [ 4.31136402e-03 1.12873142e-05 9.99990706e-01 1.59713046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.879254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.65, Y:161.07, Z:15.97 [[-5.04112354e-01 8.63635359e-01 2.16806699e-03 9.36650049e+02] [-8.63627319e-01 -5.04117016e-01 3.72658935e-03 1.61073447e+02] [ 4.31137379e-03 6.21784748e-06 9.99990706e-01 1.59704192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.9092541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:936.65, Y:161.07, Z:15.97 [[-5.09204921e-01 8.60642615e-01 2.15356836e-03 9.36645610e+02] [-8.60634512e-01 -5.09209473e-01 3.73503010e-03 1.61068721e+02] [ 4.31114348e-03 4.84604531e-05 9.99990706e-01 1.59733259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.9392541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:936.65, Y:161.07, Z:15.97 [[-5.12320060e-01 8.58791850e-01 2.17139916e-03 9.36646148e+02] [-8.58783774e-01 -5.12324660e-01 3.72463504e-03 1.61066887e+02] [ 4.31114755e-03 4.34428867e-05 9.99990706e-01 1.59707608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.9692541539998 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:936.64, Y:161.06, Z:15.97 [[-5.13927378e-01 8.57830944e-01 2.17304570e-03 9.36644419e+02] [-8.57822864e-01 -5.13931969e-01 3.72367416e-03 1.61062471e+02] [ 4.31108058e-03 4.96098096e-05 9.99990706e-01 1.59703686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.9992541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:936.64, Y:161.06, Z:15.97 [[-5.16514906e-01 8.56275436e-01 2.17469121e-03 9.36640610e+02] [-8.56267346e-01 -5.16519481e-01 3.72271290e-03 1.61055158e+02] [ 4.31093799e-03 6.07196304e-05 9.99990706e-01 1.59728659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.0292541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:936.64, Y:161.05, Z:15.97 [[-5.16938566e-01 8.56019732e-01 2.17634067e-03 9.36638634e+02] [-8.56011644e-01 -5.16943144e-01 3.72174836e-03 1.61051676e+02] [ 4.31093442e-03 6.09423063e-05 9.99990706e-01 1.59728839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.0592541539997 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:936.64, Y:161.05, Z:15.97 [[-5.17791947e-01 8.55503802e-01 2.17818184e-03 9.36638818e+02] [-8.55495714e-01 -5.17796525e-01 3.72067049e-03 1.61051028e+02] [ 4.31090274e-03 6.31079845e-05 9.99990706e-01 1.59720818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.089254154 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:936.64, Y:161.05, Z:15.97 [[-5.18872879e-01 8.54848632e-01 2.17983161e-03 9.36637678e+02] [-8.54840542e-01 -5.18877454e-01 3.71970369e-03 1.61047014e+02] [ 4.31084908e-03 6.66449273e-05 9.99990706e-01 1.59695194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.119254154 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:937.22, Y:160.59, Z:16.92 [[-4.32094031e-01 -9.01825274e-01 -2.43410551e-03 9.37224353e+02] [-9.01818441e-01 4.32100394e-01 -3.57054171e-03 1.60592385e+02] [ 4.27178270e-03 6.52311481e-04 -9.99990663e-01 1.69204145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.149254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.53, Y:160.93, Z:15.97 [[-4.61642771e-01 8.87063864e-01 1.91137794e-03 9.36534542e+02] [-8.87055593e-01 -4.61646722e-01 3.83132195e-03 1.60925364e+02] [ 4.28100861e-03 7.32035922e-05 9.99990834e-01 1.59725366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.1792541539999 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:936.53, Y:160.92, Z:15.97 [[-4.61286289e-01 8.87249289e-01 1.91307809e-03 9.36532168e+02] [-8.87241023e-01 -4.61290251e-01 3.83047283e-03 1.60919297e+02] [ 4.28106857e-03 6.95832392e-05 9.99990834e-01 1.59687240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.2092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.53, Y:160.92, Z:15.97 [[-4.61240033e-01 8.87273332e-01 1.91478176e-03 9.36533110e+02] [-8.87265070e-01 -4.61244003e-01 3.82962101e-03 1.60923318e+02] [ 4.28110220e-03 6.74555478e-05 9.99990834e-01 1.59706139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.2392541539998 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:936.53, Y:160.92, Z:15.97 [[-4.59719843e-01 8.88061931e-01 1.91667638e-03 9.36530898e+02] [-8.88053679e-01 -4.59723835e-01 3.82867254e-03 1.60919027e+02] [ 4.28124015e-03 5.80052276e-05 9.99990834e-01 1.59679605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.2692541539998 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:936.53, Y:160.92, Z:15.97 [[-4.56448063e-01 8.89747990e-01 1.91837216e-03 9.36529961e+02] [-8.89739757e-01 -4.56452093e-01 3.82782268e-03 1.60920368e+02] [ 4.28144252e-03 4.03502698e-05 9.99990834e-01 1.59676808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.2992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.53, Y:160.92, Z:15.97 [[-4.55106367e-01 8.90435010e-01 1.92025949e-03 9.36527093e+02] [-8.90426787e-01 -4.55110417e-01 3.82687565e-03 1.60918178e+02] [ 4.28151415e-03 3.17849896e-05 9.99990834e-01 1.59700412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.329254154 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:936.52, Y:160.92, Z:15.97 [[-4.49734046e-01 8.93160452e-01 1.92214207e-03 9.36524479e+02] [-8.93152258e-01 -4.49738154e-01 3.82592984e-03 1.60917434e+02] [ 4.28162985e-03 3.88537683e-06 9.99990834e-01 1.59692158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.359254154 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:936.52, Y:160.92, Z:15.97 [[-4.47565923e-01 8.94248871e-01 1.92402212e-03 9.36523807e+02] [-8.94240690e-01 -4.47570059e-01 3.82498415e-03 1.60918725e+02] [ 4.28162245e-03 -8.60630009e-06 9.99990834e-01 1.59709204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.389254154 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:936.52, Y:160.92, Z:15.97 [[-4.41702284e-01 8.97159620e-01 1.92589672e-03 9.36522091e+02] [-8.97151471e-01 -4.41706481e-01 3.82404004e-03 1.60918709e+02] [ 4.28145538e-03 -3.87338549e-05 9.99990834e-01 1.59707700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.4192541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:936.52, Y:160.92, Z:15.97 [[-4.39226063e-01 8.98374504e-01 1.92776532e-03 9.36520733e+02] [-8.98366371e-01 -4.39230291e-01 3.82309782e-03 1.60917505e+02] [ 4.28130653e-03 -5.26353232e-05 9.99990834e-01 1.59704483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.4492541539998 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:936.52, Y:160.92, Z:15.97 [[-4.34022163e-01 9.00900127e-01 1.92962997e-03 9.36520079e+02] [-9.00892022e-01 -4.34026446e-01 3.82215645e-03 1.60918137e+02] [ 4.28089166e-03 -7.94876319e-05 9.99990834e-01 1.59680096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.4792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.52, Y:160.92, Z:15.97 [[-4.32872069e-01 9.01453294e-01 1.93168118e-03 9.36517624e+02] [-9.01445199e-01 -4.32876370e-01 3.82111950e-03 1.60915036e+02] [ 4.28073990e-03 -8.72488250e-05 9.99990834e-01 1.59705339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.5092541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:936.51, Y:160.91, Z:15.97 [[-4.29490866e-01 9.03069132e-01 1.93353592e-03 9.36514638e+02] [-9.03061058e-01 -4.29495206e-01 3.82018075e-03 1.60910288e+02] [ 4.28033172e-03 -1.05368259e-04 9.99990834e-01 1.59694831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.5392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.52, Y:160.91, Z:15.97 [[-4.23674738e-01 9.05812326e-01 1.93558282e-03 9.36519027e+02] [-9.05804285e-01 -4.23679138e-01 3.81914336e-03 1.60912797e+02] [ 4.27949319e-03 -1.35184646e-04 9.99990834e-01 1.59660321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.5692541539997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.52, Y:160.91, Z:15.97 [[-4.24006542e-01 9.05657120e-01 1.90624698e-03 9.36518266e+02] [-9.05649010e-01 -4.24010815e-01 3.83401622e-03 1.60910221e+02] [ 4.28057342e-03 -1.00742733e-04 9.99990833e-01 1.59688038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.599254154 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:936.51, Y:160.91, Z:15.97 [[-4.27662975e-01 9.03936217e-01 1.92224882e-03 9.36514108e+02] [-9.03928126e-01 -4.27667283e-01 3.82588950e-03 1.60905514e+02] [ 4.28044302e-03 -1.01383490e-04 9.99990834e-01 1.59693132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.629254154 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:936.51, Y:160.90, Z:15.97 [[-4.28670619e-01 9.03458761e-01 1.94113324e-03 9.36514206e+02] [-9.03450708e-01 -4.28674998e-01 3.81628405e-03 1.60902069e+02] [ 4.27997054e-03 -1.17789350e-04 9.99990834e-01 1.59674909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.6592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.51, Y:160.89, Z:15.97 [[-4.30366023e-01 9.02652376e-01 1.94297538e-03 9.36510690e+02] [-9.02644319e-01 -4.30370394e-01 3.81534593e-03 1.60893932e+02] [ 4.28013015e-03 -1.11820438e-04 9.99990834e-01 1.59708871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.6892541539999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:936.51, Y:160.89, Z:15.97 [[-4.33067308e-01 9.01359487e-01 1.94481977e-03 9.36509899e+02] [-9.01351421e-01 -4.33071663e-01 3.81440554e-03 1.60887315e+02] [ 4.28039696e-03 -1.01071728e-04 9.99990834e-01 1.59696543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.7192541539998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:936.51, Y:160.88, Z:15.97 [[-4.35630896e-01 9.00123288e-01 1.94666843e-03 9.36508927e+02] [-9.00115214e-01 -4.35635236e-01 3.81346185e-03 1.60882855e+02] [ 4.28062318e-03 -9.09640666e-05 9.99990834e-01 1.59707024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.7492541539998 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:936.51, Y:160.88, Z:15.97 [[-4.38236771e-01 8.98857461e-01 1.94851874e-03 9.36508289e+02] [-8.98849379e-01 -4.38241096e-01 3.81251619e-03 1.60878093e+02] [ 4.28082961e-03 -8.06400796e-05 9.99990834e-01 1.59715457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.7792541539998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:936.51, Y:160.87, Z:15.97 [[-4.43688346e-01 8.96179027e-01 1.95036930e-03 9.36508252e+02] [-8.96170923e-01 -4.43692629e-01 3.81156926e-03 1.60870696e+02] [ 4.28121291e-03 -5.67153992e-05 9.99990834e-01 1.59716179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.8092541539997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:936.51, Y:160.86, Z:15.97 [[-4.49632158e-01 8.93211684e-01 1.95203188e-03 9.36506530e+02] [-8.93203556e-01 -4.49636394e-01 3.81071761e-03 1.60861057e+02] [ 4.28148207e-03 -3.01406412e-05 9.99990834e-01 1.59724599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.839254154 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:936.51, Y:160.86, Z:15.97 [[-4.52207465e-01 8.91910641e-01 1.95369966e-03 9.36505835e+02] [-8.91902504e-01 -4.52211685e-01 3.80986237e-03 1.60856306e+02] [ 4.28154260e-03 -1.96614179e-05 9.99990834e-01 1.59707169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.869254154 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:936.50, Y:160.85, Z:15.97 [[-4.57739831e-01 8.89084036e-01 1.95556275e-03 9.36504947e+02] [-8.89075877e-01 -4.57744008e-01 3.80890583e-03 1.60848974e+02] [ 4.28158450e-03 4.84424130e-06 9.99990834e-01 1.59737889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.899254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.50, Y:160.84, Z:15.97 [[-4.60595792e-01 8.87607845e-01 1.95723656e-03 9.36503925e+02] [-8.87599676e-01 -4.60599950e-01 3.80804553e-03 1.60843644e+02] [ 4.28155415e-03 1.67272082e-05 9.99990834e-01 1.59735852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.9292541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:936.50, Y:160.84, Z:15.97 [[-4.65104182e-01 8.85253784e-01 1.95891374e-03 9.36504294e+02] [-8.85245598e-01 -4.65108306e-01 3.80718257e-03 1.60837306e+02] [ 4.28142983e-03 3.66167712e-05 9.99990834e-01 1.59710318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.9592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.50, Y:160.83, Z:15.97 [[-4.67973751e-01 8.83740190e-01 1.96068448e-03 9.36502147e+02] [-8.83731995e-01 -4.67977856e-01 3.80627042e-03 1.60831269e+02] [ 4.28131107e-03 4.85150388e-05 9.99990834e-01 1.59727367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.9892541539998 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:936.50, Y:160.83, Z:15.97 [[-4.69893863e-01 8.82720741e-01 1.96236593e-03 9.36500629e+02] [-8.82712540e-01 -4.69897958e-01 3.80540334e-03 1.60825486e+02] [ 4.28122020e-03 5.59306605e-05 9.99990834e-01 1.59704233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.0192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.50, Y:160.82, Z:15.97 [[-4.74441166e-01 8.80285023e-01 1.96405077e-03 9.36498226e+02] [-8.80276805e-01 -4.74445225e-01 3.80453356e-03 1.60817999e+02] [ 4.28090842e-03 7.61190001e-05 9.99990834e-01 1.59733088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.0492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.49, Y:160.81, Z:15.97 [[-4.77639166e-01 8.78553904e-01 1.96573971e-03 9.36493981e+02] [-8.78545675e-01 -4.77643203e-01 3.80366071e-03 1.60807465e+02] [ 4.28064318e-03 8.97852134e-05 9.99990834e-01 1.59739955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.079254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.50, Y:160.81, Z:15.97 [[-4.78633932e-01 8.78012347e-01 1.96935252e-03 9.36495403e+02] [-8.78004121e-01 -4.78637975e-01 3.80178925e-03 1.60809729e+02] [ 4.28062480e-03 9.05657119e-05 9.99990834e-01 1.59737692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.109254154 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:936.49, Y:160.80, Z:15.97 [[-4.79348340e-01 8.77622518e-01 1.97104467e-03 9.36492880e+02] [-8.77614292e-01 -4.79352383e-01 3.80091175e-03 1.60803922e+02] [ 4.28059070e-03 9.21437606e-05 9.99990834e-01 1.59710988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.139254154 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:936.49, Y:160.80, Z:15.97 [[-4.80042082e-01 8.77243243e-01 1.97273449e-03 9.36491519e+02] [-8.77235018e-01 -4.80046127e-01 3.80003450e-03 1.60801550e+02] [ 4.28055814e-03 9.36246960e-05 9.99990834e-01 1.59712178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.1692541539999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:936.49, Y:160.80, Z:15.97 [[-4.80455756e-01 8.77016743e-01 1.97461875e-03 9.36491596e+02] [-8.77008519e-01 -4.80459805e-01 3.79905513e-03 1.60802479e+02] [ 4.28055989e-03 9.35204380e-05 9.99990834e-01 1.59697802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.1992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.49, Y:160.80, Z:15.97 [[-4.81252629e-01 8.76579718e-01 1.97630588e-03 9.36489699e+02] [-8.76571494e-01 -4.81256677e-01 3.79817727e-03 1.60799735e+02] [ 4.28051556e-03 9.55093997e-05 9.99990834e-01 1.59705159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.2292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.49, Y:160.79, Z:15.97 [[-4.81258305e-01 8.76576597e-01 1.97799006e-03 9.36485997e+02] [-8.76568377e-01 -4.81262361e-01 3.79729999e-03 1.60794064e+02] [ 4.28055647e-03 9.36386211e-05 9.99990834e-01 1.59711340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.2592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.41, Y:160.65, Z:15.97 [[-4.74128416e-01 8.80453478e-01 1.97967578e-03 9.36411651e+02] [-8.80445294e-01 -4.74132545e-01 3.79642095e-03 1.60645954e+02] [ 4.28120075e-03 5.69948273e-05 9.99990834e-01 1.59678562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.2892541539998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:936.48, Y:160.79, Z:15.97 [[-4.80310976e-01 8.77096105e-01 1.94671877e-03 9.36481410e+02] [-8.77087823e-01 -4.80314905e-01 3.81361715e-03 1.60790949e+02] [ 4.27994679e-03 1.24278848e-04 9.99990833e-01 1.59711157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.3192541539997 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:936.48, Y:160.79, Z:15.97 [[-4.77837487e-01 8.78446013e-01 1.98458193e-03 9.36477719e+02] [-8.78437823e-01 -4.77841603e-01 3.79381054e-03 1.60790151e+02] [ 4.28097355e-03 6.94930669e-05 9.99990834e-01 1.59702631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.349254154 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:936.48, Y:160.79, Z:15.97 [[-4.76345962e-01 8.79255696e-01 1.98645247e-03 9.36475565e+02] [-8.79247517e-01 -4.76350101e-01 3.79283087e-03 1.60789667e+02] [ 4.28111497e-03 6.01162721e-05 9.99990834e-01 1.59719218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.379254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.47, Y:160.79, Z:15.97 [[-4.72178960e-01 8.81500469e-01 1.98831973e-03 9.36472205e+02] [-8.81492314e-01 -4.72183144e-01 3.79185174e-03 1.60791388e+02] [ 4.28137015e-03 3.77440499e-05 9.99990834e-01 1.59745782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.4092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.47, Y:160.79, Z:15.98 [[-4.69604277e-01 8.82874772e-01 1.99018228e-03 9.36469321e+02] [-8.82866633e-01 -4.69608494e-01 3.79087391e-03 1.60789338e+02] [ 4.28147344e-03 2.31450677e-05 9.99990834e-01 1.59753006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.4392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.46, Y:160.79, Z:15.98 [[-4.64226169e-01 8.85714455e-01 1.99204087e-03 9.36464092e+02] [-8.85706347e-01 -4.64230443e-01 3.78989700e-03 1.60787380e+02] [ 4.28153257e-03 -4.99388071e-06 9.99990834e-01 1.59763487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.4692541539998 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:936.46, Y:160.79, Z:15.97 [[-4.61091051e-01 8.87350584e-01 1.99598600e-03 9.36461441e+02] [-8.87342500e-01 -4.61095371e-01 3.78781812e-03 1.60786276e+02] [ 4.28146253e-03 -2.45941659e-05 9.99990834e-01 1.59746059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.4992541539998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:936.46, Y:160.78, Z:15.98 [[-4.58187644e-01 8.88853245e-01 1.99821768e-03 9.36457392e+02] [-8.88845180e-01 -4.58191999e-01 3.78664046e-03 1.60782445e+02] [ 4.28133501e-03 -4.11142850e-05 9.99990834e-01 1.59759888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.5292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.45, Y:160.77, Z:15.98 [[-4.53099180e-01 8.91457870e-01 2.00006311e-03 9.36446774e+02] [-8.91449834e-01 -4.53103589e-01 3.78566547e-03 1.60769744e+02] [ 4.28099705e-03 -6.76740121e-05 9.99990834e-01 1.59763487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.5592541539997 meters Centerline goodness : 0.999757 Centerline is valid? [True, True] Translation: X:936.45, Y:160.78, Z:15.98 [[-4.48189816e-01 8.93936168e-01 2.00440327e-03 9.36448820e+02] [-8.93928167e-01 -4.48194287e-01 3.78336608e-03 1.60778402e+02] [ 4.28044987e-03 -9.61263933e-05 9.99990834e-01 1.59761050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.589254154 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:936.44, Y:160.77, Z:15.98 [[-4.46628558e-01 8.94717218e-01 2.00792683e-03 9.36442720e+02] [-8.94709233e-01 -4.46633058e-01 3.78149512e-03 1.60769237e+02] [ 4.28017529e-03 -1.07586966e-04 9.99990834e-01 1.59760568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.619254154 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:936.44, Y:160.77, Z:15.98 [[-4.45362327e-01 8.95348177e-01 2.00976162e-03 9.36444259e+02] [-8.95340203e-01 -4.45366847e-01 3.78051973e-03 1.60773733e+02] [ 4.27996264e-03 -1.15719310e-04 9.99990834e-01 1.59758429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.649254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.44, Y:160.77, Z:15.98 [[-4.43285062e-01 8.96378439e-01 2.01197472e-03 9.36443014e+02] [-8.96370481e-01 -4.43289610e-01 3.77934156e-03 1.60773652e+02] [ 4.27960777e-03 -1.28149087e-04 9.99990834e-01 1.59767899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.6792541539999 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:936.44, Y:160.77, Z:15.98 [[-4.42533971e-01 8.96749480e-01 2.01379693e-03 9.36441850e+02] [-8.96741530e-01 -4.42538533e-01 3.77837035e-03 1.60772234e+02] [ 4.27943439e-03 -1.33798108e-04 9.99990834e-01 1.59764897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.7092541539998 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:936.44, Y:160.77, Z:15.98 [[-4.42838895e-01 8.96598935e-01 2.01561533e-03 9.36440275e+02] [-8.96590988e-01 -4.42843462e-01 3.77740005e-03 1.60768831e+02] [ 4.27941494e-03 -1.34402878e-04 9.99990834e-01 1.59771635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.7392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.43, Y:160.75, Z:15.98 [[-4.45612146e-01 8.95223853e-01 2.01724548e-03 9.36430975e+02] [-8.95215895e-01 -4.45616695e-01 3.77652931e-03 1.60751199e+02] [ 4.27975738e-03 -1.23002888e-04 9.99990834e-01 1.59785616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.7692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:937.05, Y:160.29, Z:16.92 [[-4.38151414e-01 -8.98898288e-01 -2.28194910e-03 9.37054665e+02] [-8.98891058e-01 4.38157116e-01 -3.63436131e-03 1.60293743e+02] [ 4.26677339e-03 4.58823091e-04 -9.99990792e-01 1.69159340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.7992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.33, Y:160.62, Z:15.98 [[-3.90333567e-01 9.20671837e-01 1.75351297e-03 9.36329330e+02] [-9.20663694e-01 -3.90337492e-01 3.87357754e-03 1.60615473e+02] [ 4.25075561e-03 -1.02408394e-04 9.99990960e-01 1.59810641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.829254154 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:936.33, Y:160.61, Z:15.98 [[-3.92466435e-01 9.19764653e-01 1.75538557e-03 9.36329409e+02] [-9.19756504e-01 -3.92470349e-01 3.87272876e-03 1.60612684e+02] [ 4.25093580e-03 -9.46112454e-05 9.99990960e-01 1.59815816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.859254154 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:936.33, Y:160.60, Z:15.98 [[-3.97704905e-01 9.17511701e-01 1.75725562e-03 9.36327638e+02] [-9.17503534e-01 -3.97708780e-01 3.87188003e-03 1.60604905e+02] [ 4.25137122e-03 -7.24225591e-05 9.99990960e-01 1.59835242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.889254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.33, Y:160.60, Z:15.98 [[-4.00526044e-01 9.16283686e-01 1.75912668e-03 9.36326056e+02] [-9.16275511e-01 -4.00529902e-01 3.87102976e-03 1.60599049e+02] [ 4.25154425e-03 -6.13964613e-05 9.99990960e-01 1.59833932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.9192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.32, Y:160.59, Z:15.98 [[-4.01062526e-01 9.16048988e-01 1.76100150e-03 9.36323750e+02] [-9.16040815e-01 -4.01066388e-01 3.87017668e-03 1.60593905e+02] [ 4.25154994e-03 -6.09664118e-05 9.99990960e-01 1.59834180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.9492541539998 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:936.32, Y:160.58, Z:15.99 [[-4.02146382e-01 9.15573688e-01 1.76326719e-03 9.36320080e+02] [-9.15565514e-01 -4.02150244e-01 3.86914415e-03 1.60580559e+02] [ 4.25158491e-03 -5.84243073e-05 9.99990960e-01 1.59883576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.9792541539998 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:936.32, Y:160.58, Z:15.98 [[-4.08302297e-01 9.12845081e-01 1.75879970e-03 9.36322038e+02] [-9.12836873e-01 -4.08306084e-01 3.87118196e-03 1.60580511e+02] [ 4.25191802e-03 -2.48847302e-05 9.99990960e-01 1.59829576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.0092541539998 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:936.32, Y:160.56, Z:15.99 [[-4.09947919e-01 9.12107221e-01 1.76687339e-03 9.36316513e+02] [-9.12099022e-01 -4.09951725e-01 3.86749347e-03 1.60559482e+02] [ 4.25190152e-03 -2.60925884e-05 9.99990960e-01 1.59882178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.0392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.32, Y:160.56, Z:15.99 [[-4.14774230e-01 9.09922663e-01 1.75663682e-03 9.36315033e+02] [-9.09914424e-01 -4.14777950e-01 3.87217436e-03 1.60558805e+02] [ 4.25199343e-03 7.68896162e-06 9.99990960e-01 1.59886286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.0692541539997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:936.95, Y:160.17, Z:16.91 [[-3.53199234e-01 -9.35546479e-01 -1.75663682e-03 9.36950403e+02] [-9.35538507e-01 3.53203495e-01 -3.87217436e-03 1.60170584e+02] [ 4.24304936e-03 2.75752366e-04 -9.99990960e-01 1.69121159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.099254154 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:936.22, Y:160.40, Z:15.99 [[-3.55831169e-01 9.34549048e-01 1.50189276e-03 9.36217053e+02] [-9.34540622e-01 -3.55834339e-01 3.96858134e-03 1.60396135e+02] [ 4.24325893e-03 8.56514527e-06 9.99990997e-01 1.59888774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.129254154 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:936.85, Y:160.00, Z:16.91 [[-2.87416886e-01 -9.57804405e-01 -1.50189276e-03 9.36854589e+02] [-9.57796229e-01 2.87420656e-01 -3.96858134e-03 1.59999640e+02] [ 4.23279969e-03 2.97869934e-04 -9.99990997e-01 1.69102206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.1592541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:936.80, Y:159.92, Z:16.91 [[-2.20889117e-01 -9.75297771e-01 -1.50189276e-03 9.36799962e+02] [-9.75289874e-01 2.20893440e-01 -3.96858134e-03 1.59917791e+02] [ 4.20230679e-03 5.88164375e-04 -9.99990997e-01 1.69103605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.1892541539999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:936.76, Y:159.89, Z:16.92 [[-1.50595109e-01 -9.88594385e-01 -1.50189276e-03 9.36761322e+02] [-9.88586817e-01 1.50599985e-01 -3.96858134e-03 1.59894615e+02] [ 4.14950225e-03 8.87102446e-04 -9.99990997e-01 1.69150405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.2192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.00, Y:159.95, Z:15.99 [[-1.66910121e-01 9.85971896e-01 6.56957614e-04 9.36002388e+02] [-9.85963356e-01 -1.66911410e-01 4.10384307e-03 1.59950105e+02] [ 4.15592765e-03 3.72368094e-05 9.99991363e-01 1.59887287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.2492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.71, Y:159.79, Z:16.92 [[-8.04097390e-02 -9.96761678e-01 -6.56957615e-04 9.36712366e+02] [-9.96753283e-01 8.04117666e-02 -4.10384307e-03 1.59785342e+02] [ 4.14338062e-03 3.24835709e-04 -9.99991363e-01 1.69173105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.2792541539998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:935.95, Y:159.76, Z:15.99 [[-1.05853528e-01 9.94381661e-01 3.78423351e-04 9.35947318e+02] [-9.94373089e-01 -1.05854187e-01 4.12936865e-03 1.59763285e+02] [ 4.14622615e-03 6.08142457e-05 9.99991403e-01 1.59864755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.3092541539997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:936.67, Y:159.67, Z:16.92 [[-1.24738765e-02 -9.99922127e-01 -3.78423350e-04 9.36671661e+02] [-9.99913654e-01 1.24753335e-02 -4.12936865e-03 1.59672853e+02] [ 4.13376804e-03 3.26881441e-04 -9.99991403e-01 1.69184350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.339254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:935.91, Y:159.68, Z:15.99 [[-3.57517160e-02 9.99360698e-01 9.93446776e-05 9.35910388e+02] [-9.99352140e-01 -3.57518210e-02 4.13607203e-03 1.59677012e+02] [ 4.13697958e-03 4.85913560e-05 9.99991442e-01 1.59853228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.369254154 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:935.91, Y:159.67, Z:15.99 [[-3.53634981e-02 9.99374511e-01 1.01589136e-04 9.35908754e+02] [-9.99365953e-01 -3.53636157e-02 4.13601690e-03 1.59666699e+02] [ 4.13702242e-03 4.47393014e-05 9.99991442e-01 1.59855215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.399254154 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:935.91, Y:159.66, Z:15.99 [[-3.34360702e-02 9.99440852e-01 1.09249180e-04 9.35905849e+02] [-9.99432295e-01 -3.34362360e-02 4.13581455e-03 1.59660557e+02] [ 4.13715490e-03 2.90982267e-05 9.99991442e-01 1.59866646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.4292541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:935.90, Y:159.66, Z:15.99 [[-3.27198216e-02 9.99464557e-01 1.11488376e-04 9.35904661e+02] [-9.99456001e-01 -3.27200028e-02 4.13575419e-03 1.59660815e+02] [ 4.13718763e-03 2.38934131e-05 9.99991442e-01 1.59875221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.4592541539998 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:935.90, Y:159.65, Z:15.99 [[-3.12857966e-02 9.99510473e-01 1.13724234e-04 9.35901758e+02] [-9.99501917e-01 -3.12859993e-02 4.13569271e-03 1.59645051e+02] [ 4.13722615e-03 1.57208509e-05 9.99991442e-01 1.59901093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.4892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:935.90, Y:159.57, Z:15.99 [[-4.36972969e-02 9.99044810e-01 1.15965164e-04 9.35901341e+02] [-9.99036252e-01 -4.36974026e-02 4.13562987e-03 1.59574857e+02] [ 4.13674694e-03 6.48624438e-05 9.99991442e-01 1.59907178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.5192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:935.90, Y:159.57, Z:15.99 [[-4.31985278e-02 9.99066493e-01 1.70828846e-04 9.35899253e+02] [-9.99057943e-01 -4.31988648e-02 4.13336240e-03 1.59570702e+02] [ 4.13688349e-03 7.88725547e-06 9.99991443e-01 1.59909664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.5492541539998 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:935.90, Y:159.57, Z:15.99 [[-4.35132602e-02 9.99052835e-01 1.73056530e-04 9.35898257e+02] [-9.99044285e-01 -4.35136038e-02 4.13326913e-03 1.59565530e+02] [ 4.13688456e-03 6.96087799e-06 9.99991443e-01 1.59903988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.579254154 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:935.90, Y:159.56, Z:15.99 [[-4.38231039e-02 9.99039291e-01 1.75283560e-04 9.35896231e+02] [-9.99030741e-01 -4.38234540e-02 4.13317469e-03 1.59558897e+02] [ 4.13688544e-03 6.01487870e-06 9.99991443e-01 1.59899361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.609254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:935.90, Y:159.55, Z:15.99 [[-4.45301973e-02 9.99008023e-01 1.77512926e-04 9.35895345e+02] [-9.98999473e-01 -4.45305506e-02 4.13307894e-03 1.59552514e+02] [ 4.13688376e-03 6.71150068e-06 9.99991443e-01 1.59909751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.639254154 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:935.89, Y:159.54, Z:15.99 [[-4.66133043e-02 9.98912993e-01 1.79744632e-04 9.35893266e+02] [-9.98904443e-01 -4.66136490e-02 4.13298188e-03 1.59542121e+02] [ 4.13686785e-03 1.31042306e-05 9.99991443e-01 1.59900808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.6692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:935.89, Y:159.54, Z:15.99 [[-4.82036703e-02 9.98837511e-01 1.81982273e-04 9.35892206e+02] [-9.98828961e-01 -4.82040106e-02 4.13288335e-03 1.59538791e+02] [ 4.13685119e-03 1.74509816e-05 9.99991443e-01 1.59905893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.6992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:935.89, Y:159.53, Z:15.99 [[-5.05342853e-02 9.98722310e-01 1.84435340e-04 9.35890700e+02] [-9.98713759e-01 -5.05346159e-02 4.13277387e-03 1.59532027e+02] [ 4.13681384e-03 2.46486628e-05 9.99991443e-01 1.59912642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.7292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:935.89, Y:159.53, Z:15.99 [[-5.18949859e-02 9.98652530e-01 1.86887322e-04 9.35890333e+02] [-9.98643979e-01 -5.18953149e-02 4.13266299e-03 1.59528500e+02] [ 4.13679293e-03 2.78305883e-05 9.99991443e-01 1.59911617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.7592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:935.89, Y:159.52, Z:15.99 [[-5.43240860e-02 9.98523339e-01 1.89127199e-04 9.35890081e+02] [-9.98514788e-01 -5.43244035e-02 4.13256048e-03 1.59521306e+02] [ 4.13673231e-03 3.56512662e-05 9.99991443e-01 1.59904275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.7892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:935.89, Y:159.52, Z:15.99 [[-5.53809919e-02 9.98465277e-01 1.91579052e-04 9.35890395e+02] [-9.98456726e-01 -5.53813105e-02 4.13244682e-03 1.59515469e+02] [ 4.13671455e-03 3.75756100e-05 9.99991443e-01 1.59929485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.8192541539997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:935.89, Y:159.51, Z:15.99 [[-5.52689705e-02 9.98471484e-01 1.93821517e-04 9.35890848e+02] [-9.98462933e-01 -5.52692994e-02 4.13234164e-03 1.59513664e+02] [ 4.13673766e-03 3.48666674e-05 9.99991443e-01 1.59906988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.849254154 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:935.89, Y:159.51, Z:15.99 [[-5.35550785e-02 9.98564878e-01 1.96486569e-04 9.35891235e+02] [-9.98556328e-01 -5.35554330e-02 4.13221491e-03 1.59509758e+02] [ 4.13680760e-03 2.50981874e-05 9.99991443e-01 1.59933711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.879254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:935.89, Y:159.50, Z:16.00 [[-5.28844394e-02 9.98600619e-01 1.98720488e-04 9.35891160e+02] [-9.98592070e-01 -5.28848089e-02 4.13210748e-03 1.59502621e+02] [ 4.13683438e-03 2.00834838e-05 9.99991443e-01 1.59952595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.9092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:935.89, Y:159.49, Z:16.00 [[-5.03127858e-02 9.98733489e-01 2.03025661e-04 9.35891159e+02] [-9.98724942e-01 -5.03131952e-02 4.13189594e-03 1.59494688e+02] [ 4.13687772e-03 5.12040384e-06 9.99991443e-01 1.59970299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.9392541539999 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:935.89, Y:159.49, Z:16.00 [[-5.03531151e-02 9.98731456e-01 2.05258510e-04 9.35891013e+02] [-9.98722910e-01 -5.03535333e-02 4.13178502e-03 1.59493333e+02] [ 4.13687916e-03 3.05186968e-06 9.99991443e-01 1.59972327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.9692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:935.89, Y:159.48, Z:16.00 [[-4.97514678e-02 9.98761607e-01 2.07491300e-04 9.35891342e+02] [-9.98753061e-01 -4.97519005e-02 4.13167289e-03 1.59484507e+02] [ 4.13687934e-03 -1.67578008e-06 9.99991443e-01 1.59978133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.9992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:935.89, Y:159.48, Z:16.00 [[-5.04220638e-02 9.98727977e-01 2.09724027e-04 9.35891758e+02] [-9.98719431e-01 -5.04224999e-02 4.13155955e-03 1.59483316e+02] [ 4.13687892e-03 -1.13370145e-06 9.99991443e-01 1.59975614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.0292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:935.89, Y:159.48, Z:16.00 [[-5.09453480e-02 9.98701420e-01 2.12168082e-04 9.35892744e+02] [-9.98692875e-01 -5.09457897e-02 4.13143404e-03 1.59477667e+02] [ 4.13687811e-03 -1.41340685e-06 9.99991443e-01 1.59952421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.0592541539997 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:935.89, Y:159.47, Z:16.00 [[-5.16771699e-02 9.98663819e-01 2.14397391e-04 9.35892670e+02] [-9.98655274e-01 -5.16776146e-02 4.13131835e-03 1.59472126e+02] [ 4.13687770e-03 -6.14245031e-07 9.99991443e-01 1.59958723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.089254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:935.89, Y:159.47, Z:16.00 [[-5.08107110e-02 9.98708278e-01 2.16628134e-04 9.35893431e+02] [-9.98699734e-01 -5.08111724e-02 4.13120137e-03 1.59468455e+02] [ 4.13687214e-03 -6.43718088e-06 9.99991443e-01 1.59953850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.119254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:935.89, Y:159.47, Z:16.00 [[-4.93621665e-02 9.98780921e-01 2.18858209e-04 9.35893938e+02] [-9.98772378e-01 -4.93626495e-02 4.13108323e-03 1.59465188e+02] [ 4.13685053e-03 -1.46703163e-05 9.99991443e-01 1.59959115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.149254154 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:935.89, Y:159.46, Z:15.99 [[-4.88013249e-02 9.98808481e-01 2.21085543e-04 9.35893739e+02] [-9.98799939e-01 -4.88018219e-02 4.13096402e-03 1.59459192e+02] [ 4.13683128e-03 -1.92237091e-05 9.99991443e-01 1.59948154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.1792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:935.89, Y:159.43, Z:16.00 [[-5.05245529e-02 9.98722794e-01 2.23312811e-04 9.35892679e+02] [-9.98714251e-01 -5.05250444e-02 4.13084361e-03 1.59428190e+02] [ 4.13685057e-03 -1.43166602e-05 9.99991443e-01 1.59967082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.2092541539998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:935.89, Y:159.42, Z:16.00 [[-5.03787570e-02 9.98730155e-01 2.41024196e-04 9.35891918e+02] [-9.98721617e-01 -5.03793230e-02 4.12980994e-03 1.59418774e+02] [ 4.13670836e-03 -3.26613835e-05 9.99991443e-01 1.59968237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.2392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:935.89, Y:159.42, Z:16.00 [[-4.94641195e-02 9.98775872e-01 2.43688309e-04 9.35891687e+02] [-9.98767335e-01 -4.94647043e-02 4.12965274e-03 1.59416952e+02] [ 4.13665148e-03 -3.91182863e-05 9.99991443e-01 1.59965698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.2692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:935.89, Y:159.41, Z:16.00 [[-4.75115622e-02 9.98870658e-01 2.45913973e-04 9.35891316e+02] [-9.98862123e-01 -4.75121729e-02 4.12952020e-03 1.59412119e+02] [ 4.13654046e-03 -4.94341972e-05 9.99991443e-01 1.59959660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.2992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:935.89, Y:159.41, Z:15.99 [[-4.62865683e-02 9.98928172e-01 2.48346642e-04 9.35891513e+02] [-9.98919638e-01 -4.62871995e-02 4.12937389e-03 1.59408742e+02] [ 4.13644318e-03 -5.69437910e-05 9.99991443e-01 1.59945507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.329254154 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:935.89, Y:159.40, Z:15.99 [[-4.70571643e-02 9.98892167e-01 2.50664393e-04 9.35892016e+02] [-9.98883633e-01 -4.70577985e-02 4.12923319e-03 1.59404814e+02] [ 4.13645441e-03 -5.60745551e-05 9.99991443e-01 1.59946074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.359254154 meters Centerline goodness : 0.999734 Centerline is valid? [True, True] Translation: X:935.89, Y:159.40, Z:15.99 [[-4.82129457e-02 9.98837048e-01 2.52880934e-04 9.35892568e+02] [-9.98828515e-01 -4.82135792e-02 4.12909744e-03 1.59397258e+02] [ 4.13648780e-03 -5.35087366e-05 9.99991443e-01 1.59939794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.389254154 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:935.89, Y:159.39, Z:15.99 [[-4.87546635e-02 9.98810752e-01 2.55098882e-04 9.35893089e+02] [-9.98802219e-01 -4.87553015e-02 4.12896041e-03 1.59391937e+02] [ 4.13648748e-03 -5.34872544e-05 9.99991443e-01 1.59939093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.4192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:935.89, Y:159.39, Z:15.99 [[-4.87302181e-02 9.98811944e-01 2.57319414e-04 9.35893376e+02] [-9.98803412e-01 -4.87308655e-02 4.12882202e-03 1.59391518e+02] [ 4.13645615e-03 -5.58131108e-05 9.99991443e-01 1.59939504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.4492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:935.89, Y:159.39, Z:16.00 [[-4.88398618e-02 9.98806588e-01 2.59536329e-04 9.35893036e+02] [-9.98798057e-01 -4.88405174e-02 4.12868266e-03 1.59385341e+02] [ 4.13643133e-03 -5.75800903e-05 9.99991443e-01 1.59956365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.4792541539998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:935.89, Y:159.38, Z:16.00 [[-4.82347693e-02 9.98835992e-01 2.61750806e-04 9.35893544e+02] [-9.98827461e-01 -4.82354393e-02 4.12854227e-03 1.59381820e+02] [ 4.13636227e-03 -6.23046091e-05 9.99991443e-01 1.59953711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.5092541539998 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:935.89, Y:159.38, Z:16.00 [[-4.83031735e-02 9.98832686e-01 2.63965207e-04 9.35893956e+02] [-9.98824156e-01 -4.83038520e-02 4.12840068e-03 1.59375468e+02] [ 4.13633207e-03 -6.42399713e-05 9.99991443e-01 1.59966649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.5392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.63, Y:159.22, Z:16.91 [[-1.31790396e-02 -9.99913005e-01 -5.44004937e-04 9.36632895e+02] [-9.99904676e-01 1.31811661e-02 -4.11034427e-03 1.59221763e+02] [ 4.11715731e-03 4.89782691e-04 -9.99991405e-01 1.69102582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.5692541539997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:935.86, Y:159.19, Z:16.00 [[ 1.95836151e-02 9.99808223e-01 -1.41101784e-05 9.35859051e+02] [-9.99799784e-01 1.95835078e-02 4.10842810e-03 1.59186793e+02] [ 4.10791652e-03 -6.63505212e-05 9.99991560e-01 1.59966886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.599254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:935.86, Y:159.16, Z:16.00 [[ 1.91176604e-02 9.99817241e-01 -1.52752757e-05 9.35860111e+02] [-9.99808802e-01 1.91175618e-02 4.10842376e-03 1.59158511e+02] [ 4.10796494e-03 -6.32710953e-05 9.99991560e-01 1.59967714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.629254154 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:936.62, Y:159.17, Z:16.91 [[ 7.01725248e-02 -9.97534870e-01 1.64599152e-05 9.36620504e+02] [-9.97526446e-01 -7.01720000e-02 -4.10841902e-03 1.59167562e+02] [ 4.09944625e-03 2.71878935e-04 -9.99991560e-01 1.69133539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.6592541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:935.86, Y:159.07, Z:15.99 [[ 9.30574612e-02 9.95660683e-01 -3.37053759e-04 9.35858974e+02] [-9.95652316e-01 9.30580610e-02 4.08194722e-03 1.59072403e+02] [ 4.09559992e-03 -4.42672891e-05 9.99991612e-01 1.59934622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.6892541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:935.86, Y:159.04, Z:15.99 [[ 8.94333954e-02 9.95992748e-01 -3.38165482e-04 9.35863266e+02] [-9.95984384e-01 8.94340303e-02 4.08185511e-03 1.59043408e+02] [ 4.09574159e-03 -2.82466230e-05 9.99991612e-01 1.59913817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.7192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.62, Y:159.11, Z:16.92 [[ 1.58359057e-01 -9.87381534e-01 3.39148537e-04 9.36615121e+02] [-9.87373147e-01 -1.58359113e-01 -4.08177343e-03 1.59110788e+02] [ 4.08397498e-03 3.11519632e-04 -9.99991612e-01 1.69193737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.7492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:935.87, Y:158.96, Z:15.99 [[ 1.58995584e-01 9.87279076e-01 -6.55491110e-04 9.35873675e+02] [-9.87270850e-01 1.58996935e-01 4.03032375e-03 1.58957429e+02] [ 4.08327539e-03 6.34358890e-06 9.99991663e-01 1.59892907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.7792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.61, Y:159.08, Z:16.92 [[ 2.41318377e-01 -9.70445779e-01 6.56486816e-04 9.36611333e+02] [-9.70437468e-01 -2.41319037e-01 -4.03016156e-03 1.59082745e+02] [ 4.06947604e-03 3.35472644e-04 -9.99991663e-01 1.69198997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.8092541539997 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:935.89, Y:158.87, Z:15.99 [[ 2.31807106e-01 9.72761292e-01 -9.66983407e-04 9.35887096e+02] [-9.72753255e-01 2.31809121e-01 3.95423171e-03 1.58871915e+02] [ 4.07067912e-03 2.40172489e-05 9.99991714e-01 1.59897765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.839254154 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:936.61, Y:159.05, Z:16.92 [[ 3.18952527e-01 -9.47770198e-01 9.67960731e-04 9.36610706e+02] [-9.47762013e-01 -3.18953811e-01 -3.95399245e-03 1.59053611e+02] [ 4.05621098e-03 3.43739475e-04 -9.99991714e-01 1.69197900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.869254154 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:936.60, Y:159.05, Z:16.92 [[ 3.92948000e-01 -9.19559816e-01 1.27073066e-03 9.36602155e+02] [-9.19551804e-01 -3.92949902e-01 -3.85416854e-03 1.59047786e+02] [ 4.04347200e-03 3.45985148e-04 -9.99991765e-01 1.69184592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.899254154 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:936.59, Y:159.04, Z:16.92 [[ 4.64191826e-01 -8.85733315e-01 1.56337935e-03 9.36594779e+02] [-8.85725522e-01 -4.64194328e-01 -3.73156028e-03 1.59042113e+02] [ 4.03087909e-03 3.47434786e-04 -9.99991816e-01 1.69187391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.9292541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:936.59, Y:159.04, Z:16.92 [[ 5.33292440e-01 -8.45928939e-01 1.84471863e-03 9.36588348e+02] [-8.45921408e-01 -5.33295514e-01 -3.58686833e-03 1.59037031e+02] [ 4.01801589e-03 3.52362779e-04 -9.99991866e-01 1.69197003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.9592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.58, Y:159.03, Z:16.92 [[ 5.98452713e-01 -8.01155345e-01 2.11291893e-03 9.36583592e+02] [-8.01148118e-01 -5.98456338e-01 -3.42123065e-03 1.59031712e+02] [ 4.00542695e-03 3.54683739e-04 -9.99991915e-01 1.69201211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.9892541539998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:936.58, Y:159.03, Z:16.92 [[ 6.60920259e-01 -7.50452403e-01 2.36676493e-03 9.36580026e+02] [-7.50445516e-01 -6.60924397e-01 -3.23554542e-03 1.59026128e+02] [ 3.99237552e-03 3.62309385e-04 -9.99991965e-01 1.69209196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.0192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.58, Y:159.02, Z:16.92 [[ 7.20200855e-01 -6.93760726e-01 2.60452515e-03 9.36575157e+02] [-6.93754206e-01 -7.20205466e-01 -3.03125665e-03 1.59017517e+02] [ 3.97876006e-03 3.76213357e-04 -9.99992014e-01 1.69231113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.0492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.57, Y:159.01, Z:16.92 [[ 7.73450472e-01 -6.33850446e-01 2.82480695e-03 9.36570039e+02] [-6.33844334e-01 -7.73455536e-01 -2.80979850e-03 1.59009871e+02] [ 3.96585460e-03 3.82752093e-04 -9.99992063e-01 1.69246216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.079254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.57, Y:159.00, Z:16.93 [[ 8.21806628e-01 -5.69758464e-01 3.02646728e-03 9.36566930e+02] [-5.69752789e-01 -8.21812108e-01 -2.57255684e-03 1.59003311e+02] [ 3.95292349e-03 3.89806085e-04 -9.99992111e-01 1.69263299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.109254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.56, Y:159.00, Z:16.93 [[ 8.65931578e-01 -5.00152185e-01 3.20840217e-03 9.36564270e+02] [-5.00146963e-01 -8.65937427e-01 -2.32106954e-03 1.58995831e+02] [ 3.93916352e-03 4.05214806e-04 -9.99992159e-01 1.69283943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.139254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.56, Y:158.99, Z:16.93 [[ 9.03027978e-01 -4.29568522e-01 3.36975233e-03 9.36562532e+02] [-4.29563794e-01 -9.03034173e-01 -2.05671087e-03 1.58989691e+02] [ 3.92649976e-03 4.09743861e-04 -9.99992207e-01 1.69300741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.1692541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:936.56, Y:158.98, Z:16.93 [[ 9.34446285e-01 -3.56086822e-01 3.50941860e-03 9.36562631e+02] [-3.56082607e-01 -9.34452783e-01 -1.78159394e-03 1.58983467e+02] [ 3.91378810e-03 4.15160917e-04 -9.99992255e-01 1.69303843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.1992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.56, Y:158.98, Z:16.93 [[ 9.59514619e-01 -2.81635476e-01 3.62684896e-03 9.36561851e+02] [-2.81631803e-01 -9.59521384e-01 -1.49711190e-03 1.58978052e+02] [ 3.90167895e-03 4.15064743e-04 -9.99992302e-01 1.69309962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.2292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.56, Y:158.97, Z:16.93 [[ 9.78504763e-01 -2.06190641e-01 3.72133879e-03 9.36563287e+02] [-2.06187529e-01 -9.78511753e-01 -1.20540172e-03 1.58973314e+02] [ 3.88991629e-03 4.12197672e-04 -9.99992349e-01 1.69300232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.2592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.56, Y:158.97, Z:16.93 [[ 9.91479921e-01 -1.30204387e-01 3.79254975e-03 9.36563975e+02] [-1.30201856e-01 -9.91487091e-01 -9.07951426e-04 1.58966936e+02] [ 3.87848338e-03 4.06418591e-04 -9.99992396e-01 1.69294977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.2892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.56, Y:158.96, Z:16.93 [[ 9.98514005e-01 -5.43602290e-02 3.84013698e-03 9.36561176e+02] [-5.43582931e-02 -9.98521311e-01 -6.06793164e-04 1.58962754e+02] [ 3.86744403e-03 3.97148181e-04 -9.99992443e-01 1.69289118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.3192541539997 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:936.56, Y:158.96, Z:16.93 [[ 9.99739854e-01 2.24787295e-02 3.86395973e-03 9.36559571e+02] [ 2.24800676e-02 -9.99747245e-01 -3.03206821e-04 1.58958253e+02] [ 3.85616740e-03 3.89990019e-04 -9.99992489e-01 1.69285588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.349254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.56, Y:158.95, Z:16.93 [[ 9.95280692e-01 9.69608862e-02 3.86392980e-03 9.36558522e+02] [ 9.69616085e-02 -9.95288122e-01 3.83268361e-07 1.58947707e+02] [ 3.84576060e-03 3.74271389e-04 -9.99992535e-01 1.69310058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.379254154 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:936.56, Y:158.94, Z:16.93 [[ 9.84424605e-01 1.75765336e-01 3.83963939e-03 9.36556699e+02] [ 1.75765457e-01 -9.84432024e-01 3.08691527e-04 1.58938830e+02] [ 3.83412125e-03 3.70992438e-04 -9.99992581e-01 1.69290179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.4092541539999 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:936.56, Y:158.93, Z:16.93 [[ 9.67745871e-01 2.51899856e-01 3.79360371e-03 9.36556238e+02] [ 2.51899421e-01 -9.67753234e-01 5.99839196e-04 1.58932430e+02] [ 3.82237167e-03 3.75114674e-04 -9.99992624e-01 1.69290045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.4392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.56, Y:158.92, Z:16.93 [[ 9.44963842e-01 3.27153591e-01 3.72357308e-03 9.36556768e+02] [ 3.27152590e-01 -9.44971104e-01 8.92132900e-04 1.58924518e+02] [ 3.81053345e-03 3.75143242e-04 -9.99992670e-01 1.69309758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.4692541539998 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:936.56, Y:158.92, Z:16.93 [[ 9.16476125e-01 4.00072902e-01 3.63116762e-03 9.36556639e+02] [ 4.00071345e-01 -9.16483242e-01 1.17717222e-03 1.58917590e+02] [ 3.79885898e-03 3.73875883e-04 -9.99992714e-01 1.69306753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.4992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.56, Y:158.91, Z:16.93 [[ 8.82244898e-01 4.70777624e-01 3.51705492e-03 9.36558329e+02] [ 4.70775529e-01 -8.82251829e-01 1.45332589e-03 1.58908679e+02] [ 3.78712144e-03 3.73554036e-04 -9.99992759e-01 1.69313332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.5292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.56, Y:158.90, Z:16.93 [[ 8.42601439e-01 5.38527043e-01 3.38213239e-03 9.36558813e+02] [ 5.38524429e-01 -8.42608144e-01 1.71881492e-03 1.58901156e+02] [ 3.77544061e-03 3.73084991e-04 -9.99992803e-01 1.69309471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.5592541539997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:936.56, Y:158.89, Z:16.93 [[ 7.97869282e-01 6.02821859e-01 3.22719959e-03 9.36561181e+02] [ 6.02818747e-01 -7.97875722e-01 1.97232294e-03 1.58893999e+02] [ 3.76386359e-03 3.71760524e-04 -9.99992848e-01 1.69306322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.589254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.56, Y:158.89, Z:16.93 [[ 7.48105168e-01 6.63573157e-01 3.05353460e-03 9.36562262e+02] [ 6.63569573e-01 -7.48111307e-01 2.21205181e-03 1.58886163e+02] [ 3.75224197e-03 3.71385264e-04 -9.99992891e-01 1.69307164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.619254154 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:936.57, Y:158.88, Z:16.93 [[ 6.93991438e-01 7.19977563e-01 2.86217148e-03 9.36565005e+02] [ 7.19973534e-01 -6.93997242e-01 2.43681815e-03 1.58879411e+02] [ 3.74079350e-03 3.69556780e-04 -9.99992935e-01 1.69309465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.649254154 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:936.57, Y:158.87, Z:16.93 [[ 6.36108438e-01 7.71595108e-01 2.65436148e-03 9.36567678e+02] [ 7.71590659e-01 -6.36113871e-01 2.64533729e-03 1.58872426e+02] [ 3.72960547e-03 3.65359155e-04 -9.99992978e-01 1.69319267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.6792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.57, Y:158.87, Z:16.93 [[ 5.74223542e-01 8.18694945e-01 2.43146344e-03 9.36571311e+02] [ 8.18690111e-01 -5.74228575e-01 2.83641281e-03 1.58865618e+02] [ 3.71837261e-03 3.61880065e-04 -9.99993021e-01 1.69320138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.7092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.58, Y:158.86, Z:16.93 [[ 5.09625762e-01 8.60393378e-01 2.19512899e-03 9.36577042e+02] [ 8.60388190e-01 -5.09630366e-01 3.00883351e-03 1.58858506e+02] [ 3.70748482e-03 3.55283994e-04 -9.99993064e-01 1.69320293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.7392541539998 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:936.58, Y:158.85, Z:16.93 [[ 4.41514023e-01 8.97252238e-01 1.94671440e-03 9.36581940e+02] [ 8.97246735e-01 -4.41518175e-01 3.16178293e-03 1.58851665e+02] [ 3.69642659e-03 3.50711638e-04 -9.99993107e-01 1.69317775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.7692541539998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:936.59, Y:158.84, Z:16.93 [[ 3.71081413e-01 9.28598802e-01 1.68796216e-03 9.36587517e+02] [ 9.28593023e-01 -3.71085092e-01 3.29436232e-03 1.58844331e+02] [ 3.68551850e-03 3.44953257e-04 -9.99993149e-01 1.69318932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.7992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.59, Y:158.84, Z:16.93 [[ 2.97224156e-01 9.54806674e-01 1.42034382e-03 9.36592420e+02] [ 9.54800661e-01 -2.97227351e-01 3.40596381e-03 1.58837571e+02] [ 3.67420201e-03 3.43810499e-04 -9.99993191e-01 1.69321835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.829254154 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:936.60, Y:158.83, Z:16.93 [[ 2.21836433e-01 9.75083219e-01 1.14568684e-03 9.36599706e+02] [ 9.75077012e-01 -2.21839129e-01 3.49597349e-03 1.58831492e+02] [ 3.66302325e-03 3.41598607e-04 -9.99993233e-01 1.69328840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.859254154 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:936.61, Y:158.82, Z:16.93 [[ 1.45133152e-01 9.89411754e-01 8.65770248e-04 9.36607899e+02] [ 9.89405393e-01 -1.45135338e-01 3.56397179e-03 1.58824673e+02] [ 3.65188943e-03 3.39347292e-04 -9.99993274e-01 1.69341251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.889254154 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:936.62, Y:158.82, Z:16.94 [[ 6.76031392e-02 9.97712121e-01 5.82164772e-04 9.36615163e+02] [ 9.97705648e-01 -6.76048069e-02 3.60971109e-03 1.58820349e+02] [ 3.64080964e-03 3.36801280e-04 -9.99993316e-01 1.69350221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.9192541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:936.62, Y:158.82, Z:16.94 [[-8.33950072e-03 9.99965182e-01 2.96630406e-04 9.36623389e+02] [ 9.99958636e-01 8.33836842e-03 3.63302464e-03 1.58816259e+02] [ 3.63042474e-03 3.26915748e-04 -9.99993357e-01 1.69361951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.9492541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:936.63, Y:158.81, Z:16.94 [[-8.31053929e-02 9.96540764e-01 1.11149979e-05 9.36630932e+02] [ 9.96534187e-01 8.31048039e-02 3.63389810e-03 1.58812256e+02] [ 3.62040388e-03 3.13073004e-04 -9.99993397e-01 1.69365708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.9792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.67, Y:158.77, Z:16.94 [[-1.57312094e-01 9.87548900e-01 -2.72613915e-04 9.36671276e+02] [ 9.87542338e-01 1.57312046e-01 3.61248683e-03 1.58768454e+02] [ 3.61039285e-03 2.99070087e-04 -9.99993438e-01 1.69354721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.0092541539998 meters Centerline goodness : 0.999737 Centerline is valid? [True, True] Translation: X:936.71, Y:158.76, Z:16.94 [[-2.31855927e-01 9.72749990e-01 -5.35564922e-04 9.36706361e+02] [ 9.72743480e-01 2.31856342e-01 3.57188310e-03 1.58756112e+02] [ 3.59872337e-03 3.07194980e-04 -9.99993477e-01 1.69359174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.0392541539998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:936.75, Y:158.73, Z:16.94 [[-3.05490587e-01 9.52194736e-01 -8.28076713e-04 9.36749335e+02] [ 9.52188335e-01 3.05491579e-01 3.50273088e-03 1.58729525e+02] [ 3.58825237e-03 2.81566323e-04 -9.99993523e-01 1.69357015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.0692541539997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:936.79, Y:158.71, Z:16.94 [[-3.75873553e-01 9.26670313e-01 -1.09657790e-03 9.36793081e+02] [ 9.26664054e-01 3.75875058e-01 3.41655280e-03 1.58708940e+02] [ 3.57819433e-03 2.68032521e-04 -9.99993562e-01 1.69353916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.099254154 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:936.84, Y:158.69, Z:16.94 [[-4.45886299e-01 8.95088581e-01 -1.35654940e-03 9.36837978e+02] [ 8.95082499e-01 4.45888286e-01 3.31000814e-03 1.58692556e+02] [ 3.56761998e-03 2.61663650e-04 -9.99993602e-01 1.69358325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.129254154 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:936.88, Y:158.68, Z:16.94 [[-5.13592393e-01 8.58032792e-01 -1.60678691e-03 9.36883313e+02] [ 8.58026924e-01 5.13594842e-01 3.18371615e-03 1.58682276e+02] [ 3.55697033e-03 2.56465961e-04 -9.99993641e-01 1.69364386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.1592541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:936.93, Y:158.67, Z:16.94 [[-5.79541263e-01 8.14940807e-01 -1.84546884e-03 9.36931151e+02] [ 8.14935182e-01 5.79544144e-01 3.03876255e-03 1.58672637e+02] [ 3.54594227e-03 2.57150802e-04 -9.99993680e-01 1.69357672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.1892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.98, Y:158.67, Z:16.94 [[-6.42265238e-01 7.66479695e-01 -2.05948027e-03 9.36975223e+02] [ 7.66474316e-01 6.42268481e-01 2.88477400e-03 1.58671714e+02] [ 3.53385996e-03 2.74251323e-04 -9.99993718e-01 1.69361127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.2192541539998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:937.02, Y:158.67, Z:16.94 [[-7.01659743e-01 7.12508566e-01 -2.26904372e-03 9.37022813e+02] [ 7.12503478e-01 7.01663355e-01 2.70751270e-03 1.58671633e+02] [ 3.52123082e-03 2.83051128e-04 -9.99993760e-01 1.69367381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.2492541539998 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:937.05, Y:158.69, Z:16.94 [[-7.55593276e-01 6.55036380e-01 -2.47835590e-03 9.37053662e+02] [ 6.55031663e-01 7.55597294e-01 2.50001405e-03 1.58689545e+02] [ 3.51023917e-03 2.65592214e-04 -9.99993804e-01 1.69377585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.2792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:937.12, Y:158.69, Z:16.94 [[-8.06440212e-01 5.91309722e-01 -2.64505576e-03 9.37116130e+02] [ 5.91305297e-01 8.06444496e-01 2.30684634e-03 1.58685343e+02] [ 3.49715132e-03 2.96298172e-04 -9.99993841e-01 1.69387174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.3092541539997 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:937.16, Y:158.70, Z:16.94 [[-8.50992052e-01 5.25171021e-01 -2.81525863e-03 9.37156368e+02] [ 5.25167001e-01 8.50996660e-01 2.07497322e-03 1.58701546e+02] [ 3.48549150e-03 2.87304793e-04 -9.99993884e-01 1.69412943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.339254154 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:937.21, Y:158.71, Z:16.94 [[-8.90100037e-01 4.55755587e-01 -2.96139099e-03 9.37208127e+02] [ 4.55751966e-01 8.90104917e-01 1.83912269e-03 1.58712670e+02] [ 3.47413912e-03 2.87343408e-04 -9.99993924e-01 1.69410136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.369254154 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:937.26, Y:158.73, Z:16.94 [[-9.23222456e-01 3.84253508e-01 -3.08832765e-03 9.37257600e+02] [ 3.84250310e-01 9.23227578e-01 1.59303855e-03 1.58727974e+02] [ 3.46335991e-03 2.84038100e-04 -9.99993962e-01 1.69408507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.399254154 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:937.29, Y:158.75, Z:16.94 [[-9.51150359e-01 3.08711506e-01 -3.19374195e-03 9.37293762e+02] [ 3.08708725e-01 9.51155677e-01 1.34220906e-03 1.58752199e+02] [ 3.45210116e-03 2.90706623e-04 -9.99993999e-01 1.69390007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.4292541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:937.34, Y:158.78, Z:16.94 [[-9.72353825e-01 2.33489373e-01 -3.27895490e-03 9.37338440e+02] [ 2.33487033e-01 9.72359311e-01 1.08459250e-03 1.58775936e+02] [ 3.44156315e-03 2.89014219e-04 -9.99994036e-01 1.69391032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.4592541539998 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:937.38, Y:158.80, Z:16.94 [[-9.87797714e-01 1.55706442e-01 -3.34356225e-03 9.37376513e+02] [ 1.55704546e-01 9.87803330e-01 8.21700888e-04 1.58804841e+02] [ 3.43072605e-03 2.91066417e-04 -9.99994073e-01 1.69384929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.4892541539998 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:937.41, Y:158.84, Z:16.94 [[-9.97005039e-01 7.72624071e-02 -3.38719793e-03 9.37412366e+02] [ 7.72609616e-02 9.97010750e-01 5.55749822e-04 1.58835894e+02] [ 3.42001132e-03 2.92387204e-04 -9.99994109e-01 1.69383989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.5192541539998 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:937.45, Y:158.87, Z:16.94 [[-9.99992937e-01 -1.58097654e-03 -3.40981301e-03 9.37445733e+02] [-1.58196756e-03 9.99998707e-01 2.87959194e-04 1.58870199e+02] [ 3.40935335e-03 2.93351373e-04 -9.99994145e-01 1.69386174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.5492541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:937.48, Y:158.91, Z:16.94 [[-9.96712100e-01 -8.09527754e-02 -3.41138737e-03 9.37476161e+02] [-8.09533146e-02 9.96717894e-01 2.00449188e-05 1.58906504e+02] [ 3.39856814e-03 2.96142128e-04 -9.99994181e-01 1.69378039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.579254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:937.50, Y:158.95, Z:16.94 [[-9.87085788e-01 -1.60156616e-01 -3.39203939e-03 9.37503816e+02] [-1.60156708e-01 9.87091570e-01 -2.46356102e-04 1.58945555e+02] [ 3.38770905e-03 3.00083255e-04 -9.99994217e-01 1.69389528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.609254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:937.52, Y:158.99, Z:16.94 [[-9.71165126e-01 -2.38384272e-01 -3.35203758e-03 9.37522392e+02] [-2.38383922e-01 9.71170864e-01 -5.09520918e-04 1.58985898e+02] [ 3.37686300e-03 3.04242918e-04 -9.99994252e-01 1.69409970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.639254154 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:937.53, Y:159.03, Z:16.94 [[-9.49681618e-01 -3.13199599e-01 -3.29181229e-03 9.37534020e+02] [-3.13198804e-01 9.49687275e-01 -7.67745492e-04 1.59025160e+02] [ 3.36664982e-03 3.01877889e-04 -9.99994287e-01 1.69431425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.6692541539999 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:937.31, Y:159.74, Z:15.97 [[-9.56665729e-01 2.91170684e-01 3.21178923e-03 9.37309959e+02] [-2.91168901e-01 -9.56671120e-01 1.01977831e-03 1.59742357e+02] [ 3.36955554e-03 4.04138172e-05 9.99994322e-01 1.59744408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.6992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:937.32, Y:159.74, Z:15.98 [[-9.55640358e-01 2.94518569e-01 3.21219031e-03 9.37315458e+02] [-2.94516809e-01 -9.55645756e-01 1.01851337e-03 1.59739880e+02] [ 3.36968714e-03 2.72884430e-05 9.99994322e-01 1.59763695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.7292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:937.31, Y:159.74, Z:15.98 [[-9.55758932e-01 2.94133624e-01 3.20557267e-03 9.37313224e+02] [-2.94131792e-01 -9.55764306e-01 1.03939632e-03 1.59739087e+02] [ 3.36949334e-03 5.05514869e-05 9.99994322e-01 1.59763693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.7592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:937.27, Y:159.73, Z:15.98 [[-9.57215259e-01 2.89359064e-01 3.20617631e-03 9.37265323e+02] [-2.89357211e-01 -9.57220627e-01 1.03748799e-03 1.59726548e+02] [ 3.36922465e-03 6.53691045e-05 9.99994322e-01 1.59751871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.7892541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:937.52, Y:159.06, Z:16.94 [[-9.24164768e-01 -3.81980569e-01 -3.21352824e-03 9.37520069e+02] [-3.81979333e-01 9.24170310e-01 -1.01419660e-03 1.59059002e+02] [ 3.35725078e-03 2.90216605e-04 -9.99994322e-01 1.69413421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.8192541539997 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:937.52, Y:159.10, Z:16.94 [[-8.92982141e-01 -4.50081302e-01 -3.11719643e-03 9.37520837e+02] [-4.50079645e-01 8.92987537e-01 -1.25371348e-03 1.59096457e+02] [ 3.34789056e-03 2.83442916e-04 -9.99994356e-01 1.69415127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.849254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:937.18, Y:159.77, Z:15.98 [[-8.98270856e-01 4.39431971e-01 3.00194283e-03 9.37183433e+02] [-4.39429457e-01 -8.98275872e-01 1.48646973e-03 1.59765113e+02] [ 3.34977513e-03 1.61103315e-05 9.99994389e-01 1.59801914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.879254154 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:937.19, Y:159.76, Z:15.98 [[-8.94983431e-01 4.46089277e-01 3.00252424e-03 9.37185837e+02] [-4.46086804e-01 -8.94988468e-01 1.48529439e-03 1.59764043e+02] [ 3.34979847e-03 -1.00725709e-05 9.99994389e-01 1.59787496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.9092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:937.19, Y:159.76, Z:15.98 [[-8.94444608e-01 4.47168720e-01 2.99634515e-03 9.37185672e+02] [-4.47166212e-01 -8.94449627e-01 1.49780208e-03 1.59762896e+02] [ 3.34985005e-03 -1.63317141e-07 9.99994389e-01 1.59799889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.9392541539999 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:937.19, Y:159.76, Z:15.98 [[-8.92583729e-01 4.50871734e-01 2.99431413e-03 9.37185512e+02] [-4.50869233e-01 -8.92588751e-01 1.50191581e-03 1.59762455e+02] [ 3.34986250e-03 -9.45850081e-06 9.99994389e-01 1.59774861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.9692541539998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:937.17, Y:159.76, Z:15.98 [[-8.95482236e-01 4.45087187e-01 2.99343061e-03 9.37173543e+02] [-4.45084647e-01 -8.95487239e-01 1.50370624e-03 1.59759219e+02] [ 3.34985929e-03 1.42122171e-05 9.99994389e-01 1.59804336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.9992541539998 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:937.18, Y:159.76, Z:15.98 [[-8.93547411e-01 4.48958790e-01 3.00480818e-03 9.37184772e+02] [-4.48956349e-01 -8.93552463e-01 1.48061626e-03 1.59761576e+02] [ 3.34968943e-03 -2.60268803e-05 9.99994389e-01 1.59769094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.0292541539998 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:937.19, Y:159.76, Z:15.97 [[-8.94121280e-01 4.47814869e-01 2.99661013e-03 9.37187010e+02] [-4.47812366e-01 -8.94126302e-01 1.49725552e-03 1.59760719e+02] [ 3.34984122e-03 -3.19105295e-06 9.99994389e-01 1.59741509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.0592541539997 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:937.16, Y:159.75, Z:15.97 [[-8.94848950e-01 4.46359026e-01 2.99607610e-03 9.37161242e+02] [-4.46356511e-01 -8.94853966e-01 1.49834004e-03 1.59745174e+02] [ 3.34984818e-03 3.46993640e-06 9.99994389e-01 1.59713030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.089254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:937.15, Y:159.74, Z:15.97 [[-8.96246290e-01 4.43546639e-01 2.99455880e-03 9.37148906e+02] [-4.43544098e-01 -8.96251292e-01 1.50142430e-03 1.59738596e+02] [ 3.34982889e-03 1.74270780e-05 9.99994389e-01 1.59734948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.119254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:937.18, Y:159.75, Z:15.97 [[-8.97169483e-01 4.41676293e-01 2.99530219e-03 9.37177525e+02] [-4.41673747e-01 -8.97174482e-01 1.49991199e-03 1.59753294e+02] [ 3.34978426e-03 2.27289255e-05 9.99994389e-01 1.59744183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.149254154 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:937.17, Y:159.75, Z:15.97 [[-8.97334596e-01 4.41340727e-01 2.99754459e-03 9.37166926e+02] [-4.41338194e-01 -8.97339603e-01 1.49534765e-03 1.59748525e+02] [ 3.34977329e-03 1.88962642e-05 9.99994389e-01 1.59738938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.1792541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:937.16, Y:159.75, Z:15.97 [[-8.99555672e-01 4.36795834e-01 2.99870719e-03 9.37163633e+02] [-4.36793284e-01 -8.99560669e-01 1.49297895e-03 1.59750139e+02] [ 3.34964603e-03 3.32025164e-05 9.99994389e-01 1.59748031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.2092541539998 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:937.16, Y:159.75, Z:15.97 [[-8.98894991e-01 4.38153796e-01 3.00768455e-03 9.37163836e+02] [-4.38151314e-01 -8.98900023e-01 1.47466903e-03 1.59751029e+02] [ 3.34973955e-03 7.75166750e-06 9.99994390e-01 1.59741742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.2392541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:937.17, Y:159.75, Z:15.98 [[-8.97219987e-01 4.41573602e-01 3.00825959e-03 9.37165217e+02] [-4.41571144e-01 -8.97225030e-01 1.47349504e-03 1.59750002e+02] [ 3.34974232e-03 -6.31143301e-06 9.99994390e-01 1.59763662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.2692541539998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:937.15, Y:159.74, Z:15.98 [[-8.96810418e-01 4.42404860e-01 3.00237240e-03 9.37147680e+02] [-4.42402366e-01 -8.96815444e-01 1.48552426e-03 1.59743560e+02] [ 3.34977709e-03 3.97698036e-06 9.99994389e-01 1.59774236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.2992541539998 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:937.15, Y:159.75, Z:15.98 [[-8.96602380e-01 4.42826311e-01 3.00499616e-03 9.37151067e+02] [-4.42823838e-01 -8.96607416e-01 1.48015954e-03 1.59746823e+02] [ 3.34975543e-03 -3.56936863e-06 9.99994390e-01 1.59775560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.329254154 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:937.17, Y:159.76, Z:15.98 [[-8.95682326e-01 4.44684285e-01 3.00969819e-03 9.37168727e+02] [-4.44681854e-01 -8.95687382e-01 1.47053606e-03 1.59755445e+02] [ 3.34967297e-03 -2.12250181e-05 9.99994390e-01 1.59773083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.359254154 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:937.15, Y:159.75, Z:15.98 [[-8.97142660e-01 4.41730703e-01 3.00555378e-03 9.37153557e+02] [-4.41728227e-01 -8.97147695e-01 1.47902073e-03 1.59749892e+02] [ 3.34975451e-03 -7.45346387e-07 9.99994390e-01 1.59782852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.389254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:937.15, Y:159.75, Z:15.98 [[-8.98269581e-01 4.39434520e-01 3.01039812e-03 9.37150177e+02] [-4.39432064e-01 -8.98274626e-01 1.46909393e-03 1.59748410e+02] [ 3.34973483e-03 -3.22307251e-06 9.99994390e-01 1.59801626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.4192541539999 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:937.15, Y:159.75, Z:15.98 [[-8.98870443e-01 4.38204132e-01 3.01096992e-03 9.37148148e+02] [-4.38201673e-01 -8.98875486e-01 1.46792106e-03 1.59746641e+02] [ 3.34973613e-03 5.87949845e-08 9.99994390e-01 1.59755001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.4492541539998 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:937.45, Y:159.10, Z:16.94 [[-8.65036464e-01 -5.01699957e-01 -3.01154371e-03 9.37445412e+02] [-5.01697871e-01 8.65041672e-01 -1.46674296e-03 1.59100445e+02] [ 3.34097568e-03 2.42098929e-04 -9.99994390e-01 1.69437596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.4792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:937.39, Y:159.10, Z:16.94 [[-8.22046358e-01 -5.69413110e-01 -2.91467746e-03 9.37394789e+02] [-5.69410859e-01 8.22051464e-01 -1.63252971e-03 1.59104391e+02] [ 3.32559869e-03 3.17633895e-04 -9.99994420e-01 1.69419808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.5092541539998 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:936.97, Y:159.72, Z:15.97 [[-8.27504507e-01 5.61452371e-01 2.74332601e-03 9.36968735e+02] [-5.61449216e-01 -8.27509054e-01 1.88226754e-03 1.59716325e+02] [ 3.32693068e-03 1.73466339e-05 9.99994466e-01 1.59726570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.5392541539998 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:936.97, Y:159.71, Z:15.97 [[-8.28282175e-01 5.60304479e-01 2.74406066e-03 9.36966504e+02] [-5.60301322e-01 -8.28286720e-01 1.88119592e-03 1.59714100e+02] [ 3.32691150e-03 2.06602319e-05 9.99994466e-01 1.59728027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.5692541539997 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:936.96, Y:159.71, Z:15.97 [[-8.29638724e-01 5.58293878e-01 2.74479489e-03 9.36963605e+02] [-5.58290713e-01 -8.29643264e-01 1.88012401e-03 1.59712419e+02] [ 3.32686232e-03 2.74301887e-05 9.99994466e-01 1.59744543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.599254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.96, Y:159.71, Z:15.97 [[-8.30437171e-01 5.57105526e-01 2.74552932e-03 9.36960564e+02] [-5.57102358e-01 -8.30441709e-01 1.87905091e-03 1.59710612e+02] [ 3.32683171e-03 3.08928658e-05 9.99994466e-01 1.59748560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.629254154 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:936.96, Y:159.71, Z:15.97 [[-8.30132901e-01 5.57558807e-01 2.74635751e-03 9.36958770e+02] [-5.57555646e-01 -8.30137444e-01 1.87783969e-03 1.59710292e+02] [ 3.32686026e-03 2.76093780e-05 9.99994466e-01 1.59731036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.6592541539999 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:936.95, Y:159.71, Z:15.97 [[-8.30082196e-01 5.57634290e-01 2.74709129e-03 9.36951034e+02] [-5.57631132e-01 -8.30086741e-01 1.87676562e-03 1.59707005e+02] [ 3.32687292e-03 2.60060952e-05 9.99994466e-01 1.59734903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.6892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.82, Y:159.61, Z:15.98 [[-8.29010270e-01 5.59226628e-01 2.74782603e-03 9.36816172e+02] [-5.59223483e-01 -8.29014824e-01 1.87568925e-03 1.59614045e+02] [ 3.32692389e-03 1.83168025e-05 9.99994466e-01 1.59779568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.7192541539998 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:936.95, Y:159.71, Z:15.98 [[-8.29839770e-01 5.57995001e-01 2.74512078e-03 9.36951040e+02] [-5.57991836e-01 -8.29844310e-01 1.87965456e-03 1.59709526e+02] [ 3.32686071e-03 2.80571183e-05 9.99994466e-01 1.59751435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.7492541539998 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:936.95, Y:159.71, Z:15.98 [[-8.29997855e-01 5.57759806e-01 2.74948564e-03 9.36947442e+02] [-5.57756660e-01 -8.30002409e-01 1.87324797e-03 1.59707917e+02] [ 3.32690213e-03 2.12478685e-05 9.99994466e-01 1.59763593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.7792541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:936.94, Y:159.70, Z:15.98 [[-8.30367744e-01 5.57208979e-01 2.75021714e-03 9.36938930e+02] [-5.57205835e-01 -8.30372298e-01 1.87217341e-03 1.59702709e+02] [ 3.32689596e-03 2.21553744e-05 9.99994466e-01 1.59786837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.8092541539997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.94, Y:159.70, Z:15.98 [[-8.30719928e-01 5.56683782e-01 2.75095058e-03 9.36938495e+02] [-5.56680638e-01 -8.30724483e-01 1.87109508e-03 1.59703700e+02] [ 3.32689028e-03 2.29550443e-05 9.99994466e-01 1.59793697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.839254154 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:936.94, Y:159.70, Z:15.98 [[-8.30573216e-01 5.56902650e-01 2.75168497e-03 9.36937799e+02] [-5.56899511e-01 -8.30577774e-01 1.87001443e-03 1.59704718e+02] [ 3.32690437e-03 2.07718881e-05 9.99994466e-01 1.59775759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.869254154 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:936.94, Y:159.71, Z:15.98 [[-8.30602905e-01 5.56858365e-01 2.75241757e-03 9.36937942e+02] [-5.56855229e-01 -8.30607465e-01 1.86893553e-03 1.59705481e+02] [ 3.32691096e-03 1.96451611e-05 9.99994466e-01 1.59761420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.899254154 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:936.93, Y:159.70, Z:15.98 [[-8.30795039e-01 5.56571669e-01 2.75314837e-03 9.36932413e+02] [-5.56568535e-01 -8.30799601e-01 1.86785835e-03 1.59703258e+02] [ 3.32691161e-03 1.94916917e-05 9.99994466e-01 1.59758161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.9292541539999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:936.93, Y:159.70, Z:15.98 [[-8.31117826e-01 5.56089540e-01 2.75387912e-03 9.36930964e+02] [-5.56086407e-01 -8.31122388e-01 1.86678034e-03 1.59702866e+02] [ 3.32690761e-03 2.01196749e-05 9.99994466e-01 1.59752984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.9592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.93, Y:159.70, Z:15.98 [[-8.32328544e-01 5.54275749e-01 2.75460995e-03 9.36927331e+02] [-5.54272610e-01 -8.32333102e-01 1.86570132e-03 1.59702094e+02] [ 3.32686604e-03 2.60716139e-05 9.99994466e-01 1.59783635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.9892541539998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:936.93, Y:159.70, Z:15.98 [[-8.32763807e-01 5.53621577e-01 2.75534035e-03 9.36928300e+02] [-5.53618437e-01 -8.32768365e-01 1.86462200e-03 1.59703352e+02] [ 3.32685525e-03 2.73824945e-05 9.99994466e-01 1.59766563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.0192541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:936.92, Y:159.70, Z:15.98 [[-8.34242473e-01 5.51390877e-01 2.75606984e-03 9.36920755e+02] [-5.51387729e-01 -8.34247025e-01 1.86354314e-03 1.59699714e+02] [ 3.32678375e-03 3.49837483e-05 9.99994466e-01 1.59753300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.0492541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:936.92, Y:159.70, Z:15.98 [[-8.35224034e-01 5.49902913e-01 2.75679940e-03 9.36919975e+02] [-5.49899761e-01 -8.35228582e-01 1.86246325e-03 1.59700782e+02] [ 3.32673162e-03 3.96107438e-05 9.99994466e-01 1.59754230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.079254154 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:936.92, Y:159.70, Z:15.97 [[-8.35580794e-01 5.49360658e-01 2.75752940e-03 9.36915376e+02] [-5.49357506e-01 -8.35585343e-01 1.86138180e-03 1.59698143e+02] [ 3.32672108e-03 4.04654090e-05 9.99994466e-01 1.59741113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.109254154 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:936.91, Y:159.70, Z:15.97 [[-8.36253776e-01 5.48335675e-01 2.75863582e-03 9.36911361e+02] [-5.48332523e-01 -8.36258325e-01 1.85974059e-03 1.59696937e+02] [ 3.32669428e-03 4.25653559e-05 9.99994466e-01 1.59745801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.139254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.91, Y:159.69, Z:15.98 [[-8.36916297e-01 5.47323942e-01 2.75936439e-03 9.36907913e+02] [-5.47320788e-01 -8.36920845e-01 1.85865896e-03 1.59694968e+02] [ 3.32665813e-03 4.52844892e-05 9.99994466e-01 1.59774855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.1692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.91, Y:159.69, Z:15.98 [[-8.37297328e-01 5.46740858e-01 2.76009339e-03 9.36905924e+02] [-5.46737705e-01 -8.37301876e-01 1.85757576e-03 1.59693607e+02] [ 3.32664394e-03 4.62960958e-05 9.99994466e-01 1.59777735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.1992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.90, Y:159.69, Z:15.98 [[-8.37591536e-01 5.46290030e-01 2.76082248e-03 9.36896379e+02] [-5.46286877e-01 -8.37596085e-01 1.85649153e-03 1.59686995e+02] [ 3.32663691e-03 4.67805021e-05 9.99994466e-01 1.59782523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.2292541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:936.90, Y:159.69, Z:15.98 [[-8.36920604e-01 5.47317346e-01 2.76155362e-03 9.36901943e+02] [-5.47314202e-01 -8.36925159e-01 1.85540330e-03 1.59691112e+02] [ 3.32670812e-03 4.13877349e-05 9.99994466e-01 1.59770812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.2592541539998 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:936.90, Y:159.69, Z:15.97 [[-8.36196356e-01 5.48423215e-01 2.76247145e-03 9.36899304e+02] [-5.48420082e-01 -8.36200918e-01 1.85403577e-03 1.59689497e+02] [ 3.32677742e-03 3.53431356e-05 9.99994466e-01 1.59746982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.2892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.90, Y:159.69, Z:15.98 [[-8.36094850e-01 5.48577950e-01 2.76319839e-03 9.36900132e+02] [-5.48574821e-01 -8.36099415e-01 1.85295172e-03 1.59690407e+02] [ 3.32679701e-03 3.34223262e-05 9.99994466e-01 1.59777512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.3192541539997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.90, Y:159.69, Z:15.98 [[-8.34563648e-01 5.50904600e-01 2.76392405e-03 9.36898198e+02] [-5.50901488e-01 -8.34568225e-01 1.85186867e-03 1.59689732e+02] [ 3.32688615e-03 2.28524054e-05 9.99994466e-01 1.59782847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.349254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.90, Y:159.69, Z:15.98 [[-8.33976890e-01 5.51792446e-01 2.76464817e-03 9.36897000e+02] [-5.51789342e-01 -8.33981473e-01 1.85078699e-03 1.59688794e+02] [ 3.32691564e-03 1.80101854e-05 9.99994466e-01 1.59785054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.379254154 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:936.90, Y:159.69, Z:15.98 [[-8.32806167e-01 5.53557803e-01 2.76537163e-03 9.36897317e+02] [-5.53554713e-01 -8.32810758e-01 1.84970540e-03 1.59687451e+02] [ 3.32695010e-03 9.66156764e-06 9.99994466e-01 1.59778954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.4092541539999 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:936.90, Y:159.69, Z:15.97 [[-8.32106720e-01 5.54608651e-01 2.76609392e-03 9.36896039e+02] [-5.54605570e-01 -8.32111317e-01 1.84862464e-03 1.59685706e+02] [ 3.32696127e-03 4.16188766e-06 9.99994466e-01 1.59742725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.4392541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:936.89, Y:159.68, Z:15.98 [[-8.31786918e-01 5.55088163e-01 2.76681519e-03 9.36892464e+02] [-5.55085088e-01 -8.31791519e-01 1.84754450e-03 1.59682358e+02] [ 3.32696349e-03 9.45493710e-07 9.99994466e-01 1.59758689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.4692541539998 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:936.89, Y:159.68, Z:15.97 [[-8.31589452e-01 5.55383943e-01 2.76753663e-03 9.36894308e+02] [-5.55380873e-01 -8.31594058e-01 1.84646317e-03 1.59682560e+02] [ 3.32696301e-03 -1.53761543e-06 9.99994466e-01 1.59748854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.4992541539998 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:936.89, Y:159.68, Z:15.97 [[-8.31381334e-01 5.55695434e-01 2.76825730e-03 9.36893843e+02] [-5.55692370e-01 -8.31385942e-01 1.84538210e-03 1.59680603e+02] [ 3.32696061e-03 -4.08322593e-06 9.99994466e-01 1.59744079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.5292541539998 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:936.89, Y:159.68, Z:15.97 [[-8.31443184e-01 5.55602884e-01 2.76897620e-03 9.36890283e+02] [-5.55599823e-01 -8.31447795e-01 1.84430276e-03 1.59677271e+02] [ 3.32695909e-03 -5.00972634e-06 9.99994466e-01 1.59746867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.5592541539997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:937.25, Y:159.02, Z:16.94 [[-7.92209926e-01 -6.10242379e-01 -2.76969504e-03 9.37245223e+02] [-6.10239639e-01 7.92214735e-01 -1.84322261e-03 1.59023299e+02] [ 3.31900577e-03 2.29958459e-04 -9.99994466e-01 1.69441111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.589254154 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:936.78, Y:159.64, Z:15.97 [[-7.89664167e-01 6.13533705e-01 2.62613582e-03 9.36780491e+02] [-6.13530350e-01 -7.89668534e-01 2.02902889e-03 1.59635751e+02] [ 3.31865444e-03 -8.96262402e-06 9.99994493e-01 1.59726042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.619254154 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:936.78, Y:159.63, Z:15.97 [[-7.89598476e-01 6.13618242e-01 2.62691744e-03 9.36779150e+02] [-6.13614890e-01 -7.89602845e-01 2.02801645e-03 1.59634080e+02] [ 3.31864937e-03 -1.05969630e-05 9.99994493e-01 1.59739473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.649254154 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:936.78, Y:159.63, Z:15.97 [[-7.89837076e-01 6.13311087e-01 2.62770609e-03 9.36777319e+02] [-6.13307737e-01 -7.89841447e-01 2.02699408e-03 1.59632574e+02] [ 3.31864912e-03 -1.05974010e-05 9.99994493e-01 1.59739557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.6792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.77, Y:159.63, Z:15.98 [[-7.88637767e-01 6.14852473e-01 2.62849407e-03 9.36771609e+02] [-6.14849135e-01 -7.88642147e-01 2.02597175e-03 1.59626581e+02] [ 3.31861495e-03 -1.83694698e-05 9.99994493e-01 1.59761103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.7092541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:936.77, Y:159.63, Z:15.97 [[-7.87398646e-01 6.16438529e-01 2.62928339e-03 9.36774196e+02] [-6.16435204e-01 -7.87403035e-01 2.02494687e-03 1.59627553e+02] [ 3.31856099e-03 -2.63424224e-05 9.99994493e-01 1.59747584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.7392541539998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:936.78, Y:159.63, Z:15.97 [[-7.84364532e-01 6.20294577e-01 2.63027471e-03 9.36776551e+02] [-6.20291278e-01 -7.84368941e-01 2.02365839e-03 1.59628954e+02] [ 3.31837011e-03 -4.42505963e-05 9.99994493e-01 1.59745080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.7692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.78, Y:159.63, Z:15.98 [[-7.83198075e-01 6.21766720e-01 2.63105967e-03 9.36776200e+02] [-6.21763432e-01 -7.83202492e-01 2.02263730e-03 1.59628349e+02] [ 3.31826105e-03 -5.17710473e-05 9.99994493e-01 1.59776329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.7992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.77, Y:159.63, Z:15.98 [[-7.81773000e-01 6.23557575e-01 2.63184225e-03 9.36773345e+02] [-6.23554301e-01 -7.81777428e-01 2.02161850e-03 1.59625812e+02] [ 3.31811040e-03 -6.06497981e-05 9.99994493e-01 1.59784970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.829254154 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:936.78, Y:159.63, Z:15.98 [[-7.78598645e-01 6.27516708e-01 2.63262406e-03 9.36776594e+02] [-6.27513460e-01 -7.78603092e-01 2.02059989e-03 1.59626741e+02] [ 3.31772942e-03 -7.87706910e-05 9.99994493e-01 1.59768812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.859254154 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:936.78, Y:159.62, Z:15.98 [[-7.77251559e-01 6.29184455e-01 2.63340441e-03 9.36776674e+02] [-6.29181220e-01 -7.77256015e-01 2.01958236e-03 1.59624888e+02] [ 3.31751925e-03 -8.71650616e-05 9.99994493e-01 1.59782440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.889254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.77, Y:159.62, Z:15.98 [[-7.77429525e-01 6.28964542e-01 2.63418255e-03 9.36771639e+02] [-6.28961309e-01 -7.77433982e-01 2.01856691e-03 1.59619482e+02] [ 3.31751004e-03 -8.75053972e-05 9.99994493e-01 1.59801232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.9192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.77, Y:159.62, Z:15.98 [[-7.78295886e-01 6.27892165e-01 2.63496398e-03 9.36773612e+02] [-6.27888929e-01 -7.78300342e-01 2.01754634e-03 1.59617554e+02] [ 3.31759491e-03 -8.42166925e-05 9.99994493e-01 1.59796562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.9492541539998 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:936.77, Y:159.62, Z:15.98 [[-7.79049341e-01 6.26957078e-01 2.63574277e-03 9.36773617e+02] [-6.26953841e-01 -7.79053795e-01 2.01652841e-03 1.59615867e+02] [ 3.31766217e-03 -8.15139226e-05 9.99994493e-01 1.59760794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.9792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.77, Y:159.61, Z:15.98 [[-7.81197180e-01 6.24278796e-01 2.63651987e-03 9.36772806e+02] [-6.24275547e-01 -7.81201625e-01 2.01551187e-03 1.59613101e+02] [ 3.31789493e-03 -7.14026926e-05 9.99994493e-01 1.59788604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.0092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.77, Y:159.60, Z:15.98 [[-7.85621756e-01 6.18701464e-01 2.63729644e-03 9.36766696e+02] [-6.18698186e-01 -7.85626181e-01 2.01449522e-03 1.59603772e+02] [ 3.31830027e-03 -4.90592553e-05 9.99994493e-01 1.59784881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.0392541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:936.76, Y:159.60, Z:15.98 [[-7.90517451e-01 6.12433834e-01 2.63807496e-03 9.36763736e+02] [-6.12430525e-01 -7.90521852e-01 2.01347519e-03 1.59596310e+02] [ 3.31857624e-03 -2.39503558e-05 9.99994493e-01 1.59767339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.0692541539997 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:936.76, Y:159.59, Z:15.97 [[-7.92981652e-01 6.09239802e-01 2.63875779e-03 9.36764723e+02] [-6.09236478e-01 -7.92986042e-01 2.01257991e-03 1.59594457e+02] [ 3.31864189e-03 -1.16885617e-05 9.99994493e-01 1.59739256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.099254154 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:936.76, Y:159.59, Z:15.97 [[-7.97734804e-01 6.03002666e-01 2.63954324e-03 9.36762230e+02] [-6.02999311e-01 -7.97739171e-01 2.01154926e-03 1.59588166e+02] [ 3.31863660e-03 1.30401012e-05 9.99994493e-01 1.59745070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.129254154 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:936.75, Y:159.58, Z:15.97 [[-7.99425785e-01 6.00759055e-01 2.64032587e-03 9.36754818e+02] [-6.00755692e-01 -7.99430145e-01 2.01052147e-03 1.59580592e+02] [ 3.31859507e-03 2.10719106e-05 9.99994493e-01 1.59742304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.1592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.76, Y:159.58, Z:15.98 [[-8.02315550e-01 5.96894281e-01 2.64111128e-03 9.36755335e+02] [-5.96890899e-01 -8.02319897e-01 2.00948918e-03 1.59578305e+02] [ 3.31846873e-03 3.57891315e-05 9.99994493e-01 1.59763873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.1892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.75, Y:159.58, Z:15.98 [[-8.03114388e-01 5.95819016e-01 2.64189829e-03 9.36754244e+02] [-5.95815632e-01 -8.03118733e-01 2.00845395e-03 1.59576317e+02] [ 3.31843307e-03 3.89339645e-05 9.99994493e-01 1.59765167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.2192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.75, Y:159.57, Z:15.98 [[-8.03664178e-01 5.95077226e-01 2.64268437e-03 9.36751535e+02] [-5.95073842e-01 -8.03668522e-01 2.00741912e-03 1.59573391e+02] [ 3.31841164e-03 4.06984976e-05 9.99994493e-01 1.59779548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.2492541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:936.75, Y:159.57, Z:15.98 [[-8.03079292e-01 5.95866313e-01 2.64347057e-03 9.36751317e+02] [-5.95862937e-01 -8.03083642e-01 2.00638327e-03 1.59571242e+02] [ 3.31846417e-03 3.61387202e-05 9.99994493e-01 1.59802469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.2792541539998 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:936.75, Y:159.57, Z:15.98 [[-8.02258390e-01 5.96971092e-01 2.64415692e-03 9.36749376e+02] [-5.96967724e-01 -8.02262746e-01 2.00547835e-03 1.59569261e+02] [ 3.31852119e-03 3.04354912e-05 9.99994493e-01 1.59785757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.3092541539997 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:936.75, Y:159.57, Z:15.98 [[-8.00155917e-01 5.99786222e-01 2.64494263e-03 9.36752173e+02] [-5.99782873e-01 -8.00160289e-01 2.00444157e-03 1.59570895e+02] [ 3.31861449e-03 1.74744919e-05 9.99994493e-01 1.59791803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.339254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.75, Y:159.57, Z:15.98 [[-7.99311771e-01 6.00910720e-01 2.64572647e-03 9.36747020e+02] [-6.00907380e-01 -7.99316149e-01 2.00340642e-03 1.59566735e+02] [ 3.31864029e-03 1.15097718e-05 9.99994493e-01 1.59807933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.369254154 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:936.75, Y:159.57, Z:15.98 [[-7.93487714e-01 6.08580515e-01 2.64650963e-03 9.36750373e+02] [-6.08577221e-01 -7.93492128e-01 2.00237132e-03 1.59565910e+02] [ 3.31858873e-03 -2.17484390e-05 9.99994493e-01 1.59767588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.399254154 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:936.75, Y:159.57, Z:15.98 [[-7.93054552e-01 6.09144917e-01 2.63588490e-03 9.36752087e+02] [-6.09141579e-01 -7.93058933e-01 2.01641503e-03 1.59569188e+02] [ 3.31870103e-03 -6.49997157e-06 9.99994493e-01 1.59774440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.4292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.75, Y:159.57, Z:15.98 [[-7.90362885e-01 6.12633272e-01 2.64269044e-03 9.36754235e+02] [-6.12629984e-01 -7.90367302e-01 2.00741301e-03 1.59571628e+02] [ 3.31850411e-03 -3.24066666e-05 9.99994493e-01 1.59793864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.4592541539998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:936.76, Y:159.57, Z:15.98 [[-7.87716736e-01 6.16031937e-01 2.64525309e-03 9.36755318e+02] [-6.16028679e-01 -7.87721176e-01 2.00402115e-03 1.59572068e+02] [ 3.31826291e-03 -5.09507675e-05 9.99994493e-01 1.59767339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.4892541539998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:936.76, Y:159.57, Z:15.97 [[-7.82867639e-01 6.22182670e-01 2.64292788e-03 9.36755482e+02] [-6.22179437e-01 -7.82872097e-01 2.00710016e-03 1.59571559e+02] [ 3.31785743e-03 -7.30816136e-05 9.99994493e-01 1.59737268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.5192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.75, Y:159.57, Z:15.98 [[-7.84156344e-01 6.20557704e-01 2.63882994e-03 9.36754598e+02] [-6.20554444e-01 -7.84160782e-01 2.01252999e-03 1.59574610e+02] [ 3.31815794e-03 -5.93994868e-05 9.99994493e-01 1.59766247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.5492541539998 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:936.75, Y:159.57, Z:15.97 [[-7.81975501e-01 6.23303534e-01 2.64973763e-03 9.36750284e+02] [-6.23300338e-01 -7.81979985e-01 1.99806473e-03 1.59571878e+02] [ 3.31744260e-03 -8.91446934e-05 9.99994493e-01 1.59744867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.579254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.76, Y:159.58, Z:15.98 [[-7.79273717e-01 6.26678106e-01 2.65041066e-03 9.36757365e+02] [-6.26674933e-01 -7.79278217e-01 1.99717156e-03 1.59578631e+02] [ 3.31699099e-03 -1.04602617e-04 9.99994493e-01 1.59752535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.609254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.76, Y:159.58, Z:15.98 [[-7.77996187e-01 6.28263404e-01 2.65117849e-03 9.36756905e+02] [-6.28260243e-01 -7.78000696e-01 1.99615177e-03 1.59578912e+02] [ 3.31672782e-03 -1.12631574e-04 9.99994493e-01 1.59754883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.639254154 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:936.76, Y:159.58, Z:15.98 [[-7.75888848e-01 6.30864061e-01 2.65194198e-03 9.36756741e+02] [-6.30860918e-01 -7.75893370e-01 1.99513694e-03 1.59578584e+02] [ 3.31628439e-03 -1.25002048e-04 9.99994493e-01 1.59750720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.6692541539999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:936.75, Y:159.57, Z:15.98 [[-7.76267651e-01 6.30397888e-01 2.65260750e-03 9.36751306e+02] [-6.30394746e-01 -7.76272174e-01 1.99425171e-03 1.59573943e+02] [ 3.31631746e-03 -1.24116738e-04 9.99994493e-01 1.59757597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.6992541539998 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:936.75, Y:159.57, Z:15.98 [[-7.78097491e-01 6.28137926e-01 2.65337026e-03 9.36749162e+02] [-6.28134774e-01 -7.78102007e-01 1.99323634e-03 1.59570701e+02] [ 3.31662007e-03 -1.15741935e-04 9.99994493e-01 1.59767250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.7292541539998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:936.75, Y:159.57, Z:15.98 [[-7.80299300e-01 6.25400638e-01 2.65413440e-03 9.36750926e+02] [-6.25397473e-01 -7.80303807e-01 1.99221831e-03 1.59570629e+02] [ 3.31696578e-03 -1.05362397e-04 9.99994493e-01 1.59787559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.7592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.75, Y:159.56, Z:15.98 [[-7.83205844e-01 6.21756832e-01 2.65480077e-03 9.36745123e+02] [-6.21753650e-01 -7.83210338e-01 1.99132993e-03 1.59564375e+02] [ 3.31739039e-03 -9.10108308e-05 9.99994493e-01 1.59806099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.7892541539998 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:936.74, Y:159.56, Z:15.98 [[-7.88440156e-01 6.15105737e-01 2.65556443e-03 9.36740427e+02] [-6.15102520e-01 -7.88444626e-01 1.99031101e-03 1.59556381e+02] [ 3.31801723e-03 -6.42032533e-05 9.99994493e-01 1.59782659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.8192541539997 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:936.74, Y:159.55, Z:15.98 [[-7.95069997e-01 6.06511866e-01 2.65633103e-03 9.36736733e+02] [-6.06508604e-01 -7.95074434e-01 1.98928736e-03 1.59549873e+02] [ 3.31850728e-03 -2.94649305e-05 9.99994493e-01 1.59782454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.849254154 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:936.73, Y:159.54, Z:15.97 [[-7.96017303e-01 6.05268034e-01 2.65710032e-03 9.36732933e+02] [-6.05264769e-01 -7.96021737e-01 1.98825928e-03 1.59542256e+02] [ 3.31853940e-03 -2.55604184e-05 9.99994493e-01 1.59730701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.879254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.73, Y:159.54, Z:15.98 [[-8.04797742e-01 5.93543230e-01 2.65121504e-03 9.36726773e+02] [-5.93539875e-01 -8.04802108e-01 1.99612608e-03 1.59536610e+02] [ 3.31849057e-03 3.28759243e-05 9.99994493e-01 1.59797440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.9092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.72, Y:159.53, Z:15.97 [[-8.04385160e-01 5.94102222e-01 2.65801592e-03 9.36721996e+02] [-5.94098899e-01 -8.04389551e-01 1.98702865e-03 1.59528289e+02] [ 3.31857837e-03 1.92120255e-05 9.99994493e-01 1.59748147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.9392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.72, Y:159.53, Z:15.98 [[-8.09498079e-01 5.87116552e-01 2.64841345e-03 9.36721550e+02] [-5.87113150e-01 -8.09502409e-01 1.99987425e-03 1.59527625e+02] [ 3.31805634e-03 6.39759999e-05 9.99994493e-01 1.59764247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.9692541539998 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:936.72, Y:159.53, Z:15.98 [[-8.12066093e-01 5.83559432e-01 2.65523937e-03 9.36718378e+02] [-5.83556040e-01 -8.12070431e-01 1.99073607e-03 1.59526541e+02] [ 3.31795419e-03 6.71282865e-05 9.99994493e-01 1.59778791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.9992541539998 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:936.72, Y:159.52, Z:15.98 [[-8.13874662e-01 5.81034391e-01 2.65922928e-03 9.36717016e+02] [-5.81031003e-01 -8.13879003e-01 1.98539200e-03 1.59524803e+02] [ 3.31787190e-03 7.07655847e-05 9.99994493e-01 1.59755803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.0292541539998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:936.71, Y:159.52, Z:15.98 [[-8.14964880e-01 5.79504245e-01 2.66000977e-03 9.36710238e+02] [-5.79500852e-01 -8.14969217e-01 1.98434575e-03 1.59520280e+02] [ 3.31776286e-03 7.56941715e-05 9.99994493e-01 1.59777942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.0592541539997 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:936.70, Y:159.52, Z:15.98 [[-8.15034724e-01 5.79406003e-01 2.66119512e-03 9.36704065e+02] [-5.79402615e-01 -8.15039065e-01 1.98275481e-03 1.59516992e+02] [ 3.31779802e-03 7.41106069e-05 9.99994493e-01 1.59756638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.089254154 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:936.71, Y:159.52, Z:15.98 [[-8.15905455e-01 5.78179213e-01 2.66198008e-03 9.36705359e+02] [-5.78175822e-01 -8.15909794e-01 1.98170038e-03 1.59519407e+02] [ 3.31771359e-03 7.77876310e-05 9.99994493e-01 1.59782734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.119254154 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:936.70, Y:159.52, Z:15.97 [[-8.14899184e-01 5.79596609e-01 2.66276179e-03 9.36701845e+02] [-5.79593229e-01 -8.14903532e-01 1.98064947e-03 1.59519011e+02] [ 3.31787170e-03 7.07109356e-05 9.99994493e-01 1.59738135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.149254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.70, Y:159.52, Z:15.98 [[-8.15716473e-01 5.78445798e-01 2.66344293e-03 9.36697586e+02] [-5.78442415e-01 -8.15720818e-01 1.97973309e-03 1.59517849e+02] [ 3.31779413e-03 7.42525387e-05 9.99994493e-01 1.59773617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.1792541539999 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:936.45, Y:159.33, Z:15.97 [[-8.12674839e-01 5.82711342e-01 2.66422385e-03 9.36448843e+02] [-5.82707985e-01 -8.12679204e-01 1.97868160e-03 1.59333078e+02] [ 3.31815953e-03 5.55602421e-05 9.99994493e-01 1.59694582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.2092541539998 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:936.69, Y:159.52, Z:15.97 [[-8.15291185e-01 5.79045090e-01 2.65859306e-03 9.36690814e+02] [-5.79041689e-01 -8.15295516e-01 1.98625531e-03 1.59519012e+02] [ 3.31767038e-03 7.99402309e-05 9.99994493e-01 1.59726386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.2392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.70, Y:159.52, Z:15.97 [[-8.12518407e-01 5.82929443e-01 2.66527852e-03 9.36698561e+02] [-5.82926092e-01 -8.12522776e-01 1.97724346e-03 1.59523032e+02] [ 3.31819293e-03 5.28863170e-05 9.99994493e-01 1.59705169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.2692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.69, Y:159.52, Z:15.97 [[-8.13154223e-01 5.82042242e-01 2.65273698e-03 9.36692952e+02] [-5.82038831e-01 -8.13158547e-01 1.99415156e-03 1.59522278e+02] [ 3.31777619e-03 7.75568317e-05 9.99994493e-01 1.59704378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.2992541539998 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:936.69, Y:159.52, Z:15.97 [[-8.13289112e-01 5.81853752e-01 2.65182059e-03 9.36689287e+02] [-5.81850336e-01 -8.13293431e-01 1.99538747e-03 1.59520798e+02] [ 3.31773195e-03 7.98642002e-05 9.99994493e-01 1.59683535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.329254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.68, Y:159.52, Z:15.97 [[-8.14243258e-01 5.80517770e-01 2.65263970e-03 9.36683320e+02] [-5.80514350e-01 -8.14247574e-01 1.99428178e-03 1.59519661e+02] [ 3.31762146e-03 8.39350837e-05 9.99994493e-01 1.59697422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.359254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.68, Y:159.52, Z:15.97 [[-8.15366855e-01 5.78938563e-01 2.65184661e-03 9.36684573e+02] [-5.78935132e-01 -8.15371162e-01 1.99535270e-03 1.59522981e+02] [ 3.31742587e-03 9.16972853e-05 9.99994493e-01 1.59700079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.389254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.68, Y:159.52, Z:15.97 [[-8.16206559e-01 5.77754106e-01 2.65454970e-03 9.36678269e+02] [-5.77750680e-01 -8.16210870e-01 1.99170039e-03 1.59520254e+02] [ 3.31738540e-03 9.19710262e-05 9.99994493e-01 1.59697164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.4192541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:936.68, Y:159.52, Z:15.97 [[-8.17502481e-01 5.75918958e-01 2.65470726e-03 9.36675315e+02] [-5.75915523e-01 -8.17506786e-01 1.99148730e-03 1.59521921e+02] [ 3.31717649e-03 9.91586931e-05 9.99994493e-01 1.59700727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.4492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.67, Y:159.52, Z:15.97 [[-8.19108380e-01 5.73632650e-01 2.65422839e-03 9.36667355e+02] [-5.73629201e-01 -8.19112673e-01 1.99213516e-03 1.59519569e+02] [ 3.31686589e-03 1.09231694e-04 9.99994493e-01 1.59700820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.4792541539998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:936.49, Y:159.40, Z:15.97 [[-8.23031365e-01 5.67989699e-01 2.65971434e-03 9.36492108e+02] [-5.67986244e-01 -8.23035654e-01 1.98470137e-03 1.59395011e+02] [ 3.31632966e-03 1.22790323e-04 9.99994493e-01 1.59712513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.5092541539998 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:937.00, Y:158.90, Z:16.95 [[-7.41347969e-01 -6.71115574e-01 -2.65971434e-03 9.37001703e+02] [-6.71112713e-01 7.41352674e-01 -1.98470137e-03 1.58899174e+02] [ 3.30375034e-03 3.13613771e-04 -9.99994493e-01 1.69518959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.5392541539998 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:936.52, Y:159.46, Z:15.97 [[-7.83213682e-01 6.21747497e-01 2.52568539e-03 9.36520167e+02] [-6.21743814e-01 -7.83217747e-01 2.14268763e-03 1.59458090e+02] [ 3.31037229e-03 1.07852998e-04 9.99994515e-01 1.59706658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.5692541539997 meters Centerline goodness : 0.998798 Centerline is valid? [True, True] Translation: X:936.61, Y:158.57, Z:16.96 [[-6.86906766e-01 -7.26741158e-01 -2.52653326e-03 9.36606128e+02] [-7.26738094e-01 6.86911316e-01 -2.14168740e-03 1.58571722e+02] [ 3.29195667e-03 3.64988402e-04 -9.99994515e-01 1.69557268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.599254154 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:936.29, Y:159.31, Z:15.97 [[-7.33673886e-01 6.79497710e-01 2.34318349e-03 9.36292254e+02] [-6.79493737e-01 -7.33677619e-01 2.32648618e-03 1.59307850e+02] [ 3.29998332e-03 1.14703656e-04 9.99994548e-01 1.59729041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.629254154 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:936.45, Y:159.46, Z:15.97 [[-7.33680844e-01 6.79490192e-01 2.34488894e-03 9.36445870e+02] [-6.79486224e-01 -7.33684582e-01 2.32476217e-03 1.59461800e+02] [ 3.30006195e-03 1.12313738e-04 9.99994548e-01 1.59709135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.6592541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:936.44, Y:159.46, Z:15.97 [[-7.32661079e-01 6.80589614e-01 2.34951254e-03 9.36441668e+02] [-6.80585667e-01 -7.32664840e-01 2.32007991e-03 1.59463300e+02] [ 3.30042752e-03 1.00787692e-04 9.99994549e-01 1.59749252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.6892541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:936.44, Y:159.46, Z:15.97 [[-7.31093040e-01 6.82273729e-01 2.35079151e-03 9.36440743e+02] [-6.82269794e-01 -7.31096814e-01 2.31878329e-03 1.59464605e+02] [ 3.30070110e-03 9.13722835e-05 9.99994549e-01 1.59744492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.7192541539998 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:936.44, Y:159.47, Z:15.97 [[-7.28169716e-01 6.85392832e-01 2.35171086e-03 9.36443535e+02] [-6.85388917e-01 -7.28173509e-01 2.31785051e-03 1.59471794e+02] [ 3.30109167e-03 7.59519866e-05 9.99994549e-01 1.59736006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.7492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.44, Y:159.47, Z:15.98 [[-7.27758316e-01 6.85829643e-01 2.35262559e-03 9.36439139e+02] [-6.85825733e-01 -7.27762115e-01 2.31692168e-03 1.59469772e+02] [ 3.30116534e-03 7.26678466e-05 9.99994549e-01 1.59753515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.7792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.44, Y:159.47, Z:15.97 [[-7.26832825e-01 6.86810386e-01 2.35353761e-03 9.36437267e+02] [-6.86806484e-01 -7.26836632e-01 2.31599487e-03 1.59470762e+02] [ 3.30128668e-03 6.69162019e-05 9.99994549e-01 1.59749804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.8092541539997 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:936.44, Y:159.47, Z:15.97 [[-7.26916095e-01 6.86722249e-01 2.35445258e-03 9.36435463e+02] [-6.86718350e-01 -7.26919905e-01 2.31506434e-03 1.59468149e+02] [ 3.30130463e-03 6.60117403e-05 9.99994549e-01 1.59713994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.839254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.45, Y:159.47, Z:15.97 [[-7.22607682e-01 6.91254360e-01 2.35536355e-03 9.36446631e+02] [-6.91250487e-01 -7.22611520e-01 2.31413713e-03 1.59472363e+02] [ 3.30167022e-03 4.40670667e-05 9.99994549e-01 1.59692302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.869254154 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:936.43, Y:159.46, Z:15.97 [[-7.29666417e-01 6.83799301e-01 2.33133125e-03 9.36431656e+02] [-6.83795311e-01 -7.29670133e-01 2.33859746e-03 1.59460068e+02] [ 3.30023409e-03 1.12242654e-04 9.99994548e-01 1.59708536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.899254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.44, Y:159.46, Z:15.97 [[-7.25607447e-01 6.88104846e-01 2.35663338e-03 9.36439066e+02] [-6.88100961e-01 -7.25611272e-01 2.31281596e-03 1.59456490e+02] [ 3.30145962e-03 5.65947868e-05 9.99994549e-01 1.59658968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.9292541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:936.43, Y:159.45, Z:15.97 [[-7.32211492e-01 6.81073338e-01 2.33209864e-03 9.36428343e+02] [-6.81069337e-01 -7.32215196e-01 2.33781638e-03 1.59450879e+02] [ 3.29982247e-03 1.23455147e-04 9.99994548e-01 1.59708384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.9592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.43, Y:159.45, Z:15.97 [[-7.34202283e-01 6.78926688e-01 2.35786229e-03 9.36425248e+02] [-6.78922760e-01 -7.34206063e-01 2.31153640e-03 1.59446049e+02] [ 3.30052054e-03 9.63289263e-05 9.99994549e-01 1.59728226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.9892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.42, Y:159.44, Z:15.97 [[-7.35292769e-01 6.77745512e-01 2.35901428e-03 9.36417689e+02] [-6.77741581e-01 -7.35296546e-01 2.31036015e-03 1.59437541e+02] [ 3.30041128e-03 9.99890453e-05 9.99994549e-01 1.59731447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.0192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.42, Y:159.44, Z:15.97 [[-7.36806702e-01 6.76099338e-01 2.35993747e-03 9.36420235e+02] [-6.76095402e-01 -7.36810474e-01 2.30941677e-03 1.59437596e+02] [ 3.30022179e-03 1.06050885e-04 9.99994549e-01 1.59732362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.0492541539998 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:936.42, Y:159.44, Z:15.97 [[-7.37302946e-01 6.75558133e-01 2.36097614e-03 9.36421557e+02] [-6.75554198e-01 -7.37306719e-01 2.30835442e-03 1.59437250e+02] [ 3.30019117e-03 1.06989169e-04 9.99994549e-01 1.59710785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.079254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.42, Y:159.44, Z:15.97 [[-7.38913907e-01 6.73795710e-01 2.36189341e-03 9.36424719e+02] [-6.73791769e-01 -7.38917673e-01 2.30741549e-03 1.59437307e+02] [ 3.29997144e-03 1.13557061e-04 9.99994549e-01 1.59718089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.109254154 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:936.42, Y:159.43, Z:15.97 [[-7.39330958e-01 6.73338066e-01 2.36280778e-03 9.36418510e+02] [-6.73334126e-01 -7.39334725e-01 2.30647879e-03 1.59429302e+02] [ 3.29994581e-03 1.14292061e-04 9.99994549e-01 1.59697630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.139254154 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:936.42, Y:159.42, Z:15.97 [[-7.40179328e-01 6.72405366e-01 2.36372623e-03 9.36416288e+02] [-6.72401423e-01 -7.40183093e-01 2.30553716e-03 1.59424735e+02] [ 3.29984575e-03 1.17138065e-04 9.99994549e-01 1.59686952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.1692541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:936.42, Y:159.43, Z:15.97 [[-7.41068178e-01 6.71425621e-01 2.36464444e-03 9.36421689e+02] [-6.71421676e-01 -7.41071941e-01 2.30459503e-03 1.59429170e+02] [ 3.29973579e-03 1.20188508e-04 9.99994549e-01 1.59703131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.1992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.42, Y:159.43, Z:15.97 [[-7.41469559e-01 6.70982337e-01 2.36555989e-03 9.36420705e+02] [-6.70978394e-01 -7.41473323e-01 2.30365498e-03 1.59427325e+02] [ 3.29971135e-03 1.20850466e-04 9.99994549e-01 1.59703424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.2292541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:936.42, Y:159.42, Z:15.97 [[-7.41154968e-01 6.71329810e-01 2.36647484e-03 9.36417940e+02] [-6.71325871e-01 -7.41158737e-01 2.30271469e-03 1.59424009e+02] [ 3.29981452e-03 1.17992651e-04 9.99994549e-01 1.59684712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.2592541539998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:936.42, Y:159.43, Z:15.97 [[-7.40452415e-01 6.72104617e-01 2.36738672e-03 9.36420124e+02] [-6.72100685e-01 -7.40456191e-01 2.30177682e-03 1.59425820e+02] [ 3.29998098e-03 1.13233971e-04 9.99994549e-01 1.59683405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.2892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.41, Y:159.42, Z:15.97 [[-7.40648434e-01 6.71888598e-01 2.36830014e-03 9.36414578e+02] [-6.71884668e-01 -7.40652212e-01 2.30083662e-03 1.59420613e+02] [ 3.29999262e-03 1.12886490e-04 9.99994549e-01 1.59705930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.3192541539997 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:936.42, Y:159.42, Z:15.97 [[-7.39294465e-01 6.73378111e-01 2.36920986e-03 9.36416194e+02] [-6.73374192e-01 -7.39298254e-01 2.29989948e-03 1.59421197e+02] [ 3.30025468e-03 1.04938175e-04 9.99994549e-01 1.59693547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.349254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.42, Y:159.42, Z:15.97 [[-7.33781939e-01 6.79380931e-01 2.37012000e-03 9.36418978e+02] [-6.79377045e-01 -7.33785762e-01 2.29896117e-03 1.59418390e+02] [ 3.30103069e-03 7.67310626e-05 9.99994549e-01 1.59682313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.379254154 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:936.41, Y:159.42, Z:15.97 [[-7.38417332e-01 6.74339926e-01 2.34700542e-03 9.36413757e+02] [-6.74335939e-01 -7.38421050e-01 2.32278763e-03 1.59419508e+02] [ 3.29942664e-03 1.32516541e-04 9.99994548e-01 1.59744753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.4092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.41, Y:159.42, Z:15.98 [[-7.38364036e-01 6.74398197e-01 2.37125220e-03 9.36411098e+02] [-6.74394289e-01 -7.38367837e-01 2.29776539e-03 1.59417200e+02] [ 3.30046520e-03 9.74283863e-05 9.99994549e-01 1.59751089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.4392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.41, Y:159.41, Z:15.98 [[-7.38124140e-01 6.74660750e-01 2.37216308e-03 9.36408446e+02] [-6.74656847e-01 -7.38127946e-01 2.29682463e-03 1.59414409e+02] [ 3.30053729e-03 9.49456425e-05 9.99994549e-01 1.59756876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.4692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.41, Y:159.41, Z:15.98 [[-7.38295086e-01 6.74473673e-01 2.37307122e-03 9.36407858e+02] [-6.74469772e-01 -7.38298893e-01 2.29588596e-03 1.59413053e+02] [ 3.30055050e-03 9.44765153e-05 9.99994549e-01 1.59753325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.4992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.41, Y:159.41, Z:15.97 [[-7.33184048e-01 6.80026114e-01 2.37409480e-03 9.36409059e+02] [-6.80022245e-01 -7.33187888e-01 2.29482702e-03 1.59406127e+02] [ 3.30119986e-03 6.80932873e-05 9.99994549e-01 1.59698098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.5292541539998 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:936.40, Y:159.40, Z:15.97 [[-7.38589496e-01 6.74151337e-01 2.35186050e-03 9.36400691e+02] [-6.74147364e-01 -7.38593230e-01 2.31784914e-03 1.59402821e+02] [ 3.29964934e-03 1.26438471e-04 9.99994548e-01 1.59712602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.5592541539997 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:936.40, Y:159.40, Z:15.97 [[-7.39640509e-01 6.72997973e-01 2.37636973e-03 9.36404166e+02] [-6.72994075e-01 -7.39644320e-01 2.29244263e-03 1.59404647e+02] [ 3.30047761e-03 9.63006823e-05 9.99994549e-01 1.59716684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.589254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.41, Y:159.40, Z:15.97 [[-7.36675049e-01 6.76242723e-01 2.37727691e-03 9.36408475e+02] [-6.76238845e-01 -7.36678881e-01 2.29150149e-03 1.59403862e+02] [ 3.30090090e-03 8.04849795e-05 9.99994549e-01 1.59709100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.619254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.41, Y:159.40, Z:15.97 [[-7.36588047e-01 6.76337545e-01 2.36096613e-03 9.36413244e+02] [-6.76333613e-01 -7.36591824e-01 2.30841927e-03 1.59404555e+02] [ 3.30033897e-03 1.03553284e-04 9.99994549e-01 1.59697616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.649254154 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:936.40, Y:159.40, Z:15.97 [[-7.41913878e-01 6.70491047e-01 2.35666042e-03 9.36401663e+02] [-6.70487071e-01 -7.41917609e-01 2.31288803e-03 1.59397689e+02] [ 3.29921857e-03 1.35853387e-04 9.99994548e-01 1.59732306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.6792541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:936.41, Y:159.40, Z:15.97 [[-7.37508447e-01 6.75333717e-01 2.37920795e-03 9.36410353e+02] [-6.75329841e-01 -7.37512281e-01 2.28945658e-03 1.59399865e+02] [ 3.30084231e-03 8.17434417e-05 9.99994549e-01 1.59728259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.7092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.40, Y:159.39, Z:15.97 [[-7.39648556e-01 6.72989165e-01 2.36599795e-03 9.36399340e+02] [-6.72985233e-01 -7.39652331e-01 2.30318738e-03 1.59392197e+02] [ 3.30003605e-03 1.11267538e-04 9.99994549e-01 1.59741963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.7392541539998 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:936.40, Y:159.39, Z:15.97 [[-7.35761043e-01 6.77237049e-01 2.38042115e-03 9.36396974e+02] [-6.77233187e-01 -7.35764891e-01 2.28818277e-03 1.59389131e+02] [ 3.30107246e-03 7.14555347e-05 9.99994549e-01 1.59722945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.7692541539998 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:936.40, Y:159.39, Z:15.97 [[-7.33633956e-01 6.79540687e-01 2.38191285e-03 9.36398814e+02] [-6.79536843e-01 -7.33637820e-01 2.28662891e-03 1.59391377e+02] [ 3.30131873e-03 5.89510744e-05 9.99994549e-01 1.59732993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.7992541539998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:936.41, Y:159.40, Z:15.97 [[-7.24103528e-01 6.89687178e-01 2.38281294e-03 9.36408670e+02] [-6.89683391e-01 -7.24107448e-01 2.28569058e-03 1.59396557e+02] [ 3.30182408e-03 1.16901042e-05 9.99994549e-01 1.59722469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.829254154 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:936.39, Y:159.38, Z:15.97 [[-7.21720139e-01 6.92180933e-01 2.36584703e-03 9.36392664e+02] [-6.92177101e-01 -7.21724016e-01 2.30337709e-03 1.59380849e+02] [ 3.30184232e-03 2.48084925e-05 9.99994549e-01 1.59718411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.859254154 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:936.40, Y:159.40, Z:15.98 [[-7.21060430e-01 6.92868138e-01 2.36658758e-03 9.36403888e+02] [-6.92864312e-01 -7.21064313e-01 2.30260447e-03 1.59395004e+02] [ 3.30186312e-03 2.05928999e-05 9.99994549e-01 1.59751753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.889254154 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:936.41, Y:159.40, Z:15.97 [[-7.18453496e-01 6.95570907e-01 2.38491236e-03 9.36405718e+02] [-6.95567159e-01 -7.18457454e-01 2.28346559e-03 1.59395855e+02] [ 3.30177029e-03 -1.83028794e-05 9.99994549e-01 1.59733763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.9192541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:936.41, Y:159.40, Z:15.97 [[-7.09139132e-01 7.05064536e-01 2.38580013e-03 9.36411311e+02] [-7.05060844e-01 -7.09143142e-01 2.28253765e-03 1.59395485e+02] [ 3.30121015e-03 -6.34974840e-05 9.99994549e-01 1.59720536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.9492541539998 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:936.41, Y:159.40, Z:15.97 [[-7.11972618e-01 7.02203238e-01 2.36736954e-03 9.36406746e+02] [-7.02199465e-01 -7.11976553e-01 2.30180227e-03 1.59396239e+02] [ 3.30184461e-03 -2.35454424e-05 9.99994549e-01 1.59748053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.9792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.40, Y:159.39, Z:15.98 [[-7.11190896e-01 7.02994888e-01 2.38687409e-03 9.36400161e+02] [-7.02991189e-01 -7.11194899e-01 2.28139595e-03 1.59389925e+02] [ 3.30134237e-03 -5.54434233e-05 9.99994549e-01 1.59786796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.0092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.41, Y:159.40, Z:15.98 [[-7.03679824e-01 7.10513192e-01 2.38947430e-03 9.36414575e+02] [-7.10509545e-01 -7.03683874e-01 2.27866930e-03 1.59398036e+02] [ 3.30045913e-03 -9.42906874e-05 9.99994549e-01 1.59771442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.0392541539998 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:936.40, Y:159.39, Z:15.98 [[-7.06386133e-01 7.07822726e-01 2.37084438e-03 9.36400171e+02] [-7.07818997e-01 -7.06390109e-01 2.29820703e-03 1.59387084e+02] [ 3.30146419e-03 -5.47071184e-05 9.99994549e-01 1.59779553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.0692541539997 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:936.39, Y:159.37, Z:15.98 [[-7.01188836e-01 7.12971599e-01 2.39053695e-03 9.36387304e+02] [-7.12967970e-01 -7.01192903e-01 2.27753742e-03 1.59368680e+02] [ 3.30004704e-03 -1.07392461e-04 9.99994549e-01 1.59783786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.099254154 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:936.39, Y:159.37, Z:15.98 [[-7.01241283e-01 7.12920051e-01 2.37983378e-03 9.36388707e+02] [-7.12916383e-01 -7.01245315e-01 2.28877255e-03 1.59368280e+02] [ 3.30055913e-03 -9.16406902e-05 9.99994549e-01 1.59792938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.129254154 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:936.39, Y:159.37, Z:15.98 [[-6.99878845e-01 7.14257599e-01 2.38430300e-03 9.36394552e+02] [-7.14253954e-01 -6.99882899e-01 2.28407909e-03 1.59371158e+02] [ 3.30015374e-03 -1.04419213e-04 9.99994549e-01 1.59790502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.1592541539999 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:936.41, Y:159.38, Z:15.98 [[-7.03866484e-01 7.10328318e-01 2.37765206e-03 9.36406052e+02] [-7.10324627e-01 -7.03870496e-01 2.29106466e-03 1.59381307e+02] [ 3.30096724e-03 -7.63011920e-05 9.99994549e-01 1.59779898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.1892541539999 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:936.41, Y:159.38, Z:15.98 [[-7.05165398e-01 7.09038813e-01 2.39214958e-03 9.36405392e+02] [-7.09035167e-01 -7.05169450e-01 2.27582614e-03 1.59377970e+02] [ 3.30051986e-03 -9.12843300e-05 9.99994549e-01 1.59780831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.2192541539998 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:936.41, Y:159.37, Z:15.98 [[-7.02907682e-01 7.11277066e-01 2.39302273e-03 9.36409196e+02] [-7.11273435e-01 -7.02911748e-01 2.27490765e-03 1.59374185e+02] [ 3.30017343e-03 -1.03043441e-04 9.99994549e-01 1.59778960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.2492541539998 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:936.40, Y:159.37, Z:15.98 [[-7.10324615e-01 7.03870218e-01 2.37841938e-03 9.36403928e+02] [-7.03866494e-01 -7.10328596e-01 2.29027504e-03 1.59366759e+02] [ 3.30151569e-03 -4.72509735e-05 9.99994549e-01 1.59800343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.2792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.38, Y:159.34, Z:15.98 [[-7.10223474e-01 7.03972217e-01 2.39470439e-03 9.36383425e+02] [-7.03968551e-01 -7.10227508e-01 2.27311898e-03 1.59341860e+02] [ 3.30099754e-03 -7.13741165e-05 9.99994549e-01 1.59822149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.3092541539997 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:936.40, Y:159.35, Z:15.98 [[-7.16166946e-01 6.97924932e-01 2.38640741e-03 9.36399859e+02] [-6.97921202e-01 -7.16170921e-01 2.28186461e-03 1.59353365e+02] [ 3.30164580e-03 -3.13283196e-05 9.99994549e-01 1.59804056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.339254154 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:936.40, Y:159.35, Z:15.98 [[-7.18380132e-01 6.95646639e-01 2.39597089e-03 9.36399115e+02] [-6.95642930e-01 -7.18384126e-01 2.27177832e-03 1.59349265e+02] [ 3.30158241e-03 -3.47397987e-05 9.99994549e-01 1.59813090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.369254154 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:936.40, Y:159.34, Z:15.98 [[-7.22028528e-01 6.91859133e-01 2.39685084e-03 9.36398846e+02] [-6.91855406e-01 -7.22032506e-01 2.27084954e-03 1.59342071e+02] [ 3.30171221e-03 -1.86560641e-05 9.99994549e-01 1.59800343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.399254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.40, Y:159.34, Z:15.98 [[-7.24098570e-01 6.89692332e-01 2.39773177e-03 9.36397278e+02] [-6.89688596e-01 -7.24102540e-01 2.26991901e-03 1.59337635e+02] [ 3.30174940e-03 -1.00431525e-05 9.99994549e-01 1.59825982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.4292541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:936.39, Y:159.33, Z:15.98 [[-7.26895849e-01 6.86743527e-01 2.39861367e-03 9.36394841e+02] [-6.86739779e-01 -7.26899806e-01 2.26898672e-03 1.59329353e+02] [ 3.30176376e-03 2.09360628e-06 9.99994549e-01 1.59827386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.4592541539998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:936.39, Y:159.33, Z:15.98 [[-7.27163890e-01 6.86459700e-01 2.39949745e-03 9.36393152e+02] [-6.86455953e-01 -7.27167849e-01 2.26805173e-03 1.59327655e+02] [ 3.30176351e-03 2.09600447e-06 9.99994549e-01 1.59827470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.4892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.40, Y:159.33, Z:15.98 [[-7.25481621e-01 6.88237354e-01 2.40038251e-03 9.36398772e+02] [-6.88233620e-01 -7.25485592e-01 2.26711464e-03 1.59327711e+02] [ 3.30175591e-03 -7.27394266e-06 9.99994549e-01 1.59823487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.5192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.39, Y:159.32, Z:15.99 [[-7.30377844e-01 6.83039163e-01 2.38892845e-03 9.36389728e+02] [-6.83035361e-01 -7.30381750e-01 2.27924440e-03 1.59319089e+02] [ 3.30164293e-03 3.29870017e-05 9.99994549e-01 1.59852535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.5492541539998 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:936.39, Y:159.32, Z:15.98 [[-7.31956447e-01 6.81347190e-01 2.40142298e-03 9.36390120e+02] [-6.81343422e-01 -7.31960386e-01 2.26600318e-03 1.59315129e+02] [ 3.30168139e-03 2.24218828e-05 9.99994549e-01 1.59825708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.579254154 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:936.39, Y:159.31, Z:15.98 [[-7.33085907e-01 6.80131812e-01 2.40230889e-03 9.36389344e+02] [-6.80128041e-01 -7.33089843e-01 2.26506359e-03 1.59312060e+02] [ 3.30165005e-03 2.66085560e-05 9.99994549e-01 1.59829788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.609254154 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:936.39, Y:159.31, Z:15.98 [[-7.34091213e-01 6.79046623e-01 2.40319443e-03 9.36386858e+02] [-6.79042849e-01 -7.34095146e-01 2.26412365e-03 1.59307610e+02] [ 3.30161889e-03 3.02012832e-05 9.99994549e-01 1.59829665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.639254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.38, Y:159.30, Z:15.99 [[-7.35742077e-01 6.77257570e-01 2.40408066e-03 9.36384913e+02] [-6.77253789e-01 -7.35746004e-01 2.26318225e-03 1.59303277e+02] [ 3.30155005e-03 3.69456782e-05 9.99994549e-01 1.59859463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.6692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.38, Y:159.30, Z:15.99 [[-7.36347462e-01 6.76599313e-01 2.40496817e-03 9.36384676e+02] [-6.76595532e-01 -7.36351389e-01 2.26223874e-03 1.59302091e+02] [ 3.30153083e-03 3.86030388e-05 9.99994549e-01 1.59856075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.6992541539998 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:936.38, Y:159.30, Z:15.98 [[-7.36520386e-01 6.76411068e-01 2.40585531e-03 9.36380062e+02] [-6.76407289e-01 -7.36524315e-01 2.26129489e-03 1.59295483e+02] [ 3.30153582e-03 3.81517121e-05 9.99994549e-01 1.59811652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.7292541539998 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:936.38, Y:159.30, Z:15.98 [[-7.37166842e-01 6.75706486e-01 2.40674345e-03 9.36381992e+02] [-6.75702707e-01 -7.37170769e-01 2.26034923e-03 1.59295908e+02] [ 3.30151356e-03 4.00114450e-05 9.99994549e-01 1.59826115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.7592541539998 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:936.38, Y:159.29, Z:15.98 [[-7.37440994e-01 6.75407272e-01 2.40763182e-03 9.36378879e+02] [-6.75403494e-01 -7.37444924e-01 2.25940258e-03 1.59292670e+02] [ 3.30151279e-03 4.00531452e-05 9.99994549e-01 1.59825651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.7892541539998 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:936.38, Y:159.29, Z:15.98 [[-7.37605143e-01 6.75228000e-01 2.40851920e-03 9.36379930e+02] [-6.75224225e-01 -7.37609074e-01 2.25845623e-03 1.59293551e+02] [ 3.30151850e-03 3.95584175e-05 9.99994549e-01 1.59810433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.8192541539997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.34, Y:159.26, Z:15.98 [[-7.35188008e-01 6.77858973e-01 2.40940547e-03 9.36341723e+02] [-6.77855215e-01 -7.35191956e-01 2.25751033e-03 1.59255851e+02] [ 3.30164916e-03 2.64664610e-05 9.99994549e-01 1.59822041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.849254154 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:936.38, Y:159.29, Z:15.98 [[-7.36816342e-01 6.76088687e-01 2.40111295e-03 9.36375689e+02] [-6.76084890e-01 -7.36820253e-01 2.26636354e-03 1.59291787e+02] [ 3.30145140e-03 4.65375063e-05 9.99994549e-01 1.59843325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.879254154 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:936.37, Y:159.29, Z:15.98 [[-7.36419810e-01 6.76520549e-01 2.41051442e-03 9.36373057e+02] [-6.76516787e-01 -7.36423754e-01 2.25631959e-03 1.59289463e+02] [ 3.30160664e-03 3.08449757e-05 9.99994549e-01 1.59816402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.9092541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:936.37, Y:159.29, Z:15.99 [[-7.35987004e-01 6.76991370e-01 2.41139924e-03 9.36373341e+02] [-6.76987614e-01 -7.35990954e-01 2.25537356e-03 1.59291446e+02] [ 3.30163646e-03 2.74382114e-05 9.99994549e-01 1.59860382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.9392541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:936.37, Y:159.29, Z:15.99 [[-7.35792587e-01 6.77202666e-01 2.41228264e-03 9.36370923e+02] [-6.77198914e-01 -7.35796540e-01 2.25442830e-03 1.59290292e+02] [ 3.30165407e-03 2.51964496e-05 9.99994549e-01 1.59855795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.9692541539998 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:936.37, Y:159.29, Z:15.98 [[-7.35397753e-01 6.77631405e-01 2.41316476e-03 9.36368121e+02] [-6.77627659e-01 -7.35401712e-01 2.25348367e-03 1.59288757e+02] [ 3.30167680e-03 2.19796391e-05 9.99994549e-01 1.59843575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.9992541539998 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:936.36, Y:159.29, Z:15.98 [[-7.34562188e-01 6.78537077e-01 2.41405000e-03 9.36364805e+02] [-6.78533338e-01 -7.34566154e-01 2.25253495e-03 1.59288420e+02] [ 3.30170791e-03 1.66135962e-05 9.99994549e-01 1.59827756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.0292541539998 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:936.36, Y:159.29, Z:15.98 [[-7.34681458e-01 6.78407933e-01 2.41493169e-03 9.36360436e+02] [-6.78404197e-01 -7.34685427e-01 2.25158931e-03 1.59285913e+02] [ 3.30171116e-03 1.59011232e-05 9.99994549e-01 1.59844108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.0592541539997 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:936.36, Y:159.29, Z:15.98 [[-7.34731775e-01 6.78353435e-01 2.41581391e-03 9.36360714e+02] [-6.78349702e-01 -7.34735746e-01 2.25064234e-03 1.59288063e+02] [ 3.30171580e-03 1.48517990e-05 9.99994549e-01 1.59838017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.089254154 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:936.36, Y:159.29, Z:15.98 [[-7.35539597e-01 6.77477424e-01 2.41692120e-03 9.36358713e+02] [-6.77473689e-01 -7.35543568e-01 2.24945262e-03 1.59288176e+02] [ 3.30170420e-03 1.71609521e-05 9.99994549e-01 1.59847009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.119254154 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:936.35, Y:159.28, Z:15.99 [[-7.36407759e-01 6.76533641e-01 2.41779929e-03 9.36351651e+02] [-6.76529905e-01 -7.36411728e-01 2.24850841e-03 1.59283924e+02] [ 3.30168733e-03 2.01055145e-05 9.99994549e-01 1.59879309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.149254154 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:936.35, Y:159.29, Z:15.99 [[-7.36752892e-01 6.76157767e-01 2.41867866e-03 9.36351851e+02] [-6.76154032e-01 -7.36756862e-01 2.24756209e-03 1.59285463e+02] [ 3.30168466e-03 2.04985485e-05 9.99994549e-01 1.59877760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.1792541539999 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:936.35, Y:159.28, Z:15.99 [[-7.37035579e-01 6.75849614e-01 2.41955839e-03 9.36349052e+02] [-6.75845880e-01 -7.37039551e-01 2.24661464e-03 1.59284161e+02] [ 3.30168386e-03 2.05863472e-05 9.99994549e-01 1.59873170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.2092541539998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:936.35, Y:159.28, Z:15.99 [[-7.37568208e-01 6.75268302e-01 2.42043672e-03 9.36346302e+02] [-6.75264568e-01 -7.37572179e-01 2.24566796e-03 1.59283062e+02] [ 3.30167517e-03 2.18981345e-05 9.99994549e-01 1.59897195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.2392541539998 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:936.34, Y:159.28, Z:15.99 [[-7.38124730e-01 6.74659930e-01 2.42131497e-03 9.36344264e+02] [-6.74656196e-01 -7.38128701e-01 2.24472061e-03 1.59282482e+02] [ 3.30166512e-03 2.33286444e-05 9.99994549e-01 1.59882616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.2692541539998 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:936.34, Y:159.28, Z:15.99 [[-7.39511604e-01 6.73139451e-01 2.42219285e-03 9.36336498e+02] [-6.73135712e-01 -7.39515570e-01 2.24377292e-03 1.59277156e+02] [ 3.30162140e-03 2.88315966e-05 9.99994549e-01 1.59892233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.2992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.34, Y:159.28, Z:15.99 [[-7.40441486e-01 6.72116459e-01 2.42307245e-03 9.36336116e+02] [-6.72112718e-01 -7.40445450e-01 2.24282263e-03 1.59278129e+02] [ 3.30159098e-03 3.21011133e-05 9.99994549e-01 1.59909462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.329254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.33, Y:159.28, Z:15.99 [[-7.41728836e-01 6.70695504e-01 2.42395288e-03 9.36332797e+02] [-6.70691758e-01 -7.41732796e-01 2.24187070e-03 1.59277661e+02] [ 3.30153794e-03 3.71349239e-05 9.99994549e-01 1.59906138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.359254154 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:936.33, Y:159.28, Z:15.99 [[-7.42063090e-01 6.70325661e-01 2.42483233e-03 9.36331868e+02] [-6.70321916e-01 -7.42067050e-01 2.24091907e-03 1.59277657e+02] [ 3.30153373e-03 3.74850728e-05 9.99994549e-01 1.59867020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.389254154 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:936.33, Y:159.28, Z:15.99 [[-7.43475040e-01 6.68759285e-01 2.42571111e-03 9.36326112e+02] [-6.68755535e-01 -7.43478996e-01 2.23996742e-03 1.59275393e+02] [ 3.30146427e-03 4.31521376e-05 9.99994549e-01 1.59884442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.4192541539999 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:936.32, Y:159.27, Z:15.99 [[-7.44454935e-01 6.67668302e-01 2.42658981e-03 9.36317913e+02] [-6.67664550e-01 -7.44458888e-01 2.23901510e-03 1.59269441e+02] [ 3.30141576e-03 4.66978483e-05 9.99994549e-01 1.59887891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.4492541539998 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:936.32, Y:159.27, Z:15.99 [[-7.45212971e-01 6.66822116e-01 2.42769805e-03 9.36319553e+02] [-6.66818363e-01 -7.45216923e-01 2.23781283e-03 1.59272725e+02] [ 3.30138476e-03 4.88135029e-05 9.99994549e-01 1.59887739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.4792541539998 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:936.32, Y:159.27, Z:15.99 [[-7.46102234e-01 6.65826973e-01 2.42858241e-03 9.36315660e+02] [-6.65823218e-01 -7.46106185e-01 2.23685266e-03 1.59273172e+02] [ 3.30133720e-03 5.19142171e-05 9.99994549e-01 1.59872491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.5092541539998 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:936.31, Y:159.27, Z:15.99 [[-7.46895244e-01 6.64937285e-01 2.42946124e-03 9.36311472e+02] [-6.64933528e-01 -7.46899193e-01 2.23589776e-03 1.59273410e+02] [ 3.30129442e-03 5.45511704e-05 9.99994549e-01 1.59883594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.5392541539998 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:936.31, Y:159.27, Z:15.99 [[-7.47464913e-01 6.64296844e-01 2.43033999e-03 9.36309093e+02] [-6.64293087e-01 -7.47468862e-01 2.23494218e-03 1.59273319e+02] [ 3.30126850e-03 5.60828060e-05 9.99994549e-01 1.59876323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.5692541539997 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:936.30, Y:159.27, Z:15.99 [[-7.48450642e-01 6.63186042e-01 2.43121836e-03 9.36302380e+02] [-6.63182282e-01 -7.48454588e-01 2.23398625e-03 1.59271547e+02] [ 3.30120504e-03 5.96875019e-05 9.99994549e-01 1.59894800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.599254154 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:936.30, Y:159.27, Z:15.99 [[-7.49007642e-01 6.62556894e-01 2.43209741e-03 9.36301234e+02] [-6.62553133e-01 -7.49011588e-01 2.23302884e-03 1.59272463e+02] [ 3.30117780e-03 6.11619053e-05 9.99994549e-01 1.59868745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.629254154 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:936.30, Y:159.27, Z:15.99 [[-7.50678921e-01 6.60662726e-01 2.43297669e-03 9.36295633e+02] [-6.60658959e-01 -7.50682861e-01 2.23207042e-03 1.59272365e+02] [ 3.30103963e-03 6.82003726e-05 9.99994549e-01 1.59871246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.6592541539999 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:936.29, Y:159.27, Z:15.99 [[-7.52276747e-01 6.58842752e-01 2.43385528e-03 9.36291865e+02] [-6.58838979e-01 -7.52280680e-01 2.23111199e-03 1.59273601e+02] [ 3.30089427e-03 7.48949425e-05 9.99994549e-01 1.59857282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.6892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.28, Y:159.27, Z:15.99 [[-7.52378880e-01 6.58726114e-01 2.43473341e-03 9.36284570e+02] [-6.58722343e-01 -7.52382815e-01 2.23015330e-03 1.59268306e+02] [ 3.30091180e-03 7.41069454e-05 9.99994549e-01 1.59886668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.7192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.29, Y:159.27, Z:15.99 [[-7.54152069e-01 6.56695316e-01 2.43304806e-03 9.36285997e+02] [-6.56691528e-01 -7.54155989e-01 2.23199394e-03 1.59272611e+02] [ 3.30063773e-03 8.55007976e-05 9.99994549e-01 1.59883133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.7492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.28, Y:159.27, Z:15.99 [[-7.55557328e-01 6.55078004e-01 2.43583909e-03 9.36278632e+02] [-6.55074218e-01 -7.55561249e-01 2.22894384e-03 1.59270707e+02] [ 3.30055771e-03 8.84394637e-05 9.99994549e-01 1.59877891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.7792541539998 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:936.28, Y:159.27, Z:15.98 [[-7.56099427e-01 6.54452229e-01 2.43671902e-03 9.36277964e+02] [-6.54448442e-01 -7.56103348e-01 2.22798148e-03 1.59272374e+02] [ 3.30051885e-03 8.98685540e-05 9.99994549e-01 1.59844744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.8092541539997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.27, Y:159.27, Z:15.99 [[-7.57373714e-01 6.52977117e-01 2.43759901e-03 9.36272552e+02] [-6.52973326e-01 -7.57377631e-01 2.22701828e-03 1.59273028e+02] [ 3.30037494e-03 9.49979770e-05 9.99994549e-01 1.59873604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.839254154 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:936.69, Y:158.70, Z:16.94 [[-6.69654885e-01 -7.42668425e-01 -2.43847787e-03 9.36686189e+02] [-7.42665157e-01 6.69659248e-01 -2.22605556e-03 1.58703198e+02] [ 3.28617043e-03 3.20283571e-04 -9.99994549e-01 1.69422278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.869254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.15, Y:159.21, Z:15.99 [[-7.11414129e-01 7.02769354e-01 2.27452194e-03 9.36151391e+02] [-7.02765321e-01 -7.11417758e-01 2.38257591e-03 1.59207744e+02] [ 3.29253663e-03 9.65430215e-05 9.99994575e-01 1.59877178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.899254154 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:936.15, Y:159.21, Z:15.98 [[-7.11369919e-01 7.02814102e-01 2.27546369e-03 9.36147655e+02] [-7.02810072e-01 -7.11373551e-01 2.38167616e-03 1.59206555e+02] [ 3.29258028e-03 9.50339719e-05 9.99994575e-01 1.59827906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.9292541539999 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:936.14, Y:159.21, Z:15.99 [[-7.11185474e-01 7.03000740e-01 2.27640051e-03 9.36142862e+02] [-7.02996715e-01 -7.11189111e-01 2.38078041e-03 1.59208099e+02] [ 3.29264165e-03 9.28743623e-05 9.99994575e-01 1.59852612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.9592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.14, Y:159.21, Z:15.99 [[-7.11482581e-01 7.02700043e-01 2.27734188e-03 9.36140116e+02] [-7.02696019e-01 -7.11486220e-01 2.37987960e-03 1.59208596e+02] [ 3.29263886e-03 9.29638126e-05 9.99994575e-01 1.59888142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.9892541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:936.14, Y:159.21, Z:15.99 [[-7.11587607e-01 7.02593686e-01 2.27828256e-03 9.36136006e+02] [-7.02589664e-01 -7.11591248e-01 2.37897874e-03 1.59209761e+02] [ 3.29266137e-03 9.21540051e-05 9.99994575e-01 1.59893039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.0192541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:936.13, Y:159.21, Z:15.99 [[-7.11957614e-01 7.02218742e-01 2.27922257e-03 9.36128698e+02] [-7.02214722e-01 -7.11961256e-01 2.37807781e-03 1.59206845e+02] [ 3.29264897e-03 9.25869624e-05 9.99994575e-01 1.59886528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.0492541539998 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:936.13, Y:159.21, Z:15.99 [[-7.11564481e-01 7.02617101e-01 2.28016366e-03 9.36128432e+02] [-7.02613085e-01 -7.11568128e-01 2.37717512e-03 1.59208462e+02] [ 3.29273568e-03 8.94405506e-05 9.99994575e-01 1.59870164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.079254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.13, Y:159.21, Z:15.99 [[-7.09410432e-01 7.04791909e-01 2.28110849e-03 9.36127906e+02] [-7.04787907e-01 -7.09414096e-01 2.37626813e-03 1.59212230e+02] [ 3.29302507e-03 7.80517180e-05 9.99994575e-01 1.59902174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.109254154 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:936.13, Y:159.21, Z:15.99 [[-7.07525320e-01 7.06684310e-01 2.28204662e-03 9.36126040e+02] [-7.06680321e-01 -7.07528997e-01 2.37536685e-03 1.59211952e+02] [ 3.29324864e-03 6.79547509e-05 9.99994575e-01 1.59879189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.139254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.13, Y:159.21, Z:15.99 [[-7.05538523e-01 7.08667891e-01 2.28310168e-03 9.36125382e+02] [-7.08663916e-01 -7.05542215e-01 2.37435234e-03 1.59213992e+02] [ 3.29345188e-03 5.72452642e-05 9.99994575e-01 1.59900195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.1692541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:936.12, Y:159.22, Z:15.99 [[-7.00463069e-01 7.13684995e-01 2.28403490e-03 9.36123028e+02] [-7.13681050e-01 -7.00466792e-01 2.37345428e-03 1.59216531e+02] [ 3.29378931e-03 3.24446501e-05 9.99994575e-01 1.59883714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.1992541539998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:936.12, Y:159.22, Z:15.99 [[-6.98352697e-01 7.15750159e-01 2.28496906e-03 9.36121303e+02] [-7.15746227e-01 -6.98356435e-01 2.37255461e-03 1.59217678e+02] [ 3.29387918e-03 2.14219284e-05 9.99994575e-01 1.59887132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.2292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.12, Y:159.22, Z:15.99 [[-6.95350673e-01 7.18666972e-01 2.28590143e-03 9.36119679e+02] [-7.18663058e-01 -6.95354430e-01 2.37165595e-03 1.59220316e+02] [ 3.29394248e-03 6.33964642e-06 9.99994575e-01 1.59925172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.2592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.11, Y:159.21, Z:15.99 [[-6.95327681e-01 7.18689214e-01 2.28683171e-03 9.36106303e+02] [-7.18685304e-01 -6.95331442e-01 2.37075861e-03 1.59205643e+02] [ 3.29394463e-03 4.94174482e-06 9.99994575e-01 1.59932786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.2892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.12, Y:159.22, Z:15.99 [[-6.95717839e-01 7.18311530e-01 2.28776319e-03 9.36118286e+02] [-7.18307621e-01 -6.95721601e-01 2.36985939e-03 1.59216326e+02] [ 3.29394359e-03 5.43572604e-06 9.99994575e-01 1.59928368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.3192541539997 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:936.11, Y:159.21, Z:15.99 [[-6.96318430e-01 7.17729340e-01 2.28869737e-03 9.36113855e+02] [-7.17725431e-01 -6.96322192e-01 2.36895686e-03 1.59209952e+02] [ 3.29394061e-03 6.89201998e-06 9.99994575e-01 1.59899653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.349254154 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:936.11, Y:159.21, Z:15.99 [[-6.96671782e-01 7.17386358e-01 2.28962658e-03 9.36111115e+02] [-7.17382449e-01 -6.96675544e-01 2.36805842e-03 1.59207044e+02] [ 3.29393965e-03 7.22155519e-06 9.99994575e-01 1.59899790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.379254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.11, Y:159.21, Z:15.99 [[-6.97364004e-01 7.16713470e-01 2.29079215e-03 9.36112430e+02] [-7.16709562e-01 -6.97367767e-01 2.36693035e-03 1.59208049e+02] [ 3.29393547e-03 8.77938623e-06 9.99994575e-01 1.59918190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.4092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.11, Y:159.21, Z:15.99 [[-6.97808386e-01 7.16280814e-01 2.29172089e-03 9.36111819e+02] [-7.16276906e-01 -6.97812149e-01 2.36603078e-03 1.59206997e+02] [ 3.29393313e-03 9.52937069e-06 9.99994575e-01 1.59915597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.4392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.11, Y:159.20, Z:15.99 [[-6.98808469e-01 7.15305157e-01 2.29264754e-03 9.36109534e+02] [-7.15301246e-01 -6.98812230e-01 2.36513253e-03 1.59204187e+02] [ 3.29392163e-03 1.28410046e-05 9.99994575e-01 1.59901497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.4692541539998 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:936.11, Y:159.20, Z:15.99 [[-6.99683097e-01 7.14449650e-01 2.29357051e-03 9.36109583e+02] [-7.14445739e-01 -6.99686856e-01 2.36423714e-03 1.59200766e+02] [ 3.29390954e-03 1.55850894e-05 9.99994575e-01 1.59858144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.4992541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:936.11, Y:159.20, Z:15.99 [[-7.00443112e-01 7.13704548e-01 2.29448018e-03 9.36108220e+02] [-7.13700635e-01 -7.00446870e-01 2.36335399e-03 1.59198284e+02] [ 3.29389795e-03 1.78230606e-05 9.99994575e-01 1.59894298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.5292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.11, Y:159.20, Z:15.99 [[-7.00896253e-01 7.13259542e-01 2.29540324e-03 9.36107144e+02] [-7.13255630e-01 -7.00900011e-01 2.36245713e-03 1.59195321e+02] [ 3.29389324e-03 1.86280685e-05 9.99994575e-01 1.59894817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.5592541539997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.11, Y:159.19, Z:15.99 [[-7.01201471e-01 7.12959483e-01 2.29632626e-03 9.36105895e+02] [-7.12955572e-01 -7.01205230e-01 2.36155960e-03 1.59192868e+02] [ 3.29389230e-03 1.87504663e-05 9.99994575e-01 1.59900201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.589254154 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:936.10, Y:159.19, Z:15.99 [[-7.01299338e-01 7.12863214e-01 2.29725257e-03 9.36104437e+02] [-7.12859305e-01 -7.01303100e-01 2.36065817e-03 1.59189966e+02] [ 3.29389672e-03 1.79101439e-05 9.99994575e-01 1.59880258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.619254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.10, Y:159.18, Z:15.99 [[-7.01321396e-01 7.12841509e-01 2.29829324e-03 9.36100577e+02] [-7.12837604e-01 -7.01325162e-01 2.35964456e-03 1.59184154e+02] [ 3.29390347e-03 1.65593692e-05 9.99994575e-01 1.59912171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.649254154 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:936.10, Y:159.18, Z:15.99 [[-7.01007181e-01 7.13150507e-01 2.29921688e-03 9.36101095e+02] [-7.13146606e-01 -7.01010952e-01 2.35874422e-03 1.59183264e+02] [ 3.29391585e-03 1.38179208e-05 9.99994575e-01 1.59886159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.6792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.10, Y:159.18, Z:15.99 [[-7.00788284e-01 7.13365607e-01 2.30025904e-03 9.36101478e+02] [-7.13361711e-01 -7.00792059e-01 2.35772747e-03 1.59181535e+02] [ 3.29392496e-03 1.13510590e-05 9.99994575e-01 1.59920109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.7092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.52, Y:158.54, Z:16.94 [[-6.41689931e-01 -7.66960714e-01 -2.30118116e-03 9.36520466e+02] [-7.66957134e-01 6.41694008e-01 -2.35682712e-03 1.58537165e+02] [ 3.28424797e-03 2.52555073e-04 -9.99994575e-01 1.69386181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.7392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:936.55, Y:158.63, Z:16.93 [[-5.85346482e-01 -8.10779995e-01 -2.30118116e-03 9.36553678e+02] [-8.10776715e-01 5.85350804e-01 -2.35682712e-03 1.58626872e+02] [ 3.25786652e-03 4.86183636e-04 -9.99994575e-01 1.69346111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.7692541539998 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:936.28, Y:158.27, Z:16.94 [[-5.22098549e-01 -8.52883022e-01 -1.91238019e-03 9.36276957e+02] [-8.52878978e-01 5.22101990e-01 -2.63861732e-03 1.58266062e+02] [ 3.24888941e-03 2.53410591e-04 -9.99994690e-01 1.69423204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.7992541539998 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:936.44, Y:158.61, Z:16.94 [[-4.61072293e-01 -8.87360515e-01 -1.91238019e-03 9.36438169e+02] [-8.87356722e-01 4.61076009e-01 -2.63861732e-03 1.58605145e+02] [ 3.22315745e-03 4.80370081e-04 -9.99994690e-01 1.69395398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.829254154 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:935.75, Y:158.96, Z:15.99 [[-4.64958559e-01 8.85331189e-01 1.49101134e-03 9.35751006e+02] [-8.85326575e-01 -4.64960950e-01 2.85841303e-03 1.58959885e+02] [ 3.22390425e-03 9.01164230e-06 9.99994803e-01 1.59903368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.859254154 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:935.75, Y:158.95, Z:15.99 [[-4.66756798e-01 8.84384455e-01 1.49241539e-03 9.35750069e+02] [-8.84379838e-01 -4.66759184e-01 2.85767977e-03 1.58954642e+02] [ 3.22388615e-03 1.39793800e-05 9.99994803e-01 1.59864865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.889254154 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:935.75, Y:158.95, Z:15.99 [[-4.68604255e-01 8.83406939e-01 1.49410858e-03 9.35749127e+02] [-8.83402320e-01 -4.68606636e-01 2.85679422e-03 1.58949672e+02] [ 3.22386104e-03 1.88069456e-05 9.99994803e-01 1.59872320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.9192541539999 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:935.74, Y:158.94, Z:15.99 [[-4.69528106e-01 8.82916260e-01 1.49536632e-03 9.35744277e+02] [-8.82911640e-01 -4.69530487e-01 2.85613572e-03 1.58939600e+02] [ 3.22384874e-03 2.07596609e-05 9.99994803e-01 1.59861550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.9492541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:935.74, Y:158.94, Z:15.99 [[-4.70462140e-01 8.82418910e-01 1.49721124e-03 9.35743530e+02] [-8.82414291e-01 -4.70464522e-01 2.85516827e-03 1.58937966e+02] [ 3.22383924e-03 2.20879820e-05 9.99994803e-01 1.59888652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.9792541539998 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:935.74, Y:158.93, Z:15.99 [[-4.71299924e-01 8.81971732e-01 1.49876185e-03 9.35740993e+02] [-8.81967113e-01 -4.71302306e-01 2.85435407e-03 1.58934695e+02] [ 3.22382952e-03 2.33981919e-05 9.99994803e-01 1.59862049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.0092541539998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:935.74, Y:158.93, Z:15.99 [[-4.72963880e-01 8.81080540e-01 1.50002134e-03 9.35738381e+02] [-8.81075920e-01 -4.72966257e-01 2.85369203e-03 1.58932192e+02] [ 3.22379200e-03 2.80605772e-05 9.99994803e-01 1.59881816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.0392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:935.74, Y:158.93, Z:15.99 [[-4.74331214e-01 8.80345185e-01 1.50128104e-03 9.35736249e+02] [-8.80340563e-01 -4.74333589e-01 2.85302917e-03 1.58928455e+02] [ 3.22375852e-03 3.16421973e-05 9.99994803e-01 1.59901205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.0692541539997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:935.73, Y:158.92, Z:15.99 [[-4.76797345e-01 8.79011965e-01 1.50268507e-03 9.35731119e+02] [-8.79007338e-01 -4.76799711e-01 2.85228948e-03 1.58917896e+02] [ 3.22367639e-03 3.90928449e-05 9.99994803e-01 1.59879197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.099254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:935.73, Y:158.92, Z:15.99 [[-4.78771604e-01 8.77938204e-01 1.50401716e-03 9.35731772e+02] [-8.77933574e-01 -4.78773964e-01 2.85158689e-03 1.58919043e+02] [ 3.22360133e-03 4.48316646e-05 9.99994803e-01 1.59883451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.129254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:935.71, Y:158.88, Z:15.99 [[-4.84504621e-01 8.74787407e-01 1.50528160e-03 9.35712753e+02] [-8.74782763e-01 -4.84506955e-01 2.85091927e-03 1.58881064e+02] [ 3.22326768e-03 6.44891590e-05 9.99994803e-01 1.59881893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.1592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:935.70, Y:158.86, Z:15.98 [[-4.86157444e-01 8.73869916e-01 1.51957860e-03 9.35704992e+02] [-8.73865292e-01 -4.86159816e-01 2.84327829e-03 1.58864961e+02] [ 3.22341342e-03 5.43739073e-05 9.99994803e-01 1.59842239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.1892541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:935.71, Y:158.87, Z:15.99 [[-4.88963485e-01 8.72302929e-01 1.52013702e-03 9.35708297e+02] [-8.72298298e-01 -4.88965844e-01 2.84297951e-03 1.58873445e+02] [ 3.22323443e-03 6.41002303e-05 9.99994803e-01 1.59852782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.2192541539998 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:935.71, Y:158.87, Z:15.98 [[-4.91465322e-01 8.70895815e-01 1.52226522e-03 9.35706156e+02] [-8.70891181e-01 -4.91467675e-01 2.84183952e-03 1.58868837e+02] [ 3.22309029e-03 7.09382215e-05 9.99994803e-01 1.59835000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.2492541539998 meters Centerline goodness : 0.999737 Centerline is valid? [True, True] Translation: X:935.70, Y:158.86, Z:15.98 [[-4.92333776e-01 8.70405151e-01 1.52510567e-03 9.35702568e+02] [-8.70400520e-01 -4.92336133e-01 2.84031434e-03 1.58862894e+02] [ 3.22308886e-03 7.09299203e-05 9.99994803e-01 1.59824387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.2792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:935.70, Y:158.86, Z:15.99 [[-4.92644211e-01 8.70229483e-01 1.52608783e-03 9.35698193e+02] [-8.70224852e-01 -4.92646569e-01 2.83978653e-03 1.58857996e+02] [ 3.22308790e-03 7.09648419e-05 9.99994803e-01 1.59874310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.3092541539997 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:935.70, Y:158.86, Z:15.99 [[-4.92177784e-01 8.70493364e-01 1.52735085e-03 9.35698680e+02] [-8.70488737e-01 -4.92180149e-01 2.83910706e-03 1.58860421e+02] [ 3.22315563e-03 6.78037129e-05 9.99994803e-01 1.59857538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.339254154 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:935.70, Y:158.86, Z:15.99 [[-4.92214223e-01 8.70472758e-01 1.52861258e-03 9.35695007e+02] [-8.70468132e-01 -4.92216592e-01 2.83842757e-03 1.58855611e+02] [ 3.22318235e-03 6.65058778e-05 9.99994803e-01 1.59880779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.369254154 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:935.69, Y:158.85, Z:15.99 [[-4.91409254e-01 8.70927439e-01 1.52987262e-03 9.35692668e+02] [-8.70922818e-01 -4.91411632e-01 2.83774826e-03 1.58853786e+02] [ 3.22327003e-03 6.20947797e-05 9.99994803e-01 1.59872272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.399254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:935.69, Y:158.85, Z:15.99 [[-4.91621706e-01 8.70807530e-01 1.53113376e-03 9.35691434e+02] [-8.70802911e-01 -4.91624086e-01 2.83706764e-03 1.58852369e+02] [ 3.22328210e-03 6.14483004e-05 9.99994803e-01 1.59886696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.4292541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:935.69, Y:158.85, Z:15.99 [[-4.91170357e-01 8.71062186e-01 1.53268224e-03 9.35687099e+02] [-8.71057570e-01 -4.91172745e-01 2.83623085e-03 1.58845225e+02] [ 3.22334519e-03 5.80180484e-05 9.99994803e-01 1.59864411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.4592541539998 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:935.69, Y:158.85, Z:15.98 [[-4.90766744e-01 8.71289647e-01 1.53408592e-03 9.35687610e+02] [-8.71285035e-01 -4.90769139e-01 2.83547141e-03 1.58846507e+02] [ 3.22339891e-03 5.49289725e-05 9.99994803e-01 1.59832213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.4892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:935.69, Y:158.85, Z:15.99 [[-4.90624028e-01 8.71370017e-01 1.53534464e-03 9.35686079e+02] [-8.71365407e-01 -4.90626427e-01 2.83478968e-03 1.58846956e+02] [ 3.22343138e-03 5.29697229e-05 9.99994803e-01 1.59862250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.5192541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:935.68, Y:158.84, Z:15.99 [[-4.90906876e-01 8.71210697e-01 1.53659972e-03 9.35681414e+02] [-8.71206089e-01 -4.90909278e-01 2.83410920e-03 1.58840128e+02] [ 3.22343731e-03 5.25886572e-05 9.99994803e-01 1.59871627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.5492541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:935.68, Y:158.84, Z:15.99 [[-4.91412719e-01 8.70925470e-01 1.53799869e-03 9.35680583e+02] [-8.70920863e-01 -4.91415123e-01 2.83334981e-03 1.58838061e+02] [ 3.22343233e-03 5.28689895e-05 9.99994803e-01 1.59862722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.579254154 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:935.68, Y:158.83, Z:15.98 [[-4.91640598e-01 8.70796849e-01 1.53939883e-03 9.35679257e+02] [-8.70792244e-01 -4.91643005e-01 2.83258889e-03 1.58834810e+02] [ 3.22344415e-03 5.21191312e-05 9.99994803e-01 1.59842740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.609254154 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:935.68, Y:158.83, Z:15.99 [[-4.92430563e-01 8.70350370e-01 1.54094195e-03 9.35678339e+02] [-8.70345765e-01 -4.92432972e-01 2.83174918e-03 1.58831328e+02] [ 3.22342456e-03 5.32875463e-05 9.99994803e-01 1.59878967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.639254154 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:935.68, Y:158.82, Z:15.99 [[-4.91699910e-01 8.70763355e-01 1.54233866e-03 9.35675072e+02] [-8.70758754e-01 -4.91702326e-01 2.83098824e-03 1.58823421e+02] [ 3.22349232e-03 4.89917689e-05 9.99994803e-01 1.59880585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.6692541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:935.67, Y:158.81, Z:15.99 [[-4.91620570e-01 8.70808149e-01 1.54373709e-03 9.35668250e+02] [-8.70803551e-01 -4.91622992e-01 2.83022547e-03 1.58810523e+02] [ 3.22352005e-03 4.71053161e-05 9.99994803e-01 1.59877076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.6992541539998 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:935.67, Y:158.82, Z:15.99 [[-4.88889827e-01 8.72344167e-01 1.54657351e-03 9.35672073e+02] [-8.72339581e-01 -4.88892272e-01 2.82867466e-03 1.58817231e+02] [ 3.22368568e-03 3.37729749e-05 9.99994803e-01 1.59853155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.7292541539998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:935.67, Y:158.81, Z:15.99 [[-4.85539818e-01 8.74213183e-01 1.54797399e-03 9.35669388e+02] [-8.74208609e-01 -4.85542285e-01 2.82790805e-03 1.58812849e+02] [ 3.22380133e-03 1.98097759e-05 9.99994803e-01 1.59864113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.7592541539998 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:935.67, Y:158.82, Z:15.98 [[-4.81744533e-01 8.76310336e-01 1.54951206e-03 9.35671148e+02] [-8.76305775e-01 -4.81747025e-01 2.82706504e-03 1.58815077e+02] [ 3.22385914e-03 4.07675839e-06 9.99994803e-01 1.59848714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.7892541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:935.57, Y:158.62, Z:15.98 [[-4.77592817e-01 8.78579932e-01 1.55090230e-03 9.35566611e+02] [-8.78575386e-01 -4.77595335e-01 2.82630216e-03 1.58622077e+02] [ 3.22383606e-03 -1.27629816e-05 9.99994803e-01 1.59849096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.8192541539997 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:936.27, Y:158.36, Z:16.94 [[-4.25822491e-01 -9.04805394e-01 -1.55090233e-03 9.36274101e+02] [-9.04801002e-01 4.25825269e-01 -2.82630214e-03 1.58361516e+02] [ 3.21766682e-03 1.99754967e-04 -9.99994803e-01 1.69436627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.849254154 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:935.56, Y:158.68, Z:15.99 [[-4.15082655e-01 9.09782698e-01 1.35364116e-03 9.35561369e+02] [-9.09778019e-01 -4.15084862e-01 2.91781616e-03 1.58679379e+02] [ 3.21645461e-03 -2.03780972e-05 9.99994827e-01 1.59850844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.879254154 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:935.56, Y:158.68, Z:15.98 [[-4.12810562e-01 9.10815897e-01 1.35700536e-03 9.35561040e+02] [-9.10811229e-01 -4.12812791e-01 2.91625071e-03 1.58678007e+02] [ 3.21635668e-03 -3.21166208e-05 9.99994827e-01 1.59848443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.9092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:935.56, Y:158.67, Z:15.99 [[-4.12421657e-01 9.10992059e-01 1.35842882e-03 9.35559733e+02] [-9.10987394e-01 -4.12423893e-01 2.91558749e-03 1.58674952e+02] [ 3.21632556e-03 -3.50601056e-05 9.99994827e-01 1.59896520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.9392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:935.56, Y:158.67, Z:15.99 [[-4.12051154e-01 9.11159699e-01 1.35984978e-03 9.35558557e+02] [-9.11155037e-01 -4.12053396e-01 2.91492460e-03 1.58671561e+02] [ 3.21629254e-03 -3.79359307e-05 9.99994827e-01 1.59884831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.9692541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:935.56, Y:158.67, Z:15.99 [[-4.11449956e-01 9.11431336e-01 1.36126995e-03 9.35558379e+02] [-9.11426678e-01 -4.11452206e-01 2.91426123e-03 1.58668932e+02] [ 3.21624653e-03 -4.16250911e-05 9.99994827e-01 1.59882538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.9992541539998 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:935.56, Y:158.66, Z:15.99 [[-4.12375577e-01 9.11012912e-01 1.36268871e-03 9.35555903e+02] [-9.11008254e-01 -4.12377827e-01 2.91359768e-03 1.58660030e+02] [ 3.21626771e-03 -3.99241349e-05 9.99994827e-01 1.59861706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.0292541539998 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:935.56, Y:158.66, Z:15.99 [[-4.13832359e-01 9.10352084e-01 1.36425570e-03 9.35556079e+02] [-9.10347425e-01 -4.13834606e-01 2.91286377e-03 1.58658668e+02] [ 3.21630782e-03 -3.65093759e-05 9.99994827e-01 1.59854768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.0592541539997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:935.55, Y:158.65, Z:15.99 [[-4.15829583e-01 9.09441528e-01 1.36567587e-03 9.35554026e+02] [-9.09436866e-01 -4.15831824e-01 2.91219778e-03 1.58652940e+02] [ 3.21636508e-03 -3.10179980e-05 9.99994827e-01 1.59879526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.089254154 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:935.55, Y:158.63, Z:15.98 [[-4.17551780e-01 9.08652102e-01 1.36709572e-03 9.35546670e+02] [-9.08647437e-01 -4.17554017e-01 2.91153109e-03 1.58629612e+02] [ 3.21640516e-03 -2.64930310e-05 9.99994827e-01 1.59819981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.119254154 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:935.55, Y:158.64, Z:15.99 [[-4.22006863e-01 9.06591606e-01 1.36638840e-03 9.35552131e+02] [-9.06586930e-01 -4.22009075e-01 2.91186365e-03 1.58641631e+02] [ 3.21649945e-03 -9.92342116e-06 9.99994827e-01 1.59862630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.149254154 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:935.55, Y:158.63, Z:15.99 [[-4.29939072e-01 9.02856865e-01 1.36990017e-03 9.35552477e+02] [-9.02852174e-01 -4.29941254e-01 2.91021059e-03 1.58633626e+02] [ 3.21648020e-03 1.43958972e-05 9.99994827e-01 1.59854455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.1792541539999 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:935.55, Y:158.63, Z:15.99 [[-4.32963300e-01 9.01410506e-01 1.37117860e-03 9.35550784e+02] [-9.01405811e-01 -4.32965471e-01 2.90960812e-03 1.58626614e+02] [ 3.21642431e-03 2.37651745e-05 9.99994827e-01 1.59854141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.2092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:935.55, Y:158.62, Z:15.99 [[-4.37046072e-01 8.99438072e-01 1.37290333e-03 9.35547505e+02] [-8.99433370e-01 -4.37048227e-01 2.90879407e-03 1.58617277e+02] [ 3.21630510e-03 3.64419590e-05 9.99994827e-01 1.59893157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.2392541539998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:935.54, Y:158.60, Z:15.99 [[-4.42464764e-01 8.96784835e-01 1.37563810e-03 9.35543691e+02] [-8.96780123e-01 -4.42466899e-01 2.90750016e-03 1.58603077e+02] [ 3.21607638e-03 5.28214632e-05 9.99994827e-01 1.59887129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.2692541539998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:935.54, Y:158.60, Z:15.99 [[-4.42862313e-01 8.96588574e-01 1.37868793e-03 9.35542379e+02] [-8.96583866e-01 -4.42864456e-01 2.90605326e-03 1.58600169e+02] [ 3.21610603e-03 5.08721165e-05 9.99994827e-01 1.59887244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.2992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:935.54, Y:158.60, Z:15.99 [[-4.45771337e-01 8.95145804e-01 1.37997607e-03 9.35540640e+02] [-8.95141091e-01 -4.45773469e-01 2.90544144e-03 1.58595084e+02] [ 3.21595044e-03 5.98892292e-05 9.99994827e-01 1.59914765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.329254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:935.54, Y:158.59, Z:15.99 [[-4.50361329e-01 8.92845320e-01 1.38141189e-03 9.35538199e+02] [-8.92840598e-01 -4.50363442e-01 2.90475861e-03 1.58586036e+02] [ 3.21563754e-03 7.48103331e-05 9.99994827e-01 1.59927379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.359254154 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:935.54, Y:158.58, Z:15.99 [[-4.52269857e-01 8.91880072e-01 1.38330018e-03 9.35537772e+02] [-8.91875348e-01 -4.52271966e-01 2.90385909e-03 1.58581613e+02] [ 3.21552195e-03 7.95966054e-05 9.99994827e-01 1.59896944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.389254154 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:935.54, Y:158.58, Z:15.99 [[-4.56305548e-01 8.89822078e-01 1.38459174e-03 9.35537718e+02] [-8.89817346e-01 -4.56307639e-01 2.90324314e-03 1.58575089e+02] [ 3.21516963e-03 9.27322062e-05 9.99994827e-01 1.59900197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.4192541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:935.54, Y:158.57, Z:15.99 [[-4.60277708e-01 8.87773908e-01 1.38588445e-03 9.35537991e+02] [-8.87769169e-01 -4.60279782e-01 2.90262592e-03 1.58568322e+02] [ 3.21477015e-03 1.05668516e-04 9.99994827e-01 1.59901085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.4492541539998 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:935.54, Y:158.56, Z:15.99 [[-4.62161896e-01 8.86794485e-01 1.38717982e-03 9.35537290e+02] [-8.86789743e-01 -4.62163964e-01 2.90200672e-03 1.58563575e+02] [ 3.21458808e-03 1.11060096e-04 9.99994827e-01 1.59890797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.4792541539998 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:935.54, Y:158.56, Z:15.99 [[-4.63884479e-01 8.85894611e-01 1.38847688e-03 9.35537788e+02] [-8.85889868e-01 -4.63886543e-01 2.90138600e-03 1.58559408e+02] [ 3.21441797e-03 1.15870335e-04 9.99994827e-01 1.59870328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.5092541539998 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:935.54, Y:158.55, Z:15.99 [[-4.64488026e-01 8.85578309e-01 1.39007197e-03 9.35535854e+02] [-8.85573566e-01 -4.64490091e-01 2.90062159e-03 1.58554179e+02] [ 3.21440222e-03 1.16293003e-04 9.99994827e-01 1.59877443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.5392541539998 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:935.54, Y:158.55, Z:15.99 [[-4.63190030e-01 8.86257897e-01 1.39136890e-03 9.35536098e+02] [-8.86253159e-01 -4.63192107e-01 2.89999934e-03 1.58553144e+02] [ 3.21461841e-03 1.10145702e-04 9.99994827e-01 1.59869818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.5692541539997 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:935.53, Y:158.53, Z:15.99 [[-4.64040316e-01 8.85812986e-01 1.39266555e-03 9.35526327e+02] [-8.85808248e-01 -4.64042392e-01 2.89937652e-03 1.58533061e+02] [ 3.21456122e-03 1.11792970e-04 9.99994827e-01 1.59895421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.599254154 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:935.53, Y:158.54, Z:15.99 [[-4.60591025e-01 8.87611373e-01 1.39933664e-03 9.35527074e+02] [-8.87606653e-01 -4.60593141e-01 2.89615324e-03 1.58535273e+02] [ 3.21518342e-03 9.18816782e-05 9.99994827e-01 1.59888688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.629254154 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:935.52, Y:158.52, Z:15.99 [[-4.60863841e-01 8.87469751e-01 1.40063060e-03 9.35520237e+02] [-8.87465032e-01 -4.60865960e-01 2.89552732e-03 1.58521637e+02] [ 3.21519588e-03 9.14331590e-05 9.99994827e-01 1.59908653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.6592541539999 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:935.52, Y:158.52, Z:15.99 [[-4.58418642e-01 8.88735263e-01 1.40726114e-03 9.35519302e+02] [-8.88730560e-01 -4.58420796e-01 2.89230121e-03 1.58518857e+02] [ 3.21560785e-03 7.52088158e-05 9.99994827e-01 1.59882924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.6892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:935.52, Y:158.51, Z:15.99 [[-4.57996090e-01 8.88953091e-01 1.40854654e-03 9.35517523e+02] [-8.88948391e-01 -4.57998250e-01 2.89167508e-03 1.58514883e+02] [ 3.21567536e-03 7.22506969e-05 9.99994827e-01 1.59917475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.7192541539998 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:935.52, Y:158.51, Z:15.99 [[-4.55997273e-01 8.89980056e-01 1.40983215e-03 9.35517788e+02] [-8.89975362e-01 -4.55999448e-01 2.89104815e-03 1.58512581e+02] [ 3.21585788e-03 6.35941957e-05 9.99994827e-01 1.59862541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.7492541539998 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:935.52, Y:158.51, Z:15.99 [[-4.55328576e-01 8.90322356e-01 1.41111747e-03 9.35519396e+02] [-8.90317666e-01 -4.55330758e-01 2.89042065e-03 1.58514729e+02] [ 3.21593131e-03 5.97483033e-05 9.99994827e-01 1.59862528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.7792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:935.52, Y:158.51, Z:15.99 [[-4.53702638e-01 8.91152019e-01 1.41239915e-03 9.35518736e+02] [-8.91147335e-01 -4.53704834e-01 2.88979423e-03 1.58511359e+02] [ 3.21605828e-03 5.24515230e-05 9.99994827e-01 1.59891041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.8092541539997 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:935.52, Y:158.51, Z:15.99 [[-4.52554556e-01 8.91735597e-01 1.41367768e-03 9.35519940e+02] [-8.91730918e-01 -4.52556762e-01 2.88916864e-03 1.58512485e+02] [ 3.21614391e-03 4.68863410e-05 9.99994827e-01 1.59851478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.839254154 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:935.46, Y:158.38, Z:15.99 [[-4.47676111e-01 8.94194664e-01 1.41495400e-03 9.35458080e+02] [-8.94189999e-01 -4.47678346e-01 2.88854344e-03 1.58381686e+02] [ 3.21636439e-03 2.78941798e-05 9.99994827e-01 1.59893747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.869254154 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:935.52, Y:158.51, Z:15.99 [[-4.49211581e-01 8.93424293e-01 1.41013257e-03 9.35518680e+02] [-8.93419617e-01 -4.49213792e-01 2.89090690e-03 1.58507616e+02] [ 3.21625745e-03 3.87887592e-05 9.99994827e-01 1.59890010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.899254154 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:935.52, Y:158.50, Z:15.99 [[-4.47577499e-01 8.94244023e-01 1.41781035e-03 9.35517365e+02] [-8.94239363e-01 -4.47579744e-01 2.88713651e-03 1.58503429e+02] [ 3.21638776e-03 2.43555150e-05 9.99994827e-01 1.59921463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.9292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:935.51, Y:158.49, Z:16.00 [[-4.47089040e-01 8.94488332e-01 1.41908193e-03 9.35510027e+02] [-8.94483675e-01 -4.47091292e-01 2.88651136e-03 1.58487058e+02] [ 3.21640991e-03 2.11819719e-05 9.99994827e-01 1.59953251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.9592541539998 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:936.08, Y:158.11, Z:16.94 [[-3.74560185e-01 -9.27201518e-01 -1.41908194e-03 9.36083284e+02] [-9.27197054e-01 3.74562799e-01 -2.88651136e-03 1.58112052e+02] [ 3.20791302e-03 2.34596362e-04 -9.99994827e-01 1.69392579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.9892541539998 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:935.43, Y:158.37, Z:15.99 [[-3.85871132e-01 9.22551887e-01 1.21858244e-03 9.35427392e+02] [-9.22547111e-01 -3.85873055e-01 2.96880882e-03 1.58374489e+02] [ 3.20909831e-03 2.13779045e-05 9.99994851e-01 1.59933701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.0192541539998 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:935.43, Y:158.37, Z:15.99 [[-3.88165911e-01 9.21588703e-01 1.21988957e-03 9.35427367e+02] [-9.21583923e-01 -3.88167827e-01 2.96827162e-03 1.58367378e+02] [ 3.20904747e-03 2.79512392e-05 9.99994851e-01 1.59947882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.0492541539998 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:935.43, Y:158.36, Z:16.00 [[-3.89939825e-01 9.20839531e-01 1.22119795e-03 9.35426795e+02] [-9.20834749e-01 -3.89941736e-01 2.96773323e-03 1.58362411e+02] [ 3.20900212e-03 3.27158738e-05 9.99994851e-01 1.59986190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.079254154 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:935.43, Y:158.35, Z:16.00 [[-3.93027287e-01 9.19525996e-01 1.22243752e-03 9.35425443e+02] [-9.19521210e-01 -3.93029186e-01 2.96722255e-03 1.58352168e+02] [ 3.20889190e-03 4.21422068e-05 9.99994851e-01 1.59960590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.109254154 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:935.43, Y:158.35, Z:16.00 [[-3.94854329e-01 9.18742925e-01 1.22375329e-03 9.35427797e+02] [-9.18738136e-01 -3.94856222e-01 2.96667980e-03 1.58354228e+02] [ 3.20882267e-03 4.70975379e-05 9.99994851e-01 1.59973560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.139254154 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:935.43, Y:158.35, Z:16.00 [[-3.97391727e-01 9.17648252e-01 1.22506932e-03 9.35428063e+02] [-9.17643460e-01 -3.97393612e-01 2.96613625e-03 1.58346761e+02] [ 3.20870447e-03 5.45411596e-05 9.99994851e-01 1.59977029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.1692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:935.43, Y:158.35, Z:16.00 [[-3.98801528e-01 9.17036443e-01 1.22623920e-03 9.35429554e+02] [-9.17031650e-01 -3.98803409e-01 2.96565253e-03 1.58346959e+02] [ 3.20863982e-03 5.82065993e-05 9.99994851e-01 1.60020553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.1992541539998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:935.43, Y:158.34, Z:16.00 [[-4.00076513e-01 9.16480920e-01 1.22748257e-03 9.35430313e+02] [-9.16476126e-01 -4.00078392e-01 2.96513781e-03 1.58342104e+02] [ 3.20858148e-03 6.13235264e-05 9.99994851e-01 1.60024834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.2292541539998 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:935.43, Y:158.34, Z:16.00 [[-4.00399814e-01 9.16339718e-01 1.22864784e-03 9.35429003e+02] [-9.16334925e-01 -4.00401694e-01 2.96465489e-03 1.58335907e+02] [ 3.20858370e-03 6.11943421e-05 9.99994851e-01 1.60006959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.2592541539998 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:935.43, Y:158.33, Z:16.00 [[-4.00120355e-01 9.16461777e-01 1.22996447e-03 9.35429834e+02] [-9.16456985e-01 -4.00122242e-01 2.96410855e-03 1.58333187e+02] [ 3.20862833e-03 5.87906366e-05 9.99994851e-01 1.60007203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.2892541539998 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:935.43, Y:158.33, Z:16.00 [[-3.99722459e-01 9.16635391e-01 1.23143209e-03 9.35429429e+02] [-9.16630602e-01 -3.99724352e-01 2.96349870e-03 1.58329980e+02] [ 3.20868118e-03 5.58086490e-05 9.99994851e-01 1.60010972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.3192541539997 meters Centerline goodness : 0.999637 Centerline is valid? [True, True] Translation: X:935.43, Y:158.33, Z:16.00 [[-3.98070233e-01 9.17354114e-01 1.23260314e-03 9.35430840e+02] [-9.17349330e-01 -3.98072139e-01 2.96301155e-03 1.58328838e+02] [ 3.20879580e-03 4.87590338e-05 9.99994851e-01 1.59977349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.349254154 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:935.43, Y:158.33, Z:16.00 [[-3.97398713e-01 9.17645215e-01 1.23377359e-03 9.35431851e+02] [-9.17640434e-01 -3.97400626e-01 2.96252410e-03 1.58329243e+02] [ 3.20884846e-03 4.51427283e-05 9.99994851e-01 1.59970321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.379254154 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:935.43, Y:158.33, Z:16.00 [[-3.95309140e-01 9.18547309e-01 1.23508579e-03 9.35431472e+02] [-9.18542534e-01 -3.95311068e-01 2.96197694e-03 1.58325667e+02] [ 3.20895903e-03 3.64177301e-05 9.99994851e-01 1.59955955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.4092541539999 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:935.43, Y:158.33, Z:15.99 [[-3.94341033e-01 9.18963341e-01 1.23625183e-03 9.35432808e+02] [-9.18958569e-01 -3.94342970e-01 2.96149019e-03 1.58327191e+02] [ 3.20900813e-03 3.17728849e-05 9.99994851e-01 1.59945470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.4392541539999 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:935.35, Y:158.13, Z:15.99 [[-3.92111562e-01 9.19916840e-01 1.23741630e-03 9.35353339e+02] [-9.19912075e-01 -3.92113514e-01 2.96100355e-03 1.58134603e+02] [ 3.20908468e-03 2.27295367e-05 9.99994851e-01 1.59915468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.4692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:935.43, Y:158.32, Z:16.00 [[-3.91866089e-01 9.20021438e-01 1.23342743e-03 9.35431628e+02] [-9.20016668e-01 -3.91868029e-01 2.96267173e-03 1.58319570e+02] [ 3.20906228e-03 2.61967854e-05 9.99994851e-01 1.59950303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.4992541539998 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:935.43, Y:158.32, Z:15.99 [[-3.89709524e-01 9.20936995e-01 1.24061870e-03 9.35432743e+02] [-9.20932239e-01 -3.89711499e-01 2.95965732e-03 1.58318701e+02] [ 3.20914129e-03 1.08808909e-05 9.99994851e-01 1.59925092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.5292541539998 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:935.43, Y:158.32, Z:15.99 [[-3.88864902e-01 9.21293952e-01 1.24177947e-03 9.35432766e+02] [-9.21289200e-01 -3.88866885e-01 2.95917022e-03 1.58317026e+02] [ 3.20915254e-03 6.67942617e-06 9.99994851e-01 1.59926968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.5592541539997 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:935.43, Y:158.32, Z:15.99 [[-3.88221139e-01 9.21565409e-01 1.24293866e-03 9.35433582e+02] [-9.21560659e-01 -3.88223128e-01 2.95868324e-03 1.58317979e+02] [ 3.20915767e-03 3.18000218e-06 9.99994851e-01 1.59931447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.589254154 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:935.43, Y:158.32, Z:16.00 [[-3.86975561e-01 9.22089132e-01 1.24409551e-03 9.35433331e+02] [-9.22084387e-01 -3.86977560e-01 2.95819672e-03 1.58315147e+02] [ 3.20915809e-03 -2.41120745e-06 9.99994851e-01 1.59959014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.619254154 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:935.43, Y:158.31, Z:15.99 [[-3.86668201e-01 9.22218061e-01 1.24524684e-03 9.35432790e+02] [-9.22213318e-01 -3.86670206e-01 2.95771199e-03 1.58312300e+02] [ 3.20915527e-03 -4.73005090e-06 9.99994851e-01 1.59929809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.649254154 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:935.43, Y:158.31, Z:15.99 [[-3.86694758e-01 9.22206924e-01 1.24654523e-03 9.35431603e+02] [-9.22202183e-01 -3.86696767e-01 2.95716468e-03 1.58306138e+02] [ 3.20915275e-03 -6.04664918e-06 9.99994851e-01 1.59924913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.6792541539999 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:935.43, Y:158.31, Z:15.99 [[-3.87228146e-01 9.21983083e-01 1.24784479e-03 9.35433117e+02] [-9.21978343e-01 -3.87230156e-01 2.95661619e-03 1.58307121e+02] [ 3.20915325e-03 -5.60086469e-06 9.99994851e-01 1.59939970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.7092541539998 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:935.42, Y:158.27, Z:16.00 [[-3.92197481e-01 9.19880197e-01 1.24900043e-03 9.35420714e+02] [-9.19875447e-01 -3.92199470e-01 2.95612792e-03 1.58270174e+02] [ 3.20914084e-03 1.04610958e-05 9.99994851e-01 1.59959929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.7392541539998 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:935.39, Y:158.19, Z:16.00 [[-3.99210211e-01 9.16858557e-01 1.26232465e-03 9.35390473e+02] [-9.16853810e-01 -3.99212206e-01 2.95042722e-03 1.58191883e+02] [ 3.20905986e-03 2.04735051e-05 9.99994851e-01 1.59980688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.7692541539998 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:935.41, Y:158.22, Z:16.00 [[-4.00506751e-01 9.16292914e-01 1.27990886e-03 9.35405307e+02] [-9.16288189e-01 -4.00508796e-01 2.94277790e-03 1.58223456e+02] [ 3.20906129e-03 5.83703999e-06 9.99994851e-01 1.59971534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.7992541539998 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:935.41, Y:158.22, Z:16.00 [[-4.02428735e-01 9.15450420e-01 1.28139377e-03 9.35406549e+02] [-9.15445692e-01 -4.02430775e-01 2.94213117e-03 1.58220838e+02] [ 3.20904751e-03 1.09517187e-05 9.99994851e-01 1.59963971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.829254154 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:935.41, Y:158.22, Z:16.00 [[-4.03557587e-01 9.14953348e-01 1.28254453e-03 9.35405519e+02] [-9.14948619e-01 -4.03559625e-01 2.94162945e-03 1.58215638e+02] [ 3.20903690e-03 1.36545406e-05 9.99994851e-01 1.59973638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.859254154 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:935.41, Y:158.21, Z:16.00 [[-4.04771278e-01 9.14417063e-01 1.28383825e-03 9.35405257e+02] [-9.14412333e-01 -4.04773314e-01 2.94106471e-03 1.58212026e+02] [ 3.20902321e-03 1.65009934e-05 9.99994851e-01 1.59970323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.889254154 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:935.40, Y:158.20, Z:16.00 [[-4.07449411e-01 9.13226876e-01 1.28499035e-03 9.35404126e+02] [-9.13222142e-01 -4.07451436e-01 2.94056126e-03 1.58203829e+02] [ 3.20897073e-03 2.46483159e-05 9.99994851e-01 1.59968112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.9192541539999 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:935.40, Y:158.19, Z:16.00 [[-4.10954066e-01 9.11655143e-01 1.28688666e-03 9.35400619e+02] [-9.11650404e-01 -4.10956079e-01 2.93973113e-03 1.58190654e+02] [ 3.20887490e-03 3.49037142e-05 9.99994851e-01 1.59968550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.9492541539998 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:935.40, Y:158.19, Z:16.00 [[-4.11312555e-01 9.11493454e-01 1.29028040e-03 9.35399722e+02] [-9.11488719e-01 -4.11314578e-01 2.93824083e-03 1.58188429e+02] [ 3.20889842e-03 3.24593135e-05 9.99994851e-01 1.59968638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.9792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:935.41, Y:158.19, Z:16.00 [[-4.10429812e-01 9.11891277e-01 1.29143571e-03 9.35406852e+02] [-9.11886545e-01 -4.10431843e-01 2.93773295e-03 1.58193065e+02] [ 3.20893939e-03 2.80903336e-05 9.99994851e-01 1.59971049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.0092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:935.40, Y:158.18, Z:16.00 [[-4.17267465e-01 9.08782834e-01 1.27406261e-03 9.35399483e+02] [-9.08778064e-01 -4.17269404e-01 2.94537246e-03 1.58180241e+02] [ 3.20833128e-03 7.11679501e-05 9.99994851e-01 1.59998942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.0392541539998 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:935.39, Y:158.16, Z:16.00 [[-4.23134817e-01 9.06065812e-01 1.29289006e-03 9.35391828e+02] [-9.06061054e-01 -4.23136786e-01 2.93708472e-03 1.58156981e+02] [ 3.20826139e-03 7.13454709e-05 9.99994851e-01 1.59967915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.0692541539997 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:935.39, Y:158.15, Z:16.00 [[-4.26338894e-01 9.04562577e-01 1.30096942e-03 9.35391444e+02] [-9.04557823e-01 -4.26340872e-01 2.93350163e-03 1.58152823e+02] [ 3.20819223e-03 7.38637701e-05 9.99994851e-01 1.59959707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.099254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:935.29, Y:157.93, Z:16.00 [[-4.27029282e-01 9.04236859e-01 1.30227220e-03 9.35293487e+02] [-9.04232105e-01 -4.27031261e-01 2.93292317e-03 1.57932219e+02] [ 3.20816817e-03 7.48877405e-05 9.99994851e-01 1.59954299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.129254154 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:935.39, Y:158.15, Z:15.99 [[-4.28342100e-01 9.03615726e-01 1.29056083e-03 9.35388198e+02] [-9.03610954e-01 -4.28344034e-01 2.93812582e-03 1.58145259e+02] [ 3.20774073e-03 9.23580856e-05 9.99994851e-01 1.59927360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.1592541539999 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:935.39, Y:158.14, Z:15.99 [[-4.28698024e-01 9.03446899e-01 1.30554892e-03 9.35387283e+02] [-9.03442147e-01 -4.28700005e-01 2.93145073e-03 1.58143040e+02] [ 3.20809891e-03 7.72192164e-05 9.99994851e-01 1.59927487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.1892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:935.38, Y:158.14, Z:16.00 [[-4.29449086e-01 9.03090126e-01 1.30670350e-03 9.35383691e+02] [-9.03085373e-01 -4.29451067e-01 2.93093599e-03 1.58135555e+02] [ 3.20806456e-03 7.86229659e-05 9.99994851e-01 1.59974024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.2192541539998 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:935.39, Y:158.14, Z:16.00 [[-4.29105423e-01 9.03253467e-01 1.30783200e-03 9.35385108e+02] [-9.03248717e-01 -4.29107409e-01 2.93043234e-03 1.58138083e+02] [ 3.20812358e-03 7.61668323e-05 9.99994851e-01 1.59950903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.2492541539998 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:935.38, Y:158.13, Z:16.00 [[-4.29748952e-01 9.02947465e-01 1.30898915e-03 9.35382512e+02] [-9.02942715e-01 -4.29750938e-01 2.92991537e-03 1.58132538e+02] [ 3.20809897e-03 7.71858423e-05 9.99994851e-01 1.59974429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.2792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:935.38, Y:158.13, Z:16.00 [[-4.30417549e-01 9.02628948e-01 1.31014950e-03 9.35381650e+02] [-9.02624198e-01 -4.30419536e-01 2.92939641e-03 1.58132494e+02] [ 3.20807194e-03 7.82909811e-05 9.99994851e-01 1.59989569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.3092541539997 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:935.38, Y:158.13, Z:16.00 [[-4.30264308e-01 9.02702003e-01 1.31131045e-03 9.35379832e+02] [-9.02697254e-01 -4.30266300e-01 2.92887664e-03 1.58129823e+02] [ 3.20811550e-03 7.64747404e-05 9.99994851e-01 1.59954937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.339254154 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:935.38, Y:158.13, Z:16.00 [[-4.30779922e-01 9.02456058e-01 1.31247078e-03 9.35379373e+02] [-9.02451310e-01 -4.30781915e-01 2.92835658e-03 1.58130287e+02] [ 3.20810181e-03 7.70362409e-05 9.99994851e-01 1.59956335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.369254154 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:935.38, Y:158.12, Z:15.99 [[-4.31322812e-01 9.02196712e-01 1.31362592e-03 9.35375017e+02] [-9.02191964e-01 -4.31324805e-01 2.92783831e-03 1.58124074e+02] [ 3.20808554e-03 7.77007070e-05 9.99994851e-01 1.59947120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.399254154 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:935.37, Y:158.12, Z:15.99 [[-4.31725330e-01 9.02004163e-01 1.31478164e-03 9.35373756e+02] [-9.01999417e-01 -4.31727325e-01 2.92731923e-03 1.58121112e+02] [ 3.20808129e-03 7.78655878e-05 9.99994851e-01 1.59947227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.4292541539999 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:935.37, Y:158.12, Z:16.00 [[-4.32413539e-01 9.01674442e-01 1.31608756e-03 9.35371789e+02] [-9.01669695e-01 -4.32415535e-01 2.92673198e-03 1.58121095e+02] [ 3.20805613e-03 7.88822688e-05 9.99994851e-01 1.59960918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.4592541539998 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:935.37, Y:158.12, Z:16.00 [[-4.32256306e-01 9.01749827e-01 1.31724462e-03 9.35370256e+02] [-9.01745083e-01 -4.32258306e-01 2.92621112e-03 1.58122233e+02] [ 3.20810031e-03 7.70543477e-05 9.99994851e-01 1.59952353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.4892541539998 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:935.37, Y:158.12, Z:16.00 [[-4.32250798e-01 9.01752466e-01 1.31840351e-03 9.35367983e+02] [-9.01747723e-01 -4.32252802e-01 2.92568890e-03 1.58119080e+02] [ 3.20813079e-03 7.57640004e-05 9.99994851e-01 1.59964520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.5192541539998 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:935.36, Y:158.10, Z:16.00 [[-4.30944430e-01 9.02377503e-01 1.31956178e-03 9.35357694e+02] [-9.02372764e-01 -4.30946444e-01 2.92516639e-03 1.58101511e+02] [ 3.20826480e-03 6.98475469e-05 9.99994851e-01 1.59957177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.5492541539998 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:935.37, Y:158.12, Z:16.00 [[-4.29884933e-01 9.02882718e-01 1.31983885e-03 9.35365203e+02] [-9.02877982e-01 -4.29886954e-01 2.92504127e-03 1.58120933e+02] [ 3.20835072e-03 6.57777321e-05 9.99994851e-01 1.59951318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.579254154 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:935.36, Y:158.12, Z:15.99 [[-4.28504806e-01 9.03538535e-01 1.32181442e-03 9.35363140e+02] [-9.03533805e-01 -4.28506841e-01 2.92414824e-03 1.58119659e+02] [ 3.20848714e-03 5.87075603e-05 9.99994851e-01 1.59931943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.609254154 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:935.36, Y:158.12, Z:16.00 [[-4.25093796e-01 9.05148339e-01 1.32296813e-03 9.35361297e+02] [-9.05143618e-01 -4.25095852e-01 2.92362618e-03 1.58122189e+02] [ 3.20870364e-03 4.53391944e-05 9.99994851e-01 1.59950617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.639254154 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:935.36, Y:158.11, Z:15.99 [[-4.23514941e-01 9.05888151e-01 1.32411985e-03 9.35356216e+02] [-9.05883435e-01 -4.23517009e-01 2.92310447e-03 1.58114474e+02] [ 3.20879298e-03 3.84801820e-05 9.99994851e-01 1.59942338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.6692541539999 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:935.35, Y:158.11, Z:15.99 [[-4.20154345e-01 9.07451689e-01 1.32602387e-03 9.35352654e+02] [-9.07446984e-01 -4.20156437e-01 2.92224049e-03 1.58112938e+02] [ 3.20892953e-03 2.44956783e-05 9.99994851e-01 1.59947146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.6992541539998 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:935.35, Y:158.10, Z:16.00 [[-4.16964261e-01 9.08921913e-01 1.32717544e-03 9.35347015e+02] [-9.08917217e-01 -4.16966373e-01 2.92171739e-03 1.58100922e+02] [ 3.20900049e-03 1.19591272e-05 9.99994851e-01 1.59972326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.7292541539998 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:935.34, Y:158.10, Z:16.00 [[-4.19371976e-01 9.07813525e-01 1.32279677e-03 9.35342380e+02] [-9.07808817e-01 -4.19374062e-01 2.92372072e-03 1.58097980e+02] [ 3.20893986e-03 2.52799670e-05 9.99994851e-01 1.59954510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.7592541539998 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:935.34, Y:158.09, Z:15.99 [[-4.18657281e-01 9.08143323e-01 1.33633114e-03 9.35339099e+02] [-9.08138637e-01 -4.18659413e-01 2.91752148e-03 1.58094926e+02] [ 3.20899527e-03 7.86766518e-06 9.99994851e-01 1.59944023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.7892541539998 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:935.34, Y:158.09, Z:15.99 [[-4.18802499e-01 9.08076361e-01 1.33747362e-03 9.35337823e+02] [-9.08071676e-01 -4.18804635e-01 2.91699764e-03 1.58093999e+02] [ 3.20899676e-03 7.12399188e-06 9.99994851e-01 1.59949788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.8192541539997 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:935.32, Y:158.06, Z:16.00 [[-4.15582661e-01 9.09554429e-01 1.33905129e-03 9.35323849e+02] [-9.09549754e-01 -4.15584818e-01 2.91627323e-03 1.58062410e+02] [ 3.20899862e-03 -5.98117767e-06 9.99994851e-01 1.59955850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.849254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:935.33, Y:158.09, Z:16.00 [[-4.19215940e-01 9.07885583e-01 1.32844761e-03 9.35334191e+02] [-9.07880883e-01 -4.19218044e-01 2.92114442e-03 1.58089461e+02] [ 3.20897411e-03 1.85181150e-05 9.99994851e-01 1.59987199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.879254154 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:935.30, Y:158.02, Z:16.00 [[-4.18252198e-01 9.08329952e-01 1.34096767e-03 9.35301124e+02] [-9.08325273e-01 -4.18254348e-01 2.91538284e-03 1.58017509e+02] [ 3.20899511e-03 1.33045376e-06 9.99994851e-01 1.59960141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.9092541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:935.30, Y:158.02, Z:16.00 [[-4.19016459e-01 9.07977654e-01 1.33704656e-03 9.35300112e+02] [-9.07972967e-01 -4.19018592e-01 2.91718881e-03 1.58017561e+02] [ 3.20898962e-03 8.34799598e-06 9.99994851e-01 1.59981791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.9392541539999 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:935.33, Y:158.08, Z:15.99 [[-4.22372350e-01 9.06421435e-01 1.33467302e-03 9.35327870e+02] [-9.06416737e-01 -4.22374458e-01 2.91828245e-03 1.58082742e+02] [ 3.20892556e-03 2.28318537e-05 9.99994851e-01 1.59940714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.9692541539998 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:935.32, Y:158.08, Z:16.00 [[-4.25505088e-01 9.04955034e-01 1.34435156e-03 9.35323988e+02] [-9.04950343e-01 -4.25507211e-01 2.91381705e-03 1.58076245e+02] [ 3.20890469e-03 2.32725748e-05 9.99994851e-01 1.59975252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.9992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:935.32, Y:158.07, Z:16.00 [[-4.27797665e-01 9.03873524e-01 1.34548927e-03 9.35322430e+02] [-9.03868830e-01 -4.27799780e-01 2.91329161e-03 1.58072379e+02] [ 3.20884716e-03 3.01535369e-05 9.99994851e-01 1.60002610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.0292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:935.31, Y:158.05, Z:16.00 [[-4.29372575e-01 9.03126447e-01 1.34662986e-03 9.35313725e+02] [-9.03121750e-01 -4.29374685e-01 2.91276429e-03 1.58051643e+02] [ 3.20880323e-03 3.44903883e-05 9.99994851e-01 1.60023007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.0592541539997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:935.32, Y:158.06, Z:16.00 [[-4.34153328e-01 9.00837993e-01 1.34113106e-03 9.35318064e+02] [-9.00833277e-01 -4.34155395e-01 2.91530890e-03 1.58064554e+02] [ 3.20848031e-03 5.75555702e-05 9.99994851e-01 1.60012689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.089254154 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:935.32, Y:158.06, Z:16.00 [[-4.38214115e-01 8.98869606e-01 1.34910688e-03 9.35316517e+02] [-8.98864893e-01 -4.38216187e-01 2.91161328e-03 1.58061125e+02] [ 3.20836115e-03 6.32452262e-05 9.99994851e-01 1.59999859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.119254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:935.29, Y:158.01, Z:16.00 [[-4.37490462e-01 8.99222037e-01 1.35025524e-03 9.35292977e+02] [-8.99217327e-01 -4.37492542e-01 2.91108063e-03 1.58005425e+02] [ 3.20843445e-03 5.93971052e-05 9.99994851e-01 1.60013435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.149254154 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:935.31, Y:158.05, Z:16.00 [[-4.45479793e-01 8.95290993e-01 1.33901738e-03 9.35311353e+02] [-8.95286248e-01 -4.45481794e-01 2.91629611e-03 1.58049914e+02] [ 3.20744150e-03 1.00347140e-04 9.99994851e-01 1.59991751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.1792541539999 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:935.30, Y:158.02, Z:16.00 [[-4.51352454e-01 8.92344738e-01 1.35290036e-03 9.35295863e+02] [-8.92340000e-01 -4.51354469e-01 2.90984136e-03 1.58015209e+02] [ 3.20721925e-03 1.06116938e-04 9.99994851e-01 1.59971709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.2092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:935.29, Y:158.01, Z:16.00 [[-4.56415089e-01 8.89765924e-01 1.36629669e-03 9.35293660e+02] [-8.89761193e-01 -4.56417121e-01 2.90353755e-03 1.58010829e+02] [ 3.20706997e-03 1.09540575e-04 9.99994851e-01 1.59994910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.2392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:935.29, Y:158.00, Z:16.00 [[-4.52521980e-01 8.91752201e-01 1.36759300e-03 9.35291211e+02] [-8.91747481e-01 -4.52524037e-01 2.90292685e-03 1.57999190e+02] [ 3.20756011e-03 9.40905932e-05 9.99994851e-01 1.59975673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.2692541539998 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:935.29, Y:158.01, Z:16.00 [[-4.59771114e-01 8.88036436e-01 1.34627674e-03 9.35290709e+02] [-8.88031670e-01 -4.59773062e-01 2.91296814e-03 1.58007714e+02] [ 3.20580363e-03 1.43762224e-04 9.99994851e-01 1.59967247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.2992541539998 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:935.29, Y:158.00, Z:16.00 [[-4.60487910e-01 8.87664920e-01 1.36917131e-03 9.35287790e+02] [-8.87660184e-01 -4.60489929e-01 2.90216705e-03 1.58002961e+02] [ 3.20664148e-03 1.21053981e-04 9.99994851e-01 1.59953372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.329254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:935.28, Y:158.00, Z:16.00 [[-4.60993877e-01 8.87402258e-01 1.37046893e-03 9.35284128e+02] [-8.87397523e-01 -4.60995898e-01 2.90155415e-03 1.58000313e+02] [ 3.20662626e-03 1.21447963e-04 9.99994851e-01 1.59983492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.359254154 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:935.28, Y:158.00, Z:15.99 [[-4.60328553e-01 8.87747567e-01 1.37162078e-03 9.35284242e+02] [-8.87742834e-01 -4.60330582e-01 2.90100955e-03 1.58003138e+02] [ 3.20676316e-03 1.17771008e-04 9.99994851e-01 1.59945574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.389254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:935.28, Y:158.00, Z:16.00 [[-4.60285455e-01 8.87769911e-01 1.37277543e-03 9.35278794e+02] [-8.87765181e-01 -4.60287488e-01 2.90046306e-03 1.57997034e+02] [ 3.20681519e-03 1.16338734e-04 9.99994851e-01 1.59994735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.4192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:935.28, Y:158.00, Z:16.00 [[-4.60640420e-01 8.87585780e-01 1.37392565e-03 9.35278095e+02] [-8.87581050e-01 -4.60642454e-01 2.89991811e-03 1.57998497e+02] [ 3.20681456e-03 1.16349124e-04 9.99994851e-01 1.59988824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.4492541539998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:935.23, Y:157.90, Z:16.00 [[-4.57023914e-01 8.89453344e-01 1.37508066e-03 9.35232129e+02] [-8.89448624e-01 -4.57025971e-01 2.89937032e-03 1.57901117e+02] [ 3.20730220e-03 1.02017972e-04 9.99994851e-01 1.59988193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.4792541539998 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:935.27, Y:157.99, Z:16.00 [[-4.62610040e-01 8.86560830e-01 1.35848552e-03 9.35270469e+02] [-8.86556074e-01 -4.62612014e-01 2.90724293e-03 1.57990220e+02] [ 3.20589943e-03 1.40546180e-04 9.99994851e-01 1.59968403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.5092541539998 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:935.27, Y:157.99, Z:16.00 [[-4.65416582e-01 8.85090678e-01 1.37759630e-03 9.35269592e+02] [-8.85085942e-01 -4.65418602e-01 2.89815891e-03 1.57991935e+02] [ 3.20629238e-03 1.29560099e-04 9.99994851e-01 1.59980611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.5392541539998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:935.26, Y:157.97, Z:16.00 [[-4.61893969e-01 8.86934079e-01 1.37889314e-03 9.35263949e+02] [-8.86929353e-01 -4.61896012e-01 2.89754177e-03 1.57973772e+02] [ 3.20683378e-03 1.15376266e-04 9.99994851e-01 1.59952770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.5692541539997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:935.26, Y:157.98, Z:16.00 [[-4.69944966e-01 8.82694679e-01 1.35400767e-03 9.35261825e+02] [-8.82689901e-01 -4.69946885e-01 2.90939775e-03 1.57979084e+02] [ 3.20442160e-03 1.72087928e-04 9.99994851e-01 1.60006637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.599254154 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:935.26, Y:157.97, Z:16.00 [[-4.71789478e-01 8.81710144e-01 1.38226223e-03 9.35258340e+02] [-8.81705400e-01 -4.71791480e-01 2.89591142e-03 1.57974736e+02] [ 3.20549402e-03 1.47512465e-04 9.99994852e-01 1.59998464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.629254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:935.26, Y:157.97, Z:16.00 [[-4.73303997e-01 8.80898072e-01 1.38341501e-03 9.35255278e+02] [-8.80893326e-01 -4.73305994e-01 2.89536062e-03 1.57969334e+02] [ 3.20529620e-03 1.51744704e-04 9.99994852e-01 1.60020202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.6592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:935.25, Y:157.97, Z:16.00 [[-4.74650912e-01 8.80173048e-01 1.38457057e-03 9.35253755e+02] [-8.80168302e-01 -4.74652906e-01 2.89480792e-03 1.57967652e+02] [ 3.20512236e-03 1.55368093e-04 9.99994852e-01 1.60030105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.6892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:935.25, Y:157.97, Z:16.00 [[-4.75959947e-01 8.79465865e-01 1.38602421e-03 9.35252429e+02] [-8.79461118e-01 -4.75961939e-01 2.89411176e-03 1.57966879e+02] [ 3.20496727e-03 1.58526878e-04 9.99994852e-01 1.60032236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.7192541539998 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:935.25, Y:157.96, Z:16.00 [[-4.77527885e-01 8.78615498e-01 1.38747521e-03 9.35246207e+02] [-8.78610749e-01 -4.77529873e-01 2.89341596e-03 1.57956171e+02] [ 3.20476097e-03 1.62636173e-04 9.99994852e-01 1.59997911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.7492541539998 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:935.24, Y:157.95, Z:16.00 [[-4.78814115e-01 8.77915209e-01 1.38907881e-03 9.35243927e+02] [-8.77910459e-01 -4.78816102e-01 2.89264589e-03 1.57951947e+02] [ 3.20461113e-03 1.65552869e-04 9.99994852e-01 1.59996791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.7792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:935.24, Y:157.95, Z:16.00 [[-4.81514851e-01 8.76436829e-01 1.39038658e-03 9.35243553e+02] [-8.76432075e-01 -4.81516827e-01 2.89201716e-03 1.57951017e+02] [ 3.20416489e-03 1.73969822e-04 9.99994852e-01 1.60014038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.8092541539997 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:935.76, Y:157.43, Z:16.94 [[-3.14389047e-01 -9.49293206e-01 -1.39169406e-03 9.35756879e+02] [-9.49288892e-01 3.14391857e-01 -2.89138784e-03 1.57425188e+02] [ 3.18231211e-03 4.12099039e-04 -9.99994852e-01 1.69386661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.839254154 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:935.79, Y:157.60, Z:16.94 [[-2.45233757e-01 -9.69462979e-01 -1.39169406e-03 9.35788209e+02] [-9.69458879e-01 2.45236871e-01 -2.89138784e-03 1.57595550e+02] [ 3.14438817e-03 6.40124254e-04 -9.99994852e-01 1.69363509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.869254154 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:935.10, Y:157.80, Z:16.00 [[-3.49914107e-01 9.36781311e-01 9.45404738e-04 9.35103845e+02] [-9.36776425e-01 -3.49915341e-01 3.03060908e-03 1.57800243e+02] [ 3.16982956e-03 1.74819999e-04 9.99994961e-01 1.59977094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.899254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:935.10, Y:157.80, Z:16.00 [[-3.50905053e-01 9.36410566e-01 9.46926097e-04 9.35102129e+02] [-9.36405680e-01 -3.50906286e-01 3.03013365e-03 1.57796116e+02] [ 3.16973148e-03 1.76582232e-04 9.99994961e-01 1.60011593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.9292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:935.10, Y:157.79, Z:16.00 [[-3.50582983e-01 9.36531191e-01 9.48448333e-04 9.35099297e+02] [-9.36526307e-01 -3.50584223e-01 3.02965711e-03 1.57790610e+02] [ 3.16987940e-03 1.73899412e-04 9.99994961e-01 1.60007512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.9592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:935.09, Y:157.78, Z:16.00 [[-3.52051247e-01 9.35980244e-01 9.49816033e-04 9.35094046e+02] [-9.35975359e-01 -3.52052484e-01 3.02922826e-03 1.57775225e+02] [ 3.16968290e-03 1.77439184e-04 9.99994961e-01 1.60008730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.9892541539998 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:935.09, Y:157.77, Z:16.00 [[-3.51176705e-01 9.36308714e-01 9.55567166e-04 9.35092697e+02] [-9.36303835e-01 -3.51177965e-01 3.02741299e-03 1.57772715e+02] [ 3.17016729e-03 1.68455715e-04 9.99994961e-01 1.59983066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.0192541539998 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:935.09, Y:157.77, Z:16.00 [[-3.51325949e-01 9.36252723e-01 9.56934418e-04 9.35092340e+02] [-9.36247845e-01 -3.51327213e-01 3.02698075e-03 1.57772370e+02] [ 3.17021607e-03 1.67529099e-04 9.99994961e-01 1.59994842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.0492541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:935.09, Y:157.77, Z:16.00 [[-3.52813212e-01 9.35693283e-01 9.58299883e-04 9.35090765e+02] [-9.35688404e-01 -3.52814471e-01 3.02654840e-03 1.57769298e+02] [ 3.17002307e-03 1.71136173e-04 9.99994961e-01 1.60015658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.079254154 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:935.09, Y:157.77, Z:16.00 [[-3.53283140e-01 9.35515955e-01 9.59663565e-04 9.35089602e+02] [-9.35511076e-01 -3.53284402e-01 3.02611594e-03 1.57765459e+02] [ 3.17001391e-03 1.71299846e-04 9.99994961e-01 1.60015791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.109254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:935.08, Y:157.73, Z:16.00 [[-3.50382088e-01 9.36606357e-01 9.61183265e-04 9.35081971e+02] [-9.36601484e-01 -3.50383370e-01 3.02563316e-03 1.57730950e+02] [ 3.17060988e-03 1.59881992e-04 9.99994961e-01 1.59987135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.139254154 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:935.09, Y:157.75, Z:16.00 [[-3.55406618e-01 9.34711315e-01 9.45841568e-04 9.35086855e+02] [-9.34706422e-01 -3.55407824e-01 3.03051131e-03 1.57754400e+02] [ 3.16881271e-03 1.92979588e-04 9.99994961e-01 1.59991866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.1692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:935.09, Y:157.75, Z:16.00 [[-3.52843060e-01 9.35682022e-01 9.63823320e-04 9.35089114e+02] [-9.35677147e-01 -3.52844338e-01 3.02478157e-03 1.57750844e+02] [ 3.17031333e-03 1.65445731e-04 9.99994961e-01 1.59979712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.1992541539998 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:935.09, Y:157.75, Z:16.00 [[-3.58087579e-01 9.33687520e-01 9.48990872e-04 9.35085521e+02] [-9.33682626e-01 -3.58088782e-01 3.02951434e-03 1.57746985e+02] [ 3.16844271e-03 1.98775166e-04 9.99994961e-01 1.59989837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.2292541539998 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:935.09, Y:157.75, Z:16.00 [[-3.58519407e-01 9.33521773e-01 9.66623035e-04 9.35085407e+02] [-9.33516893e-01 -3.58520664e-01 3.02387798e-03 1.57745142e+02] [ 3.16941027e-03 1.81760008e-04 9.99994961e-01 1.59986867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.2592541539998 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:935.09, Y:157.75, Z:16.00 [[-3.57519837e-01 9.33905043e-01 9.67991311e-04 9.35086278e+02] [-9.33900165e-01 -3.57521104e-01 3.02343991e-03 1.57746203e+02] [ 3.16968310e-03 1.76932501e-04 9.99994961e-01 1.59986865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.2892541539998 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:935.09, Y:157.74, Z:16.00 [[-3.57940494e-01 9.33743896e-01 9.69511981e-04 9.35085362e+02] [-9.33739019e-01 -3.57941763e-01 3.02295221e-03 1.57743143e+02] [ 3.16969200e-03 1.76765840e-04 9.99994961e-01 1.59986972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.3192541539997 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:935.08, Y:157.74, Z:16.00 [[-3.56310606e-01 9.34367064e-01 9.70873530e-04 9.35083883e+02] [-9.34362190e-01 -3.56311888e-01 3.02251486e-03 1.57738618e+02] [ 3.17007211e-03 1.69806583e-04 9.99994961e-01 1.59998626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.349254154 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:935.08, Y:157.74, Z:16.00 [[-3.55659946e-01 9.34614925e-01 9.72235955e-04 9.35082726e+02] [-9.34610054e-01 -3.55661236e-01 3.02207655e-03 1.57735168e+02] [ 3.17026449e-03 1.66170085e-04 9.99994961e-01 1.60014329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.379254154 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:935.08, Y:157.73, Z:16.00 [[-3.51625156e-01 9.36140375e-01 9.73599205e-04 9.35080323e+02] [-9.36135511e-01 -3.51626472e-01 3.02163730e-03 1.57729671e+02] [ 3.17101993e-03 1.51062900e-04 9.99994961e-01 1.59995259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.4092541539999 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:935.08, Y:157.73, Z:16.00 [[-3.49451083e-01 9.36954103e-01 9.74963844e-04 9.35080407e+02] [-9.36949242e-01 -3.49452414e-01 3.02119692e-03 1.57730736e+02] [ 3.17142632e-03 1.42268899e-04 9.99994961e-01 1.59986835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.4392541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:935.08, Y:157.74, Z:16.00 [[-3.43460672e-01 9.39166553e-01 9.76327208e-04 9.35081636e+02] [-9.39161702e-01 -3.43462039e-01 3.02075627e-03 1.57735885e+02] [ 3.17232459e-03 1.20581858e-04 9.99994961e-01 1.60000339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.4692541539998 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:935.08, Y:157.74, Z:16.00 [[-3.39730252e-01 9.40522408e-01 9.77838923e-04 9.35081097e+02] [-9.40517564e-01 -3.39731643e-01 3.02026684e-03 1.57735268e+02] [ 3.17283147e-03 1.06401333e-04 9.99994961e-01 1.59972832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.4992541539998 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:935.08, Y:157.74, Z:16.00 [[-3.31591654e-01 9.43422501e-01 9.79342953e-04 9.35080235e+02] [-9.43417671e-01 -3.31593092e-01 3.01977907e-03 1.57736156e+02] [ 3.17367088e-03 7.74040895e-05 9.99994961e-01 1.59996662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.5292541539998 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:935.08, Y:157.73, Z:16.00 [[-3.27664650e-01 9.44793583e-01 9.80842211e-04 9.35077949e+02] [-9.44788761e-01 -3.27666112e-01 3.01929202e-03 1.57731838e+02] [ 3.17399648e-03 6.26265669e-05 9.99994961e-01 1.59995381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.5592541539997 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:935.08, Y:157.74, Z:16.00 [[-3.19209709e-01 9.47683595e-01 9.82339472e-04 9.35077696e+02] [-9.47678788e-01 -3.19211219e-01 3.01880480e-03 1.57735365e+02] [ 3.17444557e-03 3.26895243e-05 9.99994961e-01 1.60007533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.589254154 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:935.08, Y:157.75, Z:16.00 [[-3.07471204e-01 9.51556877e-01 9.83986676e-04 9.35084305e+02] [-9.51552090e-01 -3.07472778e-01 3.01826780e-03 1.57752202e+02] [ 3.17460260e-03 -8.28414464e-06 9.99994961e-01 1.60044307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.619254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:935.08, Y:157.75, Z:16.01 [[-3.05215073e-01 9.52282953e-01 9.68095352e-04 9.35082069e+02] [-9.52278153e-01 -3.05216608e-01 3.02345359e-03 1.57746409e+02] [ 3.17466209e-03 9.07554601e-07 9.99994961e-01 1.60052670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.649254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:935.08, Y:157.74, Z:16.01 [[-2.98591483e-01 9.54380519e-01 9.75050757e-04 9.35081741e+02] [-9.54375738e-01 -2.98593074e-01 3.02117939e-03 1.57744208e+02] [ 3.17449815e-03 -2.84663512e-05 9.99994961e-01 1.60057441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.6792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:935.08, Y:157.73, Z:16.01 [[-2.95024847e-01 9.55489083e-01 9.75902999e-04 9.35076747e+02] [-9.55484308e-01 -2.95026459e-01 3.02090022e-03 1.57725837e+02] [ 3.17435438e-03 -4.12193765e-05 9.99994961e-01 1.60059978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.7092541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:935.07, Y:157.70, Z:16.00 [[-2.92239448e-01 9.56344686e-01 9.72646951e-04 9.35070515e+02] [-9.56339913e-01 -2.92241063e-01 3.02196832e-03 1.57704208e+02] [ 3.17429072e-03 -4.70427464e-05 9.99994961e-01 1.60047892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.7392541539998 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:935.07, Y:157.69, Z:16.01 [[-2.90575062e-01 9.56851710e-01 9.68694403e-04 9.35067070e+02] [-9.56846935e-01 -2.90576672e-01 3.02326677e-03 1.57690654e+02] [ 3.17429797e-03 -4.84063438e-05 9.99994961e-01 1.60050193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.7692541539998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:935.08, Y:157.73, Z:16.01 [[-2.96027871e-01 9.55178807e-01 9.72453281e-04 9.35079813e+02] [-9.55174027e-01 -2.96029466e-01 3.02203057e-03 1.57730630e+02] [ 3.17445438e-03 -3.42568418e-05 9.99994961e-01 1.60074163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.7992541539998 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:935.08, Y:157.72, Z:16.01 [[-2.96757968e-01 9.54952209e-01 9.94040726e-04 9.35079517e+02] [-9.54947451e-01 -2.96759627e-01 3.01491302e-03 1.57723926e+02] [ 3.17408900e-03 -5.45571980e-05 9.99994961e-01 1.60050488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.829254154 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:935.08, Y:157.72, Z:16.01 [[-2.98950326e-01 9.54268155e-01 9.95575642e-04 9.35078695e+02] [-9.54263395e-01 -2.98951980e-01 3.01440608e-03 1.57715838e+02] [ 3.17418103e-03 -4.88837123e-05 9.99994961e-01 1.60087169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.859254154 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:935.08, Y:157.71, Z:16.01 [[-3.03634632e-01 9.52788023e-01 9.96891608e-04 9.35081783e+02] [-9.52783256e-01 -3.03636266e-01 3.01397081e-03 1.57712725e+02] [ 3.17436774e-03 -3.46757148e-05 9.99994961e-01 1.60077520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.889254154 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:935.08, Y:157.69, Z:16.01 [[-3.03852377e-01 9.52718603e-01 9.98208818e-04 9.35082911e+02] [-9.52713838e-01 -3.03854015e-01 3.01353450e-03 1.57692229e+02] [ 3.17436013e-03 -3.53377343e-05 9.99994961e-01 1.60052387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.9192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:935.08, Y:157.69, Z:16.01 [[-3.07484601e-01 9.51552554e-01 9.78548804e-04 9.35084084e+02] [-9.51547761e-01 -3.07486158e-01 3.02005361e-03 1.57687506e+02] [ 3.17462994e-03 -2.51594345e-06 9.99994961e-01 1.60066444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.9492541539998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:935.09, Y:157.69, Z:16.01 [[-3.16314892e-01 9.48653747e-01 9.78842912e-04 9.35085010e+02] [-9.48648940e-01 -3.16316406e-01 3.01995594e-03 1.57692991e+02] [ 3.17451658e-03 2.66787448e-05 9.99994961e-01 1.60087683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.9792541539998 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:935.09, Y:157.69, Z:16.01 [[-3.20933822e-01 9.47101091e-01 1.00241027e-03 9.35086838e+02] [-9.47096302e-01 -3.20935387e-01 3.01211288e-03 1.57685214e+02] [ 3.17448433e-03 1.73098410e-05 9.99994961e-01 1.60075243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.0092541539998 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:935.09, Y:157.69, Z:16.01 [[-3.17346138e-01 9.48309243e-01 1.00373602e-03 9.35092960e+02] [-9.48304461e-01 -3.17347726e-01 3.01167103e-03 1.57688494e+02] [ 3.17452882e-03 3.89482506e-06 9.99994961e-01 1.60064852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.0392541539998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:935.09, Y:157.68, Z:16.01 [[-3.22398981e-01 9.46603367e-01 9.81461369e-04 9.35092348e+02] [-9.46598553e-01 -3.22400472e-01 3.01909530e-03 1.57679232e+02] [ 3.17430938e-03 4.43033366e-05 9.99994961e-01 1.60100619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.0692541539997 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:935.09, Y:157.67, Z:16.01 [[-3.28234128e-01 9.44595881e-01 9.89343782e-04 9.35090495e+02] [-9.44591066e-01 -3.28235614e-01 3.01646355e-03 1.57672214e+02] [ 3.17407691e-03 5.55809852e-05 9.99994961e-01 1.60086811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.099254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:935.09, Y:157.66, Z:16.01 [[-3.29541003e-01 9.44140728e-01 1.00685614e-03 9.35089650e+02] [-9.44135928e-01 -3.29542539e-01 3.01060679e-03 1.57664979e+02] [ 3.17423841e-03 4.15093252e-05 9.99994961e-01 1.60108452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.129254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:935.09, Y:157.66, Z:16.01 [[-3.24781987e-01 9.45788372e-01 1.00803709e-03 9.35094340e+02] [-9.45783582e-01 -3.24783551e-01 3.01021132e-03 1.57664789e+02] [ 3.17441673e-03 2.42774784e-05 9.99994961e-01 1.60093126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.1592541539999 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:935.09, Y:157.66, Z:16.01 [[-3.30230678e-01 9.43899744e-01 9.86608977e-04 9.35091192e+02] [-9.43894923e-01 -3.30232146e-01 3.01738864e-03 1.57657909e+02] [ 3.17392236e-03 6.51790932e-05 9.99994961e-01 1.60086520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.1892541539999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:935.09, Y:157.65, Z:16.01 [[-3.25156459e-01 9.45659694e-01 1.01013392e-03 9.35093279e+02] [-9.45654906e-01 -3.25158027e-01 3.00949251e-03 1.57652199e+02] [ 3.17440892e-03 2.33178321e-05 9.99994961e-01 1.60085587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.2192541539998 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:935.09, Y:157.66, Z:16.01 [[-3.29168297e-01 9.44270752e-01 9.89475339e-04 9.35092572e+02] [-9.44265936e-01 -3.29169779e-01 3.01643378e-03 1.57656106e+02] [ 3.17403558e-03 5.85865132e-05 9.99994961e-01 1.60074246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.2492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:935.09, Y:157.65, Z:16.01 [[-3.28927167e-01 9.44354749e-01 1.01297169e-03 9.35091609e+02] [-9.44349958e-01 -3.28928725e-01 3.00852255e-03 1.57651548e+02] [ 3.17430804e-03 3.29850256e-05 9.99994961e-01 1.60090018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.2792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:935.10, Y:157.66, Z:16.01 [[-3.19395777e-01 9.47620868e-01 1.01430083e-03 9.35101228e+02] [-9.47616093e-01 -3.19397388e-01 3.00807437e-03 1.57663245e+02] [ 3.17447908e-03 -4.01533375e-07 9.99994961e-01 1.60054001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.3092541539997 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:935.09, Y:157.65, Z:16.00 [[-3.25614182e-01 9.45502215e-01 9.82656099e-04 9.35093470e+02] [-9.45497398e-01 -3.25615660e-01 3.01874096e-03 1.57651333e+02] [ 3.17419448e-03 5.38460814e-05 9.99994961e-01 1.60045719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.339254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:935.09, Y:157.65, Z:16.01 [[-3.25822885e-01 9.45430281e-01 1.01582120e-03 9.35091779e+02] [-9.45425497e-01 -3.25824468e-01 3.00753917e-03 1.57645244e+02] [ 3.17439801e-03 1.95418266e-05 9.99994961e-01 1.60060456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.369254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:935.10, Y:157.65, Z:16.01 [[-3.20046772e-01 9.47401197e-01 1.01729863e-03 9.35096066e+02] [-9.47396425e-01 -3.20048389e-01 3.00703935e-03 1.57647786e+02] [ 3.17445747e-03 -1.39185019e-06 9.99994961e-01 1.60075077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.399254154 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:935.09, Y:157.64, Z:16.00 [[-3.24778530e-01 9.45789573e-01 9.95094268e-04 9.35090639e+02] [-9.45784770e-01 -3.24780052e-01 3.01455136e-03 1.57642448e+02] [ 3.17431801e-03 3.79165558e-05 9.99994961e-01 1.60036992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.4292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:935.09, Y:157.63, Z:16.01 [[-3.20503695e-01 9.47246717e-01 1.01897019e-03 9.35090041e+02] [-9.47241946e-01 -3.20505315e-01 3.00645916e-03 1.57632391e+02] [ 3.17444394e-03 -1.63003794e-06 9.99994961e-01 1.60091044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.4592541539998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:935.09, Y:157.64, Z:16.01 [[-3.24778526e-01 9.45789567e-01 1.00207288e-03 9.35090165e+02] [-9.45784771e-01 -3.24780071e-01 3.01218749e-03 1.57640599e+02] [ 3.17434880e-03 3.05485470e-05 9.99994961e-01 1.60080046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.4892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:935.08, Y:157.61, Z:16.01 [[-3.28307538e-01 9.44570336e-01 1.02064765e-03 9.35081430e+02] [-9.44565553e-01 -3.28309123e-01 3.00588042e-03 1.57613009e+02] [ 3.17435341e-03 2.27845914e-05 9.99994961e-01 1.60092889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.5192541539998 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:935.08, Y:157.61, Z:16.01 [[-3.28753352e-01 9.44415253e-01 1.03085476e-03 9.35080762e+02] [-9.44410481e-01 -3.28754968e-01 3.00237585e-03 1.57610845e+02] [ 3.17438817e-03 1.34910902e-05 9.99994962e-01 1.60079139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.5492541539998 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:935.08, Y:157.60, Z:16.01 [[-3.30245266e-01 9.43894591e-01 1.03203011e-03 9.35078499e+02] [-9.43889818e-01 -3.30246878e-01 3.00197178e-03 1.57602984e+02] [ 3.17436965e-03 1.72642538e-05 9.99994962e-01 1.60077985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.579254154 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:935.08, Y:157.60, Z:16.01 [[-3.31223567e-01 9.43551737e-01 1.03335290e-03 9.35078231e+02] [-9.43546963e-01 -3.31225178e-01 3.00151638e-03 1.57601052e+02] [ 3.17435849e-03 1.91559735e-05 9.99994962e-01 1.60081848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.609254154 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:935.07, Y:157.57, Z:16.01 [[-3.37472101e-01 9.41334962e-01 1.03453192e-03 9.35068111e+02] [-9.41330179e-01 -3.37473684e-01 3.00110995e-03 1.57567897e+02] [ 3.17417702e-03 3.89547587e-05 9.99994962e-01 1.60102512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.639254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:935.07, Y:157.56, Z:16.01 [[-3.38924601e-01 9.40812954e-01 1.04923702e-03 9.35065971e+02] [-9.40808184e-01 -3.38926224e-01 2.99595996e-03 1.57560876e+02] [ 3.17425189e-03 2.82737567e-05 9.99994962e-01 1.60120059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.6692541539999 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:935.07, Y:157.56, Z:16.01 [[-3.39219424e-01 9.40706691e-01 1.05040824e-03 9.35066242e+02] [-9.40701922e-01 -3.39221049e-01 2.99554927e-03 1.57560704e+02] [ 3.17425383e-03 2.80274458e-05 9.99994962e-01 1.60096265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.6992541539998 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:935.07, Y:157.56, Z:16.01 [[-3.40825639e-01 9.40125937e-01 1.05158492e-03 9.35065329e+02] [-9.40121167e-01 -3.40827260e-01 2.99513614e-03 1.57558932e+02] [ 3.17421398e-03 3.22019461e-05 9.99994962e-01 1.60105669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.7292541539998 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:935.06, Y:157.55, Z:16.01 [[-3.41939444e-01 9.39721400e-01 1.05275582e-03 9.35063278e+02] [-9.39716628e-01 -3.41941063e-01 2.99472453e-03 1.57554088e+02] [ 3.17418717e-03 3.47222944e-05 9.99994962e-01 1.60111165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.7592541539998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:935.06, Y:157.55, Z:16.01 [[-3.43771959e-01 9.39052570e-01 1.05407734e-03 9.35061867e+02] [-9.39047797e-01 -3.43773572e-01 2.99425931e-03 1.57551103e+02] [ 3.17413083e-03 3.95133844e-05 9.99994962e-01 1.60131065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.7892541539998 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:935.06, Y:157.55, Z:16.01 [[-3.44751746e-01 9.38693305e-01 1.05525008e-03 9.35060315e+02] [-9.38688531e-01 -3.44753358e-01 2.99384595e-03 1.57546912e+02] [ 3.17410416e-03 4.15824704e-05 9.99994962e-01 1.60114809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.8192541539997 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:935.06, Y:157.54, Z:16.01 [[-3.47429276e-01 9.37705594e-01 1.05657369e-03 9.35058126e+02] [-9.37700818e-01 -3.47430879e-01 2.99337875e-03 1.57541886e+02] [ 3.17399433e-03 4.92373976e-05 9.99994962e-01 1.60120220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.849254154 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:935.06, Y:157.54, Z:16.01 [[-3.50603798e-01 9.36523282e-01 1.05775294e-03 9.35056378e+02] [-9.36518502e-01 -3.50605389e-01 2.99296199e-03 1.57538430e+02] [ 3.17383247e-03 5.87386449e-05 9.99994962e-01 1.60118814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.879254154 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:935.05, Y:157.53, Z:16.01 [[-3.53712525e-01 9.35353584e-01 1.05908017e-03 9.35052459e+02] [-9.35348800e-01 -3.53714104e-01 2.99249227e-03 1.57529726e+02] [ 3.17364996e-03 6.78726351e-05 9.99994962e-01 1.60112854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.9092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:935.03, Y:157.45, Z:16.01 [[-3.49305381e-01 9.37008338e-01 1.06071542e-03 9.35026751e+02] [-9.37003563e-01 -3.49306988e-01 2.99191253e-03 1.57448245e+02] [ 3.17396229e-03 5.11970164e-05 9.99994962e-01 1.60115572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.9392541539999 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:935.05, Y:157.53, Z:16.01 [[-3.56822768e-01 9.34171526e-01 1.03503881e-03 9.35050288e+02] [-9.34166712e-01 -3.56824254e-01 3.00101608e-03 1.57527122e+02] [ 3.17279072e-03 1.03932061e-04 9.99994961e-01 1.60096864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.9692541539998 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:935.05, Y:157.52, Z:16.01 [[-3.57238142e-01 9.34012730e-01 1.06330599e-03 9.35049259e+02] [-9.34007944e-01 -3.57239716e-01 2.99096694e-03 1.57524081e+02] [ 3.17345632e-03 7.53512306e-05 9.99994962e-01 1.60097064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.9992541539998 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:935.05, Y:157.52, Z:16.01 [[-3.58438633e-01 9.33552684e-01 1.06463581e-03 9.35048111e+02] [-9.33547897e-01 -3.58440206e-01 2.99049351e-03 1.57522441e+02] [ 3.17339152e-03 7.80198819e-05 9.99994962e-01 1.60118274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.0292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:935.05, Y:157.52, Z:16.01 [[-3.60294124e-01 9.32838147e-01 1.06596494e-03 9.35046007e+02] [-9.32833358e-01 -3.60295691e-01 2.99001967e-03 1.57521258e+02] [ 3.17326698e-03 8.29188653e-05 9.99994962e-01 1.60129307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.0592541539997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.97, Y:157.30, Z:16.02 [[-3.56366879e-01 9.34345498e-01 1.06714649e-03 9.34966428e+02] [-9.34340717e-01 -3.56368470e-01 2.98959791e-03 1.57296791e+02] [ 3.17361471e-03 6.83152561e-05 9.99994962e-01 1.60153112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.089254154 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:935.04, Y:157.51, Z:16.01 [[-3.60687452e-01 9.32686150e-01 1.05220926e-03 9.35039315e+02] [-9.32681347e-01 -3.60688973e-01 2.99492998e-03 1.57510524e+02] [ 3.17284999e-03 9.88577188e-05 9.99994962e-01 1.60113184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.119254154 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:935.02, Y:157.45, Z:16.01 [[-3.69627495e-01 9.29179406e-01 1.07084828e-03 9.35018717e+02] [-9.29174607e-01 -3.69629030e-01 2.98825064e-03 1.57450730e+02] [ 3.17243756e-03 1.09534565e-04 9.99994962e-01 1.60130590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.149254154 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:935.02, Y:157.45, Z:16.01 [[-3.69698742e-01 9.29151027e-01 1.09962819e-03 9.35015445e+02] [-9.29146259e-01 -3.69700369e-01 2.97762229e-03 1.57447041e+02] [ 3.17319376e-03 7.91077966e-05 9.99994962e-01 1.60136327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.1792541539999 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:935.01, Y:157.45, Z:16.01 [[-3.69239757e-01 9.29333519e-01 1.10095261e-03 9.35014118e+02] [-9.29328754e-01 -3.69241391e-01 2.97713251e-03 1.57445979e+02] [ 3.17326631e-03 7.61287659e-05 9.99994962e-01 1.60122771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.2092541539998 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:935.01, Y:157.44, Z:16.01 [[-3.68514176e-01 9.29621475e-01 1.10227682e-03 9.35010039e+02] [-9.29616712e-01 -3.68515818e-01 2.97664215e-03 1.57441341e+02] [ 3.17335691e-03 7.22398745e-05 9.99994962e-01 1.60104926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.2392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:935.01, Y:157.44, Z:16.01 [[-3.69019741e-01 9.29420902e-01 1.10360081e-03 9.35009295e+02] [-9.29416140e-01 -3.69021384e-01 2.97615120e-03 1.57442909e+02] [ 3.17334943e-03 7.25541389e-05 9.99994962e-01 1.60141501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.2692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:935.00, Y:157.43, Z:16.01 [[-3.68102967e-01 9.29784376e-01 1.10492404e-03 9.35002707e+02] [-9.29779616e-01 -3.68104619e-01 2.97565985e-03 1.57431768e+02] [ 3.17344968e-03 6.80133714e-05 9.99994962e-01 1.60147093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.2992541539998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:935.00, Y:157.44, Z:16.01 [[-3.67780576e-01 9.29911945e-01 1.10624955e-03 9.35004899e+02] [-9.29907187e-01 -3.67782234e-01 2.97516699e-03 1.57439656e+02] [ 3.17350225e-03 6.54992210e-05 9.99994962e-01 1.60147309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.329254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:935.00, Y:157.44, Z:16.02 [[-3.67948557e-01 9.29845489e-01 1.10757386e-03 9.35001416e+02] [-9.29840733e-01 -3.67950219e-01 2.97467390e-03 1.57435028e+02] [ 3.17351915e-03 6.46596820e-05 9.99994962e-01 1.60157699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.359254154 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:935.00, Y:157.44, Z:16.01 [[-3.67658037e-01 9.29960396e-01 1.10889345e-03 9.35000977e+02] [-9.29955642e-01 -3.67659704e-01 2.97418191e-03 1.57435972e+02] [ 3.17356682e-03 6.22601576e-05 9.99994962e-01 1.60136768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.389254154 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:934.90, Y:157.17, Z:16.01 [[-3.68006537e-01 9.29822540e-01 1.11021186e-03 9.34900891e+02] [-9.29817787e-01 -3.68008206e-01 2.97368969e-03 1.57173093e+02] [ 3.17357077e-03 6.20425128e-05 9.99994962e-01 1.60131904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.4192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:935.00, Y:157.43, Z:16.02 [[-3.66187353e-01 9.30540491e-01 1.10308591e-03 9.34998409e+02] [-9.30535733e-01 -3.66189009e-01 2.97635314e-03 1.57433805e+02] [ 3.17355505e-03 6.34420180e-05 9.99994962e-01 1.60163412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.4492541539998 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:934.95, Y:157.30, Z:16.01 [[-3.65970613e-01 9.30625751e-01 1.10512477e-03 9.34947457e+02] [-9.30620996e-01 -3.65972277e-01 2.97558877e-03 1.57301762e+02] [ 3.17360456e-03 6.05257348e-05 9.99994962e-01 1.60127982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.4792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.99, Y:157.42, Z:16.02 [[-3.66877058e-01 9.30268775e-01 1.10949855e-03 9.34989841e+02] [-9.30264023e-01 -3.66878731e-01 2.97394743e-03 1.57420557e+02] [ 3.17362185e-03 5.89464919e-05 9.99994962e-01 1.60159619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.5092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.99, Y:157.41, Z:16.02 [[-3.66696949e-01 9.30339776e-01 1.11733513e-03 9.34985905e+02] [-9.30335034e-01 -3.66698648e-01 2.97100024e-03 1.57412899e+02] [ 3.17376498e-03 4.99607071e-05 9.99994962e-01 1.60159155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.5392541539998 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:934.98, Y:157.41, Z:16.02 [[-3.64639541e-01 9.31148083e-01 1.11910752e-03 9.34984510e+02] [-9.31143346e-01 -3.64641256e-01 2.97033248e-03 1.57414629e+02] [ 3.17389216e-03 4.10511525e-05 9.99994962e-01 1.60151253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.5692541539997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.98, Y:157.41, Z:16.02 [[-3.65047914e-01 9.30988059e-01 1.12042319e-03 9.34982620e+02] [-9.30983323e-01 -3.65049631e-01 2.96983611e-03 1.57411222e+02] [ 3.17389203e-03 4.10371752e-05 9.99994962e-01 1.60172647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.599254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.98, Y:157.41, Z:16.02 [[-3.64779676e-01 9.31093191e-01 1.12188651e-03 9.34980521e+02] [-9.31088457e-01 -3.64781399e-01 2.96928323e-03 1.57408437e+02] [ 3.17392272e-03 3.85585898e-05 9.99994962e-01 1.60177769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.629254154 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:934.98, Y:157.40, Z:16.02 [[-3.64804622e-01 9.31083415e-01 1.12319925e-03 9.34977851e+02] [-9.31078683e-01 -3.64806350e-01 2.96878657e-03 1.57402833e+02] [ 3.17393816e-03 3.72401818e-05 9.99994962e-01 1.60176498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.6592541539999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:934.96, Y:157.34, Z:16.02 [[-3.74006537e-01 9.27425385e-01 1.12466311e-03 9.34956428e+02] [-9.27420638e-01 -3.74008222e-01 2.96823191e-03 1.57344049e+02] [ 3.17344688e-03 6.71023591e-05 9.99994962e-01 1.60174245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.6892541539999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:934.91, Y:157.22, Z:16.01 [[-3.70077080e-01 9.29000335e-01 1.15466719e-03 9.34909327e+02] [-9.28995630e-01 -3.70078881e-01 2.95651381e-03 1.57215167e+02] [ 3.17392026e-03 2.14572220e-05 9.99994963e-01 1.60143928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.7192541539998 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:934.95, Y:157.32, Z:16.02 [[-3.77561719e-01 9.25983724e-01 1.13620825e-03 9.34947502e+02] [-9.25978984e-01 -3.77563422e-01 2.96376337e-03 1.57323996e+02] [ 3.17338732e-03 6.68986281e-05 9.99994963e-01 1.60168053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.7492541539998 meters Centerline goodness : 0.997418 Centerline is valid? [True, True] Translation: X:934.72, Y:156.75, Z:16.02 [[-3.76253214e-01 9.26516144e-01 1.16317271e-03 9.34722631e+02] [-9.26511439e-01 -3.76255011e-01 2.95314271e-03 1.56751513e+02] [ 3.17378396e-03 3.34366169e-05 9.99994963e-01 1.60178138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.7792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.94, Y:157.31, Z:16.02 [[-3.75351088e-01 9.26881988e-01 1.15850947e-03 9.34943257e+02] [-9.26877278e-01 -3.75352874e-01 2.95497782e-03 1.57309127e+02] [ 3.17376557e-03 3.53580340e-05 9.99994963e-01 1.60201185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.8092541539997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.94, Y:157.31, Z:16.02 [[-3.73291068e-01 9.27713566e-01 1.14805040e-03 9.34943112e+02] [-9.27708848e-01 -3.73292831e-01 2.95910417e-03 1.57305068e+02] [ 3.17376007e-03 3.95506420e-05 9.99994963e-01 1.60153878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.839254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.94, Y:157.30, Z:16.02 [[-3.82342534e-01 9.24019969e-01 1.13319432e-03 9.34935807e+02] [-9.24015216e-01 -3.82344204e-01 2.96496746e-03 1.57298705e+02] [ 3.17295942e-03 8.65443735e-05 9.99994962e-01 1.60207365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.869254154 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:934.93, Y:157.30, Z:16.02 [[-3.82253128e-01 9.24056915e-01 1.16766419e-03 9.34934465e+02] [-9.24052204e-01 -3.82254908e-01 2.95132980e-03 1.57295657e+02] [ 3.17354208e-03 4.91723822e-05 9.99994963e-01 1.60196181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.899254154 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:934.93, Y:157.29, Z:16.02 [[-3.83300580e-01 9.23622920e-01 1.16912112e-03 9.34933047e+02] [-9.23618208e-01 -3.83302359e-01 2.95075255e-03 1.57292363e+02] [ 3.17350957e-03 5.12036065e-05 9.99994963e-01 1.60196803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.9292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.94, Y:157.30, Z:16.01 [[-3.73140922e-01 9.27773939e-01 1.17057721e-03 9.34943978e+02] [-9.27769249e-01 -3.73142757e-01 2.95017480e-03 1.57304115e+02] [ 3.17388770e-03 1.48054086e-05 9.99994963e-01 1.60141486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.9592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.93, Y:157.29, Z:16.02 [[-3.83726901e-01 9.23445937e-01 1.12558476e-03 9.34930393e+02] [-9.23441173e-01 -3.83728539e-01 2.96802445e-03 1.57288428e+02] [ 3.17272912e-03 9.94995173e-05 9.99994962e-01 1.60221918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.9892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.91, Y:157.24, Z:16.02 [[-3.89822679e-01 9.20889191e-01 1.17324189e-03 9.34911790e+02] [-9.20884472e-01 -3.89824438e-01 2.94906477e-03 1.57239637e+02] [ 3.17312023e-03 6.91920858e-05 9.99994963e-01 1.60222405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.0192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.91, Y:157.23, Z:16.02 [[-3.89799469e-01 9.20898989e-01 1.19408103e-03 9.34909589e+02] [-9.20894295e-01 -3.89801295e-01 2.94060269e-03 1.57234463e+02] [ 3.17345238e-03 4.66229621e-05 9.99994964e-01 1.60210828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.0492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.90, Y:157.22, Z:16.02 [[-3.90651077e-01 9.20538052e-01 1.19583265e-03 9.34903887e+02] [-9.20533359e-01 -3.90652905e-01 2.93989020e-03 1.57221830e+02] [ 3.17343630e-03 4.76674252e-05 9.99994964e-01 1.60215783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.079254154 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:934.90, Y:157.22, Z:16.02 [[-3.89822900e-01 9.20889062e-01 1.20092549e-03 9.34902991e+02] [-9.20884377e-01 -3.89824747e-01 2.93780833e-03 1.57220325e+02] [ 3.17354604e-03 3.93114397e-05 9.99994964e-01 1.60181989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.109254154 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:934.90, Y:157.21, Z:16.02 [[-3.91510048e-01 9.20173047e-01 1.20222334e-03 9.34900182e+02] [-9.20168360e-01 -3.91511891e-01 2.93727712e-03 1.57214165e+02] [ 3.17348798e-03 4.37256243e-05 9.99994964e-01 1.60190954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.139254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.90, Y:157.21, Z:16.02 [[-3.93679269e-01 9.19247075e-01 1.20352192e-03 9.34898431e+02] [-9.19242385e-01 -3.93681106e-01 2.93674495e-03 1.57209981e+02] [ 3.17339804e-03 4.98072486e-05 9.99994964e-01 1.60195266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.1692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.89, Y:157.20, Z:16.02 [[-3.95210116e-01 9.18589959e-01 1.20512059e-03 9.34893152e+02] [-9.18585268e-01 -3.95211949e-01 2.93608877e-03 1.57196587e+02] [ 3.17333972e-03 5.33659587e-05 9.99994964e-01 1.60191925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.1992541539998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:934.90, Y:157.20, Z:16.02 [[-3.97695761e-01 9.17516554e-01 1.20642551e-03 9.34896272e+02] [-9.17511860e-01 -3.97697586e-01 2.93555249e-03 1.57203337e+02] [ 3.17321052e-03 6.05470734e-05 9.99994964e-01 1.60186480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.2292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.90, Y:157.21, Z:16.02 [[-3.96104459e-01 9.18204661e-01 1.20773066e-03 9.34899093e+02] [-9.18199972e-01 -3.96106296e-01 2.93501543e-03 1.57205453e+02] [ 3.17333457e-03 5.36344411e-05 9.99994964e-01 1.60209755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.2592541539998 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:934.89, Y:157.19, Z:16.02 [[-4.01398325e-01 9.15902814e-01 1.19166528e-03 9.34890943e+02] [-9.15898095e-01 -4.01400084e-01 2.94162908e-03 1.57193081e+02] [ 3.17258090e-03 8.93210244e-05 9.99994963e-01 1.60173473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.2892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.89, Y:157.19, Z:16.02 [[-4.05224795e-01 9.14216278e-01 1.20957163e-03 9.34888647e+02] [-9.14211573e-01 -4.05226592e-01 2.93424763e-03 1.57190133e+02] [ 3.17268754e-03 8.32255150e-05 9.99994964e-01 1.60217365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.3192541539997 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:934.89, Y:157.18, Z:16.02 [[-4.06154391e-01 9.13803668e-01 1.21087674e-03 9.34886535e+02] [-9.13798963e-01 -4.06156187e-01 2.93370896e-03 1.57184587e+02] [ 3.17263908e-03 8.50408701e-05 9.99994964e-01 1.60214665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.349254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.89, Y:157.18, Z:16.02 [[-4.08336696e-01 9.12830583e-01 1.21218305e-03 9.34885946e+02] [-9.12825875e-01 -4.08338485e-01 2.93316910e-03 1.57183844e+02] [ 3.17246745e-03 9.12085236e-05 9.99994964e-01 1.60229357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.379254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.88, Y:157.18, Z:16.02 [[-4.10907663e-01 9.11676160e-01 1.21348961e-03 9.34883587e+02] [-9.11671448e-01 -4.10909443e-01 2.93262846e-03 1.57177099e+02] [ 3.17224179e-03 9.87356757e-05 9.99994964e-01 1.60229905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.4092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.88, Y:157.17, Z:16.02 [[-4.12556039e-01 9.10931413e-01 1.21479646e-03 9.34880905e+02] [-9.10926700e-01 -4.12557814e-01 2.93208701e-03 1.57170832e+02] [ 3.17210394e-03 1.03059669e-04 9.99994964e-01 1.60243128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.4392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.88, Y:157.17, Z:16.02 [[-4.14741479e-01 9.09938474e-01 1.21610701e-03 9.34881028e+02] [-9.09933759e-01 -4.14743247e-01 2.93154335e-03 1.57171267e+02] [ 3.17189626e-03 1.09255802e-04 9.99994964e-01 1.60233638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.4692541539998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:934.88, Y:157.17, Z:16.02 [[-4.15571503e-01 9.09559698e-01 1.21741731e-03 9.34879139e+02] [-9.09554982e-01 -4.15573272e-01 2.93099911e-03 1.57167817e+02] [ 3.17184476e-03 1.10731722e-04 9.99994964e-01 1.60245540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.4992541539998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:934.88, Y:157.16, Z:16.03 [[-4.16364664e-01 9.09196888e-01 1.21887519e-03 9.34876259e+02] [-9.09192172e-01 -4.16366433e-01 2.93039271e-03 1.57162497e+02] [ 3.17180265e-03 1.11920192e-04 9.99994964e-01 1.60251486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.5292541539998 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:934.88, Y:157.16, Z:16.02 [[-4.16586137e-01 9.09095430e-01 1.22033383e-03 9.34876006e+02] [-9.09090716e-01 -4.16587910e-01 2.92978515e-03 1.57161881e+02] [ 3.17183061e-03 1.11113724e-04 9.99994964e-01 1.60225082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.5592541539997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.87, Y:157.15, Z:16.02 [[-4.18561125e-01 9.08187807e-01 1.22164237e-03 9.34869163e+02] [-9.08183090e-01 -4.18562892e-01 2.92923942e-03 1.57149435e+02] [ 3.17163369e-03 1.16590802e-04 9.99994964e-01 1.60248727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.589254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.87, Y:157.15, Z:16.03 [[-4.19852511e-01 9.07591523e-01 1.22310436e-03 9.34867997e+02] [-9.07586806e-01 -4.19854275e-01 2.92862884e-03 1.57149086e+02] [ 3.17152431e-03 1.19518794e-04 9.99994964e-01 1.60266892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.619254154 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:934.87, Y:157.15, Z:16.03 [[-4.20715277e-01 9.07191907e-01 1.22441987e-03 9.34866152e+02] [-9.07187190e-01 -4.20717041e-01 2.92807874e-03 1.57145651e+02] [ 3.17146364e-03 1.21109442e-04 9.99994964e-01 1.60271430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.649254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.86, Y:157.14, Z:16.03 [[-4.21353089e-01 9.06895844e-01 1.22573409e-03 9.34864835e+02] [-9.06891127e-01 -4.21354854e-01 2.92752849e-03 1.57143421e+02] [ 3.17143243e-03 1.21915796e-04 9.99994964e-01 1.60262131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.6792541539999 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:934.86, Y:157.14, Z:16.02 [[-4.21116317e-01 9.07005811e-01 1.22704807e-03 9.34861348e+02] [-9.07001096e-01 -4.21118088e-01 2.92697764e-03 1.57136756e+02] [ 3.17151787e-03 1.19664096e-04 9.99994964e-01 1.60234756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.7092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.86, Y:157.14, Z:16.03 [[-4.22299296e-01 9.06455623e-01 1.22851394e-03 9.34862751e+02] [-9.06450907e-01 -4.22301065e-01 2.92636225e-03 1.57142426e+02] [ 3.17142027e-03 1.22213141e-04 9.99994964e-01 1.60276705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.7392541539998 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:934.86, Y:157.14, Z:16.03 [[-4.21432876e-01 9.06858764e-01 1.22982642e-03 9.34860970e+02] [-9.06854052e-01 -4.21434654e-01 2.92581057e-03 1.57138939e+02] [ 3.17158843e-03 1.17759693e-04 9.99994964e-01 1.60276497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.7692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.86, Y:157.14, Z:16.03 [[-4.22673379e-01 9.06281247e-01 1.23113416e-03 9.34858749e+02] [-9.06276534e-01 -4.22675154e-01 2.92526019e-03 1.57136112e+02] [ 3.17147828e-03 1.20681612e-04 9.99994964e-01 1.60302248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.7992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.86, Y:157.13, Z:16.03 [[-4.23003723e-01 9.06127106e-01 1.23244213e-03 9.34856657e+02] [-9.06122394e-01 -4.23005501e-01 2.92470903e-03 1.57132406e+02] [ 3.17148793e-03 1.20419390e-04 9.99994964e-01 1.60307486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.829254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.85, Y:157.13, Z:16.03 [[-4.24555832e-01 9.05400919e-01 1.23375089e-03 9.34853795e+02] [-9.05396205e-01 -4.24557607e-01 2.92415684e-03 1.57126728e+02] [ 3.17133261e-03 1.24434468e-04 9.99994964e-01 1.60314223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.859254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.85, Y:157.12, Z:16.03 [[-4.25471538e-01 9.04970964e-01 1.23521091e-03 9.34853023e+02] [-9.04966250e-01 -4.25473312e-01 2.92353997e-03 1.57124703e+02] [ 3.17126806e-03 1.26058866e-04 9.99994964e-01 1.60308365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.889254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.85, Y:157.12, Z:16.03 [[-4.25923425e-01 9.04758369e-01 1.23652114e-03 9.34851510e+02] [-9.04753656e-01 -4.25925202e-01 2.92298570e-03 1.57120994e+02] [ 3.17126129e-03 1.26221061e-04 9.99994964e-01 1.60308497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.9192541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:934.85, Y:157.12, Z:16.03 [[-4.26633865e-01 9.04423580e-01 1.23798057e-03 9.34850082e+02] [-9.04418868e-01 -4.26635643e-01 2.92236745e-03 1.57116715e+02] [ 3.17122467e-03 1.27127936e-04 9.99994964e-01 1.60281949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.9492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.85, Y:157.11, Z:16.03 [[-4.29509223e-01 9.03061621e-01 1.23929077e-03 9.34846917e+02] [-9.03056905e-01 -4.29510989e-01 2.92181173e-03 1.57109332e+02] [ 3.17086504e-03 1.35795004e-04 9.99994964e-01 1.60280980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.9792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.85, Y:157.11, Z:16.03 [[-4.30773276e-01 9.02459330e-01 1.24208650e-03 9.34846345e+02] [-9.02454614e-01 -4.30775045e-01 2.92062276e-03 1.57108797e+02] [ 3.17080313e-03 1.37199547e-04 9.99994964e-01 1.60272650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.0092541539998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:935.47, Y:156.74, Z:16.92 [[-2.87070632e-01 -9.57908332e-01 -1.44212317e-03 9.35468373e+02] [-9.57904303e-01 2.87073694e-01 -2.83544486e-03 1.56735777e+02] [ 3.13009188e-03 5.67443037e-04 -9.99994940e-01 1.69164344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.0392541539998 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:934.76, Y:156.97, Z:16.02 [[-3.70919350e-01 9.28664505e-01 1.03562380e-03 9.34756019e+02] [-9.28659745e-01 -3.70920768e-01 2.97686266e-03 1.56968459e+02] [ 3.14864106e-03 1.42433831e-04 9.99995033e-01 1.60236497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.0692541539997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.75, Y:156.96, Z:16.02 [[-3.71832960e-01 9.28299074e-01 1.03911711e-03 9.34752501e+02] [-9.28294315e-01 -3.71834385e-01 2.97564276e-03 1.56961461e+02] [ 3.14866589e-03 1.41835549e-04 9.99995033e-01 1.60249669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.099254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.75, Y:156.96, Z:16.03 [[-3.71811162e-01 9.28307803e-01 1.04060741e-03 9.34752461e+02] [-9.28303046e-01 -3.71812591e-01 2.97512150e-03 1.56964313e+02] [ 3.14873944e-03 1.40184358e-04 9.99995033e-01 1.60254133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.129254154 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:934.75, Y:156.96, Z:16.02 [[-3.69706086e-01 9.29148171e-01 1.04224942e-03 9.34749534e+02] [-9.29143419e-01 -3.69707532e-01 2.97454616e-03 1.56961723e+02] [ 3.14912158e-03 1.31308633e-04 9.99995033e-01 1.60246174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.1592541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:934.75, Y:156.96, Z:16.03 [[-3.67838264e-01 9.29889199e-01 1.04373232e-03 9.34745324e+02] [-9.29884451e-01 -3.67839724e-01 2.97402574e-03 1.56957724e+02] [ 3.14944062e-03 1.23410012e-04 9.99995033e-01 1.60274255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.1892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.74, Y:156.95, Z:16.03 [[-3.67804144e-01 9.29902693e-01 1.04521554e-03 9.34742188e+02] [-9.29897947e-01 -3.67805609e-01 2.97350437e-03 1.56952308e+02] [ 3.14950586e-03 1.21723446e-04 9.99995033e-01 1.60291743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.2192541539998 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:934.74, Y:156.95, Z:16.03 [[-3.64420672e-01 9.31233845e-01 1.04841327e-03 9.34740085e+02] [-9.31229108e-01 -3.64422165e-01 2.97237647e-03 1.56950353e+02] [ 3.15004260e-03 1.06882474e-04 9.99995033e-01 1.60296884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.2492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.74, Y:156.95, Z:16.03 [[-3.63263575e-01 9.31685823e-01 1.04982064e-03 9.34736665e+02] [-9.31681089e-01 -3.63265078e-01 2.97187932e-03 1.56947276e+02] [ 3.15022100e-03 1.01477469e-04 9.99995033e-01 1.60321558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.2792541539998 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:934.74, Y:156.95, Z:16.03 [[-3.61952811e-01 9.32195826e-01 1.05129997e-03 9.34736380e+02] [-9.32191095e-01 -3.61954325e-01 2.97135591e-03 1.56946400e+02] [ 3.15040815e-03 9.54781523e-05 9.99995033e-01 1.60308412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.3092541539997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.73, Y:156.94, Z:16.03 [[-3.62643193e-01 9.31927468e-01 1.05277739e-03 9.34733610e+02] [-9.31922738e-01 -3.62644709e-01 2.97083236e-03 1.56941240e+02] [ 3.15038443e-03 9.62449424e-05 9.99995033e-01 1.60318205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.339254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.73, Y:156.93, Z:16.03 [[-3.62944524e-01 9.31810153e-01 1.05425397e-03 9.34729999e+02] [-9.31805424e-01 -3.62946043e-01 2.97030827e-03 1.56931573e+02] [ 3.15040071e-03 9.56975521e-05 9.99995033e-01 1.60315065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.369254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.73, Y:156.93, Z:16.03 [[-3.62887612e-01 9.31832317e-01 1.05573476e-03 9.34730854e+02] [-9.31827589e-01 -3.62889136e-01 2.96978186e-03 1.56934969e+02] [ 3.15045339e-03 9.39342755e-05 9.99995033e-01 1.60299137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.399254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.73, Y:156.93, Z:16.03 [[-3.62009405e-01 9.32173843e-01 1.05721478e-03 9.34729074e+02] [-9.32169118e-01 -3.62010938e-01 2.96925489e-03 1.56932422e+02] [ 3.15058506e-03 8.93952249e-05 9.99995033e-01 1.60298876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.4292541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:934.73, Y:156.93, Z:16.03 [[-3.61292479e-01 9.32451942e-01 1.05899589e-03 9.34726400e+02] [-9.32447220e-01 -3.61294021e-01 2.96861952e-03 1.56926398e+02] [ 3.15070392e-03 8.50821370e-05 9.99995033e-01 1.60294382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.4592541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:934.72, Y:156.93, Z:16.03 [[-3.59477660e-01 9.33153089e-01 1.06062184e-03 9.34724405e+02] [-9.33148372e-01 -3.59479216e-01 2.96803849e-03 1.56926664e+02] [ 3.15090579e-03 7.72259891e-05 9.99995033e-01 1.60302983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.4892541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:934.72, Y:156.92, Z:16.03 [[-3.58752161e-01 9.33432246e-01 1.06209366e-03 9.34720506e+02] [-9.33427532e-01 -3.58753726e-01 2.96751172e-03 1.56918024e+02] [ 3.15100119e-03 7.32137792e-05 9.99995033e-01 1.60309991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.5192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.72, Y:156.91, Z:16.03 [[-3.55869103e-01 9.34535203e-01 1.06572149e-03 9.34716674e+02] [-9.34530498e-01 -3.55870694e-01 2.96620828e-03 1.56913234e+02] [ 3.15128511e-03 5.96326435e-05 9.99995033e-01 1.60317921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.5492541539998 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:934.72, Y:156.91, Z:16.03 [[-3.53894034e-01 9.35284916e-01 1.06734107e-03 9.34716237e+02] [-9.35280215e-01 -3.53895640e-01 2.96562539e-03 1.56912877e+02] [ 3.15143204e-03 5.12541482e-05 9.99995033e-01 1.60302738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.5792541539997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.71, Y:156.91, Z:16.03 [[-3.53355782e-01 9.35488401e-01 1.06880671e-03 9.34713083e+02] [-9.35483703e-01 -3.53357396e-01 2.96509708e-03 1.56909352e+02] [ 3.15148468e-03 4.78829392e-05 9.99995033e-01 1.60326190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.609254154 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:934.71, Y:156.91, Z:16.03 [[-3.53705182e-01 9.35356349e-01 1.07027047e-03 9.34711652e+02] [-9.35351652e-01 -3.53706798e-01 2.96456863e-03 1.56905550e+02] [ 3.15149003e-03 4.75040407e-05 9.99995033e-01 1.60315306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.639254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.71, Y:156.90, Z:16.03 [[-3.56134683e-01 9.34434019e-01 1.07306749e-03 9.34708450e+02] [-9.34429321e-01 -3.56136295e-01 2.96355587e-03 1.56898185e+02] [ 3.15140570e-03 5.27193000e-05 9.99995033e-01 1.60324982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.6692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.71, Y:156.89, Z:16.03 [[-3.58259445e-01 9.33621452e-01 1.07468015e-03 9.34707229e+02] [-9.33616752e-01 -3.58261052e-01 2.96297095e-03 1.56893474e+02] [ 3.15130928e-03 5.81729306e-05 9.99995033e-01 1.60315158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.6992541539998 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:934.72, Y:156.91, Z:16.02 [[-3.45292794e-01 9.38494394e-01 1.07614335e-03 9.34722899e+02] [-9.38489719e-01 -3.45294471e-01 2.96243942e-03 1.56914531e+02] [ 3.15181914e-03 1.29595212e-05 9.99995033e-01 1.60236207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.7292541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:934.70, Y:156.89, Z:16.03 [[-3.61166689e-01 9.32500722e-01 1.01307009e-03 9.34704672e+02] [-9.32495953e-01 -3.61168085e-01 2.98533456e-03 1.56888684e+02] [ 3.14971521e-03 1.33519636e-04 9.99995031e-01 1.60294246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.7592541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:934.70, Y:156.88, Z:16.03 [[-3.62059547e-01 9.32154344e-01 1.07921933e-03 9.34701762e+02] [-9.32149642e-01 -3.62061149e-01 2.96122647e-03 1.56882756e+02] [ 3.15106350e-03 6.61463977e-05 9.99995033e-01 1.60298812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.7892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.70, Y:156.88, Z:16.03 [[-3.62748428e-01 9.31886479e-01 1.08068223e-03 9.34698368e+02] [-9.31881778e-01 -3.62750032e-01 2.96069249e-03 1.56875650e+02] [ 3.15104682e-03 6.69184714e-05 9.99995033e-01 1.60307793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.8192541539997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.69, Y:156.86, Z:16.03 [[-3.63814052e-01 9.31470968e-01 1.08229944e-03 9.34692362e+02] [-9.31466267e-01 -3.63815655e-01 2.96010119e-03 1.56863624e+02] [ 3.15100580e-03 6.88009879e-05 9.99995033e-01 1.60316260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.849254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.69, Y:156.86, Z:16.03 [[-3.63585349e-01 9.31560256e-01 1.08781911e-03 9.34688872e+02] [-9.31555562e-01 -3.63586971e-01 2.95807136e-03 1.56859729e+02] [ 3.15113857e-03 6.21474589e-05 9.99995033e-01 1.60328310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.879254154 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:934.69, Y:156.85, Z:16.03 [[-3.63617072e-01 9.31547872e-01 1.08928159e-03 9.34685655e+02] [-9.31543179e-01 -3.63618698e-01 2.95753272e-03 1.56852642e+02] [ 3.15116646e-03 6.06965537e-05 9.99995033e-01 1.60317920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.9092541539999 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:934.68, Y:156.85, Z:16.03 [[-3.64805920e-01 9.31082946e-01 1.09074656e-03 9.34684019e+02] [-9.31078252e-01 -3.64807545e-01 2.95699233e-03 1.56851362e+02] [ 3.15111770e-03 6.31579081e-05 9.99995033e-01 1.60326044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.9392541539999 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:934.68, Y:156.85, Z:16.03 [[-3.66393978e-01 9.30459166e-01 1.09236306e-03 9.34681577e+02] [-9.30454472e-01 -3.66395600e-01 2.95639505e-03 1.56846368e+02] [ 3.15104189e-03 6.68112506e-05 9.99995033e-01 1.60334512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.9692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.68, Y:156.84, Z:16.03 [[-3.69317754e-01 9.29302534e-01 1.09382689e-03 9.34679141e+02] [-9.29297837e-01 -3.69319366e-01 2.95585335e-03 1.56842206e+02] [ 3.15085346e-03 7.51581528e-05 9.99995033e-01 1.60338996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.9992541539998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:934.68, Y:156.83, Z:16.03 [[-3.70448384e-01 9.28852408e-01 1.09544277e-03 9.34676225e+02] [-9.28847709e-01 -3.70449996e-01 2.95525438e-03 1.56834578e+02] [ 3.15080192e-03 7.72697016e-05 9.99995033e-01 1.60319194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.0292541539998 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:934.67, Y:156.83, Z:16.03 [[-3.72674909e-01 9.27961319e-01 1.09690881e-03 9.34672670e+02] [-9.27956618e-01 -3.72676514e-01 2.95471013e-03 1.56827754e+02] [ 3.15064886e-03 8.32625334e-05 9.99995033e-01 1.60311200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.0592541539997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.67, Y:156.82, Z:16.03 [[-3.74563841e-01 9.27200476e-01 1.09853088e-03 9.34668843e+02] [-9.27195774e-01 -3.74565442e-01 2.95410694e-03 1.56820796e+02] [ 3.15052106e-03 8.79484509e-05 9.99995033e-01 1.60329731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.089254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.67, Y:156.82, Z:16.03 [[-3.75749100e-01 9.26720780e-01 1.10000415e-03 9.34668271e+02] [-9.26716078e-01 -3.75750699e-01 2.95355824e-03 1.56823310e+02] [ 3.15045113e-03 9.04053148e-05 9.99995033e-01 1.60329832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.119254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.67, Y:156.82, Z:16.03 [[-3.76353708e-01 9.26475403e-01 1.10162802e-03 9.34665735e+02] [-9.26470702e-01 -3.76355309e-01 2.95295244e-03 1.56819503e+02] [ 3.15044136e-03 9.07285167e-05 9.99995033e-01 1.60329222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.149254154 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:934.66, Y:156.82, Z:16.03 [[-3.76061045e-01 9.26594233e-01 1.10324714e-03 9.34662318e+02] [-9.26589534e-01 -3.76062653e-01 2.95234740e-03 1.56816052e+02] [ 3.15051812e-03 8.80055965e-05 9.99995033e-01 1.60334798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.1792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.65, Y:156.80, Z:16.03 [[-3.76418338e-01 9.26449143e-01 1.10486527e-03 9.34653671e+02] [-9.26444445e-01 -3.76419949e-01 2.95174172e-03 1.56796485e+02] [ 3.15053191e-03 8.74934231e-05 9.99995033e-01 1.60338410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.2092541539998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:934.65, Y:156.80, Z:16.03 [[-3.77255739e-01 9.26108462e-01 1.10634075e-03 9.34651787e+02] [-9.26103764e-01 -3.77257350e-01 2.95118859e-03 1.56795653e+02] [ 3.15049591e-03 8.87664996e-05 9.99995033e-01 1.60338228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.2392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.65, Y:156.80, Z:16.03 [[-3.78657903e-01 9.25536042e-01 1.10797760e-03 9.34654451e+02] [-9.25531343e-01 -3.78659513e-01 2.95057393e-03 1.56804656e+02] [ 3.15040878e-03 9.17901467e-05 9.99995033e-01 1.60347261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.2692541539998 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:934.65, Y:156.79, Z:16.03 [[-3.81176184e-01 9.24501750e-01 1.10960359e-03 9.34648111e+02] [-9.24497049e-01 -3.81177786e-01 2.94996233e-03 1.56789341e+02] [ 3.15020158e-03 9.86301437e-05 9.99995033e-01 1.60331701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.2992541539998 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:934.64, Y:156.78, Z:16.03 [[-3.82397394e-01 9.23997290e-01 1.11462102e-03 9.34643176e+02] [-9.23992592e-01 -3.82399006e-01 2.94806531e-03 1.56778009e+02] [ 3.15023433e-03 9.74309241e-05 9.99995033e-01 1.60334100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.3292541539997 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:934.64, Y:156.77, Z:16.03 [[-3.82868494e-01 9.23802182e-01 1.11624252e-03 9.34637943e+02] [-9.23797485e-01 -3.82870108e-01 2.94745123e-03 1.56766663e+02] [ 3.15023777e-03 9.73041742e-05 9.99995033e-01 1.60320321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.359254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.64, Y:156.78, Z:16.03 [[-3.82934580e-01 9.23774787e-01 1.11787303e-03 9.34640650e+02] [-9.23770092e-01 -3.82936200e-01 2.94683270e-03 1.56776192e+02] [ 3.15028380e-03 9.57864714e-05 9.99995033e-01 1.60332713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.389254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.62, Y:156.72, Z:16.03 [[-3.89487494e-01 9.21031074e-01 1.11949873e-03 9.34618479e+02] [-9.21026369e-01 -3.89489086e-01 2.94621496e-03 1.56715106e+02] [ 3.14958807e-03 1.16426031e-04 9.99995033e-01 1.60333919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.4192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.62, Y:156.72, Z:16.03 [[-3.88499503e-01 9.21448225e-01 1.14218428e-03 9.34620981e+02] [-9.21443547e-01 -3.88501172e-01 2.93739386e-03 1.56722032e+02] [ 3.15039629e-03 8.87177244e-05 9.99995034e-01 1.60334438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.4492541539998 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:934.62, Y:156.71, Z:16.03 [[-3.88123907e-01 9.21606491e-01 1.14380101e-03 9.34618038e+02] [-9.21601816e-01 -3.88125583e-01 2.93676418e-03 1.56714331e+02] [ 3.15047936e-03 8.56993027e-05 9.99995034e-01 1.60322530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.4792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.62, Y:156.72, Z:16.03 [[-3.77740051e-01 9.25910979e-01 1.14541189e-03 9.34624876e+02] [-9.25906325e-01 -3.77741785e-01 2.93613576e-03 1.56715210e+02] [ 3.15127027e-03 4.85519569e-05 9.99995034e-01 1.60288107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.5092541539998 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:934.61, Y:156.70, Z:16.03 [[-3.89082809e-01 9.21202129e-01 1.09790050e-03 9.34611804e+02] [-9.21197401e-01 -3.89084334e-01 2.95467993e-03 1.56697587e+02] [ 3.14903333e-03 1.38232079e-04 9.99995032e-01 1.60327554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.5392541539998 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:934.62, Y:156.70, Z:16.03 [[-3.89139934e-01 9.21177937e-01 1.14885992e-03 9.34615034e+02] [-9.21173266e-01 -3.89141621e-01 2.93473084e-03 1.56704951e+02] [ 3.15047851e-03 8.37219234e-05 9.99995034e-01 1.60312927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.5692541539997 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:934.61, Y:156.70, Z:16.03 [[-3.88683894e-01 9.21370451e-01 1.15047518e-03 9.34614052e+02] [-9.21365782e-01 -3.88685588e-01 2.93409749e-03 1.56701464e+02] [ 3.15056384e-03 8.04279713e-05 9.99995034e-01 1.60301579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.599254154 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:934.61, Y:156.70, Z:16.03 [[-3.87882743e-01 9.21708007e-01 1.15208154e-03 9.34612462e+02] [-9.21703342e-01 -3.87884446e-01 2.93346661e-03 1.56697666e+02] [ 3.15067417e-03 7.59636681e-05 9.99995034e-01 1.60305189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.629254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.61, Y:156.69, Z:16.03 [[-3.87953758e-01 9.21678117e-01 1.15361606e-03 9.34607381e+02] [-9.21673453e-01 -3.87955466e-01 2.93286302e-03 1.56685765e+02] [ 3.15070732e-03 7.45579348e-05 9.99995034e-01 1.60325505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.6592541539999 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:934.60, Y:156.67, Z:16.03 [[-3.87494009e-01 9.21871498e-01 1.15522656e-03 9.34602718e+02] [-9.21866837e-01 -3.87495725e-01 2.93222852e-03 1.56674036e+02] [ 3.15078325e-03 7.12559348e-05 9.99995034e-01 1.60313088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.6892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.61, Y:156.68, Z:16.03 [[-3.87436760e-01 9.21895558e-01 1.15684663e-03 9.34605521e+02] [-9.21890899e-01 -3.87438481e-01 2.93158922e-03 1.56684685e+02] [ 3.15082598e-03 6.93190466e-05 9.99995034e-01 1.60329924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.7192541539998 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:934.60, Y:156.67, Z:16.03 [[-3.87326760e-01 9.21941776e-01 1.15861373e-03 9.34601238e+02] [-9.21937120e-01 -3.87328487e-01 2.93089066e-03 1.56674156e+02] [ 3.15087465e-03 6.70433764e-05 9.99995034e-01 1.60324686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.7492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.60, Y:156.68, Z:16.03 [[-3.87196579e-01 9.21996455e-01 1.16022139e-03 9.34600933e+02] [-9.21991801e-01 -3.87198312e-01 2.93025412e-03 1.56675732e+02] [ 3.15091967e-03 6.48697621e-05 9.99995034e-01 1.60330189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.7792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.60, Y:156.66, Z:16.03 [[-3.88699663e-01 9.21363784e-01 1.16182935e-03 9.34596062e+02] [-9.21359129e-01 -3.88701393e-01 2.92961643e-03 1.56663027e+02] [ 3.15084717e-03 6.82788374e-05 9.99995034e-01 1.60330625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.8092541539997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.59, Y:156.66, Z:16.03 [[-3.88833035e-01 9.21307500e-01 1.16660392e-03 9.34593706e+02] [-9.21302850e-01 -3.88834780e-01 2.92771391e-03 1.56657224e+02] [ 3.15094096e-03 6.35963709e-05 9.99995034e-01 1.60331246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.839254154 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:934.59, Y:156.64, Z:16.03 [[-3.89445523e-01 9.21048761e-01 1.16820743e-03 9.34587019e+02] [-9.21044112e-01 -3.89447270e-01 2.92707394e-03 1.56639762e+02] [ 3.15093302e-03 6.39652678e-05 9.99995034e-01 1.60310584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.869254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.58, Y:156.63, Z:16.03 [[-3.90775820e-01 9.20485138e-01 1.16981979e-03 9.34583469e+02] [-9.20480489e-01 -3.90777566e-01 2.92642942e-03 1.56631308e+02] [ 3.15087411e-03 6.67815632e-05 9.99995034e-01 1.60314860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.899254154 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:934.59, Y:156.64, Z:16.03 [[-3.90918418e-01 9.20424586e-01 1.17144355e-03 9.34586472e+02] [-9.20419938e-01 -3.90920167e-01 2.92577928e-03 1.56637853e+02] [ 3.15090009e-03 6.55210065e-05 9.99995034e-01 1.60292137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.9292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.58, Y:156.63, Z:16.03 [[-3.91690451e-01 9.20096307e-01 1.17321469e-03 9.34583473e+02] [-9.20091660e-01 -3.91692203e-01 2.92506890e-03 1.56631316e+02] [ 3.15088414e-03 6.62565091e-05 9.99995034e-01 1.60303352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.9592541539998 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:934.58, Y:156.63, Z:16.03 [[-3.91974987e-01 9.19975124e-01 1.17482594e-03 9.34584670e+02] [-9.19970478e-01 -3.91976742e-01 2.92442161e-03 1.56634495e+02] [ 3.15089958e-03 6.54949430e-05 9.99995034e-01 1.60276450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.9892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.58, Y:156.63, Z:16.03 [[-3.92648060e-01 9.19688054e-01 1.17643310e-03 9.34583325e+02] [-9.19683409e-01 -3.92649817e-01 2.92377494e-03 1.56632453e+02] [ 3.15088713e-03 6.60685496e-05 9.99995034e-01 1.60299597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.0192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.58, Y:156.63, Z:16.03 [[-3.92849621e-01 9.19601972e-01 1.17803315e-03 9.34581365e+02] [-9.19597329e-01 -3.92851382e-01 2.92313011e-03 1.56629695e+02] [ 3.15090817e-03 6.50344158e-05 9.99995034e-01 1.60311364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.0492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.58, Y:156.62, Z:16.03 [[-3.92934732e-01 9.19565606e-01 1.17978173e-03 9.34577704e+02] [-9.19560965e-01 -3.92936498e-01 2.92242421e-03 1.56620751e+02] [ 3.15094010e-03 6.34407487e-05 9.99995034e-01 1.60318623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.0792541539997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.58, Y:156.61, Z:16.03 [[-3.85595304e-01 9.22667256e-01 1.18137995e-03 9.34579196e+02] [-9.22662631e-01 -3.85597112e-01 2.92177799e-03 1.56611867e+02] [ 3.15136558e-03 3.66087398e-05 9.99995034e-01 1.60276591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.109254154 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:934.57, Y:156.61, Z:16.03 [[-3.92803027e-01 9.19621906e-01 1.15415664e-03 9.34574046e+02] [-9.19617234e-01 -3.92804713e-01 2.93279749e-03 1.56610918e+02] [ 3.15042298e-03 9.06293926e-05 9.99995033e-01 1.60332863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.139254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.57, Y:156.61, Z:16.03 [[-3.93247731e-01 9.19431791e-01 1.18472446e-03 9.34572168e+02] [-9.19427155e-01 -3.93249511e-01 2.92039697e-03 1.56606184e+02] [ 3.15099813e-03 5.91716462e-05 9.99995034e-01 1.60337965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.1692541539999 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:934.57, Y:156.60, Z:16.03 [[-3.93205343e-01 9.19449918e-01 1.18632570e-03 9.34569633e+02] [-9.19445283e-01 -3.93207129e-01 2.91974637e-03 1.56597121e+02] [ 3.15103228e-03 5.72983056e-05 9.99995034e-01 1.60314879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.1992541539998 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:934.57, Y:156.59, Z:16.03 [[-3.95910341e-01 9.18288403e-01 1.18792963e-03 9.34565612e+02] [-9.18283766e-01 -3.95912117e-01 2.91909364e-03 1.56585025e+02] [ 3.15088558e-03 6.48428602e-05 9.99995034e-01 1.60307311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.2292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.56, Y:156.58, Z:16.03 [[-3.97657618e-01 9.17533100e-01 1.19600177e-03 9.34564683e+02] [-9.17528469e-01 -3.97659411e-01 2.91578260e-03 1.56581073e+02] [ 3.15092841e-03 6.21174916e-05 9.99995034e-01 1.60305529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.2592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.56, Y:156.57, Z:16.03 [[-3.98739314e-01 9.17063534e-01 1.19759377e-03 9.34562556e+02] [-9.17058903e-01 -3.98741107e-01 2.91512858e-03 1.56574242e+02] [ 3.15088798e-03 6.41123418e-05 9.99995034e-01 1.60298073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.2892541539998 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:934.56, Y:156.57, Z:16.03 [[-4.00066514e-01 9.16485322e-01 1.19918670e-03 9.34561642e+02] [-9.16480691e-01 -4.00068306e-01 2.91447315e-03 1.56567378e+02] [ 3.15082845e-03 6.69516614e-05 9.99995034e-01 1.60282078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.3192541539997 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:934.56, Y:156.56, Z:16.03 [[-4.01092908e-01 9.16036592e-01 1.20108419e-03 9.34560702e+02] [-9.16031960e-01 -4.01094700e-01 2.91369096e-03 1.56563000e+02] [ 3.15079604e-03 6.84292733e-05 9.99995034e-01 1.60273983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.349254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.56, Y:156.55, Z:16.03 [[-4.02544807e-01 9.15399493e-01 1.20282857e-03 9.34558324e+02] [-9.15394861e-01 -4.02546598e-01 2.91297067e-03 1.56554619e+02] [ 3.15072642e-03 7.15381205e-05 9.99995034e-01 1.60286735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.379254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.55, Y:156.54, Z:16.03 [[-4.02757226e-01 9.15306051e-01 1.20442270e-03 9.34554576e+02] [-9.15301420e-01 -4.02759021e-01 2.91231140e-03 1.56542798e+02] [ 3.15074835e-03 7.05446495e-05 9.99995034e-01 1.60299931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.4092541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:934.55, Y:156.54, Z:16.03 [[-4.03127730e-01 9.15142928e-01 1.20587348e-03 9.34554962e+02] [-9.15138299e-01 -4.03129528e-01 2.91171056e-03 1.56542433e+02] [ 3.15075454e-03 7.02502697e-05 9.99995034e-01 1.60303995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.4392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.54, Y:156.50, Z:16.03 [[-4.07395897e-01 9.13250856e-01 1.20747670e-03 9.34540369e+02] [-9.13246220e-01 -4.07397678e-01 2.91104556e-03 1.56502889e+02] [ 3.15043805e-03 8.32244832e-05 9.99995034e-01 1.60309871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.4692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.54, Y:156.51, Z:16.03 [[-4.07937019e-01 9.13009254e-01 1.22094695e-03 9.34542459e+02] [-9.13004634e-01 -4.07938840e-01 2.90538488e-03 1.56505221e+02] [ 3.15071496e-03 7.04838263e-05 9.99995034e-01 1.60308829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.4992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.54, Y:156.50, Z:16.03 [[-4.10093450e-01 9.12042690e-01 1.22254669e-03 9.34541939e+02] [-9.12038067e-01 -4.10095265e-01 2.90471158e-03 1.56498226e+02] [ 3.15058157e-03 7.61940749e-05 9.99995034e-01 1.60300313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.5292541539998 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:934.54, Y:156.49, Z:16.03 [[-4.10823487e-01 9.11714078e-01 1.22611028e-03 9.34540958e+02] [-9.11709458e-01 -4.10825310e-01 2.90320657e-03 1.56491932e+02] [ 3.15061143e-03 7.48491092e-05 9.99995034e-01 1.60269408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.5592541539997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.54, Y:156.47, Z:16.03 [[-4.12735731e-01 9.10849993e-01 1.22769905e-03 9.34535332e+02] [-9.10845372e-01 -4.12737549e-01 2.90253455e-03 1.56474564e+02] [ 3.15049108e-03 7.97357190e-05 9.99995034e-01 1.60280605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.589254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.53, Y:156.47, Z:16.03 [[-4.13468491e-01 9.10517598e-01 1.22929657e-03 9.34534071e+02] [-9.10512977e-01 -4.13470311e-01 2.90185781e-03 1.56469308e+02] [ 3.15047023e-03 8.05362912e-05 9.99995034e-01 1.60271967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.619254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.54, Y:156.47, Z:16.03 [[-4.14206544e-01 9.10182083e-01 1.23090226e-03 9.34536465e+02] [-9.10177463e-01 -4.14208365e-01 2.90117655e-03 1.56471029e+02] [ 3.15044893e-03 8.13468167e-05 9.99995034e-01 1.60265639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.649254154 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:934.54, Y:156.47, Z:16.03 [[-4.13660493e-01 9.10430379e-01 1.23383027e-03 9.34537976e+02] [-9.10425763e-01 -4.13662326e-01 2.89993077e-03 1.56472057e+02] [ 3.15057417e-03 7.62759240e-05 9.99995034e-01 1.60251740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.6792541539999 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:934.51, Y:156.40, Z:16.03 [[-4.22997560e-01 9.06129979e-01 1.23526996e-03 9.34510849e+02] [-9.06125347e-01 -4.22999350e-01 2.89931739e-03 1.56398159e+02] [ 3.14967679e-03 1.07094763e-04 9.99995034e-01 1.60263203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.7092541539998 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:934.51, Y:156.40, Z:16.03 [[-4.20481692e-01 9.07300131e-01 1.27228483e-03 9.34510338e+02] [-9.07295553e-01 -4.20483613e-01 2.88298241e-03 1.56396511e+02] [ 3.15070524e-03 5.79029502e-05 9.99995035e-01 1.60270861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.7392541539998 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:934.51, Y:156.39, Z:16.03 [[-4.17867989e-01 9.08506864e-01 1.27371116e-03 9.34509156e+02] [-9.08502293e-01 -4.17869927e-01 2.88235211e-03 1.56393402e+02] [ 3.15088227e-03 4.72731733e-05 9.99995035e-01 1.60284822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.7692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.51, Y:156.39, Z:16.03 [[-4.17654268e-01 9.08605132e-01 1.27513559e-03 9.34507412e+02] [-9.08600563e-01 -4.17656212e-01 2.88172182e-03 1.56389748e+02] [ 3.15091553e-03 4.49745032e-05 9.99995035e-01 1.60312200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.7992541539998 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:934.51, Y:156.38, Z:16.03 [[-4.16773513e-01 9.09009466e-01 1.27655915e-03 9.34506015e+02] [-9.09004901e-01 -4.16775466e-01 2.88109106e-03 1.56383113e+02] [ 3.15097758e-03 4.03639179e-05 9.99995035e-01 1.60286689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.8292541539997 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:934.51, Y:156.38, Z:16.03 [[-4.16746475e-01 9.09021860e-01 1.27813111e-03 9.34505317e+02] [-9.09017297e-01 -4.16748434e-01 2.88039353e-03 1.56379305e+02] [ 3.15099982e-03 3.85505618e-05 9.99995035e-01 1.60296773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.859254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.51, Y:156.38, Z:16.03 [[-4.16459341e-01 9.09153442e-01 1.27955615e-03 9.34507354e+02] [-9.09148881e-01 -4.16461305e-01 2.87976034e-03 1.56377767e+02] [ 3.15102965e-03 3.59960468e-05 9.99995035e-01 1.60295382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.889254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.51, Y:156.37, Z:16.03 [[-4.17079786e-01 9.08868974e-01 1.28112548e-03 9.34507597e+02] [-9.08864414e-01 -4.17081752e-01 2.87906202e-03 1.56374928e+02] [ 3.15102421e-03 3.64292128e-05 9.99995035e-01 1.60295455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.9192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.50, Y:156.36, Z:16.03 [[-4.19369687e-01 9.07814640e-01 1.28254403e-03 9.34503867e+02] [-9.07810078e-01 -4.19371646e-01 2.87842996e-03 1.56359688e+02] [ 3.15094346e-03 4.28198754e-05 9.99995035e-01 1.60293985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.9492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.50, Y:156.35, Z:16.03 [[-4.20116734e-01 9.07469158e-01 1.28736570e-03 9.34501027e+02] [-9.07464600e-01 -4.20118705e-01 2.87627187e-03 1.56349816e+02] [ 3.15097442e-03 4.01311503e-05 9.99995035e-01 1.60298787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.9792541539998 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:934.50, Y:156.35, Z:16.03 [[-4.20381807e-01 9.07346392e-01 1.28878656e-03 9.34504493e+02] [-9.07341836e-01 -4.20383781e-01 2.87563508e-03 1.56349103e+02] [ 3.15098208e-03 3.94947021e-05 9.99995035e-01 1.60266703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.0092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.50, Y:156.34, Z:16.03 [[-4.21542765e-01 9.06807605e-01 1.29035491e-03 9.34502070e+02] [-9.06803049e-01 -4.21544738e-01 2.87493116e-03 1.56341479e+02] [ 3.15095176e-03 4.18086653e-05 9.99995035e-01 1.60297282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.0392541539998 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:934.50, Y:156.34, Z:16.03 [[-4.21631783e-01 9.06766217e-01 1.29177456e-03 9.34503432e+02] [-9.06761662e-01 -4.21633759e-01 2.87429313e-03 1.56340240e+02] [ 3.15096767e-03 4.05616882e-05 9.99995035e-01 1.60274033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.0692541539997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.50, Y:156.34, Z:16.03 [[-4.22598621e-01 9.06316023e-01 1.29319445e-03 9.34503998e+02] [-9.06311468e-01 -4.22600597e-01 2.87365416e-03 1.56337017e+02] [ 3.15094355e-03 4.23653209e-05 9.99995035e-01 1.60306088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.099254154 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:934.50, Y:156.33, Z:16.03 [[-4.22912072e-01 9.06169798e-01 1.29461135e-03 9.34502007e+02] [-9.06165245e-01 -4.22914052e-01 2.87301568e-03 1.56328594e+02] [ 3.15094938e-03 4.19012041e-05 9.99995035e-01 1.60294417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.129254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.50, Y:156.32, Z:16.03 [[-4.24614633e-01 9.05373257e-01 1.29602959e-03 9.34502746e+02] [-9.05368701e-01 -4.24616609e-01 2.87237577e-03 1.56324595e+02] [ 3.15088789e-03 4.62681605e-05 9.99995035e-01 1.60320562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.1592541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:934.50, Y:156.32, Z:16.03 [[-4.25450674e-01 9.04980685e-01 1.29759615e-03 9.34501984e+02] [-9.04976130e-01 -4.25452650e-01 2.87166790e-03 1.56317998e+02] [ 3.15086970e-03 4.74595024e-05 9.99995035e-01 1.60313065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.1892541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:934.50, Y:156.31, Z:16.03 [[-4.26545458e-01 9.04465193e-01 1.29887047e-03 9.34502276e+02] [-9.04460638e-01 -4.26547432e-01 2.87109140e-03 1.56311065e+02] [ 3.15083210e-03 4.98737791e-05 9.99995035e-01 1.60308747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.2192541539998 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:934.50, Y:156.31, Z:16.03 [[-4.26914012e-01 9.04291289e-01 1.30043994e-03 9.34504012e+02] [-9.04286735e-01 -4.26915989e-01 2.87038035e-03 1.56311327e+02] [ 3.15083855e-03 4.94349985e-05 9.99995035e-01 1.60296900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.2492541539998 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:934.50, Y:156.31, Z:16.03 [[-4.26445169e-01 9.04512478e-01 1.30200668e-03 9.34504194e+02] [-9.04507927e-01 -4.26447154e-01 2.86966949e-03 1.56307098e+02] [ 3.15088891e-03 4.60813261e-05 9.99995035e-01 1.60294538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.2792541539998 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:934.50, Y:156.30, Z:16.03 [[-4.26092946e-01 9.04678453e-01 1.30327773e-03 9.34503618e+02] [-9.04673904e-01 -4.26094937e-01 2.86909213e-03 1.56304767e+02] [ 3.15092587e-03 4.34585674e-05 9.99995035e-01 1.60298430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.3092541539997 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:934.50, Y:156.30, Z:16.03 [[-4.23960627e-01 9.05679681e-01 1.30469347e-03 9.34503354e+02] [-9.05675139e-01 -4.23962633e-01 2.86844819e-03 1.56301498e+02] [ 3.15103652e-03 3.44806495e-05 9.99995035e-01 1.60317584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.339254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.50, Y:156.28, Z:16.03 [[-4.24997172e-01 9.05193735e-01 1.30610725e-03 9.34495063e+02] [-9.05189193e-01 -4.24999177e-01 2.86780430e-03 1.56281812e+02] [ 3.15101299e-03 3.65345429e-05 9.99995035e-01 1.60334180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.369254154 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:934.48, Y:156.18, Z:16.03 [[-4.82439873e-01 8.75927820e-01 1.49068030e-03 9.34480939e+02] [-8.75923399e-01 -4.82442175e-01 2.78322152e-03 1.56176622e+02] [ 3.15706821e-03 3.70152817e-05 9.99995016e-01 1.60311319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.399254154 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:934.48, Y:156.18, Z:16.03 [[-4.81409304e-01 8.76494616e-01 1.50662344e-03 9.34482081e+02] [-8.76490225e-01 -4.81411661e-01 2.77456420e-03 1.56177332e+02] [ 3.15719668e-03 1.51602987e-05 9.99995016e-01 1.60305710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.4292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.48, Y:156.17, Z:16.03 [[-4.81524714e-01 8.76431216e-01 1.50784821e-03 9.34479197e+02] [-8.76426827e-01 -4.81527074e-01 2.77389844e-03 1.56171560e+02] [ 3.15720091e-03 1.41820320e-05 9.99995016e-01 1.60326812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.4592541539998 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:934.48, Y:156.17, Z:16.03 [[-4.80376084e-01 8.77061309e-01 1.50964805e-03 9.34480409e+02] [-8.77056925e-01 -4.80378456e-01 2.77291856e-03 1.56169955e+02] [ 3.15722198e-03 7.99648122e-06 9.99995016e-01 1.60289887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.4892541539998 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:934.48, Y:156.17, Z:16.03 [[-4.80590447e-01 8.76943864e-01 1.51086885e-03 9.34481038e+02] [-8.76939482e-01 -4.80592822e-01 2.77225322e-03 1.56167126e+02] [ 3.15722318e-03 7.37786578e-06 9.99995016e-01 1.60290590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.5192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.48, Y:156.17, Z:16.03 [[-4.77477019e-01 8.78642937e-01 1.51208803e-03 9.34484172e+02] [-8.78638565e-01 -4.77479413e-01 2.77158808e-03 1.56167017e+02] [ 3.15722719e-03 -5.20923983e-06 9.99995016e-01 1.60297222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.5492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.47, Y:156.15, Z:16.03 [[-4.82136471e-01 8.76094846e-01 1.49785541e-03 9.34474825e+02] [-8.76090438e-01 -4.82138797e-01 2.77935528e-03 1.56152558e+02] [ 3.15715304e-03 2.77717421e-05 9.99995016e-01 1.60299589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.5792541539997 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:934.48, Y:156.15, Z:16.03 [[-4.82468325e-01 8.75912110e-01 1.51383440e-03 9.34475270e+02] [-8.75907728e-01 -4.82470700e-01 2.77062456e-03 1.56151822e+02] [ 3.15720435e-03 1.07593380e-05 9.99995016e-01 1.60291801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.609254154 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:934.48, Y:156.16, Z:16.03 [[-4.78577270e-01 8.78044134e-01 1.51506062e-03 9.34481901e+02] [-8.78039765e-01 -4.78579668e-01 2.76995386e-03 1.56156446e+02] [ 3.15721895e-03 -4.64651492e-06 9.99995016e-01 1.60270955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.639254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.48, Y:156.15, Z:16.03 [[-4.79877334e-01 8.77334317e-01 1.49694025e-03 9.34477947e+02] [-8.77329913e-01 -4.79879669e-01 2.77986896e-03 1.56146135e+02] [ 3.15722562e-03 2.06856455e-05 9.99995016e-01 1.60277856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.6692541539999 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:934.48, Y:156.15, Z:16.03 [[-4.86255076e-01 8.73815632e-01 1.49705504e-03 9.34475117e+02] [-8.73811212e-01 -4.86257379e-01 2.77980608e-03 1.56146700e+02] [ 3.15699207e-03 4.35513363e-05 9.99995016e-01 1.60296214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.6992541539998 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:934.47, Y:156.14, Z:16.03 [[-4.86640263e-01 8.73601138e-01 1.51852200e-03 9.34473626e+02] [-8.73596753e-01 -4.86642632e-01 2.76802946e-03 1.56143873e+02] [ 3.15713122e-03 2.04586953e-05 9.99995016e-01 1.60296404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.7292541539998 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:934.44, Y:156.08, Z:16.03 [[-4.81907173e-01 8.76220958e-01 1.51974204e-03 9.34443510e+02] [-8.76216588e-01 -4.81909569e-01 2.76735945e-03 1.56080386e+02] [ 3.15719658e-03 1.98718835e-06 9.99995016e-01 1.60256375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.7592541539998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:934.47, Y:156.13, Z:16.03 [[-4.84214066e-01 8.74948282e-01 1.49751881e-03 9.34472791e+02] [-8.74943868e-01 -4.84216380e-01 2.77956481e-03 1.56132311e+02] [ 3.15709860e-03 3.56594754e-05 9.99995016e-01 1.60280306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.7892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.47, Y:156.13, Z:16.03 [[-4.91043309e-01 8.71133873e-01 1.49838955e-03 9.34469326e+02] [-8.71129442e-01 -4.91045591e-01 2.77908628e-03 1.56131936e+02] [ 3.15673378e-03 5.93604660e-05 9.99995016e-01 1.60328387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.8192541539997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:934.47, Y:156.13, Z:16.03 [[-4.93021210e-01 8.70015958e-01 1.52258483e-03 9.34467944e+02] [-8.70011563e-01 -4.93023560e-01 2.76576651e-03 1.56126966e+02] [ 3.15693120e-03 3.89151427e-05 9.99995016e-01 1.60321503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.849254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.49, Y:156.15, Z:16.03 [[-4.79425703e-01 8.77581149e-01 1.52367358e-03 9.34489706e+02] [-8.77576793e-01 -4.79428124e-01 2.76516659e-03 1.56146291e+02] [ 3.15715004e-03 -1.14486388e-05 9.99995016e-01 1.60251083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.879254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.47, Y:156.13, Z:16.03 [[-4.90937556e-01 8.71193550e-01 1.45411663e-03 9.34474708e+02] [-8.71189046e-01 -4.90939697e-01 2.80344234e-03 1.56129246e+02] [ 3.15622446e-03 1.09504647e-04 9.99995013e-01 1.60294569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.9092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.46, Y:156.12, Z:16.03 [[-4.98418492e-01 8.66935263e-01 1.50233434e-03 9.34463936e+02] [-8.66930820e-01 -4.98420749e-01 2.77683954e-03 1.56116685e+02] [ 3.15613473e-03 8.16082303e-05 9.99995016e-01 1.60333772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.9392541539999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:934.46, Y:156.11, Z:16.03 [[-5.00800780e-01 8.65561233e-01 1.52649291e-03 9.34462552e+02] [-8.65556824e-01 -5.00803103e-01 2.76349489e-03 1.56113188e+02] [ 3.15644643e-03 6.26940380e-05 9.99995016e-01 1.60308531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.9692541539998 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:934.46, Y:156.11, Z:16.03 [[-5.02152822e-01 8.64777549e-01 1.52772013e-03 9.34460710e+02] [-8.64773138e-01 -5.02155142e-01 2.76281629e-03 1.56109877e+02] [ 3.15637402e-03 6.62246624e-05 9.99995016e-01 1.60315173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.9992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.46, Y:156.11, Z:16.03 [[-5.04411597e-01 8.63461987e-01 1.52894750e-03 9.34458837e+02] [-8.63457572e-01 -5.04413909e-01 2.76213689e-03 1.56108281e+02] [ 3.15622259e-03 7.30725817e-05 9.99995016e-01 1.60336547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.0292541539998 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:934.46, Y:156.10, Z:16.03 [[-5.04977556e-01 8.63131118e-01 1.53003967e-03 9.34456114e+02] [-8.63126703e-01 -5.04979869e-01 2.76153177e-03 1.56103976e+02] [ 3.15620324e-03 7.38934641e-05 9.99995016e-01 1.60321678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.0592541539997 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:934.45, Y:156.10, Z:16.03 [[-5.05896558e-01 8.62592794e-01 1.53126738e-03 9.34453629e+02] [-8.62588379e-01 -5.05898869e-01 2.76085084e-03 1.56102935e+02] [ 3.15615647e-03 7.58514877e-05 9.99995016e-01 1.60316923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.089254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.45, Y:156.10, Z:16.03 [[-5.06817403e-01 8.62052070e-01 1.53236035e-03 9.34449804e+02] [-8.62047655e-01 -5.06819714e-01 2.76024407e-03 1.56098376e+02] [ 3.15610455e-03 7.79720841e-05 9.99995016e-01 1.60333231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.119254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.46, Y:156.10, Z:16.03 [[-4.99061044e-01 8.66565475e-01 1.53345421e-03 9.34455806e+02] [-8.66561082e-01 -4.99063398e-01 2.75963624e-03 1.56103107e+02] [ 3.15669636e-03 4.83952010e-05 9.99995016e-01 1.60281656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.149254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.45, Y:156.10, Z:16.03 [[-5.06891360e-01 8.62008635e-01 1.50426185e-03 9.34445399e+02] [-8.62004173e-01 -5.06893580e-01 2.77585972e-03 1.56096513e+02] [ 3.15531573e-03 1.10379315e-04 9.99995016e-01 1.60313595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.1792541539999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:934.44, Y:156.10, Z:16.03 [[-5.05298086e-01 8.62943501e-01 1.53582013e-03 9.34442168e+02] [-8.62939095e-01 -5.05300415e-01 2.75828801e-03 1.56095738e+02] [ 3.15629727e-03 6.84384187e-05 9.99995017e-01 1.60287789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.2092541539998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:934.45, Y:156.10, Z:16.03 [[-4.96230036e-01 8.68189718e-01 1.53762626e-03 9.34447288e+02] [-8.68185341e-01 -4.96232417e-01 2.75728081e-03 1.56097372e+02] [ 3.15686284e-03 3.33009718e-05 9.99995017e-01 1.60253964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.2392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.43, Y:156.09, Z:16.03 [[-5.01947271e-01 8.64896922e-01 1.50089330e-03 9.34434449e+02] [-8.64892466e-01 -5.01949505e-01 2.77778038e-03 1.56091781e+02] [ 3.15586635e-03 9.61879723e-05 9.99995016e-01 1.60290845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.2692541539998 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:934.43, Y:156.09, Z:16.03 [[-4.99874601e-01 8.66096420e-01 1.54079589e-03 9.34432134e+02] [-8.66092038e-01 -4.99876974e-01 2.75546775e-03 1.56090256e+02] [ 3.15670914e-03 4.29172895e-05 9.99995017e-01 1.60276772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.2992541539998 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:934.43, Y:156.09, Z:16.03 [[-4.98019682e-01 8.67164355e-01 1.54201584e-03 9.34430033e+02] [-8.67159980e-01 -4.98022068e-01 2.75478487e-03 1.56089948e+02] [ 3.15680916e-03 3.47626570e-05 9.99995017e-01 1.60289858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.3292541539997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.43, Y:156.09, Z:16.03 [[-4.95347826e-01 8.68693358e-01 1.54323460e-03 9.34425356e+02] [-8.68688992e-01 -4.95350229e-01 2.75410195e-03 1.56089477e+02] [ 3.15691169e-03 2.36475074e-05 9.99995017e-01 1.60319885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.359254154 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:934.42, Y:156.09, Z:16.03 [[-4.93641302e-01 8.69664234e-01 1.54445166e-03 9.34423674e+02] [-8.69659875e-01 -4.93643718e-01 2.75341928e-03 1.56092636e+02] [ 3.15695913e-03 1.60538391e-05 9.99995017e-01 1.60329761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.389254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.45, Y:156.11, Z:16.02 [[-4.71028431e-01 8.82116675e-01 1.54580463e-03 9.34445961e+02] [-8.82112382e-01 -4.71030963e-01 2.75265949e-03 1.56109717e+02] [ 3.15628868e-03 -6.69925227e-05 9.99995017e-01 1.60237994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.4192541539999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:934.42, Y:156.09, Z:16.03 [[-4.95772943e-01 8.68450985e-01 1.44087693e-03 9.34418179e+02] [-8.68446446e-01 -4.95775016e-01 2.81147670e-03 1.56087676e+02] [ 3.15598049e-03 1.42529624e-04 9.99995010e-01 1.60296896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.4492541539998 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:934.41, Y:156.08, Z:16.03 [[-4.97396421e-01 8.67521990e-01 1.54826358e-03 9.34414811e+02] [-8.67517629e-01 -4.97398830e-01 2.75104037e-03 1.56082339e+02] [ 3.15669251e-03 2.52116854e-05 9.99995017e-01 1.60327282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.4792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.41, Y:156.08, Z:16.03 [[-5.00988375e-01 8.65452626e-01 1.54961538e-03 9.34411465e+02] [-8.65448256e-01 -5.00990770e-01 2.75027872e-03 1.56077958e+02] [ 3.15657894e-03 3.67457339e-05 9.99995017e-01 1.60341493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.5092541539998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:934.42, Y:156.09, Z:16.03 [[-4.98725900e-01 8.66758370e-01 1.55082986e-03 9.34418501e+02] [-8.66754009e-01 -4.98728310e-01 2.74959373e-03 1.56086164e+02] [ 3.15667613e-03 2.71056050e-05 9.99995017e-01 1.60346114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.5392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.42, Y:156.08, Z:16.04 [[-5.01518358e-01 8.65145642e-01 1.53481909e-03 9.34415577e+02] [-8.65141245e-01 -5.01520703e-01 2.75862833e-03 1.56082368e+02] [ 3.15635882e-03 5.56674453e-05 9.99995017e-01 1.60367160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.5692541539997 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:934.40, Y:156.07, Z:16.04 [[-5.06590500e-01 8.62185429e-01 1.53382458e-03 9.34403993e+02] [-8.62181017e-01 -5.06592816e-01 2.75919015e-03 1.56067230e+02] [ 3.15595806e-03 7.53450781e-05 9.99995017e-01 1.60360475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.599254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.40, Y:156.06, Z:16.04 [[-5.08382759e-01 8.61129813e-01 1.55450091e-03 9.34399142e+02] [-8.61125432e-01 -5.08385132e-01 2.74749171e-03 1.56060313e+02] [ 3.15623217e-03 5.81571534e-05 9.99995017e-01 1.60384810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.629254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.40, Y:156.06, Z:16.04 [[-5.09286710e-01 8.60595507e-01 1.55585913e-03 9.34396806e+02] [-8.60591126e-01 -5.09289083e-01 2.74672236e-03 1.56056383e+02] [ 3.15619899e-03 5.99106290e-05 9.99995017e-01 1.60396064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.6592541539999 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:934.39, Y:156.05, Z:16.04 [[-5.10965719e-01 8.59599680e-01 1.55721955e-03 9.34393931e+02] [-8.59595296e-01 -5.10968088e-01 2.74595087e-03 1.56052459e+02] [ 3.15610798e-03 6.45081606e-05 9.99995017e-01 1.60406984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.6892541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:934.39, Y:156.05, Z:16.04 [[-5.12585956e-01 8.58634502e-01 1.55858057e-03 9.34390636e+02] [-8.58630117e-01 -5.12588321e-01 2.74517815e-03 1.56046556e+02] [ 3.15601487e-03 6.88955506e-05 9.99995017e-01 1.60419535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.7192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.39, Y:156.05, Z:16.04 [[-5.18787844e-01 8.54901596e-01 1.55994279e-03 9.34388308e+02] [-8.54897196e-01 -5.18790182e-01 2.74440385e-03 1.56045761e+02] [ 3.15547824e-03 9.01726338e-05 9.99995017e-01 1.60409594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.7492541539998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:934.99, Y:155.58, Z:16.91 [[-4.11170841e-01 -9.11556968e-01 -1.55994279e-03 9.34988052e+02] [-9.11552884e-01 4.11173696e-01 -2.74440385e-03 1.55584788e+02] [ 3.14308789e-03 2.93551515e-04 -9.99995017e-01 1.69082749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.7792541539998 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:934.29, Y:155.92, Z:16.04 [[-4.61449375e-01 8.87165486e-01 1.36917600e-03 9.34286106e+02] [-8.87160957e-01 -4.61451396e-01 2.83648730e-03 1.55915365e+02] [ 3.14824181e-03 9.42158005e-05 9.99995040e-01 1.60373274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.8092541539997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.28, Y:155.91, Z:16.04 [[-4.63411937e-01 8.86141918e-01 1.37051481e-03 9.34283911e+02] [-8.86137386e-01 -4.63413953e-01 2.83584027e-03 1.55911943e+02] [ 3.14807262e-03 9.96978238e-05 9.99995040e-01 1.60369150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.839254154 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:934.28, Y:155.91, Z:16.04 [[-4.65288410e-01 8.85158073e-01 1.37192958e-03 9.34282651e+02] [-8.85153538e-01 -4.65290420e-01 2.83515567e-03 1.55913507e+02] [ 3.14790662e-03 1.04796753e-04 9.99995040e-01 1.60360696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.869254154 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:934.28, Y:155.91, Z:16.04 [[-4.66045438e-01 8.84759721e-01 1.37334131e-03 9.34277443e+02] [-8.84755187e-01 -4.66047450e-01 2.83447166e-03 1.55907917e+02] [ 3.14786857e-03 1.05921740e-04 9.99995040e-01 1.60360721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.899254154 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:934.27, Y:155.90, Z:16.04 [[-4.65990258e-01 8.84788783e-01 1.37475215e-03 9.34271424e+02] [-8.84784251e-01 -4.65992274e-01 2.83378722e-03 1.55898986e+02] [ 3.14792703e-03 1.04158184e-04 9.99995040e-01 1.60355844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.9292541539999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:934.25, Y:155.86, Z:16.04 [[-4.68968821e-01 8.83213650e-01 1.37616804e-03 9.34250743e+02] [-8.83209113e-01 -4.68970827e-01 2.83309946e-03 1.55862258e+02] [ 3.14761478e-03 1.13191163e-04 9.99995040e-01 1.60360055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.9592541539998 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:934.25, Y:155.86, Z:16.04 [[-4.68311343e-01 8.83562420e-01 1.39142476e-03 9.34245758e+02] [-8.83557907e-01 -4.68313401e-01 2.82558648e-03 1.55856540e+02] [ 3.14820489e-03 9.38498551e-05 9.99995040e-01 1.60371747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.9892541539998 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:934.25, Y:155.87, Z:16.04 [[-4.65871076e-01 8.84851513e-01 1.39328806e-03 9.34245938e+02] [-8.84847008e-01 -4.65873152e-01 2.82466739e-03 1.55865578e+02] [ 3.14850672e-03 8.30840619e-05 9.99995040e-01 1.60384150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.0192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.24, Y:155.86, Z:16.04 [[-4.65134007e-01 8.85239183e-01 1.39469994e-03 9.34243217e+02] [-8.85234682e-01 -4.65136091e-01 2.82397010e-03 1.55863589e+02] [ 3.14861426e-03 7.88877663e-05 9.99995040e-01 1.60391992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.0492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.23, Y:155.85, Z:16.04 [[-4.69051217e-01 8.83169862e-01 1.39639557e-03 9.34228394e+02] [-8.83165355e-01 -4.69053287e-01 2.82313139e-03 1.55850863e+02] [ 3.14828850e-03 9.09450323e-05 9.99995040e-01 1.60399952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.0792541539997 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:934.90, Y:155.42, Z:16.91 [[-3.65391521e-01 -9.30852881e-01 -1.39639557e-03 9.34899525e+02] [-9.30848639e-01 3.65394091e-01 -2.82313139e-03 1.55417650e+02] [ 3.13815468e-03 2.68284637e-04 -9.99995040e-01 1.69113790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.109254154 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:934.14, Y:155.73, Z:16.04 [[-3.96168315e-01 9.18177119e-01 1.20172510e-03 9.34136780e+02] [-9.18172529e-01 -3.96170135e-01 2.90369784e-03 1.55725254e+02] [ 3.14219651e-03 4.69621018e-05 9.99995062e-01 1.60376884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.139254154 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:934.14, Y:155.72, Z:16.04 [[-3.95501425e-01 9.18464575e-01 1.20331243e-03 9.34135399e+02] [-9.18459988e-01 -3.95503253e-01 2.90303989e-03 1.55724575e+02] [ 3.14225328e-03 4.29620912e-05 9.99995062e-01 1.60371861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.1692541539999 meters Centerline goodness : 0.999756 Centerline is valid? [True, True] Translation: X:934.12, Y:155.70, Z:16.04 [[-3.95336989e-01 9.18535363e-01 1.20489703e-03 9.34120872e+02] [-9.18530779e-01 -3.95338823e-01 2.90238205e-03 1.55700254e+02] [ 3.14228313e-03 4.06839730e-05 9.99995062e-01 1.60371126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.1992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.83, Y:155.30, Z:16.92 [[-3.11193348e-01 -9.50345857e-01 -1.20489703e-03 9.34828996e+02] [-9.50341456e-01 3.11195587e-01 -2.90238205e-03 1.55303786e+02] [ 3.13322540e-03 2.41861609e-04 -9.99995062e-01 1.69155268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.2292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.03, Y:155.56, Z:16.03 [[-3.28344240e-01 9.44557601e-01 9.99782108e-04 9.34034902e+02] [-9.44552926e-01 -3.28345760e-01 2.97178183e-03 1.55563657e+02] [ 3.13529333e-03 3.14203312e-05 9.99995084e-01 1.60337067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.2592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.76, Y:155.20, Z:16.92 [[-2.52672687e-01 -9.67551298e-01 -9.99782108e-04 9.34763345e+02] [-9.67546758e-01 2.52674573e-01 -2.97178183e-03 1.55203518e+02] [ 3.12797088e-03 2.16447835e-04 -9.99995084e-01 1.69211087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.2892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.71, Y:155.12, Z:16.92 [[-1.84720386e-01 -9.82790608e-01 -9.99782107e-04 9.34712186e+02] [-9.82786211e-01 1.84722582e-01 -2.97178183e-03 1.55124784e+02] [ 3.10532161e-03 4.33623383e-04 -9.99995084e-01 1.69198921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.3192541539997 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:933.89, Y:155.28, Z:16.03 [[-1.94860061e-01 9.80830877e-01 5.89855739e-04 9.33893965e+02] [-9.80826132e-01 -1.94860953e-01 3.05103311e-03 1.55280462e+02] [ 3.10748733e-03 1.59785732e-05 9.99995172e-01 1.60330191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.349254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.89, Y:155.26, Z:16.03 [[-1.92482498e-01 9.81300228e-01 5.91672204e-04 9.33891697e+02] [-9.81295486e-01 -1.92483407e-01 3.05068081e-03 1.55255677e+02] [ 3.10752085e-03 6.59739850e-06 9.99995172e-01 1.60300739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.379254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.89, Y:155.26, Z:16.03 [[-1.96561891e-01 9.80491245e-01 5.84904645e-04 9.33894148e+02] [-9.80486495e-01 -1.96562759e-01 3.05199715e-03 1.55262131e+02] [ 3.10742696e-03 2.64152241e-05 9.99995172e-01 1.60329332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.4092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.89, Y:155.24, Z:16.03 [[-1.97561201e-01 9.80290374e-01 5.95163462e-04 9.33892171e+02] [-9.80285630e-01 -1.97562096e-01 3.04999529e-03 1.55236522e+02] [ 3.10746276e-03 1.91305421e-05 9.99995172e-01 1.60278001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.4392541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:934.65, Y:154.97, Z:16.93 [[-1.19034333e-01 -9.92889960e-01 -5.95163461e-04 9.34645331e+02] [-9.92885302e-01 1.19035603e-01 -3.04999529e-03 1.54972917e+02] [ 3.09915534e-03 2.27874896e-04 -9.99995172e-01 1.69275384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.4692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.84, Y:155.10, Z:16.03 [[-1.37329519e-01 9.90525343e-01 3.84832873e-04 9.33839792e+02] [-9.90520566e-01 -1.37330051e-01 3.07656664e-03 1.55100565e+02] [ 3.10026635e-03 4.13185400e-05 9.99995193e-01 1.60280462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.4992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.84, Y:155.06, Z:16.02 [[-1.36565930e-01 9.90630907e-01 3.90863899e-04 9.33837995e+02] [-9.90626133e-01 -1.36566486e-01 3.07580023e-03 1.55063822e+02] [ 3.10036169e-03 3.28495277e-05 9.99995193e-01 1.60215922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.5292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.84, Y:155.07, Z:16.02 [[-1.37194813e-01 9.90544007e-01 3.91485054e-04 9.33842159e+02] [-9.90539233e-01 -1.37195367e-01 3.07572046e-03 1.55068461e+02] [ 3.10034640e-03 3.41915886e-05 9.99995193e-01 1.60181843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.5592541539997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:933.84, Y:155.06, Z:16.02 [[-1.38286958e-01 9.90392131e-01 3.81072093e-04 9.33843705e+02] [-9.90387352e-01 -1.38287474e-01 3.07706148e-03 1.55063448e+02] [ 3.10019497e-03 4.81084897e-05 9.99995193e-01 1.60156282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.589254154 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:933.84, Y:155.06, Z:16.02 [[-1.38846829e-01 9.90313794e-01 3.85383848e-04 9.33843124e+02] [-9.90309016e-01 -1.38847356e-01 3.07650407e-03 1.55058680e+02] [ 3.10021395e-03 4.55137351e-05 9.99995193e-01 1.60156448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.619254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.85, Y:155.06, Z:16.01 [[-1.37215797e-01 9.90541102e-01 3.87085931e-04 9.33845436e+02] [-9.90536326e-01 -1.37216338e-01 3.07628307e-03 1.55059637e+02] [ 3.10029933e-03 3.86919582e-05 9.99995193e-01 1.60146464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.649254154 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:933.84, Y:155.05, Z:16.01 [[-1.38724153e-01 9.90330990e-01 3.74094962e-04 9.33843842e+02] [-9.90326208e-01 -1.38724646e-01 3.07797512e-03 1.55050971e+02] [ 3.10011034e-03 5.65134476e-05 9.99995193e-01 1.60139700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.6792541539999 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:933.84, Y:155.04, Z:16.01 [[-1.35447480e-01 9.90784452e-01 3.86757448e-04 9.33843675e+02] [-9.90779677e-01 -1.35448028e-01 3.07631577e-03 1.55040450e+02] [ 3.10035137e-03 3.34878005e-05 9.99995193e-01 1.60113944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.7092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.84, Y:155.04, Z:16.01 [[-1.35567481e-01 9.90768043e-01 3.77654048e-04 9.33843176e+02] [-9.90763264e-01 -1.35568001e-01 3.07751364e-03 1.55035942e+02] [ 3.10029997e-03 4.30450150e-05 9.99995193e-01 1.60126601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.7392541539998 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:933.84, Y:155.03, Z:16.01 [[-1.33339246e-01 9.91070381e-01 3.80663451e-04 9.33841640e+02] [-9.91065605e-01 -1.33339785e-01 3.07711603e-03 1.55033764e+02] [ 3.10039614e-03 3.30378781e-05 9.99995193e-01 1.60120238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.7692541539998 meters Centerline goodness : 0.998630 Centerline is valid? [True, True] Translation: X:933.77, Y:154.51, Z:16.02 [[-1.43019308e-01 9.89719821e-01 3.93264296e-04 9.33767461e+02] [-9.89715044e-01 -1.43019839e-01 3.07542260e-03 1.54512377e+02] [ 3.10005130e-03 5.06252215e-05 9.99995194e-01 1.60167483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.7992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.58, Y:154.84, Z:16.94 [[-6.83761005e-02 -9.97659538e-01 -3.93264296e-04 9.34576332e+02] [-9.97654815e-01 6.83769890e-02 -3.07542260e-03 1.54844851e+02] [ 3.09511492e-03 1.82056613e-04 -9.99995194e-01 1.69375548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.8292541539997 meters Centerline goodness : 0.998626 Centerline is valid? [True, True] Translation: X:934.54, Y:154.33, Z:16.93 [[ 1.90559860e-02 -9.99818390e-01 -2.38929326e-04 9.34539473e+02] [-9.99813672e-01 -1.90551587e-02 -3.08578228e-03 1.54327879e+02] [ 3.08066904e-03 2.97687431e-04 -9.99995210e-01 1.69345024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.859254154 meters Centerline goodness : 0.998739 Centerline is valid? [True, True] Translation: X:933.74, Y:154.28, Z:16.03 [[ 1.01246641e-02 9.99948742e-01 -6.43900729e-05 9.33737846e+02] [-9.99943995e-01 1.01248144e-02 3.08153089e-03 1.54280770e+02] [ 3.08202487e-03 3.31870017e-05 9.99995250e-01 1.60253818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.889254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.55, Y:154.30, Z:16.93 [[ 9.48315673e-02 -9.95493332e-01 2.83135350e-05 9.34552061e+02] [-9.95488596e-01 -9.48312038e-02 -3.08198022e-03 1.54300131e+02] [ 3.07077576e-03 2.64083213e-04 -9.99995250e-01 1.69334293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.9192541539999 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:934.56, Y:154.30, Z:16.93 [[ 1.75426522e-01 -9.84492495e-01 2.50939272e-04 9.34555596e+02] [-9.84487777e-01 -1.75426462e-01 -3.06157905e-03 1.54303124e+02] [ 3.05812298e-03 2.90035519e-04 -9.99995282e-01 1.69322734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.9492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:933.77, Y:154.14, Z:16.03 [[ 1.65196430e-01 9.86260546e-01 -5.24367117e-04 9.33771234e+02] [-9.86255940e-01 1.65197261e-01 3.01440127e-03 1.54136619e+02] [ 3.05960906e-03 1.91918546e-05 9.99995319e-01 1.60251051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.9792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.56, Y:154.28, Z:16.94 [[ 2.50414089e-01 -9.68138687e-01 5.16749616e-04 9.34561863e+02] [-9.68134024e-01 -2.50414492e-01 -3.01571444e-03 1.54278866e+02] [ 3.04903142e-03 2.54894499e-04 -9.99995319e-01 1.69354597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.0092541539998 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:934.55, Y:154.28, Z:16.94 [[ 3.19875099e-01 -9.47459421e-01 7.52708203e-04 9.34554713e+02] [-9.47454840e-01 -3.19875900e-01 -2.95562299e-03 1.54280818e+02] [ 3.04110606e-03 2.32273166e-04 -9.99995349e-01 1.69385232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.0392541539998 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:934.55, Y:154.28, Z:16.94 [[ 3.90277198e-01 -9.20696883e-01 9.78713720e-04 9.34549037e+02] [-9.20692409e-01 -3.90278362e-01 -2.87878700e-03 1.54281956e+02] [ 3.03246101e-03 2.22430633e-04 -9.99995377e-01 1.69384662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.0692541539997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:934.54, Y:154.28, Z:16.94 [[ 4.58420560e-01 -8.88734582e-01 1.19739900e-03 9.34544870e+02] [-8.88730244e-01 -4.58422074e-01 -2.78475604e-03 1.54280960e+02] [ 3.02382313e-03 2.12424715e-04 -9.99995406e-01 1.69372844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.099254154 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:934.54, Y:154.28, Z:16.94 [[ 5.20711562e-01 -8.53731509e-01 1.40710492e-03 9.34542200e+02] [-8.53727341e-01 -5.20713428e-01 -2.67442272e-03 1.54278595e+02] [ 3.01593736e-03 1.91318891e-04 -9.99995434e-01 1.69363697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.129254154 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:934.54, Y:154.27, Z:16.94 [[ 5.83552014e-01 -8.12074174e-01 1.60692730e-03 9.34536249e+02] [-8.12070196e-01 -5.83554198e-01 -2.54842332e-03 1.54273918e+02] [ 3.00723794e-03 1.82199789e-04 -9.99995462e-01 1.69375251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.1592541539999 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:934.53, Y:154.27, Z:16.94 [[ 6.41800062e-01 -7.66869908e-01 1.79569373e-03 9.34530443e+02] [-7.66866147e-01 -6.41802552e-01 -2.40763519e-03 1.54269278e+02] [ 2.99882380e-03 1.68163680e-04 -9.99995489e-01 1.69362498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.1892541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:934.53, Y:154.26, Z:16.94 [[ 6.99024418e-01 -7.15095079e-01 1.97243473e-03 9.34526231e+02] [-7.15091549e-01 -6.99027182e-01 -2.25289671e-03 1.54264379e+02] [ 2.98982084e-03 1.64358407e-04 -9.99995517e-01 1.69372172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.2192541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:934.51, Y:154.25, Z:16.94 [[ 7.48754766e-01 -6.62843676e-01 2.13593616e-03 9.34512973e+02] [-6.62840411e-01 -7.48757798e-01 -2.08543611e-03 1.54247630e+02] [ 2.98161699e-03 1.45695417e-04 -9.99995544e-01 1.69423637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.2492541539998 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:934.51, Y:154.24, Z:16.94 [[ 8.00615946e-01 -5.99173721e-01 2.22699257e-03 9.34511921e+02] [-5.99170510e-01 -8.00619005e-01 -1.97710149e-03 1.54241025e+02] [ 2.96759983e-03 2.48550711e-04 -9.99995566e-01 1.69402855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.2792541539998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:934.51, Y:154.23, Z:16.94 [[ 8.44980328e-01 -5.34791936e-01 2.41477144e-03 9.34506673e+02] [-5.34789217e-01 -8.44983764e-01 -1.71228410e-03 1.54231649e+02] [ 2.95615839e-03 1.55452653e-04 -9.99995618e-01 1.69414187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.3092541539997 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:934.49, Y:154.21, Z:16.95 [[ 8.81751298e-01 -4.71707780e-01 2.53345209e-03 9.34491405e+02] [-4.71705373e-01 -8.81754927e-01 -1.51364317e-03 1.54212960e+02] [ 2.94788112e-03 1.39613874e-04 -9.99995645e-01 1.69483548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.339254154 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:934.48, Y:154.20, Z:16.95 [[ 9.15091282e-01 -4.03238433e-01 2.59060853e-03 9.34481705e+02] [-4.03236073e-01 -9.15094919e-01 -1.39966300e-03 1.54197392e+02] [ 2.93505062e-03 2.36192601e-04 -9.99995665e-01 1.69494061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.369254154 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:934.48, Y:154.19, Z:16.95 [[ 9.43980476e-01 -3.29990507e-01 2.66965330e-03 9.34481827e+02] [-3.29988406e-01 -9.43984216e-01 -1.20536039e-03 1.54189621e+02] [ 2.91786806e-03 2.56882034e-04 -9.99995710e-01 1.69471049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.399254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.47, Y:154.17, Z:16.95 [[ 9.64376937e-01 -2.64517340e-01 2.77492336e-03 9.34469055e+02] [-2.64515932e-01 -9.64380924e-01 -8.69340290e-04 1.54168573e+02] [ 2.90603873e-03 1.04360289e-04 -9.99995772e-01 1.69488518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.4292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.47, Y:154.17, Z:16.95 [[ 9.81906622e-01 -1.89345086e-01 2.79717915e-03 9.34469948e+02] [-1.89343642e-01 -9.81910579e-01 -7.74906973e-04 1.54167301e+02] [ 2.89330463e-03 2.31258201e-04 -9.99995788e-01 1.69452048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.4592541539998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:934.46, Y:154.15, Z:16.95 [[ 9.92707391e-01 -1.20515216e-01 2.84948950e-03 9.34458888e+02] [-1.20514507e-01 -9.92711477e-01 -4.20056405e-04 1.54146640e+02] [ 2.87934412e-03 7.35882759e-05 -9.99995852e-01 1.69502964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.4892541539998 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:934.45, Y:154.13, Z:16.95 [[ 9.98963318e-01 -4.54325812e-02 2.85815797e-03 9.34452603e+02] [-4.54319078e-02 -9.98967393e-01 -3.00125512e-04 1.54128346e+02] [ 2.86884210e-03 1.69962808e-04 -9.99995870e-01 1.69521537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.5192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.45, Y:154.11, Z:16.95 [[ 9.99528099e-01 3.05845585e-02 2.85714120e-03 9.34448433e+02] [ 3.05850182e-02 -9.99532162e-01 -1.17338553e-04 1.54108530e+02] [ 2.85221577e-03 2.04668896e-04 -9.99995911e-01 1.69482562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.5492541539998 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:934.45, Y:154.09, Z:16.95 [[ 9.93783272e-01 1.11295793e-01 2.83817344e-03 9.34446295e+02] [ 1.11295945e-01 -9.93787302e-01 1.04503913e-04 1.54090745e+02] [ 2.83217157e-03 2.12022955e-04 -9.99995967e-01 1.69517086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.5792541539997 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:934.45, Y:154.07, Z:16.95 [[ 9.81247155e-01 1.92733458e-01 2.79909167e-03 9.34448006e+02] [ 1.92733268e-01 -9.81251126e-01 3.39855487e-04 1.54068028e+02] [ 2.81211338e-03 2.05995856e-04 -9.99996025e-01 1.69496270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.609254154 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:934.45, Y:154.05, Z:16.95 [[ 9.61317497e-01 2.75429027e-01 2.74232976e-03 9.34450167e+02] [ 2.75428521e-01 -9.61321386e-01 5.67927712e-04 1.54048790e+02] [ 2.79268402e-03 2.09356982e-04 -9.99996079e-01 1.69525181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.639254154 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:934.46, Y:154.02, Z:16.95 [[ 9.33770038e-01 3.57863631e-01 2.67162215e-03 9.34456329e+02] [ 3.57862855e-01 -9.33773832e-01 7.79407174e-04 1.54021774e+02] [ 2.77361233e-03 2.28287262e-04 -9.99996127e-01 1.69546360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.6692541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:934.46, Y:154.01, Z:16.95 [[ 8.99789438e-01 4.36316653e-01 2.59737849e-03 9.34461806e+02] [ 4.36315693e-01 -8.99793145e-01 9.55197269e-04 1.54005348e+02] [ 2.75387183e-03 2.73800582e-04 -9.99996171e-01 1.69536936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.6992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.47, Y:153.99, Z:16.95 [[ 8.56238374e-01 5.16574949e-01 2.48361386e-03 9.34470545e+02] [ 5.16573690e-01 -8.56241931e-01 1.17376236e-03 1.53993942e+02] [ 2.73291056e-03 2.77949200e-04 -9.99996227e-01 1.69494259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.7292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:934.48, Y:153.97, Z:16.95 [[ 8.13193029e-01 5.81989497e-01 2.30710329e-03 9.34479295e+02] [ 5.81987703e-01 -8.13196286e-01 1.45386333e-03 1.53972671e+02] [ 2.72226102e-03 1.60434218e-04 -9.99996282e-01 1.69531571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.7592541539998 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:934.49, Y:153.97, Z:16.95 [[ 7.58089818e-01 6.52146331e-01 2.23399452e-03 9.34487726e+02] [ 6.52144543e-01 -7.58093058e-01 1.55275879e-03 1.53967533e+02] [ 2.70620168e-03 2.79756709e-04 -9.99996299e-01 1.69497106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.7892541539998 meters Centerline goodness : 0.998511 Centerline is valid? [True, True] Translation: X:934.50, Y:153.95, Z:16.95 [[ 7.03144734e-01 7.11043843e-01 2.03374477e-03 9.34499933e+02] [ 7.11041638e-01 -7.03147648e-01 1.78137799e-03 1.53950352e+02] [ 2.69666070e-03 1.93510664e-04 -9.99996345e-01 1.69499638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.8192541539997 meters Centerline goodness : 0.999132 Centerline is valid? [True, True] Translation: X:934.50, Y:153.95, Z:16.95 [[ 6.37935973e-01 7.70086962e-01 1.94033652e-03 9.34503317e+02] [ 7.70084742e-01 -6.37938854e-01 1.87319944e-03 1.53950842e+02] [ 2.68034252e-03 2.99242240e-04 -9.99996363e-01 1.69509106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.849254154 meters Centerline goodness : 0.998915 Centerline is valid? [True, True] Translation: X:934.51, Y:153.95, Z:16.95 [[ 5.73437538e-01 8.19247487e-01 1.71614992e-03 9.34509788e+02] [ 8.19244928e-01 -5.73440062e-01 2.05996839e-03 1.53947412e+02] [ 2.67173304e-03 2.24683915e-04 -9.99996406e-01 1.69533687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.879254154 meters Centerline goodness : 0.998872 Centerline is valid? [True, True] Translation: X:934.52, Y:153.94, Z:16.96 [[ 5.02610599e-01 8.64511538e-01 1.54490399e-03 9.34518523e+02] [ 8.64508819e-01 -5.02612916e-01 2.18125571e-03 1.53943759e+02] [ 2.66220943e-03 2.39260885e-04 -9.99996428e-01 1.69568984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.9092541539999 meters Centerline goodness : 0.996816 Centerline is valid? [True, True] Translation: X:934.53, Y:153.94, Z:16.96 [[ 4.33173678e-01 9.01309437e-01 1.36507972e-03 9.34526078e+02] [ 9.01306563e-01 -4.33175763e-01 2.28851923e-03 1.53941357e+02] [ 2.65398343e-03 2.39029021e-04 -9.99996450e-01 1.69632326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.9392541539999 meters Centerline goodness : 0.996148 Centerline is valid? [True, True] Translation: X:935.14, Y:153.67, Z:16.01 [[ 4.54841119e-01 -8.90571821e-01 -1.17808667e-03 9.35142839e+02] [ 8.90568639e-01 4.54842644e-01 -2.38103940e-03 1.53671465e+02] [ 2.65633065e-03 3.38275804e-05 9.99996471e-01 1.60110247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.9692541539998 meters Centerline goodness : 0.996704 Centerline is valid? [True, True] Translation: X:935.16, Y:153.70, Z:16.01 [[ 4.54423653e-01 -8.90784904e-01 -1.18243362e-03 9.35157378e+02] [ 8.90781728e-01 4.54425190e-01 -2.37889012e-03 1.53696023e+02] [ 2.65640703e-03 2.77336716e-05 9.99996471e-01 1.60114220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.9992541539998 meters Centerline goodness : 0.995673 Centerline is valid? [True, True] Translation: X:935.17, Y:153.72, Z:16.01 [[ 4.50199450e-01 -8.92927242e-01 -1.18119854e-03 9.35174872e+02] [ 8.92924072e-01 4.50201000e-01 -2.37950020e-03 1.53718138e+02] [ 2.65649732e-03 1.65290772e-05 9.99996471e-01 1.60100807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.0292541539998 meters Centerline goodness : 0.993291 Centerline is valid? [True, True] Translation: X:935.19, Y:153.74, Z:16.01 [[ 4.46259494e-01 -8.94902827e-01 -1.18103293e-03 9.35187315e+02] [ 8.94899663e-01 4.46261056e-01 -2.37958193e-03 1.53740473e+02] [ 2.65654360e-03 5.00505911e-06 9.99996471e-01 1.60095611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.0592541539997 meters Centerline goodness : 0.992206 Centerline is valid? [True, True] Translation: X:935.21, Y:153.76, Z:16.01 [[ 4.40662990e-01 -8.97671868e-01 -1.16070110e-03 9.35207220e+02] [ 8.97668687e-01 4.40664519e-01 -2.38961425e-03 1.53762130e+02] [ 2.65656928e-03 1.10895303e-05 9.99996471e-01 1.60108316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.089254154 meters Centerline goodness : 0.991477 Centerline is valid? [True, True] Translation: X:935.22, Y:153.79, Z:16.01 [[ 4.37118465e-01 -8.99403182e-01 -1.16758913e-03 9.35223321e+02] [ 8.99400017e-01 4.37120024e-01 -2.38621701e-03 1.53785371e+02] [ 2.65654776e-03 -7.07016862e-06 9.99996471e-01 1.60091777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.119254154 meters Centerline goodness : 0.990931 Centerline is valid? [True, True] Translation: X:935.24, Y:153.81, Z:16.01 [[ 4.32079132e-01 -9.01834938e-01 -1.16990380e-03 9.35243597e+02] [ 9.01831784e-01 4.32080715e-01 -2.38507573e-03 1.53807997e+02] [ 2.65643749e-03 -2.45149787e-05 9.99996471e-01 1.60114175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.149254154 meters Centerline goodness : 0.839599 Centerline is valid? [True, False] Translation: X:935.24, Y:153.74, Z:16.03 [[ 4.29001937e-01 -9.02496319e-01 -3.81802506e-02 9.35238265e+02] [ 9.03249216e-01 4.29056431e-01 7.17159121e-03 1.53735477e+02] [ 9.90914741e-03 -3.75629080e-02 9.99245133e-01 1.60296603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.1792541539999 meters Centerline goodness : 0.989274 Centerline is valid? [False, True] Translation: X:935.23, Y:153.66, Z:16.05 [[ 4.27190418e-01 -9.01382774e-01 -7.08339005e-02 9.35225361e+02] [ 9.04015832e-01 4.27215859e-01 1.55558958e-02 1.53664315e+02] [ 1.62395491e-02 -7.06802970e-02 9.97366820e-01 1.60460064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.2092541539998 meters Centerline goodness : 0.988391 Centerline is valid? [True, True] Translation: X:935.21, Y:153.70, Z:16.02 [[ 4.25631551e-01 -9.04862096e-01 -7.89754566e-03 9.35212338e+02] [ 9.04727037e-01 4.25704534e-01 -1.56409261e-02 1.53701845e+02] [ 1.75149021e-02 -4.87851463e-04 9.99846483e-01 1.60216266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.2392541539998 meters Centerline goodness : 0.987404 Centerline is valid? [True, True] Translation: X:935.23, Y:153.73, Z:16.02 [[ 4.18833535e-01 -9.08030481e-01 -7.68868375e-03 9.35232364e+02] [ 9.07894060e-01 4.18903922e-01 -1.57442169e-02 1.53725122e+02] [ 1.75170486e-02 -3.86304280e-04 9.99846490e-01 1.60214833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.2692541539998 meters Centerline goodness : 0.989627 Centerline is valid? [True, True] Translation: X:935.25, Y:153.75, Z:16.03 [[ 4.18632953e-01 -9.08122289e-01 -7.76906770e-03 9.35247571e+02] [ 9.07986614e-01 4.18704762e-01 -1.57044714e-02 1.53746253e+02] [ 1.75145261e-02 -4.79800249e-04 9.99846494e-01 1.60250445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.2992541539998 meters Centerline goodness : 0.985780 Centerline is valid? [True, True] Translation: X:935.27, Y:153.77, Z:16.03 [[ 4.16963934e-01 -9.08890737e-01 -7.66197060e-03 9.35266066e+02] [ 9.08754220e-01 4.17034140e-01 -1.57573516e-02 1.53767922e+02] [ 1.75170142e-02 -3.92600805e-04 9.99846488e-01 1.60269078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.3292541539997 meters Centerline goodness : 0.985143 Centerline is valid? [True, True] Translation: X:935.28, Y:153.79, Z:16.03 [[ 4.16520082e-01 -9.09093976e-01 -7.69189279e-03 9.35281010e+02] [ 9.08957764e-01 4.16590872e-01 -1.57425793e-02 1.53792389e+02] [ 1.75158564e-02 -4.34505238e-04 9.99846491e-01 1.60255006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.359254154 meters Centerline goodness : 0.984087 Centerline is valid? [True, True] Translation: X:935.29, Y:153.82, Z:16.03 [[ 4.22254231e-01 -9.06444670e-01 -7.70875299e-03 9.35293991e+02] [ 9.06308165e-01 4.22324453e-01 -1.57342605e-02 1.53817255e+02] [ 1.75178314e-02 -3.42647721e-04 9.99846492e-01 1.60305842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.389254154 meters Centerline goodness : 0.983600 Centerline is valid? [True, True] Translation: X:935.31, Y:153.84, Z:16.03 [[ 4.26965722e-01 -9.04234501e-01 -7.76138183e-03 9.35305804e+02] [ 9.04098102e-01 4.27036147e-01 -1.57083063e-02 1.53840653e+02] [ 1.75183831e-02 -3.10142217e-04 9.99846493e-01 1.60321064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.4192541539999 meters Centerline goodness : 0.983460 Centerline is valid? [True, True] Translation: X:935.32, Y:153.86, Z:16.03 [[ 4.33639537e-01 -9.01053292e-01 -7.72768679e-03 9.35319294e+02] [ 9.00916080e-01 4.33708363e-01 -1.57249078e-02 1.53864825e+02] [ 1.75205424e-02 -1.43055541e-04 9.99846493e-01 1.60294557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.4492541539998 meters Centerline goodness : 0.983951 Centerline is valid? [True, True] Translation: X:935.33, Y:153.89, Z:16.03 [[ 4.35227272e-01 -9.00287501e-01 -7.72255775e-03 9.35332158e+02] [ 9.00150122e-01 4.35295767e-01 -1.57274326e-02 1.53889679e+02] [ 1.75208077e-02 -1.06453703e-04 9.99846493e-01 1.60291151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.4792541539998 meters Centerline goodness : 0.983515 Centerline is valid? [True, True] Translation: X:935.35, Y:153.91, Z:16.03 [[ 4.35508094e-01 -9.00151783e-01 -7.71148569e-03 9.35346761e+02] [ 9.00014287e-01 4.35576353e-01 -1.57328786e-02 1.53913139e+02] [ 1.75209195e-02 -8.86513334e-05 9.99846493e-01 1.60288738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.5092541539998 meters Centerline goodness : 0.983515 Centerline is valid? [True, True] Translation: X:935.36, Y:153.94, Z:16.03 [[ 4.35158960e-01 -9.00320361e-01 -7.74123491e-03 9.35358775e+02] [ 9.00183151e-01 4.35227791e-01 -1.57182572e-02 1.53938208e+02] [ 1.75206675e-02 -1.28588804e-04 9.99846493e-01 1.60293747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.5392541539998 meters Centerline goodness : 0.983918 Centerline is valid? [True, True] Translation: X:935.37, Y:153.96, Z:16.03 [[ 4.33779849e-01 -9.00985686e-01 -7.73537922e-03 9.35371482e+02] [ 9.00848531e-01 4.33848788e-01 -1.57211324e-02 1.53962323e+02] [ 1.75205002e-02 -1.48894566e-04 9.99846493e-01 1.60306882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.5692541539997 meters Centerline goodness : 0.188762 Centerline is valid? [True, False] Translation: X:935.36, Y:153.86, Z:16.06 [[ 4.31391692e-01 -8.99409805e-01 -7.04500544e-02 9.35355257e+02] [ 9.01908874e-01 4.31812066e-01 9.93596474e-03 1.53864742e+02] [ 2.14846794e-02 -6.78258218e-02 9.97465822e-01 1.60615336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.599254154 meters Centerline goodness : 0.183542 Centerline is valid? [False, False] Translation: X:935.34, Y:153.78, Z:16.09 [[ 4.30811293e-01 -8.94617187e-01 -1.18582120e-01 9.35336466e+02] [ 9.02087616e-01 4.30590434e-01 2.88064474e-02 1.53778448e+02] [ 2.52895835e-02 -1.19381604e-01 9.92526307e-01 1.60858484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.629254154 meters Centerline goodness : 0.182772 Centerline is valid? [False, False] Translation: X:935.32, Y:153.71, Z:16.11 [[ 4.35016273e-01 -8.87204672e-01 -1.53716333e-01 9.35323371e+02] [ 8.99987437e-01 4.33730045e-01 4.35988711e-02 1.53710428e+02] [ 2.79902700e-02 -1.57308987e-01 9.87152687e-01 1.61056048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.6592541539999 meters Centerline goodness : 0.181118 Centerline is valid? [False, False] Translation: X:935.09, Y:152.87, Z:15.81 [[ 9.12852552e-01 4.45844902e-02 4.05847807e-01 9.35092005e+02] [-6.63606222e-02 9.97004194e-01 3.97354361e-02 1.52870257e+02] [-4.02860381e-01 -6.32049072e-02 9.13076477e-01 1.58124483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.6892541539999 meters Centerline goodness : 0.985738 Centerline is valid? [False, True] Translation: X:935.07, Y:152.88, Z:15.82 [[ 9.13943892e-01 4.74208626e-02 4.03060572e-01 9.35074866e+02] [-6.53966547e-02 9.97379442e-01 3.09439339e-02 1.52876809e+02] [-4.00536940e-01 -5.46398324e-02 9.14650014e-01 1.58182610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.7192541539998 meters Centerline goodness : 0.985575 Centerline is valid? [True, True] Translation: X:935.10, Y:152.91, Z:15.78 [[ 9.14312203e-01 7.49218589e-02 3.98019988e-01 9.35095023e+02] [-6.58703830e-02 9.97164467e-01 -3.63884253e-02 1.52907362e+02] [-3.99617677e-01 7.05265234e-03 9.16654773e-01 1.57802311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.7492541539998 meters Centerline goodness : 0.986271 Centerline is valid? [True, True] Translation: X:935.12, Y:152.91, Z:15.77 [[ 9.14202509e-01 7.59952950e-02 3.98068446e-01 9.35124875e+02] [-6.72799383e-02 9.97090227e-01 -3.58397602e-02 1.52908900e+02] [-3.99633810e-01 5.98277820e-03 9.16655346e-01 1.57678212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.7792541539998 meters Centerline goodness : 0.986430 Centerline is valid? [True, True] Translation: X:935.15, Y:152.91, Z:15.76 [[ 9.14060464e-01 7.76693070e-02 3.98071534e-01 9.35154519e+02] [-6.91209847e-02 9.96965550e-01 -3.58047807e-02 1.52908472e+02] [-3.99644538e-01 5.21263807e-03 9.16655372e-01 1.57589416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.8092541539997 meters Centerline goodness : 0.986709 Centerline is valid? [True, True] Translation: X:935.19, Y:152.91, Z:15.75 [[ 9.13820319e-01 8.03188993e-02 3.98097098e-01 9.35185588e+02] [-7.21370604e-02 9.96762213e-01 -3.55152861e-02 1.52907659e+02] [-3.99660693e-01 3.73703566e-03 9.16655532e-01 1.57503083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.839254154 meters Centerline goodness : 0.987202 Centerline is valid? [True, True] Translation: X:935.21, Y:152.91, Z:15.73 [[ 9.13529173e-01 8.32678528e-02 3.98159408e-01 9.35214858e+02] [-7.56610815e-02 9.96525795e-01 -3.48100728e-02 1.52912279e+02] [-3.99674681e-01 1.67484559e-03 9.16655521e-01 1.57328595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.869254154 meters Centerline goodness : 0.986918 Centerline is valid? [True, True] Translation: X:935.24, Y:152.91, Z:15.72 [[ 9.13347405e-01 8.56368179e-02 3.98073928e-01 9.35243227e+02] [-7.78255746e-02 9.96324982e-01 -3.57730395e-02 1.52914931e+02] [-3.99674489e-01 1.69288055e-03 9.16655572e-01 1.57180230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.899254154 meters Centerline goodness : 0.987787 Centerline is valid? [True, True] Translation: X:935.27, Y:152.92, Z:15.70 [[ 9.12928182e-01 8.98013829e-02 3.98117879e-01 9.35272489e+02] [-8.25838279e-02 9.95959468e-01 -3.52795853e-02 1.52921855e+02] [-3.99677426e-01 -6.70370721e-04 9.16655609e-01 1.57026977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.9292541539999 meters Centerline goodness : 0.987821 Centerline is valid? [True, True] Translation: X:935.30, Y:152.92, Z:15.69 [[ 9.12682227e-01 9.22215309e-02 3.98128549e-01 9.35301383e+02] [-8.52763987e-02 9.95736775e-01 -3.51597903e-02 1.52922868e+02] [-3.99673727e-01 -1.86125312e-03 9.16655577e-01 1.56897264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.9592541539998 meters Centerline goodness : 0.991505 Centerline is valid? [True, True] Translation: X:935.33, Y:152.93, Z:15.67 [[ 9.12286003e-01 9.60445101e-02 3.98132768e-01 9.35331242e+02] [-8.94680707e-02 9.95370575e-01 -3.51124343e-02 1.52926773e+02] [-3.99661999e-01 -3.58758831e-03 9.16655560e-01 1.56744126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.9892541539998 meters Centerline goodness : 0.987869 Centerline is valid? [True, True] Translation: X:935.36, Y:152.93, Z:15.66 [[ 9.12130585e-01 9.78139809e-02 3.98058061e-01 9.35359498e+02] [-9.10344831e-02 9.95198740e-01 -3.59470529e-02 1.52928980e+02] [-3.99663006e-01 -3.44860348e-03 9.16655655e-01 1.56627442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1110.0192541539998 meters Centerline goodness : 0.987481 Centerline is valid? [True, True] Translation: X:935.39, Y:152.93, Z:15.65 [[ 9.11781507e-01 1.00529866e-01 3.98181151e-01 9.35389381e+02] [-9.45970097e-02 9.94915080e-01 -3.45744036e-02 1.52932216e+02] [-3.99632192e-01 -6.14244440e-03 9.16654996e-01 1.56499062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 19496.07 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%| | 0/37001 [00:00